*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 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*a code=1835 owner=03FB element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1836 owner=03FB element=07E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1837 owner=03FB element=07E8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1838 owner=03FB element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1839 owner=03FB element=0768 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=183A owner=03FB element=06BC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=183B owner=03FB element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=183C owner=03FB element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=183D owner=03FB element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=183E owner=03FB element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=183F owner=03FB element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1840 owner=03FB element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1841 owner=039D element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1842 owner=03F8 element=0BCF universal=3FFF unitName="bool" type=02 size=0001 fl=05 JDAT read: TxSync time:13:48:12.6566 R#Rx 1: Read range and direction messages.:^direction in FSK: [0.171783,0.926857,-0.333807]>:publishing transmit ping time>Fpublishing direction and range info1y5uRf9?>hϨ?{{]տ5BY1 5J)5QxI5rPi5C]5@5?5X9>59 5aх?)5II5?i5@5Κ?5@> 1)155-džY?u/6+.ꀍsɿi5'5J>5Κ?5@> 1)1j:publishing transmit ping timejFpublishing direction and range info1y5uRf9?>hϨ?{{]տ1Y1 1)1I1i11111 1)1I1i111 1)155-džY?u/6+.ꀍsɿi1111 1)1-H|B-&I}Mb@Mb@Mb@yyy y)yY}ʡE?QS㥛y}-?}u}/ݼ}A }@)yI}@yy}@IIT3Լ =yQ >٥ HF >%#5 y?-#59/ IfBy-c?-:-R?-q@[Ei;:?#5 e%=ea=mzBm2AmEZ1b5^hA5B5B5+@ʁ5 %mL͋5@)&]@mhϨ?{{]տ5Κ?5@>ҁ5!U[ C9L@ #5QokIw[8(?Lޥz5aB5&j5=DƜ?r5W: 5UB5=DƜ?5W:  5B5B5j+@% addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.779547 s, deltaX: 0.300003 m, approachRate: 0.079375 m/s, rangeRepo size: 4 e Added new target pos. range: 125.426445 m, bearing: 153.162389 deg, lat: 36.906374 deg, lon: -122.116048 deg, deltaT: 3.779547 s, deltaX: 0.297958 m, approachRate: 0.078834 m/s, posRepo size: 4 imFNOT Ignoring new targets: 125.43 m. ProNav: ac range: 125.426445 m, nav range: 125.043114 m, bearing: 153.162046 deg, approach rate: 0.000000 m/s, LOS rate: 0.272569 deg/s, cmd heading: 162.757274 deg, new cmd heading: 163.275543 deg. HeadingCmd: 2.849696 target range: 125.426445 and range: 126.30 m.bka6@ZrjRJB~~zB}|| | @3_@| ʥ?K:P"K9*K2K^ :K -LC-N# #6<Opn |KC|RK\ .~"% y3 zB靝8E=I)i>I<  ka6@ika6@iAEE ?EA EA EA EI q I I H} !>H} CH} 3IH} ]|B6G Hy Hy H} 3DH} M<H} EH=͞CH=͞CH9H9I9 I=h5~GAԙAN>N,^hA9Vk?Vʒ?YVxVH`I?f#?XM?a?`.B͟1? ? Vk?V†;)TvL|Bv)II~"I~q3 X<  f=y Q >٥ HF> >!M#5%|?U#59%  I%^ByY]?]q@%^Ei%<%<%O#52AFNOT Ignoring new targets: 125.43 m. o; o; ProNav: ac range: 125.426445 m, nav range: 124.994102 m, bearing: 153.250750 deg, approach rate: -0.141417 m/s, LOS rate: 0.256046 deg/s, cmd heading: 163.275549 deg, new cmd heading: 163.541763 deg. /<EHeadingCmd: 2.854342 target range: 125.426445 and range: 126.30 m.bE6@ZArAjARAJIBI~Q~Q}Y|y|||t? zBHc=I)L>Iۈ< ie6@  i 6@i EEEE_0EI6Gȹ~GQ Aa q A N >?,PhA0:JbBJZJJDRJZJ:bJS9J4JzJG ;jJJ ;JPu:rJSu:=G|B=&II]I]m?3mJI mF=yQ >٥ H >1}#55;?#595 I5SByq@5bEi5Z<5=<5#52AԑFNOT Ignoring new targets: 125.43 m.;; ProNav: ac range: 125.426445 m, nav range: 124.934044 m, bearing: 153.360301 deg, approach rate: -0.129971 m/s, LOS rate: 0.237189 deg/s, cmd heading: 163.541763 deg, new cmd heading: 163.870568 deg. "<HeadingCmd: 2.860081 target range: 125.426445 and range: 126.30 m.b 7@ZrjR!J!B!~A~I}I|Q|Y|Y|]3? {BR=I)N>I< K#  7@  i  7@iԹE?EEE^0E 6G K P"K *K 2K _ :K xH:u(]`#j"Cvd/ ?u"XP/'k9}   y~G A A N >-,+hA96?6?Y66H`d?,vO/??@5?Fž@B? ? 6?6;)6CVO|BV*I Zp=Zp=\Mb@Mb@Mb@ )Y"~? rh/$y?CrA @)@I@yz@I1I1e< e<=yeQ e>٥ii mHmFu> >#5?#59g IJBy!?:?q@fEiI; ;ę#52A%B*** querying acoustic contact ***J!R!QUFNOT Ignoring new targets: 125.43 m.];];m ProNav: ac range: 125.426445 m, nav range: 124.862839 m, bearing: 153.466908 deg, approach rate: -0.184385 m/s, LOS rate: 0.276217 deg/s, cmd heading: 163.870568 deg, new cmd heading: 164.190570 deg. m=<HeadingCmd: 2.865666 target range: 125.426445 and range: 126.30 m.bg7@ZrjRJB~~zB}||||'? %{BE[=II)MY>IIMD< IIM(Ug7@QYi]g7@iYbEiZEm}AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H>HH&IHI|BH =HHH<HEEEEE_0E6G Q ~G A A N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.682978{,ohA9: o?:핹?Y:=y: >:H ܾ?` (???]=` ?? : o?: ;)8RZ|BR1IIZIZ 3r< rf=yr';Q r>٥tt vHvFz]= z>%#5 ?-#59 IBBy)-1?-q@iEi::#5QUm2AYFNOT Ignoring new targets: 125.43 m.;; ProNav: ac range: 125.426445 m, nav range: 124.797638 m, bearing: 153.556410 deg, approach rate: -0.186676 m/s, LOS rate: 0.256385 deg/s, cmd heading: 164.190576 deg, new cmd heading: 164.459219 deg. /<HeadingCmd: 2.870355 target range: 125.426445 and range: 126.30 m.b7@ZrjRJB~~}|||| _? e {BeiIF< $h,7@i7@iAEaEaEaEe0Ei:J%dBJ%^JJ%ERJ!ZJ%<:bJ%d9J%4J!zJ%;jJ%;J%:rJ%:qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9350486Gȹ~G A A N5 >ԙ k,ehA~g|B~9IyMb@Mb@Mb@ )Y-?y&1٥ H >#5?#59, I8By}?:?q@mEi;;֠#522AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.188146)MFNOT Ignoring new targets: 125.43 m.U;U;e ProNav: ac range: 125.426445 m, nav range: 124.719276 m, bearing: 153.672141 deg, approach rate: -0.172647 m/s, LOS rate: 0.255141 deg/s, cmd heading: 164.459221 deg, new cmd heading: 164.806629 deg. e/<HeadingCmd: 2.876418 target range: 125.426445 and range: 126.30 m.b=8@ZrjRJB~~zB}|||| P@ {BZ=I)>I= 1=8@!!i%=8@iIԩK|P"K@9*K2K` :KIef$1J u0vI}juj=c_[R.CP1h F |17x5X&V^b VE|,+GE?EEE0E6G  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439582~G A A   H <H 4=H >H H -IH S|BH  =H H H ܚ<H ENe >,hA~|B~III  I 2U= U^=yyQ }>٥y HF >#5m?#59 I0Byq@qEi;*;#51A1=FNOT Ignoring new targets: 125.43 m.=s;Es;} ProNav: ac range: 125.426445 m, nav range: 124.655991 m, bearing: 153.766263 deg, approach rate: -0.169740 m/s, LOS rate: 0.252574 deg/s, cmd heading: 164.806632 deg, new cmd heading: 165.089139 deg. }V-<HeadingCmd: 2.881349 target range: 125.426445 and range: 126.30 m.bh8@ZrjRJB~~}||||M@ {B7j=I ) p> I = ))565h8@19i=h8@i9rEEY>jEE>PExceeded connect timeout, disconnecting.E?EEE5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.69114316G~Gi A A N >Y ,fhAJ;4J;4J;NU1:JzbBJzYJJzDRJxZJz:bJz[O9Jz4JxzJzG ;jJzJ ;Jz&n:rJz(n:eBDAT read: Rx Time:13:48:15.2290 mTRx dataTimestamp_ set to:1749131296.508145uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.94507895R?51;?Y5* =y5>5HN?` G?X?=?×?@V? k? 5R?5;)5C|BSI9II3L = 4=y;Q >٥ H-F=8> E>Y#5](?#59] I]%ByS?q@]uEi]˂<]C<]#51A9EFNOT Ignoring new targets: 125.43 m.eu;eu;u ProNav: ac range: 125.426445 m, nav range: 124.555557 m, bearing: 153.881625 deg, approach rate: -0.213644 m/s, LOS rate: 0.245597 deg/s, cmd heading: 165.089142 deg, new cmd heading: 165.435500 deg. }(<}HeadingCmd: 2.887394 target range: 125.426445 and range: 126.30 m.b}8@ZrjRJB~~}|||| @ -{B-Qb=I1)5@>1YI= = aae;m8@iiim8@iqEU?EQEQEU4EQԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.1949676Gy Ա K5 B#R"K5 ŷ9*K1 2K5 a :K5 nM52L|#L3ZE9f/ 6! ~GA AQ Aa Nm >F ,-7hA9V?Vh?YV =yV|>VHG?`?? (?]?Vg? 8? V?V&;)Tr|Br\I%Mb@Mb@Mb@!!! !)!Y%rh|? ףp= Zd;Oy%?%Q8%j%A !)%@I%@!y%p@I] I]2m= mP=ym9Q u>q٥ H= >#5?#59] IByp?:?q@yEi;m;u#5S1AE-B*** querying acoustic contact ***J)R)FNOT Ignoring new targets: 125.43 m.L;L;H">HH?IHr|BH =HHH<H(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.449647 ProNav: ac range: 125.426445 m, nav range: 124.468086 m, bearing: 153.981148 deg, approach rate: -0.226211 m/s, LOS rate: 0.257560 deg/s, cmd heading: 165.435501 deg, new cmd heading: 165.734277 deg.  0<MHeadingCmd: 2.892609 target range: 125.426445 and range: 126.30 m.bM 9@ZQrQjQRYJYBY~~{B}|ԩ|||@ @ #{B=?j=IA)E2>AIEu= AAE)@M 9@IIiU 9@iQE?EEE5E  nManaging dock network, ignoring radio surface power offm DAT read: 13:48:15.2290 LVL= 14832, 30593, 22130, 24531, AGC= 60, IDX= 431,-0.23,-1.615, 3.002, 2.882,-2.812, PHS= 1.285,-0.422,-0.593, RAW= 85.3, -3.0, CAL= 93.3, -9.2, ROT= 56.7, 9.2 u Ygot valid direction response: 13:48:15.2290 LVL= 14832, 30593, 22130, 24531, AGC= 60, IDX= 431,-0.23,-1.615, 3.002, 2.882,-2.812, PHS= 1.285,-0.422,-0.593, RAW= 85.3, -3.0, CAL= 93.3, -9.2, ROT= 56.7, 9.2 } PDAT read: Bearing 56.7, 9.2 (Local) } ~Local bearing/azimuth received: Bearing 56.7, 9.2 (Local)  DAT read: Range 10 to 50 : 125.5 m (Round-trip 167.4 ms) speed 0.0 m/s  ,DAT read: user:1765> 6G  BDAT read: Tx time:13:48:16.3574  $Ping request sent.  )  C?Z`ї3ſ"i $ 0Y= V}? l$>  )  :publishing transmit ping time  Fpublishing direction and range info y m8W?jPf?ČsvĿ Y  ) I i      ) I i    )  C?Z`ї3ſ"i     ) ~Gq Ay A N > ,@ThA9> n?>?Y>H =y>aІ>>H8%@??\ℿZ?T ?`? > n?>!/;)>C^|B^jI  @AII3%Da= MJ=yMGQ M>٥QQ UHUFU= ]>Ye#5]i?#59] I]By?q@]}Ei] <]M<]#50AZb4PhACBCB~%@!ʁ\$P@ߑY@"3m8W?jPf?ČsvĿV}?l$>ҁ8*rZ;ElP@@{u%)뿑f6?@?zbBjm:Ȝ?r> ҈B}Ȝ?Z  B,&@ addTargetRange:: Added new target pos. range: 125.500000 m, deltaT: 3.779387 s, deltaX: -0.800003 m, approachRate: -0.211675 m/s, rangeRepo size: 4  Added new target pos. range: 124.631546 m, bearing: 148.159723 deg, lat: 36.906426 deg, lon: -122.115953 deg, deltaT: 3.779387 s, deltaX: -0.794899 m, approachRate: -0.210325 m/s, posRepo size: 4 FNOT Ignoring new targets: 124.63 m. ProNav: ac range: 124.631546 m, nav range: 123.300499 m, bearing: 149.349407 deg, approach rate: 0.000000 m/s, LOS rate: 0.257560 deg/s, cmd heading: 165.734281 deg, new cmd heading: 166.048157 deg.  HeadingCmd: 2.898087 target range: 124.631546 and range: 125.50 m.b Bz9@Z r jRJB9~A~A}A|A|A|M`_@|M? '{Bz=I)v>I͞= ,FBz9@iBz9@izEiEqEqEqE}d3EyF=Fԉ G 6G - Y) y- B~G A A N >ԩ ~,HmhA96t=?6Td?Y6A*=y6`>6HK@p?@? k@? ӻ?? 6t=?6|;)6C^|BbvIUonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- aIU@aU aMU@aU aQU@a aE@a II3:= C=y OQ  >٥ HF%= %>)-#5-?5#59- I-BU+:yQU:U?Uq@-Ei-;->-#5eyBe0AeEԑFNOT Ignoring new targets: 124.63 m.;; ProNav: ac range: 124.631546 m, nav range: 123.170662 m, bearing: 149.454350 deg, approach rate: -0.311423 m/s, LOS rate: 0.251978 deg/s, cmd heading: 166.048155 deg, new cmd heading: 166.363313 deg. ,<HeadingCmd: 2.903588 target range: 124.631546 and range: 125.50 m.ba9@ZrjRJB~!~!}!|!|!|)|-? ,{B靝5z=I)>I= G8La9@ia9@iK]P"K*K2Kb :KdF,/ !.(!+z}9zbS`Z/rEE?EAEAEEP0EA:J^BJVJJARJZJ} :bJB9J4J @ @ @ @HE >HA HE _IHE |BHE  =HA HA HE <HE 6E6Gm ȹ~G) AA Aa N > G!, ևhA9:V?:}?Y::HӴ@yO?`-?@(}??` ? :V?:c;)8R|BRzIIZIZF3r~< vX=yvQ z>٥xx zHx~= >!-#5%M?-#59% I%B- :y)-c:-?-q@%Ei%:%L?%%#5Ye0AaFNOT Ignoring new targets: 124.63 m.n;n; ProNav: ac range: 124.631546 m, nav range: 123.052376 m, bearing: 149.543716 deg, approach rate: -0.322386 m/s, LOS rate: 0.243800 deg/s, cmd heading: 166.363314 deg, new cmd heading: 166.631668 deg. Q'<%HeadingCmd: 2.908271 target range: 124.631546 and range: 125.50 m.b%!:@Z!r!j!R!J!B)~)~)})|1|Q|Q|U`? 0{BZ=I) >I 3= R!:@ i!:@iE?EEET0E6GQ ~G A A N > (,öhA9r+?rQ?Yr!}rH xr ݳ`?2?@!d??@Z? r+?rՆ;)rC|BII 'I @3+= 3=yչQ >٥ HF= >#5?#59 IB9y 8: w? q@Ei6;u?N#515<0A1QyFNOT Ignoring new targets: 124.63 m.<;<; ProNav: ac range: 124.631546 m, nav range: 122.897041 m, bearing: 149.654032 deg, approach rate: -0.335004 m/s, LOS rate: 0.238213 deg/s, cmd heading: 166.631672 deg, new cmd heading: 166.963032 deg. {#<HeadingCmd: 2.914055 target range: 124.631546 and range: 125.50 m.b:@ZrjRJB~~}||||K? u5{Buz=Iq)u>qI} = yy}Z:@i:@iE9EAEAEEP0EAFQFQyԡ 6Gy ZG RG K P"K @9*K 2K c :K bM ;_]e(Ngnlur_D~xn~G9 AI AY Ne >2.,ehA96׾?6}?Y6g6HxA??U@ܯ?ਘ)?(? 6׾?6;)6C@b|BbIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y`"?&1~jty?нA @)@Iy@IU IU(2m< mL=:J}cBJ}fJJ}@RJyZJ}:bJ}9J}J4JyyuXQ >٥ HFΕ= >#5C?#59s HHHxIH|BH =HHHۚ<HEHCHCHH =I = Id-5IݧBT:yX?:?q@Ei4<<#5)M0AImB*** querying acoustic contact ***JiRiFNOT Ignoring new targets: 124.63 m.;;ԩ ProNav: ac range: 124.631546 m, nav range: 122.780319 m, bearing: 149.748898 deg, approach rate: -0.287066 m/s, LOS rate: 0.233535 deg/s, cmd heading: 166.963032 deg, new cmd heading: 167.247898 deg.  E <HeadingCmd: 2.919026 target range: 124.631546 and range: 125.50 m.b%T:@Z!r!j!RIJIBI~Q~]{B}a||||? :{Bˀ=I)>I%E = AAEQ cMT:@IIiMT:@iQE?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= ȹ~G A A N% >&5,rhA96C?6j?Y6x6H ?ſ Jlq? ?*ÿw?f A?? 6C?6;)6CV}BVIlIrIr 3v{= zf=yz8ºQ >٥ H͙= %>!-#5%?5#59%ز I%ϧByQU?Uq@%Ei% ;%};%ؼ#5ae/AeEFNOT Ignoring new targets: 124.63 m.N;N; ProNav: ac range: 124.631546 m, nav range: 122.669746 m, bearing: 149.833791 deg, approach rate: -0.323802 m/s, LOS rate: 0.248827 deg/s, cmd heading: 167.247892 deg, new cmd heading: 167.502800 deg. *<HeadingCmd: 2.923475 target range: 124.631546 and range: 125.50 m.b8;@ZrjRJB~~}|||!|%!@ ={B靕֢=I)4>Im = Sj8;@i8;@i E?EEE0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.24245016G~G A A N >Y ]E;,FhA9>?>?Y>j>>HvȿcKz? b?K ǿSP?<?? >?> ;)٥ HF= >  #5 ?5#59  I By=t?=:=?=q@ Ei ; ; #5ExBE/AEEFNOT Ignoring new targets: 124.63 m.;; ProNav: ac range: 124.631546 m, nav range: 122.540375 m, bearing: 149.937937 deg, approach rate: -0.298847 m/s, LOS rate: 0.240830 deg/s, cmd heading: 167.502794 deg, new cmd heading: 167.815559 deg. G%<HeadingCmd: 2.928934 target range: 124.631546 and range: 125.50 m.bs;@ZrjRJB~~o{B}| | |1|=@ -B{B5?B=I1)5>1I50 = 19=gs=s;@AAiEs;@aiK%P"K%9*K!2K%d :K%}0Zs} [U: ql <("Y}PE9E9E9E=x0E9FE=FE=ԑ:J`BJTJJFRJZJ:bJ:9J4J HHp<H>HHIH|BHHHHݚ<H checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7457116Ge jGu ?bGu > ~G9 AA AY Ne >,B,v hA=|BEII]I]T3mfļ mQ=yuQ u>٥qԙq HF >#5?#59 IByq@Ei; ; #5/A1]FNOT Ignoring new targets: 124.63 m.]6;]6;m ProNav: ac range: 124.631546 m, nav range: 122.423454 m, bearing: 150.032540 deg, approach rate: -0.298395 m/s, LOS rate: 0.241668 deg/s, cmd heading: 167.815562 deg, new cmd heading: 168.099638 deg. u%<HeadingCmd: 2.933892 target range: 124.631546 and range: 125.50 m.b;@ZrjRJB~~}||||@ @ -F{BU΅=IY)]1>YI]V= YYeW{e;@iiim;@iuBDAT read: Rx Time:13:48:18.9281 }TRx dataTimestamp_ set to:1749131300.288464checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000237EAEAEAEE;2EA6Gm ȹ~GA AQ Aa N} >! % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250481VH,j" hA9N ?NG?YN\NH@Ͽ`@?l?`YͿ@?j? ? N ?Ndž;)NCr|BrIIzIz2u<; J=yg&Q >٥ H = > E>#5?#59! IByL?q@Ei<<#59=/AAFNOT Ignoring new targets: 124.63 m.;; ProNav: ac range: 124.631546 m, nav range: 122.282677 m, bearing: 150.133448 deg, approach rate: -0.314494 m/s, LOS rate: 0.225685 deg/s, cmd heading: 168.099643 deg, new cmd heading: 168.402713 deg. <HeadingCmd: 2.939182 target range: 124.631546 and range: 125.50 m.b<@ZrjRJB~~})|1|A|i|ul @) K{Bƞ|=I ) Y> I =   o<@i<@iAEEEE0EDAT read: 13:48:18.9281 LVL= 20416, 32753, 30274, 32755, AGC= 63, IDX= 437, 0.03,-1.649, 3.045,-2.915,-2.407, PHS= 0.847,-0.784,-0.511, RAW= 99.0, 6.0, CAL= 108.6, 4.6, ROT= 41.4, -4.6 Ygot valid direction response: 13:48:18.9281 LVL= 20416, 32753, 30274, 32755, AGC= 63, IDX= 437, 0.03,-1.649, 3.045,-2.915,-2.407, PHS= 0.847,-0.784,-0.511, RAW= 99.0, 6.0, CAL= 108.6, 4.6, ROT= 41.4, -4.6 %PDAT read: Bearing 41.4, -4.6 (Local) %~Local bearing/azimuth received: Bearing 41.4, -4.6 (Local) Q]DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.1 m/s m,DAT read: user:1766> BDAT read: Tx time:13:48:20.0575 $Ping request sent.JN,q> hAH>HHIH }BHHHHۚ<HE:J^BJ_JJ@RJZJ} :bJ=h9JJ4JzJ^:jJc:J:rJ:JDAT read: TxSync time:13:48:20.0567 -|B-I15A=Mb@Mb@Mb@999 9)9Y=-?K7A`ſI +y=??=+=94=rA =@)9I99y=z@IuIu<2~; #=yQ >٥ HF >)m#5-?u#59-| I-zBy?:?q@-Ei-+<-:<- #5/AZb2 hABBBt @ʁX$/*W@\)lT@jV#@!Q?sN?zꇴ?8?lҁZdFX"LQ@~n<@Uk⒜dPt??zB6j˜?rf< зBm:Ȝ?>  ҈BB {&@ addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.528252 s, deltaX: -0.699997 m, approachRate: -0.198398 m/s, rangeRepo size: 4  Added new target pos. range: 123.935463 m, bearing: 143.646007 deg, lat: 36.906428 deg, lon: -122.115921 deg, deltaT: 3.528252 s, deltaX: -0.696083 m, approachRate: -0.197288 m/s, posRepo size: 4 FNOT Ignoring new targets: 123.94 m. ProNav: ac range: 123.935463 m, nav range: 123.319725 m, bearing: 149.041246 deg, approach rate: 0.000000 m/s, LOS rate: 0.225685 deg/s, cmd heading: 168.402713 deg, new cmd heading: 168.735888 deg. HeadingCmd: 2.944997 target range: 123.935463 and range: 124.80 m.bz<@Z!r!j!R!J!B!~)~-T{B})|)|Q|U@33_@|UI ? O{B=I)4>I = z<@iz<@iIEEEE0Eq 6G ~GI AQ Ai Nu >+^V,lZ hA!9-x?-?Y-[-H[տ`-O? -(? _Կ E? ؊GJ?:? -x?-;)-Cm|BmII Ib3nq X=ygQ >٥!! %H%F-l> ->1]#55?]#595 I5hByae?eq@5Ei5;5;5V#5imA0AqB*** querying acoustic contact ***JRFNOT Ignoring new targets: 123.94 m.6;6;U ProNav: ac range: 123.935463 m, nav range: 123.187241 m, bearing: 149.126554 deg, approach rate: -0.369486 m/s, LOS rate: 0.238173 deg/s, cmd heading: 168.735889 deg, new cmd heading: 168.992088 deg. ]t#<eHeadingCmd: 2.949468 target range: 123.935463 and range: 124.80 m.be<@ZirijiRiJiBq~~}||||?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q eR{Be/ =Ia)e%>aIm= iim<@i<@iEm?EiEqEu5Eqԁ6G ~G A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971328A N >\\,yst hA9Z?Z?YZZHYֿ _?@P?տ@8h?pT?? Z?Z5*;)ZCj|Bz|Iԑ5Mb@Mb@Mb@111 1)1Y5Gz?ʡEV-y5?5ケ5m5 A 5@)5@I11y5@Im"Imq3 ?=ynQ >٥ Hς= > #5 ? #59H IRBy s? : ?q@Ei;R; #5p0AEFNOT Ignoring new targets: 123.94 m.e;e; ProNav: ac range: 123.935463 m, nav range: 123.025360 m, bearing: 149.210407 deg, approach rate: -0.387505 m/s, LOS rate: 0.200989 deg/s, cmd heading: 168.992090 deg, new cmd heading: 169.243978 deg.  <HeadingCmd: 2.953865 target range: 123.935463 and range: 124.80 m.b =@ZKP"K*K2Kf :K'XF [L?{`i#i8,3f\BSi\ @JJ~ArjRJB~ ~ :{B} | | ||ғ? }V{B}=I)Ͼ>I= " =@i =@iԹEQEQEQEU5EQGGH>HHHHHHHٚ<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2237346G}  ~G1 AA AQ N] >%fc,A hA9>+?> ?Y>®$\>>Hؿ`8?Ʉ?׿Ly? ו@_?@? >+?>c;)<\^}I `b=IfIf[3v!; vi=yvmQ v?٥xx zHzFM= ?!-#5%m?-#59%2 I%ABy)-?-q@%Ei%:%:%#5Y]m0AaFNOT Ignoring new targets: 123.94 m.B\;B\; ProNav: ac range: 123.935463 m, nav range: 122.888954 m, bearing: 149.277232 deg, approach rate: -0.392639 m/s, LOS rate: 0.192566 deg/s, cmd heading: 169.243973 deg, new cmd heading: 169.444669 deg. '<HeadingCmd: 2.957367 target range: 123.935463 and range: 124.80 m.bE=@Zrj!R!J!B!~!~)})|)|)|Q|U`?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475393 Y{B靭=I)Ľ>I= E=@iE=@i bEZEAE?EEEP0E!I6Gȹ~G A A :J _BJ fJJ CRJ ZJ :bJ 9J 4J  @ @ @ @N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727291y ) i,T5 hA^ՈGp mYqyuB95A?A5?Y5)5H &ڿ9? 2?`ؿe?Wg ?@? 5A?5c;;)5C}|B}jIaI@a aM@a aQ@a aE@a II?13k  =yz:Q =>٥AA MHMFMI= U>Ye#5]Y?e#59]~ I]'Be+:yae:e ?eq@]Ei]M:]D?]#5qu0AqFNOT Ignoring new targets: 123.94 m.X;X; ProNav: ac range: 123.935463 m, nav range: 122.682602 m, bearing: 149.373559 deg, approach rate: -0.404800 m/s, LOS rate: 0.189282 deg/s, cmd heading: 169.444672 deg, new cmd heading: 169.734136 deg. <HeadingCmd: 2.962420 target range: 123.935463 and range: 124.80 m.bH=@Zr!j!R!J!B!~)~)})|)|)|1|U@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979277y ]{B靥m=I)Ь>Ig= \֗H=@iH=@iEiEiEiEiEiԡK 7P"K 9*K 2K g :K {ER"Z_s(A\//=77n){{qu06GM ~G) AA AQ N] >ʀp,. hAHHHIH|BHHHH<HEI64=I6R=jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2313099Y=?2@YHۿ ?;?@iXڿe?`A K?@3? Y=?sʼn;)!C]|B]ZIII3 }=yQ  ?٥ H%=  ?#5{?#59z IB :yp:?q@Ei;V?#5 M1AFNOT Ignoring new targets: 123.94 m.N;N; ProNav: ac range: 123.935463 m, nav range: 122.549408 m, bearing: 149.432652 deg, approach rate: -0.406540 m/s, LOS rate: 0.180563 deg/s, cmd heading: 169.734135 deg, new cmd heading: 169.911607 deg. ԙ;HeadingCmd: 2.965517 target range: 123.935463 and range: 124.80 m.b=@ZrjRJB~~}|||| @ _{Bx}w=I)>II= H]=@i=@i)E?EEET0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4834516G ȹ~G A A N >! Uv,R hA9:ø?:@Y:9:H@Dݿ\~ua?r?ۿ )?6?? :ø?:t;):CN|BNPIIVIV 3^-+ ^[=yb8:Q b>٥`` fHfFf= f>h#5ju?#59jt IjB 9y  B: ? q@jEij;jӚ?j>#59=1A9FNOT Ignoring new targets: 123.94 m.L;L; ProNav: ac range: 123.935463 m, nav range: 122.392555 m, bearing: 149.498796 deg, approach rate: -0.422558 m/s, LOS rate: 0.178419 deg/s, cmd heading: 169.911611 deg, new cmd heading: 170.110296 deg. ;HeadingCmd: 2.968985 target range: 123.935463 and range: 124.80 m.b>@ZrjRJB~ ~ }1|1|1|1|=@ b{B靭ǫq=I)D>I#= Ҟ>@i>@irER>jE> :JBJWJJ=RJZJbJG9Jg4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.736070E?EEE`0EFF96GU~G) A9 AI NU >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987390]|,ߩ hA 9JJ?Jڸ@YJKJH޿+! T??@kݿ`5?薿L?K? JJ?Jz;)H^y|BbDIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y|?5^?i|?5S㥫y?q/]+A @)@I$@y@IIT3j/ 7=y=Y:Q =>٥99 =H9E|= E>Iu#5Ml?u#59Mn IMB}T:y}]?}:}?}q@MEiM;M9;M0#5wB1AEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 123.94 m.1;1;- ProNav: ac range: 123.935463 m, nav range: 122.180130 m, bearing: 149.568417 deg, approach rate: -0.472964 m/s, LOS rate: 0.155281 deg/s, cmd heading: 170.110301 deg, new cmd heading: 170.319526 deg. 5";5HeadingCmd: 2.972636 target range: 123.935463 and range: 124.80 m.b5?>@Z9r9j9R9J9B9~A~E{B}A|A|Iq|I|u@G @K O"K K9*K 2K h :K V(   =  n  hH_f;mOg:: c,G e{Bnc=I)>!I%!= !!%M?>@IIiM?>@iQEEEEEHU>HQHUqIHU|BHQHQHQHU<HU(EH H H H  =I  = I e4IIAAԩBDAT read: Rx Time:13:48:22.6265 TRx dataTimestamp_ set to:1749131304.067389checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240367 6Ga ~G A) A9 NE >,M hA9:?:g@Y:H:H@C81?`"?:޿B?ȗ?? :?:X;):CJR|BJ-ILIfIf3~ҽ ~`=y;Q >٥ HF =  >=#5d?=#59i IBy9E@Eq@Ei;;^#5QUn2AyFNOT Ignoring new targets: 123.94 m.);); ProNav: ac range: 123.935463 m, nav range: 122.005821 m, bearing: 149.622358 deg, approach rate: -0.478686 m/s, LOS rate: 0.148343 deg/s, cmd heading: 170.319523 deg, new cmd heading: 170.481575 deg. ; HeadingCmd: 2.975465 target range: 123.935463 and range: 124.80 m.b n>@Z r jRJB1~9~9}9|9|9|A|EK2 @echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.491865 g{B靽-`=I)Pk>I= n>@in>@iEEEE0E6G ȹ:J `BJ `JJ ?RJ ZJ :bJ bl9J ـ4J I } DAT read: 13:48:22.6265 LVL= 28544, 32753, 32754, 32755, AGC= 65, IDX= 421, 0.15, 2.865, 1.328, 2.015, 2.249, PHS= 0.704,-0.873,-0.236, RAW= 113.7, 5.9, CAL= 123.8, 2.6, ROT= 26.2, -2.6  Ygot valid direction response: 13:48:22.6265 LVL= 28544, 32753, 32754, 32755, AGC= 65, IDX= 421, 0.15, 2.865, 1.328, 2.015, 2.249, PHS= 0.704,-0.873,-0.236, RAW= 113.7, 5.9, CAL= 123.8, 2.6, ROT= 26.2, -2.6  PDAT read: Bearing 26.2, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 26.2, -2.6 (Local)  DAT read: Range 10 to 50 : 123.6 m (Round-trip 164.9 ms) speed 0.5 m/s  ,DAT read: user:1767>  BDAT read: Tx time:13:48:23.7575  $Ping request sent. Y o) I i A X94? |_ q ?) B=I 3I @i 9=  > 9 ) 25?kyz?s?i B⽉ `Խ  > 9 )  :publishing transmit ping timeک  Fpublishing direction and range info y  Ʈ?sm/:?99? Y ) I i ) I i ) 25?kyz?s?i ) ,s) hA99?nt@Y)HG ;?`?Q@S?䘿?@S? ?_i;)CY]JDAT read: TxSync time:13:48:23.7567 K|B(I) ԉ Mb@Mb@Mb@ )Y-?MbZd;Oy??j<A )@I@yz@I- I- 2M m2 M ٥Q Q U H] F] 2= e >  #5 KS? #59 ` I ̦By ? : @ q@ Ei : : S#5 2A Z1b52$ hA5|B5|B5$@ʁ5V'B[@!J,uK@r8E@5 Ʈ?sm/:?99?5 >59ҁ54oY2I͠P@^풯1@5َN꿚ɪ\W?ҐI?z5B5~j5&Nɜ?r5` K 6P"K @9*K 2K i :K Uhdq zS{2%eR>J%. HYa_t Ա 51B11 5ϒB5OB5!:'@  addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 3.779975 s, deltaX: -1.200005 m, approachRate: -0.317464 m/s, rangeRepo size: 4   Added new target pos. range: 122.743950 m, bearing: 146.827094 deg, lat: 36.906428 deg, lon: -122.115921 deg, deltaT: 3.779975 s, deltaX: -1.191513 m, approachRate: -0.315217 m/s, posRepo size: 4   FNOT Ignoring new targets: 122.74 m.  E  ProNav: ac range: 122.743950 m, nav range: 121.654961 m, bearing: 149.709452 deg, approach rate: 0.000000 m/s, LOS rate: 0.148343 deg/s, cmd heading: 170.481576 deg, new cmd heading: 170.793789 deg. A ] HeadingCmd: 2.980914 target range: 122.743950 and range: 123.60 m.b] K>@ZY rY jY RY JY BY ~a ~e zB}a |i |i |m `f^@|m ? k{B靝 ~nK=I ) _> I = vZ K>@ i K>@i zE H5 >H1 H5 RIH5 |BH5  =H1 H1 H5 ۚ<H5 E E ?E E E P0E F =F = 6GI~G AA)N5?,O hA9b>?bv @YbxbH i˲`i?ވ?y ?o.@?? b>?bo$;)bC x)xɵ||||ɶ|i|IIYCi )    ɷdAI+)-Fi)IGALɸ ɹ!!!i!!i%&C))) )I)ٯ)]2|B]IIIm?3؏ m=yV:Q ?٥ HF= ?#5I?#59P\ IBy @q@EiG:u:^#5 )-2A-EyFNOT Ignoring new targets: 122.74 m.1;1; ProNav: ac range: 122.743950 m, nav range: 121.473030 m, bearing: 149.751431 deg, approach rate: -0.560657 m/s, LOS rate: 0.129561 deg/s, cmd heading: 170.793784 deg, new cmd heading: 170.919910 deg. ձ;HeadingCmd: 2.983115 target range: 122.743950 and range: 123.60 m.b\>@ZrjRJ B ~ ~ }||||? mm{Bm\Y=Ii)m]E>iIuY= qquXά}\>@yyi}\>@i9EYEYEYE]_0EYi6G} :J _BJ TJJ RJ ZJ :bJ :9J J ~Gq A A N >ԑ 8ݙ,_i hA9J_?JCC @YJQ>JH``4=?1?`2?씚@Y?? J_?J;)JC}$|BII#I%x3 Q   D=yES;Q M>y٥ H= >#5=?#59V IBy @q@Ei:;'3AaeFNOT Ignoring new targets: 122.74 m.m;; ProNav: ac range: 122.743950 m, nav range: 121.244179 m, bearing: 149.800750 deg, approach rate: -0.530189 m/s, LOS rate: 0.114475 deg/s, cmd heading: 170.919911 deg, new cmd heading: 171.068146 deg.  ;HeadingCmd: 2.985702 target range: 122.743950 and range: 123.60 m.b?@ZrjRJB~ ~ } ||||U? o{B靥eM=I)4>I 9= 䛯?@i?@iԡE?EEEE6G K% 5wP"K% 9*K! 2K% j :K% Z#H2_\G71P8cUr"*H _,!\#cJ~G A A N > GY G] @AHe >Ha He 3IHe ]|BHe  =Ha Ha He <He fEӠ,x hA9bm.@bA@YbQbHh? xm?@@?t?&? bm.@b;)bC}|B}IԹ}Mb@Mb@Mb@yyy y)yY}A`"?~jtx?Mby}?};}}A y)yIyyy}@II#38ͼ /=yGC:Q >٥ HF= >I]#5MJ/?e#59MQQ IMByP?:@q@MEiMl9I=W= AAEvE=?@IIiM=?@iIbEZET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. E) E) E) E5 ^0E1 F9 F9 9 6G ȹ~G AAN=>,HບF?H??v?٥11 =H=Fe> e>q#5u ?#59u0L IuByj@q@uEiu&;u$;u#53AEAMFNOT Ignoring new targets: 122.74 m.M:M:Y ProNav: ac range: 122.743950 m, nav range: 120.741638 m, bearing: 149.885149 deg, approach rate: -0.566543 m/s, LOS rate: 0.086884 deg/s, cmd heading: 171.207229 deg, new cmd heading: 171.321865 deg. n;HeadingCmd: 2.990131 target range: 122.743950 and range: 123.60 m.bM^?@Zr j R J1B9~I~I}y||||  #@ r{BZC=I ) J> Ivg= cM^?@iM^?@i!ԁEEEE]0E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247985Ա 6G ~G A A N >ˮ, hAE|BEIK$EP"K9*K2Kk :K s5@'[{ijP , U @cXI@sL"g6H#J?J?MMb@Mb@Mb@III I)IYM-?~jt?{GzyM5?MDHHIH5|BHHHH<HCE)M@IIIyM@IIb2-` -6=y5Q 5>:J]`BJ]XJJ]ARJYZJ]:bJ]5K9J]4JYzJ]:mjJ]:mJ]f:mrJ]f:mq٥ HFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501092 >#5@?#59F IBy-R?5:5@5q@Ei;;#59=3A9FNOT Ignoring new targets: 122.74 m.:: ProNav: ac range: 122.743950 m, nav range: 120.467552 m, bearing: 149.926788 deg, approach rate: -0.599581 m/s, LOS rate: 0.091294 deg/s, cmd heading: 171.321867 deg, new cmd heading: 171.447067 deg. z;HeadingCmd: 2.992316 target range: 122.743950 and range: 123.60 m.b?@ZrjRJB~~izB}||||`|@ }t{B靅F=I)>I$= m?@i?@iԁEE?EIEIEM`0EIԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7553106G ȹ~GY Ai Ay N >ʵ,J hA,9ZV@Zŭ@YZr=yZaË>ZH 7 ]`x??3?͠>?@m? ZV@Z;)ZCj|BzIII2v= p=yĿ;Q >٥ H0> ?#5?#59B IByo@q@Ei::#5muBmv3AmEFNOT Ignoring new targets: 122.74 m.$:$: ProNav: ac range: 122.743950 m, nav range: 120.266586 m, bearing: 149.951291 deg, approach rate: -0.569601 m/s, LOS rate: 0.069566 deg/s, cmd heading: 171.447065 deg, new cmd heading: 171.520697 deg. >;-HeadingCmd: 2.993601 target range: 122.743950 and range: 123.60 m.b5(?@Z1r1j9R9J9BA~a~i}i|i|i|i|uM]@ԁ u{BL=I)>I@L= (?@!!i%(?@i1rEN>jE>EqEqEqEu0EqBDAT read: Rx Time:13:48:26.3243 TRx dataTimestamp_ set to:1749131307.596279checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005669Ա YyB 6G ~G A A N >R,# hA`~|B~Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255676UMb@Mb@Mb@QQQ Q)QYUV-?y&1?~jtyU?U`e٥QQ UHUF] ]>AM$5Ek?M$59E< IEByU?U:Ul@Uq@EEiE<:E:E$5Ye3AeEFNOT Ignoring new targets: 122.74 m.q:q:&TFailed to parse incomplete device message. HqHu<-$}pFailed to parse device response: 63.50,10.0827,3.691.65  ProNav: ac range: 122.743950 m, nav range: 119.939034 m, bearing: 149.991438 deg, approach rate: -0.574212 m/s, LOS rate: 0.070572 deg/s, cmd heading: 171.520694 deg, new cmd heading: 171.641464 deg. A; HeadingCmd: 2.995709 target range: 122.743950 and range: 123.60 m.b ?@Z r j) R) J1 B9 ~A J;4J;4J;!0:Je [BJe UJJe GRJa ZJe :bJe >9Je c4Ja  @ @ @ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510766~E ozB} | | | I |% `V @ v{B ]@=I ) > I =    e= ?@9 A iE ?@iA E ?E E E P0E q ԡ6GȹDAT read: 13:48:26.3243 LVL= 32752, 32753, 30194, 32755, AGC= 68, IDX= 414, 0.16, 1.659, 0.217, 1.026, 1.075, PHS= 0.672,-0.811,-0.053, RAW= 120.8, 3.0, CAL= 129.7, -2.4, ROT= 20.3, 2.4 Ygot valid direction response: 13:48:26.3243 LVL= 32752, 32753, 30194, 32755, AGC= 68, IDX= 414, 0.16, 1.659, 0.217, 1.026, 1.075, PHS= 0.672,-0.811,-0.053, RAW= 120.8, 3.0, CAL= 129.7, -2.4, ROT= 20.3, 2.4 PDAT read: Bearing 20.3, 2.4 (Local) ~Local bearing/azimuth received: Bearing 20.3, 2.4 (Local) DAT read: Range 10 to 50 : 121.9 m (Round-trip 162.6 ms) speed 0.4 m/s ,DAT read: user:1768> ~GAAN?R, hA:BDAT read: Tx time:13:48:27.4075 >$Ping request sent.>JDAT read: TxSync time:13:48:27.4067 BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.937066,0.346631,-0.041876]F:publishing transmit ping time<FFpublishing direction and range infoyP_r?='{5/? ۷pBY )IuiD1,?OY V@)PwV=IT@i+ g>+= )a~v?6aZE?n ?izR<1FX g>+= ):publishing transmit ping time<Fpublishing direction and range infoyP_r?='{5/? ۷pY )Ii )Ii )a~v?6aZE?n ?i )ԩ |B III2uӿ< u#=yqQ }>٥yy }H}F >$5 ?$59.7 IByq@Ei"::$5Y3AZbV hABB;,@ʁ+2[\@0.D@NeFP_r?='{5/? ۷p g>+=ҁ =[IXJ@60@}=C,?f?zRBjlǜ?rta sB ҈BQB'@ addTargetRange:: Added new target pos. range: 121.900002 m, deltaT: 3.780404 s, deltaX: -1.699997 m, approachRate: -0.449687 m/s, rangeRepo size: 4  Added new target pos. range: 121.055634 m, bearing: 154.191738 deg, lat: 36.906428 deg, lon: -122.115921 deg, deltaT: 3.780404 s, deltaX: -1.688316 m, approachRate: -0.446597 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.06 m.  M ProNav: ac range: 121.055634 m, nav range: 119.659340 m, bearing: 150.025899 deg, approach rate: 0.000000 m/s, LOS rate: 0.070572 deg/s, cmd heading: 171.641465 deg, new cmd heading: 171.737208 deg. IHeadingCmd: 2.997380 target range: 121.055634 and range: 121.90 m.b?@ZrjRJB~~}|||y^@|`J? }w{B}fAL=Iy)}?>yI}l = ^6?@i?@iE?EEE]0E 9 6G ~G A A N >L,l2 hA9nM @na@Yn&nH@j-Y`v+??@? Þ݇?`? nM @n;)nCU"|BUIԩmMb@Mb@Mb@iii i)iYm`"?~jt٥ HFD> >!-$5%?-$59%N2 -tII%yBy5?5:5f@5r@%Ei%2:%:% $5Ye"3AeEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 121.06 m.::  ProNav: ac range: 121.055634 m, nav range: 119.387642 m, bearing: 150.053143 deg, approach rate: -0.595509 m/s, LOS rate: 0.059850 deg/s, cmd heading: 171.737211 deg, new cmd heading: 171.819129 deg.  L$;eHeadingCmd: 2.998810 target range: 121.055634 and range: 121.90 m.be?@ZarajaRaJiBi~i~mzB}||||? x{BڪN=I))>I9&!= +%?@!!i-?@iIEEEE^0EFFAKE P"KE59*KA2KEm :KEVU 6 "Z?&[,'D2OMe=[XQH]">H]CH]IH]|BHYHYHYH]<H]E:JE _BJE [JJE >RJA ZJE :bJE W9JE t4JA zJE +:U jJE /:U JE {|:U rJE }|:U  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 6G- ȹZG1 RG1 ~GA AY Ay N >R,cO hAT9UI@US]@YU"UH?@.?t?zt?`|? UI@Ur;)UC1|BII$I<3k = R=y Q  >٥    Hy= >E$5?M$59z. IsByY]d@r@EiZ<Z<U$5tB2AEFNOT Ignoring new targets: 121.06 m.kb:kb: ProNav: ac range: 121.055634 m, nav range: 119.164993 m, bearing: 150.072106 deg, approach rate: -0.579956 m/s, LOS rate: 0.049487 deg/s, cmd heading: 171.819132 deg, new cmd heading: 171.876128 deg. ;=HeadingCmd: 2.999804 target range: 121.055634 and range: 121.90 m.b=?@Z9r9jARAJABA~I~I}I|I|I|I|Up?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968073 9dW=I)9>IS!= 3?@i?@iE?EEEl0E6G 1 ~G A A N >Q Q U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220371,i hA=K|B=(I)Q Q R=I&I3j= O=yQ >٥ HF >$5ܮ?$59* InBy!-r@Ei<lh<$5aev2AeEFNOT Ignoring new targets: 121.06 m.%`:%`: ProNav: ac range: 121.055634 m, nav range: 118.934151 m, bearing: 150.091842 deg, approach rate: -0.573019 m/s, LOS rate: 0.049086 deg/s, cmd heading: 171.876123 deg, new cmd heading: 171.935447 deg. ; HeadingCmd: 3.000840 target range: 121.055634 and range: 121.90 m.b  @@Z rjRJ!QBY~~}|||| 9? 15Y=I9)=YR>9I=v"= 9IMUûe @@iiim @@iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.472927E9E9E9E=j0E9qԱ 6GY ~G9 AA AQ Ne >y, hAHPHPHRIHR5|BHPHPHPHR<HR(EH9H9H9H9I9 I=S04KbP"Kbŷ9*K`2Kbn :Kb ~  o G > S?=  k][w. 7}@=eBJhJjA9v\@v#p!@Yv6vH} ??? ~?/昿? ? v\@veË;)t\|B3IiII@A:J`BJkJJBRJZJ:bJ9J-4JzJ:jJ:J:rJ: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724050UMb@Mb@Mb@QQQ Q)QYU9v?:vy&1yU?UԼU`eUA Q)U@IQQyQII 3= /=y5Q >٥ HF > >$5?$59%& IeBy/?:@r@Ei:h;$5/2AyFNOT Ignoring new targets: 121.06 m.=.:=.:ԙ ProNav: ac range: 121.055634 m, nav range: 118.664825 m, bearing: 150.109302 deg, approach rate: -0.586110 m/s, LOS rate: 0.038083 deg/s, cmd heading: 171.935450 deg, new cmd heading: 171.987949 deg. :HeadingCmd: 3.001756 target range: 121.055634 and range: 121.90 m.b@@ZrjRJB~~zB}|Q|Q|Y|]? 靥~a=I)c>I:#= ]ǻ@@i@@iEEEE0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977361 6G jG ?bG ?~G A A N >(, hAI9@&%@YH@]@?5?I?@jue?9? @骽3;)CU||BUFIIeIe3m= uU=yuQ u>٥ H> >$5C?$59" I_By"@r@Eid,<,<3$51AE quFNOT Ignoring new targets: 121.06 m.}9}9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228502 ProNav: ac range: 121.055634 m, nav range: 118.443779 m, bearing: 150.117437 deg, approach rate: -0.544181 m/s, LOS rate: 0.020065 deg/s, cmd heading: 171.987947 deg, new cmd heading: 172.012398 deg. S\:HeadingCmd: 3.002183 target range: 121.055634 and range: 121.90 m.b#@@ZrjRJB~~}||||=@ i靍!k=I)>Ie$= 1˻#@@i#@@iEAEAEAEE0EAԡ) 6G M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480485~GQ AY Ai Nu >c,) hA9~@~ '@Y~\~H`t߿Qٽ?@:? w ?뗿 o&?? ~@~;)~C5|B5HIMb@Mb@Mb@ )YMbX?y&1{Gzy ?`eף )I@y@IU IUV2 < 8=y.Q >٥ HFH= >$5|?$59* ITBy ?:F!@r@Ei~)<O)<$51A=B*** querying acoustic contact ***J9R9quFNOT Ignoring new targets: 121.06 m.}9}9 ProNav: ac range: 121.055634 m, nav range: 118.204300 m, bearing: 150.129098 deg, approach rate: -0.568084 m/s, LOS rate: 0.027718 deg/s, cmd heading: 172.012399 deg, new cmd heading: 172.047453 deg. .:HeadingCmd: 3.002795 target range: 121.055634 and range: 121.90 m.b-@@ZrjRJB~~#{B}|||| @ Amm=Ii)m>iIu$= qquλ}-@@yyi}-@@iHHH3IH]|BH =HHH<HEKP"K}9*K2Ko :Ki==>!) i6Nr[>_LS$XTciE?EE!E%t3E!ׁׁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7342256GI Y ~G! A9 Aa N} >|d,nl hA9~@~&(@Y~:~HQ@޿`Ż?j?#?@@}Q? ? ~@~K;)~C|BWII% I%̍25V= 5t=y=Q =?٥99 EHAE)= E?IU$5Mp?U$59M~ IMLByY]#@]r@MEiM|:Mg:M!$5iB1AFNOT Ignoring new targets: 121.06 m.99 ProNav: ac range: 121.055634 m, nav range: 118.023232 m, bearing: 150.135389 deg, approach rate: -0.557477 m/s, LOS rate: 0.019398 deg/s, cmd heading: 172.047452 deg, new cmd heading: 172.066353 deg. T:HeadingCmd: 3.003124 target range: 121.055634 and range: 121.90 m.b13@@ZrjR!J!B!BDAT read: Rx Time:13:48:29.9712 TRx dataTimestamp_ set to:1749131311.375480checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985261~~}|||| F@ QU,|=IQ)U>QI]%= YY]C?һ13@@i13@@iE1E9E9E=3E9A6GY :J bBJ _JJ ARJ ZJ :bJ =h9J 4J  @ @ @ @~G9 AA ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236028Aa Nm >q Q,]1 hA9:ܟ@:K*@Y:pQ:Hmu`ܿ?`S:?@-]g?@ib?`0? :ܟ@:I;):CJ|BHIb Ib2;  N=y(EQ =>٥AI MHUF= >-$5Y_?m$59B IBBy$@r@Ei<O<%$5sB=1AEQUFNOT Ignoring new targets: 121.06 m.]59]59 ProNav: ac range: 121.055634 m, nav range: 117.793831 m, bearing: 150.140186 deg, approach rate: -0.474009 m/s, LOS rate: 0.009931 deg/s, cmd heading: 172.066358 deg, new cmd heading: 172.080776 deg. 9HeadingCmd: 3.003376 target range: 121.055634 and range: 121.90 m.bQ7@@ZrjRJB~~}|||| @ Ew{BEr=IA)Er>AIM&= IIMֻUQ7@@U, MBDAT read: Tx time:13:48:31.0575 M$Ping request sent.M ]@)AI&I@i^ Z A>^ Z> )|âǞ?VXHz?[vi>C= A>^ Z> ):publishing transmit ping timeIFpublishing direction and range infoy1b, hAH%#>H!H%RIH%|BH!H!H!H%<H%PEK2GP"K29*K02K2p :K2$=&Y5E&pRCeY   V0{U J 7 EJDAT read: TxSync time:13:48:31.0567 9m@m,@Ym1̼mHڿ`ַ?`p?`g?@ ?? m@m?;)i|BdI=Mb@Mb@Mb@999 9)9Y={Gz?Dl~jty=?=O==A =@)=3@I99y= @IuIu 2/= )=y9Q >٥ HF = >$5N?$59 I7By?:$@r@Ei;5;)$50AEZb? hABB/8@ʁ)\@"-@9^ Z>ҁv'&\P?g>@$W6pO-s^?ÁIȿz9A4j$>Ŝ?r<9  B B'@ addTargetRange:: Added new target pos. range: 119.699997 m, deltaT: 3.527236 s, deltaX: -2.200005 m, approachRate: -0.623719 m/s, rangeRepo size: 4  Added new target pos. range: 118.872063 m, bearing: 164.890139 deg, lat: 36.906428 deg, lon: -122.115921 deg, deltaT: 3.527236 s, deltaX: -2.183571 m, approachRate: -0.619060 m/s, posRepo size: 4 FNOT Ignoring new targets: 118.87 m.U ProNav: ac range: 118.872063 m, nav range: 117.557976 m, bearing: 150.145155 deg, approach rate: 0.000000 m/s, LOS rate: 0.009931 deg/s, cmd heading: 172.080783 deg, new cmd heading: 172.093045 deg. QHeadingCmd: 3.003590 target range: 118.872063 and range: 119.70 m.b:@@ZrjRJB~~[{B}|||]@|? v{Bbx=I1)5>1I='= 99=R7ۻE:@@ED5E 1 6G 8~G A AY Nm >,/ hA9E_ @EDs.@YEEH;DHٿ ?`p?/q?45? ^? E_ @E4;)A|BcIIIV834ۻ j=yQ >٥ H= > $5@?$59R I.By&@r@ Ei+<?(<,$5%0A!QFNOT Ignoring new targets: 118.87 m.)> !Cх8х8:JaBJWJJHRJZJ:bJG9JԺ4J]G}ZA YZAy+B ProNav: ac range: 118.872063 m, nav range: 117.363770 m, bearing: 150.146492 deg, approach rate: -0.530172 m/s, LOS rate: 0.003656 deg/s, cmd heading: 172.093050 deg, new cmd heading: 172.097068 deg. % 9-HeadingCmd: 3.003660 target range: 118.872063 and range: 119.70 m.b-;@@Z)r)j)R)J1B1~1~1}9|9|9|9|=@M-? u{BZ=I$M)>Ih(= 4<߻=;@@=,1; hAm|BmmIMb@Mb@Mb@ )Y^I +?㥛 I +yX>9A )@Iyf@I"Iq3= %=yQ >٥ HF > $5HHHeIH|BHHH4DHš<HE ,0?$59 # I !Bya>:%@r@ Ei < < 1$50AEB*** querying acoustic contact ***JARAiuFNOT Ignoring new targets: 118.87 m.uI8}I8 ProNav: ac range: 118.872063 m, nav range: 117.131950 m, bearing: 150.149575 deg, approach rate: -0.470164 m/s, LOS rate: 0.006264 deg/s, cmd heading: 172.097066 deg, new cmd heading: 172.106332 deg. 9HeadingCmd: 3.003822 target range: 118.872063 and range: 119.70 m.b>@@ZrjRJB~~U{B}||||?KɔP"Ks9*K2Kq :KVT*gpzMF#d=*lNUN,~ u?  mt{Bm=Ii)u>qIu*= qqu仉}>@@}<}Pi}>@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iEyEEEE9 6G] πo~G1 AQ Ay N >,T hA9>:#@>1@Y>y1>>H-ֿ֤?`ܫ? ٷ2? Ŗx?? >:#@>ӈ;)>CJ|BJdIIf%If)37 E=yMu;Q M ?٥QQ UHUFU.> U?Ym$5]$?u$59]7 I]Byy)@r@]Ei]<]<]3$5rB0AE ?F? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495771iuFNOT Ignoring new targets: 118.87 m. ProNav: ac range: 118.872063 m, nav range: 116.978065 m, bearing: 150.147509 deg, approach rate: -0.508012 m/s, LOS rate: -0.006828 deg/s, cmd heading: 172.106328 deg, new cmd heading: 172.100123 deg. HeadingCmd: 3.003714 target range: 118.872063 and range: 119.70 m.b<@@ZrjRJB~~}||||@?Q ]s{B]<=Ia)eќ>aIe*= aae绉<@@m<i<@@iEAEAEAEE_0EA6G-vVԁ~GAANn>:JU bBJU UJJU CRJQ ZJU :bJU >9JU 4JQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746644Ա }%,fn hA9:0z%@:3@:H`z3Կ~??C?`Ze~?`? :0z%@:9ֈ;):CR|BRkII^I^3A< >=y;Q >٥!) ]HYms= m>$5?$59 I By!-%+@Ur@EiD<؊<7$50AԹ9EFNOT Ignoring new targets: 118.87 m.meme} ProNav: ac range: 118.872063 m, nav range: 116.757156 m, bearing: 150.141696 deg, approach rate: -0.476267 m/s, LOS rate: -0.012555 deg/s, cmd heading: 172.100126 deg, new cmd heading: 172.082656 deg. } HeadingCmd: 3.003409 target range: 118.872063 and range: 119.70 m.b7@@ZrjRJB~~}||||`@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998521 Uq{B]\=IY)]>YI}q,= YG컉7@@[< i7@@i>E G G AAH $>H H qIH |BH  =H H H ܚ<H "EE} ?Ey Ey E} P0E Ku [P"Ku 9*Kq 2Ku r :Ku 0HT2_f`6W&ro`FBU&#x=(;[G" checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2505531 6GLKZGRG~GaAiAyԁN ?*$,y hA9z&'@z:5@YzzH`*w8ӿ@x߭?B?K`?@"&?@? z&'@z;)x=|BEVIMb@Mb@Mb@ )Y"~j?MbX9/$yS>ʡ+A @)`@I$@y@I5I5 3Ie =y";Q >٥ HF:7= >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502545$5?$59 IBy&>:+@r@Eim;;<$5!-=1A- EFNOT Ignoring new targets: 118.87 m.`` ProNav: ac range: 118.872063 m, nav range: 116.498360 m, bearing: 150.134899 deg, approach rate: -0.466792 m/s, LOS rate: -0.012287 deg/s, cmd heading: 172.082655 deg, new cmd heading: 172.062218 deg. HeadingCmd: 3.003052 target range: 118.872063 and range: 119.70 m.b2@@ZrjRJB~ ~v{B}||||a|@ p{B靥j@s=I)>IN-= 8-񻉢2@@>< i 2@@i Iԁ >E- :J1 BJ5 WJJ1 RJ1 ZJ1 bJ5 G9J1 J1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755988E ?E E E p5E 6G d8ԩ ~GA AI AY Ne >;*,S hA9n(@n6@YnknH `uѿ7? ?`?`a?? n(@n%;)nC|BRII1I1Ms mb=yuY;Q u>٥qq uHuF}= }>$5N?$59 IBy,@r@Ei<<?$5W1Aq5FNOT Ignoring new targets: 118.87 m.eʒeʒ ProNav: ac range: 118.872063 m, nav range: 116.337120 m, bearing: 150.128725 deg, approach rate: -0.418329 m/s, LOS rate: -0.016042 deg/s, cmd heading: 172.062219 deg, new cmd heading: 172.043670 deg. %0-HeadingCmd: 3.002728 target range: 118.872063 and range: 119.70 m.b5,@@Z1rYjYRaJiBi~~}||||@ o{B?}=I) >I!D.= w%,@@%OA<-%Ľi-,@@i)DQDQDYDYԑ l><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007974Ey Ey Ey E} 3Ey 6GU ,H H H H H  =H H H <H EH=˞CH=˞CH9H= =I= = I=Do4 ~G) A1 AI NU >1,Ug hA=BDAT read: Rx Time:13:48:33.6956 =TRx dataTimestamp_ set to:1749131315.155401Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259570KE)P"KA*KA2KEs :KE([~ E;  E)cJ 8 Z yW" @9u2&;NuJU?JU>u|BuJI}Mb@Mb@Mb@yyy y)yY}Zd;?X9vy}>}L}}AA }@)yIyyy}Q@II<2ۼ 5=yQ >٥ HF >$5?$59 IBy_?:1@r@Ei::C$5)51A5 E=B*** querying acoustic contact ***J9R9IMFNOT Ignoring new targets: 118.87 m.U0U0 ProNav: ac range: 118.872063 m, nav range: 116.115250 m, bearing: 150.111561 deg, approach rate: -0.496509 m/s, LOS rate: -0.038484 deg/s, cmd heading: 172.043668 deg, new cmd heading: 171.992078 deg. IӺHeadingCmd: 3.001828 target range: 118.872063 and range: 119.70 m.b@@ZrjRJB~~Y{B}!|!|!|!|%= @ m{B靝z=I)z>I2/= >@@=<&ɽi@@iEu?EqEqE}]0EyF=F=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510567! 6G5  jG= ?bG= >~G A! A9 I N] >7,uW hA9+@a9@Y8H u-ο@E?,?^  ? U@?? +@ш;) C5w|B5CIIEIE(*3W Z=ym;Q >٥ H> > $5? $59 IۥBy  4@r@"Ei;&;,G$51AamFNOT Ignoring new targets: 118.87 m.} v v ProNav: ac range: 118.872063 m, nav range: 115.932510 m, bearing: 150.093138 deg, approach rate: -0.532620 m/s, LOS rate: -0.053779 deg/s, cmd heading: 171.992073 deg, new cmd heading: 171.936719 deg. HeadingCmd: 3.000862 target range: 118.872063 and range: 119.70 m.b@@ZrjRJB~~}||||` @ -l{B-=I1)5n>1I5'/= 11]@@/<! \i@@iMDAT read: Range 10 to 50 : 175.3 m (Round-trip 233.8 ms) speed 0.4 m/s U,DAT read: user:1770> ]BDAT read: Tx time:13:48:34.8091 ]$Ping request sent.]y  JDAT read: TxSync time:13:48:34.8083 A>,$ hA0~]|B~3IMb@Mb@Mb@ )Y!rh?y&1X9vyl?`弹 A 5@)@I@yf@II٥ HF >M$5?U$59] IХByU?U:Uq7@Ur@&Ei<<J$5Ye2AeEԉ-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 175.300003 m, deltaT: 3.780686 s, deltaX: 55.600006 m, approachRate: 14.706327 m/s, rangeRepo size: 4FNOT Ignoring new targets: 118.87 m.ÏÏM ProNav: ac range: 118.872063 m, nav range: 115.708595 m, bearing: 150.065216 deg, approach rate: -0.502972 m/s, LOS rate: -0.062844 deg/s, cmd heading: 171.936721 deg, new cmd heading: 171.852790 deg. M,UHeadingCmd: 2.999397 target range: 118.872063 and range: 119.70 m.bU?@ZQrQjQRQJQBY~Y~]zB}Y|a|a|e@|@C?H-%>H)H-_IH-|BH)H)H)H-Ӛ<H-E k{BUt$p=IQ)Ur>QIU0= YY]]4?@ܹ<#ri?@iIIAAE=?E9E9E=n0E9K9Q"K9*K2Kt :K\  x 3DG H pf4{>`FaQ&)JJA6GN̽~GAAN> |D, hA96l.@6<@Y6:=y6Ȋn>6H ^`5ɿI??}? F ?@? 6l.@6Z;)6C`f2|BjII]I]3ma me=ym;Q u>٥qq H>= >$5?$596 IƥBy:@r@)EiG::N$52A!%FNOT Ignoring new targets: 118.87 m.--] ProNav: ac range: 118.872063 m, nav range: 115.528282 m, bearing: 150.038711 deg, approach rate: -0.512477 m/s, LOS rate: -0.075449 deg/s, cmd heading: 171.852791 deg, new cmd heading: 171.773153 deg. ]OeHeadingCmd: 2.998007 target range: 118.872063 and range: 119.70 m.beY?@ZarijiRiJiBi~~}||||<? i{B%m=I!)%uH>!I%X1= !)-BUY?@U$<]ji]Y?@iYE?EE E 5E 6G- gɽZG) RG) ~G A A! N5 >A $K,<. hA9>n/@>e=@Y> =y>ewa>>H!v@^ǿ+[y?`^?J E?[? 5? >n/@>;)> CZ*|BZIIjIjM3  R=y ;Q  >٥ H!F5%= 5>AU$5E?U$59E IEByae;@mr@E,EiEN;E;EQ$5}qB}2A}EFNOT Ignoring new targets: 118.87 m. ProNav: ac range: 118.872063 m, nav range: 115.331131 m, bearing: 150.008039 deg, approach rate: -0.501259 m/s, LOS rate: -0.078115 deg/s, cmd heading: 171.773151 deg, new cmd heading: 171.680980 deg. pVHeadingCmd: 2.996398 target range: 118.872063 and range: 119.70 m.b?@ZrjRJB~~}||| |  1? g{B g=I).C>I%m1=Q !Ye?@K<i?@iE?EEE5E6Gu iԉ~GAAN>ԡ H% $>H! H% FIH% ||BH! H! H! H% <H% _EvR,UH hA96O0@6 c>@Y6=y6+a>6H@ˆſB?٥ %H%F%= %>)5$5- ?5$59- I-By=Z?=:==@=r@-0Ei-T ;-:-SU$5ae$3AuEFNOT Ignoring new targets: 118.87 m.ٺٺ5 ProNav: ac range: 118.872063 m, nav range: 115.098450 m, bearing: 149.966046 deg, approach rate: -0.526206 m/s, LOS rate: -0.095160 deg/s, cmd heading: 171.680985 deg, new cmd heading: 171.554749 deg. 5=HeadingCmd: 2.994195 target range: 118.872063 and range: 119.70 m.b=?@Z9r9j9R9J9BA~A~EzB}i|i|i|i|m`&f? e{B=c=I)~4>I<2= E?@M_b H8X,yb hA9J1@JY1?@YJ&=yJn]>JHNĿsyդ?[? ٤ }? 9? J1@Jʉ;)JCV{BVII^ I^(2f fb=yfJ&٥hh jHhre= r>tz$5vz?~$59v IvBy|~>@~r@v3Eiv;vL;vX$5 3A %B*** querying acoustic contact ***J!R!1=FNOT Ignoring new targets: 118.87 m.=,=,M ProNav: ac range: 118.872063 m, nav range: 114.904976 m, bearing: 149.929626 deg, approach rate: -0.559108 m/s, LOS rate: -0.105424 deg/s, cmd heading: 171.554749 deg, new cmd heading: 171.445306 deg. MUHeadingCmd: 2.992285 target range: 118.872063 and range: 119.70 m.bU?@ZYrYjYRYJaBi~i~i}q|q|q|y|}? c{B靥Pb=I)>I 3= 1?@GT<A{ԑԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263691ja^,P| hA9:k1@: @@Y:J7=y: V>:Hͦ¿@`-? 5?K禿{? E? :k1@:c;):Cԑ{BIMb@Mb@Mb@ )Y/$?٥ HF< >$5oa?$59 IBy?:?@r@8Ei;;\$53AE%FNOT Ignoring new targets: 118.87 m.-'-'= ProNav: ac range: 118.872063 m, nav range: 114.621742 m, bearing: 149.873378 deg, approach rate: -0.567173 m/s, LOS rate: -0.112914 deg/s, cmd heading: 171.445302 deg, new cmd heading: 171.276142 deg. =EHeadingCmd: 2.989333 target range: 118.872063 and range: 119.70 m.bE:Q?@ZArAjIRIJIBQ~Y~][zB}Y|a|a|a|mi@ `{B靕V=I) >I 3= !GG@AH#>HH IH?|BHHH3DH<HEE:Q?@E܆)Le,&8 hA9N`2@N@@YN^+G=yNL>NHIs.?@| ?⨿]?S? N`2@N͈;)NC VC)TɵTTTXɶXiXIX\I\i^|A \\)\` ```ɷ`dfhAIfb)f&Fid)dIjfAj7 ɸjݯF hɹhllillill)p pIpٯp{BII5I53es my=y}7@I M BDAT read: Rx Time:13:48:37.4432 U TRx dataTimestamp_ set to:1749131318.684833] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022327tk,V hA9:kV3@:iA@Y:H6W=y:!@>:HX]=z?c,Ï?㪿`z?Fd? :kV3@:;):C={BEII]I]T3mZ mJ=ym{٥qq Ho< >$5;?$59E IBy@@r@@Ei:W:Zc$5J4AE)5FNOT Ignoring new targets: 118.87 m.55E ProNav: ac range: 118.872063 m, nav range: 114.203659 m, bearing: 149.785878 deg, approach rate: -0.594606 m/s, LOS rate: -0.126453 deg/s, cmd heading: 171.159227 deg, new cmd heading: 171.013161 deg. MUHeadingCmd: 2.984743 target range: 118.872063 and range: 119.70 m.bU?@ZQrQjQRQJQBY~Y~Y}Y|a|a|a|eZ @ \{B靽zU=I)D=I`B4= VL?@>E< G=i?@irEV>jE>iEu?EqEyE}_0EyFFA6G},<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273523~G9AAAYNeV>ԙ H $>H H IH |BH  =H H H <H E]r, hA9B3@BA@YBe=yB2>BH@+6){|?'H`?䱬@6?v? B3@B1e;)BCLJ4J4J1:JRdBJR^JJRQRJPZJR<:bJRd9JR4JPzJR;jJR;JR:rJR:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526238}{B}IKU%P"KUK9*KQ2KUw :KUrY%"{ 'o^,"`IDJ"gDx{qMb@Mb@Mb@ )Y!rh?~jtx~jtyl'?ĻļvA x@)I@y@II3$ '=yf;Q  >٥ H%F-Y< ->AU$5E5!?U$59ES IEtByU'?U:UA@]r@EEEiEl;E ;Eg$5epBe4AeEFNOT Ignoring new targets: 118.87 m. ProNav: ac range: 118.872063 m, nav range: 113.915230 m, bearing: 149.722295 deg, approach rate: -0.593237 m/s, LOS rate: -0.131108 deg/s, cmd heading: 171.013156 deg, new cmd heading: 170.821925 deg. HeadingCmd: 2.981405 target range: 118.872063 and range: 119.70 m.bW>@ZrjRJB~~yB}||||\B @ %X{B%b#O=I!)%=)I-4= ))-25W>@5 <5r6k=i5W>@i9E}?EEE^0EDAT read: 13:48:37.4432 LVL= 24560, 26273, 19698, 28531, AGC= 61, IDX= 14,-0.33, 3.133, 2.079,-2.311,-3.059, PHS=-0.004,-1.099, 0.744, RAW= 173.8, 4.5, CAL= 173.9, -4.5, ROT= 336.1, 4.5 Ygot valid direction response: 13:48:37.4432 LVL= 24560, 26273, 19698, 28531, AGC= 61, IDX= 14,-0.33, 3.133, 2.079,-2.311,-3.059, PHS=-0.004,-1.099, 0.744, RAW= 173.8, 4.5, CAL= 173.9, -4.5, ROT= 336.1, 4.5 PDAT read: Bearing 336.1, 4.5 (Local) ~Local bearing/azimuth received: Bearing 336.1, 4.5 (Local) DAT read: Range 10 to 50 : 172.4 m (Round-trip 229.9 ms) speed 0.1 m/s  ,DAT read: user:1771>  BDAT read: Tx time:13:48:38.5576  $Ping request sent. ? ܭ"B@)ܭ|٠=Iܭ?B@iܭ|٠ܭ@ܭ|٠= ݩ)ݩݭ|ݣ?-?,?iݭ]p?ݭӒݭվݭ|٠= ީ)ީ} :publishing transmit ping time } Fpublishing direction and range infoکyڭ 0{*?'k`ٿ5;کYک ۩)۩I۩i۩۩۩۩۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭ|ݣ?-?,?iݩݩݩݩ ީ)ީ! 6G} e~<~GQ AY Aq N} >2x,B! hAd9E~4@EB@YE=yEz>EH` @$ȧ ?jq? 4? ? E~4@E;)EC}{B}III(*3 p=yG@Z!r!j)R)J1B1~9~A}A|A|A|Ěe@|M`:? U{B,L=I)=I4= D%7>@%ڏ<%Bŋ=i%7>@i))>E9 zEA Y E E E E P0E F =F =6G >=~G A A N- >1, hA(9N94@NB@YNW=yN>NHtࠄmH?~{@!? q]? ? N94@NH;)Lb{BbI]Mb@Mb@Mb@YYY Y)YY]?y&1|{Gzy],?]`廹]ף]A ]@)YI]@Yy]@ImIm[3}Ee }C=y;Q >٥ Hַ; >$5i?$59 I[By,?:TB@r@MEi:(:&n$5IU4AQuB*** querying acoustic contact ***JqRqyFNOT Ignoring new targets: 118.87 m.%&%& ProNav: ac range: 118.872063 m, nav range: 113.460709 m, bearing: 149.618833 deg, approach rate: -0.635571 m/s, LOS rate: -0.145256 deg/s, cmd heading: 170.685102 deg, new cmd heading: 170.510902 deg. `ǻHeadingCmd: 2.975977 target range: 118.872063 and range: 119.70 m.bgv>@ZrjRJB~~yB}||||? He<Hep;Hm%>HiHmIHm{BHiHiHiHm<HmEԁHIHIHIHIII IM5 5 R{B靭@ ݶ< Kw=i gv>@i >Eh%:JbBJTJJDRJZJ:bJ:9J4JzJG ;jJJ ;JRJ:rJTJ:%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ԱEEEEo0EKaP"K9*K2Kx :K"x 4gLd@Acr"l? ]lci41|P6Gl=~GaAqAN> ],hA9F4@F6B@YF׉=yFx>FH5v@@Z??@7`?`~? F4@F|;)FC\r{BrI~A|II354; =P=y=ٶ;Q =>٥9A EHEFEG< E>IU$5M@ZrjRJB~~}||I|I|Mz?  N{B靝QL=I)=IBy5= F>@<=iF>@i 9= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248427>EE za E! E) E1 E5 _0E9 FI FI ԉ 6GRk=~Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500128AAN ?W,H=hA9> 4@>{B@Y>=y>=>H@m@nh? -?? ? > 4@>׈;)>CN{BNIMb@Mb@Mb@ )YK7?~jth?٥ HFι >$5 ?$59Z I;By)?:nC@r@WEi ; ;v$5 4A 'E15FNOT Ignoring new targets: 118.87 m.=*=*M ProNav: ac range: 118.872063 m, nav range: 112.874695 m, bearing: 149.479945 deg, approach rate: -0.616855 m/s, LOS rate: -0.149171 deg/s, cmd heading: 170.343716 deg, new cmd heading: 170.093118 deg. M̻eHeadingCmd: 2.968685 target range: 118.872063 and range: 119.70 m.be=@ZarajaRaJaBi~i~myB}i|q|q|q|u? %J{B%!K=I!)-=)I-M5= ))- U=@]HHIH{BH =HHHǚ<HE IC=Ip=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751121EEEEV0EKE %PQ "KE @9*KA 2KE y :KE 9o ca2\pZH. C uSyOu#z Y*$Ju6G x=~G A A N >w,VhA9RZ4@RB@YRg=yRS=RHȺ` @?9?Ҳt?ٽ? RZ4@R<;)RC^{B^IIfIf<2j  n]=yn٥pp rHpv v>tz$5v?~$59v Iv.By|~GC@~r@v[Eiv;v;vy$5oB 25A *EQ]FNOT Ignoring new targets: 118.87 m.e"e"u ProNav: ac range: 118.872063 m, nav range: 112.655121 m, bearing: 149.427045 deg, approach rate: -0.589060 m/s, LOS rate: -0.142193 deg/s, cmd heading: 170.093116 deg, new cmd heading: 169.934108 deg. u+û}HeadingCmd: 2.965910 target range: 118.872063 and range: 119.70 m.b}w=@ZyryjyRJB~~}||||? F{B靕 L=I)=I 6=  w=@ <R=iw=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004109iQEEEE0Ey6G\=~G ԩ A A N >:JM iBJM XJJM @RJI ZJM +:bJM 5K9JM J4JI U @U @U @U @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254846ǡ,phA@9>p4@>B@Y>0^=y>=>H" {1(?}8?Ѧ E?? >p4@>u;)>CN{BNIIvIvb2~ߜ ~H=y٥   H F 7  >$5?$59 I By!%B@%r@_Ei+;;p}$59ER5AAimFNOT Ignoring new targets: 118.87 m.u$u$ ProNav: ac range: 118.872063 m, nav range: 112.411049 m, bearing: 149.368734 deg, approach rate: -0.600815 m/s, LOS rate: -0.143852 deg/s, cmd heading: 169.934109 deg, new cmd heading: 169.758797 deg. rŻHeadingCmd: 2.962850 target range: 118.872063 and range: 119.70 m.bU=@ZrjRJB~~}||||9@ B{BTJ=I)=I%I6= U=@?<z/=iU=@iԩEEEE5EF=F=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5101506G=~GAAN > G G ?AH >H CH IH {BH H H H <H E>,hAlI|I~BA={B=I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758914-Mb@Mb@Mb@))) )))Y-Mb?MbPMby-#?---hA -@)-hAI-@)y-@IEIE2Uy; ]6=y]Q ]>٥aa eHeFe e>i}$5mA~?}$59mT ImBy}#?}:|B@r@mdEim:m:m\$5H5A-EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 118.87 m.LL ProNav: ac range: 118.872063 m, nav range: 112.152580 m, bearing: 149.307864 deg, approach rate: -0.575198 m/s, LOS rate: -0.135772 deg/s, cmd heading: 169.758792 deg, new cmd heading: 169.575763 deg. [HeadingCmd: 2.959655 target range: 118.872063 and range: 119.70 m.bj=@ZrjRJB~~yB}||||@Km+*P"Km9*Ki2Kmz :Kmp_bdFzI``?zAn~NT""m?H5! >{B K=I)=Iڔ6= ;j=@W.<C=ij=@i EEEE5E1% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0127476G =a ~G A A N- >,hA9F3@FA@YF~=yFs=FH@`@u@X?@? ]DB? ? F3@FK;)FCV{BVIIXIXb fh=yf+٥dh jHhja j>lr$5nk?v$59n InByx~A@~r@ngEink;n=m;np$5g5A0E)5FNOT Ignoring new targets: 118.87 m.559M ProNav: ac range: 118.872063 m, nav range: 111.948540 m, bearing: 149.261137 deg, approach rate: -0.581297 m/s, LOS rate: -0.133364 deg/s, cmd heading: 169.575757 deg, new cmd heading: 169.435321 deg. M UHeadingCmd: 2.957204 target range: 118.872063 and range: 119.70 m.bUB=@ZQrQjQRYJYBY~a~a}a|a|a|i|m_l @) =ՈGQi }:{B靍M=Ide:)X=I6= 3 Yy:BB=@<w=iB=@i`@?B:J_BJ]JJRJZJ :bJ_9JJE)E1E1E5V4E1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263145qԙ6Gm=~GI AQ Ai Nu > = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517420M,mhA9J)83@JKA@YJ{=yJ5;O=JH1.`$j`߾? `?`P,˩?? J)83@JE;)JCV{BVIԑMb@Mb@Mb@ )YʡE?MbP?Mb`y?:`@ $@)AIyp@IIT3! ;=yl;Q >٥ HF >$5U?$59 IBy?:hA@r@lEiZ;=;E$5y5A)-FNOT Ignoring new targets: 118.87 m.55E ProNav: ac range: 118.872063 m, nav range: 111.702538 m, bearing: 149.205240 deg, approach rate: -0.562493 m/s, LOS rate: -0.128093 deg/s, cmd heading: 169.435314 deg, new cmd heading: 169.267253 deg. EѯUHeadingCmd: 2.954271 target range: 118.872063 and range: 119.70 m.b]=@ZYrYjYRYJYBY~a~eyB}a|a|i|i|u @ 5{B靝K=I) =I8 7= 𻉢=@<=i=@izEAHu>HqHuIHu{BHu =HqHqHu<HuEEEEEO0EF F 6G_ =~GAANf>quAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767430K RP"K }9*K 2K { :K lc>3dPG5Q 6pf2b'/bX;u Ƶ,7hA~{B~II I 3=; =T=y=Q E>٥AA EHEFM M>Q]$5UOA?]$59U IUByYY]r@UoEiU;U;U$5imo5Am3EFNOT Ignoring new targets: 118.87 m.KK ProNav: ac range: 118.872063 m, nav range: 111.487251 m, bearing: 149.156099 deg, approach rate: -0.555427 m/s, LOS rate: -0.127025 deg/s, cmd heading: 169.267251 deg, new cmd heading: 169.119545 deg. ZHeadingCmd: 2.951693 target range: 118.872063 and range: 119.70 m.b<@ZrjRJB~~}||||@ %1{B%SN=I!)%=)I-wJ7= ))-컉5<@5<5X-=i=<@i9checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021189E?EEEP0E)6GĈ=Q~GiAyAN>:J- bBJ- XJJ- DRJ) ZJ- :bJ- 5K9J- 4J)  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270921ԡ m,hA9> Z2@>wm@@Y>[=y>S =>H``Z$?`d?@· ?? > Z2@>s;)>Cbw{BbIIfIf 3nVܼ nP=yr٥pt vHtv v>x~$5z:-?~$59z: IzBy@@r@zsEiz;z^;z $5nB5A6EAMFNOT Ignoring new targets: 118.87 m.MDMDe ProNav: ac range: 118.872063 m, nav range: 111.266296 m, bearing: 149.107294 deg, approach rate: -0.565921 m/s, LOS rate: -0.125252 deg/s, cmd heading: 169.119541 deg, new cmd heading: 168.972833 deg. e뫻mHeadingCmd: 2.949132 target range: 118.872063 and range: 119.70 m.bm<@ZirijiRiJiBi~q~q}|||!|%@ m,{Bm3L=qI)=I 7= =軉<@<=i<@iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.525211>EE?EEE4EF=Fp= He <He <Hi Hi Hm IHm ~{BHm  =Hi Hi Hm ۚ<Hm E 6G =ZG RG A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775511~G AA)N5> ,<hAx5v{B5IK&P"Ks9*K2K| :K X#z" J;TkH!?c$-4"e'Mb@Mb@Mb@ )Y(\?{Gztyz?ף3@ @)AIp@y @I I<2 K %!=y-Q 5>٥11 5H5F= =>AM$5E?M$59E IE֤ByM|?M:U?@Ur@ExEiE\ ;E ;E}$5Y]5AYB*** querying acoustic contact ***JRFNOT Ignoring new targets: 118.87 m.   ProNav: ac range: 118.872063 m, nav range: 110.995689 m, bearing: 149.048942 deg, approach rate: -0.518179 m/s, LOS rate: -0.112008 deg/s, cmd heading: 168.972829 deg, new cmd heading: 168.797348 deg. EHeadingCmd: 2.946069 target range: 118.872063 and range: 119.70 m.bEg<@ZArIjIRIJIBI~Q~U$zB}Q|Q|Q|Y|]`w@ &{BxK=I ) |= I 7=   q⻉g<@<=ig<@i!>E] ;EEEEP0E-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029558I6G[=~GAAN>q ,)hA9r1@rZ?@Yr6=yrL@٥19 =H=F=i =>AM$5E?M$59E> QIE̤ByQU?@]r@E{EiE!*;E*;E$5emBe5Ae7E:JoBJYJJERJZJ>:bJ[O9J4Jaiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.279269FNOT Ignoring new targets: 118.87 m.GG ProNav: ac range: 118.872063 m, nav range: 110.796982 m, bearing: 149.007397 deg, approach rate: -0.518172 m/s, LOS rate: -0.108531 deg/s, cmd heading: 168.797347 deg, new cmd heading: 168.672490 deg. HeadingCmd: 2.943890 target range: 118.872063 and range: 119.70 m.bh<@ZrjRJB~~}||||@):@ ]!{B])M=IY)]=YIe 8= aaݻh<@e4<l=ih<@iDDDDԁԩEEEEO0E= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533239 6G |=~GaAqH>HHIHt{BH =HHHҚ<H EHUΝCHUΝCHQHU =IU = IUά 5AN>,fHhA9B0@B@>@YBϻ=yB$o٥ HF > $5k? $59 IBy.?:E=@r@Ei;oq;)$5!% 6A%:EIMFNOT Ignoring new targets: 118.87 m.UWUWe ProNav: ac range: 118.872063 m, nav range: 110.531204 m, bearing: 148.956049 deg, approach rate: -0.553771 m/s, LOS rate: -0.107247 deg/s, cmd heading: 168.672491 deg, new cmd heading: 168.518075 deg. e4mHeadingCmd: 2.941195 target range: 118.872063 and range: 119.70 m.qbm<<@ZqrqjqRqJyBy~y~9zB}||||.@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783838 U{BUrG=IY)]4t=YI]V8= YY]pֻe<<@eߛ<OW=i<<@irEC>jE>EaEaEaEeP0EaԡKKP"K}9*K2K} :Kw+3\AW( '8^CWd"PX,9CDZcYaZxp!6G= q=~GQAYAiN}z> < < checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035288 a8,hzbhA9Jp0@Jݫ>@YJ=yJ&=JH`i`ſ``?Ȩ?yDl? ? Jp0@Jӻ;)HVO{BVIZAXIbIb2f꾼 j^=yj+;Q j>٥lp rHpvS v>x~$5zB?~$59z IzBy<@r@zEizw;z;zf$5  06A 1=FNOT Ignoring new targets: 118.87 m.=o=oM ProNav: ac range: 118.872063 m, nav range: 110.336670 m, bearing: 148.918842 deg, approach rate: -0.528027 m/s, LOS rate: -0.101168 deg/s, cmd heading: 168.518075 deg, new cmd heading: 168.406258 deg. U܊eHeadingCmd: 2.939244 target range: 118.872063 and range: 119.70 m.be<@ZarijiRiJqBq~y~y}y|y|y||@ {B靵vI=I)d=IZ8= ѻ<@U<ƸO=i<@iEIEIEQEU_0EQ%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.2869626GRk=~GA)AANM>) a,Q|hA 9J|J0@J]>@YJb=yJ/=JHbſ@Z@b-?`R@d?eɣ?@.? J|J0@Jq;)JCZ7{BZ~IInIn2h %F=y-Š:Q 5>٥AI UHUFm9 u>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541222)m$5-?$59- I-By<@r@-Ei-<-r<-F$56A=E1Y]FNOT Ignoring new targets: 118.87 m.eպmպ} ProNav: ac range: 118.872063 m, nav range: 110.103294 m, bearing: 148.874673 deg, approach rate: -0.492374 m/s, LOS rate: -0.093386 deg/s, cmd heading: 168.406264 deg, new cmd heading: 168.273475 deg. }.HeadingCmd: 2.936926 target range: 118.872063 and range: 119.70 m.b;@ZrjRJB~~}||||@|@ -{B-2B=I))- =)I58= 115ʻ=;@=<=/H=i=;@iAGGAAH>HHIHU{BH =HHH<H>EE?EEEEa:J]BJZJJ?RJZJ]:bJS9Jـ4JzJ: jJ: JPu: rJSu: 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790911ԡ 6GE KM r&P"KM @9*KI 2KM ~ K,U3hA:K}{mh-DErK.htMiUL_@9V./@V >@YVʹ=yVˢ+=VH[@>wƿ *`?y@-?j`nU? ? V./@Vu;)VCb1{BbzIMMb@Mb@Mb@III I)IYMZd;O?Zd;OMb`?yM~ ?MjM;Mv@ M@)M`AIM@IyM(@IeIeF2uf }D=y} >9Q }>٥y HN >$5?$59l IBy ?:K;@r@EiK;5;$56A}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 118.87 m.ӺӺ ProNav: ac range: 118.872063 m, nav range: 109.907433 m, bearing: 148.839905 deg, approach rate: -0.518828 m/s, LOS rate: -0.092262 deg/s, cmd heading: 168.273472 deg, new cmd heading: 168.168983 deg. F}HeadingCmd: 2.935102 target range: 118.872063 and range: 119.70 m.b;@ZrjRJB~~zB}||||@ } {B}C=Iy)}d=I8= GŻԩ;@\<'===i;@izEchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.044486EEEEf0EF=F=6G C= ~G A A N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294846v,7hAh]{B]fI ea=ea=ImIm?13p I=yQ >٥ HF >$5?$591 IByr@Eic;;0$5,7A@EaeFNOT Ignoring new targets: 118.87 m.ԺԺ ProNav: ac range: 118.872063 m, nav range: 109.699799 m, bearing: 148.802906 deg, approach rate: -0.519356 m/s, LOS rate: -0.092721 deg/s, cmd heading: 168.168984 deg, new cmd heading: 168.057777 deg. ~HeadingCmd: 2.933161 target range: 118.872063 and range: 119.70 m.b;@ZrjRJB~~}||||@ {B u;=I)1<Iz8= j;@%ѝ<%4zF=i%;@i) E?EEE0E6G9=~GqAANh>1checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549823Y H >H H wIH -{BH H H H <H 3E[,3hA9>NT/@>g=@Y>E=y>1=>HM ǿݷ?_jJ?T?? >NT/@>롊;)>Cn{Bn]I9Mb@Mb@Mb@ )YJ +?y&1Mb`y?`弹hA )AI@y@II2Q G=yWWQ >٥ HFż >$5?$59 IBy?: :@r@EiBh;q;Ŭ$5d7A)-FNOT Ignoring new targets: 118.87 m.dɺdɺ:J^BJVJJERJZJ} :bJB9J4JzJ^:jJc:JX:rJX: ProNav: ac range: 118.872063 m, nav range: 109.492233 m, bearing: 148.768126 deg, approach rate: -0.524391 m/s, LOS rate: -0.088035 deg/s, cmd heading: 168.057774 deg, new cmd heading: 167.953236 deg. qchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.799942 HeadingCmd: 2.931337 target range: 118.872063 and range: 119.70 m.b ;@Z r j R JB~~zB}|!|!|!|%E@ zB靵9=I)@h;I8= ;@6<0'=i;@iiPExceeded connect timeout, disconnecting.EEEE0EK=3P"K=9*K92K= :K=Y:u] jQa^K+dv Oo3dfBTgs|Hԑ6G Г>=jG ?bG 4?~Ga A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050777N > ',jhA9>/@>#=@Y>=y>E )=>HG@p7ȿ@Ʒ?`et?|4W?? >/@>홊;)>CNzBNGIIV-IV3^Ľ ^]=y^[Q ^>٥`` fHdnP6 n>pv$5r?v$59r IruBytv9@vr@rEirl:r:r$5~lB~7A~CEԙFNOT Ignoring new targets: 118.87 m.II ProNav: ac range: 118.872063 m, nav range: 109.303558 m, bearing: 148.736842 deg, approach rate: -0.487634 m/s, LOS rate: -0.080994 deg/s, cmd heading: 167.953232 deg, new cmd heading: 167.859217 deg. W^HeadingCmd: 2.929696 target range: 118.872063 and range: 119.70 m.b$;@ZrjRJB~~})|i xYy-A| || p @ }zB}]/1=I)ּIͻ8= ;ϲ$;@_<!=i$;@ibEZEAE!E!E!E-5E)F1F16G$=-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307778~GAANi> ̰,hAzB<Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.556981II?13 8=yQ >٥ HF >iu$5mRk?u$59m ImfByyy}s@mEim:m6:mI$558AFEFNOT Ignoring new targets: 118.87 m.FĺFĺ= ProNav: ac range: 118.872063 m, nav range: 109.056396 m, bearing: 148.695690 deg, approach rate: -0.514143 m/s, LOS rate: -0.085797 deg/s, cmd heading: 167.859221 deg, new cmd heading: 167.735486 deg. EkHeadingCmd: 2.927536 target range: 118.872063 and range: 119.70 m.b\;@ZrjRJB~~}||||l`!@!HaHaHeXIHezBHe =HaHaHe<HeEE zB靥.=I)Iۘ8= z\;@<t+=i\;@iE?EEE)3EQII@A:J`BJ\JJBRJZJ:bJ[9J-4JzJ:jJ:Jҁ:rJԁ: checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806949  nManaging dock network, ignoring radio surface power offy 6G '=Ku #>P"Kq *Kq 2Ku :Ku '$ e[ CT>9"NzEaU;&)+2C$Jy Jy ~G A A N > ,PhA96.@6"<@Y60=y6E1=6H< Cɿ`?"@ ?W5?ȹ ?? 6.@6;)6C^zBb%IMMb@Mb@Mb@III I)IYMX9v?{GzMbyM?M#MMA M@)IIM$@IyM @IeIe2u uK=yuQ u>٥yy }H}F}9 >$5Z?$59 IZBy?:28@s@Eiz ;L ;b$58AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 118.87 m. ProNav: ac range: 118.872063 m, nav range: 108.860641 m, bearing: 148.665743 deg, approach rate: -0.522278 m/s, LOS rate: -0.080043 deg/s, cmd heading: 167.735485 deg, new cmd heading: 167.645483 deg. [HeadingCmd: 2.925966 target range: 118.872063 and range: 119.70 m.bC;@ZrjRJB~~SzB}!|!|!|)|-"@ zB靥#=I),Ie8= ХC;@=8<{==iC;@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.060600E?EEE5EI6G5 ,=~G A A1 N= >q  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310926 ,'2hA9f_W.@fj<@Yf?H=yfi\;=fH8ɿN?P z?@2~`K? ? f_W.@f1o;)fCrzBrIIxIx+ R=y AQ  >٥ H!% %>)5$5-{H?5$59- I-MBy9=8@=s@-Ei-;-v;-ͺ$5AE<9AMIEquFNOT Ignoring new targets: 118.87 m.}Ϻ}Ϻ ProNav: ac range: 118.872063 m, nav range: 108.644890 m, bearing: 148.632981 deg, approach rate: -0.596630 m/s, LOS rate: -0.090779 deg/s, cmd heading: 167.645477 deg, new cmd heading: 167.546995 deg. 4yHeadingCmd: 2.924247 target range: 118.872063 and range: 119.70 m.b&;@ZrjRJB~~}|||| "@Q ezBee=Ia)miIm8= iimFퟻ&;@,t<=i&;@irER>jE>EIEIEIEMP0EQF]=F]p=6G-^=ԁ~GYAaAyNZ>=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566071ԱH >H H 9IH zBH  =H H 2DH <H jE ,KhAvqzBvIMb@Mb@Mb@ )YzG?:v{Gzy ?T#A `@) AIh@yAII 3_ >=yQ >٥ HF >$5+4?$590 I=By?:6@s@Ei: ';$59A :J=aBJ=TJJ9RJ9ZJ=:bJ=:9J9J9zJ=;jJ=;J=RJ:rJ=UJ:1UFNOT Ignoring new targets: 118.87 m.]]m ProNav: ac range: 118.872063 m, nav range: 108.402275 m, bearing: 148.598561 deg, approach rate: -0.565718 m/s, LOS rate: -0.080438 deg/s, cmd heading: 167.546999 deg, new cmd heading: 167.443509 deg. m\uHeadingCmd: 2.922441 target range: 118.872063 and range: 119.70 m.ׁׁchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.817244bD ;@ZrjRJB~~zB}||||#@Ա zBn=Imw2<)ܽI 7= FD ;@<v=iD ;@iiE!E!E!E%Q0E!KGVP"K}9*K2K :K9b()\g+e )Z'=I7Ko BXkG 6GM #=- 9 ,ehAvNzBvII~I~V83 J  W=y Q  >٥ HF %>!-$5%"?5$59% I%/By115s@%Ei%g<%pg<%$5':ALEFNOT Ignoring new targets: 118.87 m.D D ProNav: ac range: 118.872063 m, nav range: 108.186188 m, bearing: 148.567769 deg, approach rate: -0.545780 m/s, LOS rate: -0.077927 deg/s, cmd heading: 167.443508 deg, new cmd heading: 167.350949 deg. U%HeadingCmd: 2.920825 target range: 118.872063 and range: 119.70 m.b%:@Z!r!j!R!J)B)~)~)}1|1|1|1|=@r$@ uzBuf=Iq)u qI}P7= yy}u:@( <=i:@i E%?E)E)E-^0E)ԉ ,,hA0r٥QQ UHQQ U>Ye$5]o ?e$59]t I]Byiims@ԑ]Ei];];]$5kB:AOE FNOT Ignoring new targets: 118.87 m.% ProNav: ac range: 118.872063 m, nav range: 107.915909 m, bearing: 148.529076 deg, approach rate: -0.577376 m/s, LOS rate: -0.082865 deg/s, cmd heading: 167.350945 deg, new cmd heading: 167.234575 deg. %zcUHeadingCmd: 2.918794 target range: 118.872063 and range: 119.70 m.bU:@ZQrQjQRQJYBY~Y~Y}a|a|a||Ph%@GGH>HCH IHzBHHHH<H2EHqHqHqHqIq Iu5 -zB-{=I))- 1I56= 115(=:@=ft<=(#=i=:@i!zE)ԹEEEEP0EFFBDAT read: Response Not Received *response not received,DAT read: user:1772> BDAT read: Tx time:13:48:49.5078 $Ping request sent. h&,ޚhAnzBrItteMb@Mb@Mb@aaa a)aYe?~jt:vye ?eDeTeA eI@)aIe@ayeAIIb2 X=yQ >٥ HF >$5f?$59 IBy ?:7@s@Ei ;;O$5 =;A B*** querying acoustic contact ***JRFNOT Ignoring new targets: 118.87 m.-&ź-&źMJDAT read: TxSync time:13:48:49.5070 ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250482a ProNav: ac range: 118.872063 m, nav range: 107.690132 m, bearing: 148.495115 deg, approach rate: -0.571738 m/s, LOS rate: -0.086181 deg/s, cmd heading: 167.234573 deg, new cmd heading: 167.132476 deg. lHeadingCmd: 2.917012 target range: 118.872063 and range: 119.70 m.bS:@ZrjRJB~~;zB}|||| @;&@ zB靭E ;ԩ J-4J4J(90:J eBJ bJJ RJ ZJ \:bJ t9J J  @ @ @ @ A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501800EQ EQ EQ EU 1EQ 6Gɓ%=~GAAN ?W.,]PhA9>3.@>0<@Y>=y>yh=>H y5.7ʿ`> s?D&?@Į?`? >3.@>i%;)>CNyBNIIV'IV@3^/ ^=y^ȻQ b>٥`` fHfFf j>am$5eF?m$59e^ IeByquU7@us@eEie:eB:e$5y;AREchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755238AaFNOT Ignoring new targets: 118.87 m.ºº ProNav: ac range: 118.872063 m, nav range: 107.367935 m, bearing: 148.446996 deg, approach rate: -0.568074 m/s, LOS rate: -0.085094 deg/s, cmd heading: 167.132475 deg, new cmd heading: 166.987685 deg. iHeadingCmd: 2.914485 target range: 118.872063 and range: 119.70 m.b:@ZrjRJB!~!~!}!|)|)|i|u0\'@ zB靽)&HHIH9zBH =HHH <H{EԡI1 I1 } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004890>E d6<Ee ?Ea Ea Ee 5Ea K ٥ HF >$5?$59G IޣBy?*?:7@s@Ei2 ; ;$5nHeCHeIHeyBHaHaHaHe<He٥ HF- ->1=$55?E$595 I5ǣBym-?m:m8@us@5Ei5;5;5v$5y}=A}XEFNOT Ignoring new targets: 118.87 m.5 ProNav: ac range: 118.872063 m, nav range: 106.604683 m, bearing: 148.327082 deg, approach rate: -0.625103 m/s, LOS rate: -0.102217 deg/s, cmd heading: 166.796375 deg, new cmd heading: 166.626652 deg. 5M=HeadingCmd: 2.908184 target range: 118.872063 and range: 119.70 m.b=:@Z9r9j9R9JaBa~i~mIzB}i|i|q|q|u})@ zBtG, hA9^-@^|;@Y^&=y^e=^H/ʿ@i&?B7?=\? C? ^-@^q;)^Czchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266275ByBJII I<2 Y=y`Q >٥    H 7 >-$5}?-$590 IByQU8@Us@Ei;,;$5]jB]K>Ae[EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 118.87 m.,,U ProNav: ac range: 118.872063 m, nav range: 106.368347 m, bearing: 148.288488 deg, approach rate: -0.654824 m/s, LOS rate: -0.107173 deg/s, cmd heading: 166.626659 deg, new cmd heading: 166.510618 deg. UmHeadingCmd: 2.906158 target range: 118.872063 and range: 119.70 m.b9@) ZrjR!9IJQ }Yyy}BBY~~}||||,s*@ zBN,B:hA}yB}5III2ګ J=yQ >٥ H F  >$5qr?$59^ IBy!!%s@Ei::3$5)->A-YEQ]FNOT Ignoring new targets: 118.87 m.]zez ProNav: ac range: 118.872063 m, nav range: 106.109467 m, bearing: 148.246004 deg, approach rate: -0.657610 m/s, LOS rate: -0.108181 deg/s, cmd heading: 166.510614 deg, new cmd heading: 166.382851 deg. |HeadingCmd: 2.903929 target range: 118.872063 and range: 119.70 m.b9@ZrjRJB~~}||||#+@ zBaHYH]qIH]yBH] =HYHYH]<H]wE6G1=~Gi Aq A N >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020624?T,ThA@9F-@FP;@YF!ֶ=yFF|=FH V/n˿W?@6)?@Ҷv?? F-@F9;)FCRyBR$I}Mb@Mb@Mb@yyy y)yY}K7?Zd;O/$y}I,?}j}} A y)} AI}@yy}AI Ib3 O=y-Q >٥ H Fv >$5\?$59 IByx,?:9@s@Ei::$5iB=?A\EFNOT Ignoring new targets: 118.87 m.U ProNav: ac range: 118.872063 m, nav range: 105.859879 m, bearing: 148.202173 deg, approach rate: -0.632382 m/s, LOS rate: -0.111315 deg/s, cmd heading: 166.382848 deg, new cmd heading: 166.251047 deg. Uʘ]HeadingCmd: 2.901628 target range: 118.872063 and range: 119.70 m.b]G9@ZYrajaRaJiBi~q~}yB}y|y|y|y|`-+@ zB靭:h[,~nhA9:$-@:;@Y:D=y:v=:H.:˿`Rg?j5`?`!@9?@? :$-@:;)8RxBRIIZIZV83f2 jY=yjQ j>٥hl nHlpr{ r>tz$5vRH?z$59v IvByx~9@~s@vEivL;vY;v$5?A_E)5FNOT Ignoring new targets: 118.87 m.55U ProNav: ac range: 118.872063 m, nav range: 105.619804 m, bearing: 148.160022 deg, approach rate: -0.640379 m/s, LOS rate: -0.112690 deg/s, cmd heading: 166.251053 deg, new cmd heading: 166.124312 deg. U]HeadingCmd: 2.899416 target range: 118.872063 and range: 119.70 m.b] 9@ZYrajaRaJaBa~i~i}i|i|i|q|uH,@ zB靥1U DAT read: 13:48:52.0548 LVL= 28752, 32577, 21874, 30707, AGC= 67, IDX= 36,-0.20,-0.885,-2.019,-0.220,-0.915, PHS= 0.118,-1.057, 0.692, RAW= 168.8, 3.2, CAL= 169.3, -5.6, ROT= 340.7, 5.6 ] Ygot valid direction response: 13:48:52.0548 LVL= 28752, 32577, 21874, 30707, AGC= 67, IDX= 36,-0.20,-0.885,-2.019,-0.220,-0.915, PHS= 0.118,-1.057, 0.692, RAW= 168.8, 3.2, CAL= 169.3, -5.6, ROT= 340.7, 5.6 a  PDAT read: Bearing 340.7, 5.6 (Local)  ~Local bearing/azimuth received: Bearing 340.7, 5.6 (Local)  DAT read: Range 10 to 50 : 107.1 m (Round-trip 142.9 ms) speed 0.5 m/s  ,DAT read: user:1773>  BDAT read: Tx time:13:48:53.1578  $Ping request sent. HAHE?IHE0yBHE =HAHAHE<HECE5&1? 5)<@)5d=I5$=@i5+Ƚ5dH@5+= 1)15='@ ? :?!?i5Y?5dg5jw5+= 1)1m:publishing transmit ping time9mFpublishing direction and range info1y5W?wM տA_11Y1 1)1I1i11111 1)1I1i111 1)15='@ ? :?!?i1111 1)19Z-@m;@Y&=yd=H@,U˿(@?`2@H?@d?? Z-@骍 ;)xBI=Mb@Mb@Mb@a999 9)9Y=oʡ?~jtI +y=-?==99 =hA)=rAI=I@9y=AII2U =yT.Q >٥ H Fһ >E$5*?E$59 IqByE7-?E:M9@Ms@Ei;;$5QU/@AUbEZ1b57hA5B5B5%@ʁ5 dLX@U~AQa$5W?wM տA_15jw5+=ҁ5̱>EV:R5K@pJU45|Na_?vxȿz5YB5.j5$JȜ?r54-0 5p'B154-0  5p'B5eB5Ǭ'@ addTargetRange:: Added new target pos. range: 107.099998 m, deltaT: 22.176309 s, deltaX: -12.599998 m, approachRate: -0.568174 m/s, rangeRepo size: 4 - Added new target pos. range: 106.356560 m, bearing: 148.583269 deg, lat: 36.906381 deg, lon: -122.115935 deg, deltaT: 22.176309 s, deltaX: -12.515503 m, approachRate: -0.564364 m/s, posRepo size: 4 )]FNOT Ignoring new targets: 106.36 m.ea ProNav: ac range: 106.356560 m, nav range: 109.198967 m, bearing: 150.110383 deg, approach rate: 0.000000 m/s, LOS rate: -0.112690 deg/s, cmd heading: 166.124312 deg, new cmd heading: 165.936265 deg. HeadingCmd: 2.896134 target range: 106.356560 and range: 107.10 m.bCZ9@ZrjRJB~~zB}|||`fZ@|D? -zBu;ـ= ~G)A1AINU>)i,mhA9^-@^-+;@Y^j=y^~L3=^H`'˿@ⰿ |?2~d?5ȳ@V?? ^-@^:;)^CzxBzIII5G 5k=y=\#Q =?٥99 EHE FE? E?q$5uI?$59u[ IudByt9@s@uEiuRJZJ]:bJ>9Jt4J 6G- <=~G A A! N5 >p,#hA =xB=IIMIM3]{ ]I=yeQ e>٥aa eHim m>q$5u2?$59u IuTBys@uEiup;uq;u8$5AAeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.941881YeFNOT Ignoring new targets: 106.36 m.em ProNav: ac range: 106.356560 m, nav range: 108.710609 m, bearing: 150.036973 deg, approach rate: -0.656279 m/s, LOS rate: -0.099103 deg/s, cmd heading: 165.833195 deg, new cmd heading: 165.715533 deg. HeadingCmd: 2.892282 target range: 106.356560 and range: 107.10 m.b%9@ZrjRJB~~}||!|)Y|e?H>HCH IHxBH =HHH<HnEHHHH =I Ia5 uzBuЎ~Xv,hA9Vi,@V|:@YV=yVT=VHRͿ֭A?@6?`)l ? ? Vi,@Vdщ;)VCbsxBbI]Mb@Mb@Mb@YYY Y)YY]{Gz?~jthy&1y]#?]D]`e] A ]zA)]\ AI]v@Yy]fAIuIuV83C C=yPQ >٥ H Faϼ >KEP"KEs9*KA2KE :KEnLT;YY{X^|qt\y) C}5O^,J+AU$5Er?U$59E IEFBy]#?]:]B:@]s@aEEiE|,[hA9>),@>==:@Y>W=y> _=>H2Ϳ 㬿N?`1? '`˫?D? >),@>Չ;)>CJ^xBJIIPIPZP ZM=y^-Q ^>٥\\ ^HbFbp b>I]$5M?]$59Mh IM;Byae:@s@MEiMa;Mw;M$5AAFNOT Ignoring new targets: 106.36 m.%&%&5 ProNav: ac range: 106.356560 m, nav range: 108.201675 m, bearing: 149.956529 deg, approach rate: -0.646811 m/s, LOS rate: -0.101917 deg/s, cmd heading: 165.577610 deg, new cmd heading: 165.473628 deg. 5㋻=HeadingCmd: 2.888060 target range: 106.356560 and range: 107.10 m.b=8@Z9r9jYRaJaBa~i~i}i|i|i|q|u@?! }{zB靅m:I).I,$= Ҁ8@<e=i8@iEu?EqEqEu_0Eq6GM{/=I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950337~G!A)AANMt>ԁ  H H 4=H= >H9 H= IH= xBH=  =H9 H= 1DH= <H= YE},܁hA09>+@>m:@Y>욎=y>~]=>H @7ο@$`˷?0 `x?ϱF?@+? >+@>hL;)>CJCxBJImMb@Mb@Mb@iii i)iYm'1Z?~jth?~jtxym"?mD;mĻm A i)m AImAiym3AII<2q 8=yEQ >٥ H   >$5m?$59 I0By%"?%:%]:@%s@Ei;:;$5)-6BA-kE}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201904:J`BJTJJJRJZJ:bJ:9J4JzJ:jJ:JrJ9EFNOT Ignoring new targets: 106.36 m.E׺E׺ԉ ProNav: ac range: 106.356560 m, nav range: 107.942673 m, bearing: 149.914794 deg, approach rate: -0.584275 m/s, LOS rate: -0.094375 deg/s, cmd heading: 165.473627 deg, new cmd heading: 165.348121 deg. HeadingCmd: 2.885869 target range: 106.356560 and range: 107.10 m.b8@ZrjRJB~~yB}||||@Թ 5qzB=;I9)= 9I=j"= AAE;E8@M_LjE] >K$P"K59*K2K :K)s8ZE<];2%8:XmU^80Y\SUl+E?EEER0EF =F = = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4559616G n= ~G A A N%>Ŋ,+-hA9>+@>_9@Y>=y>H=>H Sο<:? NK?1?? >+@>;)>CJ3xBJIIR IRV2Z ZB=yZQ ^>٥\\ ^H^FbU> b>dj$5f?j$59f, If%ByhjH:@ns@fEifGu BDAT read: Rx Time:13:48:55.7018 } TRx dataTimestamp_ set to:1749131337.080691 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961148ԡ ϡ,kFhAH->H)H-IH-oxBH)H)H)H-ؚ<H-Eԑ9+@[9@Y=yV3=Ht \οG [?#֭?a/ \?? +@骭];) 4xB IMb@Mb@Mb@ )Yףp= ?y&1|?~jthy?`;D/ A A)\ AIAyAII 3;   =y ;Q  >٥ HF >-%5?-%59P IBy-?-:-:@5s@EiE;;_%5=gB=nBA=qEiuFNOT Ignoring new targets: 106.36 m.upup ProNav: ac range: 106.356560 m, nav range: 107.385506 m, bearing: 149.823717 deg, approach rate: -0.612649 m/s, LOS rate: -0.101606 deg/s, cmd heading: 165.224134 deg, new cmd heading: 165.074175 deg. vHeadingCmd: 2.881088 target range: 106.356560 and range: 107.10 m.bc8@ZrjRJB~~yB}||||@ @ dzB=;I) I=  c8@e<!=ic8@iEEEE_0EFFAII:J]BJ[JJLRJZJ]:bJW9J4JzJ:jJ:J{|:rJ}|:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2127416G =q ~Gq Ay K 2P"K s9*K 2K :K q~eE rMY#)o 0_xo%e'9ucJ J ?A N >V,XahA9by+@b9@YbLJ=yb/=bHV @Rο`ѫ`?@!4? ҥ?? by+@b";)bCz*xBzII  I 2% %}=y-2Q - ?٥11 =H9=.: E ?%5u~?%59 IBy:@s@Ei::Q%5BAEDAT read: 13:48:55.7018 LVL= 24304, 30369, 17506, 28531, AGC= 68, IDX= 405,-0.39, 1.156,-0.020, 1.724, 1.137, PHS= 0.107,-1.110, 0.585, RAW= 165.9, 5.6, CAL= 165.9, -3.7, ROT= 344.1, 3.7 MYgot valid direction response: 13:48:55.7018 LVL= 24304, 30369, 17506, 28531, AGC= 68, IDX= 405,-0.39, 1.156,-0.020, 1.724, 1.137, PHS= 0.107,-1.110, 0.585, RAW= 165.9, 5.6, CAL= 165.9, -3.7, ROT= 344.1, 3.7 U8DAT read: $Error in header U*Received a bad headerԉX#Rx 1: Read direction message, but no range.`direction in FSK: [0.959737,-0.273388,-0.064532]y)+)?HB0ѿP0Y ^)vIbDisoD"={? O9@)+=IO9@i A.@ A= Ȫ7 ,?1?Dؘ8?iLL?]Qǽj A=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 106.36 m.ӺӺ ProNav: ac range: 106.356560 m, nav range: 107.186485 m, bearing: 149.790617 deg, approach rate: -0.555488 m/s, LOS rate: -0.092556 deg/s, cmd heading: 165.074170 deg, new cmd heading: 164.974687 deg. ~%HeadingCmd: 2.879351 target range: 106.356560 and range: 107.10 m.b%KG8@Z)r)j)R)J)B)~1~1}1|1|1|9|= @ ]YayeB ]zB9I) Il= VKG8@=<(=iKG8@izEaԱEEEEo0E T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6G "=~G A A N >4",G{hAI)9>w+@>9@Y>w=y>C=>H @Vο@P? {?$Xk?`3? >w+@>ވ;)>CJxBJIIRIR 3Z ZS=y^)Q b>٥dd fHjFj@9 j>lr%5nak?r%59n In Bytv:@vs@nEinK:n:n %5xzCAztE!%FNOT Ignoring new targets: 106.36 m.-9-9 ProNav: ac range: 106.356560 m, nav range: 106.964813 m, bearing: 149.753579 deg, approach rate: -0.627172 m/s, LOS rate: -0.105010 deg/s, cmd heading: 164.974682 deg, new cmd heading: 164.863336 deg. "HeadingCmd: 2.877408 target range: 106.356560 and range: 107.10 m.bt'8@ZrjRJB~~}||||`@ eXzBm@лIi)m|iImz= iiuf8t'8@㉧<F/=it'8@iEIEIEQEU5EQ T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGAA6G(=H>HHIHGxBHHHH<H(E~G A AA I NU >- ,d#hA2A2A6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapseI4I6@A:J:bBJ:WJJ:ARJ8ZJ::bJ:G9J:4J8zJ:H ;jJ:J ;J:_:rJ:_:9Z+@Z]9@YZA=yZ_=ZH < ohοP;`?@^i?`+_@? ? Z+@ZE;)XjxBjI]Mb@Mb@Mb@YYY Y)YY]V-?Mbp?y]?]];] A ]3A)]AI]zAYy]AImIm#3ۼ /=y6Q >٥ HF >%5S?%59 IBy?:9@s@Eie;d;%57CAQY]FNOT Ignoring new targets: 106.36 m.e!պe!պ ProNav: ac range: 106.356560 m, nav range: 106.689148 m, bearing: 149.709264 deg, approach rate: -0.578061 m/s, LOS rate: -0.093166 deg/s, cmd heading: 164.863336 deg, new cmd heading: 164.730049 deg. HeadingCmd: 2.875082 target range: 106.356560 and range: 107.10 m.bW8@ZrjRJB~~yB}||||ŝ@ %QzB%I!)%!ImL= iimI9uW8@u<}X6=i}W8@iyEE?EAEIEM5EIFQFUa=K}P"K}59*Ky2K} :K}t c!Xy-E195#\%TVCo'`/c)>kltlP`JJԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ 6Ge /=~G9 AI AY Ne >5,hA@9R3+@R9@YR=yR#u=RH@ `ο@`!? 1V?@Q?6? R3+@R;)RC^wB^|IIfIf3j, nl=ynbQ n?٥pp rHpr8 v?tz%5vB?~%59v IvBy9@ s@vEivj;vk;v%5kCAwE5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 106.36 m.MۺMۺ] ProNav: ac range: 106.356560 m, nav range: 106.489372 m, bearing: 149.677116 deg, approach rate: -0.595315 m/s, LOS rate: -0.095979 deg/s, cmd heading: 164.730052 deg, new cmd heading: 164.633426 deg. ]eHeadingCmd: 2.873395 target range: 106.356560 and range: 107.10 m.be7@ZarajiRiJiBi~i~q}q|q|y|y|}@ LzB靵$ I) I = 8 :7@ O<8=i7@i}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԩEAEAEIEMP0EI6Gm7=~GA AQ Aa Nm > % T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse4,hApH>HHIH2xBH =HH2DH<H{E9+@X9@Yi{=y=HO ο@ K?@jѳ?u|?`? +@骅D;) xBI) AMb@Mb@Mb@ )Y+?~jt~jth?yv?DD; A A)AIAy AIIF3`*= $=y/-Q >٥ HFUc >%5)?%59 IBy~?:z8@s@ EiQ:: %5CAzE )-FNOT Ignoring new targets: 106.36 m.5˺5˺E ProNav: ac range: 106.356560 m, nav range: 106.192726 m, bearing: 149.632792 deg, approach rate: -0.595080 m/s, LOS rate: -0.089163 deg/s, cmd heading: 164.633432 deg, new cmd heading: 164.500090 deg. EtMHeadingCmd: 2.871068 target range: 106.356560 and range: 107.10 m.bM7@ZIrIjQRQJQBQ~Q~]'9,}hAKN,WP"KL*KL2KN :KNbAAzta##piw3d#[X?!^M#vq9JR>JR>Q]wB]IImImT3};M }z=y}Q ?٥ HF ?%52?%595 IBys@ Eit:W:%5WCAFNOT Ignoring new targets: 106.36 m.κκ ProNav: ac range: 106.356560 m, nav range: 105.998039 m, bearing: 149.603563 deg, approach rate: -0.600689 m/s, LOS rate: -0.090348 deg/s, cmd heading: 164.500093 deg, new cmd heading: 164.412246 deg. xHeadingCmd: 2.869535 target range: 106.356560 and range: 107.10 m.bv7@ZrjRJB~~}||| | 53@5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse E@zBE( II)MIIM,= IQU!z:Uv7@])<]̇@=i]v7@iYE-?E)E)E5W0E1ԁԱ6GI~G! A1 AA NM > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse q`,LhA9F!E+@FX9@YFn=yFCd=FH 8Ͽ@q?`C?խ`!? ? F!E+@F4ى;)D~wB~II I M3ł; Q=y%&Q %>٥!! %H)-Ҁ ->1=%55?=%595 I5ByAE8@Es@5Ei56;5O;5O%5UfB]OCA]}EFNOT Ignoring new targets: 106.36 m."Ⱥ"Ⱥ ProNav: ac range: 106.356560 m, nav range: 105.764671 m, bearing: 149.569217 deg, approach rate: -0.593117 m/s, LOS rate: -0.087486 deg/s, cmd heading: 164.412243 deg, new cmd heading: 164.308977 deg. )pHeadingCmd: 2.867733 target range: 106.356560 and range: 107.10 m.b7@ZrjRJB~~}|Թ|||@ :zBxI)&I = : 7@ o< 4/=i7@iEEEE_0EMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse H<H<H>HHIHxBH =HHH<HMEHǜCHǜCHH =I I56G=A=~G AA Aa N} >A H,)hA9>*@>E 9@Y>g=y>Up=>H@ п@։ئ?U/$?`L﬿o?`? >*@>w;)>CZT****** received valid address query ******ZR****** received valid ping request ******Zreceived new query, but waiting for acoustic response period to elapsebwBbxIib٥ HF9 >%5?%59 IݢBy?:6@s@Ei ;;%5CAFNOT Ignoring new targets: 106.36 m. ProNav: ac range: 106.356560 m, nav range: 105.514198 m, bearing: 149.535327 deg, approach rate: -0.601608 m/s, LOS rate: -0.081593 deg/s, cmd heading: 164.308970 deg, new cmd heading: 164.207059 deg. _HeadingCmd: 2.865954 target range: 106.356560 and range: 107.10 m.b k7@Z r j R J B ~Y~4zB}|||| @ 4zB I)I = Y`:k7@ U< K&=i k7@iԁEEEEEKaNP"K*K2K :Ks&64+j2W(+0Dd QU4=UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseԩ6G -=~G A A N > t,| 0hA9*@&8@YBa=y,C=H\Gпb?@|?-`X? N? *@;)C-wB-tIIE IE2Mp UM=yUfsQ U>٥YY ]H]F]H< e>am%5e?u%59e IeբByquf6@us@eEie;e;eo#%5eBCA~EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.36 m.ʷʷU ProNav: ac range: 106.356560 m, nav range: 105.273834 m, bearing: 149.503298 deg, approach rate: -0.601552 m/s, LOS rate: -0.080341 deg/s, cmd heading: 164.207064 deg, new cmd heading: 164.110758 deg. U\]HeadingCmd: 2.864273 target range: 106.356560 and range: 107.10 m.b]@P7@ZYrYjaRaJaBa~a~i}i|i|||j@Ա -/zB-xzѻI))5!1I50= 115:=@P7@=d2<=q9=i=@P7@iA:JqBJuUJJuGRJqZJqbJu>9Juc4Jq}@}@}@}@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEEE 6G ɓ%=jG ?bG >~G A A N >] T****** received valid address query ******] R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse9 [,IhAHE>HAHEIHE xBHE =HAHAHE<HEE9^ef*@^y8@Y^W[=y^,=^H@@пJ@`?``Ϋ?`g Oz? ? ^ef*@^D;)^C]wBeoI5Mb@Mb@Mb@111 1)1Y5{Gz?+y5#?555\ A 5`A)5AI5A1y5 AIMIM3U ]"=y]DQ ]>٥aa eHam m>q%5u?%59u IuˢBy$$?:4@s@uEiuP;uG;u'%5CAEFNOT Ignoring new targets: 106.36 m.KK ProNav: ac range: 106.356560 m, nav range: 104.958664 m, bearing: 149.466228 deg, approach rate: -0.627309 m/s, LOS rate: -0.074005 deg/s, cmd heading: 164.110758 deg, new cmd heading: 163.999215 deg. 'KHeadingCmd: 2.862326 target range: 106.356560 and range: 107.10 m.b[07@ZrjRJB~~NzB}||| | S@ )zB靵@@I)I0 = ^:[07@<8=i[07@izE!AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE?EEE^0Ei 6G% =ԡ ~G A) AI KU P"KU 9*KQ 2KU :KU :9UJ35Q.Q  Q   2!3& ]J E /_aNm >$,fhA96$*@6G88@Y6 aV=y6'=6H@%0пh&??`Ȫ)ڤ?? 6$*@6;)6CfwBfaI)h jA n=np=Ir"Irq3z zy=~T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyzxqQ ?٥    H F kF  ?%5?%%59K IŢBy!%R4@%s@"Ei:B:*%5)-DA1Y]FNOT Ignoring new targets: 106.36 m.]eu ProNav: ac range: 106.356560 m, nav range: 104.752075 m, bearing: 149.442278 deg, approach rate: -0.628868 m/s, LOS rate: -0.073049 deg/s, cmd heading: 163.999221 deg, new cmd heading: 163.927230 deg. uH}HeadingCmd: 2.861070 target range: 106.356560 and range: 107.10 m.b}7@ZyryjyRyJyB~~}||||\@ %zBYI)Ia = k:7@  v;,hA9>|)@>7@Y>zMP=y>=>H@п`?`w!??? >|)@>N;)٥tt vHtzt z>|m%5~?m%59~ I~Byqu4@us@~&Ei~:~:~5.%5y}DAEFNOT Ignoring new targets: 106.36 m.&& ProNav: ac range: 106.356560 m, nav range: 104.501411 m, bearing: 149.413627 deg, approach rate: -0.603379 m/s, LOS rate: -0.069133 deg/s, cmd heading: 163.927231 deg, new cmd heading: 163.841071 deg. =HeadingCmd: 2.859566 target range: 106.356560 and range: 107.10 m.b"7@ZrjRJB~~}||||: @ - zB5x߻I1)59I=b= 99=q ;E"7@EHHHH =HH1DHŚ<HE6Gk =ZGRG ~G) A9 AI N] > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse9 %,řhA9j!)@j7@YjL=yj =jHB#ѿ?Rf?L6?@2? j!)@jR;)jCwBcIMb@Mb@Mb@ )YMbX9?i|?5~jthy!?qD A  A)AI`Ay AI+In3ul; u<=y}Q }>٥ HF >%5?%59h IBy"?:1@s@+Eif:;62%5CAEFNOT Ignoring new targets: 106.36 m. ProNav: ac range: 106.356560 m, nav range: 104.215401 m, bearing: 149.386441 deg, approach rate: -0.646372 m/s, LOS rate: -0.061608 deg/s, cmd heading: 163.841075 deg, new cmd heading: 163.759293 deg. ) HeadingCmd: 2.858139 target range: 106.356560 and range: 107.10 m.b6@ZrjRJB~~%yzB}!|!|!|!|-` @ zBІI)I%PD= j;6@<|Q=i6@ibEZE9EE?EAEAEE1EAK]P"K]s9*KY2K] :K]Mml6N%7 %2x , AVY,$; ! S3.z7T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)A A ڿYy*Ai 6G l=~GY Ai A N >&N,hA 9NY)@NĬ7@YNG=yNrn=NH$"Cѿ,L'??`?? NY)@N^;)NCZwBZZIIbIb#3n4 r\=yrz٥tt vHvFz z>|%5~Au?%59~R I~By 1@ s@~.Ei~l:~:~E5%55DA5B*** querying acoustic contact ***J1R19EFNOT Ignoring new targets: 106.36 m.EMe ProNav: ac range: 106.356560 m, nav range: 103.996582 m, bearing: 149.365796 deg, approach rate: -0.624043 m/s, LOS rate: -0.059000 deg/s, cmd heading: 163.759290 deg, new cmd heading: 163.697225 deg. e!mHeadingCmd: 2.857056 target range: 106.356560 and range: 107.10 m.bm6@ZqrqjqRqJqBq~y~y}y||||֙!@ zB靵BI)I= Vp#;6@Q@<ّ - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseH >H H IH xBH  =H H H <H ZE;,qhAPwBUIMb@Mb@Mb@ )Yx&1?DlMbpyA ?O\ A  A)IIAy\ AII "=yQ >٥ HF >%5\?%59: IBy:!?:0@s@3Ei ;;9%5dBUDA E)5FNOT Ignoring new targets: 106.36 m.5ss ProNav: ac range: 106.356560 m, nav range: 103.684700 m, bearing: 149.339167 deg, approach rate: -0.621762 m/s, LOS rate: -0.053247 deg/s, cmd heading: 163.697231 deg, new cmd heading: 163.617104 deg. +HeadingCmd: 2.855657 target range: 106.356560 and range: 107.10 m.b6@ZrjRJB~~XzB}|!|!|!|%Z"@I5R=I1}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse zB靕I)TIi = <&2;6@< =i6@iE?EEE5E 6G +V<~G K QQ"K *K 2K :K /p@^s$,mGRaH4wN'M>+msx=&J ?J >A A N >d,<hAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ewBmMII I 3%  %\=y!Q ->٥)) -H)1 5>9E%5=QJ?E%59= I=ByAAMs@=7Ei=:=:=<%5QUDAUEFNOT Ignoring new targets: 106.36 m.|o|o ProNav: ac range: 106.356560 m, nav range: 103.454086 m, bearing: 149.319373 deg, approach rate: -0.608487 m/s, LOS rate: -0.052344 deg/s, cmd heading: 163.617100 deg, new cmd heading: 163.557585 deg. HeadingCmd: 2.854618 target range: 106.356560 and range: 107.10 m.b6@ZrjRJB~~} ||||%^#@i  zB靕~SI)IZC= =;6@d<=i6@iEEEEO0Eԙ:J[BJQJJCRJZJ:bJ-.9J4JT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G += ~G A A N >^,hAP9VR)@V7@YVo:;=yVN=VHPѿ-`,??7e?`? VR)@V;)VCvwBvFIIzIzV83%8 -\=y- Q ->٥)1 5H5F5X 5>am%5e7?m%59e IeByim0@ms@e;Eiel:eW:e/@%5DAFNOT Ignoring new targets: 106.36 m.PuPu ProNav: ac range: 106.356560 m, nav range: 103.220634 m, bearing: 149.299258 deg, approach rate: -0.620864 m/s, LOS rate: -0.053618 deg/s, cmd heading: 163.557581 deg, new cmd heading: 163.497099 deg. 0HeadingCmd: 2.853563 target range: 106.356560 and range: 107.10 m.bŠ6@ZrjRJ B ~ ~ }|||| &$@ - zB-D5< YY]I;eŠ6@eHHwIHwBH =HHHؚ<HEE%?E!E!E-Q0E)6G sc=~G A A ! N- >  ٥ H >1=%55"?E%595 I5ByE?E:E0@Ms@5?Ei5]Z;5Y;5C%5Y]DA]EFNOT Ignoring new targets: 106.36 m.:f:f ProNav: ac range: 106.356560 m, nav range: 102.954651 m, bearing: 149.277603 deg, approach rate: -0.616496 m/s, LOS rate: -0.050321 deg/s, cmd heading: 163.497093 deg, new cmd heading: 163.431962 deg. # mHeadingCmd: 2.852426 target range: 106.356560 and range: 107.10 m.bm%6@ZirijiRiJiBi~q~u`zB}q|y|y|y|}#%@ zB!̸=I);I62< V; %6@ %< =i %6@izEAKZiP"K59*K2K :K/#?njqaf&]gG 99gS_k,|_s 74J)J)=0 ,6hA)uBDAT read: Response Not Received u*response not receivedu,DAT read: user:1775> }BDAT read: Tx time:13:49:04.1079 }$Ping request sent.}٥ HF >%5w ?%59 IBys@DEi::H%5cBUEAEB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 106.36 m.-h5h= ProNav: ac range: 106.356560 m, nav range: 102.631790 m, bearing: 149.251166 deg, approach rate: -0.617410 m/s, LOS rate: -0.050715 deg/s, cmd heading: 163.431960 deg, new cmd heading: 163.352400 deg. E8 MHeadingCmd: 2.851037 target range: 106.356560 and range: 107.10 m.bMew6@ZIrIjIRIJIBQ~Q~Q}Q|Y|Y|Y|]@&@ zB靝8-I)#I"< Ne;ew6@m<=iew6@iԉE!E!E!E!E! JDAT read: TxSync time:13:49:04.1071 % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250855ԩ H >H H jIH wBH H H H <H PEHyHyHyH} =I} = I}u]56GE Jh=~G A A N >,~ShA9J)@J7@YJ5=yJv=JH@6Vѿ@) /?T%?Į?? J)@J{;)JC X)XɵXX\\ɶ^Ai\I\`I`i` ``)`d djhɷhhhIn)nFil)lIln ɸp pɹpr\Apippitt)t tItٯx~SwB~IMb@Mb@Mb@ )YZd;?٥qq uHuFuƹ u>y%5}j?%59}z I}By ?:N0@s@}HEi};}D;}K%5EA:J^BJRJJRJZJ} :bJS29JJzJ^:jJc:J;:rJ<:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501935!1eFNOT Ignoring new targets: 106.36 m.eaieaiu ProNav: ac range: 106.356560 m, nav range: 102.415756 m, bearing: 149.232918 deg, approach rate: -0.602605 m/s, LOS rate: -0.051009 deg/s, cmd heading: 163.352402 deg, new cmd heading: 163.297542 deg. u HeadingCmd: 2.850080 target range: 106.356560 and range: 107.10 m.bg6@ZrjRJB~~hzB}|||| )&@ -yB-ɻI))-*)I5< 115 q;]g6@]i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754296~G A A N >`,mhA09bv)@by7@YbL4=yb G=bH&kѿ՝;J??`?V? bv)@bE;)`:wB IIIm?3z K=yJQ >٥ Hl >%5?%59 IwBy/0@s@LEi;;N%5 1FA E)=FNOT Ignoring new targets: 106.36 m.=cv=cvM ProNav: ac range: 106.356560 m, nav range: 102.178993 m, bearing: 149.213086 deg, approach rate: -0.641424 m/s, LOS rate: -0.053852 deg/s, cmd heading: 163.297542 deg, new cmd heading: 163.237909 deg. MUHeadingCmd: 2.849039 target range: 106.356560 and range: 107.10 m.b]V6@ZYrYjYRYJYBY~a~a}a|i|i|q|uz'@ yBIG\<)80Io< R};ԉV6@<(=iV6@iE?EEE_0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007112 6G ߣ=~G A A1 NU >t!,ݗhA960)@6UD7@Y66=y6/b=6H ѿ@UE@?C?CӦ P?N? 60)@6@;)6Ctv$wBzII I [3%i %U=y%:Q ->٥)) -H-F5b5 5>9E%5=8?E%59= I=oByAM/@Ms@=OEi=:=:=HR%5UbBUFAUEechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257964FNOT Ignoring new targets: 106.36 m.ee ProNav: ac range: 106.356560 m, nav range: 101.943481 m, bearing: 149.193822 deg, approach rate: -0.611830 m/s, LOS rate: -0.050162 deg/s, cmd heading: 163.237915 deg, new cmd heading: 163.179988 deg.  HeadingCmd: 2.848028 target range: 106.356560 and range: 107.10 m.bF6@ZrjRJB~~}|||| >(@ yB I ) 5 I< 쭅;F6@:<=i%F6@i!GG@AHHHKIHwBHHHHÚ<HEE?EEE0E16G=~GiAyAN>:JiBJUJJDRJZJ+:bJ>9J4JzJ/;jJ/;J|Q:rJQ: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509798a ',$hA9Z(@Z6@YZ8=yZz=ZH?ѿ˚?@??@VG?@Y? Z(@ZB;)ZCfwBfI1}Mb@Mb@Mb@yyy y)yY}rh|?X9v{Gzy}?}}}#}+A } A)}AAI} Ayy}p AI#I%x3 <=y3:Q >٥ HF%, %>)5%5-q?=%59- I-fBy=?=:=0@=s@-TEi-H<;-b:-V%5AMGAMEyFNOT Ignoring new targets: 106.36 m.cscs ProNav: ac range: 106.356560 m, nav range: 101.680862 m, bearing: 149.170767 deg, approach rate: -0.604408 m/s, LOS rate: -0.053196 deg/s, cmd heading: 163.179995 deg, new cmd heading: 163.110652 deg. HeadingCmd: 2.846818 target range: 106.356560 and range: 107.10 m.bD26@ZrjRJB~~-zB}||||?)@ yBzmI)L<I;< QV;D26@ w@< '  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014249h".,HhA9>.(@>6@Y>|S>=y>ۀ=>H@ʭ@Tҿ y?!Ȳ?>ȧ@G? ? >.(@>̊;)٥`` bHdf f>hn%5jM?r%59j Ij^Bypri0@rs@jWEij;j;j9Y%5tvGAvEFNOT Ignoring new targets: 106.36 m.r%r5 ProNav: ac range: 106.356560 m, nav range: 101.463913 m, bearing: 149.151884 deg, approach rate: -0.608499 m/s, LOS rate: -0.053078 deg/s, cmd heading: 163.110655 deg, new cmd heading: 163.053883 deg. 55HeadingCmd: 2.845827 target range: 106.356560 and range: 107.10 m.Թb="6@ZrjRJB~~}||||`)@ UyB]YIY)]EYI]q< Yaeʔ;e"6@mdE}/C<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266271EEEEo0EF!F%AH>HH&IHgwBHHHH<HjEA 6G *<ZG RG ~G A A N>m5,hhA09F(@F6@YFA=yFNӆ=FH##7ҿb@ ?บ@?C<wҰ?? F(@Fb;)DRvBRI:Jv^BJtJJvIRJtZJv} :bJtJvF4JtzJv^:jJvc:JtrJt-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517923aI@a aM@a aQ@a aE@a II(wQ "=yV:Q >٥ %H% F%< %>)5%5-O?5%59-؇ I-SB5+:y9=:=S0@=t@-\Ei-L ;-c?-\%5AEHAIB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.36 m.jj ProNav: ac range: 106.356560 m, nav range: 101.160072 m, bearing: 149.125543 deg, approach rate: -0.588455 m/s, LOS rate: -0.051168 deg/s, cmd heading: 163.053882 deg, new cmd heading: 162.974622 deg. w HeadingCmd: 2.844444 target range: 106.356560 and range: 107.10 m.b^ 6@ZrjRJB!~!~!}!|)|)|)|-0*@ԑ yB靽nI)KI< 1;^ 6@?<E%bި{=,VhAI )"@9R0(@R6@YRU2E=yRq=RH@Ψ ?ҿ` ? :$?ڣZ?? R0(@Rj;)RCbvBbIIj Ij̍2r r2=yrf:Q r>٥tt vHv!Fz2 z>| %5~g?%59~ I~IB :yc:L0@%t@~`Ei~H;~w?~l_%5)-HA-EUBDAT read: Rx Time:13:49:06.6429 UTRx dataTimestamp_ set to:1749131347.927383]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022941imFNOT Ignoring new targets: 106.36 m.utut ProNav: ac range: 106.356560 m, nav range: 100.882599 m, bearing: 149.101413 deg, approach rate: -0.613075 m/s, LOS rate: -0.053461 deg/s, cmd heading: 162.974625 deg, new cmd heading: 162.902036 deg. HeadingCmd: 2.843177 target range: 106.356560 and range: 107.10 m.b5@ZrjRJB~~}||||+@ yBII)eRIe< aae$;m5@mHA HE IHE wBHE  =HA HA HE <HE Eԑ 6G <~Ga Aq A N >D,#hA19j(@ճ6@Y>D=yڍ=H2Dҿ R}? u?` ? ? j(@;)U~vBUIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@:JBJVJJ?RJZJbJB9Jـ4JzJ5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527628jJJX:rJX:a )YV-?X9vI +y|?94XA )nAIyfAII2 =yQ  >٥    H "F >AM%5Ed?M%59E IE=BUT:yU?u:}3@}t@EfEiE;E&;E=d%5aBIAEFNOT Ignoring new targets: 106.36 m.5 ProNav: ac range: 106.356560 m, nav range: 100.546379 m, bearing: 149.061788 deg, approach rate: -0.599145 m/s, LOS rate: -0.070847 deg/s, cmd heading: 162.902033 deg, new cmd heading: 162.782763 deg. 5|BEHeadingCmd: 2.841095 target range: 106.356560 and range: 107.10 m.bE5@ZIrIjqRqJqBq~y~}yB}||||`!,@ EyBm̼Ii)uZqIuĮ< qy}~b;ԉ5@<.L=i5@iEy Ey Ey Ey Ey F F =Ա  DAT read: 13:49:06.6429 LVL= 32752, 32753, 28130, 32755, AGC= 67, IDX= 345,-0.37, 1.667, 0.416, 2.133, 1.507, PHS= 0.248,-1.045, 0.623, RAW= 162.4, 2.3, CAL= 163.6, -6.5, ROT= 346.4, 6.5  Ygot valid direction response: 13:49:06.6429 LVL= 32752, 32753, 28130, 32755, AGC= 67, IDX= 345,-0.37, 1.667, 0.416, 2.133, 1.507, PHS= 0.248,-1.045, 0.623, RAW= 162.4, 2.3, CAL= 163.6, -6.5, ROT= 346.4, 6.5  8DAT read: $Error in header  *Received a bad header X#Rx 1: Read direction message, but no range. `direction in FSK: [0.965713,-0.233631,-0.113203] y [n?'TŝͿ5Y ) I mi  C }> … |? g5@) l$=I 36@i V轉 \w@ V= zP?j{k?xW}ä?i FR=? '& sK P"K 9*K 2K :K M-+=LTi?TLETb{`c nZ.^A^cy/V V=e T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse6G < jG ?bG >~GAAN>K,22hA9m(@m6@Ymo<=ym=mH Uҿ (*?w^e?H ^?? m(@m_;)mCEvBsI) AII2F T=y̛Q >٥ HV >%56Q?%59 I5By  3@ t@jEi;;g%5IA!AEFNOT Ignoring new targets: 106.36 m.M>M>} ProNav: ac range: 106.356560 m, nav range: 100.314049 m, bearing: 149.034434 deg, approach rate: -0.634309 m/s, LOS rate: -0.074856 deg/s, cmd heading: 162.782765 deg, new cmd heading: 162.700512 deg. }}MHeadingCmd: 2.839660 target range: 106.356560 and range: 107.10 m.b5@ZrjRJB~~}||||`-@ myBu\3Iq)hIh< ;;5@+<%Vq=i%5@i)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQE-?E1E1E5o0E1ԁ6GU +=~GI AY Ai N >ԩ M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapsedR,BLhA9>m(@>6@Y>e6=y>3=>H/oҿE昿 hH?wԲ? ??a? >m(@>Ή;)>CH>HHIHvBHHHH<HEU9vBUlIIeIe3/ M=yQ >٥ H#F̙ >%5@=?%59} I-By%d3@-t@nEi;;;k%515'JA5EԉFNOT Ignoring new targets: 106.36 m. ProNav: ac range: 106.356560 m, nav range: 100.068062 m, bearing: 149.005610 deg, approach rate: -0.589922 m/s, LOS rate: -0.069297 deg/s, cmd heading: 162.700516 deg, new cmd heading: 162.613829 deg. ;>-HeadingCmd: 2.838147 target range: 106.356560 and range: 107.10 m.b-25@Z)r)j)R)J)B1~1~1}1|9|9|9|=` z.@ yB靍 Q%I)PkI0< ;25@Y<= =i=25@iIԱE?EEE0EImC=Im%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G l= ~GI AQ Aa Nu >Y,#fhA9NO(@Nc6@YNV-=yNw=NHĈҿ e?Yv?`3@M?`? NO(@N;)NCbvBbWIeMb@Mb@Mb@aaa a)aYe}?5^I?I +y&1yeM"?e94e`ea e A)eXAIe AayeAy}AAI}I}m?3ު K=yxQ >٥ H$Ff >%5)?%59{ I$By^"?:\5@t@rEiwX;J;n%5JAMEeB*** querying acoustic contact ***JaRaFNOT Ignoring new targets: 106.36 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: 106.356560 m, nav range: 99.823601 m, bearing: 148.972289 deg, approach rate: -0.591655 m/s, LOS rate: -0.080840 deg/s, cmd heading: 162.613827 deg, new cmd heading: 162.513622 deg.  ]HeadingCmd: 2.836398 target range: 106.356560 and range: 107.10 m.b5@ZrjRJB~~eyB}a|a|a|i|m M/@ yB/I)es I |<   A;5@<i5@i9K]=P"K]9*KY2K] :K]<"?zx dAR;_]7.CHag :J}>J}>EEEE3E 6G =ZG RG :Jm ]BJm aJJm @RJi ZJm ]:bJm p9Jm J4Ji } @} @} @} @ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~G A A1 N= >;_,hA 9>-(@>:A6@Y>#=y>Hk=>H @ҿ9ޕ߅?j ?^gm? ? >-(@>O;)>CRvBRKIIZIZ3bhP bY=ybۻQ f>٥dd fHdj j>lv%5n?z%59ny InByxz95@zt@nvEint;n]u;nq%5JA1=FNOT Ignoring new targets: 106.36 m.=aκEaκU ProNav: ac range: 106.356560 m, nav range: 99.591843 m, bearing: 148.940844 deg, approach rate: -0.663368 m/s, LOS rate: -0.090216 deg/s, cmd heading: 162.513628 deg, new cmd heading: 162.419073 deg. UwUHeadingCmd: 2.834748 target range: 106.356560 and range: 107.10 m.b]l5@ZrjRJB~~}||||V0@ yB靵[II)wI2ޯ< ;l5@:<g=il5@iqE!E!E)E-05E) T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGGAAH>HHIH}vBH =HFDHH<HEHHHH =I = I56GM l= ~G) AY A N >;'f,ΙhA\~uB~9IUAQ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Y(\?Mb:vy'?TA / A)Iy3AI$I<3 :=yQ >٥ H%F >%5?%59w IBy'?:5@t@zEip;n;u%5 `B jKA EFNOT Ignoring new targets: 106.36 m.)ú)ú  ProNav: ac range: 106.356560 m, nav range: 99.312515 m, bearing: 148.901891 deg, approach rate: -0.610040 m/s, LOS rate: -0.085311 deg/s, cmd heading: 162.419071 deg, new cmd heading: 162.301884 deg.  1jHeadingCmd: 2.832702 target range: 106.356560 and range: 107.10 m.bJ5@ZrjRJB~~%yB}!|!|I|I|Ut0@ yB49I) *~ I < ;J5@^Ml,hA9b'@b>5@Ybw =yb^=bHD@tҿ<4?ԅ ?@,̫?? b'@bK;)bCuB3III1-ټ -V=y-iQ ->٥11 5H5&F=eD =>AM%5E?M%59Eu IE ByIM?5@Mt@E~EiE:E6:Ey%5Y]KA]EFNOT Ignoring new targets: 106.36 m.ԺԺ ProNav: ac range: 106.356560 m, nav range: 99.069351 m, bearing: 148.868487 deg, approach rate: -0.675270 m/s, LOS rate: -0.092992 deg/s, cmd heading: 162.301878 deg, new cmd heading: 162.201419 deg. GHeadingCmd: 2.830949 target range: 106.356560 and range: 107.10 m.bD.5@ZrjRJB~~}|||| 0@ yBeI)IS< C;D.5@ <Aԩ  T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapsep6s,yhAHR>HRCHRpIHRAvBHR =HPHR0DHR<HRE9>'@>K5@Y>=y>O=>H >ҿL?@@?` V? K? >'@>;)>C]uB]4IImImV83yD: @=yQ >٥ HFs >%5k?%59]s IBy$5@t@Ei;;|%5!-KA)FNOT Ignoring new targets: 106.36 m.{º{º ProNav: ac range: 106.356560 m, nav range: 98.797859 m, bearing: 148.831267 deg, approach rate: -0.618429 m/s, LOS rate: -0.085015 deg/s, cmd heading: 162.201420 deg, new cmd heading: 162.089454 deg. aiHeadingCmd: 2.828995 target range: 106.356560 and range: 107.10 m.b@5@ZrjRJB~~}||||@1@ yB靕*=I)II< 53;=@5@ԩ<36z,hA9VԱ'@V?5@YV٥ H'F= >%5?%59p IByt'?:4@t@Ei::%5KAEB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 106.36 m.5^Ⱥ5^ȺK=KP"K9*K92K= :K=fgzc 1L>d9$G\!f]z$r)p\[CW0$JE?JE>Ye ProNav: ac range: 106.356560 m, nav range: 98.488525 m, bearing: 148.789533 deg, approach rate: -0.647159 m/s, LOS rate: -0.087588 deg/s, cmd heading: 162.089459 deg, new cmd heading: 161.963862 deg. mqpmHeadingCmd: 2.826803 target range: 106.356560 and range: 107.10 m.bmV4@ZqrqjqRqJB~~zyB}||||@1@ yB6FAI)SIƓ< ;%V4@%o<%{=i%V4@i)EEEEP0Eԉ:J]BJaJJDRJZJ]:bJp9J4JT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ 6G5 $3=~GA AQ Aa Nm >,hAL99IMIMV83y]Q ]>٥aa eHe(Fe m>y%5}.?%59}n I}Byt@}Ei}):}:}#%5_BKAEFNOT Ignoring new targets: 106.36 m.ȺȺU ProNav: ac range: 106.356560 m, nav range: 98.259850 m, bearing: 148.758508 deg, approach rate: -0.644915 m/s, LOS rate: -0.087701 deg/s, cmd heading: 161.963866 deg, new cmd heading: 161.870574 deg. Up]HeadingCmd: 2.825175 target range: 106.356560 and range: 107.10 m.b]4@ZYrYjaRaJaBa~a~i}i|i|i||m2@ yBudIu+<)}yI< w<4@<} =i4@iMT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse H<H4<HHHWIHvBHHHH<HEEM?EIEIEM^0EI6G ZG RG ) ~G A A N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse>,bhA9B'@B5@YB٥ HO> >%5̏?%59ll IBy.?:e5@t@Ei8:;%5KAE9EFNOT Ignoring new targets: 106.36 m.EӺEӺ} ProNav: ac range: 106.356560 m, nav range: 97.964882 m, bearing: 148.716652 deg, approach rate: -0.650140 m/s, LOS rate: -0.092531 deg/s, cmd heading: 161.870579 deg, new cmd heading: 161.744636 deg. }~HeadingCmd: 2.822976 target range: 106.356560 and range: 107.10 m.b4@ZrjRJB~~{yB}||||q2@! -yB- RI1)51I5[c< 115M<=4@=د ]C)EYEYEYEe_0Ea }Yyy}A U%=UR=]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseaK eP"K 59*K 2K :K K=m)wO/te <?)RBg* Bz(o56G] 7 =ԁ ~G9 AY Aq N >f,z58hA96h'@6ӹ5@Y6ݞRJyZJ}} :bJ}5K9J}t4JyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE?EEE0EԉԹ6Gk =~GAAN>m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse H >H H QIH vBH  =H H H Ț<H EN,ARhA9>''@>5@Y>hk=>H`ӿ)m@ ? }| g?7On?? >''@>~;)>CbuBb2IIjIj2r< rG=yrQ r>٥tt vHv*FvP z>x%5zf?%59z[h IzByk5@ t@zEiz ;zq ;z%5^B%KA%EIMFNOT Ignoring new targets: 106.36 m.UXۺUXۺe ProNav: ac range: 106.356560 m, nav range: 97.468300 m, bearing: 148.645450 deg, approach rate: -0.665577 m/s, LOS rate: -0.095883 deg/s, cmd heading: 161.643516 deg, new cmd heading: 161.530476 deg. emHeadingCmd: 2.819239 target range: 106.356560 and range: 107.10 m.bmhn4@ZirijqRqJqBq~y~y}y|y|y||`F3@Թ yB_I){I u<  <hn4@O<=ihn4@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse>EYE1E9E9E=_0E9A 6G {=jG ?bG ?u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse~Gy A A N >),5nhAX9 L'@ 5@Y ٥AA MHIM: M>Q]%5UL?]%59U^e IUByex+?e:e2@et@UEiUE:U :KmjP"Km9*Ki2Km :KmUwx S}rev&hf*9v`DkU%5yTKAEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.36 m.   ProNav: ac range: 106.356560 m, nav range: 97.143814 m, bearing: 148.607066 deg, approach rate: -0.655716 m/s, LOS rate: -0.077826 deg/s, cmd heading: 161.530477 deg, new cmd heading: 161.414939 deg. UHeadingCmd: 2.817222 target range: 106.356560 and range: 107.10 m.b^M4@ZrjRJB~~yB}||||?3@ yB靍Ee<:J bBJ _JJ ERJ ZJ :bJ =h9J 4J Ea Ea Ea Ee ^0Ea 9 6GE =i ~G!A)AANM>,֌hA9Ng'@NѴ5@YN<٥xx zHz+Fz] z>|%5~5?%59~b I~By2@t@~Ei~wT;~D;~%5!%,KA!GG@AH >HHWIHvBH =HGDHHݚ<HEAIMFNOT Ignoring new targets: 106.36 m.UU ProNav: ac range: 106.356560 m, nav range: 96.864723 m, bearing: 148.573913 deg, approach rate: -0.611608 m/s, LOS rate: -0.072862 deg/s, cmd heading: 161.414937 deg, new cmd heading: 161.315192 deg. HHeadingCmd: 2.815481 target range: 106.356560 and range: 107.10 m.b04@ZrjRJB~~}||||<4@ yBDHI)RtI&jV<  <04@ <0&=i04@iDDDDqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡE1 E9 E9 E= P0EA 6G]8#=ZGaRGa~G1AAAYNe?ª,"hAfT****** received valid address query ******fR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapse9zt'@zޱ5@Yz٥ H,F >Թ%5?%59P_ Iy (?:1@t@EiZ::%5JAEFNOT Ignoring new targets: 106.36 m.%%5 ProNav: ac range: 106.356560 m, nav range: 96.501488 m, bearing: 148.534185 deg, approach rate: -0.683546 m/s, LOS rate: -0.075043 deg/s, cmd heading: 161.315189 deg, new cmd heading: 161.195556 deg. 5N=HeadingCmd: 2.813393 target range: 106.356560 and range: 107.10 m.bE4@ZArAjARAJABA~I~M zB}I|I|Q|QK?P"K9*K2K :Kn^75,4Yq~#f~Q8 !T?F  X@O9D|U04@ yBiO8I)/oIYF<   J6< 4@Uy,[hA 9f̛'@f65@Yf [٥!! %H!% ->)5%5-?=%59-&] I-By9=1@=t@-Ei-;-I;-%5E]BEJAMEyFNOT Ignoring new targets: 106.36 m.-- ProNav: ac range: 106.356560 m, nav range: 96.275879 m, bearing: 148.509372 deg, approach rate: -0.647046 m/s, LOS rate: -0.071331 deg/s, cmd heading: 161.195552 deg, new cmd heading: 161.120938 deg. CHeadingCmd: 2.812091 target range: 106.356560 and range: 107.10 m.bL3@ZrjRJB~~}|||1|55@ }yB靅gI)|iIA;< p<L3@ȱ<"#1=iL3@iiHCHjIH6vBH =HH1DHĚ<HEHěCHěCHH =I = IC6EEEEo0Eԙ6G /= ~G A A N >I %=I < ٥aa eHe-Feպ m>q}%5uT?}%59uHZ Iqy}%?}:}W0@}t@uEiu:u:ux%5JA15FNOT Ignoring new targets: 106.36 m.=鋺=鋺u ProNav: ac range: 106.356560 m, nav range: 95.990898 m, bearing: 148.481333 deg, approach rate: -0.619774 m/s, LOS rate: -0.061159 deg/s, cmd heading: 161.120939 deg, new cmd heading: 161.036573 deg. u'}HeadingCmd: 2.810618 target range: 106.356560 and range: 107.10 m.b},3@ZyryjyRJB~~%zB}||||5@ yB靥GI)gIZ.< y!<,3@ 6<n3=i,3@iE=?E9E9E={0E9BDAT read: Response Not Received *response not received,DAT read: user:1777> - 0_i&U[:%zoD&a#2"J^89)+ j9(,6G= ,1=A jGM ?bGM >~G A! A9 NE >,hA9F}'@F<5@YF٥xx zHz.FzJ ~>%5O? %59W Iy  F0@ t@Ei|::%5QJA%êEuB*** querying acoustic contact ***JqRqFNOT Ignoring new targets: 106.36 m. ProNav: ac range: 106.356560 m, nav range: 95.763031 m, bearing: 148.458939 deg, approach rate: -0.652782 m/s, LOS rate: -0.064305 deg/s, cmd heading: 161.036572 deg, new cmd heading: 160.969231 deg. 0HeadingCmd: 2.809443 target range: 106.356560 and range: 107.10 m.b3@ZrjRJB~~}||||5@ yBnI)_dI $< #<3@<ݢ3=i3@i!]BDAT read: Tx time:13:49:15.0580 ]$Ping request sent.eU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259658 H <H <H >H H }IH UvBH  =H FDH H <H Eԡ n,ghA96$g'@6z5@Y6Ox;y6uf=6HR6Eӿ I?`UG?o?`zʬ?? 6$g'@6;)6CJ:vBNmIIV0IV(3^D= ^M=ybQ b>٥`` bH`fvc f>hn%5j)?n%59jgU IjBypr/0@rt@jEij" ;j ;j%5tvJAvƪE!%FNOT Ignoring new targets: 106.36 m.-D-Dy ProNav: ac range: 106.356560 m, nav range: 95.508041 m, bearing: 148.433966 deg, approach rate: -0.651105 m/s, LOS rate: -0.063939 deg/s, cmd heading: 160.969227 deg, new cmd heading: 160.894106 deg. /HeadingCmd: 2.808132 target range: 106.356560 and range: 107.10 m.bo3@ZrjRJB~~}|||| R6@ -yB-OI))U^QIU< QQ]'<]o3@]޲ p,)>.hA9>}Q'@>d5@Y>B0;y>3=>H@%sTӿ?`\?@Pl@i?q y?? >}Q'@>W;)٥ H/F%A %>)5%5-д?U%59-NR I)yU?U:U;-@]t@-Ei-;-m;-%5imJAFNOT Ignoring new targets: 106.36 m.IBIB ProNav: ac range: 106.356560 m, nav range: 95.230614 m, bearing: 148.414499 deg, approach rate: -0.603420 m/s, LOS rate: -0.042464 deg/s, cmd heading: 160.894108 deg, new cmd heading: 160.835538 deg. $%HeadingCmd: 2.807110 target range: 106.356560 and range: 107.10 m.b%3@Z!r!j!R)J)BI~Q~UbzB}Q|Q|Y|Y|]6@ yBFI)l^I < 1**<3@F<U2=i3@iK 7P"K *K 2K  :K  +%lWcJ^H*^<H>)aL<+aDO",PE?EEE05E)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0166256G '2=ZG RG ~G A A N >Y Y,@HhA9>25'@>H5@Y>h}:y>P=>H`{`lӿ?w? Gh )K?_@?? >25'@>*;)>CR5vBRiITVAXZDAI^I^3jtH jU=yn$ɻQ n>٥pp rHr0Fr r>tz%5v~?z%59vO Ity|~-@~t@vEiv;v;v'%5\B  JA ǪE15FNOT Ignoring new targets: 106.36 m.=}M=}M] ProNav: ac range: 106.356560 m, nav range: 95.005280 m, bearing: 148.398842 deg, approach rate: -0.644851 m/s, LOS rate: -0.044914 deg/s, cmd heading: 160.835532 deg, new cmd heading: 160.788449 deg. ]eHeadingCmd: 2.806288 target range: 106.356560 and range: 107.10 m.be83@ZarajaRiJiBi~i~q}q|q|q|q|}w7@ yB靭EoI):_IB< .,<83@u<e/=i83@i1E=?E9E9E=V0E9FIFM}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.268024H5>H1H5IH5svBH5 =H5GDH1H5<H5Eԡ6G.P2=~GAAN >I] R=I] a=:Je ^BJe TJJe NRJa ZJe } :bJe :9Je |4Ja zJe ^:jJe b:Je RJ:rJe TJ: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520208 ,@ahAe1vBegI Mb@Mb@Mb@    ) Y $C?Mb~jth?y ?  D;  ) I ZA y AI-I-<2= E5=yEQ E>٥AI MHIM U>Ye%5]ʎ?e%59]L I]Bye?e:e_+@et@]Ei]:]:]%5u[BuJAuʪEFNOT Ignoring new targets: 106.36 m. ProNav: ac range: 106.356560 m, nav range: 94.731606 m, bearing: 148.384298 deg, approach rate: -0.607190 m/s, LOS rate: -0.032361 deg/s, cmd heading: 160.788445 deg, new cmd heading: 160.744687 deg. HeadingCmd: 2.805524 target range: 106.356560 and range: 107.10 m.b3@ZrjRJB~~dzB}|||| 7@ yB[NI)_Iɳ; s/<-3@5<572=i53@i9=GQa $YyBEEEET0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7714416G eS/=1 ~G A A N >K taP"K *K 2K :K 8oe=h ~3w(#j8n]&yJC~k~=q}r?")1<iY EJ,{hA9bc&'@b95@YbJyb=bH@y vӿ( ??@wh.?[i?>? Z? bc&'@b;)bCz5vBzjIIIF35\=< =\=y=-]Q =>٥9A EHE1FE; M>IU%5M}?]%59MI IIyY]P+@]t@MEiM:MB:MW%5amJAiB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.36 m.>> ProNav: ac range: 106.356560 m, nav range: 94.505951 m, bearing: 148.372368 deg, approach rate: -0.599054 m/s, LOS rate: -0.031746 deg/s, cmd heading: 160.744691 deg, new cmd heading: 160.708817 deg. KHeadingCmd: 2.804898 target range: 106.356560 and range: 107.10 m.bs3@ZrjRJB~~}||||7@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023631 yB靥9fI).^IZ; S2<s3@M<1=is3@iE]?EYEYE]_0EYI6G}2=~GY Aa Aq y N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276530G) G) H5 >H1 H5 IH5 vBH1 H1 H5 2DH5 <H5 E),hA09> '@>35@Y>y>SB}=>H@x |ӿz??jL?u?? ;? > '@>;)<#vB_IPExceeded connect timeout, disconnecting.IIM3E E.=yEQ M>٥II MHM2FUF U>Ye%5]6h?e%59]|F IYyq}J+@t@]Ei];ԙ]{;]o%5MJAͪE:JE[BJERJJEFRJAZJE:bJES29checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529021JE4JAzJE:jJE:JE;:rJE;:FNOT Ignoring new targets: 106.36 m.?? ProNav: ac range: 106.356560 m, nav range: 94.221352 m, bearing: 148.357308 deg, approach rate: -0.532211 m/s, LOS rate: -0.028249 deg/s, cmd heading: 160.708819 deg, new cmd heading: 160.663501 deg. -HeadingCmd: 2.804107 target range: 106.356560 and range: 107.10 m.b-~v3@Z)r)j)R1J1B1~9~9}A|A|I|I|M<}8@Թ yBo@I)9bID; 5<=~v3@=˴<=3=i=~v3@iAEEEEP0EF=Fa= 6G 0= E >E 4=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782704~G)A1AINu>b,hA9>'@>(5@Y>uy>lg=>Hv`<ӿ@+?ڕ?kR?`:u?r?? >'@>f[;)>C D)FAɵDHHHɶHiLILLILiL LL)PP RpAPPɷPTTIZ+)xix)|I|~ɸ~ϯF |ɹ^Aii)  I ٯ E%vBE`I]Mb@Mb@Mb@YYY Y)YY](\?ʡEQy]z?]-]uKm5P"Kms9*Ki2Km :KmgsM$aw"~ 5Uij ? w E &k {v?]A Y)YI]+AYy]AII3Jc; 5=yQ >٥ HҺ >%5:T?%59gC IBy0?:+@t@Ei:4:`%5GJAFNOT Ignoring new targets: 106.36 m.66  ProNav: ac range: 106.356560 m, nav range: 93.958092 m, bearing: 148.342164 deg, approach rate: -0.692592 m/s, LOS rate: -0.039951 deg/s, cmd heading: 160.663507 deg, new cmd heading: 160.617950 deg.  XۺHeadingCmd: 2.803312 target range: 106.356560 and range: 107.10 m.bwi3@ZrjRJB~~mzB}|!|!|!|%`8@ myBm#uIq)uaqIuL; qqu8<}wi3@}O<4=iwi3@iEEEE^0E}BDAT read: Rx Time:13:49:17.5835 }TRx dataTimestamp_ set to:1749131359.023474checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032539)6G= 4=~G! A) AA NM >Q E,ԶhA9>&@>` 5@Y>еy>qjc=>H]rӿ?@)?h@?6?@?i?`? >&@>=`;)<-vB-RII=I=3~s ^=yQ >٥ H3F >%5C?%59@ IBH>HHIHvBH =HFDH1DH<H"Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.283382+@t@Ei;;%5JAЪEFNOT Ignoring new targets: 106.36 m.%%9E ProNav: ac range: 106.356560 m, nav range: 93.742371 m, bearing: 148.329920 deg, approach rate: -0.575577 m/s, LOS rate: -0.032744 deg/s, cmd heading: 160.617950 deg, new cmd heading: 160.581134 deg. EųMHeadingCmd: 2.802670 target range: 106.356560 and range: 107.10 m.bM^3@ZIrIjIRIJIBQ~Q~Q}Y|Y|Y|Y|e<9@ yB% % BDAT read: Tx time:13:49:18.7081 U $Ping request sent.U ە nە C ? ܕ /@)ܕ 5=Iܕ Κ1@iܕ Ϣܕ  @ܕ Ϣ= ݑ )ݑ ݕ !"ղw?:W?)?iݕ J&?ݕ ݕ t ݕ Ϣ= ޑ )ޑ  :publishing transmit ping timeI  Fpublishing direction and range info6G 54=ڑ yڕ `/`?F0ÿrjƹIڑ Yڑ ۑ )ۑ Iۑ iۑ ۑ ۑ ۑ ۑ ܑ )ܑ Iܑ iܑ ܑ ܑ ݑ )ݑ ݕ !"ղw?:W?)?iݑ ݑ ݑ ݑ ޑ )ޑ ~G A A) NU >s,'hA9ev&@e4@Ye+ye/c=eHkӿכ?`?a`4`?G?@p?`? ev&@eBk;)eC5 vB5QIԉMb@Mb@Mb@ )Y-?٥AA EHE4FE M>I%5M*?%59M8= IMByg?:-@t@MEiM. V@$} ,V3T%`/`?F0ÿrjƹIt Ϣ=ҁ%ɧT[D@7wZ%|eZc^҃?WxGz B5j/Ɯ?r  XKB/Ɯ?ta  ꁽBh)@% addTargetRange:: Added new target pos. range: 90.900002 m, deltaT: 25.472321 s, deltaX: -16.199997 m, approachRate: -0.635984 m/s, rangeRepo size: 4 = Added new target pos. range: 90.267021 m, bearing: 153.339986 deg, lat: 36.906375 deg, lon: -122.116001 deg, deltaT: 25.472321 s, deltaX: -16.089539 m, approachRate: -0.631648 m/s, posRepo size: 4 9=DNOT Ignoring new targets: 90.27 m.EA ProNav: ac range: 90.267021 m, nav range: 91.011688 m, bearing: 151.660388 deg, approach rate: 0.000000 m/s, LOS rate: -0.032744 deg/s, cmd heading: 160.581135 deg, new cmd heading: 160.522705 deg. K?P"K9*K2K :K|6UfYD L7 ToE^d%z>F1gHeadingCmd: 2.801650 target range: 90.267021 and range: 90.90 m.b;N3@ZrjRJB~~UzB}|||V@| `? yB靵 lGI ) g I H; î=< ;N3@ < +=i ;N3@i E E E E P0E F F A :JE ]BJE _JJE @RJA ZJE ]:bJE =h9JE J4JA e @e @e @e @96G&/=~GAAN?,? hA9>&@>*4@Y>3[_=>Hc@ӿ`??`qZo?`U?n?H? >&@>g=;)>CJuBJAIIRIRT3Z ZZ=y^,Q ^>٥\` bHb5Ff j>lr%5n?r%59n: InBypr,@rt@nEin2:n>:n%5xz KAxq B*** querying acoustic contact ***JRDNOT Ignoring new targets: 90.27 m. Ĺ Ĺ5 ProNav: ac range: 90.267021 m, nav range: 90.790253 m, bearing: 151.652761 deg, approach rate: -0.620501 m/s, LOS rate: -0.021424 deg/s, cmd heading: 160.522710 deg, new cmd heading: 160.499773 deg. =?k=HeadingCmd: 2.801250 target range: 90.267021 and range: 90.90 m.bEG3@ZArAjARAJB~~}|||| q?H >H CH IH vBH  =H H H ך<H  EHœCHœCHH =I = It5MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. yB靍II)mI; >@<G3@Q4<z!=iG3@iԙEEEE[0E6G e+= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986187~GY Ay ԑ A N >O,l%hA9>y&@>j4@Y>S[y>}=>H^FԿ6t?`)?`RRګ?*j??? >y&@>u;)>C^uB^/IMMb@Mb@Mb@III I)IYMQ?p= ף{GzyM?MIM?A I)M+AIM+AIyMAII#3 9=yQ >٥ H١ > %5 ?%597 IBy?:-@t@Ei ; ;%5!%~KA%֪EY]DNOT Ignoring new targets: 90.27 m.eeq} ProNav: ac range: 90.267021 m, nav range: 90.530907 m, bearing: 151.642103 deg, approach rate: -0.614898 m/s, LOS rate: -0.025343 deg/s, cmd heading: 160.499774 deg, new cmd heading: 160.467707 deg. }$HeadingCmd: 2.800690 target range: 90.267021 and range: 90.90 m.b>3@ZrjRJB~~ zB}||||+? UI)tI@: B<>3@"u<1M=i>3@iEEEE_0Eԡ6G|!=jG?bG ?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.236226~GAANb>K} O"K} 9*Ky 2K} :K} @lAo*Gv:o@Q#o^Q*_3vlt^= ,>hA9bWO&@bb4@Yb.|ybɔv=bHGW 9Կ=?P?`L? ? ̮? 1? bWO&@b䔛;)`nuBn IIvIv[3~܂ ~[=y)Q >٥  H 6F ߻  >%5F?%59t5 IBy!%b-@%t@Ei;I;%5)-KA):JaBJeTJJe?RJaZJabJe:9Jeـ4Jachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489348DNOT Ignoring new targets: 90.27 m.%Sɹ%Sɹ] ProNav: ac range: 90.267021 m, nav range: 90.312088 m, bearing: 151.633421 deg, approach rate: -0.553219 m/s, LOS rate: -0.022002 deg/s, cmd heading: 160.467713 deg, new cmd heading: 160.441606 deg. ]qmHeadingCmd: 2.800234 target range: 90.267021 and range: 90.90 m.bm 73@ZirjRJB~~}||||,? %KI!)%z!I%5d: !)-ۮEH H IH svBH  =H GDH 0DH Ú<H E1 u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7395616G A"=~G) A9 AQ Nu >Q f,DXhA9>e!&@>44@Y>9y>^=>HO`kgԿ@}? X|?`Gj? ߐ?Ϋ?? >e!&@>;)٥ H7F%u %>)5%5-?5%59-2 I-By9=1-@=t@-Ei-(;-;-q%5AE1LAE٪Ey}DNOT Ignoring new targets: 90.27 m.ڹڹ ProNav: ac range: 90.267021 m, nav range: 90.072571 m, bearing: 151.624320 deg, approach rate: -0.625386 m/s, LOS rate: -0.023827 deg/s, cmd heading: 160.441608 deg, new cmd heading: 160.414232 deg. ЂHeadingCmd: 2.799757 target range: 90.267021 and range: 90.90 m.b6/3@ZrjRJB~~}|||| ? iѕI)I89 pdH<6/3@<=i 6/3@i 1EEEE?1EIC=I<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9962986G#=~GAANK>Yԁ B,rhA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247457D%uB%IMb@Mb@Mb@ )YCl?+Qyd?u  A)ZAIZAyAII#3 ==yQ >٥ H% %>9M%5=%?M%59= 0 I=ByU?]:]10@]t@=Ei=;=;=F%5iuLAuܪE%DNOT Ignoring new targets: 90.27 m.%M5%M5] ProNav: ac range: 90.267021 m, nav range: 89.807411 m, bearing: 151.606207 deg, approach rate: -0.578384 m/s, LOS rate: -0.039626 deg/s, cmd heading: 160.414233 deg, new cmd heading: 160.359733 deg. ]ٺHeadingCmd: 2.798805 target range: 90.267021 and range: 90.90 m.b3@ZrjRJB~~yB}|||| @ԩ yB͈I)I%>[ !!%KZg? g8wk%RU8z,rd21fEEEE0E!:JBJJJ<RJZJbJJ [4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499429 6GE ^S=ZGQ RGQ ~Gy A A N >",ohA9V%@VZ3@YVMβyV=VH`D8Կz??`6?`UY? 꺣?? V%@V7œ;)VCj~uBjIlIrIr 3z  z\=y~lQ ~>٥ H8F > %5 ޼?%59 - I y/@t@ Ei j; D; w%5%YB%LA-ڪEUB*** querying acoustic contact ***JQRQamDNOT Ignoring new targets: 90.27 m.m7m7 ProNav: ac range: 90.267021 m, nav range: 89.586143 m, bearing: 151.592297 deg, approach rate: -0.637363 m/s, LOS rate: -0.040166 deg/s, cmd heading: 160.359728 deg, new cmd heading: 160.317896 deg. ܺHeadingCmd: 2.798075 target range: 90.267021 and range: 90.90 m.b3@ZrjR J B ~ ~}|1|9|A|E @HHHwIHKvBHHHH<HE ضI) I#κ 4.N< 3@ fE<  E?EEE5EFF96G5 =~G AA q A N > A A] BDAT read: Rx Time:13:49:21.2306 m TRx dataTimestamp_ set to:1749131362.566331} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017586!),LhA9R5i%@R|3@YR ƼyR"=RH`0տc?)?j/b)??O?`(? R5i%@R%;)RCvsuBvI9Mb@Mb@Mb@ )YNbX9?y&1 rhy%?`弹CnA A)AIAAyAIIT3) 8ɼ >=yQ >٥ -ՈG -H1AMĻ > Yy B-%5?E%59* IߡByM%?M:U0@Ut@Ei;;%5Y]LA]ݪEDNOT Ignoring new targets: 90.27 m.\\ ProNav: ac range: 90.267021 m, nav range: 89.283226 m, bearing: 151.569540 deg, approach rate: -0.639522 m/s, LOS rate: -0.048208 deg/s, cmd heading: 160.317900 deg, new cmd heading: 160.249397 deg. VHeadingCmd: 2.796880 target range: 90.267021 and range: 90.90 m.b3@ZrjRJB~~yB}||||, @i yB靕0I)oI' Q<3@b<. K ?P"K 59*K 2K :K @\IlHt}d T`Yvn`?`$K  5 } U J J 0,1hA:J]_BJYJJ]?RJYZJ] :bJYJ]ـ4JY9J%@@^3@YUڼyF*=H + 1տ?E?`+*:?@I? [?? J%@骅;)Cԑ]uBIDAT read: 13:49:21.2306 LVL= 29536, 32753, 22674, 32755, AGC= 69, IDX= 409,-0.17,-0.274,-1.649,-0.063,-0.649, PHS= 0.464,-0.953, 0.583, RAW= 154.0, -1.3, CAL= 157.2, -10.0, ROT= 352.8, 10.0 Ygot valid direction response: 13:49:21.2306 LVL= 29536, 32753, 22674, 32755, AGC= 69, IDX= 409,-0.17,-0.274,-1.649,-0.063,-0.649, PHS= 0.464,-0.953, 0.583, RAW= 154.0, -1.3, CAL= 157.2, -10.0, ROT= 352.8, 10.0 PDAT read: Bearing 352.8, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 352.8, 10.0 (Local) %DAT read: Range 10 to 50 : 88.8 m (Round-trip 118.4 ms) speed 0.6 m/s I=I=#3MO UA=yUtQ U>٥YY ]H]9F]Y ]>am,DAT read: user:1779> uBDAT read: Tx time:13:49:22.3581 u$Ping request sent.}s}?? ,@)޹I/@i¸2j @¸2> )]%ԻY?C?oiu?<¸2> ):publishing transmit ping timeqFpublishing direction and range infoyC?"ٖNs:ƿY )Ii )Ii )]%ԻY?C?oi )ZbhA\B\B{+@ʁU@3%˛.C?"ٖNs:ƿ¸2>ҁ:AS87C@ |5*1jb٫k?2H ÿzBoj}sƜ?r3 ?B   OB[3+@e addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.532481 s, deltaX: -2.099998 m, approachRate: -0.594483 m/s, rangeRepo size: 4 u Added new target pos. range: 88.180244 m, bearing: 153.833715 deg, lat: 36.906375 deg, lon: -122.116034 deg, deltaT: 3.532481 s, deltaX: -2.086777 m, approachRate: -0.590740 m/s, posRepo size: 4 qDNOT Ignoring new targets: 88.18 m. ProNav: ac range: 88.180244 m, nav range: 87.655037 m, bearing: 153.266751 deg, approach rate: 0.000000 m/s, LOS rate: -0.048208 deg/s, cmd heading: 160.249393 deg, new cmd heading: 160.183344 deg. HeadingCmd: 2.795727 target range: 88.180244 and range: 88.80 m.b02@ZrjRJB~~}|||@33V@| ? aeIa)e+aImh iimTSHH^IH"vBH =HFDHH<HEm JDAT read: TxSync time:13:49:22.3573  6GU ><jG] ?bG] ?~G1 A9 AI NU >v6,+hAx9:%@N3@Y y?=H'V<տܥ?T? d& ?@u?? ? :%@];)5PuB5I)9 9IEIE2]] eI=ye請Q e>٥ H:F > %5&|? %59% Iy0@t@Ei(O;e;%5XBMAE!qDNOT Ignoring new targets: 88.18 m.0(0( ProNav: ac range: 88.180244 m, nav range: 87.381187 m, bearing: 153.251511 deg, approach rate: -0.658490 m/s, LOS rate: -0.036760 deg/s, cmd heading: 160.183345 deg, new cmd heading: 160.137482 deg. ɺHeadingCmd: 2.794926 target range: 88.180244 and range: 88.80 m.b2@ZrjRJB~~}||||`S? 靝JI)NJIϬ V<2@<kU=,hAt5QuB1Mb@Mb@Mb@ )YMbX?I +Qy*?94uA A)AI+AyAIIT3: :=yQ >٥ H;F   >%5e?%59.# IBy%*?%:%Q2@%t@ Ei::O%5)-}MA5EaDNOT Ignoring new targets: 88.18 m. { { ProNav: ac range: 88.180244 m, nav range: 87.101250 m, bearing: 153.230897 deg, approach rate: -0.795755 m/s, LOS rate: -0.058786 deg/s, cmd heading: 160.137487 deg, new cmd heading: 160.075446 deg. `!MHeadingCmd: 2.793844 target range: 88.180244 and range: 88.80 m.bUU2@ZQrQjYRYJYKhP"K9*K2K :K n !  dj!`[$soA={Ie~R3>1J?J?B~~QyB}||||o? Y]hI)Ic HY<U2@<D,!hA9>D$@>2@Y>y>Y_=>H@.տ@j??`@?Â?!?? >D$@>;)>C^?uB^IIfIf 3nmI n`= HpHr<Hr>HpHrEIHruBHr =HpHpHr<HrEy~MQ ~>٥ Hd  > %5 zR?%59  I By2@t@  Ei 8; #; %5)-MA19]B*** querying acoustic contact ***JYRYimDNOT Ignoring new targets: 88.18 m.uVuV ProNav: ac range: 88.180244 m, nav range: 86.856415 m, bearing: 153.213571 deg, approach rate: -0.660744 m/s, LOS rate: -0.046890 deg/s, cmd heading: 160.075442 deg, new cmd heading: 160.023317 deg. HeadingCmd: 2.792934 target range: 88.180244 and range: 88.80 m.bm2@ZrjRJB~~}||||L?T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. Y]qIY)]򌿉aIeû aae[E,J,*hADuBIԙMb@Mb@Mb@ )YX9v?y&1|?y&1|y3?`;`A  A)IAAyAI!Ii3O>< ;=yQ >٥ H%5E:?%59B IBy3?:3@t@ Ei3::R%5 MAEAMDNOT Ignoring new targets: 88.18 m.MUe ProNav: ac range: 88.180244 m, nav range: 86.554970 m, bearing: 153.186892 deg, approach rate: -0.696627 m/s, LOS rate: -0.061869 deg/s, cmd heading: 160.023314 deg, new cmd heading: 159.942997 deg. e)mHeadingCmd: 2.791532 target range: 88.180244 and range: 88.80 m.bmu2@ZirijiRiJ B~~NyB}!|!|!|!|%@SZ? w]I)<IB ^<u2@_ʷ<݌Q,DhABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0035479:#$@:2@Y:I y:r=:H տ`1??R?^(?0?? :#$@:̥;):CbMuBbIInIn3r< r[=yv^Q v>٥tt zHx~V ~>%5S%?%%59 IBy)-W3@-t@ Eij;;%5=WB=MA=EaeDNOT Ignoring new targets: 88.18 m.mOmO} ProNav: ac range: 88.180244 m, nav range: 86.293556 m, bearing: 153.164444 deg, approach rate: -0.696850 m/s, LOS rate: -0.060022 deg/s, cmd heading: 159.942991 deg, new cmd heading: 159.875441 deg. }$HeadingCmd: 2.790353 target range: 88.180244 and range: 88.80 m.b$2@ZrjRJB~~}|||| |@ yBHԶI)I  a<$2@ͷ<HH2IHuBH =HHH<HEHƛCHƛCHH =I = I:55checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255587I6GB<~G A A N >q +BW,q^hA9>y$@>2@Y>Na y>1=>Hտ@? ?vޫ? RK?? ? >y$@>;)>CNHuBNIIV IVb3Z` ^M=y^m/Q ^>٥`d fHf=Fj j>lr%5n$?r%59n| InBytv;3@vt@n Ein:n:n%5x~MA~EAMDNOT Ignoring new targets: 88.18 m.]d]d ProNav: ac range: 88.180244 m, nav range: 86.016472 m, bearing: 153.140829 deg, approach rate: -0.692228 m/s, LOS rate: -0.059185 deg/s, cmd heading: 159.875440 deg, new cmd heading: 159.804369 deg. x"5HeadingCmd: 2.789112 target range: 88.180244 and range: 88.80 m.b=р2@Z9rAjAQRqJyB~~}:J_BJQJJRJZJ :bJ-.9JJzJ+:jJ0:J4:rJ4:||Y|i|u9@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509727 eyBeIa)eaIm iimc= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759565~G9 AI AY Nm > w],|xhA9R3[$@Rn2@YR yR=RH`)տ,?%?/?٥ H>FV > %5 Cߜ?%59  I By4?%:%s2@%t@  Ei t; s; %5)-MA1Y]DNOT Ignoring new targets: 88.18 m.e.{e.{} ProNav: ac range: 88.180244 m, nav range: 85.703918 m, bearing: 153.116591 deg, approach rate: -0.705358 m/s, LOS rate: -0.054899 deg/s, cmd heading: 159.804365 deg, new cmd heading: 159.731385 deg. }HeadingCmd: 2.787839 target range: 88.180244 and range: 88.80 m.bk2@ZrjRJBԙ~~XyB}||||7H@ yBI)ÊI Nf<k2@\ѷ<jE >KdP"K59*K2K :KT<^> NgWNE n Ja[;'t>i<EEEE0EF=Fp=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0115846Gms<~GI Ai A N > ^d,ShAH2 >H0H2,IH2uBH2 =H2GDH0H2Қ<H2E9JL$@J`2@YJ yJ㝅=JH)ֿ$?{3?a-?6?&?? JL$@JWx;)JCVeuBVIIbIbT3f= f_=yj4Q j>٥hl nHl] ]>am&5eߜ?m&59e& IeByimd2@ut@e Eie7;eT;eP&5#MAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 88.18 m.yy ProNav: ac range: 88.180244 m, nav range: 85.435402 m, bearing: 153.095790 deg, approach rate: -0.702454 m/s, LOS rate: -0.054587 deg/s, cmd heading: 159.731391 deg, new cmd heading: 159.668793 deg.  %=<BDAT read: Rx Time:13:49:24.8772 TRx dataTimestamp_ set to:1749131366.347664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264960HeadingCmd: 2.786746 target range: 88.180244 and range: 88.80 m.b Z2@ZrjRJB~~}|| | | W @ =yB=I9)=9IE*(* AAE$iՈj,U/hA~kuBIMb@Mb@Mb@ )Y/$?Mbp~jtx?y&1?;nA t A) AI+AyAII2k< <=yQ >٥ H?F >&5ߜ?&59t IBy)1?:1@u@" EiL;);&5VBMAE!-DNOT Ignoring new targets: 88.18 m.-g-g ProNav: ac range: 88.180244 m, nav range: 85.147728 m, bearing: 153.074655 deg, approach rate: -0.686856 m/s, LOS rate: -0.050633 deg/s, cmd heading: 159.668799 deg, new cmd heading: 159.605180 deg.  HeadingCmd: 2.785636 target range: 88.180244 and range: 88.80 m.bG2@ZrjRJB~~$yB}||||1 @ MyBQM,Iq)uqIuL9 qy}mk<}G2@ط< BDAT read: Tx time:13:49:25.9581 $Ping request sent.5o55^? 5x-@)5I5;0@i5K65^@5K6> 1)15?N]z?4(ji5?5<5T 5K6> 1)1:publishing transmit ping timeکFpublishing direction and range info1E?EEE5Ey5U (?d2g¿kiƿ1Y1 1)1I1i11111 1)1I1i111 1)15?N]z?4(ji1111 1)1yԩ 6G ZG RG K tP"K 9*K 2K :K @gD*g4 !;F Gs*f g w 4  ~G A A N >rq,+hA@9J'$@J:2@YJyJ =JH@ a+ֿȬ?GV? 7?l?`!?D? J'$@J܋;)HjuBjIII(*2Μ= V=y5ìQ =>٥99 =HE@FM U>y&5}ߜ?&59} I}By1@u@}' Ei}:}:}g&5LAEZYb] hA]2B]2B])@ʁ]Mj!ST@ Ė(nTP.]U (?d2g¿kiƿ]T ]K6>ҁ]`XR%5C@j)]:VI0D?uK4ÿz]B]Bj]#ǜ?r]p% ]+BB]}sƜ?]p%  ]?B]B])@} addTargetRange:: Added new target pos. range: 86.199997 m, deltaT: 3.799974 s, deltaX: -2.600006 m, approachRate: -0.684217 m/s, rangeRepo size: 4  Added new target pos. range: 85.598343 m, bearing: 151.866259 deg, lat: 36.906376 deg, lon: -122.116018 deg, deltaT: 3.799974 s, deltaX: -2.581902 m, approachRate: -0.679452 m/s, posRepo size: 4 DNOT Ignoring new targets: 85.60 m. ProNav: ac range: 85.598343 m, nav range: 85.481262 m, bearing: 152.170847 deg, approach rate: 0.000000 m/s, LOS rate: -0.050633 deg/s, cmd heading: 159.605183 deg, new cmd heading: 159.542286 deg. HeadingCmd: 2.784538 target range: 85.598343 and range: 86.20 m.b52@ZrjRJB~~}|||5̌U@|5@?Ա -yB-b]I))5ǂ1I5CG 115%]nw,hAI0)2@p9-h*$@-=2@Y-yy-̀=-H`(&ֿ߭?R?6???? -h*$@-uG;)-C]uB]IImIm(*3]= C=yQ >٥ HX9 >&5Fߜ?&59A IBy1@u@+ Eiq;!d; &5UB*LAE DNOT Ignoring new targets: 85.60 m.IR=Ip=:JdBJgJJRJZJ<:bJ9JJzJ;jJ;J<:rJ=:  ProNav: ac range: 85.598343 m, nav range: 85.199074 m, bearing: 152.147421 deg, approach rate: -0.722908 m/s, LOS rate: -0.060211 deg/s, cmd heading: 159.542291 deg, new cmd heading: 159.471780 deg. J%HeadingCmd: 2.783308 target range: 85.598343 and range: 86.20 m.b!2@ZrjR1J1B9~a~a}i|i|i|i|m '? yB];GuZAA=G  YZAy)BI)UIYU p< !2@ ߷< gb},hA9>N)$@><2@Y>60%y>[wy=>H`I'ֿ20?hS?`P@k??`#?)? >N)$@> ͋;)>CRuBRIh}Mb@Mb@Mb@yyy y)yY}oʡ?Mb٥ HAF& >&5!ߜ?&59z IBy-?:0@u@0 Ei;;&5KAE  DNOT Ignoring new targets: 85.60 m.3\3\5 ProNav: ac range: 85.598343 m, nav range: 84.917519 m, bearing: 152.127397 deg, approach rate: -0.674489 m/s, LOS rate: -0.048129 deg/s, cmd heading: 159.471776 deg, new cmd heading: 159.411504 deg. 5=HeadingCmd: 2.782256 target range: 85.598343 and range: 86.20 m.b=z2@Z9r9j9R9JABA~I~MyB}I|I|I|Q|U@? }yB}йI)xI ` r<z2@<BVXV:G$p:[ SIE!E!E!E-P0E))6GeN<jGibGm>~GQ A A N >Y  H <H H >H CH KIH vBH  =H GDH H ٚ<H E,hA9F'$@F:2@YF,yFs=FHc@)ֿ ή? T?@?u?`V?`M? F'$@F&;)FCVuBV7IIZIZF3b= fY=yfQ f>٥hh jHjBFjD j>pz&5r)tߜ?z&59r IrByxz0@zu@r4 Eir:r:r&5 KA%B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 85.60 m.=[=[M ProNav: ac range: 85.598343 m, nav range: 84.663673 m, bearing: 152.109245 deg, approach rate: -0.670132 m/s, LOS rate: -0.048064 deg/s, cmd heading: 159.411506 deg, new cmd heading: 159.356887 deg. MUHeadingCmd: 2.781302 target range: 85.598343 and range: 86.20 m.bU2@ZQrQjQRYJYBa~i~i}q|q|q|qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.|u (? -yB-aI1)5mQIUl QQ]st<]2@e,>.hA9> $@>}2@Y>)/y>q=>Hf Bֿ?.n?[L??t? W? > $@>7ی;)>CJvBJLIeMb@Mb@Mb@aaa a)aYe!rh?{Gz٥ H >&5^ߜ?&59 IBy'?:).@u@8 Eia;3;&5JAEDNOT Ignoring new targets: 85.60 m.;; ProNav: ac range: 85.598343 m, nav range: 84.385826 m, bearing: 152.096683 deg, approach rate: -0.651604 m/s, LOS rate: -0.029557 deg/s, cmd heading: 159.356892 deg, new cmd heading: 159.319082 deg. G%HeadingCmd: 2.780643 target range: 85.598343 and range: 86.20 m.b% 1@Z!r!j!R!J!B)~)~-yB})|1|1|9|=? yB I)dIx v<  1@ u< dK] (;P"K] ]9*KY 2K] :K] jk=jR#9"g. "U@ L83-TtGd<wJ&Ji Jm A :Je ]BJe UJJe ARJa ZJe ]:bJe >9Je 4Ja m @m @m @m @],!HhA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2640029N#@N 2@YNdY5yNx=NH`Qֿ`) ?@ ?G? G?@T?? N#@NK;)NCZvBZ\IIb Ib2j= jW=ynQ n>٥ll rHrCFrB r>tz&5vKߜ?e&59vN Iv%Byi.@u@v< EivI)]qI}IP yyKx<1@|<aq ,٥tt zHzDFz^ z>|&5~;7ߜ?&59~o I~,By  -@ u@~@ Ei~>:~:~&5IAIMDNOT Ignoring new targets: 85.60 m.U U e ProNav: ac range: 85.598343 m, nav range: 83.872902 m, bearing: 152.073972 deg, approach rate: -0.690530 m/s, LOS rate: -0.030390 deg/s, cmd heading: 159.285721 deg, new cmd heading: 159.250735 deg. m٦mHeadingCmd: 2.779450 target range: 85.598343 and range: 86.20 m.bm1@ZqrqjqRqJqB~~}||||)@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769831 yBǚI)W ICՇ %yjE]>ԉEEEEEF F ԩ6GE N<% BDAT read: Rx Time:13:49:28.4740 % TRx dataTimestamp_ set to:1749131369.895339- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020319~G1 A9 AY Ne > E,8{hA9v#@v1@YvDyv=vHszֿ?b?7 ???@? v#@v_;)vCE^vBEIMb@Mb@Mb@ )Y'1Z?)\(~jt?y"?GaD< )\ AIAAyAI I(2%!= %7=y-wQ ->٥11 5H15P =>9E&5=!ߜ?E&59=- I=5ByMs#?M:M<,@Mu@=E Ei= ;= ;=p &5Q]+IA]EDNOT Ignoring new targets: 85.60 m.GGԩ ProNav: ac range: 85.598343 m, nav range: 83.589012 m, bearing: 152.066764 deg, approach rate: -0.636048 m/s, LOS rate: -0.016205 deg/s, cmd heading: 159.250737 deg, new cmd heading: 159.229039 deg. 1HeadingCmd: 2.779071 target range: 85.598343 and range: 86.20 m.bM1@ZrjRJB~~+zB}||||U @ yB WQI)MI5 '{<M1@<UEEEE0E:J=\BJ9JJ=>RJ9ZJ==:bJ9J=t4J9}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2714226G ~< ~G A A N >G G ?AH >H CH IH vBH H H H <H EHYHYHYHYI] = I]51 TI,E,hA9Fġ#@F,1@YFlMyF=FHȖֿ@ ??@_@?ڪ??? Fġ#@F@ێ;)FCZvBZIIbIb3j= j^=yj빻Q n>٥ll nHnEFr r>tz&5vߜ?z&59vz Iv=Byxz,@~u@vI Eiv;vw;v#&5HAE%B*** querying acoustic contact ***J!R!AEDNOT Ignoring new targets: 85.60 m.MMDAT read: 13:49:28.4740 LVL= 21424, 26481, 18338, 30307, AGC= 65, IDX= 405, 0.09,-0.526,-1.838,-0.344,-0.909, PHS= 0.471,-0.882, 0.561, RAW= 153.2, -2.2, CAL= 156.8, -10.8, ROT= 353.2, 10.8 Ygot valid direction response: 13:49:28.4740 LVL= 21424, 26481, 18338, 30307, AGC= 65, IDX= 405, 0.09,-0.526,-1.838,-0.344,-0.909, PHS= 0.471,-0.882, 0.561, RAW= 153.2, -2.2, CAL= 156.8, -10.8, ROT= 353.2, 10.8 PDAT read: Bearing 353.2, 10.8 (Local) ~Local bearing/azimuth received: Bearing 353.2, 10.8 (Local) DAT read: Range 10 to 50 : 83.8 m (Round-trip 111.8 ms) speed 0.6 m/s ,DAT read: user:1781> BDAT read: Tx time:13:49:29.5581 $Ping request sent.۝a۝? ܝD +@)ܝnFIܝ%/@iܝAܝC@ܝA> ݙ)ݙݝI?J[?8 `iݝL?ݝ=ݝݝA> ޙ)ޙ-:publishing transmit ping time5Fpublishing direction and range infoڙyڝODJ6?0Cƽ0iǿڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝI?J[?8 `iݙݙݙݙ ޙ)ޙU ProNav: ac range: 85.598343 m, nav range: 83.354858 m, bearing: 152.061108 deg, approach rate: -0.635935 m/s, LOS rate: -0.015404 deg/s, cmd heading: 159.229045 deg, new cmd heading: 159.212029 deg. U&)]HeadingCmd: 2.778774 target range: 85.598343 and range: 86.20 m.b]o1@ZYrajaRaJaBa~i~i}i|i|i|@3T@| G? yB퐽IZ<) lC IO 1B|<o1@<WY 4{,'hA9>#@>1@Y>_:Ty>Gp=>H@jֿj?`? @+? B??? >#@>;)>C^vB^IMb@Mb@Mb@ )YCl?bX9ȶ~jtx?yd?E;nA  A)rAI+AyI=.I=3Ϡ= 1=y/kQ >٥ HFFI >&5ޜ?&59 IDBy?::(@u@M Ei:Q:'&5GA !ZbZhAnBnB*@ʁ(ܥJT@b[#S]//ODJ6?0Cƽ0iǿA>ҁUbVRtB@OFq?'Ǥ4pFz?8j¿zBj/Ɯ?r.h FB/Ɯ?   +BBꁽB0*@  addTargetRange:: Added new target pos. range: 83.800003 m, deltaT: 3.538494 s, deltaX: -2.399994 m, approachRate: -0.678253 m/s, rangeRepo size: 4  Added new target pos. range: 83.215355 m, bearing: 152.963009 deg, lat: 36.906376 deg, lon: -122.116034 deg, deltaT: 3.538494 s, deltaX: -2.382988 m, approachRate: -0.673447 m/s, posRepo size: 4 DNOT Ignoring new targets: 83.22 m.5 ProNav: ac range: 83.215355 m, nav range: 82.365593 m, bearing: 152.940946 deg, approach rate: 0.000000 m/s, LOS rate: -0.015404 deg/s, cmd heading: 159.212024 deg, new cmd heading: 159.189361 deg. 1=HeadingCmd: 2.778378 target range: 83.215355 and range: 83.80 m.b=1@Z9r9j9R9JABA~A~ExzB}I|I|I|I|m@? yB2I)9II@ }<1@<4,QhA9F[#@Fo1@YF]yFa=FH @ֿ`??9+T?@?@,? ? F[#@FU;)FCVvBVII^I^m?3fW= fT=yfǻQ f>٥AA EHAM M>Q]&5U ޜ?]&59U IUKByae(@eu@UQ EiU:Uy:U1+&5quGAuEDNOT Ignoring new targets: 83.22 m._9_9 ProNav: ac range: 83.215355 m, nav range: 82.123291 m, bearing: 152.948228 deg, approach rate: -0.653903 m/s, LOS rate: 0.019712 deg/s, cmd heading: 159.189361 deg, new cmd heading: 159.211273 deg. rX:HeadingCmd: 2.778761 target range: 83.215355 and range: 83.80 m.b81@ZrjRJB~~}||||`i? ˗I))-41I5 99E}HHIHvBH =HFDH0DH<H?EEEEE5EyԹ6G] <~GY Aq A N > !,JhA9V6#@V1@YVbyVo^=VH5׿??bc?[`?`.U?@}?c? V6#@V"ԍ;)TvBIMb@Mb@Mb@ )Y7A`?B`"۹y?νA ) AIAyAIAIAU< U=yU0Q U>٥YY ]H]GFe( e>iu&5mޜ?u&59mC ImSBy}?}:}2&@}u@mV Eim#:m:m/&5%SB%gGA%Eq}DNOT Ignoring new targets: 83.22 m.:: ProNav: ac range: 83.215355 m, nav range: 81.804359 m, bearing: 152.964475 deg, approach rate: -0.568032 m/s, LOS rate: 0.029050 deg/s, cmd heading: 159.211272 deg, new cmd heading: 159.260204 deg. ~:HeadingCmd: 2.779615 target range: 83.215355 and range: 83.80 m.b61@ZrjRJB~~zB}|||| n? yB:mxI)%1IX nJ~<61@<c>E] <bEa ZEa 9 E E E E ^0E F F iKBP"K9*K2K :KqwuD~[i7'Rs,BJa3D:JdBJpJJDRJZJ<:bJ^9J4J6G]喇<ZGaRGa~GԑAAN?Q=,h hA9J"@Je0@YJ8fyJSDV=JHm׿P??S`F?@5ì?`?? J"@J;)H T)VAɵTTTXɶXiXIXXI\i\ \\)\` bnAbף`ɷ``fhAIf)fFid)hIjfAhɸh hɹhj`Alillill)l lIpٯpvvBzIIIV83x= $=yݺQ >٥ HHF+m > &5ʼޜ?&59) IZBy%%@Eu@[ EiV<V<:4&5YFAEEDNOT Ignoring new targets: 83.22 m.E:E:U ProNav: ac range: 83.215355 m, nav range: 81.508621 m, bearing: 152.981170 deg, approach rate: -0.586632 m/s, LOS rate: 0.033235 deg/s, cmd heading: 159.260204 deg, new cmd heading: 159.310468 deg. ]x:He>HaHeIHeIwBHe =HaHe1DHe<He6EHeadingCmd: 2.780492 target range: 83.215355 and range: 83.80 m.b1@ZrjRJB~~}||||E}ԅ٥yy }H}IF}8+ >&5ޜ?&59 IaB+:y:%@u@` Ei<: ? 8&5RBFA EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 83.22 m.&:&: ProNav: ac range: 83.215355 m, nav range: 81.187637 m, bearing: 152.999756 deg, approach rate: -0.626843 m/s, LOS rate: 0.036440 deg/s, cmd heading: 159.310474 deg, new cmd heading: 159.366453 deg. : HeadingCmd: 2.781469 target range: 83.215355 and range: 83.80 m.b 2@Z r jRJB~~}||!|)|- ~@h= =nAggregate::initialize lineCaptureHoming:MicromodemCommsh==~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn1i= |I)'Iq <2@B<#/g;i2@iDADADADAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1aE?EEEEK /P"K 9*K 2K :K 5Kr= }"j -ix:Z& ^b Vo[E%;q7o1(wU  :pJ J Aԑ :J- xBJ- OJJ- @RJ) ZJ- Z:bJ- %9J- J4J)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7638796G 1;~G A A ԹH5>H5CH58IH5wBH5 =H1H1H5<H5E=BDAT read: Rx Time:13:49:32.0711 ETRx dataTimestamp_ set to:1749131373.427339Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016297NE:?,_hA9Rc"@Rˢ0@YRn\yR 7=RH׿@ ??K@?Ď??? Rc"@R*E;)RCwBIII?13< ٥ HJF(; p>&5ޜ?&59 IlB :yi: %@ u@g Ei-;?P<&5FA EAMDNOT Ignoring new targets: 83.22 m.U:U:e ProNav: ac range: 83.215355 m, nav range: 80.746078 m, bearing: 153.025043 deg, approach rate: -0.595607 m/s, LOS rate: 0.034296 deg/s, cmd heading: 159.366454 deg, new cmd heading: 159.442732 deg. mL:mHeadingCmd: 2.782801 target range: 83.215355 and range: 83.80 m.bmh2@ZqrqjqRqJqBq~y~y}||||`3k @ 靵^bI)#I -<h2@eX<谂;ih2@iE?EEE1EF=F=1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270555Y6Gg;jGbG>~G A! AA N >ԉ `,G BDAT read: Tx time:13:49:33.1597 $Ping request sent.x_ɿ3BY V)uI"Mi3zC?\ ? )@)9I-\-@iI_(@I> )j>P?L[Z?%ui ?L<=޹I> )-:publishing transmit ping timeڡ-Fpublishing direction and range infoy\@"@?[>x_ɿY )IiaIeaIe aMeaMe aQeaQe aEeaEe eMb@Mb@Mb@aaa a)aYezG?S㥻~jtye ?e/ݽeeAAq )Ii )j>P?L[Z?%ui ) eE A)e AIeAAaye3AI IV2-ߞ -8=yu:Q u>٥qq }H}KF}; }>&5rޜ?&59 ImBT:y?:V%@u@l Eip;;C@&5FAZb{hABB+@ʁ0S@6h^/\@"@?[>x_ɿ޹I>ҁ-~KQm߄UA@:|v'MBn_ p ?)¿zBjƜ?rtGn3 GB}sƜ?.h  FBB3*@} addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.532151 s, deltaX: -2.200005 m, approachRate: -0.622851 m/s, rangeRepo size: 4  Added new target pos. range: 81.030807 m, bearing: 153.704533 deg, lat: 36.906376 deg, lon: -122.116035 deg, deltaT: 3.532151 s, deltaX: -2.184547 m, approachRate: -0.618475 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.03 m.u ProNav: ac range: 81.030807 m, nav range: 80.496216 m, bearing: 153.077364 deg, approach rate: 0.000000 m/s, LOS rate: 0.034296 deg/s, cmd heading: 159.442734 deg, new cmd heading: 159.491415 deg. q}HeadingCmd: 2.783650 target range: 81.030807 and range: 81.60 m.b}T'2@ZyԡryjRJB~~zB}|||`ffT@|=F? myB}zIy)}%I <T'2@<Th;iT'2@iK}qLQ"K}59*Ky2K} :K}PY SMC: N R *U @ )  ;p+PY?2mHG/ {tfWFE?EEEz0E =<JDAT read: TxSync time:13:49:33.1589  6GU @;~G1 Ha He CHe QIHe wBHe  =He GDHa He <He EA A N >;,hA9 &"@ 0@Y \y $t= HE׿`d?bx?D? ?t?? &"@ ɍ;) Cq}vB}Ii=I4<I+In3 M=y0Q >٥ H; >&5aޜ?&59 IoBy%@u@o Ei:R:C&5FAEY]DNOT Ignoring new targets: 81.03 m.e,:e,: ProNav: ac range: 81.030807 m, nav range: 80.260773 m, bearing: 153.091668 deg, approach rate: -0.620247 m/s, LOS rate: 0.037791 deg/s, cmd heading: 159.491419 deg, new cmd heading: 159.534455 deg. |:HeadingCmd: 2.784401 target range: 81.030807 and range: 81.60 m.b32@ZrjRJB~~}||||`I? iuHIq)uS&qIuoC yy}P<}32@eĵ<$;i32@iԡEE?EAEAEE4EA:J- ZBJ- SJJ- BRJ) ZJ- 9bJ- y69J- -4J) zJ- .:5 jJ- 3:= J- (C:= rJ- +C:= 6G ;~G A A N >h,sׯhA9r*#@r$>1@Yr)ayrMS=rH``ֿp?٥ HLF<  >&54Oޜ?&59I Iy%?%:-D(@-u@s Ei3;;MG&5=QB=FA=E]B*** querying acoustic contact ***JYRYiuDNOT Ignoring new targets: 81.03 m.uN9uN9 ProNav: ac range: 81.030807 m, nav range: 80.010475 m, bearing: 153.099339 deg, approach rate: -0.616018 m/s, LOS rate: 0.018939 deg/s, cmd heading: 159.534450 deg, new cmd heading: 159.557536 deg. O:HeadingCmd: 2.784804 target range: 81.030807 and range: 81.60 m.b<:2@ZrjRJB~~rzB}||||? yB I ) & I Z|¼ <<:2@쑵<A(Q zL,@hAKP"K9*K2K :KXb=PrQJruS*{YDm#$ kW9B{#@Be1@YBfyBڙ=BH%ֿ/E? ? @?^? .?? B{#@Bn̍;)BCNvBRIIV!IVi3b) ba=yb7Q b>٥dd fHfMFf_< j>hr&5j>ޜ?r&59jv Ihypr(@ru@jw Eij:j:jyJ&5tzFAxDNOT Ignoring new targets: 81.03 m.%9%95 ProNav: ac range: 81.030807 m, nav range: 79.790077 m, bearing: 153.105286 deg, approach rate: -0.612257 m/s, LOS rate: 0.016565 deg/s, cmd heading: 159.557536 deg, new cmd heading: 159.575425 deg. 55:Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243249EHeadingCmd: 2.785117 target range: 81.030807 and range: 81.60 m.bMZ?2@ZIrIjIRIJIBI~Q~Q}Q|Y|Y|Y|]p:? yB1 $IA)E *AIMƼ yy<Z?2@*o<"hԹ ~u,zhA9Va#@V1@YVlgyVo=VH_;ֿ`?o? @g??@G? ? Va#@V;)VCvvBvI)| |I"Iq39 E=y=XQ =>٥9A EHAE{< E>IU&5M!,ޜ?U&59M? IIyy} )@u@M{ EiM;M;M"N&5PBFAEԑDNOT Ignoring new targets: 81.03 m.Cr9Cr9 ProNav: ac range: 81.030807 m, nav range: 79.535614 m, bearing: 153.110927 deg, approach rate: -0.595197 m/s, LOS rate: 0.013238 deg/s, cmd heading: 159.575431 deg, new cmd heading: 159.592409 deg. [:HeadingCmd: 2.785413 target range: 81.030807 and range: 81.60 m.b5D2@ZrjRJB~~}|||| ?J 4J 4J d/:J\BJRJJARJZJ=:bJS29J4JzJ:jJ:J;:rJ<: yBbI)$,Iy˼ Ou<5D2@-]<58]?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750786EEEE1E6G Yh<~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999467 @,XhA9^~'$@^:2@Y^by^ʸ=^Hm`տI?P? C@ ?[? C?&? ^~'$@^*;)^CrvBrI}Mb@Mb@Mb@yyy y)yY}/$?&1Qy}?}P}}A }vA)} AI}+Ayy} AI)IW3 A=y*;Q >٥ HNF$< >&5zޜ?&59d Iyg?:8-@u@ Eioq;p;Q&50GADNOT Ignoring new targets: 81.03 m.EE ProNav: ac range: 81.030807 m, nav range: 79.278580 m, bearing: 153.104561 deg, approach rate: -0.586095 m/s, LOS rate: -0.014564 deg/s, cmd heading: 159.592411 deg, new cmd heading: 159.573249 deg. %HeadingCmd: 2.785079 target range: 81.030807 and range: 81.60 m.b%>2@Z!r!j!R!J)B)~Q~UzB}Y|Y|a|a|e@ yBJI)[0I \!м g<>2@\<:2@iE?EEEQ0EK}H]P"K}s9*Ky2K} :K} f;#j#n\j'2UJIt y p Bz#LYluS@/7aJ>J>6G*f<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251547~GAAN>I  H <H <H >H H KIH wBH  =H H 0DH Ԛ<H E6,@hA9Rb$@R0v2@YRD`yRB=RH տ@睵?`?b9?+?`ډ?`? Rb$@R\;)RCbvBbIIjIj3e mN=ym:Q m>٥qq uHq}0< }>&5ޜ?&59 InByx-@u@ Eis;;AU&5:GAEDNOT Ignoring new targets: 81.03 m.ѦѦ ProNav: ac range: 81.030807 m, nav range: 79.034561 m, bearing: 153.097778 deg, approach rate: -0.653872 m/s, LOS rate: -0.018230 deg/s, cmd heading: 159.573245 deg, new cmd heading: 159.552835 deg. .H HeadingCmd: 2.784722 target range: 81.030807 and range: 81.60 m.b 82@Z r j R JB~~}||||p@ UyB]IY)]y1YI]9Լ YaeDu: ,#1hAL9$@2@Y˿^y =H_տj|??@w? vԫ? ?? $@;)C%vB-Ii5>I5=Mb@Mb@Mb@ )Y{Gz?Zd;OS㥛y#?j/ݼA A) AIAyIEIE2URz U<=y]:Q ]>٥YY ]H]OFeN; e>iu&5mݜ?u&59m ImpByu$?}:}0@}u@m EimZ:m:mY&5GAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 81.03 m.== ProNav: ac range: 81.030807 m, nav range: 78.757050 m, bearing: 153.079996 deg, approach rate: -0.642453 m/s, LOS rate: -0.041313 deg/s, cmd heading: 159.552837 deg, new cmd heading: 159.499301 deg. HeadingCmd: 2.783788 target range: 81.030807 and range: 81.60 m.b)2@ZrjRJB~~yB}||||x@ 5yB5șI1)=89I=Wټ 99=  I I ,pJhA9:*$@:2@Y::L\y:=:Hk ]տ??@;?`!?)?? :*$@:X[;):CK>̃P"K>59*K<2K> :K>w}F(7t8u\r=^PY?!?^u!$mlv,!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263178]vB]IImIm2; W=y:Q >٥ HPF; >&5ݜ?&59 IqBy0@u@ Ei::_\&5GADNOT Ignoring new targets: 81.03 m.0B0B- ProNav: ac range: 81.030807 m, nav range: 78.514771 m, bearing: 153.063857 deg, approach rate: -0.635204 m/s, LOS rate: -0.042444 deg/s, cmd heading: 159.499301 deg, new cmd heading: 159.450735 deg. UUHeadingCmd: 2.782940 target range: 81.030807 and range: 81.60 m.b]2@ZYrYjYRYJYBY~a~a}a|a|i|i|m @ yB I) ;!I%޼ !!%㯃<52@5<5=i52@i1IEEEEo0EHIHIHM8IHMwBHM =HIHIHM<HM(Eq6GW< DAT read: 13:49:35.6698 LVL= 29072, 28353, 26802, 32755, AGC= 68, IDX= 409,-0.26, 1.383, 0.004, 1.593, 0.950, PHS= 0.521,-0.899, 0.640, RAW= 154.0, -3.6, CAL= 157.9, -11.9, ROT= 352.1, 11.9  Ygot valid direction response: 13:49:35.6698 LVL= 29072, 28353, 26802, 32755, AGC= 68, IDX= 409,-0.26, 1.383, 0.004, 1.593, 0.950, PHS= 0.521,-0.899, 0.640, RAW= 154.0, -3.6, CAL= 157.9, -11.9, ROT= 352.1, 11.9  PDAT read: Bearing 352.1, 11.9 (Local)  ~Local bearing/azimuth received: Bearing 352.1, 11.9 (Local)  DAT read: Range 10 to 50 : 79.4 m (Round-trip 105.9 ms) speed 0.4 m/s  ,DAT read: user:1783>  BDAT read: Tx time:13:49:36.7582  $Ping request sent. )w-{?7F;-?$i꯿i:?T=0 ȭT> )] :publishing transmit ping time ԩ N >] Fpublishing direction and range infoy"?l6Fa5dʿY )Ii )Ii )w-{?7F;-?$i꯿i ),dhAy9-^$@- 3@Y-!uVy-я=-HR -տ?`?@` ?˪?#߸?`? -^$@-o;)-C:J]BJZJJCRJZJ]:bJS9J4JzJ:jJ:JQu:rJSu:mUGvBI rYypBI I̍2%<MJDAT read: TxSync time:13:49:36.7574  U(=y]=;Q ]>٥ HQFԩ; > M&5 )ݜ?U&59 k I rBy1@u@  Ei 8< < `&5OBGAEZ)b-w]hA-B-B-+@ʁ-WBS@WBWC5%E1}!B0-"?l6Fa5dʿ-0 -ȭT>ҁ-A\ujQ5C>A@$'Aa*-HӁEJەR?yêiſz- B-Sj-zƜ?r-Z3 -AB-zƜ?-tGn3  -+BB-zB-+@E addTargetRange:: Added new target pos. range: 79.400002 m, deltaT: 3.534018 s, deltaX: -2.199997 m, approachRate: -0.622520 m/s, rangeRepo size: 4 U Added new target pos. range: 78.845749 m, bearing: 153.659068 deg, lat: 36.906376 deg, lon: -122.116045 deg, deltaT: 3.534018 s, deltaX: -2.185059 m, approachRate: -0.618293 m/s, posRepo size: 4 DNOT Ignoring new targets: 78.85 m.  ProNav: ac range: 78.845749 m, nav range: 77.738937 m, bearing: 153.652583 deg, approach rate: 0.000000 m/s, LOS rate: -0.042444 deg/s, cmd heading: 159.450739 deg, new cmd heading: 159.377913 deg.  HeadingCmd: 2.781669 target range: 78.845749 and range: 79.40 m.b2@ZrjRJB~!~!}!|!|)|-S@|-@B"? yBʝI)9I.  <\< 2@ w< =i 2@i E ?E E E T0E    A16G<<~GAAN?Ch!, hA9>$@>3@Y>.Vy>yY=>H*տ? 7? Z? ª?]9?? >$@>S;)>CNvBNI)P P R=R=5Mb@Mb@Mb@111 1)1Y5Fx?Mb`~jty5+?555XA 5A)5 AԉI5A1y5z AI"Iq3  +  6=y 9Q  >٥ H: >-&5ݜ?-&59 IuBy-+?-:5 3@5u@ Ei;;d&59=GA= Ey}DNOT Ignoring new targets: 78.85 m. ProNav: ac range: 78.845749 m, nav range: 77.457756 m, bearing: 153.628360 deg, approach rate: -0.776077 m/s, LOS rate: -0.067101 deg/s, cmd heading: 159.377915 deg, new cmd heading: 159.304981 deg. 48HeadingCmd: 2.780396 target range: 78.845749 and range: 79.40 m.b1@ZrjRJB~~yB}||||@?KP"K9*K2K :K"\+ #3T k(uBvSV y8 b .  yBVI)x:I- < 1@ .<  =i 1@iԹEEEE_0EH>HH&IHgwBH =HHH<H8E6G ߣ=~G A  A) N= >_',¤hA]vB]II} I}b32 T=yQ >٥ HRF >&5ݜ?&59 IyByu@ Ei;4;g&5GAQuDNOT Ignoring new targets: 78.85 m.}s}s ProNav: ac range: 78.845749 m, nav range: 77.200035 m, bearing: 153.606001 deg, approach rate: -0.670168 m/s, LOS rate: -0.058335 deg/s, cmd heading: 159.304983 deg, new cmd heading: 159.237682 deg. # HeadingCmd: 2.779222 target range: 78.845749 and range: 79.40 m.b1@ZrjRJB~~}||||? yB-%I).?I х<1@0h<K=i1@iEiEiEiEm0EqIC=Ia=ԁ6G=jG?bG ?~G! A) A9 Nm > -,xhA5vB5IMb@Mb@Mb@ )YCl?~jt?I +y/?<94A 3A)vAI Ay AIIF3r= E=yQ >٥ HSF > &5:ݜ? &59E I~By /? : 4@u@ Ei:;k&5!-GA-#EEB*** querying acoustic contact ***JARA]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.q}DNOT Ignoring new targets: 78.85 m.}ۨ}ۨ ProNav: ac range: 78.845749 m, nav range: 76.917450 m, bearing: 153.575025 deg, approach rate: -0.670916 m/s, LOS rate: -0.073813 deg/s, cmd heading: 159.237678 deg, new cmd heading: 159.144410 deg. JHeadingCmd: 2.777594 target range: 78.845749 and range: 79.40 m.b1@ZrjRJB)~~vyB}|||| ? UyBUIQ)U;QI]Y YY]7<4,#hA<9VU$@V3@YVKyV=VHd`9տ`+?f?Ѳ?`?@~?`L? VU$@Vˊ;)VCbvBbIif=If>hjAIn In̍2vړ< v^=yv;Q v>٥xx zHx~ ~> &5lݜ? &594 IBy  4@ u@ EiG::n&5NBGA&EamDNOT Ignoring new targets: 78.85 m.m m  ProNav: ac range: 78.845749 m, nav range: 76.667496 m, bearing: 153.547587 deg, approach rate: -0.683198 m/s, LOS rate: -0.075242 deg/s, cmd heading: 159.144405 deg, new cmd heading: 159.061821 deg. NHeadingCmd: 2.776153 target range: 78.845749 and range: 79.40 m.b|1@ZrjRJBH >HHIHSwBH =HH1DH<HtE~~}||||TA? eyBmlyI):Ipb a<|1@<m =i|1@iԩEE?EAEIEM5EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9889186G =~Ga Ai A N > I I AA:,/hA9:w$@: 3@Y:Hy:Q=:Hx@տ>Q?@?@  ۰?l?@\?? :w$@:H;):CJvBNIIVIV[3vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.241133|E= ME=yU:Q U>٥q HTFB: >&5|Uݜ?&59ϴ IBy4@u@ Ei<<r&5!%RGA)DNOT Ignoring new targets: 78.85 m.隺隺 ProNav: ac range: 78.845749 m, nav range: 76.377312 m, bearing: 153.515460 deg, approach rate: -0.609322 m/s, LOS rate: -0.067717 deg/s, cmd heading: 159.061828 deg, new cmd heading: 158.965080 deg. 9HeadingCmd: 2.774464 target range: 78.845749 and range: 79.40 m.bҐ1@ZrjR J!B)~)~)})|1|1|1|5@ MyBM9II)MY7IIM QQU@EA,hA9::%@:3@Y:mHy: +=:HL :տ@?`?@??`9?? ::%@:?;):CJvBJIImMb@Mb@Mb@iii i)iYmI +?/$?~jthym94?m٥ H%; >&5>ݜ?&59 IByN4?:5@u@ Eio;;v&5FA)EDNOT Ignoring new targets: 78.85 m.ϺϺ ProNav: ac range: 78.845749 m, nav range: 76.098099 m, bearing: 153.483847 deg, approach rate: -0.798431 m/s, LOS rate: -0.090729 deg/s, cmd heading: 158.965085 deg, new cmd heading: 158.869901 deg. yHeadingCmd: 2.772803 target range: 78.845749 and range: 79.40 m.bu1@Zr!j!R!J!B!~)~-pyB})|)|)|1|5v@ im8,Ii)u.:J}^BJ}_JJ}ARJyZJ}} :bJ}=h9J}4JyqIVU |<u1@Z<u1=iu1@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745936K O"K *K 2K  :K U)N>nl_EyIf ( [ E rUa%`OUaf=}??'M]iEiEiEqEuP0Eq~GAANA>ԙ H<H4=H>HCHHH =HHH*<HEHaHaHaHe =Ie = Ienj5  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996833bG,> hA9V2%@V+3@YVJyVIm=VH.տ pT?p?@`?@?`B?? V2%@V?;)T-vB-I)1 1 ===p=IM IM2]-< ]M=y]o]Q e>٥aa eHeUFm*; m>q}&5ui(ݜ?}&59uB IuByy}5@u@u Eiu3;u1:uzy&5MBFA,EԑDNOT Ignoring new targets: 78.85 m. ProNav: ac range: 78.845749 m, nav range: 75.821556 m, bearing: 153.452086 deg, approach rate: -0.696376 m/s, LOS rate: -0.080271 deg/s, cmd heading: 158.869900 deg, new cmd heading: 158.774269 deg. [\HeadingCmd: 2.771134 target range: 78.845749 and range: 79.40 m.bAZ1@ZrjRJB~~}||||`@ -yB- I1)5a,1I5G 19=RȉBDAT read: Rx Time:13:49:39.2650 TRx dataTimestamp_ set to:1749131380.739330checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249781 OM,:hA9>z%%@>83@Y>My>=>H@H#տ^? 0d?@e?@ ? Ͳ?? >z%%@>;)>CNwBRI5Mb@Mb@Mb@111 1)1Y5٥ai mHmVFm4; m>q}&5uݜ?&59uƭ IuByu3?:b3@u@u Eiu:u{:u}&5-FA5+EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.500790mB*** querying acoustic contact ***JiRiy}DNOT Ignoring new targets: 78.85 m.KK ProNav: ac range: 78.845749 m, nav range: 75.540146 m, bearing: 153.425345 deg, approach rate: -0.656727 m/s, LOS rate: -0.062639 deg/s, cmd heading: 158.774263 deg, new cmd heading: 158.693741 deg. +HeadingCmd: 2.769728 target range: 78.845749 and range: 79.40 m.b:C1@ZrjRJB~~vyB}||||` @ yB&I)z#I !!%e<5:C1@]r<]A=ie:C1@iaEEEEO0EjG?bG?~GAA N>I:J]BJTJJCRJZJ]:bJ:9J4J= DAT read: 13:49:39.2650 LVL= 23792, 29425, 19474, 26611, AGC= 67, IDX= 408,-0.14,-3.096, 1.828,-2.841, 2.808, PHS= 0.467,-0.934, 0.630, RAW= 155.5, -2.2, CAL= 158.8, -10.7, ROT= 351.2, 10.7 U Ygot valid direction response: 13:49:39.2650 LVL= 23792, 29425, 19474, 26611, AGC= 67, IDX= 408,-0.14,-3.096, 1.828,-2.841, 2.808, PHS= 0.467,-0.934, 0.630, RAW= 155.5, -2.2, CAL= 158.8, -10.7, ROT= 351.2, 10.7 ] PDAT read: Bearing 351.2, 10.7 (Local) e ~Local bearing/azimuth received: Bearing 351.2, 10.7 (Local) m DAT read: Range 10 to 50 : 77.0 m (Round-trip 102.7 ms) speed 0.6 m/s u ,DAT read: user:1784> u BDAT read: Tx time:13:49:40.3582 } $Ping request sent.}  o G!?  -@) nFI a1@i t;? %@ t;?>  )  kH ?}?ޚDḷi X? m= TF t;?>  )  :publishing transmit ping timey  Fpublishing direction and range info y ?gy=ÿ &K{ǿ Y  ) I i      ) I i    )  kH ?}?ޚDḷi    K 0zP"K *K 2K :K K2?2c oNkPU5`&$>FoqYj I uBlK@J J  ) q T,0hThA9[%@)3@YyPyb=Hn5տ9?3r?@0`ƨ??±? ? [%@i;)CHE>HAHE,IHEqwBHE =HAHAHE8<HEE>wB II I̍25W= 5>=y5Q =>٥99 =H9Ep E>Q&5hܜ?&59 IByS3@u@ Ei:[:܀&5oEA.EZ1b5OhA5B5B5xD*@ʁ5t|%R@kFV!&1wd,5?gy=ÿ &K{ǿ5TF5t;?>ҁ5szP/A@4Q&5(o$'M?U˭¿z5 B5j5ZƜ?r5l 5JB5/Ɯ?5.h  5FB5MB5.*@ addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 3.777901 s, deltaX: -2.400002 m, approachRate: -0.635274 m/s, rangeRepo size: 4 M Added new target pos. range: 76.463387 m, bearing: 152.431351 deg, lat: 36.906376 deg, lon: -122.116035 deg, deltaT: 3.777901 s, deltaX: -2.382362 m, approachRate: -0.630605 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 76.46 m.UQ ProNav: ac range: 76.463387 m, nav range: 75.650742 m, bearing: 152.752068 deg, approach rate: 0.000000 m/s, LOS rate: -0.062639 deg/s, cmd heading: 158.693735 deg, new cmd heading: 158.612365 deg. HeadingCmd: 2.768308 target range: 76.463387 and range: 77.00 m.b+1@ZrjRJB~~}|||@S@|-? -yB-畽I1)51I5W% 115&<eJDAT read: TxSync time:13:49:40.3574 m+1@mwܸ[;[,ohA *=*>-dwB5$Ii5=I5<IEIEF3U= UR=y]Q e>٥ HWF >1Iu&55ܜ?}&595 I5Byu@5 Ei5<5ƃ<5f&5LBDA-1EDNOT Ignoring new targets: 76.46 m.ƜƜ ProNav: ac range: 76.463387 m, nav range: 75.369637 m, bearing: 152.722835 deg, approach rate: -0.656564 m/s, LOS rate: -0.068531 deg/s, cmd heading: 158.612360 deg, new cmd heading: 158.524336 deg. !<HeadingCmd: 2.766772 target range: 76.463387 and range: 77.00 m.b1@ZrjRJ!B!~!~!})|)|)|)|-\)? 靥pI)MI E<1@I<ZmH=i1@iyE?EEE^0E6Gm7=~GyAԡAN> Mb,aވhA9f:$@f\N2@Yf|Zyf`=fHֿz?i??fFΠ? EL?B?`? f:$@fg;)fCwB:IMb@Mb@Mb@ )YB`"?MbP?I +?y.?:94<A A)AIy AI!Ii3è= B=:JaBJUJJGRJZJ:bJ>9Jc4Jy hQ  >Ա٥ HXFY >&59ܜ?&59 IBy.?:W2@u@ EiL$;r#;&5BDA4EDNOT Ignoring new targets: 76.46 m.%5 ProNav: ac range: 76.463387 m, nav range: 75.085190 m, bearing: 152.696421 deg, approach rate: -0.744366 m/s, LOS rate: -0.069385 deg/s, cmd heading: 158.524333 deg, new cmd heading: 158.444790 deg. 5y>=HeadingCmd: 2.765383 target range: 76.463387 and range: 77.00 m.b= 0@Z9r9j9RAJABA~A~EyB}I|I|I|Q|U`? 靕LI)I= "3< 0@<=i 0@i KEoP"KE9*KA2KE :KEJ*p=<A+=AKRDlQL"1y6uQJU?JU>E?EEE_0EGG@AH>HHQIHwBH =HHH<H/E 6G C=ZG RG ~G A A N >9 Fh,hA9B#@B1@YBayBL=BHY@ֿ@Ԭ?? [ƛ??W?n? B#@BS;)BCNwBNVIIVIVF3^= ^`=y^5Q b>٥hh jHhj=ͼ j?pr&5r޹ܜ?v&59rƣ IrBytv1@vu@r Eir:r:r&5x~CA|!%DNOT Ignoring new targets: 76.46 m.-- ProNav: ac range: 76.463387 m, nav range: 74.853661 m, bearing: 152.676296 deg, approach rate: -0.681694 m/s, LOS rate: -0.059437 deg/s, cmd heading: 158.444789 deg, new cmd heading: 158.384228 deg. )#HeadingCmd: 2.764326 target range: 76.463387 and range: 77.00 m.b0@ZrjRJB~~}||||? yB靽I)IY <0@<I]=i0@i)  CE?EEE0EGZAF4=Fp= - Y-ZAy-?B-@B6G(=9~GAAN_>q pn,GhA09BB#@B/1@YB/ayB;=BH&׿Yb?`YJ? c.?.?@m?`? BB#@Bx;)BCNwBNiIuMb@Mb@Mb@qqq q)qYu#~j?Qy&1|?yu%?uu`;u\ A uA)uIAIuE Aqyup AI IV2h= ==yݏQ >٥ HYF >&5Sܜ?&59Š IˢBy&?:0.@u@ Ei:A:׎&5KB CA7EB*** querying acoustic contact ***JR DNOT Ignoring new targets: 76.46 m.% ProNav: ac range: 76.463387 m, nav range: 74.574158 m, bearing: 152.664037 deg, approach rate: -0.644046 m/s, LOS rate: -0.028354 deg/s, cmd heading: 158.384232 deg, new cmd heading: 158.347317 deg. -=HeadingCmd: 2.763682 target range: 76.463387 and range: 77.00 m.b=+0@Z9r9jARAJABA~A~MyB}I|I|I|I|U`Bw? yB靅ڇI)V뾉I B݌<+0@ù<1E6Ge=~Gi Aq ؍ ?׍ %= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A N > Ke .P"Ke +9*Ka 2Ke :Ke \>srn kAS7 5j*}C_['tAPYu,PohAHF>HDHFIHFxBHDHDHDHF'<HFEl93"@0@Y`^y(%=HO v׿@??@ ?ȫ?䛤?G? 3"@C;)C5wB5|IIEIE3Uʛ= UO=yUT;Q ]>٥YY ]H]ZFev e>iu&5mːܜ?u&59m ImӢByq}-@}u@m Eim;m;mG&5BADNOT Ignoring new targets: 76.46 m. ProNav: ac range: 76.463387 m, nav range: 74.319771 m, bearing: 152.654291 deg, approach rate: -0.641571 m/s, LOS rate: -0.024665 deg/s, cmd heading: 158.347322 deg, new cmd heading: 158.317983 deg. jHeadingCmd: 2.763170 target range: 76.463387 and range: 77.00 m.b0@ZrjRJB~~}|||| ld@ 5yB5ϥI9)=jܾ9I= 99=%1ԁ :J% `BJ% SJJ% LRJ! ZJ% :bJ% y69J% 4J! zJ% :5 jJ% := J% (C:E rJ% *C:E ݃{,?`^?@? F1"@F&;)FC xB%IAIUIU?13eT= eI=yeF$:Q m>٥yy }Hy >&5|ܜ?&59 IۢByG-@u@ Ei;;ؕ&58BA:E)DNOT Ignoring new targets: 76.46 m. ¹¹ ProNav: ac range: 76.463387 m, nav range: 74.055817 m, bearing: 152.645475 deg, approach rate: -0.634389 m/s, LOS rate: -0.021263 deg/s, cmd heading: 158.317979 deg, new cmd heading: 158.291438 deg. ziHeadingCmd: 2.762707 target range: 76.463387 and range: 77.00 m.b00@ZrjRJB~~}|| | | r'@ UyB]|IY)]OҾYI] aaebaj,! hA9FN!@F/@YFn]yF=FHl`jؿ@G?`?ǎѾ?ն?,?? FN!@F[M;)FCR8xBVI=Mb@Mb@Mb@999 9)9Y='1Z?Mb{Gzt?y="?==ף;= A =`A)=AI= A9y= AI]I]#3m= mJ=yu3Q u>٥qy }H}[F{ >&5}iܜ?&59ח IBy#?:m)@ԙu@ Ei5;4;^&5vAA=EDNOT Ignoring new targets: 76.46 m.1919 ProNav: ac range: 76.463387 m, nav range: 73.798302 m, bearing: 152.648850 deg, approach rate: -0.653180 m/s, LOS rate: 0.008589 deg/s, cmd heading: 158.291437 deg, new cmd heading: 158.301596 deg. 9HeadingCmd: 2.762884 target range: 76.463387 and range: 77.00 m.b0@Z r j R J B ~~MzB}|||| ? @ yB I )  I5ի 115d<=0@=El<=iU"HHIH[xB~GAANl>H =HHH<HE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261234! ꔈ,#hA9>h!@>|/@Y>p_y>Q=>H@=oؿ d?c?`{l??`,?? >h!@>ƙ;)>C^mxB^IIf&If3n> nT=yr,Q r>٥pt vHv\Fv v>x~&5zQWܜ?~&59z IzBy )@u@z Eiz;z;z&5  @A  =DNOT Ignoring new targets: 76.46 m.EdE9MdE9 ProNav: ac range: 76.463387 m, nav range: 73.552551 m, bearing: 152.653246 deg, approach rate: -0.600979 m/s, LOS rate: 0.010786 deg/s, cmd heading: 158.301601 deg, new cmd heading: 158.314832 deg. 9HeadingCmd: 2.763115 target range: 76.463387 and range: 77.00 m.b0@Zr j R1J9BA~i~i}q|q|q|q|u`v @ yBDiI)AIM IIM EBDAT read: Tx time:13:49:43.9583 E$Ping request sent.E i)im2NYi?. W?Ჿim ?m3=mqmb> i)i:publishing transmit ping timeAFpublishing direction and range infoiymqi?&~F#̿iYi i)iIiiiiiii i)iIiiiii i)im2NYi?. W?Ჿiiiii i)iY6G mo<ZG1 RG1 ~G A A N- >y Ď,|=hA9B!@B}./@YB?byB =BH_ٿ]? p$?mۻ?GD?(?? B!@B;)BCjxBIJDAT read: TxSync time:13:49:43.9575 IMb@Mb@Mb@ )Yףp= ? ףp= y?Q A A)3AI/ AyQAII 3-Ի -*=y5ۺQ 5>٥11 5H9=D! =>am&5exAܜ?m&59e IeByub ?u:u%@uu@e EieE:e:e&5}JB@A@EZbyt1hAÓBÓB)@ʁ?:Q@UHI >0qi?&~F#̿qb>ҁPjvOA@h(y(_<̕뿰Ș? aڑſzBjbLǜ?r47d FB ꁕBĈ*@] addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.530205 s, deltaX: -2.599998 m, approachRate: -0.736501 m/s, rangeRepo size: 4 m Added new target pos. range: 73.881439 m, bearing: 152.018840 deg, lat: 36.906376 deg, lon: -122.116035 deg, deltaT: 3.530205 s, deltaX: -2.581947 m, approachRate: -0.731387 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 73.88 m.uq ProNav: ac range: 73.881439 m, nav range: 73.249481 m, bearing: 152.670188 deg, approach rate: 0.000000 m/s, LOS rate: 0.010786 deg/s, cmd heading: 158.314837 deg, new cmd heading: 158.330243 deg. HeadingCmd: 2.763384 target range: 73.881439 and range: 74.40 m.bI0@ZrjRJB~~KzB}|||R@|?q }yB}GjI) IQ <I0@B<8:iI0@iEM?EIEIEMO0EIFU=FU=6G-~q;ԩ~G! A1 AI NU >K pEP"K 9*K 2K :K e<m%MopWXf_9M;@z >,WhAH>HCHIHxBHHHH<HgEHuCHuCHqHu =Iu = Iu`59nc @n.@Yn1fyn=nHT@ٿ|?OU?`bK}?``Ϭ? x?`? nc @nغ;)nCԱmxBuI) I+In3(= 4=yvQ >٥ H]FX  >5&5,ܜ?5&59 IBy9=%@Mu@ Eiq;M;&5eIBe?AmAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 73.88 m.|*:Y|*: ProNav: ac range: 73.881439 m, nav range: 72.963402 m, bearing: 152.687054 deg, approach rate: -0.629576 m/s, LOS rate: 0.037263 deg/s, cmd heading: 158.330246 deg, new cmd heading: 158.381043 deg. :HeadingCmd: 2.764271 target range: 73.881439 and range: 74.40 m.b0@ZrjRJB~~}||||p? =yB=e]I9)="9IE AAE9J 4J zJ _:jJ d:J }Q:rJ Q: T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Թ 6G G;~G A A N >x,uhA9J @ /@Yjy=HW-ٿ ?rE?e@1?@Q?@?p? J @骭w;)C )ɵɶiIIi ) ɷ!E5AIE)EFiI)IIM?AMGaɸMȯF IɹQU^AQiQQiYY)Y YIYٯYmxBmIMb@Mb@Mb@ )Y\(\?:vMby?Խ IA)IAIyzAIIV839= 3=yQ >٥ H^F|; >&5cܜ?&59 IBy*?:,$@u@ Ei::&5?A!%DNOT Ignoring new targets: 73.88 m.-c:-c:1} ProNav: ac range: 73.881439 m, nav range: 72.688835 m, bearing: 152.708703 deg, approach rate: -0.628290 m/s, LOS rate: 0.049726 deg/s, cmd heading: 158.381049 deg, new cmd heading: 158.446241 deg. };HeadingCmd: 2.765409 target range: 73.881439 and range: 74.40 m.bt0@ZrjRJB~~zB}||||Y? %yB%L]I!)%)I-5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231102 IQU<]t0@]Fڷ<]Si]t0@iaEEEEEa6G ~G A A N >ԉ ,hA}xB}IIIT3checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486237U= =yQ ?٥ H ?&5/ ܜ?&59 tIIByv@ Ei::&5F?ADE)=DNOT Ignoring new targets: 73.88 m.=^:E^:M ProNav: ac range: 73.881439 m, nav range: 72.502892 m, bearing: 152.723458 deg, approach rate: -0.610211 m/s, LOS rate: 0.048546 deg/s, cmd heading: 158.446237 deg, new cmd heading: 158.490615 deg. UD;]HeadingCmd: 2.766183 target range: 73.881439 and range: 74.40 m.b]% 1@ZYrYjYRYJaBa~a~a}a|i|i|i|mC?q yB靥hI)vIw b<% 1@珷<-1i% 1@iKMO"KMs9*KI2KM :KM?>w}7HHm&n>K(-!x*`{4xLj7?`{iHQ~u H>HH,IHyBHHHHš<HEE%?E!E!E-_0E)F1F1ԡ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7364886Gm *~G A A N > 방,hA9B!@B)/@YBjyBPT*=BH] ٿ ?'?`k ? Z?`@?`t? B!@BA;)@=xB=IiM>IM>aaII2IH= I=y5Q >٥ H_F; >&5ۜ?&59m IByN$@v@ Ei;;&5>ADNOT Ignoring new targets: 73.88 m.2P:2P: ProNav: ac range: 73.881439 m, nav range: 72.258057 m, bearing: 152.742592 deg, approach rate: -0.580322 m/s, LOS rate: 0.045505 deg/s, cmd heading: 158.490619 deg, new cmd heading: 158.548214 deg. :HeadingCmd: 2.767188 target range: 73.881439 and range: 74.40 m.b1@ZrjRJB~~}||||:S? %yB%ҨUJe4Jj4Jy0:J5cBJ5XJJ5BRJ1ZJ5:bJ55K9J5-4J1zJ5;jJ5;J5f:rJ5f:Ia)mdiImJ= iimfU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238788Y *,chA9>"G!@>Z/@Y>2]ky>(M=>Hzg2ؿ!?.?sY?`g?`D?*? >"G!@>8;)>CJxBJ IMb@Mb@Mb@ )YA`"?V-y&1y?`e A )3AIE AyQAI I(2h< F=yuQ >٥ H`F}; > &5.ۜ? &59~ I By?:.#@v@ Ei/::&5>AGEDNOT Ignoring new targets: 73.88 m.:: ProNav: ac range: 73.881439 m, nav range: 72.008141 m, bearing: 152.765793 deg, approach rate: -0.618914 m/s, LOS rate: 0.057658 deg/s, cmd heading: 158.548211 deg, new cmd heading: 158.618058 deg. G;HeadingCmd: 2.768407 target range: 73.881439 and range: 74.40 m.b-1@ZrjRJB~~zB}||!|!|%@ yB靝UI)qaI A<-1@<ai-1@iEEEEo0EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.490963ԁ K =P"K 9*K 2K :K ?9/<3yix=au~4z>qqd}?T6G 'HH} >Hy H} XIH} YyBH}  =Hy Hy H} Қ<H} E~G A A) N= >,OhA096!@6d/@Y6%?ky6Jy=6H@u9ؿ?B?\ ^?`c?K?Y? 6!@6@;)4FxBFIIJIJ2V?C= Vc=yV8Q V>٥XX ZHX^L< ^> &5 [ۜ?&59 p{ I  By~#@v@  Ei L ; z ; &5!%>A!iuDNOT Ignoring new targets: 73.88 m.ug~:ug~: ProNav: ac range: 73.881439 m, nav range: 71.783997 m, bearing: 152.785856 deg, approach rate: -0.619268 m/s, LOS rate: 0.055604 deg/s, cmd heading: 158.618057 deg, new cmd heading: 158.678434 deg. ;HeadingCmd: 2.769461 target range: 73.881439 and range: 74.40 m.b>1@ZrjRJB~~}||||.@ yB1@5h<52;i5>1@i9EEEE0EF=F=ԹՈGA zY AytB 6G% u4 {>  BDAT read: Rx Time:13:49:46.4586  TRx dataTimestamp_ set to:1749131387.797044 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998224~G A! A9 N] >i,,hAp9E("@E#<0@YEeyE2=EHf@>׿? +? Z@?? U?? E("@Er2;)AyB&I)  ==Mb@Mb@Mb@ )YS?1Zd٥ HaFA< >&5ۜ?&59'w IBy?:5%@v@ Ei::H&5  HB%>AJE5B*** querying acoustic contact ***J1R1IUDNOT Ignoring new targets: 73.88 m.U@:U@:m ProNav: ac range: 73.881439 m, nav range: 71.478951 m, bearing: 152.806754 deg, approach rate: -0.612073 m/s, LOS rate: 0.042110 deg/s, cmd heading: 158.678436 deg, new cmd heading: 158.741397 deg. m3:uHeadingCmd: 2.770560 target range: 73.881439 and range: 74.40 m.buP1@ZqrqjqRqJqBy~y~}zB}y|||| @ 5yB5HI9)=;yIY <P1@(<nRJy ZJ} =:bJ} >9J} t4Jy  @ @ @ @~G A A1 N= >F,ZhA(jDAT read: 13:49:46.4586 LVL= 18976, 24897, 16370, 28739, AGC= 65, IDX= 406, 0.22, 2.019, 0.651, 2.117, 1.541, PHS= 0.566,-0.842, 0.573, RAW= 150.3, -4.2, CAL= 154.8, -12.8, ROT= 355.2, 12.8 nYgot valid direction response: 13:49:46.4586 LVL= 18976, 24897, 16370, 28739, AGC= 65, IDX= 406, 0.22, 2.019, 0.651, 2.117, 1.541, PHS= 0.566,-0.842, 0.573, RAW= 150.3, -4.2, CAL= 154.8, -12.8, ROT= 355.2, 12.8 rPDAT read: Bearing 355.2, 12.8 (Local) r~Local bearing/azimuth received: Bearing 355.2, 12.8 (Local) zDAT read: Range 10 to 50 : 72.1 m (Round-trip 96.2 ms) speed 0.6 m/s z,DAT read: user:1786> ~BDAT read: Tx time:13:49:47.5583 ~$Ping request sent. H)HJ}@dR?A?0eLiJ $?J'=JJd> H)H:publishing transmit ping time|Fpublishing direction and range infoHyJCԐ/h?é1㴿@|[̿HYH H)HIHiHHHHH H)HIHiHHH H)HJ}@dR?A?0eLiHHHH H)H5xB5IIEIE3U* UU=yUQ ]>٥YY ]H]bF >&5|ۜ?&59s IByv@ Ei:`:&5K"P"K*K2K :K:$<UU. -k3IJ{<>4J6q J@{=n?  N2vfJ?J? HAHE<HM >HIHMwIHMyBHM =HIHIHM<HM>Eae`>AayZHbJhAJ1BJ1BJ},@ʁJLΡdQ@ t^_ꀹ/JCԐ/h?é1㴿@|[̿JJd>ҁJ.)Ov7 >@cf7̶(JMY쿜}?JW%pƿzJAJ}jJtƜ?rJ~G JGBJzƜ?JtGn3  JGBJBJPx+@e addTargetRange:: Added new target pos. range: 72.099998 m, deltaT: 3.525827 s, deltaX: -2.300003 m, approachRate: -0.652330 m/s, rangeRepo size: 4  Added new target pos. range: 71.597473 m, bearing: 154.075038 deg, lat: 36.906376 deg, lon: -122.116045 deg, deltaT: 3.525827 s, deltaX: -2.283966 m, approachRate: -0.647782 m/s, posRepo size: 4 DNOT Ignoring new targets: 71.60 m.% ProNav: ac range: 71.597473 m, nav range: 70.826752 m, bearing: 153.507896 deg, approach rate: 0.000000 m/s, LOS rate: 0.042110 deg/s, cmd heading: 158.741396 deg, new cmd heading: 158.795713 deg. )uHeadingCmd: 2.771508 target range: 71.597473 and range: 72.10 m.buc`1@ZyryjyRyJyBy~~}|||`fR@|U? yBOI)EMI <c`1@p<*>i,u+hA9:["@:0@Y:A[y: =:H ܮN׿6S?s? @?`Hu?@B?F? :["@:};):C\fyBf&IIn-In3v= ve=yz;Q z>٥xx zHx~< ~> &5ۜ?&59p IByY]%@]v@ Eik5<5<&5ae'>AeMEDNOT Ignoring new targets: 71.60 m.a:a: ProNav: ac range: 71.597473 m, nav range: 70.611679 m, bearing: 153.523421 deg, approach rate: -0.680913 m/s, LOS rate: 0.049302 deg/s, cmd heading: 158.795710 deg, new cmd heading: 158.842428 deg. W;HeadingCmd: 2.772323 target range: 71.597473 and range: 72.10 m.bm1@ZrjRJB~~}||||? }yB靅ZI)AI< <m1@͵<1yA 6R,EhA%yB%%Ii-p=I-=Mb@Mb@Mb@ )YZd;O?I +٥ HcF >&5Oۜ?&59Rm IBy ? : '@ v@ Ei;;&5GB">ANEDNOT Ignoring new targets: 71.60 m.:: ProNav: ac range: 71.597473 m, nav range: 70.343262 m, bearing: 153.535873 deg, approach rate: -0.605437 m/s, LOS rate: 0.028194 deg/s, cmd heading: 158.842429 deg, new cmd heading: 158.879927 deg. ˚:5HeadingCmd: 2.772978 target range: 71.597473 and range: 72.10 m.b5xx1@Z1r1j1R1J1B9~9~=zB}9|A|A|A|E@? yBOI)FIVB <xx1@<T^׽=?qHe >Ha He IHe yBHa Ha Ha He <He 6EK} }TP"K} 59*Ky 2K} :K} _TGa{ H .(>SX7@E@v~,|\8/=J J 6G Ӕ<ԡ ~G A A N= >{,5c_hA9RoD#@RW1@YRoQyR=RH^ֿ@1?`7&?@%`y|?+? ?`? RoD#@Ru;)PfyBf&IIv Iv(2; Y=y ;Q  >٥ H%< %>9M&5=~ۜ?M&59=Oj I=ByIUq(@Uv@= Ei=6;= ;=&5ae>AiyDNOT Ignoring new targets: 71.60 m.99 ProNav: ac range: 71.597473 m, nav range: 70.109093 m, bearing: 153.545027 deg, approach rate: -0.634525 m/s, LOS rate: 0.024886 deg/s, cmd heading: 158.879926 deg, new cmd heading: 158.907479 deg. :HeadingCmd: 2.773459 target range: 71.597473 and range: 72.10 m.bY1@ZrjRJB~~}||||7?uPExceeded connect timeout, disconnecting. yBWI)GI 믌<Y1@익< F ],:٥QQ ]H]dF]< ]>am&5eiۜ?m&59ef IeByiu(@uv@e Eie;e;e&5y,>AQEDNOT Ignoring new targets: 71.60 m.9-9M ProNav: ac range: 71.597473 m, nav range: 69.836525 m, bearing: 153.554933 deg, approach rate: -0.625625 m/s, LOS rate: 0.022827 deg/s, cmd heading: 158.907479 deg, new cmd heading: 158.937314 deg. Uz:UHeadingCmd: 2.773979 target range: 71.597473 and range: 72.10 m.bU1@ZYrYjYRYJYBY~a~a}a|a|i|i|mP? yB}SI)QI Č< 1@ O<Wپ1:Ju bBJu JJu ARJq ZJu :bJu ľ9Ju 4Jq y @,jhA9>#@>1@Y>Ay>b=>H5Rֿ@? ?@@?o?ʸ?[? >#@>;)>CNxBR!I)T T=Mb@Mb@Mb@999 9)9Y=V-?٥ HeFs+< >&5Wۜ?&59c IBy ?:*@v@ Ei::#&5 9>A1EB*** querying acoustic contact ***JARAIUDNOT Ignoring new targets: 71.60 m.]8]8m ProNav: ac range: 71.597473 m, nav range: 69.591743 m, bearing: 153.557563 deg, approach rate: -0.623330 m/s, LOS rate: 0.006720 deg/s, cmd heading: 158.937314 deg, new cmd heading: 158.945230 deg. m9uHeadingCmd: 2.774118 target range: 71.597473 and range: 72.10 m.bu%1@ZyryjyRyJyBy~~zB}||||@ yB'\I)WI9 <%1@d<1H=CH9H9H= =H9H9H=<H=CEH›CH›CHH =I = I5KpEP"K9*K2K :KXQ o+.m9<~U,F!qJ90 OvZEEEE_0Ey UnManaging dock network, ignoring radio surface power offuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ԑ6G~G A A N >Թ ,IhA9B!#@B 2@YBR;yB=BHu)ֿj??`l? }?@w ? ? B!#@B;)BCRyBPIZ$IZ<3b-: b^=yb[;Q b>٥dd fHdj< j>hr&5jQFۜ?r&59ja IjBypr*@rv@j Eij#;j;jY&5zFBz5>AzTE!-DNOT Ignoring new targets: 71.60 m.-K8-K8= ProNav: ac range: 71.597473 m, nav range: 69.361450 m, bearing: 153.559498 deg, approach rate: -0.629476 m/s, LOS rate: 0.005308 deg/s, cmd heading: 158.945237 deg, new cmd heading: 158.951063 deg. E'i9EHeadingCmd: 2.774219 target range: 71.597473 and range: 72.10 m.bMό1@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|]`s@ yB靕^I)ZI  <ό1@;ȵ<  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766636 5,hA9J$@J(2@YJN:yJe<=JH"Hֿ޲?`d? `>]?`G?`ٶ?`? J$@J|;)JCfxBheMb@Mb@Mb@aaa a)aYe~jt?&1:vye$?ePeTe A ev@)aIevAayeAI}I}<2-c -4=y5j:Q E>٥AI MHUfF](x; ]>q}&5u/ۜ?&59u] IuBy(%?::-@v@u EiuE;uIn;u\&53>AWEDNOT Ignoring new targets: 71.60 m. ProNav: ac range: 71.597473 m, nav range: 69.065208 m, bearing: 153.552959 deg, approach rate: -0.634110 m/s, LOS rate: -0.014058 deg/s, cmd heading: 158.951056 deg, new cmd heading: 158.931353 deg. ]HeadingCmd: 2.773875 target range: 71.597473 and range: 72.10 m.b-1@ZrjRJB~~GzB}||||@r@ =yB=.OWI9)=`9IER AAE[H CH H H  =H H 2DH <H E1 K x*P"K 9*K 2K :K O@/uHXA 6jFDr1J@ 4&1,/d110.|,)e'b$ -h   ` q s ug6G %<~Ga A A N >T,ghA ExBEIiM;>IM=MAMAIUIU3 T T=yQ >٥ HgF >&5ۜ?&59[ IByv@ Ei;B:&5>ADNOT Ignoring new targets: 71.60 m.5A15checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270847= ProNav: ac range: 71.597473 m, nav range: 68.819641 m, bearing: 153.547495 deg, approach rate: -0.659061 m/s, LOS rate: -0.014715 deg/s, cmd heading: 158.931358 deg, new cmd heading: 158.914909 deg. =!EHeadingCmd: 2.773588 target range: 71.597473 and range: 72.10 m.bEy1@ZArIjIRIJIBI~Q~Q}Q|Q|Y|Y|] P @ yB靝LjI)xIp <y1@II)I)ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525096,[hAL9~0$@~:D2@Y~9y~>=~Hcֿ b0?#K?b?:?C?? ~0$@~4;)~C]xBaI IV23:; F=y|9Q >٥ H|; >&5ۜ?&59X IByS-@v@$ Ei::y&5}>AZE1=DNOT Ignoring new targets: 71.60 m.==u ProNav: ac range: 71.597473 m, nav range: 68.540222 m, bearing: 153.540887 deg, approach rate: -0.633375 m/s, LOS rate: -0.015041 deg/s, cmd heading: 158.914911 deg, new cmd heading: 158.895004 deg. u(%}HeadingCmd: 2.773241 target range: 71.597473 and range: 72.10 m.b}|1@ZyryjyRyJyB~~}||||@ @ yB bI ) | I/[ ~<5|1@m&= BDAT read: Tx time:13:49:51.1583 $Ping request sent.P? JƺkiƿEBYA EV)EgIEFiEtEBE>ECkE ? EJ*@)EPwּIE].@iEK6E@EK6> A)AEx?H?W~ iE ?EV A)A:publishing transmit ping timeFpublishing direction and range infoAyEr>P? JƺkiƿAYA A)AIAiAAAAA A)AIAiAAA A)AEx?H?W~ iAAAA A)A 6G -<jG ?bG ?~G A A N >,p hA9n6$@n[J2@Yn;:ynA=nH`տ@gJ?\E?, ï?`wN?R? n6$@n/;)nC|xBI%Mb@Mb@Mb@!!! !)!Y%Q?I +~jty%(?%9%D! !)%AI%A!y%AI]I]m?3mt: B=yEQ >٥ HhFr: > H<H<H>HHIHyBHHHH<H%E&5ڜ?&59^U I!By)?:B0@v@) Ei6(<'<&5-{>A)Zqbuȕ hAuBuBu~,@ʁu"Q@zL ̼(ur>P? Jƺkiƿui ڽuK6>ҁu`2o O1>o=@Ҫ#us;쿯eZ?4l9zuAuTxju5Ɯ?ru|GF uQBquZ3  uGBuBu+@KUSQ"K9*K2K :K&F}(nVe=>QSt`kPyW"uxxB4GE/<rktLX2> addTargetRange:: Added new target pos. range: 70.000000 m, deltaT: 3.788706 s, deltaX: -2.099998 m, approachRate: -0.554279 m/s, rangeRepo size: 4 !5 Added new target pos. range: 69.514236 m, bearing: 154.426453 deg, lat: 36.906376 deg, lon: -122.116045 deg, deltaT: 3.788706 s, deltaX: -2.083237 m, approachRate: -0.549854 m/s, posRepo size: 4 15DNOT Ignoring new targets: 69.51 m.=9 ProNav: ac range: 69.514236 m, nav range: 68.271133 m, bearing: 153.531481 deg, approach rate: 0.000000 m/s, LOS rate: -0.015041 deg/s, cmd heading: 158.895007 deg, new cmd heading: 158.876162 deg. HeadingCmd: 2.772912 target range: 69.514236 and range: 70.00 m.bdw1@ZrjRJB~~ zB}|||Q@|? -yB-*eI))-y)I5C! 1159<]dw1@]yl<]=i]dw1@iaE?EEEA1EF=F=Qy 6G $3=)) ) G~G A A N A 5 ` Y= Ay= B@ ,`=. hA9>2$@>F2@Y>}4=y> =>H`տKɲ?*I??h?`4?[? >2$@>F;)>C^xB^I)` `IfIfT3r  vg=yv>Q v>٥xx zHziFzB >!-&5%ڜ?-&59% S I%$By)-@0@-v@%, Ei%:%:%&5Y5EBe>Am]EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 69.51 m.EE:J_BJXJJCRJZJ :bJ5K9J4JzJ): jJ.: Jf: rJ  ProNav: ac range: 69.514236 m, nav range: 68.038292 m, bearing: 153.516890 deg, approach rate: -0.684975 m/s, LOS rate: -0.043070 deg/s, cmd heading: 158.876156 deg, new cmd heading: 158.832234 deg. w%HeadingCmd: 2.772146 target range: 69.514236 and range: 70.00 m.b%j1@Z!r!j!R!J)B)~)~)}q|q|q|q|}`>? yB tI)I! h<j1@<%%u=i%j1@i!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉEEEE4EԹ6G sc=~GA AQ Aa Nu > ] AY e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987659l,H hA~xBIMb@Mb@Mb@ )YK7A`?~jtMby+?D A )AI`AyAII#3Թjm ==yQ >٥ H >&5ڜ?&59JP I)By +?:11@v@1 Ei%; ;&5>A`EDNOT Ignoring new targets: 69.51 m.aa  ProNav: ac range: 69.514236 m, nav range: 67.752808 m, bearing: 153.495276 deg, approach rate: -0.649551 m/s, LOS rate: -0.049385 deg/s, cmd heading: 158.832238 deg, new cmd heading: 158.767122 deg.  HeadingCmd: 2.771009 target range: 69.514236 and range: 70.00 m.b6X1@ZrjRJB~~yB}!|!|!|!|%D? ]yBejmIa)e爾aIe" iim׎HH}IHyBH =HHH<HEZGRGA~G1 A9 KM P"KM +9*KI 2KM :KM =@%z'1z\:Mir_\o&Vi Aa Ni 9 ,a hA9Nt$@Nu2@YNL٥ HjF%+< %>)5&5-$ڜ?=&59-M I--By9Er1@Ev@-5 Ei-;-;-&&5eDBes>Ae_EDNOT Ignoring new targets: 69.51 m.4~4~ ProNav: ac range: 69.514236 m, nav range: 67.500130 m, bearing: 153.475144 deg, approach rate: -0.694722 m/s, LOS rate: -0.055560 deg/s, cmd heading: 158.767119 deg, new cmd heading: 158.706495 deg. HeadingCmd: 2.769951 target range: 69.514236 and range: 70.00 m.bF1@ZrjRJB~~}||||?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491828! yB-rI1)5?1I5# 19=~'<=F1@EgA:JaBJbJJARJZJ:bJt9J4JzJ;jJ;JQ:rJS:i X? l? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744853ԙ qE,{ hA9V^$@Vq2@YV7yVc=VH տ ?o ?rЯ? ? &?? V^$@V˕;)TrxBvIi >I >AI5I52ṁ uA=yL;Q >٥ HkFvK >&5ßڜ?&59)K I2By\1@ v@y: EiB<<&5>AbE9=DNOT Ignoring new targets: 69.51 m.E`E`u ProNav: ac range: 69.514236 m, nav range: 67.216461 m, bearing: 153.452678 deg, approach rate: -0.617690 m/s, LOS rate: -0.049125 deg/s, cmd heading: 158.706494 deg, new cmd heading: 158.638814 deg. u}HeadingCmd: 2.768770 target range: 69.514236 and range: 70.00 m.b}31@ZyryjyRJB~~}||||? yBhmI!)%!I-$ ))-<531@5L<548=i531@i9-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996750ԙEEEE%T0E!~GyAAN> )%, hA9:A$@: U2@Y:1Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247498y:i=:H`տ?;?-?=?`$?A? :A$@:Q;):CRxBRI5Mb@Mb@Mb@111 1)1Y5q= ףp?MbpMbpy5+?555 A 5@)5zAI5A1y5zAIMIM[3]cO eL=ymp];Q m>٥qq uHq >&5dڜ?&59H I7By+?:1@%v@> Ei;;i&5)->A-eEGyG}AAH>HHwIHyBH =HH3DH<HEDNOT Ignoring new targets: 69.51 m.22 ProNav: ac range: 69.514236 m, nav range: 66.946884 m, bearing: 153.428895 deg, approach rate: -0.696772 m/s, LOS rate: -0.061721 deg/s, cmd heading: 158.638821 deg, new cmd heading: 158.567182 deg. o)HeadingCmd: 2.767519 target range: 69.514236 and range: 70.00 m.b 1@ZrjRJB ~ ~5yB}1|1|1|9|=`s@ zB靵JwI)RI% a< 1@~<=i 1@iKUFP"KU 9*KQ2KU :KUW=jN-ffizP D_^J\KG&6h|qr> j!Je>Je?E?EEE_0E~GAANh>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499392) eS+, hA 9> $@>c 2@Y>2y>=>H@O(ֿ˱?@m?`~?\?(?@? > $@>f;)٥\\ bHblFf j>lr&5nvڜ?r&59nRF InAx B*** querying acoustic contact ***J R y}DNOT Ignoring new targets: 69.51 m.-- ProNav: ac range: 69.514236 m, nav range: 66.700493 m, bearing: 153.407675 deg, approach rate: -0.678569 m/s, LOS rate: -0.058654 deg/s, cmd heading: 158.567186 deg, new cmd heading: 158.503293 deg. !HeadingCmd: 2.766404 target range: 69.514236 and range: 70.00 m.b 1@ZrjRJB~:JBJUJJCRJZJbJ>9J4JzJjJJ|Q:rJ~Q:~}||||y@ zB靵vI)sId&  a< 1@澷<A=i 1@iqBDAT read: Rx Time:13:49:53.6529 TRx dataTimestamp_ set to:1749131394.864250checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757787E?EEE`0Eԙ6G< ~G A A! N5 >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007386H<2,R` hAL9^#@^1@Y^Tu2y^3ǥ=^H# Uֿ,? ? ߮?L?`?m? ^#@^ ;)^CjxBnI)p p pr=uMb@Mb@Mb@qqq q)qYuK7?{Gz?Mb`yuI,?u#٥ HmFջ >&5_ڜ?&59C IBByN,?:2@v@G Eij;M;q&5CB>>AhEDNOT Ignoring new targets: 69.51 m. ProNav: ac range: 69.514236 m, nav range: 66.410172 m, bearing: 153.377983 deg, approach rate: -0.661730 m/s, LOS rate: -0.067973 deg/s, cmd heading: 158.503296 deg, new cmd heading: 158.413830 deg. :HeadingCmd: 2.764843 target range: 69.514236 and range: 70.00 m.b00@ZrjRJB~~yB}| | | | `E @ }zB}PoIy)I[' AА<00@<N\=i00@iEaEaEaEmo0Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261042H>HHqIHyBH =HHH<HEH=ȝCH=ȝCH9H= =I= = I=46G V=! Ke F)P"Ke +9*Ka 2Ke :Ke (,R)nCqzE}C;'EJG3Nc_u-KEc[  J J ~G A A N >ch8,C hA9^W#@^1@Y^E3y^Y=^Hֿͱ?6?`͖?f?`b?~? ^W#@^C;)\jxBn!IIv)IvW3|~< ~U=yQ >٥ H  2  >&5hKڜ?&59cA IHBy!%2@%v@K Ei;:&5)->A-kEDNOT Ignoring new targets: 69.51 m.{{EDAT read: 13:49:53.6529 LVL= 22640, 24977, 18130, 30787, AGC= 66, IDX= 410,-0.14,-0.020,-1.304, 0.162,-0.399, PHS= 0.467,-0.858, 0.558, RAW= 153.3, -2.5, CAL= 157.0, -11.0, ROT= 353.0, 11.0 MYgot valid direction response: 13:49:53.6529 LVL= 22640, 24977, 18130, 30787, AGC= 66, IDX= 410,-0.14,-0.020,-1.304, 0.162,-0.399, PHS= 0.467,-0.858, 0.558, RAW= 153.3, -2.5, CAL= 157.0, -11.0, ROT= 353.0, 11.0 ]PDAT read: Bearing 353.0, 11.0 (Local) e~Local bearing/azimuth received: Bearing 353.0, 11.0 (Local) }DAT read: Range 10 to 50 : 67.8 m (Round-trip 90.4 ms) speed 0.6 m/s ,DAT read: user:1788> BDAT read: Tx time:13:49:54.7583 $Ping request sent.[? <+@)¸2I^/@i D'@ D> ) ):publishing transmit ping time  zB靵rI)ڑFpublishing direction and range infoy-?#P@mlȿY )Ii )Ii )~>,n hA9nQ#@nd1@Yn/5ynß=nH`ֿݻ?@?, ??`K?? nQ#@nܐ;)l-yB-&IaII(*3y< <=y-ኺQ ->٥Ya eHmnFe! >'5 3ڜ?5'59> INBy9=[2@=v@P EiXz<'t<'5AE=AAZIbM9 hAMBMBM*@ʁMdhfP@=( _)M-?#P@mlȿM5M D>ҁMq;Mh@t>@Zj" %M; g쿲P?4'ĿzMAMyljM*5Ɯ?rM, MNBMtƜ?M,  MJBMBMn*@  addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 3.531399 s, deltaX: -2.199997 m, approachRate: -0.622982 m/s, rangeRepo size: 4  Added new target pos. range: 67.329803 m, bearing: 152.744461 deg, lat: 36.906376 deg, lon: -122.116035 deg, deltaT: 3.531399 s, deltaX: -2.184433 m, approachRate: -0.618574 m/s, posRepo size: 4 %DNOT Ignoring new targets: 67.33 m.%!U ProNav: ac range: 67.329803 m, nav range: 66.286613 m, bearing: 152.648040 deg, approach rate: 0.000000 m/s, LOS rate: -0.066655 deg/s, cmd heading: 158.337486 deg, new cmd heading: 158.243485 deg. Y]HeadingCmd: 2.761870 target range: 67.329803 and range: 67.80 m.bez0@ZarajaԁRJB~~}||||?  zB &nI )%I*) <z0@8I<&vxE,!hA9Bp"@B 1@YB6>yBl=BH fC׿v?"p? ע? ħ?@n?`z? Bp"@Bߏ;)BCR'yBR:IiRa=IR=VAVAMb@Mb@Mb@ )YJ +?MbP?Mbpy(?: A I@)AIyAII 3Թ= M=yeQ >٥ H)m >'5ڜ?'59.< ITBy(?:(1@v@T Ei;~ ;'5BBx=AnEH>HHwIHyBH =HH2DH<HEQ]DNOT Ignoring new targets: 67.33 m.ee} ProNav: ac range: 67.329803 m, nav range: 66.039871 m, bearing: 152.625722 deg, approach rate: -0.697897 m/s, LOS rate: -0.063361 deg/s, cmd heading: 158.243489 deg, new cmd heading: 158.176285 deg. }-HeadingCmd: 2.760697 target range: 67.329803 and range: 67.80 m.bB0@ZrjRJB~~yB}|||| a? zB靕nI)hI) <B0@Y<c9 K,q0!hA9:v"@:0@Y:u0Ay:NR=:Hr׿@?z?\?#? i?? ? :v"@:Z;):CJ/yBJ?IIRIRT3b7< b\=ybYQ b>٥dd fHfoFfn f>hE'5j ڜ?E'59j9 IjYByAE0@Mv@jX Eijz~G A A N >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496594Թ R,J!hA9>+!@>0@Y>Dy> 9=>HQ ~Eؿr?re?`?? 5?`C? >+!@>h;)> CR7yBRDImMb@Mb@Mb@iii i)iYm(\?~jth?MbPym'?mD;mmA m`@)mAIm3AiymAI},I}3< >=y(պQ >٥ HpF >'5ٜ?'596 I_By'?:L0@v@\ EiX ;4: '53=ADNOT Ignoring new targets: 67.33 m.~~- ProNav: ac range: 67.329803 m, nav range: 65.516739 m, bearing: 152.582852 deg, approach rate: -0.692839 m/s, LOS rate: -0.055660 deg/s, cmd heading: 158.115068 deg, new cmd heading: 158.047160 deg. -5HeadingCmd: 2.758443 target range: 67.329803 and range: 67.80 m.b5V0@Z1r1j9R9J9B9~9~EyB}A|A|A|A|M?ԙ zB%UjI!)-])I-58+ IQUihH>HH}IHyBH =HHH<HEK "P"K h9*K 2K :K 6~w"}j&nO+ tg= otOBXjB>|sF X,d!hA9^Ct!@^/@Y^B @y^E+=^Hkt ؿg?`3?@Z|є??`a?`? ^Ct!@^;)^CrPyBrSI)t tI~I~T3%~= %R=y%W&;Q %>٥)) -H)-כ 5>1E'55ٜ?E'595l4 I5eByAE/@Ev@5` Ei5;5;5u'5IUY Ay <B!IIBA6GFթ^,^~!hA 9BC.!@BA/@YB-=yB-=BH`gOؿ'@??n@$r?`{??? BC.!@BT;)BCNnyBNeIIV!IVi3^V= ^Q=yb:Q b>٥`` fHfqFjQ2 r>x'5zٜ?'59z1 IzkBy  /@ v@zd Eiz_:z:z'5ABS J+4J+4J+ 0:J \BJ XJJ DRJ ZJ =:bJ 5K9J 4J  @ @ @ @e,/6!hA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7564589F @F/@YF=yF;=FH8] #ٿy?UC?Ed;??bX?`? F @F4ԉ;)FCPnyBntIuMb@Mb@Mb@qqq q)qYuE?QMb?yu&?uuu٥ HrFm >GG@AHHHIHyBHHH3DH<HE}'5`ٜ?}'59. IsBy&?:-@v@i Ei<<'5;AuEDNOT Ignoring new targets: 67.33 m. ProNav: ac range: 67.329803 m, nav range: 64.727989 m, bearing: 152.533668 deg, approach rate: -0.634999 m/s, LOS rate: -0.027859 deg/s, cmd heading: 157.935557 deg, new cmd heading: 157.899016 deg. HeadingCmd: 2.755858 target range: 67.329803 and range: 67.80 m.b_0@ZrjRJ!B!~!~%zB})|)|)|1|5@ zBŵVI)I(, <_0@<;i_0@iK AP"K @9*K 2K  :K A,+{aXrmh^*2IK^i|p~E?EEE_0EF =F p=BDAT read: Rx Time:13:49:57.2496 TRx dataTimestamp_ set to:1749131398.643337%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009484) 6Ge !<~Gy A A N >k,!hA9J @J.@YJP>yJO[=JH S@FٿZ?`_n?EYw? ǧ?`i? e? J @J܉;)JC|yBIi%>I=II<2c= 6=yιQ >٥ H ѻ  >%'5ٜ?%'59}+ I|By15\-@5v@m Ei;<;'5=@B=;A=xE]B*** querying acoustic contact ***JYRYichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2810101DNOT Ignoring new targets: 67.33 m. ProNav: ac range: 67.329803 m, nav range: 64.435905 m, bearing: 152.521565 deg, approach rate: -0.691406 m/s, LOS rate: -0.028780 deg/s, cmd heading: 157.899015 deg, new cmd heading: 157.862541 deg. HeadingCmd: 2.755221 target range: 67.329803 and range: 67.80 m.bU0@ZrjRJB~~}||||`a @ -zB-qNI1)51I]d- YY]: - BDAT read: Tx time:13:49:58.3583 - $Ping request sent.- ) ,+?(2x?"+i -? Ps= i0 [> ) e :publishing transmit ping time) e Fpublishing direction and range info y ]e?Y0vrAzUmD˿ Y ) I i ) I i ) ,+?(2x?"+i ) 6G= {/;Ա ~G AA)N5>s,0!hA9f @fO.@YfAyfWi=fHvK gٿ,?@o?uP?@.?`%? ? f @f;)fC A)AɵAAAIɶIiIIIIIi 鶑)鷑 ףɷ-MAI-rh)1i1)1I5-A5ɸ5F 9ɹ999i99iAEЃA)A AIA:J[BJiJJRJZJ:bJڈ9JJٯAyBIaIe@ae aMm@am aQm@am aEm@am IuIuV83%= =yºQ >٥ HsF >EJDAT read: TxSync time:13:49:58.3576 M'5وٜ?M'59' IBU+:yQU:U3-@}v@s Ei<4 ?O'5:A{EH>HHIHyBHHH2DH<HEZb!hABBL(@ʁD|O@-zs9+]e?Y0vrAzUmD˿i0[>ҁ"zKH "?@hFke&#x4ld:?tƿzA7_j^[*ǜ?rwd LB LB0BeZ*@e addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 3.549281 s, deltaX: -2.500000 m, approachRate: -0.704368 m/s, rangeRepo size: 4  Added new target pos. range: 64.847008 m, bearing: 150.888554 deg, lat: 36.906376 deg, lon: -122.116035 deg, deltaT: 3.549281 s, deltaX: -2.482796 m, approachRate: -0.699521 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.85 m. ProNav: ac range: 64.847008 m, nav range: 64.093895 m, bearing: 152.508026 deg, approach rate: 0.000000 m/s, LOS rate: -0.028780 deg/s, cmd heading: 157.862542 deg, new cmd heading: 157.814059 deg. HeadingCmd: 2.754375 target range: 64.847008 and range: 65.30 m.bG0@ZrjRJB~~}||| @3SP@|B? ]zB]':DIa)eaIeQ- aaC#<G0@L<-;iG0@irER>jE>EM ?EI EI EM X0EQ i K} !P"K} 9*Ky 2K} :K} |QB-RW!FxyD;<ED!3Wq/dQL0}?`ԉ 6G ;jG ?bG >~GYAiAN> {,`Y!hA)95= @5.@Y5_[Ny5^F=5HE5ٿǰ?@D?@N,Ԙ?ȩ?ͨ?? 5= @5;)1yBIIIM3=  U=y Q  >٥  HtFa >'5uٜ?'59$ IB :yU:-@v@w Eiq<l?'5g:ADNOT Ignoring new targets: 64.85 m. ProNav: ac range: 64.847008 m, nav range: 63.844753 m, bearing: 152.498349 deg, approach rate: -0.694129 m/s, LOS rate: -0.027068 deg/s, cmd heading: 157.814062 deg, new cmd heading: 157.784916 deg. HeadingCmd: 2.753866 target range: 64.847008 and range: 65.30 m.bX?0@ZrjRJB~~}||||.? - zB5du?I1)5`f1I5]- 99= ,f"hA9BT @B[h.@YBnSyB=y+=Q >٥ HuF >'5aٜ?'59R! IBT:y%%?:(@v@{ Eiu:q:B#'5 ?B :A~EDNOT Ignoring new targets: 64.85 m.99 ProNav: ac range: 64.847008 m, nav range: 63.568260 m, bearing: 152.507002 deg, approach rate: -0.638192 m/s, LOS rate: 0.020060 deg/s, cmd heading: 157.784910 deg, new cmd heading: 157.810983 deg. E\:HeadingCmd: 2.754321 target range: 64.847008 and range: 65.30 m.bF0@ZrjRJB~~lzB}| |)|)|-ރ? }"zB}N8Iy)I`. )ݒ<F0@<.zҺiF0@i:J`BJPJJARJZJ:bJ*9J4JEQEYEYEYEYH >H CH IH 9zBH  =H H H .<H EHyHyHyHyI} = I}&6 6G :~G A A N >2s,q#"hA9>g @>\{.@Y>w\y>+YJ=>H<ٿۯ? ?;G@@?`?#?? (? >g @>0;)>CN'zBNIKRP"KR9*KP2KR :KRsDX^hDM)f\zRw-0&X=f5JV>JV>I^I^F3f= fc=yjȻQ j>٥hh jHlnS; n>pv'5r}Pٜ?v'59rQ IrByxz1(@zv@r Eir>:r):rh&'5|~c9A|ADNOT Ignoring new targets: 64.85 m.C9C9 ProNav: ac range: 64.847008 m, nav range: 63.336464 m, bearing: 152.514073 deg, approach rate: -0.636245 m/s, LOS rate: 0.019481 deg/s, cmd heading: 157.810988 deg, new cmd heading: 157.832280 deg. U: HeadingCmd: 2.754693 target range: 64.847008 and range: 65.30 m.b L0@Z r j R J B~~}|9|9|9|= sW? =#zB=#-I9)=d;AIE. AAEԙ ,I="hA9:i @:Ϛ.@Y::]y:'M=:H Bٿ~ɱ?@-? kM?? V?? :i @:ar;):CJ+zBJIIR IR2Z0!< ZN=yZQ Z>٥\\ nHnvFrȜ; r>x~'5zs=ٜ?~'59z IzByQ(@v@z Eiz;z<;z)'5  O9A E-B*** querying acoustic contact ***J)R)Թ9DNOT Ignoring new targets: 64.85 m.99 ProNav: ac range: 64.847008 m, nav range: 63.077469 m, bearing: 152.521585 deg, approach rate: -0.677460 m/s, LOS rate: 0.019728 deg/s, cmd heading: 157.832285 deg, new cmd heading: 157.854911 deg. X:%HeadingCmd: 2.755088 target range: 64.847008 and range: 65.30 m.b%\S0@Z!r!j!R!J)B)~)~)}1|1|Q|Q|]@? %zB靭ai,I))5;1I5. 115E<=\S0@=mS<=U:iE\S0@iAE?E!E!E-0E)F=F=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6Gm p~GA AI Aa Nm >A :JE _BJE TJJE @RJA ZJE :bJE :9JE J4JA w,gV"hA9R @RT.@YR^yRE7Y=RH`]R@]:ٿg? $e?2\ ț??`p?u? R @R>;)RCbPzBbIijJ>IjC=eMb@Mb@Mb@aaa a)aYep= ף?ʡE~jth?ye%?e-eD;eA e@)e@IeAayaI}I}2)= ==yQ >٥ H5< >'5q)ٜ?'593 IBy&?:O&@v@ Eio::-'58AE eI?e<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256154DNOT Ignoring new targets: 64.85 m.r#:r#:H>HCH IHzBHHH1DH<HE ProNav: ac range: 64.847008 m, nav range: 62.800713 m, bearing: 152.537611 deg, approach rate: -0.614222 m/s, LOS rate: 0.035724 deg/s, cmd heading: 157.854906 deg, new cmd heading: 157.903196 deg. #:HeadingCmd: 2.755931 target range: 64.847008 and range: 65.30 m.b+a0@ZrjRJB~~zB}!|!|!|!|%=X@ 'zB"I)$=I'- ۑ< +a0@ D< ;i +a0@iAEEEEO1EK5m P"K1*K12K5 :K5@vIPyH:iGhsahR&x9DA MDJf,U\i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5066106G 9~G9 AQ Ai N} >ԙ ,p"hA9vfD!@vW/@Yv}^yvTg=vHDhؿXl??/q|? 5̫?@۬?? vfD!@v&;)t azB II]I]3m'= mL=ymarQ m>٥qq uHuwF}J< }>'5ٜ?'59 IBy&@v@ Ei)::%1'5s8ADNOT Ignoring new targets: 64.85 m.$:$: ProNav: ac range: 64.847008 m, nav range: 62.541065 m, bearing: 152.551148 deg, approach rate: -0.687797 m/s, LOS rate: 0.036009 deg/s, cmd heading: 157.903196 deg, new cmd heading: 157.943977 deg. :HeadingCmd: 2.756642 target range: 64.847008 and range: 65.30 m.bl0@ZrjRJB~~}|||| I@ E)zBE&IA)Ep`=IIM- IIM{checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764194ԙ ,z"hA9:!@:a/@Y:B^y:=:HfSؿ@?*?ֆƣ? ī?Ys?`? :!@:f;):CrBDAT read: Rx Time:13:50:00.8463 vTRx dataTimestamp_ set to:1749131402.195366vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015677z~zBz IMb@Mb@Mb@ )Yw/?Zd;OMb`?y&?j;A `@)I3AyAI I2= E=y 9Q >٥ HxFj< >'5ٜ?'59  IBy(?:&@v@ Ei:V:4'5>B7AEDNOT Ignoring new targets: 64.85 m.:: ProNav: ac range: 64.847008 m, nav range: 62.269123 m, bearing: 152.565032 deg, approach rate: -0.631296 m/s, LOS rate: 0.032372 deg/s, cmd heading: 157.943972 deg, new cmd heading: 157.985806 deg. : HeadingCmd: 2.757372 target range: 64.847008 and range: 65.30 m.b x0@ZrjRJB!~)~-zB}I|I|Q|Q|U@ ,zBDI)d=Iu- <x0@<DsHH?IHzBHHH0DH<H"EY 6G! ZG) RG) ~GA AQ Ai N >Q, ~"hA9BM>"@BQ0@YB\yB=BHmc׿ճ??@???`? BM>"@Bي;)BCNzBRI)X ZAIjIj<2Kx*P"K9*K2K :KXdf2CgTBe{HZEw{^IjqP36dZ=n%< ES=yM:Q U>٥ H-< ->Ae'5E؜?e'59Ef IEByiuY'@uv@E EiE MBDAT read: Tx time:13:50:01.9599 M$Ping request sent.M )fm&?%G?qzyiK ?=iwֽk]> )u:publishing transmit ping timeIuFpublishing direction and range infoy9?b"h`r|˿Y )Ii )Ii )fm&?%G?qzyi );GB~~}|||`ffO@|%D? ErYAyMvB /zB靭cI)=I &- v<L0@.< ح %=׭ 4= JDAT read: TxSync time:13:50:01.9591 vݮ,CY"hA@9N"@NL0@YN2ZyN,p=NHŭM`׿Q|? ?4?@R? ?X? N"@N;)NCEzBEII}I}#3-"= E=y[:Q >٥ HyF(< >'5\؜?'59 IţBy'@v@ Ei:6:;'57AZb"hAryBryBM+@ʁ޽[IN@YKwYsM*9?b"h`r|˿iwֽk]>ҁ۶-vvKFW;@>=%_./쿩 D G?=ſztA[jkƜ?rC3 PBkƜ?C3  NBuBL+@ addTargetRange:: Added new target pos. range: 62.799999 m, deltaT: 3.530644 s, deltaX: -2.500004 m, approachRate: -0.708087 m/s, rangeRepo size: 4  Added new target pos. range: 62.361500 m, bearing: 153.356505 deg, lat: 36.906375 deg, lon: -122.116045 deg, deltaT: 3.530644 s, deltaX: -2.485508 m, approachRate: -0.703981 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.36 m. ProNav: ac range: 62.361500 m, nav range: 61.450718 m, bearing: 153.356336 deg, approach rate: 0.000000 m/s, LOS rate: 0.029687 deg/s, cmd heading: 158.022546 deg, new cmd heading: 158.057560 deg. %HeadingCmd: 2.758625 target range: 62.361500 and range: 62.80 m.b%O0@Z!r!j!R!J!B)~)~)}I|q|q|q|u"?Ա 1zB8I)=I,   { <O0@ۦ<Ƶ,e9"hA9B#@B11@YBm]]yB=BH $ֿ??]I?߿큭?;?K4? ? B#@Bo;)@lrzBrI}Mb@Mb@Mb@yyy y)yY}x&1?I +{Gzty}!?}9}ף}IA }3@)}`@I}Ayy}AI&I3 < I=yҺQ >٥ HzF< >'5:؜?'59 IʣBy#?:d(@v@ Ei* ;? ;V?'57AEHe>HaHeeIHe{BHe =HaHe1DHe<HeEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.36 m.99= ProNav: ac range: 62.361500 m, nav range: 61.190788 m, bearing: 153.367408 deg, approach rate: -0.622580 m/s, LOS rate: 0.026633 deg/s, cmd heading: 158.057558 deg, new cmd heading: 158.090917 deg. E9:UHeadingCmd: 2.759207 target range: 62.361500 and range: 62.80 m.bUٖ0@ZQrQjYRYJYBY~a~ezB}a|a|a|i|m aQ? 4zB I) =I, %΍<-ٖ0@- Ǵ<5Q T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.a G,"hA9F4#@FG1@YF[yF=FH ֿ rm?`F4? U_?@o?`?L? F4#@FN;)FC9=zBE IiE%=IEa>IUIUF3m < mN=ym:Q m>٥qq uHq}e; }>'5؜?'59 IΣBy~(@v@ Ei:;B'57ADNOT Ignoring new targets: 62.36 m.:: ProNav: ac range: 62.361500 m, nav range: 60.939518 m, bearing: 153.377819 deg, approach rate: -0.688121 m/s, LOS rate: 0.028627 deg/s, cmd heading: 158.090916 deg, new cmd heading: 158.122276 deg. ,:HeadingCmd: 2.759754 target range: 62.361500 and range: 62.80 m.bџ0@ZrjRJB~~}||||d? 6zB靽QI)=I"@, '<:J_BJTJJARJZJ :bJ:9J4JzJ+:jJ0:JRJ:rJUJ:џ0@< , #hA9B9#@B6M1@YBBYyB17=BH`xֿe?v/?Һ.?@9?9ҹ?? B9#@B;)BCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500285fzBf&I]Mb@Mb@Mb@YYY Y)YY]?333333I +y] ?]]94] A ]@)]v@I]AYy]AIIM3< H=ԙyO:Q >٥ H{FO: >'5؜?'59U IѣBy,!?:)@v@ Ei3;;^F'5?B_7AEDNOT Ignoring new targets: 62.36 m.s9s9 ProNav: ac range: 62.361500 m, nav range: 60.681526 m, bearing: 153.383585 deg, approach rate: -0.593501 m/s, LOS rate: 0.013321 deg/s, cmd heading: 158.122281 deg, new cmd heading: 158.139652 deg. E:-HeadingCmd: 2.760058 target range: 62.361500 and range: 62.80 m.b5ɤ0@Z1r1j1R1J1B1~9~=zB}9|9|A|A|E@? :zB I )D=I+ [<ɤ0@ <vHUCHU~IHU7{BHU =HQHU2DHU<HU"Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7528116G $3=~G A A N >! q,%#hA9B<"#@B51@YBOTyB=BH^ֿ)?E?R@;?@?vƹ? P? B<"#@B;)BCNzBR"IIVIV(*2^  ^Y=ybtn;Q b>٥`` fHf|Ff{ f>lv'5n؜?v'59ne InԣBytv)@vv@n EinB:n:nI'5x~y7A|K_@P"K9*K2K :KT4dY:;c*eey1<=u5~l6hx_qDNOT Ignoring new targets: 62.36 m.99  ProNav: ac range: 62.361500 m, nav range: 60.444614 m, bearing: 153.389247 deg, approach rate: -0.628677 m/s, LOS rate: 0.015084 deg/s, cmd heading: 158.139657 deg, new cmd heading: 158.156710 deg.  %:HeadingCmd: 2.760355 target range: 62.361500 and range: 62.80 m.b0@ZrjRJB~~!}!|!|!|!|-`sc? U=zBU. IY)]=YI]?+ YYeV* checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257101ԙ ,,ˢ?#hA9V#@V.1@YV,PyV=VH`uֿŴ?`9M? S?? ?? V#@V;)VCnzBn(I)p rAIvIv<2~< ~F=y ;Q >٥ H ܓ  >'5~؜?'59/ I֣By%)@%v@ Eio;';@M'5)-L7A-EamDNOT Ignoring new targets: 62.36 m.m9m9} ProNav: ac range: 62.361500 m, nav range: 60.185829 m, bearing: 153.395651 deg, approach rate: -0.668851 m/s, LOS rate: 0.016623 deg/s, cmd heading: 158.156705 deg, new cmd heading: 158.176000 deg. 6:HeadingCmd: 2.760692 target range: 62.361500 and range: 62.80 m.b-0@ZrjRJB~~}||||@Q @zB靥x I)R=I:+ <-0@@@<0<ԩ~G) A1 AI NU > ,~Y#hA9>S#@>'1@Y>Ly>=>H׿_?@SS?u@?v??@? >S#@>;)٥iq uHu}Fuq u>'5k؜?'59# I٣By?:+@v@ Ei::P'5H>HHIHK{BH =HHH<HEHCHCHH =I = I6=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760536]>B]d7A]EB*** querying acoustic contact ***JRԱDNOT Ignoring new targets: 62.36 m.XݷXݷ ProNav: ac range: 62.361500 m, nav range: 59.926262 m, bearing: 153.394972 deg, approach rate: -0.575130 m/s, LOS rate: -0.001512 deg/s, cmd heading: 158.175993 deg, new cmd heading: 158.173946 deg. ΄HeadingCmd: 2.760656 target range: 62.361500 and range: 62.80 m.b0@ZrjRJ!B)~Q~UzB}Q|Y|Y|Y|]y@ DzB_FI)=I* N<0@[<dw9 u@,Acs#hA96#@6P%1@Y6JMy6=6H ׿ y?U?`٪?`˟? g?"? 6#@6E\;)6CnzBr"II I 2=< EM=yM:Q U>٥YY eHe~Fu u>'5X؜?'59. IۣBy+@w@ Ei;;tT'5q7ADNOT Ignoring new targets: 62.36 m.   ProNav: ac range: 62.361500 m, nav range: 59.674297 m, bearing: 153.394392 deg, approach rate: -0.669741 m/s, LOS rate: -0.001548 deg/s, cmd heading: 158.173944 deg, new cmd heading: 158.172197 deg. HeadingCmd: 2.760626 target range: 62.361500 and range: 62.80 m.b0@ZrjRJ:JaBJ_JJERJZJ:bJ=h9J4JzJ;jJ;J:rJ:B~~}|||| ӓ @  EHzBElI)ڱ=I* z<0@t<~G A A N >?*,kF#hAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5186149 #@1@Y_Ly–=H`׿@? ^[?ֿ?+?Ͳ??  #@;)CzBIi=Ip<Mb@Mb@Mb@ )Yx&1?Q롿y&1yA ?\`eA @)3@IyzAIIuż 4=yF9Q >٥ H] >'5B؜?'59 IߣBy ?:-@w@ Ei`;^;]X'57AE)-DNOT Ignoring new targets: 62.36 m.5,˹5,˹E ProNav: ac range: 62.361500 m, nav range: 59.394001 m, bearing: 153.384592 deg, approach rate: -0.632111 m/s, LOS rate: -0.022204 deg/s, cmd heading: 158.172196 deg, new cmd heading: 158.142659 deg. ԁEsHeadingCmd: 2.760110 target range: 62.361500 and range: 62.80 m.b0@ZrjRJB~~zB}|!|!|!|%t' @ԱH>HHHH =HHHޚ<HEDAT read: 13:50:04.4451 LVL= 20384, 27953, 18130, 28835, AGC= 67, IDX= 409,-0.10, 1.632, 0.293, 1.830, 1.224, PHS= 0.496,-0.884, 0.603, RAW= 153.7, -3.0, CAL= 157.5, -11.5, ROT= 352.5, 11.5 Ygot valid direction response: 13:50:04.4451 LVL= 20384, 27953, 18130, 28835, AGC= 67, IDX= 409,-0.10, 1.632, 0.293, 1.830, 1.224, PHS= 0.496,-0.884, 0.603, RAW= 153.7, -3.0, CAL= 157.5, -11.5, ROT= 352.5, 11.5 PDAT read: Bearing 352.5, 11.5 (Local) ~Local bearing/azimuth received: Bearing 352.5, 11.5 (Local) DAT read: Range 10 to 50 : 60.6 m (Round-trip 80.9 ms) speed 0.5 m/s ,DAT read: user:1791> BDAT read: Tx time:13:50:05.5584 $Ping request sent.MMbM5^? M>+@)MPwVIM/@iMMM@MM> I)IMm:S?/Yĺ?#*iM?M*X=M MM> I)I:publishing transmit ping timeڹFpublishing direction and range infoIyMK? HB8_iɿIYI I)IIIiIIIII I)IIIiIII I)IMm:S?/Yĺ?#*iIIII I)I NzB靍 I ) = I D* $r< 0@ J< 1=)A/Nu>]?JU>JU>6G]5<A~G!9AIAiN} ?ug,կ#hA9z"@1@YMy[=H 31׿d?p? $\? ?? *? z"@,;)ezBeIIIF3]fڻ ]=y]Q ]>٥aa eHeFa0 >'5)؜?'59v IBy-@w@ Ei>::]'5=B7AEZQbU+#hAUpBUpBUt)@ʁU;M@#I21^'UK? HB8_iɿU UM>ҁUvW4JշCY;@>e7&#UW-–?slujA]ĿzUAUQjU^WƜ?rU{W UFTBQU,  UPBUmBU{*@ addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.779996 s, deltaX: -2.200001 m, approachRate: -0.582011 m/s, rangeRepo size: 4  Added new target pos. range: 60.179203 m, bearing: 151.906740 deg, lat: 36.906375 deg, lon: -122.116035 deg, deltaT: 3.779996 s, deltaX: -2.182297 m, approachRate: -0.577328 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.18 m.  ProNav: ac range: 60.179203 m, nav range: 59.456181 m, bearing: 152.624355 deg, approach rate: 0.000000 m/s, LOS rate: -0.022204 deg/s, cmd heading: 158.142662 deg, new cmd heading: 158.103636 deg.  HeadingCmd: 2.759429 target range: 60.179203 and range: 60.60 m.b|0@ZrjRJB9~A~A}A|I|I|MLN@|M`K? SzBI) }= I  *   <5|0@=<=,#hAԩ9] #@]{1@Y]Ty]փ=]H@u׿p?`P[?S_?,?`(F?? ] #@]s;)]CzBIMb@Mb@Mb@ )Yx&1? rh{GzyC#3A @)IAyAIIM3 G  =y aQ >٥ HF%$0; %>)5'5-T؜?5'59-1 I-By5U ?U:Uu/@]w@- Ei-;-W;-ra'5ae7AaDNOT Ignoring new targets: 60.18 m.hoho ProNav: ac range: 60.179203 m, nav range: 59.138504 m, bearing: 152.600381 deg, approach rate: -0.689676 m/s, LOS rate: -0.052327 deg/s, cmd heading: 158.103634 deg, new cmd heading: 158.031326 deg. HeadingCmd: 2.758167 target range: 60.179203 and range: 60.60 m.bυ0@ZrjRJB~!~%YzB}!|!|!|)|-`? WzB靝I)TR=I) N<υ0@ӵ<z)H- CH) H) H-  =H) H- 3DH- <H- NE~Ga Ai Ay N >1 ,#hAzBI)! !I-I-[3=< E=yEQ E ?٥II MHIU U ?'5O؜?'59V IByw@ Ei ;* ;c'57AEB*** querying acoustic contact ***JR  DNOT Ignoring new targets: 60.18 m.]]% ProNav: ac range: 60.179203 m, nav range: 58.958385 m, bearing: 152.586673 deg, approach rate: -0.634453 m/s, LOS rate: -0.048433 deg/s, cmd heading: 158.031330 deg, new cmd heading: 157.990080 deg. %-HeadingCmd: 2.757447 target range: 60.179203 and range: 60.60 m.b-z0@Z)r)j1R1J1B1~9~9}9|9|A|A|Eص? }ZzB靅 I),i=I6) i<z0@G<Y9y ,ǝ#hANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504168`9z"@z1@Yz=Vyzj=zH@;+׿ز?g?ÿ $ܦ?Ī??? z"@z[;)zC=zBEIIMIMM3eg, eH=yeYQ m>٥ii mHmFu u>y'5}ל?'59} I}Byf/@w@} Ei}~:}G:}qg'55checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753844  , y$hA9Zu"@Z0@YZ!VyZ=ZH ȴ S׿Ȳ??p-S?`?F?@? Zu"@Z);)ZCfzBfIl:JvdBJveJJvFRJtZJv<:bJv9Jv4JtMb@Mb@Mb@ )YRQ?Mb{Gzy"?A @)@Iy@BAII2Ʊ E=yI8Q >٥ HFP˻ >'5ל?'59 IBy"?:\/@w@ Ei ;;k'57A DNOT Ignoring new targets: 60.18 m.%o]%o] H<HHHHIHA{BH =HHH<H:E ProNav: ac range: 60.179203 m, nav range: 58.447971 m, bearing: 152.547977 deg, approach rate: -0.635449 m/s, LOS rate: -0.048398 deg/s, cmd heading: 157.933426 deg, new cmd heading: 157.873477 deg. HeadingCmd: 2.755412 target range: 60.179203 and range: 60.60 m.bX0@ZrjRJB~ ~ +zB} | |||`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006022 bzB靭٢I)=Is) ⦊<X0@ -<| ,\2$hA9]zB]IImIm?13 < K=yQ >٥ H >'5ל?-'59p IBy))-w@ Eij<h<n'51=7A=EaeDNOT Ignoring new targets: 60.18 m.mWmW} ProNav: ac range: 60.179203 m, nav range: 58.193241 m, bearing: 152.528490 deg, approach rate: -0.613212 m/s, LOS rate: -0.047116 deg/s, cmd heading: 157.873471 deg, new cmd heading: 157.814754 deg. }WHeadingCmd: 2.754387 target range: 60.179203 and range: 60.60 m.bG0@ZrjRJB~~}||||^%@ ezBlI)=IvU) |O<G0@@L< k ,.L$hA95~"@5N0@Y5k Uy5۳e=5H9׿]?b? x`ٲ?Z??? 5~"@58C;)1ԡzBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7639305Mb@Mb@Mb@111 1)1Y5K7A`?Mb~jthy5+?55D5A 1)5@I5hA1y5@IMIM3]B< e2=ym:Q u>٥qq }H}F}6 }>'5Юל?'59Q IBy+?:/@w@ Ei;;r'57AEDNOT Ignoring new targets: 60.18 m. ProNav: ac range: 60.179203 m, nav range: 57.886330 m, bearing: 152.502580 deg, approach rate: -0.683575 m/s, LOS rate: -0.058015 deg/s, cmd heading: 157.814758 deg, new cmd heading: 157.736615 deg. BHeadingCmd: 2.753023 target range: 60.179203 and range: 60.60 m.b10@ZrjRJB~ ~ zB} | |||@ izBmI)%x=AIE.) AAEHH~IH7{BHHH2DHߚ<HE BDAT read: Rx Time:13:50:08.0406  TRx dataTimestamp_ set to:1749131409.507794 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0158466G  ,d$f$hA9JW"@J$k0@YJSyJ\=JH ׿@m? ? cD?y??)? JW"@JD;)JC^zB^!IIbIb(*2j97= n}=yng:Q n ?٥lp rHrFr r ?tz'5v+ל?~'59v# IvBy|~/@~w@v Eivl:vl:vju'5a7A9=DNOT Ignoring new targets: 60.18 m.E{E{] ProNav: ac range: 60.179203 m, nav range: 57.672951 m, bearing: 152.484916 deg, approach rate: -0.662604 m/s, LOS rate: -0.055056 deg/s, cmd heading: 157.736621 deg, new cmd heading: 157.683432 deg. ]#eHeadingCmd: 2.752095 target range: 60.179203 and range: 60.60 m.beS"0@ZarajaRaJaBi~q~q}q|q|q|y|}KR @ kzB靵'I)O=I) <S"0@nAq ; ,$hAJDAT read: 13:50:08.0406 LVL= 23440, 27073, 18930, 32755, AGC= 68, IDX= 411,-0.31,-1.156,-2.464,-0.991,-1.564, PHS= 0.496,-0.853, 0.570, RAW= 152.6, -3.1, CAL= 156.6, -11.6, ROT= 353.4, 11.6 RYgot valid direction response: 13:50:08.0406 LVL= 23440, 27073, 18930, 32755, AGC= 68, IDX= 411,-0.31,-1.156,-2.464,-0.991,-1.564, PHS= 0.496,-0.853, 0.570, RAW= 152.6, -3.1, CAL= 156.6, -11.6, ROT= 353.4, 11.6 VPDAT read: Bearing 353.4, 11.6 (Local) Z~Local bearing/azimuth received: Bearing 353.4, 11.6 (Local) ^DAT read: Range 10 to 50 : 58.5 m (Round-trip 78.0 ms) speed 0.8 m/s b,DAT read: user:1792> bBDAT read: Tx time:13:50:09.1584 f$Ping request sent.f 0)02On?uf 0)0z:publishing transmit ping timedzFpublishing direction and range info0y2i#?C0VҼoɿ0Y0 0)0I0i00000 0)0I0i000 0)02On?uf٥qy }Hy}~ }>'5ל?'59 I Byt/@w@ Eif< g<cy'5;BT7AEZ0b2$hA2`hB2`hB2c)@ʁ23|CL@)E}\'2i#?C0VҼoɿ224QO>ҁ2TJI˼%$;@j'#"2_,9&{?hFÿz2A2PJj2C=Ɯ?r2N 2[VB2C=Ɯ?2N  02eB2W)@ addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.531883 s, deltaX: -2.099998 m, approachRate: -0.594583 m/s, rangeRepo size: 4  Added new target pos. range: 58.094086 m, bearing: 151.815584 deg, lat: 36.906377 deg, lon: -122.116029 deg, deltaT: 3.531883 s, deltaX: -2.085117 m, approachRate: -0.590370 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.09 m.Powering the camera and arming the capture device at range: 58.50 m.zMMI] ProNav: ac range: 58.094086 m, nav range: 57.381958 m, bearing: 151.815422 deg, approach rate: 0.000000 m/s, LOS rate: -0.055056 deg/s, cmd heading: 157.683427 deg, new cmd heading: 157.604569 deg. YHeadingCmd: 2.750719 target range: 58.094086 and range: 58.50 m.b 0@ZrjRzJB~~}|||@M@| {? ozB H]I)$J=I( *< 0@}yjEU >ԁ"=2Commanding negative:54402EEE!E%_0E!mJDAT read: TxSync time:13:50:09.1577 Ա 6G] <~G A! A1 N= >& ,襛$hA:J_BJRJJGRJZJ :bJS29Jc4J9^!@^0@Y^CXy^).O=^Ȟ,ؿsd?S?Y??٩?$? ^!@^;)^CjzBj-IGGAAH>HHHH =HH3DH<H6EH]CH]CHYH] =I] = I]4 =Mb@Mb@Mb@ )YK7?٥ HFݔ >'5cnל?'59 IByY,?:[.@w@ Ei;;y}'5 7AE B*** querying acoustic contact ***J R =DNOT Ignoring new targets: 58.09 m.9EPowering the camera and arming the capture device at range: 58.50 m.zAEoEoU ProNav: ac range: 58.094086 m, nav range: 57.068237 m, bearing: 151.791855 deg, approach rate: -0.693255 m/s, LOS rate: -0.052365 deg/s, cmd heading: 157.604566 deg, new cmd heading: 157.533476 deg. }HeadingCmd: 2.749478 target range: 58.094086 and range: 58.50 m.br/@ZrjRzJB~~$zB}||||H? erzBm.<Ii)m=iIm( iiuֳ<r/@<n, ,hB$hA9V!@V 0@YV[yVE}=VH '$ؿ`᫲?`Z?ȑ?_??? V!@V1;)VCfzBf2IInIn(*3~< ~q=yVQ ?٥  HF꨺ ?!5'5%\ל?5'59%@ I%By15U.@5w@% Ei%;%;%j'5AE6AAimDNOT Ignoring new targets: 58.09 m.iuPowering the camera and arming the capture device at range: 58.50 m.zq}On}On ProNav: ac range: 58.094086 m, nav range: 56.842663 m, bearing: 151.774844 deg, approach rate: -0.687939 m/s, LOS rate: -0.052087 deg/s, cmd heading: 157.533477 deg, new cmd heading: 157.482240 deg. HeadingCmd: 2.748584 target range: 58.094086 and range: 58.50 m.b/@ZrjRzJB~~}||||ӂ?IR=I= tzBPI)=I3o( R< /@ p< q 3 ,%#$hArchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2571339I"@0@Y6^yr=H 4 }ؿĜ?N?@Ԁ?ѫ?L?? I"@骭{;)CzB7II=Mb@Mb@Mb@999 9)9Y=m? rhy=.?=C 9=@ 9)9I=QA9y=@IUIU3}p< =yzֺQ >٥ H: >9E'5=@ל?E'59=! I=%ByE.?M:M,@Mw@= Ei=:=:='5q:B6AEH=>H=CH=IH=K{BH= =H9H=2DH=<H=IEDNOT Ignoring new targets: 58.09 m.Powering the camera and arming the capture device at range: 58.50 m.z.. ProNav: ac range: 58.094086 m, nav range: 56.476070 m, bearing: 151.755232 deg, approach rate: -0.605577 m/s, LOS rate: -0.032606 deg/s, cmd heading: 157.482237 deg, new cmd heading: 157.423022 deg. HeadingCmd: 2.747550 target range: 58.094086 and range: 58.50 m.b/@ZrjRzJB~~zB}||||@? =xzB= I9)Mҗ=IIU*( QQUp<]/@eZ٥ HF : >'5)ל?'59 I-By,@w@ Ei;*;'59B=6AEDNOT Ignoring new targets: 58.09 m.Powering the camera and arming the capture device at range: 58.50 m.zNHNH ProNav: ac range: 58.094086 m, nav range: 56.173912 m, bearing: 151.738649 deg, approach rate: -0.793418 m/s, LOS rate: -0.043780 deg/s, cmd heading: 157.423020 deg, new cmd heading: 157.373001 deg. ^HeadingCmd: 2.746677 target range: 58.094086 and range: 58.50 m.b/@Zrj!R!z!J!B!~)~)})|)|1|1|5@? mzzBmIu^4<)u=qI}' y< /@ ]< Hdq WC ,%hA9~4'"@~:0@Y~'fy~-[=~H ؿBx?&-?`y=??MW? ]? ~4'"@~ۣ;)|ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.287609ԡzBUIuMb@Mb@Mb@qqq q)qYukt?MbMb`?yu 0?u@u;uA u@)qIqqyqI I(2@< =yQ >٥ HFE(; >'5 ל?'59l I7By0?:+@w@ Eif:o:'55AEDNOT Ignoring new targets: 58.09 m. Powering the camera and arming the capture device at range: 58.50 m.z   - ProNav: ac range: 58.094086 m, nav range: 55.802319 m, bearing: 151.724577 deg, approach rate: -0.693873 m/s, LOS rate: -0.026451 deg/s, cmd heading: 157.372995 deg, new cmd heading: 157.330499 deg. -9=HeadingCmd: 2.745935 target range: 58.094086 and range: 58.50 m.b=g/@Z9r9j9R9z9J9BA~A~E2zB}A|I|I|I|M+Q@ }|zB}C I)=I>' ,T<g/@˶<HUCHUIHUj{BHQHQHU1DHU<HU]EEm2EiEiEm_0EiFu=Fup= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.539659 6G Vv<~G A A N >`?J ,;*%hA(9>4H"@>[0@Y>5ly>O=>H׿??ߙ?1?`b?@? >4H"@>#֚;)>C H)JAɵHHHLɶLiLILLIPiR~A PP)PP PTTɷTTVhAIV$)V FiX)\I^dA)` `bɸd hɹ`Ai!uGZA 0YZAy 4Bi΃A) Iٯ5 {B5dIIE IEV2}g= j=yEQ >٥ HF; >'5֜?'59 I>By+@w@ Ei;2;Đ'55AB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 58.09 m.!KEjP"KA*KA2KE :KE`j/ Kw&u8LayTN!-btnh UPowering the camera and arming the capture device at range: 58.50 m.zQ]*]*ԁ ProNav: ac range: 58.094086 m, nav range: 55.561890 m, bearing: 151.714874 deg, approach rate: -0.671824 m/s, LOS rate: -0.027230 deg/s, cmd heading: 157.330498 deg, new cmd heading: 157.301263 deg. HeadingCmd: 2.745425 target range: 58.094086 and range: 58.50 m.b /@ZrjRzJB~~}||||H@ ~zB=$WIA)EF>AIE& AAE쩅 BDAT read: Rx Time:13:50:11.6371 % TRx dataTimestamp_ set to:1749131413.068480- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.045727}"Q ,eD%hA9>gq"@>˄0@Y>ty>X=>Hq@׿u1?D?:?@?? ? >gq"@>;)>C\.{ByIII(*2%= %Q=y%'Q ->٥)) -H)5; 5>9E'5=(֜?E'59= I=GByAM$,@Mw@= Ei=:=:=.'5Y]5A]EDNOT Ignoring new targets: 58.09 m.Powering the camera and arming the capture device at range: 58.50 m.z ProNav: ac range: 58.094086 m, nav range: 55.293148 m, bearing: 151.703229 deg, approach rate: -0.685480 m/s, LOS rate: -0.029848 deg/s, cmd heading: 157.301265 deg, new cmd heading: 157.266159 deg. ߣHeadingCmd: 2.744812 target range: 58.094086 and range: 58.50 m.b/@Z!r!j!R!z!J!B!~)~)}||||@q @ zB[II)M5.>IIMC& IQUلErE?jE?E- 3-E1 E1 E= _0E9 I H >H H IH {BH  =H H 0DH <H PEq 6G<< )-<uDAT read: 13:50:11.6371 LVL= 17616, 26945, 15090, 28915, AGC= 60, IDX= 407, 0.30,-0.571,-1.949,-0.348,-1.073, PHS= 0.590,-0.829, 0.722, RAW= 154.4, -6.5, CAL= 159.2, -14.4, ROT= 350.8, 14.4 }Ygot valid direction response: 13:50:11.6371 LVL= 17616, 26945, 15090, 28915, AGC= 60, IDX= 407, 0.30,-0.571,-1.949,-0.348,-1.073, PHS= 0.590,-0.829, 0.722, RAW= 154.4, -6.5, CAL= 159.2, -14.4, ROT= 350.8, 14.4 }PDAT read: Bearing 350.8, 14.4 (Local) ~Local bearing/azimuth received: Bearing 350.8, 14.4 (Local) DAT read: Range 10 to 50 : 55.8 m (Round-trip 74.5 ms) speed 0.7 m/s ,DAT read: user:1793> BDAT read: Tx time:13:50:12.7584 $Ping request sent. )))-a-;?qP?a)i-?-=-l$-> ))):publishing transmit ping timeڹFpublishing direction and range info)y-2"g?5fÿlϿ)Y) )))I)i))))) )))I)i))) )~GAAIAYNm ?WY ,.g%hA)IMa-;?qP?a)iIIII I)I9"@0@YBy=H{q׿@1?#? |?@?`BW?? "@;)CA{BIaMb@Mb@Mb@ )YQ?Zd;O~jthy\/?j<DQA @)@Iy@II2< =y\Q %>٥!! %H%F-; ->KU8P"KUs9*KQ2KU :KU,}Mcsp"MwfG7!=$6 >]/nam'5e֜?m'59e IeSBym/?:z,@w@e EieZ;e;e'58B4AEZIbMΎd%hAM]BM]BMG'@ʁM5Y}J@[)!F `+M2"g?5fÿlϿMl$M>ҁM.:2ۋGJc;@q"R%M@D2ŽME?ECɿzMAM^<jMEǜ?rMjK MOBM^WƜ?M{W  IM9[BMP)@U addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.560746 s, deltaX: -2.700001 m, approachRate: -0.758268 m/s, rangeRepo size: 4 e Added new target pos. range: 55.410500 m, bearing: 150.105137 deg, lat: 36.906378 deg, lon: -122.116028 deg, deltaT: 3.560746 s, deltaX: -2.683586 m, approachRate: -0.753658 m/s, posRepo size: 4 aeDNOT Ignoring new targets: 55.41 m.auJDAT read: TxSync time:13:50:12.7577 ԉPowering the camera and arming the capture device at range: 55.80 m.z ProNav: ac range: 55.410500 m, nav range: 54.806168 m, bearing: 151.578321 deg, approach rate: 0.000000 m/s, LOS rate: -0.029848 deg/s, cmd heading: 157.266157 deg, new cmd heading: 157.208127 deg. HeadingCmd: 2.743799 target range: 55.410500 and range: 55.80 m.bi/@ZrjRzJB~~jzB}|||`fK@|T? zB靭]I)!?>IE% t<i/@uz<M=ii/@i I AAI AA:J [BJ XJJ BRJ ZJ :bJ 5K9J -4J zJ :jJ :J f:rJ f:>E 0< E (E E E O0E 6Gz =~GAAN? zc ,%hA<9Rl"@R0@YRRyR#Ί=RH@`^׿??@)?l? M?@#? Rl"@Rx;)RCfX{BfII}I}(*3 -= =yoLQ %>٥19 EHMFU7: ]>='5֜?='59f I]ByIM,@Mw@ Eis<m<n'5QUa4A]EDNOT Ignoring new targets: 55.41 m.Powering the camera and arming the capture device at range: 55.80 m.z**ԡ ProNav: ac range: 55.410500 m, nav range: 54.437431 m, bearing: 151.558801 deg, approach rate: -0.697228 m/s, LOS rate: -0.037159 deg/s, cmd heading: 157.208128 deg, new cmd heading: 157.149173 deg. ̺HeadingCmd: 2.742770 target range: 55.410500 and range: 55.80 m.b/@ZrjRzJB~~}||||? ezBe=߼Ia)eT>iImXj$ iim7HaHeIHe{BHe =HaHe1DHeɚ<HeEE %E E E 4E ) 6G =~GAAN>j ,խ%hA9Vo"@VQ0@YV_ƈyV =VHě|׿`??ԡ? ?Au?? Vo"@V6͓;)VCb{BbIUMb@Mb@Mb@QQQ Q)QYUDl?X9vI +yUO-?U}U94UhA Up@)U@IU@QyU@iIuIu?13}= .=yQ >٥ HFS >'5$֜?'59 IdBy.?:*@w@ Ei ;;['53A}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 55.41 m.Powering the camera and arming the capture device at range: 55.80 m.zK<P"K9*K2K :KV>p2`$k 3) \$!k |TBw+i 04 ProNav: ac range: 55.410500 m, nav range: 54.132507 m, bearing: 151.551491 deg, approach rate: -0.661502 m/s, LOS rate: -0.015948 deg/s, cmd heading: 157.149170 deg, new cmd heading: 157.127116 deg. /%HeadingCmd: 2.742386 target range: 55.410500 and range: 55.80 m.b-?/@Z)r)j)R)z)J)B1~1~5zB}1|9|9|9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.|n? =zB=iüI9)Eg>AIMf# IIU:׀<ԡ=?/@=.q ,%hA9VA"@VTU0@YVyVb_=VH@S׿ F?`a?Ӡ@x? 4?@?@O? VA"@Vf;)VCf{BfI)h hInInM3v4= vU=yvlQ z>٥xx zHx~; > '5 ֜?'59  I jBy*@w@  Ei : : '5%6B%#3A%EDNOT Ignoring new targets: 55.41 m.Powering the camera and arming the capture device at range: 55.80 m.z- ProNav: ac range: 55.410500 m, nav range: 53.872314 m, bearing: 151.545949 deg, approach rate: -0.700027 m/s, LOS rate: -0.014983 deg/s, cmd heading: 157.127122 deg, new cmd heading: 157.110415 deg. -$5HeadingCmd: 2.742094 target range: 55.410500 and range: 55.80 m.b5x~/@Z1r9j9R9z9J9B9~A~A}A|A|A|I|M@? 靝֚I)l>I" q<x~/@k4<=ix~/@iEm EiEiEm^0Ei6GM=~GAAachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748266ANk>)Y H >H H IH {BH  =H H H <H CEH˛CH˛CHH =I = IU5w ,x%hA9V'"@VJ;0@YV*yVJ=VHe`׿ Y&?(?@@Q?"? ?`? V'"@V؏;)VCf{BfIMb@Mb@Mb@ )Yp= ף?A`"I +y%?YA Q@)Q@Iv@yQ@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997655II2 K=  9=y c:Q >٥ HFgl >!-'5%Gj֜?-'59%4 I%pB1y-%?5:5+@5w@% Ei%F1;%90;%'59E2AEEy}DNOT Ignoring new targets: 55.41 m.yPowering the camera and arming the capture device at range: 55.80 m.zU ProNav: ac range: 55.410500 m, nav range: 53.588097 m, bearing: 151.537467 deg, approach rate: -0.662922 m/s, LOS rate: -0.019888 deg/s, cmd heading: 157.110416 deg, new cmd heading: 157.084836 deg. UaZ]HeadingCmd: 2.741647 target range: 55.410500 and range: 55.80 m.b]'w/@ZYrYjYRazaJB~~zB}||||@!@ -zB5I1)5>1I5?o! 19=|<='w/@6b<=i'w/@iaE=E9E9E=_0E9ԉKE O"KE h9*KA 2KE :KE  .gua~L]aPzhxx|^0 ID)9 (ס ס  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2497886G} =~GY Ai A N >Թ b"~ ,H%hA9FW!"@F40@YF߸yF=FH`f׿@õ? $/?`[??? ? FW!"@Fɀ;)FCV{BVIIZ IZV2f= fb=yfW;Q f>٥hh jHjFj j>pr'5rX֜?v'59rj IrvBytv +@vw@r Eir2:r:r'5xz2A|AMDNOT Ignoring new targets: 55.41 m.IUPowering the camera and arming the capture device at range: 55.80 m.zQU]u ProNav: ac range: 55.410500 m, nav range: 53.353970 m, bearing: 151.530519 deg, approach rate: -0.644270 m/s, LOS rate: -0.019205 deg/s, cmd heading: 157.084830 deg, new cmd heading: 157.063892 deg. %R]HeadingCmd: 2.741282 target range: 55.410500 and range: 55.80 m.be*q/@ZarijiRizi:J}_BJ}VJJyRJyZJ} :bJ}B9JyԑJyzJ}+:jJ}0:J}X:rJ}X:JB~~}| ||| Ť@ ezBmXmI)E>I ` z<*q/@<Y=i*q/@ibE AZE Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502637EEEEo0E6G <~G A A N > ,.&hA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756010Ip)p9-+"@-:?0@Y- y-=-H`_@L׿I?%?ա?`^?_E?? -+"@-`;)-CE{BEIIMAMMb@Mb@Mb@III I)IYM/$?y&1:vyM?M`eMTMQA M;@)M;@IM`@IyM @IeIe 3uB< u2=yu:;Q }>٥yy }Hyȶ: >'5C֜?'59 I{By\?:*@w@$ Ei;s;'55B1A«EDNOT Ignoring new targets: 55.41 m.Powering the camera and arming the capture device at range: 55.80 m.lFinal approach. Armed for intercept at range: 55.80 m.\Transitioning guidance mode to: FINAL_APPROACH@mmmm} ProNav: ac range: 55.410500 m, nav range: 53.071987 m, bearing: 151.524612 deg, approach rate: -0.616607 m/s, LOS rate: -0.012983 deg/s, cmd heading: 157.063888 deg, new cmd heading: 157.046076 deg. }HeadingCmd: 2.740971 target range: 55.410500 and range: 55.80 m.bl/@ZrjRJB~~zB}||||@@ zBexI)L>I Iw<l/@<r=il/@i He<Ha!H >HHLIH|BH =HHH<HEEEEEEBDAT read: Rx Time:13:50:15.2339 TRx dataTimestamp_ set to:1749131416.595326checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006669I 6G e[=~G A A N >): ,/&hA 9>k8"@>K0@Y>~y>~=>H ׿ ??p??@B?? >k8"@>,;)>C|BII IV2g{= B=y ;Q >٥ HF: > '5 10֜?'59 ߢ I By*@w@ ) Ei -;K%P"K%9*K!2K% :K% WHV#]x2?;q))~YQ(vc  ~: f'59=1A9A]B*** querying acoustic contact ***JYRYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257729q}DNOT Ignoring new targets: 55.41 m.yuu ProNav: ac range: 55.410500 m, nav range: 52.813282 m, bearing: 151.518934 deg, approach rate: -0.609306 m/s, LOS rate: -0.013439 deg/s, cmd heading: 157.046075 deg, new cmd heading: 157.028957 deg. HeadingCmd: 2.740672 target range: 55.410500 and range: 55.80 m.b-g/@ZrjRJB~~}||||OG @ zBBI)ǽ>I t<-g/@{</ =i-g/@iEaEaEaEe2Eiq6G 3;=Ա ZG ARG ~G A A N > DAT read: 13:50:15.2339 LVL= 23792, 24257, 16690, 31379, AGC= 66, IDX= 406, 0.06, 2.448, 1.091, 2.642, 1.976, PHS= 0.560,-0.838, 0.663, RAW= 153.5, -5.3, CAL= 158.1, -13.5, ROT= 351.9, 13.5  Ygot valid direction response: 13:50:15.2339 LVL= 23792, 24257, 16690, 31379, AGC= 66, IDX= 406, 0.06, 2.448, 1.091, 2.642, 1.976, PHS= 0.560,-0.838, 0.663, RAW= 153.5, -5.3, CAL= 158.1, -13.5, ROT= 351.9, 13.5  PDAT read: Bearing 351.9, 13.5 (Local)  ~Local bearing/azimuth received: Bearing 351.9, 13.5 (Local)  DAT read: Range 10 to 50 : 53.4 m (Round-trip 71.2 ms) speed 0.5 m/s  ,DAT read: user:1794>  BDAT read: Tx time:13:50:16.3585  $Ping request sent. Q)QUy?B,I?u38M㷿iU?U&f=UU:Fq> Q)Q:publishing transmit ping time1Fpublishing direction and range infoQyUQ^/?RQuz%EͿQYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QUy?B,I?u38M㷿iQQ9IH"@[0@Yuy1t=H׿`? 5 ?̠?@)??`? IH"@骅s ;)iđQQđ) I C)AQFُCfAiKIF Q)QI5Ci5`A =9)9=fC =GA=7EAFAEfCE/AIE )EpFiA)M CIMpAII IU3CҕAҕDiґґٯ-|BII I 3= %H=y%;Q %>٥!) -H-Fu; }>Ա'5֜?'59 IBy*@w@- Ei:Q:'50AūEZQbU@MF&hAUTBUTBUwW(@ʁU43I@4Q(UQ^/?RQuz%EͿUU:Fq>ҁUA4!FJ9@N!sj#UkNo\`jo?.(.nǿzU AU5jUɒY%ǜ?rUڂ UXUBQQ UFTBU5RBU=)@e addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 3.527249 s, deltaX: -2.399998 m, approachRate: -0.680416 m/s, rangeRepo size: 4  Added new target pos. range: 53.028034 m, bearing: 150.707288 deg, lat: 36.906378 deg, lon: -122.116028 deg, deltaT: 3.527249 s, deltaX: -2.382465 m, approachRate: -0.675446 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.03 m. ProNav: ac range: 53.028034 m, nav range: 52.552586 m, bearing: 151.512896 deg, approach rate: 0.000000 m/s, LOS rate: -0.013439 deg/s, cmd heading: 157.028959 deg, new cmd heading: 157.011569 deg. HeadingCmd: 2.740369 target range: 53.028034 and range: 53.40 m.b4b/@ZrjRJB~ ~ }||A|E@3J@|E`+? EzBMtBIQ)U,>QImf iiuq<JDAT read: TxSync time:13:50:16.3578 4b/@#<=i4b/@irE?jE>E E E E 0E F! F% = :J ^BJ UJJ BRJ ZJ } :bJ >9J -4J  @ @ @ @H >H H xIH |BH  =H H H <H E6G k =1 ~G A A N >I ,Ce&hAI|B'IԑMb@Mb@Mb@ )Y333333?i|?5Mby?q`@ @)Q@II@y@I=+I=n3MWq= M3=yQ >ƈGAA٥ 5H =g[YEAyEZ^B5FM M>Q]'5Un֜?]'59U> IUBy]Z?]:e$*@w@U1 EiU;U;U<'50AȫEDNOT Ignoring new targets: 53.03 m.R,R, ProNav: ac range: 53.028034 m, nav range: 52.268147 m, bearing: 151.508507 deg, approach rate: -0.606899 m/s, LOS rate: -0.009416 deg/s, cmd heading: 157.011569 deg, new cmd heading: 156.998330 deg. ιHeadingCmd: 2.740138 target range: 53.028034 and range: 53.40 m.bk^/@ZrjRAJABA~I~MzB}I|I|Q|Q|UO? zBjIx*:)>I n<k^/@eZ<p=ik^/@iEEEE?1EK5P"K59*K12K5 :K5}.?D+9~i-(.V$B6G H= ~G A A N >. ,Q&hA9Z"@Z 0@YZXjyZFl=ZH (|׿/ ?|?`0?G?Fx? ? Z"@Z;)ZCmi|Bu:II}I}3= `=y;Q >٥ HҚ< ?'5`՜?'59Й IBy*@w@5 Eidh;pi;&'5QU0AYiDNOT Ignoring new targets: 53.03 m.pp ProNav: ac range: 53.028034 m, nav range: 52.067116 m, bearing: 151.503986 deg, approach rate: -0.582775 m/s, LOS rate: -0.013155 deg/s, cmd heading: 156.998332 deg, new cmd heading: 156.984719 deg. rHeadingCmd: 2.739900 target range: 53.028034 and range: 53.40 m.bZ/@ZrjRJB~~}||||@? =4= zBI ) > I &   yl<Z/@<v(=iZ/@iEEEEI4Eԙ6G s=~Ga A A N > R ,Y&hA9>#@>g1@Y>"cy>{=>H,׿?@b?`?`? i?@? >#@>v;)>CJ|BJJIeMb@Mb@Mb@aaa a)aYe7A`?S㥫y&1|ye?e/]e`e@ e;@)e;@Ie@aye@I},I}3v= K=y};Q >٥ HFL< >'5g՜?'59 IBy,?:F+@w@8 Ei;:'54B/A˫EDNOT Ignoring new targets: 53.03 m.ɹɹ ProNav: ac range: 53.028034 m, nav range: 51.828560 m, bearing: 151.495557 deg, approach rate: -0.619079 m/s, LOS rate: -0.021976 deg/s, cmd heading: 156.984713 deg, new cmd heading: 156.959308 deg. Nq-HeadingCmd: 2.739457 target range: 53.028034 and range: 53.40 m.b5BS/@Z1r9j9R9J9B9~A~EzB}A|A|I|I|M ??:JBJWJJERJZJbJG9J4JGGAA zB@I)I>H  >H H IH }BH  =H H H Κ<H EI !!%#iY ,it&hA9:_O#@:b1@Y:Vy:XD=:HK`ֿ@??)6s?6٪??? :_O#@:_;):CJ|BJTIIRIR2Z1= ZX=y^٥\\ ^H`bL< b>dj'5f՜?j'59fe IfByln+@nw@f< Eifs;f^;f'5prZ/ApB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 53.03 m.!%ݹ-ݹ= ProNav: ac range: 53.028034 m, nav range: 51.607151 m, bearing: 151.486464 deg, approach rate: -0.587701 m/s, LOS rate: -0.024240 deg/s, cmd heading: 156.959304 deg, new cmd heading: 156.931908 deg. =EHeadingCmd: 2.738978 target range: 53.028034 and range: 53.40 m.bElK/@ZArAjARAJIBI~IUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.K:GP"K59*K2K :KC HE, j#.iV?k<; b yRdWtZ1-A1q~I}||||6? UzBU69IQ)U>YI]n YY]W+gE9<EeEaEaEmB5Ei checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988413 6GM 8<= ~G) A9 AQ N] >j ,y&hA9Ns#@N@1@YNUfIyN=NH`$δֿ ?@?`<f?1*??@? Ns#@NW;)NCZ|BZXIIzIz2<  6=y ;Q  >٥  HFɢ; >%'5՜?-'59P IBy)-+@-w@@ Ei;;'515>/A=ΫEimDNOT Ignoring new targets: 53.03 m.quu ProNav: ac range: 53.028034 m, nav range: 51.342754 m, bearing: 151.474791 deg, approach rate: -0.590637 m/s, LOS rate: -0.026210 deg/s, cmd heading: 156.931902 deg, new cmd heading: 156.896704 deg. 揺HeadingCmd: 2.738364 target range: 53.028034 and range: 53.40 m.b[A/@ZrjRJB~~}||||@ zB靅pI)q?I d<[A/@ߺ<S=i[A/@Թi}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242692>E] ;E%E)E)E-P0E)6GO=:JBJSJJARJZJbJy69J4J~GAAN->H >HHIH3}BHHHH<HE1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492779 ,&hA49Z#@Z1@YZu٥ HF; >]'5՜?]'59q IBye?e:e+@ew@D EiW<8<'5m3Bm.AmЫEDNOT Ignoring new targets: 53.03 m. ProNav: ac range: 53.028034 m, nav range: 51.096035 m, bearing: 151.463463 deg, approach rate: -0.549333 m/s, LOS rate: -0.025344 deg/s, cmd heading: 156.896699 deg, new cmd heading: 156.862551 deg. & HeadingCmd: 2.737768 target range: 53.028034 and range: 53.40 m.b7/@ZrjRJB~~ {B}||!|!|%K@q zB靽cyI)-?I{  a<7/@yk<Z=i-7/@i1D9D9D9D9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743660ԙKnP"Ks9*K2K :K 5k6vLZTph[*M#S4=> jwksEm Ei Ei Em 4Ei Fy F} = 6G 'K==BDAT read: Rx Time:13:50:18.8310 =TRx dataTimestamp_ set to:1749131420.124136Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.997881~GAAN>+ , 'hA9z#@z1@YzQ/yzW=zH ֿ 4۱?n?aW? Q?@_?`? z#@z۔;)zC |B pIII3-< -.=y-@;Q 5>٥11 5H5FY}=: }>'5՜?'59. IBy+@w@I Ei ::'5.A DNOT Ignoring new targets: 53.03 m.==M ProNav: ac range: 53.028034 m, nav range: 50.815075 m, bearing: 151.450170 deg, approach rate: -0.615521 m/s, LOS rate: -0.029284 deg/s, cmd heading: 156.862548 deg, new cmd heading: 156.822447 deg. MǠHeadingCmd: 2.737068 target range: 53.028034 and range: 53.40 m.b,/@ZrjRJB~~}||||! @ }zB}OκIy)}b?yI+ =?_<,/@c<bj_=i,/@iԹEEEEP0E6GeV^=))=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251051~GA1AN> J4JC4J/:Jm ]BJm WJJm BRJi ZJm ]:bJm G9Jm -4Ji  H <H <pV ,{"'hAH>HHIHQ}BH =HH2DH<HEHHHH =I = IK59j˨#@j.1@YjE"yj_r=jHMֿ?@?@ݯ?@^G?!?@:? j˨#@j`};)jC |BnIDAT read: 13:50:18.8310 LVL= 23232, 26753, 17394, 32755, AGC= 65, IDX= 408, 0.30,-0.205,-1.574, 0.029,-0.621, PHS= 0.504,-0.907, 0.646, RAW= 154.8, -3.3, CAL= 158.5, -11.7, ROT= 351.5, 11.7 5Ygot valid direction response: 13:50:18.8310 LVL= 23232, 26753, 17394, 32755, AGC= 65, IDX= 408, 0.30,-0.205,-1.574, 0.029,-0.621, PHS= 0.504,-0.907, 0.646, RAW= 154.8, -3.3, CAL= 158.5, -11.7, ROT= 351.5, 11.7 E@DAT read: Bearing 351.5, 11.7 m^unknown deviceResponse_: Bearing 351.5, 11.7 }DAT read: Range 10 to 50 : 51.2 m (Round-trip 68.3 ms) speed 0.4 m/s },DAT read: user:1795> BDAT read: Tx time:13:50:19.9585 $Ping request sent.M? Ȇ¿ ɿڅLBYځ ۅZ)ۅhIۅCI2; &=y;Q >٥ H : >iۅۅAۅ%?ۅ'1hۅB`%? ܅,@)܅kI܅ 1@i܅Q܅P@܅Q> ݁)݁݅ϣMA@?=4?[ȇi݅H<?݅_l=݅݅Q> ށ)ށ:publishing transmit ping timeځFpublishing direction and range infoځyڅ>M? Ȇ¿ ɿځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅ϣMA@?=4?[ȇi݁݁݁݁ ށ)ށ %'5 J՜?%'59  I By-B?-:-=-@-w@ M Ei ; *; '5AE.AMӫEmPExceeded connect timeout, disconnecting.Zb9('hA_KB_KBi)@ʁǞH@ߦoU$>M? Ȇ¿ ɿQ>ҁhFvT7@N\"!1y@C?98nsƿzA;0jǜ?r YBǜ? XUBꁅHB7(@ addTargetRange:: Added new target pos. range: 51.200001 m, deltaT: 3.530055 s, deltaX: -2.200001 m, approachRate: -0.623220 m/s, rangeRepo size: 4  Added new target pos. range: 50.843735 m, bearing: 151.664229 deg, lat: 36.906381 deg, lon: -122.116028 deg, deltaT: 3.530055 s, deltaX: -2.184299 m, approachRate: -0.618772 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.84 m.-)e ProNav: ac range: 50.843735 m, nav range: 50.248356 m, bearing: 151.258950 deg, approach rate: 0.000000 m/s, LOS rate: -0.029284 deg/s, cmd heading: 156.822441 deg, new cmd heading: 156.776800 deg. aeHeadingCmd: 2.736271 target range: 50.843735 and range: 51.20 m.bm/@ZirijiRiJiBi~q~uzB}q|||I@|7? zB )I)\?I5%\ 99=\ ,E@'hAH95#@5t1@Y5 y50=5HEֿ@?@C?&D?)U?N?v? 5#@5Ó;)5C|BoIII 34; R=yr٥ HF >'5Xq՜?'59P IBy%6-@%w@Q Ei2;;c'515.A1B*** querying acoustic contact ***JR)5DNOT Ignoring new targets: 50.84 m.15X5Xm ProNav: ac range: 50.843735 m, nav range: 50.014069 m, bearing: 151.241080 deg, approach rate: -0.617774 m/s, LOS rate: -0.047338 deg/s, cmd heading: 156.776802 deg, new cmd heading: 156.722943 deg. mmHeadingCmd: 2.735331 target range: 50.843735 and range: 51.20 m.bu/@ZqrqjyRyJB~~}||||(?ԹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 5zB]*;IY)]?YI] aaevZ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724373Q8 ,Z'hA|M|BMwIi]=I]٥qq uH}F} >'5[՜?'59. IBy?:$-@w@V EiG;@;_'5h.A֫E!H->H-CH-IH-[}BH)H)H)H-<H-/EEDNOT Ignoring new targets: 50.84 m.AMaMa] ProNav: ac range: 50.843735 m, nav range: 49.733315 m, bearing: 151.219800 deg, approach rate: -0.647609 m/s, LOS rate: -0.049363 deg/s, cmd heading: 156.722939 deg, new cmd heading: 156.658738 deg. HeadingCmd: 2.734211 target range: 50.843735 and range: 51.20 m.bO.@ZrjRJ B ~ ~ zB}||||5G`? zB`:I)?IL X<O.@۽<j=iO.@i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976016QEuEqEyEyEy nManaging dock network, ignoring radio surface power offԉ 6G Cf=~G A A N > ,7t'hA9>#@>a1@Y>y>=>H@ֿ@?@? J? ? .?`P? >#@>O;)>CJ|BJlIIRIR#3ZZ Zx=y^:q s ,y'hA9B#@BK1@YByB^=BHj,ֿ<٩??$@0?S?@ ?s? B#@B';)BCN|BRiIIV"IVq3^> bK=ybg;Q f>٥hh jHjFj, j>lr'5n~9՜?v'59n*} Ilytv-@vw@n] Ein):n:n'5xz.A|!%DNOT Ignoring new targets: 50.84 m.!-b-b= ProNav: ac range: 50.843735 m, nav range: 49.284214 m, bearing: 151.185586 deg, approach rate: -0.644964 m/s, LOS rate: -0.049528 deg/s, cmd heading: 156.612836 deg, new cmd heading: 156.555616 deg. =UHeadingCmd: 2.732411 target range: 50.843735 and range: 51.20 m.bU.@ZQrQjQRQJQYBY~a~a}a|a|i|i|mL? zB靝 ~;I)B?I iU<.@ Ծ<o=i.@iEEEE0Eԉ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732100Թ6G~GAAN>GQ GU ?A } ,e'hA .?.=2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981851|BoI)) )Ա Mb@Mb@Mb@    ) Y Mb? rh{Gzy #? C ף 3@ @) Q@I  y @)A ECI]I](*2UGAAAY< ,=  YAyByQ >٥ HF% >'5 ՜?'59y IByb#?:j.@w@b Ei;;'5  .AܫEDNOT Ignoring new targets: 50.84 m. ProNav: ac range: 50.843735 m, nav range: 48.967171 m, bearing: 151.153400 deg, approach rate: -0.576421 m/s, LOS rate: -0.058898 deg/s, cmd heading: 156.555613 deg, new cmd heading: 156.458428 deg. !HeadingCmd: 2.730715 target range: 50.843735 and range: 51.20 m.b.@ZrjRJIBI~~zB}||||!@ -zB-XSI))+?I lS<.@l<u=i.@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.233741EM EI EQ EU \0EQ K +P"K 9*K 2K :K 9J/5 z[xnPM)h-`j n+a:ss9 IQ IU R=:J] `BJ] VJJ] HRJY ZJ] :bJ] B9J] Ժ4JY e @e @e @e @6G 4q=a~GAAN5> ,mW'hABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.485521|B%_III?13\ 0=yQ >٥ H >'5i ՜?'59v IByw@f Ei:K:'51B.A߫EB*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 50.84 m.)=1=1M ProNav: ac range: 50.843735 m, nav range: 48.688580 m, bearing: 151.124769 deg, approach rate: -0.719807 m/s, LOS rate: -0.074397 deg/s, cmd heading: 156.458433 deg, new cmd heading: 156.372051 deg. M;LUHeadingCmd: 2.729207 target range: 50.843735 and range: 51.20 m.Qb]T.@ZYrYjYRYJYBY~a~a}a|a|i|i|m@ zB靝t;I)>Ie% ?R<T.@><n{=iT.@iEmEiEiEm0Eiԁ11=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737851Ա6Gi t=~G A AQ N > h ,M'hAHR>HRCHRIHR=}BHR =HPHR1DHRٚ<HRE9fʚ#@f-1@Yf yf=fH~BֿY_??x???? fʚ#@fab;)fCv|Bv]IMb@Mb@Mb@ )Y{Gz?:v~jty#?T@ @)$@I@yG@II t  G=yt٥ HF-- ->9E'5=Ԝ?E'59=1t I=ByE#?E:E0@Ew@=k Ei=:=j:='5QU /AQyDNOT Ignoring new targets: 50.84 m.ѺѺ ProNav: ac range: 50.843735 m, nav range: 48.426853 m, bearing: 151.087338 deg, approach rate: -0.635599 m/s, LOS rate: -0.091393 deg/s, cmd heading: 156.372045 deg, new cmd heading: 156.259144 deg. zHeadingCmd: 2.727237 target range: 50.843735 and range: 51.20 m.b .@ZrjRJIBI~Q~UzB}Q|Q|Y|Y|]q@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992177 zB4]I)>IKu P< .@<=i .@iE=E9EAEE0EA) 6Ge }z=e BDAT read: Rx Time:13:50:22.4283 m TRx dataTimestamp_ set to:1749131423.903720m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242967~G A A N >C ,('hA9>>#@>1@Y>Iʦy>y=>H # ֿ\פ??31X?ؔ??(? >>#@>ߒ;)>CR|BRUIIZKn`mP"Kn@9*Kl2Kn :Kn!MJ]ccU|E6O 1:9 E*^q!|QB!IE6 IZ<2%3 %Z=y%;Q ->٥)) -H-F51 5>9E'5=2Ԝ?E'59=q I=ByIM|0@Mw@=n Ei=:=t:='5QU5/A]EDNOT Ignoring new targets: 50.84 m.rѺrѺ ProNav: ac range: 50.843735 m, nav range: 48.190357 m, bearing: 151.053259 deg, approach rate: -0.632263 m/s, LOS rate: -0.091556 deg/s, cmd heading: 156.259142 deg, new cmd heading: 156.156403 deg. U{HeadingCmd: 2.725443 target range: 50.843735 and range: 51.20 m.bm.@ZrjRJB~~}||||` @ zB#@;I)f>I$ O<m.@ < =i m.@i IIQIU@A:Je_BJeWJJeJRJaZJe :bJeG9Je4JazJe+:ujJe0:uJe_:}rJe_:}EEEE`5Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4945676GI@=~G A9 Aa Nu >ԡ /) ,r(hA@=|B=]IIMIM2]< eG=yeQ m>٥qq uHq >'5yԜ?'599o IByw@s Ei"&;Q>;f'50B.AEDAT read: 13:50:22.4283 LVL= 22960, 24433, 18114, 30243, AGC= 66, IDX= 412, 0.28,-2.944, 1.939,-2.670, 2.962, PHS= 0.465,-0.976, 0.649, RAW= 155.9, -1.8, CAL= 159.1, -10.4, ROT= 350.9, 10.4 Ygot valid direction response: 13:50:22.4283 LVL= 22960, 24433, 18114, 30243, AGC= 66, IDX= 412, 0.28,-2.944, 1.939,-2.670, 2.962, PHS= 0.465,-0.976, 0.649, RAW= 155.9, -1.8, CAL= 159.1, -10.4, ROT= 350.9, 10.4 -PDAT read: Bearing 350.9, 10.4 (Local) 5~Local bearing/azimuth received: Bearing 350.9, 10.4 (Local) Ա DAT read: Range 10 to 50 : 49.2 m (Round-trip 65.6 ms) speed 0.7 m/s %,DAT read: user:1796> aeDNOT Ignoring new targets: 50.84 m.amBDAT read: Tx time:13:50:23.5085 u$Ping request sent.u#y$&? X$.@)Ig1@i9@9> )* ?u!?^u(3i` ?О=HeadingCmd: 2.723425 target range: 50.843735 and range: 51.20 m.bL.@Z r j R J B ~~}|||H@|`z4?"9> )-:publishing transmit ping timei-Fpublishing direction and range infoyD?ZBcÿlE@ǿY )Ii )Ii )* ?u!?^u(3i ) H%<H%< MzBMHBIQ)U{>QIUD QQUN<L.@Bv<2=iL.@iH >HHIH}BH =HHH<HEEUEQEQEU0EQ 6G q؃=~G A A N- >1 ,W1(hA9rě#@r'1@Yryr e=rH k`ֿ`]? ?[`b?@u??? rě#@rsݒ;)rC%}|B%GI]Mb@Mb@Mb@YYY Y)YY] r?٥ HFz: >'5pԜ?'59}l IBy#?:2@w@w Ei:;'5/A)Zibm(hAmmCBmmCBm6(@ʁm M;G@'fc:!mD?ZBcÿlE@ǿm"m9>ҁmSpDp\h7@ * m?u-g5)Z?+S\ƿzm Am'jm8{Ɯ?rm mZBimڂ  m[VBm_?Bm(@ addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.778005 s, deltaX: -2.000000 m, approachRate: -0.529380 m/s, rangeRepo size: 4  Added new target pos. range: 48.857254 m, bearing: 150.592937 deg, lat: 36.906381 deg, lon: -122.116023 deg, deltaT: 3.778005 s, deltaX: -1.986481 m, approachRate: -0.525801 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.86 m. ProNav: ac range: 48.857254 m, nav range: 47.843044 m, bearing: 150.495941 deg, approach rate: 0.000000 m/s, LOS rate: -0.077802 deg/s, cmd heading: 156.040740 deg, new cmd heading: 155.945582 deg. -HeadingCmd: 2.721764 target range: 48.857254 and range: 49.20 m.b-a1.@Z)r)j)R)J)B1~1~55zB}1|9|9|9|=? zB靕F9I)8>Itt FM<a1.@$<H=ia1.@iK=P"K=9*K92K= :K= ~/?8-j\5JOM7g#bEt\jz[ #1q^ g xYE}EyEyE}z5Ey:JBJVJJ>RJZJbJB9Jt4JzJ*:jJ/:JX:rJX:ԁ 6G ٘=~Gy A A N > ,(K(hA09Vx#@V>1@YVދyV?d=VHJHֿ R?U? ?Mq?`)?:? Vx#@VT;)Tf|BfOI)p p r=pIvIv(*3~= ~j=y[:;Q >٥  H F !ʻ  ?'5Ԝ?'59|j IBy!%2@%x@{ Ei;;'5-/B-W/A-EMB*** querying acoustic contact ***JIRIamDNOT Ignoring new targets: 48.86 m.iuBuB ProNav: ac range: 48.857254 m, nav range: 47.625183 m, bearing: 150.452651 deg, approach rate: -0.658107 m/s, LOS rate: -0.131367 deg/s, cmd heading: 155.945581 deg, new cmd heading: 155.815117 deg. PHeadingCmd: 2.719487 target range: 48.857254 and range: 49.20 m.b .@ZrjRJB~~}|||| cC? zB];IY)]>aIe2 iimLHM >HM CHM IHM }BHM  =HI HM 2DHM Ԛ<HM Ee ,e(hA\9:=#@:P1@Y:ky:`=:H׿by?`3?Cd:? p??? :=#@:ŗ;):Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.184992 |B SIMb@Mb@Mb@ )YMbX9?Q?Qy!?u<u@ @)IyII?13hW< "=ymZ;Q >٥ H %>)5(5-Ԝ?5(59-g I-By5!?5:52@=x@- Ei-;-/;-(5IM8/AMEq}DNOT Ignoring new targets: 48.86 m.y}T}T ProNav: ac range: 48.857254 m, nav range: 47.310211 m, bearing: 150.387230 deg, approach rate: -0.624413 m/s, LOS rate: -0.130555 deg/s, cmd heading: 155.815111 deg, new cmd heading: 155.617544 deg. 2HeadingCmd: 2.716038 target range: 48.857254 and range: 49.20 m.b-@ZrjRJB~~IzB}||||@y4? zBqI)>I@ 0L<-@y<6{=i-@iEEEE1E!A u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4371546G] =~G K >P"K }9*K 2K :K h Y\  B [ J7pfV .g'c%OFH9&4J J AA A N >; ,6(hA9>"@>H0@Y>Ry>%=>H`fp׿?`M?Q@K?B?!? ? >"@>;)>C FC)FjAɺDDDJ3CɻJQAiJIJFHINCiL NLP)LRLC RAAPTɼTVCVnAIT)TiT)ZsCIZbAXɽX Xɾ^&C\\i\\ibCbƒA)b# `I`ٯ`j|BjNIIrIr3v z=yzS;Q z ?٥|| ~H~Fێ  ?  (5 |Ԝ?(59 e I By2@x@  Ei : G: (5%U/A!IIBADNOT Ignoring new targets: 48.86 m.  = ProNav: ac range: 48.857254 m, nav range: 47.112473 m, bearing: 150.347073 deg, approach rate: -0.583308 m/s, LOS rate: -0.118956 deg/s, cmd heading: 155.617541 deg, new cmd heading: 155.496564 deg. EGUHeadingCmd: 2.713927 target range: 48.857254 and range: 49.20 m.bU-@ZqrqjqRqJyBy~y~y}||||? zB;;I)>IK wK<-@1< ڃ=i-@i EEEEP0E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6899496Gb=~G A A N >! =$& ,r™(hAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9416999J@"@J0@YJyJe=r=JH׿8˟? ?`t@?:?@?B? J? J@"@JĐ;)JC|B\III#3U6= U)=yUt;Q ]>٥Ya eHeFmW3 >(5cԜ?(59b IBy:2@x@ EioR;ZS; (5).A5EGyG}@AHyHyH}IH}}BH} =HyHyH}<H}Ia= 2J<={-@E, ,յ(hA$9B<"@BuO0@YBVyB%Z=BH`ؿ͛?p#?c_ڧ?@? ]U? ? B<"@B ;)@%|B%`I Mb@Mb@Mb@    ) Y \(\?~jt?~jtxy ? D< Ļ  @) Q@I  y I%I%35|~< 5K=y=;Q =>٥AA EHAEG M>Ie(5M~QԜ?e(59M` IIym?m:m1@mx@M EiMr;MG;M{ (5qu.Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.443902DNOT Ignoring new targets: 48.86 m.   ProNav: ac range: 48.857254 m, nav range: 46.570385 m, bearing: 150.241721 deg, approach rate: -0.648995 m/s, LOS rate: -0.123092 deg/s, cmd heading: 155.310688 deg, new cmd heading: 155.178636 deg. HeadingCmd: 2.708378 target range: 48.857254 and range: 49.20 m.bV-@ZrYjYRYJYBa~i~m^zB}i|q|qy|q|}@Pc@ zBܐ;I)>Iw CJJ<V-@<\z=iV-@iKU-P"KU@9*KQ2KU :KU&k=v&{$.S6C,}p*:J}4+%LEEEEEԡIIp=6G h= e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697235~G A A N >Q3 ,$(hAd9z"@z{0@Yzyz,2;=zH`ڗNؿ :?+Y?`ꃤ?w?d?O? z"@zNҐ;)x%|B%nII5I5Ez= E]=yU;Q U>٥YY ]H]Fe e>iu(5m?Ԝ?u(59m^ ImByqua1@}x@m EimD;m@;m(5.B.AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 48.86 m. ProNav: ac range: 48.857254 m, nav range: 46.347946 m, bearing: 150.200339 deg, approach rate: -0.603861 m/s, LOS rate: -0.112880 deg/s, cmd heading: 155.178633 deg, new cmd heading: 155.053892 deg. HeadingCmd: 2.706201 target range: 48.857254 and range: 49.20 m.be2-@ZrjRJB~~}|||| l1@ zB$;I)>I hI<e2-@<%Ɵv=i%e2-@i!EEEE_0E6Gv=BDAT read: Rx Time:13:50:25.9753 TRx dataTimestamp_ set to:1749131427.433026checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951689~GyAANf>9H} >H} CH} IH} }BH}  =Hy H} 1DH} Ӛ<H} E:J aBJ NJJ ARJ ZJ :bJ !9J 4J zJ ;jJ ;J T:rJ V:A T9 ,_(hA9:!@:#/@Y:{9~y:6&=:H(`̅ؿ㖓?K?}`g? *o?'?4? :!@:(2;):C^|B^wI%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.1998691Mb@Mb@Mb@ )YOn?y?@ @);@I@y@UcGI= I=̍2q mYqyuB< (=y w;Q ->٥99 EHQEFJ޻ >(5M(Ԝ?(59[ IBy?:/@x@ Ei:a:)(5?.AEDNOT Ignoring new targets: 48.86 m.%Ժ%Ժ= ProNav: ac range: 48.857254 m, nav range: 46.048145 m, bearing: 150.152940 deg, approach rate: -0.585087 m/s, LOS rate: -0.093105 deg/s, cmd heading: 155.053887 deg, new cmd heading: 154.910765 deg. emHeadingCmd: 2.703703 target range: 48.857254 and range: 49.20 m.bmx -@ZirijiRiJiBq~q~u[zB}q|y|y|y|c @ zB*;I1<)>Iw CI 5 BDAT read: Tx time:13:50:27.0586 = $Ping request sent.= ף"? ].@)5IΚ1@i+ @+> )??3{푿i/!?m<t +> ) :publishing transmit ping time9  Fpublishing direction and range infoyoо)?$_WAÿ8_XſY )Ii )Ii )??3{푿i )ԡ K P"K 59*K 2K :K 6fe@FAz"<KsV"2.!2BA&H,n@V.6G {=jG ?bG ?~Gq A A N >@ ,)hA9Z!@Z`/@YZyZ:]=ZHk'ؿ4k?,?'~B?@6@c?f?? Z!@ZE;)ZC-|B-I1IEIET3} > }q=y};Q ?٥ H  ?(5Ԝ?(59Y Iy/@x@ Ei)::(5-AZb/(hA9B9B&@ʁC,F@請b(roо)?$_WAÿ8_Xſt +>ҁ`gC77@yF\@hRƸh?4&ſzAljH:ǜ?r I S]BɒY%ǜ?  YBꁽ(6B^Q'@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.528911 s, deltaX: -2.400002 m, approachRate: -0.680097 m/s, rangeRepo size: 4  Added new target pos. range: 46.474163 m, bearing: 148.642032 deg, lat: 36.906385 deg, lon: -122.116022 deg, deltaT: 3.528911 s, deltaX: -2.383091 m, approachRate: -0.675305 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.47 m.E ProNav: ac range: 46.474163 m, nav range: 45.539135 m, bearing: 149.790716 deg, approach rate: 0.000000 m/s, LOS rate: -0.093105 deg/s, cmd heading: 154.910767 deg, new cmd heading: 154.815877 deg. AMHeadingCmd: 2.702047 target range: 46.474163 and range: 46.80 m.bMV,@ZQrQjQRYJYBY~a~}|||`ffG@|`д?JDAT read: TxSync time:13:50:27.0579 zB [N!G ,t)hAԡ H<H<H>HHIHG}BHHHH<HE|BI:J^BJRJJBRJZJ} :bJS29J-4JzJ_:jJd:J;:rJ<:only read 2 of 4 data items for bottom velocity. Device response is::BS, -15, +8,A aI@a aM@a aQ@a aE@a I.I3A< *=yQ >٥ HF >(5pԜ?(59V I+:y:x@ Eib:>P(5-Bp-AEDNOT Ignoring new targets: 46.47 m.//5 ProNav: ac range: 46.474163 m, nav range: 45.255375 m, bearing: 149.743589 deg, approach rate: -0.596844 m/s, LOS rate: -0.099747 deg/s, cmd heading: 154.815882 deg, new cmd heading: 154.673613 deg. 5鈻=HeadingCmd: 2.699564 target range: 46.474163 and range: 46.80 m.b=,@Z9r9jaRaJaBa~i~i}i|i|q|q|u? zB4M ,8)hA+}BIAI-I-M3U> Um=yYQ ]?٥aa mHmFi u?q}(5ukӜ?(59uT IuB :yi:x@u Eiu;uT?uL(5,ADNOT Ignoring new targets: 46.47 m. ProNav: ac range: 46.474163 m, nav range: 45.051048 m, bearing: 149.709282 deg, approach rate: -0.633856 m/s, LOS rate: -0.106908 deg/s, cmd heading: 154.673609 deg, new cmd heading: 154.570222 deg. HeadingCmd: 2.697759 target range: 46.474163 and range: 46.80 m.b,@ZrjRJB~~}||| | R? 5zB5MٟEaԡEEEE{0EFF= 6G x=ZG RG ~G A A N qT ,=T)hA9B@p @B.@YB&)yB[O=BH DI`ٿ??? ?$??@? B@p @B7;)BCV=}BVItI~"I~q3(=  D=y ;Q >٥! %H!%x0 %>)5(5-8Ӝ?=(59-Q I)=9y9==:=.@=x@- Ei-:-s?-=(5AMu,AMEeB*** querying acoustic contact ***JaRaq}DNOT Ignoring new targets: 46.47 m.y}Ǻ}Ǻ ProNav: ac range: 46.474163 m, nav range: 44.803677 m, bearing: 149.673105 deg, approach rate: -0.593632 m/s, LOS rate: -0.087295 deg/s, cmd heading: 154.570227 deg, new cmd heading: 154.461097 deg. oHeadingCmd: 2.695855 target range: 46.474163 and range: 46.80 m.b,@ZrjRJB~~}||||O? zB r׼ =F<,@Q<kB=i,@i>Eh%<A T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!EEEEo5EIH>HHIH}BH =HHH֚<HE:JUaBJUYJJUARJQZJU:bJU[O9JU4JQzJU;jJU;JU&n:rJU)n:6Gx}=~G9 AI AY Ne >q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750745Z ,n)hA9> @>,.@Y>uC:y>:b=>H7`nڿ p? ?+O ?@nH [?l? > @>ҍ;)٥ HFN >(5GӜ?(59N IBT:y?:'@x@ Ei::!(5,B ,AE!-DNOT Ignoring new targets: 46.47 m.)- ProNav: ac range: 46.474163 m, nav range: 44.557751 m, bearing: 149.671549 deg, approach rate: -0.578499 m/s, LOS rate: -0.003681 deg/s, cmd heading: 154.461094 deg, new cmd heading: 154.456400 deg. !HeadingCmd: 2.695773 target range: 46.474163 and range: 46.80 m.b,@ZrjRJ B ~~{B}||||@(? zB靭z$a ,ه)hA9bH@b-@YbD:yb e=bH,?ڿ?I?`!Y?H?@? bH@bk;)bCԱ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255143n}BI)! !I- I-(2UR= U3=y]K7Q e>٥a! %H%F-<ջ ->1=(55Ӝ?=(595J I5By9=L'@=x@5 Ei5:5:5%&(5IM+AIyDNOT Ignoring new targets: 46.47 m.YȷYȷ ProNav: ac range: 46.474163 m, nav range: 44.277760 m, bearing: 149.670895 deg, approach rate: -0.582249 m/s, LOS rate: -0.001368 deg/s, cmd heading: 154.456395 deg, new cmd heading: 154.454421 deg. jpHeadingCmd: 2.695738 target range: 46.474163 and range: 46.80 m.b,@ZrjRJB~~}||||@ zBH CH IH }BH  =H H H <H SEN >h ,Ǥ)hAP9nL@n-@Ynf{r:ynS=nH'@\ڿ[?@Yd? G8?lON _?? nL@n%Ӌ;)nCizYCx)x zFIx zYC)~hA|~`F||bAi(\IICi\A D )   ~A   pAI)i)CI!! !%@C%߃A!i!)ٯ)5}}B5IMb@Mb@Mb@ )Y-?I +{Gzt?y??9ף;@ )@IyG@II<2!= 9=y9Q >٥ H  ~  >(5Ӝ?(59wG Iy%?%:%A$@%x@ Ei{::)(5M+BMj+AUEDNOT Ignoring new targets: 46.47 m.X:X:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758988 ProNav: ac range: 46.474163 m, nav range: 44.032940 m, bearing: 149.685485 deg, approach rate: -0.577530 m/s, LOS rate: 0.034609 deg/s, cmd heading: 154.454414 deg, new cmd heading: 154.498428 deg. :%HeadingCmd: 2.696506 target range: 46.474163 and range: 46.80 m.bE,@ZArAjARIJIBI~I~Ms{B}Q|Q|Q|Q|];@@ zBwn ,c)hA9>6@>-@Y>5:y>>=>H n!fvڿఽ?}?@@ ԥ?&P࿧?-? >6@>:;)>C~}BIII3X ; c=yI09Q >٥ HF >(5{Ӝ?(59fD Iy&$@x@ Ei; ;,(5g+ADNOT Ignoring new targets: 46.47 m.-:-:- ProNav: ac range: 46.474163 m, nav range: 43.819710 m, bearing: 149.698785 deg, approach rate: -0.605011 m/s, LOS rate: 0.037923 deg/s, cmd heading: 154.498428 deg, new cmd heading: 154.538525 deg. -5:=HeadingCmd: 2.697206 target range: 46.474163 and range: 46.80 m.b=,@ZArAjARAJIBI~I~I}I|Q||| @K+P"K@9*K2K :Kp"$W, !)?E"OC^ 7drT51V-W EzBEjEe >:J_BJVJJ?RJZJ :bJB9Jـ4J@@@@)EE E E P0EF%=F%=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265038Y6G#=~G A) AI Nu >ԉ u ,})hAY]}B]Iie=Ie=ImIm2c= I=yQ >٥ HF >(5Ӝ?(59@ Iyx@ Ei::|0(5+AEB*** querying acoustic contact ***JR)-DNOT Ignoring new targets: 46.47 m.)50*:=0*:E ProNav: ac range: 46.474163 m, nav range: 43.580517 m, bearing: 149.713861 deg, approach rate: -0.586971 m/s, LOS rate: 0.037197 deg/s, cmd heading: 154.538521 deg, new cmd heading: 154.583996 deg. M9:UHeadingCmd: 2.698000 target range: 46.474163 and range: 46.80 m.bU,@ZQrQjQRQJQBY~Y~Y}Y|a|a|a|e3 @DAT read: 13:50:29.5224 LVL= 19936, 23185, 14658, 26707, AGC= 63, IDX= 415,-0.27, 2.640, 1.235, 2.877, 2.265, PHS= 0.463,-0.984, 0.609, RAW= 154.7, -1.2, CAL= 157.8, -9.8, ROT= 352.2, 9.8 Ygot valid direction response: 13:50:29.5224 LVL= 19936, 23185, 14658, 26707, AGC= 63, IDX= 415,-0.27, 2.640, 1.235, 2.877, 2.265, PHS= 0.463,-0.984, 0.609, RAW= 154.7, -1.2, CAL= 157.8, -9.8, ROT= 352.2, 9.8 PDAT read: Bearing 352.2, 9.8 (Local) ~Local bearing/azimuth received: Bearing 352.2, 9.8 (Local) DAT read: Range 10 to 50 : 44.7 m (Round-trip 59.6 ms) speed 0.5 m/s ,DAT read: user:1798> BDAT read: Tx time:13:50:30.6086 $Ping request sent.um{um? u3,@)uIuC0@iu%/u@u%/> q)quwI? =?U6┿iuI?u q)q :publishing transmit ping time Fpublishing direction and range infoqyuV5,=?[9rlſqYq q)qIqiqqqqq q)qIqiqqq q)quwI? =?U6┿iqqqq q)q UzBULHH'IH}BH =HH0DH<HFEHśCHHH =I = I5ԹE9E9E9E=O0E9 % =% <- JDAT read: TxSync time:13:50:30.6079 6G] =~G1 A9 AY Ne >߆| ,)hATE}BMIMMb@Mb@Mb@III I)IYM5^I ?)\(٥ H %>!-(5%tӜ?5(59%< I%By5?5:5"@5x@% Ei%:%;%4(5AE9+AAZbН)hA1B1B[%@ʁSE@zyNB Q{8V5,=?[9rlſg %/>ҁBE7@u4/ 'k?Jjv:ƿzAjCc;ǜ?rjR ^B ZBꁝ*-B5D'@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 3.527321 s, deltaX: -2.099998 m, approachRate: -0.595352 m/s, rangeRepo size: 4 5 Added new target pos. range: 44.387409 m, bearing: 148.213504 deg, lat: 36.906385 deg, lon: -122.116022 deg, deltaT: 3.527321 s, deltaX: -2.086754 m, approachRate: -0.591597 m/s, posRepo size: 4 9=DNOT Ignoring new targets: 44.39 m.9EA ProNav: ac range: 44.387409 m, nav range: 43.291264 m, bearing: 149.744694 deg, approach rate: 0.000000 m/s, LOS rate: 0.037197 deg/s, cmd heading: 154.583997 deg, new cmd heading: 154.638917 deg. HeadingCmd: 2.698958 target range: 44.387409 and range: 44.70 m.b,@ZrjRJB~~t{B}|||YF@|Z? MzBM ,9*hA96@6 -@Y61&8y6ߙ =6H@ڿ@5? ?``ǰ? &$?^r? >? 6@6Њ;)6CN}BNIIbIb3v̼ vc=y~oOQ ~>٥   HF1 %>1(55eӜ?(595O9 I5By "@x@5 Ei5n<5C<57(5[+AEDNOT Ignoring new targets: 44.39 m.  ǔ: ǔ: ProNav: ac range: 44.387409 m, nav range: 43.074883 m, bearing: 149.768241 deg, approach rate: -0.594648 m/s, LOS rate: 0.065036 deg/s, cmd heading: 154.638912 deg, new cmd heading: 154.709908 deg. 2;%HeadingCmd: 2.700197 target range: 44.387409 and range: 44.70 m.b%,@Z)r)j)R)J)B)~1~1}1|1|9|9|=0R? uzBuu<,@m<j=i,@izEԡEE!E!E%^0E!F)F)6G%k[=~G A9 A N >  H! H% 4<H= >H= CH= 3IH= }BH9 H9 H9 H= <H= ?E]݉ ,$`)*hA9By@B-@YByBq"=BHj%eڿ`7?`yk? b?@0@?L?? By@B2{;)BC^o}BbIlUMb@Mb@Mb@QQQ Q)QYUCl?B`"۹ rhyUd?UνUCU@ U@)Uh@IU$@QyU@ImImT3} }B=yNQ >٥ HF; >(5SӜ?(595 IBy?:Z#@x@ Eiu;Us;r;(5+A) u9GA YAy B 5DNOT Ignoring new targets: 44.39 m.1=i]:=i]:u ProNav: ac range: 44.387409 m, nav range: 42.820396 m, bearing: 149.789232 deg, approach rate: -0.583225 m/s, LOS rate: 0.048393 deg/s, cmd heading: 154.709905 deg, new cmd heading: 154.773252 deg. u;}HeadingCmd: 2.701303 target range: 44.387409 and range: 44.70 m.b}%,@ZyryjyRyJyBy~~<{B}||||@?  -zB-ǐ ,EC*hA9R@R-@YRݔ9yR>=RH. >ڿM?@"E?% ˥?2֧?? R@R;)RC^q}B^IIfIf<2nȦ; nU=yn[;Q r>٥pp rHpvE; v>x~(5zCӜ?~(59z#2 IzBy#@ x@z Eizgk;zu;z>(5*B+AE1IMDNOT Ignoring new targets: 44.39 m.IUx:Ux:e ProNav: ac range: 44.387409 m, nav range: 42.584751 m, bearing: 149.808002 deg, approach rate: -0.678993 m/s, LOS rate: 0.054383 deg/s, cmd heading: 154.773248 deg, new cmd heading: 154.829869 deg. eJ;mHeadingCmd: 2.702291 target range: 44.387409 and range: 44.70 m.bmV,@ZirqjqRqJqBq~y~y}y|y|||G7?KP"K9*K2K :KuO]3 nPg9;7 0,n a ' zBԹ ,]*hA9>- @>h@.@Y>:y>X-[=>H; rڿ?s?0i?0_Ob?B? >- @>ˆ;)٥`d fHfFf\&< f>hn(5j1Ӝ?n(59j. IjBypr#@rx@j Eij;j/;jJB(5|~+AEԙB*** querying acoustic contact ***JRDNOT Ignoring new targets: 44.39 m. E: E:M ProNav: ac range: 44.387409 m, nav range: 42.339306 m, bearing: 149.826345 deg, approach rate: -0.574797 m/s, LOS rate: 0.043205 deg/s, cmd heading: 154.829870 deg, new cmd heading: 154.885217 deg. M5:}HeadingCmd: 2.703257 target range: 44.387409 and range: 44.70 m.b*-@ZrjRJB~~}||||@H>HH'IH}BH =HHH<HE zB靍 v/ ,Mw*hA9J߂ @JA.@YJXA;yJw=JHLٿ`"??>?!h 9?? J߂ @J&;)JC^@}B^Iib=Ibp٥ HE< >(5kӜ?(59* IByw?:@&@x@ Ei\;[;F(5)BK,AEDNOT Ignoring new targets: 44.39 m.>9>9 ProNav: ac range: 44.387409 m, nav range: 42.070919 m, bearing: 149.832662 deg, approach rate: -0.660825 m/s, LOS rate: 0.015654 deg/s, cmd heading: 154.885222 deg, new cmd heading: 154.904295 deg. +:HeadingCmd: 2.703590 target range: 44.387409 and range: 44.70 m.b-@ZrjRJB~~zB}||||`@ zB靅U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758378a  ,9 *hA9:b @:.@Y:m;y:[=:H`Tٿ@?^?@JO? vq@3?`? :b @:;):Cf%}BfIIzIz3%G -Q=y5[;Q 5>٥9A EHEFMY|< U>a(5e Ӝ?(59e' Ie}By&@x@e EieL;e ;eI(5,A EDNOT Ignoring new targets: 44.39 m.(9(9 ProNav: ac range: 44.387409 m, nav range: 41.826115 m, bearing: 149.836359 deg, approach rate: -0.607390 m/s, LOS rate: 0.009227 deg/s, cmd heading: 154.904292 deg, new cmd heading: 154.915448 deg.  91HeadingCmd: 2.703785 target range: 44.387409 and range: 44.70 m.b -@ZrjRJB~~}||||@1@ =zB=H CH IH }BH  =H H 1DH <H (E~G A) AA NU >Թ : ,2*hA9:I!@:\/@Y:%;y:a=:H Gtvؿ? a?`q^?w ?`~? :I!@:;)8J}BJI%Mb@Mb@Mb@!!! !)!Y%Zd;O?+S㥛y%j?%%/ݼ! !)%@I!!y%@I=I=#3M^ MH=yMw;Q M>٥QQ UHUFbk< >(5PҜ?(59$ IvBy?:+@x@ Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262475iI;<6M(5-(B- -A)ԑDNOT Ignoring new targets: 44.39 m.vv ProNav: ac range: 44.387409 m, nav range: 41.569702 m, bearing: 149.813506 deg, approach rate: -0.600779 m/s, LOS rate: -0.053877 deg/s, cmd heading: 154.915452 deg, new cmd heading: 154.846469 deg. HeadingCmd: 2.702581 target range: 44.387409 and range: 44.70 m.b,@ZrjRJB~~ zB}||||w @ mzBB = BDAT read: Tx time:13:50:34.1586 = $Ping request sent.= i g A &> 33 R? ) I '0@6G O=jG ?bG >i ) @ )> ) wzN?c6?=?Ri +? ;r< )> )  :publishing transmit ping time9  Fpublishing direction and range info y 7xF?)֬AG ſ Y ) I i ) I i ) wzN?c6?=?Ri ) ~GY Ai Ay N > " ,*hA=|B=I)A AIMIM 3w E=yQ >٥ H >(5Ҝ?(59! IoByx@K\QP"K}9*K2K  Ei\<:KUSvP/<\s&6nA/h4sdK'\ 0drTe,b<P(5e'Be{-Am EZbe*hA6)B6)B'@ʁ!eD@ ;}\ʜ7xF?)֬AG ſ )>ҁg3B14@l{2gvHAACub0gw?5(5 ǿzfA)j ǜ?r\ z^B ǜ?\  S]Br&B'@ addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 3.527813 s, deltaX: -2.100002 m, approachRate: -0.595270 m/s, rangeRepo size: 4  Added new target pos. range: 42.303211 m, bearing: 150.009725 deg, lat: 36.906382 deg, lon: -122.116022 deg, deltaT: 3.527813 s, deltaX: -2.084198 m, approachRate: -0.590790 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.30 m. ProNav: ac range: 42.303211 m, nav range: 41.612083 m, bearing: 150.009601 deg, approach rate: 0.000000 m/s, LOS rate: -0.053877 deg/s, cmd heading: 154.846467 deg, new cmd heading: 154.777092 deg.  HeadingCmd: 2.701370 target range: 42.303211 and range: 42.60 m.b >,@Z rjRJB!~I~I}I|I|I|ULE@|U ? zB eIQ b8<>,@>< pf=i >,@i EJDAT read: TxSync time:13:50:34.1579 !EEEE5E6GI lM ,*hA@@9Fl!@F0@YFV ٥II UHUF]<< ]>au(5eҜ?u(59e IehBy@,@x@e Eie ;ev;e$T(5-AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 42.30 m.  ProNav: ac range: 42.303211 m, nav range: 41.372585 m, bearing: 149.985251 deg, approach rate: -0.674172 m/s, LOS rate: -0.068939 deg/s, cmd heading: 154.777086 deg, new cmd heading: 154.703615 deg.  ?=HeadingCmd: 2.700088 target range: 42.303211 and range: 42.60 m.b<,@ZrjRJB~!~!}!|!|)|)|- ? zBI% !!%8<-<,@HU>HQHUIHUp}BHU =HQHU2DHU<HUZEԑ<g=i<,@i:JbBJ`JJCRJZJ:bJbl9J4JzJG ;jJJ ;J':5rJ(:5ԙEEEEO0E5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. 6G >d=~G A A N >Mv ,v*hA9>*R"@>e0@Y>v R=>H֦ ׿@??E(?@Ž?? >*R"@>g ;)٥ HFK< >(5Ҝ?(59q IbBy?:P0@x@ EiP; ;W(59.AE  DNOT Ignoring new targets: 42.30 m. 5 ProNav: ac range: 42.303211 m, nav range: 41.120594 m, bearing: 149.936771 deg, approach rate: -0.617127 m/s, LOS rate: -0.119455 deg/s, cmd heading: 154.703621 deg, new cmd heading: 154.557290 deg. 5=HeadingCmd: 2.697534 target range: 42.303211 and range: 42.60 m.b=d,@Z9r9j9RAJABA~A~EnzB}I|I|I|I|Uf? zB靅 ^I 7<d,@ʏ<=id,@izE1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993826EEEEP0EF=Fa=6Gez=~G9AIAYNeV>K)P"K*K2K :KRHx  $<1J{<":T;2-Z/heB! E >E p=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2459084c ,g+hA9R""@R0@YR٥tt vHtv*6< v>x|(5~Ҝ?(59~( I~\By  0@ x@~ Ei~:~:~[(5]&Be].AeE!%DNOT Ignoring new targets: 42.30 m.)MM] ProNav: ac range: 42.303211 m, nav range: 40.890823 m, bearing: 149.890644 deg, approach rate: -0.562217 m/s, LOS rate: -0.113502 deg/s, cmd heading: 154.557291 deg, new cmd heading: 154.418131 deg. ]ʛeHeadingCmd: 2.695105 target range: 42.303211 and range: 42.60 m.be|,@ZrjRJB~~}||||?? zB  I  Ҿ7<|,@Aw<ՠ=i|,@i!EEEE_0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498234I6G"= HQ HU <Hm >Hm CHm IHm )}BHi Hi Hi Hm <Hm EH)H)H-ɔCH- =I- =~G A1 ԁ  I-i6AQ :J BJ XJJ hRJ ZJ bJ 5K9J ~D5J zJ jJ I ;J f:rJ f:N > ,.,+hA|BcIYMb@Mb@Mb@ )Yrh|??y&1y?<`eI@ Z@)~@I@y@IIV83c ;=yQ >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749709٥   H F   >(5ZҜ?%(59 IXBy%?%:%l3@%x@ Eij::^(5)-.A1DNOT Ignoring new targets: 42.30 m.::U ProNav: ac range: 42.303211 m, nav range: 40.628098 m, bearing: 149.820378 deg, approach rate: -0.605782 m/s, LOS rate: -0.163063 deg/s, cmd heading: 154.418133 deg, new cmd heading: 154.205974 deg. U߻]HeadingCmd: 2.691402 target range: 42.303211 and range: 42.60 m.b]?,@ZYrYjaRaJiB~~}||||1?ԉ zB靭,I_ 7<?,@I<C=i?,@iE]EYEYEYEa6GUƠ=Ա~G1A9AIN]> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001671 mp ,J F+hA9>o"@>Ѩ0@Y>AJ=>H`׿F̗?M?@)K? Hշ?`? >o"@>/;)>CJ|BJYIIPIPZ8 Za=yb;Q b>٥`` bHbFf啹 f>hn(5jˇҜ?n(59j IjUBypri3@rx@j Eijn;jH;jb(5tv.AvEDNOT Ignoring new targets: 42.30 m.ԹaGaG ProNav: ac range: 42.303211 m, nav range: 40.411129 m, bearing: 149.761707 deg, approach rate: -0.641166 m/s, LOS rate: -0.174312 deg/s, cmd heading: 154.205973 deg, new cmd heading: 154.029014 deg. B%HeadingCmd: 2.688313 target range: 42.303211 and range: 42.60 m.b%T ,@Z!r!j!R!J)B)~)~)}1|1|1|9|Ej@ uzB} XyI}Q  7<T ,@G<-q=iT ,@iK[P"K59*K2K :K!#EV9 T$.<L3W/:W#Uo'{>ZxeEjbEAZEAEEEE0EFFA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253758!6G~G A A N >9 ,_+hA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5064009VZx"@V0@YVG^٥!! -H)5 5>AM(5EsҜ?M(59E IEQByQUJ3@Ux@E EiEsQ;ER;Ee(5im.AieB*** querying acoustic contact ***JaRaiuDNOT Ignoring new targets: 42.30 m.q}.}. ProNav: ac range: 42.303211 m, nav range: 40.160877 m, bearing: 149.693923 deg, approach rate: -0.558523 m/s, LOS rate: -0.152225 deg/s, cmd heading: 154.029017 deg, new cmd heading: 153.824400 deg. лHeadingCmd: 2.684742 target range: 42.303211 and range: 42.60 m.b+@ZrjRJB~~}||||`@H=>H9H=IH=|BH9H9H9H=ɚ<H=E }zB}9#I8m 7<+@V<V =i+@i:JaBJeJJBRJZJ:bJ9J-4JzJ;jJ;J:rJ:IEEEE0EE҉GeAy YAyB ><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758226q6G% O=~G! A) A9 NU >ԙ Q ,@y+hA9JK"@JC_0@YJ|\٥qq uHuF}ֻ }>(5s_Ҝ?(59 INBy?:-5@x@ Ei;d;[i(5.AEDNOT Ignoring new targets: 42.30 m.q}i}i ProNav: ac range: 42.303211 m, nav range: 39.916290 m, bearing: 149.616051 deg, approach rate: -0.637353 m/s, LOS rate: -0.204165 deg/s, cmd heading: 153.824398 deg, new cmd heading: 153.589352 deg.  HeadingCmd: 2.680640 target range: 42.303211 and range: 42.60 m.b+@ZrjRJB~~zB}|||!|%@uBDAT read: Rx Time:13:50:36.6169 }TRx dataTimestamp_ set to:1749131438.015457}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010855 zB靥"I 8<+@o<=i+@iԡEEEE0EKaP"K*K2K :K^ "Q K*__4 =T) R <`m6G 뜮=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263420~G A A N >n ,Ʀ+hA9:Y"@:*0@Y:=\٥ %H%F% %>)5(5-hLҜ?5(59- I-LBy9=4@=x@- Ei-M;-;-l(5E$BE.AEEimDNOT Ignoring new targets: 42.30 m.quXuX ProNav: ac range: 42.303211 m, nav range: 39.684273 m, bearing: 149.542410 deg, approach rate: -0.591851 m/s, LOS rate: -0.188948 deg/s, cmd heading: 153.589357 deg, new cmd heading: 153.367144 deg. HeadingCmd: 2.676762 target range: 42.303211 and range: 42.60 m.bP+@ZrjRJB~~}||||@ @ !M_YIe? U8<P+@W<"۱=iP+@irEN>jE>E}EyEyE5EF=F=yyDAT read: 13:50:36.6169 LVL= 22592, 28657, 15458, 32755, AGC= 65, IDX= 407,-0.29, 2.113, 0.798, 2.416, 1.823, PHS= 0.378,-0.978, 0.591, RAW= 157.2, 0.1, CAL= 159.6, -8.6, ROT= 350.4, 8.6 Ygot valid direction response: 13:50:36.6169 LVL= 22592, 28657, 15458, 32755, AGC= 65, IDX= 407,-0.29, 2.113, 0.798, 2.416, 1.823, PHS= 0.378,-0.978, 0.591, RAW= 157.2, 0.1, CAL= 159.6, -8.6, ROT= 350.4, 8.6 PDAT read: Bearing 350.4, 8.6 (Local) ~Local bearing/azimuth received: Bearing 350.4, 8.6 (Local) DAT read: Range 10 to 50 : 40.5 m (Round-trip 54.1 ms) speed 0.6 m/s  ,DAT read: user:1800> BDAT read: Tx time:13:50:37.7086 $Ping request sent.ſS&r#ÿڅ"BYځ ۅ@X)ۅoIۅb<iۅہۅ7>ۅ5^zۅK? ܅/@)܅:I܅aF2@i܅`܅E@܅`> ݁)݁݅sî"~?4;˂W?|ާa?i݅!)&?݅lw ݅+݅`> ށ)ށ:publishing transmit ping timeFpublishing direction and range infoځyڅwv2?ļ>ſS&r#ÿ1 H= >H9 H= IH= |BH=  =H9 H9 H= <H= E6G- =ځYځ ہ)ہIہiہہہہہ:J cBJ cJJ @RJ ZJ :bJ x9J J4~G! J zJ ;jJ ;J :Ai rJ :A ܁)܁I܁i܁܁܁ ݁)݁݅sî"~?4;˂W?|ާa?i݁݁݁݁ ށ)ށQ N] > ,+hAJDAT read: TxSync time:13:50:37.7079 |B\Ii=I=!uMb@Mb@Mb@qqq q)qYuGz?Mb?Mb`?yup?u=u;u@ u@)qIqqyu@IIV83z< =yQ >٥ H >(50Ҝ?(59 IKBy?:w3@x@ Ei': :q(5 .AZbgG+hA B B_0&@ʁtLpnԚC@:ltwv2?ļ>ſS&r#ÿ+Q`>ҁ@mZl4@f)"Y\;3Y9T?5fbƿz3Auj67 ǜ?rq }`B67 ǜ?q  ^BꁭeBV0&@u addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 3.529413 s, deltaX: -2.099998 m, approachRate: -0.594999 m/s, rangeRepo size: 4  Added new target pos. range: 40.218700 m, bearing: 148.780084 deg, lat: 36.906382 deg, lon: -122.116016 deg, deltaT: 3.529413 s, deltaX: -2.084511 m, approachRate: -0.590611 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.22 m. ProNav: ac range: 40.218700 m, nav range: 39.598957 m, bearing: 148.779962 deg, approach rate: 0.000000 m/s, LOS rate: -0.188948 deg/s, cmd heading: 153.367144 deg, new cmd heading: 153.044780 deg. HeadingCmd: 2.671135 target range: 40.218700 and range: 40.50 m.b*@ZrjRJB~~zB}|||@D@| ? zB  Iy yd8<*@ܺ<F=i*@iEEEEd1Eԁ ԩ 6G w=~G A A N >r ,C+hAIIK$P"Kŷ9*K2K :Ky;@WN U!j];,:\rTsqN)H \b =!|BfIIIl= D=yQ >٥  H F  >%(5QҜ?%(59l IJBy!!%x@ Ei::]u(5)5c.A5EaiuDNOT Ignoring new targets: 40.22 m.quVuV ProNav: ac range: 40.218700 m, nav range: 39.345764 m, bearing: 148.702334 deg, approach rate: -0.609120 m/s, LOS rate: -0.187956 deg/s, cmd heading: 153.044773 deg, new cmd heading: 152.810391 deg. HeadingCmd: 2.667044 target range: 40.218700 and range: 40.50 m.b۰*@ZrjRJB~~}|||| O? E_I a8< ۰*@ < ,=i ۰*@iEEEE5EԁԱ 6G ^=~G A A N >% ,z+hA9JO @J /@YJ!HTHVIHV|BHV =HTHTHV<HVEJHd.Jٿ_?'L?@9XB?$D#?? JO @J;)H zC)zlAɺxxxxɻ|i|I||ICi ) CA  ɼ  C I ) i)IfAɽ ɾii%C!)%94 !I!ٯ!5|B5zIIEIEM3u= u=y}jQ } ?٥y HF1c ?(5 Ҝ?(59 Iy]2@x@ EiB;;x(5-A EB*** querying acoustic contact ***:J_BJ[JJDRJZJ :bJW9J4JzJ):jJ.:Jz|:rJ}|:JRDNOT Ignoring new targets: 40.22 m.c(c( ProNav: ac range: 40.218700 m, nav range: 39.156315 m, bearing: 148.648555 deg, approach rate: -0.516108 m/s, LOS rate: -0.147215 deg/s, cmd heading: 152.810388 deg, new cmd heading: 152.648273 deg. ʻ5HeadingCmd: 2.664215 target range: 40.218700 and range: 40.50 m.b5*@Z1r1j1R1J9B9~9~9}A|A|A|A|m[[? rgI?y z7<*@%<Ĕ=i*@izE!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EEEE15EFF}AQ6G F=ԙ ~G A A N >j ,Na+hA9> @>E.@Y>S=>H!U`ٿ1?`0? I`M?@+]`x?? > @>;)>CEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.459145|BI) Mb@Mb@Mb@ )Y/$?~jt?Mb?y?D<<@ @)Q@I@y @I-I- 3=< E@=yE8Q E>٥II MHIM5 M>Ym(5]ќ?u(5Ա9] IYy?:/@x@] Ei]<]<]{(5-AAUDNOT Ignoring new targets: 40.22 m.QU.U.u ProNav: ac range: 40.218700 m, nav range: 38.898380 m, bearing: 148.589194 deg, approach rate: -0.656966 m/s, LOS rate: -0.152196 deg/s, cmd heading: 152.648267 deg, new cmd heading: 152.469003 deg. }л}HeadingCmd: 2.661086 target range: 40.218700 and range: 40.50 m.b1I5s 115y7<=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7113111 Y  ,^,hA9~Z> @~Q.@Y~ =~H`>ٿ@N? Y?`5?`-Ⴟಾ?@? ~Z> @~;)~C|BIIIM3k= L=y$:Q >٥ HF %>)=(5-ќ?=(59- I-KByAE/@Ex@- Ei-L;-M;-T(5M#BMJ-AU#Ey}DNOT Ignoring new targets: 40.22 m.y## ProNav: ac range: 40.218700 m, nav range: 38.656040 m, bearing: 148.535144 deg, approach rate: -0.637787 m/s, LOS rate: -0.143139 deg/s, cmd heading: 152.469001 deg, new cmd heading: 152.305836 deg. xĻHeadingCmd: 2.658238 target range: 40.218700 and range: 40.50 m.b *@ZrjRJB~~}||||w? 0Im 6HCHIH)}BH =HHH<HEEEEEEy 6G = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216692~G) AI Aa N} >hK ,.3,hA9b,@b-@Yb6n٥ HFp >(5ќ?(59 Iy?:+@x@ Ei;:Ƃ(5,ADNOT Ignoring new targets: 40.22 m.ࢺࢺ ProNav: ac range: 40.218700 m, nav range: 38.415195 m, bearing: 148.506028 deg, approach rate: -0.585262 m/s, LOS rate: -0.071198 deg/s, cmd heading: 152.305842 deg, new cmd heading: 152.217944 deg. sCHeadingCmd: 2.656704 target range: 40.218700 and range: 40.50 m.br*@ZrjRJB~~zB}|||| @Q ]zB]68:Ji BJm UJJm KRJi ZJi bJm >9Jm (4Ji u @u @u @u @& ,5M,hA9>K@>-@Y> =>HvFڿHx?T?`ZXݡ?`@?? >K@>;)>CLR}BRIiV=IV4<IZIZ2b=< f[=yf'Q f>٥hh jHhj.i j>tz(5vYќ?z(59v IvLByx~*@~x@K~PP"K~@9*K|2K~ :K~;&c@64E_PFf2'3 SDt'EoSN6W#pv Eiv  HeadingCmd: 2.655327 target range: 40.218700 and range: 40.50 m.b )@Z r j R JB~~}||||%W @ IM,! Q Q m BDAT read: Rx Time:13:50:40.1637 u TRx dataTimestamp_ set to:1749131441.547644u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976692SP ,g,hAH&>H$H&IH&[}BH$H$H$H&<H&EH CH CH CH  =I  = I k59N8@NfK-@YNV٥ HF6 >(5Eќ?(59 Iyq*@x@ Ei ::މ(5 "B J,A )EB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 40.22 m.!e'e' ProNav: ac range: 40.218700 m, nav range: 37.918995 m, bearing: 148.450810 deg, approach rate: -0.604369 m/s, LOS rate: -0.066074 deg/s, cmd heading: 152.139008 deg, new cmd heading: 152.051206 deg. b51MHeadingCmd: 2.653794 target range: 40.218700 and range: 40.50 m.bU)@ZQrQjQRYJYBY~Y~Y}a|a||| @ )-r= ,,hA-DAT read: 13:50:40.1637 LVL= 20384, 26481, 16450, 27315, AGC= 62, IDX= 406,-0.01, 0.450,-0.901, 0.666, 0.090, PHS= 0.448,-0.945, 0.573, RAW= 154.3, -1.0, CAL= 157.4, -9.7, ROT= 352.6, 9.7 5Ygot valid direction response: 13:50:40.1637 LVL= 20384, 26481, 16450, 27315, AGC= 62, IDX= 406,-0.01, 0.450,-0.901, 0.666, 0.090, PHS= 0.448,-0.945, 0.573, RAW= 154.3, -1.0, CAL= 157.4, -9.7, ROT= 352.6, 9.7 =PDAT read: Bearing 352.6, 9.7 (Local) E~Local bearing/azimuth received: Bearing 352.6, 9.7 (Local) MDAT read: Range 10 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.6 m/s Q],DAT read: user:1801> ]BDAT read: Tx time:13:50:41.2586 ]$Ping request sent.ezB`>zqz!? zZ,@)z5IzF/@iz-\-z@z-\-> x)xzTQfq?-c#?&Z$LNْiz ?z̖ x)x:publishing transmit ping timeYFpublishing direction and range infoxyzG?Ȩ@RVſxYx x)xIxixxxxx x)xIxixxx x)xzTQfq?-c#?&Z$LNْixxxx x)x6}BI]Mb@Mb@Mb@YYY Y)YY]K?i|?5y&1|?y]^?]q]`;]@ ];@)]@I];@Yy]@I5I5(*3= < e5=yeQ e>٥ii mHmFu u>y(5}<ќ?(59} Iyy?:'@x@} Ei})<}(<}؍(5:,AZxbzv,hAzVBzVBzz_%@ʁzD`}B@~S6HzG?Ȩ@RVſz@z-\->ҁznՑ?8{_3@Tnhyzwbr꿡k87 ?'Z\)=ǿzzAzjz5ǜ?rz 8 zaBz5ǜ?x zz^BzBz([%@y addTargetRange:: Added new target pos. range: 38.099998 m, deltaT: 3.526615 s, deltaX: -2.400002 m, approachRate: -0.680540 m/s, rangeRepo size: 4  Added new target pos. range: 37.834923 m, bearing: 148.049571 deg, lat: 36.906387 deg, lon: -122.116016 deg, deltaT: 3.526615 s, deltaX: -2.383778 m, approachRate: -0.675939 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.83 m.:J}`BJ}ZJJ}@RJyZJ}:bJ}S9J}J4Jy ProNav: ac range: 37.834923 m, nav range: 37.212257 m, bearing: 148.034465 deg, approach rate: 0.000000 m/s, LOS rate: -0.066074 deg/s, cmd heading: 152.051212 deg, new cmd heading: 151.961863 deg. HeadingCmd: 2.652235 target range: 37.834923 and range: 38.10 m.b7)@ZrjRJB~~U{B}||| C@|`ծ? zB6'>b& ,ƚ,hA9@b,@YM٥99 =H9Eм E>IU(5MPќ?u(59M IIyquo&@}x@M# EiM;M?;M(5+A,E|Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}Entering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ).1}q}%DNOT Ignoring new targets: 37.83 m.!uu ProNav: ac range: 37.834923 m, nav range: 36.991890 m, bearing: 148.028715 deg, approach rate: -0.614993 m/s, LOS rate: -0.016143 deg/s, cmd heading: 151.961860 deg, new cmd heading: 151.944507 deg. B1HeadingCmd: 2.651932 target range: 37.834923 and range: 38.10 m.bA)@ZrjRJB~~}|||| ? AeA=Ii)m?iIm;H iim]2HQHUIHU}BHU =HQHQHUԚ<HUE!)E 4> E C ՈG- A6GM mԍ=] A aY Ay UB r@ DB~G A1 A AQ N] >|, ,U,hAR}BIonly read 0 of 1 data item for altitude. Device response is::BD, 6, + -5.97, 7.57, 0.00 aI@a aM@a aQ@a aE@a II3; N=yQ >٥ HF >(5 yќ?(59 I +:y  :  x@' Ei:>ѓ(5+A:5^@q}=}=AMDNOT Ignoring new targets: 37.83 m.IUsUsm ProNav: ac range: 37.834923 m, nav range: 36.752800 m, bearing: 148.022398 deg, approach rate: -0.634740 m/s, LOS rate: -0.016879 deg/s, cmd heading: 151.944511 deg, new cmd heading: 151.925438 deg. uW9}HeadingCmd: 2.651599 target range: 37.834923 and range: 38.10 m.b}ͳ)@ZyryjyRyJyB~~}||||}? 靽d=I)3?Ij%B %1<ͳ)@<3=iͳ)@iEEEE`5EF=F=A6GePă=~G9AAAYNZ>iJk4Jk4Jk2:J _BJ ]JJ ERJ ZJ :bJ _9J 4J Ա t3 ,{,hA9>@> ,@Y>;y> a(=>H@? ܿl?l ?`r ?@s ?? >@>;)>CZ}BII-+I-n35< =U=y=2Q E>٥II UHQU޼ ]>am(5e[hќ?m(59e Iam :yime:m%@mx@e+ EieV:eG?e(5K}P"K}59*Ky2K} :K}U"ai,23Lij.A(9^Qee$^:jBF!B+A-EB}}DNOT Ignoring new targets: 37.83 m. ProNav: ac range: 37.834923 m, nav range: 36.520344 m, bearing: 148.019972 deg, approach rate: -0.603735 m/s, LOS rate: -0.006341 deg/s, cmd heading: 151.925441 deg, new cmd heading: 151.918117 deg. @HeadingCmd: 2.651471 target range: 37.834923 and range: 38.10 m.b)@ZrjRJB~~}||||@)? zBsk HE >HA HE IHE }BHE  =HA HA HE <HE Ek9 ,!X,hA9>v@>׹+@Y>1=>H!@OܿԈ?Q? /`л?` 7 v@>;)<^}BIip=I=AAaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y +?Mby?̽@ Q@)@Ih@yz@IIV83; =yڸ9Q >٥ HFJ >(5Qќ?(59j IGBT:y?:!@x@0 EiK;K;ؚ(5  +A J!}--Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|--Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL-B*** querying acoustic contact ***J1R5xIMDNOT Ignoring new targets: 37.83 m.IU>:U>:m ProNav: ac range: 37.834923 m, nav range: 36.191006 m, bearing: 148.055325 deg, approach rate: -0.594198 m/s, LOS rate: 0.064364 deg/s, cmd heading: 151.918119 deg, new cmd heading: 152.025142 deg. m0;uHeadingCmd: 2.653339 target range: 37.834923 and range: 38.10 m.buP)@ZqrqjqRqJqBy~y~}{B}||||? zB靵'A ,-hA9~G[@~n+@Y~ԑ QG ,B-hA9R.!@R4+@YRη-٥ H+ >(54ќ?(59 I@By| @x@7 Ei< <(5QU+AQiDNOT Ignoring new targets: 37.83 m.':checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507991': ProNav: ac range: 37.834923 m, nav range: 35.767441 m, bearing: 148.106187 deg, approach rate: -0.616675 m/s, LOS rate: 0.076565 deg/s, cmd heading: 152.093846 deg, new cmd heading: 152.178644 deg. /R;HeadingCmd: 2.656018 target range: 37.834923 and range: 38.10 m.b5)@ZrjRJ!B!~)~)})|1|9|9|EO@ {B靕f=I)?I" G-<5)@D<+=i5)@iH>HHHH =HH1DHؚ<HEEEEAEIEMP0EIԙ6GA ~G A! A9 NE >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759261 vM ,py8-hA9>A@>+@Y>j:]6=>H֋`ܿ A@>;)>C1}B%IMb@Mb@Mb@ )Y/$?Zd;OQy&?ju ;@)@IQ@y@II3+ C=y :Q  >٥   HFȰ >1E(55$ќ?E(595 I5;ByM?M:M @Mx@5; Ei5>/;5;5(5Q]9,A]3EDNOT Ignoring new targets: 37.83 m.Y:Y: ProNav: ac range: 37.834923 m, nav range: 35.527454 m, bearing: 148.133999 deg, approach rate: -0.600777 m/s, LOS rate: 0.070094 deg/s, cmd heading: 152.178650 deg, new cmd heading: 152.262650 deg. k@;HeadingCmd: 2.657485 target range: 37.834923 and range: 38.10 m.b:*@ZrjRJB~~o{B}||||&i@ {B靝l!) Y^T ,RR-hA0KbAP"Kb@9*K`2Kb :KbFI[{6;"W\{? 0SphN@[5c!k)q9N9 @ \*@Y 9J= Hݿ࢟??|`?]@ԧ?~? @ ;)  >%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262887}BIII 3O P=y&,;Q >٥ HFʊ >(5Iќ?(59 I6By @y@> Ei;;!(5,A  DNOT Ignoring new targets: 37.83 m. ž:ž:% ProNav: ac range: 37.834923 m, nav range: 35.304092 m, bearing: 148.160810 deg, approach rate: -0.574525 m/s, LOS rate: 0.069399 deg/s, cmd heading: 152.262648 deg, new cmd heading: 152.343590 deg. %>;-HeadingCmd: 2.658897 target range: 37.834923 and range: 38.10 m.b-_+*@Z)r1j1R1J1B1~9~9}9|9|A|A|E ҁ @ m{Bu7 m BDAT read: Tx time:13:50:44.8087 u $Ping request sent.u )%⬜??Zzzhvi ?D;5zl$> ) :publishing transmit ping timeq  Fpublishing direction and range infoym?9ڮČsvĿY )Ii )Ii ~G A AQ N] >H >H CH IH }BH  =H H 0DH <H E )%⬜??Zzzhvi ) checking for new query: numPingsReceived=1, elapsed TxPingTime=0.052623Z ,b0l-hAt:JaBJ^JJCRJZJ:bJd9J4JzJ;-jJ;-J:5rJ:5E}BEIIUIUM3t I=yQ >٥ H- ->I(5Mќ?(59M IM0Byy@MB EiM!ҁs\>5Z1@Kvi u̔G@@?+ڇ\ƿzJAzjƜ?r cB67 ǜ? 8  }`B B~&@ addTargetRange:: Added new target pos. range: 36.099998 m, deltaT: 3.528019 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, rangeRepo size: 4  Added new target pos. range: 35.847824 m, bearing: 149.975096 deg, lat: 36.906382 deg, lon: -122.116017 deg, deltaT: 3.528019 s, deltaX: -1.987099 m, approachRate: -0.563234 m/s, posRepo size: 4  DNOT Ignoring new targets: 35.85 m.   ProNav: ac range: 35.847824 m, nav range: 35.489197 m, bearing: 148.637124 deg, approach rate: 0.000000 m/s, LOS rate: 0.069399 deg/s, cmd heading: 152.343586 deg, new cmd heading: 152.445564 deg. 9}HeadingCmd: 2.660677 target range: 35.847824 and range: 36.10 m.bH*@ZrjRJB~~}||| B@|@? {B:I% !!%*<=H*@EXa ,.-hAX9b@bi*@Ybp`=y_I;Q >٥   H F   >(5.М?(59U I)By%v?%:%#@%y@F Ei[;;n(515@-A9]B*** querying acoustic contact ***JYRY!-DNOT Ignoring new targets: 35.85 m.)-_:5_:m ProNav: ac range: 35.847824 m, nav range: 35.250706 m, bearing: 148.655150 deg, approach rate: -0.640594 m/s, LOS rate: 0.048746 deg/s, cmd heading: 152.445560 deg, new cmd heading: 152.500004 deg. m;uHeadingCmd: 2.661627 target range: 35.847824 and range: 36.10 m.buX*@ZqrqjqRqJqBq~y~"{B}||||J? {B`D!I% !!%hF*<-X*@-<5qz=i5X*@i1EUEQEQEU_0EQFYFYK)P"K9*K2K :KXDQ9tPj }(!JraQ]25[[Y[c{EJcBchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.735928 1 6G Л=~Gi Ay A N >g ,8-hA9fK@f*@Yf&J\٥!! %H%F%t %>)5(5- М?=(59-" I-"By9= #@=y@-I Ei-A;-;-(5AE-AM9Eichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.987658DNOT Ignoring new targets: 35.85 m.pZ:pZ:% ProNav: ac range: 35.847824 m, nav range: 35.034077 m, bearing: 148.671791 deg, approach rate: -0.617710 m/s, LOS rate: 0.047744 deg/s, cmd heading: 152.500011 deg, new cmd heading: 152.550241 deg. %;-HeadingCmd: 2.662504 target range: 35.847824 and range: 36.10 m.b-wf*@Z)r1j1R1J1B1~9~9}9|9|9|A|E\I? % {BMIIM QQUJ)y n ,-hA9>t@>*@Y>]`=>HAܿ w)??3y$?G ?? >t@>/G;)>CJ|BJgIYUMb@Mb@Mb@QQQ Q)QYUgfffff?ˡEZd;OyU3?U'UjU@ U$@)U@IU@QyU@IIF3l C=yDf9Q >٥ H: >(5М?(59 IBy?:&@y@M EiC ;G ;d(5B*.A8EDNOT Ignoring new targets: 35.85 m. [ [ ProNav: ac range: 35.847824 m, nav range: 34.792645 m, bearing: 148.668761 deg, approach rate: -0.572455 m/s, LOS rate: -0.007232 deg/s, cmd heading: 152.550240 deg, new cmd heading: 152.541089 deg. Ӟ%HeadingCmd: 2.662344 target range: 35.847824 and range: 36.10 m.b%c*@Z!r!j!R!J)B)~)~-zB}1|1||| ? - {B-1I5r4 115&\)٥AA EHEFM M>QU(5U;М?](59U IUByY]&@ey@UQ EiU;U/;Uѹ(5ima.Am;EDNOT Ignoring new targets: 35.85 m.V V  ProNav: ac range: 35.847824 m, nav range: 34.566616 m, bearing: 148.665854 deg, approach rate: -0.579597 m/s, LOS rate: -0.007504 deg/s, cmd heading: 152.541087 deg, new cmd heading: 152.532308 deg. ΤHeadingCmd: 2.662191 target range: 35.847824 and range: 36.10 m.ԹbVa*@ZrjRJB~~}||||`?  {BFI9 3(< Va*@ =< ۬=iVa*@iEEEE5E6Gu^S=ZGRGAchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.996439!~GAAN>H >H H IH }BH  =H H 1DH <H E9 &{ ,-hA:J6^BJ6cJJ6ARJ4ZJ6} :bJ6x9J64J4zJ6]:jJ6b:J6:rJ6:FGrA~AA EYEAyMB)9 @n*@Y؄o٥ HF O  > (5 bМ?(59  I  By?:(@y@A V Ei j< j< l(5B.A>EDNOT Ignoring new targets: 35.85 m.b2b2 ProNav: ac range: 35.847824 m, nav range: 34.256931 m, bearing: 148.644683 deg, approach rate: -0.565200 m/s, LOS rate: -0.038989 deg/s, cmd heading: 152.532304 deg, new cmd heading: 152.468216 deg. ֺEHeadingCmd: 2.661072 target range: 35.847824 and range: 36.10 m.bEO*@ZArAjIRIJIBI~I~UzB}Q|Q|Q||@@ -{B- }I(X߻ /(<O*@@n<b:=iO*@irEY>jE>qEI EQ EQ EU 0EQ % checking for new query: numPingsReceived=1, elapsed TxPingTime=2.499723ԙ 6G ? =~GiAyAN>. ,qX .hA9J/@J+@YJnI׻ d(<B*@y<l=iB*@iaMchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.753176EyEyEyE}@5EyKP"Kػ9*K2K :K}0)CAEFDy&xz7&*Cs7!lj!&#ԉ6Gk[=~G A A N > BDAT read: Rx Time:13:50:47.2583  TRx dataTimestamp_ set to:1749131448.599360 checking for new query: numPingsReceived=1, elapsed TxPingTime=3.005359%P ,'.hAP9@Z"+@YpgHIHMIHM|BHM =HIHIHM<HME @;)uf|Bu8Ii}4>I}4<}AyII#3: ?=yQ >٥ HFU; >(5М?(59 IBy(@y@] Ei ;;T;$(5P/AAEDNOT Ignoring new targets: 35.85 m.@@  ProNav: ac range: 35.847824 m, nav range: 33.805359 m, bearing: 148.611339 deg, approach rate: -0.552210 m/s, LOS rate: -0.042135 deg/s, cmd heading: 152.424796 deg, new cmd heading: 152.367498 deg.  U5HeadingCmd: 2.659315 target range: 35.847824 and range: 36.10 m.b562*@Z1r1j1R1J9B9~9~9}A|A|I|Q|] ( @ {B wI,λ g(<62*@<-F"=i62*@i:Jm\BJmbJJmDRJiZJm=:bJmt9Jm4JizJm:jJm:JmR:rJmS:EEE!E-5E)mchecking for new query: numPingsReceived=1, elapsed TxPingTime=3.257476! 6G= e=jGE ?bGE -?~G A! AA N >Nh ,|A.hAP9BA@T+@Y BDAT read: Tx time:13:50:48.3587 $Ping request sent.Ŀ]fBYY ][)]{I]rVi]]@]5^>]rh](> ]4%@)]I])@i]"]G@]"> Y)Y]]pJ? l&w?EGgi]>]?:;]*ȼ]"> Y)Y:publishing transmit ping timeڹFpublishing direction and range infoYy]#jz?z@@\~>ĿYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y]]pJ? l&w?EGgiYYMb@Mb@Mb@ )YK?Mb?:vy^?<T@ @)IQ@y@YY Y)Ychecking for new query: numPingsReceived=2, elapsed TxPingTime=0.037229I I 2qN: $=yQ >٥!! EHEFU; U>Y(5]sМ?(59] I]Byj?:F,@y@]b Ei];]f;](5N/AZYb]F.hA]rB]rB]}*@ʁ]/ @@;E$꿾l]#jz?z@@\~>Ŀ]*ȼ]">ҁ]J=0ª.@2Z]_W ?P+-<ƿz]VuA]j];ʳƜ?r] ^( ] eB] ǜ?]\  ]aB]B]P&@U addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 3.528594 s, deltaX: -2.000000 m, approachRate: -0.566798 m/s, rangeRepo size: 4  Added new target pos. range: 33.862049 m, bearing: 152.631757 deg, lat: 36.906382 deg, lon: -122.116022 deg, deltaT: 3.528594 s, deltaX: -1.985775 m, approachRate: -0.562767 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.86 m.  ProNav: ac range: 33.862049 m, nav range: 33.252960 m, bearing: 149.328918 deg, approach rate: 0.000000 m/s, LOS rate: -0.042135 deg/s, cmd heading: 152.367505 deg, new cmd heading: 152.304556 deg.  HeadingCmd: 2.658216 target range: 33.862049 and range: 34.10 m.b6 *@ZrjRJBY~a~ezB}a|i|i|m A@|m&?  {BuVnqI}û yy}v(<6 *@#<!g0=i6 *@izEE- E) E) E- x4E)  JDAT read: TxSync time:13:50:48.3580  checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240709! K} 9P"K} 9*Ky 2K} :K} qax;j*g@jYf`=0zL,h}.w8Q 6Gm E$=~G)A9AQN]> ,C_.hA9rR@r,f+@YrSlE٥y HF}*; >(5%aМ?(59˹ IByX,@y@f Ei):;#(5B/ADE DNOT Ignoring new targets: 33.86 m.~׺=~׺M ProNav: ac range: 33.862049 m, nav range: 33.006454 m, bearing: 149.291762 deg, approach rate: -0.620320 m/s, LOS rate: -0.094200 deg/s, cmd heading: 152.304558 deg, new cmd heading: 152.192258 deg. MKUHeadingCmd: 2.656256 target range: 33.862049 and range: 34.10 m.bU*@ZQrQechecking for new query: numPingsReceived=2, elapsed TxPingTime=0.491506jyRyJyBy~~}||||I? ={B=AIEmH IIM;(HHkIH|BH =HH0DHȚ<HEQE E E E 4E ԙ6G] 1=- checking for new query: numPingsReceived=2, elapsed TxPingTime=0.746418ԩ ~G A A N- > ,}y.hAEF|BE%IMb@Mb@Mb@ )YGz?Mb`?~jtxyp?;Ļ3@ @)Iy@II#36ݼ Q=yQ >٥    H    >-(52OМ?-(59 IBy-r?5:5+@5y@j Ei(n; m;(59=/A=GEimDNOT Ignoring new targets: 33.86 m.iuSuS ProNav: ac range: 33.862049 m, nav range: 32.769512 m, bearing: 149.260040 deg, approach rate: -0.623440 m/s, LOS rate: -0.084071 deg/s, cmd heading: 152.192256 deg, new cmd heading: 152.096400 deg. fHeadingCmd: 2.654583 target range: 33.862049 and range: 34.10 m.b)@ZrjRԑJB~~zB}|||i|u ? {B靝\IC  (<)@[<O?=i)@iEEEEP0EF=F=checking for new query: numPingsReceived=2, elapsed TxPingTime=0.9960416G <=ZG RG A:J% ^BJ% VJJ% ARJ! ZJ% } :bJ% B9J% 4J! - @- @5 @5 @~G9 AQ Aa Nu > ʝ ,\.hA96v@6+@Y6E٥ HF%w< %>)5(5-=М?5(59-\ I-By1=,@=y@-m Ei-p/;-/;-(5IM/AImB*** querying acoustic contact ***JiRiq}DNOT Ignoring new targets: 33.86 m.y4κ4κ ProNav: ac range: 33.862049 m, nav range: 32.540405 m, bearing: 149.226643 deg, approach rate: -0.614033 m/s, LOS rate: -0.090138 deg/s, cmd heading: 152.096401 deg, new cmd heading: 151.995504 deg. qwHeadingCmd: 2.652822 target range: 33.862049 and range: 34.10 m.b)@ZrjRJB~~}||||?checking for new query: numPingsReceived=2, elapsed TxPingTime=1.247430 PύI   '<)@5< [=i)@ibE!ZE%~AK{P"K@9*K2K :KuH&E?jQ?OZ\v~QUuzj]l8oA9Qn@xEEEEZ0E6G>=~GAAN>I ׉ ׉  checking for new query: numPingsReceived=2, elapsed TxPingTime=1.499579H >H CH _IH |BH H H /DH Κ<H E)Ǫ ,4.hA 9> @>+@Y>#;y>ǎ=>H@7ܿ?A?`Ͱ? T0}"ձ?`? > @>ˎ;)٥dd fHdj?: j>lv(5no+М?v(59n InBytz ,@zy@nq Ein#;n;n8(5~B~/A~JE!-DNOT Ignoring new targets: 33.86 m.)-nҺ-nҺE ProNav: ac range: 33.862049 m, nav range: 32.298996 m, bearing: 149.190705 deg, approach rate: -0.613313 m/s, LOS rate: -0.091986 deg/s, cmd heading: 151.995505 deg, new cmd heading: 151.886885 deg. E|MHeadingCmd: 2.650926 target range: 33.862049 and range: 34.10 m.bMƨ)@ZIrIjIRIJIBQ~Q~Q}Q|a|i|i|m mc? 靝.ȄI y%'<ƨ)@n<T`=iƨ)@iE]EYEaEe_0qEi6Gu`hZ=checking for new query: numPingsReceived=2, elapsed TxPingTime=1.754057~GaAqAN:>ԙ = ,.hA&checking for new query: numPingsReceived=2, elapsed TxPingTime=2.003756T]f|B]9IaeAMb@Mb@Mb@ )Y#~j?MbMbPy%?I@ )@Ih@yz@  @AI  I ̍2= 1=yQ >٥ HF >(5М?(59 IBy%?:+@y@v Ei":H:@(5>/AHEDNOT Ignoring new targets: 33.86 m.,, ProNav: ac range: 33.862049 m, nav range: 32.000874 m, bearing: 149.154235 deg, approach rate: -0.644966 m/s, LOS rate: -0.079635 deg/s, cmd heading: 151.886878 deg, new cmd heading: 151.776450 deg.  ZHeadingCmd: 2.648999 target range: 33.862049 and range: 34.10 m.b2)@ZrjRJB~~zB}!|!|!|!|%W@ YeYaIe iima&0)k uW\nEac6G] @Z=jGe ?bGe >! ~G A A N >ܷ ,.hA9b0@b+@Yb?;ybڑ=bHWܿ?c? ?'y`W7?`? b0@b^;)`|p|B?II&I3-< 5b=y5w2Q 5>٥99 =H=FEѻ E>IM(5MfМ?U(59M2 IMByQU*@Uy@Mz EiM;M;Mh(5eBe/AeKEDNOT Ignoring new targets: 33.86 m. ProNav: ac range: 33.862049 m, nav range: 31.767206 m, bearing: 149.126149 deg, approach rate: -0.649803 m/s, LOS rate: -0.078678 deg/s, cmd heading: 151.776448 deg, new cmd heading: 151.691571 deg. WHeadingCmd: 2.647517 target range: 33.862049 and range: 34.10 m.bp)@ZrjRJB~~}|||| @Uchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.507523 y}yIB푻 %<p)@p<ڎb=ip)@irEV>jE>)HiHiHmeIHm|BHm =HiHiHm<HmEH5ĚCH5ĚCH1H5 =I5 = I5Ğ 6E]EYEYE]`0EaQ5 PExceeded connect timeout, disconnecting.6GU Cf=~G1 Aa  checking for new query: numPingsReceived=2, elapsed TxPingTime=2.761962Y A N > ,.hA96@6(+@Y6?;y6%=6Hhܿ C?@St?`@?w?`#? 6@6(;)6CJ|BJKI]Mb@Mb@Mb@YYY Y)YY]RQ?y&1y]"?]`弹]Y ]@)]@IYYyYIu Iub3G= D=yTSQ >٥ H0 >(5Ϝ?(59ӧ IBy"?:(@y@~ Eia;"; (5.ANEDNOT Ignoring new targets: 33.86 m.55 ProNav: ac range: 33.862049 m, nav range: 31.502728 m, bearing: 149.109715 deg, approach rate: -0.634793 m/s, LOS rate: -0.039775 deg/s, cmd heading: 151.691576 deg, new cmd heading: 151.641860 deg. `ں%HeadingCmd: 2.646650 target range: 33.862049 and range: 34.10 m.b%b)@Z!r!j)R)J)1B1~9~=zB}9|9|9|A|E@~@ -I5 %<b)@< qb=i b)@iEEEE0EY]BDAT read: Rx Time:13:50:50.8054 eTRx dataTimestamp_ set to:1749131452.127337echecking for new query: numPingsReceived=2, elapsed TxPingTime=3.0124396Gm6a=ԑ~GA AI Aa Nm >:J _BJ QJJ ARJ ZJ :bJ -.9J 4J Թ : ,/hA9>[w@>+@Y>q;y>*=>Hϧ@pܿ@?{?`]?.u ?`? >[w@>`;)>CHHInInT3za ~U=y~ ٺQ ~>٥ HF¯  > (5 Ϝ?(59  I By(@y@  Ei {; 3; e(5!-.A)MB*** querying acoustic contact ***JIRIQ]DNOT Ignoring new targets: 33.86 m.Ye6m6 ProNav: ac range: 33.862049 m, nav range: 31.259108 m, bearing: 149.094565 deg, approach rate: -0.634751 m/s, LOS rate: -0.039782 deg/s, cmd heading: 151.641866 deg, new cmd heading: 151.596060 deg. kںHeadingCmd: 2.645850 target range: 33.862049 and range: 34.10 m.bU)@ZrjRJB~~}||||@L- @checking for new query: numPingsReceived=2, elapsed TxPingTime=3.263488 AfI%( @$<U)@OG<{c=iU)@iԑKDP"Ks9*K2K :K<"iO"u1{K: S   2[4_U9CjUJEEEE5E6GZGRG~G A1 AY  DAT read: 13:50:50.8054 LVL= 24688, 23905, 19394, 32755, AGC= 61, IDX= 416, 0.00,-2.611, 2.235,-2.524,-3.026, PHS= 0.503,-0.975, 0.499, RAW= 149.9, -0.4, CAL= 153.2, -9.3, ROT= 356.8, 9.3  Ygot valid direction response: 13:50:50.8054 LVL= 24688, 23905, 19394, 32755, AGC= 61, IDX= 416, 0.00,-2.611, 2.235,-2.524,-3.026, PHS= 0.503,-0.975, 0.499, RAW= 149.9, -0.4, CAL= 153.2, -9.3, ROT= 356.8, 9.3  PDAT read: Bearing 356.8, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 356.8, 9.3 (Local)  DAT read: Range 10 to 50 : 31.8 m (Round-trip 42.5 ms) speed 0.7 m/s  ,DAT read: user:1804>  BDAT read: Tx time:13:50:51.9087  $Ping request sent. m p'@)m Im D +@im 6&m SF@m 6&> i )i m ҭ?j^?."q}zim p?m ;m dm 6&> i )i  :publishing transmit ping time  Fpublishing direction and range infoi ym $o?fE4oĿi Yi i )i Ii N ii i i i i i )i Ii ii i i i )i m ҭ?j^?."q}zii i i i i )i - checking for new query: numPingsReceived=3, elapsed TxPingTime=0.011079 He <He 4=Hm >Hi Hm xIHm |BHi Hi Hi Hm ٚ<Hm E!  ,܁./hA) 8DP jYhyjB nManaging dock network, ignoring radio surface power off ==JDAT read: TxSync time:13:50:51.9080 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.247674|BTII ] Mb@Mb@Mb@Y Y Y Y )Y Y] Mb?Mby] #?] @Y Y Y )] @IY Y y] @I I 3 v<  ٥  H F  >  (5 Ϝ? (59 ՞ I By #? : &@ y@ Ei : : d(5 B .A QEZbY(/hAAA(@ʁd`?@fX4zi$o?fE4oĿd6&>ҁ71h7;3̪+.@i0y뿐#$?Yϩſz]qAjƜ?rb gBƜ?  cBꁝAtQ'@-  addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 3.527253 s, deltaX: -2.299999 m, approachRate: -0.652065 m/s, rangeRepo size: 4 =  Added new target pos. range: 31.577265 m, bearing: 151.001424 deg, lat: 36.906380 deg, lon: -122.116026 deg, deltaT: 3.527253 s, deltaX: -2.284784 m, approachRate: -0.647752 m/s, posRepo size: 4 9 E DNOT Ignoring new targets: 31.58 m.A E A U  ProNav: ac range: 31.577265 m, nav range: 30.875698 m, bearing: 149.791023 deg, approach rate: 0.000000 m/s, LOS rate: -0.039782 deg/s, cmd heading: 151.596062 deg, new cmd heading: 151.513509 deg. Q e HeadingCmd: 2.644410 target range: 31.577265 and range: 31.80 m.be >)@Za ra ja Ra Ji Bq ~y ~} zB} | | | ?@| @R? e {Be Pa Ie /^ i i u 7#< >)@ 8 < 7i=i >)@i zE  checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492897ԑ EQ EQ EQ EU P0EQ ԡI4=I%=:J!BJ%UJJ%BRJ!ZJ!bJ%>9J%-4J!6G5'd=~G!A)A9NM? ,T/hAD9Vm@VD+@YVi;yV%ou=VH``zܿ? l? ܗ@B?Q? Vm@V^8;)T `)bjAɺdddhɻlilIllIlinOA lp)pt vAAvtɼttxIx)xix)xIzdAxɽ| |ɾ|~\A|i||i) I ٯ |BcII%I%m?35[= 5|=y=Q = ?٥99 HF}ݺ ?checking for new query: numPingsReceived=3, elapsed TxPingTime=0.745062%(5ۭϜ?%(59ћ IBy!-&@-y@ Ei : :v(515.A5TEDNOT Ignoring new targets: 31.58 m.0909 ProNav: ac range: 31.577265 m, nav range: 30.651339 m, bearing: 149.794422 deg, approach rate: -0.633212 m/s, LOS rate: 0.009662 deg/s, cmd heading: 151.513513 deg, new cmd heading: 151.523783 deg. 09HeadingCmd: 2.644589 target range: 31.577265 and range: 31.80 m.b@)@ZrjRJB~1~1}1|9|9|9|=J?KuP"Kq*Kq2Ku :KuTKRZ1tcl'UX~!={FWUSAuAԱ {BIӲJ (!"<@)@<vf=i@)@iEEEE_0E checking for new query: numPingsReceived=3, elapsed TxPingTime=0.9954886G KXi= H} >Hy H} IH} |BHy Hy Hy Hy Hy ~G A A N >0 ,|n/hA9>FU@>h+@Y>;y>4E=>HJܿ ? {?m ?b(?|? >FU@>[;)<||BdII&I3ez: mI=ymt[Q m>٥iq uHquz| u>y(5}AϜ?(59} I}By&@y@} Ei}6:}B:}(5.ADNOT Ignoring new targets: 31.58 m. Y9 Y9 ProNav: ac range: 31.577265 m, nav range: 30.408253 m, bearing: 149.798870 deg, approach rate: -0.642974 m/s, LOS rate: 0.011860 deg/s, cmd heading: 151.523785 deg, new cmd heading: 151.537236 deg. 9:HeadingCmd: 2.644824 target range: 31.577265 and range: 31.80 m.bD)@Zrj!R!J!B!~!~)})|)|)|)|5? m{BmwqIu7 qq} <}D)@}<:`=iD)@i9EUEQEYE]1EaFF5checking for new query: numPingsReceived=3, elapsed TxPingTime=1.252121Q6G}xd=jG ?bG ?~G A A N >ԁ ,hZ/hABchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.5032099>wH@>[+@Y>-&:y>F=>H pIܿ@??@@? ŤV ۨ?T? >wH@>;)>Cau|BufI Mb@Mb@Mb@    ) Y T㥛 ?Q뱿~jtxy !? \ Ļ  $@) I ~@ y @Im$Im<3}< }:=yeQ >٥ HF >(5Ϝ?(59 IBy"?:M$@y@ Ei::(5B.AWEDNOT Ignoring new targets: 31.58 m.:: ProNav: ac range: 31.577265 m, nav range: 30.130339 m, bearing: 149.823861 deg, approach rate: -0.638598 m/s, LOS rate: 0.057953 deg/s, cmd heading: 151.537241 deg, new cmd heading: 151.612904 deg. ; HeadingCmd: 2.646144 target range: 31.577265 and range: 31.80 m.bnZ)@ZrjRJB~~!{B}||!|!|% ? ]{BeGaIe aimK JrP"K K9*K 2K :K |O+ >ftpr@.**nmc}G8R:o$FhD q) ,;/hA9FR@Fre+@YF@J:yFR=FH` BܿԖ?\?•?`HIfR? *? FR@F ;)D~|B~uII]I]2m= m]=yuغQ u>٥qq }H}F}: }>(5xϜ?(596 IByW$@y@Ա Ei;;(5-A B*** querying acoustic contact ***J R 9EDNOT Ignoring new targets: 31.58 m.AE}:E}:u ProNav: ac range: 31.577265 m, nav range: 29.896721 m, bearing: 149.844945 deg, approach rate: -0.610333 m/s, LOS rate: 0.055515 deg/s, cmd heading: 151.612906 deg, new cmd heading: 151.676654 deg. }e;}HeadingCmd: 2.647257 target range: 31.577265 and range: 31.80 m.bl)@ZrjRJB~~}|||| ?checking for new query: numPingsReceived=3, elapsed TxPingTime=2.008434 {B3I+H->H)H-IH-}BH- =H)H)H-<H-E +<l)@<X=il)@iEuEyEyE}1EyJsJ{ 4J{S}/:JbBJaJJDRJZJ:bJp9J4JzJH ;5jJJ ;5J:5rJ:596G W=a m checking for new query: numPingsReceived=3, elapsed TxPingTime=2.261595~Gy A A! N] >W ,(/hA9J5K@J^+@YJ6;yJd=JH ęܿ ߭?|?=J?`?٥ HT >(5eϜ?(59\ IBy&?:"@y@ Ei<::(5 B -AXE)9EDNOT Ignoring new targets: 31.58 m.AM:M:] ProNav: ac range: 31.577265 m, nav range: 29.638294 m, bearing: 149.881588 deg, approach rate: -0.637538 m/s, LOS rate: 0.091186 deg/s, cmd heading: 151.676659 deg, new cmd heading: 151.787545 deg. ]Rz;HeadingCmd: 2.649192 target range: 31.577265 and range: 31.80 m.b ^)@Z r j R J B ~~A{B}||||I@ 靍bI S<^)@}'<P=i^)@iQEyEyEyE}P5EF=F=checking for new query: numPingsReceived=3, elapsed TxPingTime=2.511175ԉ6G ZG RG ~G A A N >ԩ 89 ,/hA9Vf@V^z+@YV l;yVGJ}=VH7`ܿ?? o$?_m@?I? Vf@Vy;)VC`bsIIrIr(*2z@ zZ=yzԈ;Q z>٥|| HF; > (5 UϜ?(59  I ޣBy"@y@  Ei ; ; (5!%-A!checking for new query: numPingsReceived=3, elapsed TxPingTime=2.763094 DNOT Ignoring new targets: 31.58 m. 1:1:% ProNav: ac range: 31.577265 m, nav range: 29.408831 m, bearing: 149.913853 deg, approach rate: -0.580530 m/s, LOS rate: 0.082266 deg/s, cmd heading: 151.787540 deg, new cmd heading: 151.885091 deg. %a;-HeadingCmd: 2.650895 target range: 31.577265 and range: 31.80 m.b-C)@Z)r)j)R1J1B1~9~9}9|9|9|A|E |H@ y靅(]Ik v<C)@ԑU<sQ=iC)@irEJ>jE>KyP"K@9*K2K :Kbq==Q5b' ;F0GSXX7UiPJZrEMEIEIEMP0EI6G- BDAT read: Rx Time:13:50:54.3526  TRx dataTimestamp_ set to:1749131455.660944 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.019336HM >HI HM IHM )}BHM  =HI HM 0DHM ǚ<HM E c ,/hA9J@J{+@YJ;yJDo=JH5jܿ)?t?@i? :rj?`? J@J㳎;)JCn|Bn}IIv Iv(2E= EJ=yM$:Q M>٥II UHQUh; U>Ye)5]DϜ?e)59]* I]ۣByim"@my@] Ei]:]:]f)5qua-Au[EDNOT Ignoring new targets: 31.58 m. : : ProNav: ac range: 31.577265 m, nav range: 29.153492 m, bearing: 149.949592 deg, approach rate: -0.653419 m/s, LOS rate: 0.092256 deg/s, cmd heading: 151.885089 deg, new cmd heading: 151.993242 deg. B};HeadingCmd: 2.652782 target range: 31.577265 and range: 31.80 m.b0)@ZrjR:JcBJ_JJBRJZJ:bJ=h9J-4JzJ;jJ;J:rJ:JB~~}||||`r @ 9=AIE AAEv6!Q ,÷ 0hA RDAT read: 13:50:54.3526 LVL= 20720, 27825, 20274, 32755, AGC= 58, IDX= 418,-0.43, 3.013, 1.657, 3.063, 2.617, PHS= 0.484,-0.914, 0.442, RAW= 148.5, -0.2, CAL= 152.0, -9.1, ROT= 358.0, 9.1 VYgot valid direction response: 13:50:54.3526 LVL= 20720, 27825, 20274, 32755, AGC= 58, IDX= 418,-0.43, 3.013, 1.657, 3.063, 2.617, PHS= 0.484,-0.914, 0.442, RAW= 148.5, -0.2, CAL= 152.0, -9.1, ROT= 358.0, 9.1 ZPDAT read: Bearing 358.0, 9.1 (Local) ^~Local bearing/azimuth received: Bearing 358.0, 9.1 (Local) bDAT read: Range 10 to 50 : 29.7 m (Round-trip 39.6 ms) speed 0.5 m/s f,DAT read: user:1805> 5BDAT read: Tx time:13:50:55.4588 5$Ping request sent.5Ŀ2AY0 2P)2lI22Oi02:2>2i2M> 2H%@)2dI2)@i2"2@2"> 0)02y0! ?p? G3;ii2>2I;2Q2"> 0)0:publishing transmit ping time1Fpublishing direction and range info0y2)a?Fqeɤ@\~>Ŀ0Y0 0)0I0i00000 0)0I0i000 0)02y0! ?p? G3;ii0000 0)0checking for new query: numPingsReceived=4, elapsed TxPingTime=0.029552 |B tIi=I;AmMb@Mb@Mb@iii i)iYm(\?~jt{Gzymz?mĽm#m`@ i)m3@Im@iym@IIV83eѼ e=yeQ e>٥ii mHmFu u>)53.Ϝ?)59< I֣By?:)!@y@ Ei::))5B-A^EZ0b2~ 0hA2A2A2)@ʁ286o=@1B< I`2)a?Fqeɤ@\~>Ŀ2Q2">ҁ2-g,9h2$+@꼈d2z8L뿼Es?KHߴ ſz2%YA2j2Ɯ?r2ҫ 2biB2Ɯ?2b q 2 eB2A2)@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 3.533508 s, deltaX: -2.099998 m, approachRate: -0.594310 m/s, rangeRepo size: 4  Added new target pos. range: 29.492203 m, bearing: 152.190900 deg, lat: 36.906375 deg, lon: -122.116031 deg, deltaT: 3.533508 s, deltaX: -2.085062 m, approachRate: -0.590083 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.49 m.5 ProNav: ac range: 29.492203 m, nav range: 29.079655 m, bearing: 151.305814 deg, approach rate: 0.000000 m/s, LOS rate: 0.092256 deg/s, cmd heading: 151.993238 deg, new cmd heading: 152.151746 deg. 1=HeadingCmd: 2.655549 target range: 29.492203 and range: 29.70 m.b=)@Z9rAjARAJABA~i~mk{B}i|i|q|u@3=@|u@ۣ? LKIà ^<)@Y<}F=i)@i JDAT read: TxSync time:13:50:55.4581 checking for new query: numPingsReceived=4, elapsed TxPingTime=0.225174ԡ E E E E `5E F F F F K] ֦Q"K] 9*KY 2K] :K] *O  fune`r;U9 'MtRpqs ;jJa Je A ~GAAIAYNe> ,'0hA9=@=+@Y=;y=㍍==Hv`a-ܿ?M8? @(? Mx ?I? =@mchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.478048ԙ=$;)=CH>HCHIH3}BHHHH<HEH}CH}CHyH} =Iy I}u5|BwII%I%F3KY< U=y5;Q >٥ HFr0< >)5Ϝ?)59} IңByo!@y@ Ei::v )5-A=B*** querying acoustic contact ***J9R9q}DNOT Ignoring new targets: 29.49 m.y}$;}$; ProNav: ac range: 29.492203 m, nav range: 28.859058 m, bearing: 151.357899 deg, approach rate: -0.605108 m/s, LOS rate: 0.143963 deg/s, cmd heading: 152.151753 deg, new cmd heading: 152.309201 deg. ;HeadingCmd: 2.658297 target range: 29.492203 and range: 29.70 m.b!*@ZrjRJB~~}||||? iuV=Iq)ux>qI}1 yyz<!*@<L=i!*@i:JaBJ]JJFRJZJ:bJ_9J4JzJ;jJ;Jh:rJi:E E E E P0E ~GAAN%n>% checking for new query: numPingsReceived=4, elapsed TxPingTime=0.731145 g ,A0hA9Bm@B,@YBu;yB=BHO@ۿ?`r?L ?@z;?? Bm@B;)BC|BlImMb@Mb@Mb@iii i)iYmDl?+QymO ?mmumA m$@)m@Iiiym @I}I}T3f- 8=y#{:Q >٥ HF< >)5 Ϝ? )597z IͣBy ? : B#@ y@ Ei;;V)5B-AaEAEDNOT Ignoring new targets: 29.49 m.AU:U:mchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.980330u ProNav: ac range: 29.492203 m, nav range: 28.613176 m, bearing: 151.402721 deg, approach rate: -0.573026 m/s, LOS rate: 0.105355 deg/s, cmd heading: 152.309202 deg, new cmd heading: 152.444824 deg. u;}HeadingCmd: 2.660664 target range: 29.492203 and range: 29.70 m.b}RH*@ZyrjRJB~~g{B}||||{1? 8IIX8 PE<RH*@ <R=iRH*@iAEmEiEiEiEiZGRG~GqAyAN~>qԙ  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.232248 ,U[0hA9>2@>F,@Y>;y>=p=>H@ۿN??x@+A? |I?? >2@>ݑ;)I*@9 4<ue*@f<U=iue*@ibEZEAEiEiEiEm_0Eiԡ~G9AIAYNeV>}checking for new query: numPingsReceived=4, elapsed TxPingTime=1.484256HHHIH)}BH =HHH<HE ;G A A zY Ay B:J \BJ RJJ ARJ ZJ =:bJ S29J 4J zJ :jJ :J ;:rJ <:  ,nu0hA9:^@:r,@Y:٥ HF; >)5Μ?)59Dt IãBy#@y@ Ei;f;)5-ADNOT Ignoring new targets: 29.49 m.::= ProNav: ac range: 29.492203 m, nav range: 28.206678 m, bearing: 151.475090 deg, approach rate: -0.568801 m/s, LOS rate: 0.101284 deg/s, cmd heading: 152.546715 deg, new cmd heading: 152.663492 deg. =;EHeadingCmd: 2.664481 target range: 29.492203 and range: 29.70 m.bEچ*@ZArAjARAJABI~I~I}q|q|q|q|}?=checking for new query: numPingsReceived=4, elapsed TxPingTime=1.749212 {B*QIUx7: YYe&<چ*@W<X=iچ*@iEEEEE1  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.9930356G R`U=jG ?bG ?~G A A N >V# ,>0hA9>t@>,@Y>BY7S=>H $ۿ@4???놿`7F?`? >t@>X;)>C=|B=VIMb@Mb@Mb@ )YFx?Dl rhy ?OC@ )@I~@y@II2u D=y4;Q >٥    H FQ; >)5Μ?)59p IBy ?:$@y@ Ei ; ;)5P.AdE DNOT Ignoring new targets: 29.49 m.S:S:- ProNav: ac range: 29.492203 m, nav range: 27.966122 m, bearing: 151.510244 deg, approach rate: -0.546675 m/s, LOS rate: 0.080575 deg/s, cmd heading: 152.663498 deg, new cmd heading: 152.769865 deg. -1];5HeadingCmd: 2.666337 target range: 29.492203 and range: 29.70 m.b5E*@Z1r1j9R9J9B9~A~E:{B}A|A|A|I|Mxs@Q {B靍I: K<E*@-/<U=iE*@iEEEEx0E checking for new query: numPingsReceived=4, elapsed TxPingTime=2.245230ԉKhYP"K9*K2K :KU+(4*\_ pv \ ^xEAJ!jb~ 1>*"ԩ 6G YW=~G A A N >) ,"0hA96H@6,@Y6/?RIRR=I^I^#3j  j`=yj;Q n>٥ll nHpr; r>tz)5vtΜ?z)59v)n IvB]checking for new query: numPingsReceived=4, elapsed TxPingTime=2.496193Hm>HiHmIHm }BHm =HiHiHm<HmEyx$@y@v Eiv:>: ProNav: ac range: 29.492203 m, nav range: 27.777273 m, bearing: 151.537506 deg, approach rate: -0.487958 m/s, LOS rate: 0.070921 deg/s, cmd heading: 152.769871 deg, new cmd heading: 152.852215 deg. B;HeadingCmd: 2.667774 target range: 29.492203 and range: 29.70 m.bѼ*@ZrjRJB~~}||||@ {B靕IY : ̎<Ѽ*@<X=iѼ*@ԩirEi>jE>EAEIEIEM1EQ:JubBJuSJJqRJqZJu:bJuy69JqJqzJuG ;jJuJ ;Ju'C:rJu*C:  > %=- checking for new query: numPingsReceived=4, elapsed TxPingTime=2.750822 6G R`U=~GY Ai A N >Դ0 ,s0hAl~}|BGIMb@Mb@Mb@ )YS?v/ rhy?xiQA Q@)3@Iy@I I̍2  ;=yQ >٥ HF >)5Μ?)59j IBy?:M&@y@ Ei~:3:f )5  .AfE5B*** querying acoustic contact ***JRDNOT Ignoring new targets: 29.49 m.:: ProNav: ac range: 29.492203 m, nav range: 27.531898 m, bearing: 151.561189 deg, approach rate: -0.590392 m/s, LOS rate: 0.057490 deg/s, cmd heading: 152.852216 deg, new cmd heading: 152.923897 deg. ;%HeadingCmd: 2.669025 target range: 29.492203 and range: 29.70 m.b%P*@Z!r)j)R)J)BI~Q~U?{B}Q|Q|Y|Y|]]@ {B%I uBDAT read: Rx Time:13:50:57.8998 uTRx dataTimestamp_ set to:1749131459.191573}checking for new query: numPingsReceived=4, elapsed TxPingTime=3.001544I}]: yy}S<P*@<UES=iP*@iE}EEE/1E9Ia=Ip=a 6G kW=~Gy A A N > checking for new query: numPingsReceived=4, elapsed TxPingTime=3.252192A6 ,<0hA9:@:1,@Y:3y”? F?@`<?+& i?@? :@:;):C^|BbKIIfIf(*3n< r\=yrw;Q r>٥pt vHtv < v>9x})5zΜ?})59zg IzByy&@y@z Eiz:z6:z#)5.AAMDNOT Ignoring new targets: 29.49 m.IuAa:uAa:KHP"K 9*K2K :K.$p6kTg87R.i:1xcKJ>J> ProNav: ac range: 29.492203 m, nav range: 27.323303 m, bearing: 151.579966 deg, approach rate: -0.542794 m/s, LOS rate: 0.049233 deg/s, cmd heading: 152.923892 deg, new cmd heading: 152.980653 deg. ';HeadingCmd: 2.670016 target range: 29.492203 and range: 29.70 m.b*@ZrjRJB~ ~ }|||| @ e{BeiIDx: <<*@b<,2^=i*@iiEEEEt5EԱHm>HiHmIHm|BHm =HiHiHm͚<HmEMDAT read: 13:50:57.8998 LVL= 23440, 29169, 20914, 32755, AGC= 57, IDX= 405, 0.07,-2.701, 2.216,-2.662,-3.088, PHS= 0.475,-0.933, 0.423, RAW= 148.1, 0.5, CAL= 151.4, -8.4, ROT= 358.6, 8.4 eYgot valid direction response: 13:50:57.8998 LVL= 23440, 29169, 20914, 32755, AGC= 57, IDX= 405, 0.07,-2.701, 2.216,-2.662,-3.088, PHS= 0.475,-0.933, 0.423, RAW= 148.1, 0.5, CAL= 151.4, -8.4, ROT= 358.6, 8.4 }PDAT read: Bearing 358.6, 8.4 (Local) ~Local bearing/azimuth received: Bearing 358.6, 8.4 (Local) DAT read: Range 10 to 50 : 27.6 m (Round-trip 36.8 ms) speed 0.5 m/s ,DAT read: user:1806> BDAT read: Tx time:13:50:59.0088 $Ping request sent.}n}u> }m%@)}5 y)y}7?v;-?.9%S?i}g>}}*ȼ}Q > y)y} :publishing transmit ping time} Fpublishing direction and range infoyy}(?Ѥ/8ٲ¿yYy6G P= y)y~G A A N >Iyiyyyyy y)yIyiyyy y)y}7?v;-?.9%S?iyyyy y)y checking for new query: numPingsReceived=5, elapsed TxPingTime=0.061092 = ,0hA9R{@R,@YRV٥)) -H-F-H; 5>Ye)5]Μ?e)59]d I]Byae&@ey@] Ei]:]1;]I')5ԹB/AiEZbv0hAAAAA',@ʁ#i;@wNO2i`(?Ѥ/8ٲ¿*ȼQ >ҁZS8òc'@tRC3g^d?lmĿzI"; <*@<%wU]=i%*@i!zE)EEEE5E checking for new query: numPingsReceived=5, elapsed TxPingTime=0.4555189 6G _=~Gq A A N >D ,L1hA9J@JF,@YJ٥ HF: >)5[Μ?)59a IBy3?:")@y@ Ei.;-;R+)5H/AlEQUDNOT Ignoring new targets: 27.41 m.Q]%:]%:m ProNav: ac range: 27.407160 m, nav range: 26.841995 m, bearing: 152.561554 deg, approach rate: -0.662310 m/s, LOS rate: 0.028227 deg/s, cmd heading: 153.048393 deg, new cmd heading: 153.081853 deg. :HeadingCmd: 2.671782 target range: 27.407160 and range: 27.60 m.b{*@ZrjRJB~~zB}||||Z? %{B%!IM; IIM5fLJ ,4+1hA9>@> -@Y>v=>H`MۿE?:?@?W?`? >@>p;)>C HPHRp<HZ>HXHZkIHZ|BHZ =HXHXHZ<HZEjV|Brchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.960018j/IIzIz2; f=yQ  >٥    H J; >%)5~Μ?%)59 _ IBy!%4)@-y@ Ei::c.)515@/A1YeDNOT Ignoring new targets: 27.41 m.aeU9eU9} ProNav: ac range: 27.407160 m, nav range: 26.643160 m, bearing: 152.569622 deg, approach rate: -0.583655 m/s, LOS rate: 0.023860 deg/s, cmd heading: 153.081847 deg, new cmd heading: 153.106233 deg. }:HeadingCmd: 2.672208 target range: 27.407160 and range: 27.60 m.bt+@ZrjRJB~~}||||L? {B靽\I[,; <t+@i<_=it+@iEEEEP0EA checking for new query: numPingsReceived=5, elapsed TxPingTime=1.214075ԁ6G% g\=~GY A A N >ԡ 4Q ,[ E1hA9f@f'-@Yf&=y-9Q >٥ HFz; >)5kΜ?)59[ IByo?:*@y@ Ei ; ;$2)5B/AoE%B*** querying acoustic contact ***J!R!)MDNOT Ignoring new targets: 27.41 m.IUlUle ProNav: ac range: 27.407160 m, nav range: 26.389013 m, bearing: 152.568962 deg, approach rate: -0.590257 m/s, LOS rate: -0.001547 deg/s, cmd heading: 153.106231 deg, new cmd heading: 153.104233 deg. eڇmHeadingCmd: 2.672173 target range: 27.407160 and range: 27.60 m.Աbm+@Z)r)j1R1J1B1~A~E{B}i|i|i|q|u ? {Bchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.4634538I1<; <+@<!De=i+@ibEZEAEuEyEyEyEy:J]aBJYJJ]ARJYZJ]:bJYJ]4JY 6G .H_=~Gy A  checking for new query: numPingsReceived=5, elapsed TxPingTime=1.715421A N >1 .\W ,^1hA9^@^#-@Y^٥ HF9E >)5 ZΜ?)59!Y IByz*@y@ Ei;};};5)5/ADNOT Ignoring new targets: 27.41 m.椷椷 ProNav: ac range: 27.407160 m, nav range: 26.155350 m, bearing: 152.568500 deg, approach rate: -0.563738 m/s, LOS rate: -0.001126 deg/s, cmd heading: 153.104236 deg, new cmd heading: 153.102836 deg. KhP"K9*K2K :KB]8:AUfv]vv%igPO}c#2@Tc_J ?J>E%HeadingCmd: 2.672148 target range: 27.407160 and range: 27.60 m.b%{+@Z!r!j!R!J!B)~)~Q}Q|Q|Q|Y|]%U? {B靥 I K;  ?<{+@<Cc=i{+@iEEEE_0EAH>HHXIH|BHHH1DH<HEHuƚCHuƚCHqHu =Iu = Iuƚy5 checking for new query: numPingsReceived=5, elapsed TxPingTime=1.968959i 6G }xd=~G A A N ><] ,x1hA 0|BII- I-̍2=W =N=y=Q E>٥AA EHAM M>Q])5UHΜ?])59UPV IUByYY]y@U EiU ;U;U9)5im/AmrE%DNOT Ignoring new targets: 27.41 m.!%1%1uchecking for new query: numPingsReceived=5, elapsed TxPingTime=2.221784 ProNav: ac range: 27.407160 m, nav range: 25.922855 m, bearing: 152.568031 deg, approach rate: -0.595033 m/s, LOS rate: -0.001210 deg/s, cmd heading: 153.102829 deg, new cmd heading: 153.101411 deg. THeadingCmd: 2.672124 target range: 27.407160 and range: 27.60 m.b+@ZrjRJB~~}||||@8@ԑ ]{BeeIOZ; < +@ <d=i+@iԹEEEE^0E  checking for new query: numPingsReceived=5, elapsed TxPingTime=2.4723486G mhd ,|1hA9>b@>-@Y>Ҿޜ=>H+ۿ`? *??W?? >b@>;;)>CJ*|BJI }Mb@Mb@Mb@yyy y)yY}1Zd?Mb~jthy}"?}}D}QA y)}3@I}~@yy}\@II<2v E=y|};Q >٥ HFB >)55Μ?)59kS IBy&?:/,@y@ Ei;;<)5/A  DNOT Ignoring new targets: 27.41 m. 22:J-`BJ-UJJ-DRJ)ZJ-:bJ->9J-4J)= ProNav: ac range: 27.407160 m, nav range: 25.671215 m, bearing: 152.552543 deg, approach rate: -0.629036 m/s, LOS rate: -0.039095 deg/s, cmd heading: 153.101409 deg, new cmd heading: 153.054490 deg. =ֺHeadingCmd: 2.671305 target range: 27.407160 and range: 27.60 m.b%*@Z!r!j!R!J!B!~)~-zB})|)|1|1|5]@ 靵YIg; p<*@ -c< ._=i *@i 1rE=R>jE9checking for new query: numPingsReceived=5, elapsed TxPingTime=2.726044EEEEo0EaK P"K 9*K 2K  :K Wc/=5c"$(c= {{P"8 Ak6G }xd=ԑ ~G A A N5 >oj ,-1hAG4G6AAH>>H<H>LIH>|BH> =H<H>0DH><H>E9VI@V,@YV٥  H F E}  >)5*$Μ?)59P IBy!-,@-y@ Ei;w;?)5EBM/AMuEy) }GAAA XYAy\B!-DNOT Ignoring new targets: 27.41 m.)UIUIm ProNav: ac range: 27.407160 m, nav range: 25.440708 m, bearing: 152.538856 deg, approach rate: -0.526341 m/s, LOS rate: -0.031536 deg/s, cmd heading: 153.054485 deg, new cmd heading: 153.013052 deg. $HeadingCmd: 2.670582 target range: 27.407160 and range: 27.60 m.b*@ZrjRJB~~}|||| !@ U{BUzYI]bv; YY]<*@< q]=i*@iԱE%E!E!E%0E!checking for new query: numPingsReceived=5, elapsed TxPingTime=3.2274096Gu %#\=jG ?bG apq , 1hA9>@>,@Y>&=>H\9]ۿ?`[?@@a?d ?@> ;)>CJ/|BJIeMb@Mb@Mb@aaa a)aYeV-?y&1|{Gztye|?e`廹eףe@ a)eI@Ie@aye@I} I}V2| B=yAQ >٥ H: >)58Μ?)59M IBy?:,@y@ Ei::C)5/AsEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 27.41 m.KK ProNav: ac range: 27.407160 m, nav range: 25.177662 m, bearing: 152.522746 deg, approach rate: -0.719057 m/s, LOS rate: -0.044500 deg/s, cmd heading: 153.013053 deg, new cmd heading: 152.964216 deg. QHeadingCmd: 2.669729 target range: 27.407160 and range: 27.60 m.b*@Z!r!j!R!J!B!~)~-zB})|)|1|1|5`0 @ PIT; <<*@%)<%IZ=i-*@iYchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.481375 EaEaEaEm5Ei1:J]cBJ]]JJ]@RJYZJ]:bJ]_9J]J4JY6G '\=~G A A N >Y  DAT read: 13:51:01.4470 LVL= 22832, 27793, 20210, 32243, AGC= 58, IDX= 409,-0.06,-3.066, 1.835,-3.024, 2.872, PHS= 0.434,-0.990, 0.385, RAW= 148.2, 2.5, CAL= 151.0, -6.4, ROT= 359.0, 6.4  Ygot valid direction response: 13:51:01.4470 LVL= 22832, 27793, 20210, 32243, AGC= 58, IDX= 409,-0.06,-3.066, 1.835,-3.024, 2.872, PHS= 0.434,-0.990, 0.385, RAW= 148.2, 2.5, CAL= 151.0, -6.4, ROT= 359.0, 6.4  PDAT read: Bearing 359.0, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 359.0, 6.4 (Local)  DAT read: Range 10 to 50 : 25.5 m (Round-trip 34.0 ms) speed 0.5 m/s  ,DAT read: user:1807>  BDAT read: Tx time:13:51:02.5604  $Ping request sent. ۝ p}۝ > ܝ ~%@)ܝ ¸2=Iܝ +(@iܝ 佉ܝ @ܝ = ݙ )ݙ ݝ (?gvqF?K^?iݝ >ݝ 0ݝ ݝ = ޙ )ޙ M :publishing transmit ping time M Fpublishing direction and range infoڙ yڝ ?x‘ -V:ڙ Yڙ w ,G1hA )Ii )Ii )(?gvqF?K^?i ).checking for new query: numPingsReceived=6, elapsed TxPingTime=0.0212379-@-e,@Y-jB٥ HF+3 >19E)5=8͜?E)59=J I=ByIM ,@My@= Ei=:=d:=aG)5B0AvEZb_1hAAA,@ʁ )9@pwܿU;Qe?x‘ -V:=ҁbݔ6s%@?\] . kߖ1,?4{z/AjSƜ?rs) nB;ʳƜ? ^(  biBAKm4P"Km@9*Ki2Km :Km1|wnaJf}#uY^$<w"= cw8`Q&UC-+@ addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 3.778660 s, deltaX: -2.100000 m, approachRate: -0.555753 m/s, rangeRepo size: 4  Added new target pos. range: 25.321976 m, bearing: 154.082451 deg, lat: 36.906373 deg, lon: -122.116041 deg, deltaT: 3.778660 s, deltaX: -2.085184 m, approachRate: -0.551832 m/s, posRepo size: 4  DNOT Ignoring new targets: 25.32 m.  % ProNav: ac range: 25.321976 m, nav range: 24.712650 m, bearing: 153.545895 deg, approach rate: 0.000000 m/s, LOS rate: -0.044500 deg/s, cmd heading: 152.964217 deg, new cmd heading: 152.903479 deg. !HeadingCmd: 2.668669 target range: 25.321976 and range: 25.50 m.bz*@ZrjRJB~~}|||9@|C? IMYiIFq; <z*@|<XZ=iz*@izE9Hm>HiHmFIHm||BHm =HiHiHm<Hm(Echecking for new query: numPingsReceived=6, elapsed TxPingTime=0.239383EEEE1EԑԹ 6G `hZ=~G A A N > ~ ,Z1hA9~@~,@Y~g٥ HF)0 >checking for new query: numPingsReceived=6, elapsed TxPingTime=0.490634)5͜?)59G IBy+@y@ Ei8<Z<J)515/A]yEDNOT Ignoring new targets: 25.32 m.MEUE  ProNav: ac range: 25.321976 m, nav range: 24.456774 m, bearing: 153.541675 deg, approach rate: -0.648288 m/s, LOS rate: -0.010805 deg/s, cmd heading: 152.903483 deg, new cmd heading: 152.890690 deg. 5HMHeadingCmd: 2.668446 target range: 25.321976 and range: 25.50 m.bM*@ZqrqjyRyJB~~}||||@x?) quFyI}ɐ; y <*@ <HW=i*@iEEEAEAEE5EAY} checking for new query: numPingsReceived=6, elapsed TxPingTime=0.7427086G ԉ ZG RG A~Ga Ai Ay N > ,@2hA&|BIMb@Mb@Mb@ )Yjt?{Gzt~jtxy ?ףĻQA Q@)`@I~@yQ@I*I3  &  A=y Q >٥ H%) ->1=)55͜?=)595D EtII5}ByE ?E:E-,@Mz@5 Ei5;5;5N)5QU/AQy}DNOT Ignoring new targets: 25.32 m.ymm ProNav: ac range: 25.321976 m, nav range: 24.192032 m, bearing: 153.535099 deg, approach rate: -0.654676 m/s, LOS rate: -0.016439 deg/s, cmd heading: 152.890684 deg, new cmd heading: 152.870740 deg. 4HeadingCmd: 2.668098 target range: 25.321976 and range: 25.50 m.b*@ZrjRJB~~zB}||||`N? 靍3I};  <*@a<~Y=i*@ichecking for new query: numPingsReceived=6, elapsed TxPingTime=0.996700YE}EyEyE}P0EԁK.P"K9*K2K :KTr{/bZh_#3{T4_`%*u"|6G] YW=~G1 AA AQ N] > H H <H H H H H H H 1DH Ț<H Eԩ M checking for new query: numPingsReceived=6, elapsed TxPingTime=1.246482%< ,m/2hA9F@FL,,@YFos٥II MHUFUß U>Ye)5]͜?e)59]A I]zByam+@mz@] Ei]&;]';]Q)5B/A|EԁDNOT Ignoring new targets: 25.32 m.m ProNav: ac range: 25.321976 m, nav range: 23.955774 m, bearing: 153.533336 deg, approach rate: -0.572786 m/s, LOS rate: -0.004317 deg/s, cmd heading: 152.870740 deg, new cmd heading: 152.865398 deg. m=:J_BJcJJDRJZJ :bJx9J4JzJ*:jJ/:J:rJ:5HeadingCmd: 2.668005 target range: 25.321976 and range: 25.50 m.b5*@Z1r1j1R1J9B9~9~9}A|A|A|A|M?Ա ݳIt; i <*@_<==i*@ibEZEA ح!?׭?checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499117EEEE&4E9 6G @Z=i ~G A A N >À ,J2hA59|B5IMb@Mb@Mb@ )Yx&1?/$yA ?hA @)I@I@y@Uchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.750880ԁI}$I}<3< ,=yQ >٥ HF >)5ެ͜?)59K> IxByX ?:*@z@ Ei;I;V)5 B/AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 25.32 m. a.: a.: ProNav: ac range: 25.321976 m, nav range: 23.660076 m, bearing: 153.549766 deg, approach rate: -0.677484 m/s, LOS rate: 0.038114 deg/s, cmd heading: 152.865398 deg, new cmd heading: 152.915304 deg. A:5HeadingCmd: 2.668875 target range: 25.321976 and range: 25.50 m.b5*@Z1r9j9R9J9BA~A~E9{B}I|I|I|I|M? }{B}iI+{; ] <*@<:d>=i*@iEqEqEqE}P0EyԹ6GUA=jGU?bGU?~G AA)N=q> checking for new query: numPingsReceived=6, elapsed TxPingTime=2.002581 ,W@d2hA9R@Rf+@YRWfq٥iq uHqu` >)5H͜?)59V; IvBy })@ z@ Ei:B:_Y)5B%/A!K58P"K59*K12K5 :K5#X1mdJ1khFaa; Tm~4RHw& EiDNOT Ignoring new targets: 25.32 m.,]:,]: ProNav: ac range: 25.321976 m, nav range: 23.423248 m, bearing: 153.568132 deg, approach rate: -0.617114 m/s, LOS rate: 0.048341 deg/s, cmd heading: 152.915300 deg, new cmd heading: 152.970955 deg. ;HeadingCmd: 2.669847 target range: 25.321976 and range: 25.50 m.b*@ZrjRJB~~}||||}@ 1=PiIur; qq}8 <}*@%<*=i*@H>HHHH =HH0DHΚ<HEimchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.255060EaEaEaEaEaI J4Jw4J?0:J BJ QJJ ?RJ ZJ bJ -.9J ـ4J zJ +:jJ 0:J 4:rJ 4:6Ge Г>=~GY Ai Ay N >qΞ ,C~2hA9Fwj@F}+@YFoOg٥ii mHmFmz u>yq)5u0͜?)59u6 IurBy?:4(@z@u EiuΡ;u";u/^)5B/AEiuDNOT Ignoring new targets: 25.32 m.q:: ProNav: ac range: 25.321976 m, nav range: 23.081879 m, bearing: 153.612293 deg, approach rate: -0.601480 m/s, LOS rate: 0.078961 deg/s, cmd heading: 152.970952 deg, new cmd heading: 153.105394 deg. X;HeadingCmd: 2.672193 target range: 25.321976 and range: 25.50 m.b7+@ZrjRJB~~J{B}||||@D @ e{Be iuBDAT read: Rx Time:13:51:04.9959 }TRx dataTimestamp_ set to:1749131466.247351}checking for new query: numPingsReceived=6, elapsed TxPingTime=2.759679Iڶ; Հ <7+@ G<=i7+@irEe>jE >ԩ E E E E E 6G] =~G A A N > ,2hAIIAA9R@"f+@YHܿ?4?`w? h?/? R@i;)C )))ɺ1111ɻ1i1I19I9i=QA 99)9A ECAEDAɼAIIII)IiI)QIUbAQɽQ QɾYYYiYYiYY)a iIiٯi}8|B}IIIF3 ; =y1Q *?٥ HF *?)5=v͜?)594 IqBy(@z@ Ei;;z`)5/A DNOT Ignoring new targets: 25.32 m.  : :% ProNav: ac range: 25.321976 m, nav range: 22.919178 m, bearing: 153.634387 deg, approach rate: -0.673511 m/s, LOS rate: 0.092110 deg/s, cmd heading: 153.105397 deg, new cmd heading: 153.172151 deg. %|;-HeadingCmd: 2.673358 target range: 25.321976 and range: 25.50 m.b-N+@Z)r)j)R)J)B1~1~1}1|9|9|9|=@ PI%d); !!% <-N+@-P<-=i-N+@i19echecking for new query: numPingsReceived=6, elapsed TxPingTime=3.010755EEEEd0EiK=$P"K=}9*K92K= :K=e>puR9yI(Di~D%VB?BG y9h#@1<8|2'JIJMA6G= e=ԑ ~G H9 H9 H= LIH= |BH9 H9 H9 H= <H= EHHHH =I IhC5A A % checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264449NU > ,!2hA\95R@5Gf+@Y5|B٥11 =H9=7 =>AM)5Ec͜?U)59Eh1 IEnByYYez@E EiE;E';E(d)5/AE!%DNOT Ignoring new targets: 25.32 m.!-P:-P:= ProNav: ac range: 25.321976 m, nav range: 22.658062 m, bearing: 153.670510 deg, approach rate: -0.594520 m/s, LOS rate: 0.083192 deg/s, cmd heading: 153.172156 deg, new cmd heading: 153.281771 deg. =`d;:JMfBJM\JJM@RJIZJM|":bJM[9JMJ4JIzJM;jJM;JMҁ:rJMԁ:uHeadingCmd: 2.675272 target range: 25.321976 and range: 25.50 m.bu7+@ZqrqjyRyJyBy~~}||||fv @ 靽RI; 9 <7+@Z<Ҕ=i7+@iE}EyEyE}}0EyDAT read: 13:51:04.9959 LVL= 24048, 27825, 21138, 32755, AGC= 60, IDX= 412, 0.25, 1.232,-0.164, 1.304, 0.867, PHS= 0.453,-0.984, 0.434, RAW= 149.3, 1.4, CAL= 152.2, -7.5, ROT= 357.8, 7.5 Ygot valid direction response: 13:51:04.9959 LVL= 24048, 27825, 21138, 32755, AGC= 60, IDX= 412, 0.25, 1.232,-0.164, 1.304, 0.867, PHS= 0.453,-0.984, 0.434, RAW= 149.3, 1.4, CAL= 152.2, -7.5, ROT= 357.8, 7.5 PDAT read: Bearing 357.8, 7.5 (Local) ~Local bearing/azimuth received: Bearing 357.8, 7.5 (Local) DAT read: Range 10 to 50 : 23.4 m (Round-trip 31.3 ms) speed 0.7 m/s %,DAT read: user:1808> MBDAT read: Tx time:13:51:06.1089 U$Ping request sent.U}m{}?5> } &@)}+ y)y}ʱ(?p$Y??i}/?}ļ}F} > y)ym :publishing transmit ping timeQu Fpublishing direction and range info6G e[=yy}?-񒼑| /yYy y)yIyiyyyyy y)yIyiyyy y)y}ʱ(?p$Y??iy9 yyy y)ye checking for new query: numPingsReceived=7, elapsed TxPingTime=0.100455~G A A N > ,v2hA9RX@Rdk+@YR[9٥ HF>: >)5)5-O͜?=)59-- I-kByE?E:E&@Ez@- Ei-<-<-g)5uB}/A}EZbFC2hAAAi)@ʁ-YbR7@u%L쿕_vC?-񒼑| /F >ҁgB4u%@z` ikJIh뿋J:?U;EfWn¿z.Aj4tƜ?rG nB4tƜ?ҫ  wjBꁵ4A*@5 addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 3.529556 s, deltaX: -2.100000 m, approachRate: -0.594976 m/s, rangeRepo size: 4 Ae Added new target pos. range: 23.236561 m, bearing: 151.770207 deg, lat: 36.906371 deg, lon: -122.116035 deg, deltaT: 3.529556 s, deltaX: -2.085415 m, approachRate: -0.590843 m/s, posRepo size: 4 imDNOT Ignoring new targets: 23.24 m.iuq ProNav: ac range: 23.236561 m, nav range: 22.775717 m, bearing: 152.812640 deg, approach rate: 0.000000 m/s, LOS rate: 0.083192 deg/s, cmd heading: 153.281767 deg, new cmd heading: 153.390714 deg. HeadingCmd: 2.677173 target range: 23.236561 and range: 23.40 m.bV+@ZrjRJB~~D{B}|||`ff7@|vh? -{B51I5K; 99=s ! ,DM2hA9>J@]+@Yt@? ?? @?x? >J@@;)C-=|B-II= I=b3M< Mj=yUQ U?٥QQ ]HY] ]>am)5e>@͜?m)59e* IeiByqu&@uz@e EieS:e`:ej)5y}.AԙB*** querying acoustic contact ***JRDNOT Ignoring new targets: 23.24 m.:: ProNav: ac range: 23.236561 m, nav range: 22.563456 m, bearing: 152.844339 deg, approach rate: -0.654261 m/s, LOS rate: 0.098626 deg/s, cmd heading: 153.390708 deg, new cmd heading: 153.486700 deg. _;HeadingCmd: 2.678848 target range: 23.236561 and range: 23.40 m.b@r+@ZrjRJB~~}||||@?K5Q"K5@9*K12K5 :K56 ] DOhpITl6)y.q}:t`\0JE>JE> AMZQIIM; IQU<]@r+@]*\<]HHRIH|BH =HHH<HEE E E E R5Echecking for new query: numPingsReceived=7, elapsed TxPingTime=0.729091 ƈGA) ]Y]Ay]B6G=FY ,Y03hA"checking for new query: numPingsReceived=7, elapsed TxPingTime=0.9800639J0@JC+@YJ٥hl nHnFnk n>pv)5r.͜?v)59r' IrfByxz&@~z@r Eir<;r=;rYn)5 B /A EDNOT Ignoring new targets: 23.24 m.::ԙ ProNav: ac range: 23.236561 m, nav range: 22.324625 m, bearing: 152.881669 deg, approach rate: -0.583245 m/s, LOS rate: 0.092141 deg/s, cmd heading: 153.486700 deg, new cmd heading: 153.599890 deg. |;-HeadingCmd: 2.680824 target range: 23.236561 and range: 23.40 m.b-+@Z1r1j9R9JABi~y~y}|||| ?  {B靕آI]; y}L<+@G<Tl ,3hA9V.@VA+@YVo;yV ~=VHi`ܿ"g?@?ȇQ$?@?? V.@Vw;)VCb8|BbIMb@Mb@Mb@ )YZd;?y&1|y?L` ~@)@Iy@IIF3 U< 5=yQ >٥ HF >)5͜?)59# IcBy?:+&@z@ EiX~;~;Ir)5  /A 1=DNOT Ignoring new targets: 23.24 m.9E ;E ;U ProNav: ac range: 23.236561 m, nav range: 22.044703 m, bearing: 152.934070 deg, approach rate: -0.653074 m/s, LOS rate: 0.123806 deg/s, cmd heading: 153.599890 deg, new cmd heading: 153.759087 deg. U;]HeadingCmd: 2.683602 target range: 23.236561 and range: 23.40 m.b]$+@ZYrYjYRYJaBa~a~eW{B}i|i|i|q|u@?ԁechecking for new query: numPingsReceived=7, elapsed TxPingTime=1.500692 m!{BmI:^; -<$+@0<gHi Hi Hi Hm  =Hi Hm 1DHm <Hi 6G V<׉ ׉  checking for new query: numPingsReceived=7, elapsed TxPingTime=1.736193~G A A N- > ,I43hA9V}=@VP+@YV@ ٥tx zHxz ; z>|)5~ ͜?)59~ I~`By  :&@ z@~! Ei~:~K:~u)5.AEi}DNOT Ignoring new targets: 23.24 m.y;; ProNav: ac range: 23.236561 m, nav range: 21.813730 m, bearing: 152.977740 deg, approach rate: -0.615411 m/s, LOS rate: 0.117589 deg/s, cmd heading: 153.759088 deg, new cmd heading: 153.891485 deg. f;]HeadingCmd: 2.685913 target range: 23.236561 and range: 23.40 m.b]+@ZYrYjYRYJaBa~i~i}||||Xr? #{B3IV; <+@w<t ,_N3hA9N`@N>t+@YN^٥ HF!; > )5 ̜?)59  I \By?:A%@z@ % Ei ; ; ^y)5!%+/A!YeDNOT Ignoring new targets: 23.24 m.ae#;m#;} ProNav: ac range: 23.236561 m, nav range: 21.550652 m, bearing: 153.039331 deg, approach rate: -0.604259 m/s, LOS rate: 0.143194 deg/s, cmd heading: 153.891484 deg, new cmd heading: 154.078511 deg. };HeadingCmd: 2.689177 target range: 23.236561 and range: 23.40 m.b{,@ZrjRJB~~}|||| u@ E${BE(iIm; qqua<}{,@}<}I ,Vh3hA@9F3@F+@YF ٥ll nH5F=; =>AM)5E̜?M)59E IEXByIUs%@Uz@E) EiEK:E:E|)5]B]$/A]E}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 23.24 m. ; ; ProNav: ac range: 23.236561 m, nav range: 21.324005 m, bearing: 153.091752 deg, approach rate: -0.601724 m/s, LOS rate: 0.140652 deg/s, cmd heading: 154.078508 deg, new cmd heading: 154.237442 deg. ;HeadingCmd: 2.691951 target range: 23.236561 and range: 23.40 m.bH,@ZrjRJB~~}||||{@ &{B I K;   ;<H,@<K0yH%>H!H!H!H% =H!H!H%<H%EEEEE_0E}BDAT read: Rx Time:13:51:08.5413 TRx dataTimestamp_ set to:1749131469.777266checking for new query: numPingsReceived=7, elapsed TxPingTime=2.7485556GHv<~GAA N >  checking for new query: numPingsReceived=7, elapsed TxPingTime=2.9958867 ,23hAl9-@-+@Y-$٥ HFI; %>1=)55̜?])595 I5RBy]?]:]$@ez@5. Ei5m;5;5)5im!/AmEDNOT Ignoring new targets: 23.24 m.=:;=:; ProNav: ac range: 23.236561 m, nav range: 20.985508 m, bearing: 153.184204 deg, approach rate: -0.586681 m/s, LOS rate: 0.162822 deg/s, cmd heading: 154.237447 deg, new cmd heading: 154.519274 deg. |; HeadingCmd: 2.696870 target range: 23.236561 and range: 23.40 m.b ,@Z rjRJB~~}!|)|)|1}checking for new query: numPingsReceived=7, elapsed TxPingTime=3.247866ԁ|5  @ e ){Be I ); =< ,@ T< 0 UBDAT read: Tx time:13:51:09.6589 ]$Ping request sent.]5|5ff> 5ϩ'@)5޹ 1)15(bP? ?DW?i5.?55QQO5> 1)1:publishing transmit ping timeYFpublishing direction and range info1~G9AAAYNe?o9 ,3hAyU³?}Pd) QYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QU(bP? ?DW?iQQQQ Q)QVchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.0477199j~@j,@Yju$HHLIH|BH =HH0DH<HEuchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.213357|B Ii=I=I $I <3Mʼ U=yUQ U>٥YY ]H]F][; ]>q})5u̜?})59u IuLBy$@z@u4 Eiu;u;u)5B\/AEZQbU<3hAUAUAUy)@ʁUJM4@ꗑsmv;+U³?}Pd) UQQOU>ҁU*4A2"C#@?m_UVx1Ov?ܝ*¿zU"AU jUOƜ?rU& UoBQQ UnBUAUb8+@u addTargetRange:: Added new target pos. range: 21.100000 m, deltaT: 3.528379 s, deltaX: -2.299999 m, approachRate: -0.651857 m/s, rangeRepo size: 4  Added new target pos. range: 20.952557 m, bearing: 151.721867 deg, lat: 36.906371 deg, lon: -122.116035 deg, deltaT: 3.528379 s, deltaX: -2.284004 m, approachRate: -0.647324 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.95 m. M  ProNav: ac range: 20.952557 m, nav range: 20.619196 m, bearing: 153.284338 deg, approach rate: 0.000000 m/s, LOS rate: 0.162822 deg/s, cmd heading: 154.519274 deg, new cmd heading: 154.823340 deg. I  HeadingCmd: 2.702177 target range: 20.952557 and range: 21.10 m.b x,@Z r j R J B ~ ~ } | | | 5@| ? 5 ,{B= H9 I= < A A E T٥ii mHim u>q)5u{̜?)59u> IuGBy?:%@z@u9 Eiu;u ;u׊)5/AEDNOT Ignoring new targets: 20.95 m.h*;h*;9e ProNav: ac range: 20.952557 m, nav range: 20.355312 m, bearing: 153.346700 deg, approach rate: -0.622349 m/s, LOS rate: 0.148982 deg/s, cmd heading: 154.823340 deg, new cmd heading: 155.012850 deg. e};mHeadingCmd: 2.705485 target range: 20.952557 and range: 21.10 m.bm&-@ZirqjqRqJqBq~~\{B}||||n? .{BlI< !%<%&-@-<-3DO ,3hA9>@>,@Y> ;y>;=>HSFۿ Jӗ?@O?`J?`,@.?? >@>';)>C5{B=IAIMIMT38n j=y@ϻQ >٥ HF = >)5g̜?)59m ICBy&@z@< Ei::)5&0A DNOT Ignoring new targets: 20.95 m. [;[;% ProNav: ac range: 20.952557 m, nav range: 20.147427 m, bearing: 153.390078 deg, approach rate: -0.594513 m/s, LOS rate: 0.125333 deg/s, cmd heading: 155.012851 deg, new cmd heading: 155.144328 deg. %;-HeadingCmd: 2.707779 target range: 20.952557 and range: 21.10 m.b-BL-@Z)r1j1R1J1B1~9~9}9|9|A|A|E`#? 0{B靅ŷI<  <BL-@<>HH?IHr|BH =HHH<HEHaHaHaHaIa IeQa5KqLP"K9*K2K :K' kg.F:.=KsQBbj4vU X>8'&mJ?J?EEEEc4E-checking for new query: numPingsReceived=8, elapsed TxPingTime=1.221261ԙ6GӔ<ZGRG}A~G A A! NE > _ , a3hA9B@B/-@YBD٥ii uHqu[< u>y)5}L̜?)59}F I}?By&@z@}@ Ei}`:y}[)5B0Achecking for new query: numPingsReceived=8, elapsed TxPingTime=1.473468EԹB*** querying acoustic contact ***JRUDNOT Ignoring new targets: 20.95 m.Q];e; ProNav: ac range: 20.952557 m, nav range: 19.912348 m, bearing: 153.436513 deg, approach rate: -0.593524 m/s, LOS rate: 0.118623 deg/s, cmd heading: 155.144332 deg, new cmd heading: 155.285282 deg. Ң;HeadingCmd: 2.710239 target range: 20.952557 and range: 21.10 m.bt-@ZrjRJB~~}||||X? E3{BE#IIu3B < qqu;P<}t-@}q<}NU checking for new query: numPingsReceived=8, elapsed TxPingTime=1.725297A ? ,C<4hA{BIIyI}@A:J^BJZJJBRJZJ} :bJS9J-4JMb@Mb@Mb@ )Y㥛 ?~jtQy?Du )I@y(@II2 A=yQ >٥ HF   >-)5#o̜?5)59 I9By?:(@z@D Ei<< )5:0AE  DNOT Ignoring new targets: 20.95 m.15:5:u ProNav: ac range: 20.952557 m, nav range: 19.664982 m, bearing: 153.473894 deg, approach rate: -0.557380 m/s, LOS rate: 0.085288 deg/s, cmd heading: 155.285280 deg, new cmd heading: 155.398832 deg. u!j;}HeadingCmd: 2.712221 target range: 20.952557 and range: 21.10 m.b -@ZrjRJB~~6{B}||||n?checking for new query: numPingsReceived=8, elapsed TxPingTime=1.977612 5{BKZI < s>;% -@%<%~LH H -IH S|B) H  =H H H <H EM ՈGe Ay ~Gq ԩ PY Ay SBA A KE mP"KE 9*KA 2KE  :KE PBBn<7yULg kt0F 'XB3yi\-*ht1J AJ N >] checking for new query: numPingsReceived=8, elapsed TxPingTime=2.2294383 ,.34hA9r@r-@Yr&N)٥qq uHuF}< }>)5n^̜?)59+ I4By(@z@G Ei;+;n)50ADNOT Ignoring new targets: 20.95 m.:: ProNav: ac range: 20.952557 m, nav range: 19.438610 m, bearing: 153.502025 deg, approach rate: -0.622744 m/s, LOS rate: 0.078289 deg/s, cmd heading: 155.398838 deg, new cmd heading: 155.484214 deg. V;HeadingCmd: 2.713712 target range: 20.952557 and range: 21.10 m.bs-@ZrjRJB~~}||||#@ ]7{B]צYIea< aae{f;ims-@u  ,L4hA96 @6b.@Y6a3٥ H6< >)5M̜?)59l I0By?:+@z@K Ei:t;)5B0AEDNOT Ignoring new targets: 20.95 m.2929  ProNav: ac range: 20.952557 m, nav range: 19.207891 m, bearing: 153.505962 deg, approach rate: -0.565902 m/s, LOS rate: 0.009773 deg/s, cmd heading: 155.484216 deg, new cmd heading: 155.496169 deg. 9-HeadingCmd: 2.713920 target range: 20.952557 and range: 21.10 m.b-ް-@Z)r)j)R)J)B)~1~5{B}9|9|9|9|= $@%checking for new query: numPingsReceived=8, elapsed TxPingTime=2.735265 U9{BU9YI]mB< YY]U;eް-@e)  BDAT read: Rx Time:13:51:12.0884  TRx dataTimestamp_ set to:1749131473.555387 checking for new query: numPingsReceived=8, elapsed TxPingTime=2.986456? ,f4hA 9Jg @Jtz.@YJ?4>ٿF? ?`,`ڳ?dƇdd?@j? Jg @J;)JCV{BTI^!I^i3f jW=yj:Q j>٥hl rHrFrr< v>x~)5z<̜?~)59z Iz+Bys+@z@zN EizV;z;zQ)5  0A 1=DNOT Ignoring new targets: 20.95 m.9=r7Er7U ProNav: ac range: 20.952557 m, nav range: 18.992229 m, bearing: 153.506149 deg, approach rate: -0.566533 m/s, LOS rate: 0.000497 deg/s, cmd heading: 155.496169 deg, new cmd heading: 155.496736 deg. U7UHeadingCmd: 2.713930 target range: 20.952557 and range: 21.10 m.b]-@ZYrajaRaJiBi~q~q}q|q|q|y|} @ ;{B靭⠙IX< ;-@$<#=i-@iE1E1E1E=0E9qHU >HUCHUIHU5|BHU =HQHU1DHU<HUEK%}TP"K%}9*K!2K% :K% KDCZAWDJi}Q~B;9SNo$*IvHC3J5>J5>%checking for new query: numPingsReceived=8, elapsed TxPingTime=3.237236ԙ6G$3=~G1AYAyN> :J BJ YJJ ARJ ZJ bJ [O9J 4J zJ ]: jJ b: J %n: rJ (n: -( ,4hA9B @B.@YB6fD٥hh jHjFn@< r>pv)5r+̜?z)59r; Ir'Byxz+@zz@rR EirS:r`:r֢)5|0AE)-DNOT Ignoring new targets: 20.95 m.)5B5BM ProNav: ac range: 20.952557 m, nav range: 18.764017 m, bearing: 153.503014 deg, approach rate: -0.566922 m/s, LOS rate: -0.007882 deg/s, cmd heading: 155.496742 deg, new cmd heading: 155.487223 deg. UUHeadingCmd: 2.713764 target range: 20.952557 and range: 21.10 m.b]O-@ZYrYjYRYJYBa~a~a}a|i|i|i|mI1 @DAT read: 13:51:12.0884 LVL= 23840, 27985, 20914, 32755, AGC= 58, IDX= 416, 0.10, 0.133,-1.284, 0.296,-0.191, PHS= 0.412,-1.046, 0.484, RAW= 152.4, 2.0, CAL= 154.7, -6.9, ROT= 355.3, 6.9 Ygot valid direction response: 13:51:12.0884 LVL= 23840, 27985, 20914, 32755, AGC= 58, IDX= 416, 0.10, 0.133,-1.284, 0.296,-0.191, PHS= 0.412,-1.046, 0.484, RAW= 152.4, 2.0, CAL= 154.7, -6.9, ROT= 355.3, 6.9 PDAT read: Bearing 355.3, 6.9 (Local) ~Local bearing/azimuth received: Bearing 355.3, 6.9 (Local) UDAT read: Range 10 to 50 : 18.9 m (Round-trip 25.3 ms) speed 0.5 m/s ],DAT read: user:1810> eBDAT read: Tx time:13:51:13.2089 e$Ping request sent.e}Tㅿ}> };*@)}5=I}3,@i}Ϣ}o@}Ϣ= y)y}m(?2˄!?4%?i}4?}5}}Ϣ= y)y:publishing transmit ping timeaFpublishing direction and range infoyy}7_/R?4 ӴrjƹIyYy y)yIyiy ={BBpR& ,4hA9>v @>/@Y>_&=>H Tb IKٿW?U?@i?e?@? >v @>;)>CJ{BJIMb@Mb@Mb@ )Ygfffff?~jt{Gzy3?D# )I@yII(*3E E5=yE$Q E>٥II MHIU]< >)5a̜?)59] I"ByA?:-@z@V Eib;;զ)50AZb4hA%A%Ay*@ʁp#ّ2@ߏدhm3 7_/R?4 ӴrjƹIϢ=ҁ 0;P!@#!##쿜Ze&?|zAj>Ɯ?rV% EqBV%  nBꁭ Ač*@} addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 3.526176 s, deltaX: -2.200001 m, approachRate: -0.623906 m/s, rangeRepo size: 4  Added new target pos. range: 18.768305 m, bearing: 152.617925 deg, lat: 36.906371 deg, lon: -122.116032 deg, deltaT: 3.526176 s, deltaX: -2.184252 m, approachRate: -0.619439 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.77 m. ProNav: ac range: 18.768305 m, nav range: 18.630405 m, bearing: 152.687670 deg, approach rate: 0.000000 m/s, LOS rate: -0.007882 deg/s, cmd heading: 155.487221 deg, new cmd heading: 155.475888 deg. )=HeadingCmd: 2.713566 target range: 18.768305 and range: 18.90 m.b=-@ZArAjARAJQBQ~Y~]{B}a|achecking for new query: numPingsReceived=9, elapsed TxPingTime=0.475492||`f2@| hL? %?{B-^߅ԁ Hq Hu IHu |BHu  =Hq Hq Hu <Hu EK] (;P"KY *KY 2K]  :K] }"6 4mMc{ ^}EH"CB p%A6Gm 4=9 9 E checking for new query: numPingsReceived=9, elapsed TxPingTime=0.727524~G9 AQ Aa Nu >, ,4hA9bs!!@b4/@Yb9٥ HF2; >)5̜?)59 IBy-@z@Z Ei3;;%)50AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 18.77 m.  ProNav: ac range: 18.768305 m, nav range: 18.412706 m, bearing: 152.651371 deg, approach rate: -0.608045 m/s, LOS rate: -0.102586 deg/s, cmd heading: 155.475883 deg, new cmd heading: 155.365697 deg.  ΌHeadingCmd: 2.711643 target range: 18.768305 and range: 18.90 m.b-@ZrjRJB~~}!|!|!|!|%? e@{Be\RRJaZJe:bJe=h9Jet4JazJe;jJe;Je:rJe:ԩ6G@=~GAANE>checking for new query: numPingsReceived=9, elapsed TxPingTime=0.979175 h3 ,L4hA9V!@VP*/@YVM&/٥ HFOѺ >)5˜?)59 IBy?:_.@z@] Ei::)5 1Aԉchecking for new query: numPingsReceived=9, elapsed TxPingTime=1.231501DNOT Ignoring new targets: 18.77 m.jj ProNav: ac range: 18.768305 m, nav range: 18.182507 m, bearing: 152.607553 deg, approach rate: -0.533873 m/s, LOS rate: -0.102909 deg/s, cmd heading: 155.365698 deg, new cmd heading: 155.232580 deg. @HeadingCmd: 2.709320 target range: 18.768305 and range: 18.90 m.b~e-@Zr!j!R!J!BA~I~M {B}I|I|Q|Q|Uh_? A{BK= checking for new query: numPingsReceived=9, elapsed TxPingTime=1.482726~G A A N > b9 ,4hA9>'!@>;/@Y>G2=>H4m`ٿLՙ?-"?I@[ ?6?? >'!@>;)>Cj{BhIrIr3zc; zV=y~܁;Q ~>٥| H/; > )5 ˜?)59 5 I Byo.@z@ a Ei ; ; )5%B%1A-EaeDNOT Ignoring new targets: 18.77 m.am~ m~ } ProNav: ac range: 18.768305 m, nav range: 17.963423 m, bearing: 152.564135 deg, approach rate: -0.616691 m/s, LOS rate: -0.123704 deg/s, cmd heading: 155.232578 deg, new cmd heading: 155.100738 deg. }˩HeadingCmd: 2.707019 target range: 18.768305 and range: 18.90 m.b?-@ZrjRJB~~}||||? B{Bn"HHIH |BH =HHHN<H:E6GR`U=~GaAqAN9>K٥  H F   >)5 ˜?)59 IBy)-e.@-z@e Eif9;a>;)59=1A9echecking for new query: numPingsReceived=9, elapsed TxPingTime=1.986734quDNOT Ignoring new targets: 18.77 m.q}8}8 ProNav: ac range: 18.768305 m, nav range: 17.731638 m, bearing: 152.517513 deg, approach rate: -0.571553 m/s, LOS rate: -0.116469 deg/s, cmd heading: 155.100742 deg, new cmd heading: 154.959046 deg. ܟHeadingCmd: 2.704545 target range: 18.768305 and range: 18.90 m.bF-@ZrjRJB~~}||||:9@ C{BL checking for new query: numPingsReceived=9, elapsed TxPingTime=2.238664 F ,5hA9:.!@:oA/@Y:r٥ HF: >)5ʻ˜?)59 IBy@?:.@z@i Eif:b:ڸ)5B0AE)-DNOT Ignoring new targets: 18.77 m.)55M ProNav: ac range: 18.768305 m, nav range: 17.444380 m, bearing: 152.451742 deg, approach rate: -0.582078 m/s, LOS rate: -0.135466 deg/s, cmd heading: 154.959043 deg, new cmd heading: 154.758483 deg. MUHeadingCmd: 2.701045 target range: 18.768305 and range: 18.90 m.bU,@ZQrQjQRQJQBY~Y~]={B}Y|a|auchecking for new query: numPingsReceived=9, elapsed TxPingTime=2.491624|a|H@ 5D{B5;H H IH |BH  =H H H p<H jEHɛCHɛCHH =I = IU5A 6G] Cf=% checking for new query: numPingsReceived=9, elapsed TxPingTime=2.742862K% 4P"K% ŷ9*K! 2K%  :K%  hOT3 ^v}p--5Y{,xe;cX_>~G1 AA A N >L ,F65hAh9r=!@rP/@Yrv:Q >٥ H0; >)5˜?)59 IBy.@z@m Ei:B:)5 0A E5B*** querying acoustic contact ***J1R1AEDNOT Ignoring new targets: 18.77 m.IM M ] ProNav: ac range: 18.768305 m, nav range: 17.239843 m, bearing: 152.402925 deg, approach rate: -0.582637 m/s, LOS rate: -0.140708 deg/s, cmd heading: 154.758481 deg, new cmd heading: 154.610293 deg. ]"eHeadingCmd: 2.698459 target range: 18.768305 and range: 18.90 m.be,@ZirijiRiJiBi~q~q}q|q|q|y|}@ 靭݂-%=5BDAT read: Rx Time:13:51:15.6358 =TRx dataTimestamp_ set to:1749131477.084167Echecking for new query: numPingsReceived=9, elapsed TxPingTime=2.997494IAQN]v>y S , P5hA9VBS!@Vf/@YVjx٥ HFR; >!=)5%˜?E)59% I%ByEU?E:E.@Ez@%p Ei%;%;%)5IU0AQy}DNOT Ignoring new targets: 18.77 m.yddchecking for new query: numPingsReceived=9, elapsed TxPingTime=3.247896 ProNav: ac range: 18.768305 m, nav range: 16.996279 m, bearing: 152.347589 deg, approach rate: -0.593310 m/s, LOS rate: -0.136729 deg/s, cmd heading: 154.610293 deg, new cmd heading: 154.441904 deg. HeadingCmd: 2.695520 target range: 18.768305 and range: 18.90 m.be,@ZrjRJB~~>{B}||||F @ E{B{C DAT read: 13:51:15.6358 LVL= 22512, 29153, 20194, 31027, AGC= 57, IDX= 420,-0.25, 1.058,-0.328, 1.376, 0.825, PHS= 0.321,-1.106, 0.548, RAW= 157.3, 3.1, CAL= 158.7, -5.9, ROT= 351.3, 5.9  Ygot valid direction response: 13:51:15.6358 LVL= 22512, 29153, 20194, 31027, AGC= 57, IDX= 420,-0.25, 1.058,-0.328, 1.376, 0.825, PHS= 0.321,-1.106, 0.548, RAW= 157.3, 3.1, CAL= 158.7, -5.9, ROT= 351.3, 5.9  PDAT read: Bearing 351.3, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 351.3, 5.9 (Local)  DAT read: Range 10 to 50 : 16.9 m (Round-trip 22.6 ms) speed 0.5 m/s  ,DAT read: user:1811>  BDAT read: Tx time:13:51:16.7590  $Ping request sent. = h= I ? = /@)= k]=I= E1@i= Bҽ= 3@= B= 9 )9 = rqm?nUY?VE?i= ڈ&?= f\= |= B= 9 )9  :publishing transmit ping timeڹ  Fpublishing direction and range info9 y= V)v?ACBÿzBP9 Y9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 9 )9 = rqm?nUY?VE?i9 9 9 9 9 )9  checking for new query: numPingsReceived=10, elapsed TxPingTime=0.009167~G9 AI A N >'Z ,@i5hA9}d!@}Rx/@Y}0r٥aa eHeFR); >)5˜?)59V I By.@z@t Ei::*)5B0AEHU>HQHUIHU |BHU =HQHQHU<HUEuG XYyaBZibm*e5hAmBAmBAm4&@ʁm!QY0@Lv:V3gmV)v?ACBÿzBPm|mB=ҁm~y,?!@EBhEme%뿋UIVq?`|y7Mzm Amcjm@(Ɯ?rm7 m0sBm>Ɯ?mG  moBmTAme)@M addTargetRange:: Added new target pos. range: 16.900000 m, deltaT: 3.528080 s, deltaX: -2.000000 m, approachRate: -0.566881 m/s, rangeRepo size: 4  Added new target pos. range: 16.782339 m, bearing: 148.794611 deg, lat: 36.906371 deg, lon: -122.116030 deg, deltaT: 3.528080 s, deltaX: -1.985966 m, approachRate: -0.562903 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.78 m. ProNav: ac range: 16.782339 m, nav range: 16.791355 m, bearing: 151.652199 deg, approach rate: 0.000000 m/s, LOS rate: -0.136729 deg/s, cmd heading: 154.441902 deg, new cmd heading: 154.252059 deg. HeadingCmd: 2.692206 target range: 16.782339 and range: 16.90 m.bM,@ZrjRJB~~}|||`f0@|I-? amj` ,P5hAjchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.4879909]o!@]e/@Y]Me;)Y{BIi=Ip<II?13k< P=y/Q >)٥qq }Hy}.: }>)5s˜?)59 I By.@z@x Ei#;.;)50A9eDNOT Ignoring new targets: 16.78 m.aeBWeBWu ProNav: ac range: 16.782339 m, nav range: 16.547367 m, bearing: 151.582689 deg, approach rate: -0.650989 m/s, LOS rate: -0.188195 deg/s, cmd heading: 154.252063 deg, new cmd heading: 154.040460 deg. }(HeadingCmd: 2.688513 target range: 16.782339 and range: 16.90 m.b,@ZrjRJB~~}||||@V? Ye(ԩ yg ,ם5hAIlInAA={B=I]Mb@Mb@Mb@YYY Y)YY]rh|?{Gzy]?]ףYY ]@)]hAI]@Yy]f@I}I}3'< A=yQ >ԙ٥ HF >)53`˜?)59 I By?:i-@z@| Ei/:w:H)5q0AEDNOT Ignoring new targets: 16.78 m."" ProNav: ac range: 16.782339 m, nav range: 16.302128 m, bearing: 151.527480 deg, approach rate: -0.623444 m/s, LOS rate: -0.142462 deg/s, cmd heading: 154.040464 deg, new cmd heading: 153.872347 deg. û%HeadingCmd: 2.685579 target range: 16.782339 and range: 16.90 m.b-+@Z)r)j)R)J)B1~1~5g{B}1|9|9|9|= n?checking for new query: numPingsReceived=10, elapsed TxPingTime=0.991774 ]Ig'%< +;+@-<-=i-+@i1EEEE0EHM >HI HM IHM |BHM  =HI HI HM <HM E6G% =~G A A N- > checking for new query: numPingsReceived=10, elapsed TxPingTime=1.243926K .P"K *K 2K  :K F5 & UyGB:W )x9f #! J- AJ- }AC]m , 5hA9N2!@N/@YN3٥ll nHlrG< r>tz)5vO˜?z)59v IvByxz-@zz@v Eiv;v<;vY)5BZ0AE)-DNOT Ignoring new targets: 16.78 m.)5+.5+.E ProNav: ac range: 16.782339 m, nav range: 16.088945 m, bearing: 151.474831 deg, approach rate: -0.608488 m/s, LOS rate: -0.152269 deg/s, cmd heading: 153.872346 deg, new cmd heading: 153.712305 deg. MѻeHeadingCmd: 2.682786 target range: 16.782339 and range: 16.90 m.beò+@ZarijiR J B ~~}|||| ? imqIu&< qqu];}ò+@}<}周=i}ò+@iE9EAEAEE5EAFIFM}Achecking for new query: numPingsReceived=10, elapsed TxPingTime=1.4958496G=) ~GY Ai A N >@t ,5hA9j&!@j/@YjB#٥ HF{/; >)57;˜?)59 IByw ?:,@z@ Eii ; ;)5Echecking for new query: numPingsReceived=10, elapsed TxPingTime=1.749313B*** querying acoustic contact ***JRDNOT Ignoring new targets: 16.78 m.33IU ProNav: ac range: 16.782339 m, nav range: 15.818540 m, bearing: 151.422757 deg, approach rate: -0.581157 m/s, LOS rate: -0.113830 deg/s, cmd heading: 153.712301 deg, new cmd heading: 153.553410 deg. U=]HeadingCmd: 2.680012 target range: 16.782339 and range: 16.90 m.b]S+@ZYrYjYRYJaBa~a~ev{B}||||? F{B I n(<   ;S+@<=iS+@iEEEE5Ey:JaBJVJJARJZJ:bJB9J4J@@@@ԩ  checking for new query: numPingsReceived=10, elapsed TxPingTime=2.0004596G% =~G A A N% >.kz ,5hA<9B^!@B/@YB{ HHIH+|BH =HHH<HE{BIII2eBP< e٥qq uHuFux u>y)5}N%˜?)59}^ I}By,@z@} Ei}f;}Q;}#)5(0AEԩDNOT Ignoring new targets: 16.78 m.ee ProNav: ac range: 16.782339 m, nav range: 15.530957 m, bearing: 151.365516 deg, approach rate: -0.670146 m/s, LOS rate: -0.135857 deg/s, cmd heading: 153.553403 deg, new cmd heading: 153.378501 deg. yHeadingCmd: 2.676960 target range: 16.782339 and range: 16.90 m.bOS+@ZrjRJB~~} | | | | `@ MG{BMzQIU*< QQU;]OS+@]<]=i]OS+@iaMchecking for new query: numPingsReceived=10, elapsed TxPingTime=2.252360KP"K@9*K2K :Krshf|Q8=U':^z1l5=&;o&>tJ>J?E9E9E9E=`5E9 6G] F=~G9 AY Ay N >Q ,6hA96?!@6/@Y6eI,< %Yk;%-+@%Ř<-J=i--+@i)aEEEEP0EqUchecking for new query: numPingsReceived=10, elapsed TxPingTime=2.7561486GM ِ=~G! A1 AI NU >ԡ | ,^g6hA9>!@>Z/@Y> =>H l ؿ ? H? ps?@{`Q;?7? >!@>4H;)>C:JVbBJVTJJVDRJTZJV:bJV:9JV4JT{B%IquMb@Mb@Mb@qqq q)qYu+?ˡE{Gztyu?u'uףuA u@)qIuI@qyu@II 3< ;=yzQ >٥ HF䜻 >)5D˜?)59 IBy ?:x+@z@ Ei:M:)5B0AMEDNOT Ignoring new targets: 16.78 m.BDAT read: Rx Time:13:51:19.1830 TRx dataTimestamp_ set to:1749131480.611647checking for new query: numPingsReceived=10, elapsed TxPingTime=3.0092868ͺ8ͺ ProNav: ac range: 16.782339 m, nav range: 15.042070 m, bearing: 151.282530 deg, approach rate: -0.605732 m/s, LOS rate: -0.089708 deg/s, cmd heading: 153.246851 deg, new cmd heading: 153.125546 deg. CvHeadingCmd: 2.672545 target range: 16.782339 and range: 16.90 m.b +@ZrjRJB~~{B}!|!|I|I|M Z@ I{B靝RV<ԡI)>I.< ; +@ѯ<V=i +@i!EEEEO0EH>HHIH5|BH =HHH<HE6G = e Aa m checking for new query: numPingsReceived=10, elapsed TxPingTime=3.261291~G A A N >K (P"K }9*K 2K  :K ^_18K}Z?_jIs/()2tJ! J% AХ ,>96hA96_!@6mr/@Y6l;y6$g=6H_xؿ@F??9k@?:~r?? 6_!@6Q~;)4={BEIIu Iu2z U=yn/Q >٥!) -H-FA >)5 ʜ?)59 IByH+@z@ Ei;;)5 B $0A EDNOT Ignoring new targets: 16.78 m.ǺǺ  ProNav: ac range: 16.782339 m, nav range: 14.786972 m, bearing: 151.247014 deg, approach rate: -0.615956 m/s, LOS rate: -0.087237 deg/s, cmd heading: 153.125547 deg, new cmd heading: 153.017159 deg.  zo%HeadingCmd: 2.670653 target range: 16.782339 and range: 16.90 m.b%*@Z!r)j)R)J)B1~9~9}9|9|A|A|E @ }J{B}I0< ;*@<IJ=i*@iE]EaEaEeP0EaDAT read: 13:51:19.1830 LVL= 24176, 26961, 17138, 31603, AGC= 56, IDX= 407,-0.18, 2.608, 1.233, 3.024, 2.416, PHS= 0.281,-1.136, 0.606, RAW= 160.1, 3.1, CAL= 161.2, -5.9, ROT= 348.8, 5.9 Ygot valid direction response: 13:51:19.1830 LVL= 24176, 26961, 17138, 31603, AGC= 56, IDX= 407,-0.18, 2.608, 1.233, 3.024, 2.416, PHS= 0.281,-1.136, 0.606, RAW= 160.1, 3.1, CAL= 161.2, -5.9, ROT= 348.8, 5.9 %PDAT read: Bearing 348.8, 5.9 (Local) %~Local bearing/azimuth received: Bearing 348.8, 5.9 (Local) 5DAT read: Range 10 to 50 : 14.8 m (Round-trip 19.8 ms) speed 0.5 m/s ,DAT read: user:1812> BDAT read: Tx time:13:51:20.2590 $Ping request sent.۽sh۽"? ܽ[2@)ܹIܽ4@iܹܽ@ܹ ݹ)ݹݽ(zp?$?$rLP ?iݽl/3?ݽK`ݽ4+Hݹ ޹)޹E:publishing transmit ping timeڹEFpublishing direction and range infoڹyڽuj9?dȿzBPڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ(zp?$?$rLP ?iݹݹݹݹ ޹)޹checking for new query: numPingsReceived=11, elapsed TxPingTime=0.0246196Gm =ZGy RG} Ai ~G A A N > Ĕ ,;S6hA9%(!@%٥ HFs >)5ʜ?)598 IBy ?:N*@z@ Ei;:;)5!%<0A!Zyb}VG6hA}&kA}&kA}#@ʁ}Ojq,@s|~b/R+}uj9?dȿzBP}4+Hyҁ}C0(AIWT @j$q}i.U꿨xV?|Hupz}A}Aj}Ɯ?r}" }tB}OƜ?}&  }EqB}gA}\(@ addTargetRange:: Added new target pos. range: 14.800000 m, deltaT: 3.527884 s, deltaX: -2.099999 m, approachRate: -0.595258 m/s, rangeRepo size: 4  Added new target pos. range: 14.696982 m, bearing: 145.981205 deg, lat: 36.906372 deg, lon: -122.116029 deg, deltaT: 3.527884 s, deltaX: -2.085357 m, approachRate: -0.591107 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.70 m.- ProNav: ac range: 14.696982 m, nav range: 14.443396 m, bearing: 150.726487 deg, approach rate: 0.000000 m/s, LOS rate: -0.087237 deg/s, cmd heading: 153.017165 deg, new cmd heading: 152.901335 deg. )1UHeadingCmd: 2.668632 target range: 14.696982 and range: 14.80 m.bU*@ZQrQjQRQJYBY~Y~]{B}a|a|a|e-@|eo? L{ByI%;2< !!%;:J]eBJ]YJJ]ERJYZJ]\:bJ][O9J]4JYu*@uH ,yp6hAHV>HVCHV IHV?|BHV =HTHV2DHV<HTHqHqHqHqIq Iu,d5!95 @5.@Y5R;y5%C=5H`e`\ٿX?H`?W?Vv@ v?? 5 @5t%;)5C{BI) II(*3YѼ V=y9&Q >٥ Hi4 >)5ʜ?)59M IBy*@z@ Ei::)5}B}0A}EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 14.70 m.mm ProNav: ac range: 14.696982 m, nav range: 14.206019 m, bearing: 150.701484 deg, approach rate: -0.626296 m/s, LOS rate: -0.067069 deg/s, cmd heading: 152.901339 deg, new cmd heading: 152.825078 deg. 8HeadingCmd: 2.667301 target range: 14.696982 and range: 14.80 m.b*@ZrjRJ!B!~!~!})|)|)|)|5?}checking for new query: numPingsReceived=11, elapsed TxPingTime=0.723455 M{B\SN>  k\'0g|EEEE]0Eԁ6G 뜮=ԩ - checking for new query: numPingsReceived=11, elapsed TxPingTime=0.975252~GA AI Aa Nm >xj , "6hA9>A @>.@Y>i;y>Ԡ/=>H`8Nٿ M?@ ?F?@2qS?`d? >A @>ӏ;)>CJ{BJIIIm?3%  -W=y5ILQ 5>٥II UH]Fel e>im)5m-ʜ?u)59mO ImByqu)@uz@m Eim:m;m+)50AԙDNOT Ignoring new targets: 14.70 m.55 ProNav: ac range: 14.696982 m, nav range: 13.964988 m, bearing: 150.680864 deg, approach rate: -0.654035 m/s, LOS rate: -0.056918 deg/s, cmd heading: 152.825073 deg, new cmd heading: 152.762145 deg. ?HeadingCmd: 2.666202 target range: 14.696982 and range: 14.80 m.b*@ZrjRJB~~}|||| s? %N{B-! :JM ]BJI JJM BRJI ZJM ]:bJI JM -4JI l ,?6hA9:]E @:X.@Y:X;y:;7=:H@`ٿ? 2?8ҝ?k?`? :]E @:2K;):C {BIMb@Mb@Mb@ )checking for new query: numPingsReceived=11, elapsed TxPingTime=1.479386YCl?S㥫{Gzy;?/]ףA 3@)I3@y\@II[3!  ;=y  Q  >٥  %H!% %>)5)5-4ʜ?=)59- I-By=?=:=(@=z@- Ei-;-;-)5EBM0AMEquDNOT Ignoring new targets: 14.70 m.y}*}* ProNav: ac range: 14.696982 m, nav range: 13.694564 m, bearing: 150.670465 deg, approach rate: -0.624706 m/s, LOS rate: -0.024498 deg/s, cmd heading: 152.762140 deg, new cmd heading: 152.730326 deg. HeadingCmd: 2.665647 target range: 14.696982 and range: 14.80 m.b*@ZrjRJB~~r{B}||||? Q{B'6HHHH =HHHך<HE GYyPB1 checking for new query: numPingsReceived=11, elapsed TxPingTime=1.7311676G ,=~Ga Ai A N >K -P"K @9*K 2K  :K G.$~u AoVTI"aYt]nqY  PExceeded connect timeout, disconnecting. ,<ؽ6hA96/@6-@Y6g;y68=6H`- [Bڿ`}?UF?@%hԥ?p`? ? 6/@6;)4%{B%Ii5>I5>IMIM2 U=y;Q >٥ HFq >)5ʜ?)59Ӻ IBy(@z@ Ei:6:J)51AĬEDNOT Ignoring new targets: 14.70 m.99 ProNav: ac range: 14.696982 m, nav range: 13.456367 m, bearing: 150.666661 deg, approach rate: -0.624561 m/s, LOS rate: -0.010151 deg/s, cmd heading: 152.730324 deg, new cmd heading: 152.718710 deg. ޹ HeadingCmd: 2.665444 target range: 14.696982 and range: 14.80 m.b *@Z r j R J B~~}|||| ?Y R{Bʒ[=5=i5*@i9EEEE0E \?<checking for new query: numPingsReceived=11, elapsed TxPingTime=1.984846ԁԱ6G =~GI Aq A N > ¦ ,$6hABchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.23863994E@X-@Yj;yD.=H `xڿ;?m? 9?Mzե?_? 4E@9;)C{B%IMb@Mb@Mb@ )Yףp= ? rh~jty?C zA @)II@y@IIF3mM: m<=yu;Q u>٥y HFQ >)5zʜ?)59 IBy?:)@z@ Ei::)5 1AԱDNOT Ignoring new targets: 14.70 m. ProNav: ac range: 14.696982 m, nav range: 13.186189 m, bearing: 150.636769 deg, approach rate: -0.619247 m/s, LOS rate: -0.069917 deg/s, cmd heading: 152.718713 deg, new cmd heading: 152.627198 deg. ? HeadingCmd: 2.663847 target range: 14.696982 and range: 14.80 m.by|*@ZrjRJB~~v{B}|!|!|!|%@ UU{B]-checking for new query: numPingsReceived=11, elapsed TxPingTime=2.489493) 9 л ,6hAH6>H6CH6IH6+|BH6 =H4H61DH6u<H6qE9rq@r -@YrJ;yr'=rH ۿ@a?2?l?ٹ|ޤ?@? rq@rk;)rCM{BMIuchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.739314IeIe332 :=y:Q >٥ H* >)5Ufʜ?)59 IۢBy)@{@ Ei;;)5BU1AǬEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 14.70 m.{{- ProNav: ac range: 14.696982 m, nav range: 12.914359 m, bearing: 150.611013 deg, approach rate: -0.616697 m/s, LOS rate: -0.059661 deg/s, cmd heading: 152.627202 deg, new cmd heading: 152.548309 deg. -#5HeadingCmd: 2.662470 target range: 14.696982 and range: 14.80 m.b5e*@Z1r1j1R1J9B9~9~9}A|A|A|A|M`be@ }W{B靅 , 7hA9 @ ,@Y l;y b(= H)@\ۿ?o]??-} ?? @ j;) CinA)! !I! EfC)aaaaimrAimImFiIqiq qq)qq }zA}1},FyсхlAIэ1)э[Fiщ)ҕ&CIґёё ґҙҝAҙiҙҙٯ{BI) II2 < a=y9Q >٥!! %H%F%= %>)5)5-Uʜ?5)59-J I-֢By9=\)@={@- Ei-;-,;-)5imH1AiDNOT Ignoring new targets: 14.70 m.bb ProNav: ac range: 14.696982 m, nav range: 12.688558 m, bearing: 150.593046 deg, approach rate: -0.612605 m/s, LOS rate: -0.049612 deg/s, cmd heading: 152.548314 deg, new cmd heading: 152.493454 deg. 1HeadingCmd: 2.661513 target range: 14.696982 and range: 14.80 m.b:V*@ZrjRJB~~} ||9||e@#q @ Z{B8ԑ I I  ,Y%7hAD9Rgh@R{,@YRr;yR4=RH`ۿk?4?ڥ? {|?? Rgh@R.A;)RC]{B]IDAT read: 13:51:22.6801 LVL= 25136, 26417, 21490, 32755, AGC= 57, IDX= 409, 0.27,-1.743, 3.116,-1.490,-1.990, PHS= 0.335,-1.131, 0.497, RAW= 155.2, 3.9, CAL= 156.7, -5.1, ROT= 353.3, 5.1 Ygot valid direction response: 13:51:22.6801 LVL= 25136, 26417, 21490, 32755, AGC= 57, IDX= 409, 0.27,-1.743, 3.116,-1.490,-1.990, PHS= 0.335,-1.131, 0.497, RAW= 155.2, 3.9, CAL= 156.7, -5.1, ROT= 353.3, 5.1 PDAT read: Bearing 353.3, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 5.1 (Local) -DAT read: Range 10 to 50 : 12.6 m (Round-trip 16.9 ms) speed 0.6 m/s ,DAT read: user:1813> BDAT read: Tx time:13:51:23.7590 $Ping request sent.۽Đ۽v> ܽ-\-@)ܽ'g=Iܽ /@iܽKܽQ@ܽK= ݹ)ݹݽk?NM8!e?tBa?iݽ1?ݽC)ݽ|ݽK= ޹)޹:publishing transmit ping timeڹFpublishing direction and range infoڹyڽNק? 㿽ڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽk?NM8!e?tBa?iݹݹݹݹ ޹)޹uchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.023251ԩMb@Mb@Mb@ )YzG?:v٥y HFr >*5-@ʜ?*59 IѢByA?:)@{@ Ei;.;[*5BF1AȬEZb)7hA2HA2HA@%@ʁrW(@/)C(jNק? 㿽|K=ҁ1%016n@nF&AO|!?2Ĺzq@(j:,Ɯ?r vB:,Ɯ?  0sBꁽ-GA@%@HE>HAHEIHE|BHE =HAHAHEӚ<HEEm addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 3.527930 s, deltaX: -2.200000 m, approachRate: -0.623595 m/s, rangeRepo size: 4  Added new target pos. range: 12.512269 m, bearing: 147.941288 deg, lat: 36.906375 deg, lon: -122.116023 deg, deltaT: 3.527930 s, deltaX: -2.184713 m, approachRate: -0.619262 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.51 m. ProNav: ac range: 12.512269 m, nav range: 12.448723 m, bearing: 147.941250 deg, approach rate: 0.000000 m/s, LOS rate: -0.049612 deg/s, cmd heading: 152.493454 deg, new cmd heading: 152.415724 deg. HeadingCmd: 2.660156 target range: 12.512269 and range: 12.60 m.b@*@Z r j R J B~9~=E{B}9|9|A|E@33)@|E"1? ]{Bn~:JaBJVJJRJZJ:bJB9JJzJ;jJ;JX:rJX:~GAAN> ,]D7hA95'@5/;,@Y5;y5jaA=5H@>ۿD٥ H\ > *5-ʜ?*59 I̢By)@{@ EiZ;7[; *5AEl1AMˬEDNOT Ignoring new targets: 12.51 m. f f ProNav: ac range: 12.512269 m, nav range: 12.199808 m, bearing: 147.863406 deg, approach rate: -0.630232 m/s, LOS rate: -0.201117 deg/s, cmd heading: 152.415726 deg, new cmd heading: 152.177429 deg.  HeadingCmd: 2.655997 target range: 12.512269 and range: 12.60 m.b)@ZrjRJB~ ~ }|Y|Y|Y|].? _{B靵| checking for new query: numPingsReceived=12, elapsed TxPingTime=0.7234161 b- ,^7hAI){BIMb@Mb@Mb@ )Y㥛 ?{Gz rhy?ףCA 3@)AII@y@IIM3% -V=y-Q >٥ HF >*5ʜ?*59ϧ IȢBy?:!*@{@ Ei::z*51ADNOT Ignoring new targets: 12.51 m. = = ProNav: ac range: 12.512269 m, nav range: 11.971343 m, bearing: 147.778401 deg, approach rate: -0.605201 m/s, LOS rate: -0.229475 deg/s, cmd heading: 152.177434 deg, new cmd heading: 151.917554 deg. %|%HeadingCmd: 2.651462 target range: 12.512269 and range: 12.60 m.b%)@Z)r)j)R)J)B1~1~5M{B}9|9|9|9|=? ma{Bmdo=i)@iE-E)E)E-P0E)Ichecking for new query: numPingsReceived=12, elapsed TxPingTime=0.977559i6Ga H >H H IH |BH  =H H H ǚ<H E~G A A Nu >ԡ 7Z ,x7hArchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.227845{BII%I%F3UsJ ]G=yaQ e>٥ii mHqmF >*5( ʜ?*59 IâBy{@ Ei;; *5B1AάEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 12.51 m.kk ProNav: ac range: 12.512269 m, nav range: 11.738891 m, bearing: 147.688505 deg, approach rate: -0.578223 m/s, LOS rate: -0.228043 deg/s, cmd heading: 151.917559 deg, new cmd heading: 151.642534 deg.  HeadingCmd: 2.646662 target range: 12.512269 and range: 12.60 m.b b)@ZrjRJB~~}|||!|%[?K-6P"K-9*K)2K- :K- ~uE#e4d t o= !'~Mbp}f ]z~ f%/dBz_J5?J5> ec{Bed< ))-;5b)@5/E=5n=i5b)@i9ԙ:J`BJXJJGRJZJ:bJ5K9Jc4JzJ:jJ:Jf:rJf:EEEEEchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.4803956G iT=ZG RG ~G A A N > H ,7hA9>x+@Y> ;y>EM=>H@ڣࠄܿ`?6?Eq?@a數? ? >+=;)>CJ{BHIZIZ 3bW; bg=ybQ f>٥dd jHhj j>lr*5nɜ?r*59nc InBypv`)@v{@n Ein{;n3;n*5xz1Ax-DNOT Ignoring new targets: 12.51 m.)5j5jM ProNav: ac range: 12.512269 m, nav range: 11.534431 m, bearing: 147.618467 deg, approach rate: -0.589036 m/s, LOS rate: -0.205352 deg/s, cmd heading: 151.642535 deg, new cmd heading: 151.428698 deg. M eHeadingCmd: 2.642929 target range: 12.512269 and range: 12.60 m.bm%)@ZirijqRqJqBq~q~y}y|y|y|y| ?checking for new query: numPingsReceived=12, elapsed TxPingTime=1.733840 e{B d< !!%;;-%)@-Ђ=-cot=i-%)@i1EEEEEFFA 6G5 d=~G A A) N5 > checking for new query: numPingsReceived=12, elapsed TxPingTime=1.983399h ,7hA 9f@f ,+@Yf:yfT=fHܿc?`?`@?XΔ?? f@f ;)fCv~{BvIMb@Mb@Mb@ )Ygfffff?QQy3?uA @)hAIy @II2o ==y̺Q >٥ HF. > *5 jɜ?*59  I By5s?5:5'@={@  Ei ; ; *5AE1AEѬEDNOT Ignoring new targets: 12.51 m. ProNav: ac range: 12.512269 m, nav range: 11.281435 m, bearing: 147.557481 deg, approach rate: -0.564331 m/s, LOS rate: -0.139087 deg/s, cmd heading: 151.428695 deg, new cmd heading: 151.241633 deg. 辻HeadingCmd: 2.639664 target range: 12.512269 and range: 12.60 m.bC(@ZrjRJB~~,{B}|||| @q }f{B}HY< _;C(@HHHIH{BH =HHH<HEHYHYHYH] =I] = I]5=t=iC(@iEEEE^0E6G}kt=ԡchecking for new query: numPingsReceived=12, elapsed TxPingTime=2.235932~GAAIAyN{>KM JP"KM @9*KI 2KM  :KM  .AcmeRDVo^PUQYn7N|kd,e2|kc5 %J] AJY :J \BJ WJJ DRJ ZJ =:bJ G9J 4J zJ :jJ :J _:rJ _:Q ,U7hA96@6*@Y6Nr:y6W[=6H`ݿa??Au 6?IN g?@? 6@6;)6CPV{BVIIb&Ib3j'= jY=yjQ j>٥ll nHnFr7b r>tz*5vɜ?z*59vM IvByxz'@z{@v Eiv:v;v*51A DNOT Ignoring new targets: 12.51 m. ProNav: ac range: 12.512269 m, nav range: 11.069994 m, bearing: 147.509886 deg, approach rate: -0.566075 m/s, LOS rate: -0.129854 deg/s, cmd heading: 151.241630 deg, new cmd heading: 151.096121 deg. <HeadingCmd: 2.637125 target range: 12.512269 and range: 12.60 m.b(@ZrjRJB~~}||||@@mchecking for new query: numPingsReceived=12, elapsed TxPingTime=2.488823 g{Btg~G A A  BDAT read: Rx Time:13:51:26.1774  TRx dataTimestamp_ set to:1749131487.415298 checking for new query: numPingsReceived=12, elapsed TxPingTime=2.740483! N5 >| ,Id7hA|{BIMb@Mb@Mb@ )Y-?I +Mby??9zA @)QAIyII[3%< 9=yQ >٥    H   >*5Dɜ?*59ݘ IBy^?:{(@{@ Ei::*5Bt1AԬEDNOT Ignoring new targets: 12.51 m.XX ProNav: ac range: 12.512269 m, nav range: 10.802814 m, bearing: 147.427569 deg, approach rate: -0.600486 m/s, LOS rate: -0.189583 deg/s, cmd heading: 151.096120 deg, new cmd heading: 150.843063 deg.  HeadingCmd: 2.632708 target range: 12.512269 and range: 12.60 m.b J~(@ZrjRJB~~@{B}|!|!|!|%n@ Ui{BUHKlYƈG  rY! y% vBH >H CH IH {BH  =H H 0DH ښ<H Eԡ ,=7hA9>]\@>o*@Y>+y>C=>HgPoݿ ?@Rx?_i{?}E?@_?? >]\@>67;)>Cfchecking for new query: numPingsReceived=12, elapsed TxPingTime=3.244330j{BjIIr Ir(2zf; z]=yz'Q ~>٥|| HF2 >5*5ɜ?5*59- IByQԁ(@{@ Ei<Q<1*5AMj1AIB*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 12.51 m.)]']'Ku;P"Ku 9*Kq2Ku :KuXl N2p4$ y#kM["*xleT_ ProNav: ac range: 12.512269 m, nav range: 10.596055 m, bearing: 147.368314 deg, approach rate: -0.499960 m/s, LOS rate: -0.146079 deg/s, cmd heading: 150.843061 deg, new cmd heading: 150.661828 deg. ȻHeadingCmd: 2.629545 target range: 12.512269 and range: 12.60 m.bwJ(@ZrjRJB~~}|||| @ j{B%#np@< ;wJ(@om=>1o=iwJ(@iԡE}EyEyE}0Ey~GAA!N5>DAT read: 13:51:26.1774 LVL= 24176, 29937, 23842, 32755, AGC= 55, IDX= 413,-0.29,-2.828, 1.996,-2.867,-3.102, PHS= 0.362,-1.139, 0.232, RAW= 145.5, 7.6, CAL= 147.5, -0.7, ROT= 2.5, 0.7 Ygot valid direction response: 13:51:26.1774 LVL= 24176, 29937, 23842, 32755, AGC= 55, IDX= 413,-0.29,-2.828, 1.996,-2.867,-3.102, PHS= 0.362,-1.139, 0.232, RAW= 145.5, 7.6, CAL= 147.5, -0.7, ROT= 2.5, 0.7 PDAT read: Bearing 2.5, 0.7 (Local) ~Local bearing/azimuth received: Bearing 2.5, 0.7 (Local) DAT read: Range 10 to 50 : 10.5 m (Round-trip 14.1 ms) speed 0.5 m/s ,DAT read: user:1814>  BDAT read: Tx time:13:51:27.3091  $Ping request sent. uʑuhm> uj"@)u>IuS$@iu+Hu¸2=u+H< q)qu??G NS?+?iu>u,u¸2=u+H< q)q :publishing transmit ping time  Fpublishing direction and range infoqyu(?Qs~T?I:qYq q)qIqiqqqqq q)qIqiqqq q)qu??G NS?+?iqqqq q)qU checking for new query: numPingsReceived=13, elapsed TxPingTime=0.039872 $,&8hA9:>@:Q*@Y:_hy:[<=:H`/ݿF?@ǒ?oY٩? M?S? V? :>@:;):CR{BRIIZIZ<2=8h =F=yE0Q E>٥AA EHEFMU M>Q}*5U~ɜ?}*59U IUByy'@{@U EiU.;Ui;U*5~1A׬EZb 8hA&A&A:%-@ʁ$@"?.,N(?Qs~T?I:¸2=+H<ҁQT"0N@B,ܸBSPӟY ?)oz@2j}g,Ɯ?r  +{B tBꁥ%A݈$@JDAT read: TxSync time:13:51:27.3083 checking for new query: numPingsReceived=13, elapsed TxPingTime=0.237086 addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 3.527956 s, deltaX: -2.100000 m, approachRate: -0.595246 m/s, rangeRepo size: 4 e Added new target pos. range: 10.426555 m, bearing: 155.007832 deg, lat: 36.906375 deg, lon: -122.116023 deg, deltaT: 3.527956 s, deltaX: -2.085714 m, approachRate: -0.591196 m/s, posRepo size: 4 aDNOT Ignoring new targets: 10.43 m. ProNav: ac range: 10.426555 m, nav range: 10.356154 m, bearing: 147.299048 deg, approach rate: 0.000000 m/s, LOS rate: -0.146079 deg/s, cmd heading: 150.661829 deg, new cmd heading: 150.483883 deg. HeadingCmd: 2.626439 target range: 10.426555 and range: 10.50 m.b(@ZrjRJB~~}|||%@|@Z? Mk{BMf1J;ם4J;4J;k0:JukBJuXJJuFRJqZJu2:bJu5K9Ju4Jq@@@@Y  checking for new query: numPingsReceived=13, elapsed TxPingTime=0.483259 ,,8hA96+@6|>*@Y64ࡺy6]<=6Hv\@'ݿ??`U? ٥ H)9 >*5Cɜ?*59̏ IBy?:'@{@ Ei;;u#*5B<1A֬E%DNOT Ignoring new targets: 10.43 m.!%l%l1= ProNav: ac range: 10.426555 m, nav range: 10.107545 m, bearing: 147.224585 deg, approach rate: -0.674552 m/s, LOS rate: -0.207008 deg/s, cmd heading: 150.483889 deg, new cmd heading: 150.255008 deg. EEHeadingCmd: 2.622445 target range: 10.426555 and range: 10.50 m.bE"'@ZIrIjIRIJIBQ~Q~UL{B}Q|Y|Y|Y|]`? {H5CH1H1H5 =H1H5/DH5<H5E%"'@M=MB=iM"'@iQEEEE@5Eachecking for new query: numPingsReceived=13, elapsed TxPingTime=0.735125ԉ6GI@=~G K sP"K 9*K 2K  :K 3)0F-,{Oy'dHYdY9~s^aEA A N >Թ ,F8hA96%&@69*@Y6xy64l=6H`P[ݿ FS? h?`cO>?P??J? 6%&@6Vz;)4B{BFIIJIJm?3R V]=yV\4:Q V>٥TX ZHZFZeW Z>\b*5^1ɜ?f*59^ I^Bydf'@f{@^ Ei^ :^[:^&*5hUC1AU٬EDNOT Ignoring new targets: 10.43 m.NN ProNav: ac range: 10.426555 m, nav range: 9.888360 m, bearing: 147.155981 deg, approach rate: -0.564787 m/s, LOS rate: -0.180696 deg/s, cmd heading: 150.255009 deg, new cmd heading: 150.044634 deg. - 5>5@=checking for new query: numPingsReceived=13, elapsed TxPingTime=0.987488EHeadingCmd: 2.618773 target range: 10.426555 and range: 10.50 m.bE'@ZArAjARAJIBI~I~Q}Q|Q|Q|Q|]h4?ԉ l{B靅u) ,`8hA9^/@^bB*@Y^=y^il=^H _]nݿݛ?@? WQ?'@?2?L? ^/@^*;)\r{BrIMb@Mb@Mb@ )Y\(\?Mby&1|y?`A )@I`@y@II(*3SW 7=y.:Q >٥ HF: >*5oɜ?*59P IBy?:&@{@ Ei ;~ ;**5%B%W1A%ܬEI1I5a=:J=_BJ=UJJ=CRJ9ZJ= :bJ=>9J=4J9quDNOT Ignoring new targets: 10.43 m.q}/}/ ProNav: ac range: 10.426555 m, nav range: 9.618317 m, bearing: 147.091830 deg, approach rate: -0.626834 m/s, LOS rate: -0.153089 deg/s, cmd heading: 150.044639 deg, new cmd heading: 149.846785 deg.  һHeadingCmd: 2.615320 target range: 10.426555 and range: 10.50 m.bfa'@ZrjRJB~~9{B}||||k? q<I)"=IB< Y;fa'@}t==ifa'@iEchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.491320EaEaEaEeQ0EaH- >H- CH- IH- |BH-  =H) H) H- <H- EA 6G [=jG bG ?~Gy A A N >,Uz8hA9>(@>;*@Y>9y>Tg=>H@[ݿ k?H?!P˩?Z??? >(@>W;)٥11 5H1= =>AM*5E^ɜ?M*59E> IEByIU&@U{@E EiE2:E`:E-*5Y]21AaDNOT Ignoring new targets: 10.43 m.11 ProNav: ac range: 10.426555 m, nav range: 9.389282 m, bearing: 147.035106 deg, approach rate: -0.612980 m/s, LOS rate: -0.155518 deg/s, cmd heading: 149.846783 deg, new cmd heading: 149.672460 deg. uջHeadingCmd: 2.612277 target range: 10.426555 and range: 10.50 m.b/'@ZrjRJB~~}||||`:? :|yUchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.995224ԩ $,h8hA96-@6A*@Y6:y6Xf=6H]ݿ`٥  HFN: >%*5bMɜ?-*59 IBy)-&@-{@ Ei::b1*51=I1A=߬EUB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 10.43 m.imt:mt: ProNav: ac range: 10.426555 m, nav range: 9.147345 m, bearing: 146.971629 deg, approach rate: -0.605300 m/s, LOS rate: -0.163012 deg/s, cmd heading: 149.672462 deg, new cmd heading: 149.476996 deg. ߻HeadingCmd: 2.608866 target range: 10.426555 and range: 10.50 m.b&@ZrjRJB~~}||||`,@ ls! e DDAT read: Rx Time:13:51:29.4498 m TRx dataTimestamp_ set to:1749131490.691830u PDAT read: Bearing 2.2, -0.7 (Local) u ~Local bearing/azimuth received: Bearing 2.2, -0.7 (Local)  DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5  DAT read: 13:51:29.4498 LVL= 26160, 28657, 27826, 32755, AGC= 53, IDX= 162, 0.03,-0.842,-2.304,-0.864,-1.078, PHS= 0.324,-1.178, 0.211, RAW= 146.1, 8.9, CAL= 147.8, 0.7, ROT= 2.2, -0.7  Ygot valid direction response: 13:51:29.4498 LVL= 26160, 28657, 27826, 32755, AGC= 53, IDX= 162, 0.03,-0.842,-2.304,-0.864,-1.078, PHS= 0.324,-1.178, 0.211, RAW= 146.1, 8.9, CAL= 147.8, 0.7, ROT= 2.2, -0.7  T#Rx 14: Read range and direction messages. \direction in FSK: [0.999188,0.038385,0.012217] Fpublishing direction and range infoa ye WY?%] 1?I:?e AYa e 0f)e oIe lia e 5e T>e Ȗe bX> e 1#@)e >Ie %@ie +He `e nF=e +H a )a  checking for new query: numPingsReceived=14, elapsed TxPingTime=2.515879+,>8hA9:8@:mK*@Y:>;|y:=`=:Hr_ێݿ?`? Tq?b`$?? :8@:n;):C{BIGG@AH>HCHIH |BH =HHHԚ<HE%Mb@Mb@Mb@!!! !)!Y%S?X9vI +y%/?%%94%hA %3@)%hAI%v@!y%@IeIe2< '=yq:Q >٥ HF: >*5l7ɜ?*59~ IByh?:"'@{@ Ei':E:5*5$1A)ZbF8hAAA,@ʁAJ!@ ?!1i?WY?%] 1?I:?nF=+Hҁ]L$I߭'9yI @rw?LenqôZo?P_kˈ?zKj@jSƜ?r  |B vBꁝ AS$@ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 2.521319 s, deltaX: -1.900000 m, approachRate: -0.753574 m/s, rangeRepo size: 4 M Added new target pos. range: 8.539789 m, bearing: 154.613900 deg, lat: 36.906375 deg, lon: -122.116023 deg, deltaT: 2.521319 s, deltaX: -1.886765 m, approachRate: -0.748325 m/s, posRepo size: 4 IeBNOT Ignoring new targets: 8.54 m.ae6Short final. Range: 8.60 m.eVTransitioning guidance mode to: SHORT_FINALe@@mi ProNav: ac range: 8.539789 m, nav range: 8.845599 m, bearing: 146.881022 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 149.476996 deg, new cmd heading: 149.221119 deg.  |HeadingCmd: 2.604400 target range: 8.539789 and range: 8.60 m.b }&@Z r jRJBchecking for new query: numPingsReceived=14, elapsed TxPingTime=2.751284~~c{B}|||@33!@| Y? 9=wue2,8hABDDAT read: Rx Time:13:51:29.9495 JTRx dataTimestamp_ set to:1749131491.198987RPDAT read: Bearing 1.6, -3.4 (Local) R~Local bearing/azimuth received: Bearing 1.6, -3.4 (Local) ^DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 nDAT read: 13:51:29.9495 LVL= 31440, 32753, 27074, 32755, AGC= 51, IDX= 495, 0.05,-1.494,-2.951,-1.496,-1.667, PHS= 0.261,-1.237, 0.168, RAW= 146.8, 11.1, CAL= 148.4, 3.4, ROT= 1.6, -3.4 rYgot valid direction response: 13:51:29.9495 LVL= 31440, 32753, 27074, 32755, AGC= 51, IDX= 495, 0.05,-1.494,-2.951,-1.496,-1.667, PHS= 0.261,-1.237, 0.168, RAW= 146.8, 11.1, CAL= 148.4, 3.4, ROT= 1.6, -3.4 vT#Rx 15: Read range and direction messages.z\direction in FSK: [0.997851,0.027872,0.059306]zFpublishing direction and range infoHyJOqd?w??Cg]?JAYH Jz)JIJiiHJ3Jˡ>JVJ1,> J(#@)JaF>IJ%@iJs=JJtFJ٥aa eHiu }>E*5#ɜ?E*59i{ IByAAE{@ Eit;;z9*5UBU(1AUEZHbJ48hAJAJAJ+@ʁJ~FP @R$?x?JOqd?w??Cg]?J<JsҁJl+;K @Z#?JړYmސB?$?š]?zJYb@JjJƜ?rJG; J}BJƜ?JG;  J+{BJxAJ+@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.507157 s, deltaX: -0.500000 m, approachRate: -0.985888 m/s, rangeRepo size: 4   Added new target pos. range: 8.043290 m, bearing: 153.866255 deg, lat: 36.906374 deg, lon: -122.116036 deg, deltaT: 0.507157 s, deltaX: -0.496499 m, approachRate: -0.978985 m/s, posRepo size: 4 19EzIgnoring new targets. Set target to previous: 8.04 m. 8.54 m.II} ProNav: ac range: 8.539789 m, nav range: 8.578685 m, bearing: 146.795555 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 149.221124 deg, new cmd heading: 148.998456 deg. y|HeadingCmd: 2.600514 target range: 8.539789 and range: 8.10 m.bn&@ZrjRJB~~}|||@33 @| ?  a靅{9,>8hA9n&@n_9*@Yn@f&;ynk8d=nH C[@͞ݿ; ??{O/ީ?d @?B? n&@n;Ә;)nCM{BUIԙDDAT read: Rx Time:13:51:30.4494 TRx dataTimestamp_ set to:1749131491.699919PDAT read: Bearing 1.9, -4.4 (Local) ~Local bearing/azimuth received: Bearing 1.9, -4.4 (Local) DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 5DAT read: 13:51:30.4494 LVL= 31600, 32753, 27362, 32755, AGC= 51, IDX= 510, 0.07,-0.825,-2.285,-0.840,-0.985, PHS= 0.247,-1.254, 0.142, RAW= 146.4, 11.9, CAL= 148.1, 4.4, ROT= 1.9, -4.4 =Ygot valid direction response: 13:51:30.4494 LVL= 31600, 32753, 27362, 32755, AGC= 51, IDX= 510, 0.07,-0.825,-2.285,-0.840,-0.985, PHS= 0.247,-1.254, 0.142, RAW= 146.4, 11.9, CAL= 148.1, 4.4, ROT= 1.9, -4.4 ET#Rx 16: Read range and direction messages.M\direction in FSK: [0.996505,0.033057,0.076719]MFpublishing direction and range infoy:]?\`?.0ۣ?AY p{)Iji|>sh> Ƈ#@)ȭT>Im%@inF==nF )9G^+ ?AzyU?cd?i>T=nF )mchecking for new query: numPingsReceived=16, elapsed TxPingTime=3.524656Mb@Mb@Mb@ )YV-?Q롿٥ai mHmFm m>*5jɜ?*59gw IBy?:&@{@ Ei<:{:=*5B1AEZby8hA5@5@,@ʁZ66@'|]?L% )?:]?\`?.0ۣ?=nFҁ<|E> @[ԍ L?k53j&N?T?an?z]@j@Ɯ?rp$  ~B@Ɯ?  |BT@~,@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.500932 s, deltaX: -0.100000 m, approachRate: -0.199629 m/s, rangeRepo size: 4  Added new target pos. range: 7.943990 m, bearing: 154.043858 deg, lat: 36.906373 deg, lon: -122.116036 deg, deltaT: 1.008089 s, deltaX: -0.595799 m, approachRate: -0.591019 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.94 m. 8.54 m.] ProNav: ac range: 8.539789 m, nav range: 8.281071 m, bearing: 146.706436 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 148.998459 deg, new cmd heading: 148.779007 deg. Ye|HeadingCmd: 2.596684 target range: 8.539789 and range: 8.00 m.be0&@H>HHIH|BH =HHHޚ<HEHUřCHUřCHQHU =IU = IUy6ZarjRJB~~&{B}|||E @|E?? k{B靵K~fA,79hA8{BII%!I%i35Jj< 5U=y5Q 5>٥99 =H=F= E>Au*5E|Ȝ?}*59EAt IEBy{@EEiEWۅۅT%> ܁)܅aF>I܁i܅s=܁܅s ݁)݁݅u?p~??i݅(>EE E E _0EF)F-A݅$G݁݅s ށ)ށmchecking for new query: numPingsReceived=17, elapsed TxPingTime=4.0762056G= = ~G A A! N- >5 checking for new query: numPingsReceived=17, elapsed TxPingTime=4.265758G,ܺ9hAl{BIi=I=Mb@Mb@Mb@ )YS?QZd;Oy/?j )AIy@II2-K -=yYQ ]>٥Ya eHaa e>i*5mXȜ?*59mo ImBy{?:<'@{@mEim ;m;mE*5B1AEZb80 9hAQ@Q@!,@ʁ!@Y׌? ]xD?}9?l?Cg]?sҁU^Me @?DT? k?zO@jdxűƜ?rJ ^}BdxűƜ? ^}Bꁵ@L-@m addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.506149 s, deltaX: -0.500000 m, approachRate: -0.987851 m/s, rangeRepo size: 4 }DDAT read: Rx Time:13:51:31.4490 TRx dataTimestamp_ set to:1749131492.708034PDAT read: Bearing 2.4, -2.5 (Local) ~Local bearing/azimuth received: Bearing 2.4, -2.5 (Local) DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 DAT read: 13:51:31.4490 LVL= 28912, 32049, 25314, 32755, AGC= 51, IDX= 506, 0.07,-1.244,-2.728,-1.277,-1.453, PHS= 0.297,-1.228, 0.174, RAW= 145.8, 10.3, CAL= 147.6, 2.5, ROT= 2.4, -2.5 Ygot valid direction response: 13:51:31.4490 LVL= 28912, 32049, 25314, 32755, AGC= 51, IDX= 506, 0.07,-1.244,-2.728,-1.277,-1.453, PHS= 0.297,-1.228, 0.174, RAW= 145.8, 10.3, CAL= 147.6, 2.5, ROT= 2.4, -2.5 T#Rx 18: Read range and direction messages.\direction in FSK: [0.998172,0.041836,0.043619]Fpublishing direction and range infoyy}+?Sk?GU?}@Yy }p Added new target pos. range: 7.447412 m, bearing: 154.099855 deg, lat: 36.906372 deg, lon: -122.116036 deg, deltaT: 1.514238 s, deltaX: -1.092377 m, approachRate: -0.721404 m/s, posRepo size: 4 %zIgnoring new targets. Set target to previous: 7.45 m. 8.54 m.%))}1}I}biy}3}b>}/}-2> }4"@)}X8>I}$@i}¸2=}+=}¸2 y)y}q-LpU?.zp?$Y?i}>}8}+=}¸2 y)yEchecking for new query: numPingsReceived=18, elapsed TxPingTime=4.541307-t:} ProNav: ac range: 8.539789 m, nav range: 7.716375 m, bearing: 146.499273 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 148.548924 deg, new cmd heading: 148.284218 deg. }߻|HeadingCmd: 2.588048 target range: 8.539789 and range: 7.50 m.b%@ZrjRJB~~D{B}|||@|D? -i{B-S{<)1 1I9G)[= Y y AI ~G< ! ! % T;% %@- =- p=i- %@i) H >H H IH |BH  =H H H <H Ea E1 E1 E1 E5 P0E1 ԁ !!-checking for new query: numPingsReceived=18, elapsed TxPingTime=4.7674936G]|=~G!AAAaN ?P, B9hAI)KemP"Ke@9*Ka2Ke" :KevE; 5tCW!~ -[6o*<|D* ; 4HJuAJuA:J%[BJ%ZJJ%ARJ!ZJ%:bJ%S9J%4J!zJ%:5jJ%:5J%Ru:5rJ%Tu:59{BIII3o =yQ >٥ H F5DDAT read: Rx Time:13:51:31.9487 =TRx dataTimestamp_ set to:1749131493.211865EPDAT read: Bearing 2.0, -3.4 (Local) E~Local bearing/azimuth received: Bearing 2.0, -3.4 (Local) UDAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.6 }DAT read: 13:51:31.9487 LVL= 32752, 32753, 27074, 32755, AGC= 52, IDX= 503, 0.05,-2.035, 2.752,-2.055,-2.222, PHS= 0.275,-1.262, 0.164, RAW= 146.3, 11.1, CAL= 148.0, 3.4, ROT= 2.0, -3.4 Ygot valid direction response: 13:51:31.9487 LVL= 32752, 32753, 27074, 32755, AGC= 52, IDX= 503, 0.05,-2.035, 2.752,-2.055,-2.222, PHS= 0.275,-1.262, 0.164, RAW= 146.3, 11.1, CAL= 148.0, 3.4, ROT= 2.0, -3.4 T#Rx 19: Read range and direction messages.\direction in FSK: [0.997632,0.034838,0.059306]Fpublishing direction and range info9y=Н-_?ÁK֡?Cg]?=@Y9 =)=I=ii9=4=̌>=7='> =.k#@)=aF>I=MQ%@i=s==5==s 9)9=q'?H?kYe?i=J>=P/F=5==s 9)9checking for new query: numPingsReceived=19, elapsed TxPingTime=5.034306 >*5%Ȝ?*59@k IBy!!-{@ EiW;;J*51511A5EiZ9b=2M9hA=?@=?@=">,@ʁ=!C`W@Qʎ?\ȱ}?=Н-_?ÁK֡?Cg]?=5=9ҁ=xMR@O ?=iwtL?Pi-?z=>@=j=:Ɯ?r= =3}B=@Ɯ?=  9=@=,,@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 1.005797 s, deltaX: -0.600000 m, approachRate: -0.596542 m/s, rangeRepo size: 4  Added new target pos. range: 6.851557 m, bearing: 154.199695 deg, lat: 36.906373 deg, lon: -122.116036 deg, deltaT: 2.520035 s, deltaX: -1.688232 m, approachRate: -0.669924 m/s, posRepo size: 4 99=zIgnoring new targets. Set target to previous: 6.85 m. 8.54 m.AAU ProNav: ac range: 8.539789 m, nav range: 7.370689 m, bearing: 146.348117 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 148.284213 deg, new cmd heading: 147.995704 deg. Q|HeadingCmd: 2.583012 target range: 8.539789 and range: 6.90 m.bP%@ZrjRJB~~}|||@|V ? % g{B% vu?nSЦ?LuaQ`?? @۔;)C I)IɺIIQQɻUSAiQIQQIYi]QA YY)鼉 FɼI)i)I齙ɽ ɾ!!i!!i!!)) )I)ٯ)5{B5IyMb@Mb@Mb@ )Y/$?Mb/$y? @)QAII@y @DDAT read: Rx Time:13:51:32.4485 TRx dataTimestamp_ set to:1749131493.715950PDAT read: Bearing 1.9, -3.6 (Local) ~Local bearing/azimuth received: Bearing 1.9, -3.6 (Local) %DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 MDAT read: 13:51:32.4485 LVL= 32752, 32753, 26962, 32755, AGC= 53, IDX= 501, 0.00,-2.809, 1.958,-2.824,-2.993, PHS= 0.272,-1.286, 0.166, RAW= 146.5, 11.2, CAL= 148.1, 3.6, ROT= 1.9, -3.6 UYgot valid direction response: 13:51:32.4485 LVL= 32752, 32753, 26962, 32755, AGC= 53, IDX= 501, 0.00,-2.809, 1.958,-2.824,-2.993, PHS= 0.272,-1.286, 0.166, RAW= 146.5, 11.2, CAL= 148.1, 3.6, ROT= 1.9, -3.6 UT#Rx 20: Read range and direction messages.]\direction in FSK: [0.997478,0.033090,0.062791]eFpublishing direction and range infoy}c W?̐?#?֏ ?3@Y )IRii5C>)> _#@)+H>Im%@i== )=2?|?%?i0>H= )}checking for new query: numPingsReceived=20, elapsed TxPingTime=5.540332I Ib3I< =yFQ >٥ H Fj >*5Ȝ?*59f IBy?:%@{@Ei:w:O*5)-1A)Zb m9hA@@+@ʁ&@% ?%V?}c W?̐?#?֏ ?=ҁ`~YA8ۛ@UP?Ա` U?2yMGܯ?z<@˺j`Ɯ?rZ3 @}BƜ?p$  @-S,@5 addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504085 s, deltaX: -0.300000 m, approachRate: -0.595138 m/s, rangeRepo size: 4  Added new target pos. range: 6.553663 m, bearing: 153.181069 deg, lat: 36.906374 deg, lon: -122.116035 deg, deltaT: 3.024120 s, deltaX: -1.986126 m, approachRate: -0.656762 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.55 m. 8.54 m. ProNav: ac range: 8.539789 m, nav range: 7.058009 m, bearing: 146.249645 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 147.995706 deg, new cmd heading: 147.754881 deg. !-|HeadingCmd: 2.578809 target range: 8.539789 and range: 6.60 m.b-6 %@Z)r)j)R)J)B)~1~5M{B}1|1He>HeCHaHaHe =HaHe.DHe<HeE||`ff@|5? f{B ;٥ H F >*5ۡȜ?*59+c IBy{@Ei ;;R*5 B 0AE-B*** querying acoustic contact ***J)R)99EzIgnoring new targets. Set target to previous: 8.54 m. 8.54 m.}DDAT read: Rx Time:13:51:32.9482 TRx dataTimestamp_ set to:1749131494.221676PDAT read: Bearing 0.9, -4.4 (Local) ~Local bearing/azimuth received: Bearing 0.9, -4.4 (Local) DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 DAT read: 13:51:32.9482 LVL= 32752, 32753, 27762, 32755, AGC= 53, IDX= 498,-0.06, 1.529,-0.002, 1.551, 1.380, PHS= 0.237,-1.335, 0.168, RAW= 147.8, 12.1, CAL= 149.1, 4.4, ROT= 0.9, -4.4 Ygot valid direction response: 13:51:32.9482 LVL= 32752, 32753, 27762, 32755, AGC= 53, IDX= 498,-0.06, 1.529,-0.002, 1.551, 1.380, PHS= 0.237,-1.335, 0.168, RAW= 147.8, 12.1, CAL= 149.1, 4.4, ROT= 0.9, -4.4  ProNav: ac range: 8.539789 m, nav range: 6.783001 m, bearing: 146.155527 deg, approach rate: -0.646016 m/s, LOS rate: -0.230054 deg/s, cmd heading: 147.754887 deg, new cmd heading: 147.461089 deg. |HeadingCmd: 2.573682 target range: 8.539789 and range: 6.60 m.b3$@ZrjRT#Rx 21: Read range and direction messages. \direction in FSK: [0.996930,0.015661,0.076719] Fpublishing direction and range infoځyڅ) 7?ӿtq ?.0ۣ?څf@Yځ ہ)ہIۅrliہہۅ!r>ۅHᪿۅ1,> ܅%@)܅@X>I܅ۋ&@i܅nF=܅<܅nF ݁)݁݅Ň**?~3*?y&¿?i݅1>݅ޔW݅<݅nF ށ)ށ]checking for new query: numPingsReceived=21, elapsed TxPingTime=6.056775JABY~~}|||@|`? d{B؂M checking for new query: numPingsReceived=21, elapsed TxPingTime=6.281860 g,x9hA9ma@m(@Ymy;ym#=mHe߿?`?p ?s kt? ]? ma@m;)mC {B IMb@Mb@Mb@ )Yrh|?٥ H F9 >  *5 Ȝ?*59  _ I zBy:?:$@{@ Ei ,: (: "W*5AE1AEEZb/9hA@@ue)@ʁ[~،@!Ի?n:?) 7?ӿtq ?.0ۣ?<nFҁZ1`A)S@#?\>I̘;O?H?z:@jG?Ɯ?rsu: d}B:Ɯ?J  ꁵ/@bK,@= addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.505726 s, deltaX: -0.400000 m, approachRate: -0.790942 m/s, rangeRepo size: 4 M Added new target pos. range: 6.156445 m, bearing: 151.651462 deg, lat: 36.906374 deg, lon: -122.116034 deg, deltaT: 3.529846 s, deltaX: -2.383344 m, approachRate: -0.675198 m/s, posRepo size: 4 DDAT read: Rx Time:13:51:33.4481 TRx dataTimestamp_ set to:1749131494.723968PDAT read: Bearing 358.2, -1.5 (Local) ~Local bearing/azimuth received: Bearing 358.2, -1.5 (Local) DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 DAT read: 13:51:33.4481 LVL= 32752, 32753, 26242, 32755, AGC= 53, IDX= 497,-0.13,-2.806, 1.946,-2.671,-2.959, PHS= 0.241,-1.332, 0.285, RAW= 151.4, 10.1, CAL= 151.8, 1.5, ROT= 358.2, -1.5 Ygot valid direction response: 13:51:33.4481 LVL= 32752, 32753, 26242, 32755, AGC= 53, IDX= 497,-0.13,-2.806, 1.946,-2.671,-2.959, PHS= 0.241,-1.332, 0.285, RAW= 151.4, 10.1, CAL= 151.8, 1.5, ROT= 358.2, -1.5 T#Rx 22: Read range and direction messages.^direction in FSK: [0.999164,-0.031400,0.026177]Fpublishing direction and range infoځyڅ&?8ʓP!Κ?ځYځ ہ)ہIۅfiہہۅv>ۅ~ۅ> ܅)@)܅J4>I܅)@i܅Pw<܅@܅Pwּ ݁)݁݅]?he?Eh?i݅' ?݅4݅ѭ݅Pwּ ށ)ށchecking for new query: numPingsReceived=22, elapsed TxPingTime=6.548920  5zIgnoring new targets. Set target to previous: 6.16 m. 8.54 m.55t:E ProNav: ac range: 8.539789 m, nav range: 6.490768 m, bearing: 146.090133 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 147.461093 deg, new cmd heading: 147.218227 deg. E߻m|HeadingCmd: 2.569443 target range: 8.539789 and range: 6.20 m.bmq$@ZqrqjqRqJqBq~y~}?{B}y|y||| <ڠ? b{B5jE>I G G AAH >H H H H  =H H H <H %EE E E E 0E F F y 6G%ܫ=Uchecking for new query: numPingsReceived=22, elapsed TxPingTime=6.787863~GAAN%>Tp,59hA@9}P@}Pd(@Y};y}67=}H@@߿ݐ?`D?f8?@l3y6?@? }P@}Ĩ;)y{BIII2< 8=y@;Q M>٥IQ UHQU: U>*5yȜ?*59-[ IvBy$@{@Ei:K: [*50A&TFailed to parse incomplete device message.:J[BJTJJFRJZJ:bJ:9J4JzJ:jJ:JSJ:rJUJ:ԡZb~U9hAO&@ʁ w@sȿLϠ?&?8ʓP!Κ?ѭPwּҁV Xqq @\BpP?u!6bd9D?Dp ?zK@jNIƜ?r_a |BZ3  @}B@7=,@E addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502292 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 6.156470 m, bearing: 148.887265 deg, lat: 36.906374 deg, lon: -122.116034 deg, deltaT: 4.032138 s, deltaX: -2.383319 m, approachRate: -0.591081 m/s, posRepo size: 4 QY}zIgnoring new targets. Set target to previous: 6.16 m. 8.54 m. ProNav: ac range: 8.539789 m, nav range: 6.218254 m, bearing: 146.031010 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 147.218225 deg, new cmd heading: 147.004667 deg. |HeadingCmd: 2.565716 target range: 8.539789 and range: 6.20 m.b4$@ZrjRJB~~}||||`5? =`{B=# M7> -@);0>Ix-@i5<@5 )s;'??AH[?MN_?i'?0q5 )]checking for new query: numPingsReceived=23, elapsed TxPingTime=7.089044 6G ̈=~GQ AY Ai Nu >Xv,E9hAXu{BuIi4٥ai mHu F} >u*5yfȜ?}*59WW IqByyy}{@"Eia< <^*5B0AEZb>9hA@@s"@ʁu(v@g2&4\?}\?U]B7߁?q5ҁtF՚wz @ĊӽAf4Y꿏b7ҝ'?(U*YzSX@jq' Ɯ?r4I {BG?Ɯ?su:  3}B'@;)@II<  addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.507492 s, deltaX: -0.200000 m, approachRate: -0.394094 m/s, rangeRepo size: 4 % Added new target pos. range: 5.957874 m, bearing: 145.435289 deg, lat: 36.906375 deg, lon: -122.116031 deg, deltaT: 4.539630 s, deltaX: -2.581915 m, approachRate: -0.568750 m/s, posRepo size: 4 !!MzIgnoring new targets. Set target to previous: 5.96 m. 8.54 m.QQe ProNav: ac range: 8.539789 m, nav range: 5.947682 m, bearing: 145.966946 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 147.004673 deg, new cmd heading: 146.766235 deg. a|HeadingCmd: 2.561554 target range: 8.539789 and range: 6.00 m.b#@ZrjRJB~~}|||@| D? ]{B DIܵ 3@iܵ +ȼܵ @ܵ +< ݱ )ݱ ݵ ?|?6-;?C[k߽?iݵ R9?ݵ xyݵ Aݵ +< ޱ )ޱ  checking for new query: numPingsReceived=24, elapsed TxPingTime=7.573127H >H CH H H  =H H /DH ښ<H Eԑ 6G =~G9AAAiN}?9~,9hA1u{BuIchecking for new query: numPingsReceived=24, elapsed TxPingTime=7.791400Mb@Mb@Mb@ )YS?~jtI +iy/?94 @)AI@yIIT3%5< -=y)Q ->٥)1 5H5F1 5>Ye*5]@OȜ?m*59]R I]lByu?:}$@{@]'Ei]<]z<]c*50A EZ:J]BJJJBRJZJ]:bJJ-4JzJ:jJ:JRJ:rJK.eP"K9*K2K% :K"}Hq.XgID<@n1%jL3A3n\!H)i*Qa{kl=b>9hAy@y@g@ʁ\Q7@c<}aR¿[:~l?J/^Fǿ{JA+<ҁ|S%@fIͿVY?L9ࣿzp@jƉ9Ɯ?rT zBq' Ɯ?_a  |Bꁽ @%@= addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.501526 s, deltaX: -0.100000 m, approachRate: -0.199391 m/s, rangeRepo size: 4 } Added new target pos. range: 5.858631 m, bearing: 140.021896 deg, lat: 36.906375 deg, lon: -122.116026 deg, deltaT: 5.041156 s, deltaX: -2.681158 m, approachRate: -0.531854 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.86 m. 8.54 m.ԉ ProNav: ac range: 8.539789 m, nav range: 5.620177 m, bearing: 145.891614 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 146.766231 deg, new cmd heading: 146.511762 deg. |HeadingCmd: 2.557113 target range: 8.539789 and range: 5.90 m.b#@ZrjRJB~~Y{B}|||@|? [{B({ҿ{Sڍ ̬@Yډ ۉ )ۍ oIۍ 2aiۉ ۍ 1ۍ = =ۍ y閿ۍ o#? ܍ :@)܍ =I܍ :@i܍ ԇ܍ nʿ@܍ ԇ= ݉ )݉ ݍ ]!~?9 ?>"wkY?iݍ P?Թ ݍ ýݍ Vݍ ԇ= މ )މ  checking for new query: numPingsReceived=25, elapsed TxPingTime=8.083558E E E E _0E 6Gp=jG?bG%?~GAAN?]Ɔ,rj:hA)Uchecking for new query: numPingsReceived=25, elapsed TxPingTime=8.295224 {BI ]=]=II 3v< /=yQ >٥ HF > *5 s:Ȝ?*59 }N I hBy{@ ,Ei D; ; g*5%B%0A%EYZ1b5:hA5@5@5A @ʁ5 Ywj@/#tDH`ֿ5qbQ?\lm>ҿ{S5V5ԇ=ҁ5,߽; q@Vlݿ5GA?vTKz5t@5nj5t<Ɯ?r5Vn 5yB154I  5{B5ɪ@577"@ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503200 s, deltaX: -0.500000 m, approachRate: -0.993641 m/s, rangeRepo size: 4  Added new target pos. range: 5.362137 m, bearing: 134.322843 deg, lat: 36.906375 deg, lon: -122.116023 deg, deltaT: 5.544356 s, deltaX: -3.177652 m, approachRate: -0.573133 m/s, posRepo size: 4 19=zIgnoring new targets. Set target to previous: 5.36 m. 8.54 m.AA ProNav: ac range: 8.539789 m, nav range: 5.326773 m, bearing: 145.816257 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 146.511765 deg, new cmd heading: 146.290326 deg. |HeadingCmd: 2.553248 target range: 8.539789 and range: 5.40 m.bjh#@ZrjRJBIIAA~~}|||@|@? Y{B靽$H H IH |BH  =H H H <H 6EHHHH =I = Iˤ 66G !{=~G A A N >@ƍ,*9:hA9>$@>'@Y><Q=>H 0b?1?@?/?? >$@>;)>C}{B}Ichecking for new query: numPingsReceived=26, elapsed TxPingTime=8.799218Mb@Mb@Mb@ )Y\(\?i|?5{Gzy?q# )AI@y@II< -=y%9٥ H-A2 ->1=*555'Ȝ?=*595"J I5cByE?E:e @e{@50Ei5J;5;5k*5iu]0AuEZbA/:hA@@ov @ʁz}@[50;zпd?o?ٿyoU˪zlξPwV=ҁƔcG42@>Khڿ-b㿆TtV?'L`-{5z@@j1a)ǜ?r,Ir zBƉ9Ɯ?T  zBꁥ@\@% addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.506139 s, deltaX: -0.300000 m, approachRate: -0.592723 m/s, rangeRepo size: 4 5 Added new target pos. range: 5.064277 m, bearing: 126.643933 deg, lat: 36.906376 deg, lon: -122.116016 deg, deltaT: 6.050495 s, deltaX: -3.475512 m, approachRate: -0.574418 m/s, posRepo size: 4 99}zIgnoring new targets. Set target to previous: 5.06 m. 8.54 m.% ProNav: ac range: 8.539789 m, nav range: 5.044984 m, bearing: 145.913327 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 146.290330 deg, new cmd heading: 146.065916 deg. !-|HeadingCmd: 2.549331 target range: 8.539789 and range: 5.10 m.b->(#@Z)r)j)R1J1B19~Y~]L{B}Y|Y|Y|e`ff@|ej? W{B靵<(#@ۆ ==i>(#@iKbP"K*K2K& :K>&e%b^y(Vd\ 0?Z R) qb EQEYEYEYEaa m DDAT read: Rx Time:13:51:35.9471 m TRx dataTimestamp_ set to:1749131497.243525u DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 -} Z#Rx 27: Read range message, but no direction.i m f@Yi  checking for new query: numPingsReceived=27, elapsed TxPingTime=9.0546136Gu Z=ԡ ~G1 AY Ay N >O,GV:hA9=@=[&@Y=3KS? R?z8? Mf@?`(? =@=1*;)=C1׉׍Achecking for new query: numPingsReceived=27, elapsed TxPingTime=9.306863Y{BIi=Ia=A]Mb@Mb@Mb@YYY Y)YY]+?T㥛 Mbpy]v?]]]hA ]@)YI]3@Yy]f@IuIu2r; =y:Q >٥ HF  >  *5 Ȝ? *59 BD I _By I? : W @ {@ 6Ei : : q*5:J% \BJ% UJJ! RJ! ZJ% =:bJ% >9J! J! - @- @- @- @5 B5 I0A= Ee B*** querying acoustic contact ***Ja Ra }  addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.501200 s, deltaX: -0.400000 m, approachRate: -0.798085 m/s, rangeRepo size: 4 y y  zIgnoring new targets. Set target to previous: 8.54 m. 8.54 m. ; ;  ProNav: ac range: 8.539789 m, nav range: 4.670072 m, bearing: 146.103547 deg, approach rate: -0.633733 m/s, LOS rate: 0.347351 deg/s, cmd heading: 146.065918 deg, new cmd heading: 146.682364 deg.  bn< |HeadingCmd: 2.560090 target range: 8.539789 and range: 4.70 m.b #@Z r j R J B ~ ~ d{B} | | | @| ? T{B ĉ,t:hAHTHTHV IHV |BHV =HTHTHV<HVE`9%n@%x&@Y% ]+y,q:hAbDDAT read: Rx Time:13:51:36.9469 jTRx dataTimestamp_ set to:1749131498.253280vPDAT read: Bearing 24.7, -1.4 (Local) v~Local bearing/azimuth received: Bearing 24.7, -1.4 (Local) xDAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed 0.5 %DAT read: 13:51:36.9469 LVL= 12752, 32753, 16914, 31587, AGC= 43, IDX= 498,-0.44,-2.245, 2.676,-2.960,-2.793, PHS= 0.637,-0.767,-0.169, RAW= 115.1, 5.0, CAL= 125.3, 1.4, ROT= 24.7, -1.4 -Ygot valid direction response: 13:51:36.9469 LVL= 12752, 32753, 16914, 31587, AGC= 43, IDX= 498,-0.44,-2.245, 2.676,-2.960,-2.793, PHS= 0.637,-0.767,-0.169, RAW= 115.1, 5.0, CAL= 125.3, 1.4, ROT= 24.7, -1.4 9=L(@=;&@Y=:hf+ȼ d)dfR*}?F(H?if=ff>f+ȼ d)dchecking for new query: numPingsReceived=29, elapsed TxPingTime=10.088339M{BMII}I}F3t C=y9:Q >٥ HF%- %>IU*5Mǜ?U*59Mu= IMYByQU@]{@M=EiM):MW:Mw*540A!Zdbf5:hAfЋ@fЋ@fA@ʁfbϷ@r3?̢S?fEF?@~mJ?{J?f>f+ȼҁfZ]?v?fQve4H?8?LC?zf>fԊjf.Ɯ?rfJ0 fW|Bdd dfS@f@= addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.505637 s, deltaX: -0.300000 m, approachRate: -0.593310 m/s, rangeRepo size: 4 } Added new target pos. range: 4.369173 m, bearing: 173.428362 deg, lat: 36.906376 deg, lon: -122.116016 deg, deltaT: 7.561450 s, deltaX: -4.170617 m, approachRate: -0.551563 m/s, posRepo size: 4 yyzIgnoring new targets. Set target to previous: 4.37 m. 8.54 m.t: ProNav: ac range: 8.539789 m, nav range: 4.240552 m, bearing: 146.404955 deg, approach rate: 0.000000 m/s, LOS rate: -0.163012 deg/s, cmd heading: 147.031092 deg, new cmd heading: 146.817006 deg. ߻|HeadingCmd: 2.562440 target range: 8.539789 and range: 4.40 m.b#@ZrjRJB~ ~ } | ||u@|uM? R{BحV,W:hA9BD@B%@YB Mz٥AI MHImK u>q}*5uǜ?*59ud9 IuUBy?:@{@uAEiu:uo:uz*5DDAT read: Rx Time:13:51:37.4468 TRx dataTimestamp_ set to:1749131498.755314DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.5 -Z#Rx 30: Read range message, but no direction.f@Ychecking for new query: numPingsReceived=30, elapsed TxPingTime=10.566408  0AEe addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.502034 s, deltaX: -0.200000 m, approachRate: -0.398380 m/s, rangeRepo size: 4 ԑazIgnoring new targets. Set target to previous: 8.54 m. 8.54 m.6T<6T< ProNav: ac range: 8.539789 m, nav range: 3.989393 m, bearing: 146.669286 deg, approach rate: -0.663377 m/s, LOS rate: 0.742118 deg/s, cmd heading: 146.817006 deg, new cmd heading: 147.659859 deg. <|HeadingCmd: 2.577151 target range: 8.539789 and range: 4.20 m.b $@ZrjRJB~~{B} | | | @| @P? ]Q{B靅NI/Y<  /;`$@;=i $@irEV>jE>GG@AH>HHIH+|BH =HHH<HEE9E9E9E=0E9Թ 6G x=׉ ׉  checking for new query: numPingsReceived=30, elapsed TxPingTime=10.818691~G A A N >㉰,WB:hA96@6%@Y6qIuwZ< qqu_;}%@y}7=i}%@iE E E E 2EKQ*P"K}9*K2K( :K>8u4V|ODSv%XJtvl}abJJA6Gj=~GAANE>DDAT read: Rx Time:13:51:37.9465 TRx dataTimestamp_ set to:1749131499.262416DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.5 -Z#Rx 31: Read range message, but no direction.3s@Y checking for new query: numPingsReceived=31, elapsed TxPingTime=11.073564 9 ,:hA9>@>Y%@Y>X]/=>H`= ?!?4(?J`j?Y? >@>;)>CN{BRIIVIV2-n&= -F=y-:Q 5>٥11 5H1= =>AM*5Eǜ?M*59E 2 IEMByIM@U{@EIEiE:E:E*5]B]/A]E addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.507102 s, deltaX: -0.400000 m, approachRate: -0.788796 m/s, rangeRepo size: 4 zIgnoring new targets. Set target to previous: 8.54 m. 8.54 m.H<H< ProNav: ac range: 8.539789 m, nav range: 3.537442 m, bearing: 147.266164 deg, approach rate: -0.630263 m/s, LOS rate: 0.946189 deg/s, cmd heading: 148.420967 deg, new cmd heading: 149.564698 deg. W"=|HeadingCmd: 2.610396 target range: 8.539789 and range: 3.80 m.b'@ZrjRJB~~}|||`ff@|@?]DDAT read: Rx Time:13:51:38.4464 mTRx dataTimestamp_ set to:1749131499.516116checking for new query: numPingsReceived=31, elapsed TxPingTime=11.335874 %O{BmI\< nݶ;'@yCڼ,\:hAH*>H*CH*IH*5|BH* =H(H*0DH*Қ<H*E9VO@V%@YV8R٥ HF4 >*5ǜ?*59- IIB+:y:@{@MEi;>*5EB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.500142 s, deltaX: -0.200000 m, approachRate: -0.399887 m/s, rangeRepo size: 4 q}zIgnoring new targets. Set target to previous: 8.54 m. 8.54 m.<< ProNav: ac range: 8.539789 m, nav range: 3.283454 m, bearing: 147.682298 deg, approach rate: -0.612622 m/s, LOS rate: 1.081354 deg/s, cmd heading: 149.564696 deg, new cmd heading: 150.909407 deg. 9=|HeadingCmd: 2.633866 target range: 8.539789 and range: 3.60 m.bC(@ZrjRJB~~}||| @|? uN{Bu+yI}wx^< yy}`5;mC(@imiuC(@izEuDDAT read: Rx Time:13:51:38.9460 }TRx dataTimestamp_ set to:1749131500.020638PDAT read: Bearing 12.2, -25.8 (Local) ~Local bearing/azimuth received: Bearing 12.2, -25.8 (Local) ԱDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 -Z#Rx 33: Read range message, but no direction.E E EEO0Equ@@Yqchecking for new query: numPingsReceived=33, elapsed TxPingTime=11.8771136G=$=~GAA1N5>K= 5P"K= 9*K9 2K= ) :K= =secSq_u{N_iq+ " vY|#&JM >JM ? r,;hA96@6%@Y6÷IR@iR>R^ Z>R PR^;C?(CE?CN?iR M>RPz復R^ Z>R]checking for new query: numPingsReceived=34, elapsed TxPingTime=12.098557I-I-T3=o; =?=yE}:Q M>٥QY ]H]Feغ m>*5ǜ?*59) IDB :ya:w@{@QEi:tZ?*5B/AEZb"R;hA>@>@m1@ʁOF@w! #?z}ָ?p3%(?tmZ?2T?^ Z>ҁvf"?ۊLd?oI]'ۡ?9ia?z7v? j,]#Ɯ?r ) ~B ꁥP@1@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.258080 s, deltaX: -0.600000 m, approachRate: -2.324860 m/s, rangeRepo size: 4  Added new target pos. range: 2.979022 m, bearing: 159.072108 deg, lat: 36.906376 deg, lon: -122.116016 deg, deltaT: 9.328808 s, deltaX: -5.560767 m, approachRate: -0.596085 m/s, posRepo size: 4 BIntercept lockout. Range: 3.00 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT@bZrjRJB~~}|||@|? mM{Bu(OqIu`< qy}E;n =s?iiE1E9E9E9E96Gl o<uDDAT read: Rx Time:13:51:39.4459 }TRx dataTimestamp_ set to:1749131500.523192DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 -Z#Rx 35: Read range message, but no direction.qu9@Yqchecking for new query: numPingsReceived=35, elapsed TxPingTime=12.336260~GA ) A) NU >Y k, );hA96@6S%@Y6|b٥ H{ >*5!ǜ?%*59l% I?B%T:y%i?-:-}@-{@UEih<<,*515/A5E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.502554 s, deltaX: -0.100000 m, approachRate: -0.198983 m/s, rangeRepo size: 4 bZrjRJB~~{Bchecking for new query: numPingsReceived=35, elapsed TxPingTime=12.583304}|||@33@|a? )-$[1I5ab< QQU ;Y]& =]DiaiaE EEEY0E H=<H9IHM>HIHIHIHIHIHIHMϚ<HMEy 6GU xx<jGU ?bGU +?~G1 AY  DDAT read: Rx Time:13:51:39.9460  TRx dataTimestamp_ set to:1749131501.032486 PDAT read: Bearing 210.3, -53.1 (Local)  ~Local bearing/azimuth received: Bearing 210.3, -53.1 (Local)  DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 A -m Z#Rx 36: Read range message, but no direction.ڙ ڝ @@Yڙ ԡ N >$,?D;hAchecking for new query: numPingsReceived=36, elapsed TxPingTime=12.8698159@%@Y٥ HF8 >*5|ǜ?*59d! I:By@{@YEi::ƍ*50A addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.509294 s, deltaX: 0.100000 m, approachRate: 0.196350 m/s, rangeRepo size: 4 bZrjR!J!B!~!~!})|)|)|5@|5*? qu&qI}d< yy}.; =`EiibEZEKIP"K*K2K* :KFhr:x8 Q~2oC hh+{b ~EEEEE_0E6G&;mDAT read: 13:51:39.9460 LVL= 20976, 25553, 23394, 32755, AGC= 46, IDX= 503,-0.44,-1.311, 0.183,-0.294, 1.099, PHS=-2.322,-0.869,-1.396, RAW= 291.0, 51.9, CAL= 299.7, 53.1, ROT= 210.3, -53.1 Ygot valid direction response: 13:51:39.9460 LVL= 20976, 25553, 23394, 32755, AGC= 46, IDX= 503,-0.44,-1.311, 0.183,-0.294, 1.099, PHS=-2.322,-0.869,-1.396, RAW= 291.0, 51.9, CAL= 299.7, 53.1, ROT= 210.3, -53.1 Z#Rx 37: Read direction message, but no range.~GAANe>`direction in FSK: [-0.518400,-0.302929,0.799685]9y=47Ỗr.cӿ;?Y9 =Q)=cI=b[i==.==v^=! =j@)=5g?I=Rb@i=@m?=Ij@=@m 9= |R\,ø?D%o)?i=>@=Ag=l7'=@m5checking for new query: numPingsReceived=37, elapsed TxPingTime=13.118641A lM,^;hA={BEII}I}3DDAT read: Rx Time:13:51:40.4456 TRx dataTimestamp_ set to:1749131501.536607PDAT read: Bearing 215.2, -35.1 (Local) ~Local bearing/azimuth received: Bearing 215.2, -35.1 (Local) DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4 Q%+  >=y]Q ]>٥ii mHmFu }>DAT read: 13:51:40.4456 LVL= 32752, 31057, 13682, 24627, AGC= 45, IDX= 502, 0.24,-1.599,-0.390,-0.638,-0.224, PHS=-1.287,-0.119,-0.417, RAW= 284.2, 31.5, CAL= 294.8, 35.1, ROT= 215.2, -35.1 Ygot valid direction response: 13:51:40.4456 LVL= 32752, 31057, 13682, 24627, AGC= 45, IDX= 502, 0.24,-1.599,-0.390,-0.638,-0.224, PHS=-1.287,-0.119,-0.417, RAW= 284.2, 31.5, CAL= 294.8, 35.1, ROT= 215.2, -35.1 T#Rx 38: Read range and direction messages.e`direction in FSK: [-0.668547,-0.471608,0.575005]mFpublishing direction and range infoytdx.޿!Tqf?3@Y )QyIr5i3`-jFվ ,@)L ?I@i ?vap@  )*5Jhǜ?*59~ I4By{@^EikR<X<%*5IIp=uG@꿞'u?J_?yi:m7@ ?!  )checking for new query: numPingsReceived=38, elapsed TxPingTime=13.500501}B60AE:J_BJ_JJBRJZJ :bJ=h9J-4JZbWb;hA+@+@=ʁヨ;n[/%C;ab'?tdx.޿!Tqf??! ҁ 5?rl.?ۧT?^.Fs?E?=C?zE>?jbȜ?rf oBt<Ɯ? )  W|B?1@M addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504121 s, deltaX: -0.700000 m, approachRate: -1.388556 m/s, rangeRepo size: 4  Added new target pos. range: 2.283927 m, bearing: 5.846915 deg, lat: 36.906381 deg, lon: -122.116030 deg, deltaT: 1.515969 s, deltaX: -0.695095 m, approachRate: -0.458515 m/s, posRepo size: 4 bZrjRJB~~}|||`ff@| ? 靵LH H H H  =H H H <H EHm˚CHm˚CHiHm =Im = Im˖5 6GV'SZGRG~G A1AQN ?S,\;hA>DDAT read: Rx Time:13:51:40.9454 BTRx dataTimestamp_ set to:1749131502.037309FDAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 -JZ#Rx 39: Read range message, but no direction.@B@Y@Nchecking for new query: numPingsReceived=39, elapsed TxPingTime=13.8483679U@U %@YU[?d@??? U@U;)Q{BIԙ Mb@Mb@Mb@    ) Y x?A`"y&1y K? Y `e A @) hAI  y IEIE 3U= U =yU/ͺQ ]>٥YY ]H]Fes e>i*5mTǜ?*59m Im-By?:@{@mcEim;m;m*5/AEB*** querying acoustic contact ***JARA} addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500702 s, deltaX: -0.300000 m, approachRate: -0.599159 m/s, rangeRepo size: 4 bZrjRJB~~{B}|||@|X? Ae(iIm8h< iimt;qu =u(ZiqiyKP"K59*K2K+ :Ki@\LX+\5l5}^wr L;2X1|֟crn}rh^%checking for new query: numPingsReceived=39, elapsed TxPingTime=14.095328E!E)E)E-O0E)! 6GA ~Gq A A N >',;hA9>@>o%@Y>L=>H9 Z@+??f@D?@^) ? U? >@>1;)>Cb{BbIIjIjV83rn rt=yr0Q v?٥tt vHtzzs; z? *5Fǜ?*59 I(By% @%{@fEi ;;*5IU%0A] EԡbZrjRJB~~}||||=?DDAT read: Rx Time:13:51:41.4454 TRx dataTimestamp_ set to:1749131502.555559DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 -Z#Rx 40: Read range message, but no direction.ککYکchecking for new query: numPingsReceived=40, elapsed TxPingTime=14.366620 )-_jE>EEEEZ0E)Q U C G6G 2F ! ] checking for new query: numPingsReceived=40, elapsed TxPingTime=14.616220 m Yi ym KA~G A ) AQ N] > @ k BG G H >H CH IH |BH  =H H /DH <H E:W,;hA9N@N%@YNr=NH(C D@9??'`㮳?`#I?@t? N@Nҍ;)LZ{BZIEMb@Mb@Mb@AAA A)AYEM?I +~jtyEn?E94EEA E@)EAIEI@AyEzAImIm?13 :=yQ >٥ HF; > *5 \5ǜ?*59  I !By?:!@{@ jEi b; E; W*5!%B0A!e addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.518250 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 iibiZirijiRiJqBq~y~}{B}y|y|||@+? N{B靵=z:J ^BJ RJJ FRJ ZJ } :bJ S29J 4J zJ `: jJ e: J ;: rJ <: ~Ga Ai A N >ԙ K &R"K @9*K 2K , :K :TKgB9/2+!   PUWM &  D {   V h#5) K    @ /7l:?,p;hA96@6( &@Y60٥)) -H-F-B'< 5>A]*5E~&ǜ?e*59El IEByimR!@m|@EnEiE;Eq;E*5BR0A E addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503982 s, deltaX: -0.200000 m, approachRate: -0.396840 m/s, rangeRepo size: 4 bZrjRJB~~}|||?| &? )-\׹׹DDAT read: Rx Time:13:51:42.4454 TRx dataTimestamp_ set to:1749131503.568102DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -Z#Rx 42: Read range message, but no direction.@Ychecking for new query: numPingsReceived=42, elapsed TxPingTime=15.380359~G  A A9 N > \i,T;hA%{B)Mb@Mb@Mb@ )Y> ףp=?Q롿y&1y?\`e @)AI`@yAII25? 5:=y=Q =>٥99 EHAE E>IU*5M.ǜ?U*59M IMBy]=?]:]C"@]|@MrEiM ;MD;My*5aeU0Aa addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.508561 s, deltaX: 0.200000 m, approachRate: 0.393267 m/s, rangeRepo size: 4 bZrjRJB~~{B}|||@|#? O{B-HCHIH|BH =HH.DHHE6G!j;I ~G A AI N] > DDAT read: Rx Time:13:51:42.9453  TRx dataTimestamp_ set to:1749131504.068541 DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2 - Z#Rx 43: Read range message, but no direction. f?Y  checking for new query: numPingsReceived=43, elapsed TxPingTime=15.880396QS,2٥`` bHbFf< f>hU*5jǜ?]*59j IjByY]"@]|@juEijso< t; =mU@{,kc٥ai mHimm< u>y*5}Ɯ?*59} I} ByY#@|@}yEi} |;}\};}N*50AB*** querying acoustic contact ***JRbZrjRJB~~}||||%? -Q{B- - checking for new query: numPingsReceived=44, elapsed TxPingTime=16.631187 H <H <H >H H IH |BH  =H H H <H E֥ ,6>9@>H'@Y>g2=>Hƽ ߿ s?>?`I @?̐ '˳?_? >@>;)٥ HF,< >*5$Ɯ?*59 IBy ? : $@ |@|Ei::*50AE] addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502900 s, deltaX: 0.500000 m, approachRate: 0.994233 m/s, rangeRepo size: 4 eeRStopped intercept timer at range: 2.30 m.abaZarajaRiJiBi~i~m{B}q|q|y|}`ff@|}v? S{B靭.IܕKM?iܕh?ܕǏ?ܕh ݑ)ݑݕ;k|6(? 7Їx?iݕZݕ/Y辩ݕǏ?ݕh ޑ)ޑchecking for new query: numPingsReceived=45, elapsed TxPingTime=16.92979296Gm aB<:J [BJ YJJ ARJ ZJ :bJ [O9J 4J zJ :jJ :J 'n:rJ )n:~GA AQ i Ay N >K5 ڙP"K5 s9*K1 2K5 . :K5 -Gz0#919<-G= o - K I eqPQAhJA JA h,S 5]=9yEY9Q E>٥AA EHMFM< M>Q]*5UƜ?]*59U IUByaeL%@e|@UEiU;U;UP*5im0AiZbiDDDAT read: Rx Time:13:51:44.4457 TRx dataTimestamp_ set to:1749131505.579929PDAT read: Bearing 114.9, -30.8 (Local) ~Local bearing/azimuth received: Bearing 114.9, -30.8 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.4 DAT read: 13:51:44.4457 LVL= 23152, 18929, 23762, 27619, AGC= 42, IDX= 502,-0.14,-0.631,-0.938,-2.672,-0.544, PHS= 0.001,-0.347,-2.131, RAW= 38.7, 23.8, CAL= 35.1, 30.8, ROT= 114.9, -30.8 Ygot valid direction response: 13:51:44.4457 LVL= 23152, 18929, 23762, 27619, AGC= 42, IDX= 502,-0.14,-0.631,-0.938,-2.672,-0.544, PHS= 0.001,-0.347,-2.131, RAW= 38.7, 23.8, CAL= 35.1, 30.8, ROT= 114.9, -30.8  T#Rx 46: Read range and direction messages.- ^direction in FSK: [-0.361653,0.779114,0.512043]5 Fpublishing direction and range infoڙyڝMQ%׿m?ab?ڝ@Yڙ ۝pZ)۝II۝\i۝k۝*۝o:۝۝Nb ܝ,?)ܝȭ>Iܝ ?iܝ ?ܝ3X@ܝ ݙ)ݙݝ*)7X?``X쿍TܹZ?iݝtݝվݝ3X@ݝ ޙ)ޙu checking for new query: numPingsReceived=46, elapsed TxPingTime=17.415907 ۸,l٥ H >*5Ɯ?*59! IBy%?%:%O&@%|@Ei ::Z*5MBM0AUEZbeH]CH]IH]{BH] =HYH]/DH]<H]EEEEE)4E 6G= < DDAT read: Rx Time:13:51:44.9457  TRx dataTimestamp_ set to:1749131506.085090 PDAT read: Bearing 105.6, -9.7 (Local)  ~Local bearing/azimuth received: Bearing 105.6, -9.7 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.4  DAT read: 13:51:44.9457 LVL= 15568, 22577, 18354, 17875, AGC= 42, IDX= 502, 0.25,-2.534, 3.079, 1.383, 3.026, PHS= 0.811, 0.100,-1.646, RAW= 46.3, 6.8, CAL= 44.4, 9.7, ROT= 105.6, -9.7 ~Gq A A N > !,ipla?RV?ڑYڑ ە<)ە1XIەGiەEۑەO?ە=ە!ҿ ܕN?)ܕ=IܕaF?iܕ-\->ܕ?ܕ-\- ݑ)ݑݕ}fI?+Ϸ~fbv*?iݕ,ݕݕ?ݕ-\- ޑ)ޑ~checking for new query: numPingsReceived=47, elapsed TxPingTime=17.956245Ա95@rH)@Y?ȊRJ ZJ :bJ y69J t4J zJ H ;jJ J ;J (C:rJ *C:- -@=y5:Q 5>٥19 =H=F]= ]>am*5eƜ?u*59e IeByquW'@u|@eEie:e:e*50AZbrla?RV??-\-ҁGb-࿚@ʓS?)t '˿s z?zkjIVƜ?r40 5~B ꁕ?'8@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505161 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 2.383171 m, bearing: 257.260793 deg, lat: 36.906373 deg, lon: -122.116040 deg, deltaT: 0.505161 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 QQbQZYrYjYRYJYBY~a~a}a|a|a|i|m@+?K:P"K@9*K2K/ :K8x` DUBkrM(7{} Vv%9J?J? X{Bq1 ',F٥qq }H}F}O5< }>*5EƜ?*59 IBy?:%@|@Eigo;c;¾*5B0AEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.502783 s, deltaX: 0.500000 m, approachRate: 0.994465 m/s, rangeRepo size: 4 bZrjRJB~~{B}|||@33@| n?ԁ checking for new query: numPingsReceived=48, elapsed TxPingTime=18.647369 [{B YvH CH IH {BH  =H H 0DH <H EHʙCHʙCHH =I = I;:6Ա E5 E9 E9 E= 5E9 6G1~GAA)NE?*Q1,+٥99 =H= FE< E>Au*5E)Ɯ?u*59E- IEByqu&@u|@EEiE\;E;E*5B 1AE addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503626 s, deltaX: 0.100000 m, approachRate: 0.198560 m/s, rangeRepo size: 4 )b)Z)r1j1R1J1B1~9~9}9|9|9|E@|E ? =^{B={=~GY Ay A N >A k7,٥ H; %>!-*5%xƜ?-*59%O I%By15&@5|@%Ei%;%7;%*59EM1AAiibiZirijiRiJiBq~q~q}y||||Ȓ? _{B靽  checking for new query: numPingsReceived=50, elapsed TxPingTime=19.655151H% >H! H% IH% {BH%  =H! H! H% <H% Eږ=,\٥qq uHu!F}-; }>*54fƜ?*59 IByK?:s&@|@Ei;;M*5R1AE addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504427 s, deltaX: 0.200000 m, approachRate: 0.396490 m/s, rangeRepo size: 4 bZrjRJB~~{B}||| @|@b? %b{B%"DDAT read: Rx Time:13:51:46.9464 TRx dataTimestamp_ set to:1749131508.106352DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 -Z#Rx 51: Read range message, but no direction.ڙڝff@Yڙchecking for new query: numPingsReceived=51, elapsed TxPingTime=19.9173329 }D,o=hA9:)_@:r*@Y:słS?XJ?@? :)_@:;):Cno{BnIIvIv#3~  ~e=ygҺQ >٥  H "F hպ  >*5FVƜ?*59 IBy!%g&@%|@Ei;{;l*5)-t1A)u addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.510426 s, deltaX: 0.400000 m, approachRate: 0.783659 m/s, rangeRepo size: 4 qqbqZyryjyRyJyBy~~}||| @|z?K2P"K@9*K2K1 :KOgrn g A4lW"bH!bz[Mjg\o eF(p e{B! DDAT read: Rx Time:13:51:47.4467  TRx dataTimestamp_ set to:1749131508.611432 DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 - Z#Rx 52: Read range message, but no direction.ڱ ڵ 3@Yڱ  checking for new query: numPingsReceived=52, elapsed TxPingTime=20.422594ԡ AJ,C,=hA:J-]BJ-YJJ-DRJ)ZJ-]:bJ-[O9J-4J)Ye`{BeIMb@Mb@Mb@ )Y-?~jty&1y5?D`e @)AIQAyAI IV2- -+=y-Q ->٥11 5H1= =>AM*5E AƜ?M*59E IEߡByM?M:M%@U|@EEiE:EZ:E*5]B]1A]E}B*** querying acoustic contact ***JyRy addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505080 s, deltaX: 0.500000 m, approachRate: 0.989942 m/s, rangeRepo size: 4 bZrjRJB~~{B}|||`ff@|`? h{B靵nHHIH{BHHHH<HEEEEEEԹ6G Rk=~G A A N > 2Q,F=hA2DDAT read: Rx Time:13:51:47.9468 6TRx dataTimestamp_ set to:1749131509.115582>DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.5 -BZ#Rx 53: Read range message, but no direction.46f@Y4Fchecking for new query: numPingsReceived=53, elapsed TxPingTime=20.9283249jw%@j8*@Yj<sc ? ? jw%@j;)jCk{BIi٥aa mHm#Fm m>*580Ɯ?*59r IڡBy_%@|@Ei%;O;*51A addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504150 s, deltaX: 0.100000 m, approachRate: 0.198353 m/s, rangeRepo size: 4 !!b!Z!r!j!R!J!B)~I~I}Q|Q|Q|U@|]@ƣ? k{B }vY W,u`=hA9 @d*@Ya٥ H$Fꀻ >*5HƜ?*59 IաBy@%@|@Ei;;u*51A"EbZrjRJB~~}||||[? -n{B-X}CK?}nҿ }MQ>)}޹=I}>i}=}7@} y)y}A&{ cɿS x;3?i}3⿉}Q6}7@}Q y)ychecking for new query: numPingsReceived=54, elapsed TxPingTime=21.530746:J-`BJ-SJJ-JRJ)ZJ-:bJ-y69J-4J)6Gg\=y ~G A A N > checking for new query: numPingsReceived=54, elapsed TxPingTime=21.679323H >H H IH {BH  =H H H <H E`],Dz=hA09>@>D*@Y>eRY=>H N ݿq?@ ?[B?`L%,?`? >@>⌍;)>CRG{BRI5Mb@Mb@Mb@111 1)1Y5NbX9?)\(Qy5%?5Ga5u5`A 5@)5AI11y1IUIU3% V=y!Q >٥ Hà >*5 Ɯ?*59b IСBy%F&?%:%$@%|@Ei~::*5-B-2A5%EZbjg=hA@@{@ʁ-= |G @~t4'?9T@#?A7X?7@ҁI1?9|  sHs?A>?,21|?zS1?j,jƜ?rmRF V~BMxƜ?5,  aBjE>DDAT read: Rx Time:13:51:48.9471 TRx dataTimestamp_ set to:1749131510.125337PDAT read: Bearing 153.2, -21.6 (Local) ~Local bearing/azimuth received: Bearing 153.2, -21.6 (Local) ԹDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.5  DAT read: 13:51:48.9471 LVL= 20208, 22721, 19042, 27635, AGC= 49, IDX= 499, 0.25, 0.262, 1.581,-0.721, 0.941, PHS=-0.591, 0.686,-1.666, RAW= 357.2, 15.2, CAL= 356.8, 21.6, ROT= 153.2, -21.6 EEEE0EF%=F%a=-Ygot valid direction response: 13:51:48.9471 LVL= 20208, 22721, 19042, 27635, AGC= 49, IDX= 499, 0.25, 0.262, 1.581,-0.721, 0.941, PHS=-0.591, 0.686,-1.666, RAW= 357.2, 15.2, CAL= 356.8, 21.6, ROT= 153.2, -21.6 ]T#Rx 55: Read range and direction messages.m^direction in FSK: [-0.829905,0.419215,0.368125]mFpublishing direction and range infoڑyڕEDl?{.MZ?ڕf@Yڑ ەN)ەXIەbJiەkە1ەKە/?ە}?տ ܕ@)ܕԇ>IܕSF@iܕ>ܕD +@ܕ ݑ)ݑݕ53࿖|0*jc?iݕP6 ݕ\$ݕD +@ݕ ޑ)ޑchecking for new query: numPingsReceived=55, elapsed TxPingTime=21.979126 6G= YW=~G A A N% >Fd,=hA9>J@>)@Y>޸A8J=>H BKݿ??@6?6Q?@g? >J@>;)>CJ*{BJvI)L\ LIpIpzI zZ=y~S2Q >٥)) -H-%F5 5>Ye*5]Ŝ?e*59] I]ˡByim$@m|@]Ei]y:]:]&*5qu}2AK]+P"K@9*K2K3 :K`6ayZmC-6BQSvZ/oD< R0 hE q <checking for new query: numPingsReceived=55, elapsed TxPingTime=22.183512Zb=hAX@X@ @ʁgam3IM?=dm=}?EDl?{.MZ?D +@ҁs_"-C@q M?]?ρ\Pe*{?z\"@jnmƜ?rvO- LBvO-  c@@} addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.502631 s, deltaX: 0.200000 m, approachRate: 0.397906 m/s, rangeRepo size: 4  Added new target pos. range: 4.667106 m, bearing: 306.271880 deg, lat: 36.906372 deg, lon: -122.116043 deg, deltaT: 0.502631 s, deltaX: 0.198600 m, approachRate: 0.395121 m/s, posRepo size: 4 bZrjRJB~~}|||@|? 5u{BMdIܭ @iܭ f>ܭ 7@~G! A) AA N] >ܭ f ݩ )ݩ a ݭ HUCHUIHU{BHU =HQHU/DHUݚ<HUEu3{Bu|Iy%Mb@Mb@Mb@!!! !)!Y%Pn?٥II UHU&FU9 U>Ye*5]Ŝ?m*59]" I]¡Bym$?m:m%@m|@]Ei]:]:]*5}B}Q2A}&EZb[=hA@@Z@ʁ7FhcW? ?Xj)%jroW?.*?7@fҁ_ b @hJ ~f?'i?K)]U?zPJ3]@jfǜ?r\k sBx߷Ɯ? B@s@5  addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.505251 s, deltaX: 0.400000 m, approachRate: 0.791686 m/s, rangeRepo size: 4   Added new target pos. range: 5.064267 m, bearing: 317.552961 deg, lat: 36.906373 deg, lon: -122.116043 deg, deltaT: 0.505251 s, deltaX: 0.397161 m, approachRate: 0.786067 m/s, posRepo size: 4 Ա   b Z r j R J B ~ ~ \{B} | | | `ff@| `? = {{B= z}5Iܕ p@iܕ d{>ܕ @@ ܕ d{ ݑ )ݑ ݕ  >T⿲O2{?iݕ M[!ݕ 7:0ݕ @@ݕ d{ ޑ )ޑ  checking for new query: numPingsReceived=57, elapsed TxPingTime=22.985521 6GEJR=~GA)AANM?Ot,=hA9~b@~)@Y~-J2٥ H۹ > *5 WŜ?*59 K I By9=%@=|@ Ei ; ; n*5AE2AE)EZbM=hAi@i@wƵ@ʁK@oF?w ??p/q? .?@@d{ҁV]@2Fm 1f?X/rt?u,W?z^8@j\+ǜ?rP@1 KBnmƜ? KB@@% addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.502609 s, deltaX: 0.200000 m, approachRate: 0.397924 m/s, rangeRepo size: 4 e Added new target pos. range: 5.262866 m, bearing: 325.467333 deg, lat: 36.906376 deg, lon: -122.116043 deg, deltaT: 0.502609 s, deltaX: 0.198599 m, approachRate: 0.395136 m/s, posRepo size: 4 ae-eXTarget missed at range: 5.30 m. Rolling out.zmmNTransitioning guidance mode to: ROLLOUTm@biZirijiR?zJB~~}|||@33@|? %~{B% ܥ p{D@ܥ  ݡ )ݡ ݥ ԋ/o+꿽;H#S?iݥ 2%ݥ rͽݥ p{D@ݥ  ޡ )ޡ ] checking for new query: numPingsReceived=58, elapsed TxPingTime=23.468082a 6Gm 8U=~GA Ie R=Ie %=A A N >,{,Zb=hA9f@f *@YfQ4HHIH{BH =HHH<H6EHÚCHÚCHH =I = I 5EMb@Mb@Mb@AAA A)AYET㥛 ? rh٥)) 5H5'F5F; ]>Ye*5]TŜ?m*59] I]BymS!?m:m&@m|@]Ei]:]:]*52AqAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse%Entering Midcourse tracking update period 60.000000 s sec at 5.300000 m (mode 5.000000 count ).%%1~% -Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~-UResuming normal ranging with 1.000000 count pings 5.300000 m (mode 5.000000 count ).q~U~UZibm=hAm@m@mf@ʁmi+"m[}--?u;?m3hbD?:N ?mp{D@mҁm)@&VM?mFU6j?jZ9~}AW?zm:m@jmLDǜ?rmVŮ m~Bmfǜ?m\k  im@mR@ addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503712 s, deltaX: 0.400000 m, approachRate: 0.794104 m/s, rangeRepo size: 4  Added new target pos. range: 5.660091 m, bearing: 328.551288 deg, lat: 36.906381 deg, lon: -122.116037 deg, deltaT: 0.503712 s, deltaX: 0.397226 m, approachRate: 0.788597 m/s, posRepo size: 4 BNOT Ignoring new targets: 5.66 m.bZrjRzJB~~B{B}!|!9|I|M@|Mt? {B靕c:JE^BJEUJJEBRJAZJE} :bJE>9JE-4JAzJE^:MjJEc:MJE|Q:UrJEQ:UAԱAN ?V,C>hA9 *@ 5>*@Y :7٥    H (F; >%checking for new query: numPingsReceived=59, elapsed TxPingTime=24.199234E*5Ŝ?E*59 IByAM&@M|@EiN:B:*5UBU2AU,EN@1b?~~KpP"Ks9*K2K5 :K]Chr.~va)n{EZ}u' 5pV Z7MHg+ M Z b  >hA z@ z@ Rʷ@ʁ £>op ? F>顒? o\ck?,=? D@ z0ҁ ,T@9+`ԏO? B],;.>hA4) CeGZA ۿYZAyA95;A@5T*@Y5k@??ORc?@1?-? 5;A@5+);)1M {BMdIԉaIe@ae aMe@ae aQe@ae aEe@ae ImImb2٥?? H)F7; >*5ՇŜ?*59 IB+:y:&@|@Ei;>Y*5Mchecking for new query: numPingsReceived=60, elapsed TxPingTime=24.703272IU2AU/EH>HCHIHt{BHHH0DH<HE1qj~1 addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.502654 s, deltaX: 0.400000 m, approachRate: 0.795776 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 5.86 m.bZrjRzJB~!~!}!|!|)|-@33@|-?Թ {BmN;I)hIl< ꛰;JH =g=i!i)E&EEE O0E  DDAT read: Rx Time:13:51:51.9484  TRx dataTimestamp_ set to:1749131513.148453 DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.7 -- Z#Rx 61: Read range message, but no direction.  @Y 5 checking for new query: numPingsReceived=61, elapsed TxPingTime=24.9620196G5 0,(bM>hA9zK@zh^*@YzW٥ H*F$: >II:JeBJJJ@RJZJ\:bJJJ4JzJz;jJ};JrJ%*5uŜ?-*59 IB- :y)-]:-'@-|@Ei:b?*51=2A9qtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourser1Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~ Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504636 s, deltaX: 0.200000 m, approachRate: 0.396325 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 5.86 m.bZrjRzJB~~}!|!|!|%@|%? {B靝;I)I*k< 8_;t =ji=iiԹE)EEE_0Echecking for new query: numPingsReceived=61, elapsed TxPingTime=25.207380K6+P"K9*K2K6 :KwM49|i(Di+x6IBf9^O};JJA6G Cf=ZG RG A~G A  AA NU > S,Tg>hAMDDAT read: Rx Time:13:51:52.4487 UTRx dataTimestamp_ set to:1749131513.653626]PDAT read: Bearing 173.7, -1.1 (Local) ]~Local bearing/azimuth received: Bearing 173.7, -1.1 (Local) mDAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.5 DAT read: 13:51:52.4487 LVL= 13296, 19633, 13602, 23411, AGC= 59, IDX= 3, 0.10,-3.092,-1.137, 3.088,-2.394, PHS=-0.609, 1.304,-0.804, RAW= 334.8, 1.1, CAL= 336.3, 1.1, ROT= 173.7, -1.1 Ygot valid direction response: 13:51:52.4487 LVL= 13296, 19633, 13602, 23411, AGC= 59, IDX= 3, 0.10,-3.092,-1.137, 3.088,-2.394, PHS=-0.609, 1.304,-0.804, RAW= 334.8, 1.1, CAL= 336.3, 1.1, ROT= 173.7, -1.1 T#Rx 62: Read range and direction messages.^direction in FSK: [-0.993778,0.109714,0.019197]Fpublishing direction and range infoQyUq~e?8?]~?U@YQ U3)ULIU"5iUs[U;UmUy?UM U@)UnF٥    H +Fm m>q}*5u#aŜ?}*59uݵ IuB}9yy}3:y|@uEiu4:uh?u*55B=2A2E1ZQbUi>hAUA@UA@UB=@ʁUvP<+:j5?q.?Uq~e?8?]~?UWB@UnFҁU9]U@Adoku?UJV< ?( ;?zU"sUD@jU\jAǜ?rUM U|BU\jAǜ?Q U~BU@U@5 addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505173 s, deltaX: 0.400000 m, approachRate: 0.791808 m/s, rangeRepo size: 4 u Added new target pos. range: 6.851761 m, bearing: 326.298195 deg, lat: 36.906388 deg, lon: -122.116032 deg, deltaT: 1.512463 s, deltaX: 0.993070 m, approachRate: 0.656591 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.85 m.bZrjRzJB~~}|||@|G? {B;I)%!I% i< !!%E;)- =Mh=iQiaIEP,EEEP0EH >H H IH j{BH  =H H H <H E5 checking for new query: numPingsReceived=62, elapsed TxPingTime=25.720486y 6G i=~G A!AIN]>{A,cD>hAPExceeded connect timeout, disconnecting. {BmIaeAmDDAT read: Rx Time:13:51:52.9488 uTRx dataTimestamp_ set to:1749131514.161574}PDAT read: Bearing 173.3, -1.6 (Local) }~Local bearing/azimuth received: Bearing 173.3, -1.6 (Local) DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 DAT read: 13:51:52.9488 LVL= 25440, 27697, 26594, 32755, AGC= 55, IDX= 500, 0.32, 2.390,-2.055, 2.280, 3.055, PHS=-0.576, 1.221,-0.778, RAW= 335.3, 1.4, CAL= 336.7, 1.6, ROT= 173.3, -1.6 Ygot valid direction response: 13:51:52.9488 LVL= 25440, 27697, 26594, 32755, AGC= 55, IDX= 500, 0.32, 2.390,-2.055, 2.280, 3.055, PHS=-0.576, 1.221,-0.778, RAW= 335.3, 1.4, CAL= 336.7, 1.6, ROT= 173.3, -1.6 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.992783,0.116625,0.027922]Fpublishing direction and range infoaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YX9v?٥YY ]H],FY e>aqu*5eKŜ?u*59e' IeB}T:y} ?}:}(@}|@eEieE;eB;e*5B2A5EZibm:W>hAm@m@mc@ʁmijQsy4*O?&0k42?m -H6'۽?|p}?mA@mҁmNU@a֏Zns v?mvЏy?<k hß?zm~|m@jmC[7ǜ?rmw mv|Bii m}Bm1@m{@ addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.507948 s, deltaX: 0.200000 m, approachRate: 0.393741 m/s, rangeRepo size: 4  Added new target pos. range: 7.050343 m, bearing: 325.928390 deg, lat: 36.906388 deg, lon: -122.116032 deg, deltaT: 0.507948 s, deltaX: 0.198581 m, approachRate: 0.390948 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.05 m.bZrjRzJ!BA~I~MX{B}I|I|Q|U`ff@|U|@? {B靥N;I)罉IPxg< ';- =i=ii:J\BJVJJCRJZJ=:bJB9J4JzJ:jJ:JX:rJX:ԙEu /EyEyE}_0Ey  checking for new query: numPingsReceived=63, elapsed TxPingTime=26.219341K 0P"K @9*K 2K 7 :K EYG+$[ 4u <j?m"L')$3zp6G g=~GY Aa Ay N >,{>hA<9f@y*@Y 0٥ H; >!=*5%9Ŝ?=*59% I%Byae(@m|@%Ei% <% <%R*5qu2Au3EԡBNOT Ignoring new targets: 7.05 m.bZrjRzJB~~}||||l? {BN;EDDAT read: Rx Time:13:51:53.4491 ETRx dataTimestamp_ set to:1749131514.663984UPDAT read: Bearing 173.8, -2.4 (Local) U~Local bearing/azimuth received: Bearing 173.8, -2.4 (Local) uDAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 DAT read: 13:51:53.4491 LVL= 32752, 30321, 32754, 32755, AGC= 56, IDX= 504,-0.43,-2.747,-0.931,-2.833,-2.066, PHS=-0.593, 1.182,-0.770, RAW= 334.7, 2.0, CAL= 336.2, 2.4, ROT= 173.8, -2.4 Ygot valid direction response: 13:51:53.4491 LVL= 32752, 30321, 32754, 32755, AGC= 56, IDX= 504,-0.43,-2.747,-0.931,-2.833,-2.066, PHS=-0.593, 1.182,-0.770, RAW= 334.7, 2.0, CAL= 336.2, 2.4, ROT= 173.8, -2.4 T#Rx 64: Read range and direction messages.^direction in FSK: [-0.993279,0.107905,0.041876]Fpublishing direction and range infoAyEWt￀8J1? ۷p?E@YA E)EqvIEiAE8EEK?EE E@)E5=IEĻ@iE+=E"B@E+ A)AEK\J5F?iEL"E7! E"B@E+ A)Achecking for new query: numPingsReceived=64, elapsed TxPingTime=26.488811I )ὉIaf< ; =o=i!i!E1EEEE 6G KXi=~G G G AAH > checking for new query: numPingsReceived=64, elapsed TxPingTime=26.723328H H IH _{BH H H H њ<H EA ! A! Nm >6,Ǟ>hAU&{BUtIMb@Mb@Mb@ )YPn?y&1y$?`eA v@)IQAy=AII o< H=yQ >٥ H-F% ->1=+55(&Ŝ?=+595 I5ByE"$?E:E)@E|@5Ei5:5,:5+5MߓBUc2AU6EZYb]~>hA]R@]R@]2_@ʁ]` ;GN?%?]Wt￀8J1? ۷p?]"B@]+ҁ]@]Wdw?]dg?(/ 3]?z]%]h@j]k0ǜ?r]S ]}BY]S  ]}B]@]|Ӷ@i addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.502410 s, deltaX: 0.400000 m, approachRate: 0.796163 m/s, rangeRepo size: 4 e Added new target pos. range: 7.447556 m, bearing: 326.535552 deg, lat: 36.906388 deg, lon: -122.116033 deg, deltaT: 0.502410 s, deltaX: 0.397213 m, approachRate: 0.790616 m/s, posRepo size: 4 eBNOT Ignoring new targets: 7.45 m.baZarajaRiziJiBi~q~u{B}q|q|q|}@|} z? nManaging dock network, ignoring radio surface power off {B H;I ) ׽Id< $H;K =V o=ii!ԑE4EEEp0EEDDAT read: Rx Time:13:51:53.9492 MTRx dataTimestamp_ set to:1749131515.169468]PDAT read: Bearing 172.9, -3.4 (Local) ]~Local bearing/azimuth received: Bearing 172.9, -3.4 (Local) }DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.5 DAT read: 13:51:53.9492 LVL= 26512, 29233, 28994, 32755, AGC= 56, IDX= 505,-0.20,-2.422,-0.667,-2.537,-1.754, PHS=-0.581, 1.133,-0.787, RAW= 335.6, 2.6, CAL= 337.1, 3.4, ROT= 172.9, -3.4 Ygot valid direction response: 13:51:53.9492 LVL= 26512, 29233, 28994, 32755, AGC= 56, IDX= 505,-0.20,-2.422,-0.667,-2.537,-1.754, PHS=-0.581, 1.133,-0.787, RAW= 335.6, 2.6, CAL= 337.1, 3.4, ROT= 172.9, -3.4 T#Rx 65: Read range and direction messages.^direction in FSK: [-0.990585,0.123384,0.059306]Fpublishing direction and range infoAyEӠ߲Bob?Cg]?Ef@YA Eg)E1rIEBqiAAEjE%?ExI E5o@)E9=IEE@iEs=E!A@Es A)AEjgy7D gF?iEI!E[E:E!A@Es A)Auchecking for new query: numPingsReceived=65, elapsed TxPingTime=27.015711 6G q=:J kBJ WJJ DRJ ZJ 2:bJ G9J 4J zJ 9;jJ 9;J _:rJ _:~G A A N >,du>hAP9:YK@:^*@Y:gˏ٥ H.FQ >+5kŜ?+59x IBy (@|@Eiς;+;Y+51512A1Zyb}>hA}@}@}KԵ@ʁ}UNpK@;Aq0?~•?checking for new query: numPingsReceived=65, elapsed TxPingTime=27.227900}Ӡ߲Bob?Cg]?}!A@}sҁ}#@^}9<!0\<?}{M?Q"⿽W?z}}@j} %ǜ?r}r/ }}B}C[7ǜ?}M  y}@}W@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.505484 s, deltaX: 0.200000 m, approachRate: 0.395660 m/s, rangeRepo size: 4  Added new target pos. range: 7.646157 m, bearing: 325.564051 deg, lat: 36.906387 deg, lon: -122.116034 deg, deltaT: 0.505484 s, deltaX: 0.198601 m, approachRate: 0.392893 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.65 m.bZr!j)R)z)J)B)~1~1}1|1|1|=@|=@Y? {B靭h;I)ITrc< qF;v =(h=iiKe/P"Ke9*Ka2Ke8 :KeN,FZdT?H^o&F>l5hTg'cTZE6EEEc5E6G Y`n=) ] DDAT read: Rx Time:13:51:54.4495 e TRx dataTimestamp_ set to:1749131515.674698m PDAT read: Bearing 172.1, -5.4 (Local) u ~Local bearing/azimuth received: Bearing 172.1, -5.4 (Local)  DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed -0.6  DAT read: 13:51:54.4495 LVL= 20176, 22769, 20578, 32755, AGC= 54, IDX= 508, 0.00, 0.244, 1.952, 0.104, 0.929, PHS=-0.596, 1.071,-0.828, RAW= 336.4, 4.0, CAL= 337.9, 5.4, ROT= 172.1, -5.4 E Ygot valid direction response: 13:51:54.4495 LVL= 20176, 22769, 20578, 32755, AGC= 54, IDX= 508, 0.00, 0.244, 1.952, 0.104, 0.929, PHS=-0.596, 1.071,-0.828, RAW= 336.4, 4.0, CAL= 337.9, 5.4, ROT= 172.1, -5.4 E T#Rx 66: Read range and direction messages.M ^direction in FSK: [-0.986114,0.136835,0.094108]M Fpublishing direction and range infoY y] >˃?|ӄ{?] AYY ] N)] XI] bPiY ] 6] u] ?] S ] @)] 5=I] @i] =] <@@]  Y )Y ] :Q{yñ?i] ^ ~G A A N >] 9] <@@]  Y )Y  checking for new query: numPingsReceived=66, elapsed TxPingTime=27.536327D,C>hA9"@| *@YHiHmIHmt{BHm =HiHiHm<HmEchecking for new query: numPingsReceived=66, elapsed TxPingTime=27.731310< =yXηQ >٥ H/F >+5^Ĝ?+59ݣ IBy*?:(@%|@Ei;Y; +5)-1A-9EZbA.>hAAA=@ʁ]$U?~8?>˃?|ӄ{?<@@ҁb"@-LX?qG9?OՒs⿢yԝ?zi)@jǜ?r< ~Bk0ǜ?r/  ꁕjAB@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.505230 s, deltaX: 0.400001 m, approachRate: 0.791720 m/s, rangeRepo size: 4  Added new target pos. range: 8.043365 m, bearing: 324.512340 deg, lat: 36.906386 deg, lon: -122.116034 deg, deltaT: 0.505230 s, deltaX: 0.397207 m, approachRate: 0.786191 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.04 m.bZrjRzJB~!~%{B}!|!|)|-@33 @|-/?Q {B靽&~,?hA]U{B]IImIm(*3)Q= Q=yQ >٥ H0F > M+5 Ĝ?M+59 o I ByQQU|@ Ei X< Y< x+5ޓB1A<E!E!E%1E!6GW=K^9P"K*K2K9 :K(V9xlM>55$+ Ouwg&Nx*yN~gph9~GAA Aq N >i ,b(?hA|{BIIEIE?13e= mb=DDAT read: Rx Time:13:51:55.4500 TRx dataTimestamp_ set to:1749131516.683420PDAT read: Bearing 171.1, -10.4 (Local) ~Local bearing/azimuth received: Bearing 171.1, -10.4 (Local) DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed -0.6 yQ >٥ H1F > +5DAT read: 13:51:55.4500 LVL= 24688, 25473, 26610, 32755, AGC= 58, IDX= 497,-0.21,-1.082, 0.481,-1.238,-0.367, PHS=-0.628, 0.895,-0.874, RAW= 337.4, 7.4, CAL= 338.9, 10.4, ROT= 171.1, -10.4 Ygot valid direction response: 13:51:55.4500 LVL= 24688, 25473, 26610, 32755, AGC= 58, IDX= 497,-0.21,-1.082, 0.481,-1.238,-0.367, PHS=-0.628, 0.895,-0.874, RAW= 337.4, 7.4, CAL= 338.9, 10.4, ROT= 171.1, -10.4 T#Rx 68: Read range and direction messages.Ĝ?5+59A IBy115|@Eik;;+5AE1AAy^direction in FSK: [-0.971729,0.152169,0.180519]Fpublishing direction and range infoڙyڝSg:4b|Bz?lE@?ڝfAYڙ ۝p`)۝cI۝giۙ۝:۝ ۝e?۝w_ ܝp@)ܝ A>IܝG@iܝ9>ܝ?@ܝ9 ݙ)ݙݝיH8ՏC+Di?iݝZPݝ̬ݝ?@ݝ9Z ޙ)ޙchecking for new query: numPingsReceived=68, elapsed TxPingTime=28.563276b'+?hAg Ag AtŴ@ʁ-!]lm?9?Sg:4b|Bz?lE@??@9ҁ |@ן?ME唐jp?z@j$ǜ?r8W$ SB6X!ǜ? ~Bꁝ!Au@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.507525 s, deltaX: 0.599999 m, approachRate: 1.182207 m/s, rangeRepo size: 4 M Added new target pos. range: 8.837770 m, bearing: 323.669759 deg, lat: 36.906384 deg, lon: -122.116034 deg, deltaT: 0.507525 s, deltaX: 0.595804 m, approachRate: 1.173941 m/s, posRepo size: 4 ]BNOT Ignoring new targets: 8.84 m.bZrjRzJB~~}|||!@|?:JE[BJEQJJECRJAZJE:bJE-.9JE4JAm@m@m@m@ԡ {B  DHHIH{BH =HHH<HIEHHHHI = Il5E >E E E f1E M checking for new query: numPingsReceived=68, elapsed TxPingTime=28.742641 6G YW=~G A A N >Z,TE?hA9Zy@Z)@YZy?@G?5`e?? Zy@Zd;)Xzw{BzI||)=Mb@Mb@Mb@999 9)9Y=tV?/$:v?y=2?=,=T<=A =A)=AI=QA9y=AII' %=ygQ >٥ H2FM >+5Ĝ?+59 Iy 3?:/%@|@Ei#:DDAT read: Rx Time:13:51:55.9500 TRx dataTimestamp_ set to:1749131517.184670PDAT read: Bearing 169.1, -9.4 (Local)  ~Local bearing/azimuth received: Bearing 169.1, -9.4 (Local) DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.6 EDAT read: 13:51:55.9500 LVL= 14320, 18369, 17970, 22515, AGC= 61, IDX= 2, 0.12,-0.753, 0.720,-0.971,-0.111, PHS=-0.554, 0.878,-0.863, RAW= 339.6, 6.8, CAL= 340.9, 9.4, ROT= 169.1, -9.4 MYgot valid direction response: 13:51:55.9500 LVL= 14320, 18369, 17970, 22515, AGC= 61, IDX= 2, 0.12,-0.753, 0.720,-0.971,-0.111, PHS=-0.554, 0.878,-0.863, RAW= 339.6, 6.8, CAL= 340.9, 9.4, ROT= 169.1, -9.4 MT#Rx 69: Read range and direction messages.U^direction in FSK: [-0.968773,0.186556,0.163326]UFpublishing direction and range infoyiE0~b?$vz?AY 7)GI2FiW= `?\ @)=Id@i'><@' ).W$~zJ>{Uq?ilr<@' )checking for new query: numPingsReceived=69, elapsed TxPingTime=29.009598<+51A?EZbK?hAAA@ʁ!zP!r)?RπZ?iE0~b?$vz?<@'ҁ I0@CeХA2? V?1㿃I}s?z@jPƜ?r-+ B$ǜ?<  B AE@Q] addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.501250 s, deltaX: 0.100000 m, approachRate: 0.199502 m/s, rangeRepo size: 4 u Added new target pos. range: 8.937127 m, bearing: 320.687478 deg, lat: 36.906384 deg, lon: -122.116036 deg, deltaT: 0.501250 s, deltaX: 0.099357 m, approachRate: 0.198218 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.94 m.bZrjRzJB~~{B}|||"@|`&? M{BMʆ:,a?hAl9mŇ@m(@Yml٥! %H!% ->9M+5=Ĝ?U+59=& I9yY]$@e|@=Ei=;=a;=+5mݓBm0AmBEBNOT Ignoring new targets: 8.94 m.bZrjRJB~~}|9|9|A|E@? {B靍ֿB]:@] Y)Y]y_VtKzYoq?i]N]佩]:@] Y)Y checking for new query: numPingsReceived=70, elapsed TxPingTime=29.685450Nu >,,wz?hAH>HCHIH{BH =HH/DH<HENchecking for new query: numPingsReceived=70, elapsed TxPingTime=29.747248Qԁ9@&+(@Yaoe٥!) -H-3F-^ ->y}+5}Ĝ?+59} I}B+:yu:N$@|@}Ei}:}?}^+5ܓB0ADEZb8l?hAAA@ʁI:!uA+@786"?R=\rZK?j?:@ҁ wi@kVBqQ?Or_?f'忓3?z_@jB:,Ɯ?r7/ Bǜ?8W$  Bꁕ-A"@u addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.506280 s, deltaX: 0.300000 m, approachRate: 0.592558 m/s, rangeRepo size: 4  Added new target pos. range: 9.234851 m, bearing: 317.851384 deg, lat: 36.906384 deg, lon: -122.116039 deg, deltaT: 0.506280 s, deltaX: 0.297724 m, approachRate: 0.588062 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.23 m.ԩbZrjRJB~~}|||"@|@?UDDAT read: Rx Time:13:51:56.9503 ]TRx dataTimestamp_ set to:1749131518.192254ePDAT read: Bearing 169.2, 1.8 (Local) e~Local bearing/azimuth received: Bearing 169.2, 1.8 (Local) uDAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5 DAT read: 13:51:56.9503 LVL= 17392, 15393, 19186, 32755, AGC= 59, IDX= 502, 0.03,-2.663,-0.801,-2.962,-2.131, PHS=-0.445, 1.377,-0.834, RAW= 339.5, -1.0, CAL= 340.8, -1.8, ROT= 169.2, 1.8 Ygot valid direction response: 13:51:56.9503 LVL= 17392, 15393, 19186, 32755, AGC= 59, IDX= 502, 0.03,-2.663,-0.801,-2.962,-2.131, PHS=-0.445, 1.377,-0.834, RAW= 339.5, -1.0, CAL= 340.8, -1.8, ROT= 169.2, 1.8 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.981803,0.187289,-0.031411]Fpublishing direction and range infoYy]b50jٰN?Iz]AYY ]C)]!<I]JiY];] ]A?]U ]ќ@)]5I]V@i]]<@]= Y)Y]CJXh( Zi]] Ҋ<]<@]= Y)Ychecking for new query: numPingsReceived=71, elapsed TxPingTime=30.016899 {B bV٥ H4F >+5zĜ?+59b IB :yG:#@|@Ei;`?r+50A K?P"Kh9*K2K; :K\HX'.,(o x=,$#bZ#UaJ?J?ZbM?hAAAFZ@ʁ"%?D?:Hҿb50jٰN?Iz<@=ҁ5/Ւ@ g@ڜĿ?aaE?bL+{z@jdƜ?r M- zBPƜ?-+  0Aq@U addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.501304 s, deltaX: 0.200000 m, approachRate: 0.398959 m/s, rangeRepo size: 4  Added new target pos. range: 9.433450 m, bearing: 319.339154 deg, lat: 36.906380 deg, lon: -122.116042 deg, deltaT: 0.501304 s, deltaX: 0.198599 m, approachRate: 0.396165 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.43 m.bZrjRJB~~}|||#@|v?y {B3W :Ju ^BJu TJJu ?RJq ZJu } :bJu :9Ju ـ4Jq ,??hAԩM{BUIH>HHIH{BH =HHH<HE-checking for new query: numPingsReceived=72, elapsed TxPingTime=30.755154aI}aI} aM}aM} aQ}aQ} aE}aE} }Mb@Mb@Mb@yyy y)yY}1Zd?+η{Gzt?y}";?}v}ף;}zA }A)}3AI}Ayy}\AII3 = -=yQ >٥ H5F >+5cĜ?+59څ IBT:y,fL?hA G)>ICi}:33?8 5o@)5zIp@iK@@K= )ne5۹MiH!^|=@@K= )*checking for new query: numPingsReceived=73, elapsed TxPingTime=31.0729339~@~&@Y~RQ?ry;01p? ~@~ ;)~C{BIII#3A̼ c=yAQ >٥!! %H%6F- ->)+5-QĜ?+59- I)y@|@-Ei-:-:-&+5k0AZb?hA&A&A@ʁvmט$q/zf?gÞtӛo-chk?@@K=ҁZ8k @xe:ϼO:3?CȵHblz^AjDǜ?r ) [xB %A}@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.502837 s, deltaX: 0.300000 m, approachRate: 0.596615 m/s, rangeRepo size: 4  Added new target pos. range: 10.426291 m, bearing: 322.176018 deg, lat: 36.906380 deg, lon: -122.116042 deg, deltaT: 1.009142 s, deltaX: 0.992841 m, approachRate: 0.983846 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.43 m.bZrjRJB~~}|||%@|`L? m{Bu[Y H , )?hA96@6x&@Y6`J٥19 =HE7FM=9 U>uDDAT read: Rx Time:13:51:58.4513 }TRx dataTimestamp_ set to:1749131519.706496PDAT read: Bearing 173.5, 4.5 (Local) ~Local bearing/azimuth received: Bearing 173.5, 4.5 (Local) DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.6 +5>Ĝ?%+59| IBy)1 @ |@Ei)===**+5ۓBX0AJEUDAT read: 13:51:58.4513 LVL= 22464, 18545, 17730, 32755, AGC= 61, IDX= 511,-0.34,-2.591,-0.501,-2.703,-1.998, PHS=-0.505, 1.544,-0.707, RAW= 334.7, -3.1, CAL= 336.5, -4.5, ROT= 173.5, 4.5 eYgot valid direction response: 13:51:58.4513 LVL= 22464, 18545, 17730, 32755, AGC= 61, IDX= 511,-0.34,-2.591,-0.501,-2.703,-1.998, PHS=-0.505, 1.544,-0.707, RAW= 334.7, -3.1, CAL= 336.5, -4.5, ROT= 173.5, 4.5 DNOT Ignoring new targets: 10.43 m.bZrjT#Rx 74: Read range and direction messages.`direction in FSK: [-0.990509,0.112854,-0.078459]Fpublishing direction and range infoRJByy}z? 8?5;}0AYy }W)}qHI}BEi}}=}G}ˡ?}4 }@)}k]I}@i}|٠}&A@}|٠= y)y}dHAn"*H|Kѫi} ["}u^=}&A@}|٠= y)ychecking for new query: numPingsReceived=74, elapsed TxPingTime=31.597364~)~)})|1|1|5&@|5@0?:J]BJWJJRJZJ]:bJG9JJi {BB\HeCHeIHe|BHe =HaHe.DHe<He&EԉEEEEO0E checking for new query: numPingsReceived=74, elapsed TxPingTime=31.764595 6G ~G A A N >,w@hA9BT@Bg&@YBOH@i5n?@5< )$ x647;i9n?@5< )Uchecking for new query: numPingsReceived=75, elapsed TxPingTime=32.033134{BIMb@Mb@Mb@ )YS?J +y/=?ȽA 3A)IAIzAyAII3ļ =yQ >٥ H8F[ >IU+5M Ĝ?U+59M{u IMByU>?]:]@]|@MEiM*:M:Mm/+5eړBe0AIiIm4=eMEZbO @hA3A3A@ʁp3V4&#:R?eALafuz?B7߁n?@5<ҁ\!@k@1@ p%Ӗ?m?W uF s.Q?z Aj#vƜ?rì0 {B M-  {B1AIQ@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 1.006558 s, deltaX: 0.800000 m, approachRate: 0.794788 m/s, rangeRepo size: 4 AU Added new target pos. range: 11.220643 m, bearing: 320.683674 deg, lat: 36.906380 deg, lon: -122.116043 deg, deltaT: 1.006558 s, deltaX: 0.794353 m, approachRate: 0.789177 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 11.22 m.bYZYrYjYRYJB~~I|B}|||&@|? {B0J,]!@hAIKU*P"KU9*KQ2KU= :KU{1("+oH QbW}KCE-6n/I4qJ}>J}>9MD@M-X&@YMS> ?+51Ĝ?+59q IBy@|@Ei::;2+50A=DNOT Ignoring new targets: 11.22 m.bAZArAjARAJABA~I~I}I|Q|Q|Q|U ?q {B;#,;@hA H0H2<H6>H4H6IH6 |BH6 =H4H4H6<H6E=checking for new query: numPingsReceived=76, elapsed TxPingTime=32.771297Ա5c{BEIMb@Mb@Mb@ )Y~jt?v/y&1y;?x齹`eA A)AIAy(AII2%J %3=y%Q %>٥)) -H)5 5>9e+5=Ü?e+59=k I=Bye=?e:et@e|@=$Ei=.;=8:=*6+5C1ANEZ!b%7-@hA%9A%9A%ܴ@ʁ%d֡Wt#'8f3~ᅢۓ O?y&f>AY s)1OISi?|?C+ 4@)Ik@izC@< )*(ŴNZῥ$Y2|i1#;zC@< ) checking for new query: numPingsReceived=77, elapsed TxPingTime=33.052925E! E! E! E! E! 9 6GE;jGM{?bGM?i~G9AIAaNm? ,vm[@hA9:Y@:gl&@Y:B9٥ H:FWQ; >+5Ü?+59g IzBy@|@)Ei;;9+5ٓB1AQEZbuM@hA=A=A@ʁ7'Ky?wǿ>~ᅢۓ O?y&zC@<ҁin!f#@=EnXV䨿alhiZ?cV >pzRAjyǜ?r0 {BDǜ? )  ?Aٳ@ addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503921 s, deltaX: 0.200000 m, approachRate: 0.396887 m/s, rangeRepo size: 4 !- Added new target pos. range: 11.816373 m, bearing: 323.987411 deg, lat: 36.906381 deg, lon: -122.116041 deg, deltaT: 0.503921 s, deltaX: 0.198594 m, approachRate: 0.394098 m/s, posRepo size: 4 -DNOT Ignoring new targets: 11.82 m.b1Z1r1j1R1J9BA~I~I}I|I|Q|U'@|U^? {B靭;I)*I\< ^;= =E+ ;iIK]P"K]ý9*KY2K]> :K]bu7HKQzrjGd3X.sCxi-qq%JqJuAiyQE ?E EEEyDDAT read: Rx Time:13:52:00.4523 TRx dataTimestamp_ set to:1749131521.720797PDAT read: Bearing 173.9, 0.1 (Local) ~Local bearing/azimuth received: Bearing 173.9, 0.1 (Local)  DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.5 5 DAT read: 13:52:00.4523 LVL= 25424, 20081, 21922, 32755, AGC= 64, IDX= 504, 0.22,-2.335,-0.528,-2.418,-1.709, PHS=-0.538, 1.228,-0.711, RAW= 334.6, 0.2, CAL= 336.1, -0.1, ROT= 173.9, 0.1 = Ygot valid direction response: 13:52:00.4523 LVL= 25424, 20081, 21922, 32755, AGC= 64, IDX= 504, 0.22,-2.335,-0.528,-2.418,-1.709, PHS=-0.538, 1.228,-0.711, RAW= 334.6, 0.2, CAL= 336.1, -0.1, ROT= 173.9, 0.1 = T#Rx 78: Read range and direction messages.E `direction in FSK: [-0.994336,0.106264,-0.001745]M Fpublishing direction and range infoyQA￁<\4?n p\HAY Pc)qNIUi@^ /?6 ;@)d;I@i争?B@: )uQC%Uvk.̙C\p?ic" 炻?B@: )e checking for new query: numPingsReceived=78, elapsed TxPingTime=33.5437166G] ;~GI AQ Aq N} >ԩ ,&u@hA9eUx@e&@Ye-{CHQHUIHU{BHU =HQHQHU<HUEH%ØCH%ØCH!H% =I% = I%ç{5]checking for new query: numPingsReceived=78, elapsed TxPingTime=33.780476Mb@Mb@Mb@ )Yףp= ?EԸMby>?ƽA A)3AIAyAIIF3c& =y:Q >٥ H;FE2q; E>IU+5MÜ?U+59M` IMtBy]_@?]:]D@]|@M/EiM:M:M>+5ؓB1ATEZ)b-!n@hA-FA-FA-ye@ʁ-|(`N|?i.-QA￁<\4?n p\-?B@-:ҁ-3%/#@YeI?-?PATjmI?z--Aj-IVǜ?r-o% -{B-yǜ?-o%  -{B-FA-WS@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503484 s, deltaX: 0.600000 m, approachRate: 1.191697 m/s, rangeRepo size: 4  Added new target pos. range: 12.412159 m, bearing: 322.998467 deg, lat: 36.906382 deg, lon: -122.116039 deg, deltaT: 0.503484 s, deltaX: 0.595786 m, approachRate: 1.183327 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.41 m.bZr!j!R!J!B!~)~-{B})|Q|Q|U)@|UF{? {B靥?;I)@IgZ< 'W;4 =~<ii zE E ?E E E E  DDAT read: Rx Time:13:52:00.9525  TRx dataTimestamp_ set to:1749131522.224035 PDAT read: Bearing 173.3, -0.4 (Local)   ~Local bearing/azimuth received: Bearing 173.3, -0.4 (Local) - DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 M DAT read: 13:52:00.9525 LVL= 27120, 28577, 26098, 32755, AGC= 64, IDX= 506, 0.07, 1.604,-2.941, 1.502, 2.212, PHS=-0.520, 1.178,-0.713, RAW= 335.3, 0.6, CAL= 336.7, 0.4, ROT= 173.3, -0.4 m Ygot valid direction response: 13:52:00.9525 LVL= 27120, 28577, 26098, 32755, AGC= 64, IDX= 506, 0.07, 1.604,-2.941, 1.502, 2.212, PHS=-0.520, 1.178,-0.713, RAW= 335.3, 0.6, CAL= 336.7, 0.4, ROT= 173.3, -0.4 m T#Rx 79: Read range and direction messages.} ^direction in FSK: [-0.993146,0.116668,0.006981]} Fpublishing direction and range info y jn ݽ?a|? IAY  i) oI ei    Ȗ? +6  PD@) +٥aa eHm+5Ü?+59[ InBy|@4EiS::A+5p2AZbV@hA.HA.HA@ʁX(YS+Z?yIJ\?jn ݽ?a|?A@ҁ{h#@|D~5rA&)@o i`753rDt &JU>JU?6G- b<~Ga Ai Ay N >u DDAT read: Rx Time:13:52:01.4529 } TRx dataTimestamp_ set to:1749131522.729536 PDAT read: Bearing 172.1, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 172.1, -3.9 (Local)  DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.2  DAT read: 13:52:01.4529 LVL= 32752, 32753, 32706, 32755, AGC= 65, IDX= 510,-0.10, 1.668,-3.022, 1.545, 2.283, PHS=-0.527, 1.025,-0.742, RAW= 336.4, 3.0, CAL= 337.9, 3.9, ROT= 172.1, -3.9  Ygot valid direction response: 13:52:01.4529 LVL= 32752, 32753, 32706, 32755, AGC= 65, IDX= 510,-0.10, 1.668,-3.022, 1.545, 2.283, PHS=-0.527, 1.025,-0.742, RAW= 336.4, 3.0, CAL= 337.9, 3.9, ROT= 172.1, -3.9  T#Rx 80: Read range and direction messages. ^direction in FSK: [-0.988216,0.137126,0.068015] Fpublishing direction and range infoq yu ҖvzY?,::si?u 3SAYq u )u Iu iq u Au yu 33?u = u @)u PwV=Iu @iu 'g= u <@@u 'g q )q u  鿽 55j?iu f u hSu <@@u 'g q )q  checking for new query: numPingsReceived=80, elapsed TxPingTime=34.556301 +,@hA)x zC]bGq  YywB9 @ &@Y  N٥ H=F15< >+5Ü?+59U IhBy@5|@:Ei<<E+5Y] 3AWEGG@AH>HHIH{BH =HH/DH <H/EZb@hAQAQAԗ@ʁnF)GV?=X(?ҖvzY?,::si?<@@'gҁNvgv$@= ٹ}Z?7+Oy?ߓpI.?z#AjƯǜ?r+ DB {BꁥDPAX@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505501 s, deltaX: 0.599999 m, approachRate: 1.186940 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=80, elapsed TxPingTime=34.787083 Added new target pos. range: 13.107328 m, bearing: 321.560179 deg, lat: 36.906382 deg, lon: -122.116039 deg, deltaT: 0.505501 s, deltaX: 0.595872 m, approachRate: 1.178775 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.11 m.bZrjRJB~~}|||`ff*@|` ? e{BeJ:Ia)m:MiIT< ; =I%_٥ H>F5< >:J^BJVJJ?RJZJ} :bJB9Jـ4JzJ^:jJc:JX:rJX:+5Ü?+59^P I_ByC?:h!@}@@Ei:b:I+5 דB ]3AZEE addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.502730 s, deltaX: 0.200000 m, approachRate: 0.397827 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 13.11 m.bAZArIjIRIJIBI~Q~]{B}Y|ai|i|u*@|u? {BxI!)%e)I-I?R< ))-֊;15R =5 K P"K 9*K 2K @ :K (2X ;!lsp2+%($ I 5 i<:$h7<G(}L:,c@hAP9V{U@Vh'@YV,*_@iE争En?@E: A)AE_r_6V<^,$ѥt?iEE.En?@E: A)Achecking for new query: numPingsReceived=82, elapsed TxPingTime=35.563320iiEEEE_0E~GAANC>HHHIH_{BH =HH.DHך<HE checking for new query: numPingsReceived=82, elapsed TxPingTime=35.795280! A,LSAhA9N@N'@YNq٥ H@F; >%+5`Ü?%+59zG IOBy-!F?-:-#@-}@IEi~ ;. ;P+55֓B=^4A=\EZibmv@hAmm^Amm^Am+@ʁm75+! @iؘmK.│޸Az?n p\mn?@m:ҁm Em%@+5!#Vx?m4!?vMpIΑ?zm m.Ajm0ȐƜ?rmIK&* m{BmƯǜ?mo%  im^Am.@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503602 s, deltaX: 0.600000 m, approachRate: 1.191418 m/s, rangeRepo size: 4  Added new target pos. range: 13.901705 m, bearing: 321.758382 deg, lat: 36.906381 deg, lon: -122.116039 deg, deltaT: 1.006332 s, deltaX: 0.794376 m, approachRate: 0.789378 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.90 m.bZrjRJB~~D{B}|||,@|? {B!I)זIl$K< ;}r = MԼ@)IIM@iIM>@I I)IM ,xde0鿻֎4Kwr?iMMM>@I I)Ichecking for new query: numPingsReceived=83, elapsed TxPingTime=36.065323EEEEEZG RG A~GAANk>I:J`BJRJJCRJZJ:bJS29J4JzJ:jJ:J;:rJ<:y .G,AhA9B@Bu'@YB]K[P"K9*K2KA :K42}}9pG<=[poDQYv6٥ HAFm; >!-+5%@EÜ?-+59%A I%CBy)-$@-}@%OEi%`:%K:%#U+59=4A=_EZb#hAhA1cA1cA#/@ʁ ,iC @s`X￐uy?n p\>@ҁݭ&@p"Q!a>p?6? v5UsmUCe?zz0Aj;2Ɯ?rs'. {Br)5Ɯ?IK&*  ꁅkeA߳@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504863 s, deltaX: 0.300000 m, approachRate: 0.594221 m/s, rangeRepo size: 4  Added new target pos. range: 14.199598 m, bearing: 320.827944 deg, lat: 36.906381 deg, lon: -122.116041 deg, deltaT: 0.504863 s, deltaX: 0.297894 m, approachRate: 0.590048 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.20 m.bZrjRJB~~}|||,@|? {BI)^IE< 0B;Z =1iaM,68AhAԱ9G@'@YH}CH}eIH}{BH} =HyH}/DH} <H}6E G@骅㥐;)Ci)))) )I) 1)1111Y]tAi]IYYIaia aa)ai mnAmiiim`AIu)qiq)qchecking for new query: numPingsReceived=84, elapsed TxPingTime=36.803364Iqѡѡ ҡҩҩҩiҩҩٯOzBIAMb@Mb@Mb@ )Yv/?~jt/$yxI?D A)IAy\AII2M̅ M'=yM;Q M>٥QQ UHQ]m; >+5)Ü?+59< I:ByI?:'@}@UEi{::_Y+5ՓBn5AbEZyb}/AhA}lA}lA} @ʁ} L+N,\Ѯ@Hŏ}|_Xwv?B7߁}<@}5<ҁ}U_A&@^OQ~#S_mZ?}[.?K5c?+?z}} 2Aj}j<Ɯ?r}= }J{B}0ȐƜ?}+  }{B}GkA}\dz@Y} addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503938 s, deltaX: 0.599999 m, approachRate: 1.190621 m/s, rangeRepo size: 4  Added new target pos. range: 14.795531 m, bearing: 318.781372 deg, lat: 36.906380 deg, lon: -122.116042 deg, deltaT: 0.503938 s, deltaX: 0.595933 m, approachRate: 1.182552 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.80 m.bZrjRJB~~zB}|||-@|`? = {B= 7I9 )= g9 IE %z?< A A E G;I M %G =M T,@SAhAfchecking for new query: numPingsReceived=85, elapsed TxPingTime=37.0980079n@n%$(@Yne?n@W&?f tH}0?zZ3Aj1Ɯ?rc; zB;2Ɯ?s'.  {BlAa@= addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503291 s, deltaX: 0.100000 m, approachRate: 0.198693 m/s, rangeRepo size: 4 M Added new target pos. range: 14.894831 m, bearing: 318.996422 deg, lat: 36.906378 deg, lon: -122.116043 deg, deltaT: 0.503291 s, deltaX: 0.099299 m, approachRate: 0.197300 m/s, posRepo size: 4 MDNOT Ignoring new targets: 14.89 m.bIZQrQjQRQJYBY~Y~Y}a|a|a|e.@|e =)? {B_d^v{e:{Y3J7w!LAMJi 6G +^<jG x?bG Y?~Gi A A N >Z, mAhA9m"@DDAT read: Rx Time:13:52:04.4544 TRx dataTimestamp_ set to:1749131525.7520365PDAT read: Bearing 168.1, 2.2 (Local) =~Local bearing/azimuth received: Bearing 168.1, 2.2 (Local) ]DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.5 }DAT read: 13:52:04.4544 LVL= 27456, 29873, 24626, 32755, AGC= 65, IDX= 509,-0.13, 2.015,-2.570, 1.701, 2.481, PHS=-0.378, 1.279,-0.783, RAW= 340.7, -1.3, CAL= 341.9, -2.2, ROT= 168.1, 2.2 Ygot valid direction response: 13:52:04.4544 LVL= 27456, 29873, 24626, 32755, AGC= 65, IDX= 509,-0.13, 2.015,-2.570, 1.701, 2.481, PHS=-0.378, 1.279,-0.783, RAW= 340.7, -1.3, CAL= 341.9, -2.2, ROT= 168.1, 2.2 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.977788,0.206052,-0.038388]Fpublishing direction and range infoy JᅳU_?.yAY @k)tI2`iA7F?rH dH@)޹I@inF;@nF= 5(@Y٥ HCF$; > +5>Ü?+595 I,ByL'@=}@^Ei%<<^_+55AeEZb\!pAhAwAwA@ʁڥK.v# @&a JᅳU_?.;@nF=ҁ:L?'@Cz$lh~־f5?K`\&8z#9AjƜ?rͅiC yBƜ?c;  J{BtA!n@ addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504076 s, deltaX: 0.600000 m, approachRate: 1.190297 m/s, rangeRepo size: 4  Added new target pos. range: 15.490623 m, bearing: 318.621748 deg, lat: 36.906376 deg, lon: -122.116049 deg, deltaT: 0.504076 s, deltaX: 0.595793 m, approachRate: 1.181950 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.49 m.bZrjRJB~~}|!|)|U@33/@|U ? }{B靅I)&оI 5<  A;He>HaHe3IHezBHaHaHaHe<HeE3 =%L-c,TUAhA9N@N 3(@YNY٥ HDF >+5^œ?+59H0 I$By'P?:(@}@eEi;R;c+5ԓB6AhEZyb}dAhA}{A}{A}@ʁ}Ԑl㱧.Y55 @VN}[C??֏ };@}=ҁ}zw'@*$Ƭi޿}>a?K֖' 忄<z}%}exB}j<Ɯ?}=  }zB}{A} n@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504111 s, deltaX: 0.200000 m, approachRate: 0.396738 m/s, rangeRepo size: 4  Added new target pos. range: 15.689392 m, bearing: 318.663496 deg, lat: 36.906376 deg, lon: -122.116050 deg, deltaT: 0.504111 s, deltaX: 0.198769 m, approachRate: 0.394295 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.69 m.bZrjRJB~~zB}|||/@|kҽ? {BaSI)0վI,>/< |4;%( =%i,2rAhAKz3P"Kzػ9*Kx2KzC :KzB_)]_|( Vl-##w}mn>{O8N3!4-|/J~ ?J~?9u@u" (@Yu٥11 5H5EF5ܻ =>9M+5=œ?M+59=R, I=ByIMw(@M}@=jEi=;=;=1g+5UӓB]6A]iEԁ5DNOT Ignoring new targets: 15.69 m.b9Z9rYjaRaJaBa~i~i}i|i|i|q|u`->?DDAT read: Rx Time:13:52:05.4549 TRx dataTimestamp_ set to:1749131526.759982PDAT read: Bearing 169.7, 3.6 (Local) ~Local bearing/azimuth received: Bearing 169.7, 3.6 (Local)  DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed -0.6 -DAT read: 13:52:05.4549 LVL= 21472, 25377, 17778, 29523, AGC= 68, IDX= 2, 0.04, 2.985,-1.474, 2.724,-2.810, PHS=-0.400, 1.383,-0.752, RAW= 338.9, -2.4, CAL= 340.3, -3.6, ROT= 169.7, 3.6 =Ygot valid direction response: 13:52:05.4549 LVL= 21472, 25377, 17778, 29523, AGC= 68, IDX= 2, 0.04, 2.985,-1.474, 2.724,-2.810, PHS=-0.400, 1.383,-0.752, RAW= 338.9, -2.4, CAL= 340.3, -3.6, ROT= 169.7, 3.6 ET#Rx 88: Read range and direction messages. e{BeڪIi)mپiIm,*< iqu;q}`direction in FSK: [-0.981944,0.178449,-0.062791]}Fpublishing direction and range infoyl8oLn?֏ 3AY S)!cIrEiSsD̾%?@ G@)I3@i=@ )v s_n 信.i(==@ ) =|H% CH% IH% zBH! H! H% 0DH% <H% EHəCHəC6G <HH =I = I5~G  checking for new query: numPingsReceived=88, elapsed TxPingTime=38.819321A A N > Չp,BAhA9@'@Y٥II UHUFFU U>Y+5]œ?+59]B' I]BycY?z:)@}@]pEi]^;]H;]Rk+5ғBG6AlEZ!b%AhA%HA%HA%@ʁ%|/4:g!?@|f\%l8oLn?֏ %=@!ҁ%S8(@13d$ ?߿%pv?.w, AhA9bL@b'@Yb٥ H-% ->Y+5œ?-+59 # IBy15(@5}@uEig<`a<n+59=+6AAZ9b=KAhA=A=A=W@ʁ=y I0vwJ@n=7mVˉ*?=N=@=Q =ҁ=}fkc)@FK%Kw`=f f~?{_ҋoz=\*=KAj=OƜ?r=; =OwB=OLƜ?=;  =>xB=˄A=Dz@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504135 s, deltaX: 0.300001 m, approachRate: 0.595081 m/s, rangeRepo size: 4  Added new target pos. range: 16.583143 m, bearing: 320.011057 deg, lat: 36.906375 deg, lon: -122.116049 deg, deltaT: 0.504135 s, deltaX: 0.297903 m, approachRate: 0.590919 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.58 m.bZ!r!j!R!J!B!~)~)})|)|)|5@30@|5?ԁ {B靥ЦI)ݾI ^< ; =@ s=  )  e] >Z㿝i i  ?= >@ s=  )  checking for new query: numPingsReceived=90, elapsed TxPingTime=39.5974085 qGI q Y y 0 B6G V<~G A  A NE >O},AhA:J<BJ>YJJ>>RJ<ZJ<bJ>[O9J>t4J<9 _@ `r'@Y {HHIHkzBH =HHH<H(E=,zB=IDDAT read: Rx Time:13:52:06.9557 TRx dataTimestamp_ set to:1749131528.024039checking for new query: numPingsReceived=90, elapsed TxPingTime=39.834877I=Mb@Mb@Mb@999 9)9Y=+?MbPMb`?y=_?==;=A =A)=`AI=zA9y=zAI I2<  =y_BQ >٥ HHF >+5sœ?+59 I By_?r:_'@}@}Ei;;s+55AoEZYb]*AhA]nA]nA]Y@ʁ]Q0iNch@#M]})ƃ2p?Cg]]>@]s=ҁ]#)}*@":% Ȍ]"~Jg?S%Z֣\L,z].]SAj]?AƜ?r] {< ]xBY] {<  ]xB]؈A]y@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504116 s, deltaX: 0.599998 m, approachRate: 1.190199 m/s, rangeRepo size: 4  Added new target pos. range: 17.178923 m, bearing: 320.479705 deg, lat: 36.906375 deg, lon: -122.116049 deg, deltaT: 0.504116 s, deltaX: 0.595779 m, approachRate: 1.181830 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.18 m.bZrjRJB~~{B}|||L1@| ? e {Be mIi )m *־i Im #< i i u ;y  = zBMIII2I= `=y.Q >٥ H!-wn ->1=+55[œ?=+595E I5ByA'@}@5Ei5)1<58<5v+5 %=%<EDDAT read: Rx Time:13:52:07.4560 MTRx dataTimestamp_ set to:1749131528.531110ePDAT read: Bearing 172.1, 2.3 (Local) u~Local bearing/azimuth received: Bearing 172.1, 2.3 (Local) checking for new query: numPingsReceived=91, elapsed TxPingTime=40.347954ѓB5ArEZb QBhAЋAЋAG@ʁC1(2c@NXkɜqBa? ۷pt?@+=ҁ )+@er2%$4ѿFJ?~"T.rJz/HYAjƜ?r?P: ,yB;  >AZ@Q addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502338 s, deltaX: 0.300001 m, approachRate: 0.597210 m/s, rangeRepo size: 4  Added new target pos. range: 17.476824 m, bearing: 320.998450 deg, lat: 36.906375 deg, lon: -122.116049 deg, deltaT: 0.502338 s, deltaX: 0.297901 m, approachRate: 0.593029 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.48 m.bZrjRJB~~}|||1@| D? ={BERSIA)E;AIE4< AIm;y}y =}ORr m }@)m +r,VBhA9R@R&@YR ٥ HJF >+5œ?+59 IByd?m:%@}@Ei#<"<!+5 ӓB a5A wE5DNOT Ignoring new targets: 18.17 m.b1ZrjRJB~~w{B}||||ܺ? e{Be_Ii)m\ƾI4< ;8 =Z4,AGrBhADAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.7 *DAT read: 13:52:08.4566 LVL= 23440, 21153, 20466, 32403, AGC= 68, IDX= 3,-0.30, 3.080,-1.406, 2.957,-2.655, PHS=-0.460, 1.296,-0.674, RAW= 335.7, -1.8, CAL= 337.3, -2.7, ROT= 172.7, 2.7 .Ygot valid direction response: 13:52:08.4566 LVL= 23440, 21153, 20466, 32403, AGC= 68, IDX= 3,-0.30, 3.080,-1.406, 2.957,-2.655, PHS=-0.460, 1.296,-0.674, RAW= 335.7, -1.8, CAL= 337.3, -2.7, ROT= 172.7, 2.7 2T#Rx 95: Read range and direction messages.R`direction in FSK: [-0.990793,0.126924,-0.047106]RFpublishing direction and range infoy,g(h3??P7VfAY [)RIOi~DT?D, )IDb@iAb@@A= )m+Oi4!<b@@A= )^checking for new query: numPingsReceived=95, elapsed TxPingTime=41.617313I)@9:JmBJRJJCRJZJ\8:bJS29J4JzzB II-I-(]= ]'=y]Q ]>٥aa eHeKFm m>+5q?+59 IBy}@Ei::r+54A zEiH>HCHIHzBH =HH/DHΚ<HEZb_rBhAYAYAճ@ʁٽ%!2Os@$,g(h3??P7Vb@@A=ҁCi-@]&UPzٿZ,q5?ws5;_֕z7MkAjOWƜ?rč5 xBƜ? xB@AX}@DDAT read: Rx Time:13:52:08.9568 TRx dataTimestamp_ set to:1749131530.042697PDAT read: Bearing 173.5, 2.3 (Local) ~Local bearing/azimuth received: Bearing 173.5, 2.3 (Local) DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed -0.7 --Z#Rx 96: Read range message, but no direction.̘AYMchecking for new query: numPingsReceived=96, elapsed TxPingTime=41.864380u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.750414 s, deltaX: 0.500000 m, approachRate: 0.666299 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 18.668472 m, bearing: 321.994637 deg, lat: 36.906376 deg, lon: -122.116049 deg, deltaT: 0.750414 s, deltaX: 0.496502 m, approachRate: 0.661637 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.67 m.bZr j R J B1 ~1 ~1 }Q |Q |Q |U 3@|] ? {B靅 EI ) ° I ; `< 5 = n6;)nClzBI)}Mb@Mb@Mb@yyy y)yY}S㥛?&1y&1|?y}d?}P}`;y }IA)yI}Ayy}AIIV83 #=y0Q >٥ HLF: >+5[?+59: IBy>e?m:"#@}@Ei;;ȇ+5%ғB%4A%}EZibmBhAmAmAmK@ʁmځX62Uˌ)@n>E[m3R}?.='m&A@ml$=ҁm~Fz7.@ 2&S^Կm<}?,f)VA/zm^7mqAjmƜ?rm +. m&yBmOWƜ?m?P:  m&yBmAmb@ addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.255613 s, deltaX: 0.300001 m, approachRate: 1.173654 m/s, rangeRepo size: 4 % Added new target pos. range: 18.966051 m, bearing: 322.817698 deg, lat: 36.906376 deg, lon: -122.116048 deg, deltaT: 0.255613 s, deltaX: 0.297579 m, approachRate: 1.164177 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.97 m.b)Z)r)j)R)QJQBQ~Y~]{B}a|a|i||C? GI) 󷾉 Ig; w=P"K ý9*K 2K G :K ,xCCAx59j> yG (~K6G 2<J ?J >~G A A N >,BhA96@6&@Y6gpؤX N6WizN"z=z?B@zk]=mchecking for new query: numPingsReceived=99, elapsed TxPingTime=42.617798I)IW3{= L=y]9Q >٥ HMF; >q}+5u?}+59u IuByy}M#@}}@uEiu):u:uY+5ѓBv4AEZbBhA~A~A@ʁij 0l3'}@=RudZ:)?ʾ7?B@k]=ҁ*H=%b/@soT'5NG?<,`0>_lz:{AjM*Ɯ?ry4. xBƜ?č5  A@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504214 s, deltaX: 0.600000 m, approachRate: 1.189972 m/s, rangeRepo size: 4  Added new target pos. range: 19.561844 m, bearing: 323.372959 deg, lat: 36.906377 deg, lon: -122.116046 deg, deltaT: 0.504214 s, deltaX: 0.595793 m, approachRate: 1.181627 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.56 m.bZrjRJB~~}|||@33@|%?y eI)tI6$; ݼ<  X = N`HCH3IHzBHHH.DH <H/EEEEE_0Eԩ checking for new query: numPingsReceived=99, elapsed TxPingTime=42.882427 6G 4:<~G A A N >8,7BhA9>@>,'@Y>]S>HH@L) "z(?u`?`I@`? >@>;)>CRzBR#IeMb@Mb@Mb@aaa a)aYeS?x&Mbp?ye/]?e7e;eA evA)e AIeAaye AI}I}m?3U= R=yQ >٥ HNF < >Թ+5?+59 IBy]?u:8"@}@EiA;i@;+54ADNOT Ignoring new targets: 19.56 m.bZrjRJB~ ~ 2|B} | | | |@? M{BMӋII)UʜIf; p<w ='?C+ PD@)I)@i4QOZA@4QO= )Ҍr0`F } Lݠi!=ZA@4QO= )]checking for new query: numPingsReceived=100, elapsed TxPingTime=43.149693Ee?EaEaEe 3Ea:J_BJUJJ>RJZJ :bJ>9Jt4JzJ,:jJ1:J}Q:rJQ:6G- Qd<~G A A! N- >A ,BhA <=DDAT read: Rx Time:13:52:10.4580 &TRx dataTimestamp_ set to:1749131531.579957.PDAT read: Bearing 172.7, 2.7 (Local) 2~Local bearing/azimuth received: Bearing 172.7, 2.7 (Local) :DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.7 ->\#Rx 101: Read range message, but no direction. "3AY Bchecking for new query: numPingsReceived=101, elapsed TxPingTime=43.396366zB(II I<2O< D=yQ >٥ H OF >+5?%+59 IBy!!}@Eij<k<O+53AEZ b"BhA"A"A"E@ʁ"w 4{4@rD"w@C21?|rQ穿"ZA@"4QO=ҁ"@݄0@`),!"}=x?ЃYɹQz"H"&Aj"?ǜ?r"L$; "fxB"hƜ?  "xB"٢A"9@- addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 1.033046 s, deltaX: 1.199999 m, approachRate: 1.161612 m/s, rangeRepo size: 4 = Added new target pos. range: 20.753231 m, bearing: 322.775310 deg, lat: 36.906379 deg, lon: -122.116046 deg, deltaT: 1.033046 s, deltaX: 1.191387 m, approachRate: 1.153276 m/s, posRepo size: 4 =DNOT Ignoring new targets: 20.75 m.byZrjRJB~~}|||`f4@|`?  jSI ) I IM; l <=uO ==ԉ r޾,d]BhAH>HHLIHzBH =HHH<HEHHHH =I = I69@v'@Y1٥99 =HEPFE߅< E>IU+5Mw?U+59Mf IMByUY?}y:} @}}@MEiM#;M;M+5ГB3AEZQbUK}$P"K}9*Ky2K}I :K}EIQbU>zFdgzt>HKlEe'9 )  ƈG 1 e  Ya ym B checking for new query: numPingsReceived=104, elapsed TxPingTime=44.643356v,x8ChA9V@V '@YV.F٥!! %H%QF-": ->1=+55L?=+595 I5By9=!@E}@5Ei5Q;5M;5+5IM3AMEZyb}{%ChA}A}A}@ʁ}D9,5FQ @N4Z}yHCHXIHzBH =HH0DH<H/EI {B靍I)PI; Y8<' =,TChA:checking for new query: numPingsReceived=105, elapsed TxPingTime=45.1473399R:@R'@YR/٥ HRF* >+53?+59 IڠByP?:@}@Ei;;|+53AԁZqbu)EChAuAuAu@ʁuR Ǟ5F;C @8?uСlFW?5;ut;?@u|٠=ҁus gP!1@<Y+h+;u0N.d?ie[ zuZu Ajuӏ9Ɯ?ru"B uavBquZ=  uxBu&Aum@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.506874 s, deltaX: 0.500000 m, approachRate: 0.986438 m/s, rangeRepo size: 4 JJ4J4JQ0:JE^BJAJJE=RJAZJE} :bJAJEg4JAzJE]:jJEb:JArJAu Added new target pos. range: 21.945425 m, bearing: 321.400016 deg, lat: 36.906379 deg, lon: -122.116049 deg, deltaT: 0.506874 s, deltaX: 0.497091 m, approachRate: 0.980700 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.95 m.bZrjRJB~~}|B}|||6@|? ]{BeZ bIi)miIui; qqv<=h @-= )))-eqLb DӁUfui-[-k=-y>@-= )))checking for new query: numPingsReceived=106, elapsed TxPingTime=45.4168016G Hn< ~Gi Aq A N >>@,0oChA9@'@YHHHH =HHH<HEzBII I 3%Hg -=y-a9Q ->٥)1 5H5SF5 =>9E+5=H?M+59= I=ѠByIM_@M}@=Ei=F:=:=+5UΓB]B4A]EZbeChATATA#@ʁ7ѹ*69p. @G_-4wVݜ?U]ky>@=ҁ8Am1@@^{,@}2:?vRͨ749૿zcoAj(Ɯ?rH uB5Q%Ɯ?W=  jvBA@  addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.499434 s, deltaX: 0.600000 m, approachRate: 1.201361 m/s, rangeRepo size: 4  DDAT read: Rx Time:13:52:12.9593  TRx dataTimestamp_ set to:1749131534.1000415 PDAT read: Bearing 170.9, 5.2 (Local) 5 ~Local bearing/azimuth received: Bearing 170.9, 5.2 (Local) E DAT read: Range 10 to 50 : 23.0 m (trip time 15.3 ms) speed -0.4  DAT read: 13:52:12.9593 LVL= 30128, 27121, 32754, 32755, AGC= 67, IDX= 510,-0.27, 1.152, 2.953, 0.954, 1.615, PHS=-0.375, 1.385,-0.664, RAW= 337.5, -3.6, CAL= 339.1, -5.2, ROT= 170.9, 5.2  Ygot valid direction response: 13:52:12.9593 LVL= 30128, 27121, 32754, 32755, AGC= 67, IDX= 510,-0.27, 1.152, 2.953, 0.954, 1.615, PHS=-0.375, 1.385,-0.664, RAW= 337.5, -3.6, CAL= 339.1, -5.2, ROT= 170.9, 5.2  V#Rx 107: Read range and direction messages. `direction in FSK: [-0.983350,0.157507,-0.090633]  Added new target pos. range: 22.541203 m, bearing: 320.747958 deg, lat: 36.906377 deg, lon: -122.116049 deg, deltaT: 0.499434 s, deltaX: 0.595778 m, approachRate: 1.192905 m/s, posRepo size: 4  DNOT Ignoring new targets: 22.54 m.b Z r j R J B  Fpublishing direction and range info y Edw¦2)?0L3 AY  u) iI i  C  G? )  ~@) I c@i ޹ >@ ޹=  )  6 Q+W鿏)aoKs9,Ei ]0 ?= >@ ޹=  )  checking for new query: numPingsReceived=107, elapsed TxPingTime=45.937420~ ~ } | | | 7@| ?! U {B] pVRIY )] "Y Ie ; a a e u٥ HTFv >+5?+59q IȠByaK?:@}@Ei::0+5͓B4AEZyb}gChA}A}A}@ʁ}7uu6<R @ɧ[J}Edw¦2)?0L3}>@}޹=ҁ}|`21@4, ES<}iA?P俀Gz}g}Aj}Ɯ?r}qI }tB}ӏ9Ɯ?}"B  }avB}A}}@= addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.508068 s, deltaX: 0.299999 m, approachRate: 0.590471 m/s, rangeRepo size: 4  Added new target pos. range: 22.839104 m, bearing: 320.496677 deg, lat: 36.906376 deg, lon: -122.116051 deg, deltaT: 0.508068 s, deltaX: 0.297901 m, approachRate: 0.586341 m/s, posRepo size: 4  DNOT Ignoring new targets: 22.84 m.b Z9rAjIRIJyB~~_|B}||||?5DDAT read: Rx Time:13:52:13.4597 =TRx dataTimestamp_ set to:1749131534.600042UPDAT read: Bearing 171.5, 5.9 (Local) U~Local bearing/azimuth received: Bearing 171.5, 5.9 (Local) eDAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed -0.5 DAT read: 13:52:13.4597 LVL= 24880, 23985, 21170, 32755, AGC= 66, IDX= 2,-0.19, 0.823, 2.639, 0.655, 1.284, PHS=-0.374, 1.402,-0.632, RAW= 336.7, -4.2, CAL= 338.5, -5.9, ROT= 171.5, 5.9 Ygot valid direction response: 13:52:13.4597 LVL= 24880, 23985, 21170, 32755, AGC= 66, IDX= 2,-0.19, 0.823, 2.639, 0.655, 1.284, PHS=-0.374, 1.402,-0.632, RAW= 336.7, -4.2, CAL= 338.5, -5.9, ROT= 171.5, 5.9 V#Rx 108: Read range and direction messages.`direction in FSK: [-0.983777,0.147026,-0.102793]Fpublishing direction and range info9y=ӳ{?n]?zBP=̼AY9 =0a)=]I=Ri9=B=|=t?=! =| @)=Q I= @i=Bҽ==?@=B= 9)9=bUN434 i=L =;:===?@=B= 9)9checking for new query: numPingsReceived=108, elapsed TxPingTime=46.424698 {B)IӰ<)(I\; H<ݫ==Ir,DŽChABchecking for new query: numPingsReceived=108, elapsed TxPingTime=46.660358h9~Q@~&@Y~m٥ HUFM >+5%?+59, IBy@}@Ei: :Ʈ+54AEZQbUgChAUzAUzAU?3@ʁUt`7 89} @fJ ~EUӳ{?n]?zBPU=?@UB=ҁU.2@@<-t[U݋ n?#俔2zUkUAjU81Ɯ?rU)J U"sBQUH  UuBUeAUB@u addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.500001 s, deltaX: 0.600000 m, approachRate: 1.199998 m/s, rangeRepo size: 4  Added new target pos. range: 23.434906 m, bearing: 320.856684 deg, lat: 36.906376 deg, lon: -122.116054 deg, deltaT: 0.500001 s, deltaX: 0.595802 m, approachRate: 1.191602 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.43 m.bZrjRJB~~}|||7@|@Y? E{BM6ּII)MžIIM; IQUjE>H>HCHLIHzBH =HH/DHښ<HEEEEEn0E6Gp<ԑ~GAMDDAT read: Rx Time:13:52:13.9598 ]TRx dataTimestamp_ set to:1749131535.108487}PDAT read: Bearing 172.5, 4.4 (Local) ~Local bearing/azimuth received: Bearing 172.5, 4.4 (Local) DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed -0.4  DAT read: 13:52:13.9598 LVL= 23456, 22769, 19762, 32755, AGC= 68, IDX= 499, 0.16,-1.116, 0.706,-1.247,-0.603, PHS=-0.425, 1.356,-0.647, RAW= 335.8, -3.0, CAL= 337.5, -4.4, ROT= 172.5, 4.4 A9 NE >M Ygot valid direction response: 13:52:13.9598 LVL= 23456, 22769, 19762, 32755, AGC= 68, IDX= 499, 0.16,-1.116, 0.706,-1.247,-0.603, PHS=-0.425, 1.356,-0.647, RAW= 335.8, -3.0, CAL= 337.5, -4.4, ROT= 172.5, 4.4 U V#Rx 109: Read range and direction messages.} `direction in FSK: [-0.988523,0.130141,-0.076719]} Fpublishing direction and range infoQyUۧ@y?.0ۣUAYQ U[)UXIU2MiQUDUپUh?Uˡ% U͋@)UPwVIU~@iUnFU2@@UnF= Q)QU鿹l]iU!UX=U2@@UnF= Q)Q checking for new query: numPingsReceived=109, elapsed TxPingTime=46.962429Ա E,9FChA]OzB]Iԑ=Mb@Mb@Mb@999 9)9Y=p= ף?+ηQy=E?=v99 =vA)=/ AI=3A9y9IUIU3e  eB=yeQ m>٥yy }HVF >+58?+59 IByF?: @}@Eiq ; ;y+5̓B%5AEZbsChAEAEA@ʁBc}C7֛ro@(_eDۧ@y?.0ۣ2@@nF=ҁ{2@T -,+I!?!b}wzHhݓAj4Ɯ?r3e? uB uBꁍAE@  addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.508445 s, deltaX: 0.100000 m, approachRate: 0.196679 m/s, rangeRepo size: 4  Added new target pos. range: 23.533731 m, bearing: 321.852003 deg, lat: 36.906376 deg, lon: -122.116054 deg, deltaT: 0.508445 s, deltaX: 0.098825 m, approachRate: 0.194368 m/s, posRepo size: 4 %DNOT Ignoring new targets: 23.53 m.b!Z!r!j!R!J)B)~1~5;|B}1|1|1|=@37@|=$? e{Bm4UIq)uU;qI}s; yy<checking for new query: numPingsReceived=109, elapsed TxPingTime=47.163437X=|<E DDAT read: Rx Time:13:52:14.4602 M TRx dataTimestamp_ set to:1749131535.607945U PDAT read: Bearing 173.0, 4.3 (Local) U ~Local bearing/azimuth received: Bearing 173.0, 4.3 (Local) m DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.8  DAT read: 13:52:14.4602 LVL= 32752, 28241, 25874, 32755, AGC= 64, IDX= 503,-0.13,-0.169, 1.722,-0.284, 0.372, PHS=-0.453, 1.396,-0.660, RAW= 335.2, -2.9, CAL= 337.0, -4.3, ROT= 173.0, 4.3  Ygot valid direction response: 13:52:14.4602 LVL= 32752, 28241, 25874, 32755, AGC= 64, IDX= 503,-0.13,-0.169, 1.722,-0.284, 0.372, PHS=-0.453, 1.396,-0.660, RAW= 335.2, -2.9, CAL= 337.0, -4.3, ROT= 173.0, 4.3  V#Rx 110: Read range and direction messages. `direction in FSK: [-0.989752,0.121526,-0.074979] Fpublishing direction and range infoI yM ! gbW?]1M fAYI M )M QnIM eiI M @M M !?M ( M 6@)M 4QOIM `7@iM `M ,>A@M `= I )I M fhBDZ۶XqPlK\iM "!M P=M ,>A@M `= I )I  checking for new query: numPingsReceived=110, elapsed TxPingTime=47.432369%,ChA}1zB}II&I3; S=yQ >٥ HWF >+5?%+59 IBy!!%}@Ei::ߵ+5)-5A1Zyb}ChA} A} A}@ʁ}T7ݕV~u@,|}! gbW?]1},>A@}`=ҁ}{3@R*q-}+;}+tRN?:ͅ£*z}k}Aj}Xǜ?r}_O? }ruB}81Ɯ?y }ruB}A}LM@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.499458 s, deltaX: 0.599998 m, approachRate: 1.201299 m/s, rangeRepo size: 4  Added new target pos. range: 24.129522 m, bearing: 322.351039 deg, lat: 36.906377 deg, lon: -122.116054 deg, deltaT: 0.499458 s, deltaX: 0.595791 m, approachRate: 1.192875 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.13 m.bZrjRJB~~}|||L8@|? ={B=aϼIA)EݾAImn~; iim1 EU0:D<zEY:Ju \BJu QJJu CRJq ZJu =:bJu -.9Ju 4Jq  @ @ @ @E E E E _0E F F H >H CH 3IH zBH H H .DH <H GBۦiݍ:!ݍy6=ݍ2@@ݍԇ= މ~GAAN?f, DhA)&checking for new query: numPingsReceived=111, elapsed TxPingTime=47.9872599n[@nWo&@YnB٥AA EHEXFEN$ M>+5[?+59 IByI?:e @}@Ei'::8+5˓B6AEZbDhAjAjA皳@ʁX-#*88i[s @:C&Bd;_߬?{S2@@ԇ=ҁ5Z3@ё2WU.8Pth ?pJT8ΤzrAj~Ɯ?r!D vB4Ɯ?!D  -Ar@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.510992 s, deltaX: 0.300001 m, approachRate: 0.587096 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=111, elapsed TxPingTime=48.171513 Added new target pos. range: 24.426817 m, bearing: 321.581669 deg, lat: 36.906378 deg, lon: -122.116052 deg, deltaT: 0.510992 s, deltaX: 0.297295 m, approachRate: 0.581799 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.43 m.bZrjRJB~!~%|B}!|)|)|-8@|-,? }{B}I)ZILY; $<=ٰ;ii!>E R5٥ HYF[< >+5}?+59 IBy   @ }@Ei;;e+5ʓB6AEZbϢ'DhAAAq@ʁi_8f @GGC1|Jjn?aVX7 @@ =ҁs?3@[+5.(JqQb?Ńm7NzvAj#Ɯ?rC1$E DsB 0AY@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.500375 s, deltaX: 0.299999 m, approachRate: 0.599549 m/s, rangeRepo size: 4 KdP"KH9*K2KM :Kd>t9C[x?Bp^O]aeY]):J ?J ? Added new target pos. range: 24.724705 m, bearing: 321.288758 deg, lat: 36.906378 deg, lon: -122.116052 deg, deltaT: 0.500375 s, deltaX: 0.297888 m, approachRate: 0.595329 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.72 m.bZr1j1R1J1YB~~}|||`f8@|@}?checking for new query: numPingsReceived=112, elapsed TxPingTime=48.675301 u{BujIy)}yI}|38; yy}(<;=P"H H  IH zBH  =H H H њ<H EHHHǔCH =I = I6 E ?E! E! E- D4E)  DDAT read: Rx Time:13:52:15.9608  TRx dataTimestamp_ set to:1749131537.124845 PDAT read: Bearing 172.0, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 172.0, 5.4 (Local)  DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed -0.7  DAT read: 13:52:15.9608 LVL= 30064, 30769, 32754, 32755, AGC= 66, IDX= 493, 0.01, 2.945,-1.525, 2.796,-2.859, PHS=-0.392, 1.381,-0.631, RAW= 336.3, -3.8, CAL= 338.0, -5.4, ROT= 172.0, 5.4 Ygot valid direction response: 13:52:15.9608 LVL= 30064, 30769, 32754, 32755, AGC= 66, IDX= 493, 0.01, 2.945,-1.525, 2.796,-2.859, PHS=-0.392, 1.381,-0.631, RAW= 336.3, -3.8, CAL= 338.0, -5.4, ROT= 172.0, 5.4  V#Rx 113: Read range and direction messages.6G=~q;m`direction in FSK: [-0.985873,0.138556,-0.094108]mFpublishing direction and range infoڹ yڽ !8EL,?ODhAp}yB}IMb@Mb@Mb@ )Y|?5^?x&MbyM?7 )E AIAy AII% %=y%Q ->٥)) MHMZFU U>Ye+5]_?e+59] I]ByeN?e:eW!@m}@]Ei]:]A:]-+5a7AEZbvGDhAbAbAp@ʁAp9<8!b~H @Ѫo!8ELsB4LA  CA@] addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.505533 s, deltaX: 0.200001 m, approachRate: 0.395624 m/s, rangeRepo size: 4  Added new target pos. range: 24.923317 m, bearing: 321.287451 deg, lat: 36.906378 deg, lon: -122.116051 deg, deltaT: 0.505533 s, deltaX: 0.198612 m, approachRate: 0.392877 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.92 m.bZrjRJB~~{B}|||9@||E? {BI)%AIE; AAE,,iDhApyBIII2EL ES=yIQ M>٥IQ UHU[FQ U>ae+5e[J?m+59e. IeByiim}@eEie:e:e+5uɓB7AEZbbgDhA'A'A@ʁ!T{9 ; ¾OJ]4N,UtEnwʾ7Ik]=ҁ&5@r*e%b@-H$~?[࿩ zPeAjpǜ?r =MH H IH 9zBH  =H H -DH <H E6G Mh <jG r?bG u?~G A A! N= >V!,DhA,]DDAT read: Rx Time:13:52:16.9613 mTRx dataTimestamp_ set to:1749131538.132393PDAT read: Bearing 170.8, 4.8 (Local) ~Local bearing/azimuth received: Bearing 170.8, 4.8 (Local) 5DAT read: Range 10 to 50 : 25.8 m (trip time 17.2 ms) speed -0.7 9MuC@MV'@YM~@e= a)aeKjxTrw$bGie e0Yj=e>@e= a)achecking for new query: numPingsReceived=115, elapsed TxPingTime=50.044613ԱuyBuyIchecking for new query: numPingsReceived=115, elapsed TxPingTime=50.187122= Mb@Mb@Mb@9 9 9 9 )9 Y= i|?5?&1Mby= Q?= P= = A =  A)= AI9 9 y= AI I F3 |  :Q  >٥  H \F my<  >  +5 #? +59  I By R? : _#@ }@ Ei Z: 4: n+5 8A EZabe yDhAeAeAe@ʁe>rt739>yS@>cD&eAeBzҋd?U]ke>@e=ҁe%sziž3@FUF0Lle]v?a-_r2TJöze2eAjemiƜ?reG etBe#Ɯ?e!D  etBeAe@E  addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.507980 s, deltaX: 0.099998 m, approachRate: 0.196855 m/s, rangeRepo size: 4 U  Added new target pos. range: 25.618303 m, bearing: 320.503357 deg, lat: 36.906376 deg, lon: -122.116052 deg, deltaT: 0.507980 s, deltaX: 0.099209 m, approachRate: 0.195301 m/s, posRepo size: 4 U DNOT Ignoring new targets: 25.62 m.bY ZY rY jY RY JY BY ~a ~e {B}a |a |i |m 9@|m @'? {B靥 I )  I : 5< = PjE E1 E1 E1 E5 5E1 F= =F= = 6G=I3@= )"*鿮sWdʞiڠ9nx@nм'@YnԆ@=Yс ҁ҉҉ҍi҉҉ٯ )checking for new query: numPingsReceived=116, elapsed TxPingTime=50.513252\yBZIII0   =y [λQ  ?٥ H]F<< = ?AM+5E?M+59EC IEzByQU#@U}@E EiEB:E :E:+58AZbtDhAMAMA@ʁM]9:ρ@ٶouCni m@?|ӄ{V>@=ҁ(QT4@ɲIH0[sօ)?"2iU).wzBAjDGƜ?r&jQ rBƜ?C1$E  DsBA m@M addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.499722 s, deltaX: 0.800001 m, approachRate: 1.600892 m/s, rangeRepo size: 4  Added new target pos. range: 26.412670 m, bearing: 320.461709 deg, lat: 36.906374 deg, lon: -122.116053 deg, deltaT: 0.499722 s, deltaX: 0.794367 m, approachRate: 1.589617 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.41 m.bZrjRJB~~}|||:@| B? {B靵bCI|u<)H(I: m9<i=J>checking for new query: numPingsReceived=116, elapsed TxPingTime=50.6921396GT<~GqAAԩN>:J `BJ XJJ >RJ ZJ :bJ 5K9J t4J G G AAH >H H IH yBH  =H H H <H E i0,DhADDAT read: Rx Time:13:52:17.9620 TRx dataTimestamp_ set to:1749131539.140335PDAT read: Bearing 170.1, 6.3 (Local) ~Local bearing/azimuth received: Bearing 170.1, 6.3 (Local)  DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed -0.7 eRyBmTIII?13DAT read: 13:52:17.9620 LVL= 26320, 23457, 26658, 32755, AGC= 67, IDX= 504,-0.42, 0.474, 2.232, 0.254, 0.892, PHS=-0.329, 1.387,-0.641, RAW= 338.2, -4.5, CAL= 339.9, -6.3, ROT= 170.1, 6.3 E, E,=yEQ E>٥II MHM^FU U>eYgot valid direction response: 13:52:17.9620 LVL= 26320, 23457, 26658, 32755, AGC= 67, IDX= 504,-0.42, 0.474, 2.232, 0.254, 0.892, PHS=-0.329, 1.387,-0.641, RAW= 338.2, -4.5, CAL= 339.9, -6.3, ROT= 170.1, 6.3 eV#Rx 117: Read range and direction messages.m`direction in FSK: [-0.979160,0.170891,-0.109734]mFpublishing direction and range infoڑQ+5U?+59U IUrBy}@UEiU&'@ܕz0= ݑ)ݑݕ+tD73 )㿶䳿iݕ`ݕP=ݕ>@ݕz0= ޑ)ޑ% addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.508220 s, deltaX: 0.299999 m, approachRate: 0.590294 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 26.41 m.b!Z)r)j)R)J)B)~1~1checking for new query: numPingsReceived=117, elapsed TxPingTime=51.025158}q|y||`f:@|? 5{B5O5I1)5Y+1I=p 99== 7,PDhAy9 9@ (@Y  ٥aa eHe_Fm|< m>qu+5uڿ?}+59u IuiBy}#Y?z:$@}@uEiu;uR;ua+5ǓB=9AEԙZbDhAAA@ʁ5~*:S@/p:1bNmc_5?hܸmTU=@%=ҁec4@oJC|1M鳡y4b\?ڪD氿zAjsVƜ?r:X rBDGƜ?G  >sB@ALk@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.499619 s, deltaX: 0.400000 m, approachRate: 0.800609 m/s, rangeRepo size: 4   Added new target pos. range: 27.107731 m, bearing: 319.725991 deg, lat: 36.906374 deg, lon: -122.116054 deg, deltaT: 1.007839 s, deltaX: 0.695061 m, approachRate: 0.689655 m/s, posRepo size: 4  DNOT Ignoring new targets: 27.11 m.b Z rjRJYBY~Y~]{B}a|a|a|eL;@|m? E|BE 3IA)Ei0IIM7K iimeB!>,DhA9V@V(@H->H)H-IH-yBH- =H)H-.DH-ݚ<H-EYV+٥99 EHA: >1]+5?]+59 IaByae$@e}@EiK<< +5K9AEDNOT Ignoring new targets: 27.11 m.bZrjRJB~~}|!|A|i|ul?-DDAT read: Rx Time:13:52:18.9625 5TRx dataTimestamp_ set to:1749131540.148303]PDAT read: Bearing 169.5, 4.1 (Local) e~Local bearing/azimuth received: Bearing 169.5, 4.1 (Local) DAT read: Range 10 to 50 : 27.6 m (trip time 18.4 ms) speed -0.6 Y |B靥+DI)1IIh F<DAT read: 13:52:18.9625 LVL= 32752, 31985, 26818, 32755, AGC= 65, IDX= 493,-0.03, 1.797,-2.747, 1.547, 2.251, PHS=-0.366, 1.332,-0.707, RAW= 339.0, -2.8, CAL= 340.5, -4.1, ROT= 169.5, 4.1 =FH2LuRi--ZF=)-C= )))checking for new query: numPingsReceived=119, elapsed TxPingTime=52.048904ԡ >E= ԅ<Ա  checking for new query: numPingsReceived=119, elapsed TxPingTime=52.203781E E E E 0E :J\BJYJJRJZJ=:bJ[O9JJzJ:jJ:J'n:rJ)n:6GVv<jGg?bG_?~GA A1N]?H,2<%EhAT9f1@f (@Yfwǒ?P7V AY  0) rI "ei   Ҿ ? ! @) I @i A <@@ A= )  7鿒X&qI& i -r F< <@@ A= ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.yQ >٥ HaF&9 > 5+5 䚿?=+59  I WBy={a?=q:=r%@=}@ %Ei #; ; L+5EƓBE9AMEZ b x)EhA 7A 7A n@ʁ XP;F]@| ƃ>wǒ?P7V <@@ A=ҁ wwz6@}j1z4F޿ ]Jw^?ŠZn\z  Aj #QƜ?r 9?  GwB   tB HA v@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 1.007996 s, deltaX: 0.800001 m, approachRate: 0.793655 m/s, rangeRepo size: 4 E Added new target pos. range: 27.902182 m, bearing: 322.452627 deg, lat: 36.906374 deg, lon: -122.116054 deg, deltaT: 1.007996 s, deltaX: 0.794451 m, approachRate: 0.788149 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.90 m.bZrjRJB~~{B}|||<@|? |Bv0I) 6I L<%ԋ=!i!i! J% ?>E G<E% ?E! E! E% P0E) Q Hi Hi Hm qIHm yBHi Hi Hi Hm ܚ<Hi 6G%9f<ԁ~GAA)NE?,AR,tIEhA&DDAT read: Rx Time:13:52:19.9629 *TRx dataTimestamp_ set to:1749131541.156981>PDAT read: Bearing 169.6, 5.9 (Local) B~Local bearing/azimuth received: Bearing 169.6, 5.9 (Local) jDAT read: Range 10 to 50 : 28.4 m (trip time 18.9 ms) speed -0.5 iDAT read: 13:52:19.9629 LVL= 27600, 24049, 20370, 30691, AGC= 69, IDX= 2,-0.17,-0.059, 1.787,-0.321, 0.376, PHS=-0.347, 1.458,-0.699, RAW= 338.8, -4.2, CAL= 340.4, -5.9, ROT= 169.6, 5.9 Ygot valid direction response: 13:52:19.9629 LVL= 27600, 24049, 20370, 30691, AGC= 69, IDX= 2,-0.17,-0.059, 1.787,-0.321, 0.376, PHS=-0.347, 1.458,-0.699, RAW= 338.8, -4.2, CAL= 340.4, -5.9, ROT= 169.6, 5.9 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.978361,0.179563,-0.102793]Fpublishing direction and range info$y&!hN=@?zBP&3AY$ &k)&]I&Oi&w&E&&?&2 &8@)&Q I&@i&Bҽ&q=@&B= $)$&ƌ+迷>㿿}3Ni&&ѓ=&q=@&B= $)$ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9 @ g'@Y ٥ HbFMl >-+5qn?5+59(w IMBy5c?5n:5%@5}@/Eim;;b+5MœBU9AUEZ$b& JEhAY(Ψ?NiإڅAYځ ۅj)ۅZIۅ[iۅہۅDۅF?ۅff& ܅@)܅nFI܅ǽ@i܅kݽ܅>@܅k= ݁)݁݅Ո+:#i݅kx݅n7=݅>@݅k= ށ)ށ M2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i6GEHn<~GA A!N-)?W\,sEhA9^̀@^#'@Y^W^H߶߿Nu?9.? yߓ'u? ^̀@^\;)^C~yB~&II-I-#3= =)=yEQ E>i٥iq uHucFu u>y+5}O?+59}3q I}GByY%@}@}6Ei}o<}<}+5ēB:AEZbiEhA]A]A۲@ʁWr5Y(Ψ?Niإ>@k=ҁ΄s 6@cW2g<ЙdGр?1ZQ&bHӰȶzeAj=Ɯ?r+sT nB+sT  rBA@u addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.499029 s, deltaX: 0.600000 m, approachRate: 1.202336 m/s, rangeRepo size: 4  Added new target pos. range: 28.795824 m, bearing: 320.244048 deg, lat: 36.906371 deg, lon: -122.116059 deg, deltaT: 0.499029 s, deltaX: 0.595776 m, approachRate: 1.193870 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.80 m.bZrjRJB~~}|||=@|f?HCH^IHcyBH =HH-DHݚ<HEH]ƘCH]ƘCH]ƓCH] =I] = I]}_56G] "<~G  DDAT read: Rx Time:13:52:20.9635  TRx dataTimestamp_ set to:1749131542.164515 PDAT read: Bearing 170.5, 6.2 (Local) % ~Local bearing/azimuth received: Bearing 170.5, 6.2 (Local) } DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed -0.7 A A N- >7c,EhA6DAT read: 13:52:20.9635 LVL= 26912, 29921, 30930, 32755, AGC= 68, IDX= 504, 0.14,-1.155, 0.607,-1.360,-0.727, PHS=-0.339, 1.381,-0.636, RAW= 337.8, -4.4, CAL= 339.5, -6.2, ROT= 170.5, 6.2 :Ygot valid direction response: 13:52:20.9635 LVL= 26912, 29921, 30930, 32755, AGC= 68, IDX= 504, 0.14,-1.155, 0.607,-1.360,-0.727, PHS=-0.339, 1.381,-0.636, RAW= 337.8, -4.4, CAL= 339.5, -6.2, ROT= 170.5, 6.2 bR#Rx 1: Read range and direction messages.f`direction in FSK: [-0.980517,0.164082,-0.107999]jFpublishing direction and range infoyx_d`?NiإfAY  i)tIxiDhİ?" @)Iќ@iIs>@ )]k2P=▷-7mi =Is>@ ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.mxBuIMb@Mb@Mb@ )Y r?MbMbpyc?/ A  A)\ AIy AII(*2 =yQ >٥ HdF >!-+5%.?5+59%j 5tII%BBy5c?5n:5F%@5~@%=Ei%;%:%#+5EÓBE1:AEEZbjEhAAAw@ʁI҆@ҁr_6@fCTj2D̸ͭU?MA<`ǶzRAj >+Ɯ?rO nB=Ɯ? upB"A2@  addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.508505 s, deltaX: 0.299999 m, approachRate: 0.589963 m/s, rangeRepo size: 4 j,AEhA )  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9;@N'@YmO٥ HeFK= >+5?+590f I?By%%@%~@CEiٔ<<J+5)5D:A1Zb脪EhAAA^@ʁ<=Vh<=L S@(a1p9\I?O X?@¸=ҁc7@26H:h?Cc俢B/إztAj<ѮƜ?r%KO oBO  oBA@ addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.499847 s, deltaX: 0.600000 m, approachRate: 1.200368 m/s, rangeRepo size: 4 - Added new target pos. range: 29.689251 m, bearing: 321.160465 deg, lat: 36.906369 deg, lon: -122.116057 deg, deltaT: 0.499847 s, deltaX: 0.595770 m, approachRate: 1.191905 m/s, posRepo size: 4 -DNOT Ignoring new targets: 29.69 m.b)Z)r1j1R1J1B1~9~9) CG I X YyB}|||`f=@|fd? )-p:nI))-7DQIU QQU_Hq Hq Hq Hq Hq Hq Hu ך<Hu E6G Fթ<~G A ԡ A N >q,`EhA9Mp(@M;'@YM٥ HfF5 >DDAT read: Rx Time:13:52:21.9642  TRx dataTimestamp_ set to:1749131543.170505PDAT read: Bearing 171.7, 4.4 (Local) ~Local bearing/azimuth received: Bearing 171.7, 4.4 (Local) %DAT read: Range 10 to 50 : 30.3 m (trip time 20.2 ms) speed -0.4 MDAT read: 13:52:21.9642 LVL= 32752, 31345, 29298, 32755, AGC= 66, IDX= 511,-0.48,-1.390, 0.427,-1.554,-0.890, PHS=-0.412, 1.364,-0.666, RAW= 336.6, -3.0, CAL= 338.3, -4.4, ROT= 171.7, 4.4 UYgot valid direction response: 13:52:21.9642 LVL= 32752, 31345, 29298, 32755, AGC= 66, IDX= 511,-0.48,-1.390, 0.427,-1.554,-0.890, PHS=-0.412, 1.364,-0.666, RAW= 336.6, -3.0, CAL= 338.3, -4.4, ROT= 171.7, 4.4 ]R#Rx 1: Read range and direction messages.`direction in FSK: [-0.986609,0.143931,-0.076719]+5Fpublishing direction and range infoyM4iRl?.0ۣfAY )qz1Irri?+59` I@inFn?@nF=IEiy#=%=A+5 )j鿦t@ ^ai/ pX=n?@nF= )YeL:AmE 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ZbEhAAA@ʁm}a=@R@7A(wM4iRl?.0ۣn?@nF=ҁAS˚h}7@ Ξ}2ecR-g?^ð4%zkAj[IƜ?rFL kpB A_+@] addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.506143 s, deltaX: 0.400000 m, approachRate: 0.790290 m/s, rangeRepo size: 4 m Added new target pos. range: 30.086176 m, bearing: 321.510462 deg, lat: 36.906369 deg, lon: -122.116057 deg, deltaT: 0.506143 s, deltaX: 0.396925 m, approachRate: 0.784215 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.09 m.bZrjRJB~~}|||L>@| q?I AEcII)MEIIM_ǻ IIMcRJ ZJ {9bJ *9J t4J ԡ zJ :jJ :J -:rJ -:6G T<~G A A1Ne>x,>EhA9-$@-7'@Y-5;y-O-H` #B4$?֟ Wfvj? -$@-t;)-CiuxBu!ImMb@Mb@Mb@iii i)iYmS㥛?/${Gztym$f?m,mףm A m A)mrAIm Aiym AII?13q< #=yܻQ >٥ HgF. >+5=ݾ?+59oZ I:Byff?k:9$@~@PEi;;\+5“B:AEDDAT read: Rx Time:13:52:22.4647 TRx dataTimestamp_ set to:1749131543.671885PDAT read: Bearing 172.3, 3.2 (Local) ~Local bearing/azimuth received: Bearing 172.3, 3.2 (Local)  DAT read: Range 10 to 50 : 31.1 m (trip time 20.7 ms) speed -0.7 -DAT read: 13:52:22.4647 LVL= 28560, 23265, 24802, 32755, AGC= 68, IDX= 4,-0.23, 0.686, 2.480, 0.546, 1.217, PHS=-0.442, 1.310,-0.673, RAW= 336.1, -2.1, CAL= 337.7, -3.2, ROT= 172.3, 3.2 5Ygot valid direction response: 13:52:22.4647 LVL= 28560, 23265, 24802, 32755, AGC= 68, IDX= 4,-0.23, 0.686, 2.480, 0.546, 1.217, PHS=-0.442, 1.310,-0.673, RAW= 336.1, -2.1, CAL= 337.7, -3.2, ROT= 172.3, 3.2 5R#Rx 1: Read range and direction messages.E`direction in FSK: [-0.989438,0.133777,-0.055822]EFpublishing direction and range infoy!zy￈e\?ᢔAY o)ZI`iDM?I, @)Q Iv@idv@@d= )Vwsc\PqG ȢiǸ I=v@@d= ) m2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Zb*EhA A A@ʁU> A@$ꬔ!zy￈e\?ᢔv@@d=ҁ>\S8@26|OZ}ze4?E0p̣㿃phOzAjiƜ?rHGM irB<ѮƜ?%KO  cAv@ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.501380 s, deltaX: 0.800001 m, approachRate: 1.595598 m/s, rangeRepo size: 4 - Added new target pos. range: 30.880531 m, bearing: 322.075690 deg, lat: 36.906372 deg, lon: -122.116057 deg, deltaT: 0.501380 s, deltaX: 0.794355 m, approachRate: 1.584338 m/s, posRepo size: 4 uDNOT Ignoring new targets: 30.88 m.bqZqrqjqRyJyBy~y~{B}|||?@|@>!?ԑ !sI)AIKvۻ \uf< = #K (O"K =9*K 2K T :K (9)eI hLU`pSww{S?RS?J J k~,bEhA96#@67'@Y66;y6{6HԠ`#Ӊ:%?r@b@@"? 6#@6Z ;)6CByBB%IIJ*IJ3b{< fo=yfFQ f?٥dh jHhj j?lr+5noǾ?v+59nV In9Bytv8$@v~@nUEin:nW:nZ+5zBz9AEHUؼ>HQHQHQHQHQHQHU<HUEDNOT Ignoring new targets: 30.88 m.bZrjRJ!B!~I~Q}Q|Q|Q|Q|]? |B=}I)@IG Əi<  H= .AY )jIiAuؾh?l' @)IZƼ@i+H7 @@+H= )8DBYId㿲RKiX d<7 @@+H= ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙ -Յ,vFhA9>$@>7'@Y>oy>]>H`N$ـ$?@ B?`? >$@>?;)>CR yBR'IiV٥II MHMhFM=8 U>qy,5}ͫ?,59}DP Iyy\?v:#@~@}[Ei}:}:}X,59AíEZAbEX FhAEAEAE@ʁE3=>:;=9@6EKj?s!DE7 @@E+H=ҁEAK8@P .='3=E0Xs?խM㿩EMzE9E_AjEe7Ɯ?rEiH ErBAEHGM  EkpBEAE@M addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505412 s, deltaX: 0.100000 m, approachRate: 0.197859 m/s, rangeRepo size: 4 } Added new target pos. range: 30.979683 m, bearing: 321.750737 deg, lat: 36.906372 deg, lon: -122.116056 deg, deltaT: 0.505412 s, deltaX: 0.099152 m, approachRate: 0.196180 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.98 m.bZrjRJB~~{B}|||@33?@| T?J9J=މ4J=0:JZBJhJJARJZJ9bJȆ9J4JzJ/:jJ4:JҬ:rJӬ:ԩ $ciI)(?I u l DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed -0.8  DAT read: 13:52:23.4652 LVL= 28512, 30081, 27474, 32755, AGC= 69, IDX= 489, 0.19, 1.195, 3.074, 1.065, 1.756, PHS=-0.473, 1.365,-0.694, RAW= 335.6, -2.0, CAL= 337.2, -3.1, ROT= 172.8, 3.1  Ygot valid direction response: 13:52:23.4652 LVL= 28512, 30081, 27474, 32755, AGC= 69, IDX= 489, 0.19, 1.195, 3.074, 1.065, 1.756, PHS=-0.473, 1.365,-0.694, RAW= 335.6, -2.0, CAL= 337.2, -3.1, ROT= 172.8, 3.1  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.990663,0.125150,-0.054079] Fpublishing direction and range info! y% ihӏ?ʾ7% AY! % `o)% uI% Rki! % E% -% R?% 1 % 5o@)% 5I% S@i% k]% A@% k]= ! )! % ca鿺pڞ⿋vKi% I!% c=% A@% k]= ! )!  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. l,V2FhAnyBn+IIvIv2 {u<  `=yQ >٥ =H=iF= E>AM,5E?M,59EK IAyQQU~@E`EiE:E:E,59AEZQbU+FhAUAUAU1&@ʁUm.?60&@!m.<Uihӏ?ʾ7UA@Uk]=ҁU78@Y/237U']? B ;l㿄 zU٘UAjUQ:Ɯ?rUC UqBU[IƜ?UFL  UqBUAU@ addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503961 s, deltaX: 0.500000 m, approachRate: 0.992140 m/s, rangeRepo size: 4 = Added new target pos. range: 31.476152 m, bearing: 322.555871 deg, lat: 36.906373 deg, lon: -122.116056 deg, deltaT: 0.503961 s, deltaX: 0.496469 m, approachRate: 0.985135 m/s, posRepo size: 4 EDNOT Ignoring new targets: 31.48 m.bAZArAjARAJABI~i~i}q|q|q|u@3?@|}? |BnI)=ITz so<)-U=-   _pZ*J ?J>EEEE_0E~GAANf>Hڼ>HHdIHmyBH =HHHؚ<HE) % DDAT read: Rx Time:13:52:23.9655 - TRx dataTimestamp_ set to:1749131545.184326= PDAT read: Bearing 172.5, 3.1 (Local) = ~Local bearing/azimuth received: Bearing 172.5, 3.1 (Local) M DAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed -0.5 k,.LFhAbPExceeded connect timeout, disconnecting.9N@N1'@YNٹyN~NH q 'J?b'?" (7;w?`? N@N|d;)NCDAT read: 13:52:23.9655 LVL= 30096, 28529, 30898, 32755, AGC= 68, IDX= 491, 0.48, 0.006, 1.793,-0.124, 0.541, PHS=-0.447, 1.299,-0.668, RAW= 335.9, -2.0, CAL= 337.5, -3.1, ROT= 172.5, 3.1 Ygot valid direction response: 13:52:23.9655 LVL= 30096, 28529, 30898, 32755, AGC= 68, IDX= 491, 0.48, 0.006, 1.793,-0.124, 0.541, PHS=-0.447, 1.299,-0.668, RAW= 335.9, -2.0, CAL= 337.5, -3.1, ROT= 172.5, 3.1 R#Rx 1: Read range and direction messages.yB.I`direction in FSK: [-0.989994,0.130335,-0.054079]Fpublishing direction and range infoYy]GdᅲۀѮ?ʾ7]fBYY ]u)]qoI]xiY]D]/]E?] + ]@)YI]~@iY]2@@Y Y)Y]Kcn@աi] ]Ķ=]2@@Y YQ)Y -2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.EMb@Mb@Mb@AAA A)AYEK?X9v~jth?yE^Z?E}ED;E A A)E\ AIE AAyE( AԁIU"IUq3[<  =y~Q >٥ HjF% >,5Bs?,59GD I٥ HkF? >)5,5-\?5,59-p? I-=By15{"@5~@-mEi-:-W:- ,5eBe9AeǭE addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504328 s, deltaX: 0.800003 m, approachRate: 1.586275 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 31.87 m.bZrjRJB~~}|||@3s@@|`ٿ?! m|BuIq)u9qIuv su<)5=5BjK}5JP"K}9*Ky2K}V :K}9Z,Pzk~gA6w8,MC#!6Ev(l& $UB/JJAq :J \BJ [JJ ?RJ ZJ =:bJ W9J ـ4J  @ @ @ @H >H H wIH yBH  =H H H H E_Ρ,SFhA09=@=X'@Y=Fy=4F=H@`<`/?`꿳NzbWif,iE!Eeԑ٥ HlF >U,5DA?U,599 IABya\"@~@tEi<Ј<,5g9AʭEZAbEGFhAEBEBE.@ʁE%-w)Y@rl@u20*E￧?.='EZA@El$=ҁEĪ?P(:@.U!3~֮EC3d?yR.gL*ߪzEEBAjEpƜ?rEH H E9rBEQ:Ɯ?EH H  E9rBEBEc@} addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.503212 s, deltaX: 0.299999 m, approachRate: 0.596169 m/s, rangeRepo size: 4  Added new target pos. range: 32.966030 m, bearing: 322.613967 deg, lat: 36.906375 deg, lon: -122.116054 deg, deltaT: 1.007540 s, deltaX: 1.092617 m, approachRate: 1.084440 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.97 m.bZrjRJB~~}|||@@|1? |B靍s\I)B7IY - x<%b=-O٥ ]H]mFed e>iu,5m!?,59m2 ImDByT?:!@~@m{EimF;m;m,5B#9AͭEZ9b=FhA=BC=BC=@ʁ=nB~I8Fē)md^^=Tx{)ٿ+R-9 OLc=VB=\?ҁ=7GG@?S4ڞ ͉^=d?4 sÿ?z=Ơ=<:Bj=TOu͜?r=LD =ho9=E  =qB=B=9$@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 133.199997 m, deltaT: 0.504088 s, deltaX: 100.000000 m, approachRate: 198.378067 m/s, rangeRepo size: 4DNOT Ignoring new targets: 32.97 m.bZrjRJB~~|B}|||`f`@|+?Q |B靝aI) 3I+s8 †{<A=QK٥ HnFv >!-,5% ?-,59%- I%FBy)-!@5~@%Ei%$:%t:%,5=B=9A=ϭEYmDNOT Ignoring new targets: 32.97 m.biZirqjqRqJyB~~}||||??-DDAT read: Rx Time:13:52:25.9667 =TRx dataTimestamp_ set to:1749131547.201814UPDAT read: Bearing 172.8, 0.9 (Local) ~Local bearing/azimuth received: Bearing 172.8, 0.9 (Local) DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed -0.2 {BI)r2 I g@   5} B2,`FhAI$I$9m@m&@ԡYm*ymmH@YZ>@l?/=? o#?0s? m@mY;)mCAyBJIMb@Mb@Mb@ )YGz?/$~jth?yP?D;/ A  A) AI Ay AI I(2< =yrQ >٥ HoFm: >%DDAT read: Rx Time:13:52:26.4671 %TRx dataTimestamp_ set to:1749131547.704838-PDAT read: Bearing 172.8, 2.4 (Local) 5~Local bearing/azimuth received: Bearing 172.8, 2.4 (Local) EDAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed -0.8 eDAT read: 13:52:26.4671 LVL= 26944, 31345, 24386, 32755, AGC= 69, IDX= 508,-0.25, 1.264,-3.140, 1.135, 1.842, PHS=-0.490, 1.348,-0.710, RAW= 335.6, -1.5, CAL= 337.2, -2.4, ROT= 172.8, 2.4 uYgot valid direction response: 13:52:26.4671 LVL= 26944, 31345, 24386, 32755, AGC= 69, IDX= 508,-0.25, 1.264,-3.140, 1.135, 1.842, PHS=-0.490, 1.348,-0.710, RAW= 335.6, -1.5, CAL= 337.2, -2.4, ROT= 172.8, 2.4 uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.991244,0.125223,-0.041876]}Fpublishing direction and range info!y%^BIF£:P? ۷p% BY! %@i)%qzI%B_i!%E%H%D?%5 %5o@,57|?,59!' IKByQ?:k @~@Ei<<,58A)%PwּI!i%+!%+= !)!%+EFsnD ]i%O!%uz%JK|F?YQ0e=z%?%Aj%Ɯ?r%06Q %qB%pƜ?! %VqB%EB%G@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 1.512972 s, deltaX: 1.500000 m, approachRate: 0.991426 m/s, rangeRepo size: 4  Added new target pos. range: 34.455544 m, bearing: 322.304279 deg, lat: 36.906377 deg, lon: -122.116053 deg, deltaT: 1.512972 s, deltaX: 1.489513 m, approachRate: 0.984495 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.46 m.bAZArAjARAJABI~I~M7|B}I|Q|Q|UYA@|USr? {BSI)3/IʇM e1<ƈG Y y h By } ]2=} #6OHCHIHyBHHHH <H(EJ4JzJ-:UjJ2:UJU:]rJW:]~GAA1N=?/,GhA$9!@G5'@Y٬y*Hў@H&@?%?`97К?])? !@骕r};)C )ɺɻiIIiQA ) !!ɼ!!!I!)!i-))I))ɽ) )ɾ15\A1i11iaa)i iIiٯi;yBFIII<2$Z $=y(Q >٥ HpF; >,5qӽ?,59 IPBy @~@Ei::",5 ====EDDAT read: Rx Time:13:52:26.9673 ETRx dataTimestamp_ set to:1749131548.208193UPDAT read: Bearing 173.0, -0.1 (Local) U~Local bearing/azimuth received: Bearing 173.0, -0.1 (Local) qDAT read: Range 10 to 50 : 35.0 m (trip time 23.3 ms) speed -0.5 8A=DAT read: 13:52:26.9673 LVL= 32192, 25585, 26610, 32755, AGC= 69, IDX= 494,-0.23,-0.273, 1.549,-0.394, 0.352, PHS=-0.536, 1.245,-0.749, RAW= 335.6, 0.4, CAL= 337.0, 0.1, ROT= 173.0, -0.1 Ygot valid direction response: 13:52:26.9673 LVL= 32192, 25585, 26610, 32755, AGC= 69, IDX= 494,-0.23,-0.273, 1.549,-0.394, 0.352, PHS=-0.536, 1.245,-0.749, RAW= 335.6, 0.4, CAL= 337.0, 0.1, ROT= 173.0, -0.1 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.992545,0.121869,0.001745]MFpublishing direction and range infoAyE9ʨ2?n p\?E BYA E})EcIEgiAAEL7 E)\?Ew? A)E;IE`7@iE:E,>A@E A)AE5Aq؛~⿋~?iEQ!E addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.503355 s, deltaX: 0.299999 m, approachRate: 0.595999 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 34.46 m.bYEXE,>A@E A)A e2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԡZYrjRJB~~}|||A@|F? 1=`I9)E0AIE~Y AAEd,$GhA9Z-G@ZZ'@YZǾyZZ:ZH@ [?@?@@Rw?f@Z?? Z-G@Z';)ZCe7yBeCIMb@Mb@Mb@ )Ym?I +{Gzt?yN?9ף; )E AI AyQ AIIm?3- -6=y-Q ->٥11 5H5qF5D; =>AE,5E˺?M,59E IEVByMO?M:Mf @M~@EEiE:EA:E&,5UB]9A]խEZabe S GhAe Be Be&L@ʁe::eXA?As@pI?e9ʨ2?n p\?e,>A@eҁe(;@SA< 74Psd2#e+}?|_UuMzeexAjeIfƜ?re^HD eSvBaa ae[ BeJ@5DNOT Ignoring new targets: 34.46 m.b1ZQrQjYRYJYBY~Y~e|B}a|i|i||`? {B]I)1I+b b GhA9~c@~v'@Y~Ǽy~Ql;~H ɮ `9b?y?`1@?~m?? ~c@~d;)|=yBGI9 HH<H>HHIHyBH =HHH<HE:J\BJRJJARJZJ=:bJS29J4JzJ:jJ:J;:rJ<:K=P"K=ý9*K92K=Y :K=~s7R,/~{9-Xjjz[PPo=!(4~II2db< 5=yIQ >٥ Hz; >,5?,59Q I\By @~@Ei):6:*,5B-8A-حE addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503349 s, deltaX: 0.400002 m, approachRate: 0.794680 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 34.46 m.bZrjRJB!~!~)})|)|)|-@3A@|5@2?a ztI)/I2=,+ZGhAe;yBeFI٥ HrF >!e,5%؉?m,59% I%_ByJ?: @~@%Ei%Y<%ߴ<%.,5)M8AU٭EZbMGhA B Bg@ʁDLA:`g@] R׿A8j?/;rZA@+<ҁ _aWL<@2K(P5Y@>`tz?Aܠ^=}zfAjnƜ?r2 fA ctB^HD  9rBꁭBX@M addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.505787 s, deltaX: 0.299999 m, approachRate: 0.593134 m/s, rangeRepo size: 4 ] Added new target pos. range: 35.448513 m, bearing: 323.015959 deg, lat: 36.906377 deg, lon: -122.116052 deg, deltaT: 1.512491 s, deltaX: 0.992970 m, approachRate: 0.656513 m/s, posRepo size: 4 eDNOT Ignoring new targets: 35.45 m.baZirijqRqJqBq~y~}|B}y|||A@|}? Y]oI)0Iiw p<<=N\, xGhA,9m@mU'@Ym:ym2Sq},5uq?},59up ԁIubBy @~@uEiu'0\?gHCHIHyBHHHH<H>E~y~Թ}|||B@|? 5{B5}I1)541I= 99=~F,GhA#yB7IMb@Mb@Mb@ )Y|?5^?bX9ȶy&1|yM?E` rA)E AI Ay AIu IuV2 &=yQ >٥ HtF >,5CW?,59[ IfByO?: @~@Ei]:  FDAT read: Command 'sbl' not found  dunknown deviceResponse_: Command 'sbl' not found  "DAT read: Error  @unknown deviceResponse_: Error  ,DAT read: user:1816>  BDAT read: Tx time:13:52:29.8599  $Ping request sent. _8,WAGhA9R@R'@YR?yRſ٥   HuF >)5,5-KA?5,59-V I-jBy15 @5~@-Ei-:-:-T:,5BX9A߭EDNOT Ignoring new targets: 36.24 m.bZrjRJB~~}||||O? {B靥PI)s8I{ s<Z=DmHECHEIHEyBHE =HAHAHE<HEEK P"K 9*K 2K [ :K @s4ni,B'LrH#j*i'zCf6G -<9 ~G A A N > ,GhA9JX@J'@YJyJX٥    H vF̺ >-,5!-?-,59 ImBy15 @5~@Ei::=,59=~9A=EmDNOT Ignoring new targets: 36.24 m.biZirijiRiJiBq~q~q}q|y|y|y|}m? |B靭 I)P;I xL<F= ԡ :J ]BJ RJJ ?RJ ZJ ]:bJ S29J ـ4J  @ @ @ @@,GhA9>@>B'@Y>Cy>>H bP߿j?L?pMJg?b2`? >@>;)>CyyB,Ii%٥iq uHuwF}ӹ >,5K?,59R IrByO?:!@~@Eis:: B,5ԡ9ADNOT Ignoring new targets: 36.24 m.bZrjRJB~~{B}||||? )-I))5;1I5Ӕ 115)<9='==),qHhA9N m@N`'@YN`#yNSDLNH kߠ?`K?5j?Tiq? N m@NUZ;)NCiTT)VĻ TIT X)ZfAXXX\btAibI``Idid dd)dh jpAjhhlnbAIn)lil)pIppp ppv߃AvDittٯtzyBz%II7I3 =yڻQ ?٥!! %H!-2 -?1,55?,595 I5uByj!@~@5Ei5B<5k<5D,5B9AEHHHIHyBHHHH<HEHHHH =I = I#5DNOT Ignoring new targets: 36.24 m.bZrjRJB~~}|||| ?K+P"K=9*K2K\ :Kfk+NTrhf?=:i2jf}JbM>Alk4/vIT4 JJA m|Bm1Iq)u>qIu qq}OY cb,HhA9JV@J'j'@YJ'yJol亹JHI? ? e`@v?`h\? JV@Jw;)JCExBE I%Mb@Mb@Mb@!!! !)!Y%٥QQ UHUxF]G ]>ae,5e)漜?m,59e. IezBym T?m:m"@m~@eEie:eI:eH,5}B}9A}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.773004DNOT Ignoring new targets: 36.24 m.bZrjRJB~~{B}|||| @ AEQIi)m@iImLn iimƊԙ ) C , l4HhA*ՈG0D r #Ypyr &B=xB=I)A AIUIU<2}u }I=y}Q >ԑ٥ HyF >,5μ?,59& IBy~@Ei#;;L,59AEDNOT Ignoring new targets: 36.24 m.bZrjRJB~~}|||| i@ 9EOIA)EDAIM IIMDHHIHyBH =HHH<HE6G K N;P"K 9*K 2K ] :K ,( ,p`7Qe]y_@x6)iLuE J >J ?~G A A N > Od,9NHhA xB I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528428I%I%3M< Ma=yYQ ]>٥Ya eHezFa e>q},5u?,59u IuBy~@uEiu{;u :uIO,59ADNOT Ignoring new targets: 36.24 m.bZrjRJB~~}||||t@ ؛I)AI텧 Kr<  ^= c:Je \BJe QJJe <RJa ZJe =:bJe -.9Je [4Ja |,~hHhA 9Z@Z('@YZ-yZ+٥ H{F8 >,5}?,59 IByX?{:I$@~@Eiw;|;R,5B9AE5DNOT Ignoring new targets: 36.24 m.b1Z1r1j1R1J9B9~9~=k{B}A|A|A|A|M @ 靅j)I)DI>Ь N<r=`=b  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284372w ,HhAL9j@j/ '@Yj=^2yj.4e?3?lI??? j@j=;)hvxBvII~I~m?3 <  W=y bQ  >٥ H >!5,5%ቼ?=,59% I%By9=,$@=~@%Ei%^V;%G;%@V,5MBM9AMEuDNOT Ignoring new targets: 36.24 m.bqZqryjyRyJyBy~~}||||@@H>HCHIHyBHHH.DH<HE ]|BeH3Ia)eBaIetƱ aim) &,؛HhA9:X@:&@Y: :y:.<:H@>@r̦?>?fu@?ͅ? ? :X@:(;):C^xBbIx]Mb@Mb@Mb@YYY Y)YY]Zd;?٥ H|F1h >,5o?,59 IBy+_?s:O$@~@Ei ; ;Y,59AEDNOT Ignoring new targets: 36.24 m.bZrjRJB~~}|| ||`@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789565 uI)C!I%f !IM,,ҧHhA9>r@>&@Y>@y>D;>H`@L`W]?@I?щ$`?mz?? >r@>;)>CJxBJIIRIR2Z< ZZ=yZ Q Z>٥\\ ^H^}Fb b>dj,5fX?j,59f IfByhj3$@j~@fEif:f:f6],5pr9ArEYDNOT Ignoring new targets: 36.24 m.bZrjRJB~~}|||| @ %{B-_I))-YA)I- 115HHH}IHyBHHHH<HE:J9BJ=TJJ=?RJ9ZJ9bJ=:9J=ـ4J9zJ=:EjJ=:EJ9MrJ9M6GMI3<~Gi Aq A N >K P"K ͼ9*K 2K _ :K )|lmm x~Kja5MWk1UFm>OHe0H* nJ ?J > 3,HhA9:ɲ@:&@Y:|Hy:q&:H{V`?P?@ қ?`d'? :ɲ@:;)8^xB^IIfIf 3vP; vG=yz checking for new query: numPingsReceived=0, elapsed TxPingTime=4.545685Q  >٥ H~F) >!-,5%@??-,59% I%By)5 $@5~@%Ei%:%d:%`,5=B=9A=EmDNOT Ignoring new targets: 36.24 m.biZirijiRiJiBi~q~qԹ}q||||`X@ e{BePIi)mQ@iIm iiud<h=9 IA IA 9,-]HhA9>@>V&@Y>MRy>MH>H ~~Sgs? EJ?਄̢ Q?@? >@>w;)٥ HFG; >,5U%?,59 IBy9`?r:#@~@Ei|;{;d,5Bv9AEDNOT Ignoring new targets: 36.24 m.bZrjRJB~~f{B}| | | | @ M{BMII)Mԙ  BDAT read: Response Not Received  *response not received ,DAT read: user:1817>  DAT read: 120   BDAT read: Tx time:13:52:35.3100  $Ping request sent. HAHEIHEyBHE =HAHE-DHEĚ<HEEJSJ[(4J[0:JXBJVJJARJZJ{9bJB9J4JzJ:jJ:JX:rJX:q9}h@}&@Y}[y}#v}H`J???ꗤt?`^ŎI? }h@}0;)y'yB9II Ib35~= 52=y5Q =>٥99 =H=FEpL; E>Iu,5M ?u,59M˽ IMByy}$@}~@MEiM0;Ms;Mh,58AEKFP"KH9*K2K` :KX,4;x lV<9 >)5cmJ]\B0A/*<\5DNOT Ignoring new targets: 36.24 m.b1Z1r1j1R1J1B9~9~9}9|A|A|A|E@@ {B靵,I)*5IB˼ <2=R7G,YlIhA53yB5AI9=AMb@Mb@Mb@ )Y~jt?/${Gz?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499776yd?ԩ#<A )AI Ayp AII[3^= N=yQ >٥ H >,5ﻜ?,59۸ IǠByd?m:l%@~@Ei:w:k,5 B 8A E5DNOT Ignoring new targets: 36.24 m.b1Z1r1j9R9J9B9~9~E\{B}A|A|A|I|M`K_@ {B1I)1Icϼ <  U= 4) ~(M,{07IhA9>'@>:'@Y>vy>e:>H "? ?@BOٮ?[\? ? >'@>;)>CbOyBbRIIj&Ij3rB= rp=yr}Q r?٥tt vHvFvxj< z?x,5zڻ?,59z IzҠBy%@~@zEizH%CH%IH%yBH% =H!H!H%<H%EHǘCHǘCHH =I I5:J^BJRJJ>RJZJ} :bJS29Jt4JzJ`:jJe:J;:rJ<:6G% 2J >~GA AI Aa Nm >T,t QIhA 9Fkm@F'@YFHyF;FH ̤&`*? ? @ӳ٥ll nHnFr|-< r>tv,5vS?z,59vƯ IvByxz%@z~@vEiv:v6:vur,5B7AEUDNOT Ignoring new targets: 36.24 m.bQZQrQjQRQJB~~}||||@q@ m{BmoŒIq)!I׼ 蚒<=/ԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506894 :Z,>jIhA9B(@B}'@YBHyB*g٥ii mHmF}L< }>,5?,59 IByb?o:$@~@ Ei" ; ;*v,5FB3AEDNOT Ignoring new targets: 36.24 m.bZrjRJBQ~Y~]{B}Y|Y|Y|a|eu@ {B靭tI)?IIۼ <=YۼjE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759054EEEE`5EA  MYMAyM?B6G T<~G A A N >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0120780#a,TńIhA9>i@>(@Y>Ìy>c<>H r߿`߱? t?n`Ԕ?[ߔ?? >i@>#;)>CJyBJIIRIR[3Z= ZV=y^Q ^>Hb>HbCHbIHbzBHb =H`Hb.DHb<HbE٥tt vHtz%&< z>y,5}W?,59} I}By,%@~@}Ei}:}:}y,5b3AE:J_BJJJ@RJZJ :bJJJ4JzJ,:jJ1:JrJDNOT Ignoring new targets: 36.24 m.bZrjRJB~ ~ } | ||1|5@\@ }{B靅I)IOc߼ <=uVrd<@8Cq 0J=AJ=AA>E<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263524ԙEU?EQEYE]1EYԱ 6G ~<~Gi A A N >g,wIhA(vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515570yBIuMb@Mb@Mb@qqq q)qYuMb?T㥛 ~jt?yu`?uuD٥ HF >,5Ln?,59E IBya?q:x#@~@Ei: :},5!%3A-EqDNOT Ignoring new targets: 36.24 m.bZrjRJB~~{B}||||( @ U{BUER5<ԡE?EEE~2E ؕ>ו%=DDAT read: Rx Time:13:52:37.5578 TRx dataTimestamp_ set to:1749131558.806395PDAT read: Bearing 171.5, -0.8 (Local) ~Local bearing/azimuth received: Bearing 171.5, -0.8 (Local) DAT read: Range 10 to 50 : 89.0 m (trip time 59.3 ms) speed -0.7  DAT read: 13:52:37.5578 LVL= 20752, 27777, 16882, 28835, AGC= 73, IDX= 331,-0.03,-1.471, 0.266,-1.645,-0.880, PHS=-0.503, 1.193,-0.768, RAW= 337.1, 0.9, CAL= 338.5, 0.8, ROT= 171.5, -0.8  Ygot valid direction response: 13:52:37.5578 LVL= 20752, 27777, 16882, 28835, AGC= 73, IDX= 331,-0.03,-1.471, 0.266,-1.645,-0.880, PHS=-0.503, 1.193,-0.768, RAW= 337.1, 0.9, CAL= 338.5, 0.8, ROT= 171.5, -0.8  R#Rx 1: Read range and direction messages.% ^direction in FSK: [-0.988919,0.147795,0.013962]% Fpublishing direction and range infoکyڭqHi:ᅯ"?4?ڭBYک ۭQ)ۭlIۭAiۭpۭIۭۭ9?ۭD ܭE@)ܭAn,mIhA9>j@>k}(@Y>Hy>v<>H ߿ײ?/?O섲? ߕ?? >j@>] ;)>CJyBJIiN]>INp<IVIV3bi> bW=yb4Q f>٥dd fHfFj< j>lr,5nV?r,59ns InBypv#@v~@nEin:n:nF,5A2AZbIhABBd@ʁ.=USzvR*@dF5?qHi:ᅯ"?4?=?@dҁ@2NwQ@zwJ&WN@ף49L?*8bՄ3$⫿zWBjSy!VҜ?r~& fB ꁽ.B@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 89.000000 m, deltaT: 8.582376 s, deltaX: 52.500000 m, approachRate: 6.117187 m/s, rangeRepo size: 4uDNOT Ignoring new targets: 36.24 m.bqZyryjyRyJyBy~~}ԩ|||@V@| :?checking for new query: numPingsReceived=1, elapsed TxPingTime=3.018651 m{BmEIi)mqIu/ qqutHIHMIHMWzBHM =HIHIHM<HMEKy8P"K 9*K2Kc :K2XU< `R[Cz4{P< hfuy zhytu~iJ?J?E? E E E O1E  DDAT read: Rx Time:13:52:38.0579  TRx dataTimestamp_ set to:1749131559.308573 PDAT read: Bearing 171.0, -2.1 (Local)  ~Local bearing/azimuth received: Bearing 171.0, -2.1 (Local)  DAT read: Range 10 to 50 : 89.1 m (trip time 59.4 ms) speed -0.5  DAT read: 13:52:38.0579 LVL= 21040, 24449, 22130, 27635, AGC= 68, IDX= 508, 0.20, 2.875,-1.730, 2.691,-2.814, PHS=-0.506, 1.131,-0.782, RAW= 337.7, 1.8, CAL= 339.0, 2.1, ROT= 171.0, -2.1  Ygot valid direction response: 13:52:38.0579 LVL= 21040, 24449, 22130, 27635, AGC= 68, IDX= 508, 0.20, 2.875,-1.730, 2.691,-2.814, PHS=-0.506, 1.131,-0.782, RAW= 337.7, 1.8, CAL= 339.0, 2.1, ROT= 171.0, -2.1  R#Rx 2: Read range and direction messages. ^direction in FSK: [-0.987025,0.156329,0.036644] Fpublishing direction and range infoډ yڍ uwF?(א¢?ڍ 3BYډ ۍ 0R)ۍ _Iۍ rViۍ kۍ Dۍ 7ۍ Đ?ۍ '1H ܍ v@)܍ =I܍ TU@i܍ Q =܍ C?@܍ Q  ݉ )݉ ݍ ¯sDQb]<‹ǿw?iݍ ݍ ݍ C?@ݍ Q  މ )މ  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.2865551 6G- <ZG= ARG9 ~GA9AN>v,IhADzBIaachecking for new query: numPingsReceived=2, elapsed TxPingTime=3.531027ԱMb@Mb@Mb@ )YS?٥ HF > ,5<3? ,59 I5By]?t:#@~@'EiG ;/;l,5%EB%1A- EZ9b=IhA=B=B=Ƴ@ʁ= ,}U0 j+@E` @=uwF?(א¢?=C?@=Q ҁ=dQ@CIK{YO=j*?g8t#z=NZ='Bj=aҜ?r=T0 =nB=nƜ?=L  =rB=0B=䁴@-}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 89.099998 m, deltaT: 9.084554 s, deltaX: 52.599998 m, approachRate: 5.790048 m/s, rangeRepo size: 4DNOT Ignoring new targets: 36.24 m.bZrjRJB~~{B}|||`fFV@|? {BegI)J쾉I. <H=RJZJ9bJڈ9Jt4J@@@ @EEEE5E6G]=~GA!AANM>  DDAT read: Rx Time:13:52:38.5583  TRx dataTimestamp_ set to:1749131559.811560 DAT read: Range 10 to 50 : 89.7 m (trip time 59.8 ms) speed -0.4 - X#Rx 3: Read range message, but no direction. fBY % checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777844|,sIhA9:@:?(@Y:y:}<:H߿3?@?% 90@?`b? ? :@:1.;):C|=OzB=IIMIMM3]A> ]=y]Q e ?٥aa eHeFm׉; m ?q,5u ?,59u IuABy6#@~@u,Eiu;u;u1,5DB0A E--addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 89.699997 m, deltaT: 9.587541 s, deltaX: 53.199997 m, approachRate: 5.548868 m/s, rangeRepo size: 4-DNOT Ignoring new targets: 36.24 m.b)Z)rQjQRQJQBQ~Y~Y}Y|Y|a|elV@|e? {BsI)̾Ic 6HH&IHzBH =HHH<HE6G <~G9 Ai ԁ A N >K !VP"K ý9*K 2K d :K A0{%9#KUw } &hpPc f:fP iR$?$EjJ% AJ! ,JDJhA96q@6#(@Y6Fy6L<6H w@߿ou??h^?2?? 6q@6;)6CFfzBFIIN IN(2Vo= ZV=yZ Q Z>٥\\ ^H^F^ b>`f,5b ?j,59b IbQByhj(#@j~@b1Eibu:b:b,5lr0ArEaDDAT read: Rx Time:13:52:39.1199 TRx dataTimestamp_ set to:1749131560.317716 PDAT read: Bearing 174.2, 55.5 (Local) ~Local bearing/azimuth received: Bearing 174.2, 55.5 (Local) -DAT read: Range 10 to 50 : 182.1 m (trip time 121.4 ms) speed -0.5 UDAT read: 13:52:39.1199 LVL= 23856, 21425, 19570, 23059, AGC= 68, IDX= 118, 0.03, 1.343, 2.737, 1.346, 0.684, PHS= 0.746, 2.100, 0.658, RAW= 333.1, -41.5, CAL= 335.8, -55.5, ROT= 174.2, 55.5 }Ygot valid direction response: 13:52:39.1199 LVL= 23856, 21425, 19570, 23059, AGC= 68, IDX= 118, 0.03, 1.343, 2.737, 1.346, 0.684, PHS= 0.746, 2.100, 0.658, RAW= 333.1, -41.5, CAL= 335.8, -55.5, ROT= 174.2, 55.5 }R#Rx 4: Read range and direction messages.`direction in FSK: [-0.563507,0.057239,-0.824126]Fpublishing direction and range infoy*2?L|kN?s=_꿹6CY 0])SIrLiZ>?ff@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 182.100006 m, deltaT: 10.093697 s, deltaX: 145.600006 m, approachRate: 14.424844 m/s, rangeRepo size: 4DNOT Ignoring new targets: 36.24 m.bZrjRJB~~}r(?  @)}l9I͋@iwQB@w? ) H$Vf0ڿR 4i$p9?QB@w? )checking for new query: numPingsReceived=4, elapsed TxPingTime=4.311427||| @3f@|5ۤ? {B靅l`I)fI γ<(= :JM \BJM OJJM CRJI ZJM =:bJM %9JM 4 ,!*JhAJy9Bmh@B{(@YByBf? Bmh@B;";)BCNzBNIMb@Mb@Mb@ )Yx?ʡE~jt?yKW?D<vA )IE Ay(AII%$= %)=y-P8Q ->٥11 5H5F5Ś =>9E,5=캜?M,59= I=cByM7X?M{:M"@M~@=7Ei= ;= ;=Ð,5]CBe/AeEZ!b%uUJhA%4C%4C%h@ʁ%[yYEXr!$@mb%*2?L|kN?s=_%QB@%w?ҁ%w'EJR@w$&8K'}c%=U?ӿMAz%Y\%RBj%LӜ?r%i]/ %%aҜ?%~&  %nB%eB%b@DNOT Ignoring new targets: 36.24 m.bZrjRJB~~d|B}||||Ȱ? {B`WI )  I R !<=?&@1? L3@)4I_@i*rD@*r? )`;俖%y˘ٿ@i%V3?D@*r? )checking for new query: numPingsReceived=5, elapsed TxPingTime=4.816567Ee?EaEaEaEiԑ6G <<~GY Ai A N >Թ ,'DJhAchecking for new query: numPingsReceived=5, elapsed TxPingTime=5.0341339FrQ@Fd(@YF3ݕyF\HiHm^IHm{BHm =HiHiHm<HmEԁmBPC1A failed to parse battery data due to unrecognized msg size.}zB}$IIIT3'b= @=yZ8Q >٥ HFU > %,5 dӺ?-,59 ~ I sBy9E"@E~@ =Ei d; C; ,5am/AiԩZbu4JhAj5Cj5C@ʁyZ0h鳋d@Bw}ydb1,⿱DS?΄y<D@KP"K{9*K2Ke :KD}& pP]ZJ#bajC!,D-uDH J>J?*r?ҁ[S@'/K>mALcѕ?w埸ӿibN;z7XBjԜ?r qSy!VҜ? fB?B@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 182.699997 m, deltaT: 10.597237 s, deltaX: 146.199997 m, approachRate: 13.796048 m/s, rangeRepo size: 4]addTargetRange::Reached target pos rejection count limit. Clearing pos repo.EDNOT Ignoring new targets: 36.24 m.bAZIrIjIRIJIBI~Q~Q}Q|Q|Q|]`ff@|]? {BLJIZ=<)!I" Z<==@_r? )$㿿*<ׅܿ5-i!x4?>@_r? ) checking for new query: numPingsReceived=6, elapsed TxPingTime=5.342708 6G G<~G A AN>Q,ѰaJhA9e{@e'@Ye"ye>9eH߿W?(?a ?@06? ? e{@ey;)achecking for new query: numPingsReceived=6, elapsed TxPingTime=5.5383695zB53I:J-^BJ-RJJ-DRJ)ZJ-} :bJ-S29J-4J)IMb@Mb@Mb@ )Y(\?~jt~jtx?yzT?Ľ;A A)zAI/ AyAII 3H4= =yQ >٥ HF]G >)m,5-S?u,59-w I-ByU?~: @@-DEi-n<-h<-0,5(/AEZqbuTJhAu4Cu4Cuae@ʁu'菄Y<$1@|+Sbus$fYQm?\u>@u_r?ҁu(Q@R3UN>~9cux ׁ<H&@5c=iи@iAE DDAT read: Rx Time:13:52:40.6201 E TRx dataTimestamp_ set to:1749131561.829465U PDAT read: Bearing 188.9, 53.0 (Local) ] ~Local bearing/azimuth received: Bearing 188.9, 53.0 (Local) u DAT read: Range 10 to 50 : 182.4 m (trip time 121.6 ms) speed -0.4  DAT read: 13:52:40.6201 LVL= 23728, 24705, 19474, 32755, AGC= 67, IDX= 504, 0.23,-0.829, 0.745,-0.522,-1.261, PHS= 0.519, 2.053, 0.735, RAW= 322.5, -39.1, CAL= 321.1, -53.0, ROT= 188.9, 53.0  Ygot valid direction response: 13:52:40.6201 LVL= 23728, 24705, 19474, 32755, AGC= 67, IDX= 504, 0.23,-0.829, 0.745,-0.522,-1.261, PHS= 0.519, 2.053, 0.735, RAW= 322.5, -39.1, CAL= 321.1, -53.0, ROT= 188.9, 53.0  R#Rx 7: Read range and direction messages. bdirection in FSK: [-0.594569,-0.093107,-0.798636] Fpublishing direction and range infoA yE 8ɵ9Jշ|>l鿹E f6CYA E \)E `IE LiA E CE /?E Zd@E (٥ H >HM>HIHMIHMU{BHM =HIHIHMޚ<HMEH H H H  =I  = I 5q,5u%?,59ur IuBy\ @@uJEiu(l?hl?ҁî߾-W@$Y@2®cƀa?0I@ǿ%ThzmBjҷ$ٜ?r  ϲLӜ? mBj@ addTargetRange:: Added new target pos. range: 182.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 M Added new target pos. range: 181.118134 m, bearing: 340.572077 deg, lat: 36.906709 deg, lon: -122.116371 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 IUFNOT Ignoring new targets: 181.12 m.U]  ProNav pure pursuit: ac range: 181.118134 m, nav range: 92.714577 m, bearing: 323.036836 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 330.909410 deg, new cmd heading: 323.036836 deg. HeadingCmd: 5.638056 target range: 181.118134 and range: 182.40 m.bj@ZrjRJB~~}|||f@|`? U{B]kCIY)]YI], YYe<'%@k=|[=ij@iK%yP"K9*K2Kf :KV,2}yMau}?$E mW]Zf3N6YjE9E9E9E=15E9DDAT read: Rx Time:13:52:41.0596 TRx dataTimestamp_ set to:1749131562.333367 PDAT read: Bearing 172.1, -1.3 (Local)  ~Local bearing/azimuth received: Bearing 172.1, -1.3 (Local) E DAT read: Range 10 to 50 : 91.8 m (trip time 61.2 ms) speed -0.4 6G] 8#= DAT read: 13:52:41.0596 LVL= 21744, 24209, 24050, 31379, AGC= 69, IDX= 399,-0.44,-1.114, 0.695,-1.271,-0.482, PHS=-0.544, 1.224,-0.792, RAW= 336.5, 1.2, CAL= 337.9, 1.3, ROT= 172.1, -1.3 ] Ygot valid direction response: 13:52:41.0596 LVL= 21744, 24209, 24050, 31379, AGC= 69, IDX= 399,-0.44,-1.114, 0.695,-1.271,-0.482, PHS=-0.544, 1.224,-0.792, RAW= 336.5, 1.2, CAL= 337.9, 1.3, ROT= 172.1, -1.3 e R#Rx 8: Read range and direction messages.m ^direction in FSK: [-0.990255,0.137409,0.022687]m Fpublishing direction and range infoyA*,?NGY;?BY T)^I]izEC ?J @) U,&QJhA9f@y'@Y4yYH̝` ?? "?@5 _? f@骅' ;)CzBRI)  5=1Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.546370Mb@Mb@Mb@! )Y@5^I ?~jtybP?A `A)I AyI=I=3MI= M!=yM%ƺQ M>٥QQ UHUF] >,5_?,59l IByQ?:@@PEi+==,5:J[BJOJJ@RJZJ:bJ%9JJ4J}BB}V.A}E@1qQZ1b5UJhA5OB5OB5׳@ʁ5ΑwVncY )@nOc@5A*,?NGY;?5<@@5޹ҁ5c;Q@6@Lbؠf5A.?ᘱp=z5"`5xBj5-] Ҝ?r5 |T0 5gB11 15@B5k@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 91.800003 m, deltaT: 0.503902 s, deltaX: -90.599991 m, approachRate: -179.796844 m/s, rangeRepo size: 1FNOT Ignoring new targets: 181.12 m.ն7ն7-  ProNav pure pursuit: ac range: 181.118134 m, nav range: 93.126259 m, bearing: 323.037503 deg, approach rate: 0.775221 m/s, LOS rate: 0.001249 deg/s, cmd heading: 323.036829 deg, new cmd heading: 323.037503 deg. 5 HeadingCmd: 5.638068 target range: 181.118134 and range: 182.40 m.b5 k@Z1 r9 j9 R9 J9 B9 ~A ~E s|B}A |A |i |m @3V@|u @z? {B R8I ) p I '  ! % ;<- '@) - -I @i > M@  )  sgVUnWĜ׿O&x?i G/  D  )  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.818554 ZA  Y ZAy B @ B>E)zE1ԩE?EEE_0EF=Fa=6Gxb=jGu?bGb?checking for new query: numPingsReceived=9, elapsed TxPingTime=7.053031~GM AAQAiGGH>HHIH{BH =HHH<HEN,?), !JhA9@I&@YڞyGͼH>| K`? 2? ,}0@*ֳ?r@? @骥L;)CI]zB]ZIII?13׶< =yoQ >٥L?L? HFxH > ,5 `?,59 c I By!%q@%@ XEi l; =m; ,5-AB5.A5EIqMMZb-JhAMBMB@ʁܪ@utS@剹C6eW;@Ŀ+?~^+ۿt?zBj3VӜ?r -B3VӜ?  ϲꁵBZ@K*P"K9*K2Kg :K:2ND#x `Q{tG* tRNh[S-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 92.300003 m, deltaT: 1.007887 s, deltaX: -90.099991 m, approachRate: -89.394936 m/s, rangeRepo size: 1FNOT Ignoring new targets: 181.12 m.=W=WM  ProNav pure pursuit: ac range: 181.118134 m, nav range: 93.644188 m, bearing: 323.035862 deg, approach rate: 0.932619 m/s, LOS rate: -0.002938 deg/s, cmd heading: 323.037512 deg, new cmd heading: 323.035862 deg. UHeadingCmd: 5.638040 target range: 181.118134 and range: 182.40 m.bUj@ZQrQjQRYJyBy~~}|||@3W@|? {B4I)#aI ' J<s,@C4ij@iy ؝%=ם<DDAT read: Rx Time:13:52:42.0601 TRx dataTimestamp_ set to:1749131563.345951PDAT read: Bearing 173.2, -1.6 (Local) ~Local bearing/azimuth received: Bearing 173.2, -1.6 (Local) DAT read: Range 10 to 50 : 92.6 m (trip time 61.7 ms) speed -0.2 >E*:<DAT read: 13:52:42.0601 LVL= 25792, 24385, 24370, 32755, AGC= 66, IDX= 3, 0.32,-2.561,-0.799,-2.667,-1.923, PHS=-0.550, 1.171,-0.747, RAW= 335.4, 1.4, CAL= 336.8, 1.6, ROT= 173.2, -1.6 Ygot valid direction response: 13:52:42.0601 LVL= 25792, 24385, 24370, 32755, AGC= 66, IDX= 3, 0.32,-2.561,-0.799,-2.667,-1.923, PHS=-0.550, 1.171,-0.747, RAW= 335.4, 1.4, CAL= 336.8, 1.6, ROT= 173.2, -1.6 T#Rx 10: Read range and direction messages.^direction in FSK: [-0.992578,0.118358,0.027922]Fpublishing direction and range infoڱyڵ/-3ᅯGL?|p}?ڵ3BYڱ ۵d)۵A_I۵2_i۱۵B۵ ۵T?۵d;? ܵR@)ܵ+H,٥99 =H=FE E>IU,5M)F?U,59My] yIMǡBy}RO?}:}C@}@M_EiM;M;M֪,5z-A E‚G@rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalC@Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalZb$JhABBh2@ʁ <V,%@mX@/-3ᅯGL?|p}?\wA@ҁ3K/?R@m7KJ#.HPf?~#1d2RE㤪z^BjLҜ?ry hB#VҜ?y  gBꁅԷB8@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 92.599998 m, deltaT: 1.516486 s, deltaX: -89.799995 m, approachRate: -59.215843 m/s, rangeRepo size: 1FNOT Ignoring new targets: 181.12 m.  ProNav pure pursuit: ac range: 181.118134 m, nav range: 94.039688 m, bearing: 323.033947 deg, approach rate: 0.791787 m/s, LOS rate: -0.003817 deg/s, cmd heading: 323.035873 deg, new cmd heading: 323.033947 deg. HeadingCmd: 5.638006 target range: 181.118134 and range: 182.40 m.bj@ZrjRJB~~W|B}|||`f&W@| VF? {B靭 -I)9I W<2@fij@iDDDDU DDAT read: Rx Time:13:52:42.5606 U TRx dataTimestamp_ set to:1749131563.848112e PDAT read: Bearing 175.2, 1.6 (Local) } ~Local bearing/azimuth received: Bearing 175.2, 1.6 (Local)  DAT read: Range 10 to 50 : 93.3 m (trip time 62.2 ms) speed -0.8 ԡ  DAT read: 13:52:42.5606 LVL= 29424, 26545, 23794, 32755, AGC= 69, IDX= 503, 0.12,-0.822, 1.117,-0.855,-0.172, PHS=-0.562, 1.336,-0.686, RAW= 333.1, -0.9, CAL= 334.8, -1.6, ROT= 175.2, 1.6  Ygot valid direction response: 13:52:42.5606 LVL= 29424, 26545, 23794, 32755, AGC= 69, IDX= 503, 0.12,-0.822, 1.117,-0.855,-0.172, PHS=-0.562, 1.336,-0.686, RAW= 333.1, -0.9, CAL= 334.8, -1.6, ROT= 175.2, 1.6  T#Rx 11: Read range and direction messages. `direction in FSK: [-0.996104,0.083645,-0.027922] Fpublishing direction and range infoQ yU \1goRi?|p}U BYQ U r)U gIU \iQ U EU ;U ?U / U @)U IU @iU 伉U EC@U < Q )Q U Ӓ'W̺kl})WTy:iU p $U 0ՁHHIH{BHHHH<HE6G}d<1~GiAAN%?,0 KhA9>qt@>Ň&@Y>ty>>H]{V?Bc? Hk}m?#? >qt@>;)>Cԑ*{BvIi=I=II3,< =y Q  >٥ HFBR >!5,5%(?5,59%^V I%סBy15@5@%fEi%^7;%Z;%,5e@Be_-Au#EZbxGJhAIBIB@ʁÌWn%2@V\1goRi?|p}EC@<ҁaR@-|fJ"7$m̡p?z%jwAZ<>zVBjxҜ?r,zZ RBxҜ?,zZ  .B@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 93.300003 m, deltaT: 2.018647 s, deltaX: -89.099991 m, approachRate: -44.138470 m/s, rangeRepo size: 1KOQ"K 9*K2Kh :K 5@YCtQq?+.ZWhFNOT Ignoring new targets: 181.12 m.  ProNav pure pursuit: ac range: 181.118134 m, nav range: 94.479485 m, bearing: 323.029973 deg, approach rate: 0.831414 m/s, LOS rate: -0.007479 deg/s, cmd heading: 323.033961 deg, new cmd heading: 323.029973 deg. HeadingCmd: 5.637937 target range: 181.118134 and range: 182.40 m.bi@ZrjRJB~~}| | | @3SW@| A`? +I)Y3I <DDAT read: Rx Time:13:52:43.0608 TRx dataTimestamp_ set to:1749131564.352022PDAT read: Bearing 176.1, 0.1 (Local) ~Local bearing/azimuth received: Bearing 176.1, 0.1 (Local) DAT read: Range 10 to 50 : 93.6 m (trip time 62.4 ms) speed -0.8 5DAT read: 13:52:43.0608 LVL= 30080, 26225, 22946, 32755, AGC= 68, IDX= 489, 0.05, 2.173,-2.287, 2.177, 2.833, PHS=-0.572, 1.211,-0.658, RAW= 332.4, 0.2, CAL= 333.9, -0.1, ROT= 176.1, 0.1 =Ygot valid direction response: 13:52:43.0608 LVL= 30080, 26225, 22946, 32755, AGC= 68, IDX= 489, 0.05, 2.173,-2.287, 2.177, 2.833, PHS=-0.572, 1.211,-0.658, RAW= 332.4, 0.2, CAL= 333.9, -0.1, ROT= 176.1, 0.1 ET#Rx 12: Read range and direction messages.M`direction in FSK: [-0.997683,0.068015,-0.001745]MFpublishing direction and range infoy&i-'oi?n p\3BY u)qfIYiDn ?r( @)d;I%|@i争D@: )Z `~)n?iQ$pD@: )}checking for new query: numPingsReceived=12, elapsed TxPingTime=8.332257:@eii@iEqEqEyEyEy6GUY=<~G A A N > G,%&KhA&checking for new query: numPingsReceived=12, elapsed TxPingTime=8.5668889vO@vb&@Yvyv"vH ٥!! %H%F-Y ->1=,55y?=,595xP I5By=}G?E:e@e@5lEi5;5;5,5imt-AqZ!b%KhA%B%B%/@ʁ%ٺz.W ?$I@pjĿ%&i-'oi?n p\%D@%:ҁ%)R@nGtJ90%w@#?BPEìc*z%CT%ԗBj%nެ Ӝ?r% %h\B!! !%B%@)-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 93.599998 m, deltaT: 2.522557 s, deltaX: -88.799995 m, approachRate: -35.202374 m/s, rangeRepo size: 1]eaddTargetRange::Reached target pos rejection count limit. Clearing pos repo.imFNOT Ignoring new targets: 181.12 m.mu׸}׸  ProNav pure pursuit: ac range: 181.118134 m, nav range: 94.845573 m, bearing: 323.027153 deg, approach rate: 0.767630 m/s, LOS rate: -0.005889 deg/s, cmd heading: 323.029972 deg, new cmd heading: 323.027153 deg. ~HeadingCmd: 5.637887 target range: 181.118134 and range: nan m.bi@ZrjRJB~~%|B}!|!|!|%`ffW@|-`|? 靥7/I)v8I `҇<sk@@ ii@iDDAT read: Rx Time:13:52:43.5612 TRx dataTimestamp_ set to:1749131564.855935 PDAT read: Bearing 176.8, -2.1 (Local)  ~Local bearing/azimuth received: Bearing 176.8, -2.1 (Local) DAT read: Range 10 to 50 : 94.1 m (trip time 62.7 ms) speed -0.7 EDAT read: 13:52:43.5612 LVL= 24560, 20865, 21810, 32755, AGC= 69, IDX= 493,-0.24, 1.479,-3.021, 1.518, 2.179, PHS=-0.611, 1.130,-0.664, RAW= 331.5, 1.7, CAL= 333.2, 2.1, ROT= 176.8, -2.1 MYgot valid direction response: 13:52:43.5612 LVL= 24560, 20865, 21810, 32755, AGC= 69, IDX= 493,-0.24, 1.479,-3.021, 1.518, 2.179, PHS=-0.611, 1.130,-0.664, RAW= 331.5, 1.7, CAL= 333.2, 2.1, ROT= 176.8, -2.1 MT#Rx 13: Read range and direction messages.U^direction in FSK: [-0.997770,0.055784,0.036644]]Fpublishing direction and range infoyV˻J?(א¢?3BY _)QI2UiEjף?) %@)3<,?KhA97@+K&@Yًy'HAN ێt?`'}?a"k?`+? 7@!g;)C:{BIIeIe2v= j=y<:Q >٥ %H!Uchecking for new query: numPingsReceived=13, elapsed TxPingTime=9.070539Ys ?,5I?,59L IBy@@ H<H<H>HHIH{BH =HHH<HEpEi<Z<Ƕ,5%-A-$E:J\BJOJJ?RJZJ=:bJ%9Jـ4JzJ:jJ:J~&:rJ&:Z)b-6KhA-B-B-@ʁ-nrNWm@Xu+d @-V˻J?(א¢?-|E@-Q ҁ-?DS@ mTJ&A-'%Ce?Z[ $ ջ|Ez-R-&Bj- S]Ӝ?r-T -jB-nެ Ӝ?y-  -hB-ʹB- @ addTargetRange:: Added new target pos. range: 94.099998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 -!addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 93.437897 m, bearing: nan deg, deltaT: 3.026470 s, deltaX: -87.680237 m, approachRate: -28.971125 m/s, posRepo size: 1FNOT Ignoring new targets: 181.12 m.QǸQǸ  ProNav pure pursuit: ac range: 181.118134 m, nav range: 95.118591 m, bearing: 323.024840 deg, approach rate: 0.644574 m/s, LOS rate: -0.005446 deg/s, cmd heading: 323.027158 deg, new cmd heading: 323.024840 deg.  HeadingCmd: 5.637847 target range: 181.118134 and range: 94.10 m.b >i@Z r jRJB9~A~A}I|I|I|M`fW@|Um?  .I)"IW ӆ<aE@i>i@iE E E E E F =F =Ա K% NP"K% ý9*K! 2K% i :K% yLl5BFh`5=OR7'PHGD49;ip46Ge ЭjGm ?bGm > DDAT read: Rx Time:13:52:44.0613  TRx dataTimestamp_ set to:1749131565.361139- PDAT read: Bearing 176.0, 1.8 (Local) - ~Local bearing/azimuth received: Bearing 176.0, 1.8 (Local) = DAT read: Range 10 to 50 : 94.2 m (trip time 62.8 ms) speed -0.4 ] DAT read: 13:52:44.0613 LVL= 24432, 18097, 18146, 30707, AGC= 68, IDX= 510, 0.14,-2.826,-1.039,-2.816,-2.214, PHS=-0.524, 1.222,-0.605, RAW= 332.3, -1.0, CAL= 334.0, -1.8, ROT= 176.0, 1.8 e Ygot valid direction response: 13:52:44.0613 LVL= 24432, 18097, 18146, 30707, AGC= 68, IDX= 510, 0.14,-2.826,-1.039,-2.816,-2.214, PHS=-0.524, 1.222,-0.605, RAW= 332.3, -1.0, CAL= 334.0, -1.8, ROT= 176.0, 1.8 m T#Rx 14: Read range and direction messages.u `direction in FSK: [-0.997072,0.069722,-0.031411]u Fpublishing direction and range info y %� RMٱ?Iz fB~Gy A A N >Y  p_) FI Fi w D $ j? H  a@) 5I q@i  D@ =  )  KlD#뿹&8vhie8Ԓi 7 % < D@ =  )  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.346002$,LYKhA<9zL@z`&@Yz{yzD;zHS}If?@Ct?%l i?@v1|?? zL@zΎ;)zC7{B~I)q qII#3Mܻ UI=yeG8Q >٥Ա HF!C;  >I,5M蹜?,59MF IMBy@@MuEiMZS,;vKhA&DDAT read: Rx Time:13:52:44.5617 *TRx dataTimestamp_ set to:1749131565.864014.PDAT read: Bearing 175.8, -1.4 (Local) 2~Local bearing/azimuth received: Bearing 175.8, -1.4 (Local) =DAT read: Range 10 to 50 : 94.8 m (trip time 63.2 ms) speed -0.8 DAT read: 13:52:44.5617 LVL= 32752, 26865, 24978, 32755, AGC= 67, IDX= 2,-0.14, 3.063,-1.449, 3.063,-2.551, PHS=-0.582, 1.148,-0.673, RAW= 332.5, 1.2, CAL= 334.2, 1.4, ROT= 175.8, -1.4 Ygot valid direction response: 13:52:44.5617 LVL= 32752, 26865, 24978, 32755, AGC= 67, IDX= 2,-0.14, 3.063,-1.449, 3.063,-2.551, PHS=-0.582, 1.148,-0.673, RAW= 332.5, 1.2, CAL= 334.2, 1.4, ROT= 175.8, -1.4 T#Rx 15: Read range and direction messages.^direction in FSK: [-0.997017,0.073216,0.024432]Fpublishing direction and range info(y*4N?{J?*BY( *)*hI*ai**C**?*I, *@)*٥99 =H=FEB< E>IU,5M˹?u,59Me@ IMBy}C?}:}2"@}@M|EiM;M;MQ,5,A*Echecking for new query: numPingsReceived=15, elapsed TxPingTime=10.078369Z(b*LwKhA*DB*DB*@ʁ*vW;{@)$f@*4N?{J?*^D@*+ȼҁ*<ޮqS@XaeJ;U¹*kGp?fEIz*+S*Bj*ŃeӜ?r*]D *gB*nެ Ӝ?*  (*KB*‡@HHHIH |BH =HHHך<HEU  addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 0.502875 s, deltaX: 0.600006 m, approachRate: 1.193152 m/s, rangeRepo size: 3 - !addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 94.132980 m, bearing: nan deg, deltaT: 4.034549 s, deltaX: -86.985153 m, approachRate: -21.560068 m/s, posRepo size: 1  FNOT Ignoring new targets: 181.12 m. 9 9U  ProNav pure pursuit: ac range: 181.118134 m, nav range: 95.870399 m, bearing: 323.031885 deg, approach rate: 0.758878 m/s, LOS rate: 0.017225 deg/s, cmd heading: 323.022322 deg, new cmd heading: 323.031885 deg. ] HeadingCmd: 5.637970 target range: 181.118134 and range: 94.80 m.b] @j@ZY rY jY RY Ja Bi ~i ~m |B}q |q |q |u @3W@|u I?:J [BJ TJJ @RJ ZJ :bJ :9J J4J zJ :jJ :J RJ:rJ UJ: M {BM 2(II )M MQ IU ͒ Q Q U h^<] >5? i @j@i  EQ EQ EQ EQ EY & TFailed to parse incomplete device message.IDDAT read: Rx Time:13:52:45.0618 TRx dataTimestamp_ set to:1749131566.368043PDAT read: Bearing 173.6, -0.5 (Local) ~Local bearing/azimuth received: Bearing 173.6, -0.5 (Local) DAT read: Range 10 to 50 : 95.0 m (trip time 63.3 ms) speed -0.2 DAT read: 13:52:45.0618 LVL= 25552, 23393, 21154, 32755, AGC= 69, IDX= 483, 0.39, 3.035,-1.544, 2.952,-2.644, PHS=-0.516, 1.147,-0.690, RAW= 334.9, 0.7, CAL= 336.4, 0.5, ROT= 173.6, -0.5 Ygot valid direction response: 13:52:45.0618 LVL= 25552, 23393, 21154, 32755, AGC= 69, IDX= 483, 0.39, 3.035,-1.544, 2.952,-2.644, PHS=-0.516, 1.147,-0.690, RAW= 334.9, 0.7, CAL= 336.4, 0.5, ROT= 173.6, -0.5 T#Rx 16: Read range and direction messages. ^direction in FSK: [-0.993730,0.111465,0.008727] Fpublishing direction and range infoڱyڵn?B7߁?ڵBYڱ ۵c)۵a[I۵Ri۱۵E۵۵В?۵ף0 ܵ @)ܵ+H٥ HFV= >,5d?,59: IBy[#@@Ei::,5,A Zyb}KhA}B}B}K@ʁ}l;aoWXE%@׆gW?}n?B7߁?}A@}5ҁ}bZ|d/S@J7DKݓ}w??꯿z}!Z}~Bj}Ҝ?r}3z }cByy }cB}B}w@checking for new query: numPingsReceived=16, elapsed TxPingTime=10.583373- addTargetRange:: Added new target pos. range: 95.000000 m, deltaT: 0.504029 s, deltaX: 0.199997 m, approachRate: 0.396797 m/s, rangeRepo size: 4 -!addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 94.331764 m, bearing: nan deg, deltaT: 4.538578 s, deltaX: -86.786369 m, approachRate: -19.121929 m/s, posRepo size: 1FNOT Ignoring new targets: 181.12 m.~9~9  ProNav pure pursuit: ac range: 181.118134 m, nav range: 96.250710 m, bearing: 323.044594 deg, approach rate: 0.796161 m/s, LOS rate: 0.026501 deg/s, cmd heading: 323.031884 deg, new cmd heading: 323.044594 deg. HeadingCmd: 5.638192 target range: 181.118134 and range: 95.00 m.bl@ZrjRJB~~}I|I|Q|UW@|U@J? {B靥(=%I)Ir <Xz8il@iA E ?E E E 4E F F 6G $f~G A A N >] DDAT read: Rx Time:13:52:45.5621 ] TRx dataTimestamp_ set to:1749131566.871909e PDAT read: Bearing 171.1, -3.4 (Local) m ~Local bearing/azimuth received: Bearing 171.1, -3.4 (Local) } DAT read: Range 10 to 50 : 95.4 m (trip time 63.6 ms) speed 0.0 ԉ  DAT read: 13:52:45.5621 LVL= 23792, 27169, 21026, 30419, AGC= 71, IDX= 502, 0.15, 1.400, 3.050, 1.227, 2.013, PHS=-0.525, 1.084,-0.790, RAW= 337.5, 2.7, CAL= 338.9, 3.4, ROT= 171.1, -3.4  Ygot valid direction response: 13:52:45.5621 LVL= 23792, 27169, 21026, 30419, AGC= 71, IDX= 502, 0.15, 1.400, 3.050, 1.227, 2.013, PHS=-0.525, 1.084,-0.790, RAW= 337.5, 2.7, CAL= 338.9, 3.4, ROT= 171.1, -3.4  T#Rx 17: Read range and direction messages. ^direction in FSK: [-0.986221,0.154438,0.059306] Fpublishing direction and range infoY y] /$'■ ?Cg]?] ̾BYY ] \)] !jI] "Ri] v] G] ff] ?] q=J ] ~@)] A=I] G@i] s=] ?@] s Y )Y ] L[iJ3iv<ǧ?i] {*] LN>] ?@] s Y )Y  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.852621ܗ,KhA=y{B=I=Mb@Mb@Mb@999 9)9Y=(\?A`"٥    H F >%,5y?E,595 IByM'H?M:MW$@M@Ei;;v,5U>BU,AU-EZb[ͷKhAuBuB@ʁhBh[W.bzsmB-@ x@/$'■ ?Cg]??@sҁR R@ L%-u7#Z?1L7,Gz$gBj6MҜ?rTYl( xBҜ?  gB;By@E addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 0.503866 s, deltaX: 0.400002 m, approachRate: 0.793865 m/s, rangeRepo size: 4 -M!addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 94.728951 m, bearing: nan deg, deltaT: 5.042444 s, deltaX: -86.389183 m, approachRate: -17.132402 m/s, posRepo size: 1]MaddTargetPos::Reached target pos rejection count limit. Clearing pos repo.bIZIrQjQRQJQBy~~ |B}|||W@|? {B!4 I)̽Ip  #< O33 -checking for new query: numPingsReceived=17, elapsed TxPingTime=11.087575AiAGGAAH>HH IH |BH =HHH<HEHYHYHYHYIY I]S{5i) JJJ10:J ^BJ XJJ CRJ ZJ } :bJ 5K9J 4J zJ _:jJ d:J f:rJ f:E E E E O0E 6G @~GY Ai Ay N >},KhA9fX@f/l+@Yfyf>fH`Vۿ@? ~? Gw@(?'? ?? fX@ftU;)fCK2P"KS9*K2Kk :Kho,_*eXXX."Q"^f RB:@=z{B9IM#IM%x3DDAT read: Rx Time:13:52:46.0623 TRx dataTimestamp_ set to:1749131567.375985PDAT read: Bearing 168.0, 1.5 (Local) ~Local bearing/azimuth received: Bearing 168.0, 1.5 (Local) DAT read: Range 10 to 50 : 95.7 m (trip time 63.8 ms) speed 0.0 DAT read: 13:52:46.0623 LVL= 19520, 21041, 18050, 32755, AGC= 68, IDX= 504,-0.24,-0.896, 0.804,-1.216,-0.416, PHS=-0.392, 1.267,-0.803, RAW= 340.8, -0.8, CAL= 342.0, -1.5, ROT= 168.0, 1.5 Ygot valid direction response: 13:52:46.0623 LVL= 19520, 21041, 18050, 32755, AGC= 68, IDX= 504,-0.24,-0.896, 0.804,-1.216,-0.416, PHS=-0.392, 1.267,-0.803, RAW= 340.8, -0.8, CAL= 342.0, -1.5, ROT= 168.0, 1.5 T#Rx 18: Read range and direction messages.`direction in FSK: [-0.977812,0.207840,-0.026177]Fpublishing direction and range infoځyڅNK=JX?P!ΚڅfBYځ ۅ@L)ۅ1RIۅFiۅۅDۅ9Ⱦۅ-?ۅhM ܅V@)܅dI܅C@i܅Pwּ܅f;@܅Pw< ݁)݁݅Tʶ80_svi݅z݅K[<݅f;@: Z=yQ >٥ H#= >݅Pw< ށ)ށchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.358040)5,5-E?5,59-2 I-&By9=='@=@-Ei-:-:-,5AE ,AE0EIZb#KhA B B#y@ʁ!:WbB3@{GnNK=JX?P!Κf;@Pw<ҁvyR@Mn[AU?1I LE2۲zlBjaќ?r(I y_B5vҜ?3z  cBꁅBM@ addTargetRange:: Added new target pos. range: 95.699997 m, deltaT: 0.504076 s, deltaX: 0.299995 m, approachRate: 0.595139 m/s, rangeRepo size: 4 %Z=%Z=e Added new target pos. range: 95.026924 m, bearing: 321.345509 deg, lat: 36.906707 deg, lon: -122.116334 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 DNOT Ignoring new targets: 95.03 m. ProNav pure pursuit: ac range: 95.026924 m, nav range: 94.764198 m, bearing: 324.623980 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 323.044588 deg, new cmd heading: 324.623980 deg. HeadingCmd: 5.665757 target range: 95.026924 and range: 95.70 m.bM@ZrjRJB~~}|||W@|? QU[\"IQ)]ͽYI]m <p.iM@iԁE}?EyEyE}P0E6GgjG>bG>ԩ ~G A A N >E checking for new query: numPingsReceived=18, elapsed TxPingTime=11.592466@,KhA<9B@Bb-@YBTeyBk<>BH= ٿ@=? ?(? ?Xb?PZ? B@B;)@ RC)R1AɿR94VFTVCZAAiZ(IZFXIZ3CiZlA X\)\^C ^rA```b̏C`I`)`id)fCIddd dj&CjAhihhٯh{BIMb@Mb@Mb@ )YPn?~jt{GztyD?ף A @)I@I AyAI$I<3ԩA= >=y&9Q >٥ HFIx= >A]Au,5yj?u,59 . I1By}WD?}:} *@}@EiG< <,5 "ؿYAyA=B+A2E B*** querying acoustic contact ***J R DNOT Ignoring new targets: 95.03 m.E:E:U ProNav pure pursuit: ac range: 95.026924 m, nav range: 95.093834 m, bearing: 324.650502 deg, approach rate: 0.741247 m/s, LOS rate: 0.059434 deg/s, cmd heading: 324.623974 deg, new cmd heading: 324.650502 deg. ]HeadingCmd: 5.666220 target range: 95.026924 and range: 95.70 m.b]Q@ZYrYjY ؅<ׅ<DDAT read: Rx Time:13:52:46.5625 TRx dataTimestamp_ set to:1749131567.887977PDAT read: Bearing 165.0, 3.2 (Local) ~Local bearing/azimuth received: Bearing 165.0, 3.2 (Local) DAT read: Range 10 to 50 : 96.2 m (trip time 64.1 ms) speed -0.8 %DAT read: 13:52:46.5625 LVL= 24512, 21377, 23394, 32755, AGC= 70, IDX= 507, 0.01,-2.214,-0.491,-2.681,-1.819, PHS=-0.307, 1.375,-0.865, RAW= 343.8, -2.0, CAL= 345.0, -3.2, ROT= 165.0, 3.2 -Ygot valid direction response: 13:52:46.5625 LVL= 24512, 21377, 23394, 32755, AGC= 70, IDX= 507, 0.01,-2.214,-0.491,-2.681,-1.819, PHS=-0.307, 1.375,-0.865, RAW= 343.8, -2.0, CAL= 345.0, -3.2, ROT= 165.0, 3.2 5T#Rx 19: Read range and direction messages.RYJABA~A~E<|B}I|I|I|I|M?`direction in FSK: [-0.964420,0.258416,-0.055822]Fpublishing direction and range infoy0?ᢔfBY _)SIb[iF/?p] @)5I2@idN8@d= )K&(1.i~=N8@d= )checking for new query: numPingsReceived=19, elapsed TxPingTime=11.890315 {B `I)𦽉I=%  99=2,,LhAp DDAT read: Rx Time:13:52:47.0627 H)H)H-IH-+|BH)H)H)H-Ś<H-EmTRx dataTimestamp_ set to:1749131568.137411PDAT read: Bearing 162.5, 3.9 (Local) ~Local bearing/azimuth received: Bearing 162.5, 3.9 (Local) DAT read: Range 10 to 50 : 96.5 m (trip time 64.3 ms) speed -0.4 -Z#Rx 20: Read range message, but no direction.  BY checking for new query: numPingsReceived=20, elapsed TxPingTime=12.127785{BII 3s; W=yQ >٥ H% %>1E,55U?E,5:Jm[BJmRJJmLRJiZJm:bJmS29Jm4JizJm:jJm:Jm;:rJm<:95* I5;By@5Ei5p<51l<5,5+AZ b XLhA B  B O|@ʁ " _W=8@_De 0?ᢔ N8@ d=ҁ .$7+R@UaNNI(  ī.E?rp俌Mz w YBj qAAќ?r x`  ZB 6MҜ? TYl(   @B a@u addTargetRange:: Added new target pos. range: 96.500000 m, deltaT: 0.761426 s, deltaX: 0.800003 m, approachRate: 1.050664 m/s, rangeRepo size: 4  Added new target pos. range: 95.821404 m, bearing: 319.577189 deg, lat: 36.906690 deg, lon: -122.116368 deg, deltaT: 0.761426 s, deltaX: 0.794479 m, approachRate: 1.043410 m/s, posRepo size: 2 DNOT Ignoring new targets: 95.82 m. ProNav: ac range: 95.821404 m, nav range: 95.625778 m, bearing: 322.494243 deg, approach rate: 0.000000 m/s, LOS rate: 0.059434 deg/s, cmd heading: 324.650503 deg, new cmd heading: 324.717620 deg. '#;HeadingCmd: 5.667392 target range: 95.821404 and range: 96.50 m.bF[@ZrjRJB~~}|!|!|% X@|%&? u{Bu.LIq)uqIF 2}<S#iF[@i1Em?EqEqEu`0EqKmCP"Km9*Ki2Kml :KmY=M?( ',   ~.{| X]8i6+j98t9[515iJu?Ju?DAT read: 13:52:47.0627 LVL= 22432, 22257, 25538, 31987, AGC= 68, IDX= 492, 0.35,-1.257, 0.461,-1.858,-0.930, PHS=-0.239, 1.438,-0.931, RAW= 346.5, -2.6, CAL= 347.5, -3.9, ROT= 162.5, 3.9 Ygot valid direction response: 13:52:47.0627 LVL= 22432, 22257, 25538, 31987, AGC= 68, IDX= 492, 0.35,-1.257, 0.461,-1.858,-0.930, PHS=-0.239, 1.438,-0.931, RAW= 346.5, -2.6, CAL= 347.5, -3.9, ROT= 162.5, 3.9 Z#Rx 21: Read direction message, but no range.`direction in FSK: [-0.951508,0.300010,-0.068015]کyڭdrqT0[3?,::siYک ۭW)ۭVIۭciۭ|ۭDۭjtۭb?ۭVn ܭ@)ܭ9Iܭ@iܭ'gܭ5@ܭ'g= ݩݭ `0Y6i0?rPiݭݭL7=ݭ5@ݭ'g=checking for new query: numPingsReceived=21, elapsed TxPingTime=12.359861a 6G ~GQ Ai A N >,A!LhAl9#@ "1@YIy1>H``bտ]?J? Q? ? ?@? #@3;)C{BIDDAT read: Rx Time:13:52:47.5630 TRx dataTimestamp_ set to:1749131568.643384DAT read: Range 10 to 50 : 96.9 m (trip time 64.6 ms) speed -0.5 -Z#Rx 22: Read range message, but no direction.BYchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.609815MMb@Mb@Mb@III I)IYMp= ף?y&1~jthyME?M`弹MDMA M@)M`@IMvAIyMAII28=  =yQ >٥ HFn= >,56?,59k& IIBy@E?:.@@Ei!<<>,5HLaǵп[? C?H*?@ ?#? Q? U'@:;)C}{B}II#I%x3r< L=ymQ >٥ HFp,> >,5?,59# IUByD3@@Eim;;,5*A8EDDAT read: Rx Time:13:52:48.0632 TRx dataTimestamp_ set to:1749131569.146207PDAT read: Bearing 160.1, 0.3 (Local) ~Local bearing/azimuth received: Bearing 160.1, 0.3 (Local) checking for new query: numPingsReceived=22, elapsed TxPingTime=13.114970 H<HH>HHIH5|BH =HHH<HEqDNOT Ignoring new targets: 96.22 m. ; ;5 ProNav: ac range: 96.218597 m, nav range: 96.043037 m, bearing: 321.536736 deg, approach rate: 0.685234 m/s, LOS rate: 0.140413 deg/s, cmd heading: 324.811285 deg, new cmd heading: 324.988565 deg. 5;=HeadingCmd: 5.672121 target range: 96.218597 and range: 96.90 m.b=@Z9r9j9R9J9BA~A~A}i|q|q|q|u? {BzI))Iȟ *v<Ci@iԡE=?E9E9E=_0E9 K C:P"K 9*K 2K m :K F(!dOy]~FxCTesKw xp(55E#&*/y I I ] DAT read: Range 10 to 50 : 97.2 m (trip time 64.8 ms) speed -0.7 } DAT read: 13:52:48.0632 LVL= 28896, 25201, 24562, 32755, AGC= 65, IDX= 1, 0.17, 0.252, 1.787,-0.402, 0.596, PHS=-0.256, 1.238,-1.000, RAW= 349.1, 0.2, CAL= 349.9, -0.3, ROT= 160.1, 0.3  Ygot valid direction response: 13:52:48.0632 LVL= 28896, 25201, 24562, 32755, AGC= 65, IDX= 1, 0.17, 0.252, 1.787,-0.402, 0.596, PHS=-0.256, 1.238,-1.000, RAW= 349.1, 0.2, CAL= 349.9, -0.3, ROT= 160.1, 0.3  T#Rx 23: Read range and direction messages. `direction in FSK: [-0.940275,0.340375,-0.005236] Fpublishing direction and range infoI yM %5!OÈ?sNruM fBYI M p)M qbIM _iM M AM o6G= M v?M M g@)M d;IM k@iM M [2@M ; I )I M  6$ 3+Еwmhj?iM EM DSM [2@M ; I )I  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.406053~G9 AQ Ai N} >!,]LhA<9 e)@ Jy7@Y y i> HS`Ϳ٥ HF&= >,5G?,59! IcBy!EX5@@Ei< <,5ԩ*A;EDDAT read: Rx Time:13:52:48.5634 TRx dataTimestamp_ set to:1749131569.651171PDAT read: Bearing 159.4, 0.6 (Local) ~Local bearing/azimuth received: Bearing 159.4, 0.6 (Local) DAT read: Range 10 to 50 : 97.5 m (trip time 65.0 ms) speed -0.1 ZQbUGYLhAUBUBU϶@ʁU090VCm@@$]r+U%5!OÈ?sNruU[2@--Z#Rx 24: Read range message, but no direction.ڡU;ҁUfS@(ŻQmKT8?U=-R?q?)0Ÿx ?zUo[U˞BjU%Ӝ?rUj"U UBڥBYڡchecking for new query: numPingsReceived=24, elapsed TxPingTime=13.642932QQ QUBU@ addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: 1.007787 s, deltaX: 0.599998 m, approachRate: 0.595362 m/s, rangeRepo size: 4  Added new target pos. range: 96.517418 m, bearing: 325.357846 deg, lat: 36.906678 deg, lon: -122.116383 deg, deltaT: 0.751578 s, deltaX: 0.298820 m, approachRate: 0.397591 m/s, posRepo size: 4 5DNOT Ignoring new targets: 96.52 m.=9M ProNav: ac range: 96.517418 m, nav range: 96.361069 m, bearing: 321.608599 deg, approach rate: 0.000000 m/s, LOS rate: 0.140413 deg/s, cmd heading: 324.988570 deg, new cmd heading: 325.200757 deg. IUHeadingCmd: 5.675824 target range: 96.517418 and range: 97.50 m.bUZ@ZQrQjYRYJYBY~a~a}a|a|a|m`X@|m`?I@AIAA:J\BJTJJ@RJZJ=:bJ:9JJ4J@@@@ E{B靅 I)8I r<GiZ@i E} ?Ey Ey E} P0E ] DAT read: 13:52:48.5634 LVL= 21072, 22481, 23026, 32755, AGC= 71, IDX= 500,-0.06, 2.233,-2.550, 1.555, 2.552, PHS=-0.231, 1.228,-1.000, RAW= 349.8, 0.0, CAL= 350.6, -0.6, ROT= 159.4, 0.6 e Ygot valid direction response: 13:52:48.5634 LVL= 21072, 22481, 23026, 32755, AGC= 71, IDX= 500,-0.06, 2.233,-2.550, 1.555, 2.552, PHS=-0.231, 1.228,-1.000, RAW= 349.8, 0.0, CAL= 350.6, -0.6, ROT= 159.4, 0.6 e Z#Rx 25: Read direction message, but no range.u `direction in FSK: [-0.936008,0.351823,-0.010472]) y- ˶^ϐB?/;rY) - PR)- WI- Yi) - G- Dl- /?) - |]@)- I- @i- +- / 2@- +< ) - Kn 保Mv FA?i- o]- 8 - / 2@- +< checking for new query: numPingsReceived=25, elapsed TxPingTime=13.875370ԡ 6G~GAAN?: ,LhAp9vw+@v܊9@Yv˽yv(>vH}ȿ ?b?>? wq??`1? vw+@v;)vC-{B-I-Mb@Mb@Mb@))) )))Y-x&1?I +Mb`y-A?-94-- A -p@)-QAI-E A)y-AII<2%w< %=y%@Q %>٥)) -H)5xv= 5>Ye,5]<⸜?e,59]R I]vByeA?e:e8@m@]Ei]<:]Z:]H,5u;Bu*A>EZQbUɬiLhAUBUBUW@ʁU -⬧V_UA@R8U˶^ϐB?/;rU/ 2@U+<ҁUG-T@$J|"^?U (}?qrIb?zUUUlBjUm%sӜ?rU U?BQQ QUvBU@qDNOT Ignoring new targets: 96.52 m.z;z;5DDAT read: Rx Time:13:52:49.0636 =TRx dataTimestamp_ set to:1749131570.155741He>HeCHe&IHeI|BHe =HaHe/DHe<HeEPDAT read: Bearing 158.4, 1.5 (Local) ~Local bearing/azimuth received: Bearing 158.4, 1.5 (Local) DAT read: Range 10 to 50 : 97.8 m (trip time 65.2 ms) speed -0.6 -Z#Rx 26: Read range message, but no direction.M ProNav: ac range: 96.517418 m, nav range: 96.732124 m, bearing: 321.705302 deg, approach rate: 0.844446 m/s, LOS rate: 0.219230 deg/s, cmd heading: 325.200770 deg, new cmd heading: 325.489762 deg. Mt<UHeadingCmd: 5.680868 target range: 96.517418 and range: 97.50 m.bUɵ@ZQrQjQRQJYBY~Y~]}B15BY1mchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.158283}|||@3sX@|#? {B I)(I b   pnE% jb<E E E E @5E  DAT read: 13:52:49.0636 LVL= 21488, 22753, 22322, 32419, AGC= 68, IDX= 501, 0.43, 0.377, 1.909,-0.373, 0.659, PHS=-0.194, 1.297,-1.035, RAW= 350.9, -0.7, CAL= 351.6, -1.5, ROT= 158.4, 1.5  Ygot valid direction response: 13:52:49.0636 LVL= 21488, 22753, 22322, 32419, AGC= 68, IDX= 501, 0.43, 0.377, 1.909,-0.373, 0.659, PHS=-0.194, 1.297,-1.035, RAW= 350.9, -0.7, CAL= 351.6, -1.5, ROT= 158.4, 1.5  Z#Rx 27: Read direction message, but no range.% `direction in FSK: [-0.929458,0.367998,-0.026177] y äcE=;qI?P!ΚY S) XI 2Wi ~ D F ? z @) +HI ^@i Pwּ ;0@ Pw< 2俄I%L i @ ۍ@< ;0@ Pw<E checking for new query: numPingsReceived=27, elapsed TxPingTime=14.382621K] 5P"K] 9*KY 2K] n :K] y9)y/J}lH9[N o>Zro;0=H>k9ԙ 6G~GA)AN?B),ئLhADDAT read: Rx Time:13:52:49.5640 TRx dataTimestamp_ set to:1749131570.662921PDAT read: Bearing 159.2, 1.5 (Local) ~Local bearing/azimuth received: Bearing 159.2, 1.5 (Local)  DAT read: Range 10 to 50 : 98.4 m (trip time 65.6 ms) speed -0.6 -=Z#Rx 28: Read range message, but no direction.ڹڽBYڹ}checking for new query: numPingsReceived=28, elapsed TxPingTime=14.684016:J[BJSJJARJZJ:bJy69J4J!|BI p=5Mb@Mb@Mb@111 1)1Y5~jt?~jtI +y5;?5ļ5945%A 5-@)5@I5 A1y5 AIMIM3]x= ]٥aa eHeFm u>,5?,59 IBy;?:7@@Ei::T,5)AAEZbLmLhAkBkB@ʁP)(LVEA@PD3BväcE=;qI?P!Κ;0@Pw<ҁiXT@=]KH,?>{I?>т$i?z^Bj`%Ӝ?rͯ A}B`%Ӝ?ͯ  A}BꁽkB@m addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 1.011750 s, deltaX: 0.900002 m, approachRate: 0.889549 m/s, rangeRepo size: 4  Added new target pos. range: 97.709808 m, bearing: 325.238141 deg, lat: 36.906713 deg, lon: -122.116333 deg, deltaT: 1.267959 s, deltaX: 1.192390 m, approachRate: 0.940401 m/s, posRepo size: 4 DNOT Ignoring new targets: 97.71 m. ProNav: ac range: 97.709808 m, nav range: 97.709167 m, bearing: 325.238455 deg, approach rate: 0.000000 m/s, LOS rate: 0.219230 deg/s, cmd heading: 325.489769 deg, new cmd heading: 325.939877 deg.  HeadingCmd: 5.688724 target range: 97.709808 and range: 98.40 m.b  @Z r j R1J1B1~9~=~B}9|9|A|EX@|E K;?Q {B靽I)`<I\ h<  i @im DAT read: 13:52:49.5640 LVL= 25072, 25585, 28626, 32755, AGC= 68, IDX= 505,-0.09,-1.229, 0.277,-1.916,-0.935, PHS=-0.206, 1.258,-0.984, RAW= 350.0, -0.7, CAL= 350.8, -1.5, ROT= 159.2, 1.5 u Ygot valid direction response: 13:52:49.5640 LVL= 25072, 25585, 28626, 32755, AGC= 68, IDX= 505,-0.09,-1.229, 0.277,-1.916,-0.935, PHS=-0.206, 1.258,-0.984, RAW= 350.0, -0.7, CAL= 350.8, -1.5, ROT= 159.2, 1.5 u Z#Rx 29: Read direction message, but no range. `direction in FSK: [-0.934505,0.354985,-0.026177]I yM >!w].?P!ΚYI M a)M cIM oiM I M RM %?M m{ M z@)I IM v@iI M 1@I I M )KSlE !ԩ E ?E E E _0E DDAT read: Rx Time:13:52:50.0641 -TRx dataTimestamp_ set to:1749131571.167805]PDAT read: Bearing 155.5, 0.2 (Local) e~Local bearing/azimuth received: Bearing 155.5, 0.2 (Local) DAT read: Range 10 to 50 : 98.6 m (trip time 65.7 ms) speed -0.8 -Z#Rx 30: Read range message, but no direction.!%3BY!6GGGH>HCH?IHr|BH =HH.DH <H&Echecking for new query: numPingsReceived=30, elapsed TxPingTime=15.156033~GAA N% ?3,ELhA9^Q1@p^:e?@Y^@y^z>^H@oϻx?T#?`)>U?@?` ?`:? ^Q1@^;)\~0|B~II- I-<2== =&=yEgּQ E>٥II MHIMy>> M>Q},5Ug?,59U IUBy=@@UEiU2;U;U,5:B)ADEZbQLhABB1@ʁCĦVӽ`A@(=Ԁ>!w].?P!Κ1@ҁ,1"mU@ǢGu~xAe?9޿69z=nBj Ԝ?r~ KtB%Ӝ?j"U  ꁅaBܵ@} addTargetRange:: Added new target pos. range: 98.599998 m, deltaT: 0.504884 s, deltaX: 0.199997 m, approachRate: 0.396125 m/s, rangeRepo size: 4  Added new target pos. range: 97.906937 m, bearing: 331.123654 deg, lat: 36.906713 deg, lon: -122.116326 deg, deltaT: 0.504884 s, deltaX: 0.197128 m, approachRate: 0.390443 m/s, posRepo size: 4 DNOT Ignoring new targets: 97.91 m. ProNav: ac range: 97.906937 m, nav range: 97.691116 m, bearing: 325.624371 deg, approach rate: 0.000000 m/s, LOS rate: 0.219230 deg/s, cmd heading: 325.939878 deg, new cmd heading: 326.264552 deg. HeadingCmd: 5.694391 target range: 97.906937 and range: 98.60 m.bs8@ZrjRJB~~}|||`fX@|@? {B8I)Lt=Ir uc<is8@ i1D9D9D9D9DAT read: 13:52:50.0641 LVL= 29008, 22929, 31730, 32755, AGC= 68, IDX= 506, 0.15,-1.313, 0.097,-2.166,-1.069, PHS=-0.156, 1.213,-1.100, RAW= 353.9, 0.4, CAL= 354.5, -0.2, ROT= 155.5, 0.2 Ygot valid direction response: 13:52:50.0641 LVL= 29008, 22929, 31730, 32755, AGC= 68, IDX= 506, 0.15,-1.313, 0.097,-2.166,-1.069, PHS=-0.156, 1.213,-1.100, RAW= 353.9, 0.4, CAL= 354.5, -0.2, ROT= 155.5, 0.2 Z#Rx 31: Read direction message, but no range.`direction in FSK: [-0.909956,0.414691,-0.003491]ډyڍ_[}\K?QC1mlYډ ۍPq)ۍYIۍ{iۉۉۍwۍC?ۍ̌ ܍@)܍;I܍z@i܍d܍-@܍d; ݉K$P"Kh9*K2Ko :Kh\PUu&.s5pX|2%OL3__\~V EWݍT-el잤H鿽~?iݍ/ ݍzMݍ-@ݍd;checking for new query: numPingsReceived=31, elapsed TxPingTime=15.3923329Eq Eq Eq Eq Eq i  DDAT read: Rx Time:13:52:50.5644  TRx dataTimestamp_ set to:1749131571.676331ԙ  PDAT read: Bearing 151.8, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 151.8, 0.8 (Local)  checking for new query: numPingsReceived=31, elapsed TxPingTime=15.6465426G~GQAaAqN}?N;,lLhA:J ^BJ bJJ HRJZJ } :bJ t9J Ժ4JA_|B4Ii٥ HF >,5x?,59 IByv6?:T=@@Ei::,5V(AGEqB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.91 m.eA;eA; ProNav: ac range: 97.906937 m, nav range: 98.072472 m, bearing: 325.722939 deg, approach rate: 0.656715 m/s, LOS rate: 0.169080 deg/s, cmd heading: 326.264558 deg, new cmd heading: 326.559110 deg. ;HeadingCmd: 5.699532 target range: 97.906937 and range: 98.60 m.bb@ZrjRJB~~}B} | |1|1|5?DAT read: Range 10 to 50 : 99.0 m (trip time 66.0 ms) speed -0.7 DAT read: 13:52:50.5644 LVL= 23008, 22337, 25250, 32755, AGC= 68, IDX= 493, 0.22, 1.594, 2.845, 0.628, 1.739, PHS=-0.057, 1.154,-1.114, RAW= 357.8, 0.2, CAL= 358.2, -0.8, ROT= 151.8, 0.8  Ygot valid direction response: 13:52:50.5644 LVL= 23008, 22337, 25250, 32755, AGC= 68, IDX= 493, 0.22, 1.594, 2.845, 0.628, 1.739, PHS=-0.057, 1.154,-1.114, RAW= 357.8, 0.2, CAL= 358.2, -0.8, ROT= 151.8, 0.8  T#Rx 32: Read range and direction messages.`direction in FSK: [-0.881218,0.472505,-0.013962]Fpublishing direction and range infoکyڭB'2T|=?4ڭBYک ۭY)ۭAWIۭbi۩۩ۭxiۭF?ۭ ܭM@)ܭd;Iܭ@iܭdܭ)@ܭd< ݩ)ݩݭ)en 뿓 u i?iݭݭcHݭ)@ݭd< ީ)ީ5checking for new query: numPingsReceived=32, elapsed TxPingTime=15.906700 ={B=O׼I9)==9IEl AAE\H H kIH |BH H H H <H EHHHH =I = IM5 A)A9EDAT read: Range 10 to 50 : 99.2 m (trip time 66.1 ms) speed -0.5 mDAT read: 13:52:51.0645 LVL= 25952, 24561, 32674, 32755, AGC= 66, IDX= 510, 0.37, 0.653, 1.962,-0.327, 0.796, PHS=-0.054, 1.213,-1.125, RAW= 357.2, -0.3, CAL= 357.6, -1.4, ROT= 152.4, 1.4 uYgot valid direction response: 13:52:51.0645 LVL= 25952, 24561, 32674, 32755, AGC= 66, IDX= 510, 0.37, 0.653, 1.962,-0.327, 0.796, PHS=-0.054, 1.213,-1.125, RAW= 357.2, -0.3, CAL= 357.6, -1.4, ROT= 152.4, 1.4 N}>JC, MhANT#Rx 33: Read range and direction messages.V`direction in FSK: [-0.885939,0.463158,-0.024432]VFpublishing direction and range infoڙyڝ\qY a?{JڝfBYڙ ۝`e)۝_I۝iۙ۝B۝/]۝C?۝ ܝ@)ܝIܝ@iܝ+ȼܝ;*@ܝ+< ݙ)ݙݝ-R$3 꿼7Ixiݝ" ݝgO;ݝ;*@ݝ+< ޙ)ޙ checking for new query: numPingsReceived=33, elapsed TxPingTime=16.2128529mA7@mlTE@Ymym>mH`ڻq8٥qq uHuF}Z> }>ԩ,5_?,59` IBy:C@@EiNj<tj<,5'AJEZb MhABBC@ʁݐT)UF@T@\qY a?{J;*@+<ҁG0.jOU@2H^T?A\?u?L" 6@B?zqExBjmԜ?rn* NBm%sӜ?  ?BꁝB@m addTargetRange:: Added new target pos. range: 99.199997 m, deltaT: 1.017172 s, deltaX: 0.599998 m, approachRate: 0.589869 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=33, elapsed TxPingTime=16.394371 Added new target pos. range: 98.502106 m, bearing: 329.924405 deg, lat: 36.906721 deg, lon: -122.116310 deg, deltaT: 1.017172 s, deltaX: 0.595169 m, approachRate: 0.585121 m/s, posRepo size: 4 DNOT Ignoring new targets: 98.50 m. ProNav: ac range: 98.502106 m, nav range: 98.274986 m, bearing: 326.839640 deg, approach rate: 0.000000 m/s, LOS rate: 0.169080 deg/s, cmd heading: 326.559103 deg, new cmd heading: 326.830407 deg. K IP"K 9*K 2K p :K >L[icWI/}. Wm^m^_VS+FEK0t;`yJ>J?HeadingCmd: 5.704267 target range: 98.502106 and range: 99.20 m.bZ@Z!r!j!R!J!B!~I~I}I|I|Q|UX@|mI}? {B靝p{ļIb$) >I_ V< ׿iZ@i E E E E P0E y DDAT read: Rx Time:13:52:51.5648 TRx dataTimestamp_ set to:1749131572.692083PDAT read: Bearing 140.9, -18.3 (Local) ~Local bearing/azimuth received: Bearing 140.9, -18.3 (Local) 6GDAT read: Range 10 to 50 : 99.6 m (trip time 66.4 ms) speed -0.6 -Z#Rx 34: Read range message, but no direction.ډڍ3BYډ checking for new query: numPingsReceived=34, elapsed TxPingTime=16.671242~GԙAAN?+K,Q.MhA9FqD9@:JR_BJRQJJRBRJPZJR :bJR-.9JR-4JPFWG@YFyF>FH#d{?B˽?S?@̫,? ?`1??t? FqD9@FŎ;)Db|BbfIMb@Mb@Mb@ )YB`"?Zd;O:vy.?j<TGA @)@I AyAI=I=V83) mGeO= u=yI0;Q > #ܿYyA٥99 =H=FE'`= E>IU,5M>?U,59M} IMǢByUF/?:C@@MEiM(AIEV AIMP<uDAT read: 13:52:51.5648 LVL= 20384, 22417, 23714, 31859, AGC= 65, IDX= 513, 0.46,-1.585,-0.844,-2.795,-1.355, PHS=-0.142, 0.557,-1.443, RAW= 9.9, 11.7, CAL= 9.1, 18.3, ROT= 140.9, -18.3 }Ygot valid direction response: 13:52:51.5648 LVL= 20384, 22417, 23714, 31859, AGC= 65, IDX= 513, 0.46,-1.585,-0.844,-2.795,-1.355, PHS=-0.142, 0.557,-1.443, RAW= 9.9, 11.7, CAL= 9.1, 18.3, ROT= 140.9, -18.3 }Z#Rx 35: Read direction message, but no range.^direction in FSK: [-0.736798,0.598780,0.313992]QyUŞٓ}4)?v9s?YQ UO)UWIU\iUs|UAUshU?U9 U;0>)UQ>IU">iUƇ>Uc@UƇ QUojєտ>kNź1?iUUPUc@UƇchecking for new query: numPingsReceived=35, elapsed TxPingTime=16.912045'ʿit@iE?EEEO0Ea ԑ 6G ~G A A  DDAT read: Rx Time:13:52:52.0649 TRx dataTimestamp_ set to:1749131573.192189PDAT read: Bearing 147.1, 2.7 (Local)  H!H!H->H-CH-IH-}BH)H)H)H-<H-E=~Local bearing/azimuth received: Bearing 147.1, 2.7 (Local) MDAT read: Range 10 to 50 : 99.8 m (trip time 66.5 ms) speed -0.7 DAT read: 13:52:52.0649 LVL= 21440, 18225, 17698, 23299, AGC= 68, IDX= 2, 0.50, 1.403, 2.548, 0.186, 1.384, PHS= 0.107, 1.210,-1.202, RAW= 2.8, -1.1, CAL= 2.9, -2.7, ROT= 147.1, 2.7 Ygot valid direction response: 13:52:52.0649 LVL= 21440, 18225, 17698, 23299, AGC= 68, IDX= 2, 0.50, 1.403, 2.548, 0.186, 1.384, PHS= 0.107, 1.210,-1.202, RAW= 2.8, -1.1, CAL= 2.9, -2.7, ROT= 147.1, 2.7 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.838688,0.542571,-0.047106]Fpublishing direction and range info y MYj\?P7V BY  S) 1GI "Ei [ D "= H? #ۙ +H=) nFI 4QO=i A O$@ A= )  N#9ݿd`8v( ]瓿i W =< O$@ A= ) checking for new query: numPingsReceived=36, elapsed TxPingTime=17.176289N>IS,)MMhAx9%Q;@%kdI@Y%,y%Ó>%H`#?? u@« @?v?,?|? %Q;@%;)%Ce|BeI)i iIIb!= :=y;Q >٥11 5H5F=W= =>Am,5E&?m,59E IEҢByiuE@u@EEiEi;E;E1,5y}e&A}PEZbLLMhA2B2B=7@ʁi.TS/CJ@8 0MYj\?P7VO$@A=ҁ{QU@*>8JT R?d\%?cp{,i?zQ%Bj-Ӝ?r8?z vB-Ӝ?8?z  ,BH7@U addTargetRange:: Added new target pos. range: 99.800003 m, deltaT: 0.500106 s, deltaX: 0.200005 m, approachRate: 0.399924 m/s, rangeRepo size: 4  Added new target pos. range: 99.097939 m, bearing: 328.046582 deg, lat: 36.906731 deg, lon: -122.116294 deg, deltaT: 1.007212 s, deltaX: 0.595833 m, approachRate: 0.591566 m/s, posRepo size: 4 DNOT Ignoring new targets: 99.10 m. ProNav: ac range: 99.097939 m, nav range: 99.086143 m, bearing: 328.046888 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 327.152838 deg, new cmd heading: 327.440872 deg. HeadingCmd: 5.714921 target range: 99.097939 and range: 99.80 m.b@ZrjRJB~~!}|1|9|=@3X@|=@Ѯ? |B靅MI)U>I% +?K<&i@ichecking for new query: numPingsReceived=36, elapsed TxPingTime=17.408014KM|P"KM9*KI2KMq :KM W B,6M;*FKPb?drI}eN];5'KJqsenEYEYEaEaEayԙ 6G ~G A A N >oY,ٓgMhAԁ}DDAT read: Rx Time:13:52:52.5651 TRx dataTimestamp_ set to:1749131573.700252PDAT read: Bearing 149.2, 2.8 (Local) ~Local bearing/azimuth received: Bearing 149.2, 2.8 (Local) DAT read: Range 10 to 50 : 99.9 m (trip time 66.6 ms) speed -0.4 DAT read: 13:52:52.5651 LVL= 23440, 26369, 26562, 32755, AGC= 68, IDX= 500, 0.39, 1.907, 3.119, 0.786, 1.937, PHS= 0.058, 1.229,-1.154, RAW= 0.6, -1.3, CAL= 0.8, -2.8, ROT= 149.2, 2.8 Ygot valid direction response: 13:52:52.5651 LVL= 23440, 26369, 26562, 32755, AGC= 68, IDX= 500, 0.39, 1.907, 3.119, 0.786, 1.937, PHS= 0.058, 1.229,-1.154, RAW= 0.6, -1.3, CAL= 0.8, -2.8, ROT= 149.2, 2.8 T#Rx 37: Read range and direction messages.`direction in FSK: [-0.857934,0.511432,-0.048850] Fpublishing direction and range info9i=@|K@YBG޽yf>H`,.?@η?`J`*o?`? ?@? i=@ٍ;)Cځyڅ5f2tA]?s!DڅBYځ ۅ[)ۅgIۅgiۅہۅhm=ۅO?ۅF ܅+<)܅޹I܅d٥ H؁= >-5 ?-59 IޢBy&?:G@@Ei ; ;-58Be%ASEZblMhAdBdB]@ʁմOFUX]I@Hfbb5f2tA]?s!Dr&@+H=ҁ@U@k]G ?$?9?(H&޿طt?z:BjS,Ԝ?r\R# BmԜ?n*  BꁅB`i@} addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 0.508063 s, deltaX: 0.099998 m, approachRate: 0.196823 m/s, rangeRepo size: 4  Added new target pos. range: 99.197227 m, bearing: 331.892374 deg, lat: 36.906748 deg, lon: -122.116260 deg, deltaT: 0.508063 s, deltaX: 0.099289 m, approachRate: 0.195426 m/s, posRepo size: 4 DNOT Ignoring new targets: 99.20 m. ProNav: ac range: 99.197227 m, nav range: 99.399673 m, bearing: 330.187749 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 327.440881 deg, new cmd heading: 327.798325 deg. HeadingCmd: 5.721160 target range: 99.197227 and range: 99.90 m.b@ZrjRJB~!~%}B})|Q|Q|UX@|Uh? |B\LvI)>I D<Yi@i  checking for new query: numPingsReceived=37, elapsed TxPingTime=17.910599 >E q1E?EEE;1EFFYDDAT read: Rx Time:13:52:53.0652 TRx dataTimestamp_ set to:1749131574.199873PDAT read: Bearing 146.2, 2.6 (Local) ~Local bearing/azimuth received: Bearing 146.2, 2.6 (Local) DAT read: Range 10 to 50 : 100.1 m (trip time 66.7 ms) speed -0.7 DAT read: 13:52:53.0652 LVL= 24048, 23857, 20674, 32115, AGC= 66, IDX= 501, 0.36, 0.973, 2.094,-0.286, 0.935, PHS= 0.126, 1.206,-1.224, RAW= 3.7, -1.0, CAL= 3.8, -2.6, ROT= 146.2, 2.6 Ygot valid direction response: 13:52:53.0652 LVL= 24048, 23857, 20674, 32115, AGC= 66, IDX= 501, 0.36, 0.973, 2.094,-0.286, 0.935, PHS= 0.126, 1.206,-1.224, RAW= 3.7, -1.0, CAL= 3.8, -2.6, ROT= 146.2, 2.6 T#Rx 38: Read range and direction messages.%`direction in FSK: [-0.830129,0.555723,-0.045363]%Fpublishing direction and range infoyjup{?993BY ])1]IPis}B%>5^?  A=)5Iԇ=i9N#@9= )gXaܿ=˿쿊牒iKQ<N#@9= )Echecking for new query: numPingsReceived=38, elapsed TxPingTime=18.179443H>HHIHp}BH =HHH <H?E6GMȹ:J`BJXJJ?RJZJ:bJ5K9Jـ4JzJ:jJ:Jf:rJf:~G)A1AANM*?Td,*MhA:}BIII<2=u= ==y=Q E>٥AA mHmFm m>q}-5u뷜?}-59u IuBy@uEiu:u&;u-5$AVEZbʌMhABBc̷@ʁA!JT,GK@P jup{?99N#@9=ҁ?JPU@;ⅳIj@rsr?TqLnnp{?z-LBjӜ?rfyU ^B NBoBw@a addTargetRange:: Added new target pos. range: 100.099998 m, deltaT: 0.499621 s, deltaX: 0.199997 m, approachRate: 0.400297 m/s, rangeRepo size: 4  Added new target pos. range: 99.395844 m, bearing: 329.089743 deg, lat: 36.906748 deg, lon: -122.116260 deg, deltaT: 0.499621 s, deltaX: 0.198616 m, approachRate: 0.397533 m/s, posRepo size: 4 DNOT Ignoring new targets: 99.40 m. ProNav: ac range: 99.395844 m, nav range: 99.717484 m, bearing: 330.286597 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 327.798318 deg, new cmd heading: 328.164829 deg. HeadingCmd: 5.727557 target range: 99.395844 and range: 100.10 m.b%H@ZrjRJ B ~ ~ }|||`fY@|=~?  |B靍XI)>IR O><QVi%H@i-checking for new query: numPingsReceived=38, elapsed TxPingTime=18.415995>E[1KP"K 9*K2Kr :K`3 'aG LL?wm\HzVh0,D)s+1HQDԑE?EEE84EԹ 6GU ~GQ A A  DDAT read: Rx Time:13:52:53.5655  TRx dataTimestamp_ set to:1749131574.704895 PDAT read: Bearing 145.9, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 145.9, 3.9 (Local)  DAT read: Range 10 to 50 : 100.5 m (trip time 67.0 ms) speed -0.4  % DAT read: 13:52:53.5655 LVL= 19536, 25073, 19170, 30259, AGC= 67, IDX= 504, 0.15, 3.014,-2.160, 1.742, 2.934, PHS= 0.168, 1.236,-1.196, RAW= 4.0, -2.0, CAL= 4.1, -3.9, ROT= 145.9, 3.9 - Ygot valid direction response: 13:52:53.5655 LVL= 19536, 25073, 19170, 30259, AGC= 67, IDX= 504, 0.15, 3.014,-2.160, 1.742, 2.934, PHS= 0.168, 1.236,-1.196, RAW= 4.0, -2.0, CAL= 4.1, -3.9, ROT= 145.9, 3.9 5 T#Rx 39: Read range and direction messages.= `direction in FSK: [-0.826143,0.559341,-0.068015]= Fpublishing direction and range info y  BY PL) aI Ji 3v C 1,> ?5?  5=) 5I C=i 'g "@ 'g= ) QܿXpBCU~{ҡi ) <= "@ 'g= ) m checking for new query: numPingsReceived=39, elapsed TxPingTime=18.686083 k,OMhA9-%jC@-w}Q@Y-{ǽy-I>-H`dڱ? ? E5``?@f? Ҫ?r? -%jC@-2;))z}BI]Mb@Mb@Mb@YYY Y)YY]ʡE?~jt~jty]?]]D]A Y)]@I]AYy]fAIIV83> '=y7٥ HFE> >-5gҷ?-59C IBy?: D@Ei҉;K< -5AE#AIZbMhABBt@ʁ&^TInLK@!Y&QIU^7 QQ]8<]Yaiex@iaDiDiDD5checking for new query: numPingsReceived=39, elapsed TxPingTime=18.921949! E ?E E E _0E Q DDAT read: Rx Time:13:52:54.0656 TRx dataTimestamp_ set to:1749131575.207921PDAT read: Bearing 145.9, 4.0 (Local) ~Local bearing/azimuth received: Bearing 145.9, 4.0 (Local) DAT read: Range 10 to 50 : 100.7 m (trip time 67.1 ms) speed -0.6  DAT read: 13:52:54.0656 LVL= 19056, 25073, 21058, 28307, AGC= 65, IDX= 505,-0.07, 1.882, 3.010, 0.587, 1.797, PHS= 0.173, 1.260,-1.213, RAW= 4.0, -2.1, CAL= 4.1, -4.0, ROT= 145.9, 4.0 GIGM@AH]>H]CH]IH]}BH] =HYHYH]Ӛ<H]EԉYgot valid direction response: 13:52:54.0656 LVL= 19056, 25073, 21058, 28307, AGC= 65, IDX= 505,-0.07, 1.882, 3.010, 0.587, 1.797, PHS= 0.173, 1.260,-1.213, RAW= 4.0, -2.1, CAL= 4.1, -4.0, ROT= 145.9, 4.0 T#Rx 40: Read range and direction messages.`direction in FSK: [-0.826043,0.559273,-0.069756]Fpublishing direction and range info6G)yB*n꿿+?&k۱fBY pJ)IBRinA&1>G?C )Q Ii55= )+Ī Y ܿ>{+Fii8U=5= )mchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.224056:J_BJNJJDRJZJ :bJ!9J4JzJ+:jJ0:JT:rJV:~GAAN%?at,^MhA9JOgE@JzS@YJyJ>JHpF??@Ŀ `Eh?շ?p?`?w? JOgE@J4;)JCv}BzIAAIEIE 2y= &=y٥ HF%z= %>)5-5-0?5-59-) I-By15B5@-Ei-Y;-#;-B-5E7BE#AEYEZbNMhABBZn@ʁ6HT] )K@EB*n꿿+?&k۱5=ҁ&V@ޤDHsJq?"' "?Bwpڿp N?z<%Bj ՜?r&~V ÂBS,Ԝ?\R#  OBB@% addTargetRange:: Added new target pos. range: 100.699997 m, deltaT: 0.503026 s, deltaX: 0.199997 m, approachRate: 0.397588 m/s, rangeRepo size: 4 U Added new target pos. range: 99.992531 m, bearing: 335.594036 deg, lat: 36.906759 deg, lon: -122.116230 deg, deltaT: 0.503026 s, deltaX: 0.199501 m, approachRate: 0.396602 m/s, posRepo size: 4 Q]DNOT Ignoring new targets: 99.99 m.YY ProNav: ac range: 99.992531 m, nav range: 100.030022 m, bearing: 332.179267 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 328.505516 deg, new cmd heading: 328.843084 deg. HeadingCmd: 5.739395 target range: 99.992531 and range: 100.70 m.b@ZrjRJB~~}|||,Y@|? M|BMVIQ)U>QIU2 QQU2<]=YYi@iԡMchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.423115E=?E9E9E=0E9KuF|P"Ku9*Kq2Kus :KuJ   pQUm6Z7#KC\Y/V0; diyks6G% ~G  A) AI Nm >Εz,eMhAZDDAT read: Rx Time:13:52:54.5658 bTRx dataTimestamp_ set to:1749131575.716963rPDAT read: Bearing 143.0, 4.6 (Local) v~Local bearing/azimuth received: Bearing 143.0, 4.6 (Local) DAT read: Range 10 to 50 : 101.0 m (trip time 67.3 ms) speed -0.4 ԹDAT read: 13:52:54.5658 LVL= 18000, 23217, 18818, 27411, AGC= 66, IDX= 507, 0.46,-0.498, 0.483,-1.863,-0.666, PHS= 0.256, 1.196,-1.199, RAW= 7.1, -2.4, CAL= 7.0, -4.6, ROT= 143.0, 4.6  Ygot valid direction response: 13:52:54.5658 LVL= 18000, 23217, 18818, 27411, AGC= 66, IDX= 507, 0.46,-0.498, 0.483,-1.863,-0.666, PHS= 0.256, 1.196,-1.199, RAW= 7.1, -2.4, CAL= 7.0, -4.6, ROT= 143.0, 4.6 T#Rx 41: Read range and direction messages.]`direction in FSK: [-0.796063,0.599877,-0.080199]]Fpublishing direction and range info\y^ Yy[MjS02?zꇴ^BY\ ^PF)^ZI^Ii^k^B^o>^?^x ^=)^+I^5=i^l^@^l= \)\^qؿ+r_Rk䥿i^E^1/=^@^l= \)\uchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.736919}}B}I Mb@Mb@Mb@    ) Y `"?I +Qy ? 9 u A ) @I A y =AI%"I%q3eӔ= e=yQ >٥ HF >-5y?-59@ IBy?:q@@Ei;;-5q"A%\EZ\b^MhA^B^B^ɹ@ʁ^T*܄S3^N@YG ^ Yy[MjS02?zꇴ^@^l=ҁ^x\CV@nG4>@^Ώ'aAj?rdݿ|9?z^<8^Bj^Ԝ?r^ ^ʃB^Ԝ?^  ^ÂB^B^ɹ@ addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 0.509042 s, deltaX: 0.300003 m, approachRate: 0.589348 m/s, rangeRepo size: 4   Added new target pos. range: 100.290428 m, bearing: 332.652121 deg, lat: 36.906761 deg, lon: -122.116223 deg, deltaT: 0.509042 s, deltaX: 0.297897 m, approachRate: 0.585212 m/s, posRepo size: 4  FNOT Ignoring new targets: 100.29 m.M ProNav: ac range: 100.290428 m, nav range: 100.260620 m, bearing: 332.652400 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 328.843091 deg, new cmd heading: 329.201792 deg. IUHeadingCmd: 5.745655 target range: 100.290428 and range: 101.00 m.bUhܷ@ZQrQjQRQJQBQ~y~}.~B}|||@Y@| ? |BX[I)>IQ ެ,<@s i hܷ@i Echecking for new query: numPingsReceived=41, elapsed TxPingTime=19.926718E E E E _0E A 6G=y~GiAqAN?d , NhA.DDAT read: Rx Time:13:52:55.0659 .TRx dataTimestamp_ set to:1749131576.2159226PDAT read: Bearing 142.1, 5.4 (Local) :~Local bearing/azimuth received: Bearing 142.1, 5.4 (Local) BDAT read: Range 10 to 50 : 101.1 m (trip time 67.4 ms) speed -0.4 HZ>HXHZLIHZ'~BHXHXHZ/DHZך<HZEfDAT read: 13:52:55.0659 LVL= 19344, 21041, 23506, 28227, AGC= 66, IDX= 508,-0.08,-0.442, 0.518,-1.865,-0.659, PHS= 0.305, 1.224,-1.210, RAW= 8.0, -3.0, CAL= 7.9, -5.4, ROT= 142.1, 5.4 jYgot valid direction response: 13:52:55.0659 LVL= 19344, 21041, 23506, 28227, AGC= 66, IDX= 508,-0.08,-0.442, 0.518,-1.865,-0.659, PHS= 0.305, 1.224,-1.210, RAW= 8.0, -3.0, CAL= 7.9, -5.4, ROT= 142.1, 5.4 nT#Rx 42: Read range and direction messages.r`direction in FSK: [-0.785582,0.611559,-0.094108]rFpublishing direction and range info,y.kH}#鿋U&?|ӄ{.3BY, .K).1RI.[i.Cn,.(>.?.Hᚿ .5>).PwVI.0 >i..,@.= ,),.N!׿֘Yo<i.$.X=.,@.= ,),-checking for new query: numPingsReceived=42, elapsed TxPingTime=20.2056779M2RK@MeY@YMyMБ>MH@?p?п ^?@鰴?6?L? M2RK@M;)MCe~Be7II}I}3> T=yL=Q >٥ Hx> >-5ዷ?-59 I By:@Ei:F:#-5:JM[BJMTJJMCRJIZJM:bJM:9JM4JIzJM:jJM:JMRJ:rJMUJ:!A_EZ,b. NhA.B.B.b@ʁ.]^XSQN@ ̖&".kH}#鿋U&?|ӄ{.,@.=ҁ._IW@\3C sݸ?.?/qmg?brs9ٿ\*n+?z.F.~Bj./E՜?r.U+ .B.tM՜?.X3  ,.B.@ addTargetRange:: Added new target pos. range: 101.099998 m, deltaT: 0.498959 s, deltaX: 0.099998 m, approachRate: 0.200414 m/s, rangeRepo size: 4 PExceeded connect timeout, disconnecting.% Added new target pos. range: 100.390244 m, bearing: 336.783254 deg, lat: 36.906772 deg, lon: -122.116199 deg, deltaT: 0.498959 s, deltaX: 0.099815 m, approachRate: 0.200047 m/s, posRepo size: 4 !%FNOT Ignoring new targets: 100.39 m.))] ProNav: ac range: 100.390244 m, nav range: 100.473579 m, bearing: 334.123505 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 329.201785 deg, new cmd heading: 329.480990 deg. YeHeadingCmd: 5.750528 target range: 100.390244 and range: 101.10 m.beS@ZarajiRiJiBi~i~}|||`fFY@|? -"|B)m";Ii)u->qIu qqu (<-\iS@iEAEAEAEE`0EAchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.431408YK5 NP"K5 9*K1 2K5 t :K5 0|!UIS/Ka8mBH$\n{^U6G1 ԉ ~G A A! N- >@,&NhA9bgM@bQ{[@Ybwfyb!č>bH R?4yҿR 4 ?dz?aq?k? bgM@bV;)bCyDDAT read: Rx Time:13:52:55.5661 TRx dataTimestamp_ set to:1749131576.724823PDAT read: Bearing 140.6, 6.4 (Local) ~Local bearing/azimuth received: Bearing 140.6, 6.4 (Local) DAT read: Range 10 to 50 : 101.4 m (trip time 67.6 ms) speed -0.4 %DAT read: 13:52:55.5661 LVL= 25584, 30065, 27522, 32755, AGC= 66, IDX= 510, 0.15,-1.859,-0.956, 2.934,-2.141, PHS= 0.370, 1.232,-1.211, RAW= 9.6, -3.7, CAL= 9.4, -6.4, ROT= 140.6, 6.4 uYgot valid direction response: 13:52:55.5661 LVL= 25584, 30065, 27522, 32755, AGC= 66, IDX= 510, 0.15,-1.859,-0.956, 2.934,-2.141, PHS= 0.370, 1.232,-1.211, RAW= 9.6, -3.7, CAL= 9.4, -6.4, ROT= 140.6, 6.4 }T#Rx 43: Read range and direction messages.`direction in FSK: [-0.767918,0.630775,-0.111469]Fpublishing direction and range infoڡyڥ$Ȓ迒]֏N/? -V:ڥBYڡ ۥc)ۥquIۥkiۥۡۥp>ۥ-?ۥ  ܥ+>)ܥ AIܥ'>iܥ佉ܥ= @ܥ= ݡ)ݡݥ\'7ֿ\`{tiݥݥ-=ݥ= @ݥ= ޡ)ޡchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.724943ԡ]&~B]LIaeA Mb@Mb@Mb@ ) Y n?I +Qy ? SA b@) ~@I A y AI5 I5 2 A=  ٥  H F _>=  ~>  -5 kj? -59 \ I By +? : 8 @ Ei : : B-5 6B !A bE% checking for new query: numPingsReceived=43, elapsed TxPingTime=20.934427Zbc.NhA`B`B)@ʁ'Z~TS_Iq zO@i).{r&$Ȓ迒]֏N/? -V:= @=ҁey'W@)pCz)K?',oPo?ٿ0lGAw?z;Bj ՜?re+ 7B ՜?&~V  BꁥwB@  addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 0.508901 s, deltaX: 0.300003 m, approachRate: 0.589512 m/s, rangeRepo size: 4   Added new target pos. range: 100.688141 m, bearing: 336.904597 deg, lat: 36.906782 deg, lon: -122.116169 deg, deltaT: 0.508901 s, deltaX: 0.297897 m, approachRate: 0.585374 m/s, posRepo size: 4  = FNOT Ignoring new targets: 100.69 m.9 9 M  ProNav: ac range: 100.688141 m, nav range: 100.733566 m, bearing: 335.913386 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 329.480976 deg, new cmd heading: 329.932642 deg. I u HeadingCmd: 5.758411 target range: 100.688141 and range: 101.40 m.bu D@Zy ry jy Ry Jy By ~ ~ ~B} | | | YY@| `B? = *|BE P|IA )E >A IE  I I M ou!< 8 i D@i )EM?EIEIEM0EIYDDAT read: Rx Time:13:52:56.0662 TRx dataTimestamp_ set to:1749131577.228252 HHH>HH~IHx~BH =HHHĚ<HEHHHH =I = IҼ6 PDAT read: Bearing 139.4, 6.2 (Local) E~Local bearing/azimuth received: Bearing 139.4, 6.2 (Local) ]DAT read: Range 10 to 50 : 101.6 m (trip time 67.7 ms) speed -0.4 6GijGu>bGu ?~GAAN-?X,;RNhA:J cBJ RJJ BRJZJ :bJ S29J -4JzJ ;jJ ;J ;:rJ ;:DAT read: 13:52:56.0662 LVL= 28096, 31921, 30306, 32755, AGC= 64, IDX= 511,-0.43, 2.188, 3.072, 0.595, 1.866, PHS= 0.410, 1.253,-1.274, RAW= 10.9, -3.5, CAL= 10.6, -6.2, ROT= 139.4, 6.2 Ygot valid direction response: 13:52:56.0662 LVL= 28096, 31921, 30306, 32755, AGC= 64, IDX= 511,-0.43, 2.188, 3.072, 0.595, 1.866, PHS= 0.410, 1.253,-1.274, RAW= 10.9, -3.5, CAL= 10.6, -6.2, ROT= 139.4, 6.2 T#Rx 44: Read range and direction messages."`direction in FSK: [-0.754830,0.646968,-0.107999]&Fpublishing direction and range infoy近'?Niإ3BY m)|Ibvi@>Nb?o B>)5zIq=>ikݽ@k= )oGԿI9-v;ىiw|=@k= )bchecking for new query: numPingsReceived=44, elapsed TxPingTime=21.272467d nManaging dock network, ignoring radio surface power off9ۉQ@-_@Y!yq|>H^ h?uhֿY}?"?@j?o? ۉQ@;)CiIMlA)I III UC)QQQQUsCUrAiYIYYIսYCiսXA ) tAFxAI)i)IpAF ٯP~BfIIEIE<2Mg= U9=yUq٥YY ]H]Fev> e>im-5mU?u-59m ImByqu_4u@mEimN;m ;m"-5q AZbNNhABBU@ʁ S`mZQP@t%近'?Niإ@k=ҁ .W@YAp '??Ͽiֿ?|w?zR BjE_o֜?rԽU B ՜?e+  ÂBB7@ addTargetRange:: Added new target pos. range: 101.599998 m, deltaT: 0.503429 s, deltaX: 0.199997 m, approachRate: 0.397269 m/s, rangeRepo size: 4  Added new target pos. range: 100.887733 m, bearing: 339.496605 deg, lat: 36.906788 deg, lon: -122.116151 deg, deltaT: 0.503429 s, deltaX: 0.199593 m, approachRate: 0.396466 m/s, posRepo size: 4 FNOT Ignoring new targets: 100.89 m.  ProNav: ac range: 100.887733 m, nav range: 100.877876 m, bearing: 337.001364 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 329.932643 deg, new cmd heading: 330.234993 deg.  HeadingCmd: 5.763688 target range: 100.887733 and range: 101.60 m.b%"p@Z!r!j!R!J!B)~Q~Q}Q|Y|Y|]`ffY@|]-?checking for new query: numPingsReceived=44, elapsed TxPingTime=21.438272 /|B;I ) >? I ` <4!!IiM"p@iI1K$P"K59*K2Ku :Kd2yzH"bGHX64U_pSrTa4L5 2m"%F JJE?EEEP0EQ 6G ~G A A)  DDAT read: Rx Time:13:52:56.5664  TRx dataTimestamp_ set to:1749131577.734933 PDAT read: Bearing 133.6, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 133.6, 8.9 (Local) -DAT read: Range 10 to 50 : 101.9 m (trip time 67.9 ms) speed -0.4 ADAT read: 13:52:56.5664 LVL= 27024, 29265, 31986, 32755, AGC= 62, IDX= 512,-0.14, 0.058, 0.647,-1.571,-0.427, PHS= 0.573, 1.122,-1.147, RAW= 16.6, -5.4, CAL= 16.4, -8.9, ROT= 133.6, 8.9 Ygot valid direction response: 13:52:56.5664 LVL= 27024, 29265, 31986, 32755, AGC= 62, IDX= 512,-0.14, 0.058, 0.647,-1.571,-0.427, PHS= 0.573, 1.122,-1.147, RAW= 16.6, -5.4, CAL= 16.4, -8.9, ROT= 133.6, 8.9 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.681316,0.715453,-0.154710]Fpublishing direction and range infoڹ yڽ NM1Xw?jÿڽ BYڹ ۽ i)۽ QrI۽ |i۹ ۽ >۽ !?N>V, $qNhAۅ?ۅВ ܅V>)܅I܅C>i܅܅;@܅> ݁)݁݅D/Ϳ9`h/G<i݅翉݅=݅;@݅> ށ)ށFchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.748064Uj~BeƈG]vIyԡ YyAMb@Mb@Mb@ )YGz?{Gz rhy?ףCXA K@)h@IAy@I5I53eB= e=yeQ m>٥ii mHmFu u>-5f>?-59 IBy?:)4@Eit;;&-5 AeEZb$ oNhA_B_B @ʁ^ҁLV@zFuyɿq_V?(P7ܿlb+`z6BjU1Ԝ?rO~ }B Bꁅ2B~G@ addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 0.506681 s, deltaX: 0.300003 m, approachRate: 0.592095 m/s, rangeRepo size: 4 E Added new target pos. range: 101.185631 m, bearing: 333.259566 deg, lat: 36.906788 deg, lon: -122.116151 deg, deltaT: 0.506681 s, deltaX: 0.297897 m, approachRate: 0.587939 m/s, posRepo size: 4 AEFNOT Ignoring new targets: 101.19 m.II ProNav: ac range: 101.185631 m, nav range: 101.098572 m, bearing: 337.112738 deg, approach rate: 0.000000 m/s, LOS rate: 0.226399 deg/s, cmd heading: 330.235002 deg, new cmd heading: 330.590238 deg. HeadingCmd: 5.769888 target range: 101.185631 and range: 101.90 m.b좸@checking for new query: numPingsReceived=45, elapsed TxPingTime=21.946466ZrjRJB~~}B}|||yY@|H? u6|Bu0;Iq)u ?yI} yy}|<5i좸@ibEZE EY Ea Ea Ee z5Ea ) 6G ȹUDDAT read: Rx Time:13:52:57.0664 ]TRx dataTimestamp_ set to:1749131578.237341eDAT read: Range 10 to 50 : 101.9 m (trip time 67.9 ms) speed -0.3 -mZ#Rx 46: Read range message, but no direction.YYYYuchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.203787~GqAAN>£, ƏNhAH>HCHIH~BH =HH0DH <H6EI,).@9NDU@Nc@YNKyN>NH6`?/@ٿkJ?? )?`? NDU@N;)NC\}~B}I) I IV2= L=y:٥    H F>!> >%-5,?%-59>" I"By!%0%@Ei:g:*-5=5B=jAEhEB*** querying acoustic contact ***JR- addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 0.502408 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q]FNOT Ignoring new targets: 101.19 m.];e; ProNav: ac range: 101.185631 m, nav range: 101.256477 m, bearing: 337.202760 deg, approach rate: 0.413791 m/s, LOS rate: 0.235534 deg/s, cmd heading: 330.590226 deg, new cmd heading: 330.859868 deg. !<HeadingCmd: 5.774594 target range: 101.185631 and range: 101.90 m.byɸ@ZrjRJB~~}|||| q? <|Br.=PWFNx ? 9 ~ [ qM:iUV2JA 6Ge ~G9 AI AY Nu >H,KNhA9W@Be@Y"y>H ω?㱿@ۿ[y?@n?`U?`N? W@骭FD;)]~BeIDDAT read: Rx Time:13:52:57.5666 TRx dataTimestamp_ set to:1749131578.775977PDAT read: Bearing 128.8, 9.3 (Local) ~Local bearing/azimuth received: Bearing 128.8, 9.3 (Local) DAT read: Range 10 to 50 : 102.2 m (trip time 68.1 ms) speed -0.3 I-I- 35E= 5,=y5q;Q 5>٥99 =H9==AMDAT read: 13:52:57.5666 LVL= 28912, 28369, 29634, 32755, AGC= 64, IDX= 2, 0.08,-1.565,-1.144, 2.858,-2.202, PHS= 0.725, 1.105,-1.226, RAW= 21.3, -5.6, CAL= 21.2, -9.3, ROT= 128.8, 9.3 UYgot valid direction response: 13:52:57.5666 LVL= 28912, 28369, 29634, 32755, AGC= 64, IDX= 2, 0.08,-1.565,-1.144, 2.858,-2.202, PHS= 0.725, 1.105,-1.226, RAW= 21.3, -5.6, CAL= 21.2, -9.3, ROT= 128.8, 9.3 UT#Rx 47: Read range and direction messages.]`direction in FSK: [-0.618368,0.769094,-0.161604]]Fpublishing direction and range info e>im-5m?u-59m+% Im&Byqu.u@mEim=:m:mL.-5Ia=IR=Jk-4Jk4Jk1:J^BJgJJARJZJ} :bJ9J4J@@@@Ay ƦA)k?oĿfBY p)nIsi@9?p?휿 V>)+ȽIq>i6&@6&> )0# )checking for new query: numPingsReceived=47, elapsed TxPingTime=22.780504 addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 0.538636 s, deltaX: 0.299995 m, approachRate: 0.556954 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 101.19 m.;5;E ProNav: ac range: 101.185631 m, nav range: 101.442001 m, bearing: 337.314833 deg, approach rate: 0.369847 m/s, LOS rate: 0.223014 deg/s, cmd heading: 330.859855 deg, new cmd heading: 331.195457 deg. M <MHeadingCmd: 5.780451 target range: 101.185631 and range: 102.20 m.bMu@ZQrQjQRQJB~~}|||̌Y@| q? EC|BE|_B=,}NhA9Y@dg@Yy[>H_@3"?vPݿp? ?I?h? Y@骭};)CAeDDAT read: Rx Time:13:52:58.0666 mTRx dataTimestamp_ set to:1749131579.243867uPDAT read: Bearing 125.5, 9.8 (Local) u~Local bearing/azimuth received: Bearing 125.5, 9.8 (Local) DAT read: Range 10 to 50 : 102.2 m (trip time 68.1 ms) speed -0.3 DAT read: 13:52:58.0666 LVL= 23184, 27297, 30194, 28019, AGC= 60, IDX= 498, 0.09,-2.438,-2.153, 1.922, 3.135, PHS= 0.798, 1.042,-1.216, RAW= 24.4, -5.9, CAL= 24.5, -9.8, ROT= 125.5, 9.8 GG?AH>HCHIH~BHHHH<HEYgot valid direction response: 13:52:58.0666 LVL= 23184, 27297, 30194, 28019, AGC= 60, IDX= 498, 0.09,-2.438,-2.153, 1.922, 3.135, PHS= 0.798, 1.042,-1.216, RAW= 24.4, -5.9, CAL= 24.5, -9.8, ROT= 125.5, 9.8 T#Rx 48: Read range and direction messages.%`direction in FSK: [-0.572229,0.802236,-0.170209]-Fpublishing direction and range infoiymj|óO ȍ?rlſiYi mZ)mjImuimsmm<mIL?mB`?m㥛 m^ >)mBҽIm!>im%/mR/ @m%/> i)im֨ YyT{b.,imտm=mR/ @m%/> i)ichecking for new query: numPingsReceived=48, elapsed TxPingTime=23.249777q%~BMII]I]?13m< m=ym.;Q u>٥qq uHuF}<^= }>-5w?-59( I*By$,@ Ei؉<7<3-5 yAkEZibmNhAmBmBm@ʁm|pkl MaZT@BNS$F1mj|óO ȍ?rlſmR/ @m%/>ҁm8}V@-鯤kG3w @mw)]?2ݿU?zm];mBjmɜԜ?rm mĆBii imKBm2w@ addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 0.467890 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 101.486649 m, bearing: 332.493300 deg, lat: 36.906788 deg, lon: -122.116151 deg, deltaT: 1.508934 s, deltaX: 0.301018 m, approachRate: 0.199490 m/s, posRepo size: 4 %FNOT Ignoring new targets: 101.49 m.%!] ProNav: ac range: 101.486649 m, nav range: 101.648193 m, bearing: 337.446368 deg, approach rate: 0.000000 m/s, LOS rate: 0.223014 deg/s, cmd heading: 331.195463 deg, new cmd heading: 331.555108 deg. YeHeadingCmd: 5.786728 target range: 101.486649 and range: 102.20 m.be,@ZarijiRiJiBi~q~q}q|q|q|yԙ|? K|Bd%@H v "?ଌ`M`?e?MR?? F]@O;)C~Local bearing/azimuth received: Bearing 120.6, 11.1 (Local) A)ECAɿMI F鿑OAiVIFIinA )C ¡`廉©DAT read: Range 10 to 50 : 102.5 m (trip time 68.3 ms) speed -0.3 ©I)i)I iٯDAT read: 13:52:58.5667 LVL= 18304, 18849, 18738, 21939, AGC= 59, IDX= 500, 0.02,-0.703,-0.613,-2.711,-1.528, PHS= 0.914, 0.963,-1.185, RAW= 28.9, -6.6, CAL= 29.4, -11.1, ROT= 120.6, 11.1 Ygot valid direction response: 13:52:58.5667 LVL= 18304, 18849, 18738, 21939, AGC= 59, IDX= 500, 0.02,-0.703,-0.613,-2.711,-1.528, PHS= 0.914, 0.963,-1.185, RAW= 28.9, -6.6, CAL= 29.4, -11.1, ROT= 120.6, 11.1 T#Rx 49: Read range and direction messages.%`direction in FSK: [-0.499519,0.844640,-0.192522]%Fpublishing direction and range info~BIIIIMAA:JaBJ^JJBRJZJ:bJd9J-4Jqyuƌ߿MUV9J?MȿuBYq uG)uIIu2IiuUu;ui?u+v?u u^ ?)uIuG\?iuaFu$@uaF> q)quۃ #SQV rKiu˿u=u$@uaF> q)qchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.803665aI]@a] aMe@ae aQe@ae aEe@ae ImIm3o= =y_H;Q >٥ HF= >-5w鶜?-59, I-B+:y:d(@Ei ;F?7-5=4B=A=nEZqbuHNhAuBuBuǸ@ʁu bkI|)~U@<3uƌ߿MUV9J?Mȿu$@uaF>ҁueח7V@H q 0 @uʼ?*zt *߿ ú?zu@FuBjuw)Ԝ?ruVF uBuU1Ԝ?uO~  uBuBug@5 addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 0.510571 s, deltaX: 0.300003 m, approachRate: 0.587583 m/s, rangeRepo size: 4 E Added new target pos. range: 101.784561 m, bearing: 330.848547 deg, lat: 36.906763 deg, lon: -122.116221 deg, deltaT: 0.510571 s, deltaX: 0.297913 m, approachRate: 0.583489 m/s, posRepo size: 4 IMFNOT Ignoring new targets: 101.78 m.qq  ProNav: ac range: 101.784561 m, nav range: 101.871063 m, bearing: 333.758549 deg, approach rate: 0.000000 m/s, LOS rate: 0.223014 deg/s, cmd heading: 331.555113 deg, new cmd heading: 331.921980 deg.   HeadingCmd: 5.793131 target range: 101.784561 and range: 102.50 m.b Ua@Z r j! R! J! B! ~! ~i }i |i |i |u Y@|u K? checking for new query: numPingsReceived=49, elapsed TxPingTime=23.962294 S|B P&?! I% ϼ ) ) - <- Z1 1 i5 Ua@i1 ! E E E E _0E F F Q6GZGRG~GAAN ?md,q:OhA9>:_@>%m@Y>Fzy>Kѐ>>H ?@ɀT?>?`?ӫ? >:_@>k;)<`zDDAT read: Rx Time:13:52:59.0667 ~TRx dataTimestamp_ set to:1749131580.253341PDAT read: Bearing 115.9, 11.3 (Local) ~Local bearing/azimuth received: Bearing 115.9, 11.3 (Local) DAT read: Range 10 to 50 : 102.5 m (trip time 68.3 ms) speed -0.1 H%>H!H%IH%/BH% =H!H!H%<H%E}DAT read: 13:52:59.0667 LVL= 20352, 20001, 19906, 23859, AGC= 62, IDX= 500,-0.04,-2.681,-2.765, 1.549, 2.707, PHS= 0.982, 0.858,-1.162, RAW= 33.0, -6.6, CAL= 34.1, -11.3, ROT= 115.9, 11.3 Ygot valid direction response: 13:52:59.0667 LVL= 20352, 20001, 19906, 23859, AGC= 62, IDX= 500,-0.04,-2.681,-2.765, 1.549, 2.707, PHS= 0.982, 0.858,-1.162, RAW= 33.0, -6.6, CAL= 34.1, -11.3, ROT= 115.9, 11.3 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.428334,0.882120,-0.195946]Fpublishing direction and range infoxyzqNiۿR:?>x_ɿxYx zO)z!NIzMiz3]z>zZd{?z[?zj zr?)xIz:\?izIz(v@zI> x)xz 7_3?;iz7w¿zs=z(v@zI> x)xchecking for new query: numPingsReceived=50, elapsed TxPingTime=24.243643~BIII3=8< =K=y=A:Q =>٥AA EHEFM= M>Q}-5U$ٶ?}-59U/ IU0B} :yyv:&@UEiUc;Uiu?UO9-5AZxbz6OhAxxz@ʁz?]EކMrV@Cݺ3zqNiۿR:?>x_ɿz(v@zI>ҁzHtɈU@VIKKLY @zp?F!fOE?zzXzFBjzȈ3Ӝ?rz zBzɜԜ?z  zBzkBz׹@% addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 0.498903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 101.784386 m, bearing: 327.854530 deg, lat: 36.906753 deg, lon: -122.116240 deg, deltaT: 0.498903 s, deltaX: -0.000175 m, approachRate: -0.000352 m/s, posRepo size: 4 Y]FNOT Ignoring new targets: 101.78 m.aa ProNav: ac range: 101.784386 m, nav range: 101.710594 m, bearing: 332.749160 deg, approach rate: 0.000000 m/s, LOS rate: 0.223014 deg/s, cmd heading: 331.921977 deg, new cmd heading: 332.186009 deg. HeadingCmd: 5.797740 target range: 101.784386 and range: 102.50 m.b@ZrjRJB~~}||||D? Y|B靕,(OhA19`@o@YVwyÉ>Ht}?K30?ޮ??? `@ ;)C%B-I U=UR=IIm?3%DDAT read: Rx Time:13:52:59.5669 =TRx dataTimestamp_ set to:1749131580.760955YuPDAT read: Bearing 111.4, 10.9 (Local) ~Local bearing/azimuth received: Bearing 111.4, 10.9 (Local) < )=y:Q >٥11 5H5F5n= 5>9E-5=Ŷ?E-5MDAT read: Range 10 to 50 : 102.8 m (trip time 68.5 ms) speed -0.3 9=3 I=3B9yG:$@=Ei=\(<=?=;-5ArEDAT read: 13:52:59.5669 LVL= 15712, 16081, 18098, 19443, AGC= 63, IDX= 502, 0.09,-2.809,-3.057, 1.403, 2.538, PHS= 1.024, 0.735,-1.138, RAW= 37.1, -6.2, CAL= 38.6, -10.9, ROT= 111.4, 10.9 Ygot valid direction response: 13:52:59.5669 LVL= 15712, 16081, 18098, 19443, AGC= 63, IDX= 502, 0.09,-2.809,-3.057, 1.403, 2.538, PHS= 1.024, 0.735,-1.138, RAW= 37.1, -6.2, CAL= 38.6, -10.9, ROT= 111.4, 10.9 B*** querying acoustic contact ***JR:JnBJYJJHRJZJ|;:bJ[O9JԺ4JT#Rx 51: Read range and direction messages.-`direction in FSK: [-0.358294,0.914258,-0.189095]5Fpublishing direction and range info!y%J"IֿA?oG4ȿ%BY! %`=)%>I%Fi%K%?%o?%( !} addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 0.507614 s, deltaX: 0.300003 m, approachRate: 0.591006 m/s, rangeRepo size: 4 y)!%ٖU?L E|i%zC%S=%?%B> !)!checking for new query: numPingsReceived=51, elapsed TxPingTime=24.802593FNOT Ignoring new targets: 101.78 m.;; ProNav: ac range: 101.784386 m, nav range: 101.853127 m, bearing: 332.886228 deg, approach rate: 0.278773 m/s, LOS rate: 0.267710 deg/s, cmd heading: 332.186004 deg, new cmd heading: 332.596624 deg. 7<HeadingCmd: 5.804906 target range: 101.784386 and range: 102.80 m.b@ZrjRJB~ ~ } | ||@3Y@||?y a|BҎ;,dFOhA9Eb@p@YFty>>HHe?@cC?6?)?? Eb@骝K;)C%)B%IԉaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yi|?5?~jt?{Gzy?D<# @)@II@y@IIb2,= 3=y8:Q >٥99 =H9E$= E>IU-5M ?U-59M7 IM9BUT:yU?U:]}@MEiM;M;M?-5AZ1b5}0OhA5*B5*B5@ʁ5?IBIJUW@ M35J"IֿA?oG4ȿ5?DDAT read: Rx Time:13:53:00.0669 TRx dataTimestamp_ set to:1749131581.260254 H<H<H>HCHIHbBH =HH/DH<HEPDAT read: Bearing 108.6, 12.7 (Local) ~Local bearing/azimuth received: Bearing 108.6, 12.7 (Local) MDAT read: Range 10 to 50 : 102.8 m (trip time 68.5 ms) speed -0.2 5B>ҁ5tfVU@1>GLK8ۨ @5l@?t8FHt֠?z5_5Bj5 eҜ?r5x 5KB5w)Ԝ?5VF  5B52B5@ԱFNOT Ignoring new targets: 101.78 m.;;DAT read: 13:53:00.0669 LVL= 22736, 17953, 26338, 28531, AGC= 65, IDX= 502, 0.25,-0.267,-0.589,-2.345,-1.268, PHS= 1.090, 0.727,-1.080, RAW= 39.0, -7.4, CAL= 41.4, -12.7, ROT= 108.6, 12.7 Ygot valid direction response: 13:53:00.0669 LVL= 22736, 17953, 26338, 28531, AGC= 65, IDX= 502, 0.25,-0.267,-0.589,-2.345,-1.268, PHS= 1.090, 0.727,-1.080, RAW= 39.0, -7.4, CAL= 41.4, -12.7, ROT= 108.6, 12.7 T#Rx 52: Read range and direction messages.`direction in FSK: [-0.311156,0.924581,-0.219846] Fpublishing direction and range info ProNav: ac range: 101.784386 m, nav range: 101.963272 m, bearing: 333.013699 deg, approach rate: 0.241865 m/s, LOS rate: 0.279609 deg/s, cmd heading: 332.596635 deg, new cmd heading: 332.978632 deg. ?<HeadingCmd: 5.811574 target range: 101.784386 and range: 102.80 m.bi@ZrjRJB!~)yUI/ӿ~?*?F#̿Y X)!FIfisoA?:?q= @.?) AI8?ib_?b> )QȀ?p_XT߅ni>_?b> )Mchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.268600~-R~B}||||? i|B֮3,eOhA$9Zd@Zr@YZboyZU>ZH`j?@[7ZPP@y??Rk?`Y? Zd@Z;)XKbIdP"Kb+9*K`2Kby :Kb Y$`"n0#B1K$KgFUw+e/ v:v:BvII~I~25>*= 5O=y=E;Q >٥ HFx= >-5虜?-59; I?By  @ Ei+< < C-5)5A5uEZyb}POhA}(B}(B}&ǵ@ʁ}n0B?bW@6q6}UI/ӿ~?*?F#̿}_?}b>ҁ},U@JL?}ʆ \?[?ɏ,#@ _|?z}ng}1Bj}􂺑SҜ?r}8/ }B}Ȉ3Ӝ?}  y} B}T@y addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 0.499299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 102.079811 m, bearing: 325.472112 deg, lat: 36.906714 deg, lon: -122.116325 deg, deltaT: 1.006913 s, deltaX: 0.295425 m, approachRate: 0.293397 m/s, posRepo size: 4 )UFNOT Ignoring new targets: 102.08 m.]Y ProNav: ac range: 102.079811 m, nav range: 102.021561 m, bearing: 328.252926 deg, approach rate: 0.000000 m/s, LOS rate: 0.279609 deg/s, cmd heading: 332.978634 deg, new cmd heading: 333.328973 deg. HeadingCmd: 5.817688 target range: 102.079811 and range: 102.80 m.b*@ZrjRJB~~}||||`O?}DDAT read: Rx Time:13:53:00.5670 TRx dataTimestamp_ set to:1749131581.768563PDAT read: Bearing 104.6, 14.9 (Local) ~Local bearing/azimuth received: Bearing 104.6, 14.9 (Local) MDAT read: Range 10 to 50 : 102.9 m (trip time 68.6 ms) speed 0.0 ԩ Mr|BMi y)y}aTi?S|ÿi}> }>}?}%> y)y5checking for new query: numPingsReceived=53, elapsed TxPingTime=25.820129E1 E1 E1 E= ^0E9  checking for new query: numPingsReceived=53, elapsed TxPingTime=25.978371 6G} ȹ~GyAAN>,|OhA9Gh@![v@YcyA,>H G Hm?j (&?q??@? Gh@;)CmPBmIiu٥ HFo= >-5?-59A IEBy?:@&EiP&<f:[H-5\AxEDDAT read: Rx Time:13:53:01.0670 TRx dataTimestamp_ set to:1749131582.269303%PDAT read: Bearing 100.1, 14.2 (Local) -~Local bearing/azimuth received: Bearing 100.1, 14.2 (Local) =DAT read: Range 10 to 50 : 102.9 m (trip time 68.6 ms) speed -0.2 ]DAT read: 13:53:01.0670 LVL= 19584, 21953, 21330, 29811, AGC= 64, IDX= 503, 0.04,-1.870,-2.450, 2.251,-3.014, PHS= 1.232, 0.611,-1.022, RAW= 45.5, -8.2, CAL= 49.9, -14.2, ROT= 100.1, 14.2 eYgot valid direction response: 13:53:01.0670 LVL= 19584, 21953, 21330, 29811, AGC= 64, IDX= 503, 0.04,-1.870,-2.450, 2.251,-3.014, PHS= 1.232, 0.611,-1.022, RAW= 45.5, -8.2, CAL= 49.9, -14.2, ROT= 100.1, 14.2 mT#Rx 54: Read range and direction messages.m`direction in FSK: [-0.170008,0.954422,-0.245307]uFpublishing direction and range infoyo|ſu}?/;fϿY L)UIRSist@-?j?Ђ KK?)CI^?i}$?}> )!(?&]GhÆמ<¿i~d>$?}> )checking for new query: numPingsReceived=54, elapsed TxPingTime=26.248293H>HH-IHBH =HH0DHך<HEHřCHřCHH =I = I6ZbCҁ^;hS@NT-KP/>n?6R7]?W}m6iG dJs?zYcBjfvМ?r B eҜ?x  BbB@ addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 1.009049 s, deltaX: 0.099998 m, approachRate: 0.099102 m/s, rangeRepo size: 4  Added new target pos. range: 102.179703 m, bearing: 320.368286 deg, lat: 36.906703 deg, lon: -122.116348 deg, deltaT: 1.009049 s, deltaX: 0.099892 m, approachRate: 0.098996 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.18 m.  ProNav: ac range: 102.179703 m, nav range: 102.192772 m, bearing: 327.086928 deg, approach rate: 0.000000 m/s, LOS rate: 0.279609 deg/s, cmd heading: 333.328968 deg, new cmd heading: 333.839632 deg.  5HeadingCmd: 5.826601 target range: 102.179703 and range: 102.90 m.b5s@Z1r1j9R9J9B9~9~E ~B}A|A|A|EY@|Ma? {|B靽xЭJf>99Vj@(x@Y0^yU>H: ?|¿rS?$ϫ? ?? Vj@k;)ZBYe IIuIu<2< !=yv ;Q >٥ HFg= >mDDAT read: Rx Time:13:53:01.5672 uTRx dataTimestamp_ set to:1749131582.777693PDAT read: Bearing 97.8, 15.9 (Local) ~Local bearing/azimuth received: Bearing 97.8, 15.9 (Local) %DAT read: Range 10 to 50 : 103.2 m (trip time 68.8 ms) speed 0.0 -5{?-59'G IJBy7@+Ei[<:M-55A)A Qԑ:J%\BJ%ZJJ%CRJ!ZJ%=:bJ%S9J%4J!=GQi ߿YyWADAT read: 13:53:01.5672 LVL= 16240, 19553, 18498, 23443, AGC= 62, IDX= 505,-0.26,-0.090,-0.723,-2.274,-1.297, PHS= 1.294, 0.621,-0.980, RAW= 46.8, -9.3, CAL= 52.2, -15.9, ROT= 97.8, 15.9 Ygot valid direction response: 13:53:01.5672 LVL= 16240, 19553, 18498, 23443, AGC= 62, IDX= 505,-0.26,-0.090,-0.723,-2.274,-1.297, PHS= 1.294, 0.621,-0.980, RAW= 46.8, -9.3, CAL= 52.2, -15.9, ROT= 97.8, 15.9 T#Rx 55: Read range and direction messages.B*** querying acoustic contact ***JR `direction in FSK: [-0.130523,0.952843,-0.273959] Fpublishing direction and range infoiymU u۰}?ψ.ѿmfBYi mp?)maLImBHim[m>mˡ?m?mHz mQ?)m6&ImZ;i?imqm|?mq> i)im1?S>.ŞL£ĿimϨmm%>m|?mq> i= FNOT Ignoring new targets: 102.18 m.E P;E P;U  ProNav: ac range: 102.179703 m, nav range: 102.269264 m, bearing: 327.254646 deg, approach rate: 0.132729 m/s, LOS rate: 0.290804 deg/s, cmd heading: 333.839621 deg, new cmd heading: 334.342385 deg. )i] checking for new query: numPingsReceived=55, elapsed TxPingTime=26.869780U G<} HeadingCmd: 5.835375 target range: 102.179703 and range: 102.90 m.b e@Z r j R J B ~ ~ } | | | Y@| ``?  |B a 5E  checking for new query: numPingsReceived=55, elapsed TxPingTime=26.986290 6G5ȹ~G!AAAqN?,sOhAqBI)Q QԑDDAT read: Rx Time:13:53:02.0671 TRx dataTimestamp_ set to:1749131583.276109PDAT read: Bearing 93.7, 17.4 (Local)  ~Local bearing/azimuth received: Bearing 93.7, 17.4 (Local) DAT read: Range 10 to 50 : 103.1 m (trip time 68.7 ms) speed -0.2 EDAT read: 13:53:02.0671 LVL= 21312, 25137, 22210, 28883, AGC= 61, IDX= 504, 0.25, 1.605, 0.866,-0.612, 0.317, PHS= 1.376, 0.596,-0.932, RAW= 49.4, -10.3, CAL= 56.3, -17.4, ROT= 93.7, 17.4 UYgot valid direction response: 13:53:02.0671 LVL= 21312, 25137, 22210, 28883, AGC= 61, IDX= 504, 0.25, 1.605, 0.866,-0.612, 0.317, PHS= 1.376, 0.596,-0.932, RAW= 49.4, -10.3, CAL= 56.3, -17.4, ROT= 93.7, 17.4 UT#Rx 56: Read range and direction messages.]`direction in FSK: [-0.061579,0.952251,-0.299041]eFpublishing direction and range infoy8VRIAx?-{#ӿ3BY @SGm?AGm>AHu>HuCHuFIHuBHu =HqHu.DHu<HuE)1bIVip= ?u?n \?)X8I{?i|S?|> )=?h~ ƿiѷ{.7>S?|> )checking for new query: numPingsReceived=56, elapsed TxPingTime=27.259945Mb@Mb@Mb@ )Y(\?{Gz?:vyz?#<TA @)Iy@II(*3|=  =yQ >٥9 EHEFM U>Ye-5]*h?e-59]M I]PBym?m:mm@]0Ei]:]:]Q-5u3BuAu{EԹZbūOhABBA@ʁ۞27D`/_X@M>8VRIAx?-{#ӿS?|>ҁ=*b ER@/,6Q@:?.!a#_yƢz1(Bj_vΜ?rE R mpBSҜ?8/  BBw@e addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 1.006806 s, deltaX: 0.199997 m, approachRate: 0.198645 m/s, rangeRepo size: 4  Added new target pos. range: 102.375565 m, bearing: 315.586829 deg, lat: 36.906690 deg, lon: -122.116372 deg, deltaT: 1.006806 s, deltaX: 0.195862 m, approachRate: 0.194538 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.38 m. ProNav: ac range: 102.375565 m, nav range: 102.301628 m, bearing: 326.005897 deg, approach rate: 0.000000 m/s, LOS rate: 0.290804 deg/s, cmd heading: 334.342377 deg, new cmd heading: 334.772983 deg. HeadingCmd: 5.842891 target range: 102.375565 and range: 103.10 m.b@Zr j R J B ~1~5~B}1|9|9|=`fY@|=? |B靵I':K!$:>7@T|Ie;PP4 8'n d3rzWj'ktyJ J ,1OhA4]~B] IImIm2}< }K=yQ >٥ H >-5)Z?-59)Q ITBy@3Eii:A;kU-54BA}EFNOT Ignoring new targets: 102.38 m. ;;5 ProNav: ac range: 102.375565 m, nav range: 102.351616 m, bearing: 326.131016 deg, approach rate: 0.133475 m/s, LOS rate: 0.333925 deg/s, cmd heading: 334.772980 deg, new cmd heading: 335.148149 deg. 5+e<=HeadingCmd: 5.849439 target range: 102.375565 and range: 103.10 m.b=.@Z9r9j9R9JABA~A~A}I|I|I|I|M9?ԙDDAT read: Rx Time:13:53:02.5673 TRx dataTimestamp_ set to:1749131583.795205%PDAT read: Bearing 92.7, 17.9 (Local) -~Local bearing/azimuth received: Bearing 92.7, 17.9 (Local) 5|B=`=MDAT read: Range 10 to 50 : 103.4 m (trip time 68.9 ms) speed 0.0 IA)9?Iy1 d; ޾i.@izEDAT read: 13:53:02.5673 LVL= 16464, 20785, 18530, 26787, AGC= 61, IDX= 506, 0.05, 2.474, 1.712, 0.256, 1.169, PHS= 1.393, 0.591,-0.916, RAW= 50.0, -10.5, CAL= 57.3, -17.9, ROT= 92.7, 17.9 Ygot valid direction response: 13:53:02.5673 LVL= 16464, 20785, 18530, 26787, AGC= 61, IDX= 506, 0.05, 2.474, 1.712, 0.256, 1.169, PHS= 1.393, 0.591,-0.916, RAW= 50.0, -10.5, CAL= 57.3, -17.9, ROT= 92.7, 17.9 T#Rx 57: Read range and direction messages.E`direction in FSK: [-0.044826,0.950538,-0.307357]EFpublishing direction and range infoyu _Fj?uYӿBY P@)1QIbHihM?K?~j f_?)f;Ij?i?> )nO?x bWIfǿi1`F<>?> )checking for new query: numPingsReceived=57, elapsed TxPingTime=27.837124E?EEE}5E E checking for new query: numPingsReceived=57, elapsed TxPingTime=27.9959556G! jG% >bG% >~G A A N >g, PhA9q@I@YMyn>H@ }?@r ƿ`&t??`P?? q@K;)CB%I5Mb@Mb@Mb@111 1)1Y5Q?Mbp?Zd;OAy5?5;5j5A 5@)5;@I5@1y1IUIUF2uĠ< u2=yu٥yy }H}F> >-5K?-59V IVBy?:\@8Ei::lY-53B}AEZyb}OhA}XB}XB}w@ʁ}fhVfX@C?}u _Fj?uYӿ}?}>ҁ}DT@{zcPPpQG}6Y?ntp *ʤz}.}5Bj}aМ?r} }nB}aМ?}  }B}-B}x@ addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.519096 s, deltaX: 0.300003 m, approachRate: 0.577934 m/s, rangeRepo size: 4  Added new target pos. range: 102.673462 m, bearing: 321.337367 deg, lat: 36.906645 deg, lon: -122.116453 deg, deltaT: 0.519096 s, deltaX: 0.297897 m, approachRate: 0.573877 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.67 m.%!5 ProNav: ac range: 102.673462 m, nav range: 102.588577 m, bearing: 321.337715 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 335.148148 deg, new cmd heading: 335.609051 deg. 1=HeadingCmd: 5.857483 target range: 102.673462 and range: 103.40 m.b=p@ZArAjARAJABA~I~M~B}I|I|I|UY@|U@B? |BZH=CH=YIH=BH= =H9H9H=Қ<H=EqDAT read: 13:53:03.0673 LVL= 18784, 23985, 20450, 26995, AGC= 63, IDX= 506,-0.18,-0.703,-1.580,-2.934,-2.030, PHS= 1.415, 0.498,-0.907, RAW= 53.1, -10.0, CAL= 60.9, -17.2, ROT= 89.1, 17.2 Ygot valid direction response: 13:53:03.0673 LVL= 18784, 23985, 20450, 26995, AGC= 63, IDX= 506,-0.18,-0.703,-1.580,-2.934,-2.030, PHS= 1.415, 0.498,-0.907, RAW= 53.1, -10.0, CAL= 60.9, -17.2, ROT= 89.1, 17.2 T#Rx 58: Read range and direction messages.^direction in FSK: [0.015005,0.955161,-0.295708]Fpublishing direction and range infoy%<-躎?#wì?-ҿY `I)]IOisi??>'1h @m?E)E)E)E-z4E1)¸2IJ ?i`" ?`> )`1r?EŰM"ƿi;1>" ?`> )checking for new query: numPingsReceived=58, elapsed TxPingTime=28.303442:JhBJTJJBRJZJ(:bJ:9J-4JzJ); jJ); JSJ: rJVJ:ԙ 6G ~G A A N >},@PhA@Mchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.4998849u{s@uwǀ@YuaIyuT>uHK>? ƿ;`?`)?`8M?@? u{s@uv;)uCB.Ii٥ HF%ݩ= %>)5-5-@?-59-Z I-XByv@-;Ei-Ff<-f<-\-5HAZb0PhA@ʁLp>? 5^X@f\>%<-躎?#wì?-ҿ" ?`>ҁv2ٍS@:sP0R';s㠻`?7 0 ]FznBj8*Ϝ?r1 )uBfvМ?  )uBB#X@ addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.488976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 102.672012 m, bearing: 319.645572 deg, lat: 36.906639 deg, lon: -122.116456 deg, deltaT: 0.488976 s, deltaX: -0.001450 m, approachRate: -0.002965 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.67 m. ProNav: ac range: 102.672012 m, nav range: 102.291992 m, bearing: 321.114696 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 335.609049 deg, new cmd heading: 335.999076 deg. eHeadingCmd: 5.864290 target range: 102.672012 and range: 103.40 m.bD@ZrjRJB~~}K4P"K*K2K| :Kx0eNo>D:X}` -{crkt*#<cy-<_7PF||9|i|u? =|B=z5 j?5 l>5 j\ 5 |y?)5 f;I5 Ð?i5 ?5 V?5 ?> 1 )1 5 <ܑދp?ESnP쿴3=OYǿi5 eN5 ;>5 V?5 ?> 1 )1  checking for new query: numPingsReceived=59, elapsed TxPingTime=28.8348796G y ~G AAN>,@=PhA9V^u@V%@YVCyV8Œ>VH s?.ǿG@̄ ? }? Z?W? V^u@V};)VCrBv1Ichecking for new query: numPingsReceived=59, elapsed TxPingTime=29.002371ԉ}Mb@Mb@Mb@yyy y)yY} +?MbPy}?}}̼}A }@)}@I}@yy}@I IV2,< =y#&;Q >٥ H5k= >!U-5%0?]-59%ha I%YBye?e:e m@%@Ei%(<%t<%'a-52AԹZb2PhA#B#B`@ʁ~^Ie @hX@:@Ⱦ\?PO?\ӿV??>ҁmS@Y>W]Q8#dZq`g?KՀ1xzBjI9Ϝ?r^ oB8*Ϝ?1  mpBꁝ>B枲@ addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 0.511050 s, deltaX: 0.400002 m, approachRate: 0.782705 m/s, rangeRepo size: 4 U Added new target pos. range: 103.069199 m, bearing: 317.593272 deg, lat: 36.906627 deg, lon: -122.116482 deg, deltaT: 0.511050 s, deltaX: 0.397186 m, approachRate: 0.777197 m/s, posRepo size: 4 QUFNOT Ignoring new targets: 103.07 m.YY ProNav: ac range: 103.069199 m, nav range: 102.621948 m, bearing: 319.819118 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 335.999080 deg, new cmd heading: 336.577557 deg. HeadingCmd: 5.874387 target range: 103.069199 and range: 103.80 m.b@ZrjRJB~~}B}|||@3Y@|p? ]|B]WHq Hu eIHu BHu  =Hq Hq Hu <Hu E DAT read: 13:53:04.0675 LVL= 17392, 28881, 20002, 29603, AGC= 66, IDX= 507, 0.11,-0.858,-1.769,-3.114,-2.232, PHS= 1.462, 0.510,-0.885, RAW= 53.8, -10.7, CAL= 62.3, -18.2, ROT= 87.7, 18.2  Ygot valid direction response: 13:53:04.0675 LVL= 17392, 28881, 20002, 29603, AGC= 66, IDX= 507, 0.11,-0.858,-1.769,-3.114,-2.232, PHS= 1.462, 0.510,-0.885, RAW= 53.8, -10.7, CAL= 62.3, -18.2, ROT= 87.7, 18.2  T#Rx 60: Read range and direction messages.% ^direction in FSK: [0.038124,0.949207,-0.312335]M Fpublishing direction and range infoI yM  ?\H_?IKӿM fBYI M C)M pIM "NiM sM BM "?M \?M \b M vap?)M t;?IM -?iM M v?M > I )I M w\?+|ql]<ǿiM tM A>>M v?M > I )I e checking for new query: numPingsReceived=60, elapsed TxPingTime=29.292904 :JM _BJM SJJM ?RJI ZJM :bJM y69JM ـ4JI zJM ,:jJM 1:JM (C:rJM +C:6GQZGYRG]A~GA)1AANM?C,Y]PhA9^"6w@^@Y^=y^Œ>^H@`h ?ȿS@u ??@[?? ^"6w@^;)^C%B%:II5I5(*2{= ==yk;Q >٥ HF%= %>9E-5=%$?E-59=f I9yIM4 M@=DEi=V;=;=d-5AEchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.507534Zyb}iRPhA}B}B}@ʁ}$3һg@Sϔ]oX@RJ@} ?\H_?IKӿ}v?}>ҁ}h`)T@F{EO8V]}gxd,? m$xyY z}}LBj}"AМ?r}h }nByy }oB}3B}}@ addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.498251 s, deltaX: -0.100006 m, approachRate: -0.200714 m/s, rangeRepo size: 4  Added new target pos. range: 102.970284 m, bearing: 321.617851 deg, lat: 36.906627 deg, lon: -122.116482 deg, deltaT: 0.498251 s, deltaX: -0.098915 m, approachRate: -0.198525 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.97 m.))= ProNav: ac range: 102.970284 m, nav range: 102.601234 m, bearing: 319.963146 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 336.577570 deg, new cmd heading: 336.965753 deg. 9EHeadingCmd: 5.881162 target range: 102.970284 and range: 103.70 m.bEz2@ZrjRJB~~}|||Y@|`7? |Bn=II)e;?aImV iKs-P"K9*K2K} :K@ {5QUJVQyVKt1%_/N8q!;;iz2@iE?EEE5Ei m DDAT read: Rx Time:13:53:04.5675 m TRx dataTimestamp_ set to:1749131585.799592} PDAT read: Bearing 90.5, 16.8 (Local) } ~Local bearing/azimuth received: Bearing 90.5, 16.8 (Local)  DAT read: Range 10 to 50 : 103.7 m (trip time 69.1 ms) speed 0.0  DAT read: 13:53:04.5675 LVL= 17616, 25745, 21490, 27299, AGC= 64, IDX= 507, 0.45,-0.178,-1.018,-2.402,-1.483, PHS= 1.393, 0.512,-0.922, RAW= 52.1, -9.7, CAL= 59.5, -16.8, ROT= 90.5, 16.8  Ygot valid direction response: 13:53:04.5675 LVL= 17616, 25745, 21490, 27299, AGC= 64, IDX= 507, 0.45,-0.178,-1.018,-2.402,-1.483, PHS= 1.393, 0.512,-0.922, RAW= 52.1, -9.7, CAL= 59.5, -16.8, ROT= 90.5, 16.8  T#Rx 61: Read range and direction messages. `direction in FSK: [-0.008354,0.957283,-0.289032] Fpublishing direction and range infoi ym Q@ʙW?\.ҿi Yi m D)m dԙ Im Sim jm @m M?m o?m 1l m h?)m -\-Im ?im Q m -?m Q > i )i m ?ĸw~67=ſim um &.>m -?m Q > i )i  checking for new query: numPingsReceived=61, elapsed TxPingTime=29.8507776G1 ~G A AN%>!,zPhABFIԡ%Mb@Mb@Mb@!!! !)!Y% ףp= ?I +?Zd;Oy%Q?%94<%j%rA %@)%@I%@!y%@I5#I5%x3E= E=yMQ M>٥II UHUF] ]>am-5e?m-59eom Ie\Bymu?m:m m@eIEie:et:e]i-5Achecking for new query: numPingsReceived=61, elapsed TxPingTime=30.010330Zb,sPhA!&@ʁdTyԖX@R=Q@ʙW?\.ҿ-?Q >ҁclT@DN0*(` A?DR4XJSz pNBjIEќ?r*w  xBaМ?h  B@ addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.506110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 102.970284 m, bearing: 324.345921 deg, lat: 36.906645 deg, lon: -122.116458 deg, deltaT: 0.506110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.97 m.= ProNav: ac range: 102.970284 m, nav range: 102.803764 m, bearing: 321.757903 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 336.965743 deg, new cmd heading: 337.455395 deg. 9EHeadingCmd: 5.889708 target range: 102.970284 and range: 103.70 m.bE|x@ZArAjiRiJiBi~q~u}B}q|q|q|y|}`>? |BH H rIH BH  =H H H <H E PDAT read: Bearing 92.4, 14.6 (Local)  ~Local bearing/azimuth received: Bearing 92.4, 14.6 (Local)  DAT read: Range 10 to 50 : 103.5 m (trip time 69.0 ms) speed 0.1 6G  DAT read: 13:53:05.0674 LVL= 21184, 26961, 22674, 29459, AGC= 66, IDX= 507,-0.32,-0.432,-1.215,-2.567,-1.628, PHS= 1.284, 0.460,-0.942, RAW= 51.5, -8.3, CAL= 57.6, -14.6, ROT= 92.4, 14.6  Ygot valid direction response: 13:53:05.0674 LVL= 21184, 26961, 22674, 29459, AGC= 66, IDX= 507,-0.32,-0.432,-1.215,-2.567,-1.628, PHS= 1.284, 0.460,-0.942, RAW= 51.5, -8.3, CAL= 57.6, -14.6, ROT= 92.4, 14.6  T#Rx 62: Read range and direction messages. `direction in FSK: [-0.040523,0.966860,-0.252069] Fpublishing direction and range infoڑ yڕ M&*~7?!пڕ BYڑ ە R)ە QiIە Xiە sە Bە Z?ە >ە &q ܕ f?)ܕ VIܕ ?~Gy A :J ^BJ QJJ @RJ ZJ } :bJ -.9J J4J zJ _:jJ d:J 4:rJ 4:A N >%,OPhA@iMwMpl?Mw> I)IMcc/?\m2wl¿iMM9>Mpl?Mw> I)IJchecking for new query: numPingsReceived=62, elapsed TxPingTime=30.35548295Ag|@5J=@Y5 +y5*>5H൬`o? r˿wG@0s߿&?{?ͥ?? 5Ag|@5M;)1BIII I 3R*< F=y]'٥ii uHuFuWD> >-5B ?-59@s I]By@MEi::m-5AEZIbMj3PhAMBMBMո@ʁMh`wX@:9MM&*~7?!пMpl?Mw>ҁMEE)tV@VHlk@M_ Zm(?\讇߿j}c?zMGMBjMWɛӜ?rM MBԱM"AМ?I M)uBMBM˳@ addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 0.500421 s, deltaX: -0.199997 m, approachRate: -0.399657 m/s, rangeRepo size: 4  Added new target pos. range: 102.772530 m, bearing: 330.944383 deg, lat: 36.906645 deg, lon: -122.116458 deg, deltaT: 0.500421 s, deltaX: -0.197754 m, approachRate: -0.395175 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.77 m. ProNav: ac range: 102.772530 m, nav range: 102.826195 m, bearing: 321.924238 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 337.455386 deg, new cmd heading: 337.891357 deg. HeadingCmd: 5.897316 target range: 102.772530 and range: 103.50 m.bѶ@ZrjRJB!~!~I}I|I|I|UY@|U\?}checking for new query: numPingsReceived=62, elapsed TxPingTime=30.515644 |B=I)?jE>E ?E EE5EF-=F-=K JP"K 9*K 2K ~ :K [uUj-(di)G%vec:y:NHN".EfYqkJq  A 6Gy 9 5 DDAT read: Rx Time:13:53:05.5675 M TRx dataTimestamp_ set to:1749131586.807926m PDAT read: Bearing 94.7, 12.3 (Local) u ~Local bearing/azimuth received: Bearing 94.7, 12.3 (Local) ~Gy A DAT read: Range 10 to 50 : 103.7 m (trip time 69.1 ms) speed 0.0 A N>#-,CPhA~DAT read: 13:53:05.5675 LVL= 22608, 32753, 26674, 32755, AGC= 64, IDX= 508,-0.32,-2.878, 2.688, 1.361, 2.321, PHS= 1.172, 0.414,-0.963, RAW= 50.5, -6.7, CAL= 55.3, -12.3, ROT= 94.7, 12.3 MYgot valid direction response: 13:53:05.5675 LVL= 22608, 32753, 26674, 32755, AGC= 64, IDX= 508,-0.32,-2.878, 2.688, 1.361, 2.321, PHS= 1.172, 0.414,-0.963, RAW= 50.5, -6.7, CAL= 55.3, -12.3, ROT= 94.7, 12.3 MT#Rx 63: Read range and direction messages.U`direction in FSK: [-0.080058,0.973760,-0.213030]UFpublishing direction and range infoy'Z~L )?AzUmD˿fBY PX)I2hi@?>+vԁ ܢa?)|I0w?i[ԏ?[> )A?(Dyr߽iAEK=ԏ?[> ) checking for new query: numPingsReceived=63, elapsed TxPingTime=30.8912439m\}@m@Ymw&ym:>mH߿?˿@`,޿?Ϥ?;?r? m\}@mا;)iBHIAMb@Mb@Mb@ )YCl?{Gzt?/$yd?ף;A )@IQ@y@I I 3  =y%;Q %>٥!! %H!-]:= ->q}-5u?}-59uz Iu^By}}?:@uREiuQ:uM:uq-5AԱZbPhABB@ʁY g| :Y@o55'Z~L )?AzUmD˿ԏ?[>ҁB>@G?VGۿ#?z/BjvcԜ?rHoQ BIEќ?*w  xBBT@checking for new query: numPingsReceived=63, elapsed TxPingTime=31.0186635 addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.507913 s, deltaX: 0.199997 m, approachRate: 0.393762 m/s, rangeRepo size: 4 m Added new target pos. range: 102.971115 m, bearing: 334.722493 deg, lat: 36.906671 deg, lon: -122.116417 deg, deltaT: 0.507913 s, deltaX: 0.198586 m, approachRate: 0.390983 m/s, posRepo size: 4 imFNOT Ignoring new targets: 102.97 m.qq ProNav: ac range: 102.971115 m, nav range: 102.889503 m, bearing: 324.671166 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 337.891343 deg, new cmd heading: 338.455412 deg. HeadingCmd: 5.907161 target range: 102.971115 and range: 103.70 m.bw@ZrjRJB~~}B}||!|%Y@|-9a? |B靕7ۥ x ܥ T_?)ܥ 4QϽIܥ *r?iܥ Bܥ ?ܥ B> ݡ )ݡ ݥ `Ԯ?m*"s㹿iݥ .ݥ cv=ݥ ?ݥ B> ޡ )ޡ 16G=ȹGe@AGe@AHm>HiHm~IHm BHiHiHiHmΚ<HmEHe͗CHe͗CHaHe =Ie = IeV6checking for new query: numPingsReceived=64, elapsed TxPingTime=31.292938~GA)AQNm?X5,wPhA:J*fBJ(JJ*DRJ(ZJ*|":bJ(J*4J(zJ*;jJ*;J(rJ(9]ژ@]ֆ@Y]Jk!y] >]H޿=??`˿ t`ܿ`?,??? ]ژ@] ;)]CB\III 3b= ==yt=;Q >٥ HFn= >--5?--59 I`By)-Z-@WEi:;u-5Y]AYZb(PhAHc@ʁ'׳o$0N$&Y@J#bx3b'+WgD"pC?oG4ȿ?B>ҁ!cSW@ NC<(Rz@(q?ݮ|ؿI&d?zwzBjԎ"՜?r8 -BWɛӜ?  Bꁽ{B@ addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.500067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 102.971344 m, bearing: 337.307082 deg, lat: 36.906725 deg, lon: -122.116306 deg, deltaT: 0.500067 s, deltaX: 0.000229 m, approachRate: 0.000458 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.97 m.} ProNav: ac range: 102.971344 m, nav range: 102.740463 m, bearing: 331.275372 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 338.455408 deg, new cmd heading: 338.884002 deg. HeadingCmd: 5.914641 target range: 102.971344 and range: 103.70 m.bD@ZrjRJB~~}||||V?)checking for new query: numPingsReceived=64, elapsed TxPingTime=31.522524 |B#=I)Q>?I n   p\;ʱiD@iYE?EEE0EYKe NP"Ke }9*Ka 2Ke  :Ke 6:5h.; Yathrz8Sz6TsqvNJi Ji y 6G5 ~G A A N > %<,NPhABDDAT read: Rx Time:13:53:06.5676 BTRx dataTimestamp_ set to:1749131587.812004FPDAT read: Bearing 96.7, 10.7 (Local) J~Local bearing/azimuth received: Bearing 96.7, 10.7 (Local) RDAT read: Range 10 to 50 : 103.8 m (trip time 69.2 ms) speed 0.0 jDAT read: 13:53:06.5676 LVL= 22432, 28961, 29250, 32755, AGC= 59, IDX= 508,-0.14,-1.783,-2.427, 2.570,-2.764, PHS= 1.069, 0.384,-0.952, RAW= 49.5, -5.7, CAL= 53.3, -10.7, ROT= 96.7, 10.7 ~Ygot valid direction response: 13:53:06.5676 LVL= 22432, 28961, 29250, 32755, AGC= 59, IDX= 508,-0.14,-1.783,-2.427, 2.570,-2.764, PHS= 1.069, 0.384,-0.952, RAW= 49.5, -5.7, CAL= 53.3, -10.7, ROT= 96.7, 10.7 ~T#Rx 65: Read range and direction messages.`direction in FSK: [-0.114642,0.975902,-0.185667]Fpublishing direction and range info@yBEF .Y?:? &K{ǿBBY@ BW)B!qIBBri@B;BԈ?B>BFs B +]?)B%˽IB%n?iBt;?B?Bt;?> @)@B 8?:z :աXiB“B>=B?Bt;?> @)@%checking for new query: numPingsReceived=65, elapsed TxPingTime=31.795811ԙGQy #YyA9졀@@Yy/>Hݿ@?/˿@xԚۿd%?uS?s?? 졀@骕Ŋ;)Bonly read 0 of 1 data item for BIT error. Device response is::TS,2504 +10.9, 0.0,1493.1, 0 aI@a aM@a aQ@a aE@Թa II3; =ycM;Q >٥ HFGJ= >%-5絜?%-59 IaB%+:y!%:%-@\Ei:P?[y-552B5AUEZ@bBPhAB$BB$BB@ʁBTZ3'T%Y@X#3BEF .Y?:? &K{ǿB?Bt;?>ҁBqvX@|A ejH@B"?Bh0ֿX 4?zBBBjB՜?rB j 6 BˍBBvcԜ?BHoQ  BBBBB @] addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 0.504011 s, deltaX: 0.100006 m, approachRate: 0.198420 m/s, rangeRepo size: 4 m Added new target pos. range: 103.070648 m, bearing: 339.666111 deg, lat: 36.906752 deg, lon: -122.116242 deg, deltaT: 0.504011 s, deltaX: 0.099304 m, approachRate: 0.197028 m/s, posRepo size: 4 FNOT Ignoring new targets: 103.07 m. ProNav: ac range: 103.070648 m, nav range: 102.809341 m, bearing: 335.046251 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 338.883988 deg, new cmd heading: 339.391820 deg. HeadingCmd: 5.923505 target range: 103.070648 and range: 103.80 m.bZ@ZrjRJB~~}||| @3Y@| u? }|B}4=Iy)};?yIb gJ;(iZ@izE=checking for new query: numPingsReceived=65, elapsed TxPingTime=32.027924E ?E E E 0E F F  6G ȹZG RG A~G A A N >C, QhAD9zhy@z@Yzyz>zH`ۿb?$˿`j@r7ڿ ?ǒ?@?? zhy@z';)zC5B5nIImIm(*3}1= }r=y};Q ?٥ HF= ?-5o൜?-59y I :ye:@_EiA;_?J{-5A-DDAT read: Rx Time:13:53:07.0675 5TRx dataTimestamp_ set to:1749131588.315841EPDAT read: Bearing 96.3, 9.2 (Local) M~Local bearing/azimuth received: Bearing 96.3, 9.2 (Local) ]DAT read: Range 10 to 50 : 103.7 m (trip time 69.1 ms) speed 0.0 DAT read: 13:53:07.0675 LVL= 24928, 32753, 29490, 32755, AGC= 63, IDX= 507,-0.12, 3.083, 2.410, 1.144, 2.120, PHS= 1.051, 0.337,-0.979, RAW= 50.3, -4.6, CAL= 53.7, -9.2, ROT= 96.3, 9.2 Ygot valid direction response: 13:53:07.0675 LVL= 24928, 32753, 29490, 32755, AGC= 63, IDX= 507,-0.12, 3.083, 2.410, 1.144, 2.120, PHS= 1.051, 0.337,-0.979, RAW= 50.3, -4.6, CAL= 53.7, -9.2, ROT= 96.3, 9.2 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.108323,0.981175,-0.159881]Fpublishing direction and range info1y5-@ e?ČsvĿ5fBY1 5`a)5I52si15?5+?5D>5z 5`?)5lI5o?i5l$5"?5l$> 1)15 k?B|W>kA]ׯi5 5=5"?5l$> 1)1checking for new query: numPingsReceived=66, elapsed TxPingTime=32.295361H>HCHIHBH =HH/DH<HqEZ1b56QhA5B5B5^@ʁ51ON&u@,BY@gGv05-@ e?ČsvĿ5"?5l$>ҁ5(89X@4P@w١8"@5+)?2rtԿV F|?z55Bj5s՜?r5# 5B5Ԏ"՜?58  5ˍB5nB5@Թ addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.503837 s, deltaX: -0.100006 m, approachRate: -0.198489 m/s, rangeRepo size: 4  Added new target pos. range: 102.972420 m, bearing: 340.855269 deg, lat: 36.906767 deg, lon: -122.116196 deg, deltaT: 0.503837 s, deltaX: -0.098228 m, approachRate: -0.194961 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.97 m. ProNav: ac range: 102.972420 m, nav range: 102.716324 m, bearing: 337.599708 deg, approach rate: 0.000000 m/s, LOS rate: 0.333925 deg/s, cmd heading: 339.391827 deg, new cmd heading: 339.755999 deg.  HeadingCmd: 5.929861 target range: 102.972420 and range: 103.70 m.b l@Z r j R J1B1~1~1}9|9|9|=Y@|E륹? -|B-$=I1)51A?1I5YY 115;;=派9AiEl@iAEaEiEiEm0Ei  checking for new query: numPingsReceived=66, elapsed TxPingTime=32.530636 6G I ~G A A N J,O,QhA9nV@n_@Yn yn݅>nH` ڿ@d?˿d5@4ؿ ??1!?? nV@no;)nCKv\P"Kt*Kt2Kv :Kv2rT71ihh0~e1%.w] IN $j<qkBxII%I%25<= 5:=y5;Q =>٥99 =H9E}= E>iu-5m׵?u-59m ImbBu9yq}9:}}@mcEim:m?mT}-53BbAEB*** querying acoustic contact ***JR FNOT Ignoring new targets: 102.97 m.;;M ProNav: ac range: 102.972420 m, nav range: 102.719818 m, bearing: 337.748329 deg, approach rate: 0.008781 m/s, LOS rate: 0.373460 deg/s, cmd heading: 339.756012 deg, new cmd heading: 340.201851 deg. M&<HeadingCmd: 5.937643 target range: 102.972420 and range: 103.70 m.b+@ZrjRJB~~}||||? }BX*=I)C?IO DDAT read: Rx Time:13:53:07.5676 TRx dataTimestamp_ set to:1749131588.819934PDAT read: Bearing 95.6, 10.5 (Local) ~Local bearing/azimuth received: Bearing 95.6, 10.5 (Local) -DAT read: Range 10 to 50 : 103.8 m (trip time 69.2 ms) speed -0.1 MDAT read: 13:53:07.5676 LVL= 26576, 28497, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.077,-1.746,-2.994,-2.055, PHS= 1.066, 0.356,-0.942, RAW= 50.4, -5.5, CAL= 54.4, -10.5, ROT= 95.6, 10.5 UYgot valid direction response: 13:53:07.5676 LVL= 26576, 28497, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.077,-1.746,-2.994,-2.055, PHS= 1.066, 0.356,-0.942, RAW= 50.4, -5.5, CAL= 54.4, -10.5, ROT= 95.6, 10.5 UT#Rx 67: Read range and direction messages.]`direction in FSK: [-0.095949,0.978562,-0.182236]eFpublishing direction and range infoyaAaP?m~SǿBY g)QoIir?E>&q z0a?) ĽIs?if;?f;> )w+;Š5?f4ER/(Y izv=?f;>U갾Yaie+@iqIIa=:J\BJTJJCRJZJ=:bJ:9J4JE@M@M@M@ԩ )checking for new query: numPingsReceived=67, elapsed TxPingTime=32.886139EEEE1Ey  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.0351376G ~Gi Aq A N >NQ,UFQhA96@?@YAy^X>Hqؿ?jF̿h'1׿n? _??? 6@';)}BIA9aIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YOn?~jt?{Gzy?D<#/ A S@)@I@y@II2 = =y;Q >٥ H F ]P= >-5͵?%-59 IeB%T:y%?%:%7%@hEi;;-5U2BUAUEZby4QhA$B$BЪ@ʁ&2v{#ڊ,7Y@áO2aAaP?m~Sǿ?f;>ҁ6\)X@d,=t\@М@KV?kzҿ SS7%?zBjQ5֜?rE*ҫ ލB՜? j 6  ލBB`@ addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 0.504093 s, deltaX: 0.100006 m, approachRate: 0.198388 m/s, rangeRepo size: 4  Added new target pos. range: 103.071724 m, bearing: 343.178878 deg, lat: 36.906781 deg, lon: -122.116156 deg, deltaT: 0.504093 s, deltaX: 0.099304 m, approachRate: 0.196996 m/s, posRepo size: 4 FNOT Ignoring new targets: 103.07 m.EAU ProNav: ac range: 103.071724 m, nav range: 102.872902 m, bearing: 340.105379 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 340.201860 deg, new cmd heading: 340.804201 deg. Q]HeadingCmd: 5.948155 target range: 103.071724 and range: 103.80 m.b]JW@ZYrYajRJB~~}B}|||@3Y@|@ ?DDAT read: Rx Time:13:53:08.0674 TRx dataTimestamp_ set to:1749131589.323938PDAT read: Bearing 95.7, 12.4 (Local) ~Local bearing/azimuth received: Bearing 95.7, 12.4 (Local) DAT read: Range 10 to 50 : 103.5 m (trip time 69.0 ms) speed 0.1 DAT read: 13:53:08.0674 LVL= 29600, 32305, 32514, 32755, AGC= 63, IDX= 507,-0.32,-1.872,-2.505, 2.531,-2.861, PHS= 1.078, 0.403,-0.894, RAW= 49.7, -6.8, CAL= 54.3, -12.4, ROT= 95.7, 12.4 Ygot valid direction response: 13:53:08.0674 LVL= 29600, 32305, 32514, 32755, AGC= 63, IDX= 507,-0.32,-1.872,-2.505, 2.531,-2.861, PHS= 1.078, 0.403,-0.894, RAW= 49.7, -6.8, CAL= 54.3, -12.4, ROT= 95.7, 12.4 T#Rx 68: Read range and direction messages. `direction in FSK: [-0.097003,0.971843,-0.214735]Fpublishing direction and range infoکyڭA}\-ոLFV?h`r|˿ڭBYک ۭs)ۭ1~Iۭi۩۩ۭ? H<H<H%>H!H%IH%%BH!H!H!H%<H%(EۭV>ۭ/d ܭ^?)ܭIܭ_r?iܭk]ܭ?ܭk]> ݩ)ݩݭfu\f?8ciݭݭ=ݭ?ݭk]> ީ)ީMchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.307659  }B靥L=I)D?I :B o;iJW@iE E E E 0E ԩ Թ 6G ȹjG ?bG >echecking for new query: numPingsReceived=68, elapsed TxPingTime=33.539173~GAAN>uY,fQhA9 @/@Y2ۼy>HտD?1ο7`(ӿ;?u? Í?@.?  @;)C!K}/P"K}9*Ky2K} :K}l`Xe!76#611k\pZQE{u~\"9 DDAT read: Rx Time:13:53:08.5674 TRx dataTimestamp_ set to:1749131589.828059-PDAT read: Bearing 93.1, 14.3 (Local) -~Local bearing/azimuth received: Bearing 93.1, 14.3 (Local) =DAT read: Range 10 to 50 : 103.5 m (trip time 69.0 ms) speed -0.1 IeDAT read: 13:53:08.5674 LVL= 22960, 28449, 29602, 32755, AGC= 67, IDX= 507,-0.38,-2.570, 3.003, 1.740, 2.622, PHS= 1.179, 0.429,-0.885, RAW= 51.1, -8.0, CAL= 56.9, -14.3, ROT= 93.1, 14.3 mYgot valid direction response: 13:53:08.5674 LVL= 22960, 28449, 29602, 32755, AGC= 67, IDX= 507,-0.38,-2.570, 3.003, 1.740, 2.622, PHS= 1.179, 0.429,-0.885, RAW= 51.1, -8.0, CAL= 56.9, -14.3, ROT= 93.1, 14.3 mT#Rx 69: Read range and direction messages.u`direction in FSK: [-0.052403,0.967598,-0.246999]}Fpublishing direction and range infoy]HԪ1N?⩝ϿY Y)!oIsiCy?>\b &Qd?)5IM;~?ir?r> )`*?| yAi>?r> )checking for new query: numPingsReceived=69, elapsed TxPingTime=33.814758 BI) I- BAJe4JC4J0:JE `BJE VJJE JRJA ZJE :bJE B9JE 4JA  Iԁ Im Im 3 =  ٥  H F =  >  -5 õ? -59 I hBy  5 @ oEi < < -5A E AA ZbtQhABB @ʁ-loX@!'Ub9]HԪ1N?⩝Ͽ?r>ҁ8?]X@O<" ?IMb?pifѿj :?zmBj\A֜?rIn bH@<ӿy?Ͽࠂ 7%ҿM?|?M?? b{@b˽;)bCiz̏Cx)x xI| |)||||iIIiVA D)! !%!!uDDAT read: Rx Time:13:53:09.0673 uTRx dataTimestamp_ set to:1749131590.331965PDAT read: Bearing 90.6, 17.2 (Local) ~Local bearing/azimuth received: Bearing 90.6, 17.2 (Local) DAT read: Range 10 to 50 : 103.4 m (trip time 68.9 ms) speed 0.0 H>HHIH:BH =HHHښ<HEDAT read: 13:53:09.0673 LVL= 19488, 32753, 28370, 32755, AGC= 68, IDX= 506,-0.41, 0.562,-0.186,-1.441,-0.616, PHS= 1.266, 0.477,-0.828, RAW= 51.9, -10.0, CAL= 59.4, -17.2, ROT= 90.6, 17.2 Ygot valid direction response: 13:53:09.0673 LVL= 19488, 32753, 28370, 32755, AGC= 68, IDX= 506,-0.41, 0.562,-0.186,-1.441,-0.616, PHS= 1.266, 0.477,-0.828, RAW= 51.9, -10.0, CAL= 59.4, -17.2, ROT= 90.6, 17.2 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.010003,0.955226,-0.295708]%Fpublishing direction and range infoqyu~|uS u5g?)u¸2Ium?iu`ug?u`> q)qu:-? :yug?u`> q)q=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.320614aaezAIa)mFii)iImrAmi qٯq}+B}IMb@Mb@Mb@ )YOn?{Gz?{Gzy#< A )I@yp@II(*3]= ],=ye_;Q e>٥aa eHeFm$w= m>q}-5uȼ?}-59u! IujBy?:@usEiu:u:u-5;AZqbu>QhAuYBuYBu@ʁuBO!oX@I.b\>u~|ҁuB`X@إ=u/Ԯ?.WҿOyzuuSBju@ ֜?ru" utBu@ ֜?u"  uˍBuABu"@ԑ addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.503906 s, deltaX: -0.099998 m, approachRate: -0.198447 m/s, rangeRepo size: 4  Added new target pos. range: 102.675041 m, bearing: 343.034043 deg, lat: 36.906792 deg, lon: -122.116106 deg, deltaT: 0.503906 s, deltaX: -0.099388 m, approachRate: -0.197235 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.68 m. ProNav: ac range: 102.675041 m, nav range: 102.628677 m, bearing: 343.034237 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 341.586284 deg, new cmd heading: 342.112582 deg. HeadingCmd: 5.970991 target range: 102.675041 and range: 103.40 m.b\@ZrjIRIJIBI~Q~U}B}Q|Q|Y|]Y@|]? }#}B} F*=I)L?I# d:ן!i%\@i)Թ- checking for new query: numPingsReceived=70, elapsed TxPingTime=34.547096E ?E E E -1E 6G K@P"K@9*K2K :K|Cn['~J]tR'!nXy]<8r +`p+%&)>~GAAN>k,EfQhA9~ه@~[@Y~ߢy~>~H`NϿ@?п jͿ$?@[?@?? ~ه@~Q;)~C;BI a=a=II3"= E=y6DDAT read: Rx Time:13:53:09.5676  TRx dataTimestamp_ set to:1749131590.837726PDAT read: Bearing 87.5, 18.3 (Local) %~Local bearing/azimuth received: Bearing 87.5, 18.3 (Local) 5DAT read: Range 10 to 50 : 103.8 m (trip time 69.2 ms) speed 0.0 UDAT read: 13:53:09.5676 LVL= 17136, 31505, 25970, 31411, AGC= 67, IDX= 506, 0.40, 2.111, 1.301, 0.114, 0.894, PHS= 1.305, 0.453,-0.784, RAW= 53.9, -10.7, CAL= 62.5, -18.3, ROT= 87.5, 18.3 ]Ygot valid direction response: 13:53:09.5676 LVL= 17136, 31505, 25970, 31411, AGC= 67, IDX= 506, 0.40, 2.111, 1.301, 0.114, 0.894, PHS= 1.305, 0.453,-0.784, RAW= 53.9, -10.7, CAL= 62.5, -18.3, ROT= 87.5, 18.3 eT#Rx 71: Read range and direction messages.m^direction in FSK: [0.041413,0.948522,-0.313992]mFpublishing direction and range infoy. 4?DyJZ?v9sԿBY B){IreizC= ?>9H p?)t;?IX?iƇz?Ƈ> )Rwˀ?Q+hJ+Iǿi-?>z?Ƈ> )checking for new query: numPingsReceived=71, elapsed TxPingTime=34.822403٥ HF! > >-5뷵?-59 IkBy @wEi::-53BAEi:J^BJTJJCRJZJ} :bJ:9J4JZbNQhA$B$B9Ϳ@ʁ @ qX@@uh.@. 4?DyJZ?v9sԿz?Ƈ>ҁ\MsX@Zc=3$EZO? s6?ҿB(zkBj!6֜?re BpBQ5֜?e  Ps,'lQhA DDAT read: Rx Time:13:53:10.0674  TRx dataTimestamp_ set to:1749131591.340477PDAT read: Bearing 85.9, 21.0 (Local) G9G=?AHE>HAHEIHEIBHE =HAHAHAHA5~Local bearing/azimuth received: Bearing 85.9, 21.0 (Local) EDAT read: Range 10 to 50 : 103.5 m (trip time 69.0 ms) speed 0.1 5DAT read: 13:53:10.0674 LVL= 18976, 32753, 22354, 28515, AGC= 65, IDX= 505, 0.10, 1.293, 0.438,-0.777,-0.041, PHS= 1.422, 0.526,-0.739, RAW= 54.4, -12.8, CAL= 64.1, -21.0, ROT= 85.9, 21.0 =Ygot valid direction response: 13:53:10.0674 LVL= 18976, 32753, 22354, 28515, AGC= 65, IDX= 505, 0.10, 1.293, 0.438,-0.777,-0.041, PHS= 1.422, 0.526,-0.739, RAW= 54.4, -12.8, CAL= 64.1, -21.0, ROT= 85.9, 21.0 =T#Rx 72: Read range and direction messages.E^direction in FSK: [0.066749,0.931191,-0.358368]EFpublishing direction and range info y A^n?SqxQ?.*ֿ BY   J) I RWi co A ? ? /= s?) dI f3?i f ? f> )  B?h?lKCA^̿i  Zd> ? f> ) checking for new query: numPingsReceived=72, elapsed TxPingTime=35.3849078BI! Mb@Mb@Mb@ ) Y  +?~jtx?Mbpy ? ;  A ) @I y @I I F3  U ٥Y Y ] H] F] ] x>a ױ ׵ A checking for new query: numPingsReceived=72, elapsed TxPingTime=35.554672 -5e ? -59e Ie oBy ? : 3 @e ~Eie tҁ fTX@:? ! :+p.M?Epӿh&az  Bj ]՜?r 5  \B   tB B @  addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 0.502751 s, deltaX: -0.300003 m, approachRate: -0.596723 m/s, rangeRepo size: 4   Added new target pos. range: 102.774529 m, bearing: 341.898996 deg, lat: 36.906796 deg, lon: -122.116103 deg, deltaT: 0.502751 s, deltaX: -0.297707 m, approachRate: -0.592155 m/s, posRepo size: 4 I ] FNOT Ignoring new targets: 102.77 m.  %  ProNav: ac range: 102.774529 m, nav range: 102.962654 m, bearing: 343.653837 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 342.670891 deg, new cmd heading: 343.407476 deg. ! = HeadingCmd: 5.993591 target range: 102.774529 and range: 103.50 m.be ˿@Zi ri ji Ri Jq B ~ ~ ~B} | | | Y@| `S ݁)݁IyI}@A:J]BJQJJTRJZJ]:bJ-.9J5J݅Ak?R.j0пi݅T݅iׁ>݅V?݅%>~GA9AaN4?B}~,QhA a)abchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.937729 C)ɿO   i hI  I@CilA ) !!!!-ُC)I)))i))1I5A11 111YYiYaٯamIBmIiu٥ HF >)5-5-5?5-59- I-qBy=S?=:==@-Ei-(;-F;-ۚ-5amIAqԉZabe2QhAeBeBe▾@ʁe!a@ .}W@C$Cej?U7je?h%ؿeV?e%>ҁe|maF5X@"{o@` _2(e(Pz?!$BnԿmze}eBje/՜?re=b( e.PBe@ ֜?e"  eBpBe$Be@ addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.506330 s, deltaX: 0.199997 m, approachRate: 0.394993 m/s, rangeRepo size: 4  Added new target pos. range: 102.973129 m, bearing: 341.248990 deg, lat: 36.906792 deg, lon: -122.116106 deg, deltaT: 0.506330 s, deltaX: 0.198601 m, approachRate: 0.392236 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.97 m. ProNav: ac range: 102.973129 m, nav range: 102.571800 m, bearing: 343.591980 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 343.407486 deg, new cmd heading: 344.050052 deg. HeadingCmd: 6.004806 target range: 102.973129 and range: 103.70 m.b_'@ZrjRJ!B!~!~%6~B})|)|)|-Y@|5V? D}B靥/=I)S?I f"y:i_'@izEE E E E O0E % <% <- DDAT read: Rx Time:13:53:11.0673 5 TRx dataTimestamp_ set to:1749131592.348248= PDAT read: Bearing 81.1, 23.3 (Local) HM >HI HM IHM XBHI HI HI HM <HM EH̘CH̘CHH =I = I^4u ~Local bearing/azimuth received: Bearing 81.1, 23.3 (Local)  DAT read: Range 10 to 50 : 103.4 m (trip time 68.9 ms) speed 0.1  DAT read: 13:53:11.0673 LVL= 15184, 26673, 16482, 17955, AGC= 60, IDX= 504, 0.03,-1.101,-2.073, 3.093,-2.557, PHS= 1.544, 0.531,-0.636, RAW= 57.7, -15.1, CAL= 68.9, -23.3, ROT= 81.1, 23.3  Ygot valid direction response: 13:53:11.0673 LVL= 15184, 26673, 16482, 17955, AGC= 60, IDX= 504, 0.03,-1.101,-2.073, 3.093,-2.557, PHS= 1.544, 0.531,-0.636, RAW= 57.7, -15.1, CAL= 68.9, -23.3, ROT= 81.1, 23.3  T#Rx 74: Read range and direction messages. ^direction in FSK: [0.142093,0.907388,-0.395545] Fpublishing direction and range info) y- ZmX+0?WnR ?EFTPٿ- BY) - P;)- 1hI- b@i- #F- <- ˡ?- ?- " - .?)- VI- ?i- 5о- -?- 5> ) )) - oܓ]?z]̣пi- HB- >- -?- 5> ) )) % checking for new query: numPingsReceived=74, elapsed TxPingTime=36.3431176Gȹ~GQAiAyN?,\RhA9^`@^ @Y^Z-Wy^̎>^H? \ѿ@O`ި?x?5?? ^`@^;)^CNBIII3=< EB=yE7Ա٥ H!> >-5?-59 IsByؿ @Ei:/$<-5QU AYZ)b-IRhA-YB-YB-3@ʁ-<1--@:kJW@yͪrND-ZmX+0?WnR ?EFTPٿ--?-5>ҁ-~|X@3;Bx%g*-Ey?Xѿ|D uz--Bj-ft=՜?r-cʪ -KB-ft=՜?) -\B-#B-@% addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.501441 s, deltaX: -0.299995 m, approachRate: -0.598267 m/s, rangeRepo size: 4 Mchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.562588} Added new target pos. range: 102.675629 m, bearing: 344.138199 deg, lat: 36.906788 deg, lon: -122.116106 deg, deltaT: 0.501441 s, deltaX: -0.297501 m, approachRate: -0.593291 m/s, posRepo size: 4 y}FNOT Ignoring new targets: 102.68 m. ProNav: ac range: 102.675629 m, nav range: 102.069008 m, bearing: 343.660104 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 344.050043 deg, new cmd heading: 344.496486 deg. HeadingCmd: 6.012598 target range: 102.675629 and range: 103.40 m.b4g@ZrjRJB~~}|||Y@|%`? M}BE=I) T?Id?Ի _?:n  i 4g@i EEEEP0E K] ُC9 m GG DDAT read: Rx Time:13:53:11.5674  TRx dataTimestamp_ set to:1749131592.869185 PDAT read: Bearing 76.9, 23.8 (Local) 6G % ޿Y! y% @A- ~Local bearing/azimuth received: Bearing 76.9, 23.8 (Local) E DAT read: Range 10 to 50 : 103.5 m (trip time 69.0 ms) speed 0.0 ~G A A N=>| ,@;RhA:DAT read: 13:53:11.5674 LVL= 14016, 24481, 16418, 19187, AGC= 60, IDX= 505,-0.48, 0.655,-0.480,-1.523,-0.917, PHS= 1.660, 0.484,-0.608, RAW= 61.2, -15.4, CAL= 73.1, -23.8, ROT= 76.9, 23.8 QYgot valid direction response: 13:53:11.5674 LVL= 14016, 24481, 16418, 19187, AGC= 60, IDX= 505,-0.48, 0.655,-0.480,-1.523,-0.917, PHS= 1.660, 0.484,-0.608, RAW= 61.2, -15.4, CAL= 73.1, -23.8, ROT= 76.9, 23.8 T#Rx 75: Read range and direction messages.=^direction in FSK: [0.207377,0.891149,-0.403545]=Fpublishing direction and range infoyaR? YJ?QٿBY 6)_I"@iJz?> ܸ?)IN?iȭԾ˫?ȭ> )ܨv?=V`%4 ѿiM>˫?ȭ> )checking for new query: numPingsReceived=75, elapsed TxPingTime=37.00997595~@5S@Y5Dy5>5Hxࠜ?Wxѿ 6 R>??`?:? 5~@5$i;)1i[BI) iiuchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.067329Mb@Mb@Mb@ )YQ?Q?~jtxy?u<Ļ A =@)@I@yf@I I(2{'=  =y%:Q ->٥19 =HEFMcP= U>i-5m`?-59m| ImtBy?:ҿ@mEimr;m;m-53BAEZb7RhABBx@ʁ')P5@V@DaR? YJ?Qٿ˫?ȭ>ҁ*1X@">??ʼz,>Γ!?5ӿ4_EzBj~՜?rrN} 9GB]՜?5  .PB{B@<@ԩ addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 0.520937 s, deltaX: 0.099998 m, approachRate: 0.191959 m/s, rangeRepo size: 4   Added new target pos. range: 102.774925 m, bearing: 341.966487 deg, lat: 36.906783 deg, lon: -122.116135 deg, deltaT: 0.520937 s, deltaX: 0.099297 m, approachRate: 0.190611 m/s, posRepo size: 4   FNOT Ignoring new targets: 102.77 m.% ProNav: ac range: 102.774925 m, nav range: 102.240364 m, bearing: 342.405569 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 344.496491 deg, new cmd heading: 345.155918 deg. !-HeadingCmd: 6.024107 target range: 102.774925 and range: 103.50 m.b-|@Z)r)j1R1J1B1~9~=O~B}9|9|9|EY@|E? X}B靥/<=I)W?I{ :9襄i|@iEM ?EI EI EI EI % DDAT read: Rx Time:13:53:12.0673 % TRx dataTimestamp_ set to:1749131593.3561185 PDAT read: Bearing 73.2, 23.3 (Local) 5 ~Local bearing/azimuth received: Bearing 73.2, 23.3 (Local) E DAT read: Range 10 to 50 : 103.4 m (trip time 68.9 ms) speed 0.1 m DAT read: 13:53:12.0673 LVL= 14400, 26337, 15778, 18307, AGC= 57, IDX= 503,-0.01, 0.738,-0.532,-1.466,-0.873, PHS= 1.699, 0.388,-0.596, RAW= 64.7, -14.8, CAL= 76.8, -23.3, ROT= 73.2, 23.3 u Ygot valid direction response: 13:53:12.0673 LVL= 14400, 26337, 15778, 18307, AGC= 57, IDX= 503,-0.01, 0.738,-0.532,-1.466,-0.873, PHS= 1.699, 0.388,-0.596, RAW= 64.7, -14.8, CAL= 76.8, -23.3, ROT= 73.2, 23.3 u T#Rx 76: Read range and direction messages. ^direction in FSK: [0.265460,0.879247,-0.395545] Fpublishing direction and range info! y%  $L?-t"?EFTPٿ% BY! % @8)% fI% =i% G% 9% x?% >% u % ?)% AI% ?i% 5о% Ƈ?% 5> ! )! % Z?49%o>{ [пi% w% 2P>% Ƈ?% 5> ! )!  checking for new query: numPingsReceived=76, elapsed TxPingTime=37.336205 H <H H >H H IH gBH  =H H H Қ<H E6GȹZGRG:J9BJ=OJJ=@RJ9ZJ9bJ=%9J=J4J9zJ=:MjJ=:MJ=~&:UrJ=&:U~GiAqAN?,[RhA9Jh@J}r@YJJHƲ ?9ѿ d`qG?@? R?? Jh@Jp;)JCvTBvII-I-?13=  =h=y=:Q =>٥ HF= >-5?-59 IuByԡο@Ei;;Ӧ-5AZ b VRhA YB YB @ʁ `EA;@SV@x(nND  $L?-t"?EFTPٿ Ƈ? 5>ҁ $zW@;WCA=B,  ko? տ0 z   ?Bj ,:՜?r i  EGB /՜? rN}  KB B @ addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.486933 s, deltaX: -0.099998 m, approachRate: -0.205364 m/s, rangeRepo size: 4  Added new target pos. range: 102.675262 m, bearing: 340.145136 deg, lat: 36.906778 deg, lon: -122.116141 deg, deltaT: 0.486933 s, deltaX: -0.099663 m, approachRate: -0.204675 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.68 m.  ProNav: ac range: 102.675262 m, nav range: 101.828262 m, bearing: 342.100184 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 345.155905 deg, new cmd heading: 345.535467 deg. 5HeadingCmd: 6.030732 target range: 102.675262 and range: 103.40 m.b=@Z9r9j9R9J9B9~A~A}A|A|I|MY@|M@$? _}Brd=I)R?I7& 9Ai@i=checking for new query: numPingsReceived=76, elapsed TxPingTime=37.571495E?EEEE6G ) KM 8P"KM @9*KI 2KM :KM k S ,[ P $b(jwo!:q-7f2%)caN#JQ JQ ~G A A N >˜,ƨuRhA96^@6g@Y6u/y6Cj>6H@@? ѿ`@6r? s?F?? 6^@6 ;)6CVDDAT read: Rx Time:13:53:12.5672 VTRx dataTimestamp_ set to:1749131593.859998^PDAT read: Bearing 69.7, 21.9 (Local) ^~Local bearing/azimuth received: Bearing 69.7, 21.9 (Local) fDAT read: Range 10 to 50 : 103.2 m (trip time 68.8 ms) speed 0.0 ~DAT read: 13:53:12.5672 LVL= 12992, 25569, 13490, 16563, AGC= 58, IDX= 502, 0.38, 2.141, 0.764,-0.037, 0.563, PHS= 1.667, 0.248,-0.603, RAW= 68.2, -13.1, CAL= 80.3, -21.9, ROT= 69.7, 21.9 Ygot valid direction response: 13:53:12.5672 LVL= 12992, 25569, 13490, 16563, AGC= 58, IDX= 502, 0.38, 2.141, 0.764,-0.037, 0.563, PHS= 1.667, 0.248,-0.603, RAW= 68.2, -13.1, CAL= 80.3, -21.9, ROT= 69.7, 21.9 %ZB-IT#Rx 77: Read range and direction messages.M^direction in FSK: [0.321900,0.870207,-0.372988]MFpublishing direction and range infoTyVAp?Q?0׿VfBYT V2)VcIV4iV@V:VB`?V}>V5^ V:\?)V jIVUd?iVEþV?VE> T)TV#;Zd}G?ZN{7ͿiVZgVCj>V?VE> T)TI1I1Uchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.868938M< m;=yuq:Q u>٥yy }H}F= >-5:?-59 IvBy˿@EiE::-5AZTbV5 wRhAVBVBV @ʁVJ!\~@@ lϕBKV@"-|CVAp?Q?0׿V?VE>ҁVQW@+̢B)YT)V 卢|?1 G׿G_zVV:BjV,[/Ԝ?rV( V NBV~՜?V=b(  TVBV=@AU addTargetRange:: Added new target pos. range: 103.199997 m, deltaT: 0.503880 s, deltaX: -0.200005 m, approachRate: -0.396929 m/s, rangeRepo size: 4  Added new target pos. range: 102.476654 m, bearing: 338.498801 deg, lat: 36.906777 deg, lon: -122.116150 deg, deltaT: 0.503880 s, deltaX: -0.198608 m, approachRate: -0.394158 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.48 m. ProNav: ac range: 102.476654 m, nav range: 101.873901 m, bearing: 341.803998 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 345.535473 deg, new cmd heading: 346.086329 deg. HeadingCmd: 6.040346 target range: 102.476654 and range: 103.20 m.bJ@ZrjRJB~~ } | ||Y@|K? j}B靍5D=I)xR?Is s8تxiJ@imchecking for new query: numPingsReceived=77, elapsed TxPingTime=38.076115qEEEEO0Eԡ 6G ~Gq Ay A N >T,^+RhA9q?@I@Y/y>H L? ?Aѿ@?Juy??7??r? q?@$;)C1UbBUIuDDAT read: Rx Time:13:53:13.0670 uTRx dataTimestamp_ set to:1749131594.363915PDAT read: Bearing 66.6, 20.9 (Local) ~Local bearing/azimuth received: Bearing 66.6, 20.9 (Local) DAT read: Range 10 to 50 : 102.9 m (trip time 68.6 ms) speed 0.0 H>HHIHrBH =HHHӚ<HDAT read: 13:53:13.0670 LVL= 15152, 27121, 16594, 20595, AGC= 58, IDX= 501,-0.12,-0.760,-2.202,-2.848,-2.273, PHS= 1.601, 0.118,-0.578, RAW= 71.8, -11.8, CAL= 83.4, -20.9, ROT= 66.6, 20.9 Ygot valid direction response: 13:53:13.0670 LVL= 15152, 27121, 16594, 20595, AGC= 58, IDX= 501,-0.12,-0.760,-2.202,-2.848,-2.273, PHS= 1.601, 0.118,-0.578, RAW= 71.8, -11.8, CAL= 83.4, -20.9, ROT= 66.6, 20.9 T#Rx 78: Read range and direction messages.^direction in FSK: [0.371017,0.857370,-0.356738]Fpublishing direction and range infoqyuB q)qu>?t)Jn[=q8ʿiuYtWu>S>u,ɔ?uú> q)qmMb@Mb@Mb@iii i)iYmA`"?I +?y&1|ym?m9٥qq uHq:JZBJPJJGRJZJ9bJ*9Jc4JzJ-:jJ2:J-:rJ-:checking for new query: numPingsReceived=78, elapsed TxPingTime=38.377632}= >-5?-59 IxBy3?:+¿@Ei::"-5AZqbubJRhAu[Bu[BuGE@ʁu>'zB@vU@J%ɸ9BuBҁuE5RwW@ c 'KBl |+&u?1䂡ֿ7ŻzuYuBjuԜ?ru謮 unTBu,:՜?ui  quBu}#@ addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 0.503917 s, deltaX: -0.299995 m, approachRate: -0.595327 m/s, rangeRepo size: 4 = Added new target pos. range: 102.178497 m, bearing: 338.887719 deg, lat: 36.906766 deg, lon: -122.116178 deg, deltaT: 0.503917 s, deltaX: -0.298157 m, approachRate: -0.591678 m/s, posRepo size: 4 9EFNOT Ignoring new targets: 102.18 m.AA} ProNav: ac range: 102.178497 m, nav range: 101.466339 m, bearing: 340.441902 deg, approach rate: 0.000000 m/s, LOS rate: 0.373460 deg/s, cmd heading: 346.086341 deg, new cmd heading: 346.601970 deg. yHeadingCmd: 6.049345 target range: 102.178497 and range: 102.90 m.b=@ZrjRJB~~}~B}|||Y@|? t}B-ZM=I))5-T?1I5*a 19=*1)=soAAiE=@iArEu]>jEu>ԑE ?E E E P0E F F =  A% checking for new query: numPingsReceived=78, elapsed TxPingTime=38.578655 6G ~G A A N >A,7RhA9r-@r7@Yr=yr`(>rH@? ?Pѿ@bx?M;?@L?r? r-@r};)rC \B IIIV83M Mh=yUQ U>٥QQ UHUF]t= ]>-5?-596 IyByq@Ei2::--5AEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 102.18 m.=y;=y;M ProNav: ac range: 102.178497 m, nav range: 101.380760 m, bearing: 340.549187 deg, approach rate: -0.257083 m/s, LOS rate: 0.322560 deg/s, cmd heading: 346.601966 deg, new cmd heading: 346.924089 deg. M^]<UHeadingCmd: 6.054967 target range: 102.178497 and range: 102.90 m.bUK@KֶP"Kŷ9*K2K :KF./787dAk ] j8x88`}\lmF-!F|/gjZQrjRJB~~}||||?1 M|}BM(s=I)gO?IX= HiiK@iDDAT read: Rx Time:13:53:13.5671 TRx dataTimestamp_ set to:1749131594.868035 PDAT read: Bearing 62.9, 19.1 (Local)  ~Local bearing/azimuth received: Bearing 62.9, 19.1 (Local) DAT read: Range 10 to 50 : 103.1 m (trip time 68.7 ms) speed 0.1 EDAT read: 13:53:13.5671 LVL= 17104, 30049, 17762, 23155, AGC= 58, IDX= 501, 0.27, 0.644,-0.877,-1.338,-0.785, PHS= 1.517,-0.045,-0.556, RAW= 76.3, -9.8, CAL= 87.1, -19.1, ROT= 62.9, 19.1 MYgot valid direction response: 13:53:13.5671 LVL= 17104, 30049, 17762, 23155, AGC= 58, IDX= 501, 0.27, 0.644,-0.877,-1.338,-0.785, PHS= 1.517,-0.045,-0.556, RAW= 76.3, -9.8, CAL= 87.1, -19.1, ROT= 62.9, 19.1 MT#Rx 79: Read range and direction messages.U^direction in FSK: [0.430467,0.841206,-0.327218]UFpublishing direction and range infoyÌ?(?#e#Կ3BY B)auIbEisZ-?Q8V t?)%/IQ?i㭪?㭪> )"*'=?:0,忻8ſi3/C8/>?㭪> )checking for new query: numPingsReceived=79, elapsed TxPingTime=38.853828EEEE_0EI R=I p=yԉ 6G ~G A  checking for new query: numPingsReceived=79, elapsed TxPingTime=39.083767A N >/&,RhA<9-@-~)@Y-YNy->-H??Zaѿ@@?)L@ˉ?z^?? -@-;))aBIԙMb@Mb@Mb@ )Y333333?:v?y&1|y?T< )@I@yf@IIT35m< ==y=Q =>٥9A EHEFEc= E>q}-5u?}-59u IuzBy?:@uEiu5;u;uѶ-5AZ1b5㍷RhA5B5B5[@ʁ5?F@#U@x@5Ì?(?#e#Կ5?5㭪>ҁ5m ) s, +? 0gqÿi_|3(> ?> )checking for new query: numPingsReceived=80, elapsed TxPingTime=39.354301GAGEAAH߼>HCHIH|BH =HH.DH<H(EJB~~\~B}|||@3Y@|@&? M}BMX:=II)MN?IIU QQUi UM`yir @i:J- [BJ- NJJ- DRJ) ZJ- :bJ- !9J- 4J) zJ- :jJ- :J- T:rJ- W: E E E E O0E ! 6G=ZG9RG9checking for new query: numPingsReceived=80, elapsed TxPingTime=39.587151~GA)AIN?9,RhA9@@Ycy>Hh?7?Vѿ a?`>|?@jW?? @Y;)CMbBUIII[3; G=yOQ >٥ HC= >-5V?-59 I{By ¸ @EiM<<g-515A9ZibmRhAm'Bm'Bmm@ʁmExlHH@VU@2*_?mvs?0adT_?uYӿm ?m>ҁm)HW@BxCu"cmŚ_cy?ʙoؿ hn{߰zmm Bjm6Ԝ?rmۺ" meBmԜ?m(  mnTBmBml`@ addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 0.503886 s, deltaX: -0.299995 m, approachRate: -0.595364 m/s, rangeRepo size: 4  Added new target pos. range: 102.077248 m, bearing: 337.379859 deg, lat: 36.906759 deg, lon: -122.116211 deg, deltaT: 0.503886 s, deltaX: -0.299843 m, approachRate: -0.595061 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.08 m.= ProNav: ac range: 102.077248 m, nav range: 101.360886 m, bearing: 339.077592 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 347.449701 deg, new cmd heading: 347.846261 deg. 9EHeadingCmd: 6.071063 target range: 102.077248 and range: 102.80 m.bE%F@ZArAjARAJABA~I~IQ}i|q|q|q|u@O? m}Bm[`=Iq)u M?qIufZ qquSZ}6Yyi%F@iKMP"KM@9*KI2KM :KMQV(/=f`QZYI/*a&I*0xS(jeDDAT read: Rx Time:13:53:14.5669 mTRx dataTimestamp_ set to:1749131595.879591uPDAT read: Bearing 57.5, 18.3 (Local) u~Local bearing/azimuth received: Bearing 57.5, 18.3 (Local) yDAT read: Range 10 to 50 : 102.8 m (trip time 68.5 ms) speed 0.0 DAT read: 13:53:14.5669 LVL= 16624, 32241, 19586, 26803, AGC= 63, IDX= 500, 0.24, 2.402, 0.752, 0.530, 1.005, PHS= 1.484,-0.207,-0.479, RAW= 82.7, -8.7, CAL= 92.5, -18.3, ROT= 57.5, 18.3 Ygot valid direction response: 13:53:14.5669 LVL= 16624, 32241, 19586, 26803, AGC= 63, IDX= 500, 0.24, 2.402, 0.752, 0.530, 1.005, PHS= 1.484,-0.207,-0.479, RAW= 82.7, -8.7, CAL= 92.5, -18.3, ROT= 57.5, 18.3 T#Rx 81: Read range and direction messages.^direction in FSK: [0.510126,0.800737,-0.313992]Fpublishing direction and range infoiym R?FG?v9sԿiYi m@)m}ImLimhm?m?mSm}? m?)iIm?imƇmt?mƇ> i)im^*g%?k7J0[|`ÿim&mԟ>mt?mƇ> i)ichecking for new query: numPingsReceived=81, elapsed TxPingTime=39.858463E?EEEEԹ 6G ~G A A N >,tShAx9~@~@Y~Ơyy~Ќ>~H ?ແ?`Yѿ oQ?@3? `?`7? ~@~|;)~CeBI-checking for new query: numPingsReceived=81, elapsed TxPingTime=40.093151!-Mb@Mb@Mb@))) )))Y--?I +?y&1|y-5?-9<)-\ A -/@)-@I))y-p@ImIm3u< })=y3Q >٥ HF@}= >-5?-59 I}ByQ?::@EiA; ;-5tAZ b 8KRhA   @ʁ #x? J@4,oT@a@  R?FG?v9sԿ t? Ƈ>ҁ jiaW@;LDXZk J/ R?f(ٿM#X1z  Bj Yz1yԜ?r '  ^aB ,[/Ԝ? lV  _B B y2@ addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 0.507670 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 102.077248 m, bearing: 336.779137 deg, lat: 36.906757 deg, lon: -122.116221 deg, deltaT: 0.507670 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  5FNOT Ignoring new targets: 102.08 m.99M ProNav: ac range: 102.077248 m, nav range: 101.354805 m, bearing: 338.756210 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 347.846262 deg, new cmd heading: 348.326238 deg. I}HeadingCmd: 6.079440 target range: 102.077248 and range: 102.80 m.bŊ@ZrjRJB~~E~B}||||? }B ZN=I))-K?)I5 115=P99i=Ŋ@iAIE?EEEP0E DDAT read: Rx Time:13:53:15.0668 H >H H IH BH  =H H H Қ<H E% TRx dataTimestamp_ set to:1749131596.3817885 PDAT read: Bearing 57.9, 15.8 (Local) = ~Local bearing/azimuth received: Bearing 57.9, 15.8 (Local) U DAT read: Range 10 to 50 : 102.6 m (trip time 68.4 ms) speed 0.2 y  DAT read: 13:53:15.0668 LVL= 16000, 32753, 19426, 26419, AGC= 64, IDX= 499,-0.45,-1.196,-2.882,-3.104,-2.572, PHS= 1.464,-0.262,-0.534, RAW= 82.8, -7.2, CAL= 92.1, -15.8, ROT= 57.9, 15.8  Ygot valid direction response: 13:53:15.0668 LVL= 16000, 32753, 19426, 26419, AGC= 64, IDX= 499,-0.45,-1.196,-2.882,-3.104,-2.572, PHS= 1.464,-0.262,-0.534, RAW= 82.8, -7.2, CAL= 92.1, -15.8, ROT= 57.9, 15.8  T#Rx 82: Read range and direction messages. ^direction in FSK: [0.511321,0.815116,-0.272280] Fpublishing direction and range info y ez\?˺ln? ^ mѿ 3BY >) I Ki 3g @ Zd? $ 9 ?) I ?i 0 Y? 0> ) @I?$C3#1m>i A& .> Y? 0> )  checking for new query: numPingsReceived=82, elapsed TxPingTime=40.374405:J _BJ RJJ CRJ ZJ :bJ S29J 4J zJ +:jJ 0:J ;:rJ <:ԩ 6G ȹ~GAAN>L,O"ShA9b@b@Yb1yb8>bH?_??>ѿ?[ Ɛ?N?? b@b;)bCbBIII#3%] %Z=y%QJQ %>٥)) mHmFuB= u>y-5}?-59} I}Bya@}Ei}\: }:}-54BAEDDAT read: Rx Time:13:53:15.5667 TRx dataTimestamp_ set to:1749131596.634887checking for new query: numPingsReceived=82, elapsed TxPingTime=40.600636Zb7oShABB6@ʁyJ J@xT@Aa;ez\?˺ln? ^ mѿY?0>ҁ;hW@KLBAXA# H?P?ϒe׿@Hm8 zBj]\Ԝ?r 3sBԜ?  ^aBꁕLB@ addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 0.502197 s, deltaX: -0.200005 m, approachRate: -0.398259 m/s, rangeRepo size: 4  Added new target pos. range: 101.879456 m, bearing: 338.544568 deg, lat: 36.906759 deg, lon: -122.116229 deg, deltaT: 0.502197 s, deltaX: -0.197792 m, approachRate: -0.393854 m/s, posRepo size: 4 FNOT Ignoring new targets: 101.88 m. ProNav: ac range: 101.879456 m, nav range: 101.649048 m, bearing: 338.506289 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 348.326233 deg, new cmd heading: 348.751055 deg. 1=HeadingCmd: 6.086854 target range: 101.879456 and range: 102.60 m.b=@ZArAjARAJABA~I~I}I|I|q|u`fY@|}? }B'T=I)H?I.8 ,% I!!i%@i)EEEEEqK BP"K 9*K 2K :K CFlL7ng0cRI#r^4?-[ls(`jfin:m PDAT read: Bearing 56.5, 14.4 (Local) u ~Local bearing/azimuth received: Bearing 56.5, 14.4 (Local)  DAT read: Range 10 to 50 : 102.5 m (trip time 68.3 ms) speed 0.3  DAT read: 13:53:15.5667 LVL= 16736, 27825, 19250, 25187, AGC= 63, IDX= 499,-0.47, 0.559,-1.112,-1.259,-0.745, PHS= 1.392,-0.319,-0.517, RAW= 84.6, -6.2, CAL= 93.5, -14.4, ROT= 56.5, 14.4  Ygot valid direction response: 13:53:15.5667 LVL= 16736, 27825, 19250, 25187, AGC= 63, IDX= 499,-0.47, 0.559,-1.112,-1.259,-0.745, PHS= 1.392,-0.319,-0.517, RAW= 84.6, -6.2, CAL= 93.5, -14.4, ROT= 56.5, 14.4  T#Rx 83: Read range and direction messages.= ^direction in FSK: [0.534597,0.807688,-0.248690]E Fpublishing direction and range infoY y] Pj?M4 ?lϿ] BYY ] `A)] lI] 2Ki] cb] ?] -?] S] Z ] ?)] kݽI] ?ԑ i] ] q|?] > Y )Y ] WBa?*%Xo&Ƅi] 8] P=] q|?] > Y )Y  checking for new query: numPingsReceived=83, elapsed TxPingTime=40.8927546G jG ?bG ?~G A) Ai NM>:4,@ShA89ߖ@q@Y?y>H 09?A ? п5`E?쿥`?` ?? ߖ@骥`;)mBIԙDDAT read: Rx Time:13:53:16.0666 TRx dataTimestamp_ set to:1749131597.139343checking for new query: numPingsReceived=83, elapsed TxPingTime=41.104469Mb@Mb@Mb@ )YS?{Gz?Mby/?ף<E A )@I@y@I I 2:= =yYQ %>٥QQ UHUF]= ]>-5绵?-59 IByG?:#@Ei8:4:{-55AEZb8ShABB)@ʁ+4K@*d8T@yJ?+O9Pj?M4 ?lϿq|?>ҁhW@$JAhk~v$?A"xտԚ:zBjxJ՜?rkJ '{B]\Ԝ? eBꁕ/B-@ addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 0.501496 s, deltaX: -0.099998 m, approachRate: -0.199400 m/s, rangeRepo size: 4  Added new target pos. range: 101.780159 m, bearing: 340.397643 deg, lat: 36.906760 deg, lon: -122.116229 deg, deltaT: 0.501496 s, deltaX: -0.099297 m, approachRate: -0.198001 m/s, posRepo size: 4 FNOT Ignoring new targets: 101.78 m.- ProNav: ac range: 101.780159 m, nav range: 101.593300 m, bearing: 338.722130 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 348.751044 deg, new cmd heading: 349.298953 deg. )5HeadingCmd: 6.096417 target range: 101.780159 and range: 102.50 m.b5@Z1r1jYRYJYBY~a~eB~B}a|a|i|mY@|m`? }B.D=I)J?I:   Ժ $@? i @i E E E E 4E u PDAT read: Bearing 54.8, 12.5 (Local) } ~Local bearing/azimuth received: Bearing 54.8, 12.5 (Local)  DAT read: Range 10 to 50 : 102.2 m (trip time 68.1 ms) speed 0.3  DAT read: 13:53:16.0666 LVL= 17664, 29681, 18194, 27091, AGC= 62, IDX= 496, 0.22,-2.951, 1.714, 1.648, 2.134, PHS= 1.286,-0.374,-0.489, RAW= 86.7, -5.0, CAL= 95.2, -12.5, ROT= 54.8, 12.5  Ygot valid direction response: 13:53:16.0666 LVL= 17664, 29681, 18194, 27091, AGC= 62, IDX= 496, 0.22,-2.951, 1.714, 1.648, 2.134, PHS= 1.286,-0.374,-0.489, RAW= 86.7, -5.0, CAL= 95.2, -12.5, ROT= 54.8, 12.5  T#Rx 84: Read range and direction messages. ^direction in FSK: [0.562769,0.797775,-0.216440] Fpublishing direction and range infoi ym 'L3?ف4`?K˿m fBYi m E)m sIm Gim im >m ?m |m 5^ m ?)m ¸Im ȭ?im f_m Gt?m f_> i )i m E?Ubޣ+im m =m Gt?m f_> i )i  checking for new query: numPingsReceived=84, elapsed TxPingTime=41.370384 H H 4=H >H H IH BH  =H H H ߚ<H EH˗CHHH =I = I˕6 6Gȹ~GAAN?, bShA89RL̗@R՞@YRyR >RH`?k? п`=?.@? L*? ? RL̗@R?;)RCnpBnIIvIv<2]A< ]a=ye8Q e>٥aa eHam= >-5 ?-59N IByq@Ei;U;-5$AZbXShABBx@ʁy(L@o~g=T@/ 5'L3?ف4`?K˿Gt?f_>ҁ eW@(9ApB?^?TտW?z Bj+՜?r֧ B 3sBB;@UAUAuDDAT read: Rx Time:13:53:16.5666 }TRx dataTimestamp_ set to:1749131597.644545PDAT read: Bearing 54.2, 7.6 (Local) ~Local bearing/azimuth received: Bearing 54.2, 7.6 (Local) ԩchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.616791  addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 0.503783 s, deltaX: -0.300003 m, approachRate: -0.595501 m/s, rangeRepo size: 4  Added new target pos. range: 101.481537 m, bearing: 340.154997 deg, lat: 36.906760 deg, lon: -122.116229 deg, deltaT: 0.503783 s, deltaX: -0.298622 m, approachRate: -0.592759 m/s, posRepo size: 4 FNOT Ignoring new targets: 101.48 m. ProNav: ac range: 101.481537 m, nav range: 101.459305 m, bearing: 338.820250 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 349.298961 deg, new cmd heading: 349.686534 deg. HeadingCmd: 6.103181 target range: 101.481537 and range: 102.20 m.bCM@ZrjRJB~ ~ } | ||̌Y@|? }B靕Ae=Iܥ)J?I: MrR8iCM@iEEEEP0E 5 ÉGK] ?qP"K] 9*KY 2K] :K] b,x'~  )z.B [qI=PgY,ki gY y A DAT read: Range 10 to 50 : 102.2 m (trip time 68.1 ms) speed 0.2 - DAT read: 13:53:16.5666 LVL= 14992, 32321, 24402, 30499, AGC= 62, IDX= 511, 0.06,-1.786, 2.910, 2.891,-2.860, PHS= 1.163,-0.466,-0.535, RAW= 88.0, -2.0, CAL= 95.8, -7.6, ROT= 54.2, 7.6 = Ygot valid direction response: 13:53:16.5666 LVL= 14992, 32321, 24402, 30499, AGC= 62, IDX= 511, 0.06,-1.786, 2.910, 2.891,-2.860, PHS= 1.163,-0.466,-0.535, RAW= 88.0, -2.0, CAL= 95.8, -7.6, ROT= 54.2, 7.6 E T#Rx 85: Read range and direction messages.M ^direction in FSK: [0.579819,0.803939,-0.132256]U Fpublishing direction and range info y ~?Kg޹?) Y :) A~I R_i #w /ݔ?  ?) 5I ?i  *r? > ) Q?}JBx࿉eVi ; = *r? > ) u checking for new query: numPingsReceived=85, elapsed TxPingTime=41.8702166Gq ~GQ Aq A N >t,Q|ShAI.@AI.AA:J2]BJ2QJJ2BRJ0ZJ2]:bJ2-.9J2-4J06@6@6@6@<rBIԩMb@Mb@Mb@ )YX9v?{Gz?Mbpy? A )I@yz@I5I5(*3m! < u=yQ >٥ HF >DDAT read: Rx Time:13:53:17.0664 TRx dataTimestamp_ set to:1749131598.146483-PDAT read: Bearing 51.3, 3.6 (Local) 5~Local bearing/azimuth received: Bearing 51.3, 3.6 (Local) UDAT read: Range 10 to 50 : 101.9 m (trip time 67.9 ms) speed 0.3 -eZ#Rx 86: Read range message, but no direction.BYchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.139263-5ɵ?-59]% IBy% ?%:%-@Ei*<<-5quAyZb_ShA^B^B>C@ʁR"UM@!>zVT@w*~?Kg޹?) *r?>ҁ+{W@.m%B<#@C J?=AUֿK|.2?z+ٻBjjԜ?rC. ]BC.  '{BwB7T@  addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 0.759416 s, deltaX: -0.299995 m, approachRate: -0.395034 m/s, rangeRepo size: 4    Added new target pos. range: 101.183647 m, bearing: 338.873493 deg, lat: 36.906760 deg, lon: -122.116229 deg, deltaT: 0.759416 s, deltaX: -0.297890 m, approachRate: -0.392262 m/s, posRepo size: 4   FNOT Ignoring new targets: 101.18 m.    ProNav: ac range: 101.183647 m, nav range: 101.234299 m, bearing: 338.992203 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 349.686534 deg, new cmd heading: 350.278111 deg.   HeadingCmd: 6.113506 target range: 101.183647 and range: 101.90 m.b ء@Z r j R J B ~1 ~5 A~B}9 |9 |9 |= yY@|E HH!IHBH =HHHƚ<HE5^direction in FSK: [0.624009,0.778890,-0.062791]ک yڭ #w?d1?֏ Yک ۭ PF)ۭ AxIۭ Oiۭ 3iۭ ?ۭ }??ۭ V ۭ B` ܭ K?)ܭ ;Iܭ w?iܭ ܭ 5e?ܭ = ݩ ݭ 3?bo߿9qv|?iݭ ݭ 㻩ݭ 5e?ݭ =Mchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.378525E?EEE0Ey6GIZGQRGQ~G AA)N5 ?,ShA89R@R@YR%ㇼyR>RHr?i?} п m{ ?V(1??`? R@RW#;)RCzpB~IIMIM#3o "=y:Q  >٥MDDAT read: Rx Time:13:53:17.5664 ]TRx dataTimestamp_ set to:1749131598.652237}PDAT read: Bearing 49.2, 2.2 (Local) ~Local bearing/azimuth received: Bearing 49.2, 2.2 (Local)  HFi= >DAT read: Range 10 to 50 : 101.9 m (trip time 67.9 ms) speed 0.4 -Z#Rx 88: Read range message, but no direction.QQYQechecking for new query: numPingsReceived=88, elapsed TxPingTime=42.650036iu-5mҵ?ԡ}-59mM- ImByP@mEim ֿæp!E?zUUpBjUOԜ?rU( UBQQ UBU BUg@5 addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 0.505754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 101.184349 m, bearing: 338.734219 deg, lat: 36.906760 deg, lon: -122.116229 deg, deltaT: 0.505754 s, deltaX: 0.000702 m, approachRate: 0.001388 m/s, posRepo size: 4 AMFNOT Ignoring new targets: 101.18 m.I ProNav: ac range: 101.184349 m, nav range: 101.026611 m, bearing: 339.129861 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 350.278110 deg, new cmd heading: 350.732961 deg. HeadingCmd: 6.121445 target range: 101.184349 and range: 101.90 m.b@ZrjRJB~~}||||o? m}Bmf]=Iq)u:E?qIuTY; qq}}@%yi@iE!E!E!E%0E!K P"K ŷ9*K 2K :K *kz'L@U\NZPIWn5PkQ^FoV7 DAT read: 13:53:17.5664 LVL= 18512, 32753, 22066, 31539, AGC= 63, IDX= 509,-0.26,-2.672, 2.003, 2.140, 2.658, PHS= 1.041,-0.608,-0.522, RAW= 92.7, 1.1, CAL= 100.8, -2.2, ROT= 49.2, 2.2  Ygot valid direction response: 13:53:17.5664 LVL= 18512, 32753, 22066, 31539, AGC= 63, IDX= 509,-0.26,-2.672, 2.003, 2.140, 2.658, PHS= 1.041,-0.608,-0.522, RAW= 92.7, 1.1, CAL= 100.8, -2.2, ROT= 49.2, 2.2  Z#Rx 89: Read direction message, but no range. ^direction in FSK: [0.652939,0.756437,-0.038388] y }C?V4?. Y PH) I 2Vi 3{  ˡ ?) nFRJ ZJ } :bJ *9J t4J 6G% ~G A AY AAN>,3lShADDAT read: Rx Time:13:53:18.0661 -TRx dataTimestamp_ set to:1749131599.155689EPDAT read: Bearing 46.8, -2.6 (Local) M~Local bearing/azimuth received: Bearing 46.8, -2.6 (Local) uDAT read: Range 10 to 50 : 101.4 m (trip time 67.6 ms) speed 0.3 -Z#Rx 90: Read range message, but no direction.!%BY!checking for new query: numPingsReceived=90, elapsed TxPingTime=43.149975tBI Mb@Mb@Mb@ )YʡE?V-?:vy?<TA )I@y=@II[358< 5=y5Q 5>٥99 =H=F= >-5Sݵ?-5936 IBy?:@EiA<TA<P-5 AEZ!b%ShA%`B%`B%@ʁ%ћoP@z S@.o%}C?V4?.%[?%nF=ҁ% V@x!QCH0@%Փv ?hp<ٿY1?z%%Bj%Ӝ?r%>KL %rB%jԜ?! %]B%}B%m@ addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 0.503452 s, deltaX: -0.500000 m, approachRate: -0.993143 m/s, rangeRepo size: 4  Added new target pos. range: 100.687859 m, bearing: 336.416473 deg, lat: 36.906755 deg, lon: -122.116229 deg, deltaT: 0.503452 s, deltaX: -0.496490 m, approachRate: -0.986172 m/s, posRepo size: 4 FNOT Ignoring new targets: 100.69 m. ProNav: ac range: 100.687859 m, nav range: 100.244835 m, bearing: 339.166168 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 350.732973 deg, new cmd heading: 351.271525 deg. -HeadingCmd: 6.130845 target range: 100.687859 and range: 101.40 m.b-/@Z)r)j)R)J)B)~19~5}B}q|y|y|}YY@|}pw? }BDK=I)D?I; 234 i /@i  DAT read: 13:53:18.0661 LVL= 19440, 30241, 22114, 32531, AGC= 63, IDX= 506, 0.40,-2.607, 2.144, 2.332, 2.867, PHS= 0.898,-0.675,-0.537, RAW= 94.5, 4.2, CAL= 103.2, 2.6, ROT= 46.8, -2.6  Ygot valid direction response: 13:53:18.0661 LVL= 19440, 30241, 22114, 32531, AGC= 63, IDX= 506, 0.40,-2.607, 2.144, 2.332, 2.867, PHS= 0.898,-0.675,-0.537, RAW= 94.5, 4.2, CAL= 103.2, 2.6, ROT= 46.8, -2.6  Z#Rx 91: Read direction message, but no range. \direction in FSK: [0.683842,0.728218,0.045363]G G H >H CH 'IH BH  =H H /DH <H ~Eک yڭ kn ?7:M?99?Yک ۭ K)ۭ !vIۭ bViۭ ۩ ۭ Te?ۭ ,ۭ x ܭ r?)ܭ Q =Iܭ ?iܭ 9=ܭ Q?ܭ 9 ݩ ݭ j12?wSoۿ5'@ɲ?iݭ {㾉ݭ lݭ Q?ݭ 9 checking for new query: numPingsReceived=91, elapsed TxPingTime=43.380169ԉ >E EqEqEqEuP0Eyԡ}DDAT read: Rx Time:13:53:18.5661 TRx dataTimestamp_ set to:1749131599.6596646GȹjG?bG>PDAT read: Bearing 44.2, 0.8 (Local) ~Local bearing/azimuth received: Bearing 44.2, 0.8 (Local) ~GAAN%?,!ShAnDAT read: Range 10 to 50 : 101.4 m (trip time 67.6 ms) speed 0.4 %DAT read: 13:53:18.5661 LVL= 18608, 32753, 24450, 32755, AGC= 64, IDX= 506, 0.10,-1.566, 3.089,-2.938,-2.474, PHS= 0.996,-0.673,-0.467, RAW= 96.5, 1.9, CAL= 105.8, -0.8, ROT= 44.2, 0.8 1uYgot valid direction response: 13:53:18.5661 LVL= 18608, 32753, 24450, 32755, AGC= 64, IDX= 506, 0.10,-1.566, 3.089,-2.938,-2.474, PHS= 0.996,-0.673,-0.467, RAW= 96.5, 1.9, CAL= 105.8, -0.8, ROT= 44.2, 0.8 }T#Rx 92: Read range and direction messages.9e(Y@eb@YeaUye2>eHR?`C? Ͽ@@?mZ@ ?"?`? e(Y@eƈ;)a^direction in FSK: [0.716841,0.697097,-0.013962]Fpublishing direction and range infoIyM`\[? طN?4IYI MH)MIM_}B IiMM@M~?MI,M MD?)M=IM\?iMdM|E?Md< I)IIIT3/= =M|AT?)iٿu?iMNҾM CM|E?Md< I)Ichecking for new query: numPingsReceived=92, elapsed TxPingTime=43.750900y;Q >٥ HF7"> >-5鵜?-59= Iy0 @Ei;W;-5AZIbM7ShAIIM@ʁM%vZ R@'R% Q@2MD~M`\[? طN?4M|E?Md<ҁM-M)V@H,)Dc1@M˃?'Gίٿ~?zMH!MBjMph|Ӝ?rM|9d MBMOԜ?M(  MBMBMW@ addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 0.503975 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 100.688202 m, bearing: 335.996877 deg, lat: 36.906750 deg, lon: -122.116232 deg, deltaT: 0.503975 s, deltaX: 0.000343 m, approachRate: 0.000681 m/s, posRepo size: 4 =FNOT Ignoring new targets: 100.69 m.AAU ProNav: ac range: 100.688202 m, nav range: 99.555183 m, bearing: 339.017099 deg, approach rate: 0.000000 m/s, LOS rate: 0.322560 deg/s, cmd heading: 351.271520 deg, new cmd heading: 351.782639 deg. QY}HeadingCmd: 6.139765 target range: 100.688202 and range: 101.40 m.b}x@ZyrjRJB~~}||||D? }BW=I)F?ICo; Eix@i! U=Q]checking for new query: numPingsReceived=92, elapsed TxPingTime=43.870899Ke/P"Ka*Ka2Ke :Ke#bwU, LL3R:uJWnHzpcO,X5!>E፨ԉEm?EiEiEqEq:J[BJSJJ?RJZJ:bJy69Jـ4JԹ 6G ~G A %DDAT read: Rx Time:13:53:19.0659 -TRx dataTimestamp_ set to:1749131600.163155EPDAT read: Bearing 42.4, -1.4 (Local) U~Local bearing/azimuth received: Bearing 42.4, -1.4 (Local) }DAT read: Range 10 to 50 : 101.1 m (trip time 67.4 ms) speed 0.3 -Z#Rx 93: Read range message, but no direction.!%3BY!AN>,\ ThA.checking for new query: numPingsReceived=93, elapsed TxPingTime=44.1623549.@D8@Ym!y#0>H??g*ο{? `}`-?@u?? .@骅9O;)CBI)Mb@Mb@Mb@ )YQ? rh?Mby(?C<E A )@I@y@)-@AI5I52E< e =yex;Q e>٥ii mHmFu= u>y-5}-?-59}+E I}By;?:}@}Ei};};}Z-56BAEeB*** querying acoustic contact ***JaRa} addTargetRange:: Added new target pos. range: 101.099998 m, deltaT: 0.503491 s, deltaX: -0.300003 m, approachRate: -0.595846 m/s, rangeRepo size: 4 yFNOT Ignoring new targets: 100.69 m.;; ProNav: ac range: 100.688202 m, nav range: 99.322777 m, bearing: 339.135639 deg, approach rate: -0.458705 m/s, LOS rate: 0.234512 deg/s, cmd heading: 351.782637 deg, new cmd heading: 352.139084 deg.  <HeadingCmd: 6.145987 target range: 100.688202 and range: 101.10 m.b@ZrjRJB~~L~B}|||`fFY@|?Y }B Z=I1)5>G?1I=X(; 99=sVE} AAiE@iIDQDQDQDQH>HH-IHBH =HHHΚ<HEDAT read: 13:53:19.0659 LVL= 19568, 31473, 21474, 30195, AGC= 63, IDX= 504,-0.23, 1.869, 0.280, 0.571, 1.034, PHS= 0.922,-0.708,-0.466, RAW= 97.9, 3.3, CAL= 107.6, 1.4, ROT= 42.4, -1.4 %Ygot valid direction response: 13:53:19.0659 LVL= 19568, 31473, 21474, 30195, AGC= 63, IDX= 504,-0.23, 1.869, 0.280, 0.571, 1.034, PHS= 0.922,-0.708,-0.466, RAW= 97.9, 3.3, CAL= 107.6, 1.4, ROT= 42.4, -1.4 %Z#Rx 94: Read direction message, but no range.5\direction in FSK: [0.738235,0.674101,0.024432]yAȞ? ?Kfzؿh2?ilžhDoq=?+ȼMchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.389038ԁE E E E 5E Ա DDAT read: Rx Time:13:53:19.5658 TRx dataTimestamp_ set to:1749131600.667449PDAT read: Bearing 38.8, -2.0 (Local) ~Local bearing/azimuth received: Bearing 38.8, -2.0 (Local) DAT read: Range 10 to 50 : 101.0 m (trip time 67.3 ms) speed 0.4 DAT read: 13:53:19.5658 LVL= 18864, 31729, 24738, 32755, AGC= 63, IDX= 503, 0.26,-2.025, 2.609, 2.996,-2.850, PHS= 0.913,-0.778,-0.440, RAW= 100.9, 4.0, CAL= 111.2, 2.0, ROT= 38.8, -2.0 Ygot valid direction response: 13:53:19.5658 LVL= 18864, 31729, 24738, 32755, AGC= 63, IDX= 503, 0.26,-2.025, 2.609, 2.996,-2.850, PHS= 0.913,-0.778,-0.440, RAW= 100.9, 4.0, CAL= 111.2, 2.0, ROT= 38.8, -2.0 T#Rx 95: Read range and direction messages.6GZGRG\direction in FSK: [0.778863,0.626222,0.034899]Fpublishing direction and range infoکyڭr?չ ?Xޡ?ڭBYک ۭI)ۭ{Iۭ`iۭ۩ۭ^i?ۭ+GۭG ܭi?)ܭ5=IܭUl?iܭ5=ܭ-\-?ܭ5 ݩ)ݩݭ5)?xoԿSı?iݭ̪ݭBݭ-\-?ݭ5 ީ)ީechecking for new query: numPingsReceived=95, elapsed TxPingTime=44.687836~GAAN ?@ ,v2/ThAI)9b#@b&@Ybjyb3>bH R? ^?`ο b@S? a?;?? b#@b;)bCBIA p==II#3]&< #=y`;Q >٥ HFp= >-5?-59L IBy!%‡%@Ei+<,<-5)-A)Zabe|*ThAeBeBe@ʁeZ:S@ffO@N7 @er?չ ?Xޡ?e-\-?e5ҁeG=V@+D![h4@e b?˜ڿ 8 ?zeQ&eBje|IӜ?re eUBeӜ?e>KL  erBeBe @] addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 0.504294 s, deltaX: -0.099998 m, approachRate: -0.198294 m/s, rangeRepo size: 4 m Added new target pos. range: 100.291000 m, bearing: 334.947569 deg, lat: 36.906731 deg, lon: -122.116274 deg, deltaT: 1.007785 s, deltaX: -0.397202 m, approachRate: -0.394133 m/s, posRepo size: 4 iuFNOT Ignoring new targets: 100.29 m. ProNav: ac range: 100.291000 m, nav range: 98.517136 m, bearing: 336.759837 deg, approach rate: 0.000000 m/s, LOS rate: 0.234512 deg/s, cmd heading: 352.139091 deg, new cmd heading: 352.494139 deg. HeadingCmd: 6.152184 target range: 100.291000 and range: 101.00 m.b@ZrjRJB~~}|||@Y@|J?q }B靥`=I)zF?I|; + gP%i@iuchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.878384K P"K9*K2K :K#yn3MN?IZ 4KH'G'[R0:'SEEEE4EԩIC=Ip=JSJ[ş4J[K1:JXBJQJJBRJZJ{9bJ-.9J-4J 6G ~G A A N] >1,D4IThAnDDAT read: Rx Time:13:53:20.0656 rTRx dataTimestamp_ set to:1749131601.171738PDAT read: Bearing 36.5, -2.4 (Local) ~Local bearing/azimuth received: Bearing 36.5, -2.4 (Local) uDAT read: Range 10 to 50 : 100.7 m (trip time 67.1 ms) speed 0.4 ԉDAT read: 13:53:20.0656 LVL= 19904, 31537, 23010, 32755, AGC= 67, IDX= 501,-0.16, 1.070,-0.516,-0.081, 0.312, PHS= 0.846,-0.781,-0.396, RAW= 103.1, 4.5, CAL= 113.5, 2.4, ROT= 36.5, -2.4 Ygot valid direction response: 13:53:20.0656 LVL= 19904, 31537, 23010, 32755, AGC= 67, IDX= 501,-0.16, 1.070,-0.516,-0.081, 0.312, PHS= 0.846,-0.781,-0.396, RAW= 103.1, 4.5, CAL= 113.5, 2.4, ROT= 36.5, -2.4 %T#Rx 96: Read range and direction messages.e\direction in FSK: [0.803152,0.594301,0.041876]eFpublishing direction and range infolyn5 ?k?{#š? ۷p?nfBYl nM)n1{InYilnCnuX?nGnʾ nS?)n|٠=In?in+=ne#?n+ l)lnPݵ?q]T?ҿ};G?in'njene#?n+ l)lchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.188499Mb@Mb@Mb@ )YQ?~jt?I +y<94 A @)@Ip@y@I-I-(*3y}Q >٥ H >Թ-5.?-59S IByB?:1@EiU;;-5AEZlbnJThAnBnBn@ʁnoVT@3iM@fF ſ@n5 ?k?{#š? ۷p?ne#?n+ҁn,U@,+^F<)54@nn?/ܿ?znx4nխBjnyҜ?rn& nBnph|Ӝ?n|9d  nBnBnֻ@ addTargetRange:: Added new target pos. range: 100.699997 m, deltaT: 0.504289 s, deltaX: -0.300003 m, approachRate: -0.594903 m/s, rangeRepo size: 4 m Added new target pos. range: 99.993103 m, bearing: 332.566686 deg, lat: 36.906728 deg, lon: -122.116285 deg, deltaT: 0.504289 s, deltaX: -0.297897 m, approachRate: -0.590727 m/s, posRepo size: 4 iDNOT Ignoring new targets: 99.99 m. ProNav: ac range: 99.993103 m, nav range: 98.393784 m, bearing: 336.319805 deg, approach rate: 0.000000 m/s, LOS rate: 0.234512 deg/s, cmd heading: 352.494151 deg, new cmd heading: 352.836606 deg. HeadingCmd: 6.158161 target range: 99.993103 and range: 100.70 m.b@ZrjRJB~~~B}|||,Y@|?? }B靭O b=I)zD?I&(; wdi@iuchecking for new query: numPingsReceived=96, elapsed TxPingTime=45.383141 HyH}=H}>H}CH}4IH}BHyHyH}.DH}<H}EE ?E E E 5E  6GjG ?bG >A~GAA1NU?,tiThAnDDAT read: Rx Time:13:53:20.5654 rTRx dataTimestamp_ set to:1749131601.676033PDAT read: Bearing 33.7, -2.7 (Local)  ~Local bearing/azimuth received: Bearing 33.7, -2.7 (Local) 5DAT read: Range 10 to 50 : 100.4 m (trip time 66.9 ms) speed 0.4 -=Z#Rx 97: Read range message, but no direction.prBYpEchecking for new query: numPingsReceived=97, elapsed TxPingTime=45.651779 mBmII}I}3< ٥ HF >-5? -59WY Iy   @Ei?;;-57BlAE addTargetRange:: Added new target pos. range: 100.400002 m, deltaT: 0.504295 s, deltaX: -0.299995 m, approachRate: -0.594881 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 99.99 m.w;w; ProNav: ac range: 99.993103 m, nav range: 98.174927 m, bearing: 336.415538 deg, approach rate: -0.494444 m/s, LOS rate: 0.216763 deg/s, cmd heading: 352.836617 deg, new cmd heading: 353.124454 deg. <eHeadingCmd: 6.163184 target range: 99.993103 and range: 100.40 m.be8@ZarajaRaJiBi~i~q}|||Y@|@?9 ]}Bewv=Ia)e E?aIeO< aamm1qqiu8@iyrEJ>jE>E E E E@5EDAT read: 13:53:20.5654 LVL= 21568, 32753, 27954, 32755, AGC= 65, IDX= 499, 0.26, 1.526,-0.103, 0.413, 0.778, PHS= 0.835,-0.834,-0.369, RAW= 105.7, 5.0, CAL= 116.3, 2.7, ROT= 33.7, -2.7 Ygot valid direction response: 13:53:20.5654 LVL= 21568, 32753, 27954, 32755, AGC= 65, IDX= 499, 0.26, 1.526,-0.103, 0.413, 0.778, PHS= 0.835,-0.834,-0.369, RAW= 105.7, 5.0, CAL= 116.3, 2.7, ROT= 33.7, -2.7 Z#Rx 98: Read direction message, but no range.\direction in FSK: [0.831031,0.554228,0.047106]aye`b͗?Dv[=?P7V?Ya e@T)eIe2miaeAeU?eUe e"?)e¸=Ie@ieA=e?eA aeS ?~ϿX=?ie$e(e?eAchecking for new query: numPingsReceived=98, elapsed TxPingTime=45.895473ԹK% 4P"K% }9*K! 2K% :K% MZ 60B393XcLXYez!x4]6G ȹ ~G A A N > ,JAThAԹDDAT read: Rx Time:13:53:21.0651 TRx dataTimestamp_ set to:1749131602.179029 PDAT read: Bearing 31.9, -3.1 (Local) ~Local bearing/azimuth received: Bearing 31.9, -3.1 (Local) 5DAT read: Range 10 to 50 : 99.9 m (trip time 66.6 ms) speed 0.4 9@B@Y}yŒ>H 8??οb@?¿˱o?@V?? @骝;)C-eZ#Rx 99: Read range message, but no direction.BYmchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.158386 e Be Ii m A Mb@Mb@Mb@    ) Y rh|?:v?Mby ? <   A  @) @I @ y @I I [3- < - ٥1 He ߼>Ha Ha Ha He  =Ha Ha He <He EH! DAT read: 13:53:21.0651 LVL= 21216, 32753, 27506, 32755, AGC= 64, IDX= 497,-0.27,-1.439,-2.971,-2.440,-2.112, PHS= 0.761,-0.813,-0.331, RAW= 107.4, 5.5, CAL= 118.1, 3.1, ROT= 31.9, -3.1  Ygot valid direction response: 13:53:21.0651 LVL= 21216, 32753, 27506, 32755, AGC= 64, IDX= 497,-0.27,-1.439,-2.971,-2.440,-2.112, PHS= 0.761,-0.813,-0.331, RAW= 107.4, 5.5, CAL= 118.1, 3.1, ROT= 31.9, -3.1  \#Rx 100: Read direction message, but no range. \direction in FSK: [0.847729,0.527665,0.054079]y y}  Y ?(ˡ?ʾ7?Yy } R)y I} rkiy } @} B?} P} x } ?)} =I} A@i} k]=} Ӈ?} k] y } ?X3˿}_?i} wha} Ž} Ӈ?} k]H%˗CH!H% =I! I%5 checking for new query: numPingsReceived=100, elapsed TxPingTime=46.4025921  H F >  ~>  -5 O.? -59 b 1 I ByU ?U :U 7u] @ Ei *< *< -5a e =Aa Zb6uThAeBeBӹ@ʁEL"U@Wl+J@+\:u@ Y ?(ˡ?ʾ7?Ӈ?k]ҁU@EF%^e3@1̩?Wayܿp?z(2Bj,Ҝ?ro ~B|IӜ?  ~BB@@U  addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 0.502996 s, deltaX: -0.500000 m, approachRate: -0.994044 m/s, rangeRepo size: 4 e  Added new target pos. range: 99.197456 m, bearing: 332.717053 deg, lat: 36.906716 deg, lon: -122.116305 deg, deltaT: 1.007291 s, deltaX: -0.795647 m, approachRate: -0.789888 m/s, posRepo size: 4 a e DNOT Ignoring new targets: 99.20 m.    ProNav: ac range: 99.197456 m, nav range: 97.352638 m, bearing: 335.270222 deg, approach rate: 0.000000 m/s, LOS rate: 0.216763 deg/s, cmd heading: 353.124441 deg, new cmd heading: 353.589046 deg.   HeadingCmd: 6.171293 target range: 99.197456 and range: 99.90 m.b <{@Z :J \BJ `JJ >RJ ZJ =:bJ bl9J t4J zJ :jJ :J (:rJ ):r jRJ!B~~G~B}|||EX@|E@?a  ~BVG=I)2E?I F/<   ܍'彩i<{@iEEEEP0EԑMDDAT read: Rx Time:13:53:21.5651 UTRx dataTimestamp_ set to:1749131602.683163mPDAT read: Bearing 27.8, -6.3 (Local) m~Local bearing/azimuth received: Bearing 27.8, -6.3 (Local) }DAT read: Range 10 to 50 : 99.9 m (trip time 66.6 ms) speed 0.7 -\#Rx 101: Read range message, but no direction.IIYIchecking for new query: numPingsReceived=101, elapsed TxPingTime=46.6538776G~GAAN>?#,,[ThAI)@iAA)A AIA I)IIIIQQiQIQQIQiQ ]Y)YY ]rA]]FaaexAIe)aia)iImpAmmF ױ)4> ޏCٯ%G)I=BMIa WYy0AII#3 -=yQ >٥ HF > -5 ;?-59 h I y@ Ei : : -5xAEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 0.504134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDAT read: 13:53:21.5651 LVL= 24176, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.01, 1.352,-0.467, 0.310, 0.690, PHS= 0.750,-1.110,-0.383, RAW= 112.8, 9.2, CAL= 122.2, 6.3, ROT= 27.8, -6.3 UYgot valid direction response: 13:53:21.5651 LVL= 24176, 32753, 32754, 32755, AGC= 67, IDX= 512, 0.01, 1.352,-0.467, 0.310, 0.690, PHS= 0.750,-1.110,-0.383, RAW= 112.8, 9.2, CAL= 122.2, 6.3, ROT= 27.8, -6.3 ]\#Rx 102: Read direction message, but no range.e\direction in FSK: [0.879239,0.463570,0.109734]!y%"?/B!?,=?Y! %p^)!I%i!%C%@?%{%ľ %d?)%l$>I%@i%z0=%Ul>%z0 !%I$^W?gmG7q?i%!_%|B$%Ul>%z0checking for new query: numPingsReceived=102, elapsed TxPingTime=46.905708DNOT Ignoring new targets: 99.20 m.R;R; ProNav: ac range: 99.197456 m, nav range: 97.115120 m, bearing: 335.351658 deg, approach rate: -0.535922 m/s, LOS rate: 0.184198 deg/s, cmd heading: 353.589058 deg, new cmd heading: 353.833964 deg. ;HeadingCmd: 6.175568 target range: 99.197456 and range: 99.90 m.b@@ZrjRK}P"K@9*K2K :K=1p<'ia^-fVqYpx}&1B!cE >,;J?J?J1B9~9~9}A|A|A|A|E@:?Y ~BWy=I)I@?I < %fܽ!!i-@@i)EEEE]0EԡԹ  DDAT read: Rx Time:13:53:22.0648  TRx dataTimestamp_ set to:1749131603.188523 PDAT read: Bearing 28.6, -4.1 (Local)  ~Local bearing/azimuth received: Bearing 28.6, -4.1 (Local) % DAT read: Range 10 to 50 : 99.6 m (trip time 66.4 ms) speed 0.2 U DAT read: 13:53:22.0648 LVL= 23488, 32753, 31266, 32755, AGC= 66, IDX= 509, 0.22,-0.021,-1.549,-0.925,-0.630, PHS= 0.697,-0.872,-0.298, RAW= 111.2, 6.9, CAL= 121.4, 4.1, ROT= 28.6, -4.1 e Ygot valid direction response: 13:53:22.0648 LVL= 23488, 32753, 31266, 32755, AGC= 66, IDX= 509, 0.22,-0.021,-1.549,-0.925,-0.630, PHS= 0.697,-0.872,-0.298, RAW= 111.2, 6.9, CAL= 121.4, 4.1, ROT= 28.6, -4.1 6G  V#Rx 103: Read range and direction messages. \direction in FSK: [0.875736,0.477467,0.071497] Fpublishing direction and range info y r?Ў? M? 3BY  [) ~GI AQ Aq N > 3,C ) g7d?$sÿ}nS?iC )bchecking for new query: numPingsReceived=103, elapsed TxPingTime=47.2256059jѭ@j{@YjmZ9yj>jH)v?y?,˿fG?ĿM+"?U? jѭ@j;)jCMBM#IYMb@Mb@Mb@ )Y+?Mb?y&1yv?=`eE A @)@Iy@II2'= 6=y O٥ 1 5H5F53A> 5>9E-5=J?E-59=n I=ByM?M:My\M@=Ei=:=;=-5y,AZbThABBu@ʁ#U@l"RG@InH@r?Ў? M?r>Cҁл>U@<Eurto3@+|>?}1TTۿ~KK|'?ԉz(BjZӜ?r pBZӜ?  B~@ addTargetRange:: Added new target pos. range: 99.599998 m, deltaT: 0.505360 s, deltaX: -0.300003 m, approachRate: -0.593642 m/s, rangeRepo size: 4  Added new target pos. range: 98.899567 m, bearing: 334.181946 deg, lat: 36.906709 deg, lon: -122.116327 deg, deltaT: 1.009494 s, deltaX: -0.297890 m, approachRate: -0.295088 m/s, posRepo size: 4 %DNOT Ignoring new targets: 98.90 m.-)= ProNav: ac range: 98.899567 m, nav range: 96.970917 m, bearing: 334.182204 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 353.833961 deg, new cmd heading: 354.092703 deg. 9eHeadingCmd: 6.180084 target range: 98.899567 and range: 99.60 m.bm?@ZirijiRiJiBi~q~ua~B}q|q|y|}`fX@GG@AHܼ>HHHH =HHHʚ<HEchecking for new query: numPingsReceived=103, elapsed TxPingTime=47.399063|Y? m~Bmw=Iq)uiC?qIu,< qq} L&ӽi?@izEԹ:JE[BJETJJEDRJAZJE:bJE:9JE4JAzJE:jJE:JESJ:rJEUJ:EaEaEaEmR0Ei 6G ȹ~GY A ׵ A׵ A DDAT read: Rx Time:13:53:22.5647  TRx dataTimestamp_ set to:1749131603.688619 PDAT read: Bearing 28.8, -9.2 (Local)  ~Local bearing/azimuth received: Bearing 28.8, -9.2 (Local)  DAT read: Range 10 to 50 : 99.5 m (trip time 66.3 ms) speed 0.5  DAT read: 13:53:22.5647 LVL= 26048, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.37, 1.942, 0.589, 1.178, 1.523, PHS= 0.507,-0.887,-0.349, RAW= 112.5, 11.9, CAL= 121.2, 9.2, ROT= 28.8, -9.2 Ygot valid direction response: 13:53:22.5647 LVL= 26048, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.37, 1.942, 0.589, 1.178, 1.523, PHS= 0.507,-0.887,-0.349, RAW= 112.5, 11.9, CAL= 121.2, 9.2, ROT= 28.8, -9.2 V#Rx 104: Read range and direction messages.%\direction in FSK: [0.865034,0.475556,0.159881]%Fpublishing direction and range info y KO\? lo?Čsv? BY e) I i A ? oc ! S?) ȭT>I a@i l$> ? l$ ) ]h ? Z_S,?i 6 YU ? l$ ) Uchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.669785AQNe>v:,(dThA9ݏ@@Y;yb>H'? ?`iɿ`@q?`5ſBB`?`? ݏ@Xs;) %B%I)) ) 5=1I= I=(2uKf u =yuXO;Q }>٥yy }H}FQ@= >.5_?.59*u IBymU@Ei::.58BVAE checking for new query: numPingsReceived=104, elapsed TxPingTime=47.902435ZbUThABB@ʁJ0]U@eF5 ~G@sI/@KO\? lo?Čsv??l$ҁ1͸/ryU@,[tj9DZT'T;@;?jߝ3ڿܦ?z!K=yP"K=9*K92K= :K=r&yarpmI < @-5Ox)^D/lgq}pmMuJAJEA˫Bj;Ҝ?rԞ 6ByҜ? BKBV@u addTargetRange:: Added new target pos. range: 99.500000 m, deltaT: 0.500096 s, deltaX: -0.099998 m, approachRate: -0.199959 m/s, rangeRepo size: 4  Added new target pos. range: 98.799507 m, bearing: 334.784590 deg, lat: 36.906699 deg, lon: -122.116327 deg, deltaT: 0.500096 s, deltaX: -0.100060 m, approachRate: -0.200081 m/s, posRepo size: 4 DNOT Ignoring new targets: 98.80 m.%  ProNav: ac range: 98.799507 m, nav range: 95.648361 m, bearing: 333.978270 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 354.092716 deg, new cmd heading: 354.419810 deg. ! - HeadingCmd: 6.185792 target range: 98.799507 and range: 99.50 m.b- @Z) r) j) R) I5 AAI5 @A9 J) BQ ~Q ~Q }Y |Y |Y |] X@|e V? ~B ji`=I ) e?? I 0R:< ! ! % WU uǽQ Q iU @iY E ?E E E 4E i DDAT read: Rx Time:13:53:23.0644 TRx dataTimestamp_ set to:1749131604.192014PDAT read: Bearing 30.2, -7.8 (Local) ~Local bearing/azimuth received: Bearing 30.2, -7.8 (Local) DAT read: Range 10 to 50 : 99.0 m (trip time 66.0 ms) speed 0.6 DAT read: 13:53:23.0644 LVL= 28400, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.35, 2.900, 1.419, 2.009, 2.383, PHS= 0.605,-0.917,-0.377, RAW= 110.5, 10.3, CAL= 119.8, 7.8, ROT= 30.2, -7.8 Ygot valid direction response: 13:53:23.0644 LVL= 28400, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.35, 2.900, 1.419, 2.009, 2.383, PHS= 0.605,-0.917,-0.377, RAW= 110.5, 10.3, CAL= 119.8, 7.8, ROT= 30.2, -7.8 V#Rx 105: Read range and direction messages.%\direction in FSK: [0.856278,0.498366,0.135716]%Fpublishing direction and range infoڹyڽyf?:Y:? M _?ڽBYڹ ۽n)۹I۹i۹۹۽H?۽j۽% ܽ?)ܽX8>Iܽa@iܽ'g >ܽV?ܽ'g ݹ)ݹݽF-F ?oإĿG?iݽ*ݽw8ݽV?ݽ'g ޹)޹Echecking for new query: numPingsReceived=105, elapsed TxPingTime=48.171589ԉ6Gi~G!A9AQNm?}GD,UhA =C)=AAɿ=b99AAiEtIEFAIIIiQ QQ)QQ QYYYYYIY)Yia)eCIaaa AiٯB*IMb@Mb@Mb@ )Y-?l?{Gzy5?=# A @)IC@yG@II#3m)= m-=ymQ u>٥qq uHq} >.5 p?.59z Iy?:S@Eix1;<'.5 AEqZbI UhABBj@ʁOx7/ U@q}B~H@*@yf?:Y:? M _?V?'g ҁӶ aU@ q' Bfg{9@T)Y?:I"%ؿxT}i?zH+BjmnӜ?rl5_ B ¾Bf@Hټ>HCH:IHBH =HH-DH<HE addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 0.503395 s, deltaX: -0.500000 m, approachRate: -0.993256 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=105, elapsed TxPingTime=48.406326  Added new target pos. range: 98.303024 m, bearing: 336.524674 deg, lat: 36.906699 deg, lon: -122.116327 deg, deltaT: 0.503395 s, deltaX: -0.496483 m, approachRate: -0.986269 m/s, posRepo size: 4 9EDNOT Ignoring new targets: 98.30 m.Iq ProNav: ac range: 98.303024 m, nav range: 95.378975 m, bearing: 334.041671 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 354.419800 deg, new cmd heading: 354.669120 deg. HeadingCmd: 6.190144 target range: 98.303024 and range: 99.00 m.b@ZrjRJB~~%~B}|||X@|? u#~Bu~=Iq)uB?qIuE< yy}K}~i@i:J=\BJ=RJJ=ARJ9ZJ==:bJ=S29J=4J9zJ=:jJ=:J=;:rJ=<:ԩEE?EAEAEE(4EI 6G5  DDAT read: Rx Time:13:53:23.5646  TRx dataTimestamp_ set to:1749131604.697211 PDAT read: Bearing 29.8, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 29.8, -6.7 (Local)  DAT read: Range 10 to 50 : 99.3 m (trip time 66.2 ms) speed 0.9  DAT read: 13:53:23.5646 LVL= 22832, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.43,-1.196,-2.707,-2.104,-1.748, PHS= 0.640,-0.912,-0.359, RAW= 110.6, 9.3, CAL= 120.2, 6.7, ROT= 29.8, -6.7 % Ygot valid direction response: 13:53:23.5646 LVL= 22832, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.43,-1.196,-2.707,-2.104,-1.748, PHS= 0.640,-0.912,-0.359, RAW= 110.6, 9.3, CAL= 120.2, 6.7, ROT= 29.8, -6.7 - V#Rx 106: Read range and direction messages.5 \direction in FSK: [0.861839,0.493580,0.116671]5 Fpublishing direction and range infoڹ yڽ O/?_|QЖ?mu"޽?ڽ BYڹ ۽ 0Y)۹ I۹ i۹ ۽ B۽ #?۽ xi۽ η~GA AI ܽ 0?)ܽ 6&>Iܽ C@iܽ |=ܽ %?ܽ | ݹ )ݹ ݽ °5P'?k۬Ŀ= ?iݽ \(ݽ 2&ݽ %?ݽ | ޹ )޹ } checking for new query: numPingsReceived=106, elapsed TxPingTime=48.684704A N >BK,^.UhA89E%#@E,@YEie'EH6? Ow?nƿ`4' OQ?&ǿ@섿 ?@? E%#@E;)EC B ,III2M(; MH=yUl٥QY ]H]FG> >.5?.59O IBy=?@Ei:: .5AZb,UhA3B3B(}@ʁ&c>U@187gUH@D:'@O/?_|QЖ?mu"޽?%?|ҁqtV@g$?rvFqł6@%2?x?U7Կp! 9?z&BjcԜ?rճ BZӜ?Ԟ  BꁵB4@ addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 0.505197 s, deltaX: 0.300003 m, approachRate: 0.593834 m/s, rangeRepo size: 4  Added new target pos. range: 98.600464 m, bearing: 341.069043 deg, lat: 36.906709 deg, lon: -122.116310 deg, deltaT: 0.505197 s, deltaX: 0.297440 m, approachRate: 0.588760 m/s, posRepo size: 4 ԙDNOT Ignoring new targets: 98.60 m. ProNav: ac range: 98.600464 m, nav range: 95.477264 m, bearing: 335.190084 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 354.669129 deg, new cmd heading: 354.889097 deg. HeadingCmd: 6.193983 target range: 98.600464 and range: 99.30 m.b5@ZrjRJ!B!~!~!})|)|)|-@3X@|-`? (~B靭=I)rB?IupO< Gi5@ibEZEE?EEEP0Echecking for new query: numPingsReceived=106, elapsed TxPingTime=48.911472K%hP"K%K9*K!2K% :K%SDXk!oK?7[`mwO7! ]Qy;IR=Ia= 6G ~G A ) DDAT read: Rx Time:13:53:24.0641 TRx dataTimestamp_ set to:1749131605.200016PDAT read: Bearing 31.1, -9.1 (Local) ~Local bearing/azimuth received: Bearing 31.1, -9.1 (Local) DAT read: Range 10 to 50 : 98.6 m (trip time 65.7 ms) speed 0.6 DAT read: 13:53:24.0641 LVL= 31632, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.40,-0.879,-2.337,-1.770,-1.366, PHS= 0.575,-0.924,-0.407, RAW= 109.9, 11.4, CAL= 118.9, 9.1, ROT= 31.1, -9.1 Ygot valid direction response: 13:53:24.0641 LVL= 31632, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.40,-0.879,-2.337,-1.770,-1.366, PHS= 0.575,-0.924,-0.407, RAW= 109.9, 11.4, CAL= 118.9, 9.1, ROT= 31.1, -9.1 V#Rx 107: Read range and direction messages.\direction in FSK: [0.845490,0.510032,0.158158]Fpublishing direction and range infoځyڅש@?bp.R?@\~>?څ3BYځ ۅ{)ہIہiہۅ@ۅ33?ۅDlۅNbо ܅ۄ?)܅%K>I܅@i܅">܅ ?܅" ݁)݁݅T?tƿ'<l?i݅x5݅L݅ ?݅" ށ)ށchecking for new query: numPingsReceived=107, elapsed TxPingTime=49.179554AQN]?"{S,NUhAx9^@@Y_H n?@?ſ`q? iȿ_? ? ^@骕;)CMBM;IiU=IUp=QUA}Mb@Mb@Mb@yyy y)yY}S㥛?~jt?y&1|y}$?}<}`} A y)}@I}@yy}@IIV83.= =y%*;Q %>٥!! %H-F-A= ->1e.55?e.595 I5Bye$?e:eh>e@5Ei5?;5;5.5u9BuAuEZbLUhABB@ʁcc,˱T@tFH@MI.@ש@?bp.R?@\~>? ?"ҁ"V@Q' ]05;,+Ü:@uUW{?6ѿ2z?se?ziBj_GԜ?rR ޵BmnӜ?l5_  BꁭB@ HaHe<HiHiHm@IHmBHiHiHiHm<HmE} addTargetRange:: Added new target pos. range: 98.599998 m, deltaT: 0.502805 s, deltaX: -0.700005 m, approachRate: -1.392199 m/s, rangeRepo size: 4  Added new target pos. range: 97.905396 m, bearing: 343.215602 deg, lat: 36.906711 deg, lon: -122.116282 deg, deltaT: 0.502805 s, deltaX: -0.695068 m, approachRate: -1.382382 m/s, posRepo size: 4 DNOT Ignoring new targets: 97.91 m.checking for new query: numPingsReceived=107, elapsed TxPingTime=49.415760 ProNav: ac range: 97.905396 m, nav range: 94.364197 m, bearing: 336.647289 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 354.889089 deg, new cmd heading: 355.220219 deg. HeadingCmd: 6.199762 target range: 97.905396 and range: 98.60 m.btd@ZrjRJBI~~mT~B}i|i|i|m`fX@|u`_? /~B K/l=I ) F? I^< M٪itd@iA:J BJ JJ >RJ ZJ bJ J t4J zJ jJ J rJ E ?E E E 2E q Ա 6GDDAT read: Rx Time:13:53:24.5639 TRx dataTimestamp_ set to:1749131605.704497PDAT read: Bearing 28.2, -4.0 (Local) ~Local bearing/azimuth received: Bearing 28.2, -4.0 (Local) DAT read: Range 10 to 50 : 98.3 m (trip time 65.5 ms) speed 0.7 DAT read: 13:53:24.5639 LVL= 23120, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.38,-2.510, 2.325, 2.930,-3.080, PHS= 0.658,-0.832,-0.276, RAW= 111.7, 7.0, CAL= 121.8, 4.0, ROT= 28.2, -4.0 Ygot valid direction response: 13:53:24.5639 LVL= 23120, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.38,-2.510, 2.325, 2.930,-3.080, PHS= 0.658,-0.832,-0.276, RAW= 111.7, 7.0, CAL= 121.8, 4.0, ROT= 28.2, -4.0 V#Rx 108: Read range and direction messages. \direction in FSK: [0.879157,0.471400,0.069756] Fpublishing direction and range infoډyڍ/'K "?d wi+?&k۱?ڍBYډ ۍPZ)ۉIۉiۉۍBۍr(?ۍTۍO ܍J?)܍5=I܍J @i܍5=܍d>܍5 ݉)݉ݍۗm?i¿N6?iݍݍݍd>ݍ5 މ)މ-checking for new query: numPingsReceived=108, elapsed TxPingTime=49.688332~G1A9AQNa'+[,'nUhA9z|@z&@YzTzH ?`? %Ŀ@$_?@Pʿ,j`P?? z|@z;)zC B GII]I]3m:=i C=y٥ HF= >.5?.59T IByV1@ EiG::O.5RA Zb{mUhA7B7BK_@ʁ; sU@yY!G@C +<@/'K "?d wi+?&k۱?d>5ҁN b,XUhAUDDAT read: Rx Time:13:53:25.0636 UTRx dataTimestamp_ set to:1749131606.210991]PDAT read: Bearing 30.5, -6.0 (Local) e~Local bearing/azimuth received: Bearing 30.5, -6.0 (Local) uDAT read: Range 10 to 50 : 97.8 m (trip time 65.2 ms) speed 0.5 DAT read: 13:53:25.0636 LVL= 22672, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.35, 2.980, 1.605, 2.138, 2.460, PHS= 0.609,-0.808,-0.325, RAW= 109.6, 8.5, CAL= 119.5, 6.0, ROT= 30.5, -6.0 Ygot valid direction response: 13:53:25.0636 LVL= 22672, 32753, 32754, 32755, AGC= 66, IDX= 497,-0.35, 2.980, 1.605, 2.138, 2.460, PHS= 0.609,-0.808,-0.325, RAW= 109.6, 8.5, CAL= 119.5, 6.0, ROT= 30.5, -6.0 V#Rx 109: Read range and direction messages.\direction in FSK: [0.856909,0.504758,0.104528]Fpublishing direction and range infoQyUB Ȉk?R&?4ޮ`º?UBYQ UX)QIQiQQUm?UNUff UG?)U>IU{@iUPw=U{F?UPwֽ Q)QU!?rƿg;ų?iU:UgU{F?UPwֽ Q)QEchecking for new query: numPingsReceived=109, elapsed TxPingTime=50.197155B=IUonly read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V aIU@aU aMU@aU aQU@aU aEU@aU I} I}(2 !=yQ >٥ H >.5?.59ŏ IB+:y:@Ei;?.5 B A EZQbUUhAU8BU8BU]@ʁU}OT@NHh@H@m>M$@UB Ȉk?R&?4ޮ`º?U{F?UPwֽҁU NH W@uo6n)4@U\]?PU)Ϳ(/M?zU̴UJBjU՜?rUB0 UBUcԜ?UR  UBUBU̿@ addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 0.506494 s, deltaX: -0.500000 m, approachRate: -0.987179 m/s, rangeRepo size: 4  Added new target pos. range: 97.111069 m, bearing: 346.219449 deg, lat: 36.906747 deg, lon: -122.116168 deg, deltaT: 0.506494 s, deltaX: -0.496475 m, approachRate: -0.980219 m/s, posRepo size: 4 DNOT Ignoring new targets: 97.11 m.U ProNav: ac range: 97.111069 m, nav range: 93.989578 m, bearing: 343.416365 deg, approach rate: 0.000000 m/s, LOS rate: 0.184198 deg/s, cmd heading: 355.432061 deg, new cmd heading: 355.725587 deg. Q]HeadingCmd: 6.208583 target range: 97.111069 and range: 97.80 m.b]@ZYrYjYRYJYBa~a~a}a|i|i|@3sX@|? 9~B)z=I ) .E? I }v<  » !ɘ  i @i HM ܼ>HM CHM FIHM BHM  =HI HM .DHM ݚ<HM ErE i>jE > checking for new query: numPingsReceived=109, elapsed TxPingTime=50.422409E E E E 0E Y :J _BJ [JJ FRJ ZJ :bJ W9J 4J zJ ,:jJ 1:J ||:rJ ~|:ԁ6Ge~G9AAAaNm ?Dj,UhA5DDAT read: Rx Time:13:53:25.5635 5TRx dataTimestamp_ set to:1749131606.711800=DAT read: Range 10 to 50 : 97.7 m (trip time 65.1 ms) speed 0.5 I-M\#Rx 110: Read range message, but no direction.15fBY1Uchecking for new query: numPingsReceived=110, elapsed TxPingTime=50.678734BGI)  =p=II2:= 7=yQ >٥ HF >!-.5%϶?-.59% I%}B5 :y15X:15@%Ei%:%.t?%q.59=JA]EB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 97.699997 m, deltaT: 0.500809 s, deltaX: -0.100006 m, approachRate: -0.199689 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 97.11 m.>;>;- ProNav: ac range: 97.111069 m, nav range: 93.722687 m, bearing: 343.485999 deg, approach rate: -0.637062 m/s, LOS rate: 0.166687 deg/s, cmd heading: 355.725596 deg, new cmd heading: 355.935091 deg. -;5HeadingCmd: 6.212239 target range: 97.111069 and range: 97.70 m.b5@ZYrYjYRYJYBY~a~a}a|a|i|ulX@|u ? =~B j=I)UH?IuA< .Ȼ Li@i ԁE?EEE5Eԡchecking for new query: numPingsReceived=110, elapsed TxPingTime=50.9263766G ~G A K [P"K 9*K 2K :K DM@R1 8v1/A%HW2c ?4 K[itq|:_~yyMslf$a[UOIC >8A N >I I p="q,UhA9zT@z@YzzH Q? ?0_`-R?e̿`ם L?`? zT@z؈;)zCHIIuIu3=G: =*=eDDAT read: Rx Time:13:53:26.0633 mTRx dataTimestamp_ set to:1749131607.217575}PDAT read: Bearing 27.4, -3.6 (Local) ~Local bearing/azimuth received: Bearing 27.4, -3.6 (Local) DAT read: Range 10 to 50 : 97.4 m (trip time 64.9 ms) speed 0.5 DAT read: 13:53:26.0633 LVL= 25840, 32753, 32754, 32755, AGC= 66, IDX= 509,-0.16, 2.596, 1.225, 1.820, 2.061, PHS= 0.623,-0.789,-0.244, RAW= 112.5, 6.7, CAL= 122.6, 3.6, ROT= 27.4, -3.6 Ygot valid direction response: 13:53:26.0633 LVL= 25840, 32753, 32754, 32755, AGC= 66, IDX= 509,-0.16, 2.596, 1.225, 1.820, 2.061, PHS= 0.623,-0.789,-0.244, RAW= 112.5, 6.7, CAL= 122.6, 3.6, ROT= 27.4, -3.6 V#Rx 111: Read range and direction messages.\direction in FSK: [0.886063,0.459292,0.062791]Fpublishing direction and range infoaye ԡZ?*Oe?֏ ?eBYa ed)aIaiaae|?eIe#y eS?)e|=Ie @ie=eG>e a)aeL1c?]U%?ie e,ゥeG>e a)ayE٥II MHMFUQ> U>Yechecking for new query: numPingsReceived=111, elapsed TxPingTime=51.205151.5]嶜?.59] I]xB=9y9=/:=_=@]Ei]`<]v?].5MBMLAMEZabeUhAemBemBeV@ʁe|EzlU@=5F@s{J@e ԡZ?*Oe?֏ ?eG>eҁeEP]]W@L+3,1RO-@e2?Raʿ?zeveBjeET՜?reb7˦ eaBe՜?e1  eBeBex@  addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 0.505775 s, deltaX: -0.299995 m, approachRate: -0.593140 m/s, rangeRepo size: 4 = Added new target pos. range: 96.714249 m, bearing: 347.961255 deg, lat: 36.906765 deg, lon: -122.116154 deg, deltaT: 1.006584 s, deltaX: -0.396820 m, approachRate: -0.394224 m/s, posRepo size: 4 9EDNOT Ignoring new targets: 96.71 m.EAԱ ProNav: ac range: 96.714249 m, nav range: 95.061272 m, bearing: 344.617712 deg, approach rate: 0.000000 m/s, LOS rate: 0.166687 deg/s, cmd heading: 355.935091 deg, new cmd heading: 356.200896 deg. HeadingCmd: 6.216878 target range: 96.714249 and range: 97.40 m.b@ZrjRJB~~}|||YX@| ? C~BX1=I)2G?I:<  ͻˇi@i E ?E E E 0E  GA GA HM ߼>HI HM LIHM BHM  =HI HI HM <HM EHHHH =I = I{4 PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=111, elapsed TxPingTime=51.430489)6Gi~G)A1AANM?x,jUhA9Bͭ@B״@YBBH8?q?JJu?8iͿԑ?? Bͭ@B;)BC^B^KI1aIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yjt?V-?{Gzy ?<#A )Iy@II<2% < E$=yU[;uDDAT read: Rx Time:13:53:26.5632 uTRx dataTimestamp_ set to:1749131607.721403PDAT read: Bearing 22.4, -2.7 (Local) ~Local bearing/azimuth received: Bearing 22.4, -2.7 (Local) DAT read: Range 10 to 50 : 97.2 m (trip time 64.8 ms) speed 0.4 DAT read: 13:53:26.5632 LVL= 26608, 32753, 32754, 32755, AGC= 66, IDX= 508,-0.04, 2.732, 1.351, 2.073, 2.231, PHS= 0.589,-0.833,-0.161, RAW= 118.2, 6.6, CAL= 127.6, 2.7, ROT= 22.4, -2.7 Ygot valid direction response: 13:53:26.5632 LVL= 26608, 32753, 32754, 32755, AGC= 66, IDX= 508,-0.04, 2.732, 1.351, 2.073, 2.231, PHS= 0.589,-0.833,-0.161, RAW= 118.2, 6.6, CAL= 127.6, 2.7, ROT= 22.4, -2.7 V#Rx 112: Read range and direction messages.\direction in FSK: [0.923520,0.380647,0.047106]Fpublishing direction and range infoqyuwa!y?Ħ\?P7V?ufBYq ug)qIqQ ]>iqqu?u}?Uu/$ u@)u=IuӇ@iuA=u+>uA q)q٥ HFU= > .5? .59 IsBT:y ?:5H5@Ei;);.5=BE@AE}EQu (?6h_Y?iuCu콩u+>uA q)qZqbuw+UhAuBuBu@ʁu#郇HV@cL^B@eT/@uwa!y?Ħ\?P7V?u+>uAchecking for new query: numPingsReceived=112, elapsed TxPingTime=51.716972ҁueM3W@ܵ%X=90.-&@u#ޖ?Jqп+ S?zuuBju=.k՜?ru7 uHBuTJ'՜?q uBuBu@% addTargetRange:: Added new target pos. range: 97.199997 m, deltaT: 0.503828 s, deltaX: -0.200005 m, approachRate: -0.396970 m/s, rangeRepo size: 4 U Added new target pos. range: 96.516335 m, bearing: 344.732406 deg, lat: 36.906767 deg, lon: -122.116154 deg, deltaT: 0.503828 s, deltaX: -0.197914 m, approachRate: -0.392821 m/s, posRepo size: 4 Y]DNOT Ignoring new targets: 96.52 m.aa ProNav: ac range: 96.516335 m, nav range: 95.016586 m, bearing: 344.716521 deg, approach rate: 0.000000 m/s, LOS rate: 0.166687 deg/s, cmd heading: 356.200895 deg, new cmd heading: 356.439721 deg. HeadingCmd: 6.221047 target range: 96.516335 and range: 97.20 m.b@ZrjRJB~~1~B}|||LX@|?? MG~BM=IQ)U8G?QIUU$< QQŰѻ]~YYi]@iiԁ ,G) EE ?EA EA EA EA Q Y y Aԩ  checking for new query: numPingsReceived=112, elapsed TxPingTime=51.9344946Ge ȹK=R"K=}9*K92K= :K=3.*'%]#-.xn_6^-o M ` T @ ? ~GQAYAi:J}fBJ}PJJ}DRJyZJ}|":bJ}*9J}4Jy@@@@N>̀,_VhA$9jB@j쫵@YjZ =yjc>jHJ??IV7c0?Zaο@@ ?X? jB@j;)jCrBXIi٥  H %= ->ԁiE.5m?M.59mԡ ImnByy}}@m!Eim=mw=m".5A99UDDAT read: Rx Time:13:53:27.0629 eTRx dataTimestamp_ set to:1749131608.227595}PDAT read: Bearing 20.0, -0.5 (Local) }~Local bearing/azimuth received: Bearing 20.0, -0.5 (Local) DAT read: Range 10 to 50 : 96.8 m (trip time 64.5 ms) speed 0.4 DAT read: 13:53:27.0629 LVL= 26432, 32753, 31794, 32755, AGC= 69, IDX= 505, 0.03, 1.861, 0.365, 1.193, 1.290, PHS= 0.659,-0.878,-0.100, RAW= 120.4, 4.8, CAL= 130.0, 0.5, ROT= 20.0, -0.5 9=DNOT Ignoring new targets: 96.52 m.EV:EV:MYgot valid direction response: 13:53:27.0629 LVL= 26432, 32753, 31794, 32755, AGC= 69, IDX= 505, 0.03, 1.861, 0.365, 1.193, 1.290, PHS= 0.659,-0.878,-0.100, RAW= 120.4, 4.8, CAL= 130.0, 0.5, ROT= 20.0, -0.5 MV#Rx 113: Read range and direction messages.U\direction in FSK: [0.939657,0.342007,0.008727]UFpublishing direction and range infoYy]"4:?q?B7߁?]BYY ]@g)YI]2|iY]E]9(?]`]̽ ]|@)]=I]6@i]5<]¸> ProNav: ac range: 96.516335 m, nav range: 94.761124 m, bearing: 344.762696 deg, approach rate: -0.531440 m/s, LOS rate: 0.096317 deg/s, cmd heading: 356.439733 deg, new cmd heading: 356.578631 deg. 4;ԩ]5 Y)Y]Ah?a0w; }?0?i];]Z]¸>]5 Y)Ychecking for new query: numPingsReceived=113, elapsed TxPingTime=52.235706HeadingCmd: 6.223471 target range: 96.516335 and range: 97.20 m.b&@ZrjRJB~~}|||@33X@|[? ]K~B] =IY)]K?YI o< 9ֻti&@iE= ?E9 E9 E= g0E9 H= >H9 H= SIH= BH=  =H9 H9 H= <H= E  nManaging dock network, ignoring radio surface power off checking for new query: numPingsReceived=113, elapsed TxPingTime=52.441891 6G} ~GYAiAN>, "VhAԉ9Me@M3o@YM=yM邌>MH@@?\?ML? Ͽ U? K? Me@M;)MCBSIMb@Mb@Mb@ )Y{Gz?{Gz?I +y#?#<94 A @)@I@y@AEAAIUIUF3Թ =y:Q >٥ HF= >.5O'?.59Y IfBy#?:@'Ei:_:l'.5 AzEZ9b=VhA==B==B=@ʁ=qyV@Ro@@li?="4:?q?B7߁?=¸>=5ҁ=\ehW@L?}4R!@=̤g+?<~˿L!m?z=+=CBj=i՜?r= 4N =IB==.k՜?=B0  =aB=B=@ addTargetRange:: Added new target pos. range: 96.800003 m, deltaT: 0.506192 s, deltaX: -0.399994 m, approachRate: -0.790202 m/s, rangeRepo size: 4 DDAT read: Rx Time:13:53:27.5628 TRx dataTimestamp_ set to:1749131608.727901 PDAT read: Bearing 19.5, -4.8 (Local)  ~Local bearing/azimuth received: Bearing 19.5, -4.8 (Local) DAT read: Range 10 to 50 : 96.6 m (trip time 64.4 ms) speed 0.6 MDAT read: 13:53:27.5628 LVL= 30288, 32753, 32754, 32755, AGC= 67, IDX= 504, 0.15, 1.779, 0.366, 1.200, 1.352, PHS= 0.515,-0.939,-0.156, RAW= 122.6, 9.2, CAL= 130.5, 4.8, ROT= 19.5, -4.8 UYgot valid direction response: 13:53:27.5628 LVL= 30288, 32753, 32754, 32755, AGC= 67, IDX= 504, 0.15, 1.779, 0.366, 1.200, 1.352, PHS= 0.515,-0.939,-0.156, RAW= 122.6, 9.2, CAL= 130.5, 4.8, ROT= 19.5, -4.8 ]V#Rx 114: Read range and direction messages.]\direction in FSK: [0.939336,0.332636,0.083678]eFpublishing direction and range infoyyX ?}}-I?U]k?3BY Pv)IiC ?Nbpw  @)l$>I@i=@> )Qۛ?Es?ҍ?i> 6=%%@> )checking for new query: numPingsReceived=114, elapsed TxPingTime=52.712543 Added new target pos. range: 96.120102 m, bearing: 347.564811 deg, lat: 36.906775 deg, lon: -122.116120 deg, deltaT: 0.506192 s, deltaX: -0.396233 m, approachRate: -0.782771 m/s, posRepo size: 4 DNOT Ignoring new targets: 96.12 m.  ProNav: ac range: 96.120102 m, nav range: 94.487503 m, bearing: 346.696468 deg, approach rate: 0.000000 m/s, LOS rate: 0.096317 deg/s, cmd heading: 356.578632 deg, new cmd heading: 356.713693 deg. HeadingCmd: 6.225829 target range: 96.120102 and range: 96.80 m.b9@Zr!j!R1J9BA~~{~B}|||`f&X@| (E? UP~B]V=IY)]DH?YI]< ڻji9@iE E E E _0E   checking for new query: numPingsReceived=114, elapsed TxPingTime=52.9424216GjG?bG>A~GAAN >_,`AVhA9V*F@VO@YV˃=yV>VHx?D?Q߿?xп@o`e?@? V*F@V;)VCbBbJI:Jz^BJzTJJz@RJxZJz} :bJz:9JzJ4JxKvQ"K9*K2K :K mgf;S:xJUK0JI/j#a,eHjvI>IuIu(*36  N=yUQ >٥ HF= > .5 :?.59  I `By@ +Ei  : : *.5%BELAEwEaZyb}.VhA}׿B}׿B}@ʁ}^-V@%7.?@3 @}yX ?}}-I?U]k?}@>}ҁ}搿z-W@ᵝ4<d+@}՞?FXmk= i)im.:k?;*7ж?mH?imG=m-]m`>mk= i)i-checking for new query: numPingsReceived=115, elapsed TxPingTime=53.254578ԹEEEEE 6G  H- <H- <H5 >H5 CH1 H1 H5  =H1 H5 /DH5 Ú<H5 E~Ga Ai A N >*+,<^VhA6checking for new query: numPingsReceived=115, elapsed TxPingTime=53.4463169js2@j<@Yj=yj">jH&?`?24]޿@?FAп/95h?? js2@jq;)jCvBvKI)x xԁMb@Mb@Mb@ )Yp= ף?:v?I +y%?< A @)@Iy=@IU IUb3eF: e$=ym[Q m>٥i HFi= >.5R?.59J IZByG%?:@0Ei);(;D/.5BNAtEZQbUNVhAU BU BU@ʁU=V@ >zn3<@+UPb?"?`8.yU`>Uk=ҁUl2WYsW@*F 2K"*U˦3l?̓1ȿduzUtUBjU3֜?rU2 U_BU[՜?U 4N  UHBUGBU@ԩ} addTargetRange:: Added new target pos. range: 96.199997 m, deltaT: 0.506102 s, deltaX: -0.400002 m, approachRate: -0.790358 m/s, rangeRepo size: 4  Added new target pos. range: 95.525780 m, bearing: 349.103992 deg, lat: 36.906784 deg, lon: -122.116108 deg, deltaT: 0.506102 s, deltaX: -0.395721 m, approachRate: -0.781901 m/s, posRepo size: 4 MDNOT Ignoring new targets: 95.53 m.QY ProNav: ac range: 95.525780 m, nav range: 94.640533 m, bearing: 347.562734 deg, approach rate: 0.000000 m/s, LOS rate: 0.096317 deg/s, cmd heading: 356.826622 deg, new cmd heading: 356.977276 deg. %HeadingCmd: 6.230429 target range: 95.525780 and range: 96.20 m.b%_@Z!r!j!R!J!B)~)~-y~B}1|1|1|5 X@|5.? Y~B靵Έ=I)B?Ir< V㻉{Xi_@i-DDAT read: Rx Time:13:53:28.5625 -TRx dataTimestamp_ set to:1749131609.737161=PDAT read: Bearing 15.9, 6.6 (Local) =~Local bearing/azimuth received: Bearing 15.9, 6.6 (Local) MDAT read: Range 10 to 50 : 96.0 m (trip time 64.0 ms) speed 0.5 uDAT read: 13:53:28.5625 LVL= 23536, 23617, 22898, 32755, AGC= 66, IDX= 500, 0.20, 1.048,-0.361, 0.579, 0.490, PHS= 0.646,-0.804, 0.086, RAW= 127.5, 1.2, CAL= 134.1, -6.6, ROT= 15.9, 6.6 }Ygot valid direction response: 13:53:28.5625 LVL= 23536, 23617, 22898, 32755, AGC= 66, IDX= 500, 0.20, 1.048,-0.361, 0.579, 0.490, PHS= 0.646,-0.804, 0.086, RAW= 127.5, 1.2, CAL= 134.1, -6.6, ROT= 15.9, 6.6 }V#Rx 116: Read range and direction messages.^direction in FSK: [0.955368,0.272144,-0.114937]Fpublishing direction and range info)y-u["_? j?NZl-BY) -[)-A\I-rYi)-B-B`%?-M- = -;k@)--= )))-j?;+6?k?i->--q>-= )))checking for new query: numPingsReceived=116, elapsed TxPingTime=53.727261E- ?E) E1 E5 W0E1  6G 1~GAAN>,W}VhAvchecking for new query: numPingsReceived=116, elapsed TxPingTime=53.9508559m@mX&@Ym=ym4>mHے? )?cܿZb?@pп!@;k?? m@m;)mCBVIII<2U#= 9=yֹQ >٥ Hi= >  .5 g?.59 N I UBy15[ؾ5@ 4Ei ; );  3.5AEAEuEqZb-oVhABBG@ʁEV@OS9@9%u["_? j?NZlq>=ҁVqW@4/l'b{?hTſ6]O z)~Bj.F֜?rR hBi՜? IBBz/@% addTargetRange:: Added new target pos. range: 96.000000 m, deltaT: 0.503158 s, deltaX: -0.199997 m, approachRate: -0.397483 m/s, rangeRepo size: 4 I1I5AA:J=]BJ=cJJ9RJ9ZJ=]:bJ=x9J9J9U Added new target pos. range: 95.327187 m, bearing: 350.386048 deg, lat: 36.906790 deg, lon: -122.116108 deg, deltaT: 0.503158 s, deltaX: -0.198593 m, approachRate: -0.394693 m/s, posRepo size: 4 YKۍP"K@9*K2K :KgZ;)DEev~N' ^H#s, 0 Z(cJJAmDNOT Ignoring new targets: 95.33 m. ProNav: ac range: 95.327187 m, nav range: 95.049728 m, bearing: 347.687727 deg, approach rate: 0.000000 m/s, LOS rate: 0.096317 deg/s, cmd heading: 356.977269 deg, new cmd heading: 357.099798 deg. HeadingCmd: 6.232567 target range: 95.327187 and range: 96.00 m.b1q@ZrjRJB~~}|||eX@|m@g`? \~B靵~ =I)F?Ik< ,軉TOi 1q@i EAEAEIEM`0EIDDAT read: Rx Time:13:53:29.0622 TRx dataTimestamp_ set to:1749131610.242448PDAT read: Bearing 14.0, 8.4 (Local) ~Local bearing/azimuth received: Bearing 14.0, 8.4 (Local) DAT read: Range 10 to 50 : 95.6 m (trip time 63.7 ms) speed 0.8  DAT read: 13:53:29.0622 LVL= 21168, 21889, 19698, 32339, AGC= 68, IDX= 497, 0.10, 0.927,-0.524, 0.498, 0.347, PHS= 0.669,-0.823, 0.149, RAW= 129.9, 0.1, CAL= 136.0, -8.4, ROT= 14.0, 8.4  Ygot valid direction response: 13:53:29.0622 LVL= 21168, 21889, 19698, 32339, AGC= 68, IDX= 497, 0.10, 0.927,-0.524, 0.498, 0.347, PHS= 0.669,-0.823, 0.149, RAW= 129.9, 0.1, CAL= 136.0, -8.4, ROT= 14.0, 8.4  V#Rx 117: Read range and direction messages. ^direction in FSK: [0.959887,0.239327,-0.146083] Fpublishing direction and range infoکyڭL2Yd?M]A?/8ٲ¿ڭ3BYک ۭR)ۭUIۭLiۭS~ۭDۭC+?ۭ!Rۭu> ܭ@)ܭ:Iܭ@iܭQ ܭ5z>ܭQ > ݩ)ݩݭM/}?1"ݩ ?v4V?iݭO1>ݭݭ5z>ݭQ > ީ)ީ checking for new query: numPingsReceived=117, elapsed TxPingTime=54.2520906G ZG RG  ~G A A N >ۥ,VhA9@6@Y =y>H`?4?@Mۿ.?`Sп@k?? @;)CBGIHU>HUCHUYIHUBHQHQHU0DHU<HUEa%Mb@Mb@Mb@!!! !)!Y%%C?S㥛?~jty%Z$?%/<%D% A %@)!I%$@!y%@I=Mchecking for new query: numPingsReceived=117, elapsed TxPingTime=54.454407I=(*3mM m,=yu) Q u>٥qq uHuF}w= }>.5?.59^ IOBy$?:Ⱦ@9Ei;.;/7.5BoArEZ1b5EVhA5ܽB5ܽB5@ʁ5KeV@O16@uP+5L2Yd?M]A?/8ٲ¿55z>5Q >ҁ5PJW@*[~.Dn%4#5Ig?N׎Ŀ຿z5s5UBj5*֜?r5SE 5YB5*֜?52  5_B5B5.@e addTargetRange:: Added new target pos. range: 95.599998 m, deltaT: 0.505287 s, deltaX: -0.400002 m, approachRate: -0.791632 m/s, rangeRepo size: 4 y Added new target pos. range: 94.930977 m, bearing: 350.705918 deg, lat: 36.906795 deg, lon: -122.116082 deg, deltaT: 0.505287 s, deltaX: -0.396210 m, approachRate: -0.784128 m/s, posRepo size: 4 DNOT Ignoring new targets: 94.93 m. ProNav: ac range: 94.930977 m, nav range: 94.856972 m, bearing: 349.168395 deg, approach rate: 0.000000 m/s, LOS rate: 0.096317 deg/s, cmd heading: 357.099802 deg, new cmd heading: 357.242464 deg. %HeadingCmd: 6.235057 target range: 94.930977 and range: 95.60 m.b%@Z!r)j)R9J9B9~9~E~B}A|A|A|E`fW@|M@3? Ea~BE=I);??I< f!Ei@iԩEy Ey E E X0E  DDAT read: Rx Time:13:53:29.5622  TRx dataTimestamp_ set to:1749131610.743616 DAT read: Range 10 to 50 : 95.6 m (trip time 63.7 ms) speed 0.5 - \#Rx 118: Read range message, but no direction. Y  checking for new query: numPingsReceived=118, elapsed TxPingTime=54.709866 6Ga ~G!A)AANU>E,TVhAT9j@jU@Yj=yjB>jHm?@:K?g+`۱׿ q?FIѿ`A?? j@jx~;)jC B FIi=Ip=AI]I]T3m{ mJ=y:Q >٥ HFd> >.5?.59 IJBy諭@>Eii<i<:.5)-{A-oEB*** querying acoustic contact ***JRE addTargetRange:: Added new target pos. range: 95.599998 m, deltaT: 0.501168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 AMDNOT Ignoring new targets: 94.93 m.u:u: ProNav: ac range: 94.930977 m, nav range: 94.596367 m, bearing: 349.191413 deg, approach rate: -0.641558 m/s, LOS rate: 0.056824 deg/s, cmd heading: 357.242471 deg, new cmd heading: 357.311718 deg. ;HeadingCmd: 6.236266 target range: 94.930977 and range: 95.60 m.b~@ZrjRJB~~}|||| ?Uchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.958347 Ed~Bm=Iq)u=?qIup-< qquȶ񻉢}n.@6<ii~@iEe?EaEaEea0Ea:JcBJSJJQRJZJ:bJy69J4JKlP"K}9*K2K :Kx<u5( \pk)c%s{LOZU\Y.0a 6Gq ~GI Ay A N > DDAT read: Rx Time:13:53:30.0619  TRx dataTimestamp_ set to:1749131611.247950 PDAT read: Bearing 10.0, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 10.0, 13.4 (Local) - DAT read: Range 10 to 50 : 95.1 m (trip time 63.4 ms) speed 0.6 M DAT read: 13:53:30.0619 LVL= 18704, 28017, 18002, 28915, AGC= 68, IDX= 509,-0.06, 0.333,-1.056, 0.028,-0.260, PHS= 0.681,-0.748, 0.286, RAW= 134.5, -3.5, CAL= 140.0, -13.4, ROT= 10.0, 13.4 U Ygot valid direction response: 13:53:30.0619 LVL= 18704, 28017, 18002, 28915, AGC= 68, IDX= 509,-0.06, 0.333,-1.056, 0.028,-0.260, PHS= 0.681,-0.748, 0.286, RAW= 134.5, -3.5, CAL= 140.0, -13.4, ROT= 10.0, 13.4 ,YVhA"V#Rx 119: Read range and direction messages.2^direction in FSK: [0.957997,0.168921,-0.231748]6Fpublishing direction and range info1y56?ٗ1?] AͿ53BY1 5I)5qmI5RFi5p15V.?5|?5n> 5<@)55zI5a@i5|o5¸2>5|o> 1)15uեh?P0?g i5[>5w=5¸2>5|o> 1)1-checking for new query: numPingsReceived=119, elapsed TxPingTime=55.2589389@˽@Y=y\L>H h? 0? 䰿`2ֿ? Hѿ `?? @;)C=B=>IEMb@Mb@Mb@AAA A)AYE~jt?~jt?:vyE$?E٥ Hso= >.5Ĭ?.59 ICBy$?:ܢ@BEi6;;>.5A IZ1b5jVhA5޼B5޼B5YD@ʁ5 &+V@e/@uɎ556?ٗ1?] AͿ5¸2>5|o>ҁ50(JV@^%o؍35Ř`)?m\Сv{ʿz5.5zBj5R j՜?r5  53B15R  5hB5޻B5@% addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 0.504334 s, deltaX: -0.500000 m, approachRate: -0.991407 m/s, rangeRepo size: 4 5 Added new target pos. range: 94.434479 m, bearing: 353.205161 deg, lat: 36.906795 deg, lon: -122.116059 deg, deltaT: 1.005502 s, deltaX: -0.496498 m, approachRate: -0.493781 m/s, posRepo size: 4 9=DNOT Ignoring new targets: 94.43 m. ProNav: ac range: 94.434479 m, nav range: 93.934761 m, bearing: 350.447683 deg, approach rate: 0.000000 m/s, LOS rate: 0.056824 deg/s, cmd heading: 357.311730 deg, new cmd heading: 357.390404 deg. HeadingCmd: 6.237639 target range: 94.434479 and range: 95.10 m.b@ZrjRJB~ ~ ~B} | ||`fW@|@?HE޼>HECHESIHEBHE =HAHE.DHE<HEE i~B=I)z9?I}< Y?:'T<Yi@i]checking for new query: numPingsReceived=119, elapsed TxPingTime=55.462364yEqEyEyE}_0E6GM Z4~~G A Aa Nu >ԡ 1,HVhAQ9]៷@]@Y]h=y]WI>]HN?R6?w`|lԿ@?`-ѿ`A m?? ]៷@]u;)]CBEIIUIU3e< e\=DDAT read: Rx Time:13:53:30.5617 TRx dataTimestamp_ set to:1749131611.753438PDAT read: Bearing 6.4, 10.3 (Local) ~Local bearing/azimuth received: Bearing 6.4, 10.3 (Local) DAT read: Range 10 to 50 : 94.8 m (trip time 63.2 ms) speed 0.5 DAT read: 13:53:30.5617 LVL= 22832, 24753, 20322, 32755, AGC= 68, IDX= 507,-0.12, 0.188,-1.151,-0.005,-0.303, PHS= 0.579,-0.800, 0.295, RAW= 138.7, -1.2, CAL= 143.6, -10.3, ROT= 6.4, 10.3 Ygot valid direction response: 13:53:30.5617 LVL= 22832, 24753, 20322, 32755, AGC= 68, IDX= 507,-0.12, 0.188,-1.151,-0.005,-0.303, PHS= 0.579,-0.800, 0.295, RAW= 138.7, -1.2, CAL= 143.6, -10.3, ROT= 6.4, 10.3 V#Rx 120: Read range and direction messages.^direction in FSK: [0.977753,0.109673,-0.178802]Fpublishing direction and range infoy* ;Q >٥    H F;= >)5.5-9?5.59- I-=By1==@-FEi-:-:-NB.5ڙyڝiwI?^ ?ƿڝBYڙ ۝0Y)۝`I۝bOi۝ۙ۝X9?۝L۝= > ܝ@)ܝIܝg @iܝX8ܝ=ܝX8> ݙ)ݙݝꇽ_K?2w;?*ݝ<ݝ=ݝX8> ޙ)ޙ]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.BAlEyZbT8VhADBDB@ʁiW@7yե$@0iwI?^ ?ƿ=X8>ҁl܂V@%..{Yp0T_?r= ſ=a`ZƿzwƶBjn8՜?rRQ ?BRQ  YBꁝZB@ addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 0.505488 s, deltaX: -0.299995 m, approachRate: -0.593477 m/s, rangeRepo size: 4  Added new target pos. range: 94.133751 m, bearing: 350.391831 deg, lat: 36.906795 deg, lon: -122.116058 deg, deltaT: 0.505488 s, deltaX: -0.300728 m, approachRate: -0.594926 m/s, posRepo size: 4  DNOT Ignoring new targets: 94.13 m.  = ProNav: ac range: 94.133751 m, nav range: 93.675797 m, bearing: 350.494275 deg, approach rate: 0.000000 m/s, LOS rate: 0.056824 deg/s, cmd heading: 357.390413 deg, new cmd heading: 357.459107 deg. 9EHeadingCmd: 6.238838 target range: 94.133751 and range: 94.80 m.bE@ZArIjIRIJIBI~Q~q}|||@3W@|h? m~B=I),;?I|< ȕ5  < BCi @iIԱE-?E1E1E5~0E1E {,WhAK&EHP"K&9*K$2K& :K&H0-"]{86` 8^^Iu,*X9~q@~{@Y~9 =y~pg>~H?o? ҿ@Pe?gп??? ~q@~;)~CB5I) II?13KR (=y)8;Q  >٥9A MHDDAT read: Rx Time:13:53:31.0614 TRx dataTimestamp_ set to:1749131612.261713PDAT read: Bearing 3.7, 11.9 (Local) ~Local bearing/azimuth received: Bearing 3.7, 11.9 (Local) DAT read: Range 10 to 50 : 94.4 m (trip time 62.9 ms) speed 0.5 =DAT read: 13:53:31.0614 LVL= 19344, 27761, 19986, 26595, AGC= 70, IDX= 504,-0.22,-0.528,-1.988,-0.679,-1.083, PHS= 0.643,-0.858, 0.401, RAW= 141.4, -2.7, CAL= 146.3, -11.9, ROT= 3.7, 11.9 EYgot valid direction response: 13:53:31.0614 LVL= 19344, 27761, 19986, 26595, AGC= 70, IDX= 504,-0.22,-0.528,-1.988,-0.679,-1.083, PHS= 0.643,-0.858, 0.401, RAW= 141.4, -2.7, CAL= 146.3, -11.9, ROT= 3.7, 11.9 MR#Rx 1: Read range and direction messages.e^direction in FSK: [0.976469,0.063145,-0.206204]mFpublishing direction and range infoyM @)AI.k#@iȭT A=ȭT> )U Vd?]̙J?!'}Nik>@= A=FEA= M>IU.5Mvݷ?].59Mp IM5ByY]퇾]@MLEiMz:M :MG.5eBmAmiEZbWhAyByBȭT> ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.XG@ʁrV@6@p0T3MҁskV@N.}Ws0Qh94ظ? %wƿn˿zBje€՜?rm Y0BR j՜? ?BB@u addTargetRange:: Added new target pos. range: 94.400002 m, deltaT: 0.508275 s, deltaX: -0.400002 m, approachRate: -0.786979 m/s, rangeRepo size: 4  Added new target pos. range: 93.736557 m, bearing: 349.645150 deg, lat: 36.906787 deg, lon: -122.116058 deg, deltaT: 0.508275 s, deltaX: -0.397194 m, approachRate: -0.781455 m/s, posRepo size: 4 DNOT Ignoring new targets: 93.74 m. ProNav: ac range: 93.736557 m, nav range: 92.449211 m, bearing: 350.424228 deg, approach rate: 0.000000 m/s, LOS rate: 0.056824 deg/s, cmd heading: 357.459098 deg, new cmd heading: 357.548366 deg. HeadingCmd: 6.240396 target range: 93.736557 and range: 94.40 m.bS@ZrjRJB~~}| | |W@|a? s~B靥1=I)K3?I< F C/p<˹1iS@i1 E E E E ]0E H ׼>H CH LIH BH  =H H -DH <H EHHʘCHʔCH =I = Iv66G sYM ,"WhA(9u;@uE@Yu4=yu>uH@?@+Y?{`Yѿ s?oп^o?? u;@u1;)qJJ4J1:J^BJVJJERJZJ} :bJB9J4JzJ`:jJe:JX:rJX:B0IMb@Mb@Mb@ )Y{Gz?Mb`?٥9A EHEFUC= ]>q.5u?.59u Iu.By#?:a@uPEiuX E/!@) 5I %@i ¸2 < ¸2> )  EKK)?,C&T?oQi [!> 5 < < ¸2> )  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.EaEaEaEe0Ea6GE WD ) > ُC~G! Aa Ay }G N > EY y AD,;WhA9:@: @Y:x=\y:<)>:H??@<Ͽ?Iп`A@v4?? :@:+Ї;):C5B5$IIE IE(2Umt ]=y];Q ]?٥aa eHae = m?i.5m_?.59mD Im'Byv@mSEimg;m;mL.5fAZIbM0WhAMBMBMZ@ʁMW@Ԧ_y@"4>0M$Sf?^J(?ٖNs:ƿM<M¸2>ҁMۏQ$V@E0e?2M&E_s?DƿgpUɿzM/MuBjM4՜?rMl M7BMn8՜?I M7BMԷBMi@U)GK%u7hh]eEVc_EEE E `5E !5 DDAT read: Rx Time:13:53:32.0610 A M TRx dataTimestamp_ set to:1749131613.271258U PDAT read: Bearing 359.7, 8.2 (Local) U ~Local bearing/azimuth received: Bearing 359.7, 8.2 (Local) u DAT read: Range 10 to 50 : 93.8 m (trip time 62.5 ms) speed 0.5 6G C DAT read: 13:53:32.0610 LVL= 30304, 27073, 28642, 27283, AGC= 70, IDX= 500,-0.43,-1.186,-2.580,-1.182,-1.588, PHS= 0.491,-0.944, 0.403, RAW= 146.9, 0.7, CAL= 150.3, -8.2, ROT= 359.7, 8.2 U Ygot valid direction response: 13:53:32.0610 LVL= 30304, 27073, 28642, 27283, AGC= 70, IDX= 500,-0.43,-1.186,-2.580,-1.182,-1.588, PHS= 0.491,-0.944, 0.403, RAW= 146.9, 0.7, CAL= 150.3, -8.2, ROT= 359.7, 8.2 } R#Rx 1: Read range and direction messages. `direction in FSK: [0.989763,-0.005182,-0.142629]~G A A N > Fpublishing direction and range infoA yE v"?#H(:ux0A¿E BYA E `v)E iIE oiE jE FE Zd>E qE V> E $@)E +H A )A E "mX?p!?t?iE >E OE E C> A )A - 2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.>*,UWhAB!Ii٥9A EHEFE E>i}.5m?.59m) ImBy#?:ix@mXEimHH@IHBH =HHH<HEZyb}K\QWhA}GB}GB}@ʁ} W@ >S޿ZՓ*}v"?#H(:ux0A¿}}C>ҁ}T,oWhAjDDAT read: Rx Time:13:53:32.5609 nTRx dataTimestamp_ set to:1749131613.769569rPDAT read: Bearing 357.6, 7.5 (Local) r~Local bearing/azimuth received: Bearing 357.6, 7.5 (Local) zDAT read: Range 10 to 50 : 93.8 m (trip time 62.5 ms) speed 0.4 =DAT read: 13:53:32.5609 LVL= 22096, 28561, 18274, 30547, AGC= 70, IDX= 498, 0.33, 1.610, 0.205, 1.686, 1.244, PHS= 0.453,-0.993, 0.439, RAW= 149.5, 1.4, CAL= 152.4, -7.5, ROT= 357.6, 7.5 EYgot valid direction response: 13:53:32.5609 LVL= 22096, 28561, 18274, 30547, AGC= 70, IDX= 498, 0.33, 1.610, 0.205, 1.686, 1.244, PHS= 0.453,-0.993, 0.439, RAW= 149.5, 1.4, CAL= 152.4, -7.5, ROT= 357.6, 7.5 MR#Rx 1: Read range and direction messages.y`direction in FSK: [0.990575,-0.041517,-0.130526]Fpublishing direction and range infolyn-ʲ?$>MA /lYl nPV)noInbGinSwln>n?5~n> n<&@)n+ l)ln\?f?f?inh?nv<˼nQ+n > lBIII3)l e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.u؆ }W=yyQ }>٥ H >.5~,?.59 IBy@[Ei9<+;;AT.5AZlbn@qWhAlln@ʁn%kW@MnZ&@qP(n-ʲ?$>MA /nQ+n >ҁn-,V@Yy`7na30n^x??пpYmCƿznnaBjnWB=^՜?rn%j* n9@Bn՜?nm  ng?BnpBnO@ addTargetRange:: Added new target pos. range: 93.800003 m, deltaT: 0.498311 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 93.139267 m, bearing: 345.233695 deg, lat: 36.906778 deg, lon: -122.116070 deg, deltaT: 0.498311 s, deltaX: 0.000160 m, approachRate: 0.000322 m/s, posRepo size: 4 %DNOT Ignoring new targets: 93.14 m.))= ProNav: ac range: 93.139267 m, nav range: 90.718864 m, bearing: 349.703922 deg, approach rate: 0.000000 m/s, LOS rate: 0.039465 deg/s, cmd heading: 357.682827 deg, new cmd heading: 357.727599 deg. 9EHeadingCmd: 6.243525 target range: 93.139267 and range: 93.80 m.bE@ZArijiRiJiBi~q~q}q|q|q|y|} $}?ԩ ~B\R=I) ?I< ǐE%s"E(I I ?A K= P"K= 9*K9 2K= :K= j3: ]ltENvOKN]XHPH) n)n[[gcSVc8L>,vkWhA9e#@e-@Ye'3/=yetj|>eHn??}oaǿr?jϿ@䥿`q4? ? e#@e;)eCBIIm&Im3}m }J=y}P٥ HF=#> >Q.5UJC?.59U IU BDDAT read: Rx Time:13:53:33.0605 TRx dataTimestamp_ set to:1749131614.276564-PDAT read: Bearing 355.4, 8.6 (Local) 5~Local bearing/azimuth received: Bearing 355.4, 8.6 (Local) yt4@U`EiU1=U1=UX.5BADAT read: Range 10 to 50 : 93.2 m (trip time 62.1 ms) speed 0.5 `EMDAT read: 13:53:33.0605 LVL= 21824, 30017, 17650, 32755, AGC= 68, IDX= 495, 0.15, 0.335,-1.041, 0.473,-0.028, PHS= 0.451,-0.966, 0.498, RAW= 151.6, 0.2, CAL= 154.6, -8.6, ROT= 355.4, 8.6 Ygot valid direction response: 13:53:33.0605 LVL= 21824, 30017, 17650, 32755, AGC= 68, IDX= 495, 0.15, 0.335,-1.041, 0.473,-0.028, PHS= 0.451,-0.966, 0.498, RAW= 151.6, 0.2, CAL= 154.6, -8.6, ROT= 355.4, 8.6 R#Rx 1: Read range and direction messages.B*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 93.14 m.--=`direction in FSK: [0.985571,-0.079297,-0.149535]=Fpublishing direction and range infoye'͉?(LS&r#ÿfBY @U)AuIDiDy>Kw> V)@ ProNav: ac range: 93.139267 m, nav range: 90.444077 m, bearing: 349.703316 deg, approach rate: -0.564730 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.727606 deg, new cmd heading: 357.725784 deg. G[HeadingCmd: 6.243493 target range: 93.139267 and range: 93.80 m.b@ZrjRJB)d;I,@i`(~@`> )1ѷ???fS?ҰWq?iE ?تl`> ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.~~}|||LW@|?) ~B =I! )% 4?! I- Gd< ) ) - H >H CH 4IH BH  =H H .DH <H E= "% l*<% עi% @i! a  Hۊ??:r?]Ŀޡ?ο"ۦ`Q?? ˼@ m;) CUDDAT read: Rx Time:13:53:33.5604 ]TRx dataTimestamp_ set to:1749131614.775817ePDAT read: Bearing 353.0, 7.5 (Local) e~Local bearing/azimuth received: Bearing 353.0, 7.5 (Local) uDAT read: Range 10 to 50 : 93.0 m (trip time 62.0 ms) speed 0.5 DAT read: 13:53:33.5604 LVL= 25072, 29777, 17906, 30979, AGC= 69, IDX= 510,-0.07, 0.924,-0.355, 1.148, 0.648, PHS= 0.364,-0.955, 0.497, RAW= 154.7, 1.4, CAL= 157.0, -7.5, ROT= 353.0, 7.5 Ygot valid direction response: 13:53:33.5604 LVL= 25072, 29777, 17906, 30979, AGC= 69, IDX= 510,-0.07, 0.924,-0.355, 1.148, 0.648, PHS= 0.364,-0.955, 0.497, RAW= 154.7, 1.4, CAL= 157.0, -7.5, ROT= 353.0, 7.5 R#Rx 1: Read range and direction messages.`direction in FSK: [0.984055,-0.120827,-0.130526]Fpublishing direction and range infoQyU<;n`}?5e /UBYQ Ua)UQtIUEiUyUEU5^>UztUv> U3,@)U+ Q)QUYH?{X Q)Q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.UvBUI)y yMb@Mb@Mb@ )Y{Gz? rhy&1yC`vA =@)@I@y@IIT3%g޼ %<1yM.;Q M}>٥QQ UHUF]< ]>Ye.5]g?.59] I]By $?:<7@]gEi]CB<].B<]].5XA]EZQbUWhAUBUBU@ʁUV@O5P& t2k(U<;n`}?5e /U5QҁU.ouU@Dv6"b2Ug^? ;FϿEQ${ɿzUUGBjU@՜?rU o Ud7BUe€՜?Um  Ud7BU%BUv @ addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 1.006248 s, deltaX: -0.800003 m, approachRate: -0.795036 m/s, rangeRepo size: 4   Added new target pos. range: 92.345879 m, bearing: 345.562905 deg, lat: 36.906777 deg, lon: -122.116111 deg, deltaT: 1.006248 s, deltaX: -0.793388 m, approachRate: -0.788462 m/s, posRepo size: 4   DNOT Ignoring new targets: 92.35 m.  M  ProNav: ac range: 92.345879 m, nav range: 90.573166 m, bearing: 347.421845 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.725776 deg, new cmd heading: 357.723378 deg. Q  HeadingCmd: 6.243451 target range: 92.345879 and range: 93.00 m.b Y@Z r j R J B ~ ~ }B} | | | @W@| g?  G,pWhA9V6_@Vh@YV==yVn>VHݠ?`e?ن? ¿?vοm`?? V6_@Vv;)VCi\`)b `I` `)``ddfCdifףIddIhih jDh)h| ~tA~||I)Fi) IrA=9 AٯAIEIE2 n==DDAT read: Rx Time:13:53:34.0601 ETRx dataTimestamp_ set to:1749131615.284722mPDAT read: Bearing 350.2, 7.6 (Local) u~Local bearing/azimuth received: Bearing 350.2, 7.6 (Local) DAT read: Range 10 to 50 : 92.6 m (trip time 61.7 ms) speed 0.4 y;Q >٥ HFJ= >M.5z?M.59 IByIM %M@kEihd<d<.a.5]B]_A]ZEDAT read: 13:53:34.0601 LVL= 20640, 32753, 15410, 30787, AGC= 70, IDX= 507,-0.33, 0.076,-1.207, 0.393,-0.174, PHS= 0.338,-0.985, 0.565, RAW= 157.8, 1.2, CAL= 159.8, -7.6, ROT= 350.2, 7.6 Ygot valid direction response: 13:53:34.0601 LVL= 20640, 32753, 15410, 30787, AGC= 70, IDX= 507,-0.33, 0.076,-1.207, 0.393,-0.174, PHS= 0.338,-0.985, 0.565, RAW= 157.8, 1.2, CAL= 159.8, -7.6, ROT= 350.2, 7.6 R#Rx 1: Read range and direction messages.`direction in FSK: [0.976752,-0.168714,-0.132256]Fpublishing direction and range info9y=A?=b#nſ) A=3BY9 =P)=I=2<i=CxZ9b=8WhA=B=B=A@ʁ=!tsV@N/NӶTR(=A?=b#nſ) =%/=>ҁ=%iU@)d 9b2ʏ3=j&?jHoѿ?;˿z=c=Bj={Ԝ?r='jZ =F=V>=(|=ף? =C0@)= 9)9=*G;LMH?<?FAx?i=(?=/ȣ=%/=> 9)9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.=2B=WB=^՜?= o  9=5B=@% addTargetRange:: Added new target pos. range: 92.599998 m, deltaT: 0.508905 s, deltaX: -0.400002 m, approachRate: -0.786004 m/s, rangeRepo size: 4 5 Added new target pos. range: 91.948692 m, bearing: 343.811428 deg, lat: 36.906773 deg, lon: -122.116143 deg, deltaT: 0.508905 s, deltaX: -0.397186 m, approachRate: -0.780472 m/s, posRepo size: 4 1]DNOT Ignoring new targets: 91.95 m.Yau ProNav: ac range: 91.948692 m, nav range: 90.604744 m, bearing: 345.604873 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.723371 deg, new cmd heading: 357.721943 deg. qHeadingCmd: 6.243426 target range: 91.948692 and range: 92.60 m.b%@ZrjRJB~~}|||`f&W@|@ż? =~B= B=I9)=0?AIE< AAE_ M"u/vHE CHE IHE BHE  =HA HE /DHE <HE E6G ʴ~G A  ԙ ,ZEWhA:Jf]BJfHJJfCRJdZJf]:bJf9Jf4JdzJf:jJf:Jf9rJf99 i@ @Y hG=y Un> H5??`]?X;? pο꨿}?@? i@ ;) CymBIMb@Mb@Mb@ )Y}?5^I?ԡ٥9A EHEFE͗= E>IU.5Mk?U.59M mDDAT read: Rx Time:13:53:34.5599 mTRx dataTimestamp_ set to:1749131615.792056uPDAT read: Bearing 348.7, 7.4 (Local) }~Local bearing/azimuth received: Bearing 348.7, 7.4 (Local) DAT read: Range 10 to 50 : 92.3 m (trip time 61.5 ms) speed 0.8 DAT read: 13:53:34.5599 LVL= 23536, 30689, 15730, 32755, AGC= 68, IDX= 504, 0.38, 0.972,-0.301, 1.344, 0.748, PHS= 0.313,-1.002, 0.593, RAW= 159.5, 1.3, CAL= 161.3, -7.4, ROT= 348.7, 7.4 Ygot valid direction response: 13:53:34.5599 LVL= 23536, 30689, 15730, 32755, AGC= 68, IDX= 504, 0.38, 0.972,-0.301, 1.344, 0.748, PHS= 0.313,-1.002, 0.593, RAW= 159.5, 1.3, CAL= 161.3, -7.4, ROT= 348.7, 7.4 R#Rx 1: Read range and direction messages.`direction in FSK: [0.972447,-0.194314,-0.128796]Fpublishing direction and range infoiym">I?IGȿOZ_|mBYi m[)mwImr=immDmA>mAm? m)2@)m޹ i)img(?'f)U?M?im0Q0?mvmIm A> i)i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IMۢBy"?:f@MoEiMI?IGȿOZ_|mIm A>ҁmXhAKP"K9*K2K :K  ~eeVAJ?'<.}~ PLy~YF! aAi-#AK&kCBBnV9!9}0@} @Y}N=y}yj>}H@.?sh?`*??GͿѩF? ? }0@};)}CQDDAT read: Rx Time:13:53:35.0595 TRx dataTimestamp_ set to:1749131616.300404PDAT read: Bearing 345.3, 7.2 (Local) ~Local bearing/azimuth received: Bearing 345.3, 7.2 (Local) DAT read: Range 10 to 50 : 91.7 m (trip time 61.1 ms) speed 0.5 =DAT read: 13:53:35.0595 LVL= 20384, 26481, 14962, 28819, AGC= 69, IDX= 501, 0.05, 1.137,-0.051, 1.619, 0.982, PHS= 0.243,-0.986, 0.634, RAW= 163.4, 1.5, CAL= 164.7, -7.2, ROT= 345.3, 7.2 EYgot valid direction response: 13:53:35.0595 LVL= 20384, 26481, 14962, 28819, AGC= 69, IDX= 501, 0.05, 1.137,-0.051, 1.619, 0.982, PHS= 0.243,-0.986, 0.634, RAW= 163.4, 1.5, CAL= 164.7, -7.2, ROT= 345.3, 7.2 ER#Rx 1: Read range and direction messages.y`direction in FSK: [0.959641,-0.251757,-0.125333]Fpublishing direction and range infoڹyڽ`?mпcK ڽfBYڹ ۽O)۽qgI۽r:i۽p۽E۽x>۽j|۽M"? ܽ6@)ܽPw ݹ)ݹݽ5)@?V#??2?iݽ/A?ݽ׼ݽJ\ݽ> ޹)޹ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.HM Ӽ>HM CHM IHM |BHM  =HI HM -DHM <HM E kB Ii ٥ HF%B< %b>)5.5-;?U.59-p I-ByU#?U:]]@-wEi-%;-;-Jl.5aeAmTEZb9XhABB0ܾ@ʁAJҁ,N U@ٸ;f>47&Yt?̈ӿ\|ͿzUfBjئuԜ?rCڥ .BԜ?D  2BꁽB~G@ addTargetRange:: Added new target pos. range: 91.699997 m, deltaT: 0.508348 s, deltaX: -0.600006 m, approachRate: -1.180306 m/s, rangeRepo size: 4 % Added new target pos. range: 91.053566 m, bearing: 341.733709 deg, lat: 36.906761 deg, lon: -122.116162 deg, deltaT: 0.508348 s, deltaX: -0.599068 m, approachRate: -1.178460 m/s, posRepo size: 4 DNOT Ignoring new targets: 91.05 m. ProNav: ac range: 91.053566 m, nav range: 88.969612 m, bearing: 344.274711 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.720202 deg, new cmd heading: 357.717285 deg. HeadingCmd: 6.243344 target range: 91.053566 and range: 91.70 m.bz@ZrjRJB~~}B} | | | V@| ? ~B靅g=Im#)|?I< E :0#<~iz@iEU?EQEQEU5EQDDAT read: Rx Time:13:53:35.5594  TRx dataTimestamp_ set to:1749131616.801601PDAT read: Bearing 343.6, 6.7 (Local) ~Local bearing/azimuth received: Bearing 343.6, 6.7 (Local) )5DAT read: Range 10 to 50 : 91.5 m (trip time 61.0 ms) speed 0.5 UDAT read: 13:53:35.5594 LVL= 22160, 32497, 17650, 32307, AGC= 70, IDX= 500,-0.14, 0.937,-0.204, 1.472, 0.827, PHS= 0.198,-0.984, 0.642, RAW= 165.3, 2.0, CAL= 166.4, -6.7, ROT= 343.6, 6.7 ]Ygot valid direction response: 13:53:35.5594 LVL= 22160, 32497, 17650, 32307, AGC= 70, IDX= 500,-0.14, 0.937,-0.204, 1.472, 0.827, PHS= 0.198,-0.984, 0.642, RAW= 165.3, 2.0, CAL= 166.4, -6.7, ROT= 343.6, 6.7 ]R#Rx 1: Read range and direction messages.6Gm`direction in FSK: [0.952763,-0.280413,-0.116671]Fpublishing direction and range infoyED-}?|/TIѿmu"޽BY V)~IDi3~FJ>m{Z$? R8@)5=I9@i|i@|= )~}T }?Ė.(?VN?imyJ?1:|= ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.~GAAIAqN}mH`q? ??c@-?M˿`?@>=? mi@m5̇;)mC )CAɿ\F鿁QAiO IIi ) ¥tA©©I©)©i©)éIñ±± ññõAñiùùٯ9EfBMII}I}2 \=yM٥ Hy= >.5Ѹ?.59 IByƽ@{Ei :;o.5%B%A-QEZbnM3XhABBZw@ʁ0s U@q6z9B3%ED-}?|/TIѿmu"޽:|=ҁxsT@q}<ր "q4c}XQ|?5\REԿQ:7̿z;nBjQ`Ԝ?rA /B{Ԝ?'jZ  31BB @M addTargetRange:: Added new target pos. range: 91.500000 m, deltaT: 0.501197 s, deltaX: -0.199997 m, approachRate: -0.399039 m/s, rangeRepo size: 4 e Added new target pos. range: 90.854980 m, bearing: 341.028460 deg, lat: 36.906760 deg, lon: -122.116171 deg, deltaT: 0.501197 s, deltaX: -0.198586 m, approachRate: -0.396222 m/s, posRepo size: 4 aeDNOT Ignoring new targets: 90.85 m. ProNav: ac range: 90.854980 m, nav range: 88.821709 m, bearing: 343.697977 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.717279 deg, new cmd heading: 357.715930 deg. HeadingCmd: 6.243321 target range: 90.854980 and range: 91.50 m.bI@ZrjRJB~~}|||V@|?  ~B靽Jו=I)H ?I<   I#:<<;iI@i-RJZJ9bJ>9Jt4J@@@@KU EQ"KU 9*KQ 2KU :KU Ad3E fLUE0ZZ] fzkIt  * -RJ} ?J} ?a 6G a.ʼ~G A A N] >g,zRXhANDDAT read: Rx Time:13:53:36.0591 ZTRx dataTimestamp_ set to:1749131617.309549jPDAT read: Bearing 342.0, 6.6 (Local) n~Local bearing/azimuth received: Bearing 342.0, 6.6 (Local) )eDAT read: Range 10 to 50 : 91.1 m (trip time 60.7 ms) speed 0.6 DAT read: 13:53:36.0591 LVL= 22128, 30689, 18818, 32179, AGC= 69, IDX= 496, 0.48, 1.770, 0.647, 2.361, 1.688, PHS= 0.170,-0.994, 0.670, RAW= 167.0, 2.1, CAL= 168.0, -6.6, ROT= 342.0, 6.6 Ygot valid direction response: 13:53:36.0591 LVL= 22128, 30689, 18818, 32179, AGC= 69, IDX= 496, 0.48, 1.770, 0.647, 2.361, 1.688, PHS= 0.170,-0.994, 0.670, RAW= 167.0, 2.1, CAL= 168.0, -6.6, ROT= 342.0, 6.6 R#Rx 1: Read range and direction messages.%`direction in FSK: [0.944754,-0.306969,-0.114937]-Fpublishing direction and range infoPyRkg2l;?oeaӿNZlR3BYP RpV)RwIRIiR}RER{.>Rv~R+? Rq:@)RQ =IRf;@9m@mr@Yml=ymL>mH @?= ?Ib?A#G?ਿɿْ`J? P? m@m$;)mCiR뽉RC@R= P)PRff?)e?֢̎?iRR?R,Rz٠R= P)P 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.]aB]IQmMb@Mb@Mb@iii i)iYm(\?S㥛Qym'?m/ݼmmA mj@)m~@Im@iymQ@II(*3  =y;Q >٥ HFp< >U.5.?].59 IBy]'?]:]Ľ]@EiΘ<<s.5amAiZPbRSXhARBRBHμ>HHIHrBH =HHHȚ<HEHŖCHŗCHH =I = I*G6RT@ʁR`j$v]U@ȴ;>$Rkg2l;?oeaӿNZlRz٠R=ҁR9T@&\:>xjܘ4R !>U9?]տm&:%ͿzRyR8BjR'JԜ?rRe R_.BRئuԜ?RCڥ  R/BR>BRо@ addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 0.507948 s, deltaX: -0.400002 m, approachRate: -0.787485 m/s, rangeRepo size: 4 = Added new target pos. range: 90.457802 m, bearing: 339.699417 deg, lat: 36.906748 deg, lon: -122.116203 deg, deltaT: 0.507948 s, deltaX: -0.397179 m, approachRate: -0.781928 m/s, posRepo size: 4 amDNOT Ignoring new targets: 90.46 m.qqԉ ProNav: ac range: 90.457802 m, nav range: 88.122795 m, bearing: 341.653639 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.715940 deg, new cmd heading: 357.713974 deg. HeadingCmd: 6.243287 target range: 90.457802 and range: 91.10 m.b@ZrjR JB~~}B%,,nXhA(hBI]DDAT read: Rx Time:13:53:36.5590 eTRx dataTimestamp_ set to:1749131617.809607}PDAT read: Bearing 341.3, 6.1 (Local) }~Local bearing/azimuth received: Bearing 341.3, 6.1 (Local) DAT read: Range 10 to 50 : 90.9 m (trip time 60.6 ms) speed 0.8 DAT read: 13:53:36.5590 LVL= 25968, 27761, 17394, 31027, AGC= 69, IDX= 511, 0.20, 2.878, 1.788,-2.794, 2.826, PHS= 0.140,-0.991, 0.660, RAW= 168.0, 2.6, CAL= 168.7, -6.1, ROT= 341.3, 6.1 Ygot valid direction response: 13:53:36.5590 LVL= 25968, 27761, 17394, 31027, AGC= 69, IDX= 511, 0.20, 2.878, 1.788,-2.794, 2.826, PHS= 0.140,-0.991, 0.660, RAW= 168.0, 2.6, CAL= 168.7, -6.1, ROT= 341.3, 6.1 R#Rx 1: Read range and direction messages.`direction in FSK: [0.941847,-0.318798,-0.106264]Fpublishing direction and range infoaye3u#?hi.gԿO4e̵BYa epe)eqlIeCie3yae)\>e-}e(? ef;@)e9=Iep<@ie^ ڽe-@e^ = a)aeU$$: j?iɌ?tV?ie1V?e =ee^ = a)a 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԁIE IEb3er= m==}G 4ݿYyAyQ >٥ HF > 5.5 ?=.59  I By99=@ Ei ; A; w.5EBMAMNEZabesXhAeBeBeH@ʁev,@U@8_*BjeЖԜ?re"& e0BeQ`Ԝ?eA  aeׯBei@ԩ addTargetRange:: Added new target pos. range: 90.900002 m, deltaT: 0.500058 s, deltaX: -0.199997 m, approachRate: -0.399947 m/s, rangeRepo size: 4  Added new target pos. range: 90.258125 m, bearing: 338.907160 deg, lat: 36.906746 deg, lon: -122.116215 deg, deltaT: 0.500058 s, deltaX: -0.199677 m, approachRate: -0.399307 m/s, posRepo size: 4 DNOT Ignoring new targets: 90.26 m.= ProNav: ac range: 90.258125 m, nav range: 87.920250 m, bearing: 340.934310 deg, approach rate: 0.000000 m/s, LOS rate: -0.001248 deg/s, cmd heading: 357.713973 deg, new cmd heading: 357.712341 deg. AmHeadingCmd: 6.243258 target range: 90.258125 and range: 90.90 m.bm@ZirijiRiJiBq~~}|||V@| =? -~B-jƋ=I))- ?)I5|7< 115D e#eEu 'JE 4JA E9E9E9EE0EAKzeP"Kŷ9*K2K :K;@&sR=)p+ >\H[iW@Y.PCCBjS~61DDAT read: Rx Time:13:53:37.0587 TRx dataTimestamp_ set to:1749131618.317321 PDAT read: Bearing 340.0, 6.2 (Local) ~Local bearing/azimuth received: Bearing 340.0, 6.2 (Local) 6GEk;ZGYmDAT read: Range 10 to 50 : 90.5 m (trip time 60.3 ms) speed 0.5 RGYY~GaAiAN%?%,i:XhA&DAT read: 13:53:37.0587 LVL= 22448, 26289, 17026, 28339, AGC= 70, IDX= 508, 0.01, 1.313, 0.232, 1.972, 1.279, PHS= 0.122,-1.000, 0.690, RAW= 169.3, 2.5, CAL= 170.0, -6.2, ROT= 340.0, 6.2 ~Ygot valid direction response: 13:53:37.0587 LVL= 22448, 26289, 17026, 28339, AGC= 70, IDX= 508, 0.01, 1.313, 0.232, 1.972, 1.279, PHS= 0.122,-1.000, 0.690, RAW= 169.3, 2.5, CAL= 170.0, -6.2, ROT= 340.0, 6.2 ~R#Rx 1: Read range and direction messages.`direction in FSK: [0.934196,-0.340020,-0.107999] Fpublishing direction and range infoکyڭՆ?LտNiإڭBYک ۭW)ۭfIۭBiۭnۭFۭ#=ۭۭף0? ܭ$=@)ܭ¸2=IܭN=@iܭkݽܭN@ܭk= ݩ)ݩݭ%?(J:?װnҦ?iݭ2\?ݭ6ݭʸݭk= ީ)ީ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.97@:A@Yqd=y">H??@j?Ӭֆ?Ŀ豿`2?? 7@;)C-aB-IH}>H}CH}IH}bBH} =HyH}.DH}%<H}٥Aa mHmFuT< u>y.5}(?.59}k I}yByh*?:R@}Ei}n<}|n<}P}.5%"A%KEZbNXhABB@ʁ~TT@;T.>zi#Ն?LտNiإʸk=ҁN"8?T@%U>;@ml.A4IPy?h׿&<5̿z Bj}Ӝ?ry8 /B'JԜ?e  ꁭˮB@E ͢!zE e ,DAT read: user:1819> u FDAT read: Command 'r50' not found } dunknown deviceResponse_: Command 'r50' not found } "DAT read: Error } @unknown deviceResponse_: Error  ,DAT read: user:1820>  BDAT read: Tx time:13:53:37.9609  $Ping request sent. ٥!) -H-F- ->19].55dH?].595' I5dByaae@5Ei5C;5;5G.5mBmAuHEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 89.86 m.% ProNav: ac range: 89.863579 m, nav range: 87.036690 m, bearing: 339.506159 deg, approach rate: -0.668465 m/s, LOS rate: -0.128093 deg/s, cmd heading: 357.709930 deg, new cmd heading: 357.502499 deg. %ѯ-HeadingCmd: 6.239596 target range: 89.863579 and range: 90.50 m.b-Ū@Z)r)j)R)J1B1~Y~Y}Y|Y|Y|a|e b?:J_BJRJJRJZJ :bJS29JJ ~Bu=I) ?I#=  %ϊ2%#7<%DZ@7,TXhAG GAAH>HHIH]BH =HHH<HE,9.@x8@Y¡=yY >H?W? ?Z? ¿`2:o?ߙ? .@骍;)CcBI5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747912ԁMb@Mb@Mb@ )Y rh?Mb rhyC+?CA@ @)v@I@y\@IIV83O =y٥ HF >.5g?.59 IPByT+?:@Ei:z:-.5BAEEyDNOT Ignoring new targets: 89.86 m. ProNav: ac range: 89.863579 m, nav range: 86.679153 m, bearing: 339.435175 deg, approach rate: -0.634166 m/s, LOS rate: -0.126424 deg/s, cmd heading: 357.502510 deg, new cmd heading: 357.288682 deg. HeadingCmd: 6.235864 target range: 89.863579 and range: 90.50 m.b2@ZrjRJB~~}B}| | | |  ? ~B靅¾=I)?Ip=  Ա A<S~G A A N%>>,zXhA\BIIIT3J Z=yQ >٥ H > )=.5-|?=.59-; I-BByAAE@-Ei-=;-N3;-l.5q}XA}BEDNOT Ignoring new targets: 89.86 m.E M ] ProNav: ac range: 89.863579 m, nav range: 86.442543 m, bearing: 339.387862 deg, approach rate: -0.615103 m/s, LOS rate: -0.123333 deg/s, cmd heading: 357.288671 deg, new cmd heading: 357.146344 deg. ]Hmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251887HeadingCmd: 6.233380 target range: 89.863579 and range: 90.50 m.bw@ZrjRJB~~}||||Q? ~B8=I)?IE<:= AAER= MLMԙ E,=YhAaBI) QMb@Mb@Mb@ )Yn?{Gz?QyV.?#<u@ 5@)~@I@y @II2ӷ< <=yQ >٥ HF >.5i?.59 I3Bye.?:s#@Ei;;9.5B5A?EDNOT Ignoring new targets: 89.86 m.%% ProNav: ac range: 89.863579 m, nav range: 86.162537 m, bearing: 339.326180 deg, approach rate: -0.655029 m/s, LOS rate: -0.144764 deg/s, cmd heading: 357.146357 deg, new cmd heading: 356.960710 deg. ƻHeadingCmd: 6.230140 target range: 89.863579 and range: 90.50 m.bN]@ZrjRJB~9~=q}B}9|q|q|q|}@@ 5~B5=I9)=%?He>HeCHeIHeSBHe =HaHe0DHeǚ<HeEy9I = 2 BFY<W L, {2YhA9Jh@Jq@YJj=yJ=JHd?~Ү? ?ؾ?J!`? m? Jh@Je;)HV^BVII^I^2f fe=yjX=Q j>٥hh nHnFnƠ< n>t~.5v?~.59v Iv%By|~ ~@vEiv;v ;vW.5  PA 1=DNOT Ignoring new targets: 89.86 m.=S0=S0Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007858] ProNav: ac range: 89.863579 m, nav range: 85.934044 m, bearing: 339.274459 deg, approach rate: -0.679221 m/s, LOS rate: -0.154156 deg/s, cmd heading: 356.960712 deg, new cmd heading: 356.805137 deg. ]ӻeHeadingCmd: 6.227425 target range: 89.863579 and range: 90.50 m.beG@ZirijqRqJqBy~y~y}y|||| +@A U~BUk=I]q9)]>?YI]Ԁ = YY_ ed<=iG@iE?EEEo0E!6Gԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259738 2R,=LYhAI0)2@9R1[@Rd@YR =yRX=RH??`4Ÿ?@?55?@%? R1[@Ri;)RC^PB^IIfIf 3r  rJ=yv>٥tt vHtz~ z>|.5~?.59~  tII~By  r @~Ei~:~:~.5BAIZ =  q <B=i-@K-_@P"K-9*K)2K- :K-%YF1~ ;UD4r*&T9X0qg@@Q)Kvn7iiԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516882E?EEE0EF=F= 6G!  H H ~G A! A9 Ne >H >H H IH IBH H H H <H E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7640691 Y,h fYhA9:3X@:a@Y:43=y:|=:HT?`? 8ȹ?` ?@zɹ29B?x? :3X@:;):CFMBFIiJ=IH}Mb@Mb@Mb@yyy y)yY}Q?~jth? rhy}\/?}D;}C}@ }@)}@I}x@yy}@II3Q ?=yp٥ HF_ >.5Eٹ?.59\ IByj/?:8;@EiH;9;.5A9E:J%cBJ%UJJ%ARJ!ZJ%:bJ%>9J%4J!zJ%;5jJ%;J%|Q:rJ%~Q:DNOT Ignoring new targets: 89.86 m. ProNav: ac range: 89.863579 m, nav range: 85.398575 m, bearing: 339.154927 deg, approach rate: -0.615997 m/s, LOS rate: -0.136068 deg/s, cmd heading: 356.628192 deg, new cmd heading: 356.445420 deg. úHeadingCmd: 6.221146 target range: 89.863579 and range: 90.50 m.b@ZrjRJB~~]}B}||||@ @1 ~B靝a=I)>I = }~B%<L=i@iEIEIEIEM0EI6G%$3=a~GAANn>yyBDAT read: Rx Time:13:53:40.4228 TRx dataTimestamp_ set to:1749131621.840043checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017545ԉ ;_,GYhA09BoS@B]@YB!f=yB=BHi?6? 僺??  hL?? BoS@Bo;)BCbGBbIIj IjV2r rX=yr٥tt vHvFv0ɺ z>x~.5z?.59z IzBy{=@zEiz:zu:z.5  AIMDNOT Ignoring new targets: 89.86 m.U,U,e ProNav: ac range: 89.863579 m, nav range: 85.154282 m, bearing: 339.100893 deg, approach rate: -0.677999 m/s, LOS rate: -0.150395 deg/s, cmd heading: 356.445416 deg, new cmd heading: 356.282847 deg. enλmHeadingCmd: 6.218309 target range: 89.863579 and range: 90.50 m.bmc@ZqrqjqRqJqBq~~}9|9|A|A|E @ q靕,=I)x>IF= sބchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268086I<=ic@iԉI!I%BA>EU}Kmb(P"Km}9*Ki2Km :Km C?,1v.g=@mM - hX`EEEEo0E  DAT read: 13:53:40.4228 LVL= 22576, 25521, 15282, 29651, AGC= 67, IDX= 364, 0.04,-3.132, 2.072,-2.396, 3.138, PHS= 0.101,-1.019, 0.745, RAW= 171.2, 2.3, CAL= 171.8, -6.3, ROT= 338.2, 6.3 5 Ygot valid direction response: 13:53:40.4228 LVL= 22576, 25521, 15282, 29651, AGC= 67, IDX= 364, 0.04,-3.132, 2.072,-2.396, 3.138, PHS= 0.101,-1.019, 0.745, RAW= 171.2, 2.3, CAL= 171.8, -6.3, ROT= 338.2, 6.3 M PDAT read: Bearing 338.2, 6.3 (Local) U ~Local bearing/azimuth received: Bearing 338.2, 6.3 (Local)  DAT read: Range 10 to 50 : 43.3 m (Round-trip 57.8 ms) speed 0.5 m/s  ,DAT read: user:1821> 5 BDAT read: Tx time:13:53:41.5109 E $Ping request sent.E ? ܍ t;?@)܍ l$=I܍ ?@i܍ z0Ὁ܍ @܍ z0= ݉ )݉ ݍ QB?ai?H@=?iݍ d?~G1AIAiN}>6g,|BYhAݝ!ݝz¾ݝz0= ޙ)ޙ:publishing transmit ping timeIFpublishing direction and range infoڙyڝ9?UO5׿,=ڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝQB?ai?H@=?iݙݙݙݙ ޙ)ޙ9jR@j\@YjC=yju=jH? X?pC?`K?/Ƽ`-?? jR@jJɇ;)h >BIHe>HaHeIHe5BHe =HaHaHeĚ<HeEHE™CHE˜CHAHE =IE = IE³K65Mb@Mb@Mb@111 1)1Y5X9v?٥!) -H)-̸ ->Q].5U/?].59U IUСBye3?e:e@üe@UEiUI:U$:U .5mBbA3EZbYhA+B+BiL@ʁH3C@?#/=Ń9?UO5׿,=z¾z0=ҁAB@I^1㳙W%,?B7/ٿbϿzoBjoƜ?r UBЖԜ? /Bꁝ-BO@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 43.299999 m, deltaT: 4.026497 s, deltaX: -47.200001 m, approachRate: -11.722348 m/s, rangeRepo size: 4DNOT Ignoring new targets: 89.86 m.3-3- ProNav: ac range: 89.863579 m, nav range: 84.771034 m, bearing: 339.008967 deg, approach rate: -0.628464 m/s, LOS rate: -0.151424 deg/s, cmd heading: 356.282857 deg, new cmd heading: 356.005838 deg. ϻHeadingCmd: 6.213474 target range: 89.863579 and range: 90.50 m.b@Z:JtBJTJJNRJZJ;N:bJ:9J|4JzJwj;jJzj;JRJ:rJTJ:rjaRJB~~h}B}|||`fE@|/? ~Bηy=I)>I= ĎEqE q9)  ,G A A  Y Ay BEM ?EQ EQ EU P0EQ ? IAy6G=ԩ~GYAiAyN?8q, YhAv1BzI)  p= =IMIM2]FI ]=yeQ e>٥aa eHeFm m>q}.5u=/?}.59u' IuBy@uEiu:u:u.5A5EDNOT Ignoring new targets: 89.86 m.r?r? ProNav: ac range: 89.863579 m, nav range: 84.435127 m, bearing: 338.927667 deg, approach rate: -0.688804 m/s, LOS rate: -0.167375 deg/s, cmd heading: 356.005825 deg, new cmd heading: 355.760956 deg. HeadingCmd: 6.209200 target range: 89.863579 and range: 90.50 m.bı@ZrjRJB~~}||||? 1=*&=IA)E>IAIM0)= IIMUU=<]4=i]ı@iYDaDaDaDaqKm0P"Kmŷ9*Ki2Km :KmwUD,c A=SNxHV;~y3O),E?EEEEԩ6G ^,= ~Gi A A N >w,GYhAGdGf@A9j2@j<@Yj=yj=jHw?3\? Cջ?K? XGm?௣? j2@j?;)jC  B IH>HCHIHBH =HH/DH<HE5Mb@Mb@Mb@111 1)1Y5d;O?Q?y54?5u<15@ 5@Q)53@I11y5@I]I][3m m6=yu;Q u>٥qq }H}F}J }>.5I?.59k IBy4?:@Eia;w;s.5^A2EB*** querying acoustic contact ***JRUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.DNOT Ignoring new targets: 89.86 m.** ProNav: ac range: 89.863579 m, nav range: 84.138649 m, bearing: 338.857241 deg, approach rate: -0.626362 m/s, LOS rate: -0.149312 deg/s, cmd heading: 355.760949 deg, new cmd heading: 355.548927 deg. ̻HeadingCmd: 6.205500 target range: 89.863579 and range: 90.50 m.bt@ZrjRJB~~i}B} | | | |? ~B靍z=I)>IB= %񻉢D<2=it@iԁJ[4J[4J[#e1:J[BJPJJARJZJ:bJ*9J4JzJ:jJ:J-:rJ-:EQEQEQE]_0EYԩ6G} 4=ZG RG  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456405~Gq A A N > e},YhA9BG+@B4@YB=yBw=BH?ā?`X#? w@.?RW@}?`? BG+@Bx;)@RBRIIZ"IZq3bY bi=yb=;Q f>٥dd fHfFj/ n>lr.5nY^?r.59n InBytvYv@nEin:n:n.5zBzA~/EyDNOT Ignoring new targets: 89.86 m.;; ProNav: ac range: 89.863579 m, nav range: 83.907097 m, bearing: 338.802060 deg, approach rate: -0.686451 m/s, LOS rate: -0.164041 deg/s, cmd heading: 355.548940 deg, new cmd heading: 355.382939 deg. (HeadingCmd: 6.202602 target range: 89.863579 and range: 90.50 m.b{@ZrjRJB~~}||||? imr=Ii)m=>iIu= qqup}}<}:=i}{@iE!E!E)E-0E)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7078886GE{/=~G ! A) AA NU >E,bZhAK P"K@9*K 2K :KDZ%}j>pNA0'3X %<V'<qJ+9F7"@F+@YF=yF蹳=FH '?٩?@aL?u@N? b&ʽH? ? F7"@F;)FCRBRyIiV >IV>TVAIZIZM3bf bK=yf:Q f>٥dh jHhj4 n>pv.5rv?v.59r IrtBytv z@rEir::r:r .5~B~.A~,E!%DNOT Ignoring new targets: 89.86 m.-`:-`:= ProNav: ac range: 89.863579 m, nav range: 83.640976 m, bearing: 338.738500 deg, approach rate: -0.680063 m/s, LOS rate: -0.162941 deg/s, cmd heading: 355.382939 deg, new cmd heading: 355.191654 deg. =߻EHeadingCmd: 6.199264 target range: 89.863579 and range: 90.50 m.bE_`@ZIrIjIRIJIBI~Q~Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.959941}|||| !4@Y 靕v=I)>I= 绉ޫ\HCHlIHBHHH.DHܚ<HEm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211800Ա 6G] z==~G9 AA Ai Nu >:J ]BJ LJJ DRJ ZJ ]:bJ q9J 4J zJ :jJ :J :rJ :HNJ,D5-ZhA@B cIMb@Mb@Mb@ )Y"~?I +?S㥛y3?94</ݼ@ $@)A@I@y@II?13 ;=yQ >٥ HF >.5?.595 I\By4?:~#@Eia;U;س.5A)-DNOT Ignoring new targets: 89.86 m.11 ProNav: ac range: 89.863579 m, nav range: 83.354813 m, bearing: 338.670855 deg, approach rate: -0.654433 m/s, LOS rate: -0.155230 deg/s, cmd heading: 355.191666 deg, new cmd heading: 354.988036 deg. ջHeadingCmd: 6.195710 target range: 89.863579 and range: 90.50 m.bBC@ZrjRJB~~R}B}||||@@ ~B靕6`p=I)>I?= ້8&L?<ԩ5 N=iBC@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.464790E?EEE|5E6G W@=jG ?bG > ~Ga Ai A N >߮,4GZhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7159499V@V{@YV=yVx=VH?@Kb?G?E`?cYɽe?? V@V};)VCjBjSIlIvIvV83~ڑ ~X=y٥  H F x  >.5?.59 IGBy!%:1%@Eia::&.5)-+A-)EaeDNOT Ignoring new targets: 89.86 m.m1m1} ProNav: ac range: 89.863579 m, nav range: 83.105896 m, bearing: 338.612256 deg, approach rate: -0.658088 m/s, LOS rate: -0.155389 deg/s, cmd heading: 354.988045 deg, new cmd heading: 354.811722 deg. }HջHeadingCmd: 6.192633 target range: 89.863579 and range: 90.50 m.b *@ZrjRJB~~}||||@ ~Bp=I)>Ir= wۻs<K=i *@iE?EEEP0E K}5P"Ky*Ky2K} :K}m$hq`6:,,NS/V(q8;#DD(z<oBABDAT read: Rx Time:13:53:43.9698 TRx dataTimestamp_ set to:1749131625.368679checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9702496GP=~GA Ai a Nu >m,aZhA9r@r2@YrB'=yrk=rH`?&??&,?`n`"?@? r@r#;)rCH߼>HH@IHBH =HHH̚<HE!-B-FI)1 5A%Mb@Mb@Mb@!!! !)!Y%-?MbpMby%?5?%%! %;@)%X@I%@!y%@I=I=m?3M5 M6=yMQ U>٥QQ UHQ]7 ]>am.5e+?m.59e Ie-Bymo5?m:u u@eEie:e:e.5}B}A}&EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 89.86 m.P(P( ProNav: ac range: 89.863579 m, nav range: 82.806175 m, bearing: 338.546307 deg, approach rate: -0.666348 m/s, LOS rate: -0.147151 deg/s, cmd heading: 354.811716 deg, new cmd heading: 354.613154 deg. ɻHeadingCmd: 6.189167 target range: 89.863579 and range: 90.50 m.b @ZrjRJB~~A}B}||||% @ %4=!-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221017 ~B靭b=I)܈>Iy= wSԻ<GT=i @iQEEEE4E:JE\BJE\JJELRJAZJE=:bJE[9JE4ԉJAzJE:jJE:JEӁ:rJEԁ:6G K=Ա 5 DAT read: 13:53:43.9698 LVL= 24416, 26769, 17330, 28115, AGC= 69, IDX= 413, 0.18,-0.464,-1.413, 0.412,-0.339, PHS=-0.037,-1.027, 0.748, RAW= 176.2, 4.1, CAL= 176.3, -4.7, ROT= 333.7, 4.7 E Ygot valid direction response: 13:53:43.9698 LVL= 24416, 26769, 17330, 28115, AGC= 69, IDX= 413, 0.18,-0.464,-1.413, 0.412,-0.339, PHS=-0.037,-1.027, 0.748, RAW= 176.2, 4.1, CAL= 176.3, -4.7, ROT= 333.7, 4.7 M PDAT read: Bearing 333.7, 4.7 (Local) U ~Local bearing/azimuth received: Bearing 333.7, 4.7 (Local) ] DAT read: Range 10 to 50 : 41.0 m (Round-trip 54.7 ms) speed 0.5 m/s e ,DAT read: user:1822> m BDAT read: Tx time:13:53:45.0609 m $Ping request sent.m ) )l?6y!k?K}f"?i ) _,zZhA9Z@ZQ@YZ=yZ=ZH@??߻?_? 5e ?? Z@ZYچ;)XvBz-IIeIeb1ԑ7׽ X=y9Q >٥ HFc >.5wֺ?.59 IBy@Ei:M:d.5B*A#EZbwZhA"B"B>@ʁn9/B@#{Q91(CTͯ lR?q䛅Bܿ=ҁ.f-A@xy3k !y?T߿XV̿zmn Bjʌ%Ɯ?rB [B}Ӝ? 0BgB@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 41.000000 m, deltaT: 7.555222 s, deltaX: -49.500000 m, approachRate: -6.551760 m/s, rangeRepo size: 4DNOT Ignoring new targets: 89.86 m.u%uU ProNav: ac range: 89.863579 m, nav range: 82.553436 m, bearing: 338.490648 deg, approach rate: -0.619231 m/s, LOS rate: -0.136787 deg/s, cmd heading: 354.613149 deg, new cmd heading: 354.445660 deg. U]HeadingCmd: 6.186244 target range: 89.863579 and range: 90.50 m.b]@ZYrYjYRYJYBa~a~a}|||D@|`}? ~BY=I4<)j>I%)= AAE-^ͻM3ƽM}xI ,ZhA9>@>c@Y>Q=y>(=>H@??!S?@9t?k`?`E@]?`7? >@>ć;)>CK^'P"K^9*K\2K^ :K^w{Z+ \W(L)#>X>b&MxdB8. hB II&I3%ܽ -R=y-XQ ->٥11 5H15Xu =>9E.5=]?M.59= I=ByIMɌM@=Ei=:=:=.5Q]AYDNOT Ignoring new targets: 89.86 m.z7z7 ProNav: ac range: 89.863579 m, nav range: 82.293831 m, bearing: 338.433404 deg, approach rate: -0.725185 m/s, LOS rate: -0.160410 deg/s, cmd heading: 354.445673 deg, new cmd heading: 354.273401 deg. ,ܻHeadingCmd: 6.183237 target range: 89.863579 and range: 90.50 m.b@ZrjRJB~~}||||7? ~BSU=I)a@>IZ%= ǻ̽<]=i@iE?EEE\0EAHټ>HHIHlBH =HH-DH<HE6GؓW=i~GAA) N5 >ԩ 1, |ZhA9>BϿ@>@Y>t=y>q=>H ?m³?@?ۗ?-c?? >BϿ@>䝅;)٥    H F   >%.5e?%.59 IBy% :?%:%q%@EiV::.5157 A5 EyDNOT Ignoring new targets: 89.86 m.z$z$ ProNav: ac range: 89.863579 m, nav range: 81.997330 m, bearing: 338.370407 deg, approach rate: -0.674364 m/s, LOS rate: -0.143799 deg/s, cmd heading: 354.273388 deg, new cmd heading: 354.083715 deg. `ŻHeadingCmd: 6.179927 target range: 89.863579 and range: 90.50 m.b@ZrjRJB~ ~  }B}||||@? ~Bn2H=I)*>I= ^EyӽY<:`=i@iԡEEEEP0E6G '\=~G A A N > ,fZhA9>$@>@Y>S~=y>b=>H :?@b? b?LH` ?jỿ`ѱ? D? >$@>9;)>CIM4=IM=:JUXBJUMJJUARJQZJU{9bJU9JU4JQe@e@e@e@ABIII3M ;=yxQ >٥   H F ʻ  >.5!?.59^ IϠBy!% %@Ei::a.5=B=} AEEimDNOT Ignoring new targets: 89.86 m.ue)ue) ProNav: ac range: 89.863579 m, nav range: 81.696754 m, bearing: 338.306687 deg, approach rate: -0.696024 m/s, LOS rate: -0.148096 deg/s, cmd heading: 354.083727 deg, new cmd heading: 353.891864 deg. F˻HeadingCmd: 6.176578 target range: 89.863579 and range: 90.50 m.b@ZrjRJB~~}||||`? ~BG=I)>IJ= 湻Tڽ_<b=i@iKq P"K}9*K2K :Kakrf'V[FH! 4Vd]Jt]p>J>J>>EM91 E ?E E E O0E Q H Լ>H CH IH /BH  =H H H Ț<H EH̗CH̗CH̓CH =I = I56G%.H_=~GA AN->,.ZhA(i)ף I ̏C)!!%pAi%I!!I)i-XA ))))1 155 F19=vAI=)AiA)IIMfAM!Q QٯQBIMb@Mb@Mb@ )YS?{GztS㥛y:?ף/ݼI@ @)QAI-@y@II2Ѧ %=yQ >٥ HF > .5?? .59 IBy :? : ț @Eia;:.5B'!AE5B*** querying acoustic contact ***J1R1ԁDNOT Ignoring new targets: 89.86 m.r*r* ProNav: ac range: 89.863579 m, nav range: 81.356667 m, bearing: 338.231911 deg, approach rate: -0.674925 m/s, LOS rate: -0.149017 deg/s, cmd heading: 353.891854 deg, new cmd heading: 353.666591 deg. =̻EHeadingCmd: 6.172647 target range: 89.863579 and range: 90.50 m.bER@ZArAjARIJQBQ~y~}}B}y||||@r? ~By9=I!)%t=!I%= !!%-b⽩-{}<5p=i5R@iYԹcGT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A5AA uY}AyB>Ee < E ?E E E o5E 6Gva=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248423~GA!AAINU? |,k [hA9b@b@YbJ=yb=bH ?~b?r?_g@? ٳ?? b@bw҅;)bCu~B}I)y }A ==IIm?3:JYBJnJJ=RJZJ9bJ99Jg4JWb %=y Q %>٥!! %H!- ->9E.5=^?M.59= I=ByIMM@=Ei=τ;=.;=&.5y!AEDNOT Ignoring new targets: 89.86 m.^/^/ ProNav: ac range: 89.863579 m, nav range: 81.005035 m, bearing: 338.155151 deg, approach rate: -0.699297 m/s, LOS rate: -0.153318 deg/s, cmd heading: 353.666594 deg, new cmd heading: 353.435314 deg. qһHeadingCmd: 6.168610 target range: 89.863579 and range: 90.50 m.bAe@ZrjRJB~~}||||@@  %~B%4=I!)%R=)I-$= ))-5꽩=tH CH IH ~BH  =H H H <H Eԙ 6G s=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752475~GAAN>,,)[hA9>vk@>!u@Y>-=y>=>HT?ꐶ?Ź?@O?ULհ?@u? >vk@>r;)>C`]~B]I%Mb@Mb@Mb@!!! !)!Y%v?~jth?y&1y%8?%D;%`%A@ %@)%@I%Q@!y%=@Ie Ie(2u* u =yux Q u>٥yy }H}F >.5?.59 IzBy8?:͘@EiZ::.5B"AEDNOT Ignoring new targets: 89.86 m.11 ProNav: ac range: 89.863579 m, nav range: 80.618546 m, bearing: 338.068155 deg, approach rate: -0.687182 m/s, LOS rate: -0.155421 deg/s, cmd heading: 353.435324 deg, new cmd heading: 353.173087 deg. TջHeadingCmd: 6.164033 target range: 89.863579 and range: 90.50 m.b?@ZrjRJB~~ |B}|||| y@ M~BM".=II)M=QIUu= QQUt]]4<],nC[hA9 M@ W@Y s=y U= H`?xp?p?@ [?ⲿ`鏰?? M@ ;) C ))- Aɿ-/]))157Ai5KI5F1I1i=nA 99)9AA AE`廉AIIIII)IiI)QIUAQQ Q]3CYYiYYٯYm~BmII}I}2 =yuQ ?٥ HFeA ?.5?.59 IjByK@Ei::.5B"AEDNOT Ignoring new targets: 89.86 m.// ProNav: ac range: 89.863579 m, nav range: 80.410439 m, bearing: 338.021544 deg, approach rate: -0.683611 m/s, LOS rate: -0.153510 deg/s, cmd heading: 353.173099 deg, new cmd heading: 353.032904 deg. һ%HeadingCmd: 6.161587 target range: 89.863579 and range: 90.50 m.b%+@Z!r!j!R!J!B)~)~)})|1|1|1|5# @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255809 ~Bh (=I)=Iʋ= %s*<h=i+@i!qEEEEP0E:J=bBJ=WJJ=CRJ9ZJ=:bJ=G9J=4J9ԡ6GRk=~G A A N >Ke P"Ke @9*Ka 2Ke :Ke C'pN"Mt*++` E@ _Uy0U k8m DAT read: 13:53:47.5166 LVL= 22480, 29681, 17394, 30355, AGC= 70, IDX= 411, 0.40,-0.381,-1.490, 0.410,-0.297, PHS= 0.005,-1.146, 0.704, RAW= 172.0, 5.5, CAL= 171.9, -3.8, ROT= 338.1, 3.8  Ygot valid direction response: 13:53:47.5166 LVL= 22480, 29681, 17394, 30355, AGC= 70, IDX= 411, 0.40,-0.381,-1.490, 0.410,-0.297, PHS= 0.005,-1.146, 0.704, RAW= 172.0, 5.5, CAL= 171.9, -3.8, ROT= 338.1, 3.8  PDAT read: Bearing 338.1, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 338.1, 3.8 (Local)  DAT read: Range 10 to 50 : 38.6 m (Round-trip 51.5 ms) speed 0.6 m/s  ,DAT read: user:1823>  BDAT read: Tx time:13:53:48.6109  $Ping request sent. HHIH~BH =HH.DHښ<HE5~B=Ii>I;AJDAT read: TxSync time:13:53:48.6101 %Mb@Mb@Mb@!!! !)!Y% ףp= ?٥ HF >.5?.59 INByq8?:n @Ei;;.515#A5EZbY[hAPBPB @ʁ_A@D.u,IcDRXD?+Ag׿{S:þԇ=ҁ`@@lg'0?N={ ?rV[ܿ8ȿz݇fBjh$Ɯ?rH. aBh$Ɯ?B  UBBA@  addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 11.081276 s, deltaX: -51.900002 m, approachRate: -4.683576 m/s, rangeRepo size: 4 U Added new target pos. range: 38.328362 m, bearing: 333.185946 deg, lat: 36.906374 deg, lon: -122.116119 deg, deltaT: 11.081276 s, deltaX: -51.535217 m, approachRate: -4.650657 m/s, posRepo size: 4 Q]DNOT Ignoring new targets: 38.33 m.Y]Powering the camera and arming the capture device at range: 38.60 m.z] ProNav: ac range: 38.328362 m, nav range: 38.965004 m, bearing: 329.578415 deg, approach rate: 0.000000 m/s, LOS rate: -0.153510 deg/s, cmd heading: 353.032917 deg, new cmd heading: 352.757859 deg. HeadingCmd: 6.156786 target range: 38.328362 and range: 38.60 m.bd@ZrjRzJB~~}B}||| LC@| `? ~B靥 =I ) b< I = W n < h={=i d@i " &Changing to mode: 2" Armed mode.9 " 2Commanding negative:54402E ?E E E 5E a6GCf=ԉ~GAAN?ɡ,[hA9>M@>@Y>=y>v=>H@?`Q?`ϸ? ؕ?qva?@ ? >M@>@;)>C=n~B=yIIM!IMi3 F=yQ >٥ H: >.5Yλ?.59@ I;By@ Ei::e.5#A|Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}Entering USBL mode with 120.000000 count pings at 38.599998 m (mode 1.000000 count ).1}q}B*** querying acoustic contact ***JR DNOT Ignoring new targets: 38.33 m.Powering the camera and arming the capture device at range: 38.60 m.z- ProNav: ac range: 38.328362 m, nav range: 38.701973 m, bearing: 329.382883 deg, approach rate: -0.666683 m/s, LOS rate: -0.498967 deg/s, cmd heading: 352.757851 deg, new cmd heading: 352.167289 deg. -75HeadingCmd: 6.146479 target range: 38.328362 and range: 38.60 m.b5@Z1r1j1R9z9J9B9~A~A}A|A|I|I|M[? ~B靅P=I)I= U }T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.=i@iEu>EqEqEu4Eq:J^BJRJJ=RJZJ} :bJS29Jg4J6GE{=~GA A!N-o>1 - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995773Ke ,P"Ke 9*Ka 2Ke :Ke 8;d& P& yqc*/7JU,;,M[hA9F@F@YF-=yFN=FH#?1?@?_Ƿ?E6? [? F@F;)FC5h~B=uIIIM3&j ;=ygQ >٥ HFQHE>HECHE~IHEx~BHE =HAHE/DHE<HEEmJ׺ >.59껜?.59 I%By>@Ei::s.5B$A E:^@q}}DNOT Ignoring new targets: 38.33 m.Powering the camera and arming the capture device at range: 38.60 m.z%_ %_  ProNav: ac range: 38.328362 m, nav range: 38.406269 m, bearing: 329.160044 deg, approach rate: -0.632625 m/s, LOS rate: -0.480407 deg/s, cmd heading: 352.167286 deg, new cmd heading: 351.493655 deg. ٤ HeadingCmd: 6.134722 target range: 38.328362 and range: 38.60 m.b O@ZrjRzAJABA~I~I}I|I|I|Q|U{? ~BRA=I)!IkX= b-;=iO@iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248585E?;EEE?5Eԩ 6G ~G A A N% >P,Vط[hA9>C@>@Y>y=y>W=>H? b?赯͸Ϊ?@@? >C@>;)>CJE~BJ_I N=L5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499652Mb@Mb@Mb@ )YK?:v?~jty^:?T<X@ @)AI@y@I&I3ʮ K=yOQ >٥ HFr >.5?.59a IByv:?:@Ei ;~ ;.5 B $A EB)}-}-9=DNOT Ignoring new targets: 38.33 m.9EPowering the camera and arming the capture device at range: 38.60 m.zAM M ] ProNav: ac range: 38.328362 m, nav range: 38.162933 m, bearing: 328.977857 deg, approach rate: -0.658492 m/s, LOS rate: -0.496161 deg/s, cmd heading: 351.493665 deg, new cmd heading: 350.943636 deg. ]AeHeadingCmd: 6.125122 target range: 38.328362 and range: 38.60 m.be@ZarajaRiziJqBy~y~}|B}y||||@k? ~B@=I!)%!I%$= !!%t=Y!9=%=iE@iAE@9EEEP0E6Gs= ~GAAN`>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7517299 I- R=I- 4=@/,&[hA09J8@J@YJ<=yJ[U=JH`_?e?`?`G?@\Ն?? J8@J)B;)JCV*~BVNII^I^ 3f f^=yfzQ j>٥hl rHpr  r>tz.5vw?z.59v IvBy|~~@vEiv<;v;v.5%AEJ!}%%Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|%%Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLIUDNOT Ignoring new targets: 38.33 m.QePowering the camera and arming the capture device at range: 38.60 m.ziuW }W  ProNav: ac range: 38.328362 m, nav range: 37.924736 m, bearing: 328.798297 deg, approach rate: -0.642386 m/s, LOS rate: -0.487290 deg/s, cmd heading: 350.943644 deg, new cmd heading: 350.401597 deg. 6HeadingCmd: 6.115662 target range: 38.328362 and range: 38.60 m.b@ZrjRzJB~~}||||u I? ~Bb=I)I!= 0fM+(!=i@iQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004579KDgP"K*K2K :KUq4GPkzwT{k v]|RlT5ie7.lmRE6EEEEԁGG?AH>HCHRIH1~BH =HH0DH<HoE6G R=ԩ ~G! AI Ai N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255672Y,٥ HF) >.52?.5:JBJ\JJFRJZJbJ[9J4JzJ]: jJb: Jҁ: rJӁ: 9 IBy:?:Ҝ@ Ei ;;.5%B%%A%EimDNOT Ignoring new targets: 38.33 m.qPowering the camera and arming the capture device at range: 38.60 m.z   ProNav: ac range: 38.328362 m, nav range: 37.642979 m, bearing: 328.581322 deg, approach rate: -0.638450 m/s, LOS rate: -0.495333 deg/s, cmd heading: 350.401600 deg, new cmd heading: 349.745835 deg. HeadingCmd: 6.104217 target range: 38.328362 and range: 38.60 m.bU@ZrjRzJB~~|B}||| | @ ]~Bex}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511225 A,E\hA9>@>?@Y>J=y>u3N=>H ??.ü?/?n?﮿@u?@M? >@>;)>C^}Bb(IIfIf2lr\ rR=yvpQ v>٥tt vHvFz^ z>|.5~H?.59~& I~ޟBy X @~$Ei~P:~:~ .5&A=B*** querying acoustic contact ***JARExIMDNOT Ignoring new targets: 38.33 m.QUPowering the camera and arming the capture device at range: 38.60 m.zQ ProNav: ac range: 38.328362 m, nav range: 37.401600 m, bearing: 328.394897 deg, approach rate: -0.657230 m/s, LOS rate: -0.510878 deg/s, cmd heading: 349.745847 deg, new cmd heading: 349.182979 deg. NHeadingCmd: 6.094393 target range: 38.328362 and range: 38.60 m.bD@ZrjRzJB~!~)})|1|q|q|u@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763839 ~Baa ׁ ׁ  BDAT read: Rx Time:13:53:51.0631  TRx dataTimestamp_ set to:1749131632.427569 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017002K 5P"K 59*K 2K :K p48I1q9,@M;/X=D }"`n,-\hA9rDY@rb@Yr=yrr5=rH?Lb?? 4`?g? ? rDY@9r:;)rC}BIH=>H9H=-IH=}BH= =H9H9H=<H=EHCHCHCH =I = IB6Mb@Mb@Mb@ )YZd;?Q?~jty9?u<QA ~@)AI@y=@II2k % =y-,Q ->٥99 EHAM^ M>ai}.5m h?.59m ImƟBy9?:G@m*Eimt;m;m.5!%&A%Ei}DNOT Ignoring new targets: 38.33 m.yPowering the camera and arming the capture device at range: 38.60 m.zww ProNav: ac range: 38.328362 m, nav range: 37.067451 m, bearing: 328.139548 deg, approach rate: -0.618924 m/s, LOS rate: -0.477230 deg/s, cmd heading: 349.182985 deg, new cmd heading: 348.410082 deg. £HeadingCmd: 6.080903 target range: 38.328362 and range: 38.60 m.b–@ZrjRzJB~~|B}||||8 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267839 ]~~B]f ) 4> ޏCE ƈG* ,z8\hA>AL r?YrAyrBB9v!@vV+@Yv=yv(=vH y?`?`W?L ? ]8?? v!@v;)vC}BIIIF2% %=y-zQ -?٥)) 5H5F5 5?}DAT read: 13:53:51.0631 LVL= 21616, 28785, 17266, 32243, AGC= 64, IDX= 408,-0.15,-2.772, 2.440,-2.068,-2.768, PHS= 0.084,-1.028, 0.697, RAW= 170.5, 3.3, CAL= 171.0, -5.5, ROT= 339.0, 5.5 Ygot valid direction response: 13:53:51.0631 LVL= 21616, 28785, 17266, 32243, AGC= 64, IDX= 408,-0.15,-2.772, 2.440,-2.068,-2.768, PHS= 0.084,-1.028, 0.697, RAW= 170.5, 3.3, CAL= 171.0, -5.5, ROT= 339.0, 5.5 PDAT read: Bearing 339.0, 5.5 (Local) ~Local bearing/azimuth received: Bearing 339.0, 5.5 (Local) ԙDAT read: Range 10 to 50 : 36.0 m (Round-trip 48.0 ms) speed 0.5 m/s ,DAT read: user:1824> BDAT read: Tx time:13:53:52.1610 $Ping request sent.@)=k=I=C?@i= Ľ=TU@= = 9)9='P? U?kx?i=ܷa?=k=j= =.5W{?.59 IByY̽ 9)9U:publishing transmit ping timeکUFpublishing direction and range info9y=Y\?sxֿaVX9Y9 9)9I9i99999 9)9I9i99u@.Ei<<9 9)9='P? U?kx?i9999 9)9X.5B'AEZ9b=i;\hA=B=B=f@ʁ=EJ.@@ )i =Y\?sxֿaVX=j= =ҁ="js>@_iy05=gq23?T~ݿff@ɿz=̓=sAj=zީƜ?r=m =uaB=zީƜ?=  =[B= B=@ addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 3.532031 s, deltaX: -2.599998 m, approachRate: -0.736120 m/s, rangeRepo size: 4 % Added new target pos. range: 35.748203 m, bearing: 331.958331 deg, lat: 36.906372 deg, lon: -122.116089 deg, deltaT: 3.532031 s, deltaX: -2.580158 m, approachRate: -0.730503 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 35.75 m.QUPowering the camera and arming the capture device at range: 36.00 m.zQ]Y ProNav: ac range: 35.748203 m, nav range: 35.239540 m, bearing: 331.371985 deg, approach rate: 0.000000 m/s, LOS rate: -0.477230 deg/s, cmd heading: 348.410081 deg, new cmd heading: 347.897201 deg. HeadingCmd: 6.071951 target range: 35.748203 and range: 36.00 m.bmM@ZrjRzJB~~}|||B@|f? {~B,S\hA9N7@N@YNI=yN${"=NH ܙ???mV@1?-`u7? ? N7@Nن;)NCj}BjI n=n=IrIr2M M?=yUQ U>٥QQ ]H]F]/ ]>ai.5e듼?.59e} IeByڽ@e2Eie;e;e.5B'AE!eDNOT Ignoring new targets: 35.75 m.amPowering the camera and arming the capture device at range: 36.00 m.zimu} ProNav: ac range: 35.748203 m, nav range: 34.968723 m, bearing: 331.187937 deg, approach rate: -0.754392 m/s, LOS rate: -0.516656 deg/s, cmd heading: 347.897188 deg, new cmd heading: 347.340787 deg. IHeadingCmd: 6.062240 target range: 35.748203 and range: 36.00 m.b@ZrjRzJB~~}||||m? -w~B-|HHIH}BH =HH/DHŚ<HEANU> 7,m\hA9:ȶ@:s@Y:Ƿ=y:D#=:H#?#?=W?]?@{r @d?? :ȶ@:_;):C^n}BbI:Je^BJeUJJeBRJaZJe} :bJe>9Je-4JazJe_:jJed:Je}Q:rJeQ:Mb@Mb@Mb@ )Yv?Mb?~jty8?<ļ @)AI$@y@IIV83dn A=ygĻQ >٥ Hfn > /5 K?/59 w I By8?:G@ 7Ei ; ; /5!%(A!Y]DNOT Ignoring new targets: 35.75 m.YePowering the camera and arming the capture device at range: 36.00 m.zae)e)} ProNav: ac range: 35.748203 m, nav range: 34.687248 m, bearing: 331.001759 deg, approach rate: -0.687882 m/s, LOS rate: -0.458682 deg/s, cmd heading: 347.340773 deg, new cmd heading: 346.777726 deg. }eHeadingCmd: 6.052413 target range: 35.748203 and range: 36.00 m.b^@ZrjRzJB~~|B}|1|1|9|=@+w? s~B靭(a !,\hA9:@:@Y:k=y:/=:H??`4Դ?r`?@j J&  ?>? :@:(;):CJ<}BJIIRIR[3Z  Za=y^ Q ^>٥\` bHbFb b>dj/5f ü?j/59fR IfByln n@f;Eif;f;f/5pr(ArEB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 35.75 m.!-Powering the camera and arming the capture device at range: 36.00 m.z)-,-,e ProNav: ac range: 35.748203 m, nav range: 34.445004 m, bearing: 330.840221 deg, approach rate: -0.664429 m/s, LOS rate: -0.446180 deg/s, cmd heading: 346.777720 deg, new cmd heading: 346.289713 deg. euHeadingCmd: 6.043896 target range: 35.748203 and range: 36.00 m.bug@ZqrqjRzJB~~}!|!|!|!|-3"?=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I n~B靽~=q~GA A!N5O>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498229K h,P"K *K 2K :K y%cf*(vK9\8yN`KN* b5eC0Z+?a&7t[sԱ ',r\hAHU>HUCHUIHU[}BHQHQHQHU<HUgEԑ}BI!%AMb@Mb@Mb@ )Y7A`?~jth?~jty6?D;A @)AI;@y@I I V83-j 5=y=Q E>٥II MHUF] ]>i/5m⼜?/59m ImmBy6?:@mAEim7;m;mX /5BU)AEDNOT Ignoring new targets: 35.75 m.Powering the camera and arming the capture device at range: 36.00 m.z ProNav: ac range: 35.748203 m, nav range: 34.100994 m, bearing: 330.611190 deg, approach rate: -0.656544 m/s, LOS rate: -0.441517 deg/s, cmd heading: 346.289717 deg, new cmd heading: 345.595725 deg. HeadingCmd: 6.031783 target range: 35.748203 and range: 36.00 m.b^@Zrj R z J B ~~|B}||||@G$?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767787 5h~B5=.,\hA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0181569B@B @YB =yBSchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2699269i @5,/\hA9Fļ@F_@YFQ=yF٥ll nHnFr r>tv/5v ?z/59v IvOByxz"z@vIEivL:v:v/5l*A)-DNOT Ignoring new targets: 35.75 m.)=Powering the camera and arming the capture device at range: 36.00 m.z9E-E-U ProNav: ac range: 35.748203 m, nav range: 33.620419 m, bearing: 330.305068 deg, approach rate: -0.664714 m/s, LOS rate: -0.425203 deg/s, cmd heading: 345.183253 deg, new cmd heading: 344.670749 deg. ]葼eHeadingCmd: 6.015639 target range: 35.748203 and range: 36.00 m.be@ZarajaRazaJiBi~i~i}q|q|q|q|u@ `~B靥«HiHmIHm}BHiHiHm.DHmb<Hm0E6Gc=ԩ~G) AI Aa N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775198 a;,$ \hA9>0@>ێ@Y>V*=y>!?<>Hpq?,?I(?-ſo??S? >0@>{;)>CJ|BNfIeMb@Mb@Mb@aaa a)aYe٥ HF! >/5%?/59" I?By3?::@NEijW;$o;k/5+AEԱDNOT Ignoring new targets: 35.75 m.Powering the camera and arming the capture device at range: 36.00 m. lFinal approach. Armed for intercept at range: 36.00 m. \Transitioning guidance mode to: FINAL_APPROACH @5һ5һE ProNav: ac range: 35.748203 m, nav range: 33.338020 m, bearing: 330.135564 deg, approach rate: -0.608795 m/s, LOS rate: -0.368511 deg/s, cmd heading: 344.670743 deg, new cmd heading: 344.157940 deg. E|MHeadingCmd: 6.006689 target range: 35.748203 and range: 36.00 m.bM6@ZIrYjYRYJYBY~a~e@|B}a|a|i|i|@ EY~Bm{ 9 B, ]hA96L@6PV@Y6=y6&<6Hi?3?/?`ƿFw?h8)?? 6L@6;)4J|BJXIIRIR3Z r ZY=yZ*Q Z>٥\| ~H   >=/5;?=/59v I0ByAEAE@SEiA;|;/5UB]r+A]E ؝4>ם%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278433B*** querying acoustic contact ***JRDNOT Ignoring new targets: 35.75 m.u ProNav: ac range: 35.748203 m, nav range: 33.084587 m, bearing: 329.984263 deg, approach rate: -0.687795 m/s, LOS rate: -0.413763 deg/s, cmd heading: 344.157933 deg, new cmd heading: 343.700562 deg. uHeadingCmd: 5.998706 target range: 35.748203 and range: 36.00 m.bg@ZrjRJB~~}|||| @  =U~B=HY;I9)=|ݾAIE= AAER:JU\BJQJJUIRJQZJU=:bJQJUF4JQ]@]@]@e@m?imXa=img@iqEEEAEAEEo0EAA DAT read: 13:53:54.6099 LVL= 23840, 28049, 17458, 28467, AGC= 68, IDX= 407, 0.39, 1.542, 0.418, 2.177, 1.505, PHS= 0.124,-1.041, 0.668, RAW= 168.2, 3.3, CAL= 168.7, -5.5, ROT= 341.3, 5.5  Ygot valid direction response: 13:53:54.6099 LVL= 23840, 28049, 17458, 28467, AGC= 68, IDX= 407, 0.39, 1.542, 0.418, 2.177, 1.505, PHS= 0.124,-1.041, 0.668, RAW= 168.2, 3.3, CAL= 168.7, -5.5, ROT= 341.3, 5.5  PDAT read: Bearing 341.3, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 341.3, 5.5 (Local)  DAT read: Range 10 to 50 : 33.6 m (Round-trip 44.8 ms) speed 0.5 m/s  ,DAT read: user:1825>  BDAT read: Tx time:13:53:55.7110  $Ping request sent. Z?iM $W?M --nM I Ku HP"Ku }9*Kq 2Ku :Ku b* (Q0:eX$QPPAc +:%!{1 lJ AJ I )I e :publishing transmit ping timeڹ m Fpublishing direction and range infoI ~G A A N >yM A+?5lԿaVXI YI I )I II iI I I I I I )I II iI I I I )I H,$]hAH>HHxIH|BH =HPHHf<H6E}P&P?u_?m>Z?iyyyy y)yMchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.12752092@@Y7=y)c<Ha? ??ǿ n?LΡٰ`~?`? 2@ 6;)C|BNIJDAT read: TxSync time:13:53:55.7102 checking for new query: numPingsReceived=1, elapsed TxPingTime=0.238231Mb@Mb@Mb@ )YGz?MbI +y0?9zA @)AI@y @IIm?3 =y^˻Q >٥ HFhS >/5[?/59u IBy0?:I@YEiJ;;/5%B%+A-EZyb}se]hA}tB}tB}@ʁ}[_u?@.K% }A+?5lԿaVX}yҁ}H٪<@_(0 ё}~?޿9%pſz}@}VAj}!yƜ?r}8' }fBy}H.  }uaB}B}J@@% addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 3.544314 s, deltaX: -2.400002 m, approachRate: -0.677141 m/s, rangeRepo size: 4 U Added new target pos. range: 33.363876 m, bearing: 330.595388 deg, lat: 36.906372 deg, lon: -122.116088 deg, deltaT: 3.544314 s, deltaX: -2.384327 m, approachRate: -0.672719 m/s, posRepo size: 4 Q]DNOT Ignoring new targets: 33.36 m.Y]Y ProNav: ac range: 33.363876 m, nav range: 32.674633 m, bearing: 329.900371 deg, approach rate: 0.000000 m/s, LOS rate: -0.413763 deg/s, cmd heading: 343.700556 deg, new cmd heading: 342.987159 deg. HeadingCmd: 5.986255 target range: 33.363876 and range: 33.60 m.bg@ZrjRJB~~7|B}|||@@|l? M~B%P,C]hA9b:@b@Yb|=yb$β) W,]]hA9>@>@Y>7tq=y>Jp<>H@T? Z?4?ȿj`?ਆ * ? ? >@>`;)٥ll rHpry2 r>tz/5vӄ?z/59v" IvByx~rT~@vaEiv;v;v#/5,AE1K&-P"KK9*K2K :K@3 < _lasl@svp[6 T%.P6*nJ>J>%DNOT Ignoring new targets: 33.36 m.!--e ProNav: ac range: 33.363876 m, nav range: 32.202194 m, bearing: 329.621634 deg, approach rate: -0.669645 m/s, LOS rate: -0.398290 deg/s, cmd heading: 342.590295 deg, new cmd heading: 342.144840 deg. mHeadingCmd: 5.971554 target range: 33.363876 and range: 33.60 m.b@ZrjRJB~~}||||F?H>HHXIH|BHHHH<HZEHYHYH]ÓC B~B%gm9H] =I] = I]ô5I)VId =  I--5X<5j =i5@i1AEEEEEechecking for new query: numPingsReceived=1, elapsed TxPingTime=1.247284q6G =jG ?bG )?Ա ~G A A! N5 >7],qw]hAzG =A9M7@M@YMgf=yMd٥ HF >5/5ꞽ?5/59 IBy5+?5:5L=@fEi;E;('/5EBE,AEEchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.497868DNOT Ignoring new targets: 33.36 m.ڻڻ ProNav: ac range: 33.363876 m, nav range: 31.903521 m, bearing: 329.437549 deg, approach rate: -0.612754 m/s, LOS rate: -0.381201 deg/s, cmd heading: 342.144830 deg, new cmd heading: 341.587424 deg. ΂HeadingCmd: 5.961825 target range: 33.363876 and range: 33.60 m.bFǾ@ZrjRJB~1~5 |B}1|1|1|9|=]x? <~B:I)_IF = @s6Gɴ>iFǾ@iԩEEEE0EF=F=6G Z=m checking for new query: numPingsReceived=1, elapsed TxPingTime=1.750319~G ԉ A A N >Pd,]hA:J2`BJ2VJJ0RJ0ZJ2:bJ2B9J0J09N!p@Ny@YNo@d=yNNDi@iEaEiEiEmP5Ei6G=S>~GYaeAechecking for new query: numPingsReceived=1, elapsed TxPingTime=2.002331AqAN[>K 6~P"K 59*K 2K  :K % gO .  v LgLM\X9o^I2,PGJJH >H H ?IH r|BH  =H H H <H EM PExceeded connect timeout, disconnecting.I zj,]hA9:v7@:!A@Y:=d=y: =:H:?+@?$?ʿ-??`y]?W? :v7@:,;):Cn6|BnIchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.253675Mb@Mb@Mb@ )YJ +?Mb`?٥!! %H!%~ %>)/5-4ʽ?/59- I-By(?:=V@-nEi- ;-;-./5-ADNOT Ignoring new targets: 33.36 m.%}ܻ%}ܻ5 ProNav: ac range: 33.363876 m, nav range: 31.406694 m, bearing: 329.130848 deg, approach rate: -0.618203 m/s, LOS rate: -0.385532 deg/s, cmd heading: 341.177948 deg, new cmd heading: 340.660008 deg. 5K=HeadingCmd: 5.945639 target range: 33.363876 and range: 33.60 m.b=B@Z9r9j9RAJABA~AI~E|B}Q|Q|Q|Q|]C@ /~B靕v9I)eIl= @D9ҬM;>iB@iE!E!E!E%5E!ԁ6GE >} checking for new query: numPingsReceived=1, elapsed TxPingTime=2.506966ԩ ~G! A1 AA NU >`q,]hA9>>@>@@Y>e=y>!=>H,-?>?ݎ?#˿ /?x  \4?? >>@>7;)>CJ|BN IIVIV3^y ^d=ybU:Q b>٥`` fHfFf f>hr/5jݽ?v/59j Ij۞Bytv^v@jrEij=R;jS;j81/5zBz-A~ۭE!%DNOT Ignoring new targets: 33.36 m.!--= ProNav: ac range: 33.363876 m, nav range: 31.182739 m, bearing: 328.993559 deg, approach rate: -0.659817 m/s, LOS rate: -0.407386 deg/s, cmd heading: 340.660002 deg, new cmd heading: 340.245184 deg. EʋEHeadingCmd: 5.938399 target range: 33.363876 and range: 33.60 m.bE]@ZIrIjIRIJIBI~Q~Q}Q|Q||| o@ %)~B-(I))-)I-H4= )15 :=Շ9=S>i=]@i9ԱEEEEP0EFFchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.758227:J_BJMJJ?RJZJ :bJ9Jـ4J6GU>~G) A1 AI NU > ԋw,]hABDAT read: Rx Time:13:53:58.1568 TRx dataTimestamp_ set to:1749131639.499423checking for new query: numPingsReceived=1, elapsed TxPingTime=3.0105539@<@YZi=y"=H@g? ^??`Ϳ?9f nH?@N? @骍;)C|BIKP"K*K2K :K5snC2pK2=aM3Msos di J?J>II2M M3=yMV:Q M>٥QQ UHUF]ա ]>i/5mJ?/59m ImўByHg@mwEimՔ;m;m55/5B-AڭEH>HH-IHS|BH =HHHӚ<HEDNOT Ignoring new targets: 33.36 m. nManaging dock network, ignoring radio surface power off%׻%׻m ProNav: ac range: 33.363876 m, nav range: 30.897541 m, bearing: 328.820966 deg, approach rate: -0.617104 m/s, LOS rate: -0.376898 deg/s, cmd heading: 340.245190 deg, new cmd heading: 339.722648 deg. mTHeadingCmd: 5.929279 target range: 33.363876 and range: 33.60 m.b@Z rjR1J!BA~q~y}|||| =e @ m!~Bug:Iy)}I=  I:?3^>i@iaEiEqEqE}#2Eychecking for new query: numPingsReceived=1, elapsed TxPingTime=3.263154ԁ 6G >~G A A N >8},]hAd9)c@l@Yk=y0=H ?~?D?:5ο?ըJxE]?#? )c@⁆;)CDAT read: 13:53:58.1568 LVL= 23024, 25297, 15922, 27123, AGC= 65, IDX= 406, 0.48,-0.883,-2.093,-0.371,-0.980, PHS= 0.185,-1.066, 0.606, RAW= 164.0, 3.7, CAL= 164.7, -5.3, ROT= 345.3, 5.3 Ygot valid direction response: 13:53:58.1568 LVL= 23024, 25297, 15922, 27123, AGC= 65, IDX= 406, 0.48,-0.883,-2.093,-0.371,-0.980, PHS= 0.185,-1.066, 0.606, RAW= 164.0, 3.7, CAL= 164.7, -5.3, ROT= 345.3, 5.3 PDAT read: Bearing 345.3, 5.3 (Local) ~Local bearing/azimuth received: Bearing 345.3, 5.3 (Local) DAT read: Range 10 to 50 : 31.2 m (Round-trip 41.6 ms) speed 0.4 m/s ,DAT read: user:1826> BDAT read: Tx time:13:53:59.2610 $Ping request sent.iۥiۥAۥp=>ۥrۥ"? ܥ07@)ܥ A=Iܥ7@iܥqܥ@ܥq= ݡ)ݡݥ1/?ȁ\}/?'d}?iݥD?ݥݥJ\ݥq= ޡ)ޡe:publishing transmit ping timemFpublishing direction and range infoڡyڥ?#+п{]UڡYڡ ۡ)ۡIۡiۡۡۡۡۡ ܡ)ܡIܡiܡܡܡ ݡ)ݡݥ1/?ȁ\}/?'d}?iݡݡݡݡ ޡ)ޡchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.061217!|BI Mb@Mb@Mb@ ) Y ~jt?y&1?Mbpy $? `e<  A ) 3AI @ y AIM IM 3} BB  ٥  H F d  >  /5 u? /59 ) I ÞBy $? : ] @ ~Ei : : ;/5 B -A ׭EU JDAT read: TxSync time:13:53:59.2602 ] checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240668a Zb]1^hAAA[C@ʁv=@Ons?#+п{]UJ\q=ҁ5:@/3I-FH!i?- ݿVV ĿzhAj3Ɯ?r2r hBh$Ɯ?8'  aBꁥ3At@  addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 3.528071 s, deltaX: -2.399998 m, approachRate: -0.680258 m/s, rangeRepo size: 4 %  Added new target pos. range: 30.980930 m, bearing: 331.712306 deg, lat: 36.906374 deg, lon: -122.116085 deg, deltaT: 3.528071 s, deltaX: -2.382946 m, approachRate: -0.675425 m/s, posRepo size: 4 ! M DNOT Ignoring new targets: 30.98 m.I U Q   ProNav: ac range: 30.980930 m, nav range: 30.650198 m, bearing: 329.244068 deg, approach rate: 0.000000 m/s, LOS rate: -0.376898 deg/s, cmd heading: 339.722654 deg, new cmd heading: 338.950525 deg.   HeadingCmd: 5.915802 target range: 30.980930 and range: 31.20 m.b AN@Z r j R J B ~ ~ |B} | | | @33?@| s? E ~BM @q;IQ )U Q IU -f= Q Y ] _:}  >i AN@i zE y E E E E o0E F=F=ԩ checking for new query: numPingsReceived=2, elapsed TxPingTime=0.4924536G=>~GA)A9NE!?_,> #^hAD9B#Ĺ@B@YBq=yB(H5CH5IH55|BH1H1H5/DH5К<H5EԹi) I )rAiIIiZA ) \A|? VAIB)Fi!)!I%SA% 0%F !ٯ)={B=Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=0.745675Mb@Mb@Mb@ )Y"~j?V-?Mb`yS#?<A I@)I@yAIm*Im3u/ }=y}@;Q }>٥ H F >/56?/59" IBy#?:Y@Ei ; ;?/5-.AԭEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 30.98 m.   ProNav: ac range: 30.980930 m, nav range: 30.313923 m, bearing: 329.030266 deg, approach rate: -0.628412 m/s, LOS rate: -0.403972 deg/s, cmd heading: 338.950514 deg, new cmd heading: 338.302023 deg.  HeadingCmd: 5.904484 target range: 30.980930 and range: 31.20 m.b @Z r j R JB~~ |B}:J%\BJ%PJJ%BRJ!ZJ%=:bJ%*9J%-4J!zJ%:5jJ%:5J%-:5rJ%-:5|9|A|I|M&? } ~B}pDIy)}Ij< D:=i@i E E E E ^0E i %checking for new query: numPingsReceived=2, elapsed TxPingTime=0.9965836G >~GAAN?,D^hA9Jq@J@YJ5p=yJ6[1~GaAqAN}>Q !!,%]^hA9K@1U@Y }m=y{<H?@K?r?`6ѿ2?>$ b@l?D? K@q;)C1}checking for new query: numPingsReceived=2, elapsed TxPingTime=1.4998735{B5IIMIMT3e= eJ=ymxϺQ m>٥qq uHu Fu }>y/5}^?/59} I}Byh@}Ei};};}vF/5B/.AѭEDNOT Ignoring new targets: 30.98 m.U޻U޻ ProNav: ac range: 30.980930 m, nav range: 29.858543 m, bearing: 328.743762 deg, approach rate: -0.615138 m/s, LOS rate: -0.388756 deg/s, cmd heading: 337.897436 deg, new cmd heading: 337.435979 deg. fHeadingCmd: 5.889369 target range: 30.980930 and range: 31.20 m.bu@ZrjRJB~~}||| | ?H>HH IH |BH =HHH̚<HEK9Q"K}9*K2K :K V  rcMA*o]A=eoXEJsOxJ?J? U}BUPIY)]YaI]|< L:Gɾ=iu@iEEEE}0EԱ5 checking for new query: numPingsReceived=2, elapsed TxPingTime=1.753035 :J BJ WJJ ARJ ZJ bJ G9J 4J zJ :jJ :J _:rJ _:6G =~G A A N >|,ɑx^hA1-{B-IMb@Mb@Mb@ )YˡE?Q?Mbpy'?\= A)IAI@yAII(*2 <=yQ >٥ H > /5xu? /59 IBy -(? : ` @Eie;:@J/5!-.A-έEDNOT Ignoring new targets: 30.98 m.-checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004614Ye ProNav: ac range: 30.980930 m, nav range: 29.589598 m, bearing: 328.567480 deg, approach rate: -0.593755 m/s, LOS rate: -0.392718 deg/s, cmd heading: 337.435988 deg, new cmd heading: 336.902351 deg. e†mHeadingCmd: 5.880055 target range: 30.980930 and range: 31.20 m.bmj)@ZirijiRiJqBq~q~u|B}|||| E@ }B靅I) I< 2:gξގ>ij)@iEmEiEiEm1Eiԑ 6G 1= ? < checking for new query: numPingsReceived=2, elapsed TxPingTime=2.255854~Gi Aq A N >,s^hA9~Ǹ@~ѿ@Y~x5p=y~}<~H?H?X?` 3ҿ?@^$@G^?? ~Ǹ@~i;)~C{BII%I%V83IU< ]c=y]X:Q ]>٥aa eHe Fe|6 e>iu/5m܈?}/59m ImByy}q}@mEim:m:mgM/5.ADNOT Ignoring new targets: 30.98 m.%-e ProNav: ac range: 30.980930 m, nav range: 29.364552 m, bearing: 328.425191 deg, approach rate: -0.645288 m/s, LOS rate: -0.411119 deg/s, cmd heading: 336.902359 deg, new cmd heading: 336.472231 deg. mmHeadingCmd: 5.872548 target range: 30.980930 and range: 31.20 m.bu@ZqrqjqRqJqBq~y~y}y|y|||@ @ }Bb7"I)I< &j ; ?ҾU=i@iԁchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.508346ԩ>E%X<HE >HA HE IHE |BK} rP"K} 9*Ky 2K} :K} 1u  ^B?1iC0LU%NJvlF! V5OtE E E E 0E HA HA HA HE <HE EHșCHșCHH =I = Iȓ256G} > ~G9 Ai A N >,^^hA9M@MǓ@YMQm=yMح٥AA EHE FM M>]checking for new query: numPingsReceived=2, elapsed TxPingTime=2.759612Ye/5]h?m/59] I]Byu*?}:}w}@]Ei];](;]0Q/5“B.A˭EuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 30.98 m.ۻۻ ProNav: ac range: 30.980930 m, nav range: 29.090534 m, bearing: 328.252710 deg, approach rate: -0.605395 m/s, LOS rate: -0.384657 deg/s, cmd heading: 336.472221 deg, new cmd heading: 335.949919 deg. HeadingCmd: 5.863432 target range: 30.980930 and range: 31.20 m.b=@ZrjRJB~~|B}|||:J ]BJ JJ @RJ ZJ ]:bJ J J4J zJ :jJ :J _:rJ |@ }BⰻI)I< L;־>i=@i ) >E ]<%GGEA]AA YAyBEEEE5E  BDAT read: Rx Time:13:54:01.7038  TRx dataTimestamp_ set to:1749131643.027259 checking for new query: numPingsReceived=2, elapsed TxPingTime=3.0125409 6G >~Gq A A N >`,C^hA9>"G@>P@Y>j=y><>H#z?0@? J?=)ӿQ?RS`ڑ? N? >"G@>f;)>CJ{BJII~"I~q3;  Z=y Q  >٥ Hg >-/5?-/59u IBy15 =@Eix;j;tT/5MÓBM.AMȭEquDNOT Ignoring new targets: 30.98 m.q}M}M ProNav: ac range: 30.980930 m, nav range: 28.853760 m, bearing: 328.105133 deg, approach rate: -0.682565 m/s, LOS rate: -0.428921 deg/s, cmd heading: 335.949930 deg, new cmd heading: 335.503576 deg. .HeadingCmd: 5.855642 target range: 30.980930 and range: 31.20 m.bka@ZrjRJB~~}||||S @ }BpGI)?IP?< p%;ھڙ>ika@ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.264058>E%*_<EEEE05E6G>~Gi Ay A N >Q ,o^hAJDAT read: 13:54:01.7038 LVL= 19888, 24497, 14226, 27763, AGC= 62, IDX= 407,-0.18,-1.461,-2.780,-1.043,-1.637, PHS= 0.263,-1.096, 0.591, RAW= 160.6, 3.2, CAL= 161.6, -5.8, ROT= 348.4, 5.8 RYgot valid direction response: 13:54:01.7038 LVL= 19888, 24497, 14226, 27763, AGC= 62, IDX= 407,-0.18,-1.461,-2.780,-1.043,-1.637, PHS= 0.263,-1.096, 0.591, RAW= 160.6, 3.2, CAL= 161.6, -5.8, ROT= 348.4, 5.8 VPDAT read: Bearing 348.4, 5.8 (Local) Z~Local bearing/azimuth received: Bearing 348.4, 5.8 (Local) nDAT read: Range 10 to 50 : 28.8 m (Round-trip 38.5 ms) speed 0.4 m/s v,DAT read: user:1827> zBDAT read: Tx time:13:54:02.8111 ~$Ping request sent.~">"I"K? "Ud3@)"d=I"J4@i"4QϽ"Q@"4Q= ) "E?&9?kc &;?i">5?"a"4QO"4Q= ) :publishing transmit ping time|Fpublishing direction and range info y"ܾ/?M0ɿ+hg޹ Y ) I i ) I i  ) "E?&9?kc &;?i ) checking for new query: numPingsReceived=3, elapsed TxPingTime=0.037629GQGU@AH]>HYH]IH]{BH] =HYHYH]<H]E9- @-\@Y-tf=y-9<-HJh??&??`ӿ`:p?@]ʬ~?d? - @-b;)-CK-?P"K-K9*K)2K- :K-sWm eG3( &6Af5"#%bnRg?SG yIl M{BMIII2 #=y3Q >٥ HFui }>)E/5sѾ?M/59 IwByY]˃@Ei߳<<Y/5@/A]ŭEZ b"^hA"A"A"/@ʁ" ;@6¹TNlR"ܾ/?M0ɿ+hg޹"4QO"4Q=ҁ"ŕ8@9_#+M@D"m?fZfO߿ꞴpĿz" ^"Aj"e .Ɯ?r"[po "siB"!yƜ?"m  "fB"DA"_C@} addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 3.527981 s, deltaX: -2.400002 m, approachRate: -0.680276 m/s, rangeRepo size: 4  Added new target pos. range: 28.598188 m, bearing: 330.557100 deg, lat: 36.906375 deg, lon: -122.116084 deg, deltaT: 3.527981 s, deltaX: -2.382742 m, approachRate: -0.675384 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.60 m. ProNav: ac range: 28.598188 m, nav range: 28.533651 m, bearing: 328.131439 deg, approach rate: 0.000000 m/s, LOS rate: -0.428921 deg/s, cmd heading: 335.503564 deg, new cmd heading: 334.731404 deg.  =JDAT read: TxSync time:13:54:02.8103 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.230434HeadingCmd: 5.842165 target range: 28.598188 and range: 28.80 m.b-@Z1r1j1R1J1B1~9~9}9|9|A|E<@|E U?Q 5 }B= @ρI9 )= 9 I= ª< 9 A E 8;e iᾩi m >im @ii Dq Dq Dy Dy :J \BJ TJJ DRJ ZJ =:bJ :9J 4J zJ :jJ :J RJ:rJ TJ:y ԩEEEE_0Echecking for new query: numPingsReceived=3, elapsed TxPingTime=0.4827606G >~GAAN(?, _hA9Bp@B@YB[=yB[H ףp=?kt?I +y=1?= 0=9=A =A)=AI99y=AI*I3Ǽ  =yQ >٥ HF >/5N? /59 IiBy H2? : Ć@Ei;;^/5ēB/A­EQUDNOT Ignoring new targets: 28.60 m.Q]]m ProNav: ac range: 28.598188 m, nav range: 28.159042 m, bearing: 327.901350 deg, approach rate: -0.757021 m/s, LOS rate: -0.471153 deg/s, cmd heading: 334.731397 deg, new cmd heading: 334.031987 deg. uuHeadingCmd: 5.829958 target range: 28.598188 and range: 28.80 m.bu@ZyryjyRyJyBy~~|B}||||Tl? }BDI)I< }-G;c 辩`>i@iUchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.734880!I@AIAAEEEE5E6Go>~GAAN`>Iy  checking for new query: numPingsReceived=3, elapsed TxPingTime=0.985957T,kG%_hA9>y@>Z@Y>;U=y>H _y@>R;)>CHV>HTHVIHV{BHTHTHTHVŚ<HVEb{BbIIjIj#3vn5 v]=yv*lQ v>٥xx zHzFzp6Y ~>am/5e?m/59e] Ie`Byquu@eEie4:eA:e]a/5/AKDP"K}9*K2K :KF4/e7?1ADG&?4-SM N{LHfuJJ|A)-DNOT Ignoring new targets: 28.60 m.)UUe ProNav: ac range: 28.598188 m, nav range: 27.904341 m, bearing: 327.743670 deg, approach rate: -0.640498 m/s, LOS rate: -0.400138 deg/s, cmd heading: 334.031986 deg, new cmd heading: 333.554638 deg. eNmHeadingCmd: 5.821627 target range: 28.598188 and range: 28.80 m.bmJ@ZirijRJB~~}||||xK?ԉ }BE IA)M IIU< QY]T;mmQ쾩mkiuJ@iqmchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.238330EAEAEIEMY1EQԱ:JM ^BJM VJJM CRJI ZJM } :bJM B9JM 4JI zJM ^:jJM c:JM X:rJM X: 6G9 ZGA RGA ~G A! A1 NE >P,>_hA9>Y@>c@Y>M=y><>H 2? ?Ѥ?Կ@)8?8d` (?? >Y@>;)٥ H >/5?/59t IVBy6?:k@Ei::d/5œB/Achecking for new query: numPingsReceived=3, elapsed TxPingTime=1.489262E-B*** querying acoustic contact ***J)R)1=DNOT Ignoring new targets: 28.60 m.9=%E%U ProNav: ac range: 28.598188 m, nav range: 27.623552 m, bearing: 327.570608 deg, approach rate: -0.696894 m/s, LOS rate: -0.433890 deg/s, cmd heading: 333.554638 deg, new cmd heading: 333.030191 deg. U㔼]HeadingCmd: 5.812473 target range: 28.598188 and range: 28.80 m.b]@ZYrYjYRYJYBa~a~:|B}||||? =}B=n"I9)eSaIe< aim0na;m'񾩢quH>iu@iqEEEE]4EF-=F-a=!6GE > checking for new query: numPingsReceived=3, elapsed TxPingTime=1.741218~G A! A9 NM >Q x,]X_hA96)@6d3@Y68D=y6ɤ<6H#?Q_?"?wHտ'?`[ ?? 6)@6F;)6CJ{BJI)L LIR IR̍2Z0& ZZ=y^Q ^>٥`` bHbFb b>dj/5fJ4?j/59fe IfNBylnjn@fEifM;fY;f9h/5pr/AvE%DNOT Ignoring new targets: 28.60 m.!%%= ProNav: ac range: 28.598188 m, nav range: 27.367939 m, bearing: 327.413243 deg, approach rate: -0.696786 m/s, LOS rate: -0.432973 deg/s, cmd heading: 333.030188 deg, new cmd heading: 332.553696 deg. =EHeadingCmd: 5.804157 target range: 28.598188 and range: 28.80 m.bE@ZArAjARAJABI~I~I}I|Q|Q|Q|U fa?1 =}B=6MI9)=*9IE< AAEl;MACIMk>iM@iE1E1E1E5P0E1checking for new query: numPingsReceived=3, elapsed TxPingTime=1.9940646G5>a~GAANI>H>HHIH{BH =HHH~<HgEKmh3P"Km@9*Ki2Km :Km 7 Ds*YZ`hk0&yI0zwED;`QRHF=ԑJ>J>Թ l,r_hA*checking for new query: numPingsReceived=3, elapsed TxPingTime=2.2461949N@NI@YNz<=yN٥qq }H}F}; }>/54O?/59 IEBԑy:?:@Ei1;0;>l/5/A)5DNOT Ignoring new targets: 28.60 m.15=E ProNav: ac range: 28.598188 m, nav range: 27.045183 m, bearing: 327.226984 deg, approach rate: -0.690843 m/s, LOS rate: -0.403437 deg/s, cmd heading: 332.553687 deg, new cmd heading: 331.988259 deg. Mp}HeadingCmd: 5.794288 target range: 28.598188 and range: 28.80 m.b}j@ZyryjyRyJB~~F|B}|||| @ -}B-I))-&)I5/< 115Az;=P9=X>i=j@i9EqEyEyE}O0Echecking for new query: numPingsReceived=3, elapsed TxPingTime=2.4986886G >jG ?bG > ~G A A N >/1,c_hA9R"@Rΰ@YR5=yR=RH?V?4?>ֿs?u .?`? R"@R;)PXXIf Ifb3yv Q v>٥tt vHtz* z>|/5~d?/59~0 I~>By  L @~Ei~;~;~vo/5ƓB/AE9EDNOT Ignoring new targets: 28.60 m.AMMm ProNav: ac range: 28.598188 m, nav range: 26.786238 m, bearing: 327.079073 deg, approach rate: -0.720207 m/s, LOS rate: -0.415360 deg/s, cmd heading: 331.988257 deg, new cmd heading: 331.540246 deg. muHeadingCmd: 5.786469 target range: 28.598188 and range: 28.80 m.bu*@ZqrqjqRqJyBy~y~y}||||e@ }B靵0[I)"Ipi*@ichecking for new query: numPingsReceived=3, elapsed TxPingTime=2.751898EQEQEQEUP0EYJ-4JҔ4J0:JBJ^JJ?RJZJbJd9Jـ4J@@@@6G5+>ԩ~G)A1AANUS> BDAT read: Rx Time:13:54:05.2507  TRx dataTimestamp_ set to:1749131646.559537 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.006479! HHIH{BH =HHHК<HE9~R@~B\@Y~B/=y~Z=~H`^?}?@.?3ֿt?`楿>Z?Q? ~R@~S;)~C~{BIi%>Ip;I% I%V25 5٥ HF0ɼ >/5+}?/59 I6By@Ei;;"s/5ǓBA0AK[P"K9*K2K :K[FVLsf6[Z.+9bI&[ >xHZ?3m E9EDNOT Ignoring new targets: 28.60 m.AMܻMܻ} ProNav: ac range: 28.598188 m, nav range: 26.490217 m, bearing: 326.913389 deg, approach rate: -0.682069 m/s, LOS rate: -0.386022 deg/s, cmd heading: 331.540251 deg, new cmd heading: 331.037658 deg. }vHeadingCmd: 5.777697 target range: 28.598188 and range: 28.80 m.b@ZrjRJB~~}||||Z @ m}Bu<Iy)I< h;g(E>i@i ->-<Echecking for new query: numPingsReceived=3, elapsed TxPingTime=3.259690IEEEEEi 6G >~G A A N >:,_hA DAT read: 13:54:05.2507 LVL= 23184, 28929, 21026, 28739, AGC= 62, IDX= 408, 0.01,-2.416, 2.491,-2.151,-2.670, PHS= 0.342,-1.075, 0.516, RAW= 155.7, 2.9, CAL= 157.4, -6.1, ROT= 352.6, 6.1 =Ygot valid direction response: 13:54:05.2507 LVL= 23184, 28929, 21026, 28739, AGC= 62, IDX= 408, 0.01,-2.416, 2.491,-2.151,-2.670, PHS= 0.342,-1.075, 0.516, RAW= 155.7, 2.9, CAL= 157.4, -6.1, ROT= 352.6, 6.1 EPDAT read: Bearing 352.6, 6.1 (Local) E~Local bearing/azimuth received: Bearing 352.6, 6.1 (Local) DAT read: Range 10 to 50 : 26.6 m (Round-trip 35.5 ms) speed 0.6 m/s ,DAT read: user:1828> UBDAT read: Tx time:13:54:06.3611 U$Ping request sent.Uۅۅ? ܅'-@)܅4QO=I܅F/@i܅^ ڽ܅@܅^ = ݁)݁݅Ք2>?Ӓ?xxɐL?9}>@}@Y}N*=y}i<}H8?`c?/ ?`z׿a?`l`KHd?? }>@}:+;)}Cx{BIi݅?݅/O݅@݅^ = ށ)ށM:publishing transmit ping timeQMFpublishing direction and range infoځyڅS5ō? wdO4ځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅Ք2>?Ӓ?xxɐL?i݁݁݁݁ ށ)ށchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.047393]Mb@Mb@Mb@YYY Y)YY]x?/$?{Gzy]K7?],=]#]A ]zA)]`AI]AYy]AԑI}I}2!  =yQQ >٥   H F   >9M/5=?m/59=5 I=*Byu7?u:u@u@=Ei=M;=;=Kx/5^0AEZb_hAOAOAa@ʁUJ :@o \!_tS5ō? wdO4@^ =ҁ/6@A&)CzS&?=Kx޿[|('Uÿz4IAj̤Z'ǜ?r_` kBe .Ɯ?2r  hBꁅoAϷ@u addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 3.533133 s, deltaX: -2.199999 m, approachRate: -0.622676 m/s, rangeRepo size: 4  Added new target pos. range: 26.413658 m, bearing: 331.208916 deg, lat: 36.906378 deg, lon: -122.116072 deg, deltaT: 3.533133 s, deltaX: -2.184530 m, approachRate: -0.618298 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.41 m. ProNav: ac range: 26.413658 m, nav range: 25.804398 m, bearing: 329.114014 deg, approach rate: 0.000000 m/s, LOS rate: -0.386022 deg/s, cmd heading: 331.037658 deg, new cmd heading: 330.334536 deg. HeadingCmd: 5.765425 target range: 26.413658 and range: 26.60 m.b]~@ZrjRJB~~m|B} | - JDAT read: TxSync time:13:54:06.3603 5 checking for new query: numPingsReceived=4, elapsed TxPingTime=0.192312|a |m :@|m @͐? }B靵 @I ) = I < ;  D>i ]~@i :J \BJ QJJ ARJ ZJ =:bJ -.9J 4J EY EY EY Ee 3Ea 6GH>~GYAqAN ?,_hAchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.4434259 A@ zK@Y #=y  < H`v??c՚?ؿYv?^Ȥqڛ?n? A@ ̇;) C%V{B%II5(I5̍3EC Me=yUQ U>٥QY ]HY]X ]>am/5e+?u/59en Ie$Byqu u@eEie%;e;ea{/5}ȓB0AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 26.41 m.ȻȻGGH>HHIH{BH =HHH<HEHHHH =I = ITm4 ProNav: ac range: 26.413658 m, nav range: 25.556339 m, bearing: 329.001770 deg, approach rate: -0.765546 m/s, LOS rate: -0.349766 deg/s, cmd heading: 330.334531 deg, new cmd heading: 329.994534 deg.  pmHeadingCmd: 5.759491 target range: 26.413658 and range: 26.60 m.bmM@ZirijiRiJiBq~q~q}q|y|y|y|}v?ԡ y}B)I)I<  Ɣ;%!%>i-M@i)KP"K}9*K2K :K;9_M,`^8oJhRi|$4jXEEEEO0Echecking for new query: numPingsReceived=4, elapsed TxPingTime=0.6955786G+> ~G A u GAy A N > Y Ay BA ,ؚ_hA9f @f @Yf{ =yf>٥ HF >/5˿?/59) IBy:?:=@Ei:/;/50A DNOT Ignoring new targets: 26.41 m.  ֵ ֵ ProNav: ac range: 26.413658 m, nav range: 25.259935 m, bearing: 328.871786 deg, approach rate: -0.716616 m/s, LOS rate: -0.317950 deg/s, cmd heading: 329.994525 deg, new cmd heading: 329.600003 deg. 4ZHeadingCmd: 5.752605 target range: 26.413658 and range: 26.60 m.bX@ZrjRJB~~D|B}||||?  -o}B-`NUchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.947764IY)]YI]<\< YaeU;em|<u>iX@iE E E E P0E 6G5 >9~GAANb>i  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.199468n,s`hAI"AAI"BA:J&]BJ&[JJ&JRJ$ZJ&]:bJ&W9J&4J$09^~@^*@Y^=y^<^HG;?@B?՛?@ٿ :=?5蟿1ޑ?`? ^~@^;)^CjF{BjIIr Irb3z}< zV=ymmQ m>٥iq uHuFu }>/5῜?/59 IBy׸@Ei7::u/5ɓB-1AEDNOT Ignoring new targets: 26.41 m. ProNav: ac range: 26.413658 m, nav range: 24.976749 m, bearing: 328.752028 deg, approach rate: -0.713764 m/s, LOS rate: -0.305270 deg/s, cmd heading: 329.600013 deg, new cmd heading: 329.236670 deg. QHeadingCmd: 5.746264 target range: 26.413658 and range: 26.60 m.be@ZrjRJB~~}|| | | `P? Ee}BMyII)MIIMD< QQU;]s ]8<]Fl=i]e@iaԑEEEEm0Eechecking for new query: numPingsReceived=4, elapsed TxPingTime=1.451688H>HHIH{BH =HHHv<H]E6G-%>~Ga Aq A N > Ke mP"Ka *Ka 2Ke :Ke  Y@ZCAZj$hdnU'}|$g;V}CJi Jm A ,]1`hA\checking for new query: numPingsReceived=4, elapsed TxPingTime=1.70385957{B5~IMb@Mb@Mb@ )YM?ˡE?Mbyn2?A A)rAIdAyAIIT3  -=y Q  >٥  H >%/5?%/59 IBy-2?-:--@EiP;H;u/515p1A5E!%DNOT Ignoring new targets: 26.41 m.)-˥-˥= ProNav: ac range: 26.413658 m, nav range: 24.663168 m, bearing: 328.614196 deg, approach rate: -0.651266 m/s, LOS rate: -0.289897 deg/s, cmd heading: 329.236674 deg, new cmd heading: 328.817930 deg. ]FeHeadingCmd: 5.738955 target range: 26.413658 and range: 26.60 m.be@ZirijiRiJiBi~q~uK|B}q|q|y|y|? Y}Bu6I)Iθ< ȥ;R <e?>i@i!EEEE_0Ea e Am checking for new query: numPingsReceived=4, elapsed TxPingTime=1.9555769 6G -w=~G A A N% >,,K`hA9>;@> @Y>=y>V<>Hn?,?{L?@ۿ?s b?`? >;@>;)>CJ({BJuIiN >INe>IRIR[3Z9 Zz=y^4:Q ^?٥`` bHbFbc f?dr/5f ?r/59f" If Bytv ¾v@fEifXz;f{;fQ/5xz1A9xDNOT Ignoring new targets: 26.41 m. ProNav: ac range: 26.413658 m, nav range: 24.437927 m, bearing: 328.524187 deg, approach rate: -0.702091 m/s, LOS rate: -0.283149 deg/s, cmd heading: 328.817929 deg, new cmd heading: 328.545416 deg. RBHeadingCmd: 5.734199 target range: 26.413658 and range: 26.60 m.b~@ZrjRJB~~}|!|!|!|%q@ Q}BՙI) P I-Lʵ< ))5Qت;5^ 5;<=k=i=~@i9ichecking for new query: numPingsReceived=4, elapsed TxPingTime=2.208408EEEE0E6G>:JaBJSJJARJZJ:bJy69J4J~GA!A9NEs>ԑ 7,e`hAchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.4594849Bݯ@B@YB=yBR*?@?4?ۿ?@A5Q?? Bݯ@B3n;)BCN{BNiIIVIV2f< fI=yf ZQ j>٥hh jHjFnʼ n>pv/5r"?v/59r$ IrByxz8Ǿz@rEir:r:rߌ/5]ʓBe1AeEH>HHIH~{BH =HH0DH<HEԡB*** querying acoustic contact ***JRDNOT Ignoring new targets: 26.41 m. ProNav: ac range: 26.413658 m, nav range: 24.157984 m, bearing: 328.416848 deg, approach rate: -0.680796 m/s, LOS rate: -0.264063 deg/s, cmd heading: 328.545404 deg, new cmd heading: 328.219659 deg. 95HeadingCmd: 5.728514 target range: 26.413658 and range: 26.60 m.bO@Z!r!j!R!J!B!~)~)})|)|)|1|UF@ G}B靥II) IYD< s; <d=iO@iEEEE5EKtP"K9*K2K :K1QJ9X@[\VS ;R7<?<8i'GlJ>J?checking for new query: numPingsReceived=4, elapsed TxPingTime=2.7113516G->~G A A! Ne > E,~`hA9>FY@>b@Y>:=y>;>H?@X?e̞?>Pܿo?v&梿{?:? >FY@>;)>CJ{BJkImMb@Mb@Mb@iii i)iYmCl?Q?Mbym/?m\=imA mA)iImAiyiII3m; >=yhQ >٥ Hȼ >/59?/59' IBy0?:о@Ei::/51AEDNOT Ignoring new targets: 26.41 m. - -% ProNav: ac range: 26.413658 m, nav range: 23.864687 m, bearing: 328.314973 deg, approach rate: -0.716976 m/s, LOS rate: -0.252099 deg/s, cmd heading: 328.219659 deg, new cmd heading: 327.910280 deg. %-5HeadingCmd: 5.723114 target range: 26.413658 and range: 26.60 m.b5#@Z1r1j1R9J9B9~9~E,|B}A|A|A|A|M@ u>}B}|5Iy)} yI}r< yM;`4</X=i#@i=BDAT read: Rx Time:13:54:08.7974 ETRx dataTimestamp_ set to:1749131650.087916Mchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.965445E E E E 5E6G=!~GAANC>Q checking for new query: numPingsReceived=4, elapsed TxPingTime=3.215552y %,ɘ`hA9:@:@Y:Y=y: T<:H@?@?n]?ܿ`?&@@JR?j? :@:;):CZzB^UI)\ \If If(2n~ nV=ynbLQ r>٥pp rHrFvX v>x/5zN?/59z* IzBy  -վ @zEizH%;z%;z/52ADNOT Ignoring new targets: 26.41 m.XyXy ProNav: ac range: 26.413658 m, nav range: 23.606100 m, bearing: 328.228664 deg, approach rate: -0.646046 m/s, LOS rate: -0.217993 deg/s, cmd heading: 327.910279 deg, new cmd heading: 327.648518 deg. %HeadingCmd: 5.718545 target range: 26.413658 and range: 26.60 m.b%S@Z!r!j!R!J!B)I~Q~Q}Q|Q|Y|Y|]83 @ 4}B I)IQ< !%л;=(C<q=iS@iԁEEEE/5EDAT read: 13:54:08.7974 LVL= 22944, 26017, 19154, 29875, AGC= 59, IDX= 405, 0.22, 0.533,-1.030, 0.345, 0.144, PHS= 0.477,-1.127, 0.198, RAW= 140.6, 6.1, CAL= 144.1, -1.7, ROT= 5.9, 1.7 Ygot valid direction response: 13:54:08.7974 LVL= 22944, 26017, 19154, 29875, AGC= 59, IDX= 405, 0.22, 0.533,-1.030, 0.345, 0.144, PHS= 0.477,-1.127, 0.198, RAW= 140.6, 6.1, CAL= 144.1, -1.7, ROT= 5.9, 1.7 PDAT read: Bearing 5.9, 1.7 (Local) ~Local bearing/azimuth received: Bearing 5.9, 1.7 (Local) DAT read: Range 10 to 50 : 24.1 m (Round-trip 32.2 ms) speed 0.5 m/s ,DAT read: user:1829> R#Rx 5: Read range and direction messages.5^direction in FSK: [0.994265,0.102747,-0.029666]5Fpublishing direction and range infoIyMp? M? `MAYI MY)MeIMJiMtM;MX9>MAMJ> M= @)M^ =IM @iMMB=M< I)IMRcԐ?Pk?Zg?iM>]>M۽MB=M< IHu>HuCHuIHuU{BHqHqHqHu<HuE)Ichecking for new query: numPingsReceived=5, elapsed TxPingTime=3.515057ԩ6G% 2=~G A A K A,P"K 9*K 2K :K $DbC%Wa $yxK~i? W:IAD?NM >J1 J1 ,,젲`hABDAT read: Tx time:13:54:09.9111 $Ping request sent.٥ HF >!=/5%hg?e/59%m. I%Bym'?u:u.߾u@%Ei%"<%<%f/5˓B2AEZyb}`hA}sA}sA}q%@ʁ}VT7@Oҫ@L_1}p? M? `}B=}<ҁ}T2h?6@ K6a!Bx}bKJѿ?:jC=׿S[&گz} }Aj}ޔ9ǜ?r}_ }tB}3Ɯ?}[po  }siB}A}'@e addTargetRange:: Added new target pos. range: 24.100000 m, deltaT: 3.528633 s, deltaX: -2.500000 m, approachRate: -0.708490 m/s, rangeRepo size: 4  Added new target pos. range: 23.931498 m, bearing: 338.665080 deg, lat: 36.906380 deg, lon: -122.116071 deg, deltaT: 3.528633 s, deltaX: -2.482161 m, approachRate: -0.703434 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.93 m. ProNav: ac range: 23.931498 m, nav range: 23.370872 m, bearing: 328.577528 deg, approach rate: 0.000000 m/s, LOS rate: -0.217993 deg/s, cmd heading: 327.648518 deg, new cmd heading: 327.309922 deg. HeadingCmd: 5.712636 target range: 23.931498 and range: 24.10 m.bͶ@ZrjRJB~!~%{B}!|!|)|-8@|- Й? '}B靝eI)4IW< h};<=iͶ@iEEEEp5E U checking for new query: numPingsReceived=5, elapsed TxPingTime=0.2521511 6G FM=~G A A N >3,r`hA9>؋@>@Y>J=y><>HP?X?@6@?kݿ@P? xH n? ? >؋@>;)٥`` bH`f* f?hr/5j`x?v/59j0 IjBytv%v@jEijG;j5;ja/5z̓Bz#3A~EԡDNOT Ignoring new targets: 23.93 m.UU ProNav: ac range: 23.931498 m, nav range: 23.149172 m, bearing: 328.519816 deg, approach rate: -0.710565 m/s, LOS rate: -0.186743 deg/s, cmd heading: 327.309932 deg, new cmd heading: 327.135138 deg. (HeadingCmd: 5.709585 target range: 23.931498 and range: 24.10 m.b촶@Zrj R J B ~ ~}||||? M}BMӼII)MIIMU< QQUO7;]w] checking for new query: numPingsReceived=5, elapsed TxPingTime=0.755371! G G H >H H wIH -{BH  =H H H Ě<H E9,h`hA9ZhH@ZR@YZe٥YY eHeFe' e>iu/5m@?}/59m4 ImByy}N}@mEim;my;m/53AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 23.93 m.2929 ProNav: ac range: 23.931498 m, nav range: 22.875154 m, bearing: 328.452570 deg, approach rate: -0.651955 m/s, LOS rate: -0.161911 deg/s, cmd heading: 327.135134 deg, new cmd heading: 326.930981 deg. <޻HeadingCmd: 5.706022 target range: 23.931498 and range: 24.10 m.b@ZrjRJB~~}|||| ? -}B-H㸼I1)5*1I5|8< 19=~;=Eԙ @,QahA~zB~#IMb@Mb@Mb@ )YMb?{Gz?y&1y#?ף<`eA )IzAyAII[3checking for new query: numPingsReceived=5, elapsed TxPingTime=1.260199M ?=yQ >٥ HF >/5e?/59<7 IڝBy1#?:~@Ei4::/5͓B3AE!-DNOT Ignoring new targets: 23.93 m.)-U)q5U) ProNav: ac range: 23.931498 m, nav range: 22.609480 m, bearing: 328.391362 deg, approach rate: -0.635116 m/s, LOS rate: -0.148042 deg/s, cmd heading: 326.930993 deg, new cmd heading: 326.745212 deg. 3˻HeadingCmd: 5.702780 target range: 23.931498 and range: 24.10 m.b,}@ZrjRJ B~~{B}||||?  }BˬI)7IԚ< n;y:<v=i,}@iԡE=E9E9E9E9m checking for new query: numPingsReceived=5, elapsed TxPingTime=1.5114046Ge 0=~G9 AI Aa Nu > F,ahA9>ӱ@>Nݸ@Y>Ay =>H@??xs?-߿? ^ 43?? >ӱ@>bΆ;)>CzB III(*3  8=y h5Q >٥ H% ->1=/55?=/595: I5ӝBy9EE@5Ei5C:5:5/5IM3AMEq}DNOT Ignoring new targets: 23.93 m.y}} ProNav: ac range: 23.931498 m, nav range: 22.325523 m, bearing: 328.334668 deg, approach rate: -0.635156 m/s, LOS rate: -0.128426 deg/s, cmd heading: 326.745212 deg, new cmd heading: 326.572968 deg. FHeadingCmd: 5.699773 target range: 23.931498 and range: 24.10 m.bd@ZrjRJB~~}|||| ˭? }BgI)I< Ԋ;~Z@<=id@ichecking for new query: numPingsReceived=5, elapsed TxPingTime=1.763951EEEEP0EH>HCH^IH{BH =HH/DH<HEHHHH =I = Iŕ51 6G 7=K 4P"K s9*K 2K :K *)ob#.91!*0\1rcHz]]-5>8!wE~G A9 Aa N >Y ؅ ?ׅ 4= checking for new query: numPingsReceived=5, elapsed TxPingTime=2.0187880M,&R7ahA)r> rُCEG]A:J}`BJ}WJJ}FRJyZJ}:bJ}G9J}4JyzJ}:jJ}:J}_:rJ}_:9] @]̵@Y]٥11 5H5F5 =>IU/5M?U/59M> IM͝ByU!?]:]]@M EiM:M:M!/5ae84AaDNOT Ignoring new targets: 23.93 m. ProNav: ac range: 23.931498 m, nav range: 22.000772 m, bearing: 328.274845 deg, approach rate: -0.630165 m/s, LOS rate: -0.117797 deg/s, cmd heading: 326.572955 deg, new cmd heading: 326.390837 deg. HeadingCmd: 5.696595 target range: 23.931498 and range: 24.10 m.bJ@ZrjRJB~~{B}|||| m@checking for new query: numPingsReceived=5, elapsed TxPingTime=2.267851 |B靽ɖI)jIp< !O;*<=iJ@i9 E E E E O0E 6G =~G A A N >}S,PahA09B@B@YB@ZrjRJB~~}|||| @ |B V5checking for new query: numPingsReceived=5, elapsed TxPingTime=2.519362I9)=9I=&< 9AE;E(M*,@ԉiIIEEEAEAEE0EAԹ6Ge om= ~GA AQ Aa Nm > BDAT read: Rx Time:13:54:12.3442  TRx dataTimestamp_ set to:1749131653.615255 checking for new query: numPingsReceived=5, elapsed TxPingTime=2.772273H >H H EIH zBH  =H H H <H E)Z,VcjahA9B e@Bn@YB&ߚ٥ H' >!-/5%.?-/59%C I%ǝBy15>5@%Ei%<;%;%/5IM4AImB*** querying acoustic contact ***JiRiy}DNOT Ignoring new targets: 23.93 m.y ProNav: ac range: 23.931498 m, nav range: 21.583307 m, bearing: 328.203178 deg, approach rate: -0.640112 m/s, LOS rate: -0.109319 deg/s, cmd heading: 326.308353 deg, new cmd heading: 326.173640 deg.  HeadingCmd: 5.692804 target range: 23.931498 and range: 24.10 m.bs+@ZrjRJB~~}||||B @ |B ּI)I< ;=#j<0=is+@iK'P"K9*K2K :K^W(a_G>eD~P0!KU+~F}<Va#Dco4aJ ?J ?E}EyEyE1E6G=}checking for new query: numPingsReceived=5, elapsed TxPingTime=3.030034~GAANc>:J[BJVJJARJZJ:bJB9J4JzJ:jJ:JX:rJX:A <a,O?ahA9:'I@:R@Y:٥aa eHeFm m>q}/5ub?}/59udG IuBy}#?}:}#@uEiu:u:uд/54AEDNOT Ignoring new targets: 23.93 m. ProNav: ac range: 23.931498 m, nav range: 21.297968 m, bearing: 328.156644 deg, approach rate: -0.639631 m/s, LOS rate: -0.105710 deg/s, cmd heading: 326.173635 deg, new cmd heading: 326.032163 deg. HeadingCmd: 5.690335 target range: 23.931498 and range: 24.10 m.b9@ZrjRJB~~{B}||||`[ @I ]|B]VżIY)]hYIel< aae; n'<=i9@izEEyEEE0EF=F=q m %=m %= DAT read: 13:54:12.3442 LVL= 27376, 32753, 24386, 32755, AGC= 63, IDX= 404, 0.03, 0.600,-0.871, 0.209, 0.183, PHS= 0.505,-1.008, 0.022, RAW= 131.8, 7.2, CAL= 137.7, 1.2, ROT= 12.3, -1.2  Ygot valid direction response: 13:54:12.3442 LVL= 27376, 32753, 24386, 32755, AGC= 63, IDX= 404, 0.03, 0.600,-0.871, 0.209, 0.183, PHS= 0.505,-1.008, 0.022, RAW= 131.8, 7.2, CAL= 137.7, 1.2, ROT= 12.3, -1.2  PDAT read: Bearing 12.3, -1.2 (Local)  ~Local bearing/azimuth received: Bearing 12.3, -1.2 (Local)  DAT read: Range 10 to 50 : 21.6 m (Round-trip 28.9 ms) speed 0.5 m/s  ,DAT read: user:1830>  BDAT read: Tx time:13:54:13.4612  $Ping request sent. Im @im m i )i m a%8?_Z?Hy!?im +R>m gm [>m i )i  :publishing transmit ping time  Fpublishing direction and range infoi ym WY3B? [ C?_2q?i Yi i )i Ii ii i i i i i )i Ii ii i i i )i m a%8?_Z?Hy!?ii i i i i )i ԡ 6G Z=ZG RG Am checking for new query: numPingsReceived=6, elapsed TxPingTime=0.050385~G A A N >0g,%ahA9R+@R4@YR/5?/597J IBy   @Ei?<</5EϓBE&5AEEZbahAAA @ʁ)4@l2E@Xn?WY3B? [ C?_2q?[>ҁc $g4@wng?p?w ۷ӿ16K?zv9AjSǜ?rQ {B̤Z'ǜ?_`  kBꁝ Am@5 addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 3.782089 s, deltaX: -2.500000 m, approachRate: -0.661010 m/s, rangeRepo size: 4 E Added new target pos. range: 21.448521 m, bearing: 342.053583 deg, lat: 36.906385 deg, lon: -122.116064 deg, deltaT: 3.782089 s, deltaX: -2.482977 m, approachRate: -0.656509 m/s, posRepo size: 4 AmDNOT Ignoring new targets: 21.45 m.iuq ProNav: ac range: 21.448521 m, nav range: 21.266109 m, bearing: 330.216782 deg, approach rate: 0.000000 m/s, LOS rate: -0.105710 deg/s, cmd heading: 326.032168 deg, new cmd heading: 325.911717 deg. -HeadingCmd: 5.688232 target range: 21.448521 and range: 21.60 m.b-@Z)r)j)R)J1B1~1~1}9|9|9|=5@|=Y?ԡ |B靵ټI)I!7< checking for new query: numPingsReceived=6, elapsed TxPingTime=0.237688R;N<x=i@iHiHiHm3IHmzBHm =HiHiHm<HiE]EYEYE]r5EYK] P"K] 9*KY 2K] :K] hB#;0/U;K`x&NUue6MpJy Jy 6G =9 ~G A A N >Zm,6ahAchecking for new query: numPingsReceived=6, elapsed TxPingTime=0.4923839@@Y(k? @骝j\;)C?zBI Mb@Mb@Mb@    ) Y %C?I +?~jthy Z$? 9< D  A A) vAI A y AIMIMT3u9 u,=y}xQ >٥ Hۻ > /5 *?/59 N I ByMs$?M:MM@ Ei n< ;  /5~5ADNOT Ignoring new targets: 21.45 m.oLoL ProNav: ac range: 21.448521 m, nav range: 20.959724 m, bearing: 330.196396 deg, approach rate: -0.661896 m/s, LOS rate: -0.044683 deg/s, cmd heading: 325.911711 deg, new cmd heading: 325.849661 deg.  R HeadingCmd: 5.687150 target range: 21.448521 and range: 21.60 m.b !@ZrjRJB~~={B}9|9|A|A|E_? |B靕k ݼI)!I{< -;̕<`=i!@iEEEE5Echecking for new query: numPingsReceived=6, elapsed TxPingTime=0.741655Iq 6G Z=~G A A N >Evt,ahA9>:@>@Y>\Q=>H@ ?`7J?:@>r;)>CJUzBJIIR%IR)3ZY= Zz=yZP.Q Z?٥\\ ^H^!Fb] b?dn/5f}9?n/59fP IfByprr@f Eif%;f;fþ/5vГBz.5AzEDNOT Ignoring new targets: 21.45 m.%/%/ ProNav: ac range: 21.448521 m, nav range: 20.760263 m, bearing: 330.185137 deg, approach rate: -0.673532 m/s, LOS rate: -0.038385 deg/s, cmd heading: 325.849665 deg, new cmd heading: 325.815563 deg. ҺHeadingCmd: 5.686554 target range: 21.448521 and range: 21.60 m.b A@Z r j R J B ~~}||||@\?checking for new query: numPingsReceived=6, elapsed TxPingTime=0.993824 5|B5I1)=9I=lt< 99E;EѼE checking for new query: numPingsReceived=6, elapsed TxPingTime=1.246307H >H H &IH zBH  =H H H <H Ei z,jmahA9>H԰@>ݷ@Y>?DX^=>H}?_?`摿 ``mp? @!`ǫ?`X? >H԰@>;)>CJGzBJIIRIR3ZO ZK=y^rQ ^>٥    H  >%/5M?%/59S IBy!%%@$Eii:[:]/515d5A1imDNOT Ignoring new targets: 21.45 m.iuu ProNav: ac range: 21.448521 m, nav range: 20.495621 m, bearing: 330.172198 deg, approach rate: -0.642128 m/s, LOS rate: -0.031801 deg/s, cmd heading: 325.815569 deg, new cmd heading: 325.776250 deg. HeadingCmd: 5.685868 target range: 21.448521 and range: 21.60 m.b@ZrjRJB~~}||||? |BI)I7m< ;b<=i@iԙE]EYEYE]P0EYKM=P"KM@9*KI2KM :KMnGlEFMo0|:hIf  O?k}HO >J?J? %,?%z?=checking for new query: numPingsReceived=6, elapsed TxPingTime=1.5083176GL=~GAAN> ,AJbhA٥ H"F >/5nc?/59W IBy[(?:{@)Ei\ ; ;_/5ѓB5AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 21.45 m.ZnZn5 ProNav: ac range: 21.448521 m, nav range: 20.194004 m, bearing: 330.148686 deg, approach rate: -0.658460 m/s, LOS rate: -0.052096 deg/s, cmd heading: 325.776254 deg, new cmd heading: 325.704664 deg. ==HeadingCmd: 5.684619 target range: 21.448521 and range: 21.60 m.b=f@ZArAjARAJABA~I~M{B}I|Q|Q|Q|U P? |B靅dkҼI)Id< ^6<;&=n=if@iE)E)E1E1E9!= checking for new query: numPingsReceived=6, elapsed TxPingTime=2.0102906GM =Q ~G! A1 AA NU >:Jm \BJm fJJm >RJi ZJm =:bJm 9Jm t4Ji ,28 bhA9bd@b@Yb\Q٥99 =H=#FE6 E>IU/5Mt?U/59MZ IMByY]]@M-EiM#;M;M}/5ae<5AeEDNOT Ignoring new targets: 21.45 m.:: ProNav: ac range: 21.448521 m, nav range: 19.959377 m, bearing: 330.134255 deg, approach rate: -0.655924 m/s, LOS rate: -0.040818 deg/s, cmd heading: 325.704674 deg, new cmd heading: 325.660872 deg. HeadingCmd: 5.683855 target range: 21.448521 and range: 21.60 m.b#@ZrjRJB~~}||||@ |B靕tI)&I]< 5<m}==i#@iiEeEaEaEe_0EaFm=Fm=checking for new query: numPingsReceived=6, elapsed TxPingTime=2.263532H>HH IHzBH =HHH<HEԙ6G=ZGRGA~Gy A A N >Թ K (;P"K *K 2K :K -N4LO-<qRVXyDhORD{g1J AJ U checking for new query: numPingsReceived=6, elapsed TxPingTime=2.516318Vߍ,b/:bhAHԹ5zBIMb@Mb@Mb@ )YK7A`?Q?~jtx?y+?\=; A)IIAy AII1c =yQ >٥ H$F% %>!5/5%;?5/59%_ I!y5?+?5:55@%3Ei%;%;%$/5AE5AAy}DNOT Ignoring new targets: 21.45 m.y++ ProNav: ac range: 21.448521 m, nav range: 19.603489 m, bearing: 330.103838 deg, approach rate: -0.668979 m/s, LOS rate: -0.058214 deg/s, cmd heading: 325.660879 deg, new cmd heading: 325.567972 deg. HeadingCmd: 5.682233 target range: 21.448521 and range: 21.60 m.bԵ@ZrjRJB~~{B}||||``@ |BI)IpS< K<=r=iԵ@iBDAT read: Rx Time:13:54:15.8912 TRx dataTimestamp_ set to:1749131657.155586checking for new query: numPingsReceived=6, elapsed TxPingTime=2.766872EEEEO0E 6G b=A ~G A A N >/,MWbhA9>g@>Vq@Y>@O=>H@D?฼?Aѐ@9?3@?? >g@>?;)>CF>zBJIIN IN(2^< ^=ybRQ b?٥`` bH`f f?hn/5j?n/59ja Ihypr_r@j6Eij:j:j/5vғBUchecking for new query: numPingsReceived=6, elapsed TxPingTime=3.017636v5AmEDNOT Ignoring new targets: 21.45 m.RDRD ProNav: ac range: 21.448521 m, nav range: 19.393991 m, bearing: 330.089593 deg, approach rate: -0.624320 m/s, LOS rate: -0.042909 deg/s, cmd heading: 325.567961 deg, new cmd heading: 325.524765 deg. =HeadingCmd: 5.681479 target range: 21.448521 and range: 21.60 m.b=ε@Z9r9jARAJABA~i~i}i|i|i|q|u@ԉJ{4J{4J{0:JBJSJJBRJZJbJy69J-4J |ByI)IӷL< HY HY HY H]  =HY HY H] <H] EHHHH =I = Ia56G =~G1 A9 AI Ne > , qbhA9:9Q@:Z@Y:F1٥xx ~H~%F~ۻ ~> /5? /592e Iy`@:Ei`;e;r/5))-EQ]DNOT Ignoring new targets: 21.45 m.YeuJeuJu ProNav: ac range: 21.448521 m, nav range: 19.120705 m, bearing: 330.072752 deg, approach rate: -0.707977 m/s, LOS rate: -0.044251 deg/s, cmd heading: 325.524767 deg, new cmd heading: 325.473523 deg. u}HeadingCmd: 5.680584 target range: 21.448521 and range: 21.60 m.b}Yǵ@ZyryjyRJB~~}||||@ @ |B0I)IF< Ǖ<D;=Y=iYǵ@iKP"K9*K2K :Kuh,zs%BS>xBSntYZGlCz!EEEE1EFFADAT read: 13:54:15.8912 LVL= 22368, 29905, 22034, 32755, AGC= 63, IDX= 405, 0.17, 0.527,-0.853, 0.234, 0.099, PHS= 0.516,-0.906, 0.132, RAW= 134.9, 4.1, CAL= 140.0, -3.5, ROT= 10.0, 3.5 Ygot valid direction response: 13:54:15.8912 LVL= 22368, 29905, 22034, 32755, AGC= 63, IDX= 405, 0.17, 0.527,-0.853, 0.234, 0.099, PHS= 0.516,-0.906, 0.132, RAW= 134.9, 4.1, CAL= 140.0, -3.5, ROT= 10.0, 3.5 6G-=UƈGqPDAT read: Bearing 10.0, 3.5 (Local) ~Local bearing/azimuth received: Bearing 10.0, 3.5 (Local) YyBA~GQAiAyN[>DAT read: Range 10 to 50 : 19.3 m (Round-trip 25.8 ms) speed 0.6 m/s ,DAT read: user:1831> BDAT read: Tx time:13:54:17.0112 $Ping request sent. }K@)}C=I}a@i}5z}¸2>}5z= y)y}[8j?G: b?ݶ}]}¸2>}5z= y)yu:publishing transmit ping time}Fpublishing direction and range infoyy}m]t?Ky}/?.xAyYy y)yIyiyyyyy y)yIyiyyy y)y}[8j?G: b?ݶ٥11 5H9= =>AM/5E?M/59Eh IAM+:yIM:Iu@E?EiE;E>E/55AZbezbhAQAQA6@ʁwҘ2@ Ԓ @35m]t?Ky}/?.xA¸2>5z=ҁ71@?12e Nvs /?ut׿4Veqh?zPAjҼǜ?r" buBҼǜ?"  tBꁭA8@e addTargetRange:: Added new target pos. range: 19.299999 m, deltaT: 3.537622 s, deltaX: -2.300001 m, approachRate: -0.650155 m/s, rangeRepo size: 4 q Added new target pos. range: 19.164625 m, bearing: 338.453636 deg, lat: 36.906398 deg, lon: -122.116038 deg, deltaT: 3.537622 s, deltaX: -2.283895 m, approachRate: -0.645602 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.16 m. ProNav: ac range: 19.164625 m, nav range: 19.125986 m, bearing: 338.453681 deg, approach rate: 0.000000 m/s, LOS rate: -0.044251 deg/s, cmd heading: 325.473513 deg, new cmd heading: 325.410997 deg. HeadingCmd: 5.679493 target range: 19.164625 and range: 19.30 m.bi@Zr!j)R)J)B)~)~1}1|1|1|5L3@|=V? ||B靭BI)IM<< ^ <y=2=ii@iEYEaEaEe~0Eiԡ}checking for new query: numPingsReceived=7, elapsed TxPingTime=0.423751IIAA:J_BJQJJDRJZJ :bJ-.9J4J 6G ֑=~GY Aq A N >^è,]bhA9>-@>l7@Y>;y>=I=>H&? ?@ۓ)?+q$?? >-@>;)٥\` bHb&FbOG b>dj/5fx?n/59fl IfBr :yprP:r}r@fCEif\;fM?f/5zӓBz5AzEB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 19.16 m.!-;-; ProNav: ac range: 19.164625 m, nav range: 18.889931 m, bearing: 338.547132 deg, approach rate: -0.714330 m/s, LOS rate: 0.286328 deg/s, cmd heading: 325.411003 deg, new cmd heading: 325.694858 deg. D<HeadingCmd: 5.684448 target range: 19.164625 and range: 19.30 m.b@ZrjRJB~~}|| | | N? u|B靝AI) I6< + <F^5=y=i@iH>HHHH =HH.DH<HE checking for new query: numPingsReceived=7, elapsed TxPingTime=0.681734EMEIEIEMr5EI6Gt=~GAA N- >KM P"KI *KI 2KM :KM \jN^DV^sLFJ`gx!dDuhG7s+gyWJ] AJ] }AI  checking for new query: numPingsReceived=7, elapsed TxPingTime=0.939366,bhA9N:@N~D@YNR;yN(=NH-?@f?`&?񬣿z?`? N:@N;)NCnEzBnIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yq= ףp?Zd;O?MbP?y+?j<=: A A)IyI Ib3< 9=y:Q >٥ H'Fl; >/5?/59o IBT:y+?:@HEi<g<~/5ԓB5A~E9=DNOT Ignoring new targets: 19.16 m.9E};M};e ProNav: ac range: 19.164625 m, nav range: 18.595354 m, bearing: 338.650349 deg, approach rate: -0.623350 m/s, LOS rate: 0.221875 deg/s, cmd heading: 325.694866 deg, new cmd heading: 326.009417 deg. eE<mHeadingCmd: 5.689938 target range: 19.164625 and range: 19.30 m.bm@ZirjRJB~~{B}||||? 5l|B5%ȼI1)5 1I=e.< 99=baԡ 5׵,ZbhA9>L@>,V@Y>;y>xG=>H6?`?!-? sg?0? >L@>I;)>CJ?zBJIIVIV2^{ ^^=ybQ b>٥`d fHdf;; f>hn/5jœ?n/59jr Ihyprr@jLEij:jA;j/5tv5AvE%DNOT Ignoring new targets: 19.16 m.)E;E;e ProNav: ac range: 19.164625 m, nav range: 18.349888 m, bearing: 338.737256 deg, approach rate: -0.731362 m/s, LOS rate: 0.262402 deg/s, cmd heading: 326.009410 deg, new cmd heading: 326.273617 deg. e4<mHeadingCmd: 5.694549 target range: 19.164625 and range: 19.30 m.bm9@ZirijiRiJqBq}checking for new query: numPingsReceived=7, elapsed TxPingTime=1.439715ԁ~~}||||/W? me|BmIqIuR=I) I(< <۰=r=i9@iE=E9E9E=O0EAԩ6GI@=GGH>HCH&IHzBH =HHH<HE5 checking for new query: numPingsReceived=7, elapsed TxPingTime=1.692309~G A A N > +,0bbhA9Fa@Fk@YF:Y;yF5$c=FHIB?@?`ך6?D#k`?\? Fa@F.;)FCPPIV IVV2yb|Q b>٥dd fHf(Ff7; f>hv/5j?œ?~/59jv Ihy C @jPEij;jA;j>/55A}EAEDNOT Ignoring new targets: 19.16 m.AM|;M|;] ProNav: ac range: 19.164625 m, nav range: 18.079737 m, bearing: 338.833406 deg, approach rate: -0.660662 m/s, LOS rate: 0.238651 deg/s, cmd heading: 326.273629 deg, new cmd heading: 326.566387 deg. ]#<eHeadingCmd: 5.699659 target range: 19.164625 and range: 19.30 m.bec@ZarajiRiJiBi~i~q}y|||| a? ^|B靵sI)I"< D<b=k=ic@iKM8P"KMŷ9*KI2KM :KMK &'LIXS`4Vridev54{^,c  xYEEEEP0Echecking for new query: numPingsReceived=7, elapsed TxPingTime=1.947606:JBJSJJBRJZJbJy69J-4JzJ,:jJ0:J(C:rJ+C:6Gap=)~GAANE >Q = checking for new query: numPingsReceived=7, elapsed TxPingTime=2.195902+,- chA9Joj@Jt@YJU:yJq{=JHF?@k?C8@9?P`i[_8r?? Joj@Jڈ;)JCjCzBjIuMb@Mb@Mb@qqq q)qYuK7A`?I +?~jthyu+?u94=uDu/ A uA)u AIqqyu\AII<2׈; ٥ H)F&; >/5-œ?/59y Iya+?:@UEiB;-/;/55A)5DNOT Ignoring new targets: 19.16 m.11=;=;M ProNav: ac range: 19.164625 m, nav range: 17.789043 m, bearing: 338.941482 deg, approach rate: -0.670924 m/s, LOS rate: 0.253517 deg/s, cmd heading: 326.566398 deg, new cmd heading: 326.895921 deg. M-<UHeadingCmd: 5.705410 target range: 19.164625 and range: 19.30 m.b]@ZYrYjYRYJYBY~i~u{B}q|q|y|y|}`B@ V|B靭NмI)I< <=[=i@irER>jE>EMEIEQEUO0EQFYF]Aa ؝>ם<checking for new query: numPingsReceived=7, elapsed TxPingTime=2.4479226GmKXi=ԑ~GI AQ Ay N >Թ ,9 &chA9Zp@Zaz@YZSyZr=ZH@ J??]Т V8?  z "?`g?? Zp@Z ;)ZCn:zBnIIvIv2~¼ X=y Q >٥!) -H)=; E>I]/5MP@œ?e/59M| IIyaee@MYEiM a;Mdh;Mn/5ՓB5AzEH}>HyH} IH}zBH} =HyHyH}<H}EB*** querying acoustic contact ***JԙRDNOT Ignoring new targets: 19.16 m.BDAT read: Rx Time:13:54:19.4379 TRx dataTimestamp_ set to:1749131660.691693checking for new query: numPingsReceived=7, elapsed TxPingTime=2.701046 ; ;] ProNav: ac range: 19.164625 m, nav range: 17.532881 m, bearing: 339.039060 deg, approach rate: -0.606444 m/s, LOS rate: 0.234383 deg/s, cmd heading: 326.895914 deg, new cmd heading: 327.192922 deg. e <eHeadingCmd: 5.710594 target range: 19.164625 and range: 19.30 m.be/@ZirijiRiJB~~}||||@e@ MN|BU-ϼIQ)]#YI]< YY]<ZA=M=i/@iEE!E!E!E!K JP"K 9*K 2K :K DmW$w;p|{wCs*pT7B_AT(CFkr@_q.J J A6G @Z= checking for new query: numPingsReceived=7, elapsed TxPingTime=2.953801:J [BJ UJJ CRJ ZJ :bJ >9J 4J zJ :jJ :J ~Q:rJ Q: ~G9 AA AQ N} >,N@chA9nVs@n}@Yniyn =nHgK?ƨ?o9?㮿8=M?>? *? nVs@n׆;)nCz2zBzIMb@Mb@Mb@ )Y/$?X9v?y&1|y1(?<` A zA)AIAyAIIm?3 <=y-ܺQ 5>٥11 5H5*F==: =>Qe/5UUœ?m/59Ux IUBymc(?u:u[u@U^EiU;U;UM/5֓B5AwEDNOT Ignoring new targets: 19.16 m.;%;- ProNav: ac range: 19.164625 m, nav range: 17.243929 m, bearing: 339.170024 deg, approach rate: -0.686616 m/s, LOS rate: 0.316415 deg/s, cmd heading: 327.192918 deg, new cmd heading: 327.592386 deg. 5'Y<5HeadingCmd: 5.717566 target range: 19.164625 and range: 19.30 m.b5L@Z9r9jARAJABA~I~M{B}I|I|I|Q|U @ F|BFgؼI)<I <  <w^=6=iL@i checking for new query: numPingsReceived=7, elapsed TxPingTime=3.206066EEEEE 6G- H=~G A A) N= >0,YchA9>Iu@>~@Y>`y>=>HlL?v? `mq;?`n`0L?`?`? >Iu@>p;)٥    H +F6,: >%/5igœ?%/59y IBy!%K%@aEi0;^;u/5111DAT read: 13:54:19.4379 LVL= 30816, 29409, 24770, 32755, AGC= 60, IDX= 404,-0.12, 2.638, 1.193, 2.344, 2.224, PHS= 0.502,-0.984, 0.116, RAW= 135.5, 5.5, CAL= 140.5, -1.7, ROT= 9.5, 1.7 Ygot valid direction response: 13:54:19.4379 LVL= 30816, 29409, 24770, 32755, AGC= 60, IDX= 404,-0.12, 2.638, 1.193, 2.344, 2.224, PHS= 0.502,-0.984, 0.116, RAW= 135.5, 5.5, CAL= 140.5, -1.7, ROT= 9.5, 1.7 PDAT read: Bearing 9.5, 1.7 (Local) ~Local bearing/azimuth received: Bearing 9.5, 1.7 (Local) DAT read: Range 10 to 50 : 16.9 m (Round-trip 22.6 ms) speed 0.7 m/s ,DAT read: user:1832> BDAT read: Tx time:13:54:20.5612 $Ping request sent.E< A)AE{?(`_=?+P?iE>E:ŽE)>E< A)A:publishing transmit ping timeFpublishing direction and range infoAyEEp?,H? `AYA A)AIAiAAAAA A)AIAiAAA A)AE{?(`_=?+P?iAAAA A)A%checking for new query: numPingsReceived=8, elapsed TxPingTime=0.011455ZAbE-\chAE?AE?AEڼ@ʁEDA'0@;}]%@-o߿EEp?,H? `E)>E<ҁEf!P%/@m>z?oҿEz%K?8&P׿'~zEE(yAjESǜ?rEr ( E yBAA EbuBEAER}@ addTargetRange:: Added new target pos. range: 16.900000 m, deltaT: 3.534195 s, deltaX: -2.400000 m, approachRate: -0.679080 m/s, rangeRepo size: 4 E Added new target pos. range: 16.781000 m, bearing: 338.142775 deg, lat: 36.906398 deg, lon: -122.116038 deg, deltaT: 3.534195 s, deltaX: -2.383625 m, approachRate: -0.674446 m/s, posRepo size: 4 AMDNOT Ignoring new targets: 16.78 m.IMIY ProNav: ac range: 16.781000 m, nav range: 17.008825 m, bearing: 339.279711 deg, approach rate: 0.000000 m/s, LOS rate: 0.316415 deg/s, cmd heading: 327.592374 deg, new cmd heading: 327.967553 deg. HeadingCmd: 5.724113 target range: 16.781000 and range: 16.90 m.b+@ZrjRJB~~}|||`f0@|/? @|B靽zI)I< t<To=no!=iM+@iIzEYԉEEEEP0EF=F=6G4=ZGRG HYH]<He߼>HeCHaHaHe =HaHe-DHe<HeE~GAAN>checking for new query: numPingsReceived=8, elapsed TxPingTime=0.235405ԩ lN,ԝschA9:l@:Uv@Y:y:&:=:H G?`O? ǹ x7?@b`?? ? :l@:IЅ;)8LR6zBRIIZIZ[3f4; f٥hh jHhnf/ n>!-/5%zœ?-/59%Ԇ I!y)--@%fEi%\:%h:%/5Y]5A]tEDNOT Ignoring new targets: 16.78 m.t;t; ProNav: ac range: 16.781000 m, nav range: 16.747005 m, bearing: 339.406488 deg, approach rate: -0.723377 m/s, LOS rate: 0.355747 deg/s, cmd heading: 327.967543 deg, new cmd heading: 328.353816 deg. %t<HeadingCmd: 5.730855 target range: 16.781000 and range: 16.90 m.b*c@ZrjR J B ~ ~ }|Q|Q|Y|]? :|BrI) $)I5; 115<=e 9=@=i=*c@iAK)P"K9*K2K :Kx{|Tcv*:SV d !9E##wiJ>J?checking for new query: numPingsReceived=8, elapsed TxPingTime=0.490267E E EE0E:JBJTJJ?RJZJbJ:9Jـ4JzJ:jJJSJ:rJVJ:6Gm ;X7=! ~Ga Ai A N >% checking for new query: numPingsReceived=8, elapsed TxPingTime=0.7402625,vchA|$zBIMb@Mb@Mb@ )Ysh|??{Gz?٥ %H%,F% %>)5/5-œ?/59- I-By*?:@-jEi-<-_<-/5דB(6AqEDNOT Ignoring new targets: 16.78 m.;; ProNav: ac range: 16.781000 m, nav range: 16.460791 m, bearing: 339.582265 deg, approach rate: -0.642706 m/s, LOS rate: 0.401575 deg/s, cmd heading: 328.353804 deg, new cmd heading: 328.890286 deg. ̉<HeadingCmd: 5.740218 target range: 16.781000 and range: 16.90 m.bޯ@ZrjRJB!~!~%{B}!|)|)|)|5*? e3|BemIi)mqIuN; qqu%<} y}NQ}checking for new query: numPingsReceived=8, elapsed TxPingTime=0.991662ԁ (a,.WchA9:Z@:@Y:i5y:=:HR??@HƢ GD?  :f?߰? '? :Z@:0;):C^*zB^I)` `IdIdr< r`=yrQ r>٥tt vHv-Fv; z>|/5~œ?/59~ I~By@~nEi~::~:~/5 6AIUDNOT Ignoring new targets: 16.78 m.QY];];m ProNav: ac range: 16.781000 m, nav range: 16.221996 m, bearing: 339.731586 deg, approach rate: -0.682527 m/s, LOS rate: 0.433075 deg/s, cmd heading: 328.890274 deg, new cmd heading: 329.344822 deg. m<uHeadingCmd: 5.748151 target range: 16.781000 and range: 16.90 m.bu@ZyryjyRyJyBy~~}|||| }?H>HHIHzBH =HHH<H,EHCHCHH =I = I5 -|B靕YI)I; 3t<AAchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.243788ޞ:J ^BJ MJJ CRJ ZJ } :bJ 9J 4J zJ `:jJ e:J *:rJ -:}L,@chAԩ zBImMb@Mb@Mb@iii i)iYm(\?Mb`?:vym'?m;mTi i)mAIiiym\AII#3 1=yQ >٥ H >05jœ?059 IBy'?: @sEi::05ؓB@6AoEB*** querying acoustic contact ***JRIUDNOT Ignoring new targets: 16.78 m.Ym);u); ProNav: ac range: 16.781000 m, nav range: 15.925821 m, bearing: 339.935872 deg, approach rate: -0.630060 m/s, LOS rate: 0.442664 deg/s, cmd heading: 329.344810 deg, new cmd heading: 329.969039 deg. =<EHeadingCmd: 5.759046 target range: 16.781000 and range: 16.90 m.bEJ@ZArIjIRIJIBI~Q~U{B}Q|Q|Q|Y|]p? &|B靭FԼI){I/; -<.#I9 r, chA9:{@:(@Y:ky:=:HT?? @ C? bCtM??@? :{@:;):CNzBRIIVIVF3^=? bn=yb;Q b?٥dd fHf.Ff: f?hn05jœ?r059j IjBytv v@jwEijf;j6g;j05=checking for new query: numPingsReceived=8, elapsed TxPingTime=1.999237y}6AyDNOT Ignoring new targets: 16.78 m.<<% ProNav: ac range: 16.781000 m, nav range: 15.705499 m, bearing: 340.092445 deg, approach rate: -0.624219 m/s, LOS rate: 0.449824 deg/s, cmd heading: 329.969034 deg, new cmd heading: 330.445329 deg. %Z<-HeadingCmd: 5.767359 target range: 16.781000 and range: 16.90 m.b-4@Z)r)j)R)JqBy~y~}||||w@  |BI)8I\; `<-5 )-4;i-4@i1AEEEE4EGG?AHHH IHzBH =HHHך<HEichecking for new query: numPingsReceived=8, elapsed TxPingTime=2.2516676G% -<~G A A! N- >ԡ ,\chAzBIi%=I%p;I-I-2=< EB=yEQ E>٥QQ ]HY] e>am05eœ?u059e IeByqqu@e{Eie";eL$;e05c6AlEDNOT Ignoring new targets: 16.78 m.<< ProNav: ac range: 16.781000 m, nav range: 15.434058 m, bearing: 340.291612 deg, approach rate: -0.676879 m/s, LOS rate: 0.505388 deg/s, cmd heading: 330.445317 deg, new cmd heading: 331.053303 deg. kjE>ԩEEEE4E6G(<~GAAN> BDAT read: Rx Time:13:54:22.9849  TRx dataTimestamp_ set to:1749131664.220353 checking for new query: numPingsReceived=8, elapsed TxPingTime=2.757454 ),dhA9:*@:׏@Y:y:Q.=:H`8U? ˗?`(@@%A?8@P> a?~? :*@:l;):CFzBJIMb@Mb@Mb@ )YˡE?~jth:vy'?DA A )rAIAy AIIb2 ?=ye;Q >٥ H/F%K9 %>)]05-œ?]059-Ŝ I-By]'?]:] ]@-Ei-:-:-r 05imq6AiDNOT Ignoring new targets: 16.78 m.9<9< ProNav: ac range: 16.781000 m, nav range: 15.158360 m, bearing: 340.509414 deg, approach rate: -0.622688 m/s, LOS rate: 0.500871 deg/s, cmd heading: 331.053313 deg, new cmd heading: 331.718571 deg. ߫<HeadingCmd: 5.789581 target range: 16.781000 and range: 16.90 m.b@D@ZrjR!J!B!~!~-{B}I|I|I|Q|U#@ |B靥hI)I-; s!<WRJYZJ]:bJ]>9J]t4JYe@e@e@e@) 6G O;~G A A N >Q , (dhA9:@:E@Y:9y:=:HW?/?`tѤ`<A? Fq4*?@? :@:糅;):CH>HCHIHvzBH =HHHߚ<HEchecking for new query: numPingsReceived=8, elapsed TxPingTime=3.259408 zBI!IUIU(*2z 2=y5::Q >٥ H0Fڙ: >05Ü? 059 IBy% %@Ei;Y;~05EٓBE6AMiEDNOT Ignoring new targets: 16.78 m.<<= ProNav: ac range: 16.781000 m, nav range: 14.861499 m, bearing: 340.752457 deg, approach rate: -0.624031 m/s, LOS rate: 0.521103 deg/s, cmd heading: 331.718574 deg, new cmd heading: 332.462224 deg. =в<EHeadingCmd: 5.802560 target range: 16.781000 and range: 16.90 m.bE@ZArAjARAJIBI~I~q}q|q|q|y|} @  |B޼I )Iz; !%+#<%x)ImPiu@iqE!E!E)E)E)6GJjG ?bG ԁ ~G A A N5 > U =U =K iP"K 9*K 2K :K p,/VBBJ+R.  8h7#u= DAT read: 13:54:22.9849 LVL= 23440, 32753, 21314, 32755, AGC= 61, IDX= 404,-0.16,-1.275,-2.689,-1.566,-1.681, PHS= 0.494,-0.961, 0.112, RAW= 135.3, 5.5, CAL= 140.3, -1.7, ROT= 9.7, 1.7  Ygot valid direction response: 13:54:22.9849 LVL= 23440, 32753, 21314, 32755, AGC= 61, IDX= 404,-0.16,-1.275,-2.689,-1.566,-1.681, PHS= 0.494,-0.961, 0.112, RAW= 135.3, 5.5, CAL= 140.3, -1.7, ROT= 9.7, 1.7 E PDAT read: Bearing 9.7, 1.7 (Local) m ~Local bearing/azimuth received: Bearing 9.7, 1.7 (Local)  DAT read: Range 10 to 50 : 14.6 m (Round-trip 19.5 ms) speed 0.6 m/s  ,DAT read: user:1833>  BDAT read: Tx time:13:54:24.1113 5 $Ping request sent.5 ۍvۍB`= ܍!@)܉I܍t@i܉܍-\->܉ ݉)݉ݍҐ3?Cޔ?z?iݍ>ݍ!Ľݍ-\->݉ މ)މ=:publishing transmit ping timea=Fpublishing direction and range infoډyڍŌ(T??? `ډYډ ۉ)ۉIۉiۉۉۉۉۉ ܉)܉I܉i܉܉܉ ݉)݉ݍҐ3?Cޔ?z?9Ȑ@u@Y)8y=H@Z?෍?D?EU<2?v? Ȑ@ׅ;)Ci݉݉݉݉ މ)މchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.067852ԉchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.192098Աiӑӑ)ә әIә ԙ)ԙәәӡԡԡiԥIԡIi ) ZADZAIE6)ܱFi)IVA ٯ'zBI)  Mb@Mb@Mb@ ) Y L7A`?MbPy&1|y +'?  ` A A) IAI IA y A AAI I M3 = $= = =yE Q E >٥A A E HE 1FM Р: M >Q ] 05U z"Ü?] 059U m IU By] -'?e :e e @U EiU ;U Y;U 05m ړBm 16Am fEZb(c>dhAgAgA@ʁRC8,@E&@I@AXdaۿŌ(T??? `-\->ҁ+`Y3*@QI㼣5 XKοEo8?lH }h׿OuzWAjQNǜ?rC 2 5yB yBꁍgA4@  addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 3.528136 s, deltaX: -2.299999 m, approachRate: -0.651902 m/s, rangeRepo size: 4   Added new target pos. range: 14.497181 m, bearing: 338.543090 deg, lat: 36.906398 deg, lon: -122.116038 deg, deltaT: 3.528136 s, deltaX: -2.283819 m, approachRate: -0.647316 m/s, posRepo size: 4   DNOT Ignoring new targets: 14.50 m.     ProNav: ac range: 14.497181 m, nav range: 14.470283 m, bearing: 341.083360 deg, approach rate: 0.000000 m/s, LOS rate: 0.521103 deg/s, cmd heading: 332.462217 deg, new cmd heading: 333.430496 deg. ! % HeadingCmd: 5.819460 target range: 14.497181 and range: 14.60 m.b- 9@Z) r) j) RI JI BQ ~Q ~U {B}Q |Y |Y |] @33-@|] ? |B I ) ' I 3;   $<% bmm checking for new query: numPingsReceived=9, elapsed TxPingTime=0.444173 i 9@i zE IaIea=:Ju\BJuRJJuDRJqZJu=:bJuS29Ju4JqEeEaEaEe0Ea9a6GIHHHHH =HHH<H,E~GAAN.?4,0ndhA&checking for new query: numPingsReceived=9, elapsed TxPingTime=0.6960229Vz@V'ʷ@YVC yVp=VHYs?d?@&`rN_?1@aa??`? Vz@VH;)T `)b5AɿbtbF`dfKAif1IfFdIhih hh)jh hlllllIl)lip)pIrApt tx~A|i||ٯ|ԹzBIII#3E EB=yM֪Q M>٥II UHU2FUzb< U>056Ü?0592 IBy[ @Ei:G:05v6AcEB*** querying acoustic contact ***JR 5DNOT Ignoring new targets: 14.50 m.1=)<=)<M ProNav: ac range: 14.497181 m, nav range: 14.198381 m, bearing: 341.317676 deg, approach rate: -0.675251 m/s, LOS rate: 0.593052 deg/s, cmd heading: 333.430492 deg, new cmd heading: 334.146862 deg. M<uHeadingCmd: 5.831963 target range: 14.497181 and range: 14.60 m.buq@ZyryjyRJB~~}||||? 5{B5I1)5O󾉞1I=/{; 99=d&N >A !,ӇdhA9~@~@Y~y~IB=~H?`q٥! %H!%FB< %>)505-KÜ?5059- I-By=,?=:=6=@-Ei-:-F:-B05AE 6AAchecking for new query: numPingsReceived=9, elapsed TxPingTime=1.201535DNOT Ignoring new targets: 14.50 m.<< ProNav: ac range: 14.497181 m, nav range: 13.918177 m, bearing: 341.535395 deg, approach rate: -0.673640 m/s, LOS rate: 0.533957 deg/s, cmd heading: 334.146870 deg, new cmd heading: 334.813147 deg. 9<HeadingCmd: 5.843592 target range: 14.497181 and range: 14.60 m.b@ZrjRJB~~{B}||||~Q? {BI)徉Id; S'< fᾩ  7i@iaEEEE4E6G]ZGaRGa~GA!A9NEs>Ա- checking for new query: numPingsReceived=9, elapsed TxPingTime=1.452413 :J- _BJ- SJJ- @RJ) ZJ- :bJ- y69J- J4J) (,ءdhA9z$@zU.@Yzyz?=zH >?@?:?`´s?`?? z$@ż;)zC0zBIi=I{>II[3n; ^=y"Q >٥ H3F\< > 05]Ü? 059 IBy  b @Ei::z05ۓB6AbEQUDNOT Ignoring new targets: 14.50 m.Q]<]<m ProNav: ac range: 14.497181 m, nav range: 13.673669 m, bearing: 341.725221 deg, approach rate: -0.666301 m/s, LOS rate: 0.526537 deg/s, cmd heading: 334.813141 deg, new cmd heading: 335.392780 deg. m<uHeadingCmd: 5.853708 target range: 14.497181 and range: 14.60 m.buQ@ZqrqjyRyJyBy~~}||||`n0?ԡ {BI)ᾉI_O; (<p۾?iQ@ibEZEAEyEyEyE}P0EyH=>H=CH= IH=zBH= =H9H9H=<H=Emchecking for new query: numPingsReceived=9, elapsed TxPingTime=1.7040286G ~Gq A A N >! 2.,dhA9>a@>mk@Y>+ûy>I=>H?•?@$߿f?@`nex?~{?? >a@>;)٥ H< > 05 _pÜ?059 3 I By@ Ei  ;  ; "05-ܓB-5A5_EaeDNOT Ignoring new targets: 14.50 m.am,<m,<} ProNav: ac range: 14.497181 m, nav range: 13.427790 m, bearing: 341.915136 deg, approach rate: -0.663257 m/s, LOS rate: 0.521675 deg/s, cmd heading: 335.392778 deg, new cmd heading: 335.972936 deg. }<HeadingCmd: 5.863834 target range: 14.497181 and range: 14.60 m.b@ZrjRJB~~}||||@checking for new query: numPingsReceived=9, elapsed TxPingTime=1.956056 {BV޼I)}ԾIX:; !!%)<%:־)-Gi-@i1Ku9fP"Ku9*Kq2Ku :Kut[']&FK8RE!4)  8NNK]ERqJAJ~AEEEEE6G,~GAANA>9i  checking for new query: numPingsReceived=9, elapsed TxPingTime=2.2080265,mdhA9:@:f@٥ H4FĢ< >05pÜ?059 IBy-?:(@Ei;3;|&05q}5Ay  DNOT Ignoring new targets: 14.50 m.2;%2;U ProNav: ac range: 14.497181 m, nav range: 13.138336 m, bearing: 342.102808 deg, approach rate: -0.636446 m/s, LOS rate: 0.421740 deg/s, cmd heading: 335.972934 deg, new cmd heading: 336.548333 deg. U<]HeadingCmd: 5.873877 target range: 14.497181 and range: 14.60 m.b]@ZYrYjYRYJaBa~a~e{B}||||F@ԩ -{B-5eI))5;1I5A"; 115*<=Ѿ9=Ki=@checking for new query: numPingsReceived=9, elapsed TxPingTime=2.460264i:J[BJcJJDRJZJ:bJx9J4JEEEEE 6G ;,BjG ?bG ?GA GE >AHE >HA HE IHE zBHA HA HA HE ۚ<HE EH˗CH˗CHHI = I}4~G A A N >3E;,gEdhA"checking for new query: numPingsReceived=9, elapsed TxPingTime=2.7118059J@J:@YJyJG^=JH` ?8?!`޿? fׂ?x?h? J@JU;)JCVPzBVIIbIbF2fR< jZ=yjוQ j>l٥lp rHr5Fr< v>9E05=Ü?E059= I=ByAEE@=Ei=:=2:=)05IU5AU\EDNOT Ignoring new targets: 14.50 m.<< ProNav: ac range: 14.497181 m, nav range: 12.882277 m, bearing: 342.266104 deg, approach rate: -0.703843 m/s, LOS rate: 0.457780 deg/s, cmd heading: 336.548337 deg, new cmd heading: 337.047947 deg.  < HeadingCmd: 5.882596 target range: 14.497181 and range: 14.60 m.b ;>@ZrqjqRyJyBy~~}||||@ {Bj4ټI)ɾI?8; +<;MtLi ;>@i EEEE_0EFF9G6G_N YyB~GAANb>1BDAT read: Rx Time:13:54:26.5318 TRx dataTimestamp_ set to:1749131667.999592checking for new query: numPingsReceived=9, elapsed TxPingTime=2.965272K=P"K9*K2K :K[VqZ<t/ M,x^/M )ng/Ei -B,t# ehA9::@:2D@Y:3y:k=:H -?? VjR޿X?`?׿?? ::@:.;):CRkzBRI9MMb@Mb@Mb@III I)IYM٥yy }Hy}< >05Ü?059 IBy94?:rϾ@Ei;'<q-05ݓB=5AYEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 14.50 m. ;; ;; ProNav: ac range: 14.497181 m, nav range: 12.592241 m, bearing: 342.392743 deg, approach rate: -0.654618 m/s, LOS rate: 0.292410 deg/s, cmd heading: 337.047952 deg, new cmd heading: 337.436613 deg. %H<%HeadingCmd: 5.889380 target range: 14.497181 and range: 14.60 m.b%u@Z)]checking for new query: numPingsReceived=9, elapsed TxPingTime=3.216490r)jaRaJB~~#|B}|||| G @ M{BUyIYi)]I[: V,<ؠɾd=Biu@iEEEEY0Eԑ6G PI ZG RG Am DAT read: 13:54:26.5318 LVL= 32752, 32753, 24466, 32755, AGC= 60, IDX= 404,-0.02, 1.549, 0.113, 1.294, 1.127, PHS= 0.510,-0.967, 0.164, RAW= 137.1, 4.4, CAL= 141.7, -3.3, ROT= 8.3, 3.3 u Ygot valid direction response: 13:54:26.5318 LVL= 32752, 32753, 24466, 32755, AGC= 60, IDX= 404,-0.02, 1.549, 0.113, 1.294, 1.127, PHS= 0.510,-0.967, 0.164, RAW= 137.1, 4.4, CAL= 141.7, -3.3, ROT= 8.3, 3.3  PDAT read: Bearing 8.3, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 8.3, 3.3 (Local) ~G A A NM > &BDAT read: Tx time:13:54:27.6113 *$Ping request sent.* =f$@)=nF=I=G@i=k=V>=k= 9)9=ew98?,?[³?i=-p>=F?=V>=k= 9)9:publishing transmit ping time(%Fpublishing direction and range info9y=e4?Wkr?`8.y9Y9 9)9I9i99999 9)9I9i999 9)9=ew98?,?[³?i9999 9)9checking for new query: numPingsReceived=10, elapsed TxPingTime=0.039038ԡnzBIII#3; 3=yQ >٥ -H-6F- 5>Am05EÜ?m059E IEByiqu@EEiE;EK;Ex105y}25AyZ9b=J ehA=iCA=iCA=v@ʁ=&V v}!(@d <')?d=e4?Wkr?`8.y=V>=k=ҁ=Y+Mj&@O Nj*1ֿ=2 ?"/տ|z=R=7Aj=ǜ?r= (- = yB=QNǜ?=r (  9=oBA=i@e addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 3.529754 s, deltaX: -2.300000 m, approachRate: -0.651604 m/s, rangeRepo size: 4 } Added new target pos. range: 12.213376 m, bearing: 340.357790 deg, lat: 36.906396 deg, lon: -122.116040 deg, deltaT: 3.529754 s, deltaX: -2.283805 m, approachRate: -0.647015 m/s, posRepo size: 4 y}DNOT Ignoring new targets: 12.21 m.y ProNav: ac range: 12.213376 m, nav range: 12.152171 m, bearing: 341.231681 deg, approach rate: 0.000000 m/s, LOS rate: 0.292410 deg/s, cmd heading: 337.436617 deg, new cmd heading: 337.829264 deg. H>HH,IHzBHHHH՚<HE%HeadingCmd: 5.896233 target range: 12.213376 and range: 12.30 m.b%@Z!r!j!R!J)B)~)~)}1|1|1|5(@|5W@? {B靭4I)I: ,<ƾ:=^i@i]checking for new query: numPingsReceived=10, elapsed TxPingTime=0.198144EEEE_0E 6G B~G A A N >BN,>ehA9nײ@n@Ynmxyna>nH@v?K? 9d B;ݿB?``?:`?? nײ@n5;)nC-checking for new query: numPingsReceived=10, elapsed TxPingTime=0.4501205~zB5 Ii==I=4٥ H7FN= >05Ü?059 IBK U,WehA969@6DC@Y6y6 >6Hv?i2?jg ܿ@An?-@H?@Nu? ? 69@6ψ;)6CVtzBZIUMb@Mb@Mb@QQQ Q)QYUM?MbX9?:v?yUn2?Uʡ=UT٥ H< >05)Ü?059, IBy3?:@Ei(:g:1805ޓB"5ASEDNOT Ignoring new targets: 12.21 m.7:7:  ProNav: ac range: 12.213376 m, nav range: 11.612604 m, bearing: 341.342607 deg, approach rate: -0.821204 m/s, LOS rate: 0.110253 deg/s, cmd heading: 338.059421 deg, new cmd heading: 338.169624 deg. T;HeadingCmd: 5.902174 target range: 12.213376 and range: 12.30 m.b޼@ZrjRJB~~6|B}||||? M{BM+ʼI)aIˇ: B-<þ=9i޼@iUchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.954943 EEE!E%5E!16Gm [jGu ?bGu >~GQ AY  He <He <Hm ޼>Hi Hm EIHm zBHi Hi Hi Hm ٚ<Hm E PExceeded connect timeout, disconnecting.A N >Y  checking for new query: numPingsReceived=10, elapsed TxPingTime=1.206050[,qehA9R{@R(@YRSyRq >RHl?zz?hۿg?` 7?,?? R{@R;)PZzBZIIbIb?13j@= rV=yvtQ v>٥tx zHz8Fz?< z>|05~ Ĝ? 059~ I~ɝBy   @~Ei~:~%:~;054ADNOT Ignoring new targets: 12.21 m.q:q:9U ProNav: ac range: 12.213376 m, nav range: 11.343914 m, bearing: 341.363552 deg, approach rate: -0.660365 m/s, LOS rate: 0.052696 deg/s, cmd heading: 338.169633 deg, new cmd heading: 338.233956 deg. ];mHeadingCmd: 5.903296 target range: 12.213376 and range: 12.30 m.bm@ZirqjqRJB~~}||||`? {B靕*I)IL: -<¾V_=_¼i@iEaEaEaEep5Eaq6G=3~G1AA]checking for new query: numPingsReceived=10, elapsed TxPingTime=1.458023AaNmx>:JmYBJmPJJmARJiZJm9bJm*9Jm4JizJmb:jJmg:Jm-:rJm-:KVP"K*K2K :KW5M6+ _T2NzQD a_j Z%1Q b,vkehA~zB~IuMb@Mb@Mb@qqq q)qYuI +?{Gz?٥ H9F >checking for new query: numPingsReceived=10, elapsed TxPingTime=1.71005005#Ĝ?059k IѝByf5?:@Eih;_:?05ߓB4APEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 12.21 m._~:_~: ProNav: ac range: 12.213376 m, nav range: 11.016321 m, bearing: 341.388674 deg, approach rate: -0.704071 m/s, LOS rate: 0.055598 deg/s, cmd heading: 338.233946 deg, new cmd heading: 338.311552 deg. ;HeadingCmd: 5.904651 target range: 12.213376 and range: 12.30 m.b@Zrj!R!J!B!~I~Mg|B}Q|Y|Y|Y|] I? {B I)ۛI7n: .< J < Wټi@ibEZEAEEEEEFFAA u checking for new query: numPingsReceived=10, elapsed TxPingTime=1.9633046G oIa Ie @A~G A A N >Q h,NehA9R:E@RN@YR09yR*>RH? A?`@ ڿ?@??@? R:E@R;)RC\^IIfIf3r6 rk=yr3f:Q r?٥tt vHtvs= z?|~05~7Ĝ?059~p I~֝By@~Ei~~:~:~B05  4AMEQ]DNOT Ignoring new targets: 12.21 m.Y]ɹ]ɹm ProNav: ac range: 12.213376 m, nav range: 10.772161 m, bearing: 341.381741 deg, approach rate: -0.758819 m/s, LOS rate: -0.022036 deg/s, cmd heading: 338.311564 deg, new cmd heading: 338.290293 deg. uq}HeadingCmd: 5.904279 target range: 12.213376 and range: 12.30 m.b}@ZyryjyRyJyB~~}||||@ {BGI¼I)ŚIP9 cF.<.<ջi@i1EIEIEIEUP0EQH>HHRIHzBH =HHH<HE 5nManaging dock network, ignoring radio surface power off6GEf~G!A1AINU2>checking for new query: numPingsReceived=10, elapsed TxPingTime=2.214208aԁ o,,ehA96`@D6 @Y6 y6X>6H1??@в/ڿ@?Z@@ʱ?@?g? 6`@6;)6CRzBRIIZIZ2bG; bL=yf:Q f>٥dd fHf:Fj< j>lr05nMĜ?r059n InݝBypvbv@nEin7:n:nF05x~4A|checking for new query: numPingsReceived=10, elapsed TxPingTime=2.466022AMDNOT Ignoring new targets: 12.21 m.IUvUve ProNav: ac range: 12.213376 m, nav range: 10.488661 m, bearing: 341.360599 deg, approach rate: -0.704239 m/s, LOS rate: -0.053936 deg/s, cmd heading: 338.290281 deg, new cmd heading: 338.225143 deg. emHeadingCmd: 5.903142 target range: 12.213376 and range: 12.30 m.bm@ZirijiRiJqBq~y~y}||||@C@ {BI)IR78 s.<¾H<6i@i:J^BJUJJRJZJ} :bJ>9JJzJ`:jJe:J}Q:rJQ:KYP"K9*K2K :KuE(ps[FRF]5G&{gI4*]aR{ogt x EqEqEyE}O0EyԱ6GmFټ~GIAyAN>BDAT read: Rx Time:13:54:30.0289 TRx dataTimestamp_ set to:1749131671.276802checking for new query: numPingsReceived=10, elapsed TxPingTime=2.720495 u,fehA9^@^Ļ@Y^拼y^z >^H,F?Ws? @ٿ`?s3|?@t?@? ^@^Љ;)^CjzBjIpttMb@Mb@Mb@ )YV-?kt?~jth?yh1? =D;A 3@)IAIvAyQA)4< I-I-1=Ǜ E5=yEl9Q E>٥II MHM;FM`< M>Y]05]9H >H CH XIH zBH  =H H .DH <H Ea  checking for new query: numPingsReceived=10, elapsed TxPingTime=3.224821"|,*ehAQ9@G@Yt͈yI>H DW?+?`^@Oٿ@? vP`z??? @骵;)CzBIII2OB O=yz:Q >٥ HV< > U05 }Ĝ?U059 2 I ByQ]]@ Ei (< =: M05eBe4AeIEDNOT Ignoring new targets: 12.21 m.11 ProNav: ac range: 12.213376 m, nav range: 9.898099 m, bearing: 341.243738 deg, approach rate: -0.686999 m/s, LOS rate: -0.155263 deg/s, cmd heading: 338.051033 deg, new cmd heading: 337.864265 deg. ջHeadingCmd: 5.896844 target range: 12.213376 and range: 12.30 m.b@ZrjRJB~~}|||| O @ {B靝0ٮI)AIV8 H.<ž%'<%S BDAT read: Tx time:13:54:31.1113 $Ping request sent.55t= 5Y@:J_BJQJJCRJZJ :bJ-.9J4JzJ+:jJ0:J4:rJ4:K bP"K s9*K 2K :K  %} _f  u ()oRz_{CMcY:i|8")5`>I5@i5nF=5f;>5nF 1)15_?ȳ?涣?i5R2>5o5f;>5nF 1)1U :publishing transmit ping timeڹ6Ge >ZGq RGu AԹ ] Fpublishing direction and range info1y5p?{2ĥO?.?1Y1 1)1I1i11111 1)1I1i111 1)15_?ȳ?涣?i1111 1)1 checking for new query: numPingsReceived=11, elapsed TxPingTime=0.101564~GQ Aa Ay N >, fhA9V@VT@YVyV>VH@dh? ?|S6ٿ2? Z甐?rM?3? V@V05;)VCrzBrIԙchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.236075Mb@Mb@Mb@ )YQ?p= ף?{Gzty\/?=ףXA @)IAyAI} I}V2 4=y&:Q >٥ H05.Ĝ?059 IBy'0?:ў@Ei:I:Q05 5A-FEZibmfhAmAmAm@ʁmB.4#@'_s?&Ce?mp?{2ĥO?.?mf;>mnFҁmmI#@8g:̌7?mD["?z̿@ ?zmmOAjm_Sǜ?rm7 m}Bii im@Amo@ addTargetRange:: Added new target pos. range: 10.000000 m, deltaT: 3.525957 s, deltaX: -2.300000 m, approachRate: -0.652305 m/s, rangeRepo size: 4 % Added new target pos. range: 9.929729 m, bearing: 346.948466 deg, lat: 36.906396 deg, lon: -122.116040 deg, deltaT: 3.525957 s, deltaX: -2.283648 m, approachRate: -0.647667 m/s, posRepo size: 4 !-BNOT Ignoring new targets: 9.93 m.)58Short final. Range: 10.00 m.5VTransitioning guidance mode to: SHORT_FINAL5@@eau ProNav: ac range: 9.929729 m, nav range: 9.578231 m, bearing: 341.210881 deg, approach rate: 0.000000 m/s, LOS rate: -0.155263 deg/s, cmd heading: 337.864269 deg, new cmd heading: 337.640458 deg. q}~HeadingCmd: 5.892938 target range: 9.929729 and range: 10.00 m.b}@ZyryjyRyJB~~.|B}|||$@|? U{BUʕIQ)UQIU0oC yy}t/<Ǿ< 8,&fhA9:.@:x8@Y:y: '=:H.t??ؿW?`ȴא? Z?? :.@:\ ;):CNrzBNI)P PIV0IV(3 ' M|=yUJQ U?٥QQ UHU=F]8< ]?a05eĜ?059e IeBy᜾@eEie;e;eaT05B5AB*** querying acoustic contact ***JR  zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.ۺۺM ProNav: ac range: 9.929729 m, nav range: 9.356482 m, bearing: 341.181648 deg, approach rate: -0.711239 m/s, LOS rate: -0.095985 deg/s, cmd heading: 337.640457 deg, new cmd heading: 337.550679 deg. MM~HeadingCmd: 5.891371 target range: 9.929729 and range: 10.00 m.bU@ZQrQjQRQJQBQ~Y~Y}Y|Y|a|a|V ? {BڼI ) Р Is t/<Ⱦ1<`-HHRIHzBH =HHHԚ<HEHiHmØCHiHm =Im = Im6EEEE0Echecking for new query: numPingsReceived=11, elapsed TxPingTime=0.739995A6G- ?P_<)Y Y G~G A A AN% >E A m GYm Ayu Bi J,v@fhA9>X@>b@Y>vy>~=>H?}? Dؿi?`?`܎?V?R? >X@>h~;)>CJzzBJ IIZIZ?13n.< nN=yrg;Q v>٥xchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.991819   HuO< }>505Ĝ?5059 IBy15@5@Ei<<W05EBE(5AECEQ:J\BJSJJRJZJ=:bJy69JJzJ:jJ:J(C:rJ*C:zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m. ProNav: ac range: 9.929729 m, nav range: 9.075690 m, bearing: 341.133477 deg, approach rate: -0.661414 m/s, LOS rate: -0.116979 deg/s, cmd heading: 337.550681 deg, new cmd heading: 337.401697 deg. ~HeadingCmd: 5.888771 target range: 9.929729 and range: 10.00 m.bp@ZrjRJB~~}||KMDP"KM59*KI2KM :KMI$=UgeOss$*5?[DEE0C?};6F2=.I*i&"#ua&nZS@ J}AJ}A|!|? ={BEII)M\IIM| IIU/<]ɾe2x MD,HZfhA9Fv@Fu@YF^pyFG۷=FH7?M?^yCzؿv?5Ƴ%??!? Fv@F;)DRdzBRImMb@Mb@Mb@iii i)iYm(\?I +?٥ H>FI< >05Ĝ?059 IByu.?:h@Ei ;C ;[05ߓBk5A@EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.CC ProNav: ac range: 9.929729 m, nav range: 8.798213 m, bearing: 341.129291 deg, approach rate: -0.687575 m/s, LOS rate: -0.010700 deg/s, cmd heading: 337.401701 deg, new cmd heading: 337.388746 deg. ~HeadingCmd: 5.888545 target range: 9.929729 and range: 10.00 m.bn@Z r)j)R)J1B1~9~={B}9|A|A|I|?checking for new query: numPingsReceived=11, elapsed TxPingTime=1.495533 {B}ļI)<I%~ !!%wY0<-Zʾ-N<-ű=i-n@i1EEEE 1E) H >H CH LIH zBH  =H H /DH <H E6G <~G A  checking for new query: numPingsReceived=11, elapsed TxPingTime=1.746929A N >vl,tfhA9Bߝ@B@YB ZyB+E=BH 8?1 ?;2ؿz?nK_?`?? Bߝ@B[;)BCNczBPIbIb3f jX=yjWc;Q j>٥hl nHlrIN< r>tz05vfĜ?z059v; IvByxzz@vEiv:v:v^05m5A!)=zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.=}E}M ProNav: ac range: 9.929729 m, nav range: 8.539883 m, bearing: 341.116909 deg, approach rate: -0.670499 m/s, LOS rate: -0.033110 deg/s, cmd heading: 337.388751 deg, new cmd heading: 337.350480 deg. Uɵ}~HeadingCmd: 5.887877 target range: 9.929729 and range: 10.00 m.b}|i@ZyryjyRyJB~~}||||`? {BռI ) ` I E޺ 15e0ԩ K Q"K 9*K 2K :K & '8s Tc9 >q^ vhz%on^c9f { =6T,fhA@9>Ƶ@>3м@Y>eKy>=>H?ɿ?{׿Ε? la{?`67?u? >Ƶ@>P;)>CRHzBRI=Mb@Mb@Mb@999 9)9Y= rh?X9v?y&1y=,?=<=`e=rA =I@)=AI=A9y==AII} <=y ;Q >٥ H?F:< >05Ŝ?059 Iy,?:@EiA:(:b05B5Achecking for new query: numPingsReceived=11, elapsed TxPingTime=2.252583=EqzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.ԩB9B9 ProNav: ac range: 9.929729 m, nav range: 8.246347 m, bearing: 341.128365 deg, approach rate: -0.657772 m/s, LOS rate: 0.026584 deg/s, cmd heading: 337.350474 deg, new cmd heading: 337.386065 deg. : ~HeadingCmd: 5.888498 target range: 9.929729 and range: 10.00 m.b n@Z r j R JB~!~%{B}I|I|I|I|U`!@ {B靵ɼI)۰I Y1<~ʾK<'=in@i EEEEI5E - checking for new query: numPingsReceived=11, elapsed TxPingTime=2.5028706G sc=~Gy A :J BJ ^JJ fRJ ZJ bJ d9J >5J  @ @ @ @A N >!,ԧfhA9>@>@Y>mBy>'=>H@?Uz? ȥ{׿త?4(\? ݵ?{? >@> ;)>CHHIRIRm?3ZZ: Z]=y^P:Q ^>٥\` bHb@FbO< b>dj05fŜ?j059f IfByln9n@lfEif>/;f N;fe05x~5A~:EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.}8}8  ProNav: ac range: 9.929729 m, nav range: 7.996948 m, bearing: 341.130415 deg, approach rate: -0.707289 m/s, LOS rate: 0.005997 deg/s, cmd heading: 337.386073 deg, new cmd heading: 337.392417 deg.  9~HeadingCmd: 5.888608 target range: 9.929729 and range: 10.00 m.b{o@Z1r1j1R1J9B9~9~9}A|A|A|A|E`T@ {BI)I `2<ʾ<7=i{o@iHu>HqHu?IHuzBHu =HqHqHu<Hu EEEEEO0EBDAT read: Rx Time:13:54:33.5254 TRx dataTimestamp_ set to:1749131674.804036checking for new query: numPingsReceived=11, elapsed TxPingTime=2.7570356G/=~GAANc>9a g,:fhA9Bj@B@YB@yBk=BH?n_?#9@‚׿@? ?F?? Bj@B8;)BCRKzBRIIZIZ3b; bI=yfh9Q f>٥lrchecking for new query: numPingsReceived=11, elapsed TxPingTime=3.006969l vHtv; v>x~05z+Ŝ?~059zA IzByG@zEiz:z:zki05  5A -B*** querying acoustic contact ***J)R)9AAMzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.eJmJ} ProNav: ac range: 9.929729 m, nav range: 7.720860 m, bearing: 341.129054 deg, approach rate: -0.718708 m/s, LOS rate: -0.003669 deg/s, cmd heading: 337.392412 deg, new cmd heading: 337.388184 deg. }%!~HeadingCmd: 5.888535 target range: 9.929729 and range: 10.00 m.bn@ZrjRJB~~}||||@6b@ {B]ݼI)0IM# N3<ʾP+<<=in@irER>jE>KpP"K*K2K :K; ^'5[7v 3pEL/]  [k0EEEEP0Eyԙ6Gu(=checking for new query: numPingsReceived=11, elapsed TxPingTime=3.261917~G A A! N- > ې,fhA9Bx@B%@YBj|6yB41=BH_?r?Y{p׿˩? !`nφ??? Bx@BDU;)BCNJzBNIEMb@Mb@Mb@AAA A)AYEuV?Mb?y&1yEr(?E٥ HAF% >05 BŜ?059 IBy(?:@Eir;;1m05B5A7EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.-C;-C;= ProNav: ac range: 9.929729 m, nav range: 7.436882 m, bearing: 341.203677 deg, approach rate: -0.625483 m/s, LOS rate: 0.170637 deg/s, cmd heading: 337.388177 deg, new cmd heading: 337.620591 deg. E6;M~HeadingCmd: 5.892591 target range: 9.929729 and range: 10.00 m.bm@ZqrqjqRqJyBy~~{B}||||`0 @%DAT read: 13:54:33.5255 LVL= 27488, 32465, 24242, 32755, AGC= 57, IDX= 403,-0.08, 2.336, 0.897, 2.481, 2.173, PHS= 0.251,-1.229, 0.305, RAW= 151.8, 9.0, CAL= 152.1, -0.1, ROT= 357.9, 0.1 -Ygot valid direction response: 13:54:33.5255 LVL= 27488, 32465, 24242, 32755, AGC= 57, IDX= 403,-0.08, 2.336, 0.897, 2.481, 2.173, PHS= 0.251,-1.229, 0.305, RAW= 151.8, 9.0, CAL= 152.1, -0.1, ROT= 357.9, 0.1 5PDAT read: Bearing 357.9, 0.1 (Local) =~Local bearing/azimuth received: Bearing 357.9, 0.1 (Local) MDAT read: Range 10 to 50 : 7.5 m (Round-trip 10.0 ms) speed 0.7 m/s U,DAT read: user:1836> ]BDAT read: Tx time:13:54:34.6114 ]$Ping request sent.]O(> )@)| >I)@i争@: )?!>W? ?i ?G Q : ):publishing transmit ping timeYFpublishing direction and range infoyHY|?%<¢n p\Y )Ii )Ii )?!>W? ?i )checking for new query: numPingsReceived=12, elapsed TxPingTime=0.010054 %{B-_¼I))-a)I-9 115,3<5Ǿ=d<:JyBJ}_JJ}BRJyZJybJ}=h9J}-4Jy=}(=i@iEEEEO0EGQ GU @AHe >Ha He 3IHe zBHe  =Ha Ha He <He E! 6G= >= checking for new query: numPingsReceived=12, elapsed TxPingTime=0.238462~G A A N- >,PmfhA9>@>@Y>/y>KF=>H ?[?҃׿}??`? ? >@>0;)>C>zBII-I-F3= =Q=yE :Q E>٥AA MHMBFM? M>Q}05U.VŜ?}059US IUBy@UEiU2:U:Up056A4EZbfhAP@P@xû@ʁj#E@Aߓc,wѿ!ӿHY|?%<¢n p\Q :ҁpK@@-o 6p;#o?U[ؗF?|Yٿ@ uM,y?zk@@jSǜ?rO: mzB (-  5yB@˽@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 3.528019 s, deltaX: -2.500000 m, approachRate: -0.708613 m/s, rangeRepo size: 4  Added new target pos. range: 7.447368 m, bearing: 336.189343 deg, lat: 36.906396 deg, lon: -122.116043 deg, deltaT: 3.528019 s, deltaX: -2.482360 m, approachRate: -0.703613 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.45 m. 9.93 m.1 ProNav: ac range: 9.929729 m, nav range: 7.181142 m, bearing: 341.279950 deg, approach rate: 0.000000 m/s, LOS rate: -0.155263 deg/s, cmd heading: 337.620595 deg, new cmd heading: 337.438104 deg. ջ%|HeadingCmd: 5.889406 target range: 9.929729 and range: 7.50 m.b%v@Z!r!j!R!J!B)~I~I}Q|Q|Q|U@|U~? {BI)IЀJ }4<vɾĐ<R0=iv@i )EEEE_0E6G}H-=checking for new query: numPingsReceived=12, elapsed TxPingTime=0.491001~G9AAAQNew>IK FP"K 9*K 2K :K  zgz i#bFaE: AS33   1 PH4&|y v,8KghABzB Ii%=I%p<Mb@Mb@Mb@ )Y#~j?~jtx?Mby%?;E A )IyAI%I%M35E< =;=y=Q =>٥9A EHAE E>QQ]checking for new query: numPingsReceived=12, elapsed TxPingTime=0.742635Yae05edlŜ?m059e IeBym%?m:m켾u@eEie ;eX ;eft05y}6AyzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.P;P; ProNav: ac range: 9.929729 m, nav range: 6.898808 m, bearing: 341.379111 deg, approach rate: -0.685435 m/s, LOS rate: 0.250590 deg/s, cmd heading: 337.438092 deg, new cmd heading: 337.747747 deg. +<|HeadingCmd: 5.894810 target range: 9.929729 and range: 7.50 m.bI@ZrjRJB~~u{B}!|1|9|A|M@7? {B(ڼI!)eaIe"] aimR5Iy I} BA:J _BJ ^JJ FRJ ZJ :bJ d9J 4J ,)ghA9>ǵ@>Ѽ@Y>8d8y>1=>H@4׿?6 g ?@?`? >ǵ@>;)>CRRzBRIIZIZ#3b3= bf=ybDѺQ b>٥dh jHjCFnF r>pv05r~Ŝ?v059r; Ipyxzz@rEir:rq:rw05B5A2EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.R;R; ProNav: ac range: 9.929729 m, nav range: 6.667382 m, bearing: 341.473581 deg, approach rate: -0.609869 m/s, LOS rate: 0.257594 deg/s, cmd heading: 337.747745 deg, new cmd heading: 338.040989 deg. 0< |HeadingCmd: 5.899928 target range: 9.929729 and range: 7.50 m.b 6̼@Z r j RJB~~}|||!|%@s? M{BU:qIY)]ФYIe˨k aaeko6 9 A,nBghA9:û@:pż@Y:g-y: L=:H?R?2E׿?@@??? :û@:;):C b6?bF?fchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.498930QzBI5 I5(2M\Ѻ M(=yM:Q U>٥QQ UHUDF]:I ]>am05eCŜ?m059eC Iayimtu@e EieY;e;e{05}B}5A}/EKP"K9*K2K :KHf`oW,sVT%_8*~ML1u~io`z,UB*** querying acoustic contact ***JQRQ EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.U;]; ProNav: ac range: 9.929729 m, nav range: 6.353121 m, bearing: 341.617084 deg, approach rate: -0.620106 m/s, LOS rate: 0.297171 deg/s, cmd heading: 338.040979 deg, new cmd heading: 338.492775 deg. K< |HeadingCmd: 5.907814 target range: 9.929729 and range: 7.50 m.b  @Z rj9RJ9BA~A~A}A|I|Q|q|}82? {BI)0Il YT7<0<d,`ghAychecking for new query: numPingsReceived=12, elapsed TxPingTime=2.002093IIIMp=:JQBJU_JJUBRJQZJQbJU=h9JU-4JQi) I  )   pAiףIIi )! %pA%%F!-3C-rAI-))i))9I9=d;=֯F 9ٯAM]zBMI U=Up=ԡMb@Mb@Mb@ )Y~jt?I +Mb`y$?94 A )AI3AyAIIV83L< =yQ >٥ H%EF% %>)=05-Ŝ?E059- I-ByE$?E:ED;E@-Ei-m;-k;-^05QU5AU,EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.R<R< ProNav: ac range: 9.929729 m, nav range: 6.015493 m, bearing: 341.875169 deg, approach rate: -0.677145 m/s, LOS rate: 0.546665 deg/s, cmd heading: 338.492783 deg, new cmd heading: 339.310435 deg. <%|HeadingCmd: 5.922084 target range: 9.929729 and range: 7.50 m.b%@Z!r!j!R!J!B)~)~-]{B})|1|1|1|u@ W@ {B+ļHHHHHHHHߚ<HEHƙCHƙCHH =I = IT-5I!)%c!I% !!%c$8<->⸾)-H7 ,zghAG*A6AA - Y-Ay-B9=@=Pż@Y=y=փ==H@Ī?@N?? 6׿z?@.`6?1l? f? =@=N;)=C I)UAɿUnQQQUAiU吾I]FYIYiY YY)YeC aaaa™™I¡)‰i‰)ÑIÕA‘‘ ÑÑÝAÙiÙÙٯ=fzBEIIUIU2b< d=y,^;Q >٥ H2 >05iŜ?059 IBy G;@EiE<:F<05Ye5AazIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.checking for new query: numPingsReceived=12, elapsed TxPingTime=2.506336<<- ProNav: ac range: 9.929729 m, nav range: 5.786057 m, bearing: 342.067862 deg, approach rate: -0.624807 m/s, LOS rate: 0.545553 deg/s, cmd heading: 339.310438 deg, new cmd heading: 339.911415 deg. -4<U|HeadingCmd: 5.932573 target range: 9.929729 and range: 7.50 m.bU׽@ZQrYjYRYJYBY~a~a}a|a|a|i|mxO@ {BQмI)>I㑻 +8<hIM;;iU׽@iQEEEE0EAKM#P"KM9*KI2KM :KM~dPFb=oD]7zwhd I0s7P862/-+{)&$! M^ 2J?J>Q 6G E< BDAT read: Rx Time:13:54:37.0227  TRx dataTimestamp_ set to:1749131678.333432 checking for new query: numPingsReceived=12, elapsed TxPingTime=2.761924~G A A N >u@,ghAԑ92Ƶ@ϼ@Y%y2=Hമ?y?@Q׿Q?3=`?@{??? 2Ƶ@*;)CuzBIMb@Mb@Mb@ )YS㥛?~jth?y&1|?y$?D;`;/ A @)IAyGAII24 = ?=yJQ >٥ HFF4D; >05Ŝ?059 IBy$?:¾@EiX);(;A05 B L5A )E11EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.E! <E! <e ProNav: ac range: 9.929729 m, nav range: 5.509488 m, bearing: 342.257910 deg, approach rate: -0.683903 m/s, LOS rate: 0.493543 deg/s, cmd heading: 339.911413 deg, new cmd heading: 340.510156 deg. m[<m|HeadingCmd: 5.943023 target range: 9.929729 and range: 7.50 m.bm?-@ZqrqjqRqJqBq~y~}{B}y||||3w@ {B靵uǼԹI)]I 9<)Qi?-@iEEEE3EF=F=echecking for new query: numPingsReceived=12, elapsed TxPingTime=3.0125076G[z<ZGRG~GiAyAN> c,v¯ghAHR>HRCHR?IHRzBHR =HPHR.DHRۚ<HRE}zBIi >Ip;II= `=yQ >DAT read: 13:54:37.0227 LVL= 28208, 29153, 23906, 32755, AGC= 51, IDX= 404, 0.15, 0.290,-0.476, 1.469, 0.716, PHS=-0.338,-1.145, 0.750, RAW= 184.9, 8.9, CAL= 184.7, -0.6, ROT= 325.3, 0.6 Ygot valid direction response: 13:54:37.0227 LVL= 28208, 29153, 23906, 32755, AGC= 51, IDX= 404, 0.15, 0.290,-0.476, 1.469, 0.716, PHS=-0.338,-1.145, 0.750, RAW= 184.9, 8.9, CAL= 184.7, -0.6, ROT= 325.3, 0.6 PDAT read: Bearing 325.3, 0.6 (Local) ~Local bearing/azimuth received: Bearing 325.3, 0.6 (Local) DAT read: Range 10 to 50 : 5.4 m (Round-trip 7.2 ms) speed 0.5 m/s ,DAT read: user:1837> BDAT read: Tx time:13:54:38.1114 %$Ping request sent.%IܽON@iܽ+ܽ@ܽ+< ݹ)ݹݽ7hV?ݟ?,?iݽ?ݽݽ ݽ+< ޹)޹]:publishing transmit ping time]Fpublishing direction and range infoڹyڽLhuN?r"_CH7/;rڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ7hV?ݟ?,?iݹݹݹݹ ޹)޹uchecking for new query: numPingsReceived=13, elapsed TxPingTime=0.010966٥yy }Hy >05Ŝ?059B IBy@Ei;);054AZbnghA@@@ʁ @=i.k &LhuN?r"_CH7/;r +<ҁdW8@`Uοu ?V2kbz)=@j-Ɯ?rs yBC 2  yBꁽc@.@ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 3.276361 s, deltaX: -2.100000 m, approachRate: -0.640955 m/s, rangeRepo size: 4  Added new target pos. range: 5.362044 m, bearing: 303.487097 deg, lat: 36.906396 deg, lon: -122.116045 deg, deltaT: 6.804380 s, deltaX: -4.567685 m, approachRate: -0.671286 m/s, posRepo size: 4 !-zIgnoring new targets. Set target to previous: 5.36 m. 9.93 m.551 ProNav: ac range: 9.929729 m, nav range: 5.259405 m, bearing: 342.447009 deg, approach rate: 0.000000 m/s, LOS rate: -0.155263 deg/s, cmd heading: 340.510147 deg, new cmd heading: 340.316126 deg. ջ|HeadingCmd: 5.939637 target range: 9.929729 and range: 5.40 m.b@ZrjRJB~~}|||@|G? %{B%کI!)%t)I-1 ))-U:<5対5<5 i5@i9EEEE2EYu JDAT read: TxSync time:13:54:38.1106 u checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240384y :J YBJ OJJ FRJ ZJ 9bJ %9J 4J zJ b: jJ g: J &: rJ &: 6G= .A;~G A9 AI NU >,ghAK^9`Q"K\*K\2K^ :K^X c ` } :  U  l 3 V  OSP -!yQfN/E-rJ|J|Y9)@@Y:yA=H?/?׿??g \??? )@Q;)Cԁchecking for new query: numPingsReceived=13, elapsed TxPingTime=0.490888Mb@Mb@Mb@ )Y/$?I +?٥ii mHmGFu < u> 05Ɯ? 059K IBy=M(?=:=DE@"Ei=<<,05Ye4Ae&EB*** querying acoustic contact ***JR!!%zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.M;M;] ProNav: ac range: 9.929729 m, nav range: 4.919985 m, bearing: 342.604687 deg, approach rate: -0.654562 m/s, LOS rate: 0.325055 deg/s, cmd heading: 340.316115 deg, new cmd heading: 340.821769 deg. e_<e|HeadingCmd: 5.948462 target range: 9.929729 and range: 5.40 m.beY@ZirijiRiJB~~{B}||||k?ԩ {Bk㢼I)qIu P:<`~iY@iE E E E 0E u checking for new query: numPingsReceived=13, elapsed TxPingTime=0.7428786G zQ ~GAAN >IQ,ZFghA9>/@>@Y>?%Yy>G=>HW?A?_׿?&s$?? s? >/@>;)>CnzBn,IIvIvT3~= ~j=y|Q ?٥ H HF Y<  ?05Ɯ?0599 IBy!%ٮ%@&Ei::05-B-c4A5#EaamzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.m-;u-;} ProNav: ac range: 9.929729 m, nav range: 4.701645 m, bearing: 342.705581 deg, approach rate: -0.716613 m/s, LOS rate: 0.346522 deg/s, cmd heading: 340.821768 deg, new cmd heading: 341.138503 deg. m<|HeadingCmd: 5.953990 target range: 9.929729 and range: 5.40 m.b@ZrjRJB~~}||||`;? {B̸I)SIii :;<P5$i@iH>HHXIHzBH =HHH<HEEEEEO0EFF6GpjG ?bG?checking for new query: numPingsReceived=13, elapsed TxPingTime=0.994886~GAAND> 1,hhA0Fchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.2469009>E@>O@Y>qqy>꣮=>H ??ֿ?-?͵?X? >E@>,;)>CzB4I)! !I-I-m?3E= EG=yM?lQ M>٥II UHQU< U>Ye05].Ɯ?e059] I]Byimm@]*Ei]e:]:]05qu.4AqzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.;; ProNav: ac range: 9.929729 m, nav range: 4.431432 m, bearing: 342.821537 deg, approach rate: -0.659066 m/s, LOS rate: 0.300069 deg/s, cmd heading: 341.138497 deg, new cmd heading: 341.507571 deg. M<|HeadingCmd: 5.960432 target range: 9.929729 and range: 5.40 m.bۻ@ZrjRJB~~}||||L?JsJ{4J{2:J\BJSJJJRJZJ=:bJy69J4JzJ:jJ:J)C:rJ+C: {B靵ԗI)DId o;<?U< =i5ۻ@i1ԡKmVP"Km@9*Ki2Km :Km'\S%UK~IW_@%:LI[n%*zxn=;:6%%(EEEEP0EԹ=checking for new query: numPingsReceived=13, elapsed TxPingTime=1.4989326G- ԑ ~G A) AQ Nm >R\,jhhA9:1@:ގ@Y:y:)=:H`?Q?ݨ6ֿ@?`?@? ? :1@:㎊;):CFzBF@I`Mb@Mb@Mb@ )Y rh?y&1?Mb?yC+?`<<+ A n@)AI3AyAII2n3= ?=y>Q >٥ HIF <  >05hEƜ?059 IBy%m+?-:-S-@/Ei@;;h05=B=3A= EaamzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.mW;mW; ProNav: ac range: 9.929729 m, nav range: 4.145660 m, bearing: 342.897289 deg, approach rate: -0.665909 m/s, LOS rate: 0.188687 deg/s, cmd heading: 341.507573 deg, new cmd heading: 341.750494 deg. ~<|HeadingCmd: 5.964671 target range: 9.929729 and range: 5.40 m.b޾@ZrjRJB~~{B}||||? {BI)w.Ipa փ;<DmHHqIH"{BH =HHHҚ<HE6G !a ~G A A N >E checking for new query: numPingsReceived=13, elapsed TxPingTime=2.002817 ,8hhA96@6@ý@Y6y6g=6H?c?!ֿ`I?@' R?# ?`p? 6@6;)4JzBJKIIPIPZ B= Za=y^4Q ^>٥`` bHbJFf< f>dn05fXƜ?n059f If Bylnn@f3EifP;f;f05tv3AvE9  5zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.5;=;E ProNav: ac range: 9.929729 m, nav range: 3.902195 m, bearing: 342.948017 deg, approach rate: -0.619514 m/s, LOS rate: 0.137134 deg/s, cmd heading: 341.750482 deg, new cmd heading: 341.912160 deg. M:;u|HeadingCmd: 5.967493 target range: 9.929729 and range: 5.40 m.bu@ZqrqjqRqJqBy~~}||||c @ M~{BMII)MIIUp{ QQUc;<]n]!F<]ָ:i]@iYaEEEEEF=F=checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256045ԑ:JZBJPJJBRJZJ9bJ*9J-4JzJ/:jJ4:J-:rJ-:6G 4ZG RG ~G A A N > K >P"K 9*K 2K :K 42 6+%H(d`yIr0-d aIh6.AV#O->_]r,@RhhA9R4߶@R@YR_ჼyR=RH? l? GVտ? Ʒ@{?Ǻ?`? R4߶@Rʨ;)RCrzBrPIi~>I~=Mb@Mb@Mb@ )Y|?5^?Mb?{Gzt?y2?=ԑף; A +@)AIAyGAIIV83Ē< ;=yWQ >٥ H,< >checking for new query: numPingsReceived=13, elapsed TxPingTime=2.50831505lqƜ?M059M IBym"3?m:mm@7Ei"<<c05uB}3A}EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.#:#:  ProNav: ac range: 9.929729 m, nav range: 3.597607 m, bearing: 342.977752 deg, approach rate: -0.718880 m/s, LOS rate: 0.076122 deg/s, cmd heading: 341.912166 deg, new cmd heading: 342.008925 deg. P;|HeadingCmd: 5.969182 target range: 9.929729 and range: 5.40 m.b@ZrjRJB~!~% |B}A|I|I|I|MM@ |{B靝}I)IZ\ 8|;<Š<b;i@i ԹEEEEP0E إ >ץ R= checking for new query: numPingsReceived=13, elapsed TxPingTime=2.7591126G :I 4=I 4=~G A! 1 A9 NM >&,olhhA9>@>@Y>y>c=>H?g?$ hտ?`mc"V?$^?@? >@>%ȉ;)>CRzBRLIIZ IZ<2j4 jZ=yj29Q j>٥ll nHnKFrk$< r>tz05vƜ?z059vW IvByxzz@v<Eiv:v:v053A%B*** querying acoustic contact ***J!R!)15zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.=%6:=%6:U ProNav: ac range: 9.929729 m, nav range: 3.335458 m, bearing: 342.990882 deg, approach rate: -0.736967 m/s, LOS rate: 0.039811 deg/s, cmd heading: 342.008937 deg, new cmd heading: 342.051421 deg. :|HeadingCmd: 5.969923 target range: 9.929729 and range: 5.40 m.b @ZrjRJB~ ~ } | | ||i@H]ڼ>H]CH]IH]K{BH] =HYH]-DH]<H]E {{B靍xI)Id ;<ck< r;i @iEEEE_0E BDAT read: Rx Time:13:54:40.5198 TRx dataTimestamp_ set to:1749131681.859602checking for new query: numPingsReceived=13, elapsed TxPingTime=3.012413Aq6G!j;~G A A N >ԡ !,[hhA2checking for new query: numPingsReceived=13, elapsed TxPingTime=3.2628659Bo@B'@YByBZ=BH@'?)?s2eտ ?߸?@:ܻ??? Bo@BU;)BCRzBVXII^I^ 3fE= fJ=yjA^Q j>٥hl nHnLFn`< n>pv05rTƜ?v059r IrByxzz@r@EirA;r+;r205~B~\3A~E11=zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.E.E.U ProNav: ac range: 9.929729 m, nav range: 3.052550 m, bearing: 342.987334 deg, approach rate: -0.697095 m/s, LOS rate: -0.009552 deg/s, cmd heading: 342.051420 deg, new cmd heading: 342.039791 deg. Uѹ]|HeadingCmd: 5.969720 target range: 9.929729 and range: 5.40 m.b]@ZYrYjYRYJYBa~a~a}a|i|i|i|mV| @:J[BJQJJRJZJ:bJ-.9JJzJ:jJ:J4:rJ4: y{B-sI1)5S1I5LĻ 115p;<=|~=&<=UDAT read: 13:54:40.5198 LVL= 13392, 29009, 25730, 22451, AGC= 43, IDX= 408, 0.36, 1.819,-3.096, 1.565,-3.089, PHS=-1.287, 0.039,-1.632, RAW= 341.3, 33.7, CAL= 340.4, 35.2, ROT= 169.6, -35.2 mYgot valid direction response: 13:54:40.5198 LVL= 13392, 29009, 25730, 22451, AGC= 43, IDX= 408, 0.36, 1.819,-3.096, 1.565,-3.089, PHS=-1.287, 0.039,-1.632, RAW= 341.3, 33.7, CAL= 340.4, 35.2, ROT= 169.6, -35.2 }PDAT read: Bearing 169.6, -35.2 (Local) }~Local bearing/azimuth received: Bearing 169.6, -35.2 (Local) ~GAAN>DAT read: Range 10 to 50 : 3.1 m (Round-trip 4.2 ms) speed 0.4 m/s ,DAT read: user:1838>   BDAT read: Tx time:13:54:41.6114  $Ping request sent. BhhAzBZI) Mb@Mb@Mb@ )Yd;O?{Gz?Mbp?y4?#=; )AIypAII3~; ,= y Q  >٥ H >E05Ɯ?M059 IByM5?M:M M@FEi::_05Q]R3A]EmJDAT read: TxSync time:13:54:41.6106 mchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.218825ZAbEPhhAEE@EE@E,@ʁE4HHOH?3)c?E^=}Ι?N^F:"r?Eq=@EnFҁEj(<ج.exH?>\?E Rx^v?am?zEG?EujE< Ŝ?rEa% E BEǜ?E (-  EmzBES1@EX@ addTargetRange:: Added new target pos. range: 3.100000 m, deltaT: 3.529372 s, deltaX: -2.300000 m, approachRate: -0.651674 m/s, rangeRepo size: 4 - Added new target pos. range: 3.078144 m, bearing: 154.577302 deg, lat: 36.906396 deg, lon: -122.116043 deg, deltaT: 10.333752 s, deltaX: -6.851584 m, approachRate: -0.663030 m/s, posRepo size: 4 115zIgnoring new targets. Set target to previous: 3.08 m. 9.93 m.}}1 ProNav: ac range: 9.929729 m, nav range: 2.714944 m, bearing: 342.904109 deg, approach rate: 0.000000 m/s, LOS rate: -0.155263 deg/s, cmd heading: 342.039782 deg, new cmd heading: 341.809395 deg. ջ|HeadingCmd: 5.965699 target range: 9.929729 and range: 3.10 m.b@ZrjRJB~~%|B}|||@|O? Mw{BU ^Iq)uqIu!Ȼ yy}A;<}<HHIHMIHM_{BHM =HIHIHMԚ<HMEHȘCHȘCHH =I = I5Y  checking for new query: numPingsReceived=14, elapsed TxPingTime=0.4700316Gm <ԉ ~G ) A  G- ZA= AAY m jYm ZAym $BN > @ B?.,W?hhA9^HL@^U@Y^y^l=^H@7??䩿 տu?@+i2?? ? ^HL@^"և;)^CjzBnXII~I~m?3   R=y 4Q  >٥ HMFq< >-05Ɯ?-059 IBy)--@JEiI;;059=`3A9qquzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.}lл}lл ProNav: ac range: 9.929729 m, nav range: 2.441052 m, bearing: 342.782663 deg, approach rate: -0.738981 m/s, LOS rate: -0.364436 deg/s, cmd heading: 341.809386 deg, new cmd heading: 341.404175 deg. z|HeadingCmd: 5.958627 target range: 9.929729 and range: 3.10 m.b@ZrjRJB~~}||||? v{B!]}Ia)eiIuXʻ qqu'3;<},y.9XO;N >ԩ w5,5hhA6checking for new query: numPingsReceived=14, elapsed TxPingTime=0.973977E{BE]IMb@Mb@Mb@ )Y\(\?{Gz?Mb`y:?X A @)AIyAI  I <2~< ;=yQ >٥!! %H%NF- ->1=055Ɯ?=0595V I5"By=);?=:==@5OEi5r;5H;505MBMF3AMEqq}zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.}} ProNav: ac range: 9.929729 m, nav range: 2.122283 m, bearing: 342.610173 deg, approach rate: -0.734219 m/s, LOS rate: -0.456969 deg/s, cmd heading: 341.404164 deg, new cmd heading: 340.808993 deg. Μԑ|HeadingCmd: 5.948239 target range: 9.929729 and range: 3.10 m.bW@ZrjRJB~1~5|B}9|A|I|i|u ? u{BK`I)N齉IQλ ;<~%==i-W@i)EEEE0EF=F=6G5<ZGRG~GyAAN>checking for new query: numPingsReceived=14, elapsed TxPingTime=1.225825:J BJ SJJ ARJ ZJ bJ y69J 4J  @ @ @ @ ;,mhhAHF>HFCHFIHFj{BHF =HDHF.DHF<HFE9>e@>o@Y>Hy>OP=>HW?? Z?dƫ6Կ ?@2Ⱥ ?z׽?? >e@>g;)٥    H   < >E05pƜ?E059G I%ByIMM@SEi.;;ȵ05QU3AUEB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.99  ProNav: ac range: 9.929729 m, nav range: 1.853431 m, bearing: 342.392787 deg, approach rate: -0.702282 m/s, LOS rate: -0.650216 deg/s, cmd heading: 340.808982 deg, new cmd heading: 340.062266 deg.  ߼ |HeadingCmd: 5.935206 target range: 9.929729 and range: 3.10 m.b6@ZrjRJ1B9~I~I}I|Q|Q|q|u@? t{BiI)IJiѻ :<%D*!%]:=i%6@i)uchecking for new query: numPingsReceived=14, elapsed TxPingTime=1.478022EEEE5E!6G N% checking for new query: numPingsReceived=14, elapsed TxPingTime=1.730128rB, ihA9B1^@Bg@YBʑyBB=BH ٥9 =H=OFEL E>IU05Mǜ?U059Mr IM(ByQU{U@MXEiM":Mz;M^05B3A EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.@%@] ProNav: ac range: 9.929729 m, nav range: 1.553567 m, bearing: 342.071759 deg, approach rate: -0.735178 m/s, LOS rate: -0.938978 deg/s, cmd heading: 340.062278 deg, new cmd heading: 338.913464 deg. e!e|HeadingCmd: 5.915156 target range: 9.929729 and range: 3.10 m.beH@ZirijiRiJiBi~~}||||GR?QKO"K9*K2K :KmT_uv,xH$vv<: _pp fVJJ> s{BIsI)bIOջ :< ^npx=iH@ichecking for new query: numPingsReceived=14, elapsed TxPingTime=1.982923ԉEEEE5E6Gk[=~GQAaAqN>ԩ ^H,$ihA@%zB%VIMb@Mb@Mb@ )Y~jt?X9v?٥ HPF  >05<0ǜ?059 I*By;?:L%@]Ei:=: 05)-}3A- EYY]zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.eeu ProNav: ac range: 9.929729 m, nav range: 1.238078 m, bearing: 341.732030 deg, approach rate: -0.754104 m/s, LOS rate: -1.018964 deg/s, cmd heading: 338.913468 deg, new cmd heading: 337.634789 deg. u.|HeadingCmd: 5.892839 target range: 9.929729 and range: 3.10 m.b#@ZrjRJB~~{B}|||| pV@:JUlBJUPJJQRJQZJU<5:bJU*9JQJQԩ |I)IRMػ :<xǾ΢=i#@iEEEE4EFFH>HHHH =HHH<H"E checking for new query: numPingsReceived=14, elapsed TxPingTime=2.4865186G 8<= jG ?bG ?~G A A N% >DN,b>ihAh-zB-FI)1 1I=I=3Us ]S=yYQ ]>٥aa eHai m>qu05uGǜ?}059u Iu+Byyy}@ubEiu:u:u~05  3A 11=zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.E4E4m ProNav: ac range: 9.929729 m, nav range: 0.955578 m, bearing: 341.237349 deg, approach rate: -0.703511 m/s, LOS rate: -1.596079 deg/s, cmd heading: 337.634801 deg, new cmd heading: 335.712772 deg. m숽u|HeadingCmd: 5.859293 target range: 9.929729 and range: 3.10 m.buT@ZqrqjqRqJqBy~y~y}||||9@ r{B靽I)xIۻ 5:<bپ=iT@iEqEyEyE}P0Eychecking for new query: numPingsReceived=14, elapsed TxPingTime=2.7392366GUӰU=~G)A1AIN}X>!K JP"K 59*K 2K :K YL`3TCc _E#%&;%#2" nN )  $0%*1.t//_00/e-L*&#w!J= AJ9 Y U,AXihA*BDAT read: Rx Time:13:54:44.0184 .TRx dataTimestamp_ set to:1749131685.3897272checking for new query: numPingsReceived=14, elapsed TxPingTime=2.9941759z6@zl@@Yz ޔyzI=zH@/? ?S`J5տ?@O~?&?`? z6@z;)zC9q}GIMb@Mb@Mb@ )Y1Zd??:vy";?<T A @)zAIAyAII3@`: 2=y`VQ >٥)1 5H5QF=* E>Qm05U\bǜ?u059U" IU,By}F;?}:}@UgEiU;US;U05B3AEazIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.c7c7 ProNav: ac range: 9.929729 m, nav range: 0.616382 m, bearing: 340.439362 deg, approach rate: -0.703373 m/s, LOS rate: -2.565269 deg/s, cmd heading: 335.712759 deg, new cmd heading: 332.006695 deg. ܽ|HeadingCmd: 5.794610 target range: 9.929729 and range: 3.10 m.b%rm@Z!r!j!R!J!B!~)~-{B})|)|1|1|5Qz @ 靥`I)I٣ mz:<& >irm@iԑEEEEO0Echecking for new query: numPingsReceived=14, elapsed TxPingTime=3.2419556GJ=:Ju `BJu [JJu @RJq ZJu :bJu W9Ju J4Jq ~G A A N >Թ 5[,?rihA H<Hp<H>HHIH_{BH =HHH<HE9fs,@f!6@Yfryff#=fH8,??WHտB?βe? ޜ?S? fs,@fO;)drzBrAIIzIz2XѼ s=yQ ?٥    H RF nw ?!-05%uǜ?-059%$ I!ԙy1f@%kEi%<%<%s054AEB*** querying acoustic contact ***JR  5zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.55E ProNav: ac range: 9.929729 m, nav range: 0.373304 m, bearing: 339.024628 deg, approach rate: -0.762466 m/s, LOS rate: -7.326434 deg/s, cmd heading: 332.006698 deg, new cmd heading: 325.034211 deg. E u|HeadingCmd: 5.672917 target range: 9.929729 and range: 3.10 m.bu@ZqrqjqRqJqBy~y~y}y||||@ @ .ڛI))-1I5 115~:<=V 9=P>i=@iAUDAT read: Range 10 to 50 : 2.1 m (Round-trip 2.8 ms) speed -0.3 m/s ],DAT read: user:1839> eBDAT read: Tx time:13:54:45.1115 e$Ping request sent.e JDAT read: TxSync time:13:54:45.1107  checking for new query: numPingsReceived=15, elapsed TxPingTime=0.250045 b,eihA9B@BD@YByBz0=BH:$?O? 0Juտ??`??@"?!? B@B;)@NzBLiR=IR=IVIV 3^S ^O=ybQ b>٥`` fHdfJ f>hn05jǜ?r059j& Ij-Byprr@jpEij\:j%:j05tv4Ax addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 3.526377 s, deltaX: -1.000000 m, approachRate: -0.283577 m/s, rangeRepo size: 4 BIntercept lockout. Range: 2.10 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT@bZrjRJB~~}| ||@| b?KEĝQ"KEж9*KA2KE :KEj 0 H /MsO8W]+   p8''hy= 9=EIA)EAIE1g AAEj:iQiQmchecking for new query: numPingsReceived=15, elapsed TxPingTime=0.502541EMEQEQEUP0EQ6G-=I~GAA N >y i,˥ihA9:@:1@Y:nߙy:)܋=:H`?`ʙ?@⤿տ ?;?@w?v? :@:;):CnzBn8I}Mb@Mb@Mb@yyy y)yY}zG?Zd;O?Mby} 7?}j<}} A }I@)yI}Ayy}AIIT3/ ==y8Q >٥ HSF& >checking for new query: numPingsReceived=15, elapsed TxPingTime=0.75324505ǜ?059V) Iy.7?:&@uEi;;05BO4AEQbZrjRJB~~}{B}||||k?I)I):J9BJ=PJJ=RRJ9ZJ9bJ=*9J=A4J9 y靅ŞI)-I [r:<v}+À>iiEeEaEaEel0EaԉH->H)H-IH-U{BH- =H)H)H-ך<H-E6GEe>~G9AAAQNew>ԩm checking for new query: numPingsReceived=15, elapsed TxPingTime=1.005333 ,o,]ihA9>@>@Y>y>Y~=>H`?)?F}#ֿ@? tcQғ?bį?? >@>;)>CbzBb:IIn"Inq3v](< vW=yv>ƺQ v>٥xx zHzTFz| ~>iu05mvǜ?u059m+ Im,Byy}}@myEim|;mx;m05BC4AEbZrjRJB~~}||||+? s{BpI!)%*!I% !!%Vu:<-"% )5d~>i1i1ԱEEEE$2E6Gh1>checking for new query: numPingsReceived=15, elapsed TxPingTime=1.259329~GA AN%N> K P"K ŷ9*K 2K :K -y} 0u@YyvH[/EUtR[Tw0!K+K1 v,(~ihA.checking for new query: numPingsReceived=15, elapsed TxPingTime=1.5150569fv@fM@Yf褼yf~]=fH? ?hֿ@"??@Ĝ?磌?@^? fv@f4;)fCrzBt)t t Mb@Mb@Mb@    ) Y |?5^?I +?~jty -? 94< D A ) AI A y AI=%I=)3Ma+ M6=yUWQ U>٥YY ]HYea e>iu05mǜ?}059mL. Im-By-?:3@m~Eim{;m=;m05L4AEbZrjRJB~~M{B}|||| ? ٖI!)%+IIU QQUZ:<]:aeh>iaiE%E!E!E%0E!A6GP>checking for new query: numPingsReceived=15, elapsed TxPingTime=1.765183~G1A9AQN]>q Iy I} a=:J aBJ VJJ BRJ ZJ :bJ B9J -4J H= >H9 H= IH= K{BH=  =H9 H9 H= <A|,gihAHmEHHHH =I = IA59j\<@j F@Yjyj@==jH? ?@ ׿?@L?Ӥ?@? j\<@jRS;)jCvzBv9II I 3=  E]=yM;Q M>٥IQ UHUUFU ]>Ye05]ǜ?m059]0 IYyim鳾m@]Ei]:]:]+05}B}S4A}EB*** querying acoustic contact ***JRbZrjRJB!~!~!}!|)|)|)|5@~? y}>I)d,I/ c:<:u<d>iiUchecking for new query: numPingsReceived=15, elapsed TxPingTime=2.017339i-GEMEQEQEU`5EQMAAA YAy/Bԙ6G#P>ZGRGA~Ga Ai A N >  checking for new query: numPingsReceived=15, elapsed TxPingTime=2.269072'&,?5 jhA9F1@F@YFyF=FH??r@׿? ^?`|?W? F1@F9`;)FCPVzBV8IIXIXfp fR=yf-d;Q f>٥hh jHhj޼ n> 05ǜ? 0593 Iyb@Eil:W:05]4A%EIIbIZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|ev@ 靥I)-Is D~:<:{!=_,\>iiE9EAEAEMP0EI6GUcV>KP"K9*K2K :KY]sEU8}B|Z|G{uE"PBYwpXkvf3*~GIAYAqN}7>eDDAT read: Rx Time:13:54:47.2447 eTRx dataTimestamp_ set to:1749131688.415421uDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.6 -uZ#Rx 16: Read range message, but no direction.ae@@Yachecking for new query: numPingsReceived=16, elapsed TxPingTime=2.525096) KP,s'jhA9:"@:Б@Y:T y:(<:H?R?yYؿ?.`?lC?S? :"@:;):CRzBTib>Ib4٥ HVF6ּ >056Ȝ?0595 Iy'?:/@EiH;;b05 B e4A E= addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 2.524779 s, deltaX: 0.900000 m, approachRate: 0.356467 m/s, rangeRepo size: 4 9AbAZArAjARAJIBI~Q~]+{B}Y|Y|Y|]@|e n? )-pMI1)5j.1I=j 99=o:iAiA)EEEEEH>HHHH =HHHHQ6G 0d>} DDAT read: Rx Time:13:54:47.7452 } TRx dataTimestamp_ set to:1749131688.920698 DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.5 - Z#Rx 17: Read range message, but no direction.y } 3s@Yy  checking for new query: numPingsReceived=17, elapsed TxPingTime=3.031437~GI AQ Aq ԁ N% >8,@jhAY]zB]?IIiIio< P=yQ >٥ HWF >05r'Ȝ?059 8 I.By@Ei;?;;0574A addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.505277 s, deltaX: 0.800000 m, approachRate: 1.583290 m/s, rangeRepo size: 4 bZrjRJB~~} | | | `ff@| @? r{B靅I)Z"I :<:C=T>iiԉchecking for new query: numPingsReceived=17, elapsed TxPingTime=3.278621E!E!E!E!E!6Gr^>:JM_BJMWJJMARJIZJM :bJMG9JM4JIzJM,:]jJM1:]JM_:]rJM_:]~GAANn>Ա K% KP"K% @9*K! 2K% :K% {KXz-|y=)KJHE9hrM/)H(, Ah,ZjhADDAT read: Rx Time:13:54:48.2451 "TRx dataTimestamp_ set to:1749131689.427563&DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.6 -*Z#Rx 18: Read range message, but no direction.ff@Y.checking for new query: numPingsReceived=18, elapsed TxPingTime=3.5368359rY2@r<@Yr"hyr W rHG??8 ڿ?`z??mA+? rY2@rp;)rCԱzBCI)) )Mb@Mb@Mb@ )Yx&1?I +?٥   HXF >)505-EȜ?5059- < I)y5!?5:5f˾=@-Ei-:-:-=05AE#4AEEu addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.506865 s, deltaX: -0.200000 m, approachRate: -0.394582 m/s, rangeRepo size: 4 qybyZyryjyRyJyB~~zB}||| @|l? q{B2I)`Ir c:<:=w/>ii Q EY EY EY E] 5EY  H <H <H >H CH H H  =H H /DH <H Ey6G]S>ייDDAT read: Rx Time:13:54:48.7454 TRx dataTimestamp_ set to:1749131689.931734DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.5 -Z#Rx 19: Read range message, but no direction.ڡڥ3@Yڡchecking for new query: numPingsReceived=19, elapsed TxPingTime=4.041426~G1AQAyN ?%,}jhA )=Aɿ7 |FIAi= IIi )C `廉  I)i)IA Aii!!)! !I! ԉ)ԉӉӉӉԑԕrAiԕIԑԑIՑiՕZA ՙԙ)ՙՙ ֝MA՝5^՝Fա֥@C֥bAI)ձFi)I^AV ٯBII  I <2> U=y%Q %>٥II MHIM U>Q]05UXȜ?e059U> IQy@UEiU9;U;U05B*4AEB*** querying acoustic contact ***JR  addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504171 s, deltaX: 0.500000 m, approachRate: 0.991727 m/s, rangeRepo size: 4  bZrjRJB~I~}I|Q|Q|U`ff@|U34? p{B I)Ix T/;<:(=}3>iiEEEE 5Echecking for new query: numPingsReceived=19, elapsed TxPingTime=4.2905296GmJ>ԁ:J]BJdJJRJZJ]:bJ|9JJzJ:jJ:J|:rJ~:~GAAYAqN}>ԙ ԛ,MjhAKP"K9*K2K :K<B+I<{v6a<6Jkh^AW4{h!q9O@X@Y5JyِH@r?g? _fܿ@?;{?@X?1X ]? O@骅;)DDAT read: Rx Time:13:54:49.2455 TRx dataTimestamp_ set to:1749131690.435437%DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.5 -%Z#Rx 20: Read range message, but no direction.f@Yechecking for new query: numPingsReceived=20, elapsed TxPingTime=4.551504zBNIԙMb@Mb@Mb@ )Y+?S㥛?٥)) -H5YF=s =>AU05E#oȜ?U059EA IE-By]?]:]#վe@EEiEwX;E{W;E05q}3AyE addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503703 s, deltaX: 0.100000 m, approachRate: 0.198529 m/s, rangeRepo size: 4 AAbAZIrIjIRIJIBI~q~}{B}|||@|lu? o{BI ) 5 I   Tx;<:j=p>iizE1E E E E 5E < < checking for new query: numPingsReceived=20, elapsed TxPingTime=4.795188 H >H H IH _{B!H  =H H H <H E6GM.>~GAAN%?7,[ajhA9>@>l@Y>4y>1k;>H@b{?@!*?vL*ݿ{?@"^?v? bm?r? >@>2;)>C)UDDAT read: Rx Time:13:54:49.7458 ]TRx dataTimestamp_ set to:1749131690.939920ePDAT read: Bearing 194.1, -9.7 (Local) e~Local bearing/azimuth received: Bearing 194.1, -9.7 (Local) uDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.5 DAT read: 13:54:49.7458 LVL= 15808, 24113, 10834, 21811, AGC= 50, IDX= 513, 0.21, 2.883,-1.509,-2.748,-2.334, PHS=-0.978, 0.872,-0.417, RAW= 312.8, 6.4, CAL= 315.9, 9.7, ROT= 194.1, -9.7 Ygot valid direction response: 13:54:49.7458 LVL= 15808, 24113, 10834, 21811, AGC= 50, IDX= 513, 0.21, 2.883,-1.509,-2.748,-2.334, PHS=-0.978, 0.872,-0.417, RAW= 312.8, 6.4, CAL= 315.9, 9.7, ROT= 194.1, -9.7 T#Rx 21: Read range and direction messages.`direction in FSK: [-0.956006,-0.240132,0.168489]Fpublishing direction and range infoQyUb[R:ΦοRV?Uf@YQ U=)U1^IUR*iU3UU2U5^zUd;_?Uվ UR@)U=IUn@iU-\->UX@U-\- Q)QUU5NN$*:-.̿4v?iU:U彩UO9U-\- Q)Qchecking for new query: numPingsReceived=21, elapsed TxPingTime=5.066449MzBMRIiU=IU=UAUAI]I]3Y~< 4=yEB;Q >٥ HZF- >05Ȝ?059D IyAE۾E@Ei0<1<053AEYZQbU'jhAUX@UX@Ui:@ʁUj~HDNb=~)?Ub[R:ΦοRV?UO9U-\-ҁU :W?8u?U3'4#Yq?8+?zU?UjU. ǜ?rU}[) U}BU. ǜ?U}[)  U}BU}@Ui:@M addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504483 s, deltaX: 0.500000 m, approachRate: 0.991114 m/s, rangeRepo size: 4  Added new target pos. range: 4.667009 m, bearing: 166.996396 deg, lat: 36.906382 deg, lon: -122.116041 deg, deltaT: 18.909407 s, deltaX: -5.262719 m, approachRate: -0.278312 m/s, posRepo size: 4 bZrjRJB1~9~9}9|A|A|E@|mIE? n{B靽xI)I ;<:΄=>iiԁEEEE^1E checking for new query: numPingsReceived=21, elapsed TxPingTime=5.2972946G} >~G1 AA J4JT4JЏ1:Je \BJe OJJe @RJa ZJe =:bJe %9Je J4Ja zJe :jJe :Je ~&:rJe &:A N > ,jhA9 }@ I@Y y h< HMM?@?DݿM?} lm? cu? G? }@ ;) C}{B^III(*2I= N=yQ;Q >٥ H [F= E>Y05]?Ȝ?059]G I],By'@]EK!P"K*K2K :K$!ay9y{^?GTSI c)]:<wjW@ j JAJi]߉<]Q<]F05]Be}3AeEuDDAT read: Rx Time:13:54:50.2458 uTRx dataTimestamp_ set to:1749131691.443970PDAT read: Bearing 191.8, -7.4 (Local) ~Local bearing/azimuth received: Bearing 191.8, -7.4 (Local) DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5 DAT read: 13:54:50.2458 LVL= 19040, 16465, 8306, 26915, AGC= 56, IDX= 2, 0.15,-1.657, 0.645,-0.971,-0.448, PHS=-1.121, 1.140,-0.526, RAW= 315.3, 5.0, CAL= 318.2, 7.4, ROT= 191.8, -7.4 Ygot valid direction response: 13:54:50.2458 LVL= 19040, 16465, 8306, 26915, AGC= 56, IDX= 2, 0.15,-1.657, 0.645,-0.971,-0.448, PHS=-1.121, 1.140,-0.526, RAW= 315.3, 5.0, CAL= 318.2, 7.4, ROT= 191.8, -7.4 T#Rx 22: Read range and direction messages.`direction in FSK: [-0.970715,-0.202793,0.128796]Fpublishing direction and range infoqyu5[Yu>V@u A q)qu;F3[Bп'?iu7u_u;u A q)q checking for new query: numPingsReceived=22, elapsed TxPingTime=5.569466ZqbujjhAu@u@u;7@ʁuz;ā,wd+x^O?u5[Yii1Ei Eq Eq Eu k3Ey a % checking for new query: numPingsReceived=22, elapsed TxPingTime=5.8014816G5 $>ZG9 RG= A~G A A N>䗻,٥ H > 05EȜ? 059J I-By B? :  ھ @Ei::}053AbZrjRJB~~{B}||||"? k{B fI)۽Io 9=z<<=:E+ =E@>iAiADDAT read: Rx Time:13:54:50.7460 TRx dataTimestamp_ set to:1749131691.947889PDAT read: Bearing 192.6, -6.4 (Local) ~Local bearing/azimuth received: Bearing 192.6, -6.4 (Local) DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.5 DAT read: 13:54:50.7460 LVL= 19888, 17201, 12322, 24995, AGC= 52, IDX= 500, 0.05,-1.243, 1.026,-0.535,-0.065, PHS=-1.090, 1.138,-0.473, RAW= 314.4, 4.3, CAL= 317.4, 6.4, ROT= 192.6, -6.4 Ygot valid direction response: 13:54:50.7460 LVL= 19888, 17201, 12322, 24995, AGC= 52, IDX= 500, 0.05,-1.243, 1.026,-0.535,-0.065, PHS=-1.090, 1.138,-0.473, RAW= 314.4, 4.3, CAL= 317.4, 6.4, ROT= 192.6, -6.4 T#Rx 23: Read range and direction messages.`direction in FSK: [-0.969835,-0.216784,0.111469]Fpublishing direction and range infoy/oa˿ -V:?3@EEEE@5EFFY M)1CI"0ia4?- @)`=IE@i="W@ )L48Gd~jϿ=TM@?iv8': )5checking for new query: numPingsReceived=23, elapsed TxPingTime=6.1018266Gܣ>~GiAyAN> ({, h khA9>Ժ@>ĸ@Y>py>s-X<>H?0?@E2߿`~?G`~?K?@? >Ժ@>;)>Clr{BrpI)t t5checking for new query: numPingsReceived=23, elapsed TxPingTime=6.306637IzIz3U= Uz=y};Q }?٥ H\F ?05߾Ȝ?0593M Iy  5 @Ei;<r<`053AEZb7jhA @ @Ġ6@ʁ8O `ĽJdd?/oa˿ -V:?:ҁTG3qRq'?Wpr?[sV>?XY܄M?z/?:J}ZBJ}QJJ}CRJyZJ}9bJ}-.9J}4JyzJ}.:jJ}3:J}4:rJ}4:j'ǜ?r[' -}B['   @87@ addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503919 s, deltaX: 0.300000 m, approachRate: 0.595333 m/s, rangeRepo size: 4   Added new target pos. range: 5.064200 m, bearing: 163.497076 deg, lat: 36.906382 deg, lon: -122.116040 deg, deltaT: 0.503919 s, deltaX: 0.297893 m, approachRate: 0.591152 m/s, posRepo size: 4 ))b1Z1r1j1R1J1B1~A~A}i|i|i|u`ff@|u? i{BzgI)II <<: =]=ii EEEEP0EAK\QP"K*K2K :KNGH`&7L>Z[tOr~EMzy%DDAT read: Rx Time:13:54:51.2461 TRx dataTimestamp_ set to:1749131692.452120PDAT read: Bearing 194.6, -5.0 (Local) ~Local bearing/azimuth received: Bearing 194.6, -5.0 (Local) DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed -0.5 = DAT read: 13:54:51.2461 LVL= 20880, 20497, 12642, 27123, AGC= 53, IDX= 501,-0.07,-2.519,-0.266,-1.745,-1.358, PHS=-1.073, 1.139,-0.390, RAW= 312.4, 3.3, CAL= 315.4, 5.0, ROT= 194.6, -5.0 ] Ygot valid direction response: 13:54:51.2461 LVL= 20880, 20497, 12642, 27123, AGC= 53, IDX= 501,-0.07,-2.519,-0.266,-1.745,-1.358, PHS=-1.073, 1.139,-0.390, RAW= 312.4, 3.3, CAL= 315.4, 5.0, ROT= 194.6, -5.0 m T#Rx 24: Read range and direction messages.u `direction in FSK: [-0.964027,-0.251110,0.087156]} Fpublishing direction and range infoy&AN581пO?@Y Q)PIb1ii5Xʑ?Ǿ !z@)k=I'@i¸=^Y@¸ )dz1￈fc˿b lح?i1'; n8¸ ) checking for new query: numPingsReceived=24, elapsed TxPingTime=6.5869996G o>i ~G A A N >,@$khA9vT@v@Yv zyvwm٥ H]F: >15YȜ?159P I.By_"?:5checking for new query: numPingsReceived=24, elapsed TxPingTime=6.809966=@EiH<H<~15EBE3AimEZ b khA h@ h@ t7@ʁ Ii=KR  %&U[? &AN581пO? 8 ¸ҁ ~2y?OD? c9pT?lQЭ+?z l? j [+ǜ?r l4+  |B !ǜ?   @ 6@% addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504231 s, deltaX: 0.200000 m, approachRate: 0.396644 m/s, rangeRepo size: 4 = Added new target pos. range: 5.262797 m, bearing: 164.238788 deg, lat: 36.906383 deg, lon: -122.116040 deg, deltaT: 0.504231 s, deltaX: 0.198596 m, approachRate: 0.393860 m/s, posRepo size: 4 aabaZarajaRaJiBi~i~mH{B}q|q|q|u@33@|u`?II@A g{BdZI)HI_ F=<:8a =X=ii E}EyEEO0EԙH=>H=CH=IH=~{BH9H9H9H=<H=EHǙCHH6G=H =I IǾ4jG] ?bGY ~G) A1 AI N] > ) ʏCU 9Gi Y y A DDAT read: Rx Time:13:54:51.7464  TRx dataTimestamp_ set to:1749131692.956494 PDAT read: Bearing 197.5, -4.0 (Local)  ~Local bearing/azimuth received: Bearing 197.5, -4.0 (Local)  DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed -0.7 5 DAT read: 13:54:51.7464 LVL= 21296, 18673, 13970, 27635, AGC= 53, IDX= 504,-0.11,-1.850, 0.382,-0.982,-0.688, PHS=-1.074, 1.116,-0.297, RAW= 309.5, 2.7, CAL= 312.5, 4.0, ROT= 197.5, -4.0 = Ygot valid direction response: 13:54:51.7464 LVL= 21296, 18673, 13970, 27635, AGC= 53, IDX= 504,-0.11,-1.850, 0.382,-0.982,-0.688, PHS=-1.074, 1.116,-0.297, RAW= 309.5, 2.7, CAL= 312.5, 4.0, ROT= 197.5, -4.0 = T#Rx 25: Read range and direction messages.M `direction in FSK: [-0.951394,-0.299973,0.069756]M Fpublishing direction and range info ,9>khAy wFqH3L2ӿ&k۱? f@Y 0S) HI 6i k x َ? b ۬@) A=I n@i 5= \@ 5 ) )[₩(3$ſb?i n> ? 5 5 ) Zchecking for new query: numPingsReceived=25, elapsed TxPingTime=7.1008819rL@r@YrAyyri|,]WkhA={BIi٥QY ]He^Fu }>K KP"K ŷ9*K 2K  :K Z#~lN(@[yyxq',Q,W[lglcD E3-DDAT read: Rx Time:13:54:52.2465 5TRx dataTimestamp_ set to:1749131693.475094=PDAT read: Bearing 199.9, -3.2 (Local) =~Local bearing/azimuth received: Bearing 199.9, -3.2 (Local) MDAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.6 DAT read: 13:54:52.2465 LVL= 18864, 21585, 12018, 24227, AGC= 54, IDX= 505,-0.12, 2.946,-1.106,-2.386,-2.165, PHS=-1.085, 1.106,-0.224, RAW= 307.1, 2.2, CAL= 310.1, 3.2, ROT= 199.9, -3.2 Ygot valid direction response: 13:54:52.2465 LVL= 18864, 21585, 12018, 24227, AGC= 54, IDX= 505,-0.12, 2.946,-1.106,-2.386,-2.165, PHS=-1.085, 1.106,-0.224, RAW= 307.1, 2.2, CAL= 310.1, 3.2, ROT= 199.9, -3.2 T#Rx 26: Read range and direction messages.15Ȝ?159V I0By@Ei=Y=+ 15B2AE%`direction in FSK: [-0.938822,-0.339849,0.055822]%Fpublishing direction and range info)y-AT *տᢔ?-̼@Y) -I)-QTI-.i-^-6-H኿-h?-B`e -Z@)-nF=I-I1@i-d=-ZJ_@-d )))- MlԱ :J [BJ dJJ FRJ ZJ :bJ |9J 4J  @ @ @ @,~qkhA9:H@:%@Y:y:<:H~?`?RG ?@Oዿ@Vt??`g? :H@:Jf;):Cb0{BfzIHHHIH{BHHH.DH<HEԙMb@Mb@Mb@ )Y rh? ףp= ?MbpyC+?Q8= @)dAIAyAIE IE2U.ü U!=y]`:Q ]>٥YDDAT read: Rx Time:13:54:52.7468 TRx dataTimestamp_ set to:1749131693.963965PDAT read: Bearing 200.6, -2.0 (Local) ~Local bearing/azimuth received: Bearing 200.6, -2.0 (Local) DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.6 DAT read: 13:54:52.7468 LVL= 25136, 21921, 17826, 32755, AGC= 54, IDX= 508,-0.07,-2.034, 0.249,-1.039,-0.853, PHS=-1.093, 1.149,-0.189, RAW= 306.4, 1.4, CAL= 309.4, 2.0, ROT= 200.6, -2.0 %Ygot valid direction response: 13:54:52.7468 LVL= 25136, 21921, 17826, 32755, AGC= 54, IDX= 508,-0.07,-2.034, 0.249,-1.039,-0.853, PHS=-1.093, 1.149,-0.189, RAW= 306.4, 1.4, CAL= 309.4, 2.0, ROT= 200.6, -2.0 %T#Rx 27: Read range and direction messages.-`direction in FSK: [-0.935489,-0.351627,0.034899]5Fpublishing direction and range infoy{5t|AֿXޡ?f@Y 0b)UIEim狿o?7A D @)+au15eɜ?159e[ Iay+?:-@eEieg;e;e15B2AEq-5Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseEntering Midcourse tracking update period 60.000000 s sec at 5.900000 m (mode 5.000000 count ).1~ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 5.900000 m (mode 5.000000 count ).q~~Zb}khA@@CG<@ʁ mzQQKu?{5t|AֿXޡ?/ 25ҁFr)!1M?:-:?ŖlHZ(>c?!3?)?zP? jǜ?rM: {Bǜ?0  |B@4h8@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.488871 s, deltaX: 0.300000 m, approachRate: 0.613658 m/s, rangeRepo size: 4  Added new target pos. range: 6.156470 m, bearing: 168.555559 deg, lat: 36.906383 deg, lon: -122.116044 deg, deltaT: 0.488871 s, deltaX: 0.297891 m, approachRate: 0.609344 m/s, posRepo size: 4 BNOT Ignoring new targets: 6.16 m.bZrjRzJB~~E{B}|||@|? = _{B= %BIA )E <;A IE U A i A m wo>٥ H`FE bE M >a u 15e ~6ɜ?} 159e a Ie 1By /? :  @e Eie &a\?z}ɛ?}Vj}sv1ǜ?r}Z@ }{By}39  }H|B}@}vF:@ԙ   addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.508784 s, deltaX: 0.100000 m, approachRate: 0.196548 m/s, rangeRepo size: 4   Added new target pos. range: 6.255768 m, bearing: 168.780121 deg, lat: 36.906383 deg, lon: -122.116048 deg, deltaT: 0.508784 s, deltaX: 0.099298 m, approachRate: 0.195167 m/s, posRepo size: 4  BNOT Ignoring new targets: 6.26 m.b Z r j R z J B ~ ~ O{B checking for new query: numPingsReceived=28, elapsed TxPingTime=8.826455} | | | @33@|% @ ? m \{Bm \b'Ii )u (q I  i>< : L. = Ξ=i i :Je ^BJe RJJe DRJa ZJe } :bJe S29Je 4Ja EM $EI EI EM |1EI FQ FQ 6GE2=HHHIH{BHHHHš<HE~GIAA)A9NE?,khAuR{BuIII2Ա5= =yQ #?٥?? H /?15Cɜ?159>c I2By@Ei:h:15 \2A 91EqEjA~E1E}BNOT Ignoring new targets: 6.26 m.byZyryjyRyzyJB~~}||||E? ]Z{BmDDAT read: Rx Time:13:54:53.7472 uTRx dataTimestamp_ set to:1749131694.971577}DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed -0.6 -}Z#Rx 29: Read range message, but no direction.im@Yichecking for new query: numPingsReceived=29, elapsed TxPingTime=9.080747 I)@ I ?<:Y =1=iiEe@&EaEiEmO0Ei 6G =~G A A N > checking for new query: numPingsReceived=29, elapsed TxPingTime=9.3292971 ,7khA9^u@^I@Y^'y^><^H ??ՓbD?Qp?`#Н?u? ^u@^];)\fg{BjIInIn 3v+^= vV=yz:Q z>٥|| ~H~aFG >15Vɜ?159f I3By!% %@Eigo;p;H15-B- 2A-ڬEAqEEtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqMMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourserI1MMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~U UAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR= addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.498828 s, deltaX: 0.500000 m, approachRate: 1.002349 m/s, rangeRepo size: 4 uBNOT Ignoring new targets: 6.26 m.bqZqryjyRyzJB~~}|||@33@|'? }X{B靅#I)f<I! O?<: =Oi=ii)E(EEEP0EDDAT read: Rx Time:13:54:54.2475 TRx dataTimestamp_ set to:1749131695.481616PDAT read: Bearing 202.6, -0.9 (Local) ~Local bearing/azimuth received: Bearing 202.6, -0.9 (Local) K P"K9*K2K :KpsJh@-D7jY|V$g;yITR1/guDAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed -0.7 DAT read: 13:54:54.2475 LVL= 24912, 29233, 11154, 28563, AGC= 57, IDX= 2,-0.41, 0.592, 2.889, 1.654, 1.780, PHS=-1.101, 1.155,-0.129, RAW= 304.6, 0.8, CAL= 307.4, 0.9, ROT= 202.6, -0.9 Q}Ygot valid direction response: 13:54:54.2475 LVL= 24912, 29233, 11154, 28563, AGC= 57, IDX= 2,-0.41, 0.592, 2.889, 1.654, 1.780, PHS=-1.101, 1.155,-0.129, RAW= 304.6, 0.8, CAL= 307.4, 0.9, ROT= 202.6, -0.9 }T#Rx 30: Read range and direction messages.`direction in FSK: [-0.923096,-0.384248,0.015707]Fpublishing direction and range infoډyڍvv/ؿy&?ڍf@Yډ ۍPa)ۍ1rIۍ+iۍoۍ9ۍ팿ۍ ד?ۍ ܍@)܍d@i܍<܍oNb@܍ ݉)݉ݍlaC f>_Ut?iݍlCݍc]ݍF/ݍ މ)މ% checking for new query: numPingsReceived=30, elapsed TxPingTime=9.6725396G% d=jG- ?bG- ?~G A A) N= >q <,xkhAchecking for new query: numPingsReceived=30, elapsed TxPingTime=9.833270QUj{BUI:JBJUJJRJZJbJ>9JJMb@Mb@Mb@ )Y7A`?A`"?MbPy6?Y=A v@)hAIAypAII(*3; #=yQ >٥    H bF >%15qɜ?E1599k I4ByE7?M:MM@Ei;;15Y2A׬EH]>HYԁH]IH]{BH] =HYH]/DH]ٚ<H]EZbkhA@@1=@ʁ fWv36⯩?vv/ؿy&?F/ҁRiQ#oB?Cu?-~us￀p듙?KvH?z?j: ǜ?rH o{BM:  {B@8@ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.510039 s, deltaX: 0.400000 m, approachRate: 0.784253 m/s, rangeRepo size: 4  Added new target pos. range: 7.149467 m, bearing: 169.375341 deg, lat: 36.906383 deg, lon: -122.116048 deg, deltaT: 1.008867 s, deltaX: 0.893699 m, approachRate: 0.885844 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.15 m.bZrjRzJB~~{B}|||@|? mV{B靕DhI)<IY ?<:> =,p=iibE!ZE!ԩ} DDAT read: Rx Time:13:54:54.7477  TRx dataTimestamp_ set to:1749131695.981507 PDAT read: Bearing 201.1, 0.0 (Local)  ~Local bearing/azimuth received: Bearing 201.1, 0.0 (Local)  DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.7  DAT read: 13:54:54.7477 LVL= 26352, 27697, 15458, 32755, AGC= 54, IDX= 500, 0.05, 0.508, 2.836, 1.534, 1.675, PHS=-1.079, 1.208,-0.144, RAW= 306.0, 0.1, CAL= 308.9, -0.0, ROT= 201.1, 0.0  Ygot valid direction response: 13:54:54.7477 LVL= 26352, 27697, 15458, 32755, AGC= 54, IDX= 500, 0.05, 0.508, 2.836, 1.534, 1.675, PHS=-1.079, 1.208,-0.144, RAW= 306.0, 0.1, CAL= 308.9, -0.0, ROT= 201.1, 0.0  T#Rx 31: Read range and direction messages. bdirection in FSK: [-0.932954,-0.359997,-0.000000] Fpublishing direction and range infoy y}  U%sA0 ׿} @Yy } f)} 1lI} b<i} } 6} } ?} t } @)} :I} @i} } `@} y )y } 꽛{ͺխP(e?i} lYB} .} 5~1} y )y  checking for new query: numPingsReceived=31, elapsed TxPingTime=10.107223E- *,E1 E1 E5 O0E1 F= =F= =6G] KXi= ~G A1 AI NU >%,lhA95t@5"$@Y5++y5:<5H:??] ޏ?6`e?Ն?`? 5t@51;)5CUn{B]IIuIu21< c=yÅ;Q >ԩ٥ HcFT >15ɜ?159n Iy^@Ei ;t;!151AZbkhAP@P@:@ʁ]C%?r U%sA0 ׿5~1ҁf߹ V\?nň"40Q?*c4z?ejǜ?r=+C {Bǜ?Z@  {Bꁭ@g:@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.499891 s, deltaX: 0.300000 m, approachRate: 0.600131 m/s, rangeRepo size: 4  Added new target pos. range: 7.447362 m, bearing: 167.218301 deg, lat: 36.906384 deg, lon: -122.116051 deg, deltaT: 0.499891 s, deltaX: 0.297894 m, approachRate: 0.595919 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.45 m.bZrjRzJB~~}|||%@|%I? }U{B}kIy)}<I }?<: =QE=iichecking for new query: numPingsReceived=31, elapsed TxPingTime=10.337210E]>.EYEYE]\0EY 6Gy ~GY A A N >I V,lhA"DDAT read: Rx Time:13:54:55.2479 *TRx dataTimestamp_ set to:1749131696.489332>PDAT read: Bearing 203.2, 0.4 (Local) B~Local bearing/azimuth received: Bearing 203.2, 0.4 (Local) jDAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.7 K #P"K 9*K 2K  :K FP=6B%`RRM."PNg^kAQ&dJ?J ?=DAT read: 13:54:55.2479 LVL= 25568, 26337, 15186, 32755, AGC= 53, IDX= 502,-0.39,-1.818, 0.470,-0.739,-0.656, PHS=-1.074, 1.173,-0.086, RAW= 304.0, -0.1, CAL= 306.8, -0.4, ROT= 203.2, 0.4 EYgot valid direction response: 13:54:55.2479 LVL= 25568, 26337, 15186, 32755, AGC= 53, IDX= 502,-0.39,-1.818, 0.470,-0.739,-0.656, PHS=-1.074, 1.173,-0.086, RAW= 304.0, -0.1, CAL= 306.8, -0.4, ROT= 203.2, 0.4 T#Rx 32: Read range and direction messages.bdirection in FSK: [-0.919113,-0.393932,-0.006981]Fpublishing direction and range info y"mK_i*"/6ٿa|"@Y "c)"fI"R;i "5"x"$?" "ɩ@)"I"uY@i"仉"b@"; ) "0D8Uȱcm#RMci"ڜD"j;"%/"; ) checking for new query: numPingsReceived=32, elapsed TxPingTime=10.6805729-@-O@Y- y-~\<-H`?`T?@﯎@x~? 1@d??? -@-+$;)-C}p{B}IMb@Mb@Mb@ )YT㥛 ?X9v?~jthyA?}=DA )zAIyIIj;  =y9Q >٥ HdF W >)I]15Mɜ?159Ms IIyA?:O@MEiM$=ii:J% YBJ% RJJ! RJ! ZJ% 9bJ% S29J! J! Y Eu 1Ey Ey E P0E HU >HU CHU IHU {BHU  =HQ HQ HU <HU Eԁ 6GC=ZGRGADDAT read: Rx Time:13:54:55.7482 TRx dataTimestamp_ set to:1749131696.989490PDAT read: Bearing 201.8, 1.3 (Local) ~Local bearing/azimuth received: Bearing 201.8, 1.3 (Local) ԩDAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -0.8 ~GAAN?,W@lhADAT read: 13:54:55.7482 LVL= 26480, 27873, 16562, 32755, AGC= 53, IDX= 505, 0.12, 1.474,-2.489, 2.527, 2.618, PHS=-1.056, 1.223,-0.094, RAW= 305.1, -0.8, CAL= 308.2, -1.3, ROT= 201.8, 1.3 Ygot valid direction response: 13:54:55.7482 LVL= 26480, 27873, 16562, 32755, AGC= 53, IDX= 505, 0.12, 1.474,-2.489, 2.527, 2.618, PHS=-1.056, 1.223,-0.094, RAW= 305.1, -0.8, CAL= 308.2, -1.3, ROT= 201.8, 1.3 T#Rx 33: Read range and direction messages."bdirection in FSK: [-0.928247,-0.371272,-0.022687]&Fpublishing direction and range info y aA2^"׿NGY; AY pg) lI @i + D?  ff@) dI !@i ޹ ia@ ޹< ) J{`ᅨݷ|䫊i URC `U< 0 ޹< ) 2checking for new query: numPingsReceived=33, elapsed TxPingTime=11.1237279^ݮ@^@Y^&y^ p<^HEo??Yzm?@z`3d?N?@l? ^ݮ@^\;)^Ceg{BeIII3 7 J=y?lQ >٥ H=eFE E>IM15Mɜ?U159Mw IIyQU<U@MEiMe:M:M)15B2AӬEZ b S?lhA A A 0;@ʁ %hʜVz&ǿ aA2^"׿NGY; 0 ޹<ҁ 1^ Rg?D ҿ Mq8Sk?:E(z ? j c/ǜ?r rH  FzB  rH  {B A :@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.500158 s, deltaX: 0.500000 m, approachRate: 0.999684 m/s, rangeRepo size: 4  Added new target pos. range: 8.241777 m, bearing: 167.464223 deg, lat: 36.906384 deg, lon: -122.116054 deg, deltaT: 0.500158 s, deltaX: 0.496521 m, approachRate: 0.992727 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.24 m.bZrjRzJB~~}||| @|ZB? R{B靕I)Ъ<I/V fW@<:=3B2=ii E3EEEE5checking for new query: numPingsReceived=33, elapsed TxPingTime=11.3461101 6G <=~G A A N >2,YlhAEm{BEII] I](2u0k< }W=y}Q }>٥ H >15ɜ?159C{ Iy@Ei:;-152AססDDAT read: Rx Time:13:54:56.2484 TRx dataTimestamp_ set to:1749131697.497468 PDAT read: Bearing 204.4, 3.2 (Local) =~Local bearing/azimuth received: Bearing 204.4, 3.2 (Local) QK"P"K9*K2K :Kv<=Zm fvB.n4&#7F9ze[Os+?:oc) DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed -0.7 UBNOT Ignoring new targets: 8.24 m.bQZQrQjQRQzQJYBY~Y~Y}a|a|a}DAT read: 13:54:56.2484 LVL= 29568, 25505, 17954, 32755, AGC= 55, IDX= 491,-0.08,-1.292, 0.985,-0.165,-0.182, PHS=-1.022, 1.214, 0.014, RAW= 302.4, -2.2, CAL= 305.6, -3.2, ROT= 204.4, 3.2 Ygot valid direction response: 13:54:56.2484 LVL= 29568, 25505, 17954, 32755, AGC= 55, IDX= 491,-0.08,-1.292, 0.985,-0.165,-0.182, PHS=-1.022, 1.214, 0.014, RAW= 302.4, -2.2, CAL= 305.6, -3.2, ROT= 204.4, 3.2 T#Rx 34: Read range and direction messages.|a|4?bdirection in FSK: [-0.909264,-0.412460,-0.055822]Fpublishing direction and range infoy=eڿᢔ AY s)cI"Fi7ЂZd?B`e< [@)nFI㭪@id&Qd@d= )2t￧L{KO59iyZF=-d=  =Q{B=I9)=h#h, tlhA8HM>HMCHIHIHIHIHM.DHMݚ<HMEHCHHHI = Ic59@@Y>Kyt<HK?:?`ӳH<@iJ? gi?2\?? @1c;)CUp{BUI-Mb@Mb@Mb@))) )))Y-uV?y&1?Mbpy-rH?-`e=-) -I@)-AI))y-AIMIM 3]; e.=yeQ e>٥ii mHmfFmم m>yԙ15}dɜ?159}7 IyU+GmAAyH?: *YAyC-B@}Ei}3=}.=}:1151AЬEZb_lhAAAp=@ʁ^sm"- 2A'޿=eڿᢔ-d=ҁ b䉞?Ouu{zTfH?^R{Pz?jv;$ǜ?riۙ۝9ۙ۝?۝#y= ܝ@)ܙIܝ@iܝkܝf@ܝk= ݙ)ݙݝq←!ӰvL{iݝHݝ=ݝ v+ݝk= ޙ)ޙ=checking for new query: numPingsReceived=35, elapsed TxPingTime=12.123216% Added new target pos. range: 8.539614 m, bearing: 169.595406 deg, lat: 36.906384 deg, lon: -122.116054 deg, deltaT: 0.507978 s, deltaX: 0.297836 m, approachRate: 0.586317 m/s, posRepo size: 4 MBNOT Ignoring new targets: 8.54 m.bQZQrQjQRQzQJYBY~Y~]p{B}a|||`ff"@|̟? P{B XI ) < Iz @<::=1=iiAE p9E E E E! ! 6G= 4=E checking for new query: numPingsReceived=35, elapsed TxPingTime=12.353717jGM ?bGM ?~GA!A1NE>kF$,RlhA:J.[BJ.ZJJ.@RJ,ZJ.:bJ.S9J.J4J,zJ.:2jJ.:6J.Qu:6rJ.Tu:6ub{BuII I2  8=yQ >٥ HgF > 15 %ʜ?159  tII y@ Ei t: I: .515EBE72AMͬEZblhA*A*A?@ʁÑR L0G| &3%쿃oVbܿ`8.y v+k=ҁO"][P?ϯF0zS6-&yq?vȨz}?GjvEǜ?r KNb xBǜ? M  FzBAr9@BNOT Ignoring new targets: 8.54 m.bZrjRzJB~~} | | | | ? O{B靅WI) <I> H A<:@=!=ii1E;EDDAT read: Rx Time:13:54:57.2489 TRx dataTimestamp_ set to:1749131698.505140PDAT read: Bearing 222.9, -9.8 (Local) ~Local bearing/azimuth received: Bearing 222.9, -9.8 (Local) DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.7 DAT read: 13:54:57.2489 LVL= 32752, 24049, 19858, 32755, AGC= 57, IDX= 512, 0.42,-2.950,-1.490,-1.778,-1.886, PHS=-0.976, 0.443, 0.106, RAW= 283.1, 6.7, CAL= 287.1, 9.8, ROT= 222.9, -9.8 Ygot valid direction response: 13:54:57.2489 LVL= 32752, 24049, 19858, 32755, AGC= 57, IDX= 512, 0.42,-2.950,-1.490,-1.778,-1.886, PHS=-0.976, 0.443, 0.106, RAW= 283.1, 6.7, CAL= 287.1, 9.8, ROT= 222.9, -9.8 T#Rx 36: Read range and direction messages.EE0E &MTFailed to parse incomplete device message.a6Gc6=`direction in FSK: [-0.721854,-0.670788,0.170209] Fpublishing direction and range infoyp%Clvwrl?AY )]IMi#y>= @)|=IX@i%/>Px@%/ )_V j{f#?p?6͇?i96@ڬゥe$%/ )e checking for new query: numPingsReceived=36, elapsed TxPingTime=12.683969~G A A N >ԑ @k*,BlhA~_{BIMb@Mb@Mb@ )YK7??~jtxyIL?L=checking for new query: numPingsReceived=36, elapsed TxPingTime=12.857233Ļ v@)IQAyI5I5b1E ER=yAQ M>٥II MHUhFQ U>Ye15]ʜ?e159]! IYyeL?m:m* m@]Ei]:]V:q]815y}H2A}ʬEZb7TlhAAARR@ʁ"' bA0Y$گ:&?p%Clvwrl?e$%/ҁ^Qs"Lw^!?^O?J4䂪=¿/ ?zr{j=!ǜ?rͫ B=!ǜ?HYH]IH]{BHYHYHYH]<H]EԡEe3>EaEaEe!1Ea DDAT read: Rx Time:13:54:57.7493  TRx dataTimestamp_ set to:1749131699.004972 PDAT read: Bearing 204.2, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 204.2, 3.9 (Local)  DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.6  DAT read: 13:54:57.7493 LVL= 23344, 24257, 12322, 23251, AGC= 60, IDX= 4, 0.35, 2.639,-1.290,-2.484,-2.515, PHS=-1.040, 1.273, 0.028, RAW= 302.5, -2.6, CAL= 305.8, -3.9, ROT= 204.2, 3.9 % Ygot valid direction response: 13:54:57.7493 LVL= 23344, 24257, 12322, 23251, AGC= 60, IDX= 4, 0.35, 2.639,-1.290,-2.484,-2.515, PHS=-1.040, 1.273, 0.028, RAW= 302.5, -2.6, CAL= 305.8, -3.9, ROT= 204.2, 3.9 - T#Rx 37: Read range and direction messages.5 bdirection in FSK: [-0.910008,-0.408974,-0.068015]5 Fpublishing direction and range info y @ƃ,ڿ,::si fAY 0[) ^I "0i Z <  ? B`< @) 9I {ʪ@i 'g d@ 'g= ) \￿O&xb҉i v\1,lhA9[@e@Y,\y<H %? q?cȎ:s$?~v? k?@? [@;)CT{BII I2j O=yǻQ >٥ HiF > 15 ,ʜ?159  I yD @ Ei >: : ;15AEu2AAZbvQlhAIAIA<@ʁM?!qr݃Ye@ƃ,ڿ,::si.'g=ҁ}z;#.ZJ?<rQ+M2Ӎ~?|ꔚԹz?j;rǜ?rn[ )xBc/ǜ?n[  yBAy<@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.499832 s, deltaX: 0.599999 m, approachRate: 1.200402 m/s, rangeRepo size: 4   Added new target pos. range: 9.830462 m, bearing: 168.931377 deg, lat: 36.906383 deg, lon: -122.116063 deg, deltaT: 0.499832 s, deltaX: 0.595764 m, approachRate: 1.191929 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.83 m.bZrjR9z9J9B9~A~A}A|A|I|M#@|M@? N{B靽 I)@;I? oA<:@=~z7,5_lhAZDDAT read: Rx Time:13:54:58.2495 fTRx dataTimestamp_ set to:1749131699.512795vPDAT read: Bearing 205.0, 4.2 (Local) z~Local bearing/azimuth received: Bearing 205.0, 4.2 (Local) K=DAP"K=+9*K92K= :K=9e~DHVe E}@O]M1zWgM8PZ:N?DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.7 Q]DAT read: 13:54:58.2495 LVL= 26816, 26065, 19154, 32755, AGC= 59, IDX= 502, 0.34, 0.935,-3.022, 2.111, 2.054, PHS=-1.031, 1.255, 0.054, RAW= 301.7, -2.8, CAL= 305.0, -4.2, ROT= 205.0, 4.2 eYgot valid direction response: 13:54:58.2495 LVL= 26816, 26065, 19154, 32755, AGC= 59, IDX= 502, 0.34, 0.935,-3.022, 2.111, 2.054, PHS=-1.031, 1.255, 0.054, RAW= 301.7, -2.8, CAL= 305.0, -4.2, ROT= 205.0, 4.2 eT#Rx 38: Read range and direction messages.mbdirection in FSK: [-0.903874,-0.421483,-0.073238]Fpublishing direction and range infoXyZ6Οg1#ڿZ3#AYX Zh)ZeIZJiZZ;ZZף?Z/]= ZF@)Z+HIZX@iZQ Zd@ZQ = X)XZw4l-D`iZ/GZK=Z"-ZQ = X)XF{BIchecking for new query: numPingsReceived=38, elapsed TxPingTime=13.719836 Mb@Mb@Mb@    ) Y q= ףp?~jt?I +y K? = 94 zA `@) I @ y zAImIm<2ԁ⽼ =yQ >٥ HjF >15*Lʜ?159 I2ByK?:@Ei;_:@15B2AȬEZXbZlhAZ "AZ "AZu=@ʁZa24=iy I R=I p=ԩ i EE ?EI EI EM 0EQ Hu >Hu CHu IHu {BHq Hq Hu /DHu y<Hu ]E DDAT read: Rx Time:13:54:58.7498 TRx dataTimestamp_ set to:1749131700.011930PDAT read: Bearing 204.8, 4.0 (Local) ~Local bearing/azimuth received: Bearing 204.8, 4.0 (Local)  DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.7 !EDAT read: 13:54:58.7498 LVL= 32752, 30577, 22850, 32755, AGC= 62, IDX= 505, 0.34, 0.513, 2.843, 1.684, 1.634, PHS=-1.033, 1.256, 0.047, RAW= 301.9, -2.7, CAL= 305.2, -4.0, ROT= 204.8, 4.0 MYgot valid direction response: 13:54:58.7498 LVL= 32752, 30577, 22850, 32755, AGC= 62, IDX= 505, 0.34, 0.513, 2.843, 1.684, 1.634, PHS=-1.033, 1.256, 0.047, RAW= 301.9, -2.7, CAL= 305.2, -4.0, ROT= 204.8, 4.0 UT#Rx 39: Read range and direction messages.Ubdirection in FSK: [-0.905566,-0.418430,-0.069756]]Fpublishing direction and range infoy5>7e;ڏڿ&k۱3+AY )qwIBYi>X9Ġ?@= ޜ@)AIt@i5d@5= ) G3tW'iFD=-\-5= )uchecking for new query: numPingsReceived=39, elapsed TxPingTime=14.1349716G}N<~GA AN-?9SA,ΎmhA9`D@N@Y y<H`f??@P)a?ۆc?`Փ?3? `D@+,;)C5@{B5IIEIE(1u^ u2=yuQ }>٥y HkFǻ >15fʜ?159 I1By)--@ Ei;;D155B=2A=ŬEZ9b=vmhA=)A=)A=/=@ʁ=&iE>#nF>=5>7e;ڏڿ&k۱=-\-=5=ҁ=vp=-$o`A?y=N=5P;V?g)ȵz= ?=y&j=&Ɯ?r=e =wB=Htǜ?=sTd  =)xB= 'A=l<@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.499135 s, deltaX: 0.500000 m, approachRate: 1.001733 m/s, rangeRepo size: 4  Added new target pos. range: 10.624978 m, bearing: 169.366301 deg, lat: 36.906382 deg, lon: -122.116066 deg, deltaT: 0.499135 s, deltaX: 0.496622 m, approachRate: 0.994965 m/s, posRepo size: 4 -DNOT Ignoring new targets: 10.62 m.b)Z)r)j)R)J)B1~1~1}1|9|9|=`ff%@|=zM?A L{B靭I)GIH FA<: )= |G,wfmhAhhDDAT read: Rx Time:13:54:59.2500 TRx dataTimestamp_ set to:1749131700.524261=PDAT read: Bearing 203.2, 4.7 (Local) M~Local bearing/azimuth received: Bearing 203.2, 4.7 (Local) yEDAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.6 DAT read: 13:54:59.2500 LVL= 32528, 26609, 22498, 32755, AGC= 57, IDX= 507, 0.27,-0.808, 1.558, 0.327, 0.295, PHS=-1.016, 1.309, 0.028, RAW= 303.4, -3.2, CAL= 306.8, -4.7, ROT= 203.2, 4.7 KHP"K9*K2K :K a8 =<4AEt5AJYu5w1gJ`'JF!Vux3Ygot valid direction response: 13:54:59.2500 LVL= 32528, 26609, 22498, 32755, AGC= 57, IDX= 507, 0.27,-0.808, 1.558, 0.327, 0.295, PHS=-1.016, 1.309, 0.028, RAW= 303.4, -3.2, CAL= 306.8, -4.7, ROT= 203.2, 4.7 T#Rx 40: Read range and direction messages.bdirection in FSK: [-0.916045,-0.392617,-0.081939]Fpublishing direction and range info y  f^٥ii mHmlFm= u>y15}Ãʜ?159} I}0ByH?:@}Ei}:}:}zI15 3A¬EZ b ~!mhA .A .A TJ;@ʁ Xv$+n'qߣ  f^I I  PExceeded connect timeout, disconnecting.E E E E ^0E  H >H CH IH {BH  =H H .DH <H E)6G%><5DDAT read: Rx Time:13:54:59.7503 5TRx dataTimestamp_ set to:1749131701.021029EPDAT read: Bearing 203.1, 5.3 (Local) E~Local bearing/azimuth received: Bearing 203.1, 5.3 (Local) UDAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.7 uDAT read: 13:54:59.7503 LVL= 31920, 24689, 18418, 32755, AGC= 57, IDX= 511, 0.24,-0.112, 2.203, 1.001, 0.955, PHS=-0.978, 1.295, 0.043, RAW= 303.3, -3.7, CAL= 306.9, -5.3, ROT= 203.1, 5.3 }Ygot valid direction response: 13:54:59.7503 LVL= 31920, 24689, 18418, 32755, AGC= 57, IDX= 511, 0.24,-0.112, 2.203, 1.001, 0.955, PHS=-0.978, 1.295, 0.043, RAW= 303.3, -3.7, CAL= 306.9, -5.3, ROT= 203.1, 5.3 T#Rx 41: Read range and direction messages.bdirection in FSK: [-0.915889,-0.390660,-0.092371]Fpublishing direction and range info1y5UN[ #ٿ{]U59AY1 5|)5q`I5Gi1155^z5¥?5 0= 5 e@)5 AI5g@i5q5ib@5q= 1)15ؚ b2{ςj}i5OE5=5LB/5q= 1)1checking for new query: numPingsReceived=41, elapsed TxPingTime=15.143591~GA)A9NM?P,CmhA9vF.@v7@YvM8yvs ٥ HmF9=) E>AM15Ehʜ?U159E IE/ByQUU@EEiE:E?;EM15}B"3AEZibmXAmhAmK8AmK8Am;@ʁm'Sj%R%7.*mUN[ #ٿ{]UmLB/mq=ҁmpGՆ[&Dl@dbRm!fᅣq?QvG˻zm@m2jmfƜ?rmPb m-vBm;rǜ?mPb  mwBm3Am:@] addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.496768 s, deltaX: 0.600000 m, approachRate: 1.207808 m/s, rangeRepo size: 4 m Added new target pos. range: 11.518470 m, bearing: 167.495416 deg, lat: 36.906381 deg, lon: -122.116065 deg, deltaT: 0.496768 s, deltaX: 0.595595 m, approachRate: 1.198941 m/s, posRepo size: 4 }DNOT Ignoring new targets: 11.52 m.byZyryjyRJB~~}|||@33'@|? }J{B靅8/I)hἉI`" A<:u=%~WW,\^mhA9N!@Nj+@YN"yNd,mDDAT read: Rx Time:13:55:00.2505 }TRx dataTimestamp_ set to:1749131701.528075DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.7 -Z#Rx 42: Read range message, but no direction.quf>AYqchecking for new query: numPingsReceived=42, elapsed TxPingTime=15.647694٥y HnFy >15 ʜ?159 I.By9ENE@Ei<Ւ<K]5P"K]59*KY2K] :K]T *s9P&A8yci= @u@5nrU {]Q15y}N3A}E addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.507046 s, deltaX: 0.299999 m, approachRate: 0.591661 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.52 m.bZrjRJB~!~!}!|!|!|-'@|-`ʶ? H{B靝!;I)<I B<: =H H IH {BH H H H <H EN >rv],pwxmhA 9> @>@Y>W%y>H<>H`? !?,Qb?@S??? > @>;)>CԑuDDAT read: Rx Time:13:55:00.7509 uTRx dataTimestamp_ set to:1749131702.027875PDAT read: Bearing 202.6, 5.9 (Local) ~Local bearing/azimuth received: Bearing 202.6, 5.9 (Local) DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.7 uDAT read: 13:55:00.7509 LVL= 20976, 23313, 12450, 25379, AGC= 62, IDX= 5, 0.13,-2.371,-0.081,-1.282,-1.334, PHS=-0.948, 1.301, 0.049, RAW= 303.7, -4.2, CAL= 307.4, -5.9, ROT= 202.6, 5.9 }Ygot valid direction response: 13:55:00.7509 LVL= 20976, 23313, 12450, 25379, AGC= 62, IDX= 5, 0.13,-2.371,-0.081,-1.282,-1.334, PHS=-0.948, 1.301, 0.049, RAW= 303.7, -4.2, CAL= 307.4, -5.9, ROT= 202.6, 5.9 T#Rx 43: Read range and direction messages.bdirection in FSK: [-0.918320,-0.382260,-0.102793]Fpublishing direction and range infoqyu,"0bˉvؿzBPuHAYq uQ)u[Iu0iu#cu>u!ru+?u9H= u;@)uQ Iu>@iuBҽuoNb@uB= q)quK4w iuDuݔ=uF/uB= q)qMchecking for new query: numPingsReceived=43, elapsed TxPingTime=16.193853]*{B]vIMb@Mb@Mb@ )Yw/?~jt?~jtyF?<A I@)IQAy@I I F3#< =y}Q >٥!! %H%oF%፻ ->1=155xʜ?E1595N I5-ByMG?M:MM@5$Ei5];5;5 V15uBu83A}EZqbuȁmhAuFAuFAub8:@ʁuk& {Xiu,"0bˉvؿzBPuF/uB=ҁuGk'anuu@$7@u{v t_c2? B@Czu35@u?juH'Ɯ?rud uuBu&Ɯ?usTd  uvBu@Auy9@5  addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.499800 s, deltaX: 0.600000 m, approachRate: 1.200481 m/s, rangeRepo size: 4 U  Added new target pos. range: 12.412004 m, bearing: 166.713038 deg, lat: 36.906380 deg, lon: -122.116066 deg, deltaT: 1.006846 s, deltaX: 0.893535 m, approachRate: 0.887459 m/s, posRepo size: 4 ] DNOT Ignoring new targets: 12.41 m.bY ZY rY jY RY Ja Ba ~a ~ zB} | | | )@| g? - F{B- gI-I) )- ༉) I5  1 1 5 \B<= := == ¾<< p=yO;Q ?٥ H ?15ʜ?159: I,By@@(Ei\::Y15,3AEDNOT Ignoring new targets: 12.41 m.bZrjRJB~~}|y|||@X?%DDAT read: Rx Time:13:55:01.2512 5TRx dataTimestamp_ set to:1749131702.540734UPDAT read: Bearing 201.6, 4.5 (Local) ]~Local bearing/azimuth received: Bearing 201.6, 4.5 (Local) DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.7 DAT read: 13:55:01.2512 LVL= 31728, 28481, 24914, 32755, AGC= 62, IDX= 503,-0.12, 2.854,-1.098,-2.363,-2.356, PHS=-0.985, 1.305,-0.010, RAW= 304.9, -3.2, CAL= 308.4, -4.5, ROT= 201.6, 4.5 Ygot valid direction response: 13:55:01.2512 LVL= 31728, 28481, 24914, 32755, AGC= 62, IDX= 503,-0.12, 2.854,-1.098,-2.363,-2.356, PHS=-0.985, 1.305,-0.010, RAW= 304.9, -3.2, CAL= 308.4, -4.5, ROT= 201.6, 4.5 T#Rx 44: Read range and direction messages. D{B,I)bdirection in FSK: [-0.926910,-0.366990,-0.078459]Fpublishing direction and range info)y-L?g0b|׿5;-LAY) -{)-AoI-Rai-)-(|-= ?AIMwh IIM.B- # -I@)-dI-9>@i-|٠-z0a@-|٠= )))-cr.H} >Hy H} IH} {BH}  =Hy Hy H} <H} $EHYHYHYH] =I] = I]Ϳ6ym,mhA) ďCԑqGZA%AAe{BmnI YZAyBUMb@Mb@Mb@QQQ Q)QYU/$?Mb?٥ HpF >15m˜?159= Iy?H?:@.Eic;.a;]15Bs3AEZDDAT read: Rx Time:13:55:01.7515 TRx dataTimestamp_ set to:1749131703.039950PDAT read: Bearing 199.3, 5.8 (Local) ~Local bearing/azimuth received: Bearing 199.3, 5.8 (Local) DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 DAT read: 13:55:01.7515 LVL= 29792, 27585, 21778, 32755, AGC= 63, IDX= 506, 0.32, 2.259,-1.669,-3.020,-2.999, PHS=-0.938, 1.377,-0.024, RAW= 306.9, -4.2, CAL= 310.7, -5.8, ROT= 199.3, 5.8 Ygot valid direction response: 13:55:01.7515 LVL= 29792, 27585, 21778, 32755, AGC= 63, IDX= 506, 0.32, 2.259,-1.669,-3.020,-2.999, PHS=-0.938, 1.377,-0.024, RAW= 306.9, -4.2, CAL= 310.7, -5.8, ROT= 199.3, 5.8 T#Rx 45: Read range and direction messages.%bdirection in FSK: [-0.938969,-0.328822,-0.101056]%Fpublishing direction and range infoyDzRq Ů;m տ+hg޹3SAY `t)kIUi? pAA?ļ g@)Q I@i4QϽȞ^@4Q= )f ܮv^Ⱦ7֓iSA?=34Q= )Uchecking for new query: numPingsReceived=45, elapsed TxPingTime=17.163086bcmhA[KA[KA8@ʁ D.ڏ'i [1qIs?Vz{K@CjSƜ?rYye XvBSƜ?d  XvBJAR8@ addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 1.012075 s, deltaX: 0.700000 m, approachRate: 0.691648 m/s, rangeRepo size: 4  Added new target pos. range: 12.709927 m, bearing: 165.447799 deg, lat: 36.906380 deg, lon: -122.116066 deg, deltaT: 0.512859 s, deltaX: 0.297922 m, approachRate: 0.580905 m/s, posRepo size: 4 =DNOT Ignoring new targets: 12.71 m.b9Z9r9j9RAJABA~A~MzB}I|I|I|M`ff*@|U`*R? B{B$^8I)I TB< : W =5{u,ZmhA9n@n0@YnIynR;nHa?E?;ok?g@?`&I}?` s?? n@n;)l{BiI  AII[3- -:=y5;Q 5>٥99 =H=qFEd E>IU15M˜?U159My IM+ByY]]@M4EiM;M;Mea15im3AmEZbmhAQAQA65@ʁ1/F(~zY=a1DzRq Ů;m տ+hg޹34Q=ҁ(3i?@jĸ ad'?zu@0Gjǜ?r~9DY YuBPb  -vBꁝ PA_7@DNOT Ignoring new targets: 12.71 m.bZrjRJB~~}||||? @{BHI ) . I   B<:n^ =P}Y=P"KS9*K2K :K~@+:DM\(,"'B'fH]5o>GEchecking for new query: numPingsReceived=46, elapsed TxPingTime=17.7406586G-<jG?bG}?ԙ ~G A A N >w{,mhA<9B@B@YB:yBp:BH??$jz@ Ĵ?g?@4G|?X?? B@B;)@N {BNpIvchecking for new query: numPingsReceived=46, elapsed TxPingTime=17.902802:JE\BJELJJEBRJAZJE=:bJEq9JE-4JAGGH>HHIH{BԩH =HHH <H/EMb@Mb@Mb@ )Yq= ףp?Q?MbpyK?u<A I@)v@I@y@IIT3M< U-=yU:Q U>٥YY ]H]rF]r ]>15M3˜?159O I,ByK?:|@:Ei;;e15Br3AEZb7mhA{VA{VAR 5@ʁR$/V@)6%493왜#.!.gԿO4,4^ =ҁp$[)»˃S@թˈ$Jd=Ce6}?"7Uz@Jjǜ?rnX  uB YuBUA7@ addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.505168 s, deltaX: 0.300000 m, approachRate: 0.593862 m/s, rangeRepo size: 4  Added new target pos. range: 13.405209 m, bearing: 162.152651 deg, lat: 36.906380 deg, lon: -122.116065 deg, deltaT: 1.004384 s, deltaX: 0.695282 m, approachRate: 0.692247 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.41 m.bZrjRJB~~zB}|||+@| ? u={B}_2Iy)}뼉yI} yyWB<:^" =!F ݡ)ݡݥhe8; jiݥ@ݥ+2=ݡݥV> ޡ)ޡ checking for new query: numPingsReceived=47, elapsed TxPingTime=18.2033426G- P},ϡnhA9rA@r@Yr:2yr?:rHX??`%,{?@k?5}?GU?`? rA@r;)rC~'{B~uII I (*3w< e=yQ >٥!! %H%sF-C ->1E155?F˜?M1595 I1yIMU@5>Ei5?|;5!;5h15Y]S3AYZb+nhAm^Am^A-5@ʁ\6P*:3 ņE MԿ'ЌCz¿V>ҁ˅&*P3@;a5sTf80lw!r?W"gÿz-@5Qj5eƜ?rt!?Y rB~9DY  uB[A 5@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504425 s, deltaX: 0.500000 m, approachRate: 0.991228 m/s, rangeRepo size: 4  Added new target pos. range: 13.901698 m, bearing: 162.096190 deg, lat: 36.906380 deg, lon: -122.116061 deg, deltaT: 0.504425 s, deltaX: 0.496490 m, approachRate: 0.984268 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.90 m.bZrjRJB~~}|||,@|?-checking for new query: numPingsReceived=47, elapsed TxPingTime=18.405245I ;{B *_-I )HIL2 9AMZB<: =t89̉,@)nhAK,P"K9*K2K :K6Lovom[Z~/@W nj ^3  d16sANs&DAT read: 13:55:03.2522 LVL= 30256, 24545, 21490, 32755, AGC= 63, IDX= 512, 0.47, 0.844, 2.818, 1.874, 1.987, PHS=-1.055, 0.878,-0.117, RAW= 301.0, 3.6, CAL= 304.0, 5.3, ROT= 206.0, -5.3 *Ygot valid direction response: 13:55:03.2522 LVL= 30256, 24545, 21490, 32755, AGC= 63, IDX= 512, 0.47, 0.844, 2.818, 1.874, 1.987, PHS=-1.055, 0.878,-0.117, RAW= 301.0, 3.6, CAL= 304.0, 5.3, ROT= 206.0, -5.3 *T#Rx 48: Read range and direction messages..`direction in FSK: [-0.894951,-0.436497,0.092371]RFpublishing direction and range infoymEqbFۿ{]U?dAY 0v)_ISi= `? 0@)=Iɩ@iq=f@q ):Q4e˛Kȹ?iG},q )checking for new query: numPingsReceived=48, elapsed TxPingTime=18.7718839Ê@r@YLDyy4;HE??\I} ?+g?@wh~?pf`?? Ê@7;)U{BUnI)Y Y }a=}a=ԑMb@Mb@Mb@ )Yn?~jt?~jthyVN?<DQA @)IyI I  3c $=yQ >٥ HtFI >15a˜?159 I-ByeN?:@EEi::l153AEZbw#nhA1cA1cA!=@ʁhwj)7,N%%j?mEqbFۿ{]U?,qҁDJ}+c b@ bG?͍PU@zSǢ?.)?z'@s^juYFƜ?r B YuBaAn4@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.507004 s, deltaX: 0.300000 m, approachRate: 0.591712 m/s, rangeRepo size: 4  Added new target pos. range: 14.199592 m, bearing: 169.320010 deg, lat: 36.906380 deg, lon: -122.116061 deg, deltaT: 0.507004 s, deltaX: 0.297894 m, approachRate: 0.587557 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.20 m.bZrjRJB~~zBchecking for new query: numPingsReceived=48, elapsed TxPingTime=18.909267}|!|!|-,@|5W?:J=]BJ=RJJ9RJ9ZJ=]:bJ=S29J9J9 %7{B%f.I!)%hм!I-  ))-{6C<5:5 =54*jEE>H>HHHH =HH/DH<HEEEEEP0E  DDAT read: Rx Time:13:55:03.7525  TRx dataTimestamp_ set to:1749131705.055989 PDAT read: Bearing 197.2, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 197.2, 10.1 (Local)  DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.7  DAT read: 13:55:03.7525 LVL= 18544, 18417, 13250, 24019, AGC= 64, IDX= 4, 0.15,-0.663, 1.539, 0.225, 0.182, PHS=-0.757, 1.404, 0.041, RAW= 308.6, -7.3, CAL= 312.8, -10.1, ROT= 197.2, 10.1  Ygot valid direction response: 13:55:03.7525 LVL= 18544, 18417, 13250, 24019, AGC= 64, IDX= 4, 0.15,-0.663, 1.539, 0.225, 0.182, PHS=-0.757, 1.404, 0.041, RAW= 308.6, -7.3, CAL= 312.8, -10.1, ROT= 197.2, 10.1  T#Rx 49: Read range and direction messages. bdirection in FSK: [-0.940475,-0.291125,-0.175367]% Fpublishing direction and range infoڡ yڥ ۅ<^@a̡ҿ:ujrƿڥ 3kAYڡ ۥ pH)ۥ GIۥ 3iۥ ]ۥ @ۥ Aۥ F?ۥ '= ܥ Z@)ܥ wIܥ R@iܥ J4ܥ FF\@ܥ J4> ݡ )ݡ ݥ 'bk¿%$Piݥ 9y?ݥ >ݥ o5ݥ J4> ޡ )ޡ = checking for new query: numPingsReceived=49, elapsed TxPingTime=19.1815206GE :<~GA!A1N=>§,^FnhA {BII3%?9 -E=y-Q ->٥11 5H5uF5 5>915=x˜?159= I9y@=JEi=$<= %<=p15B3AEZbSCnhAiAiAlP3@ʁ("t+a1|Z=tzۅ<^@a̡ҿ:ujrƿo5J4>ҁ%qP+L:!@-pNq\L>cZ?y"!jǿz@zXjǜ?roU npBǜ?t!?Y  uBeA3@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.499442 s, deltaX: 0.400000 m, approachRate: 0.800893 m/s, rangeRepo size: 4  Added new target pos. range: 14.596793 m, bearing: 160.530375 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.499442 s, deltaX: 0.397202 m, approachRate: 0.795291 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.60 m.bZrjRJB~~}|||`ff-@9|`RC? 4{B靍1I)ļI bC<: =J+`ʗ,`nhA9r@ra@Yrԃyr ٥11 =H=vF= =>Ie15M˜?e159MS IM.Byamm@MOEiMI;M5;Ms15uBu,3ADDAT read: Rx Time:13:55:04.2527 TRx dataTimestamp_ set to:1749131705.559984PDAT read: Bearing 196.7, 9.6 (Local) ~Local bearing/azimuth received: Bearing 196.7, 9.6 (Local) DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.5 DAT read: 13:55:04.2527 LVL= 27824, 24001, 19298, 32755, AGC= 63, IDX= 502,-0.10, 2.636,-1.464,-2.784,-2.806, PHS=-0.754, 1.388, 0.018, RAW= 309.2, -7.0, CAL= 313.3, -9.6, ROT= 196.7, 9.6 Ygot valid direction response: 13:55:04.2527 LVL= 27824, 24001, 19298, 32755, AGC= 63, IDX= 502,-0.10, 2.636,-1.464,-2.784,-2.806, PHS=-0.754, 1.388, 0.018, RAW= 309.2, -7.0, CAL= 313.3, -9.6, ROT= 196.7, 9.6 T#Rx 50: Read range and direction messages. bdirection in FSK: [-0.944409,-0.283336,-0.166769]Fpublishing direction and range infoځyڅʧ8`."ҿ8_XſڅpAYځ ۅl)ۅ]IۅbKiۅۅ?ۅ%Aۅ?ۅt< ܅@)܅5I܅@i܅+܅L[@܅+> ݁)݁݅) n[U$#7ĿJK,i݅>݅5=݅ih6݅+> ށ)ށchecking for new query: numPingsReceived=50, elapsed TxPingTime=19.706963qZbcnhAPnAPnA2@ʁVo#",]g}cx*ʧ8`."ҿ8_Xſih6+>ҁQօD+^ ?@'R9^ ٓ?!ƿz@b\j mǜ?rT pBǜ?nX  rBꁅiAm3@K]XP"K*K2K :Keo_c+ Q`YO Z^ ZJ?qY^o addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503995 s, deltaX: 0.300000 m, approachRate: 0.595244 m/s, rangeRepo size: 4  Added new target pos. range: 14.894688 m, bearing: 159.969091 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.503995 s, deltaX: 0.297894 m, approachRate: 0.591066 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.89 m.bZrjRJB~~!}A|A|I|M.@|MƠ? 1{B靝 )I)،I5 eC<:L =*H H IH {BH  =H H .DH ޚ<H E~GQ Aa Ay N >,/znhA.{ByIi٥YY eHae e>i15m˜?159m Im/By Y)Y]D> M rƿn i]P=]Ue>]7];0> Y)Ychecking for new query: numPingsReceived=51, elapsed TxPingTime=20.190340I u.{BuV*Iq)} 8yI}s5 yy}uC<: =o)Y,pnhAԹ9@@Y"y|У<H-?# ?@]. (?ʄ[?sy? ? @ օ;)C9{BII5I53EG< EO=yEʹQ M>٥II MHMwFU; U>Ye15]˜?e159] I]0Byae m@]ZEi]:]:]{152AEZb3nhAAvAAvAd~1@ʁ9ҁD-6,f@f1FǗOT)h?<]ǿz/@ajU ǜ?r(T oBoU  pB`uA2@m addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503932 s, deltaX: 0.500000 m, approachRate: 0.992197 m/s, rangeRepo size: 4 } Added new target pos. range: 15.391091 m, bearing: 158.900642 deg, lat: 36.906381 deg, lon: -122.116060 deg, deltaT: 0.503932 s, deltaX: 0.496404 m, approachRate: 0.985061 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.39 m.bZrjRJB~~}|||/@|@? +{BoI)f<I#  DŽC<: =%NP"K 9*K 2K :K :uMDuX%Td i?~GA AI AY Ne >9 e,ίnhA}L{B}IQeDDAT read: Rx Time:13:55:05.7535 mTRx dataTimestamp_ set to:1749131706.824913}checking for new query: numPingsReceived=52, elapsed TxPingTime=20.933426Mb@Mb@Mb@ )YA`"?Mb?MbPyY?<hA I@)@I@y@)-@AI5 I5̍2:JE]BJAJJE?RJAZJE]:bJAJEـ4JAHHHIH{BHHHH<HE= ,=yQ >٥ HxF >15˜?159 I2By Y?z:c@aEi;s;15B%2A%EZ)b-ʍnhA-{A-{A-ڦ0@ʁ-.BwB-% |i?!9пA7X-8-=ҁ-_v|,&"@~QW-( fj& L?Zz-@-fj-sǜ?r- fQ -rBy- mǜ?-(T  )-|A-Ct1@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.507238 s, deltaX: 0.300000 m, approachRate: 0.591439 m/s, rangeRepo size: 4 } Added new target pos. range: 15.688966 m, bearing: 158.146890 deg, lat: 36.906381 deg, lon: -122.116059 deg, deltaT: 0.507238 s, deltaX: 0.297874 m, approachRate: 0.587248 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.69 m.bZrjRJB~~{B}|||/@|`P? 5'{B5zI1)5|=1I=wp 99=PCI,CnhAX9f@f3@Yf(yf٥YY ]H]yFekj; e>i15my˜?159m^ Im3By@mfEim;m;mȂ15|2AZbnhAAAq/@ʁ>޾/Q, ;Y E4 $ϿO4O9^ =ҁYt-en@`sV9X՟vM?O94Gzw@ljrǜ?r%oM rsBrǜ?T  }A0@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.499701 s, deltaX: 0.400001 m, approachRate: 0.800480 m/s, rangeRepo size: 4  Added new target pos. range: 16.086155 m, bearing: 157.505489 deg, lat: 36.906383 deg, lon: -122.116059 deg, deltaT: 0.499701 s, deltaX: 0.397189 m, approachRate: 0.794854 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.09 m.bZrjRJB~~}|||@330@| M?]DDAT read: Rx Time:13:55:06.2537 mTRx dataTimestamp_ set to:1749131707.326214}checking for new query: numPingsReceived=53, elapsed TxPingTime=21.434355 ${BpûI)H(=I  C<:E =M[ `^@ D  )  BL1[= 4!G鿿8?i A  Ud3 D  )  checking for new query: numPingsReceived=54, elapsed TxPingTime=21.707264~G9 Ai y AANI"q,nhAK*6P"K* 9*K(2K* :K* <';>&tWKH3le CC_(=1 E91@ఴ@Yl$yT<H?? 헿w?6,@?Z?? 1@骍;)CT{BII=Mb@Mb@Mb@999 9)9Y=RQ?Mb?Mbpy=b?====zA =@)=`@I=QA9y=\@ImImM30< =yc9Q >٥ HzFM U>}DDAT read: Rx Time:13:55:06.7541 TRx dataTimestamp_ set to:1749131707.832069PDAT read: Bearing 195.0, 4.1 (Local) ~Local bearing/azimuth received: Bearing 195.0, 4.1 (Local) checking for new query: numPingsReceived=54, elapsed TxPingTime=21.94551815̜?5159 I5By=b?Eo:EE@nEif <' HHIH{BH =HHH<HEHaHaHaHaIe = Ie5Z1b5#nhA5A5A5>6@ʁ5V.G{]^3h @5Cog#ԿP@ml?5Ud35 Dҁ57.q@E}@54*&3D?81&?z5@5wj5m Ɯ?r5:z 5VB11 5rB5A5k0@5 addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504837 s, deltaX: 0.299999 m, approachRate: 0.594250 m/s, rangeRepo size: 4 m Added new target pos. range: 16.384047 m, bearing: 163.154924 deg, lat: 36.906383 deg, lon: -122.116059 deg, deltaT: 0.504837 s, deltaX: 0.297892 m, approachRate: 0.590075 m/s, posRepo size: 4 uDNOT Ignoring new targets: 16.38 m.bqZqrqjqRqJqBq~y~} {B}y|||0@| @$?%9GAY - YyBԙ {B ή̻I ) R= I  B< : D = S٥ H{F >15.̜?159 I6By@tEi4:,:Nj15*2AZb ohAևAևA+0@ʁF[0>u%,l.#8п MN8C=ҁÿu/W=?@^I|QWo?xz@{jkTǜ?rX puB(T  rsBꁭA DDAT read: Rx Time:13:55:07.2543 TRx dataTimestamp_ set to:1749131708.337449-PDAT read: Bearing 194.7, 4.4 (Local) -~Local bearing/azimuth received: Bearing 194.7, 4.4 (Local) =checking for new query: numPingsReceived=55, elapsed TxPingTime=22.4491770@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502987 s, deltaX: 0.600000 m, approachRate: 1.192875 m/s, rangeRepo size: 4 = Added new target pos. range: 16.979921 m, bearing: 158.431250 deg, lat: 36.906383 deg, lon: -122.116059 deg, deltaT: 0.502987 s, deltaX: 0.595875 m, approachRate: 1.184672 m/s, posRepo size: 4 EDNOT Ignoring new targets: 16.98 m.:J-^BJ-bJJ-CRJ)ZJ-} :bJ-t9J-4J)zJ-_:MjJ-d:UJ-R:UrJ-S:UbAZYrYjYRYJYBY~a~a}a|a|i|m1@i|@? {BI)=I xB<: =iiE?EEEd0Eԡ DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.8  DAT read: 13:55:07.2543 LVL= 23200, 22465, 17122, 29907, AGC= 61, IDX= 502,-0.17,-0.872, 1.515,-0.038, 0.139, PHS=-0.923, 1.423,-0.180, RAW= 311.9, -3.1, CAL= 315.3, -4.4, ROT= 194.7, 4.4 6G F<- Ygot valid direction response: 13:55:07.2543 LVL= 23200, 22465, 17122, 29907, AGC= 61, IDX= 502,-0.17,-0.872, 1.515,-0.038, 0.139, PHS=-0.923, 1.423,-0.180, RAW= 311.9, -3.1, CAL= 315.3, -4.4, ROT= 194.7, 4.4 - T#Rx 56: Read range and direction messages.5 bdirection in FSK: [-0.964417,-0.253010,-0.076719]= Fpublishing direction and range infoډ yڍ  P1п.0ۣڍ ̌AYډ ۍ Z)ۍ WIۍ Biۍ tۍ =ۍ Ilۍ $?ۍ Q8 ܍ 2@)܍ k]I܍ @i܍ nF܍ c{Y@܍ nF= ݉ )݉ ݍ irBIYevʿ[!ګiݍ ;ݍ 4^=ݍ R8ݍ nF= މ )މ ] checking for new query: numPingsReceived=56, elapsed TxPingTime=22.714935~G A A9 Nm >Z,Lm+ohA<K~[JP"K~9*K|2K~ :K~` QWcgjW{do Mke.!zYGaB7p{BI=Mb@Mb@Mb@999 9)9Y=x&?Q?~jthy=7i?=<=D=A =I@)=@I=@9y=@I}I} 3x< !=yQ >٥ H|F >ԩ15N̜?159 I8ByWi?h:@|EiK;;4152AEZb~Q%ohAϋAϋADDAT read: Rx Time:13:55:07.7547 TRx dataTimestamp_ set to:1749131708.838717PDAT read: Bearing 194.7, 4.9 (Local) ~Local bearing/azimuth received: Bearing 194.7, 4.9 (Local) -DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed -0.7 [0@ʁ*0EK}ӯd9Es P1п.0ۣR8nF=ҁ{%0~@鑢-=Z#Rx 57: Read range message, but no direction.AYuchecking for new query: numPingsReceived=57, elapsed TxPingTime=22.962379YB{:;?SƷzx@.jp-'Ɯ?raX tBkTǜ?aX  tBꁝA0@II addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.760038 s, deltaX: 1.100000 m, approachRate: 1.447297 m/s, rangeRepo size: 4  Added new target pos. range: 17.476410 m, bearing: 158.124166 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.504420 s, deltaX: 0.496489 m, approachRate: 0.984276 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.48 m.bZrjRJB~~2{BH>HCHIH{BH =HH/DH<HE}1|1|9|=@332@|=? {B靍,nxI)=It  B<:U =mRz8i} ;} sy=y } %=1 6G iG<ZG RG  checking for new query: numPingsReceived=58, elapsed TxPingTime=23.211805~GiAAN>3w,qWJohA9nz@n΃@Ynkyn ٥ H}FC >=15k̜?=159* I9By9EE@Ei;(;915uB}1A}EZb5ohAAAO0@ʁ@j1 IkFPhת_.пb$ݵ%=ҁ;0+D#@p6y~7s?73z@HjuƜ?r& lV tBp-'Ɯ? ꁭzA`I0@ DNOT Ignoring new targets: 17.48 m.b Z)r)j1R1J1B1~1~9}9|9|9|9|E? {B pI)z=I3; -A<=:Eө =DDAT read: Rx Time:13:55:08.2549 TRx dataTimestamp_ set to:1749131709.343152PDAT read: Bearing 194.3, 6.0 (Local) ~Local bearing/azimuth received: Bearing 194.3, 6.0 (Local) DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.8 EV\;ii-eZ#Rx 59: Read range message, but no direction.ډڍAYډuchecking for new query: numPingsReceived=59, elapsed TxPingTime=23.478621:JbBJXJJ>RJZJ:bJ5K9Jt4JzJH ;jJJ ;Jf:rJf:E?EEEU0E) 6G #@U<~G A A N >0,~eohADAT read: 13:55:08.2549 LVL= 24880, 23841, 17970, 30115, AGC= 60, IDX= 508,-0.08, 0.911,-2.964, 1.744, 1.886, PHS=-0.887, 1.480,-0.145, RAW= 312.1, -4.3, CAL= 315.7, -6.0, ROT= 194.3, 6.0 Ygot valid direction response: 13:55:08.2549 LVL= 24880, 23841, 17970, 30115, AGC= 60, IDX= 508,-0.08, 0.911,-2.964, 1.744, 1.886, PHS=-0.887, 1.480,-0.145, RAW= 312.1, -4.3, CAL= 315.7, -6.0, ROT= 194.3, 6.0 "Z#Rx 60: Read direction message, but no range.&bdirection in FSK: [-0.963707,-0.245646,-0.104528]y އʰSqϿ4ޮ`ºY 0a) !]I 2Fi u oc p? z =O@) `I Q@i Pwֽ  Y@ Pw=  Gu[1ᅣKʿ(NHi 1|; g= 9 Pw=2checking for new query: numPingsReceived=60, elapsed TxPingTime=23.7069979nl@nev@YnynK C٥ H~FN >15+̜?159 I:By,p?b:@Ei&;"&;˜15B1AEZ b 4UohA A A /@ʁ %1Pk A. އʰSqϿ4ޮ`º 9 Pw=ҁ [aGm0.W@z X4 4Y{?aUu~_z @ Æj X#ǜ?r ?W  3sB    DA /@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504435 s, deltaX: 0.299999 m, approachRate: 0.594723 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 18.370213 m, bearing: 157.355425 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.760053 s, deltaX: 0.893803 m, approachRate: 1.175974 m/s, posRepo size: 4 DDAT read: Rx Time:13:55:08.7553 TRx dataTimestamp_ set to:1749131709.847143PDAT read: Bearing 194.0, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 194.0, 6.6 (Local) -DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.7 -5Z#Rx 61: Read range message, but no direction.uDNOT Ignoring new targets: 18.37 m.3AYchecking for new query: numPingsReceived=61, elapsed TxPingTime=23.974384bZrjRJB~~{B}|||`f2@| {/?I4=I%= E {BE !#II )M R=I IM d3 I I M A<} :} Z = _j;i i H >H H IH {BH  =H H H <H E E ?E E E O0E DAT read: 13:55:08.7553 LVL= 23776, 19985, 15650, 30627, AGC= 60, IDX= 496, 0.12,-2.943,-0.556,-2.123,-1.995, PHS=-0.860, 1.485,-0.131, RAW= 312.3, -4.8, CAL= 316.0, -6.6, ROT= 194.0, 6.6 Ygot valid direction response: 13:55:08.7553 LVL= 23776, 19985, 15650, 30627, AGC= 60, IDX= 496, 0.12,-2.943,-0.556,-2.123,-1.995, PHS=-0.860, 1.485,-0.131, RAW= 312.3, -4.8, CAL= 316.0, -6.6, ROT= 194.0, 6.6 Z#Rx 62: Read direction message, but no range.bdirection in FSK: [-0.963865,-0.240319,-0.114937]qyuQ2 οNZlYq u\)uNIu"=iuwqu(\6G*;u{?u$ uk@)uIu|@iu뽉u8X@u= quQF'ĭ6˿ m7oiu)M;u`=u}l9u=checking for new query: numPingsReceived=62, elapsed TxPingTime=24.219149~GAAN ?*,ohA 9> c@>l@Y>y>%<>H?;?R<?r@>t?`b`?? > c@>C߅;)>Ce{{BeIIu IuV2z <=y;Q >٥ HF|0 >!-15%̜?-159% I!y)-, -@%Ei%7:%e:%15Y]1AeEZb7vohA#A#A]/@ʁ}p[25.j sGAQ2 οNZl}l9=ҁY[m%1F |@rNOPc`,6"ohA9>^@>g@Y>y>V<>H`???@縂j@?}q Ncs???@? >^@>Z;)>CD {B III3u = uP=y}9Q }>٥yDAT read: 13:55:09.2555 LVL= 18736, 20113, 12994, 22451, AGC= 64, IDX= 2, 0.32, 2.053,-1.840, 2.872, 2.981, PHS=-0.840, 1.510,-0.112, RAW= 312.4, -5.4, CAL= 316.1, -7.5, ROT= 193.9, 7.5 Ygot valid direction response: 13:55:09.2555 LVL= 18736, 20113, 12994, 22451, AGC= 64, IDX= 2, 0.32, 2.053,-1.840, 2.872, 2.981, PHS=-0.840, 1.510,-0.112, RAW= 312.4, -5.4, CAL= 316.1, -7.5, ROT= 193.9, 7.5 Z#Rx 64: Read direction message, but no range.bdirection in FSK: [-0.962412,-0.238173,-0.130526]ځyڅ%mt2r|ο /Yځ ۅ0I)ۅNIۅ2iۅWۅ@ۅ= WۅG?ۅB` ܅!z@)܅I܅&@i܅ ܅X@܅ > ݁݅ʭPb DV˿҄AY!i݅9;݅CT=݅9݅ >checking for new query: numPingsReceived=64, elapsed TxPingTime=24.716377 HF ʺ  >15̜?159  IyV @Ei::915B1A]EZyb}rpohA}A}A}6/@ʁ}T.GY29=)hҁ}Tm\]1E{@=6}w%u?bsz}@}j}Uڔ ǜ?r}}Y }qB}X#ǜ?y }3sB}EA}&/@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503470 s, deltaX: 0.300001 m, approachRate: 0.595867 m/s, rangeRepo size: 4  Added new target pos. range: 19.065374 m, bearing: 156.857025 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.503470 s, deltaX: 0.297897 m, approachRate: 0.591688 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.07 m.KL-P"K9*K2K :Kgff=>5A\4O { s!uagbb)Z)r)j)R)J1B1~1~1}9|9|9|=@333@|=? {B靭8UI)=I| A<: =;iiEEEEEe DDAT read: Rx Time:13:55:09.7559 u TRx dataTimestamp_ set to:1749131710.856508 PDAT read: Bearing 193.5, 7.0 (Local)  ~Local bearing/azimuth received: Bearing 193.5, 7.0 (Local)  DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed -0.8 - Z#Rx 65: Read range message, but no direction.a e fAYa  checking for new query: numPingsReceived=65, elapsed TxPingTime=24.978237 H H H IH {BH H H H <H E6G ~q;A ~G A A N >5,̿ohA95^@5g@Y5*my5j<5H`?@??^@@?@krq?/?? 5^@5;)5C}{B}IeDAT read: 13:55:09.7559 LVL= 25488, 22209, 17058, 30963, AGC= 63, IDX= 486,-0.32, 1.015,-2.866, 1.821, 1.952, PHS=-0.850, 1.512,-0.134, RAW= 312.8, -5.1, CAL= 316.5, -7.0, ROT= 193.5, 7.0 mYgot valid direction response: 13:55:09.7559 LVL= 25488, 22209, 17058, 30963, AGC= 63, IDX= 486,-0.32, 1.015,-2.866, 1.821, 1.952, PHS=-0.850, 1.512,-0.134, RAW= 312.8, -5.1, CAL= 316.5, -7.0, ROT= 193.5, 7.0 mZ#Rx 66: Read direction message, but no range.}bdirection in FSK: [-0.965122,-0.231705,-0.121869]AyER-GqswͿUM7P2YA Ec)EVIEBiExE?EYE7?EL7 ER@)EKIEWİ@iE5E>$X@E5= AEridxC̿F iE:Ekŵ=Ew9E5=checking for new query: numPingsReceived=66, elapsed TxPingTime=25.219433]Mb@Mb@Mb@YYY Y)YY]> ףp=?Mb?{Gzty]q?]=]ף]QA ]I@)]v@IYYy]@IuIu#39/< =yG:Q >٥ HF7 >15̜?159|$ Iyr?`:@EiP;D;Ť151AEZAbEѶohAEJAEJAE.@ʁEmXF281+ER-GqswͿUM7P2Ew9E5=ҁEwג g1!&@H= %EpDY?:Յ#ezE4@EjErǜ?rEOW E}qBErǜ?EOW  ETrBEAE.@ addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.505895 s, deltaX: 0.599998 m, approachRate: 1.186014 m/s, rangeRepo size: 4  Added new target pos. range: 19.661148 m, bearing: 156.460501 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.505895 s, deltaX: 0.595774 m, approachRate: 1.177663 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.66 m.bZrjRIJIBQ~Q~U{B}Q|Y|Y|]3@|]`L? {B aI)>I5% b@<:x =#;iiEEEEO0E  DDAT read: Rx Time:13:55:10.2561 % TRx dataTimestamp_ set to:1749131711.360278E PDAT read: Bearing 193.3, 8.3 (Local) U ~Local bearing/azimuth received: Bearing 193.3, 8.3 (Local)  DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed -0.7 :J) BJ- UJJ- ERJ) ZJ) bJ- >9J- 4J) zJ) jJ) J- }Q:rJ- Q:I  DAT read: 13:55:10.2561 LVL= 27328, 19665, 18322, 32755, AGC= 62, IDX= 488,-0.00, 0.418, 2.832, 1.227, 1.327, PHS=-0.821, 1.552,-0.103, RAW= 312.8, -6.0, CAL= 316.7, -8.3, ROT= 193.3, 8.3  Ygot valid direction response: 13:55:10.2561 LVL= 27328, 19665, 18322, 32755, AGC= 62, IDX= 488,-0.00, 0.418, 2.832, 1.227, 1.327, PHS=-0.821, 1.552,-0.103, RAW= 312.8, -6.0, CAL= 316.7, -8.3, ROT= 193.3, 8.3  T#Rx 67: Read range and direction messages. bdirection in FSK: [-0.962986,-0.227640,-0.144356] Fpublishing direction and range info y yO8Q#Ϳ'ЌCz¿ ̠AY  j) LI Gi 6G {/; > -R ? ҽ  ) PwֽI @i V W@ V>  )  C!a˦>K̿uoѺi : q= 4: V>  ) ~G A A N >,aoohAVchecking for new query: numPingsReceived=67, elapsed TxPingTime=25.5398419Ff@Fo@YFyF1ҁCl2{B@@ &`zCuSp?KYW[ÿz@j/ ǜ?r?  {B:I)= >9I= 99=@I ~,9ohANDDAT read: Rx Time:13:55:10.7565 RTRx dataTimestamp_ set to:1749131711.866756^PDAT read: Bearing 192.9, 8.7 (Local) f~Local bearing/azimuth received: Bearing 192.9, 8.7 (Local) vDAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed -0.8 -~Z#Rx 68: Read range message, but no direction.LNAYLchecking for new query: numPingsReceived=68, elapsed TxPingTime=25.9874009}r@}M|@Y}by}Z<}H?.?Ee@/?Tჿt? +?? }r@};)}C) GG?A1H>HHIH|BH =HHHؚ<HE Mb@Mb@Mb@    ) Y /$?:v?MbP?y &q? < : A 3@) @I  y f@IeIe#3yuTQ u>٥qq }H}F}pH; >15~͜?1590 Iq?a:@Ei:{:?15YeBe1AeE addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.506478 s, deltaX: 0.600000 m, approachRate: 1.184652 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 19.96 m.bZrjRJB~~3{B}|||@34@|5`? ] {BeH:Ia)e>aIe&R aim1@ )-A":Ϳѳ[ i-9:-{=- :ԉ-|>checking for new query: numPingsReceived=69, elapsed TxPingTime=26.233286EEEES0E~G A A N >Ա ,#phA9Fȅ@Fx@YFyFQDDAT read: Rx Time:13:55:11.2568 TRx dataTimestamp_ set to:1749131712.371663PDAT read: Bearing 192.5, 8.6 (Local) ~Local bearing/azimuth received: Bearing 192.5, 8.6 (Local) I]I !%P?<-:-]=-z ݩ)ݩݭɃ5k1FοViݭQ9ݭ3=ݭk;ԱE?EEE0Eݭ`> ީ)ީchecking for new query: numPingsReceived=70, elapsed TxPingTime=26.554493~GAANj>E checking for new query: numPingsReceived=70, elapsed TxPingTime=26.726994 ,Z)phA9-@-@Y-7PŻy-!<-H`?@N? @?  x? k?@{? -@-pU;)-C{BIII2x2= :=y%ձQ %>٥11 =H=FE.; >15M͜?159I; I>Bys@Ei:::1521A EZbTphAiAiA-@ʁ#iFLR4AI8ZN/ 5tX5d˿S&r#ÿk;`>ҁJy22V!@6Z @ kZ_?HYĿzAjuǜ?rZ ,nB/ ǜ?I R?<:=2HHIH|BH =HHH<H EHǙCHǙCHH =I = I5AANU>) ʏCM Ga y Y y i BI,CphA ~{B|i (>rlE mXϿtP1i9 =;| >Echecking for new query: numPingsReceived=72, elapsed TxPingTime=27.238579MAz MG=yUQ U>٥aa mHmFm u>y}15}f͜?159}@ I}@By%p?b:; @}Ei}:}:}"15B71AEZb8phA-A-A?-@ʁ; 4<@? = Agvʿp Ŀ;| >ҁqUP[3y!@Q)L 0 NP?YcſzAޚj(^ǜ?r4T 6mB oBAp-@E addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504504 s, deltaX: 0.599998 m, approachRate: 1.189284 m/s, rangeRepo size: 4 q Added new target pos. range: 21.647099 m, bearing: 155.099776 deg, lat: 36.906382 deg, lon: -122.116061 deg, deltaT: 0.504504 s, deltaX: 0.595531 m, approachRate: 1.180430 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.65 m.bZrjRJB~~)})|)|1|55@|5 p? {BTi;I)'>I6 q><:=s- ) q?Ͽ? i 8 X= /; `> ) m checking for new query: numPingsReceived=73, elapsed TxPingTime=27.538380~G9 AA AQ Ne > ,t]phAH9='ԭ@=ݴ@Y=ѻy=<=H@? ?z}@?0z? U՞? ? ='ԭ@=u2;)=Cu{B}II I̍2E S=ye{Q >٥ H4< >15͜?159{F IABy  J @Ei;W;15N1AEZ b 6xXphA ZA ZA :v-@ʁ ^](W5\xj_   pu8ɿS&r#ÿ /; `>ҁ @13:/"@Tރ  ^D f?%7TĿz ~A j Σ0Ɯ?r 6]V  hmB (^ǜ? OW  ,nB 0A a^-@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.506170 s, deltaX: 0.400002 m, approachRate: 0.790251 m/s, rangeRepo size: 4  Added new target pos. range: 22.044296 m, bearing: 155.291102 deg, lat: 36.906382 deg, lon: -122.116061 deg, deltaT: 0.506170 s, deltaX: 0.397198 m, approachRate: 0.784712 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.04 m.bZrjRJB~~}|||@336@|(C? }{B}V'i;Iy)}#>yI J><:r=rfE'<K P"K =9*K 2K :K Fytx=hJ262]f$ " h]c E ?E E E 0E F AF A DDAT read: Rx Time:13:55:12.7579  TRx dataTimestamp_ set to:1749131713.882921 PDAT read: Bearing 191.2, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 191.2, 9.1 (Local)  DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed -0.9 5 DAT read: 13:55:12.7579 LVL= 24208, 22513, 17858, 31699, AGC= 64, IDX= 490, 0.02, 0.866,-3.045, 1.586, 1.711, PHS=-0.757, 1.575,-0.128, RAW= 314.9, -6.7, CAL= 318.8, -9.1, ROT= 191.2, 9.1 = Ygot valid direction response: 13:55:12.7579 LVL= 24208, 22513, 17858, 31699, AGC= 64, IDX= 490, 0.02, 0.866,-3.045, 1.586, 1.711, PHS=-0.757, 1.575,-0.128, RAW= 314.9, -6.7, CAL= 318.8, -9.1, ROT= 191.2, 9.1 = T#Rx 74: Read range and direction messages.I ] bdirection in FSK: [-0.968609,-0.191790,-0.158158]] Fpublishing direction and range info y [چuKȿ@\~>Ŀ fAY ^) WI Ei { A ? o ߯@) |I / @i " U@ "> ) ӲצUпA ?鮽i m8 V= )< "> )  checking for new query: numPingsReceived=74, elapsed TxPingTime=28.013514J4J4JJv0:J \BJ KJJ @RJ ZJ =:bJ K9J J4J  HHp<H5>H5CH1H1H1H1H5.DH5<H5E6G2<~GAAN?{ ,phAH95@5U@Y5by5<5H? O?+햿 ?`Q@#x? ?+? 5@5-d;)5C{BI)! %AeMb@Mb@Mb@aaa a)aYe/$?Mb?Mbpye1h?e٥ HFn|; >15}͜?159N Iy:h?j:p@Eij::155B5/1A5Euchecking for new query: numPingsReceived=74, elapsed TxPingTime=28.237242ZabeǁxphAeAeAe-@ʁe6&85]NN^ ; e[چuKȿ@\~>Ŀe)<e">ҁeZZ44B "@,e[[\a+o0?PtſzehAejeHƜ?reBBU eXlBae6]V  ehmBeuAe -@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.500584 s, deltaX: 0.599998 m, approachRate: 1.198597 m/s, rangeRepo size: 4  Added new target pos. range: 22.639883 m, bearing: 154.905122 deg, lat: 36.906382 deg, lon: -122.116060 deg, deltaT: 0.500584 s, deltaX: 0.595587 m, approachRate: 1.189784 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.64 m.bZ!r)j)R)J)B)~1~5V{B}1|1|1|=6@|=? {B靭d (;I)->IM =<:LG=^E<EQEYEYEYEY6G= < ~G A! A9 Ne >- DDAT read: Rx Time:13:55:13.2581 5 TRx dataTimestamp_ set to:1749131714.384364%,fphA"PDAT read: Bearing 190.8, 9.8 (Local) &~Local bearing/azimuth received: Bearing 190.8, 9.8 (Local) .DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed -0.8 ^DAT read: 13:55:13.2581 LVL= 25840, 25521, 18258, 32755, AGC= 63, IDX= 492, 0.35,-0.020, 2.283, 0.668, 0.781, PHS=-0.713, 1.549,-0.115, RAW= 315.2, -7.2, CAL= 319.2, -9.8, ROT= 190.8, 9.8 bYgot valid direction response: 13:55:13.2581 LVL= 25840, 25521, 18258, 32755, AGC= 63, IDX= 492, 0.35,-0.020, 2.283, 0.668, 0.781, PHS=-0.713, 1.549,-0.115, RAW= 315.2, -7.2, CAL= 319.2, -9.8, ROT= 190.8, 9.8 fT#Rx 75: Read range and direction messages.jbdirection in FSK: [-0.967954,-0.184647,-0.170209]jFpublishing direction and range infoqyuNyt݄ǿrlſu̸AYq ud)ucIuRGiuu?u+6uE?u ux @)uIuaF@iu%/u+ U@u%/> q)quȆ  пXx俿iub8u=u q)qEchecking for new query: numPingsReceived=75, elapsed TxPingTime=28.5339589JI@J@YJpyJpҁuýa4\#@&rx0+u1`Vnp&JD? J ǿzuAu judnǜ?ru.T ukBudnǜ?uBBU  u6mBu^Au,@ addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.501443 s, deltaX: 0.300001 m, approachRate: 0.598276 m/s, rangeRepo size: 4 ) Added new target pos. range: 22.937778 m, bearing: 154.591437 deg, lat: 36.906381 deg, lon: -122.116060 deg, deltaT: 0.501443 s, deltaX: 0.297895 m, approachRate: 0.594076 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.94 m.bZrjRJB~~}|||7@|? ={B=~2^;Ia)e2>aIek aaekA=HH IH |BHHHH<H6E:Ju[BJuTJJqRJqZJu:bJu:9JqJqzJu:jJu:JuSJ:rJuUJ:~GAAN ?>Z.,2phAyMXsAEƿ &K{ǿAY 0`)AeIIiAC+ν Q@)0 I)@it;?tT@t;?> )Pzu-f4/ѿui}7p >=t;?> )>checking for new query: numPingsReceived=76, elapsed TxPingTime=29.0621039]%@]@Y]uhty] x<]H~?฾?5?] n? N?? ]%@];)]C))}Mb@Mb@Mb@yyy y)yY}/$?y&1?yy}`e<}}zA }@)}v@I}I@yy}f@II3@$: =yj:Q >٥9 =HEFE: M>I15M͜?159M[ IMCBy8h?j:]@MEiMLҁE4T}X8$@CWCL8\݀~?NXȿz!A j ǜ?r#)tQ ]iB4T  XlBAk,@u addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.506988 s, deltaX: 0.600000 m, approachRate: 1.183461 m/s, rangeRepo size: 4  Added new target pos. range: 23.533554 m, bearing: 154.028618 deg, lat: 36.906381 deg, lon: -122.116059 deg, deltaT: 0.506988 s, deltaX: 0.595776 m, approachRate: 1.175128 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.53 m.bZrjRJB~~:{B}|||@37@|lt?checking for new query: numPingsReceived=76, elapsed TxPingTime=29.245361 AE4:IIi)m>iIm iiu<<}:=#,jE>E!E!E!E%a0E!F-a=F-=y 6GM <ԩ ~G A  DDAT read: Rx Time:13:55:14.2587  TRx dataTimestamp_ set to:1749131715.391922 PDAT read: Bearing 189.9, 10.2 (Local)  ~Local bearing/azimuth received: Bearing 189.9, 10.2 (Local)  DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed -0.5 5DAT read: 13:55:14.2587 LVL= 19152, 22369, 16466, 27443, AGC= 68, IDX= 2, 0.14, 2.890,-1.160,-2.755,-2.637, PHS=-0.668, 1.524,-0.121, RAW= 316.1, -7.5, CAL= 320.1, -10.2, ROT= 189.9, 10.2 A9NM><6,x(phAYgot valid direction response: 13:55:14.2587 LVL= 19152, 22369, 16466, 27443, AGC= 68, IDX= 2, 0.14, 2.890,-1.160,-2.755,-2.637, PHS=-0.668, 1.524,-0.121, RAW= 316.1, -7.5, CAL= 320.1, -10.2, ROT= 189.9, 10.2 T#Rx 77: Read range and direction messages.bdirection in FSK: [-0.969540,-0.169212,-0.177085]Fpublishing direction and range infoy#+ZyeZſkiƿAY J)aWIR@i3kD +o? &@) IDz@iK6T@K6> )0nWzç zѿop>ij 7>>K6> )Nchecking for new query: numPingsReceived=77, elapsed TxPingTime=29.534685ԁ9@9@Y{(y-<HU?*?; ?@ W e?ę?a? @骵3T;)CԱ{BII%I%25 5=y=^ ;Q =>٥99 EHEFE9 E>IU15MpΜ?U159M c IIyY]Q]@MEiM:M:M15eBm1AmxEZb@phA=A=A+@ʁ ^lOL7ZA-Cy{#+ZyeZſkiƿ>K6>ҁuC805!g}"$@c 6nG 7쿨W-?Rǿz'Ajǜ?r>!P iB.T  kBͼA4,@!!-checking for new query: numPingsReceived=77, elapsed TxPingTime=29.749538E addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.500570 s, deltaX: 0.500000 m, approachRate: 0.998861 m/s, rangeRepo size: 4 U Added new target pos. range: 24.030043 m, bearing: 153.775498 deg, lat: 36.906381 deg, lon: -122.116059 deg, deltaT: 0.500570 s, deltaX: 0.496489 m, approachRate: 0.991846 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 24.03 m.bYZYrYjYRYJB~~}|||@338@|@? 4 :I)>I    <<:=p,DphAGGH>HHHH =HHH՚<HE:J&YBJ&WJJ&ARJ$ZJ&9bJ&G9J&4J$zJ&c:jJ&h:J&_:rJ&_:JDAT read: 13:55:14.7591 LVL= 23616, 22753, 20754, 31955, AGC= 66, IDX= 502, 0.36,-1.779, 0.514,-1.142,-1.015, PH, 1.576,-0.129, RAW= 316.6, -7.6, CAL= 320.5, -10.4, ROT= 189.5, 10.4 N!unknown deviceResponse_: 13:55:14.7591 LVL= 23616, 22753, 20754, 31955, AGC= 66, IDX= 502, 0.36,-1.779, 0.514,-1.142,-1.015, PH, 1.576,-0.129, RAW= 316.6, -7.6, CAL= 320.5, -10.4, ROT= 189.5, 10.4 -NZ#Rx 78: Read range message, but no direction.ڹڽfAYڹEchecking for new query: numPingsReceived=78, elapsed TxPingTime=30.0733159m@m@Ym[ym֢٥  H F-) ->1=155Μ?=1595+i I5AByEc?En:EE@5Ei5k:51:5151AuE= addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507657 s, deltaX: 0.599998 m, approachRate: 1.181897 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 24.03 m.bIZIrIjIRIJQBQ~Q~U {B}Y|Y|Y|8@|? 7;I)>!I%b !!%a<<-:-+=-TcE,p\qhA4^DDAT read: Rx Time:13:55:15.2594 bTRx dataTimestamp_ set to:1749131716.404701fPDAT read: Bearing 189.7, 11.4 (Local) f~Local bearing/azimuth received: Bearing 189.7, 11.4 (Local) nDAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed -0.8 DAT read: 13:55:15.2594 LVL= 28560, 24657, 19810, 32755, AGC= 66, IDX= 489,-0.42, 1.990,-2.093, 2.615, 2.704, PHS=-0.627, 1.533,-0.092, RAW= 316.3, -8.4, CAL= 320.3, -11.4, ROT= 189.7, 11.4  Ygot valid direction response: 13:55:15.2594 LVL= 28560, 24657, 19810, 32755, AGC= 66, IDX= 489,-0.42, 1.990,-2.093, 2.615, 2.704, PHS=-0.627, 1.533,-0.092, RAW= 316.3, -8.4, CAL= 320.3, -11.4, ROT= 189.7, 11.4 T#Rx 79: Read range and direction messages.bdirection in FSK: [-0.966257,-0.165165,-0.197657]Fpublishing direction and range info\y^`4ya!$ſg4Lɿ^AY\ ^o)^Q`I^bMi^^B^ ^X9?^j ^@)^Q 9Fp@F @YF@:yFL) \)\^d[൵ѿKIg#¿i^6^*>^:>^%K> \)\Mchecking for new query: numPingsReceived=79, elapsed TxPingTime=30.529140{BIII3D  Q=y ;Q  >٥  H1 >E155Μ?E159_n I?ByAE E@Ei==15UBU1AUrEԙZ\b^qhA^cA^cA^jx+@ʁ^}!8 BKwf,JK^`4ya!$ſg4Lɿ^:>^%K>ҁ^?q5nuN%@^/ 1#}w,?`Zɿz^L.A^ۮj^Dǜ?r^\O ^gB\^#)tQ  ^iB^A^+@M addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.505122 s, deltaX: 0.300001 m, approachRate: 0.593918 m/s, rangeRepo size: 4  Added new target pos. range: 24.923538 m, bearing: 153.508253 deg, lat: 36.906381 deg, lon: -122.116058 deg, deltaT: 1.012779 s, deltaX: 0.893496 m, approachRate: 0.882222 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.92 m.bZrjRJB~~}|||9@| D? im7;I)>IOݻ SC<<:A=4SL,3qhA Kz6P"KzS9*Kx2Kz :Kz*ZM5o[o16HXiiJ(FIU +3)vn\=E}# !n5J?J?9-ޭ@-=@Y-Է:y-SV<-H%?? z.~?c@V@ي?I? -ޭ@-;))e{BmIMb@Mb@Mb@ )Y)\(?y&1|?:vyGa?`;TdA @)I+@y@IIb2%DDAT read: Rx Time:13:55:15.7598 5TRx dataTimestamp_ set to:1749131716.911153EPDAT read: Bearing 189.3, 11.0 (Local) M~Local bearing/azimuth received: Bearing 189.3, 11.0 (Local) ]DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed -0.7 aDAT read: 13:55:15.7598 LVL= 23456, 23153, 17634, 32595, AGC= 65, IDX= 493,-0.47,-0.907, 1.323,-0.290,-0.178, PHS=-0.642, 1.548,-0.115, RAW= 316.7, -8.0, CAL= 320.7, -11.0, ROT= 189.3, 11.0 Ygot valid direction response: 13:55:15.7598 LVL= 23456, 23153, 17634, 32595, AGC= 65, IDX= 493,-0.47,-0.907, 1.323,-0.290,-0.178, PHS=-0.642, 1.548,-0.115, RAW= 316.7, -8.0, CAL= 320.7, -11.0, ROT= 189.3, 11.0 T#Rx 80: Read range and direction messages.H>HHIH |BH =HHH<HEIIAA bdirection in FSK: [-0.968724,-0.158635,-0.190809] Fpublishing direction and range info)y-|YXHU$NĿP@mlȿ-AY) -[)-qZI-Di-S-A-Z$-$?- -@)-5I-@i- D- )))-/|ZE.ҿ(i-bp6->-y>- D> )))%checking for new query: numPingsReceived=80, elapsed TxPingTime=31.049240=>3 E#=yE:Q E>٥II MHMFM2N U>Q15USΜ?159Uu IU;ByOa?q:&@UEiUg- D>ҁ- T6*&@_ޟ-߱1~%et?ȿz-5A-j-MƜ?r-45J -gB)->!P  -]iB-A-Y+@U addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.506452 s, deltaX: 0.600000 m, approachRate: 1.184713 m/s, rangeRepo size: 4 ԑ- Added new target pos. range: 25.519495 m, bearing: 153.065622 deg, lat: 36.906381 deg, lon: -122.116057 deg, deltaT: 0.506452 s, deltaX: 0.595957 m, approachRate: 1.176729 m/s, posRepo size: 4 =DNOT Ignoring new targets: 25.52 m.b9Z9r9jARAJABA~~zB}|||@39@|? E{BEHP:II)M=IIM[;ٻ IIMM<٥ii mHmFmۼ m>q15u5nΜ?159u{ Iu8By@uEiu;u;uE15'2A%DDAT read: Rx Time:13:55:16.2600 -TRx dataTimestamp_ set to:1749131717.4119695PDAT read: Bearing 189.1, 11.7 (Local) 5~Local bearing/azimuth received: Bearing 189.1, 11.7 (Local) EDAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed -0.6 uDAT read: 13:55:16.2600 LVL= 27680, 23745, 20466, 32755, AGC= 67, IDX= 510, 0.43, 0.952,-3.085, 1.569, 1.665, PHS=-0.625, 1.580,-0.099, RAW= 316.8, -8.6, CAL= 320.9, -11.7, ROT= 189.1, 11.7 }Ygot valid direction response: 13:55:16.2600 LVL= 27680, 23745, 20466, 32755, AGC= 67, IDX= 510, 0.43, 0.952,-3.085, 1.569, 1.665, PHS=-0.625, 1.580,-0.099, RAW= 316.8, -8.6, CAL= 320.9, -11.7, ROT= 189.1, 11.7 T#Rx 81: Read range and direction messages.bdirection in FSK: [-0.966898,-0.154872,-0.202787]Fpublishing direction and range info!y%4rQCX)ÿ ɿ%AY! % l)%\Z!b%]ZqhA%A%A%*@ʁ%-x8>bwq%4rQCX)ÿ ɿ%>%Q>ҁ%Mc{6*}Nt$'@v_%pMa=6?Rɿz%#9A%۳j%wǜ?r%dV:J %fB%wǜ?%\O  %gB%A%+@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500816 s, deltaX: 0.299999 m, approachRate: 0.599021 m/s, rangeRepo size: 4 I%Oi%%C% %q=?%ʽ %;@)%`I%p9@i%Q% :S@%Q> !)!%+JI%>:JE^BJERJJEHRJAZJE} :bJES29JEԺ4JAM@M@M@M@%Q> !)!checking for new query: numPingsReceived=81, elapsed TxPingTime=31.564962 Added new target pos. range: 25.817387 m, bearing: 152.765676 deg, lat: 36.906382 deg, lon: -122.116057 deg, deltaT: 0.500816 s, deltaX: 0.297892 m, approachRate: 0.594813 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.82 m.bZrjRJB~~}|||:@| Wx? {B:I)=)I-ջ ))5TX<<=:=M==v[,rqhAK5s4P"K5ͼ9*K12K5 :K5Jv1 w v"@+<Y@<2z|Xh7z|,!v=JMui9@@Y(Q,;y;H?`?O ?@?{w`#eHCHIH|BH =HH/DHʚ<HEHĘCHĘCHH =I = I05I)iKFuGԉ7 =b? G YyBT  @)-\-I@ik )uB[|d?ѿL'1Qſi6C^->y>yNa:Q >٥!! %H%F%ջ %>)515k> )=checking for new query: numPingsReceived=82, elapsed TxPingTime=32.092896-ɑΜ?}159-\ I-2ByWb?p:#@-Ei-C<-%F<-y15BG2AjEZb0zqhAAA*@ʁmL1/9uGLW@iq#Ŀ :Ϳy>k>ҁ-0PA68]t]'@xHYH뿹 %}?3mͿz:AjLǜ?r3ґO cB gBA*@m addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504119 s, deltaX: 0.400000 m, approachRate: 0.793463 m/s, rangeRepo size: 4  Added new target pos. range: 26.214735 m, bearing: 152.770660 deg, lat: 36.906382 deg, lon: -122.116057 deg, deltaT: 0.504119 s, deltaX: 0.397348 m, approachRate: 0.788204 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.21 m.bZrjRJB~~}|||`ff:@ԩ| '? q u 67Iq )u =y I} ѻ y y } G<< : l= @B٥ HF,9 >15Μ?159' I.By$@Ei ^;^;152A5DDAT read: Rx Time:13:55:17.2606 =TRx dataTimestamp_ set to:1749131718.420875EPDAT read: Bearing 188.8, 12.8 (Local) M~Local bearing/azimuth received: Bearing 188.8, 12.8 (Local) ]DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed -0.6 }DAT read: 13:55:17.2606 LVL= 26016, 21473, 21922, 32755, AGC= 67, IDX= 500, 0.41, 1.557,-2.501, 2.162, 2.236, PHS=-0.591, 1.593,-0.077, RAW= 317.0, -9.4, CAL= 321.2, -12.8, ROT= 188.8, 12.8 Ygot valid direction response: 13:55:17.2606 LVL= 26016, 21473, 21922, 32755, AGC= 67, IDX= 500, 0.41, 1.557,-2.501, 2.162, 2.236, PHS=-0.591, 1.593,-0.077, RAW= 317.0, -9.4, CAL= 321.2, -12.8, ROT= 188.8, 12.8 T#Rx 83: Read range and direction messages.bdirection in FSK: [-0.963670,-0.149184,-0.221548]Fpublishing direction and range info9y=Ublwÿ@|[̿=3AY9 =e)=SI=Ui=9=K=m?=- = @)='I=Ud@i=d=BR@=d> 9)9=u(c1tҿТĿi=6='>=s;?=d> 9)9checking for new query: numPingsReceived=83, elapsed TxPingTime=32.543041 addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504787 s, deltaX: 0.500000 m, approachRate: 0.990517 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.21 m.bZrjRJ:J-\BJ-QJJ-CRJ)ZJ-=:bJ--.9J-4J)zJ-:EjJ-:EJ-4:ErJ-4:EB~Y~a}a|a|a|e`f:@|m [? 9I)x=ITϻ << : h= /53sk,WqhAa9@@Y"};y|;Hs?{ ?] U d /?`sր ?o0~?`? @骍O;)C^{BII5I5#3}@ ==y :Q >٥ HFƹ >q15u=Μ?KP"KS9*K2K:KcE7$[|Z\w:5EV5ZL_~H{"Y tqh[Nm$1159u Iu*By  $@uEiu)ҁ}K,o= 7cSV(@c}_y뿋 a)aeB;gNҿLzEzÿie6e- >ey>e@X> a)achecking for new query: numPingsReceived=84, elapsed TxPingTime=33.079456ԹE?EEEE 6G ŋ4< checking for new query: numPingsReceived=84, elapsed TxPingTime=33.281090~G A A N% >Pr,qhA9bp@b @Yba';ybz;bH ? ?E`c @?:r~? ? bp@b-;)bCnv{BnIpuMb@Mb@Mb@qqq q)qYux&?~jth٥! =H=FEN>: E>Ym15]Μ?u159]B I]'By}:i?i:#@]Ei];]i;]15BT2AfEZbGqhAAA*@ʁkD`(:lK"9[v̺ƶD"9Ŀ9hʿy>@X>ҁr圑g7pW(@rj@_뿘CK?ا)NhʿzBAjǜ?rmT eBLǜ? eBꁽQA&*@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.505390 s, deltaX: 0.400000 m, approachRate: 0.791467 m/s, rangeRepo size: 4  Added new target pos. range: 27.108383 m, bearing: 152.687276 deg, lat: 36.906383 deg, lon: -122.116057 deg, deltaT: 1.010177 s, deltaX: 0.893648 m, approachRate: 0.884645 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.11 m.bZrjRJB~~zB}|||L;@|? {B8:I):=1IU6ɻ QQ]= ݙ)ݙݝxBu ӿ*ɲHiݝ5ݝq>ݝ X?ݝX8> ޙ)ޙ=checking for new query: numPingsReceived=85, elapsed TxPingTime=33.556602:J[BJJJ@RJZJ:bJJJ4J@@@@i 6G 2<~Ga Aq A N >y,;qhA 9@j@Y;yF;H@2? ?<%@ ?T`ata|?`? @?;)Uh{BUIII#3! G=yfg:Q >٥ HF@x; > 15Μ? 159 I$By#@Ei;; 15B2AcEZb+qhAtAtA)@ʁo_ˎ:w'rAI4⺇J%)C?J ÿƿ X?X8>ҁ@7Q^)@7HmKʂPe?-kfƿzHA>j"ǜ?rSvP checking for new query: numPingsReceived=85, elapsed TxPingTime=33.789352KhBǜ?3ґO  ꁕAD*@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503738 s, deltaX: 0.200001 m, approachRate: 0.397033 m/s, rangeRepo size: 4 E Added new target pos. range: 27.306980 m, bearing: 152.191400 deg, lat: 36.906384 deg, lon: -122.116057 deg, deltaT: 0.503738 s, deltaX: 0.198597 m, approachRate: 0.394247 m/s, posRepo size: 4 MDNOT Ignoring new targets: 27.31 m.bIZIrIjIRIJIBQ~Q~Q}Q|Y||;@|8? {B":I)=I(ǻ L=<: *W= MH CH IH {BH  =H H H ՚<H Ei i܅ %/܁ ܅ %/> ݁ )݁ ݅ #:G9ӿ9i/i݅ 5݅ oW>݁ ݅ %/> ށ )ށ  checking for new query: numPingsReceived=86, elapsed TxPingTime=34.0929576G v;<~G A A N >,rhAtm`{BmII}I}2" *=yQ >٥ HF >15]Ϝ?159¡ I!By@"Ei:::152A`EZIbMTqhAM8AM8AM*@ʁMN"-;3ӢYMM{0+Z30ÿrlſIM%/>ҁMCKMV87;)@M&gQo?=LſzMXMAMjM捆ǜ?rMּO MhBIMּO  IM/AM)@ addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.505869 s, deltaX: 0.600000 m, approachRate: 1.186079 m/s, rangeRepo size: 4  Added new target pos. range: 27.902790 m, bearing: 152.195361 deg, lat: 36.906384 deg, lon: -122.116057 deg, deltaT: 0.505869 s, deltaX: 0.595810 m, approachRate: 1.177795 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.90 m.bZrjRJB~~}|||%<@|%J?}checking for new query: numPingsReceived=86, elapsed TxPingTime=34.293800 {B靍H8I)=I+BĻ =<:#=I ) )) - ;~L 0e4Yӿ=~s)i- -H5- =) - `> ) ))  checking for new query: numPingsReceived=87, elapsed TxPingTime=34.562599~G A A N >,arhA:J]BJVJJFRJZJ]:bJB9J4J\t{BIII2MJ= K=yQ >٥  H >15 .Ϝ?159 IBy@(Ei'<'<15b2AZb'rhAAA*@ʁ։3;Ӫ 5ݩFᅡ $ÿS&r#ÿ`>ҁt\=8A*@zoTmu쿁5?wWҦ¿z(PAqjBǜ?r?P kBSvP  KhBA8)@ addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504061 s, deltaX: 0.299999 m, approachRate: 0.595165 m/s, rangeRepo size: 4 - Added new target pos. range: 28.200684 m, bearing: 152.204822 deg, lat: 36.906384 deg, lon: -122.116058 deg, deltaT: 0.504061 s, deltaX: 0.297894 m, approachRate: 0.590987 m/s, posRepo size: 4 =DNOT Ignoring new targets: 28.20 m.b9ZarajaRaJaBi~i~i}i|q|q|u`ff<@|u ? zB(:I)=I "=<:=AI J,<7rhA9jͭ@jh״@Yj;yjꕺBae ImIm<2} }Q=ya+;Q >٥ HF0+< >15'EϜ?159 IB+:y<:"@-Ei:o>15B2A]EDNOT Ignoring new targets: 28.20 m.bZrjRJB~~}|| 15<=DDAT read: Rx Time:13:55:19.7621 ETRx dataTimestamp_ set to:1749131720.944017MPDAT read: Bearing 188.6, 8.7 (Local) U~Local bearing/azimuth received: Bearing 188.6, 8.7 (Local) eDAT read: Range 10 to 50 : 29.1 m (trip time 19.4 ms) speed -0.5 DAT read: 13:55:19.7621 LVL= 20448, 21169, 16530, 29011, AGC= 70, IDX= 3, 0.36, 0.080, 2.394, 0.679, 0.878, PHS=-0.709, 1.564,-0.202, RAW= 317.7, -6.4, CAL= 321.4, -8.7, ROT= 188.6, 8.7 H>HCHIH{BH =HH.DH<HEYgot valid direction response: 13:55:19.7621 LVL= 20448, 21169, 16530, 29011, AGC= 70, IDX= 3, 0.36, 0.080, 2.394, 0.679, 0.878, PHS=-0.709, 1.564,-0.202, RAW= 317.7, -6.4, CAL= 321.4, -8.7, ROT= 188.6, 8.7 T#Rx 88: Read range and direction messages.bdirection in FSK: [-0.977380,-0.147815,-0.151261]Fpublishing direction and range info9y=ĢF;¿ni\ÿ=AY9 =O)=RI=@i=Sq=F=5='1?=N 9)=I=퀳@i=|=R@=|> 9)9=j\Ji_ӿ(ki=@5===t?=|> 9)9checking for new query: numPingsReceived=88, elapsed TxPingTime=35.069382|=@|? zB ;I ) j= I ._ D=<:<=:P0,QrhA9>ԭ@>޴@Y>;y>k<>HH?s?@B?!Й 4y >?? >ԭ@>N;)>CNp{BNIIVIV2z1< zT=yzZ:Q z>٥|| ~H~F; > 15 ]Ϝ?159  I B :y:Q"=@ 3Ei ; D? 15EBE2AE\EԱZqbujҁumF9 A*@+1j7ums> ky??@"ÿzu2UAu5jup ǜ?ru oyS u8jBu捆ǜ?u?P  uhBufAu.)@ addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.504084 s, deltaX: 0.700001 m, approachRate: 1.388659 m/s, rangeRepo size: 4 - Added new target pos. range: 28.895441 m, bearing: 152.203111 deg, lat: 36.906383 deg, lon: -122.116058 deg, deltaT: 0.504084 s, deltaX: 0.694757 m, approachRate: 1.378257 m/s, posRepo size: 4 MDDAT read: Rx Time:13:55:20.2623 UTRx dataTimestamp_ set to:1749131721.447943]PDAT read: Bearing 189.2, 8.7 (Local) ]~Local bearing/azimuth received: Bearing 189.2, 8.7 (Local) uDAT read: Range 10 to 50 : 29.4 m (trip time 19.6 ms) speed -0.6 DAT read: 13:55:20.2623 LVL= 23904, 21905, 18658, 31331, AGC= 65, IDX= 502,-0.36, 1.371,-2.590, 1.992, 2.180, PHS=-0.721, 1.561,-0.190, RAW= 317.2, -6.3, CAL= 320.8, -8.7, ROT= 189.2, 8.7 Ygot valid direction response: 13:55:20.2623 LVL= 23904, 21905, 18658, 31331, AGC= 65, IDX= 502,-0.36, 1.371,-2.590, 1.992, 2.180, PHS=-0.721, 1.561,-0.190, RAW= 317.2, -6.3, CAL= 320.8, -8.7, ROT= 189.2, 8.7 T#Rx 89: Read range and direction messages.bdirection in FSK: [-0.975778,-0.158042,-0.151261]Fpublishing direction and range infoIDNOT Ignoring new targets: 28.90 m.bZrjRJB~~}||||Ӭ?yM1*&9ᅤZ:Ŀni\ÿM3AYI M`])MUIMHiMczMAMu8M?M\B Mm(@)Mz0IM$+@iIMVS@I I)IMN[cYҿnLEiM5 5zBM=M>I I)IEchecking for new query: numPingsReceived=89, elapsed TxPingTime=35.5853045C:IA)M=IIM强 IIMF>,FmrhA9^.ح@^@Y^E;y^.V<^H@??@3:@_?jT{i? ? ^.ح@^V;)^Chn{BnIIvIv3~01= ~9=y~P2:Q ~>٥ HF Ws:  >15cxϜ?%159Ҹ IB%9y)-9m6"m@9EiH?<e?15qu52A}YEZYb]\rhA]A]A]R*@ʁ]f뒛x|< }tTΞNɩ]1*&9ᅤZ:Ŀni\ÿ]>Yҁ] 9̼ \*@#X`]D' ,Fd?+ ÿz]RA]wj] ǜ?r]e] ]"jB]Bǜ?Y ]"jB]A])@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503926 s, deltaX: 0.299999 m, approachRate: 0.595324 m/s, rangeRepo size: 4 U Added new target pos. range: 29.193331 m, bearing: 152.832997 deg, lat: 36.906382 deg, lon: -122.116058 deg, deltaT: 0.503926 s, deltaX: 0.297890 m, approachRate: 0.591138 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 29.19 m.bYZYrYjYRYJaBa~~}|||`ff=@|ੀ? zB%;I))- >1I5· 11=\><}:=h%HqHqHqHu =HqHqHu<HuEDAT read: 13:55:20.7626 LVL= 23520, 24049, 19074, 30035, AGC= 64, IDX= 506,-0.20, 2.327,-1.681, 2.931, 3.085, PHS=-0.670, 1.564,-0.158, RAW= 317.3, -7.3, CAL= 321.2, -10.0, ROT= 188.8, 10.0 Ygot valid direction response: 13:55:20.7626 LVL= 23520, 24049, 19074, 30035, AGC= 64, IDX= 506,-0.20, 2.327,-1.681, 2.931, 3.085, PHS=-0.670, 1.564,-0.158, RAW= 317.3, -7.3, CAL= 321.2, -10.0, ROT= 188.8, 10.0 T#Rx 90: Read range and direction messages.bdirection in FSK: [-0.973215,-0.150662,-0.173648]Fpublishing direction and range info1y5Y$էmHÿٖNs:ƿ5AY1 5[)5]I5Ji5Su5@5+5'1?5! 56@)5wI5Ud@i5¸25BR@5¸2> 1)15sփJħ ҿS`Z(Li5B55>5s;?5¸2> 1)1checking for new query: numPingsReceived=90, elapsed TxPingTime=36.077469:J fBJ JJ DRJ ZJ |":bJ J 4J zJ ;jJ ;J X:rJ X:6G ܹ<~G A A N > С,NrhA9J٭@J;@YJ;yJ٥)1 5H5F5 9 5>9E25=֖Ϝ?E259=B I=BmT:ymk?mf:m8m@=@Ei=;=O;=25quz2A}VEZqbu|rhAuPAuPAuZ<*@ʁu<Ū[]ٿuY$էmHÿٖNs:ƿus;?u¸2>ҁuF :?1=2+@tLu$5:S4k6?ZgſzuYAujuI#ǜ?ruh5X u&gBup ǜ?u oyS  qu>Auf)@- addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503957 s, deltaX: 0.600000 m, approachRate: 1.190579 m/s, rangeRepo size: 4 = Added new target pos. range: 29.789217 m, bearing: 152.402963 deg, lat: 36.906382 deg, lon: -122.116059 deg, deltaT: 0.503957 s, deltaX: 0.595886 m, approachRate: 1.182415 m/s, posRepo size: 4 =DNOT Ignoring new targets: 29.79 m.b9Z9r9jARAJaB~~{B}|||>@|@-?? EzBM+;II)M=IIM` IQU;> Q )Q U 4haE@gR(B ӿZG _7iU 5U >U X?U 9> Q )Q  checking for new query: numPingsReceived=91, elapsed TxPingTime=36.579121Y 6G `L<~G A A N >O,I٢rhA9U @U@YU `?@? U @U;)UCԉԱchecking for new query: numPingsReceived=91, elapsed TxPingTime=36.813286}{BIIIp< =y:Q %>٥!! %H%F-]; ->1=255xϜ?=2595W I5By9=E@5HEi5:5:5}25M BMV2AMSEZb2rhAIAIAE*@ʁ@r=4DkN\퐚< ÿlE@ǿ X?9>ҁ0Bn:=m +@FxLm?B6?'?Oa{ƿz\Arj5ǜ?rmlZ 6fBI#ǜ?h5X  A*@ addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.504320 s, deltaX: 0.500000 m, approachRate: 0.991434 m/s, rangeRepo size: 4  Added new target pos. range: 30.285704 m, bearing: 152.435672 deg, lat: 36.906381 deg, lon: -122.116061 deg, deltaT: 0.504320 s, deltaX: 0.496487 m, approachRate: 0.984468 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.29 m.bZrjRJB~~}|||>@|? zB2>;I)Y>I(Ư ?<%:%R@=-z>J5 ?)Y ] ďC DDAT read: Rx Time:13:55:21.7632  TRx dataTimestamp_ set to:1749131722.960007 PDAT read: Bearing 188.5, 10.9 (Local) H H H IH {BH  =H H H š<H EHHHHI I̝5 ~Local bearing/azimuth received: Bearing 188.5, 10.9 (Local)  DAT read: Range 10 to 50 : 30.9 m (trip time 20.6 ms) speed -0.8 E DAT read: 13:55:21.7632 LVL= 22928, 22497, 18610, 31619, AGC= 63, IDX= 511,-0.03, 3.018,-1.025,-2.680,-2.545, PHS=-0.632, 1.567,-0.138, RAW= 317.6, -8.0, CAL= 321.5, -10.9, ROT= 188.5, 10.9 M Ygot valid direction response: 13:55:21.7632 LVL= 22928, 22497, 18610, 31619, AGC= 63, IDX= 511,-0.03, 3.018,-1.025,-2.680,-2.545, PHS=-0.632, 1.567,-0.138, RAW= 317.6, -8.0, CAL= 321.5, -10.9, ROT= 188.5, 10.9 M T#Rx 92: Read range and direction messages.U bdirection in FSK: [-0.971173,-0.145143,-0.189095]U Fpublishing direction and range infoڱ yڵ y15= ¿oG4ȿڵ 3AYڱ ۵ Y)۵ WI۵ Hi۵ {۵ ?۵ !۵ u?۵ O ܵ a@)ܵ 5Iܵ :@iܵ Bܵ xR@ܵ B> ݱ )ݱ ݵ ϑj2ӈ3ӿݵ =?ݵ B> ޱ )ޱ u checking for new query: numPingsReceived=92, elapsed TxPingTime=37.090698Iy I} @A:J ZBJ ^JJ ARJ ZJ 9bJ d9J 4J zJ /:jJ 4:J :rJ : ƈG 5 9Y1yE B6G}ᜆ<~GQAaAqN}?Qʰ,PrhA9f@f@Yf ٥AA MHMFM: M>Q}25UXϜ?}259U/ IUByRj?g: @UNEiU;U;Ub 25U2APEchecking for new query: numPingsReceived=92, elapsed TxPingTime=37.317047ZbprhAvAvA*@ʁ^4Wmf=9*vIo%@5y15= ¿oG4ȿ=?B>ҁ uز:J&,@0)PH;gW:ұԲ|C?\$ǿzy`Aj ǜ?rBZ dBBZ  &gBꁽAO'*@} addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503787 s, deltaX: 0.400000 m, approachRate: 0.793986 m/s, rangeRepo size: 4  Added new target pos. range: 30.682943 m, bearing: 152.278957 deg, lat: 36.906381 deg, lon: -122.116062 deg, deltaT: 0.503787 s, deltaX: 0.397240 m, approachRate: 0.788507 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.68 m.bZrjRJB~~ {B}|||`f>@|5? ezBe[;Ia)e >aIm~ iimCZ?<:O=Ηv,NrhA>bdirection in FSK: [-0.972545,-0.133222,-0.190809]>Fpublishing direction and range infoyľ۔8k P@mlȿAY n)LIrXi~A-Q? ű@)IP@i DMQ@ D> )ԣ1ӿ wiS4=>hY@ D> )rchecking for new query: numPingsReceived=93, elapsed TxPingTime=37.623650IEn{BEIIUIU2$ R=yQ >٥ HF >25Ϝ? 259G Iy   @TEiG;\ ; 25 B}2A}QEZbrhAAASP)@ʁ$ؗX!>-c +Kľ۔8k P@mlȿhY@ D>ҁBe:A,@H@$H6ZS?dӏǿzgA3j=ǜ?rS zdB 6fBA*@] addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505725 s, deltaX: 0.300001 m, approachRate: 0.593210 m/s, rangeRepo size: 4 m Added new target pos. range: 30.980837 m, bearing: 151.577567 deg, lat: 36.906381 deg, lon: -122.116062 deg, deltaT: 0.505725 s, deltaX: 0.297894 m, approachRate: 0.589042 m/s, posRepo size: 4 qDNOT Ignoring new targets: 30.98 m.bZrjRJB~~}|||@33?@|`? UzBUX;IQ)UH=YI]Z YY]@?5,rhA9R`@R @YRC! a)aej Cnӿ# ÿie5eo>e@e4QO> a)achecking for new query: numPingsReceived=94, elapsed TxPingTime=38.089798GGH>HHHHHHH<HE:J5[BJ5UJJ5DRJ1ZJ5:bJ5>9J54J1zJ5:jJ5:J5}Q:rJ5Q:Mb@Mb@Mb@ )YZd;O?)\(?y~j?Ga= )AIy @IuIu(*3 %=y#;Q >٥ HFy; > 25М?259 IByj?g:@[Eib;&:3252ANEZabe{rhAeAeAe)@ʁe@t>FU>n3QGee-oɿe@e4QO>ҁeW;$g%-@9אeLx y6ټ™~?e5ȿzehAejeuǜ?re2oX ebBe ǜ?eh5X  edBe Ae)@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.502437 s, deltaX: 0.599998 m, approachRate: 1.194177 m/s, rangeRepo size: 4 1E Added new target pos. range: 31.576397 m, bearing: 151.977122 deg, lat: 36.906382 deg, lon: -122.116061 deg, deltaT: 0.502437 s, deltaX: 0.595560 m, approachRate: 1.185343 m/s, posRepo size: 4 EDNOT Ignoring new targets: 31.58 m.bAZArIjIRIJIBi~q~u{B}q|q|y|}?@|}K? zBp;I)`=I{N '@<%:%=%G٥ll nHpr)9 v>tz25v'М?~259v Iv By|~~@vaEiv:v:vj25  B 2A KE5DNOT Ignoring new targets: 31.58 m.b1Z1r9j9R9J9B9~A~A}A|A|I|I|M?mDDAT read: Rx Time:13:55:23.2641 uTRx dataTimestamp_ set to:1749131724.472038}PDAT read: Bearing 187.3, 11.2 (Local) ~Local bearing/azimuth received: Bearing 187.3, 11.2 (Local) DAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed -0.7 DAT read: 13:55:23.2641 LVL= 22944, 22625, 18930, 32147, AGC= 67, IDX= 488,-0.10, 1.805,-2.276, 2.335, 2.492, PHS=-0.599, 1.563,-0.159, RAW= 318.9, -8.2, CAL= 322.7, -11.2, ROT= 187.3, 11.2 Ygot valid direction response: 13:55:23.2641 LVL= 22944, 22625, 18930, 32147, AGC= 67, IDX= 488,-0.10, 1.805,-2.276, 2.335, 2.492, PHS=-0.599, 1.563,-0.159, RAW= 318.9, -8.2, CAL= 322.7, -11.2, ROT= 187.3, 11.2 T#Rx 95: Read range and direction messages.bdirection in FSK: [-0.973004,-0.124645,-0.194234]Fpublishing direction and range infoqyu95"￟JP迿mVѫȿufBYq uY)uaXIuIiu}uCuXub?u" u|@)uCIu:@iu+HuS7Q@u+H> q)qu`wllԿmz8¿iu3uC>ub@u+H> q)qchecking for new query: numPingsReceived=95, elapsed TxPingTime=38.594818 =zB=LV;IA)E=AIM衻 IIMx@<}:}=}OԤa G,4shAYS{BI}Mb@Mb@Mb@yyy y)yY}|?5^?kt?~jthy}m?} 0=}Dy }`@)yI}3@yy}\@II 2Ƽ #=yQ >٥ HF >25[HМ?259O I Byn?d:O@hEi::25  3A HEZb5shAAAL(@ʁ/?8\ -ߪ95"￟JP迿mVѫȿb@+H>ҁoFq;_:+.@5G/Ì뿑cI?dY.NǿzXqAjep?ǜ?r#U cBuǜ?2oX  zdBꁵ0A)@Ke4P"KeH9*Ka2Ke:Ke'/-u0ytfMZ6sLk,uZ6HCN4N!DDAT read: Rx Time:13:55:23.7645 TRx dataTimestamp_ set to:1749131724.975964PDAT read: Bearing 186.9, 13.3 (Local) ~Local bearing/azimuth received: Bearing 186.9, 13.3 (Local) DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed -0.8 DAT read: 13:55:23.7645 LVL= 25648, 21969, 19106, 32755, AGC= 64, IDX= 508, 0.20,-1.896, 0.262,-1.380,-1.277, PHS=-0.531, 1.586,-0.106, RAW= 319.1, -9.8, CAL= 323.1, -13.3, ROT= 186.9, 13.3 H>HHHH =HHH<H~EYgot valid direction response: 13:55:23.7645 LVL= 25648, 21969, 19106, 32755, AGC= 64, IDX= 508, 0.20,-1.896, 0.262,-1.380,-1.277, PHS=-0.531, 1.586,-0.106, RAW= 319.1, -9.8, CAL= 323.1, -13.3, ROT= 186.9, 13.3 %T#Rx 96: Read range and direction messages.-bdirection in FSK: [-0.966130,-0.116915,-0.230050]-Fpublishing direction and range infoڑyڕQ.ns["gz}"ErͿڕBYڑ ە0d)ەUIەJiەە@ەە ?ەٽ ܕ8@)ܕ%/Iܕs@iܕ,mܕP@ܕ,m> ݑ)ݑJ4J4JV0:JeYBJeYJJeCRJaZJe9bJe[O9Je4JazJec:jJeh:Je(n:rJe*n:yݕ`_>JԿ' ſiݕ3ݕc/>ݕZAݕ,m> ޑ)ޑchecking for new query: numPingsReceived=96, elapsed TxPingTime=39.114101 addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 1.007795 s, deltaX: 0.900002 m, approachRate: 0.893040 m/s, rangeRepo size: 4  Added new target pos. range: 31.874287 m, bearing: 151.203287 deg, lat: 36.906382 deg, lon: -122.116061 deg, deltaT: 0.503869 s, deltaX: 0.297890 m, approachRate: 0.591205 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.87 m.bZrjRJB~~ {B}|||Y@@|@Cq? uzBu4:I)=IV A<:=d/,QshA9Z@Z@YZ:5٥ H=F=6պ =>AM25E_М?M259E# IEByQUuU@EnEiEe:EP:E25Y B3AEEZibm2v>shAmBmBmT(@ʁm|^? r ^+qmQ.ns["gz}"ErͿmZAm,m>ҁm?<;ILz.@mtFO5Xi?h̿zmwAmjmKXZIǜ?rm9O m^Bm=ǜ?m#U  mcBmAm:)@DNOT Ignoring new targets: 31.87 m.bZrjRJB~~}||||Z? .{;I)=IN A<%:%c=%rП I)IMi>l+iԿJ:ſiMI3MkH0>M+>AM|o> I)Ichecking for new query: numPingsReceived=97, elapsed TxPingTime=39.626389Թ6G 7ͤ<~G A A N > 'Z,kkshA~B{B~II (I ̍3e4 mE=ymQ m>٥iq uHuFchecking for new query: numPingsReceived=97, elapsed TxPingTime=39.838219u >%25>|М?%259 IBy))-@tEi: 25QU]3A]BEZyb}^shA}B}B}p(@ʁ}ow?Bn[ DrD-D}wtfY] AͿ}+>A}|o>ҁ}è E.Nr=6?$<eRiX H H <H >H H IH {BH  =H H H <H nEa ye + ¦l ſh`r|˿e 3BYa e K)e OIe Die ze @e &e #?e m e @)e "Ie :@ie k]e S7Q@e k]> a )a e  j?ԿrB߆8Ŀie I04e t">e b@e k]> a )a - checking for new query: numPingsReceived=98, elapsed TxPingTime=40.116077Y 6G -<~G A A N > ,shAԡ9urޭ@u"@Yu)1٥ HF ܻ >525ޝМ?5259 IBy= m?=e:=d=@|Ei;;:%25E BEw3AEAEZbshA?B?B(@ʁ}A@% 1+ ¦l ſh`r|˿b@k]>ҁ'$ B<_h/@bV=}XcʞY?9_ʿz~Aj')ǜ?rQ _BQ  _BkBl(@ addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.505657 s, deltaX: 0.599998 m, approachRate: 1.186572 m/s, rangeRepo size: 4  Added new target pos. range: 33.562099 m, bearing: 151.012069 deg, lat: 36.906388 deg, lon: -122.116058 deg, deltaT: 0.505657 s, deltaX: 0.595634 m, approachRate: 1.177942 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.56 m.bZrjRJ!BA~I~M{B}I|I|Q|U`f@@|U`? 靥*!9I)=Io zB<:H=c~jEEEEEB1E  DDAT read: Rx Time:13:55:25.2654  TRx dataTimestamp_ set to:1749131726.488932 PDAT read: Bearing 187.1, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 187.1, 11.8 (Local)  DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed -0.7  DAT read: 13:55:25.2654 LVL= 21680, 20609, 17122, 32755, AGC= 66, IDX= 485, 0.31,-2.724,-0.524,-2.197,-2.056, PHS=-0.580, 1.579,-0.144, RAW= 319.0, -8.7, CAL= 322.9, -11.8, ROT= 187.1, 11.8 ! - Ygot valid direction response: 13:55:25.2654 LVL= 21680, 20609, 17122, 32755, AGC= 66, IDX= 485, 0.31,-2.724,-0.524,-2.197,-2.056, PHS=-0.580, 1.579,-0.144, RAW= 319.0, -8.7, CAL= 322.9, -11.8, ROT= 187.1, 11.8 5 T#Rx 99: Read range and direction messages.= bdirection in FSK: [-0.971361,-0.120989,-0.204496]= Fpublishing direction and range info y 6pd9NM*rG,ʿ fBY T) PI Bi  B z ? t )@) |I eW@i BR "P@ BR> ) !ԿPˣWÿi 3 V> !A BR> ) :J _BJ OJJ ?RJ ZJ :bJ %9J ـ4J  @ @ @ @ checking for new query: numPingsReceived=99, elapsed TxPingTime=40.6155016G! ~G A A N >,shA9Rѭ@Rx۴@YRZ1EZAbEJshAEpBEpBEgc(@ʁEq@DYc6?vjE6pd9NM*rG,ʿE!AEBR>ҁEDfG,QٽshAfDDAT read: Rx Time:13:55:25.7658 fTRx dataTimestamp_ set to:1749131726.991836jPDAT read: Bearing 187.6, 12.1 (Local) n~Local bearing/azimuth received: Bearing 187.6, 12.1 (Local) Hr>HpHrIHr{BHr =HpHpHr<HrE DAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed -0.8 ]DAT read: 13:55:25.7658 LVL= 26528, 24001, 19394, 32755, AGC= 66, IDX= 505,-0.24, 0.637, 2.810, 1.180, 1.300, PHS=-0.575, 1.558,-0.123, RAW= 318.4, -8.9, CAL= 322.4, -12.1, ROT= 187.6, 12.1 eYgot valid direction response: 13:55:25.7658 LVL= 26528, 24001, 19394, 32755, AGC= 66, IDX= 505,-0.24, 0.637, 2.810, 1.180, 1.300, PHS=-0.575, 1.558,-0.123, RAW= 318.4, -8.9, CAL= 322.4, -12.1, ROT= 187.6, 12.1 eV#Rx 100: Read range and direction messages.mbdirection in FSK: [-0.969194,-0.129318,-0.209619]mFpublishing direction and range infodyfL ¦vE9hʿf BYd fg)f]IfKiddK}"P"K}H9*Ky2K}:K}z-eD9}"f oF ~c,'uzԙf33fl?fm fӱ@)fIf@if@XfQ@f@X> d)dfm9NӿHIՕÿif:4f>f@f@X> d)dchecking for new query: numPingsReceived=100, elapsed TxPingTime=41.134514J?J>5{B5mIuMb@Mb@Mb@qqq q)qYuoʡ?/$?~jtyum?u٥ HF% %>IU25MМ?U259M IMByU#m?]e:]]@MEiM{:M:M,25ae 4A;EZdbf>zshAf Bf Bf(@ʁf]z@Z㋴%LjfL ¦vE9hʿf@f@X>ҁfF9V=v==0@_" f7Ai{u^E)?O_ɿzfAfjfpǜ?rf#T fm_Bf`*ǜ?d fm_BfuBfwz(@E addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.502904 s, deltaX: 0.600002 m, approachRate: 1.193075 m/s, rangeRepo size: 4  Added new target pos. range: 34.455818 m, bearing: 151.243486 deg, lat: 36.906385 deg, lon: -122.116058 deg, deltaT: 0.502904 s, deltaX: 0.595829 m, approachRate: 1.184777 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.46 m.bZrjRJB~~zB} ||Y|]YA@|]Ж? 靭I))=Imݔ 8D<:L=z,/shA9Nʰ@Nz@YN#٥ll nHlre4 r>x~25z+М?~259z IzBy@zEiz;z:z/25  Z4A EDNOT Ignoring new targets: 34.46 m.bAZArAjARAJABI~I~I}I|Q|Q|Q|Uc? 靕!G.I)ȴ<Ix ND<:=]< )B}O硟Vӿ͜ZĿi4W(>d> ) 5checking for new query: numPingsReceived=101, elapsed TxPingTime=41.648766E E EEO0E96G5T<~G A A1 N= >a e Am checking for new query: numPingsReceived=101, elapsed TxPingTime=41.853367q ,shA9}韭@}@Y}٥ HF} >25&ќ?259 IBy^@Ei:;325B%o4A-8Ey5GIa $Yy BZb0shA B B(@ʁ.G@.Wf)2lI? @|[̿d>ҁX=͜Cz0@91CЀZÂV~OIW?.D˿zЃAjY,2Aǜ?rDZY e]B󡤛Q  [ BDDAT read: Rx Time:13:55:26.7665 TRx dataTimestamp_ set to:1749131727.999962PDAT read: Bearing 187.6, 12.2 (Local) ~Local bearing/azimuth received: Bearing 187.6, 12.2 (Local) DAT read: Range 10 to 50 : 35.7 m (trip time 23.8 ms) speed -0.7 DAT read: 13:55:26.7665 LVL= 23776, 23025, 19106, 32755, AGC= 68, IDX= 495, 0.46, 0.381, 2.537, 0.919, 1.035, PHS=-0.567, 1.548,-0.119, RAW= 318.4, -9.0, CAL= 322.4, -12.2, ROT= 187.6, 12.2 %Ygot valid direction response: 13:55:26.7665 LVL= 23776, 23025, 19106, 32755, AGC= 68, IDX= 495, 0.46, 0.381, 2.537, 0.919, 1.035, PHS=-0.567, 1.548,-0.119, RAW= 318.4, -9.0, CAL= 322.4, -12.2, ROT= 187.6, 12.2 %V#Rx 102: Read range and direction messages.-bdirection in FSK: [-0.968830,-0.129270,-0.211325]-Fpublishing direction and range infoyY\T\ ˿BYHE>HAHEIHE{BHE =HAHAHE<HEEHHHH =I = I5 \)YIJiD&$?F KuQP"Kuͼ9*Kq2Ku :Ku:7qk u/04W/*abhxJJ~A)| Ii^ Z^ Z> )x['ӿe ÿi4W >^ Z> )IIchecking for new query: numPingsReceived=102, elapsed TxPingTime=42.134228a(@ addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 1.008126 s, deltaX: 1.000000 m, approachRate: 0.991939 m/s, rangeRepo size: 4  Added new target pos. range: 34.753708 m, bearing: 150.971822 deg, lat: 36.906385 deg, lon: -122.116058 deg, deltaT: 0.504086 s, deltaX: 0.297890 m, approachRate: 0.590950 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.75 m.bZrjRJB~ ~ } | | |5A@|5˧?ԑ zB靵`I)H<Iɓ ˥E<:=%%r,thA9-e@-@Y-٥ HFū >25'ќ?259 IBy @Ei::725B4A7EZbashA B B{(@ʁ$_,A#'\oTeY\T\ ˿^ Z>ҁ dfO>0@)>^L}\$)No?ɿzTA{j+,ǜ?ro1U 5^B#T  ꁥ Bz(@DNOT Ignoring new targets: 34.75 m.bZrjRJB~~}|||!|-@o? 靅?kI)@V<In ZF<:lh=ԙ7 ݑ)ݑݕmXbZp[ Կ,Ŀiݕ!L4ݕhc(>ݕ@ݕd> ޑ)ޑ%checking for new query: numPingsReceived=103, elapsed TxPingTime=42.6629416G 9)< ~G A A N > ,i-thAzBII)  Mchecking for new query: numPingsReceived=103, elapsed TxPingTime=42.861137I I<2]r ]g=yeQ e>٥ai mHmFm m>q}25ug=ќ?}259u IuBy   @uEiuҁ52Ao>^ !1@2cz5F/>ڪ?H˿z5A5}j5˜8ǜ?r5@lT 5f\B5+,ǜ?1 55^B5, B5c(@} addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 0.506208 s, deltaX: 0.299999 m, approachRate: 0.592640 m/s, rangeRepo size: 4  Added new target pos. range: 35.746689 m, bearing: 150.629823 deg, lat: 36.906386 deg, lon: -122.116059 deg, deltaT: 1.010248 s, deltaX: 0.992981 m, approachRate: 0.982908 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.75 m.bZrjRJB~~}|||B@|@? zBI)PSIs G<:b>=  )  mmTӿt$'ÿi 84 > v@ @X>  )  checking for new query: numPingsReceived=104, elapsed TxPingTime=43.1345486G <<I I K ARP"K S9*K 2K :K x(}*fu^Sfeq5v,,1 f*(*#~Gi Ay A N > ,CUGthA9ffr@f|@YfU٥ HFƻ >-25.\ќ?-259 IޝB5+:y1=9:=E@Eia<M>u>25mchecking for new query: numPingsReceived=104, elapsed TxPingTime=43.365303uBu5A}1EZIbM@thAM^BM^BMmc(@ʁM{fOvA^Vt r>xMh￴L9hʿMv@M@X>ҁM*_?сd1@&WzTMlX)}A"?&oɿzM$AMsjMd}$#ǜ?rMu"yT M]BII M]BM BML(@ addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 0.501856 s, deltaX: 0.599998 m, approachRate: 1.195559 m/s, rangeRepo size: 4  Added new target pos. range: 36.342369 m, bearing: 150.749121 deg, lat: 36.906386 deg, lon: -122.116059 deg, deltaT: 0.501856 s, deltaX: 0.595680 m, approachRate: 1.186954 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.34 m.bZ r j R J B ~~}|||LB@|%? zB靕 XI)iI$C _H<:=y;ii1 I E ?E! E! E% 5E! - DDAT read: Rx Time:13:55:28.2673 - TRx dataTimestamp_ set to:1749131729.513127E PDAT read: Bearing 187.7, 11.6 (Local) E ~Local bearing/azimuth received: Bearing 187.7, 11.6 (Local) q  DAT read: Range 10 to 50 : 37.1 m (trip time 24.7 ms) speed -0.5 :J [BJ _JJ ?RJ ZJ :bJ =h9J ـ4J = DAT read: 13:55:28.2673 LVL= 24560, 25777, 17346, 32451, AGC= 67, IDX= 488, 0.17, 0.426, 2.616, 0.972, 1.105, PHS=-0.591, 1.558,-0.136, RAW= 318.4, -8.5, CAL= 322.3, -11.6, ROT= 187.7, 11.6 E Ygot valid direction response: 13:55:28.2673 LVL= 24560, 25777, 17346, 32451, AGC= 67, IDX= 488, 0.17, 0.426, 2.616, 0.972, 1.105, PHS=-0.591, 1.558,-0.136, RAW= 318.4, -8.5, CAL= 322.3, -11.6, ROT= 187.7, 11.6 E V#Rx 105: Read range and direction messages. bdirection in FSK: [-0.970743,-0.131249,-0.201078] Fpublishing direction and range info) y- Roɿ- fBY) - _)- dI- Ci- ~- C- K- l?- C - ӱ@)- I) i- 4QO) - 4QO> ) )) - = ӿK¿i- !4- ?>) - 4QO> ) )) mchecking for new query: numPingsReceived=105, elapsed TxPingTime=43.6800276G2<ԩ~GAAN?ڸ,hthA9b#k@bt@YbG٥ HF >25xќ?259% IٝB :y :  @Eid;pq? A2555A.EZb`thAZBZBҁ+ϕD? i1@ Jo-t|`??E %ȿzA"jYhǜ?r R f^B@lT  ꁽB5(@ addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.505101 s, deltaX: 0.500000 m, approachRate: 0.989901 m/s, rangeRepo size: 4  Added new target pos. range: 36.838848 m, bearing: 150.682007 deg, lat: 36.906386 deg, lon: -122.116059 deg, deltaT: 0.505101 s, deltaX: 0.496479 m, approachRate: 0.982930 m/s, posRepo size: 4 =DNOT Ignoring new targets: 36.84 m.b9Z9r9j9R9J9B9~A~A}A|A|I|M̌B@|M? zBȻI)Iʔ H<checking for new query: numPingsReceived=105, elapsed TxPingTime=43.869232:͹=Q;iiEEEEP0E1 6G G;~G AI Aq N} > ؍ =׍ %= DDAT read: Rx Time:13:55:28.7677  TRx dataTimestamp_ set to:1749131730.016216 PDAT read: Bearing 187.3, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 187.3, 11.8 (Local)  DAT read: Range 10 to 50 : 37.5 m (trip time 25.0 ms) speed -0.8  H <H p<H ߼>H H IH U{BH  =H H H <H E DAT read: 13:55:28.7677 LVL= 23152, 22673, 19282, 31843, AGC= 67, IDX= 508, 0.34, 1.411,-2.654, 1.949, 2.087, PHS=-0.589, 1.589,-0.142, RAW= 318.8, -8.7, CAL= 322.7, -11.8, ROT= 187.3, 11.8  Ygot valid direction response: 13:55:28.7677 LVL= 23152, 22673, 19282, 31843, AGC= 67, IDX= 508, 0.34, 1.411,-2.654, 1.949, 2.087, PHS=-0.589, 1.589,-0.142, RAW= 318.8, -8.7, CAL= 322.7, -11.8, ROT= 187.3, 11.8  V#Rx 106: Read range and direction messages. bdirection in FSK: [-0.970933,-0.124379,-0.204496] Fpublishing direction and range infoڑ yڕ #T~T׿rG,ʿڕ BYڑ ە pZ)ە XIە RKiە c|ۑ ە ە Zd?ە sh ܕ / @)ܕ |Iܕ :@iܕ BRܕ S7Q@ܕ BR> ,uthAKfP"Kd*Kd2Kf :Kf/PF8%GH)0*a/N\03,?[U )]H cԿDÿi4>b@BR> )checking for new query: numPingsReceived=106, elapsed TxPingTime=44.1976019X_@ i@Y4٥II MHMFUC U>Ye25]Rќ?e259]1, I]՝BT:y~i?h:m'@]Ei]&<]i&<]EE25>5A+EZb thABB'@ʁ3B!;"73\u#T~T׿rG,ʿb@BR>ҁ22?BV +2@Efث9:{:?*$+ȿzXAojճ(ǜ?rM ]Bճ(ǜ?u"yT  ]BB#(@u addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.503089 s, deltaX: 0.400002 m, approachRate: 0.795091 m/s, rangeRepo size: 4  Added new target pos. range: 37.235981 m, bearing: 150.165803 deg, lat: 36.906385 deg, lon: -122.116059 deg, deltaT: 0.503089 s, deltaX: 0.397133 m, approachRate: 0.789389 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.24 m.bZrjRJB~~zB}|||B@| ?y zBchecking for new query: numPingsReceived=106, elapsed TxPingTime=44.373299^I)h I~ 115tI<=:=n==$m;iAiAE?EE E 5E Ա 6Ge J՟;~GiAqAN>G',thADDAT read: Rx Time:13:55:29.2680 TRx dataTimestamp_ set to:1749131730.521477PDAT read: Bearing 186.9, 13.1 (Local) ~Local bearing/azimuth received: Bearing 186.9, 13.1 (Local) &DAT read: Range 10 to 50 : 38.0 m (trip time 25.3 ms) speed -0.7 nDAT read: 13:55:29.2680 LVL= 25584, 21649, 22434, 32755, AGC= 68, IDX= 495,-0.39,-1.289, 0.876,-0.771,-0.662, PHS=-0.539, 1.585,-0.112, RAW= 319.0, -9.6, CAL= 323.1, -13.1, ROT= 186.9, 13.1 vYgot valid direction response: 13:55:29.2680 LVL= 25584, 21649, 22434, 32755, AGC= 68, IDX= 495,-0.39,-1.289, 0.876,-0.771,-0.662, PHS=-0.539, 1.585,-0.112, RAW= 319.0, -9.6, CAL= 323.1, -13.1, ROT= 186.9, 13.1 UV#Rx 107: Read range and direction messages.]bdirection in FSK: [-0.966922,-0.117010,-0.226651]eFpublishing direction and range infoy ))Hd+#ͿBq:J^BJ[JJARJZJ} :bJW9J4JY c)TIWiD H?B` )@)+Is@i jP@ j> )齴YnB;Կo t.jſi3 ,>ZA j> )mchecking for new query: numPingsReceived=107, elapsed TxPingTime=44.7007649mL\@me@YmB٥ HFR >!525%ќ?5259%3 I%НByy}'}@%Ei%=<%=<%bI25BJ5A)EԙZb_thABBt='@ʁA-=Bfm"  d! ))Hd+#ͿZA j>ҁj9WG?,ْ2@W ce??˿zA~jBiM:ǜ?rI $ZB R  ]BaB|'@= addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 0.505261 s, deltaX: 0.500000 m, approachRate: 0.989588 m/s, rangeRepo size: 4 U Added new target pos. range: 37.732460 m, bearing: 149.721085 deg, lat: 36.906385 deg, lon: -122.116059 deg, deltaT: 0.505261 s, deltaX: 0.496479 m, approachRate: 0.982619 m/s, posRepo size: 4 uDNOT Ignoring new targets: 37.73 m.bqZqryjyRyJyBy~~}|||C@|{? %zB%TûI!)%X!I%U ))-K.,ithAuDDAT read: Rx Time:13:55:29.7683 uTRx dataTimestamp_ set to:1749131731.024185}PDAT read: Bearing 186.7, 12.6 (Local) H>HHIHA{BH =HHH<HE~Local bearing/azimuth received: Bearing 186.7, 12.6 (Local) DAT read: Range 10 to 50 : 38.4 m (trip time 25.6 ms) speed -0.7 DAT read: 13:55:29.7683 LVL= 27248, 22705, 23474, 31203, AGC= 66, IDX= 2,-0.20,-1.627, 0.536,-1.122,-0.994, PHS=-0.545, 1.577,-0.131, RAW= 319.4, -9.3, CAL= 323.3, -12.6, ROT= 186.7, 12.6 Ygot valid direction response: 13:55:29.7683 LVL= 27248, 22705, 23474, 31203, AGC= 66, IDX= 2,-0.20,-1.627, 0.536,-1.122,-0.994, PHS=-0.545, 1.577,-0.131, RAW= 319.4, -9.3, CAL= 323.3, -12.6, ROT= 186.7, 12.6 V#Rx 108: Read range and direction messages.bdirection in FSK: [-0.969252,-0.113861,-0.218143]K@P"Kͼ9*K2K :K4J1pX7Q n0@H.Ue&&EIO'1]Fpublishing direction and range infoqyu+%'$˿uBYq upj)uXIu[iuyuBu u#?u$ ub@)u6&Iu@iuz0auP@uz0a> q)quޅ?Կ.Ŀiue3u%>uAuz0a> q)q}zB}BI ==checking for new query: numPingsReceived=108, elapsed TxPingTime=45.196110Mb@Mb@Mb@ )Yq= ףp?:v~jtxyk?TĻ )dAIy@I-I-2=H; = =yEQ E>٥Ai uHuF} >25^ќ?259: I˝Byk?f:(@EiE::M25BH5A&EZqbu?thAuBuBuo'@ʁu6zB]1索 u+%'$˿uAuz0a>ҁu.-cь@2@J_u'꿄@þ?ʿzuNAujuV=ǜ?ruèbH u[BquM  quBu'@a addTargetRange:: Added new target pos. range: 38.400002 m, deltaT: 0.502708 s, deltaX: 0.400002 m, approachRate: 0.795694 m/s, rangeRepo size: 4  Added new target pos. range: 38.129929 m, bearing: 149.528673 deg, lat: 36.906385 deg, lon: -122.116056 deg, deltaT: 0.502708 s, deltaX: 0.397469 m, approachRate: 0.790655 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.13 m.bZrjRJB~~zB}|||@33C@|%? zB'FI)I @L<:S=qZ;ii% checking for new query: numPingsReceived=108, elapsed TxPingTime=45.381996E ?E E E 5E ԩ Թ 6G RuN;~GAAN>]67,5@thA9R6X@Ra@YR@i٥yy }Hy >DDAT read: Rx Time:13:55:30.2685 TRx dataTimestamp_ set to:1749131731.529099PDAT read: Bearing 187.0, 11.9 (Local) ~Local bearing/azimuth received: Bearing 187.0, 11.9 (Local) DAT read: Range 10 to 50 : 38.7 m (trip time 25.8 ms) speed -0.8 %25ќ?-259@ IȝBy)-)5@Ei-<<Q259= 5A9MDAT read: 13:55:30.2685 LVL= 23664, 21553, 19906, 31651, AGC= 68, IDX= 500,-0.10,-2.659,-0.443,-2.134,-1.989, PHS=-0.582, 1.593,-0.148, RAW= 319.1, -8.7, CAL= 323.0, -11.9, ROT= 187.0, 11.9 UYgot valid direction response: 13:55:30.2685 LVL= 23664, 21553, 19906, 31651, AGC= 68, IDX= 500,-0.10,-2.659,-0.443,-2.134,-1.989, PHS=-0.582, 1.593,-0.148, RAW= 319.1, -8.7, CAL= 323.0, -11.9, ROT= 187.0, 11.9 UV#Rx 109: Read range and direction messages.bdirection in FSK: [-0.971215,-0.119250,-0.206204]%Fpublishing direction and range infoڹyڽ\Jo$2ᅫ0Fa5dʿڽBYڹ ۽p\)۽1TI۽Mi۽{۽D۽۽m?۽P ܽ8@)ܽ|Iܽe@iܽȭTܽP@ܽȭT> ݹ)ݹݽ)X_tԿ,\ÿiݽw3ݽʀ>ݽ+>AݽȭT> ޹)޹ZbthABBO'@ʁ}o-BTYt0&\Jo$2ᅫ0Fa5dʿ+>Achecking for new query: numPingsReceived=109, elapsed TxPingTime=45.684036ȭT>ҁ3I@:d2@))dy [?5 ȿzŗANjZc/ǜ?rF:L ]BZc/ǜ?F:L  ]BꁽBO'@ addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 0.504914 s, deltaX: 0.299999 m, approachRate: 0.594159 m/s, rangeRepo size: 4 ] Added new target pos. range: 38.427818 m, bearing: 149.784697 deg, lat: 36.906386 deg, lon: -122.116056 deg, deltaT: 0.504914 s, deltaX: 0.297890 m, approachRate: 0.589981 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 38.43 m.bYZYrYjaRaJaBa~a~i}i|i|i|mYC@|u? zBI) I0ٖ @M<:=8;iiEEEED5E)e checking for new query: numPingsReceived=109, elapsed TxPingTime=45.885574Q 6G .A;~G A A N >X=,thA9vV@v`@Yv Ȁ٥)) -H-F-ƹ 5>99E25=jҜ?M259=E I=ĝByIM)M@=Ei=:=:=mT25Q]25A]#EDNOT Ignoring new targets: 38.43 m.bZrjRJB~~}||||? zB!I)I 7N<:lu=ۨ0;iiEEEEO0EԁDDAT read: Rx Time:13:55:30.7689 TRx dataTimestamp_ set to:1749131732.036339PDAT read: Bearing 186.8, 12.5 (Local) %PExceeded connect timeout, disconnecting.-~Local bearing/azimuth received: Bearing 186.8, 12.5 (Local) =DAT read: Range 10 to 50 : 39.3 m (trip time 26.2 ms) speed -0.8 GQGQHm>HmCHiHiHm =HiHm/DHmϚ<HmEDAT read: 13:55:30.7689 LVL= 24752, 21137, 21378, 32755, AGC= 67, IDX= 488, 0.00,-0.864, 1.321,-0.348,-0.219, PHS=-0.557, 1.587,-0.133, RAW= 319.2, -9.2, CAL= 323.2, -12.5, ROT= 186.8, 12.5 Ygot valid direction response: 13:55:30.7689 LVL= 24752, 21137, 21378, 32755, AGC= 67, IDX= 488, 0.00,-0.864, 1.321,-0.348,-0.219, PHS=-0.557, 1.587,-0.133, RAW= 319.2, -9.2, CAL= 323.2, -12.5, ROT= 186.8, 12.5 V#Rx 110: Read range and direction messages.:JBJTJJ?RJZJbJ:9Jـ4JzJ^:jJc:JRJ:rJUJ:bdirection in FSK: [-0.969428,-0.115597,-0.216440]Fpublishing direction and range infoyw6e↓2ғʗK˿3BY `)RISiC"?'1 aF@)l$IJ@if_YP@f_> )0EQMJԿ= `Ŀiq3J#>\wAf_> )Mchecking for new query: numPingsReceived=110, elapsed TxPingTime=46.186398K=P"KS9*K2K :K)]O0 m1f&6cJy >{)]_OK?z6G$;~GqAAN> rAD,wuhAAchecking for new query: numPingsReceived=110, elapsed TxPingTime=46.3905339r\@re@Yri٥ HFѻ: > 25 Ҝ?259 ?L I B+:y::(@ Ei /< > xW25B4A EZ!b%aSuhA%B%B%'@ʁ%oeqB$8j 4 %w6e↓2ғʗK˿%\wA%f_>ҁ%]=l{@JLY3@EʰCs%ZDF /F?/vɿz%ΚA%j%@ǜ?r%֫jN %{[B%BiM:ǜ?! %{[B%VB% '@ addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 0.507240 s, deltaX: 0.599998 m, approachRate: 1.182869 m/s, rangeRepo size: 4 - Added new target pos. range: 39.024635 m, bearing: 149.585782 deg, lat: 36.906387 deg, lon: -122.116056 deg, deltaT: 0.507240 s, deltaX: 0.596817 m, approachRate: 1.176597 m/s, posRepo size: 4 -DNOT Ignoring new targets: 39.02 m.b)Z)r)j)R1J1B1~1~1}9|9|9|=`fC@|E@g? zB靍s0tI)a<Iٍ  oO<:[,=Z3R;iiE?EEEP0EDDAT read: Rx Time:13:55:31.2691 TRx dataTimestamp_ set to:1749131732.538186PDAT read: Bearing 186.4, 12.5 (Local) ~Local bearing/azimuth received: Bearing 186.4, 12.5 (Local) %DAT read: Range 10 to 50 : 39.6 m (trip time 26.4 ms) speed -0.6 MDAT read: 13:55:31.2691 LVL= 24096, 26385, 24114, 32755, AGC= 68, IDX= 490, 0.01,-0.976, 1.165,-0.486,-0.350, PHS=-0.538, 1.562,-0.139, RAW= 319.7, -9.2, CAL= 323.6, -12.5, ROT= 186.4, 12.5 UYgot valid direction response: 13:55:31.2691 LVL= 24096, 26385, 24114, 32755, AGC= 68, IDX= 490, 0.01,-0.976, 1.165,-0.486,-0.350, PHS=-0.538, 1.562,-0.139, RAW= 319.7, -9.2, CAL= 323.6, -12.5, ROT= 186.4, 12.5 ]V#Rx 111: Read range and direction messages.bdirection in FSK: [-0.970212,-0.108826,-0.216440]Fpublishing direction and range infoydZ ￴E* ܻK˿fBY  ^)gI2^iD^ ?V ލ@)I{@i5P@ )#f4,JտzYwĿi3q$>A )checking for new query: numPingsReceived=111, elapsed TxPingTime=46.6730426G ;jG x?bG u?9 ~Gy A A N >iJ,6+uhA9>a@>Mk@Y>ڔv<>H@?>?[Wv? <@?@܎?? >a@>}m;)>CfzBjGIIIm?3Y. T=y2+;Q >٥)) -H-F5y: 5>Y}25]2Ҝ?}259]Q I]B :y:(@]Ei];] Q?]Y25B45AEZ!b%q"uhA%JB%JB%Y&@ʁ%qYCAHU CHU ~IHU 7{BHU  =HQ HU 0DHU њ<HU EHHHʔCH =I = IR6~G A ԙ  DAT read: Range 10 to 50 : 40.2 m (trip time 26.8 ms) speed -0.9 A N >:J [BJ QJJ CRJ ZJ :bJ -.9J 4J zJ :jJ :J 4:rJ 4: DAT read: 13:55:31.7695 LVL= 27488, 20593, 21234, 32755, AGC= 67, IDX= 510, 0.05, 1.628,-2.486, 2.108, 2.254, PHS=-0.538, 1.591,-0.148, RAW= 320.1, -9.3, CAL= 324.0, -12.6, ROT= 186.0, 12.6  Ygot valid direction response: 13:55:31.7695 LVL= 27488, 20593, 21234, 32755, AGC= 67, IDX= 510, 0.05, 1.628,-2.486, 2.108, 2.254, PHS=-0.538, 1.591,-0.148, RAW= 320.1, -9.3, CAL= 324.0, -12.6, ROT= 186.0, 12.6  V#Rx 112: Read range and direction messages.= bdirection in FSK: [-0.970571,-0.102011,-0.218143]= Fpublishing direction and range info y D2}qe'$˿ BY  `k) qPI Ri  C  ? P  Dz@) 6&I @RQ,EuhAi5z0a5O@5z0a> 1)15S .&BFտEВږĿi525n%>5 \B5z0a> 1)16checking for new query: numPingsReceived=112, elapsed TxPingTime=47.205952K^=P"K^9*K\2K^:K^`0S)m'&r/%$c-5I<a m / 9no@ney@Yn?=y|:Q >٥ HF; >25'LҜ?2591X IB9y9L(@Ei:f?[25  5A1Z1b5{BuhA5B5B5_&@ʁ5b6_C*I4v|j!5D2}qe'$˿5 \B5z0a>ҁ5Z u@*+4@&-T 5d/aH+?<ɿz5_A5j5@Eǜ?r5D 5ZB5@ǜ?1 15#Bq5$&@ addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 0.504751 s, deltaX: 0.600002 m, approachRate: 1.188709 m/s, rangeRepo size: 4  Added new target pos. range: 39.918636 m, bearing: 148.943363 deg, lat: 36.906388 deg, lon: -122.116055 deg, deltaT: 0.504751 s, deltaX: 0.596104 m, approachRate: 1.180986 m/s, posRepo size: 4 5DNOT Ignoring new targets: 39.92 m.b1Z1r1j1R1J9B9~9~9}A|A|A|ED@|MJ? zBXuI)H<I; RQ<:m=Ψ;iiԡ]checking for new query: numPingsReceived=112, elapsed TxPingTime=47.399837E}?EyEyEP0E6G ~Gy A A N > {W,F`_uhA9-#@-ԏ@Y-T ݩ)ݩݭ'rJpd&ֿ7zĿiݭ/2ݭ$>ݭBݭf_> ީ)ީI-2}<< A=y:Q >٥ HF; >25HfҜ?259v^ IB9y9'@Eig:?checking for new query: numPingsReceived=113, elapsed TxPingTime=47.6845259]254AEZbbuhA B B4&@ʁv؈CZ䊠j2Rh!q%EJ鈂ҸK˿Bf_>ҁgV@Rp@^k4@ln7 EV~a`??F'Wo{ɿzZAjMǜ?r {D ZB@Eǜ? ꁭBN&@ addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 0.502092 s, deltaX: 0.299999 m, approachRate: 0.597499 m/s, rangeRepo size: 4  Added new target pos. range: 40.216537 m, bearing: 148.794617 deg, lat: 36.906388 deg, lon: -122.116055 deg, deltaT: 0.502092 s, deltaX: 0.297901 m, approachRate: 0.593320 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.22 m.bZrjRJB~~}|||@D@| \? ]zBe:Ia)eY ],IyuhA9;@찴@Yi٥QQ UHQ]:&< ]>am25e~Ҝ?m259eJd IeB9y9&@eEie;e@eo^25B5AEDNOT Ignoring new targets: 40.22 m.bZrjRJB~!~!}!)|Q|Y|a|ER?DDAT read: Rx Time:13:55:32.7701 TRx dataTimestamp_ set to:1749131734.059468-PDAT read: Bearing 185.2, 11.7 (Local) 5~Local bearing/azimuth received: Bearing 185.2, 11.7 (Local) mDAT read: Range 10 to 50 : 41.1 m (trip time 27.4 ms) speed -0.8  H<H<H>HHHHHHH<H/EIIR=:JZBJJJ@RJZJ9bJJJ4JzJ-:jJ2:JrJ zB`I ) < I r    ]T<DAT read: 13:55:32.7701 LVL= 24048, 20081, 19954, 32243, AGC= 64, IDX= 500, 0.24, 2.837,-1.262,-3.002,-2.810, PHS=-0.549, 1.594,-0.195, RAW= 321.1, -8.6, CAL= 324.8, -11.7, ROT= 185.2, 11.7 %Ygot valid direction response: 13:55:32.7701 LVL= 24048, 20081, 19954, 32243, AGC= 64, IDX= 500, 0.24, 2.837,-1.262,-3.002,-2.810, PHS=-0.549, 1.594,-0.195, RAW= 321.1, -8.6, CAL= 324.8, -11.7, ROT= 185.2, 11.7 %V#Rx 114: Read range and direction messages.-bdirection in FSK: [-0.975193,-0.088749,-0.202787]-Fpublishing direction and range info y ?Cd4=G ɿ f$BY  ]) qNY]:eXT=e90 )  ],zֿrU{0ÿi s1 > @C Q> ) checking for new query: numPingsReceived=114, elapsed TxPingTime=48.215176K5#kP"K59*K12K5:K5 d v \ %pYy!3 ) EkGo H  \s;T7 4ԉ >E E5 ?E1 E9 E= O0E9 e checking for new query: numPingsReceived=114, elapsed TxPingTime=48.406612Ա 6G^n;~GAAN?QTg,׽uhA9B@B3@YB֡ 9)9=x_ת݈;׿2bl_& =i=1=F=={]C=-\-> 9)9 checking for new query: numPingsReceived=115, elapsed TxPingTime=48.686073y 8Q %>٥!) -H-F-X< ->AM25EҜ?M259EXl IEBMT:yMg?Mj:MU@EEiEz:EU:Ec25Y]5AEZ9b=jkuhA=<%B=<%B="&@ʁ= QGDQ(B H#*='E,jjQVnRVſ={]C=-\->Yҁ= %sA05@9 7=,,뿀jwj?@WGեtÿz=A= j= )ǜ?r=N> =aB9=D  9=!B=!4&@ addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 1.008402 s, deltaX: 1.099998 m, approachRate: 1.090833 m/s, rangeRepo size: 4  Added new target pos. range: 41.308964 m, bearing: 148.732987 deg, lat: 36.906388 deg, lon: -122.116053 deg, deltaT: 1.008402 s, deltaX: 1.092426 m, approachRate: 1.083324 m/s, posRepo size: 4  DNOT Ignoring new targets: 41.31 m.b Z r j R J B~1~5{B}9|9|A|MD@|M袹? zB靽T\I)У< I NE V<:'=I@Eu 4<bEy ZEy Թ E ?E E E |5E 6Gu2<~GqDDAT read: Rx Time:13:55:33.7707 TRx dataTimestamp_ set to:1749131735.066325PDAT read: Bearing 185.3, 10.0 (Local) ~Local bearing/azimuth received: Bearing 185.3, 10.0 (Local) -DAT read: Range 10 to 50 : 42.0 m (trip time 28.0 ms) speed -0.7 MDAT read: 13:55:33.7707 LVL= 29504, 29649, 21026, 32755, AGC= 66, IDX= 506,-0.36, 0.007, 2.245, 0.459, 0.700, PHS=-0.605, 1.592,-0.244, RAW= 321.2, -7.3, CAL= 324.7, -10.0, ROT= 185.3, 10.0 UYgot valid direction response: 13:55:33.7707 LVL= 29504, 29649, 21026, 32755, AGC= 66, IDX= 506,-0.36, 0.007, 2.245, 0.459, 0.700, PHS=-0.605, 1.592,-0.244, RAW= 321.2, -7.3, CAL= 324.7, -10.0, ROT= 185.3, 10.0 UV#Rx 116: Read range and direction messages.]bdirection in FSK: [-0.980597,-0.090967,-0.173648]Hm>HmCHmIHmA{BHm =IIAA:J^BJYJJ=RJZJ} :bJ[O9Jg4JzJ`:jJe:J'n:rJ)n:HiHm/DHm<HmEFpublishing direction and range infoy aY%mIٖNs:ƿ(BY @s)sI"RiBH?#y Ud@)wIX@i¸2jN@¸2> )>y=\ֿ0WiMe1>K$C¸2> )checking for new query: numPingsReceived=116, elapsed TxPingTime=49.201790AA)N5!?q,SuhAK%eP"K%9*K!2K%:K%Oq J oPq/ =MNQLrSKop `b?PZzBVIEMb@Mb@Mb@AAA A)AYE rh?A`"?yEl?EY=AEA En@)EAIEMAAyEAII3< ٥ HF >25Ҝ?259t IByl?e:;@EiD;;{i25B4AE)Z1b5>uhA5&B5&B5X&@ʁ57rDx0ZYIL5 aY%mIٖNs:ƿ5K$C5¸2>ҁ55N"AnL0B5@Qb=5Ml6P?/f""Ŀz5A5 j5y4ǜ?r5:D 5`B11 15 $B5-&@ addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 0.512894 s, deltaX: 0.400002 m, approachRate: 0.779891 m/s, rangeRepo size: 4  Added new target pos. range: 41.705627 m, bearing: 148.921132 deg, lat: 36.906388 deg, lon: -122.116053 deg, deltaT: 0.512894 s, deltaX: 0.396664 m, approachRate: 0.773383 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.71 m.bZ r j R J B ~~3{B}|||E@|5? zBaI)<=Iu W<:8<w@i plN@ ) R? |CO׿m׊Ei 0 > EC ) echecking for new query: numPingsReceived=117, elapsed TxPingTime=49.6871266G<~GaAqAN ?_y,uhA$9v(@v@Yv?٥ HF < >!-25%Ҝ?-259%H{ I%By)55@%Ei%q:%:%m25Y])5A]EZbuhA(B(B?%@ʁ%Dxf 3PwF@gBՙٖNs:ƿECҁ' hAy5@q d`_WC홯n&z?^ý 8Ŀz׭A;j/<ǜ?rҟ> =`B/<ǜ? {D  =`B<&B1=&@ addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 0.497571 s, deltaX: 0.500000 m, approachRate: 1.004882 m/s, rangeRepo size: 4 % Added new target pos. range: 42.202122 m, bearing: 148.569827 deg, lat: 36.906387 deg, lon: -122.116052 deg, deltaT: 0.497571 s, deltaX: 0.496494 m, approachRate: 0.997836 m/s, posRepo size: 4 -DNOT Ignoring new targets: 42.20 m.b)Z)r)j)R)J1B1~Y~Y}Y|Y|Y|e@E@|e?q zB:*I)X<Iđ 8PY<:<_؀,LvhA 2=2=BDDAT read: Rx Time:13:55:34.7713 JTRx dataTimestamp_ set to:1749131736.072823ZPDAT read: Bearing 185.2, 10.6 (Local) ^~Local bearing/azimuth received: Bearing 185.2, 10.6 (Local) H>HCHHH =HH.DHϚ<HEi}DAT read: Range 10 to 50 : 43.1 m (trip time 28.7 ms) speed -0.6 DAT read: 13:55:34.7713 LVL= 23152, 20513, 20898, 32355, AGC= 67, IDX= 496,-0.01, 0.786, 2.958, 1.223, 1.446, PHS=-0.572, 1.560,-0.226, RAW= 321.3, -7.7, CAL= 324.8, -10.6, ROT= 185.2, 10.6 Ygot valid direction response: 13:55:34.7713 LVL= 23152, 20513, 20898, 32355, AGC= 67, IDX= 496,-0.01, 0.786, 2.958, 1.223, 1.446, PHS=-0.572, 1.560,-0.226, RAW= 321.3, -7.7, CAL= 324.8, -10.6, ROT= 185.2, 10.6 V#Rx 118: Read range and direction messages.Ubdirection in FSK: [-0.978890,-0.089086,-0.183951]UFpublishing direction and range infoDyFS￾53Tζ =ηǿFf,BYD FpZ)F!PIFQiFc~DFnF?Flg Fr@)F IF g@iFq=FN@Fq=> D)DF󚁫xC8I4 ׿=iFD1FB[ >F@CFq=> D9} @}@Y}٥  H F U  j>  25 m#Ӝ? 259  I By n? c:  @ Ei k: : \t25) - _5A- EZDbF"vhAF0+BF0+BF^g&@ʁF~4\_Dg7cī}FS￾53Tζ =ηǿF@CFq=>ҁFE6|B(t5@0uЫ$F~6B?͕`ſzFAFjFo<ǜ?rFPH F^BDD DF)BF;&@}  addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.508927 s, deltaX: 0.599998 m, approachRate: 1.178948 m/s, rangeRepo size: 4   Added new target pos. range: 42.796993 m, bearing: 148.972413 deg, lat: 36.906387 deg, lon: -122.116052 deg, deltaT: 0.508927 s, deltaX: 0.594872 m, approachRate: 1.168874 m/s, posRepo size: 4  DNOT Ignoring new targets: 42.80 m.b Z r j R J B ~ ~ 8{B} | | | ̌E@| @? zB1_I9)=<9IEÐ AAE*[ )y]$X/׿_4Q¿i1 >C+H>JEـ4JEm4JE0:J_BJXJJ>RJZJ :bJ5K9Jt4JzJ-:jJ2:Jf:rJf: )EEEE4E9Uchecking for new query: numPingsReceived=119, elapsed TxPingTime=50.723656a6GFթ<ZGRG~GAAN7?[ɋ,o1vhAI)@9z@z@Yzl٥AA MHMFUܻ ]>25>Ӝ?259B IByY @Ei^;;w25B5AEZibmY$vhAma,Bma,Bmi&@ʁm8բPEh, ( mwYFDsmVѫȿmCm+H>ҁmEBt6@e>\}m꿶!.[?n٣ƿzm;Amjm>Pǜ?rmqGE mH\Bim:D  im*Bm >&@ addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 0.499830 s, deltaX: 0.300003 m, approachRate: 0.600210 m/s, rangeRepo size: 4  Added new target pos. range: 43.094887 m, bearing: 148.710278 deg, lat: 36.906387 deg, lon: -122.116053 deg, deltaT: 0.499830 s, deltaX: 0.297894 m, approachRate: 0.595990 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.09 m.bZrjRJB~~}||| @3E@| 6S? zB_I)ฉIĐ V\<%:%<%tH CH ~IH 7{BH  =H H /DH z<H aE- DAT read: Range 10 to 50 : 44.1 m (trip time 29.4 ms) speed -0.6  DAT read: 13:55:35.7721 LVL= 26944, 27889, 23586, 32755, AGC= 68, IDX= 503, 0.45, 1.934,-2.144, 2.377, 2.578, PHS=-0.557, 1.607,-0.205, RAW= 321.3, -8.5, CAL= 324.9, -11.5, ROT= 185.1, 11.5  Ygot valid direction response: 13:55:35.7721 LVL= 26944, 27889, 23586, 32755, AGC= 68, IDX= 503, 0.45, 1.934,-2.144, 2.377, 2.578, PHS=-0.557, 1.607,-0.205, RAW= 321.3, -8.5, CAL= 324.9, -11.5, ROT= 185.1, 11.5  V#Rx 120: Read range and direction messages. bdirection in FSK: [-0.976045,-0.087110,-0.199368] Fpublishing direction and range infoi ym 4;33Liɿm f0BYi m @i)m lIm "\ii m Dm m -?m Q m r@)m Im Yu@im Mm :N@m M> i )i m #~ݟ5ֿVH¿im J1m >m {]Cm M> i )i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.1 KE P"KE 9*KA 2KE :KE uv}yu`Wtpfc-0x 7-pj],,A  k6GE <~GA A)NU>Y,OvhA9%@%@Y%d٥)) -HIUFUc ]>25]dӜ?259m IByk?f: @!Ei:_:|25,BZ6AEZb/EvhA)/B)/BT&@ʁc:c^E7P3kv!4;33Liɿ{]CM>ҁlMsvoBBO 9 )9 = K?'&~lֿD #t¿i= 1= >= K$C= 4QO> 9 )9  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.:J \BJ SJJ ERJ ZJ =:bJ y69J 4J % @% @% @% @E- ?E) E) E- 5E1 ԩ 6GU(<~GA!A1N=?כ,CqvhA9^1@^@Y^p٥ HF&" >25|Ӝ?259 IBҁQÕB̘[F6@r= x꿬H4+?P;ǿz6Aj@ǜ?r |-K ZB@ǜ?G  H\Bꁅ-BU&@  addTargetRange:: Added new target pos. range: 44.400002 m, deltaT: 0.497805 s, deltaX: 0.300003 m, approachRate: 0.602652 m/s, rangeRepo size: 4 E Added new target pos. range: 44.088638 m, bearing: 149.064784 deg, lat: 36.906388 deg, lon: -122.116054 deg, deltaT: 0.497805 s, deltaX: 0.297901 m, approachRate: 0.598429 m/s, posRepo size: 4 EDNOT Ignoring new targets: 44.09 m.bAZArAjARIJIBI~I~I}Q|Q|Q|U@33F@|}? zBZI)I푻 `<:<0}Т,6̋vhA K6+P"K69*K42K6:K6(Qc*xf? bp o4MsQBC.dOo}T- Gbz'~J<J>AJbdirection in FSK: [-0.971424,-0.093537,-0.218143]JFpublishing direction and range infoڡyڥ1 o򷿡'$˿ڥ3BYڡ ۥl)ۥQWIۥ2ZiۡۥCۥB`ۥq=?ۥ! ܥ@)ܥ6&Iܥ(<@iܥz0aܥ4O@ܥz0a> ݡ)ݡݥQ>"vCRֿZhĿiݥ1ݥ:&>ݥBݥz0a> ޡ)ޡ V2Acoustic response timeoutrQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.mzBmIMb@Mb@Mb@ )Y rh?㥛 ?I +yCk?=94A hA)IQAyI-I-?139+ (=yQ >٥ HF >E25Ӝ?E259@ IByEl?Ef:E M@-Ei.<:\25U-BU7AUEҁX{B!BwYT6@ Cph! h~?t1ɿzA!j8Bǜ?r`O VBOVAǜ?PH  ZBꁥV/BX&@ addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.510569 s, deltaX: 0.500000 m, approachRate: 0.979300 m/s, rangeRepo size: 4 u Added new target pos. range: 44.585541 m, bearing: 149.249836 deg, lat: 36.906388 deg, lon: -122.116054 deg, deltaT: 0.510569 s, deltaX: 0.496902 m, approachRate: 0.973233 m/s, posRepo size: 4 }DNOT Ignoring new targets: 44.59 m.byZyryjyRyJB~~zB}|||@3sF@| @>? zB靅I).IRf Xa<:f1<~ Y ] Iܔ~Ҫ(ֿZGu^ÿi] f1] >] {]C] BR> p,ǫvhA9Rխ@R޴@YR-(٥yy }H}F}T >25øӜ?259 I}By4 @4Eii$<$<257AE}DNOT Ignoring new targets: 44.59 m.byZrjRJB~~}||||:? qu)Iq)uyI} yy}c<:<ȌiU,vhA <&DDAT read: Rx Time:13:55:37.7733 H>>H<H>^IH>{BH<H<H>.DH><H>{EfTRx dataTimestamp_ set to:1749131739.097500vHDAT read: Bearing 146, 13. (Local) I|I| vLocal bearing/azimuth received: Bearing 146, 13. (Local) 9eDAT read: Range 10 to 50 : 45.9 m (trip time 30.6 ms) speed -0.9 mDAT read: 13:55:37.7733 LVL= 22896, 22897, 18994, 32755, AGC= 67, IDX= 500,-0.45,-1.873, 0.324,-1.442,-1.277, PHS=-0.508, 1.648,-0.168, RAW= 321.6, -9.7, CAL= 325.4, -13.2, ROT= 184.6, 13.2 uYgot valid direction response: 13:55:37.7733 LVL= 22896, 22897, 18994, 32755, AGC= 67, IDX= 500,-0.45,-1.873, 0.324,-1.442,-1.277, PHS=-0.508, 1.648,-0.168, RAW= 321.6, -9.7, CAL= 325.4, -13.2, ROT= 184.6, 13.2 }R#Rx 1: Read range and direction messages.9ɭ@Ӵ@Y"B ()(*a FUR&0׿xgſi*0*ɗ->*vC*k> ()( %2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.K{P"K*K2K:K^*8 tfOG$:{@n:)&k}J.( Ge<x'0ra}Mb@Mb@Mb@yyy y)yY}HzG?X9v?:vy}=j?}}=}Ty y)yI}hAyy}AII3)" =y`sQ >٥ HFb- >!-25%Ӝ?-259%U I%vBy-j?-g:--@%;Ei%:%.:%25.B7AEZ(b*q=vhA*O6B*O6B*%@ʁ*!tbF:x |ɾ$*7= Q7G :Ϳ*vC*k>ҁ*Q LBp2lo7@{Y_#*P꿭v.t?183˿z*{A*|j*dcǜ?r*"6> *SB*8Bǜ?*G  *ZB*2B*K&@ addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 1.008079 s, deltaX: 1.000000 m, approachRate: 0.991986 m/s, rangeRepo size: 4  Added new target pos. range: 45.577694 m, bearing: 148.250746 deg, lat: 36.906388 deg, lon: -122.116054 deg, deltaT: 1.008079 s, deltaX: 0.992153 m, approachRate: 0.984202 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.58 m.bZrjRJ B~~zB}|||@3F@||? }zB靅ԑI)I藻 ԉd<:<DDAT read: Rx Time:13:55:38.2735 TRx dataTimestamp_ set to:1749131739.347185@,B`vhA2PDAT read: Bearing 184.9, 13.8 (Local) 2~Local bearing/azimuth received: Bearing 184.9, 13.8 (Local) :|DAT read: Range 10 to 50 : 4.2m(tiptie 0.8 ms) speed -0.7 VDAT read: 13:55:38.2735 LVL= 25728, 29313, 18770, 32755, AGC= 67, IDX= 486,-0.13, 2.477,-1.716, 2.904, 3.038, PHS=-0.473, 1.577,-0.137, RAW= 321.2, -10.2, CAL= 325.1, -13.8, ROT= 184.9, 13.8 bYgot valid direction response: 13:55:38.2735 LVL= 25728, 29313, 18770, 32755, AGC= 67, IDX= 486,-0.13, 2.477,-1.716, 2.904, 3.038, PHS=-0.473, 1.577,-0.137, RAW= 321.2, -10.2, CAL= 325.1, -13.8, ROT= 184.9, 13.8 zR#Rx 1: Read range and direction messages.~bdirection in FSK: [-0.967585,-0.082951,-0.238533]~Fpublishing direction and range info(y*A@tJ ()(*zF\wֿ(3ƿi*^1*5>*C*Ϣv> ()( 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9ͭ@[״@Y$?٥II MHMFUO: U>Ye25]Ӝ?e259] I]nByag@]DEi],<]-<]25J8AEDDAT read: Rx Time:13:55:38.7739 -TRx dataTimestamp_ set to:1749131739.8501325ҁ*'rB m@֜ *v 꿷8BH?2%;&Κ̿z*@*]j*sҜ?r*w *vB(* |-K  (*4B*r&@-] addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 4.200000 m, deltaT: 0.497119 s, deltaX: -41.700001 m, approachRate: -83.883339 m/s, rangeRepo size: 4] DNOT Ignoring new targets: 45.58 m.ba Za ra ja Ra Ja Ba ~i ~i }i |i |q |u @| C?q zB靥 D5I ) 罉 I | "g< : < g_HCH?IHzBH =HHH<HE]PDAT read: Bearing 185.0, 12.5 (Local) m~Local bearing/azimuth received: Bearing 185.0, 12.5 (Local) IC=Ip=6GI<DAT read: Range 10 to 50 : 46.8 m (trip time 31.2 ms) ped 0. 1:538.7739 LVL= 26928, 22657, 21314, 32755, AGC= 70, IDX= 506, 0.05,-1.324, 0.835,-0.885,-0.715, PHS=-0.521, 1.597,-0.173, RAW= 321.2, -9.2, CAL= 325.0, -12.5, ROT= 185.0, 12.5 -X#Rx 1: Read range message, but no direction.~GAAN?(, @ whAAE3;BYA >2Acoustic response timeoutBQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.KNP"KN{9*KL2KN:KNtdw)V%hq:_%qpE?*M Y x k H Y~92ѭ@ڴ@Yʁ٥II UHUFe>: e>25w&Ԝ?259 IeByLj?h:@LEi<<Ȗ25/B8AEU addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 1.002608 s, deltaX: 0.899998 m, approachRate: 0.897657 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 45.58 m.bQZYrYjYRYJYBY~a~eezB}a|a|i|m`ffG@|m^? zBfI)tI_ mi<:<vRd|,{,whA9]*έ@]״@Y] z_٥ HFԂ >25>Ԝ?259 I`By@REi:: : 25=0B=I9AEE addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.503450 s, deltaX: 0.299999 m, approachRate: 0.595887 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 45.58 m.bZrjRJB~~}|||̌G@| f?DDAT read: Rx Time:13:55:39.7746 -TRx dataTimestamp_ set to:1749131740.866834MPDAT read: Bearing 184.7, 12.6 (Local) U~Local bearing/azimuth received: Bearing 184.7, 12.6 (Local) uDAT read: Range 10 to 50 : 47.9 m (trip time 31.9 ms) speed -0.5 -X#Rx 1: Read range message, but no direction.!%?BY! 2Acoustic response timeout zBQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.m[I) / Iܥ9 AEųjH1 H5 IIq Iq :J ZBJ WJJ =RJ ZJ 9bJ G9J g4J H5 zBH5  =H1 H1 H5 Ӛ<H5 E unknown deviceResponse_: 13:55:39.7746 LVL= 28896, 23265, 26978, 32755, AGC= 68, IDX= 497,-0.39,-2.847,-0.683,-2.421,-2.244, PHS=-0.514, 1.608,-0.179, RAW= 321.6, -9.3, CAL= 35., 1.6 O=14.7, 12.6 ٥qq uHuFu u>25\Ԝ?259t IXByj?g: @YEiV::K259AE addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 0.263276 s, deltaX: 0.800003 m, approachRate: 3.038648 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 45.58 m.bZrjRJB~~nzB}|||@3G@|Pl? zB/̕I)}GI%do !)-cl<=:E0U5,^fwhA.DAT read: 13:55:40.2748 LVL= 26352, 25745, 22162, 32707, AGC= 69, IDX= 3,-0.16, 1936-.6,2.9, 2.564, PHS=-0.540, 1.601,-0.174, RAW= 320.8, -9.0, CAL= 324.6, -12.2, ROT= 185.4, 12.2 2!unknown deviceResponse_: 13:55:40.2748 LVL= 26352, 25745, 22162, 32707, AGC= 69, IDX= 3,-0.16, 1936-.6,2.9, 2.564, PHS=-0.540, 1.601,-0.174, RAW= 320.8, -9.0, CAL= 324.6, -12.2, ROT= 185.4, 12.2 2LՋ?? @骅Ӆ;)CyBII1I1Md M=yWXQ >٥ HF >25vԜ?259U IQBy!@_Ei%:2:25:AE addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 0.496619 s, deltaX: 0.299999 m, approachRate: 0.604083 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 45.58 m.bZrjRJB~~}|||H@| S?A zB蟼I)\I  \n<:<"+A,iwhA~yBIyI I  3%4 V=yQ >٥ HF >25Ԝ?259 IJBy   @eEi:q:12515W:A9 addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.511999 s, deltaX: 0.399998 m, approachRate: 0.781247 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 45.58 m.bZrjRJB~~}|||LH@|m? zB靅ٹ HH<H>HHIHazBH =HHHܚ<HE:Je_BJeSJJe@RJaZJe :bJey69JeJ4JazJajJaJe)C:rJe+C:ԹDAT read: 13:55:40.7750 LVL= 21776, 24049, 17058, 30819, AGC= 68, IDX= 486,-0.05, 2.912,-1.274,-2.929,-2.758, PHS=-0.525, 1.530,-0.174, RAW= 320.8, -8.8, CAL= 324.5, -11.9, ROT= 185.5, 11.9 Ygot valid direction response: 13:55:40.7750 LVL= 21776, 24049, 17058, 30819, AGC= 68, IDX= 486,-0.05, 2.912,-1.274,-2.929,-2.758, PHS=-0.525, 1.530,-0.174, RAW= 320.8, -8.8, CAL= 324.5, -11.9, ROT= 185.5, 11.9 %X#Rx 1: Read direction message, but no range.=bdirection in FSK: [-0.974004,-0.093786,-0.206204]I)lI_ 2p<: ݙݝDڏryֿ,VmÿiݝG1ݝ >ݝBݝȭT>=b,ŚwhA9}d@}@Y}Hn٥qq uH}F}7 }>25Ԝ?259A IBByBo?c:+@lEi;:252B:AEZYb]RIwhA]CB]CB] &@ʁ]RcGkBJE^$] +T$[Fa5dʿ]B]ȭT>ҁ]glDaK8@cor"],ќ׵V?WUȿz]&A]g#j]:ǜ?r]JeF ]TBYY ]VB]>B]-&@] addTargetRange:: Added new target pos. range: 49.099998 m, deltaT: 0.504023 s, deltaX: 0.500000 m, approachRate: 0.992018 m/s, rangeRepo size: 4  Added new target pos. range: 48.754841 m, bearing: 148.642817 deg, lat: 36.906388 deg, lon: -122.116055 deg, deltaT: 3.281975 s, deltaX: 3.177147 m, approachRate: 0.968059 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.75 m.bZrjRJB~~?zB}|||̌H@|)?? zB=7I9)=|AIEl AAEr Y]p yyֿ^Ŀi]+1]$>]@C]f_>:,$}whA>DDAT read: Rx Time:13:55:41.7757 BTRx dataTimestamp_ set to:1749131742.882785VPDAT read: Bearing 185.6, 12.8 (Local) Z~Local bearing/azimuth received: Bearing 185.6, 12.8 (Local) \%DAT read: Range 10 to 50 : 49.7 m (trip time 33.1 ms) speed -0.6 mDAT read: 13:55:41.7757 LVL= 26192, 21793, 21202, 31443, AGC= 67, IDX= 492, 0.23,-1.403, 0.721,-0.947,-0.800, PHS=-0.515, 1.569,-0.150, RAW= 320.6, -9.4, CAL= 324.4, -12.8, ROT= 185.6, 12.8 Ygot valid direction response: 13:55:41.7757 LVL= 26192, 21793, 21202, 31443, AGC= 67, IDX= 492, 0.23,-1.403, 0.721,-0.947,-0.800, PHS=-0.515, 1.569,-0.150, RAW= 320.6, -9.4, CAL= 324.4, -12.8, ROT= 185.6, 12.8 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.970495,-0.095158,-0.221548]Fpublishing direction and range infoty?L>,G\@|[̿>FBY< >Pf)>!UI>Ri>z>C> >?> >@)>'I>-@i>d>4QO@>d> <)<>0`0ю&,ֿS!( Ŀi>(2>A(>>B>d> <)< E2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.)T> m9G9=j@=t@Y= <y=; Yym B=H?6?? |5 ?GU?`? =j@-@-B=;)=CyBIII 3-t --=y5}h;Q 5>٥99 ]HYeIݻ e>iu25mԜ?u259m Im9Byqu|,u@msEim":m;m25:AEZ<b>whA>gEB>gEB>d%@ʁ>MGE=YZ"%>ty?L>,G\@|[̿>B>d>ҁ>.C[D}X+9@?da$>L"uoR?"nʿz>ZA>$j>W]9ǜ?r>azF >PB<>azF  >TB>@B>%@ addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.503310 s, deltaX: 0.600002 m, approachRate: 1.192113 m/s, rangeRepo size: 4  Added new target pos. range: 49.350624 m, bearing: 148.584313 deg, lat: 36.906388 deg, lon: -122.116053 deg, deltaT: 0.503310 s, deltaX: 0.595783 m, approachRate: 1.183730 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.35 m.bZrjRJB~~} | | | H@|5'? zB靝Z^I)}Iǻ fu<:~<xW;iiHM>HIHMIHM9zBHM =HIHIHMݚ<HIHȘCHȘCHH =I = I&5:JcBJXJJGRJZJ:bJ5K9Jc4JzJ;jJ;Jf:rJf:- ٥ HF@ >25~Ԝ?259 I4Byo?b:z0@{Ei::]25:AE addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.505585 s, deltaX: 0.299999 m, approachRate: 0.593370 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 49.35 m.bZrjRJB~~NzB}|| | I@| [>? zB靝yI)Iϻ pw<:<L:iiDAT read: 13:55:42.2759 LVL= 24560, 28657, 23538, 32755, AGC= 67, IDX= 510, 0.36,-2.110,-0.023,-1.677,-1.547, PHS=-0.474, 1.571,-0.132, RAW= 321.0, -10.2, CAL= 324.9, -13.8, ROT= 185.1, 13.8 Ygot valid direction response: 13:55:42.2759 LVL= 24560, 28657, 23538, 32755, AGC= 67, IDX= 510, 0.36,-2.110,-0.023,-1.677,-1.547, PHS=-0.474, 1.571,-0.132, RAW= 321.0, -10.2, CAL= 324.9, -13.8, ROT= 185.1, 13.8 X#Rx 1: Read direction message, but no range.bdirection in FSK: [-0.967290,-0.086328,-0.238533]iymT 2tПiCοYi m_)moIm[imim!m?m+ mG@)mK6ImYu@imϢvm:N@mϢv> im-3fJֿ&ƿimj1m26>m{]CmϢv> .,GwhA~DDAT read: Rx Time:13:55:42.7764 TRx dataTimestamp_ set to:1749131743.896127PDAT read: Bearing 185.4, 12.9 (Local) %~Local bearing/azimuth received: Bearing 185.4, 12.9 (Local) 5DAT read: Range 10 to 50 : 50.6 m (trip time 33.7 ms) speed -0.8 -=X#Rx 1: Read range message, but no direction.fJBY E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. 9u@@uEJ@Yu٥ii uHqu u>y25}՜?259}< I}/By0@}Ei};}2;}ص253B:AEZb%ZwhAHBHBT/%@ʁ0LH|יY=E'T 2tПiCο{]CϢv>ҁ}Dw):@wҠ&c:p꿟t̘?HH{(̿zyA &jșXǜ?r4= MBșXǜ?JeF  SBZCBn%@u addTargetRange:: Added new target pos. range: 50.599998 m, deltaT: 0.507757 s, deltaX: 0.599998 m, approachRate: 1.181665 m/s, rangeRepo size: 4  Added new target pos. range: 50.244141 m, bearing: 147.881195 deg, lat: 36.906390 deg, lon: -122.116053 deg, deltaT: 1.013342 s, deltaX: 0.893517 m, approachRate: 0.881752 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.24 m.bZrjRJB~~}|||LI@| FA? -zB-I1)5i1I5L-ֻ9 1Y]y<]:eSHmCHmIHmzBHm =HiHm0DHm<HmEDAT read: 13:55:42.7764 LVL= 23328, 22817, 20322, 32755, AGC= 68, IDX= 499,-0.41,-2.457,-0.306,-2.002,-1.853, PHS=-0.516, 1.594,-0.152, RAW= 320.7, -9.5, CAL= 324.6, -12.9, ROT= 185.4, 12.9 Ygot valid direction response: 13:55:42.7764 LVL= 23328, 22817, 20322, 32755, AGC= 68, IDX= 499,-0.41,-2.457,-0.306,-2.002,-1.853, PHS=-0.516, 1.594,-0.152, RAW= 320.7, -9.5, CAL= 324.6, -12.9, ROT= 185.4, 12.9 X#Rx 1: Read direction message, but no range.bdirection in FSK: [-0.970435,-0.091733,-0.223250] ځyڅ[ qv={Nu̿Yځ ۅ [)ۅ!YI% 4=I% =:JE ^BJE UJJE DRJA ZJE } :bJE >9JE 4JA zJE ]:jJE b:JE |Q:rJE ~Q:IۅbOiہۅDۅۅ1?ۅ ܅@)܅)I܅uJ@i܅f܅O@܅f> ݁݅tYjSֿZ'ſi݅1݅q*>݅C݅f> 1 ,= xhA~yB~IAK}BP"K}H9*Ky2K}:K}FLZjpTKs-.S $6V1uAK<Qm-Kts(}" Mb@Mb@Mb@    ) Y i|?5?lMbp?y q?  ; A A) 3AI hA y 3AIUIUT3! Y=yQ >٥ HF %>a25eC՜?259e Ie-Byq?`:40@eEDDAT read: Rx Time:13:55:43.2766 TRx dataTimestamp_ set to:1749131744.399486%PDAT read: Bearing 185.0, 12.4 (Local) -~Local bearing/azimuth received: Bearing 185.0, 12.4 (Local) =DAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed -0.6 ]DAT read: 13:55:43.2766 LVL= 23904, 22209, 19442, 32755, AGC= 68, IDX= 485,-0.23, 2.561,-1.588, 2.993,-3.117, PHS=-0.518, 1.576,-0.177, RAW= 321.3, -9.1, CAL= 325.0, -12.4, ROT= 185.0, 12.4 eYgot valid direction response: 13:55:43.2766 LVL= 23904, 22209, 19442, 32755, AGC= 68, IDX= 485,-0.23, 2.561,-1.588, 2.993,-3.117, PHS=-0.518, 1.576,-0.177, RAW= 321.3, -9.1, CAL= 325.0, -12.4, ROT= 185.0, 12.4 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.972956,-0.085123,-0.214735]Fpublishing direction and range infoyLt"M\Y[ʵh`r|˿KBY `])VIKi^?}?5 r@)"I@ik]N@k]> )tqIL8ֿC:Ŀi(M1">zCk]> ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ieҁ[Del:@m&R#{Igbj?v =ɿz`A'j.Mǜ?rk: RB.Mǜ? RBIEBc%@ addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.503359 s, deltaX: 0.300003 m, approachRate: 0.596002 m/s, rangeRepo size: 4  Added new target pos. range: 50.543903 m, bearing: 147.784506 deg, lat: 36.906389 deg, lon: -122.116053 deg, deltaT: 0.503359 s, deltaX: 0.299763 m, approachRate: 0.595525 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.54 m.bZrj!R!J!B!~!~-RzB})|)|)|-@3sI@|5@ϻ?9 zB靽ѸI)tI.ݻ p|<: ?< ;iiE?EEEEi   ,e.xhA9H@R@YE<٥ HF=; E>IM25M@5՜?U259M8 IM)ByQU/U@MEiMe:M.:M25:A߫EDNOT Ignoring new targets: 50.54 m.bZrjRJB~~}||||_"? UzBU>ǼIQ)}pyIȚ {~<:Q<j%9iimDDAT read: Rx Time:13:55:43.7770 }TRx dataTimestamp_ set to:1749131744.903049PDAT read: Bearing 185.4, 12.6 (Local) ~Local bearing/azimuth received: Bearing 185.4, 12.6 (Local) DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.6 EEEE_0EDAT read: 13:55:43.7770 LVL= 27120, 20929, 20706, 32755, AGC= 68, IDX= 505,-0.06,-2.465,-0.330,-2.017,-1.860, PHS=-0.517, 1.577,-0.160, RAW= 320.8, -9.3, CAL= 324.6, -12.6, ROT= 185.4, 12.6 MYgot valid direction response: 13:55:43.7770 LVL= 27120, 20929, 20706, 32755, AGC= 68, IDX= 505,-0.06,-2.465,-0.330,-2.017,-1.860, PHS=-0.517, 1.577,-0.160, RAW= 320.8, -9.3, CAL= 324.6, -12.6, ROT= 185.4, 12.6 MR#Rx 1: Read range and direction messages.Ubdirection in FSK: [-0.971586,-0.091842,-0.218143]]Fpublishing direction and range infoqyuGk: :񂷿'$˿uNBYq ui)uQIuPiqquZu#?u # u$+@)u6&IuuJ@iuz0auO@uz0a> q)quUϣ2'uֿĿiu1us&>uCuz0a> q)q 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.6G >~G A A N >I |,HxhAHF>HFCHFIHFzBHF =HDHDHFȚ<HFEf٥ HFml; >!-25%O՜?-259% I%&ByQU/U@%Ei%;%;%25im}:AZb9xhALBLB+|%@ʁ,HJL:pO&Gk: :񂷿'$˿Cz0a>ҁ:5HEtMq:@~ts$F{YId?1AɿzA@*j7Lǜ?rWG PB7Lǜ? PBꁽHB0r%@= addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.503563 s, deltaX: 0.599998 m, approachRate: 1.191506 m/s, rangeRepo size: 4 u Added new target pos. range: 51.140404 m, bearing: 148.149910 deg, lat: 36.906389 deg, lon: -122.116053 deg, deltaT: 0.503563 s, deltaX: 0.596500 m, approachRate: 1.184560 m/s, posRepo size: 4 }DNOT Ignoring new targets: 51.14 m.byZyryjyRyJyB~~}|||I@|? zB%I))-])I- ))-Az<5:5<5:i1i9aKEGP"KE9*KA2KE:KE"^d!@,,`A"4v$k<W^y&**JU?JU>E%?E!E)E-m0E)ԑDDAT read: Rx Time:13:55:44.2772 TRx dataTimestamp_ set to:1749131745.408098PDAT read: Bearing 184.4, 13.2 (Local) ~Local bearing/azimuth received: Bearing 184.4, 13.2 (Local) DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.8 DAT read: 13:55:44.2772 LVL= 25760, 25697, 21362, 32755, AGC= 69, IDX= 507, 0.07,-2.202,-0.056,-1.790,-1.623, PHS=-0.491, 1.614,-0.170, RAW= 321.9, -9.7, CAL= 325.6, -13.2, ROT= 184.4, 13.2 Ygot valid direction response: 13:55:44.2772 LVL= 25760, 25697, 21362, 32755, AGC= 69, IDX= 507, 0.07,-2.202,-0.056,-1.790,-1.623, PHS=-0.491, 1.614,-0.170, RAW= 321.9, -9.7, CAL= 325.6, -13.2, ROT= 184.4, 13.2 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.970710,-0.074692,-0.228351]Fpublishing direction and range infoڙyڝl WxN  :Ϳڝ3OBYڙ ۝d)۝adI۝rSiۙ۝E۝Zd۝?۝{. ܝjȳ@)ܝ-\-Iܝoٵ@iܝkܝM@ܝk> ݙ)ݙݝQQEX&}׿bp!ޣſiݝƣ0ݝ->ݝ%Dݝk> ޙ)ޙ  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6GE zQ ~G! A1 AA N] >, bxhA5yB5IԁuMb@Mb@Mb@qqq q)qYugfffff?:vI +?yu3s?uTu94٥9 EHEFE E>IU25Mk՜?U259M :Je_BJe[JJeCRJaZJe :bJeW9Je4Jam@m@m@m@IM$By}=s?}_:})}@MEiMK;M;M255Bi:AܫEZbGZxhAMBMB\$@ʁ[xb@H9z,k}'l WxN  :Ϳ%Dk>ҁ//E7H;@$r%urR@H3=Y?<ʿzGA(jWǜ?r@,7 NB.Mǜ?4=  PBꁽJB%@M addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.505049 s, deltaX: 0.299999 m, approachRate: 0.594000 m/s, rangeRepo size: 4 Ա Added new target pos. range: 51.438309 m, bearing: 147.144163 deg, lat: 36.906389 deg, lon: -122.116050 deg, deltaT: 0.505049 s, deltaX: 0.297905 m, approachRate: 0.589854 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.44 m.bZ rjRJB~~tzB}|||%`fI@|%? zB靝I)TI)R Ŵ<:D;<:iiE?EEEl0E} DDAT read: Rx Time:13:55:44.7775 } TRx dataTimestamp_ set to:1749131745.908116 PDAT read: Bearing 183.7, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 183.7, 12.1 (Local)  DAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.7  DAT read: 13:55:44.7775 LVL= 24864, 21105, 21234, 32419, AGC= 68, IDX= 494, 0.20,-1.254, 0.888,-0.874,-0.660, PHS=-0.507, 1.594,-0.218, RAW= 322.7, -8.9, CAL= 326.3, -12.1, ROT= 183.7, 12.1  Ygot valid direction response: 13:55:44.7775 LVL= 24864, 21105, 21234, 32419, AGC= 68, IDX= 494, 0.20,-1.254, 0.888,-0.874,-0.660, PHS=-0.507, 1.594,-0.218, RAW= 322.7, -8.9, CAL= 326.3, -12.1, ROT= 183.7, 12.1  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.975745,-0.063099,-0.209619] Fpublishing direction and range infoy y}  9M9ᅬW;'9hʿ} PBYy } a)} qRI} R i} ~} D} } 1?} d;_ } :@)} I} =@i} @X} 1M@} @X> y )y } (*;F wiؿKÿi} ȱ/} a;>} D} @X> y )y 5 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6G :ZG RG ~Gi Aq A N >,x~xhAmyBmII} I}2;= ^=yQ >٥ H >ԩ25]՜?259J I#By@Ei::25(:A٫EZqbuzxhAuWOBuWOBu`#@ʁu[LJIZs~* t6W;%u 9M9ᅬW;'9hʿuDu@X>ҁu>U4En<@KU#u^m.B!'`Z?&AվpȿzuAu)juXǜ?ruB' uJRBușXǜ?uk:  qu LBu$@ addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.500018 s, deltaX: 0.400002 m, approachRate: 0.799974 m/s, rangeRepo size: 4  Added new target pos. range: 51.835518 m, bearing: 146.465050 deg, lat: 36.906390 deg, lon: -122.116048 deg, deltaT: 0.500018 s, deltaX: 0.397209 m, approachRate: 0.794390 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.84 m.bZrjRJB~~}!|!|!|-J@|-@? zB靥I)@IӉ 룂<:A<:ii H=<H9HM>HMCHMIHMzBHM =HIHIHMۚ<HMEEqEqEqE}3Ey9 K] *P"K] =9*KY 2K] :K] ?s_k L#yLNnSfF73P#-b>%,77xhA96.@6๴@Y6g٥aa eHeFm< m>q}25u^՜?}259u* Iu"By}o?}b:}&@uEiu4:u:u256B:AثEU addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 0.506322 s, deltaX: 0.500000 m, approachRate: 0.987514 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 51.84 m.baZarjRJB~~zB}|||YJ@|d?A zB靍[I)E8I <:p<5RJQ ZJU } :bJU *9JU t4JQ 6G] ?:ԡ ~G1 AA AQ Ne >u+,,xhA9RSέ@Rش@YR%? )ΌF쿧.] ٿ\MſiR.p)>Ef>E?EEEP0E ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.6G}CQ;jGx?bG?ԙ~GqAyAN\>H= >H9 H= IH= $zBH9 H9 H9 H= <H= E ٥ HFt; >25=՜?259 I Bym?e:I@EiA:_:259AҫEZIbMxhAMSBMSBM#@ʁM}:IG|ٰ™lơ'MJqL&ᅵ;JNu̿MEMf>ҁM/ pE<@ng`&M{4bI?2%Y˿zMAMs,jM6ǜ?rMo- M7MBMWǜ?M@,7  IMFOBM<$@ addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.503168 s, deltaX: 0.599998 m, approachRate: 1.192442 m/s, rangeRepo size: 4 - Added new target pos. range: 52.927055 m, bearing: 146.449970 deg, lat: 36.906395 deg, lon: -122.116047 deg, deltaT: 1.009490 s, deltaX: 1.091537 m, approachRate: 1.081276 m/s, posRepo size: 4 5DNOT Ignoring new targets: 52.93 m.b1Z1r1j1R1J9B9~A~E{B}A|A|A|M`fJ@|M1>? uzBuIy)} "yIߧ y<:V<YPF q`$]Jj`Q"o.j@E|t}4A5DDAT read: Rx Time:13:55:46.2784 =TRx dataTimestamp_ set to:1749131747.423327EIEIEQEU4EQPDAT read: Bearing 182.6, 11.9 (Local) ~Local bearing/azimuth received: Bearing 182.6, 11.9 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed -0.8  DAT read: 13:55:46.2784 LVL= 23952, 22689, 19890, 32755, AGC= 65, IDX= 487, 0.06, 2.792,-1.434, 3.114,-2.931, PHS=-0.472, 1.544,-0.241, RAW= 324.0, -8.7, CAL= 327.4, -11.9, ROT= 182.6, 11.9  Ygot valid direction response: 13:55:46.2784 LVL= 23952, 22689, 19890, 32755, AGC= 65, IDX= 487, 0.06, 2.792,-1.434, 3.114,-2.931, PHS=-0.472, 1.544,-0.241, RAW= 324.0, -8.7, CAL= 327.4, -11.9, ROT= 182.6, 11.9  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.977502,-0.044388,-0.206204] Fpublishing direction and range info1y5?hGᅤ&&Fa5dʿ5fVBY1 5])5XI5M! i15A55ˡ?5v 5@)5|I5ڶ@i5ȭT5WK@5ȭT> 1)15/._/cCٿ-Xsÿi5C.55>5^(F5ȭT> 1)1  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6G Y=S&9,k`xhA9n@n@YnPGҁ%wǷEfrU =@ĮO$%Q"꿐|w? pɿz%jA%o-j%/ǜ?r%)& %(PB%Xǜ?%o-  %(PB% QB%#@ addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.505721 s, deltaX: 0.299999 m, approachRate: 0.593211 m/s, rangeRepo size: 4   Added new target pos. range: 53.224957 m, bearing: 146.176478 deg, lat: 36.906396 deg, lon: -122.116043 deg, deltaT: 0.505721 s, deltaX: 0.297901 m, approachRate: 0.589062 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.22 m.bZrjRJB~~!})|)|)|-J@|5`U?J-4J4J0:Jm\BJmMJJmARJiZJm=:bJm9Jm4Ji zB#I)2I K<:<xÎA  DDAT read: Rx Time:13:55:46.7788  TRx dataTimestamp_ set to:1749131747.924262 PDAT read: Bearing 182.4, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 182.4, 12.6 (Local)  DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed -1.0 - DAT read: 13:55:46.7788 LVL= 25072, 23089, 23218, 32531, AGC= 69, IDX= 491, 0.27,-1.056, 1.014,-0.737,-0.511, PHS=-0.457, 1.572,-0.229, RAW= 324.1, -9.2, CAL= 327.6, -12.6, ROT= 182.4, 12.6 = Ygot valid direction response: 13:55:46.7788 LVL= 25072, 23089, 23218, 32531, AGC= 69, IDX= 491, 0.27,-1.056, 1.014,-0.737,-0.511, PHS=-0.457, 1.572,-0.229, RAW= 324.1, -9.2, CAL= 327.6, -12.6, ROT= 182.4, 12.6 = R#Rx 1: Read range and direction messages.U bdirection in FSK: [-0.975061,-0.040867,-0.218143]U Fpublishing direction and range info y ]3MM줿'$˿ XBY a) 1ZI Zi  E L7? ~j @) l$I c@i z0a %K@ z0a> ) SveFٿӕĿi . +%> aF z0a> ) m 2Acoustic response timeoutu Querying Benthos address 50 with 120 pings in terminal homing one-way mode. qG  Y y y BT @,/yhA 9:@:r @Y:*٥  H=;; =>AM25Ez֜?M259E ) IAyIMM@EEiEP:E~:E^258B7:AϫEZ!b%'xhA%HWB%HWB%k#@ʁ%Юa?=J)ʓK4{'%]3MM줿'$˿%aF%z0a>ҁ%ʿ Ehq=@L&%鿑9I?SHʿz%A%x.j%iǜ?r%:d! %LB%6ǜ?%B'  %NB%&RB% W#@m addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.500935 s, deltaX: 0.600002 m, approachRate: 1.197765 m/s, rangeRepo size: 4  Added new target pos. range: 53.820759 m, bearing: 145.979108 deg, lat: 36.906398 deg, lon: -122.116040 deg, deltaT: 0.500935 s, deltaX: 0.595802 m, approachRate: 1.189381 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.82 m.bZrjRJB~~}|||K@|E}?I zB靥{I)2I]( r<:%<JAHHIH9zBHHH/DH֚<HEH}ĚCH}ĚCHyH} =I} = I}Ć6MK] #P"KY *KY 2K] :K] <=I?ZZE(C A T ama )\YgZj<xr /3F,!yhAR,DAT read: user:1840> VBDAT read: Command 'l' not found Z`unknown deviceResponse_: Command 'l' not found Z"DAT read: Error Z@unknown deviceResponse_: Error ^,DAT read: user:1841> ^BDAT read: Tx time:13:55:47.6623 b$Ping request sent.b٥ HF > 25 B ֜?259 -/ I By>i?%i:%%@ Ei <; 1; i25Q]:Ae̫EDNOT Ignoring new targets: 53.82 m.bZr j R JB~~{B}|!|!|!|M? ]zB](I))I <:N<RJ ZJ } :bJ !9J t4J A 6G <~GQ Aa Aq N >GsL,i84yhA9>@>W@Y>hB=>H?]?L 3?:>?p? >@>;)Q]25U6֜?]259U3 IUByY]]@UEiU:U:U~25m9Bm^:AmʫEDNOT Ignoring new targets: 53.82 m.bZrjRJB~~}||||@P? zBߺI)6I` 1<:*<JH} >H} CH} IH} CzBHy Hy Hy H} <H} Eԑ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752485K\S,UNyhAQ9t@&@Yj٥qq uHuFu» }>25dV֜?2599 IByl?e:@Ein;;";25:Be:AǫEDNOT Ignoring new targets: 53.82 m.bZrjRJB~~{B}|||| ? %zB%I))-4)I-% ))-~<5:=<=Ԩr<,-~QIs.{";Z1?vmE?EEEk0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0053756G5 ~<~G 1 AA AQ Ne >~Y,VgyhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256808:J5`BJ5\JJ5ARJ1ZJ5:bJ5[9J54J1yBIII3) A=yQ >٥! %H%F% ->)525-Zr֜?=259-y? I-By99=@-Ei->:-l:-[25AM:AMīEuDNOT Ignoring new targets: 53.82 m.bqZqrqjqRyJyB~~}||||ۏ? zBI)YEI Q<:v<9wf`,⮁yhA9B ɭ@BҴ@YB;yBa;BHV??`Ba?Y&?v1}Lz?? B ɭ@B9;)BCiHJA)H HIH L)NtALLi I  I i   ) fAcFdAI)mFi)!I!!! !)-߃A-Di))ٯ)5yB5IIEIE2m^ m=ymQ u ?٥qq uHuF}? } ?25.֜?259C IBy@Ei::25;B:ADNOT Ignoring new targets: 53.82 m.bZrjRJB~~}||||@vP@ zBϼI)UI% !!%<-:-c<--t<H9H9H9H= =H9H9H=<H=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760749ԡ6GUl o<~G A A N >K s-P"K 9*K 2K :K TFk3h~'x;e6\I9?a{X !AqOgVgv ڐf,yhA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0128159>ѭ@>1۴@Y>ֻ;>H@=??Xu?@`Y?`2{ O7c?@? >ѭ@>\d;)>CyBIUMb@Mb@Mb@QQQ Q)QYUx&?X9v?~jtyU7i?QUDU`A UA)QIUAQyUAIuIuM3lz 9=ym:Q >٥ H~; >25֜?259LI IBy-i?5h:5=5@Ei<<25AEm;AEEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 53.82 m.bZrjRJB~~zB}| | | | }@ ]zB]vMżIY)]pYIe! aaejE}!>E?EE!E%5E!F-=F-R=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264465i 6Ge ԓ9<~G9 AI Aa Nu >l,tyhA9rڭ@r@YrP:rH ? ٥ HFF; >25֜?259!N IBy@Ei::h:H25mH- CH- IH- /zBH-  =H) H- 0DH- <H- E  > C=- DAT read: Range 10 to 50 : 56.7 m (trip time 37.8 ms) speed -0.8 ] DAT read: 13:55:49.8671 LVL= 21136, 26017, 17346, 31123, AGC= 69, IDX= 339, 0.08, 1.699,-2.521, 2.048, 2.258, PHS=-0.471, 1.551,-0.213, RAW= 323.3, -9.1, CAL= 326.8, -12.4, ROT= 183.2, 12.4 e Ygot valid direction response: 13:55:49.8671 LVL= 21136, 26017, 17346, 31123, AGC= 69, IDX= 339, 0.08, 1.699,-2.521, 2.048, 2.258, PHS=-0.471, 1.551,-0.213, RAW= 323.3, -9.1, CAL= 326.8, -12.4, ROT= 183.2, 12.4 e R#Rx 1: Read range and direction messages.m bdirection in FSK: [-0.975149,-0.054519,-0.214735]m Fpublishing direction and range info y 0l4VÒ髿h`r|˿ bBY  R) eI Ci y  & +? Z  @) "I @i k] L@ k]>  )  9z<xR8ؿdRĿi $/ F#> |E k]>  )  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.7822406G F<:J] [BJ] XJJY RJY ZJ] :bJ] 5K9JY JY zJ] :e jJ] :e J] f:u rJ] f:u ~G A a A N%>t,'yhA9@@Y٥ HFKbP"K]9*K2K :K}2JOf~tPEAcB'a,5qa=.\k4uEi ; >25(֜?259$U IByk?f: @Eik::25 =B Gҁ SGW ?/>@Bه'`HGdbg?DxʿzyA:j̦ǜ?rC9 XJB 7MB^Bj#@ addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 3.530210 s, deltaX: 3.000000 m, approachRate: 0.849808 m/s, rangeRepo size: 4  Added new target pos. range: 56.799690 m, bearing: 147.098096 deg, lat: 36.906398 deg, lon: -122.116040 deg, deltaT: 3.530210 s, deltaX: 2.978931 m, approachRate: 0.843840 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.80 m.bZrjRJB~~zB}|||L@|`? zB靵׼I)~I7 `5<:o<p Q U  KqhؿpW^iU /U N>U DU ¸2> checking for new query: numPingsReceived=3, elapsed TxPingTime=3.2827016G Re<~GAAN>{,yhA(XyBXII IV2 ?=y Q  >٥   HF >e25֜?e259Z IByaam@Ei"<"<25quG G @AH >H H IH yBH  =H H /DH ՚<H EBȂ,m zhAjDAT read: Range 10 to 50 : 57.8 m (trip time 38.5 ms) speed -0.5 zDAT read: 13:55:50.8678 LVL= 25072, 27041, 21538, 32755, AGC= 70, IDX= 506,-0.28,-1.181, 0.909,-0.821,-0.582, PHS=-0.511, 1.537,-0.242, RAW= 323.1, -8.2, CAL= 326.5, -11.2, ROT= 183.5, 11.2 ~Ygot valid direction response: 13:55:50.8678 LVL= 25072, 27041, 21538, 32755, AGC= 70, IDX= 506,-0.28,-1.181, 0.909,-0.821,-0.582, PHS=-0.511, 1.537,-0.242, RAW= 323.1, -8.2, CAL= 326.5, -11.2, ROT= 183.5, 11.2 R#Rx 4: Read range and direction messages. bdirection in FSK: [-0.979125,-0.059886,-0.194234] Fpublishing direction and range info`yb&3TyC\mVѫȿb3gBY` ba)biIb"TibbFbbj?bw bs@)bCIbZ@ib+HbL@b+H> `)`b'$>ؿHִ7¿ib!N/b>>b'Eb+H> `)`5checking for new query: numPingsReceived=4, elapsed TxPingTime=3.79037319E@E@YEm;yEL_Q >٥ HFs< >25ל?259_ IBy@E:J^BJ[JJGRJZJ} :bJW9Jc4JzJ_:jJd:J{|:rJ~|:in; <25u>Buҁb-’GI)6>@y%biEĢ?/.5ȿzbAbO>jb.sjǜ?rb4GC bMB`bo-  `b aBb#@ addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.752164 s, deltaX: 0.599998 m, approachRate: 0.797696 m/s, rangeRepo size: 4  Added new target pos. range: 57.395351 m, bearing: 147.584710 deg, lat: 36.906398 deg, lon: -122.116043 deg, deltaT: 0.752164 s, deltaX: 0.595661 m, approachRate: 0.791930 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.40 m.bZrjRJB~~}|||`fL@| II? EzBE.II)MIIM% IIUJ,s)zhA9^@^=$@Y^;y^d<^H8?]? }|`? \i*"v8?`T? ^@^;)^C'yB:I DAT read: 13:55:51.3680 LVL= 29744, 27825, 26930, 32755, AGC= 68, IDX= 508,-0.11,-2.549,-0.489,-2.217,-2.013, PHS=-0.448, 1.572,-0.207, RAW= 323.7, -9.6, CAL= 327.3, -13.1, ROT= 182.7, 13.1 Ygot valid direction response: 13:55:51.3680 LVL= 29744, 27825, 26930, 32755, AGC= 68, IDX= 508,-0.11,-2.549,-0.489,-2.217,-2.013, PHS=-0.448, 1.572,-0.207, RAW= 323.7, -9.6, CAL= 327.3, -13.1, ROT= 182.7, 13.1 X#Rx 6: Read direction message, but no range.%bdirection in FSK: [-0.972895,-0.045880,-0.226651]y!$!˄}+#ͿY 0t)lI2iiDB`L7?S ɴ@)+I~̶@i jL@ j> ϶4쿯adٿWiſi@.,> F j>Mchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.291608Mb@Mb@Mb@ )YK7A`?Q?I +yk?\=9\A A)IAyAI-I-M3m8 m=ymźQ u>٥qq uHuF}: }>356ל?359f IBy?k?g:}@Ei3;L;35U=AEZbzhAfBfB#@ʁbx(Lr{ -Jl '*!$!˄}+#Ϳ F j>ҁe)G%ʰI>@"1)6Lkf?P`r̿zA5<jp!ǜ?r: EB/ǜ?C9  LBaB$@u addTargetRange:: Added new target pos. range: 58.099998 m, deltaT: 0.256133 s, deltaX: 0.299999 m, approachRate: 1.171263 m/s, rangeRepo size: 4  Added new target pos. range: 57.693253 m, bearing: 146.769972 deg, lat: 36.906398 deg, lon: -122.116048 deg, deltaT: 0.256133 s, deltaX: 0.297901 m, approachRate: 1.163072 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.69 m.bZrjRJB~9~EozB}I|I|I|U M@|U? zBI)LI5* Mn<:<;P C checking for new query: numPingsReceived=7, elapsed TxPingTime=4.538781] Gq %Y y (B6G Fթ:,DzhA9"@[,@YO;yJ<H?`j?u ?iks?? "@ ;)CyB.II$I<3%? %U=y-WúQ ->٥)1 5H5F5); 5>Ye35]Nל?m359]k I]Byqu6}@] Eyi]<]<]35=AH%>H!H%IH%yBH% =H!H!H%ٚ<H%EHHHHI = Iž5E addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 0.500819 s, deltaX: 0.600002 m, approachRate: 1.198042 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 57.69 m.bIZIrIjIRIJQBQ~y~y}y|y||YM@|? zBiI)󷾉I/ 5m< : ܱ< nE(<EM ?EI EI EM 0EQ K d=P"K 9*K 2K " DDAT read: Rx Time:13:55:52.3686 - TRx dataTimestamp_ set to:1749131753.470624M PDAT read: Bearing 182.8, 11.7 (Local) U ~Local bearing/azimuth received: Bearing 182.8, 11.7 (Local) u DAT read: Range 10 to 50 : 59.0 m (trip time 39.3 ms) speed -0.8 - X#Rx 8: Read range message, but no direction.! % lBY!  checking for new query: numPingsReceived=8, elapsed TxPingTime=5.054767ԩ :K Z$7 ,P7A msw^v* 6G5<~G1AYAiNu?٘,ezhA(yB%IMb@Mb@Mb@ )Yq= ףp?{Gz?~jtyk?#< A)EAIAyGAII2%ۼ %=y%Q ->٥)) -H-F5 5>AM35Eqל?U359Eds IEByUk?Uf:U4U@EEiE;E;E 35ae=AeEԁ addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.507036 s, deltaX: 0.299999 m, approachRate: 0.591672 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 57.69 m.bZrjRJB~~%zB}|||M@|@Yj? zB2 I)rII5 <:*<RèE AEeg >쿙ೆzٿUX $ÿiE$.E>E.EEQ>-checking for new query: numPingsReceived=9, elapsed TxPingTime=5.317955EYEYEYE]5EYԩ 6G Fթ<jG o?bG e?~G  DDAT read: Rx Time:13:55:52.8689  TRx dataTimestamp_ set to:1749131753.975629= PDAT read: Bearing 181.9, 13.1 (Local) E ~Local bearing/azimuth received: Bearing 181.9, 13.1 (Local) u DAT read: Range 10 to 50 : 59.4 m (trip time 39.6 ms) speed -0.1 - Z#Rx 10: Read range message, but no direction.  mBY  checking for new query: numPingsReceived=10, elapsed TxPingTime=5.561560A A N >4,;zhA xB III2-M` 5P=y1Q 5>٥19 =H=F9 =>A]35Eۉל?]359Ex IEByaae@EEiE;Ea;E353>AZbp~zhAkBkB $@ʁp3>L\הXe' c7Lᅭt} ɿ.EAQ>ҁ6H}#Z4?@ð}':$^E؂#?5c|ɿzyAAjǜ?rg"X9 IBǜ? XJBꁭ*gB$@m addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 0.505005 s, deltaX: 0.400002 m, approachRate: 0.792074 m/s, rangeRepo size: 4 } Added new target pos. range: 58.983871 m, bearing: 146.907984 deg, lat: 36.906397 deg, lon: -122.116048 deg, deltaT: 1.512860 s, deltaX: 1.290619 m, approachRate: 0.853099 m/s, posRepo size: 4 }DNOT Ignoring new targets: 58.98 m.byZyrjRJB~~}|||@3M@|`? %zB%I!)%Ⱦ!I-<: ))-<5:5Y<5HeCHewIHeyBHe =HaHaHe <He>EqDAT read: 13:55:52.8689 LVL= 26912, 26673, 22866, 32755, AGC= 71, IDX= 485, 0.02,-0.119, 1.869, 0.175, 0.388, PHS=-0.419, 1.528,-0.215, RAW= 324.5, -9.7, CAL= 328.1, -13.1, ROT= 181.9, 13.1 Ygot valid direction response: 13:55:52.8689 LVL= 26912, 26673, 22866, 32755, AGC= 71, IDX= 485, 0.02,-0.119, 1.869, 0.175, 0.388, PHS=-0.419, 1.528,-0.215, RAW= 324.5, -9.7, CAL= 328.1, -13.1, ROT= 181.9, 13.1 Z#Rx 11: Read direction message, but no range.%bdirection in FSK: [-0.973440,-0.032292,-0.226651]ڹyڽl&￱SG1+#ͿYڹ ۽ i)۽1hI۽RYi۹۽G۽+־۽?۽(\ ܽ(<@)ܽ-\-Iܽ>@iܽ jܽ+/K@ܽ j> ݹݽ4 rnDh1ڿſiݽN-ݽ,>ݽFݽ j>Echecking for new query: numPingsReceived=11, elapsed TxPingTime=5.810252:J\BJXJJ>RJZJ=:bJ5K9Jt4JzJ:jJ:Jf:rJf:>E<ԩ EE ?EI EI EM |0EQ Fi Fm = DDAT read: Rx Time:13:55:53.3691 TRx dataTimestamp_ set to:1749131754.479003PDAT read: Bearing 182.4, 9.8 (Local) ~Local bearing/azimuth received: Bearing 182.4, 9.8 (Local) DAT read: Range 10 to 50 : 59.7 m (trip time 39.8 ms) speed -0.5 -Z#Rx 12: Read range message, but no direction.ځڅnBYځchecking for new query: numPingsReceived=12, elapsed TxPingTime=6.0625076G<K YP"K 9*K 2K #:K 6t0D# !Qkq.Vp0L<u@}- <~GA)AIN ?l,UzhA9S@]@Y7y<H` ?sx?ny?qൢ?? S@骽;) xB Ia Mb@Mb@Mb@    ) Y  rh?{Gzt?~jty Ck? ף; D vA ) 3AI A y pAIMIM3uX } =yQ >٥ HFZ#< >35*ל?3590 IBy%Ik?%g:%%@ Ei;=;\35-?B->>A5EZIbMzhAM mBM mBMn#@ʁMPL?a$])\*Ml&￱SG1+#ͿMFM j>ҁMO>Ht k@@7(*MG>]rOH?vͿzMBM$@jMi^Uǜ?rMd5 MCBII MIBMaiBM$@ addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 0.503374 s, deltaX: 0.299999 m, approachRate: 0.595977 m/s, rangeRepo size: 4  Added new target pos. range: 59.281605 m, bearing: 146.312981 deg, lat: 36.906397 deg, lon: -122.116048 deg, deltaT: 0.503374 s, deltaX: 0.297733 m, approachRate: 0.591475 m/s, posRepo size: 4 %DNOT Ignoring new targets: 59.28 m.b!Z!r)j)R)J)B)}DAT read: 13:55:53.3691 LVL= 25312, 23137, 19282, 32451, AGC= 69, IDX= 503, 0.03,-1.337, 0.694,-1.034,-0.738, PHS=-0.511, 1.480,-0.299, RAW= 324.4, -7.1, CAL= 327.6, -9.8, ROT= 182.4, 9.8 Ygot valid direction response: 13:55:53.3691 LVL= 25312, 23137, 19282, 32451, AGC= 69, IDX= 503, 0.03,-1.337, 0.694,-1.034,-0.738, PHS=-0.511, 1.480,-0.299, RAW= 324.4, -7.1, CAL= 327.6, -9.8, ROT= 182.4, 9.8 Z#Rx 13: Read direction message, but no range.bdirection in FSK: [-0.984544,-0.041265,-0.170209]QԑyUlQuoa j rlſYQ Ub)UaZIURKiU~UEUUp?U U-@)UIUc@iU%/U%K@U%/> QUȗXy쿙 0Eڿ#ſiU-U3=UaFU%/>checking for new query: numPingsReceived=13, elapsed TxPingTime=6.308441~1~zB}|||M@|? m~zBmIi)mȾiIuJC qquW<}:}<<} EM u<zEQ E ?E E   A= DDAT read: Rx Time:13:55:53.8695 U TRx dataTimestamp_ set to:1749131754.987248E P0E  PDAT read: Bearing 181.0, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 181.0, 12.7 (Local) EDAT read: Range 10 to 50 : 60.3 m (trip time 40.2 ms) speed -0.9 DAT read: 13:55:53.8695 LVL= 21776, 26033, 20002, 32755, AGC= 69, IDX= 507, 0.03,-0.332, 1.550,-0.085, 0.147, PHS=-0.391, 1.450,-0.235, RAW= 325.6, -9.4, CAL= 329.0, -12.7, ROT= 181.0, 12.7 Ygot valid direction response: 13:55:53.8695 LVL= 21776, 26033, 20002, 32755, AGC= 69, IDX= 507, 0.03,-0.332, 1.550,-0.085, 0.147, PHS=-0.391, 1.450,-0.235, RAW= 325.6, -9.4, CAL= 329.0, -12.7, ROT= 181.0, 12.7 T#Rx 14: Read range and direction messages.%bdirection in FSK: [-0.975386,-0.017025,-0.219846]%Fpublishing direction and range infoI yM k\6ᅦ_4oF#̿M 3qBYI M U)M eIM "NiM I M '1ȾM ?M ףp M oٵ@)M 'IM @iM bM -J@M b> I )I M &oxǮMۿѺĿiM Hr,M 6'>M GM b> I )I checking for new query: numPingsReceived=14, elapsed TxPingTime=6.6289056GmFթ<~G)A1AAINu?f,zhAHhHhHj^IHjcyBHj =HhHhHj<Hj/E%xB-II=I=3uS< =yQ >٥ HF >35ל?359 IߜBy@(Ei::35%>AEZYb]/zhA]oB]oB]yp"@ʁ]Ћ˨3Mo]OzS*]k\6ᅦ_4oF#̿]G]b>ҁ]G HyҒ@@מ4^*]sW}[X?Tֳ.̿z]B]]@j]bfǜ?r]IE}<E?EEEO0EQ  DDAT read: Rx Time:13:55:54.3697 % TRx dataTimestamp_ set to:1749131755.488182E PDAT read: Bearing 181.7, 11.2 (Local) E ~Local bearing/azimuth received: Bearing 181.7, 11.2 (Local) KM 5JP"KM H9*KI 2KM $:KM }7L/oc?Dz\]<qKj jmcFm{#6=J] >J] ?m DAT read: Range 10 to 50 : 60.6 m (trip time 40.4 ms) speed -0.7 ] DAT read: 13:55:54.3697 LVL= 23520, 26081, 19778, 32403, AGC= 69, IDX= 493,-0.02,-1.857, 0.176,-1.576,-1.302, PHS=-0.467, 1.525,-0.277, RAW= 325.1, -8.3, CAL= 328.3, -11.2, ROT= 181.7, 11.2 m Ygot valid direction response: 13:55:54.3697 LVL= 23520, 26081, 19778, 32403, AGC= 69, IDX= 493,-0.02,-1.857, 0.176,-1.576,-1.302, PHS=-0.467, 1.525,-0.277, RAW= 325.1, -8.3, CAL= 328.3, -11.2, ROT= 181.7, 11.2 u T#Rx 15: Read range and direction messages.} bdirection in FSK: [-0.980523,-0.029101,-0.194234] Fpublishing direction and range info y sr`c3k̝mVѫȿ frBY  [) eI BMi ~   33? ҍ  @) VI x[@i +H J@ +H>  ) ԁ 6G < GWbflڿ|y5_^¿i - }w> )G +H>  ) % checking for new query: numPingsReceived=15, elapsed TxPingTime=7.157035~G A A N >a,VzhAxBIԹ]Mb@Mb@Mb@YYY Y)YY]MbX?Mbp?Mby]j?];]]A Y)]IAI]AYy]Achecking for new query: numPingsReceived=15, elapsed TxPingTime=7.306940I} I}b3o =yQ >٥ HF > 35 ל?359  I ݜByj?g:f@ /Ei b: R: 35AM,>AMEZb`>zhApBpBbC#@ʁgR lM1&?P`'sr`c3k̝mVѫȿ)G+H>ҁĀHۖn@@Zs'GYn[`M_z?<*xȿzwBDjwǜ?rG .  JBwǜ?d5  ꁭskB#@:J XBJ QJJ CRJ ZJ {9bJ -.9J 4J @@@@% addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 0.500934 s, deltaX: 0.299999 m, approachRate: 0.598880 m/s, rangeRepo size: 4 e Added new target pos. range: 60.175312 m, bearing: 146.160836 deg, lat: 36.906403 deg, lon: -122.116046 deg, deltaT: 0.500934 s, deltaX: 0.297897 m, approachRate: 0.594684 m/s, posRepo size: 4 eDNOT Ignoring new targets: 60.18 m.baZarijiRiJiBi~q~uEE F<9 m DDAT read: Rx Time:13:55:54.8701 u TRx dataTimestamp_ set to:1749131755.988813 DAT read: Range 10 to 50 : 61.2 m (trip time 40.8 ms) speed -0.7 - Z#Rx 16: Read range message, but no direction.i m tBYi  checking for new query: numPingsReceived=16, elapsed TxPingTime=7.562921E ?E E E `5E F F i6GV<jGn?bGf?~GA!A1N=?,4 {hAG G"?AH&>H$H&XIH&YyBH& =H$H$H&<H&6E,9^/w@^‵@Y^Cy^[<^H@4?kY?QƗ\2?֏~? L{?#? ^/w@^};)^CjyBj%IIrIr?13z= z.=y~Q ~>٥|| ~HF< > 35 Z؜?359 d I yI@ 6Ei ; A;  35%@B%=A-Echecking for new query: numPingsReceived=16, elapsed TxPingTime=7.808324 addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 0.500631 s, deltaX: 0.600002 m, approachRate: 1.198492 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 60.18 m.bZrjRJB~~}| |)|-N@|-? vzB靭PI)鷾Ig.U 㠙<: <cEu<Ea Ea Ei Em 5Eq ׍ A׍ A DDAT read: Rx Time:13:55:55.3703  TRx dataTimestamp_ set to:1749131756.493640 PDAT read: Bearing 181.7, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 181.7, 9.9 (Local)  DAT read: Range 10 to 50 : 61.5 m (trip time 41.0 ms) speed -0.7 - Z#Rx 17: Read range message, but no direction.ڙ ڝ vBYڙ  checking for new query: numPingsReceived=17, elapsed TxPingTime=8.068612 K= \P"K= 9*K9 2K= %:K= 7wp" _Hjp8 TOLc[ 6G]<~G9AYAyN?+,~V,{hAD9nq@n`{@Ynyn @)܍I܉i܍;0܉܍;0> ݉ݍ?֍Ÿ ۿQS4iiݍ ,ݍ?>݉ݍ;0>checking for new query: numPingsReceived=18, elapsed TxPingTime=8.323685Mb@Mb@Mb@ )Yq= ףp?٥ HFt >!-35%3؜?5359%% I%ߜBy5k?5f:5$5@%>Ei%:%:%%35:J]BJJJ=RJZJ]:bJJg4J=AB==A=EZqbu̗{hAuFtBuFtBu#@ʁu\(NнW}$u娗v f흿!ƿqu;0>ҁu[=IGR@@1&u\3~yl?EuˌBǿzuBuHjuB.ǜ?ru2 uLBԹqu2  uIBuzoBu_#@ addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 0.504827 s, deltaX: 0.299999 m, approachRate: 0.594261 m/s, rangeRepo size: 4  Added new target pos. range: 61.068516 m, bearing: 146.376656 deg, lat: 36.906403 deg, lon: -122.116045 deg, deltaT: 1.005458 s, deltaX: 0.893204 m, approachRate: 0.888355 m/s, posRepo size: 4  DNOT Ignoring new targets: 61.07 m.b Z r j R J B~1~5CzB}9|9|9|=N@|=? rzB靍}N I)Iм[ <:<E <M DDAT read: Rx Time:13:55:55.8707 U TRx dataTimestamp_ set to:1749131756.997190] PDAT read: Bearing 181.3, 11.3 (Local) ] ~Local bearing/azimuth received: Bearing 181.3, 11.3 (Local) m DAT read: Range 10 to 50 : 62.1 m (trip time 41.4 ms) speed -0.9  DAT read: 13:55:55.8707 LVL= 22768, 21473, 21426, 32051, AGC= 68, IDX= 503, 0.00, 0.879, 2.907, 1.146, 1.427, PHS=-0.460, 1.527,-0.285, RAW= 325.4, -8.3, CAL= 328.7, -11.3, ROT= 181.3, 11.3  Ygot valid direction response: 13:55:55.8707 LVL= 22768, 21473, 21426, 32051, AGC= 68, IDX= 503, 0.00, 0.879, 2.907, 1.146, 1.427, PHS=-0.460, 1.527,-0.285, RAW= 325.4, -8.3, CAL= 328.7, -11.3, ROT= 181.3, 11.3  T#Rx 19: Read range and direction messages. bdirection in FSK: [-0.980362,-0.022248,-0.195946] Fpublishing direction and range infoI yM Ճ _oȖ>x_ɿM fxBYI M X)M SIM SiM 3}M D9 M M t?M 둾 M ּ@)M VIM @iM IM J@M I> I )I M n?-4ۿ6Pa¿iM ,M >M GM I> I )I E E E E ~0E  checking for new query: numPingsReceived=19, elapsed TxPingTime=8.603354Y 6G<ZGRGH=>H9H=^IH=cyBH= =H9H=.DH=<H=/E~GAAN%?a,/N{hA49FPe@Fo@YF"9yF6٥!! %H-F-F ->1=355PS؜?=3595/ I5Byaee@5FEi5;5;5)35im=AuEZb?{hAvBvB%"@ʁzM9N|41ԏb*(Ճ _oȖ>x_ɿGI>ҁXHo+@@k)& {P;? ʿz8BGjZǜ?rZ* EBi^Uǜ?G .  EBꁭqB#@5 addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.503550 s, deltaX: 0.599998 m, approachRate: 1.191537 m/s, rangeRepo size: 4 e Added new target pos. range: 61.663799 m, bearing: 145.915202 deg, lat: 36.906405 deg, lon: -122.116043 deg, deltaT: 0.503550 s, deltaX: 0.595284 m, approachRate: 1.182174 m/s, posRepo size: 4 mDNOT Ignoring new targets: 61.66 m.biZirijiRiJqBq~~}||| O@|`Q? =nzBE IA)E1AIEm` IIMJE)<DDAT read: Rx Time:13:55:56.3708 TRx dataTimestamp_ set to:1749131757.510269PDAT read: Bearing 181.6, 10.8 (Local) ~Local bearing/azimuth received: Bearing 181.6, 10.8 (Local) K5 %yP"K5 9*K1 2K5 &:K5 ;Wq11vqf9BU7,R^&  v] DAT read: Range 10 to 50 : 62.4 m (trip time 41.6 ms) speed -1.0 E E E E _0E  DAT read: 13:55:56.3708 LVL= 24560, 22257, 18994, 32755, AGC= 70, IDX= 489, 0.08, 0.400, 2.358, 0.667, 0.945, PHS=-0.457, 1.459,-0.281, RAW= 325.2, -7.9, CAL= 328.4, -10.8, ROT= 181.6, 10.8  Ygot valid direction response: 13:55:56.3708 LVL= 24560, 22257, 18994, 32755, AGC= 70, IDX= 489, 0.08, 0.400, 2.358, 0.667, 0.945, PHS=-0.457, 1.459,-0.281, RAW= 325.2, -7.9, CAL= 328.4, -10.8, ROT= 181.6, 10.8  T#Rx 20: Read range and direction messages. bdirection in FSK: [-0.981904,-0.027427,-0.187381]% Fpublishing direction and range infoyMkɴA0iǿyBY _)VI2JiF?;ߏ >@)0 Ii@iAbJ@A> )&q«钯0ۿbuNi,,_e >SFGA> ) checking for new query: numPingsReceived=20, elapsed TxPingTime=9.142191 6G -<~GqAAN>(,m{hA9 3@ r=@Y ܴ|y t3(< H`0 ?`Ò?4@b?́C?`I?`?? 3@ ҅;) C@yB%IIIuchecking for new query: numPingsReceived=20, elapsed TxPingTime=9.328501Mb@Mb@Mb@ )Yx&?y&1?Mb?y7i?`e<<rA )3AI3AypAII= =ypQ >٥ HFb? > 35  t؜?359 @ I By@i?i:@ MEi : : m.35%BB:J\BJVJJARJZJ=:bJB9J4J% =AEZabe?`{hAewBewBe#@ʁe'kNWױ0}18'eMkɴA0iǿeSFGeA>ҁe{ϱ&I&@@e? )e4t}?fkRɿzeBe5Ije/ǜ?re\a. eFBeZǜ?a eFBerBe#@5 addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 0.513079 s, deltaX: 0.300003 m, approachRate: 0.584711 m/s, rangeRepo size: 4 m Added new target pos. range: 61.961693 m, bearing: 146.001338 deg, lat: 36.906405 deg, lon: -122.116043 deg, deltaT: 0.513079 s, deltaX: 0.297894 m, approachRate: 0.580600 m/s, posRepo size: 4 mDNOT Ignoring new targets: 61.96 m.biZirijqRqJqBq~q~}izB}y|y||@33O@|~? kzBvBI)DIe ٛ<%:%w<%E < - Y) y- ~B E E E E O0E  H<H4<H>HHwIHyBH =HH/DH<HMEHΙCHΙCHH =I = I66G%<jGu?bGg?~GqAAN ?,N{{hAchecking for new query: numPingsReceived=21, elapsed TxPingTime=9.832542@9r@ru!@Yr[yrgr;rH?^? ?d3}? ?ˑ?@Tn?? r@r;)p~ZyB~YII5$I5<3EC= E=yMtQ M>٥IQ UHUFUջ U>35؜?359 IBy@UEi::335CBDe>>E%<DDAT read: Rx Time:13:55:57.3715 TRx dataTimestamp_ set to:1749131758.517135 PDAT read: Bearing 182.7, 8.8 (Local) ~Local bearing/azimuth received: Bearing 182.7, 8.8 (Local) EDAT read: Range 10 to 50 : 63.3 m (trip time 42.2 ms) speed -0.8 DAT read: 13:55:57.3715 LVL= 23024, 27937, 19858, 28867, AGC= 71, IDX= 495,-0.42,-2.103,-0.096,-1.793,-1.483, PHS=-0.531, 1.434,-0.313, RAW= 324.2, -6.4, CAL= 327.3, -8.8, ROT= 182.7, 8.8 Ygot valid direction response: 13:55:57.3715 LVL= 23024, 27937, 19858, 28867, AGC= 71, IDX= 495,-0.42,-2.103,-0.096,-1.793,-1.483, PHS=-0.531, 1.434,-0.313, RAW= 324.2, -6.4, CAL= 327.3, -8.8, ROT= 182.7, 8.8 T#Rx 22: Read range and direction messages.EEEEP0EK'P"KH9*K2K':Ka?5x6PIU" d  (;P.ht!RYF5 bdirection in FSK: [-0.987131,-0.046552,-0.152986]5 Fpublishing direction and range infoy)qhAէ8C ÿ3}BY Y)!mIMipGP?A D@)I~̶@inFL@nF> ):'J}vڿ Q[kri . = FnF> )} checking for new query: numPingsReceived=22, elapsed TxPingTime=10.136999 6G Fթ<9 ~G1AQAN>],K{hA9>9@>@Y>?y>g꺹>HV? d?Bj?L??K]`p? >9@><؅;)>CJcyBJ_I V=V%=Zchecking for new query: numPingsReceived=22, elapsed TxPingTime=10.336752ԁMb@Mb@Mb@JJ4J4J0:J[BJPJJ<RJZJ:bJ*9J [4J )YJ +?٥    H F;׻ >%356؜?%359f IBy-h?-i:-<-@\Ei ;;w73515ҁM?DIZT@@&j&T%0d꿺"i=?8ƿztBZOjXgǜ?r-F7> !NBwǜ?\a.  JBꁕFwB6#@ addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 0.505322 s, deltaX: 0.599998 m, approachRate: 1.187359 m/s, rangeRepo size: 4  Added new target pos. range: 62.856056 m, bearing: 146.845208 deg, lat: 36.906403 deg, lon: -122.116043 deg, deltaT: 1.006866 s, deltaX: 0.894363 m, approachRate: 0.888265 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.86 m.bZrjRJB~~zB}|||`fO@| ? eezBm9Ii)miImton iqu <:nW<'E<bEZEuDDAT read: Rx Time:13:55:57.8719 }TRx dataTimestamp_ set to:1749131759.021264PDAT read: Bearing 183.1, 9.5 (Local) ~Local bearing/azimuth received: Bearing 183.1, 9.5 (Local) DAT read: Range 10 to 50 : 63.9 m (trip time 42.6 ms) speed -0.8 DAT read: 13:55:57.8719 LVL= 24096, 21057, 19554, 32755, AGC= 68, IDX= 499,-0.05,-1.488, 0.513,-1.162,-0.881, PHS=-0.518, 1.441,-0.283, RAW= 323.7, -7.0, CAL= 326.9, -9.5, ROT= 183.1, 9.5 Ygot valid direction response: 13:55:57.8719 LVL= 24096, 21057, 19554, 32755, AGC= 68, IDX= 499,-0.05,-1.488, 0.513,-1.162,-0.881, PHS=-0.518, 1.441,-0.283, RAW= 323.7, -7.0, CAL= 326.9, -9.5, ROT= 183.1, 9.5 T#Rx 23: Read range and direction messages. bdirection in FSK: [-0.984842,-0.053337,-0.165048] Fpublishing direction and range infoqyuDԃ￈"KOG ſuBYq u ^)uARIubLiuuDuur?u`吾 uɴ@)u5IuM@iu)uQL@u)> q)qu^p['>ٿ^iu.ur=udEu)> q)qE checking for new query: numPingsReceived=23, elapsed TxPingTime=10.617485Eq Ey Ey E} O0Ey 6G <H >H H IH yBH  =H H H <H EY~GyAAN>p,@m{hA9>@>@Y>&خy>»>H=?`?+`?ȑ?ڕ?`Ux`? >@>Lr;)>CJyBJpIIRIR<2Z= Z;=y^Q ^>٥\\ ^H^Fb b>dr35f؜?r359ff IfBypvv@fcEifcl;fL;fJ;35xzO}a. ݞ$MDԃ￈"KOG ſMdEM)>ҁMp6-Jº\@@%3'Mw=~gmJ&?)KǿzMjBMmQjMXǜ?rMxtD M]JBMB.ǜ?M2  M]JBMHyBM.s#@- addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 0.504129 s, deltaX: 0.600002 m, approachRate: 1.190176 m/s, rangeRepo size: 4 5 Added new target pos. range: 63.452141 m, bearing: 147.112758 deg, lat: 36.906401 deg, lon: -122.116045 deg, deltaT: 0.504129 s, deltaX: 0.596085 m, approachRate: 1.182405 m/s, posRepo size: 4 EDNOT Ignoring new targets: 63.45 m.bAZIrIjIRIJIBI~Q~Q}Q|||@3O@|@K? bzB  DI )bIq qu<}:} <}bEu< A - DDAT read: Rx Time:13:55:58.3721 1 EA EA EA EA EA U TRx dataTimestamp_ set to:1749131759.525637e PDAT read: Bearing 183.3, 9.8 (Local) e ~Local bearing/azimuth received: Bearing 183.3, 9.8 (Local)  DAT read: Range 10 to 50 : 64.2 m (trip time 42.8 ms) speed -0.9  DAT read: 13:55:58.3721 LVL= 25680, 24497, 23346, 31955, AGC= 69, IDX= 485, 0.24,-0.482, 1.615,-0.135, 0.145, PHS=-0.539, 1.517,-0.284, RAW= 323.5, -7.2, CAL= 326.7, -9.8, ROT= 183.3, 9.8 5 Ygot valid direction response: 13:55:58.3721 LVL= 25680, 24497, 23346, 31955, AGC= 69, IDX= 485, 0.24,-0.482, 1.615,-0.135, 0.145, PHS=-0.539, 1.517,-0.284, RAW= 323.5, -7.2, CAL= 326.7, -9.8, ROT= 183.3, 9.8 5 T#Rx 24: Read range and direction messages.= bdirection in FSK: [-0.983774,-0.056724,-0.170209]= Fpublishing direction and range info) y- n{f\1 rlſ- fBY) - Pd)- _I- 2[i- |- E- - -?- shKM P"KM ý9*KI 2KM (:KM :dNLsS@y*qInSxYB1jF]3 - .@)- I- v@i- %/- L@- %/> ) )) - 6} IٿBqZ i- >.- >- 4`E- %/> ) )) } checking for new query: numPingsReceived=24, elapsed TxPingTime=11.138133a 6G] Ӕ<~GA!A1N=>%,I{hA9z@zN´@Yz˼yz zH??Ɏ Iz?@?~?&U*? z@zƆ;)zC yB {IymMb@Mb@Mb@iii i)iYmV-?Mb?Mb?ymm?m@=imEA mA)iImEAiympAI}I}m?3checking for new query: numPingsReceived=24, elapsed TxPingTime=11.344625; = =ybܻQ >٥ HF >35:؜?359 IBym?d:q@jEi ; ;?35DB;AEZqbu {hAuBuBu@$@ʁuy*Ui[O17 Ȉ %un{f\1 rlſu4`Eu%/>ҁu  uHBuzBu #@ addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 0.504373 s, deltaX: 0.299995 m, approachRate: 0.594789 m/s, rangeRepo size: 4 - Added new target pos. range: 63.750034 m, bearing: 147.046882 deg, lat: 36.906399 deg, lon: -122.116050 deg, deltaT: 0.504373 s, deltaX: 0.297894 m, approachRate: 0.590621 m/s, posRepo size: 4 -DNOT Ignoring new targets: 63.75 m.b1Z1r1j1R1J1B1~y~}zB}y||| P@|3?ԙ U`zB靅޼I)MIdu <:<E )<M DDAT read: Rx Time:13:55:58.8726 U TRx dataTimestamp_ set to:1749131760.028783e PDAT read: Bearing 184.1, 8.0 (Local) e ~Local bearing/azimuth received: Bearing 184.1, 8.0 (Local)  DAT read: Range 10 to 50 : 65.0 m (trip time 43.3 ms) speed -0.5  DAT read: 13:55:58.8726 LVL= 28016, 28097, 25570, 32755, AGC= 70, IDX= 490,-0.32,-0.020, 1.990, 0.340, 0.637, PHS=-0.569, 1.400,-0.300, RAW= 322.7, -5.8, CAL= 325.9, -8.0, ROT= 184.1, 8.0  Ygot valid direction response: 13:55:58.8726 LVL= 28016, 28097, 25570, 32755, AGC= 70, IDX= 490,-0.32,-0.020, 1.990, 0.340, 0.637, PHS=-0.569, 1.400,-0.300, RAW= 322.7, -5.8, CAL= 325.9, -8.0, ROT= 184.1, 8.0  T#Rx 25: Read range and direction messages. bdirection in FSK: [-0.987734,-0.070802,-0.139173] Fpublishing direction and range infoI yM }у¬me H@lM BYI M pm)M mIM ciM M FM M 33?M M :@)M 4QϽIM S@iM 5M EM@M 5> I Ei Eq Eq Eu p5Eq )I M 0AT[|)բؿ|I۹iM /M 4=M p{DM 5> I )I  checking for new query: numPingsReceived=25, elapsed TxPingTime=11.646985!GGAAH>HHIHyBH =HHH<HE6G5[<jGq?bGk?~G AA1N=?,ds|hA9N@@N@YNmܼyN滹NH`? ?ӑ7`?'??h| ? N@@NxH;)NCZchecking for new query: numPingsReceived=25, elapsed TxPingTime=11.848486byBbIIjIj3vW< z =yz|Q z>٥|| ~H~F~u ~> 35}ٜ?359p I By@rEi ::^D35;AEZb|hABB$@ʁs$/MO=rG&R1!}у¬me H@lp{D5>ҁP8J9Ug^A@*/FQ%466{.NУ?*L#ſz*B)Wj|_ǜ?r}M NBXgǜ?xtD  ]JBꁕ|B5$@} addTargetRange:: Added new target pos. range: 65.000000 m, deltaT: 0.503146 s, deltaX: 0.800003 m, approachRate: 1.590002 m/s, rangeRepo size: 4  Added new target pos. range: 64.544067 m, bearing: 147.671978 deg, lat: 36.906398 deg, lon: -122.116052 deg, deltaT: 0.503146 s, deltaX: 0.794033 m, approachRate: 1.578136 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.54 m.bZrjRJB~~}|||@P@|?:J ZBJ UJJ CRJ ZJ 9bJ >9J 4J zJ /:jJ 3:J }Q:rJ Q: ^zB靕i޼I)?IPx <:3<;ii9q>ED%<uDDAT read: Rx Time:13:55:59.3728 }TRx dataTimestamp_ set to:1749131760.534104PDAT read: Bearing 184.6, 7.4 (Local) ~Local bearing/azimuth received: Bearing 184.6, 7.4 (Local) DAT read: Range 10 to 50 : 65.3 m (trip time 43.5 ms) speed -0.7 E E E E j5E ] DAT read: 13:55:59.3728 LVL= 28080, 22049, 19170, 32755, AGC= 70, IDX= 508, 0.09,-0.162, 1.971, 0.232, 0.551, PHS=-0.624, 1.467,-0.322, RAW= 322.3, -5.4, CAL= 325.4, -7.4, ROT= 184.6, 7.4 e Ygot valid direction response: 13:55:59.3728 LVL= 28080, 22049, 19170, 32755, AGC= 70, IDX= 508, 0.09,-0.162, 1.971, 0.232, 0.551, PHS=-0.624, 1.467,-0.322, RAW= 322.3, -5.4, CAL= 325.4, -7.4, ROT= 184.6, 7.4 e T#Rx 26: Read range and direction messages.m bdirection in FSK: [-0.988477,-0.079531,-0.128796]ԙ  Fpublishing direction and range infoyy}@=3QV$\OZ_|}BYy }m)}!VI}Jiyy& TFailed to parse incomplete device message.}w}ƻ?}/ݤ }@)}I}ּ@i} A}?3N@} A> y)y}*xqPpv3ؿ2i} 0}%=}vC} A> y)y checking for new query: numPingsReceived=26, elapsed TxPingTime=12.150328 6G jx<~GAA)N=>- ,tE.|hA~yB~IԱchecking for new query: numPingsReceived=26, elapsed TxPingTime=12.352508%Mb@Mb@Mb@!!! !)!Y%oʡ?Mb?y%m?!%%3A %A)%AI%`A!y%AI5I52E = E =yMQ M>٥QQ UHUFU U>Ye35]5ٜ?e359]S I]Bym\m?ue:u}@]zEi];];]H35EBj;AEZb."|hABBp%@ʁPp(If| @=3QV$\OZ_|vC A>ҁPM6Kn^@@jtM$nnB~0?՘ÿz&BYj?_EKǜ?r&[ QBXǜ?`LG  !NB~Bf$@ addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 0.505321 s, deltaX: 0.300003 m, approachRate: 0.593688 m/s, rangeRepo size: 4  Added new target pos. range: 64.841965 m, bearing: 148.168336 deg, lat: 36.906397 deg, lon: -122.116054 deg, deltaT: 0.505321 s, deltaX: 0.297897 m, approachRate: 0.589521 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.84 m.bZrjRJB~~zB}|||@3SP@|`7? \zBҼI),I{ <:%Em8< DDAT read: Rx Time:13:55:59.8733  TRx dataTimestamp_ set to:1749131761.037230 DAT read: Range 10 to 50 : 66.0 m (trip time 44.0 ms) speed -0.4 - Z#Rx 27: Read range message, but no direction.ڙ ڝ BYڙ  checking for new query: numPingsReceived=27, elapsed TxPingTime=12.611630E1 E9 E9 E= 0E9 9 a6G3V;H>HHIH$zBHHHH<HEZGRG~G9AaAN ?,J Q|hA9F@FG@YF* yFݻFHt?`?1m ??/?v{ 2? F@F;)DVchecking for new query: numPingsReceived=27, elapsed TxPingTime=12.857001ZyBZIIb!Ibi3j-u< j%=yny]Q n>٥pp rHrFr ׻ r>tz35vUٜ?z359v IvBy|~@vEivE;v?F;v(M35  O;AEM addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 0.503126 s, deltaX: 0.699997 m, approachRate: 1.391296 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 64.84 m.bQZQrQjQRQJYBY~a~a}a|a|a|mP@|m?:J\BJWJJFRJZJ=:bJG9J4JzJ:jJ:J_:rJ_: ]ZzBe:ѼIe<)e"aIex} iimE3<zEDDAT read: Rx Time:13:56:00.3736 TRx dataTimestamp_ set to:1749131761.544491PDAT read: Bearing 184.8, 7.7 (Local) ~Local bearing/azimuth received: Bearing 184.8, 7.7 (Local) DAT read: Range 10 to 50 : 66.5 m (trip time 44.3 ms) speed -0.6 DAT read: 13:56:00.3736 LVL= 31216, 31441, 21138, 30819, AGC= 67, IDX= 3, 0.16,-0.375, 1.711, 0.019, 0.318, PHS=-0.605, 1.439,-0.302, RAW= 322.1, -5.6, CAL= 325.2, -7.7, ROT= 184.8, 7.7  Ygot valid direction response: 13:56:00.3736 LVL= 31216, 31441, 21138, 30819, AGC= 67, IDX= 3, 0.16,-0.375, 1.711, 0.019, 0.318, PHS=-0.605, 1.439,-0.302, RAW= 322.1, -5.6, CAL= 325.2, -7.7, ROT= 184.8, 7.7  T#Rx 28: Read range and direction messages.% bdirection in FSK: [-0.987508,-0.082923,-0.133986]% Fpublishing direction and range infoځyڅ쳩㥊nw:L`u&څBYځ ۅy)ۅzIۅRiۅcxۅCۅHۅ'1?ۅ ܅@)܅+ȽI܅>@i܅ ܅plN@܅ > ݁)݁݅L J8׿/ͮi݅^0݅=݅EC݅ > ށ)ށU checking for new query: numPingsReceived=28, elapsed TxPingTime=13.140605Em ?Ei Ei Em `0Ei KE (P"KE 9*KA 2KE *:KE o$4t?[]EUYj95f*G;D#B95-ԁ 6G5 1X<Ա ~G A AN>,n|hA9b@b@Yb&ybےڻbH¥?@?M+? \?`Q?M{? b@b-;)bCnyBnI < < checking for new query: numPingsReceived=28, elapsed TxPingTime=13.364832-Mb@Mb@Mb@))) )))Y-/$?A`"?MbP?y-&q?-Y=-:-A -3A)-AI-A)y-GAIMIMb1]w = ]=yeoQ e>٥ii mHmFm9 m>q}35uwٜ?359u Iu#Byq?a:{@uEiu[ҁrTKS?&A@#8F& ab?և;ſz1 BD]j;iBǜ?rm[ EUc<E E EE|0E  DDAT read: Rx Time:13:56:00.8739  TRx dataTimestamp_ set to:1749131762.050984 PDAT read: Bearing 185.1, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 185.1, 6.3 (Local)  DAT read: Range 10 to 50 : 66.9 m (trip time 44.6 ms) speed -0.4 - DAT read: 13:56:00.8739 LVL= 30512, 29489, 21458, 32755, AGC= 71, IDX= 503,-0.13,-2.693,-0.579,-2.287,-1.953, PHS=-0.652, 1.422,-0.337, RAW= 321.9, -4.5, CAL= 324.9, -6.3, ROT= 185.1, 6.3 5 Ygot valid direction response: 13:56:00.8739 LVL= 30512, 29489, 21458, 32755, AGC= 71, IDX= 503,-0.13,-2.693,-0.579,-2.287,-1.953, PHS=-0.652, 1.422,-0.337, RAW= 321.9, -4.5, CAL= 324.9, -6.3, ROT= 185.1, 6.3 = T#Rx 29: Read range and direction messages.= bdirection in FSK: [-0.990026,-0.088358,-0.109734]E Fpublishing direction and range info y [J/,= ̅BY 0w) 1sI Si  G y& ? D jȳ@) |٠I Yu@i z0Ὁ :N@ z0= ) @ӭQ=\W׿Y*.i Ǚ0 = {]C z0= ) ] checking for new query: numPingsReceived=29, elapsed TxPingTime=13.637256I 6GM 1;~G! A) A9 NE >>",-y|hA9va@v@YvSyvVvH`?@? rh?o?@]T?Xp`? va@v;)vC HqHqH}>HyH}IH}MzBH} =HyHyH}<H}EyBII IV2 A=yQ >٥ 1 MHMFU4: U>Y]35]oٜ?e359] I]+ByaeOe@]Ei]t;]v;]gU35);AEZbRC|hA܄B܄B1%@ʁF('qPz~([J/,={]Cz0=ҁ3?8zLq.)A@l{2|#0E 꿳tȀʈ? y¿zL B#`j{"ǜ?r` RB?_EKǜ?&[  NBтB7w%@ addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 0.506493 s, deltaX: 0.400002 m, approachRate: 0.789747 m/s, rangeRepo size: 4 U Added new target pos. range: 66.430641 m, bearing: 148.510180 deg, lat: 36.906389 deg, lon: -122.116062 deg, deltaT: 0.506493 s, deltaX: 0.397224 m, approachRate: 0.784264 m/s, posRepo size: 4 UDNOT Ignoring new targets: 66.43 m.bQZQrYjYRYJYBY~a~}|||P@|8? XzB<ԼI)zI <:Z<ܩ;ii DDDD%checking for new query: numPingsReceived=29, elapsed TxPingTime=13.868626Y:Je^BJeRJJeARJaZJe} :bJeS29Je4JazJe`:jJee:Je;:rJe<:ԉEa Ei Eq Eu k0Ey Ա  DDAT read: Rx Time:13:56:01.3742  TRx dataTimestamp_ set to:1749131762.552986 PDAT read: Bearing 185.6, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 185.6, 6.8 (Local)  DAT read: Range 10 to 50 : 67.4 m (trip time 44.9 ms) speed -0.4 - DAT read: 13:56:01.3742 LVL= 27040, 28913, 28146, 32755, AGC= 67, IDX= 505, 0.27,-2.413,-0.373,-1.996,-1.702, PHS=-0.623, 1.376,-0.297, RAW= 321.3, -5.0, CAL= 324.4, -6.8, ROT= 185.6, 6.8 5 Ygot valid direction response: 13:56:01.3742 LVL= 27040, 28913, 28146, 32755, AGC= 67, IDX= 505, 0.27,-2.413,-0.373,-1.996,-1.702, PHS=-0.623, 1.376,-0.297, RAW= 321.3, -5.0, CAL= 324.4, -6.8, ROT= 185.6, 6.8 = T#Rx 30: Read range and direction messages.E bdirection in FSK: [-0.988226,-0.096897,-0.118404]E Fpublishing direction and range info y ;￯G7θEO ̆BY i) pI mi C | ? b r@) ¸I -@i  4QO@ = ) nk-H׿,"i Q1 M= B = ) u checking for new query: numPingsReceived=30, elapsed TxPingTime=14.139135K P"K 9*K 2K +:K :5!M&YGhE y([{.'qC6Ge{/;jGer?bGew?~G!A)A9NM?#*,|hAyBIMb@Mb@Mb@ )Y٥aa eHeFe m>iu35m_ٜ?}359mc Im4Bys?^:/@mEim9;m;mZ35GB ;AEUchecking for new query: numPingsReceived=30, elapsed TxPingTime=14.374681Z!b%d|hA%څB%څB%s&@ʁ%f# Pqcퟲ%;￯G7θEO%B%=ҁ%EUjQWL"|͕A@R7?$%I'2! F?S~ÿz%$B%bj%Sǜ?r%[o %=PB%;iBǜ?%m[  %=PB%B%܃%@ addTargetRange:: Added new target pos. range: 67.400002 m, deltaT: 0.502002 s, deltaX: 0.500000 m, approachRate: 0.996012 m/s, rangeRepo size: 4 M Added new target pos. range: 66.927132 m, bearing: 149.016541 deg, lat: 36.906388 deg, lon: -122.116062 deg, deltaT: 0.502002 s, deltaX: 0.496490 m, approachRate: 0.989021 m/s, posRepo size: 4 uDNOT Ignoring new targets: 66.93 m.byZyryjyRyJyBy~~zB}|||P@|@f? -WzB-züI))5, 1I5zW 115*m ďC= GY q PY y B DDAT read: Rx Time:13:56:01.8746  TRx dataTimestamp_ set to:1749131763.056832 PDAT read: Bearing 185.2, 6.9 (Local)  ~Local bearing/azimuth received: Bearing 185.2, 6.9 (Local) 6G% O;I e DAT read: Range 10 to 50 : 68.0 m (trip time 45.3 ms) speed -0.7  DAT read: 13:56:01.8746 LVL= 31088, 25329, 26690, 32755, AGC= 71, IDX= 510,-0.17, 3.073,-1.128,-2.805,-2.494, PHS=-0.629, 1.412,-0.314, RAW= 321.8, -5.0, CAL= 324.8, -6.9, ROT= 185.2, 6.9  Ygot valid direction response: 13:56:01.8746 LVL= 31088, 25329, 26690, 32755, AGC= 71, IDX= 510,-0.17, 3.073,-1.128,-2.805,-2.494, PHS=-0.629, 1.412,-0.314, RAW= 321.8, -5.0, CAL= 324.8, -6.9, ROT= 185.2, 6.9  T#Rx 31: Read range and direction messages.~G A A! N- >Tv1, "|hA*bdirection in FSK: [-0.988672,-0.089976,-0.120137].Fpublishing direction and range infoQyU!2J!rjƹIUBYQ Upy)UbIUBhiQUGU%!Uj?UĠ U@)QIU g@iUϢUN@UϢ= Q)QU]p×׿7njl8iU0U=U@CUϢ= Q)Q^checking for new query: numPingsReceived=31, elapsed TxPingTime=14.6792729f@fə@Yf7l#yfYHHIHkzBHHHHǚ<HEHiHiHiHiIi Imâ(5y u=u4=}checking for new query: numPingsReceived=31, elapsed TxPingTime=14.876832yBIII3 =yQ >٥    H F $9 >%35Nٜ?%359 I>By!%'%@Ei::;^35]HB]";Ae}EIIAA:J]BJTJJRJZJ]:bJ:9JJzJ:jJ:JSJ:rJUJ:ZQbU#|hAU BU BUe%@ʁUvPEf@EM+kY9 U!2J!rjƹIU@CUϢ=ҁUSt8lLEeA@,n%U;-n(}?Ғ?ĿzU/ BUacjU< 'ǜ?rU,UlsK_g*b@* JE>JE ?~GAAN ?r9,Cq|hA9Z@Ze@YZÁ(yZl ٥!! %H%F-4 ->)535-ٜ?=359- I-FBy=Rw?=[:==@-Ei-:-:-b35IM:AMzE} addTargetRange:: Added new target pos. range: 68.300003 m, deltaT: 0.502768 s, deltaX: 0.300003 m, approachRate: 0.596703 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 67.52 m.bZrjRJB~~zB}|||@3Q@|`? VzBf̼I)9IEZ AAE{}@,"8}hA6DDAT read: Rx Time:13:56:02.8752 :TRx dataTimestamp_ set to:1749131764.063945>PDAT read: Bearing 185.2, 7.5 (Local) >~Local bearing/azimuth received: Bearing 185.2, 7.5 (Local) FDAT read: Range 10 to 50 : 68.9 m (trip time 45.9 ms) speed -0.4 bDAT read: 13:56:02.8752 LVL= 32752, 31937, 32594, 32755, AGC= 67, IDX= 501,-0.40, 2.681,-1.706, 3.062,-2.954, PHS=-0.561, 1.295,-0.271, RAW= 321.6, -5.4, CAL= 324.8, -7.5, ROT= 185.2, 7.5 fYgot valid direction response: 13:56:02.8752 LVL= 32752, 31937, 32594, 32755, AGC= 67, IDX= 501,-0.40, 2.681,-1.706, 3.062,-2.954, PHS=-0.561, 1.295,-0.271, RAW= 321.6, -5.4, CAL= 324.8, -7.5, ROT= 185.2, 7.5 fT#Rx 33: Read range and direction messages.jbdirection in FSK: [-0.987364,-0.089857,-0.130526]jFpublishing direction and range info4y6e}l /6̉BY4 6)6|I6Ri46C66¥?6 6@)6I4i6 46 > 4)46}y_*<3׿oϨi606H=46 > 4)4}checking for new query: numPingsReceived=33, elapsed TxPingTime=15.6681759N@@Y+y <Hѣ?? @7?`ȅ?u?^? {? N@骅;)CԹ5yB5IIEIE2e eW=yeQ e>٥ii mHmFu= >35ڜ?359v INBy@EiN1<t1<e35:AwEZ4b6}hA6ՈB6ՈB6%@ʁ6XPPwFy@!6e}l /46 >ҁ6mLkA@TEէ' nManaging dock network, ignoring radio surface power off6u+O+99/ʁ?w7!1ƿz6+ B6ej6t.ǜ?r6ݡa 6`JB46ݡa  6zNB6B6%@ addTargetRange:: Added new target pos. range: 68.900002 m, deltaT: 0.504345 s, deltaX: 0.599998 m, approachRate: 1.189659 m/s, rangeRepo size: 4 m Added new target pos. range: 68.416779 m, bearing: 148.414068 deg, lat: 36.906385 deg, lon: -122.116065 deg, deltaT: 1.007113 s, deltaX: 0.893692 m, approachRate: 0.887380 m/s, posRepo size: 4 uDNOT Ignoring new targets: 68.42 m.bqZqrqjqRqJyBy~y~y}y|||9Q@|? G)G-?AH=>H9H=IH=vzBH9H9H9H=<H=E4˼IQ)UQIUnB QQU<]:]}<];iirEV>jE>EEEEEchecking for new query: numPingsReceived=33, elapsed TxPingTime=15.884654IM %=II :JE aBJE VJJE BRJA ZJE :bJE B9JE -4JA zJE ;jJE ;JE X:rJE X:I 6G] ;~GI A A N%>G, }hA$9^ @^@Y^C-y^y<^HX?`X? Ur8 ƪ???? ? ^ @^ݯ;)^C}yB}IDDAT read: Rx Time:13:56:03.3754 TRx dataTimestamp_ set to:1749131764.569693PDAT read: Bearing 185.3, 8.2 (Local) ~Local bearing/azimuth received: Bearing 185.3, 8.2 (Local) EDAT read: Range 10 to 50 : 69.2 m (trip time 46.1 ms) speed -0.6 DAT read: 13:56:03.3754 LVL= 28336, 23585, 23442, 32755, AGC= 69, IDX= 503,-0.12, 0.774, 2.840, 1.187, 1.459, PHS=-0.597, 1.428,-0.274, RAW= 321.5, -6.0, CAL= 324.7, -8.2, ROT= 185.3, 8.2 Ygot valid direction response: 13:56:03.3754 LVL= 28336, 23585, 23442, 32755, AGC= 69, IDX= 503,-0.12, 0.774, 2.840, 1.187, 1.459, PHS=-0.597, 1.428,-0.274, RAW= 321.5, -6.0, CAL= 324.7, -8.2, ROT= 185.3, 8.2 T#Rx 34: Read range and direction messages.bdirection in FSK: [-0.985545,-0.091426,-0.142629]Fpublishing direction and range infoکyڭϡ锉�/gx0A¿ڭfBYک ۭn)ۭ!\Iۭ[i۩ۭEۭۭȶ?ۭI ܭ:@)ܭPwֽIܭX@iܭCܭjN@ܭC> ݩ)ݩݭV"U}J׿E#ӛiݭ[1ݭ3A=ݭK$CݭC> ީ)ީ%checking for new query: numPingsReceived=34, elapsed TxPingTime=16.186399iKb/P"K9*K2K-:K<j :XAMX{u`XKli(Yn w ~ JJAMb@Mb@Mb@ )Yi|?5??{Gzt?yq?<ף;A dA)AIAy\AI I̍2Q< =yRQ ]>٥aa eHeFe m>iu35m8ڜ?u359mp Im[Byq?`:5@mEimK;m;mj35IB:AtEZbu$}hAmBmB%@ʁ(Pj !O,#ϡ锉�/gx0A¿K$CC>ҁFL dA@H|w)^꿨ٱm?UKǿz BGfjBDǜ?rŪj FB,P,Po@}hA9>5@>錴@Y>R/y>y<>H??`n: 4b?`\?`?5?`? >5@>;)>CJyBJIInIn#3~g ~e=y~uQ >٥ H   ?9E35Nڜ?E359o IcByAESE@Ei6;;m35IU;AUvEDNOT Ignoring new targets: 68.71 m.bZrjRJB~~}||||HHHH =HHH<HEԑ6G checking for new query: numPingsReceived=35, elapsed TxPingTime=16.892527~G A A N >Թ BV,BZ}hA9>S@>@Y>2y>#<>H\?`? J"X?@*T? P?@a?? >S@>?;)>CJyBJIIRIR3Z> ZO=yfQ f>٥lp rHrFv: z>ԡ35jڜ?359 ImBy)]#]@EijI=H=q35JBP;AsEZ9b=D}hA=B=B=2$@ʁ=LO2$Q(ߢV:+eF"!=z9X:M}A7X=%D==ҁ=JLKuKB@hD%lG'=$F?RG~ſz=^B=fj=*lǜ?r=YR =1KB=t.ǜ?9 =1KB=6B=$%@ addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 0.502676 s, deltaX: 0.600006 m, approachRate: 1.193624 m/s, rangeRepo size: 4  Added new target pos. range: 69.311012 m, bearing: 147.618454 deg, lat: 36.906386 deg, lon: -122.116066 deg, deltaT: 0.502676 s, deltaX: 0.596481 m, approachRate: 1.186612 m/s, posRepo size: 4 DNOT Ignoring new targets: 69.31 m.bZrjRJB~~}|||@3sQ@|?  ADDAT read: Rx Time:13:56:04.3762 TRx dataTimestamp_ set to:1749131765.576270%PDAT read: Bearing 185.0, 7.3 (Local) %~Local bearing/azimuth received: Bearing 185.0, 7.3 (Local) 5DAT read: Range 10 to 50 : 70.4 m (trip time 46.9 ms) speed -0.4 mDAT read: 13:56:04.3762 LVL= 29216, 23489, 22386, 32755, AGC= 67, IDX= 509, 0.39, 0.515, 2.568, 0.913, 1.212, PHS=-0.608, 1.403,-0.302, RAW= 321.9, -5.3, CAL= 325.0, -7.3, ROT= 185.0, 7.3 uYgot valid direction response: 13:56:04.3762 LVL= 29216, 23489, 22386, 32755, AGC= 67, IDX= 509, 0.39, 0.515, 2.568, 0.913, 1.212, PHS=-0.608, 1.403,-0.302, RAW= 321.9, -5.3, CAL= 325.0, -7.3, ROT= 185.0, 7.3 uT#Rx 36: Read range and direction messages.}bdirection in FSK: [-0.988120,-0.086449,-0.127065]}Fpublishing direction and range infoyyɭB! )bH.TnI׿J[ib08=zCw> )checking for new query: numPingsReceived=36, elapsed TxPingTime=17.162939 ϼI)Iua U<:E<Ν;ii!zE)KP"K 9*K2K.:K#eb85 Yf\Y*Tj-7gc6f;D(1GqIE?EEEP0E!  checking for new query: numPingsReceived=36, elapsed TxPingTime=17.3975836G 1;~G A :J \BJ MJJ RJ ZJ =:bJ 9J J @ @ @ @AN>O],w}hA9>n@>"@Y>7y><>Hg?` ?bH ?n@>;)>CzyBzIMb@Mb@Mb@ )Y@5^I ?y&1?Mbybp?`<A A)MAIyAII3J< %=y(Q >٥ HFf; >35Xڜ?359 IuByp?b:@Ei<;;u35  ;ApEZyb}d}hA}ЋB}ЋB}g%@ʁ}JDQ3Evp,j!}yɭB!ҁ}V{ KM(.B@{M/,(}D V|g-cߎ? r:!ƿz}B}Yjj}:Y?ǜ?r}* d }uIB}:Y?ǜ?y }`JB}B}%@5 addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 0.503901 s, deltaX: 0.599998 m, approachRate: 1.190707 m/s, rangeRepo size: 4 Ym Added new target pos. range: 69.906807 m, bearing: 148.308085 deg, lat: 36.906388 deg, lon: -122.116066 deg, deltaT: 0.503901 s, deltaX: 0.595795 m, approachRate: 1.182365 m/s, posRepo size: 4 mDNOT Ignoring new targets: 69.91 m.biZirqjqRqJB~~=zB}|||Q@|@? 5XzB=\yټIY)]" YI]Q8 YY]{/d,}hAL9^@^?@Y^Q;y^><^H@H??`b?M?Ox?/˔?? ^@^G;)\jyBjIIvIv(*3~b W=yf*Q >٥   H F f;  >35ڜ?%359k" I|By!%>%@Ei;S;x35-KB-Y;A5mEm addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 0.503025 s, deltaX: 0.400002 m, approachRate: 0.795192 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 69.91 m.bqZqrqjqRqJqBy~y~}|||@3Q@|dV? checking for new query: numPingsReceived=37, elapsed TxPingTime=17.905548UڨIQ)UYI] YY]݄ DDAT read: Rx Time:13:56:05.4259  TRx dataTimestamp_ set to:1749131766.588610 PDAT read: Bearing 184.8, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 184.8, 6.7 (Local)  DAT read: Range 10 to 50 : 144.9 m (trip time 96.6 ms) speed -0.3  DAT read: 13:56:05.4259 LVL= 27408, 22001, 23314, 32755, AGC= 66, IDX= 2, 0.44, 0.864, 2.788, 1.231, 1.530, PHS=-0.578, 1.305,-0.302, RAW= 322.2, -4.9, CAL= 325.2, -6.7, ROT= 184.8, 6.7  Ygot valid direction response: 13:56:05.4259 LVL= 27408, 22001, 23314, 32755, AGC= 66, IDX= 2, 0.44, 0.864, 2.788, 1.231, 1.530, PHS=-0.578, 1.305,-0.302, RAW= 322.2, -4.9, CAL= 325.2, -6.7, ROT= 184.8, 6.7  T#Rx 38: Read range and direction messages. bdirection in FSK: [-0.989687,-0.083106,-0.116671] Fpublishing direction and range infoڙ yڝ ZvFmu"޽ڝ CYڙ ۝ k)۝ UI۝ [iۙ ۝ B۝ ۝ = ?ۙ ܝ P@)ܝ %Iܝ >@iܝ |iܝ plN@ܝ |= ݙ )ݙ ݝ ';Bw=ؿ0µiݝ C0ݝ 7L=ݝ ECݝ |=) ޙ )ޙ ] checking for new query: numPingsReceived=38, elapsed TxPingTime=18.182659K AP"K ý9*K 2K /:K ."5W24`*xL '8)e\%V y3$)-vd.7Zj,k}hA96G@6Ǵ@Y6`Ay6f<6H? ?1?4?@)?.?? 6G@6>;)4RyBRI)T T| Mb@Mb@Mb@    ) Y MbX?٥ HF; >35ڜ?359( IByj?g:1@Ei::|35f;AjEZbɫ}hACC%@ʁϺa(%Dc'bׅ0ZvFmu"޽EC|=ҁM&4^|\ wR@%@E7x:0u? $ſzBj#?ryn Bݡa  uIBZB%@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 144.899994 m, deltaT: 0.509315 s, deltaX: 74.099991 m, approachRate: 145.489517 m/s, rangeRepo size: 4DNOT Ignoring new targets: 69.91 m.bZrjRJB~~zB)}1|9|9|Eb@|EI? 靥89ټI)RI= ؖ<:d<r$8q,}hA.DDAT read: Rx Time:13:56:05.9262 2TRx dataTimestamp_ set to:1749131767.0919846PDAT read: Bearing 184.8, 48.6 (Local) :~Local bearing/azimuth received: Bearing 184.8, 48.6 (Local) BDAT read: Range 10 to 50 : 145.4 m (trip time 96.9 ms) speed -0.6 RDAT read: 13:56:05.9262 LVL= 31024, 21265, 24130, 32755, AGC= 66, IDX= 509,-0.10,-0.660, 1.155,-0.393,-1.032, PHS= 0.460, 2.233, 0.635, RAW= 324.8, -34.8, CAL= 325.2, -48.6, ROT= 184.8, 48.6 ZYgot valid direction response: 13:56:05.9262 LVL= 31024, 21265, 24130, 32755, AGC= 66, IDX= 509,-0.10,-0.660, 1.155,-0.393,-1.032, PHS= 0.460, 2.233, 0.635, RAW= 324.8, -34.8, CAL= 325.2, -48.6, ROT= 184.8, 48.6 ^T#Rx 39: Read range and direction messages.bbdirection in FSK: [-0.658993,-0.055337,-0.750111]bFpublishing direction and range info0y2Ɇŏwv#b'U迹2fCY0 20y)2SI2B^i002>2y@2\"? 2 g@)2|I0i2%Y02%Y? 0)024(BֿRz{Di2tJ-2?02%Y? 0)0rchecking for new query: numPingsReceived=39, elapsed TxPingTime=18.6780459%Yҭ@% ܴ@Y%HFy%i<%H*?@? P\S`?Â?ܨ? ?`? %Yҭ@% d;)%CEyBEII]I]V83e< e`=iyutQ u>٥qq }H}F}/; }>35ڜ?359- IBy@Ei;;35F;AgEZ0b2}hA2aC2aC2{$@ʁ2%uM`W>opn⼻Y[2Ɇŏwv#b'U02%Y?ҁ2Hx;9RhfRH@85 /=\2m?(!Qz2BB2Ej2+?r2}., 2 J02YR  2FB2B2`%@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 145.399994 m, deltaT: 1.012689 s, deltaX: 74.599991 m, approachRate: 73.665253 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 69.91 m.b ZrjRJB~I~I}I|Q|Q|U,b@|Uɸ? 靭NI)eI _T<:$<W(EHCHIHkzBHHHH<H?EEEEE5E checking for new query: numPingsReceived=39, elapsed TxPingTime=18.912848I! I! 6G 0< ~G A A N >3ew,}hA9MC@M@YMJyM`?HÙ?p? MC@MQ;)MC]yBeIMb@Mb@Mb@ )Y/$?Mb?y1h?<A A)I3AyfAI5'I5@3M'< M/=yM^ѺQ M>٥QQ UHUFU+; ]>mDDAT read: Rx Time:13:56:06.4269 mTRx dataTimestamp_ set to:1749131767.595955uPDAT read: Bearing 178.6, 48.0 (Local) }~Local bearing/azimuth received: Bearing 178.6, 48.0 (Local) DAT read: Range 10 to 50 : 146.4 m (trip time 97.6 ms) speed -0.5 DAT read: 13:56:06.4269 LVL= 21472, 13633, 14706, 18339, AGC= 69, IDX= 5,-0.09,-1.438, 0.388,-1.323,-1.886, PHS= 0.536, 2.321, 0.560, RAW= 329.3, -34.3, CAL= 331.4, -48.0, ROT= 178.6, 48.0 Ygot valid direction response: 13:56:06.4269 LVL= 21472, 13633, 14706, 18339, AGC= 69, IDX= 5,-0.09,-1.438, 0.388,-1.323,-1.886, PHS= 0.536, 2.321, 0.560, RAW= 329.3, -34.3, CAL= 331.4, -48.0, ROT= 178.6, 48.0 T#Rx 40: Read range and direction messages.`direction in FSK: [-0.668931,0.016348,-0.743145]Fpublishing direction and range infoiymg忙I-?:翹mfCYi mS)mA5Imr9imGmEmL7 ?354ڜ?3594 IBy:h?j:@EmD@m)\? mr@)m@Im@imPwVmG@mPwV? i)im `>翴@Sٿ8NjimEM(mi?mG@mPwV? i)iiA;;35LB;AfEchecking for new query: numPingsReceived=40, elapsed TxPingTime=19.207191Zibm $}hAm_Cm_CmW9@ʁmHOXqqK@-[mg忙I-?:mG@mPwV?ҁm:AQM M@&\mC5Y߿LˌA?BOzmhBmjjmtÜ?rmi7 8 mHmtÜ?m}.,  mBmŬBms"@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 146.399994 m, deltaT: 1.516660 s, deltaX: 75.599991 m, approachRate: 49.846367 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 69.91 m.b Z r jRJB~~:zB}|||%Lb@KmP"Km9*Ki2Km0:KmmNln8`X7&Jb.ZgTfbG LJu?Ju>|} w? %WzB-:^μI))-)I- 0 115<5:=]<=Zf~,}hA=GQi YyS B9E~@E2@YE3OyE ٥ HM; >35^ۜ?359: IBy@Ei~::M35)-:A)]DNOT Ignoring new targets: 69.91 m.bYZYrYjYRYJYBY~a~a}a|i|i|i|m`W? 靵ӼI)X񽉞I;ꍼ  <:UK<uHAHEIHEvzBHE =HAHAHE<HEPEH H H H  =I  = I ȹ5I 6G 3Z<~GA AQ Ai Nu > checking for new query: numPingsReceived=41, elapsed TxPingTime=19.920555f,o~hA IPIRR=9b@br@YbQybd٥ HF :  ?%35X$ۜ?%3595? IBy)--@EiO;EP;:355MB5:A5cEZibme~hAm.Bm.Bm/"$@ʁm}Qq8ZYvW moI4|^[,=mEmz0=ҁm6MAgC@ 7SeLN'm;olw꿁NM:?}vĿzm=Bmnjm ǜ?rmѴ@ mMKBii im)Bmq"@ addTargetRange:: Added new target pos. range: 72.599998 m, deltaT: 2.020620 s, deltaX: 1.799995 m, approachRate: 0.890813 m/s, rangeRepo size: 4  Added new target pos. range: 72.091057 m, bearing: 146.939972 deg, lat: 36.906286 deg, lon: -122.115933 deg, deltaT: 2.523645 s, deltaX: 2.184250 m, approachRate: 0.865514 m/s, posRepo size: 4 DNOT Ignoring new targets: 72.09 m.bZrjRJB~~}|||`f&R@| c?q ]VzB]ʼIa)eٽI -<:]<My‹,T1~hAL9=h@=@Y=Ry=r<=H ?? E@_?^?R??@? =h@=;)=CUyBUI=Mb@Mb@Mb@999 9)9Y=#~j?Mb?Mb`y=e?=<=9 =`@)=I@I=A9y=AIuIu2checking for new query: numPingsReceived=42, elapsed TxPingTime=20.424587k< 3=yBQ >٥ HFݺ >35@ۜ?359|E IBye?l:b@EiH;`;;35:A`EZyb}&~hA}ǐB}ǐB}U%@ʁ}Q RnY-N'+8}()NR%k(א¢}9D}Q =ҁ}gfĨSN.G5C@m[}sk`Sj?ܤᶿz}B} tj}U+ǜ?r}FQ }`B:J5_BJ5\JJ5DRJ1ZJ5 :bJ5[9J54J1yy y}B}&"@ addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 0.505050 s, deltaX: 0.300003 m, approachRate: 0.594007 m/s, rangeRepo size: 4  Added new target pos. range: 72.388954 m, bearing: 147.800767 deg, lat: 36.906286 deg, lon: -122.115933 deg, deltaT: 0.505050 s, deltaX: 0.297897 m, approachRate: 0.589837 m/s, posRepo size: 4 DNOT Ignoring new targets: 72.39 m.bAZArAjIRIJQBQ~~zB}|||9R@|"? UUzBUqIQ)UTýYI]l YY]qDf,DN~hA,HB>HBCHB IHBzBHB =H@H@HB%<HBdE9V$@V@YVDRyV ٥Qy }H}F}z >35Yۜ?359+K IBy@Ei;;ؒ35:A]EZ b NF~hA B B /%@ʁ  .m,R"CUG̔EK vMPumԱᢔ D d=ҁ vZN=VIC@tx |}꿉ƒ?Vؾz MB uj ˉǜ?r R  YZB ˉǜ? Ѵ@  MKB ّB $@% addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 0.503513 s, deltaX: 0.599998 m, approachRate: 1.191625 m/s, rangeRepo size: 4 U Added new target pos. range: 72.985474 m, bearing: 147.881859 deg, lat: 36.906384 deg, lon: -122.116051 deg, deltaT: 0.503513 s, deltaX: 0.596519 m, approachRate: 1.184715 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 72.99 m.bYZYrYjYRYJYBa~a~aԉ}|||`R@| ?-checking for new query: numPingsReceived=43, elapsed TxPingTime=20.928570 5TzB5[˼I1)5Ľ1I= 99= DDAT read: Rx Time:13:56:08.3785  TRx dataTimestamp_ set to:1749131769.612081 PDAT read: Bearing 184.7, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 184.7, 3.3 (Local)  DAT read: Range 10 to 50 : 73.8 m (trip time 49.2 ms) speed -0.8 5 DAT read: 13:56:08.3785 LVL= 31280, 24017, 25874, 32755, AGC= 67, IDX= 500, 0.26,-1.316, 0.736,-0.947,-0.537, PHS=-0.692, 1.320,-0.413, RAW= 322.7, -2.3, CAL= 325.3, -3.3, ROT= 184.7, 3.3 = Ygot valid direction response: 13:56:08.3785 LVL= 31280, 24017, 25874, 32755, AGC= 67, IDX= 500, 0.26,-1.316, 0.736,-0.947,-0.537, PHS=-0.692, 1.320,-0.413, RAW= 322.7, -2.3, CAL= 325.3, -3.3, ROT= 184.7, 3.3 = T#Rx 44: Read range and direction messages.E bdirection in FSK: [-0.994985,-0.081803,-0.057564]M Fpublishing direction and range info y IU￝%\`8.y BY 0z) ]I e,h~hAiC&1?tӾ :@)l$I@ikON@k= )dc6.ؿSN՘i/ $=Ck= )checking for new query: numPingsReceived=44, elapsed TxPingTime=21.201887|zBIK-RWP"K-9*K)2K-2:K-K;SHL` r3jcG~Jz % .J=?J=?]Mb@Mb@Mb@YYY Y)YY] r?Mbp?MbPy]c?];]]A Y)YI]zAYy]QAII2= *=)y-Q ->٥11 5H5F= =>A35Ewۜ?359EQ IEʝByc?n:@EEiE&.,~hA-DDAT read: Rx Time:13:56:08.8788 5TRx dataTimestamp_ set to:1749131770.115736=PDAT read: Bearing 185.0, 3.5 (Local) =~Local bearing/azimuth received: Bearing 185.0, 3.5 (Local) ]DAT read: Range 10 to 50 : 74.3 m (trip time 49.5 ms) speed -0.9 }DAT read: 13:56:08.8788 LVL= 22832, 25889, 17458, 23443, AGC= 70, IDX= 487, 0.40,-1.835, 0.241,-1.452,-1.049, PHS=-0.698, 1.337,-0.406, RAW= 322.4, -2.5, CAL= 325.0, -3.5, ROT= 185.0, 3.5 Ygot valid direction response: 13:56:08.8788 LVL= 22832, 25889, 17458, 23443, AGC= 70, IDX= 487, 0.40,-1.835, 0.241,-1.452,-1.049, PHS=-0.698, 1.337,-0.406, RAW= 322.4, -2.5, CAL= 325.0, -3.5, ROT= 185.0, 3.5 T#Rx 45: Read range and direction messages.bdirection in FSK: [-0.994337,-0.086993,-0.061049]Fpublishing direction and range info)y-￲0E.xA-BY) -0Y)-!eI-2Di-[-F-!2-"?-;Ͼ -@)-¸2I-@i-5z-N@-5z= )))-'K*y2kWؿ6!i-0-$0=-zC-5z= )))checking for new query: numPingsReceived=45, elapsed TxPingTime=21.700958zBIII3-v= -K=y)Q ->٥11 5H5F1 =>AU35EIۜ?U359E1W IEӝByyy}@EEiEHCHIHzBH =HH0DH<H"Ei1IE?EEEP0Echecking for new query: numPingsReceived=45, elapsed TxPingTime=21.936745q J;4J;Ҕ4J;5/:J] ]BJ] VJJ] ARJY ZJ] ]:bJ] B9J] 4JY zJ] :} jJ] :} J] X: rJ] X: 6G ~G A A N >N,~hA09@Ĵ@YPy;\<H"??-\r?]?v?È?? @骭;)C0zBII%I%]G= eH=yu.8:Q }>٥ HFr >35ۜ?359\ IܝBy!@ Ei;;,35-LB-9A5YEԉ=DNOT Ignoring new targets: 73.78 m.b9Z9r9j9R9J9]DDAT read: Rx Time:13:56:09.3790 eTRx dataTimestamp_ set to:1749131770.621469mPDAT read: Bearing 184.5, 3.3 (Local) m~Local bearing/azimuth received: Bearing 184.5, 3.3 (Local) }DAT read: Range 10 to 50 : 74.6 m (trip time 49.7 ms) speed -0.4 DAT read: 13:56:09.3790 LVL= 29936, 23265, 25442, 29939, AGC= 70, IDX= 490,-0.43, 1.890,-2.407, 2.241, 2.644, PHS=-0.665, 1.279,-0.406, RAW= 322.9, -2.3, CAL= 325.5, -3.3, ROT= 184.5, 3.3 Ygot valid direction response: 13:56:09.3790 LVL= 29936, 23265, 25442, 29939, AGC= 70, IDX= 490,-0.43, 1.890,-2.407, 2.241, 2.644, PHS=-0.665, 1.279,-0.406, RAW= 322.9, -2.3, CAL= 325.5, -3.3, ROT= 184.5, 3.3 T#Rx 46: Read range and direction messages.bdirection in FSK: [-0.995264,-0.078329,-0.057564]Fpublishing direction and range infoYy] u4ᅫ$\ `8.y]3BYY ]t)]ZI]bci]tY]q=*]F?Y ]eW@)]l$I]"˵@i]k]N@]k= Y)Y]94LqS:ؿ>IFƓi]Ol/BA~~}|| | `fR@| Ė?]$=] D]k= Y)YUchecking for new query: numPingsReceived=46, elapsed TxPingTime=22.221249 PzB靕XI)Ik" <:<Z;iibEZEԹE?EEEO0EFFp=KZP"K=9*K2K3:KiU) ;# bBV9{!\Jkn Cz/V"z  6G 0Y<  < < checking for new query: numPingsReceived=46, elapsed TxPingTime=22.442078~G A A N >(,~hA9m@mʞ@YmLym;mHk??*A ױ? b?@ ?vu?? m@m{Y;)mC EzBIaMb@Mb@Mb@ )Y r?y&1|?Mb`?y`;;dA +@)@IAy@II22= 0=y;Q >٥ Hq >35ۜ?359?c IByc?n:!@Ei;7;&35O9AVEZ b &Ƨ~hA (B (B 4%@ʁ C+nR%o5h  u4ᅫ$\ `8.y  D k=ҁ 2 1OywC@i* WDJ?X Oz B yj ֐:ǜ?r !\  bZB  !\  YZB דB {Z%@E addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 0.505733 s, deltaX: 0.299995 m, approachRate: 0.593189 m/s, rangeRepo size: 4 U Added new target pos. range: 74.079277 m, bearing: 147.900219 deg, lat: 36.906384 deg, lon: -122.116063 deg, deltaT: 0.505733 s, deltaX: 0.299408 m, approachRate: 0.592028 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 74.08 m.bYZYrYjYRaJaBa~a~mzB}i|i|i|i|u@? NzB靝AII)I0 sK<:G<`;iiEQEQEQEUP0EQԑ DDAT read: Rx Time:13:56:09.8793 TRx dataTimestamp_ set to:1749131771.130983%PDAT read: Bearing 185.3, 4.6 (Local) -~Local bearing/azimuth received: Bearing 185.3, 4.6 (Local) UDAT read: Range 10 to 50 : 75.0 m (trip time 50.0 ms) speed -0.6 DAT read: 13:56:09.8793 LVL= 25808, 29345, 20834, 32563, AGC= 68, IDX= 510,-0.17, 2.316,-1.877, 2.720, 3.088, PHS=-0.684, 1.366,-0.371, RAW= 321.9, -3.3, CAL= 324.7, -4.6, ROT= 185.3, 4.6 6G&;Ygot valid direction response: 13:56:09.8793 LVL= 25808, 29345, 20834, 32563, AGC= 68, IDX= 510,-0.17, 2.316,-1.877, 2.720, 3.088, PHS=-0.684, 1.366,-0.371, RAW= 321.9, -3.3, CAL= 324.7, -4.6, ROT= 185.3, 4.6 T#Rx 47: Read range and direction messages.bdirection in FSK: [-0.992517,-0.092073,-0.080199]Fpublishing direction and range infoy○UzꇴBY d)rIbQi3D/ٮ? jȳ@)kIX@iljN@l= )ͦ-׿s;biڦ01k=K$Cl= )checking for new query: numPingsReceived=47, elapsed TxPingTime=22.734680~GAAN> H >H H 3IH zBH  =H H 1DH <H E,sf~hAL9^3@^獴@Y^Iy^^H ? y"?@ꦣ`? ˡ?z5?] ? ^3@^;)^COzBII-I-(*3Uchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.948364u)< ub=y}N:Q }>٥yy HF۹ >35ۜ?359Hh IIBA:JBJ^JJ@RJZJbJd9JJ4JzJ:jJ:J:rJ:IBy "@Ei==T35MB*9ASEZAbEb~hAEBEBE&@ʁETi`VzRNjtmL_PSE○UzꇴEK$CEl=ҁE_{ޡO  ;C@ ]/#EǂM/O~?|zEBE5|jEhǜ?rEֶr ESBEhǜ?Et i  EYBEBE%@ addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 0.509514 s, deltaX: 0.400002 m, approachRate: 0.785065 m/s, rangeRepo size: 4 % Added new target pos. range: 74.476982 m, bearing: 148.617049 deg, lat: 36.906383 deg, lon: -122.116068 deg, deltaT: 0.509514 s, deltaX: 0.397705 m, approachRate: 0.780558 m/s, posRepo size: 4 -DNOT Ignoring new targets: 74.48 m.b)Z)r)j)R)J)B)~1~1}1|1|9|]R@|eQG? LzBI)G;I!+ Na<: < D`;i i E?EEEE DDAT read: Rx Time:13:56:10.3795  TRx dataTimestamp_ set to:1749131771.631563 DAT read: Range 10 to 50 : 75.3 m (trip time 50.2 ms) speed -0.4 - Z#Rx 48: Read range message, but no direction. BY 5 checking for new query: numPingsReceived=48, elapsed TxPingTime=23.2062456G ;~G A A N > ,.Y~hA89B{@B@YB%HyBC뺹BH`7?)?Lz f# ?l?.?t]`5? B{@Bd;)@K P"K  9*K 2K 4:K UV-82jv& j:g*TfAz5^(bnlZJ>J>%`zB%IMMb@Mb@Mb@III I)IYM(\?~jtx?~jth?yMg?M;MD;M@ I)M@IMAIyMf@I]I](1O= @=yr:Q >٥ HF- >35ۜ?359On IByg?j:"@Ei :I:358APE addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 0.500580 s, deltaX: 0.300003 m, approachRate: 0.599311 m/s, rangeRepo size: 4 ԙDNOT Ignoring new targets: 74.48 m.bZrjRJB~~yB}|||@3R@|? EJzB]RIY)]`,hA*DDAT read: Rx Time:13:56:10.8800 .TRx dataTimestamp_ set to:1749131772.1370982PDAT read: Bearing 185.5, 3.8 (Local) 2~Local bearing/azimuth received: Bearing 185.5, 3.8 (Local) :DAT read: Range 10 to 50 : 76.1 m (trip time 50.7 ms) speed -0.6 NDAT read: 13:56:10.8800 LVL= 32752, 18497, 25794, 32755, AGC= 68, IDX= 4, 0.21,-2.287,-0.273,-1.894,-1.522, PHS=-0.678, 1.295,-0.376, RAW= 321.8, -2.7, CAL= 324.5, -3.8, ROT= 185.5, 3.8 RYgot valid direction response: 13:56:10.8800 LVL= 32752, 18497, 25794, 32755, AGC= 68, IDX= 4, 0.21,-2.287,-0.273,-1.894,-1.522, PHS=-0.678, 1.295,-0.376, RAW= 321.8, -2.7, CAL= 324.5, -3.8, ROT= 185.5, 3.8 RT#Rx 49: Read range and direction messages.Vbdirection in FSK: [-0.993208,-0.095635,-0.066274]VFpublishing direction and range info(y*&[{{S*3BY( *)*AHI*di*(*h-*¥?* *@)*AI*(<@i*ԇ*4O@*ԇ= ()(* TM\%nE׿/tdH𬧿i*0*x==*B*ԇ= ()(fchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.721140l9{@@YHy&Y;H?'? "H?@KY? ?@wk?? {@0;)-~zB- III#3= K=yYQ >٥ HFu9 >35. ܜ?359t IBy"@"Ei:~:35UNB]u8A]QEGG@AH>HCHLIHzBH =HHH<H&E Z(b*7hA*#B*#B*\#&@ʁ*R Kb6*&[{{S*B*ԇ=ҁ*摒 P zC@hj!*Ш+[?ez*B*Tj*|Ɯ?r*#q *WB*!ǜ?*Gq  *XB*B*&@u addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 0.505535 s, deltaX: 0.799995 m, approachRate: 1.582473 m/s, rangeRepo size: 4  Added new target pos. range: 75.570305 m, bearing: 148.734581 deg, lat: 36.906381 deg, lon: -122.116072 deg, deltaT: 1.006115 s, deltaX: 1.093323 m, approachRate: 1.086678 m/s, posRepo size: 4 DNOT Ignoring new targets: 75.57 m.bZrjRJB~~}|||`fS@|` ? mGzBuhIq)u`[=qI/ <:<6;ii1 =checking for new query: numPingsReceived=49, elapsed TxPingTime=23.957806EqEqEyE}_0Ey:JU _BJU ZJJU CRJQ ZJU :bJU S9JU 4JQ zJU *:jJU /:JU Pu:rJU Su:q 6G} D0;ԑ ~G A AN=>, &hAuDDAT read: Rx Time:13:56:11.3803 }TRx dataTimestamp_ set to:1749131772.642722PDAT read: Bearing 185.2, 5.3 (Local) ~Local bearing/azimuth received: Bearing 185.2, 5.3 (Local) DAT read: Range 10 to 50 : 76.5 m (trip time 51.0 ms) speed -0.4 DAT read: 13:56:11.3803 LVL= 23024, 20465, 21026, 30707, AGC= 70, IDX= 503,-0.41, 0.981, 3.021, 1.375, 1.719, PHS=-0.650, 1.350,-0.347, RAW= 321.9, -3.8, CAL= 324.8, -5.3, ROT= 185.2, 5.3 Ygot valid direction response: 13:56:11.3803 LVL= 23024, 20465, 21026, 30707, AGC= 70, IDX= 503,-0.41, 0.981, 3.021, 1.375, 1.719, PHS=-0.650, 1.350,-0.347, RAW= 321.9, -3.8, CAL= 324.8, -5.3, ROT= 185.2, 5.3 T#Rx 50: Read range and direction messages.bdirection in FSK: [-0.991627,-0.090245,-0.092371]Fpublishing direction and range infoqyu!Tgvc,K{]UuBYq uY)uOIu"RiuwuFuff&u̬?u ujȳ@)uԇIu g@iuquN@uq= q)qiueў+׿xiu0u=u@Cuq= q)q}checking for new query: numPingsReceived=50, elapsed TxPingTime=24.2451699}@@YnIyo-;H@?$?/ H?t?@?`#}{?@? }@骝;)CMzBUIAMb@Mb@Mb@ )Y?y&1|?yl?`;v@ I@)@IAyp@11ԙKGP"K9*K2K5:KHtRR#L@ }KKD~[3H% >S"I5I5<2= =y/PQ >٥ HF9 >9E35=1ܜ?E359=x| I=ByMl?Me:MD$M@=+Ei=:=:=35qu$8AuKEZqbu[")hAuBuBu%@ʁu*6RAJ8lku!Tgvc,K{]Uu@Cuq=ҁuMJPCMC@-'%u|LS9p?Bwe¿zuzBu&juF{ǜ?ru8o uOBuhǜ?q uWBuYBuN%@ addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 0.505624 s, deltaX: 0.400002 m, approachRate: 0.791105 m/s, rangeRepo size: 4 5 Added new target pos. range: 75.967522 m, bearing: 148.431935 deg, lat: 36.906383 deg, lon: -122.116072 deg, deltaT: 0.505624 s, deltaX: 0.397217 m, approachRate: 0.785597 m/s, posRepo size: 4 =DNOT Ignoring new targets: 75.97 m.b9Z9r9j9R9J9BA~A~EzB}A|I|I|m S@|u ? -DzB-vRI))-V=)I5 115{C<=:=k<=@;i9i9 checking for new query: numPingsReceived=50, elapsed TxPingTime=24.462187E ?E E E P0E ) 4> Cԁ G z Y y B6G!<;~GAAN>G,9_EhA9z@z3@YzMyzOHECHEkIHE{BHE =HAHAHE<HEEHśCHśCHH =I = I5ԑ6G']?; checking for new query: numPingsReceived=51, elapsed TxPingTime=24.965534~G A A N >:J hBJ _JJ ARJ ZJ (:bJ =h9J 4J zJ );jJ );J :rJ :>p,2_hAX9 @ ɷ@Y Qy < H`ٶ?`I?멿`@?{ ? H8?o٥ H.; >35n_ܜ?3592 I(By"@6EiB;};!35OB]7AHE% addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 0.501227 s, deltaX: 0.500000 m, approachRate: 0.997552 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 75.97 m.bZrjRJB~~)}1|9|i|m@S@|uC6?DDAT read: Rx Time:13:56:12.3808 TRx dataTimestamp_ set to:1749131773.648085PDAT read: Bearing 185.7, 4.6 (Local) ~Local bearing/azimuth received: Bearing 185.7, 4.6 (Local) DAT read: Range 10 to 50 : 77.3 m (trip time 51.5 ms) speed -0.8 =DAT read: 13:56:12.3808 LVL= 21616, 19265, 19474, 25587, AGC= 68, IDX= 492, 0.22, 1.092, 3.064, 1.489, 1.829, PHS=-0.649, 1.282,-0.343, RAW= 321.5, -3.3, CAL= 324.3, -4.6, ROT= 185.7, 4.6 EYgot valid direction response: 13:56:12.3808 LVL= 21616, 19265, 19474, 25587, AGC= 68, IDX= 492, 0.22, 1.092, 3.064, 1.489, 1.829, PHS=-0.649, 1.282,-0.343, RAW= 321.5, -3.3, CAL= 324.3, -4.6, ROT= 185.7, 4.6 MT#Rx 52: Read range and direction messages.Ubdirection in FSK: [-0.991850,-0.099000,-0.080199]UFpublishing direction and range infoyIdO |<:<kal,5'{hA9ĭ@δ@Y9Vy֒<H`? .?pժ,q??֪??@? ĭ@x;)CzBSI ==AMb@Mb@Mb@ )Y"~?Mbp?Mbp?ys?;;`@ @)@IAy3@II2Ƣ= =yQ >٥ HF; > 35 ܜ?359 ώ I 6By=s?=^:= =@ =Ei ; X; 35AE6AMEEZb:zihABB&@ʁ_{She,nE8&?Z]DzBjdƜ?r"/ QB#q  SBB%@ addTargetRange:: Added new target pos. range: 77.300003 m, deltaT: 0.504136 s, deltaX: 0.300003 m, approachRate: 0.595084 m/s, rangeRepo size: 4   Added new target pos. range: 76.760979 m, bearing: 149.386640 deg, lat: 36.906383 deg, lon: -122.116072 deg, deltaT: 1.005363 s, deltaX: 0.793457 m, approachRate: 0.789224 m/s, posRepo size: 4 DNOT Ignoring new targets: 76.76 m.bZ1r1j1R1J1B9~9~=$zB}9|A|A|E@3SS@|E@t? ;zBI)4>I- ٢<:b<#/ 1,= %D 4Q= ) checking for new query: numPingsReceived=53, elapsed TxPingTime=25.777121ԙ  H= <H= p<HE >HA HE IHE K{BHE  =HA HA HE њ<HE E6G 2<~Gi Aq A N >Z',ÝhA9r+ݭ@r@Yrɑ]yrXIH E ]< DDAT read: Rx Time:13:56:13.3815  TRx dataTimestamp_ set to:1749131774.660389 PDAT read: Bearing 184.1, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 184.1, 4.9 (Local) = DAT read: Range 10 to 50 : 78.3 m (trip time 52.2 ms) speed -0.7 q  DAT read: 13:56:13.3815 LVL= 18816, 16561, 17682, 27539, AGC= 68, IDX= 3, 0.08, 0.072, 2.073, 0.418, 0.791, PHS=-0.632, 1.329,-0.376, RAW= 323.1, -3.5, CAL= 325.9, -4.9, ROT= 184.1, 4.9  Ygot valid direction response: 13:56:13.3815 LVL= 18816, 16561, 17682, 27539, AGC= 68, IDX= 3, 0.08, 0.072, 2.073, 0.418, 0.791, PHS=-0.632, 1.329,-0.376, RAW= 323.1, -3.5, CAL= 325.9, -4.9, ROT= 184.1, 4.9  T#Rx 54: Read range and direction messages. bdirection in FSK: [-0.993795,-0.071236,-0.085417] Fpublishing direction and range info y 5,o""5jE >EY EY EY Ee P0Ea ԑ KmSP"Km9*Ki2Km7:Km1I!`O^d(4X5>n+RWQ_: !  V3|}J K6G9)<echecking for new query: numPingsReceived=54, elapsed TxPingTime=26.476475~GAAN?_*,jhA9N|@:Jf]BJfZJJfBRJdZJf]:bJfS9Jf-4Jdz@z@z@z@N0@YNӘbyN+<٥ HF; >35[ܜ?359; IRBypr?`:n@LEi+;;P356AAEZYb]ChA]B]B]^%@ʁ]QqQS 'Ǯ]5,o""59I=8{ 99=;WE ;HE >HA HE IHE {BHE  =HA HA HE <HE dEE1 E1 E1 E5 O0E1 q ԡchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.9833606Gu8P<II@A~GQAANM?,˼hA8>{BIII2=  =yQ >٥ HF >35uܜ?359 I`By@TEim:e:35 QB5A>EZIbM@hAMBMBM%@ʁM6̀SmiE/ێM/wN89]1M^DM`=ҁMp삉P֤xqD@$M~꿲?_ _zMK$BMLjMV@ǜ?rM?sj MQBMV@ǜ?Mm  IMBM%@  addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 0.499801 s, deltaX: 0.799995 m, approachRate: 1.600628 m/s, rangeRepo size: 4  Added new target pos. range: 78.549042 m, bearing: 148.162541 deg, lat: 36.906384 deg, lon: -122.116070 deg, deltaT: 0.499801 s, deltaX: 0.794044 m, approachRate: 1.588721 m/s, posRepo size: 4 DNOT Ignoring new targets: 78.55 m.bZrjRJIBQ~~}|ԩ||`fS@|@~?EDDAT read: Rx Time:13:56:14.3822 ]TRx dataTimestamp_ set to:1749131775.668849mPDAT read: Bearing 181.7, 5.1 (Local) m~Local bearing/azimuth received: Bearing 181.7, 5.1 (Local) }DAT read: Range 10 to 50 : 79.4 m (trip time 52.9 ms) speed -0.5 DAT read: 13:56:14.3822 LVL= 26608, 20145, 21074, 32755, AGC= 70, IDX= 506,-0.10,-1.234, 0.664,-0.991,-0.584, PHS=-0.562, 1.295,-0.410, RAW= 325.8, -3.7, CAL= 328.3, -5.1, ROT= 181.7, 5.1 Ygot valid direction response: 13:56:14.3822 LVL= 26608, 20145, 21074, 32755, AGC= 70, IDX= 506,-0.10,-1.234, 0.664,-0.991,-0.584, PHS=-0.562, 1.295,-0.410, RAW= 325.8, -3.7, CAL= 328.3, -5.1, ROT= 181.7, 5.1 T#Rx 56: Read range and direction messages. 1zBPI) >bdirection in FSK: [-0.995603,-0.029549,-0.088894]Fpublishing direction and range infoIyMG!BM̞BYI Mg)MNIMRRiIIM;M¥?MѾ M@)M AIMx[@iMKMJ@MK= I)IMQminSۿOw=2ViME,MRȂ=M)GMK= I)IIK 115=<=:=x<=g٥ HFi?< >35Pݜ?359 IrByt?^:@]Ei::355A;EZblhABB="@ʁ SS@}B G!B)GK=ҁ#d&P`eE@LH&:Ri8꿰?6J¿z.B6jǜ?r, MB򷡧-ǜ?l  NBYBZm%@ԁ addTargetRange:: Added new target pos. range: 79.400002 m, deltaT: 0.508659 s, deltaX: 0.300003 m, approachRate: 0.589792 m/s, rangeRepo size: 4  Added new target pos. range: 78.846954 m, bearing: 145.912032 deg, lat: 36.906386 deg, lon: -122.116069 deg, deltaT: 0.508659 s, deltaX: 0.297913 m, approachRate: 0.585682 m/s, posRepo size: 4 DNOT Ignoring new targets: 78.85 m.bZrjRJB~~ezB}||| S@|`@? e/zBep,;Ia)m>iIm iimm@)܍'gI܍@i܍ Ľ܍K@܍ = ݉)݉iqi9ݍ%g쿞?%ۿ*|iݍ,ݍ=ݍFݍ = މ)މmchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.766691ԩE?EEE05EGGAAH>HHIH{BH =HHHȚ<HE6G xx<~G A A N >= checking for new query: numPingsReceived=57, elapsed TxPingTime=27.990116 X ,"hAI4=Ia=9u.@*8@Y\y#=HL?I?@m?U}?h?@? u.@骭标;)CU{BUIImIm3uґ= }$=y};Q >٥ HFs: >35&ݜ?359˳ IBy@dEi;;35RB4A:EZb hABB#@ʁct+SQHttyFqOdaVXF =ҁ]Pu˱E@;q'.p{^nf9z?;oEÿz-Bjǜ?rV< KB/KUBǜ??sj  MBB;A%@= addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 0.499123 s, deltaX: 0.599998 m, approachRate: 1.202105 m/s, rangeRepo size: 4 M Added new target pos. range: 79.442307 m, bearing: 146.463537 deg, lat: 36.906388 deg, lon: -122.116069 deg, deltaT: 0.499123 s, deltaX: 0.595352 m, approachRate: 1.192796 m/s, posRepo size: 4 MDNOT Ignoring new targets: 79.44 m.bIZIrQjQRQJQBQ~Y~Y}Y|a|i|uT@|}V?!DDAT read: Rx Time:13:56:15.3829 TRx dataTimestamp_ set to:1749131776.676377PDAT read: Bearing 181.1, 6.4 (Local) ~Local bearing/azimuth received: Bearing 181.1, 6.4 (Local) DAT read: Range 10 to 50 : 80.4 m (trip time 53.6 ms) speed -0.8 ,zB=;I)m>Iӭ |<DAT read: 13:56:15.3829 LVL= 32752, 21873, 31122, 32755, AGC= 67, IDX= 497,-0.21, 3.041,-1.409,-3.022,-2.645, PHS=-0.510, 1.283,-0.380, RAW= 326.3, -4.6, CAL= 328.9, -6.4, ROT= 181.1, 6.4 %Ygot valid direction response: 13:56:15.3829 LVL= 32752, 21873, 31122, 32755, AGC= 67, IDX= 497,-0.21, 3.041,-1.409,-3.022,-2.645, PHS=-0.510, 1.283,-0.380, RAW= 326.3, -4.6, CAL= 328.9, -6.4, ROT= 181.1, 6.4 %T#Rx 58: Read range and direction messages.-:-!<-~Mk ,pz٥ HF > 35aHݜ? 359 5tIIBy5t?5^:585@lEi;;O359EO4AE7EZQbUI+hAUBUBU>S"@ʁUXCS?ٻ^c !UMrᅪrK) -V:UMGU=ҁUFbu-0PfF@f*U#t? {tW)ſzU53BUjU'ǜ?rUG UFBUǜ?UV<  QUBU#@ addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 0.508405 s, deltaX: 0.400002 m, approachRate: 0.786777 m/s, rangeRepo size: 4  Added new target pos. range: 79.839516 m, bearing: 145.321051 deg, lat: 36.906397 deg, lon: -122.116049 deg, deltaT: 0.508405 s, deltaX: 0.397209 m, approachRate: 0.781285 m/s, posRepo size: 4 DNOT Ignoring new targets: 79.84 m.bZrj)R)J)B)~1~5TzB}1|1|1|=T@|=5? *zB靥q;I)>I8;~ 5y<:<'n jiڿ:SDiA-M\= FϢ= )%checking for new query: numPingsReceived=59, elapsed TxPingTime=28.780439EyEyEyE}3EyH >H H IH |BH  =H H H <H `EQ 6G ~G A A N >5 ,YhA9R.@R&@YRJyR7=RH@?1?H@?d? Z?͜?? R.@R,;)RCchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.996540{BIIIm?37= o=yGq35u`ݜ?359u IuBy@uqEiuzw?[=Vqſz--Bjǜ?rmRjK DB KBBy#@ addTargetRange:: Added new target pos. range: 80.900002 m, deltaT: 0.499639 s, deltaX: 0.500000 m, approachRate: 1.000723 m/s, rangeRepo size: 4  Added new target pos. range: 80.335594 m, bearing: 146.842901 deg, lat: 36.906397 deg, lon: -122.116049 deg, deltaT: 0.499639 s, deltaX: 0.496078 m, approachRate: 0.992874 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.34 m.bZrjRJB~~}|||9T@|/L? M)zBMӤ@I5 y nu<:<Fᅨiw@\~>ĿfBY 0})aIgiE^?㥛 "˵@)Ix@i"ɼJ@"> )ӷ."gwXۿpë}iw,s=bG"> ) checking for new query: numPingsReceived=60, elapsed TxPingTime=29.3147096G ~G A A N >Љ ,thAKK P"KH9*K2K::K.}X1A1\k!9? %F8? -&5vSH5-/  7_{zj[J ?J?9-w@-,@Y-Z7y-<-Hx??z@l?x?M? ?;? -w@-;)-C{BI]checking for new query: numPingsReceived=60, elapsed TxPingTime=29.501043]Mb@Mb@Mb@YYY Y)YY]|?5^?{Gz?{Gzt?y]r?]ף<]ף;]I@:JBJSJJDRJZJbJy69J4J ]~@)]h@IYYyYqGI9I9 - Y)y- BX  =yY٥ HF5 >1]355؆ݜ?]3595f I5By]s?e_:eWe@5zEi56;5;535im3Am1EZYb]skhA]DB]DB]P"@ʁ]^SG!(``s)]M>ᅨiw@\~>Ŀ]bG]">ҁ]z5-;P0wF@JɊY0] ~H?^@ɿz]3B]فj]c'Ȝ?r]( ]O:B]ǜ?],  ]FB]B]"@% addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 0.508887 s, deltaX: 0.299995 m, approachRate: 0.589513 m/s, rangeRepo size: 4 U Added new target pos. range: 80.633492 m, bearing: 145.311984 deg, lat: 36.906401 deg, lon: -122.116042 deg, deltaT: 0.508887 s, deltaX: 0.297897 m, approachRate: 0.585390 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 80.63 m.bYZYrYjYRYJaBa~a~ewzB}i|i|i|mLT@|uj? 'zB I )r    r<- :- <- RWH CH IH ?|BH  =H H 0DH &<H jEHHHHI I66G <ԉ~GAAN?m@% ,hA9bԭ@bݴ@Yb/ybO٥qq uHuF}f }?35ۜݜ?3596 IBy/@Ei*;;35m3A.E5 addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 0.503260 s, deltaX: 0.600006 m, approachRate: 1.192239 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 80.63 m.b1Z1r1j1R9J9B9~9~9}A|A|a|m@3sT@|mN? &zB靽0mImchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.008614 }o<:%K<%o+E &t;E?EEE0E  DDAT read: Rx Time:13:56:17.3841  TRx dataTimestamp_ set to:1749131778.696650 PDAT read: Bearing 183.0, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 183.0, 1.5 (Local)  DAT read: Range 10 to 50 : 82.2 m (trip time 54.8 ms) speed -0.4 Y  DAT read: 13:56:17.3841 LVL= 21664, 21729, 18722, 29651, AGC= 69, IDX= 509,-0.06, 3.026,-1.187,-2.964,-2.454, PHS=-0.715, 1.314,-0.512, RAW= 324.8, -0.9, CAL= 327.0, -1.5, ROT= 183.0, 1.5  Ygot valid direction response: 13:56:17.3841 LVL= 21664, 21729, 18722, 29651, AGC= 69, IDX= 509,-0.06, 3.026,-1.187,-2.964,-2.454, PHS=-0.715, 1.314,-0.512, RAW= 324.8, -0.9, CAL= 327.0, -1.5, ROT= 183.0, 1.5  T#Rx 62: Read range and direction messages. bdirection in FSK: [-0.998287,-0.052318,-0.026177] Fpublishing direction and range info 6G iGRJ, ,hA9~S@~ȴ@Y~(y~sk <~H`?`?+@ ???)?? ~S@~;)~C-{B-I)1 1 15=aK$rP"K9*K2K;:KE{1I PD8QL k4o`Im^ cMb@Mb@Mb@ )Y rh?{Gz?Mbp?yCk?;@ Q@)I3@yp@I IV2< =y5z?;Q 5>٥99 =H=FE E>IU35MŽݜ?U359Mo IMByuRk?uf:u}@MEiM:;M;M35TBL3A,EZ1b5ꕬhA5@B5@B5#@ʁ5 F8"_Ty 5kDᅨ&~nɪP!Κ5E5Pw<ҁ5zVQ)]F@u"5Wߴ3~?ᓇXz52BDDAT read: Rx Time:13:56:17.8845 ԑTRx dataTimestamp_ set to:1749131778.953792checking for new query: numPingsReceived=62, elapsed TxPingTime=30.5281305j5W(Wǜ?r59 5eB5ǜ?59  15B5~#@ addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 0.508487 s, deltaX: 0.399994 m, approachRate: 0.786635 m/s, rangeRepo size: 4  Added new target pos. range: 81.626259 m, bearing: 146.680954 deg, lat: 36.906397 deg, lon: -122.116048 deg, deltaT: 1.011747 s, deltaX: 0.992767 m, approachRate: 0.981241 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.63 m.bZrjRJ!B!~!~MQzB}I|I|I|ǓT@|U7? %zBs0Ie AAESk<]:5< EE ጹ= DAT read: Range 10 to 50 : 82.8 m (trip time 55.2 ms) speed -0.8 -E Z#Rx 63: Read range message, but no direction.) - BY) U checking for new query: numPingsReceived=63, elapsed TxPingTime=30.777821E ?E E E P0E H >HCH9IHh|BHHH1DHÚ<HE6G(<ZGRGA~GAAN?G 6 ,YـhAI$)$9b-­@b˴@Ybyba;bH?`,?(נ` ?\Y?࢘?G7l?? b-­@bŅ;)`n{BnIIv Iv̍2Mb< M=yM;Q U>٥QQ UHU F]Pi: ]>am35e>ݜ?m359e IeɞByimu@eEieA;e ;e35}UB}03A})EDDAT read: Rx Time:13:56:18.3848 TRx dataTimestamp_ set to:1749131779.458558checking for new query: numPingsReceived=63, elapsed TxPingTime=31.0300525 addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 0.507436 s, deltaX: 0.600006 m, approachRate: 1.182427 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 81.63 m.bIZIrQjQRQJYBY:JbBJXJJRJZJ:bJ5K9JJzJG ; jJJ ; Jf:rJf:!~~}|||@3T@|? M$zBUQI`^ "h<:s<0̭= ,_hAKWP"Ký9*K2K<:Khyw5r_/Pf * tHB`\7gC1L+t9Nʭ@NԴ@YN7yN5>٥aa eHm Fug ; u>y}35}ݜ?359} I}ўByi?i:@}Ei}&;}n;}353A&E checking for new query: numPingsReceived=64, elapsed TxPingTime=31.531301Zb_hApBpBf%@ʁTP{۵##&F 0_2q?BD<ҁڠʅQYNE@**`B9Q/?xK_Zz.B.j%ʶƜ?r6c hBǜ? B#@ addTargetRange:: Added new target pos. range: 83.300003 m, deltaT: 0.504878 s, deltaX: 0.500000 m, approachRate: 0.990338 m/s, rangeRepo size: 4  Added new target pos. range: 82.720032 m, bearing: 148.072441 deg, lat: 36.906396 deg, lon: -122.116048 deg, deltaT: 1.012314 s, deltaX: 1.093773 m, approachRate: 1.080468 m/s, posRepo size: 4 DNOT Ignoring new targets: 82.72 m.bZrjRJB~~LzB}|||@3T@|]? #zB靅zfIV yd<:<?$H H FIH ||BH  =H H H <H E~G A A) N5 >ʆD ,PhA(9ۭ@{@YHyh9<H? ?RE?w?ޠ?D?@c? ۭ@骅U;)%{B%II5I53m m<=yus;Q u>٥qy }H} F}; }>353ޜ?359 I֞By$@Ei::35!%&3A%#EZb? hABB #@ʁ,[yT,d,PaRhP78q"  FQ =ҁ4UFQZF@(;@!yK԰ib1ͩ?\ .Wz6B4j3\ǜ?ra4 JXB3\ǜ? JXByB#@ addTargetRange:: Added new target pos. range: 83.900002 m, deltaT: 0.502904 s, deltaX: 0.599998 m, approachRate: 1.193068 m/s, rangeRepo size: 4  Added new target pos. range: 83.315529 m, bearing: 146.530339 deg, lat: 36.906391 deg, lon: -122.116048 deg, deltaT: 0.502904 s, deltaX: 0.595497 m, approachRate: 1.184117 m/s, posRepo size: 4 DNOT Ignoring new targets: 83.32 m.bZrjRJB~~}|||%T@|%? imIFQ Gb<:<ݤ@ΩJ ,,hADDbDAT read: Range 10 to 50 : 84.2 m (trip time 56.1 ms) speed -0.3 leDAT read: 13:56:19.3854 LVL= 28176, 19633, 24242, 29299, AGC= 69, IDX= 506,-0.45,-1.976, 0.193,-1.647,-1.211, PHS=-0.677, 1.451,-0.439, RAW= 324.1, -3.4, CAL= 326.8, -4.7, ROT= 183.2, 4.7 Ygot valid direction response: 13:56:19.3854 LVL= 28176, 19633, 24242, 29299, AGC= 69, IDX= 506,-0.45,-1.976, 0.193,-1.647,-1.211, PHS=-0.677, 1.451,-0.439, RAW= 324.1, -3.4, CAL= 326.8, -4.7, ROT= 183.2, 4.7 T#Rx 66: Read range and direction messages.bdirection in FSK: [-0.995083,-0.055634,-0.081939]Fpublishing direction and range infoDyFҖV*n |FfBYD Fn)FLIF^iFsrFEFO-F^?F F@)FsIF@iFFL@F= D)DF}M-&yg!ڿe`iFF.Fo=F|EF= D)D]checking for new query: numPingsReceived=66, elapsed TxPingTime=32.3446359E!@E@YEyE٥ H FT; >35:ޜ?359O IܞByg?j:@Eir;;C35VB 3A EZDbF-hAF:BF:BFF$@ʁFrw/ T֎!agFҖV*n |F|EF=ҁF¬nQM| F@M@"FV9AeH?A8꼿zF4BFujF1Fǜ?rF=!bI F"VBFW(Wǜ?D DFvBF#@m addTargetRange:: Added new target pos. range: 84.199997 m, deltaT: 0.504622 s, deltaX: 0.299995 m, approachRate: 0.594495 m/s, rangeRepo size: 4 KP"K9*K2K=:Ktjr 3_H^D;mtEGUY\[""[^ Added new target pos. range: 83.613434 m, bearing: 147.068401 deg, lat: 36.906390 deg, lon: -122.116048 deg, deltaT: 0.504622 s, deltaX: 0.297905 m, approachRate: 0.590353 m/s, posRepo size: 4 DNOT Ignoring new targets: 83.61 m.bZrjRJB~~'zB}||| U@|? -"zB1u qIuZJ yy}@_<}:ӈ<W3TDAT read: 13:56:19.8857 LVL= 25072, 20369, 21634, 22163, AGC= 68, IDX= 509,-0.34,-2.052, 0.124,-1.764,-1.339, PHS=-0.626, 1.510,-0.428, RAW= 325.2, -4.5, CAL= 327.9, -6.3, ROT= 182.1, 6.3 BYgot valid direction response: 13:56:19.8857 LVL= 25072, 20369, 21634, 22163, AGC= 68, IDX= 509,-0.34,-2.052, 0.124,-1.764,-1.339, PHS=-0.626, 1.510,-0.428, RAW= 325.2, -4.5, CAL= 327.9, -6.3, ROT= 182.1, 6.3 BZ#Rx 68: Read direction message, but no range.Jbdirection in FSK: [-0.993293,-0.036422,-0.109734](y*?4;,=Y( *a)*OI*Ti*V*D*A *G?*"۾ *>@)*|٠I*H"@i*z0Ὁ*\hK@*z0= (*W쿘kV'ۿN i*),*/=*YF*z0=Vchecking for new query: numPingsReceived=68, elapsed TxPingTime=32.799568!9@:@Y#ؼy <H?9?" A?zU?@ݛ?@? @骍%;)C{B IaaImIm?13H >HHLIH|BH =HHH<HEb ==y7;Q >٥ H F}; > 35Tޜ? 359 IBy   @Ei:::35=WB=s3A=EZIbM/>hAMBMBM}#@ʁM]T^z.p"M?4;,=MYFMz0=ҁM #^@@Qn)bBG@z'MДOH꿇ϩN?DzM:BMjM%ǜ?rMۉ+ MMBII IM;BM#@= addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 0.255129 s, deltaX: 0.400002 m, approachRate: 1.567840 m/s, rangeRepo size: 4 M Added new target pos. range: 84.010742 m, bearing: 146.014324 deg, lat: 36.906390 deg, lon: -122.116048 deg, deltaT: 0.255129 s, deltaX: 0.397308 m, approachRate: 1.557284 m/s, posRepo size: 4 MDNOT Ignoring new targets: 84.01 m.bIZIrIQjIRqJqBq~y~y}y|y|y|`f&U@|@?  I$D \<:L<GiPY ,wghA9J@J@YJ>nyJ\٥ii mHmFm; u>y35}jޜ?359} I}Byv@}Ei}:}:}3583Aԙ- addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 0.507011 s, deltaX: 0.300003 m, approachRate: 0.591709 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 84.01 m.bQZQrYjYRYJYBY~a~a}a|a|i|m9U@|m?-DAT read: 13:56:20.3859 LVL= 32752, 23921, 31042, 32755, AGC= 67, IDX= 495,-0.25, 2.683,-1.441, 3.022,-2.895, PHS=-0.617, 1.501,-0.370, RAW= 323.9, -5.2, CAL= 326.8, -7.2, ROT= 183.2, 7.2  I>Ygot valid direction response: 13:56:20.3859 LVL= 32752, 23921, 31042, 32755, AGC= 67, IDX= 495,-0.25, 2.683,-1.441, 3.022,-2.895, PHS=-0.617, 1.501,-0.370, RAW= 323.9, -5.2, CAL= 326.8, -7.2, ROT= 183.2, 7.2 Z#Rx 70: Read direction message, but no range.bdirection in FSK: [-0.990568,-0.055381,-0.125333]yy}4'ӡ*ZcK Yy })}q]I}Byi}}C}} ?}p }_@)}޹I}@i}}L@}> !%Z<-:5<=r< y}@P;C$)ٿ3i}c.},=}|E}>i9ichecking for new query: numPingsReceived=70, elapsed TxPingTime=33.355244E?EEEEK P"K =9*K 2K >:K e^>6FM# E\uRH%zcQ"pXj= DDAT read: Rx Time:13:56:20.8863 E TRx dataTimestamp_ set to:1749131781.978521U PDAT read: Bearing 183.1, 5.2 (Local) ] ~Local bearing/azimuth received: Bearing 183.1, 5.2 (Local) m checking for new query: numPingsReceived=70, elapsed TxPingTime=33.5530596Gu l o<ԡ ~G A A N >}` ,_ hAIL)N@9mX@m @Ymnym‘٥  HF: >-45nޜ?-459L IBy5f?=k:=c=@EiqI8 X<:<ּyH H H H  =H H H <H EA6G moxf ,˛hA9F @F9@YFk|yF&@9Je4JazJe:jJe:Je}Q:rJeQ:ԁMw) X=y ٥ H; >45Ƞޜ?459 IBy)@Ei@;@;45XB3A EZ1b5hA5ΩB5ΩB5]r$@ʁ5AcUY8h_J7':51X￘+0L35dE5޹=ҁ5'_QU&F@}("5/i>N9?Zm_z56B5j5Cǜ?r5aQ 5~WB51Fǜ?5=!bI  5~WB5B5!>$@= addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 0.748585 s, deltaX: 0.599998 m, approachRate: 0.801510 m/s, rangeRepo size: 4  Added new target pos. range: 84.904099 m, bearing: 147.220375 deg, lat: 36.906388 deg, lon: -122.116055 deg, deltaT: 1.255596 s, deltaX: 0.893356 m, approachRate: 0.711500 m/s, posRepo size: 4 DNOT Ignoring new targets: 84.90 m.bZrjRJB~~}|||`U@| ٕ? am iIm·2 iquޯV  )   e+V\ڿfS軿i No- u= (~F `>  )  checking for new query: numPingsReceived=72, elapsed TxPingTime=34.3805246G y< ~GY Aa Ay N >l ,hA9z@z[@YzPyz٥)) -H5F5*; =>Q45Uޜ?459UM IUByi?i:F@UEiUp{)%.bg]ᅦڰQS&r#ÿ%(~F%`>ҁ%̬\Q_u?G@L1d+%CEMDYKyv?ՁĿz%9B%j%l5ǜ?r%_YMB %`DB%3\ǜ?%_YMB  %"VB%©B%#@MT#Rx 73: Read range and direction messages.Ubdirection in FSK: [-0.990844,-0.050194,-0.125333]]Fpublishing direction and range infoayeo(s{cK e̬BYa epK)eDIeBiekeFeHe?ev eD@)e޹Ie毶@ieeML@e> a)a addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 0.505220 s, deltaX: 0.300003 m, approachRate: 0.593807 m/s, rangeRepo size: 4  Added new target pos. range: 85.202011 m, bearing: 146.420804 deg, lat: 36.906391 deg, lon: -122.116052 deg, deltaT: 0.505220 s, deltaX: 0.297913 m, approachRate: 0.589669 m/s, posRepo size: 4 DNOT Ignoring new targets: 85.20 m.bZe2 3엩ڿC(2Qie .e˺=eEe> a)achecking for new query: numPingsReceived=73, elapsed TxPingTime=34.640800r j R J B ~~yB}|||U@|? q}b׊yI}%+ yZT<:z<H H ?IH r|BH  =H H H ̚<H EHHHHI I85~GA!A1NE>t ,ӁhA~{B~I9I I 3IU B=yQ >٥ HF >45ޜ?459 IBy   @Ei:%:455YB5w3A5EZb'hABB@$@ʁB@UֲM9P%o(s{cK E>ҁE Q]mG@qWT'>PKx? !zB靭FI;' ES<: U<nɈz ,hAhhMDAT read: 13:56:22.3871 LVL= 32752, 22337, 27346, 32755, AGC= 68, IDX= 507,-0.00,-2.808,-0.642,-2.508,-2.133, PHS=-0.587, 1.538,-0.378, RAW= 324.9, -5.7, CAL= 327.8, -7.9, ROT= 182.2, 7.9 Ygot valid direction response: 13:56:22.3871 LVL= 32752, 22337, 27346, 32755, AGC= 68, IDX= 507,-0.00,-2.808,-0.642,-2.508,-2.133, PHS=-0.587, 1.538,-0.378, RAW= 324.9, -5.7, CAL= 327.8, -7.9, ROT= 182.2, 7.9 Z#Rx 75: Read direction message, but no range.ԙUbdirection in FSK: [-0.989779,-0.038023,-0.137445]lynhEwyjȗYl n)nAWInjinnDnEn/?n7 nYu@)n%˽In@in0 nK@n0 > ln쿚گ5ڿ(cpinE-n8=nFn0 >checking for new query: numPingsReceived=75, elapsed TxPingTime=35.373348{BIMb@Mb@Mb@ )YE? rh?y&1|yf?C<`@ ;@);@IyG@I-&I-3Eļ E=yIQ M>٥IQ UHUFQ U>45ޜ?459 IByf?k:@Ei::453AEZbTs߁hA0B0Bt#@ʁ^MUEh0 S'hEwyjȗF0 >ҁn\A哵Q|h_G@OБV)-Trp?|Iÿz!KU-P"KUػ9*KQ2KU@:KUwY,K:wxY6Yt< D"{UI-G* 7WQ<:<S0 ,_ hA9R@R@YRr8yRM-DAT read: 13:56:22.8875 LVL= 31152, 22353, 24802, 32755, AGC= 70, IDX= 511, 0.04,-0.658, 1.628,-0.346, 0.082, PHS=-0.652, 1.593,-0.430, RAW= 324.9, -4.8, CAL= 327.6, -6.7, ROT= 182.4, 6.7 5Ygot valid direction response: 13:56:22.8875 LVL= 31152, 22353, 24802, 32755, AGC= 70, IDX= 511, 0.04,-0.658, 1.628,-0.346, 0.082, PHS=-0.652, 1.593,-0.430, RAW= 324.9, -4.8, CAL= 327.6, -6.7, ROT= 182.4, 6.7 5Z#Rx 77: Read direction message, but no range.=bdirection in FSK: [-0.992299,-0.041590,-0.116671] y ,կ;Kmu"޽Y  y) QWI `i  F y& m? (ܾ ) I c@i |i %K@ |=  \qڿizei QM- /G= aF |=mchecking for new query: numPingsReceived=77, elapsed TxPingTime=35.824711٥q uHuF}R }>y45}ߜ?459} I}By@}Ei};}:}45Y3AZblhAaBaB«#@ʁ4WU¹ o :$a,կ;Kmu"޽aF|=ҁmӀZQ)G@/R$$3 CӾ?1Fz=Bjylǜ?rZ<: ARBylǜ? ʫBf#@H>HH3IH]|BHHHH<HEE addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 0.504034 s, deltaX: 0.600006 m, approachRate: 1.190408 m/s, rangeRepo size: 4 U Added new target pos. range: 86.691147 m, bearing: 146.525836 deg, lat: 36.906392 deg, lon: -122.116052 deg, deltaT: 0.504034 s, deltaX: 0.595818 m, approachRate: 1.182098 m/s, posRepo size: 4 DNOT Ignoring new targets: 86.69 m.bZrjRJB~~}|||@3U@|` d? zBpI   P< :<қ~ ]P ,'hA9:@: @Y:_y:=N<:H?? t L? 5z+6??? :@:;;):C^{B^IInIn(*3vS  vM=yv;Q v>٥xx zHzF~ ~> %45 (&ߜ?%459 !" I By)5A5@ Ei  ; D= $45!%3A%E addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 0.499975 s, deltaX: 0.199997 m, approachRate: 0.400014 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 86.69 m.bZrjRJB~~}|||U@|? MzBm}qIua qqu O<}:}<"uK= MP"K= ͼ9*K9 2K= A:K= "6K'r&3WfmI(>%f(3 VQSv checking for new query: numPingsReceived=78, elapsed TxPingTime=36.569992; ,Y@hA:JN^BJNYJJLRJLZJN} :bJN[O9JLJLf@f@j@j@9`@@Y;y;H ?p?D`g?Gtclq?? `@׿;){BIMb@Mb@Mb@ )YDl?~jt?MbyOm?<@ Q@)Q@IQ@yII3< /=yf;Q >٥ HF >Iiu45m-Eߜ?u459m( ImByu^m?ue:uu@mEim:m:m\45ZB3A EDNOT Ignoring new targets: 86.69 m.bZrjRJB~~%yB})|)|1|1|=}? zB%I? @N<:%<%njE5>qE?EEE@5E99UDDAT read: Rx Time:13:56:23.9330 ]TRx dataTimestamp_ set to:1749131785.255209ePDAT read: Bearing 182.5, 7.5 (Local) e~Local bearing/azimuth received: Bearing 182.5, 7.5 (Local) }DAT read: Range 10 to 50 : 155.6 m (trip time 103.7 ms) speed 0.0 DAT read: 13:56:23.9330 LVL= 27472, 20577, 21890, 31315, AGC= 67, IDX= 4, 0.25,-1.625, 0.535,-1.316,-0.940, PHS=-0.597, 1.522,-0.379, RAW= 324.6, -5.5, CAL= 327.5, -7.5, ROT= 182.5, 7.5 Ygot valid direction response: 13:56:23.9330 LVL= 27472, 20577, 21890, 31315, AGC= 67, IDX= 4, 0.25,-1.625, 0.535,-1.316,-0.940, PHS=-0.597, 1.522,-0.379, RAW= 324.6, -5.5, CAL= 327.5, -7.5, ROT= 182.5, 7.5 T#Rx 79: Read range and direction messages.bdirection in FSK: [-0.990501,-0.043246,-0.130526] Fpublishing direction and range infoQyUo7/￧M`$ /UCYQ UPk)UaPIUUiUSzUCUU?UJ ¾ UuJ@)U ĽIU@iU UK@U > Q)QU=я4ڿ9q ^iU-U;=UDFU > Q)Q%checking for new query: numPingsReceived=79, elapsed TxPingTime=36.850708H>HH-IHS|BH =HHH<H6Eԡ 6G y<~G A A N >d ,FZhA<9N@N @YN;yNXR;NH`?@?/!a? |?;pvt@Yj?? N@N!#;)NCZ{BZIi^ҁwr`sU@/dp3躌r"*/u?DCqzBj5?r = .BD<  GBꁍ6B¶#@ ܵ"˵@ addTargetRange:: Added new target pos. range: 88.500000 m, deltaT: 1.011801 s, deltaX: 1.000000 m, approachRate: 0.988337 m/s, rangeRepo size: 4 -addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 154.514816 m, bearing: nan deg, deltaT: 1.259761 s, deltaX: 67.823669 m, approachRate: 53.838520 m/s, posRepo size: 4)ܵIܵx[@iܱܵJ@ܱ ݱ)ݱݵ̶8H=hۿ3-J2iݵQ,ݵ=ݵ)Gݱ ޱ)ޱchecking for new query: numPingsReceived=80, elapsed TxPingTime=37.141731DNOT Ignoring new targets: 86.69 m.bZrjRJB~~}||| V@|` ? MzBMQIU QQU{M<:K<u>] , xhA9RJ@R @YR;yRbQ;RH`(??o? @.?{|,,j? ? RJ@R;)RC^{B^IMb@Mb@Mb@ )Yq= ףp?/$?yk?<@ ;@)I$@yQ@qI=I=M3E< -=y=;Q =>٥qq uH}F&TFailed to parse incomplete device message. :DDAT read: Rx Time:13:56:24.8887 %TRx dataTimestamp_ set to:1749131786.010665-PDAT read: Bearing 181.8, 8.6 (Local) -~Local bearing/azimuth received: Bearing 181.8, 8.6 (Local) EDAT read: Range 10 to 50 : 89.1 m (trip time 59.4 ms) speed -0.8 eDAT read: 13:56:24.8887 LVL= 23696, 23249, 18722, 32483, AGC= 69, IDX= 491,-0.26,-2.738,-0.577,-2.454,-2.090, PHS=-0.560, 1.560,-0.367, RAW= 325.3, -6.3, CAL= 328.2, -8.6, ROT= 181.8, 8.6 mYgot valid direction response: 13:56:24.8887 LVL= 23696, 23249, 18722, 32483, AGC= 69, IDX= 491,-0.26,-2.738,-0.577,-2.454,-2.090, PHS=-0.560, 1.560,-0.367, RAW= 325.3, -6.3, CAL= 328.2, -8.6, ROT= 181.8, 8.6 uT#Rx 81: Read range and direction messages.}bdirection in FSK: [-0.988268,-0.031058,-0.149535]}Fpublishing direction and range info!y%:͟S&r#ÿ%3BY! %\)%ZI%"Ii%~%E%)\%?%m绾 %@)%z0I%-M@i%`%K@%`> !)!%xފL *ۿqL3 i%{,%%=%" G%`> !)!checking for new query: numPingsReceived=81, elapsed TxPingTime=37.594856 >45~ߜ?459C5 IByk?f:7@Ei:_::%45[B>3AE:J]BJUJJ@RJZJ]:bJ>9JJ4JZ!b%hA%B%B%j#@ʁ%~_2U J;pv*%:͟S&r#ÿ%" G%`>ҁ%:'7#R8Y縄H@[=>)%[;1=¶T2?5`|B¿z%%DB%j%TDǜ?r%P) %jIB!%Z<:  %jIB%aB%#@M addTargetRange:: Added new target pos. range: 89.099998 m, deltaT: 0.503441 s, deltaX: 0.599998 m, approachRate: 1.191795 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 88.478600 m, bearing: 145.947623 deg, lat: 36.906392 deg, lon: -122.116048 deg, deltaT: 2.015217 s, deltaX: 1.787453 m, approachRate: 0.886978 m/s, posRepo size: 4 DNOT Ignoring new targets: 88.48 m.bZrjRJB~~yB}|||`fFV@| se? ezBew"aIm4 iim>L<: <wx ,玔hA9J @JY@YJj ٥ HF!; >ԉ45Rߜ?459: IBy@Eiu::M(45$3AEUDNOT Ignoring new targets: 88.48 m.bQZQrQjQRQJQBY~~}||||s? }zB}-I- )iK<:;< )DQ-lUۿ !)伿i,)=SFG> )checking for new query: numPingsReceived=82, elapsed TxPingTime=38.1185956G y<ZG RG ~G A A N > t ,:>hA9>4@>#@Y>? Ȱ<>H?=?@c? a?@z3u?@=? >4@>;)>C^{BbI f=f=Ij Ij2< L=yH;Q  >٥    H F; >Mchecking for new query: numPingsReceived=82, elapsed TxPingTime=38.333359Yu45](ߜ?u459]e? I]By@]Ei];];]+452AZ!b%۠hA%B%B%v"@ʁ%7`Uto+I!x+%Ρ346xa?jÿ%SFG%>ҁ%vWd+RI*2jH@)%2񹱲?¿z%CEB%]j%oSǜ?r%t9, %`HB%TDǜ?%t9,  %`HB%cB%#@ addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 0.502744 s, deltaX: 0.300003 m, approachRate: 0.596731 m/s, rangeRepo size: 4 % Added new target pos. range: 88.776390 m, bearing: 145.842868 deg, lat: 36.906397 deg, lon: -122.116042 deg, deltaT: 0.502744 s, deltaX: 0.297791 m, approachRate: 0.592330 m/s, posRepo size: 4 mDNOT Ignoring new targets: 88.78 m.biZrjRJB~~}|||YV@|`? zBI' J$= f3/@G|H6Q= (<1oK2*:DDAT read: Rx Time:13:56:25.8893 TRx dataTimestamp_ set to:1749131787.016459 PDAT read: Bearing 179.3, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 179.3, 2.8 (Local)  DAT read: Range 10 to 50 : 90.0 m (trip time 60.0 ms) speed -0.8 >E- 9 DAT read: 13:56:25.8893 LVL= 23488, 20209, 18706, 30611, AGC= 68, IDX= 513, 0.14,-0.140, 1.293,-0.011, 0.382, PHS=-0.434, 0.957,-0.396, RAW= 328.6, -1.9, CAL= 330.7, -2.8, ROT= 179.3, 2.8  Ygot valid direction response: 13:56:25.8893 LVL= 23488, 20209, 18706, 30611, AGC= 68, IDX= 513, 0.14,-0.140, 1.293,-0.011, 0.382, PHS=-0.434, 0.957,-0.396, RAW= 328.6, -1.9, CAL= 330.7, -2.8, ROT= 179.3, 2.8  T#Rx 83: Read range and direction messages. `direction in FSK: [-0.998732,0.012202,-0.048850] Fpublishing direction and range infoyҭޅ?s!DBY [)NIIiwD?5޾t?ʾ ^@)I@i+HGH@+H= )xG쿰h4޿7 i )=GH@+H= :J _BJ cJJ BRJ ZJ :bJ x9J -4J )- checking for new query: numPingsReceived=83, elapsed TxPingTime=38.624306E E E E p5E ԙ 6GӔ<~GA)AANM?B ,kЂhA*checking for new query: numPingsReceived=83, elapsed TxPingTime=38.8365069F!@F*@YFGR/HH-IHS|BHHHHК<HEMb@Mb@Mb@ )Ykt?Mbp?y p?;h@ $@)~@I;@yII#31: =yW:Q >٥ %H%F%: %>)545-Lߜ?5459-lG I-ݞBy=!p?=b:==@-Ei-:-1:-045\B2AEZ1b5 hA5B5B5s @ʁ5T%/PVnr?zpv5ҭޅ?s!D5GH@5+H=ҁ5MQxJ@ҷu* 5I4{âk?M Ytz5SB5؏j5e%Ȝ?r5D 5fnB15P)  5jIB5B5N#@U addTargetRange:: Added new target pos. range: 90.000000 m, deltaT: 0.503050 s, deltaX: 0.599998 m, approachRate: 1.192721 m/s, rangeRepo size: 4  Added new target pos. range: 89.372528 m, bearing: 143.641940 deg, lat: 36.906397 deg, lon: -122.116041 deg, deltaT: 0.503050 s, deltaX: 0.596138 m, approachRate: 1.185047 m/s, posRepo size: 4 DNOT Ignoring new targets: 89.37 m.bZrjRJB~~yB}|||V@|`6? zB9I=7ۻ 99=WIE<DAT read: 13:56:26.3896 LVL= 31008, 21873, 26562, 32755, AGC= 66, IDX= 500,-0.50, 2.049,-1.980, 2.330, 2.685, PHS=-0.548, 1.665,-0.358, RAW= 325.6, -7.2, CAL= 328.6, -9.881.4, 9.8 !unknown deviceResponse_: 13:56:26.3896 LVL= 31008, 21873, 26562, 32755, AGC= 66, IDX= 500,-0.50, 2.049,-1.980, 2.330, 2.685, PHS=-0.548, 1.665,-0.358, RAW= 325.6, -7.2, CAL= 328.6, -9.881.4, 9.8 -Z#Rx 84: Read range message, but no direction.BYchecking for new query: numPingsReceived=84, elapsed TxPingTime=39.116268E5 ?E1 E1 E5 >1E9 ԩ 6Gu喇<jG}q?bG}?~GQAYAqN?z ,ThAchecking for new query: numPingsReceived=84, elapsed TxPingTime=39.341030q|BIMMb@Mb@Mb@III I)IYMi|?5?Mb`~jtxyMq?MMĻM@ M@)M@IIIyMG@I]I]m?3:= =yQ >٥ HF >45ߜ?459O I؞Byq?`:@ Eij;@;545]B2AE5 addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 0.504840 s, deltaX: 0.500000 m, approachRate: 0.990413 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 89.37 m.b1Z1r1j9R9J9B9~A~E zB}A|A|I|MV@|M੹? zB靍 )K 7P"K 9*K 2K D:K g<WD>'OQl'OUZK;@j bk6"[! NxbL쿪Y<5ۿiH,;=)G> )- checking for new query: numPingsReceived=85, elapsed TxPingTime=39.6370709 :JE aBJE TJJE GRJA ZJE :bJE :9JE c4JA u Yy y} m BJi Ji E} ?Ey Ey E} o0Ey 6G~٥ii mHuFq u>y45}?459}U I}՞By@}Ei}:}:}R94522AEZbhABB #@ʁ aȣ[V;>*3?²sᅩCe %)k¿)G>ҁ+J5R ꄲI@e!#)(oC'X ?VzHBjǜ?rV, dJBǜ? XB$"@5 addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 0.502604 s, deltaX: 0.599998 m, approachRate: 1.193780 m/s, rangeRepo size: 4 M Added new target pos. range: 90.464928 m, bearing: 145.963199 deg, lat: 36.906398 deg, lon: -122.116041 deg, deltaT: 1.007444 s, deltaX: 1.092400 m, approachRate: 1.084328 m/s, posRepo size: 4 uDNOT Ignoring new targets: 90.46 m.bqZqrqjqRqJqBy~y~y}y|||`fV@|h?Ա zBl- ݩ)ݩݭ^}$ۿo=*;iݭ,ݭ 6>ݭSFGݭ¸2> ީ)ީchecking for new query: numPingsReceived=86, elapsed TxPingTime=40.1261416G <) ~G A A N >1 i ,+hA9>@> @Y>iu<>H? [?[g?ؼ [?`a%S=? ? >@>2;)>CR-|BRIIZIZ(*2rU vO=yv1٥tx zHzFz& z>Ye45],?e459][ I]ўByim m@]Ei]d:] :]<45q92AZbL!hABB"@ʁVWVVF}CM ˇ/}Rf│t)O(ٖNs:ƿSFG¸2>ҁ0tM!{RRE+QI@v{r,8*꿠ZZ?@cĿzJBٓj%c&ǜ?r̪% XBBoSǜ? zBp"@e addTargetRange:: Added new target pos. range: 91.400002 m, deltaT: 0.505290 s, deltaX: 0.300003 m, approachRate: 0.593724 m/s, rangeRepo size: 4  Added new target pos. range: 90.762840 m, bearing: 145.589320 deg, lat: 36.906401 deg, lon: -122.116041 deg, deltaT: 0.505290 s, deltaX: 0.297913 m, approachRate: 0.589587 m/s, posRepo size: 4 DNOT Ignoring new targets: 90.76 m.bZrjRJB~~}|||V@|,?checking for new query: numPingsReceived=86, elapsed TxPingTime=40.348530 U zBUY=IQ)U?QI]( YY]Fa ,KEhA33?h ) AIiJ4J4> ) }V3쿴tۿȀi,Zb>J4> )checking for new query: numPingsReceived=87, elapsed TxPingTime=40.6661649U@U\@YUO٥ HF >45N?459Xc I̞By-r?`:l @Ei>;3;WA45^B1A EZbBhAQBQB"@ʁdWmV-dG !/k}ҁɊRt:}I@OƩ-D 꿔ĸb?RbU`ĿzKBVjcǜ?ryI$ 1BB%c&ǜ?̪%  `HB/B"@checking for new query: numPingsReceived=87, elapsed TxPingTime=40.855175 addTargetRange:: Added new target pos. range: 91.800003 m, deltaT: 0.503828 s, deltaX: 0.400002 m, approachRate: 0.793925 m/s, rangeRepo size: 4 - Added new target pos. range: 91.160057 m, bearing: 145.498948 deg, lat: 36.906404 deg, lon: -122.116039 deg, deltaT: 0.503828 s, deltaX: 0.397217 m, approachRate: 0.788398 m/s, posRepo size: 4 5DNOT Ignoring new targets: 91.16 m.b1Z1r1j1R1J1BY~Y~][zB}a|a|a|e@3V@|m@?y  zBHHFIH||BH =HHHȚ<HEU:Ub9h ,CchA:JB\BJ@JJBARJ@ZJB=:bJ@JB4J@zJB:NjJB:NJBRJ:RrJBUJ:R9V:@V@YVjJq a ,/}hAIDDAT read: Rx Time:13:56:28.8912 TRx dataTimestamp_ set to:1749131790.039982PDAT read: Bearing 181.9, 9.7 (Local) ~Local bearing/azimuth received: Bearing 181.9, 9.7 (Local) DAT read: Range 10 to 50 : 92.9 m (trip time 61.9 ms) speed -0.6 -DAT read: 13:56:28.8912 LVL= 22416, 18801, 19602, 32035, AGC= 70, IDX= 500, 0.07, 2.667,-1.417, 2.967,-2.980, PHS=-0.548, 1.610,-0.339, RAW= 325.0, -7.1, CAL= 328.1, -9.7, ROT= 181.9, 9.7 5Ygot valid direction response: 13:56:28.8912 LVL= 22416, 18801, 19602, 32035, AGC= 70, IDX= 500, 0.07, 2.667,-1.417, 2.967,-2.980, PHS=-0.548, 1.610,-0.339, RAW= 325.0, -7.1, CAL= 328.1, -9.7, ROT= 181.9, 9.7 5T#Rx 89: Read range and direction messages.=bdirection in FSK: [-0.985162,-0.032681,-0.168489]KEPP"KE 9*KA2KEF:KE$} aA.~T,S'WC{_o*~jY d .GFpublishing direction and range infoڑyڕ qqYRVſڕ̹BYڑ ەW)ەqIIەLiە#}ەFەI ە{?ۑ ܕ@)ܕIܕ>@iܕ-\-ܕ+/K@ܕ-\-> ݑ)ݑݕ-b8Eohڿ/<2iݕ--ݕ=ݕFݕ-\-> ޑ)ޑchecking for new query: numPingsReceived=89, elapsed TxPingTime=41.650932qX|B0IMb@Mb@Mb@ )YV-?Q?{Gztyhq?ԡu<ף@ Q@)I$@y@II3.= ٥   H F% % >) 5 45- ?5 459- q I- By5 qq?= a:= = @- .Ei- ;- ;- -J45E _BE 1AE EZbhABB#"@ʁYʆVЈfE/ qqYRVſF-\->ҁ Rf>RӯI@-C/+`#HY H] RIH] |BH]  =HY HY H] <H] `E u zBu =DAT read: 13:56:29.3915 LVL= 25232, 23009, 22674, 31875, AGC= 70, IDX= 502, 0.44, 1.119,-2.972, 1.419, 1.736, PHS=-0.529, 1.622,-0.320, RAW= 324.9, -7.6, CAL= 328.1, -10.3, ROT= 181.9, 10.3 BYgot valid direction response: 13:56:29.3915 LVL= 25232, 23009, 22674, 31875, AGC= 70, IDX= 502, 0.44, 1.119,-2.972, 1.419, 1.736, PHS=-0.529, 1.622,-0.320, RAW= 324.9, -7.6, CAL= 328.1, -10.3, ROT= 181.9, 10.3 BT#Rx 90: Read range and direction messages.Fbdirection in FSK: [-0.983344,-0.032621,-0.178802]vFpublishing direction and range infoکyڭgQw↓"ƿڭBYک ۭb)ۭYIۭXiۭ|۩ۭlۭ?ۭ ף ܭYu@)ܭIܩiܭX8ܩܭX8> ݩ)ݩݭVXBڿ_hBiݭ2-ݭk>ݩݭX8> ީ)ީ checking for new query: numPingsReceived=90, elapsed TxPingTime=42.182785iA) I )rAףCiIIi )  bA ! TF bAI)_Fi)I !i!!ٯ!AII#3yq @=yQ >٥ H F > 45? 459w IBy  @4Ei:\:M451AEZbPQhALBLB+"@ʁPYV1 -39ܐ0gQw↓"ƿX8>ҁ#R2eI@ -h+4\D?R\%ĿzNBjL ǜ?rϡ* @BL ǜ?4j(  XBBꁭB"@ addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 0.511856 s, deltaX: 0.400002 m, approachRate: 0.781473 m/s, rangeRepo size: 4 U Added new target pos. range: 92.649101 m, bearing: 145.708963 deg, lat: 36.906403 deg, lon: -122.116041 deg, deltaT: 0.511856 s, deltaX: 0.396996 m, approachRate: 0.775600 m/s, posRepo size: 4 }DNOT Ignoring new targets: 92.65 m.byZyryjyRyJyB~~}|||@3SW@|` ? !5 =I9)=?9I=˰E 99=[CC ,hADDAT read: Rx Time:13:56:29.8918 %TRx dataTimestamp_ set to:1749131791.0530885PDAT read: Bearing 181.4, 10.1 (Local) 5~Local bearing/azimuth received: Bearing 181.4, 10.1 (Local) EDAT read: Range 10 to 50 : 93.8 m (trip time 62.5 ms) speed -0.9 mDAT read: 13:56:29.8918 LVL= 21024, 21313, 16866, 32755, AGC= 69, IDX= 507,-0.10, 0.789, 2.886, 1.059, 1.381, PHS=-0.505, 1.552,-0.325, RAW= 325.5, -7.4, CAL= 328.6, -10.1, ROT= 181.4, 10.1 uYgot valid direction response: 13:56:29.8918 LVL= 21024, 21313, 16866, 32755, AGC= 69, IDX= 507,-0.10, 0.789, 2.886, 1.059, 1.381, PHS=-0.505, 1.552,-0.325, RAW= 325.5, -7.4, CAL= 328.6, -10.1, ROT= 181.4, 10.1 uT#Rx 91: Read range and direction messages.}bdirection in FSK: [-0.984209,-0.024053,-0.175367]}Fpublishing direction and range info!y%~r:ujrƿ%BY! % R)%ASI%Ai%%E%G%?%ff %"˵@)% AI%^@i%J4%0J@%J4> !)!%߮Ʀ5KۿІ:li%,%ؽ>%G%J4> !)!checking for new query: numPingsReceived=91, elapsed TxPingTime=42.638119ԩKMP"K9*K2KG:Kj.2*}+ cRD#+E/mTLfEuuV&4N ?J>J ?T|B-IMb@Mb@Mb@ )Y&1?/$?MbPyp?<@ h@)@IQ@y@I=I=2}# }'=yQ >٥ H!F >45?459~ IByp?a:x@<EiA::!R45`B1AEZ!b%eÃhA%JB%JB%L4"@ʁ%Ph/Viҁ%cR$=J@dwM-%޲l(/I?m!Ŀz%QB%j%̃ǜ?r%/ %AB%%c&ǜ?%̪%  %1BB%ϷB%"@ addTargetRange:: Added new target pos. range: 93.800003 m, deltaT: 0.501250 s, deltaX: 0.500000 m, approachRate: 0.997506 m/s, rangeRepo size: 4  Added new target pos. range: 93.145615 m, bearing: 145.212820 deg, lat: 36.906404 deg, lon: -122.116039 deg, deltaT: 0.501250 s, deltaX: 0.496513 m, approachRate: 0.990550 m/s, posRepo size: 4 DNOT Ignoring new targets: 93.15 m.bZrjRJB~~zB}|!|)|-@3sW@|5s?  zB =I ) 2? IE  I I M ucBH H _IH |BH  =H H H <H %EE1 E1 E1 E5 S0E1 FA FE =) i6G}v;<~GYAiAN ? ,JhAnDDAT read: Rx Time:13:56:30.3920 nTRx dataTimestamp_ set to:1749131791.556020rPDAT read: Bearing 181.5, 11.5 (Local) v~Local bearing/azimuth received: Bearing 181.5, 11.5 (Local) ~DAT read: Range 10 to 50 : 94.1 m (trip time 62.7 ms) speed -0.7 DAT read: 13:56:30.3920 LVL= 30192, 24401, 23058, 32755, AGC= 70, IDX= 493, 0.19, 0.708, 2.718, 0.981, 1.249, PHS=-0.453, 1.516,-0.271, RAW= 325.2, -8.4, CAL= 328.5, -11.5, ROT= 181.5, 11.5 %Ygot valid direction response: 13:56:30.3920 LVL= 30192, 24401, 23058, 32755, AGC= 70, IDX= 493, 0.19, 0.708, 2.718, 0.981, 1.249, PHS=-0.453, 1.516,-0.271, RAW= 325.2, -8.4, CAL= 328.5, -11.5, ROT= 181.5, 11.5 -T#Rx 92: Read range and direction messages.5bdirection in FSK: [-0.979589,-0.025651,-0.199368]5Fpublishing direction and range infolynH5X2ZDiɿn3BYl nu)nQ_InZilnFnnJ ?n n>@)nQ Inx@inMnɼJ@nM> l)ln#,cڿj¿in,n{ >nbGnM> l)l}checking for new query: numPingsReceived=92, elapsed TxPingTime=43.1458179(@@YRJZJ:bJ[9Jt4JzJ:jJ:Jҁ:rJԁ: (@骝?;)CC|B#III#3 5=yִ٥ H"F(]< >45ҁnef RI@TcC 0nWP! ߦ ?O'cſznOBnjn vǜ?rnƛ+ n ,FAhA9Jk=@J!G@YJ ݹ)ݹIyIyK:P"KH9*K2KH:K??j/en'M"#ACEvS!"uRJ#bShJJݽIFZ쿟jܿyjUI¿iݽ+ݽ9>ݽyHݽ4QO> ޹)޹checking for new query: numPingsReceived=93, elapsed TxPingTime=43.662949Mb@Mb@Mb@ )YuV?I +?y&1|yrh?9<`@ @)@I;@y@IIM31} }"=y} ;Q }>٥ H#F+< >450?459 IByh?i:@JEi)<:zZ4582AEZbhA0C0C!@ʁ+D^cNOGi,1? |Xj|oɿyH4QO>ҁ7_=OzV@+\7;z蹾-0?ڻ_ƿz׳Bj<#?rJ TBL ǜ? @BꁽBE"@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 159.300003 m, deltaT: 0.505733 s, deltaX: 65.200005 m, approachRate: 128.921799 m/s, rangeRepo size: 4}DNOT Ignoring new targets: 93.44 m.byZyryjyRyJyB~~zB}|||c@|?  =I) A ? I f   A<:< !,hA9@j@Y&=y{<H`٥ 1 =HAM< u>DDAT read: Rx Time:13:56:31.4363 TRx dataTimestamp_ set to:1749131792.565576PDAT read: Bearing 178.9, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 178.9, 12.1 (Local) %DAT read: Range 10 to 50 : 160.5 m (trip time 107.0 ms) speed -0.6 EDAT read: 13:56:31.4363 LVL= 26880, 17633, 20018, 30243, AGC= 67, IDX= 52, 0.04,-0.860, 1.219,-0.691,-0.363, PHS=-0.409, 1.630,-0.331, RAW= 328.1, -8.9, CAL= 331.1, -12.1, ROT= 178.9, 12.1 45#$?459 IBy@PEi<<N^45aBk2AEJ4JO4J0:JeBJUJJCRJZJ\:bJ>9J4JzJz;jJ};J|Q:rJQ:Ygot valid direction response: 13:56:31.4363 LVL= 26880, 17633, 20018, 30243, AGC= 67, IDX= 52, 0.04,-0.860, 1.219,-0.691,-0.363, PHS=-0.409, 1.630,-0.331, RAW= 328.1, -8.9, CAL= 331.1, -12.1, ROT= 178.9, 12.1 T#Rx 94: Read range and direction messages.`direction in FSK: [-0.977603,0.018771,-0.209619]Fpublishing direction and range infoy0H*HN3Rp8?9hʿ CY i)DI2Ni#vCshѾף?x >@)I@i@XMG@@X> )\BϾݿÿi_)->MG@@X> )checking for new query: numPingsReceived=94, elapsed TxPingTime=44.174427Zbf2$hAaCaCV @ʁyvzc6V+@Xi@0H*HN3Rp8?9hʿMG@@X>ҁ`p_:>S8W@%Q<(_鿉^S?ygzƿzƹBj3?rfup  B/  ! !,!9hAQ9;@@Y=yU=H G?A?@\R?`y:@+C? l@3@?`? ;@骅=;)C|B ImMb@Mb@Mb@iii i)iYmv/?V-?I +ymxi?m٥ H$Fƺ; >45??459O IByi?h:@WEib:: b45bB2AEDNOT Ignoring new targets: 93.44 m.bZrjRJB~~zB} | | ||?)I I%҉GAqԁ > Yy B%DDAT read: Rx Time:13:56:31.9359 -TRx dataTimestamp_ set to:1749131793.067983EPDAT read: Bearing 178.8, 12.8 (Local) E~Local bearing/azimuth received: Bearing 178.8, 12.8 (Local) UDAT read: Range 10 to 50 : 159.9 m (trip time 106.6 ms) speed -0.8 }DAT read: 13:56:31.9359 LVL= 27296, 22561, 19186, 30291, AGC= 66, IDX= 71, 0.28, 0.093, 2.035, 0.258, 0.547, PHS=-0.366, 1.535,-0.293, RAW= 328.0, -9.4, CAL= 331.2, -12.8, ROT= 178.8, 12.8 Ygot valid direction response: 13:56:31.9359 LVL= 27296, 22561, 19186, 30291, AGC= 66, IDX= 71, 0.28, 0.093, 2.035, 0.258, 0.547, PHS=-0.366, 1.535,-0.293, RAW= 328.0, -9.4, CAL= 331.2, -12.8, ROT= 178.8, 12.8 T#Rx 95: Read range and direction messages.`direction in FSK: [-0.974935,0.020422,-0.221548]Fpublishing direction and range info)y-| ~2=v?@|[̿-CY) -j)-!XI-Ji-Sv-B =I)?IE zA<-Zd-z?- -0@)-'I-@i-d-G@-d> )))-x_KRiݿ Ŀi-)-~v(>-G@-d> )))checking for new query: numPingsReceived=95, elapsed TxPingTime=44.661777:%< !,NbShAJchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.8898209RQ@R@YR=yR1=RH S?@0?Wd?)@AJ?׫`oߠ@/? ? RQ@R؇;)RCn{BnIItIt~ ~i=y~p:Q >٥  H%FH%>H%CH%LIH%|BH% =H!H%0DH%ښ<H%EHHHH =I = I#6=Q; E>AM45EV?M459E IEByQԱUQ@E\EiE1ҁ]kgf_9W@nދ>=]:s//Pw}? %ȿz]ܸB]3j]5?r]ť ]uB]5?]J  ]TB]C]h!@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 159.899994 m, deltaT: 1.511963 s, deltaX: 65.799995 m, approachRate: 43.519581 m/s, rangeRepo size: 4DNOT Ignoring new targets: 93.44 m.bZrjRJB~~}| ||c@|? zB(=I ) > I2 MA 9)9=Z87>3޿hZÿi=k)=>=G@=ȭT> 9)9checking for new query: numPingsReceived=96, elapsed TxPingTime=45.1587686Ge /!,v7mhA9vV@v @YvdE=yvJ7=vHbR? 2?^?*bH?`{? 9? vV@vo1;)vC-{B-I)1 1 5=1I] I]2W\ ?=y;:Q >٥ H&F > 45dr? 459 IBy  _ @bEi"::h459={3A=ݪEZqbudhAuCuCu ? @ʁuK-cd0@u{@uM■Fe'{?Fa5dʿuG@uȭT>ҁu/Iڡ_pW@pd Զ;u-3kaSqZz?{ ƿzuBuju̷?ruL' u Bu̷?uť  u BuCu' @-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 161.000000 m, deltaT: 2.016311 s, deltaX: 66.900002 m, approachRate: 33.179405 m/s, rangeRepo size: 4DNOT Ignoring new targets: 93.44 m.bZr j R J B~~}||| d@| v4?checking for new query: numPingsReceived=96, elapsed TxPingTime=45.392624 靽-=I)>I9 _YA<:L<R=iiYE?EEE1Ei6G sc=~G A A N% >M DDAT read: Rx Time:13:56:32.9378 M TRx dataTimestamp_ set to:1749131794.075903U PDAT read: Bearing 178.7, 14.1 (Local) ] ~Local bearing/azimuth received: Bearing 178.7, 14.1 (Local) m DAT read: Range 10 to 50 : 162.8 m (trip time 108.5 ms) speed -0.4  DAT read: 13:56:32.9378 LVL= 24544, 19345, 22242, 32755, AGC= 63, IDX= 46, 0.01,-1.814, 0.165,-1.647,-1.383, PHS=-0.343, 1.595,-0.267, RAW= 328.0, -10.4, CAL= 331.3, -14.1, ROT= 178.7, 14.1 ԙ  Ygot valid direction response: 13:56:32.9378 LVL= 24544, 19345, 22242, 32755, AGC= 63, IDX= 46, 0.01,-1.814, 0.165,-1.647,-1.383, PHS=-0.343, 1.595,-0.267, RAW= 328.0, -10.4, CAL= 331.3, -14.1, ROT= 178.7, 14.1  T#Rx 97: Read range and direction messages. `direction in FSK: [-0.969622,0.022004,-0.243615] Fpublishing direction and range infoI yM _<%|X )? .ϿM "CYI M _)M KIM ViI M ?M M (?M 9 M 0@)M 9IM g@iM d{M G@M d{> I )I M z@ݿ:0ǿiM )M 9>M G@M d{> I )I  checking for new query: numPingsReceived=97, elapsed TxPingTime=45.662903:J- aBJ- _JJ- ?RJ) ZJ- :bJ- =h9J- ـ4J) 5 @5 @5 @5 @!!,khAK^RWP"K^9*K\2K^J:K^Q7j9 <O}/G,LB Rn  %?Bp ? <{BIyMb@Mb@Mb@ )YQ?{Gz?{Gzyh?ף<#I@ ;@)@Ih@yII#3 **  *=yQ >٥ H'F% %>IU45M ?U459Mͧ IM~ByUi?Ui:UU@MiEiM:M:Mm45ecBe3AeڪEZyb}ۄhA}!C}!C}> @ʁ}U^½c$u @6l C}_<%|X )? .Ͽ}G@}d{>ҁ}$"%*_GmW@%/`@}5W"鿽Lm͠?=B$ʿz}7B}j}`ķ?r}b }A}`ķ?}fup  } B}C}P^ @-EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 162.800003 m, deltaT: 2.519883 s, deltaX: 68.700005 m, approachRate: 27.263172 m/s, rangeRepo size: 4]EaddTargetRange::Reached target pos rejection count limit. Clearing pos repo.MDNOT Ignoring new targets: 93.44 m.bIZIrIjIRIJQBQ~Q~UWzB}Y|Y|Y|]Yd@|g?ԡ zBAIER1: IIMAH%CH%9IH%h|BH% =H!H%/DH%š<H%EEQEQEQEU0EQ 6G <~Gy A A N >m(!,3hA:DDAT read: Rx Time:13:56:33.4363 :TRx dataTimestamp_ set to:1749131794.579956BPDAT read: Bearing 178.4, 12.2 (Local) B~Local bearing/azimuth received: Bearing 178.4, 12.2 (Local) JDAT read: Range 10 to 50 : 160.5 m (trip time 107.0 ms) speed -0.5 fDAT read: 13:56:33.4363 LVL= 32752, 21137, 26354, 28435, AGC= 64, IDX= 64, 0.16,-2.134,-0.144,-1.989,-1.663, PHS=-0.383, 1.566,-0.328, RAW= 328.6, -8.9, CAL= 331.6, -12.2, ROT= 178.4, 12.2 jYgot valid direction response: 13:56:33.4363 LVL= 32752, 21137, 26354, 28435, AGC= 64, IDX= 64, 0.16,-2.134,-0.144,-1.989,-1.663, PHS=-0.383, 1.566,-0.328, RAW= 328.6, -8.9, CAL= 331.6, -12.2, ROT= 178.4, 12.2 jT#Rx 98: Read range and direction messages.n`direction in FSK: [-0.977035,0.027291,-0.211325]nFpublishing direction and range info8y:g~CJ8?\ ˿9~@~;@Y~=y~<~HR 8)8:tCM>޿+xÿi:D#):>:SFG@:^ Z> 8)8checking for new query: numPingsReceived=98, elapsed TxPingTime=46.170345 ~@~ ;)~C={B=IAIUIU3e eL=ym;Q m>٥ii mHm(Fu= u>45?459 IuBy@oEi<D<p45L4AZ8b:hA:`C:`C:;@ʁ:kdvc"e@&d@:g~CJ8?\ ˿:SFG@:^ Z>ҁ:1e_΀ՂW@UVuoA;:&:w7o@Ȁ?Wiyƿz:B:/j:D&7S?r:ը] : B:̷?:ը]  8:/C:P @] addTargetRange:: Added new target pos. range: 160.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 -eaddTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 159.376404 m, bearing: nan deg, deltaT: 3.023936 s, deltaX: 65.932045 m, approachRate: 21.803387 m/s, posRepo size: 4mDNOT Ignoring new targets: 93.44 m.iCompleted rollout at range: 160.50 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE?b9"@ZrjRL?JB~~}|||d@| P?  zBIJ: A<%"!%E=i%9"@i-AE?EEEy1E ԡchecking for new query: numPingsReceived=98, elapsed TxPingTime=46.400509 6GM $3=~GA Ai Ay N >".!,}hA5{B=IiM=yQ >٥    H )F   >45?%459 IkBy%f?%k:%%@uEi:;2;Lt45-dB54A5تE ؁ׅ<DDAT read: Rx Time:13:56:33.9367 TRx dataTimestamp_ set to:1749131795.092390PDAT read: Bearing 183.0, 48.6 (Local) ~Local bearing/azimuth received: Bearing 183.0, 48.6 (Local) DAT read: Range 10 to 50 : 161.1 m (trip time 107.4 ms) speed -0.4 DAT read: 13:56:33.9367 LVL= 22480, 15601, 18754, 22835, AGC= 69, IDX= 4, 0.44,-0.255, 1.448,-0.039,-0.623, PHS= 0.456, 2.118, 0.581, RAW= 326.1, -34.8, CAL= 327.0, -48.6, ROT= 183.0, 48.6 Ygot valid direction response: 13:56:33.9367 LVL= 22480, 15601, 18754, 22835, AGC= 69, IDX= 4, 0.44,-0.255, 1.448,-0.039,-0.623, PHS= 0.456, 2.118, 0.581, RAW= 326.1, -34.8, CAL= 327.0, -48.6, ROT= 183.0, 48.6 T#Rx 99: Read range and direction messages.bdirection in FSK: [-0.660406,-0.034610,-0.750111]Fpublishing direction and range infoډyڍJh "忾t迹ڍ!CYډ ۍW:J%^BJ%UJJ%>RJ!ZJ%} :bJ%>9J%t4J!)ۍ<IۍBIiۍ3YۍEۍx>ۍP@ۍj? ܍ @)܍|I܍@i܍%Y܍iL@܍%Y? ݉)݉ݍ6#8Ciin"׿LFiݍb+ݍ?ݍEݍ%Y? މ)މMchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.686081}C@}Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalg@Entering Terminal tracking update period 2.000000 s sec at 160.500000 m (mode 1.000000 count ).1ԑZbńhACCF#@ʁ8`iZ)N%I]Jh "忾tE%Y?ҁ=VQs&ƔN@> ]:SASgx?BztBjNg$Ü?rg U5? uBꁍCx. @ addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1   KQ"Kͼ9*K2KK:KR2rLX ph&OV[+gq9%= Added new target pos. range: 159.972214 m, bearing: 146.171755 deg, lat: 36.905971 deg, lon: -122.115586 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 AEFNOT Ignoring new targets: 159.97 m.MM  ProNav pure pursuit: ac range: 159.972214 m, nav range: 158.087433 m, bearing: 143.401949 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 145.034223 deg, new cmd heading: 143.401949 deg. HeadingCmd: 2.502836 target range: 159.972214 and range: 161.10 m.bx. @ZrjRJB~~HzB}|||@3#d@|%? E zBEIIj: lpB<5 !=.H] CH] IH] 5|BH]  =HY H] 0DH] <H] EAy A N >:5!,"8؄hA9>D@>EN@Y>B=y>v.<>H`?@ˈ?sb? `p?fvpLͅ?? >D@>k;)>Cj{BjIIvIv3zY ~s=yE;Q E?٥II MHQUwͼ U?45w?459 IcBy@zEi::cw45 5AժE@1qUB*** querying acoustic contact ***JQRQaeFNOT Ignoring new targets: 159.97 m.mh9mh9  ProNav pure pursuit: ac range: 159.972214 m, nav range: 158.405365 m, bearing: 143.409416 deg, approach rate: 1.004322 m/s, LOS rate: 0.023541 deg/s, cmd heading: 143.401953 deg, new cmd heading: 143.409416 deg. HeadingCmd: 2.502966 target range: 159.972214 and range: 161.10 m.b0 @ZrjRJB~~}|||| N? u zBuyI}: yy}AB<Zd@#>  @):\IA@iU)G@U? )Ct2*v;jJڿ3%ci(Wb?)G@U? )1=checking for new query: numPingsReceived=100, elapsed TxPingTime=47.216663a 6G} H=~G= AAA AY Ne >;!,4-hA9 @ (@Y !=y _9 H?"?V?M? b藿= 69?`? @ ;) CEg{BEIIuIuF3q A=yw;Q >٥L?L? H*Fd4 >45{?459e IXBy"checking for new query: numPingsReceived=100, elapsed TxPingTime=47.416489@EiT;;z455AҪE)9q==ZbqvhA C C~h@ʁpl[gD @aP]w(P|X_g?;ի)G@U?ҁfiVbeRQ@U\ zC῵v-)?izBLjmsĜ?rM OD&7S? AC@M addTargetRange:: Added new target pos. range: 162.000000 m, deltaT: 0.508589 s, deltaX: 0.899994 m, approachRate: 1.769590 m/s, rangeRepo size: 2 ] Added new target pos. range: 160.868393 m, bearing: 142.709614 deg, lat: 36.905980 deg, lon: -122.115586 deg, deltaT: 0.508589 s, deltaX: 0.896179 m, approachRate: 1.762089 m/s, posRepo size: 2 YFNOT Ignoring new targets: 160.87 m. ProNav: ac range: 160.868393 m, nav range: 157.969345 m, bearing: 143.200628 deg, approach rate: 0.000000 m/s, LOS rate: 0.023541 deg/s, cmd heading: 143.409411 deg, new cmd heading: 143.440075 deg. >:HeadingCmd: 2.503502 target range: 160.868393 and range: 162.00 m.b _9 @Z rjRJ)B1~~}|||@d@|@Q.?Y  zBghIU: ZC< u%)5׼i5_9 @i9E EEEG5Eԁ6Gk[= DDAT read: Rx Time:13:56:34.9367  TRx dataTimestamp_ set to:1749131796.101648 PDAT read: Bearing 178.3, 45.9 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 45.9 (Local)  DAT read: Range 10 to 50 : 161.1 m (trip time 107.4 ms) speed -0.3  DAT read: 13:56:34.9367 LVL= 32752, 20273, 26658, 32755, AGC= 67, IDX= 501,-0.17, 0.065, 1.854, 0.180,-0.291, PHS= 0.445, 2.192, 0.468, RAW= 329.3, -32.3, CAL= 331.7, -45.9, ROT= 178.3, 45.9  Ygot valid direction response: 13:56:34.9367 LVL= 32752, 20273, 26658, 32755, AGC= 67, IDX= 501,-0.17, 0.065, 1.854, 0.180,-0.291, PHS= 0.445, 2.192, 0.468, RAW= 329.3, -32.3, CAL= 331.7, -45.9, ROT= 178.3, 45.9  V#Rx 101: Read range and direction messages. `direction in FSK: [-0.695606,0.020645,-0.718126] Fpublishing direction and range infoڱ yڵ MhB濋c#? 濹ڵ !CYڱ ۵ )۵ 1OI۵ "hi۵ ۵ C۵ >۵ I @۵ > ܵ r@)ܵ ZQIܱ iܵ KMܱ ܵ KM? ݱ )ݱ ݵ Mi!翓~Fڿ|w iݵ ?I(ݵ `?ݱ ݵ KM?:JM ]BJM SJJM BRJI ZJM ]:bJM y69JM -4JI ~GY Ai Ay N > ޱ )ޱ  checking for new query: numPingsReceived=101, elapsed TxPingTime=47.700031Ku >P"Ku 9*Kq 2Ku L:Ku s%_nq8x"` JB ,qC; +ԩ B!, hA96@6@Y6'=y6y6HU??@Y^?>?M⤿ ߀? 6@6=;)6CZS{BZI)\ \}Mb@Mb@Mb@yyy y)yY}x&?Q? rhy}7i?}<}C}@ }@)}MAI}v@yy}@ԑII2x/ 7=y7;Q >٥ H+FK >1=455?=4595w I5LBy=bi?=h:EE@5Ei5:5:5~45MeB5AϪE‚G@rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalC@Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalZbghACC,@ʁs_[[k @&!s\MhB濋c#? KM?ҁNWv ZQ@^z*X[\v`?ij ?z*BjÜ?r~Z =Ü?~Z  =B@u addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: 0.500669 s, deltaX: -0.899994 m, approachRate: -1.797583 m/s, rangeRepo size: 3 checking for new query: numPingsReceived=101, elapsed TxPingTime=47.921703G)G-AAH=>H9H=IH={BH= =H9H9H=<H=Ee Added new target pos. range: 159.974686 m, bearing: 142.792422 deg, lat: 36.906290 deg, lon: -122.115864 deg, deltaT: 0.500669 s, deltaX: -0.893707 m, approachRate: -1.785026 m/s, posRepo size: 3 aeFNOT Ignoring new targets: 159.97 m.ii} ProNav: ac range: 159.974686 m, nav range: 115.897598 m, bearing: 142.792034 deg, approach rate: 0.000000 m/s, LOS rate: 0.023541 deg/s, cmd heading: 143.440079 deg, new cmd heading: 143.470504 deg. yHeadingCmd: 2.504033 target range: 159.974686 and range: 161.10 m.bB @ZrjRJB~~ zB}|||@3#d@|? zB靵I; ںD<F6iB @irE%V>jE%>E?EEEV4E  DDAT read: Rx Time:13:56:35.4375  TRx dataTimestamp_ set to:1749131796.606207 PDAT read: Bearing 180.3, 14.2 (Local)  ~Local bearing/azimuth received: Bearing 180.3, 14.2 (Local)  DAT read: Range 10 to 50 : 162.3 m (trip time 108.2 ms) speed -0.1  DAT read: 13:56:35.4375 LVL= 29408, 22353, 21858, 32451, AGC= 67, IDX= 77,-0.49,-1.937, 0.154,-1.694,-1.460, PHS=-0.389, 1.661,-0.237, RAW= 326.2, -10.5, CAL= 329.7, -14.2, ROT= 180.3, 14.2  Ygot valid direction response: 13:56:35.4375 LVL= 29408, 22353, 21858, 32451, AGC= 67, IDX= 77,-0.49,-1.937, 0.154,-1.694,-1.460, PHS=-0.389, 1.661,-0.237, RAW= 326.2, -10.5, CAL= 329.7, -14.2, ROT= 180.3, 14.2 % V#Rx 102: Read range and direction messages.- bdirection in FSK: [-0.969432,-0.005076,-0.245307]- Fpublishing direction and range info y eb￯ef׏t/;fϿ6G5 d< L"CY r) QWI bUi ~ +Ǿ ? !r 8/@) f;I #@i } eI@ }> ) {ʮ<1ғ+ۿ&SGǿi )+ I;> H }> )  checking for new query: numPingsReceived=102, elapsed TxPingTime=48.197803~G AA)N5>7I!,˻)hA9m@m@YmKP*=ymsmH ѳ? ?F?@'ʻ?@3`wH`\? m@m{;)mC0{BzIII2 ==y_:Q >٥ H䕼 ->1=455`.?=4595[ I5@By9==@5Ei5:5%:545IMg6AIZ!b%&hA%*!C%*!C%r @ʁ%I&c$-w|wC%eb￯ef׏t/;fϿ%H%}>ҁ%-b_c,W@s~@%Z UFX鿙g?P`Zt3ʿz%cB%Kj%-)?r%h3> %vA!! !%B%@9 addTargetRange:: Added new target pos. range: 162.300003 m, deltaT: 0.504559 s, deltaX: 1.199997 m, approachRate: 2.378309 m/s, rangeRepo size: 4 M Added new target pos. range: 161.164780 m, bearing: 144.013849 deg, lat: 36.906290 deg, lon: -122.115864 deg, deltaT: 0.504559 s, deltaX: 1.190094 m, approachRate: 2.358681 m/s, posRepo size: 4 QUFNOT Ignoring new targets: 161.16 m. ProNav: ac range: 161.164780 m, nav range: 116.290909 m, bearing: 142.800781 deg, approach rate: 0.000000 m/s, LOS rate: 0.023541 deg/s, cmd heading: 143.470500 deg, new cmd heading: 143.502460 deg. HeadingCmd: 2.504591 target range: 161.164780 and range: 162.30 m.b6K @ZrjRJB~~}|||Id@|? zB6دI ; CE<~;71i6K @i5checking for new query: numPingsReceived=102, elapsed TxPingTime=48.424503iE?EEEO0E6G+<~G A A N] >ԙ IP!,ChAqDDAT read: Rx Time:13:56:35.9371 TRx dataTimestamp_ set to:1749131797.107715PDAT read: Bearing 176.5, 43.7 (Local) ~Local bearing/azimuth received: Bearing 176.5, 43.7 (Local) DAT read: Range 10 to 50 : 161.7 m (trip time 107.8 ms) speed -0.9 DAT read: 13:56:35.9371 LVL= 24912, 18417, 20466, 32323, AGC= 65, IDX= 504, 0.49,-1.978,-0.098,-1.907,-2.302, PHS= 0.412, 2.251, 0.392, RAW= 330.5, -30.3, CAL= 333.5, -43.7, ROT= 176.5, 43.7 Ygot valid direction response: 13:56:35.9371 LVL= 24912, 18417, 20466, 32323, AGC= 65, IDX= 504, 0.49,-1.978,-0.098,-1.907,-2.302, PHS= 0.412, 2.251, 0.392, RAW= 330.5, -30.3, CAL= 333.5, -43.7, ROT= 176.5, 43.7 V#Rx 103: Read range and direction messages.`direction in FSK: [-0.721619,0.044136,-0.690882]Fpublishing direction and range infoڑyڕk]f?O u濹ڕ!CYڑ ەPa)ەGIەOiەC~ەAە>ەb@ە9> ܕ@)ܕaIܕB@iܕ@Cܕ'E@ܕ@C? ݑ)ݑݕ38翉tܿ/lt#iݕ&ݕV?ݕ'E@ݕ@C? ޑ)ޑchecking for new query: numPingsReceived=103, elapsed TxPingTime=48.693550 {BdII!I%%=:J-aBJ-VJJ)RJ)ZJ-:bJ-B9J)J)K@P"K9*K2KM:KN)-tC>R%{D(;vz^%Qcw4J ?J?Mb@Mb@Mb@ )Y(\?Zd;O?~jtyg?j<D@ @)v@I~@yQ@I I2%  %*=y%Q %>٥)) -H-,F- 5>ԑ45L?459 I3Byg?j:@Ei,::45156A5̪EZbFhA C Cg@ʁ8@\'1X@l.˻[k]f?O u'E@@C?ҁp4bWPK^R@_yWZT&^9H?T7%zBjÜ?rM i- ꁕtB܄@E addTargetRange:: Added new target pos. range: 161.699997 m, deltaT: 0.501508 s, deltaX: -0.600006 m, approachRate: -1.196404 m/s, rangeRepo size: 4  Added new target pos. range: 160.568970 m, bearing: 140.916319 deg, lat: 36.906290 deg, lon: -122.115864 deg, deltaT: 0.501508 s, deltaX: -0.595810 m, approachRate: -1.188037 m/s, posRepo size: 4 FNOT Ignoring new targets: 160.57 m. ProNav: ac range: 160.568970 m, nav range: 116.727699 m, bearing: 142.808825 deg, approach rate: 0.000000 m/s, LOS rate: 0.023541 deg/s, cmd heading: 143.502466 deg, new cmd heading: 143.536779 deg. HeadingCmd: 2.505189 target range: 160.568970 and range: 161.70 m.bU @ZrjRJ)B)~1~5yB}9|A|a|e`f6d@|mn? zB靵I/; 3MG<TuiU @iM checking for new query: numPingsReceived=103, elapsed TxPingTime=48.930012Hu >Hu CHu IHu {BHu  =Hq Hu 1DHu <Hu EE ?E E E ^4E 6G o ~Gi Ay A N >V!,`W]hA9:S@:|]@Y:& 4=y:b :H*?`E??@C ?I􇁿? :S@:|;):CVzBVYII~ I~b3 i  =yDDAT read: Rx Time:13:56:36.4375 TRx dataTimestamp_ set to:1749131797.611936PDAT read: Bearing 182.9, 10.6 (Local) ~Local bearing/azimuth received: Bearing 182.9, 10.6 (Local) DAT read: Range 10 to 50 : 162.5 m (trip time 108.3 ms) speed -0.5 DAT read: 13:56:36.4375 LVL= 25296, 21185, 20178, 32755, AGC= 67, IDX= 65, 0.26,-0.167, 2.030, 0.177, 0.462, PHS=-0.541, 1.615,-0.287, RAW= 323.8, -7.8, CAL= 327.1, -10.6, ROT= 182.9, 10.6  Ygot valid direction response: 13:56:36.4375 LVL= 25296, 21185, 20178, 32755, AGC= 67, IDX= 65, 0.26,-0.167, 2.030, 0.177, 0.462, PHS=-0.541, 1.615,-0.287, RAW= 323.8, -7.8, CAL= 327.1, -10.6, ROT= 182.9, 10.6 V#Rx 104: Read range and direction messages.bdirection in FSK: [-0.981677,-0.049729,-0.183951]Fpublishing direction and range infoڱyڵHsiH$v =ηǿڵ"CYڱ ۵b)۵RI۵Ni۵۵C۵~ ۵R?۵ ܵش@)ܵ'g Iܵ毶@iܵq=ܵML@ܵq=> ݱ)ݱݵ|!ɽKUٿh)BJiݵv.ݵ >ݵEݵq=> ޱ)ޱ=checking for new query: numPingsReceived=104, elapsed TxPingTime=49.198532I8; 9Ye/HY ] checking for new query: numPingsReceived=104, elapsed TxPingTime=49.4326252/]!,LwhA9:E@:O@Y:8=y: Յ;:H jz?T?@8"?N@?*7Cp?@? :E@:;)8JzBJ[IIRIR3z; ~K=y~8:;Q ~>٥ H@ >1E455w?E4595 I5!ByAE{E@5Ei5:5:545?7AȪE1Zb)ghA]!C]!C"@ʁ~c P#}`=HsiH$v =ηǿEq=>ҁh~`!lV@ t\6o+u?t`oz-Bjh?r,  BÜ?M  i-EBl@ addTargetRange:: Added new target pos. range: 162.500000 m, deltaT: 0.504221 s, deltaX: 0.800003 m, approachRate: 1.586612 m/s, rangeRepo size: 4 YmG5AY {YAyhB Added new target pos. range: 161.366898 m, bearing: 145.680075 deg, lat: 36.906285 deg, lon: -122.115804 deg, deltaT: 0.504221 s, deltaX: 0.797928 m, approachRate: 1.582496 m/s, posRepo size: 4 FNOT Ignoring new targets: 161.37 m.U ProNav: ac range: 161.366898 m, nav range: 121.135567 m, bearing: 140.933689 deg, approach rate: 0.000000 m/s, LOS rate: 0.011670 deg/s, cmd heading: 143.547559 deg, new cmd heading: 143.561915 deg. Q]HeadingCmd: 2.505628 target range: 161.366898 and range: 162.50 m.b]6\ @ZYrYjYRaJaBa~~}|||Pd@| ? ةשDDAT read: Rx Time:13:56:36.9374 TRx dataTimestamp_ set to:1749131798.116174DAT read: Bearing 183.6, 8.8 (Locge 10 to 50 : 162.2 m (trip time 108.1 ms) speed 0.0 unknown deviceResponse_: Bearing 183.6, 8.8 (Locge 10 to 50 : 162.2 m (trip time 108.1 ms) speed 0.0 DAT read: 13:56:36.9374 LVL= 32752, 2624, 32755, AGC= 66, IDX= 85, 0.20 3.011, 1.086, 1.417, PHS=-0.627, 1.641,-0.334, RAW= 323.2, -6.4, CAL= 326.4, -8.8, ROT= 183.6, 8.8 unknown deviceResponse_: 13:56:36.9374 LVL= 32752, 2624, 32755, AGC= 66, IDX= 85, 0.20 3.011, 1.086, 1.417, PHS=-0.627, 1.641,-0.334, RAW= 323.2, -6.4, CAL= 326.4, -8.8, ROT= 183.6, 8.8  checking for new query: numPingsReceived=104, elapsed TxPingTime=49.696514ԁ zB靵IH; 5J<Ni6\ @iK /FP"K S9*K 2K N:K yo,e>';vuvE"c@<s?FE ?E E E P0E Ա 6GE&+mchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.937649H >HHIHt{BHHHH<H?EHϚCHϚCHH =I = IϠ6~GAA9NE?f!,ˆhA`9縭@´@YL>=yg=H`;??Io?M@?@زoǧ?? 縭@I;)EzBEMI M=M=Mb@Mb@Mb@ )Y r?٥ H.F< >45̡?M459 I ByMc?Un:UU@EiiC<?C<45egB7AŪEDDAT read: Rx Time:13:56:37.4375 TRx dataTimestamp_ set to:1749131798.621984PDAT read: Bearing 182.4, 47.5 (Local) ~Local bearing/azimuth received: Bearing 182.4, 47.5 (Local) DAT read: Range 10 to 50 : 162.5 m (trip time 108.3 ms) speed -0.5 %DAT read: 13:56:37.4375 LVL= 25440, 15697, 18466, 30899, AGC= 63, IDX= 509, 0.25,-2.624,-0.855,-2.413,-2.973, PHS= 0.437, 2.164, 0.556, RAW= 326.4, -33.7, CAL= 327.6, -47.5, ROT= 182.4, 47.5 -Ygot valid direction response: 13:56:37.4375 LVL= 25440, 15697, 18466, 30899, AGC= 63, IDX= 509, 0.25,-2.624,-0.855,-2.413,-2.973, PHS= 0.437, 2.164, 0.556, RAW= 326.4, -33.7, CAL= 327.6, -47.5, ROT= 182.4, 47.5 -V#Rx 105: Read range and direction messages.5bdirection in FSK: [-0.674998,-0.028291,-0.737277]=Fpublishing direction and range infoy*:܌心Pi?*Ɨ:Je^BJeXJJeDRJaZJe} :bJe5K9Je4JazJe^:ujJec:uJef:urJef:uY `c)Q=I"Hix?w>~ @V? K@)Ic@ig;T%K@g;T? ).ye׿N@i+?aFg;T? )checking for new query: numPingsReceived=105, elapsed TxPingTime=50.214382ZbΧhA^!C^!C3>@ʁ";[/rQB4&{I]*:܌心Pi?*ƗaFg;T?ҁZ V{aQ@N9v\>,{RL1?QzBj]Ĝ?rZa L ~BMr@ addTargetRange:: Added new target pos. range: 162.500000 m, deltaT: 1.010048 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 161.368362 m, bearing: 142.561722 deg, lat: 36.906285 deg, lon: -122.115804 deg, deltaT: 1.010048 s, deltaX: 0.001465 m, approachRate: 0.001450 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 161.37 m.11m ProNav: ac range: 161.368362 m, nav range: 121.746613 m, bearing: 140.953429 deg, approach rate: 0.000000 m/s, LOS rate: 0.011670 deg/s, cmd heading: 143.561916 deg, new cmd heading: 143.585664 deg. iuHeadingCmd: 2.506042 target range: 161.368362 and range: 162.50 m.bc @ZrjRJB~~yB}||||^F? =zBEn|AIEW; AAMAsLE 8< checking for new query: numPingsReceived=105, elapsed TxPingTime=50.441681ԉ E?EEE~0EF=F=6GB~GAAN ?qn!,3hAH9M/@M9@YMB:=yMw=MH?@0?TEj?oQF@?~? M/@M ;)IzB@IԹ%DDAT read: Rx Time:13:56:37.9385 %TRx dataTimestamp_ set to:1749131799.124063-PDAT read: Bearing 182.3, 36.2 (Local) 5~Local bearing/azimuth received: Bearing 182.3, 36.2 (Local) EDAT read: Range 10 to 50 : 163.8 m (trip time 109.2 ms) speed -0.4 mDAT read: 13:56:37.9385 LVL= 20048, 13281, 16002, 20803, AGC= 70, IDX= 0, 0.65,-1.334, 0.770,-1.050,-1.334, PHS= 0.088, 2.151, 0.282, RAW= 325.1, -24.3, CAL= 327.7, -36.2, ROT= 182.3, 36.2 uYgot valid direction response: 13:56:37.9385 LVL= 20048, 13281, 16002, 20803, AGC= 70, IDX= 0, 0.65,-1.334, 0.770,-1.050,-1.334, PHS= 0.088, 2.151, 0.282, RAW= 325.1, -24.3, CAL= 327.7, -36.2, ROT= 182.3, 36.2 uV#Rx 106: Read range and direction messages.bdirection in FSK: [-0.806310,-0.032385,-0.590606]Fpublishing direction and range info!y%NK#⽽@=⿹%#CY! %PN)%3I%>i%CQ%F%X9=% @%Nb> %@)%%پI%@i%?!%K@%?!? !)!%hBgS}ؿ8%(~F%?!? !)!checking for new query: numPingsReceived=106, elapsed TxPingTime=50.714958Mb@Mb@Mb@ )YS?:v?٥ H/F< >45?459s IBy8]?u:@Ei;;457AªEZ!b%DžhA%"C%"C%@ʁ%sd`䵴S RX%NK#⽽@=%(~F%?!?ҁ%,[.\)YT@qԅV%.KW1?9@z%΢B%xj%#?r%=Ҽ %%#?%=Ҽ  %%nC%@ addTargetRange:: Added new target pos. range: 163.800003 m, deltaT: 0.502079 s, deltaX: 1.300003 m, approachRate: 2.589240 m/s, rangeRepo size: 4 Kg%P"K]9*K2KO:KWQKKVJh Rt#VeOKLPh KluTzP,> Added new target pos. range: 162.659302 m, bearing: 143.053372 deg, lat: 36.906166 deg, lon: -122.115754 deg, deltaT: 0.502079 s, deltaX: 1.290939 m, approachRate: 2.571188 m/s, posRepo size: 4 FNOT Ignoring new targets: 162.66 m.))} ProNav: ac range: 162.659302 m, nav range: 135.431641 m, bearing: 143.052923 deg, approach rate: 0.000000 m/s, LOS rate: 0.011670 deg/s, cmd heading: 143.585657 deg, new cmd heading: 143.604947 deg. HeadingCmd: 2.506379 target range: 162.659302 and range: 163.80 m.bh @ZrjRJB~~$zB}|||yd@| "? M zBM \iI IU d; Q Q U ٽN<] =Y Y i] h @ia   checking for new query: numPingsReceived=106, elapsed TxPingTime=50.944530H >H CH wIH -{BH  =H H 2DH Ț<H E>EE m@)5I@i DMG@ D> )Ջ )DCݿ/(i)ȩ>MG@ D> )]checking for new query: numPingsReceived=107, elapsed TxPingTime=51.214149:Jm\BJm]JJmCRJiZJm=:bJm_9Jm4JizJm:jJm:Jmg:rJmi:zB*Ii٥ H0F% %>)545-_?5459- I-By99=@-Ei-:-:-p45ae8AeEZb2hA"C"C@ʁVBaKcdn@\Ξk>Jh1L?P@mlȿMG@ D>ҁ6 _UԏvX@'~/C7d$|2)R?dpo_¿zB(j" ?r B C@9e addTargetRange:: Added new target pos. range: 163.199997 m, deltaT: 0.503989 s, deltaX: -0.600006 m, approachRate: -1.190514 m/s, rangeRepo size: 4 u Added new target pos. range: 162.065308 m, bearing: 142.403480 deg, lat: 36.906166 deg, lon: -122.115754 deg, deltaT: 0.503989 s, deltaX: -0.593994 m, approachRate: -1.178586 m/s, posRepo size: 4 qFNOT Ignoring new targets: 162.07 m. ProNav: ac range: 162.065308 m, nav range: 135.859009 m, bearing: 143.060295 deg, approach rate: 0.000000 m/s, LOS rate: 0.011670 deg/s, cmd heading: 143.604946 deg, new cmd heading: 143.622570 deg. HeadingCmd: 2.506687 target range: 162.065308 and range: 163.20 m.bm @ZrjRJB~~}||!|%`ffd@|-ྐྵ? zB靽׺RI:n; P< U> im @iDDDDi checking for new query: numPingsReceived=107, elapsed TxPingTime=51.448662ԙ Ee ?Ea Ei Em P0Ei 6G5 z1~GIAqAN=>!,TVhA9~K@~=U@Y~=y~TF>~H@1?R?c#v?@gǿ`?`? ~K@~DV;)~C5zB='IDDAT read: Rx Time:13:56:38.9388 TRx dataTimestamp_ set to:1749131800.131920PDAT read: Bearing 175.1, 12.3 (Local) ~Local bearing/azimuth received: Bearing 175.1, 12.3 (Local) -DAT read: Range 10 to 50 : 164.3 m (trip time 109.5 ms) speed -0.6 UDAT read: 13:56:38.9388 LVL= 30448, 15857, 24914, 32755, AGC= 62, IDX= 81,-0.24,-0.978, 0.858,-0.971,-0.595, PHS=-0.295, 1.500,-0.378, RAW= 332.3, -9.0, CAL= 334.9, -12.3, ROT= 175.1, 12.3 ]Ygot valid direction response: 13:56:38.9388 LVL= 30448, 15857, 24914, 32755, AGC= 62, IDX= 81,-0.24,-0.978, 0.858,-0.971,-0.595, PHS=-0.295, 1.500,-0.378, RAW= 332.3, -9.0, CAL= 334.9, -12.3, ROT= 175.1, 12.3 ]V#Rx 108: Read range and direction messages.e`direction in FSK: [-0.973475,0.083456,-0.213030]mFpublishing direction and range infoy&v%c]?AzUmD˿L$CY v)=IRai>= ?7 a@)| I @i[C@[> )κA| gY@ĿiF %]!>C@[> )Mb@Mb@Mb@checking for new query: numPingsReceived=108, elapsed TxPingTime=51.719170 )YzG?I +?{Gzty W?94<ף A @)AI@y\@II3w =y Q  >٥   H1Fu= >AM45E?M459E IEByMW?M|:U> U@EEiE;EI;E45hB8AEKPoP"K9*K2KP:K;e}Rpu2FC]E$&"eb-s\CO-9ZbaqhA(#C(#Cp@ʁl_;cnFب;+@& `A&v%c]?AzUmD˿C@[>ҁ{cY_p*KY@[h)9v"x"?䗁ĿzYBjH) ?rT BH) ?,  BC @ addTargetRange:: Added new target pos. range: 164.300003 m, deltaT: 0.503868 s, deltaX: 1.100006 m, approachRate: 2.183124 m/s, rangeRepo size: 4  Added new target pos. range: 163.157654 m, bearing: 141.104277 deg, lat: 36.906018 deg, lon: -122.115649 deg, deltaT: 0.503868 s, deltaX: 1.092346 m, approachRate: 2.167921 m/s, posRepo size: 4 FNOT Ignoring new targets: 163.16 m. ProNav: ac range: 163.157654 m, nav range: 155.062439 m, bearing: 143.973235 deg, approach rate: 0.000000 m/s, LOS rate: 0.011670 deg/s, cmd heading: 143.622568 deg, new cmd heading: 143.641425 deg.  HeadingCmd: 2.507016 target range: 163.157654 and range: 164.30 m.b r @Z r j R J1B1~1~5azB}9|9|9|=d@|E ? zBGIOw; #R<-2Q>11i5r @iAiE E E E E He >Ha He RIHe zBHe  =Ha Ha He ƚ<He E checking for new query: numPingsReceived=108, elapsed TxPingTime=51.953686ԑ 6Gm ~GAAYAqN>fK!,."hAI)@9bmL@b#V@YbbH ??w?@%߿/?˿pR?A? bmL@b҉;)bCzB1IIIV83%'= %V=y%Q %>٥)) -H)5e= 5>9E45=?E459= I=ByAM/m@=Ei=;=;=g45y}b8A}EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 163.16 m.p5:p5: ProNav: ac range: 163.157654 m, nav range: 155.376297 m, bearing: 143.987218 deg, approach rate: 0.891906 m/s, LOS rate: 0.039657 deg/s, cmd heading: 143.641419 deg, new cmd heading: 143.683284 deg. :HeadingCmd: 2.507746 target range: 163.157654 and range: 164.30 m.b ~ @Z r!j!R!J)B)~)~1}1|1|1|1|=? zB靥&{IV~; Ni~ @iDDAT read: Rx Time:13:56:39.3974 TRx dataTimestamp_ set to:1749131800.637301PDAT read: Bearing 172.9, 11.2 (Local) ~Local bearing/azimuth received: Bearing 172.9, 11.2 (Local) DAT read: Range 10 to 50 : 102.2 m (trip time 68.1 ms) speed -0.6 %DAT read: 13:56:39.3974 LVL= 24256, 16305, 20610, 24755, AGC= 68, IDX= 82, 0.45, 0.115, 1.878, 0.031, 0.472, PHS=-0.269, 1.453,-0.444, RAW= 334.8, -8.2, CAL= 337.1, -11.2, ROT= 172.9, 11.2 -Ygot valid direction response: 13:56:39.3974 LVL= 24256, 16305, 20610, 24755, AGC= 68, IDX= 82, 0.45, 0.115, 1.878, 0.031, 0.472, PHS=-0.269, 1.453,-0.444, RAW= 334.8, -8.2, CAL= 337.1, -11.2, ROT= 172.9, 11.2 -V#Rx 109: Read range and direction messages.5`direction in FSK: [-0.973433,0.121248,-0.194234]=Fpublishing direction and range infoy8]&￘X ?mVѫȿfBY ^)?IPi`D^?S @)CIE@i+H!A@+H> ) 8FBV (A¿i+4">!A@+H> ):JiBJmWJJmDRJiZJibJmG9Jm4JizJijJm:Jm_:rJm_:yechecking for new query: numPingsReceived=109, elapsed TxPingTime=52.222580E?EEEe0Eԑ 6G  checking for new query: numPingsReceived=109, elapsed TxPingTime=52.457333~G A A N >p!,H C?@(4?`ᗻ[ݿ_?п 뗿@o?@? l@FD;)CmzBuI) II2  ==y-ˇQ =>٥AI MHU2F= >m45.7?u459 IByyO@Ei3<9<p45iB8AEZb(hABB8@ʁ4X^0RT(@s38]&￘X ?mVѫȿ!A@+H>ҁ2lYSv6N@޸@*oi}o?8:zvB j% ɜ?r0 eEB#?=Ҽ   Cm@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 102.199997 m, deltaT: 0.505381 s, deltaX: -62.100006 m, approachRate: -122.877602 m/s, rangeRepo size: 4q}FNOT Ignoring new targets: 163.16 m.}M:}M: ProNav: ac range: 163.157654 m, nav range: 155.759354 m, bearing: 144.009273 deg, approach rate: 0.782151 m/s, LOS rate: 0.044922 deg/s, cmd heading: 143.683288 deg, new cmd heading: 143.749290 deg. :HeadingCmd: 2.508898 target range: 163.157654 and range: 164.30 m.bˑ @ZrjRJB~~}|||̌Y@| ? =zB=u=iˑ @ =DDAT read: Rx Time:13:56:39.8978 TRx dataTimestamp_ set to:1749131801.140307PDAT read: Bearing 169.3, 9.0 (Local) ~Local bearing/azimuth received: Bearing 169.3, 9.0 (Local)  DAT read: Range 10 to 50 : 102.8 m (trip time 68.5 ms) speed -0.8 5DAT read: 13:56:39.8978 LVL= 32752, 24993, 29634, 32755, AGC= 65, IDX= 502, 0.13, 2.050,-2.611, 1.827, 2.371, PHS=-0.233, 1.348,-0.547, RAW= 338.9, -6.5, CAL= 340.7, -9.0, ROT= 169.3, 9.0 =Ygot valid direction response: 13:56:39.8978 LVL= 32752, 24993, 29634, 32755, AGC= 65, IDX= 502, 0.13, 2.050,-2.611, 1.827, 2.371, PHS=-0.233, 1.348,-0.547, RAW= 338.9, -6.5, CAL= 340.7, -9.0, ROT= 169.3, 9.0 =V#Rx 110: Read range and direction messages.E`direction in FSK: [-0.970515,0.183381,-0.156434]MFpublishing direction and range infoyuᅥy?p ĿBY )aIsiAnD?1 G@)VIdH@i| $=@| > )~ 迨A(V1 iX=$=@| > )uchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.726498iEu?EqEqEu_0EqK &P"K 9*K 2K Q:K ~ksw0UPo/C#zD-?:o+Nf'>"! 6G9 ~G A A N% >Ӿ!,XhAH>HH?IHzBHHHH<H9E :checking for new query: numPingsReceived=110, elapsed TxPingTime=52.9605069@@Y=yH??٘ۿ`a?`ѿc'?x? @骍Ɋ;)zBIaMb@Mb@Mb@ )YGz?MbP?{Gzt?yP?:ף;A p@)AI3@yAII25 5=y5{Q =>٥99 =H=3FE = E>Iu45M]V?459M[ IMޝByP?:@MEiMPAҁUs} vS%HO@ U"bѼ047?ƣ zUF~BԉUjU\-ɜ?rUpx UZBQQ UBUg CU@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 102.800003 m, deltaT: 1.008387 s, deltaX: -61.500000 m, approachRate: -60.988491 m/s, rangeRepo size: 4FNOT Ignoring new targets: 163.16 m.?r:?r:  ProNav: ac range: 163.157654 m, nav range: 156.163940 m, bearing: 144.035935 deg, approach rate: 0.805555 m/s, LOS rate: 0.052948 deg/s, cmd heading: 143.749295 deg, new cmd heading: 143.829073 deg.  Y;HeadingCmd: 2.510291 target range: 163.157654 and range: 164.30 m.b @ZrjRJB~~{B}||!|E@3Y@|E``V? "zB靕N6 )))- 2Uo1e忣~ i--==-F9@-0 > ))) checking for new query: numPingsReceived=111, elapsed TxPingTime=53.274334 6GA ~GAA)N5>Fל!,uhA9^0۴@^@Y^;y^}>^H`S?`Q?@ٿ­?eӿ.|@?.;? ^0۴@^D;)\zzBz,II- I-b3=]= =t=y=ȼQ =?٥AA EHE4FM= M?Q45Uqk?459U= checking for new query: numPingsReceived=111, elapsed TxPingTime=53.464798IQyӾ@UEiUBҁlktSqSkP@0E  `aQC$?TSzBӞj"vGɜ?rK-Hd gB% ɜ?K-Hd  eEBꁅB>@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 103.099998 m, deltaT: 1.512196 s, deltaX: -61.200005 m, approachRate: -40.470947 m/s, rangeRepo size: 4FNOT Ignoring new targets: 163.16 m.:: ProNav: ac range: 163.157654 m, nav range: 156.430679 m, bearing: 144.057303 deg, approach rate: 0.798036 m/s, LOS rate: 0.063819 deg/s, cmd heading: 143.829072 deg, new cmd heading: 143.893065 deg. 51/;=HeadingCmd: 2.511408 target range: 163.157654 and range: 164.30 m.b= @Z9r9j9RAJABA~A~A}I|I|I|M`fY@|U? }$zB}Zl I;; IUS<8W0?i @i9E?EEE]0E] DDAT read: Rx Time:13:56:40.8984 e TRx dataTimestamp_ set to:1749131802.148014m PDAT read: Bearing 164.5, 4.4 (Local) u ~Local bearing/azimuth received: Bearing 164.5, 4.4 (Local)  DAT read: Range 10 to 50 : 103.7 m (trip time 69.1 ms) speed -0.7  DAT read: 13:56:40.8984 LVL= 32112, 24737, 32754, 32755, AGC= 63, IDX= 507, 0.40,-2.962,-1.532, 2.932,-2.653, PHS=-0.221, 1.169,-0.701, RAW= 344.3, -3.0, CAL= 345.5, -4.4, ROT= 164.5, 4.4  Ygot valid direction response: 13:56:40.8984 LVL= 32112, 24737, 32754, 32755, AGC= 63, IDX= 507, 0.40,-2.962,-1.532, 2.932,-2.653, PHS=-0.221, 1.169,-0.701, RAW= 344.3, -3.0, CAL= 345.5, -4.4, ROT= 164.5, 4.4  V#Rx 112: Read range and direction messages.- `direction in FSK: [-0.960790,0.266451,-0.076719]5 Fpublishing direction and range infoY y] Rx˾. ?.0ۣ] fBYY ] p})] `I] iY ] ?] Mb] ˡ?] t3 ] K@)] PwVI] @i] nF] 7@] nF= Y )Y ] "`濜nRbHGi] ] rT=] 7@] nF= Y )Y m checking for new query: numPingsReceived=112, elapsed TxPingTime=53.751793i K P"K ]9*K 2K R:K Y_m^hr\Ix{ }+[5HsTj}O$$xD6G9 ~G AAN%>©!,hA49]R,@]6@Y]Xy]wB>]HJ-?0?׾Iտ Xe?`oԿ+? ?@?? ]R,@]Zu;)]CzB$IiHeCHe3IHezBHe =HaHe0DHe<HeEchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.9697235only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V aI5@a5 aM=@a= aQ=@a= aE=@a= IE IE2M?̼ U=yuQ u>٥yy }Hy. > >45ԑ.?459 IB+:yS:@Eic; ?458AEZbyhABBk!@ʁ X1#p;@5ҙRx˾. ?.0ۣ7@nF=ҁ%TktUM@XW[:u?ߊ 꿞L?3?zoBj6ǜ?r ABpx  ZBꁽB-@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 103.699997 m, deltaT: 2.016094 s, deltaX: -60.600006 m, approachRate: -30.058125 m/s, rangeRepo size: 4FNOT Ignoring new targets: 163.16 m.%:%:- ProNav: ac range: 163.157654 m, nav range: 156.850052 m, bearing: 144.102560 deg, approach rate: 0.703239 m/s, LOS rate: 0.075688 deg/s, cmd heading: 143.893071 deg, new cmd heading: 144.028478 deg. -O;]HeadingCmd: 2.513771 target range: 163.157654 and range: 164.30 m.b] @ZYrYjYRYJaBa~a~a}i|i|i|mY@|mƥ? 'zBD>;i!,hA9R=@RF@YRgyR:>RH@,?@?Cӿ`?`Կ?[?z)? R=@Re;)RC~zB~"II I 2 K=yQ %>٥!! %H%5F-U= M>Q]45U?]459U IUBe :yae*:ee@UEiU:Up?U45mjBu8AuEZbĩhA&B&B@ʁ NXL:D@@W0%E/?G.3?zBPe4@B=ҁ8D;TR1N@'aP$֖A;6? tzwB٤j:Ȝ?r< xB0  gBꁥB@--addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 103.800003 m, deltaT: 2.520673 s, deltaX: -60.500000 m, approachRate: -24.001526 m/s, rangeRepo size: 4]-addTargetRange::Reached target pos rejection count limit. Clearing pos repo.-5RStarting intercept timer at range: nan m.=FNOT Ignoring new targets: 163.16 m.=N;N; ProNav: ac range: 163.157654 m, nav range: 157.161453 m, bearing: 144.140156 deg, approach rate: 0.967229 m/s, LOS rate: 0.116545 deg/s, cmd heading: 144.028472 deg, new cmd heading: 144.141038 deg. ;~HeadingCmd: 2.515736 target range: 163.157654 and range: nan m.b!@ZrjRJB~~}|||@3Y@|E? *zB靍Z} 1#=} [2@} = y )y ] checking for new query: numPingsReceived=114, elapsed TxPingTime=54.754166~G A A N >"!,'͆hAԁK]]+P"K]9*KY2K]S:K]bd0Zs0/JO~} Q6rq,U>K G*%f9#ԱH>HCHHH =HHHŚ<HEHeŜCHeśCHeŔCHe =Ia Ie+6zB'I-checking for new query: numPingsReceived=114, elapsed TxPingTime=54.976467I=I=#3u35< }=y}Q }>٥ H6F >45?459 IB9y :@EiG;?45kB8AEZ b ʆhA #B #B +0@ʁ `LX؁I}A@Y5 H 6s Ž?֏  [2@ =ҁ  EY Ea Ea Ee P0Ea  DDAT read: Rx Time:13:56:42.3989  TRx dataTimestamp_ set to:1749131803.659590 DAT read: Range 10 to 50 : 104.4 m (trip time 69.6 ms) speed -0.7 - \#Rx 115: Read range message, but no direction. BY  checking for new query: numPingsReceived=115, elapsed TxPingTime=55.23205916G!~GA AN%?!,uhA9V>@ViH@YVCϼyVCڠ>VH ?T? οm?ҿQ?e?l? V>@Vt;)VCi|~A)| ~HFI| )C i I  I iY YY)Yi mlApAI)i)I  %݃A%i!iٯiuzBu&III(*3M( M2=yM(ɼQ M>٥QQ UHU7FUg > ]>Yi45]?459] I]B9y9y@]Ei]l<]|@]^458AEB*** querying acoustic contact ***JRechecking for new query: numPingsReceived=115, elapsed TxPingTime=55.480553} addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 0.503241 s, deltaX: 0.099998 m, approachRate: 0.198709 m/s, rangeRepo size: 2 FNOT Ignoring new targets: 163.16 m.1:1: ProNav: ac range: 163.157654 m, nav range: 157.969116 m, bearing: 144.245852 deg, approach rate: 0.748364 m/s, LOS rate: 0.108493 deg/s, cmd heading: 144.307267 deg, new cmd heading: 144.457308 deg. ;HeadingCmd: 2.521256 target range: 163.157654 and range: 104.40 m.bA\!@Zr!j!R)J1B1~1~1}Y|Y|Y|]Z@|e%? 2zBOEU e<% DDAT read: Rx Time:13:56:42.8993 - TRx dataTimestamp_ set to:1749131804.165363E PDAT read: Bearing 156.4, 3.0 (Local) E ~Local bearing/azimuth received: Bearing 156.4, 3.0 (Local) e DAT read: Range 10 to 50 : 105.0 m (trip time 70.0 ms) speed -0.5  DAT read: 13:56:42.8993 LVL= 17232, 18753, 19026, 30451, AGC= 66, IDX= 5,-0.34, 0.971, 2.333, 0.204, 1.160, PHS=-0.101, 1.220,-0.959, RAW= 353.0, -1.7, CAL= 353.6, -3.0, ROT= 156.4, 3.0 J-4J4J 0:J \BJ QJJ @RJ ZJ =:bJ -.9J J4J E E E E 5E F =F =  Ygot valid direction response: 13:56:42.8993 LVL= 17232, 18753, 19026, 30451, AGC= 66, IDX= 5,-0.34, 0.971, 2.333, 0.204, 1.160, PHS=-0.101, 1.220,-0.959, RAW= 353.0, -1.7, CAL= 353.6, -3.0, ROT= 156.4, 3.0  V#Rx 116: Read range and direction messages. `direction in FSK: [-0.915107,0.399800,-0.052336] Fpublishing direction and range info) y- P%H}oT?yoU˪- BY) - PC)- AII- RJi- v- B- ν- (?- u - '@)- I- |@i- PwV- R.@- PwV= ) )) - 8"C1?㿣0 鿉SBYti- - <- R.@- PwV= ) )) = checking for new query: numPingsReceived=116, elapsed TxPingTime=55.769711KIP"Ks9*K2KT:K|yFgs=Y,&Pzindh&qMhytxQNYuj1+CS?1l6G~GAAN?g!,7hAG!G%@AH->H)H-9IH-zBH- =H)H-/DH-<H-E9=@=9!@Y=[y=p>=H`Tn?٥ H8Fr= > 45?54596 IB=9y9E9Eu>M@Ei`<M%@45ԉlB8AEZbO hABB#@ʁwbFwuW˜D@,P%H}oT?yoU˪R.@PwV=ҁ6TU#'.0M@B- @0~꿵?:)/?ziBj1ǜ?r1 8B:Ȝ?<  ABBQ( @ addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 0.505773 s, deltaX: 0.599998 m, approachRate: 1.186300 m/s, rangeRepo size: 3 -%%addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 104.264786 m, bearing: nan deg, deltaT: 4.033443 s, deltaX: -58.892868 m, approachRate: -14.601141 m/s, posRepo size: 4)-FNOT Ignoring new targets: 163.16 m.5;5;e ProNav: ac range: 163.157654 m, nav range: 158.393494 m, bearing: 144.317732 deg, approach rate: 0.667746 m/s, LOS rate: 0.112799 deg/s, cmd heading: 144.457312 deg, new cmd heading: 144.672375 deg. eӚ;mHeadingCmd: 2.525009 target range: 163.157654 and range: 105.00 m.bm!@ZirijiRiJqBq~q~q}y|y||@Z@|? 7zBD&E} [R;zE E E E E `0E 16G9QQY]checking for new query: numPingsReceived=117, elapsed TxPingTime=56.491226~G1AQAN?!,=hA9V@ @Y{)y@>HN?ۗ?@e ÿiZ? ѿ`-?B?@@? V@骽+؆;)=zB=IIUIU2]U ]=ye% Q e>٥ii mHm9FuH= u>y}45}4=?459}5 I}Bo9y9 @}Ei}H;}J@}459AEZabe*hAeBeBe##@ʁe>+W,F@ cge,y\xX?Cg]ec-@es=ҁe6ЋUUA,M@kr?@e$g꿜TN?RIB?zediBe5jebS9ǜ?re: e؂Be6ǜ?e  e؂BeBee!@ addTargetRange:: Added new target pos. range: 105.199997 m, deltaT: 0.502771 s, deltaX: 0.199997 m, approachRate: 0.397789 m/s, rangeRepo size: 4 -%addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 104.463387 m, bearing: nan deg, deltaT: 4.536214 s, deltaX: -58.694267 m, approachRate: -12.939043 m/s, posRepo size: 4FNOT Ignoring new targets: 163.16 m.;;  ProNav: ac range: 163.157654 m, nav range: 158.826752 m, bearing: 144.396307 deg, approach rate: 0.761633 m/s, LOS rate: 0.137752 deg/s, cmd heading: 144.672381 deg, new cmd heading: 144.907462 deg. ;5HeadingCmd: 2.529112 target range: 163.157654 and range: 105.20 m.b=!@Z9r9j9R9J9B9~A~A}A|A|I|MLZ@|MA? E= K] P"K] }9*KY 2K] U:K] k`MiaqwI#0vdE: 75]Xl$d#8J} ?J} ?Q E E E E P0E H >H CH LIH zBH  =H H H <H E checking for new query: numPingsReceived=118, elapsed TxPingTime=56.993748y6G1~G)AAAaNu?>!,SbhAI ) -zB- IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y\(\? rh?y&1|y:?C<`x!A -@)zAI`Ay AII#3 < =yQ >٥ H:F > 45 @_?459  I  BT:y:?:M@ Ei : : x45!%8A%EZIbM KhAMBMBM @ʁML)}iPW̙G@4cM2̸g쿳+P2?֏ M*@M=ҁMѲX9UwG(BN@H @Ms6\鿑/?g|U ?zMwBMΩjMlȜ?rM MNBMlȜ?M  M8BMBM @ addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 0.504332 s, deltaX: 0.600006 m, approachRate: 1.189705 m/s, rangeRepo size: 4 -%addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 105.058594 m, bearing: nan deg, deltaT: 5.040546 s, deltaX: -58.099060 m, approachRate: -11.526342 m/s, posRepo size: 4FNOT Ignoring new targets: 163.16 m.~;~;- ProNav: ac range: 163.157654 m, nav range: 159.186401 m, bearing: 144.465370 deg, approach rate: 0.714095 m/s, LOS rate: 0.136816 deg/s, cmd heading: 144.907463 deg, new cmd heading: 145.114182 deg. -ʻ;-HeadingCmd: 2.532720 target range: 163.157654 and range: 105.80 m.b5"@Z1r1j1R1J1B1~9~=,|Ba}a|a|a|m@3sZ@|m հ? AzB%-һ-(@-5< )))checking for new query: numPingsReceived=119, elapsed TxPingTime=57.269600ԉE E E E O0E  checking for new query: numPingsReceived=119, elapsed TxPingTime=57.496899 6G!ZG1RG1~GQAaAqN?!,hA\9g@@YPy>H?T?l3a?@yп??@!6?.? g@D;)CzB!I DDAT read: Rx Time:13:56:44.9002  TRx dataTimestamp_ set to:1749131806.179964PDAT read: Bearing 150.7, 1.3 (Local) ~Local bearing/azimuth received: Bearing 150.7, 1.3 (Local) -DAT read: Range 10 to 50 : 106.4 m (trip time 70.9 ms) speed -0.6 uDAT read: 13:56:44.9002 LVL= 31216, 32753, 32306, 32755, AGC= 66, IDX= 510, 0.38, 1.498, 2.750, 0.451, 1.603, PHS=-0.017, 1.194,-1.155, RAW= 359.0, -0.2, CAL= 359.3, -1.3, ROT= 150.7, 1.3 }Ygot valid direction response: 13:56:44.9002 LVL= 31216, 32753, 32306, 32755, AGC= 66, IDX= 510, 0.38, 1.498, 2.750, 0.451, 1.603, PHS=-0.017, 1.194,-1.155, RAW= 359.0, -0.2, CAL= 359.3, -1.3, ROT= 150.7, 1.3 }V#Rx 120: Read range and direction messages.`direction in FSK: [-0.871845,0.489257,-0.022687]Fpublishing direction and range infoII:JZBJOJJ?RJZJ9bJ%9Jـ4J y j'뿇ýO?NGY; BY  y) I 2~i  B C Ԙ?  ד @) dI ū@i ޹ aU(@ ޹< )  Ĕ~PkL*Qoi 0 |z; aU(@ ޹< ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-Mb@Mb@Mb@))) )))Y-On?~jtxQy-8?-Ļ-u-A ))-@I-IA)y-AII2J; =ywQ >٥ H;F > >1455H?4595 I5By8?:@5 Ei5)<5ށ<5458A MEZ b hA OB OB $@ʁ `zOWÖI@- j'뿇ýO?NGY; aU(@ ޹<ҁ Z0V-rL@olf@ j\+;?Hf?z cB j !Nǜ?r  B>   B bS9ǜ? 1  NB B P#@Ke#P"Ke9*Ka2KeV:KeId[uqo6-?hPx"@!R~V` cE 9JiJi addTargetRange:: Added new target pos. range: 106.400002 m, deltaT: 1.007498 s, deltaX: 0.599998 m, approachRate: 0.595533 m/s, rangeRepo size: 4 -!addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 105.654388 m, bearing: nan deg, deltaT: 6.048044 s, deltaX: -57.503265 m, approachRate: -9.507746 m/s, posRepo size: 4]addTargetPos::Reached target pos rejection count limit. Clearing pos repo.bZrjRJB~~{B}A |A |A |E Z@|M @;? HzB靵 (d?! ! i! i! 1  H H <H H H XIH zBH H H H <H E ZH?c? ⯿?3?j ѿ?B?? Z@Z;)ZC zB 'IIIM3U< ]D=y]Q e>٥ HR= >45\?459 IBy<@Ei;;45mB8AE5B*** querying acoustic contact ***J1R1b9MDDAT read: Rx Time:13:56:45.4004 UTRx dataTimestamp_ set to:1749131806.683643eDAT read: Range 10 to 50 : 106.7 m (trip time 71.1 ms) speed -0.8 -mX#Rx 1: Read range message, but no direction.IMfBYI u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.ԡZ9rjRJB~~}|||̬Z@|@,? 5LzB5"E) +!,hA9R@R@YRV]yR$>RH` ?> yǬ ƂB?|ѿ?у? ͺ? R@Rm;)RC\`ij=IhInInF2y݀Q  >٥ H)-45-?5459- I-By155@-Ei-L;-H;-45AE8AME addTargetRange:: Added new target pos. range: 106.699997 m, deltaT: 0.503679 s, deltaX: 0.299995 m, approachRate: 0.595608 m/s, rangeRepo size: 4 bZrjRJB~~}|||1|=}? QzB Z2jEM> qu<DDAT read: Rx Time:13:56:45.9006 TRx dataTimestamp_ set to:1749131807.191030PDAT read: Bearing 145.9, 4.5 (Local) ~Local bearing/azimuth received: Bearing 145.9, 4.5 (Local) DAT read: Range 10 to 50 : 107.0 m (trip time 71.3 ms) speed -0.4 9eDAT read: 13:56:45.9006 LVL= 26448, 28113, 25842, 32755, AGC= 64, IDX= 498, 0.12, 1.067, 2.175,-0.204, 0.971, PHS= 0.184, 1.251,-1.178, RAW= 4.0, -2.5, CAL= 4.1, -4.5, ROT= 145.9, 4.5 Ygot valid direction response: 13:56:45.9006 LVL= 26448, 28113, 25842, 32755, AGC= 64, IDX= 498, 0.12, 1.067, 2.175,-0.204, 0.971, PHS= 0.184, 1.251,-1.178, RAW= 4.0, -2.5, CAL= 4.1, -4.5, ROT= 145.9, 4.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.825508,0.558911,-0.078459]Fpublishing direction and range infoځyڅqj'̘?5;څBYځ ۅPg)ۅmIۅdiہۅ@ۅj<>ۅ ?ۅȖ ܅5=)܅¸2I܅C=i܅|٠܅"@܅|٠= ݁)݁݅Dܿ(Ǽ "Ł i݅݅b0=݅"@݅|٠= ށ)ށ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:J_BJQJJDRJZJ :bJ-.9J4EEEEO0EJi K uBP"K s9*K 2K W:K DB:8<7`tS@O$1J(-L kTgingYOM6G ~G H H H ^IH {BH H H H <H EAY Ai N} >k!,ڇhARH@?XbS? ѭ?`ҿxR?@? ? T@|;)C5zB5(IA=Mb@Mb@Mb@999 9)9Y=7A`?L7A`堿/$y=6?=+==A =@)=`@I99y=QAIUIU2e# ; e٥ii mHu=Fu= u>y45}?459} I} By6?:֙;@}Ei}o;}n;}458AEZb9̇hABBh%@ʁ0-sUb.P.M@߱Q, qj'̘?5;"@|٠=ҁhdV81K@OI @K:ߥ?Hs?z^Bʹjǜ?ri^ ʄB1ǜ?:  ꁅOBս#@ addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 0.507387 s, deltaX: 0.300003 m, approachRate: 0.591271 m/s, rangeRepo size: 4 == Added new target pos. range: 106.249954 m, bearing: 148.360566 deg, lat: 36.906399 deg, lon: -122.116033 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 %FNOT Ignoring new targets: 106.25 m.%%5  ProNav pure pursuit: ac range: 106.249954 m, nav range: 106.154945 m, bearing: 146.589048 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 145.114185 deg, new cmd heading: 146.589048 deg. =HeadingCmd: 2.558461 target range: 106.249954 and range: 107.00 m.b=ս#@Z9r9j9R9JABA~A~E{B}I|I||Z@|`? %VzBMX1si쿉Z+vߕiMM!,hA9M:@M=YMbyM>MH?w洿)"??DҿV? ?[? M:@M D;)MC%zB%2II-I-m?3٥ HEl= M>]45?e459 I"Byam=@Ei = =,45)=8AUGa ޿YyQAZyb}IhA}B}B}o)@ʁ}\RVY?OL@}(GqH `P?s!D}l$@}+H=ҁ} z]W,I@tv>@}k #PL?YWXa?z}fIB}j}f*Ɯ?r}$ }B}!Nǜ?} B>  }ʄB}B}$@ addTargetRange:: Added new target pos. range: 107.099998 m, deltaT: 0.500959 s, deltaX: 0.099998 m, approachRate: 0.199614 m/s, rangeRepo size: 4 U  Added new target pos. range: 106.349251 m, bearing: 151.687508 deg, lat: 36.906389 deg, lon: -122.116050 deg, deltaT: 0.500959 s, deltaX: 0.099297 m, approachRate: 0.198213 m/s, posRepo size: 2 Q ] FNOT Ignoring new targets: 106.35 m.] Y   ProNav: ac range: 106.349251 m, nav range: 106.475784 m, bearing: 147.697280 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 146.589042 deg, new cmd heading: 146.589042 deg.   HeadingCmd: 2.558461 target range: 106.349251 and range: 107.10 m.b Z r j R J B ~ ~ } | | | `fZ@| `? = ]zB= 0] v?] ] A=)] I] ԇ=i] 5z] N#@] 5z= Y )Y ] - ܾPܿKV쿌9Y'2i] ] <] N#@] 5z= Y )Y  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. *?  i i zEq ! E ?E E E 11E IKm P"Ki*Ki2KmX:KmO-9ia<WH J ,+vlU)x%Dz?UEGcyGGH>HHkIH{BHHHH<HEHЙCHЙCHГCH =I = I]56G%ȹ~GAAN%?",hAH:? C`ô?`?2Vҿ=>? ? ҥ? .@骽|;)C-zB1)9 9 =p==p=ԁMb@Mb@Mb@ )Yv?x&y&1y8?7` @)3@IAyAAAII3: ٥ H>F/= >9u45=?}459=w I= By}9?}:}8<}@=&Ei=;=9;=45nB8AEZb hABB9)@ʁ>'Vz M@%X#ASǟ?.xAN#@5z=ҁKWfJ&H@Qk{ir@D@޳(?#?zwGBjEA( Ɯ?rX| Bǜ?i^  BꁽB%@e addTargetRange:: Added new target pos. range: 107.599998 m, deltaT: 0.504241 s, deltaX: 0.500000 m, approachRate: 0.991589 m/s, rangeRepo size: 4  Added new target pos. range: 106.846123 m, bearing: 152.136739 deg, lat: 36.906383 deg, lon: -122.116064 deg, deltaT: 0.504241 s, deltaX: 0.496872 m, approachRate: 0.985386 m/s, posRepo size: 3 FNOT Ignoring new targets: 106.85 m.Ա ProNav: ac range: 106.846123 m, nav range: 106.823570 m, bearing: 148.582796 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 146.589042 deg, new cmd heading: 146.589042 deg. HeadingCmd: 2.558461 target range: 106.846123 and range: 107.60 m.bZrjRJB~~j{B}|||`fZ@|T? uczBu039J=4J9zJ=a:UjJ=e:UJ=~Q:UrJ=Q:]uDAT read: 13:56:47.4012 LVL= 27584, 26929, 28498, 32755, AGC= 65, IDX= 488,-0.11,-1.349,-0.274,-2.714,-1.497, PHS= 0.236, 1.270,-1.220, RAW= 5.6, -2.7, CAL= 5.6, -4.8, ROT= 144.4, 4.8 Ygot valid direction response: 13:56:47.4012 LVL= 27584, 26929, 28498, 32755, AGC= 65, IDX= 488,-0.11,-1.349,-0.274,-2.714,-1.497, PHS= 0.236, 1.270,-1.220, RAW= 5.6, -2.7, CAL= 5.6, -4.8, ROT= 144.4, 4.8 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.810249,0.580081,-0.083678]Fpublishing direction and range infoy~!cC?U]kBY k)1iIRoiq>\?( +=)AI+=iK!@= )SIkڿT??Aާi?=E! E! E! E- 0E) K!@= ) U 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode.  6G ~GIAYAiNu>o",3;hAnH? &1@C`е?d?`bҿ@??? n@nP1;)lzBHIIAIA= N=y:Q >٥ H?F= > 45 .?459  I By?==@ +Ei ; a; S45AE7AAZb}-hAIBIB(b)@ʁ* UMYfd}O@9^`!~!cC?U]kK!@=ҁC WPOkmI@Kqk@*#u`?j.S;?zkKBlj +Ɯ?rn%B B +Ɯ?n%B  Bb)@% addTargetRange:: Added new target pos. range: 107.900002 m, deltaT: 0.514526 s, deltaX: 0.300003 m, approachRate: 0.583067 m/s, rangeRepo size: 4 U Added new target pos. range: 107.144028 m, bearing: 151.639927 deg, lat: 36.906358 deg, lon: -122.116118 deg, deltaT: 0.514526 s, deltaX: 0.297905 m, approachRate: 0.578989 m/s, posRepo size: 4 Q]FNOT Ignoring new targets: 107.14 m.YY ProNav: ac range: 107.144028 m, nav range: 107.060478 m, bearing: 151.639622 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 146.589042 deg, new cmd heading: 146.589042 deg. HeadingCmd: 2.558461 target range: 107.144028 and range: 107.90 m.bZrjRJB~~ }|||Z@|\? hzB靽_ ",~WhAKNP"K9*K2KY:K<*YcLZ$UPbr8>d).v]AY@H%+m.  dHM>HMCHMqIHM"{BHM =HIHIHM<HME9b@b9>Yb\yb(>bHK?@pwĿ M? G?PҿΕ? ?? b@b;)bC}zB}QI٥ H@FJ= >am45eP?m459eH IeByu9?u:u=u@e2Eie:e1:e4457AEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 0.504481 s, deltaX: 0.400002 m, approachRate: 0.792897 m/s, rangeRepo size: 4 !%FNOT Ignoring new targets: 107.14 m.-v;-v;= ProNav: ac range: 107.144028 m, nav range: 107.401375 m, bearing: 151.756770 deg, approach rate: 0.629861 m/s, LOS rate: 0.215762 deg/s, cmd heading: 146.589042 deg, new cmd heading: 146.939365 deg. =<eHeadingCmd: 2.564576 target range: 107.144028 and range: 108.30 m.be"$@ZarajaRaJiBi~i~m]{B}q|q|q|u@3[@|u? pzBցWۥ B`?ۥ  ܥ =)ܥ CIܥ V=iܥ ܥ J @ܥ = ݡ ݥ APٿPLC;uiݥ Bݥ ʓ=ݥ J @ݥ =M ٥ H >45f?459 Iy@6Ei;;]45)5G7A9DDAT read: Rx Time:13:56:48.9019 TRx dataTimestamp_ set to:1749131809.975316PDAT read: Bearing 142.2, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 142.2, 6.7 (Local)  I^`; <@  ib$@iԉEEEE0E DAT read: Range 10 to 50 : 108.9 m (trip time 72.6 ms) speed -0.5  DAT read: 135:89019 LVL= 27872, 28977, 26082, 32755, AGC= 63, IDX= 511,-0.18, 1.545, 2.516, 0.113, 1.295, PHS= 0.338, 1.268,-1.185, RAW= 7.9, -4.0, CAL= 7.8, -6.7, ROT= 142.2, 6.7  1unknown deviceResponse_: 135:89019 LVL= 27872, 28977, 26082, 32755, AGC= 63, IDX= 511,-0.18, 1.545, 2.516, 0.113, 1.295, PHS= 0.338, 1.268,-1.185, RAW= 7.9, -4.0, CAL= 7.8, -6.7, ROT= 142.2, 6.7 Ա - X#Rx 1: Read range message, but no direction.q u BYq  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6G ~G A A N >a$",hAp"{BrIKkP"K9*K2KZ:K38WepT;B\xN5uwGZ/$6Mb@Mb@Mb@ )Y`"?:v~jty7?TDA @)@IyAI=I=3M>= HQHU<H]>H]CH]IH]K{BH] =HYHYH]ޚ<H]E m+=yqQ u>٥qq }H}AFy }>45|?459 I!ByP8?:=@;Ei%<;%<45oB6AE U addTargetRange:: Added new target pos. range: 108.900002 m, deltaT: 1.007437 s, deltaX: 0.599998 m, approachRate: 0.595569 m/s, rangeRepo size: 4 Q]FNOT Ignoring new targets: 107.14 m.];]; ProNav: ac range: 107.144028 m, nav range: 107.910133 m, bearing: 151.931965 deg, approach rate: 0.691773 m/s, LOS rate: 0.239106 deg/s, cmd heading: 147.165442 deg, new cmd heading: 147.463688 deg. $<5DDAT read: Rx Time:13:56:49.4020 5TRx dataTimestamp_ set to:1749131810.476337=I; < g@  i$@i9EEEE0EFFAa 6G  DAT read: Range 10 to 50 : 109.1 m (trip time 72.7 ms) speed -0.4 - X#Rx 1: Read range message, but no direction. 3BY  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.:J `BJ YJJ GRJ ZJ :bJ [O9J c4J zJ :jJ :J 'n:rJ *n:~GA A ԑ A N5>+",dhA9JJ =J>YJLyJ>JH? пI?._??ѿ@٥ HBF>  >45j?459 I#ByF>@@Ei:::45!-Z6A-E] addTargetRange:: Added new target pos. range: 109.099998 m, deltaT: 0.503817 s, deltaX: 0.199997 m, approachRate: 0.396963 m/s, rangeRepo size: 4 YeFNOT Ignoring new targets: 107.14 m.e;e; ProNav: ac range: 107.144028 m, nav range: 108.125191 m, bearing: 152.024831 deg, approach rate: 0.583883 m/s, LOS rate: 0.251628 deg/s, cmd heading: 147.463689 deg, new cmd heading: 147.741728 deg. ,<HeadingCmd: 2.578580 target range: 107.144028 and range: 109.10 m.bs%@ZrjRJB~~}|||`fF[@|@V? zB[IC; p< @is%@iIԑE ?E EEp5EԹU,DAT read: user:1842> ],DAT read: user:1842> eBDAT read: Tx time:13:56:50.2631 e$Ping request sent.e 2",7ˈhAJDAT read: TxSync time:13:56:50.2624 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560V{BI)  Mb@Mb@Mb@    ) Y bX9?J +{Gzty E6? H ף jA @) @I A y AII251< 5+=y5Q 5>٥99 =H=CFE E>IU45M?U459M IM'ByU6?]:]G>]@MEEiM<;M3;M45iu$6Au~EFNOT Ignoring new targets: 107.14 m.I;I; ProNav: ac range: 107.144028 m, nav range: 108.388985 m, bearing: 152.138243 deg, approach rate: 0.551557 m/s, LOS rate: 0.236553 deg/s, cmd heading: 147.741732 deg, new cmd heading: 148.081137 deg. X"<HeadingCmd: 2.584503 target range: 107.144028 and range: 109.10 m.bh%@ZrjRJB~~{B}||||Z? zBrI; <~$@ih%@iE9E9E9E=5E9KMP"KM9*KI2KM[:KMNtF1J _^', pqPqC[ 6C,ne 4LHu>HuCHuIHut{BHu =HqHu1DHu<HuCEQ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5024896G} ~GY Aq A N >>8",hA 9N=Π>YGy>Hf?ӿƷ? ?!?`ѿߨ?ِ?@W? N=P;)C-v{B-IIMIMT3]5= ]n=ye;Q e?٥aa eHam$> m?q}45u?}459u7 Iu*By>@uIEiu:uo:u455AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 107.14 m.ݐ;ݐ; ProNav: ac range: 107.144028 m, nav range: 108.570930 m, bearing: 152.225188 deg, approach rate: 0.530953 m/s, LOS rate: 0.253298 deg/s, cmd heading: 148.081138 deg, new cmd heading: 148.341535 deg. -<HeadingCmd: 2.589048 target range: 107.144028 and range: 109.10 m.b%@ZrjRJB~~}||||\? -zB-1I5; 115Z RJZJ:bJy69Jt4JzJG ;jJI ;J'C:rJ)C:ԑ6GI~G! A) AA NM > +>",@hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0077409Fg=FWu>YFSoJyFdm>FH>?տ.V?@z?`?` ѿ`GK?@?u? Fg=F(;)FCTZ{{B^IIfIf 3jF< jT=yn# Q n>٥pp rHrDFr= v>tz45v?~459v9 Iv.By|~>@vMEiv=;v;vo45 pB 5A {EAMFNOT Ignoring new targets: 107.14 m.M;M; ProNav: ac range: 107.144028 m, nav range: 108.770065 m, bearing: 152.325466 deg, approach rate: 0.513296 m/s, LOS rate: 0.258006 deg/s, cmd heading: 148.341532 deg, new cmd heading: 148.641811 deg. 1<HeadingCmd: 2.594289 target range: 107.144028 and range: 109.10 m.b&@ZrjRJB~~}||||#? mzBmyI}; yy}} <%@i&@iE?EEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2597866G) jG5 >bG5 >~G A A! ) N5 >"E",'hAr{BrIiv=Iv-?|GGAAH%>H%CH%IH%{BH% =H!H%2DH%<H%[EKulP"Ku}9*Kq2Ku\:KuP5mO|nquGy huRx ?R),<FLP R1R*RQPNKHDI@2;5@0+&"LdMb@Mb@Mb@ )Yv?S㥛Mb`y8?/ݼA @)IyAII3][7= ]4=y]Q ]>٥aa eHae m>45i?459 I4By8?:o>@SEi::o45oB=5AvE!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512136mFNOT Ignoring new targets: 107.14 m.m;m;} ProNav: ac range: 107.144028 m, nav range: 109.002914 m, bearing: 152.448982 deg, approach rate: 0.500957 m/s, LOS rate: 0.265167 deg/s, cmd heading: 148.641814 deg, new cmd heading: 149.011566 deg. }5<HeadingCmd: 2.600742 target range: 107.144028 and range: 109.10 m.br&@ZrjRJB~~{B}||||?) zBo?I); w<r&@ir&@iAE?EEEP0EYy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7632496G ~Gq Ay A N >:L",sJ3hA9>-6>>>Y>N'Sy>>>Ht?,ؿ@=?`5?c ?`ѿa??`,? >-6>>M;)>CN{BRIIZ"IZq3^7= bb=ybgQ b>٥dd fHfEFj> j>lz55n?~559n) In9B y>@nWEinI; '<&@1iiu&@iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014411) CGAYY iYymA>Eu9E ?E E E 5E ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267374Թ 6G ȹ:J cBJ XJJ KRJ ZJ :bJ 5K9J (4J  @ @ @ @ZG RG ~GAA N>PT",RhA5{B5IMb@Mb@Mb@ )YI +?MbMb`y94?A x@)@IAyII2-@< 5=y5Q 5>٥99 EHMFFM U>Q]55U-?]559UZ IUBBye<4?e:e>@U]EiUHHIH{BHHH1DH%<HuEHÛCHÛCHÔCH =I = II6 zB靅sI; k;L'@K4Q"K@9*K2K]:K$d " a gSm4  ' ^ 9 K5'bFrhO0Iu_om`m} 11i5L'@i9>EXEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520170E?EEEO0E!Q 6Gu ~GQ Aa Ay N >Z",2mhA9:)r>:J>Y:A2Uy:3>:H w?@ۿ.?N+? H?@fҿ3?S{?g? :)r>:A;):CF{BFIIRIR2V; Zb=yZQ Z>٥X\ ^H^GF^%> b>`f55b@?f559b{ IbHByhj>j@baEib:b.:bs 55npBrX4ArpE B*** querying acoustic contact ***J R FNOT Ignoring new targets: 107.14 m.%ڳ;%ڳ;5 ProNav: ac range: 107.144028 m, nav range: 109.575317 m, bearing: 152.808346 deg, approach rate: 0.456524 m/s, LOS rate: 0.314480 deg/s, cmd heading: 149.772333 deg, new cmd heading: 150.087680 deg. 5W<5HeadingCmd: 2.619524 target range: 107.144028 and range: 109.10 m.b=I'@Z9r9j9R9J9BA~A~A}A|I|I|I|M,@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771860 UzBuI; f;I'@iI'@iDDDD!EEEEP0EY checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023879y 6G ȹ~G A A N >b",ohA9nO6>nh?YnUXynf4>nH`B?޿[?}b??vfѿ? q? ʤ? nO6>n&;)nCz{BzIIIV83G:= ;=ySQ >٥ H > %>Ա55X?559U IPBy?@fEi=a= 55%4AemEBDAT read: Rx Time:13:56:52.8154 TRx dataTimestamp_ set to:1749131814.255574checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275738FNOT Ignoring new targets: 107.14 m.;;:J`BJ]JJERJZJ:bJ_9J4J= ProNav: ac range: 107.144028 m, nav range: 109.758072 m, bearing: 152.949653 deg, approach rate: 0.353146 m/s, LOS rate: 0.272599 deg/s, cmd heading: 150.087683 deg, new cmd heading: 150.510889 deg. E;<EHeadingCmd: 2.626911 target range: 107.144028 and range: 109.10 m.bMN(@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|y|}j @ zB*I< %F6;-N(@))i-N(@i9rEIjEM>EEEEE H! H! H- >H) H- IH- |BH-  =H) H- 2DH- <H- (EK vP"K 9*K 2K ^:K R`[& adPKJi q#A{uW6`18OF r6G 9 } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968~G AI A N >fh",9hA96忤>6 ?Y6Vy6%!>6H a??M?z?g?п@Ϫ?9?²? 6忤>6ʕ;)4F{BJIMb@Mb@Mb@ )Yn?{Gzt?~jthy6?ף;DA b@)IyAI=I=M3e[< m%=yma:Q m>٥qq uHuHF}j= }>55p?559 IXBy6?: ?@lEi: :553AjEFNOT Ignoring new targets: 107.14 m.v;v; ProNav: ac range: 107.144028 m, nav range: 109.932350 m, bearing: 153.097814 deg, approach rate: 0.419138 m/s, LOS rate: 0.355761 deg/s, cmd heading: 150.510895 deg, new cmd heading: 150.954666 deg. 't<HeadingCmd: 2.634656 target range: 107.144028 and range: 109.10 m.b4(@ZrjRJB~~{B}||||ਣ@ mzBmqIu< qqu;}4(@yyi}4(@i e=e=DAT read: 13:56:52.8154 LVL= 19440, 16273, 21794, 20595, AGC= 63, IDX= 103, 0.47,-2.908,-2.922, 1.382, 2.498, PHS= 0.965, 0.910,-1.120, RAW= 31.3, -7.4, CAL= 32.4, -12.5, ROT= 117.6, 12.5 Ygot valid direction response: 13:56:52.8154 LVL= 19440, 16273, 21794, 20595, AGC= 63, IDX= 103, 0.47,-2.908,-2.922, 1.382, 2.498, PHS= 0.965, 0.910,-1.120, RAW= 31.3, -7.4, CAL= 32.4, -12.5, ROT= 117.6, 12.5 DAT read: Range 10 to 50 : 111.0 m (Round-trip 148.0 ms) speed -0.4 m/s ,DAT read: user:1843> BDAT read: Tx time:13:56:53.9132 $Ping request sent. i)im0l?Bw ƹ=vimhƿm>EEEEEmG\@mf_> i)iM:publishing transmit ping timeMFpublishing direction and range infoiymܿ )?K˿iYi i)iIiiiiiii i)iIiiiii i)im0l?Bw ƹ=viiiii i)i6G= ȹY ~G A! A1 N= >zn",l켉hA9bP>b?YbSybF>bH@?a ?@bm;)bCn{BnIIvIv<2%@y= %z=y%/;Q %?٥)) UHUIFU= U?Ye55]w?e559]\ I]^Byim?m@]oEi]Q;];]553AJDAT read: TxSync time:13:56:53.9125 Zb0hA)tBtBk'@ʁ̓HwW@ڻ47ܿ )?K˿G\@f_>ҁ{W>nK@W?3sS뿅 3?@SmGa?z=_Bj/ n7ǜ?rh*9 |B BꁭBf!+@ addTargetRange:: Added new target pos. range: 111.000000 m, deltaT: 4.033347 s, deltaX: 1.900002 m, approachRate: 0.471073 m/s, rangeRepo size: 4  Added new target pos. range: 110.227852 m, bearing: 149.581078 deg, lat: 36.906358 deg, lon: -122.116118 deg, deltaT: 6.049082 s, deltaX: 3.083824 m, approachRate: 0.509800 m/s, posRepo size: 4 FNOT Ignoring new targets: 110.23 m.% ProNav: ac range: 110.227852 m, nav range: 110.050247 m, bearing: 153.203962 deg, approach rate: 0.000000 m/s, LOS rate: 0.355761 deg/s, cmd heading: 150.954667 deg, new cmd heading: 151.333646 deg. !-HeadingCmd: 2.641270 target range: 110.227852 and range: 111.00 m.b- )@Z)r1j1R1J1B1~9~9}9|9|9|U[@|U@A? mzBu0Imz<   ; )@Qqqiu )@iyE E E E ]0EԉI C=I 4=J4J^4J 1:J _BJ fJJ IRJ ZJ :bJ 9J F4J 6GQ Թ ~G) A1 AY Nm >zu",։hA9>r>>?Y>INy>}>>Ha?@`?` ?@Cb?xͿ8۩?``?`A? >r>>P;)>CHH-Mb@Mb@Mb@))) )))Y-"~?~jth?٥ii mHi = >55l?%559 IdBy%3?%:%d?%@tEiV::D55HYHYH]&IH]I|BH] =HYHYH]<H]&Ey}qB}3A}gEFNOT Ignoring new targets: 110.23 m.v;v; ProNav: ac range: 110.227852 m, nav range: 110.194710 m, bearing: 153.342422 deg, approach rate: 0.344272 m/s, LOS rate: 0.329536 deg/s, cmd heading: 151.333646 deg, new cmd heading: 151.748476 deg. (b<-HeadingCmd: 2.648510 target range: 110.227852 and range: 111.00 m.b-2)@Z)r)j)R)J)B1~1~5{B}1|9|9|9|=)? zB靕\!IH < C;K֐P"K9*K2K_:Kni8qiz\1Uw#L#mBMTU^5-RK(J?J ?2)@i2)@izEԡE?EEE{0E6G ZG RG A~G9 AY Ai N > ɡ{",hAI$)$9F9>>Fl ?YFDyF|>FH?@???̿@?`A? P? F9>>Fь;)FCR|BRIIZIZT3 ݔ=  P=y;Q >٥ HJF= %>!-55%/?-559% I%iBy15I"?5@%xEi%:%:%55MpBM#3AMeEmB*** querying acoustic contact ***JiRiyFNOT Ignoring new targets: 110.23 m.;; ProNav: ac range: 110.227852 m, nav range: 110.313812 m, bearing: 153.463478 deg, approach rate: 0.330463 m/s, LOS rate: 0.335519 deg/s, cmd heading: 151.748471 deg, new cmd heading: 152.111241 deg. Cf<HeadingCmd: 2.654842 target range: 110.227852 and range: 111.00 m.b)@ZrjRJB~~}||||@1? zB=I)s>I< ;%)@!!i%)@i)E?EEE5ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6Gȹ~GAA N >) ", hA9Zr>Z(?YZq7yZn>ZHWS? 2?`? W?̿V??? Zr>Zf;)ZCf|BfIIr"Irq3v# vL=yz;Q z>٥x| ~H|~= > 55ں? 559* InBy%)?%@}Ei;;55IUg3A]bE =/?=k?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495237AIiImBA:Ju^BJuTJJuARJqZJu} :bJu:9Ju4JqIFNOT Ignoring new targets: 110.23 m.:;:; ProNav: ac range: 110.227852 m, nav range: 110.434891 m, bearing: 153.595228 deg, approach rate: 0.260968 m/s, LOS rate: 0.283658 deg/s, cmd heading: 152.111236 deg, new cmd heading: 152.506047 deg. B<HeadingCmd: 2.661733 target range: 110.227852 and range: 111.00 m.bY*@Zrj R J B ~~}||||? zB靽Io< ;Y*@iY*@iaE?EEEo1EHU>HQHU9IHUh|BHQHQHQHU<HU6Eԁ K% +P"K% 59*K! 2K% `:K% <s'yVSd(nuP#?TAo("V5F Q6GP)Pw,J) J- A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7463706G ~G A A N- >Z",$hA,9R:L>R/?YR*,yR5>RH@f??H?@? ̿ᕥ? L? Z? R:L>RD;)PZ |BZI]Mb@Mb@Mb@YYY Y)YY]> ףp=?Q/$y]1?]u]]A Y)]@I]v@Yy](@IuIu#3y&< A=y;Q >٥ HKF= >55M?559N IoBy 2?:,?@Ei*;%);"55U3AFNOT Ignoring new targets: 110.23 m.;; ProNav: ac range: 110.227852 m, nav range: 110.559937 m, bearing: 153.734031 deg, approach rate: 0.324863 m/s, LOS rate: 0.360194 deg/s, cmd heading: 152.506048 deg, new cmd heading: 152.921976 deg. 2w< HeadingCmd: 2.668992 target range: 110.227852 and range: 111.00 m.b-*@Z)r1j1R1J1B9~A~m]{B}i|q|y|y|} ?ԉ zB6I< u;-*@))i-*@i1EEEEo5EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997692Թ 6G ~G A A N >ގ",[>hA9:|>:@8?Y:#y:L>:HD ?JS???-e̿`u??P? :|>:뤎;):C\checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249612% |B%II5I53EӦ E1=yEX;Q E>٥II MHULFU= U>Ye55]?m559] I]pByqu4?u@]Ei]g;]g;]&55ya3A_EFNOT Ignoring new targets: 110.23 m.;; ProNav: ac range: 110.227852 m, nav range: 110.686356 m, bearing: 153.885977 deg, approach rate: 0.290638 m/s, LOS rate: 0.348927 deg/s, cmd heading: 152.921980 deg, new cmd heading: 153.377289 deg. wo<HeadingCmd: 2.676939 target range: 110.227852 and range: 111.00 m.bR+@ZrjRJB~~}||||`@ zB%R!I-< ))-l#;5R+@11i5R+@i9E?EEE@5Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504020I R=I a=I 6G ~G A A N >ƕ",i9XhA9Ji?J#R@?YJxyJKb>JH ^?(I ? w?`P? ,̿m?j? ? Ji?J_;)JCiPT)T TIT T)TZĻXXZCXiXIX\I`id dd)dd djjMFhhjlAIj)nXFil)lIn^App ppr߃ArDiptٯtz|Bz IMb@Mb@Mb@ )Yv/?٥ H = >55 ?559v InBy)?:5?@Ei;i;*55qB 3A\EquFNOT Ignoring new targets: 110.23 m.}';}'; ProNav: ac range: 110.227852 m, nav range: 110.786911 m, bearing: 154.007052 deg, approach rate: 0.253134 m/s, LOS rate: 0.304511 deg/s, cmd heading: 153.377294 deg, new cmd heading: 153.740183 deg. P<HeadingCmd: 2.683272 target range: 110.227852 and range: 111.00 m.b+@ZrjRJB~~ {B}||||`@K-7XP"K-9*K)2K-a:K-=YT;_>Dh0*m'gw$VO#'^[J= ?J=?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754014 zB4 Iɐ< xŦ; +@  i +@iEEEE82Eyԡ 6G ~G A A N ] BDAT read: Rx Time:13:56:56.4667 e TRx dataTimestamp_ set to:1749131817.783281e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006618",~:rhA:JBJ]JJGRJZJbJ_9Jc4JzJ^:"jJc:"Jh:"rJi:"9ND?NbG?YNpyNȋ>NHv?@ ?{??4˿m?`>?x? ND?Ns;)NCa|B III<2 %P=y%;;Q %>٥)) -H-MF-= 5>1=555"?}5595 I5kByy}=?@5Ei5<5<5-553AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 110.23 m.;; ProNav: ac range: 110.227852 m, nav range: 110.882561 m, bearing: 154.131027 deg, approach rate: 0.249120 m/s, LOS rate: 0.322614 deg/s, cmd heading: 153.740182 deg, new cmd heading: 154.111780 deg. h]<HeadingCmd: 2.689758 target range: 110.227852 and range: 111.00 m.b$,@ZrjRJB~~}||||`i@ 5{B51I="< 99=x;E$,@AAiE$,@iIԡEEEEP0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259307 G ]YYy]B6G~G A A N > ٢",hA9Ftl?F.N?YFҟ yF>FH?`t ??`?? R˿s?@d?? Ftl?F;)FCE|BE II}I}1o; >=DAT read: 13:56:56.4667 LVL= 17344, 22929, 19266, 28899, AGC= 60, IDX= 454, 0.50, 2.265, 1.551, 0.051, 0.975, PHS= 1.378, 0.623,-0.927, RAW= 48.7, -10.6, CAL= 55.7, -17.9, ROT= 94.3, 17.9 y ;Q >٥ HNFy= >55?559O EYgot valid direction response: 13:56:56.4667 LVL= 17344, 22929, 19266, 28899, AGC= 60, IDX= 454, 0.50, 2.265, 1.551, 0.051, 0.975, PHS= 1.378, 0.623,-0.927, RAW= 48.7, -10.6, CAL= 55.7, -17.9, ROT= 94.3, 17.9 MPDAT read: Bearing 94.3, 17.9 (Local) U~Local bearing/azimuth received: Bearing 94.3, 17.9 (Local) ]DAT read: Range 10 to 50 : 112.0 m (Round-trip 149.4 ms) speed -0.3 m/s IhByaeKD?e@Eig<:g<155qu3AuYE,DAT read: user:1844> BDAT read: Tx time:13:56:57.5632 $Ping request sent. )Cn 5?29Xryǿie3;<>?ʁܘ$IΉbZ@-AnC!]?uYӿ?>ҁI# 9_U?^u{Q@T8DB=}gn?(hzBj!ʜ?r* BjB BT,@> ):publishing transmit ping timeFpublishing direction and range infoynC!]?uYӿY )Ii )Ii )Cn 5?29Xryǿi addTargetRange:: Added new target pos. range: 112.000000 m, deltaT: 3.528207 s, deltaX: 1.000000 m, approachRate: 0.283430 m/s, rangeRepo size: 4  Added new target pos. range: 111.221313 m, bearing: 140.286454 deg, lat: 36.906358 deg, lon: -122.116118 deg, deltaT: 3.528207 s, deltaX: 0.993462 m, approachRate: 0.281577 m/s, posRepo size: 4 FNOT Ignoring new targets: 111.22 m. ) ProNav: ac range: 111.221313 m, nav range: 110.988213 m, bearing: 154.278762 deg, approach rate: 0.000000 m/s, LOS rate: 0.322614 deg/s, cmd heading: 154.111785 deg, new cmd heading: 154.589704 deg. HeadingCmd: 2.698099 target range: 111.221313 and range: 112.00 m.b,@ZrjRJB~~}|||\@|`.? E {BE_IIM8'< IIM;u,@qyi},@iy HH4<H>HHFIH||BH =HHHҚ<HEHǜCHǜCHǓCHI = I75QE?EEEO0EK P"K 9*K 2K b:K .~8aeO*@ b&fd=|Ix'WD A JDAT read: TxSync time:13:56:57.5625 y 6G ~G A A N >֩",NDhAX9o?U?Y y3>Hw?`  =?`?s?zoʿ?y?2? o?;)C5|BIMb@Mb@Mb@ )YMb?y&1Mby#?`eAA @)h@I@yG@II[3%4= %%=y% W;Q %>٥)) -H-OF-p= 5>9E55='?E559= I=bByE#?E:EC?E@=Ei==:=:=555epBe2AeXE:J]BJXJJERJZJ]:bJ5K9J4JzJ:jJ:Jf:rJf:Zb&v@ʁt[bZ@OCoAnC!]?uYӿҁkUAk(Q@K9oe&S-9?|ңzDBӮj󷾮aʜ?r󯣚 jB/ n7ǜ?h*9  |Bꁥ=Bz(@ImFNOT Ignoring new targets: 111.22 m.uh;uh; ProNav: ac range: 111.221313 m, nav range: 111.092949 m, bearing: 154.422857 deg, approach rate: 0.233319 m/s, LOS rate: 0.320697 deg/s, cmd heading: 154.589707 deg, new cmd heading: 155.021578 deg. \<HeadingCmd: 2.705637 target range: 111.221313 and range: 112.00 m.b()-@ZrjRJB~~+{B}||||n? -{B-p1I5z+< 115 ;=()-@9AiE()-@iAE?EEEP0E1 6G ~G A A N% >'&",ĊhA9BA%?B[]?YB`yB_>BH?ܵO?U?@?SEȿ?Z?? BA%?B&,;)BCJ.|BNIIRIR?13Z Z=y^ 5:Q ^ ?٥\` bH`b^= b ?dn55f3?r559f If^ByprJ?r@fEif2`;f`;f]855vqBz2AzUEFNOT Ignoring new targets: 111.22 m.%X;%X;5 ProNav: ac range: 111.221313 m, nav range: 111.159393 m, bearing: 154.522076 deg, approach rate: 0.226533 m/s, LOS rate: 0.338069 deg/s, cmd heading: 155.021580 deg, new cmd heading: 155.319054 deg. 5h<=HeadingCmd: 2.710829 target range: 111.221313 and range: 112.00 m.b=8~-@Z9r9jARAJABA~A~I}I|I|I|I|U@ɏ? {B =I)5>I#.<  ;8~-@i%8~-@i!zEIiEEEE_0Eԙ6G!~G A A) N5 >Թ H} >Hy Hy Hy Hy Hy Hy H} <H} EL",ފhAP'|BIA Mb@Mb@Mb@  K!P"K9*K2Kc:KTekyx9*(0` -@)NWhsOKq(2  ) Y +?L7A`尿V-y v? +  =A @) I@I @ y @IEIE[3U | ]3=y]Q ]>٥Ya eHePFe e>iu55mD?u559m ImXBy}?}:}$F?}@mEim;m;mZ<552AFNOT Ignoring new targets: 111.22 m.;; ProNav: ac range: 111.221313 m, nav range: 111.257729 m, bearing: 154.659454 deg, approach rate: 0.216245 m/s, LOS rate: 0.301835 deg/s, cmd heading: 155.319048 deg, new cmd heading: 155.730810 deg. %O<mHeadingCmd: 2.718015 target range: 111.221313 and range: 112.00 m.bm-@ZirijiRqJqBq~q~}zB}y|y|y|y|?  {B靭I'2< Ƙ;-@i-@iE}?EyEyE}[0E! :J- cBJ- YJJ- DRJ) ZJ- :bJ- [O9J- 4J) zJ- ;jJ- ;J- &n:rJ- )n:6G ȹ~G A A N >v",yhA9J3?J0l?YJyJ[_>JH@O?#??`-r?@(ǿ\S? ? ? J3?J;)JCZE|BZ$IIbIbM3jd= jf=ynq&٥lp rHpr&'> r>tz55vzQ?z559v IvSBy||~U?@vEiv(;vX);vt?55  t2A RE5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 111.22 m.Mɭ;Mɭ;] ProNav: ac range: 111.221313 m, nav range: 111.322388 m, bearing: 154.768233 deg, approach rate: 0.180729 m/s, LOS rate: 0.303874 deg/s, cmd heading: 155.730813 deg, new cmd heading: 156.056958 deg. ]P<eHeadingCmd: 2.723708 target range: 111.221313 and range: 112.00 m.be:Q.@ZarajiRiJiBi~i~q}q|q|q|y|} CG? %{B靵=I)>I5< #~;:Q.@i:Q.@iE=?E9E9E=0EA)-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.6GUY~G)A9AQN]>ԁ [c",ghANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.962930Y9E|;?s?Yݼy>H@?+@@r ??`,?డƿ? *?? E|;?;)M|B)IMb@Mb@Mb@ )YS?l~jty?ļA )I@yII 3< -=y[;Q >٥ HQF= > 55 a?559 ѹ I LBy?:sX?@ Ei o: : C55!%V2A)QUFNOT Ignoring new targets: 111.22 m.]n;]n;m ProNav: ac range: 111.221313 m, nav range: 111.403893 m, bearing: 154.910746 deg, approach rate: 0.172558 m/s, LOS rate: 0.301499 deg/s, cmd heading: 156.056954 deg, new cmd heading: 156.484171 deg. mN<uHeadingCmd: 2.731164 target range: 111.221313 and range: 112.00 m.bud.@ZqrqjqRqJyBy~y~}{B}||||@ -{BIDv9< 'p;d.@id.@ibEZEԁG!G%?AH->H)H-LIH-|BH- =H)H)H-~<H-EEaEiEiEu0EyFFAԩK-mP"K-@9*K)2K-d:K-<>$jeY#W' 7fo+q5nEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2142606GY ~G9 AY A N > ",.,hA9JhB?J#M{?YJӼyJw>JHh?@`&??`?ſ`p?b? ? JhB?J(ݓ;)JCVm|BV=I)X XI^I^3fI= fu=yj2r;Q j?٥hh jHnRFn.= n?pv55rl?v559r IrHByxz`?z@rEir';rT;rF55 1A9EFNOT Ignoring new targets: 111.22 m.E;;M;;} ProNav: ac range: 111.221313 m, nav range: 111.455597 m, bearing: 155.011231 deg, approach rate: 0.140630 m/s, LOS rate: 0.273180 deg/s, cmd heading: 156.484169 deg, new cmd heading: 156.785481 deg. }{;<HeadingCmd: 2.736423 target range: 111.221313 and range: 112.00 m.b!/@ZrjRJB~~}||||~@ 3{B  =I1)5C>1I=dF=< 99=Ae;E!/@AAiE!/@iA ص>׵<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468046:J^BJTJJERJZJ} :bJ:9J4JzJ^:jJc:JRJ:rJTJ:EEEE5E6G) ~G A A) N= >A e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719751Rq", FhA9V8 J?V6?YV;̼yV`->VH/?+??&2?@Eſ:? ?@? V8 J?VV;)VCjl|Bj<IIrIr3zT< zH=yz>;Q z>٥|| ~H|b= > 55 y?559  I BBy2g?@ Ei ; ; J55!%1A%OEY]FNOT Ignoring new targets: 111.22 m.e;e;u ProNav: ac range: 111.221313 m, nav range: 111.512939 m, bearing: 155.135616 deg, approach rate: 0.152920 m/s, LOS rate: 0.331536 deg/s, cmd heading: 156.785476 deg, new cmd heading: 157.158433 deg. uc<}HeadingCmd: 2.742932 target range: 111.221313 and range: 112.00 m.b}3/@ZyrjRJB~~}||||@@ 8{B =I)ޙ>I@< Y;3/@i3/@i1E E E E 5E achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9734286G=ȹԉ~Gq A A N >H% >H! H% XIH% |BH%  =H! H! H% ޚ<H% EԹ ",_hA9vP?vJ?YvS4¼yv>vH`)O?U`? ??`WĿ`E?{?`? vP?vƐ;)vC{|BEIaI@a aM@a aQ@a aE@a II2BDAT read: Rx Time:13:57:00.1179 %TRx dataTimestamp_ set to:1749131821.567410KUP"KUK9*KQ2KUe:KU1%j J'NQ%C*Mf'L}kdJ0=Sl S5pgԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.240039= ==y';Q >٥ HSFf= > 55?-559 I;B5+:y15:5m?5@Ei;5>eM55=pB=1AEMEFNOT Ignoring new targets: 111.22 m.;; ProNav: ac range: 111.221313 m, nav range: 111.572037 m, bearing: 155.278971 deg, approach rate: 0.124433 m/s, LOS rate: 0.301683 deg/s, cmd heading: 157.158432 deg, new cmd heading: 157.588263 deg.  O<HeadingCmd: 2.750434 target range: 111.221313 and range: 112.00 m.b0@ZrjRJB~~}||||& @ m@{Bm6qIuF< qquJ;0@i0@irEJ>jE>E5?E9E9E=5E9FAFE= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4772186G ! ~GY Ay A N >@", zhA9vnW?v?YvjiyvJ->vH+?`?E?!? pÿ`l?wk? |? vnW?v;)vC|BVIi G>I 4<  II35= 5M=y5,;Q =>٥99 =H=TFEߓ= E>IU55M?U559Mӥ IM5BU :yQUd:]t?]@MEiMQ:M2U?MxO55eqBe.1AmJEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 111.22 m.(;(; ProNav: ac range: 111.221313 m, nav range: 111.612511 m, bearing: 155.390093 deg, approach rate: 0.114142 m/s, LOS rate: 0.313262 deg/s, cmd heading: 157.588269 deg, new cmd heading: 157.921508 deg. V<HeadingCmd: 2.756250 target range: 111.221313 and range: 112.00 m.bhf0@ZrjRJB~~}|||| @y -E{B5h=I1)5>1I]I< YY])@;ehf0@aaiehf0@iiDAT read: 13:57:00.1179 LVL= 20752, 32753, 28946, 32755, AGC= 64, IDX= 434, 0.21, 1.534, 0.898,-0.344, 0.577, PHS= 1.045, 0.367,-0.924, RAW= 49.8, -5.7, CAL= 53.7, -10.7, ROT= 96.3, 10.7 Ygot valid direction response: 13:57:00.1179 LVL= 20752, 32753, 28946, 32755, AGC= 64, IDX= 434, 0.21, 1.534, 0.898,-0.344, 0.577, PHS= 1.045, 0.367,-0.924, RAW= 49.8, -5.7, CAL= 53.7, -10.7, ROT= 96.3, 10.7 %PDAT read: Bearing 96.3, 10.7 (Local) 5~Local bearing/azimuth received: Bearing 96.3, 10.7 (Local) MDAT read: Range 10 to 50 : 112.8 m (Round-trip 150.5 ms) speed 0.0 m/s U,DAT read: user:1845> ]BDAT read: Tx time:13:57:01.2132 e$Ping request sent.e۽Dl ܽ/^?)ܽ%˽Iܽo?iܽt;?ܽ"?ܽt;?> ݹ)ݹݽSmN?vCsRG^iݽ1ΜݽG=ݽ"?ݽt;?> ޹)޹U:publishing transmit ping timea]Fpublishing direction and range infoڹyڽ7KI@? &K{ǿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽSmN?vCsRG^iݹݹݹݹ ޹)޹6G ~G A A N > 7",{hA:J*dBJ(JJ*DRJ(ZJ*<:bJ(J*4J(>@>@>@B@JDAT read: TxSync time:13:57:01.2125 9:^?z2?Yˇya0>H?a`)?S?P? Ad¿?N.?5? :^?_8;)C5|B5`IaI%aI% aM%aM% aQ%aQ- aE-aE- -Mb@Mb@Mb@))) )))Y-1Zd?㥛 I +y-"?--9-A -@)-Q@I-@)y-@IEIEV83M< M-=yUT:Q U>٥QY ]HY]w]= e>am55e?m559e Ie/BuT:yu[?u:uQ{?u@eEie*:e:eS550AZbGhABB8/1@ʁ ((|ˈ Y[@(*47KI@? &K{ǿ"?t;?>ҁkoYXڐXD@2\%"@ab&by|1@?V\@?z"Bj%gŜ?r?'[o xB B)@ addTargetRange:: Added new target pos. range: 112.800003 m, deltaT: 3.783444 s, deltaX: 0.800003 m, approachRate: 0.211448 m/s, rangeRepo size: 4  Added new target pos. range: 112.015427 m, bearing: 158.623760 deg, lat: 36.906387 deg, lon: -122.116048 deg, deltaT: 3.783444 s, deltaX: 0.794113 m, approachRate: 0.209892 m/s, posRepo size: 4 %FNOT Ignoring new targets: 112.02 m.%!5 ProNav: ac range: 112.015427 m, nav range: 111.549660 m, bearing: 151.959668 deg, approach rate: 0.000000 m/s, LOS rate: 0.313262 deg/s, cmd heading: 157.921514 deg, new cmd heading: 158.373572 deg. 1=HeadingCmd: 2.764140 target range: 112.015427 and range: 112.80 m.bE0@ZArAjARAJABA~I~M {B}I|I|Q|U@33\@|U ?H >HCHkIH|BHHH1DHך<HE EL{BEL =II)M>IIMO< IIM 2;u0@yyi}0@iyE E E E h1EK:",hA9z9e?zÎ?Yzyz>zH$? K]???~x ???? z9e?zÃ;)zC |B mII5I5<2EB= Ej=yMkQ }>٥ HUFM= M>Q]55U?]559UV IU)ByY]4?e@UEiU[:Ug:UV550AII@A )5FNOT Ignoring new targets: 112.02 m.5;5; ProNav: ac range: 112.015427 m, nav range: 111.566597 m, bearing: 152.078628 deg, approach rate: 0.043341 m/s, LOS rate: 0.304364 deg/s, cmd heading: 158.373577 deg, new cmd heading: 158.730398 deg. P<HeadingCmd: 2.770368 target range: 112.015427 and range: 112.80 m.bM1@ZrjRJB~~}||!|!|% ? Q{B ;O=I )$>IS< aae4%;mM1@iiiuM1@izEE)E)E1E5P0E1F9F9) CA ] ÉGu A aY Ay B6GU ȹ~G) AA AY Ne >i -",S ɋhA9Bl?By?YByBT>BH w?@@$w?` ? 0J?-s?`;?`&? Bl?Bŏ;)BCN|BN|I)P PIVIV3^*{= ^R=ybh';Q b>٥`` bHfVFf = f>9=55=1?E559=5 I=$ByAE΄?E@=Ei=:=):=(Z55ae:0AeGEFNOT Ignoring new targets: 112.02 m.;; ProNav: ac range: 112.015427 m, nav range: 111.577202 m, bearing: 152.194579 deg, approach rate: 0.029691 m/s, LOS rate: 0.324605 deg/s, cmd heading: 158.730400 deg, new cmd heading: 159.078215 deg. ^<HeadingCmd: 2.776439 target range: 112.015427 and range: 112.80 m.b,1@Zrj!R!J!B!~!~)})|)|)|)|U@G? V{B*=I)> )I W< ;,1@i,1@iEEEEEY:J[BJeJJARJZJ:bJ9J4Jԁ H- >H- CH- IH- |BH) H) H- 2DH- <H- EHHHH =I = I56G Թ ~Gi A A N >K",hA=|B=zIIU'IU@3e e/=yeQ e>٥ii mHiu u>y55}?559} I}By@}Ei}:};}!^55pBC0AEEFNOT Ignoring new targets: 112.02 m.;; ProNav: ac range: 112.015427 m, nav range: 111.590851 m, bearing: 152.336971 deg, approach rate: 0.030446 m/s, LOS rate: 0.317584 deg/s, cmd heading: 159.078220 deg, new cmd heading: 159.505336 deg. Y<HeadingCmd: 2.783893 target range: 112.015427 and range: 112.80 m.bO+2@ZrjRJB~~}||||J? [{B=I!)%>!I%\< !!% ;-O+2@))i-O+2@i19EEEE_0EiJ>J>6Gqԙ~GQ AY A N > ",^hA9>z?>܇?Y>y>E>>H8?? L??`%Ӽ`Q?@?? >z?>e;)>CJ|BJIIRIR<2Z5= ZX=yZh;Q ^>٥dh jHnWF=,> =>AM55Ef?M559EG IEByQU?U@EEiE:EG:Ea55y/AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 112.02 m.;;;; ProNav: ac range: 112.015427 m, nav range: 111.589821 m, bearing: 152.460495 deg, approach rate: -0.002555 m/s, LOS rate: 0.306398 deg/s, cmd heading: 159.505339 deg, new cmd heading: 159.875909 deg. GR< HeadingCmd: 2.790361 target range: 112.015427 and range: 112.80 m.b F2@Z r j R JB~)~)})|1|1|Q|U?ԱT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. U`{BUp%=IQ)U.>YI]Pb< YY]/:eF2@aaieF2@iibEZEE?EEEEF=F= 6G :J ]BJ ZJJ ERJ ZJ ]:bJ S9J 4J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248457~GI Aq A N >A #,BhA9v~؃?vZ?Yvkyv>vH`-?P?]?1?->`5m?1?}? v~؃?v;)vC5|B5Ii=%>I=p;aI}@a} aM}@a} aQ}@a} aE}@a} IIm?3~; ==yd;Q >٥ HXF= >55I?559+ IB+:y:o?@Ei;>d55qB/ABEFNOT Ignoring new targets: 112.02 m.;; ProNav: ac range: 112.015427 m, nav range: 111.576393 m, bearing: 152.591122 deg, approach rate: -0.032656 m/s, LOS rate: 0.317721 deg/s, cmd heading: 159.875904 deg, new cmd heading: 160.267824 deg.  Z<HeadingCmd: 2.797201 target range: 112.015427 and range: 112.80 m.b%X3@Z!r!j!R!J!B!~)~)})|)|1|1|5)@H>HHIH }BH =HHH<HE e{B3*=I)f>I`^g< :X3@iX3@i EEEEp0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4980019KMfP"KM9*KI2KMh:KM"+m--/0CD8q/Y+M@'c7KfaL>Fw6Gȹi ~G A A N >60 #,3hA 9R_?R;/?YRdxyR>RH@P? `"??`?ԕ4 ? &?_? R_?RЌ;)RC^|B^IIfIf<2= =P=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751337y;Q >٥ Hy= >55?559 } I B :yd:?@Ei<U?f559=/A9FNOT Ignoring new targets: 112.02 m.c;c; ProNav: ac range: 112.015427 m, nav range: 111.557587 m, bearing: 152.718773 deg, approach rate: -0.044401 m/s, LOS rate: 0.301425 deg/s, cmd heading: 160.267821 deg, new cmd heading: 160.650833 deg. N<HeadingCmd: 2.803886 target range: 112.015427 and range: 112.80 m.br3@ZrjRJB~~}||||@ j{BA%=I)">I(l< E:r3@!!i%r3@i!iE?EEE0Eԑ6G BDAT read: Rx Time:13:57:03.7681 % TRx dataTimestamp_ set to:1749131825.096991% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004560~G A A N #,)MhA9:sE?:Ol?Y:Bpy:>:Ha?`jg? ?:?`? E?? :sE?:l=;):CHZ}B^IIbIbV83jH= jQ=ynX:Q r>٥tt zHzYF~= >!-55%?-559%iw I%B9y8:?@%Ei%J<%P?%h55v/A!MFNOT Ignoring new targets: 112.02 m.M;U;] ProNav: ac range: 112.015427 m, nav range: 111.534584 m, bearing: 152.837991 deg, approach rate: -0.058927 m/s, LOS rate: 0.305467 deg/s, cmd heading: 160.650830 deg, new cmd heading: 161.008553 deg. eQ<eHeadingCmd: 2.810129 target range: 112.015427 and range: 112.80 m.be)3@ZrjRJB~~}||||@߽ @ o{Bz-=I)>I_q< !%:-)3@))i-)3@i)rE=V>jE=>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254977:J_BJOJJGRJZJ :bJ%9Jc4JE?EEE93EFAFAH >HCHIH)}BH =HHH֚<HE6GA ! ~G9 Ai A N >  = ?#,fhADAT read: 13:57:03.7681 LVL= 18864, 28225, 25026, 22595, AGC= 62, IDX= 436,-0.03,-2.962, 2.411, 1.245, 1.961, PHS= 1.447, 0.496,-0.720, RAW= 56.0, -13.0, CAL= 66.2, -21.2, ROT= 83.8, 21.2 Ygot valid direction response: 13:57:03.7681 LVL= 18864, 28225, 25026, 22595, AGC= 62, IDX= 436,-0.03,-2.962, 2.411, 1.245, 1.961, PHS= 1.447, 0.496,-0.720, RAW= 56.0, -13.0, CAL= 66.2, -21.2, ROT= 83.8, 21.2 PDAT read: Bearing 83.8, 21.2 (Local) ~Local bearing/azimuth received: Bearing 83.8, 21.2 (Local) &DAT read: Range 10 to 50 : 113.0 m (Round-trip 150.7 ms) speed 0.1 m/s *,DAT read: user:1846> *BDAT read: Tx time:13:57:04.8632 .$Ping request sent..i$׿MBYI MI)MAnIMaiMCXM>ML7?M>MQ8 M5z?)MVhIMh?iMqM6?Mq> I)IMDjN?0 qzͫ̿iMFMTg>M6?Mq> I)IZ:publishing transmit ping time,ZFpublishing direction and range infoIyM9ƹ?:|?t>i$׿IYI I)IIIiIIIII I)IIIiIII I)IMDjN?0 qzͫ̿iIIII I)I|9Us?U{?YUKFiyU>UH`#?3a?  ?``?(??`? Us?UL#;)UC}BI) K5P"KK9*K2Ki:Kd(JLRR`oUo@ =&T:|m>]aIUaI] aM]aM] aQ]aQ] aE]aE] ]Mb@Mb@Mb@YYY Y)YY]"~j?i|?5Qy]S#?]q]]A ]j@)]@I]h@YyYI I2z $=yam:Q >٥  H ZFI= >)iu55mr?u559m=o ImB}T:y}4$?}:}՟?}@mEim&;m4;mm55pB/AAEZIbMTfhAMmBMmBM2@ʁMX&@OK'}Z@S|%JDM9ƹ?:|?t>i$׿M6?Mq>ҁM|Rjrz1I=5x< 99=a:Eb4@AAiEb4@iIYJDAT read: TxSync time:13:57:04.8625 Em ?Ei Ei Em o0Ei ԁ 6G5 ȹԱ ~G A AN> !#, `hA9~ѐ?~?Y~eqy~2>~H ? %@W?:?Hb?@N/?@? ? ~ѐ?~;)~C%|B%II='I=@3mh mV=ymQ m>٥qq uHq}+= }>y55}6?559}Si I}By-?@}Ei};}K;}Pp55/A>EB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 112.21 m.-;-;= ProNav: ac range: 112.213760 m, nav range: 111.444885 m, bearing: 153.122903 deg, approach rate: -0.119625 m/s, LOS rate: 0.349602 deg/s, cmd heading: 161.489619 deg, new cmd heading: 161.846139 deg. =o<eHeadingCmd: 2.824748 target range: 112.213760 and range: 113.00 m.bm4@ZirijiRiJiBi~q~q}q|q|y|y|}? x{B 7=I)>I|< :4@i4@i E?EEE5ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6G% 9 ~G) JH4Jj4Jsq0:J ^BJ ZJJ @RJ ZJ } :bJ S9J J4J A A N >I 1'#,I,hAHB>H@HBIHBG}BHB =H@HB1DHB<HB EU|BUIeMb@Mb@Mb@aaa a)aYe/$?Zd;X9vye1(?eyeeE A e@)eh@Ie~@aye@II#3s 7=yQ >٥ H[F >55e?559a IBy)?:#?@Ei{::.t55/AFNOT Ignoring new targets: 112.21 m. ; ; ProNav: ac range: 112.213760 m, nav range: 111.395058 m, bearing: 153.270834 deg, approach rate: -0.115948 m/s, LOS rate: 0.344388 deg/s, cmd heading: 161.846141 deg, new cmd heading: 162.290124 deg. Yl<)-HeadingCmd: 2.832497 target range: 112.213760 and range: 113.00 m.b-G5@Z)r)j)R)J1B1~1~5{B}9|9|9|9|==O? m|{Bu['=Iq)u>qIu]< qy}X:G5@  i G5@i-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990176zEE?EEEn5EF=FYK P"Kж9*K2Kj:KXUX/>**&`@9, ei+T4J *%cԁ 6G ~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241946Z-#,mhA,9~?~^?Y~y~>~H(?5b`?@٥9A EHE\FE> E>I]55M'?]559M[ IMByae#?e@MEiMWg;Mh;MNw55qu/AqFNOT Ignoring new targets: 112.21 m.s;s; ProNav: ac range: 112.213760 m, nav range: 111.342682 m, bearing: 153.389159 deg, approach rate: -0.145788 m/s, LOS rate: 0.329512 deg/s, cmd heading: 162.290130 deg, new cmd heading: 162.645266 deg. $b<HeadingCmd: 2.838695 target range: 112.213760 and range: 113.00 m.b/5@ZrjRJ!B!~!~!})|)|I|i|ue? {B靝B-=I)>I)< &*:ԉ/5@i/5@iE}?EyEyE}P0Ey5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4939616Ge ȹ ~G9 AI AY Ne >4?4#,ьhA9>#?>iJ?Y>y>=>>H F??'?ւ? 䪿d5??O?? >#?>v;)`٥dd fHdj = j>l=55n?E559nWU InߝByIM?M@nEintIh< d96@  i 6@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747381IIAAE?EEEEH>HHIHQ}BHHHH<HE!6GM~Gi Ay A N >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997902Q i:#,hA9>Pv?>,?Y>TZy>}>>HԼ???@?l`k?@&G?? >Pv?>_;)EH*JC#tVw KxbzwSK 9;%,!4d[}EMb@Mb@Mb@AAA A)AYE"~j?Zd;lyES#?AEE A A)E@IE;@AyEG@IUIU(*3el, e?=ymQ m>٥ii uHu]FuCz= u>55F?%559M I՝By%X$?%:%ݰ?%@Eio::~55)-/A5I  <   ɏ9mA6@qqiuA6@iqbEZEIE%?E!E!E-O0E)F1F1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250670:J[BJUJJFRJZJ:bJ>9J4JzJ:jJ:J}Q:rJQ:q6Ge ȹ~GA AY Ai Nu >ԡ  G- AY Y Ay BTA#,hA96?6y ?Y6+y6/>6H@ ? 7@??`?4? f? D? 6?6 ;)4Z|BjI)l l r=r=IvIv3 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503341l< O=y6Q >٥ H^F%= %>)555-?5559-G I-͝By9=O?=@-Ei-p;-K;-ہ55AE/AAiquFNOT Ignoring new targets: 112.21 m.;; ProNav: ac range: 112.213760 m, nav range: 111.133141 m, bearing: 153.776580 deg, approach rate: -0.187180 m/s, LOS rate: 0.315900 deg/s, cmd heading: 163.453325 deg, new cmd heading: 163.808233 deg. X<HeadingCmd: 2.858993 target range: 112.213760 and range: 113.00 m.b6@ZrjRJB~~}||||@Z@ {B\0=I)>I7B< @s86@i6@iE%?E!E)E-^0E)ԡ6GMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754404II~Ga A AA Ne > N|G#,ehAH>HHIHG}BHHHHך<HEHuCHuCHqHu =Iu = Iu59ZYp?Z3?YZyZ>ZHLݭ?4?? ?ɟ b?+?@? ZYp?Zg;)Xn|BrI5Mb@Mb@Mb@111 1)1Y5{Gz?y&1Q롿y5#?5`e5\5 A 5@)5@I5@1y5Q@IMIM2]E ]8=y]z4:Q ]>٥aa eHauu~= }>y55} ?559}:@ I}ŝBy$?:?@}Ei}V:} ;}…55/AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 112.21 m.M;M; ProNav: ac range: 112.213760 m, nav range: 111.040482 m, bearing: 153.916720 deg, approach rate: -0.207119 m/s, LOS rate: 0.313513 deg/s, cmd heading: 163.808236 deg, new cmd heading: 164.228997 deg. )W<HeadingCmd: 2.866337 target range: 112.213760 and range: 113.00 m.br7@ZrjRJB~~zB}| | |i|m@ {B=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006580)>)I-Ќ< )15n_ฉEr7@iqiur7@iE?EEEY0EK5+P"K5@9*K12K5l:K5CpoObm5v"#I]ZHx\j_!{;HF 9JM ?JM?)6G a ~G A  BDAT read: Rx Time:13:57:07.4177  TRx dataTimestamp_ set to:1749131828.875548 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259251A :J `BJ SJJ BRJ ZJ :bJ y69J -4J zJ :jJ :J (C:rJ *C:N >M#,299hA9)?P?Y0y>H ?x?x??@|`%??@? )?骕E;)C|BI1I5I5<2}b[< }H=y:Q >٥ H_F= >55 ?559b9 IByb?@Ei\::O55/AFNOT Ignoring new targets: 112.21 m.;; ProNav: ac range: 112.213760 m, nav range: 110.949738 m, bearing: 154.043038 deg, approach rate: -0.222807 m/s, LOS rate: 0.310405 deg/s, cmd heading: 164.229003 deg, new cmd heading: 164.608260 deg. U<HeadingCmd: 2.872956 target range: 112.213760 and range: 113.00 m.b7@ZrjRJ B ~ ~ }||||`+ @ E{BER*=II)MB>IIUH< QQUm&e7@aaie7@iaE ?E E E o0E F=Fi%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509972ԙ6GI ~G A A N >Թ nT#,+ShA9>ެ?>?Y>zy>|>>H .4?@? ?^n Yn[??? >ެ?>M;)>CJ|BJIiN=IN4<IVIVm?3b€ bk=yf:Q f?٥dd fHdj= j?lr55n?r559n3 InBypv?v@nEinN:n :nX55xz/Ax%FNOT Ignoring new targets: 112.21 m.-;5;E ProNav: ac range: 112.213760 m, nav range: 110.866570 m, bearing: 154.150042 deg, approach rate: -0.240012 m/s, LOS rate: 0.309033 deg/s, cmd heading: 164.608256 deg, new cmd heading: 164.929507 deg. MT<MHeadingCmd: 2.878563 target range: 112.213760 and range: 113.00 m.bM`:8@ZQrQjQRQJQBQ~Y~Y}a|a|a|a|ek @DAT read: 13:57:07.4177 LVL= 18704, 30129, 19842, 27027, AGC= 59, IDX= 431,-0.11, 1.636,-0.002,-0.267, 0.299, PHS= 1.425,-0.254,-0.569, RAW= 81.6, -6.5, CAL= 90.7, -14.6, ROT= 59.3, 14.6 Ygot valid direction response: 13:57:07.4177 LVL= 18704, 30129, 19842, 27027, AGC= 59, IDX= 431,-0.11, 1.636,-0.002,-0.267, 0.299, PHS= 1.425,-0.254,-0.569, RAW= 81.6, -6.5, CAL= 90.7, -14.6, ROT= 59.3, 14.6 PDAT read: Bearing 59.3, 14.6 (Local) ~Local bearing/azimuth received: Bearing 59.3, 14.6 (Local) DAT read: Range 10 to 50 : 112.6 m (Round-trip 150.2 ms) speed 0.1 m/s ,DAT read: user:1847> BDAT read: Tx time:13:57:08.5133 $Ping request sent. q)quל?0YWD'iu+u=u;z?uw> q)qM:publishing transmit ping time U{BU&+=IQ)]*>YI]7< YY]rFpublishing direction and range infoqyu#%V?t?!пqm`:8@i`:8@iYq q)qIqiqqqqq q)qIqiqqq q)quל?0YWD'iqqqq q)qE?EEE~0EH%>H!H%IH%=}BH% =H!H!H%<H%E) U JDAT read: TxSync time:13:57:08.5125 6G ~G A A N >Y :Z#,{mhA96ʹ?6?Y6Ӊpy61>6Hh\r u??ƞ/z??? 6ʹ?6;)6Cb|BbIK5RWP"K5}9*K12K5m:K56  e1%#"Tw~|`S9d89.#WJQJQ]Mb@Mb@Mb@YYY Y)YY]Zd;? ףp= X9vy]?]Q8]]E A Y)]@I];@Yy]@IuIu#3< 0=yz:Q >٥ H`F= >55?559+ IBy?:?@Ei;;d55oB/A:EZbҁ5RXeж/J@p(fpvQD쿂.gX?PƃPqz}QBjcǜ?r tBcǜ?  ꁝB)@  addTargetRange:: Added new target pos. range: 112.599998 m, deltaT: 3.779827 s, deltaX: -0.400002 m, approachRate: -0.105825 m/s, rangeRepo size: 4 !M Added new target pos. range: 111.815048 m, bearing: 152.065400 deg, lat: 36.906396 deg, lon: -122.115999 deg, deltaT: 3.779827 s, deltaX: -0.398712 m, approachRate: -0.105484 m/s, posRepo size: 4 Q]FNOT Ignoring new targets: 111.82 m.eau ProNav: ac range: 111.815048 m, nav range: 111.797066 m, bearing: 152.065085 deg, approach rate: 0.000000 m/s, LOS rate: 0.309033 deg/s, cmd heading: 164.929507 deg, new cmd heading: 165.362361 deg. q}HeadingCmd: 2.886118 target range: 111.815048 and range: 112.60 m.b}'8@ZrjRJB~~zB}|||`f&\@|`H? ]{B]$=Ia)e >aIe< aae+m'8@iiiu'8@iq:J]BJUJJ>RJZJ]:bJ>9Jt4JzJ:jJ:J}Q:rJQ:IEQEQEQEU0EYԁ 6G5 ȹ~G A A1 N= >oa#,tΆhA0|BII%I%<254< 5@=y5Q 5>٥99 =H=aF= E>AU55E`?U559E$ IEByQQU@E EiE ;E;E55Ye/Ae7EԉFNOT Ignoring new targets: 111.82 m.p;p; ProNav: ac range: 111.815048 m, nav range: 111.679932 m, bearing: 152.186491 deg, approach rate: -0.277117 m/s, LOS rate: 0.287525 deg/s, cmd heading: 165.362363 deg, new cmd heading: 165.726958 deg. SE<HeadingCmd: 2.892481 target range: 111.815048 and range: 112.60 m.bi9@ZrjRJB~I~I}I|I|I|Q|U`? {B靽B!+=I)!>I?< ^i9@ii9@izEԹEu?EqEqE}0EyFF 6G  H- <H- <H5 >H1 H5 IH5 3}BH5  =H1 H1 H5 <H5 E~Gq A A N >|g#,bhA,9ZCo?Z?YZbyZ >ZHy ? ?U*7?fS??d? ZCo?Z;)ZCi``)` dId d)ftAfףdd5C1i1I11I9i9 99)9A EIAETAAAEfAIM )IiI)IIU`AQQ QYY]iYYٯYu|B}I)y y =a=Mb@Mb@Mb@ )YZd;?:v:vy?TԼ A @)I@y @IIF3%겼 %G=y-;Q ->٥)1 5H5bF5> 5>9e55=?e559=\ I=Bym?u:uH?u@=Ei=;=e;=55ԉ/AB*** querying acoustic contact ***JR%FNOT Ignoring new targets: 111.82 m.%;%;5 ProNav: ac range: 111.815048 m, nav range: 111.559258 m, bearing: 152.299401 deg, approach rate: -0.281112 m/s, LOS rate: 0.263309 deg/s, cmd heading: 165.726959 deg, new cmd heading: 166.066050 deg. 54<HeadingCmd: 2.898399 target range: 111.815048 and range: 112.60 m.b`9@ZrjRJB~~zB}||||C? %{B%*=I!)%T>!I-J< ))-͇5`9@11i5`9@iԱK-UP"K-9*K)2K-n:K-I~] KU6JPyl&?4X:[y u3rG)EiEiEiEm2Ei E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.6Gq :J cBJ VJJ DRJ ZJ :bJ B9J 4J zJ ;jJ ;J X:rJ X:~GI AY Ay N% > n#,)hA9~V?~u}?Y~Qy~7>~HrǾVh?`?@b ? a0?*n?? ~V?~3;)~C}BIII3= P=y@0;Q >٥ H= >55?5594 IBy;?@Eif;g; 55  o/A :EFNOT Ignoring new targets: 111.82 m.;;;; ProNav: ac range: 111.815048 m, nav range: 111.440842 m, bearing: 152.403072 deg, approach rate: -0.303719 m/s, LOS rate: 0.266185 deg/s, cmd heading: 166.066050 deg, new cmd heading: 166.377392 deg. 6<HeadingCmd: 2.903833 target range: 111.815048 and range: 112.60 m.bh9@ZrjRJ!B!~)~)})|)|1|1|5`z? E{BE2=II)M>IIM< IIMUh9@QQi]h9@iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749861E5?E1E1E5f5E19a 6GQ ~G1 A9 AQ N] >%wu#,p֍hA Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001135U }B]IqII35< 5*=yEQ E>٥QY ]H]cFu }>IU55M ?]559M  IMByYYe@MEiMMu;M*y;M55y}D/AyFNOT Ignoring new targets: 111.82 m.;; ProNav: ac range: 111.815048 m, nav range: 111.284546 m, bearing: 152.540745 deg, approach rate: -0.311051 m/s, LOS rate: 0.274372 deg/s, cmd heading: 166.377398 deg, new cmd heading: 166.790987 deg. L<<H>HCHIH=}BH =HH2DHš<HEHeadingCmd: 2.911052 target range: 111.815048 and range: 112.60 m.bN:@Zrj R J B ~ ~}||||n@ԙ {B靍Px'=I)׶>I< 3ƼN:@iN:@ibEZEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253159E E E E 1E F =F K 5P"K *K 2K o:K a#)c LCdf4iWyOpGHkQ I 6G ȹ~GAAN> |#,LPhA9B?B"?YB`3yBc@>BHyƿ&Wi?z? ~ƿH?`n{?`_?`? B?By;)BCN!}BNIiR>IRa=TT)Mb@Mb@Mb@ )YzG?~jty ?Lļ A j@)@I@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504801y@II2[>= F=yˏ;Q >٥ HdFD> >-55 ?-559 IBy5?5:5?=@EiV;F;55EnBE.AE9EFNOT Ignoring new targets: 111.82 m./;/;e ProNav: ac range: 111.815048 m, nav range: 111.157654 m, bearing: 152.638826 deg, approach rate: -0.319018 m/s, LOS rate: 0.246866 deg/s, cmd heading: 166.790993 deg, new cmd heading: 167.085569 deg. ek)<HeadingCmd: 2.916193 target range: 111.815048 and range: 112.60 m.b:@ZrjRJB~~zB}||||@Q u{BuU==Iy)}ο>yI}< yӺ:@i:@iEEEE5Eԁe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757000ԩ 6G) ~G A A! N- >-у#,hA9>?>?Y>/ "y>>>Hޱʿ@%?tK?@ʿ@?@0A?`?[? >?>TH;)>CJ1}BJIIvIvF3~*= ~Z=y~!?;Q >٥ H =  >%55' ?%559c IBy)-?-@Ei`;a;25515.A1aeFNOT Ignoring new targets: 111.82 m.m;m;} ProNav: ac range: 111.815048 m, nav range: 111.032127 m, bearing: 152.730250 deg, approach rate: -0.357236 m/s, LOS rate: 0.260478 deg/s, cmd heading: 167.085565 deg, new cmd heading: 167.360145 deg. }2<HeadingCmd: 2.920985 target range: 111.815048 and range: 112.60 m.bm:@ZrjRJB~~}|||ԩ|IF< n躉-m:@))i-m:@i1E5?E1E1E5P0E1BDAT read: Rx Time:13:57:11.0666 TRx dataTimestamp_ set to:1749131832.408536checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011293Ia=I:JaBJ[JJCRJZJ:bJW9J4J@@@@ 16GQGyG}AA~Gi Ay A N >Y r#,)hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2607689F?F?YFkyFk>FH`ddο'? i?Ϳ@IM?@ĺ?u?&? F?F;)DR@}BRI5Mb@Mb@Mb@111 1)1Y5gfffff?Zd;Oy53?15j5E A 1)5@I11y5 @IIII!= ;=y 2;Q  >٥   H15eF=܈= =>AM55E?M559E IEByM?M:Mi?u@E#EiEd;E;E55u.AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 111.82 m.M;M;] ProNav: ac range: 111.815048 m, nav range: 110.878990 m, bearing: 152.836062 deg, approach rate: -0.335215 m/s, LOS rate: 0.231941 deg/s, cmd heading: 167.360139 deg, new cmd heading: 167.678011 deg. ]-<eHeadingCmd: 2.926533 target range: 111.815048 and range: 112.60 m.beSL;@ZarjRJB~~zB}||||@t( @KE P"KEŷ9*KA2KEp:KE^E3  vMJov7@MtdvZC<y)} u{Buk;=Iy)}>yI}C< yySL;@iSL;@iiEAEIEQEUO0EYFyFy DAT read: 13:57:11.0666 LVL= 19248, 32753, 28594, 32755, AGC= 62, IDX= 435, 0.28,-1.128,-2.717,-2.490,-2.003, PHS= 0.962,-0.668,-0.490, RAW= 95.7, 2.6, CAL= 104.8, 0.4, ROT= 45.2, -0.4 Ygot valid direction response: 13:57:11.0666 LVL= 19248, 32753, 28594, 32755, AGC= 62, IDX= 435, 0.28,-1.128,-2.717,-2.490,-2.003, PHS= 0.962,-0.668,-0.490, RAW= 95.7, 2.6, CAL= 104.8, 0.4, ROT= 45.2, -0.4 PDAT read: Bearing 45.2, -0.4 (Local) %~Local bearing/azimuth received: Bearing 45.2, -0.4 (Local) EDAT read: Range 10 to 50 : 111.8 m (Round-trip 149.1 ms) speed 0.3 m/s M,DAT read: user:1848> UBDAT read: Tx time:13:57:12.1633 U$Ping request sent.UEv? +H ?)9=I ?i;I? )5^!}#?B@Lڿ\`r?iپs'7I? ) :publishing transmit ping timeQ Fpublishing direction and range infoyC 9?Li?a|?Y )Ii )Ii )5^!}#?B@Lڿ\`r?i )6Ga jGe >bGe >~G! A1 AA NU >)  G9 #,ChA 6aY4y6dB9u6?ub]?Yuyuω>uH ҿ}u`d? ?Mҿ`? [}? ? ? u6?uZ;)qF}BI) II3]Vg< uE=y}n;Q }>٥ HfFԑn> >55?559 IyBy?@'Ei;<55].A=JDAT read: TxSync time:13:57:12.1625 Z b bM:hA B B (@ʁ S@,|S@V? C 9?Li?a|? I? ҁ HW4J|X#J@ <1˚A6@ ,f~g{"?@@ʨ?z QB ľj a+Ȝ?r &@  &B   tB rB ~*@E addTargetRange:: Added new target pos. range: 111.800003 m, deltaT: 3.532262 s, deltaX: -0.799995 m, approachRate: -0.226482 m/s, rangeRepo size: 4  Added new target pos. range: 111.023964 m, bearing: 151.274724 deg, lat: 36.906396 deg, lon: -122.115999 deg, deltaT: 3.532262 s, deltaX: -0.791084 m, approachRate: -0.223960 m/s, posRepo size: 4 FNOT Ignoring new targets: 111.02 m. ProNav: ac range: 111.023964 m, nav range: 110.723679 m, bearing: 152.931514 deg, approach rate: 0.000000 m/s, LOS rate: 0.231941 deg/s, cmd heading: 167.678016 deg, new cmd heading: 167.987177 deg. HeadingCmd: 2.931929 target range: 111.023964 and range: 111.80 m.b;@ZrjRJB~~}|| | @3[@| ? U{B]D=IY)]>YI$< ';@i;@iE9E9E9E=P0E9I I ?A:J cBJ qJJ IRJ ZJ :bJ q9J F4J 6G]  ~G9 AI Aa Nm > #,;]hAH>HCHIHz}BH =HH3DHǚ<HE%O}B%IMb@Mb@Mb@ )Ykt?y&1{Gzy ?`eף/ A )@Iy@I+In3< 2=yQ >٥!! %H!% %>)E55-m?E559- I-rByE?E:EU?M@-+Ei-`;-(;-55QU8.AQFNOT Ignoring new targets: 111.02 m.;;= ProNav: ac range: 111.023964 m, nav range: 110.560944 m, bearing: 153.034754 deg, approach rate: -0.376916 m/s, LOS rate: 0.239469 deg/s, cmd heading: 167.987178 deg, new cmd heading: 168.297349 deg. =X$<EHeadingCmd: 2.937343 target range: 111.023964 and range: 111.80 m.bMm;@ZirijiRiJiBq~q~uzB}q|y|y|y|}ay?I e{Be@F=Ii)m>iIm"< iim]um;@qqi}m;@iyE=?E9E9E=O0E9q K] aP"K] 9*KY 2K] q:K] Vk 7bsN:X[EOt|qU>Xo8 ?7njJi Jm A6Ga ԡ ~G A A N >#,zhA9N%d?N?YN)yN ׍>NHֿ`]?? oտK?!|??w? N%d?N>;)NCVx}BVII^!I^i3f@= fk=yju:Q j?٥hl nHngFn>> n?pz55r?~559r IrmBy?@r.Eir;rC;r55-A7EIFNOT Ignoring new targets: 111.02 m.;; ProNav: ac range: 111.023964 m, nav range: 110.429207 m, bearing: 153.108465 deg, approach rate: -0.399393 m/s, LOS rate: 0.223741 deg/s, cmd heading: 168.297350 deg, new cmd heading: 168.518747 deg. <HeadingCmd: 2.941207 target range: 111.023964 and range: 111.80 m.b<<@Z!r!j!RIJQBQ~Y~Y}||||? E{BE^=IA)E >IIMح< IIM'U<<@QQiU<<@iY9E?EEET0Ea6G ZG RG }A~G A A9 NE >ԑ Sۤ#,^hA9F?F?YFX˻yFQ>FH>ؿp`Z?܇?׿@?@qy?@? g? F?F;)DVw}BVII^I^#3fq fK=yf:Q j>٥hh jHhn.= n>pv55r?v559rM IrfBytv?z@r2Eir:r:r755|~-A|15FNOT Ignoring new targets: 111.02 m.=Nq;=Nq;M ProNav: ac range: 111.023964 m, nav range: 110.269478 m, bearing: 153.192579 deg, approach rate: -0.400036 m/s, LOS rate: 0.210966 deg/s, cmd heading: 168.518744 deg, new cmd heading: 168.771450 deg. M<UHeadingCmd: 2.945617 target range: 111.023964 and range: 111.80 m.bU<@ZQrQjQRQJYBY~a~a}a|a|a|i|m5@? 靥}df=IɅ)T>IL< %1<@i<@iYy:J]^BJ]RJJ]CRJYZJ]} :bJ]S29J]4JYEEEEo0EԹ H<H<HE>HAHEIHE}BHE =HAHAHE<HEEHCHCHCH =I = Iҿ56G~GAAN> > d? #,O;hA9>8:?>a?Y>Sy>>>HYڿT+?T)?hٿ`?tJs??`? >8:?>;)>Cb}BbIMb@Mb@Mb@ )Y/$?㥛 I +y ?9E A )I@yI IV2= 8=y];Q  >٥    H hF= >%55?%559' I]By-b ?-:-r?-@6Ei:(:55=mB=-A=:E]B*** querying acoustic contact ***JYRYamFNOT Ignoring new targets: 111.02 m.mk;mk;K(;P"K9*K2Kr:K ZbF)2h11&o<|;k29`CJ?J?] ProNav: ac range: 111.023964 m, nav range: 110.098198 m, bearing: 153.283563 deg, approach rate: -0.386278 m/s, LOS rate: 0.205509 deg/s, cmd heading: 168.771447 deg, new cmd heading: 169.044819 deg. ] <eHeadingCmd: 2.950389 target range: 111.023964 and range: 111.80 m.be+<@ZarajaRaJiBi~~%{B}||||? {BX=I ) 1> I <  *a@+<@i+<@iE?EEEEMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.1 6G! ~G A A! N5 >Q #,ȎhA9B?BA@YBZyyB>BH ܿ#`i?*?@/ۿ@ֽ?U+o? ?@? B?BV;)BC\\IjIj3rA r^=yv!;Q v>٥tx zHziFz2= >%55+?%559 IVBy)-?-@9EiS::X55QYYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251890FNOT Ignoring new targets: 111.02 m.^;^; ProNav: ac range: 111.023964 m, nav range: 109.951027 m, bearing: 153.357699 deg, approach rate: -0.386246 m/s, LOS rate: 0.194829 deg/s, cmd heading: 169.044819 deg, new cmd heading: 169.267524 deg. <HeadingCmd: 2.954276 target range: 111.023964 and range: 111.80 m.b=@ZrjRJB!~!~!}!|)|)|)|-J@ 靭k=I)>I< L)5=@19i==@i9E%?E!E!E%0E!YM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5038766Ge :J _BJ aJJ FRJ ZJ :bJ p9J 4J jG ?bG ?ԙ ~G A A) N1 y#,\hA0H^>H^CH^IH^}BH\H\H\H^<H^E9o?c@YUy>H@ ݿFR?Z?kܿ ,y?j?;Z?`? o?骵\D;)C}BImMb@Mb@Mb@iii i)iYm|?5^?{Gz:vym ?mףmԼm A i)m@Iiiymf@II2H = 2=yZ:Q >٥ HjF`= >55?559 IKBys?:?@=Ei::\55,AԁFNOT Ignoring new targets: 111.02 m.^;^; ProNav: ac range: 111.023964 m, nav range: 109.763245 m, bearing: 153.448940 deg, approach rate: -0.399916 m/s, LOS rate: 0.194647 deg/s, cmd heading: 169.267524 deg, new cmd heading: 169.541713 deg. <HeadingCmd: 2.959061 target range: 111.023964 and range: 111.80 m.bBa=@ZrjRJB~!~%A{B}!|)|)|)|-@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756073 !%Na=I))->)I-Wĺ< ))51lZ=Ba=@9AiEBa=@iIԱK] (P"K] 9*KY 2K] s:K] VKX4vYyc=ZAn=W b? V}9FuV W>Em Ju AJu A E E E E ]0E U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008071 6Gȹ1~GqAAN ?*#, hA9J#W?J>@YJ_KyJ>JHO߿@4?? 5޿s?ki? (? ? J#W?J#;)JCR}BVII^I^?13f< f(=yjE9Q j>٥ll nHprs= r>tz55v?z559v! Iv@By|~b?~@vAEiv:v:v55,A8E15FNOT Ignoring new targets: 111.02 m.=f;=f;M ProNav: ac range: 111.023964 m, nav range: 109.560677 m, bearing: 153.542307 deg, approach rate: -0.436605 m/s, LOS rate: 0.201611 deg/s, cmd heading: 169.541715 deg, new cmd heading: 169.822332 deg. M] <]HeadingCmd: 2.963959 target range: 111.023964 and range: 111.80 m.b]=@ZarajaRaJaBa~i~i}i|q|q|q|uj @ {B靥ci=I)?I< ~h=@i=@i>EuBDAT read: Rx Time:13:57:14.7150 }TRx dataTimestamp_ set to:1749131836.189553checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264022EEEE0E6G! ~GQ AY Aq N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511913P#,hA GGH>HH IH}BHHHHÚ<HE!9e?e @YeY1ye~>eHw`!q J?o? ߿ 11?`!f? ?Z? e?e;)eCE}BMIMb@Mb@Mb@ )YS?KV-y?^/ A S@)@I@yp@II3=F ==y= @:Q E>٥AA EHEkFU[= ]>am55e?m559e Ie2Bym-?m:m?m@eFEie:e:eb55}lB},A};EFNOT Ignoring new targets: 111.02 m.];];Ye ProNav: ac range: 111.023964 m, nav range: 109.325760 m, bearing: 153.648351 deg, approach rate: -0.428111 m/s, LOS rate: 0.193669 deg/s, cmd heading: 169.822326 deg, new cmd heading: 170.141138 deg. e<mHeadingCmd: 2.969523 target range: 111.023964 and range: 111.80 m.bm >@ZirijiRiDAT read: 13:57:14.7150 LVL= 29104, 32753, 32754, 32755, AGC= 65, IDX= 419, 0.47, 2.977, 1.471, 2.078, 2.386, PHS= 0.679,-0.867,-0.311, RAW= 110.8, 7.4, CAL= 120.9, 4.6, ROT= 29.1, -4.6 Ygot valid direction response: 13:57:14.7150 LVL= 29104, 32753, 32754, 32755, AGC= 65, IDX= 419, 0.47, 2.977, 1.471, 2.078, 2.386, PHS= 0.679,-0.867,-0.311, RAW= 110.8, 7.4, CAL= 120.9, 4.6, ROT= 29.1, -4.6 PDAT read: Bearing 29.1, -4.6 (Local) ~Local bearing/azimuth received: Bearing 29.1, -4.6 (Local) DAT read: Range 10 to 50 : 110.6 m (Round-trip 147.5 ms) speed 0.3 m/s ,DAT read: user:1849> BDAT read: Tx time:13:57:15.8133 $Ping request sent.Iu @iul=u"?ul q)qui^HR?NĿPw隂?iu$uOsu"?ul q)q:publishing transmit ping timeFpublishing direction and range infoqyurY?&s?zꇴ?qYq q)qIqiqqqqq q)qIqiqqq q)qui^HR?NĿPw隂?iqqqq q)qJIBI~Q~]){B}a|a|a|e`f[@|mܶ? {B:CW=Ii)m2?iIm< iiuVzu >@qyi} >@iyDDDDԁ K uP"K 9*K 2K t:K $k x thlF )!-7.Kx_@}rE1 jE5 >Ա E ?E E E P0E -JDAT read: TxSync time:13:57:15.8125 :JUiBJUSJJQRJQZJU+:bJUy69JQJQzJU/;mjJU/;mJU'C:mrJU*C:u6G ~GA AN ?#,SFhA9B?Bv @YBúyB>BH v/?k?@gj ?`tX??v? B?Bsk;)BCN}BNIIV)IVW3^ ^*=yb2%;Q b>٥`` bHflFf= f>hn55j?n559j9 Ij%Bypr@r@jKEij;jw;j55x~,A|ZbL4,hABB62)@ʁ %W;W@C_.J@.!!@rY?&s?zꇴ?"?lҁfLW!("I@v4Šy6@3zӀn"?^k3?zAMB̼jȜ?r~Ix dB xB9B+@ addTargetRange:: Added new target pos. range: 110.599998 m, deltaT: 3.779719 s, deltaX: -1.200005 m, approachRate: -0.317485 m/s, rangeRepo size: 4 % Added new target pos. range: 109.832970 m, bearing: 151.472264 deg, lat: 36.906396 deg, lon: -122.115999 deg, deltaT: 3.779719 s, deltaX: -1.190994 m, approachRate: -0.315101 m/s, posRepo size: 4 !-FNOT Ignoring new targets: 109.83 m.-)] ProNav: ac range: 109.832970 m, nav range: 109.111801 m, bearing: 153.734447 deg, approach rate: 0.000000 m/s, LOS rate: 0.193669 deg/s, cmd heading: 170.141132 deg, new cmd heading: 170.433779 deg. YeHeadingCmd: 2.974631 target range: 109.832970 and range: 110.60 m.beY`>@ZarajiRiJiB~~}||||~? ime=I)>Iq< OY`>@iY`>@iE?EEEEIi 6G I I AA~G A A N >#,Ω`hA$H1H1H5'IH5}BH5 =H1H1H5Ӛ<H5E9R?| @YH@g??@0(~??`i?? R?1;)C-}B5IiMb@Mb@Mb@ )Y> ףp=?#~jL7A`堿y?㥽+ A )@IyII3< "=y9;Q >٥II UHUmF]a= ]>q55u?559uL IuBy?:@@uOEiu;u@ZrjRJB~~,{B}||||`?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. U{BURh=IQ)U6?QI]< ᾋԙͭ>@iͭ>@iE5?E1E1E1E1 K% 6P"K% 9*K! 2K% u:K% 951+je6Y0/%@~O"C)~z> aLk6+zV J5 AJ5 }A6GQ ~GQ Aa } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247036A J4JH4Jh0:J `BJ UJJ HRJ ZJ :bJ >9J Ժ4J zJ :jJ :J |Q:rJ Q:N >#,}hA96x@6r@Y6V:y6̈>6H`ht@? TY?@`a?يP?R? 6x@6 ;)4=}B= IIM#IM%x3] < ][=y]<;Q ]>٥aa eHaeТ= m>i}55m?}559m ImByy@@mSEimV;mk;m655,A>EFNOT Ignoring new targets: 109.83 m.yC;yC; ProNav: ac range: 109.832970 m, nav range: 108.695129 m, bearing: 153.882970 deg, approach rate: -0.495347 m/s, LOS rate: 0.170897 deg/s, cmd heading: 170.704637 deg, new cmd heading: 170.880232 deg. ;HeadingCmd: 2.982423 target range: 109.832970 and range: 110.60 m.b>@ZrjRJB~ ~ } | | Q|i|?%AMA .YAyB {B )=I)b?I5< ׳>@  i >@i zEԁE?EEEW0EFF}Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500422ԩ6G jG ?bG ?~G A A N% > #,qhA9>h#@>6@Y>W_;y>#>>H`E/ ?@?q"?`Gk?&? >h#@>A͈;)٥`d fHfnFf/= f>hn55j?r559jʯ IjBypru@r@jVEij};j%;j55vkBz,Az=E%FNOT Ignoring new targets: 109.83 m.-:9;-:9; ProNav: ac range: 109.832970 m, nav range: 108.507782 m, bearing: 153.944133 deg, approach rate: -0.495180 m/s, LOS rate: 0.161940 deg/s, cmd heading: 170.880227 deg, new cmd heading: 171.064032 deg. F;HeadingCmd: 2.985631 target range: 109.832970 and range: 110.60 m.b?@ZrjRJB~~}||||y? ]{B]~}=IY)]>YIeҊ< aael"m?@iiim?@Աױױ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767115iqE-?E1E9E=b0E9H>HCH IH}BHHHH<HE 6Gi ~G) A1 AQ N] >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0030489 #,.ThAu}B}IMb@Mb@Mb@ )Y-?ʡE rhy??C  A )I@yI-!I-i3=< =4=yEQ E>٥AA EHMoFM M>55p?559 IBy?: @@[Ei/:V:55,A)5FNOT Ignoring new targets: 109.83 m.5c7;5c7;E ProNav: ac range: 109.832970 m, nav range: 108.272057 m, bearing: 154.019790 deg, approach rate: -0.498456 m/s, LOS rate: 0.160331 deg/s, cmd heading: 171.064028 deg, new cmd heading: 171.291493 deg. E;UHeadingCmd: 2.989600 target range: 109.832970 and range: 110.60 m.bUU?@ZQrQjQRQJYBY~Y~]"{B}a|a|a|a|ma@ {B靭q=I)d?IB< U?@iU?@iKHP"K*K2Kv:Kc/q?W~'>3eeZ9ye3J?J>Ee?EaEaEep0Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256560:JaBJXJJIRJZJ:bJ5K9JF4JzJ;jJ;Jf:rJf:9q 6G ȹ~G A A N >#,R(ˏhA(9J@J@YJk;yJ1>JH`[5@5?B? `?`y`? ? J@Jiˇ;)JCR}BVIIZIZT3b ff=yf٥hh jHhj> j>pz55r?z559rk IrBy|~ @~@r^Eir;r;r55,A@E%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5068589=FNOT Ignoring new targets: 109.83 m.EN(;EN(;U ProNav: ac range: 109.832970 m, nav range: 108.096367 m, bearing: 154.069703 deg, approach rate: -0.517106 m/s, LOS rate: 0.147146 deg/s, cmd heading: 171.291486 deg, new cmd heading: 171.441467 deg. U;eHeadingCmd: 2.992218 target range: 109.832970 and range: 110.60 m.be?@ZarijiRiJqBq~q~y}y|y|y||B@ {B靭@.=I)>Ii< 6Ӣ?@i?@ibEZEAyE?EEE5EF=Fԙ6Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758972~GAA N5 > H >H CH IH }BH  =H H 2DH <H EHqHqHu˓CHqIq Iuˬ5}#,AahA<9{@U@Y\;y>H@y/@O Z?K?7aa?}ˢ?.? {@;)C}BIMb@Mb@Mb@ )Yx?y&1{GzyK?`e# )I@yII3KV +=y ;Q >٥ HpFv= >55l}?559 IޜByQ?:@@bEi;d;55  ,A ԡB*** querying acoustic contact ***JRFNOT Ignoring new targets: 109.83 m.;;BDAT read: Rx Time:13:57:18.3633  TRx dataTimestamp_ set to:1749131839.715450 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011953- ProNav: ac range: 109.832970 m, nav range: 107.839432 m, bearing: 154.131663 deg, approach rate: -0.516678 m/s, LOS rate: 0.124894 deg/s, cmd heading: 171.441464 deg, new cmd heading: 171.627786 deg. 5m;5HeadingCmd: 2.995470 target range: 109.832970 and range: 110.60 m.b5ȵ?@ZYrYjYRYJYBY~a~e{B}a|a|i|i|m]M@ {Bi=I)>I%h< !!-;Uȵ?@YYi]ȵ?@iYEEEE0EK =6P"K }9*K 2K w:K  1&IP>%C &QuP]ibX J J A6G  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263300:J cBJ [JJ GRJ ZJ :bJ W9J c4J zJ ;jJ ;J {|:rJ ~|:~G A A N >$,?hA89nW @nfk@YnA nH ֕?g?}|v? |?? nW @n;)nC}BII-I-M3=" =a=yE;Q E>٥AA MHMqFMӣ= M>Q]55Usq?]559Up IUӜByae@e@UfEiU;U;U558-A FNOT Ignoring new targets: 109.83 m. 4;4; ProNav: ac range: 109.832970 m, nav range: 107.641136 m, bearing: 154.176048 deg, approach rate: -0.566111 m/s, LOS rate: 0.126947 deg/s, cmd heading: 171.627791 deg, new cmd heading: 171.761191 deg. %>;EHeadingCmd: 2.997798 target range: 109.832970 and range: 110.60 m.bM?@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|] @ {Bԩ靝Jm=I)>I< 榮]?@YYie?@iaE?EE!E%5E)DAT read: Range 10 to 50 : 109.3 m (Round-trip 145.8 ms) speed 0.4 m/s ,DAT read: user:1850> BDAT read: Tx time:13:57:19.4634 $Ping request sent.'$,hA9:? @:1S@Y:m:H@x??@Ρ@_?́@?7? :? @:%;):CJu}BNIIRIR3ZK ^T=y^V:Q ^>٥\` bH`b= b>dhn55fOd?n559f IfǜByln@r@fiEifi%;f&;f[55tv-AvCE addTargetRange:: Added new target pos. range: 109.300003 m, deltaT: 3.528301 s, deltaX: -1.299995 m, approachRate: -0.368448 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 109.83 m.5:5: ProNav: ac range: 109.832970 m, nav range: 107.428055 m, bearing: 154.219977 deg, approach rate: -0.537940 m/s, LOS rate: 0.111123 deg/s, cmd heading: 171.761185 deg, new cmd heading: 171.893234 deg. ; HeadingCmd: 3.000103 target range: 109.832970 and range: 109.30 m.JDAT read: TxSync time:13:57:19.4626 b @@Z!r!j!R!J!B!~)~1}1|9|9|=@3S[@|= x? m{Bm%w=Iq)u>qIu< qq}ϳ}@@yi@@iqrEe>jE GG?AH>HHIH}BH =HHHٚ<HEE-?E)E1E54E9FQFUA16G < =a ~Gy A A N >N $,3hAn}BI9Mb@Mb@Mb@ )Y~jt?~jt٥ HrF  > 55 T?559  I Byg?:q@@ nEi T ; ; =55!--A)FNOT Ignoring new targets: 109.83 m.a;a; ProNav: ac range: 109.832970 m, nav range: 107.174599 m, bearing: 154.270460 deg, approach rate: -0.575327 m/s, LOS rate: 0.114863 deg/s, cmd heading: 171.893240 deg, new cmd heading: 172.045046 deg.  ;HeadingCmd: 3.002753 target range: 109.832970 and range: 109.30 m.b-@@ZrjRJB~!~%zB}!|!|!|)|-`,? {B靝Zn=I)j>I < |K(P"K9*K2Kx:Kn`uS W""~[Myn -@@i-@@iaE?EEEO0Eԑ6G ~G A A N ><6$,xMhAI/I3E&: MT=yQQ ]>٥YY ]H]sFa e>iu55mF?u559mw ImByqq}@mqEimA;mo;m55jB-ADEԙFNOT Ignoring new targets: 109.83 m.;; ProNav: ac range: 109.832970 m, nav range: 106.956367 m, bearing: 154.314132 deg, approach rate: -0.595262 m/s, LOS rate: 0.119365 deg/s, cmd heading: 172.045048 deg, new cmd heading: 172.176330 deg. ֣;HeadingCmd: 3.005044 target range: 109.832970 and range: 109.30 m.bR@@ZrjRJB~~}||||@? -{B-3~=I1)5>1I5< 99=Ƌ=R@@AAiER@@iAEEEEP0E6G99:JUdBJUUJJUIRJQZJU<:bJU>9JUF4JQ]@]@]@]@~GA A N- >H >H H IH }BH  =H H 3DH <H E) d$,eghA9@ @Yh0H[@(?Ä? #pv? ?`8? @骅;)Ci=I1?Mb@Mb@Mb@ )YGz?~jt:vyp?ļԼ A S@)@Ip@yp@II3@ 4=y0;Q >٥ HK> >554?559؈ IBy?:\@@vEi;;55-AB*** querying acoustic contact ***JR%FNOT Ignoring new targets: 109.83 m.-ݯ:-ݯ:E ProNav: ac range: 109.832970 m, nav range: 106.686127 m, bearing: 154.348808 deg, approach rate: -0.597594 m/s, LOS rate: 0.076876 deg/s, cmd heading: 172.176324 deg, new cmd heading: 172.280617 deg. M S;MHeadingCmd: 3.006864 target range: 109.832970 and range: 109.30 m.bUvp@@ZQrQjQRQJQBQ~Y~]zB}Y|Y|a|a|e ^?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. {B0p=I)k>I("< EĻvp@@ivp@@iE?EEEEI6G K 'P"K 9*K 2K y:K cr oe`M>,h=AU{Yb\pEtp]7A<lC~G A A N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757429q G $,-hA9F@FN @YFEFH@Q2`dM?`O?*h?@*@?? F@F#7;)FCRj}BRIIZIZ3b* br=yb~;Q b?٥dd fHftFfҳ= j?hr55j&?r559j IjByprB@r@jyEij;j;jz55tz-AzGE]FNOT Ignoring new targets: 109.83 m.e :e :m ProNav: ac range: 109.832970 m, nav range: 106.483154 m, bearing: 154.371568 deg, approach rate: -0.603259 m/s, LOS rate: 0.067773 deg/s, cmd heading: 172.280621 deg, new cmd heading: 172.349030 deg. u :;}HeadingCmd: 3.008058 target range: 109.832970 and range: 109.30 m.b}@@ZyryjyRyJyB~~}|||| ? {B *0=I)5>1I5p< 99=Ȼ=@@AAiE@@iAQE?EEE_0Eԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0106436GIԱ~G) AA AQ N] > q&$,hA_}BII-#I-%x3=jռ =C=yEQ E>٥AA MHIM M>Q]55U?]559Ud IUByYae@U}EiU;U;U%55im-AqFNOT Ignoring new targets: 109.83 m.a:a: ProNav: ac range: 109.832970 m, nav range: 106.230522 m, bearing: 154.400020 deg, approach rate: -0.597787 m/s, LOS rate: 0.067485 deg/s, cmd heading: 172.349032 deg, new cmd heading: 172.434592 deg. B9;HeadingCmd: 3.009551 target range: 109.832970 and range: 109.30 m.b}@@ZrjRJB:JaBJYJJNRJZJ:bJ[O9J|4J-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267353~~}||||Q@Ա u{B}uq=I)>If< oλ}@@i}@@i H<H4<H!>HCHIH}BH =HHHo<HzEEEEEE   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5202266Ga ~G9 AI AY Ne >9 ,$,㴐hA9>@>$@Y>[I>>H`бƌ?$1?`X {?q 4?=? >@>Ӊ;)٥ HuF > > 65 6?659 } I By?:#@%@ Ei ;  ; 65)--A-JEQ]FNOT Ignoring new targets: 109.83 m.eM:eM:} ProNav: ac range: 109.832970 m, nav range: 105.971153 m, bearing: 154.419154 deg, approach rate: -0.608561 m/s, LOS rate: 0.045003 deg/s, cmd heading: 172.434587 deg, new cmd heading: 172.492128 deg. }:HeadingCmd: 3.010556 target range: 109.832970 and range: 109.30 m.b@@ZrjRJB~~zB}||||@ {Bw}=I)k>IL< ӻ@@i@@iKP"K9*K2Kz:K$DpE2JqG|tpP8m:c^T+*3osC< JE?JE>EEEE 0E 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770668I) ƈGA5AA e%YeAye2B6G) jG5 ?bG5 ?ԑ ~G A! A9 NM >3$,4ΐhA Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0213969Jٓ@JE&@YJ%JH`#{߿?@xb?`_ ?ᖒ $_? ? Jٓ@J@;)JCZg}B^IIf If<2nM< nR=yr;Q r>٥pp vHvvFzZ= > 65 ?659 vz I By%@@ Ei ; ;  65!--A)FNOT Ignoring new targets: 109.83 m.:: ProNav: ac range: 109.832970 m, nav range: 105.745415 m, bearing: 154.432179 deg, approach rate: -0.596796 m/s, LOS rate: 0.034511 deg/s, cmd heading: 172.492124 deg, new cmd heading: 172.531286 deg. y:HeadingCmd: 3.011239 target range: 109.832970 and range: 109.30 m.b$@@ZrjRJB~~}||||@ {BY~=I)>I< ׻%$@@!!i%$@@i)yEEEES1Eԙ:J=^BJ=tJJ=CRJ9ZJ=} :bJ=9J=4J9MBDAT read: Rx Time:13:57:22.0103 eTRx dataTimestamp_ set to:1749131843.504449mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2800756Gq~G A A N > H H H IH z}BH  =H H H <H Ex9$,lhAL9[@o(@YlHS޿;? :? ? B- ?? [@&;)l}BIMb@Mb@Mb@ )YCl?{Gz:vyd?ףT A );@Iy@II2"< -=ynW;Q >٥ HwFLr= >65X?659v IBy?: &@ @Ei;;7 65iB-A%ME=B*** querying acoustic contact ***J9R9IMFNOT Ignoring new targets: 109.83 m.U:U:m ProNav: ac range: 109.832970 m, nav range: 105.462524 m, bearing: 154.445950 deg, approach rate: -0.611664 m/s, LOS rate: 0.029853 deg/s, cmd heading: 172.531289 deg, new cmd heading: 172.572710 deg. m:mHeadingCmd: 3.011962 target range: 109.832970 and range: 109.30 m.bu@@ZqrqjqRqJyB~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530023~zB}||||N @ 5{Bm~y=I)>I~< (ܻ@@i@@iE?EEE0E Ku 'P"Ku ŷ9*Kq 2Ku {:Ku %CMNgYp %Y" T}?k%+S=   ;fJ J  DAT read: 13:57:22.0103 LVL= 20432, 26961, 17778, 28467, AGC= 67, IDX= 418,-0.24,-1.686,-3.054,-1.979,-2.242, PHS= 0.644,-0.764, 0.260, RAW= 134.7, -2.2, CAL= 140.1, -11.8, ROT= 9.9, 11.8  Ygot valid direction response: 13:57:22.0103 LVL= 20432, 26961, 17778, 28467, AGC= 67, IDX= 418,-0.24,-1.686,-3.054,-1.979,-2.242, PHS= 0.644,-0.764, 0.260, RAW= 134.7, -2.2, CAL= 140.1, -11.8, ROT= 9.9, 11.8  PDAT read: Bearing 9.9, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 9.9, 11.8 (Local)  DAT read: Range 10 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.4 m/s  ,DAT read: user:1851>  BDAT read: Tx time:13:57:23.1134  $Ping request sent. U v@)U nFIU C~@iU BRU ;0>U BR> Q )Q U T)?ί;?6\iU f>U u =U ;0>U BR> Q )Q  :publishing transmit ping time  Fpublishing direction and range infoQ yU Jy?^?rG,ʿQ YQ Q )Q IQ iQ Q Q Q Q Q )Q IQ iQ 6G ȹQ Q Q )Q U T)?ί;?6\iQ Q Q Q Q )Q A ~GQ AY Aq N >TA$,hA9Ez@E+*@YE+EH`V ܿf?ز?&@CI?@%੷?? Ez@Ey;)ECt}BIIIF3Ð< 9=y ;Q >ԩ٥ Htz= >65?659/s IBy(@@Eiu;;65y-APEZbjhABB>x8@ʁzF&ÝY@6( 1@ ɺ5Jy?^?rG,ʿ;0>BR>ҁMY gJX:@-=o 2y.nG{ x66+?qx\ſzAoj$yŜ?r J5B tBcB+,@ addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.787537 s, deltaX: -2.300003 m, approachRate: -0.607256 m/s, rangeRepo size: 4  Added new target pos. range: 106.259415 m, bearing: 165.145857 deg, lat: 36.906396 deg, lon: -122.115999 deg, deltaT: 7.315838 s, deltaX: -3.573555 m, approachRate: -0.488468 m/s, posRepo size: 4 FNOT Ignoring new targets: 106.26 m.  E ProNav: ac range: 106.259415 m, nav range: 105.193611 m, bearing: 154.455103 deg, approach rate: 0.000000 m/s, LOS rate: 0.029853 deg/s, cmd heading: 172.572707 deg, new cmd heading: 172.613770 deg. IMHeadingCmd: 3.012679 target range: 106.259415 and range: 107.00 m.bM@@ZQrQjQRQJQBQ~Y~Y}Y|Y||Z@|r4? {B=I)>I #<   ỉ%@@%%<%i%@@i)]JDAT read: TxSync time:13:57:23.1126 EEEE0EF=F1 6G ~Gy A A N >Q }G$,rlhA:JXBJZ`JJZERJXZJXbJZbl9JZ4JX9:`@:+@Y:7:Hvۿkk?7?Z?@] m? ? :`@:Ȉ;)8}i}BII#I%x3 X=y:Q >٥ HxF= >565I?5659]p IyBy9=.*@=@Ei4;;k65AE-AAy}FNOT Ignoring new targets: 106.26 m.d9d9 ProNav: ac range: 106.259415 m, nav range: 104.963020 m, bearing: 154.459717 deg, approach rate: -0.623254 m/s, LOS rate: 0.012499 deg/s, cmd heading: 172.613770 deg, new cmd heading: 172.627643 deg. ? :HeadingCmd: 3.012921 target range: 106.259415 and range: 107.00 m.b@@ZrjRJB~~GGAAH>HCHIH}BH =HH2DH<HEHHCHH =I = I”'6}||||{? {BvA=I)r>Ii= !!% )%@@5<5dni5@@i9EEEE@5Ea6G̃~GQAaAqN|>ԉ M$,G9hAD9:|@:-@Y:j:H@ ڿ??a??-? :|@:㕉;):Cns}BnIMb@Mb@Mb@ )YOn?y&1:vy?`e/ A S@)Q@Iy@I Ib3 <  F=ysQ >٥ H= >!-65%Ԧ?5659%m I%sBy5?5:5y,@5@%Ei%l;%;%65=hBEu-AEQEq}FNOT Ignoring new targets: 106.26 m.}6}6 ProNav: ac range: 106.259415 m, nav range: 104.720146 m, bearing: 154.459838 deg, approach rate: -0.602292 m/s, LOS rate: 0.000300 deg/s, cmd heading: 172.627649 deg, new cmd heading: 172.628012 deg. S7HeadingCmd: 3.012927 target range: 106.259415 and range: 107.00 m.b@@ZrjRJB~~zB}||||}:?K1P"K59*K2K|:K%UtV5L~ Jq7=Ghkw&(4S^ {B=I)n>I=  껉 @@$<OYi@@iԱE?EEEO0E6GЁ~G  A A! N- >,T$,ShA9:y @: /@Y::HLc ؿ`-յ? M?\? T? ? :y @:7;):CNu}BNII^I^3fǰ; fb=yfQ f>٥hh jHjyFnF= n>lt 65v9?659vBk IvnBy-@@vEiv;vL;v'65)-m-A1FNOT Ignoring new targets: 106.26 m. ProNav: ac range: 106.259415 m, nav range: 104.504028 m, bearing: 154.457218 deg, approach rate: -0.563686 m/s, LOS rate: -0.006848 deg/s, cmd heading: 172.628018 deg, new cmd heading: 172.620141 deg. cHeadingCmd: 3.012790 target range: 106.259415 and range: 107.00 m.b@@ZrjRJ!B!~!~!})|1|Y|Y|eM? =}{B=Ј=IA)EI>AIEۘ= AAE𻉢u@@}f<}"Fi}@@iy E!E!E!E!E!F1F16GB{~GA A)9N]v>H >HHIH}BH =HHH<HEi 4Z$,mhA1}BI}Mb@Mb@Mb@yyy y)yY}d;O?٥ HzF >65v?659Kh IgBy?:-@@Ei:::65-ATEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.26 m.QӸ%QӸ5 ProNav: ac range: 106.259415 m, nav range: 104.233215 m, bearing: 154.454650 deg, approach rate: -0.607362 m/s, LOS rate: -0.005773 deg/s, cmd heading: 172.620136 deg, new cmd heading: 172.612413 deg. 5}=HeadingCmd: 3.012655 target range: 106.259415 and range: 107.00 m.b=W@@Z9r9j9R9J9BA~A~MzB}I|I|I|Q|U&? }x{B}rO=I)?Iin= W@@w<2gJiW@@iaE!E!E!E%P0E!6G)\\~GAANe>ԉK} _@P"K} }9*Ky 2K} }:K} pavR\nV*HOKgE?2GGk#['8M;p?\5i$O] T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I :J BJ VJJ =RJ ZJ bJ B9J g4J zJ ^: jJ c: J X: rJ X: Թ }a$,ΆhAe}BmII Ib3t< _=ԙyQ >٥ H >65!q?659e I`By@Ei;8;o65,AFNOT Ignoring new targets: 106.26 m.˸˸  ProNav: ac range: 106.259415 m, nav range: 104.020187 m, bearing: 154.452621 deg, approach rate: -0.583894 m/s, LOS rate: -0.005573 deg/s, cmd heading: 172.612418 deg, new cmd heading: 172.606318 deg.  t HeadingCmd: 3.012548 target range: 106.259415 and range: 107.00 m.b@@ZrjRJB~~}|!|!|!|%`e[@ u{B靝)=I)%?I|= S@@8<Ji@@iE E E E V0E Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2551096G- Y~G) A9 AI NU >! g$,phAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5088489'@[5@YKtHх$ҿ?.? B?`>N? ? '@骍z;)C}BII&I3.= F=yH;Q >٥ H{F\}> >65^?659c IZBy4@@Eib:;:; #65  ,A WE15FNOT Ignoring new targets: 106.26 m.=-=- HYH]<He >HeCHeIHe}BHaHaHaHe<HeE} ProNav: ac range: 106.259415 m, nav range: 103.782471 m, bearing: 154.436969 deg, approach rate: -0.574961 m/s, LOS rate: -0.037944 deg/s, cmd heading: 172.606312 deg, new cmd heading: 172.559248 deg. }SкHeadingCmd: 3.011727 target range: 106.259415 and range: 107.00 m.b#@@ZrjRJB~)~)})|)|1|1|5`@ p{B靥=I) ?Iw = AEiM#@@Uf<]X'Խi]#@@i)EyEyEyE}O0EyF=F!>6GUgNUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760183~GqyAAN>ԑ m$,hA9:x1)@:D7@Y:BǨ:H@xZѿ??R?` I?` ? :x1)@:K ;):CN}BRIuMb@Mb@Mb@qqq q)qYu?ˡE٥ H|F= >65L?659a IRByD ?:$3@@Ei: :&65gB,AZEFNOT Ignoring new targets: 106.26 m.   ProNav: ac range: 106.259415 m, nav range: 103.564728 m, bearing: 154.424435 deg, approach rate: -0.548756 m/s, LOS rate: -0.031654 deg/s, cmd heading: 172.559252 deg, new cmd heading: 172.521571 deg. ʭ%HeadingCmd: 3.011070 target range: 106.259415 and range: 107.00 m.b%]@@Z!r!j!R!J)B)~1~5zB}9|9|A|A|E#@q l{B5z=I9)=G ?9IE = AAMG m]@@uKҿm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265091 ^t$,_ԑhA9:C*@: 9@Y::HTmϿ{??@@E?.^@(?`j? :C*@:;)8V}BVII^ I^V2~ÿ< ~U=yh;Q >٥ H = >!-65%;?-659%F` I%JBy)-4@-@%Ei%2:%`:%)651=,A9aeFNOT Ignoring new targets: 106.26 m.m7m7} ProNav: ac range: 106.259415 m, nav range: 103.355316 m, bearing: 154.409040 deg, approach rate: -0.545796 m/s, LOS rate: -0.040206 deg/s, cmd heading: 172.521576 deg, new cmd heading: 172.475298 deg. }ܺHeadingCmd: 3.010262 target range: 106.259415 and range: 107.00 m.b!@@ZrjRJB~~}|||| @ h{B$=I)?I]k = !@@m<]i!@@iEYEaEaEe1Ea6GE~GAAN?>DAT read: 13:57:25.6575 LVL= 32752, 28145, 21682, 30803, AGC= 66, IDX= 405,-0.37,-2.835, 2.130,-2.581,-3.120, PHS= 0.373,-0.986, 0.536, RAW= 155.6, 1.1, CAL= 157.9, -7.7, ROT= 352.1, 7.7  Ygot valid direction response: 13:57:25.6575 LVL= 32752, 28145, 21682, 30803, AGC= 66, IDX= 405,-0.37,-2.835, 2.130,-2.581,-3.120, PHS= 0.373,-0.986, 0.536, RAW= 155.6, 1.1, CAL= 157.9, -7.7, ROT= 352.1, 7.7 8DAT read: $Error in header *Received a bad headeruX#Rx 1: Read direction message, but no range.}`direction in FSK: [0.981578,-0.136205,-0.133986]yzi?Ε-oL`u&Y )mITiSxB>j|L7 ? -@)nF W??S/уA?iX ?0  >T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseH] >HYH]IH]}BHYHYH]1DH]<H]E1 a {$,vhA9=,@=&:@Y=R=H/Lh̿q?@H?D+?1 ?? =,@=W;)=Ce}BeI)i i ma=i T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseUMb@Mb@Mb@QQQ Q)QYU#~j?Mb/$yU?UUUA U@)U$@IQQyU(@I I<2 g<  ,=y ;Q U>٥QQ ]H]}Fe$X= m>65'?659u^ I?By>?:7@@Ei:/: .65,A]EB*** querying acoustic contact ***JRIMFNOT Ignoring new targets: 106.26 m.U_U_ ProNav: ac range: 106.259415 m, nav range: 103.104050 m, bearing: 154.384685 deg, approach rate: -0.503766 m/s, LOS rate: -0.048949 deg/s, cmd heading: 172.475295 deg, new cmd heading: 172.402052 deg. _HeadingCmd: 3.008983 target range: 106.259415 and range: 107.00 m.b/@@ZrjRJB~~zB}||||@@ a{BI=I!)%?1I== 99=M/@@M#ݼjEYAE?EEEy0E6G~GAAN>i K +P"K }9*K 2K :K 'Z?i5F{_+U_bf <W  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:J ^BJ VJJ ARJ ZJ } :bJ B9J 4J zJ _:jJ c:J X:rJ X:5 GQ Y y B$,hA0}BIII3E= Eo=yMQ M?٥IQ UHU~FU U?65?6595] I8By@Ei;K;165,AFNOT Ignoring new targets: 106.26 m. j j ProNav: ac range: 106.259415 m, nav range: 102.931137 m, bearing: 154.367855 deg, approach rate: -0.524696 m/s, LOS rate: -0.051158 deg/s, cmd heading: 172.402048 deg, new cmd heading: 172.351471 deg. o %HeadingCmd: 3.008101 target range: 106.259415 and range: 107.00 m.b%@@Z!r!j!R!J!B)~)~)})|1|1|1|5@ e^{Bem=Ia)e?iIm9C= iim u@@u Թ m$,!hABT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapse\9bs/@bߥ=@Yb_d=yb_z>bH`y7ǿ@`??`D>?ʫ ?? bs/@ḃ;)`m}BmII}!I}i3=ٻ F=yΌ٥ H= >65b?659[ I/Byw:@@EiS;T;465,A`EGG?AH >HHIH}BHHH2DH<HEFNOT Ignoring new targets: 106.26 m.吺吺- ProNav: ac range: 106.259415 m, nav range: 102.724190 m, bearing: 154.342124 deg, approach rate: -0.508400 m/s, LOS rate: -0.063338 deg/s, cmd heading: 172.351477 deg, new cmd heading: 172.274131 deg. --=HeadingCmd: 3.006751 target range: 106.259415 and range: 107.00 m.b=n@@ZArAjARAJABA~I~I}I|Q|Q|Q|U@f@ X{B~Й=I)t?IG= ))-+ 5n@@=|U<=ʻi=n@@iIE-?E)E1E5$5E15T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse6G% eZGI RGM A~GA A AQ Ai Nu >E$,;hA9^0@^Q>@Y^=y^`t>^HS_Ŀf?q? ?f1?-? ^0@^;)^Cj}BjImMb@Mb@Mb@iii i)iYmMb? rhI +ym?mC m9m A mj@)m~@Iiiymp@II[3` B=y٥!! %H%F%P-= %>1=655?=6595Z I5$By={?=:=M;@E@5Ei5:5A:5L865IM,AIquFNOT Ignoring new targets: 106.26 m.}7}7 ProNav: ac range: 106.259415 m, nav range: 102.514053 m, bearing: 154.314272 deg, approach rate: -0.504281 m/s, LOS rate: -0.066976 deg/s, cmd heading: 172.274132 deg, new cmd heading: 172.190404 deg. 7HeadingCmd: 3.005290 target range: 106.259415 and range: 107.00 m.bV@@ZrjRJB~~ {B}||||@ S{B~=I)?I = Y7V@@<PF;iV@@izE T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJKH4JK4JK~1:J]BJaJJ>RJZJ]:bJp9Jt4JzJ:jJ:J:rJ:KP"K9*K2K:KjDC(uqt~3W/ac#6_?[^#O<#AEEEEP0EF=F6G~GqAAN]>iԙ E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse*$,?UhA961@6?@Y6 %'=y6j>6H Gÿr{~_?h@}?%㤿 ?@k#? 61@6!L;)6C^}B^IIfIf3%ۼ< %[=y-<٥)) -H5F53= 5>9E65=?E659=Y I=ByIMP<@M@=Ei=:=:=;65UfBU,AUcEyFNOT Ignoring new targets: 106.26 m. ProNav: ac range: 106.259415 m, nav range: 102.329926 m, bearing: 154.288044 deg, approach rate: -0.493028 m/s, LOS rate: -0.070355 deg/s, cmd heading: 172.190408 deg, new cmd heading: 172.111582 deg. #AHeadingCmd: 3.003914 target range: 106.259415 and range: 107.00 m.b @@@ZrjRJB~~}||||{@ O{Bf=I)?I=    @@@ < T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseH >HHIH}BH =HHHš<HEHǛCHǛCHH =I = Iǜ4 W$,`ohA9_2@˩@@Ye9=y`>HF~S@j?`d?` ?@2? _2@骍و;)C}BIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )YNbX9?Q~jty?uļA @)h@IC@y(@@A@AII 3< .=y٥ %H!-< ->1=655?=6595X I5By=?=:=?@=@5Ei5/:5:5?65IM,AIyFNOT Ignoring new targets: 106.26 m.źź ProNav: ac range: 106.259415 m, nav range: 102.096832 m, bearing: 154.247655 deg, approach rate: -0.497266 m/s, LOS rate: -0.086359 deg/s, cmd heading: 172.111587 deg, new cmd heading: 171.990145 deg. mHeadingCmd: 3.001794 target range: 106.259415 and range: 107.00 m.bf@@ZrjRJB~~zB}||!|!|%-}@ uI{B}=Iy)}?IA;= f@@<'=if@@iE1E9E9E9E96G6jG?bG*?~G))A9AINU> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:J `BJ dJJ HRJ ZJ :bJ |9J Ժ4J zJ :jJ :J |:rJ }:KU FP"KU @9*KQ 2KU :KU ^':x&I^9#Z}Q%1o95N#F DQ >$,jhA9:3@NA@YeK=yKT>H ٹq@p+? %?@rP?F? :3@;)]}B]II}I}(*2F h=yR٥ HF< >65F?659X IBy@@@Ei;/;B65,AfEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.26 m.̺̺ ProNav: ac range: 106.259415 m, nav range: 101.922173 m, bearing: 154.216251 deg, approach rate: -0.497215 m/s, LOS rate: -0.089553 deg/s, cmd heading: 171.990147 deg, new cmd heading: 171.895773 deg.  uHeadingCmd: 3.000147 target range: 106.259415 and range: 107.00 m.bi@@Z!r!j)R)J)1B1~1~9}A|A|A|A|M (@ uD{B} =Iy)}a?yI}= yyOi@@L<&=ii@@i bE)ZE)EEEE[0EFF T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseaԉ6G ~G A A N > e$,~8hA446T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse9j3@jA@YjZ_=yjC>jH [?+@@?@<qE?^? j3@j%;)jCv}BvII~I~0   S=yO٥! %H!-p< ->1=655`?=6595dW I5ByAEq@@E@5Ei5;5n;5F65IM5-AIqH>HCHIH}BHHHH̚<HEFNOT Ignoring new targets: 106.26 m.WкWк ProNav: ac range: 106.259415 m, nav range: 101.729782 m, bearing: 154.180899 deg, approach rate: -0.494695 m/s, LOS rate: -0.091073 deg/s, cmd heading: 171.895767 deg, new cmd heading: 171.789510 deg. z%HeadingCmd: 2.998293 target range: 106.259415 and range: 107.00 m.b-?@Z)r)j)R)J1B1~Y~Y}Y|Y|Y|a|e@Z|@ԑ ?{B=I)?I= o?@F<Y>=i?@iE-?E1E9E=_0E96Ge(A;~GQAaAyN{>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse I$,hA96~3@6A@Y6vt=y6ߧ0>6HI`y@٥II MHMFM"< U>65?659V IBy?:@@@Ei:Z:!J65Q-AiE1=FNOT Ignoring new targets: 106.26 m.=׺=׺M ProNav: ac range: 106.259415 m, nav range: 101.498520 m, bearing: 154.137522 deg, approach rate: -0.501149 m/s, LOS rate: -0.094213 deg/s, cmd heading: 171.789517 deg, new cmd heading: 171.659089 deg. UPUHeadingCmd: 2.996016 target range: 106.259415 and range: 107.00 m.bU?@ZYrYjYRYJYBY~a~ezB}a|a|a|iuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse|}>@ :{B靽?=I)?I= -r?@8-<sS=i?@iK-P"K-9*K)2K-:K-B+ idv7SqlD=)  !S9G48Y|&eTJ5?J5?EAEAEAEEb0EI!6G5=ZGARGA~GA)AIN]v>I - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseuw$,֒hA49~4@~B@Y~Ȅ=y~>~H h#? g_C?$r?x? ~4@~%;)~Cj}BeII IV2e  N=y P٥    HF; >%65'?%659U IBy)-@@-@Ei:K:qM65QU-AUlEFNOT Ignoring new targets: 106.26 m.ֺֺ ProNav: ac range: 106.259415 m, nav range: 101.307259 m, bearing: 154.101345 deg, approach rate: -0.495521 m/s, LOS rate: -0.093905 deg/s, cmd heading: 171.659087 deg, new cmd heading: 171.550351 deg. 䀻 HeadingCmd: 2.994118 target range: 106.259415 and range: 107.00 m.b ?@Z r j R JB~~}||||]@ԑ 5{BN=I)o ?I>= m?@u&jE>E=?E9EAEEo0EAFM=FM=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:J_BJ\JJ@RJZJ :bJ[9JJ4J@@@@ԹH>HHIHz}BHHHH<HE 6G% k%=~G A A1 NU >$,dhA\T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9^ 4@B@Y2=y >Hֽ?~@?ұ@ ?`K? ^ 4@F;)C_}BI5Mb@Mb@Mb@111 1)1Y5Q?Mb/$y5\?515A 5@)5@I5@1y5@IUIU2eͼ e5=ym/٥ii uHuFu,9 u>y65}%w?659}U I}ԛByy?:A@@}Ei} ;}A:}aQ65-AFNOT Ignoring new targets: 106.26 m. ProNav: ac range: 106.259415 m, nav range: 101.070168 m, bearing: 154.054641 deg, approach rate: -0.535644 m/s, LOS rate: -0.105761 deg/s, cmd heading: 171.550351 deg, new cmd heading: 171.409913 deg. *HeadingCmd: 2.991667 target range: 106.259415 and range: 107.00 m.bzw?@ZrjRJB~y~}izB}y||||`@ .{B)=I) ?I!=   t zw?@\L<ٸg=izw?@i9EEEE0E6G8U=~GA A N% >} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI I 9 K LP"K 9*K 2K :K x1%2L=-:1-0vqxY[Wc5J J $, hA9n3@nB@Ynn=ynU=nH`@ ~鮿Ի? )8?Y y?? n3@n%;)nCzS}BzIII(*3 z=yn $,$hA:J BJ"PJJ"BRJ ZJ bJ"*9J"-4J *T****** received valid address query *******R****** received valid ping request *******received new query, but waiting for acoustic response period to elapse9%3@%XA@Y%{ߡ=y%=%H Ch@MT?`Ȗ n? 6@Y?c? %3@%e;)%CG9G=@AHE>HAHEIHE[}BHE =HAHAHEњ<HEE]<}B]IImIm 39T B=y2٥ HF >Ա65;T?659S IByIA@@Ei>:l:W65;.A)EFNOT Ignoring new targets: 106.26 m.EnMn ProNav: ac range: 106.259415 m, nav range: 100.675758 m, bearing: 153.977129 deg, approach rate: -0.518953 m/s, LOS rate: -0.102041 deg/s, cmd heading: 171.307988 deg, new cmd heading: 171.176908 deg. HeadingCmd: 2.987601 target range: 106.259415 and range: 107.00 m.b4?@ZrjRJB~~}|||| {P!@ M${BMsř=IM)M%?QIUK$= QQU]4?@]X<]7Yk=i]4?@iaE?EEE4EFFT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6GE l=~G! A1 AA NU >9 S$,m>hA9F&3@FA@YF=yFu=FH ﾿-t?@3|?@o@#?? F&3@F;)FCR6}BRI=Mb@Mb@Mb@999 9)9Y=7A`?V-I +y=?==9=@ =@)9I=@9y=G@IMIM3m mM=yuE٥qy }Hy}̻ }>65 @?659R IBy?:>@@Ei<m<g[65!%T.A%rE)Y aƈG 5Y1y5[AuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 106.26 m.ĺĺ ProNav: ac range: 106.259415 m, nav range: 100.453506 m, bearing: 153.938659 deg, approach rate: -0.495266 m/s, LOS rate: -0.085915 deg/s, cmd heading: 171.176903 deg, new cmd heading: 171.061240 deg. kHeadingCmd: 2.985582 target range: 106.259415 and range: 107.00 m.b?@ZrjRJB~~+zB}|||| 0"@ {B靍r/=I)?I&= K6P"Kŷ9*K2K:KNR*xXnq/q h5 $#DR4J{g?@<i=i?@i9EEEEA5Ea T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6G KXi=ԙ ~G A A N% >$,5XhA9>3@>rA@Y>=y>V=>H`x۳@ؒ?̤@?u? ? >3@>;)>Cj"}BjIIrIrb2zVJ zS=yz?٥| HF>Ի > 65 .?659 Q I By>@@ Ei ; ; ^65!%.A-uEFNOT Ignoring new targets: 106.26 m. ProNav: ac range: 106.259415 m, nav range: 100.236755 m, bearing: 153.901373 deg, approach rate: -0.644138 m/s, LOS rate: -0.111046 deg/s, cmd heading: 171.061241 deg, new cmd heading: 170.949140 deg. kHeadingCmd: 2.983625 target range: 106.259415 and range: 107.00 m.b>@ZrjRJB~~}||||"@q {Bjբ=I)?I+(= ]>@r<%]Fh=i%>@i!E?EEEP0Eԡ:JiBJmVJJm@RJiZJibJmB9JmJ4JiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHE>HAHEIHE3}BHE =HAHAHE<HEE6GZGRG~G A A N > $,_rhAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9g3@nzA@Y9=yE=HY`@3 "??zʷuͳ? ? g3@<;)C}BIMb@Mb@Mb@ )Y+?ˡEQy?'u@ @)@I@yII 3ԩ /=yb%٥ HFĞ >65?659uP IBy" ?:a=@@Ei::b65.AFNOT Ignoring new targets: 106.26 m.ҺҺ- ProNav: ac range: 106.259415 m, nav range: 99.957710 m, bearing: 153.856582 deg, approach rate: -0.570572 m/s, LOS rate: -0.091842 deg/s, cmd heading: 170.949144 deg, new cmd heading: 170.814395 deg. 5|5HeadingCmd: 2.981274 target range: 106.259415 and range: 107.00 m.b50>@Z9r9j9R9J9B9~a~e zB}a|i|i|i|m#@ {B =I)?I%"*= v0>@<Y i=i0>@i  >EE mbEI ZEI u o59 Rn"cgiKCJ[&5vr*g7 QE E E E 5E F =F a=1 6Gf=a~GAAN?-$,`shA9ED3@EWA@YE~,=yEfE=EH@N@qb@ ?F`]?۸!n?? ED3@Eň; U4=Ua=U٥II MHMFM[ M>Q]65UP?]659UN IUwByae<=@e@UEiU;UD;U>g65mdBu.AuvEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.26 m. ProNav: ac range: 106.259415 m, nav range: 99.658249 m, bearing: 153.808650 deg, approach rate: -0.630756 m/s, LOS rate: -0.101262 deg/s, cmd heading: 170.814398 deg, new cmd heading: 170.670171 deg. HeadingCmd: 2.978756 target range: 106.259415 and range: 107.00 m.b>@ZrjRJB~~}||||$@ - {B5=I9)=?I ,= ~>@<k=i>@i>EzE1E1E1E53E1:JBJ^JJDRJZJbJd9J4J H H IH }BH H H H š<H EHeɜCHeɜCHaHe =Ie = IeI56G= 0i=~G A A9 NE >|$,1hA$M}BMII]I]m?3 J=yQ >٥ H >65d?659M IhBy@EiBh;Ni;j65%/A-yEyFNOT Ignoring new targets: 106.26 m.pƺpƺ5 ProNav: ac range: 106.259415 m, nav range: 99.426613 m, bearing: 153.771367 deg, approach rate: -0.537692 m/s, LOS rate: -0.086745 deg/s, cmd heading: 170.670172 deg, new cmd heading: 170.558064 deg. = n=HeadingCmd: 2.976800 target range: 106.259415 and range: 107.00 m.b=>@ZArAjARAJABAuBDAT read: Response Not Received u*response not received},DAT read: user:1853> BDAT read: Tx time:13:57:34.0635 $Ping request sent.@Erf@iIDQDQDQDQԙ E E E E 5E F F A- JDAT read: TxSync time:13:57:34.0627 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250829 K "P"K @9*K 2K :K $<ttSX_dmL`xg6GIhiN9 n6G̨i=jG?bG*?~GAAN?Dg$,ZFΓhA,9n^3@n)A@Ynr=yn؄=nHǑ p6T?`?U ?? n^3@n2;)l~|B~IMb@Mb@Mb@ )Y?v/y&1yf&?xi`e C@)@I@y3@II 3 =yC٥Q ]H]Fe e>i}65m?659mK ImOBy'?:;@@mEim!E;mC;mLo65cB\/A|EFNOT Ignoring new targets: 106.26 m.uu ProNav: ac range: 106.259415 m, nav range: 99.091530 m, bearing: 153.722366 deg, approach rate: -0.683578 m/s, LOS rate: -0.100303 deg/s, cmd heading: 170.558061 deg, new cmd heading: 170.410558 deg. HeadingCmd: 2.974225 target range: 106.259415 and range: 107.00 m.bY>@ZrjRJB~~#zB}||||&@ zBl=I%)%E>!I%/= !)-O-Y>@5 <5q=i5Y>@i1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502331E?EEEP0EԱ6G ghs= ~G9 AI A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752594H= >H9 H= IH= |BH9 H9 H9 H= <H= ,E$,hA\9^L2@^A@Y^K=y^^=^H"@`?`X? oc ?`w? ^L2@^;)\r|BvII~I~3 x  W=y L;Q >٥ HFsػ >!-65%?-659%J I%?By)-q;@5@%Ei%%:%:%tr659=/A9 FNOT Ignoring new targets: 106.26 m.=lƺ=lƺ} ProNav: ac range: 106.259415 m, nav range: 98.865120 m, bearing: 153.689438 deg, approach rate: -0.595040 m/s, LOS rate: -0.086738 deg/s, cmd heading: 170.410556 deg, new cmd heading: 170.311546 deg. }nHeadingCmd: 2.972497 target range: 106.259415 and range: 107.00 m.be=>@ZrjRJB~~}|||| j'@ zB=I)> I S1=    5e=>@55<5Kn=i=e=>@i9EE E E E =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007319I6G q=~G A A N >a v%,hA9>t2@>߿@@Y>w-=y>%l=>HMt` y?@ f?ռ@g?A? >t2@>ۊ;)>CR|BRuI9EMb@Mb@Mb@AAA A)AYEsh|??i|?5 rhyE)?EqECE@ Ep@)Ev@IAAyE@I]'I]@3mm! mD=ym{;Q m>٥qq uHq} }>65?659I I+By*?: ;@@Ei:A:v65/AEFNOT Ignoring new targets: 106.26 m.:J]bBJ]iJJ]CRJYZJ]:bJ]ڈ9J]4JYzJ]G ;ejJ]J ;mJ]f:mrJ]g:m}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256590ܺܺ ProNav: ac range: 106.259415 m, nav range: 98.598442 m, bearing: 153.651272 deg, approach rate: -0.671863 m/s, LOS rate: -0.096414 deg/s, cmd heading: 170.311546 deg, new cmd heading: 170.196739 deg. VHeadingCmd: 2.970494 target range: 106.259415 and range: 107.00 m.b>@ZrjRJB~~MzB}||||v<(@ UzBUX=IQ)U>>QI]2= YY] e>@e-@iizEqiK0P"K9*K2K:KUova|3uAfMW&{NN7'ef`E!E!E!E!E)F5=F1ԑ6GI ~G) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513359A A N > l%,OhA9:r2@:@@Y:2=y:C=:HU@y@:?@?+D? [? :r2@:CU;):C%|B%mI))I5I5F3} I=yyR;Q >٥ HF5 >ԙ65?659xG tIIBy:@@Ei ; ;y65+0AEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 106.26 m.ѺѺ ProNav: ac range: 106.259415 m, nav range: 98.336502 m, bearing: 153.614123 deg, approach rate: -0.642867 m/s, LOS rate: -0.091415 deg/s, cmd heading: 170.196744 deg, new cmd heading: 170.085002 deg. z HeadingCmd: 2.968543 target range: 106.259415 and range: 107.00 m.b =@Z r jRJB~!~!}!|)|)|)|- I(@ }zB}=Iy)>IfQ4= G =@_<c=i=@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761007GGH>HHeIH|BHHHH<HE>EEEEEE 6G f=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015259~Gq Ay A N >l %,O8hA9>S2@>f@@Y>=y>(=>H3 3¿ZҺ'?`д? 9s`?? >S2@>_;)>C FC)FAɵF`廩DDJCɶJAiHIHHIN@CiNzA LL)LR3C RlARPɷPTVQAIV7 )VdFiTX)^3CIbMAb$ɸb8F `ɹbC`diddif Cf̃A)I IIQٯQ]|B]^IeMb@Mb@Mb@aaa a)aYew/?J +~jtye&?eHea e@)ehAIe@aye@II(*2bJ '=yJ;Q >٥ HF > 65 q?659 E I Byt'?:;@@ Ei 8: : }65!%0A!Y]FNOT Ignoring new targets: 106.26 m.eg׺eg׺u ProNav: ac range: 106.259415 m, nav range: 98.028709 m, bearing: 153.567899 deg, approach rate: -0.625017 m/s, LOS rate: -0.094160 deg/s, cmd heading: 170.085002 deg, new cmd heading: 169.945894 deg. u=}HeadingCmd: 2.966115 target range: 106.259415 and range: 107.00 m.b}=@ZyryjRJB~~zB}||||)@ zB=I)y>I6= b=@O<e=i=@i :J5aBJ5VJJ5ARJ1ZJ5:bJ5B9J54J1zJ5;jJ5;J5X:rJ5X:]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266006>E%9K 9P"K 9*K 2K :K 3ZHpTuH pCtOr$^74&iz7-E E E E E 9 i 6G=va= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517509~G!AAAiN?%,^YhA9>:2@>,N@@Y>E=y>=>H| f¿`, ,W?@?p@?}? >:2@>G;)>C\5z|B5EII} I}̍2q ,=yD;Q >٥ HM >65X?659 D IBy;@@ EiB;51;65bB/1AEFNOT Ignoring new targets: 106.26 m.׺׺  ProNav: ac range: 106.259415 m, nav range: 97.732422 m, bearing: 153.523392 deg, approach rate: -0.626354 m/s, LOS rate: -0.094373 deg/s, cmd heading: 169.945898 deg, new cmd heading: 169.811973 deg.  HeadingCmd: 2.963778 target range: 106.259415 and range: 107.00 m.b=@ZrjRJB~!~!}!|!|)|1|5`*@ mzBm&=Ii)m/>qIu7= qqu}=@}<}*i=i=@iDDDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770134H%>H!H%FIH%||BH!H!H!H%<H%EQE?EEEEa 6G} f=jG ?bG >~GQ Ai Ay N >Y%,shA9W2@.@@Yf=yfn=HEz¿?6? ý؍?@0? W2@骅@;)CBDAT read: Rx Time:13:57:36.5991 -TRx dataTimestamp_ set to:1749131857.8787135checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026543p|B?I9Mb@Mb@Mb@ )Y}?5^I? rhMbyM"?C 3@ )AI@y@IIM3ђ =y9Q >٥ HF gp m>q}65u1I59= 115IX==@=<=Sl=iE=@iAaEEEEO0EG1 YyBI I @A:J ^BJ [JJ RJ ZJ } :bJ W9J J zJ ]:jJ b:J z|:rJ }|:ױ ׵ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272864ԉ K% KP"K% 59*K! 2K% :K% 4CG+/ ,5Ve3W'M1VNnpQ\2L yBz6G Eug=~G Թ A A N >Z $%,chA9R1@R @@YR=yR=RHw`¿( :?x?9Ž`Z?H? R1@R-M;)RC~B|B~#II I T3  y=y~8Q ?٥! %H%F%ʻ -?)565-D,?5659-]A I-By9=<@=@-Ei-:-K:-65AE2AMEiuFNOT Ignoring new targets: 106.26 m.u} ProNav: ac range: 106.259415 m, nav range: 97.217201 m, bearing: 153.439260 deg, approach rate: -0.607176 m/s, LOS rate: -0.099180 deg/s, cmd heading: 169.652391 deg, new cmd heading: 169.558861 deg. !HeadingCmd: 2.959360 target range: 106.259415 and range: 107.00 m.b)f=@ZrjRJB~~}||||@,@ zBB=I)>I#x:= S)f=@-<j=i)f=@i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528280EEEE_0E)6G8n=~GA A N% >a  HM <HM <HY HY H] IH] ?|BHY HY HY HY HY  DAT read: 13:57:36.5991 LVL= 23648, 30785, 16434, 28883, AGC= 69, IDX= 349, 0.01,-0.271,-1.348, 0.525,-0.201, PHS= 0.019,-1.100, 0.724, RAW= 172.5, 4.5, CAL= 172.6, -4.5, ROT= 337.4, 4.5  Ygot valid direction response: 13:57:36.5991 LVL= 23648, 30785, 16434, 28883, AGC= 69, IDX= 349, 0.01,-0.271,-1.348, 0.525,-0.201, PHS= 0.019,-1.100, 0.724, RAW= 172.5, 4.5, CAL= 172.6, -4.5, ROT= 337.4, 4.5  PDAT read: Bearing 337.4, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 337.4, 4.5 (Local)  DAT read: Range 10 to 50 : 98.4 m (Round-trip 131.3 ms) speed 0.4 m/s  ,DAT read: user:1854>  BDAT read: Tx time:13:57:37.7136  $Ping request sent. ٥qy }H}F} }>65k?659? IBy@Eii(<(<652AZqbu]hAunBunBu7&@ʁu#<{V@f阳ٷBKŪu`ܟs?%ؿ5;uɾu|٠=ҁu\`WTu "qH@Uf4uv`꿍"?7vʿzuCBu:ju ɜ?ru7 u*Bua+Ȝ?u&@  quBu;)@ addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 14.624202 s, deltaX: -8.599998 m, approachRate: -0.588066 m/s, rangeRepo size: 4  Added new target pos. range: 97.716782 m, bearing: 149.234153 deg, lat: 36.906425 deg, lon: -122.115978 deg, deltaT: 14.624202 s, deltaX: -8.542633 m, approachRate: -0.584144 m/s, posRepo size: 4 DNOT Ignoring new targets: 97.72 m.u ProNav: ac range: 97.716782 m, nav range: 94.955322 m, bearing: 151.503294 deg, approach rate: 0.000000 m/s, LOS rate: -0.099180 deg/s, cmd heading: 169.558859 deg, new cmd heading: 169.407595 deg. qHeadingCmd: 2.956720 target range: 97.716782 and range: 98.40 m.b:=@ZrjRJB~!~!}1|i|y|UX@|]? zB靭h=I)>IH<= :=@x<t=i:=@iE E E E P0E  6G f=ZG RG :J=_BJ=cJJ=FRJ9ZJ= :bJ=x9J=4J9zJ=*:jJ=/:J=:rJ=:~GAAN>~\2%,mɔhA9R^1@Rbr?@YR^9=yR"v=RH@n2Ŀp广g?Ɂ'?6I? ? R^1@R ;)RC^|B^ IYMb@Mb@Mb@ )YQ?Qy&1y(?u`eI@ @)AI-@y@I"Iq3G 9=y᡻Q >٥ HM >KU2P"KQ*KQ2KU:KU ~l90pe=Yr} [b~mXS6dSe65i?e659> IBye??m:m=@m@Ei8Y<S<65qu2AuEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.72 m.   ProNav: ac range: 97.716782 m, nav range: 94.704025 m, bearing: 151.452206 deg, approach rate: -0.591774 m/s, LOS rate: -0.120625 deg/s, cmd heading: 169.407597 deg, new cmd heading: 169.253927 deg. HeadingCmd: 2.954038 target range: 97.716782 and range: 98.40 m.b=@ZrjRJB ~)~-zB}1|1|1|1|5S? zB靭V=I)>IH== =@f<[=i=@iԉEyEEEET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա6G ghs=~Gy A A N > 08%,hA9>1@>#?@Y>=y>=>Hh&Ŀ`$? } ?H |?`? >1@>s@;)>CN{BNIIVIVT3^> ^_=ybqE:Q b>٥`` fHfFfVW f>hr65j?v659j= IjByxz=@z@jEij;j;j65~aB~n3A~E!-DNOT Ignoring new targets: 97.72 m.-{ -{ Թ ProNav: ac range: 97.716782 m, nav range: 94.494568 m, bearing: 151.410093 deg, approach rate: -0.596512 m/s, LOS rate: -0.120197 deg/s, cmd heading: 169.253932 deg, new cmd heading: 169.127315 deg. HeadingCmd: 2.951828 target range: 97.716782 and range: 98.40 m.b<@ZrjRJB~~}||||@L? MzBMŌ=II)Ml>IquA}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988095H>HHIH|BHHHH<HEHAHAHAHE =IE = IEZ4I/>= Sb񻉢<@<q*T=i<@iEEEE_0E6Geva=~G!A)A9NER>U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242350I ұ>%,8hA9B80@B?@YBn=yBҐ=BH e Ŀ -l?`|@s?`o?S? B80@By;)BCb{BbI f=f=UMb@Mb@Mb@QQQ Q)QYU9v?MbPMbyU?UUU3@ UQ@)U3AIUZ@QyU@mAAiImIm?13}*  }>=y:Q >٥ HF+ >65u?659< IuBy?:>@@"Ei{::y653ADNOT Ignoring new targets: 97.72 m. ProNav: ac range: 97.716782 m, nav range: 94.260834 m, bearing: 151.359612 deg, approach rate: -0.544473 m/s, LOS rate: -0.117885 deg/s, cmd heading: 169.127314 deg, new cmd heading: 168.975495 deg. ΡHeadingCmd: 2.949179 target range: 97.716782 and range: 98.40 m.bX<@ZrjRJB~~zzB}||||N? MzBM=IQ)U>QIU9?= QQ]|뻉]X<@]Pԑ ݖE%,zqhA9B0@Bo>@YB?=yBNK=BH Xd@Ŀ@ڈ`?>UӴ?`G`J?? B0@BoƏ;)BCV{BVIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743698II#3-  -P=y5:Q 5>٥11 5H1=V =>AM65E?M659E; IEfByQU>@U@E&EiE:E:E65Ye54AeEDNOT Ignoring new targets: 97.72 m.- ProNav: ac range: 97.716782 m, nav range: 94.047302 m, bearing: 151.313391 deg, approach rate: -0.531145 m/s, LOS rate: -0.115234 deg/s, cmd heading: 168.975492 deg, new cmd heading: 168.836513 deg. -+EHeadingCmd: 2.946753 target range: 97.716782 and range: 98.40 m.bE<@ZArIjIRIqJB~~}|||| ? -zB5O؄=I1)=z>9IEf+@= AAE滉M<@UO K%,\1hA96:0@6>@Y6(=y6,e=6H d`Ŀ[{?අ"ɲ?@Yp?? 6:0@6{;)6CF{BJIIR IR2ZWǽ ZR=y^$:Q ^>٥\\ bHbFb,: b>dj65f?j659f: IfWByln>@n@f)Eif;f;fN65pr4ApDNOT Ignoring new targets: 97.72 m. ProNav: ac range: 97.716782 m, nav range: 93.835564 m, bearing: 151.267316 deg, approach rate: -0.528876 m/s, LOS rate: -0.115344 deg/s, cmd heading: 168.836512 deg, new cmd heading: 168.697976 deg. QHeadingCmd: 2.944335 target range: 97.716782 and range: 98.40 m.bo<@ZrjRJB~~}||||D@ -zB-=I1)5n>1I={@= 9AE&rỉ]o<@eI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499709I R=I ,R%, )KhA 9>0@>&?@Y>@=y>![=>H 8d`0ĿI q?@5?`ֽA?w? >0@>0Ս;)>CJv{BJIPRAuMb@Mb@Mb@qqq q)qYu> ףp=?Mb?y&1|yu?u٥ HFh: >65?6599 IFBy?:?@@-Ei;;65.5AEDNOT Ignoring new targets: 97.72 m. 8 8 ProNav: ac range: 97.716782 m, nav range: 93.606850 m, bearing: 151.214714 deg, approach rate: -0.554478 m/s, LOS rate: -0.127835 deg/s, cmd heading: 168.697982 deg, new cmd heading: 168.539792 deg. v%HeadingCmd: 2.941574 target range: 97.716782 and range: 98.40 m.b%B<@Z!r!j)R)J)B)~1~5lzB}1|1|9|9|=@KuQ"Ku9*Kq2Ku:Ku]4n5dieBN??M}m[ y>lb 7{J?J ? zB靍u~=I)w\> IA= ۻB<@<s=iB<@i!iEEEE5Eԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7524646GKXi=~G A A N >\X%,qehA9>f0@>>@Y>=y>7|k=>Ha Ŀ=a?@C?7?৹? >f0@>aR;)>CLRY{BVII^I^2v% vV=yv]?;Q v>٥xx zHxzAU ~> 65? 6598 I8By  ?@ @1Ei:):k65`B5AE5B*** querying acoustic contact ***J1R1QUDNOT Ignoring new targets: 97.72 m.] ] m ProNav: ac range: 97.716782 m, nav range: 93.404854 m, bearing: 151.168196 deg, approach rate: -0.529343 m/s, LOS rate: -0.122168 deg/s, cmd heading: 168.539795 deg, new cmd heading: 168.399938 deg. muHeadingCmd: 2.939133 target range: 97.716782 and range: 98.40 m.bu<@ZqrqjRJB~~}||||@H>HHIHt{BH =HHH̚<HE]BDAT read: Rx Time:13:57:40.2465 eTRx dataTimestamp_ set to:1749131861.655535echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004987:JbBJZJJDRJZJ:bJS9J4JzJH ;jJJ ;JPu:rJSu: zB靽Fx=I)D>I4B= Rջ<@y<.w=i<@iEEEE4E6Gs=~G  %= R=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260618AI Aq ԁ N >+^%,@~hA]8{BeIMb@Mb@Mb@ )Y(\?Mb?yz? @)`AI@y@II3 /=yQ >٥ HF >65 t?6597 I(By~?:?@@5Ei':M:65  %6A AEDNOT Ignoring new targets: 97.72 m.MM] ProNav: ac range: 97.716782 m, nav range: 93.152763 m, bearing: 151.110012 deg, approach rate: -0.539426 m/s, LOS rate: -0.124840 deg/s, cmd heading: 168.399940 deg, new cmd heading: 168.224915 deg. ]ZeHeadingCmd: 2.936079 target range: 97.716782 and range: 98.40 m.be;@ZarajaRaJiBi~q~uuzB}q|q|y|y|}@ @ zB)靭P3p=I1)=(>9IEGB= AAEλM;@MV+e%,hA9Faf0@Fy>@YF =yF{=FHV`ſw[5?w?`j8?? Faf0@FSf;)DV{BVnI Z=Zp=bT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseI^I^T3vW vp=yz_;Q z?Y٥|a eHam m>q65u c?659u&7 IuBy\?@@u8EiuyYIeGC=ԑ eǻT;@<Բm=iT;@iE?EEEO0EԱ HH4=H>HHqIH"{BHHH1DHК<HEuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse:J]BJXJJARJZJ]:bJ5K9J4JzJ:jJ:Jf:rJf:6G = ~G A A N >Zl%,JhA9>0@>)>@Y>i=y>o=>H2P່ƿi I?@r ?1q@?? >0@>Ic;)>CJzBJYIIVIV2^ ^M=y^}9Q b>٥`` bHbFfQ f>hn65jP?n659j>6 IjBylr ?@r@j<Eij^R;jnZ;j65|~7A!-DNOT Ignoring new targets: 97.72 m.--E ProNav: ac range: 97.716782 m, nav range: 92.753334 m, bearing: 151.019883 deg, approach rate: -0.605892 m/s, LOS rate: -0.136327 deg/s, cmd heading: 168.094179 deg, new cmd heading: 167.953943 deg. EEHeadingCmd: 2.931349 target range: 97.716782 and range: 98.40 m.bM:;@ZIrIjIRIJIBI~Q~Q}Q|QԹ|||@ MzBMnf=II)M=IIU[C= ."»:;@0<g=i:;@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEEP0E6Gghs=~GAAN l>)A AcG % %Y! y% 2B @ _ BA  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapser%,*s̕hA9>k/@>=@Y>>=y>`Z=>H`H"ǿ`95?]m²?3m!?W? >k/@>մ;)٥ HFG >65R;?659'5 IBy?:>@@@EiA:I:ɴ657AE)-DNOT Ignoring new targets: 97.72 m.5Q 5Q E ProNav: ac range: 97.716782 m, nav range: 92.512115 m, bearing: 150.966385 deg, approach rate: -0.551693 m/s, LOS rate: -0.122674 deg/s, cmd heading: 167.953942 deg, new cmd heading: 167.793030 deg. EaUHeadingCmd: 2.928541 target range: 97.716782 and range: 98.40 m.bU7m;@ZYrYjYRYJYBY~a~ezB}a|a|a|i|m@ zB靝Z=I)@=IZC= 7m;@c<_=i7m;@iK-8P"K-9*K)2K-:K-[QH;!p2(P<7 pE   _%& " s ] _  n Z $b)9LbYO|;=EaEiEiEm_0EiAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq6Gn=~G A A N >ԙ Y!y%,KhA9:;h/@:{=@Y:=y:UF=:H)AǿT? Ph?n?`Y? :;h/@:^ĉ;)8FzBJ+IIVIV<2bǽ b\=yf8Q f>٥dd fHdjh j>lr65n])?r659n44 InBypv[>@v@nCEin:n:n65z_Bz?8AzEB*** querying acoustic contact ***JRH >HCH9IHzBH =HHH<HEDNOT Ignoring new targets: 97.72 m.%%ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse] ProNav: ac range: 97.716782 m, nav range: 92.308334 m, bearing: 150.921707 deg, approach rate: -0.507053 m/s, LOS rate: -0.111414 deg/s, cmd heading: 167.793036 deg, new cmd heading: 167.658707 deg. ]옻eHeadingCmd: 2.926196 target range: 97.716782 and range: 98.40 m.beF;@ZarajaRaJiBi~i~i}qq:JBJRJJBRJZJbJS29J-4JzJjJJ;:rJ<:||||c:@ }zB "R=IY)]L=YI] D= aaeeF;@m,+EzEEM ?EQ EY E] P0EY F} =F} = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse 6G ,^=~GAAN>H%,ahA(9B/@Bj=@YB:d=yBFM==BH 87oȿ`l?` @? 5Z@|? ? B/@B&;)@RzBRI}Mb@Mb@Mb@yyy y)yY}V-?MbMbpy}?}}y }3@)} AI}$@yy}AII2.$ =yQ >٥ HFG: >65f?6592 IݙBy?:I<@@HEi::658AE DNOT Ignoring new targets: 97.72 m. % = ProNav: ac range: 97.716782 m, nav range: 92.008804 m, bearing: 150.862385 deg, approach rate: -0.618308 m/s, LOS rate: -0.122854 deg/s, cmd heading: 167.658700 deg, new cmd heading: 167.480156 deg. =EHeadingCmd: 2.923080 target range: 97.716782 and range: 98.40 m.bE;@ZArAjARAJIBI~I~MzB}Q|Q|Q|Q|U+@ xzB靍z)M=I) =I[.D= ;@J<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIIAAԁM=i;@i>E])<E?EEEQ0EԱKP"K9*K2K:K.vk o ^A /]m KJAJA 6G R= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~G A A N5 >l%,$hA\9z.@zl<@Yz=yz 4=zH`W1 ɿ2٥ HFP >65h?659D1 I͙By;@@LEijW;X;659ADNOT Ignoring new targets: 97.72 m. % ProNav: ac range: 97.716782 m, nav range: 91.777626 m, bearing: 150.817129 deg, approach rate: -0.578096 m/s, LOS rate: -0.113455 deg/s, cmd heading: 167.480159 deg, new cmd heading: 167.344049 deg. %-HeadingCmd: 2.920705 target range: 97.716782 and range: 98.40 m.b-:@Z)r)j)R)J)B)~1~1}9|9|9|9|=`)@ mtzBm;=Ii)mHqIu%D= qqu~}:@}z<}lD=i}:@iHM >HIHMIHMvzBHIHIHIHM<HMEH H H H  =I  = I w5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1>EUX<E1 E1 E1 E5 P0E1 a 6Gm  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ~GAAIN}?(%,6?hAae4zBmI Mb@Mb@Mb@    ) Y '1Z?V-{Gzy "?  # 3A `@)  AI h@ y AI=I=2en e=yeQ e>٥ii mHmFu u>y65}?659}./ I}By#?:9@@}REi}:}:}65^B&:AEDNOT Ignoring new targets: 97.72 m. ProNav: ac range: 97.716782 m, nav range: 91.453491 m, bearing: 150.760431 deg, approach rate: -0.609407 m/s, LOS rate: -0.106977 deg/s, cmd heading: 167.344047 deg, new cmd heading: 167.173349 deg. ՒHeadingCmd: 2.917725 target range: 97.716782 and range: 98.40 m.b:@ZrjRJB~~zB}||||s@ 5nzB=$5=I9)=k9I=C= AAE%E:@Mɖ%, y\hA$9Z-@Z{;@YZ=yZh=ZHpʿ0wD?D"? м` ~?? Z-@Z;)ZCjzBjIIrIrM3z3 ~J=y~dQ ~>٥| H#  > 65 ?659 ~- I By8@@ VEi u: : 765:AEDNOT Ignoring new targets: 97.72 m.ҺҺ ProNav: ac range: 97.716782 m, nav range: 91.206406 m, bearing: 150.719653 deg, approach rate: -0.554997 m/s, LOS rate: -0.091843 deg/s, cmd heading: 167.173347 deg, new cmd heading: 167.050682 deg. | HeadingCmd: 2.915584 target range: 97.716782 and range: 98.40 m.b :@ZrjRJB~9~9}9|9|A|A|E@@y jzB靥/)=I)^ʽIZsC= k:@< =i:@iEEEEX0EԡHHHIHzBHHHH<HEiimT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse 6G 8U=~G A A N >%,0vhA9V_-@Vr;@YVB=`yV(7? `3?%? V_-@V;)VCjyBjIIrIr3zi zL=y~bQ ~>٥ HFp> > 65 T?659 + I By8@@ ZEi < < 65w;AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.72 m.EE ProNav: ac range: 97.716782 m, nav range: 90.960846 m, bearing: 150.679679 deg, approach rate: -0.651506 m/s, LOS rate: -0.106343 deg/s, cmd heading: 167.050677 deg, new cmd heading: 166.930432 deg. HeadingCmd: 2.913486 target range: 97.716782 and range: 98.40 m.bv:@ZrjRJB~~}||||@ @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse -gzB w=I )I8C= 糉v:@% <i=iv:@i!E?EEE-_0E)FU=FU=6G={/=~GAAN%o>A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:J ^BJ XJJ BRJ ZJ } :bJ 5K9J -4J أ%,hA9F--@F$;@YFx=yF٥qq }H}F}q: }>65?659) IByA)?:7@@^Eia;`;e65(0j,"\>)5SqGk (!@ dzB.>=I)[+IyB= !%-R:@-8<-L=i-R:@i)AEEEEo0E =%=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei6G% =~G A A N% >ԑ W%,⩖hA H2<H2<H6 >H4H6IH6yBH6 =H4H4H6ܚ<H6 E9bk,@b:@Yb=yb`٥)) -H)5] 5>ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseAM65E?M659E' IEpByQUt7@U@EbEiEW:E :E65]]B]}%,ÖhA9>,@>]:@Y>=y>=>Ho ` ̿V ^I?)ϫ?.iˠ?`? >,@>B;)>CJsyBJhI]Mb@Mb@Mb@YYY Y)YY]HzG? ףp= {Gzy]=*?]Q8]ף]A ]A)YI]@Yy]AI}I}V83hý D=yQ >٥ HFP >65t?659% I^By*?:o6@@gEi :z;{65 =ADNOT Ignoring new targets: 97.72 m. Ӻ Ӻ ProNav: ac range: 97.716782 m, nav range: 90.173393 m, bearing: 150.561261 deg, approach rate: -0.643933 m/s, LOS rate: -0.092663 deg/s, cmd heading: 166.690029 deg, new cmd heading: 166.574158 deg. `~%HeadingCmd: 2.907268 target range: 97.716782 and range: 98.40 m.b%:@Z!r!j!R!J)B)~)~-@zB}1|A|A|A|M@!@ %]zB%=I!)%i!I-*A= ))-fU:@U~GA AI Aa Nm >ԉ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse %,WݖhA9F?|,@F:@YF=yF8g=FHd 4/Ϳ@<嵿?a" ĭ?b ?? F?|,@F&;)FCmMyBmQI)y y ==II3c H=y\ Q >٥ HFл >65^?659# ILByG6@@kEi M;Q:;65=AE DNOT Ignoring new targets: 97.72 m.źź% ProNav: ac range: 97.716782 m, nav range: 89.908974 m, bearing: 150.523522 deg, approach rate: -0.603375 m/s, LOS rate: -0.086369 deg/s, cmd heading: 166.574162 deg, new cmd heading: 166.460613 deg. %m-HeadingCmd: 2.905286 target range: 97.716782 and range: 98.40 m.bU49@ZQrQjQRQJYBY~Y~Y}a|a|a|a|e!@ ZzBHiHmkIHmxyBHiHiHiHm՚<HmEeT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseI 6G =~G A A N >8%,qhA9F-e,@Fx:@YFI=yFB=FH@> YͿ@?@?@R෿)?? z? F-e,@Fmn;)FC^2yB^@IIfIf3n& nY=yn Q r>٥pp rHpvu v>x~65zJ?~659z! IzA E5B*** querying acoustic contact ***J1R1AEDNOT Ignoring new targets: 97.72 m.M@M@] ProNav: ac range: 97.716782 m, nav range: 89.666870 m, bearing: 150.488992 deg, approach rate: -0.700736 m/s, LOS rate: -0.100213 deg/s, cmd heading: 166.460617 deg, new cmd heading: 166.356747 deg. eeHeadingCmd: 2.903473 target range: 97.716782 and range: 98.40 m.be9@ZirijiRiJiBi~q~q}q|q|y|y|}`P"@ WzBU'ԩ m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse:J _BJ ]JJ ?RJ ZJ :bJ _9J ـ4J $%,=`hA96R,@6e:@٥YY ]H]Fe-1 e>iu65m3?u659m Im*By},/?:5@@msEimMq;msp;m65 ]_>AYDNOT Ignoring new targets: 97.72 m.}} ProNav: ac range: 97.716782 m, nav range: 89.387611 m, bearing: 150.450758 deg, approach rate: -0.612671 m/s, LOS rate: -0.084144 deg/s, cmd heading: 166.356743 deg, new cmd heading: 166.241684 deg. fHeadingCmd: 2.901465 target range: 97.716782 and range: 98.40 m.b9@ZrjRJB~ ~ -zB} |||| {#@K%b/P"K%9*K!2K%:K%~3d Tf Yxw1MWc\7Xtg1?if\kIcIԡ SzBM=   7X;9@2<` =i9@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEE3EF=F= 6G] Q =ZGa RGa ~G9 AA AQ Ne >tI%,%+hAGG@AHHH?IH0yBHHHHך<HE9j T,@jg:@Yjv3=yj+e=jH suͿ0? m?@_ ?? j T,@j,;)jCp~xB%٥ Hw9 >65?659 IBy5@@xEi;!;65\B?AEUDNOT Ignoring new targets: 97.72 m.]v]v ProNav: ac range: 97.716782 m, nav range: 89.116753 m, bearing: 150.413403 deg, approach rate: -0.715613 m/s, LOS rate: -0.098994 deg/s, cmd heading: 166.241682 deg, new cmd heading: 166.129274 deg. HeadingCmd: 2.899503 target range: 97.716782 and range: 98.40 m.bt9@ZrjRJB~~}||||~E$@ -PzB-1%,2EhA-xB- I9Mb@Mb@Mb@ )Y(\?J +~jty'?HD A)\ AI3@ypAIIm?3 @=yQ >٥ HF > 65 ?659 V I  By-(?:5@@ |Ei  ; ; >65!%?A-Eq}DNOT Ignoring new targets: 97.72 m.}ͺ}ͺ ProNav: ac range: 97.716782 m, nav range: 88.848549 m, bearing: 150.375988 deg, approach rate: -0.643114 m/s, LOS rate: -0.089985 deg/s, cmd heading: 166.129271 deg, new cmd heading: 166.016689 deg. wHeadingCmd: 2.897538 target range: 97.716782 and range: 98.40 m.bCq9@ZrjRJB~~zB}||||%@ }LzB靅MB( )QKxaA8. 8 y 4XbLzbw(J ?J >~G) A1 AA NU >  BDAT read: Response Not Received  *response not received ,DAT read: user:1856>  BDAT read: Tx time:13:57:48.6637  $Ping request sent. ٥ HFIu >65?659 IBy5@@Ei<V<65y}?AyDNOT Ignoring new targets: 97.72 m.źź ProNav: ac range: 97.716782 m, nav range: 88.573479 m, bearing: 150.337612 deg, approach rate: -0.616907 m/s, LOS rate: -0.086335 deg/s, cmd heading: 166.016695 deg, new cmd heading: 165.901209 deg. mHeadingCmd: 2.895522 target range: 97.716782 and range: 98.40 m.b=P9@ZrjRJB~!~!})|1|9|9|=@%@ HzB靍H)H-IH-xBH)H)H)H-<H-EHśCHśCHH =I = IXF5EyEyEyE}Q0EyFFAMJDAT read: TxSync time:13:57:48.6629 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2531986G '=jG ?bG ?! ~Gy A A N >%,/xhAI)9>=,@>{P:@Y>"o=y> k=>HͿm&%? ܲ?` F?`o? >=,@>އ;)>Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502553xBI)IU-IU3< =y%ʻQ %>٥!) -H-F-09 ->1e655?e6595v I5Byae5@e@5Ei5:5W:565qu?AuEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.72 m.ккU ProNav: ac range: 97.716782 m, nav range: 88.245155 m, bearing: 150.291410 deg, approach rate: -0.645692 m/s, LOS rate: -0.091201 deg/s, cmd heading: 165.901210 deg, new cmd heading: 165.762088 deg. U\z]HeadingCmd: 2.893094 target range: 97.716782 and range: 98.40 m.b]u(9@ZYrYjYRYJaBa~a~a}i|i|i|i|m&@I CzB靅jE >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755208E9 E9 EA EE L2EA y ԡ6G%n=~GK<Q"K59*K2K:K=.`~'FT[l$dHPo7Qe t0JJ}AAA)N=?Oc%,ʚhA96g6,@6I:@Y6T=y6=6H_Ϳ 3?@'?E@J ?? 6g6,@6_;)6C >ُC)>Aɵ>Ļ@@BCɶBAi@I@DIFLCiD DD)DJ@C HJףHɷHLNSAIN1)N\FiL)PIRKAPɸR0F PɹR̎CV^ATiTViVCV΃A)T XIXٯX^xB^Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006860mMb@Mb@Mb@iii i)iYm"~j?&1MbpymS#?mPmm A i)mAImv@iym AIIT3 :=yCQ >٥)1 5H1=t E>Qe65U?e659U7 IUݘBym#?:55@@UEiU';U;UR65P@AêE9=DNOT Ignoring new targets: 97.72 m.EgºEgºu ProNav: ac range: 97.716782 m, nav range: 87.972115 m, bearing: 150.253821 deg, approach rate: -0.615381 m/s, LOS rate: -0.084980 deg/s, cmd heading: 165.762093 deg, new cmd heading: 165.648978 deg. uHi}HeadingCmd: 2.891120 target range: 97.716782 and range: 98.40 m.b}9@ZyryjyRyJB~~3zB}||||'@ ?zB靕cHAHEIHExBHE =HAHAHE<HEFEm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258021:J BJ [JJ @RJ ZJ bJ W9J J4J zJ  jJ  J {|: rJ }|:  6G k%=~G A A N >%,xյhA9>T,@>/h:@Y>=y>}=>H PͿY`;? ?ǟ?>? >T,@>;)>CExBEIaIU(IU̍3} }[=yI߻Q >٥ HF; >65ڬ?659Z IҘByS5@@EiA;+;65[Bo@AƪEDNOT Ignoring new targets: 97.72 m.ӺӺ ProNav: ac range: 97.716782 m, nav range: 87.744087 m, bearing: 150.221957 deg, approach rate: -0.661186 m/s, LOS rate: -0.092634 deg/s, cmd heading: 165.648972 deg, new cmd heading: 165.553130 deg. K~ HeadingCmd: 2.889447 target range: 97.716782 and range: 98.40 m.b 8@Z r j R J B~~}||||%B(@ U  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762103%,ϗhA9>},@>r:@Y> %=y>=>HNͿ `@?@ E? Ա?? >},@>;)<xBIMb@Mb@Mb@ )YMbX9?+Mbpy!?E A A)rAIhAyAII<2c E=yᖺQ >٥ HF; > 65?659e IǘBy"?:6@@Ei;;$65!%@A!IMDNOT Ignoring new targets: 97.72 m.ٺٺ ProNav: ac range: 97.716782 m, nav range: 87.489204 m, bearing: 150.182528 deg, approach rate: -0.613581 m/s, LOS rate: -0.095195 deg/s, cmd heading: 165.553130 deg, new cmd heading: 165.434498 deg. HeadingCmd: 2.887377 target range: 97.716782 and range: 98.40 m.b8@ZrjRJB!~!~%FzB}!|)|)|)|M\p)@KpEP"K9*K2K:K#-xCJULLF.4\[Gdq4 45bLG"MJt 8zB%,xhA9V,@V`:@YV=yV=VH ?̿`LZ?`??kx?@? V,@Vj;)VCH H H IH xBH  =H H H ͚<H EM|xBMII]I]24 K=yKQ >٥ H6; >65 ?659 IBy6@@Ei;j;65ZB@AǪEDNOT Ignoring new targets: 97.72 m.EۺEۺU ProNav: ac range: 97.716782 m, nav range: 87.240845 m, bearing: 150.143443 deg, approach rate: -0.608093 m/s, LOS rate: -0.095968 deg/s, cmd heading: 165.434504 deg, new cmd heading: 165.316917 deg. U]HeadingCmd: 2.885324 target range: 97.716782 and range: 98.40 m.b](8@ZYaamchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266911ryjyRyJB~~}|||| 8*@JJO4J/:J^BJSJJCRJZJ} :bJy69J4JzJ^:jJc:J'C:rJ*C: %5zB%\*9% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519451a \&,dhA9,@":@Y=yoւ=H@u̿ 5$R?e? S,fM?? ,@骵d;)CxBIQuMb@Mb@Mb@qqq q)qYuZd;?~jty&1|?yu?uDu`;u A uA)uAIqqyuzAII2; ;=yQ >٥ HF/: >75Wm?759d IByu?:5@@Ei:A:x75E@AEʪEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.72 m.5ĺ5ĺ ProNav: ac range: 97.716782 m, nav range: 86.977692 m, bearing: 150.104757 deg, approach rate: -0.581660 m/s, LOS rate: -0.085769 deg/s, cmd heading: 165.316915 deg, new cmd heading: 165.200505 deg. sk HeadingCmd: 2.883293 target range: 97.716782 and range: 98.40 m.b އ8@Z r j R J B~~jzB}|||| ) +@ 2zB靭}Gp-oQ ~G A A) N= >&,jmhAI4)6@9VU,@V:@YV<=yVy=VH @Ϳ٫`э?`@(?㱿 ?@? VU,@Vaۉ;)VCbhxBbIIjIj0n rm=yrRQ r?٥tt vHvF~BDAT read: Rx Time:13:57:51.1874 ~TRx dataTimestamp_ set to:1749131872.491459checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023227vo ? 75 \?759  I By5@@ Ei ; {; 75!%0AA!Q]DNOT Ignoring new targets: 97.72 m.e/ںe/ں ProNav: ac range: 97.716782 m, nav range: 86.767227 m, bearing: 150.073911 deg, approach rate: -0.649179 m/s, LOS rate: -0.095375 deg/s, cmd heading: 165.200501 deg, new cmd heading: 165.107739 deg. 邻HeadingCmd: 2.881674 target range: 97.716782 and range: 98.40 m.bWm8@ZrjRJB~~}I|I|Q|Q|Us+@ /zB靅p-#H9H=IH=xBH= =H9H9H=՚<H=E~GQAYAqN{>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274092:JcBJVJJLRJZJ:bJB9J4JzJ;jJ;JX:rJX:! ( &,.7hA09BZ,@Bm:@YBY=yB7n=BH@@wͿ`sԫ?@?DZ/?g? BZ,@BXƉ;)BCb^xBbIInIn[3v(Ƽ vJ=yvQ z>٥xx zHx~ ~>am75ePG?u759e IeByqus5@u@eEie:e :e 75VAAͪEDNOT Ignoring new targets: 97.72 m.ɺɺ ProNav: ac range: 97.716782 m, nav range: 86.515709 m, bearing: 150.037384 deg, approach rate: -0.605883 m/s, LOS rate: -0.088246 deg/s, cmd heading: 165.107734 deg, new cmd heading: 164.997834 deg. ?rHeadingCmd: 2.879755 target range: 97.716782 and range: 98.40 m.bM8@ZrjRJB~~}||||,@ %,zB-Ю" BDAT read: Tx time:13:57:52.2637 $Ping request sent.?K>ѿzBP3BY pX)nI@iqv>>Ā(? 7@)4QO=I8@iBҽg@B= )YL9?#~JEv?mN)?iG?_QjB= )) }G:publishing transmit ping timeڹFpublishing direction and range infoys>?K>ѿzBP % Y!y%BY )Ii )Ii )YL9?#~JEv?mN)?i )6GZ=~GI AY Aq N} >  JDAT read: TxSync time:13:57:52.2629 &,QhA\~JxB~II I 3< A=yQ >٥ HF >752?759 IBy@Ei:y: 75AAZAbE ?hAEBEBEU)@ʁE8=ERU@dڦ7 J"Es>?K>ѿzBPEjEB=ҁEov:;S=sD@_2g0E-Pfb?"pǿzEc&BEؙjE]ǜ?rE E6BAA E6BEBE_'@ addTargetRange:: Added new target pos. range: 89.599998 m, deltaT: 14.365181 s, deltaX: -8.800003 m, approachRate: -0.612593 m/s, rangeRepo size: 4  Added new target pos. range: 88.975662 m, bearing: 151.597275 deg, lat: 36.906425 deg, lon: -122.115978 deg, deltaT: 14.365181 s, deltaX: -8.741119 m, approachRate: -0.608494 m/s, posRepo size: 4 DNOT Ignoring new targets: 88.98 m. ProNav: ac range: 88.975662 m, nav range: 86.263641 m, bearing: 150.000558 deg, approach rate: 0.000000 m/s, LOS rate: -0.088246 deg/s, cmd heading: 164.997836 deg, new cmd heading: 164.883886 deg.  5HeadingCmd: 2.877767 target range: 88.975662 and range: 89.60 m.b5T-8@Z1r9j9R9J9B9~A~A}A|A|A|M`ffV@|mv? )zB)@<&,jhAHr >HrCHrIHrexBHr =HpHpHr<Hr&Em;xBmIII2 F=yQ >٥ HF >75? 759 IBy@Ei;I;X75-YB-AA-ЪE:JbBJRJJGRJZJ:bJS29Jc4JzJH ;jJJ ;J;:rJ<:1=DNOT Ignoring new targets: 88.98 m.=ĺ=ĺm ProNav: ac range: 88.975662 m, nav range: 86.013611 m, bearing: 149.963811 deg, approach rate: -0.584153 m/s, LOS rate: -0.086102 deg/s, cmd heading: 164.883881 deg, new cmd heading: 164.773320 deg. m]luHeadingCmd: 2.875837 target range: 88.975662 and range: 89.60 m.bu 8@ZqryjyRyJyBy~~}||||Y?A 'zB!!&,ohA`9vW+@j9@Y և=yX-=H AϿ٥    H  >-75?-759# IB5+:y15:5s4@5@Eii;>759E=BAEӪEeB*** querying acoustic contact ***JaRaiuDNOT Ignoring new targets: 88.98 m.u̺u̺ ProNav: ac range: 88.975662 m, nav range: 85.729256 m, bearing: 149.924858 deg, approach rate: -0.650809 m/s, LOS rate: -0.089450 deg/s, cmd heading: 164.773314 deg, new cmd heading: 164.656065 deg. uHeadingCmd: 2.873791 target range: 88.975662 and range: 89.60 m.b/7@ZrjRJB~~}||||6? $zB ;I)YI4*= "U/7@</1=i/7@iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.II@AEEEEP0E 6G Km P"Ki *Ki 2Km :Km ofk T~RkkRJldYy_*<SsB'&,%hAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490723A xBIII3⍽ c=yQ >٥ HF >75?759D IB :y_:@Ei:nT?75BA%DNOT Ignoring new targets: 88.98 m.%%5 ProNav: ac range: 88.975662 m, nav range: 85.509300 m, bearing: 149.894545 deg, approach rate: -0.613185 m/s, LOS rate: -0.084722 deg/s, cmd heading: 164.656067 deg, new cmd heading: 164.564895 deg. =h=HeadingCmd: 2.872199 target range: 88.975662 and range: 89.60 m.b=7@ZArAjARAJABA~I~I}I|I|I|Q|UP? "zB;J;I)BI(= &8 7@-%<53==i57@i1iEEEEE6GH5CH5IH5GxBH5 =H1H50DH5Қ<H5EHHHH =I = I<5~GAANf>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.742559 E-&,)hA9:+@:g.9@Y:Tń=y:y=:HiϿ^?ué?n$?? :+@:x;):CJwBJIIPIPZ> Z]=yZ݄Q Z>٥dh jHpvN! z>Q]75U?]759U= IU~B]9yY]5:]64@e@UEiUY;U?U75q}BA}֪EԙDNOT Ignoring new targets: 88.98 m.ؼؼ ProNav: ac range: 88.975662 m, nav range: 85.273804 m, bearing: 149.862519 deg, approach rate: -0.605337 m/s, LOS rate: -0.082550 deg/s, cmd heading: 164.564898 deg, new cmd heading: 164.468554 deg. bHeadingCmd: 2.870518 target range: 88.975662 and range: 89.60 m.b7@ZrjRJB~~}||||ಊ? !zB:I)2 I&= !%z9%7@-m<-4=i-7@i)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995692EEEE^0E6G/=~GAAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246532! I! I% a=:J- `BJ- SJJ- ARJ) ZJ- :bJ- y69J- 4J) = @= @= @= @4&,ӘhA9^*@^8@Y^%=y^+=^H`=`/(п@@?D?ȁ@b?? ^*@^!;)\rwBrjIaI}aI} aM}aM} aQ}aQ} aE}aE} }Mb@Mb@Mb@yyy y)yY}+?~jty&1y}?}}`e}\ A }`A)}AI}Ayy} AII2 <=y7Q >٥ HF/ >75?759" IrBT:y ?: 5@@EiX;a;)75XBlCA٪E DNOT Ignoring new targets: 88.98 m. ̺ ̺ ProNav: ac range: 88.975662 m, nav range: 85.019592 m, bearing: 149.825428 deg, approach rate: -0.609484 m/s, LOS rate: -0.089193 deg/s, cmd heading: 164.468551 deg, new cmd heading: 164.356945 deg. tHeadingCmd: 2.868570 target range: 88.975662 and range: 89.60 m.b7@ZrjRJB~~GzB}||||<@ 5zB5@;I9)=9I=$= 99=3:E7@EƸJ>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499392Q6G- 4=~G A A) N5 >ԁ H% >H! H% IH% xBH%  =H! H! H% Κ<H% ET:&,|hA9JF*@J8@YJ"=yJW>=JH`>п+@ ?^? d ͧ?? JF*@Jˋ;)JCbwBbbIIjIj 3r rX=yrQ r>٥tt vHvFvVK z>x75z?759z7 IzgBy4@@zEizU;z@;zx75 CAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750490DNOT Ignoring new targets: 88.98 m.% ProNav: ac range: 88.975662 m, nav range: 84.789131 m, bearing: 149.791778 deg, approach rate: -0.576275 m/s, LOS rate: -0.084370 deg/s, cmd heading: 164.356946 deg, new cmd heading: 164.255724 deg. -gQ]HeadingCmd: 2.866803 target range: 88.975662 and range: 89.60 m.b]y7@ZYrYjYRYJYBa~a~a}a|i|i|i|mFa@ uzBuIq)}1yI}"= yy}C<:y7@</=iy7@iEEEEEԉF=F=ԱU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0027106G ,=ZG RG A~G A A N > A&,ܞhAMwBUJIԩMb@Mb@Mb@ )Y}?5^I?MbMbyM"? vA)AAI3Ay\ AII2m m'=ymQ u>٥qq uHuF} }>75?759 IXBy"?:5@@Eis;y;"75K O"K *K 2K :K JY=`)&n 1Wk8O W "="\A=J) J- A1 G&,*t!hAjchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5327429y*@8@Yᙁ=ys=H`п`@~E?ٲ?w0 i?? y*@;)C]wB]8IImIm#3# Y=y;WQ >٥ H >75?759 IMByp5@@EiA;A;&75DAߪEaDNOT Ignoring new targets: 88.98 m.ԺԺ ProNav: ac range: 88.975662 m, nav range: 84.252762 m, bearing: 149.709248 deg, approach rate: -0.605476 m/s, LOS rate: -0.092969 deg/s, cmd heading: 164.115840 deg, new cmd heading: 164.007333 deg. 6HeadingCmd: 2.862468 target range: 88.975662 and range: 89.60 m.b27@ZrjRJB~~} | | | | IF @ }zB}HŻI}9<)}%In= 0}:27@f<i0=i27@iH>HHdIHwBHHHH<HE9E1E1E1E5p0E9DAT read: 13:57:54.7846 LVL= 21600, 24497, 16066, 27299, AGC= 67, IDX= 407, 0.04,-0.840,-2.026,-0.369,-1.009, PHS= 0.257,-0.970, 0.637, RAW= 163.1, 1.0, CAL= 164.6, -7.6, ROT= 345.4, 7.6 Ygot valid direction response: 13:57:54.7846 LVL= 21600, 24497, 16066, 27299, AGC= 67, IDX= 407, 0.04,-0.840,-2.026,-0.369,-1.009, PHS= 0.257,-0.970, 0.637, RAW= 163.1, 1.0, CAL= 164.6, -7.6, ROT= 345.4, 7.6 PDAT read: Bearing 345.4, 7.6 (Local) ~Local bearing/azimuth received: Bearing 345.4, 7.6 (Local) DAT read: Range 10 to 50 : 87.4 m (Round-trip 116.6 ms) speed 0.7 m/s ,DAT read: user:1858> BDAT read: Tx time:13:57:55.9138 $Ping request sent.imjmCm>mQxmo#? m8/6@)m5 i)im-^?T-j?,??imu@?m-Lmwm> i)i- :publishing transmit ping time- Fpublishing direction and range infoiymeBձ?AϿ) iYi i)iIiiiiiii i)iIiiiii i)im-^?T-j?,??iiiii i)ia 6G= c9=~G A AA NM >a N&,1@;hA$9^*@q8@Y=yt=H`Bп`}f? g@޲?N?@j? ^*@Ẍ;)C-[wB5III 3ܽ ]=y Q >٥ HF׹ >75*{?759 IBByN5@@Ei;4;A)75SEAZb3hABB{(@ʁ'T@S5If&eBձ?AϿ) w>ҁ&.RiD@Ǡ1ke]V D?0pʿz%BLj|dȜ?r1 /B|dȜ?1  J5BꁥթB{(@ addTargetRange:: Added new target pos. range: 87.400002 m, deltaT: 3.802727 s, deltaX: -2.199997 m, approachRate: -0.578531 m/s, rangeRepo size: 4  Added new target pos. range: 86.789742 m, bearing: 150.831854 deg, lat: 36.906410 deg, lon: -122.115990 deg, deltaT: 3.802727 s, deltaX: -2.185921 m, approachRate: -0.574830 m/s, posRepo size: 4 DNOT Ignoring new targets: 86.79 m.= ProNav: ac range: 86.789742 m, nav range: 84.917915 m, bearing: 150.831607 deg, approach rate: 0.000000 m/s, LOS rate: -0.092969 deg/s, cmd heading: 164.007336 deg, new cmd heading: 163.902251 deg. 9EHeadingCmd: 2.860634 target range: 86.789742 and range: 87.40 m.bE7@ZArAjARAJABI~I~I}Iq|q|y|}U@|@?JDAT read: TxSync time:13:57:55.9130 zBt04I)/Ij= F׷:7@k<1=i7@iE?EEE2EFFAԩ6GeS/=jG ?bG>~GAAN > :J bBJ iJJ IRJ ZJ :bJ ڈ9J F4J T&,ThA9>eE*@>X8@Y>z=y>*ԏ=>Ha@п`O夿~?@@ c?`O!?`? >eE*@>;nj;)>CR=wBR I`Mb@Mb@Mb@ )YK7A?Q rhy "?uCA )AIAy AI-I3 K=yvVQ >٥ Ht >75f?759% I7By&"?:6@@Ei0U;s;,75WBEAEDNOT Ignoring new targets: 86.79 m.- ProNav: ac range: 86.789742 m, nav range: 84.669968 m, bearing: 150.793011 deg, approach rate: -0.645645 m/s, LOS rate: -0.100797 deg/s, cmd heading: 163.902246 deg, new cmd heading: 163.786119 deg. -Z=HeadingCmd: 2.858607 target range: 86.789742 and range: 87.40 m.b=k6@Z9r9j9R9J9BA~A~EyB}A|I|I|I|MH? zB靍PwI)6IP= Ñ:k6@e%<8t3=ik6@irEi>jE>EM?EIEIEM74EIK"P"Ks9*K2K:KL}faF\z RKM>" $ ]Z;1 l9y46G{/=~GI AQ Aa Nu >I H >H H 8IH wBH H H H Ӛ<H E$[&,InhA9>I*@>A]8@Y>fz=y>x=>HHпez?"?<l?? >I*@>"W;)>CJ-wBJIIRIR3^+ [=y%Q %>٥!) -H-F-y8: ->AM75ER?M759EY IE+ByIU6@U@EEiEl:E:E+075Y] FAYDNOT Ignoring new targets: 86.79 m.Q޺Q޺ ProNav: ac range: 86.789742 m, nav range: 84.431580 m, bearing: 150.755648 deg, approach rate: -0.618302 m/s, LOS rate: -0.097182 deg/s, cmd heading: 163.786119 deg, new cmd heading: 163.673713 deg. dHeadingCmd: 2.856645 target range: 86.789742 and range: 87.40 m.bF6@ZrjRJB~~}||||? zB,rI)|:IW= .C: F6@ ,s<  ;=iF6@iI>E};lb&,yhA9e*@.y8@Y0Wt=y3=HEkпȤ`_?!:?C ۰?? e*@F;)C5wB=IMb@Mb@Mb@ )YL7A`?~jtxy&1y+'?Ļ`eA )AAIAyz AI%I)3Z =y6Q >٥ HF ^; >75B8?759 IBy6'?:7@@Ei ;e ;475VBsFAEB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 86.79 m.-6-6= ProNav: ac range: 86.789742 m, nav range: 84.114975 m, bearing: 150.702081 deg, approach rate: -0.631173 m/s, LOS rate: -0.107191 deg/s, cmd heading: 163.673708 deg, new cmd heading: 163.512404 deg. = I]HeadingCmd: 2.853830 target range: 86.789742 and range: 87.40 m.b]&6@ZYrYjYRYJYBa:J]BJZJJ?RJZJ]:bJS9Jـ4J~~yB}| | | | @5?eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. zB靍I)@I=  ;&6@<L[K=i&6@iq>E% 5%<ԡ E ?E E E 0E K5 P"K5 9*K1 2K5 :K5 fa]tCvw p6 r{8,U1  &>VO checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760590 6G==~GAAN?Lj&,]hAHb >H`Hb IHb?wBH`H`Hb1DHb<Hb(E9:'f*@:y8@Y:\iu=y:k8=:H@2п@ b_?`|@Z?xg?? :'f*@: ;):CmvBmIi >I>AII(*3 (=y :Q >٥ HFG8 > 75?759 IBy@Ei;:;875GA%EDNOT Ignoring new targets: 86.79 m.00 ProNav: ac range: 86.789742 m, nav range: 83.808617 m, bearing: 150.649850 deg, approach rate: -0.616151 m/s, LOS rate: -0.105432 deg/s, cmd heading: 163.512406 deg, new cmd heading: 163.355140 deg. HeadingCmd: 2.851085 target range: 86.789742 and range: 87.40 m.b-x6@ZrjRJB~~}|!|)|)|- @a G??checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012737 MzBU(]IQ)UIyI}q= yy}}u ;-x6@y<T=i-x6@iDDDDԉE ?E E E o0E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264450 6G =*@>P8@Y>Qkt=y>=D>H`п?贳?ƈJ?? >=*@> W;)>CNvBNImMb@Mb@Mb@iii i)iYm?I +y&1|ymf&?m94m`mA m A)mAIm`AiymG AIIM3> "=y7Q >٥ HY >75 ?759 IByn&?:F7@@EiW;;/=75fGAE  DNOT Ignoring new targets: 86.79 m.uEuU ProNav: ac range: 86.789742 m, nav range: 83.491013 m, bearing: 150.597808 deg, approach rate: -0.644372 m/s, LOS rate: -0.105986 deg/s, cmd heading: 163.355135 deg, new cmd heading: 163.198417 deg. ]yeHeadingCmd: 2.848350 target range: 86.789742 and range: 87.40 m.be]K6@ZarijiRiJiBi~q~uyB}q|q|y||@@ UzBU.0IQ)u>OqI}mF= y3;]K6@p<)T=i]K6@iԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516611EQEYEYE]2EaFqFq6Gu 8U=jG} ?bG} > ~GI Aa Aq N} >K aP"K @9*K 2K :K ].;2W KEG Sw`xh&>NBQo   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768382`@y&,hA9:%*@:28@Y:s=y:֐s=:HN`п@W?` ?@^ _?? :%*@:p$;):CX\IfIf3y=ZQ =>٥AA EHEFEϜ M>IU75Mߜ?U759M IMByY]'7@]@MEiM;M;M@75eUBmcGAmEDNOT Ignoring new targets: 86.79 m. ProNav: ac range: 86.789742 m, nav range: 83.246605 m, bearing: 150.557821 deg, approach rate: -0.632898 m/s, LOS rate: -0.103853 deg/s, cmd heading: 163.198423 deg, new cmd heading: 163.078108 deg. HeadingCmd: 2.846250 target range: 86.789742 and range: 87.40 m.b(6@ZrjRJB~~}|| || @ } zB} Iy)}NyIR = E;(6@H >HHIH wBH =HHH<HPEHYHYHYHYIY I]SO5dc<U=i(6@ibEZE1E?EEE5E:J%^BJ%WJJ%ARJ!ZJ%} :bJ%G9J%4J!zJ%^:5jJ%c:5J%_:5rJ%_:5BDAT read: Rx Time:13:57:58.4316  TRx dataTimestamp_ set to:1749131879.835719checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022993Q6G PT=~G ԉ A A N >e)&,hA9>)@>87@Y>fo=y>f=>H|ѿ1`?O rڱ? d譿 ͬ? ? >)@>o ;)>CJvBJI)L L Rp=Ra=IVIV2^! ٥ HF% %>)-75-ߜ?5759- I-By156@5@-Ei-8;-;-D75AEGAAYyDNOT Ignoring new targets: 86.79 m. ProNav: ac range: 86.789742 m, nav range: 82.994446 m, bearing: 150.516938 deg, approach rate: -0.628079 m/s, LOS rate: -0.102140 deg/s, cmd heading: 163.078102 deg, new cmd heading: 162.955081 deg. 2HeadingCmd: 2.844103 target range: 86.789742 and range: 87.40 m.b6@ZrjRJB~~}||||1 @  zBI)T!I%$ = !!%HU;-6@-<-|P=i-6@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280717E5?E1E9E=P0EAԁԹ6GMR`U=~G) I) I- AAA9 AI NU > DAT read: 13:57:58.4316 LVL= 23520, 30065, 17602, 29075, AGC= 65, IDX= 408,-0.11,-0.854,-2.135,-0.376,-0.988, PHS= 0.221,-1.100, 0.608, RAW= 162.5, 3.5, CAL= 163.3, -5.5, ROT= 346.7, 5.5  Ygot valid direction response: 13:57:58.4316 LVL= 23520, 30065, 17602, 29075, AGC= 65, IDX= 408,-0.11,-0.854,-2.135,-0.376,-0.988, PHS= 0.221,-1.100, 0.608, RAW= 162.5, 3.5, CAL= 163.3, -5.5, ROT= 346.7, 5.5  PDAT read: Bearing 346.7, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 346.7, 5.5 (Local)  DAT read: Range 10 to 50 : 85.2 m (Round-trip 113.6 ms) speed 0.4 m/s  ,DAT read: user:1859>  BDAT read: Tx time:13:57:59.5138  $Ping request sent. E ̌E ? E 5@)E 5z=IE ih6@iE ĽE B@E = A )A E 2c?۫?TBՐ?iE ]=?E |E mE = A )A  :publishing transmit ping timeڱ  Fpublishing direction and range infoA yE gD?aۍOͿaVXA YA A )A IA iA A A A A A )A IA iA A A A )A E 2c?۫?TBՐ?iA A A A A )A X&,hA9V)@j7@Ykc=Աylh=H@Z <ѿm`e? Ѷ cֱ?@ t!?,? V)@骅%;)C vBIeMb@Mb@Mb@aaa a)aYeL7A`?y&1~jtx?ye+'?e`ee;eA evA)eXAIeAaye AIu"Iuq3  =yQ >٥   H    >KP"K}9*K2K:KL'(Xw W Md#@#i_O ?5vP,"{9 JYJYe75ľߜ?m759 IBym6'?m:m6@m@Ei::H75y}HA}EJDAT read: TxSync time:13:57:59.5130 Zibm.hAm6Bm6Bm(@ʁmPEE}T@;_3=7 mgD?aۍOͿaVXmmm =ҁm{(FR%'D@< mx+mcY뿥p~?R Ŀzm=!Bm6jm7ǜ?rmE m?Bm]ǜ?mE  imBm(@  addTargetRange:: Added new target pos. range: 85.199997 m, deltaT: 3.547959 s, deltaX: -2.200005 m, approachRate: -0.620076 m/s, rangeRepo size: 4 = Added new target pos. range: 84.605644 m, bearing: 151.128480 deg, lat: 36.906405 deg, lon: -122.115995 deg, deltaT: 3.547959 s, deltaX: -2.184097 m, approachRate: -0.615593 m/s, posRepo size: 4 9EDNOT Ignoring new targets: 84.61 m.EA} ProNav: ac range: 84.605644 m, nav range: 82.962715 m, bearing: 150.929789 deg, approach rate: 0.000000 m/s, LOS rate: -0.102140 deg/s, cmd heading: 162.955077 deg, new cmd heading: 162.785576 deg. yHeadingCmd: 2.841144 target range: 84.605644 and range: 85.20 m.bO5@ZrjRJB~~yB}|||LU@|x? uzB}ZUIy)}XyI}(= %$k;O5@ 8< ;=iO5@iEA EA EA EE 2EA H >H CH IH vBH  =H H H <H CE1 :J5 aBJ5 [JJ5 DRJ1 ZJ5 :bJ5 W9J5 4J1 zJ5 ;jJ5 ;J5 {|:rJ5 ~|:6G} 0P=ZG RG ~GAAIaAqN}>&,YR9hA9^H )@^7@Y^zY=y^>=^H3@4ѿԋ߭?CW? 4.?@? ^H )@^i;)^C~vB~II !I i3MC% Md=yU޻Q U>٥QQ UHUF]`O ]>am75eߜ?759eC IeBy5@@eEie;e;eK75OHAEB*** querying acoustic contact ***JR DNOT Ignoring new targets: 84.61 m.ۺۺ% ProNav: ac range: 84.605644 m, nav range: 82.733513 m, bearing: 150.896746 deg, approach rate: -0.663725 m/s, LOS rate: -0.095952 deg/s, cmd heading: 162.785579 deg, new cmd heading: 162.686175 deg. %MHeadingCmd: 2.839409 target range: 84.605644 and range: 85.20 m.bM5@ZQrQjQRQJQBQ~Y~Y}Y|Y|a|a|eM? zBw I)[I`= TA >&,aShA09F~(@F6@YFP=yFW"?=FH@K@v\ҿ`U6?XJ?`0ڧ?? F~(@F;)FCVvBZIi^4=I^٥ HFŨ >75ߜ?759 IޗBy'?:4@@Ei0;$;O75HA 9=DNOT Ignoring new targets: 84.61 m.EE] ProNav: ac range: 84.605644 m, nav range: 82.462990 m, bearing: 150.862430 deg, approach rate: -0.654473 m/s, LOS rate: -0.083293 deg/s, cmd heading: 162.686172 deg, new cmd heading: 162.582887 deg. ]deHeadingCmd: 2.837607 target range: 84.605644 and range: 85.20 m.beY5@ZarajaRaJaBi~i~mzB}i|q|q|q|u߂? zB靥I)WIP= 15Y;EY5@E= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248639 ~G A! A9 Nm >a&,lhA9J'@J 6@YJ8C=yJb>=JHTҿ=V`$?u5?d'ç? ? J'@J;)JCVvBVI\I^I^<2jƼ j\=Hz>HxHzIHzvBHz =HxHxHzњ<HzEy=Q >٥ HL >75ߜ?759 IؗBy3@@Ei;;R753HAEDNOT Ignoring new targets: 84.61 m.WW ProNav: ac range: 84.605644 m, nav range: 82.209785 m, bearing: 150.831578 deg, approach rate: -0.648577 m/s, LOS rate: -0.079269 deg/s, cmd heading: 162.582886 deg, new cmd heading: 162.490046 deg. Y-HeadingCmd: 2.835986 target range: 84.605644 and range: 85.20 m.b5̀5@Z1r1j9R9J9BA~I~I}Y|Y|a|i|m? EzBEݼII)MXIIMD< IIU;Ù5@U<]=i]̀5@iY:J\BJZJJ@RJZJ=:bJS9JJ4JzJ:jJ:JPu:rJSu:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499203E?EEEEFF}A6Gs=~GAAN`>I &,lφhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7506479%f'@%y5@Y%ɰ7=y%7=%H {qbӿ㝿C?vϬ? ^? ? %f'@%vD;)%C=vB=IIMIM2] ]A=ye޻Q e>٥ai mHuF} }>75lߜ?759[ IҗBy3@@ Ei::yV75TBSHAEDNOT Ignoring new targets: 84.61 m.  ProNav: ac range: 84.605644 m, nav range: 81.949638 m, bearing: 150.801358 deg, approach rate: -0.639614 m/s, LOS rate: -0.074538 deg/s, cmd heading: 162.490050 deg, new cmd heading: 162.399101 deg.  L-HeadingCmd: 2.834399 target range: 84.605644 and range: 85.20 m.b5f5@ZrjRJB~~}1|9|A|I|?Q yBռI!)%ZZ)I-< ))-&;5f5@5]<5> ʧ&,hA9v &@vv5@Yv-=yv"=vHj"ӿu?`@g?@4U?9? v &@vy;)vCvBI)  %=%=yMb@Mb@Mb@ )YS㥛?J +{Gzt?y$?Hף;AA  A)AI Ay3AII2Խ< B=yʻQ >٥ HFΊ >75Wߜ? 759 I͗By X%? : $0@ @ Ei::$Z75+HADNOT Ignoring new targets: 84.61 m.&r&r ProNav: ac range: 84.605644 m, nav range: 81.680748 m, bearing: 150.778569 deg, approach rate: -0.622440 m/s, LOS rate: -0.052926 deg/s, cmd heading: 162.399099 deg, new cmd heading: 162.330509 deg. JHeadingCmd: 2.833202 target range: 84.605644 and range: 85.20 m.b.S5@ZrjRJ B K-qP"K-59=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255607~A~E8zB}A|A|I*K)2K-:K-p  ' o C 3 ( W w (y!O$!HIrqZlb?}"s3Ei$S|I|U.@ yB靭bI)cWI< M>;M.S5@UrHCHIHvBH =HH0DH<HE~GAAN>JJ24JH1:J ]BJ VJJ ?RJ ZJ ]:bJ B9J ـ4J zJ :jJ :J X:rJ X: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506617 &,hA9J3&@J4@YJ}#=yJ=JH``a Կ f?]_f? Yn`?? J3&@J;)JC^vB^IIf If2n.Ǽ n]=ynͻQ r>٥pp rHpv7 v>x~75zDߜ?~759z= IzɗBy|~/@@z Eiz;za;z^]75  MHA EDNOT Ignoring new targets: 84.61 m.pp ProNav: ac range: 84.605644 m, nav range: 81.443985 m, bearing: 150.759071 deg, approach rate: -0.637672 m/s, LOS rate: -0.052666 deg/s, cmd heading: 162.330511 deg, new cmd heading: 162.271847 deg. HeadingCmd: 2.832178 target range: 84.605644 and range: 85.20 m.bhB5@Zrj R J B ~ ~}||||`@ -yB-"I)9YIy< ;hB5@S<ɟYAy<BUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.76017416G Ⱦ<~G A A N >q ]۴&, _ԚhA9V}&@Vi4@YV}=yV:٥qq uHuFu }>y75}u+ߜ?759} I}×Byw#?:-@@} Ei}P;}";}a75HAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 84.61 m.44 ProNav: ac range: 84.605644 m, nav range: 81.113106 m, bearing: 150.739214 deg, approach rate: -0.655558 m/s, LOS rate: -0.039504 deg/s, cmd heading: 162.271853 deg, new cmd heading: 162.212037 deg. غHeadingCmd: 2.831134 target range: 84.605644 and range: 85.20 m.bM15@ZrjRJB~~\zB} | | | |  @ MyBU!?IQ)U\QIUW< QY]P;]M15@=J|<=H >H H H H H H H <H IEf&,chA96p&@6e4@Y6=y6<6HX=ԿD.?X?[`Ә?`R? 6p&@6;)6C D)JAɵLLPPɶPiPIPPITiV|A TT)TX ZjA\\ɷ\`bQAIb)`i`)`Ib+Afxiɸf)F dɹdf`Adidjihh)l lIlٯlryvBvIivJ>Iv4<~A~AII<2 n=yíQ  >٥99 EHEFU ]>q75ߜ?759 IBy  -@ @ Eio<l<e75SBHAEaDNOT Ignoring new targets: 84.61 m.(( ProNav: ac range: 84.605644 m, nav range: 80.880028 m, bearing: 150.725247 deg, approach rate: -0.611346 m/s, LOS rate: -0.036738 deg/s, cmd heading: 162.212034 deg, new cmd heading: 162.170014 deg. ɺMDAT read: 13:58:02.0284 LVL= 32752, 32753, 23314, 32755, AGC= 70, IDX= 407,-0.08,-2.702, 2.219,-2.412,-2.968, PHS= 0.354,-1.049, 0.554, RAW= 156.6, 1.9, CAL= 158.5, -7.0, ROT= 351.5, 7.0 ]Ygot valid direction response: 13:58:02.0284 LVL= 32752, 32753, 23314, 32755, AGC= 70, IDX= 407,-0.08,-2.702, 2.219,-2.412,-2.968, PHS= 0.354,-1.049, 0.554, RAW= 156.6, 1.9, CAL= 158.5, -7.0, ROT= 351.5, 7.0 mPDAT read: Bearing 351.5, 7.0 (Local) u~Local bearing/azimuth received: Bearing 351.5, 7.0 (Local) }DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.4 m/s HeadingCmd: 2.830401 target range: 84.605644 and range: 85.20 m.bI%5@ZrjRJB~~}||||@,p @ yB I ) k_ I :<  C;I%5@Y<5ߙ<,DAT read: user:1860> %BDAT read: Tx time:13:58:03.1138 -$Ping request sent.-E ? .@)=I 1@i5P@5= )Y?Sr?Vnܠ?ii#?5= ):publishing transmit ping time!Fpublishing direction and range infoyQvi?` P¿UM7P2Y )Ii )Ii )Y?Sr?Vnܠ?i )EEEEo0E6G < JDAT read: TxSync time:13:58:03.1130 ~G A A N >L&, hA9>p&@>#4@Y>=y>=<>H@X>Կ .?Xr? Gߡ e"?? >p&@>Q;)>C}vB}III3< M=yQ >٥ H) >75ߜ?759n IBy-@@ Ei ; ;qh75HAEZ!b%hA%qB%qB%01+@ʁ%J"J-T@(+PLX $%Qvi?` P¿UM7P2%%5=ҁ%pRĵiBB@(uQ*%5ꭑ5쿪 m?!{`|Ŀz%B%j% +ǜ?r%I %AB!! %6B%FB%mX(@ addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.528457 s, deltaX: -2.399994 m, approachRate: -0.680182 m/s, rangeRepo size: 4  Added new target pos. range: 82.220879 m, bearing: 153.259166 deg, lat: 36.906405 deg, lon: -122.115995 deg, deltaT: 3.528457 s, deltaX: -2.384766 m, approachRate: -0.675866 m/s, posRepo size: 4 DNOT Ignoring new targets: 82.22 m.% ProNav: ac range: 82.220879 m, nav range: 80.637848 m, bearing: 150.710654 deg, approach rate: 0.000000 m/s, LOS rate: -0.036738 deg/s, cmd heading: 162.170015 deg, new cmd heading: 162.121920 deg. )=HeadingCmd: 2.829561 target range: 82.220879 and range: 82.80 m.b=5@Z9r9j9R9JaBa~a~a}i|i|i|m@3T@|m;?:JcBJ]JJARJZJ:bJ_9J4J@@@@ EyBE II)M ]IIM< IIM޻;U5@U58K&,%hA9>&@>#4@Y> =y>=>Hv_@~Կ,{?ZG?W%ף?$? >&@>T;)>CMvvBMIKOP"K9*K2K:KiO#m<;bd=hriaF ^`Y\+#j &Mb@Mb@Mb@ )YT㥛 ?333333~jth?y!?D;AA rA)IE AyQAI I T3% %3=y% Q %>٥)) -H-F5v; 5>1E755%ޜ?E7595B I5ByE*"?E:E-@E@5 Ei5:5:5_l75QUHAQ1=DNOT Ignoring new targets: 82.22 m.=x+Ex+M ProNav: ac range: 82.220879 m, nav range: 80.354126 m, bearing: 150.695691 deg, approach rate: -0.708120 m/s, LOS rate: -0.037478 deg/s, cmd heading: 162.121917 deg, new cmd heading: 162.076868 deg. Uͺ]HeadingCmd: 2.828775 target range: 82.220879 and range: 82.80 m.b] 5@ZYrYjYRYJYBa~a~eWzB}a|i|i|i|mq? yBI)`_IW< ; 5@&<HCHHH =HHH՚<HEHHHH =I = I\5QEAEAEIEMr1EIq >a=6Gu t<~G A A ԩ N >&,&p?hA9r&@rc5@YrX =yr`B=rHlӿ@?Wd@o?@y"T?&? r&@r֌;)rC_vBI)   = =II%l{ %]=y-Q ->٥)) -H-F5f< 5>9E75=?ޜ?E759= I=ByAMg-@M@= Ei=:=:=o75 RBIAEY]DNOT Ignoring new targets: 82.22 m.e"m" ProNav: ac range: 82.220879 m, nav range: 80.120995 m, bearing: 150.682443 deg, approach rate: -0.624527 m/s, LOS rate: -0.035591 deg/s, cmd heading: 162.076865 deg, new cmd heading: 162.037007 deg. húԉHeadingCmd: 2.828079 target range: 82.220879 and range: 82.80 m.b@4@ZrjRJB~~}||||FI C=I p=:J ^BJ SJJ @RJ ZJ } :bJ y69J J4J ! 3&,`ذ?? FA'@Fˋ;)FCRMvBRyI=Mb@Mb@Mb@999 9)9Y=?٥qq }Hy}H< }>75Sޜ?759 IBy!?:-@@# Ei::3s75\IAEDNOT Ignoring new targets: 82.22 m.CC ProNav: ac range: 82.220879 m, nav range: 79.862747 m, bearing: 150.665941 deg, approach rate: -0.667468 m/s, LOS rate: -0.042789 deg/s, cmd heading: 162.037004 deg, new cmd heading: 161.987338 deg. uHeadingCmd: 2.827212 target range: 82.220879 and range: 82.80 m.b 4@ZrjRJB~~bzB}||||`=? yB%k1I!)%i!I%< !)-p;u 4@u<J>I 6G <~Ga Ai A N >H >H CH IH vBH H H H <H ;)BC5JvB5wIIeIe2  G=yQ >٥ HF; >75ޜ?759 IBy/.@@' Ei::v75kIA -B*** querying acoustic contact ***J1R1AEDNOT Ignoring new targets: 82.22 m.M?M?] ProNav: ac range: 82.220879 m, nav range: 79.600983 m, bearing: 150.648549 deg, approach rate: -0.626315 m/s, LOS rate: -0.041751 deg/s, cmd heading: 161.987335 deg, new cmd heading: 161.934986 deg. ]:eHeadingCmd: 2.826299 target range: 82.220879 and range: 82.80 m.be4@ZarajaRaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JiB ~ ~ }||||@2@I yB靅 I)iII< ;4@_<Rl=i4@iE}?EyEyE}P0Eyq6G sc=Ա jG ?bG ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227964~G A A N > &, hA9:'@:5@Y:ń=٥)) -H-F-,; ->1=755ޜ?E7595} I5ByAEA.@E@5+ Ei5:5y:5-z75IMIAUEy}DNOT Ignoring new targets: 82.22 m.`C`C ProNav: ac range: 82.220879 m, nav range: 79.362930 m, bearing: 150.632448 deg, approach rate: -0.629470 m/s, LOS rate: -0.042703 deg/s, cmd heading: 161.934988 deg, new cmd heading: 161.886540 deg. sHeadingCmd: 2.825453 target range: 82.220879 and range: 82.80 m.b 94@Z rjR!J)B1~A~A}I||||`5a@Ա ?|'I)kIO< Il;94@N<=i94@i:J\BJUJJLRJZJ=:bJ>9J4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479406E?EEEE6G H= ~GQ AY Ai N} >yB&,|֦hA9fy'@f5@Yf٥ H](; >75,ޜ?759 IBy!?:q/@@/ Ei::1~75QBIA E)5DNOT Ignoring new targets: 82.22 m.5&k5&kE ProNav: ac range: 82.220879 m, nav range: 79.074631 m, bearing: 150.608900 deg, approach rate: -0.626948 m/s, LOS rate: -0.051396 deg/s, cmd heading: 161.886535 deg, new cmd heading: 161.815632 deg. M UHeadingCmd: 2.824216 target range: 82.220879 and range: 82.80 m.bU4@ZQrQjQRQJQBY~Y~]/zB}Y|a|a|a|e@ yB靕H4I)dpI4< 3C;4@<"=i4@ibEZEHHHIHvBH =HHH<HEE-?E1E1E=\0E91BDAT read: Rx Time:13:58:05.6253 TRx dataTimestamp_ set to:1749131886.899369checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9844596Ge \=~GA a A A N >I(&,hA9:~'@:5@Y: :J ]BJ RJJ FRJ ZJ ]:bJ S29J 4J  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490654 V&,WڛhA9E^'@Er5@YE ٥aa eHeFe m>q}75ufޜ?}759u IuBy}y#?}:1@@u7 Eiu:uo:u75iJAEDNOT Ignoring new targets: 82.22 m.^^ ProNav: ac range: 82.220879 m, nav range: 78.574982 m, bearing: 150.562314 deg, approach rate: -0.655460 m/s, LOS rate: -0.067043 deg/s, cmd heading: 161.764547 deg, new cmd heading: 161.675412 deg.  8HeadingCmd: 2.821768 target range: 82.220879 and range: 82.80 m.bڗ4@ZrjRJB~ ~ ozB}|||| ! @ iu"BIq)uyyI}Z< yy Z;ڗ4@ < =i ڗ4@i EEEE`0EDAT read: 13:58:05.6253 LVL= 22304, 27409, 16114, 25875, AGC= 67, IDX= 408,-0.38, 1.746, 0.458, 2.010, 1.530, PHS= 0.304,-1.025, 0.477, RAW= 156.0, 3.5, CAL= 157.5, -5.5, ROT= 352.5, 5.5 Ygot valid direction response: 13:58:05.6253 LVL= 22304, 27409, 16114, 25875, AGC= 67, IDX= 408,-0.38, 1.746, 0.458, 2.010, 1.530, PHS= 0.304,-1.025, 0.477, RAW= 156.0, 3.5, CAL= 157.5, -5.5, ROT= 352.5, 5.5 PDAT read: Bearing 352.5, 5.5 (Local) ~Local bearing/azimuth received: Bearing 352.5, 5.5 (Local) DAT read: Range 10 to 50 : 80.5 m (Round-trip 107.4 ms) speed 0.2 m/s ,DAT read: user:1861> BDAT read: Tx time:13:58:06.7138 $Ping request sent.iUeUCU㥛>U33UX9> U@.@)U5z=IU/@iU ĽU@U = Q)QUsOb?/Q(?ې$4?iUq !?UbwU U = Q)Q:publishing transmit ping timeڱFpublishing direction and range infoQyU=hJ?kdaVXQYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QUsOb?/Q(?ې$4?iQQQQ Q)QKC`P"K9*K2K:K*I2i  QSRPX\!![czz.6V/6G =~G A A N >H >H H }IH UvBH  =H H H <H E T}&,bhA9F$'@FF85@YF7٥)) -H)-) 5>Ym75]Tޜ?759]< I]By0@@]; Ei]6<]y<]U75JAZb:hAߟBߟBsH-@ʁe۸S@$<3$lɃ=hJ?kdaVX  =ҁID_Qyej@@=*S$pk/??DT@zSBЏj Ɯ?rMF NLB7ǜ?  ?BꁍBo(@ ص=׵< addTargetRange:: Added new target pos. range: 80.500000 m, deltaT: 3.779621 s, deltaX: -2.300003 m, approachRate: -0.608527 m/s, rangeRepo size: 4  Added new target pos. range: 79.937141 m, bearing: 155.131009 deg, lat: 36.906399 deg, lon: -122.115995 deg, deltaT: 3.779621 s, deltaX: -2.283737 m, approachRate: -0.604224 m/s, posRepo size: 4 %DNOT Ignoring new targets: 79.94 m.-)] ProNav: ac range: 79.937141 m, nav range: 78.832436 m, bearing: 150.789608 deg, approach rate: 0.000000 m/s, LOS rate: -0.067043 deg/s, cmd heading: 161.675413 deg, new cmd heading: 161.593616 deg. YeHeadingCmd: 2.820341 target range: 79.937141 and range: 80.50 m.bev4@ZarajaRaJiB~~}||| T@| ? II)ဿIZi< !-x<]v4@:<=iv4@irE]>jE>)E?EEEp0EQGZA A u Yu ZAy} B6G% e=~G A A N% >y d',;hA9:`&@:4@Y:R٥tt vHvFz ~> 75@ޜ? 759DZ IBy 0@@? Ei:):ċ750KA%EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 79.94 m.44Y ProNav: ac range: 79.937141 m, nav range: 78.583778 m, bearing: 150.766240 deg, approach rate: -0.673280 m/s, LOS rate: -0.063475 deg/s, cmd heading: 161.593615 deg, new cmd heading: 161.523287 deg. ?.HeadingCmd: 2.819113 target range: 79.937141 and range: 80.50 m.bZl4@ZrjRJ B1~A~A}i|q||| ? imwTIq)uQqIuPn< qy}&<Zl4@Y<I =iZl4@iԉ:J^BJXJJ>RJZJ} :bJ5K9Jt4JT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EEEE0Eԩ6G OK=jG >bG >~Gy A A N > ',{(hA9>Ԗ&@><4@Y>7 {=>H@a ԿwH? ?Q@?3`x?`? >Ԗ&@>'0;)٥ HAA >75X+ޜ?759) IBy$?:[1@@C Ei3;2;}75PB|KAE DNOT Ignoring new targets: 79.94 m.    % ProNav: ac range: 79.937141 m, nav range: 78.312210 m, bearing: 150.738277 deg, approach rate: -0.660199 m/s, LOS rate: -0.068215 deg/s, cmd heading: 161.523291 deg, new cmd heading: 161.439113 deg. %B;-HeadingCmd: 2.817644 target range: 79.937141 and range: 80.50 m.b-HT4@Z)r)j)R)J1B1~1~='zB}9|9|9|9|E`?KubP"Kq*Kq2Ku:Ku.@:36/QP"4iB'X  (@z=yP*SJtgZV yB靍}xIM<)MQIUz< QQUr~<]HT4@]i<]HHjIH6vBH =HFDHH<HEEEEE5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251792) 6Gm z =~GA AI Aa Nm >Y :y',vAhA9:0-&@:@4@Y:;T٥|| ~H~F؉ > 75 ޜ?759 Ŭ I {By0@@ G Ei ; ; ֒75!%KA!Q]DNOT Ignoring new targets: 79.94 m.]]m ProNav: ac range: 79.937141 m, nav range: 78.067802 m, bearing: 150.714125 deg, approach rate: -0.639272 m/s, LOS rate: -0.063370 deg/s, cmd heading: 161.439116 deg, new cmd heading: 161.366433 deg. m-}HeadingCmd: 2.816375 target range: 79.937141 and range: 80.50 m.b}?4@ZyryjyRyJyB~~}||||Z? rqI)I< -= <?4@i<k checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755418',[hA49Z%@Z3@YZ_Bj٥ HFj >75=ޜ?7590 IvBy&?:1@@L Ei=;j<;75OBKAE!UDNOT Ignoring new targets: 79.94 m.]╺]╺ԉ ProNav: ac range: 79.937141 m, nav range: 77.794411 m, bearing: 150.683971 deg, approach rate: -0.591940 m/s, LOS rate: -0.065519 deg/s, cmd heading: 161.366429 deg, new cmd heading: 161.275648 deg. 3HeadingCmd: 2.814791 target range: 79.937141 and range: 80.50 m.b%4@ZrjRJB~~yB}||||`p? uyB}SUIy)}yI}i6< <%4@W<¹J? H >H CH KIH vBH  =H H .DH <H EHiHmʚCHiHiIm = Im66G 9f<~G A A N >',uhA`uBI %=%p=I-+I-n3=U =P=y=Q =>٥AA EHAE M>IU75M ݜ?]759Mͧ IMrByYY]@MP EiMu:M;M75aedLAmE:JZBJJJERJZJ9bJJ4JzJ0:jJ5:Jf:rJg:%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259449 -DNOT Ignoring new targets: 79.94 m.5:5:E ProNav: ac range: 79.937141 m, nav range: 77.541977 m, bearing: 150.655938 deg, approach rate: -0.628664 m/s, LOS rate: -0.070041 deg/s, cmd heading: 161.275642 deg, new cmd heading: 161.191270 deg. EF@mHeadingCmd: 2.813318 target range: 79.937141 and range: 80.50 m.bmi 4@ZirijiRiJqBq~q~q}y||||5@ yBzyI)I[w< <i 4@ M<qE% m٥ HF >75ݜ?759 IkBy(?:3@@V Ei<::75LAB*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 79.94 m.5#ٺ=#ٺM ProNav: ac range: 79.937141 m, nav range: 77.177544 m, bearing: 150.607427 deg, approach rate: -0.709711 m/s, LOS rate: -0.094918 deg/s, cmd heading: 161.191276 deg, new cmd heading: 161.045057 deg. UHUHeadingCmd: 2.810766 target range: 79.937141 and range: 80.50 m.bU3@ZYrjRJB~~yB}||||@C@9 MyBMiIQ)ULQIu?!e< qq}!9<}3@}]K<kE}2=E E E E p5E a= BDAT read: Rx Time:13:58:09.2225 = TRx dataTimestamp_ set to:1749131890.683468E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016550ԙ 6G- <K P"K s9*K 2K :K _TsyLyaI0ORRHADUA|=>]W yJ J ~GY Ai Ay N >,+',RhA H<H4<H>HH8IHuBH =HHH<HE@9F %@FH3@YFE٥ii mHmFu% u>y75}bݜ?759}N I}hBy2@@}Z Ei}:}l:}C75LAEDNOT Ignoring new targets: 79.94 m.   ProNav: ac range: 79.937141 m, nav range: 76.925278 m, bearing: 150.575906 deg, approach rate: -0.638577 m/s, LOS rate: -0.080051 deg/s, cmd heading: 161.045055 deg, new cmd heading: 160.950184 deg. [EHeadingCmd: 2.809111 target range: 79.937141 and range: 80.50 m.bMx3@ZIrQjqRqJqBy~y~y}y||||`: @ yBaI)ߏ!I%LV< !!%S<-x3@-+)<-9J4JzJ:jJ:J~Q:rJQ:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271142>E&<E- ?E) E) E- 2E1  DAT read: 13:58:09.2225 LVL= 32752, 32753, 22482, 29427, AGC= 68, IDX= 410,-0.38,-1.265,-2.588,-1.019,-1.551, PHS= 0.375,-0.990, 0.530, RAW= 155.3, 1.2, CAL= 157.6, -7.6, ROT= 352.4, 7.6  Ygot valid direction response: 13:58:09.2225 LVL= 32752, 32753, 22482, 29427, AGC= 68, IDX= 410,-0.38,-1.265,-2.588,-1.019,-1.551, PHS= 0.375,-0.990, 0.530, RAW= 155.3, 1.2, CAL= 157.6, -7.6, ROT= 352.4, 7.6  PDAT read: Bearing 352.4, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 352.4, 7.6 (Local)  DAT read: Range 10 to 50 : 78.3 m (Round-trip 104.4 ms) speed 0.2 m/s  ,DAT read: user:1862>  BDAT read: Tx time:13:58:10.3139  $Ping request sent. e p}e ? e x-@)e a )a e ?PR~?n a )a  :publishing transmit ping time  Fpublishing direction and range infoa ye pS'p?lV) a Ya a Y )a Ia ia a a a a a )a Ia ia a a a )a e ?PR~?n4',)ќhA9~ %@~$3@Y~;y~%=~H@"#0տ@|?5?G ? x| ?%? ~ %@~;)~C]huB]IԱII?13u Ѽ u=y#Q >٥ HF^9 >a}75eݜ?759e IecBy2@@e` Eie;en;e 75NBLAEZb ̜hABB*@ʁ÷S@Eb$А$pS'p?lV) >ҁKʫ%Q:b٫;mA@뗓n&zk:쿲Ř? + w¿zi B-jQ ǜ?r HB +ǜ?  AB6B*@U addTargetRange:: Added new target pos. range: 78.300003 m, deltaT: 3.533376 s, deltaX: -2.199997 m, approachRate: -0.622633 m/s, rangeRepo size: 4  Added new target pos. range: 77.749298 m, bearing: 153.062546 deg, lat: 36.906385 deg, lon: -122.116027 deg, deltaT: 3.533376 s, deltaX: -2.187843 m, approachRate: -0.619193 m/s, posRepo size: 4 DNOT Ignoring new targets: 77.75 m. ProNav: ac range: 77.749298 m, nav range: 76.606674 m, bearing: 152.937059 deg, approach rate: 0.000000 m/s, LOS rate: -0.080051 deg/s, cmd heading: 160.950184 deg, new cmd heading: 160.815225 deg. HeadingCmd: 2.806755 target range: 77.749298 and range: 78.30 m.b3@ZrjRJB~~}|||@3S@|9?=JDAT read: TxSync time:13:58:10.3131 靅_I)IA< C!<3@a<烨E} <E E E E o0E 1 aK P"K9*K2K:K9<f[B (-xsmc6H"|G 6J5?J5>6G=喇<H>HH%IHuBH =HHH<H2E~GAAaAqN} ?AV<',hA MYuBMIMb@Mb@Mb@ )YK7A`?Mb٥!! %H%F- ->1=755<ݜ?=7595 I5`By= +?=:=c2@=@5e Ei5:5r;5o75IM MAM"EquDNOT Ignoring new targets: 77.75 m.}獺}獺 ProNav: ac range: 77.749298 m, nav range: 76.274094 m, bearing: 152.907417 deg, approach rate: -0.692971 m/s, LOS rate: -0.062032 deg/s, cmd heading: 160.815219 deg, new cmd heading: 160.725906 deg. :JE\BJEMJJEBRJAZJE=:bJE9JE-4JAzJE:jJE:JE*:rJE-:}I*HeadingCmd: 2.805196 target range: 77.749298 and range: 78.30 m.bV3@ZrjRJB~~yB}|||| Ԛ?9 靭v-xI)I +.< [4&<V3@D<j ٥ii mHii u>y75}sgݜ?759}k I}[By*?:1@@}k Ei}*;}9;}j751MA%EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 77.75 m.pp ProNav: ac range: 77.749298 m, nav range: 75.897362 m, bearing: 152.877426 deg, approach rate: -0.657875 m/s, LOS rate: -0.052631 deg/s, cmd heading: 160.725908 deg, new cmd heading: 160.635490 deg. {HeadingCmd: 2.803618 target range: 77.749298 and range: 78.30 m.b{n3@ZrjRJB~~yB}|| ||n? IM~II)MIIUS< QQU:*<]{n3@]<]q\CK',>/hA9n$@n2@Ynvynk=nH9տy?_?A=?`b?`^?}? n$@n`m;)nC9E_uBEIIUIU2K]hO"K]9*KY2K]:K]ErPL56X_Zgf[N;20 0YcsJ3::96= LJeAJab;= o=y!߼Q ?٥ HF4Ȼ ?75]Uݜ?H>HHIHuBH =HHH<HE759: IZByh1@@o Ei;;q75LAIUDNOT Ignoring new targets: 77.75 m.u2ku2k ProNav: ac range: 77.749298 m, nav range: 75.668480 m, bearing: 152.859374 deg, approach rate: -0.649782 m/s, LOS rate: -0.051406 deg/s, cmd heading: 160.635490 deg, new cmd heading: 160.581168 deg.  HeadingCmd: 2.802670 target range: 77.749298 and range: 78.30 m.b^3@ZrjRJB~~}||||>? quIy)}yI} < yy}d.<^3@< &) C  G= AU AA } {Y} Ay} B,R',LIhA9>"$@>2@Y>_y>Zq=>H Jտ}??`!Lƫ? k?&?? >"$@>A;)٥\\ ^H^Fb$ b>dj75fBݜ?j759f IfXByprY1@r@fs EifAp;fq;f75vMBvMAz(EDNOT Ignoring new targets: 77.75 m.%r%r5 ProNav: ac range: 77.749298 m, nav range: 75.423431 m, bearing: 152.840097 deg, approach rate: -0.671973 m/s, LOS rate: -0.053031 deg/s, cmd heading: 160.581162 deg, new cmd heading: 160.523146 deg. 5ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004950HeadingCmd: 2.801657 target range: 77.749298 and range: 78.30 m.b[N3@ZrjRJB~~}|| | |  *@ im\I)}I; j1<[N3@< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255467! .VX',fbhA9>V$@>2@Y>y>Vv=>H@6`տ@o??5 ? s? v?? >V$@>H;)>CJguBJIiN]>ILmMb@Mb@Mb@iii i)iYmK7?Mb{Gztym)?mmףmA mA)mAImAiymAII2Y< ==y[Q >٥ Hv >75t+ݜ?759% IWBy)?:f1@@w EiZ;;w75LA+EDNOT Ignoring new targets: 77.75 m. Xq Xq ProNav: ac range: 77.749298 m, nav range: 75.137878 m, bearing: 152.817299 deg, approach rate: -0.658205 m/s, LOS rate: -0.052750 deg/s, cmd heading: 160.523147 deg, new cmd heading: 160.454493 deg. %HeadingCmd: 2.800459 target range: 77.749298 and range: 78.30 m.b%:3@Z)r)j)R)J)B)~1~5yB}1|9|A|A|M"v@ }yB}㓽Iy)}yIT; 5<:3@<=HHHH =HHH<H E:KNP/)c=7"T- !V9^N\XB'!l alI6GQ~Gi A A N >y *^',|hA ">"4=&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.75954895b$@52@Y5' ӻy5gz=5H` տok?c? N?cz?G?? 5b$@5n;)5CukuBuIII2 (<  C=yKuQ >٥!! -H-F5{Y u>75ݜ?759k Iye1@@| EiI;;=75LBLA)E1=DNOT Ignoring new targets: 77.75 m.=4m=4m ProNav: ac range: 77.749298 m, nav range: 74.853142 m, bearing: 152.794403 deg, approach rate: -0.642294 m/s, LOS rate: -0.051845 deg/s, cmd heading: 160.454490 deg, new cmd heading: 160.385539 deg. RHeadingCmd: 2.799256 target range: 77.749298 and range: 78.30 m.b'3@ZrjRJB~~}||||@ yB靅I)Iɻ; I9<'3@m<dke',ϻhA9R$@R#2@YRyR&'}=RH@Cտ`h??@DQ?e?@u?? R$@R?;)P}quBII I  3J[e4J[4ԱJ[#1:J]BJRJJCRJZJ]:bJS29J4J@@@@#]< <=y>Q >٥ HFP: >)575-ܜ?5759- I)y1=p1@=@- Ei-:-:-75AELAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263283e,EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 77.75 m.gygy ProNav: ac range: 77.749298 m, nav range: 74.571907 m, bearing: 152.771476 deg, approach rate: -0.666152 m/s, LOS rate: -0.054511 deg/s, cmd heading: 160.385532 deg, new cmd heading: 160.316492 deg. %HeadingCmd: 2.798051 target range: 77.749298 and range: 78.30 m.b%C3@Z!r)j)R)J)B)~1~1}1|1|1|9|=p @ 靭I)4I՝; &<<C3@<|  BDAT read: Tx time:13:58:13.9139  $Ping request sent. y WO?ǁ28_Xſ fBY a) qgI BRi l C /> Ck 1 ? ,@) I ~{/@i + @ +> ) E%?m?dg˪Îi ? v< +> )  :publishing transmit ping timeڑ  Fpublishing direction and range info y WO?ǁ28_Xſ Y ) I i ) I i ) E%?m?dg˪Îi ) 1 (k',/hA9:$@:R3@Y:#Hu>HqHu%IHuuBHu =HqHqHu <Hu:EH%CH%CH!H% =I% = I%H5KP"K9*K2K:KyPJ EpA|b f ~A_`dfuEP2zzd y:~=:Hտ?? ]&?`u? ?? :$@:ȍ;)8iuBI) Mb@Mb@Mb@ )Yw/?{Gz{Gzty&?#A  A)IyAII2 0=ylmQ >٥ H6; >75ܜ?759 Iy;'?:&/@@ Ei::7515LA5/EZ1b5#hA5UB5UB5+@ʁ5 bR@9GR"r^9)5WO?ǁ28_Xſ55+>ҁ5,ءPyN^@@y(5{*RQ??\Z#ſz5B5j5Hǜ?r5,* 5DB5Q ǜ?5I  5DB5'B5F*@ addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.526555 s, deltaX: -2.600006 m, approachRate: -0.737265 m/s, rangeRepo size: 4  Added new target pos. range: 75.167503 m, bearing: 153.799625 deg, lat: 36.906382 deg, lon: -122.116028 deg, deltaT: 3.526555 s, deltaX: -2.581795 m, approachRate: -0.732101 m/s, posRepo size: 4 DNOT Ignoring new targets: 75.17 m.9eJDAT read: TxSync time:13:58:13.9131 mi ProNav: ac range: 75.167503 m, nav range: 74.576317 m, bearing: 152.923749 deg, approach rate: 0.000000 m/s, LOS rate: -0.054511 deg/s, cmd heading: 160.316493 deg, new cmd heading: 160.241282 deg. HeadingCmd: 2.796738 target range: 75.167503 and range: 75.70 m.b2@ZrjRJB~~yB}|||R@|wG? yB靭I)Icp; @<2@i<uBgs',RFΝhA9^|%@^3@Y^y@y^˕=^H@ wտk??q`?j??`}? ^|%@^n&;)^CjuBjII I 3== =k=y=aQ =?٥AA EHEFM; M?Q}75Uܜ?}759UC IQy1/@@U EiU;Ur;U75#LAԱDNOT Ignoring new targets: 75.17 m. ProNav: ac range: 75.167503 m, nav range: 74.349289 m, bearing: 152.911765 deg, approach rate: -0.656118 m/s, LOS rate: -0.034738 deg/s, cmd heading: 160.241279 deg, new cmd heading: 160.205218 deg. HeadingCmd: 2.796108 target range: 75.167503 and range: 75.70 m.bq2@Z!r!j!R!J!B!~)~)})|I|Q|Q|Uཱ? yB靥I)+IyE; lC<q2@e<099 y',fhA9>'%@>:3@Y>scy>ށ=>H>'Pտq?@h?4?c?8?? >'%@>;)>CJuBJI-Mb@Mb@Mb@))) )))Y-S㥛?Zd;y-$&?-y--A -A)-AI-A)y)IEIE2U^| UI=yQ >٥ HF ; >1=755ܜ?=7595 I5XByE&?E:E>-@E@5 Ei5:5@:575KB:LA2EDNOT Ignoring new targets: 75.17 m.U ProNav: ac range: 75.167503 m, nav range: 74.046143 m, bearing: 152.902817 deg, approach rate: -0.640262 m/s, LOS rate: -0.018976 deg/s, cmd heading: 160.205215 deg, new cmd heading: 160.178261 deg. U^PHeadingCmd: 2.795638 target range: 75.167503 and range: 75.70 m.b2@ZrjRJB~~zB}||||@? 5yB=̊I9)=Ќ9H>HH8IHuBH =HHH<H/EAI=0: F<2@<v',hA9>P%@>fd3@Y>~y>!z=>H@-(տ@?^A?#qΪ?"`?@>K?? >P%@>>;)٥dd fHdfX; f>ln75nܜ?r759nl InYByprg-@r@n EinR:n_:n75tzKAz5EDNOT Ignoring new targets: 75.17 m.%Gǹ%Gǹ= ProNav: ac range: 75.167503 m, nav range: 73.822182 m, bearing: 152.895722 deg, approach rate: -0.685323 m/s, LOS rate: -0.021778 deg/s, cmd heading: 160.178263 deg, new cmd heading: 160.156912 deg. =#oEHeadingCmd: 2.795265 target range: 75.167503 and range: 75.70 m.bE2@ZIrIjIRIJIB~~}||||J? %yB%o4II)MIIM: IQUxIAy ',MhAII@A:J"YBJ JJ"ARJ ZJ"9bJ J"4J 9^%@0r3@Y9yfv=H/ տ@0ˢ?34? &`o?@3?خ?@? ^%@&;)CuBIQ]Mb@Mb@Mb@YYY Y)YY]x&1?~jtMb`y]!?]]]A Y)]AIYYy]fAII2ܻ 0=y`{Q >٥ HFU: >IU75MTܜ?U759M| IMZByU"?U:U+@]@M EiM3:M/:MO75aeKAaB*** querying acoustic contact ***JRDNOT Ignoring new targets: 75.17 m. ProNav: ac range: 75.167503 m, nav range: 73.515060 m, bearing: 152.891928 deg, approach rate: -0.634370 m/s, LOS rate: -0.007869 deg/s, cmd heading: 160.156912 deg, new cmd heading: 160.145484 deg. άHeadingCmd: 2.795066 target range: 75.167503 and range: 75.70 m.b\2@ZrjRJB~ ~  zB} | | ||? 靭QI)҈In9 L<\2@E<_ =i\2@i yEEEE_0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ6G G<ZG RG G G ?AH >H H QIH vBH  =H H H <H %E~G A A N > K O"K 9*K 2K :K A`y |H$.,2|~J R)s~1I8p.>~r+ ',ͬ6hA9>:]%@>p3@Y>򣙼y>l=>H/ տK٢?5?&O?44?p?? >:]%@>\I;)>CԱ-uB=IIMIM#3]< ]?=yeQ e>٥aa mHmFf >75aܜ?759y I[By+@@ Ei;U;75KA8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250059DNOT Ignoring new targets: 75.17 m.%5%55 ProNav: ac range: 75.167503 m, nav range: 73.251259 m, bearing: 152.888669 deg, approach rate: -0.626753 m/s, LOS rate: -0.007770 deg/s, cmd heading: 160.145478 deg, new cmd heading: 160.135667 deg. 5=HeadingCmd: 2.794895 target range: 75.167503 and range: 75.70 m.b=2@Z9rAjARAJABA~I~I}I|I|Q|Q|Uc?@ }yB靅lI)I\# 5O<2@< =i2@iEIEIEIEM`0EIFU=FU= 6G H=~GY Aq A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500869A *',PhA t)vAɵtttzCɶzAixIxxIxizxA ||)|| |ɷOAI )UFi ) I =A E6ɸ  ɹ^Aii) Iٯ-uB-!I)) )I=I=2M|< Ms=yMQ U?٥QQ UHQe e?qu75urrܜ?}759uTw Iu\Byyy@u Eiuh;ud;u75\KADNOT Ignoring new targets: 75.17 m. ProNav: ac range: 75.167503 m, nav range: 73.040527 m, bearing: 152.886049 deg, approach rate: -0.647819 m/s, LOS rate: -0.008078 deg/s, cmd heading: 160.135670 deg, new cmd heading: 160.127787 deg. fHeadingCmd: 2.794757 target range: 75.167503 and range: 75.70 m.bM2@ZrjRJB~~}||||@ !-KI))-ą)I-Y 115xR<M2@< =iM2@iEqEqEyE}42E:J][BJ]MJJ]DRJYZJ]:bJ]9J]4JYԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7537366G7 =ԩ ~G A A N >',mjhA<9FHW%@Fj3@YFyF/]=FH`8."տ"Z?`:? '???? -? FHW%@F1;)FC=uB=#IMb@Mb@Mb@ )Yx&1?+Mb`?yA ?; )IyI"Iq3< ?=yQ  >٥    HFc^ >%75#^ܜ?%759+t I_By-~!?-:-{+@-@ Ei:;755JB=JKA=;E]BDAT read: Rx Time:13:58:16.4158 ]TRx dataTimestamp_ set to:1749131897.739512echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006025ԩDNOT Ignoring new targets: 75.17 m. ProNav: ac range: 75.167503 m, nav range: 72.771294 m, bearing: 152.883707 deg, approach rate: -0.580574 m/s, LOS rate: -0.005069 deg/s, cmd heading: 160.127788 deg, new cmd heading: 160.120736 deg.  ^HeadingCmd: 2.794634 target range: 75.167503 and range: 75.70 m.bI2@ZrjRJB~!~5)zB}1|9|9|9|=`@H>HHdIH,vBH =HHH<H UyBU9hIY)II6 :U<I2@7<) =iI2@iK-P"Ks9*K2K:KrhEz& t_oV2&&,XvI#,ST84Io\'%EJJ?E?EEE0E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256780 6G AC =jG ?bG ?~G 1 AA } GA N > Y yBrۡ',*ʇhAuB)III2< 1=y-Q ->٥19 EHEFM U>ay75}Gܜ?759}p I}aBy@} Ei};}6;}75$KA>EDNOT Ignoring new targets: 75.17 m.DAT read: 13:58:16.4158 LVL= 22384, 22449, 15826, 26963, AGC= 68, IDX= 405,-0.04, 2.674, 1.338, 2.929, 2.311, PHS= 0.450,-0.927, 0.615, RAW= 155.6, -1.9, CAL= 158.8, -10.4, ROT= 351.2, 10.4 Ygot valid direction response: 13:58:16.4158 LVL= 22384, 22449, 15826, 26963, AGC= 68, IDX= 405,-0.04, 2.674, 1.338, 2.929, 2.311, PHS= 0.450,-0.927, 0.615, RAW= 155.6, -1.9, CAL= 158.8, -10.4, ROT= 351.2, 10.4 PDAT read: Bearing 351.2, 10.4 (Local) ~Local bearing/azimuth received: Bearing 351.2, 10.4 (Local)  DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed 0.6 m/s ,DAT read: user:1864> BDAT read: Tx time:13:58:17.5139 $Ping request sent.۵Om۵p? ܵ-@)ܵIܵa1@iܵ9ܵ%@ܵ9> ݱ)ݱݵ&t?0')?~iiݵ?ݵ9=ݵTFݵ9> ޱ)ޱE:publishing transmit ping timeEFpublishing direction and range infoڱyڵ?&ǫBÿlE@ǿEθMθU ProNav: ac range: 75.167503 m, nav range: 72.474632 m, bearing: 152.881107 deg, approach rate: -0.639409 m/s, LOS rate: -0.005628 deg/s, cmd heading: 160.120739 deg, new cmd heading: 160.112906 deg. ]3w]HeadingCmd: 2.794497 target range: 75.167503 and range: 75.70 m.b] 2@ZarajaRaԑڱYڱ ۱)۱I۱i۱۱۱۱۱ ܱ)ܱIܱiܱܱܱ ݱ)ݱݵ&t?0')?~iiݱݱݱݱ ޱ)ޱJB~~}|||LR@|@? 1=njI9)=09I@"] X< 2@"[< =i 2@iԱE1 E1 E1 E5 _0E1 u =u %= JDAT read: TxSync time:13:58:17.5131 6G = =~G A A N >٨',hAuB6Ii=I<Mb@Mb@Mb@ )Yjt?kt{Gzty ? ף )+AIy=AIIb2U_0= U$=yQQ ]>٥YY }H >75L0ܜ?759l IbByF"?:*@@ Ei::75IBJAҁ=r%O@@)g(9=c@h:t3?V}ſz=B=~j=Gǜ?r=4+ =EB99 =EB=RB=*@u addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.528038 s, deltaX: -2.500000 m, approachRate: -0.708609 m/s, rangeRepo size: 4  Added new target pos. range: 72.684776 m, bearing: 152.429497 deg, lat: 36.906382 deg, lon: -122.116028 deg, deltaT: 3.528038 s, deltaX: -2.482727 m, approachRate: -0.703713 m/s, posRepo size: 4 DNOT Ignoring new targets: 72.68 m. ProNav: ac range: 72.684776 m, nav range: 72.161774 m, bearing: 152.881196 deg, approach rate: 0.000000 m/s, LOS rate: -0.005628 deg/s, cmd heading: 160.112912 deg, new cmd heading: 160.104752 deg. HeadingCmd: 2.794355 target range: 72.684776 and range: 73.20 m.b2@ZrjRJB~~%=zB}!|!|!|!|- 0? yB靽I)wIS [<2@{<6g =i2@iiHe>HeCHewIHeKvBHe =HaHaHe<HeEEEEEv0EK O"K +9*K 2K :K QZsV:j>%;s 6fLWJ AJ ԑ 6G  =:J BJ eJJ CRJ ZJ bJ 9J 4J zJ - jJ - J :- rJ :5 ~G A A N >',hAt9 '$@ 2@Y ׼y 1K= H qտH?&? DyQ?@? Ja?`? '$@ P;) C%uB%1II5I52E{Ǽ Eh=yMuQ M>٥II UHUFU U?Ym75]ܜ?u759]:j I]dByy}A*@}@] Ei]M;];]75JA?EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 72.68 m.88 ProNav: ac range: 72.684776 m, nav range: 71.940720 m, bearing: 152.882606 deg, approach rate: -0.598069 m/s, LOS rate: 0.003828 deg/s, cmd heading: 160.104757 deg, new cmd heading: 160.109001 deg. "(9-HeadingCmd: 2.794429 target range: 72.684776 and range: 73.20 m.b-2@Z)r)j)R1J1B1~1~1}9|Y|Y|a|e? )I)I! j^<2@?<[&',lٞhA9f0$@f2@Yf*yfF=fH@oտ@??`yb?R?@f̨?? f0$@f~;)fCruBv5II-(I-̍3a}< }H=yQ >٥ HFי >75 ܜ?759f IeBy!*@@ EiO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248450=75)-JA5BEDNOT Ignoring new targets: 72.68 m.88 ProNav: ac range: 72.684776 m, nav range: 71.675140 m, bearing: 152.884731 deg, approach rate: -0.618171 m/s, LOS rate: 0.004964 deg/s, cmd heading: 160.109005 deg, new cmd heading: 160.115403 deg. Z9-HeadingCmd: 2.794541 target range: 72.684776 and range: 73.20 m.b-2@Z)r)j)R1J1B1~9~9}a|a|a|i|m?ԁ yB靽nI)ԁIv a`< 2@ }<  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499563 M',hAH@H@HBIHB_vBH@H@H@HB<HB%EHIHIHIHM =IM = IM-5~uB8I) AԹMb@Mb@Mb@ )Yףp= ? rhy&1|y?C`A  A)IAyfAI I %C< %@=y%Q %>٥)) -H)5 5>9E75=_ۜ?E759=c I=gByE?E:E+@M@= Ei=:=M:=R75KJP"Kh9*K2K:Kv< W9UoH1# cQ|5 i h QJADNOT Ignoring new targets: 72.68 m.%(%(U ProNav: ac range: 72.684776 m, nav range: 71.416122 m, bearing: 152.881209 deg, approach rate: -0.675111 m/s, LOS rate: -0.009214 deg/s, cmd heading: 160.115398 deg, new cmd heading: 160.104793 deg. UXʹ]HeadingCmd: 2.794356 target range: 72.684776 and range: 73.20 m.b]2@ZYrYjYRYJaBa~a~eKzB}i|i|||9? I)BI<_ٻ -c<2@f|<o9 k5',Gu hA9Bg$@BW{2@YB`yBOvP=BHտީ?? ? J??@? Bg$@BE;)BCNuBN.IIVIV3^; ^d=ybG˻Q b>٥dd fHjFnCg n>pv75rmۜ?v759rUa IriBytz+@z@r Eir2:r:rw75~HB~JA~EE!-DNOT Ignoring new targets: 72.68 m.--= ProNav: ac range: 72.684776 m, nav range: 71.191544 m, bearing: 152.879046 deg, approach rate: -0.660987 m/s, LOS rate: -0.006386 deg/s, cmd heading: 160.104798 deg, new cmd heading: 160.098289 deg. E>EHeadingCmd: 2.794242 target range: 72.684776 and range: 73.20 m.bE2@ZIrIjIRQJQBY~a~a}a|a|a|i|m@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003218 yB靥ǰI)qI\ [e<2@?m<y~GiAAN >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257117ԩ `',vT'hA9>I$@>*]2@Y>Ay>@K=>HZֿ?6?,@6? s'?6b?? >I$@>;)>CJuBJ3IeMb@Mb@Mb@aaa a)aYe r?L7A`尿=yQ >٥ HF >75ۜ?759!^ IjByx$?:+@@ EiY;X;675JADNOT Ignoring new targets: 72.68 m.  ProNav: ac range: 72.684776 m, nav range: 70.916046 m, bearing: 152.875351 deg, approach rate: -0.640211 m/s, LOS rate: -0.008619 deg/s, cmd heading: 160.098295 deg, new cmd heading: 160.087169 deg.  GHeadingCmd: 2.794048 target range: 72.684776 and range: 73.20 m.b2@ZrjRJB~!~%WzB}!|!|!|)|- @ԁ yBiI)I%2 !!%"2h<-2@-IRHHIHivBH =HHH<HIEK% P"K% 9*K! 2K% :K% A0df9CySo6`Lnm?8 V;D=26G Fթ<~G A A N >:J YBJ MJJ ARJ ZJ 9bJ 9J 4J zJ d:jJ i:J +:rJ -: = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759042G',,AhA9F.$@FA2@YF=yFB=FH`@4ֿ@?)P? *@?ᦠ?tX?@e? F.$@F]0;)FCRuBR4IiV=IV=XZAI^I^?13f1K; fX=yf:(Q f>٥hh jHhrj r>x75zۜ?759zG[ IzlBy +@ @z Eiz2;zo;z75JAHEDNOT Ignoring new targets: 72.68 m.%- ProNav: ac range: 72.684776 m, nav range: 70.671303 m, bearing: 152.872383 deg, approach rate: -0.606033 m/s, LOS rate: -0.007375 deg/s, cmd heading: 160.087162 deg, new cmd heading: 160.078227 deg. HeadingCmd: 2.793892 target range: 72.684776 and range: 73.20 m.b!2@ZrjRJ B~~}!|!|)|)|M@ yBE蟽I)I@ (jq',[hA9N)$@N<2@YN yN5@=NH`'9ֿ3?@U?`ˀ? c6??@[? N)$@NP;)NCjuBn.IIvIvM3 F=y b.Q  >٥   HFR >%758ۜ?%7595X InBy)-+@-@ EiF::755GB5JA5KEB*** querying acoustic contact ***JIR=I=RBDAT read: Rx Time:13:58:20.0129 %TRx dataTimestamp_ set to:1749131901.523830=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269880QDNOT Ignoring new targets: 72.68 m.@@ ProNav: ac range: 72.684776 m, nav range: 70.408318 m, bearing: 152.869245 deg, approach rate: -0.573025 m/s, LOS rate: -0.006864 deg/s, cmd heading: 160.078228 deg, new cmd heading: 160.068777 deg. HeadingCmd: 2.793727 target range: 72.684776 and range: 73.20 m.bm2@ZrjRJ B ~~}||||! @ yB靕"I)уI0# =Tm<m2@<VѦ',uhAH >HHHH  =HH -DH +<H dE4UuBU IMb@Mb@Mb@ )YPn?Zd;Oy&1y$?j<`enA )ZAIAyAI I  3;N %9=y%Q ->٥19 eHeFm m>85ۜ?859 U IoBy$?:-@@ Ei;_;85GKAK(aP"K9*K2K:K[o^t |[fd6NZ 2>n_96ZQ5,4>Ad-DNOT Ignoring new targets: 72.68 m.55E ProNav: ac range: 72.684776 m, nav range: 70.117920 m, bearing: 152.858239 deg, approach rate: -0.746280 m/s, LOS rate: -0.028400 deg/s, cmd heading: 160.068775 deg, new cmd heading: 160.035622 deg. E웺MHeadingCmd: 2.793149 target range: 72.684776 and range: 73.20 m.bM2@ZIrIjIRQJQBQԑ~~yB}||||@ @ -yB- KIQ)UцQIUG1 YY]co<]2@eb }BDAT read: Tx time:13:58:21.1139 }$Ping request sent.lg^ ? V)@)I-\-@if;_(@f;> ) N=?ŷB]?!+`2i9 ?~=޹f;> )m:publishing transmit ping timeymFpublishing direction and range infoyzNwU?<ӡ=жm~SǿY )Ii )Ii ) N=?ŷB]?!+`2i ) 6G} <~G A A N >#',rhA9^S$@^-2@Y^*y^:Q=^H Bֿ*?|b?@ !?` 0?`3 ?&? ^S$@^;)\juBj&Il)| ~AI I F3< =^=yE٧Q E>٥II MHIM" M>YYQ}85Uۜ?859U{R IUpBy-@@U EiU:U:U>85!KANEZ1b5`thA52B52B5N-@ʁ59igHQ@rYq*>;)5zNwU?<ӡ=жm~Sǿ5޹5f;>ҁ5KOD6=@Czۄi%5+쿊pw?O"#iÿz5A5|j5h2ZƜ?r5[DDF 5JB5Hǜ?5,*  5HB5B5:+@% addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.780082 s, deltaX: -2.099998 m, approachRate: -0.555543 m/s, rangeRepo size: 4  Added new target pos. range: 70.599220 m, bearing: 154.889207 deg, lat: 36.906381 deg, lon: -122.116041 deg, deltaT: 3.780082 s, deltaX: -2.085556 m, approachRate: -0.551722 m/s, posRepo size: 4 DNOT Ignoring new targets: 70.60 m. ProNav: ac range: 70.599220 m, nav range: 69.454643 m, bearing: 153.783863 deg, approach rate: 0.000000 m/s, LOS rate: -0.028400 deg/s, cmd heading: 160.035622 deg, new cmd heading: 160.004140 deg. ]HeadingCmd: 2.792599 target range: 70.599220 and range: 71.10 m.be2@ZarajaRaJaBa~~}|||`fQ@| ?  yB靕ZNI)مIv? r<2@<M',hA9> $@> 2@Y>y>><>Ho_ֿ?)o?`?뛢?ȏ?@? > $@>;)>CJuBNI9Mb@Mb@Mb@ )YPn?Qy̼u?A )AIAyAII E% <=yyQ %>٥!) -H-F- ->1=855snۜ?E8595O I5rByED$?E:E/@E@5 Ei5:5Z:5 85MFBMbKAUPEDNOT Ignoring new targets: 70.60 m.%% ProNav: ac range: 70.599220 m, nav range: 69.177551 m, bearing: 153.769862 deg, approach rate: -0.664109 m/s, LOS rate: -0.033691 deg/s, cmd heading: 160.004134 deg, new cmd heading: 159.961963 deg. HeadingCmd: 2.791863 target range: 70.599220 and range: 71.10 m.b2@ZrjRJB~~yB}||||x? UyBU.IY)]1YI]"K YY]*uH)H-}IH-UvBH- =H)H)H-#<H-VEԑ6GM <K @xP"K *K 2K :K 3&qfaiW@QZWPJ\) Q" N}J J ~G! A1 AA NM > ʕ',CtŸhA9fG $@f2@YfByfia =fHa]ֿ?Wp?U?@? >?? fG $@fz;)druBr*IIvIvM3~A= ~]=yHQ >٥   H  f  >85(\ۜ?859CM IsBy!!%@ Ei ;;: 85)-KA)qԙ)  G%A9  YAy;BDNOT Ignoring new targets: 70.60 m.- ProNav: ac range: 70.599220 m, nav range: 68.942635 m, bearing: 153.757902 deg, approach rate: -0.635995 m/s, LOS rate: -0.032491 deg/s, cmd heading: 159.961965 deg, new cmd heading: 159.925962 deg. 5b5HeadingCmd: 2.791234 target range: 70.599220 and range: 71.10 m.b52@Z9r9j9R9J9B9~A~A}A|A|I|I|M? 3I)<IdZ _w<2@ԣ<! ÿ',NܟhA9>l#@> 2@Y>y>=>Hkֿ@:?@?@d?ϴ? t?@? >l#@> d;)>CJuBJ"IiN=IN<IR IRb3Z[ ZO=y^Xv9Q ^>٥`` bHbFb4 f>dr85fvHۜ?r859fJ IfuBytv/@v@f Eiflj;fk;f85xz/KAzSE=B*** querying acoustic contact ***JARA:J[BJWJJCRJZJ:bJG9J4J@@@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DNOT Ignoring new targets: 70.60 m. ProNav: ac range: 70.599220 m, nav range: 68.689613 m, bearing: 153.745144 deg, approach rate: -0.533568 m/s, LOS rate: -0.027003 deg/s, cmd heading: 159.925956 deg, new cmd heading: 159.887541 deg. A HeadingCmd: 2.790564 target range: 70.599220 and range: 71.10 m.b2@ZrjRJB~~}||!|!|% ? yB靝VI)ۆIFi ^z<2@<.H% >H! H! H! H%  =H! H% .DH! H% YE',*hA9>#@>m1@Y>@py>f+=>Ha(ֿ7? Ù?0@?`?@g?a? >#@>;)٥ HF%s >85~2ۜ?859G IwBy{%?:0@@ Ei ; ;}85KA  DNOT Ignoring new targets: 70.60 m.LRLR- ProNav: ac range: 70.599220 m, nav range: 68.408417 m, bearing: 153.728980 deg, approach rate: -0.796322 m/s, LOS rate: -0.045964 deg/s, cmd heading: 159.887543 deg, new cmd heading: 159.838851 deg. -[-HeadingCmd: 2.789714 target range: 70.599220 and range: 71.10 m.b52@Z1r1j1R1J1B9~A~MyB}I|I|I|Qa|e@#m? 4½I)LIt W'}<%2@%i<%V2|3rD}f/{J?J?EEEEO0Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999635Ա6G ~G A A! N= > (,hA9:ؼ#@:>1@Y:$y:<:F=:HHֿQ??@:~?â?`?? :ؼ#@:(M;)8FuBJ0IInIn3vY9= vW=yvQ v>٥xx zHxz ~> 85sۜ? 859eE IyBy  /@ @ Ei::85EB%JA%VEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249710Y]DNOT Ignoring new targets: 70.60 m.e%e%u ProNav: ac range: 70.599220 m, nav range: 68.164490 m, bearing: 153.715250 deg, approach rate: -0.640423 m/s, LOS rate: -0.036176 deg/s, cmd heading: 159.838858 deg, new cmd heading: 159.797521 deg. uƺ}HeadingCmd: 2.788993 target range: 70.599220 and range: 71.10 m.b}~2@ZyryjyRyJB~~}||||d9@ yB|fI)I؀ <~2@LI<k= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504804! ~G) Aa A N >9 (,)hAuB1I)! !Mb@Mb@Mb@ )YZd;O?QMby~*?uA \ A)AIXAypAII; <=yQ >٥ HF >85ۜ?859B I}By *? : i0@ @ Ein;l;85JAYEAEDNOT Ignoring new targets: 70.60 m.M8>M8>m ProNav: ac range: 70.599220 m, nav range: 67.875572 m, bearing: 153.697272 deg, approach rate: -0.665344 m/s, LOS rate: -0.041576 deg/s, cmd heading: 159.797521 deg, new cmd heading: 159.743359 deg. mDHeadingCmd: 2.788048 target range: 70.599220 and range: 71.10 m.b_o2@ZrjRJB!~!~%zB}!|)|I|I|U@@ 靥2I)ՃI. T<_o2@#<OHHHH =HH-DH̚<HEHŘCHŘCHH =I = I5EEEEP0E9q K {P"K 59*K 2K :K &k.,O{gK_(9HGI)U1hC'bd]['hJ AJ 6G% p<~G A A N% > BDAT read: Rx Time:13:58:23.6100  TRx dataTimestamp_ set to:1749131905.048538 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007719(,ChA9:`#@:xs1@Y:"y:-d=:HBֿm)??`m9^?٥XX ZHZF^~ ^>`f85bڜ?f859b@ IbBydf 0@f@b Eib:bK:b85quJAyDNOT Ignoring new targets: 70.60 m.>$>$% ProNav: ac range: 70.599220 m, nav range: 67.632706 m, bearing: 153.683192 deg, approach rate: -0.616981 m/s, LOS rate: -0.035898 deg/s, cmd heading: 159.743358 deg, new cmd heading: 159.700966 deg. -ź]HeadingCmd: 2.787308 target range: 70.599220 and range: 71.10 m.b]@c2@ZYrajaRaJaBa~i~i}i|q|q|q|}@ MyBUNIQ)UAQI]" Yae뚂 (,]hA9J*3#@JF1@YJ)yJgs=JH@#׿jî? 8??@7?@W? ? J*3#@JuB;)JCVuBVCIIbIb 3jd= jH=lynQ r>٥pp rHtvڻ v>x~85zڜ?859zT= IzBy/@@z Eiz;zh;z_"85  LJA\E1EDNOT Ignoring new targets: 70.60 m.M8U8 ProNav: ac range: 70.599220 m, nav range: 67.360329 m, bearing: 153.667908 deg, approach rate: -0.717112 m/s, LOS rate: -0.040404 deg/s, cmd heading: 159.700970 deg, new cmd heading: 159.654931 deg. ݺHeadingCmd: 2.786504 target range: 70.599220 and range: 71.10 m.bV2@ZrjRJB~~}|||J-4J-4JJv/:JXBJIJJCRJZJ{9bJ 9J4JDAT read: 13:58:23.6100 LVL= 21440, 22593, 19682, 25699, AGC= 66, IDX= 409,-0.13, 0.919,-0.495, 1.055, 0.504, PHS= 0.502,-0.953, 0.548, RAW= 151.5, -1.3, CAL= 155.0, -10.1, ROT= 355.0, 10.1 Ygot valid direction response: 13:58:23.6100 LVL= 21440, 22593, 19682, 25699, AGC= 66, IDX= 409,-0.13, 0.919,-0.495, 1.055, 0.504, PHS= 0.502,-0.953, 0.548, RAW= 151.5, -1.3, CAL= 155.0, -10.1, ROT= 355.0, 10.1 PDAT read: Bearing 355.0, 10.1 (Local) ~Local bearing/azimuth received: Bearing 355.0, 10.1 (Local) DAT read: Range 10 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.6 m/s |@ @U,DAT read: user:1866> ]BDAT read: Tx time:13:58:24.7140 ]$Ping request sent.] ):C??ai_̾i ?<J4> ):publishing transmit ping timeYFpublishing direction and range infoy7\b?ײO:ujrƿY )Ii )Ii ):C??ai_̾i )E?EEE_0E9q  JDAT read: TxSync time:13:58:24.7132 6G Re<~G A A N >H >H H IH ivBH  =H H H <H E(8(,.rwhA9>$#@>)1@Y>o2y>sF=>H@-@#׿@4?`nS?`@|?(L? ;?.? >$#@>;)>CRvBRMIiZ=IZ;9Mb@Mb@Mb@ )Yq= ףp?/$Mbp?y+?;nA t A)AIAyQAII2E = E5=yMbQ M>٥II MHMFu u>y85}ڜ?859}+: I}By+?:"/@@} Ei}:}s:}W&85DB JA_EZbūchABBhU,@ʁ~  P@?xr\]'7\b?ײO:ujrƿJ4>ҁ5?{N9z >]=@"pV쿼nf?kpzAsjܥ׷Ɯ?rӦ4 sPB B+@] addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.534631 s, deltaX: -2.299995 m, approachRate: -0.650703 m/s, rangeRepo size: 4  Added new target pos. range: 68.315277 m, bearing: 154.281083 deg, lat: 36.906381 deg, lon: -122.116041 deg, deltaT: 3.534631 s, deltaX: -2.283943 m, approachRate: -0.646162 m/s, posRepo size: 4 DNOT Ignoring new targets: 68.32 m. ProNav: ac range: 68.315277 m, nav range: 67.056580 m, bearing: 153.653758 deg, approach rate: 0.000000 m/s, LOS rate: -0.040404 deg/s, cmd heading: 159.654934 deg, new cmd heading: 159.597503 deg. HeadingCmd: 2.785502 target range: 68.315277 and range: 68.80 m.bE2@ZrjRJB~~yB}|K @P"K 9*K 2K :K @   |y8|ji9sW*CA!Vr||@33Q@|=]?i yB靍I)|I  <E2@z<BN"$(,*XhA~vBUII!Ii3M = M[=yMQ M>٥Q HF >ԑ85ڜ?8597 IBy@ Ei::)85IAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 68.32 m. ProNav: ac range: 68.315277 m, nav range: 66.805313 m, bearing: 153.641955 deg, approach rate: -0.704787 m/s, LOS rate: -0.033230 deg/s, cmd heading: 159.597506 deg, new cmd heading: 159.561966 deg. q HeadingCmd: 2.784882 target range: 68.315277 and range: 68.80 m.b ;2@ZrjRJB~~}||||@ɏ? imIi)uyqIuH qqu?<;2@=<xXOp*(,zȫhA9VX#@Vl1@YV,EyV=VH?ֿ8? B?@:h?@?sױ? ~? VX#@Vuj;)VCbvBb[I]Mb@Mb@Mb@YYY Y)YY]/$?+y&1|?y],?]]`;Y ] A)]AI]AAYy]AIm$Im<3}< }C=y9Q >٥ H < >ԩ85Gڜ?8594 IByT,?:-@@ EiVk;U;;-85IAbEDNOT Ignoring new targets: 68.32 m. ProNav: ac range: 68.315277 m, nav range: 66.527779 m, bearing: 153.634300 deg, approach rate: -0.669246 m/s, LOS rate: -0.018536 deg/s, cmd heading: 159.561962 deg, new cmd heading: 159.538901 deg. KHeadingCmd: 2.784479 target range: 68.315277 and range: 68.80 m.b42@ZrjRJB~~yB}||||@ ? 5yB=kI9)=Ww9Ie&f aamCHAHEIHEvBHAHAHAHE<HEEEYEYEYE]'3EY6G K P"K 9*K 2K :K :9Y^)4'&hk==5/5\~Gq A A N >1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462047T1(,ŠhA9Fy#@Ft1@YFLyF=FH`zֿw??aۨ?@? 5?? Fy#@Fۏ;)FCR9vBVlI)T TI^I^[3bc= fW=yf_Q f>٥hh jHjFnӪ; n>pv85rڜ?v859r1 IrBytv-@v@r!Eir:r:r085|~:IA~eEDNOT Ignoring new targets: 68.32 m. ProNav: ac range: 68.315277 m, nav range: 66.273079 m, bearing: 153.626785 deg, approach rate: -0.648290 m/s, LOS rate: -0.019202 deg/s, cmd heading: 159.538903 deg, new cmd heading: 159.516271 deg. RHeadingCmd: 2.784084 target range: 68.315277 and range: 68.80 m.bo.2@ZrjRJB~~}||||@? 靥lI)wpIwK ;<o.2@T<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.714000iԑ z7(,F_ߠhA9>Kz#@>1@Y>Ly>=>H ֿ ?b?@@ʩ???? >Kz#@>;)>CRGvBRuIIbIb2n*= nJ=yrȐ8Q v>٥xx ~H~F/B9 > 85 wڜ?%859 . I By!%-@%@ !Ei ^R; (S; 4855CB=HAcEI!I%a=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968383ԩ:J^BJSJJBRJZJ} :bJy69J-4JDNOT Ignoring new targets: 68.32 m.ឹឹ= ProNav: ac range: 68.315277 m, nav range: 65.998634 m, bearing: 153.618607 deg, approach rate: -0.580287 m/s, LOS rate: -0.017363 deg/s, cmd heading: 159.516268 deg, new cmd heading: 159.491632 deg. =>EHeadingCmd: 2.783654 target range: 68.315277 and range: 68.80 m.bEd'2@ZArAjARAJaBi~i~i}q|q|q|q|}@ ŦI)lI%g !!%8<-d'2@-<5̛HI HM IHM vBHM  =HI HM .DHM <HM ,EjGe ?bGa  ~GY Aa Aq N >U=(,_hA9>#@>1@Y> Oy>l=>H Xֿ ?@?F?hީ?N?? >#@>J_;)>CNVvBN~IuMb@Mb@Mb@qqq q)qYuq= ףp?v/y&1|?yu+?uxiqq u/ A)u AIuXAqyu(AII3M= <=yQ >٥ HI; >85aڜ?859i+ IBy&,?:$,@@ !Ei ;P ;785HAfEDNOT Ignoring new targets: 68.32 m.%.-.= ProNav: ac range: 68.315277 m, nav range: 65.707756 m, bearing: 153.616428 deg, approach rate: -0.817565 m/s, LOS rate: -0.006152 deg/s, cmd heading: 159.491638 deg, new cmd heading: 159.485071 deg. =EHeadingCmd: 2.783540 target range: 68.315277 and range: 68.80 m.b%2@ZrjRJB~~-zB}||||}@ 9=?IA)EBiAIE1ӻ IIM'D(,d\hA9>#@>1@Y>r_Qy>G=>HJֿ?`^?Ҩ?`)?>?p? >#@>ي;)>CR{vBRIiV!>ITIZIZ(*3bAbAfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722581j= jY=yjYǺQ n>٥ll nHrFr; r>tz85vNڜ?z859v( IvByx~<,@~@v!Eiv ;v ;v-;85BB )HA iEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 68.32 m.%ϸ%ϸ ProNav: ac range: 68.315277 m, nav range: 65.456047 m, bearing: 153.614203 deg, approach rate: -0.637750 m/s, LOS rate: -0.005659 deg/s, cmd heading: 159.485067 deg, new cmd heading: 159.478366 deg. %x-HeadingCmd: 2.783422 target range: 68.315277 and range: 68.80 m.b-#2@Z)r)j)R1JQBQ~Y~Y}Y|Y|Y|a|e@ڔ@ JI)`I^ <#2@<.J(,4-hA@9F5#@F1@YFSSyFN=FH@ {ֿ.?\?^̀?`qg? ? ? F5#@F;)FCRvBRIjonly read 0 of 1 data item for BIT error. Device response is::TS,25060505594493,35.0, +10.91493.1, 0 aIj@aj aMj@aj aQj@aj aEn@an IrIrm?3~\K= ~H=yĘQ >٥ H F o;  >859ڜ?859b% IB%+:y!%:%U,@%@!Ei5;>>85)-GA1Q]DNOT Ignoring new targets: 68.32 m.]}e}} ProNav: ac range: 68.315277 m, nav range: 65.181526 m, bearing: 153.611394 deg, approach rate: -0.709751 m/s, LOS rate: -0.007294 deg/s, cmd heading: 159.478360 deg, new cmd heading: 159.469896 deg. 0HeadingCmd: 2.783275 target range: 68.315277 and range: 68.80 m.b,!2@ZrjRJB~~}||||@{ @ xI)ZIƼ <},!2@M<7K %P"K }9*K 2K :K  H HJ}? '<b.jCSyn`9  9j2iJ AJ :J% [BJ% QJJ% CRJ! ZJ% :bJ% -.9J% 4J! zJ% :5 jJ% :5 J% 4:5 rJ% 4:5  DAT read: 13:58:27.2067 LVL= 25936, 29105, 21154, 30099, AGC= 65, IDX= 407,-0.32, 1.604, 0.249, 1.755, 1.183, PHS= 0.509,-0.887, 0.570, RAW= 152.1, -2.7, CAL= 156.0, -11.3, ROT= 354.0, 11.3  Ygot valid direction response: 13:58:27.2067 LVL= 25936, 29105, 21154, 30099, AGC= 65, IDX= 407,-0.32, 1.604, 0.249, 1.755, 1.183, PHS= 0.509,-0.887, 0.570, RAW= 152.1, -2.7, CAL= 156.0, -11.3, ROT= 354.0, 11.3  PDAT read: Bearing 354.0, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 354.0, 11.3 (Local)  DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.6 m/s  ,DAT read: user:1867>  BDAT read: Tx time:13:58:28.3140  $Ping request sent. 05?bW=>x_ɿ} BYy } Pe)} qI} Ri} u} A} M?} oc} ? } )@)} AI} @.@i} I} @} I> y )y } (4?Έ?TQQi} t?} mB=} iwֽ} I> y )y  :publishing transmit ping time  Fpublishing direction and range infoy y}  >05?bW=>x_ɿy Yy y )y Iy iy y y y y y )y Iy iy y y y )y } (4?Έ?TQQiy y y y y )y hQ(,A GhAp9n#@nP1@YnvTynO=nH m_ֿ@r;?ؖ?@s?? t?@? n#@n;)nCUvBUIIIT3ws: A=y ZQ >٥ Hh; >85#ڜ?859" IȗB :yO:x,@@!Ei_;X?@851=GA=lEZbFEhABB ,@ʁ93H P@qk)i%) >05?bW=>x_ɿiwֽI>ҁe[DMCQލm<@J9Ug# 1Dt쿑9?`4u[ÿzlA'jjƜ?rH?$5 NBƜ?Ӧ4  JBꁭ,B,@U addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.525094 s, deltaX: -2.500000 m, approachRate: -0.709201 m/s, rangeRepo size: 4 e Added new target pos. range: 65.833237 m, bearing: 154.097457 deg, lat: 36.906377 deg, lon: -122.116046 deg, deltaT: 3.525094 s, deltaX: -2.482040 m, approachRate: -0.704106 m/s, posRepo size: 4 aeDNOT Ignoring new targets: 65.83 m.m ProNav: ac range: 65.833237 m, nav range: 65.086334 m, bearing: 154.078781 deg, approach rate: 0.000000 m/s, LOS rate: -0.007294 deg/s, cmd heading: 159.469891 deg, new cmd heading: 159.459924 deg. uHeadingCmd: 2.783101 target range: 65.833237 and range: 66.30 m.buR2@ZqryjyRyJB~~}|||@3P@|`8? =yBE[I)[I<ͼ IŒ<R2@<IW(,ahA|vBI) II3=!= =<=yMQ U>٥Ya eHeF > 85 ڜ?859 IїBM9yIU':QU@!Ei<?B85ABGAoE!AEDNOT Ignoring new targets: 65.83 m.MqMq ProNav: ac range: 65.833237 m, nav range: 64.785789 m, bearing: 154.077274 deg, approach rate: -0.656314 m/s, LOS rate: -0.003306 deg/s, cmd heading: 159.459919 deg, new cmd heading: 159.455377 deg. 2HeadingCmd: 2.783021 target range: 65.833237 and range: 66.30 m.b2@ZrjRJB~~}||||!? %yB%洫I))-V)I-WӼ ))-ɝ<52@]<]H} CH} IH} *wBHy Hy Hy H} <H} b]^(,@|hA9>J$@>]^2@Y> \y>BQ=>HM@ֿl?`O0?!?~?-?s? >J$@>4d;)>CNvBNIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y?ˡEMbPyf&?什A  A)\ AIAyAI I̍2-k@= -E=y-Q 5>٥11 5H5F=t< =>AM85E~ٜ?M859E IEחBMT:yM'?U:UX*@U@E"!EiE:E:EF85Y]7GAaDNOT Ignoring new targets: 65.83 m.͡9͡9 ProNav: ac range: 65.833237 m, nav range: 64.524834 m, bearing: 154.083654 deg, approach rate: -0.720335 m/s, LOS rate: 0.017682 deg/s, cmd heading: 159.455383 deg, new cmd heading: 159.474600 deg. )B:HeadingCmd: 2.783357 target range: 65.833237 and range: 66.30 m.b"2@ZrQjQRQJYBY~Y~]zB}a|a|i|i|u? yBI)RI%ؼ !!%g<-"2@-l<-8e(,畡hA9NXN$@Na2@YN:ZyN\t=NH`տ? ;-?av?QY?r?@? NXN$@NK;)NC=vB=IIE#IE%x3U#= U:=y]':Q ]>٥ai uHqN9 >85ٜ?859 IݗBy\*@@'!EiR<(R<I85FArE5B*** querying acoustic contact ***J1R19EDNOT Ignoring new targets: 65.83 m.E9E9 ProNav: ac range: 65.833237 m, nav range: 64.233421 m, bearing: 154.090766 deg, approach rate: -0.639900 m/s, LOS rate: 0.015687 deg/s, cmd heading: 159.474604 deg, new cmd heading: 159.496036 deg. A,:HeadingCmd: 2.783731 target range: 65.833237 and range: 66.30 m.b(2@ZrjRJB~~}|||| d? yB|I)MI.=޼ v1<(2@љ<Da gk(,կhA9>U$@>h2@Y>^y>C=>Hտ ޲?@&? ?=ϫ?ް?? >U$@>~;)< D)DɵDDDHɶJAiLILLILiNzA PP)PP RlAPPɷTXZ3AI^C)^NFi\)\I^IA^ ɸb"F `ɹ```i``idd)d dIdٯdnvBnIir=Ir<Mb@Mb@Mb@ )Yx&1?sh|?{Gzy!?#A  A))IAy(AIEIE3< W=yQ >٥ HF%: >85ٜ?859 IBy"?:*@@+!Ei::HM85  FA Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760535y}DNOT Ignoring new targets: 65.83 m.99 ProNav: ac range: 65.833237 m, nav range: 63.992615 m, bearing: 154.097508 deg, approach rate: -0.633463 m/s, LOS rate: 0.017803 deg/s, cmd heading: 159.496037 deg, new cmd heading: 159.516340 deg. }C:H>HHIHSwBH =HGDHHӚ<HEHeadingCmd: 2.784085 target range: 65.833237 and range: 66.30 m.bt.2@ZrjR J B ~ ~zB}|||| B? zB靍٫I)LIbp w<t.2@<-lqm7r[~cc#313vGS0 J AJ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0095626G <Ա ~G A A N >DKr(,,ɡhA9^b3$@^F2@Y^P]y^h=^H@ֿL?JF?5? ? MB?&? ^b3$@^G;)^CvBIIIM3< \=yY:Q >٥ H >85ٜ?859 IBy)@@/!Ei:W:P85FAuE!%DNOT Ignoring new targets: 65.83 m.-`9-`9= ProNav: ac range: 65.833237 m, nav range: 63.755756 m, bearing: 154.104599 deg, approach rate: -0.659686 m/s, LOS rate: 0.019821 deg/s, cmd heading: 159.516336 deg, new cmd heading: 159.537686 deg. =Y:EHeadingCmd: 2.784458 target range: 65.833237 and range: 66.30 m.bE42@ZArAjARIJIBI~I~Iԑ}||||H@ UzBU8IY)]JYI] YY] xx(,hA96$@6*2@Y6j^y6=6H ֿ,? a?n?`ɫ?{Բ?? 6$@6;)6CvBII-I-2eQ eN=ym1Q m>٥iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512906 HF؃ >985=Īٜ?859= I=By)@@=3!Ei=h<=<=vT85@BFAvE9eDNOT Ignoring new targets: 65.83 m.e9e9u ProNav: ac range: 65.833237 m, nav range: 63.469975 m, bearing: 154.113661 deg, approach rate: -0.603453 m/s, LOS rate: 0.019223 deg/s, cmd heading: 159.537687 deg, new cmd heading: 159.564998 deg. uS:}HeadingCmd: 2.784935 target range: 65.833237 and range: 66.30 m.b}^<2@ZrjRJB~~}|||| @ zBWI)KI7 !!%<%^<2@-\<-+KH H ,IH qwBH  =H H /DH <H E6G Z(,hA5vB5I)9 9Mb@Mb@Mb@ )Y+?V-~jtyv?hA  A) AI+Ay\AI5!I5i3]q= ]1=y]Q e>٥ii mHuFu }> 85ٜ? 859t IBy?:+@@7!Ei:Q:%X85%hFA!:Je[BJeUJJeARJaZJe:bJe>9Je4JazJe:jJe:Je}Q:rJeQ:KP"K59*K2K:K9Esm~l&EKc4}r =1?>Jt)h#?S ><BDAT read: Rx Time:13:58:30.8035 TRx dataTimestamp_ set to:1749131912.113701checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020370DNOT Ignoring new targets: 65.83 m. p:9 p:9= ProNav: ac range: 65.833237 m, nav range: 63.207241 m, bearing: 154.117845 deg, approach rate: -0.637104 m/s, LOS rate: 0.010187 deg/s, cmd heading: 159.564994 deg, new cmd heading: 159.577598 deg. E9EHeadingCmd: 2.785155 target range: 65.833237 and range: 66.30 m.bE?2@ZIrIjIRIJIBI~Q~UzB}Q|q|y|y|}b@ zB I)GIB ~SL(,shA9>n#@>2@Y>À\y>f=>H`u:ֿ@:ҳ??`uY??u?`? >n#@>ȋ;)>CNvBRIIVIV2^tҼ bj=yb:Q b>٥dd fHdf[л f?hn85jٜ?r859j IjBypr*@r@j;!Eij';j;j [85v?BvFAzyE15DNOT Ignoring new targets: 65.83 m.=[T9=[T9 ProNav: ac range: 65.833237 m, nav range: 63.001175 m, bearing: 154.121539 deg, approach rate: -0.645180 m/s, LOS rate: 0.011604 deg/s, cmd heading: 159.577603 deg, new cmd heading: 159.588721 deg. 9HeadingCmd: 2.785349 target range: 65.833237 and range: 66.30 m.b'C2@ZrjRJB~~}||||D @ ezBeIi)mJiIm iim! BDAT read: Tx time:13:58:31.9141 $Ping request sent. !)!%zAv?CpM?[%i%E?%Sy=%%ȭT> !)!6G+^<U :publishing transmit ping timeک] Fpublishing direction and range info!~Gq A ԩ A N >y% {Ď?]򨽿Fa5dʿ!Y! !)!I!i!!!!! !)!I!i!!! !)!%zAv?CpM?[%i!!!! !)!(,o2hA<9r#@r{1@Yr;#Xyr(G=rH@<Hֿe? ?@?1?\=?e? r#@r:͊;)rCUvBUIJDAT read: TxSync time:13:58:31.9133 Mb@Mb@Mb@ )GG-$nFailed to parse device response: 62.35,10.0527,8035.06 Y333333?y&1y&1y?`e`eA  A)IAy AIIm?3K= %=y+ ;ԩQ >٥ HF >85pٜ?859 IByO?:&,@@@!Ei8;&;f_85E%FAIZQbU'hAU}BU}BUz+@ʁU_N@/gB}E+*U {Ď?]򨽿Fa5dʿUUȭT>ҁUҨL;@4o˹$UmŐB6\(?5lĿzUWAU$`jUƜ?rUP% UMBQQ UMBUzBU',@ addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.537279 s, deltaX: -2.400002 m, approachRate: -0.678488 m/s, rangeRepo size: 4 % Added new target pos. range: 63.451756 m, bearing: 153.516870 deg, lat: 36.906377 deg, lon: -122.116046 deg, deltaT: 3.537279 s, deltaX: -2.381481 m, approachRate: -0.673252 m/s, posRepo size: 4 !-DNOT Ignoring new targets: 63.45 m.-)= ProNav: ac range: 63.451756 m, nav range: 62.700108 m, bearing: 154.121556 deg, approach rate: 0.000000 m/s, LOS rate: 0.011604 deg/s, cmd heading: 159.588722 deg, new cmd heading: 159.606833 deg. YeHeadingCmd: 2.785665 target range: 63.451756 and range: 63.90 m.beUH2@ZirijiRiJiBi~q~uzB}|||@3O@|?  zB1(,eMhA89=#@=72@Y=Wy===H Bֿa?@z? G? |?Dg?`? =#@=m;)=C]vB]Iie=Iep;mAmAIu#Iu%x3jG g=y8Q >٥ HFn; ?85`ٜ?859 IBy6,@@C!EiW2<3<rb85!%4FA%|E]B*** querying acoustic contact ***JaRaimDNOT Ignoring new targets: 63.45 m.uu ProNav: ac range: 63.451756 m, nav range: 62.490215 m, bearing: 154.121388 deg, approach rate: -0.612431 m/s, LOS rate: -0.000491 deg/s, cmd heading: 159.606836 deg, new cmd heading: 159.606331 deg. HeadingCmd: 2.785656 target range: 63.451756 and range: 63.90 m.b0H2@ZrjRJB!~)~1}y||||"?ԑ % zB%I!)%F!I-m ))-ٔ<0H2@v<v,I% C=I% 4=:J- `BJ- ZJJ) RJ) ZJ- :bJ- S9J) J) 5 @5 @5 @5 @$P(,ghANchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992001x9t#@1@YUyw=H Xֿ??i ?@x?@?? t#@骵';)CMvBMII Ib3 (c; 55=y5:Q 5>٥99 =H9E! E>Iu85MKٜ?u859M IMByqu",@}@MG!EiM;MB;Mnf85ABAFAEDNOT Ignoring new targets: 63.45 m.k6k6 ProNav: ac range: 63.451756 m, nav range: 62.215328 m, bearing: 154.121477 deg, approach rate: -0.616774 m/s, LOS rate: 0.000201 deg/s, cmd heading: 159.606331 deg, new cmd heading: 159.606600 deg. j 7 5HeadingCmd: 2.785661 target range: 63.451756 and range: 63.90 m.b5DH2@Z1r1j1R1J9B9~9~9}A|A|A|A|m'? zB靽dI)FI0 •<DH2@f<8HYH]?IH]wBH] =HYHYH]<H] Ea 6G <~G A A N >8(,hA9Jy#@J2@YJvVyJ:u=JH`@Tֿ@?@?l:?@˪?z?!? Jy#@Jމ;)JC9UvB]IMb@Mb@Mb@ )Y^I +?/$ rhyX?,C A)/ AI+Ay=AII2D< \=y Q >٥ HFQ: >85Y:ٜ?859p IBy?:-@@K!Ei;2;i85FADNOT Ignoring new targets: 63.45 m.pqpq  ProNav: ac range: 63.451756 m, nav range: 61.985630 m, bearing: 154.116536 deg, approach rate: -0.611018 m/s, LOS rate: -0.013193 deg/s, cmd heading: 159.606604 deg, new cmd heading: 159.591725 deg.  HeadingCmd: 2.785401 target range: 63.451756 and range: 63.90 m.bD2@ZrjRJB~!~%XzB}!|!|!|)|-@? ezBmL^Ii)m EiIuba qqu<}D2@}lZ<}|E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745149Rb(,ƚhAI )"@9B#@BK2@YBRyBhu=BH@Vֿ`A?? or?V??q? B#@BƉ;)@zwBzIII%= %[=y%#;Q ->٥)) -H-F5 5>9E85=)ٜ?E859= I=ByAE-@M@=N!Ei=:=l:=l85QUEAUEԙ!%DNOT Ignoring new targets: 63.45 m.-a-a] ProNav: ac range: 63.451756 m, nav range: 61.770477 m, bearing: 154.111892 deg, approach rate: -0.569743 m/s, LOS rate: -0.012339 deg/s, cmd heading: 159.591728 deg, new cmd heading: 159.577748 deg. ]~eHeadingCmd: 2.785157 target range: 63.451756 and range: 63.90 m.be@2@ZarajaRaJaBi~i~i}i|||| '? EzBMੱI)BI$ J<@2@MM (,؞hA9J#@J 2@YJQyJ{x=JHKֿ崱?~? @٣?5?@?5? J#@J-0;)JCVvBVIMb@Mb@Mb@ )YV-?V-y&1|y|?`AA  A) AIAyp AII(*3 ?=y:Q >٥ H.: > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250464 H<H<H>HHEIHwBHHHH<HE)=85Aٜ?=859Q IBy=?=:=/@=@S!Ei)<)<p85IMFAIq}DNOT Ignoring new targets: 63.45 m. ProNav: ac range: 63.451756 m, nav range: 61.504768 m, bearing: 154.100396 deg, approach rate: -0.641529 m/s, LOS rate: -0.027877 deg/s, cmd heading: 159.577753 deg, new cmd heading: 159.543114 deg. HeadingCmd: 2.784553 target range: 63.451756 and range: 63.90 m.b62@ZrjRJB~~%zB}||||$T@ zBI)pFI@[ <62@D<.ԙ 8v(,΢hA9Z$@Z~!2@YZGDQyZ6=ZH`3ֿ?j? ^o? %? N? ? Z$@ZUt;)ZCnwBnIIvIv3~T= ~Y=y~H9Q ~>٥ HFi;  > 85 ٜ?859  I By4/@@ V!Ei M; ; s85%@B%EA-EIUDNOT Ignoring new targets: 63.45 m.]_]_ ProNav: ac range: 63.451756 m, nav range: 61.270683 m, bearing: 154.089880 deg, approach rate: -0.636770 m/s, LOS rate: -0.028714 deg/s, cmd heading: 159.543110 deg, new cmd heading: 159.511444 deg. HeadingCmd: 2.784000 target range: 63.451756 and range: 63.90 m.b-2@ZrjRJB~ ~ } | |1|9|E`qq@q zB靵}I)?I  x<-2@aB< :J ]BJ YJJ CRJ ZJ ]:bJ [O9J 4J p(,6XhA2BDAT read: Rx Time:13:58:34.4007 6TRx dataTimestamp_ set to:1749131915.6432466checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0061299J$@JH(2@YJU+SyJL=JH@T#ֿȲ?c?@S?`lb? j?? J$@J*;)JC wBI%A%A)-AAI5I53 z< }<=yKQ >٥ HFi: 5>q}85u؜?}859u Iu ByI% !!%t<-3!2@-!D<-"HHQIHwBH =HHchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257271Hٚ<HEHǙCHǙCHH =I = I:r5) 6G= F<~G A! A1 NE >l}(,hA9>R$@>(2@Y>.Sy>W=>H`pֿu{?`%c?p ?m?@v^?`? >R$@>C;)>CJBwBJIMb@Mb@Mb@ )YRQ?~jty"?ļ  A) AIrAy AI I̍2= O=ysQ >٥ H8 >85؜?859 IBy"?:/@@_!EiT;;-{85DADNOT Ignoring new targets: 63.45 m.% % E ProNav: ac range: 63.451756 m, nav range: 60.749512 m, bearing: 154.064255 deg, approach rate: -0.651688 m/s, LOS rate: -0.035136 deg/s, cmd heading: 159.469986 deg, new cmd heading: 159.434235 deg. EMHeadingCmd: 2.782652 target range: 63.451756 and range: 63.90 m.bM2@ZIrIjQRQJQBQ~Y~]LzB}Y|Y|Y|a|e@; @ zB靕 2I)6IӚ DL<2@I4=I%=%G<%4jEE>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511368K]fP"K]9*KY2K]:K]~IjmN,Z<~,@^VL)(l 7[}E?EEEO0E F%=F%=ԑ6G= %<Թ ~G A9 AY Nu >} DAT read: 13:58:34.4007 LVL= 23280, 24801, 18866, 27987, AGC= 66, IDX= 409,-0.01,-2.016, 2.957,-1.814,-2.441, PHS= 0.513,-0.838, 0.625, RAW= 153.9, -4.3, CAL= 158.1, -12.6, ROT= 351.9, 12.6  Ygot valid direction response: 13:58:34.4007 LVL= 23280, 24801, 18866, 27987, AGC= 66, IDX= 409,-0.01,-2.016, 2.957,-1.814,-2.441, PHS= 0.513,-0.838, 0.625, RAW= 153.9, -4.3, CAL= 158.1, -12.6, ROT= 351.9, 12.6  PDAT read: Bearing 351.9, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 351.9, 12.6 (Local)  DAT read: Range 10 to 50 : 61.8 m (Round-trip 82.5 ms) speed 0.6 m/s  ,DAT read: user:1869>  BDAT read: Tx time:13:58:35.5141  $Ping request sent. 1 )1 5  OTx?ߔRV?#2i5 P?5 =5 5 z0a> 1 )1  :publishing transmit ping time  Fpublishing direction and range info1 y5 "?X0ڙ'$˿1 Y1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 )1 5  OTx?ߔRV?#2i1 1 1 1 1 )1 (,hA9:#@:2@Y:#eVy:=:HN&ֿ`~!?`Nw?S@aL?ɪ?@n?C? :#@: ;):CPRCwBRIIZIZ0,; 9=yκQ >٥   HF: >%85)؜?859w IBy/@@d!Ei< <S85?BDAEZqbuRhAuwuBuwuBuY*@ʁu>$@M@w/yp Me*u"?X0ڙ'$˿uuz0a>ҁuL JM;@ |%u9@] 6b`?=ƿzuAuAVjuy!ǜ?ru$G uKBqq quqBu,@ addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.778786 s, deltaX: -2.100002 m, approachRate: -0.555735 m/s, rangeRepo size: 4  Added new target pos. range: 61.366413 m, bearing: 152.503497 deg, lat: 36.906377 deg, lon: -122.116046 deg, deltaT: 3.778786 s, deltaX: -2.085342 m, approachRate: -0.551855 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.37 m.J[4J[4J[0:JZBJUJJ?RJZJ9bJ>9Jـ4JM ProNav: ac range: 61.366413 m, nav range: 60.448502 m, bearing: 154.048322 deg, approach rate: 0.000000 m/s, LOS rate: -0.035136 deg/s, cmd heading: 159.434237 deg, new cmd heading: 159.379783 deg. IMHeadingCmd: 2.781702 target range: 61.366413 and range: 61.80 m.bUh2@ZQrQjQRQJQBQ~y~y}y|||`fN@| ?JDAT read: TxSync time:13:58:35.5133  zBI)?7I! 9D<%h2@%DJ<%JqQ ~G A A N >7(,?9hAGGH>H HdIHwBH =H H Hۚ<HEZwBI) ԁMb@Mb@Mb@ )YMbX?X9v{Gzt?y*?ף;A IA) AIAyz AIIm?3DI= 1=yQ >٥ =H=FE E>IU85MӬ؜?U859Mv IMByU*?U:U/@U@Mh!EiM:M:M85DAEDNOT Ignoring new targets: 61.37 m.%P%P5 ProNav: ac range: 61.366413 m, nav range: 60.160324 m, bearing: 154.035476 deg, approach rate: -0.704250 m/s, LOS rate: -0.031542 deg/s, cmd heading: 159.379787 deg, new cmd heading: 159.341066 deg. 5-]HeadingCmd: 2.781026 target range: 61.366413 and range: 61.80 m.b]U1@ZYrYjYRYJYBa~q~uFzB}||||@S? #zB ʯԱI)!2I $<U1@ O<,-Xga;JYKfsvzBYbct6E,z6G  ~G A A N >(,vThA9Z#@Z/ 2@YZ_yZ=ZHL@Bֿ`B ?~?@+9?`߫?y?? Z#@Z|;)ZCfgwBf&IInIn<2v= ve=yvjûQ z>٥xx zHx~vƺ ~> 85؜? 859 I%By  /@@l!Ei;;085\DAAEDNOT Ignoring new targets: 61.37 m.MUu ProNav: ac range: 61.366413 m, nav range: 59.925510 m, bearing: 154.025024 deg, approach rate: -0.702305 m/s, LOS rate: -0.031384 deg/s, cmd heading: 159.341060 deg, new cmd heading: 159.309580 deg. }OHeadingCmd: 2.780477 target range: 61.366413 and range: 61.80 m.bU1@ZrjRJB~~}|||| K?ԩ %zB^I!)%/AIEc AIM9 (,IHnhA9G#@1@Y,by"y=H ֿ`?`?@?T?`8?S? G#@骝!p;)owB+IMMb@Mb@Mb@III I)IYM/$?I +Mbp?yM&1?M94M;MnA MA)M AIMAIyM AIeIe(*3}< 3=y?Q >٥ HFP >85v؜?859 I.By1?:-@@q!Ei::*85>B8DAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 61.37 m. E ProNav: ac range: 61.366413 m, nav range: 59.610439 m, bearing: 154.017156 deg, approach rate: -0.691012 m/s, LOS rate: -0.017346 deg/s, cmd heading: 159.309586 deg, new cmd heading: 159.285858 deg. My>MHeadingCmd: 2.780063 target range: 61.366413 and range: 61.80 m.bM1@ZQrQjQRQJQBQ~Y~]yzB}Y|a|a|a|e@A~? =)zB=9I9)Ez.AIE2 AAEžHeCHewIHewBHe =HaHaHe<HeET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9E?E!E!E)E)a 6G -< G AU AA:J [BJ XJJ ERJ ZJ :bJ 5K9J 4J zJ  jJ : J f: rJ f:   Y Ay B~G A AQ N] >s(,^HhA =? z?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7455729uf#@uUz1@Yucyuna=uHA)ֿQ??@M ? @q?@? ? uf#@u؎;)qKqP"K9*K2K:Ku:j,VRk@ dPvC1^: A  wB9Ii=I>IIb2 T=  A=y Q >٥ HF@ >!-85%l؜?-859%W I%7By)-d-@5@%v!Ei%:%N:%ۍ859=CA=EԁDNOT Ignoring new targets: 61.37 m. ProNav: ac range: 61.366413 m, nav range: 59.318031 m, bearing: 154.011180 deg, approach rate: -0.680085 m/s, LOS rate: -0.013968 deg/s, cmd heading: 159.285858 deg, new cmd heading: 159.267841 deg. aHeadingCmd: 2.779748 target range: 61.366413 and range: 61.80 m.be1@ZrjRJB ~ ~ } ||||? ,zB2mI))I ^<%e1@%4<- t(,hAwB7II-"I-q3Ea̻ MY=yUQ U>٥QQ ]HY] e>am85eX؜?m859eu Ie?Byqqu@ez!Eie:el:e(85y}CAY]DNOT Ignoring new targets: 61.37 m.]|e|m ProNav: ac range: 61.366413 m, nav range: 59.056698 m, bearing: 154.005789 deg, approach rate: -0.666546 m/s, LOS rate: -0.013812 deg/s, cmd heading: 159.267840 deg, new cmd heading: 159.251595 deg. u}HeadingCmd: 2.779465 target range: 61.366413 and range: 61.80 m.b}1@ZyryjyRyJB~~}||||:@ /zBփI)+I= Q<1@!< Hi Hm p<H} >H} CH} IH} xBH}  =Hy Hy H} (<H} jE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503076F(,ڽhA 9B"@B0@YB5EgyBB`N=BH@1`KT׿i(?}?9U? ??? B"@BX&;)BCRwBRFIuMb@Mb@Mb@qqq q)qYun?ˡE~jth?yu6?u'uD;uA u`A)qIuAqyuQ AII2vg= E=yE Q >٥ HF >85tA؜?859- IHByQ6?:D-@@!Ei6;~ ;˔85CAE DNOT Ignoring new targets: 61.37 m. - ProNav: ac range: 61.366413 m, nav range: 58.760731 m, bearing: 154.000193 deg, approach rate: -0.751392 m/s, LOS rate: -0.014277 deg/s, cmd heading: 159.251598 deg, new cmd heading: 159.234727 deg. 5=HeadingCmd: 2.779170 target range: 61.366413 and range: 61.80 m.b=1@ZArAjARAJABA~I~M|zB}I|I|I|| sW@ M3zBiu!Iq)u&qIuB# yy}<}1@<5hY(,ϺףhALwBQI)) ) Ep=AI]I]3}3= L=yQ >BDAT read: Rx Time:13:58:37.9975 TRx dataTimestamp_ set to:1749131919.424974checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007951٥ HF >85y+؜?859 IPBy@!EiI;;S85=B7CAEDNOT Ignoring new targets: 61.37 m.kk ProNav: ac range: 61.366413 m, nav range: 58.473263 m, bearing: 153.994705 deg, approach rate: -0.671152 m/s, LOS rate: -0.012878 deg/s, cmd heading: 159.234727 deg, new cmd heading: 159.218180 deg. h HeadingCmd: 2.778882 target range: 61.366413 and range: 61.80 m.b21@ZrjRJ B~~}||||e@ 7zB靕I)t"I+=% eӡ<21@<u{M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257183! (,FhA|9mH"@m0@Ymqhym]=mH `V׿!?F?#i? L??? mH"@m;)iwB\IMb@Mb@Mb@ )Y(\?~jt=yU]Q U>٥QQ ]HY]& ]>q}85u؜?}859u IuZBy}4?}:},@@u!Eiu:u{:u 85BAB*** querying acoustic contact ***JR1=DNOT Ignoring new targets: 61.37 m.=ָ=ָ} ProNav: ac range: 61.366413 m, nav range: 58.172665 m, bearing: 153.992259 deg, approach rate: -0.717461 m/s, LOS rate: -0.005867 deg/s, cmd heading: 159.218185 deg, new cmd heading: 159.210811 deg. }ր}HeadingCmd: 2.778753 target range: 61.366413 and range: 61.80 m.b1@ZrjRJB~~DzB}|||| @H >H H IH =xBH  =H H H  <H ?E! 5;zB5ҖI9)=9I=^m' 99=ێjEQPDAT read: Bearing 353.0, 12.7 (Local) ~Local bearing/azimuth received: Bearing 353.0, 12.7 (Local) eDAT read: Range 10 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.7 m/s m,DAT read: user:1870> BDAT read: Tx time:13:58:39.1141 $Ping request sent.iۥ3fۥAۥx ?ۥQXE?EEEEQۥ/? ܥJ*@)ܥnFIܥ^/@iܥbܥ'@ܥb> ݡ)ݡݥ?\l;?mukiݥ ?ݥ쁛=ݥ5ݥb> ޡ)ޡ:publishing transmit ping timeڡ Fpublishing direction and range infoڡyڥ`j9?M7noF#̿ڡYڡ ۡ)ۡIۡiۡۡۡۡۡ ܡ)ܡIܡiܡܡܡ ݡ)ݡݥ?\l;?mukiݡݡݡݡ ޡ)ޡy 6G] NXd<I C=I R=:J _BJ PJJ LRJ ZJ :bJ *9J 4J zJ +:jJ 0:J -:rJ -:~G A! A1 N= >),C hAJDAT read: TxSync time:13:58:39.1133 9b"@b1@Ybwfybc`=bH =C׿郲?q?@)?ʬ?? ? b"@bnʍ;)bC~wB~[II  I <2=9  =_=yE:Q E>٥AA EHEFi*]; >85؜?859 IcBy,@@!EiS::N85EK ʮP"K 59*K 2K :K -y'S!T.YtI -'n>PkD@,BY_J?J?ZbjOhAkBkB*@ʁGL@ȼ ҁ%(DI^^ ;@>:2$pUnd}pY?̥pſzdAMj3lǜ?r  XOBƜ?P%  NBDgBF+@ addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528204 s, deltaX: -2.399998 m, approachRate: -0.680232 m/s, rangeRepo size: 4  Added new target pos. range: 58.983501 m, bearing: 152.260184 deg, lat: 36.906381 deg, lon: -122.116039 deg, deltaT: 3.528204 s, deltaX: -2.382912 m, approachRate: -0.675389 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.98 m.Powering the camera and arming the capture device at range: 59.40 m.z5 ProNav: ac range: 58.983501 m, nav range: 57.817036 m, bearing: 153.334609 deg, approach rate: 0.000000 m/s, LOS rate: -0.005867 deg/s, cmd heading: 159.210808 deg, new cmd heading: 159.204179 deg. 1=HeadingCmd: 2.778637 target range: 58.983501 and range: 59.40 m.b=11@Z9r9j9R9z9JaBa~a~a}i|i|i|m@3M@|u ? >zB靽I) Ivf) N<11@=e<喅),%hA9>#@>\21@Y>cy>]=>H9`.׿H?G? @?u?@I?@S? >#@>;)٥ll nHrFr; r>tz85v'ל?~859v IvlBy,@@v!Eiv2;v;v85-H) H- IH- exBH-  =H) H) H- <H- Y ),z>hA9B_#@Bvr1@YBb:cyB=i=BH`Xֿx?@ ? ?c?4?#? B_#@BĘ;)BCRwBVjIEMb@Mb@Mb@AAA A)AYE㥛 ?/$MbP?yE5?E,E:E A EA)EAIAAyE AIUIU2m\D< mA=ymv9Q m>٥qq uHq}S< }>85#ל?859I ItBy5?:-@@!Ei: :U85BA1uDNOT Ignoring new targets: 58.98 m.quPowering the camera and arming the capture device at range: 59.40 m.zy ProNav: ac range: 58.983501 m, nav range: 57.248329 m, bearing: 153.317041 deg, approach rate: -0.729545 m/s, LOS rate: -0.027381 deg/s, cmd heading: 159.184990 deg, new cmd heading: 159.151210 deg. THeadingCmd: 2.777713 target range: 58.983501 and range: 59.40 m.b 1@ZrjRz J1B1~A~EQzB}I|I|q|q|}@? DzB=I!)%!IMRs- IIMVפE=EMl;EIEQEU4EQF]=F]a=K=P"K+9*K2K:K~'(D@y}Vau)!uq=QXz3ԙ6Ge )ş<jGu ?bGu ?~G A Թ A N >),XhA9J#@J1@YJ;eyJy=JH``Мֿ`??p?`?`?? J#@JxC;)HRwBVtII^I^V83fO.= fT=yf=Q j>٥hh jHjFn{< n>pv85r'ל?v859rR Ir|Bytv-@v@r!Eir+;r;r85~;B~BBA~E!%DNOT Ignoring new targets: 58.98 m.!-Powering the camera and arming the capture device at range: 59.40 m.z)-5e ProNav: ac range: 58.983501 m, nav range: 56.975281 m, bearing: 153.305711 deg, approach rate: -0.711914 m/s, LOS rate: -0.029684 deg/s, cmd heading: 159.151208 deg, new cmd heading: 159.117053 deg. muHeadingCmd: 2.777117 target range: 58.983501 and range: 59.40 m.b}G1@ZyryjRzJB ~~}|A|A|A|Eɓ?ԁ GzB靽T氽I)I8/ <G1@1<0 U),ˡrhA9#@m1@YIay8=H? rwֿ@??` X?H ??ذ?? #@骍 ;)CwB|I ==EMb@Mb@Mb@AAA A)AYEQ?{GzMbPyE\/?E#EEA EIA)E`AIE AAyE AII3< /=y ;Q >٥ HF; >85ל?859 IBy/?:.@@!Eim;;ǭ85BAEB*** querying acoustic contact ***JR)5DNOT Ignoring new targets: 58.98 m.15Powering the camera and arming the capture device at range: 59.40 m.z1=K =K M ProNav: ac range: 58.983501 m, nav range: 56.655834 m, bearing: 153.291293 deg, approach rate: -0.680386 m/s, LOS rate: -0.030882 deg/s, cmd heading: 159.117057 deg, new cmd heading: 159.073559 deg. MUHeadingCmd: 2.776357 target range: 58.983501 and range: 59.40 m.bUׯ1@ZQrYjYRYzYJiBq~~czB}||||>?H>HCHIHzxBH =HH0DH<H JzBe*ŨIa)eaIeU1 iim[<}ׯ1@}9<ޖm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204456q #),܌hA9j#@j1@Yj#]yjß=jHFSֿE?ࠓ?` k?? c ? ? j#@j;)jCMwBM~II]I] 3m.< m_=yu-;Q u>٥qq uHq}÷; }>858ל?859. IBy;.@@!Ei ;"&;85BADNOT Ignoring new targets: 58.98 m.Powering the camera and arming the capture device at range: 59.40 m.z ProNav: ac range: 58.983501 m, nav range: 56.404797 m, bearing: 153.279315 deg, approach rate: -0.687034 m/s, LOS rate: -0.032925 deg/s, cmd heading: 159.073562 deg, new cmd heading: 159.037470 deg. ŴHeadingCmd: 2.775728 target range: 58.983501 and range: 59.40 m.b1@ZrjRzJB~~ } | | | |Q@KE?DP"KE9*KA2KE:KEZ A4!6tG@KGEcHysf&Gmm3- ]MzB]nIa)eaIe3 aam"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455501q R2)),hA,9>$@>Q#2@Y>[y>=>H` R#ֿ\t?g?@{Oة?@At?;?@? >$@>;)>CVwBVII^ I^̍2fj< fV=yj$k:Q j>٥hh jHnFn; n>pv85rל?v859rf IrByxzj.@z@r!Eiru:r`:rP85|~AA~E1=DNOT Ignoring new targets: 58.98 m.9EPowering the camera and arming the capture device at range: 59.40 m.zAE E U ProNav: ac range: 58.983501 m, nav range: 56.143791 m, bearing: 153.265973 deg, approach rate: -0.684369 m/s, LOS rate: -0.035146 deg/s, cmd heading: 159.037471 deg, new cmd heading: 158.997260 deg. ]]HeadingCmd: 2.775026 target range: 58.983501 and range: 59.40 m.be1@ZarajaRazaJaBi~i~i}i|q|q|q|u@ PzB靵$I)I 4 <1@b< =i1@i:J`BJ\JJARJZJ:bJ[9J4J@@@@ >=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708132Em[2EiEiEm0Eqԡ6G<~GAAN>H >H H IH xBH  =H H H ۚ<H E  BDAT read: Rx Time:13:58:41.5941  TRx dataTimestamp_ set to:1749131922.951356 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9597810),lhA9:`0$@:C2@Y:^y:)=:Hz`ֿγ?I?+$?]?ј? ? :`0$@:=;):C\bxBbIifJ>If;ddMb@Mb@Mb@ )YQ?{Gz{Gzty(?ףA A)AI\ Ay AII M< ;=yQ >٥ H; >85iל?859S IByF)?:o.@@!Eif;e;!85 :B AA E1=DNOT Ignoring new targets: 58.98 m.9=Powering the camera and arming the capture device at range: 59.40 m.z9EzEzU ProNav: ac range: 58.983501 m, nav range: 55.855579 m, bearing: 153.251012 deg, approach rate: -0.659620 m/s, LOS rate: -0.034419 deg/s, cmd heading: 158.997255 deg, new cmd heading: 158.952138 deg. U]HeadingCmd: 2.774238 target range: 58.983501 and range: 59.40 m.b]1@ZYrYjYRazaJaBa~y~zB}|) ||)|=@(z @GAA =YAy@BE@EB SzB靵"٥I)IF7 jҨ<1@ <J=i1@i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212035E}.EEE`0EK]P"Kػ9*K2K:K2Jol<'WWppBq-4\HVs/}\I 6G sc=~G AI Aa N} > ]6),ڤhA9VHD$@VW2@YV5ayVxG=VHտ?6?4 ?;? ܳ?? VHD$@Vԉ;)VCfxBfIInIn3tv>I< vV=yzM$Q z>٥xx zH~F~P; ~>85hVל?859 IBy.@@!Ei $;:v85%AA!]DAT read: 13:58:41.5941 LVL= 18352, 24817, 14066, 26195, AGC= 65, IDX= 405, 0.16,-3.075, 1.887,-2.747, 2.823, PHS= 0.473,-0.889, 0.710, RAW= 157.9, -4.0, CAL= 161.4, -12.0, ROT= 348.6, 12.0 eYgot valid direction response: 13:58:41.5941 LVL= 18352, 24817, 14066, 26195, AGC= 65, IDX= 405, 0.16,-3.075, 1.887,-2.747, 2.823, PHS= 0.473,-0.889, 0.710, RAW= 157.9, -4.0, CAL= 161.4, -12.0, ROT= 348.6, 12.0 uPDAT read: Bearing 348.6, 12.0 (Local) }~Local bearing/azimuth received: Bearing 348.6, 12.0 (Local) DAT read: Range 10 to 50 : 56.8 m (Round-trip 75.8 ms) speed 0.7 m/s ,DAT read: user:1871> BDAT read: Tx time:13:58:42.7141 $Ping request sent.-c-5? -A`0@)-5I-I4@i-PwV-@-PwV> )))-j:1?[ jK?'y±i-N)?-2=-K-PwV> ))):publishing transmit ping timeڱFpublishing direction and range info)y-܈?Kȿhٜʿ)Y) )))I)i))))) )))I)i))) )))-j:1?[ jK?'y±i))Z)b-ݤhA-aB-aB- &@ʁ- K@ᱥDG%^%t'-܈?Kȿhٜʿ-K-PwV>ҁ-i}G4`xqY<@!#-X?!c7my?[ؤſz-A-F?j-kP͘ǜ?r- -QB-3lǜ?-$G  )-._B-&*@)) ))) addTargetRange:: Added new target pos. range: 56.799999 m, deltaT: 3.527848 s, deltaX: -2.600002 m, approachRate: -0.736994 m/s, rangeRepo size: 4  Added new target pos. range: 56.403042 m, bearing: 149.338498 deg, lat: 36.906383 deg, lon: -122.116030 deg, deltaT: 3.527848 s, deltaX: -2.580460 m, approachRate: -0.731454 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 56.40 m.)Powering the camera and arming the capture device at range: 56.80 m.z ProNav: ac range: 56.403042 m, nav range: 55.795818 m, bearing: 152.327270 deg, approach rate: 0.000000 m/s, LOS rate: -0.034419 deg/s, cmd heading: 158.952135 deg, new cmd heading: 158.905511 deg. HeadingCmd: 2.773424 target range: 56.403042 and range: 56.80 m.b1@ZrjRzJB~~}||| `ffL@|\? ]WzBeRnIa)e)aIe`S9 aam%<1@<=i1@iIE+EEE_0E:Jm]BJmRJJiRJiZJm]:bJmS29JiJiJDAT read: TxSync time:13:58:42.7133 q 6G =~G A A N >%=),"hAH>HHIHxBH =HHH<H3E9%7k$@%~2@Y%ky%捡=%H>տ??!?q?#?@? %7k$@%Չ;)%C1xBI ==UMb@Mb@Mb@QQQ Q)QYURQ?y&1~jtxԑyU"?U`弹UĻQ UA)UAIUE AQyU AIIbʫ< =yLuQ >٥ HFu; >857ל?859 IBy"?:/@@!Ei:u*;85AAE B*** querying acoustic contact ***J R %DNOT Ignoring new targets: 56.40 m.!%Powering the camera and arming the capture device at range: 56.80 m.z!--= ProNav: ac range: 56.403042 m, nav range: 55.394974 m, bearing: 152.291050 deg, approach rate: -0.710937 m/s, LOS rate: -0.064704 deg/s, cmd heading: 158.905512 deg, new cmd heading: 158.796066 deg. =1EHeadingCmd: 2.771514 target range: 56.403042 and range: 56.80 m.bE}`1@ZArAjARAzIJIBI~I~MfzB}Q|Q|Q|Q|]g? [zB靝I)I; o<}`1@ <&=i}`1@iE} 7)Ey Ey E} ^0Ey Ա  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. 6Gu e=K O"K 59*K 2K :K TywQ d{(Q*n9Nx*MSNh5,H0~GAAN>CNE),@hA96T\$@6o2@Y6sy6먠=6H@&տ/?@2?`!?`s?`?@Y? 6T\$@6u;)6C <)<ɵ@@@@ɶBAi@IDDIDiF|A DD)DH HHHɷLLNAIN)LiL)PIRARɸRF PɹTV`ATiTXi\b̃A)` `I`ٯdvxBvII!Ii3< %=y%ԻQ %?٥!) -H-Fq-ED ?85W'ל?859 IBy/@@!Ei::859BgAAEDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.z%% ProNav: ac range: 56.403042 m, nav range: 55.192730 m, bearing: 152.272770 deg, approach rate: -0.628881 m/s, LOS rate: -0.057052 deg/s, cmd heading: 158.796065 deg, new cmd heading: 158.741023 deg. HeadingCmd: 2.770554 target range: 56.403042 and range: 56.80 m.bP1@ZrjRzJB~~}||||(z? M]zBUIQ)UQI]2P= Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.990939<P1@@< v%=iP1@iԡE}&EyEyE}0Ey6G '=:J ZBJ mJJ ERJ ZJ 9bJ &9J 4J ~G A A  N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242169rK),60hA9>Q$@>Le2@Y>%Jzy>1=>H?տ@ ?h'?@f_?HD? ?@? >Q$@> ;)>C%!xB%II5 I5b3e_< mF=ym}Q m>٥qq uHquiʺ }>85ל?859 IBy/@@!Ei)::@85GAADNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.zii ProNav: ac range: 56.403042 m, nav range: 54.942284 m, bearing: 152.250130 deg, approach rate: -0.627773 m/s, LOS rate: -0.057007 deg/s, cmd heading: 158.741028 deg, new cmd heading: 158.672800 deg. ~%HeadingCmd: 2.769363 target range: 56.403042 and range: 56.80 m.b-==1@Z)r)j)R)z)J1B1~9~A}I|Q|Y|a|m ? `zB"NI)I0e? 3ī<==1@ڃ<ٲ'=i==1@iAGyGyH>HHIHxBH =HH/DH<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494971E#EEE0E16G ɓ%=Y ~G A A N% >"\R),IhA96$@6[.2@Y6~}y6?=6HSֿ?`Z?`O) ??@˜?@? 6$@6;)6CM:xBMIiU=IU{>Y]AMb@Mb@Mb@ )checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747212YZd;O?S㥛{Gztyj?/ݼףrA )Iy AII3-)g= ->=y- Q ->1٥99 =H=FE_ E>IU85Mo֜?U859M; IMByU?U:Ud/@]@M!EiM;M3;M85e8Be@AeEDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.zNwNw5 ProNav: ac range: 56.403042 m, nav range: 54.680569 m, bearing: 152.227256 deg, approach rate: -0.615483 m/s, LOS rate: -0.054053 deg/s, cmd heading: 158.672794 deg, new cmd heading: 158.603841 deg. =b=HeadingCmd: 2.768159 target range: 56.403042 and range: 56.80 m.bE)1@ZArAjARAzAJABI~i~mmzB}i|q|q|q|u? bzBBI) IgA \<)1@~<=i)1@i!K%bUP"K%9*K!2K%:K%k@ZW ;\  1& Zt=H ~aEO!EEEQ5Eԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9989886G% M&'=~G) AI Aa Nu >Թ X),ԻchA9Jj#@J1@YJ~}yJo=JHJdֿR??^@/??έ? e? Jj#@JĊ;)JCf9xBjII~I~m?3_P %^=y-q6Q ->٥)1 5H1=9 E>Qe85U֜?m859U߫ IUByiu/@u@U!EiU;UY;UA85@AEDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.z5Gi5GiE ProNav: ac range: 56.403042 m, nav range: 54.454205 m, bearing: 152.208313 deg, approach rate: -0.606785 m/s, LOS rate: -0.050987 deg/s, cmd heading: 158.603836 deg, new cmd heading: 158.546774 deg. M MHeadingCmd: 2.767163 target range: 56.403042 and range: 56.80 m.bM41@ZQrQjQRzJB~~ԑ}||||+@ ezBIAI) I"B ~<41@-<Z=i41@i:J[BJRJJFRJZJ:bJS29J4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251801EEEES0E6G% :; =He >He CHe IHe xBHa Ha He .DHe <He EH-˚CH-˚CH)H- =I) I-˩H6~G A A N > ۯ^),}hA2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502304U?xBUIMb@Mb@Mb@ )Y ףp= ?~jthyQ?̼D A A)3AIyAII(1 j<  ;=yQ >٥ HF %>!-85%֜?5859%7 I%ĘBy5t?5:5>/@5@%!Ei% ;% ;%85AM@AIy}DNOT Ignoring new targets: 56.40 m.yPowering the camera and arming the capture device at range: 56.80 m.zulul ProNav: ac range: 56.403042 m, nav range: 54.198269 m, bearing: 152.186167 deg, approach rate: -0.594464 m/s, LOS rate: -0.051682 deg/s, cmd heading: 158.546777 deg, new cmd heading: 158.480025 deg.  HeadingCmd: 2.765998 target range: 56.403042 and range: 56.80 m.b1@ZrjRzJB~~?zB}1|1|1|1|= 8@ gzB靕`ϯI) I)D <1@l<=i1@iEeEaEaEeO0Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754278a 6G =~G A A N >K 9P"K 9*K 2K :K s'zf>VC r fcfQB=.:  B%[le),ohA9>\#@>o1@Y>Ny>,,O=>HYֿ关? ?`L? ?թ?? >\#@>g};)>CJ^xBJI)L LIR IRb3ZM= Zc=y^oQ ^>٥`` bHbFb{ b>dj85fo֜?j859f IfʘByln.@n@f!Eif ;f;f+85r7BrB@AvEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.%lFinal approach. Armed for intercept at range: 56.80 m.%\Transitioning guidance mode to: FINAL_APPROACH%@5X=Xm ProNav: ac range: 56.403042 m, nav range: 53.985111 m, bearing: 152.169268 deg, approach rate: -0.595895 m/s, LOS rate: -0.047429 deg/s, cmd heading: 158.480019 deg, new cmd heading: 158.429122 deg. u3HeadingCmd: 2.765110 target range: 56.403042 and range: 56.80 m.b0@ZrjR!J!B!~!~!})|)|)|)|5@ izB靝LuI)ID(F b+<0@b%<<=i0@iY}A}ABDAT read: Rx Time:13:58:45.1911 TRx dataTimestamp_ set to:1749131926.482847checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011475EEEEP0Ey6G=ԩ ~G A A N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258960:J= YBJ= ZJJ9 RJ9 ZJ= 9bJ= S9J9 J9 k),XThA96H#@6,1@Y6%[y6lN=@6H`*׿? J?=??Ω?? 6H#@6r;)4NfxBNIIVIVF3^ڝ< ^J=ybQ b>٥`` bH`f& f>hn85j۶֜?n859jh IjјBylr.@r@j!Eij^;hj85tv"@At!%DNOT Ignoring new targets: 56.40 m.!-$M-$M ProNav: ac range: 56.403042 m, nav range: 53.744827 m, bearing: 152.151115 deg, approach rate: -0.590844 m/s, LOS rate: -0.044837 deg/s, cmd heading: 158.429120 deg, new cmd heading: 158.374417 deg. +HeadingCmd: 2.764155 target range: 56.403042 and range: 56.80 m.b0@ZrjRJB~~}|| |1|5P @ kzBTI)ILG  SH H IH xBH H H H <H E-DAT read: 13:58:45.1911 LVL= 20240, 26497, 15026, 31587, AGC= 65, IDX= 405, 0.09, 0.208,-1.132, 0.396,-0.254, PHS= 0.551,-0.830, 0.647, RAW= 153.3, -5.2, CAL= 157.9, -13.3, ROT= 352.1, 13.3 E5E1E1E1E9eYgot valid direction response: 13:58:45.1911 LVL= 20240, 26497, 15026, 31587, AGC= 65, IDX= 405, 0.09, 0.208,-1.132, 0.396,-0.254, PHS= 0.551,-0.830, 0.647, RAW= 153.3, -5.2, CAL= 157.9, -13.3, ROT= 352.1, 13.3 mPDAT read: Bearing 352.1, 13.3 (Local) ~Local bearing/azimuth received: Bearing 352.1, 13.3 (Local) DAT read: Range 10 to 50 : 54.5 m (Round-trip 72.7 ms) speed 0.5 m/s ,DAT read: user:1872> BDAT read: Tx time:13:58:46.3142 $Ping request sent. ݁)݁݅֨?<5?eFe,i݅ ?݅8=݅0 ݅,m> ށ)ށe:publishing transmit ping timeFpublishing direction and range infoځyڅPAﶞ?,Agz}"ErͿځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅֨?<5?eFe,i݁݁݁݁ ށ)ށ 6G] <ZGa RGa ~Gq Ay A N >r),׽˥hAL9^]"@^0@Y^"y^M=^H\׿@\?s?`c?!? A?m? ^]"@^݋;)^CjwxBjIJDAT read: TxSync time:13:58:46.3134 =Mb@Mb@Mb@999 9)9Y=l?V-MbP?y=?==:=/ A =A)=AI= A9y=AIuIuM3m = .=y1ƺQ >٥ HF >85F֜?859W IژBy?:-@@!EiK;I;85?AEZqbuhAuwXBuwXBue(@ʁuXVsx$J@g>=!(uPAﶞ?,Agz}"ErͿu0 u,m>ҁu_[G^Zd9@;s~"u㤚뿥>/L?~vnƿzuAu:ju:?@ǜ?ruXa uRBuy!ǜ?u   uXOBuUBu)@ addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.529425 s, deltaX: -2.299999 m, approachRate: -0.651664 m/s, rangeRepo size: 4  Added new target pos. range: 54.116459 m, bearing: 151.259579 deg, lat: 36.906384 deg, lon: -122.116027 deg, deltaT: 3.529425 s, deltaX: -2.286583 m, approachRate: -0.647863 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.12 m.   ProNav: ac range: 54.116459 m, nav range: 53.413143 m, bearing: 151.827987 deg, approach rate: 0.000000 m/s, LOS rate: -0.044837 deg/s, cmd heading: 158.374424 deg, new cmd heading: 158.308533 deg. EHeadingCmd: 2.763005 target range: 54.116459 and range: 54.50 m.bE0@ZYrYjYRYJyB~~9zB}|||@K@| H? mzBrdI)II J< 0@ S9<  x),hA96"@6r0@Y6G@y6#E=6H@ਈ׿:Ƴ??k?)e??? 6"@6d;)4JxBJIiN=IN=IR.IR3Z"= Zm=yZDQ ^?٥\\ bHbFbY b?dj85f֜?j859f# IfByln-@n@f!Eif@;f;f85pr?Ap|DNOT Ignoring new targets: 54.12 m.55 ProNav: ac range: 54.116459 m, nav range: 53.212589 m, bearing: 151.814466 deg, approach rate: -0.586646 m/s, LOS rate: -0.039699 deg/s, cmd heading: 158.308526 deg, new cmd heading: 158.267811 deg. ٺHeadingCmd: 2.762294 target range: 54.116459 and range: 54.50 m.bn0@ZrjRJB~~}|||| w? enzBeͱIa)miIm K iiů<n0@.7<Yy H >H H 2IH yBH  =H H H <H EK ),qhA9>&"@>0@Y>Xy>Z=>H@ ƙ׿`?@x? '@ә?|? SE?`? >&"@>Y;)>C^xB^IQMMb@Mb@Mb@III I)IYM^I +?٥ H8y >85.~֜?8599 IBy?:,@@!Ei ;;856B0?AEDNOT Ignoring new targets: 54.12 m. ProNav: ac range: 54.116459 m, nav range: 52.954323 m, bearing: 151.800498 deg, approach rate: -0.621402 m/s, LOS rate: -0.033773 deg/s, cmd heading: 158.267805 deg, new cmd heading: 158.225695 deg. lHeadingCmd: 2.761559 target range: 54.116459 and range: 54.50 m.bc0@ZrjRJB!~!~%zB}!|)|)||? pzB+I)D羉I ٜL   H2<-c0@-$1<-4~G A A N > K P"K 9*K 2K :K o'C_ ,plHa5]Ggj^xi8Ee>U),<hA96ͺ"@610@Y6\y6MC=6HE1v׿S? ;? ˓?@8H?@Y?? 6ͺ"@6;)6CBxBBIIJ%IJ)3R"= R[=yR꼻Q R>٥TT VHVFVj; Z>Xb85Z&m֜?b859Z IZBy`b,@b@Z!EiZ;Zo;Z85dj>AjEvB*** querying acoustic contact ***JtRt|~DNOT Ignoring new targets: 54.12 m. ProNav: ac range: 54.116459 m, nav range: 52.731319 m, bearing: 151.787666 deg, approach rate: -0.601018 m/s, LOS rate: -0.034729 deg/s, cmd heading: 158.225690 deg, new cmd heading: 158.187032 deg. HeadingCmd: 2.760885 target range: 54.116459 and range: 54.50 m.bU0@Zr!j!R!J!B!~)~)})|)|)|1|5 /?Թ qzBϩI!)%xྉ!I%M !!%R<-U0@-l6<5a ;? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7189889 /),73hA9>|"@>0@Y>@Ey>epC=>H`bpM׿ ? x? ??\?`7? >|"@>ag;)>CJxBJI)L LIVIVM3~2D= ~D=y_Q >٥  H F 9;  >85"Z֜?859 IBy!%-@%@!Ei ;2 ;8515>A9aeDNOT Ignoring new targets: 54.12 m.im&m& ProNav: ac range: 54.116459 m, nav range: 52.482697 m, bearing: 151.772524 deg, approach rate: -0.595270 m/s, LOS rate: -0.036426 deg/s, cmd heading: 158.187031 deg, new cmd heading: 158.141390 deg. ǺHeadingCmd: 2.760088 target range: 54.116459 and range: 54.50 m.bH0@ZrjRJB~~}||||o? szBŢI)N׾IPO ְ<H0@\G<+HHKIHEyBH =HHH<HEQ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9708936GFԙ ), LhA9:;"@:1@Y:G|y:eK=:H1׿@Q?_?@;0??`\h?? :;"@:1;)8NxBNII|I|:JBJTJJFRJZJbJ:9J4JzJ:jJ:JSJ:rJUJ:}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222783Mb@Mb@Mb@ )Y\(\?kt{Gzty? 0ף A )AI AyAII32; >=y %Q >٥ Ho; >85WF֜?859 IByF?:,@@!EiZ::@855B>A«E!-DNOT Ignoring new targets: 54.12 m.)5r5rE ProNav: ac range: 54.116459 m, nav range: 52.222721 m, bearing: 151.759035 deg, approach rate: -0.605470 m/s, LOS rate: -0.031572 deg/s, cmd heading: 158.141392 deg, new cmd heading: 158.100723 deg. EVMHeadingCmd: 2.759378 target range: 54.116459 and range: 54.50 m.bM0@ZIrIqj R JB~~tzB}!|!|!|!|%`@ uzB靥I)׾IWP <0@d<=i0@iԡEEEE 5EKKP"Ks9*K2K:K k~&@)t[SShRyQ$d`\jifaW$7S^JJA- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4747156G% <ZG- ARG) ~GY Aq A N > @),}fhA-xB-II=I=2Eo= MS=yMQ M>٥QQ UHUFU U>Ye85]{4֜?m859]T I] Byiqu@]!Ei]>i;]k;]85=ADNOT Ignoring new targets: 54.12 m. ProNav: ac range: 54.116459 m, nav range: 51.988129 m, bearing: 151.746747 deg, approach rate: -0.604863 m/s, LOS rate: -0.031826 deg/s, cmd heading: 158.100725 deg, new cmd heading: 158.063695 deg. HeadingCmd: 2.758732 target range: 54.116459 and range: 54.50 m.b0@ZrjRJB~~}||||@x@ wzB%(.I!)%þ!I%R !)- Q<-0@5{<5o=i50@i1EEEEP0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7271996G=~GqAAN >1 H >H H qIH yBH  =H H H ښ<H EU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980569'),PhA9ZF##@Z61@YZt yZP=ZH@d` ׿@?=?Z?@??? ZF##@Z@;)ZCfxBfIirC>Ira=uMb@Mb@Mb@qqq q)qYux&1?V-~jth?yuA ?umuD;u A uA)uzAIu/ AqyuAI$I<3ٱ< E=yLQ >٥ HF; >85 ֜?859B IBy ?:G+@@!Eilh<5h<A85!%=A-īEDNOT Ignoring new targets: 54.12 m.%&%&Qm ProNav: ac range: 54.116459 m, nav range: 51.728683 m, bearing: 151.738776 deg, approach rate: -0.584482 m/s, LOS rate: -0.018048 deg/s, cmd heading: 158.063691 deg, new cmd heading: 158.039657 deg. m.FHeadingCmd: 2.758312 target range: 54.116459 and range: 54.50 m.b10@ZrjRJB~~szB}||||@V) @ %yzB%bI!)%#!IMAwS IIMtKU P"KU @9*KQ 2KU :KU vw {n%js0}3e,"#RTHTIl^\Osn[X), hA89:{J#@:]1@Y:霒y:!Z\=:H\@ֿ?@)?Eݘ?O?@u?@2? :{J#@:;)8F yBF(IIR IR2VC= ZY=yZ%Q Z>٥\\ ^H\^; b>`f85b)֜?j859b| IbByhjn+@j@b!EibY;b3;b85ln}=ArǫE~B*** querying acoustic contact ***J|R|  DNOT Ignoring new targets: 54.12 m.ӹӹ% ProNav: ac range: 54.116459 m, nav range: 51.493023 m, bearing: 151.730838 deg, approach rate: -0.683589 m/s, LOS rate: -0.023133 deg/s, cmd heading: 158.039663 deg, new cmd heading: 158.015739 deg. %~-HeadingCmd: 2.757895 target range: 54.116459 and range: 54.50 m.b-Z0@Z)r1j1R1J1B1~9~9}9|9|9|A|E @ %zzB%II)MIIUwT QQ]\<]Z0@]  DAT read: 13:58:48.7881 LVL= 20240, 20769, 15954, 25139, AGC= 64, IDX= 407, 0.12, 2.219, 0.814, 2.381, 1.706, PHS= 0.601,-0.845, 0.672, RAW= 152.4, -5.8, CAL= 157.2, -14.0, ROT= 352.8, 14.0  Ygot valid direction response: 13:58:48.7881 LVL= 20240, 20769, 15954, 25139, AGC= 64, IDX= 407, 0.12, 2.219, 0.814, 2.381, 1.706, PHS= 0.601,-0.845, 0.672, RAW= 152.4, -5.8, CAL= 157.2, -14.0, ROT= 352.8, 14.0  PDAT read: Bearing 352.8, 14.0 (Local)  ~Local bearing/azimuth received: Bearing 352.8, 14.0 (Local)  DAT read: Range 10 to 50 : 52.3 m (Round-trip 69.8 ms) speed 0.5 m/s  ,DAT read: user:1873>  BDAT read: Tx time:13:58:49.9142  $Ping request sent. i۝ 3b۝ @۝ #?۝ QX۝ 1,? ܝ ;*@)ܝ 4QϽIܝ /@iܝ 5zܝ j @ܝ 5z> ݙ )ݙ ݝ ~?[nD ?*iݝ ?ݝ GH=ݝ ݝ 5z> ޙ )ޙ  :publishing transmit ping time  Fpublishing direction and range infoڙ yڝ b?h!!79Kοڙ Yڙ ۙ )ۙ Iۙ iۙ ۙ ۙ ۙ ۙ ܙ )ܙ Iܙ iܙ ܙ ܙ ݙ )ݙ ݝ ~?[nD ?*iݙ ݙ ݙ ݙ ޙ )ޙ D}),NbhAlyB4III#3-0= u5=yQ >٥ HF 5>q85u՜?859u݇ Iu&By H1H5<HM>HIHMIHMyBHM =HIHM-DHMҚ<HMEHØCHØCH%@u!Eiu_=u^=u8515-=A1H =I = IÏ5ZbͰhAOBOBL*@ʁҍH@$,C:w )b?h!!79Kο5z>ҁCFI!Z7@ sV"YyZU?+ƿzA:5jǜ?rY{l TB QBLB)y)@JDAT read: TxSync time:13:58:49.9134 E addTargetRange:: Added new target pos. range: 52.299999 m, deltaT: 3.778521 s, deltaX: -2.200001 m, approachRate: -0.582239 m/s, rangeRepo size: 4 U Added new target pos. range: 51.931686 m, bearing: 152.460154 deg, lat: 36.906384 deg, lon: -122.116027 deg, deltaT: 3.778521 s, deltaX: -2.184772 m, approachRate: -0.578208 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.93 m. ProNav: ac range: 51.931686 m, nav range: 51.185478 m, bearing: 151.720368 deg, approach rate: 0.000000 m/s, LOS rate: -0.023133 deg/s, cmd heading: 158.015743 deg, new cmd heading: 157.975960 deg. HeadingCmd: 2.757201 target range: 51.931686 and range: 52.30 m.bu0@ZrjRJB~~}|||`f&J@|J?9 {zB靝I)IIV [<u0@<=iu0@iE E E E O0E i :J= [BJ= RJJ= ERJ9 ZJ= :bJ= S29J= 4J9 zJ= :jJ= :J= ;:rJ= <:6Gm &P=ԡ ~G)A9AQNe>j),rҦhA9^e#@^ɴ1@Y^+y^=^H@-ֿʶ?r? 6?2?8I?? ^e#@^eQ;)\r3yBrAI)x x ~=~=5Mb@Mb@Mb@111 1)1Y5MbX9?Q뱿y5!?5\55 A 5zA)1I11y5AIM$IM<3U.= U,=Yyex:Q e>٥ai mHmFm=:< m>95 ՜?959 I/By"?:*@@!Ei::954BT,`xm0 p{T,eq0@ebM ),.hAI)@~;yB~FII I 2Er< E_=yMQ M>٥IQ UHQU U>Ym95]՜?m959] I]7Byqq}@]"Ei]h;](j;]95H5>H1H5IH5yBH5 =H1H5.DH5<H5"EI q),hA 9B.$@B2@YBϐyBT=BH ;ֿ N?xl? EJ:? !?l?? B.$@B;)@^SyB^UIeMb@Mb@Mb@aaa a)aYe%C?L7A`尿yeZ$?e+aa eA)ehAIe AayeAI}I}(*3"p= F=y:Q >٥ HFf< >Qe95U՜?e959Ul~ IU@Bye7%?e:e+@m@U"EiUB;U:U95Ra),hAppt9"$@162@Y|yj=H;ֿ ?O?@\ 2?U?D? ? "$@B;)CEkyBEcIiMG>IM>QUAIaIau{k= }L=y}8Q }>٥ HF ; >95/՜?959{ IHBy+@@ "Ei;; 953B;AЫEB*** querying acoustic contact ***JR DNOT Ignoring new targets: 51.93 m.vv- ProNav: ac range: 51.931686 m, nav range: 50.151737 m, bearing: 151.689914 deg, approach rate: -0.648370 m/s, LOS rate: -0.025623 deg/s, cmd heading: 157.912976 deg, new cmd heading: 157.884129 deg. -5HeadingCmd: 2.755598 target range: 51.931686 and range: 52.30 m.b5[0@Z1r1j1R1J1B9~9~9}A|A|A|A|E? zB6I)늾IY <%[0@%F<% M=i%[0@i)EEEE0E6GsC=~GAANd>1:J\BJNJJFRJZJ=:bJ!9J4J%@%@%@%@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a ),\9hA9:Y)$@:<2@Y:Y9y:>|=:H`@ ֿ&Y? I?] k?Z?@n?`4? :Y)$@:ٙ;)8NuyBNjIIZIZ3n< nT=yrw&:Q r>٥pt vHtv: v>x95zu՜?959zx IzPBy +@ @z "EizE9;z Q;zR95;A9GGH>HCHIHzBH =HHH<HEDNOT Ignoring new targets: 51.93 m."ٹ"ٹe ProNav: ac range: 51.931686 m, nav range: 49.904018 m, bearing: 151.679953 deg, approach rate: -0.587216 m/s, LOS rate: -0.023729 deg/s, cmd heading: 157.884126 deg, new cmd heading: 157.854095 deg. eHHeadingCmd: 2.755074 target range: 51.931686 and range: 52.30 m.b!S0@ZrjRJB~~}||checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255682||  ,@a ]zB靅ꐽI)ˆI0Z %<!S0@<:P=i!S0@iE]EYEYE]0EY) ҉G=AQ YAyBԑ6G} H=ZG RG Թ ~GY Aa Ay N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507497),NShAeyBmvIԙ%Mb@Mb@Mb@!!! !)!Y%%C?Dl~jtxy!%O%Ļ% A %QA)!I% A!y%pAI5I53E2= E6=yMQ M>٥II UHUFU U>Ye95]՜?e959]Fu I]XBymN%?m:ml+@m@]"Ei]:];]@95t;AӫEDNOT Ignoring new targets: 51.93 m. ProNav: ac range: 51.931686 m, nav range: 49.614227 m, bearing: 151.669508 deg, approach rate: -0.713072 m/s, LOS rate: -0.025852 deg/s, cmd heading: 157.854100 deg, new cmd heading: 157.822582 deg. HeadingCmd: 2.754524 target range: 51.931686 and range: 52.30 m.bJ0@ZrjRJB~~zB}|||| @ zB%I!)%s{!I%׈[ ))-<5J0@5X<=dR=i=J0@i9K! ),umhA9:$@:_2@Y:Ey:=:H* )ֿ޶?`*l?@}f?d?@#?~? :$@:Z`;)8JyBJxI)H H N=Na=IRIR?13Zd< Zh=yZWQ ^>٥\\ bHbFbӻ b>lr95nhp՜?r959nr In_BytvG+@v@n"Ein ;n:nX95xzg;AxDNOT Ignoring new targets: 51.93 m.:J[BJTJJARJZJ:bJ:9J4J ProNav: ac range: 51.931686 m, nav range: 49.386028 m, bearing: 151.661796 deg, approach rate: -0.617804 m/s, LOS rate: -0.020975 deg/s, cmd heading: 157.822586 deg, new cmd heading: 157.799343 deg. RfHeadingCmd: 2.754118 target range: 51.931686 and range: 52.30 m.byC0@ZrjRJ!B!~!~!})|)|)|)|-v&@eBDAT read: Rx Time:13:58:52.3852 mTRx dataTimestamp_ set to:1749131933.788653mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013848 zBjI)hzI?Q\ `<yC0@~s< J=iyC0@i!)EEEEP5EH>HHIH$zBHHH/DHɚ<HEY6G  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263817~G A A N >ԁ H),`hA9F#@FA1@YF촕yF=FH) HֿG?a?U?Y? q? )? F#@Fu;)FCryBrIQMb@Mb@Mb@ )YS㥛?Q٥ H; >m95X՜?m959n IgByu&?u:u,@u@"EiC<<<95}2B};A}ԫEDNOT Ignoring new targets: 51.93 m.  ProNav: ac range: 51.931686 m, nav range: 49.075077 m, bearing: 151.646449 deg, approach rate: -0.651665 m/s, LOS rate: -0.032367 deg/s, cmd heading: 157.799349 deg, new cmd heading: 157.753016 deg.  HeadingCmd: 2.753309 target range: 51.931686 and range: 52.30 m.b960@ZrjRJB~~zB}A|A|I|I|M @ zB靝ƌI)hI/] @ݱ<960@m<F=i960@iyDAT read: 13:58:52.3852 LVL= 20944, 27681, 15666, 28387, AGC= 65, IDX= 409, 0.35, 3.068, 1.707,-3.005, 2.590, PHS= 0.566,-0.835, 0.686, RAW= 154.1, -5.7, CAL= 158.7, -13.8, ROT= 351.3, 13.8 Ygot valid direction response: 13:58:52.3852 LVL= 20944, 27681, 15666, 28387, AGC= 65, IDX= 409, 0.35, 3.068, 1.707,-3.005, 2.590, PHS= 0.566,-0.835, 0.686, RAW= 154.1, -5.7, CAL= 158.7, -13.8, ROT= 351.3, 13.8 PDAT read: Bearing 351.3, 13.8 (Local) ~Local bearing/azimuth received: Bearing 351.3, 13.8 (Local) DAT read: Range 10 to 50 : 50.1 m (Round-trip 66.8 ms) speed 0.6 m/s ,DAT read: user:1874> BDAT read: Tx time:13:58:53.5142 $Ping request sent. Y)Y]_?h|?א?i]g8?]7t=]|]Ϣv> Y)Y:publishing transmit ping timeFpublishing direction and range infoYy]c?jOr¿iCοYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y]_?h|?א?iYYYY Y)Yԡ6G H=jG ?bG ?K= AO"K= }9*K9 2K= :K= :~h\kq\7eUr46<=$B?~GY Aa Aq N} > ),,hA9:#@:1@Y:y::ƃ=:H`fֿ1??@{W? A?Nj?? :#@:0ɗ;jJDAT read: TxSync time:13:58:53.5134 ):CyBIIuIu(*301< b=y4Q >٥ HF >95G՜?959Hl tIInBy+@@"Ei :8:95:A׫EZb̛hAFBFBD)@ԹʁUG@`&';KEzط'c?jOr¿iCο|Ϣv>ҁ0TԆE̞W7@yp|!a#}?wF~ƿzA6,jǜ?rL VBǜ?L  RBꁕCB D)@E addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 3.528243 s, deltaX: -2.200001 m, approachRate: -0.623540 m/s, rangeRepo size: 4 } Added new target pos. range: 49.748310 m, bearing: 151.534755 deg, lat: 36.906384 deg, lon: -122.116026 deg, deltaT: 3.528243 s, deltaX: -2.183376 m, approachRate: -0.618828 m/s, posRepo size: 4 y}DNOT Ignoring new targets: 49.75 m.y ProNav: ac range: 49.748310 m, nav range: 48.974037 m, bearing: 151.534615 deg, approach rate: 0.000000 m/s, LOS rate: -0.032367 deg/s, cmd heading: 157.753013 deg, new cmd heading: 157.715875 deg. HeadingCmd: 2.752661 target range: 49.748310 and range: 50.10 m.b+0@ZrjRJB~~}||| I@|? zBI)~gI] 2),ܺhA9Z#@Z1@YZ]3yZ`=ZH@vֿ1?@? ǘ?`??? Z#@Z );)Xddij%=Ij=InIn?13yz:Q z>٥x| ~H|~S ~> -95 u4՜?=959 oi I uBy9=+@=@ ""Ei ; ; 95AIImB*** querying acoustic contact ***JiRiH>HHIHMzBHHHH<HEDNOT Ignoring new targets: 49.75 m.**) ProNav: ac range: 49.748310 m, nav range: 48.728134 m, bearing: 151.522466 deg, approach rate: -0.643382 m/s, LOS rate: -0.031947 deg/s, cmd heading: 157.715871 deg, new cmd heading: 157.679240 deg. fHeadingCmd: 2.752022 target range: 49.748310 and range: 50.10 m.b !0@ZrjRJB~~}||T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.||%p? mzBmIq)ujqIu_^ qqu< !0@<ջD=i !0@iQEuEqEqEqEqy 6G @A=I I BA~Gq Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988269A N >.),ԧhA(9F.#@F1@YFÙyFg=FHऔֿd?? UY?V?Ǭ?? F.#@FƖ;)DRyBRI}Mb@Mb@Mb@yyy y)yY}p= ף?I +y&1|y}%?}94}`}vA }`@)yI}vAyy}AI"Iq3= ٥ H F7 >95`՜?959cf I~By%?:Y-@@'"Ei;;#951B|:AګE  DNOT Ignoring new targets: 49.75 m.9x9x- ProNav: ac range: 49.748310 m, nav range: 48.453114 m, bearing: 151.501620 deg, approach rate: -0.711714 m/s, LOS rate: -0.054253 deg/s, cmd heading: 157.679234 deg, new cmd heading: 157.616340 deg. -5HeadingCmd: 2.750924 target range: 49.748310 and range: 50.10 m.b5$0@Z1r1j1R1J1B1~9~=zB}9|A|A|A|E /? zB I)MI ^B_   p<$0@_<A=i$0@iyEEEE]0EK5-8P"K559*K12K5:K5sSP.G31HhJOIl"dQoE6*6x@#OJ=AJ=}AԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2402616G= ߛC=ZG9 RG= }A ~G A! A1 NE >), hA\9zw#@zu1@YzryzLm=zH dֿ Ƿ?? Q?γ??? zw#@zrJ;)x yB II!Ii3-a% -S=y-7%Q 5>٥11 5H5 F= =>AM95EF ՜?U959Ec IEByY]8-@]@E+"EiEk;El;E'95am:AmݫEDNOT Ignoring new targets: 49.75 m.\\ ProNav: ac range: 49.748310 m, nav range: 48.203644 m, bearing: 151.483100 deg, approach rate: -0.644685 m/s, LOS rate: -0.048107 deg/s, cmd heading: 157.616341 deg, new cmd heading: 157.560494 deg. HeadingCmd: 2.749949 target range: 49.748310 and range: 50.10 m.b,/@ZrjRJB~~}||||`?:J[BJ^JJBRJZJ:bJd9J-4J zB嚎I)SI_ %?<%,/@% <-==i-,/@i)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510419EEEEo0E H>HHIHkzBH =HH.DH<H"EH]ǙCH]ǙCHYH] =I] = I]56G@A=~G A A N >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760999*,lZhA9>B#@>;V1@Y>ўy>L{l=>H PֿRη?@? a?ճ?`zt?? >B#@>d;)>CryBvI)t tMb@Mb@Mb@ )Y}?5^I? rh:vyM"?C T`A )I@IAy AII#3R; C=yQ >٥ H >95Ԝ?959` IBy"?:-@@/"Ei. ;2 ;*95{:ADNOT Ignoring new targets: 49.75 m.aa- ProNav: ac range: 49.748310 m, nav range: 47.937370 m, bearing: 151.459302 deg, approach rate: -0.634167 m/s, LOS rate: -0.056994 deg/s, cmd heading: 157.560498 deg, new cmd heading: 157.488706 deg. -u=HeadingCmd: 2.748697 target range: 49.748310 and range: 50.10 m.bE/@ZArAjARAJIBI~I~MRzB}||||? uzBupIq)u&SqI}` yy}:</@.t<|6=i/@iIEeEaEaEep0Ea ??checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013268q6G ;=~G A A ԡ N >K} O"K} s9*Ky 2K} :K} 7vu`S#_pj=w9p *ZU cXJ J ?A'*,2"hA9V4!#@V41@YV)yV#c=VH f׿@(?@٥tx zHz Fzf z>95aԜ? 959^ IBy  -@ @3"Ei6: :.95%0B-h:A-EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265737yDNOT Ignoring new targets: 49.75 m.xx ProNav: ac range: 49.748310 m, nav range: 47.698593 m, bearing: 151.438342 deg, approach rate: -0.615888 m/s, LOS rate: -0.054332 deg/s, cmd heading: 157.488712 deg, new cmd heading: 157.425519 deg. &HeadingCmd: 2.747594 target range: 49.748310 and range: 50.10 m.b/@ZrjRJB~~}||||@hr@ zB;@I)QIg@a Ͱ</@5ø<5o4=i5/@i1ԩEEEEN1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5161866G54=~G) AA AY N} > Q*,g٥\\ ^Hb FbF b>dj95f Ԝ?j959f`[ IfByhj-@n@f7"Eif2:f ;f195pr9Ap B*** querying acoustic contact ***J R %DNOT Ignoring new targets: 49.75 m.!%~-~5 ProNav: ac range: 49.748310 m, nav range: 47.447342 m, bearing: 151.416433 deg, approach rate: -0.645734 m/s, LOS rate: -0.056606 deg/s, cmd heading: 157.425519 deg, new cmd heading: 157.359444 deg. =dEHeadingCmd: 2.746440 target range: 49.748310 and range: 50.10 m.bE/@ZArAjARAJABA~I~I}I|I|Q|Q|U v@GYGYHe>HeCHe IHezBHe =HaHaHe<HeE zB6I%ߚ<)%7!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768347IUMa QQU}<]/@]<]4=i]/@ia EEEE1E96G% 4=~G :J ^BJ SJJ CRJ ZJ } :bJ y69J 4J zJ a:5 jJ f:5 J )C:5 rJ +C:5 A A ԙ N > BDAT read: Rx Time:13:58:55.9822  TRx dataTimestamp_ set to:1749131937.331632 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0216169*,UhA9>"@> 1@Y>y>1[=>H`g@*׿@{?@`??@۳?Rf?? >"@>Ƽ;)IuC=-Mb@Mb@Mb@))) )))Y-Gz?{Gz{Gzy-p?-ף-#-A -I@))I-A)y-=AI=I=m?3U|< U=yUQ U>٥YY ]H] F] e>y95}Ԝ?959}X I}By?:/@@}<"Ei}+;}*;}6959AEDNOT Ignoring new targets: 49.75 m.ŞŞ ProNav: ac range: 49.748310 m, nav range: 47.126373 m, bearing: 151.380383 deg, approach rate: -0.613750 m/s, LOS rate: -0.069403 deg/s, cmd heading: 157.359444 deg, new cmd heading: 157.250558 deg. >HeadingCmd: 2.744540 target range: 49.748310 and range: 50.10 m.b/@ZrjRJB~~JzB}|| | |  @K72P"K59*K2K:Kd!U*&P-#$&9_8{ S="+{*#VD=Vdԡ zBWyI!)%~.!I%b ))- <5/@5_^<57=i5/@iYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273574E5E1E1E50E1 6Gu 4=~GQ Ay A N >"*,rhA9>"@>1@Y>ޟy>P\Q=>H;׿X?`Vm? a??:? c? >"@>=v;)>C D)HɵHHHLɶLiLILLILiRzA PP)PP RjAPTɷTTVMAIV7 )VGFiT)XIZ(AZnɸX Xɹ\^^A`i``idf΃A)h hIhٯhn zBrIquDAT read: 13:58:55.9822 LVL= 22896, 25329, 16210, 28659, AGC= 65, IDX= 409,-0.33,-0.123,-1.457, 0.080,-0.579, PHS= 0.544,-0.832, 0.656, RAW= 153.9, -5.2, CAL= 158.3, -13.3, ROT= 351.7, 13.3 Ygot valid direction response: 13:58:55.9822 LVL= 22896, 25329, 16210, 28659, AGC= 65, IDX= 409,-0.33,-0.123,-1.457, 0.080,-0.579, PHS= 0.544,-0.832, 0.656, RAW= 153.9, -5.2, CAL= 158.3, -13.3, ROT= 351.7, 13.3 PDAT read: Bearing 351.7, 13.3 (Local) ~Local bearing/azimuth received: Bearing 351.7, 13.3 (Local) DAT read: Range 10 to 50 : 47.7 m (Round-trip 63.7 ms) speed 0.7 m/s ,DAT read: user:1875> BDAT read: Tx time:13:58:57.0643 $Ping request sent.BY1 5pY)5bI5R?i5o15C ?5T5'? 5o+@)5޹I50@i5,m5%m@5,m> 1)15dW%u?m?o&Si5Z?5$=5V5,m> 1)1 :publishing transmit ping timeڡ Fpublishing direction and range info1y5*@?5_agz}"ErͿ1Y1 1)1I1i11111 1)1I1i111 1)15dW%u?m?o&Si1111 1)1IvIv2= O=yQ >٥ H >95mԜ?959U IBy.@@@"EiB;?;995 /B Q9A EZ1b5]juhA5u=B5u=B5 (@ʁ5H2eCF@ʴ?%5*@?5_agz}"ErͿ5V5,m>ҁ5e+eoD</=6@5*Gf?:Ŀz5qA5#j51ǜ?r5hZ 5[B51ǜ?5hZ  5TB5:B5(@ addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 3.543858 s, deltaX: -2.399998 m, approachRate: -0.677227 m/s, rangeRepo size: 4  Added new target pos. range: 47.364601 m, bearing: 150.975065 deg, lat: 36.906386 deg, lon: -122.116023 deg, deltaT: 3.543858 s, deltaX: -2.383709 m, approachRate: -0.672631 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.36 m.e ProNav: ac range: 47.364601 m, nav range: 46.745884 m, bearing: 150.974930 deg, approach rate: 0.000000 m/s, LOS rate: -0.069403 deg/s, cmd heading: 157.250557 deg, new cmd heading: 157.163456 deg. amHeadingCmd: 2.743020 target range: 47.364601 and range: 47.70 m.bm/@ZirqjqRqJqBq~y~y}yԙ|||G@|>? -zB-oI1)51I5vc 115tïHCH IHzBH =HH-DH-<HVEE EEE1E JDAT read: TxSync time:13:58:57.0635 u HG ZA 6G ‹9= 5 Y5 ZAy5 pB~G A A N >%#*,1hA9N "@N1@YN yNJI=NH n:׿ND?i?@ q?`=??? N "@NN';)NC]zB]IMb@Mb@Mb@ )Y1Zd?{GztMby"?ףA @)@IAyA:J]ZBJ]UJJ]ARJYZJ]9bJ]>9J]4JYzJ]0:jJ]5:J]~Q:rJ]Q:I-I-#3= ;=ysQ >٥   H F 9  >95&Ԝ?959R IBy%'?%:%0@%@D"Ei ;;|=95QU9AQDNOT Ignoring new targets: 47.36 m.ۺۺ ProNav: ac range: 47.364601 m, nav range: 46.475697 m, bearing: 150.933675 deg, approach rate: -0.623682 m/s, LOS rate: -0.095783 deg/s, cmd heading: 157.163459 deg, new cmd heading: 157.038975 deg. x%HeadingCmd: 2.740847 target range: 47.364601 and range: 47.70 m.b% j/@Z!r!j!R!J)B)~)~-&zB}1|1|1|1|= ? zBI)Ic ]<% j/@% <%H C=i- j/@i)1>Ee <K %P"K 9*K 2K :K eReHJ1b]>u\k;!"eUYxa E E E E _0E ! ! ԉ6G9=~G1AAAQN]?+*,y!hA(9>#@>O1@Y>y>J]=>H`5׿?U?@y?p?@yz?? >#@>X:;)>C'zB%I)! ! -=-=I5I52]Ĵ< e%=yeAQ e>٥ii mHmFuY4; u>y}95}JzԜ?959}O I}By0@@}I"Ei}:}:}A958AEDNOT Ignoring new targets: 47.36 m.ںں ProNav: ac range: 47.364601 m, nav range: 46.185654 m, bearing: 150.888417 deg, approach rate: -0.609084 m/s, LOS rate: -0.095639 deg/s, cmd heading: 157.038972 deg, new cmd heading: 156.902344 deg. EHeadingCmd: 2.738462 target range: 47.364601 and range: 47.70 m.bB/@ZrjRJB~~}||||0? zB,ЁI)VI%d ۮ<B/@ ~x< O=i B/@i ԉ>Eu<EEEE1EԹHڼ>HH9IHzBHHHH<HE 6G C=~G A1 AQ N] >2*, ʨhA96A"@61@Y6`y67(=6H`ܬ`z@׿@?@ad?@?u?$?? 6A"@6 ԓ;)6CJ7zBJI\5Mb@Mb@Mb@111 1)1Y55^I ?Mbp{Gzty5?55ף1 5I@)1I11y5GAIEIEF3]= ]K=y]VQ ]>٥aa eHam% m>95gԜ?959M IșBy?:0@@M"Eii;h;9E955.B58A5EuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 47.36 m.ƺƺ ProNav: ac range: 47.364601 m, nav range: 45.949043 m, bearing: 150.850967 deg, approach rate: -0.546237 m/s, LOS rate: -0.086902 deg/s, cmd heading: 156.902341 deg, new cmd heading: 156.789412 deg. nHeadingCmd: 2.736491 target range: 47.364601 and range: 47.70 m.b"/@ZrjRJB~)~-UzB})|1|1|1|5 ? zB6I)zֽI%^d !!%]<-"/@-;<-R=i-"/@i1D9D9D9D9IaIaJ+4J+C4J+30:JiBJmWJJmCRJiZJibJmG9Jm4JizJijJm4:Jm_:rJm_:}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EE EA EI EM _0EI 9 K +P"K }9*K 2K :K nDbn8){tu_?P,DYh+uTsKJ AJ A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754562q 6G ĨP=jG ?bG ?~GAAN>i9*,hAuZzBuIII2= '=yQ >٥ HF >95PԜ?959J IҙBy@Q"Eij;;I95 8ADNOT Ignoring new targets: 47.36 m.   ProNav: ac range: 47.364601 m, nav range: 45.660717 m, bearing: 150.804802 deg, approach rate: -0.628352 m/s, LOS rate: -0.101243 deg/s, cmd heading: 156.789410 deg, new cmd heading: 156.650041 deg. %HeadingCmd: 2.734059 target range: 47.364601 and range: 47.70 m.b%.@Z!r!j!R)J)B)~)~1}1|1|1|1|=`RHy Hy H} XIH} zBHy Hy Hy H} %<H} FEi @*,ihAבוAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2587449"@U0@Y|dy`m=H؍׿@_0?@R? _@?7'?@?`? "@骽G;)CrzBIImMb@Mb@Mb@iii i)iYmI +?:vMb`ym9?mTmmA m@)m@ImAiymAII3X= <=y^[;Q >٥II MHMFMo U>Q]95U<Ԝ?e959UH IUܙByeC?:./@@UV"EiU6;U;U~M957AE DNOT Ignoring new targets: 47.36 m. ܬܬE ProNav: ac range: 47.364601 m, nav range: 45.398918 m, bearing: 150.769925 deg, approach rate: -0.563955 m/s, LOS rate: -0.075564 deg/s, cmd heading: 156.650047 deg, new cmd heading: 156.544812 deg. EoOMHeadingCmd: 2.732222 target range: 47.364601 and range: 47.70 m.bM.@ZQrQjQRQJQBQ~Y~]>zB}Y||||@o@ԁ zB'qI)XHI$d C+<.@51<=SG=i=.@i9EEEE0EI)I-=:J5[BJ1JJ5DRJ1ZJ5:bJ1J54J1zJ5:jJ5:J1rJ1ԡM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510687 6G '\=~G A A N >UG*,hA9>w"@>>0@Y>hy>Vz=>H-׿E?@?@M??-?? >w"@>;)>CJzBJIIRIRM3^= ba=ybx.;Q b>٥dd fHdj9; j?lv95n-Ԝ?z959nE InByxz/@z@nY"EinH[;nU;nP95-B I7AEDNOT Ignoring new targets: 47.36 m. ProNav: ac range: 47.364601 m, nav range: 45.201214 m, bearing: 150.743562 deg, approach rate: -0.551846 m/s, LOS rate: -0.073907 deg/s, cmd heading: 156.544808 deg, new cmd heading: 156.465374 deg. JHeadingCmd: 2.730836 target range: 47.364601 and range: 47.70 m.b.@ZrAjARAJIBI~I~I}Q|Q|Q|Q|U`@  mI)hڼId x<KP"K*K2K:K4jZT b & fujV)Y$+q 8wtxsJ  ?J ?.@t<CK=i.@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763388EEEE&5E16GM=~GAANi>aԉ  BDAT read: Rx Time:13:58:59.5292  TRx dataTimestamp_ set to:1749131940.863367 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015497vM*,x8hA}zB$II I(2\= >=yQ >٥ HF >95Ԝ?959]C IBy@]"Ei:p:DT956AqyDNOT Ignoring new targets: 47.36 m. ProNav: ac range: 47.364601 m, nav range: 44.953587 m, bearing: 150.710213 deg, approach rate: -0.584268 m/s, LOS rate: -0.079120 deg/s, cmd heading: 156.465372 deg, new cmd heading: 156.364774 deg. 2YHeadingCmd: 2.729080 target range: 47.364601 and range: 47.70 m.b@.@ZrjRJB~~}|||| @ dI)@Id <@.@< R=i @.@i GGHۼ>HHwIH-{BH =HHHٚ<HEH]×CH]×CHYH] =I] = I]W@5EEEEO0Eԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2688946GgpF=~G A A N > BbT*,cRhA9M ~"@DAT read: 13:58:59.5292 LVL= 20816, 25969, 15202, 30451, AGC= 63, IDX= 411,-0.36,-0.485,-1.791,-0.293,-0.935, PHS= 0.538,-0.809, 0.639, RAW= 153.6, -5.3, CAL= 158.1, -13.4, ROT= 351.9, 13.4 Mm0@YMLyyMZAy=MH`s` ׿ʷ??a`AҜ?bj?I ? I? M ~"@MA;)MCEYgot valid direction response: 13:58:59.5292 LVL= 20816, 25969, 15202, 30451, AGC= 63, IDX= 411,-0.36,-0.485,-1.791,-0.293,-0.935, PHS= 0.538,-0.809, 0.639, RAW= 153.6, -5.3, CAL= 158.1, -13.4, ROT= 351.9, 13.4 MPDAT read: Bearing 351.9, 13.4 (Local) M~Local bearing/azimuth received: Bearing 351.9, 13.4 (Local) ]DAT read: Range 10 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.5 m/s =,DAT read: user:1876> EBDAT read: Tx time:13:59:00.6143 M$Ping request sent.M q)quϯ|?@#?|)ثbiu ?u=uu|o>UzBU3I q)qu:publishing transmit ping timeAuFpublishing direction and range infoqyu~z? JZ] AͿqYq q)qIqiqqqqq q)qIqiqqq q)quϯ|?@#?|)ثbiqqqq q)q) M Mb@Mb@Mb@I I I I )I YM -?~jt~jth?yM ??M M D;M A M @)M @IM 3AI yM @Ie Ie <2K *#P"K 9*K 2K :K kWdBcwt-z {2@ul =! ! - JDAT read: TxSync time:13:59:00.6135   ٥  H F  :  }>  95 @Ӝ? 959 > I By T? : u.@ @ c"Ei 3: s: Z95 u6A EZqbu{WhAu5Bu5BuC(@ʁuXE@bvl ?$u~z? JZ] AͿuu|o>ҁu C,5@; uRhSU?<ſQ zuAujuU ǜ?ru* u\BuU ǜ?u*  uVBu2Bu9(@  addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 3.532326 s, deltaX: -2.100002 m, approachRate: -0.594510 m/s, rangeRepo size: 4   Added new target pos. range: 45.278465 m, bearing: 150.923393 deg, lat: 36.906384 deg, lon: -122.116025 deg, deltaT: 3.532326 s, deltaX: -2.086136 m, approachRate: -0.590584 m/s, posRepo size: 4   DNOT Ignoring new targets: 45.28 m.  I ]  ProNav: ac range: 45.278465 m, nav range: 44.650867 m, bearing: 150.923263 deg, approach rate: 0.000000 m/s, LOS rate: -0.079120 deg/s, cmd heading: 156.364777 deg, new cmd heading: 156.189887 deg. Y e HeadingCmd: 2.726028 target range: 45.278465 and range: 45.60 m.be =w.@Za ra ja Ra J B ~ ~ zB} | | | F@| ? %9_I!)%H<)I-Rd ))- <5=w.@5nT<58^=i5=w.@i9rEEY>jEAԁEEEEP0EFFA:J]BJXJJBRJZJ]:bJ5K9J-4J@@@@ԩ6G,S=~GAAN.?^*,~hA9~"@~0@Y~ٙy~ t= Hmݼ>HiHmIHmj{BHm =HiHiHm<HmE~H)q׿@y??? 6?`f?f? ~"@~;)~CzBOIII3-= -B=y-3;Q ->٥11 5H5F50; =>i95m(Ӝ?959m< ImBy.@@mg"Eim'e @m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.915474~G A A N >Re*,hA9bΚ"@b00@YbybC_=bHU@׿@?@?ԵHP?,?Ы? ? bΚ"@by;)`n {BndIMb@Mb@Mb@ )YzG?٥ H: >iu95mӜ?u959m9 ImByuR?u:},@}@mk"Eim:m:ma9565ADNOT Ignoring new targets: 45.28 m.>> ProNav: ac range: 45.278465 m, nav range: 44.186005 m, bearing: 150.875764 deg, approach rate: -0.653797 m/s, LOS rate: -0.056497 deg/s, cmd heading: 156.109957 deg, new cmd heading: 156.046643 deg. MHeadingCmd: 2.723528 target range: 45.278465 and range: 45.60 m.bMGN.@ZQrQjQRYJYB~~zB}||||>?A 靭XFI)l=QI]5d YY]|3l*,,hA19="@=0@Y=0y=k==H`׿ ??.d~?@?@0Z?`? ="@=x;)=C:JuaBJuQJJu@RJqZJu:bJu-.9JuJ4Jq{BpIIIm?3>= G=y4;Q >٥ HFǺ >95Ӝ?959!7 IBy,@@o"Ei;;e954AE  DNOT Ignoring new targets: 45.28 m. flfl- ProNav: ac range: 45.278465 m, nav range: 43.953613 m, bearing: 150.855758 deg, approach rate: -0.597040 m/s, LOS rate: -0.051669 deg/s, cmd heading: 156.046641 deg, new cmd heading: 155.986306 deg. - 5HeadingCmd: 2.722475 target range: 45.278465 and range: 45.60 m.b5=.@Z1r1j9R9J9B9~9~A}A|A|A|A|M?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.419182 zB靅>I)r=Ic x<=.@<m=i=.@iaEEEE5E HHp<H>HHIH{BH =HH.DHϚ<HEԉ6GY`n=~G )y } Cu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681247 qG) 1 A Y y BA A N >Gs*,ͩhA9Nf"@NȠ0@YN}*yN0q=NHP׿Ŷ?A?@? -?$?R? Nf"@N.;)NC^F{B^I}only read 0 of 1 data item for altitude. Device response is::BD,6.99, +7 , 7.91, 0.00 aI@a aM@a aQ@a aE@a II3= K=y;Q >٥ HF >95Ӝ?959s4 I B+:y:,@@r"Ei;i>g95K4ADNOT Ignoring new targets: 45.28 m.`i`i5 ProNav: ac range: 45.278465 m, nav range: 43.716427 m, bearing: 150.835174 deg, approach rate: -0.584599 m/s, LOS rate: -0.051008 deg/s, cmd heading: 155.986303 deg, new cmd heading: 155.924217 deg. 5 =HeadingCmd: 2.721391 target range: 45.278465 and range: 45.60 m.b=E+.@Z9r9j9R9J9B9~A~A}A|A|I|I|M$? y}!5Iy)}">I\Vc a<E+.@1<hp=iE+.@iEEEE`5E!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931488i6G~G A A N= >ԑ @y*,hAKR=P"KR9*KP2KR:KRVKdv?2%, t2= D7ie_kd/F~J\J^A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184340M{BII%I%T35̈< 5B=y=Q =>٥99 EHAE E>IU95MǞӜ?U959M1 IM(B] :yY]k:Y]@Mv"EiM;MbS?MIj95e+Be*4AeEyAMDNOT Ignoring new targets: 45.28 m.Imhbmhb} ProNav: ac range: 45.278465 m, nav range: 43.468826 m, bearing: 150.813446 deg, approach rate: -0.560714 m/s, LOS rate: -0.049485 deg/s, cmd heading: 155.924217 deg, new cmd heading: 155.858662 deg. }HeadingCmd: 2.720247 target range: 45.278465 and range: 45.60 m.b.@ZrjRJB~~}||||`@ }zB}y6I)*>IPb <.@c<# u=i.@iԡE]EaEaEep5Ea:J\BJOJJCRJZJ=:bJ%9J4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4350606G ap=~GY Ai A N > )*,KhAH2>H2CH2IH2{BH2 =H0H0H0H2E`{BIII<2%K= %]=y)Q ->٥)) 5H5F1 5>9E95=,Ӝ?E959=0/ I=/BM9yIU>:QU@=z"Ei=;=K?=l95ae3AmEDNOT Ignoring new targets: 45.28 m.~~ ProNav: ac range: 45.278465 m, nav range: 43.251240 m, bearing: 150.794147 deg, approach rate: -0.624164 m/s, LOS rate: -0.055641 deg/s, cmd heading: 155.858660 deg, new cmd heading: 155.800471 deg. HeadingCmd: 2.719231 target range: 45.278465 and range: 45.60 m.b.@ZrjRJB~~}||||@ %zB%1'I))->>)I-2b ))-'ڦ<=.@=<<=x=i=.@i9EEEEO0EFFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.6895816GM BDAT read: Rx Time:13:59:03.0764  TRx dataTimestamp_ set to:1749131944.400700 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9438549R*,QhA9r"@r0@Yr yrM}=rH0d׿UN?c?@~I???? r"@r;)rC~t{B~IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YV-?i|?5Mbpy?qA @)@IAy(@II3:= >=y;Q >٥ HF\;  > 95 VzӜ?959 , I 7BT:y?:*@@ ~"Ei P ; e ; o95)-3A)UB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 45.28 m.amm} ProNav: ac range: 45.278465 m, nav range: 42.986790 m, bearing: 150.781798 deg, approach rate: -0.614320 m/s, LOS rate: -0.028863 deg/s, cmd heading: 155.800467 deg, new cmd heading: 155.763192 deg. }wHeadingCmd: 2.718580 target range: 45.278465 and range: 45.60 m.b9-@ZrjRJB~~zB}||||  @ zB/(I)aS>Iya {<9-@<D=i9-@iQE E E E E yK5P"K9*K2K:KaeyRvzA'=c7owe1)~Y799Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.1913996GM vpx=ԩ ~Ga A A N >"~*,e4hA@:JuZBJuSJJuBRJqZJu9bJuy69Ju-4JqDAT read: 13:59:03.0764 LVL= 23120, 23697, 16722, 27683, AGC= 64, IDX= 414, 0.41, 1.515, 0.179, 1.705, 1.062, PHS= 0.540,-0.837, 0.640, RAW= 153.5, -4.8, CAL= 157.8, -13.0, ROT= 352.2, 13.0 Ygot valid direction response: 13:59:03.0764 LVL= 23120, 23697, 16722, 27683, AGC= 64, IDX= 414, 0.41, 1.515, 0.179, 1.705, 1.062, PHS= 0.540,-0.837, 0.640, RAW= 153.5, -4.8, CAL= 157.8, -13.0, ROT= 352.2, 13.0 PDAT read: Bearing 352.2, 13.0 (Local) ~Local bearing/azimuth received: Bearing 352.2, 13.0 (Local) DAT read: Range 10 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.7 m/s ,DAT read: user:1877> BDAT read: Tx time:13:59:04.1643 $Ping request sent. ݙ)ݙݝ ?-?T< ޙ)ޙ-:publishing transmit ping time5Fpublishing direction and range infoڙyڝoS0?a´#:/2̿ڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝ ?-?T<٥qq uHq} }>ԩ95eӜ?959( I?By@"EiC,=X,=s95*B2AEZbx9hA,B,B)@ʁUJD@Zx2n#oS0?a´#:/2̿g Vh>ҁ^Bpd4@=FjD`|7?c&ſz'Aj~ǜ?r8W  _Bǜ?L  [Bꁝ*Bې(@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 3.536406 s, deltaX: -2.099998 m, approachRate: -0.593823 m/s, rangeRepo size: 4 M Added new target pos. range: 43.194050 m, bearing: 151.397133 deg, lat: 36.906384 deg, lon: -122.116026 deg, deltaT: 3.536406 s, deltaX: -2.084415 m, approachRate: -0.589416 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 43.19 m.IUQHe>HaHe IHe |BHaHaHaHe<HeE ProNav: ac range: 43.194050 m, nav range: 42.729206 m, bearing: 150.907987 deg, approach rate: 0.000000 m/s, LOS rate: -0.028863 deg/s, cmd heading: 155.763188 deg, new cmd heading: 155.718801 deg. HeadingCmd: 2.717806 target range: 43.194050 and range: 43.50 m.b-@ZrjRJB~~}|||E@|ൄ? zB靥4&I)-v>I^` <<-@!<=i-@iEm Eq Eq E} 4Ey ] JDAT read: TxSync time:13:59:04.1635 1 6G =ZGRGA~GAAN>T*,ShAa{BI Mb@Mb@Mb@    ) Y ?X9vy  ? }  A ~@) @I hA y @!!I%I%25< 5)=y9Q =>٥99 EHEFA E>IU95MNӜ?U959M$ IMIBy] ?]:]v*@e@M"EiM|O;Mu`;Mw95qu2AuEDNOT Ignoring new targets: 43.19 m.ff ProNav: ac range: 43.194050 m, nav range: 42.426147 m, bearing: 150.895841 deg, approach rate: -0.716963 m/s, LOS rate: -0.028939 deg/s, cmd heading: 155.718805 deg, new cmd heading: 155.682109 deg. ឺHeadingCmd: 2.717165 target range: 43.194050 and range: 43.50 m.b -@ZrjRJB~~zB}||||l? HI)>I_ /<% -@%"9<-U=i- -@i)ԑE-E)E)E-P0E)Թ6GM M=K #O"K @9*K 2K :K `YpL.+<Y\HB(.j*/Fi\(';%0EUX" ~G! A1 AI NU >֚*,yumhA9R0"@R0@YRjyRwa=RH@ E׿}?Tz?`C? ?=?P? R0"@RɌ;)RC^{B^I)` `IfIfm?3~= ~y=y ;Q ?٥ H F <  ?95j?Ӝ?959" IOBy!%*@%@"Ei;;z95-)B-@2A)DNOT Ignoring new targets: 43.19 m.] ProNav: ac range: 43.194050 m, nav range: 42.220551 m, bearing: 150.886772 deg, approach rate: -0.601315 m/s, LOS rate: -0.026656 deg/s, cmd heading: 155.682114 deg, new cmd heading: 155.654772 deg. ]YeHeadingCmd: 2.716688 target range: 43.194050 and range: 43.50 m.be8-@ZarajaRiJiBi~i~q}q|q|q|y|}`g? 6I)>I^ \<8-@"< f=i8-@i EMEIEIEMO0EI:J!BJ%VJJ%ARJ!ZJ!bJ%B9J%4J!96G T=H >H H -IH S|BH  =H H H <H EHɘCHɘCHH =I = Iɗ5~Ga Ai A N >Y f*,ThA9U"@UH0@YU{yU}l=UH/ ^׿.?ٕ? л 5c?X??? U"@U2;)UCA{BUIMb@Mb@Mb@ )YT㥛 ?L7A`尿{Gzy!?+#A h@)h@IAy=@I%*I%3=~< E+=yE:Q E>٥II UHQUt U>Ye95](Ӝ?e959] I]WBym!?m:8*@@]"Ei]x<]Y<]~95(B2AEY]DNOT Ignoring new targets: 43.19 m.Ymιmι} ProNav: ac range: 43.194050 m, nav range: 41.917881 m, bearing: 150.875913 deg, approach rate: -0.624532 m/s, LOS rate: -0.022567 deg/s, cmd heading: 155.654766 deg, new cmd heading: 155.621955 deg. }w}HeadingCmd: 2.716115 target range: 43.194050 and range: 43.50 m.b-@ZrjRJB~~zB}||||N? קI)o>I] $[<-@h<_=i-@iaEEEEP0EIIa=ԉ6G "=~G A A Թ N >*,]1hA9Z"@ZS0@YZyZ`r=ZH#@0׿??䓞?@\?D? ? Z"@Z;)ZCz{BzII I2%= %t=y%?Q -?٥)) -H-F5C 5?9E95= Ӝ?E959=6 I=[ByAM*@M@="Ei=:=:=95QU1AQuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 43.19 m.s͹s͹ ProNav: ac range: 43.194050 m, nav range: 41.706730 m, bearing: 150.868907 deg, approach rate: -0.673298 m/s, LOS rate: -0.022452 deg/s, cmd heading: 155.621953 deg, new cmd heading: 155.600830 deg. vHeadingCmd: 2.715747 target range: 43.194050 and range: 43.50 m.b-@ZrjRJB~~}||||? ?I)>IN\ Y<-@ < =i -@i ԑEEEE0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.KO"K9*K2K:K~0UENUBJUoX ,  16NJ >J >Թ6G[=~GAAN> E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003741*,}hA9:Y"@:m0@Y:9y:r=:H@׿o?@?Q??@?? :Y"@:H ;):CJ{BJIIRIRm?3ZR< ZR=yZ0d;Q Z>٥\\ ^H^FbF4 b>dj95fӜ?j959f, IfaByhj)@j@f"Eif2:f:fP95pr1Ar EDNOT Ignoring new targets: 43.19 m.ĖĖ ProNav: ac range: 43.194050 m, nav range: 41.460766 m, bearing: 150.862112 deg, approach rate: -0.592886 m/s, LOS rate: -0.016477 deg/s, cmd heading: 155.600834 deg, new cmd heading: 155.580328 deg. 4=HeadingCmd: 2.715389 target range: 43.194050 and range: 43.50 m.b=-@Z9rAjARAJIBI~y~}|||| @ IM8Hu>HuCHuFIHu||BHu =HqHu/DHu<Hu/EI)>I[ ٗ<-@ϙ<zpz=i-@iEEEEl0E!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257894a 6G q؃=~G A A N >g*,mԪhA={B=I:J\BJRJJFRJZJ=:bJS29J4JzJ:jJ:J;:rJ<:=Mb@Mb@Mb@999 9)9Y='1Z?S㥫~jtxy="?=/]=Ļ=@ 9)=~@I=v@9y=Q@IUIU<2mz< m1=yuQ u>٥yy }Hy} }>95Ҝ?959 IiByh#?: +@@"Ei ; ;W951ADNOT Ignoring new targets: 43.19 m. + +checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507425 ProNav: ac range: 43.194050 m, nav range: 41.167171 m, bearing: 150.845958 deg, approach rate: -0.674984 m/s, LOS rate: -0.037403 deg/s, cmd heading: 155.580330 deg, new cmd heading: 155.531523 deg. ZͺHeadingCmd: 2.714537 target range: 43.194050 and range: 43.50 m.b-@Z r j R JB~~zB}||||`3@I QUǎIQ)]>YIe(Z iimTԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759369K] ۆP"K] K9*KY 2K] :K] `[QN)Te{wpf?[JW^d) 2Lra. jaL``Ji Ji $*,hA9F !@Fm 0@YFcIyFg=FHh@?ؿ޴?S?֕M?)?bά?@? F !@F|ې;)DL{BII I<2}<= }[=y}|;Q >٥ HFq >95Ҝ?959 IoBy*@@"Ei;j;95'BX1A EDNOT Ignoring new targets: 43.19 m.d d - ProNav: ac range: 43.194050 m, nav range: 40.929882 m, bearing: 150.834687 deg, approach rate: -0.637724 m/s, LOS rate: -0.030467 deg/s, cmd heading: 155.531522 deg, new cmd heading: 155.497513 deg. -E5HeadingCmd: 2.713943 target range: 43.194050 and range: 43.50 m.b5@-@Z1r1j9R9J9B9~9~A}A|A|A|I|u A@ zB靽II)>IY s<@-@ɛ<k=i@-@iԱEEEEp5EBDAT read: Rx Time:13:59:06.6235  TRx dataTimestamp_ set to:1749131947.927403 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0124316GŠ}=Hu >Hq Hu XIHu |BHu  =Hq Hq Hu <Hu E~G A A N > )*,ٳhAlmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265341GA  6YAy>B9=!@=F/@Y= |y=a==HUAؿ Xȴ?s?}?{?@r)?-? =!@= J;)9e |BmIMb@Mb@Mb@ )Yx&1?)\({GztyA ?Gaף`@ ;@)Q@II@yf@I%I%T35d= 5%=y5LQ 5>٥99 =H=FE E>IU95MҜ?U959M IMwByU ?U:UU*@]@M"EiM ;M ;M95e&Be1AeEDNOT Ignoring new targets: 43.19 m.U ProNav: ac range: 43.194050 m, nav range: 40.619450 m, bearing: 150.822015 deg, approach rate: -0.626926 m/s, LOS rate: -0.025789 deg/s, cmd heading: 155.497507 deg, new cmd heading: 155.459198 deg. U]HeadingCmd: 2.713275 target range: 43.194050 and range: 43.50 m.b]L-@ZYrYjYRaJaBa~a~mzB}i|i|i|i|ufH @ zB(dI)>I X <L-@+4<yi=iL-@i!rE]]>jE]>1:J[BJUJJARJZJ:bJ>9J4JzJ:jJ:J}Q:rJQ:EEIEIEM<1EQ] DAT read: 13:59:06.6235 LVL= 24784, 23793, 16738, 30387, AGC= 65, IDX= 416, 0.33,-2.178, 2.739,-2.002,-2.656, PHS= 0.567,-0.841, 0.651, RAW= 152.9, -5.3, CAL= 157.5, -13.4, ROT= 352.5, 13.4 e Ygot valid direction response: 13:59:06.6235 LVL= 24784, 23793, 16738, 30387, AGC= 65, IDX= 416, 0.33,-2.178, 2.739,-2.002,-2.656, PHS= 0.567,-0.841, 0.651, RAW= 152.9, -5.3, CAL= 157.5, -13.4, ROT= 352.5, 13.4 m PDAT read: Bearing 352.5, 13.4 (Local) m ~Local bearing/azimuth received: Bearing 352.5, 13.4 (Local) } DAT read: Range 10 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.8 m/s  ,DAT read: user:1878>  BDAT read: Tx time:13:59:07.7143  $Ping request sent.  )  gW?0K?Lgi ? ~=  |o>  )  :publishing transmit ping timeډ  Fpublishing direction and range info y ?Ƥ@] AͿ Y  ) I i      ) I i    )  gW?0K?Lgi     ) Y 6Gm KXi=~GA AQ Ai Nu >8*,$hA9b0!@b/@YbM3yb!Z=bH x@hؿ Ŕ?@?`N`*?h?$2? ? b0!@bY;)`&|BIImIm3}S= }h=y}9Q >٥ H޻ >95Ҝ?959L I}By-*@@"Ei;q;950AZ!b%ɰhA%#B%#B%M(@ʁ%~C@ ֤HJwR"%?Ƥ@] AͿ% %|o>ҁ%z A|3@֤R%V!w@;?Y٦fƿz%ԝA%x j%'ǜ?r% %_B%U ǜ?%  %\B%g!B%](@ addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.529316 s, deltaX: -2.299999 m, approachRate: -0.651684 m/s, rangeRepo size: 4  Added new target pos. range: 40.911247 m, bearing: 150.672803 deg, lat: 36.906384 deg, lon: -122.116025 deg, deltaT: 3.529316 s, deltaX: -2.282803 m, approachRate: -0.646812 m/s, posRepo size: 4  DNOT Ignoring new targets: 40.91 m.   EJDAT read: TxSync time:13:59:07.7135 Iu ProNav: ac range: 40.911247 m, nav range: 40.350964 m, bearing: 150.729272 deg, approach rate: 0.000000 m/s, LOS rate: -0.025789 deg/s, cmd heading: 155.459204 deg, new cmd heading: 155.429614 deg. y}HeadingCmd: 2.712759 target range: 40.911247 and range: 41.20 m.b}֝-@ZrjRJB~~}|||D@| ? zBμIS<)>I V   ǜ<KP"K59*K2K:Ktc/r/;M-3<$zY,*ec I8USTm8>/֝-@5<5b=i5֝-@i9EEEE`5Eaԙ 6G $g=~G A A N >*,Н>hA<9B!@B/@YB.yB4O=BH&t.ؿ[S?`?ۄ {?٢?`թ?9? B!@B;)BC^|Bb IIlIlvD vV=yv37Q v>٥xx zHzFzZ ~> 95?Ҝ? 959c IBy  *@ @"Ei::V950AE5B*** querying acoustic contact ***J1R1QUDNOT Ignoring new targets: 40.91 m.Q]]m ProNav: ac range: 40.911247 m, nav range: 40.113586 m, bearing: 150.720106 deg, approach rate: -0.671095 m/s, LOS rate: -0.026068 deg/s, cmd heading: 155.429615 deg, new cmd heading: 155.401953 deg. muHeadingCmd: 2.712276 target range: 40.911247 and range: 41.20 m.bu-@ZqrqjqRyJyBy~y~}|||| m? 靽ڊI)>IlU <-@'<5La=i-@iGG?AH>HHkIH|BH =HHH˚<HEEEEEO0EԱuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.6G6a= ~G) A9 AI NU >j*,wXhA9:ե!@:7/@Y:#:JB]BJB\JJBBRJ@ZJB]:bJB[9JB-4J@zJB:jJB:JBӁ:rJBԁ:y:qN=:Hvtؿ@g? ?@$?f?D?? :ե!@:+ŋ;):C^%|B^Ilchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991188Mb@Mb@Mb@ )Y/$?~jt~jtxy?Ļ )$@Iy@I IV2< ;=yQ >٥ H Fy: > 95 Ҝ?959 D I By?:+@@ "Ei ; ; *95!%0A!YeDNOT Ignoring new targets: 40.91 m.aeXeX} ProNav: ac range: 40.911247 m, nav range: 39.845730 m, bearing: 150.699443 deg, approach rate: -0.610736 m/s, LOS rate: -0.047428 deg/s, cmd heading: 155.401953 deg, new cmd heading: 155.339550 deg. }2HeadingCmd: 2.711187 target range: 40.911247 and range: 41.20 m.b-@ZrjRJB~~zB}1|1|9|A|M? }zB}I)>IT <-@}<h=i-@izEEEEEP0EF=FC=1u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2425876G Km ]P"Km 9*Ki 2Km :Km VmN:F>p_%U2 %/U/t.W;@fԉ ~G A A N >*,QrhA9Zl!@Zξ/@YZyZ9=ZHvuؿ?`?@ @͐? ߰? "?? Zl!@Z;)ZCddInIn(*3yvoQ v>٥xx zHx~n: ~>95Ҝ? 959 IBy  +@ @"Ei:B:p95%B0AE1AMDNOT Ignoring new targets: 40.91 m.IM]U]e ProNav: ac range: 40.911247 m, nav range: 39.616737 m, bearing: 150.681466 deg, approach rate: -0.614071 m/s, LOS rate: -0.048486 deg/s, cmd heading: 155.339552 deg, new cmd heading: 155.285309 deg. emHeadingCmd: 2.710240 target range: 40.911247 and range: 41.20 m.bmt-@ZirijiRiJiBi~~}||||? zB靅ȼI)p>I$\S <t-@ <Bl=it-@iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494624>E5D-<ԑH}>H}CH}~IH}|BHyHyH}.DH}%<H}MEEEEE4EԹ u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7491796GM i= ~G)A9AINU>*,KhA-F|B-%IMb@Mb@Mb@ )YGz?V-Mbpyp?@ )@Iy@II#3= ٥ H!F% %>)595-gҜ?5959- I-By5?=:=,@=@-"Ei-;-:-95AE0AEE=DNOT Ignoring new targets: 40.91 m.9E@E@U ProNav: ac range: 40.911247 m, nav range: 39.305332 m, bearing: 150.649967 deg, approach rate: -0.588470 m/s, LOS rate: -0.059996 deg/s, cmd heading: 155.285307 deg, new cmd heading: 155.190061 deg. $HeadingCmd: 2.708578 target range: 40.911247 and range: 41.20 m.bVY-@ZrjRJB~ ~ zB} ||||e?J-4JҔ4J0:J^BJOJJ@RJZJ} :bJ%9JJ4JzJ`:jJe:J&:rJ&: zB靥޼Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998644)>I|Q ]<VY-@<?r=iVY-@i >E<EyEyEyE5E A 6G Ul=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250757~G A A N >D*,GhA9rkk!@r~/@Yr:5yr92=rHk`Ĵؿ@*3??@| ?@#?@K?`?Kx"Kz@9*Kx2Kz:Kz3ap?VUb)-c46i|6}<jAj f^ZJ~>J~? rkk!@rl;)pԩQ|B,I p=II 3< "=y;Q >٥ H"F >95KPҜ?959 IBy,@@"Ei:j:G95/A  DNOT Ignoring new targets: 40.91 m. kk% ProNav: ac range: 40.911247 m, nav range: 38.996078 m, bearing: 150.619973 deg, approach rate: -0.641310 m/s, LOS rate: -0.062694 deg/s, cmd heading: 155.190067 deg, new cmd heading: 155.099370 deg. %,-HeadingCmd: 2.706995 target range: 40.911247 and range: 41.20 m.b-g?-@Z)r)j1R1J1B1~1~9}9|9|A|A|EzX@ MzBMfII)M>IIM( P QQUH H IH |BH  =H H H Ś<H EHʙCHʙCHH =I = IQ5q a checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7553536G}s=jG?bG"?~GAANM?)E*, ѫhA9bN!@b٥!) -H-#F-O 5>9a95=07Ҝ?959= I=By ? : ,@ @="Ei=]<=;<=95$B/AEuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 40.91 m. ProNav: ac range: 40.911247 m, nav range: 38.667431 m, bearing: 150.585069 deg, approach rate: -0.559159 m/s, LOS rate: -0.059889 deg/s, cmd heading: 155.099376 deg, new cmd heading: 154.993776 deg. g$HeadingCmd: 2.705152 target range: 40.911247 and range: 41.20 m.b5!-@ZrjRJB~~zB}||||1@ ]>]<eBDAT read: Rx Time:13:59:10.1706 eTRx dataTimestamp_ set to:1749131951.456059mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008278 zB靥_׼I)>I;M ?<5!-@4<[Ok=i5!-@iԑEEEE\2EԹ 6G KXi=~G A A N >:*,uhA.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2586289F%4!@FG/@YFuyFwlN=FH`b ؿ@%?` ?Sp`o?@?澩? ? F%4!@F;)FCr|B@III3z= U=y;Q >٥ H >95&Ҝ?959P IBy,@@"Ei::Z95K.?P"K9*K2K:KO|0 R-%PmnwLp&k.xcpsO7A<[#fJJ[/AEAEDNOT Ignoring new targets: 40.91 m.AM8M8] ProNav: ac range: 40.911247 m, nav range: 38.443642 m, bearing: 150.561503 deg, approach rate: -0.661232 m/s, LOS rate: -0.070038 deg/s, cmd heading: 154.993781 deg, new cmd heading: 154.922670 deg. ]C@eHeadingCmd: 2.703911 target range: 40.911247 and range: 41.20 m.be -@ZarijiRiJiBi~q~q}q|q|q|y|}5 @ zB靭 2xI)>IDL < -@|+<j=i -@iYE9E9E9E=P0EAԉ:J]BJXJJBRJZJ]:bJ5K9J-4J@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5123696GY`n=~Gy A A N >Ա H >H CH IH }BH  =H H /DH <H E+,JhA9>!@>(/@Y>dpy>'{X=>H9] ؿ@?`G(?ik?)???y? >!@>'݈;)>CP%||B-FIIE IE2U:< UT=yUU;Q U>٥YY ]H]$Fe e>iu95mҜ?u959m ImByqu,@}@m"Eim;m/;m952/ADNOT Ignoring new targets: 40.91 m.ƎƎ ProNav: ac range: 40.911247 m, nav range: 38.213379 m, bearing: 150.537612 deg, approach rate: -0.597922 m/s, LOS rate: -0.062412 deg/s, cmd heading: 154.922665 deg, new cmd heading: 154.850560 deg. T+HeadingCmd: 2.702652 target range: 40.911247 and range: 41.20 m.bA,@ZrjRJB~ ~ } | |||= @ zB0야I);>I%bEK !!%M<-A,@-<-h=i-A,@iQrE]Y>jE]>DAT read: 13:59:10.1706 LVL= 20640, 24897, 16850, 30179, AGC= 61, IDX= 417, 0.16,-1.344,-2.740,-1.198,-1.867, PHS= 0.612,-0.826, 0.666, RAW= 151.8, -6.2, CAL= 156.9, -14.4, ROT= 353.1, 14.4 EEEEEUYgot valid direction response: 13:59:10.1706 LVL= 20640, 24897, 16850, 30179, AGC= 61, IDX= 417, 0.16,-1.344,-2.740,-1.198,-1.867, PHS= 0.612,-0.826, 0.666, RAW= 151.8, -6.2, CAL= 156.9, -14.4, ROT= 353.1, 14.4 PDAT read: Bearing 353.1, 14.4 (Local) ~Local bearing/azimuth received: Bearing 353.1, 14.4 (Local) EDAT read: Range 10 to 50 : 39.0 m (Round-trip 52.0 ms) speed 0.5 m/s M,DAT read: user:1879> UBDAT read: Tx time:13:59:11.2644 U$Ping request sent.] ݁)݁݅O.?%?^ei݅5?݅h=݅݅> ށ)ށ%:publishing transmit ping timeQ-Fpublishing direction and range infoځyڅm*?TɽlϿځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅O.?%?^ei݁݁݁݁ ށ)ށ6Gm Rk=) ~G) A9 AI N] >:+,2 hA9:!@:/@Y:jy:pa=:HZ@ٿx?]7?@e $?`V?+?? :!@:A;):C^|B^NI|EMb@Mb@Mb@AAA A)AYEn?~jtMb`yE?AEE@ E@)E@IE@AyAI'I@3c< 6=yhD;Q >٥ H%F` > 95cҜ?959 IBy$?:},@@"Ei;G;95AM.AM EZb hABBd(@ʁW0B@ly C#m*?TɽlϿ>ҁZXڑi@.Z-2@[a_)&n\ Ni?xG#ɿzUAsjy#ǜ?rFh, ]B ]BꁭB0(@  addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 3.780105 s, deltaX: -2.200001 m, approachRate: -0.581995 m/s, rangeRepo size: 4 )U Added new target pos. range: 38.726688 m, bearing: 150.752884 deg, lat: 36.906384 deg, lon: -122.116025 deg, deltaT: 3.780105 s, deltaX: -2.184559 m, approachRate: -0.577910 m/s, posRepo size: 4 YDNOT Ignoring new targets: 38.73 m. ProNav: ac range: 38.726688 m, nav range: 37.948776 m, bearing: 150.510488 deg, approach rate: 0.000000 m/s, LOS rate: -0.062412 deg/s, cmd heading: 154.850565 deg, new cmd heading: 154.761770 deg. HeadingCmd: 2.701102 target range: 38.726688 and range: 39.00 m.b,@ZrjRJ B ~ ~ zB}|||C@|=?? zB I)>IUI hT<-,@QUC?+,>hA9:!@:0*/@Y:+Aky:Ft=:H^:ؿ}?@'?h`w?d?Vw?? :!@:E;):CF|BJRIIN IN(2b<  @=y Q  >٥  HV#; >%95ќ?-959 IȚBy)-,@5@"EioR;Z;W95E"BE.AM!E|eeAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}euEntering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ).1}uq}uyDNOT Ignoring new targets: 38.73 m.씺씺 ProNav: ac range: 38.726688 m, nav range: 37.703308 m, bearing: 150.484583 deg, approach rate: -0.612869 m/s, LOS rate: -0.065100 deg/s, cmd heading: 154.761773 deg, new cmd heading: 154.683551 deg. 2HeadingCmd: 2.699737 target range: 38.726688 and range: 39.00 m.b,@ZrjRJB~~}||||#q? zB_ZI)>IH sV<,@ < )t=i ,@i ԡGGAAH H H IH }BH  =H H H <<H {EEEEEO0E)> C ƈGA1 mYuAyu B6Gl=~GAAN] >! n+,wXhA9>72!@>E/@Y>iy>Ar=>H`c"ؿL??qmq??,7?r? >72!@>;)=y:Q >٥ H&Fl; >%95ќ?%959 IΚBy-?-:-/-@U@"Ei;;!95Y].Aa:^@q}}B*** querying acoustic contact ***JRxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.1=DNOT Ignoring new targets: 38.73 m.9EEu ProNav: ac range: 38.726688 m, nav range: 37.454098 m, bearing: 150.454181 deg, approach rate: -0.566296 m/s, LOS rate: -0.069545 deg/s, cmd heading: 154.683554 deg, new cmd heading: 154.591740 deg. u>}HeadingCmd: 2.698135 target range: 38.726688 and range: 39.00 m.b}>,@ZyryjRJB~~zB}|||| ? zB靭sI)E>I$'F K< >,@ I< D=i >,@izEAEEEEEFFi a e Am checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4175496G s=~G A A N >f+,ZgrhAKA,P"K9*K 2K:K{9R&HW_P cZ fHdRoUgmj`Z b9ZH(!@Z;/@YZgyZ]h=ZHa ؿ`?? l Þ? ݬ??? ZH(!@ZF;)Xf|Bf^IInIn3v"= v[=yz:Q z>٥|| ~H~'F~AԺ > 95Gќ?959 IԚBy%-@@"Ei ;7!;]95!%.A%$EB9}=}EIUDNOT Ignoring new targets: 38.73 m.Q]]m ProNav: ac range: 38.726688 m, nav range: 37.241413 m, bearing: 150.428116 deg, approach rate: -0.590745 m/s, LOS rate: -0.072808 deg/s, cmd heading: 154.591742 deg, new cmd heading: 154.513103 deg. mGuHeadingCmd: 2.696762 target range: 38.726688 and range: 39.00 m.bu,@ZqrqjqRqJqBy~y~y}y||||@P? zB靵" I)|>ID &<,@<̑=i,@iEeEaEaEm_0Eiy6GE|=:J[BJMJJGRJZJ:bJ9Jc4J~GA AN%,>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.671016ԑH >H CH IH =}BH  =H H H <H 1EԹ "+,2hAL9N @N /@YN_yN0b=NHYFٿ jg?B? c??E?I? N @NW;)NC^|B^kIIfIf#3zE= ~J=y~;Q >٥ H >5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.92367095vќ? 959 IښBy9E,@E@"Eiۅ<P<95q}5.AJ}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1=DNOT Ignoring new targets: 38.73 m.9=E ProNav: ac range: 38.726688 m, nav range: 36.995453 m, bearing: 150.398682 deg, approach rate: -0.493506 m/s, LOS rate: -0.059451 deg/s, cmd heading: 154.513099 deg, new cmd heading: 154.424210 deg. 3#HeadingCmd: 2.695211 target range: 38.726688 and range: 39.00 m.bV~,@ZrjRJB~~}|||| @ %zB-%I))-?)I-?B )150ۍ<5V~,@=^<={=i=V~,@iYbEiZEiEEEEP0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.173516! 6G= ʃ=~G A) A9 NM > )+,hAE|BAiMV>IMR=Mb@Mb@Mb@ )Y7A`?MbMb`y? )IyI I <2:/; :=y5Q 5>٥AI MHM(FM M>Qm95Uќ?m959U= IUBym?u:uS-@u@U"EiUgo;UU;U95,.A'Eq}DNOT Ignoring new targets: 38.73 m.úú ProNav: ac range: 38.726688 m, nav range: 36.749237 m, bearing: 150.366655 deg, approach rate: -0.652701 m/s, LOS rate: -0.085471 deg/s, cmd heading: 154.424211 deg, new cmd heading: 154.327486 deg. jHeadingCmd: 2.693523 target range: 38.726688 and range: 39.00 m.bb,@ZrjRJB~~zB}||||9@ zB!I)?Iu?A 7̌<b,@ 9< O=i b,@i =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425638AEEEE_0EKP"K@9*K2K:K_~XSdZJ7=]0O:_Cb%/d!Yԉ :J BJ \JJ ERJ ZJ bJ [9J 4J 6G x}= BDAT read: Rx Time:13:59:13.7177  TRx dataTimestamp_ set to:1749131954.985392 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682587~G! AI A N >\(0+,HhA|95 @5T.@Y5Uy50_=5HNNٿEȱ?@z?(W?Ȳ?ث?? 5 @55;)5CM|BMuIIeIe3= L=y;Q >٥ H)Fu >95Βќ?959 IBy-@@"Ei;;;95-ADNOT Ignoring new targets: 38.73 m.  ProNav: ac range: 38.726688 m, nav range: 36.517384 m, bearing: 150.337423 deg, approach rate: -0.626995 m/s, LOS rate: -0.079555 deg/s, cmd heading: 154.327482 deg, new cmd heading: 154.239228 deg. dZ%HeadingCmd: 2.691982 target range: 38.726688 and range: 39.00 m.b%pI,@Z!r!j!R!J!B)~)~)})|1|1|1|5@He>HaHeIHeQ}BHe =HaHaHeߚ<HeE 靍ܢI)s? I? <pI,@]<z=ipI,@i!1EEEE 0E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.929336Q6G =~GA AI Aa Nm >ԉ [R6+,ڬhA9> @>.@Y>ARy>`=>HPJdٿ@?v? R?HE??? > @>ч;)>CN|BRwIYeMb@Mb@Mb@aaa a)aYe-?I +~jtxye??e9eĻe@ e@)e@IaayeQ@I} I}̍2; K=yg;Q >٥ H]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184204l e>95ќ?959 IBy\?:Y,@@"Eiэ<<95!B-A*E B*** querying acoustic contact ***J R DNOT Ignoring new targets: 38.73 m.%%U ProNav: ac range: 38.726688 m, nav range: 36.264881 m, bearing: 150.309811 deg, approach rate: -0.534188 m/s, LOS rate: -0.058821 deg/s, cmd heading: 154.239223 deg, new cmd heading: 154.155811 deg. ]y!]HeadingCmd: 2.690526 target range: 38.726688 and range: 39.00 m.b]1,@ZYrajaRaJaԉB~~zB}||||j @ -zB-TI))-+?)I5= 115<=1,@=<=|=i=1,@iIEEEE0EFFԱ DAT read: 13:59:13.7177 LVL= 18864, 25169, 15186, 26851, AGC= 60, IDX= 420, 0.11,-1.862, 3.037,-1.727,-2.383, PHS= 0.608,-0.816, 0.653, RAW= 151.5, -6.2, CAL= 156.6, -14.4, ROT= 353.4, 14.4 - Ygot valid direction response: 13:59:13.7177 LVL= 18864, 25169, 15186, 26851, AGC= 60, IDX= 420, 0.11,-1.862, 3.037,-1.727,-2.383, PHS= 0.608,-0.816, 0.653, RAW= 151.5, -6.2, CAL= 156.6, -14.4, ROT= 353.4, 14.4 - PDAT read: Bearing 353.4, 14.4 (Local) 5 ~Local bearing/azimuth received: Bearing 353.4, 14.4 (Local) = DAT read: Range 10 to 50 : 36.9 m (Round-trip 49.2 ms) speed 0.5 m/s M ,DAT read: user:1880> M BDAT read: Tx time:13:59:14.8144 U $Ping request sent.U b<+,hAKuP"K9*K2K:K?3~bRK*6 eBP>. @;  5I:%G,+kJ-j )6checking for new query: numPingsReceived=1, elapsed TxPingTime=0.0834529}fd @}w.@Y}JJy}ͫe=}H`=ٿR??@٥ H*Ft >95Rmќ?959 IBy,@@"Ei;C;95-A-EZbsJhABB&(@ʁSA@ᬔQ&{9"t7p ?!FlϿҁHYH]IH]f}BHYHYHYH]<H]EHǘCHHH =I I5! 6G] {= checking for new query: numPingsReceived=1, elapsed TxPingTime=0.494974~G A! AA Ne >C+,lhAx9UR @Uf.@YU&HyUV`=UH\:ٿ`??@O ?5??? UR @UBk;)UC|BIMb@Mb@Mb@ )Y ףp= ?S㥛MbpyQ?/ݼ@ @)@I@y\@IIV83= '=y|:Q >٥ H+F\ > 95Wќ? 959 IByz?:+@@"EiW1;0;95!%-A!IUDNOT Ignoring new targets: 36.64 m.Qetetu ProNav: ac range: 36.641102 m, nav range: 35.670631 m, bearing: 150.452450 deg, approach rate: -0.614478 m/s, LOS rate: -0.053493 deg/s, cmd heading: 154.087087 deg, new cmd heading: 154.012641 deg. u}HeadingCmd: 2.688028 target range: 36.641102 and range: 36.90 m.b},@ZrjRJB~~zB}||||4}? %xI!)%?!I%9 !)-: J+,{*hA9ND @NgW.@YNUFyNZ=NH7ٿeѰ?@?`A> yȝ?R?(8?? ND @NTs;)NCZ|B^IIfIf#3n]> n=yn:Q n?٥pp rHpvB v?x~95z6Jќ?~959z IzBy|v+@@z"Eizy:z :zx95  B (-A 0EAEDNOT Ignoring new targets: 36.64 m.AMjMjQe ProNav: ac range: 36.641102 m, nav range: 35.490936 m, bearing: 150.436993 deg, approach rate: -0.592910 m/s, LOS rate: -0.051261 deg/s, cmd heading: 154.012638 deg, new cmd heading: 153.966030 deg. e mHeadingCmd: 2.687214 target range: 36.641102 and range: 36.90 m.bmQ+@ZirijiRqJqBq~q~y}y|y|y|y|`R'? zB靵:I)?I$]8 H<Q+@wZ<s=iQ+@ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.999831EEEEP0EyKu_@P"Ku@9*Kq2Ku:KuM{27[aJ/iMAE -(rjY2J>J>6GNr=~GaAiAN>] checking for new query: numPingsReceived=1, elapsed TxPingTime=1.251187 Q+,!>DhA9B{8 @BK.@YB=yBN=BH5ٿ` ??@<כ? t?? ? B{8 @BV;)BCJ }BNIIZ!IZi3b@= bL=yf;Q f>٥dd jHj,Fj j>HpHrCHrIHr}BHr =HpHpHr<HrE|95~8ќ?959~ I~Byj+@ @~"Ei~;~:~95,AIMDNOT Ignoring new targets: 36.64 m.IUjUje ProNav: ac range: 36.641102 m, nav range: 35.251297 m, bearing: 150.416417 deg, approach rate: -0.593731 m/s, LOS rate: -0.051324 deg/s, cmd heading: 153.966029 deg, new cmd heading: 153.903883 deg. e mHeadingCmd: 2.686130 target range: 36.641102 and range: 36.90 m.bm+@ZirijiRiJqBq~q~q}y|y|y|y|@?Թ wI)?I?m6 '<+@h<u=i+@iqEMEIEIEIEIchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.5035626G q=~G A A N >A :J% ZBJ% PJJ% ARJ! ZJ% 9bJ% *9J% 4J! zJ% .:jJ% 3:J% -:rJ% -:/W+,!^hA J?e?%checking for new query: numPingsReceived=1, elapsed TxPingTime=1.755369-}B-IMb@Mb@Mb@ )YCl?Q~jthyd?D@ @)@I~@y @IEIET3< -=yQ >٥ H-F >95"ќ?959N IBy?:'+@@"Ei::95B,A2E5B*** querying acoustic contact ***J1R1AEDNOT Ignoring new targets: 36.64 m.AM`M`] ProNav: ac range: 36.641102 m, nav range: 34.967007 m, bearing: 150.393569 deg, approach rate: -0.606300 m/s, LOS rate: -0.049123 deg/s, cmd heading: 153.903888 deg, new cmd heading: 153.834787 deg. ]eHeadingCmd: 2.684924 target range: 36.641102 and range: 36.90 m.be+@ZarajiRiJiBi~q~uzB}q|q|y|y|}? zB靵I)w?I4 M<+@o<KBz=i+@iAEeEaEaEeO0Eaichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.0085236G x=~Gy A A N >ԙ K | P"K ŷ9*K 2K :K rk`. TP< BNmd}r/XDPFJ J *W]+,HHIH}BH =HHH<HE6G]x}=uHGA aYAyjB~Gi Aq A N > checking for new query: numPingsReceived=1, elapsed TxPingTime=2.5111381 ?d+,WёhA9 @.@YS+&yU=H.9ٿ`ӭ? h!?1@׾?ä?:?$?  @cg;)CM.}BMIII(1̟< *=y%{A;Q %>٥!! -H-.F-v 5>1=955nМ?E9595c I5 ByAE*@E@5#Ei5:5S:5995Q]<,A]5EDNOT Ignoring new targets: 36.64 m.KZKZ ProNav: ac range: 36.641102 m, nav range: 34.471390 m, bearing: 150.355021 deg, approach rate: -0.605551 m/s, LOS rate: -0.047712 deg/s, cmd heading: 153.787228 deg, new cmd heading: 153.718292 deg. HeadingCmd: 2.682890 target range: 36.641102 and range: 36.90 m.bz+@ZrjRJB~~}||||J@ QI)?In/ ͹< z+@ 4o< $`x=i z+@iEEEEU0E:J_BJYJJHRJZJ :bJ[O9JԺ4JzJ+:jJ0:J&n:rJ)n:!MBDAT read: Rx Time:13:59:17.2651 MTRx dataTimestamp_ set to:1749131958.516686echecking for new query: numPingsReceived=1, elapsed TxPingTime=2.765925Q 6G nu=~G! A) AA NM >ij+,hA9J3 @J .@YJVyJZJj=JHz/ <ٿt'?n ?f0\????@a? J3 @J;)JC^K}B^IUMb@Mb@Mb@QQQ Q)QYUx&1?lMbp?yU!?UU;Uh@ Q)U@IUQ@QyU@ImIm2}== }i=y;Q >٥ H9 >95М?959 IBy!?:[*@@ #EiI;_;I95B+A8EDNOT Ignoring new targets: 36.64 m.66checking for new query: numPingsReceived=1, elapsed TxPingTime=3.015184 ProNav: ac range: 36.641102 m, nav range: 34.250366 m, bearing: 150.341090 deg, approach rate: -0.629691 m/s, LOS rate: -0.039945 deg/s, cmd heading: 153.718298 deg, new cmd heading: 153.676235 deg. PۺHeadingCmd: 2.682156 target range: 36.641102 and range: 36.90 m.bs+@ZrjRJB1~9~=zB}9|A|A|A|Ef@I zB#;I)%?I- <%s+@%<R{=is+@iKfP"K9*K2K:K&2jK9uf> wNwTV#IT#mRJ  ?J >EEEE]0E!yԩ ] checking for new query: numPingsReceived=1, elapsed TxPingTime=3.2694116Gm ;+z=~Gi A A9 NE >Jq+,^hŭhAH HPHR<HV>HTHVIHV}BHV =HTHTHV<HVE9F@ @F.@YFнyFo=FH/`5ٿ%?!?`.ϊ?? ?@+? F@ @F ;)FC5]}B5IIEIET3U1= UN=yU;Q ]>٥YY ]H]/Fe" e>iu95m"М?u959m ImByy}Z*@}@m #Eim:m:m95+ADNOT Ignoring new targets: 36.64 m.99 ProNav: ac range: 36.641102 m, nav range: 33.999557 m, bearing: 150.325091 deg, approach rate: -0.631240 m/s, LOS rate: -0.040562 deg/s, cmd heading: 153.676237 deg, new cmd heading: 153.627888 deg. ޺HeadingCmd: 2.681313 target range: 36.641102 and range: 36.90 m.b+@ZrjRJB~~}||||F @ 15$ BDAT read: Tx time:13:59:18.3644 $Ping request sent. ݹ)ݹݽ?B30?OhiݽE?ݽ=ݽ|ݽk> ޹)޹U:publishing transmit ping timeUFpublishing direction and range infoڹyڽi?MT# :ͿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ?B30?Ohiݹݹݹݹ ޹)޹checking for new query: numPingsReceived=2, elapsed TxPingTime=0.0375256G-}z=ZGIRGI~GA Aq A N > :J ]BJ VJJ BRJ ZJ ]:bJ B9J -4J zJ :jJ :J X:rJ X:qw+,6߭hAx%checking for new query: numPingsReceived=2, elapsed TxPingTime=0.217745%f}B-IMb@Mb@Mb@ )YT㥛 ?{Gzy!?#@ @)Iy@II2E< E/=yMQ M>٥IQ UHU0FU U>Ye95]8М?m959] I]BymY!?m:m*@m@]#Ei];];]95q}W+A};EZb_^ѭhA9 B9 B*'@ʁz,@@S8fCʗXi?MT# :Ϳ|k>ҁ h.:Z=K/a0@ňC{#M.뿢6H?x7rɿzAj%ǜ?r|  aB!%ǜ? _BB '@U addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 3.532466 s, deltaX: -2.100002 m, approachRate: -0.594486 m/s, rangeRepo size: 4  Added new target pos. range: 34.556309 m, bearing: 150.083769 deg, lat: 36.906384 deg, lon: -122.116027 deg, deltaT: 3.532466 s, deltaX: -2.084793 m, approachRate: -0.590181 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.56 m. ProNav: ac range: 34.556309 m, nav range: 33.769753 m, bearing: 150.370086 deg, approach rate: 0.000000 m/s, LOS rate: -0.040562 deg/s, cmd heading: 153.627893 deg, new cmd heading: 153.568669 deg. HeadingCmd: 2.680279 target range: 34.556309 and range: 34.80 m.b+@ZrjRJ!B!~!~%zB})|)|)|-`ffA@|-෯? 靥9I)P,?I)) c~<+@r<=i+@iIEQEQEQEUo0EQchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.469155y 6Gu Š}=~GI AY Ai Km P"Km ŷ9*Ki 2Km :Km ls`I|x,fy1~8y3=BMYQN >\}+, {hA9N}) @N<.@YN#yNm&=NH 6!ٿZ?U?0Z`?ۂ??_? N}) @N;)NCZ|}BZIIbIb#3jƇ= jx=yj_;Q j?٥ll nHlr; r?tz95vМ?z959v IvByxz.*@z@v#Eiv:v:v95*A%B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 34.56 m.9='7='7M ProNav: ac range: 34.556309 m, nav range: 33.561829 m, bearing: 150.357789 deg, approach rate: -0.672716 m/s, LOS rate: -0.040031 deg/s, cmd heading: 153.568676 deg, new cmd heading: 153.531557 deg. MۺUHeadingCmd: 2.679631 target range: 34.556309 and range: 34.80 m.bU+@ZQrYjYRYJYBY~a~a}a|a|i|i|m? zB靝HaHe IHe}BHe =HaHe0DHe<HeCEy6G=~GA A N- >ԡ  checking for new query: numPingsReceived=2, elapsed TxPingTime=0.972736Ì+,]hA9z8 @zDL.@Yz&yz=zHd9 ٿK? y?`4 Y? ?Bp?? z8 @z;)zC}B%IIeIe 3ԡC< @=y:Q >٥ H1Fu ; }>95?М?959 I"By=*@@#Eij<q<95UBU*AU>EDNOT Ignoring new targets: 34.56 m.p*p* ProNav: ac range: 34.556309 m, nav range: 33.274910 m, bearing: 150.340107 deg, approach rate: -0.599317 m/s, LOS rate: -0.037252 deg/s, cmd heading: 153.531560 deg, new cmd heading: 153.478058 deg. ̺HeadingCmd: 2.678697 target range: 34.556309 and range: 34.80 m.bo+@ZrjRJB~~} | ||| ? ezBe@ʀ;I)2?I<$ 4,z<o+@1<u=io+@i!zE1EEEE5E5checking for new query: numPingsReceived=2, elapsed TxPingTime=1.2270246G %=jG ?bG >! ~G A A N >+,,hA9:M @:3a.@Y:y:<=:H=ټٿ=?w?:`?ӡ?e? ? :M @:};):CN}BNI-Mb@Mb@Mb@))) )))Y-)\(?{Gz{Gzt?y-G!?)-ף;-@ -p@))I))y-p@IE!IEi3UA N=y<:Q >٥ H2F?P; >95CМ?959 I'By!?:K*@@#Ei6;5;95 *A AE9EDNOT Ignoring new targets: 34.56 m.AE]EE]E] ProNav: ac range: 34.556309 m, nav range: 33.034386 m, bearing: 150.324695 deg, approach rate: -0.668355 m/s, LOS rate: -0.043137 deg/s, cmd heading: 153.478053 deg, new cmd heading: 153.431481 deg. ]eHeadingCmd: 2.677885 target range: 34.556309 and range: 34.80 m.bevb+@ZarajaRaJiBi}checking for new query: numPingsReceived=2, elapsed TxPingTime=1.476920~y~}zB}y||||`7? #J% checking for new query: numPingsReceived=2, elapsed TxPingTime=1.728731y \+,FhAH>HCH3IH}BHHHH<HEHCHHH =I = IM59^1 @^'E.@Y^> y^~p=^H`k88ٿ@۫?c?D6l}?&?"?K? ^1 @^;)^C}BII%I%F3U=e= ]J=y]_^;Q ]>٥aa eHam9 m>y:5}zМ?:59} I},By/*@@}!#Ei}:}:}q:5*ADNOT Ignoring new targets: 34.56 m.q5q5 ProNav: ac range: 34.556309 m, nav range: 32.788311 m, bearing: 150.309423 deg, approach rate: -0.634220 m/s, LOS rate: -0.039657 deg/s, cmd heading: 153.431484 deg, new cmd heading: 153.385324 deg. ٺHeadingCmd: 2.677079 target range: 34.556309 and range: 34.80 m.bCU+@ZrjRJB~~}|||| k?I zB靵l4 ɗ+,*`hAvchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.233300]}BeI-Mb@Mb@Mb@))) )))Y-T㥛 ?~jtMb`?y-!?-D-;-@ ))-@I-$@)y-@IEIE 3]V!= ];=yeQ e>٥aa mHm3Fm m>y}:5}fМ?:59} I}0By~!?:c)@@}%#Ei}:}E:}?:5B?*ADEԱDNOT Ignoring new targets: 34.56 m. ProNav: ac range: 34.556309 m, nav range: 32.513756 m, bearing: 150.298140 deg, approach rate: -0.629390 m/s, LOS rate: -0.026084 deg/s, cmd heading: 153.385326 deg, new cmd heading: 153.351191 deg. 5HeadingCmd: 2.676483 target range: 34.556309 and range: 34.80 m.bK+@ZrjRJB~~zB}||||.@ zB靵/9 +,QzhA9N @N).@YNfyN)Z=NHB3ٿW?`?2gI?5_?|R?!? N @N.;)NCK.WP"K.@9*K,2K.:K.YBvyMUk/2h[5v.KCCu 9e.yROH4^}BbIib>Ib=IjIj3rr; rf=yr;Q r>٥tt vHv4Fv% z>x:5zUМ?:59zϭ Iz4ByH)@@z)#Eiz ;z ;zY:57*ABE-B*** querying acoustic contact ***J1R19EDNOT Ignoring new targets: 34.56 m.AE0M0U ProNav: ac range: 34.556309 m, nav range: 32.290207 m, bearing: 150.289472 deg, approach rate: -0.630266 m/s, LOS rate: -0.024609 deg/s, cmd heading: 153.351189 deg, new cmd heading: 153.325003 deg. ]eHeadingCmd: 2.676026 target range: 34.556309 and range: 34.80 m.beD+@ZarajaRaJaBa~i~i}i|i|q|q|u:@ zB靥PRH1H5FIH5~BH1H1H1H5*<H5dE6G]j=~G1A9AQNe>i  BDAT read: Rx Time:13:59:20.8122  TRx dataTimestamp_ set to:1749131962.295395 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.989861rۤ+,c_hA 9>u@>.@Y>y>v-W=>H,ڿ?7?+@=ס?mS?@ߪ?? >u@>5;)>Cb}BbIInInm?3E; MD=yMb9Q M>٥IQ UHQU؞ U>a:5eoBМ?:59e| Ie8By')@@e-#Eie +,B]hA9> @>m-@Y>y>U=>H&`#4ڿ@ũ?R?%?I??ˬ?@? > @> ;)>CHN}BN I-Mb@Mb@Mb@))) )))Y-ףp= ?~jt~jth?y-?--D;-~@ -@)-@I-@)y-(@IEIE<2Uo< UH=y]9Q ]>٥YY eHm5Fu u>y:5}/М?:59}^ I} uBDAT read: Tx time:13:59:21.9145  ProNav: ac range: 34.556309 m, nav range: 31.772989 m, bearing: 150.264862 deg, approach rate: -0.620480 m/s, LOS rate: -0.037452 deg/s, cmd heading: 153.296493 deg, new cmd heading: 153.250573 deg. ͺHeadingCmd: 2.674727 target range: 34.556309 and range: 34.80 m.b.+@ZrjRJBԹ$Ping request sent. Q)QU-{RNK?#@?&2 Q)Q5:publishing transmit ping timey5Fpublishing direction and range infoQyU ?ƭ)/a'$˿QYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QU-{RNK?#@?&2?!I%7 !!%k<-.+@-<-?=im.+@iyKzP"K}9*K2K:K4LL<Xp&LzRtU+W*RO.K1jJ?J>EEEEU0E:J]BJWJJ@RJZJ]:bJG9JJ4J checking for new query: numPingsReceived=3, elapsed TxPingTime=0.2133799 6Gm 84=jGq bGu ?H% >H! H% RI~GI Ai H% 1~BH%  =H! H! H% ֚<H% E) A = GM ZAa i Y ZAy <BN >w+,6ˮhA9fe@f-@Yf*6yf'[=fHE `MڿV?~m?RF? ?]? ? fe@fHʈ;)d}BIII[3%o< %8=y-*Q ->٥)1 5HU6FU ]>i:5mМ?:59m ImABy)@@m6#Eim$ҁ1uն;/@C$&xEeW"?ځȿzxAjZƜ?r͇ dB _BA]'@u addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 3.528394 s, deltaX: -2.200001 m, approachRate: -0.623513 m/s, rangeRepo size: 4  Added new target pos. range: 32.372150 m, bearing: 150.721040 deg, lat: 36.906384 deg, lon: -122.116027 deg, deltaT: 3.528394 s, deltaX: -2.184158 m, approachRate: -0.619023 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.37 m. ProNav: ac range: 32.372150 m, nav range: 31.494419 m, bearing: 150.248819 deg, approach rate: 0.000000 m/s, LOS rate: -0.037452 deg/s, cmd heading: 153.250566 deg, new cmd heading: 153.203669 deg. HeadingCmd: 2.673908 target range: 32.372150 and range: 32.60 m.bQ!+@ZrjRJB~~}|||L@@|T? }zB}, ؝ >ם ;? checking for new query: numPingsReceived=3, elapsed TxPingTime=0.717767Ӹ+,hA9>S@>-@Y>Y> y>K=>H@{Qڿs9? o?1 @? F?xk?9? >S@>;)>CJ}BNI$Mb@Mb@Mb@ )YCl?Q롿{Gztyd?\ףh@ p@)@I@y@IIM3 ?=yaQ >٥ H >:5М?:59ʠ IDBy ? : #*@ @:#Ei::.:5B*AKEDNOT Ignoring new targets: 32.37 m.<< ProNav: ac range: 32.372150 m, nav range: 31.238144 m, bearing: 150.231847 deg, approach rate: -0.618686 m/s, LOS rate: -0.041308 deg/s, cmd heading: 153.203670 deg, new cmd heading: 153.152337 deg. HeadingCmd: 2.673012 target range: 32.372150 and range: 32.60 m.b+@Zr j1R1J1B1~9~=zB}9|9|9|A|EO?i zB靝!4 łf<+@X<=i+@iEAEAEAEE0EAFM=FMp=ԙchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.9691826G q؃= ~Ga A A N >K P"K ŷ9*K 2K :K ]AlQx @@X>ZQ/_  eE b=4@MWP kvZt#OJ AJ }A+,hA96w@6-@Y6y6PJ=6H ڿ??@ ? ? dQ?? 6w@67ڈ;)6CB}BBIIJIJV83PVS; Va=yVnvQ V>٥XX ZHZ7F^92 ^>`f:5b,Ϝ?f:59b IbGBydf)@j@b=#Eib:b:b[:5ln)Al~B*** querying acoustic contact ***:JaBJ\JJ?RJZJ:bJ[9Jـ4JJ|R|DNOT Ignoring new targets: 32.37 m.l$l$ ProNav: ac range: 32.372150 m, nav range: 31.017200 m, bearing: 150.218607 deg, approach rate: -0.595485 m/s, LOS rate: -0.035937 deg/s, cmd heading: 153.152335 deg, new cmd heading: 153.112333 deg. NźHeadingCmd: 2.672314 target range: 32.372150 and range: 32.60 m.b3+@ZrjRJB~~}||||?]checking for new query: numPingsReceived=3, elapsed TxPingTime=1.221167 zB靝DnHQHU_IHUE~BHU =HQHQHU<HU,EEmEiEiEm5Ei6Gz=ZGRGA~G A A N > checking for new query: numPingsReceived=3, elapsed TxPingTime=1.473117A +,hA!9BD@W-@YyZEQ=H ڿ]?`#?'??!?@5? BD@骕;)CI}BIi >I >  mchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.725419Mb@Mb@Mb@ )Y$C?QMby?Q@ @)@I@y3@I-I-(*3= < = =yEQ E>٥AA EHM8FM M>Q]:5UϜ?]:59U IUJByeQ?e:e3*@e@UC#EiU ;U ;U{:5im)AmNEDNOT Ignoring new targets: 32.37 m.JJ ProNav: ac range: 32.372150 m, nav range: 30.663895 m, bearing: 150.193768 deg, approach rate: -0.622649 m/s, LOS rate: -0.044280 deg/s, cmd heading: 153.112337 deg, new cmd heading: 153.036960 deg. HeadingCmd: 2.670999 target range: 32.372150 and range: 32.60 m.b*@ZrjRJB~~zB}||||`~? zB &?I `<-*@-d=5+z=i5*@i9qEEEEo0Eԡ  checking for new query: numPingsReceived=3, elapsed TxPingTime=1.9770606G5 ~= ~G)A9AIN]>h+,<6hA9J~@J-@YJ yJW=JH`G ۿ@z? ??U??@? J~@Jڈ;)JC T)TɵTTTXɶXiXIXXIXiZzA \\)\\ ^lA\\ɷ``bGAId)f8Fid)dIfEAdɸf F hɹhhhihhinCl)l lIlٯlz}BzIII36 = =y;Q ?٥ H%m %?)5:5-<Ϝ?5:59- I-LBy1=)@=@-F#Ei-:-:-":5EBE)AEQEy}DNOT Ignoring new targets: 32.37 m.yk,k, ProNav: ac range: 32.372150 m, nav range: 30.482174 m, bearing: 150.182423 deg, approach rate: -0.600089 m/s, LOS rate: -0.037685 deg/s, cmd heading: 153.036959 deg, new cmd heading: 153.002723 deg. κHeadingCmd: 2.670401 target range: 32.372150 and range: 32.60 m.b*@ZrjRJB~~}|||| @ }zB靅8,J>J>E1E1E1E5p5E96G {=~GAA)mchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.229322NuW>G9G=@AHE>HAHEeIHEO~BHE =HAHAHEК<HEE1 +,PhA 9>4@>,@Y>= y>!Y=>H@m`:ۿ b?[? r?٦?? ? >4@>4;)>C=}B=IIMIM2t< G=y9Q >٥ H9F >:5|Ϝ?:59^ INBy)@@J#Ei:B:%:5n)Achecking for new query: numPingsReceived=3, elapsed TxPingTime=2.483330)5DNOT Ignoring new targets: 32.37 m.15!=!E ProNav: ac range: 32.372150 m, nav range: 30.229959 m, bearing: 150.168357 deg, approach rate: -0.595120 m/s, LOS rate: -0.033469 deg/s, cmd heading: 153.002726 deg, new cmd heading: 152.960173 deg. MMHeadingCmd: 2.669659 target range: 32.372150 and range: 32.60 m.bM*@ZQrQjQRQJQBY~Y~Y}Y|a|i|i|uM@ zB靥ޘEh%<:JE`BJETJJEDRJAZJE:bJE:9JE4JAzJE:]jJE:]JERJ:erJETJ:eEEEE0EFF= BDAT read: Rx Time:13:59:24.3591  TRx dataTimestamp_ set to:1749131965.572146 checking for new query: numPingsReceived=3, elapsed TxPingTime=2.734989 6G vpx=jG ?bG ? ~G A A N >+,hmhA9R0Z@Rm,@YR20 yRP=RH`ȍۿ? 3?$@? 4%??? R0Z@RjF;)RC-}B-IMb@Mb@Mb@ )Y7A`?I +y&1|y?9` p@)@I@y=@I$I<3뢻 -=y ;Q >٥  H :F !@  >:5(Ϝ?:59 IQBy%?%:%*@%@N#Ei ; ;):5)-t)A-TEyQDNOT Ignoring new targets: 32.37 m.m@m@  ProNav: ac range: 32.372150 m, nav range: 29.957560 m, bearing: 150.149329 deg, approach rate: -0.596681 m/s, LOS rate: -0.042058 deg/s, cmd heading: 152.960174 deg, new cmd heading: 152.902573 deg. 5HeadingCmd: 2.668653 target range: 32.372150 and range: 32.60 m.b=7*@Z9r9j9R9J9B9~A~EzB}A|A|I|I|M c#@}checking for new query: numPingsReceived=3, elapsed TxPingTime=2.985205 zB~E9ԩEEEAEAEE5EI6G6a=~GA AN%>K9P"Ks9*K2K:K!*Vk:4?[lXy)V{ZA9~8 0]L1c{5 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.238036 v+,u"hAH\H\H^kIH^Y~BH^ =H\H\H^ߚ<H^EHeCHeCHaHe =Ie = Ieb5E}BEIIeIe 3u  u6=yuQ u>٥yy }Hy} >:5kϜ?:59Ǎ ITBy@S#Ei::-:5B)AREB*** querying acoustic contact ***JRDNOT Ignoring new targets: 32.37 m.@@ ProNav: ac range: 32.372150 m, nav range: 29.693115 m, bearing: 150.130523 deg, approach rate: -0.587588 m/s, LOS rate: -0.042159 deg/s, cmd heading: 152.902568 deg, new cmd heading: 152.845647 deg. wHeadingCmd: 2.667660 target range: 32.372150 and range: 32.60 m.b*@ZrjRJB~ ~ } | |||Ž @ zBjg?In U< *@ kM=ZX=i*@iD9D9D9D9DAT read: 13:59:24.3591 LVL= 19792, 26961, 18018, 28355, AGC= 60, IDX= 411,-0.23,-0.663,-2.069,-0.584,-1.197, PHS= 0.622,-0.825, 0.610, RAW= 149.6, -5.7, CAL= 154.6, -14.2, ROT= 355.4, 14.2 Ygot valid direction response: 13:59:24.3591 LVL= 19792, 26961, 18018, 28355, AGC= 60, IDX= 411,-0.23,-0.663,-2.069,-0.584,-1.197, PHS= 0.622,-0.825, 0.610, RAW= 149.6, -5.7, CAL= 154.6, -14.2, ROT= 355.4, 14.2 PDAT read: Bearing 355.4, 14.2 (Local) ~Local bearing/azimuth received: Bearing 355.4, 14.2 (Local) DAT read: Range 10 to 50 : 30.3 m (Round-trip 40.5 ms) speed 0.5 m/s ,DAT read: user:1883> BDAT read: Tx time:13:59:25.4645 $Ping request sent. ݑ)ݑݕEؔ?mq?oiݕ1?ݕS=ݕlݕ}> ޑ)ޑ=:publishing transmit ping time=Fpublishing direction and range infoڑyڕp?芧V糿/;fϿڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑIܑiܑܑܑ ݑ)ݑݕEؔ?mq?oiݑݑݑݑ ޑ)ޑUchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.011105I Ea Ei Ei Eu 0Eq q :J aBJ YJJ ARJ ZJ :bJ [O9J 4J zJ ;jJ ;J &n:rJ )n:MJDAT read: TxSync time:13:59:25.4637 Uchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.2397066G{a=ZGRGA~GyAԙAN?I+,hA9b>@bTR,@YbybrK=bH@0@ۿh?A?`0??@{h?? b>@b·;)bCr}BrI=Mb@Mb@Mb@999 9)9Y=9v?٥ H;F_ >:5<Ϝ?:59V IVBy?:c*@@W#Ei7;6;2:5d)AUE ZYb]支hA]A]A]3(@ʁ]7 <>=@Pw]p?芧V糿/;fϿ]l]}>ҁ]9z[,@3RO][5a;( pk?'7h˿z]gA]Gj]ycvǜ?r]j ]cB]y#ǜ?]|  ]aB]A]W'@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 3.526810 s, deltaX: -2.299999 m, approachRate: -0.652147 m/s, rangeRepo size: 4  Added new target pos. range: 30.088469 m, bearing: 150.423100 deg, lat: 36.906384 deg, lon: -122.116027 deg, deltaT: 3.526810 s, deltaX: -2.283682 m, approachRate: -0.647521 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.09 m.  ProNav: ac range: 30.088469 m, nav range: 29.386488 m, bearing: 150.213764 deg, approach rate: 0.000000 m/s, LOS rate: -0.042159 deg/s, cmd heading: 152.845645 deg, new cmd heading: 152.781484 deg. HeadingCmd: 2.666540 target range: 30.088469 and range: 30.30 m.b*@ZrjRJB~!~%zB}A|I|I|ML>@|M2? zB+@?IQ Q<*@=,kV=i*@iMchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.491795IEyEyEyE}43Eya 6G W=~G A A N >K )P"K 9*K 2K :K 6T2:9hAp}7wh&dG-X3A+=<Jv+,$hA 9>db@>u,@Y>Ey>~I\=>H `Nۿk?@{??>? ?X? >db@>;)>CJ}BJ#IIR!IRi3Z= Zo=yZ;Q Z?٥\\ -H-1M:55oϜ?U:595ԇ I5XByQ]*@e@5Z#Ei5;5 ;55:5B.)AXEchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.742793DNOT Ignoring new targets: 30.09 m.H9H=rIH=d~BH= =H9H=1DH=<H= EqIU~ 6oO<*@=b=i*@iEEEE@5EԙI I U checking for new query: numPingsReceived=4, elapsed TxPingTime=0.9951546G JR= ~G A A N >)+,ۯhAP9V@Vw,@YVWMyV_=VH`w\ۿC?{?@?h??i? V@V‡;)VC }B&II(I̍3< .=yy;Q >٥ H=F#; >%:5[Ϝ?-:59 IZBy)5*@5@_#Ei;>;(9:5AE)AAIIIMAA:JYBJ]RJJ]@RJYZJYbJ]S29J]J4JYzJYjJYJ];:rJ];:DNOT Ignoring new targets: 30.09 m.pp ProNav: ac range: 30.088469 m, nav range: 28.910231 m, bearing: 150.171785 deg, approach rate: -0.571571 m/s, LOS rate: -0.052624 deg/s, cmd heading: 152.728808 deg, new cmd heading: 152.654486 deg. vEHeadingCmd: 2.664323 target range: 30.088469 and range: 30.30 m.bEF*@ZArAjARIJIBI~I~I}Q|Q|Q|Q|]?checking for new query: numPingsReceived=4, elapsed TxPingTime=1.247954 zBۛ~G1 A9 ] checking for new query: numPingsReceived=4, elapsed TxPingTime=1.498805Aa Nm ><+,>hA9bϙ@b.,@Ybۼybߡl=bH`Tۿf?;t?~`lФ?`}?K?b? bϙ@bK;)bCpv}Bv,IMb@Mb@Mb@ )YI +?{Gzty9?ף;@ Z@)@I@y@I I<2< [=y;Q >٥ H: >:5hKϜ?:59$ I]By:?:,@@b#Ei::]<:5QU(A][EDNOT Ignoring new targets: 30.09 m.!! ProNav: ac range: 30.088469 m, nav range: 28.698206 m, bearing: 150.142763 deg, approach rate: -0.574207 m/s, LOS rate: -0.079179 deg/s, cmd heading: 152.654482 deg, new cmd heading: 152.566772 deg. [YHeadingCmd: 2.662792 target range: 30.088469 and range: 30.30 m.b1k*@ZrjRJB~~zB}| | | | `? zB靅Bchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.752752H >H CH xIH n~BH H H H Ԛ<H E G Y y \Ba ,,@hA9>؄@>8,@Y>lzy>y=>H fgۿD?@?-`c?`?44?? >؄@>G;)٥xx zHz>Fz\ z>9iu:5m-:Ϝ?u:59m Im_Byq} ,@}@mf#EimQ;m+;m?:5(AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 30.09 m. ProNav: ac range: 30.088469 m, nav range: 28.471289 m, bearing: 150.111808 deg, approach rate: -0.612018 m/s, LOS rate: -0.084154 deg/s, cmd heading: 152.566769 deg, new cmd heading: 152.473164 deg. gHeadingCmd: 2.661159 target range: 30.088469 and range: 30.30 m.bmP*@ZrjRJB~~}|||| ? %zB%#IM R=II :JU `BJQ JJU ARJQ ZJU :bJQ JU 4JQ zJU :jJU :JQ rJQ  checking for new query: numPingsReceived=4, elapsed TxPingTime=2.254693 q ,,Ƨ)hA9:v@:2,@Y:y:=:HP uۿg?ޔ???`1?? :v@:>+;):CJ~BN9I5Mb@Mb@Mb@111 1)1Y5 +?MbMbp?y5?55;5h@ 5C@)1I11y1IMIM?13]ot< ]C=y]%;Q e>٥aa eHam m>q}:5uE(Ϝ?}:59u| IubBy}?}:*@@uj#Eiu ;u:uWC:5B(A^EaeDNOT Ignoring new targets: 30.09 m.amX}mX} ProNav: ac range: 30.088469 m, nav range: 28.232815 m, bearing: 150.088344 deg, approach rate: -0.558041 m/s, LOS rate: -0.055372 deg/s, cmd heading: 152.473168 deg, new cmd heading: 152.402179 deg. HeadingCmd: 2.659920 target range: 30.088469 and range: 30.30 m.b <*@ZrjRJB~~{B}||||~Z@ }zB}AY ,,ChAK 5P"K@9*K 2K:Kb]" tLUZr]nJr~*o :+ ~J>J ?9Vd@V)x,@YV"yV G=VH`$ۿD? ~?`<P? D?Ű? ? Vd@VI;)VCb~Bb?IIj IjV2rx< rR=yv;Q v>٥tt vHv?Fz9 z>|:5~Ϝ?:59~y I~eBy  *@ @~m#Ei~u:~:~F:5m(A9EDNOT Ignoring new targets: 30.09 m.AEЌEЌechecking for new query: numPingsReceived=4, elapsed TxPingTime=2.758863e ProNav: ac range: 30.088469 m, nav range: 28.003927 m, bearing: 150.065967 deg, approach rate: -0.624524 m/s, LOS rate: -0.061554 deg/s, cmd heading: 152.402175 deg, new cmd heading: 152.334497 deg. e(mHeadingCmd: 2.658739 target range: 30.088469 and range: 30.30 m.bm(*@ZirijiRqJqBq~y~y}y|y|y|| T7@ zBn=I)TK?I޼ vfB<(*@$=d7y=i(*@i1GGH>HCH~IHx~BH =HHH<H,EEMEIEIEU~0EQa6G~GiAqԉAN> BDAT read: Rx Time:13:59:27.9064  TRx dataTimestamp_ set to:1749131969.351303 checking for new query: numPingsReceived=4, elapsed TxPingTime=3.011730Թ e,,uU]hA ~B:Ii=I<II 3Θ :=yQ ->٥99 EHE@Fԑ >%:55Ϝ?M:59v IhByQQ]@r#Ei <7 <J:5}B}(A}aE:JaBJ\JJRJZJ:bJ[9JJzJ;jJ;JӁ:rJԁ:)5DNOT Ignoring new targets: 30.09 m.155} ProNav: ac range: 30.088469 m, nav range: 27.725658 m, bearing: 150.038265 deg, approach rate: -0.556751 m/s, LOS rate: -0.055982 deg/s, cmd heading: 152.334501 deg, new cmd heading: 152.250560 deg. u=u<checking for new query: numPingsReceived=4, elapsed TxPingTime=3.265105}HeadingCmd: 2.657274 target range: 30.088469 and range: 30.30 m.b*@ZrjRJB~~}|||| D @ -zB5 } BDAT read: Tx time:13:59:29.0145 } $Ping request sent.} @  j>  )  [8p? k?RDi G? K= )g  j>  )  :publishing transmit ping timey  Fpublishing direction and range info~G Թ A A N >p,,_xhAڹyڽpU?y3s+#ͿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ[8p? k?RDiݹݹݹݹ ޹)޹checking for new query: numPingsReceived=5, elapsed TxPingTime=0.048776~BDIMb@Mb@Mb@ )Y +?y̼~@ Z@)I@y=@I=I=?13< =yQ >٥ HAF > :5Μ?-:59s IjBy5?5:5)@5@v#Ei;=;O:59=F(AEdEK +P"K 9*K 2K :K B[w9r8{C p[^ gOg,IQ,:~JJAZbvhAAAI)@ʁq&(6;@|`j ZLcpU?y3s+#Ϳ)g j>ҁj](;8u螑2*@mM1T?r.}?G˿)zQA)j0ǜ?rk 9fBycvǜ?͇  cBꁽAC'@m addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 3.528331 s, deltaX: -2.099998 m, approachRate: -0.595182 m/s, rangeRepo size: 4 } Added new target pos. range: 28.003239 m, bearing: 151.395584 deg, lat: 36.906383 deg, lon: -122.116028 deg, deltaT: 3.528331 s, deltaX: -2.085230 m, approachRate: -0.590996 m/s, posRepo size: 4 y}DNOT Ignoring new targets: 28.00 m. ProNav: ac range: 28.003239 m, nav range: 27.451401 m, bearing: 150.105081 deg, approach rate: 0.000000 m/s, LOS rate: -0.055982 deg/s, cmd heading: 152.250558 deg, new cmd heading: 152.168187 deg. HeadingCmd: 2.655836 target range: 28.003239 and range: 28.20 m.b7)@ZrjRJDAT read: TxSync time:13:59:29.0137 checking for new query: numPingsReceived=5, elapsed TxPingTime=0.240988JB~~-{B}||A|E@33<@|E? zB靕E7K?IѼ <<7)@v==i7)@iH1H1H5IH5~BH5 =H1H50DH5<H5EY E E E E P0E ԁ 6G ~=~GyAייchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.492403AN>q%,,0hA9J@Jy$,@YJ2yJ+=JH \ۿ ??@ ?`aY?A?? J@J-;)JCj~BnEIIrIrm?3z; ze=|yI٥!! %H!%k ->)5:5-]Μ?=:59-ap I-kByY]o)@]@-z#Ei-;-K;-8R:5am>(AiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 28.00 m.(( ProNav: ac range: 28.003239 m, nav range: 27.241631 m, bearing: 150.092913 deg, approach rate: -0.631099 m/s, LOS rate: -0.036890 deg/s, cmd heading: 152.168186 deg, new cmd heading: 152.131401 deg. ʺHeadingCmd: 2.655194 target range: 28.003239 and range: 28.20 m.b)@ZrjRJB~!~!}!|!|!|)|-}? zB靝+=I)K?Iͼ :<)@Z=Fr=i)@i1EEEE0EYchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.7440716GI@=~G A A N >ԁ P+,, hA9>@>,@Y>|y>|t=>H`@&ۿ?`2 ?@K,L???? >@>؇;)>CV~BZHIEMb@Mb@Mb@AAA A)AYEZd;O?V-yEj?EAE@ EC@)E@IE@AyE@YIe Ieb3u < uC=yub7;Q u>٥yy }H}BF >:5Μ?:59*m IlBy?:(@@~#Eim ;;U:5B((AfEDNOT Ignoring new targets: 28.00 m.bb ProNav: ac range: 28.003239 m, nav range: 26.987597 m, bearing: 150.081605 deg, approach rate: -0.621136 m/s, LOS rate: -0.027909 deg/s, cmd heading: 152.131399 deg, new cmd heading: 152.097156 deg. ;HeadingCmd: 2.654596 target range: 28.003239 and range: 28.20 m.b)@ZrjRJB~ ~ G{B} | | ||P?checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996064 ezBel\ e bch}&Al>BJ ?J ?~Ga Ai A N > checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248089 H >H H IH ~BH  =H H H #<H ]EHHHH =I I˲5}2,,ʰhA9Bи@B0+@YB9yBp=BH+-ܿ? A?t@&?߀?@I?? Bи@Be;)@N~BRBIIVIVm?3^B bV=ybƁ;Q b>٥`d fHdf f>hn:5j]Μ?r:59j1j IjmBypr(@r@j#Eij3;j:j/Y:5tvK(AxDNOT Ignoring new targets: 28.00 m.̹̹ ProNav: ac range: 28.003239 m, nav range: 26.754202 m, bearing: 150.072821 deg, approach rate: -0.589826 m/s, LOS rate: -0.022392 deg/s, cmd heading: 152.097152 deg, new cmd heading: 152.070571 deg. uԱHeadingCmd: 2.654132 target range: 28.003239 and range: 28.20 m.bM)@ZrjRJB~~}|!|)|Q|UiC? zB靝_V=I)G?I2ü 6<M)@=^e=iM)@iEEEE4Echecking for new query: numPingsReceived=5, elapsed TxPingTime=1.500038 6G 4q=~G A9 AI Ne >Y S8,,hA9Zx@Z+@YZ(ܻyZeg=ZH@ iܿf?`z?][?`7{??? Zx@Z;)ZCf(~BfMIechecking for new query: numPingsReceived=5, elapsed TxPingTime=1.752157}Mb@Mb@Mb@yyy y)yY}Q?y&1y}(?}`ey}Q@ y)}@I}@yy}G@II)= ==y>c;Q >٥ HCF >:5RΜ?:59f Iy?:%@@#Ei:A:\:5B'AiE)DNOT Ignoring new targets: 28.00 m.s4:s4: ProNav: ac range: 28.003239 m, nav range: 26.488787 m, bearing: 150.090189 deg, approach rate: -0.596773 m/s, LOS rate: 0.039440 deg/s, cmd heading: 152.070569 deg, new cmd heading: 152.123193 deg. :HeadingCmd: 2.655051 target range: 28.003239 and range: 28.20 m.bY)@ZrjR!J!B!~I~M{B}I|I|I|Q|U@3A? zB靥W>,,hA9>a5@>H+@Y>'y>@q\=>H ;ܿL\?`?@[`?Wp??? >a5@>‰;)>CJ~BJHIIRIR3ZἼ Z[=yZ;Q Z>٥\\ bHbDFf3 j>h]:5jΜ?]:59jSc IhyY]o%@]@j#Eij`:5am (AiDNOT Ignoring new targets: 28.00 m.Y:Y: ProNav: ac range: 28.003239 m, nav range: 26.259579 m, bearing: 150.107533 deg, approach rate: -0.623454 m/s, LOS rate: 0.047590 deg/s, cmd heading: 152.123189 deg, new cmd heading: 152.175677 deg. ;HeadingCmd: 2.655967 target range: 28.003239 and range: 28.20 m.b[)@ZrjRJB~~}||||`n@ -zB-=I1)5H?1I53 19=2<=[)@E]=EAD=iE[)@iIbEaZEaԑ:J=_BJ=VJJ9RJ9ZJ= :bJ=B9J9J9EEEEO0EF=F=K-/FP"K-9*K)2K-:K-?o,z9qRUV3AM=*2|{dL'I2uchecking for new query: numPingsReceived=5, elapsed TxPingTime=2.2569906Gg\=Hm>HiHiHiHm =HiHiHm<HmE~GAAN=>Թ checking for new query: numPingsReceived=5, elapsed TxPingTime=2.507926! E,,xhA9:`@:+@Y:qy:,UT=:Hܿ`?`?@„%?6b??@? :`@:Z;)8z ~Bz=II I̍2, D=yl;Q >٥! %H!- 5>9U:5=Μ?]:59=_ I9yim=%@u@=#Ei=;=Y;=c:5y}d(AlEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 28.00 m.t:t: ProNav: ac range: 28.003239 m, nav range: 26.004227 m, bearing: 150.128907 deg, approach rate: -0.632582 m/s, LOS rate: 0.053470 deg/s, cmd heading: 152.175672 deg, new cmd heading: 152.240424 deg. ;HeadingCmd: 2.657097 target range: 28.003239 and range: 28.20 m.b *@ZrjRJB~~}||||ָ@ {Ba=I!)%UC?!I%購 !!%1< *@y=7=i *@iEEEEP0E!}checking for new query: numPingsReceived=5, elapsed TxPingTime=2.7599616GYW=I ~G A A N >L,,)\2hA9J@JX*@YJX ^yJFR=JH VܿH??}D?*K?`OR? *? J@J;)JCZ ~BZ<IeMb@Mb@Mb@aaa a)aYe{Gz? rh٥ HEF >:5pΜ?:599\ IjBy$?:'@@#Ei~ ;;g:5k(ADNOT Ignoring new targets: 28.00 m.77BDAT read: Rx Time:13:59:31.4538 TRx dataTimestamp_ set to:1749131972.879476checking for new query: numPingsReceived=5, elapsed TxPingTime=3.013199 ProNav: ac range: 28.003239 m, nav range: 25.735968 m, bearing: 150.129577 deg, approach rate: -0.652024 m/s, LOS rate: 0.001644 deg/s, cmd heading: 152.240422 deg, new cmd heading: 152.242451 deg. j8HeadingCmd: 2.657132 target range: 28.003239 and range: 28.20 m.bt*@Z rjRJB~!~%zB}!|!I|i|i|m Y@}JTimed out from 2025-06-05T13:49:32.8Z1i}}fCompleted lineCaptureHoming:MicromodemComms:CheckInh}}Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn}VCompleted lineCaptureHoming:MicromodemComms {BJ4J4JNU0:JI BJM SJJM GRJI ZJI bJM y69JM c4JI  checking for new query: numPingsReceived=5, elapsed TxPingTime=3.263899K eP"K ж9*K 2K :K `A(:WX!$[M8YU bP~g?Gb T1) Hm >Hm CHm IHm ~BHm  =Hi Hi Hm <Hm E G A - %Y5 Ay5 8BNR,, 6LhAP9e@ez*@Yew:ye,]=eH*|;ݿ@9e?m)?@Iq? N?? e@e ;)eCM~Bu8III?13 ;=yt;Q >٥ HFF6ۻ >:5[Μ?:59X IhByp'@@#Ei::\k:5B(AoE15DNOT Ignoring new targets: 28.00 m.1=08E08 ProNav: ac range: 28.003239 m, nav range: 25.455929 m, bearing: 150.132104 deg, approach rate: -0.629323 m/s, LOS rate: 0.005743 deg/s, cmd heading: 152.242458 deg, new cmd heading: 152.250124 deg. 9|9HeadingCmd: 2.657266 target range: 28.003239 and range: 28.20 m.b*@ZrjRJB~~}!|!|)|)|- @h5 5nAggregate::initialize lineCaptureHoming:MicromodemCommsh55~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn1i= {B靭oXjE>5DAT read: 13:59:31.4538 LVL= 26512, 28913, 25138, 32755, AGC= 59, IDX= 418, 0.14, 1.163,-0.187, 1.135, 0.678, PHS= 0.573,-0.817, 0.455, RAW= 145.6, -3.2, CAL= 150.3, -12.2, ROT= 359.7, 12.2 EYgot valid direction response: 13:59:31.4538 LVL= 26512, 28913, 25138, 32755, AGC= 59, IDX= 418, 0.14, 1.163,-0.187, 1.135, 0.678, PHS= 0.573,-0.817, 0.455, RAW= 145.6, -3.2, CAL= 150.3, -12.2, ROT= 359.7, 12.2 UPDAT read: Bearing 359.7, 12.2 (Local) U~Local bearing/azimuth received: Bearing 359.7, 12.2 (Local) DAT read: Range 10 to 50 : 26.2 m (Round-trip 35.0 ms) speed 0.5 m/s E}EEEE,DAT read: user:1885> BDAT read: Tx time:13:59:32.5646 $Ping request sent. "@)dI'@i^ Z@^ Z> )H?9\2?ՏQWis>&d=^ Z> )M:publishing transmit ping timeMFpublishing direction and range infoyݰF?0YLt\ ˿Y )Ii )Ii )H?9\2?ՏQWi )checking for new query: numPingsReceived=6, elapsed TxPingTime=0.030984) 6G /7=~G A IY I] @AAy I  JDAT read: TxSync time:13:59:32.5638  checking for new query: numPingsReceived=6, elapsed TxPingTime=0.224331yԡMchecking for new query: numPingsReceived=6, elapsed TxPingTime=0.475976NuD?(^,,d}hA5}B53IMb@Mb@Mb@ )Yp= ף?~jtMby%? Z@)I@y@I"Iq3m m٥qq uHuGF} }j>ԉ:57Μ?:59Q IaByt%?:'@@#Ei90;-;r:5(ArEZbXhA"A"A2+@ʁZm9@o34 苸wݰF?0YLt\ ˿쉒^ Z>ҁA62'&@w)H}뿞77"??)˿z7A쥵j즼sƜ?r$ gB0ǜ?j  dBA((@E addTargetRange:: Added new target pos. range: 26.200001 m, deltaT: 3.528561 s, deltaX: -2.000000 m, approachRate: -0.566803 m/s, rangeRepo size: 4 e Added new target pos. range: 26.016729 m, bearing: 153.264038 deg, lat: 36.906381 deg, lon: -122.116029 deg, deltaT: 3.528561 s, deltaX: -1.986509 m, approachRate: -0.562980 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 26.02 m.q}y ProNav: ac range: 26.016729 m, nav range: 25.118441 m, bearing: 150.543768 deg, approach rate: 0.000000 m/s, LOS rate: 0.005743 deg/s, cmd heading: 152.250121 deg, new cmd heading: 152.263322 deg. %HeadingCmd: 2.657496 target range: 26.016729 and range: 26.20 m.b-k*@Z)r)j)R)J)B)~1~5{B}1|1|9|=@33:@|=?:JM]BJMZJJM@RJIZJM]:bJMS9JMJ4JI  {Buׅ??checking for new query: numPingsReceived=6, elapsed TxPingTime=0.728866ԹKBP"Kŷ9*K2K:Kdcx:p qW ^}7`@et$JJHE>HAHE~IHEx~BHE =HAHAHE<HE EE]EYEaEe_0Ea6G} ؛*=~GY Ay A N >) Ve,,Y0hA9>d@>*@Y>n:y>gP=>H. ݿ8? ?czڣ?@mZ@?U? >d@>2F;) checking for new query: numPingsReceived=6, elapsed TxPingTime=1.734800r,,qʱhAHHHxIHn~BH =HH/DH#<HTEK6P"K}9*K2K:Kg!4We%j!i2A{PxgowHCJ:>J: ?L9%@%+@Y%;y%f=%Hܿ@e??@?tԬ?@? %@%;)%CU}B]/IImIm#3u} Q=ys ٥ HIF; >%:5[͜?-:59G IVBy)5(@U@#Ei<<z|:5uB}(A}vEDNOT Ignoring new targets: 26.02 m.11 ProNav: ac range: 26.016729 m, nav range: 24.348532 m, bearing: 150.544260 deg, approach rate: -0.624573 m/s, LOS rate: -0.009711 deg/s, cmd heading: 152.276991 deg, new cmd heading: 152.264761 deg. EչHeadingCmd: 2.657521 target range: 26.016729 and range: 26.20 m.b*@ZrjR J B ~1~1}9|A|I|q|u`3d?ԩ {B=I) (9? I cx @A'<%*@%=%i:=i%*@iiE!E!E!E%5E)checking for new query: numPingsReceived=6, elapsed TxPingTime=1.987174 6G% 334=~G A A) Nm >x,,hAt:J1BJ5\JJ5?RJ1ZJ1bJ5[9J5ـ4J1zJ5:ejJ5:mJ1urJ1} ؕ?ו<checking for new query: numPingsReceived=6, elapsed TxPingTime=2.248159~B8IMMb@Mb@Mb@III I)IYMx&1?Zd;OMbpyM!?MjMM;@ I)M@IM@IyMG@IeIe2}= }-=yQ >٥ HJF >:5*͜?:59RD IUBy!?:(@@#Ei;;t:5c(AyEDNOT Ignoring new targets: 26.02 m.ꎹꎹ ProNav: ac range: 26.016729 m, nav range: 24.061323 m, bearing: 150.537454 deg, approach rate: -0.651265 m/s, LOS rate: -0.015618 deg/s, cmd heading: 152.264765 deg, new cmd heading: 152.244102 deg. +HeadingCmd: 2.657161 target range: 26.016729 and range: 26.20 m.b*@ZrjRJB~~zB}||||@"@ m{Bm@,,:XhA9>M@>+@Y>X=>Hq ܿ@?e?`{p?r>@?@? >M@>;) [$< *@H=:=i *@iEmEiEqEuO0EqUchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.751170H>HHrIHd~BH =HH0DH<HEH]řCH]řCHYH] =I] = I]|5KP"K59*K2K:K^R #xJnXLTQr4RQNuaFLz7+I[C3R?3E,5J%AJ!96Gu‹9=~GQ AY Aq N} >i ,,hA9>+@>*@Y>3(=>H@_ܿ X??Rt !ް?@Z??? >+@>!;)٥ HKFj >!-:5%͜?-:59%g> I%PBy15(@5@%#Ei%`:%:%:5= B=(AE|EYQ]DNOT Ignoring new targets: 26.02 m.Y]lel ProNav: ac range: 26.016729 m, nav range: 23.597294 m, bearing: 150.527227 deg, approach rate: -0.616660 m/s, LOS rate: -0.012902 deg/s, cmd heading: 152.229412 deg, new cmd heading: 152.213113 deg.  HeadingCmd: 2.656620 target range: 26.016729 and range: 26.20 m.b*@ZrjRJB~~}|||| @ %{B%޿=I!)-y??)I- )IU" L$,,$2hAu}Bu3Iԩ Mb@Mb@Mb@    ) Y +?:vy&1|y ? Լ ` Q@ ) @I  y @II3-T 58=y5Q 5>٥99 =H=LF= =>:5͜?:59: IMBy?:a(@@#Eic;a;ߊ:5B(AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 26.02 m.- ProNav: ac range: 26.016729 m, nav range: 23.311678 m, bearing: 150.524591 deg, approach rate: -0.665309 m/s, LOS rate: -0.006216 deg/s, cmd heading: 152.213115 deg, new cmd heading: 152.205109 deg. -5HeadingCmd: 2.656480 target range: 26.016729 and range: 26.20 m.b5*@Z1r1j1R1J9B9~9~={B}A|I|Q|Q|Uc+ @ {B靍A =I)79?I| k!<*@}=w7=i*@iDAT read: 13:59:35.0007 LVL= 20000, 31793, 18850, 32755, AGC= 62, IDX= 403, 0.26, 0.835,-0.545, 0.730, 0.370, PHS= 0.552,-0.868, 0.357, RAW= 142.7, -0.6, CAL= 147.0, -9.7, ROT= 3.0, 9.7 Ygot valid direction response: 13:59:35.0007 LVL= 20000, 31793, 18850, 32755, AGC= 62, IDX= 403, 0.26, 0.835,-0.545, 0.730, 0.370, PHS= 0.552,-0.868, 0.357, RAW= 142.7, -0.6, CAL= 147.0, -9.7, ROT= 3.0, 9.7 PDAT read: Bearing 3.0, 9.7 (Local) ~Local bearing/azimuth received: Bearing 3.0, 9.7 (Local) DAT read: Range 10 to 50 : 24.0 m (Round-trip 32.0 ms) speed 0.6 m/s %,DAT read: user:1886> -BDAT read: Tx time:13:59:36.1146 -$Ping request sent.-O ??5^ȶ> e@)+IY3$@i-\-PwV=-\-> )grB?gZe?2VDi(>E]EYEYEYEa 2<PwV=-\-> ):publishing transmit ping time)Fpublishing direction and range infoy.9?&i?RVſY )Ii )Ii )grB?gZe?2VDi )=checking for new query: numPingsReceived=7, elapsed TxPingTime=0.034305 6G} 8<=~G9 AI AY Ne >A  JDAT read: TxSync time:13:59:36.1138  checking for new query: numPingsReceived=7, elapsed TxPingTime=0.208469H >H CH kIH Y~BH  =H H H <H &EG ,,ULhA9:J@:*@Y:G/R~BR8ITVAIZ IZ(2r< rc=yr;Q v>٥tt vHtz z>%:5͜?%:597 IJBy)-F(@-@#Ei:::5QU'A]EZb>:hAAA.@ʁu7@_̔߫?*Y.9?&i?RVſPwV=-\->ҁTA5rQ1"@X TpIo0٥ HMF; ; >:5<͜?:59p3 IFBy[?:(@@#EiZ::Ғ:5B(AEDNOT Ignoring new targets: 23.83 m.99 ProNav: ac range: 23.832434 m, nav range: 22.597597 m, bearing: 151.778044 deg, approach rate: -0.636650 m/s, LOS rate: 0.024881 deg/s, cmd heading: 152.198007 deg, new cmd heading: 152.238836 deg. :HeadingCmd: 2.657069 target range: 23.832434 and range: 24.00 m.bk *@ZrjRJB~ ~ {B} |1|1|1|5:d? {B靅w,,,>섲hAt x)zAɵxxx|ɶ|i|I||Ii|A )    ɷ  AIC)i)I(ABɸ ɹii!%̃A) Iٯ~B:IIIM3$;= i=y Q  >٥    H NF >M:5-y͜?:590 IDBy ҉G@%checking for new query: numPingsReceived=7, elapsed TxPingTime=1.214328H->H-CH-eIH-O~BH- =H)H)H-<H-E#Ei=]A=i:5 YAyB'AK+P"K@9*K2K:K8n%ndBpa*S[^OXQYvt{We:)do`fL!5DNOT Ignoring new targets: 23.83 m.1=9=9M ProNav: ac range: 23.832434 m, nav range: 22.379517 m, bearing: 151.786649 deg, approach rate: -0.564541 m/s, LOS rate: 0.022495 deg/s, cmd heading: 152.238838 deg, new cmd heading: 152.264907 deg. Mw:uHeadingCmd: 2.657524 target range: 23.832434 and range: 24.00 m.bu*@ZqrqjqRqJyBy~y~y}||||P? {B-=I);?I\ Nj<*@=g;3=i*@i EEEEEAi  checking for new query: numPingsReceived=7, elapsed TxPingTime=1.4662356G &/=~G A A N >*L,,hA9JB@J*@YJ.٥ H lN  >:5f͜?:59q- IAByw(@%@#Ei+;;a:5-B-'A-EaeDNOT Ignoring new targets: 23.83 m.amx:mx:} ProNav: ac range: 23.832434 m, nav range: 22.130550 m, bearing: 151.797526 deg, approach rate: -0.719676 m/s, LOS rate: 0.031795 deg/s, cmd heading: 152.264902 deg, new cmd heading: 152.297899 deg. }:HeadingCmd: 2.658100 target range: 23.832434 and range: 24.00 m.bO*@ZrjRJB~~}||||M? 靕D-=I):?IT <O*@=&,=iO*@iԑIC=I:J]BJSJJRJZJ]:bJy69JJzJ:jJ:J(C:rJ*C:EMEIEIEUd0EYMchecking for new query: numPingsReceived=7, elapsed TxPingTime=1.719029Ա6Gu 4=~G A A N > 9w,,zhA9B0@B*@YBH٥qq uHuOF}~Z }>:5sU͜?:59U* I?By?:'@@#Eio:::5checking for new query: numPingsReceived=7, elapsed TxPingTime=1.970393Թ'AB*** querying acoustic contact ***JRAEDNOT Ignoring new targets: 23.83 m.Am5:m5:} ProNav: ac range: 23.832434 m, nav range: 21.892708 m, bearing: 151.814484 deg, approach rate: -0.549161 m/s, LOS rate: 0.039580 deg/s, cmd heading: 152.297905 deg, new cmd heading: 152.349332 deg. }N:HeadingCmd: 2.658998 target range: 23.832434 and range: 24.00 m.b-*@ZrjRJB~~{B}||| |  @ ]{B]=IY)]H1 H5 kIH5 Y~BH5  =H1 H5 /DH5 <H5 E] checking for new query: numPingsReceived=7, elapsed TxPingTime=2.2232196G ,=K O"K }9*K 2K :K nc62n\GF j{Yfz J >J >A ~G A A N >`,, ]ҲhA9n@n4*@Yn-V٥    H  I/: >%:5OB͜?%:59& Iԙ  checking for new query: numPingsReceived=7, elapsed TxPingTime=2.733457,,hA9^ @^l*@Y^edIn٥)1 5H5PF5R; 5>9E:5=/͜?E:59=# I=9ByM?M:M(@M@=#Ei= ;=& ;=#:5UB]9'A]EDNOT Ignoring new targets: 23.83 m.@2:@2: ProNav: ac range: 23.832434 m, nav range: 21.375578 m, bearing: 151.849422 deg, approach rate: -0.613504 m/s, LOS rate: 0.038960 deg/s, cmd heading: 152.406724 deg, new cmd heading: 152.455418 deg. :HeadingCmd: 2.660849 target range: 23.832434 and range: 24.00 m.bZK*@ZrjRJB~~T{B}||a|a|e&@ {B靵~"=I)@C?I=5 <ZK*@= &&=i ZK*@ibE!ZE!9EEEEj3EuBDAT read: Rx Time:13:59:38.5476 uTRx dataTimestamp_ set to:1749131979.947303}checking for new query: numPingsReceived=7, elapsed TxPingTime=2.983314a6G ~G A A N >ԑ p,, hA9>K@>*@Y>oo=>Hܿ@? ?x?`?? >K@>g;)>CJ'~BJMIIRIR?13Z&: Zn=y^;Q ^?٥`` bHbQFf:H; j?lr:5n( ͜?r:59n In6Bytv,(@v@n#EinK:n:n':5xzI'Ax%DNOT Ignoring new targets: 23.83 m.!-i+:-i+:= ProNav: ac range: 23.832434 m, nav range: 21.165781 m, bearing: 151.862242 deg, approach rate: -0.607100 m/s, LOS rate: 0.037465 deg/s, cmd heading: 152.455423 deg, new cmd heading: 152.494263 deg. =:EHeadingCmd: 2.661527 target range: 23.832434 and range: 24.00 m.bEuV*@ZArAjARAJIBQ:JaBJWJJARJZJ:bJG9J4J@@@@~~}|||| @ lA=I)B?I- !%I:<=uV*@===]'=i=uV*@i9H>HHxIHn~BH =HHH<HIE =checking for new query: numPingsReceived=7, elapsed TxPingTime=3.235120EEEEO0EK:P"K9*K2K:K['`7 tEl[dyas3nsg,JAJ6G5 %=~G A A) NE >I  DAT read: 13:59:38.5476 LVL= 25360, 32753, 23714, 32755, AGC= 57, IDX= 403, 0.31, 2.358, 0.995, 2.213, 1.905, PHS= 0.541,-0.863, 0.305, RAW= 141.0, 0.3, CAL= 145.4, -8.7, ROT= 4.6, 8.7 - Ygot valid direction response: 13:59:38.5476 LVL= 25360, 32753, 23714, 32755, AGC= 57, IDX= 403, 0.31, 2.358, 0.995, 2.213, 1.905, PHS= 0.541,-0.863, 0.305, RAW= 141.0, 0.3, CAL= 145.4, -8.7, ROT= 4.6, 8.7 - PDAT read: Bearing 4.6, 8.7 (Local) 5 ~Local bearing/azimuth received: Bearing 4.6, 8.7 (Local) = DAT read: Range 10 to 50 : 21.6 m (Round-trip 28.9 ms) speed 0.5 m/s E ,DAT read: user:1887> M BDAT read: Tx time:13:59:39.6646 M $Ping request sent.M @) ;I i"@i | l= |> ) %o]?HR?f*Kr?i b> ? l= |> ) u :publishing transmit ping timeI u Fpublishing direction and range info y sz? V qK?ni\ÿ Y ) I i ) I i ) %o]?HR?f*Kr?i )  checking for new query: numPingsReceived=8, elapsed TxPingTime=0.011475q ,,] hA ~BIII I2T *=yQ >٥ H >5:5 ͜?5:59 I2By99=@#Ei$<$<W:5AE_'AEEZbhAAAT0@ʁAT:!."5@B/4? d sz? V qK?ni\ÿl=|>ҁwf3Exv@,Fj JR'Nx?yĿz@;jƜ?rEM UpBsƜ?$  gBA+@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 3.529992 s, deltaX: -2.400000 m, approachRate: -0.679888 m/s, rangeRepo size: 4 JDAT read: TxSync time:13:59:39.6638 checking for new query: numPingsReceived=8, elapsed TxPingTime=0.241750AM Added new target pos. range: 21.448601 m, bearing: 158.187024 deg, lat: 36.906374 deg, lon: -122.116039 deg, deltaT: 3.529992 s, deltaX: -2.383833 m, approachRate: -0.675308 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 21.45 m.Qei ProNav: ac range: 21.448601 m, nav range: 21.332037 m, bearing: 153.759014 deg, approach rate: 0.000000 m/s, LOS rate: 0.037465 deg/s, cmd heading: 152.494259 deg, new cmd heading: 152.554323 deg. HeadingCmd: 2.662575 target range: 21.448601 and range: 21.60 m.bg*@ZrjRJB~~}|||5@|`=? e {Bes =Ia)e*@?iIm1! iimk<,,Ǹ>hA9j\@j)+@Yj׎? ? j\@jˡ;)jCv#~BJI =p=IMb@Mb@Mb@ )YQ?X9vMby(?@ p@);@I@y@IIm?3a; 9=yE;Q >٥ HRF; >:5̜?:59 I.By _? : '@ @#Ei};O;6:5V'A5B*** querying acoustic contact ***J1R1QUDNOT Ignoring new targets: 21.45 m.Q]u;]u;m ProNav: ac range: 21.448601 m, nav range: 21.061981 m, bearing: 153.802300 deg, approach rate: -0.691794 m/s, LOS rate: 0.112306 deg/s, cmd heading: 152.554324 deg, new cmd heading: 152.685846 deg. m&;uHeadingCmd: 2.664871 target range: 21.448601 and range: 21.60 m.bu>*@ZqrqjqRyJyBy~y~}k{B}||!|!|%*@uA=uK|%=i}>*@iyy:Je^BJeRJJe@RJaZJe} :bJeS29JeJ4JaEuEqEqE}4EyH}>HyH}~IH}x~BH} =HyH}0DH}ߚ<H}EH9H9H9H= =I9 I= 6checking for new query: numPingsReceived=8, elapsed TxPingTime=0.743258ԡK-P"K@9*K2K:K~q2+CEH B"3tD)|J pv1sJ?J?6G #=~Gq A A N >&,,XhA9F;:@FM+@YF5w٥hl nHnSFn; n>pv:5r|̜?z:59r Ir*Byxz(@z@r#Eir] ;r ;rn:5~B~s'AE!-DNOT Ignoring new targets: 21.45 m.)5:5:E ProNav: ac range: 21.448601 m, nav range: 20.837435 m, bearing: 153.837878 deg, approach rate: -0.613798 m/s, LOS rate: 0.098300 deg/s, cmd heading: 152.685846 deg, new cmd heading: 152.793730 deg. E;MHeadingCmd: 2.666754 target range: 21.448601 and range: 21.60 m.bM*@ZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|]BJ?ԩ]checking for new query: numPingsReceived=8, elapsed TxPingTime=0.996967 }"{B}M8=Iy)}'>?yI P<*@Q=V&=i*@iEEEEO0E 6G(=~G  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.249686A A N 1 ,, \rhA9:9@:0M+@Y:Er٥ Hw >:5r̜?:59K I%ByX?:(@@#Eit;;,:5.'ADNOT Ignoring new targets: 21.45 m.:: ProNav: ac range: 21.448601 m, nav range: 20.578226 m, bearing: 153.880379 deg, approach rate: -0.605154 m/s, LOS rate: 0.100474 deg/s, cmd heading: 152.793736 deg, new cmd heading: 152.922845 deg. ;%HeadingCmd: 2.669007 target range: 21.448601 and range: 21.60 m.b%*@Z!r)j)R)J)B)~1~5{B}1|1|9|9|=`j? m#{BmDK8=Ii)mB?qIu& qqu<}*@}^=}=i}*@izEE%E)E)E-P0E)F5=F1Iuchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.5010666G-ɓ%=i~G A A) N= >:J BJ _JJ CRJ ZJ bJ =h9J 4J ԙ ,,'/hAH>HHHHHHH<H%E9J@J %+@YJ6lbchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.751204ddIjIj2vj zV=yz;;Q z>٥|| HTFsѻ > :5 m̜?:59 C I "By'@@ #Ei w; ; :5!%A'A%EIUDNOT Ignoring new targets: 21.45 m.QU::  ProNav: ac range: 21.448601 m, nav range: 20.346216 m, bearing: 153.920924 deg, approach rate: -0.605779 m/s, LOS rate: 0.107071 deg/s, cmd heading: 152.922840 deg, new cmd heading: 153.045862 deg.  ;HeadingCmd: 2.671154 target range: 21.448601 and range: 21.60 m.b1*@Zr1j1R1J1B9~9~9}9|A|A|A|E"?y %{B65=I)M@?I <K3P"K}9*K2K:K K[yYvM5e  X. '  (&9c H'Xth JJ1*@Ic= =i1*@iEEEEEԡchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.0066126G- s=~G A! A9 NM > |,, hA9B@B*@YB<?uj? `?(? B@B;)BCN~BR9IIVIV3b bM=ybI1;Q f>٥hh jHnUFr! r>tz:5v̜?z:59v IvByxz'@z@v#Eiv:v :v:5B'AE)-DNOT Ignoring new targets: 21.45 m.)5;5;E ProNav: ac range: 21.448601 m, nav range: 20.104538 m, bearing: 153.966425 deg, approach rate: -0.605135 m/s, LOS rate: 0.115299 deg/s, cmd heading: 153.045866 deg, new cmd heading: 153.184009 deg. EA;]HeadingCmd: 2.673565 target range: 21.448601 and range: 21.60 m.b]+@ZYrYjYRYJaBa~a~a}i|i|i|i|mb@ &{B`:=I)7?Ie `<}+@ _= checking for new query: numPingsReceived=8, elapsed TxPingTime=2.508277|<,,翳hA0~ ~B;IMb@Mb@Mb@ )Y^I +?I +y&1|yX?9`@ )Q@I@yp@II2 < ;=yQ >٥ H >:5}̜?:59 IByu?:(@@#Ei:::5'AEB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 21.45 m.!=:=:e ProNav: ac range: 21.448601 m, nav range: 19.843891 m, bearing: 154.005698 deg, approach rate: -0.597625 m/s, LOS rate: 0.091230 deg/s, cmd heading: 153.184013 deg, new cmd heading: 153.303380 deg. mqz;HeadingCmd: 2.675649 target range: 21.448601 and range: 21.60 m.b=+@ZrjRJB~!~%{B})|)|I|I|U?@ԉ ){B靥%=I)t8?I>V˻ > <=+@U=Z C:JQBJUVJJUERJQZJQbJUB9JU4JQuHGA YAyBEEE E H%>H!H%xIH%n~BH% =H!H!H%<H%"EEU@UBԹFFchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.761164K P"K *K 2K :K t .l@:q,>W~&#.M;LH$W,g;a{ 6G F<ZG RG ~Ga A A N > $,,ٳhA9R:@R*@YR٥  H VF E >!-:5%̜?-:59% I%By)-(@5@%#Ei%[:%g:%":5=B='A=EaeDNOT Ignoring new targets: 21.45 m.ime:me:} ProNav: ac range: 21.448601 m, nav range: 19.616735 m, bearing: 154.042157 deg, approach rate: -0.598764 m/s, LOS rate: 0.097216 deg/s, cmd heading: 153.303377 deg, new cmd heading: 153.414021 deg. }o;HeadingCmd: 2.677580 target range: 21.448601 and range: 21.60 m.bx]+@ZrjRJB~~}||||i@ *{BRC=I)5?Ij 1) <x]+@H=UIQIQ checking for new query: numPingsReceived=8, elapsed TxPingTime=3.265207i N,,hAIYaMb@Mb@Mb@ )Y +? rh{Gzy?C#@ p@)~@I@yI=I=3EV: M*=yMQ U>٥QQ UHUWF] ]>am:5ew̜?m:59eF IeBym?m:u )@u@e$Eiec;e5;eO:5'ADNOT Ignoring new targets: 21.45 m.:: ProNav: ac range: 21.448601 m, nav range: 19.335726 m, bearing: 154.081564 deg, approach rate: -0.585796 m/s, LOS rate: 0.083342 deg/s, cmd heading: 153.414026 deg, new cmd heading: 153.533965 deg. d;HeadingCmd: 2.679673 target range: 21.448601 and range: 21.60 m.b+@ZrjRJB~~z{B}||||m @ --{B-#=I))-4?)I5$ 115! <=+@=2== BDAT read: Tx time:13:59:43.2147 $Ping request sent. E@)E+ A)AE2׫?G0?BCA?iE#>EzW̼E5=Ew> A)A:publishing transmit ping timeFpublishing direction and range infoAyEPuCΩ?(S?<jGM ?bGM :? ~G9 AI Aa Nu >H9 H9 H= eIH= O~BH9 H9 H9 !8-, hAHe<HeEVJDAT read: TxSync time:13:59:43.2139 Zchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.231468ԑ5}B5%IIEIE<2# W=yQ >٥ H >:5ag̜?:59q I By@$Eiy;;:5.(AEK P"K 9*K 2K :K uw#Sc6Y#v5o*%0_oUYc> c'IH,[^ZqbuhAuAuAuP/@ʁuֱ|(3@ҁu 1M?{6B?R.¿zu@uju6Ɯ?ru.? urBu6Ɯ?u.?  uSmBuGAuL/@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 3.528160 s, deltaX: -2.100000 m, approachRate: -0.595211 m/s, rangeRepo size: 4  Added new target pos. range: 19.363628 m, bearing: 157.473557 deg, lat: 36.906369 deg, lon: -122.116050 deg, deltaT: 3.528160 s, deltaX: -2.084972 m, approachRate: -0.590952 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.36 m. ProNav: ac range: 19.363628 m, nav range: 19.159754 m, bearing: 157.473512 deg, approach rate: 0.000000 m/s, LOS rate: 0.083342 deg/s, cmd heading: 153.533965 deg, new cmd heading: 153.631653 deg. HeadingCmd: 2.681378 target range: 19.363628 and range: 19.50 m.b+@ZrjRJ B ~ ~ }|||3@|;j? 0{B靵!+=I)-?I(X ! < +@  =x_ -,P'hA9>@>+@Y>HM=>HW Aܿ??q^?`戚M ?? >@>;)>Cb}BbIifa=If=IjIj[3r| rj=yvA;Q v?٥tt zHzXFz-< z?|:5~*X̜?:59~ I~By  D)@ @~$Ei~:~K:~:5[(AIUDNOT Ignoring new targets: 19.36 m.Q][;][; ProNav: ac range: 19.363628 m, nav range: 18.955481 m, bearing: 157.537726 deg, approach rate: -0.602873 m/s, LOS rate: 0.191558 deg/s, cmd heading: 153.631650 deg, new cmd heading: 153.826367 deg. v<HeadingCmd: 2.684777 target range: 19.363628 and range: 19.50 m.ba+@ZrjRJB~~}||||"?J4JO4J/:J_BJ\JJ@RJZJ :bJ[9JJ4JzJ+:-jJ0:5Jҁ:5rJԁ:5checking for new query: numPingsReceived=9, elapsed TxPingTime=0.736514 2{B%M7=IY)]l*?aI=m 9 <a+@=2ܻqG-,+AhA9>$@>l7+@Y>"܌=>H`ܿ@?M?}6??1? >$@>1 ;)>CN}BRIMb@Mb@Mb@ )YzG?Q٥ HYF; >:5oE̜?:59 IBy@?: (@@ $Ei::w:5Bb(AE%B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 19.36 m.1=;=;M ProNav: ac range: 19.363628 m, nav range: 18.701920 m, bearing: 157.634535 deg, approach rate: -0.585915 m/s, LOS rate: 0.226735 deg/s, cmd heading: 153.826365 deg, new cmd heading: 154.120728 deg. MHHYIH;~BHHHHך<HEchecking for new query: numPingsReceived=9, elapsed TxPingTime=1.237449ԩKM OP"KM 9*KI 2KM :KM -zp"A{0D*uQM$4fX1~v {iHb^J] ?J] >6G 5<~G A A N > q-,[hA96&@6(:+@Y6٥dd fHdj79 n>|:5~<5̜?:59~ I~By   (@ @~$Ei~:~:~:5u(ADNOT Ignoring new targets: 19.36 m.́;́; ProNav: ac range: 19.363628 m, nav range: 18.482693 m, bearing: 157.720272 deg, approach rate: -0.573521 m/s, LOS rate: 0.226957 deg/s, cmd heading: 154.120732 deg, new cmd heading: 154.380992 deg. <HeadingCmd: 2.694457 target range: 19.363628 and range: 19.50 m.bq,@ZrjRJB~~}||||#?checking for new query: numPingsReceived=9, elapsed TxPingTime=1.489221 6{B靍&T6=ԹI)h'?IB fL<q,@ V=5qK9 כ-,thA9>7@>K+@Y>#Ɔ=>Hq`ܿX??`^j?`\9?? >7@>;)>CZ}B^I) Mb@Mb@Mb@ )Yl?S㥛Mby?/ݼ @)@I@y\@II<2" <=y<8Q >٥ HZF; >:5u"̜?:59d IBy?:q(@@$Eie{;zz;:5(AE%DNOT Ignoring new targets: 19.36 m.!-W;-W;= ProNav: ac range: 19.363628 m, nav range: 18.229317 m, bearing: 157.816949 deg, approach rate: -0.598152 m/s, LOS rate: 0.231400 deg/s, cmd heading: 154.380990 deg, new cmd heading: 154.675049 deg. =<EHeadingCmd: 2.699589 target range: 19.363628 and range: 19.50 m.bE,@ZArAjARAJIBI~I~M{{B}Q||||m ? 59{B5B%=I1)5\"?9I= 99=jH >H CH FIH ~BH  =H H H <H EHHHH =I = I5#-, hA$ B:?B%=Fchecking for new query: numPingsReceived=9, elapsed TxPingTime=2.24572093@pF+@Y٥ H[F >:5 ̜?:59 IByo(@@$Ei:::5 (A E15DNOT Ignoring new targets: 19.36 m.1=;=;M ProNav: ac range: 19.363628 m, nav range: 17.950674 m, bearing: 157.926576 deg, approach rate: -0.590293 m/s, LOS rate: 0.235846 deg/s, cmd heading: 154.675043 deg, new cmd heading: 155.009026 deg. M!<UHeadingCmd: 2.705418 target range: 19.363628 and range: 19.50 m.bU%-@ZQrQjQRQJYBY~Y~Y}a|a|q|q|} .@ <{B靥!=I)8!?I ۺ<%-@r=Yn )-,hAL9VH@V)\+@YVl{BV:=I)?Ix3   <5f-@=C=checking for new query: numPingsReceived=9, elapsed TxPingTime=2.751561=;i f-@iEUEQEQEQEQFYF]=6G5O <~G AA1NE> E BDAT read: Rx Time:13:59:45.6421 M TRx dataTimestamp_ set to:1749131987.004716M checking for new query: numPingsReceived=9, elapsed TxPingTime=3.00360560-,´hA9Nd@Ndw+@YN I-<Mb@Mb@Mb@ )Yv?ˡEMby?'@ )@I@yf@I I2mh: <=y :Q  >٥   H\Fz; >!-:5%˜?-:59% I%By-4?-:-''@5@%$Ei%:%E:%7:59E.)AEEeB*** querying acoustic contact ***JiRiyDNOT Ignoring new targets: 19.36 m.£;£; ProNav: ac range: 19.363628 m, nav range: 17.507053 m, bearing: 158.124710 deg, approach rate: -0.586936 m/s, LOS rate: 0.286341 deg/s, cmd heading: 155.234723 deg, new cmd heading: 155.611214 deg. D<HeadingCmd: 2.715928 target range: 19.363628 and range: 19.50 m.b-@ZrjRJB~~<{B}||||@6 @ A{BA=I)G?I/z  <-@=;i-@i E-E)E)E-_0E)He>HeCHe3IHe}BHe =HaHaHe<HeEchecking for new query: numPingsReceived=9, elapsed TxPingTime=3.25375596G) K P"K }9*K 2K :K M RL`t <f{Pq;4o<:+3UQLJ >J ?~G A A! N5 >a 6-,;qܴhAI}BIII3 M=5DAT read: 13:59:45.6421 LVL= 23760, 32753, 23762, 32755, AGC= 59, IDX= 411, 0.01, 2.033, 0.626, 1.878, 1.634, PHS= 0.487,-0.960, 0.241, RAW= 140.9, 3.5, CAL= 144.7, -4.8, ROT= 5.3, 4.8 =Ygot valid direction response: 13:59:45.6421 LVL= 23760, 32753, 23762, 32755, AGC= 59, IDX= 411, 0.01, 2.033, 0.626, 1.878, 1.634, PHS= 0.487,-0.960, 0.241, RAW= 140.9, 3.5, CAL= 144.7, -4.8, ROT= 5.3, 4.8 UPDAT read: Bearing 5.3, 4.8 (Local) ]~Local bearing/azimuth received: Bearing 5.3, 4.8 (Local) mDAT read: Range 10 to 50 : 17.4 m (Round-trip 23.3 ms) speed 0.5 m/s u,DAT read: user:1889> }BDAT read: Tx time:13:59:46.7647 yQ >٥ H]F >}$Ping request sent.uv> c@)5z=I!@iq== )?LƤ?>B?ie>8zq== )-:publishing transmit ping timey5Fpublishing direction and range infoyy qz^?~=^?U]kY )Ii )IZbnhA9A9A 1@ʁ6 $1@kIr?3" qz^?~=^?U]kq==ҁֶ6L0Isl@Kti;YL IZ?7zd@zj.uƜ?rF JvBƜ?i )?LƤ?>B?i )-checking for new query: numPingsReceived=10, elapsed TxPingTime=0.086592uB  UpBĉAH1@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 3.528061 s, deltaX: -2.100000 m, approachRate: -0.595228 m/s, rangeRepo size: 4  Added new target pos. range: 17.278221 m, bearing: 159.182961 deg, lat: 36.906369 deg, lon: -122.116052 deg, deltaT: 3.528061 s, deltaX: -2.085407 m, approachRate: -0.591092 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.28 m. ProNav: ac range: 17.278221 m, nav range: 17.220972 m, bearing: 158.713472 deg, approach rate: 0.000000 m/s, LOS rate: 0.286341 deg/s, cmd heading: 155.611216 deg, new cmd heading: 156.041718 deg. HeadingCmd: 2.723442 target range: 17.278221 and range: 17.40 m.bL.@ZrjRJB!~)~)})|)|1|5`ff1@|5`+?ԡ D{B靵] =I)?Ij 7<L.@=siL.@i:Jm`BJmVJJmKRJiZJm:bJmB9Jm(4JizJm:jJm:JmX:rJmX: JDAT read: TxSync time:13:59:46.7639  checking for new query: numPingsReceived=10, elapsed TxPingTime=0.239222E E E EU P0EY !6G˨;ZGRG~GYAaAqN}?Æ>-,hAm}BmIchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.485230uMb@Mb@Mb@qqq q)qYu+? rhI +yuv?uC u94u@ up@)u@Iqqyu\@II׻ =yQ >٥ H >:5d˜?:59j IԚBy?: (@@'$Ei:I:e:5-B-_)A-EZbʁ6 $1@kIr?3" qz^?~=^?U]kҁֶ6L0Isl@Kti;YL IZ?7zjzƜ?ruAB FvB.uƜ? rBXAz1@DNOT Ignoring new targets: 17.28 m.c;c; ProNav: ac range: 17.278221 m, nav range: 16.905312 m, bearing: 158.868925 deg, approach rate: -0.701933 m/s, LOS rate: 0.352135 deg/s, cmd heading: 156.041723 deg, new cmd heading: 156.516780 deg. q<%HeadingCmd: 2.731733 target range: 17.278221 and range: 17.40 m.b%.@Z!r!j)R)J)B)~1~5M{B}1|1|1|Y|] ? F{B #=I)?I29 ޭ<.@.i.@iEEEE\0E G%AUA 6YAyB6GH5>H5CH5'IH5}BH1H1H5/DH5<H5Ea~GAAN> checking for new query: numPingsReceived=10, elapsed TxPingTime=0.737283i jE-,hA96\@6,@Y6٥!! %H%^F-El= ->1M:55˜?M:595 I5ϚByIMX)@M@5*$Ei53w;5w;5k:5Y])AYDNOT Ignoring new targets: 17.28 m.;; ProNav: ac range: 17.278221 m, nav range: 16.692667 m, bearing: 158.961935 deg, approach rate: -0.643890 m/s, LOS rate: 0.285221 deg/s, cmd heading: 156.516776 deg, new cmd heading: 156.799357 deg. C<HeadingCmd: 2.736665 target range: 17.278221 and range: 17.40 m.b%/@ZrjRJB~~}|||| ?? H{BKv5=I)8 ?I: <%/@&n=V;i%/@iQEEEED1Echecking for new query: numPingsReceived=10, elapsed TxPingTime=0.992428y6G}ԩ~GAAN :J ^BJ JJ ARJ ZJ } :bJ J 4J  @ @ @ @7K-,50hA*checking for new query: numPingsReceived=10, elapsed TxPingTime=1.2431539}\@}#p-@Y}X٥ii mHm_Fu޴< u>y:5}t˜?:59} I}ǚBy?:(@@}/$Ei}z<}y<}:5)AEquDNOT Ignoring new targets: 17.28 m.yr;r; ProNav: ac range: 17.278221 m, nav range: 16.396399 m, bearing: 159.107707 deg, approach rate: -0.591479 m/s, LOS rate: 0.296282 deg/s, cmd heading: 156.799355 deg, new cmd heading: 157.244563 deg. UK<HeadingCmd: 2.744435 target range: 17.278221 and range: 17.40 m.bԤ/@ZrjRJB~~V{B}||||_? MK{BM=IQ)U?QIU-: QQU|<Ԥ/@_"=tt;iԤ/@iEEEE`0Echecking for new query: numPingsReceived=10, elapsed TxPingTime=1.493236 6G ~q;1 ~G A A N >R-,˂KhA9N @NW.@YN!vHYH]IH]}BH] =HYH].DH]3<H]`EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 17.28 m.;; ProNav: ac range: 17.278221 m, nav range: 16.184216 m, bearing: 159.207582 deg, approach rate: -0.648927 m/s, LOS rate: 0.309457 deg/s, cmd heading: 157.244560 deg, new cmd heading: 157.548112 deg. `T<HeadingCmd: 2.749733 target range: 17.278221 and range: 17.40 m.b/@Z)r)j)R)J)B)~1~1}1|1|9|9|E`-?ԉchecking for new query: numPingsReceived=10, elapsed TxPingTime=1.745864 M{B%h+=I!)%?!I-: ))-R3%!^%E?&G?yEvIDzm6G= CQ;~G! A1 AI N] > checking for new query: numPingsReceived=10, elapsed TxPingTime=1.998066 X-,MehA9FJ @F.@YFEI]{>Ie Ie2ubG }D=y};;Q }>٥y H`F%< >:58z˜?:59 IBy)@@7$Eij;3;@:5*ADNOT Ignoring new targets: 17.28 m.;; ProNav: ac range: 17.278221 m, nav range: 15.925894 m, bearing: 159.325152 deg, approach rate: -0.627551 m/s, LOS rate: 0.290250 deg/s, cmd heading: 157.548108 deg, new cmd heading: 157.906534 deg. 2G<HeadingCmd: 2.755989 target range: 17.278221 and range: 17.40 m.bb0@ZrjRJB~ ~ } | |||&@ MN{BUN!=IQ)U?QIU: YY]X<]b0@e=e #!checking for new query: numPingsReceived=10, elapsed TxPingTime=2.255820Q _-,;4hA96 @6/@Y6(x=yE:Q E>٥II MHMaFUv< U>Ye:5]e˜?e:59] I]Bye#?e:e}*@m@];$Ei];];]:5qu*AuEDNOT Ignoring new targets: 17.28 m.ڝ;ڝ; ProNav: ac range: 17.278221 m, nav range: 15.653779 m, bearing: 159.442070 deg, approach rate: -0.631411 m/s, LOS rate: 0.276011 deg/s, cmd heading: 157.906529 deg, new cmd heading: 158.263376 deg. l=<HeadingCmd: 2.762217 target range: 17.278221 and range: 17.40 m.b*0@ZrjRJB~~r{B}||||,@ mQ{Bu*=Iq)u?qIu>; qy}<}*0@=$HUCHUIHU}BHU =HQHU/DHU<HUIE:J_BJWJJBRJZJ :bJG9J-4JzJ*:jJ/:J_:rJ_:m checking for new query: numPingsReceived=10, elapsed TxPingTime=2.7701096G} )< ~GY Aa Ay N >e-,nhA9>RT!@>g/@Y>h&=>Hsٿ??A` ?˞ 4?? >RT!@>.@;)>CKRXP"KR9*KP2KR :KRY`=l<G@A??;N~ucJ2'%!H>;Ffk}BfIlIrIrm?3z$; zc=yz,:Q z>٥|| ~H|< > ;5 T˜?;59  I By*@@ ?$Ei : : );5ae)AaDNOT Ignoring new targets: 17.28 m.;; ProNav: ac range: 17.278221 m, nav range: 15.426509 m, bearing: 159.537505 deg, approach rate: -0.614459 m/s, LOS rate: 0.261823 deg/s, cmd heading: 158.263379 deg, new cmd heading: 158.553898 deg. 3<HeadingCmd: 2.767287 target range: 17.278221 and range: 17.40 m.b=1@ZrjRJB~~}||||@@ mS{B靝"'=I)?It1; {g<=1@*n=4h4a s"l-,d岵hA ><"checking for new query: numPingsReceived=10, elapsed TxPingTime=3.277154ԑ9e7!@e/@YeXQ٥II UHUbF]A< ]>am;5e?˜?u;59ez IeByuy#?u:u#@u@eD$Eie:e:e_;5}B}H*AE)-DNOT Ignoring new targets: 17.28 m.)5<5<E ProNav: ac range: 17.278221 m, nav range: 15.128849 m, bearing: 159.800571 deg, approach rate: -0.611465 m/s, LOS rate: 0.551031 deg/s, cmd heading: 158.553894 deg, new cmd heading: 159.358564 deg. E<MHeadingCmd: 2.781332 target range: 17.278221 and range: 17.40 m.bMV2@ZQrQjQRYJB~~`{Bԡ}|||| @ uV{BuT =Iq)}>yI}؁T; }$<V2@Z;iV2@i%DAT read: 13:59:49.1893 LVL= 27440, 31377, 23090, 32755, AGC= 56, IDX= 413, 0.18,-2.203, 2.695,-2.193,-2.536, PHS= 0.421,-1.005, 0.340, RAW= 147.1, 3.6, CAL= 149.7, -5.2, ROT= 0.3, 5.2 -Ygot valid direction response: 13:59:49.1893 LVL= 27440, 31377, 23090, 32755, AGC= 56, IDX= 413, 0.18,-2.203, 2.695,-2.193,-2.536, PHS= 0.421,-1.005, 0.340, RAW= 147.1, 3.6, CAL= 149.7, -5.2, ROT= 0.3, 5.2 5PDAT read: Bearing 0.3, 5.2 (Local) 5~Local bearing/azimuth received: Bearing 0.3, 5.2 (Local) =DAT read: Range 10 to 50 : 15.3 m (Round-trip 20.5 ms) speed 0.5 m/s E,DAT read: user:1890> IUBDAT read: Tx time:13:59:50.3147 U$Ping request sent.Uף{> O$@)=Im7'@i޹;޹= )vn?NJ!?Ư?i.>[a~;޹= ):publishing transmit ping timeQFpublishing direction and range infoyDT,?P[u?0L3Y )Ii )Ii )vn?NJ!?Ư?i )checking for new query: numPingsReceived=11, elapsed TxPingTime=0.009785EEEE5Ey 6G I3<H] >HY H] IH] }BH]  =HY H] 0DH] ښ<H] EHHHH =I = I͛5:J ]BJ TJJ IRJ ZJ ]:bJ :9J F4J zJ :jJ :J RJ:rJ TJ:~G A A N>s-,iеhAH}JDAT read: TxSync time:13:59:50.3139 checking for new query: numPingsReceived=11, elapsed TxPingTime=0.237541ԹKUO"KU9*KQ2KU :KUTFy\R]JT}w:a<~ M*E .08kz'bE /JJJ]?J]?mU}BiIIb1: =yQ >٥ HcF >;5&˜?;59w IBy@I$Ei::: ;5BE*AEZAbEHõhAEsAEsAE0@ʁESB.@0@G?ZEDT,?P[u?0L3E;E޹=ҁEzO$,/m@9`9E_}83'?.a}zEi@E`jE HيƜ?rE!3 EvBAEuAB  EvBElAE2@= addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 3.544556 s, deltaX: -2.099999 m, approachRate: -0.592458 m/s, rangeRepo size: 4 U Added new target pos. range: 15.192955 m, bearing: 158.181126 deg, lat: 36.906369 deg, lon: -122.116052 deg, deltaT: 3.544556 s, deltaX: -2.085266 m, approachRate: -0.588301 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 15.19 m.Q]Ym ProNav: ac range: 15.192955 m, nav range: 14.811535 m, bearing: 160.084613 deg, approach rate: 0.000000 m/s, LOS rate: 0.551031 deg/s, cmd heading: 159.358559 deg, new cmd heading: 160.232126 deg. iuHeadingCmd: 2.796578 target range: 15.192955 and range: 15.30 m.bu#2@ZqrqjqRqJyBy~y~y}|||.@|? X{B靽.=I)>I5ms; L;#2@.i#2@iEaEaEaEe@5Ea- checking for new query: numPingsReceived=11, elapsed TxPingTime=0.4885306G= ;~G A  A N% >L z-,$hA9:a""@:50@Y:I?I; m;y3@#x iy3@i1checking for new query: numPingsReceived=11, elapsed TxPingTime=0.740198EEEEP0EQ6G ;ԁ ~G A A N >= checking for new query: numPingsReceived=11, elapsed TxPingTime=0.991095-,vhA9>X"@>Yl0@Y>9:=>Hoؿx? t?@z-?$Z?? >X"@>W;)>CYm<}BmI}Mb@Mb@Mb@yyy y)yY}MbX9? ףp= ~jty}!?}Q8}D}A y)}@I}$@yy}z@II<2= 5=yW:Q >٥ HdF;; >;5˜?;59 IwBy;"?:,@@P$Ei ;;@;5*AE9=DNOT Ignoring new targets: 15.19 m.9E;E;e ProNav: ac range: 15.192955 m, nav range: 14.371671 m, bearing: 160.352869 deg, approach rate: -0.639813 m/s, LOS rate: 0.284298 deg/s, cmd heading: 160.674108 deg, new cmd heading: 161.048805 deg. eC<mHeadingCmd: 2.810832 target range: 15.192955 and range: 15.30 m.bm3@ZirijiRiJqBq~q~u{B}y|y|y|y|}w? M[{BM=IQ)]p>YIeg'; aae;ԉ3@ =@i3@iHU>HUCHUIHU}BHU =HQHQHU<HU/E:J`BJYJJBRJZJ:bJ[O9J-4JzJ:jJ:J&n:rJ(n:E}EEEQ0E6GUvϻchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.243465Ա~G1A9AQN]> K *vP"K K9*K 2K :K :J|x;4|So'S/q5<ky  98UJ AJ n-,hA9Fi"@F}0@YF`ZؿW??ીyP? c*`v?@g? Fi"@F);)FC=0}BEIImIm3 ^=yّQ >٥ HeFt4; >Թ;5,ʜ?;59# IpBy,@@T$Ei y;n;;5*Aqchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.495373DNOT Ignoring new targets: 15.19 m.Ԛ;Ԛ; ProNav: ac range: 15.192955 m, nav range: 14.137586 m, bearing: 160.457738 deg, approach rate: -0.594458 m/s, LOS rate: 0.270723 deg/s, cmd heading: 161.048798 deg, new cmd heading: 161.368610 deg. 9<HeadingCmd: 2.816414 target range: 15.192955 and range: 15.30 m.b@4@ZrjR!J!B!~!~!})|)|)|1|5@N? ]]{B]*=Ia)e7>aIeQ; aae;m@4@u<=uiu@4@iyEEEEU0EIR=I%= checking for new query: numPingsReceived=11, elapsed TxPingTime=1.7496536G ZA ~G A A N >.-,8hA9Vb"@Vpu0@YV:o=VH` ؿn?@?˂@^C?񬜿 F?? Vb"@Vi;)VCb(}BbI]Mb@Mb@Mb@YYY Y)YY]V-?Mby&1y]|?]]`eY ]@)YIYYy]@ԁI}I}2 @=y:Q >٥ H >;5&ʜ?;59= IiBy?:P-@@X$Eif:;-;5B*AEDNOT Ignoring new targets: 15.19 m.%;%;5 ProNav: ac range: 15.192955 m, nav range: 13.876870 m, bearing: 160.557574 deg, approach rate: -0.657237 m/s, LOS rate: 0.256406 deg/s, cmd heading: 161.368615 deg, new cmd heading: 161.673749 deg. 5/<HeadingCmd: 2.821739 target range: 15.192955 and range: 15.30 m.b`4@ZrjRJB~~{B}||||? _{B 3 =I ) w> I C; ;U`4@]]?=]Pi]`4@iYԱEEEEl0E}checking for new query: numPingsReceived=11, elapsed TxPingTime=2.0004916Gi~GaAqAN]>)e4> aGA AA E YE AyE BG G @AH >H CH IH z}BH  =H H H <H EA :Jm ^BJi JJm ?RJi ZJm } :bJi Jm ـ4Ji zJm ^:jJm c:Ji rJm )n:m-,RhA9Ru"@RI0@YRg٥|| HfFP; > ;5 ʜ?;59  I bByb-@@ \$Ei ; ; ;5%B%s+A-EIUDNOT Ignoring new targets: 15.19 m.Q];; ProNav: ac range: 15.192955 m, nav range: 13.641012 m, bearing: 160.650095 deg, approach rate: -0.629122 m/s, LOS rate: 0.251054 deg/s, cmd heading: 161.673747 deg, new cmd heading: 161.956105 deg. K,<%HeadingCmd: 2.826667 target range: 15.192955 and range: 15.30 m.b%4@Z!r!j!R!J)B)~)~)}1|19|Q|Q|]`΅@ b{B靭p=I)>IK; 0;4@=bֿi4@ibE1ZE1EEEE0EF=F=KEUP"KE9*KA2KE:KE8aw\ ?OE  HG;t  6\5 mG8)ksysichecking for new query: numPingsReceived=11, elapsed TxPingTime=2.504098ԩ6G ~~G A A N >Թ -,7olhA9>T"@>0@Y>W=>H {׿63t??ݘZ?k~@?? >T"@>;)>CV}BVII^"I^q3fB jK=yn9Q n>٥pp rHprgA< v>tz;5vʜ?z;59v Iv[By|~-@~@v`$Eiv;v;v;5 +A %B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 15.19 m.1=;=;e ProNav: ac range: 15.192955 m, nav range: 13.392680 m, bearing: 160.746023 deg, approach rate: -0.620081 m/s, LOS rate: 0.243973 deg/s, cmd heading: 161.956107 deg, new cmd heading: 162.249225 deg. mo'<HeadingCmd: 2.831783 target range: 15.192955 and range: 15.30 m.b;5@ZrjRJB~~}||||@]@ d{B==I)>IS; jx;;5@e=i;5@iI9I=@AԑEEEEw5Echecking for new query: numPingsReceived=11, elapsed TxPingTime=2.7552446GmV~GIAANeU> BDAT read: Rx Time:13:59:52.7363  TRx dataTimestamp_ set to:1749131994.075790 checking for new query: numPingsReceived=11, elapsed TxPingTime=3.008712 ݀-,,#@>?1@Y>]]=>H>WT׿Şs?A? m֢?ꝿt? ? >,#@>;)٥)) 5H5gF=Lk< =>AM;5Eʜ?M;59E IETByU[?:.@@Ee$EiEP&IB; ;05@&=Wi05@iHqHqHuIHuf}BHu =HqHqHuԚ<HuEE=E9EAEE3EA checking for new query: numPingsReceived=11, elapsed TxPingTime=3.260046I 6Ge n~G A A K #P"K @9*K 2K N >:K mq{?{G .@*@ ,,*.YLdsNdRcR>:J) J- Ao-,3hA DAT read: 13:59:52.7363 LVL= 22480, 28817, 18690, 32755, AGC= 56, IDX= 414, 0.12,-1.154,-2.562,-0.974,-1.423, PHS= 0.357,-1.091, 0.446, RAW= 153.0, 3.9, CAL= 154.7, -5.1, ROT= 355.3, 5.1 Ygot valid direction response: 13:59:52.7363 LVL= 22480, 28817, 18690, 32755, AGC= 56, IDX= 414, 0.12,-1.154,-2.562,-0.974,-1.423, PHS= 0.357,-1.091, 0.446, RAW= 153.0, 3.9, CAL= 154.7, -5.1, ROT= 355.3, 5.1 PDAT read: Bearing 355.3, 5.1 (Local) ~Local bearing/azimuth received: Bearing 355.3, 5.1 (Local) DAT read: Range 10 to 50 : 12.9 m (Round-trip 17.3 ms) speed 0.6 m/s ,DAT read: user:1891> BDAT read: Tx time:13:59:53.8148 $Ping request sent. U㥋UZ> U*@)U'g=IU3,@iUKUo@iu}B}IUK= Q)QU`I?O3!^?ǕS f?iU@?UQUUK= Q)Q:publishing transmit ping timeFpublishing direction and range infoQyU!?hī䴿QYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QU`I?O3!^?ǕS f?iQQQQ Q)Qchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.026120AI I ?13&< #=yQ >٥ HhF >;5ʜ?;59 IKBy@j$Eiq;;u&;5+A ĬEԑZQbUhAULAULAU5,@ʁUn)@2I3hws-8U!?hī䴿UUK=ҁUE_i J&QϽ@#~UbDJg?J"<꿿zU@Ur7jU|zƜ?rU UvBQU.?  UFvBUpMAUG&3@  addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 3.527334 s, deltaX: -2.400001 m, approachRate: -0.680401 m/s, rangeRepo size: 4 = Added new target pos. range: 12.809763 m, bearing: 154.434255 deg, lat: 36.906369 deg, lon: -122.116050 deg, deltaT: 3.527334 s, deltaX: -2.383192 m, approachRate: -0.675636 m/s, posRepo size: 4 9EDNOT Ignoring new targets: 12.81 m.AEA ProNav: ac range: 12.809763 m, nav range: 12.839869 m, bearing: 160.382995 deg, approach rate: 0.000000 m/s, LOS rate: 0.195718 deg/s, cmd heading: 162.519379 deg, new cmd heading: 162.835678 deg. HeadingCmd: 2.842019 target range: 12.809763 and range: 12.90 m.b5@ZrjRJB~~}|||)@|`u9?:JU\BJU\JJUARJQZJU=:bJU[9JU4JQ]@]@]@]@ ej{BewiIu; qqu;5@8=2޼i5@i  JDAT read: TxSync time:13:59:53.8140  checking for new query: numPingsReceived=12, elapsed TxPingTime=0.235259E E E E o0E F F 6G5u~GAAN?[d-,hA9Z?$@Z2@YZ٥ HiFgr= >;5xʜ?;59H IFBy?:1@@n$Ei::&*;5B+A¬EAMDNOT Ignoring new targets: 12.81 m.IM9IEk; AAET;MW5@MHHIHG}BH =HH/DH<H:E6GV~GAAN > u =u 4=u checking for new query: numPingsReceived=12, elapsed TxPingTime=0.737420ԩ -,0J۶hA9>%@>3@Y>(+H=>H@G8@9 տ@AQ??`!?>`O?@O? >%@>f;)>CPR|BRIIZIZ3bؼ; bq=yf sQ f?٥dd jHhr= r?tz;5vhʜ?z;59vt IvBByx~2@~@vq$Eivl;vx;v -;5+A ŬE15DNOT Ignoring new targets: 12.81 m.9=9=9M ProNav: ac range: 12.809763 m, nav range: 12.384541 m, bearing: 160.409909 deg, approach rate: -0.610388 m/s, LOS rate: 0.016890 deg/s, cmd heading: 162.901091 deg, new cmd heading: 162.917966 deg. Mw9:HeadingCmd: 2.843455 target range: 12.809763 and range: 12.90 m.b*5@ZrjR J B K"P"Ks9*K2K:K<Os ]UU#5~RYne-]nE.~@~Q~Y}Y|Y|a|a|m? n{B|=I)>!I%'; !!-;U*5@Uee<];i]*5@iachecking for new query: numPingsReceived=12, elapsed TxPingTime=0.989423EEEER5E 6G- Fټ~G A A) 9 NM >I I AAJ+-4J+ם4J+1:J `BJ TJJ FRJ ZJ :bJ :9J 4J a-,#hA&checking for new query: numPingsReceived=12, elapsed TxPingTime=1.2416619Bb&@Bu4@YBn٥xx zHzjF~< ~>!;5bTʜ?;59> I=By3@@u$Ei<<0;5,AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 12.81 m. ProNav: ac range: 12.809763 m, nav range: 12.129616 m, bearing: 160.402447 deg, approach rate: -0.526904 m/s, LOS rate: -0.015749 deg/s, cmd heading: 162.917961 deg, new cmd heading: 162.895103 deg. , HeadingCmd: 2.843056 target range: 12.809763 and range: 12.90 m.b 5@ZrjRJB~~}|||!|%`/?) q{B靝ӎ=I)>II; ;5@ <N#eԡ -,hA9>5'@>/5@HDHDHFIHF3}BHF =HDHDHF2<HFhEHIHIHIHM =IM = IM5Y>. =>Hu8ӿ@,F??@4?@o?g? >5'@>=;)>C  yMb@Mb@Mb@ )Y^I +?~jth?{GztyX?D;ףzA @)`@Iy@II3y:Q >٥ HkF9< >;5f@ʜ?;59G I8ByY?:5@ @y$Ei::}4;5B,AȬEIMDNOT Ignoring new targets: 12.81 m.I ProNav: ac range: 12.809763 m, nav range: 11.881178 m, bearing: 160.357522 deg, approach rate: -0.690779 m/s, LOS rate: -0.127525 deg/s, cmd heading: 162.895108 deg, new cmd heading: 162.757515 deg.  HeadingCmd: 2.840655 target range: 12.809763 and range: 12.90 m.bI5@ZrjRJ B~~{B}|||!|% !?]checking for new query: numPingsReceived=12, elapsed TxPingTime=1.745503 t{B =I)>I8s; KS;I5@<g#KUUP"KU9*KQ2KU:KU3o$z*V_gZ4%2*!'\+Dyk)`4A checking for new query: numPingsReceived=12, elapsed TxPingTime=1.997114 Y-,(hA9F'@FB5@YF8FH`c7ӿ@45?N%?= c? ? ? F'@FQ;)FC~|B~II I 2%l %٥)) -H)-< 5>1E;55 .ʜ?E;595 I54ByIU5@U@5}$Ei5~;5;57;5qu,AuˬEDNOT Ignoring new targets: 12.81 m.ll% ProNav: ac range: 12.809763 m, nav range: 11.654593 m, bearing: 160.307423 deg, approach rate: -0.575682 m/s, LOS rate: -0.129761 deg/s, cmd heading: 162.757520 deg, new cmd heading: 162.604301 deg. --HeadingCmd: 2.837981 target range: 12.809763 and range: 12.90 m.b-y5@Z1r1j1RJB~~}||| | @TE@ w{B靝 =I)W>I< ;y5@<sc=iy5@iIC=Ia=:J^BJVJJCRJZJ} :bJB9J4J EEEEP0Eechecking for new query: numPingsReceived=12, elapsed TxPingTime=2.249532I6G 2;~G A A N >Y դ-,[BhAyyDDAT read: Rx Time:13:59:55.9586 TRx dataTimestamp_ set to:1749131997.099946PDAT read: Bearing 345.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 345.6, 4.6 (Local) DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5LVL= 19008, 20209, 15346, 25891, AGC= 55, IDX= 162, 0.07,-1.610,-2.926,-1.062,-1.698, PHS= 0.175,-1.181, 0.633, RAW= 164.0, 4.6, CAL= 164.4, -4.6, ROT= 345.6, 4.6 -Z#Rx 13: Read range message, but no direction.1AYchecking for new query: numPingsReceived=13, elapsed TxPingTime=2.5133541Mb@Mb@Mb@ )Y(\?~jtx?~jthyz?;DA @)I@IQ@yf@II: 4=yQ >٥ HlF >;5ʜ?;59 I0By}?:O6@@$Ei*;';;;5,A addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 2.521296 s, deltaX: -1.799999 m, approachRate: -0.713918 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.81 m.IMF)MF)] ProNav: ac range: 12.809763 m, nav range: 11.391090 m, bearing: 160.240164 deg, approach rate: -0.566681 m/s, LOS rate: -0.147991 deg/s, cmd heading: 162.604305 deg, new cmd heading: 162.397862 deg. ]!˻eHeadingCmd: 2.834377 target range: 12.809763 and range: 11.10 m.bpf5@ZrjRJB~~{B}|||@33&@|? Mz{BM=II)M->IIU[ < QQUV;]pf5@]s<] =i]pf5@aiGGAAH>HHIH}BH =HH0DH <H:EEEEEEF!F!6G5Q<ԑ~GA A N- >u checking for new query: numPingsReceived=13, elapsed TxPingTime=2.753283Թ -,}\hA9: G(@:iZ6@Y:=٥    H = >!%;5%iʜ?-;59% I%,By)- 7@-@%$Ei%:%y:%>;55B=$,AEάEiuDNOT Ignoring new targets: 12.81 m.quk}k ProNav: ac range: 12.809763 m, nav range: 11.188553 m, bearing: 160.174254 deg, approach rate: -0.622648 m/s, LOS rate: -0.206289 deg/s, cmd heading: 162.397856 deg, new cmd heading: 162.196549 deg.  HeadingCmd: 2.830864 target range: 12.809763 and range: 11.10 m.b,5@ZrjRJB~~}||||? |{B%R=I)ʵ>I < ;,5@ '<  E=i ,5@KUeP"KUK9*KQ2KUԙ:KU'3)"U,<Av _f>]h-'x906BriDDAT read: Rx Time:13:59:56.4584 TRx dataTimestamp_ set to:1749131997.605712PDAT read: Bearing 344.0, 4.4 (Local) ~Local bearing/azimuth received: Bearing 344.0, 4.4 (Local) EEEE _0E =DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 DAT read: 13:59:56.4584 LVL= 20720, 24977, 16258, 27827, AGC= 53, IDX= 496, 0.18,-0.633,-1.939,-0.021,-0.690, PHS= 0.145,-1.202, 0.666, RAW= 165.7, 4.7, CAL= 166.0, -4.4, ROT= 344.0, 4.4 Ygot valid direction response: 13:59:56.4584 LVL= 20720, 24977, 16258, 27827, AGC= 53, IDX= 496, 0.18,-0.633,-1.939,-0.021,-0.690, PHS= 0.145,-1.202, 0.666, RAW= 165.7, 4.7, CAL= 166.0, -4.4, ROT= 344.0, 4.4 T#Rx 14: Read range and direction messages.6G-X==`direction in FSK: [0.958429,-0.274825,-0.076719]=Fpublishing direction and range infoyhr?"ѿ.0ۣ,AY P)aI?il5z>#ۙ~*? 9@)=I}l9@inF7 @nF= )1H?:9?]#?iL?.:nF= )~GAANh>checking for new query: numPingsReceived=14, elapsed TxPingTime=3.056044I I :J `BJ PJJ PRJ ZJ :bJ *9J ^4J  ,-,3nvhAchecking for new query: numPingsReceived=14, elapsed TxPingTime=3.2577559F(@F=6@YF٥ii mHumFu:< u>-;5eɜ?u;59A I(ByyZ7@@$Ei<1y<B;5f,AZbfhA+A+Ae%@ʁ%zQ$@0VaC%Thr?"ѿ.0ۣ:nF=ҁle"0x@Tyoe.?79´z@;j0'Ɯ?rB vB!3  JvB1AX}0@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505766 s, deltaX: -0.300000 m, approachRate: -0.593160 m/s, rangeRepo size: 4 e Added new target pos. range: 10.724483 m, bearing: 148.071334 deg, lat: 36.906369 deg, lon: -122.116045 deg, deltaT: 3.027062 s, deltaX: -2.085280 m, approachRate: -0.688879 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 10.72 m.q% ProNav: ac range: 10.724483 m, nav range: 11.095683 m, bearing: 158.001721 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 162.196543 deg, new cmd heading: 161.879522 deg. !iHeadingCmd: 2.825331 target range: 10.724483 and range: 10.80 m.b84@ZrjRJB~~}|||%%@|-ਣ? {B靥3IFU< 5;DDAT read: Rx Time:13:59:56.9582 TRx dataTimestamp_ set to:1749131998.108130PDAT read: Bearing 343.0, 4.2 (Local) ~Local bearing/azimuth received: Bearing 343.0, 4.2 (Local) DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 %DAT read: 13:59:56.9582 LVL= 22480, 25969, 14610, 28851, AGC= 53, IDX= 509, 0.34,-2.005, 2.995,-1.354,-2.032, PHS= 0.115,-1.209, 0.675, RAW= 166.8, 5.1, CAL= 167.0, -4.2, ROT= 343.0, 4.2 5Ygot valid direction response: 13:59:56.9582 LVL= 22480, 25969, 14610, 28851, AGC= 53, IDX= 509, 0.34,-2.005, 2.995,-1.354,-2.032, PHS= 0.115,-1.209, 0.675, RAW= 166.8, 5.1, CAL= 167.0, -4.2, ROT= 343.0, 4.2 5T#Rx 15: Read range and direction messages.E`direction in FSK: [0.953737,-0.291587,-0.073238]MFpublishing direction and range infoy?fD?Zҿf&AY W)qeI9ip=,? AQ:@)K=Iq:@iQ =@Q = )Gڦ?:>?G?i4Q?闾Q = )mchecking for new query: numPingsReceived=15, elapsed TxPingTime=3.52753284@< b=i84@iԉ - GA Ei Ei Ei Em P0Ei Fu =Fu = 6Y y IBH >H CH IH }BH  =H H H <H FEԱ 6G=jG ?bG>checking for new query: numPingsReceived=15, elapsed TxPingTime=3.761526~GAAN? -,nhA9b(@bk6@YbM=yb0=bH@r!!ҿ~S??z@Ľ?I`?k? b(@b";)bCn|BnI)p puMb@Mb@Mb@qqq q)qYu"~?Mbp?Mb`yu?u;uu3A u@)u@Iu~@qyu@II?13VW< =y:Q >٥ HnFgp; >%;5?ɜ?%;59 I"By%?%:-A7@-@$Eqi;Q<oG;5C,AѬEZb놷hA<%A<%AI< S;Lz4@#=0y=iLz4@iDDAT read: Rx Time:13:59:57.4581 TRx dataTimestamp_ set to:1749131998.614202PDAT read: Bearing 342.0, 4.0 (Local) ~Local bearing/azimuth received: Bearing 342.0, 4.0 (Local) DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.5 DAT read: 13:59:57.4581 LVL= 21456, 28465, 14178, 30755, AGC= 52, IDX= 509,-0.40,-2.411, 2.641,-1.735,-2.410, PHS= 0.087,-1.185, 0.672, RAW= 168.0, 5.2, CAL= 168.0, -4.0, ROT= 342.0, 4.0 Ygot valid direction response: 13:59:57.4581 LVL= 21456, 28465, 14178, 30755, AGC= 52, IDX= 509,-0.40,-2.411, 2.641,-1.735,-2.410, PHS= 0.087,-1.185, 0.672, RAW= 168.0, 5.2, CAL= 168.0, -4.0, ROT= 342.0, 4.0 T#Rx 16: Read range and direction messages.`direction in FSK: [0.948740,-0.308264,-0.069756]Fpublishing direction and range infoڑyڕ9yP\?ięӿ&k۱ڕ3#AYڑ ەS)ە1oIەb7EEEEEiە#xە4ە-=ەە1,? ܕf;@)ܕ޹=Iܕf;@iܕ5ܕC@ܕ5= ݑ)ݑݕq٫X?ށ?ta#>Y?iݕl6V?ݕ} ݕz٠ݕ5= ޑ)ޑ checking for new query: numPingsReceived=16, elapsed TxPingTime=4.0655086G 7=Ա ~Ga Aq A N >-,|ahA96(@66@Y6=y6m=<6Ho ҿԎ]L?L ?`"|n?? 6(@6BK;)4J|BJyIIRIRV83ZxI ju=yj`:Q n?٥ll nHnoFr՘; r?tIIR=;5vɜ?;59v IvByZ7@@v$Eiv;v;vYJ;5-B-,A-ԬEZbOhA"A"A@#@ʁ܈ 8#@Э|u7M9yP\?ięӿ&k۱z٠5=ҁuOm ^@~DXBLX꿡Ɠ&?hk%Ez@kj& ǜ?r%1 xwB0'Ɯ?B  vBꁽ"A$@= addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.506072 s, deltaX: -0.200000 m, approachRate: -0.395200 m/s, rangeRepo size: 4 M Added new target pos. range: 10.128676 m, bearing: 146.151716 deg, lat: 36.906380 deg, lon: -122.116029 deg, deltaT: 0.506072 s, deltaX: -0.198601 m, approachRate: -0.392436 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 10.13 m.QYY ProNav: ac range: 10.128676 m, nav range: 10.126986 m, bearing: 147.266483 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 161.572059 deg, new cmd heading: 161.360820 deg. checking for new query: numPingsReceived=16, elapsed TxPingTime=4.266428HeadingCmd: 2.816278 target range: 10.128676 and range: 10.20 m.b=4@ZrjRJB~)~)}1|9|9|`ff$@| Y?ԡ {Bc=I))->1I=< aae;=4@7\==i=4@iEEEEE  DDAT read: Rx Time:13:59:57.9578  TRx dataTimestamp_ set to:1749131999.116333 PDAT read: Bearing 340.9, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 340.9, 3.9 (Local)  DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4  DAT read: 13:59:57.9578 LVL= 20288, 29121, 14226, 28883, AGC= 52, IDX= 506,-0.21, 2.573, 1.359,-2.994, 2.597, PHS= 0.065,-1.191, 0.690, RAW= 169.0, 5.3, CAL= 169.1, -3.9, ROT= 340.9, 3.9  Ygot valid direction response: 13:59:57.9578 LVL= 20288, 29121, 14226, 28883, AGC= 52, IDX= 506,-0.21, 2.573, 1.359,-2.994, 2.597, PHS= 0.065,-1.191, 0.690, RAW= 169.0, 5.3, CAL= 169.1, -3.9, ROT= 340.9, 3.9  T#Rx 17: Read range and direction messages. `direction in FSK: [0.942761,-0.326460,-0.068015] Fpublishing direction and range infoډ yڍ v;G+?zYԿ,::siڍ AYډ ۍ @O)ۍ qIۍ 7iۍ pۉ ۍ =ۍ rۍ ף0? ܍ Z<@)܍ q=I܍ <@i܍ 'g܍ d@܍ 'g= ݉ )݉ ݍ YH9?Ⴑ?>T?iݍ [?ݍ ݍ ꭪ݍ 'g=6G va= މ )މ E checking for new query: numPingsReceived=17, elapsed TxPingTime=4.542211~G A A N >b-,.˷hA9>@(@>6@Y>}=y>]=>HdҿVMnT?`ފ"?@㎠@θ?#? >@(@>;)>C^|B^oIlMb@Mb@Mb@ )YQ?QMbpy?uA @)v@I@y@I Ib3   6=y59Q 5>٥99 =H9ERa E>Iu;5Mɜ?};59Mn IMBy}?}:}F5@}@M$EiM;M;MCN;5,A HHH>HCHIH }BH =HHH<HEZbrǷhAAA!@ʁdLY"@5#Xj *,.v;G+?zYԿ,::si꭪'g=ҁ@3%@g245h;lN4?dFǜz,@jPǜ?r wBTǜ?  DwBA_#@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.502131 s, deltaX: -0.400000 m, approachRate: -0.796604 m/s, rangeRepo size: 4  Added new target pos. range: 9.731434 m, bearing: 144.983851 deg, lat: 36.906381 deg, lon: -122.116029 deg, deltaT: 0.502131 s, deltaX: -0.397243 m, approachRate: -0.791113 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.73 m.%6Short final. Range: 9.80 m.%VTransitioning guidance mode to: SHORT_FINAL%@@:J-^BJ-XJJ-?RJ)ZJ-} :bJ-5K9J-ـ4J)zJ)=jJ)=J-f:=rJ-f:=ii ProNav: ac range: 9.731434 m, nav range: 9.795434 m, bearing: 146.402086 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 161.360815 deg, new cmd heading: 161.080630 deg. |HeadingCmd: 2.811387 target range: 9.731434 and range: 9.80 m.b]3@ZYrajaRaJaBa~i~m{B}i|i|i|u#@|}`\?checking for new query: numPingsReceived=17, elapsed TxPingTime=4.769462 ={B= AIE{ < AAElx;M3@M=MƇ=iU3@iQzEa9EEEER0EFF6Gh=ZGRG~G A A N >a K $P"K }9*K 2K :K [E:J/;GYff}mA0Q 6rXQIlP{<ZFIN8-,hhA96(@66@Y6~=y6;=6Hҿ\w[?@5\?౓@?`? 6(@6(;)6C~|B~xIi٥ HpFe >;5ɜ?;59u IBy65@@$EiX <<Q;515,A5׬EZIbM[hAMAMAM|!@ʁM !@ي @dkM?^I Gc7տ֏ M*\M=ҁM;'Ѓ#l@uTME%]ҫh?i'sizM@MjM0 ǜ?rM@y M+xBM& ǜ?M@y  MxwBMAMv^"@5 addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503989 s, deltaX: -0.300000 m, approachRate: -0.595251 m/s, rangeRepo size: 4 e Added new target pos. range: 9.433533 m, bearing: 144.571473 deg, lat: 36.906382 deg, lon: -122.116028 deg, deltaT: 0.503989 s, deltaX: -0.297901 m, approachRate: -0.591087 m/s, posRepo size: 4 iimzIgnoring new targets. Set target to previous: 9.43 m. 9.73 m.qq ProNav: ac range: 9.731434 m, nav range: 9.559525 m, bearing: 146.000842 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 161.080627 deg, new cmd heading: 160.821278 deg. |HeadingCmd: 2.806861 target range: 9.731434 and range: 9.50 m.b3@ZrjRJB~~}|!|!|-#@|5}W? {B@v=I)>I$< ;3@9==i3@iEEEE_0E1 =<checking for new query: numPingsReceived=18, elapsed TxPingTime=5.274299ԙ 6G x\=~Gy A A N >.,oEhA`DDAT read: Rx Time:13:59:58.9573 TRx dataTimestamp_ set to:1749132000.124080PDAT read: Bearing 340.2, 3.7 (Local) ~Local bearing/azimuth received: Bearing 340.2, 3.7 (Local) DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 DAT read: 13:59:58.9573 LVL= 21472, 31777, 15714, 32755, AGC= 51, IDX= 501, 0.06,-3.029, 2.048,-2.280,-2.984, PHS= 0.043,-1.204, 0.701, RAW= 169.9, 5.5, CAL= 169.8, -3.7, ROT= 340.2, 3.7 Ygot valid direction response: 13:59:58.9573 LVL= 21472, 31777, 15714, 32755, AGC= 51, IDX= 501, 0.06,-3.029, 2.048,-2.280,-2.984, PHS= 0.043,-1.204, 0.701, RAW= 169.9, 5.5, CAL= 169.8, -3.7, ROT= 340.2, 3.7  T#Rx 19: Read range and direction messages.`direction in FSK: [0.938920,-0.338032,-0.064532]Fpublishing direction and range infoڹyڽlָ+ ?@PտP0ڽAYڹ ۽S)۽!|I۽b=i۽۽3۽ 0=۽۽t3? ܽ=@)ܽ =Iܽ=@iܽ Aܽ@ܽ A= ݹ)ݹݽCi^K?aZ?Q=?iݽS^?ݽ ƽݽ:ﰾݽ A= ޹)޹]checking for new query: numPingsReceived=19, elapsed TxPingTime=5.546982 H>HHIH}BH =HHH"<HZE:J`BJ_JJIRJZJ:bJ=h9JF4JzJ:jJ:J:rJ:|BuIA e checking for new query: numPingsReceived=19, elapsed TxPingTime=5.777352 Mb@Mb@Mb@    ) Y n?y&1y&1|y ? `弹 ` zA  @) I ~@ y @I= I= (1u  u ٥y y } H} qF  p>  ;5 %ɜ? ;59 I By 2? : 3@ @ $Ei ; ; oX;5 B ,A ڬEZbhAAAQ !@ʁnOF @y+Gtlָ+ ?@PտP0:ﰾ A=ҁX1u?)_S5*@4^TrR鿸?Guz@jI!ǜ?r0C QxBPǜ? wBꁽA9 @  addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503758 s, deltaX: -0.500000 m, approachRate: -0.992540 m/s, rangeRepo size: 4   Added new target pos. range: 8.937042 m, bearing: 144.177769 deg, lat: 36.906384 deg, lon: -122.116028 deg, deltaT: 1.007747 s, deltaX: -0.794392 m, approachRate: -0.788285 m/s, posRepo size: 4    zIgnoring new targets. Set target to previous: 8.94 m. 9.73 m. ) =  ProNav: ac range: 9.731434 m, nav range: 9.138851 m, bearing: 145.293374 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 160.821271 deg, new cmd heading: 160.369157 deg. 9 = |HeadingCmd: 2.798970 target range: 9.731434 and range: 9.00 m.i bE R"3@Z r j R J B ~ ~ {B} | | | "@| @k? e{BmpqIuI,< qq}U;R"3@==i%R"3@i)bEZEԑKy^P"K 9*K2K:Ks"S\~ ~kVbC!cEVH&8Rv`<`b+hJJAEEEE3EDDAT read: Rx Time:13:59:59.4573 TRx dataTimestamp_ set to:1749132000.627983%PDAT read: Bearing 339.8, 3.4 (Local) -~Local bearing/azimuth received: Bearing 339.8, 3.4 (Local) =DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 eDAT read: 13:59:59.4573 LVL= 20192, 26609, 11938, 28067, AGC= 50, IDX= 500, 0.17,-1.658,-2.852,-0.893,-1.594, PHS= 0.024,-1.212, 0.698, RAW= 170.4, 5.9, CAL= 170.2, -3.4, ROT= 339.8, 3.4 }Ygot valid direction response: 13:59:59.4573 LVL= 20192, 26609, 11938, 28067, AGC= 50, IDX= 500, 0.17,-1.658,-2.852,-0.893,-1.594, PHS= 0.024,-1.212, 0.698, RAW= 170.4, 5.9, CAL= 170.2, -3.4, ROT= 339.8, 3.4 T#Rx 20: Read range and direction messages.`direction in FSK: [0.936841,-0.344690,-0.059306]Fpublishing direction and range infoy9w2?ZyxhֿCg]Y N)gI.im2<"!2? V>@)B=I>@isǽ@s= )0N?hf?2%K?i*a?ҽJs= )=checking for new query: numPingsReceived=20, elapsed TxPingTime=6.0674626G5=~GAA9N];?( .,&41hAI@H)@9u=(@uEQ6@Yu(7=yuDc=uHqҿ+$w?@Y?$"?N? u=(@u;)uCi%LC!)! !I! -LC)))))15EAi5ZdI5F1I5Ci=^A 99)9=YC eXAmmFqquSAIu)uİFiq)} CIyyѡ ҡҥ@Cҩҭiҩҩٯ|BhIII3? 2=yK9Q >٥!! -H-rF- ->1echecking for new query: numPingsReceived=20, elapsed TxPingTime=6.281352Թ;55iɜ?;595Y I5ByP3@@5$Ei5"<5;<5u\;5,AݬEZ9b=0(hA99=@ʁ=Cþ @H-i =9w2?ZyxhֿCg]=J=s=ҁ=qEaL=rKyF@.==vQ ? /Yz=6@=j=)Lqǜ?r=4 =xB9=%1  =+xB= A=Q% @ addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.937042 m, bearing: 143.204792 deg, lat: 36.906384 deg, lon: -122.116028 deg, deltaT: 1.511650 s, deltaX: -0.794392 m, approachRate: -0.525513 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 8.94 m. 9.73 m.5 ProNav: ac range: 9.731434 m, nav range: 8.878895 m, bearing: 144.835920 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 160.369153 deg, new cmd heading: 160.081709 deg. 1m|HeadingCmd: 2.793953 target range: 9.731434 and range: 9.00 m.bu 2@ZqryjyRJB~~}||)|1|=? ]{Be aIm0< iim_I;u 2@u+=u=iu 2@iyEq Ey Ey E} 1Ey  % DDAT read: Rx Time:13:59:59.9570 - TRx dataTimestamp_ set to:1749132001.133712E PDAT read: Bearing 339.6, 3.5 (Local) M ~Local bearing/azimuth received: Bearing 339.6, 3.5 (Local) m DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5  DAT read: 13:59:59.9570 LVL= 21456, 30369, 14754, 30195, AGC= 50, IDX= 497, 0.27,-3.061, 2.031,-2.287,-2.995, PHS= 0.022,-1.211, 0.705, RAW= 170.6, 5.8, CAL= 170.4, -3.5, ROT= 339.6, 3.5  Ygot valid direction response: 13:59:59.9570 LVL= 21456, 30369, 14754, 30195, AGC= 50, IDX= 497, 0.27,-3.061, 2.031,-2.287,-2.995, PHS= 0.022,-1.211, 0.705, RAW= 170.6, 5.8, CAL= 170.4, -3.5, ROT= 339.6, 3.5  T#Rx 21: Read range and direction messages. `direction in FSK: [0.935534,-0.347922,-0.061049] Fpublishing direction and range info! y% @O]?hVoYDֿ.xA% AY! % S)% vI% 9i% u! % X9<% % z4? % >@)% 4Q=I% V>@i% 5z% @% 5z= ! )! % }!6?JZ(͘?x)^?i% b?% Ͻ% K% 5z= ! )!  checking for new query: numPingsReceived=21, elapsed TxPingTime=6.557992A 6G ڠ=~GaAAN>$.,OhAG\G^@AHb>H`HbIHb|BHb =H`Hb/DH`HbVEHHHH =I = I5|B]I:JmcBJmVJJmBRJiZJm:bJmB9Jm-4JizJm;jJm;JmX:rJmX:Mb@Mb@Mb@ )Y`"?~jt:vy?TA Q@)hAIy=@IIb2e m%=ymQ m>٥iq uHusFu u>;5Rɜ?;59 IBy'?:P2@@$Ei::`;5%checking for new query: numPingsReceived=21, elapsed TxPingTime=6.785324!%,-A)Z b HhA A A '@ʁ z@xNjL>Ԯ @O]?hVoYDֿ.xA K 5z=ҁ B7Uk@_ӟ #  8_`dc ?5+z Z@ j _ǜ?r ~+  xB  ~+  QxB A @ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.505729 s, deltaX: -0.400000 m, approachRate: -0.790937 m/s, rangeRepo size: 4  Added new target pos. range: 8.539788 m, bearing: 143.009169 deg, lat: 36.906384 deg, lon: -122.116028 deg, deltaT: 2.017379 s, deltaX: -1.191646 m, approachRate: -0.590690 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 8.54 m. 9.73 m. ProNav: ac range: 9.731434 m, nav range: 8.596248 m, bearing: 144.337564 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 160.081712 deg, new cmd heading: 159.761724 deg. |HeadingCmd: 2.788368 target range: 9.731434 and range: 8.60 m.bt2@ZrjRJB~~{B}|||@33!@|@l? U{BeiImh4< iim2;ut2@uf=ua=i}t2@iy)EEEE0EK O"K K9*K 2K :K ,j;V'V+&k->v_]S93q T1+5V'Vj] FJ >J ?I  DDAT read: Rx Time:14:00:00.4570  TRx dataTimestamp_ set to:1749132001.638895 PDAT read: Bearing 339.4, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 339.4, 3.2 (Local)  DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5 5 DAT read: 14:00:00.4570 LVL= 21808, 29777, 13362, 31363, AGC= 51, IDX= 496, 0.41,-2.237, 2.864,-1.454,-2.153, PHS= 0.003,-1.220, 0.696, RAW= 170.9, 6.3, CAL= 170.6, -3.2, ROT= 339.4, 3.2 = Ygot valid direction response: 14:00:00.4570 LVL= 21808, 29777, 13362, 31363, AGC= 51, IDX= 496, 0.41,-2.237, 2.864,-1.454,-2.153, PHS= 0.003,-1.220, 0.696, RAW= 170.9, 6.3, CAL= 170.6, -3.2, ROT= 339.4, 3.2 = T#Rx 22: Read range and direction messages. `direction in FSK: [0.934600,-0.351293,-0.055822] Fpublishing direction and range info y U2>?O{ֿᢔ Y 0U) QtI 24i z 3 D; ( -2? >@) z0=I >@i d @ d= ) l ?Qv=Zܱ?"=g?i Uc? ߽ Z d= ) 6G% N=e checking for new query: numPingsReceived=22, elapsed TxPingTime=7.079999~G A A N%>y.,XmhA(9f'@fn5@Yfn=yf=fHeӿI ?`q?ܠ\?? f'@fg;)fC|B[III2= =@=yeU:Q m>٥ii mHiu} u>y;5}>ɜ?;59}H I}By1@@}$Ei}K;};}}d;5B߬EZIbMhhAIIM@ʁMu,A@exhoP޿MU2>?O{ֿᢔMZMd=ҁMBv ȑvE@ d3FMڒ$W؈?B czMҦ@MjMhA ǜ?rM M6yBM_ǜ?I MxBMAM 3@e addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.505183 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 8.539788 m, bearing: 142.155624 deg, lat: 36.906383 deg, lon: -122.116028 deg, deltaT: 2.522562 s, deltaX: -1.191646 m, approachRate: -0.472395 m/s, posRepo size: 4 qq}zIgnoring new targets. Set target to previous: 8.54 m. 9.73 m.ԁ ProNav: ac range: 9.731434 m, nav range: 8.351936 m, bearing: 143.896619 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 159.761731 deg, new cmd heading: 159.520127 deg. |HeadingCmd: 2.784152 target range: 9.731434 and range: 8.60 m.b/2@ZrjRJB~~}||||? e{BmOiIm7< iquY:;u/2@==i/2@imchecking for new query: numPingsReceived=22, elapsed TxPingTime=7.290810ԩ>ErEJ>jE> E E E E o0E F1 F1  DDAT read: Rx Time:14:00:00.9567  TRx dataTimestamp_ set to:1749132002.140135% PDAT read: Bearing 338.6, 3.3 (Local) % ~Local bearing/azimuth received: Bearing 338.6, 3.3 (Local) 5 DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 ] DAT read: 14:00:00.9567 LVL= 20768, 32753, 16354, 32115, AGC= 49, IDX= 510,-0.46, 1.394, 0.229, 2.202, 1.486, PHS=-0.004,-1.210, 0.712, RAW= 171.6, 6.0, CAL= 171.4, -3.3, ROT= 338.6, 3.3 e Ygot valid direction response: 14:00:00.9567 LVL= 20768, 32753, 16354, 32115, AGC= 49, IDX= 510,-0.46, 1.394, 0.229, 2.202, 1.486, PHS=-0.004,-1.210, 0.712, RAW= 171.6, 6.0, CAL= 171.4, -3.3, ROT= 338.6, 3.3 e T#Rx 23: Read range and direction messages.m `direction in FSK: [0.929512,-0.364271,-0.057564]m Fpublishing direction and range info y n?=X9P׿`8.y AY  Q) I ?i s} 1 o Hᚿ E6?  ֭?@) Pw=I t?@i k $@ k=  )  ec?>) ?debۺ?i f? ~@׽ j; k=  )  checking for new query: numPingsReceived=23, elapsed TxPingTime=7.558707ԙ 6GN<=~GAAN?V|#.,hAxHu>HuCHuIHu|BHu =HqHqHu<Hu?Ee|BeSI:JE]BJE\JJEARJAZJE]:bJE[9JE4JAzJE:jJE:JEӁ:rJEԁ:Mb@Mb@Mb@ )YV-?~jtI +y?94QA @)QAI@yII?13- - =y-Q ->٥11 5H5tF] ]>am;5e"ɜ?u;59e IeByuA?:1@@e$Eiecl)I5<< 115;=W1@==e2٧=imW1@iqԁ K P"K ŷ9*K 2K :K &*aKDNfFvGNnr582 U*P`,^E|| DDAT read: Rx Time:14:00:01.4566  TRx dataTimestamp_ set to:1749132002.644099 PDAT read: Bearing 338.5, 2.9 (Local)  ~Local bearing/azimuth received: Bearing 338.5, 2.9 (Local)  DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5  DAT read: 14:00:01.4566 LVL= 21056, 31825, 14194, 31475, AGC= 50, IDX= 509,-0.37, 1.472, 0.312, 2.286, 1.582, PHS=-0.022,-1.223, 0.701, RAW= 171.8, 6.5, CAL= 171.5, -2.9, ROT= 338.5, 2.9  Ygot valid direction response: 14:00:01.4566 LVL= 21056, 31825, 14194, 31475, AGC= 50, IDX= 509,-0.37, 1.472, 0.312, 2.286, 1.582, PHS=-0.022,-1.223, 0.701, RAW= 171.8, 6.5, CAL= 171.5, -2.9, ROT= 338.5, 2.9  T#Rx 24: Read range and direction messages. `direction in FSK: [0.929226,-0.366032,-0.050593] Fpublishing direction and range infoڱ yڵ o,8?65Bm׿|rQ穿ڵ AYڱ ۵ @R)۵ Q|I۵ r7i۵ z۵ 2۵ X9۵ D۵ t3? ܵ ?@)ܵ V=Iܵ =?@iܵ 4QOܵ @ܵ 4QO= ݱ )ݱ ݵ }X?E-wf?3?iݵ g?ݵ 轩ݵ : ݵ 4QO= ޱ )ޱ - checking for new query: numPingsReceived=24, elapsed TxPingTime=8.061679ԡ >E}<EEEE4EIR=I%=6GqT=]checking for new query: numPingsReceived=24, elapsed TxPingTime=8.297293~GAAN1? ..,hA9.'@A5@Y=y(=H wuӿ @z?`q ?c3`?`?  .'@;)CM|BUKIII2 ٥ HuF5., =>q;5u<ɜ?;59u IuݙByW1@@u$Eiu, C1Iaa ߿YyA = {B= gA IE A< A A E K;M WL1@M k\=M a=iu WL1@iq Dy Dy Dy Dy  H H H >H H ~IH |BH  =H H .DH <H Eԁ zE EEEEn0EF=F=Թchecking for new query: numPingsReceived=25, elapsed TxPingTime=8.8077016G]R=~G9AqAN&?8.,hA9vk'@v5@Yv=yvM==1vH qӿ((-?h t?B!`w?0? vk'@v};)t]l|B]=I)a aK%P"K*K2K:K>2Vx \5gw>\H  ~t8x=%#u.bDDAT read: Rx Time:14:00:02.4561 TRx dataTimestamp_ set to:1749132003.655944PDAT read: Bearing 339.2, 2.2 (Local) ~Local bearing/azimuth received: Bearing 339.2, 2.2 (Local) DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 DAT read: 14:00:02.4561 LVL= 23152, 32753, 17634, 32755, AGC= 52, IDX= 503, 0.50, 1.907, 0.719, 2.716, 2.034, PHS=-0.039,-1.269, 0.679, RAW= 171.4, 7.4, CAL= 170.8, -2.2, ROT= 339.2, 2.2 Ygot valid direction response: 14:00:02.4561 LVL= 23152, 32753, 17634, 32755, AGC= 52, IDX= 503, 0.50, 1.907, 0.719, 2.716, 2.034, PHS=-0.039,-1.269, 0.679, RAW= 171.4, 7.4, CAL= 170.8, -2.2, ROT= 339.2, 2.2 T#Rx 26: Read range and direction messages.`direction in FSK: [0.934137,-0.354845,-0.038388]Fpublishing direction and range infoڑyڕ^r?713ȵֿ.ڕf@Yڑ ەpZ)ۑIەDiۑە4ەwەnە-? ܕt?@)ܕ A>Iܕ>@iܕnFܕq@ܕnF= ݑ)ݑݕ٥9 =H=vFEBp E>IU;5MȜ?U;59M IMҙByU?U:Y}1@}@M$EiM;M;MBu;5-AEZbhA@@;@ʁ׶@ Kѿ^r?713ȵֿ.޹nF=ҁjEhb@0܀@3Z7??Wz6@,js ǜ?rO zBs ǜ?+/O  JyBꁕ!@w4@ addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 1.011845 s, deltaX: -0.800000 m, approachRate: -0.790635 m/s, rangeRepo size: 4  Added new target pos. range: 7.149444 m, bearing: 141.404307 deg, lat: 36.906382 deg, lon: -122.116026 deg, deltaT: 4.539611 s, deltaX: -2.581990 m, approachRate: -0.568769 m/s, posRepo size: 4 mzIgnoring new targets. Set target to previous: 7.15 m. 9.73 m.qq ProNav: ac range: 9.731434 m, nav range: 7.216078 m, bearing: 141.455225 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 158.725605 deg, new cmd heading: 158.332132 deg. |HeadingCmd: 2.763417 target range: 9.731434 and range: 7.20 m.b0@ZrjRJB~~{B}|||@|b?ԉ {B靭`IH|E< X;0@=a=i0@i:JucBJuYJJu@RJqZJu:bJu[O9JuJ4Jq@@@@E= E9 EA EE _0EA = checking for new query: numPingsReceived=26, elapsed TxPingTime=9.309355Ա 6G = ~G AAN>vA.,;UhA[|B2I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 76.46, 80.20, 75.78 aI-@a5 aM5@a5 aQ5@a5 aE5@a5 I= I=̍2Me  M:=yMQ M>٥QQ UHUwFU ]>Ye;5]xȜ?m;59] I]ʙBm+:yim:qu@]$Ei];]>]Rx;5}B}*.A}EB*** querying acoustic contact ***JRDDAT read: Rx Time:14:00:02.9558 TRx dataTimestamp_ set to:1749132004.160165PDAT read: Bearing 339.3, 1.7 (Local) ~Local bearing/azimuth received: Bearing 339.3, 1.7 (Local) DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 DAT read: 14:00:02.9558 LVL= 22048, 31569, 15586, 29987, AGC= 51, IDX= 500, 0.36, 2.107, 0.912, 2.919, 2.254, PHS=-0.059,-1.295, 0.662, RAW= 171.4, 8.1, CAL= 170.7, -1.7, ROT= 339.3, 1.7 -Ygot valid direction response: 14:00:02.9558 LVL= 22048, 31569, 15586, 29987, AGC= 51, IDX= 500, 0.36, 2.107, 0.912, 2.919, 2.254, PHS=-0.059,-1.295, 0.662, RAW= 171.4, 8.1, CAL= 170.7, -1.7, ROT= 339.3, 1.7 5T#Rx 27: Read range and direction messages.=`direction in FSK: [0.935032,-0.353320,-0.029666]=Fpublishing direction and range infoyP?g+ʜֿ `@Y  V)Q{I<i#u3q¥x)? )>Iy>@i8@< ) ?)/?W?i{e?(**< )Uchecking for new query: numPingsReceived=27, elapsed TxPingTime=9.578789]zIgnoring new targets. Set target to previous: 9.73 m. 9.73 m.eYeYu ProNav: ac range: 9.731434 m, nav range: 6.959726 m, bearing: 140.788086 deg, approach rate: -0.610054 m/s, LOS rate: -1.646070 deg/s, cmd heading: 158.332131 deg, new cmd heading: 156.257948 deg. u5}|HeadingCmd: 2.727216 target range: 9.731434 and range: 7.20 m.b}.@ZyryjyRyJyB~~}|||@33@|@^? }{B}I&G< Ab;L/@=i.@iE=E9E9E=~0E9H>HHqIH|BH =HHH<H,EI6G] = checking for new query: numPingsReceived=27, elapsed TxPingTime=9.814772~G A! A1 N= >q /G.,_%hA9:Tu&@:4@Y:٥)) -H-xFǼ >=;5kȜ?E;592~ IÙBYm :yqu_:u1@}@$EiW<W?z;5N.AZ b %@ hA @ @ ~@ʁ b A@6zK0 t֣ɿ P?g+ʜֿ ` * <ҁ H g@J   :M7D?_޳z @ gj vǜ?r F4  9zB hA ǜ?  ~yB @ W@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504221 s, deltaX: -0.400000 m, approachRate: -0.793302 m/s, rangeRepo size: 4  Added new target pos. range: 6.752201 m, bearing: 140.996195 deg, lat: 36.906382 deg, lon: -122.116026 deg, deltaT: 5.043832 s, deltaX: -2.979233 m, approachRate: -0.590669 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.75 m. 9.73 m.EEkU ProNav: ac range: 9.731434 m, nav range: 6.728606 m, bearing: 140.159692 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 156.257953 deg, new cmd heading: 155.986649 deg. U ]|HeadingCmd: 2.722481 target range: 9.731434 and range: 6.80 m.b]=.@ZYrYjYRYJYBi~q~q}q|q|q|y|}>??K=]P"K=9*K92K=:K=} Jii\ Pdgx,pO:Gi}7JS1_ U{BUY8II< =;=.@=i=.@ibEZEDDAT read: Rx Time:14:00:03.4557 TRx dataTimestamp_ set to:1749132004.664243PDAT read: Bearing 339.8, 1.1 (Local) ~Local bearing/azimuth received: Bearing 339.8, 1.1 (Local)  DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed 0.6 =DAT read: 14:00:03.4557 LVL= 22512, 32753, 18258, 32755, AGC= 51, IDX= 499, 0.21,-2.630, 2.453,-1.831,-2.469, PHS=-0.073,-1.314, 0.635, RAW= 171.0, 8.9, CAL= 170.2, -1.1, ROT= 339.8, 1.1 EYgot valid direction response: 14:00:03.4557 LVL= 22512, 32753, 18258, 32755, AGC= 51, IDX= 499, 0.21,-2.630, 2.453,-1.831,-2.469, PHS=-0.073,-1.314, 0.635, RAW= 171.0, 8.9, CAL= 170.2, -1.1, ROT= 339.8, 1.1 MT#Rx 28: Read range and direction messages.e`direction in FSK: [0.938320,-0.345235,-0.019197]eFpublishing direction and range infoy˷?Rֿ]~3@Y W)IRGi'1\"? C?@)>I>@inFǽ@nF< )?u%?{ئǭ?iac?JnF< )EEEE0Echecking for new query: numPingsReceived=28, elapsed TxPingTime=10.0876966G=~GAԱAN>:J \BJ UJJ BRJ ZJ =:bJ >9J -4J XM.,7hA9:%>&@:Q4@Y:t6&@:;):CEchecking for new query: numPingsReceived=28, elapsed TxPingTime=10.317282G|B&IAaImaIm aMmaMm aQmaQm aEmaEm mMb@Mb@Mb@iii i)iYmS?{Gz:vym/?mףimA m@)iIm@iym3@I Ib3f =y Q >٥ HyF >;5Ȝ?;59z IBT:yM?:N2@@$Ei:":;5t.AEZb*hA@@@ʁx @CY˷?Rֿ]~JnF<ҁL)KZhY\@2ۿEze`x9Zv?ISz@BjoƜ?r3 zBvǜ?O  zB@*@DDAT read: Rx Time:14:00:03.9554 TRx dataTimestamp_ set to:1749132005.168012  PDAT read: Bearing 340.3, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 340.3, 0.5 (Local) - DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 U DAT read: 14:00:03.9554 LVL= 23216, 32753, 19106, 32755, AGC= 51, IDX= 496, 0.12, 2.797, 1.586,-2.692, 2.977, PHS=-0.092,-1.344, 0.611, RAW= 170.8, 9.6, CAL= 169.7, -0.5, ROT= 340.3, 0.5 ] Ygot valid direction response: 14:00:03.9554 LVL= 23216, 32753, 19106, 32755, AGC= 51, IDX= 496, 0.12, 2.797, 1.586,-2.692, 2.977, PHS=-0.092,-1.344, 0.611, RAW= 170.8, 9.6, CAL= 169.7, -0.5, ROT= 340.3, 0.5 ] T#Rx 29: Read range and direction messages.e `direction in FSK: [0.941435,-0.337082,-0.008727]m Fpublishing direction and range infoy8; ?o’տB7߁f@Y Z)IJij1j? >@)+>I=@i53@5<  addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504078 s, deltaX: -0.200000 m, approachRate: -0.396765 m/s, rangeRepo size: 4 )DxP?$)q?O}Ǘu?ihb?E},z 5< ) checking for new query: numPingsReceived=29, elapsed TxPingTime=10.598416  Added new target pos. range: 6.553606 m, bearing: 141.279838 deg, lat: 36.906381 deg, lon: -122.116029 deg, deltaT: 5.547910 s, deltaX: -3.177828 m, approachRate: -0.572797 m/s, posRepo size: 4    zIgnoring new targets. Set target to previous: 6.55 m. 9.73 m.! A U  ProNav: ac range: 9.731434 m, nav range: 6.387373 m, bearing: 139.073897 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 155.986644 deg, new cmd heading: 155.636660 deg. Q ] |HeadingCmd: 2.716372 target range: 9.731434 and range: 6.60 m.b] -@ZY rY jY RY JY B ~ ~ z{B} | | | @| ? e {Be Vi Im L< i i m 4gH H _IH |BH  =H H H <H $EE5 E1 E1 E5 P0E1 achecking for new query: numPingsReceived=29, elapsed TxPingTime=10.8232106GP=~GAAN?[W.,']hAD9v%@v3@YvԹ٥ H9 >;5YȜ?;599x IBy1@@$Ei:W:ƃ;5B.AEZyb}JhA}@}@})@ʁ}_.@Iv/ 'a#}8; ?o’տB7߁}z }5<ҁ}ЀsZ; @g>)տ}5Y?01_z},u@}ڙj}1Ɯ?r}K }zB} ~Ɯ?}F4  }9zB}@}@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503769 s, deltaX: -0.400000 m, approachRate: -0.794015 m/s, rangeRepo size: 4  Added new target pos. range: 6.156412 m, bearing: 141.453012 deg, lat: 36.906380 deg, lon: -122.116029 deg, deltaT: 6.051679 s, deltaX: -3.575022 m, approachRate: -0.590749 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.16 m. 9.73 m.11u ProNav: ac range: 9.731434 m, nav range: 6.121781 m, bearing: 138.154040 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 155.636666 deg, new cmd heading: 155.357322 deg. y|HeadingCmd: 2.711497 target range: 9.731434 and range: 6.20 m.b*-@ZrjRJB~~Km)P"Kж9*K2K:KtEo8-5{mbT?,jD2(x9+O(zI}||||u?UDDAT read: Rx Time:14:00:04.4553 ]TRx dataTimestamp_ set to:1749132005.671930ePDAT read: Bearing 339.9, 0.0 (Local) e~Local bearing/azimuth received: Bearing 339.9, 0.0 (Local) uDAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 DAT read: 14:00:04.4553 LVL= 23248, 32753, 18786, 32755, AGC= 50, IDX= 511, 0.07, 3.039, 1.849,-2.440,-3.040, PHS=-0.116,-1.348, 0.597, RAW= 171.3, 10.2, CAL= 170.1, -0.0, ROT= 339.9, 0.0 Ygot valid direction response: 14:00:04.4553 LVL= 23248, 32753, 18786, 32755, AGC= 50, IDX= 511, 0.07, 3.039, 1.849,-2.440,-3.040, PHS=-0.116,-1.348, 0.597, RAW= 171.3, 10.2, CAL= 170.1, -0.0, ROT= 339.9, 0.0 T#Rx 30: Read range and direction messages.`direction in FSK: [0.939094,-0.343660,-0.000000]Fpublishing direction and range infoQyU%L ?VտQYQ UZ)QIUbIiQU2UhUDU? U X?@)UK6>IU>@iUUֽ@U Q)QUy?L@75?#?iU|d?U96UU Q)Qchecking for new query: numPingsReceived=30, elapsed TxPingTime=11.093360 {B~)^.,kf{hA9%@C3@YSu٥19 =H=zF=W< =>IQ;5U\rȜ?;59Uu IUBy1@@U$EiU)1I0P< i<e3-@.|=j=ie3-@irEl>jE>DDAT read: Rx Time:14:00:04.9550 TRx dataTimestamp_ set to:1749132006.177149PDAT read: Bearing 338.8, -1.3 (Local) ~Local bearing/azimuth received: Bearing 338.8, -1.3 (Local) DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed 0.5  DAT read: 14:00:04.9550 LVL= 22560, 32753, 19122, 32755, AGC= 49, IDX= 508, 0.01, 1.644, 0.486, 2.473, 1.887, PHS=-0.155,-1.354, 0.583, RAW= 172.2, 10.9, CAL= 171.2, 1.3, ROT= 338.8, -1.3 Ygot valid direction response: 14:00:04.9550 LVL= 22560, 32753, 19122, 32755, AGC= 49, IDX= 508, 0.01, 1.644, 0.486, 2.473, 1.887, PHS=-0.155,-1.354, 0.583, RAW= 172.2, 10.9, CAL= 171.2, 1.3, ROT= 338.8, -1.3 %T#Rx 31: Read range and direction messages.5^direction in FSK: [0.932084,-0.361532,0.022687]5Fpublishing direction and range infoڙyڝ,*?OV#׿NGY;?ڝf@Yڙ ۝ X)ۙI۝Jiۙ۝1۝R۝O۝}?? ܝhY@@)ܝB>Iܝt;?@iܝ޹<ܝ8@ܝ޹ ݙ)ݙݝ"WwHD?LY1?.{L?iݝ i?ݝCݝqݝ޹ ޙ)ޙmchecking for new query: numPingsReceived=31, elapsed TxPingTime=11.605018EuEqEqEyEyFF=ԡH >H H LIH |BH H H H <H (EHʘCHʘCHH =I = Ir5 6G ~GAA)N1kf.,4,hAd9bT$@b2@Ybt٥ H{Fs >U;5EYȜ?];59r IBye?m:m1@@$Ei<<;5.AEZbiVhA@@q@@ʁZ@I$^Lo?,*?OV#׿NGY;?q޹ҁ]Ib@@i+H=Db@+H )!P?prf/?Q ,?io?EQjʾ+H ) checking for new query: numPingsReceived=32, elapsed TxPingTime=12.125477I y ~G A AN=>m.,F hAI.C=I.4=J 4J 4J 1:J6_BJ6ZJJ6?RJ4ZJ6 :bJ6S9J6ـ4J496t$@2@Y ٥ H|F >;5nDȜ?;59Up IByn1@@$Ei(;*;;5 B .A EZb_hA@@@ʁ (T@6V#Z?hh|?{#ؿs!D?jʾ+Hҁ)Igo|H8 @8=?+7m翏"5?Hp}?zi@:{jGƜ?r Q|B  <{B@@ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504209 s, deltaX: -0.300000 m, approachRate: -0.594991 m/s, rangeRepo size: 4  Added new target pos. range: 5.362010 m, bearing: 137.062855 deg, lat: 36.906379 deg, lon: -122.116030 deg, deltaT: 7.565025 s, deltaX: -4.369423 m, approachRate: -0.577582 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.36 m. 9.73 m.  ProNav: ac range: 9.731434 m, nav range: 5.347634 m, bearing: 134.950991 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 154.756336 deg, new cmd heading: 154.512794 deg.  |HeadingCmd: 2.696757 target range: 9.731434 and range: 5.40 m.b,@ZrjR9J9B9~A~A}A|A|I|M@|M`@h?ԙ -{B=g DDAT read: Rx Time:14:00:05.9545  TRx dataTimestamp_ set to:1749132007.184007 PDAT read: Bearing 336.4, -6.5 (Local)  ~Local bearing/azimuth received: Bearing 336.4, -6.5 (Local)  DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 5 DAT read: 14:00:05.9545 LVL= 26192, 32753, 26418, 32755, AGC= 48, IDX= 504,-0.07, 1.818, 0.754, 2.679, 2.170, PHS=-0.263,-1.369, 0.506, RAW= 174.1, 13.7, CAL= 173.6, 6.5, ROT= 336.4, -6.5 = Ygot valid direction response: 14:00:05.9545 LVL= 26192, 32753, 26418, 32755, AGC= 48, IDX= 504,-0.07, 1.818, 0.754, 2.679, 2.170, PHS=-0.263,-1.369, 0.506, RAW= 174.1, 13.7, CAL= 173.6, 6.5, ROT= 336.4, -6.5 E T#Rx 33: Read range and direction messages.M ^direction in FSK: [0.910472,-0.397776,0.113203]M Fpublishing direction and range info y ,j"?Z(|(uٿ5? @Y Pf) I 2gi 𧆾 d; 7? xB@) Gt>I A@i V= @ V ) ^[<=?_,?99S?i Ȝq? t JҾ V ) e checking for new query: numPingsReceived=33, elapsed TxPingTime=12.602365 t.,йhA9>'#@>2@Y>2=>H@ֿ2ď?OA? ݞYu? ? >'#@>;)H CH ?IH r|BH H H H <H E=Mb@Mb@Mb@999 9)9Y=Zd;?Mby&1|y=?==`=@ =@)9I99y9I}I}2o K=y7Q >٥ H2 >5;5X1Ȝ?5;59m IBy=?=:=a0@=@$Ei'<:7;5AM.AEZ!b%˹hA%ߞ@%ߞ@%G@ʁ%QB|@C3g)?%,j"?Z(|(uٿ5?%JҾ%Vҁ%V=U f," @g7?%xGɴN?p|C@?z%]@%bj%5ǜ?r% l %}B%mƜ?%  %{B%̥@%(@= addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.502649 s, deltaX: -0.400000 m, approachRate: -0.795784 m/s, rangeRepo size: 4  Added new target pos. range: 4.964804 m, bearing: 135.662298 deg, lat: 36.906379 deg, lon: -122.116031 deg, deltaT: 8.067674 s, deltaX: -4.766630 m, approachRate: -0.590831 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.96 m. 9.73 m. ProNav: ac range: 9.731434 m, nav range: 5.123457 m, bearing: 133.885038 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 154.512799 deg, new cmd heading: 154.251385 deg. |HeadingCmd: 2.692194 target range: 9.731434 and range: 5.00 m.bL,@ZrjRJB~~u{B}|!|!|%@|-U?Mchecking for new query: numPingsReceived=33, elapsed TxPingTime=12.837312 u{B}6#1 Q -z.,OhAZDDAT read: Rx Time:14:00:06.4543 ^TRx dataTimestamp_ set to:1749132007.689743bPDAT read: Bearing 334.7, -7.1 (Local) b~Local bearing/azimuth received: Bearing 334.7, -7.1 (Local) jDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 K~5P"K~9*K|2K~:K~aT&":gi4lfU2i*R 3s|qocwrDAT read: 14:00:06.4543 LVL= 26416, 32753, 26306, 32755, AGC= 47, IDX= 502, 0.00, 1.893, 0.877, 2.804, 2.282, PHS=-0.301,-1.358, 0.519, RAW= 175.8, 13.9, CAL= 175.3, 7.1, ROT= 334.7, -7.1 %Ygot valid direction response: 14:00:06.4543 LVL= 26416, 32753, 26306, 32755, AGC= 47, IDX= 502, 0.00, 1.893, 0.877, 2.804, 2.282, PHS=-0.301,-1.358, 0.519, RAW= 175.8, 13.9, CAL= 175.3, 7.1, ROT= 334.7, -7.1 -T#Rx 34: Read range and direction messages.5^direction in FSK: [0.897150,-0.424081,0.123601]5Fpublishing direction and range infoXyZXs?b#$ۿA7X?Zf@YX Z0g)XIZfiXZ/ZZҭZ/? Z^D@)ZUlx>IZC@iZ=Z@Z X)XZ=mr?z米?Sy, `?iZ ty?Z?xZ:Z X)XMchecking for new query: numPingsReceived=34, elapsed TxPingTime=13.111211u |B}Ii}٥ H}F >;5Ȝ?;59k IBy@$Ei::y;5 B .A EZXbZ$hAZW@ZW@Zá@ʁZ E:J\BJVJJFRJZJ=:bJB9J4JUchecking for new query: numPingsReceived=34, elapsed TxPingTime=13.341245ԁ Y4.,N hA 9#@01@Y I}4`E@i}q=}[&@}q y)y}Al?m—FD?~p?i}?}qe}}q y)ychecking for new query: numPingsReceived=35, elapsed TxPingTime=13.612060 G EݿYy%AuMb@Mb@Mb@qqq q)qYu$C?I +Mbp?yu?u94u;uA q)uAIu@qyu@I"Iq3   =y X:Q  >٥ H~F5Ƽ =>AM;5EȜ?M;59EYh IEByM$?M:M0@M@E$EiE:E:EN;5ae /AmEZyb}M hAH>HH9IHh|BH =HHH<H~GAA)N5?P.,@'hA<9^:"@^0@Y^,=y^E<^H V 3׿> q?໵@F? 4 E?? ^:"@^;)^Cz|Bz II%I%25 5[=y5:Q >٥ H >U;5ǜ?];59e IByae/@e@$Eiy<?z<;5im/ADDAT read: Rx Time:14:00:07.4541 TRx dataTimestamp_ set to:1749132008.695933PDAT read: Bearing 330.4, -4.6 (Local) ~Local bearing/azimuth received: Bearing 330.4, -4.6 (Local) DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 14:00:07.4541 LVL= 23264, 26353, 21666, 31011, AGC= 49, IDX= 498, 0.25, 2.737, 1.780,-2.442,-3.096, PHS=-0.362,-1.360, 0.651, RAW= 180.3, 12.3, CAL= 179.6, 4.6, ROT= 330.4, -4.6 Ygot valid direction response: 14:00:07.4541 LVL= 23264, 26353, 21666, 31011, AGC= 49, IDX= 498, 0.25, 2.737, 1.780,-2.442,-3.096, PHS=-0.362,-1.360, 0.651, RAW= 180.3, 12.3, CAL= 179.6, 4.6, ROT= 330.4, -4.6 T#Rx 36: Read range and direction messages.^direction in FSK: [0.866694,-0.492351,0.080199]Fpublishing direction and range infoڙyڝAǼI?󆭂߿zꇴ?ڙYڙ ۝Z)۝fI۝TK P"K 9*K i۝#y۝1۝X۝{۝&? ܝeI@)ܝ[>IܝyH@iܝl=ܝ@ܝl ݙ)ݙݝ L,3 ?}~%?rɾ1?iݝ?ݝ9[ݝ Aݝl ޙ)ޙ-checking for new query: numPingsReceived=36, elapsed TxPingTime=14.1154712K :K O6kg<U#!Cb!It "2}m=a^33]j<9Zb+,hA:@ʁCx @t0m g?AǼI?󆭂߿zꇴ? Aԩlҁ]zX@jA @ZWZ?S?㿨?FX?zOP@&jTwǜ?rs3 |Bǜ? ꁝ@@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503730 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.170431 m, bearing: 128.636533 deg, lat: 36.906382 deg, lon: -122.116031 deg, deltaT: 9.579600 s, deltaX: -5.561003 m, approachRate: -0.580505 m/s, posRepo size: 4 !!ezIgnoring new targets. Set target to previous: 4.17 m. 9.73 m.ii} ProNav: ac range: 9.731434 m, nav range: 4.410179 m, bearing: 129.752881 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 153.688177 deg, new cmd heading: 153.425934 deg. y|HeadingCmd: 2.677788 target range: 9.731434 and range: 4.20 m.b`+@ZrjRJB~~}||||`D? u{B} A E <M checking for new query: numPingsReceived=36, elapsed TxPingTime=14.349546P;.,@hAl9!@/@Y=y$<H@ؿX啿r? @?`ـ?@y? !@0އ;)C|B I) DDAT read: Rx Time:14:00:07.9541 TRx dataTimestamp_ set to:1749132009.200173PDAT read: Bearing 326.1, -3.3 (Local) ~Local bearing/azimuth received: Bearing 326.1, -3.3 (Local) DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 14:00:07.9541 LVL= 17952, 20833, 18578, 24563, AGC= 48, IDX= 496,-0.50, 1.159, 0.266, 2.464, 1.691, PHS=-0.444,-1.378, 0.770, RAW= 184.3, 11.3, CAL= 183.9, 3.3, ROT= 326.1, -3.3  Ygot valid direction response: 14:00:07.9541 LVL= 17952, 20833, 18578, 24563, AGC= 48, IDX= 496,-0.50, 1.159, 0.266, 2.464, 1.691, PHS=-0.444,-1.378, 0.770, RAW= 184.3, 11.3, CAL= 183.9, 3.3, ROT= 326.1, -3.3  T#Rx 37: Read range and direction messages.^direction in FSK: [0.828636,-0.556820,0.057564]Fpublishing direction and range infoکyڭ/?Hcx`8.y?کYک ۭ F)ۭaQIۭHiۭ_ۭ0ۭSۭNbۭE? ܭvM@)ܭI>IܭkM@iܭk=ܭ @ܭk ݩ)ݩݭ6?oaG? Z$?iݭ ?ݭIݭuwݭk ީ)ީ]checking for new query: numPingsReceived=37, elapsed TxPingTime=14.625551Mb@Mb@Mb@ )Yn?Q롿y?\ `@)AI@y @I I̍215i: 5=y=:Q =>٥99 EHEFm u>y;5}ǜ?;59}a I}ByH?:$,@@}$Ei}:} :}գ;5B /AEZbLhA @ʁ.8Pdj @]0ӓ;?/?Hcx`8.y?uwkҁ;4zv>V@ t @`#?'Rki ʥ?(Ӵ?zC^@j&ǜ?r e|B&ǜ? ꁭr@ah@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504240 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 4.170431 m, bearing: 123.605453 deg, lat: 36.906383 deg, lon: -122.116031 deg, deltaT: 10.083840 s, deltaX: -5.561003 m, approachRate: -0.551477 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.17 m. 9.73 m.GG?AH>HHHH =HHH <H"E! ) =  ProNav: ac range: 9.731434 m, nav range: 4.099230 m, bearing: 127.769379 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 153.425938 deg, new cmd heading: 153.079580 deg. 9 = |HeadingCmd: 2.671743 target range: 9.731434 and range: 4.20 m.b= *@Z r j R J B ~ ~ {B} | | | | j? E {BE g9J -4J zJ  jJ  J }Q: rJ Q: E E E E P0E U checking for new query: numPingsReceived=37, elapsed TxPingTime=14.853433ԉ 6GZGRG~GqAAN?[ .,ehA9v !@vh/@Yv=yv =٥ HF R >AM;5Eǜ?U;59E7_ IEByQU+@U@E$EiE:E1:aEe;58/AEB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.73 m. 9.73 m.  ProNav: ac range: 9.731434 m, nav range: 3.885794 m, bearing: 126.221269 deg, approach rate: -0.544894 m/s, LOS rate: -4.168846 deg/s, cmd heading: 153.079579 deg, new cmd heading: 148.192629 deg.  2|HeadingCmd: 2.586449 target range: 9.731434 and range: 4.20 m.bc%@Zr9j9R9J9B9~A~A}A|A|I|I|M?aauDDAT read: Rx Time:14:00:08.4539 }TRx dataTimestamp_ set to:1749132009.705937PDAT read: Bearing 322.3, -4.8 (Local) ~Local bearing/azimuth received: Bearing 322.3, -4.8 (Local) DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 DAT read: 14:00:08.4539 LVL= 16576, 20513, 16562, 24771, AGC= 48, IDX= 495,-0.12, 2.193, 1.397,-2.621, 2.835, PHS=-0.554,-1.391, 0.824, RAW= 188.0, 11.6, CAL= 187.7, 4.8, ROT= 322.3, -4.8 Ygot valid direction response: 14:00:08.4539 LVL= 16576, 20513, 16562, 24771, AGC= 48, IDX= 495,-0.12, 2.193, 1.397,-2.621, 2.835, PHS=-0.554,-1.391, 0.824, RAW= 188.0, 11.6, CAL= 187.7, 4.8, ROT= 322.3, -4.8 T#Rx 38: Read range and direction messages.^direction in FSK: [0.788448,-0.609382,0.083678]Fpublishing direction and range infoqyuJM:?@㿕U]k?uy@Yq u@)u!PIu@iu`qu uJ uR? u~Q@)u4QO>IuQ@iu=u@u q)quxv?ŚS?WT?iu?K^P"K9*K2K:KJcx [ j Hev"UGmKo )U[Թ checking for new query: numPingsReceived=38, elapsed TxPingTime=15.357939 ,.,+hA9:4!@:-H/@Y:=y:,<:HAla!ٿ$`,?k@}?lՠ`ͮ?? :4!@:;)8N|BRITTIZIZ2UP; X=yjQ >٥ HF^ >9};5=ܵǜ?;59=u\ I=|Byv+@@=$Ei=(<=|5<=;52/AZb.mhAw@w@!$@ʁ~)m@4 `g,?JM:?@㿕U]k?q(ҁ&l82Ubv @Zq?ځ0߿Xz"?g?z+X@j0ǜ?rx |Bs3  |Bꁽ]@s @u addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505764 s, deltaX: -0.300000 m, approachRate: -0.593161 m/s, rangeRepo size: 4  Added new target pos. range: 3.872545 m, bearing: 119.194134 deg, lat: 36.906383 deg, lon: -122.116030 deg, deltaT: 10.589604 s, deltaX: -5.858889 m, approachRate: -0.553268 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 3.87 m. 9.73 m.k ProNav: ac range: 9.731434 m, nav range: 3.678929 m, bearing: 124.546953 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 148.192634 deg, new cmd heading: 147.891375 deg.  |HeadingCmd: 2.581192 target range: 9.731434 and range: 3.90 m.b>2%@ZrjRJ!B!~!~!})|)|)|-@33@|-`f?DDAT read: Rx Time:14:00:08.9536 TRx dataTimestamp_ set to:1749132010.207995PDAT read: Bearing 322.1, -12.4 (Local) ~Local bearing/azimuth received: Bearing 322.1, -12.4 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 DAT read: 14:00:08.9536 LVL= 17536, 18897, 16098, 21363, AGC= 46, IDX= 508, 0.22, 2.883, 2.152,-1.964,-2.659, PHS=-0.654,-1.426, 0.692, RAW= 188.9, 14.8, CAL= 187.9, 12.4, ROT= 322.1, -12.4 Ygot valid direction response: 14:00:08.9536 LVL= 17536, 18897, 16098, 21363, AGC= 46, IDX= 508, 0.22, 2.883, 2.152,-1.964,-2.659, PHS=-0.654,-1.426, 0.692, RAW= 188.9, 14.8, CAL= 187.9, 12.4, ROT= 322.1, -12.4 T#Rx 39: Read range and direction messages.^direction in FSK: [0.770677,-0.599955,0.214735]Fpublishing direction and range info %{B-Ni=>2%@i9ډyڍa?.2㿍h`r|?ڍ`@Yډ ۍD)ۍIIۍ>iۍsSۍ.ۍl'ۍ+ۍ&1? ܍S@)܍ A>I܍Q@i܍k]>܍@܍k] ݉)݉ݍl`1H?E4V?)Z?iݍy?ݍNݍV)ݍk] މ)މchecking for new query: numPingsReceived=39, elapsed TxPingTime=15.651332EEEEP0E) H >H H 3IH ]|BH  =H H H 6<H `EQ :J cBJ [JJ @RJ ZJ :bJ W9J J4J zJ ;jJ ;J ||:rJ ~|:6G (=jG ?bG >~G A AN>.,B?hA checking for new query: numPingsReceived=39, elapsed TxPingTime=15.8611749f< @f.@Yfh=yf/٥    H   >%;5Nǜ?%;59X IvBy%M?%:%*@%@%Ei:M:w;55B5:/A=EԑZbOhAl^@l^@@ʁQm@ܑ4 {5?a?.2㿍h`r|?V)k]ҁ7Jv-V@? =B޿a-iM$@iIzEYDDAT read: Rx Time:14:00:09.4536 TRx dataTimestamp_ set to:1749132010.716466PDAT read: Bearing 316.4, -32.1 (Local) ~Local bearing/azimuth received: Bearing 316.4, -32.1 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 EDAT read: 14:00:09.4536 LVL= 18992, 19553, 12546, 22323, AGC= 43, IDX= 508, 0.04, 0.361,-0.051, 1.581, 1.320, PHS=-0.871,-1.324, 0.258, RAW= 193.9, 25.9, CAL= 193.6, 32.1, ROT= 316.4, -32.1 MYgot valid direction response: 14:00:09.4536 LVL= 18992, 19553, 12546, 22323, AGC= 43, IDX= 508, 0.04, 0.361,-0.051, 1.581, 1.320, PHS=-0.871,-1.324, 0.258, RAW= 193.9, 25.9, CAL= 193.6, 32.1, ROT= 316.4, -32.1 MT#Rx 40: Read range and direction messages.U^direction in FSK: [0.613462,-0.584192,0.531399]UFpublishing direction and range infoYEeEaEaEaEay X@)q>I@X@il? @l )#?\h?0Wd?i\?U義Bl )checking for new query: numPingsReceived=40, elapsed TxPingTime=16.142410KP"K}9*K2K:KY*S{?2Xy\ruw aQ\LzT 6G5 m=~G A A N >ԁ 2.,hA9: @:[.@Y:tw=y:6+=:H IJٿ㑿?Fj?(Π?? : @:p;):CF|BFIIR IRb3ra r=yvQ v?٥tt vHzFzR z?|;5~iǜ?;59~V I~rBy  '*@ @~%Ei~|:~:~;5U/AIU%=IUp=Z)b-ڭhA))-r?ʁ-'V@..K>h?-iE$@iEEEEo0Eԙ6G[S>~GIAyA N > DDAT read: Rx Time:14:00:09.9534  TRx dataTimestamp_ set to:1749132011.215994 PDAT read: Bearing 299.1, -47.7 (Local)  ~Local bearing/azimuth received: Bearing 299.1, -47.7 (Local)  DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.1 = DAT read: 14:00:09.9534 LVL= 22256, 25153, 14562, 32755, AGC= 44, IDX= 506,-0.02, 0.353, 0.465, 1.498, 1.582, PHS=-1.141,-1.070,-0.087, RAW= 213.4, 38.5, CAL= 210.9, 47.7, ROT= 299.1, -47.7 E Ygot valid direction response: 14:00:09.9534 LVL= 22256, 25153, 14562, 32755, AGC= 44, IDX= 506,-0.02, 0.353, 0.465, 1.498, 1.582, PHS=-1.141,-1.070,-0.087, RAW= 213.4, 38.5, CAL= 210.9, 47.7, ROT= 299.1, -47.7 E T#Rx 41: Read range and direction messages.M ^direction in FSK: [0.327310,-0.588060,0.739631]U Fpublishing direction and range info y {?"qvbV? L@Y V) AbI 8i  , J - ^n@) ,?I ۓk@i + U? @ + U ) /#V%??i ? &, K + U ) m checking for new query: numPingsReceived=41, elapsed TxPingTime=16.6353689 .,кhA HyH}<Hټ>HH-IHS|BH =HH-DHʚ<HEHMCHMCHIHM =IM = IM59 / @fB.@YS<=yJa=H 8@ڿ?4ĥ?ɦ7i?t?  / @骝;){BI == :JmXBJmQJJm?RJiZJm{9bJm-.9Jmـ4JizJm:jJm:Jm4:rJm4:mMb@Mb@Mb@iii i)iYm9v?J +{Gztym?mHmףmA m`@)mAIiiyiII<2 =yG Q >٥ HF  >=checking for new query: numPingsReceived=41, elapsed TxPingTime=16.869289A;5yǜ?;59zR IkBy?:(@%@ %Ei = =;5)-/A-EZbͺhA[K@[K@?ʁ {ۣ?zCt+@{?"qvbV?K + Uҁ`eͿ=n@f@V\}U8-p??z@hjfǜ?r yB o~B@@:`? addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.499528 s, deltaX: -0.300000 m, approachRate: -0.600567 m/s, rangeRepo size: 4 i   Added new target pos. range: 3.177432 m, bearing: 95.831157 deg, lat: 36.906383 deg, lon: -122.116027 deg, deltaT: 12.099661 s, deltaX: -6.554002 m, approachRate: -0.541668 m/s, posRepo size: 4    zIgnoring new targets. Set target to previous: 3.18 m. 9.73 m.    ProNav: ac range: 9.731434 m, nav range: 2.986263 m, bearing: 117.395018 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 147.426368 deg, new cmd heading: 147.039631 deg.   |HeadingCmd: 2.566326 target range: 9.731434 and range: 3.20 m.b >$@Z r j R J B ~ ~ {B} | | | @| (? {B靍 ӽ$@ ;!>i >$@i Eu Eq Ey E} P0Ey F AF Aԑ  DDAT read: Rx Time:14:00:10.4534 TRx dataTimestamp_ set to:1749132011.721471 PDAT read: Bearing 272.3, -42.5 (Local) ~Local bearing/azimuth received: Bearing 272.3, -42.5 (Local) %DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 MDAT read: 14:00:10.4534 LVL= 30352, 32753, 10690, 32755, AGC= 49, IDX= 505,-0.28,-1.202,-0.671, 0.415, 0.372, PHS=-1.485,-0.995, 0.040, RAW= 228.3, 32.6, CAL= 237.7, 42.5, ROT= 272.3, -42.5 UYgot valid direction response: 14:00:10.4534 LVL= 30352, 32753, 10690, 32755, AGC= 49, IDX= 505,-0.28,-1.202,-0.671, 0.415, 0.372, PHS=-1.485,-0.995, 0.040, RAW= 228.3, 32.6, CAL= 237.7, 42.5, ROT= 272.3, -42.5 UT#Rx 42: Read range and direction messages.]^direction in FSK: [0.029588,-0.736683,0.675590]]Fpublishing direction and range infoy%=laL?`翑iOo?Y v)I)i1{R~ #= x@)?I@iN=?@N= )N,пx& -?>?i ?wÿN= )checking for new query: numPingsReceived=42, elapsed TxPingTime=17.140928K]P"K]@9*KY2K] :K]FF[yli)%:a3/\2lx,?~6GuV%>ZGyRGy~G9AYAiN}?.,|hAq9ɿ@%-@Y=y<<Hf! wڿ*h?`?{ ? ? ɿ@jV;)Ce{BeIII2d 0=y٥ HFo >;5eǜ?;59O IeByv(@@%Eib<$i<;5B/AE-checking for new query: numPingsReceived=42, elapsed TxPingTime=17.374004Z b ,hA   g!?ʁ pGW?_ OR,@ %=laL?`翑iOo? wÿ N=ҁ Cy?` @LI@  ?OaA?_?z n@ X?j GCǜ?r   B !0ǜ? +  oB %@ ?ԡ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.177432 m, bearing: 69.440014 deg, lat: 36.906386 deg, lon: -122.116029 deg, deltaT: 12.605138 s, deltaX: -6.554002 m, approachRate: -0.519947 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 3.18 m. 9.73 m.5 ProNav: ac range: 9.731434 m, nav range: 2.764430 m, bearing: 114.304421 deg, approach rate: 0.000000 m/s, LOS rate: -0.206289 deg/s, cmd heading: 147.039629 deg, new cmd heading: 146.766788 deg. 1}|HeadingCmd: 2.561564 target range: 9.731434 and range: 3.20 m.b}#@ZyryjyRyJB~~}|||| i? u{Bu^|i#@iEEEEE  DDAT read: Rx Time:14:00:10.9530  TRx dataTimestamp_ set to:1749132012.223606 DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 - Z#Rx 43: Read range message, but no direction. f&@Y  checking for new query: numPingsReceived=43, elapsed TxPingTime=17.6287566G )q!>~G A A N >y.,hA9=@=z,@Y=h=y=x<=H.@9dۿ`EW?pdr?@o,K?`? =@=';)=CHռ>HCH IH?|BH =HHH<HE{BIY:J5dBJ5WJJ5ARJ1ZJ5<:bJ5G9J54J1zJ5;jJ5;J5_:rJ5_:checking for new query: numPingsReceived=43, elapsed TxPingTime=17.877378mMb@Mb@Mb@iii i)iYmX9v?J +٥  HFм U>Ye;5]Jǜ?m;59]J mtII]\BymB?m:md'@m@]%Ei]:];];5B(0A Em B*** querying acoustic contact ***Jq Rq Ա   addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502135 s, deltaX: -0.600000 m, approachRate: -1.194898 m/s, rangeRepo size: 4    BIntercept lockout. Range: 2.60 m. bTransitioning guidance mode to: INTERCEPT_LOCKOUT @b Z r j R J B ~ ~ {B} | | | @| $x? u {B} gi i Ey E E E v5E M DDAT read: Rx Time:14:00:11.4530 M TRx dataTimestamp_ set to:1749132012.728590e DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 -m Z#Rx 44: Read range message, but no direction.I I YI u checking for new query: numPingsReceived=44, elapsed TxPingTime=18.135183&TFailed to parse incomplete device message.6G7 >~GAAN?X\., 8hAI)9b@b03,@Yb3>٥ HI̼ >;5;ǜ?;59AG IVBy&@@%EiW:d:;50A addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 bZrjRJB-checking for new query: numPingsReceived=44, elapsed TxPingTime=18.381329J1J1~I~I}I|I|I|Q|UV? {B靝*;iiԩEEEEO0E6G*>~GqAAN5>)e 4> e C 9G = ߿Y9 yE A DDAT read: Rx Time:14:00:11.9527  TRx dataTimestamp_ set to:1749132013.231803 PDAT read: Bearing 322.6, -40.4 (Local)  ~Local bearing/azimuth received: Bearing 322.6, -40.4 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.2 = DAT read: 14:00:11.9527 LVL= 21936, 21201, 14418, 22739, AGC= 43, IDX= 500,-0.29,-1.939,-2.652,-0.834,-0.844, PHS=-1.007,-1.761, 0.007, RAW= 184.8, 32.4, CAL= 187.4, 40.4, ROT= 322.6, -40.4 E Ygot valid direction response: 14:00:11.9527 LVL= 21936, 21201, 14418, 22739, AGC= 43, IDX= 500,-0.29,-1.939,-2.652,-0.834,-0.844, PHS=-1.007,-1.761, 0.007, RAW= 184.8, 32.4, CAL= 187.4, 40.4, ROT= 322.6, -40.4 E T#Rx 45: Read range and direction messages.M ^direction in FSK: [0.604977,-0.462540,0.648120]M Fpublishing direction and range info y w`[?KGAݿf? f@Y U) RI R8i X + `倿 sh B`; plN@) ?I SQ@i J4? ,@ J4 ) Zv`?DZ ^s?9l(?i ? y ' J4 ) m checking for new query: numPingsReceived=45, elapsed TxPingTime=18.650978?.,QhA9>9@>+@Y> G<>Hsܿ@s ei?? ǟۑ?? >9@>Ȉ;)>C~{B~IG9G=AAHMԼ>HIHM IHM |BHIHIHIHM<HM,EMb@Mb@Mb@ )YX9v?ktQy 0uA @)II@yAII3Ǽ 6=yӉQ >٥  HF >%;5(ǜ?%;59C IOBy-+?-:-&@-@%Ei<;;;5]Be0AeEZbNhAs@s@@ʁƒLK/?mNy9?w`[?KGAݿf?'J4ҁۑyK翅}j?I@?6FFXֿg~7u?!$?zT?^:juƜ?r8 eB  ?z? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503213 s, deltaX: -0.500000 m, approachRate: -0.993615 m/s, rangeRepo size: 4 u Added new target pos. range: 2.085169 m, bearing: 116.447439 deg, lat: 36.906386 deg, lon: -122.116032 deg, deltaT: 14.115470 s, deltaX: -7.646265 m, approachRate: -0.541694 m/s, posRepo size: 4 qybyZyryjyRyJyB~~{B}|||@|? {B,1<I!)%.!I% `< !)- <)5@5=5>$>i1i1Mchecking for new query: numPingsReceived=45, elapsed TxPingTime=18.885874EEEEP0E96G !>ZG RG Y ~G A A N >j.,}khA9>@>*@Y>Ї<>H`ݿ }?O@Gt? j`? ? >@>;)>CDDAT read: Rx Time:14:00:12.4527 TRx dataTimestamp_ set to:1749132013.736341PDAT read: Bearing 305.4, -63.7 (Local) ~Local bearing/azimuth received: Bearing 305.4, -63.7 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.2 DAT read: 14:00:12.4527 LVL= 21744, 28385, 16562, 24819, AGC= 47, IDX= 500, 0.03,-2.643,-2.675,-1.755,-1.020, PHS=-1.535,-1.608,-0.738, RAW= 205.7, 58.6, CAL= 204.6, 63.7, ROT= 305.4, -63.7 Ygot valid direction response: 14:00:12.4527 LVL= 21744, 28385, 16562, 24819, AGC= 47, IDX= 500, 0.03,-2.643,-2.675,-1.755,-1.020, PHS=-1.535,-1.608,-0.738, RAW= 205.7, 58.6, CAL= 204.6, 63.7, ROT= 305.4, -63.7 T#Rx 46: Read range and direction messages. ^direction in FSK: [0.256663,-0.361160,0.896486] Fpublishing direction and range infoکyڭEl)m?R /=׿~_?کYک ۭT)ۭnIۭ@iۭ`ۭ/ۭzĿۭͿۭ< ܭe@)ܭ?IܭXd@iܭN?ܭJ@ܭN ݩ)ݩݭݗ^%?]?H^T?iݭ2_?ݭݭsݭN ީ)ީ%checking for new query: numPingsReceived=46, elapsed TxPingTime=19.1543929KMNP"KM9*KI2KM":KMYfIF_ <cW}g79 3ik5 5@f}a{BI) II2̼ =yQ >٥ HFQ > 5;5 ǜ?=;59 ? I FBy9=;&@=@ !%Ei ?; y; ~;5AE1AI:J}^BJ}SJJ}>RJyZJ}} :bJ}y69J}t4Jy@@@@Zb6 ohA?ʁ< ?I8?M?El)m?R /=׿~_?sNҁw*ƿwe;W?-Cm?48,lҵ?9?zw?0jwǜ?rTY& uB  uBꁭ}?߫?= addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.085169 m, bearing: 100.132444 deg, lat: 36.906386 deg, lon: -122.116033 deg, deltaT: 0.504538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 YYbaZarajaRaJaBa~i~i}i|q|q|q|u`]?ԙ - {B- Q&~G A A N >Ū.,hA9^T@^h*@Y^٥ H ک  >;5ǜ?;591< I>By?=:=%@E@%%Ei;;9;5IM1AMEZb8fhA??@ʁp R0Es?$Ud/? M L?f?"?Cҁ@[a׼ҿ08=-?4ExK>ĿC$7?zEj Ɯ?rԵC ?Bwǜ?8  ?? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504273 s, deltaX: -0.300000 m, approachRate: -0.594916 m/s, rangeRepo size: 4  Added new target pos. range: 1.787284 m, bearing: 253.491479 deg, lat: 36.906381 deg, lon: -122.116036 deg, deltaT: 0.504273 s, deltaX: -0.297885 m, approachRate: -0.590721 m/s, posRepo size: 4 9AbAZArAjARAJABI~I~M{B}I|Q|Q|U?|U`f? {BC;I)JIm]< < = *Z=i i1 E E E E 5E a  checking for new query: numPingsReceived=47, elapsed TxPingTime=19.893438ԙ6G7>jG ?bG?~GAAN?.,hA9f@f )@Yfǣ٥ HFż >;5Ɯ?;599 I8By!%K%@%@(%Ei|:F:;5)-1AQDDAT read: Rx Time:14:00:13.4526 TRx dataTimestamp_ set to:1749132014.743895PDAT read: Bearing 278.8, -43.6 (Local) ~Local bearing/azimuth received: Bearing 278.8, -43.6 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 14:00:13.4526 LVL= 24336, 17041, 13266, 21635, AGC= 45, IDX= 501,-0.10,-2.293,-1.942,-1.002,-1.058, PHS=-1.147,-0.837, 0.053, RAW= 224.4, 32.3, CAL= 231.2, 43.6, ROT= 278.8, -43.6 Ygot valid direction response: 14:00:13.4526 LVL= 24336, 17041, 13266, 21635, AGC= 45, IDX= 501,-0.10,-2.293,-1.942,-1.002,-1.058, PHS=-1.147,-0.837, 0.053, RAW= 224.4, 32.3, CAL= 231.2, 43.6, ROT= 278.8, -43.6 T#Rx 48: Read range and direction messages.^direction in FSK: [0.110788,-0.715647,0.689620]Fpublishing direction and range infoڙyڝe\? 濌B\?ڝ@Yڙ ۝_)۝BI۝3i۝T۝-۝В۝EV۝Y= ܝ>z@)ܝZQ?Iܝ^ @iܝB?ܝ@ܝB ݙ)ݙݝ]a, ʿ2d70?ႮV?iݝ??ݝmݝgݝB ޙ)ޙchecking for new query: numPingsReceived=48, elapsed TxPingTime=20.162724ZbhA1?1?w?ʁ3wN)?r+Mt?e\? 濌B\?gBҁn`H?14[?Rj?E?ny_??zݲ?>jxǜ?rD cB ?Bꁝh?/? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503281 s, deltaX: 0.200000 m, approachRate: 0.397392 m/s, rangeRepo size: 4  Added new target pos. range: 1.985872 m, bearing: 72.276512 deg, lat: 36.906381 deg, lon: -122.116036 deg, deltaT: 0.503281 s, deltaX: 0.198587 m, approachRate: 0.394585 m/s, posRepo size: 4 bZrjRJ!B)~)~)}1|1|1|5@|5?K P"K9*K2K#:KLMJ-  Z|{@GO#MYBt w,+EwF\3&J>J? |;I)I=\< j<}=6=iiE]EYEYE]O0EY6G5=a~GAA N5 >:Ju [BJu ]JJu BRJq ZJu :bJu _9Ju -4Jq ] checking for new query: numPingsReceived=48, elapsed TxPingTime=20.398722ԁ |.,| »hA9>+@>^>)@Y>Qy7<>H޿e`?`J?ɞ $?? >+@>;)>CZ{BIi٥ HF˼ > ;5 Ɯ?;59  6 I 1By$@@ ,%Ei : t: ;5%B%1A%EIB*** querying acoustic contact ***JRbZrjRJB~~}||||n?ԡ {B;I)P⽉I([< h< =Z=iibEZEDDAT read: Rx Time:14:00:13.9528 TRx dataTimestamp_ set to:1749132015.248140DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -Z#Rx 49: Read range message, but no direction.ڙڝ3@Yڙchecking for new query: numPingsReceived=49, elapsed TxPingTime=20.654749EEEEP0EH ׼>H CH IH {BH  =H H -DH <H E6G m= ~G A A N >.,~ܻhAI ) 9^@^(@Y^mA٥y }Hy! >;5Ɯ?;59k2 I*By?:$@@0%EiK;I;;51AEU addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504245 s, deltaX: 0.300000 m, approachRate: 0.594949 m/s, rangeRepo size: 4 YYbYZYrYjYRYJaBa~a~e>{B}i|i|i|m`ff@|mG? rb;I).񽉞IY< G<6m=%|8=i!i!qEEEEE6G=~GAAN>ԙ DDAT read: Rx Time:14:00:14.4531 % TRx dataTimestamp_ set to:1749132015.7515035 DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed -0.2 -= Z#Rx 50: Read range message, but no direction.  ,@Y E checking for new query: numPingsReceived=50, elapsed TxPingTime=21.158142K ]XP"K 9*K 2K $:K (0GCY=n4>CjLenTSIpBZE .,WhA96{@6M'@Y61٥yy }H}F| >;5pƜ?;59O/ I$By$@@3%Ei:N:;5B*2AEE addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503363 s, deltaX: 0.400000 m, approachRate: 0.794655 m/s, rangeRepo size: 4 AAbAZArAjARAJIBI~I~I}q|q|q|u@|}z?:JXBJPJJ>RJZJ{9bJ*9Jt4J z;I) I I /X< )-<15=5'2=i9i9checking for new query: numPingsReceived=50, elapsed TxPingTime=21.407372EEEE_0E6G %= ~G A! AI Nu >E DDAT read: Rx Time:14:00:14.9527 E TRx dataTimestamp_ set to:1749132016.255911M DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1 -] Z#Rx 51: Read range message, but no direction.A E f@YA e checking for new query: numPingsReceived=51, elapsed TxPingTime=21.661976/,hA9B @B '@YB{BIH-ռ>H-CH-IH-{BH)H)H)H-(<H-CEHCHCHH =I = I+4Mb@Mb@Mb@ )Yl?Zd;OMby?jA )AIyGAAAAI I (*2O '=y³Q >٥ HFg >;5Ɯ?;59T+ IBy?:$@-@8%EiL<L<;515J2A=Eu addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504408 s, deltaX: -0.600000 m, approachRate: -1.189514 m/s, rangeRepo size: 4 yybyZyryjyRyJB~~\{B}|||@|? 靽ꉅ;I)d IV< <K&=W)=iiqEEEEE6Ge=checking for new query: numPingsReceived=51, elapsed TxPingTime=21.911510~GQAA! Nm >ԙ , /,cc*hA@9>@>&@Y>V<>Hd}_ 슿Z?`{^{?t'?? >@>9;)>CJX{BNIIVIV2^)= ^=ybUQ f?٥dh jHhj j?lr;5nƜ?v;59n( InBytv?$@v@n;%Ein):ny:n;5xz1A|%%TStarting intercept timer at range: 2.10 m.!b)Z)r)j)R)J)B)~1~1}1|1|9|Q|U \? .;I) 彉 I PT<   V<5_=5x=i9i9DDAT read: Rx Time:14:00:15.4529  TRx dataTimestamp_ set to:1749132016.761180PDAT read: Bearing 220.6, -29.2 (Local) %~Local bearing/azimuth received: Bearing 220.6, -29.2 (Local) EDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.3 ԱDAT read: 14:00:15.4529 LVL= 32752, 19377, 17714, 23379, AGC= 45, IDX= 501, 0.18,-2.969,-0.787,-1.157,-0.781, PHS=-2.100, 0.041,-0.379, RAW= 280.7, 23.7, CAL= 289.4, 29.2, ROT= 220.6, -29.2 EEEE93EYgot valid direction response: 14:00:15.4529 LVL= 32752, 19377, 17714, 23379, AGC= 45, IDX= 501, 0.18,-2.969,-0.787,-1.157,-0.781, PHS=-2.100, 0.041,-0.379, RAW= 280.7, 23.7, CAL= 289.4, 29.2, ROT= 220.6, -29.2 T#Rx 52: Read range and direction messages.e`direction in FSK: [-0.662785,-0.568075,0.487860]eFpublishing direction and range info 6G6=y ]7-5忕M-M9? @Y  ) KI 2Ei S[  ff '= J ¾ Ŝ@) >I @i w? iv@ w )  #Gl% g?Ѱ$ⶵ?i w3@ קӾ  w ) checking for new query: numPingsReceived=52, elapsed TxPingTime=22.226933Ke&P"Ke9*Ka2Ke%:Ke8 -Jz+4b-2#^5 &K _7j~GqAAN;>IR=I%=:JZBJTJJDRJZJ9bJ:9J4J!  checking for new query: numPingsReceived=52, elapsed TxPingTime=22.413139$/,ODhAxEB{BEIIMIM3]J e@=yeQ e>٥ai mHmFm m>q};5uƜ?};59u % IuBy@u?%Eiu:u:uw;5B22AEZ1b5,0hA5@5@5xD>ʁ5|oE\M8?5]7-5忕M-M9?55wҁ5)7F@nJ?r?5ͰQ?A.?9?{_?z5S>51@j5؆[9ǜ?r5Ҍ 5B11 5eB5q?5NX> addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505269 s, deltaX: 0.300000 m, approachRate: 0.593744 m/s, rangeRepo size: 4  Added new target pos. range: 2.383054 m, bearing: 10.993022 deg, lat: 36.906381 deg, lon: -122.116036 deg, deltaT: 2.017285 s, deltaX: 0.397182 m, approachRate: 0.196889 m/s, posRepo size: 4 bZrjRJB~ ~ }|||@33@|^? U{BUv;IQ)U QI]$S< YY]tbII@ib>.@bʾ ) DQ [s?[6D?i'@:YQbʾ )checking for new query: numPingsReceived=53, elapsed TxPingTime=22.682556QHMҼ>HIHMIHM{BHM =HIHM,DHM<HME6GnP=ZGRG~G A A N >y x//,K#^hA9:@:o &@Y:\٥ HF> >;5zƜ?;59H! IBy)?:$@@C%Ei);-;e;51AZ9b=}PhA=9%@=9%@=>ʁ=B$h'Ç{%g?=UnJ?=YQ=bʾҁ=KQw@50?e(O?=4*9?}ΰ?\A?z=U?=C@j=K*7ǜ?r=J =EB=xǜ?=Ҍ  =cB=L?=E>] addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502888 s, deltaX: 0.200000 m, approachRate: 0.397702 m/s, rangeRepo size: 4 u Added new target pos. range: 2.581626 m, bearing: 20.447739 deg, lat: 36.906383 deg, lon: -122.116035 deg, deltaT: 0.502888 s, deltaX: 0.198572 m, approachRate: 0.394863 m/s, posRepo size: 4 uuRStopped intercept timer at range: 2.60 m.qbqZyryjyRyJyBy~~{B}|||@|? ;I),ݽIQ< W<=[|=iizEԁEEEAEAEEx5EA6G=~GAAN-p>Ա DDAT read: Rx Time:14:00:16.4533  TRx dataTimestamp_ set to:1749132017.767420 DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 -- Z#Rx 54: Read range message, but no direction.  @@Y 5 checking for new query: numPingsReceived=54, elapsed TxPingTime=23.174431 K P"K ŷ9*K 2K &:K  @-`7Ld'X<u#} c wZfW/,whA96 @6|%@Y63٥11 5H1Mdd M>Q];5UekƜ?];59U? IU ByY]$@e@UF%EiU;U;Uy;5y}1AEԹB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503352 s, deltaX: 0.400000 m, approachRate: 0.794673 m/s, rangeRepo size: 4 TStarting intercept timer at range: 3.00 m.bZrjRJB~ ~ }|||@|? M{BMtx;II)MIIUB&P< QQUS qG  } ޿Y y AA 5 DDAT read: Rx Time:14:00:16.9533 = TRx dataTimestamp_ set to:1749132018.274310E PDAT read: Bearing 237.8, -10.3 (Local) E ~Local bearing/azimuth received: Bearing 237.8, -10.3 (Local) >$/,pΑhADAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 .DAT read: 14:00:16.9533 LVL= 21392, 18417, 9458, 15267, AGC= 38, IDX= 505, 0.50,-1.903, 0.189, 0.365,-0.143, PHS=-1.671, 0.380, 0.505, RAW= 267.1, 7.5, CAL= 272.2, 10.3, ROT= 237.8, -10.3 BYgot valid direction response: 14:00:16.9533 LVL= 21392, 18417, 9458, 15267, AGC= 38, IDX= 505, 0.50,-1.903, 0.189, 0.365,-0.143, PHS=-1.671, 0.380, 0.505, RAW= 267.1, 7.5, CAL= 272.2, 10.3, ROT= 237.8, -10.3 BT#Rx 55: Read range and direction messages.F`direction in FSK: [-0.524289,-0.832557,0.178802]FFpublishing direction and range infoiym_)࿭2N꿖?iYi mS)mGIm$im;m&mTտm\>mG? mB-@)m >Imq@imX8>mЄ@mX8 i)im%\Rj1??/O:?imF$@mmmX8 i)inchecking for new query: numPingsReceived=55, elapsed TxPingTime=23.707542Hּ>HHIH{BH =HH-DH<H/EAJJO4J0:J\BJRJJRJZJ=:bJS29JJzJ:jJ:J;:rJ<:U{BIDDAT read: Rx Time:14:00:17.4536 TRx dataTimestamp_ set to:1749132018.527825checking for new query: numPingsReceived=55, elapsed TxPingTime=23.936554qMb@Mb@Mb@ )YX9v?:v~jtx?y?Լ;A )Iv@y=AII2 V$<  ٥   H F  >! - ;5% NƜ?5 ;59% ; I% By5 ?5 :5 #@5 @% M%Ei% ;% ;% >;5= B= 1AE "EZibmLhAm>@m>@m>ʁm7Ž$/5 ?m_)࿭2N꿖?mmX8ҁm=@G! ?y|.IQ?m=(=?FL-E?ª{ڢ?zmo?m?(@jmu,ǜ?rm mA}Bmu,ǜ?mD  mBm(@m5j=e  addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.506890 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 2.978813 m, bearing: 26.590536 deg, lat: 36.906386 deg, lon: -122.116032 deg, deltaT: 1.010242 s, deltaX: 0.397188 m, approachRate: 0.393161 m/s, posRepo size: 4   RStopped intercept timer at range: 3.00 m. b Z r j R J B ~ ~ {B} | | | | @g? 5 {B5 8;I1 )5 p佉9 I= ٥ HF >;5>Ɯ?;59 IBy@Q%Ei>::;51Am addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.500615 s, deltaX: 0.500000 m, approachRate: 0.998771 m/s, rangeRepo size: 4 iibiZirqjqRqJqBq~y~y}||| @|@?DDAT read: Rx Time:14:00:17.9538 TRx dataTimestamp_ set to:1749132019.031827checking for new query: numPingsReceived=56, elapsed TxPingTime=24.437420 {B靍|;I)nӽIL< B <=Fq=iiEE E E E 9 5 PDAT read: Bearing 311.9, -7.6 (Local) 5 ~Local bearing/azimuth received: Bearing 311.9, -7.6 (Local) M DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.5 } DAT read: 14:00:17.9538 LVL= 19040, 19825, 14322, 18115, AGC= 45, IDX= 511,-0.17,-1.280,-1.589, 0.065,-0.607, PHS=-0.586,-0.935, 0.669, RAW= 198.0, 11.7, CAL= 198.1, 7.6, ROT= 311.9, -7.6 6G q=ԉ  Ygot valid direction response: 14:00:17.9538 LVL= 19040, 19825, 14322, 18115, AGC= 45, IDX= 511,-0.17,-1.280,-1.589, 0.065,-0.607, PHS=-0.586,-0.935, 0.669, RAW= 198.0, 11.7, CAL= 198.1, 7.6, ROT= 311.9, -7.6 ~G A A N >5/,_ ռhAT#Rx 57: Read range and direction messages.^direction in FSK: [0.661966,-0.737773,0.132256]Fpublishing direction and range infoyU_.?sxr֛) ?3s@Y H6<H6p<H:ؼ>H:CH:IH:{BH8H8H8H: <H:E `J)qMI7iF-)\oC+? +]@)Q>IG]@i>2@ ).h{?0?P$r?i0d? 2PV )%checking for new query: numPingsReceived=57, elapsed TxPingTime=24.7553259r@%@Yv٥II MHMF:JeZBJePJJaRJaZJe9bJe*9JaJazJe/:jJe4:Je-:rJe-:}| }>;5e(Ɯ?;59 IBy ?: @@V%EiB;;;5B1A#EZbѼhA{q@{q@1~?ʁS@X' Ec4?U_.?sxr֛) ?VҁTcY; @/$#i? k&Eſ,bu?Ju?zim@ jŜ?r |BJ  EBE@%^=} addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503644 s, deltaX: 0.300000 m, approachRate: 0.595659 m/s, rangeRepo size: 4  Added new target pos. range: 3.773184 m, bearing: 99.593556 deg, lat: 36.906386 deg, lon: -122.116028 deg, deltaT: 1.004259 s, deltaX: 0.794370 m, approachRate: 0.791002 m/s, posRepo size: 4 bZrjRJMDDAT read: Rx Time:14:00:18.4538 MTRx dataTimestamp_ set to:1749132019.534386Uchecking for new query: numPingsReceived=57, elapsed TxPingTime=24.937523B~y~}{B}|||`ff@|*? {B;I)PITJ< !%!<)-ͽ=-{M=i)i1aEEEEEԉ 6G  DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.5 - Z#Rx 58: Read range message, but no direction. Y  checking for new query: numPingsReceived=58, elapsed TxPingTime=25.187361~G A)AANU>H.٥ H ><5Ɯ?<59 IBy@Z%Ei:|:x<5 1AM addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503969 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 IIbIZQrQjQRQJYBY~Y~Y}a|a|a|a|e ? {BW;I)̽IǨI< l"<P=PQ=ii Km,1P"Km9*Ki2Km(:KmTnoXGob:Caju$l8)GF.$;f@5.rNqrEV>jE>ԉE%E!E!E%1E!F-=F-=6Gg\=~GAEDDAT read: Rx Time:14:00:18.9539 ETRx dataTimestamp_ set to:1749132020.035714MDAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.5 -UZ#Rx 59: Read range message, but no direction.AEy@YA]checking for new query: numPingsReceived=59, elapsed TxPingTime=25.440851AN}> *C/,0 hA9Nw@Nҩ$@YN&>a?`v:? Ξ?`& ?? Nw@N;)NCZh{BZI`IfIf2n< n]=yrӻQ r>٥pp rHrFv v>|-<5~0Ɯ?-<59~G I~By1=* @E@~]%Ei~m;~;~<51A&Eססchecking for new query: numPingsReceived=59, elapsed TxPingTime=25.696575UB*** querying acoustic contact ***JQRQe addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.253176 s, deltaX: 0.100000 m, approachRate: 0.394983 m/s, rangeRepo size: 4 iibiZirjRJB~~}|||@33@|@? {B-;I))-2)I5=VH< 115#<9=Z==!7=i9iAHuټ>HqHuIHu{BHu =HqHqHu<HuEEEEAEAEE}1EA:J}]BJ}_JJ}ERJyZJ}]:bJ}=h9J}4JyzJ}:jJ}:J}:rJ}:U DDAT read: Rx Time:14:00:19.4544 ] TRx dataTimestamp_ set to:1749132020.540775m DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5 -u Z#Rx 60: Read range message, but no direction.Y ] @YY } checking for new query: numPingsReceived=60, elapsed TxPingTime=25.947508ԁ 6G P=~GY Ai A N >AI/,&hA9Fw@Fy$@YFN٥ HF ><5Ŝ?<59 IBy#?:X@ @b%Ei;W;<51AE addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505061 s, deltaX: 0.900000 m, approachRate: 1.781963 m/s, rangeRepo size: 4 IIbIZIrIjIRIJQB~~|B}|||@33@|^? 9= ;I9)=:9IE,G< AAE$ԱK UO"K ŷ9*K 2K ):K @WC:<!JQtH(,!CeOYx!bfM@{ %kytAf#L (P/,ک@hA9fg@f{$@YfC ? fg@f7;)fCrP{BrI <%=DDAT read: Rx Time:14:00:19.9546 TRx dataTimestamp_ set to:1749132021.045503%DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.6 -%Z#Rx 61: Read range message, but no direction.3@Y-checking for new query: numPingsReceived=61, elapsed TxPingTime=26.450607 5=5=I=I=M3M> MT=yUQ U>٥QQ ]HY] ]>am<5eŜ?m<59e IeByquH@u@ef%Eie2:e`:Թe <5B1A)Em addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504728 s, deltaX: 0.300000 m, approachRate: 0.594379 m/s, rangeRepo size: 4 iibqZrjRJB~~}|||`ff@| L? h!;I)R彉IܣE< u%<. =8<1=iiEEEE4Echecking for new query: numPingsReceived=61, elapsed TxPingTime=26.6995336G% ‹9=Ga Ge @AHm ּ>Hi Hm IHm {BHm  =Hi Hi Hm <Hm 6EH-ʗCH-ʗCH)H)I) I-Fi5~G! A) 9 AA NM >RV/,ZhA9jh@j{$@YjS٥ HF9 > <5Ŝ? <59 IBy ? : @@j%EiX::<5%1A!:JM^BJMRJJMDRJIZJM} :bJMS29JM4JIzJMa:jJMf:JM;:rJM<:qqbyZyryjyRyJyBy~~|B}||||F? {Ba;I)𽉞I3D< &<G=1=iiDDAT read: Rx Time:14:00:20.4544 TRx dataTimestamp_ set to:1749132021.548633-DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 -5Z#Rx 62: Read range message, but no direction.@YEEEEP0Echecking for new query: numPingsReceived=62, elapsed TxPingTime=26.955839Iq6G- /=~G A A) N5 >ԙ ׽ A׹  checking for new query: numPingsReceived=62, elapsed TxPingTime=27.201424|\/,)_thA9>'{@>$@Y>zLT=>H`>I@D?1F?Ҿ?`Η`?? >'{@>;)>CzE{BzIII?13%u[ %X=y-M8Q ->٥)) -H15C; 5>9E<5=Ŝ?E<59= I=ByIM@M@=n%Ei=:=:=<5UBU 2AU,E addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503130 s, deltaX: -0.300000 m, approachRate: -0.596267 m/s, rangeRepo size: 4 bZrjRJB~~}|||@33@|? E;I)LIB< .'<_&=T6=iiqE]EYEYEYEYKP"K9*K2K*:K2P1$&F9QEQ69YE]0jm)Pi(ԡ%DDAT read: Rx Time:14:00:20.9545 %TRx dataTimestamp_ set to:1749132022.051625-DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed -0.6 -5Z#Rx 63: Read range message, but no direction.!%@Y!Echecking for new query: numPingsReceived=63, elapsed TxPingTime=27.4575966Gu1=~G9AIAYNe> dc/,;hA96@6W$@Y68٥    H F: >%<5\Ŝ?%<59 IBy!%@-@r%Ei::f<515_2A1checking for new query: numPingsReceived=63, elapsed TxPingTime=27.708841B*** querying acoustic contact ***JRu addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.502992 s, deltaX: 0.200000 m, approachRate: 0.397620 m/s, rangeRepo size: 4 qqbqZqrqjqRqJyBy~~}|||@|%?HHHIH{BH =HHH<HE m{Bu؀-;Iq)u qIuXd@< yy}x(Y \i/,\!hA9^@^$@Y^٥ HF=r; ><5Ŝ?<59 IݘByd?:@@v%Eif:M:<52A.E  addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.507166 s, deltaX: 0.700000 m, approachRate: 1.380218 m/s, rangeRepo size: 4 bZrjRJB~~{B}|||@|ع? %0bI!)%(!I%p><) !IMr *=iQiYE9E9E9EE^0EAchecking for new query: numPingsReceived=64, elapsed TxPingTime=28.209242Qԁ 6G ‹9=K= cO"K= ŷ9*K9 2K= +:K= /STg/u'GP \:rVsD^~Ga Ai Ay N >:J] [BJ] SJJ] >RJY ZJ] :bJ] y69J] t4JY e @m @m @m @xp/,hA09^ǹ@^!$@Y^&٥ii Hy; ><5Ŝ?<59 I֘By@@z%Ei:6:<52Am addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.500774 s, deltaX: 0.200000 m, approachRate: 0.399382 m/s, rangeRepo size: 4 bZrjRJB~~}|||@|y? u{Buf^Iy)6ԉI-<< A+<e=EC=ii)> C}GEEEE_0E VYyAԱchecking for new query: numPingsReceived=65, elapsed TxPingTime=28.7182716G Г>=  H <H <H ؼ>H H IH {BH H H H /<H PE~G A A N >yv/,۽hA` zB ZIMb@Mb@Mb@ )YA`"?v/~jty?xiļA )IdAy(AII2I A=yQ >٥ HF ><5Ŝ?<59 I͘By?:@@~%Ei(;&;9 <5 B 3A 1EQQbQZQrYjYRYJYBa~a~e{B}i|i|q|q|}#?=DDAT read: Rx Time:14:00:22.4553 ETRx dataTimestamp_ set to:1749132023.572493uPDAT read: Bearing 173.0, -6.8 (Local) }~Local bearing/azimuth received: Bearing 173.0, -6.8 (Local) DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.8 靽@I)EDAT read: 14:00:22.4553 LVL= 32752, 25825, 12226, 32755, AGC= 55, IDX= 510, 0.26, 0.295, 2.268, 0.164, 1.120, PHS=-0.738, 1.194,-0.959, RAW= 335.4, 4.9, CAL= 337.0, 6.8, ROT= 173.0, -6.8 Ygot valid direction response: 14:00:22.4553 LVL= 32752, 25825, 12226, 32755, AGC= 55, IDX= 510, 0.26, 0.295, 2.268, 0.164, 1.120, PHS=-0.738, 1.194,-0.959, RAW= 335.4, 4.9, CAL= 337.0, 6.8, ROT= 173.0, -6.8 T#Rx 66: Read range and direction messages.I59< ,<  ~= B=i i-^direction in FSK: [-0.985564,0.121012,0.118404]5Fpublishing direction and range info9y=Jڹᅡ>P?EO?=f@Y9 =)=dI=/i==7=<=Ԙ?=u =R@)=%=I=`7@i===,>A@= 9)9=ֿ7n9aOr⿭4?i=m!==,>A@= 9)9}checking for new query: numPingsReceived=66, elapsed TxPingTime=29.015434EEEEE!I 6G ߛC=jG ?bG ? checking for new query: numPingsReceived=66, elapsed TxPingTime=29.221130~G A A N > |/,hA967@6%@Y6{Ʀ٥\\ ^H^Fb+< b>dj<5fNsŜ?j<59f IfƘByhj@j@f%Eif';fU;fn#<5prk3ApZibmhAm@m@m^@ʁm`Du(?YS?mJڹᅡ>P?EO?m,>A@mҁmɌ@UU1m?mMX?f. Z?zmztm̗@jmRE ǜ?rmH m~Bii m~Bm-@m0@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.512928 s, deltaX: 0.300000 m, approachRate: 0.584877 m/s, rangeRepo size: 4 = Added new target pos. range: 6.156252 m, bearing: 321.156350 deg, lat: 36.906386 deg, lon: -122.116028 deg, deltaT: 4.293924 s, deltaX: 2.383069 m, approachRate: 0.554986 m/s, posRepo size: 4 9=-=XTarget missed at range: 6.20 m. Rolling out.zEENTransitioning guidance mode to: ROLLOUTE@bAZArAjARE?zAJIBI~I~I}q|q|q|u@|} 6? {B`̟I)YI6< -/,hA9>8 @>%@Y>f8F=>H@ `J? W ?޼?`쓿 ?? >8 @>@;)>C^zB^>IIfIf#3r rG=yvQ v>٥tx zHxzj; z><5bŜ?<59 IBy6@@%Ei<<'<5B3A4EqUUAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse]Entering Midcourse tracking update period 60.000000 s sec at 6.200000 m (mode 5.000000 count ).Hڼ>HHIHj{BHHHH<HEDAT read: 14:00:22.9554 LVL= 32240, 23777, 14466, 30515, AGC= 59, IDX= 496, 0.04,-1.544,-0.408, 0.648,-0.636, PHS=-0.820, 0.275, 1.281, RAW= 241.4, -8.1, CAL= 239.1, -20.3, ROT= 270.9, 20.3 Ygot valid direction response: 14:00:22.9554 LVL= 32240, 23777, 14466, 30515, AGC= 59, IDX= 496, 0.04,-1.544,-0.408, 0.648,-0.636, PHS=-0.820, 0.275, 1.281, RAW= 241.4, -8.1, CAL= 239.1, -20.3, ROT= 270.9, 20.3 Z#Rx 68: Read direction message, but no range.`direction in FSK: [0.014732,-0.937773,-0.346936]  1~  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 6.200000 m (mode 5.000000 count ).q~~B*** querying acoustic contact ***J!R!ځyڅ1+?\=Fv>{14ֿYځ ۅ})ۅ\Iۅ8iۅ3wۅ;ۅQۅ̌>ۅ? ܅҆@)܅I܅䉅@i܅ g܅L@܅ g> ݁݅DqK ?݅# ǿ݅ g>=checking for new query: numPingsReceived=68, elapsed TxPingTime=29.782961 addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504505 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 6.16 m.bZrjRzJB~~}||||? BI)sI2< L/<?= T=ii!Ee EEE0E- DDAT read: Rx Time:14:00:23.4557 5 TRx dataTimestamp_ set to:1749132024.575650= DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.8 -E Z#Rx 69: Read range message, but no direction.) - 3@Y) M checking for new query: numPingsReceived=69, elapsed TxPingTime=29.980768a 6G rQ=AY Ai N} >n/,+hAzB:Ii-٥ HF %>1=<55#PŜ?=<595 I5By=?=:=0 @=@5%Ei5:5A:57+<5IM3AI]N@e1ebe?~e~eZ9b=s$hA=@=@=#?ʁ=t?%>'AX@d0=1+?\=Fv>{14ֿ=# ǿ= g>ҁ=:X1 @ DDAT read: Rx Time:14:00:23.9559  TRx dataTimestamp_ set to:1749132025.079602% DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.5 -- Z#Rx 70: Read range message, but no direction.  @Y 5 checking for new query: numPingsReceived=70, elapsed TxPingTime=30.484713٥?? HF< >AM<5EAŜ?M<59Eg IEByIMe @M@E%EiE(:EV:ԁEw.<5A4A7E1qj~1] addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503952 s, deltaX: 0.300000 m, approachRate: 0.595295 m/s, rangeRepo size: 4 eBNOT Ignoring new targets: 6.55 m.biZirijRzJB~~}|||@|? 1=\I9)=9I=O,< 9AE2HH~IH7{BH =HHH<H+E6Ge S= ~GA AQ Aq N >{/,b_hA9>]Y@>l%@Y>4=>HK)`??x?’|?? >]Y@>Sχ;)>CJzBN*I Mb@Mb@Mb@    ) Y S?X9vI +y ?  9  A ) IAI  y (AI%I%m?3{ 5=yT9Q >٥ HFr; ><5N0Ŝ?<59 IByo?: "@@%Ei:A:b2<5M4AqtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqDDAT read: Rx Time:14:00:24.4561 TRx dataTimestamp_ set to:1749132025.583776DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 -Z#Rx 71: Read range message, but no direction.f@Ychecking for new query: numPingsReceived=71, elapsed TxPingTime=30.990021Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourser 1  Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~  Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR% addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504174 s, deltaX: 0.300000 m, approachRate: 0.595032 m/s, rangeRepo size: 4 -BNOT Ignoring new targets: 6.55 m.b)Z)rijiRiziJiBq~~{B}|||@|8? 靽{9I)GI(< g3<)-x%=-Fc=i)i1 E'EEEO0E16G% 6a= checking for new query: numPingsReceived=71, elapsed TxPingTime=31.237209~G A A! N5 >Y t/,h@>L|%@Y>q=>HL-0|? ?Ԯ?쟓4?9? >h@>;)٥xx H p0;  ><5!Ŝ?<59} IBy"@@%Ei::5<5B4A:E-BNOT Ignoring new targets: 6.55 m.b)Z)r)j)R)z)J11BQ~a~a}a|a|a|i|m? 8I™<)\IB%< 4<K=[f=iibEZEKlP"KK9*K2K.:KE'W TEZQ[&z5-jT$f[AC5eN9U]IIBA:JBJSJJCRJZJbJy69J4JE?*EEEEiDDAT read: Rx Time:14:00:24.9562 TRx dataTimestamp_ set to:1749132026.087866DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed -0.5 -Z#Rx 72: Read range message, but no direction.@Y5checking for new query: numPingsReceived=72, elapsed TxPingTime=31.4994606GmԹ 5/,<hA9Rt@Rއ%@YRi٥ HF: >H]Լ>H]CH]eIH]{BH] =HYH],DԙH]+<H]GEHHHHI = I¥e5<5Ŝ?<59 IBy"@@%Eil:y:9<5 4A8Ee addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504090 s, deltaX: 0.200000 m, approachRate: 0.396755 m/s, rangeRepo size: 4 eBNOT Ignoring new targets: 6.55 m.baZarajaRiziJB~~}|||@|@? IMII)M链QIU < QQU66Ǫ/,4hA@9>|@>%@Y>*LL=>H 2`??b&?K\@?? >|@>T1;)>CJzBJI-Mb@Mb@Mb@))) )))Y-d;O?Mbp:vy-?--T-vA -QA))I))y)IE IE2UYǼ UL=yUG;Q ]>٥Ya eHeFev: e>i<5mŜ?<59m ImBy%?%:%1%@%@m%Eim DDAT read: Rx Time:14:00:25.9565  TRx dataTimestamp_ set to:1749132027.097739 DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 - Z#Rx 74: Read range message, but no direction. @Y  checking for new query: numPingsReceived=74, elapsed TxPingTime=32.503090/,ƾhA|9~{@؎%@Y٥ HF_ ><5bĜ?<59c IBy/%@@%Ei ;Y!;W@<5!%4A!U addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.506180 s, deltaX: 0.100000 m, approachRate: 0.197559 m/s, rangeRepo size: 4 ]BNOT Ignoring new targets: 6.55 m.bYZYrYjYRYzYJaBa~a~a}i|i|i|m@33@|u? {B靝GI)yI< A:<=j=ii!>E &<uchecking for new query: numPingsReceived=74, elapsed TxPingTime=32.751568ԁH]ڼ>H]CH]RIH]zBH] =HYH]-DH]<H]EE2EEEEԡ 6G ыk=:J- ]BJ- [JJ- BRJ) ZJ- ]:bJ- W9J- -4J) zJ- := jJ- := J- ||:E rJ- ~|:E ~G A A N >/,2hA9nh@n|%@Ynw٥ HFx ><5Ĝ?<59v IBy5?:z%@@%Ei::YE<54A>E addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.501949 s, deltaX: 0.500000 m, approachRate: 0.996117 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 6.55 m.bZrjRzJB~~w{B}||| @|? 5{B54I1)5*1I=< 99=<E u<EE 6EI EI EI EI ԡ IIAAKP"K}9*K2K0:K`]w];+i$6<>z3 (6G5Rk=DDAT read: Rx Time:14:00:26.9570 TRx dataTimestamp_ set to:1749132028.106315PDAT read: Bearing 187.6, 8.1 (Local) ~Local bearing/azimuth received: Bearing 187.6, 8.1 (Local) DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed -0.7 ~G A)A9NM?O/,d\hA&DAT read: 14:00:26.9570 LVL= 19360, 19953, 15218, 28051, AGC= 57, IDX= 510, 0.02, 1.788,-2.015, 2.375, 2.637, PHS=-0.761, 1.678,-0.265, RAW= 318.9, -5.9, CAL= 322.4, -8.1, ROT= 187.6, 8.1 *Ygot valid direction response: 14:00:26.9570 LVL= 19360, 19953, 15218, 28051, AGC= 57, IDX= 510, 0.02, 1.788,-2.015, 2.375, 2.637, PHS=-0.761, 1.678,-0.265, RAW= 318.9, -5.9, CAL= 322.4, -8.1, ROT= 187.6, 8.1 *T#Rx 76: Read range and direction messages.~bdirection in FSK: [-0.981327,-0.130937,-0.140901]~Fpublishing direction and range infoy`Xzgᅩc:N ¿ AY K)MIr;im9B? |@)BҽI@iQ@> )j$1$1ԿGjJi3)=@> )checking for new query: numPingsReceived=76, elapsed TxPingTime=33.567783Թa}AA KYAyMBi) !I! Y)YYYYiϩiϭIϩϩIбiе^A бϱ)бб ѵZAн+йй;AIF)i) I    iٯzB(III0-= -=y-Q ->٥11 5H5F5 =><5Ĝ?<59 IBy@%EiK:6:GJ<5ޓBH4AAEZbhAAAK@ʁm4W} ~`UO@`Xzgᅩc:N ¿@>ҁGѤ@y#8G %.m\N?+29}ڿR0nPz8b~@j0Gǜ?rB }vB |B@1@- addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.506627 s, deltaX: 0.300000 m, approachRate: 0.592152 m/s, rangeRepo size: 4 e Added new target pos. range: 8.539319 m, bearing: 335.350587 deg, lat: 36.906381 deg, lon: -122.116019 deg, deltaT: 3.530665 s, deltaX: 1.985859 m, approachRate: 0.562460 m/s, posRepo size: 4 mBNOT Ignoring new targets: 8.54 m.biZirijiRizqJqBq~~}|||@33!@| ?checking for new query: numPingsReceived=76, elapsed TxPingTime=33.759556H>HCHEIHzBH =HH.DHњ<HE U{B]0mֻIi)҉I޷< ?<) - G=- uYg=i) i1 D9 D9 D9 D9 9 :J ^BJ \JJ RJ ZJ } :bJ [9J J zJ `:jJ e:J Ӂ:rJ ԁ:zE Em/:EqEqE}0EyDDAT read: Rx Time:14:00:27.4573 TRx dataTimestamp_ set to:1749132028.607468DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 -Z#Rx 77: Read range message, but no direction.ڑڕAYڑchecking for new query: numPingsReceived=77, elapsed TxPingTime=34.012604FAFԱ6GCf=~GAAN'?/,52hA9>u@>$@Y>g^ =>H@2aBo@,?` g?_?T? >u@>;)>C UzB])IMb@Mb@Mb@ )YˡE?Mby'? )AIAyzAI I 29; =Mchecking for new query: numPingsReceived=77, elapsed TxPingTime=34.261265y~5;Q >٥ HF ><5ţĜ?<59= I~By'?:$@@%Ei#:A:?O<5-ݓB-=4A-DE addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.501153 s, deltaX: 0.400000 m, approachRate: 0.798159 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.54 m.bZrjRzJB~~{B}||)|-"@|5T?9 {B6=I)Iq < >A<Gd=?=iiE<EEE`5EiII%=K[O"Ks9*K2K1:KPtR*/C  i t_2_I(75yf%nXmmR( DDAT read: Rx Time:14:00:27.9574  TRx dataTimestamp_ set to:1749132029.114738% PDAT read: Bearing 192.0, 2.3 (Local) % ~Local bearing/azimuth received: Bearing 192.0, 2.3 (Local) e DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -0.5 ԑ  DAT read: 14:00:27.9574 LVL= 14944, 20945, 16162, 21923, AGC= 65, IDX= 2, 0.29, 2.132,-1.873, 2.823, 3.113, PHS=-0.893, 1.344,-0.293, RAW= 315.0, -1.6, CAL= 318.0, -2.3, ROT= 192.0, 2.3 6G Eug=5 Ygot valid direction response: 14:00:27.9574 LVL= 14944, 20945, 16162, 21923, AGC= 65, IDX= 2, 0.29, 2.132,-1.873, 2.823, 3.113, PHS=-0.893, 1.344,-0.293, RAW= 315.0, -1.6, CAL= 318.0, -2.3, ROT= 192.0, 2.3 5 T#Rx 78: Read range and direction messages.= bdirection in FSK: [-0.977360,-0.207744,-0.040132]= Fpublishing direction and range info y FTc]ʿ.=' 3AY  `:) QI "?i U A d 1?   @) I Κ@i l$ PwV@ l$=  )  hܫKп7Ui @S8 < e; l$=  ) ~G A A N > checking for new query: numPingsReceived=78, elapsed TxPingTime=34.575981K/,KhA9^a@^Cu$@Y^A:٥!! %H-F-DK ><5Ĝ?<59- IzBy#@@%EiPC<%<R<5im'4AqZYb]WGhA])A])A]j@ʁ]eȅZ! _]0Jv׿]FTc]ʿ.=']e;]l$=ҁ]=!@ hl JVǿ]Z?(QֿرДz]P]Aj][_ǜ?checking for new query: numPingsReceived=78, elapsed TxPingTime=34.767864r]A ]yBY]A  ]yB]A]@H-׼>H-CH)H)H- =H)H--DH-<H-EM addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.507270 s, deltaX: 0.200000 m, approachRate: 0.394267 m/s, rangeRepo size: 4  Added new target pos. range: 9.135251 m, bearing: 339.148376 deg, lat: 36.906381 deg, lon: -122.116027 deg, deltaT: 1.008423 s, deltaX: 0.595932 m, approachRate: 0.590954 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.14 m.bZrjRzJB~~}|||`ff"@|V? m{B靭$ I)Ig< C<.v=p0=iiE ?E E E 0E ) Je4J4J]0:JU ]BJU dJJU ?RJQ ZJU ]:bJU |9JU ـ4JQ zJU :jJU :JU }:rJU ~: DDAT read: Rx Time:14:00:28.4579 % TRx dataTimestamp_ set to:1749132029.616094- PDAT read: Bearing 193.6, -3.6 (Local) 5 ~Local bearing/azimuth received: Bearing 193.6, -3.6 (Local) M DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.6 u DAT read: 14:00:28.4579 LVL= 21104, 23537, 21282, 32755, AGC= 63, IDX= 502,-0.27, 0.875, 2.893, 1.542, 1.887, PHS=-0.924, 1.053,-0.348, RAW= 313.6, 2.5, CAL= 316.4, 3.6, ROT= 193.6, -3.6 } Ygot valid direction response: 14:00:28.4579 LVL= 21104, 23537, 21282, 32755, AGC= 63, IDX= 502,-0.27, 0.875, 2.893, 1.542, 1.887, PHS=-0.924, 1.053,-0.348, RAW= 313.6, 2.5, CAL= 316.4, 3.6, ROT= 193.6, -3.6 } T#Rx 79: Read range and direction messages. `direction in FSK: [-0.970043,-0.234678,0.062791] Fpublishing direction and range info! y% O J V ο֏ ?% fAY! % pR)% [I% "Si% % ?% Dl% Ȇ?% - % %@)% ¸2=I% @i% =% @X@% ! )! % dnQNA~Ϳ0 }?i% Q9% <3% 9% ! )!  checking for new query: numPingsReceived=79, elapsed TxPingTime=35.035370Q6G% 8<=ZG-ARG-A~GAAN ?"/,mhA9z@zs#@YzP٥    H F  >}<5vĜ?<59_ IuBy4?:s!@@%Eik<Nk<W<5ܓB4AEEԙchecking for new query: numPingsReceived=79, elapsed TxPingTime=35.269295ZbnghAHAHA@ʁqa?#kŏtj?O J V ο֏ ?9ҁʽ։Qq"@'c ɵK?3?\͡@yտR7w^ ?zSAjǜ?r;H ~B0Gǜ? ꁝA@u addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.501356 s, deltaX: 0.700000 m, approachRate: 1.396213 m/s, rangeRepo size: 4  Added new target pos. range: 9.830120 m, bearing: 340.316658 deg, lat: 36.906388 deg, lon: -122.116027 deg, deltaT: 0.501356 s, deltaX: 0.694869 m, approachRate: 1.385979 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.83 m.bZrjRJB~~{B}|||#@|#)? -{B5K I1)5~1I5< 19=/E<9Er=E=iAiAEEEE0E6G/=~G A A N5 > K% ~P"K% S9*K! 2K% 2:K% AXcnkz=>eQz+cih]'VpNj3-|<\gu~ʾ/,QhA <DDAT read: Rx Time:14:00:28.9580 TRx dataTimestamp_ set to:1749132030.120233PDAT read: Bearing 193.5, -6.6 (Local) "~Local bearing/azimuth received: Bearing 193.5, -6.6 (Local) *DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed -0.7 :DAT read: 14:00:28.9580 LVL= 27520, 25313, 23282, 32755, AGC= 62, IDX= 503, 0.19,-0.023, 1.948, 0.629, 1.022, PHS=-0.957, 0.973,-0.396, RAW= 313.6, 4.5, CAL= 316.5, 6.6, ROT= 193.5, -6.6 >Ygot valid direction response: 14:00:28.9580 LVL= 27520, 25313, 23282, 32755, AGC= 62, IDX= 503, 0.19,-0.023, 1.948, 0.629, 1.022, PHS=-0.957, 0.973,-0.396, RAW= 313.6, 4.5, CAL= 316.5, 6.6, ROT= 193.5, -6.6 >T#Rx 80: Read range and direction messages.B`direction in FSK: [-0.965926,-0.231898,0.114937]FFpublishing direction and range infoy=>ս5׮ͿNZl?!AY k)bIZi>ty?ʾ )|٠=IWİ@i=>$X@ )`{3qC&>Ϳ?*?i79ޯw9 )vchecking for new query: numPingsReceived=80, elapsed TxPingTime=35.5457659mz@m #@Ym&ս5׮ͿNZl?w9ҁ=ڧ"@m|M-; 8n?!"}?ݢyտ}*?zY>Ajwǜ?r*6f +B[_ǜ?;H  Asn@= addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504139 s, deltaX: 0.200001 m, approachRate: 0.396717 m/s, rangeRepo size: 4 } Added new target pos. range: 10.028709 m, bearing: 339.952066 deg, lat: 36.906391 deg, lon: -122.116026 deg, deltaT: 0.504139 s, deltaX: 0.198589 m, approachRate: 0.393918 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.03 m.bZrjRJB~~}|||@33$@|z? {B靕5'I)IC; pG<h=0=iiEqEqEyE}5Eychecking for new query: numPingsReceived=80, elapsed TxPingTime=35.7741891H}м>H}CH}LIH}zBH} =HyH},DH}ݚ<H}Ea 6Gm {/=~GA AQ A N > /, hA:J XBJ KJJ >RJ ZJ {9bJ K9J t4J zJ :jJ :J  :rJ  :DDAT read: Rx Time:14:00:29.4583 TRx dataTimestamp_ set to:1749132030.624129PDAT read: Bearing 191.9, -5.6 (Local) ~Local bearing/azimuth received: Bearing 191.9, -5.6 (Local) DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 DAT read: 14:00:29.4583 LVL= 27824, 26801, 21698, 32755, AGC= 65, IDX= 507,-0.18,-1.456, 0.508,-0.858,-0.449, PHS=-0.919, 1.003,-0.412, RAW= 315.3, 3.8, CAL= 318.1, 5.6, ROT= 191.9, -5.6 %Ygot valid direction response: 14:00:29.4583 LVL= 27824, 26801, 21698, 32755, AGC= 65, IDX= 507,-0.18,-1.456, 0.508,-0.858,-0.449, PHS=-0.919, 1.003,-0.412, RAW= 315.3, 3.8, CAL= 318.1, 5.6, ROT= 191.9, -5.6 %T#Rx 81: Read range and direction messages.-`direction in FSK: [-0.973839,-0.205220,0.097583]-Fpublishing direction and range infoyMTS)nEDʿA_1?3+AEzBE6IY l)hITiACkNb?Ҿ @)ԇ=I@i+=ZV@+Ƚ )R-п6+ +?i+8r;+Ƚ )checking for new query: numPingsReceived=81, elapsed TxPingTime=36.048019uMb@Mb@Mb@qqq q)qYuZd;?Mbyu>?uuq uA)uvAIuzAqyuAII<2`< !=yQ >٥ HF ><5KĜ?<59դ ImBy&??: @@%Ei%;B;_<5ۓB%3A%KEZbhA)A)Az@ʁ(z]$?qQq?MTS)nEDʿA_1?;+Ƚҁi@@#@ ? --b؃?\p׿&ރ?zyAjǜ?r#Y Bwǜ?A  ~B%A@5 addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503896 s, deltaX: 0.599999 m, approachRate: 1.190721 m/s, rangeRepo size: 4  Added new target pos. range: 10.624362 m, bearing: 338.343586 deg, lat: 36.906394 deg, lon: -122.116027 deg, deltaT: 0.503896 s, deltaX: 0.595653 m, approachRate: 1.182094 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.62 m.bZrjRJB~~  |B} |||`ff%@| ? {B靥 bI)8tI; I<\==ii)E E E E 2E } checking for new query: numPingsReceived=81, elapsed TxPingTime=36.2775126G $3=jG ?bG j?~GQ Ai Ay y N >B/,ϻhA9>C@>#@Y>kT>H`ǃs@?†C@>;)>CJzBN2IIvIv(*3~ު ==y=ԁDDAT read: Rx Time:14:00:29.9585 TRx dataTimestamp_ set to:1749132031.129360PDAT read: Bearing 193.1, -8.9 (Local) ~Local bearing/azimuth received: Bearing 193.1, -8.9 (Local) DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 =DAT read: 14:00:29.9585 LVL= 32752, 31217, 26066, 32755, AGC= 62, IDX= 508, 0.28,-0.245, 1.630, 0.369, 0.790, PHS=-0.947, 0.886,-0.424, RAW= 313.9, 6.0, CAL= 316.9, 8.9, ROT= 193.1, -8.9 EYgot valid direction response: 14:00:29.9585 LVL= 32752, 31217, 26066, 32755, AGC= 62, IDX= 508, 0.28,-0.245, 1.630, 0.369, 0.790, PHS=-0.947, 0.886,-0.424, RAW= 313.9, 6.0, CAL= 316.9, 8.9, ROT= 193.1, -8.9 ET#Rx 82: Read range and direction messages.M`direction in FSK: [-0.962249,-0.223923,0.154710]MFpublishing direction and range infoyI:~̿j?0AY )yIei>nrb?پ P@)Pw=I@i>ݱW@ ) 6QοxFı?i9սm: )uchecking for new query: numPingsReceived=82, elapsed TxPingTime=36.547321EEEEO0Eԩ6Ge c=~G9 AQ Aa Nm > */,տhA9:@:"@Y:٥   H >%<5o)Ĝ?-<59Ԝ IgBy)- @-@%Ei:: e<5Echecking for new query: numPingsReceived=82, elapsed TxPingTime=36.781273 H<H<HHH^IH{BHHHH<HEHHHH =I = I61e3AmNEԹZ!b%oGȿhA%.A%.A%9@ʁ%-%V ݐ DZ ?%I:~̿j?%m:%ҁ%m$@p=<?%kW?h8)ֿAB)?z%x%? Aj%bBluǜ?r%V" %SB!%;H  %B%,A%@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505231 s, deltaX: 0.300000 m, approachRate: 0.593788 m/s, rangeRepo size: 4   Added new target pos. range: 10.922240 m, bearing: 338.808286 deg, lat: 36.906394 deg, lon: -122.116026 deg, deltaT: 0.505231 s, deltaX: 0.297878 m, approachRate: 0.589588 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.92 m.bZrjRJB~~!}!|!|a|m&@|mQ? {B靵 I)/tI`V; M< ,=Ǻ % DDAT read: Rx Time:14:00:30.4588 - TRx dataTimestamp_ set to:1749132031.6384335 PDAT read: Bearing 192.6, -4.2 (Local) = ~Local bearing/azimuth received: Bearing 192.6, -4.2 (Local) M DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.5 u DAT read: 14:00:30.4588 LVL= 32752, 30033, 23090, 32755, AGC= 62, IDX= 511, 0.04,-0.946, 1.078,-0.308, 0.071, PHS=-0.929, 1.054,-0.382, RAW= 314.5, 2.9, CAL= 317.4, 4.2, ROT= 192.6, -4.2 } Ygot valid direction response: 14:00:30.4588 LVL= 32752, 30033, 23090, 32755, AGC= 62, IDX= 511, 0.04,-0.946, 1.078,-0.308, 0.071, PHS=-0.929, 1.054,-0.382, RAW= 314.5, 2.9, CAL= 317.4, 4.2, ROT= 192.6, -4.2 } T#Rx 83: Read range and direction messages. `direction in FSK: [-0.973296,-0.217558,0.073238] Fpublishing direction and range info) y- $e=%RgL˿?- f6AY) ) )- QuI- 2Zi) ) - m- y?- þ - b@)- 4QO=I- E@i- Q =- "W@- Q ) )) - WD, пӢ0?i- 78- Q- :- Q ) )) U checking for new query: numPingsReceived=83, elapsed TxPingTime=37.0789349 RU/,hA9>@>i"@Y>Z0>HaaD ?cYq?`ʗ O? >@>>;)< Mchecking for new query: numPingsReceived=83, elapsed TxPingTime=37.285351ezBe:IMb@Mb@Mb@ )YPn?MbyD?@A `A) AIAyA9aeAAImImM3Z<  =yQ >٥ HFٻ ><5 Ĝ?<59 IbByvD?:@@%Ei::)j<5ړB3AQEZYb]hA]5A]5A]ؼ@ʁ]/p.&+D-t\nF?]$e=%RgL˿?]:]Q ҁ]%m$@.F9?]?vй׿T)"?z]G]C'Aj]L{|ǜ?r]vr ]:B]L{|ǜ?]*6f  Y]L4A]Ѽ@% addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.509073 s, deltaX: 0.400000 m, approachRate: 0.785741 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.319412 m, bearing: 338.129144 deg, lat: 36.906394 deg, lon: -122.116025 deg, deltaT: 0.509073 s, deltaX: 0.397172 m, approachRate: 0.780187 m/s, posRepo size: 4 5DNOT Ignoring new targets: 11.32 m.b1Z9r9j9R9J9B9~A~E|B}A|A|I|M&@|M0? {B靍SI)bkI; O<=U{e [h| bpy N $ 9 Wv8u}x  (- DDAT read: Rx Time:14:00:30.9589  TRx dataTimestamp_ set to:1749132032.136007 PDAT read: Bearing 194.2, -16.2 (Local)  ~Local bearing/azimuth received: Bearing 194.2, -16.2 (Local) % DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.6 M DAT read: 14:00:30.9589 LVL= 32752, 32753, 27698, 32755, AGC= 60, IDX= 513,-0.15,-1.614, 0.505,-0.882,-0.293, PHS=-1.233, 0.845,-0.592, RAW= 312.5, 10.6, CAL= 315.8, 16.2, ROT= 194.2, -16.2 U Ygot valid direction response: 14:00:30.9589 LVL= 32752, 32753, 27698, 32755, AGC= 60, IDX= 513,-0.15,-1.614, 0.505,-0.882,-0.293, PHS=-1.233, 0.845,-0.592, RAW= 312.5, 10.6, CAL= 315.8, 16.2, ROT= 194.2, -16.2 U T#Rx 84: Read range and direction messages.] `direction in FSK: [-0.930952,-0.235567,0.278991]] Fpublishing direction and range info y U4jd\@Ժ'ο? 9AY  ) I 2li  < ҝ QX? P  n@) q=>I A`@i Ð> iX@ Ð  )  39 2wr-*˿ݟ?ԑ i !; H> L39 Ð  )  checking for new query: numPingsReceived=84, elapsed TxPingTime=37.5586556G<ZGARG~GaAiAN?+0,hA x)|ɺ||||ɻ|iIICi )     ɼ I)i)Iɽ ɾ!%^A!i!!i!%A)) )I)ٯ)]zB]"III?13Ͻ X=yQ >٥ H ><5Ü?<59 I^By@%Ei`:6:m<5)-R4A)aZbWhAI8AI8A@ʁ|r%2B´M @U4jd\@Ժ'ο?L39Ðҁݕ$@ėt) @T釘?/տne?zt$Aj1[ǜ?ri0 KBwǜ?vr  +B7A@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.497574 s, deltaX: 0.200001 m, approachRate: 0.401952 m/s, rangeRepo size: 4  Added new target pos. range: 11.517999 m, bearing: 339.672663 deg, lat: 36.906394 deg, lon: -122.116025 deg, deltaT: 0.497574 s, deltaX: 0.198586 m, approachRate: 0.399109 m/s, posRepo size: 4 %A!5checking for new query: numPingsReceived=84, elapsed TxPingTime=37.7907715DNOT Ignoring new targets: 11.52 m.b1Z1r9j9R9Huͼ>HqHueIHu{BHu =HqHqHu<HuEJB~~}|||@33'@|=? {B靭8I) I>; Q<)]=]c4E6G < ~Gq A A N > DDAT read: Rx Time:14:00:31.4593  TRx dataTimestamp_ set to:1749132032.640168 PDAT read: Bearing 192.0, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 192.0, -3.7 (Local)  DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed -0.5 % DAT read: 14:00:31.4593 LVL= 20512, 17905, 17650, 29491, AGC= 67, IDX= 5,-0.28,-2.572,-0.530,-1.952,-1.565, PHS=-0.919, 1.082,-0.390, RAW= 315.2, 2.6, CAL= 318.0, 3.7, ROT= 192.0, -3.7 - Ygot valid direction response: 14:00:31.4593 LVL= 20512, 17905, 17650, 29491, AGC= 67, IDX= 5,-0.28,-2.572,-0.530,-1.952,-1.565, PHS=-0.919, 1.082,-0.390, RAW= 315.2, 2.6, CAL= 318.0, 3.7, ROT= 192.0, -3.7 - T#Rx 85: Read range and direction messages.5 `direction in FSK: [-0.976109,-0.207478,0.064532]= Fpublishing direction and range info y \iH٥ HF ><5Ü?<598 IYByK?:@@%Ei::q<5ٓB14ASEZb(hAAAAAB@ʁT)) 'T`YMv((?\iHAZ@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504161 s, deltaX: 0.599999 m, approachRate: 1.190095 m/s, rangeRepo size: 4 !5 Added new target pos. range: 12.113699 m, bearing: 337.530748 deg, lat: 36.906394 deg, lon: -122.116025 deg, deltaT: 0.504161 s, deltaX: 0.595700 m, approachRate: 1.181568 m/s, posRepo size: 4 =checking for new query: numPingsReceived=85, elapsed TxPingTime=38.293343UDNOT Ignoring new targets: 12.11 m.bQZQrQjYRYJYBY~a~e{B}a|a|a|m`ff(@|m o? %I)I;  6S<P=y?i;7s)<% )~GAAKfP"K 9*K2K5:Ks8oXBD&*M2p*$*1 :VNZE._.~}checking for new query: numPingsReceived=86, elapsed TxPingTime=38.563828NE?0,LhA)"4> "C(dvZAAA Ub&YUZAyUq)BԁzBI p=p=II3d ,=yQ >٥ HF >%<5MÜ?-<59 ITBy115@%Eie<e<v<5q4AVEZ1b5Y4IhA5FA5FA5@ʁ5̖?B(RW.7Uh?5.4FLyqhȿb$ݵ?5)<5%ҁ5 q&@2!?5kW[S7?Ls#ٿ-=5?z55O5Aj5,|6ǜ?r5q 5B11 5B5DA5U@u addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503652 s, deltaX: 0.300000 m, approachRate: 0.595650 m/s, rangeRepo size: 4  Added new target pos. range: 12.411577 m, bearing: 336.721845 deg, lat: 36.906394 deg, lon: -122.116025 deg, deltaT: 0.503652 s, deltaX: 0.297878 m, approachRate: 0.591437 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.41 m.bZrjRJB~~}|||)@|`3? 15FMJI1)5;1I=; 99=XkUHHHHHHH<HEchecking for new query: numPingsReceived=86, elapsed TxPingTime=38.799347ԩEIEQEQE]'5EY I1 I5 a=6G 7ͤ< ~G A A N >00, ihADDAT read: Rx Time:14:00:32.4599 TRx dataTimestamp_ set to:1749132033.647723"PDAT read: Bearing 191.2, -3.9 (Local) "~Local bearing/azimuth received: Bearing 191.2, -3.9 (Local) *DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed -0.5 BDAT read: 14:00:32.4599 LVL= 32752, 30609, 23794, 32755, AGC= 62, IDX= 506, 0.40,-1.312, 0.718,-0.722,-0.315, PHS=-0.910, 1.079,-0.410, RAW= 316.0, 2.7, CAL= 318.8, 3.9, ROT= 191.2, -3.9 FYgot valid direction response: 14:00:32.4599 LVL= 32752, 30609, 23794, 32755, AGC= 62, IDX= 506, 0.40,-1.312, 0.718,-0.722,-0.315, PHS=-0.910, 1.079,-0.410, RAW= 316.0, 2.7, CAL= 318.8, 3.9, ROT= 191.2, -3.9 FT#Rx 87: Read range and direction messages.J`direction in FSK: [-0.978684,-0.193785,0.068015]NFpublishing direction and range infoyl$`QȒ1ȿ,::si?fNAY )wI\i>h?Ѿ |@)A=Ii'g='g )8LPʣѿl3P?i+7B'g )Zchecking for new query: numPingsReceived=87, elapsed TxPingTime=39.0658619@`!@Y3u٥aa eHeFe m><5¬Ü?<59q} INBy.M?:@@%Ei::1z<5ؓB4AYEԉZbKtihALALA+@ʁJB)?ڟe4`@?l$`QȒ1ȿ,::si?'gҁ8Q'@# ׋<?^H!?ٿCP?z0:AjPǜ?rE ~B,|6ǜ?vr  :B(KAͻ@U addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503903 s, deltaX: 0.400000 m, approachRate: 0.793803 m/s, rangeRepo size: 4 } Added new target pos. range: 12.808698 m, bearing: 335.991413 deg, lat: 36.906394 deg, lon: -122.116025 deg, deltaT: 0.503903 s, deltaX: 0.397120 m, approachRate: 0.788089 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.81 m.bZrjRJB~~{B}|||)@|`? IM-OII)UQIUm; QQU5Ws!0,hA9:@:C!@@Y:SZ^٥`d fHfFfU f>hn<5jɚÜ?r<59jx IjKBypr@r@j%Eij;j};jA}<5tv5Ax DDAT read: Rx Time:14:00:32.9601  TRx dataTimestamp_ set to:1749132034.152007%PDAT read: Bearing 190.0, -3.9 (Local) %~Local bearing/azimuth received: Bearing 190.0, -3.9 (Local) 5DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.6 K=l"P"K=ػ9*K92K=6:K=n[rJmg&Z|xF^'seR4\0*)JAJA}DAT read: 14:00:32.9601 LVL= 32752, 31393, 25186, 32755, AGC= 62, IDX= 508, 0.27,-2.411,-0.414,-1.869,-1.440, PHS=-0.883, 1.073,-0.432, RAW= 317.3, 2.8, CAL= 320.0, 3.9, ROT= 190.0, -3.9 Ygot valid direction response: 14:00:32.9601 LVL= 32752, 31393, 25186, 32755, AGC= 62, IDX= 508, 0.27,-2.411,-0.414,-1.869,-1.440, PHS=-0.883, 1.073,-0.432, RAW= 317.3, 2.8, CAL= 320.0, 3.9, ROT= 190.0, -3.9 T#Rx 88: Read range and direction messages.`direction in FSK: [-0.982527,-0.173246,0.068015]Fpublishing direction and range info y p│:$,ƿ,::si? 3SAY  Z b |hA QA QA @ʁ %eP)LxlQ*1&? p│:$,ƿ,::si? N= ҁ [?Ο'@QtROeJ$$? IEd?q(<ۿN&I?z z checking for new query: numPingsReceived=88, elapsed TxPingTime=39.806545Hʼ>HHXIHzBH =HHHI<HjE A'0,khAl9@[!@Y D٥ HF ><5HÜ?<59q IEBy/M?:@@%Ei::<5-5A\EDNOT Ignoring new targets: 13.11 m.bZrjRJ DDAT read: Rx Time:14:00:33.4604 TRx dataTimestamp_ set to:1749132034.656327PDAT read: Bearing 189.2, -3.8 (Local) %~Local bearing/azimuth received: Bearing 189.2, -3.8 (Local) 5DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.6 UDAT read: 14:00:33.4604 LVL= 32752, 29617, 26274, 32755, AGC= 63, IDX= 511, 0.16,-2.213,-0.222,-1.698,-1.256, PHS=-0.869, 1.081,-0.446, RAW= 318.1, 2.7, CAL= 320.8, 3.8, ROT= 189.2, -3.8 ]Ygot valid direction response: 14:00:33.4604 LVL= 32752, 29617, 26274, 32755, AGC= 63, IDX= 511, 0.16,-2.213,-0.222,-1.698,-1.256, PHS=-0.869, 1.081,-0.446, RAW= 318.1, 2.7, CAL= 320.8, 3.8, ROT= 189.2, -3.8 eT#Rx 89: Read range and direction messages.m`direction in FSK: [-0.984966,-0.159530,0.066274]mFpublishing direction and range infoy!wׄW~wkĿ{S?3[AY )sIfi?v^5^?Z @)A=ԡI$+@iԇ=VS@ԇ )b$V'b3ӿ&BlЧ?i4>>ԇ )checking for new query: numPingsReceived=89, elapsed TxPingTime=40.079010B~~{B}|||`ff+@|`? ={BE"~IA)EMAIEQ; AIMUZO.0, hA9Ri@RÞ!@YR7m5`{? Ri@R;)RCZRzB^IIfIf(*25K 5g=y=,Q =>٥99 =H=FE: E>IU<5M$oÜ?U<59Ml IMBByQ]@]@M%EiMD;M;M<5eדBem5Ae]EZibmChAmYAmYAmz@ʁm*f'PR\G $G?m!wׄW~wkĿ{S?m>mԇҁmR&[(@/ȵT/?mdܥ?2ܿu׳?zmmBAjmr|\qǜ?rm- m~BimE  m~BmZAm@ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504320 s, deltaX: 0.500000 m, approachRate: 0.991434 m/s, rangeRepo size: 4  Added new target pos. range: 13.602989 m, bearing: 333.889553 deg, lat: 36.906394 deg, lon: -122.116026 deg, deltaT: 0.504320 s, deltaX: 0.496414 m, approachRate: 0.984324 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.60 m.bZrjRJB~~}||||eP? a靍vI)IJ; 1[<=-RJiZJm9bJmG9Jmt4JiE?EEEP0EMDDAT read: Rx Time:14:00:33.9605 UTRx dataTimestamp_ set to:1749132035.161030ePDAT read: Bearing 194.1, -7.7 (Local) e~Local bearing/azimuth received: Bearing 194.1, -7.7 (Local) }DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.6 DAT read: 14:00:33.9605 LVL= 30240, 26513, 24818, 32755, AGC= 64, IDX= 513, 0.06,-2.506,-0.154,-1.717,-1.241, PHS=-1.176, 1.135,-0.478, RAW= 312.9, 5.1, CAL= 315.9, 7.7, ROT= 194.1, -7.7 Ygot valid direction response: 14:00:33.9605 LVL= 30240, 26513, 24818, 32755, AGC= 64, IDX= 513, 0.06,-2.506,-0.154,-1.717,-1.241, PHS=-1.176, 1.135,-0.478, RAW= 312.9, 5.1, CAL= 315.9, 7.7, ROT= 194.1, -7.7 T#Rx 90: Read range and direction messages.`direction in FSK: [-0.961127,-0.241418,0.133986]Fpublishing direction and range infoIyM!jοL`u&?M\AYI M v)MgIM`iIM@M+MG?K P"K9*K2K7:KY~M_,q>0{? o"i42`AZJ?J>Mj M@)MK=IMn@iM >MX@M I)IMB-Lᅡo%i̿( ;ʶ?iM߭:MMO9M I)I%checking for new query: numPingsReceived=90, elapsed TxPingTime=40.590668q6G 6;ԡ ~G A A N >pi50,hA9%@%!@Y% #٥aa eHae: e>iu<5mhZÜ?}<59m`g Im>Byy}@@m&EimQ;m e;m:<5H˼>HHLIHzBHHHH<HEchecking for new query: numPingsReceived=90, elapsed TxPingTime=40.8131715AZbQNhA<[A<[A%A@ʁPV*v _?!jοL`u&?O9 ҁl-K)@'Tki\ve?v ?ReCֿ/ԮiT?z_JAj+RBǜ?rܖ< B ꁝ_Aƺ@- addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504703 s, deltaX: 0.100000 m, approachRate: 0.198137 m/s, rangeRepo size: 4   Added new target pos. range: 13.702304 m, bearing: 338.858818 deg, lat: 36.906394 deg, lon: -122.116026 deg, deltaT: 0.504703 s, deltaX: 0.099315 m, approachRate: 0.196778 m/s, posRepo size: 4 =DNOT Ignoring new targets: 13.70 m.b9ZArAjIRQJYBY~~}||1|=+@|e? 5{BEIQ)UtYIeD; iquX]< C=; <0,UhAe8zBeI)i ieMb@Mb@Mb@aaa a)aYesh|??l:vyeI?aeTa a)aIeAaye AI}I}3Tü ,=yQ >٥ HF ><5TBÜ?<59` I9ByJ?:@@&Ei;;a<5֓B5A`EZbhAdAdA@ʁ9_,Kr?oO ̄:LֽGU?A¸2ҁ)vd)@vNϸ^f?tus?:! q͎޿sM?zuHAjvcǜ?r{? E}B`+~ǜ?-  ~BꁵfA<@% addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503009 s, deltaX: 0.599999 m, approachRate: 1.192820 m/s, rangeRepo size: 4 = Added new target pos. range: 14.298056 m, bearing: 331.435591 deg, lat: 36.906394 deg, lon: -122.116028 deg, deltaT: 0.503009 s, deltaX: 0.595752 m, approachRate: 1.184376 m/s, posRepo size: 4 =DNOT Ignoring new targets: 14.30 m.b9Z9r9jARAJABA~A~M{B}I|I|I|M,@|U?checking for new query: numPingsReceived=91, elapsed TxPingTime=41.317223 {BTI)%!I%RB; !!%;_<)1M=Uj ؅ <ׁ  DDAT read: Rx Time:14:00:34.9611  TRx dataTimestamp_ set to:1749132036.168097 PDAT read: Bearing 185.7, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 185.7, -0.9 (Local)  DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4  DAT read: 14:00:34.9611 LVL= 26464, 28977, 22354, 32755, AGC= 66, IDX= 503,-0.14, 1.073, 3.002, 1.447, 1.907, PHS=-0.746, 1.142,-0.463, RAW= 322.0, 0.8, CAL= 324.3, 0.9, ROT= 185.7, -0.9  Ygot valid direction response: 14:00:34.9611 LVL= 26464, 28977, 22354, 32755, AGC= 66, IDX= 503,-0.14, 1.073, 3.002, 1.447, 1.907, PHS=-0.746, 1.142,-0.463, RAW= 322.0, 0.8, CAL= 324.3, 0.9, ROT= 185.7, -0.9  T#Rx 92: Read range and direction messages. `direction in FSK: [-0.994933,-0.099308,0.015707] Fpublishing direction and range infoڑ yڕ 0`S}"8ly&?ڕ 3kAYڑ ە `g)ە 1qIە RWiە ۑ ە >ە -?ە V ܕ ֳ@)ܕ d@>="@Y>;>H; TiS?:j?'z?`? >@>h;)>Cy"zBIII25o Z=yQ >٥ HF{< > E<5 .Ü?E<59 [ I 5ByIM @M@  &Ei y <  < <5ՓB'6AcEZb hAiAiA@ʁSLz? -p1}|X?0`S}"8ly&?Bҁ Vvw)@;7Yu?Ծx?r?߿=}[?z KAj_ǜ?r{ ~{Br|\qǜ?O"  ~BhAӹ@E addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504058 s, deltaX: 0.300000 m, approachRate: 0.595170 m/s, rangeRepo size: 4 u Added new target pos. range: 14.595932 m, bearing: 330.765249 deg, lat: 36.906393 deg, lon: -122.116028 deg, deltaT: 0.504058 s, deltaX: 0.297876 m, approachRate: 0.590957 m/s, posRepo size: 4 }DNOT Ignoring new targets: 14.60 m.byZyryjyRyJyB~~}|||`ff-@|f? {B,rI))-ʾ)I-; )15`<1=|==5]I0, &hA9R:9@RL"@YRo;yREY٥ HF< %>!]<5%Ü?e<59%U I%0ByexH?e:e@e@%&Ei%T<%<%<5 6AZibm+hAm>vAm>vAm5@ʁmon.L j"KN鿹?mA0i<%.?m DmnFҁmZ*@Go l.L)?m8x?c4 ࿂jl ?zmFmTAjmxǜ?rmy! m|Bim{?  mE}BmpAm@U addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504680 s, deltaX: 0.800000 m, approachRate: 1.585163 m/s, rangeRepo size: 4  Added new target pos. range: 15.390267 m, bearing: 329.827853 deg, lat: 36.906393 deg, lon: -122.116032 deg, deltaT: 0.504680 s, deltaX: 0.794335 m, approachRate: 1.573939 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.39 m.bZrjRJB~i~m{B}i|q|q|u/@|u? 5{B5I1)=ǾYI]w; aaeѳbP0,, ChA\9uo@u "@Yu٥ HF< ><5Ü?<59P I,By@@&Ei:W:#<5v6AfE%DNOT Ignoring new targets: 15.39 m.b!Z!r!j!R!J!B)~)~)}1|1|1|9|E? quIq)uվyI}e; yy}(Hd<̄= G1 G5 AAH9 H= CH= IH= zBH=  =H9 H9 H= J<H= lE checking for new query: numPingsReceived=94, elapsed TxPingTime=42.829182UV0,,\hA9J@J:"@YJ3٥ HF ; >Q]<5Uœ?e<59UJ IU'Byae-@m@U&EiU0;U;U<5ԓB6AhEZ1b5[KhA5{A5{A5@ʁ5 dN/jٔA5\|i?54l=NGY;?5j E5޹ҁ5~3*@3A ]8pI?5?ɌT3?z55WAj5B\ǜ?r5â 5{B5vcǜ?5{  5|B5 zA5=f@U addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504702 s, deltaX: 0.300000 m, approachRate: 0.594411 m/s, rangeRepo size: 4 e Added new target pos. range: 15.688100 m, bearing: 329.300508 deg, lat: 36.906391 deg, lon: -122.116033 deg, deltaT: 0.504702 s, deltaX: 0.297832 m, approachRate: 0.590116 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.69 m.bZrjRJB~~}|||/@|C?:J)BJ-UJJ-BRJ)ZJ)bJ->9J--4J)zJ-a:MjJ-f:MJ-~Q:MrJ-Q:MQ ]{B靅4üI)ؾI͸J; Jf<W\=q]0,vhA9>@> "@Y>O <>H&y@,??u`.?<2 9? ? >@>;)>CN zBNIuMb@Mb@Mb@qqq q)qYuS㥛?y&1:vyu$F?u`euTuA u3A)qIu3AqyuAII2< U=y:Q >٥ H; ><5œ?<59DF I#ByF?:K@@ &Ei ;";$<5u6A addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503281 s, deltaX: 0.400001 m, approachRate: 0.794786 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.69 m.b)Z)r)j)R)J)B1~1~5{B}1|9|9|=@330@|=@p@?mchecking for new query: numPingsReceived=95, elapsed TxPingTime=43.333290 y}#FIy)}"׾yI9; ԁg<  MF= % DDAT read: Rx Time:14:00:36.9623 % TRx dataTimestamp_ set to:1749132038.1838565 PDAT read: Bearing 181.7, 1.0 (Local) 5 ~Local bearing/azimuth received: Bearing 181.7, 1.0 (Local) M DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed -0.8  DAT read: 14:00:36.9623 LVL= 19264, 18753, 18674, 32755, AGC= 67, IDX= 2,-0.30,-2.563,-0.605,-2.334,-1.806, PHS=-0.670, 1.248,-0.531, RAW= 326.3, -0.5, CAL= 328.3, -1.0, ROT= 181.7, 1.0 G! 5 Ygot valid direction response: 14:00:36.9623 LVL= 19264, 18753, 18674, 32755, AGC= 67, IDX= 2,-0.30,-2.563,-0.605,-2.334,-1.806, PHS=-0.670, 1.248,-0.531, RAW= 326.3, -0.5, CAL= 328.3, -1.0, ROT= 181.7, 1.0 A ] T#Rx 96: Read range and direction messages.e bdirection in FSK: [-0.999408,-0.029662,-0.017452]m Fpublishing direction and range info! y% -%{ׂ_W7) ߑ% AY! % @K)% AII% Hi! % C% +% w?%  % =@)% 5I% x[@i% 5% J@% 5< ! )! % pW"]> VTܿ^i% +% <% )G% 5< ! )!  checking for new query: numPingsReceived=96, elapsed TxPingTime=43.630821K _P"K H9*K 2K ::K fP 4ViT6$zj LMYpJ*f Y y ]B c0,IhA9:@:"@Y:٥aa eHeFer; m>i<5mœ?<59mQA ImByb@@m%&Eim&;m8HCH IHzBH =HHH8<HYEe)=eujEu>בוAchecking for new query: numPingsReceived=96, elapsed TxPingTime=43.841045!EEEE3EQ 6G b<Ia Ia :Jm ZBJm QJJi RJi ZJm 9bJm -.9Ji Ji zJm .:jJm 3:Jm 4:rJm 4:~G A A N > j0, $hA9R@R #@YR+Q٥iq uHuF}; }><5Kœ?<59g; IByK?:@@+&Ei<<<5)-6A5nEZxbzhAzsAzsAz:@ʁz0QҵvzJ a¢zYFzҁzn O,@zz^!>+?zD9\'?` )q0,QjhA9bB@b"@Yb@,٥QQ UHUF]\ ]>ae<5eœ?m<59e6 IeByim@m@e0&Eie#;e;e<5y}6AyDNOT Ignoring new targets: 16.68 m.bZrjRJB~~}||||? 8 I)޾I)g: m<=   He <He 4<Hu ݼ>Hu CHu IHu kzBHu  =Hq Hu -DHu <Hu E checking for new query: numPingsReceived=98, elapsed TxPingTime=44.845940ԑ w0,FhAamyBmIiu٥YY eHeFe e>iu<5mœ?u<59m0 ImBy}J?}:}J@}@m6&Eim:m::J`BJSJJFRJZJ:bJy69J4JzJ:jJ:J)C:rJ+C:m1<5ғB6AqEZbKhAՇAՇALٶ@ʁIq0ϓrpܿҍ?\.:q̚]~?bGnFҁ\ߗ,@,Zp#K"T?A?E?GP=Ῠ2L̝?zYdAj*G_4ǜ?ry! {B4Vǜ? {BꁅA~?@- addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502697 s, deltaX: 0.300001 m, approachRate: 0.596783 m/s, rangeRepo size: 4 E Added new target pos. range: 16.979425 m, bearing: 327.389535 deg, lat: 36.906390 deg, lon: -122.116038 deg, deltaT: 0.502697 s, deltaX: 0.298199 m, approachRate: 0.593198 m/s, posRepo size: 4 EDNOT Ignoring new targets: 16.98 m.bAZArIjIRIJIBI~Q~U{B}Q|Q|Q|]1@|] n? {BgټI ) 侉 I Sa:   cp<=x0ۿ,nyR?ie<,ew˓eYFed; a)achecking for new query: numPingsReceived=99, elapsed TxPingTime=45.115147E?EEE@5E6GU s<jG] x?bG] g? ~G A A9 Ne >~0,9hAVchecking for new query: numPingsReceived=99, elapsed TxPingTime=45.3494269V@"@Y[<5mœ?<59, IBy@@:&Eid;X;E<5ѓB6A rEZbhAAA@ʁc31"ɛ俬p7irς¢QC1mlYFd;ҁH&-@AD"":Գ ?gj ?)?zQmAjPǜ?rt֗# zB/Sǜ?t֗#  zBꁍ܌AY @Թ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503832 s, deltaX: 0.600000 m, approachRate: 1.190874 m/s, rangeRepo size: 4  Added new target pos. range: 17.575195 m, bearing: 327.685100 deg, lat: 36.906390 deg, lon: -122.116038 deg, deltaT: 0.503832 s, deltaX: 0.595770 m, approachRate: 1.182477 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.58 m.bZrjRJB~~}||!|-@31@|U@? %h#I!)%ྉ!I%t: !!Můr٥ H ><5qWœ?<59& IBy@@?&Ei#<#<س<5  6A ZIbM hAMAMAM?@ʁMCPL1$9-8)ۿN 꺢տMGП $]~MGMnF<ҁM:8-@"IG#\lC"'MM-?Vῼ?,rzMMToAjM7-Cǜ?rMmZ( MyBMPǜ?M#  MzBM7AMv@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504268 s, deltaX: 0.299999 m, approachRate: 0.594920 m/s, rangeRepo size: 4 HԼ>HHIHWzBH =HH,DH<HE Added new target pos. range: 17.873079 m, bearing: 326.815685 deg, lat: 36.906389 deg, lon: -122.116039 deg, deltaT: 0.504268 s, deltaX: 0.297884 m, approachRate: 0.590726 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.87 m.bZrjRJB~ ~}||!|-2@|5/?}checking for new query: numPingsReceived=100, elapsed TxPingTime=45.854343 {B6I)ྉI: t40,/3hA9fu)@f<"@Yf:f@=?I%?#Gy?? fu)@f9;)fCyBIq}Mb@Mb@Mb@yyy y)yY} rh?y&1y&1|?y}CK?}`e}`;} A y)} AIyyy}AI IV2 "=y:Q >٥ HF}ѻ >!=<5%<œ?=<59%% I%By=K?E:E@E@%F&Ei%k;%I;%K<5eԓBm6AmuEZb&-hAAA@ʁ.'X2O$ϗȿH8to= ks!DGdH+H=ҁ.ie`.@s^99$,OjΕu?v,-頿z%sAjkƿ<ǜ?r&/ wB7-Cǜ? ꁭnA丶@% addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505269 s, deltaX: 0.500000 m, approachRate: 0.989572 m/s, rangeRepo size: 4 e Added new target pos. range: 18.369310 m, bearing: 325.824552 deg, lat: 36.906388 deg, lon: -122.116039 deg, deltaT: 0.505269 s, deltaX: 0.496231 m, approachRate: 0.982113 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.37 m.baZarijiRiJiBi~q~u{B}q|q|qԙ|}2@|@j?checking for new query: numPingsReceived=101, elapsed TxPingTime=46.357655 PI)⾉Ik.9 !!%Fw$ 0,WLhADDAT read: Rx Time:14:00:39.9637 "TRx dataTimestamp_ set to:1749132041.207753&PDAT read: Bearing 176.0, 4.1 (Local) &~Local bearing/azimuth received: Bearing 176.0, 4.1 (Local) 2DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 BDAT read: 14:00:39.9637 LVL= 26320, 27921, 22050, 32755, AGC= 66, IDX= 513,-0.01,-2.840,-1.289,-2.814,-2.342, PHS=-0.410, 1.101,-0.475, RAW= 332.1, -2.8, CAL= 334.0, -4.1, ROT= 176.0, 4.1 FYgot valid direction response: 14:00:39.9637 LVL= 26320, 27921, 22050, 32755, AGC= 66, IDX= 513,-0.01,-2.840,-1.289,-2.814,-2.342, PHS=-0.410, 1.101,-0.475, RAW= 332.1, -2.8, CAL= 334.0, -4.1, ROT= 176.0, 4.1 FV#Rx 102: Read range and direction messages.J`direction in FSK: [-0.995011,0.069578,-0.071497]NFpublishing direction and range info y"7ps!"~9ϱ? M"fAY "f)"mI""Vi "Ѿ"?"33 "z@)"+HI"q@i"C" D@"C= ) "ErAw8Hi"7%"[J=" D@"C= ) bchecking for new query: numPingsReceived=102, elapsed TxPingTime=46.6262479}@}J"@Y}-Y@?j `?`? }@}T;)}CKeP"KeS9*Ka2Ke=:Ke.36 96hlOHW0yrqf_SDDwS0VF9[YKHؼ>HHHH =HH-DH<HEHƗCHHH =I = I5checking for new query: numPingsReceived=102, elapsed TxPingTime=46.866467AyBII I2HK< % =y- Rm9Q 5 >٥Y a e He Fe τ e >q  <5u %œ? <59u & Iu By @ @u N&Eiu \:Ku D8vQa ooFn'juo+FW\ M_w3 6GM iG<~G A A) N5 >P0,JhA9u@ut!@Yuaf٥ Hú ><5?<59 I By!%!@%@Z&Ei ;;<5-ғB-6A-}EZyb}ҍhA}A}A}NN@ʁ}AY3uKnc'ܿchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.871216}FXŲ&PQNGY;}SFG}޹<ҁ}ZܛF!0@XYk%\Ŀ}oom?s&^()z}Z+} Aj}(:ǜ?r}:% }CyB}kƿ<ǜ?y y}A}M1@m addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.501385 s, deltaX: 0.299999 m, approachRate: 0.598341 m/s, rangeRepo size: 4  Added new target pos. range: 19.362328 m, bearing: 326.417414 deg, lat: 36.906387 deg, lon: -122.116041 deg, deltaT: 0.501385 s, deltaX: 0.297871 m, approachRate: 0.594096 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.36 m.bZrjRJB~~}|||3@| /? e{Be#Ii)m徉iIMʞ H<8=V Dܿl)&wie +e ppM0,hA9ṟ@r$!@YrU٥QQ UHUF]: ]>am<5e2?u<59e IeByuW?u|:u4@u@e`&Eie7;eR6;e-<5ѓB6AEZb"hAޞAޞABQ@ʁUv3ZM￴|B3=ҁc,cz0@Z<%!KٿƵ4?i50|az/[AjyheAǜ?r`% TxB:%  {AC@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504894 s, deltaX: 0.500000 m, approachRate: 0.990307 m/s, rangeRepo size: 4  Added new target pos. range: 19.858797 m, bearing: 326.438083 deg, lat: 36.906387 deg, lon: -122.116039 deg, deltaT: 0.504894 s, deltaX: 0.496469 m, approachRate: 0.983314 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.86 m.bZrjchecking for new query: numPingsReceived=105, elapsed TxPingTime=48.374058RJB~~%{B}!|!|)|-4@|-`E? ]{B]ټIY)e徉aIeԺ aae虁 5 C~G  DDAT read: Rx Time:14:00:41.9647  TRx dataTimestamp_ set to:1749132043.224043 PDAT read: Bearing 181.5, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 181.5, 3.2 (Local)  DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed -0.4  DAT read: 14:00:41.9647 LVL= 28304, 23249, 25506, 32755, AGC= 66, IDX= 507, 0.19,-0.218, 1.762, 0.016, 0.496, PHS=-0.626, 1.312,-0.484, RAW= 326.2, -2.2, CAL= 328.5, -3.2, ROT= 181.5, 3.2  Ygot valid direction response: 14:00:41.9647 LVL= 28304, 23249, 25506, 32755, AGC= 66, IDX= 507, 0.19,-0.218, 1.762, 0.016, 0.496, PHS=-0.626, 1.312,-0.484, RAW= 326.2, -2.2, CAL= 328.5, -3.2, ROT= 181.5, 3.2  V#Rx 106: Read range and direction messages. bdirection in FSK: [-0.998099,-0.026136,-0.055822] Fpublishing direction and range info y QljÚᢔ ̠AY n) ZI ci B A ? ) nFI x@i d ɼJ@ d= ) A :i3ipDܿ&`i + D= bG d= ) E checking for new query: numPingsReceived=106, elapsed TxPingTime=48.642834AI Aa Nm >!0,hAևG ,0 Nz YLyN B  @ / B9@!@Y;B٥yy }Hy; ><5T?<59K IByN@@f&Ei;;}<57AZbVhAAAQ@ʁNt3x<)rPQljÚᢔbGd=ҁ8b0@H,_ &a=Rd?KwL-u# hzZ0Ajz2ǜ?r! `vB(:ǜ?`%  ϠA31@M addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503164 s, deltaX: 0.100000 m, approachRate: 0.198743 m/s, rangeRepo size: 4 } Added new target pos. range: 19.958092 m, bearing: 326.440866 deg, lat: 36.906387 deg, lon: -122.116039 deg, deltaT: 0.503164 s, deltaX: 0.099295 m, approachRate: 0.197341 m/s, posRepo size: 4 }DNOT Ignoring new targets: 19.96 m.bZrjRJB~~}ԑ|||4@|@? VI)꾉ITN |ւ<f='HCHHHHH,DH <HEE?EEE0Echecking for new query: numPingsReceived=106, elapsed TxPingTime=48.879196ԉ 6G l<~Gy A A N >0,;hA9N@NA"@YNB1`uMM??/?4(} N? N@NÇ;)NCjyBnI)p px < %=DDAT read: Rx Time:14:00:42.4652 TRx dataTimestamp_ set to:1749132043.728339%PDAT read: Bearing 180.6, 1.3 (Local) -~Local bearing/azimuth received: Bearing 180.6, 1.3 (Local) =DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.5 mDAT read: 14:00:42.4652 LVL= 32656, 25953, 29170, 32755, AGC= 66, IDX= 511, 0.10, 1.554,-2.768, 1.743, 2.292, PHS=-0.649, 1.271,-0.552, RAW= 327.4, -0.8, CAL= 329.4, -1.3, ROT= 180.6, 1.3 uYgot valid direction response: 14:00:42.4652 LVL= 32656, 25953, 29170, 32755, AGC= 66, IDX= 511, 0.10, 1.554,-2.768, 1.743, 2.292, PHS=-0.649, 1.271,-0.552, RAW= 327.4, -0.8, CAL= 329.4, -1.3, ROT= 180.6, 1.3 uV#Rx 107: Read range and direction messages.}bdirection in FSK: [-0.999688,-0.010469,-0.022687]Fpublishing direction and range infoy}@q■FpNGY;3AY )aeIqi$&!?O ڶ@)dI@i޹nI@޹< )%I`f|zݿ͆ i"l*nX<GdH޹< )checking for new query: numPingsReceived=107, elapsed TxPingTime=49.146912Mb@Mb@Mb@ )Y1Zd?L7A`尿MbPy"[?+ A  A)E AIAy AI% I%25P 5,=y5Q 5>٥99 EHEFE; E>IU<5M?U<59M IMBy}[?}w:})@}@Ml&EiM9;M;M<5I7AEZbhAAA,@ʁ |r4gJ9˿Y!޿}@q■FpNGY;GdH޹<ҁJO%1@F"̉`'B`cTϿ~AMp?Zq$v'z;*Aj Dǜ?r|, xBc@ǜ? TxBA2@M addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504296 s, deltaX: 0.799999 m, approachRate: 1.586368 m/s, rangeRepo size: 4 } Added new target pos. range: 20.752319 m, bearing: 325.717073 deg, lat: 36.906388 deg, lon: -122.116039 deg, deltaT: 0.504296 s, deltaX: 0.794228 m, approachRate: 1.574924 m/s, posRepo size: 4 }DNOT Ignoring new targets: 20.75 m.bZrjRJB~~ |B}|||`f4@| L? `I ) 񾉞 I  *<15=5бUm0,hA09N7R@Ne"@YNɔ0H H H H H H H <H E6G P<~G A A N > checking for new query: numPingsReceived=108, elapsed TxPingTime=49.885231l0,hAp9U@U^"@YUO/=y= ٥II ]H]Fe < m><5.t?<59 IBy@@w&Ei;;f<5L7AEZbEhAfAfAK@ʁe T5Sh|?US 'bwcبOyّ?P7VG@A=ҁR(8&1@!ᯫ](%uT&?A-23VzB1AjQǜ?r+{. vB(:ǜ?:%  ꁅ\A~ @5 addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503611 s, deltaX: 0.300001 m, approachRate: 0.595700 m/s, rangeRepo size: 4 e Added new target pos. range: 21.050110 m, bearing: 324.609827 deg, lat: 36.906387 deg, lon: -122.116039 deg, deltaT: 0.503611 s, deltaX: 0.297791 m, approachRate: 0.591311 m/s, posRepo size: 4 mDNOT Ignoring new targets: 21.05 m.biZirijqRqJqBq~q~y}y|y||@335@| ? \- I)󾉞I%9S !!%ԭ<)-=-x@)uIu\@iuuBH@u= q)qu>9쿧T ޿}6iuƯ)u0,=;hA4-yB-Ii5=I5<Mb@Mb@Mb@ )Yףp= ?Q~jthy^?uD )\ AIIAychecking for new query: numPingsReceived=109, elapsed TxPingTime=50.390694I I(2v 7=yQ >٥ HF ><5[?<59J IBy@_?s:B@@}&EiM;\;6<5ϓB7AEZb-?/hA*A*A,͵@ʁmI5 82U?P,{,{H֚\?B3BH@=ҁMd1@#hs(v@i߿f ^?}"'@3z DAj ':ǜ?rX* wB ':ǜ?X*  wBA.͵@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.506281 s, deltaX: 0.599998 m, approachRate: 1.185110 m/s, rangeRepo size: 4  Added new target pos. range: 21.645866 m, bearing: 325.514243 deg, lat: 36.906387 deg, lon: -122.116041 deg, deltaT: 0.506281 s, deltaX: 0.595757 m, approachRate: 1.176731 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.65 m.bZrjRJB~!~e{B}a|a|a|m5@|mi? %{B%|I!)%!I-p ))-<15d=5EE6Gu 7ͤ<ԩ ~G1AAAQN]> 0,GXYhAHӼ>HHIHCzBHHHH#<H٥Y Y ] He Fi u >y  <5} 3? <59} k I} By A_? s:  @} &Ei} ':} M:} D<5 y7A EZbwgOhAAAi@ʁP~5]ݚ?aڿV"↑xޖ?]~+H@nF<ҁR1@bQ I)ǿ \Ue'?So⿿j;zHJzAj.gǜ?r`* yBz2ǜ?`*  jA@u  addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.502459 s, deltaX: 0.300001 m, approachRate: 0.597066 m/s, rangeRepo size: 4   Added new target pos. range: 21.943789 m, bearing: 324.819194 deg, lat: 36.906386 deg, lon: -122.116041 deg, deltaT: 0.502459 s, deltaX: 0.297922 m, approachRate: 0.592928 m/s, posRepo size: 4  DNOT Ignoring new targets: 21.94 m.b Z r j R J  DDAT read: Rx Time:14:00:44.4665  TRx dataTimestamp_ set to:1749132045.744148 PDAT read: Bearing 178.0, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 178.0, 0.9 (Local)  DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed -0.7  DAT read: 14:00:44.4665 LVL= 30640, 24097, 26386, 32755, AGC= 66, IDX= 507, 0.31, 1.182, 3.095, 1.263, 1.877, PHS=-0.608, 1.265,-0.617, RAW= 330.3, -0.4, CAL= 332.0, -0.9, ROT= 178.0, 0.9  Ygot valid direction response: 14:00:44.4665 LVL= 30640, 24097, 26386, 32755, AGC= 66, IDX= 507, 0.31, 1.182, 3.095, 1.263, 1.877, PHS=-0.608, 1.265,-0.617, RAW= 330.3, -0.4, CAL= 332.0, -0.9, ROT= 178.0, 0.9 % V#Rx 111: Read range and direction messages.- `direction in FSK: [-0.999268,0.034895,-0.015707]- Fpublishing direction and range infoڡ yڥ ￙Tݡ?y&ڥ fAYڡ ۥ w)ۥ !^Iۥ giۡ ۥ Bۥ ۥ ?ۥ  ܥ my@)ܥ Iܥ }l@iܥ ܥ F@ܥ < ݡ )ݡ ݥ s6#"Lf5B~iݥ 2I'ݥ ;ݥ F@ݥ < ޡ )ޡ M checking for new query: numPingsReceived=111, elapsed TxPingTime=51.167583By ~ ~ :|B} | | | 6@| "?  {B I) )- ) I5 医 1 1 5 M׉<9 = /== )ۡE}٥   HFp< >E<5f?E<59K IByYe@e@&EiB<t<S<5mΓBm8AmEZb7ݏhA~A~A#״@ʁK 'g6^^(?un$jbm?XޡaF@5=ҁo{Ȟ2@ө+O]s8'T C?C@azXAj(ǜ?r(': swB(ǜ?|,  An@Թ] addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 1.007187 s, deltaX: 1.000000 m, approachRate: 0.992864 m/s, rangeRepo size: 4 m Added new target pos. range: 22.936720 m, bearing: 323.793463 deg, lat: 36.906385 deg, lon: -122.116042 deg, deltaT: 1.007187 s, deltaX: 0.992931 m, approachRate: 0.985846 m/s, posRepo size: 4 uDNOT Ignoring new targets: 22.94 m.bqZqrqjqRJB~~}|||7@|@?KuO"Ku 9*Kq2KuB:Ku:4o7PX H?HOgKn U# A=iJyJ}A 5{B5XI9)=9I=} 99=ŚHMCHMIHM$zBHM =HIHM-DHM%<HMEEHǖCHHH =I IDž5 checking for new query: numPingsReceived=112, elapsed TxPingTime=51.902691 >E ]<rE V>jE >E E E E 2E F F I :J]BJZJJ<RJZJ]:bJS9J [4JzJ:jJ:JQu:rJTu:i6G}\< U=U<eDDAT read: Rx Time:14:00:45.4669 mTRx dataTimestamp_ set to:1749132046.753457}PDAT read: Bearing 179.9, 1.0 (Local) ~Local bearing/azimuth received: Bearing 179.9, 1.0 (Local) DAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed -0.8 DAT read: 14:00:45.4669 LVL= 28400, 30385, 24562, 32755, AGC= 65, IDX= 513,-0.24,-0.805, 1.382,-0.639, 0.006, PHS=-0.723, 1.423,-0.648, RAW= 328.2, -0.5, CAL= 330.1, -1.0, ROT= 179.9, 1.0 Ygot valid direction response: 14:00:45.4669 LVL= 28400, 30385, 24562, 32755, AGC= 65, IDX= 513,-0.24,-0.805, 1.382,-0.639, 0.006, PHS=-0.723, 1.423,-0.648, RAW= 328.2, -0.5, CAL= 330.1, -1.0, ROT= 179.9, 1.0 V#Rx 113: Read range and direction messages. `direction in FSK: [-0.999846,0.001745,-0.017452] Fpublishing direction and range infoaye2zWf>R\?W7) ߑe̼AYa en)evIe_iaeAe9e$?eT% e-M@)e5Ie\@ie5eBH@e5< a)ae4f|0HF޿l$فie…)ee٥)) -H-F- 5>Ye<5]?e<59]( I]Bym0a?mq:m@m@]&Ei]:]/:] <5͓Bu8AEZ1b58hA5wA5wA5$@ʁ5jn7ԩ ?0&_,ڿ52zWf>R\?W7) ߑ5BH@55<ҁ5 %Nt3@k!Kƿ*t,ƿ5  ?ɝސBFH~z5P5Aj5iBRǜ?r55>$ 5xB15`*  15FA5}@- addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505580 s, deltaX: 0.500000 m, approachRate: 0.988963 m/s, rangeRepo size: 4 e Added new target pos. range: 23.433416 m, bearing: 326.127862 deg, lat: 36.906385 deg, lon: -122.116041 deg, deltaT: 0.505580 s, deltaX: 0.496696 m, approachRate: 0.982429 m/s, posRepo size: 4 eDNOT Ignoring new targets: 23.43 m.baZirijiRiJB~~{B}|||7@| ? {B/I)I%ﷻ !!%<)-=5qyBgIYI I(2m: m=yqQ u>٥qqH޼>HHIHzBH =HHH<H E HF ><5?<59 IBy@&Ei;-;<5̓B8AEZbnnhAڽAڽAz@ʁ7G?33zq85(%sj?`8.yE@k=ҁKY;2@v$ɯo,}U>18?ʾ",?L_z~cAjך> ǜ?rl; uB Aw@ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503283 s, deltaX: 0.299999 m, approachRate: 0.596085 m/s, rangeRepo size: 4  Added new target pos. range: 23.731546 m, bearing: 323.147071 deg, lat: 36.906385 deg, lon: -122.116041 deg, deltaT: 0.503283 s, deltaX: 0.298130 m, approachRate: 0.592371 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.73 m.bZrjRJB~~}|||`f7@|`?checking for new query: numPingsReceived=114, elapsed TxPingTime=52.909393 {B靽Gr(I)8IH˻ A9J 4J zJ c:jJ g:J ~Q:rJ Q:6G < DDAT read: Rx Time:14:00:46.4675  TRx dataTimestamp_ set to:1749132047.760976  PDAT read: Bearing 177.8, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 177.8, 3.3 (Local)  DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed -0.5 E DAT read: 14:00:46.4675 LVL= 32288, 29873, 28354, 32755, AGC= 66, IDX= 503, 0.14,-1.034, 0.875,-0.950,-0.395, PHS=-0.550, 1.317,-0.558, RAW= 330.2, -2.3, CAL= 332.2, -3.3, ROT= 177.8, 3.3 M Ygot valid direction response: 14:00:46.4675 LVL= 32288, 29873, 28354, 32755, AGC= 66, IDX= 503, 0.14,-1.034, 0.875,-0.950,-0.395, PHS=-0.550, 1.317,-0.558, RAW= 330.2, -2.3, CAL= 332.2, -3.3, ROT= 177.8, 3.3 M V#Rx 115: Read range and direction messages.U `direction in FSK: [-0.997606,0.038324,-0.057564]U Fpublishing direction and range info y /'pScB)8?`8.y AY ~Gy A A N > 0,ǂhA ۭ ~)ۭtIۭni۩ۭBۭ ۭu?ۭ ܭ!k@)ܭl$Iܭ@iܩܭF@ܩ ݩ)ݩݭqRS2]r4iݭP'ݭR!=ݭF@ݩ ީ)ީ"checking for new query: numPingsReceived=115, elapsed TxPingTime=53.1990209NF@N#@YN;J;yNeJ٥y H ><5$?<59T IܗBy\?v:@@&EiQ::<58AZbճhAAAyҴ@ʁ/V:D8?\g/'pScB)8?`8.yF@ҁ#!$k53@ol0(,U8J?%⿛!DǾzeAjBV#ǜ?rW8 ItBBV#ǜ?W8  swBꁭZA|Ҵ@U addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504236 s, deltaX: 0.600000 m, approachRate: 1.189920 m/s, rangeRepo size: 4 ԑe Added new target pos. range: 24.327318 m, bearing: 323.760831 deg, lat: 36.906385 deg, lon: -122.116047 deg, deltaT: 0.504236 s, deltaX: 0.595772 m, approachRate: 1.181534 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.33 m.bZrjRJB~~{B}|||8@|@? M{BM7II)MIIU)ݻ QQUɐ}DDAT read: Rx Time:14:00:46.9677 TRx dataTimestamp_ set to:1749132048.263907PDAT read: Bearing 177.5, 3.0 (Local) ~Local bearing/azimuth received: Bearing 177.5, 3.0 (Local) DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed -0.4 DAT read: 14:00:46.9677 LVL= 27248, 26833, 27746, 32755, AGC= 66, IDX= 505, 0.39, 2.969,-1.461, 3.042,-2.689, PHS=-0.538, 1.275,-0.555, RAW= 330.5, -2.0, CAL= 332.5, -3.0, ROT= 177.5, 3.0 Ygot valid direction response: 14:00:46.9677 LVL= 27248, 26833, 27746, 32755, AGC= 66, IDX= 505, 0.39, 2.969,-1.461, 3.042,-2.689, PHS=-0.538, 1.275,-0.555, RAW= 330.5, -2.0, CAL= 332.5, -3.0, ROT= 177.5, 3.0 V#Rx 116: Read range and direction messages.`direction in FSK: [-0.997679,0.043560,-0.052336]Fpublishing direction and range infoځyڅj(nM?yoU˪څfAYځ ۅpj)ۅhIۅbliہہۅ^ ۅ33?ۅ{ ܅@)܅5I܅@i܅PwV܅DF@܅PwV= ݁)݁݅Sܽ 6G=i݅'݅=݅DF@݅PwV= ށ)ށ 1,hA%checking for new query: numPingsReceived=116, elapsed TxPingTime=53.701126GyBMIIeIe(*3uh uI=yQ >٥ HF ><5b?<59 IؗBy@&Eie<Bf<Z<5%˓B%@9A%EZb hA A A @ʁ kk8o)?#X۞ j(nM?yoU˪ DF@ PwV=ҁ  3@ǘ3I-g / ?&{V z Lj Aj ǜ?r v:  tB (':  uB oA G´@KP"Ký9*K2KD:Kd~KOe3]?<5r#q;R;F.z.qjc5 addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502931 s, deltaX: 0.299999 m, approachRate: 0.596502 m/s, rangeRepo size: 4 E Added new target pos. range: 24.625202 m, bearing: 323.464588 deg, lat: 36.906385 deg, lon: -122.116048 deg, deltaT: 0.502931 s, deltaX: 0.297884 m, approachRate: 0.592296 m/s, posRepo size: 4 EDNOT Ignoring new targets: 24.63 m.bAZIrIjiRiJiBq~q~q}q|y|y|}8@|}f? {BnGI);I L<M=H9H=IH=yBH= =H9H=,DH=<H="EE?EEEo0Echecking for new query: numPingsReceived=116, elapsed TxPingTime=53.917992) 6G <~G A A N > 1,\q*hAIYI]@A:JWBJYJJ<RJZJ;9bJ[O9J [4JzJ˛:jJϛ:J(n:rJ*n:9%>@%"@Y%Vy% %H Bn H4k ?@nP}*U?@? %>@%e;)%C}3yB}AI)  p=a=5DDAT read: Rx Time:14:00:47.4682 =TRx dataTimestamp_ set to:1749132048.767929MPDAT read: Bearing 177.3, 2.8 (Local) M~Local bearing/azimuth received: Bearing 177.3, 2.8 (Local) eDAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed -0.5 DAT read: 14:00:47.4682 LVL= 25632, 30609, 23794, 32755, AGC= 68, IDX= 510,-0.32, 2.187,-2.258, 2.248, 2.809, PHS=-0.534, 1.264,-0.564, RAW= 330.8, -1.9, CAL= 332.7, -2.8, ROT= 177.3, 2.8 Ygot valid direction response: 14:00:47.4682 LVL= 25632, 30609, 23794, 32755, AGC= 68, IDX= 510,-0.32, 2.187,-2.258, 2.248, 2.809, PHS=-0.534, 1.264,-0.564, RAW= 330.8, -1.9, CAL= 332.7, -2.8, ROT= 177.3, 2.8 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.997697,0.047050,-0.048850]Fpublishing direction and range info1y5J"H?s!D53AY1 5 d)5wI5\i15D595ʡ?5Nb 5@)5I5й@i5+H5 F@5+H= 1)15FB`wl c࿯@p]i5q&5׈=5 F@5+H= 1)1checking for new query: numPingsReceived=117, elapsed TxPingTime=54.186165A=Mb@Mb@Mb@999 9)9Y=7A`?٥ HF? ><5}?<59w I՗ByV?}:@@&Ei:{:~<59AEZ1b5%1hA5A5A5f@ʁ5b ̛)9C"s?![5J"H?s!D5 F@5+H=ҁ51,!GhA9z@z"@YzkyzCzH #h`@6n?gY`um?Ow\? z@z :;)zC-5yB-BII=I=(*3m; up=yuUݻQ u?٥qy }H}F}| ?=5j?=59 IӗBy@@&Eiu:K:o=5ʓB{9AE-DNOT Ignoring new targets: 25.22 m.b)Z1r1j1R1J1B1~Y~a}i|i|i|i|m ?  oI)!I" <~=%&KM KP"KI *KI 2KM E:KM g) r .F=&?X8f#i&|q}~8O0ZIԩ H Ҽ>H CH IH yBH H H H <H E1,֭`hA:checking for new query: numPingsReceived=118, elapsed TxPingTime=54.926479T9U:|@U"@YUʰyU>*UH@aZyyW(?5a@!̇`Qv?`G@p? U:|@U;)UC=9yB=DII I̍25); 52=y=aQ =>٥AI UHUFUB ]>iu=5mXP?}=59mڧ ImҗByy}@}@m&Eim:mN:m{=5n9AZAbESxQhAE%AE%AES@ʁEct.|9ޓ\ş?:p};Ew9~?P7VEH@EA=ҁE.И4@#sz-iFE|L 7?({!?zEkELAjE (ǜ?rE2, EsBAA EItBEAE@  addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.505040 s, deltaX: 0.300001 m, approachRate: 0.594015 m/s, rangeRepo size: 4  Added new target pos. range: 25.518276 m, bearing: 324.659907 deg, lat: 36.906384 deg, lon: -122.116048 deg, deltaT: 0.505040 s, deltaX: 0.297668 m, approachRate: 0.589396 m/s, posRepo size: 4 %DNOT Ignoring new targets: 25.52 m.b!Z!r!j!R!J)B)~)~)}1|1|1|5@39@|5? {BzMI)EU!AIM QQ]7<R=P19J]4JYzJ]:jJ]:J]~Q:rJ]Q:DDAT read: Rx Time:14:00:48.4688 TRx dataTimestamp_ set to:1749132049.776061-PDAT read: Bearing 178.6, 2.2 (Local) -~Local bearing/azimuth received: Bearing 178.6, 2.2 (Local) =DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed -0.4 eDAT read: 14:00:48.4688 LVL= 24112, 24561, 19874, 32755, AGC= 69, IDX= 3, 0.22, 2.336,-2.071, 2.449, 3.001, PHS=-0.577, 1.259,-0.555, RAW= 329.4, -1.4, CAL= 331.4, -2.2, ROT= 178.6, 2.2 mYgot valid direction response: 14:00:48.4688 LVL= 24112, 24561, 19874, 32755, AGC= 69, IDX= 3, 0.22, 2.336,-2.071, 2.449, 3.001, PHS=-0.577, 1.259,-0.555, RAW= 329.4, -1.4, CAL= 331.4, -2.2, ROT= 178.6, 2.2 uV#Rx 119: Read range and direction messages.`direction in FSK: [-0.998965,0.024414,-0.038388]Fpublishing direction and range infoyƇq?.fAY 0^)_IMiF&?{ @)+ȼE?EEE0EI@inFG@nF= )OqP뿾h߿rW/i@8(<G@nF= )checking for new query: numPingsReceived=119, elapsed TxPingTime=55.202950! 6G 4<~GQ Aa Aq q N >1,?}hA9Zf@Z0z"@YZyZevZH@[E%wZ?$?U[v}?~? Zf@ZL;)XtvEIi5٥!A EHEFM3 M>Q]=5U5?]=59U IQy]^T?]:]( @e@U&EiU;U;U=5ɓBf9AEZbqhAAA-@ʁ9QE:9q6f? Ƈq?.G@nF=ҁ5@Pjќ.a~7 Y?<⿾YmztAj)ǜ?rm4 rtBBV#ǜ?W8  A̴@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503092 s, deltaX: 0.599998 m, approachRate: 1.192622 m/s, rangeRepo size: 4  Added new target pos. range: 26.114033 m, bearing: 324.073485 deg, lat: 36.906385 deg, lon: -122.116047 deg, deltaT: 0.503092 s, deltaX: 0.595757 m, approachRate: 1.184190 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.11 m.bZrjRJB~~w{B}|||L:@|m?9 IU%\GIQ)u9!qI}` yy}<$=`$1&1,hAKR;O"KR9*KP2KRF:KR1.,7t]s HB @kH  D 9sqJdJfA]4yBeBIIuIu<2` ]=yQ >٥ HF >=5G!?=59 IїBy@&Ei;X; =5v9AEH м>H H IH yBH H H H <H EZb hAKAKAp@ʁWf g:c9?5Iz_bS,p?{JHdH@+<ҁG5@I b.x4-f~B(?kdžgֳ;zsAjB<ǜ?rU'- uB (ǜ?m4  rtBꁵA@5 addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503788 s, deltaX: 0.300001 m, approachRate: 0.595491 m/s, rangeRepo size: 4 M Added new target pos. range: 26.411844 m, bearing: 324.867712 deg, lat: 36.906385 deg, lon: -122.116046 deg, deltaT: 0.503788 s, deltaX: 0.297812 m, approachRate: 0.591145 m/s, posRepo size: 4 uDNOT Ignoring new targets: 26.41 m.bqZyryjyRyJyB~~}",1,nߵhA9^<@^QP"@Y^7y^L^HuO6 y?@5?O@=?ta? ^<@^ ̇;)^Cz/yB~>IMb@Mb@Mb@ )Y|?5^? ףp= Mbp?yR?Q8; A  A) AI Ay AII2G, 5)=y=Q =>٥99 EHEFE E>Iu=5M|?}=59Mj IM՗By}BS?}:}@}@M&EiM;M,;M=5ȓB9AE-DNOT Ignoring new targets: 26.41 m.b)Z1r1j1R1J1B1~9~={B}9|9|9|A|En? s_I)#I,  <=q31,hA9J?*@J="@YJ_PyJs^JHJ>Ux?@=?@IF?@lK ? J?*@Jp;)HZGyBZMI)\ \ ^=^=IbIb#3j= nz=yvQ v ?٥xx zHxzmf z ? =5? =59 IחBy  @ @&Ei: :=5$9AEDNOT Ignoring new targets: 26.41 m.bAZIrIjIRIJIBI~Q~Q}Q|Q eH!H%IH%yBH% =H!H!H%<H%/EHHHH =I = I55 DDAT read: Rx Time:14:00:50.4699 = TRx dataTimestamp_ set to:1749132051.543826U PDAT read: Bearing 179.7, -0.1 (Local) e ~Local bearing/azimuth received: Bearing 179.7, -0.1 (Local) e  &91,=_hA9>@>("@Y>jy>BE>HCG@s? PF? CD~R?`? >@>;)>CHHII3IC=IC=y[Q >٥ HF-4 U>Ye=5]<ڿ?e=59] I]ۗByam@m@]&Ei]i;]N;]=5ǓB9AEZb qhAAAV@ʁ_X.:;Qw\F??ۿ}DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed -0.4 DAT read: 14:00:50.469 V=260,26593, 24242, 32755, AGC= 64, IDX= 510,-0.24,-0.664, 1.272,-0.518, 0.083, PHS=-0.659, 1.236,-0.604, RAW= 328.5, 0.3, CAL= 330.3, 0.1, ROT= 179.7, -0.1 %unknown deviceResponse_: 14:00:50.469 V=260,26593, 24242, 32755, AGC= 64, IDX= 510,-0.24,-0.664, 1.272,-0.518, 0.083, PHS=-0.659, 1.236,-0.604, RAW= 328.5, 0.3, CAL= 330.3, 0.1, ROT= 179.7, -0.1 -X#Rx 1: Read range message, but no direction.im3AYi 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.MB9oy-ށ?y&H@<ҁRu6@ΜT/TAd!R.?[꥚}ݤ1ٞzzܰAjN{3!ǜ?r@T( vBU'-  ꁝ"A97@e addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 1.510980 s, deltaX: 1.299999 m, approachRate: 0.860368 m/s, rangeRepo size: 4 u Added new target pos. range: 27.106827 m, bearing: 324.680828 deg, lat: 36.906385 deg, lon: -122.116043 deg, deltaT: 1.008300 s, deltaX: 0.694983 m, approachRate: 0.689262 m/s, posRepo size: 4 }DNOT Ignoring new targets: 27.11 m.byZyryjyRJB~~}|||`f;@|? KaIy)}I> @:<n=h3RkA1, hA9^@^&"@Y^Ty^lw^H2C`eHhr?@F?@(B٥ii mHmFm0 m>q=5u?=59u IuߗB+:yP:@@u&Eiu:uj>uF=59AEDNOT Ignoring new targets: 27.11 m.bZr!j!R!J!B!~)~)})|)|)|1|U`?JKJ4JKމ4JK61:J}ZBJ}NJJ}>RJyZJ}9bJ}!9J}t4Jy@@@@ {Bc`I)IF ><@=.RH H IH yBH H H H <H E ~G A A! N- >#G1,y!hAjDDAT read: Rx Time:14:00:51.4704 rTRx dataTimestamp_ set to:1749132052.550919v٥!! %H%Fmq^ m>=5?=59 IB :y(:@@&Ei ;d?=5ƓB8AEZbhAAAa@ʁݹq;4W?[#$?r￵Ꮼou?Iz?H@ҁXno^6@z^oW'0:=m? ."?>-_ vhX?z:Aj 1ǜ?rn) zB)ǜ?2,  uBꁕAv:@ addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504338 s, deltaX: 0.300001 m, approachRate: 0.594841 m/s, rangeRepo size: 4  Added new target pos. range: 28.000311 m, bearing: 324.763823 deg, lat: 36.906385 deg, lon: -122.116042 deg, deltaT: 1.007018 s, deltaX: 0.893484 m, approachRate: 0.887257 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.00 m.bZrjRJB~~}|!|!|%@33<@|% dY? {B靥 TI)LIO 3<=m-<JP1,8AhA9R@Rl"@ DDAT read: Rx Time:14:00:51.9706 %TRx dataTimestamp_ set to:1749132053.054707%٥ii mHmFuI u>y=5}??=59}x I}BT:yT?:}@@}&Ei}(;}_;}b!=5œB8AE addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503600 s, deltaX: 0.500000 m, approachRate: 0.992851 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 28.00 m.bZrjRJB~~{B}|||@3<@|j? !-?OI))-S1I5 cX 115U<9===7 C+GEEEE4E:J[BJSJJARJZJ:bJy69J4J 5G Y1y5 BPDAT read: Bearing 180.0, -1.3 (Local) ~Local bearing/azimuth received: Bearing 180.0, -1.3 (Local) DAT read: Range 10 to 50 : 29.0 m (trip time 19.3 ms) speed -0.8 DAT read: 14:0:1.90 VL 3520, 32753, 28050, 32755, AGC= 67, IDX= 501,-0.01,-0.798, 1.141,-0.636,-0.021, PHS=-0.689, 1.208,-0.619, RAW= 328.1, 1.1, CAL= 330.0, 1.3, ROT= 180.0, -1.3  %unknown deviceResponse_: 14:0:1.90 VL 3520, 32753, 28050, 32755, AGC= 67, IDX= 501,-0.01,-0.798, 1.141,-0.636,-0.021, PHS=-0.689, 1.208,-0.619, RAW= 328.1, 1.1, CAL= 330.0, 1.3, ROT= 180.0, -1.3 - X#Rx 1: Read range message, but no direction.کڭAYک  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6G ܸ<<~G A A N > rV1,5 [hA9b@b"@Ybͼybډ򺹪bH@8 Tr?R?:A;"?N^k? b@b;)bC~vyB~jII I [3== E=yE3 Q E?٥AI MHMFM_ M?Qu=5U|?=59Uot IUByz@@U&EiU,HHIHyBH =HHH0<HMEU addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.504464 s, deltaX: 0.299999 m, approachRate: 0.594689 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 28.00 m.bYZYrYjYRYJYBa~a~a}a|i|i|m=@|m g? {BE DAT read: Range 10 to 50 : 29.6 m (trip time 19.7 ms) speed -0.6  DAT read: 14:00:52.4709 LVL= 29200, 24513, 29298, 32755, AGC= 65, IDX= 489,-0.20,0.72 .5,-.021, 0.585, PHS=-0.669, 1.221,-0.609, RAW= 328.4, 0.6, CAL= 330.3, 0.6, ROT= 179.7, -0.6  %unknown deviceResponse_: 14:00:52.4709 LVL= 29200, 24513, 29298, 32755, AGC= 65, IDX= 489,-0.20,0.72 .5,-.021, 0.585, PHS=-0.669, 1.221,-0.609, RAW= 328.4, 0.6, CAL= 330.3, 0.6, ROT= 179.7, -0.6 - X#Rx 1: Read range message, but no direction. AY  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.\1, thAyBrI)  =a=only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V aI@a aM@a aQ@a aE@a II(*3< 2=IyUQ U>٥YY ]HYe >=5b?=59m IB+:yN:@&Ei:>c'=58AE% addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.507335 s, deltaX: 0.600000 m, approachRate: 1.182651 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 28.00 m.bIZIrIjIRIJQBQ~Q~Q}Y|Y|Y|]=@|]H? PMI)*Ig |<h=X5c1,ؼhA9>E@>"@Y>Mj@y>>H 7V ?S?E99'L?rS? >E@>o;)>CJyBJsI:JVWBJVQJJV;RJTZJV;9bJV-.9JV(N4JT`bAAIfIf2n; ns=yU\Q ]?٥YY eHeFe1 e?iu=5mP?u=59mDi ImBu :yq}':}w@}@m&Eim@;myO?mL)=58A addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.256913 s, deltaX: 0.299999 m, approachRate: 1.167707 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 28.00 m.bZrjRJB~~}|||`f=@|x? ^nI) Il %HHIHyBH =HHH <HEK @%P"K 9*K 2K J:K p</7J([eE9uf\-H6GI3<J1J5A~GA A) N= > m DDAT read: Rx Time:14:00:53.4713 } TRx dataTimestamp_ set to:1749132054.572310 PDAT read: Bearing 180.2, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 180.2, 1.5 (Local)  DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed -0.6 - X#Rx 1: Read range message, but no direction.q u AYq - 2Acoustic response timeout5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.]i1,fhA9:"@:y!"@Y:by::H?J+?`"G?A`#K? u@? :"@: ;):CNyBN~IpIVIV3.= F=yUQ >٥ HFN; >=59?=59c I B9y:@@'Ei;??+=5%ēB%7A-E addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504831 s, deltaX: 0.300001 m, approachRate: 0.594261 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 28.00 m.bZrjRJB~ ~ }|||@33>@|g?  II)E I4$u ,<E=MPMwp1,߇hADDAT read: Rx Time:14:00:53.9715 TRx dataTimestamp_ set to:1749132055.0750239MPDAT read: Bearing 179.1, 1.7 (Local) U~Local bearing/azimuth received: Bearing 179.1, 1.7 (Local) Iq)qDAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed -0.4 DAT read: 14:00:53.9715 LVL= 22592, 24945, 25506, 32755, AGC= 69, IDX= 511, 0.27,-1.352, 0.669,-1.221,-0.624, PHS=-0.640, 1.339,-0.600, RAW= 329.0, -1.0, CAL= 330.9, -1.7, ROT= 179.1, 1.7 Ygot valid direction response: 14:00:53.9715 LVL= 22592, 24945, 25506, 32755, AGC= 69, IDX= 511, 0.27,-1.352, 0.669,-1.221,-0.624, PHS=-0.640, 1.339,-0.600, RAW= 329.0, -1.0, CAL= 330.9, -1.7, ROT= 179.1, 1.7 9=+@= ?"@ER#Rx 1: Read range and direction messages.M`direction in FSK: [-0.999437,0.015700,-0.029666]UFpublishing direction and range infoy$[bOվ? `AY @X)qaIciEY= y=^㹹=HG@v=̚?:?JHb?yg<-? =+@=];)=C #Zd? @)5I6ϸ@iH@< )t뿤Z!߿5JJi(TT<H@< ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Y:JYBJNJJ@RJZJ9bJ!9JJ4Jԑ٥  H F M2;  >  =5 \? =59 Y I B T:y [? w: @ @ 'Ei : : 1=5 ÓB 7A EԹ Zb-hAFAFA&@ʁ&DrD>=0n?$[bOվ? `H@<ҁ٣28@@`1@| ? {B 5I )  I " <  = RbH H IH zBH  =H H H N<H tE Ke9P"Ke9*Ka2KeK:Kev3[Lk+"zpD+qbI &'OE e٥ HFIR=Ip=;  >1u=55?u=595S I5ByL@@5'Ei5<5!<54=57A%Ea =<DDAT read: Rx Time:14:00:54.5394 TRx dataTimestamp_ set to:1749132055.828175PDAT read: Bearing 192.1, 70.8 (Local) ~Local bearing/azimuth received: Bearing 192.1, 70.8 (Local) DAT read: Range 10 to 50 : 132.2 m (trip time 88.1 ms) speed 0.3 5DAT read: 14:00:54.5394 LVL= 24928, 26097, 21490, 26019, AGC= 71, IDX= 189, 0.02,-0.035, 0.845, 0.207,-0.982, PHS= 1.035, 1.874, 1.186, RAW= 320.3, -61.8, CAL= 317.9, -70.8, ROT= 192.1, 70.8 =Ygot valid direction response: 14:00:54.5394 LVL= 24928, 26097, 21490, 26019, AGC= 71, IDX= 189, 0.02,-0.035, 0.845, 0.207,-0.982, PHS= 1.035, 1.874, 1.186, RAW= 320.3, -61.8, CAL= 317.9, -70.8, ROT= 192.1, 70.8 =R#Rx 1: Read range and direction messages.Ebdirection in FSK: [-0.321560,-0.068937,-0.944376]MFpublishing direction and range infoys8qԿ, ӥ>T83CY `a)eISie-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 132.199997 m, deltaT: 0.753152 s, deltaX: 101.699997 m, approachRate: 135.032501 m/s, rangeRepo size: 4eDNOT Ignoring new targets: 30.28 m.Gz?;?Η? @)I@i2+V@2+? )baZqrqjqRqJqBy~y~y}y|||`f`@| є?Rؙܿ:Ŀ3l#7iqh2-?͋;2+? ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. QI)IXՃ !!%1,ahAQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.D9=Ϲ@=&"@Y=$y=;=Hm`'??ct$?}?"? =Ϲ@=;)=C=yBEIMb@Mb@Mb@ )Y-?bX9ȶ~jth?y5^?ED; A ) AI/ Ay= AԱII'= (=yQ >٥ HFLI< %>!-=5%㾜?U=59%L I%(ByU__?Us:UA@U@%'Ei%>;%;%8=5e“Be'7AeEZb,chAkAkA<Լ@ʁJ $q1q=s8qԿ, ӥ>T8͋;2+?ҁ@ @Ns1 "=)7?^t3'oxzW4Aj̦?rs `Bn)  A@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 1.009155 s, deltaX: 0.900000 m, approachRate: 0.891835 m/s, rangeRepo size: 4 5 Added new target pos. range: 31.177647 m, bearing: 338.097083 deg, lat: 36.906385 deg, lon: -122.116041 deg, deltaT: 1.009155 s, deltaX: 0.893213 m, approachRate: 0.885110 m/s, posRepo size: 4 =DNOT Ignoring new targets: 31.18 m.b9Z9r9j9R9J9BA~A~E|B}I|i|q|}`ff?@|}"? {B05MI)I{s %bТ<)-r=-RH CH IH /zBH  =H H +DH <H EHHHH =I I"56G c<ZG RG K )P"K {9*K 2K L:K Q3(\KG?qk5F p`6<A ~Gy A A N >1,3$hAZDDAT read: Rx Time:14:00:55.4728 bTRx dataTimestamp_ set to:1749132056.589292vPDAT read: Bearing 178.5, 2.1 (Local) z~Local bearing/azimuth received: Bearing 178.5, 2.1 (Local)  DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed -0.7 -X#Rx 1: Read range message, but no direction.\^3BY\ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9@B"@YC+yh=<H z QW??@} GrMp??D? @{;)CyyBII-I-(*3ܼ 6=yJlQ >٥ HF5; >=5ʾ?=59@F I1Byq@@'Ei;+;<=5=B=T7AEEZ\b^%hA^HB^HB^h@ʁ^UiJ@a?A~ſ^Y`b Sy?sNru^MG@^;ҁ^G&v.:@g $v2 r ^N!?k⿖?"z^^sAj^S.iǜ?r^XH, ^sB\\ ^sB^A^L@u addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.505114 s, deltaX: 0.900000 m, approachRate: 1.781775 m/s, rangeRepo size: 4  Added new target pos. range: 32.071121 m, bearing: 324.810994 deg, lat: 36.906385 deg, lon: -122.116041 deg, deltaT: 0.505114 s, deltaX: 0.893475 m, approachRate: 1.768857 m/s, posRepo size: 4 ԡDNOT Ignoring new targets: 32.07 m.bZrjRJB~~}|:JU[BJUOJJUARJQZJU:bJU%9JU4JQzJQmjJQuJU&:rJU&:||`f&@@|ڊ?DAT read: 14:00:55.4728 LVL= 23216, 24129, 20514, 31475, AGC= 70, IDX= 507, 0.08, 1.194, 3.111, 1.302, 1.873, PHS=-0.591, 1.285,-0.574, RAW= 329.5, -1.3, CAL= 331.5, -2.1, ROT= 178.5, 2.1 Ygot valid direction response: 14:00:55.4728 LVL= 23216, 24129, 20514, 31475, AGC= 70, IDX= 507, 0.08, 1.194, 3.111, 1.302, 1.873, PHS=-0.591, 1.285,-0.574, RAW= 329.5, -1.3, CAL= 331.5, -2.1, ROT= 178.5, 2.1 X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.998986,0.026159,-0.036644]AyEqaɚ?(א¢YA EZ)EA^IE"PiEzAEKEz?E E @)E޹IE%@iEQ EbG@EQ = AE m>^΍߿HAiE_(E  DAT read: 120   BDAT read: Tx time:14:00:56.3657  $Ping request sent. @>H#@Y>p1y>&g<>H@q?? !Y2? ݌?`{? >@>";)>CJyBJI9Mb@Mb@Mb@ )Yx&1?ʡEyA`?- A  A)AIA AyIIm?3 =   =ym>Q m>٥qq uHuF}G; }>=5?=59> I;By[a?q:@@#'Ei/<[/<1,ahAKf P"Kf9*Kd2KfM:Kfp:2\Q}micf^'a?6tw{d->E+e#oROR#4o9%@\8#@Y67yN<H a`/e??`HBȍ@l?`#ԉ?? %@A;)5yB5IIAIAUӻ Ub=yUIQ U>٥YY ]H]F]=; e>iu=5m?u=59mZ9 ImBByqu@u@m('Eim:m:mJD=5y7ADNOT Ignoring new targets: 32.07 m.bZrjRJB~~}||||t?! -{B-gI1)51I5, 115<9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499707M~*=M)RJZJ]:bJq9Jt4JzJ:jJ:6GeV<ԁJ:rJ:~Gy A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752302N >ԩ 11,zhA9>W@>Jk#@Y>{Ey><>Hz?@?;`|+ ﬨ?@*\?)? >W@>g;)٥ HF ;  >-=5ˀ?-=59A3 IHBy-_?-r:-@5@-'EiQ;d;G=5=B=<7A=ĭEmDNOT Ignoring new targets: 32.07 m.biZirijiRiJiBq~q~u{B}y|y|y|y|}ؐ?ԑ {BZI)I漕 %<=jE>EiEiEiEiEiaamchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0040276GI<~Gq Ay A G A AN > Y Ay B 71,hA9Fw@FΔ#@YFMyFo٥II MHQU; U>Ye=5]h?e=59]P- I]OByim@m@]3'Ei]:];]K=5uB}/7A}ƭEDNOT Ignoring new targets: 32.07 m.bZrjRJB~~}||||H-? {B^I) I4 lƣ<j=HHIHWzBH =HHH <HE!&TFailed to parse incomplete device message.JAJ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5081726G 1,k~hAyB%IIM%IM)3u˼ }Y=yQ >٥:JYBJTJJRJZJ9bJ:9JJzJc:jJh:JSJ:rJVJ: HF >=5P?=59P' IVBy @9'Ei<<AO=51=U7A9Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762007DNOT Ignoring new targets: 32.07 m.bZrjRJB~~}||||W@ ={B=XIa)eaIegX iimۣ<=&P1,4hAHyBI)! !Mb@Mb@Mb@ )YGz?J +٥ HF >=5&7?5=59H! I^By5]?5u:@@?'Ei<<S=5 7AɭEDNOT Ignoring new targets: 32.07 m.bZ1r1jQRQJQBY~a~m{B}i|i|i|i|u@E@ {B&`I)=I۠ R<` =iizEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264580E?EEEE 6G F<~G A A N >^S1,hAHм>HCHIHazBHHH,DH<HE@9Jr@JȚ#@YJ_VyJ;JH2ӫ F?D?`ə`Ȫ? ;r?? Jr@J ;)JC P)TɺTTTTɻTiVIXXIXiX ZX)\\ \\\ɼ\`dId)did)hIhhɽh hɾn&Cllillipp)p pIpٯpzyBzIK}ZP"K}ý9*Ky2K}O:K}I?Y[>coI|$mky hH9m*ysJA#)J ?J>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515493II#3- g=y=Q =>٥9A EHEFE: E>IU=5M!?U=59MW IMdBy@@MD'EiM$'Ydֿ>1a"iݽ $ݽ Z?ݽ ?BD@ݽ ? ޹ )޹ m checking for new query: numPingsReceived=1, elapsed TxPingTime=2.7946516Ge <~G! A) AA NM >Jx1,hA1 yB IMMb@Mb@Mb@III I)IYMA`"?{GzMbyMY?M#MMA MA)MIAIM AIyM(AII2D 4=yQ >٥ HF >=5?=59] ImByVY?z: @@J'Ei;;9Z=5 B$7AϭEYZbLhA(C(C9]@ʁXlPNW6aa|@@9]Uݿ[y?|N?BD@?ҁE@ jyhAzo ]2U?m@п7b zC ,Bj uB̜?r75 f 1ǜ?)  qB} BE@checking for new query: numPingsReceived=1, elapsed TxPingTime=3.019708- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 133.100006 m, deltaT: 3.274757 s, deltaX: 100.800003 m, approachRate: 30.780910 m/s, rangeRepo size: 45DNOT Ignoring new targets: 32.07 m.b1Z1r1j1R1J9B9~9~E{B}I|I|q|u@3`@|} R? {B\&_I)I/ܧ /<1 =b|1,hAHp?\@x? L3@)tI@iDF@? )KݿAO_ ҿxi%rk?DF@? )Uchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.33495992@E#@YSHXy SH 7? m?ϔ`ƞ ?`9XJ`? 2@骵x܇;)CyBIi%>III<2 v  C=yQ >٥ HFbM >AM=5E|?M=59E IEuByQU@ @U@EP'EiEd:EN:E]=5Y]A7A]ҭEZbQOhACC@ʁx5H0 E@j`y^0ؿ%kK͐?jDF@?ҁ0)CA@WO9)`_y?yHȿ@)>z BjJMɜ?rܳ wS.iǜ?XH,  `BP BC@-]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 132.500000 m, deltaT: 3.774924 s, deltaX: 100.199997 m, approachRate: 26.543579 m/s, rangeRepo size: 4}DNOT Ignoring new targets: 32.07 m.bZrjRJB~~}|||`@|?HӼ>HHHH =HHH<H2E ]{B][kIa)ejaIe aaeP 4=checking for new query: numPingsReceived=2, elapsed TxPingTime=3.523964E-?E)E)E-{0E)KM(hP"KMS9*KI2KMP:KM&tgG*z_|uja\U<(y |<dRHd! 6G ~G A A N >1,R2hAI@I@9J @JG!#@YJ \yJnػJH`J?a?@V)}?@{? J @J;)JCVyBVII^I^F3f4x= fy=yj6Q n?٥tx ~H ٻ ?)E=5-ܽ?M=59-[ I-{ByQU @]@-U'Ei-O;-R;-`=5B6A ЭEDDAT read: Rx Time:14:00:59.6077 TRx dataTimestamp_ set to:1749132060.873780PDAT read: Bearing 177.1, 1.4 (Local) ~Local bearing/azimuth received: Bearing 177.1, 1.4 (Local) DAT read: Range 10 to 50 : 36.3 m (trip time 24.2 ms) speed -0.1 DNOT Ignoring new targets: 32.07 m.bZrjRJB~ ~ } ||||{?)5DAT read: 14:00:59.6077 LVL= 24224, 26017, 20210, 29987, AGC= 70, IDX= 368,-0.18, 0.095, 1.992, 0.142, 0.761, PHS=-0.578, 1.277,-0.623, RAW= 331.2, -0.8, CAL= 332.9, -1.4, ROT= 177.1, 1.4 =Ygot valid direction response: 14:00:59.6077 LVL= 24224, 26017, 20210, 29987, AGC= 70, IDX= 368,-0.18, 0.095, 1.992, 0.142, 0.761, PHS=-0.578, 1.277,-0.623, RAW= 331.2, -0.8, CAL= 332.9, -1.4, ROT= 177.1, 1.4 =R#Rx 3: Read range and direction messages.E`direction in FSK: [-0.998421,0.050578,-0.024432]EFpublishing direction and range infoکyڭ,J￶'BU?{Jڭ3BYک ۭ^)ۭeIۭNiۭ#u۩ۭۭt?ۭ| ܭ@)ܭdIܭ+@iܭ+ȼܭE@ܭ+< ݩ)ݩݭ؟;_a`S5*AMiݭ.9&ݭ>jj<ݭE@ݭ+< ީ)ީchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.841844 {B靵HvmI)II  l< =k- checking for new query: numPingsReceived=3, elapsed TxPingTime=4.027997ԡ 1,0LhAԁyBIMb@Mb@Mb@ )YOn?V-٥ H:J]BJ^JJARJZJ]:bJd9J4J@@@@F >=5?=59 IByX?z: @@['Ei:\; e=56AӭEZb7hA,B,Bԡz@ʁUVDAZ*?$s~.,J￶'BU?{JE@+<ҁSt8<@25hܖ5e?>""zlAjZq7ǜ?r= unB=  Bɴ@m addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 4.284488 s, deltaX: 4.000000 m, approachRate: 0.933600 m/s, rangeRepo size: 4 } Added new target pos. range: 36.043365 m, bearing: 323.142835 deg, lat: 36.906392 deg, lon: -122.116050 deg, deltaT: 4.284488 s, deltaX: 3.972244 m, approachRate: 0.927122 m/s, posRepo size: 4 DDAT read: Rx Time:14:01:00.1078 TRx dataTimestamp_ set to:1749132061.372447DAT read: Range 10 to 50 : 36.5 m (trip time 24.3 ms) speed -0.5 -X#Rx 4: Read range message, but no direction.ڑڕBYڑchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.284005DNOT Ignoring new targets: 36.04 m.bZrjRJB~~y{B}|||@B@| i? M{BMObIQ)U(QIU QQUxH H IH kzBH H H H <H HHHH =I = I(o5) 6Gu <ZGy RGy = checking for new query: numPingsReceived=4, elapsed TxPingTime=4.531777~GQ Aq A N >ݺ1,phhA9F@F>"@YF]tbyFS𻹪FH@]8? ?VeJ? }C? F@F;)FCPVyBVIIZ IZb3KbP"Kb9*K`2KbQ:KbF [a] pF-#34WZ= (6Om1 %>< R=y$Q >٥ HF< %>1m=55֩?u=595 I5Byp @@5a'Ei53<5b<5h=5B6A֭Em addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.498667 s, deltaX: 0.200001 m, approachRate: 0.401071 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 36.04 m.bZrjRJB~~}|||| ? qurIy)}yI}ͭ yy}*< =EQEQEYEq5EDDAT read: Rx Time:14:01:00.6081 TRx dataTimestamp_ set to:1749132061.884387PDAT read: Bearing 177.7, -1.1 (Local) ~Local bearing/azimuth received: Bearing 177.7, -1.1 (Local)  DAT read: Range 10 to 50 : 36.9 m (trip time 24.6 ms) speed -0.7 E DAT read: 14:01:00.6081 LVL= 25024, 24625, 24386, 32755, AGC= 68, IDX= 5,-0.35,-1.365, 0.494,-1.294,-0.646, PHS=-0.630, 1.188,-0.650, RAW= 330.5, 1.0, CAL= 332.3, 1.1, ROT= 177.7, -1.1 M Ygot valid direction response: 14:01:00.6081 LVL= 25024, 24625, 24386, 32755, AGC= 68, IDX= 5,-0.35,-1.365, 0.494,-1.294,-0.646, PHS=-0.630, 1.188,-0.650, RAW= 330.5, 1.0, CAL= 332.3, 1.1, ROT= 177.7, -1.1 U R#Rx 5: Read range and direction messages.] ^direction in FSK: [-0.999010,0.040125,0.019197]] Fpublishing direction and range infoډyڍ^Xᅢ,3?]~?ڍBYډ ۍa)ۍ1`IۍB_iۍۍDۍG!ۍb?ۍff& ܍@)܍5j1,{hA9JS@J2g"@YJAfyJJHK,0`| ?w%?S 'Iج?`? JS@JY;)HbyBbIMb@Mb@Mb@ )Y"~?~jtMb`?yS?ļ;IA  A)3AI AyAI-I-2=.= =C=y=)Q =>٥AA EHEFE M>q=5uے?=59ut  ص%=׵R=checking for new query: numPingsReceived=5, elapsed TxPingTime=5.035927IuByT?: @@uf'Eiu4 btB>  unBlBj´@ addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 0.511940 s, deltaX: 0.400002 m, approachRate: 0.781345 m/s, rangeRepo size: 4  Added new target pos. range: 36.639355 m, bearing: 323.079520 deg, lat: 36.906392 deg, lon: -122.116050 deg, deltaT: 1.010607 s, deltaX: 0.595989 m, approachRate: 0.589734 m/s, posRepo size: 4 %DNOT Ignoring new targets: 36.64 m.QbYZYrYjRJB~~{B}|||@3sB@|`\? {B\I(X<)yI}H\ yy}}<\ =`s9J}ـ4Jy6G- p<~G A A N >m DDAT read: Rx Time:14:01:01.1083 m TRx dataTimestamp_ set to:1749132062.379889} PDAT read: Bearing 178.5, -0.1 (Local) } ~Local bearing/azimuth received: Bearing 178.5, -0.1 (Local)  DAT read: Range 10 to 50 : 37.2 m (trip time 24.8 ms) speed -0.7 ԡ  DAT read: 14:01:01.1083 LVL= 28000, 27681, 23602, 32755, AGC= 69, IDX= 502, 0.33,-0.701, 1.218,-0.601, 0.025, PHS=-0.638, 1.240,-0.628, RAW= 329.8, 0.3, CAL= 331.5, 0.1, ROT= 178.5, -0.1  Ygot valid direction response: 14:01:01.1083 LVL= 28000, 27681, 23602, 32755, AGC= 69, IDX= 502, 0.33,-0.701, 1.218,-0.601, 0.025, PHS=-0.638, 1.240,-0.628, RAW= 329.8, 0.3, CAL= 331.5, 0.1, ROT= 178.5, -0.1  R#Rx 6: Read range and direction messages. ^direction in FSK: [-0.999656,0.026177,0.001745] Fpublishing direction and range infoi ym I*.>2Κ?n p\?m BYi m `m)m !lIm 2\ii m Em S#m R?m m 1@)m ;Im %@im :m bG@m i )i m $A5߿  t?im 'm 1Ѡm bG@m i )i  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.3055671, RhA9J$@J\7"@YJOkyJHJH=D`?@8?D꥿`e?`? J$@Jd;)HfyBfIIvIv3ό; a=yAQ  >٥    H Fg >%=5~?%=59 IBy!%\ @-@k'Ei:W:=o=515O6A5٭EyZbPhABB̴@ʁ޵rVvB ?6?I*.>2Κ?n p\?bG@ҁк=@}U/5'b]?DQɨzAjGǜ?rT5 qBGǜ? ꁝXB@ addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.495502 s, deltaX: 0.299999 m, approachRate: 0.605445 m/s, rangeRepo size: 4 H-Ҽ>H)H-IH-zBH- =H)H)H-<H-EU Added new target pos. range: 36.937237 m, bearing: 323.720069 deg, lat: 36.906388 deg, lon: -122.116050 deg, deltaT: 0.495502 s, deltaX: 0.297882 m, approachRate: 0.601172 m/s, posRepo size: 4 UDNOT Ignoring new targets: 36.94 m.bQZQrQjQRYJYBY~Y~a}a|||B@|`q? !-N^sI))-%)I-] )15<1=7 ==AMp1,٥ HFD >=5E`?=59 IBy%S?::@@r'EiM::t=5B 6AۭEZQbUhAUBUBUߴ@ʁUfOmBZ ?=µ?U@0 =q?n p\?UG@QҁUDA->@i 6a U6ʊ?@Ke*HzU_UjAjU 4Oǜ?rU*Z4 UaqBQU=  UaqBUBU@m addTargetRange:: Added new target pos. range: 37.700001 m, deltaT: 0.510778 s, deltaX: 0.500000 m, approachRate: 0.978899 m/s, rangeRepo size: 4  Added new target pos. range: 37.433479 m, bearing: 323.849074 deg, lat: 36.906388 deg, lon: -122.116050 deg, deltaT: 0.510778 s, deltaX: 0.496243 m, approachRate: 0.971542 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.43 m.bZrjRJB~~w{B}|||B@| 4? )UoVIY)]bYIe 뿼 aaeRZ 1,R(hAzBII-I-m?3e= ek=yeQ m?٥ii mHiu u?y=5}M?=59} I}By@}w'Ei}:}y:}w=5B5ADDAT read: Rx Time:14:01:02.1088 TRx dataTimestamp_ set to:1749132063.389600PDAT read: Bearing 179.0, 0.1 (Local) ~Local bearing/azimuth received: Bearing 179.0, 0.1 (Local) DAT read: Range 10 to 50 : 38.0 m (trip time 25.3 ms) speed -0.4 DAT read: 14:01:02.1088 LVL= 27536, 25825, 24946, 32755, AGC= 70, IDX= 492,-0.13,-2.040,-0.023,-1.919,-1.278, PHS=-0.673, 1.302,-0.644, RAW= 329.2, 0.2, CAL= 331.0, -0.1, ROT= 179.0, 0.1 %Ygot valid direction response: 14:01:02.1088 LVL= 27536, 25825, 24946, 32755, AGC= 70, IDX= 492,-0.13,-2.040,-0.023,-1.919,-1.278, PHS=-0.673, 1.302,-0.644, RAW= 329.2, 0.2, CAL= 331.0, -0.1, ROT= 179.0, 0.1 %R#Rx 8: Read range and direction messages.-`direction in FSK: [-0.999846,0.017452,-0.001745]-Fpublishing direction and range infoye ߑ?n p\BY k)dIraiFI,?/$ 'ܷ@)d;Iݸ@i争G@: )VN2I߿ܷw(f?i_(C1G@UޭEZb5hABB@ʁnB v?7X2)۰e ߑ?n p\G@:ҁ@X9}>@ 6gRſM6=?ZeI⿸8 zAj^Vǜ?r0m1 pBT5  {B\ɴ@: )checking for new query: numPingsReceived=8, elapsed TxPingTime=6.331613  addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 0.498933 s, deltaX: 0.299999 m, approachRate: 0.601282 m/s, rangeRepo size: 4  Added new target pos. range: 37.731358 m, bearing: 324.051848 deg, lat: 36.906388 deg, lon: -122.116046 deg, deltaT: 0.498933 s, deltaX: 0.297878 m, approachRate: 0.597031 m/s, posRepo size: 4 %DNOT Ignoring new targets: 37.73 m.b!Z!r!j!R!J)B)~Q~Q}Q|Q|Q|]C@|]@h˩? !-r,cI))-޾)I-1¼ )15><1= ==*HH&IHzBHHHH<HE>Eu٥ii uH}F3 >DDAT read: Rx Time:14:01:02.6092 -TRx dataTimestamp_ set to:1749132063.904891UPDAT read: Bearing 179.2, -0.5 (Local) ]~Local bearing/azimuth received: Bearing 179.2, -0.5 (Local) DAT read: Range 10 to 50 : 38.6 m (trip time 25.7 ms) speed -0.4  =5 .?=59  I ƘBy@@ ~'Ei : : {=5aimH5AmEDAT read: 14:01:02.6092 LVL= 21056, 24641, 24242, 32755, AGC= 68, IDX= 511, 0.50, 0.874, 2.810, 1.004, 1.625, PHS=-0.663, 1.232,-0.624, RAW= 329.0, 0.6, CAL= 330.8, 0.5, ROT= 179.2, -0.5 Ygot valid direction response: 14:01:02.6092 LVL= 21056, 24641, 24242, 32755, AGC= 68, IDX= 511, 0.50, 0.874, 2.810, 1.004, 1.625, PHS=-0.663, 1.232,-0.624, RAW= 329.0, 0.6, CAL= 330.8, 0.5, ROT= 179.2, -0.5 R#Rx 9: Read range and direction messages.DNOT Ignoring new targets: 37.73 m.bZrjRJB^direction in FSK: [-0.999864,0.013962,0.008727]Fpublishing direction and range info!y%Xcᅧ?B7߁?%fBY! %@R)%A`I%^i!%D%^)%-?%w %@)%+E=<<ԑE?EEEp5E checking for new query: numPingsReceived=9, elapsed TxPingTime=7.059629 6G ~G A A1 N] >*2,zhA9J@J !@YJ!)yJwJH ˇ?v?߯?`ꎿ,? J@J;)HV;zBZI ^=^%=Mb@Mb@Mb@ )Y(\?I +٥ HF > =5? =59 IҘBy T? : :@ @'EiTA;&@;{=54AZIbMhAMNBMNBMW@ʁM:0)C7@s?zg?MXcᅧ?B7߁?M+H@M5ҁM+>@ 6zzM Jՙ?(?J*⿟턫zM|MQAjMEǜ?rM{0 MqBIM*Z4  MqBMBMkʹ@m addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 0.515291 s, deltaX: 0.599998 m, approachRate: 1.164388 m/s, rangeRepo size: 4   Added new target pos. range: 38.327000 m, bearing: 323.878798 deg, lat: 36.906388 deg, lon: -122.116046 deg, deltaT: 0.515291 s, deltaX: 0.595642 m, approachRate: 1.155933 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.33 m.bZrjRJB9~9~={B}A|A|A|A|E+f?DDAT read: Rx Time:14:01:03.1094  TRx dataTimestamp_ set to:1749132064.404929DAT read: Range 10 to 50 : 38.9 m (trip time 25.9 ms) speed -0.5 -Z#Rx 10: Read range message, but no direction.  BY %checking for new query: numPingsReceived=10, elapsed TxPingTime=7.316650 {B-xOSI))-ɾ)IU\ȼ QQUHyH}LIH}zBHyHyHyH}<H}%E E E E E 3E  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.564454A K} P"K} ͼ9*Ky 2K} T:K} 1)NQb?Pe)Mr8Kqlp =wDM6G k';~G AA1qNM? 2,2hA9b`@b!@YbybvbHlbu@?@d?N";?i? b`@b;)bCn\zBnIIvIv(*2~3= ~*=y~Q ~>٥ HF ;  >=5O?=59 IByc@@'Ei::=5-B-S4A-EII  addTargetRange:: Added new target pos. range: 38.900002 m, deltaT: 0.500038 s, deltaX: 0.300003 m, approachRate: 0.599961 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 38.33 m.bZrj9R9JABA~I~I}I|I|I|U@3sC@|U@? }{B靅^EI)~I˼  < = ;iiUDDAT read: Rx Time:14:01:03.6098 eTRx dataTimestamp_ set to:1749132064.923342PDAT read: Bearing 179.7, 1.9 (Local) ~Local bearing/azimuth received: Bearing 179.7, 1.9 (Local) EEEEO0EDAT read: Range 10 to 50 : 39.5 m (trip time 26.3 ms) speed -0.9 DAT read: 14:01:03.6098 LVL= 25488, 21329, 18802, 31123, AGC= 67, IDX= 5,-0.02, 0.262, 2.278, 0.419, 0.991, PHS=-0.641, 1.334,-0.575, RAW= 328.3, -1.2, CAL= 330.3, -1.9, ROT= 179.7, 1.9  Ygot valid direction response: 14:01:03.6098 LVL= 25488, 21329, 18802, 31123, AGC= 67, IDX= 5,-0.02, 0.262, 2.278, 0.419, 0.991, PHS=-0.641, 1.334,-0.575, RAW= 328.3, -1.2, CAL= 330.3, -1.9, ROT= 179.7, 1.9 T#Rx 11: Read range and direction messages.`direction in FSK: [-0.999437,0.005233,-0.033155]Fpublishing direction and range infoYy]vIb￾ ^]ou?B3]BYY ]c)]QSI]rIIi]y]C]$]?]33 ]x[@)]I]my@i]]H@]= Y)Y]?*?m:Y޿KKi]Ko)]<]H@]= Y)Ychecking for new query: numPingsReceived=11, elapsed TxPingTime=7.9044056G5 @;q ~G A A N > checking for new query: numPingsReceived=11, elapsed TxPingTime=8.075571D2,٥ HF< >=5伜?=59, IByUY?z:@@'Ei~ ;r;=5B3AEZb ;hABBWb@ʁfC-E?bɖJvIb￾ ^]ou?B3H@=ҁL?@B6;mb{'[D?[0b^⿊h>0kzAjIbǜ?r YY" jB 4Oǜ?0m1  aqBꁝBZ@] addTargetRange:: Added new target pos. range: 39.500000 m, deltaT: 0.518413 s, deltaX: 0.599998 m, approachRate: 1.157375 m/s, rangeRepo size: 4 m Added new target pos. range: 39.220547 m, bearing: 324.767040 deg, lat: 36.906389 deg, lon: -122.116044 deg, deltaT: 1.018451 s, deltaX: 0.893547 m, approachRate: 0.877359 m/s, posRepo size: 4 uDNOT Ignoring new targets: 39.22 m.bqZqrqjqRqJqBy~y~}{B}y|ԉ||C@|@8? Y]D\=IY)}ХyI]μ Or< =*H H qIH "{BH  =H H H <<H ]E~G A A N% >2,ޓehA\9:+@:7?"@Y:y:»:H;`?``?2? I3?PxV? :+@:;)8fzBf IIpIpz= zn=yzbCQ ~?٥|| ~H~F-< ?Ye=5]м?e=59]? I]Byim@m@]'Ei]:]1:]ʊ=5quF3A}EZyb}]ZhA}B}B}X@ʁ}M}CS x? 7[?}Q$V￳禵n?B3?}G@}ҁ}?0?@lV17WbB}ٍZ?]}_z}}Aj}DVǜ?r}@I/ }5uB}^Vǜ?}{0  y}B} @U addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 0.498189 s, deltaX: 0.299999 m, approachRate: 0.602180 m/s, rangeRepo size: 4 e Added new target pos. range: 39.518589 m, bearing: 324.039682 deg, lat: 36.906390 deg, lon: -122.116044 deg, deltaT: 0.498189 s, deltaX: 0.298042 m, approachRate: 0.598251 m/s, posRepo size: 4 checking for new query: numPingsReceived=12, elapsed TxPingTime=8.582028mDNOT Ignoring new targets: 39.52 m.bZrjRJB~~}|)|1|=`fC@|=Z?K-8P"K-39*K)2K-U:K-OK)]uYKu*2H 5OVT+) 靭^;I)AIм 0ߡ< =7\jEE}?EyEyE}O0Ey:JYBJPJJARJZJ9bJ*9J4JzJb:jJg:J-:rJ-:Q Q  DDAT read: Rx Time:14:01:04.6103  TRx dataTimestamp_ set to:1749132065.931519 PDAT read: Bearing 179.8, -0.4 (Local)  ~Local bearing/azimuth received: Bearing 179.8, -0.4 (Local) 6G I3< DAT read: Range 10 to 50 : 40.2 m (trip time 26.8 ms) speed -0.2  ~G A A N > DAT read: 14:01:04.6103 LVL= 27056, 22753, 20818, 32755, AGC= 68, IDX= 506,-0.06, 2.299,-2.207, 2.444, 2.997, PHS=-0.610, 1.126,-0.556, RAW= 328.4, 0.5, CAL= 330.2, 0.4, ROT= 179.8, -0.4 - Ygot valid direction response: 14:01:04.6103 LVL= 27056, 22753, 20818, 32755, AGC= 68, IDX= 506,-0.06, 2.299,-2.207, 2.444, 2.997, PHS=-0.610, 1.126,-0.556, RAW= 328.4, 0.5, CAL= 330.2, 0.4, ROT= 179.8, -0.4 - T#Rx 13: Read range and direction messages.2,RchA2^direction in FSK: [-0.999970,0.003491,0.006981]6Fpublishing direction and range infoڹyڽl9yl?a|?ڽ BYڹ ۽i)۽XI۽RQi۽۽D9Fc@F9w"@YFyFÝ;FH?K@#Ь?t? \^r?@gC{?? Fc@F;)FC۽(۽ ?۽V ܽi@)ܽ5٥ HF; >=5?=59 I By_?s:u@@'Ei;;=53AEZb{hABBF@ʁaCB0q?bsw?l9yl?a|?H@ҁ^@@H6NƇW_C>?a4BpPzBj1}ǜ?r pBDVǜ?@I/  pBꁽB@ addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 0.509988 s, deltaX: 0.400002 m, approachRate: 0.784335 m/s, rangeRepo size: 4  Added new target pos. range: 39.915760 m, bearing: 325.249182 deg, lat: 36.906390 deg, lon: -122.116043 deg, deltaT: 0.509988 s, deltaX: 0.397171 m, approachRate: 0.778785 m/s, posRepo size: 4 DNOT Ignoring new targets: 39.92 m.bZrjRJB!~!~%{B}|||D@|@*?! {BE8IA)E͑AIM8Ҽ IIMT=&2,O>hA PDAT read: Bearing 179.2, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 179.2, 0.8 (Local) DAT read: Range 10 to 50 : 40.5 m (trip time 27.0 ms) speed -0.8 EDAT read: 14:01:05.1105 LVL= 19248, 22433, 17954, 26163, AGC= 71, IDX= 508, 0.12,-0.065, 1.919, 0.067, 0.673, PHS=-0.651, 1.293,-0.609, RAW= 328.9, -0.3, CAL= 330.8, -0.8, ROT= 179.2, 0.8 MYgot valid direction response: 14:01:05.1105 LVL= 19248, 22433, 17954, 26163, AGC= 71, IDX= 508, 0.12,-0.065, 1.919, 0.067, 0.673, PHS=-0.651, 1.293,-0.609, RAW= 328.9, -0.3, CAL= 330.8, -0.8, ROT= 179.2, 0.8 MT#Rx 14: Read range and direction messages.e`direction in FSK: [-0.999805,0.013961,-0.013962]eFpublishing direction and range info|y~^N,g?4~"BY| ~0K)~WI~"Fi~3f~G~&~?~m ~B@)~I~@i~d~+H@~d< |)|~PsW쿱Wz޿Nqxi~(~;~+H@~d< |)|checking for new query: numPingsReceived=14, elapsed TxPingTime=9.351567QzB9IIIV83}'= }<=yQ >٥ HF >m=5ѝ?u=59J IByqy}@'EiQ<N<=5B2AEH߼>HCHIH_{BH =HH-DH<H1EHHHHI = I6Z|b~MhA~ B~ B~P@ʁ~yrD Y~7?q9~^N,g?4~+H@~d<ҁ~RW@@we-17 n]_ ~ cC?t2iIz~~Bj~n%`ǜ?r~c" ~mB~n%`ǜ?~c"  ~pB~P B~ P@U addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 0.495102 s, deltaX: 0.299999 m, approachRate: 0.605934 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 40.214462 m, bearing: 324.638908 deg, lat: 36.906391 deg, lon: -122.116038 deg, deltaT: 0.495102 s, deltaX: 0.298702 m, approachRate: 0.603315 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.21 m.bZrjRJB~~}|||@D@|`y? {B/I9)=AIEӼ AAE5 =Mx,2,JyhA:J~\BJ~UJJ~>RJ|ZJ~=:bJ~>9J~t4J|zJ~:jJ~:J~}Q:rJ~Q:9- @-^"@Y-ry-<-H`Lio??~k_ƪ?@a?? - @-2;)-CezBePIIuIu 2= c=yQ >٥ H< ?=5?=59[ I)By@@'Ei;;=5B1AEDNOT Ignoring new targets: 40.21 m.bZrjRJB~ ~ } | |||`?I IUc\2IQ)U^QIUHԼ QY]p checking for new query: numPingsReceived=15, elapsed TxPingTime=10.091557 d32,S٥    H F; >%=5q?%=597 I7By-b?-o:-@-@'Ei::J=5151A9ZbhA=#B=#Bִ@ʁ)bD14r?jY?H*G1xv?_2q?F@ҁƦ=r@@Z8d6Ĥ?s MzBjEǜ?r. MsB ꁵ"BG@ addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.506247 s, deltaX: 0.599998 m, approachRate: 1.185189 m/s, rangeRepo size: 4  Added new target pos. range: 40.810230 m, bearing: 323.792011 deg, lat: 36.906391 deg, lon: -122.116038 deg, deltaT: 0.506247 s, deltaX: 0.595768 m, approachRate: 1.176833 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.81 m.bԱZrjRJB~~}|||̌D@|U? {B)#I) P ISּ `1< =^i  H H <H% >H! H% IH% {BH! H! H! H% =<H% lE9 92,hA9+@#@Y9y<H w`Fz??`:` `i?nJ?D? +@E;)-{B-iIIMIM3mՎ= mS=ymQ m>٥qq uHuF}; }>=5[?=59 IDBy@@'Ei::=5BT1AEDNOT Ignoring new targets: 40.81 m.bZrjRJBchecking for new query: numPingsReceived=15, elapsed TxPingTime=10.597604~~}||||A? -{B-YjI))-f3)I5h׼ 115q<9=" == Ygot valid direction response: 14:01:06.6744 LVL= 19936, 22305, 16578, 19443, AGC= 71, IDX= 137, 0.11,-0.334, 1.143,-0.237,-1.021, PHS= 0.775, 2.211, 0.780, RAW= 329.8, -42.9, CAL= 330.6, -57.0, ROT= 179.4, 57.0  T#Rx 16: Read range and direction messages. `direction in FSK: [-0.544609,0.005703,-0.838671] Fpublishing direction and range info) y- Cv*pmF{b\w?tưc꿹- fCY) - M)- !WI- @i- K) - ffF?-  @- G? - 1@)- ֭?I- R@i- ~- HdH@- ~? ) )) - )WZR׿j@|i- '- ž??- HdH@- ~? ) ))  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.928816v@2,hA 9 @ #@Yy<H@?z@a? ?@ݐ`q rб? ě? ?  @@;)]6{B]~Iie٥ HF +:  >=5>?=59 IUBy%Xc?%o:%@%@'EiF;F;=5150A5EZabelhAepCepCe7@ʁe̽pR??j*e\eCv*pmF{b\w?tưceHdH@e~?ҁe[,b)J@V>;C?ʏ]eØ? ҿS|zdzeeKQBjeGw͜?reŝ eR^ae.  ae*'Be@ qu4=DDAT read: Rx Time:14:01:07.1118 TRx dataTimestamp_ set to:1749132068.216954PDAT read: Bearing 176.0, -0.3 (Local) -~Local bearing/azimuth received: Bearing 176.0, -0.3 (Local) ~Gԙ-DAT read: Range 10 to 50 : 42.5 m (trip time 28.3 ms) speed -0.2 e$ Yaye B-maddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 136.399994 m, deltaT: 1.026903 s, deltaX: 95.299995 m, approachRate: 92.803307 m/s, rangeRepo size: 4uDNOT Ignoring new targets: 40.81 m.bZrjRJB~~ |B}||| a@|)?DAT read: 14:01:07.1118 LVL= 18624, 22993, 21058, 27731, AGC= 71, IDX= 377,-0.21,-2.178,-0.396,-2.173,-1.524, PHS=-0.566, 1.175,-0.653, RAW= 332.4, 0.5, CAL= 334.0, 0.3, ROT= 176.0, -0.3 Ygot valid direction response: 14:01:07.1118 LVL= 18624, 22993, 21058, 27731, AGC= 71, IDX= 377,-0.21,-2.178,-0.396,-2.173,-1.524, PHS=-0.566, 1.175,-0.653, RAW= 332.4, 0.5, CAL= 334.0, 0.3, ROT= 176.0, -0.3 T#Rx 17: Read range and direction messages.-^direction in FSK: [-0.997550,0.069756,0.005236]5Fpublishing direction and range infoڱyڵeLfH۱?sNru?ڵ*BYڱ ۵H)۵YI۵BRi۵Sl۱۵`۵ff?۵+' ܵ@)ܵ5u'[7:ց?iݵ$ݵNݵ D@ݵ ޱ)ޱMchecking for new query: numPingsReceived=17, elapsed TxPingTime=11.210289 u{BuNL I} a)<)}yI}ؼ yy< =S$G2,!hAHR>HRCHRIHR{BHPHPHR.DHR#<HRIE95 @5F#@Y5ŏy5<5H@9yJF]?? {?Ә?h? 5 @5$;)5CN{BIII2== '=yQ >٥ HF >=5C"?=59 IfBy@@'Ei ; ;%=5Be0AEAZ)b- hA-(B-(B-=۳@ʁ-F~ E͌@#H?-eLfH۱?sNru?- D@-ҁ-I@@bW9RJ-D=~P-?[T9Dɥ$z-J-Bj-%4ǜ?r-qDVK -pB)) -pB-(B-@ addTargetRange:: Added new target pos. range: 42.500000 m, deltaT: 1.284086 s, deltaX: 1.400002 m, approachRate: 1.090271 m/s, rangeRepo size: 4 DDAT read: Rx Time:14:01:07.6122 TRx dataTimestamp_ set to:1749132068.715121PDAT read: Bearing 177.9, 1.0 (Local) ~Local bearing/azimuth received: Bearing 177.9, 1.0 (Local) -DAT read: Range 10 to 50 : 43.1 m (trip time 28.7 ms) speed -0.8 -=Z#Rx 18: Read range message, but no direction.f,BY]checking for new query: numPingsReceived=18, elapsed TxPingTime=11.638246 Added new target pos. range: 42.200993 m, bearing: 322.031632 deg, lat: 36.906391 deg, lon: -122.116043 deg, deltaT: 1.284086 s, deltaX: 1.390762 m, approachRate: 1.083076 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.20 m.bZrjRJB~~}|||̌E@|tx?qKLQ"K*K2KX:K^S?=XrY uXjMLe O _} E">V 靍 I).𽉞IԳټ < =6¢?W7) ߑY1 5`H)5AOI5Ii5Si5D5X5ף?5 5my@)55I5z@i555YF@55<~GAAN%?ELQ2,qEhA ݙݝ;rTQl*PƉiݝ*'ݝ<ݝYF@ݝ5<Nchecking for new query: numPingsReceived=19, elapsed TxPingTime=12.0122099^i@^#@Y^y^ڶ<^H.v]o:??  q֖O?ȕ? *? ^i@^z;)^CiLC%nA)A AIA Q)QYY΁ρύXAiύIωωIЉiЉ Љϑ)БЙ ѝVAЙХFЩѩѩIѭ)ѭFiѩ)ұIҵpAѱѱ ұҹҹҹiҹҹٯq{BI = ==DDAT read: Rx Time:14:01:08.1124 MTRx dataTimestamp_ set to:1749132069.224249mPDAT read: Bearing 176.8, -0.5 (Local) u~Local bearing/azimuth received: Bearing 176.8, -0.5 (Local) DAT read: Range 10 to 50 : 43.4 m (trip time 28.9 ms) speed -0.5 -Z#Rx 20: Read range message, but no direction.AE-BYAMb@Mb@Mb@ )checking for new query: numPingsReceived=20, elapsed TxPingTime=12.150985Yx&1? rhMb?ya?CA )X@I\Ay3AIIT3 ;k= =y;Q >٥ HFa %>iu=5m?u=59m͗ Im|By}7b?}p:} @}@m'Eim :m:m=5HBz,AE)ZAbEZNhAE`,BE`,BEm@ʁEE X8C?9?ETW@!qv>¢?W7) ߑEYF@E5<ҁE8L VA@X)O9Kz&^EU+?iW5s⿂ĹzEyE BjE Rhǜ?rE!M2 EBlBAE!M2  EmBEe+BE״@ addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 1.007295 s, deltaX: 0.900002 m, approachRate: 0.893484 m/s, rangeRepo size: 4  Added new target pos. range: 43.094662 m, bearing: 323.872398 deg, lat: 36.906391 deg, lon: -122.116045 deg, deltaT: 1.007295 s, deltaX: 0.893669 m, approachRate: 0.887197 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.09 m.bZrjRJB~ ~  |B} | | |@3E@|`#? {B靥uI)Iڼ ^<] =PWH-CH- IH- |BH- =H)H--DH-<H-E6G]<~G1A9AaNm?0Y2,ehA 9z@z#@YzǗyz¨٥ HF9 >=5-軜?=59A IBy$@@'Ei::߭=5GB+AE DNOT Ignoring new targets: 43.09 m.b Z rjRJB~~}|!|!|!|%? QUIQ)]pVYI]ڼ YY]li>E]͢<ԙE?EEEE E DAT read: 14:01:08.6126 LVL= 25456, 26481, 21618, 32755, AGC= 68, IDX= 2, 0.38,-0.157, 1.727,-0.113, 0.539, PHS=-0.607, 1.236,-0.654, RAW= 331.2, 0.3, CAL= 332.9, 0.0, ROT= 177.1, -0.0 ] Ygot valid direction response: 14:01:08.6126 LVL= 25456, 26481, 21618, 32755, AGC= 68, IDX= 2, 0.38,-0.157, 1.727,-0.113, 0.539, PHS=-0.607, 1.236,-0.654, RAW= 331.2, 0.3, CAL= 332.9, 0.0, ROT= 177.1, -0.0 m Z#Rx 23: Read direction message, but no range.6G} =< ^direction in FSK: [-0.998719,0.050593,0.000000] y 7Mᅴ2P?Y pc) qgI rTi  D Zd ?5? l' @) ;9 ~G A A N >`2,hAIm+@immE@m imPj[M.(࿁{)Ods?im'&m"mE@mchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.9600209% @%#@Y%y%h[;%H`v Q??<죿?Nfk?? % @%n;)%C{BIyMb@Mb@Mb@ )YZd;?A`"y^?Y dA)IAyfAII<2`= &=y@Q >٥ HFB+: >=5˻?=59c IByc_?s:6@@'Ei:I:-=5FB+AEZbnhA-B-Bv@ʁ E]-@7Mᅴ2P?E@ҁ :$cNA@k?-F9w㬩  D2?Rg&mzs Bj:0ǜ?r7 nBEǜ?7  nB-Bg@M addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.504248 s, deltaX: 0.299999 m, approachRate: 0.594944 m/s, rangeRepo size: 4 m Added new target pos. range: 43.391907 m, bearing: 323.118952 deg, lat: 36.906388 deg, lon: -122.116047 deg, deltaT: 0.504248 s, deltaX: 0.297245 m, approachRate: 0.589482 m/s, posRepo size: 4 mDNOT Ignoring new targets: 43.39 m.biZirijiRqJqBq~y~}|B}y|y||E@|U? 靵I)μIڼ l<u =E% &<DDAT read: Rx Time:14:01:09.1128 TRx dataTimestamp_ set to:1749132070.232386PDAT read: Bearing 176.9, -1.6 (Local) ~Local bearing/azimuth received: Bearing 176.9, -1.6 (Local) DAT read: Range 10 to 50 : 44.0 m (trip time 29.3 ms) speed -0.3 mDAT read: 14:01:09.1128 LVL= 22576, 22097, 14242, 26947, AGC= 70, IDX= 501,-0.27, 2.805,-1.702, 2.846,-2.789, PHS=-0.601, 1.134,-0.651, RAW= 331.4, 1.4, CAL= 333.1, 1.6, ROT= 176.9, -1.6 uYgot valid direction response: 14:01:09.1128 LVL= 22576, 22097, 14242, 26947, AGC= 70, IDX= 501,-0.27, 2.805,-1.702, 2.846,-2.789, PHS=-0.601, 1.134,-0.651, RAW= 331.4, 1.4, CAL= 333.1, 1.6, ROT= 176.9, -1.6 }T#Rx 24: Read range and direction messages.^direction in FSK: [-0.998147,0.054058,0.027922]Fpublishing direction and range infoڱyڵJmbs?|p}?ڵ0BYڱ ۵0X)۵QVI۵7i۵Ci۵F۵#۵&?۵& ܵ@)ܵ+RJY ZJ] 9bJ] *9J] t4JY } @} @} @} @6G <~G A A N >! f2,ShA9RX@R#@YRKyRz\8RHt@@3?`? j$? ? RX@R%;)Pb{BfIhhchecking for new query: numPingsReceived=24, elapsed TxPingTime=13.387721I I2-)@= -j=y5Q 5>٥11 5H]F] e>am=5e?u=59ex IeByqu/@u@e'EieS:e[A~_[l:g6]ԑ IY I] @A6G)ZG1RG1~GAA!N->gn2,{hhAHDAT read: 14:01:09.6134 LVL= 18912, 20337, 22322, 24931, AGC= 69, IDX= 505,-0.11, 3.055,-1.558, 3.094,-2.561, PHS=-0.579, 1.050,-0.631, RAW= 331.6, 2.0, CAL= 333.3, 2.5, ROT= 176.7, -2.5 {BIYgot valid direction response: 14:01:09.6134 LVL= 18912, 20337, 22322, 24931, AGC= 69, IDX= 505,-0.11, 3.055,-1.558, 3.094,-2.561, PHS=-0.579, 1.050,-0.631, RAW= 331.6, 2.0, CAL= 333.3, 2.5, ROT= 176.7, -2.5 Z#Rx 26: Read direction message, but no range.^direction in FSK: [-0.997392,0.057509,0.043619]9y=gGҡᅣH\q?GU?Y9 =I)=qOI=2Wi=ca=E=X9=ff?=7! =L3@)=5=I=[&@i=¸2==4`E@=¸2 9=~ _@뿷-8{?i=%= =4`E@=¸2 checking for new query: numPingsReceived=26, elapsed TxPingTime=13.984324Mb@Mb@Mb@ )Y`"?~jtMb`yW?A A)+@I\AyAII3%< %٥)Q UHUFu u>y=5}6?=59}} I}ByX?{:1 @@}'Ei}H:}:} =5+AEZ9b=-hA=U2B=U2B=(;@ʁ=|CU;FŪ@ut}?=gGҡᅣH\q?GU?=4`E@=¸2ҁ=vA@uH<ȝ;<:-=ci%q?PrВadI՟z== Bj=Zk<ǜ?r=YE =@vB99 =pB=0B=]@ addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.504777 s, deltaX: 0.900002 m, approachRate: 1.782969 m/s, rangeRepo size: 4 E Added new target pos. range: 44.583382 m, bearing: 322.702497 deg, lat: 36.906386 deg, lon: -122.116049 deg, deltaT: 0.504777 s, deltaX: 0.893593 m, approachRate: 1.770272 m/s, posRepo size: 4 MDNOT Ignoring new targets: 44.58 m.bIZIrIjaRaJaBa~i~m|B}q|q|y|}@3sF@|?checking for new query: numPingsReceived=26, elapsed TxPingTime=14.143598 dؼ) I )5 ;1 I Sڼ Κ<1 5 5 =5 lӼH|H~RIH~|BH~ =H|H~.DH~<H~EHMCHMCHIHM =IM = IM51?~@1L?  @)%DI@iN@? )+ԉ%J5EԿt83i+ED?C? )Uchecking for new query: numPingsReceived=27, elapsed TxPingTime=14.486309y92@"@Y^yH@d@ ~? s?@u@t@?CRs !? 2@j;)C]{B]I)  p=p=II35 = 5$=y={;Q =>٥99 EHEFE e>iu=5mu?u=59mw ImʙByy}@@m'Eim;m>;mb=5EBt*AEZbB[hACCU@ʁ =\ QUd6\@;+,t:5#C?ҁG{K@n=`^6{_?w ;̿&aJz_BjF͜?r| idZk<ǜ? nB3Bm@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 136.800003 m, deltaT: 0.752782 s, deltaX: 91.900002 m, approachRate: 122.080498 m/s, rangeRepo size: 4ԩDNOT Ignoring new targets: 44.58 m.bZrjRJB~~}|||a@-DDAT read: Rx Time:14:01:10.6139 -TRx dataTimestamp_ set to:1749132071.740950=PDAT read: Bearing 177.2, 1.6 (Local) =~Local bearing/azimuth received: Bearing 177.2, 1.6 (Local) MDAT read: Range 10 to 50 : 45.6 m (trip time 30.4 ms) speed -0.5 -MZ#Rx 28: Read range message, but no direction.)-f6BY)]checking for new query: numPingsReceived=28, elapsed TxPingTime=14.655395|]1? {B靽!ƼI)!=I=ڼ <\ =s2,`=hA>Z#Rx 29: Read direction message, but no range.`direction in FSK: [-0.998417,0.048831,-0.027922]9y=g+2bY?|p}Y9 =Y)=nI==i=u=A=?5=?=9( =ݸ@)=I=޹@i=伉=.E@=< 9=w4)k뿉;?W|࿘P *ji=Pk&=R<=.E@=<uchecking for new query: numPingsReceived=29, elapsed TxPingTime=14.9909199@n"@YqFy.eH Tp?% ?`be@/i@?l }? @骽N;)C|BI1Mb@Mb@Mb@ )YM?{GzynR?#MA )@IAyAI I<2r= %=y5)z:Q =>a٥ HFǻ >E=5rU?E=59o IۙByMR?M:M@M@'Ei|<z<e=5eDDAT read: Rx Time:14:01:11.1141 eTRx dataTimestamp_ set to:1749132072.244061uPDAT read: Bearing 189.0, -7.6 (Local) u~Local bearing/azimuth received: Bearing 189.0, -7.6 (Local) DAT read: Range 10 to 50 : 45.9 m (trip time 30.6 ms) speed -0.5 DAT read: 14:01:11.1141 LVL= 22640, 21409, 21490, 32755, AGC= 68, IDX= 512, 0.15,-1.920,-0.300,-1.487,-1.066, PHS=-0.765, 0.814,-0.424, RAW= 318.1, 5.3, CAL= 321.0, 7.6, ROT= 189.0, -7.6 Ygot valid direction response: 14:01:11.1141 LVL= 22640, 21409, 21490, 32755, AGC= 68, IDX= 512, 0.15,-1.920,-0.300,-1.487,-1.066, PHS=-0.765, 0.814,-0.424, RAW= 318.1, 5.3, CAL= 321.0, 7.6, ROT= 189.0, -7.6 T#Rx 30: Read range and direction messages.`direction in FSK: [-0.979012,-0.155060,0.132256]Fpublishing direction and range infoayekT￞,!ÿ) ?e7BYa epX)eSIeSieeDe CeNbP?eپ e@)eq=IeG@ie>erS@e a)ae:9&2G%#mӿ6.|?ieU4e0%eC?e a)achecking for new query: numPingsReceived=30, elapsed TxPingTime=15.169397*AEZabehAeN6BeN6Be!Һ@ʁefOFDrǩ@ekT￞,!ÿ) ?eC?eҁe͵ٖD@C3'x@eűT?غۿ8g8_?zee<$BjemȜ?re\s eBaa esBe4Bevm@ addTargetRange:: Added new target pos. range: 45.900002 m, deltaT: 1.506898 s, deltaX: 1.000000 m, approachRate: 0.663615 m/s, rangeRepo size: 4 % Added new target pos. range: 45.576885 m, bearing: 334.501376 deg, lat: 36.906387 deg, lon: -122.116049 deg, deltaT: 1.506898 s, deltaX: 0.993504 m, approachRate: 0.659304 m/s, posRepo size: 4 %DNOT Ignoring new targets: 45.58 m.b!Z!r!j!R)JiBi~i~u |B}q|q|q|u@3F@|}`l?ԉ {B=I)(m=I5ڼ !<) - p =- pˊH CH xIH |BH  =H H H <H E~G9AAAaNm ?翈2,ղ$hA9>Z@>m"@Y> y>>HF:+0? ?{W֥@J]?0c@? >Z@>;)>Cԡ*|BII I = %,=y%j:Q %>٥)) -H-F-ۻ ->Y}=5]M2,(@hA )ɺɻiIIi ) AAɼI)i)Iɽ ɾii)94 I ٯ EC|BE#IMb@Mb@Mb@ )Y|?5^?)\(~jtxyM?GaĻn@ A)@IAy\@II(*35Y= 0=y Q  >٥  HF >9=5"?=59Gc IByON?: @@'Ei:b:=5)A EZb/hA8B8BYJ@ʁrLG'EZ@f ?}{+ 8?{J?_(F@+ȼҁv^B@dOr; (0v?XQRqnAzBjw:ǜ?r A sB A  ꁝ8B;L@ addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.504222 s, deltaX: 0.599998 m, approachRate: 1.189949 m/s, rangeRepo size: 4 )T> uDDAT read: Rx Time:14:01:12.1147 uTRx dataTimestamp_ set to:1749132073.251823PDAT read: Bearing 177.6, -0.7 (Local) ~Local bearing/azimuth received: Bearing 177.6, -0.7 (Local) DAT read: Range 10 to 50 : 46.8 m (trip time 31.2 ms) speed -0.4 DAT read: 14:01:12.1147 LVL= 29008, 28273, 29874, 32755, AGC= 70, IDX= 486,-0.09, 1.481,-2.981, 1.546, 2.176, PHS=-0.607, 1.173,-0.633, RAW= 330.7, 0.8, CAL= 332.4, 0.7, ROT= 177.6, -0.7 Ygot valid direction response: 14:01:12.1147 LVL= 29008, 28273, 29874, 32755, AGC= 70, IDX= 486,-0.09, 1.481,-2.981, 1.546, 2.176, PHS=-0.607, 1.173,-0.633, RAW= 330.7, 0.8, CAL= 332.4, 0.7, ROT= 177.6, -0.7 T#Rx 32: Read range and direction messages.-^direction in FSK: [-0.999048,0.041873,0.012217]-Fpublishing direction and range infoqyu4}7Qp?I:?u3;BYq uPq)uqnIutiuuFAuZdu$?uJ " u@)udHCHIH|BH =HH-DHԚ<HE~GA!A9NM?[Ř2,dhA<9J2@J."@YJ}yJ}JHn6@J@L?&9?`@໅+?=? J2@J;)JCUP|B]+III(*2< '=yR;Q >٥ HFl >=5 ?=59] IBy@@(Ei;;=5%CB%(A%EZbPhA9B9BF@ʁ~6G # z"?*?4}7Qp?I:?aF@+HҁMwxB@(Gg<`w*ٞ$p?čLS *&zBjjM 3ǜ?rb@ qB sBꁭ:BiJ@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 0.503540 s, deltaX: 0.299999 m, approachRate: 0.595780 m/s, rangeRepo size: 4   Added new target pos. range: 46.469971 m, bearing: 322.778365 deg, lat: 36.906387 deg, lon: -122.116051 deg, deltaT: 0.503540 s, deltaX: 0.296951 m, approachRate: 0.589727 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.47 m.bZrjRJB~~}!|!|I|Q|U?Ա E{BEz:IA)E>AIM׼ IIMeX2,~hA^checking for new query: numPingsReceived=33, elapsed TxPingTime=16.915588`9f&@f?:"@Yf yf$_fH:@\F@?4?BCǹ`?w? f&@f;)fC=n|BE>III15= =2=y=o;Q =>٥AA EHEFe: m>iu=5m?}=59mV ImByy}@}@m(Eim:m:m=5d(AZbjphA;B;Bʴ@ʁ$37MwGUOЩ?/i?kt˚?|p}?bG@ҁ^UB@l;Ihּ g<$ =WG&2,iƘhA9=F@=Y"@Y=@݅y='NM=H@;D`u7ۧ?\(?GNJ@?``? =F@=~+;)=CJJm4J١/:JU\BJURJJQRJQZJU=:bJUS29JQJQ||BFIMb@Mb@Mb@ )YuV?MbMb`yrH?@+@ )@IzAy@I I2mD= mG=yuw;Q u>٥qy }H}F}; }>=5dܺ?=59Q IByH?:@@ (Echecking for new query: numPingsReceived=34, elapsed TxPingTime=17.420254i^;.<J=5  )(AEIH޼>HHIH)}BH =HHH$<H?EZbhACYI]Լ YYeI٥QQ ]H]F]x; ]>a=5eĺ?=59eK Ie#By@@e(Eiev;e;e`=5BB'AEZbPhA>B>Byp@ʁl}CEG#?%en?oᅦѦp?sNru?aF@ҁSqC@_Bg@ addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 0.501240 s, deltaX: 0.599998 m, approachRate: 1.197028 m/s, rangeRepo size: 4  Added new target pos. range: 47.661777 m, bearing: 323.075415 deg, lat: 36.906388 deg, lon: -122.116049 deg, deltaT: 0.501240 s, deltaX: 0.596039 m, approachRate: 1.189129 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.66 m.bZrjchecking for new query: numPingsReceived=35, elapsed TxPingTime=17.924995RJB~~} | | | H@| @ҋ? {B靍bOGI)2C>IӼ <I=Y}p32,hAm|BmYIy Mb@Mb@Mb@    ) Y oʡ?Zd;y M? y  @ @) @I A y z@IEIE<2UO\< U;=y]Q e>٥ii mHiu u>y=5} ?=59}E I}/ByM?:@@}(Ei}<:}b:}3=5'AE addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 0.501994 s, deltaX: 0.299999 m, approachRate: 0.597615 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 47.66 m.bZrjRJB~~{B}|||`f&H@| b? -{B5LCI1)51G>1I5Ҽ 11=<9={=E+|HCHIHQ}BH =HH.DHHGE6G xx<~G! A1 AA NM > w*2,EhA9RD@R"@YRX?xyRޤ٥xx zHzFz< ~>|=5~B? =59~IA I~8By  @ @~(Ei~:~;~P=59'A =<=%=MDDAT read: Rx Time:14:01:14.6160 MTRx dataTimestamp_ set to:1749132075.773500UPDAT read: Bearing 176.1, 1.8 (Local) ]~Local bearing/azimuth received: Bearing 176.1, 1.8 (Local) mDAT read: Range 10 to 50 : 48.8 m (trip time 32.5 ms) speed -0.5 DAT read: 14:01:14.6160 LVL= 19664, 21041, 20898, 30131, AGC= 67, IDX= 3, 0.42, 2.702,-1.676, 2.711,-2.932, PHS=-0.561, 1.304,-0.643, RAW= 332.1, -1.1, CAL= 333.9, -1.8, ROT= 176.1, 1.8 Ygot valid direction response: 14:01:14.6160 LVL= 19664, 21041, 20898, 30131, AGC= 67, IDX= 3, 0.42, 2.702,-1.676, 2.711,-2.932, PHS=-0.561, 1.304,-0.643, RAW= 332.1, -1.1, CAL= 333.9, -1.8, ROT= 176.1, 1.8 T#Rx 37: Read range and direction messages.`direction in FSK: [-0.997192,0.067982,-0.031411]Fpublishing direction and range infoI%DNOT Ignoring new targets: 47.66 m.b!Z!r!j!R!yMIѼ [ 2,hA5|B5vI ====9Mb@Mb@Mb@ )YʡE?Mby&1|yO?`X@ @)Iy@I=I=3Mz)= U*=yUQ U>٥YY ]H]F] ]>a=5e?=59e: IeBByDP?:@@e$(EieS;e.;e=5AB&AE addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.505984 s, deltaX: 0.500000 m, approachRate: 0.988174 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 47.66 m.bZrjRJ)B1~9~=|B}9|9|A|A|E@?UDDAT read: Rx Time:14:01:15.1162 ]TRx dataTimestamp_ set to:1749132076.275992ePDAT read: Bearing 176.3, 0.7 (Local) e~Local bearing/azimuth received: Bearing 176.3, 0.7 (Local) uDAT read: Range 10 to 50 : 49.1 m (trip time 32.7 ms) speed -0.8 DAT read: 14:01:15.1162 LVL= 28784, 27233, 25586, 32755, AGC= 69, IDX= 501, 0.17, 1.344,-3.042, 1.358, 2.017, PHS=-0.585, 1.271,-0.662, RAW= 332.0, -0.2, CAL= 333.7, -0.7, ROT= 176.3, 0.7 Ygot valid direction response: 14:01:15.1162 LVL= 28784, 27233, 25586, 32755, AGC= 69, IDX= 501, 0.17, 1.344,-3.042, 1.358, 2.017, PHS=-0.585, 1.271,-0.662, RAW= 332.0, -0.2, CAL= 333.7, -0.7, ROT= 176.3, 0.7 T#Rx 38: Read range and direction messages.`direction in FSK: [-0.997841,0.064527,-0.012217]Fpublishing direction and range infoQyU!Ptό܄?I:UfDBYQ Upp)UajIUciUUEUU!?Ux) U}l@)UdIU_@iU+HUD@U+H< Q)QU`!뿢@ڰH.UriUL%UB;UD@U+H< Q)QUchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.217146a {B靅'I)q>IvAϼ ă<^=ʹHy H} IH} p}BH}  =Hy Hy H} <H} >EH=͘CH9H9H= =I= = I=5A N >2,<%hA9>@><"@Y>oy>9<>HX`? ?@>8;)>CJ|BJxIIR%IR)3^E0<9 Ea=yU3;Q ]>٥ii uHuF9 >=5k?=595 IIBy@@)(Ei;$;7%;=5&AEZ1b5کhA5CB5CB54ͳ@ʁ50.SHd+ @)O~5!Ptό܄?I:5D@5+H<ҁ5~&%C@9JI=W$[ 5="?  ex0z55+Bj5B{ǜ?r5eK 5ToB11 5oqB5mCB5`@5 addTargetRange:: Added new target pos. range: 49.099998 m, deltaT: 0.502492 s, deltaX: 0.299999 m, approachRate: 0.597023 m/s, rangeRepo size: 4  Added new target pos. range: 48.755116 m, bearing: 321.933475 deg, lat: 36.906388 deg, lon: -122.116049 deg, deltaT: 1.510470 s, deltaX: 1.093338 m, approachRate: 0.723840 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.76 m.bZrjRJB~A~A}I|q|y|}̌H@|N?q {BƏI)r>Iͼ c<8;=ũ2,S^?hAEchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.939634y9ޅ@2"@YgyLt<HY@`p? ?g??? ޅ@骝;)C|BII]I]2m< m0=ym;Q m>٥q HFbg >yU=5}R?]=59}G/ I}RByaԩe@@}/(Ei}=}=}=5@B&AEZ)b-2hA-gEB-gEB-`ܳ@ʁ-,H7@G91Q-p֟6OI@?]~-'E@-nF<ҁ-Y{fC@C&E>ؓ6} -wh](?G㿓ȈM z-,-4Bj-"ǜ?r--L -nB)) -uoB-DB-^@5 addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.505374 s, deltaX: 0.600002 m, approachRate: 1.187244 m/s, rangeRepo size: 4  Added new target pos. range: 49.350903 m, bearing: 322.039608 deg, lat: 36.906388 deg, lon: -122.116049 deg, deltaT: 0.505374 s, deltaX: 0.595787 m, approachRate: 1.178903 m/s, posRepo size: 4 EDNOT Ignoring new targets: 49.35 m.bAZArIjIRIJQB~~}|||H@| m? ]{B]D"Ia)ez>aIe{˼ aaeŀ٥II MHMFM# u>y=5}O6?=59}-( I}^ByPW?|:@@}6(Ei};;};}=5_&AEZb-RhAFBFBm@ʁWfH)Ί @ ]~X~ھ?]~^D@ҁ@%OC@ɹ8c>ژ &y?YJ z|BjaƜ?r܇TX nB"ǜ?eK  ToBzFB"@} addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.502631 s, deltaX: 0.299999 m, approachRate: 0.596858 m/s, rangeRepo size: 4  Added new target pos. range: 49.648788 m, bearing: 321.267368 deg, lat: 36.906383 deg, lon: -122.116056 deg, deltaT: 0.502631 s, deltaX: 0.297886 m, approachRate: 0.592653 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.65 m.bZrjRJB~~{B}|||I@|@z? m{BuIy)}>yIɼ ~<=fy2,e5~hA9z\@zp"@YzLgyzP;zH Nm' |'?`!? Z`M 4?cr?? z\@z;)zC=}B=IIMIM2%a= F=yQ >٥ HFw< >=5?=59|" IhBy@@;(Ei>::=5%checking for new query: numPingsReceived=41, elapsed TxPingTime=20.949142-?B-%A5 EZbrhAGBGBX@ʁ3vHl@ oN }{h5MT?_2qDF@<ҁ" *rȎ s?mXi=k7ózABj&2ǜ?r9 mB nBGBv@I addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 0.507317 s, deltaX: 0.299999 m, approachRate: 0.591345 m/s, rangeRepo size: 4 5 Added new target pos. range: 49.946678 m, bearing: 322.909501 deg, lat: 36.906383 deg, lon: -122.116056 deg, deltaT: 0.507317 s, deltaX: 0.297890 m, approachRate: 0.587187 m/s, posRepo size: 4 eDNOT Ignoring new targets: 49.95 m.biZqrqjRJB~~}|||%`f&I@|-[X? {B靥 ٻI)ˍ>IMǼ P{<@=hBji #$ < ?BD@ < )  checking for new query: numPingsReceived=42, elapsed TxPingTime=21.2260236G oKp<~G A A N >2, hA)mMb@Mb@Mb@iii i)iYmGz?p= ף٥ HF  >E=5~?M=59k IrByM^?Mt:M@U@B(Ei7;;n=5checking for new query: numPingsReceived=42, elapsed TxPingTime=21.452751%A#EZb-hA/HB/HB/V@ʁ\H]Z*@Hu-[#mMep/?|p}?BD@<ҁ'rCgC@P?v ?v1,vzz>Bj bƜ?rG)wT 4lBB{ǜ?-L  nBꁅIBij@M addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.500750 s, deltaX: 0.100002 m, approachRate: 0.199705 m/s, rangeRepo size: 4  Added new target pos. range: 50.045979 m, bearing: 321.101047 deg, lat: 36.906381 deg, lon: -122.116056 deg, deltaT: 0.500750 s, deltaX: 0.099300 m, approachRate: 0.198303 m/s, posRepo size: 4 DNOT Ignoring new targets: 50.05 m.bZrjRJB~~{B}|||@33I@|`?H>HHIH}BH =HHH<H6E M{BMԥQIy)>Iż 0x<=`j2,hA9jT@j h"@YjhyjлjHK .`G?%?Ts0?z? jT@j;)jC-}B-I)1 1IAIAM$< U٥yy }Hy >ԡ=5 ?=59 IzBy!%@-@H(Ei<<=5Ye%Ae&EKuP"Ku9*Kq2Kub:KuH  I  T0Qc-}  8,e+eX~e<$|jS^E%0-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 138.899994 m, deltaT: 0.506800 s, deltaX: 88.499992 m, approachRate: 174.625076 m/s, rangeRepo size: 4DNOT Ignoring new targets: 50.05 m.bZrjRJB~~}|:J[BJTJJ>RJZJ:bJ:9Jt4JzJ:jJ:JRJ:rJUJ:||\a@|p? e{BeP'Ie\:)e`>aIeü iim'v<+f=vb! 2,hA%DDAT read: Rx Time:14:01:18.1763 %TRx dataTimestamp_ set to:1749132079.299928-PDAT read: Bearing 178.7, 58.4 (Local) 5~Local bearing/azimuth received: Bearing 178.7, 58.4 (Local) MDAT read: Range 10 to 50 : 139.2 m (trip time 92.8 ms) speed 0.0 mDAT read: 14:01:18.1763 LVL= 24176, 26081, 20802, 31491, AGC= 68, IDX= 507,-0.06, 1.870,-2.870, 1.948, 1.066, PHS= 0.891, 2.394, 0.879, RAW= 330.4, -44.3, CAL= 331.3, -58.4, ROT= 178.7, 58.4 }Ygot valid direction response: 14:01:18.1763 LVL= 24176, 26081, 20802, 31491, AGC= 68, IDX= 507,-0.06, 1.870,-2.870, 1.948, 1.066, PHS= 0.891, 2.394, 0.879, RAW= 330.4, -44.3, CAL= 331.3, -58.4, ROT= 178.7, 58.4 }T#Rx 45: Read range and direction messages.`direction in FSK: [-0.523851,0.011888,-0.851727]Fpublishing direction and range info!y%K+cͺeX?([XA뿹%3 CY! %p^)%eI%BQi%{%D%d?%L7@%%a? %@)%.EI%g@i%w%G@%w? !)!%Xp͘㿹mK-׿ض^Xi%a'%E?%G@%w? !)!checking for new query: numPingsReceived=45, elapsed TxPingTime=22.22931990Z@m"@YYgy$HeM,`ע?"?V`? ~? 0Z@骭;)C}BI }Mb@Mb@Mb@yyy y)yY}RQ?I +~jty}b?}94}D}@ }@)}$@I}v@yy}@II(*3=; E=yEx9Q E>٥AI MHMFU9%: }>>5ι?>59S IByb?o:=@@O(Ei]::v>5>B%A'EZ!b%2hA%8 C%8 C%h`@ʁ%\*R.`J?Rn]%K+cͺeX?([XA%G@%w?ҁ%kJ@B z i^%5lD?W<*ѿ.mQ)z%%mVBj%^s˜?r%KW %wi%"ǜ?%G)wT  %mB%MB%Q@-}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 139.199997 m, deltaT: 1.007864 s, deltaX: 88.799995 m, approachRate: 88.107124 m/s, rangeRepo size: 4DNOT Ignoring new targets: 50.05 m.bZrjRJB~~{B}|||`ffa@|`c? {B,pI ) > I VD  5r<152==gH CH IH }BH  =H H H <H Ey 6G ~G A A N>o2,hhAH9^t@^q"@Y^kdy^T^H` U!a?`]?@w^Yѡ?" p3? ^t@^㈇;)^C6}BIIUIU<2uDDAT read: Rx Time:14:01:18.6776 }TRx dataTimestamp_ set to:1749132079.805235PDAT read: Bearing 180.4, 49.6 (Local) ~Local bearing/azimuth received: Bearing 180.4, 49.6 (Local) DAT read: Range 10 to 50 : 141.2 m (trip time 94.1 ms) speed -0.2 DAT read: 14:01:18.6776 LVL= 17824, 15153, 15906, 21923, AGC= 71, IDX= 8,-0.00,-2.295,-0.439,-2.138,-2.793, PHS= 0.586, 2.401, 0.652, RAW= 328.2, -35.8, CAL= 329.6, -49.6, ROT= 180.4, 49.6 Ygot valid direction response: 14:01:18.6776 LVL= 17824, 15153, 15906, 21923, AGC= 71, IDX= 8,-0.00,-2.295,-0.439,-2.138,-2.793, PHS= 0.586, 2.401, 0.652, RAW= 328.2, -35.8, CAL= 329.6, -49.6, ROT= 180.4, 49.6 T#Rx 46: Read range and direction messages.bdirection in FSK: [-0.648104,-0.004525,-0.761538]Fpublishing direction and range infoqyu(Dkr#L̓^迹u3 CYq uE)u1;Iu">iuUuGu?u@uy&? u-M@)uIuX@iuk]u٥ HFu; >!%>5%>?->59% I%By)-X@-@%T(Ei%:%:%>59=%A9ZqbuhAu4 Cu4 Cuk1@ʁuwBVlLnZu(Dkr#L̓^uyHuk]?ҁu1ʝQ@\KGit [uaT/-?7տ.Ď|zu<uBjuÛ9М?ru[ utAu&2ǜ?u܇TX  u4lBuRPBur³@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 141.199997 m, deltaT: 1.513171 s, deltaX: 90.799995 m, approachRate: 60.006435 m/s, rangeRepo size: 4DNOT Ignoring new targets: 50.05 m.bZrjRJB~~}|||`fa@|@?Թ {Bk9I)>II^ p<W=~`3,0 hA9- @-^"@Y-.a[y-;-Hc @Q?[?@4n@蜿h?}Wc?:? - @-^;)-CU>}BUIi]=I]٥!! %H%F-T; ->1=>55ܞ?=>595' I5By=g?Ej:E@E@5Z(Ei5:5:5O >5M=BM$AM*E}DNOT Ignoring new targets: 50.05 m.bZr j R JB~I~M{B}Q|Yi|||e? {B靕 DDAT read: Rx Time:14:01:19.1762 TRx dataTimestamp_ set to:1749132080.308032PDAT read: Bearing 176.5, 52.9 (Local) ~Local bearing/azimuth received: Bearing 176.5, 52.9 (Local) DAT read: Range 10 to 50 : 139.1 m (trip time 92.7 ms) speed -0.3 DAT read: 14:01:19.1762 LVL= 24048, 21137, 17490, 27971, AGC= 70, IDX= 490,-0.23, 2.511,-2.151, 2.559, 1.887, PHS= 0.712, 2.293, 0.669, RAW= 331.3, -39.0, CAL= 333.5, -52.9, ROT= 176.5, 52.9 Ygot valid direction response: 14:01:19.1762 LVL= 24048, 21137, 17490, 27971, AGC= 70, IDX= 490,-0.23, 2.511,-2.151, 2.559, 1.887, PHS= 0.712, 2.293, 0.669, RAW= 331.3, -39.0, CAL= 333.5, -52.9, ROT= 176.5, 52.9 T#Rx 47: Read range and direction messages. `direction in FSK: [-0.602083,0.036825,-0.797584] Fpublishing direction and range infoکyڭ;CDn6ڢ?(΅鿹ڭ CYک ۭ])ۭRIۭRDiۭCmۭFۭE6?ۭ@ۭC+? ܭg@)ܭ@.IܭB@iܭ\lܭ'E@ܭ\l? ݩ)ݩݭx<忉_ٿ-X$ۜ%iݭ&ݭW.?ݭ'E@ݭ\l? ީ)ީ-checking for new query: numPingsReceived=47, elapsed TxPingTime=23.233410I9)=>9I=# 99=:lEE x/<:J YBJ PJJ RJ ZJ 9bJ *9J J  @ @ @ @ E ?E E E _0E U checking for new query: numPingsReceived=47, elapsed TxPingTime=23.467585 HU >HQ HU 'IHU }BHU  =HQ HQ HU <HU ,E6Gy<ZGRG~GAAN?` 3,+hA9B@Ba"@YBVyB&;BHkAW??@u`Ѫ?*t?? B@B;)@NZ}BNIIVIV2bl= b*=yf~;Q f>٥hh jHjFjG; j>lr>5n?r>59nF InBytv@v@na(EinOh5iu$Au-EZ)b-̶hA- C- C-霳@ʁ-}/DT`5=@bX@,r[-;CDn6ڢ?(΅-'E@-\l?ҁ-ŵ[N@yHQܕ\-N5v"?Q7zMֿU8_}z-@-rBj-J,~͜?r-` -L-^s˜?-KW  -tA-B-\@-MaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 139.100006 m, deltaT: 2.015968 s, deltaX: 88.700005 m, approachRate: 43.998718 m/s, rangeRepo size: 4]DNOT Ignoring new targets: 50.05 m.ibYZrjRJB~~}|||@3ca@|D? DDAT read: Rx Time:14:01:19.6784  TRx dataTimestamp_ set to:1749132080.811929PDAT read: Bearing 182.7, 48.6 (Local) ~Local bearing/azimuth received: Bearing 182.7, 48.6 (Local) -DAT read: Range 10 to 50 : 142.4 m (trip time 94.9 ms) speed -0.5 ]DAT read: 14:01:19.6784 LVL= 21824, 19793, 18002, 26931, AGC= 70, IDX= 17,-0.17,-2.984,-1.430,-2.786, 2.969, PHS= 0.418, 1.932, 0.526, RAW= 326.3, -34.8, CAL= 327.3, -48.6, ROT= 182.7, 48.6 eYgot valid direction response: 14:01:19.6784 LVL= 21824, 19793, 18002, 26931, AGC= 70, IDX= 17,-0.17,-2.984,-1.430,-2.786, 2.969, PHS= 0.418, 1.932, 0.526, RAW= 326.3, -34.8, CAL= 327.3, -48.6, ROT= 182.7, 48.6 eT#Rx 48: Read range and direction messages.mbdirection in FSK: [-0.660578,-0.031152,-0.750111]uFpublishing direction and range info y És#忕1M柿迹 fCY  @U {B靅?I)2>I蹼 di<) QMI RFi 3i  > K? ? =@) |I ~̶@i %Y L@ %Y? )  4@ĵ0P׿$^uSCi `+ K}?  F %Y? ) checking for new query: numPingsReceived=48, elapsed TxPingTime=23.741385=Erg:ԑE ?E E E E IIBAKKP"KS9*K2Kd:KXB00G\p[rH ' /!}x|}\NWHk_:"9J J Թ 6G5 p< checking for new query: numPingsReceived=48, elapsed TxPingTime=23.973377~G) A1 AA NU >zG3,]EhA9F@F"@HYFQyF ٥hh jHj Fj,; n>lr>5nh?v>59n InBytv@v@ng(EinN:n5HCH@IH~BH =HHH<H EHqHuϘCHqHu =Iu = Iu5AN? @3,SfhA@9v@v"@YvLyvg@٥ H F9 >!->5%B?->59% I%By-g?5j:5 @5@%p(Ei% ;%;%>59=#A=2EZb:ThA C C@ʁNvR2tc#cTWG]Zd=^1@;?ҁ'pqN@]j??"2^ڣH1?[̿8zPtBj{j͜?rV) e Lꁭ|Bn?@ addTargetRange:: Added new target pos. range: 140.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 --addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 139.016388 m, bearing: nan deg, deltaT: 3.024034 s, deltaX: 88.970413 m, approachRate: 29.421103 m/s, posRepo size: 45DNOT Ignoring new targets: 50.05 m.5Completed rollout at range: 140.00 m. Resuming terminal guidance.5bTransitioning guidance mode to: TERMINAL_GUIDANCE5?b5B@Z9r9j9R=L?J9B9~a~e{B}a|a|i|ma@|m? {B靽`=:I)#>I Jb<G!@h=iB@iAchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.727655E?EEE\0E 6G <K= rP"K= 9*K9 2K= e:K= >jy3B:B5KO$7yU=QrR3s!zs2nH-~G A A N >U 3,@hA 9:G@:"@Y:RVFy:P'e<:H o 6??sy<`OȨ??? :G@:ў;)8iBYC@)@ DID D)DDDDHJZAiJIJFLILiNZA LL)LP RXARPPTTIT)TiT)VCIXXX XX\\i\\ٯ\b}BbIIjIjr= ry=yv;Q v?٥tt vHv Fz z ?|>5~.?>59~ I~By   @ @~u(Ei~:~:~b>55checking for new query: numPingsReceived=49, elapsed TxPingTime=24.981646=;B=V#AE5EC@Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalg@-Entering Terminal tracking update period 2.000000 s sec at 140.000000 m (mode 1.000000 count ).515bAZIrIjIRQJQBQ~Q~Q}Y|Y|Y|Y|e{? +In  4`<6@IQ]Nj=iYiE?EEE0Ey6G<AQAqN>DDAT read: Rx Time:14:01:21.1197 TRx dataTimestamp_ set to:1749132082.323933PDAT read: Bearing 173.8, 7.1 (Local) ~Local bearing/azimuth received: Bearing 173.8, 7.1 (Local) DAT read: Range 10 to 50 : 54.3 m (trip time 36.2 ms) speed -0.4  DAT read: 14:01:21.1197 LVL= 20592, 26545, 18594, 29539, AGC= 69, IDX= 440,-0.08, 0.105, 1.813, 0.050, 0.554, PHS=-0.361, 1.306,-0.507, RAW= 334.1, -5.1, CAL= 336.2, -7.1, ROT= 173.8, 7.1  Ygot valid direction response: 14:01:21.1197 LVL= 20592, 26545, 18594, 29539, AGC= 69, IDX= 440,-0.08, 0.105, 1.813, 0.050, 0.554, PHS=-0.361, 1.306,-0.507, RAW= 334.1, -5.1, CAL= 336.2, -7.1, ROT= 173.8, 7.1 % T#Rx 50: Read range and direction messages.- `direction in FSK: [-0.986528,0.107171,-0.123601]- Fpublishing direction and range infoy"o?A7X3YBY pP)gIHicsEԸ+? @)KIĻ@i"B@= )^i.j`ic?dri"/P="B@= )U checking for new query: numPingsReceived=50, elapsed TxPingTime=25.248989ԡ 4&3,hA<:J]_BJYJJ]BRJYZJ] :bJYJ]-4JYm}BmIMb@Mb@Mb@ )YE?QMbPyf?@ v@)@I@y@II2 = ,=yQ >٥ H% F% ->9E>5=?E>59=r I=ȚByEf?Mk:M @M@=|(Ei=;=7;=>5q}"Ayԩ@1qZbQhAWBWB:j@-checking for new query: numPingsReceived=50, elapsed TxPingTime=25.483473ʁѯ[JM=2@E Z"o?A7X"B@=ҁc0D@dEAZbL"b?U\d促vſz- !Bjt$[Ɯ?rm܍p 3YB tABA@U addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 Y] Added new target pos. range: 53.918499 m, bearing: 319.450725 deg, lat: 36.906558 deg, lon: -122.116214 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 DNOT Ignoring new targets: 53.92 m.Powering the camera and arming the capture device at range: 54.30 m.z ProNav pure pursuit: ac range: 53.918499 m, nav range: 77.967628 m, bearing: 322.743403 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 326.766791 deg, new cmd heading: 322.743403 deg. HeadingCmd: 5.632935 target range: 53.918499 and range: 54.30 m.bA@ZrjRzJB~~yB}|||`f&K@H>HH_IHE~BH =HHH'<HME|x? ]{B}lI\ N\<@'>iA@i"&Changing to mode: 2"Armed mode."2Commanding negative:54402E?EEEo0EFF6G i=ZG RG  ~G AA A N > DDAT read: Rx Time:14:01:21.6201  TRx dataTimestamp_ set to:1749132082.828040 PDAT read: Bearing 173.7, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 173.7, 5.5 (Local)  DAT read: Range 10 to 50 : 54.9 m (trip time 36.6 ms) speed -0.4 - DAT read: 14:01:21.6201 LVL= 25664, 26481, 18882, 30899, AGC= 71, IDX= 508, 0.11, 1.501,-3.012, 1.430, 1.997, PHS=-0.408, 1.321,-0.570, RAW= 334.4, -3.8, CAL= 336.3, -5.5, ROT= 173.7, 5.5 = Ygot valid direction response: 14:01:21.6201 LVL= 25664, 26481, 18882, 30899, AGC= 71, IDX= 508, 0.11, 1.501,-3.012, 1.430, 1.997, PHS=-0.408, 1.321,-0.570, RAW= 334.4, -3.8, CAL= 336.3, -5.5, ROT= 173.7, 5.5 = T#Rx 51: Read range and direction messages.E `direction in FSK: [-0.989385,0.109229,-0.095846]E Fpublishing direction and range info y :X -o?aVX [BY @d) qgI Ii x,3,`hA9>@>r"@G`о? ú@)ԇIJӻ@i ĽWB@ = )jy=sU꿥 3i˙"=WB@ = )jchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.777332pY>g54y>wO<>H kB??sBJЄ?[?j? >@>;)>C}BIIAIAU= UX=yuQ=٥}L?}L? }HywH >>5p?>59 IϚBy @@(EiW-<-<!>5n"A8E q MZbhAZBZBYX@ʁTfJ^;6Ox@-6`:X -o?aVXWB@ =ҁXyD@CoA{@nΰ ?6俏Lz #BjZI% !!%0Y<-<@)5j>i1i1KL-P"K 9*K2Kf:K`+8=_yxequTHZ:mA`CY} (xLskT^E=EEE1E=checking for new query: numPingsReceived=51, elapsed TxPingTime=25.987656Ai 6GU KXi=)U 4> Q G A~Gq A } i Y} Ay Bԑ A A N >43,uYhA r"@Y:(y,;HZR?`?a璿?qw?? w@骽;)}B52IԱUMb@Mb@Mb@QQQ Q)QYU"~j?/$y&1|?yUSc?UU`;U@ Uh@)U@IU@QyU@IIF2_|= =y^;Q >٥ H F >>5jٸ?>59 IۚByfc?o:!@@(Ei;b:&>5:B!A;E‚9=G@=rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal=C@=Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalZxbzLhAz Cz Cz˱@ʁz%$,T !@B.S>\z%x..@d?\xz_r?ҁz L@DHsI@]zO35R?Ej׿3AzzKzdBjz',˜?rz zRz',˜?x xzBztN@:J[BJMJJ?RJZJ:bJ9Jـ4J-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.100006 m, deltaT: 0.504729 s, deltaX: 85.200005 m, approachRate: 168.803467 m/s, rangeRepo size: 2TStopped intercept timer at range: 54.90 m.DNOT Ignoring new targets: 54.51 m.Powering the camera and arming the capture device at range: 54.90 m.z=ѮEѮ] ProNav: ac range: 54.514427 m, nav range: 71.843925 m, bearing: 330.419791 deg, approach rate: 0.873293 m/s, LOS rate: -0.076419 deg/s, cmd heading: 322.743404 deg, new cmd heading: 322.621074 deg. QHeadingCmd: 5.630800 target range: 54.514427 and range: 54.90 m.b/@ZrjRzJB~Y~e|B}a|a|i|m@3a@|m`f-? {Bi/@ichecking for new query: numPingsReceived=52, elapsed TxPingTime=26.491901  H) H- =HE >HE CHE ~IHE x~BHE  =HA HA HE <HE E>E ] ;A E 9E E E O0E F =F =6G =jG_?bG ?~GIaAiAyN?R`<3,hAbchecking for new query: numPingsReceived=52, elapsed TxPingTime=26.7437369%&/@%xB"@Y% y%.`:%H`F;`?]8?=y;Q %>٥!! %H%F-{) ->Ye>5].?e>59] I]Byim @u@](Ei] m;]Y;]J*>59B!AEuጹa E o7E E E P0E 6G >~G A A9 Nu >\C3,hA 9-X@-!@Y-By-O*-H`*}f秛?@ b?`.@㙿 ?!u@d? -X@-P!;)-CEA~BE]I)I IMb@Mb@Mb@ )YQ? rhMb`?yU?C ;h@ )$@I@yG@II0A== I=y;Q >٥ HFm >>5?>59K IByU?~:B@@(Ei::->5 A?ETStopped intercept timer at range: 54.90 m.DNOT Ignoring new targets: 54.51 m.Powering the camera and arming the capture device at range: 54.90 m.zӺӺ  ProNav: ac range: 54.514427 m, nav range: 72.573738 m, bearing: 330.347555 deg, approach rate: 0.858351 m/s, LOS rate: -0.092471 deg/s, cmd heading: 322.517598 deg, new cmd heading: 322.405440 deg.  }%HeadingCmd: 5.627037 target range: 54.514427 and range: 54.90 m.b%@Z!r!j!R)z)J)B)~1~57|B}1|1|1|9|= ?A m{Bm0ԡ ~G A A N >H >H H IH ~BH  =H H H 3<H ZE checking for new query: numPingsReceived=52, elapsed TxPingTime=27.519264I3,U'hA96@@6c0!@Y6, y6 b6H'.?? @E?U k? 6@6%;)4^Z~B^lIIfIfn= n`=yr;Q r>٥pt vHtv v?>5[?>59O IBy@@(EiW::+1>5` A  VStarting intercept timer at range: 54.90 m. DNOT Ignoring new targets: 54.51 m. 5Powering the camera and arming the capture device at range: 54.90 m.z1=nֺ=nֺM ProNav: ac range: 54.514427 m, nav range: 72.877594 m, bearing: 330.312389 deg, approach rate: 0.813314 m/s, LOS rate: -0.093735 deg/s, cmd heading: 322.405447 deg, new cmd heading: 322.300389 deg. MuHeadingCmd: 5.625203 target range: 54.514427 and range: 54.90 m.bu@ZqryjyRzJB~~}|||| B? 5{B5^ZGRG~GAANj>]checking for new query: numPingsReceived=52, elapsed TxPingTime=27.771799 :J _BJ QJJ ARJ ZJ :bJ -.9J 4J zJ +: jJ 0: J 4: rJ 4: fP3,AhAI@)9Fs@F) @YFyFgFH6.{? ?; H?@? Fs@F);)DK~0'P"K~ 9*K|2K~h:K~-=^V9#16I1L=gU !r }w~B}~III'= ;=yC;Q >٥ HF >>5|?>59 IBy@@(Ei+;:4>5 8B A BE1=DNOT Ignoring new targets: 54.51 m.9=Powering the camera and arming the capture device at range: 54.90 m.z9EEU ProNav: ac range: 54.514427 m, nav range: 73.219658 m, bearing: 330.268777 deg, approach rate: 0.836346 m/s, LOS rate: -0.106133 deg/s, cmd heading: 322.300398 deg, new cmd heading: 322.170175 deg. U]HeadingCmd: 5.622931 target range: 54.514427 and range: 54.90 m.b] @ZYrYjYRYzaJaBa~a~a}i|i|i|i|u^? {B靥qS~G A A! N5 >m DDAT read: Rx Time:14:01:24.1782 u TRx dataTimestamp_ set to:1749132085.367861} PDAT read: Bearing 180.1, 56.9 (Local) ԁ  ~Local bearing/azimuth received: Bearing 180.1, 56.9 (Local)  DAT read: Range 10 to 50 : 142.1 m (trip time 94.7 ms) speed -3.6  DAT read: 14:01:24.1782 LVL= 22256, 26481, 20946, 29507, AGC= 65, IDX= 505, 0.19,-1.784,-0.240,-1.671,-2.491, PHS= 0.795, 2.299, 0.817, RAW= 329.3, -42.8, CAL= 329.9, -56.9, ROT= 180.1, 56.9  Ygot valid direction response: 14:01:24.1782 LVL= 22256, 26481, 20946, 29507, AGC= 65, IDX= 505, 0.19,-1.784,-0.240,-1.671,-2.491, PHS= 0.795, 2.299, 0.817, RAW= 329.3, -42.8, CAL= 329.9, -56.9, ROT= 180.1, 56.9  T#Rx 53: Read range and direction messages. bdirection in FSK: [-0.546101,-0.000953,-0.837719] Fpublishing direction and range infoq yu  yGk٥ HE6 >>5ze?>59D IByUK?:=@@(Ei;~;8>5pAEEZb WhA C C@ʁBӎCS؂o74E#] yGkHHIH~BH =HHH<HEchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.527927 {B2_~G A A N > ˻\3,huhA9>J@>9^@Y>ڼy>虽>H. V.?*7L\?6`? >J@>ȇ;)>Cn~BnIIvIv(*35DDAT read: Rx Time:14:01:24.6786 5TRx dataTimestamp_ set to:1749132085.873115=PDAT read: Bearing 174.1, 57.9 (Local) E~Local bearing/azimuth received: Bearing 174.1, 57.9 (Local) UDAT read: Range 10 to 50 : 142.7 m (trip time 95.1 ms) speed -0.5 uDAT read: 14:01:24.6786 LVL= 23472, 21489, 20210, 32147, AGC= 64, IDX= 497, 0.04, 0.186, 1.696, 0.175,-0.645, PHS= 0.919, 2.388, 0.817, RAW= 333.3, -43.8, CAL= 335.9, -57.9, ROT= 174.1, 57.9 }Ygot valid direction response: 14:01:24.6786 LVL= 23472, 21489, 20210, 32147, AGC= 64, IDX= 497, 0.04, 0.186, 1.696, 0.175,-0.645, PHS= 0.919, 2.388, 0.817, RAW= 333.3, -43.8, CAL= 335.9, -57.9, ROT= 174.1, 57.9 }T#Rx 54: Read range and direction messages.`direction in FSK: [-0.528584,0.054624,-0.847122]Fpublishing direction and range info1y5+9X(G/.?J9g뿹5CY1 5[)5SI5Ni5}5@5Ck?5@1 5[&@)5ECI5@i5Y5xB@5Y? 1)15QlժO״:0eٿ5ڒ!i5!#5C?5xB@5Y? 1)1Թchecking for new query: numPingsReceived=54, elapsed TxPingTime=28.798285,< l=yx;Q ?٥ HFއ >>5$T?>59T IBy  @ @(Ei::;>515MA1Z1b5whA5 C5 C5ʳ@ʁ5D%RisO@c ]3^5+9X(G/.?J9g5xB@5Y?ҁ5ᝑu4L@HLF_R ^5H1z? [ӿ6ٚz505aBj5qmʜ?r5@ 5Sj5qmʜ?5?  15B5A@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 142.699997 m, deltaT: 3.045075 s, deltaX: 87.799995 m, approachRate: 28.833443 m/s, rangeRepo size: 2uuVStarting intercept timer at range: 54.90 m.uDNOT Ignoring new targets: 54.51 m.y}Powering the camera and arming the capture device at range: 54.90 m.zyOO ProNav: ac range: 54.514427 m, nav range: 73.848671 m, bearing: 330.166274 deg, approach rate: 0.763160 m/s, LOS rate: -0.131411 deg/s, cmd heading: 322.004351 deg, new cmd heading: 321.864009 deg. _HeadingCmd: 5.617587 target range: 54.514427 and range: 54.90 m.bEó@ZrjRzJB~~})|)|1|=`fa@|=@t? {B,checking for new query: numPingsReceived=54, elapsed TxPingTime=29.0317066G% 2>A ~G AI Ai N >c3,-ϏhA9 @P@Yg˼yTHUNOpz?(hB Ql?`߷@?  @骥B;)Cchecking for new query: numPingsReceived=54, elapsed TxPingTime=29.284101=~B=IMb@Mb@Mb@ )YQ?v/y&1|?y(٥    H FG >%>5=?%>59H I By%557B5A5GEeB*** querying acoustic contact ***JaRauuTStopped intercept timer at range: 54.90 m.}DNOT Ignoring new targets: 54.51 m.yPowering the camera and arming the capture device at range: 54.90 m.z/1%/1- ProNav: ac range: 54.514427 m, nav range: 74.214493 m, bearing: 330.090150 deg, approach rate: 0.748105 m/s, LOS rate: -0.154906 deg/s, cmd heading: 321.864004 deg, new cmd heading: 321.636758 deg. 5ԻeHeadingCmd: 5.613620 target range: 54.514427 and range: 54.90 m.beǢ@ZarajaRazaJaBi~i~m|B}q|q|||@? 5{B5s8>ԉ~GAAN>h+k3,8ٮhA9~ @~&@Y~z^y~fAݽ~H @?[+}j?i@vB˗?` ? ~ @~;)| A)AɺAIIɻiףII i )! !IIɼIQUnAIQ)QiY)IdA齉ɽ ɾ龙ii)# Iٯ~BIII 3M< U>=yUr;Q U>٥YY ]H]F}Gr >>5*?>590 IByB@@(Ei::&D>56BAJE VStarting intercept timer at range: 54.90 m.%DNOT Ignoring new targets: 54.51 m.!%Powering the camera and arming the capture device at range: 54.90 m.z!-p4-p4E ProNav: ac range: 54.514427 m, nav range: 74.520927 m, bearing: 330.020525 deg, approach rate: 0.697171 m/s, LOS rate: -0.157753 deg/s, cmd heading: 321.636750 deg, new cmd heading: 321.428734 deg. EػMHeadingCmd: 5.609990 target range: 54.514427 and range: 54.90 m.bM @ZIrQjQRQzQJQBQDDAT read: Rx Time:14:01:25.6786 TRx dataTimestamp_ set to:1749132086.879913PDAT read: Bearing 173.5, 48.7 (Local) ~Local bearing/azimuth received: Bearing 173.5, 48.7 (Local) DAT read: Range 10 to 50 : 142.7 m (trip time 95.1 ms) speed -4.7 ~~}||||^?5DAT read: 14:01:25.6786 LVL= 22336, 32753, 19314, 32755, AGC= 65, IDX= 498,-0.47,-2.767,-1.029,-2.788, 2.973, PHS= 0.632, 2.328, 0.520, RAW= 333.2, -35.0, CAL= 336.5, -48.7, ROT= 173.5, 48.7 EYgot valid direction response: 14:01:25.6786 LVL= 22336, 32753, 19314, 32755, AGC= 65, IDX= 498,-0.47,-2.767,-1.029,-2.788, 2.973, PHS= 0.632, 2.328, 0.520, RAW= 333.2, -35.0, CAL= 336.5, -48.7, ROT= 173.5, 48.7 MT#Rx 55: Read range and direction messages.`direction in FSK: [-0.655759,0.074714,-0.751264]Fpublishing direction and range infoځyڅDx)sy ?$[ 迹ځYځ ۅ@W)ۅIۅrKiۅۅAۅ!?ۅ@ۅ? ܅@)܅aI܅@i܅Y܅&A@܅Y? ݁)݁݅ɨ.k9!UܿK#(_i݅$݅׌?݅&A@݅Y? ށ)ށ |B靵$35 checking for new query: numPingsReceived=55, elapsed TxPingTime=30.039721i ~G A A N >Rr3,@hA9Ra @t@YxyG콹Hr3 Q`5?X$`?qv? Ra @;)C~BIII?13B< Y=y;Q >٥   H    >>5p?>59ӡ IBy!%@%@(Ei;#;hG>515A9Z9b=PhA99=__@ʁ=em:Wsk,%@Z=Dx)sy ?$[ =&A@=Y?ҁ=BP@ON<[=xJ26?:xƚۿ{X-z=wt=ʅBj==L Μ?r= =4=',˜?=@  9= B=]@-}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 142.699997 m, deltaT: 4.051873 s, deltaX: 87.799995 m, approachRate: 21.668989 m/s, rangeRepo size: 2DNOT Ignoring new targets: 54.51 m.Powering the camera and arming the capture device at range: 54.90 m.z++ ProNav: ac range: 54.514427 m, nav range: 74.782349 m, bearing: 329.955921 deg, approach rate: 0.610213 m/s, LOS rate: -0.150273 deg/s, cmd heading: 321.428730 deg, new cmd heading: 321.235596 deg. BλHeadingCmd: 5.606619 target range: 54.514427 and range: 54.90 m.bli@ZrjRzJB~~}|||| Q? E|BMbe=II)Mr/?IIMN~ Iqu:~G A A N >6wx3,hA ~~BIMb@Mb@Mb@ )YV-?sh|?Mbp?yh1?;C@ zA)h@I@y@I I2Z= O=yQ >٥ HF >>5 ?>59< IBy2?:@@(Ei:=:J>5 HH<H>HCHIHWBH =HH/DH<HE!%TA%MEuchecking for new query: numPingsReceived=55, elapsed TxPingTime=30.543615TStopped intercept timer at range: 54.90 m.DNOT Ignoring new targets: 54.51 m.Powering the camera and arming the capture device at range: 54.90 m.z!%3v%3vI] ProNav: ac range: 54.514427 m, nav range: 75.041130 m, bearing: 329.883155 deg, approach rate: 0.768134 m/s, LOS rate: -0.215244 deg/s, cmd heading: 321.235599 deg, new cmd heading: 321.018055 deg. ]eHeadingCmd: 5.602822 target range: 54.514427 and range: 54.90 m.beQJ@ZarjRzJB~~}B}|||| d? |B靍< =I)>4?It a7<+֨?!!i%QJ@i!yE_ EEEEԩ = DDAT read: Rx Time:14:01:26.6227 = TRx dataTimestamp_ set to:1749132087.889399E PDAT read: Bearing 193.4, 6.4 (Local) M ~Local bearing/azimuth received: Bearing 193.4, 6.4 (Local) ] DAT read: Range 10 to 50 : 58.8 m (trip time 39.2 ms) speed -0.6 } DAT read: 14:01:26.6227 LVL= 21424, 31201, 17234, 31187, AGC= 64, IDX= 422,-0.27, 0.763, 2.981, 1.507, 1.647, PHS=-0.796, 1.381,-0.144, RAW= 313.0, -4.6, CAL= 316.6, -6.4, ROT= 193.4, 6.4  Ygot valid direction response: 14:01:26.6227 LVL= 21424, 31201, 17234, 31187, AGC= 64, IDX= 422,-0.27, 0.763, 2.981, 1.507, 1.647, PHS=-0.796, 1.381,-0.144, RAW= 313.0, -4.6, CAL= 316.6, -6.4, ROT= 193.4, 6.4  T#Rx 56: Read range and direction messages. bdirection in FSK: [-0.966714,-0.230303,-0.111469] Fpublishing direction and range info9 y= zd(Q\zͿ -V:= 3kBY9 = S)= yI= RCi= y= @= K= İ?= t = Ϯ@)= lI= Ұ@i= 佉= X@= = 9 )9 = 4#^]/̿Ɍli= @:= == := = 9 )9  checking for new query: numPingsReceived=56, elapsed TxPingTime=30.8149366G ..> ~G A A N >3,ehA9b"@b6@YbKybYؽbHR@v-?%ĵ p?`@? b"@bU;)bC:JU^BJUVJJU>RJQZJU} :bJUB9JUt4JQzJU^:jJUc:JUX:rJUX:u~BuIII1w< ==y*٥ H   >>57?>59ѕ I"Byim @m@(Eio8<8<N>5quFAqZbhAiBiB@ʁI2 8Ly*C9zd(Q\zͿ -V::=ҁWm`ڃH@?4 ?H! S %?vZlwFu]zDBj| Ȝ?rJ fB ꁥ+BM@m addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 5.061359 s, deltaX: 3.899998 m, approachRate: 0.770544 m/s, rangeRepo size: 3  Added new target pos. range: 58.387264 m, bearing: 327.589402 deg, lat: 36.906509 deg, lon: -122.116160 deg, deltaT: 5.061359 s, deltaX: 3.872837 m, approachRate: 0.765177 m/s, posRepo size: 3 DNOT Ignoring new targets: 58.39 m.Powering the camera and arming the capture device at range: 58.80 m.z ProNav: ac range: 58.387264 m, nav range: 75.085014 m, bearing: 322.831698 deg, approach rate: 0.000000 m/s, LOS rate: -0.215244 deg/s, cmd heading: 321.018044 deg, new cmd heading: 320.717679 deg. HeadingCmd: 5.597579 target range: 58.387264 and range: 58.80 m.b_@ZKMP"K9*K2Kk:KEOopOB lNZh]'`g$S^L)C~"L6,^7rjRzJB~!~!}!|!|)|-`ffM@|-`)?  |B靝=I)4?I8k 45<`?i_@ichecking for new query: numPingsReceived=56, elapsed TxPingTime=31.047697zEEuEyEyE}`0EyF=F=y G  }6Y y5 c9B6G- >~G A A N >z3,fhADDAT read: Rx Time:14:01:27.1228 TRx dataTimestamp_ set to:1749132088.391438DAT read: Range 10 to 50 : 59.0 m (trip time 39.3 ms) speed -0.8 -Z#Rx 57: Read range message, but no direction.lBY"checking for new query: numPingsReceived=57, elapsed TxPingTime=31.302944,9f@f@YfldwyfwfHG}֣@Q?^`|@?F`#? f@f;)fC~BIaIu@au aMu@au aQu@au aEu@au IIb ==y;Q >٥ HF5h >>5?>59j I'B+:yv: @@(Ei_:>Q>55BLANE}B*** querying acoustic contact ***JyRyԉ addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 0.502039 s, deltaX: 0.200001 m, approachRate: 0.398377 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 58.39 m.Powering the camera and arming the capture device at range: 59.00 m.z>> ProNav: ac range: 58.387264 m, nav range: 75.369637 m, bearing: 322.763848 deg, approach rate: 0.699811 m/s, LOS rate: -0.166196 deg/s, cmd heading: 320.717680 deg, new cmd heading: 320.514899 deg. HeadingCmd: 5.594040 target range: 58.387264 and range: 59.00 m.ba@ZrjRzJB~~}A|A|I|MM@|M[?  |B!=I)3?Ibb 2<}^?ia@iԹEEEE0EH=>H9H=IH=lBH= =H9H=.DH=<H=Echecking for new query: numPingsReceived=57, elapsed TxPingTime=31.551754 6G >~G A! A1 NM >2 3,2hA9: @:F@Y:FRy:[:H / {`7?=]?,? : @:;):CJ~BJI)L LIRIRZ Zs=yZ ;Q ^?٥\\ ^H^F`b f?hj>5j㷜?n>59jI Ij*Bn :ylnG:n @n@j(Eij:j D?jS>5tvUAt!%DNOT Ignoring new targets: 58.39 m.!-Powering the camera and arming the capture device at range: 59.00 m.-lFinal approach. Armed for intercept at range: 59.00 m.-\Transitioning guidance mode to: FINAL_APPROACH-@5'I5'I ProNav: ac range: 58.387264 m, nav range: 75.591972 m, bearing: 322.706665 deg, approach rate: 0.685798 m/s, LOS rate: -0.175862 deg/s, cmd heading: 320.514905 deg, new cmd heading: 320.343862 deg. bHeadingCmd: 5.591055 target range: 58.387264 and range: 59.00 m.b@ZrjRJB~~}| | | | `? |B靵P!=I)1?I Z   >80<.?EDDAT read: Rx Time:14:01:27.6231 ETRx dataTimestamp_ set to:1749132088.896161UPDAT read: Bearing 193.0, 6.5 (Local) U~Local bearing/azimuth received: Bearing 193.0, 6.5 (Local) eDAT read: Range 10 to 50 : 59.4 m (trip time 39.6 ms) speed -0.6 DAT read: 14:01:27.6231 LVL= 22688, 27345, 17954, 30451, AGC= 67, IDX= 489, 0.31, 0.687, 2.957, 1.433, 1.583, PHS=-0.808, 1.420,-0.153, RAW= 313.4, -4.7, CAL= 317.0, -6.5, ROT= 193.0, 6.5 Ygot valid direction response: 14:01:27.6231 LVL= 22688, 27345, 17954, 30451, AGC= 67, IDX= 489, 0.31, 0.687, 2.957, 1.433, 1.583, PHS=-0.808, 1.420,-0.153, RAW= 313.4, -4.7, CAL= 317.0, -6.5, ROT= 193.0, 6.5 T#Rx 58: Read range and direction messages.bdirection in FSK: [-0.968107,-0.223505,-0.113203]Fpublishing direction and range infoAyEnٺ7 Л̿5EmBYA EX)EjIE"FiEvECENEµ?E E @)EIE @iEV轉EDW@EV= A)AE'B|lA#Ϳ&riിiEx:E2=Eq:EV= A)Achecking for new query: numPingsReceived=58, elapsed TxPingTime=31.821388i@iEmEiEiEm5Ei6G5 >~G A A N >I K P"K 9*K 2K l:K 87jxcAu3*LU> 9 `yG5p|aT) checking for new query: numPingsReceived=58, elapsed TxPingTime=32.0555273,;LhA9M~BUIIIb1@T< %=y-Q 5>٥99 EHEFE M>IU>5Mҷ?U>59Ml IM/B]9yY]!:Y]@M(EiM=:aM?MV>5im:AiZbZ9hAkBkB@ʁLi]*?Nnٺ7 Л̿5q:V=ҁG@.;"AQy?<Ǘ&L+4Lz =>Bj;mzǜ?rjS dBqmʜ??  4ꁅ:B.@ addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 0.504723 s, deltaX: 0.400002 m, approachRate: 0.792517 m/s, rangeRepo size: 4  Added new target pos. range: 58.982937 m, bearing: 324.224529 deg, lat: 36.906487 deg, lon: -122.116115 deg, deltaT: 1.006762 s, deltaX: 0.595673 m, approachRate: 0.591672 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.98 m.-ZTarget missed at range: 59.40 m. Rolling out.zNTransitioning guidance mode to: ROLLOUT@bZrjR?zJB~~}|||@3M@|  e? |B靵5ZGy RGy ~G1 A9 GI GM @AHU ټ>HU CHU IHU bBHU  =HQ HU -DHU <HU EAi N} >3,zhhA4Nchecking for new query: numPingsReceived=59, elapsed TxPingTime=32.559837~~B~IԙaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yw/?RQ~jtxy&?½Ļ~@ A@)`@II@y@II3ha :=y9Q =>٥AA EHAI M>Q}>5Umŷ?}>59U{ IU1BT:y(?:@@U(EiU;U;UY>5AQEqAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseEntering Midcourse tracking update period 60.000000 s sec at 59.400002 m (mode 5.000000 count ).ZqbuNYhAulBulBuz@ʁuڤ\L z%.%J2)u Egwп.0ۣuN8unF=ҁu %sc}H@[@\x@㒆muz|?+r_Y?_zuuCBjuǜ?ru umBu| Ȝ?ujS  udBurBu@ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.503882 s, deltaX: 0.199997 m, approachRate: 0.396912 m/s, rangeRepo size: 4  Added new target pos. range: 59.180000 m, bearing: 326.075913 deg, lat: 36.906412 deg, lon: -122.116027 deg, deltaT: 0.503882 s, deltaX: 0.197063 m, approachRate: 0.391090 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.18 m.bZrjRzJB~~|B}|||M@|`n? u|B}l=Iy)}d+?yI}D *<a?iiUDDAT read: Rx Time:14:01:28.6235 UTRx dataTimestamp_ set to:1749132089.904980ePDAT read: Bearing 196.6, 4.1 (Local) e~Local bearing/azimuth received: Bearing 196.6, 4.1 (Local) uDAT read: Range 10 to 50 : 60.0 m (trip time 40.0 ms) speed -0.4 DAT read: 14:01:28.6235 LVL= 28608, 26673, 21314, 32755, AGC= 67, IDX= 494,-0.00,-1.619, 0.556,-0.786,-0.661, PHS=-0.870, 1.264,-0.128, RAW= 310.0, -2.9, CAL= 313.4, -4.1, ROT= 196.6, 4.1 Ygot valid direction response: 14:01:28.6235 LVL= 28608, 26673, 21314, 32755, AGC= 67, IDX= 494,-0.00,-1.619, 0.556,-0.786,-0.661, PHS=-0.870, 1.264,-0.128, RAW= 310.0, -2.9, CAL= 313.4, -4.1, ROT= 196.6, 4.1 T#Rx 60: Read range and direction messages.bdirection in FSK: [-0.955870,-0.284957,-0.071497]Fpublishing direction and range infoQyUmֵ|8S<ҿ MUpBYQ Uo)U1hIUBSiQQUR^Uʡ?Uo U"@)U4QOIU @iUCU[@UC= Q)QU$wUzkB$ƿ6A堩iU=UM=U6UC= Q)Qchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.829208E= P E9 E9 E= 1E9 ! 6G >8>AAN>[3,&hAKJ.P"KJ9*KH2KJm:KJdr m7 eJ\X%[ E=mW8YZ49VT?V @YV3:yV XVH6 ?`{`}|{FF I? VT?V;)VCb~BbIidIfC=nAlrchecking for new query: numPingsReceived=60, elapsed TxPingTime=33.063934IrIr0z= zP=yzD=Q ~>٥|| ~H~Fc > >5 y?>59 u I 0ByV@@ (Ei /;  ; D]>5!%eA!1=N@=1=Zb1yhAOnBOnB!@ʁsYyLi3e0O mֵ|8S<ҿ M6C=ҁBL8G@EBm"Vs ?V?Vp&l[,zgG׳gӿڕ3qBYڑ ەl)ەalIەOiۑە?ە+gەz?ەԽ ܕ@)ܑIܕk@iܕQ ܕA\@ܕQ = ݑ)ݑݕDy]7ÿk[5iݕq-?ݕQ=ݕtJ5ݕQ = ޑ)ޑ checking for new query: numPingsReceived=61, elapsed TxPingTime=33.3335116G ؅> ~G] IAAa Aq N >3,hA:Jf\BJfXJJdRJdZJf=:bJf5K9JdJdԑ9al?I @Y2;yYFH 7`N5>O?@7@el cpˈ`T? al?骕;)C~BIH>HHIHMBH =HH.DH<H2EMb@Mb@Mb@ )YE?ʡE~jty&?D@ @)I@I@y@IIF2  $=y;Q >checking for new query: numPingsReceived=61, elapsed TxPingTime=33.567680٥%?%? -H-F-K& ->1=>55W?=>595Bn etII5,Bye'?m:m@m@5(Ei5&;5;5a>5u4BuAuSE1qZbhAoBoBq@ʁ>ojWqL\'2& -r$>gG׳gӿtJ5Q =ҁygrBG@ٺ 6BooQO?<'wN̰zr=BjOcEǜ?rp/- oB;mzǜ? mBmB@ addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.503138 s, deltaX: 0.299999 m, approachRate: 0.596256 m/s, rangeRepo size: 4 5 Added new target pos. range: 59.875877 m, bearing: 322.438733 deg, lat: 36.906394 deg, lon: -122.116027 deg, deltaT: 0.503138 s, deltaX: 0.298695 m, approachRate: 0.593663 m/s, posRepo size: 4 5DNOT Ignoring new targets: 59.88 m.b1Z9r9j9R9z9J9B9~A~E|B}A|I|I|M`f&N@|u S"? |B靽>8>jG >bG ?I~GiAAN>(3,/hA9>?> @Y>l vX>H {`w-W?7pG ߯@? >?>T;)>Cn~BII- I-̍2}x P=y6٥ HF=^ >>5M?>59h I)By]@@(Ei;;;e>5!%A!yq}}tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourseq}}Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseZb_hA}qB}qBle@ʁ-=njL> 4JF M8BUտyoU˪G3PwV=ҁ H@y$'B:7<^?7 `>~Q_z9@Bj*ǜ?rs$  uBs$  nBꁍqB `@  addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.503974 s, deltaX: 0.500000 m, approachRate: 0.992115 m/s, rangeRepo size: 4 = Added new target pos. range: 60.372360 m, bearing: 322.998122 deg, lat: 36.906394 deg, lon: -122.116039 deg, deltaT: 0.503974 s, deltaX: 0.496483 m, approachRate: 0.985136 m/s, posRepo size: 4 =DNOT Ignoring new targets: 60.37 m.b9ZArAjARAzAJABA~I~I}q|q|q|}`ffN@|} ? !|B=I)G!?I<)  %<?iiKz?P"Ks9*K2Kn:KiyhLTg  PTsw1 i |RtJ=wchecking for new query: numPingsReceived=62, elapsed TxPingTime=34.072544E(EEE05EQ 6Gu >~G A A N >e DDAT read: Rx Time:14:01:30.1241 e TRx dataTimestamp_ set to:1749132091.415774u PDAT read: Bearing 201.7, 0.9 (Local) u ~Local bearing/azimuth received: Bearing 201.7, 0.9 (Local) q  DAT read: Range 10 to 50 : 60.9 m (trip time 40.6 ms) speed -0.5  DAT read: 14:01:30.1241 LVL= 24816, 23137, 17042, 32755, AGC= 63, IDX= 500,-0.17, 0.050, 2.221, 1.036, 1.131, PHS=-0.993, 1.137,-0.098, RAW= 305.3, -0.5, CAL= 308.3, -0.9, ROT= 201.7, 0.9  Ygot valid direction response: 14:01:30.1241 LVL= 24816, 23137, 17042, 32755, AGC= 63, IDX= 500,-0.17, 0.050, 2.221, 1.036, 1.131, PHS=-0.993, 1.137,-0.098, RAW= 305.3, -0.5, CAL= 308.3, -0.9, ROT= 201.7, 0.9  T#Rx 63: Read range and direction messages. bdirection in FSK: [-0.929018,-0.369701,-0.015707] Fpublishing direction and range infoa ye (n샺R.׿y&e sBYa e `)e aZIe Bie e ?e ?5~e 7?e 9Ƚ e @)e 5Ie /@ie e Ma@e < a )a e G.N-~r"ie ,.Ce ٥ HF >:JaBJJJARJZJ:bJJ4J->5?U>59` I%ByU`(?U:Uk@U@(EiY<<wi>5Y]2AaZb hAqBqB @ʁtLa?[6?0&e(n샺R.׿y&0<ҁJ?H@|DA4'sſ}$E?`?\E⿘9dfz FBj`ǜ?r0y }B*ǜ? oBwrB>T@ addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 0.503682 s, deltaX: 0.100002 m, approachRate: 0.198543 m/s, rangeRepo size: 4 U Added new target pos. range: 60.471661 m, bearing: 325.177608 deg, lat: 36.906394 deg, lon: -122.116039 deg, deltaT: 0.503682 s, deltaX: 0.099300 m, approachRate: 0.197149 m/s, posRepo size: 4 UDNOT Ignoring new targets: 60.47 m.bYZYrYjYRYzYJYBa~a~eT|B}|||@3sN@|2? H->H-CH-IH-%BH- =H)H-/DH-<H)HŘCHŘCHH =I = I@H6 '|B靭R( i i Echecking for new query: numPingsReceived=63, elapsed TxPingTime=34.579296E+EEEN5E9 ԁ 6G >8>~G A A N >ʒ3,RhA9^?^ @Y^(`J?i~9OE~yXR~!z.~d |)|checking for new query: numPingsReceived=64, elapsed TxPingTime=34.846348^H7nq@e>t?pnk?)ב@@ ? ^?^5a;)^C~BII I̍2%(Ӽ %H=y%į٥)) -H)5 5>9e>5=?e>59=uZ I= Byae@e@=(Ei=:=:=m>5u3BuYAuVEZ|b~hA~sB~sB~SW@ʁ~E K@8c=?~P6fF8 ٿ4?~!z.~dҁ~8ʗH@WAC6Q@~ -?v_{⿥MK?z~ ~FBj~gǜ?r~a4 ~ B|| ~ uB~lsB~D@- addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 0.505350 s, deltaX: 0.500000 m, approachRate: 0.989413 m/s, rangeRepo size: 4  Added new target pos. range: 60.969547 m, bearing: 324.690014 deg, lat: 36.906394 deg, lon: -122.116039 deg, deltaT: 0.505350 s, deltaX: 0.497887 m, approachRate: 0.985231 m/s, posRepo size: 4 DNOT Ignoring new targets: 60.97 m.bZrjRzJB~~}|||@3N@|@t? u*|BuY2 =Iq)u?qI}H yy}\#<xF>iiIR=IE?.EEE4Echecking for new query: numPingsReceived=64, elapsed TxPingTime=35.081017KP"Kŷ9*K2Ko:KrJfs.L {/m% hx8L^KWK^yYoMW8c6Gu %)>ZG RG AI ~Ga Aq A N >2s3,"hA)9?@Y%٥DAT read: 14:01:31.1245 LVL= 28592, 24465, 19506, 32755, AGC= 61, IDX= 504, 0.12, 2.031,-2.015, 3.084,-3.116, PHS=-1.048, 1.148,-0.086, RAW= 304.1, -0.1, CAL= 306.9, -0.5, ROT= 203.1, 0.5  HF =  >Ygot valid direction response: 14:01:31.1245 LVL= 28592, 24465, 19506, 32755, AGC= 61, IDX= 504, 0.12, 2.031,-2.015, 3.084,-3.116, PHS=-1.048, 1.148,-0.086, RAW= 304.1, -0.1, CAL= 306.9, -0.5, ROT= 203.1, 0.5 %T#Rx 65: Read range and direction messages.YYe>5]?m>59]dR I]Bym.?m:m@m@](Ei]M:]:]jq>55bdirection in FSK: [-0.919786,-0.392322,-0.008727]}Fpublishing direction and range info y CnXٿB7߁ vBY  o) _I 2Li   $ ?  kש@) I g@i 5 ib@ 5< )  gFᅵYmB?IDeAi 3~D U"*; LB/ 5< ) checking for new query: numPingsReceived=65, elapsed TxPingTime=35.397137Z b &hA FtB FtB 0:@ʁ =$8L4O6k7  CnXٿB7߁ LB/ 5<ҁ l-PxGH@"B׼^l? h r? Yy"cwn ?z  =BBj !{ǜ?r @*!  WB  @*!  }B [tB `>@m addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 0.503107 s, deltaX: 0.099998 m, approachRate: 0.198762 m/s, rangeRepo size: 4  Added new target pos. range: 61.068844 m, bearing: 322.695735 deg, lat: 36.906394 deg, lon: -122.116037 deg, deltaT: 0.503107 s, deltaX: 0.099297 m, approachRate: 0.197367 m/s, posRepo size: 4 uDNOT Ignoring new targets: 61.07 m.bqZqrqjqRqzqJyBy~~D|B}|||N@|`ھ? M/|BM'#<]ؓ>Yaiaԉi:JiBJ_JJ@RJZJ+:bJ=h9JJ4JH >H H IH ~BH H H H <H EE 1E E E 2E F F = checking for new query: numPingsReceived=65, elapsed TxPingTime=35.583782 6G>~GAAN?u3,$B4hA956?5}@Y5͆٥ HFM >>5u?>59K IBy?@(Ei::t>5 ATEUDNOT Ignoring new targets: 61.07 m.bQZQrQjQRQzQJQBY~Y~Y}Y||||``? 2|B-=I)7 ?I 1 "<%Oq>!!i!i)mDDAT read: Rx Time:14:01:31.6248 mTRx dataTimestamp_ set to:1749132092.927973uPDAT read: Bearing 204.7, 2.1 (Local) }~Local bearing/azimuth received: Bearing 204.7, 2.1 (Local) DAT read: Range 10 to 50 : 62.0 m (trip time 41.3 ms) speed -0.7 DAT read: 14:01:31.6248 LVL= 23312, 21153, 15394, 28307, AGC= 61, IDX= 506, 0.22, 2.558,-1.406,-2.574,-2.569, PHS=-1.069, 1.209,-0.008, RAW= 302.3, -1.4, CAL= 305.3, -2.1, ROT= 204.7, 2.1 Ygot valid direction response: 14:01:31.6248 LVL= 23312, 21153, 15394, 28307, AGC= 61, IDX= 506, 0.22, 2.558,-1.406,-2.574,-2.569, PHS=-1.069, 1.209,-0.008, RAW= 302.3, -1.4, CAL= 305.3, -2.1, ROT= 204.7, 2.1 T#Rx 66: Read range and direction messages.bdirection in FSK: [-0.907898,-0.417586,-0.036644]Fpublishing direction and range infoiymH  Իڿ(א¢mxBYi m[)mRIm"<imnimԈm?mo m֨@)m+ȼIm@imQ md@mQ = i)im'Qᅥy8L2imhFm~G A A N > A A checking for new query: numPingsReceived=66, elapsed TxPingTime=36.088085Km ^9P"Km @9*Ki 2Km p:Km KTk\a[bUJpo<-'.w4*xw=ԑ X3,NhA)1 5CGA 'Yy *BqO~BfII]I]M3z  =y Q >٥9A EHEFE E>IU>5Mi?U>59MFC IMByyy}@M(EiM.;M;My>5Y AWEԙZbc;hABvBBvBќ@ʁ%<ΊK#p9)]< H  Իڿ(א¢x-Q =ҁ H@1ICZs?֛.?ųZѮ`Yj?z@BjgJǜ?rك2 B BꁥvB@DDAT read: Rx Time:14:01:32.1249 TRx dataTimestamp_ set to:1749132093.432056PDAT read: Bearing 207.5, 1.4 (Local) ~Local bearing/azimuth received: Bearing 207.5, 1.4 (Local) DAT read: Range 10 to 50 : 62.1 m (trip time 41.4 ms) speed -0.7 DAT read: 14:01:32.1249 LVL= 22048, 20529, 17138, 28771, AGC= 62, IDX= 507, 0.15,-2.965,-0.626,-1.715,-1.749, PHS=-1.127, 1.170, 0.031, RAW= 299.7, -0.8, CAL= 302.5, -1.4, ROT= 207.5, 1.4 Ygot valid direction response: 14:01:32.1249 LVL= 22048, 20529, 17138, 28771, AGC= 62, IDX= 507, 0.15,-2.965,-0.626,-1.715,-1.749, PHS=-1.127, 1.170, 0.031, RAW= 299.7, -0.8, CAL= 302.5, -1.4, ROT= 207.5, 1.4 T#Rx 67: Read range and direction messages.bdirection in FSK: [-0.886746,-0.461611,-0.024432]Fpublishing direction and range infoځyڅlC9`쿄 ݿ{JڅfxBYځ ۅ V)ۅ1P addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 0.503742 s, deltaX: 0.500000 m, approachRate: 0.992572 m/s, rangeRepo size: 4   Added new target pos. range: 61.565128 m, bearing: 321.595056 deg, lat: 36.906394 deg, lon: -122.116037 deg, deltaT: 0.503742 s, deltaX: 0.496284 m, approachRate: 0.985196 m/s, posRepo size: 4  DNOT Ignoring new targets: 61.57 m.b IۅBiۅcpۅ>ۅAۅ•?ۅ< ܅Rb@)܅dI܅@i܅+ȼ܅g@܅+< ݁)݁݅-62:"s?ԡ0i݅H@݅xW<݅X*݅+< ށ)ށ%checking for new query: numPingsReceived=67, elapsed TxPingTime=36.361141Z)r1j1R1z9J9B9~9~9}A|A|A|E O@|Mϙ? 7|BҐH H IH ~BH  =H H H '<H SE-checking for new query: numPingsReceived=67, elapsed TxPingTime=36.591866)6G63>jGi?bGp?~GAAN ?Ƹ3,(*qhA9^٥AA EHEFM M>Q]>5U_?]>59U; IUBy]2?]:]Y?]@U)EiU:U:Uq}>5imm AiZAbEΦ[hAEvBEvBE6@ʁE;՜(WKw< ElC9`쿄 ݿ{JEX*E+<ҁEc%H@rZ8C@}?E[=ֲ?9Bk/?zEE@BjEUf;ǜ?rEZ0 EBE!{ǜ?A EWBEwBE@ addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 0.504083 s, deltaX: 0.099998 m, approachRate: 0.198377 m/s, rangeRepo size: 4  Added new target pos. range: 61.664696 m, bearing: 321.415964 deg, lat: 36.906394 deg, lon: -122.116037 deg, deltaT: 0.504083 s, deltaX: 0.099567 m, approachRate: 0.197522 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.66 m.bZrjRzJB~~!|B}||||? 5:|B50EE?BI9Ep:EEE0E  checking for new query: numPingsReceived=68, elapsed TxPingTime=37.0988206G >Ke 1.P"Ke 59*Ka 2Ke q:Ke uR P Dkf*A`qzX,1}7 %Iy5)A~GAAN>3,YhA96d?6?Y6q=y6#en6H MؿÆi`i?`dؿ?]ĭ? 6d?6j~;)6C^2~BbTI n=n=InInbva[ v8=yzv;Q z>٥|| ~H~ F v  >->5^V?->593 IByQ]?]@)Ei < <[>5im AiZb{hAwBwBD@ʁQK@^>#NAi)m.;߿ `*(<ҁ!#3H@ϯVvSC`g?=_T}?E$6pmx?ԑzABjoDǜ?r<. BgJǜ?<.  BwB#@ addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 0.504086 s, deltaX: 0.300003 m, approachRate: 0.595143 m/s, rangeRepo size: 4 u Added new target pos. range: 61.962597 m, bearing: 321.388389 deg, lat: 36.906389 deg, lon: -122.116043 deg, deltaT: 0.504086 s, deltaX: 0.297901 m, approachRate: 0.590973 m/s, posRepo size: 4 DNOT Ignoring new targets: 61.96 m.bZrjRzJB~~}|||@33O@|`d? 5>|B5"YI]^ۻ YY]$٥ H!FN  >>5J?>59Z) IBy8?:%*?%@ )Ei,::|>5-2B- A-YEZ1b5/hA5xB5xB59@ʁ5cG0K|c>nX@5(e޿.='?5(5l$ҁ5kF@.DyaJ@54a?ipLK ?z5u%57Bj5klƜ?r5&k 5B5oDǜ?5Z0  15byB5#Y@ addTargetRange:: Added new target pos. range: 62.599998 m, deltaT: 0.504276 s, deltaX: 0.199997 m, approachRate: 0.396602 m/s, rangeRepo size: 4  Added new target pos. range: 62.161049 m, bearing: 318.016921 deg, lat: 36.906388 deg, lon: -122.116044 deg, deltaT: 0.504276 s, deltaX: 0.198452 m, approachRate: 0.393538 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.16 m.bZrjRzJB~~|B}|||LO@|i? uA|BudyI}T̻ yy}%<V=iiDDDDDDAT read: Rx Time:14:01:33.6255 TRx dataTimestamp_ set to:1749132094.944121PDAT read: Bearing 209.1, 1.3 (Local) %~Local bearing/azimuth received: Bearing 209.1, 1.3 (Local) 5DAT read: Range 10 to 50 : 63.0 m (trip time 42.0 ms) speed -0.7 UDAT read: 14:01:33.6255 LVL= 27440, 29921, 21298, 32755, AGC= 64, IDX= 498,-0.05,-0.710, 1.733, 0.646, 0.577, PHS=-1.199, 1.203, 0.066, RAW= 298.2, -0.7, CAL= 300.9, -1.3, ROT= 209.1, 1.3 mYgot valid direction response: 14:01:33.6255 LVL= 27440, 29921, 21298, 32755, AGC= 64, IDX= 498,-0.05,-0.710, 1.733, 0.646, 0.577, PHS=-1.199, 1.203, 0.066, RAW= 298.2, -0.7, CAL= 300.9, -1.3, ROT= 209.1, 1.3 mT#Rx 70: Read range and direction messages.ubdirection in FSK: [-0.873547,-0.486210,-0.022687]uFpublishing direction and range infoy}K뿋.߿NGY;|BY 0k)tI2Si@x?+= ۋ@)+HI @i޹$i@޹< )*|?/  DDAT read: Rx Time:14:01:34.1256  TRx dataTimestamp_ set to:1749132095.200135 checking for new query: numPingsReceived=70, elapsed TxPingTime=38.1109853I3,?hAK.[wP"K.h9*K,2K.r:K.hbb'Q2"jDLx~p@Tn)]H&9D@?f?Y7*=yvHQXӿk@ݱZy?@zӿD?S`!? D@? Q;)C!=!~B=IIiU=IU;I}I}b25W ==yEo;Q E>٥II UHU"F]M e>q}>5u@?>59uk IuښBy?@u)Eiu:uX:uF>5 !AZAbEzlhAE;zBE;zBE@ʁE-SRKj>+\^E}K뿋.߿NGY;E(E޹<ҁE;:F@,NG=hE!iz@E!4/J?G "?zEA+E!6BjE~=Ɯ?rE2yj EoBEUf;ǜ?Eك2  EBEzBE)@ addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 0.503703 s, deltaX: 0.400002 m, approachRate: 0.794122 m/s, rangeRepo size: 4  Added new target pos. range: 62.558247 m, bearing: 316.762567 deg, lat: 36.906387 deg, lon: -122.116045 deg, deltaT: 0.503703 s, deltaX: 0.397198 m, approachRate: 0.788555 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.56 m.bZrjRJ B  PDAT read: Bearing 210.7, 3.1 (Local) %~Local bearing/azimuth received: Bearing 210.7, 3.1 (Local) 5DAT read: Range 10 to 50 : 63.2 m (trip time 42.1 ms) speed -0.7 }DAT read: 14:01:34.1256 LVL= 24992, 27505, 15810, 30963, AGC= 65, IDX= 499, 0.20, 2.238,-1.639,-2.640,-2.794, PHS=-1.163, 1.202, 0.152, RAW= 296.3, -1.9, CAL= 299.3, -3.1, ROT= 210.7, 3.1 Ygot valid direction response: 14:01:34.1256 LVL= 24992, 27505, 15810, 30963, AGC= 65, IDX= 499, 0.20, 2.238,-1.639,-2.640,-2.794, PHS=-1.163, 1.202, 0.152, RAW= 296.3, -1.9, CAL= 299.3, -3.1, ROT= 210.7, 3.1 T#Rx 71: Read range and direction messages.bdirection in FSK: [-0.858594,-0.509796,-0.054079]Fpublishing direction and range infoy߄7yC?Pʾ7|BY a)qkI=ixA/ݔ#ۙ?> 2|@)I )@ik]Zk@k]= )({}!TF?oB,֠ihD@= &k]= )~~}|||O@|? %D|B-checking for new query: numPingsReceived=71, elapsed TxPingTime=38.390915I%iYI] YY]&< iiE9 E9 E9 EE O0EA q ~Gy A A N >o3,hAH>HH~IHx~BH =HHH.<H[E9^N?^?Y^b*5=y^r~^H˕ѿ@^\?ѿ`#?`h`@>? ^N?^&;)^Ciii)i iIi )hA9Ai~jIIi\A ) 5AYpexFiDDAT read: Rx Time:14:01:34.6259 TRx dataTimestamp_ set to:1749132095.702882PDAT read: Bearing 211.0, 2.9 (Local) ~Local bearing/azimuth received: Bearing 211.0, 2.9 (Local) checking for new query: numPingsReceived=71, elapsed TxPingTime=38.618336"AIs)Fi)E CIAII ҩҹҹҹiٯ~BGIԁMb@Mb@Mb@ )YS?y&1|?I +y:?`;94 @)@I@yI&I3k H=y;Q >٥ H#F >>5::?=>59H IњByE:?M:M?M@)Ei\<u <>5Y}!AyZIbM,hAM{BM{BM@ʁMm J`9??& M߄7yC?Pʾ7M &Mk]=ҁMm'+F@Ej|EZ H]?M|W.P?'\5Se\?zM+M6BjMWGƜ?rM_=v MBMklƜ?M&k  IMyBM]o@} addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 0.502789 s, deltaX: 0.200001 m, approachRate: 0.397783 m/s, rangeRepo size: 4  Added new target pos. range: 62.756638 m, bearing: 316.776719 deg, lat: 36.906365 deg, lon: -122.116069 deg, deltaT: 0.502789 s, deltaX: 0.198391 m, approachRate: 0.394581 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.76 m.bZrjRJB~~ |B}||||@D? =G|BEBwAIM IIԩMns'<ǾiiM DAT read: Range 10 to 50 : 63.6 m (trip time 42.4 ms) speed -0.5 m DAT read: 14:01:34.6259 LVL= 29232, 25297, 21346, 32755, AGC= 68, IDX= 502, 0.28, 2.134,-1.758,-2.741,-2.898, PHS=-1.164, 1.187, 0.154, RAW= 296.0, -1.8, CAL= 299.0, -2.9, ROT= 211.0, 2.9 u Ygot valid direction response: 14:01:34.6259 LVL= 29232, 25297, 21346, 32755, AGC= 68, IDX= 502, 0.28, 2.134,-1.758,-2.741,-2.898, PHS=-1.164, 1.187, 0.154, RAW= 296.0, -1.8, CAL= 299.0, -2.9, ROT= 211.0, 2.9 } T#Rx 72: Read range and direction messages. bdirection in FSK: [-0.856070,-0.514378,-0.050593] Fpublishing direction and range info) y- "%d뿱eu࿛|rQ穿- f~BY) - 0r)- bI- bSi- - D- - ?- -> - MQ@)- I- <@i- 4QO- sk@- 4QO= ) )) - u+yݱ?Vai- D@- I<- Bo&- 4QO= ) ))  checking for new query: numPingsReceived=72, elapsed TxPingTime=38.875637E E E E _0E jG y?bG y?~G A A N >W4,ohA96[?6?Y6I@=y6ኽ6H@wϿ]ij@C?Ͽ=v?$@S#? 6[?6J;)6C}~BDIII[3ך =y)5e5?:J`BJ]JJNRJZJ:bJ_9J|4JzJ:jJ:Jh:rJi:Ա>59e IeʚBy?@e)Eie-50!AZYb]hA]|B]|B]!@ʁ]P3K$D^>@Mz ]"%d뿱eu࿛|rQ穿]Bo&]4QO=ҁ]EwvF@QDDAT read: Rx Time:14:01:35.1260 TRx dataTimestamp_ set to:1749132096.207369PDAT read: Bearing 210.3, 3.9 (Local) ~Local bearing/azimuth received: Bearing 210.3, 3.9 (Local)  DAT read: Range 10 to 50 : 63.8 m (trip time 42.5 ms) speed -0.4 I%72 ))5 (<-Z#Rx 73: Read range message, but no direction.کڭ3BYکKR1P"Ks9*K2Ks:K,uG1cuH>S{Q@IP 24jW#5rc)!>checking for new query: numPingsReceived=73, elapsed TxPingTime=39.154419ޛ뾩!)i)i1EEEE1E ~G A AI N} >9 4,behA~DAT read: 14:01:35.1260 LVL= 19808, 25489, 12274, 23619, AGC= 65, IDX= 503, 0.18, 1.134,-2.730, 2.539, 2.367, PHS=-1.144, 1.234, 0.169, RAW= 296.5, -2.5, CAL= 299.7, -3.9, ROT= 210.3, 3.9 Ygot valid direction response: 14:01:35.1260 LVL= 19808, 25489, 12274, 23619, AGC= 65, IDX= 503, 0.18, 1.134,-2.730, 2.539, 2.367, PHS=-1.144, 1.234, 0.169, RAW= 296.5, -2.5, CAL= 299.7, -3.9, ROT= 210.3, 3.9  Z#Rx 74: Read direction message, but no range.bdirection in FSK: [-0.861396,-0.503359,-0.068015]lyn;q-,::siYl n`M)ncIn/inC\nAnnn?nV-> nʘ@)n¸2InRb@in'gnIj@n'g= lnU%*?VvAdzin6E@nz5=nl7'n'g=-checking for new query: numPingsReceived=74, elapsed TxPingTime=39.374283) A p=-Mb@Mb@Mb@))) )))Y--?~jt?:vy-?5?-D<-T) -A@))I))y-@ImIm2J: !=yQ >٥ 5H5%F= =>AM>5E.?M>59E IEByMM5?M:M?M@E )EiE{:E:E>51B(!AZEZbE hAh}Bh}B¯@ʁ2 (IK&j'?E'Y<;q-,::sil7''g=ҁGF@L كF 5ds?1Zx ?-ľ@A{?z4=2Bj6Ŝ?rb B~=Ɯ?2yj  (B|B2@ addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 0.256207 s, deltaX: 0.200001 m, approachRate: 0.780622 m/s, rangeRepo size: 4  Added new target pos. range: 63.352428 m, bearing: 314.699680 deg, lat: 36.906360 deg, lon: -122.116081 deg, deltaT: 0.256207 s, deltaX: 0.198597 m, approachRate: 0.775143 m/s, posRepo size: 4 H>HHrIHd~BH =HHH"<HLEHHHH =I = I 5DNOT Ignoring new targets: 63.35 m.bZr!j!R!J!B!~i~u#|B}q|q|y|}`fO@|}`? uK|B}oY<DDAT read: Rx Time:14:01:35.6262 TRx dataTimestamp_ set to:1749132096.710920PDAT read: Bearing 211.7, 3.0 (Local) ~Local bearing/azimuth received: Bearing 211.7, 3.0 (Local) DAT read: Range 10 to 50 : 64.1 m (trip time 42.7 ms) speed -0.3 I) > I D  -- Z#Rx 75: Read range message, but no direction.ڡڥ3B d)< , i i i Yڡ checking for new query: numPingsReceived=75, elapsed TxPingTime=39.664387Ei Eq Eq Eu 0Eq ~GI AQ Ai Nu > 4,5hA 9>I?>?Y>qR=y>㠽>Hǿ`Rk,%g?`.ȿM?`EKi? >I?>| ;)>C^~B^FIIzIzm?36< =yD5=*?E>59= I=ByAM?M@=#)Ei=;=;=>5qu!Aq addTargetRange:: Added new target pos. range: 64.099998 m, deltaT: 0.503551 s, deltaX: 0.299999 m, approachRate: 0.595767 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 63.35 m.bZrjRJB~~}|||`fP@|Y? ML|BUW=IQ)U>QIU| QY]Q*<]aaiaiIDAT read: 14:01:35.6262 LVL= 25280, 26465, 14690, 31139, AGC= 67, IDX= 505, 0.03, 1.079,-2.676, 2.591, 2.406, PHS=-1.239, 1.248, 0.182, RAW= 295.3, -1.8, CAL= 298.3, -3.0, ROT= 211.7, 3.0 Ygot valid direction response: 14:01:35.6262 LVL= 25280, 26465, 14690, 31139, AGC= 67, IDX= 505, 0.03, 1.079,-2.676, 2.591, 2.406, PHS=-1.239, 1.248, 0.182, RAW= 295.3, -1.8, CAL= 298.3, -3.0, ROT= 211.7, 3.0 %Z#Rx 76: Read direction message, but no range.-bdirection in FSK: [-0.849645,-0.524751,-0.052336]yK0@<3oyoU˪Y b)agIb9iyCw?5^:> 7@)I&@iPwVxl@PwV= UV}J?KLJiC@<%PwV=Uchecking for new query: numPingsReceived=76, elapsed TxPingTime=39.885582E?EEEO0E~GQAaAqN}7>iJ+4J+-4J+L1:Jm]BJmRJJm@RJiZJm]:bJmS29JmJ4JizJm:jJm:Jm;:rJm;:ԙ  DDAT read: Rx Time:14:01:36.1263  TRx dataTimestamp_ set to:1749132097.215094 PDAT read: Bearing 212.0, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 212.0, 4.4 (Local)  DAT read: Range 10 to 50 : 64.2 m (trip time 42.8 ms) speed -0.5 -% Z#Rx 77: Read range message, but no direction.ս4,pOhA$K6P"K6+9*K42K6t:K6fw's+TP[$vapMhonw|q$9N?NJ?YNXBX=yNfNHpÿ~@9?!Ŀ`;?? N?N*5;)NCڙڝfBYڙvchecking for new query: numPingsReceived=77, elapsed TxPingTime=40.183434%~B%AII5 I5(2e6 eB=ym|\;Q m>٥ii mHu&FuH u>y>5}&?>59}S I}By?@}()Ei}2;}};}>59!AZbMhA~B~B@ʁ1K-x@ K0@<3oyoU˪%PwV=ҁN,D@(H@G ?zA:?zFA&BjMXĜ?rS B Ŝ?nt  ꁝ^B/@u addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 0.504174 s, deltaX: 0.099998 m, approachRate: 0.198341 m/s, rangeRepo size: 4  Added new target pos. range: 63.749756 m, bearing: 310.675767 deg, lat: 36.906353 deg, lon: -122.116093 deg, deltaT: 1.007725 s, deltaX: 0.397327 m, approachRate: 0.394282 m/s, posRepo size: 4 DNOT Ignoring new targets: 63.75 m.bZrjRJB~~}|| |  P@| @C?y N|Bk >IU+ YY]+<x6(iiDAT read: 14:01:36.1263 LVL= 23024, 21841, 13010, 25267, AGC= 64, IDX= 506,-0.27, 1.013,-2.791, 2.519, 2.289, PHS=-1.188, 1.251, 0.227, RAW= 294.7, -2.8, CAL= 298.0, -4.4, ROT= 212.0, 4.4 Ygot valid direction response: 14:01:36.1263 LVL= 23024, 21841, 13010, 25267, AGC= 64, IDX= 506,-0.27, 1.013,-2.791, 2.519, 2.289, PHS=-1.188, 1.251, 0.227, RAW= 294.7, -2.8, CAL= 298.0, -4.4, ROT= 212.0, 4.4 Z#Rx 78: Read direction message, but no range.bdirection in FSK: [-0.845549,-0.528357,-0.076719]E?EEEEکyڭ̦t{xM.0ۣYک ۭY)ۭQUIۭ2iۭbۭ@ۭbۭ ?ۭrh> ܭo@)ܭ+HIܭBo@iܭnFܭhl@ܭnF= ݩݭ.￞|hK㐷?miݭ'C@ݭE=ݭMQ%ݭnF=checking for new query: numPingsReceived=78, elapsed TxPingTime=40.384720~GAA N>) v4,`ihAH2>H0H2kIH2Y~BH2 =H0H2.DH2<H2E9ZN?Zu?YZ[=yZ^ZH `$`?`@;?!z ~? ZN?Z];)ZCn~BnEIir٥ii mHm'Fm u>q}>5uh#?>59u IuBy5?:h?@u.)Eiu;u%;u>5!AZIbMj.nhAMBMBM@ʁMZCEK`{@;M̦t{xM.0ۣMMQ%MnF=ҁM0D@ڸ=kHǫ?MRy'-? Q@Z7?zMFM!BjMXnĜ?rM`] MBM6Ŝ?Mb  MBMBMc@e addTargetRange:: Added new target pos. range: 64.500000 m, deltaT: 0.506489 s, deltaX: 0.300003 m, approachRate: 0.592319 m/s, rangeRepo size: 4 u Added new target pos. range: 64.046959 m, bearing: 309.091022 deg, lat: 36.906349 deg, lon: -122.116097 deg, deltaT: 0.506489 s, deltaX: 0.297203 m, approachRate: 0.586791 m/s, posRepo size: 4 }DNOT Ignoring new targets: 64.05 m.byZrjRJB~~D|B}||| P@|þ? O|BIfh 99=+- @) +I i ԇ ԇ= \Moh)?L i BC@ (= ԇ=5 checking for new query: numPingsReceived=80, elapsed TxPingTime=40.888615~G A ԡ A N > 4,yVط?>?Y>`=y>lЬ>Hε򰶿?`3?>-? >Vط?>ˈ;)>Cn~BrGIyI)I).; =yq;Q  ?٥ H(F޽  ?II:J%^BJ%ZJJ%ARJ!ZJ%} :bJ%S9J%4J!zJ%`:jJ%d:J%Qu:rJ%Tu:E>5"?E>59 IByAM?M@1)EiA<B<>5qu!AuYEDNOT Ignoring new targets: 64.05 m.bZrjRJB~~}||||K? P|B靕 =I)t>IW yc.<1iiԩMDDAT read: Rx Time:14:01:37.1266 ]TRx dataTimestamp_ set to:1749132098.224429PDAT read: Bearing 212.7, 5.5 (Local) ~Local bearing/azimuth received: Bearing 212.7, 5.5 (Local) EEEEP0EDAT read: Range 10 to 50 : 64.7 m (trip time 43.1 ms) speed -0.5 ~GK+P"K*K2Ku:KJk4A0quG v&^|lf ,J->J-?EqG]ZAuAA YZAyn!BAAN>DAT read: 14:01:37.1266 LVL= 22960, 21361, 11378, 22515, AGC= 60, IDX= 509, 0.15,-1.629, 0.830,-0.101,-0.376, PHS=-1.165, 1.254, 0.273, RAW= 293.8, -3.5, CAL= 297.3, -5.5, ROT= 212.7, 5.5 Ygot valid direction response: 14:01:37.1266 LVL= 22960, 21361, 11378, 22515, AGC= 60, IDX= 509, 0.15,-1.629, 0.830,-0.101,-0.376, PHS=-1.165, 1.254, 0.273, RAW= 293.8, -3.5, CAL= 297.3, -5.5, ROT= 212.7, 5.5 T#Rx 81: Read range and direction messages.bdirection in FSK: [-0.837637,-0.537753,-0.095846]Fpublishing direction and range infoQyU9V꿷F5aVXUfBYQ UY)UqSIUr,iUWU<UU?UƋ> U@)U5zIU, @iU ĽUm@U = Q)QU97ᅰ:r?JIg iUB@Uux=U"$U = Q)Quchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.235073 `&4,vhAJchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.3809899 Pc? ?Y e=y $Ľ H'۩@ o+@? ؂?@f9q? Pc? ;) CAAuMb@Mb@Mb@qqq q)qYu333333?/$Mb`yu9?uuq udA)uX@Iu@qyu@II3\ .=y^;Q >٥ H)F >>5v!?>59 IBy9?:?@7)Ei::ڦ>5!AZb ]hA}B}B֪@ʁ2yX;?JKA-FA/zr9V꿷F5aVX"$ =ҁT'OnB@ӠhJi?h?挵tߕg?z3PBjOLÜ?rm@ ~BMXĜ?S  BꁅBC=@ addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 0.502846 s, deltaX: 0.199997 m, approachRate: 0.397730 m/s, rangeRepo size: 4 M Added new target pos. range: 64.245552 m, bearing: 305.886744 deg, lat: 36.906321 deg, lon: -122.116128 deg, deltaT: 0.502846 s, deltaX: 0.198593 m, approachRate: 0.394938 m/s, posRepo size: 4 UDNOT Ignoring new targets: 64.25 m.bQZQrQjQRQJYBY~y~|B}|||,P@|L? R|Bw<I6;   T0< u/1i9i9Hu>HqHqHqHu =HqHqHu<Hu(EEEE E E UDDAT read: Rx Time:14:01:37.6270 ]TRx dataTimestamp_ set to:1749132098.727238}PDAT read: Bearing 225.2, -23.4 (Local) ~Local bearing/azimuth received: Bearing 225.2, -23.4 (Local) DAT read: Range 10 to 50 : 65.3 m (trip time 43.5 ms) speed -0.5 -Z#Rx 82: Read range message, but no direction.QUBYQchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.655334~G A A N > r-4,hA~~B~HI) I I  3EȞ; E}=yMQ M ?٥II MHQU U ?>5 !?>59 IBy@;)Ei :\:>5 !AU addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 0.502809 s, deltaX: 0.600006 m, approachRate: 1.193308 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 64.25 m.bYZYrYjYRYJYBa~~}|||@3SP@||? S|B=I)|>I#) &?1<%x/1!!i!i)DAT read: 14:01:37.6270 LVL= 21104, 22913, 11762, 25203, AGC= 59, IDX= 512, 0.01, 2.094,-2.317,-2.507,-2.457, PHS=-1.644, 0.187,-0.052, RAW= 276.9, 17.2, CAL= 284.8, 23.4, ROT= 225.2, -23.4 Ygot valid direction response: 14:01:37.6270 LVL= 21104, 22913, 11762, 25203, AGC= 59, IDX= 512, 0.01, 2.094,-2.317,-2.507,-2.457, PHS=-1.644, 0.187,-0.052, RAW= 276.9, 17.2, CAL= 284.8, 23.4, ROT= 225.2, -23.4 Z#Rx 83: Read direction message, but no range.`direction in FSK: [-0.646681,-0.651212,0.397148]ډyڍZ 俏5"M\1j?Yډ ۍpR)ۍYIۍ-iۍsbۍ;ۍnҿۍ|?>ۍT ܍o@)܍`>I܍@i܍>܍{@܍Ѿ ݉ݍ۫~ f??%?iݍ A/@ݍAݍݍѾchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.919960>E5<I9I9EEEEO0E) ~G A A N M DDAT read: Rx Time:14:01:38.1271 U TRx dataTimestamp_ set to:1749132099.229117] DAT read: Range 10 to 50 : 65.4 m (trip time 43.6 ms) speed -0.4 -e Z#Rx 84: Read range message, but no direction.Q U ̂BYQ m checking for new query: numPingsReceived=84, elapsed TxPingTime=42.140835(44,hA0KnJP"Kn9*Kl2Knv:Kn"Ig@l#NJBBh cVMU+gU#4T+qBJvAJvA9i??Yl=yϽH#?@n`?ҋ?Vg?bʹ@? i?骥;)C,~BPIII 2< >=y;Q >٥! %H%*F%& %>)5>5-I"?=>59- I-By9=?=@-?)Ei-;-I;-g>5AE AIZbکhABBT@ʁQȞqDY%ECX+w9@Z 俏5"M\1j?Ѿҁ;@WC@ zD'_}&@@bU?6 /俶_@?z#Bj@ Ü?r| BXnĜ? ꁅ7Bs@ addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 0.501879 s, deltaX: 0.099998 m, approachRate: 0.199248 m/s, rangeRepo size: 4  Added new target pos. range: 64.940277 m, bearing: 313.359583 deg, lat: 36.906311 deg, lon: -122.116128 deg, deltaT: 1.004688 s, deltaX: 0.694725 m, approachRate: 0.691483 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.94 m.bZrjRJB~~}|||YP@|`? =U|B=,9IEH AAEe2E`<ԉchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.389126E?EEE1E~GAA1NM>ԩ :JE aBJE SJJA RJA ZJE :bJE y69JA JA M @U @U @U @ H] <H] <He >He CHe rIHe d~BHa Ha Ha He <He EW;:4,OhA9:!?:&?Y:#q=y:Up˽:H?Q@ъ`?`?@!V?@ X@~? :!?@:U;)8.~BQIDDAT read: Rx Time:14:01:38.6274 TRx dataTimestamp_ set to:1749132099.735506%PDAT read: Bearing 217.0, 6.7 (Local) -~Local bearing/azimuth received: Bearing 217.0, 6.7 (Local) ]DAT read: Range 10 to 50 : 65.9 m (trip time 43.9 ms) speed -0.4 -eZ#Rx 85: Read range message, but no direction.̃BYmchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.658100ԩ5Mb@Mb@Mb@111 1)1Y5n?&1~jth?y56?5P5D;5~@ 5A)5@I5@1y5\@ImIm2}^; }(=y};Q >٥ H+F͏ >>5%?>59 IxBy|6?%:%?%@E)Eis<^s<>550B5 A5WE addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 0.506389 s, deltaX: 0.500000 m, approachRate: 0.987383 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 64.94 m.bZrjRJB~~|B}|||yP@|!I-' ))-4 ܍ v@)܍ 5I܍ _@i܍ |i܍ .dr@܍ |= ݉ ݍ U{qX￞$%?Y^uiݍ <@ݍ p=ݍ ݍ |= checking for new query: numPingsReceived=86, elapsed TxPingTime=42.902187 >E ̓<EQ EY EY E] O0EY ~G1 AI AY a Nm >A4,khA9V?VJĽ?YVv=yVNǽVH`#?Խe`N?? z?׮̸@? V?V-;)VC DDAT read: Rx Time:14:01:39.1275 TRx dataTimestamp_ set to:1749132100.2429725PDAT read: Bearing 221.1, 6.3 (Local) =~Local bearing/azimuth received: Bearing 221.1, 6.3 (Local) U+~BUOIi]٥ H,Fm >>5$*?>59 IqByDAT read: 14:01:39.1275 LVL= 19264, 19345, 14514, 27587, AGC= 60, IDX= 500, 0.18,-1.376, 0.968, 0.396,-0.082, PHS=-1.207, 1.096, 0.475, RAW= 285.1, -3.6, CAL= 288.9, -6.3, ROT= 221.1, 6.3 ?@J)Ei;;>5 A%Ygot valid direction response: 14:01:39.1275 LVL= 19264, 19345, 14514, 27587, AGC= 60, IDX= 500, 0.18,-1.376, 0.968, 0.396,-0.082, PHS=-1.207, 1.096, 0.475, RAW= 285.1, -3.6, CAL= 288.9, -6.3, ROT= 221.1, 6.3 %T#Rx 87: Read range and direction messages.-bdirection in FSK: [-0.749012,-0.653405,-0.109734]5Fpublishing direction and range infoy=!,=BY @K)KI8ik<~I?33> :@)I)Z@iz0Ὁv@U addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 0.507466 s, deltaX: 0.099998 m, approachRate: 0.197055 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 64.94 m.bQZQrQjQRYJYBY~Y~a}i|q|q|}P@|}@A?KuP"K*K2Kw:K$~WF>/>|=k%*bh'Up}; '%Az0= )?cQVk?vݯil8@='z0= )checking for new query: numPingsReceived=87, elapsed TxPingTime=43.247719 [|BZIvc 6<w/1iiD D D1D1y  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.397606ԙ Eu ?Eq Eq Eq Eq ~GIAYAiNu>H4,|a%hA95rD?5k?Y5>{=y5X5H&?` ? ?z?@wo? 5rD?5;)5C II)Iɺ麉ɻiIIiQA 黙)鼡 ?A:J]BJYJJBRJZJ]:bJ[O9J-4J)ɼ)11I1)1i1)9I=bA9ɽ9 9ɾ99AiAAiii)i iIiٯiH>HHxIHn~BHHHH<H9E2~BTIԁDDAT read: Rx Time:14:01:39.6276 TRx dataTimestamp_ set to:1749132100.743817 PDAT read: Bearing 224.0, 6.5 (Local)  ~Local bearing/azimuth received: Bearing 224.0, 6.5 (Local) DAT read: Range 10 to 50 : 66.2 m (trip time 44.1 ms) speed -0.4 MDAT read: 14:01:39.6276 LVL= 17888, 18961, 13474, 25683, AGC= 60, IDX= 502,-0.06, 2.083,-1.911,-2.365,-2.901, PHS=-1.211, 1.037, 0.534, RAW= 282.3, -3.6, CAL= 286.0, -6.5, ROT= 224.0, 6.5 ]Ygot valid direction response: 14:01:39.6276 LVL= 17888, 18961, 13474, 25683, AGC= 60, IDX= 502,-0.06, 2.083,-1.911,-2.365,-2.901, PHS=-1.211, 1.037, 0.534, RAW= 282.3, -3.6, CAL= 286.0, -6.5, ROT= 224.0, 6.5 ]T#Rx 88: Read range and direction messages.ebdirection in FSK: [-0.714716,-0.690193,-0.113203]eFpublishing direction and range infoys69;濢5fBY E)JI4iSd j?9? @)I@iV轉5z@V= )/ xm>p )bi?t#ԯiL5@+~=V= )checking for new query: numPingsReceived=88, elapsed TxPingTime=43.672592eMb@Mb@Mb@aaa a)aYe~jt?lye;?eee@ eA)eAIeI@ayeQ@II2H< =y ;Q >٥ H-F} >>51?>5ԩ9( IfBy51B ATEZb/hAxBxB@ʁOIg~}G%HF+}s69;濢5V=ҁ~C@d)J@7οt7,[^?>xx鿀ImzMQ%Bj1hJĜ?r A}B1hJĜ?`]  Bw@M  addTargetRange:: Added new target pos. range: 66.199997 m, deltaT: 0.500845 s, deltaX: 0.199997 m, approachRate: 0.399319 m/s, rangeRepo size: 4   Added new target pos. range: 65.734383 m, bearing: 307.248414 deg, lat: 36.906307 deg, lon: -122.116140 deg, deltaT: 1.514700 s, deltaX: 0.794106 m, approachRate: 0.524266 m/s, posRepo size: 4  DNOT Ignoring new targets: 65.73 m.b Z r j R J B ~ ~ }B} | | | ̌P@| r?  ^|B  I FG    9<% t/1! ! i! i) } checking for new query: numPingsReceived=88, elapsed TxPingTime=43.900719E ?E E E E jG |?bG ~?~G A A N >P4,BhA9N?N=?YN4=yN½NH?`b` ? k?`fy? 8)<1? N?N ɉ;)NC ~BIIII2q =yY;Q ?٥ H.F ?>56?>59ҵ I`By5!%!A)DNOT Ignoring new targets: 65.73 m.bZrjRJB~~}|||| ۤ? -`|B-o0=I))-s>)I5 115-@:UٞUX9t?U"? U3@)UdIUc@iU^ ڽU~@U^ = Q)QUʈInY҄p?a(J7iU1@Ua=U8U^ = Q)Qchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.173805~G!A)AAN]u>K P"K9*K2Kx:K% $l $E[;?b+*e(lYR{*u3<Ns %V4,\hAL ؅=ׁchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.408813%~BLI)  Mb@Mb@Mb@ )YMb?/$Mbp?y@?;@ 3A)AIQ@y@II3 f<  =y Q  >٥ H/F >!->5%>?->59% I%WBy-A?-:-?-@%Z)Ei%:%:%W>5=0B= A=SEZqbuOhAuBuBug׬@ʁuK,EٞWfHMYuQ5忍@qk\O4u8u^ =ҁu;ⶳD@$EhI0x ?u m W?+f@z$Ax?zuFKue'Bju[Ŝ?ruG uBqq uBuxBu@ addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 0.504346 s, deltaX: 0.100006 m, approachRate: 0.198289 m/s, rangeRepo size: 4  Added new target pos. range: 65.833687 m, bearing: 309.471352 deg, lat: 36.906307 deg, lon: -122.116140 deg, deltaT: 0.504346 s, deltaX: 0.099304 m, approachRate: 0.196897 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.83 m.bZrjRJB~~D}B}|||@3P@| ? c|BI Z<<%v/1!!i!i):J=^BJ=OJJ=?RJ9ZJ=} :bJ=%9J=ـ4J9H>HCHrIHd~BH =HHH<H2EHHHH =I = I*5!E?EEE2E= DDAT read: Rx Time:14:01:40.6279 E TRx dataTimestamp_ set to:1749132101.749552M PDAT read: Bearing 232.1, 5.6 (Local) M ~Local bearing/azimuth received: Bearing 232.1, 5.6 (Local) ~Ga Aq  DAT read: Range 10 to 50 : 66.6 m (trip time 44.4 ms) speed -0.4  DAT read: 14:01:40.6279 LVL= 18624, 19585, 13778, 23379, AGC= 65, IDX= 505, 0.14, 0.787, 2.937, 2.790, 2.123, PHS=-1.248, 0.860, 0.663, RAW= 274.8, -2.8, CAL= 277.9, -5.6, ROT= 232.1, 5.6  Ygot valid direction response: 14:01:40.6279 LVL= 18624, 19585, 13778, 23379, AGC= 65, IDX= 505, 0.14, 0.787, 2.937, 2.790, 2.123, PHS=-1.248, 0.860, 0.663, RAW= 274.8, -2.8, CAL= 277.9, -5.6, ROT= 232.1, 5.6  T#Rx 90: Read range and direction messages. bdirection in FSK: [-0.611353,-0.785318,-0.097583] Fpublishing direction and range infoA N >9 y= ?ڙ4NS!A_1= 3BY9 = H)= LI= 5i= S[= A= w= (\?= ^)? = .z@)= +HI= i5@i= +Ƚ= @= += 9 )9 = 5C?>59{ IRBy@^)Ei:`:>5!AZbohACBCB/@ʁ:-P7D I*f]B?ڙ4NS!A_1+=ҁfjF@WI Hw j?bwo.?&[6D5ŏ?zZ@5BjOV(4Ɯ?r>`l BG  ꁕ$B*@ addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 0.501389 s, deltaX: 0.299995 m, approachRate: 0.598329 m/s, rangeRepo size: 4  Added new target pos. range: 66.132286 m, bearing: 313.344573 deg, lat: 36.906307 deg, lon: -122.116122 deg, deltaT: 0.501389 s, deltaX: 0.298599 m, approachRate: 0.595544 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.13 m.bZrjRJB~~}|||`fP@|`y? 5e|B54=I1)= >9I= 8 99=D=ԑ e DDAT read: Rx Time:14:01:41.1280 e TRx dataTimestamp_ set to:1749132102.251864u PDAT read: Bearing 235.4, 5.2 (Local) } ~Local bearing/azimuth received: Bearing 235.4, 5.2 (Local)  DAT read: Range 10 to 50 : 66.8 m (trip time 44.5 ms) speed -0.4  DAT read: 14:01:41.1280 LVL= 23328, 20977, 16482, 23411, AGC= 65, IDX= 505, 0.39, 0.664, 2.742, 2.725, 2.006, PHS=-1.253, 0.783, 0.716, RAW= 271.7, -2.5, CAL= 274.6, -5.2, ROT= 235.4, 5.2  Ygot valid direction response: 14:01:41.1280 LVL= 23328, 20977, 16482, 23411, AGC= 65, IDX= 505, 0.39, 0.664, 2.742, 2.725, 2.006, PHS=-1.253, 0.783, 0.716, RAW= 271.7, -2.5, CAL= 274.6, -5.2, ROT= 235.4, 5.2  T#Rx 91: Read range and direction messages. bdirection in FSK: [-0.565507,-0.819749,-0.090633] Fpublishing direction and range infoa ye ͥu7a;0L3e BYa e [)e QIe b@ie s[a e Nbe rH?e K7? e @)e ¸2Ie ]@ie ޹e x@e ޹= a )a e aSZ#RAHZ?05ie g)@e 1=e - e ޹= a )a  checking for new query: numPingsReceived=91, elapsed TxPingTime=45.176224|d4, 6hA9N ?N(?YNfw=yN񱽹NH d٥ll nHr0Frz r>)1=>55L?E>595О I5JByAE?E@5c)Ei5;5;5e>5QU!AQZbhABB@ʁI۞ZB?v]/K}#}T ͥu7a;0L3- ޹=ҁSYGصE@ I?-!?.5&k?zHm-Bj:ʒŜ?r oBKEP"KE9*KA2KEy:KE1&Po ez},{j60;P GFZ[Ŝ?  ByB@u addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 0.502312 s, deltaX: 0.200005 m, approachRate: 0.398168 m/s, rangeRepo size: 4  Added new target pos. range: 66.330887 m, bearing: 310.825291 deg, lat: 36.906327 deg, lon: -122.116109 deg, deltaT: 0.502312 s, deltaX: 0.198601 m, approachRate: 0.395373 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.33 m.bZrjRJB~~}|||@3P@|}? -h|B5y1I509 ?<x/1iiYEiEiEqEqEq~GiAA5checking for new query: numPingsReceived=91, elapsed TxPingTime=45.413231Nmx>ԉԩ :J `BJ UJJ @RJ ZJ :bJ >9J J4J <>j4,shAH.>H,H.eIH.O~BH. =H,H,H.<H.Eԙ9}^?}^?Y} =DDAT read: Rx Time:14:01:41.6282 TRx dataTimestamp_ set to:1749132102.756605PDAT read: Bearing 242.1, 5.7 (Local) ~Local bearing/azimuth received: Bearing 242.1, 5.7 (Local) DAT read: Range 10 to 50 : 67.1 m (trip time 44.7 ms) speed -0.3 DAT read: 14:01:41.6282 LVL= 19952, 16689, 16002, 26803, AGC= 65, IDX= 507, 0.23,-0.248, 1.715, 1.971, 1.098, PHS=-1.258, 0.664, 0.870, RAW= 265.0, -2.8, CAL= 267.9, -5.7, ROT= 242.1, 5.7 Ygot valid direction response: 14:01:41.6282 LVL= 19952, 16689, 16002, 26803, AGC= 65, IDX= 507, 0.23,-0.248, 1.715, 1.971, 1.098, PHS=-1.258, 0.664, 0.870, RAW= 265.0, -2.8, CAL= 267.9, -5.7, ROT= 242.1, 5.7 T#Rx 92: Read range and direction messages.bdirection in FSK: [-0.465616,-0.879396,-0.099320]Fpublishing direction and range infoڙyڝcݿ_.$hܸmڝ3BYڙ ۝M)۝1AI۝>i۝hۙ۝%۝)?۝R^? ܝ@)ܝ+HIܝ@iܝ%˽ܝ6@ܝ%= ݙ)ݙݝIX+꿏s7eY?w8~iݝ!@ݝ=wD=ݝݝ%= ޙ)ޙ=checking for new query: numPingsReceived=92, elapsed TxPingTime=45.684875y}(}H\?DA B? ???8߶`? }^?};)}CM}BM4IiU=IUp;Mb@Mb@Mb@ )Y%C?+η{GztyZD?vף@ )I;@yI Ib3-D -=y-H;Q ->٥11 5H51F >>5e\?>59 I5  !A PEZb7lhAABAB*@ʁ'? KM!^xcݿ_.$hܸm%=ҁypKF@u:HI'?:k+I?~(翈b?z@7BjU=~Ɯ?rc" }B:ʒŜ? }BꁝB i@ addTargetRange:: Added new target pos. range: 67.099998 m, deltaT: 0.504741 s, deltaX: 0.299995 m, approachRate: 0.594355 m/s, rangeRepo size: 4  Added new target pos. range: 66.628700 m, bearing: 313.633734 deg, lat: 36.906342 deg, lon: -122.116109 deg, deltaT: 0.504741 s, deltaX: 0.297813 m, approachRate: 0.590032 m/s, posRepo size: 4 UDNOT Ignoring new targets: 66.63 m.bYZYrYjYRYJYBY~a~e}B}a|a|i|m`fP@|@? m|B5 I o: B<u/1i!i)bE1ZE1E ?E E E b5E E  b'q4,hA9B }?B?YB܊=yB<0½BHn?`C@,??X?3Xw.v? B }?Bt;)BCn}Bn"II IV2%'ٽ %=y-:Q -#?٥)1 5H52FU U!?Ym>5]2d?>59] I]6By?@]m)Ei];];]|>5!ADNOT Ignoring new targets: 66.63 m.bZrjRJB~~!}!|!|!|!|M`? o|B靝 =I)>I a: IIC<r/1iiEEEEO0E!DDAT read: Rx Time:14:01:42.1281 TRx dataTimestamp_ set to:1749132103.260027PDAT read: Bearing 248.7, 5.4 (Local) ~Local bearing/azimuth received: Bearing 248.7, 5.4 (Local) ) C%9G9Q~Ga Yy BADAT read: Range 10 to 50 : 66.9 m (trip time 44.6 ms) speed -0.3 C@BDAT read: 14:01:42.1281 LVL= 25840, 21393, 16850, 29171, AGC= 63, IDX= 507,-0.01, 1.050, 2.925,-2.821, 2.425, PHS=-1.287, 0.547, 1.035, RAW= 258.5, -2.8, CAL= 261.3, -5.4, ROT= 248.7, 5.4 %Ygot valid direction response: 14:01:42.1281 LVL= 25840, 21393, 16850, 29171, AGC= 63, IDX= 507,-0.01, 1.050, 2.925,-2.821, 2.425, PHS=-1.287, 0.547, 1.035, RAW= 258.5, -2.8, CAL= 261.3, -5.4, ROT= 248.7, 5.4 %T#Rx 93: Read range and direction messages.A1NEs>bdirection in FSK: [-0.361639,-0.927556,-0.094108]Fpublishing direction and range infoڡyڥr`H%׿[|ӄ{ڥ̅BYڡ ۥd)ۥSIۥAiۥqۥ?ۥjۥ1 ?ۥz? ܥ_@)ܡIܥ@iܥܥy@ܥ= ݡ)ݡݥ&lU1-?&iݥ@ݥkLI=ݥݥ= ޡ)ޡ5checking for new query: numPingsReceived=93, elapsed TxPingTime=46.252422IK$P"K9*K2Kz:K*)&r6`ol:SeRn^@M"W3mv-EJJq ,Uw4,nhAchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.421680I9uCu?uȖ?YuYߋ=yugǽuH p?`U`v~?I?ߖ?pxԸ@1? uCu?ud;)q}BIMMb@Mb@Mb@III I)IYMS㥛?/$:vyM$F?MMTM@ MA)MAIM`@IyM3@IeIe2u u*=yu:Q }>٥yy }H3FD >>56s?>59z I(ByUG?:Ĉ?@r)Ei ;;>5A"AKEZbHhA܄B܄Bd@ʁ?8ړN4r`H%׿[|ӄ{=ҁePH@mwoFiF?k#?j f?zt7%@Bju$Cǜ?r^? BOV(4Ɯ?>`l  B4B9k@ addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 0.503422 s, deltaX: -0.199997 m, approachRate: -0.397275 m/s, rangeRepo size: 4  Added new target pos. range: 66.430115 m, bearing: 316.325524 deg, lat: 36.906359 deg, lon: -122.116089 deg, deltaT: 0.503422 s, deltaX: -0.198586 m, approachRate: -0.394471 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.43 m.bZrjRJB!~!~%}B}!|)|)|-P@|-@? es|BmiIm,޶: qquKF<}w/1yyiyiq H1H1H5>H1H5RIH51~BH5 =H1H1H5<H56EEU?EQEYE]N0Ea~GyAAN>DDAT read: Rx Time:14:01:42.6283 TRx dataTimestamp_ set to:1749132103.763933PDAT read: Bearing 253.3, 4.5 (Local) ~Local bearing/azimuth received: Bearing 253.3, 4.5 (Local) DAT read: Range 10 to 50 : 67.2 m (trip time 44.8 ms) speed -0.2 DAT read: 14:01:42.6283 LVL= 24384, 21953, 19858, 28979, AGC= 60, IDX= 509,-0.10, 2.729,-1.792,-1.068,-2.178, PHS=-1.288, 0.433, 1.107, RAW= 254.2, -2.4, CAL= 256.7, -4.5, ROT= 253.3, 4.5 Ygot valid direction response: 14:01:42.6283 LVL= 24384, 21953, 19858, 28979, AGC= 60, IDX= 509,-0.10, 2.729,-1.792,-1.068,-2.178, PHS=-1.288, 0.433, 1.107, RAW= 254.2, -2.4, CAL= 256.7, -4.5, ROT= 253.3, 4.5  T#Rx 94: Read range and direction messages. bdirection in FSK: [-0.286475,-0.954870,-0.078459] Fpublishing direction and range infoکyڭf Uҿۣ-K5;ڭfBYک ۭ@_)ۭUIۭMiۭ3qۭ<ۭ/ݤۭ->ۭ-? ܭ@)ܭ+IܭK^@iܭ|٠ܭ+x@ܭ|٠= ݩ)ݩݭCF픨9L? 2XNiݭ5@ݭa*=ݭ^ݭ|٠= ީ)ީ- checking for new query: numPingsReceived=94, elapsed TxPingTime=46.688839I *w}4,tzhA9B!l?B1u?YB׌=yByKBH5~}?>59~ I~By  q? @~v)Ei~:~p:~n>5"AZbGhAtBtB(@ʁ"Ъ3%^8Oеf Uҿۣ-K5;^|٠=ҁ@)I@W64Ep)V@ɗ"?|,俜;^V?z/OIBj;Ȝ?r* BU=~Ɯ?c"  oBBʮ@ addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 0.503906 s, deltaX: 0.299995 m, approachRate: 0.595340 m/s, rangeRepo size: 4   Added new target pos. range: 66.728004 m, bearing: 318.988352 deg, lat: 36.906367 deg, lon: -122.116083 deg, deltaT: 0.503906 s, deltaX: 0.297890 m, approachRate: 0.591161 m/s, posRepo size: 4  DNOT Ignoring new targets: 66.73 m.b Z r jRJqBy~y~y}|||P@|`? v|B4I: OH<-t/119i9iAIchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.924450EEEE_0EZGRG~GAANI>y:J\BJJJ?RJZJ=:bJJـ4JzJ:jJ:J|Q:rJQ:  DDAT read: Rx Time:14:01:43.1283  TRx dataTimestamp_ set to:1749132104.267860 PDAT read: Bearing 257.9, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 257.9, 6.0 (Local)  DAT read: Range 10 to 50 : 67.2 m (trip time 44.8 ms) speed -0.2  DAT read: 14:01:43.1283 LVL= 27376, 21553, 14066, 24979, AGC= 60, IDX= 509,-0.16, 1.182, 2.858,-2.496, 2.551, PHS=-1.281, 0.354, 1.233, RAW= 249.8, -2.8, CAL= 252.1, -6.0, ROT= 257.9, 6.0  Ygot valid direction response: 14:01:43.1283 LVL= 27376, 21553, 14066, 24979, AGC= 60, IDX= 509,-0.16, 1.182, 2.858,-2.496, 2.551, PHS=-1.281, 0.354, 1.233, RAW= 249.8, -2.8, CAL= 252.1, -6.0, ROT= 257.9, 6.0 % T#Rx 95: Read range and direction messages.- bdirection in FSK: [-0.208470,-0.972427,-0.104528]- Fpublishing direction and range info y ܓ9?(ʿ4ޮ`º Y j) 1TI 6i a }?> ҝ? @) +HI ̌@i Pwֽ @ Pw= ) 4vz俥ﰜ?Lv i  @ ,`H=  Pw= ) M checking for new query: numPingsReceived=95, elapsed TxPingTime=47.193172Ya4,F_hA9:9d?<:$C?Y:=y:A:H O?@, 7?]?й?`e֒u? :9d?:ۇ;):C5}B5IIEIE2Up; ]A=y]P:Q ]>٥aa eHe4Fe m>i>5m?>59mz ImBy@?@m|)Eim;m;m>5"AK$P"K59*K2K{:K4=Sj'O7:u^ksblifOr`5a{J ?J?Zb$hAꝳ@ʁrU+X8Pۛ `ܓ9?(ʿ4ޮ`ºPw=ҁeSi%J@n"j Dnb=Ͽl@?7?U嵕 [Knz%/QBjz|Ȝ?r |Bu$Cǜ?^?  Buf@ԩ addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 0.503927 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 66.728004 m, bearing: 321.602743 deg, lat: 36.906388 deg, lon: -122.116051 deg, deltaT: 0.503927 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.73 m.bZrjRJB~~}||||? e{|BmP\iImo: iiuoK Ռ4,@,hAlH}>HyH}3IH}}BH} =HyHyH}(<H}ME9Ö[??YL=yWH8? 2, ;u?@?2? ӱ<? Ö[?;)Cq}BIDDAT read: Rx Time:14:01:43.6285 TRx dataTimestamp_ set to:1749132104.776022PDAT read: Bearing 260.5, 3.1 (Local) ~Local bearing/azimuth received: Bearing 260.5, 3.1 (Local) DAT read: Range 10 to 50 : 67.5 m (trip time 45.0 ms) speed -0.2 DAT read: 14:01:43.6285 LVL= 22176, 18353, 14738, 24675, AGC= 58, IDX= 510,-0.28, 0.651, 2.233,-3.012, 2.034, PHS=-1.295, 0.246, 1.234, RAW= 247.2, -1.7, CAL= 249.5, -3.1, ROT= 260.5, 3.1 Ygot valid direction response: 14:01:43.6285 LVL= 22176, 18353, 14738, 24675, AGC= 58, IDX= 510,-0.28, 0.651, 2.233,-3.012, 2.034, PHS=-1.295, 0.246, 1.234, RAW= 247.2, -1.7, CAL= 249.5, -3.1, ROT= 260.5, 3.1 T#Rx 96: Read range and direction messages.bdirection in FSK: [-0.164806,-0.984842,-0.054079]Fpublishing direction and range infoڙyڝ?]ſ2hԃʾ7ڝBYڙ ۝V)۝GI۝9i۝c`۝:۝¥۝m{>۝? ܝ@)ܝIܝX@iܝk]ܝ}@ܝk]= ݙ)ݙݝ}*VGKz?":Siݝ@ݝߥ<ݝH޿ݝk]= ޙ)ޙ=checking for new query: numPingsReceived=96, elapsed TxPingTime=47.704987Mb@Mb@Mb@ )Yy&1?+ rhy`E?C3@ A)AI@y@IIV83$ڽ %=y%֑:Q %>٥)1 5H55F~ >>5l?>59q IBynF?:y?@)Ei:I:>51B#AHEZbX1hA B B@ʁ|,&N@)P `TP ?]ſ2hԃʾ7H޿k]=ҁQ$ZJ@mD&*5@F]T?3vӽ`(?zh#:TBjkvɜ?r ԥ B;Ȝ?*  BꁝBͱ@  addTargetRange:: Added new target pos. range: 67.500000 m, deltaT: 0.508162 s, deltaX: 0.300003 m, approachRate: 0.590369 m/s, rangeRepo size: 4 )] Added new target pos. range: 67.025604 m, bearing: 322.404922 deg, lat: 36.906410 deg, lon: -122.116025 deg, deltaT: 0.508162 s, deltaX: 0.297600 m, approachRate: 0.585640 m/s, posRepo size: 4 eDNOT Ignoring new targets: 67.03 m.baZarajaRaJiB~~|B}|||P@|? |BI ; (O<%v/1iiiiiiE ?E E E P0E jG p?bG e?M checking for new query: numPingsReceived=96, elapsed TxPingTime=47.936520Y ~G A A! N- >p4, FhA9JR?J#y?YJ=yJJH@?ɣ뢿{??@k?6n@? JR?JUm;)JCnF}B~Ii55Q?e>595Im I5Byaep?e@5)Ei5;5;5>5u0Buk$AuGEDNOT Ignoring new targets: 67.03 m.bZrjRJB~~}|||| ]? u|Bu zyI}Sv; yy-P<:J`BJ^JJCRJZJ:bJd9J4JzJ:jJ:J:rJ:s/1iiyE?EEEp5E DDAT read: Rx Time:14:01:44.1285 TRx dataTimestamp_ set to:1749132105.281425PDAT read: Bearing 263.4, 7.2 (Local) ~Local bearing/azimuth received: Bearing 263.4, 7.2 (Local) DAT read: Range 10 to 50 : 67.5 m (trip time 45.0 ms) speed -0.2 DAT read: 14:01:44.1285 LVL= 22896, 20977, 13346, 24643, AGC= 59, IDX= 509, 0.40, 1.147, 2.648,-2.506, 2.456, PHS=-1.222, 0.239, 1.317, RAW= 245.0, -3.1, CAL= 246.6, -7.2, ROT= 263.4, 7.2 ~G9AAAQNmW>uYgot valid direction response: 14:01:44.1285 LVL= 22896, 20977, 13346, 24643, AGC= 59, IDX= 509, 0.40, 1.147, 2.648,-2.506, 2.456, PHS=-1.222, 0.239, 1.317, RAW= 245.0, -3.1, CAL= 246.6, -7.2, ROT= 263.4, 7.2 T#Rx 97: Read range and direction messages.bdirection in FSK: [-0.114031,-0.985540,-0.125333]Fpublishing direction and range infoڹyڽ_E/#1wcK ڹYڹ ۽pY)۽QI۽"4i۽C`۽;۽j۽jt>۽u? ܽuՈ@)ܽk]Iܽ9@iܽܽ=@ܽ> ݹ)ݹݽ ޹)޹ checking for new query: numPingsReceived=97, elapsed TxPingTime=48.233273ԑKM +P"KM h9*KI 2KM |:KM GEN$o/[MYBo X< dC7oSD ku'wg z  4,_hAchecking for new query: numPingsReceived=97, elapsed TxPingTime=48.443348ԑ9LI? ?Yꋓ=y.fH?@)?`?@?gmė{? LI?&w;)C=<}B=IMb@Mb@Mb@ )YˡE?J +Zd;OyG?Hj;@ A)AI~@y@II(| &=yB ;Q >٥ H7F >%>5N?%>59e IBy%jH?-:-dq?-@)Ei ::a>5E1BE$AEDEZbRhAO@ʁМ);n!P- _E/#1wcK w׿>ҁ J@#ܰ E `ӵz?8 e俌Uzm(gPBjFȜ?r w TtBz|Ȝ?  BM#@  addTargetRange:: Added new target pos. range: 67.500000 m, deltaT: 0.505403 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 67.025604 m, bearing: 321.055374 deg, lat: 36.906429 deg, lon: -122.115995 deg, deltaT: 0.505403 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 67.03 m.bIZIrIjIRQJQBq~y~}|B}y|y|y|| ?H>HHIH}BH =HHH<HE |BHSI; ^T<x/1iiDDAT read: Rx Time:14:01:44.6286 TRx dataTimestamp_ set to:1749132105.785544PDAT read: Bearing 265.3, 5.6 (Local) ~Local bearing/azimuth received: Bearing 265.3, 5.6 (Local) DAT read: Range 10 to 50 : 67.7 m (trip time 45.1 ms) speed -0.1 E} ?Ey E E 0E  DAT read: 14:01:44.6286 LVL= 23088, 21633, 11618, 25155, AGC= 59, IDX= 511, 0.13, 1.599, 3.009,-2.083, 2.893, PHS=-1.206, 0.163, 1.305, RAW= 243.0, -2.4, CAL= 244.7, -5.6, ROT= 265.3, 5.6  Ygot valid direction response: 14:01:44.6286 LVL= 23088, 21633, 11618, 25155, AGC= 59, IDX= 511, 0.13, 1.599, 3.009,-2.083, 2.893, PHS=-1.206, 0.163, 1.305, RAW= 243.0, -2.4, CAL= 244.7, -5.6, ROT= 265.3, 5.6  T#Rx 98: Read range and direction messages. bdirection in FSK: [-0.081548,-0.991881,-0.097583] Fpublishing direction and range infoڹyڽJE3Oി!|A_1ڽfBYڹ ۽0Z)۽TI۽b-i۽Cb۹۽5^۽y&>۽= ? ܽ@)ܽ+Iܽ@iܽ+Ƚܽ+@ܽ+=~Ga Aq A N > ݹ)ݹݽ;/h~!?#R¥iݽ` @ݽ".=ݽ׏ӿݽ+= ޹)޹ checking for new query: numPingsReceived=98, elapsed TxPingTime=48.759880 ŝ4,yhA9:@?:(y?Y:(=y:No:H?v@ka? ?@5jɷ?~>59j2` IjٙBydh?@j)Eij;j;j>5 X%AZbZFrhArBrB O@ʁ!SQ1y@lP+(Sb=JE3Oി!|A_1׏ӿ+=ҁ1Gq#J@"h#!E Pɿ'֕B? @fKLhz )QBj$%Ȝ?r뎹 ?|BFȜ? w  |BB2@ addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 0.504119 s, deltaX: 0.199997 m, approachRate: 0.396726 m/s, rangeRepo size: 4  Added new target pos. range: 67.224335 m, bearing: 321.051050 deg, lat: 36.906432 deg, lon: -122.115994 deg, deltaT: 0.504119 s, deltaX: 0.198730 m, approachRate: 0.394213 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.22 m.bZrjRJB~ ~ }|||P@|?checking for new query: numPingsReceived=98, elapsed TxPingTime=48.943733 ]|B]FQ:J[BJRJJ?RJZJ:bJS29Jـ4JzJ:jJ:J;:rJ<:y  DDAT read: Rx Time:14:01:45.1286  TRx dataTimestamp_ set to:1749132106.290384 PDAT read: Bearing 270.7, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 270.7, 5.1 (Local)  DAT read: Range 10 to 50 : 67.7 m (trip time 45.1 ms) speed -0.1  DAT read: 14:01:45.1286 LVL= 18144, 21841, 13378, 26915, AGC= 58, IDX= 511,-0.15,-1.214,-0.000, 1.375, 0.024, PHS=-1.150, 0.022, 1.347, RAW= 238.0, -2.1, CAL= 239.3, -5.1, ROT= 270.7, 5.1 % Ygot valid direction response: 14:01:45.1286 LVL= 18144, 21841, 13378, 26915, AGC= 58, IDX= 511,-0.15,-1.214,-0.000, 1.375, 0.024, PHS=-1.150, 0.022, 1.347, RAW= 238.0, -2.1, CAL= 239.3, -5.1, ROT= 270.7, 5.1 % T#Rx 99: Read range and direction messages.- `direction in FSK: [0.012169,-0.995967,-0.088894]5 Fpublishing direction and range info y L ?￀ Y F) QUI B4i #i : 33 X9< j? @) Q 74,|hAI |@i K /@ K= ) { S޿ӷl:>?P*Oi 5@ U= ǿ K= ) bchecking for new query: numPingsReceived=99, elapsed TxPingTime=49.239979|BI)! ! %=%=I-I-?13< %6=y%Q %>٥)) -H-8FQu u>>5,ܷ?>59X IǙBy@)Ei;";>5%AAEK-AP"K-9*K)2K-}:K-~~/b5ZOf ~@0]9ttalCnvramJ=0^Z b hA   R@ʁ ]bi-?E:P_G L ?￀ ǿ K=ҁ y,%L@ϹəBX8 @0?# ῀ZA9-Kz  `Bj +?Mʜ?r IǗ+  |B $%Ȝ? 뎹   vB ^#@ addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 0.504840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 67.224335 m, bearing: 326.449343 deg, lat: 36.906435 deg, lon: -122.115993 deg, deltaT: 0.504840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.22 m.bZrjRJB~)~)})|1|1|1|56? e|B靅21 H >H H IH Q}BH  =H H H <H /EHHHHI٪4,hA I _59.?)g?Y=yH? C'@`? ??Y/n? .?骕kڇ;)C|BjI}DDAT read: Rx Time:14:01:45.6287 }TRx dataTimestamp_ set to:1749132106.792040PDAT read: Bearing 264.2, -22.5 (Local) ~Local bearing/azimuth received: Bearing 264.2, -22.5 (Local) DAT read: Range 10 to 50 : 67.8 m (trip time 45.2 ms) speed 0.0 ԩDAT read: 14:01:45.6287 LVL= 22240, 25409, 13458, 29475, AGC= 59, IDX= 512, 0.32,-1.093,-0.382, 0.656, 0.222, PHS=-1.227,-0.557, 0.431, RAW= 233.7, 18.3, CAL= 245.8, 22.5, ROT= 264.2, -22.5 Ygot valid direction response: 14:01:45.6287 LVL= 22240, 25409, 13458, 29475, AGC= 59, IDX= 512, 0.32,-1.093,-0.382, 0.656, 0.222, PHS=-1.227,-0.557, 0.431, RAW= 233.7, 18.3, CAL= 245.8, 22.5, ROT= 264.2, -22.5 V#Rx 100: Read range and direction messages.`direction in FSK: [-0.093363,-0.919150,0.382683]Fpublishing direction and range infoyy}4K淿:Ǚ+iAՅ}?}BYy }V)}AcI}4i}#s};}V}}> }Ѕ@)}Ƈ>I}G@i}>}@}ɾ y)y}0ʃgؿM?P4$?i}R?}}ֿ}ɾ y)y%checking for new query: numPingsReceived=100, elapsed TxPingTime=49.721684Mb@Mb@Mb@ )YT㥛 ? rhX9vyA?Ch@ A)3AIyf@IEIEV83Uǽ ]+=yTt;Q >٥ H9F >>5b﷜?>59Q IBy5&AZyb}ɰhA}B}B}̔@ʁ}So$JeN%u9@}4K淿:Ǚ+iAՅ}?}ֿ}ɾҁ}`+F@kHcHC|/x?@}?u|M?z}}'0Bj}dClnƜ?r}g }By} ԥ  y}B}>@ addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 0.501656 s, deltaX: 0.100006 m, approachRate: 0.199352 m/s, rangeRepo size: 4 E Added new target pos. range: 67.323776 m, bearing: 317.957980 deg, lat: 36.906435 deg, lon: -122.115985 deg, deltaT: 0.501656 s, deltaX: 0.099442 m, approachRate: 0.198227 m/s, posRepo size: 4 MDNOT Ignoring new targets: 67.32 m.bIZIrIjIRIJQBQ~~P|B}|||@3P@|c? =|B=&;I9)==9IEI(; AAE__E (<9 Em ?Ei Ei Eu 0Eq ~GIAQAaNu>ϲ4,hA:J6`BJ6TJJ6BRJ4ZJ6:bJ6:9J6-4J4zJ6:jJ6:J6RJ:rJ6UJ:|9=%?=R^?Y=jV=y=T=H ]?r1I@V?m?fA? f﷿ t? =%?==;)=Cu|BuQII}I}3 B=y;Q >٥ H:F >>5?>59tK IBySW?@)Ei;:>5R'A0m~hܸm?iYi mp^)mfIm/imC}imKmˡmA? m#@)m=Im @im%=m˖@m%˽ i)im ڿea?Eet?imRE@mçmɿm%˽ i)ichecking for new query: numPingsReceived=101, elapsed TxPingTime=50.220291DNOT Ignoring new targets: 67.32 m.bZrjRJ B ~ ~ } ||||pw?Y |B靍y:I)<I(; ^3c<t/1ii>ET<E?EE!E%L0E)KM`P"KM+9*KI2KM~:KMx$` gkU\iJ> ^RnkrJYvԁ~G!A)AANM>Թ  = = checking for new query: numPingsReceived=101, elapsed TxPingTime=50.4590994,,hA9%t?%@U?Y%d =y%W%HRv? jܒ@5?B? ? x| ?T`~@ vA)AI@yzAII3ɽ Y=yn:Q >٥ H;F >!%>5% ?->59%F I%By-_>?-:-O?5@%)Ei%r;%;% >59='A=9EZb1hA@ʁ M$Ϊ>bjP@![{I>0m~hܸm?ɿ%˽ҁ0VH@|- EZ C)@Wte?rY俪򁈞?z.4FBjD`Ȝ?rڼ BFȜ?뎹  ꁝB@ addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 0.503687 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 H}>H}CH}IH}|BH} =HyHyH})<H}LEE Added new target pos. range: 67.323776 m, bearing: 318.582521 deg, lat: 36.906432 deg, lon: -122.115993 deg, deltaT: 0.503687 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 67.32 m.bQZQrYjyRyJB~~S|B}||||! ? M|BUIQ)UWQIuH$%; yy}g<}y/1iiDDAT read: Rx Time:14:01:46.6288 TRx dataTimestamp_ set to:1749132107.800815PDAT read: Bearing 253.1, -13.8 (Local) ~Local bearing/azimuth received: Bearing 253.1, -13.8 (Local) DAT read: Range 10 to 50 : 68.0 m (trip time 45.3 ms) speed 0.2 DAT read: 14:01:46.6288 LVL= 27312, 30641, 14930, 32755, AGC= 61, IDX= 513,-0.02,-1.381,-0.433, 0.220,-0.241, PHS=-1.052,-0.145, 0.458, RAW= 246.6, 11.2, CAL= 256.9, 13.8, ROT= 253.1, -13.8 Ygot valid direction response: 14:01:46.6288 LVL= 27312, 30641, 14930, 32755, AGC= 61, IDX= 513,-0.02,-1.381,-0.433, 0.220,-0.241, PHS=-1.052,-0.145, 0.458, RAW= 246.6, 11.2, CAL= 256.9, 13.8, ROT= 253.1, -13.8 V#Rx 102: Read range and direction messages.=`direction in FSK: [-0.282311,-0.929195,0.238533]=Fpublishing direction and range infoځyڅ`ҿ3IX"iC?څBYځ ۅj)ۅwIۅR:iۅۅ=ۅ𧆿ۅzۅ~> ܅9@)܅+H>I܅z@i܅Ϣv>܅[@܅Ϣv ݁)݁݅6J[0?E?i݅tr @݅RH݅݅Ϣv ށ)ށchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.744671>E] < E ?E E E 5E ~G A A N >/4,*hA9Nx?N,L?YNN>=yN:追NHH?=拿Y???آ᷿`? Nx?N;)NCjH|Bj&IIrIr2ʣ O=y:Q >٥!! %H%5checking for new query: numPingsReceived=102, elapsed TxPingTime=50.9596719QM>5="?m>59=@ I=ByquF?u@=)Ei=;=;=>5y}o(AyZb@hA B Bt@ʁ 3W^O3Ԡ'0@`ҿ3IX"iC?ϢvҁP.?@"L |KͯM7@/&3? rz?z[0AjUœ?r BD`Ȝ? BB@5 addTargetRange:: Added new target pos. range: 68.000000 m, deltaT: 0.505088 s, deltaX: 0.199997 m, approachRate: 0.395965 m/s, rangeRepo size: 4 E Added new target pos. range: 67.521233 m, bearing: 299.830430 deg, lat: 36.906418 deg, lon: -122.115993 deg, deltaT: 0.505088 s, deltaX: 0.197456 m, approachRate: 0.390935 m/s, posRepo size: 4 eDNOT Ignoring new targets: 67.52 m.baZirijiRiJiBi~q~q}q|q|y|}Q@|}̲? |B_I)<I=,!; AAEjDkE `direction in FSK: [-0.079546,-0.841511,0.534352] Fpublishing direction and range info y y#]Dqr"j? BY  ) I rAi  ? 1 /$ F>  h@) >I @i ZQ? Ǔ@ ZQ  )  ;Y׿]}p6c?jI?i Ma? 侩 + տ  ZQ  )  checking for new query: numPingsReceived=103, elapsed TxPingTime=51.280071tS4,{hA9R* ?RjJC?YR=yRـRH?`.| ??`P?\`'? R* ?RW;)Pb&|BbIK~gP"K~59*K|2K~:K~9xaPx::qAzPfS,"U$IEs%8"~Q xJ?J>IjIj#3%= %J=y-m:Q ->٥)1 5H15ԯ 5>Ye>5]D5?m>59]Z; I]mByim=?m@])Ei]:]:]">52B(A6EԹZQbUhAUBUBU@ʁUǚ7kXZ(SLԍkA@Uy#]Dqr"j?U+ տUZQҁU\wZ^A@5,pCD@UA?Od5 jm?zUU BjUͯ Ü?rU W UBUdClnƜ?Ug  UBUmBU@- addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 0.508985 s, deltaX: -0.199997 m, approachRate: -0.392933 m/s, rangeRepo size: 4 ] Added new target pos. range: 67.322647 m, bearing: 311.356764 deg, lat: 36.906365 deg, lon: -122.115958 deg, deltaT: 0.508985 s, deltaX: -0.198586 m, approachRate: -0.390160 m/s, posRepo size: 4 eDNOT Ignoring new targets: 67.32 m.baZarajaRaJaBi~i~i}i|||@3P@|rm? |B靝RͻI)rI~;  5o<%s/1IQiQchecking for new query: numPingsReceived=103, elapsed TxPingTime=51.471481iDDDDH߼>HHRIH|BH =HH-DH2<HVEJK4JKO4JK0:J1 BJ5 `JJ5 HRJ1 ZJ1 bJ5 bl9J5 Ժ4J1 zJ1 jJ1 J5 (:rJ5 ):EE ?EA EA EA EA 9 ~Gy A A N >5 DDAT read: Rx Time:14:01:47.6287 5 TRx dataTimestamp_ set to:1749132108.814109E DAT read: Range 10 to 50 : 67.8 m (trip time 45.2 ms) speed 0.0 -E \#Rx 104: Read range message, but no direction.1 1 Y1 M checking for new query: numPingsReceived=104, elapsed TxPingTime=51.725513|4,R`4hAU|BUIMb@Mb@Mb@ )Yx?{Gzt:vyK7?ףԼ )IAI@yAI I  3 =yQ %>٥11 5H5>F= =>AAM?5EL?U?59E4 IEWBy]k7?e:e@?m@E)EiE;E;;E?5)A addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 0.504309 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 67.32 m.bZrjRJB~~|B}||||/? |BI)%Ib; Au<%x/1!!i!i)bEZEchecking for new query: numPingsReceived=104, elapsed TxPingTime=51.976528qE?EEEP0EjGy?bGz?~Gi Aq A N >ԡ 4h4,IJNhA989>1?Yi=yH? 0G2?n?`V?;?~`? 89>;)Ci)))) 1I1 1)19999=XAi=nI=FAIAiE^A AA)AI MVAMMpFIQUCAIU)UFiQ)]CIYYY Yaaaiaaٯam{BuIII2 =yOQ ?٥ H/q ??5Y??591 ILByF/?@)Ei:.:L?5A*A3EiDNOT Ignoring new targets: 67.32 m.bZrjRJB~~}||||l?DDAT read: Rx Time:14:01:48.1286 TRx dataTimestamp_ set to:1749132109.320941PDAT read: Bearing 266.2, -0.5 (Local) ~Local bearing/azimuth received: Bearing 266.2, -0.5 (Local) %DAT read: Range 10 to 50 : 67.7 m (trip time 45.1 ms) speed 0.0 MDAT read: 14:01:48.1286 LVL= 22992, 20369, 11090, 28531, AGC= 66, IDX= 511, 0.26,-2.352,-1.241,-0.176,-1.210, PHS=-1.054, 0.015, 1.031, RAW= 240.9, 0.1, CAL= 243.8, 0.5, ROT= 266.2, -0.5 UYgot valid direction response: 14:01:48.1286 LVL= 22992, 20369, 11090, 28531, AGC= 66, IDX= 511, 0.26,-2.352,-1.241,-0.176,-1.210, PHS=-1.054, 0.015, 1.031, RAW= 240.9, 0.1, CAL= 243.8, 0.5, ROT= 266.2, -0.5 UV#Rx 105: Read range and direction messages.]`direction in FSK: [-0.066271,-0.997763,0.008727]eFpublishing direction and range infoy.%9ӱ￴B7߁?fBY Y)OIR+isoBy醿u<? |B靥miIG=)VI; y< @@):I)@i5<@5 )MJZg#יy?SY?i@Jͺѿ5 )u/1i-checking for new query: numPingsReceived=105, elapsed TxPingTime=52.267605iԙE?EEE0E~GAANj>KM7P"KM9*KI2KM:KM g neLj,IGK GqOT`j~hF^riQA?q\oJYJY checking for new query: numPingsReceived=105, elapsed TxPingTime=52.482380 4,hhA9j>j1)?Yj=yjjH`0? l?@C??x,?SK%7? j>j-;)jCm{BmI=Mb@Mb@Mb@999 9)9Y=x?Mb`?/$y9=;==@:J [BJ OJJ BRJ ZJ :bJ %9J -4J -@-@-@-@YHmݼ>HiHmIHm5|BHm =HiHiHm4<HmZE =A)=EAI=@9y=AI I<2 #=yκQ >٥ H?Fg >?5r??59>+ I8ByE`7?E:E9)?E@)Ei%<?%<?5IM|*AU/EZ1b5LThA5rB5rB5<@ʁ57>SP_ ? DDAT read: Rx Time:14:01:48.6287  TRx dataTimestamp_ set to:1749132109.823934PDAT read: Bearing 250.8, -14.5 (Local) ~Local bearing/azimuth received: Bearing 250.8, -14.5 (Local) -DAT read: Range 10 to 50 : 67.8 m (trip time 45.2 ms) speed -0.2 MDAT read: 14:01:48.6287 LVL= 21712, 19809, 11618, 26355, AGC= 65, IDX= 512, 0.15,-2.922,-1.772,-1.078,-1.581, PHS=-1.253,-0.144, 0.500, RAW= 248.7, 11.7, CAL= 259.2, 14.5, ROT= 250.8, -14.5 UYgot valid direction response: 14:01:48.6287 LVL= 21712, 19809, 11618, 26355, AGC= 65, IDX= 512, 0.15,-2.922,-1.772,-1.078,-1.581, PHS=-1.253,-0.144, 0.500, RAW= 248.7, 11.7, CAL= 259.2, 14.5, ROT= 250.8, -14.5 ]V#Rx 106: Read range and direction messages.e`direction in FSK: [-0.318391,-0.914296,0.250380]eFpublishing direction and range info y I ޅ`ԿmLA=9? BY  T) aMI b-i f A Nb t ? y@) Q>yI Ð@i > @  )  :m^벓t?HF~?i e@ P   ) checking for new query: numPingsReceived=106, elapsed TxPingTime=52.7493215.%9ӱ￴B7߁?5ѿ55ҁ54Y*B@g&wK @5+?#oN;꿌{?z5k\5oBj5)gĜ?r58 5B5)gĜ?5ڼ  15hjB5E@= addTargetRange:: Added new target pos. range: 67.800003 m, deltaT: 1.009825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 67.222816 m, bearing: 304.490372 deg, lat: 36.906324 deg, lon: -122.115998 deg, deltaT: 1.011141 s, deltaX: -0.099831 m, approachRate: -0.098731 m/s, posRepo size: 4 UDNOT Ignoring new targets: 67.22 m.bQZrjRJB~~{B}||||? ]|Bea?Ia)eiaIe: aam$~<r/1iiԩ E E E E P0E ZG RG ~GY Ai Ay N >w4,UhA<9>>>9] ?Y>=y>>H$?`|?7?`? ?*@? >>>;)>C{BII-I-V83echecking for new query: numPingsReceived=106, elapsed TxPingTime=52.983742mϽ m=ym>Q m?٥qq uH@F ??5r??59' I-Bye ?@)Ei::T ?5*AZ9b=VthA=B=B=V@ʁ=mjMo5򢬲NI*0@=I ޅ`ԿmLA=9?==ҁ=n}4'b3@2M ;@ɭ7@=ڲg"?%Gff"?z=o=Aj= Ǿ?r=7AT =B=ͯ Ü?=8  9=B=)@DNOT Ignoring new targets: 67.22 m.bZrjRJB~~}|||| ? U|B]-IY)]UYI]ӊ: aae;<ԩew/1iiE?EEE5E~GA!A9NEs> DDAT read: Rx Time:14:01:49.1286  TRx dataTimestamp_ set to:1749132110.327891% PDAT read: Bearing 264.9, -0.7 (Local) % ~Local bearing/azimuth received: Bearing 264.9, -0.7 (Local) 5 DAT read: Range 10 to 50 : 67.7 m (trip time 45.1 ms) speed 0.0 e DAT read: 14:01:49.1286 LVL= 20848, 20385, 9762, 26563, AGC= 65, IDX= 511,-0.08, 2.379,-2.756,-1.730,-2.748, PHS=-1.069, 0.039, 1.014, RAW= 242.1, 0.2, CAL= 245.1, 0.7, ROT= 264.9, -0.7 m Ygot valid direction response: 14:01:49.1286 LVL= 20848, 20385, 9762, 26563, AGC= 65, IDX= 511,-0.08, 2.379,-2.756,-1.730,-2.748, PHS=-1.069, 0.039, 1.014, RAW= 242.1, 0.2, CAL= 245.1, 0.7, ROT= 264.9, -0.7 u V#Rx 107: Read range and direction messages.} `direction in FSK: [-0.088888,-0.995967,0.012217]} Fpublishing direction and range info y <]SI:? fBY  pQ) OI "&i g  Ԉ w= ʁ?  6@) d;I @i +H< @ +H  )  +!Y?<Ͷګi?i Ff@ ^M tԿ +H  )  checking for new query: numPingsReceived=107, elapsed TxPingTime=53.264439 34,ΛhA9>EB>>b?Y>=y>빽>Ht?+ڃ??L?^?`[%h? >EB>>;)>CR{BVII^I^ fi fU=yfVfQ f>٥hh jHhn챽l ~> ?5? ?59# IBy  ?@)Eie:q:?5U3BK]%LP"K]+9*KY2K]:K]G|M vf{::B~}\Z#Kz? =Ju?Ju?U+A,EZAbE+hAErBErBE),@ʁE?zY'?F.2!R һ?zE iEBjE&YÜ?rE" EmBE&YÜ?E  AEՁBE@ addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 0.503957 s, deltaX: -0.100006 m, approachRate: -0.198442 m/s, rangeRepo size: 4 % Added new target pos. range: 67.222816 m, bearing: 299.321213 deg, lat: 36.906281 deg, lon: -122.116123 deg, deltaT: 1.006950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 67.22 m.bQZYrYjYRaJaB~~}|||P@|ܷ?checking for new query: numPingsReceived=107, elapsed TxPingTime=53.489971 =|BeIi)uqIk: <t/1iiIHܼ>HHIH{BH =HHH%<HCE:J- _BJ- QJJ- CRJ) ZJ- :bJ- -.9J- 4J) zJ- ,:U jJ- 1:] J- 4:] rJ- 4:e >E% )"4,hA{BIUMb@Mb@Mb@QQQ Q)QYU(\?~jth?:vyUz4?UD;UTU@ UA)UAIU@QyUAImImm?3k̼ =yQ >٥ HBF >?5*??59R I By4?:?@)Ei::n?5 K+AZbLhA B Bcӧ@ʁ U {۳PIk2QNGY;ѿ޹<ҁav=A@YHM0v@^1?Lэ_?zhBj.Ü?rs0 Bͯ Ü?s0  mB? m|BmRIi)m&iIu(: qqu<}y/1yyiyichecking for new query: numPingsReceived=108, elapsed TxPingTime=53.991634>Eey=EEEE3E~GAAN>9 n4,hA9JYB>Jm?YJ-=yJ½JH n?5?@M?l?`D? >? JYB>J8;)JCn{BnII~I~3 C <  =y(-k2q)y5 checking for new query: numPingsReceived=109, elapsed TxPingTime=54.499531Ա E ?E E E 1E ~G A) A9 NE >4,}hA<HZټ>HXHZIHZ{BHXHXHXHZ<HZEHUCHUCHQHU =IU = IU=5:JuYBJuZJJuARJqZJu9bJuS9Ju4JqzJub:jJug:JuRu:rJuTu:5{B5IԡMb@Mb@Mb@ )Y9v?:vy&1|y4?T`@  A)AI@yAIIF3 ZX  "=y Q >٥ HCF >!-?5%kظ?-?59% I%By-5?-:-?5@%)Ei%:%:%?59=a+A=&EuDDAT read: Rx Time:14:01:50.6287 uTRx dataTimestamp_ set to:1749132111.840326}PDAT read: Bearing 271.0, 5.3 (Local) ~Local bearing/azimuth received: Bearing 271.0, 5.3 (Local) DAT read: Range 10 to 50 : 67.8 m (trip time 45.2 ms) speed 0.0 DAT read: 14:01:50.6287 LVL= 18032, 18241, 10018, 23635, AGC= 64, IDX= 510, 0.32, 1.346, 2.434,-2.602, 2.462, PHS=-1.029, 0.019, 1.216, RAW= 237.8, -2.1, CAL= 239.0, -5.3, ROT= 271.0, 5.3 Ygot valid direction response: 14:01:50.6287 LVL= 18032, 18241, 10018, 23635, AGC= 64, IDX= 510, 0.32, 1.346, 2.434,-2.602, 2.462, PHS=-1.029, 0.019, 1.216, RAW= 237.8, -2.1, CAL= 239.0, -5.3, ROT= 271.0, 5.3 V#Rx 110: Read range and direction messages.`direction in FSK: [0.017378,-0.995573,-0.092371]Fpublishing direction and range infoqyuǣvˑ?{]UuBYq upF)uAGIu"'iuS\u@uFu㥛<ZqbuhAuBuBu29@ʁu?zPA1uǣvˑ?{]Uuƿuq=ҁu>{IpA@R  checking for new query: numPingsReceived=110, elapsed TxPingTime=54.999790}5,LhAl~{B~II I  3M# M=yIQ M?٥QQ UHUDFy }??5踜??59 IBy@)EiX:.:[?5+AZbʁ?zPA1ǣvˑ?{]Uҁ>{IpA@R ݁)݁݅*0RۿV?H ށ)ށchecking for new query: numPingsReceived=111, elapsed TxPingTime=55.268414~GAA!N>i |5,B' hAK"P"K"h9*K 2K":K"%y x=&)?yKxU_1aBqc| 789vXV>v>Yv߇=yvBvH@j?@ ڿJ?ۓ?? Z?@L? vXV>vF2;)vC {BIi1I5p;9AEAI] I]2y G=y3Q >٥ HEFqs >?5??59 IBy>@)Ei:h: ?54B+A#EZbhA B B@ʁB˨@g\P.!g#?{#[L`u&翿 >ҁU8x@?@Y&kM#ӂ 43[x?dTvdBnC҃zYkJAjQ+Ü?r[- mB {BꁵBUO@E addTargetRange:: Added new target pos. range: 67.500000 m, deltaT: 0.503587 s, deltaX: -0.300003 m, approachRate: -0.595732 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=111, elapsed TxPingTime=55.506012] Added new target pos. range: 67.023674 m, bearing: 298.473822 deg, lat: 36.906297 deg, lon: -122.116142 deg, deltaT: 0.503587 s, deltaX: -0.297882 m, approachRate: -0.591521 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.02 m.bZrjRJB~~}|||P@|% ?q |BQI)I z\9   <u/1iiE?EEEEHۼ>HHIH{BHHHH,<HMEԑ:J\BJTJJ>RJZJ=:bJ:9Jt4JzJ:jJ:JSJ:rJUJ:~GA!A9NM> DDAT read: Rx Time:14:01:51.6284  TRx dataTimestamp_ set to:1749132112.847904 PDAT read: Bearing 279.2, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 279.2, 8.6 (Local)  DAT read: Range 10 to 50 : 67.4 m (trip time 44.9 ms) speed 0.2  DAT read: 14:01:51.6284 LVL= 14896, 18017, 7922, 22291, AGC= 59, IDX= 508,-0.00, 2.175, 3.071,-1.734,-3.074, PHS=-0.947,-0.092, 1.336, RAW= 231.8, -3.0, CAL= 230.8, -8.6, ROT= 279.2, 8.6  Ygot valid direction response: 14:01:51.6284 LVL= 14896, 18017, 7922, 22291, AGC= 59, IDX= 508,-0.00, 2.175, 3.071,-1.734,-3.074, PHS=-0.947,-0.092, 1.336, RAW= 231.8, -3.0, CAL= 230.8, -8.6, ROT= 279.2, 8.6  V#Rx 112: Read range and direction messages. `direction in FSK: [0.158084,-0.976037,-0.149535] Fpublishing direction and range infoډ yڍ Wӯ ݉ )݉ ݍ !׿?jU ߪiݍ ?ݍ dW=ݍ Gݍ `> މ )މ 5 checking for new query: numPingsReceived=112, elapsed TxPingTime=55.777233I 5,::hA]{B]IԙMb@Mb@Mb@ )YOn?QMbpy8?u@  A)II@y3AII2: 4=y-Q ->٥11 5H5FF= =>9E?5=?M?59= I=ԘBym8?m:m>m@=)Ei=_;=);=$?5y}+AEZbD6hAمBمB\z@ʁG(%@:} TPE$Wӯҁ髩dB@6vKĎ6BFf?hɬz^&Bj4Ŝ?r gBsSĜ?  {BꁽxBӧ@= addTargetRange:: Added new target pos. range: 67.400002 m, deltaT: 0.503991 s, deltaX: -0.099998 m, approachRate: -0.198413 m/s, rangeRepo size: 4 u Added new target pos. range: 66.924622 m, bearing: 303.449141 deg, lat: 36.906308 deg, lon: -122.116134 deg, deltaT: 0.503991 s, deltaX: -0.099052 m, approachRate: -0.196536 m/s, posRepo size: 4 uDNOT Ignoring new targets: 66.92 m.bqZqrqjyRyJyBy~~|B}|||P@|? |B%I!)%͠!I%@ ))-z<-r/111i1i1checking for new query: numPingsReceived=112, elapsed TxPingTime=56.008156E?EEEE~GAAN>)5 T> 1 9 G >Y y B|5,ShA9N>N>YNi=yN@NH?YֿΚ?T??6?_*`g? N>N;)LZ{B^IIvIvV83~]=< ~r=ybQ ?٥  H  M  ?-?5+?-?59c I̘By15>5@)EiӁ;8;'?5EDDAT read: Rx Time:14:01:52.1282 MTRx dataTimestamp_ set to:1749132113.351906]PDAT read: Bearing 283.9, 10.0 (Local) e~Local bearing/azimuth received: Bearing 283.9, 10.0 (Local) uDAT read: Range 10 to 50 : 67.1 m (trip time 44.7 ms) speed 0.1 DAT read: 14:01:52.1282 LVL= 15680, 21409, 9250, 23027, AGC= 59, IDX= 506, 0.20, 3.066,-2.474,-0.881,-2.262, PHS=-0.867,-0.165, 1.378, RAW= 227.8, -3.5, CAL= 226.1, -10.0, ROT= 283.9, 10.0 Ygot valid direction response: 14:01:52.1282 LVL= 15680, 21409, 9250, 23027, AGC= 59, IDX= 506, 0.20, 3.066,-2.474,-0.881,-2.262, PHS=-0.867,-0.165, 1.378, RAW= 227.8, -3.5, CAL= 226.1, -10.0, ROT= 283.9, 10.0 V#Rx 113: Read range and direction messages.`direction in FSK: [0.236578,-0.955969,-0.173648]Fpublishing direction and range infoIyMBF1H?LٖNs:ƿM3BYI M@=)MSIM"$iMYIM]M(MNb? M~t~@)M5zIM_|@iM¸2MF@M¸2> I)IM"dӿFOi?j dmiM?M{=MSM¸2> I)Ichecking for new query: numPingsReceived=113, elapsed TxPingTime=56.276970+A1ZIbMVhAM@BM@BM@ʁM@61]/@̷O~#'MBF1H?LٖNs:ƿMSM¸2>ҁMq:{B@)ѲvkK-"M˧?=VEkzM][MBjM9+=lŜ?rMd@ Ma`BMVcĜ?MQ   MmBMcBM&ҧ@ addTargetRange:: Added new target pos. range: 67.099998 m, deltaT: 0.504002 s, deltaX: -0.300003 m, approachRate: -0.595242 m/s, rangeRepo size: 4  Added new target pos. range: 66.626740 m, bearing: 304.165898 deg, lat: 36.906309 deg, lon: -122.116133 deg, deltaT: 0.504002 s, deltaX: -0.297882 m, approachRate: -0.591034 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.63 m.bZrjRJB~~}|||`fP@|@? |B靝[I)~Ij+ <w/1iiEIEIEIEMo0EIi~GyAK"P"K+9*K2K:K#E$8g o u^4iR^ILrBl'ANd>ԑchecking for new query: numPingsReceived=113, elapsed TxPingTime=56.511772 5,mhAH*>H*CH*IH*{BH* =H(H*.DH*<H*E9f=:t>YFv=yhZH?ҿ??p?k?$ή`? f=;)ԁ-{B-I]DDAT read: Rx Time:14:01:52.6283 eTRx dataTimestamp_ set to:1749132113.859154PDAT read: Bearing 287.2, 9.1 (Local) ~Local bearing/azimuth received: Bearing 287.2, 9.1 (Local) DAT read: Range 10 to 50 : 67.2 m (trip time 44.8 ms) speed 0.0 )  a=a=ԱDAT read: 14:01:52.6283 LVL= 16624, 22385, 9810, 23235, AGC= 60, IDX= 507,-0.38,-2.869,-2.264,-0.579,-1.953, PHS=-0.829,-0.264, 1.371, RAW= 224.3, -2.8, CAL= 222.8, -9.1, ROT= 287.2, 9.1 mYgot valid direction response: 14:01:52.6283 LVL= 16624, 22385, 9810, 23235, AGC= 60, IDX= 507,-0.38,-2.869,-2.264,-0.579,-1.953, PHS=-0.829,-0.264, 1.371, RAW= 224.3, -2.8, CAL= 222.8, -9.1, ROT= 287.2, 9.1 uV#Rx 114: Read range and direction messages.}`direction in FSK: [0.291986,-0.943255,-0.158158]}Fpublishing direction and range infoayeu? ? /%/@\~>ĿefBYa e@)eqWIeR&ieZe<eX9Te+e|? ez@)e+HIex@ie"eg@e"> a)aeOOϿd?eie ?eDK=ee"> a)achecking for new query: numPingsReceived=114, elapsed TxPingTime=56.848431=Mb@Mb@Mb@999 9)9Y=V-?~jtMbp?y=|??=D=;=+@ = A)=rAI=@9y=(AI} I}̍2j< =yaQ >٥ HGFEڽ M>Y?5]R??59] I]By??:>@])Ei];]x;]s-?55Br+AEZabeavhAetBetBe@ʁe+{3@ xO}}{l%eu? ? /%/@\~>Ŀee">ҁeAdB@ԕgKqye24-?̢O:!ze}]e%BjebynŜ?re e{dBe4Ŝ?e  egBeBeO%@  addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 0.507248 s, deltaX: 0.099998 m, approachRate: 0.197139 m/s, rangeRepo size: 4   Added new target pos. range: 66.727943 m, bearing: 303.597991 deg, lat: 36.906332 deg, lon: -122.116109 deg, deltaT: 0.507248 s, deltaX: 0.101204 m, approachRate: 0.199516 m/s, posRepo size: 4  DNOT Ignoring new targets: 66.73 m.b Z r j R J B ~ ~ d|B} | | | P@| J? E |BE II )M 䛾I IM 1* Q Q u <} t/1y y iy i  checking for new query: numPingsReceived=114, elapsed TxPingTime=57.015709 E- ?E) E1 E5 O0E1 ~G A A! N5 >KC"5,}hA 9%$=%.>Y%?Rп`? n??%?j$`? %$=%;)%C 1)5jAɺ199IeC=Iea=:Jm_BJmWJJm?RJiZJm :bJmG9Jmـ4Jiu@u@u@u@qɻyiyIyyIiOA 黡)鼡 ɼlAI)i)I齱ɽ ɾiiA)94 Iٯ{BII%I%25z< 5=y]4Q ] ?٥aa eHeHFe m?i?5me??59mu ImByz>@m)Eim";mm;m0?5L+ADNOT Ignoring new targets: 66.73 m.bZrjRJB~~}!|!|!|!|%G?1 |B靝QӼI)~IT 3<y/1ii}DDAT read: Rx Time:14:01:53.1281 TRx dataTimestamp_ set to:1749132114.361144PDAT read: Bearing 291.6, 10.3 (Local) ~Local bearing/azimuth received: Bearing 291.6, 10.3 (Local) DAT read: Range 10 to 50 : 66.9 m (trip time 44.6 ms) speed 0.1 -DAT read: 14:01:53.1281 LVL= 17184, 21617, 9842, 23475, AGC= 60, IDX= 505,-0.06, 2.436, 2.886,-1.626,-3.028, PHS=-0.732,-0.322, 1.398, RAW= 220.4, -3.6, CAL= 218.4, -10.3, ROT= 291.6, 10.3 =Ygot valid direction response: 14:01:53.1281 LVL= 17184, 21617, 9842, 23475, AGC= 60, IDX= 505,-0.06, 2.436, 2.886,-1.626,-3.028, PHS=-0.732,-0.322, 1.398, RAW= 220.4, -3.6, CAL= 218.4, -10.3, ROT= 291.6, 10.3 =V#Rx 115: Read range and direction messages.Em?EiEiEmm0Ei`direction in FSK: [0.362192,-0.914793,-0.178802]Fpublishing direction and range infoځyڅ(.?pT4Eƿڅ̅BYځ ۅ C)ۅqTIۅr&iۅ[ہۅZd;ۅ/ݤۅ? ܅m0v@)܅I܅s@i܅X8܅4ܢ@܅X8> ݁)݁݅.k,ǿѽh?&2"i݅h?݅*~=݅Θ݅X8> ށ)ށchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.315147~GAAQaAiN}>ԑ K- -8P"K- h9*K) 2K- :K- )z})@Z|C`%vQ8Q|87t AJ5 >J5 >f(5,9hA}{BII2 =yQ  ?٥ Hchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.520889IF  ?=?5y?E?59 IByYYe@)Ei <<2?5ԁQ+AEZbhA܄B܄B3۪@ʁj\zBz8@ KbNz;\t'(.?pT4EƿΘX8>ҁ;i]m\C@Z: 8ǺJ9?Sw鿡rwzUBjh8Ɯ?r@X ]B9+=lŜ?  {dBBԡH>HCHIH{BH =HH/DHΚ<HE V@M addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 0.501990 s, deltaX: -0.299995 m, approachRate: -0.597612 m/s, rangeRepo size: 4 } Added new target pos. range: 66.430054 m, bearing: 305.916929 deg, lat: 36.906338 deg, lon: -122.116103 deg, deltaT: 0.501990 s, deltaX: -0.297890 m, approachRate: -0.593418 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.43 m.bZrjRJB~~}|||P@|L0? |B 쨼I )@IDύ 115)۝ aSI۝ $i۝ Xۙ ۝ $&۝ l۝ Ը? ܝ Ss@)ܝ Iܝ p@iܝ Qܝ l@ܝ Q> ݙ )ݙ NU >ݝ kj8¿)G?4l:Niݝ i?ݝ D/=ݝ Cݝ Q> ޙ )ޙ e checking for new query: numPingsReceived=116, elapsed TxPingTime=57.798950 .5,hA9F%:@F@~F>YFS=yFɽFH[?,ɿ0??`7? '?`|y' ? F%:@F%a;)FC{BIEMb@Mb@Mb@AAA A)AYE!rh?y&1|yElG?E`廹EE@ E A)EAIEMAAyEzAI I̍2 -=yKOQ >٥ HJFb >?5??59' IBynG?:S=>@)Ei::7?5 +AEZb\hA:@ʁ݆2ju:@4֞M:+^*}p?7rP ɿCQ>ҁHB@MGYKN!tI$?Ve֔ @Nz6X<Bj7Ŝ?r/4? WBbynŜ?d@  a`BBJ@ addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=116, elapsed TxPingTime=58.023712 Added new target pos. range: 66.431313 m, bearing: 304.794000 deg, lat: 36.906338 deg, lon: -122.116099 deg, deltaT: 0.503850 s, deltaX: 0.001259 m, approachRate: 0.002498 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.43 m.bZrjRJ9BY~a~et|B}a|a|a|i|m? |B@zǼI)nI P<s/1iibEZEEqEyEyE3EjGs?bG_?~GAA N >) :J \BJ QJJ DRJ ZJ =:bJ -.9J 4J Q !z55,hA&DDAT read: Rx Time:14:01:54.1279 &TRx dataTimestamp_ set to:1749132115.367851*PDAT read: Bearing 296.5, 11.6 (Local) .~Local bearing/azimuth received: Bearing 296.5, 11.6 (Local) :DAT read: Range 10 to 50 : 66.6 m (trip time 44.4 ms) speed 0.2 JDAT read: 14:01:54.1279 LVL= 17392, 23969, 10898, 24819, AGC= 62, IDX= 503, 0.28,-2.210,-1.933,-0.062,-1.511, PHS=-0.611,-0.375, 1.446, RAW= 216.0, -4.8, CAL= 213.5, -11.6, ROT= 296.5, 11.6 fYgot valid direction response: 14:01:54.1279 LVL= 17392, 23969, 10898, 24819, AGC= 62, IDX= 503, 0.28,-2.210,-1.933,-0.062,-1.511, PHS=-0.611,-0.375, 1.446, RAW= 216.0, -4.8, CAL= 213.5, -11.6, ROT= 296.5, 11.6 fV#Rx 117: Read range and direction messages.j`direction in FSK: [0.437084,-0.876656,-0.201078]nFpublishing direction and range info$y&GԾ/?$ oɿ&3BY$ &C)&]I&*i&`&>&j&&? &:Fq@)$I&W{n@i&4QO&ʘ@&4QO> $)$&& Ϗ'?;Gi&?&o=&C܍&4QO> $)$~checking for new query: numPingsReceived=117, elapsed TxPingTime=58.2996449=4@=%>Y=OSF=y=/ɽ=HS?#ſ=??`g?`ĺ? Ǩ ? =4@=ˉ;)=CU{BUIIuIub2< v=yt#Q ?٥ HĽ ??5z??59 IBy>@)Ei ::9?515j+A1Z$b&ߊhA&DB&DB&a@ʁ&><@0Lτ*&GԾ/?$ oɿ&C܍&4QO>ҁ&B@ JBr4!)&1|bg7?ihyJ-jהLz&V&Bj&kƜ?r&' &WB&7Ŝ?&/4?  &]B&jB&@u addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 0.502857 s, deltaX: -0.300003 m, approachRate: -0.596597 m/s, rangeRepo size: 4  Added new target pos. range: 66.133415 m, bearing: 305.067025 deg, lat: 36.906352 deg, lon: -122.116086 deg, deltaT: 0.502857 s, deltaX: -0.297897 m, approachRate: -0.592410 m/s, posRepo size: 4  DNOT Ignoring new targets: 66.13 m.b Z r j RJB~~}|||`fP@|%?  &I!)%!I-hFɺ ))-<5x/199i9iAK=P"K=@9*K92K=:K=yQiinEP 7Wd.rp.a.q=JIJIYEEEEP5Echecking for new query: numPingsReceived=117, elapsed TxPingTime=58.527771~GAAAN]>ԉ Hu >Hu CHu IHu {BHu  =Hq Hq Hu <Hu EY;5,hA0~{B~IMb@Mb@Mb@ )YK7?MbP{GzyIL?#3@ E A) AIhAyGAI5I52M; M?=yuQ u>٥yy }H}KF} >?5ȹ??59 IByML?:L#>@*Ei;;=?56Bb+AE5DNOT Ignoring new targets: 66.13 m.b1Z1r1j1R1J1B1~9~=|B}9|9|A|A|E? ?eDDAT read: Rx Time:14:01:54.6280 eTRx dataTimestamp_ set to:1749132115.873254uPDAT read: Bearing 298.2, 11.3 (Local) u~Local bearing/azimuth received: Bearing 298.2, 11.3 (Local) DAT read: Range 10 to 50 : 66.8 m (trip time 44.5 ms) speed 0.1 ԉDAT read: 14:01:54.6280 LVL= 18080, 26417, 11410, 24739, AGC= 63, IDX= 504,-0.42, 2.623, 2.826,-1.549,-2.988, PHS=-0.584,-0.422, 1.437, RAW= 214.1, -4.5, CAL= 211.8, -11.3, ROT= 298.2, 11.3 Ygot valid direction response: 14:01:54.6280 LVL= 18080, 26417, 11410, 24739, AGC= 63, IDX= 504,-0.42, 2.623, 2.826,-1.549,-2.988, PHS=-0.584,-0.422, 1.437, RAW= 214.1, -4.5, CAL= 211.8, -11.3, ROT= 298.2, 11.3 V#Rx 118: Read range and direction messages.`direction in FSK: [0.463391,-0.864219,-0.195946]Fpublishing direction and range infoaye־0?d~k>x_ɿeBYa eF)e1gIe,ie`e?eebؾe? e&o@)e|٠Ie7l@ieIeۋ@eI> a)aeha?_eRiepM?eZ=eeI> a)achecking for new query: numPingsReceived=118, elapsed TxPingTime=58.801189 m|Bm"Ii)miIu̱ qqu<}u/1yyiyiEaEiEiEmO0EiԹ~G1AAAQNmx>  checking for new query: numPingsReceived=118, elapsed TxPingTime=59.032894%B5, hA9>/-@>=Y>h)=y>dN>HF?``N?'?`=??@~9@z? >/-@>̕;)>CR{BRIxIMIM(*3+ U=y5Q >٥ HLF%% ->A?5E`㹜??59E IEBy=@E *EiEh@v4LƲ)־0?d~k>x_ɿI>ҁkY*A@!^K׆q!ĽH[?{5@2 z\BjŜ?r6jj =XB =XB:JU[BJUOJJUBRJQZJU:bJU%9JU-4JQꁕ҂Bԩ@ addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 0.505403 s, deltaX: 0.200005 m, approachRate: 0.395733 m/s, rangeRepo size: 4  Added new target pos. range: 66.331047 m, bearing: 303.185074 deg, lat: 36.906352 deg, lon: -122.116086 deg, deltaT: 0.505403 s, deltaX: 0.197632 m, approachRate: 0.391038 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.33 m.bZrjRJB~~}|||@3P@|@?  靵gI)ɛI%^| !!%檢<-r/1))i)i1rEmV>jEm>mDDAT read: Rx Time:14:01:55.1278 uTRx dataTimestamp_ set to:1749132116.377020PDAT read: Bearing 300.4, 10.2 (Local) ~Local bearing/azimuth received: Bearing 300.4, 10.2 (Local) DAT read: Range 10 to 50 : 66.5 m (trip time 44.3 ms) speed 0.3 E?EEEEZG RG %DAT read: 14:01:55.1278 LVL= 20368, 25329, 14578, 30499, AGC= 63, IDX= 502,-0.18,-0.827,-0.729, 1.197,-0.181, PHS=-0.558,-0.501, 1.375, RAW= 211.5, -3.4, CAL= 209.6, -10.2, ROT= 300.4, 10.2 1}Ygot valid direction response: 14:01:55.1278 LVL= 20368, 25329, 14578, 30499, AGC= 63, IDX= 502,-0.18,-0.827,-0.729, 1.197,-0.181, PHS=-0.558,-0.501, 1.375, RAW= 211.5, -3.4, CAL= 209.6, -10.2, ROT= 300.4, 10.2 V#Rx 119: Read range and direction messages.`direction in FSK: [0.498036,-0.848882,-0.177085]Fpublishing direction and range infoqyu!?f *kiƿuBYq uO)ubIu8iu#wquuAu? un?l@)usIu j@iuK6ugƧ@uK6>~GAAN> q)qu b|61cY4?7Aiu`?u,o=u%uK6> q)qchecking for new query: numPingsReceived=119, elapsed TxPingTime=59.340195a 1H5,}$hAK3P"K+9*K2K:K})_c90EF66]!OrYyMxwPVaunQ3V9N*@N-=YN=yN#NH?>\?2?\?+?@x ? N*@N?s;)NCb{BbIIjIj#3r" rW=yv Q v>٥tx zHzMFz ~>|?5~? ?59~e I~By  L= @~*Ei~:~:~KD?57B+A E1Zb!hABB@ʁ`,Ѕq@@ĂVL,{ c'!?f *kiƿ%K6>ҁZo),B@YyIKاEZ/&?P?dr꿂f%czHZaBjfoŜ?rC! /\B ꁝB4@m addTargetRange:: Added new target pos. range: 66.500000 m, deltaT: 0.503766 s, deltaX: -0.300003 m, approachRate: -0.595521 m/s, rangeRepo size: 4 } Added new target pos. range: 66.033150 m, bearing: 303.664195 deg, lat: 36.906352 deg, lon: -122.116086 deg, deltaT: 0.503766 s, deltaX: -0.297897 m, approachRate: -0.591341 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.03 m.bZrjRJB~~}|||P@| ~? <checking for new query: numPingsReceived=119, elapsed TxPingTime=59.539246 靵ۼI)ߟI~d B<-w/119i9iIiE?EEEEH>HHIH{BH =HH.DH<HHĘCHĘCHĔCH =I = Ik6~GqAyAN^>ԉm DDAT read: Rx Time:14:01:55.6277 u TRx dataTimestamp_ set to:1749132116.879914} PDAT read: Bearing 301.8, 8.5 (Local) } ~Local bearing/azimuth received: Bearing 301.8, 8.5 (Local)  DAT read: Range 10 to 50 : 66.3 m (trip time 44.2 ms) speed 0.3  DAT read: 14:01:55.6277 LVL= 22480, 24721, 13090, 24339, AGC= 65, IDX= 501,-0.37, 0.265, 0.280, 2.151, 0.891, PHS=-0.538,-0.564, 1.257, RAW= 209.3, -1.7, CAL= 208.2, -8.5, ROT= 301.8, 8.5  Ygot valid direction response: 14:01:55.6277 LVL= 22480, 24721, 13090, 24339, AGC= 65, IDX= 501,-0.37, 0.265, 0.280, 2.151, 0.891, PHS=-0.538,-0.564, 1.257, RAW= 209.3, -1.7, CAL= 208.2, -8.5, ROT= 301.8, 8.5  V#Rx 120: Read range and direction messages. `direction in FSK: [0.521168,-0.840557,-0.147809] Fpublishing direction and range infoi ym Kg?T̠%)k¿m BYi m W)m `Im "3im _m Am ^ m Nbm `? m Ti@)m Im Ǐh@im m @m > i )i m n}?d?3i]im w?m 4 i )i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Թ N5,^>hA9J@J =YJ=yJ]JH ?ݢ༡? X?`?p?@;6!"? J@J;)JCft{BfIԙ Mb@Mb@Mb@    ) Y > ףp=?Mb?y&1y Q? < `e `@  A)  AI A y AI5I5F3E@ E6=yMûQ M>٥IQ uH}NFq >?5??59 I}ByQ?:T=@*EiR;;AH?5+AEZbP8hABBe@ʁt'A@nK).v#Kg?T̠%)k¿#>ҁ׽A@3>I)dKQ5F§~?ʂܠ# Qѷz![BjYŜ?r2 bBYŜ?C!  ꁥƂBr@ addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 0.502894 s, deltaX: -0.199997 m, approachRate: -0.397692 m/s, rangeRepo size: 4  Added new target pos. range: 65.833588 m, bearing: 303.304788 deg, lat: 36.906352 deg, lon: -122.116090 deg, deltaT: 0.502894 s, deltaX: -0.199562 m, approachRate: -0.396827 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.83 m.bZrjRJB~~|B}|||@3P@| 4? QU;üIQ)UQI]sc& YY]*:J BJ XJJ @RJ ZJ bJ 5K9J J4J ! &U5,7XhADDAT read: Rx Time:14:01:56.1274 TRx dataTimestamp_ set to:1749132117.383907PDAT read: Bearing 304.6, 6.3 (Local) ~Local bearing/azimuth received: Bearing 304.6, 6.3 (Local) .DAT read: Range 10 to 50 : 65.9 m (trip time 43.9 ms) speed 0.4 BDAT read: 14:01:56.1274 LVL= 23760, 24897, 12514, 25587, AGC= 63, IDX= 498, 0.02,-2.422,-2.543,-0.587,-1.783, PHS=-0.551,-0.713, 1.193, RAW= 205.6, 0.8, CAL= 205.4, -6.3, ROT= 304.6, 6.3 FYgot valid direction response: 14:01:56.1274 LVL= 23760, 24897, 12514, 25587, AGC= 63, IDX= 498, 0.02,-2.422,-2.543,-0.587,-1.783, PHS=-0.551,-0.713, 1.193, RAW= 205.6, 0.8, CAL= 205.4, -6.3, ROT= 304.6, 6.3 FR#Rx 1: Read range and direction messages.J`direction in FSK: [0.564415,-0.818165,-0.109734]JFpublishing direction and range infoy٥ HOF䒽 >?59??59 ItBy|<@*Ei7 ;2 ;!L?5 ,AEZbXhA߂B߂B1@ʁ'kuwB@W??J~!/Y:+zWBji_bƜ?r6 HU >HU CHQ HQ HU  =HQ HQ HU <HU Ey [5,"rhA=_{BEIIMb@Mb@Mb@ )Y(\?Q?y&1yzT?<@  A) AIAy=AII(1 U=yQ >٥ H >?5S??59d IkBy-T?-:-:=5@*Ei6<7<jO?5=8BED,AEEDDAT read: Rx Time:14:01:56.6275 TRx dataTimestamp_ set to:1749132117.899956PDAT read: Bearing 307.9, 4.7 (Local) ~Local bearing/azimuth received: Bearing 307.9, 4.7 (Local) DAT read: Range 10 to 50 : 66.0 m (trip time 44.0 ms) speed 0.4 DAT read: 14:01:56.6275 LVL= 19648, 18161, 11762, 21859, AGC= 58, IDX= 497, 0.27, 2.362, 2.119,-2.238, 2.967, PHS=-0.516,-0.801, 1.075, RAW= 201.9, 2.8, CAL= 202.1, -4.7, ROT= 307.9, 4.7 Ygot valid direction response: 14:01:56.6275 LVL= 19648, 18161, 11762, 21859, AGC= 58, IDX= 497, 0.27, 2.362, 2.119,-2.238, 2.967, PHS=-0.516,-0.801, 1.075, RAW= 201.9, 2.8, CAL= 202.1, -4.7, ROT= 307.9, 4.7 R#Rx 1: Read range and direction messages.`direction in FSK: [0.612219,-0.786431,-0.081939]Fpublishing direction and range infoڑyڕ M?z]q*鿫ڕBYڑ ەL)ەFIە-iەcUە:ەەVMە? ܕCa@)ܕ+H=Iܕua@iܕܕ@ܕ= ݑ)ݑݕϴWr?4?BK?iݕw?ݕGݕhݕ= ޑ)ޑ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.U addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 0.516049 s, deltaX: 0.099998 m, approachRate: 0.193777 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 65.44 m.bQZQrYjYRYJYBy~~|B}|||P@|`K? mI!)%!I%K !!%%<-v/1)1i1iYԉEEEE_0E~GAAN>ԡ= ٥ii mHmPFu, u>y?5}-o??59} I}cBy-@}$*Ei}\:}H!;}R?5w,AԱ5GIY YyBZbyhABBө@ʁ3D@!Iz M?z]q*鿫h=ҁsƷYB@6"KnⱬyL?sxx}5wzYBj^Ɯ?r^( /uB bBB@DNOT Ignoring new targets: 65.44 m.bZarajaRaJaBi~i~i}i|q|q|q|uh? |B4tI)9IO_ Z<s/1iiDDAT read: Rx Time:14:01:57.1272 TRx dataTimestamp_ set to:1749132118.405101PDAT read: Bearing 311.2, 3.3 (Local) ~Local bearing/azimuth received: Bearing 311.2, 3.3 (Local) DAT read: Range 10 to 50 : 65.6 m (trip time 43.7 ms) speed 0.4 E?EEE0EEDAT read: 14:01:57.1272 LVL= 20400, 21425, 10978, 27987, AGC= 56, IDX= 495,-0.08,-1.063,-1.422, 0.519,-0.477, PHS=-0.498,-0.898, 0.994, RAW= 198.4, 4.7, CAL= 198.8, -3.3, ROT= 311.2, 3.3 MYgot valid direction response: 14:01:57.1272 LVL= 20400, 21425, 10978, 27987, AGC= 56, IDX= 495,-0.08,-1.063,-1.422, 0.519,-0.477, PHS=-0.498,-0.898, 0.994, RAW= 198.4, 4.7, CAL= 198.8, -3.3, ROT= 311.2, 3.3 ~GAANMR#Rx 1: Read range and direction messages. `direction in FSK: [0.657597,-0.751167,-0.057564] Fpublishing direction and range infoکyڭ-i ?̥ `8.yڭ3BYک ۭO)ۭSIۭ*iۭSmۭ8ۭۭTeۭv~? ܭk]@)ܭ=Iܭ^@iܭkܭέ@ܭk= ݩ)ݩݭS\A?G}>?7b?iݭ6?ݭ_(ݭ] Zݭk= ީ)ީ m2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode. 1 {i5,ʥhA9:@:A@Y: 0٥xx zHzQF~ ~> ?5? ?59! I[By @(*Ei::U?5,AEZb-hAFBFB@ʁjE@vH`4 -i ?̥ `8.y] Zk=ҁxOB@gB"{JSNw?D33 ?3< lb ?zSBjLǜ?rr S{Bi_bƜ?^(  HHIH{BHHHH%<HIE AEwIA)EHIIMks IIMtHi  DDAT read: Rx Time:14:01:57.6272  TRx dataTimestamp_ set to:1749132118.907976 PDAT read: Bearing 314.0, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 314.0, 2.8 (Local)  DAT read: Range 10 to 50 : 65.6 m (trip time 43.7 ms) speed 0.4  DAT read: 14:01:57.6272 LVL= 21216, 23889, 11986, 28595, AGC= 56, IDX= 510, 0.26, 1.141, 0.685, 2.661, 1.696, PHS=-0.467,-0.964, 0.963, RAW= 195.6, 5.5, CAL= 196.0, -2.8, ROT= 314.0, 2.8  Ygot valid direction response: 14:01:57.6272 LVL= 21216, 23889, 11986, 28595, AGC= 56, IDX= 510, 0.26, 1.141, 0.685, 2.661, 1.696, PHS=-0.467,-0.964, 0.963, RAW= 195.6, 5.5, CAL= 196.0, -2.8, ROT= 314.0, 2.8  R#Rx 1: Read range and direction messages. `direction in FSK: [0.693829,-0.718481,-0.048850] Fpublishing direction and range infoڱ yڵ  3?s!Dڱ Yڱ ۵ R)۵ Q]I۵ .i۵ o۱ ۵ ۵ v۵ +v? ܵ |Z@)ܵ =Iܵ !Z@iܵ +Hܵ ^@ܵ +H= ݱ )ݱ ݵ p?z*T?ߗU?iݵ s?ݵ ½ݵ Mݵ +H= ޱ )ޱ U 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode.,o5,]hA 9>7@>@Y> Bɽ>H?* ? $+?v@P??`Y,G? >7@>a;)>C%{B%mI]Mb@Mb@Mb@YYY Y)YY]n?X9v?Mby]V?]<]Y ]X A)]AI]AYy]fAI}I}<2ܽ 3=yiVQ >٥ HRFv >?5J??59 IQBy3V?}:|@.*Ei;;Y?5Z-AEZbGhAk8@ʁ|PF@wfGEt  3?s!DMi+H=ҁ5ygC@mɓL(J_ܪ!-?C? K ~㑳j?zBQ;Bj+nǜ?r!ab {B^Ɯ?6  /uBB@ addTargetRange:: Added new target pos. range: 65.599998 m, deltaT: 0.502875 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 65.138153 m, bearing: 306.568913 deg, lat: 36.906368 deg, lon: -122.116082 deg, deltaT: 0.502875 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.14 m.bZrjRJB~~|B}||||,? m|Bm Ii)m־qIuL胻 qqu,ȭ<}u/1yyiyi II IM AA jv5,hA6DDAT read: Rx Time:14:01:58.1269 6TRx dataTimestamp_ set to:1749132119.411767>PDAT read: Bearing 316.2, 2.5 (Local) >~Local bearing/azimuth received: Bearing 316.2, 2.5 (Local) FDAT read: Range 10 to 50 : 65.1 m (trip time 43.4 ms) speed 0.4 ZDAT read: 14:01:58.1269 LVL= 24368, 25281, 12402, 32755, AGC= 58, IDX= 508,-0.25,-2.870, 2.885,-1.405,-2.341, PHS=-0.441,-1.010, 0.933, RAW= 193.5, 6.0, CAL= 193.8, -2.5, ROT= 316.2, 2.5 fYgot valid direction response: 14:01:58.1269 LVL= 24368, 25281, 12402, 32755, AGC= 58, IDX= 508,-0.25,-2.870, 2.885,-1.405,-2.341, PHS=-0.441,-1.010, 0.933, RAW= 193.5, 6.0, CAL= 193.8, -2.5, ROT= 316.2, 2.5 jR#Rx 1: Read range and direction messages.n`direction in FSK: [0.721073,-0.691484,-0.043619]nFpublishing direction and range info4y6DI?Ȇߣ 濥GU63BY4 60_)6bI6r0i66:66G6n? 6>$X@)6Pw=I6zX@i6¸26r@6¸2= 4)46Kl ?٥ Hx >%?5ú?%?59" IJBy!%%@4*Ei::O]?5-9BU~-A]EZ4b6dZhA6HB6HB6Bw@ʁ6%j|ANG@%ToYFJ6DI?Ȇߣ 濥GU6EC6¸2=ҁ66\dtC@b.IPy1?6r|DB?~ x^v?z6yN6Bj6/בǜ?r6uQ 6|B6Lǜ?6r  6S{B6WB6}j@I} addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 0.503791 s, deltaX: -0.500000 m, approachRate: -0.992475 m/s, rangeRepo size: 4  Added new target pos. range: 64.641678 m, bearing: 307.008428 deg, lat: 36.906381 deg, lon: -122.116072 deg, deltaT: 0.503791 s, deltaX: -0.496475 m, approachRate: -0.985479 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.64 m.bZrjRJB~!~!})|)|)|-`fFP@|-? }|B靽OI)پIE s<r/1iiK\P"K9*K2K:KiVS`Dg+UG; iMRS/-[h"`,n"]pD JqE?EEE`5Eԩ  H H <H ޼>H H IH {BH  =H H -DH <H E?|5,1ahAJcJk4Jk0:JJ]BJJXJJJ@RJHZJJ]:bJJ5K9JJJ4JHzJJ:jJJ:JJf:rJJf:9ۻ@8@Y)٥ HSF >?5ຜ??59 I?ByS?:#@9*Ei::a?5)--A5Eu,DAT read: user:1894> uDAT read: 0 }8unknown deviceResponse_: 0 }DAT read: Ok }:unknown deviceResponse_: Ok ,DAT read: user:1895> BDAT read: Tx time:14:01:59.0666 $Ping request sent.jE >E5?E9E9E=N0E9jGEs?bGEW?~GAA1NE> % JDAT read: TxSync time:14:01:59.0658 - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249688F75,} hA}zB}HIԱII(*3X Y=yQ >٥ HTF >?5??59 I6By@>*Ei ; ;[d?5:BP.A E5DNOT Ignoring new targets: 64.64 m.b1Z1r1j9R9J9B9~9~A}A|A|A|A|M? |B靅\&I)򾉞I2 LS<t/1iiE-?E)E)E-O0E)~GA AN-,>]A]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5011989 O5,4'hAK  O"K }9*K 2K :K @mH}e='6!?0:2K.f%_d.$]Gqc  .#Y_K7Rf_@( J-?J)9E@E(@YE bf٥ HUF3 >?5??59 I.ByAi@C*Ei::g?5.AEDNOT Ignoring new targets: 64.64 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752999bZrjRJB~~}||1||%? U|B]%Ia)eI ̳<y/1!iIiQHۼ>HHIHj{BHHHH<H,EaE?EEEE:J[BJJJ?RJZJ:bJJـ4JzJ:jJ:JrJ~GyAAN>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005060Թ 75,!@hA9>T@>@Y>-;ǽ>H`F?YI?`߂?@oҿ?z? 긿 ? >T@>3;)>CrzBrIMb@Mb@Mb@ )YS??V-yO?<@  A)vAIAy=AI"Iq3` B=y!Q >٥  H VF   >?50??59/ I%By%UO?%:%%@I*EiV:t:kk?5)-/A-EeDNOT Ignoring new targets: 64.64 m.baZirijiRiJiBi~q~u{B}q|y|y|y|} (? u|Bu0Iq)} yI}» yy}C<v/1iizEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257422Ee?EaEaEe_0EaZGqRGq!~G9AIAaNmW>I b5,ZhA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508933$9Fj@F@YF٥ Hի >?5eJ??59 IBy@N*EiP:~:n?5/A-DNOT Ignoring new targets: 64.64 m.b1Z1r1j1R1J1B9~9~9}9|A|A|A|E@ u|Buf>Iy)} yI}N-л yy}㛶<s/1iiIE ?E E E 0E~GAAN)>yKU Q"KUs9*KQ2KU:KUp$qRj~|p;oSaG)c ^^LJeAJe~Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760781ԩ Gq Gq H H H wIH -{BH H H H <H EHMʗCHMʗCHMʓCHM =IM = IMʈ55,thA:JJ^BJJVJJJARJHZJJ} :bJJB9JJ4JHzJJ`:jJJe:JJX:rJJX:19U@U/@YUd;yUWIŽUH{?H? d?@lֿ`?y?zE? U@Ur;)UCmxzBm I]Mb@Mb@Mb@YYY Y)YY]p= ף?S㥛? rhy]E?]/<]C ]X@ ] A)]AIYYy]AIuIuF3 >=y]iQ >٥ HWF >?5d??59y IBynE?:@S*Ei ;B;r?5;B/AEDNOT Ignoring new targets: 64.64 m.bZrjRJB~~{B}||| |`@ =|B= 8IA)E AIE) AAE<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012925]x/1YYiYiaQE?EEE#1E~GAANE>qԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264888t5,hA9>@>H@Y>Ճ;y>P8>H`ҕ??A?@V{?%cؿ#w?RS? tu X`? >@>;)>CyOzBIII2%Ľ %A=y%JQ %>٥)) -H-XF5 5>9E?5=}~?E?59= I= ByAE^E@=X*Ei=:=:=Wv?5QU0AUEDNOT Ignoring new targets: 64.64 m.bZrjRJB~~}|||| x@ |B;FI)I~ <u/1iibEZEԡEEEEY3EjGu?bGh?echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517093~GAANf> H5,WhA9::@:㈻@Y:X~;y:޲:H.?"? !?rAڿ`?5?oT? ::@:Z;)8iDFlA)D DID H)HHHHLLiNhINFLIPiP PP)PT VXAVTTTZ+AIZ/])XiX)\Ihhh hhn݃Alillٯlr@zBrIIzIzm?3 +  t=y }Q  ?٥ HYFr½ ?!-?5%?-?59% I%By)-Ⱦ-@%]*Ei%P:%\:%Dy?5=׹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769125-DNOT Ignoring new targets: 64.64 m.b)Z1r1j1R1JQBQ~Y~Y}Y|Y|a|a|e`^ @ |B,WI) I <r/1U= y>iiH5ݼ>H1H5XIH5zBH1H1H1H5+<H5PE EEE!E%15E)~GA)A9NMR>1u BDAT read: Rx Time:14:02:01.5546 } TRx dataTimestamp_ set to:1749132122.940021} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022597Y C5,"3hA9:s|@:@Y:2E;y:P:H?A?(|? ܿK?7?hYõN? :s|@:&ɇ;):C=1zB=IMb@Mb@Mb@ )Y)\(?y&1?~jtyGA?`<ļ A A)AIAyGAII(*3 Q ;=yCQ >٥ HZFԎ >?5欻??59 IByA?:׾@b*Ei;kn;9}?51ADNOT Ignoring new targets: 64.64 m.bZrjRJB~~P{B}||||] @ E|BEz+SII)M4!IIM QQUmiYiYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273240EEEEN0Eԁ~GYAaAyNZ>) HG M YQy]#B:J aBJ PJJ ?RJ ZJ :bJ *9J ـ4J  @ @ @ @ 5,whA*DAT read: 14:02:01.5546 LVL= 30560, 32753, 16210, 32755, AGC= 65, IDX= 504, 0.19, 2.832, 1.989,-2.161, 3.031, PHS=-0.112,-0.995, 1.088, RAW= 185.0, 0.2, CAL= 185.2, -7.5, ROT= 324.8, 7.5 .Ygot valid direction response: 14:02:01.5546 LVL= 30560, 32753, 16210, 32755, AGC= 65, IDX= 504, 0.19, 2.832, 1.989,-2.161, 3.031, PHS=-0.112,-0.995, 1.088, RAW= 185.0, 0.2, CAL= 185.2, -7.5, ROT= 324.8, 7.5 2PDAT read: Bearing 324.8, 7.5 (Local) 2~Local bearing/azimuth received: Bearing 324.8, 7.5 (Local) :DAT read: Range 10 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.7 m/s B,DAT read: user:1896> FBDAT read: Tx time:14:02:02.6681 F$Ping request sent.F ) }?Hе?oxdcn?iPB?HsuF > )Z:publishing transmit ping timeDnFpublishing direction and range infoyE?V I⿛ /Y )Ii )Ii ) }?Hе?oxdcn?i )9ev@e@Yek:yeCteH J?Y?"Х? +ݿj/?D?}_ -g@? ev@ḛ;)eCzBIII39 %:=y%E&Q ->٥II MHU[FUr U>Ye?5]tŻ?e?59] I]Byv@]g*Ei]'<]'<]?5p1AEZbvThAyByB@ʁ+1LI@nOeAAM E?V I⿛ /uF >ҁo;@ٌbKmPaG+Ev?ABvⴿz^7AjRV/Ĝ?r#* eB xBh@ addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 4.030888 s, deltaX: -2.199997 m, approachRate: -0.545785 m/s, rangeRepo size: 4  Added new target pos. range: 62.456528 m, bearing: 296.502248 deg, lat: 36.906381 deg, lon: -122.116072 deg, deltaT: 4.030888 s, deltaX: -2.185150 m, approachRate: -0.542101 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.46 m.bZArAjARAJABA~I~I}I|I|Q|U@3sO@|U ? |BKI)~%I ;<%t/1% =%G>i)i)rEN>jE>KP"K9*K2K:K*F2hd_.( V^/.0!^)cJDAT read: TxSync time:14:02:02.6673 EIEIEIEM_5EQZGYRGY~G) A1 AA NM >Q  H H H- ϼ>H- CH- 9IH- zBH-  =H) H- ,DH- n<H- E)ۼ5, hAUzB]IMb@Mb@Mb@ )YQ?٥ H >?5Fܻ??59 IByEiiԁEEEEO0Eԡ 6G E=>~G A A N > 5,hA9F`X@F b@YF*yFFHD=??? @"??[e? ? F`X@F҈;)FCRzBRIIb$Ib<3jŖ< jq=yj}[Q n?٥ll nHn\FrJ r?tz?5v*?z?59vX! IvByxzz@vp*Eiv:v:v~?51A=DNOT Ignoring new targets: 62.46 m.bAZArAjARAJABI~I~I}I|Q|Q|Q|U`~? E|BEzII)Mp%IIM" IIMiyi:J_BJOJJ>RJZJ :bJ%9Jt4JE?EEEE6G 8U>~GAAN J>Iq *5,*hA09V.W@V`@YVĽwyV&VHڲ??@;S?ң?K?n?@Zʹ? V.W@Vƈ;)TfzBfIijC=Ij=hhln@AIr Irb3v zJ=yz>Q z>٥|| ~H~]F > ?5 e??59 % I By@ u*Ei : : ?5!%1A-ۭEK]bP"K]9*KY2K]:K]IqN2ou>N5kqVxZy ['96k*VZ}DNOT Ignoring new targets: 62.46 m.byZyryjyRyJB~~}||||c? |B靽qhI)&IK* <s/1T=^=iiHUʼ>HUCHU&IԑHUzBHU =HQHU+DHU^<HUEEEEE_0E6Gpf>~GAANF> 55,DhA\zBI-Mb@Mb@Mb@))) )))Y-bX9?{Gz?Mby-E6?-#<--X@ -A A))I))y-pAI]"I]q3}< 3=yQ >٥ H^F >?5??591* IByV6?:Z@z*Eiq ; ; ?5y1AحE}DNOT Ignoring new targets: 62.46 m.byZyryjRJB~~F{B}||||B? |BSI)"I%t54 IIM~GAA N>:J ZBJ NJJ BRJ ZJ 9bJ !9J -4J A >5,c^hA9F@P@Y2 EyHુ? D? 1Q?Rk?@Ϩ?ch?Q ? F@ۈ;)CzBI5 I5(2E@; EN=yM ;Q M>٥qy }H}_F}|% }>?5-??59. IBy-"-@*Ei<<?515t1A9DNOT Ignoring new targets: 62.46 m.bZrjRJB~~}||||T=@A |B\I)F! I -=   <u/1'=}=iiE?EEE[0EqKxWP"K9*K2K:K~vsLc}RudU,~`<m P<nG) G- AAH= м>H= CH= IH= zBH=  =H9 H= ,DH= '<H= m5,"PxhA.zBI)! !iMb@Mb@Mb@ )YQ?I +?{Gzy5?94<#n@  A)IAyGAII(1-q= -K=y-Q ->٥11 5H1= =>IU?5M@?U?59M3 IMByU5?]:]O"]@M*EiM:M:M?5e>Be;1Ae֭EDNOT Ignoring new targets: 62.46 m.bZrjRJB~~L{B}||||8?@ |B靭ohI)I؂D Y<r/1o=ᜏ=iibEZEԙEu?EqEqE}0Ey6GUrE>~GAAN> P5,hA9RaI@R S@YRvyR<&RHA? C??:/?@ZL?΁6?`@ ? RaI@R;)RCb@zBbIIjIj<2rK= rb=yvj;Q v>٥tx zHz`Fz:0 z>|?5~~Q??59~X7 I~By  72 @~*Ei~::~:~$?50AӭEMDNOT Ignoring new targets: 62.46 m.bQZQrQjQRQJQBY~Y~Y}Y|a|a|a|e>@ |B靕CkI))IJ ʚ<w/1==@~GAAQAaNm5>ԙBDAT read: Rx Time:14:02:05.1532 TRx dataTimestamp_ set to:1749132126.475306 x5,hA9RR@RA\@YR0*[:yRԖRH ϝ?U?>ݩ?ח@??EeK`l? RR@R{;)RCZFzB^II~I~2 Yk< H=y<;Q %>٥!! %H%aF-h ->1=?55c?E?595p< I5ByIM9M@5*Ei5Xc;5c;5?5QU0AQDNOT Ignoring new targets: 62.46 m.bZrjRJB~~}||||c @K+P"K59*K2K:Kc~)~wF8Z(r5m $nrEjjqFO3OuE{#1J?J> |B XI)IR h<t/1 S=  =i i HԼ>HH,IHzBH =HHHT<HEH–CH–CHH =I = Ix5E!E)E)E52E16G=j=jG]y?bGY~GA1AAINUS> DAT read: 14:02:05.1532 LVL= 20864, 22433, 16178, 25155, AGC= 66, IDX= 407, 0.40, 0.008,-1.155, 0.623,-0.147, PHS= 0.243,-0.961, 0.767, RAW= 167.2, -0.6, CAL= 168.9, -8.8, ROT= 341.1, 8.8 % Ygot valid direction response: 14:02:05.1532 LVL= 20864, 22433, 16178, 25155, AGC= 66, IDX= 407, 0.40, 0.008,-1.155, 0.623,-0.147, PHS= 0.243,-0.961, 0.767, RAW= 167.2, -0.6, CAL= 168.9, -8.8, ROT= 341.1, 8.8 5 PDAT read: Bearing 341.1, 8.8 (Local) = ~Local bearing/azimuth received: Bearing 341.1, 8.8 (Local) M DAT read: Range 10 to 50 : 60.6 m (Round-trip 80.8 ms) speed 0.6 m/s M ,DAT read: user:1897> U BDAT read: Tx time:14:02:06.2666 U $Ping request sent.U vZD? :@)+I<@inF@nF> )w!c+?-$Pz?' 3iR?8<Z䨾nF> ) :publishing transmit ping timeQ  Fpublishing direction and range infoy1?X5|Կ8C ÿY )Ii )Ii )w!c+?-$Pz?' 3i )a5,hA$9Jj@Jt@YJΉ ;yJߐJH@ ?|1?`? @`0?aA?8Qa~? Jj@J;)JCi=ZzB=IMJDAT read: TxSync time:14:02:06.2659 only read 0 of 1 data item for water mass range. Device response is::WD, + +0.00, +0.00, 20.00,1308.26 aI@a aM@a aQ@a aE@a II#3= =yP;Q >٥ HbFO[ >?5z??596C IݗB+:yr:&A@*Eip/;??v?5%?B-0A-ЭEZbhApBpB?@ʁ\F L@nB3ɚ*i"1?X5|Կ8C ÿZ䨾nF>ҁ/wm:@L{~J{=uX๯K?|ckc5zUAj<Ŝ?rw ZB nB|@} addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.535865 s, deltaX: -2.300003 m, approachRate: -0.650478 m/s, rangeRepo size: 4  Added new target pos. range: 60.171600 m, bearing: 296.489208 deg, lat: 36.906381 deg, lon: -122.116072 deg, deltaT: 3.535865 s, deltaX: -2.284927 m, approachRate: -0.646215 m/s, posRepo size: 4 =DNOT Ignoring new targets: 60.17 m.b9Z9r9j9RAJABA~A~A}I|I|I|MLN@|U0_?ԙ |BM=I)-I&+]  \<5y/1=7==5i9i9rEMJ>jEIEEEE2E :J bBJ ]JJ DRJ ZJ :bJ _9J 4J 6G M=~G A A N >5,hAP9V@V.@YVmgB;yV(CVH`t?ࡽ?@l? `h?`(?@LhEM? V@Vt;)T h)jlAɺhl|ɻiI  I i )9 9AAɼAIMnAII)IiQ)yIyyɽy ɾ龩iiA)# IٯkzBIIIm?3%Z= -=y-1;Q -?٥11 5H]cFex e ?i?5m~??59miG ImۗB :yD:FG@m*Eim;mZ?mK?5K0ADNOT Ignoring new targets: 60.17 m.bZrj!R!J!B!~!~!})|)|I|Q|U ? |BjI) Ilb N<v/1=KiiEe?EiEiEmO0EqK-[P"K-9*K)2K-:K-8uOb %V"dQ6Qo$i!GH6BT?lP^FpJ=AJ=AHݼ>HCH9IHzBH =HH-DH <HE6GM D{=) ~Gi A A NE >ط5,hA9F@FF@YF:yFɡxFH`?8? 2? D@?`Ѥ?CVT? F@FQ;)FC=uzBEIaI]aI] aMeaMe aQeaQe aEeaEe eMb@Mb@Mb@aaa a)aYeV-?{Gz?ye٥ HdF R >?5P??59'M IT:yy = +GM A6,YhAVA r,YrAyrP/BYzBII-&I-3e= eM=yeQ e>٥ii mHim u>y?5}??59}R Iyy@}*Ei}:}:}_?5@B/AϭEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||? |BqLI)!I% o ))-<5x/15b =5ti1i9zEAԉEEEEEF=F<6Ghm<~GAAN%n>Թ w 6,;:-hArzBr"II I ?13 >?%gA= %a=y)Q ->٥)) 5H5eF1 =>9E?5=W?M?59=W I=ڗByIIM@=*Ei=:=P:=?5Y]|/A]̭EDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||@?Թ |BJI)𾉞IP'u <u/1 =сi KuBP"K9*K2K:KG(&# "oCa/8|{HS6.^b)ZZm<88 z",k49;<;851-)J%?J%?i!HyHyH}RIH}zBH} =HyHyH}&<H}IEEEEE_0E6Gsp~GA:J]BJSJJERJZJ]:bJy69J4JzJ:jJ:J)C:rJ+C:ANI>9 ۮ6,$GhA9Z ֦@Z߭@YZoyZݻZH ??0^?@f` ?૙?hs?஼{`? Z ֦@Zš;)ZCfzBf,IMb@Mb@Mb@ )YRQ?X9v?MbP?yB?<:A A)IAyzAIIb1= A=yoQ >٥ HfF >?5'μ??59] IۗByB?:O@*Ei2 ;X ;D?5:/A9UDNOT Ignoring new targets: 60.17 m.bYZYrYjaRaJiBi~q~u{B}q|q|y|y|}`c@ }|B靭;I)徉It{ <r/1 =HŽiiEIEIEIEMo0EIa6G5NjG5|?bG5?ԉ~G A A) N5 >Թ "6,`hA9zۦ@z@Yz)oyzZ;zH-%?@M?G`\ %?`g? ?+ r?`? zۦ@z;)zC zB2II%I%35?< 5T=yE.Q M>٥II MHMgFU: U>Ye?5]B߼?e?59]c I]ݗByamNm@]*Ei]:]:]?5qu/AuɭEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||`@ ux|Bu?Iq)u{޾qI}np yy}]<w/1( =hлiiԑE)E)E)E51E1FEAFEA6G=q~GyAAN]>Hu׼>HqHukIHu{BHu =HqHqHu<HuEKCQ"K9*K2K:K&!yJ/`~  Y cThYAA#TS}5L1y"O%nJAJ :J5 ^BJ5 RJJ5 >RJ1 ZJ5 } :R6,zhAbJ]S29J]t4JYzJ]a:jJ]f:J];:rJ]<:9~@~ @Y~]=y~i<~H @?r?mƒA?b?K?@33?? ~@~%;)| zBBI Mb@Mb@Mb@    ) Y (\?Zd;?y N? y=  3A A) 3AI A y GAIE IE<2BDAT read: Rx Time:14:02:08.7482 TRx dataTimestamp_ set to:1749132130.011335[= 2=yQ >٥ HhF!< > ?5? ?59Uj IߗBy N? :D@*Ei;;?5%AB%.A-ƭEUDNOT Ignoring new targets: 60.17 m.bQZYrYjYRYJYBY~a~e{B}a|a|i|i|muj@ r|B靝t-I)ξIy  <t/1= iiEEEEO1E6GuG?~GQAYAqN}z>A c$6,hA9F}=@F&G@YFwyFBb8i9i9IEEEE05Ey6G ]ŽZGRGA~GA AQ Aa Nm >ԩ g+6,QhA<9F@FO@YFryFB=FH@?t?ʨ`~ ?`o?@P?`? F@FM;)FCRzBVMIIZ IZV2b bJ=yf0(Q f>٥dh jHniFnG< r>tz?5vL?z?59vu IvByxz?~@v*Eiv#;v;v?5p.AĭEDAT read: 14:02:08.7482 LVL= 28048, 32753, 23538, 32755, AGC= 67, IDX= 404, 0.35,-2.997, 1.907,-2.771, 2.943, PHS= 0.431,-0.989, 0.566, RAW= 154.5, -0.1, CAL= 157.3, -8.9, ROT= 352.7, 8.9 H->H)H-IH-K{BH- =H)H-.DH-C<H-wEEDNOT Ignoring new targets: 60.17 m.bAZArAjIRIJIBIUYgot valid direction response: 14:02:08.7482 LVL= 28048, 32753, 23538, 32755, AGC= 67, IDX= 404, 0.35,-2.997, 1.907,-2.771, 2.943, PHS= 0.431,-0.989, 0.566, RAW= 154.5, -0.1, CAL= 157.3, -8.9, ROT= 352.7, 8.9 ]8DAT read: $Error in header e*Received a bad header~q~q}q|q|q|y|}@KP"Kh9*K2K:KvUxn/#HlH3K42<C~KX1Bwe g|B&,X#Rx 3: Read direction message, but no range.`direction in FSK: [0.979952,-0.125535,-0.154710]9y=C&[?rʃjÿY9 =m)=I=[i==C=>=/}=`? =,@)=I=/@i==@=> 9=*J_?W6MnJ? <%_i=?=Kv:=tw=>I)  I I Z><v/1[=ԒiiԩE?EEE4EF5=F5>JJ4J0:J-eBJ-PJJ-ARJ)ZJ-\:bJ-*9J-4J)zJ-z;jJ-};J--:rJ--:6GE~GA!A1N=r> H16,XhA|zBTIMb@Mb@Mb@ )Y333333?ˡE?Mb`?yY?=;A A)zAI3AyQAII1P< ;=yQ >٥ HjF >?51??59{ IByZ?x::@*Ei ; ;?5BBF.AEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~{B}|||| @@ a|B靅x(I)hIˊ <s/1=\aii)EEEE0EYI) I) 6G Dԁ ~G A A N >)86,9hA9VU@V@YVyV=VH+k?Z?,@@Yd?覿?շ?? VU@VA;)Tb{Bb_IIfIf?13P4= V=yuQ %>٥)) -H-kF-= 5>9E?5=F?E?59=) I=ByAE2M@=*Ei=:=:=A?5QU.AYQDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||o@ \|B-I<):I %<x/1N=m8iiEEEEO0E6G4ԉ~GYAiAyN9>Ա H H p<H>HCHIHt{BH =HHH<HEHǗCHǗCHH =I = I{6K sP"K 9*K 2K :K Z(Z7122Z_WB4^# kMKB@cqB ZV>6,"hA:J2_BJ2[JJ2?RJ0ZJ2 :bJ2W9J2ـ4J0zJ2,:jJ21:J2{|:rJ2~|:ԩ{B`IMb@Mb@Mb@ )Yrh|?+?{Gz?y[?=#<+ A @)AIEAyGAI I 2(; -=y%Q %>٥)) -H-lF- ->1=?55`?=?595 I5ByE\?Ev:Ez4E@5*Ei5;5;5\?5IM-AUE}DNOT Ignoring new targets: 60.17 m.byZyrjRJB~~%|B}||||(Q@ U|Bw*I)yI< q<u/1=IiizEEEEEEFF 6G ~G A A N >1 Q9E6,hA9Nx@N!@YNyNF >NH "??? ]?`g?? Nx@NxLJ;)LZ{BZ^IIbIb3j/ jy=ynQ r?٥tt vHtz= z?x?5zds??59z IzByo,@z*Eiz;zo;ziԙ RcK6,/hA9F!@FI+@YF|I1yF*>FH@w?@Y?૶@^?#2 j'?K? O? F!@FH;)Dv{BvfII I(2< G=ySHQ >٥! %H%mF-= ->1=?55?E?595p I5ByIM(M@5*Ei5=m;5In;5?5UCB]-A]EDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||G@H>HHIH{BH =HHH<HE K|B5 I)I -n<w/1K= i i qK?P"K*K2K:KJ'_6W,/"rD]LLRdeah G ;VJ>J?ԡ>E}=E?EEEO0E 6GU I4GjG] z?bG] l?~G1 A9 AQ N >R6,LhA96ǒ@6p@Y6By68>6H@ ?V?`Fbק?k #Z?@?`? 6ǒ@6$;)4J{BH%Mb@Mb@Mb@!!! !)!Y%x&1?㥛 ?{Gz?y%a?%=!%A %@)%AI%rA!y%AI=I=0M: M5=yMjQ M>٥QQ UHUnF]4< ]>ԡa ?5ez? ?59eŘ IeBy Rb?p:'@e*EieܺE <EaEiEiEmP0Ei6GE6n*:J\BJVJJRJZJ=:bJB9JJ@@ @ @~G!AAAQN]>1 \Y6,aehA9:@:=@Y:ZTy:Q>:H ?@u? 9i?`9 "?`1?? :@:2;):Cb{Bf_IInInb2v vR=yv1Q z>٥ HoF<  > ?5 ??59 2 I ,By $%@ *Ei 9; ; *?5-DB-.A-EUDNOT Ignoring new targets: 60.17 m.bQZQrQjQRYJYBY~a~a}a|a|a|i|mG@ @|B靭6)I)3INE <y/19I='HHIH{BH =HHH <H(EE?EEEZ0E6G-,K5)BP"K5S9*K12K5:K5|F<)m*EX>8;jacO26:Nl dJeAJaq~GAAN>Ա +_6,hA9Ff>@FH@YFsTdyF| >FH`0?sy?``<`7"?]yņ??@.? Ff>@F;)FCRzBRWIMb@Mb@Mb@ )Y+?x&?y&1|?y_?7=`;A @)AI AyfAII3s 9=yQ >٥ HpF%z< %>)5?5-ֽ?5?59-: I-;By5h`?5r:=#=@-*Ei-;-;-?5AEC.AEEq}DNOT Ignoring new targets: 60.17 m.byZrjRJB~~^|B}||||v@ m;|Bm2!Iq)uqIuo qqu a<v/1"=f f6,}hA9>@><@Y>ery> >>H$[?@O?:V?p .H?X?{? >@>/E;)٥`d fHdfS< f>hn?5jF콜?r?59j IjHBypr r@j*Eij;jf;j)?5tvS.AxDNOT Ignoring new targets: 60.17 m.bZrjR!J!B!~!~)})|)|)|1|=.@:JBJTJJCRJZJbJ:9J4J 6|B  -I ) x I  ) = == <>l6,\hAH">H H H H" =H H H" <H"/E,9n@nT@Ynm~ynB=nHw?v;?@`T}?Kԯ?@?'? n@n-@;)nCzzBzPIII<2Ñ D=y%>Q %>٥!! -H-qF-i]< ->1=?55-?E?595 I5WByAEsE@5*Ei5;5;5?5IMu.AUE}DNOT Ignoring new targets: 60.17 m.byZyryjyRyJB~~}||||@ 2|Bhk*I)I q<x/1K=bs.me`Z99'J} ?J}?1EEEE4E6G <~GAANI>Yԁ &s6,4hA09>UΫ@>ײ@Y>ny>ێ=>H?3? nj?ݣ@j?w?%? >UΫ@>;)>C=zB=KIԉMb@Mb@Mb@ )YV-?X9v?~jth?y|_?}=D;A )AI AyAII(*3p $=yɁQ >٥ai mHmrFmF; m>q}?5u#??59u IuhBy `?r:@u*Eiu};u?|;uB?5EB.AEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~!|B}||||@+ @ ,|B!Idl<)!I%E !)-<-u/15=5S7fy6,flhA9>?۫@>@Y>By>*=>HƑ?@5?@?d?@v ?'Ͷ?>? >?۫@>e;)>CHiJCNnA)NĻ LIL NC)LLPPVYCTiXIX\I^LCi^XA \\)\` bKAb!btF`f3CfOAIf)fTFid)jCIjGAjj\F hٯhnzBr:IIz Iz(2 =yQ ?٥    H sF; ??55?%?59 IrBy!%J%@+Ei<<?5FB/AE-DNOT Ignoring new targets: 60.17 m.b)Z1r1j1R9J9BA~A~a}i|i|i|i|uo!@ )|B=I)uI* w+<r/1==iiAEU?EYEYE]O0EY H<H<H%>H%CH!H!H% =H!H%/DH%<H%E6G5~<~G AA)N5q>KVMP"Kػ9*K2K:KlfT\6U2{*KP@n$E;2+FQ"q:dJJA G6,,hA9F׫@F@YF|dyF=FH`F?B?`f ?䎿 ? 6?? F׫@Fc$;)FCzB>I}Mb@Mb@Mb@yyy y)yY}Gz? rh?MbPy}p]?}C =}} A }@)}@I}`Ayy}AII2Q< 3=yxQ >٥ HtF萺 >?5O??59 IBy]?u:e'@+Ei;;?5.A DNOT Ignoring new targets: 60.17 m.b Z rjRJB~~{B}|!|)|1|5I"@ ]$|B]/Ia)e%aIex aaev<w/1=7pw6,hhA9RGū@Rβ@YRÐyR =RH`?Y?`Ns?hn?`F? ? RGū@RH;)RCIUzBU7I:J[BJ\JJ?RJZJ:bJ[9Jـ4JIeIe<2׼ ]=y輻Q >٥ H\ >?5Ve??59 IBy'@ +Ei:e:?5!/AE DNOT Ignoring new targets: 60.17 m.b ZrjRJB~~}||!|!|%`#@  |BC5I)歾!IE AIMEG<ԩE= ?EA EA EE 4EA H >H CH IH {BH H H .DH <H EH˘CH˘CHHI = I56Ge P=~GAAN>6,8:hAK"(hP"K"9*K 2K":K"bM_\CU$LK{009^ @^@Y^vy^J=^H[p?w?@kR@???`@?}? ^ @^H;)^CjzBj-IIrIr#3zG z0=y~ Q ~>٥|| HuF% >=?5$?E?59 IByIM(U@+Ei;';/?5q}i/AEa=DNOT Ignoring new targets: 60.17 m.b9Z9r9j9R9J9B9~A~A}I|q|y||$@ |B!-I)sIM L<y/1q=+sE<ԉE?EEEO0EԱ6G <~G A A N > 6,ShA9Rօ@R@YR4byRC=RHW?+?u`ʢ`r?`]_??@?? Rօ@RU;)RCzB9IMb@Mb@Mb@ )Yrh|?{Gz?Mbpy[?#< A 3@)3@IAyAI-I3>= ?=y}ZQ >٥ HvF- >?5◾??59 IBy[?w:0@+Eij;,;?5GB/AE5DNOT Ignoring new targets: 60.17 m.b1Z1r1j1R1J9B9~9~=B{B}A|A|A|A|E$@ =|BEd6IA)M򦾉IIM؜ iqu 6,%qhA9Bza@B$k@YBT0yB~x٥hh jHjwFjV+ n>lr?5n[?r?59n InBytv$2v@n+EinX:n;n?5|~HHHH =HHH$<HPEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||5ସ%@ }|B}s0I)I  <s/1{=Ǜ9J4JzJ:jJ:J}Q:rJQ:A1AN> BDAT read: Response Not Received  *response not received ,DAT read: user:1899>  BDAT read: Tx time:14:02:17.2166  $Ping request sent. ٥ HxF% >?5ƾ??59; IØBy%[?x:\8@$+Ei;;d?5/AEDNOT Ignoring new targets: 60.17 m.bZrjRJ!B!~!~%zB})|)|)||`@&@  |B|{/I)˟I +5<-x/1-=- ~q ^Ĩ6,ŤhA 9F8@F(@YFyFwM.FH?Z?dT$??g?Le? F8@FI;)FCfzBfDIIvIvF3~= V=yQ >٥    H yF   >%@5J۾?%@59 IϘBy!%Q9%@)+Ei:;:@5-HB5.A5E]DNOT Ignoring new targets: 60.17 m.bYZYrYjaRaJaBa~i~q}Q|1|Y|Y|]pX'@ |B<,I)CI%? !)ELH>HHIH{BH =HH/DH<H(EԩK] P"K] H9*KY 2K] :K] qm,3No ]UH! W =BL&~}t#u1|Je ?Je "? 6,ChA:J>eBJ>SJJ>BRJ<ZJ>\:bJ>y69J>-4J<zJ>z;jJ>};J>(C:rJ>*C:9wת@!@YԯyrfH T?`^;?`#?(?@P?`+[? wת@骅;)zBAIԩMMb@Mb@Mb@III I)IYM333333?~jtMbP?yMY?MļM:MQA I)IIM3AIyMQAImIm?13} }(=yԻQ >٥ HzF} >@5?@59V IByY?y:@@0+Ei ;e;@5.AEDNOT Ignoring new targets: 60.17 m.bZrjRJB~i~mzB}q|y|||2N(@ m{Bmq&Ii)uHqIuW qqu<}r/1}2=;iizEE)E1E1E5\0E1F9F=A 6GU T<1 ~G A A N >[6,hA9>̻@>vű@Y>?製y>R>H? O?,L80?@?nw?`iG? >̻@> ;)>CJ{BJ\IiN=IN.?IZIZ3b=> bw=ybQ b?٥dd fHd5 5?9E@5=?E@59= I=ByAMAM@=5+Ei=X:=0;= @5uIBuG.AuEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||(@ԉ u{B靍'I)yI <<w/1=*.0;iiEE?EAEAEE1EA6G9)<Ա~GAA1NEQ> :@6,JbhA9^@^:@Y^y^^H?X? ! C?e0?x?~@? ^@^z};)^Cj{BjlIHr>HrCHrIHr{BHr =HpHpHrٚ<HrEI I(2%^z= %E=y- lQ ->٥)) -H-{F5M 5>@5Y?@59 IBy B@:+EiZ;4; @5-AEDNOT Ignoring new targets: 60.17 m.bZrj!R!J!B!~)~)})|1|1|1|5)@ e{Be 5Ia)mYiIm iim'6,: hA 9>@>@Y>&y>9>H@?` _?ٮzM`C?X_??9=?`? >@>n;)<4{B|IIUMb@Mb@Mb@QQQ Q)QYUZd;O?l{Gz?yUj\?UU#٥ H|Fb >@5R4?@59f IBy\?v:DF@A+Ei: ;. ;@5~-AEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~zB}||||/*@ 5{B5. I1)=c89I=i 99=P6,9'hA@9Fԏ@F~@YF3yF  |=yzQ  ?٥ H}FU  ?!-@5%D?-@59% I%By15F5@%E+Ei%:%u:%@59=,A9uDNOT Ignoring new targets: 60.17 m.bqZyryjyRyJyBy~~}||||(]+@ {B靽dI)&I <v/1g?=ϺiiEiEqEqEuO0EqԩHHHIH{BH =HHHߚ<HE ]>Y6G9~GAAN>) K bP"K 9*K 2K :K 23^D @jVRG VB=5j6 ':'2T`s}UWBk`{yI! I! :JE _BJA JJE B96,@hARJiZJm :bJiJm-4JizJm+:jJm0:JirJmX:|9̈́@w@Yɩy8P<H?k?b뱿_?`ɑ?2??@3? ̈́@ P;)CBDAT read: Rx Time:14:02:19.6860 TRx dataTimestamp_ set to:1749132141.103214{BImMb@Mb@Mb@iii i)iYmx&1?{GzQ?ymA`?m#mu٥ H~FB5 >@5g^?@59c I1By`?r:G@L+Ei::@5JBD,AE)DNOT Ignoring new targets: 60.17 m.bZrjRJB~~{B}9|A|I|I|U@k,@ {BPIz['<)I⹼ A<s/1=*i i QE?EEE`5Eԁ 6G p~G A A N >6,[hA|9}}@}@Y}y}؇<}H?@n?'yd?6o?uj?`?)? }}@}b;)}C{BIII 3 > ^=yQ >٥ %H%F% %>)=@5-q?E@59-\ I-BByH@-Q+Ei-<-ئ<-@5KB}+AEDNOT Ignoring new targets: 60.17 m.bZrjRJB~~}||||$-@ ]{B]ͼIa)e(aIe aam+S  BDAT read: Tx time:14:02:20.8167  $Ping request sent. ]%A]@? ]p<@)]'gI]C?@i]%K]TU@]%K> Y)Y]/$?r?Y-Hi]Y?]}=]j]%K> Y)YU:publishing transmit ping time UFpublishing direction and range infoYy]*I?a({ֿg4LɿYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y]/$?r?Y-HiYYYY Y)YEu?EqEqEuO0EqQy 6G w*~G A A N >16, fuhAH>HH IH?|BHHHHҚ<HEHuCHuCHqHu =Iu = Ius)5bJDAT read: TxSync time:14:02:20.8160 9j"z@j̃@Yj>>yjN{٥!! -H)5N 5>9E@5=?E@59= I=TByIM.HM@=W+Ei=:=:=@5qu*AyZbwfhAABAB @ʁO!`,F@|w1zY'#*I?a({ֿg4Lɿj%K>ҁ܉` 6@6f\ENz"Of41?4rS6Zhz*SAj^tƜ?rx} vcB^tƜ?x}  eBꁕI@B @  addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 14.628381 s, deltaX: -11.799999 m, approachRate: -0.806651 m/s, rangeRepo size: 4 = Added new target pos. range: 48.457760 m, bearing: 297.289546 deg, lat: 36.906375 deg, lon: -122.116077 deg, deltaT: 14.628381 s, deltaX: -11.713840 m, approachRate: -0.800761 m/s, posRepo size: 4 EDNOT Ignoring new targets: 48.46 m.bAZArAjARAJIBI~i~i}q|q|q|u`ffH@|}`? {BM⳼I),<I <u/1U=qriiԉK '4P"K H9*K 2K :K -E0M>:Nw0{S)"J6pvf?lG[E?EEEE6G g{~G A A N >6,#IhA96\@6=f@Y6Юy6<6H?X?@ró^|`!? }S=yQ >٥ HF >@5?@59 IfByb?o:)?@\+Ei:[:"@5Ա *AEDNOT Ignoring new targets: 48.46 m.bZrjRJB~~e{B}|||| N? {B靵ŎI)=Iܜ /<r/1" =ii>ER5<JJr4J./:JaBJ\JJARJZJ:bJ[9J4J@@@@E?EEEE9 6G ~G A AN>6,ͬhA(9>V@>`@Y>5y>L<>H࣊? ن?@:@h`;?Ŏ?ߵ? ?? >V@>k;)>CJ<|BJIIZIZ[3bi= b:=ybuQ f>٥dd 5H5F5Ǻ 5>9E@5=?E@59= % I=|ByIMY?M@=b+Ei=;=;=&@5QUl)AUEDNOT Ignoring new targets: 48.46 m.bZrjRJB~~}||||@Q? {BjsI)=I| <w/1l<gWii>E*:<ԉEAEAEAEEP0EAHm>HiHm_IHm|BHiHiHiHm<HmE6G~GAA)NEQ>ԩK} WP"K} 9*Ky 2K} :K} +BsH~8%<$7uB\i5#rfA! 6,1hA96Y@6rc@Y6=y6ĺ<6H@?,?F@}?4?@ ?@A?`8?<>A 6Y@6̆;)6C\fp|Bf?I)h hMb@Mb@Mb@ )Yp= ף?~jt?/$?ye?<<n@ )3@IzAy@IIm?3= :=y Q >٥ HFWS: >@5>̿?@59+ IBy% I g   {ǻ<t/12<}i!iA) ]SGmZA .YZAy1B>Eh%<EE ?EA EA EA EA I :J ^BJ [JJ RJ ZJ } :bJ W9J J y 6G%̻~GA AN->;'6,9dhA9No@NKy@YN(yN ٥xx zHzF~; ~>@5z濜? @592 IBy  a7 @o+Eis;;.@5LB'AEUDNOT Ignoring new targets: 48.46 m.bQZQrQjYRYJYBY~Y~a}a|a|a|a|m 1O@i {B靥ܻI)}h>IOյ ϙ<y/1<ziiDDDDԙE ?E E E O0E H<Hp<H>HHIH}BH =HH0DH<HE6G 4λ ~G A A N >M 7,'hA9>@>)@Y>y>M'<>H ?Kc?,]@~????? >@>a;)>CR|BRnIIZIZ3Kr!0P"Kr9*Kp2Kr:Krv]+3*i^zPXb%tZx|aK:BTla m= %G=y%j;Q %>٥)) -H-F-6; ->1u@55?@5959 I5By6@5u+Ei5e[<5><5-2@5MBq'AEDNOT Ignoring new targets: 48.46 m.bZrjRJB~ ~ }I|Q|||@ {Bd詻I)Ά>!I%徳 !!%2<-v/1-fe<5!i1iA EEE E P0E 16GM ԑ~G A) AA NU >Y H37,hA%|B-Ii->I)Mb@Mb@Mb@ )YL7A`?J +?I +?y+g?H=9<A@ @)I@IdAy@II2\= >=yQ >٥ H > @5? @59~? IәByg?j:-&.-@{+Ei^;c;5@519=&A=EeDNOT Ignoring new targets: 48.46 m.baZirijiRiJiBi~q~u{B}y||||@@ ={B=p:IE`:)Eb>AIM߱ IQ]<s/1<7ii:J`BJVJJCRJZJ:bJB9J4JrEV>jEaE?EEE_0EABDAT read: Rx Time:14:02:23.2818 TRx dataTimestamp_ set to:1749132144.631606ԉ6G i"~G A A N >Թ r] 7,3hA9>Ѫ@>ڱ@Y>שy>WH<>HR?`E*?`m6'`G?*ҡ?4? o?? >Ѫ@>E;)>CJ}BJIIRIR3Z= Z`=y^%;Q ^>٥\\ bHbFbD< b>dn@5f,?v@59fD IfBytv+v@f+Eif;fT;f9@5xz&Ax%DNOT Ignoring new targets: 48.46 m.b!Z!r!j!R)J)B)~)~)}1|1|1|1HE>HECHEIHE}BHE =HAHAHEњ<HEE|e@o @ {B=|;IA)E>AIEћ AAE޲6Gq~G A A  DAT read: 14:02:23.2818 LVL= 20336, 23985, 12354, 30483, AGC= 65, IDX= 396, 0.23,-1.227,-2.169,-0.572,-1.394, PHS= 0.255,-0.727, 0.819, RAW= 171.1, -5.2, CAL= 173.3, -12.2, ROT= 336.7, 12.2 % Ygot valid direction response: 14:02:23.2818 LVL= 20336, 23985, 12354, 30483, AGC= 65, IDX= 396, 0.23,-1.227,-2.169,-0.572,-1.394, PHS= 0.255,-0.727, 0.819, RAW= 171.1, -5.2, CAL= 173.3, -12.2, ROT= 336.7, 12.2 - PDAT read: Bearing 336.7, 12.2 (Local) - ~Local bearing/azimuth received: Bearing 336.7, 12.2 (Local) 5 DAT read: Range 10 to 50 : 45.6 m (Round-trip 60.9 ms) speed 0.7 m/s = ,DAT read: user:1901> E BDAT read: Tx time:14:02:24.3667 E $Ping request sent.E : Q? ?@Nm >) ޹I A@i ^ Z | @ ^ Z> ) h)@?lx$P?W"i pd? [= 5о ^ Z> ) } :publishing transmit ping timeA } Fpublishing direction and range info y  ٥ HF %>Q]@5UL?]@59UoL IUBy]h?ei:e(e@U+EiU;U;U=@5im%AuEZbHhA5B5B5@ʁRSD@6򇙁1pX## ҁJ3@ЙY)D'ĉ^W~?/=lڑ& ¿zM!AjO\2Ɯ?rr bBO\2Ɯ? vcB4B@% addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 3.527746 s, deltaX: -3.200001 m, approachRate: -0.907095 m/s, rangeRepo size: 4 5 Added new target pos. range: 45.281170 m, bearing: 295.806376 deg, lat: 36.906373 deg, lon: -122.116077 deg, deltaT: 3.527746 s, deltaX: -3.176590 m, approachRate: -0.900459 m/s, posRepo size: 4 5DNOT Ignoring new targets: 45.28 m.b1Z1r1j1R9J9UJDAT read: TxSync time:14:02:24.3660 B9~y~{B}|||F@|N? {B} ;I)>IN a<u/1<;ii!EEEEo0EI :J [BJ JJ ARJ ZJ :bJ J 4J 6G ;jG x?bG ?q ~G A A N >7,9hhA9B/@B8@YBk{yB =BH3??@\;?@ᅛ?? ? w? B/@B߃;)BCV@}BVII^I^[3j/= j=yj;Q j ?٥ll nHnFnW= r ?pz@5r^?z@59rP Ir Byxz%z@r+Eir:rA;r]@@5~NBq%AEDNOT Ignoring new targets: 45.28 m.bZrjRJB~~}|||| ? E{BeKiImC iimHCHIH}BHHHH<HE>E &<Ee?EaEaEaEa 6GM !j;Q K P"K 9*K 2K :K v[G 4  A cd JT%6 Joj : Y3N_t~G A A N >Q!7,hAM}BIMb@Mb@Mb@ )Y rh?i|?5?Mbpyl?q=@ 3@)In@y@II3.< =yQ >٥ HF >@5?@59Y I!Bym?e:Q&@+Ei::3E@5!-B%A-~EUDNOT Ignoring new targets: 45.28 m.bQZQrQjQRQJYBY~Y~]{B}a|i|i|q|}@͐? {B<;1I)>Iy m<w/1*K<m%[EQE?EEE}0E6Gm Re<~GA AQ Aa Nu >ԙ n'7,֋hA9n@nc@Yn yne;=nHZ?`-?x?j??X?? n@n8;)nC ]}B II%I%V83=I= E=yM:QI]2ڣ YYe<}t/1}R.<} H1 H5 @IH5 ~BH5  =H1 H5 /DH5 <H5 EHHHH =I = Iʛ5 6G [z<ZG RG ~G A A N>.7,hA9>)@>Ӳ@Y>`y>݅B=>H*o?z?To?cՄ??>? L? >)@>;)>C ]i}BeIIuIuF2}U< /=y&٥ HF; >@5S?@59cd IAIEК AAEiԑ ~k57,hA96@6Ĺ@Y60ӊy6?5=6H`u?x? ڄ??@V??/? 6@6,;)6C FC)FAɿF@JݯFHHJAiN(INFLIN&CiNpA N`L)PRC RtAPPPV̏CTIT)TiT)ZCIXXX X^C\\i\\ٯ\bv}BfIyMb@Mb@Mb@ )Yn?+?MbpyVn?=@ @)@I@y=@I=I=m?3m < m>=yuF0٥qq uHy}*; }>@5t?@59j IJByn?c:'@+Ei:4:O@5$ADNOT Ignoring new targets: 45.28 m.bZrjRJB~!~%{B}A|I|I|I|M`R@ {BZ}SIu :0<v/1=<)GO;7,ӈhA9J@J>@YJ&yJ0c=JH?r? U? \?`??`W?? J@J;)JCs}BIIIT3  ?=yqA٥ HF %>! H1H5<H=>H9H=RIH=1~BH9H9H9H=Ț<H=E@5%r?@59%/q I%VBy0(@%+Ei%!<%,<%S@5PB$AvE DNOT Ignoring new targets: 45.28 m.b ZrjRJB~~}||!|!|%@ U{BU²jQI]e YY] GB7,. hAi]C]lA)Y YIY eC)aaaaefCerAiiIiiIiii ii)qq uIAu?5umFq}&C}KAI}%)}LFiy)ׁIׅ"AօrhօTF ׁٯ}BI) e+Gy }.Yy1BMb@Mb@Mb@ )YS?~jt?٥Aa eHeFm m>qu@5uD?}@59ux Iu`By}2o?}c:}-}@u+Eiu,:u;uW@5~$AsEDNOT Ignoring new targets: 45.28 m.bZrj!R!J!B)~)~5c{B}1|1|1|1|= @ {{B靅ܣd8I7,(hA(9J@JF@YJf2\yJ[ZX9=ZGaZ%A? Z?B@)Z5 X)XZ+l?ȇ?<XU?iZTp?Z^ZܾZ> X)XE}BEIIU IU2e; en=yeҁZh߀a 2@Ѩ][.CEjeZn2HHYIH;~BH =HHHٚ<HE 6G5 G<~G A! A9 NE >_P7,BhA9JXz@J@YJLyJO;JHY?з?_`c?-??@wT{?? JXz@J;)JC\IpIr@A:Jz\BJzXJJxRJxZJz=:bJz5K9JxJxzJz:jJz:Jzf:rJzf: }B IIIb2-06= -O=y-٥11 5H5F=뮻 E>AM@5E/2?U@59E IElByQU /U@E+EiE:E:E;^@5im4$AumEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 42.60 m.bZrjRJB~~}||||` ?KyP"Ký9*K2K:KWa0D<mOIy<{D^@^9]U eQ2AHHJ-?J-> ]t{Be% ,DAT read: user:1902>  BDAT read: Tx time:14:02:28.5168  $Ping request sent. ٥ii mHmFu }>-@5 M?-@59< IsBy5.q?5a:535@+Ei<u<b@5Q]#AYDNOT Ignoring new targets: 42.60 m.bZrjRJB~~ {B}|||| $? ]o{B] \7,mvhA9BU@B_@YB]T4yBP;BHC?`)?㢿@J?@-??u?? BU@B؅;)BCGTGTHZ>HXHXHXHXHXHXHZz<HZZEf}BfIIv#Iv%x3~  ~d=yn٥ H K  >@5b?@59 IxBy!%4%@+EiE;Q;;e@55RB5$A=lEԙDNOT Ignoring new targets: 42.60 m.bZrjRJB~~}||||@? =p==l>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501277 l{B靝EtI Tc7,RFhA9N 7@N@@YN5+yNk;NH%0?x?o;g6? v? Jw?`Zx?? N 7@N;)NCZ}BZI5Mb@Mb@Mb@111 1)1Y5kt?~jt٥ HF >Ye@5]|?e@59]d I]Bye7p?eb:e=m@]+Ei]V:]:]!i@5#AiEDNOT Ignoring new targets: 42.60 m.bZrjRJB~~{B}||||`8? mg{Bmԙ j7,"hA9>@&@>/@Y>ͱ#y>A;>H@%??=ɡ +?:n?t? Q|?B? >@&@>;)>CF}BJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256678II[3MMl= MP=yU;Q U>٥QQ UHUF] ]>i}@5m?}@59m ImByy}=@m+Eim;m;mdl@5SBi#AfEDNOT Ignoring new targets: 42.60 m.bZrjRJB~~}||||`n@ c{B  8p7,hAI`IbBA9z*@zO4@Yz:yz99J=4J9zJ=:jJ=:J=}Q:rJ=Q:II2$= C=y٥ HF: >@5?@59 IByc=@+Ei:: p@5$#A%DNOT Ignoring new targets: 42.60 m.b!Z!r!j!R!J)B)~)~)}1|1|1|1|=y@Ku+P"Ku=9*Kq2Ku:KuzXxoGc I.Ha^^C+FA334q,cSM!'}1Y ^{B靝LLe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012542_w7,bhAE}BE3I-Mb@Mb@Mb@))) )))Y-@5^I ?~jtMb`y-bp?-D--@ -@)-~@I-@)y-@I]I] 3mV= m?=yuQ >٥ HF >@5V?@59 IBygp?b: :@+Eit;r;s@5TB"AcEDNOT Ignoring new targets: 42.60 m.bZrjRJB~~{B}|| | | I9@I Y{BFJ}7,+hA H"<H"4=H&>H$H&xIH&n~BH$H$H$H&<H&EHHHH =I = Iy4<9^L6@^?@Y^Jy^vVK<^H2? ?V6? K܂??@h?`? ^L6@^;)^Cj~BjBIIrIr(1zk= ze=y~٥| H  ˃; >%@5V?%@59x IBy)-9-@+Ei::v@5=UB=N"A=aEeDNOT Ignoring new targets: 42.60 m.biZirijiRiJiBi~q~q}q|y|y|y|}` @ U{B靽=I))0?If L؏<u/1<_d A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772723 37,hA9>#>@>G@Y>eͼy>Q<>HG8?N? @ s;?@y{?@?`#>@>5;)>C^:~B^YIlMb@Mb@Mb@ )YK7A`?Mb`I +?yk?94<@ ~@)@I@y@I I2ǥ= <=y=;Q >٥ HF ; >!E@5%?E@59%i I%ByUk?Ug:]6]@%+Ei%;%H;%z@5iu!Au^EMDNOT Ignoring new targets: 42.60 m.bIZIrIjIRIJIBI~Q~U:{B}Q|Y|Y|Y|] @ Q{B =I)a:?IҤ[ 6 <r/1}k<_>oY7,i+hABchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2726009>D@>N@Y>,y>9<>H&=?? ͛`9 ??daf???? >D@>݅;)٥dh jHjFnM; n>pv@5rœ?v@59r! IrBytv6z@r+Eir:rN:r}@5|~\!A|-DNOT Ignoring new targets: 42.60 m.b)Z)r)j)R)J)B)~1~1}1|1A|A|A|En:@ 5M{B5p)=I1)5A?1I=V.R 99=rHAHEIHE~BHE =HAHAHE<HEEԑ]DAT read: 14:02:30.9731 LVL= 28016, 32753, 16578, 32755, AGC= 65, IDX= 386, 0.03,-1.359,-2.278,-0.443,-1.336, PHS= 0.065,-0.895, 0.890, RAW= 177.5, -0.8, CAL= 178.3, -8.5, ROT= 331.7, 8.5 mYgot valid direction response: 14:02:30.9731 LVL= 28016, 32753, 16578, 32755, AGC= 65, IDX= 386, 0.03,-1.359,-2.278,-0.443,-1.336, PHS= 0.065,-0.895, 0.890, RAW= 177.5, -0.8, CAL= 178.3, -8.5, ROT= 331.7, 8.5 }PDAT read: Bearing 331.7, 8.5 (Local) ~Local bearing/azimuth received: Bearing 331.7, 8.5 (Local) DAT read: Range 10 to 50 : 39.0 m (Round-trip 52.1 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.5 `direction in FSK: [0.870806,-0.468880,-0.147809]5 Fpublishing direction and range info1y5m?"޿%)k¿5BY1 5pm)5I5@i55A5=5e5 c? 5DF@)5d6GM oKp 5> 1)15M},1?"e?w2i5t?5`<55> 1)1A7,EEhAr_~BroIIzIz2 @<  E=y Q  >٥ HF >!%@5%& œ?-@59% I%By11E@%+Ei%;%S;%|@5IM0!AM[EZabedҁeL+@~ANn9e \?-@Vq \zee]AjeƜ?rePt e]iBaePt  aeBe(@ԙ addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 4.283985 s, deltaX: -3.900002 m, approachRate: -0.910368 m/s, rangeRepo size: 4  Added new target pos. range: 38.726669 m, bearing: 291.167688 deg, lat: 36.906373 deg, lon: -122.116073 deg, deltaT: 4.283985 s, deltaX: -3.872772 m, approachRate: -0.904012 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||C@|`+? I{B 53=I ) oE?IH qqufՊ<}t/1}U<}swy l7,h$_hAz~BIMb@Mb@Mb@ )Y!rh??{Gz?ylg?<#<@ )@Iy@I5 I5V2Ex= E8=yAQ E>٥II MHMFQI U>Ye@5]k:œ?e@59]V I]Bymg?mj:m/m@],Ei]:]:]_@5uVBu A}XEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}||||Z,? E{Bz-=I)UM?I^= ^<y/1D<v G9 G= ?A7, xhAH}>HyH}IH}~BHyHyHyH}<H}E9BDi@Br@YB~myBɋ٥11 5H15@E< =>AM@5E9Pœ?M@59E IEByQU-U@E,EiE:E:E@5]WB]h AeWEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@k? B{BCK=I)rT?I]3 He<v/1p<N@K- rQ"K- ͼ9*K) 2K- :K- ZHWNhxe =+CLY7(PgjjOI }7,ՒhA 9Fxq@F#{@YFnsyF٥ HF ; >@5 iœ?@59 IByc?n:(@ ,Ei::A@5ADNOT Ignoring new targets: 38.73 m.bZr j R J B ~~{B}||||%(? >{B靥`D=I) \?)I5Y' 115<<=s/1=O<=7, hA9Bi{@B@YBS}dyB52٥ll rHrFrR; r>tz@5vœ?z@59vC IvByx~@(~@v,Eiv;v;v@5/ ATEEDNOT Ignoring new targets: 38.73 m.bAZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|]¼? %;{B%ԘO=I))-Y?)I-8r ))-"HCHIHBH =HHH͚<HE6Gp<~G A A) N5 >! 7,ߋhAI@IBAA9J'@Jҋ@YJ%ByJI٥lp rHrFr; r>tz@5vœ?z@59v IvBy|~ (|~@v,Eiv;(;v(;v@5  A QEMDNOT Ignoring new targets: 38.73 m.bIZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|eb@ 8{B靍)Z=I)^?Iy} ]W<u/14<*J?1Y6G--<~GA A) NE >ԁ 7,hhA9VM@V@YVyV٥)) -H-F5: 5>A]@5Eœ?e@59E` IEByeLe?em:eG$e@E,EiEG~;Eς;E@5}XBANEUDNOT Ignoring new targets: 38.73 m.bYZYrYjYRYJYBY~a~e{B}a|a|i:JBJUJJ@RJZJbJ>9JJ4J||Um@ ]5{B]&B=IY)emb?aIeIԉ a}<r/1/< V H <H p<H H H IH /BH  =H H H ݚ<H Ef7,hA~BII-I-2MH MU=yMQ U>٥QQ UHQ] ]>am@5eœ?m@59e IešByiim@e$,Eie*:e:eN@5ԡAMDNOT Ignoring new targets: 38.73 m.bIZQrqjqRqJqBq~y~y}y|y||| f@ 2{B1l=I)b?I   }<5w/15д<5ʾ! m7,N_hAn~BrIMb@Mb@Mb@ )YˡE?v/?٥ HF >@5]œ?@59 Iygh?i:#@*,Ei{8;06;@5 YB  A LEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}| |1|1|=@/ @ 0{B靽/W=I)^?Iػ Wz<t/1֍<㖮y 7,K.hA9J}@J@YJiyJ;JHc??@_z9c?pb?@C~? ? J}@J;)HTTI^I^#3yfĜ٥hh jHjFnR3 n>p @5r"œ?@59r IrBy'$@r0,Eir 7,#HhAI I"?A:J&]BJ&RJJ&BRJ$ZJ&]:bJ&S29J&-4J$zJ&:2jJ&:2J&;:6rJ&<:69Nx@N@YNov9yN;NH``?? >p`\`?yt@.@5z? ? Nx@NX6;)NCr~BrIIzIz 3̼  ٥  HF/ĺ >%@5IÜ?-@59 IBy)-P$-@6,Ei:\:Ѥ@515n A5FEuDNOT Ignoring new targets: 38.73 m.bqZqrqjqRJB~~}||||r@ U+{BUD]=IY)]Z?YI].ѭ aaet<R9 J7,ebhA9fg@fWq@YfK;yfuQ٥ HF >@5=-Ü?@59k IByl?e:,@<,Ei;;@5 ADNOT Ignoring new targets: 38.73 m.bZrjRJB~~W{B}||||b@  ){B,W=I)9X?I 6q<%s/1% GY G] AAHe >Ha He IHe BHe  =Ha Ha He <He EA7,){hA 9V^@Vxh@YVS~٥tt vHtz; z>|@5~%DÜ?@59~' I~By  , @~A,Ei~:~h:~ի@5ZB ACEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||3@ '{B靍b=I)-V?I Xo<x/1X< K gP"K S9*K 2K :K X{J19LSTDqyjN6a\r~\6iG;d +G9 T/7,8hADL z Yxyz B v~B ~IIIM3- -7=y-Q 5>٥11 5H5F= =>AM@5EX_Ü?M@59E IEByIQU@EH,EiE;E ;E@5][B] A]BEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@ &{B{|\=I)7T?ItT m<u/1< T7,MhA9BVK@BU@YBس`٥!! %H%F%ӻ %>)5@5-uÜ?=@59- I-By9=u-=@-M,Ei-;-;-@5AE8!AM?EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||d@ ${B}h=I)P?I, Yk<r/1g<=wH H IH ~BH H H .DH <H 6Ea6G ~GAA N >ԁ ;7,%]hA:JYBJQJJ>RJZJ9bJ-.9Jt4JzJa:jJf:J4:rJ4:9JE@JN@YJҍ?? JE@J~;)HYQ~BgIi=I4=I IV2F /=y;Q >٥    H F غ >@5Ü?%@59 IBy!%-%@T,Ei:::@515!A5p7,EfhA t)vAɿv-v֯FtxzAiz/IzFxI|i~nA ~Ļ|)|| I ) i)CIA !%A!i!)ٯ)ԡ L~B dIaI%@a- aM-@a- aQ-@a- aE-@a- I5I5 3E) EE=yEQ E>٥II MHMFM U>Y]@5]Ü?e@59] & I]Be+:yae9:ae@]Z,Ei]$:]q>]@5iu!AqDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@ !{Bˊ[=I)J?I kf<%t/1-<-5XqH! H% IH% ~BH%  =H! H% /DH% -<H% VEI AQ Ai Nu >O7,>"hA9^B@^L@Y^٥QQ UHUFUg$ U>Y@5]~Ü?@59]2, I]B :y:-@]`,Ei];<]YT?]F@5\B!A9EEDNOT Ignoring new targets: 38.73 m.bAZArIjIRIJQBQ~Y~Y}i|i|q|q|u@  {BV=I)=I?IF e<y/1L<l8,hAiii)i iIi q)qqqqy}pAiyIyyIՅYCiՁ Ձԁ)ՁՁ ֍MAՍՍfFՉ֍3C֍OAI֍)֑i֑)בIוGA֕z֕MF יٯ8~BWI) AaI%aI% aM%aM% aQ%aQ- aE-aE- -Mb@Mb@Mb@))) )))Y-M?~jtx?{Gzy-nr?-;-#-@ ))-@I-;@)y)IuIu 3Y A=yQ >٥ %H%F- 5>Y@5]Ü?@59]h3 I]BT:ysr?`:v4@]g,Ei];];],@5"A7EEDNOT Ignoring new targets: 38.73 m.bAZArAjIRIJIqBq~y~}{B}y|y|y||Sh@ {BNP=I).F?I9  .c<%v/1% M<)iIiIEEEEW5Eԙ6G ~G A A N- >36 8,;83hA9NO@NY@YNHHIH~BHHHH<HI) I- AAQ 88,kLhA9%WT@%^@Y%?~B[III2t; C=y\;Q >٥ HF.:  > -@5  Ĝ?-@59 ? I |By1535@1 s,Ei Ա; (; @5AE!AAK5?DP"K5 9*K12K5:K5:'{+ :n$ %|RjGB? }1oJ]>J]?DNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| @a {B靍O=I)iH?I: _<x/1<qf8,kghA9RRR@R[@YRe;Q }>٥ HF" >@5A$Ĝ?@59 F IvByn?c:7@y,Ei::E@5:J^BJUJJ?RJZJ} :bJ>9Jـ4J@@@@!A1EIDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}|||| !@ e{Be|=Ia)eI?aIm: iimi"^HQ HU IHU ~BHQ HQ HQ HU <HU 2EH1H1H1H1I1 I5e56G} ᜆ<jG m?bG G?~Gq A A N > G 8,,hA "%="%=9FGO@FX@YF٥    HFF{ >!-@5%@;Ĝ?-@59%NL I%oBy1575@%~,Ei%X:%C:%@59=!AE.EmDNOT Ignoring new targets: 38.73 m.biZirijiRqJqBq~q~y}y|y|y||@="@ {B靽z=I)I?IR$; a\<r/1q<!~ K JrP"K 9*K 2K :K ;u ,  9k5"x@3Y U"KUEg9 q&8,dhA9:lQ@:[@Y:|٥ H : >@5eTĜ?@59R IhByi?h:c3@,Ei_::f@5^B"A-E%DNOT Ignoring new targets: 38.73 m.b!Z!r!j!R!J!B)~)~-%{B})|1|1|1|5z#@ {B靥hUe=I)DH?I]lP; YYeZ؛,8,hA 9JnK@JU@YJ٥hh jHjFn r>tz@5vUjĜ?z@59vX IvbByxz3z@v,Eivz:v:v@5!A5DNOT Ignoring new targets: 38.73 m.b1Z1r1j1R1J1B9~9~9}A|A|A|A|E#@ }{B靅}=I)L?IHw; RY<t/1<:vHHHH =HHH<HEEEEE5Eqԡ6GUT<ZGeARGeA~G1A9AQN]> ~38,hA9FMA@FJ@YFE=yF);FH@*9?"?[ҕ?@;?``Hbq?? FMA@Fm҆;)DPb?~Bb\IIj$Ij<3r0 vH=yv;Q v>٥xx zHzFzF z>|@5~;Ĝ? @59~_ I~[By  3 @~,Ei~:~q:~6@5_B!A*EUDNOT Ignoring new targets: 38.73 m.bQZQrQjQRYJYBY~Y~a}a|a|a|a|m$@ {B靝f^r=I)J?I ; W<y/1<d! 98,chA9B>@B4H@YBM =yB_;BH6? ??_9?@K`V@Xk?@A? B>@B!;)BCRT~BRhI|=Mb@Mb@Mb@999 9)9Y=w/?٥ii uHuFuR u>y@5}˚Ĝ?@59}le I}TByf?k:1@},Ei}:}:}@5!A:J_BJSJJARJZJ :bJy69J4J'EeDNOT Ignoring new targets: 38.73 m.baZarajaRaJiBi~i~mr{B}||||t%@ {Brp=I)RO?I_~; gV<%v/1%l<-zqaH CH H H  =H H H <H E6G- T;f<~G A Aa Nm >ԁ ߘ@8,0hA9B@@BPJ@YBr=yBYG@;BH7?`w??uJ;?L5@h? ? B@@BL;)@NS~BLIVIV3^ ^U=yb;Q b>٥`` bHbFf,0: f>hr@5j2Ĝ?r@59j9k IjLBypr1r@j,Eij\,;j,;j:@5tz!Az$EQDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||Q&@ Ye=Ia)e8O?aIe; aamT<s/1-<؅eK FP"K 9*K 2K :K FQ0uz9ToLs5(JTJMt\ |F8,UhA96C@6cM@Y6=y66;6H9?#?`?L=? f? A? 6C@6އ;)6C^P~B^fIMb@Mb@Mb@ )YT㥛 ??~jtxya?<Ļ$@ @)@I@y@ԹII2 9=y(;Q >٥ HF^: > @5Ĝ? @59q IDBya?q:.@,EiW;V;@5%`B-!A-%E}DNOT Ignoring new targets: 38.73 m.byZyryjyRJB~~{B}||||@)'@ ju=I){N?I}; S<x/10<\ jRJZJ:bJ>9Jt4J)6G mo<~Gy A A N >I L8,0*6hA9>IL@>U@Y>L=y>vk;>H>??Nʛ?B? @Q裿"im?? >IL@>0 ;)>CPPIZIZ(*3yfn;Q f>٥dh jHhj;; j>lr@5nĜ?v@59nw InHHIH~BH =HH0DH <H2EE1E1E1E5P0E1F9F9A6Giy~GAAN>ԙ bS8,PhA9> c@>l@Y>[%=y>(b;>H`;M??@6?l`4Q?x@>Hs? C? > c@>;)>C^:~BbYI)` `IjIjm?3%Rؼ -٥11 5H=FE; E>IM@5MĜ?U@59M} IM3ByQU-U@M,EiM:M:M@5]aBe"AeEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@c(@ {=I),I?IA; 2Q<r/1~<J LE<iEA_'K1W4hT 6GUy<~G) 9 AQ A N >Y8,KihA9:z@:r@Y:)=y:;:HO\??2? a`?ȟO<@ov?? :z@:V;):CJ8~BNWI-Mb@Mb@Mb@))) )))Y-x&1?&1?Mb`y-A`?-P=--;@ -@))I))y-f@IEIE3MOڻ UG=y]U@;Q ]>٥YY eHeFe%; e>iu@5mŜ?@59mɂ Im+By`?q:s% @m,EimHHIH~BH =HHH<HEԱ 6G )ş<~G A A! N= >`8,'hA<9R-@Rٚ@YRt,=yR ٥tt vHzFz&; z>|@5~&Ŝ?@59~/ I~$By  $ @~,Ei~:~:~@5bBT"AEEDNOT Ignoring new targets: 38.73 m.bAZArAjARIJIBI~I~I}Q|Q|Q|Y|]O*@ 靝y=I)F?I.< N<t/13<Ѵ KE +P"KE 9*KA 2KE :KE EiHF8fh(_G!OatNx-zR'g8,ծhA9R@R/@YR-=yR٥ HF; >@5)AŜ?@59[ IBy{e?l:$@,EioV;iz;@5!%"AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}|||9|=`>+@ %{B%@pm=I=<)=kB?AIE<< AAEM<]y/1]z<]L/6=m8,bhA9Jô@Jo@YJ2>3=yJ٥pp rHpr; v>Qt]@5vWŜ?]@59v IvByY]s$e@v,Eiv:v\:v@5mcBm"AmEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||Y+@H=>H9H=xIH=n~BH= =H9H=/DH=<H=EHCHCHH =I = I5 m{BmJ=Ii)m@ "t8,UhA9>3@>@Y>9=y>%`<>H-???  Ӂ?2; ?? >3@>EE;)>CZ}BZ(IIbIb3f< jK=yj;Q j>٥ll nHnFrA: r>pv@5roŜ?z@59rH IrByxz_$z@r,Eir+;r;r|@5 m#A =DNOT Ignoring new targets: 38.73 m.b9ZArAjARAJABA~I~I}I|I|I|Q|U,@Ա -{B-|w=I))U4?QIU/< QQU9L<]s/1]h<]5m'F@50=8VJ?J> 6G ~G A A) NM >9 Jz8,*hA}BIMb@Mb@Mb@ )YJ +?A`"?Qyh?Y=u@ )@Iy@I IV2" :=yQ >٥ HF   >@5 Ŝ?@59 IBy%!i?%i:%q#%@,Ei/;h-;X@5)-#A5E]DNOT Ignoring new targets: 38.73 m.bYZYrYjYRYJaBa~a~a}i|i|q|q|} -@ {B靭yk=I)"-?I2(9< EK<x/1<E9 H1H54=H=>H9H=YIH=;~BH= =H9H9H=Κ<H=EqE?EEE0Eԡ ] =] <6GM 9f<ZGQ RGU A~G)A9AQN]>58,E hA49V埫@V@YVL=yV\?u??? V埫@Vp;)VCb}Bb IIrIr2z# z:=yz ,٥|| ~H~Fsջ > A5 ڥŜ?A59 إ tII By3$@ ,Ei ,: : )A5%dB%.$A%EeDNOT Ignoring new targets: 38.73 m.baZarajaRaJiBi~i~i}q|q|q|q|u}.@ %{B%e=I!)%I(?!I-~B< ))-`8K<5u/15<5ORJiZJm]:bJmG9Jmt4JizJm:jJm:Jm_:rJm_:>Ee<ԙE?EEE|5E6G %Y!y-~ BKpP"K9*K2K:KR@3WQ ZD!4j{.XtkmXjp9Wf37?6G <J1 J1 ~G9 Aa A N >-V8,b"hA96X@6@Y6U=y6;6H@?c??`? #j?UhóSv? ? 6X@6[(;)6Clv}BzIMb@Mb@Mb@ )YQ?V-?y&1y\o?m=`e@ $@)@I@y@IIF2   ;=yN;Q >٥ HFR >A5Ŝ?A59 IܙByo?b:#@,Ei;4:#A5%AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B} | | ||[f/@ ={BE1T=IA)Ey?AIE/{K< IQU>K<]r/1]n<]rHA HE 3IHE }BHE  =HA HE 0DHE <HE E6G <jG r?bG _?ԙ ~G A A N >u8,@hA9Bc@Bm@YB&=b=yBo{ BHZI?u? ?mU? C@? Bc@BH;)BCNv}BRII^ I^<2f fF=yj;Q j>٥hh nHnFnB n>pvA5rtŜ?5A59rd IrϙBy156%5@r,Eir,:J\BJYJJHRJZJ=:bJ[O9JԺ4JzJ:jJ:J&n:rJ(n:9 #8,YhA 9ZX@Zb@YZic=yZ5SZH B?@? ?5 O?[뚿ri`t`? ZX@Z;)ZC J}BIK9P"K 9*K2K:K>KQZlt\gS<=v'&T0Oi8!il]5OHGgy*kJJ?IUIU(*3R /=y :Q >٥ HF9  >A57Ŝ?A59k IBy%%%@,EiL;#;A5MbBM%AU EqDNOT Ignoring new targets: 38.73 m.b!Z!r!j)R)J)B1~1~9}9|9|A|A|M`0@ }!{B}ZE=I)f ?I[< K< t/1 '< ѼQ<~G A A N >M8,shA9B\@Bf@YBa=yBBHD?? ?OP?Uc`1|( 6? B\@B|;)BCLR$}BRIuMb@Mb@Mb@qqq q)qYuQ?y&1?{Gzyqu`٥ H): >9EA5=CƜ?EA59=9 I=ByEo?Eb:E-M@=,Ei=E:=b:=A5Q]&A]EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~B{B}| |)|1|50@ #{B靕\M=I)=?Ib< L<y/1<tQԁ 58,uhA9bm@bv@Yb[_=ybXbHO?c?c?0eY?P`竿෤``? bm@b+[;)bC }B II%I%<2Eq MQ=yUQ U>i٥qq uHuF}; }>A5'Ɯ?A59 IBy-@,Ei::WA5&A:J^BJXJJ=RJZJ} :bJ5K9Jg4JzJ^:jJc:Jf:rJf:DNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||T1@ %{B靥F=I)>Ig< _L<v/1-<X"w *  JTif-@T#6GI ~G) A9 AI N] > _8,PhA~|B~IMb@Mb@Mb@Թ )Y&1?/$?~jtyp?<ļ@ @)v@I@y@I I(2a @=yQ >٥ HF > A5ZAƜ? A59 IBy q? a: / @,Ei::A5Y'AEUDNOT Ignoring new targets: 38.73 m.bQZQrQjQRYJYBY~Y~eU{B}a|a|a|a|m1@ 5'{B5}\8=I1)=>9I= n< 99ELHy H} IH} f}BHy Hy Hy H} <H} EA A N >9 G8,(,hA9>&@>ҟ@Y>.Z=y>i<>Hj?L?@-?Lp? vB1g? ? >&@>]<;)٥tt vHvFv]< v>x~A5zXƜ?A59zb IzBy-@z-Eiz;z;z>A5 cB 'AEMDNOT Ignoring new targets: 38.73 m.bIZIrIjIRIJQBQ~Q~Q}||||"2@ E){BE0;=IA)E>AIMTs< IIMDDMԙ s8,J hAKUP"Kͼ9*K2K:KGG.>{HK} gY4q^}~zwh,&b-K2gy|B}IAԡMb@Mb@Mb@ )Yl?MbP/$yw?@ ~@)QAIyp@II3ږ =yQ >٥    H F% %>)-A5-{Ɯ?5A59- I-pBy5w?5[:535@- -Ei- ;- ;-C!A5EdBE'AEEmDNOT Ignoring new targets: 38.73 m.biZirqjqRqJqBq~y~}P{B}y|y|||`k2@ -{B5y#=I1)=>9IEz< AAM8N<}u/1}Q<, 8,hAH9N@ND@YN Z=yN?HHIH}BH =HH/DH<HEHHHH =I = I)5~)~)}1|9|9|9|=3@ /{B靵r2=I)D>I~< N<r/1A<3U ՜8,XhA9>@>@Y>%\=y>=>HLz?ڙ?9?  $w? F woX?`? >@> };)>C|B]II IV2-ӕ -.=y5]:Q 5>٥19 =H=F= =>AMA5EƜ?MA59E IERByQU2U@E-EiE;E;E(A5Y](A]EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||1|1|5F~3@ 3{B靅=I)>I2< VO<w/1H*<W8,4-hAi)%ף !I! !)!!!)-sC)i-ףI))I1i1 11)19 9999E&CEMAIE)EEFiA)AIAMI IٯIYe|BeXI)a a:J^BJZJJARJZJ} :bJS9J4J%Mb@Mb@Mb@!!! !)!Y%Gz?~jtx?{Gzty%p?%;%ף%+@ %v@)%dAI%3@!y%@I5I52E. EZ=yMQ M>٥II UHUFU ]>YeA5]tƜ?eA59] I]HBymp?ma:m 1m@]-Ei]:]:]e+A515(A5EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~f{B}||||3@ 6{B'=I)±>I%i< !!%>PHCHIH|BH =HH.DH<H6G% < ~G9 AI AY Nm >8,#GhA9B@BU@YBf=yB=٥ii uHF >A5yƜ?A59 I;By1@"-Ei::.A5eB )AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@HI4@ 59{B5 =I1)5>1I=Ó< 99=1&QY K] P"K] H9*KY 2K]  8,sahA:K%s]~:.UdmF)=w{m=f!$4ZH>h3z) WmngJ&>J&?t|BAIMb@Mb@Mb@ )Yq= ףp?٥ HF > A5 Ɯ?A59 ; I /Byk?f:"1@ )-Ei A: :  3A5-fB-`)A-EUDNOT Ignoring new targets: 38.73 m.bQZQrQjYRYJYBY~a~e_{B}a|a|i|i|m4@ ={B靝H=I(<)*>IE终< AAE@R u8,H|hA9Bc@Bzm@YBZ?r=yB$L HLHNkIHN|BHN =HLHN/DHN<HN9Ejq|Bj?IIrIr3z/  z~=y~_ yI}Xq< y`+S<s/1ݧ<1 bX8,jkhA9BR@B\@YBr=yB.GA;BH٥tt zHzFz z>|A5~"ǜ?A59~{ I~By  3 @~3-Ei~%:~:~]9A5)AEUDNOT Ignoring new targets: 38.73 m.bQZQrQjQRQJQBY~Y~Y}a|a|a|a|e r5@ C{B靕P=I)>I5< 5T<x/1q<1tviԙ 8,YhA:JNcBJN]JJNBRJLZJN:bJN_9JN-4JLX|B0I%Mb@Mb@Mb@!!! !)!Y%v/?/$?Mb`y%xi?%<%%@ %@)%AI%v@!y%@9=AAI=I=2i! 0=yQ >٥ HF >A5>ǜ?A59 IByi?h:/@:-Ei::j=A5)AEDNOT Ignoring new targets: 38.73 m.bZrjRJ!B!~!~-{B})|)|)|1|55@ ]G{B]H =Ia)e4>aIe:< aimĴUHCHXIH|BH =HHH<HE>E<EA EA EA EE ~5EA  6Ge T<jG} i?bG} S?~GAAN>\8,thA49R(A@RJ@YRk=yRyRH1?v??`@s>?-(xU(*? R(A@R;)RC^H|B^&IIfIf2n n@=ynQ n>٥pt vHvF~ ~> A5Wǜ? A59 IByA0@@-EiG::(AA5gB*AEMDNOT Ignoring new targets: 38.73 m.bIZIrQjQRQJQBQ~Y~Y}Y|Y|a|a|eW6@ K{B靥y =I)]}>I< ,W<r/1<vYEU/<ԑE-?E)E)E-O0E)K5 HP"K5 H9*K1 2K5 :K5 9+Zh-Z\"_he  kv5szV+~6Gu mo< ~GQ Aq A N >8,vhA 9B;G@BP@YBFf=yB(v컹BH`U6?`0???@``/B?Ѭ@}? B;G@Bډ;)BCf/|BfIl}Mb@Mb@Mb@yyy y)yY}ˡE?A`"?Mb`y}g?}Y=y}X@ }+@)}AI}@yy}@IIm?3:l ?=ykCQ >٥ HF: >A5qǜ?A59J IByUh?i:&@G-EiP ;2 ;DA5hB*AE-DNOT Ignoring new targets: 38.73 m.b1ZrjRJB~~{B}||||`(6@ }O{B}ax=I)_>I< 6wX<w/1^<gݗ9,hA9Jop@Jz@YJYA\=yJ;JH`Q?`J?@3?߹TZ?ńKb?#? Jop@JN;)JCR%|BRIIZIZ<2b¿ b<=yf/Q %>٥)) -H-F59< 5>9=A5=ǜ?EA59= I=ByAE%E@=M-Ei=z:=:=HA5QU*AQDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||667@ S{B-=I)dQ>I < Y<t/1q<) 9,o hA9n@n@YnWV=yn٥ HF; >MA5ǜ?UA59H' IߘByQU$U@T-Ei~; ;LA5Y]*AeEEDNOT Ignoring new targets: 38.73 m.bAZArAjIRIJIBI~I~Q}Q|Q|Q|Q|] 7@ Y{BI< 3[<y/1{D<':jE9EEEEO0Ea 6G <~G A A N > 9,BC:hA 9N@NN@YNWQ=yNMLQ }>٥y H < >A5#ǜ?A597, I֘By.c?o:$@Y-EiD;j;OA5p+AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}|H>HH3IH]|BH =HHH<HEHHHH =I = I5|||8@q \{B靭ZIk< '\<v/1,<T:J [BJ aJJ ?RJ ZJ :bJ p9J ـ4J zJ :jJ :J :rJ :9,!ThA9B@B²@YBUP=yB٥11 =H=FE%; E>IUA5Mǜ?UA59M1 IM̘ByY]#]@M^-EiM;M;MYSA5eiBe+AmEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||`k8@ `{B.#%C1BwJ>J>~G A) AA NM >! v9,XmhA9:Eǫ@:в@Y:TN=y:<:H?~?@]?}x@I?`q\ѩ Ǚ?? :Eǫ@:35;)8F{BFI|Mb@Mb@Mb@ )Yx&1?kt?:vya? 0=TA 3@)AI@yzAII2? >=y|Q >٥ HF -;  > A5 Cǜ?%A59 7 I By-a?-p:-]%-@ d-Ei Z; @Y; WA59=,A9eDNOT Ignoring new targets: 38.73 m.baZirijiRiJiBi~y~}{B}y|y|y||`8@ e{BH=CH=IH=+|BH= =H9H9H=<H=E6G- 9f<ZG) RG) ~G A A! N- >ԁ !9,GhA9nǫ@nѲ@YnK=yng٥)) -H-F5ED9 5>9EA5=Ȝ?EA59=< I=ByAEY%E@=j-Ei=C:=:=eZA5Y]jB],A]E%DNOT Ignoring new targets: 38.73 m.b!Z!r)j)R1J1B1~9~9}9|9|9|A|E@9@ j{BIM n (9,hA9Z*ū@Zβ@YZGF=yZZh٥! %H%F%U %>)5A5-kȜ?=A59-B I-By9=n%=@-o-Ei-;-;-]A5AE/-AMݬEԹDNOT Ignoring new targets: 38.73 m.bZK!P"K9*K2K:Ko !NNP$d<MW&4G gB SQa99C~JQJQrjRJB~~}||| |<9@ p{BRŤ2.9,hA9:@:g@Y:B=y:<:H ?Ґ?$?)?9 kNP?M? :@:ɉ;):CJp{BJIMb@Mb@Mb@ )Yy&1?&1?Mby`e?P=A A@)3AI@yAIIV83f A=H>HHIH{BH =HH.DHܚ<HEyQ >٥ HFz >A5`7Ȝ?A59H IBye?l:#@u-Ei+;/;aA5  -A ڬE9mDNOT Ignoring new targets: 38.73 m.biZirijiRqJ B~~{B}||||:@ t{B靕:J ]BJ NJJ >RJ ZJ ]:bJ !9J t4J zJ :jJ :J T:rJ W:Ա 59,ehA%W{B%II=I=(*3M߀ MQ=yUQ U>٥QQ UHQ >A5!OȜ?A59,N IBy@{-Eiyc;+V;eA5-ADNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||s:@ =x{BE!sD;9,@hA 9R≫@R@YR?=yR@;RHd??@K?\j?fju?? R≫@Rډ;)RC^9{B^IEMb@Mb@Mb@AAA A)AYES㥛?kt?I +yE$f?E 0=E94EA E@)EAIE+@AyEAII(*2 E=yoغQ >٥ HF]3U ]>amA5ehȜ?mA59e_T IeBymlf?mk:m'm@e-Eie:e;ehA5kBx.A٬EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~l{B}||!|!|%:@i }{B靝dHHIH{BH =HHH'<HRE6G V< ~G A A N >.,B9, hA9>m@>Mw@Y>K?=y>AD:>H`YR??Y?X?@?EH? ? >m@>cӉ;)٥ HF   >A5~Ȝ?A59Y I|By(@-Ei;;kA5-lB-.A-֬EeDNOT Ignoring new targets: 38.73 m.biZirijqRqJqBq~y~y}|||| >;@ {B靽*4 ) 2VH9,w"hA9>P@>|Z@Y>@=y>o>H`???@?`G?Ev`u? >P@>lF;)>CJ{BJ]IIRIR2Z ZO=y^9Q ^>٥`` bHfFj) j>lrA5nKȜ?rA59n`_ InqBypvm)v@n-Ein:n:nuoA5xz_/AzӬEIDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||%-;@K]&-P"K]ػ9*KY2K]:K]  mi m  3H6 V[x  Y 2  *H{ {BG aN9,fHQHUIHUt{BHU =HQHQHU<HUFEiMb@Mb@Mb@ )Y/$?٥)) -H-F- 5>1=A55DȜ?EA595f I5dByEih?Ei:M+M@5-Ei5;5t;5esA5QU/AUЬEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~%{B}|||| <@ {B:;I),Is,< l<x/1< rԡ kU9,VhA9F'@FI1@YFSA=yF1 FH@$??[?j-?#`3( :A? F'@FPe;)DRzBR8IiV%=ITIZIZ<2b bc=yf]:Q f>٥dd fHdjf j>lrA5nȜ?rA59ngk InYBytv,v@n-EinC:n:nvA5xzO0A|-DNOT Ignoring new targets: 38.73 m.b)Z1r1j1R1J1B9~9~9}9|A|A|A|Es<@ u{Bu\;Iy)}HyI < n<u/1~<E$c,XMql;c.`xOYRaGj#N] > Y ] 4=9 [9,phAzB'IMb@Mb@Mb@ )YE?I +?:vyf?9<TA A)AI`@yfAI I(2~ 9=yQ >٥   HF% ->A:J^BJYJJRJZJ} :bJ[O9JJ A5EȜ? A59E/r IELByf?k:0@E-EiEgHYH]wIH]-{BH] =HYH]/DH]*<H]]EHǘCHǘCHH =I = IǛ5i6G !<~G A A N >ԙ yb9, ahA9>J@>@Y>;=y>㰻>H?`?`n? n?z`AavU? >J@>:;)>CJzBJIIRIR2Z Za=yZQ ^>٥\\ bHbFf f>lrA5nȜ?rA59nw InBBypvq1v@n-Ein};nF;n}A5xz91AzˬEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@CE=@ %{B%I-<)-ƒ)I-j̏< ))53{s<]w/1])<] h9,OhA9>@>@Y>6=y>*1>Hg??f?@?@b͚צ !q? >@>Un;)>CJpzBJIIZ IZV2be bI=yf)Q f>٥dd fHfFj*9 j>lrA5na ɜ?rA59n} In7Bytvl1v@n-Ein:nV:nA5xz1Ax-DNOT Ignoring new targets: 38.73 m.b)Z1r1j1R1J1B9~9~9}9|A|A|A|Em=@ u{BuTIy)I;< Aiuu<t/1< <iiK cP"K  9*K 2K :K okv$Y ,/Y*QPl@b|eb-/s$FKf =nbEZEEyEyEyE}3EyF=F=:JdBJJJHRJZJ<:bJ8:JԺ4J) 6G 1X<~G A A N% >qn9,"hA 9>`@> @Y>M0=y>t>H(??_h?@Li?`~cc? >`@> );)>CjPzBjIH>HCHLIHzBHHHHۚ<HEMb@Mb@Mb@ )Yx&?٥ HF_: >A5&ɜ?A59m I-ByCi?i:~2@-Ei;};A5nB/2AȬE%DNOT Ignoring new targets: 38.73 m.b!Z!r!j!R!J!B)~)~-zB}||||>@I m{BmIi)miIuu< qqux<}y/1}v<}T) |CU Gi Y y S BNu9,ZhA@9>@>_'@Y>'=y>;b:>H@??f?$?\`E^?? >@>*;)<MzBII I(2~ ;=yQ >٥ H *;  >%A5+Aɜ?%A59H I$By!%32%@-Ei:h:ψA515?2A5ŬE]DNOT Ignoring new targets: 38.73 m.bYZarajaRaJaBa~i~i}i|q|q|y|Ê>@ԩ {B靽,ѼI)󨾉I@< S{<v/1c$<"Em<Km P"Km {9*Ki 2Km E ?E E E 0E :Km x6h&t lC[p2! l~$={^P  1 6G jx<:J ^BJ ZJJ CRJ ZJ } :bJ S9J 4J ~GAAN?}9,shA09BG(@B1@YBQ=yB,;BH@;'?? /?.6*?`w蟿@~`_~?? BG(@BX;)@ H)JAɿJ.JϯFHLN AiN 0ILLIR3CiRnA RĻP)PT TTTTVُCXIX)XiX)`I``` ddddiddٯdn1zBnI5Mb@Mb@Mb@111 1)1Y5MbX?~jth?~jthy5j?5D;5D5A 5A)5AI5@1y5AI]I]T3mW m=ym[zQ u>٥qq uHuF}%%; }>A5^ɜ?A59: IByj?g:6@-Ei::6A5oB2AĬEEDNOT Ignoring new targets: 38.73 m.bAZArIjIRIJQH]>HYH]&IH]zBHYHYHYH]<H]EBq~q~uzB}y|y|y|y|?@ԑ {B 6I)I"< i~<s/1 H< X6/E5<E E E E _0E  6G)<IQIQ~G)A1AINU?49,hA9ZL?@ZH@YZ B=yZVb;)ZCxU!zBUIII?13 =y"ǻQ >٥ HF ; >A5~ɜ?A59̛ IBy]5@-Ein;T;A52AE!]DNOT Ignoring new targets: 38.73 m.baZarajaRaJiBi~q~q}q|q|y|y|}@?@ {B靭I)B¾Iׂ< m<x/1mi<U?@K?? >? tP[?`P? RJ@R5;)RCinA)Ļ I )vAĻ!!i%I!!I!i) -)))9 AEE_FAE3CAIM)IiI)YI]EA]eFF iٯi}zB}IHu>HqHuIHuvzBHu =HqHqHuٚ<HuEMb@Mb@Mb@ )YJ +?MbMb`yh?A )rAIMAyQAII2mr m=ym`Q u>٥qq uHuF}c%; }>A5ɜ?A59* IByh?i:`:@-Ei::A5pBH3AE-DNOT Ignoring new targets: 38.73 m.b)ZArAjARAJABI~I~UzB}Q|Q|Q|Q|]`I@@ {B靭HI)g;Ih~< .<u/1<d^9,MgUhA9>S@>=]@Y>=y><>H E?`?`?@D?Ŀ^U?@? >S@>Ί;)>CryBrIIzIz1|q  |=y <ʻQ   ?٥ Hi;  ?!5A5% ɜ?5A59%F I%By15:5@%-E:JEbBJEXJJEDRJAZJE:bJE5K9JE4JAzJEH ;UjJEJ ;UJEf:UrJEf:Ui%;%d;%`A5ae3AaDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| 8@@ {B`I)ؾIez< 3<r/1#<Ԩsԉ K 9P"K {9*K 2K :K v& 69sg>6ba!0Ry>dD5Ey0MrI&>$D9,@ohA96KV@6_@Y6o ٥AI MHMFMD: M>Q]A5Uxɜ?]A59U IUByej?eg:e00e@U-EiU=:U:U>A5mqBm3AuEDNOT Ignoring new targets: 38.73 m.bZIrIjIRQJYBY~i~ {B}||||kt@@ {BNI!)% ۾!I%s< ))-<-w/15<53uHHIHMzBH =HHHʚ<HE6GE qp< ~G9 AI AY Ne >+9,hA9>]@>g@Y>xk<>H@hL??@j?@ L?`x?`? >]@>L;)>CJyBJIIRIR(*3V Zh=yZXQ Z>٥\\ ^H^Fb.+; b>djA5fɜ?jA59f{ IfByhj/j@f-Eif:f:fTA5tv3AzEDNOT Ignoring new targets: 38.73 m.bZ!r!j!R!J!B!~)~)})|)|)|1|5`@@ e{BmIq)ucݾqIu@o<Թ q<t/1z<<A 4V9,hA9Ba@BTk@YBN٥hh jHjFnK: n>pvA5rɜ?vA59r IrBytv/v@r-Eir:r:rA5|~3A~E-DNOT Ignoring new targets: 38.73 m.b)Z)r)j)R)J)B)~1~1}1|1|9|9|=@@ }{B}׆Iy)}⾉IuWi< <y/1H<?ziԙ 9,ѼhAyBIMb@Mb@Mb@ )Y? rh?~jth?yl?C<D;A A)AIzAyAII3n 9=yQ >٥ HF > A5qʜ?A59 IBHHHIH9zBHHHH<H/EHCHCHH =I = I95qyl?e:s0@-Ei<W<A5rBN4AEmDNOT Ignoring new targets: 38.73 m.biZqrqjqRqJqBq~y~}{B}y|y||| %A@ {BI)𾉞Ia< <v/1%~ <%XÂ9 )m9,hA96,h@6q@Y69ڬ٥\\ ^H\^9; ^>`fA5b\'ʜ?fA59b3 IbByhj?0j@b-Eib;bw;bA5ln4ApJJ4JJ0:J=^BJ=^JJ=BRJ9ZJ=} :bJ=d9J=-4J9zJ=^:jJ=c:J=:rJ=:DNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||@;A@ E{BEIA)EiImO\< iimK @P"K ͼ9*K 2K :K FU U Zcpq3DyeALr1d  < <9,hA9Zh@Zq@YZ a٥ HFE >MA5?Aʜ?UA59) IyUm?Ud:U5U@-Ei“<<A5Yer4AeEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~{B}||||sA@ e{Be5iIa)9Ih`U< <x/1<qHHIH$zBH =HHH<HEE6G c< ~Ga Ai A N >~y9,a hA9>(i@>r@Y> vUv<>HU??[?|YT?5َ@Ɏ?%? >(i@>3L;)>CPRyBRIIZIZ3   T=y B Q >٥ HF99 >!-A5%Wʜ?-A59%@ I!y1555@%-Ei% :%:%A5=sB=4A=EuDNOT Ignoring new targets: 38.73 m.bqZqryjyRyJyB~~}|||| A@ {B靽ǼI)GIO< <u/1~<]_! 9,>$hA|yBIII 3Mh MF=yUQ U>٥QY ]H]Fe e>imA5mepʜ?uA59m Iiyqqu@m.Eim7:m:mA54AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||A@ {BI)]IH< < r/1 K<L 8J9J=AY6Gc<~GI AQ Aq N >ԁ 9,n0>hA96z@6.@Y68V HCHIHzBHHH.DH<HEUMb@Mb@Mb@QQQ Q)QYUkt?{Gz?y&1|?yU p?U#=U`;UA UA)UAIUAQyUAIIF3< 6=yqQ >٥ HFA; >A5ʜ?A59 Iy Zp?b:{)@ .Ei;Y;A5%4ADNOT Ignoring new targets: 38.73 m.bZrjR JB~~eE{B}a|a|i|i|m@B@ԁ {BdI)XIY@< 3<w/1<9,WhA9f-@fڏ@Yfۆ;yfD٥ H|; >A5ʜ?A59d IBy ) @.Ei ;:A55tB54A5EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||>BB@ Y]>GԼIY)]YIe;< aaeA KU uO"KU 9*KQ 2KU .9,S#rhA:Ke|riQ8X3R5/K@+kO |zJ" ?J"#?9ni@n@Yn;Y%;yn `٥ HFQ; >A5ʜ?A59F Iyj?g:%@.Eif;;pA54AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~4{B}||||[wB@ ={B=ǼIa)mGiIu[4< qquY<}y/1}<}=HHHH =HHH<H(EI6G )ş<~Gy A A N >q 9,#hA9Jß@Jp@YJظyJH٥ll nHnFn~; r>tvA5vʜ?zA59v Ity|;% @v.EivD;v;vA5uB$5AE=DNOT Ignoring new targets: 38.73 m.bAZArAjARAJABA~I~I}I|I|Q|Q|UB@  `I)I".< X<9Ev/1EjEU >EEEEM5EFFa6G5ӌ<ԙ~G A! A9 NE > \9,aťhAI-I-2yEQ E>٥AA MHMFM M>Q]A5Uʜ?]A59U IQyaae@U .EiUP:UG:UXA5iiiDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| B@ ټI)IL'<Ա ౏<s/1&<3 :J- [BJ- PJJ- =RJ) ZJ- :bJ- *9J- g4J) 5 @5 @5 @5 @9 -9,hA9Rn@R@YR^yRHECHEIHEzBHE =HAHE-DHE<HEE]|I Mb@Mb@Mb@    ) Y  rh?Mb?~jth?y Ck? = D;  A A) AI A y AI%I%35O 5٥99 =H=FE; E>IUA5M3 ˜?UA59M IMByek?ef:e m@M'.EiMY[;MZ;MA5qub5AuEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~A{B}||||C@ LüI)I IZz< R<x/1<Q9,}hA 9>師@>²@Y>Qܻy>a<>H ?7?纖 x?`g`{?C+?? >師@> ;)>CJyBJ{IiN=IN=IVIVT3b b=yfQ f?٥dd fHdj1; j?lrA5nr˜?vA59n  InBytv v@n+.Ein:n:nEA5zvBzj5A~EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||4AC@ 58rI9)E AIE< IIMݐ WA9,fhAKP"K9*K2K:KXou=PqZntXZFkVb@ Yr)ZJ"P9~@~h@Y~Wty~<~H ? ٥  HF[ >1EA55;˜?EA595y I5ByUi?Ui:U#U@52.Ei5;5;51A5y5AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~I{B}||||@yC@ {B靕/޼I)1 I< i<r/1dm<&:,4 hA9R@R@YR0yRT٥ HF; %>!-A5%Q˜?-A59% I%By15#5@%7.Ei%:%:%jA5EwBE5AEEmDNOT Ignoring new targets: 38.73 m.bqZqrqjqRyJyB~~}|||| C@ I)\ Iq < ~<w/1\<̽ԁ (P :,'hA9>@>S@Y>5cPy>;<>H`~?`?7 N?8 ?ƕ?|? >@>,;)>CJyBJpIIjIj2v zL=yz\Q z>٥x| ~H~F9 > A5 oj˜?A59  I By$@ =.Ei ; ; A5!%5A!MDNOT Ignoring new targets: 38.73 m.bQZQrQjQRQaJiBi~i~q}q|q|q|y|}`C@ {B靥`I)^ Id< ]<t/1HE<:J dBJ QJJ JRJ ZJ <:bJ -.9J 4J ;:,{@hA9V@V3@YV2gyVfHtHvIHvyBHv =HtHtHv<HvEjdyB~_IԹMb@Mb@Mb@ )YS㥛?A`"?{Gztyd?ף A )`AIAy3AI-I-2Mx M6=yUJQ U>٥QY ]H]F]O4 ]>amA5e˜?mA59e IeByuDe?um:u$u@eD.Eie&;e;eA5y}+6AE-DNOT Ignoring new targets: 38.73 m.b)Z)r)j)R)J1B1~9~=zB}A|a|a|i|m D@ {B靽2I)IH;   ْ< y/1$<pr:, [hA9:@:3@Y:KYxy:<:Ho??`7{@:p?@Jd? ? /b? ? :@:F;)8JSyBJUIILIN@AIV"IVq3^< bf=yb@Q b>٥dd fHdf; f>hnA5j˜?rA59j! IjBypr$r@jI.EijY;j;jA5vxBvp6AzEUDNOT Ignoring new targets: 38.73 m.bQZQrQjQRQJYBY~a~a}a|a|a|i|m`BD@ M{BMpII)MqIu ; qquW\<v/1<Iԙ :,hthAKNSP"KL*KL2KN:KNy    / c pT:, q U "A{y'jkWXFgW mr 9mp@mz@YmymmHfZ?I?@``3[? ?٥ HF >A5˜?A59( IByh?i:I&@O.Ei;; A5l6A%EuDNOT Ignoring new targets: 38.73 m.bqZqrqjqRqJyBy~y~}zB}:JbBJRJJGRJZJ:bJS29Jc4J||||D@ {B靅CI)>I^; Γ<s/1Y<,djEԙE9E9E9EE0EAF]=F]=GG@AH>HHIHyBH =HHH4<HdE6G} <~GQ Aa Aq N > /t#:,|hA-MyB-QII=I=2M Mb=yMQ M>٥QQ UHUFU ]>iuA5mH˜?uA59m- ImByqqu@mU.EimF;mS;m#A56ADNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||,D@ {B%I)  I ?&;   L<x/1<WIIp=1 ):,W]hA9V^@VVh@YVљyVVHWN??"@! N?Oc?9?H~`R? V^@VW;)VCj-yBj=IIr Ir̍2z zP=y~Q ~>٥|| HFֹ > A5 '˜?A59 {3 I By&@ Z.Ei ۔< < A5yB7AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||`D@ %{B%I!)% !I-_; ))-ϔ<5u/15w<5vԉ 0:,l=hA0HJ>HJCHJIHJyBHJ =HHHHHJ<HJE9ENb@Ek@YE⡼yE%EHP?5?dAP?`? ٥ HF: >A5̜?A59D: IByg?k: .@a.EiWH;r;A57AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}||||E@ԉ {BI)lI; J<r/1V<<.6:,`"hA:JNYBJNNJJN?RJLZJN9bJN!9JNـ4JLzJNb:VjJNg:VJNT:VrJNW:VX9Ze@Z;o@YZyZ۬ZHR??僿` R?`O?`y”?``? Ze@ZVB;)Xj)yBj;IIrIr0z^ ~g=yؼQ >٥    H ;: >%A5%̜?-A59? IBy)---@f.Ei::A55zB=*7A=EeDNOT Ignoring new targets: 38.73 m.baZarajaRaJiBi~q~q}y|y|||@EE@ {B靽mm1I) Iϖ; ˕<w/1 <_9 <:,ohAKn7P"Kͼ9*K2K:K}%L+%tNO l@=bsaR?_ $fHx?JE>JE>9}d@}n@Y}Py}"s}HR?`?0@ R?|?@ ?dp? }d@}MX;)}CAMMb@Mb@Mb@III I)IYM{Gz?L7A`?MbpyMc?M+=MMIA MIA)IIMAIyM=AIe Ie2uD u=y}0Q >٥ HF) >A53̜?A592G IByc?n:+@m.Ei ;;5A5-7AEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB} | | | | E@ M{BM/ IQ)] YIe; aae<HCHIHyBH =HHH<HEEQEQEQEQEQF]=F]a=yԙ 6Gu Yȃ<~GQ AY Ai N} >WC:, hA9:5f@:o@Y:㧹y:(P;:HR?_?/ T?`ެ? z4?Wx?? :5f@:+<;):C D)FAɿF,DDDJ"AiN,INFLIPiP R`P)PT VrATTTXXIX)XiX)\I\\\ \`bA`i``Iٯ`m*yBu<IIIV83; W=yDQ >٥ H9 >A5I̜?A59L I By+@s.Ei;p;~A5'7ADNOT Ignoring new targets: 38.73 m.bZrjRJB~~} | | | | E@ M{BMf(II)MQIU^Sd; QQU J:,t'*hA9>f@>p@Y>&ży>RY<>HR?`e?eOU?ƴv?6? (?@? >f@>i ;)>CilnlA)p pIp x)xzףxxx|i|I||I|i| D)   &C KAI ) >Fi )I ٯ%%yB%9II5I5#3Eg Ew=yE܊Q M?٥II MHMFUs9 U?YmA5]L]̜?uA59]zQ I] Bԑyqy+@]w.Ei]<]<]`A5BV;A%EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||0E@ {B)L/I)I  F;   $<5v/15s<5l H= ټ>H9 H= IH= yBH=  =H9 H9 H= (<H= MEH̗CH̗CHHI = I<5P:,DhA95/a@5j@Y5Ҽy5΃<5H O? ?Le`yR?@(1r?_B?`@x??? 5/a@5?;)5C8IMb@Mb@Mb@ )Y/$?~jt?y1h?<EA EA)3AI\AyI5I52Eٺ E.=yMR\Q U>٥QY ]H]F]߿ e>aB5e$y̜?B59eX IeBy>h?j:/@e~.Eie/:e_:e}B5B];AEMDNOT Ignoring new targets: 38.73 m.bIZIrIjIRQJQBY~~zB}||||@!F@ {Bm!I!)%#!I%V ; ))-<-s/15m6<5{5W:,]hA:J&YBJ&KJJ&@RJ$ZJ&9bJ&K9J&J4J$zJ&d:jJ&h:J& :rJ& :9JS@JS]@YJLyJV٥ HF䗻 > B5E̜? B59 ^ IBy70@.Ei9O;P;B5)-G;AQ1 DNOT Ignoring new targets: 38.73 m.b ZrjRJB~~}|||!|%OF@ ]{B]3IY)] aIe!; aae N]:,FwhAK-P"K-9*K)2K-:K-,>G{H zlge <lYd-L 11#_k)O9}@@}I@Y}ϙy}} <}H8??@?٥II MHIM M>Q]B5U̜?]B59U~d IUByej?eg:eF2e@U.EiU;U;UAB5qu;AuEԡmDNOT Ignoring new targets: 38.73 m.bqZqrqjqRqJqBq~y~}zB}||||ޅF@ %{B%ZdI!)-)I-H{: ))-!*<5u/15<5̜BHHHH =HHH4<H]E6G zQ<~G A A N >) /d:,hA9J~5@J,?@YJ+yJ);JH 1?r?i75?A?@D?.p?@? J~5@J舊;)JCV3yBVAII^I^2fj ff=yfyQ j>٥hh jHjFno n>pzB5r̜?zB59ri Ir!By|~2~@r.Eirl;rm;r[ B5B *;A |E5DNOT Ignoring new targets: 38.73 m.b1Z1r1j1R1J9B9~9~A}A|A|A|A|M`HF@ {B靥:I)gIi vZj:,lhA ByBJIi%=I%=I-I-#3= = =C=yEQ E>٥AI MHMF] ]>amB5e̜?mB59ep Ie'Byqqu@e.Eie:e:eB5}B}:A}{EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||`F@ {B.E!I)In&: < w/1 N=< %H5 H ܼ>H H IH yBH  =H H H <H EpAq:,5DhA 9B-$@B-@YByBJ*;BH%??%u)?% ?Ҡ? bFe?? B-$@PB;)@b]yBb[IMb@Mb@Mb@ )Ykt?/$?y p?<\A )IAyAII 3 |= >=yӰQ >٥ HF%Y %>)=B5-̜?=B59-Gw I-.ByE0p?Eb:ET1E@-.Ei-Y;-4X;-B5IM:AI}DNOT Ignoring new targets: 38.73 m.byZyryjyRyJB~~zB}||||`G@ {BI): I(9 Kט<t/1y<! kw:, hAIIBA9N@N!@YN) yN:NH? M? \ t@w!?`9?`V?@V? 2? N@N;)L^syBbiIInIn?13zs= z^=y~qQ >٥  HF% %>1=B55v͜?EB595)} I54ByAE1M@5.Ei5gP;5Q;5B5Q]5:A]xEDNOT Ignoring new targets: 38.73 m.bZrjRJBq~y~y}y|y|||OG@ {B zI1)51I5@֏ 115<=y/1=<=T\ԉ ʜ}:,DhAQ9@@Yy7H ?@?`@?@F? !?@? @骥Ž;)CyBtIKjP"KH9*K2K:Ka%^T*n>Bg$_UT&%,/-(8ov 2!hMb@Mb@Mb@ )YDl?/$?~jt?yOm?D<EA )AIyAII3= 0=y)Q >٥ H% >B5 ͜?B59Y I?Bydm?d:;2@.Ei;; B5B9AuEDNOT Ignoring new targets: 38.73 m.bZrjRJ:J-YBJ-WJJ-ARJ)ZJ-9bJ-G9J-4J)5@5@5@5@B1~9~=zB}9|A|A|A|EG@ }{B靅I%I)I̮6 <v/16<;iiyEqEqEqEqEqH>HHIHyBH =HHH<HEԩ6G *;~Gy A A N > }:,hA9:@:@Y:;y:(;:H@ ?H?U_?+-?LƢ?ws?f? :@:';):CFyBFzIIN IN(2VE< Vt=yZvQ Z?٥XX ^H^F^m ^?`fB5b5͜?jB59b IbGBylr2r@b.Eibi;bi;bB5tv9AvrEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||CG@ E{BE>II)MIIM6 IIU:<]s/1eH9 J:, ,hA9:<@:@Y:y:m1<:H ?@?P@ ?@B? t]?À? ? :<@:R;)8FyBFIININF3Z/p= ^I=y^:Q ^>٥`` bHbFbS b>dnB5fJM͜?nB59f IfPByln2n@f.Eif;f;fB5pvk9AtDNOT Ignoring new targets: 38.73 m.bZrjRJB~~!}!|!|!|)|5cG@ e{BeIe$<)m~iImV iim՘y*K 2K :K s`T-$&MI\:TbyI*vB{K+o>:JM aBJM TJJM CRJI ZJM :bJM :9JM 4JI H >H CH IH zBH  =H H .DH <H Eԡ :,FhA=yB=I-Mb@Mb@Mb@))) )))Y-oʡ?l?{Gz?y-m?-=-#<-IA -A)-AI-A)y-pAIEIE3U< U3=yUQ ]>٥YY ]H]Fe e>imB5qmh͜?uB59m Im[By}Bm?}e:}Q.}@m.Eim/;m-;m#B5BI9AqEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}||||H@ ~{BI)徉 I ȟ   =<u/1*<Cc;iiE?EEE0Eԡ <6G- 9;~G A A N > :,f`hA]yB]IIm ImV2= X=yQ >٥ HF >B5͜?B59Ɯ IdBy@.Ei7::&B5B8AnEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| @PH@ =z{B=I9)=վ9IEӁ AAE:,sKzhA9a@@Y#yʀO<H`??= `?=A?@Xv??`? a@`s;)CyBIKx*P"K*K2K:Kv+:&_'7,SV1Jn tY0~Da]O;J ?J?Mb@Mb@Mb@ )Y rh?{Gz?y&1|?yl?#=`;A A)AIAyAI%I%25^< 52=y=똻Q =>٥99 EHEFE: E>:JUZBJUOJJU?RJQZJU9bJU%9JUـ4JQYamB5e͜?uB59eԣ IenByul?ue:uf-u@e.Eie,:e:e*B5y8AkEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}|||| H@ t{B lI)оI=$ !%*<5w/1=O<=B ;iAiG!G%?AH->H)H-IH-9zBH)H)H)H-<H-EH H H H  =I  = I Q5y>E q<ԡ E ?E E E \0E F F 6Gs;~GAAN?:,nhA9>@>|@Y>$)y>g<>Ha? ?@妿`h? б?#?:? A? >@>~;)>CJyBJI)L NAIRIR3^VZ= ^:=ybiDQ b>٥`` fHdfs; f>hnB5jp͜?rB59j| IjyBypr,r@j.Eijq:jG:j.B5vBvl8AzhEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||cH@ o{B靵S޼I)<I;  <t/1<Xt;iii>E<E?EEE0Eԉ6G 1; ~G A A N >}:,IghAP !%<5yB5IIEIEm?3U= ]A=yeQ e>٥aa eHeFm m>qB5u͜?B59u IuBy@u.Eiu]HHIHkzBH =HHH<HEE?EEEn0EI 6G] ;~G1 A9 AQ Ne >*:,yhA%zB%I Mb@Mb@Mb@    ) Y Fx?)\(?~jtx?y k? Ga= ; EA zA) zAI A y zA)) 1IUIU2SG7< M'=Y ]` YYye ByaQ e>٥ii mHmFi u>yB5}͜?B59}m I}By3l?f:(@}.Ei}~b;},q;}6B5!8ADNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}||||`9I@ =c{B=F%ϼI9)='AIEod AAEݖ~I:,%hA9F#@F-@YF4yFf) KE EHP"KE ý9*KA 2KE :KE @!Jgbmt(9c}sj 0hWBNyU-O3:, hA H<HH">H H"IH"zBH" =H H H"<H"E9v-@vA7@YvI6yv;<|vH?)?A?@3??`֦??? v-@v[;)t zB IMb@Mb@Mb@ )Y rh?J +?Mbp?yl?H=;A A)AIEAyII&I< 7=y bQ  >٥   HF$; >B5'Μ?B59 IByl?e:8)@.Ei:=:=B57A`EUDNOT Ignoring new targets: 38.73 m.bQZYrYjYRaJaB~~ {B}||||̠I@! mY{BmƺIq)uqIu1ۂ qqu{ޕ<}x/1}(<;!]:,hA9>7@>A@Y>:7y>F<>H/??@@ :?@ ?`ަ?@?`? >7@>Ū;)>CJ.zBJIIVIV 3f+= fa=yj2Q j>٥99 =H=FEg; E>YIB5M&5Μ?B59Me IMBy(@M.EiM;M+;M@B5Bz7A]E:J\BJaJJ?RJZJ=:bJp9Jـ4JzJ:jJ:J:rJ:5DNOT Ignoring new targets: 38.73 m.b9Z9r9jARAJABA~I~I}I|I|I|q|uI@ T{B 0мI)|IN j<u/1LG<%= 2 :,8hA9:~E@:-O@Y:7y:U<:H 8?9?@fQ B?B?I?D?? :~E@:";):C^"zB^IIfIf3nQ nH=yrԘQ r>٥pp vHtvm; z>x B5zuMΜ? B59zE IzByw(@z.Eiz6c;z2d;z*DB57Aԡ DNOT Ignoring new targets: 38.73 m.b Z r jRJB~~}||A|A|E J@ O{BrƼI)59IE AIM֔<K]P"K]=9*KY2K]:K]I4)LC(2 |{ []GY-6b}v:Z,Jn hr/1<G'n:,RhA])zB]IMb@Mb@Mb@ )YFx?X9v?yk?}=A A)IIAyQAI  I (2%ف< %8=y-Q ->٥)) 5H5F >B5iΜ?B59 IByOl?f:$@.EiM::,HB5B7A\EDNOT Ignoring new targets: 38.73 m.bZrjR J B ~~ {B}|||!|%`9J@ UK{BUʼIQ)U֐QI]> YY]Qԡ q:,ulhA9RW[@Re@YRk7yR ٥tx zHzFz; z?YeB5]lΜ?mB59]2 I]ŘByim$m@].Ei]V:]:]SKB5q}7A}YEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| fJ@ G{B+мI)lIy̟ "ܓ<t/1 < lK d=P"K ͼ9*K 2K :K tD]7E# +<A,5{zo0e`K;/pBBa GA GA HM >HI HM 9IHM zBHM  =HI HI HM ͚<HM E:,VchA9 *b@ k@Y 6y H]< HK?@?:U?!f?`ݦ?f?2? *b@ &;) C%)zB%IMb@Mb@Mb@ )Y!rh?&1?Mbp?ylg?P=;IA hA)hAIAyAI#I%x3%>, %7=y%9Q ->٥)) -H-F5: 5>9EB5=Μ?EB59=t I=ϘByMg?Mj:M&M@=/Ei=(;=';=OB5UB]7A]VEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}|||| @J@ uA{BuzIy)_I4 7<y/1tY<or:,#hA 9v`@vj@YvxF4yv٥QQ ]H]Feٹ e>imB5mrΜ?uB59m ImטByqu&u@m /Eim:m :mdRB5o7ASE:J^BJYJJARJZJ} :bJ[O9J4JzJ_:jJd:J&n:rJ)n:MDNOT Ignoring new targets: 38.73 m.bIZQrQjQRQJQBY~Y~Y}Y|a|a|a|eJ@ ={B¼I)Ih A<v/1(< 66n:,GhA9>\@>9f@Y>4y>`<>HH?@?1`PQ??}~?)ǒ? ? >\@>{;)>CLR,zBRIIZIZ2 鹼  O=y G+9Q  >٥ H9 >!%B5%_Μ?-B59% I%By)-&-@%/Ei%:%%:%UB5157A9eDNOT Ignoring new targets: 38.73 m.baZirijiRiJiBi~q~q}y|y|||@3K@ 8{B靵ZɼI)1In X?<s/1<fHH?IHzBH =HHH<HEHŘCHŘCHH =I = IO556Gq~GQAYAqN}>) ':,#hA9>V@>`@Y>5y>n<>HED?Z?2M?D?`ֻ?Eэ?@ ? >V@>;)>CR2zBRI|5Mb@Mb@Mb@111 1)1Y5x&?L7A`?~jthy57i?5+=5D5A 5A)5QAI53A1y5\AIIIIeW< eE=ymQ m>٥ii mHuFu}غ u>yB5}TΜ?B59} I}By^i?h:0,@}/Ei}:}:}yYB5 B7AQEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}||||@X6K@ 3{B靕?I)Id <x/1C<b\ԉ :,hA9> H@>Q@Y>r:y>d@&<>HG:?? B?y?`KL?`r„?? > H@>Y*;)>CJ8zBJIIRIR 3bz< bU=yb٥dd fHfFj4 j>h5B5jKΜ?EB59j IjByAE,M@j/Eijl K fKP"K H9*K 2K :K j;AmGfNAW*~bMTJn SP=7L@Ww``Qs+#J >J >H >H CH H H H H /DH ݚ<H E;,hA9: >@:G@Y:)?y:#;:H o3?@? ;@x;???`v?? : >@:̇;):CԱI}Mb@Mb@Mb@yyy y)yY}y&1? rh?y&1|y}`e?}C =}`}A }A)yIyyy}AI I̍2w: $=y`Q >٥ HFp >B5Ϝ?B59 IBye?l:,@!/Ei;;,aB5q7AKE-DNOT Ignoring new targets: 38.73 m.b)Z1r1j1R1J9BA~I~MzB}Q|Q|Y|a|eqK@ u&{Bu.$Iq)u.nqI}*ɻ yy},<r/1'<2[;,#hA93@L=@YEQyLț:H2,?U?J`}3?@M?˟?DsS?? 3@ ;)C i)mAɿmE6uȯFqquAiu-2IqyIyiy yy)y …tA‰‰I‰:J^BJbJJCRJZJ} :bJt9J4JzJ_:jJc:JR:rJS:)‰i¡)áIá¡© éééñiññٯU>zBUIIeIeM3uD< u3=yu,OyQ >٥ HF6 >B51Ϝ?B59 IBy,@(/Ei~::+eB5 B^7AHEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||K@ -!{B-ѯI))-b)I5+ϻ 115p/;,c#@>-@Y>oJy>I>H/!?/?w֢d (?]?`@K? 32I? >c#@>H;)>Cipp)rף pIp p)tttttvrAitIxxIxix xx)x| |~~XF|MAIt)i) I  z ?F ٯ =LzB=IIMIMb1]6?= ]=y]Q e?٥aa eHeFmcػ m?qԹ=B5uICϜ?=B59u IuBy9=^-E@u,/EiuHHEIHzBH =HHH<H:E }{B禼I)(NI/Tջ R<t/1͋<;,WhA9:@:'@Y:IOOy:Yͺ:H7??E`8$? ? ?Y? :@:)%;):CԁdzBI%Mb@Mb@Mb@!!! !)!Y%x&?~jt?Mbpy%7i?%<%%zA %A)%@I%A!y%AI=I=F3MS= M4=yM+Q U>٥QQ UHQ׻ >B5_Ϝ?B597 IByLi?h:0@3/Ei;:kB56AGE%B*** querying acoustic contact ***J!R!5DNOT Ignoring new targets: 38.73 m.b1Z1r1j1R1J1B9~9~=zB}A|A|A|A|E`VDL@ u{BucIy)}1I]ٻ  <y/1F<;iiԱE)E)E1E5P0E1 U 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode.6Gm Mh <~Gi A A N > ;,qhA9>@>P#@Y>&Oy>YcR>Ho?J?p@p n!?X@>Ć;)>ClzBII-I-3}< }Z=y8Q >٥ HF; >B5PtϜ?B59 IBy0@8/Ei::oB5 B6ADEDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||FrL@ -{B-˜I1)5$1I=p'ݻ 99=, BDAT read: Tx time:14:03:29.0674 $Ping request sent.K- .?P"K- ý9*K) 2K- :K- ` %QU2 (Wg?;53zQR.Td ^c&"586/|%?:MHM >HI HM RIHM zBHM  =HI HI HM <HM -Ey ";,ИhA JDAT read: TxSync time:14:03:29.0666 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252179E{zBM Ionly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 81.55, 80.87, 78.83, :WI,-32768,-32768,-32768,-32768,V aI@a aM@a aQ@a aE@a II?13- = ->=y5Q 5>٥11 =H=FAM M>Q]B5UՍϜ?eB59UL IU"Be+:yae<:ae@U>/EiU%;U >UrB5iuv6AqDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||?L@  {BIL <)I} h6<s/1< ;iiEEEE_0EFFFFichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505740jG}s?bG}}?ԙ~GQ Ai Ay N > (;,DhA9>C@>@Y>KiWy>;>H?H? !⥿u???@s?? >C@>%;)>CJ~zBJ IIrIrV83z; zb=yzHQ z>٥|| ~H~ F > B5 Ϝ?B59 # I *B :y:}1@ C/Ei : J? #tB5!%o6A%AE]DNOT Ignoring new targets: 38.73 m.bYZarajaRaJaBa~i~i}i|i|i|q|u_L@ {B靥I)\I@ ]<x/1S<D;iiԹEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755783EQEQEQEU0EQ~G)A1AINU>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0075219 /;,hA9>@>9@Y>2Zy>;>H?? @R ??B? ?"? >@>a;)>CbzBbIIfIf3nT= rK=yrݺQ r>٥pt vHv Fv v>xeB5zϜ?mB59z) Iz4Bm9yim9m1m@zI/Eiz~EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}|||| M@ {BaI!)%Pɽ)I5 9AEH<]u/1eaH H eIH {BH H H H ߚ<H EKMQ"KM=9*KI2KM:KMdj 49!o epiC!d &z O2?\TTHZ"[EAEAEIEM0EI~GEAEAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260944YAiAN\>ԉ ]5;,hA,9>@>@Y>%[y>"5<>H?g?L@ ?ޥ?@[a?? ? >@>;)>CJzBJ#IaI%aI- aM-aM- aQ-aQ- aE-aE- -Mb@Mb@Mb@))) )))Y-ʡE?y&1?y-o?--`e<-A -A)-+@I-A)y-AIEIE3U!e< UC=yUPQ ]>٥YY ]HYe=: e>i}B5mnϜ?}B59m0 ImABT:yo?b:8@mP/Eim_;mH;myB5B5AE5%<E?EEE_0EU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763167~G A A N > <;,hA9> @>D@Y>\y>=D<>H@?@?侨^?`?~?~?@? > @>;)>CRzBR<IIZIZ2b= bT=yb!Q f>٥dd jHj Fpr< r>tzB5vgϜ?zB59v 7 IvNByx~7~@vU/Eiv;v1;v }B5B5A 5DNOT Ignoring new targets: 38.73 m.b1Z1r1j1R1J9B9~9~A}A|A|A|A|MqM@ }zB靅"'I)@*I\a <w/1a6< ;ii>Eu0:D<EEEE5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.01705816G2<~GI :J ZBJ lJJ ERJ ZJ 9bJ 9J 4J  H H <H >H H IH A{BH  =H H H ʚ<H EHəCHəCHH =I = Iɴ~5a A Ay N >K ֣P"K 9*K 2K :K d6 9U/R*\_za1YE TfW] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266813Q C;, hAI()*@9Z"@Z,@YZk\^yZ!N{٥!! %H% F-; ->1=B55:М?=B595= I5\By=k?Ef:E/E@5\/Ei5g:5 :5B5IM4AM9EDNOT Ignoring new targets: 38.73 m.b Z r j R J B ~~zB}||||bM@ mzBmJ9Ii)mniIu} qqu°<}t/1<%EE<zEQE ?E E E 0E Թ 6G -;~GAAN>J;,`,hA*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7709189z$6@z?@Yz^yz(F٥11 5H5 F=; =>AMB5E !М?MB59EE IEjByQU /U@Ec/EiE:Eq:EB5eBe4Ae7EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~}||||{M@ zB&I)@x;ILa M<y/1]<A%H= CH= IH= t{BH=  =H9 H= .DH= <H= 9E~G A RJ ZJ (:bJ 5K9J 4J zJ );5jJ );5J f:5rJ f:5Ku P"Kuý9*Kq2Ku:KuhIJM\jxhT`8zS*c |pJyJyA N>?R;,?JhA@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2748199]?@]{I@Y]iFZy]P<]H`2??n鮿 (A?@t?~E?g?? ]?@]؆;)Y{BfIMb@Mb@Mb@ )YK7A`? rh?~jtx?yk?C =; 3@)@IAy@I IV2=aq= ==yM/:Q U>٥aa mHmF}f ; }>B5Ա^BМ?B59VM IzBy,k?Mg:M,M@k/Ei<V<ՉB5?4A4EDNOT Ignoring new targets: 38.73 m.bZrjRJB~~zB}|||A|E2N@) cG)A uYqyuhB zB>I)P1=I= A<=v/1=%<= W1}Z;,jhA9J>@JG@YJԓSyJ.=JH`1?v?`@?? B?wo?@\?? J>@Jk;)JCV.{BZyIiZ4>IZ4<IbIb(*3j= jH=yj;Q j>٥ll nHnFn n>t~B5v}ZМ?B59v`S IvBy  , @vq/Eiv;vh;vSB5B3A2EZqbuY]hAuAuAu=@ʁuk!25ԇ($A3m?uߟ3аZ(P0?u'u Aҁu^98GY@Х ŵ?u|V,nz"w?LJl?zuj@uju̮aȜ?ru1 u{Bu^tƜ?ur  u]iBuAuK@m addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 60.512052 s, deltaX: -14.200001 m, approachRate: -0.234664 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 24.625803 m, bearing: 169.661768 deg, lat: 36.906375 deg, lon: -122.116072 deg, deltaT: 60.512052 s, deltaX: -14.100866 m, approachRate: -0.233026 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||8@| ?? zB„I)=I| /<s/1}J<}+ `;,hAE;{BEIII[3<H5>H5CH5IH5{BH5 =H1H5/DH5)<H5]Eԁ >=yQ >٥ HF  >B5vМ?B59Z IBy!!%@x/EiQ;;sB5MBM3AU/EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}K{FP"K=9*K2K:K=gz+?TR+AlW<F99s3(kayL6DysJ>J>||||A? zB0\pI)=I! <-x/1-H<1i1i1ԡEEEEO1E6G f1<~G A A N > g;,1hA9B"@B8,@YB=CyB?Ze?@٥ HF >B51М?B59` IBym? e: - @}/EihL;G;B52A! DNOT Ignoring new targets: 24.63 m.bZrjRJB~~,{B}||!|!|%@r? zB靥f;I)>IT ~<u/15T<zJ;ii):J`BJ_JJBRJZJ:bJ=h9J-4J@@@@EEE!E%m5E!9 6G% -<jG- n?bG- u?~G A A! N- >Q ::m;,zhA9>@>K$@Y>:y>/v<>H?? "%??qU??? >@>A;)>CJp{BJIIVIV3^͒< ^\=yb;Q b>٥`d fHdf+ f>hnB5jМ?nB59je IjBypr-r@j/Eij{;jU;jޗB5tv2Av,EDNOT Ignoring new targets: 24.63 m.bZrjR!J!B)~1~1}||||@E? zB ;I ) L> Iܻ I|<r/1<$;ii!AEEEEO0E6G*;~GyAAN=>QH->H)H-IH-{BH)H)H)H-$<H-ZEԉ K [P"K *K 2K :K |(vqQzvw T\#J]JQW0A&;0Q5*%('m!t;,ShA,=z{BEIMMb@Mb@Mb@III I)IYMoʡ?:v?y&1|?yMm?MT=M`;MdA M@)M@IMAIyM@I}I}V83=< 0=yQ >٥ HF >B5(М?B59l IByom?d:)@/Ei::B5B2A)EԉDNOT Ignoring new targets: 24.63 m.bZrjRJB~!~E {B}I|I|I|I|ME>? zBϮ;I)->IZ׻ `y<w/1<:D;iiEEEEE 6G -;ZG RG :J BJ VJJ ?RJ ZJ bJ B9J ـ4J ~G A A N >!Jz;,V(hA9ZC!@Z*@YZ.yZr;ZH !??&(?oҙ?=ݥ?Mn?x? ZC!@ZE(;)ZClr{BrIII3N}< g=y!٥ HF%e; %>)5B5-М?5B59-q I-By15(5@-/Ei-:- :-B5AE2AE(E}DNOT Ignoring new targets: 24.63 m.byZyrjRJB~~}||||!@ zBc;I)5>Iӻ z w<t/1>o<=];iizEEIEIEIEMP0EI16G- ;~G A! A9 NE >a 1;,hA9>,@>96@Y>)y>lu:>Hj)?@? qY n.??@C8? N?@? >,@>6b;)>CV{BZIAI I m?3e= J=y-/K;Q 5>A٥QQ uH}FbX; > H<HH>HHIH |BH =HHH<HEEB5М?MB59I{ͻ 5t<y/1q<=Yb;,^hA9:F@:HP@Y:$M&y:;:H:? 8?`%@@?ߗ?@.Ȥ?q?`-? :F@:;):CF{BFIԑMb@Mb@Mb@ )Y rh?:v?~jthyl?DMA )@IdAy@II#3@< ==y;Q >٥ HF; >B5 ќ?B59n~ IΙByl?e:'@/Ei::WB5%B%N2A%%E]DNOT Ignoring new targets: 24.63 m.bYZYrYjYRYJaBa~i~m{B}i|i|i|q|u@ zB靝^IȻ q<v/1/<_<9JmJ4Ji6G} h<jG o?bG J?~GY Aa Ay N > ;,8hA9:_@:4i@Y:e<#y:^ <:HK?@?F|`. Q?4?*f?@_]?*? :_@:Ï;):CJ{BNIIRIRT3Z< ^a=y^;Q ^>٥\` bH`b < b>djB5fI ќ?nB59f΃ IfԙByln&n@f/Eif;f;fB5rBr:2Av"E%DNOT Ignoring new targets: 24.63 m.b!Z!r!j!R!J!B)~)~)}1|1|1|1|=@ @ ezBe6iImRû qquaoHHIH+|BH =HHH<H(EHHHH =6G-ܸ<٥ HF; >B5';ќ?B59V IܙByI l<x/1Q<O:J} ZBJ} hJJ} BRJy ZJ} 9bJ} Ȇ9J} -4Jy ;,lhA9F@Fc@YFӔyF*٥ll nHnFre; r>tzB5vRќ?zB59v IvByxz(z@v/Eiv;vw;vB5B2AE5DNOT Ignoring new targets: 24.63 m.b9Z9r9j9R9JABA~I~I}I|I|I|Q|U@~!@ zB:-Iq\ 8j<u/1Q^<m ;,JhA9Bf@B@YBvyB3٥hh jHjFr8; r> B5 jќ?B59 ݕ I By=(@ /Ei ; ; *B5!%82A-EGYG]@AHe>HeCHe IHe?|BHe =HaHe.DHe֚<HeEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||w@ zBxII Fg<r/1<<){9e=h8vsP#CE?EEE5E9MGa % >Y! y- Bi 6G! ~GY Aq A N >;,#hA 9Z`@Z@YZyZ=ZHst?@>?` {?NR:բ?@Ø?%? Z`@Zh;)ZC {B Ii٥ HF: >B5@ќ?B59? IByi?h:(@/Ei,::B5  1AEMDNOT Ignoring new targets: 24.63 m.bIZIrIjIRIJIBI~Q~UzB}Y|Y|Y|Y|]@{@ zB TcW I52 115֭;, hA9>,@>ܪ@Y>Gy><>H v?h?P I}??@(?tt?8? >,@>&u;)>C\b{BbIIjIj3rD r\=yrh;Q r>٥tt vHt~o: ~> B5 ќ? B59 IByw(@/Ei;;9B5%B%1A%EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||| @ EzBMhUIIu qquZb<t/13 <BHYH]&IH]I|BH] =HYHYH]<H]E:Jm[BJmWJJm>6G<jGs?bG?RJiZJm:bJmG9Jmt4JizJm:jJm:Jm_:rJm_:~G A A AQ N K )P"K 9*K 2K :K 9qX2f7s]O%QGZ{r  #P&;'p&$#!]*?7 ;,hA9Z"@ZҪ@YZx yZ٥ HF< >B5ќ?B59 IByui?h:'@/Ei;;B5#2AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||@ MzB靍g8IV f_<y/1<qԡ ;,hA9:Y@: @Y:dy:х<:Hq?`?A Uv?`2??@?? :Y@:;):CF{BJI)H H n=n=IrIr3z(/= zU=y~;Q ~>٥ HF+7 > B5 Iќ?B59  I By'@ /Ei ; ; IB5!%1A)mDNOT Ignoring new targets: 24.63 m.biZirijiRiJiBq~qy~q}y|y|||`p8@ zB靵pIF ]<v/1a<&- ;,:hA9>@>n@Y>y>B<>Hj??@kwo?E[? ?R?? >@>;)>CHU>HQHQHQHU =HQHU/DHU<HUEI!I%?A:JE_BJEVJJE?RJAZJE :bJEB9JEـ4JAzJE+:jJE0:JEX:rJEX:{BIK 4#Q"K *K 2K :K 4 |  v'([7]%rBAN&/MCe_Nd}AJ?J>Mb@Mb@Mb@ )YS㥛? rh?y$f?C =A@ @)In@y@II3E M =yM";Q M>٥IQ UHUFU U>YeB5]ќ?eB59] I]BymNf?ml:m*m@]/Ei]:]p:]VB5uBu2A}EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||@Q@ %zB-)')I-K 115qZ<=s/1EK(;,k&hA9:b@:@Y:-y:F<:H Xh?@?f )l??@?6ψ?? :b@:;):C D)FAɿF)FFDHJ AiJ,IJޭFHIHiNlA LL)LL NrAPPPXXIX)XiX)\I\\\ \```i`` ٯ`{BII I2ƈ< M=y+(;Q >٥ HF殺 >B5Ҝ?B59ۻ I By7*@/Ei;f;B5B1AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||"-@ zBbI WX<x/1~<=xL;,AAhA9o@@Y޼y|#(<H@h? x? @Sl?@?ٛ?Y?? o@;)CHE>HAHAHAHE =HAHAHEL<HEEiaa)eĻ aIa i)iiiiimpAiqIqqIqiq qq)yy օKAՅՁՁցօKAIօ)֍7Fi։)׉I׍CA֍։ בٯ{BIi٥ HFCe7 >B5"Ҝ?B59~ IBy@/Ei::B51A EMDNOT Ignoring new targets: 24.63 m.bIZQrQjQRQJ;4J;4J;W0:Je]BJeTJJeDRJaZJe]:bJe:9Je4JazJe:jJe:JeSJ:rJeUJ:JQB~~}Q|Y|a|a|@ zBn\V)I-iz )15+ZU٥99 =H=F=;f >B5M=Ҝ?B59! IByAf?l:,@/EiH;+;B5B1A E DNOT Ignoring new targets: 24.63 m.b Z r jRJB~~qzB}||!|!|%e^ @ ezBeZiImCBm iimVSR`;,bL|hA9BႫ@B@YByBU:BH0e?D?vg?? >?(X?? BႫ@BF;)BCE{BMIIUIUF3u = uY=y};Q }>٥ H >B5RҜ?B59~ IBy!,@/Ei;F;B51AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||| !@ -zB-1I5_ 115`Q<=w/1= <=HCHHH =HHH<H"EHƘCHƘCHH =I = IƩ66Gp<IIAA:J%^BJ%]JJ%BRJ!ZJ%} :bJ%_9J%-4J!zJ%^:jJ%c:J%h:rJ%i:~GAA N >Ա K= @%P"K= 9*K9 2K= :K= E P,6+_B*;<&TQ^>^M4(a"S;,TUhA49:U@:@Y:=|y:S:Hc?`?+@"%e?`7??S? :U@:;):CB{BBImMb@Mb@Mb@iii i)iYm?Mb?MbPymff?m٥ H F@ > B5 kҜ?B59  I Byof?k:/@ /Ei : $: B5%B%t1A- EuDNOT Ignoring new targets: 24.63 m.bqZqryjyRyJyBy~~pzB}||||@W!@ zB靽UIN 0*O<t/1_<܆ r;,hA9>܁@>@Y>'y>[>Hd??f??S?a 4? >܁@>;)>CF{BJIlIrIr#3z z^=yzk;Q z>٥| H!F n:  >B5UҜ?B59d I!By!%/-@/Ei_;s;B51=1A=EmDNOT Ignoring new targets: 24.63 m.biZirijiRiJiBi~q~q}q|q|y|y|} "@ zB靽/I]@ dBM<y/1ľ<ta M`;,fhAH.>H,H.-IH.S|BH. =H,H,H.<H.SE9N>@N@YN[yNQ;NHe??ྭ6cg?;B??Zib?n? N>@NX|;)NCV{BVII^I^2f< fL=yja;Q j>٥ll nHn"FnJ9 n>pvB5rΘҜ?1vB59re Ir%Byqu/u@r/Eir'#@a zB靽Ig, J<v/1Ŏ<}V;,hA9Jd@J@YJ yJ;JHti??`@fj?I~?Ò?`uw?}? Jd@J;)JCV{BVI=Mb@Mb@Mb@999 9)9Y=(\?~jt?~jthy=g?=D<=D=@ =@)=@I=@9y9IeIeb2u< u?=y} -;Q }>٥yy }H}#FԁG: >B5Ҝ?B59 I(Byg?j:0@0Ei:F: B5E1AEDNOT Ignoring new targets: 24.63 m.bYZarajiRiJiBi~q~uzB}q|q|y|y|}]$@ zB~I vI<%s/1%4o<% ;,hA9>s@>#@Y>y>h9!<>H m?`Z? ꓿o?4m?Ð?@U&?e? >s@>Ɲ;)>CHHIRIRF3yZK;Q Z>٥\ H :  >B5Ҝ?B59 I*By!%V0%@0Ei;;hB5)))eDNOT Ignoring new targets: 24.63 m.biZirijiRiJiBi~q~q}q|y|y|y|}@%@ zB靭@dIC (G<x/1jQ<ᬒHiHm3IHm]|BHm =HiHiHm <Hm2E6G喇<II@AQ~GqAA N= >ԁ K < P"K 9*K 2K :K SL[LxuzUV#aT%i9Q9N ^4GTK<,hA9FY@F @YFpyFGO٥ H$F{9 >B5GҜ?B59U I.Byh?i:0@0Ei::3B5B1AE=DNOT Ignoring new targets: 24.63 m.b9ZArAjARAJABA~I~MrzBI}Q|Q|Q|Y|]V%@ zB靅f.Ix |D<u/1-<iiEEEE4Eԉԩ6G <~G A A N >:J ZBJ RJJ ?RJ ZJ 9bJ S29J ـ4J 9 <,Q1hA9>Ԏ@>@Y>y>r<>Hm?@X? @3o?cT?@Y?`? >Ԏ@>:;)>CN{BNIIVIV3^b ^_=ybe ;Q b>٥`` bHf%Ff5 f>hrB5jҜ?rB59j Ij0Bytv0v@j0EijJ;j}K;jeB5xz1AzE-DNOT Ignoring new targets: 24.63 m.b)Z1r1j1R1J1B1~9~9}A|A|A|A|E۴&@ uzBu+I` Ѻ C<r/1 <(ۑ 9 g<,%KhAH>HCH?IHr|BHHHHך<HE9f@f@YfwyfYS٥ H&FAߺ >!-B5%TӜ?-B59%9 I%3By1505@%0Ei%:% :%B5=B=0AEEmDNOT Ignoring new targets: 24.63 m.biZqrqjqRyJyB~~}||||'@IC=I%= zB[=I @<w/1 <gyt4\ZMYFOf0T96G5Ô<~Gi q A A N ><,ehA 9F@F@YFp>tyFl ٥qq uHu'Fu. }>B5(Ӝ?B59 I6Byk?g:Z3@0Ei:F:B50ADNOT Ignoring new targets: 24.63 m.bZrjRJB~Q~]zB}a|a|a|a|eOe(@ zB}IV{ ><t/1<Gs@>}@Y>$py>w;>H \?w?`@c}]? 8x?N? jNs?? >s@>;)>CJ|BJIlIrIr 3v zR=yz(:Q z>٥|| ~H~(F[y > B5 ?Ӝ?B59  I 9By3@ %0Ei : q:  B5!%0A%E]DNOT Ignoring new targets: 24.63 m.bYZarajaRaJaBa~i~i}i|i|i|q|u$)@ zB靥I0 <<y/1M<ѝtH%CH%FIH%||BH% =H!H!H%<H%6E6GuT<~GQAiAyN>  AI K5 pP"K5 9*K1 2K5 :K5 aMLL_iJRd{ eTL:  12 uz%<,@hA96i@6^s@Y6.xhy6T;6HU??t&V? q?? %*`?(? 6i@64;)4^%|B^IMb@Mb@Mb@ )YHzG?/$?{Gzt?y=j?<ף;@ @)I@y@IIF3>= ;=ya:Q >٥ H9 > B5YӜ? B59n I=ByNj?g:/@+0EiOJ;U;B55B=_0A=EmDNOT Ignoring new targets: 24.63 m.biZirijqRqJqBq~y~}zB}y|y|y||*@ zB靅Izƙ 4:<v/1']<׷d9J ـ4J N >,<,hA9JEd@Jm@YJ ^yJ&JH R??[@N`R???d8? 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E>IUC5MӜ?]C59M0 IMJBy]m?]d:]-]@MH0EiM;MR:MWC5e!Be0AmEmDNOT Ignoring new targets: 24.63 m.biZqrqjqRyJyB~~zB}||||.@ yzBI : /<w/1 "G< -;٥!) -H-.F-ۺ ->1EC55Ԝ?MC5951= I5NByIMN-M@5T0Ei5?;5n ;5TC5Q:Je_BJe\JJeDRJaZJe :bJe[9Je4JazJe*:ujJe/:uJeҁ:urJeԁ:uu0A}EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||9/@ wzB$ =I)W>I ; *<y/1r<|N15j6G5ŋ4<~G A! A9 NM >! qY<,IghA|%9|B%I)) ) 5=5=Mb@Mb@Mb@ )YK7?l?yIl?=@ @)I@y@I IV2 9=yQ >٥ H/F >C5Ԝ?C59C IPByzl?e:+@[0Eio:t:C5 (0AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||)|)|5 C0@ vzB˞IN%; u(<v/1<12~X`<,*shA96dD@6N@Y6ny6S :6H0>??Gx``_>?@/m?@|?nAR?`? 6dD@6$;)6CJ?|BJ!IIRIR(*3Zu< Z`=yZj:Q Z>٥\\ ^H^0FbY b>djC5f 3Ԝ?jC59f6I IfQByhj+j@f`0EifkaIe:; aaer&HiHmkIHm|BHiHiHiHm<Hm"E>E<:J^BJUJJ>RJZJ} :bJ>9Jt4JzJ^:jJc:J|Q:rJQ:ԱE?EEEEF=F= K !P"K ͼ9*K 2K :K D}+u3 `O\xm.2cZ>Wd5*R-q) +3&#6G 2<~G A A  N>eg<,.hA96٥)) -H-1F-q: 5>IeC5MRԜ?mC59MP IMRBy}o?c:$*@Mh0EiM aIeX; iiuW#<x/1n<{-EIEAEIEIEIEIq a e A6Gm )<~GA AY Ai N} >m<,4.hA9FJO@FX@YFlݻyF;FH ME? k?k``E?2?ߴ{?k>v? ? FJO@F;)FCND|BR#IiTIV=TVAIZIZ2bޯ; b٥dd fHdj; j>pvC5r/iԜ?zC59rwV IrSByxz)z@rm0Eir :r:r#C5| 0A-DNOT Ignoring new targets: 24.63 m.b)Z)r1j1R1J1B1~9~9}9|9|9||`~1@ AE{=II)M>IIM n; IIU!Hy Hy Hy H}  =Hy Hy H} Ӛ<H} Eԩ I I a=:J BJ \JJ ARJ ZJ bJ [9J 4J zJ _:jJ J Ӂ:rJ ԁ:6G )<~G A A N >t<,xFhA9ZP@ZZ@YZֻyZB٥QQ ]H2F9 >C5fԜ?!=C59] ITByIM)M@t0Ei}<v<*(C5Q}0A}ܫEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`-1@ mszBm<=Iq)u,>qI}ą; yy}Q<K )P"K9*K2K:KF*;? &i){p<X9(t(7;JJr/1{<.:z<,hA0]9|B]IMb@Mb@Mb@ )Y|?5^? rh?Mb`ym?C =I@ )@Ih@yp@I%I%M3=P =H=yEQ E>٥AA EHM3FM M>Q]C5UԜ?]C59Uc IUUBy]m?ed:eK,e@Uz0EiU:U:U+C5m$Bm:0Am٫EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||XY2@ =I) >I; fI<w/1W<a9<,?hAI)@\9:Z@:Jd@Y:TPy:`<:HL?@?`-KL?5/ j?a? ? :Z@:;):Ce3|BeI)i iII2,y T=yX٥ H4F7H; >C5Ԝ?C59i Iy+@0EiK;;.C5B/A֫E HHp<H>HHHH =HHH<HEH]šCH]šCHYH] =I] = I]C5DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||I2@ Q]=IY)] >YI]q; aae'5<t/1<JK >P"K 9*K 2K :K >V&)5yN7Ra5f!2r?UUbf<,)!hA95i@5:s@Y5.:y5ҡ<5HV?`? 'U?R@#W :?d? 5i@5*;)5CU:|BUIMb@Mb@Mb@ )YQ?#~j?٥ H5Fj; > C5Ԝ? C59p IWByi?h:8@0EiI::[3C5B/AիEMDNOT Ignoring new targets: 24.63 m.bIZIrIjIRIJIBQ~Q~UzB}Q|Y|Y|Y|]=>3@ 靝 =I)U>I; 0<y/12<bA,<,r;hA9be~@b@YbNq;yb٥ H6F6; >C5Ԝ?C59u IYBy   @0EiX::6C570AEDNOT Ignoring new targets: 24.63 m.bAZArAjARAJIBI~I~I}Q|Q|Y|a|e3@ tzB靝B<=I)^>I*; e<v/18<NHHeIH|BH =HHHɚ<HE6G E3a< ~G A A N > <,.UhA9J @J@YJ±;yJGKRWP"K9*K2K:K:4AXygzF&+:SO; e^"h%7 Z٥ H; >9EC5= ՜?EC59={ I=ZBM+:yIM<:MM@=0Ei=Q:=>=9C5QU$0A]ҫE-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J1B1~a~a}i|i|i|q|uB4@ >l =I)>Ix; /<s/1ܙ<1 <,]rhA:J2\BJ2\JJ2ARJ0ZJ2=:bJ2[9J24J06@6@6@6@9Jt@J%@YJ_;yJ|?Õͫ~?? Jt@J(;)JCl|B III3 g=yʾ;Q >٥ H7F ;  >C5՜?C59̀ I[B :y:%K%@0Ei: K?;C5-B-\0A5ϫEeDNOT Ignoring new targets: 24.63 m.baZarijiRiJiBi~q~q}q|q|y|y|}g4@ uzB靭G=I)>I"; <x/1B<a ע<, hA9Fź@FvIJ@YFs٥hh nHn8FGr?AGr@AHv>HtHvXIHv|BHtHtHtHvٚ<HvE~H; ~>C57՜?C59߅ I9y!%9%%@0EiIn;?l=C5)-.0A-̫E9eDNOT Ignoring new targets: 24.63 m.baZarajaRaJaBa~i~i}i|i|q|q|u@V4@ vzB靭=I)>I; *<u/1y<K aNP"K 9*K 2K :K RC 6:saziJb1VoP[^F*-PR0G:vU8 X <,ХhA9:vī@:'β@Y:/٥ H9F2; > C5iQ՜? C59R IXB T:y i? i: )@0Ei;;=AC5Bf0AɫEDNOT Ignoring new targets: 24.63 m.bZrjRJ)B1~9~EzB}i|q|q|q|}>5@ wzB|=I)>I; <-r/1-Sk<-P ,<,ӢhA-|B-II=I=3M^ MT=yMQ M>٥QY eHe:Fe e>iuC5mh՜?uC59m ImUByyy}@m0Eim;m;mDC50AʫEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||| 5@ xzB /=I ) > I `; r<w/1a<*HCHRIH|BH =HH/DH<H(E6G=<jGn?bG`?Q~G) A1 AI Nu >ԁ <,|hA9^@^jɲ@Y^Rk٥ Hب >C5ڃ՜?C59 IQBy*@0Ei::HC5B0AǫEUDNOT Ignoring new targets: 24.63 m.bQZYrYjYRYJB~~}||||&6@KӎP"K9*K2K:Ko)@&kbg_MGga04 G-B+r@"t3pyy*p myzBm=Iq)uK>qIu; qquW<t/1Q<Nȳ =<,XhA:J&[BJ&RJJ&@RJ$ZJ&:bJ&S29J&J4J$9j @j@Yjz٥ H;F >C5ؙ՜?C59 INByd?m:G(@0Ei:9:KC5?1AīEDNOT Ignoring new targets: 24.63 m.bZrjRJBԱ~~zB}||||`n6@ 5{zB5) =I9)=ͷ>9I=; 99=.%<,U4 hA  H@HB<HF>HFCHF?IHFr|BHF =HDHF.DHFK<HFE9mi@m@Ym٥ H C5 l՜?C59  I KBy15(=@ 0Ei e; ; ]OC5AE^1AEE=DNOT Ignoring new targets: 24.63 m.b9Z9r9j9R9JABA~A~A}A|I|Ii|q|u@;6@ }zBN=I)>Ig*<  <v/1&<C$<,*hA96ԟ@6@Y6٥ H!E=FM U>C5՜?C59Ԫ IEByg?j:#(@0Ei<<SC5\1ADNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||@V7@ ezBediIm < iim\ <s/14<E<,>DhA9Nל@N@YN٥pt vHv>Fv v>xC5z0՜?C59z Iz@By>(@z0Eiz;z;zVC5 B1AEMDNOT Ignoring new targets: 24.63 m.bIZIrIjIRIJIBQ~Q~Q}Q|Y|Y|a|e7@ zB靕z. =I)>I <  <x/17<HH-IHS|BH =HH/DH<H2EHęCHęCHĔCH =I = IĆM66G1~G  A A) N= >9 1<,<-^hA9H@@Y&٥ H?F޺ > C5m֜?C59Ŷ I:Bye?l:(@0EiV:1:ZC5%B%1A%EMDNOT Ignoring new targets: 24.63 m.bIZQrQjQRQJQBQ~Y~]zB}Y|Y|a|a|e8@ zB靕I< Ķ <u/1%<%eX<,whA {BIIIm?34 a=yQ >٥ H >C5!֜?C59 I5By@0Ei::]C522AEDNOT Ignoring new targets: 24.63 m.bZrjRJ!B!~!~!})|)|)|)|-|8@ ]zB]aIeQ+< aaew G @AG ?AH >H CH IH 5|BH H H H <H E?<,ϑhA9>G@>@Y>AI⺹>H d?`?`my?گ h?I柿@E\? >G@>PȈ;)>CF{BFIiJ٥`` bHb@Fb» b>lrC5nZ,֜?rC59ns In/Bypv)v@n0Ein:nP:n aC5xzi2Ax%DNOT Ignoring new targets: 24.63 m.b!Z!r!j!R!J)B)~)~)}1|1|1|1|58@:J_BJYJJ>RJZJ :bJ[O9Jt4JzJ*:jJ/:J&n:rJ)n: %zB%)I-Q< ))-Y ! =i<,ҪhA ={B=IMb@Mb@Mb@ )Y(\?y&1?٥ HAF >C5G֜?C59 I&Byg?j:0@0Ei^;:6eC5 B2AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~!~%ezB}!|!|!|)|-S9@ ezBe#iI<  <t/1>b<у$Q<,hA9>h@>q@Y>#%=y>Q9>HQ??`?}U?`C 8*?@? >h@>;)٥xx zHzBFz# ~?C5'\֜? C59 IBy  0 @0Eiu:#;:hC5!-2A-EUDNOT Ignoring new targets: 24.63 m.bQZQrQjQYRQJYBa~a~a}a|i|i|i|m9@ zB靥IR< 60 <y/19<QHHIH |BH =HHH<HE:JBJ]JJARJZJbJ_9J4JzJjJJh:rJi:6G5<~GAAN> q<,{hA9^@Jh@Y/=y8H K?`? 3?T`O?< DHV`0? ^@骵;)Cp{BI) A =p=mMb@Mb@Mb@iii i)iYmFx?MbP?{Gztymk?m:mףi i)m@Im@iymG@II +=y;Q >٥ HCFK%&-P"K%9*K!2K%:K%}c RB,q{WDA3C] ;Kod rjy5I 5>9EC5=bx֜?EC59=O I=ByMk?Mf:M4M@=0Ei=;=;=ilC5U!BUI3AUEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~fzB}||||{&:@ zBIs"< w<v/1<HEEq9E E E E H4E Q 6G F<ԁ~GAAN><,8hA9bpV@b!`@Ybl=yb)bHE?@%?@K?\;J? Y+E? bpV@b;)bCnd{BnIIzIz3 A=y:Q >٥    H DF >%C5=֜?-C59 I By15655@0Eip;q;pC59E~3AEEmDNOT Ignoring new targets: 24.63 m.biZqrqjqRqJqBq~y~y}y|y|y||@:@ }zB}yI5%< ԩ <s/17<C ;E<Eu?EqEyE}O0Ey H<Hp<H>HCHIH{BH =HH0DH<H-E 6GY ~G9 AA AY Nm >I I BA:J dBJ PJJ BRJ ZJ <:bJ *9J -4J zJ ;jJ ;J -:rJ -:) =,MhA9>V@>`@Y>3H=y>E;>H E?l?K?I?dɧSb?? >V@>n;)>CbX{BfIIjIj(*3rW vM=yvҶQ v>٥xx zHxz`/9 ~>C5Ũ֜? C59A IBy 15@0Ei;;sC5!-3A)UDNOT Ignoring new targets: 24.63 m.bQZYrYjaRaJiBq~~}||||:@ zBIx(< j<x/1}<Ζ=Eԅ#<9K P"K{9*K2K:KJ+}=xM;SIaff'HXnpuS0n7PP[.b.zH E?EEEP0Ei 6G ܸ<<~Gy A Թ A N >V =,3hAjI{BjIuMb@Mb@Mb@qqq q)qYuK7?Mb?{GzyuIl?u٥ HEF >C57֜?C598 IByOl?f:?3@0Eik:~(;zwC5"B3AE DNOT Ignoring new targets: 24.63 m.b Z r j R JB~~hzB}||||5k;@ >I;+< sz<u/1E<<Ha He IHe {BHe  =Ha Ha He ;<He E~G A A N >+=,PhA9vچ@v@Yvp=yv$Z٥ HFFT< >C5,֜?C59< IBy1@1Ei\::k{C5#B 4AEDNOT Ignoring new targets: 24.63 m.bZ r j R J B ~~}||||;@ AM{IIMO-< QQUBKe qrP"Ke ͼ9*Ka 2Ke :Ke DqhB|aXg4#O'Tn_d}RU6z Kq Jy Jy =, cjhA9:@:@Y:P=y:H<:H s??`ٮ?-@s?`M JO ?`A? :@:#;):CB2{BF{IMb@Mb@Mb@ )Yq= ףp?Mb?٥ HGFG; > C5֜? C59 IBy k? f: . @ 1Ei(::C5Q4AEQDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||K<@ ]zB]ϱaIe\0< aim !=,AhA9>䱫@>@Y>3=y>׆<>H O?v??@>~?2s~%@? M? >䱫@>dk;)>C^"{BbrIIfIf2n, n]=yraQ r>٥pp vHvHFv; v>xeC5z6 ל?eC59z+ IzߙByim.m@z1EiziyI1< < t/1 < &HHIH{BH =HHH)<HgEHUŚCHQHUœCHQIU = IU56G <jGu?bGo?~GiAyAN> 1 S0'=,&hA9Rǫ@RѲ@YR|=yR٥pp vHvIFv; v>x~C5z%ל?~C59zO IzיBy k-@z1Eiz;zҤ;zɅC59E]4AEE5DNOT Ignoring new targets: 24.63 m.b1Z1r1j1R1J9B9~9~9}A|A|A|A|m`=@ zBIMB4< ^<y/1<E?EEE0E9a 6G Fթ<~G A A N- >:J _BJ \JJ ARJ ZJ :bJ [9J 4J % @% @% @% @W-=,hA 9^ӫ@^wݲ@Y^1=y^aE<^H?y?Z}?@Br !?ڧM":?? ^ӫ@^1;)^Cj+{BjwIeMb@Mb@Mb@aaa a)aYe(\?~jt?{Gztyen?e٥ H_; >C5?ל?C59 IΙBy)n?d:*@1EiT;z;C5$Bu4AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~ ~ }zB} | |||=@ zB jv1I5%'6< 1159<=v/1=?<=MH >H CH IH t{BH  =H H /DH ٚ<H E?4=,[hA9>ګ@>[@Y>=y>N<>H\? t?@?l>?@%bA wڝ?N? >ګ@>_;)>CLR%{BRsIIZIZF3b~ bY=yb%:Q f>٥hl nHnJFrp; r>tzC5v:Wל?zC59v IvǙByxz*z@v"1Eivz:vC:vԌC5y4AEDNOT Ignoring new targets: 24.63 m.bZr j R JB~~}||||%=@ IMrZaIe<7< iim! K b/P"K 9*K 2K :K emAliF. hKo c`9 }DGQ٥ HKFݺ >!-C5%rל?-C59%? 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Z\@Zz;)ZC%zB-JIԉMb@Mb@Mb@ )YK7A?~jt?MbP?y b?=: MA)3AI@yGAI=I=2M M5=yM6;Q U>٥QQ UHUQF]z ]>amC5e#؜?mC59e? IeBymAb?mp:mE*u@eS1Eie;e;e!C5})B}5A}EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~{B}|||| @@ zB;fYmW&IY8q3J?J ?EEEE0E6GuiG<~G1AAAYNuy>:Ja BJe QJJe DRJa ZJa bJe -.9Je 4Ja  n=,PhA9V!O@VX@YVxx6=yVeVH@-??@?v?#F?@( ͦ1l? V!O@Vg;)VCUzB]FIIeIe3}0 }m=y0;Q ?٥ HRF˞ ?C5/8؜?C59D I~By*@X1Ei::(C55AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||r@@ zB ʇH CH ~IH 7{BH H H /DH <H EHMɘCHMɘCHIHM =IM = IMɛz5~G! 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NG@NO;)NCZHyBZNIuMb@Mb@Mb@qqq q)qYue;O?X9v?yut?u=yQ >٥ Hn >C5:J[BJTJJARJZJ:bJ:9J4J,ٜ?C59ݪ IØByt?]:-@1Eiض;k;C5)Q G1 G5 @AH= >H= CH= }IH= yBH=  =H9 H= -DH= <H= 6Eq=,7hA9>6@>X@@Y>!=y>;>H@0?`w?Â?`3`O4? : <(r?? >6@> ;)>CJ>yBJHIIRIR#3Z,׼ b\=yfQ f>٥dh jHj`Fj@ j>prC5rٜ?vC59rɰ IrBytv..v@r1Eir:r-:rC5zBBz=A~jE%DNOT Ignoring new targets: 24.63 m.b!Z)r)j)R)J)B)~1~1}||||rD@ zBݗI)ľI< !%M<%r/1-<-;i)i)1E)E)E)E-h0E)F5=F1i6GMܸ<<jGer?bGe?ԉ~G A A N >Թ =,(EhA9f*@4@Y2=y7y:H (?@? ͜? `%-?PD1|`2O?? f*@骍;)C;yBFI=Mb@Mb@Mb@999 9)9Y=kt? rh?~jth?y= p?=C ==D;=\A =A)=A AI=zA9y=AqIeIem?3 ,=yKQ >٥ HaFwN >C5ڜ?C590 IByIp?b:-@1Eiw< <EC5CB*=AgEDNOT Ignoring new targets: 24.63 m.bZrjRJB~!~%zB}!|!|)|)|-@D@K]l"P"K]S9*KY2K]:K]2H5}:Tg q+ 2P, lkJiJm> zB靭}YI)$ƾIG < xQ<w/1<;iiԙEEEE_0EJ 4J 4J /:J\BJ_JJ@RJZJ=:bJ=h9JJ4J6G *;Y Y ~Gq A A N > |=,hA9N*@N4@YN =yNm`:NH`)?x?ڕ?`}-?{@v@L?? N*@N)a;)LZ?yBZIIIbIb2jP< js=yj͡Q j?٥ll nHnbFr89 r?tzC5vh'ڜ?zC59vU IvBy|~-@v1Eiv;;vQ;v+C5 =A=DNOT Ignoring new targets: 24.63 m.b9Z9rAjARAJABA~A~I}I|I|I|I|U`^D@ zB靍AI)RľI < S<t/1<%%;iiE1E1E1E55E1H>HCHkIHxyBH =HH.DH@<HE!6GU;~G1A9AaNm>I o=,ChA 9j6@jj@@Yj_ =yjv$;jH@1??`ܘ?`04?㘿Ud?*? j6@jv;)jC2yB@IA@AII2- -E=y5Q 5>٥19 =H=cF=c; =>AMC5E Aڜ?MC59E IEByQU4-U@E1EiE:ES;EC5imP=AmdEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||| E@ zBN@I)^˾I(< !V<y/1@<Q$ K O"K 9*K 2K :K fL#9_* W@Xx4 -+qCxX6wZ0d =~J  wJ J A=,hAP9zI@zS@YzD=yzt;zH >??t?`@?zϙЧu? ? zI@z㰅;)zC $yB 8I:JZBJMJJ>RJZJ9bJ9Jt4JMb@Mb@Mb@ )YK7A`?V-?٥11 5H15¯; =>9EC5=\ڜ?MC59=$ I=ByM|k?Mf:M%M@=1Ei=i ;= ;=C5Q]=A]aEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}i|q|q|q|uHE@ 5zB=sI9)eҾI|; Y<v/1e<!!  H H 4<H >H H dIH myBH  =H H H <H 6Ec>,rhA9Rlh@Rr@YR%=yRpsQ r>٥pt vHvdFv'< v>x C5zrڜ? C59zu IzBy  $@z1Eiz;z;zC5DB=A^EEDNOT Ignoring new targets: 24.63 m.bIZIrIjIRIJIBI~Q~Q}Q|Y|Y|Y|]ItE@ 15ƼI9)=b־9I=; 99=a\1a >,6X.hAIp)pQ9@Џ@Yw? ?`f? ^ ͍?I? @DG;)C-%yB-8I)1 1Mb@Mb@Mb@ )YT㥛 ?S㥫?Mb`?ya?/]=; A vA)\ AIAyAII1< .=y;Q >٥ HeF2; > D5 ڜ?D59  I Byra?q:L$@ 1Ei : 1: D515=A5`EeDNOT Ignoring new targets: 24.63 m.baZarajiRiJiBi~i~u/{B}q|q|y||E@ UzBUniyI)ӾI6; KwP"K9*K2K:K+    /}3@Fo2 d]P1a_<x/1<OjEEm?EiEiEu4Eq~GIAQAaNuy>ԡ >,<HhA9>'@>ڳ@Y>7J<>HZ}?b?S^?@@T{?E@@&?B? >'@>\;)>CԹ} yB}*III(*3]p P=y~Q >٥ HfF7< >D5ڜ?D59b IBy-#@1Ei::TD5EB=A]EDNOT Ignoring new targets: 24.63 m.bZr j R J B ~~}||||qE@ ]zB]DͼIY)]6߾YIef; aae3bHHkIHxyBH =HHH'<HVEHMŘCHIHIHIIM = IM5 ع׽<6Gm l<~GA AI Aq N} >I I p=:J XBJ PJJ @RJ ZJ {9bJ *9J J4J zJ :% jJ :% J -:% rJ -:- A >,ahA9^*ȫ@^Ѳ@Y^fc٥ HgF"< >D5ڜ?D59w IBy?"@1Ei;;; D5=AZE]DNOT Ignoring new targets: 24.63 m.bYZYrYjYRYJaBa~a~a}i|i|||F@ zBżI)۾Is;   d<r/1< PiK P"K 9*K 2K :K *"ktijW7Hw3+6WSQpV;wzsRO/ԑ P>, |hAQxBIMb@Mb@Mb@ )YS?Zd;O?٥ HhF >)=D5-ڜ?=D59- I-ByE[?Mw:UU@-1Ei-^;-Ƽ;- D5qu<>A}WE]DNOT Ignoring new targets: 24.63 m.bYZYrYԁjYRJB~~{B}|||| yUF@ zB LѶI)龉I=\p; 99EhH CH ^IH cyBH  =H H -DH K<H ~E 6G <~G A A N >ʜ%>,UhA9>@>@Y>]:=y>.9 =>H`?`~c?ae?<]? $D?S? >@>eW;)>Ci) I )    mGiqiqIqqIqi}XA yy)yy }KA}}IFՁցցIօh)ցiց)IGAn0F ٯxBIII 2 -YQy]" B S=y:Q >٥ HP< >D5}ڜ?D59Z IByR@1Ei4;; ;*D5FB>ATE=DNOT Ignoring new targets: 24.63 m.baZarajaRaJiBi~i~i}q|q|q|q|uՂF@I@AIAA:JYBJXJJRJZJ9bJ5K9JJzJd:jJh:Jf:rJg: UzBUIU<)]yI0; k<t/1|<_Vq +>,FhA9m@m@Ym")=ym<٥ HiFI; >D5 ۜ?D59 IByY?y:@2Ei|;;D50?AUEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}K 2P"K  9*K 2K :K R8@(,|?3DT+"#,ioCJ?J?||||F@ MzBMIQ)UQIU.l; QQUn<]y/1]Ա p2>,ihA9J@JP @YJH=CH=KIH=EyBH= =H9H=,DH=<H=3EEEEE0E6G jG p?bG l?~G :J aBJ ZJJ ?RJ ZJ :bJ S9J ـ4J zJ ;jJ ;J Ru:rJ Uu:A A) N5 > 8>,9DhA9>@>@Y>]b<>Hf?@\??W?`<kP?T? >@>%;)>CJxBJIIbIb2j jT=yj4Q n>A٥  H kF E  >=D534ۜ?=D59y IuByAEE@2EiG;;RD5IM6@AMOEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}|||| jG@ %zB%|AI!)%!I%&; ))- ju<-s/1<aEԅ<EEEE_0EI K P"K H9*K 2K :K q|8opl9lI t6t1 ;_xKWAJ J Ay 6G e~<~G A A N >@>,hA_xBIԙMb@Mb@Mb@ )YZd;?~jt?{Gzy^?D=ף A `A)E AI`Ay AIU IU2- =yQ >٥ HlF >D5sRۜ?D59m IiBy__?s:I"@2Ei ; ;D5@ALEmDNOT Ignoring new targets: 24.63 m.biZrjRJB~~zB}||||`YG@ %zB%3 II)MIIURk; QQUy<]x/1]<]E%e<EEEEp0E HqHu<H}ۼ>H}CH}&IH}yBH} =HyH}-DH}<H}(E6G UbF>,UhA9f˫@fղ@Yf٥!! %H!%+t ->)=D5-8gۜ?=D59-A I-aBy9=#=@-2Ei-:-:-"D5AMtAAIDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`G@ zB)LFI)p)IO; 0}hM>,=8hA9>@>@Y>;OO>H ?`??@!? k@h5i`? >@>Ȇ;)>CJxBJI%Mb@Mb@Mb@!!! !)!Y%ˡE??:vy%g?%<%Լ% A % A)!yI%3A!y%p AIIM3z 2=yQ >٥ HmF >D5˂ۜ?D59 IUByh?j:+@!2EiV::&D5 HB AAIEK5%&P"K5 9*K12K5:K5it `p+}@k;eg:f|;!,xXMDNOT Ignoring new targets: 24.63 m.bIZIrIjQRQJQBY~i~u>zB}y|||| WG@ zB靽4-I)1IIn%; Ā<r/1E<1׹׹ >RT>,RhA9>Ŋ@>x@Y>ܓ>Hi??+?m?% @? >Ŋ@>;)>CFwBFzIIRIRb2^ͽ ^]=ybNQ b>٥`` fHfnFf4: f>hnD5jۜ?nD59j IjKBypr,r@j&2Eij:j:j*D5vIBvBAvHEDNOT Ignoring new targets: 24.63 m.bZrjRJB!~!~!})HEݼ>HAHEIHExBHAHAHAHE!<HEEE|1|Q|Y|]`$G@ zB靅̵RI):Ibz; Y xZ>,NkhA%wB%eII5I53E EC=yEQ E>٥II MHMoFM U>QeD5Uۜ?eD59U IU@Byaae@U-2EiUb;U~:U-D5iuCAuEEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@$H@1 zB靽AKI)CI?: ؄<t/1B<?KmnP"Km9*Ki2Km:Km#.D>Ml>]S  R /-nw?R zDCԉ:JY BJ] YJJ] <RJY ZJY bJ] [O9J] [4JY u @u @u @u @Թ `a>,eDžhA9JK@JQU@YJ@٥)) -H-pF5⑼ 5>9ED5=ۜ?ED59= I=7ByEm?Ed:M2M@=32Ei=:=F:=1D5ԑaCADNOT Ignoring new targets: 24.63 m.bZrj!R!J!B!~!~-yB})|)|I|Q|U`^H@ zB靽+SI)HIL$: <y/1<@HECHEIHEexBHE =HAHE.DHE<<HE{EHǗCHǗCHH =I = Iǯ366G v<~G A A N > g>,'hAI~AAI| wB PII%I%V83f! S=yQ >٥ HqF >D5ۜ?D59% I.By@92EiS;>;4D5CABE DNOT Ignoring new targets: 24.63 m.b Z r j R J B ~~}||||%jH@ IMvrII)ULQIUw8 YY]I m>,|hA9F.@F8@YFbچ٥ H >D5ۜ?D59], I)Byw?[:h4@?2Ei^<N<u8D5]JB]CAe?EKuP"Ku 9*Kq2Ku:KuDp+'tB! (E!T4P`i,Q*\C u (DNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||>H@ -zB-bQIi)u*PqIu( qqu<}s/1}y<};iyi:J\BJSJJCRJZJ=:bJy69J4JEE?EAEAEEU0EAFIFM=y6G- O <ZG1 RG1 ԩ ~G A A! N- >ߜt>,XhA@9>Q'@>1@Y>Sd>H*? X?M?`+?1`?@` ~? >Q'@>Uo;)<Hr>HrCHrIHr(xBHr =HpHpHr\<HrE%wB%BII1I1e} eM=ym Q m>٥ii uHurFuU u>D5{ܜ?D592 I$By4@E2Ei::;D5HBCA>EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`H@ zI)=RI%ۮ ))-*<-x/15E5<5Z;ii)  =MևGqԱ  YyPBE5?E1E1E5_0E16G~q;~Gi Aq A N > hz>,9hAl9ra#@r-@Yr1';yr%=9rH (??`I_j?@(?jrg3?? ra#@rmH;)rC II#3%( -N=y-Q ->٥11 5H5sF5鞺 >D5-ܜ?D599 I!By4@K2Ei::?D5CADNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||| | C(I@ 9=pI9)EbRAIE AAEiRJ) ZJ- 9bJ- :9J- t4J) a Ͱ>,LhA9Vr @V%*@YV`&:yVe<;VH`&?@?vi )@&? .rDgv?@? Vr @VІ;)VCjwBjII9mMb@Mb@Mb@iii i)iYmK?Mb`?ym^z?mm;m A m A)m/ AImvAiymf AII(*2< C=y%Q >٥ HtF,_ >eD5WGܜ?eD59@ Iy^z?Y:.7@R2Ei<y <CD5CA;EDNOT Ignoring new targets: 24.63 m.bZrjRJB!~!~%zB}!|)|I|I|M FaI@ 靥eI)OI_- D<r/1!<?;iiiEEEE0E HH<H>HCHIHxBH =HHH,<HdEԑ6G {/;jG k?bG b?~GY Ai A N >Թ ه>,B hA9n#@n,@YnFyn٥)) -H-uF5W: 5>IUD5Mh_ܜ?UD59M0G IM"ByY]7]@MX2EiM;M!;MyFD5eIBeCAe8EDNOT Ignoring new targets: 24.63 m.bZrjRԙJB~~}||||I@ I)KI R ht<w/1J<;/;iiEEEEp5E6Gq~GIAaAyN>) 0>,:hA9Z.@Zj8@YZeٻyZBf٥19 =H9=T; =>AMD5EFzܜ?MD59E1N IE&ByUs?U^:U1U@E_2EiE2 ;Ei ;EHJD5YeVCAe5EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~8zB}||||@I@KEP"KH9*K2K:K "Y65NFw<Z)9p zLE?!tJ>J> 靝4raI)=HI <t/1L<';ii:J[BJ[JJ@RJZJ:bJW9JJ4J!Ee?EaEaEe5EaQ6G ~q;~G A A N% >y >,7ThAHF>HDHDHDHF =HDHF-DHF<HF%EwBiII-I-V83=w= =Z=y=Q =>٥AA EHEvFM M>Q]D5UBܜ?]D59U/T IU)ByYY]@Ud2EiU;U;UMD5eJBmCAm3EEDNOT Ignoring new targets: 24.63 m.bAZArAjARAJABI~I~IQ}Q|Q|Y|Y|]oI@ zB靝DtI)RBIr 3<y/1<;iizEEE?EAEIEMP0EIFQFU=ԁ6Gm-;ZGqRGqԩ~GA AQ A N >ׁ ׅ A 8>,(|nhA9FJ@F8T@YFtKyF*٥dd fHfwFj.< j>lvD5n@ܜ?vD59nfZ In-Bytz1z@nj2Ein'!;nY!;nPD5|~BA|-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}1|9|9|9|Eq'J@ y}nIy):I M<v/1u{< KM [wP"KI *KI 2KM :KM 2W w z x._\ix_l7+GNgdI`8UBQUJQ JU A9 >,GWhA9F`@Fbj@YF'oyFY٥ HxF; >D5Sܜ?D59` I5Byp?a:)@q2Ei:8:TD5-BA0EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||!|!|-^J@ =zB= hSI9)E4AIE蹻 AAMl<}i?9GyG}AAH>HHIH(xBH =HHHO<HEy (>,9hA9Jy@Js@YJkyJY٥aa eHeyFm; m>iD5mܜ?D59mf Im=ByK(@mw2Eim7;m~;m+XD5KB2BA-E-DNOT Ignoring new targets: 24.63 m.b)ZQrQjQRQJQBY~Y~Y}Y|a|a|a|e`J@ zBeI)b4IT˻ p<x/1<Sh,hA96~@61@Y6by6K=6Hcm? Y?A@ jn?@?@'? ? 6~@6 %;)6CJ%xBJILMb@Mb@Mb@ )YNbX9?Zd;?{Gz?ye?y=ף<nA A)+ AI+ Ay3 AII3= C=yQ >٥ H_; >D5ܜ?D59l IEBy8f?l:"@}2Ei::[D5AA*E5DNOT Ignoring new targets: 24.63 m.b1Z1r1j1R1J9B9~9~=zB}A|A|A|A|E`J@ uzB}h_Iy)}-yI}\ݻ ^<u/1< J=?EAEAEAEE_0EA~G!AAAaNu6>) 9>,hAHݼ>HCHIH[xBHHHH(<HSEHuCHuCHqHu =Iq Iu59n@n@Yn,ynf=nH(y?`•?[ztz? P -%?C?"? n@nNw;)nC|3xBIIIM3% = %U=y-CTQ ->٥)) -H5zF5; 5>9ED5= ݜ?ED59=-r I=MByIM!M@=2Ei=:=:=+_D5QUAAU,EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@J@ zB_I)b)I ><r/1I< ԁ b>,QhA9 @ 6@Y Yy < H`7?@?uݍ)?`݃`?R?@J? @ !O;) C%7xB%IYI5I53m< mF=ympQ u>٥qq uHu{F5; >D5q'ݜ?D59w IVByf!@2Ei:`:bD5LBAA)E-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J1B1~Y~Y}a|a|a|a|e.K@ zB靕mPI)'Im <w/1<OԱK 5P"K H9*K 2K :K L=){t. )OA ZN'5R4::/v%: xu7 VL>, hA9>@>zʲ@Y>wVy> <>H&?@}?AY@ ?@;|G??? >@>TDž;)>CJCxBJIEMb@Mb@Mb@AAA A)AYE)\(?٥yy H|F; >)=D5-Aݜ?=D59-} I-^By=b?=p:=`=@-2Ei-;-b:-fD5AMUAAM&E}DNOT Ignoring new targets: 24.63 m.byZrjRJB~~zB}||||cK@ zBZI)W$I <t/1S<VH1H5IH5xBH1H1H1H5=<H5nE) UYQyU B6G% }\<~G A A) NM >a sx>,##hAILIN@A:JRYBJROJJRARJPZJR9bJR%9JR4JPzJRc:jJRh:JR&:rJR&:AxBII%I%25 =M=y=Q =>٥9A EHE}FE E>IUD5MWݜ?UD59M IMeByYY]@M2EiMG:M:MiD5aecAAe#EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`vK@ zBeI)$I ʴ<y/1l<φԹ w>,]=hA9Rګ@RN@YR.kڼyR3٥ H~F; >D5[qݜ?D59 IjBy]?u:@2Eic;h;smD5MBAA E%DNOT Ignoring new targets: 24.63 m.b!Z!r)j)R)J)B)~1~5zB}9|9|9|9|=@_K@ԑ zB]I)'I v<v/1%<%k@H- ݼ>H) H- IH- xBH-  =H) H) H- <H- (Eӆ>,4.WhA9N@N@YNyN3?s?@? N@N';)NC)xBI)I=I=2] e3=yeᄻQ m>٥iq uHq}4; }>D5/ݜ?D59Ӎ IpBy@2Ei;;vqD5AAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}| | | |L@ =zB==YIA)E`)AIEn# AIMd5S>,qhA9N@Nz@YNyNW; -?9ED5=7ݜ?ED59= I=uByAMjM@=2Ei=:=::=XtD5UNBUBAUEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||.L@ zBIq)u.qIu+ yy}<}x/1w< BDAT read: Tx time:14:04:29.0697 $Ping request sent. KE `GP"KA *KA 2KE :KE ph[fK P4;SEBw; !G)Sfm~ L Jj\y>,2hAL!!5JDAT read: TxSync time:14:04:29.0689 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249107  xB Ii٥ HF > D5 ݜ?D59  I zByx_?s:@ 2Ei V: ; xD515CBA5EeDNOT Ignoring new targets: 24.63 m.baZarajaRaJiBi~i~m|zB}q|q|q|q|uqL@ zB靵~XI)_/I<6 H5ۼ>H1H5IH5xBH5 =H1H1H53<H5_Eت<u/1r<}W>,.hA9nΫ@neز@Yndyn ׽ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010359~G A A N >7>,[hA 9>Ϋ@>Tز@Y>z"y>c;>H?w? m^uߘ?z?M?3y?@d? >Ϋ@>Oͅ;)>CwB|IMb@Mb@Mb@ )Y)\(? rh? rhyGa?C=C A )AI Ay AII(*3< H=yûQ >٥ HF{ >D5ݜ?D59y IBy a? p:  @2Eik::vD5BAMDNOT Ignoring new targets: 24.63 m.bIZIrQjQRJB~~1zB}||||`L@KhP"K*K2K:KO%.1S21+^''#nTz _5=X,9MJ&9 cBR *jRe[i uzBuhS~Iq)u%4yI}jH yy}ݟ<w/1-<EH ټ>H H IH xBH H H H <H EPb>,hAI ) 9>]@>ʲ@Y>**y>K;>H?`?`=?*?X?*{?? >]@>6;)>CPUwBUnI}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504401Ie#Ie%x3k P=yQ >٥ HP >D5ޜ?D59̧ IByg@2Ei::D5OBCAEDNOT Ignoring new targets: 24.63 m.bZrjRJB~ ~ } | | ||@vM@ MzBM݅IQ)U@9QIUxQ QQ]Mq<]t/1]8! >,hA96@6b@Y6/y6dm;6H@A? ?@?B??t?U? 6@6.;)6CJwBJgIIRIR3Z ZY=y^ZQ ^>٥\` bHbFbSy b>djD5fޜ?jD59fݬ IfBylnn@f2Eif;f;f0D5pr6CAvE-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}9|9|9|9|=3M@ mzBmĊIi)uP;qI*zZ <y/1Ž<i+RJZJ=:bJ!9Jt4J@@@@~G A A) K5 "Q"K5 9*K1 2K5 :K5 n[}VAa^2*"sX^W* " k lZ L 7E[9BNM >y = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260443t?,~hA9bۚ@b@YbC6ybǤ:bH 6p?@ՠ?Xס`v?Ux?Ц?S?@? bۚ@b;)bCjwBj\IYMb@Mb@Mb@ )YV-?J +? rhym?H= A `A)AIyAII2C) <=y*sQ >٥ HF >D58ޜ?D59I IBym?d:%@2Ei:N:D5PBCAEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||| |MpM@ zB靝}I)>If  <v/1m<uHHIHxBH =HH,DH<HEHėCHėCHHI = I65EE?EAEAEE0EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512620Ա6G] <~G A A N > 5 ?,?W(hA9>y@>P@Y>;y>)W>HpZ?t?0`?`l?@_?jj? >y@>;)>CJwBJUIIrIr3z zW=yz5٥|| HF. > D5 ^Pޜ?D59  I By&@ 2Ei ; ; PD5!%CA%EeDNOT Ignoring new targets: 24.63 m.baZarajaRaJiBi~i~i}q|q|q|q|} M@ zB靭)"I)@I{n #<Թs/1J<W checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018487A І?,r5BhA9:P@:Y@Y:@y:?4:H*??G?8`9C?ʢ?@9? ͡? :P@:l_;):CbwBb[IMb@Mb@Mb@ )YGz?X9v?~jtyp?<DA A)3AI/ AyAII2< >=y8Q >٥ HF`A >D5jޜ?D59 IByp?a:E-@2Eiz;];D5CADNOT Ignoring new targets: 24.63 m.bZrjRJ!B!~1~5yB}1|9|9|9|=@ M@:J]ZBJ]SJJ]?RJYZJ]9bJ]y69J]ـ4JY zB靅4I)~=Ix ʦ<x/1 <+nJZ1EEEEp5EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268759q6Gᜆ<~G A A N >H ռ>H H IH zxBH  =H H H <H E)) ) Gԙ &Y y *Bڱ?,j\hA9R*$@R-@YREyRJ RH"? ?@i #?iئ?!?`@? R*$@Rk>;)RC^wB^ZIIfIf<2 U=yBkQ >٥! %H!%,e %>)5D5-sޜ?5D59- I-By9=.=@-2Ei-;-o;-iD5EQBECAE E]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520632DNOT Ignoring new targets: 24.63 m.bZrjRJ B ~9~9}9|A|A|A|MN@q zB-I1)5<1I= 99=U% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772444 T?,uhA9F@F@ @YFJyFxFH ??0W2 ??@Q?? F@F#;)FCNwBRVIIVIV3^X bP=ybJQ b>٥dd fHfFf}: f>hrD5jޜ?vD59j IjBytv/z@j2Eij^;j^;jؗD5|~CA~E-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}9|9|9|9|ER6N@ }zB}Iy)=Iڅ !<r/1h<$:iiEEEEP0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0274226GO <ZGRG~GAAN>:JulBJuRJJuBRJqZJu<5:bJuS29Ju-4Jq) K P"K 9*K 2K ":K zB'T?(XY8j7Gz?QBgP$Vttm- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277612#?,hA 9R@R{@YRVQyRżRHu?O3?-& ?М?@٥ HF[ >1=D55ޜ?=D595 I5ByEFt?E^:E 4E@52Ei5:5:5D5MRBMCAMEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~pyB}||||qN@Q zBhI)Y9IⓋ <%w/1%G<-i)HUۼ>HQHUIHUexBHU =HQHU-DHU<HU EiqE=?E9E9EAEAԑ}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528627ԩ 6G }:~GY Ai I I A N >K)?,ÞhAL9> Ϫ@>ر@Y>PXy>r>H?\A?Ę`3?@Ϊ?`/?Q ]? > Ϫ@>;)٥tt zHzFzû z>|D5~Aޜ? D59~ I~By  4 @~2Ei~:~:~D5JCAUDNOT Ignoring new targets: 24.63 m.bQZQrQjQRQJQBQ~Y~Y}a|a|a|a|m]N@ zB靕,I)\4I` {q<t/1*<dciichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.781584EU?EQEQEU_0EQԱ6G-ï~GAA)N=.>  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0350100?,˃hA9:Fʪ@:ӱ@Y:`y::H`?iD?6`???M듿`? :Fʪ@:gx;):CJwBNlI|Mb@Mb@Mb@ )Yx?I +?~jtx?yKw?94<;A )AI AyAII2< %8=y%DQ %>٥)) -H-F:J=XBJ=SJJ==RJ9ZJ={9bJ=y69J=g4J9Eҫ E>IUD5Mޜ?UD59Mk IMɘBy]Qw?][:]6]@M2EiMj:M:MڢD5ae.CAeEDNOT Ignoring new targets: 24.63 m.bZrjRJB!~!~%_yB}!|I|I|I|U`)N@ zB I)1IZϔ KP"K*K2K#:Kc]x2`FtVF*` lE!Ng? ")X< y/1 < ivi i)EEEEW0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.285612FAFAQ6G pHU >HU CHQ HQ HU  =HQ HU .DHU 8<HU qEy ~G A A N% >j6?,UhA9>Ъ@>Tڱ@Y>uFiy>B>H9?=?šV1??$?`J $? >Ъ@>@%;) ===<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.536883Y٥y HF; >D5 ޜ?D59 I՘By6@2Ei;-/;,D5SBBAEDNOT Ignoring new targets: 24.63 m.bZrjRJB~ ~ } |I|q|q|} O@ -zB5ӧII)M#'IIM IIUiߤ)=?,5hA9>]@>@Y>ry>C5:>Hj?`@&?PZ?h?`R?Z?? >]@>Ά;)>CFxBJIIrIr(*3v2= zF=yzQ z>٥ H%< %>!-D5%ߜ?5D59%4 I%By1555@%2Ei%;%;%D5AEaBAEE}DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||A:O@ zB]I)!I h <s/1@A<%"iiEiEqEqEu0EqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.040868I6G*~GqyAAN>K% P"K% 9*K! 2K% $:K% b %GU&I I n^d(?%6CigIwB|fKZ,J1 J5 Aԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293615D?,hA9Br @B&@YBVzyB#~=yQ >٥ HF$< >D50ߜ?D59 IByp?a:3@3Ei ;;MD5TBAAE=DNOT Ignoring new targets: 24.63 m.b9Z9r9j9RAJABA~A~EyB}I|I|I|I|UqO@q H<H<H>HHIHxBH =HHH2<HnE zB huI P<)  Iˠ <x/1Kھ<R;ii!ԡEyEyEyE}o0Ey]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5449296G] zQZGa RGa ~G9 AA :Je ^BJe UJJe @RJa ZJe } :bJe >9Je J4Ja zJe `:u jJe e:u Je }Q:u rJe Q:u Ay N > f:J?,\*hA9>4@>>@Y>+y><>H'?F? ` ;?[?@"?p?? >4@>$;)>CN[xBNIIVIVF2^4> b\=yb/Q b>٥dd fHfFfT< f>hnD5jBGߜ?rD59j IjBypr2r@j 3Eij;:j:jD5tv7AAxDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||O@ %zB%qI!)% !I--? ))-1<5u/15<_;iichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.796509EiEiEiEm5Ei6GEg;~GA9AIN]T>) m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048719Y 0-Q?,FDhA9RY@Rb@YRyR:G=RH`>?@?v%`tT???? ? RY@Ro;)P^xB^IMb@Mb@Mb@ )YV-?Zd;O?{Gz?ym?j<ף<vA A)AI Ay=AI IV2= :=yB}Q >٥ HF$< >D5aߜ?D59 IBy m?d:B/@3Ei<0<cD5UB@AEMDNOT Ignoring new targets: 24.63 m.bIZIrIjIRIJQBQ~Q~UyB}Y|a|a|a|m GO@ zB靥_I)IƧ <r/1c<U,a~+p2 XUq8Auak|7JE>JE>Eu?EqEqEuP5Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.300652I6G}e;jGw?bGz?~GQ y A A N >H H H IH xBH  =H H H .<H gEHɘCHɘCHɔCH =I = I5#MW?,^hA,9F@FS@YFևyFA=FH Y?%?´@gp?{?? -?@? F@F;)FCRxBRIIZ IZb3b.= b]=ybdQ b>٥dh jHlnE`< r>pzD5rGxߜ?zD59rX IrBy|~.@r3EirIW;rW;rD5&@AE-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553374}DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||P@ zB靥{[I)JノI۪ -J<w/1<<qEG<bEZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.804628E?EEE-1E 6G 2< ~G A AN%>$]^?, ?|hA9R@R@IJ@YRyR}Z=RH {?j?n$|`g?jm?@oԱ?7J?o? R@RO^;)RCzxBzIII 2g= %=y{߻Q >٥ HFb< >echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.056623D5Zߜ?D59 I5ByAEL,M@3Ei==D5?AEQDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`*P@ xzB@=I)ؾIͮ ri<t/1!'<步E 5%<ԩ E% ?E! E! E% _0E! H%>H!H%,IH%yBH% =H!H%-DH%&<H%SE mG ] YYy]v B6G[z<~GiAyAN?mg?,UhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.561516$9f7ë@f̲@YfڑyfK=fH@o?@ye?#"t -?@ ~?`^7?;l?? f7ë@fӆ;)fCrxBrIMb@Mb@Mb@ )Yp= ף?Q?~jt?ye?\=< A hA)AIyAII#3w=   =y(Q >٥ %H%F%: %>)5D5-yߜ?5D59-Q I-NBy=Xe?=m:=S(=@-&3Ei-f:-,:-D5EVBE>AMEuDNOT Ignoring new targets: 24.63 m.bqZqrqjqRqJyBy~y~2zB}||||CIP@ EqzBE,Y:IA)E!AIM IIMRJ!ZJ%9bJ%>9J%t4J!zJ%0:jJ%5:J%~Q:rJ%Q:Ա>EE<checking for new query: numPingsReceived=0, elapsed TxPingTime=8.813167E?EEE\0E  6G Hv<~G AAN%>Xo?,YhA9> ƫ@>ϲ@Y>y>!/=>H? g?r@??Z?Q?d? > ƫ@> Ɔ;)>CJ%yBJ8IIZIZ3b{= bB=ybhQ f>٥dd jHjFjW: j>lrD5nzߜ?rD59nY InaBypv2(v@n,3Ein:n :nD5zWBz#>AzE%DNOT Ignoring new targets: 24.63 m.b)Z1r1j1R1J9B9~9~9}9|A|A|A|EEdP@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.066920ԁ jzB%R+I!)%!I%P !)-T<]v/1]M <]oNUU2r<u>5\  O ^%|D -rEY>jE> checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317302E E E E Q0E F =F = H >H H dIH myBH  =H H .DH ٚ<H E6G %<~GAAN>;:w?,nPhA>yBHIi٥ HF >D5ߜ?D59!$ IvByc?n:$@43Ei: ;D5  =A E=DNOT Ignoring new targets: 24.63 m.b9Z9r9j9R9J9B9~A~E]zB}A|I|I|I|MهP@Q dzB靭&I)𒾉I ަ<s/1<g W}?,hA9>J@>@Y>7y>=<>Ht?*?G@ ?[?²??`? >J@>܆;)! K zP"K ý9*K 2K (:K `4mCc.S N4hXZW#RdAD:J AJ 8??, hA9b@b@YbybdB;bH@X??u=s@j??-?;h?? b@b0;)bCnvyBnjI|Mb@Mb@Mb@ )Y+?Q?I +?y_?\=\A A)n@IAy(AIIb2H= :=y6sQ >٥ mHmFu= u>yD5}"?D59}. I}Byz`?r:r@}?3Ei}(:}:}D5HCHIHyBHHHHؚ<HE9E ?E EE-3EF1F1Y6GM p<~G! A1 AA NM >ԁ 4i?,+hA9Rm@Rw@YRyRGyѻRHG?P?8EC`V?E?P?z`{? Rm@R繆;)RCvpyBvfI)x xII<2EAy ET=yE\Q M>٥QQ UHYeFm) u>yD5}#9?D59}3 I}By2 @}D3Ei}э;};}D5XB=AE DNOT Ignoring new targets: 24.63 m.b Z r j R JB~~}|!|!|!|%P@ VzBI)e!I%! !!%ޝ<-r/1QQ]BDAT read: Response Not Received ]*response not received-] FU?,hEhAԹUyB]uI:J^BJJJERJZJ} :bJJ4J@@@@-Mb@Mb@Mb@))) )))Y-S?T㥛 ?~jthy-/]?-=-D-A -A)-A@I-\A)y-\AIEIE3UM= U,=yUQ U>٥YY ]H]Fe e>iuD5mT?uD59mE: ImByu]?uu:u"u@mK3Eim:md:mD5YB3N ~ oiwpsz  YJ?J> 6G} H H IH zBH  =H H H <H NE~G A A N >9 {?,=b_hA96fK@6U@Y6'Ɲy6U6H~0?m?ᇩ =?@?Ƴ? g? 6fK@6 {;)6CyB{III(*3%S< %N=y-yQ ->٥11 5H5F5- 5>9ED5=k?ED59=? I=ByIM*#M@=P3Ei=b;=;=YD5QUEu`=?,[hA9:E@:N@Y:y:,f:H),?? I`N8?M?˳?(Č? :E@:r;)8 \)^Aɿ^-2\\`bAib?5IbȭF`Idid dd)dd dhhhhhIh)hih)lIlll pprApippٯpzyBzIi =I =II?13%V"= %<=y%_Q ->٥)) -H-F5 5>9ED5=7?ED59=E I=ΙByAE]#M@=V3Ei=;=w;=#D5QU<E9<E?EEE4E6GK <:JBJ]JJ?RJZJbJ_9Jـ4J~GyAAN`> K5 xP"K5 9*K1 2K5 *:K5 >GPfNBu{ Ve9  ezvI23p/ x&:JA JE A)?,hA$9>_?@>I@Y>my>>H`?(?`? 3? ?@C?1ُ&? >_?@>03;)>CHr>HpHrIHrMzBHr =HpHr/DHr<HrFEHCHHCH =I = I6EyBEI]Mb@Mb@Mb@YYY Y)YY]%C?ˡE?٥ H8ĺ  >%D5?%D59Ee 0< E9 EA EA EE 0EA 9 6G2<ZGRG~GaaAqAN ?;?,⯻hAyBIII2 =  =yQ >٥ %H%F% %>)=D5-?ED59-S I-ByAAE@-d3Ei-a];-;^;-D5UZBU;AUުE}DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||cQ@ ?zBT/I)I* ?<s/1><D;iiDDDD1:J]BJYJJBRJZJ]:bJ[O9J-4JEEEEo0Ey ؍ =׉ K P"K 9*K 2K +:K g L$#p(Zp+Y[d   3 pYP`baԡ 6G &;~G A A N >?,hA9R"C@RL@YR5(yRJRH*? ?;? ?߳?@q2? R"C@R;)RC^yB^I)h jcCH->H)H-IH-vzBH- =H)H)H-<H-(EuG 5i Y1y= B= @ BuMb@Mb@Mb@qqq q)qYup= ף?Q?{Gzyue?u\=u#uA uzA)u@IuIAqyuGAII3 MC< =y9Q %>٥!! %H%FUV: U>YeD5]?eD59][ I]ByOe?m:,@]l3Ei];]u;]D5[B;A۪EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||@#Q@ 9zBpI)޽I,¼ P<x/1<%'?;i!i!9E?EEEp0Ea 6G *;~G A A N ?,@2hAL9jB@jL@YjW%yj ٥!! %H!- ->1=D55?=D595a I5By9= ,E@5r3Ei5:5:5D5IUp;AUتEDNOT Ignoring new targets: 24.63 m.bZrj1R1J9B9~9~9}A|A|A|I|MΡQ@ 5zB靅I)I¼  }<u/1P<R;iizEEYEYEaEe1Ea) 6Ga :J \BJ VJJ HRJ ZJ =:bJ B9J Ժ4J ~GY Aa A N >?,hA9>?@>H@Y>Oy>Z<>H s(??|,`@?n?첳? ږ?? >?@>W;)>CiFYCFA)D DID J@C)JrAHHHLLiLILLIRCiVA TT)TX ZMAZZĮF\^&C=IAI=)=֯Fi9)ECIE`AAA AMCM݃AIiIIٯIUyBUImMb@Mb@Mb@iii i)iYmm?I +?Mbymn?m9D]A NVn= R=yC:Q >٥ HF >D5?D59g IByn?c:!0@w3Ei;;RD5;ADNOT Ignoring new targets: 24.63 m.bZrj R J B ~~yB}||||&Q@ E1zBMHII)MIIU¼ QQUT<]r/1]hj<];iYiYIEEEE05EHu>HqHuIHuzBHu =HqHqHuܚ<HuEq6G 1X<~G A A N >ԡ ?,)hA]yB]IIqIqqImIm3< ]=yQ >٥ HF >D5{$?D59Ym I!By@}3EiF;;D5:AժE DNOT Ignoring new targets: 24.63 m.b ZrjRJB~~}||!|!|%@ Q@ U-zBUrIQ)U0WQI]Eü YY]K ?,ChA9J@@JqJ@YJ"yJ+=٥ HF# : >D5Hu CHu &IHu zBHu  =Hq Hu .DHq Hu EZG RG Թ ~GY Ai Ay N >%?,]hA9F:@FD@YFyyFG?`?@ʲ?`?`_? F:@FWȇ;)Dn'zBnIMb@Mb@Mb@ )YCl?a٥ HF0Ϻ >D5W?D59z I>Byo?b:3@3Ei::D5G:AЪE DNOT Ignoring new targets: 24.63 m.b Z r j R J B ~~yB}||||"R@ U#zB] aaIa)e ;iImmwü iimZ\ G?,whA9>8@>_B@Y>y>姊<>H'??`P =8@>8n;)>CRPzBRIIZIZ2b= bf=yb;Q b>٥dd fHdfYT j?hnE5j l?rE59j IjIBypr3r@j3Eijo;j;jE5tz9AxDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||YR@ %zB%I))-PE=)I-k.ü ))-!(<5v/1=5b<=r ;i9i9EEEE_0E~GAAN (>Q /?,2hA 9>1@>K;@Y>:y>u<>H#?>?삯 6??@փ?@?@? >1@>pˆ;)>CJhzBJI-Mb@Mb@Mb@))) )))Y-tV?Q?Mbp?y-r?-u<-;-@ -@)-@I-A)y-(@I=I=2M[= MB=yU;Q U>٥QQ ]H]F] e>auE5eڅ?5E59e߆ IeXBy=r?=_:=2=@e3EieHCH?IHzBH =HH/DH<HEE?EEEEjGp?bGh?ԙ~GAANj> Y?,bihALzBII-I-2:JE]BJE^JJARJAZJE]:bJEd9JAJAzJE:jJE:JE:rJE:e= eI=ymQ m>٥ii mHmFu u>yE5}?E59}a I}gBy@}3Ei}C:}:},E58A˪EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||RR@ zBI)(=I% !!%_<-x/1-!̹<-b;iIiQEEEE o0E ~G9AIAYNmV>) A?,hBhA9BP@B%@YByB٥    H F >%E5?%E59 ItBy!%M3%@3Ei.:\: E5-^B58A5ɪEmDNOT Ignoring new targets: 24.63 m.biZirijiRqJqBq~q~q}y|y|y||kR@ zB]I) >I &<u/1S<Y*I;iiE?EEE2E1a6G2<ZGRG~GAAN >K "P"K 9*K 2K /:K . J<xPa;3T~{E6e/"Zsԁ H H H ^IH {BH  =H H H <H EHHʙCHH =I = Ii5Qo?,/hA9r1 @r@Yrߚ}yrp٥!! %H%F- ->15E55}?=E595N I5By=s?=^:=e3=@53Ei5I:5g:5E5QU7AUƪE}DNOT Ignoring new targets: 24.63 m.byZyryjRJB~~yB}||||QR@  zBy49I)@>I X<r/1<ɲ:iiԁE]?EYEYE]51Ea6G5;~GAA1NEr>:JU^BJU`JJUARJQZJU} :bJUbl9JU4JQzJU_:jJUd:JU':rJU):Ա =?,;hA9>X@> @Y>Dwy>p<>H?? Ȯ ~? x?? ?? >X@>;)>CJzBJTIIVIV<2^= ^z=y^;Q ^?٥`` bH`f f ?hjE5j^?nE59j IjByln3n@j3Eij:j;jE5tv.7At%DNOT Ignoring new targets: 24.63 m.b!Z!r)j)R)J)B)~)~1}1|1|1|1|=@.R@ mzBm0Ii)ml>iImtl qquQj<Թw/1[˸<5<=9ii!E?EEE 5E6G']?;~GAAN>A }@,iA9Fc@F@YFIsyF٥qq }H}F} }>E5?E59I IByjn?c:2@3Ei::ME5_B6AêEmDNOT Ignoring new targets: 24.63 m.biZqrjRJB~~yB}||||7R@ yBpI!)%>!I%^ !!-Jȅ<K-P"K-ͼ9*K)2K-0:K-)0S@70]&43M8n@>M{z~y5H&m,xlPJ9J=AMt/1UcHCHIHK{BH =HH1DHC<HE OYy BE!E)E)E-4E1Ai6Gm >jG q?bG \?~G A A N >ԙ @,,iA9>X@> @Y>dry>و<>HE?@9? $୿ j?`? H??? >X@>>;)>CF'{BFuIIRIR2Z,= ZW=y^b9Q b>٥`` bHbFf ; f>hnE5j?nE59jH IjBylr2r@j3Eij;jn;jE5tv]6AvEJ4JO4J0:J%[BJ%VJJ%@RJ!ZJ%:bJ%B9J%J4J!zJ%:jJ%:J%X:rJ%X:DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||R@ UyBUt˺IY)]>YI]^ YY]^ @, FiA9B@B@YBoyB:٥hh jHjFj`; n>pvE5r/0?vE59r IrBytvA2z@r3Eir:r :r.E5~`B~6A~E5DNOT Ignoring new targets: 24.63 m.b1Z1r1j1R9J9B9~A~A}A|I|I|I|MR@ yB8I)%>!I-{| ))-Rڂ<]v/1e<K% AP"K% 9*K! 2K% 1:K% a+G 0 EU?ps"dMq$S*D S$93r=re<"7gJ5 ?J5 ?H >H H IH {BH  =H H H Z<H EY @,_`iA9^M-@^7@Y^jky^|<^H%??@ծ5?`?8i? C?? ^M-@^t܅;)^CvX{BvIMb@Mb@Mb@ )Yy&1? ףp= ?~jth?y`e?Q8=D; `@)I@Iy@IEIE2M٥QY ]H]Fe%< e>imE5mRK?uE59mK ImȚByue?ul:u)u@m3Eim(:m:m+!E55ADNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||B S@9 %yB%9I!)%>!I-C ))-* @,tBziA09>M@>cW@Y>fy> =>H:?@?bvJ?L?@Ӭ?Ϻ?? >M@>х;)>Cfz{BfIIrIr2z6= ze=yzQ;Q ~>٥ H E5<  >E5`?E59v IҚBy(@3Ei;{;J$E5)-5A-EUDNOT Ignoring new targets: 24.63 m.bQZQrYjYRYJaBa~i~i}i|q|q|q|uS@ yB靵X'I ^<x/1t0<% Թ $@,XiA9>q@>{@Y>by>=>HaR?`?  Bb?l}?[? G?? >q@>;)>CF{BJI`mMb@Mb@Mb@iii i)iYm}?5^I?kt?~jth?ymMb?m 0=im@ mv@)m3@Im+@iym@II<2G= A=y ;Q >٥ HF)< >E5y?E59 IޚByb?o:5(@3Eia;D;(E5aB4AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~!~%zB}!|!|)|)|-I;S@ myBm;Im)m>iIuӰ qquh{<}u/1}.<}EH9H=IH={BH= =H9H9H=5<H=EEiEiEiEiEi6GU{/;~G) AY A N >A *@,UiAI~@AI~BA{BI!II25= 5Q=y5Q =>٥AA EHEFE M>IUE5M?UE59M IMBy@M3EiM9YI]oꭼ YYe|xyԡ 1@,iA9Bȴ@B}@YBXXyBe$=BH`R~? {?`;?u5j?-?胤?? Bȴ@BM;)@N{BNIIVIV2^k= ^Q=y^;Q b>٥`` bHbFf< f>hnE5jا?nE59j IjByln&n@j3Eijz:j:j.E5tv,4AzE%DNOT Ignoring new targets: 24.63 m.b!Z!r!j!R!J)B)~)~)}1|1|1|1|=mS@i uyB}YII vFu<w/1<SE &<zEE?EEE_0EH- >H) H- IH- |BH-  =H) H) H- @<H- EKE P"KE 9*KA 2KE 3:KE >$%b'!7z:eU> d N)Q\!*$mgm7 6G iG<~G A A N >b8@,R)iA9Fȫ@FҲ@YFV SyFg=FH?n?aOw?Pp? a?@L?J? Fȫ@Fx;)DR{BRI!Mb@Mb@Mb@ )YMbX9?ˡE?~jtxya?'=Ļ+@ @)`@I@y@II2%K= %-=y-YA;Q ->٥)) -H5F5; 5>9EE5=?EE59=* I=ByM b?Mp:M%M@=3Ei=:=:=2E5UbBU3AUEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~AzB}||||`S@ yB ;"IG 1q<t/1<mE "IqIua=E?EEE0E6G}<ԁ~GqAAN>ԩ >@,piA9>\Ϋ@>ز@Y>SKy>-=>H?k?ᮿ \Ϋ@>ȅ;)>CJ{BJIIrIr(*2z)(= zb=yz;Q ~>٥   H: >-E5`?5E59E IByAE%E@3EiԵ;&;!6E5ae3AmEԙDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}| | | |@S@ yB%F@,liA9>ɫ@>Ӳ@Y>p?y> _<>H?q?Wkw`+?[{?`?`?@A? >ɫ@>;)٥ HF > H<H=H>HH-IHS|BHHHH!<HdEHCHCHH =I = I6 E5?E59. IByH?:'@3Ei:g:?:E5%X3A%EeDNOT Ignoring new targets: 24.63 m.baZarajaRaJaBi~i~mxB}i|q|q|q|u3S@KEuP"K9*K2K4:KDAH aMQ:8;<yMlyk4b~X GUQ"s yB靵y) -L@,3iA9Fg@F@YFm0yF2٥ll nHnFnmǻ r>pvE5rH?zE59r IrByxz/(z@r3Eir:r":rz=E5|Q3A5DNOT Ignoring new targets: 24.63 m.b1Z1r1j1R1J9BA~I~I}I|I|Q|Q|U zS@ yB靅$Ա aS@,LiA9>@>@Y>?Sy>͎<>Hz? J?@Z,?~?? ֑?@? >@>⟆;)>Cf{BfIIlIlr߬< vI=yv'٥xx zHzFzt z>E5? E59 I)By (@3Eiu;;AE5=cBE13AEEmDNOT Ignoring new targets: 24.63 m.biZirijiRqJqBqy~q~y}||||S@:J]_BJ]UJJ]=RJYZJ] :bJ]>9J]g4JY yBhHCHFIH||BH =HH0DH@<HEKwvP"K=9*K2K5:K4VZ9%l #%&&%.%$#n BTX ` c,3&$s<b1;6G <ZG RG A~G A A N > zCY@,fiA5|B5 IMb@Mb@Mb@ )YˡE?/$?Mbyg?<@ @)@I@y@II3Eڌ= E6=yUQ U>٥YY eHeFm u>y E5}5?E59} I}/Byh?j:,@}3Ei}<}u<}DE5dB%2A%EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||@T@ eyBefjE>E5?E9E9E9E9FAFA) < <6G w<~G A A N >Q E(`@,稀iA9F[@F@YF&yF5:FHn??A@eq???U]?@? F[@F5;)FCR|BRIIZIZT3b bf=yf1٥dd fHjFj j>pvE5rhJ?vE59r Ir3Byxz-z@r4Eir.:r:rHE52A-DNOT Ignoring new targets: 24.63 m.b)Z)r)j1R1J1B1~1~9}9|9|9|A|E %T@ yB Թ ^Rf@,탚iA9J@J5@YJyۼyJ鳻JHqo? ?;S p?@J?Kn?{v? J@J;)JCZ|BZ IUMb@Mb@Mb@QQQ Q)QYUsh|??V-?~jtxyUi?U٥ H8(8 >H>HCHXIH|BH =HH1DH<H]EE5*d?E59` I7Byj?h:x+@ 4Ei;w;KE52AEDNOT Ignoring new targets: 24.63 m.bZrԑjRJB~~zB}||||BT@Ka.Q"KH9*K2K6:K8DMLQJ[nH6 z AM\d pkX^;L%JJ yB靵= |l@,9_iA9>@>[@Y>txy>>H`@>5;)>CJ!|BJIIVIV 3z9< ~X=y~٥ HF(;  > E5 {?E59 & I :By!%7+%@ 4Ei U; V; +OE5152A5E]DNOT Ignoring new targets: 24.63 m.baZarajaRaJaBa~i~i}i|i|q|q|uZT@ yB靭i Gfs@,5BiA09v@v8@Yvcuyvc ;vHT{? ?@૘|? ? K?כa??? v@v-Ȇ;)vCEF|BE%IIUIU3?= >=y;Q >٥ HF'; >E5$?E59v I=By*@4Ei: :RE52AE DNOT Ignoring new targets: 24.63 m.bZrjR!J)B9~I~Y}a|i|q|y|$vT@ԑ -yB- EHHeIH|BH =HHH<H2EKE cP"KE 9*KA 2KE 7:KE 6 n. ac"DI.2M| 5%g OmA J] ?J] > 6G= >|<~GY Ay A N >qy@,iA`]8|B]I-Mb@Mb@Mb@))) )))Y-n?{Gz?٥ HF >E5:?E59H I?Byfn?d:-@4Ei/;8;VE5 eB J2A E=DNOT Ignoring new targets: 24.63 m.b9Z9r9j9R9J9BA~A~EzB}A|I|I|I|MࡑT@ -yBEr`v@,iA9J@Jv˲@YJ yJ٥  H F '<  ?%E5u?%E59 I@By)-,-@!4EiY@;@;YE5152A1uDNOT Ignoring new targets: 24.63 m.bqZqrqjqRqJyBy~y~}||||ŧT@ yBD =I)$?Iz iQ<s/1̵<ԩ Ƞ@,iA9B&ϫ@Bز@YBkyB+HMCHIHIHIHIHM0DHM,<HMqEԁMb@Mb@Mb@ )YV-? rh?I +ym?C =94~@ @)@Ih@y\@IIV83k< <=y.;Q >٥  HCt; %>9EE5=?EE59=0 I=AByMm?Md:UF(]@='4Ei=Ú;=V;=]E5mfBu1AuEmDNOT Ignoring new targets: 24.63 m.biZirqjqRqJqBq~y~} zB}y|y|y||T@KeDP"Ký9*K2K8:Kcg;%zw~s*G;)-  , , A,v@C8] yBʨI% AAI! :J- _BJ- ZJJ- @RJ) ZJ- :bJ- S9J- J4J) zJ- +:jJ- 0:J- Qu:rJ- Su:`ˌ@,5iA9rګ@rx@YrZFyrS٥QY ]H]Fe?t; e>iuE5m:?uE59m" Iiyqu'@m-4EimpY @,OiA9J0@J@YJyJ٥|| HF=; > E5 ?E59 ( I y'@ 34Ei ; ; XdE5!%a1A-EUDNOT Ignoring new targets: 24.63 m.bQZQrQjQRQJQBY~Y~Y}a|i|i|q|u-T@ yBĄ=I)0?9I=8` %SJ<r/1µ<\HAHEqIHE|BHE =HAHAHEA<HEEH ǚCH ǚCH H  =I  = I Ǻ 6ԙ6Gm b<K {P"K H9*K 2K 9:K L*VY9  K  &BmVx$~GA AI Aa Nm > ߙ@,kiiA9-ӫ@-Aݲ@Y-ty-}<-Hɚ?Zs?דu=?`ᑿsn?n?6? -ӫ@-;)-Cԑ|BHIMb@Mb@Mb@ )Y䥛 ? rh?~jth?yu?D; @)Q@I;@y @II<2< =y-.٥ HFUO >E5?2?E590 ICByu?]:(@;4Eiq;p;hE5gB>1AEDNOT Ignoring new targets: 24.63 m.bZrjRJB!~!~%-zB}!|)|)|)|-`U@:JABJEOJJEARJAZJAbJE%9JE4JAzJE,:jJE1:JE&:rJE&: yB靅D@,iA96f@6˲@Y6< y6<6H7?`? ?3D?!=?? 6f@6;)4idd)d dId fLC)dhhhhhihIhlInCil ll)lp pvvFttvKAIvt)tix)|I|  C  i  ٯ~|BGII-I-25-u ==y=#E GQ i Y y t Bv<@,YiAG G H&>H&CH&xIH&|BH& =H$H&/DH&^<H&E|BMImMb@Mb@Mb@iii i)iYmn?I +?Mb`?ymVn?m94=m;mv@ m@)mI@Im@iym@ԱII<2i< 3=yQ >٥ HF  >E5b?E59x< IEByn?c:&%@G4Ei::oE5)-1A-EK5iP"K5ͼ9*K12K5::K564~\V(~pohJ$"Jbrh`Z<#<|b2eDNOT Ignoring new targets: 24.63 m.baZirijiRiJiBq~q~u zB}q|y|y|y|}HHU@ yB靭=I)$7?I^B D<y/1<:J ]BJ \JJ @RJ ZJ ]:bJ [9J J4J zJ :jJ :J Ӂ:rJ ԁ:Pf@,3iA9B@BC@YB;yB`bO٥ H >E5Qy?E59A IDBy'@L4Ei::rE5hB61AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}!|!|!|!|%T_U@ UyB]=(=IY)e16?aIm9 iimiBi CN@,9iA 9fv@fi@Yf٥QQ UHUFU >E5?]E59G ICByame(m@R4Ei=0 =PvE5 1AEqmDNOT Ignoring new targets: 24.63 m.biZirijiRiJiBq~q~q}q|y|y|y|}`~U@ yB靕W =I)l9?I- ^@<s/1O<7;HAHEIHE|BHE =HAHAHE<HEEԙE}?EyEyE}_0EyF=F=Km .O"Km H9*Ki 2Km ;:Km BFr  .zbuZ wG_+(E\k(icB=?z 6G] zQ<~GQ Aa Aq N >@,|EiA<9F_@Fji@YFӓT;)DZ|BZPI)\ ^AMb@Mb@Mb@ )YJ +? ףp= ?~jth?yh?Q8=D;`@ @)Iyf@I#I%x36 @=yp٥ HF׻ >E5?E59M IAByh?i:(@X4Ei;&;yE51A%DNOT Ignoring new targets: 24.63 m.b!Z)r)j)R)J)B)~1~5%zB}9|A|I|I|UU@ =yB=ݨ9=Ia)e-9?aIm% iim,Y?}R@>3\@Y>~o_>H F???`G?M~~ k? >}R@>;)<^|B\pIfIf2vuK; zZ=yzQ;Q z>٥x| ~H~F > E5P?E59S I>By(@]4Ei:C:B}E5%iB%1A%EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@U@ uyBuRM0=Iy)}9?yI}` yy}><u/1<xa H >H CH H H  =H H 0DH <H ٥aa eHeFe e>iuE5mx?}E59mY Im:By}Rf?}l:}%}@md4Eim;m;m/E5b1AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~QzB}||||vU@ yB=I) [5? I    ӯ<<r/1<ɜ +@,9iAI ) 9>\@>f@Y>)6&V#>H1M?T??u[N?@ zFiD? >\@>{;)>CVn|BV>II^I^2f fg=yj٥hh nHlnj; n>pvE5r?vE59r^ Ir7Byxz%z@ri4Eir:r:rGE5~jB~1A~E5DNOT Ignoring new targets: 24.63 m.b1Z9r9j9R9J9B9~A~A}A|A|I|I|MU@ }yB}1=Iy)}2?yIC ;<w/19<b ɱ@,SiA9:_j@:t@Y:l٥\\ ^H^Fbw; b>djE5f4 ?jE59fd If2Byhj3%n@fo4Eif&:f:fʇE5pr1ApDNOT Ignoring new targets: 24.63 m.bZ!r!j!R!J!B!~)~)})|):J=]BJ=WJJ=ARJ9ZJ=]:bJ=G9J=4J9|A|A|M@U@ 9='=Ii)m,?qI}L F:<t/1J<3g/HHHH =HH1DH<H8EA6G% n<K =P"K 9*K 2K =:K j-x`2<Q#u%y+UozOWRDF^X;@J >J >~GQ Aa Aq N} >q M@,|miA9:~@:O@Y:(٥ HF; >E5$?E59j I*Bya?p:%@u4Ei<;j;E5%2AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~"zB}!|!|!|!|%V@Q yB靅=I))?I{ ѳ9<y/1K<P r@,TiA9>ߑ@>@Y>޼]<>Hn??1_{?ࠦm? xVGR?? >ߑ@>ĉ;)٥tt vHvFv; z>E5;?E59p I#By%@z4Ei<<E5kB2AEEDNOT Ignoring new targets: 24.63 m.bAZArIjIRIJB~~}||||n/V@Ա  =I)#?Ih߻ 8<v/1!<oH >H H xIH |BH  =H H 0DH <H IEHHHH =I = IB6@,/iA9~f@~@Y~Mo٥    H F; >!5E5% U?5E59%Kv I%By=^?=s:=(=@%4Ei%O;%06;%E5AE2AE~EuDNOT Ignoring new targets: 24.63 m.bqZqrqjqRyJyBy~y~}zB}||||IV@ k=I) ?I?λ 48<s/1J<~:K/VTOC&Ys'$20K5c<MR^Cy;NrEM?EQEQEU_0EQy6GMw<~G ԩ A A N >Ia Ie AA@,0iA<9B@BX@YB-M٥`` bH`fV; f>hnE5j j?nE59j[{ IjBylrF(r@j4Eij';j;jE5tv/3At%DNOT Ignoring new targets: 24.63 m.b!Z!r!j!R!J)B)~)~)}1|1|1|1|=`=`V@ ae\=Ia)m?iIm iim87 @,iAI)@9>@>IJ@Y><>H ??@{?Ԇ`,?@8`p?@? >@>ڇ;)>Cx~{B~Ii٥99 =H=FEE; E>IUE5Mb?UE59M7 IM ByQ]']@M4EiM+;M;ME5imo3Au{EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||{V@   =I ʸ<) ? I   >7<u/1ij<=HuCHuXIHu|BHqHqHu/DHu<Hu,E16G~<~G A A N >Ke @P"Ke (9*Ka 2Ke ?:Ke A_*I XI(LA!r6o)$,r,3<fHi a a z1@,iA9Nȫ@N7Ҳ@YN٥ HF; >E5?E59 IBy \?w:*@4Ei;;4E5lB3AxEDNOT Ignoring new targets: 24.63 m.bZrjRJBY~Y~]yB}a|a|a|a|eV@ yB靵A=I)?IР 6<r/1 <aԩ  A,SiA9>OЫ@>ڲ@Y>r?<>HE?`mz?qM?v`g?wМ.? ? >OЫ@>=;)>CJ{BJIInIn3v+' vU=yzZ;Q z>٥xx zHzF~H#; ~> E5? E59Y IBy )@4Ei: :E5&4AUDNOT Ignoring new targets: 24.63 m.bQZQrQjYRYJYBY~a~a}a|a|a|i|m,V@ ԙ靝=I)f ?I,铻 Uh6<w/18<!  He <He <;A,"iAHHHIH+|BH =HHH<H?E9R֫@R@YR;Q >٥ HF: >E5?E59 IBy|]?u:/@4Ei+V;T;_E5%mB%q4A%wEUDNOT Ignoring new targets: 24.63 m.bQZQrQjQRQJYBY~Y~]yB}a|a|a|a|e@/V@ EyBMBEmq9IE?EEEw0E:J] ^BJ] VJJ] BRJY ZJ] } :bJ] B9J] -4JY zJ] _:} jJ] d:} J] X:} rJ] X:} q 6G Fթ<~G A A N >3A,?iA9B۫@B@YBB٥hh jHjFn: n>pvE5r;?vE59r IrByxzz/z@r4Eir;r;r E5|~4A~tE%DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}1|9|9|9|=`V@ }yB}=Iy)}W?yIm !E6< y/1 < Ez;E?EEEp5E 6G%<~G A A N >A PA,t{YiA9FCޫ@F@YFِ=yFoZ٥x| ~H|~`A: > E5(?E59 IByf/@4Ei:.:E5!1E4AMqEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}!|)|Q|Q|UW@YH>HHIH{BH =HHH<H%E eyB靵EM <zEQ ԩ E E E E m0E F) F) :J_BJTJJRJZJ :bJ:9JJzJ+:jJ0:JRJ:rJUJ:6Gܱ<~GAAN ?vA,|iA9R1@R@YR =yR٥ HFm!: >E5?E59 IԚByb?o:/ @4Ei;;E54AnEMDNOT Ignoring new targets: 24.63 m.bIZQrQjQRQJQBQ~Y~]yB}Y|Y|a|a|eH$W@ yB靕9I , 6<s/1|<%A,șiAGGH1H1H5IH5{BH5 =H1H1H5<H5E9=׫@=j@Y=x=y=1#<=H`?u?`pÎ?@oݘ?-`&a?o? =׫@=;)=C]{B]IMb@Mb@Mb@ )Y!rh?{Gz?{Gztylg?#<ף@ h@)I@I@y@II#3 =yx:Q >٥ HFF >E5o=?E59r IȚByqg?j:.@4Ei:$:E5nB4AmE DNOT Ignoring new targets: 24.63 m.bZrjRJ!B)~1~=yB}9|A|I|I|U@LW@ yB靅 I Gm "7< x/1 < 7Q"K 9*K 2K B:K ~hZU  m>-P5VR-inIL'? 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U?@d?J >?a?? >#@>;)>CrJ{BrI}Mb@Mb@Mb@yyy y)yY}?~jt?I +y}l?}=}94}@ y)}AI}@yy}@II.B F=y8Q >٥ HF} >E5?E59G IEBym?d:@5Ei;3;E5r6ALEDNOT Ignoring new targets: 24.63 m.bZrjRJB!~!~-szBKuY}1||||^X@ yBf&Irf; 7@?<s/1<<%]A,HiA I)@9:@:`@Y:/0=y:<:H?`4g?٥\\ ^H^Fb b>dfE5f?jE59fw If;Byhjj@f5Eifo;f8;f(E5rtBr6ArKEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@HX@ ]yB]^aIezcw; aae@<x/1A<S:JU `BJQ JJU =RJQ ZJU :bJQ JU g4JQ E ]CԱ ~G A A N > G1 Q `Y y BFA,,biAH&>H$H&IH&~{BH$H$H$H&<H&IEHqHqHuCHu =Iu = Iu75@ )-<1{B{Ii٥ HF >ԩE53?E59J I/Bybk?f:@!5Ei,;d*;E56AHEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB} | | | |@ Y@ =yB=2AIE; AIML)AI] C=I] p=tA,4|iA9N@Nu@YN,l==yNu,NH bn? ??"`u?@t\ =? N@N;)NC^zB^VIhInIn2v: v=yv5I";  B<r/10<ܸYY iXA,kiA9>q@>m{@Y>gC=y>\ֻ>HT? ?(?[]?@Zjz@? >q@>!;)>CjzBjDIIr!Iri3z zJ=yzm;Q z>٥|| ~HFBA > E5 #?E59 i! I By@ ,5Ei *: : E5!%D8A-EE9eDNOT Ignoring new targets: 24.63 m.baZarajaRiJiBi~i~i}q|q|q|q|} IN; |C<w/1G<\+GAGE?AHU>HQHUIHUK{BHU =HQHQHU<HUEԙ A,?UiAzB9I) ԑMb@Mb@Mb@ )YL7A`?&1?Qy+g?P=uv@ `@)zAI@y@II 3% <=yQ >٥ HF >E5>?E59' I Byg?j:1&@25Ei;;E5uB 8ABEEDNOT Ignoring new targets: 24.63 m.bAZArAjARIJIBI~Q~UKzB}Q|Q|Y|Y|] WY@K9P"K 9*K2KJ:K< BSdJ,;- ZG_3Sy< MyBMĘIIU>; QQU#E<]t/1]β<]49J!J!zJ%:MjJ%:UJ%}Q:UrJ%Q:U6Ge 3Z<~G! A9 AQ Ne > kA,W$iA9:2@:;@Y:$I=y:k怼:H *?g? Y?[5?Ք&;? :2@:5;)8NzBR*IIZIZ2zZ z[=y~d;Q ~>٥| HFꩼ > F5 T?F59 - I By9(@ 85Ei M; '; F5!%8A%?EUDNOT Ignoring new targets: 24.63 m.bQZQrQjQRQJQBY~Y~Y}a|a|a|a|moY@ EyBE'IIM}; IIMGF<}y/1}勲<}u;iyiEe?EiEiEm]0Ei)a6G<<~G A A N >ԁ HE >HE CHE ^IHE {BHE  =HA HE 0DHE ܚ<HE EϔA,iA9~&@~R0@Y~Y|H=y~?~Hu#?@}?*?y.?` F? ~&@~Ԍ;)|ezBmIII(1Y 3=yuJQ >٥ HFD >F5p? F593 IBy(@>5EiX; ;F5]vBe9Ae>EDNOT Ignoring new targets: 24.63 m.bZrjRJ!B!~A~I}I|I|I|Q|UY@ yBIYI$; I<v/1L/<c;ii ԁױױԹK P"K 9*K 2K K:K dtQ=NA=.3>NTH}n]3j;;q>E- h%<E ?E E E 4E :JE bBJE VJJE ERJA ZJE :bJE B9JE 4JA zJE G ;jJE J ;JE X:rJE X:6G !j;~GIAQAiNu ?A,riA9:x(@:02@Y:E=y:䋼:H$?@4?Tf?/?`C/l#w@? :x(@:;):CFkzBFIiN=IN4=PRA5Mb@Mb@Mb@111 1)1Y5"~j?+?y&1y5Sc?5=5`e53@ 5@)5AI5@1y1IMIM3ԹB #=y͢Q >٥ HF\9 > F5 ?F59 I; I Byc?n:+%@ F5Ei _; t; h F51=:A9eDNOT Ignoring new targets: 24.63 m.baZarajaRiJiBi~i~myB}q|q|q|y|}WY@ zB靽l=Eu<E?EEEP0E16G g;~G A A N >a A,`# iA9n>@nfH@Yn[Q@=yn(GnH3?`W?&F?d9=?`>\? n>@n)Ѕ;)nC AzB II-I-F3Ejӽ MN=yMiQ U>٥QQ UHUF]; ]>amF5eĤ?mF59e@ IeڙByqu+u@eK5Eie:e:e F5y}:A};EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||Y@ H!H%<H5>H1H5&IH5zBH5 =H1H1H5<H56EQ 5zB5r1A,R>iA,9 ܂@ @Y 28=y IT; H@`?_?@ъ?@#f?@4@D=|j?? ܂@ 1`;) C-zB-IMb@Mb@Mb@ )Yjt?Mb?~jty`?=v@ A)AI@y@I5I52]X ]=ymfQ m>٥qq }H}FD< >F5?F597H IʙBy`?q:*@R5Ei˹;;EF5T;A8EԁDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}|||| Y@ U zBU;IQ)U/q u AA,XiA`9b@b@YbV6=ybZq٥II MHIUvm< U>YeF5]?eF59]YM I]ByamT)m@]W5Ei]:]:]nF5uwBu;Au5EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@Y@ zBEA!,;II)MIIMa{; IIMQHHIHazBH =HHH<H(EAAN J>I SA,-riA9Nܫ@N@YNY~5=yN٥ HF[\< >F5Y?F59IS IBy`?r:$*@]5Eiz;;F5xB^ԡ /A,?piA9>@>`@Y>!6=y>1=>Hg?T? |?G?R7¦)?8? >@>(.;)٥\\ ^H^Fbp< b>djF5f?nF59fX IfBypr(r@fb5EifT;fbU;fSF5tv G1 ei Yaye B G G AAH >H CH IH zBH  =H H /DH Ě<H EH˚CH˚CHH =I = I6 A,HiA9V'@V@1@YVT6=yVVS=VH?`٥ %H%F%>< %>)5F5-I?5F59-\^ I-ByAE'E@-h5Ei-oV;-jW;-F5IUa A,%iA964@6=@Y63=y6ɥ]=6H`?`2?&`? б`q`r? %? 64@6OӅ;)6CZyB^IeMb@Mb@Mb@aaa a)aYePn?{Gz?٥ HFTj; > F57?F5Y9d IByd?n:+@n5Ei<<"F5:=A-EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||@jZ@ #zBI)%\!IMjEe>ԁEEEE0E6G/<~GAAN>ԩ 3A,hiA96y/@619@Y6~/=y6R=6Ha?5?P I?@)m?@ M?? 6y/@6Uz;)4FyBFIININ3V8 V^=yZ3Q Z>٥XX ^H\^˺ ^>`fF5bM?fF59bi IbByhj+j@bt5Eib:b:b%F5lnS=ApDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||Z@ ]&zB]7Ia)e aIeI; aae*^HiHmIHmyBHm =HiHiHm<HmE6GuF<1 ~GI Aq A N >Q `A,iA9>@>M#@Y>/)=y>e*=>H?F?w?`<; ?ڭh$~F?@? >@>;)٥QQ ]H]Feͻ e>iF5mqf?F59mCp ImByg?j:%+%@mz5Eim߼EB, iA09F@F@YF%=yF٥hh nHnFn) n>pvF5rk}?vF59rv IrxByxz,z@r5Eir:r :r-F5|~*>A)E-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}1|9|A|A|MZ@ u-zB}b$Iy)}DyI}>; +c<u/1<h  He <He 4<Hm >Hi Hm IHm yBHm  =Hi Hi Hm Ț<Hm E8o B,)'iA9>z׫@>2@Y>*=y>.@<>H ?4u?`?n?`f@8?`0? >z׫@>}u;)>CNyBRoIIZIZF3`f#Z= fK=yfHQ f>٥hh jHjFn0 n>I]F5M%?eF59MD| IMoByae.e@M5EiMA;M9;M0F5mzBm=Au&EDNOT Ignoring new targets: 24.63 m.bZrjRJB ~i~i}||||@dZ@ 1zBzII)M2IIM뮈; QQU0f YB,uAiA9Bֵ@B@YB=yBK0BH@]?ڋ? F?ʈO?>sf@.? Bֵ@B;)BCJwyBNkIiR4=IR<EMb@Mb@Mb@AAA A)AYEMbX?~jt?MbpyEj?E٥ HF) > F5 ?F59 ‚ I fByj?g:4-@ 5Ei : : g4F5)-=A-#EeDNOT Ignoring new targets: 24.63 m.baZarajaRaJiBi~i~uyB}q|q|q|q|} CZ@ 4zB靥qI) <I[; Sh<w/1Hͱ<qԙ B,I[iA9BR@B @YB=yBޱ&BH r?`٥dd fHdfj f>hrF5j?vF59jG Ij_Bytv .z@j5Eijqa;j:b;j7F5|~>A-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}1|9|9|9|=[@y 6zB靅*I)GI^; j<t/1v<mHHIHyBH =HHH<HE6GQ~GQAAN> `B,#uiA9>@>K@Y>9 =y>;>Hi?F?@)?n? [cZ jm? >@>L];)>CJhyBJaIeMb@Mb@Mb@aaa a)aYeDl?+?MbPyeOm?e=eeA eA)e3AIaaye=AI}I}0*n >=yQ >٥ HF% >F5c?F59 IXBym?d:)@5Ei::V;F53>A EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB} | | | |`[@ 9zB^I)yQICs; 'm<y/1<%YY ϓ#B,.iA9:p@:(@Y:=y:g:Hd?4?`D?t@Hi?`uМ J? :p@:;)8JqyBJgI)L LIVIV2^C< bX=ybQ b>٥dd fHfFf=, f>hnF5j?rF59jd IjRByprI)r@j5Eij;j;j>F5v{Bv>AvEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||c5[@1 e4J1:J]BJ^JJCRJZJ]:bJd9J4J6G M<jGx?bGj?~G A A N >G G ?AH >H H H H  =H H H <H E )B,]iA9:@:?@Y:K٥`` fHfFf|f f>hnF5j?nF59ju IjLBypr`)r@j5Eij;jD;j+BF5tv>AvE-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}9|9|9|9|=@N[@ >zB./I)KI?_; !vq<s/1B<QJK} &P"K} 9*Ky 2K} R:K} AmJ* M#7OT37v+4,6~VjJ4FmSZ0]\9 Ҩ0B,iA9ZC{@Z@YZ=yQ >٥ HF >F5,?F59 tIIFByp?a:$@5Ei::EF5 >ADNOT Ignoring new targets: 24.63 m.bZrjRJB~~zB}||||k[@  AzB靽c4"I)LI,S; !%s<5x/1=<=/?6B,7iA$)2T> 6cCrGx  5>Y1y5 BjyBcIi-٥ HF >F5H?F59y I@By@5Ei?a;*b;IF5|B6>AE=DNOT Ignoring new targets: 24.63 m.b9ZArAjARAJABA~I~I}I|Y|a|aԁ|@Y[@ mCzBmHHIHyBH =HH.DH<HEH}ęCH}ęCH}ēCH} =I} = I}5EEEE44Eԩ 6G 'F<ZG RG ~G A A N >b٥  H    >F5`?F59 IA=EmDNOT Ignoring new targets: 24.63 m.biZirijiRiJyB~~zB}||||h[@ ]EzBeHIa)ehYaIe<; aamwx<r/1L<?RJZJ:bJ-.9Jt4JzJ:jJ:J4:rJ4:6G =< ر ׵ =) ~Ga A A N >CB,Y iA9:'v@:@Y:D٥`` bHbFb f>djF5fFw?nF59fv If9Byln#n@f5Eifo;f';fIPF5r}Bv->AvEx-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}9|9|9|9|=[@ mFzBmXI)WIp[3; Iy<w/1<>6y  H <H <H >H CH H H  =H H H <H (E JB,}"* iA9FCt@F}@YFN(٥tx zHzFh >%F5?%F59 I5By)-$5@5EiJ;;SF5AE@>AMEYDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||@[@ }HzB靅|V6ԉI)^IJ%; 4|<t/1!c< 31PB,C iAԹ-byB-^I Mb@Mb@Mb@    ) Y ?+?y&1|y l? = ` A A) AI A y (AIEIE<2m+u u=y}Q }>٥yy HF >F5t?F59 I-Bym?d:@5Ei4:9:hXF5b>AEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~9zB}||||`[@ %JzB% RI))-g)I-l; ))-fb~<5y/155<1i1i9bEAZEAE?EEEEFF6G% 2zWB,] iAI )"@9>^v@>@Y>;>H\? ?)9?W]?\힙<~?`6? >^v@>;)ADNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||`\@ ]KzB]IY)],YI]F ; aae%H]CH]IH]yBH] =HYHYH]ߚ<H]EEIEIEIEU_0EQqԙ6Ge I3<~G A A N% >Թ J]B,w iA9JU{@J @YJx٥iiԑ HFV: >F5]?F59z I"Byqh?i:@5Ei::^F5?A EDNOT Ignoring new targets: 24.63 m.bZrjRJB ~ ~zB}||!|!|%` \@ LzBI)ZI: DO<s/1J<x? /dB,뎑 iA9><@>@Y>X;>H#g??@!?@9 h?@.@7֙|?0? ><@>;)>C='yB=9IIMIM3]  ]]=y]\nQ e>٥aa eHeFmyF5}?F59} I}By]@}5Ei}S:}>:}bF5~BT?A EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||8\@ MzB GA GE @AHM >HI HM wIHM yBHM  =HI HM /DHM ٚ<HM EYjB,@i iA9Fx@F0@YF ٥`d fHfFjT; n>!-F5%Q?-F59% I%By)- 5@%5Ei%:%:%eF5]B]?A]EDNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||R\@Q uNzB靵ڡI)I: RJ ZJ =:bJ G9J t4J zJ :jJ :J _:rJ _:A A N >GAqB,C iA96@6@Y6i٥   HFN; >%F5*?%F59 I By-8d?-n:- -@5Ei::\iF5y9@ADNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||-n\@ QU< 靅DI<)ԩIf[: F<r/1<TltlwB,! iA9>_@>@Y>AS<>H|? ?? }? )R?Z? >_@>;)>C^xBbIIfIf(*3lr̽ r_=yvQ v>٥tt vHvFzyx; z>|F5~A?F59~ I~By   @~5Ei~P:~:~lF5@AE-DNOT Ignoring new targets: 24.63 m.b9ZArAjARAJABI~I~Q}Q|Y|Y|Y|e\@ UOzB]ӼIY)]¾YI]ʄa: Yae+HCHXIHYyBH = HH.DH<HEEEEEo5E96G jhn<~G A1 AQ i N >,}B, iA9Bت@B@YBx٥ii mHiz: >!5F5%\?5F59%} I%By5h?5i:5&5@%5Ei%;%;%opF5AEAAEEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}||||{\@ I)˾Iư: Jx<t/1U<}B, iA9Bͮ@B@YB=٥`d fHfFfƯ: f>pvF5rr?vF59r IrBytz|&z@r5Eir ;r/:rsF5|~AA~E-DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B1~1~1}1|1|9|9|= \@ y}$Iy)ؾIc9 y<y/1/D<KEm< X Yy BE?EEEa5E:JYBJ]\JJYRJYZJYbJ][9JYJYm@m@m@u@H >H H 2IH yBH H H H <H :EHɘCHɘCHH =I = Iɫ59 6G T<~G A A N >B,- iA9Jţ@J}@YJ)٥pp rHrFvwO v>x~F5z?~F59z IzBy|~&~@z5Eiz\:z:zLwF5 B AA EEDNOT Ignoring new targets: 24.63 m.bAZArAjARAJIBI~I~Q}Q|Q|Q|Q|]E\@ ԉ靅;I)!ݾI< !<v/1)< {EX<ԹEEEEP0E6G=<~G A A N >K %P"K =9*K 2K X:K "H7/VI|B G A*(hn/|, ΑB,2G iA~xB~IMb@Mb@Mb@ )Y%C?٥ HF >F5'?F59@ IߘByd?m:-@6Ei: :{F5BAE5DNOT Ignoring new targets: 24.63 m.b1Z9r9jARAJIBQ~Y~eyB}i|i|||n\@ 靅_I)羉IZ <s/1d <f}Eu(B,jf iA9>S@> @Y>?' `g<>Hk?`?kz? %j?Q  3? u? >S@>;)<H^>H\H^ IH^xBH^ =H\H\H^<H^E-yxB5I)9 9IMIM2] ].=ye*Q e>٥aa eHF3ƻ >F5?F59@ IԘBy.@ 6Ei::4F5B"BAEB*** querying acoustic contact ***JR-DNOT Ignoring new targets: 24.63 m.b)Z1r1j1R1J9B9~a~a}i|i|i|i|u %]@ I)꾉IRL{ @<x/1<JRE? 5 BDAT read: Tx time:14:05:29.0688 5 $Ping request sent.= e[B, iAK=P"KH9*K2KY:Kt^VxJP="|]"Da~ UVwaZ_ `i9J @JŌ@YJ ٥Ya eHeFv >F5q?F59 I̘ByRk?f:2@6Ei::F5BAEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~]yB}||||.]@ MNzBMII)M,IIUYེ QQU<}u/1}۵<}FaB,( iA9Nn@Nx@YN h٥tt zHzFzź z>|:J YBJ JJ BRJ ZJ 9bJ J -4J F5~?F59~ I~ŘBy2%@~6Ei~;~;~SF59=BA=EmDNOT Ignoring new targets: 24.63 m.biZirijiRqJqBq~q~q}y|y|y|y|@H]@ MzB靵AHeܼ>HaHeIHexBHe =HaHe-DHe<HeEI)uyIm 8<r/1%< 5#B,cѼ iA9BT@B^@YBC٥ H >F5?F59S IByHj?h:1@6EiY;<;F5B BA EEDNOT Ignoring new targets: 24.63 m.bAZArAjARAJIBI~I~MyB}Q||||@ee]@ %LzB%YI!)-;)I- )Q)U<]w/1]F<]!$;iYiaK%YlB, iA96-8@6A@Y6~٥dd fHfFj j>lrF5n'?rF59n  InBypv1v@n#6Ein :n:nUF5x~BA|DNOT Ignoring new targets: 24.63 m.bZrjRJB~~}||||T}]@ KzB8I!)%!I%'. !!-o<-t/15|<5G;i1i1zEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509031E?EEE_0E:J5]BJ5\JJ5ARJ1ZJ5]:bJ5[9J54J16G-;HmӼ>HmCHmIHmxBHm =HiHm,DHmښ<HmE~GQ AY Ai N} > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759649[B,( iA9J+@JT5@YJ ٥pt vHvFzu z>|F5~??F59~_ I~ByM2 @~)6Ei~f;~;~F5BAE=DNOT Ignoring new targets: 24.63 m.b9Z9r9jARAJABA~I~I}I|I|Q|Q|]`)]@ IzB%I))-k1IEfI IIU<y/1<Ҋ];iiE?EEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011984!6G ;jG p?bG W?Q ~G A A N >K% (;P"K% ý9*K! 2K% [:K%  . =-|UV]\=$*DBJ!3b/A]8icyB,c iA96(@6_2@Y6;y6n<6H,? {?T O)?=@RL?`B? 6(@6c;)6CB\xBBI9Mb@Mb@Mb@ )YK7?~jt?~jth?yi?<D;A A)\AIypAI-I3< ==yǺQ >٥ HFV\ >F5AY?F59& IByi?h:70@/6Ei::F5BAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263773%DNOT Ignoring new targets: 24.63 m.b)Z)r)j)R)J)B)~1~yB}||||]@ HzB I )51I=4Vc 9AEv0 B,G>$ iA9b&@bo0@Yb;yb1٥ HF >F53q?F59- IyF0@56Ei; ;/F5BBAEH>HCHIHxBH =HH-DH<HEEDNOT Ignoring new targets: 24.63 m.bAZArAjARAJIBI~I~I}Q|Q|Q|Y|]]@ FzB靅(iI)󾉞I0~{ N<s/1<XC;iiEEEE0E-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7677416G .A;~GA Ay A N >! B,> iA9:(@:;2@Y:b;BBDAT read: Rx Time:14:05:31.7171 JTRx dataTimestamp_ set to:1749132332.987274Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021517y:m<:H,??`  *?;Lq@g?? :(@:;)8VrxBZIEMb@Mb@Mb@AAA A)AYES㥛?~jt?~jt?yE$f?ED=ED٥yy }H}Fe: >F5Њ?F59V3 IBy~f?k:V)@;6EiX;X;F5UBAEDNOT Ignoring new targets: 24.63 m.bZrjRJB~~yB}|||I|M]@ DzB I)J龉Iߊ n<x/18ά<‚P;ii)KeLSP"Ke{9*Ka2Ke\:Ke6n1Hd-]>(7P$_iT>CqO2}:DE?EEE0E5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271672Q6Gi ZGm ARGm A~G A A N y :B,W iA9F2@F;@YF+;yF_wIVp;IZIZbbN bj=yb[Q f?٥dd fHdj[; j?lrF5n?rF59nh8 InBypr)v@n@6Ein;n:nF5BBAE5DNOT Ignoring new targets: 24.63 m.b1Z1r1j1R1J1B9~9~9}A|A|A|A|E@]@ CzB靅$I)IX >Z<u/1}<-;iiY) E5?E9E9E=+5E9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525636G M(YQyU+BԁH%>H%CH%IH%xBH% =H!H%.DH%<H%/EHHHHI = ILy6ԩ6G g;~G A A N5 >m DAT read: 14:05:31.7171 LVL= 2769, 16418, 32755, AGC= 64, IDX= 512, 0.00, 2.540,-2.452, 2.928, 2.301, PHS= 0.327, 1.577, 0.624, RAW= 316.8, -38.3, CAL= 313.3, -52.0, ROT= 196.7, 52.0 u !unknown deviceResponse_: 14:05:31.7171 LVL= 2769, 16418, 32755, AGC= 64, IDX= 512, 0.00, 2.540,-2.452, 2.928, 2.301, PHS= 0.327, 1.577, 0.624, RAW= 316.8, -38.3, CAL= 313.3, -52.0, ROT= 196.7, 52.0 } PDAT read: Bearing 196.7, 52.0 (Local) } ~Local bearing/azimuth received: Bearing 196.7, 52.0 (Local)  DAT read: Range 10 to 50 : 183.0 m (Round-trip 244.1 ms) speed -0.4 m/s - X#Rx 1: Read range message, but no direction.A E 7CYA B,_q iA9B@K@Y 8yX<H@٥ HF; >EF5'?]F59? IBy(@G6Ei<r<gF5BAE addTargetRange:: Added new target pos. range: 183.000000 m, deltaT: 120.284027 s, deltaX: 158.199997 m, approachRate: 1.315220 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 24.63 m.Completed rollout at range: 183.00 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE?b@ZrjRL?JB~~}|||f@| ^? e@zBeIi)u 𾉞In .<$2i5@i5A E ?E E E p0E J4J 4JX1:J _BJ UJJ PRJ ZJ :bJ >9J ^4J zJ ,: jJ 1: J }Q: rJ Q: K P"K 9*K 2K ]:K @Wt-NenZ_wCRs};a=t! <\8 J AJ A1 6G;~GAAYAiiN}?[B,F iA9FY@Fb@YFfyF}B٥yy }HFB; >F5?F59!F IØByc?n:!@N6Eik;;jF5rBAEUC@UAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal]g@eEntering Terminal tracking update period 2.000000 s sec at 183.000000 m (mode 1.000000 count ).e1ebyZyryjyRyJyBy~~yB}||||? =zBʘI)辉I] Gt<SiiEM?EIEQEU\2EQ6G%2 IAAN>i H >H CH IH xBH  =H H H <H ExB,B iA09Zp@Zy@YZz,޻yZm>٥|| ~H~F< > F5 :?F59 J I ƘBy!%!%@ S6Ei -i; i; |F5)-\BA1E@1EqEMB*** querying acoustic contact ***JIRIbYZarajaRaJaBa~i~i}i|i|i|q|u߱? ;zB靭ڗ$I)侉I ~-<P  iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Em?EqEqEuG1Eqԑ6GMn~G- AAIAaNm5> ,DAT read: user:1906>  BDAT read: Tx time:14:05:34.1189  $Ping request sent. ٥L?L? HF j<  >F5 ?%F59P IǘBy-Ug?=j:=E@Y6Ei;E;PF5UB]BA]EiqmmbZrjRJB~~yB}||||B,H iA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031489J|@J5@YJh5_yJD٥ H <  >!-F5%!?5F59%V I%ɘBy15=@%_6Ei% R;%V;%F5IMBAMީE‚G@rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal C@ Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalbZrjR!J!B!~!~!})|)|)|)|5`[*? 5zB靭I)羉Iջ < 8 $i i IH>HHIHxBH =HHH<HEE?EEEP0E6Gf:~GAANf>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754844ԡ .B,X iAy9@{@YDyev=Ho?`13?+` C}??S@v?`=?? @C&;)CEqxBEIiM٥II MHUFU}< U>YeF5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022910]8@?5F59]}\ I]͘By5gi?=h:=g=@]f6Ei]B<]<]F5QUhBAU۩EbyZyryjyRyJB~~yB}||||q@ԡ 2zBI)eྉI| r<, iiE EEEE:J][BJ]VJJ]FRJYZJ]:bJ]B9J]4JYzJ]:jJ]:J]X:rJ]X:6G~GAAN>K} W.P"K} =9*Ky 2K} _:K} cB/U  #;CcJBG/6Xvf9j,*]  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.276226ߜC,X iA_xBII-%I-)3=:U =r=yEQ E?٥AA MHMFe m?yF5}U?F59}a I}ϘBy@}k6Ei}1M;}I;}F5BBAةEbZrjRJB~~}||||@ /zB0I!)%*辉!I% !!%ڊ<-I))i1iE?EEE_0E 6G}~GAANe>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5271261 H H <H >H H IH xBH  =H H H <H EY C,<- iA96+d@6m@Y6Ưy6{=6H?Z?@Z?}Ʃ`n?D? ? 6+d@6U1;)6C^WxB^IIfIf2n< nP=yrvQ r>٥pp rHpvn< v>xF5zn?F59z9f IzӘBy@zp6Eizçԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030583Թ 5C,2G iA9F@Fz@YF7᰼yFA+=FH`C?u?0^+? ,R@?`4v? ? F@Fz;)FCRGxBVI)T T:JBJ[JJ@RJZJbJW9JJ4JzJ:jJ:J||:rJ~|:Mb@Mb@Mb@ )Y'1Z?T㥛 ?Mbyb?= A A)AI`AyfAII2 8=yQ >٥! %H%F%q= %>1=F55k?=F595l I5טBy=ec?=o:==@5w6Ei5V:5:5F5IMCAMթEbyZrjRJB~ԉ~yB}||||` @ (zB~>#I)𾉞I և<iiiK4P"Ký9*K2K`:KE"[9T5Q wQZ"0QdqSE?EEEo0Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2832566G}_IԹ~GqAAN]> C,` iAfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5362119C@L@Yټy5>H? ?`?༁#"??D|? C@D;)CExBII- I-b3M˻ MX=yMTQ U>٥QY ]HY]= ]>amF5e?mF59ep IeܘByqu u@e|6EieY;e;eNF5}B}%CA}ԩEbZrjRJB~~}||||@ %zB靝)I)𾉞I$ p<y=iiH]>H]CH]IH]xBH] =HYHYH]<H]EE?EEE0Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7871176GiIZGARGA ~G A A N > C,z iAAxBIYmMb@Mb@Mb@iii i)iYmףp= ? rh?y&1|ym^?mC =m`mAA m@)mIAImvAiymAII2 *=yQ >٥ HF >BDAT read: Rx Time:14:05:36.7712 TRx dataTimestamp_ set to:1749132338.051389checking for new query: numPingsReceived=0, elapsed TxPingTime=3.047733F5?F59w IBy^?s:@6Ei2 ; ;F57CAѩEb1Z1r1j1R1J1B9~9~=yB}9|A|A|A|Ef@  zB2I)ノI {K<.4,>iiԉE?EEEn0E6G]Y~G9 AQ Ay N >Թ K P"K 9*K 2K a:K tOSrX i U g  Myi>lC,eTGM{5e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2985110$C,1 iA9B@B` @YB0kyB_Lv>BH ?@}X?!ĿDo?fZǿQ̢?x?? B@B`;)@L0xBIi 0>I p<I%I%?13M+ MQ=yUռQ ]>٥ai mHuF} > }>F5X?F599{ IBy@6Ei[;}G;F5|CAΩEbZrjRJB~~}||||`@+G)A u7Yqyu B zB靍0I)Iz* v<+׀>ii5DAT read: Range 10 to 50 : 186.1 m (Round-trip 248.2 ms) speed 0.0 m/s -=X#Rx 1: Read range message, but no direction.:CYET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.EQEQEYE]0EY6G-~G A A) N= >! HE >HA HE IHE xBHE  =HA HE /DHE <HE EHHHH =I = I5:Jm \BJm RJJm ARJi ZJm =:bJm S29Jm 4Ji zJm :jJm :Jm ;:rJm <:y+C,k iA9F/@F@YF_g3yF>FH?`?>ſ5D?rʿk?o?e? F/@F6;)FCiLL)L LIL P)PPPPTTiTITTITiVA XX)XX Z?AZ|?ZF\\^;AI^&1)bȯFi`)`I``` `dddiddٯdj9xBnI|Iz IzV2 <  x=y >Q ?٥ H;=  ?!-F5%B?-F59%~ I%By)55@%6Ei%:%:%F59=YCAAeB*** querying acoustic contact ***JaRa addTargetRange:: Added new target pos. range: 186.100006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 bZrjRJB~~}|||@3Cg@| ? zBGI)5𾉞IMy ,QQiQiY},DAT read: user:1907> BDAT read: Tx time:14:05:37.9189 $Ping request sent.bG >~GAA N >- JDAT read: TxSync time:14:05:37.9181 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250993ԁ Y1C,\X iA9>I@>@Y>Xy>=ڑ>>H@?@?`"ǿ2޿'"? Lb̿ ??ު? >I@>ڑ;)>C,xB%IԉMb@Mb@Mb@ )Y1Zd?{Gzy"[?#KA ~@)AI Ay AI(I̍3% %:=y%Q %>٥)) -H-F-= 5>9EF5= ?EF59=} I=ByM&[?Mx:MU@=6Ei=ˁ;=U;=F5aeCAe˩EbZrjRJB~~zB}||||%? zBs+Ih?<)^IVP" l<<N>iiiKSP"K9*K2Kb:Kz^rD8roxvxOsuyL[{[V3dX*p%ԩEE?EAEAEEO0EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021466G ~G A A  N >(8C,"8 iA9R@Rl@YREl}yRݙ>RH}??@ ǿ 6ܿ?Abο`\??? R@R-;)RCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754134=.xB=I)A A E=Ep=IMIM3; U=y+Q >٥ H F= >F5"?F59_ IByYeQe@6Ei<<F5mBmCAmȩEbZrjRJB~~}|||| K? zB-0I)񾉞I( <>ii:J=]BJ=VJJ=>RJ9ZJ=]:bJ=B9J=t4J9M@M@M@M@HYHYH]IH]xBH] =HYHYH]<H] EEEEEE )checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068616G~G A A N >Y gT>C,e iA9e@e@Ye菽ye~>eH?@2r?@iȿ`ڿ 4?п 8??]? e@e<6;)eC1II2y؜Q >٥ H]= >F5t??F59 I ByLݾ@6Ei[;;F5CAũEbZrjRJB~~}||||? =zB=/I9)=ノAIE. AAEhK} P"K} ػ9*Ky 2K} c:K} mEO8"NX4_T"wC3RV?Z'{ J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510081Ա "=EC, iA9V:+@V4@YV᝽yVB>VH o]?$I?ȿ@-ؿ o;?@п>? F?@Y@? V:+@V;)VCbBxBbIMb@Mb@Mb@ )Ygfffff?QMbpy3S?u&A @)AIrAy AI!Ii3< ٥ H F޸= >F5lW?F59Վ IByE)<EA EA EA EE O0EA H H H IH xBH H H H ݚ<H E:JE eBJE XJJE CRJA ZJE \:bJE 5K9JE 4JA zJE {;M jJE };U JE f:U rJE f:U  6Ga ~GAAIAaNm>sLC,:4 iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147429B<@BF@YByB>BHJ?٥AI MHM FU= U>YeF5]t?eF59] I]#Byaeľe@]6Ei]:].:]!F5uBuCAuEB*** querying acoustic contact ***JRbZrjRJB~~}||||8@ zB=$I)ھI;: ٛ<k??ii>E<E?EEE_0E)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2662816G] ~G9 AI Y Ai N} >TSC,M iA9>D@>N@Y>c͵y>ȥ>>H@??+N?Gǿ`տ@? !sѿ ?]H?7? >D@>Jԇ;)٥ H[= >F5?F59 I1ByK?:@6EiV::F5OBAbZrjRJB~~K|B} | | | |`@ MzBU'IUG;)U¾YI]j@ YY]ywE3|<rEN>jEԑE5?E9E9E=P0E9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7701216G ~Gq Ay A N >0!ZC,|j iAH.>H,H. IH.xBH. =H,H,H.<H.ET:J^\BJ^VJJ^>RJ\ZJ^=:bJ^B9J^t4J\zJ^:jJ^:J^X:rJ^X:xBII!Ii3=_= 2=yQ >٥ H F u>y}F5}?F59} I}@By@}6Ei};}<;}F5BAAEbZrjRJB~~}||||@؛ @ zB I ) sI:E Ϙ<n?ii!ԁ>EX;-BDAT read: Rx Time:14:05:40.5750 -TRx dataTimestamp_ set to:1749132341.8326255checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024867EqEyEyE}_0Eyԩ6G ~Gy A A N >aC,= iA9>>@Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274055>H@Y> Ƚy>ʷ>>H ?@2[?ƿ_Aѿ`ח?.ѿ?,n?OT? >>@>.;)>CNxBNI)P P`Mb@Mb@Mb@ )YPn?I +I +?yD?9494<.A @)3AIAyAII(*3= K=y͵Q >٥  H  F >  >F5?%F596 IPBy%"D?%:%%@6Ei:_:DF5)-`AA5EbaZarajaRaJaBi~i~mD|B}i|q||| @ myBu Iq)uqIuI qy}i<}?ii!KP"Ks9*K2Ke:KS1y3D,4J>/O7Bd`I4 V>Eϩ; ===<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529481E1 E9 E9 E= P0EA A 6Gq ԁ ~GAAN>`hC," iA9>7@>;A@Y>lνy>K>>H ?? <ſ ο?`-ѿϹ?#?`q]? >7@>V ;)>CjxBjIIrIr(*2zP+= z6=yzxQ z>٥|| ~H|= > F5 ?F59  I cBy0@ 6Ei : : .F5B%AA%EeDAT read: 14:05:40.5750 LVL= 30624, 19441, 19778, 30259, AGC= 68, IDX= 114, 0.39,-0.086, 1.634,-0.672, 0.276, PHS=-0.274, 1.405,-0.950, RAW= 346.2, -1.7, CAL= 347.2, -2.8, ROT= 162.8, 2.8 mYgot valid direction response: 14:05:40.5750 LVL= 30624, 19441, 19778, 30259, AGC= 68, IDX= 114, 0.39,-0.086, 1.634,-0.672, 0.276, PHS=-0.274, 1.405,-0.950, RAW= 346.2, -1.7, CAL= 347.2, -2.8, ROT= 162.8, 2.8 uPDAT read: Bearing 162.8, 2.8 (Local) u~Local bearing/azimuth received: Bearing 162.8, 2.8 (Local) }DAT read: Range 10 to 50 : 188.9 m (Round-trip 251.9 ms) speed -1.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.954138,0.295355,-0.048850]Fpublishing direction and range info)y-R:LSo?s!D- BDAT read: Tx time:14:05:41.9690 $Ping request sent.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250981ԡ yB(IMMb@Mb@Mb@III I)IYM)\(?~jtx?:v?yMGA?M;M٥ HF >F5*?F59U IByfA?:|@6EiV;o;=F56@AE5B*** querying acoustic contact ***J1R1aeFNOT Ignoring new targets: 187.57 m.mL:mL:  ProNav pure pursuit: ac range: 187.574280 m, nav range: 140.932098 m, bearing: 150.300281 deg, approach rate: 0.730847 m/s, LOS rate: 0.082749 deg/s, cmd heading: 150.252892 deg, new cmd heading: 150.300281 deg. HeadingCmd: 2.623235 target range: 187.574280 and range: 188.90 m.b'@ZrjRJB~:J^BJXJJLRJZJ} :bJ5K9J4J@@@@~H|B}||||j? ]yB]1߼I])]nYIeSR aae4*ZLcN_vEm4!vM?{8+6G 1 ~G A A N >) t>  ]CLwC, iABGNAZA nyYnAyrBm@uB95@5L@Y58ݽy5q>5Hn?/l?`¿ÿ'P? 1ҿU?#? W? 5@58W;)5CMCyBMKIIeIe2u > uL=y}ԏQ }>٥y HFod> >F5?F59 IByQ!@6Ei;Y;F5V?AEFNOT Ignoring new targets: 187.57 m.::  ProNav pure pursuit: ac range: 187.574280 m, nav range: 141.212006 m, bearing: 150.343128 deg, approach rate: 0.731218 m/s, LOS rate: 0.111711 deg/s, cmd heading: 150.300280 deg, new cmd heading: 150.343128 deg. HeadingCmd: 2.623983 target range: 187.574280 and range: 188.90 m.bU'@ZrjRJB~~}| | | |@b? =yB=wӼIA)E`4AIET AAEj,HIHM}IHMyBHM =HIHIHMA<HMEHƙCHƙCHH =I = Iƞ4i6Gi jGm >bGm >~GA AI Aa N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009046ԙ Zv}C, w iA9F@F`@YFݽyFə>FHZ??` t?`[ѿ?#?`Sc? F@F-;)FCR_yBR\IIbIbM3j= jj=yjۀQ j>٥ll nHnFr= r>tzF5v1?zF59vt IvByxz~@v6Eive:vP:vF5>AE)-FNOT Ignoring new targets: 187.57 m.}&;&;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 141.454498 m, bearing: 150.383376 deg, approach rate: 0.692026 m/s, LOS rate: 0.114661 deg/s, cmd heading: 150.343132 deg, new cmd heading: 150.383376 deg. HeadingCmd: 2.624685 target range: 187.574280 and range: 188.90 m.b'@ZrjRJB~~}||||9? MyBU)5¼yIy)}yIV <b?i'@iEe?EiEiEuo0Eqԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2579386GM :J ]BJ QJJ CRJ ZJ ]:bJ -.9J 4J ~G1 A9 AI Nm > W^C,RiA9>;@>@Y>!۽y>~>>H;??<@"`?@bѿ g? v?r? >;@>oE;)?u+=u=u^&A u@)uhAIuAqyu\ AII?13w= ==y(;Q >٥ HT= >F5L?F59 IƙBy>?:R@6Ei;;F53>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509963%FNOT Ignoring new targets: 187.57 m.-p;-p;K5n0P"K5+9*K12K5g:K5xX z?U]_/Zj+ 4 ] ~GDu $E!wKM  ProNav pure pursuit: ac range: 187.574280 m, nav range: 141.740051 m, bearing: 150.439449 deg, approach rate: 0.657759 m/s, LOS rate: 0.128902 deg/s, cmd heading: 150.383376 deg, new cmd heading: 150.439449 deg. UHeadingCmd: 2.625664 target range: 187.574280 and range: 188.90 m.b] (@ZYrYjYRYJYBY~a~e0|B}a|a|i|i|mt? =yB=ɣI9)=Ͻ9I=_X AAEcEu d;E) E) E) E- [0E) 1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762532HE >HA HE IHE yBHE  =HA HA HE ٚ<HE Ea 6G ~GiAqAN>C,xF1iA9>)@>@Y>ֽy>g>>Hd?@-?F5Ҳ?@.ѿѺ? ?? >)@>a~;)>CJyBJIIXIX`^= = b4=yf;Q f>٥dd jHjFj= j>lrG5nh?rG59nH InBytvv@n6Ein*:n:nG5xz=AzE)5FNOT Ignoring new targets: 187.57 m.5/;5/;E  ProNav pure pursuit: ac range: 187.574280 m, nav range: 142.035522 m, bearing: 150.501937 deg, approach rate: 0.651143 m/s, LOS rate: 0.137423 deg/s, cmd heading: 150.439452 deg, new cmd heading: 150.501937 deg. MHeadingCmd: 2.626754 target range: 187.574280 and range: 188.90 m.bM(@ZIrIjIRQJQBQ~Q~Y}Y|Y|a|a|e @ yB SI)RI;Y !!%z<=z?99i=(@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015593>EጹEE!E!E%Z0E)M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266058Q 6G ~Gq y A J-4J4Jn41:J ZBJ RJJ ?RJ ZJ 9bJ S29J ـ4J A N >[C,NiA9>@>v @Y>}mӽy>?>>HL?A`??vѿa?V?? >@>;)>CJyBJIMb@Mb@Mb@ )Yx&1?/$?Q?yA@?,=<$A ~@)AIAyf ADAII22= )=yh;Q >٥ HF= >G5 ?G59, IBy@?:b<<@6Ei;;G5B=AE-B*** querying acoustic contact ***J)R)1=FNOT Ignoring new targets: 187.57 m.=e+;Ee+;U  ProNav pure pursuit: ac range: 187.574280 m, nav range: 142.346512 m, bearing: 150.574641 deg, approach rate: 0.642367 m/s, LOS rate: 0.149846 deg/s, cmd heading: 150.501934 deg, new cmd heading: 150.574641 deg. ]HeadingCmd: 2.628023 target range: 187.574280 and range: 188.90 m.b]1(@ZYrYjYRYJYBY~a~e|B}i|i|i|i|m@ -yB-I))-t|)I5 .Z 115jx<=?99i=1(@iaDiDiDiDiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518029KNP"K9*K2Kh:K%#wJ`!`5:ji?}EEb_cpV1?z#EEEET0EA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7700416Gm ȹi ~GI AY Ai N} >C,TTjiAI)@9BY@B @YBϽyB c>BH@?6T?Uѿm?z?ɜ? BY@B;)BCJyBJIIR IRV2Zy= ZI=y^;Q ^>٥\\ bH`b= b>drG5fw?Hv>HtHvIHvMzBHtHtHtHv<HvEG59fբ IfByae/=m@f6Eif#ԩ C,iAבוAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2753849k@JH?S@&5 ?@ ?@)ѿf? b?? k@骽6;)CmyBmIԉMb@Mb@Mb@ )YV-?v/?~jt?y|??xi=<"A Q@)X@InAyzAI5I5(*3E˱< E(=yMM;Q U>٥YY ]H]Fe[= e>G5ɿ?G59ߡ I2By@?:=@6Eik::G5ɒC,ßiA9JY@J}=YJ`ƽyJN>JH ? >a@gx??ҿ`¸??M? JY@J(;)JC^yB^IIjIjv#F= vf=yz;Q z>٥|| ~H~Fn= >-G5?5G59 IEBy9=>=@6Ei;;G5|HHIHzBHHHH<HEE?EEEo0Ea6G } ,DAT read: user:1909>  BDAT read: Tx time:14:05:46.0190 ԉ  $Ping request sent. 6C,~iA9m@mx=Ym&ymmI>mH`?YKyы?? ҿ@? {? ? m@mc;)mC zBIII3= ==qy(;Q }>٥yy }HF}= >G5?G59 I]By #>@6Ei\'<'<G5<ܵC,iA(K^9P"K^9*K\2K^j:K^p.w42+i\qwp6p\1BcaVF0#A[7sVS.<9%.@%>Y%/y%>%H? uſB@;?j?nѿO?@?@q? %.@%;)%C=zB=IMb@Mb@Mb@ )Y+?٥ HS= > G5 ? G59ӝ IoBy ?? : H> @6Ei? ;2 ;G5 H H &IH zBH  =H H H H E 6G ~G A A N >qC,RiAl9v@v t8>Yvyv>vH^?@jȿ}6?A?@mѿ@ ۵?i?@s? v@v{;)vCzBII'I@3-&< 5X=y5٥19 =H=FE= E>IUG5M$?UG59M( IM~ByQUpg>U@M6EiM;MT;MG5eBe.C,= iA9>5@>T>Y>ey>ӗ>>H4?`'̿@TL??Qѿ@?(? ? >5@>}B;)٥ HF>= >G5=?G59Z IBy(9?:j>@7Ei;,;!G5;AEFNOT Ignoring new targets: 187.57 m.[;[;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 144.074600 m, bearing: 151.113721 deg, approach rate: 0.535376 m/s, LOS rate: 0.192054 deg/s, cmd heading: 151.033514 deg, new cmd heading: 151.113721 deg. HeadingCmd: 2.637432 target range: 187.574280 and range: 188.90 m.b(@ZrjRJB~!~%{B}!|!|)|)|- PK? Y]IY)]tP=YIeX aaeZm ZA AA % 6 Y% ZAy% BԹ IC,-&iA9zOYzȞyzU>zH?`^Ͽ房@?`k?LBѿ`ӳ?ӌ?? zO٥11 5H15s= =>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761330ԙG5lU?G59b IByڃ>@7Eih::3%G5;AEAEFNOT Ignoring new targets: 187.57 m.M];M];}  ProNav pure pursuit: ac range: 187.574280 m, nav range: 144.286987 m, bearing: 151.194099 deg, approach rate: 0.512886 m/s, LOS rate: 0.193816 deg/s, cmd heading: 151.113714 deg, new cmd heading: 151.194099 deg. }HeadingCmd: 2.638835 target range: 187.574280 and range: 188.90 m.b}(@ZrjRJB~~}||||`xz@H]>H]CH]3IH]zBH] =HYH]0DH]՚<H]EH!H!H!H% =I! I%5 I)Z=IUW zi<-M@))i-(@i1:J\BJ_JJBRJZJ=:bJ=h9J-4JzJ:jJ:J:rJ:E?EEE"5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0130886G ȹ~G A A N >1 ~YF yFQ>FH@?3ѿP5?Q?`FѿHв?`?? Ft-=F;)DN,zBRIIV IVV2b< fQ=yf;&٥dh jHjFjd= j>pvG5rbk?vG59ra IrBytvi>v@r 7Eir:rq:r|(G5|~;A|!%FNOT Ignoring new targets: 187.57 m.-l;-l;E  ProNav pure pursuit: ac range: 187.574280 m, nav range: 144.478836 m, bearing: 151.270339 deg, approach rate: 0.521681 m/s, LOS rate: 0.207040 deg/s, cmd heading: 151.194092 deg, new cmd heading: 151.270339 deg. MHeadingCmd: 2.640166 target range: 187.574280 and range: 188.90 m.bMy(@ZQrQjQRQJQBQ~Y~Y}Y|a|a|a|eYf@ 靕x I){=IMV f<`@iy(@iEyEyEyET0Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267968!6Gu~GIYAiAyN>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517225&$C,YiA9>Y=> >Y>ny>4>>H`?ҿ'? 4?jh?fyѿ??`=? >Y=>ڋ;)<^1zBbI)` `K}sP"K}h9*Ky2K}l:K}E3jDF\n# IvP-- S4 <iWHPhUMb@Mb@Mb@QQQ Q)QYUV-?MbX9vyUh1?UUUjA U@)U@IUIAQyUAII3YL< :=y٥ H{= >G5?G59. IBy1?:>@7Ei;;P,G5;AE)5FNOT Ignoring new targets: 187.57 m.=\;=\;M  ProNav pure pursuit: ac range: 187.574280 m, nav range: 144.694916 m, bearing: 151.354947 deg, approach rate: 0.493455 m/s, LOS rate: 0.192929 deg/s, cmd heading: 151.270344 deg, new cmd heading: 151.354947 deg. MHeadingCmd: 2.641642 target range: 187.574280 and range: 188.90 m.bM)@QZQrQjYRYJYBY~a~ezB}a|a|a|i|m@ yB靵 I)=I5U Kb<P#@i)@izEEaEaEaEeP0EaFiFiԑ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769297ԩH] >HY HY HY H]  =HY HY H] <H] ]E6G ZG RG :J _BJ ^JJ RJ ZJ :bJ d9J J zJ +:jJ 0:J :rJ :~G A A N > NC,4siA9B=B[>YB6yBpz>BH[?3Կ@? ? ?ѿ@#?i.?3? B=B{;)@^3zB^IIfIf1n'; n[=yr٥pp vHvFv = v>xG5zǘ?G59z" IzBy  $> @z7Eiz ;z;z/G5;AE5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 187.57 m.M`;M`;]  ProNav pure pursuit: ac range: 187.574280 m, nav range: 144.874252 m, bearing: 151.428648 deg, approach rate: 0.479142 m/s, LOS rate: 0.196665 deg/s, cmd heading: 151.354943 deg, new cmd heading: 151.428648 deg. eHeadingCmd: 2.642929 target range: 187.574280 and range: 188.90 m.be%)@ZarajaRaJaBi~i~i}i|q|q|q|" @ ]I)=IT quH`׵=BDAT read: Rx Time:14:05:48.6149 TRx dataTimestamp_ set to:1749132349.895766checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022675EEEE_0E6G1 ~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2756309 5C,uiA9>.=>+>Y>Wy>c>>H? տn(?&i?@8?ѿh?Ps?? >.=>I";)٥QQ UHeFm,= m>qG5u ?G59ȕ IuBy)?:>@u7EiuSpaC,\XiA uDAT read: 14:05:48.6149 LVL= 18320, 22513, 23650, 27843, AGC= 62, IDX= 456, 0.10,-1.489,-0.690,-2.965,-1.808, PHS= 0.407, 1.165,-1.161, RAW= 11.4, -4.0, CAL= 11.1, -6.9, ROT= 138.9, 6.9 }Ygot valid direction response: 14:05:48.6149 LVL= 18320, 22513, 23650, 27843, AGC= 62, IDX= 456, 0.10,-1.489,-0.690,-2.965,-1.808, PHS= 0.407, 1.165,-1.161, RAW= 11.4, -4.0, CAL= 11.1, -6.9, ROT= 138.9, 6.9 }PDAT read: Bearing 138.9, 6.9 (Local) ~Local bearing/azimuth received: Bearing 138.9, 6.9 (Local) DAT read: Range 10 to 50 : 143.7 m (Round-trip 191.7 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.748106,0.652614,-0.120137]Fpublishing direction and range info!y%Li{A 7?rjƹI%CY! %G)%WI%b\i%l%>%Nb>%?% %%K>)%5I%aF>i%Ϣ%'@%Ϣ= !)!%дseԿQ?~Ai%HHH,IHzBHHHHٚ<HEI9I9%Θ=%'@%Ϣ= !)!imT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.O '=yQ >٥ HF >-G5?-G59 IBy)15@7EiS::7G5=B=g;A=E:Jm]BJmkJJiRJiZJm]:bJm9JiJizJm:jJm:Jm:rJm:Z!b%GiA%C%C%0@ʁ%2q&!Z  HW@-i$1%Li{A 7?rjƹI%'@%Ϣ=ҁ%CP`:ڬsJ@K_@%F:2Ʀ}?H ?z%SB%j%o7*Ŝ?r%m/ %QB%Ɯ?%Pt  %{B%LC%i)@-=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 143.699997 m, deltaT: 8.064660 s, deltaX: -45.199997 m, approachRate: -5.604700 m/s, rangeRepo size: 29]FNOT Ignoring new targets: 187.57 m.e\V;e\V;u  ProNav pure pursuit: ac range: 187.574280 m, nav range: 145.285416 m, bearing: 151.602846 deg, approach rate: 0.443945 m/s, LOS rate: 0.187407 deg/s, cmd heading: 151.509305 deg, new cmd heading: 151.602846 deg. uHeadingCmd: 2.645969 target range: 187.574280 and range: 188.90 m.b}W)@ZyryjRJB~~}|||`fa@| ? ]yB]Ia)e"=aIeVR aamY BDAT read: Tx time:14:05:50.0690 $Ping request sent.bG] > ~Gi A A N >C,~iA9N$X4>N>YNsyNo>NHzx?ؿ ?t?[&?ѿ s??ԭ? N$X4>N9;)LV[zBZII^I^3f#= jn=yn[ z?x~G5z?~G59zڊ IzByt>@z!7Eiz:z:z:G5 ;AE1=FNOT Ignoring new targets: 187.57 m.= {;E {;U  ProNav pure pursuit: ac range: 187.574280 m, nav range: 145.433136 m, bearing: 151.672269 deg, approach rate: 0.467487 m/s, LOS rate: 0.219479 deg/s, cmd heading: 151.602851 deg, new cmd heading: 151.672269 deg. ]HeadingCmd: 2.647181 target range: 187.574280 and range: 188.90 m.behk)@ZarijiRqJqBy~~}||||@3?ԉJDAT read: TxSync time:14:05:50.0682 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253767 yBWŪI)%=!I%dQ !!%irV<-}*@))i-hk)@iYԱE-?E)E)E5_0E16G ؕ %=ו 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501093~G A A1 N= >! C,)iA9N'P>KN72P"KN9*KL2KNn:KN10|287us\;KU:35GOJ/>sO=zQN>YNryNG>NH?@C9ڿV?*H? !?ҿ9N? J(? j? N'P>NX;)NCm~zBm IMb@Mb@Mb@ )Y}?5^I?I +y&1yM"?94`SA x@)@IAyAI-I- 3== ==y=+:Q E>٥AA MHMFMh_= M>Q]G5U?]G59U IUBy]"?e:e>e@U&7EiU:U:U>G5qu|:AuEFNOT Ignoring new targets: 187.57 m.R;%R;M  ProNav pure pursuit: ac range: 187.574280 m, nav range: 145.644592 m, bearing: 151.769692 deg, approach rate: 0.400183 m/s, LOS rate: 0.184106 deg/s, cmd heading: 151.672274 deg, new cmd heading: 151.769692 deg. UHeadingCmd: 2.648881 target range: 187.574280 and range: 188.90 m.bUC)@ZQrQjYRYJYBY~~~zB}||||5?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753943A eyBmvIq)uv >qI]N pR<C)@iC)@iH>HCH9IHzBHHHH<HTEEQEQEQEQEQi :J ^BJ XJJ RJ ZJ } :bJ 5K9J J zJ ^:jJ c:J f:rJ f:6Gq ԙ ~G A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004156A N >&C,ziA9:0l>:>Y: kqy:z>:H@?ۿ`M??CU?Bҿ(??`? :0l>:;)8iFfCD)D DID H)HJĻHHLLiLILLILiP PP)PT V9AVv>TTTVOAIZ)ZFiX)XIXXX \\\`iddٯdjzBjI n=n=IvIv?13~,= ~m=y~X:Q ?٥ H @=  ?G5?G59 IyR>%@*7Ei;;BG5)-G:A)B*** querying acoustic contact ***JRFNOT Ignoring new targets: 187.57 m.[;[;-  ProNav pure pursuit: ac range: 187.574280 m, nav range: 145.782684 m, bearing: 151.836624 deg, approach rate: 0.396390 m/s, LOS rate: 0.191945 deg/s, cmd heading: 151.769686 deg, new cmd heading: 151.836624 deg. 5HeadingCmd: 2.650049 target range: 187.574280 and range: 188.90 m.b5g)@Z1r1j1R1J1BY~Y~Y}a|a|a|a|e@^s? yB靵@*I)c>IZM hP<{)@ig)@iE?EEE0EFF)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260781Y6GZGRG~Gq A A N >ԁ D,`iAezBm(IMb@Mb@Mb@ )YMb?&1/$y ?P=A b@)IAy(AI&I3%= %:=y-Q ->٥)) -H-F5 5>9MG5=(?MG59=̂ I9yU!!?U:U>U@=.7Ei=Zn;=l;=EG5ae9AeEqFNOT Ignoring new targets: 187.57 m.a;a;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 145.960037 m, bearing: 151.919776 deg, approach rate: 0.421531 m/s, LOS rate: 0.197394 deg/s, cmd heading: 151.836622 deg, new cmd heading: 151.919776 deg. HeadingCmd: 2.651500 target range: 187.574280 and range: 188.90 m.b.)@ZrjRJB~~zB}||||?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508237 yB *I)4>IzJ --M<-.)@11i5.)@i1KeEHP"Ke9*Ka2Keo:Ke6lXD>@d%nPul+G*FAXEC@g5(%2ԡEEEE0E6G!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762409~G A1 AQ Nm > H] >HY H] RIH] zBHY HY HY H] <H] E D,/P.iA96ݏ>6<?Y6ey6Q>6H`1?t`޿K?ѯ?د?@zѿ`?z?\? 6ݏ>6 ;)45zB56IIEIE2U|n= UV=yU*;Q U>٥YY ]H]Fe> e>auG5e-?uG59e$ Iayy}u>@e27Eief;eg;e.IG5m9AFNOT Ignoring new targets: 187.57 m.`;`;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 146.105392 m, bearing: 151.994981 deg, approach rate: 0.380214 m/s, LOS rate: 0.196523 deg/s, cmd heading: 151.919772 deg, new cmd heading: 151.994981 deg. HeadingCmd: 2.652813 target range: 187.574280 and range: 188.90 m.b)@ZrjRJB~~}|||| @ -yB-$;I1)5I>1I5ʉH 115VJ<=)@99i=)@iAԩE?EEEx5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0121216G ~G A A N >1 D,HiA9JΝ>J4?YJF]yJ>JHb?߿L?`1?O?ѿ P??? JΝ>J^;)JCVzBVOII^ I^2f= fT=yf;Q f>٥hh jHhn= n>t G5v??G5uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2662429vL} ItyE>@v67EivIE 5F<)@i)@i!zE1:J_BJSJJRJZJ :bJy69JJ@@@@E?EEEp5EF =F 9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517064i 6G jG ?bG >) e 9G~Ga q A A N > K P"K 9*K 2K p:K k=J ouB@#p.#1Ojn:5BE z Y y BeD,AaiA 9^>^ޡ?Y^uZy^>^H+?@[??%?пhK?`?d? ^>^<;)^Cf {BjcIMb@Mb@Mb@ )Yx&1?Q롿y&1|yA ?\`A K@)@IhAy@II<2ڔ= <=y:Q >٥ HF-= >}G5(T?}G59y IBy} ?}:}?}@:7Ei::bPG5BK8A{EFNOT Ignoring new targets: 187.57 m.ʂ;ʂ;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 146.397202 m, bearing: 152.162435 deg, approach rate: 0.381019 m/s, LOS rate: 0.228694 deg/s, cmd heading: 152.072454 deg, new cmd heading: 152.162435 deg. HeadingCmd: 2.655735 target range: 187.574280 and range: 188.90 m.b%)@Z!r!j)R)J)B1~1~5zB}9|9|9|9|=:@i yB靍 ;I)?>I)A C<)@i)@imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768258EEEE3EHHCH~IH7{BHHHHך<HEHŚCHŚCHH =I = I`04ԙ 6G ~G A A N > BDAT read: Rx Time:14:05:52.6673 % TRx dataTimestamp_ set to:1749132353.927388% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021248AD,{iA9>/>>f?Y>DZWy>B>>H?fR??\?п`?`g?? >/>>v;)>CF0{BJzITIZ$IZ<3b= b\=yb%:Q b>٥dd fHf Fj= j>hzG5jd?zG59jv IjBy| ?@j>7Eij=j=jSG57A}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 187.57 m.Z;Z;  ProNav pure pursuit: ac range: 187.574280 m, nav range: 146.517731 m, bearing: 152.239345 deg, approach rate: 0.299936 m/s, LOS rate: 0.191235 deg/s, cmd heading: 152.162435 deg, new cmd heading: 152.239345 deg.  HeadingCmd: 2.657078 target range: 187.574280 and range: 188.90 m.b  *@Z r j1R1J9B9~A~A}A|A|A|I|Me @ yBIP= h@< *@i *@iEyEyEyE}O0Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274763) 6Ga I R=I C=:J ]BJ TJJ @RJ ZJ ]:bJ :9J J4J ~G9 AI Aa Nm >2-%D,FiA9JK>Js?YJWyJ">JH?` @#?@:p?`? TCп*?+?-? JK>J;)HV`{BVI Zp=Za=xEMb@Mb@Mb@AAA A)AYE?lyEf&?EEEA A)E~@IEAAyE@I]I]?13m= m?=yuװ9Q u>٥yy }Hy= >G5x?G59r IBy&?:r?@B7EiI::YWG56AxEFNOT Ignoring new targets: 187.57 m.;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526215;]  ProNav pure pursuit: ac range: 187.574280 m, nav range: 146.658142 m, bearing: 152.333707 deg, approach rate: 0.353103 m/s, LOS rate: 0.237071 deg/s, cmd heading: 152.239343 deg, new cmd heading: 152.333707 deg. HeadingCmd: 2.658725 target range: 187.574280 and range: 188.90 m.b(*@ZrjRJB~~zB})||A|A|E[@ zB靽DI8 <<(*@i(*@iKt;P"K9*K2Kq:Kn3[?Sbpc[#ZZi.cMtki*fn.EEEEP0EQ DAT read: 14:05:52.6673 LVL= 18784, 19921, 20402, 24547, AGC= 63, IDX= 448, 0.08,-2.328,-2.668, 1.852, 2.879, PHS= 1.164, 0.783,-1.030, RAW= 39.4, -9.1, CAL= 42.7, -15.3, ROT= 107.3, 15.3  Ygot valid direction response: 14:05:52.6673 LVL= 18784, 19921, 20402, 24547, AGC= 63, IDX= 448, 0.08,-2.328,-2.668, 1.852, 2.879, PHS= 1.164, 0.783,-1.030, RAW= 39.4, -9.1, CAL= 42.7, -15.3, ROT= 107.3, 15.3  PDAT read: Bearing 107.3, 15.3 (Local)  ~Local bearing/azimuth received: Bearing 107.3, 15.3 (Local)  DAT read: Range 10 to 50 : 145.5 m (Round-trip 194.1 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.286835,0.920922,-0.263873]6G  Fpublishing direction and range infoy y}  Z[ҿ0x?&Kп} CYy  } `I)} MI} Oi} _} ?} ?} rH?} ׃ } x 0?)} "I} >?i} ܸ} ?} ܸ> y )y } !]&7?.As.Ŀi} Q+} 8"">} ?} ܸ> y )y m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.H >H H IH {BH  =H H H ٚ<H ~G A A N >+D,iA9=|=>=l$?Y=Vy=5>=H?f?@w$? Z? пѪ??? =|=>i=[φ;)=C{BIII>= <=y9Q >٥ H!F6= >EG5?EG59n IByAMl?M@G7Ei#<L#<%[G5UBU>6AUvEZ)b-uiA-{C-{C-u; @ʁ-(tĶD'ޡ`@6 C- Z[ҿ0x?&Kп-?-ܸ>ҁ-C]]:U@_75-鿞TK?PȖD}z-B-j-PY˜?r-S˓ -rB-킫Ɯ?-1  )-C-L (@ addTargetRange:: Added new target pos. range: 145.500000 m, deltaT: 12.096043 s, deltaX: -43.399994 m, approachRate: -3.587950 m/s, rangeRepo size: 3  Added new target pos. range: 144.483932 m, bearing: 143.447374 deg, lat: 36.906378 deg, lon: -122.116009 deg, deltaT: 12.096043 s, deltaX: -43.090347 m, approachRate: -3.562351 m/s, posRepo size: 2 =FNOT Ignoring new targets: 144.48 m.EAU ProNav: ac range: 144.483932 m, nav range: 148.965027 m, bearing: 150.447922 deg, approach rate: 0.000000 m/s, LOS rate: 0.237071 deg/s, cmd heading: 152.333709 deg, new cmd heading: 152.640933 deg. U"<]HeadingCmd: 2.664087 target range: 144.483932 and range: 145.50 m.b]f*@ZyryjyRyJB~~}|||0b@|? zB8I3 FB9< f*@  i f*@iԑ],DAT read: user:1911> eBDAT read: Tx time:14:05:54.0691 m$Ping request sent.mz2D,eiAtt JDAT read: TxSync time:14:05:54.0683 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261286-{B5I:J^BJWJJ>RJZJ} :bJG9Jt4JMb@Mb@Mb@ )YK7?S㥫~jthyI,?/]DA 5@)h@Iy@II2cE= "=yQ >٥ H"F >-G5?-G59i IBy-,?-:-?-@L7Ei;=:_G59=5A=sEFNOT Ignoring new targets: 144.48 m.Ӆ;Ӆ; ProNav: ac range: 144.483932 m, nav range: 149.123871 m, bearing: 150.562542 deg, approach rate: 0.324634 m/s, LOS rate: 0.234002 deg/s, cmd heading: 152.640931 deg, new cmd heading: 152.984420 deg.  <HeadingCmd: 2.670082 target range: 144.483932 and range: 145.50 m.b*@ZrjRJB~~zB}||||Q? MzBMyQIUb- QQU04<}*@yyi}*@i1E5?E1E1E=R0E9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505737i K (;P"K *K 2K r:K ;sq7Rns 6@l8z t_AK0h)~=J ?J ?6G1 ~G A! A1 N= >09D,R)iA9R>R(2?YR \yR_W>RH`cy? Q']?N? G? -ο~? @k?u? R>R-;)RC^{B^I`bAIjIjT3z,> ~=y~sQ ~?٥ H`<> ? G5 ?G59 f I ByZ?@ P7Ei ": : .bG5!% 5A-pEiFNOT Ignoring new targets: 144.48 m.s;s; ProNav: ac range: 144.483932 m, nav range: 149.210617 m, bearing: 150.634214 deg, approach rate: 0.278351 m/s, LOS rate: 0.229848 deg/s, cmd heading: 152.984421 deg, new cmd heading: 153.199312 deg. <HeadingCmd: 2.673832 target range: 144.483932 and range: 145.50 m.b +@ZrjRJB~~}!|!|||C? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757639 = zB=^Io( ֒1< +@i +@iH->H)H-IH-{BH- =H)H)H-<H-EԙE?EEE_0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0094756G  ~G A A N >;?D,&iA9J ?J:?YJ(\yJj>JH ?`%?=?"?@Ϳ?`K? ? J ?Jć;)HV{BVIIbIb#3j5= jN=yjАQ j>٥ll nHn#Fr= r>tzG5v?zG59vnb IvByxz&?~@vT7Eiv:ve:veG54A%B*** querying acoustic contact ***J!R!15FNOT Ignoring new targets: 144.48 m.=a;=a;U ProNav: ac range: 144.483932 m, nav range: 149.317017 m, bearing: 150.728700 deg, approach rate: 0.278575 m/s, LOS rate: 0.247207 deg/s, cmd heading: 153.199313 deg, new cmd heading: 153.482566 deg. U)<]HeadingCmd: 2.678776 target range: 144.483932 and range: 145.50 m.b]q+@ZarajaRaJaBa~i~i}i|i|q|q|u?  zB靥@I," k-<q+@QQiUq+@iYE)E)E)E-0E) Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.26435316GJJ4J./:J] bBJ] TJJ] DRJY ZJ] :bJ] :9J] 4JY ~G A A N >Y 2'FD,iA9>77 ?>A?Y>]y>^?>>H@?@@? >?`*?̿?? F? >77 ?>e;)>CN|BRI=Mb@Mb@Mb@999 9)9Y=X9v?/$y=3?=,=9 9)=Q@I=QA9y=3@IM"IMq3]_= ]A=ye^Q e>٥ai mHm$Fm= m>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513609G5?G59a] IƚBy4? : 2? @Y7Ei<ʓ<\iG5-B-+4AQmmEFNOT Ignoring new targets: 144.48 m.F;F; ProNav: ac range: 144.483932 m, nav range: 149.422821 m, bearing: 150.835658 deg, approach rate: 0.232417 m/s, LOS rate: 0.234785 deg/s, cmd heading: 153.482561 deg, new cmd heading: 153.803204 deg. !!<MHeadingCmd: 2.684372 target range: 144.483932 and range: 145.50 m.bU+@ZQrQjQRQJYBY~a~eF{B}||||?e? UzBU7 i$J&%RWUZ~!JJ~AYg(<+@i+@i9aEEEEm0Eԉ- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766124H5 >H5 CH5 &IH5 I|BH1 H1 H5 1DH5 <H5 %E6G1 Թ ~G A! A9 NU >RLD,B3iA96?6lH?Y6qZy6 >6Hʦ? ![???D˿@?M?? 6?6ֈ;)6CF"|BFIININ 3V|= VV=yV3;Q Z>٥XX ZHX^Đ= ^>`fG5b?fG59bX Ib˚Bydf9?j@b]7Eib:b^;blG5ln3AlFNOT Ignoring new targets: 144.48 m.a;a;- ProNav: ac range: 144.483932 m, nav range: 149.511200 m, bearing: 150.932193 deg, approach rate: 0.252087 m/s, LOS rate: 0.275187 deg/s, cmd heading: 153.803197 deg, new cmd heading: 154.092627 deg. -<<5HeadingCmd: 2.689424 target range: 144.483932 and range: 145.50 m.b5,@Z9r9j9R9J9B9~A~A}A|A|A|I|MJU@ %zB%TE9E%?E)E)E-n0E)6G ȹ ZG ARG E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271788~G A A N >SD,PiAiD|B$IuMb@Mb@Mb@qqq q)qYuOn?Zd;{Gzyu8?uyu#uAA q)u@Iu`@qyuG@I IV2؃= =yQ >٥ H%F  > G5 R?G59 1R I ϚBy@9?:=o4?]@ c7Ei V< $< KqG5img3AujEFNOT Ignoring new targets: 144.48 m.;; ProNav: ac range: 144.483932 m, nav range: 149.645767 m, bearing: 151.069205 deg, approach rate: 0.250810 m/s, LOS rate: 0.255137 deg/s, cmd heading: 154.092633 deg, new cmd heading: 154.503293 deg. /<HeadingCmd: 2.696591 target range: 144.483932 and range: 145.50 m.b,@Zr j R JB~!~%:{B})|)|1ԙ|1|@ zBUaR=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522843>EEE?EAEAEEm0EAK sZP"K @9*K 2K t:K $i$UQC;6+L6HuLS$=\v0$J ?J ? 6Ga ~GA AY Aq N} >qZD,liA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7736409J8t%?J]?YJiQyJb>JH ?@r?@PY? ? ʿ1?? ?P J8t%?J';)JCZR|BZ,IIbIb2j = jU=yjȰ;Q j>٥ll nHn&Fre> r>tzG5vK?zG59v+M IvњByxzI?z@vg7Eivm:v:vtG5B,3AeEH%>H!H%XIH%|BH% =H!H!H%<H%EFNOT Ignoring new targets: 144.48 m.=p;Ep;M ProNav: ac range: 144.483932 m, nav range: 149.719635 m, bearing: 151.168171 deg, approach rate: 0.189907 m/s, LOS rate: 0.254306 deg/s, cmd heading: 154.503291 deg, new cmd heading: 154.800041 deg. U.<}HeadingCmd: 2.701770 target range: 144.483932 and range: 145.50 m.b},@ZyryjyRyJyBy~~}|||| @ zBwp=I)> ?IP < ,@  i ,@iDDDD:Ju[BJu[JJu@RJqZJu:bJuW9JuJ4JqzJu:jJu:Ju{|:rJu~|:BDAT read: Rx Time:14:05:56.6688  TRx dataTimestamp_ set to:1749132357.965239checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029005EU?EQEQEUl0EQ! 6G5 ~G A A1 N= >bD,KiA9>s,?>Ad?Y>My>(3>>H?}Wu[?e?>?)ɿ@??@? >s,?>FÉ;)٥dd fHdf߅= E>IUG5M#?UG59MF IMӚByY]Q?]@Mm7EiM%:M:MoxG5ae2AaB*** querying acoustic contact ***JRFNOT Ignoring new targets: 144.48 m.+;+; ProNav: ac range: 144.483932 m, nav range: 149.800095 m, bearing: 151.287720 deg, approach rate: 0.192125 m/s, LOS rate: 0.285309 deg/s, cmd heading: 154.800036 deg, new cmd heading: 155.158483 deg. C<HeadingCmd: 2.708026 target range: 144.483932 and range: 145.50 m.bNP-@ZrjRJB~~}|||| @ 5!zB5 } DAT read: 14:05:56.6688 LVL= 17808, 29777, 28946, 32755, AGC= 62, IDX= 463,-0.11, 2.543, 1.679, 0.303, 1.253, PHS= 1.378, 0.472,-0.953, RAW= 52.7, -8.9, CAL= 59.5, -15.5, ROT= 90.5, 15.5  Ygot valid direction response: 14:05:56.6688 LVL= 17808, 29777, 28946, 32755, AGC= 62, IDX= 463,-0.11, 2.543, 1.679, 0.303, 1.253, PHS= 1.378, 0.472,-0.953, RAW= 52.7, -8.9, CAL= 59.5, -15.5, ROT= 90.5, 15.5  PDAT read: Bearing 90.5, 15.5 (Local)  ~Local bearing/azimuth received: Bearing 90.5, 15.5 (Local)  DAT read: Range 10 to 50 : 146.7 m (Round-trip 195.6 ms) speed 0.0 m/s +G! 9 = R#Rx 1: Read range and direction messages. PY y B `direction in FSK: [-0.008409,0.963594,-0.267238] Fpublishing direction and range info! y% 8q?֚nѿ% CY! % E)% QtI% qi% % >% Nb?% >% s % Cwk?)% Y Q)QU7ϵ`? .,(3ÿiUgUH>U-?Uc> Q)QFT****** received valid address query ******FR****** received valid ping request ******FQuerying Benthos address 50 with one ping in standard two-way mode.Lh|B:IK_@P"K}9*K2Ku:Ko=g)<a',B2cs9PcJAJAMb@Mb@Mb@ )YA`"?ʡE{Gzy9?ףXA @)I3@y@I I2M}_< M(=yMQ U>٥QQ UHU'F] ]>amG5e8?mG59e{@ IeҚBym4:?u:uL?u@er7Eie/:ew:e|G5y}2A}bEZQbUciAUCUCUK@ʁU!^$ Ra@6҆wCU8q?֚nѿU-?Uc>ҁUOK_\tlV@@UF;Sb鿔#v?}J8tzUBUjU)̜?rU| UyBQUS˓  UyBUKCU$@},DAT read: user:1912> BDAT read: Tx time:14:05:57.9191 $Ping request sent.H9H=xIH=|BH= =H9H9H=<H=EH ƛCH H H I  I c5mHeadingCmd: 2.715797 target range: 145.676743 and range: 146.70 m.bu-@ZqrqjqRqJqBq~y~}J{B}y|y||`fVb@|`6pD,6iA9>(;?>cvs?Y>Gy>ϊ>>Hऐ? Vih?`o?`Y?`vȿ??`\? >(;?>};)>Cjn|Bj>III2^< K=yRk;Q >٥!! %H%(F%(> %>)5G5->H?5G59-: I)y9=3[?]@-w7Ei-;-;-G5am2AiFNOT Ignoring new targets: 145.68 m.;; ProNav: ac range: 145.676743 m, nav range: 156.338745 m, bearing: 147.470978 deg, approach rate: 0.117465 m/s, LOS rate: 0.292949 deg/s, cmd heading: 155.603730 deg, new cmd heading: 155.921672 deg.  I<HeadingCmd: 2.721347 target range: 145.676743 and range: 146.70 m.b*.@ZrjRJB~ ~ } | |||? *zB靽}=I)?I)ٻ  <*.@i*.@iEEEEo5E)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503403a6G~G A A N >ԁ [RvD,iA~m|B=I) Mb@Mb@Mb@ )Y㥛 ?ˡEL7A`堿y5?什+A @)I@yf@II2 B=yQ >٥ Hchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754784)Fq >UG5}Z?UG59"4 I͚By]6?]:]EZ?]@|7Ei3<b9<G52A_E9=FNOT Ignoring new targets: 145.68 m.E;E;u ProNav: ac range: 145.676743 m, nav range: 156.388397 m, bearing: 147.590181 deg, approach rate: 0.102702 m/s, LOS rate: 0.246486 deg/s, cmd heading: 155.921676 deg, new cmd heading: 156.279168 deg. u))<}HeadingCmd: 2.727586 target range: 145.676743 and range: 146.70 m.b}Ő.@ZyryjyRyJB~~{B}||||b? 0zBH] CH] IH] |BH]  =HY HY H] ֚<H] E6G ~G :J aBJ XJJ ERJ ZJ :bJ 5K9J 4J zJ ;jJ ;J f:rJ f:A A N >|D,-iA9^=xJ?^c?Y^=Dy^Ί>^H@8?+W?@?@C?6ǿW??? ^=xJ?^x;)^Cjq|Bj?IIrIr(*3< K=y ;Q  >٥   H'> >%G5g?%G59. IɚBy)-i?-@7Ei;;GG5152A5]EYeFNOT Ignoring new targets: 145.68 m.mۢ;mۢ; ProNav: ac range: 145.676743 m, nav range: 156.412674 m, bearing: 147.684955 deg, approach rate: 0.072955 m/s, LOS rate: 0.284763 deg/s, cmd heading: 156.279168 deg, new cmd heading: 156.563441 deg. nC<HeadingCmd: 2.732548 target range: 145.676743 and range: 146.70 m.b.@ZrjRJB~~}||||`? 4zB!=Ia)e@?aIeỻ aae6nԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512193D,iA9R?G+?YL?yg͉>H+?o?঒??3ƿ ?`?i? R?骅ls;)Cԑf|B9IeMb@Mb@Mb@aaa a)aYe&1?X9vlye0?e}ea e@)aIaaye@II[3ȱ (=y;Q >٥ H*F*y= >G5x?G59d' IĚBy1?:w?@7Ei<::G52AZEB*** querying acoustic contact ***JR FNOT Ignoring new targets: 145.68 m. ;; ProNav: ac range: 145.676743 m, nav range: 156.425980 m, bearing: 147.808489 deg, approach rate: 0.027241 m/s, LOS rate: 0.252895 deg/s, cmd heading: 156.563440 deg, new cmd heading: 156.934007 deg. %-<%HeadingCmd: 2.739015 target range: 145.676743 and range: 146.70 m.b-L/@Z)r)j)R)J)B1~1~5zB}1|9|9|9|=? :zB ΉD,")iA9:X?:W?Y:u7y:߈>:H?6 ?@?` ?`p&ſ?@?`? :X?:"#;):CZo|BZ>Ii^=I^>IfIf2nU< n=yn;Q n?٥pp rHpv= v?x~G5z?~G59z" IzBy|~~?~@z7Eiz^;z;zzBew=Ia)eK ?aIet iimR;/@i/@izEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014817 Hu<Hu<H}>HyH}~IH}|BH} =HyH}0DH}<H}EE ?E EE^0EF!F%=:J ^BJ UJJ BRJ ZJ } :bJ >9J -4J zJ _:jJ d:J }Q:rJ Q:96G-ȹ~G A A) N= >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266643D,BiA$9>p_?> ?Y>K/y>3>>H@YP?@v?i?ྫ?Ŀ@?8? ? >p_?>"$;)>CJc|BN7IIVIV2^V ^L=y^;Q b>٥dd fHj+Fj= j>9EG5=}?EG59=/ I=ByIMۂ?U@=7Ei=\;=a];=ؑG5ae2AaFNOT Ignoring new targets: 145.68 m.;; ProNav: ac range: 145.676743 m, nav range: 156.425934 m, bearing: 147.992452 deg, approach rate: -0.007646 m/s, LOS rate: 0.253082 deg/s, cmd heading: 157.170753 deg, new cmd heading: 157.485894 deg. -<HeadingCmd: 2.748647 target range: 145.676743 and range: 146.70 m.b/@ZrjRJB~~}|||| %@ -CzB-i=I1)5?1I5P֐ 19=&;=/@AAiE/@iAiE?EEE_0EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520014ԙ6G~G I! I% @AAA AQ Ne > BD,@\iA9>#g?>?Y> (y>>>H@?Y?h?S ?`!ÿ :? ?L? >#g?>G;)>CJP|BJ+ILEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771014UMb@Mb@Mb@QQQ Q)QYUuV?i|?5ˡEyUr(?UqU'UA U@)U@IU@QyUz@ImIm<2}n+ }>=y}0s;Q >٥ H,Fv= >]G5?]G59 IBy]r)?]:]Ɔ?]@7Ei~::zG5am03AmWEFNOT Ignoring new targets: 145.68 m.J;J; ProNav: ac range: 145.676743 m, nav range: 156.414963 m, bearing: 148.093072 deg, approach rate: -0.025029 m/s, LOS rate: 0.229568 deg/s, cmd heading: 157.485898 deg, new cmd heading: 157.787777 deg. <HeadingCmd: 2.753916 target range: 145.676743 and range: 146.70 m.b*@0@ZrjRJB!~!~-zB}9|9|A|A|EH@ -IzB-=HPJ>J>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022583Hy Hy H} qIH} |BH}  =Hy Hy H} <H} E6G ) ~G A A! N= > D,viA9:wqn?:_?Y: y:x>:H? ?W̙? %4?͎? ¿@?`h?? :wqn?:!;):CNC|BN#IIVIV(*3^P ^W=y^;Q b>٥`` bH`f= f>hnG5j?nG59j IjBylnk?r@j7Eij+;j;j˘G5tvf3At|QFNOT Ignoring new targets: 145.68 m.;;- ProNav: ac range: 145.676743 m, nav range: 156.398239 m, bearing: 148.184807 deg, approach rate: -0.046065 m/s, LOS rate: 0.252711 deg/s, cmd heading: 157.787779 deg, new cmd heading: 158.063012 deg. 5n-<5HeadingCmd: 2.758720 target range: 145.676743 and range: 146.70 m.b5ގ0@Z9r9j9R9J9B9~A~A}A|A|I|I|M` @ OzB靽=I)>Ik ;ގ0@iގ0@i)UBDAT read: Rx Time:14:06:00.5197 ]TRx dataTimestamp_ set to:1749132361.996682echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277478E?EEE|0EQ6Gȹ~G A A N >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526724!D,_iA9u?4 ?Y(my.>H[?? ?? ? C ,? ?`? u?骭܊;):JdBJXJJ@RJZJ<:bJ5K9JJ4J@@@@K|B(IMb@Mb@Mb@ )YPn?ktly$? 0 A @)@Ih@yQ@I I(2Y< #=yc;Q >٥ H-Fj= >Q]G5U?eG59U IUBye$?e:e?e@U7EiU;Uh;UUG5B@3AVEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 145.68 m.;;  ProNav: ac range: 145.676743 m, nav range: 156.360260 m, bearing: 148.306419 deg, approach rate: -0.073196 m/s, LOS rate: 0.234435 deg/s, cmd heading: 158.063008 deg, new cmd heading: 158.427925 deg.  <HeadingCmd: 2.765089 target range: 145.676743 and range: 146.70 m.b80@Z9r9j9R9J9B9~A~E"zB}A|A|I|I|M@ UzBI`KK >;80@i80@iDAT read: 14:06:00.5198 LVL= 19120, 26721, 29362, 32099, AGC= 64, IDX= 456,-0.21,-2.168,-2.963, 2.113, 2.951, PHS= 1.252, 0.417,-0.841, RAW= 53.4, -9.1, CAL= 60.6, -16.0, ROT= 89.4, 16.0 Ygot valid direction response: 14:06:00.5198 LVL= 19120, 26721, 29362, 32099, AGC= 64, IDX= 456,-0.21,-2.168,-2.963, 2.113, 2.951, PHS= 1.252, 0.417,-0.841, RAW= 53.4, -9.1, CAL= 60.6, -16.0, ROT= 89.4, 16.0 PDAT read: Bearing 89.4, 16.0 (Local) ~Local bearing/azimuth received: Bearing 89.4, 16.0 (Local) DAT read: Range 10 to 50 : 147.3 m (Round-trip 196.4 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.010066,0.961209,-0.275637]Fpublishing direction and range infoQyU5?{[9? ѿULCYQ UJ)UahIUriUc}U@UA?U>E?EEE`0EIUKW Un?)U"IUa?iU5U?U5> Q)QUP_ ?kpHS+FĿiU蔿U">U?U5> Q)QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ 6G &= TFailed to parse incomplete device message.~G A A N >j~D,iA9F }?Fl?YFyFC>FH6?`??U?ܿ@ ?`?? F }?Fĺ;)Dr5|BrIԱ,DAT read: user:1913> BDAT read: Tx time:14:06:01.9192 $Ping request sent.HQHUeIHU|BHU =HQHQHU<HUEImIm 3S H=yץ;Q >٥ H%.Fe@= m>G5?G59 IBy\?@7Ei:):נG53ASEZbiAECEC41@ʁl•̎?m%ga@V4(D5?{[9? ѿ?5>ҁԶ)a(ʡJ@`nc i7E̤2N?@(} !zUB5jQnŜ?r sB$  \C.@J9J9 addTargetRange:: Added new target pos. range: 147.300003 m, deltaT: 4.031403 s, deltaX: 0.600006 m, approachRate: 0.148833 m/s, rangeRepo size: 4  Added new target pos. range: 146.270203 m, bearing: 158.642428 deg, lat: 36.906378 deg, lon: -122.116133 deg, deltaT: 4.031403 s, deltaX: 0.593460 m, approachRate: 0.147209 m/s, posRepo size: 4  FNOT Ignoring new targets: 146.27 m.  } ProNav: ac range: 146.270203 m, nav range: 145.362579 m, bearing: 156.341898 deg, approach rate: 0.000000 m/s, LOS rate: 0.234435 deg/s, cmd heading: 158.427932 deg, new cmd heading: 158.748960 deg. yHeadingCmd: 2.770692 target range: 146.270203 and range: 147.30 m.bS1@ZrjRJB ~~}|||ib@|#? \zBI- $Q;S1@iS1@iA JDAT read: TxSync time:14:06:01.9184  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254352E ?E E E ^0E 1 6G!a~GYAaAN?D,JiA9fB?f)/?Yf;yf>fH u!? ?଄?T??? ? fB?f;)fC0|BII"Iq3eD e3=ym;Q m>٥ii mHm/Fu> u>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504295%G5N?%G59y IBy!%ߛ?%@7EiK:6:G5153AFNOT Ignoring new targets: 146.27 m.;; ProNav: ac range: 146.270203 m, nav range: 145.345016 m, bearing: 156.459434 deg, approach rate: -0.041520 m/s, LOS rate: 0.277896 deg/s, cmd heading: 158.748964 deg, new cmd heading: 159.101611 deg. ><EHeadingCmd: 2.776847 target range: 146.270203 and range: 147.30 m.bEܷ1@ZyryjyR:JZBJTJJRJZJ9bJ:9J)JJaBi~i~i}q|q|q|q|}`c? bzB靍ߖI ;ܷ1@iܷ1@iQE?EEEEFF=)T> XC} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756210 A A = Y= Ay= By 6G ~G A A N >D,viAKzP"Kz}9*Kx2Kzz:Kz_,}>c+GId*QVxsAl~!@Bn*a M4|BUIMb@Mb@Mb@ )YZd;O?X9vMbyj?/ A )@IQ@y\@I I 2B< -=y%Q %>٥!! -H)- ->1=G55?=G595 I5ByE?E:E?E@57Ei5:5:5ۨG5IM3AQy}FNOT Ignoring new targets: 146.27 m.1;1; ProNav: ac range: 146.270203 m, nav range: 145.325302 m, bearing: 156.568505 deg, approach rate: -0.045565 m/s, LOS rate: 0.252124 deg/s, cmd heading: 159.101607 deg, new cmd heading: 159.428861 deg. -<HeadingCmd: 2.782558 target range: 146.270203 and range: 147.30 m.bp2@ZrjRJB~~yB}||||%? fzB=I))->)I-/~ ))- ;5p2@19i=p2@i9}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008903H>HHXIH|BHHHHҚ<HEH}ÚCHyHyH} =I} = I}x5!E?EEEw0EI6G= ȹ~G! A) A9 NM >q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258904lD,7iA9B)nj?B?YByB>BH ?@}`r&??@0?U>?%?? B)nj?Bt;)BCN<|BRII^I^(*3f< fc=yj٥hh nHn0Fn"> n>pvG5rM?vG59r IrByxzz?z@r7EirK:r:rG5%x3A%QEYYeFNOT Ignoring new targets: 146.27 m.e;m;u ProNav: ac range: 146.270203 m, nav range: 145.298416 m, bearing: 156.654652 deg, approach rate: -0.073625 m/s, LOS rate: 0.235948 deg/s, cmd heading: 159.428855 deg, new cmd heading: 159.687340 deg. !<HeadingCmd: 2.787070 target range: 146.270203 and range: 147.30 m.bZ_2@ZrjRJB~ ~ } | | ||? jzB靥wIx&ͺ $ž;Z_2@iZ_2@iԑE?E E E 0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511119Ա6GQ :J [BJ WJJ ARJ ZJ :bJ G9J 4J ~Ga Ai A N > D,5%iAR|B,IԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764060Mb@Mb@Mb@ )YʡE?~jtx?Mby?; A j@)@I;@y@I% I%̍2EF= E5=yEQ U>٥QQ UHU1F] ]>a}G5e?}G59e IeBy?:?@e7Eieэ;e;eG5 3ANEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 146.27 m.;; ProNav: ac range: 146.270203 m, nav range: 145.250534 m, bearing: 156.763487 deg, approach rate: -0.105345 m/s, LOS rate: 0.239526 deg/s, cmd heading: 159.687337 deg, new cmd heading: 160.013945 deg. b$<HeadingCmd: 2.792770 target range: 146.270203 and range: 147.30 m.b2@ZrjRJB~~yB}||||җ@ ozB5Iԕ ;2@!i%2@i!E?EEEN1EKm@P"Km9*Ki2Km{:Km~C S%lkL$V.Ecaipj:#+BGJu?Ju>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016979 H <H p<H >H H RIH |BH H H H <H 9E6G ZG ARG A~G A A N% >A D,N6iA9~54?~[?Y~7'мy~ć>~H|?M@q?`X?R?`/?`}?? ~54?~⠇;)~C%V|B%/II5I5M3E=< E]=yE,b٥II MHIUt > U>YeG5]N?eG59] IYyimn?u@]7Ei] B;]e;]0G53AFNOT Ignoring new targets: 146.27 m.x;x; ProNav: ac range: 146.270203 m, nav range: 145.200897 m, bearing: 156.851002 deg, approach rate: -0.136286 m/s, LOS rate: 0.240371 deg/s, cmd heading: 160.013943 deg, new cmd heading: 160.276578 deg. $<HeadingCmd: 2.797354 target range: 146.270203 and range: 147.30 m.b3@ZrjRJB~~}||||h]@Q szB =I)>IP F;3@i3@iE?EEEa5E L?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267275ԉԩ6G~G A A N > D,@PiA*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5207149n??n&?Yn"I¼yna_>nH9?`x@?@?`M?@NH?? D? n??n-;)lԱIiImAA:JgBJJJERJZJ%:bJJ4J]r|Be@IMb@Mb@Mb@ )YS?~jty?D A )I$@yp@I I̍2%C= %=y%kD;Q %>٥)) -H-2F5>= 5>9EG5='?EG59= I=ByE?M:Ma?M@=7Ei=:=t:=G52A)MFNOT Ignoring new targets: 146.27 m.U#;U#;u ProNav: ac range: 146.270203 m, nav range: 145.121979 m, bearing: 156.981979 deg, approach rate: -0.134927 m/s, LOS rate: 0.224052 deg/s, cmd heading: 160.276577 deg, new cmd heading: 160.669713 deg. u<}HeadingCmd: 2.804215 target range: 146.270203 and range: 147.30 m.b}Dx3@ZrjRJB~~yB}|||| @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771891 }yzB靅w < I)% \>! I% Tga ! ! - ;- Dx3@1 1 i5 Dx3@i1 E ?E E E n0E 1 K $P"K }9*K 2K |:K 0y:] LkzDCkrUx4)4k~>J 6G=jGE?bGE ?aץAסBDAT read: Rx Time:14:06:04.5194 TRx dataTimestamp_ set to:1749132365.778951checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028710H>HH_IH|BHHHHš<HE~GA!AN?'D,intiA9F?F,?YFyF >FH`j?9+?`ڤ?m?@ q?ྍ?`? F?F;)DiPP)P PIP T)TTTTTXiXIXXIXi^A \\)\\ ^QAbbF```Ib)`id)dIddd dhhhiٯԑ|BPIII?13r= E=y%;Q >٥ H3F= %>YG5]@?G59]X IYyն?@]7Ei]<]i^<]޻G5;2AFNOT Ignoring new targets: 146.27 m.MŅ;MŅ;] ProNav: ac range: 146.270203 m, nav range: 145.055801 m, bearing: 157.080830 deg, approach rate: -0.156520 m/s, LOS rate: 0.233906 deg/s, cmd heading: 160.669709 deg, new cmd heading: 160.966396 deg. ] <eHeadingCmd: 2.809394 target range: 146.270203 and range: 147.30 m.be3@ZarajaRJB~~}||||@~ @ 5}zB5=I1)5{?1I=gS9 99=;e3@aiim3@iiE?EEE0E]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2750676G9 ~G ! A) A9 N] >/hD,4JiA9:z?:?Y:y:>:HCǾ?߶ :?? PF?@a㪿 ?Q?? :z?:n_;)85|B5_IIE IE(2e{= eR=ym:Q m>٥ii mHchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528383 = %>YG5]?G59] I]ByI?@]7Ei]@<]r<]eG5B1ALEIIa=!FNOT Ignoring new targets: 146.27 m.Y;Y; ProNav: ac range: 146.270203 m, nav range: 144.987488 m, bearing: 157.173369 deg, approach rate: -0.140339 m/s, LOS rate: 0.190196 deg/s, cmd heading: 160.966399 deg, new cmd heading: 161.244145 deg. <-HeadingCmd: 2.814241 target range: 146.270203 and range: 147.30 m.b-4@Z)r1jQRQJYBY~Y~Y}a|a|a|a|ew@ zBn =I)i?I?A: E;4@!i%4@i!QE?EEEo0E DAT read: 14:06:04.5194 LVL= 21104, 32753, 24690, 30035, AGC= 62, IDX= 436,-0.11,-2.378, 2.360, 1.810, 2.421, PHS= 1.572,-0.014,-0.614, RAW= 74.6, -9.7, CAL= 85.4, -18.7, ROT= 64.6, 18.7  Ygot valid direction response: 14:06:04.5194 LVL= 21104, 32753, 24690, 30035, AGC= 62, IDX= 436,-0.11,-2.378, 2.360, 1.810, 2.421, PHS= 1.572,-0.014,-0.614, RAW= 74.6, -9.7, CAL= 85.4, -18.7, ROT= 64.6, 18.7 - PDAT read: Bearing 64.6, 18.7 (Local) 5 ~Local bearing/azimuth received: Bearing 64.6, 18.7 (Local)  DAT read: Range 10 to 50 : 147.0 m (Round-trip 196.0 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.406292,0.855648,-0.320613] Fpublishing direction and range infoi ym \T?ζ xa?C.jԿm CYi m pR)m Im r`im Sum >m L7?m B`em / m r?)m -\-Im ɾ?im m ZQ?m > i )i m [b%? U/v xֆſim eJm 9 ->m ZQ?m > i )i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.q 6G ȹ~G A A N >RWD,_iA9N6?N)?YN=yN >`NH-÷?">??Ҁ?@7@I?p?? N6?Nц;)NCE|BEmIK5P"KK9*K2K}:Kt\]G!.?HoY=E<kk/ss5I `UZ'\w;:J?J?Mb@Mb@Mb@ )Yjt?~jtI +y ?ļ94/ A S@)p@I@y@I5I52E<= E)=yEv6Q M>٥II MHM4FUt= U>YeG5]?eG59]| I]Bye ?e:e?m@]7Ei]w:]:]^G5qux1AqZbiACC"(@=,DAT read: user:1914> =BDAT read: Tx time:14:06:05.9692 E$Ping request sent.EGQGU@AH]>HYH]xIH]|BH] =HYHYH]<H]EҁX!7(_ڍ;Q@zbڛ'Wg\j?DE&zNBAjHo5ɜ?rlc MBHo5ɜ?lc  sB~C(@- addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 4.032392 s, deltaX: -0.300003 m, approachRate: -0.074398 m/s, rangeRepo size: 4 = Added new target pos. range: 145.972702 m, bearing: 150.496304 deg, lat: 36.906441 deg, lon: -122.115957 deg, deltaT: 4.032392 s, deltaX: -0.297501 m, approachRate: -0.073778 m/s, posRepo size: 4 AEFNOT Ignoring new targets: 145.97 m.MI ProNav: ac range: 145.972702 m, nav range: 145.494888 m, bearing: 150.495878 deg, approach rate: 0.000000 m/s, LOS rate: 0.190196 deg/s, cmd heading: 161.244142 deg, new cmd heading: 161.469425 deg. HeadingCmd: 2.818173 target range: 145.972702 and range: 147.00 m.b\4@ZrjRJB~~!zB}|||`b@| ~? }zB}D,giA 9B#?B ?YByBM>BH? Y? u?@e?@,Ֆ?x?? B#?Bk;)BCr|BrII~I~2=  N=y 9Q  >٥ H5F= >%G5?-G59 IBy)-?-@7Ei:!;G5AE1AAB*** querying acoustic contact ***JR FNOT Ignoring new targets: 145.97 m.`;`;% ProNav: ac range: 145.972702 m, nav range: 145.393829 m, bearing: 150.585913 deg, approach rate: -0.265509 m/s, LOS rate: 0.236710 deg/s, cmd heading: 161.469429 deg, new cmd heading: 161.739718 deg. %s"<UHeadingCmd: 2.822891 target range: 145.972702 and range: 147.00 m.bU=4@ZQrQjQRQJQBY~Y~Y}Y|a|a|a|e8/? zBe7=I)?IC: {;=4@!!i%=4@i)IE?EEEf5E9=AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504529q6Gȹԡ ~G A A N >LD,2iA@Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7573779MvK?M]r?YM ļyMI>MH=s?F?@?xY@? ?? MvK?M膈;)MC]|BeIonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.63, 63.70, 73.74 aI@a aM@a aQ@a aE@a I I̍2,= >=yxQ >٥ H> >G5?G59յ I+:y:N?@7Ei<!>G5j0AFNOT Ignoring new targets: 145.97 m.w;w;U ProNav: ac range: 145.972702 m, nav range: 145.270355 m, bearing: 150.680477 deg, approach rate: -0.282818 m/s, LOS rate: 0.216783 deg/s, cmd heading: 161.739713 deg, new cmd heading: 162.023643 deg. U<]HeadingCmd: 2.827846 target range: 145.972702 and range: 147.00 m.b]n4@ZYrYjaRaJaBa~~}|||| ?Ա zB[0=I)w?IIc ; (·;n4@in4@iEEEEP5EKNP"K9*K2K~:Kx- 4 <ZU5Dumv`mF(xWWN J J Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875H]>HYH]IH] }BHYHYH]1DH]ޚ<H]E6G  ~Ga A A N >J{e4J{e4J{:0:J bBJ ]JJ ERJ ZJ :bJ _9J 4J zJ H ;jJ J ;J h:rJ i:D,"iAl9v(?vwO?Yv*żyv؇>vH>{??(@??@ ? v(?v ;)vC=}B=IIM&IM3]Br= ]R=yeQ e>٥aa eHm6FmӞ= m>qG5u?G59ua Iq :y]:.?@u7Eiu;u S?uG5B0AKEFNOT Ignoring new targets: 145.97 m.;; ProNav: ac range: 145.972702 m, nav range: 145.152100 m, bearing: 150.765064 deg, approach rate: -0.325045 m/s, LOS rate: 0.232691 deg/s, cmd heading: 162.023644 deg, new cmd heading: 162.277611 deg. <HeadingCmd: 2.832278 target range: 145.972702 and range: 147.00 m.b D5@ZrjRJB ~~}||||]? EzBM4cK=II)M!?IIU(; QQU=;] D5@YYi] D5@iYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259623E?EEEP0E)6G!jG5?bG5 ?~G A A) N5 >Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511048E,iA9>Ż?>?Y>y>%>>H!F D@? 7? fdu??@ ? >Ż?>a;)>CzD}BzIII<2= P=y@;Q >٥ H7F%P= %>)5G5I-;?UG59-ި I-Bm9yq}3:}?}@-7Ei-"><-?-G5M/AY]FNOT Ignoring new targets: 145.97 m.eT;eT; ProNav: ac range: 145.972702 m, nav range: 145.026978 m, bearing: 150.849281 deg, approach rate: -0.276118 m/s, LOS rate: 0.186008 deg/s, cmd heading: 162.277604 deg, new cmd heading: 162.530470 deg. O;HeadingCmd: 2.836692 target range: 145.972702 and range: 147.00 m.b\5@ZrjRJB~~}||||`q? zB%`@=I!)%W,?)I-Q; ))-p;M\5@IIiM\5@iQqZAAA 5 Y5ZAyE\ BE?EEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763148ԑ 6G ~G A A N% >% E,.iA9>I?>o?Y>Y̫y>UJ>>H@A@?N?g,O?$y?`%?? >I?>ȉ;)HCHIH[}BH =HHH<HEHHHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991H =I Iz5II2 = 2=y;Q >٥ H\x= >G5?G591 IBT:y2#?:?@7Ei'<n:G5!%/A!qFNOT Ignoring new targets: 145.97 m.:;:; ProNav: ac range: 145.972702 m, nav range: 144.893906 m, bearing: 150.951781 deg, approach rate: -0.327103 m/s, LOS rate: 0.252188 deg/s, cmd heading: 162.530471 deg, new cmd heading: 162.838253 deg. -<HeadingCmd: 2.842064 target range: 145.972702 and range: 147.00 m.b_5@ZrjRJB~~zB}||!|)|-ۭ@ uzBu9Q=Iy)};0?yI}v; yy}Pa;:JM_BJMSJJMDRJIZJM :bJMy69JM4JIzJM+:jJM0:JM(C:rJM*C:e_5@iiim_5@iiE?EEE E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669626G  ~G A A N > E,ИHiA9:4?:*?Y:ty:j>:H $??Wx@?>.?`?`.? :4?:ۉ;)8Fb}BFIININ(*2^P= ^q=y^ t;Q b?٥`` bHb8Ff= f?hnG5j$?nG59j IjBylr?r@j7Eijo;j8;jG5tv.AtFNOT Ignoring new targets: 145.97 m.n;n;= ProNav: ac range: 145.972702 m, nav range: 144.790024 m, bearing: 151.026656 deg, approach rate: -0.318611 m/s, LOS rate: 0.229810 deg/s, cmd heading: 162.838253 deg, new cmd heading: 163.063038 deg. =<EHeadingCmd: 2.845987 target range: 145.972702 and range: 147.00 m.bE$6@ZArAjARAJABI~I~I}I|Q|Q|Q|U@*@ EzBE@m=IA)E2?AIM%; IIM^S;U$6@qqiu$6@iyE ?E E E _0E -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518889)6GZG)RG)Y~G AA A N >ԁ 8E,:ybiA F>F=Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772770m}BmIMb@Mb@Mb@ )Yx&1?MbXy&1y!?ʽ` A =@)@I@y@I5I5(*E= E4=yMQ M>٥IIQ UHU9F] ]>amG5e?mG59eړ IeBym#?m:mr?u@e7Eie;e;eG5y}Z.AyB*** querying acoustic contact ***JRFNOT Ignoring new targets: 145.97 m.~;~;M ProNav: ac range: 145.972702 m, nav range: 144.656708 m, bearing: 151.128901 deg, approach rate: -0.290983 m/s, LOS rate: 0.223370 deg/s, cmd heading: 163.063035 deg, new cmd heading: 163.370048 deg. ML<UHeadingCmd: 2.851345 target range: 145.972702 and range: 147.00 m.bUq|6@ZQrYjYRYJYBY~a~ezB}a|a|a|i|m@ zB靽rW=I)9?I'; ʨB; q|6@iq|6@iԁEEEEEKAP"K9*K2K:KHhg$&z}bmM' ?|xibE2ZdQmp#r|5kEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024299H>HHIH}BH =HHH<H+EJeAJaԩ6G! ~G A A! N- >:Ju ^BJu VJJu CRJq ZJu } :bJu B9Ju 4Jq zJu ^:jJu c:Ju X:rJu X: aE,HO|iA9> ?>?Y>Sy>y>>H@ſYz1? =?Hſ?9? zD? ? > ?>@;)>C}B II5I5[3e= eZ=ymu٥y H> >G54?G59 I{By?@7Ei^q;r;-G5B-AIE!-FNOT Ignoring new targets: 145.97 m.-t;-t;] ProNav: ac range: 145.972702 m, nav range: 144.534195 m, bearing: 151.210980 deg, approach rate: -0.318161 m/s, LOS rate: 0.213338 deg/s, cmd heading: 163.370052 deg, new cmd heading: 163.616498 deg. ]i<eHeadingCmd: 2.855647 target range: 145.972702 and range: 147.00 m.be6@ZarijiRiJB~~}||||@ @Ա -zB5Gt=I1)5@?1I5Ȳ; 99=3;=6@AAiE6@iABDAT read: Rx Time:14:06:08.5682 TRx dataTimestamp_ set to:1749132370.059476checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276203EEEEo0E 6G ~G A A N >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5270259 L%E,9iA9mM6?m3]?Ymdym퉋>mH"ɿ 1@?@_?@tȿQ??@9?? mM6?mό;)mC=}BEII}I}m?3; 6=yڮ;Q M>٥Ya H:F7y= >G5?G59 IpBy?@7EiK;K;MG5-A15FNOT Ignoring new targets: 145.97 m.=Cu;=Cu;m ProNav: ac range: 145.972702 m, nav range: 144.373917 m, bearing: 151.312125 deg, approach rate: -0.339412 m/s, LOS rate: 0.214425 deg/s, cmd heading: 163.616499 deg, new cmd heading: 163.920266 deg. m(<uHeadingCmd: 2.860948 target range: 145.972702 and range: 147.00 m.bu7@ZqryjyRyJyB~~}||||๾@ EzBM`=II)MA?QI); ";7@  i 7@iADAT read: 14:06:08.5682 LVL= 25936, 32753, 30370, 32755, AGC= 64, IDX= 424,-0.31,-2.042, 2.720, 2.873,-2.872, PHS= 0.918,-0.644,-0.542, RAW= 93.4, 3.6, CAL= 101.7, 1.7, ROT= 48.3, -1.7 Ygot valid direction response: 14:06:08.5682 LVL= 25936, 32753, 30370, 32755, AGC= 64, IDX= 424,-0.31,-2.042, 2.720, 2.873,-2.872, PHS= 0.918,-0.644,-0.542, RAW= 93.4, 3.6, CAL= 101.7, 1.7, ROT= 48.3, -1.7 PDAT read: Bearing 48.3, -1.7 (Local) ~Local bearing/azimuth received: Bearing 48.3, -1.7 (Local) DAT read: Range 10 to 50 : 146.1 m (Round-trip 194.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.-\direction in FSK: [0.664938,0.746310,0.029666]5Fpublishing direction and range infoڙyڝii& +G?? `?ڝCYڙ ۝Pe)ۙI۝vi۝۝@۝ k?۝/$۝ ܝY?)ܝ=Iܝ13?iܝ<ܝuW?ܝ ݙ)ݙݝG !?/bܿrD?iݝ@/ݝk ݝuW?ݝ ޙ)ޙeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.E?EEE`0EF=F=i 6G ԉ ~G A A N% >x+E,ıiA9R`?RF ?YRk@yR>RH@̿G?`L.? ̿ ?!@?9? R`?R?P;)RCZ}B^IHf>HdHfIHf}BHdHdHdHfš<HfEKvb P"Kv9*Kt2Kv:Kv \{5\!G5gb@+Zq_?zJ~>J~>-,DAT read: user:1915> -BDAT read: Tx time:14:06:09.9692 5$Ping request sent.5:J-cBJ-RJJ-@RJ)ZJ-:bJ-S29J-J4J)zJ-;jJ-;J-;:rJ-<:٥!i mHm;Fuo= u>yG5}?G59}L} I}bBy%?:q?@}7Ei}2;};}G5-AZb5 iACC'@ʁf5<7X@b[@-U7@ii& +G?? `?uW?ҁ|^O Q@!$;A@<4E,iA9B>BH`+пj@?@?zϿU?L?0?? B٥\\ ^H`bɪ= f?dnG5f{?rG59fxw IfXBytv!?v@f7EifOe;ff;fG5xz}-Ax%FNOT Ignoring new targets: 145.08 m.%;-;5 ProNav: ac range: 145.082001 m, nav range: 140.798218 m, bearing: 150.070383 deg, approach rate: -0.406555 m/s, LOS rate: 0.225615 deg/s, cmd heading: 164.245327 deg, new cmd heading: 164.464480 deg. =<Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503018HeadingCmd: 2.870447 target range: 145.082001 and range: 146.10 m.bf7@ZrjRJB~~}||||? EzBE9Y=IA)ED?IIMy*; IIM8;Uf7@QQiUf7@iy9E?E!E!E%0E!IqIu?Ai6Gȹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755099~G AA AQ Ne >ԉ Y:E,giA@}B IMb@Mb@Mb@ )YQ?QZd;Oy(?j< A @)@I@yII<2 '-<  8=y Q  >٥ H!%G5%r?-G59%Bp I%HBy-?-:-R?-@%7Ei%,:%:%G59=j-A9eB*** querying acoustic contact ***JaRaquFNOT Ignoring new targets: 145.08 m.}|l;}|l; ProNav: ac range: 145.082001 m, nav range: 140.640900 m, bearing: 150.162127 deg, approach rate: -0.354130 m/s, LOS rate: 0.206752 deg/s, cmd heading: 164.464480 deg, new cmd heading: 164.740019 deg.  <HeadingCmd: 2.875256 target range: 145.082001 and range: 146.10 m.b18@ZrjRJB~~{B}|||| 0:? zBw=I)(E?I< @:18@i18@iԱH >H CH -IH }BH  =H H H <H Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007806KP"K}9*K2K:KdPa&J:}r9SvA)]EJJ|AEEEE2E6GZGRG}A~G A A N > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258912AAE,DiA9>??>f?Y>@y>2>>H=ӿ)QC?Hl?`eBӿS?@??b? >??>D};)>Cj}BjIlprBAIv.Iv3z˾ ~]=y~;Q ~>٥ H=F%>  > G5 ?G59 Mj I :By?@ 7Ei ; ; G5!--A-GEY]FNOT Ignoring new targets: 145.08 m.e\c;e\c;u ProNav: ac range: 145.082001 m, nav range: 140.499405 m, bearing: 150.235324 deg, approach rate: -0.383859 m/s, LOS rate: 0.198774 deg/s, cmd heading: 164.740024 deg, new cmd heading: 164.959833 deg. uj<}HeadingCmd: 2.879092 target range: 145.082001 and range: 146.10 m.b} C8@ZyrjRJB~~}||||)? zB=I)SB?I) < c: C8@i C8@iEqEqEqEu%5Eq9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5128806G~GAAN>y I I R=:J dBJ XJJ GRJ ZJ <:bJ 5K9J c4J  @ @ @ @nGE,)iA9??YdۻyrG>Hsտ? &?@Կٴ? l{??? ?ߚ;)C9=}BE I=Mb@Mb@Mb@999 9)9Y=Cl?kt&1y=d?= =P= A =@)=@I99y=@IUIU3]< e5=yeF;Q e>٥ai mHiuq= u>yG5}a?G59}9c I}*By|?:/?@}8Ei}:}t:}G5Y-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763164FNOT Ignoring new targets: 145.08 m.Q;Q; ProNav: ac range: 145.082001 m, nav range: 140.312195 m, bearing: 150.317943 deg, approach rate: -0.414980 m/s, LOS rate: 0.183383 deg/s, cmd heading: 164.959833 deg, new cmd heading: 165.208020 deg. ;HeadingCmd: 2.883424 target range: 145.082001 and range: 146.10 m.b8@ZrjRJB~~zB}||||P@ zBxp=I)\D? I <   ߫:8@i8@iaEEEEq5Eԑ H H <H >H H H H H H 0DH ܚ<H E6G ȹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015164 K kP"K K9*K 2K :K x/9y`2#Oka{<#=R=lL".]x]!iXQf-~G A A) N5 >ME,D8iA%}B%II5I5b1E; E_=yEQ E>٥II MHM>FU U>YeG5]?eG59]y] I]Byiim@]8Ei]>:]:]G5qu-AqԙFNOT Ignoring new targets: 145.08 m.wR;wR;= ProNav: ac range: 145.082001 m, nav range: 140.160339 m, bearing: 150.385217 deg, approach rate: -0.414898 m/s, LOS rate: 0.184003 deg/s, cmd heading: 165.208015 deg, new cmd heading: 165.410053 deg. =;EHeadingCmd: 2.886950 target range: 145.082001 and range: 146.10 m.bE8@ZArIjIRIJIBI~Q~Q}q|q|y|y|}C@ zB1=I)Z??IZ"< p:8@ IiM8@iQE?EEEP0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668266G- jG9 bG= >~Ga A A N >! }TE,RiA}BII-I-29=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519224M)  MJ=yQQ U>٥Q H?F >G5F?G59V IBy@ 8Ei:{:G5B-AJEFNOT Ignoring new targets: 145.08 m.3R;3R;- ProNav: ac range: 145.082001 m, nav range: 139.987595 m, bearing: 150.462023 deg, approach rate: -0.412809 m/s, LOS rate: 0.183771 deg/s, cmd heading: 165.410052 deg, new cmd heading: 165.640754 deg. -=;5HeadingCmd: 2.890976 target range: 145.082001 and range: 146.10 m.b59@Z9r9j9R9J9B9~A~A}A|A|I|I|M dr@ zB靍}=I) ;?IJW,< g:9@i9@iE-?E)E)E-U0E):JaBJ]JJKRJZJ:bJ_9J(4J9)A ECGA eqYiymB6G1Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771569~G A A! N5 >y קZE,dliA9>?>>?Y>Ry>8͈>>HIڿ?,?@rٿ@o?2x?? .? >?>#x;)٥)) -H)-W> 5>9MG5=3?MG59=P I=BM+:yIM:M?M@= 8Ei=a';=>=@G5Y]-AYB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 145.08 m.-}9;-}9;Qe ProNav: ac range: 145.082001 m, nav range: 139.813843 m, bearing: 150.527847 deg, approach rate: -0.427536 m/s, LOS rate: 0.162167 deg/s, cmd heading: 165.640748 deg, new cmd heading: 165.838463 deg. e;mHeadingCmd: 2.894427 target range: 145.082001 and range: 146.10 m.bmL>9@ZirijqRqJB~~}||||k @ =zB=0s=IA)M6?iIuX6< qquF-:}L>9@yyi}L>9@iyH>HH'IH}BH =HHHښ<HEHiHiHiHiIi Im!5]BDAT read: Rx Time:14:06:12.5666 ]TRx dataTimestamp_ set to:1749132373.840506uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026545K?P"K9*K2K:KNbo?Oz '5%V;,Xw`P|838pvqJAJAԁE?E!E!E%P0E!ԩ6GA ~GA AQ Aa Nu >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274799aE,7iA9>?>f@Y>1ٻy>A>>H`ۿ ?X?@ۿ` ? 0&{? ? 7? >?>;)٥    H @F l= >-G5d?-G59J IB- :y)5b:5=?5@8Ei0;:J?G5=B=W.A=HEamFNOT Ignoring new targets: 145.08 m.m@G;m@G;} ProNav: ac range: 145.082001 m, nav range: 139.630280 m, bearing: 150.593819 deg, approach rate: -0.484061 m/s, LOS rate: 0.174199 deg/s, cmd heading: 165.838468 deg, new cmd heading: 166.036644 deg. ;HeadingCmd: 2.897886 target range: 145.082001 and range: 146.10 m.bv9@ZrjRJB~~}||||6 @ zB=I)/?If>< 9v9@iv9@iԱEu?EqEqEu_0EqFyFy6G]}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530808ZGRGA~GqAyAN> :J ]BJ _JJ BRJ ZJ ]:bJ =h9J -4J A gE,iA9%_D?%5@Y%Jy%҈>%H*ݿ[[ i?d?ܿM?@7<~?8?? %_D?%O;)%C=r}B=IaIaI aMaM aQaQ aE aE  Mb@Mb@Mb@    ) Y 5^I ?x&&1y ? 7  vA ) p@I p@ y Q@I I2-of -8=y5'޺Q 5>٥19 =H=AF== =>IUH5Mй?UH59MtD IMBUT:yU?U:Un?U@M8EiMe;M;MmH5aep.AaFNOT Ignoring new targets: 145.08 m.DAT read: 14:06:12.5666 LVL= 22448, 32753, 31810, 32755, AGC= 66, IDX= 423, 0.20,-0.380,-1.997,-1.398,-1.073, PHS= 0.781,-0.877,-0.328, RAW= 109.0, 5.9, CAL= 119.6, 3.3, ROT= 30.4, -3.3 Ygot valid direction response: 14:06:12.5666 LVL= 22448, 32753, 31810, 32755, AGC= 66, IDX= 423, 0.20,-0.380,-1.997,-1.398,-1.073, PHS= 0.781,-0.877,-0.328, RAW= 109.0, 5.9, CAL= 119.6, 3.3, ROT= 30.4, -3.3 PDAT read: Bearing 30.4, -3.3 (Local) ~Local bearing/azimuth received: Bearing 30.4, -3.3 (Local) DAT read: Range 10 to 50 : 144.9 m (Round-trip 193.2 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages.\direction in FSK: [0.861083,0.505195,0.057564]Fpublishing direction and range info کyڭe?*?`8.y?ڭCYک ۭW)۩IۭB|i۩ۭBۭG?ۭ`ۭ茶 ܭ"?)ܭB=Iܭ0@iܭk=ܭ?ܭk ݩ)ݩݭ8>?sb_ȿ gd?iݭ}5Eݭ!ѽݭ?ݭk ީ)ީ5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. -;E -;U ProNav: ac range: 145.082001 m, nav range: 139.421280 m, bearing: 150.661073 deg, approach rate: -0.469443 m/s, LOS rate: 0.151288 deg/s, cmd heading: 166.036639 deg, new cmd heading: 166.238702 deg. ];HeadingCmd: 2.901413 target range: 145.082001 and range: 146.10 m.b9@Zr j R J B ~~IzB}|||=b@|=`x^? zB靵z`=I)2-?ImeI< b99@i9@i1EqEqEqEqEqY H >H H IH }BH H H H Ԛ<H E] ,DAT read: user:1916> e BDAT read: Tx time:14:06:13.9693 e $Ping request sent.e `mE,DiA 9:?:@Y:y:>:HX߿`?8?޿ ?S? 9? ;? :?:%;):C^s}B^IIfIf<2vU; vc=yzp1Q >٥)) -H1== E>AMH5E5?UH59E(? IEڙByQU?U@E8EiE:Ee";EH5yk.AZbiACC^(%@ʁ+sÃ^@pň8,R@) @e?*?`8.y??kҁD:v] CY(@= addTargetRange:: Added new target pos. range: 144.899994 m, deltaT: 4.031833 s, deltaX: -1.200012 m, approachRate: -0.297634 m/s, rangeRepo size: 4 M Added new target pos. range: 143.886948 m, bearing: 147.856850 deg, lat: 36.906482 deg, lon: -122.115940 deg, deltaT: 4.031833 s, deltaX: -1.195053 m, approachRate: -0.296404 m/s, posRepo size: 4 IUFNOT Ignoring new targets: 143.89 m.}y ProNav: ac range: 143.886948 m, nav range: 139.244110 m, bearing: 150.715038 deg, approach rate: 0.000000 m/s, LOS rate: 0.151288 deg/s, cmd heading: 166.238704 deg, new cmd heading: 166.413446 deg. HeadingCmd: 2.904463 target range: 143.886948 and range: 144.90 m.b9@ZrjRJB~~}|||| $`?q zB靅[~=IT),?IQ< G79@i9@iE?EEEl0EJDAT read: TxSync time:14:06:13.9685 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253558ԙ6G ~G A) A9 NE >UtE,1$iA9>?>v@Y>T!y>>>H`XZzy? ?`߿@U?@ ?W?A? >?>;)>CFe}BJILIR!IRi3Z  ZM=ylQ >٥    H BF ”=  >%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502890-H5~?-H599 I͙By)-a@-@8Ei::! H59E.AEKEquFNOT Ignoring new targets: 143.89 m.}';}'; ProNav: ac range: 143.886948 m, nav range: 139.049423 m, bearing: 150.770996 deg, approach rate: -0.507468 m/s, LOS rate: 0.146063 deg/s, cmd heading: 166.413447 deg, new cmd heading: 166.581556 deg. {;HeadingCmd: 2.907397 target range: 143.886948 and range: 144.90 m.b:@ZrjRJB~~}|||| ? zB=I)(?IY< mJ:@i:@iEEEE@2EF=F= :J]_BJ]YJJ]DRJYZJ] :bJ][O9J]4JY6G  4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755284~GAA N >A zE,iA9>v?>@Y> Cy>]>>Hy. `?`V? o`T?+a?`(J? ? >v?>7;)>CRc}BRI!uMb@Mb@Mb@qqq q)qYuA`"?v/٥ HCF7= >H5R?H593 IęBy?:@@ 8Ei:; H5.AB*** querying acoustic contact ***JR  FNOT Ignoring new targets: 143.89 m.;;5 ProNav: ac range: 143.886948 m, nav range: 138.834030 m, bearing: 150.827883 deg, approach rate: -0.508993 m/s, LOS rate: 0.134637 deg/s, cmd heading: 166.581552 deg, new cmd heading: 166.752477 deg. 5͸;=HeadingCmd: 2.910380 target range: 143.886948 and range: 144.90 m.b=C:@ZArAjARAJABA~I~M%zB}I|I|Q|Q| s?H=>H9H=IH=}BH= =H9H9H=К<H=E }zB}0h=I))'?Ib< 蹉C:@iC:@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008794IE!E!E)E-1E)KO"K39*K2K:KVXL p[M8K2H>/*N &7f2Rԁ6GI ~G! A1 AA NM >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259238E,PiA9:L?:ʹ @Y:^y:Ջ>:Hkk?Rw? j`:?ۋ?B?? :L?:ω;):C^W}B^IIbIb3j8 nW=ynQ n>٥pp rHpr= r>t~H5vЕ?~H59vi. IvBy @ @v$8Eivk;vk;v&H5B.AJEqFNOT Ignoring new targets: 143.89 m. ; ;5 ProNav: ac range: 143.886948 m, nav range: 138.639862 m, bearing: 150.876014 deg, approach rate: -0.496376 m/s, LOS rate: 0.123215 deg/s, cmd heading: 166.752471 deg, new cmd heading: 166.897065 deg. 5;=HeadingCmd: 2.912903 target range: 143.886948 and range: 144.90 m.b=m:@Z9r9j9RAJABA~A~A}I||||? MzBM8u=IQ)U#?QIUj< QQU./]m:@YYi]m:@iaԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511374>EuE ?E E E o0E 6G ZG1 RG5 A~GA!A!NE>RE,i%iARchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7630809fD$@f7@YfmyfG>fHeu ? r? FX/?k? ~?@? fD$@fbT;)d-\}B-I5Mb@Mb@Mb@111 1)1Y5S?Zd;OV-y5?5j<55EA 1)1I11y5 @IMIMV83]< ]=yeQ e>٥aa eHeDFm= m>qH5u?H59u' IuBy??:W @@u)8Eiut;u@t;uH5.AMEFNOT Ignoring new targets: 143.89 m.;; ProNav: ac range: 143.886948 m, nav range: 138.360779 m, bearing: 150.934981 deg, approach rate: -0.552889 m/s, LOS rate: 0.117055 deg/s, cmd heading: 166.897066 deg, new cmd heading: 167.074324 deg. ;HeadingCmd: 2.915997 target range: 143.886948 and range: 144.90 m.b:@ZrjRJB~~ zB}|||| @ EzBE,e=IA)E#?AIME-E?EEE2EAHE>HAHEIHE}BHE =HAHAHE<HEEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014784i 6Gi K `P"K }9*K 2K :K FOA_LPY gwsl/0  n>0qSh~G A A N >:J [BJ JJ @RJ ZJ :bJ J J4J zJ : jJ : J 'n: rJ )n: R,E,?iA$9n@nt@Ynoryn>>nHo ]? ?v ?e\?@? ? n@n0N;)nC z}B II%I%25ߣ= 5_=y=gQ =>٥AA EHEEFE= E>IUH5MJ|?UH59M" IMByY] @]@M,8EiM;Mj;MH5aeI.AiFNOT Ignoring new targets: 143.89 m.u:u:5 ProNav: ac range: 143.886948 m, nav range: 138.160828 m, bearing: 150.974667 deg, approach rate: -0.548631 m/s, LOS rate: 0.109047 deg/s, cmd heading: 167.074323 deg, new cmd heading: 167.193550 deg. 5;=HeadingCmd: 2.918078 target range: 143.886948 and range: 144.90 m.b=:@Z9r9jARAJABA~A~I}I|I|I|I|U@t@q ص?׵%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267332 zB@w=I)*?!I%j~< !!%WM:@IIiU:@iQDYDYDYDYԙE E E E 0E e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518822 6G jG >bG ?~GAAN>=eE,_iA9n*@n@YnoynG>nH`qY?`X?%@?? ?`? n*@n9;)l1Ej}BMIII(*36 =yF9Q >٥ H+T=  >EH5rk?EH59 IByAE @E@28Ei;;H5QU.AUPEFNOT Ignoring new targets: 143.89 m.:: ProNav: ac range: 143.886948 m, nav range: 137.857178 m, bearing: 151.030920 deg, approach rate: -0.545236 m/s, LOS rate: 0.101231 deg/s, cmd heading: 167.193551 deg, new cmd heading: 167.362681 deg. ;HeadingCmd: 2.921030 target range: 143.886948 and range: 144.90 m.b':@ZrjRJB~ ~ } | | ||`~.@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771071Q zB靅h=I)$&?IÐ< º':@i':@iEiEiEiEm1Eqԁ6G H >H H H H  =H H H њ<H EԱ ~G A A N >  BDAT read: Rx Time:14:06:16.5967  TRx dataTimestamp_ set to:1749132377.872981 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025582E,xiA9vq@v@Yvcyv*>vH p:Ӊ?? x?`t|? *l?? vq@v;)vC-}B5IK]O"KY*KY2K]:K]K# n+op;b:egmV$y}B(ԙ-Mb@Mb@Mb@))) )))Y-A`"?:vI +y-?-Լ-9-A -@)-Z@I-Z@)y-f@IEIE1Mb= UO=yU:Q ]>٥YY ]H]FFe^= e>iuH5m_?uH59m8 ImByuV?}:}o@}@m58Eim3;mY;mH5..AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 143.89 m.:: ProNav: ac range: 143.886948 m, nav range: 137.644943 m, bearing: 151.064536 deg, approach rate: -0.569754 m/s, LOS rate: 0.090383 deg/s, cmd heading: 167.362680 deg, new cmd heading: 167.463683 deg. x;HeadingCmd: 2.922793 target range: 143.886948 and range: 144.90 m.b ;@ZrjRJB~~zB}||||M @:JZBJZJJBRJZJ9bJS9J-4JzJ.:jJ2:JQu:rJSu: ezBe=Ii)uL+?qIut< yy}ຉ ;@i ;@iE?EEEk5EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2760946G ~G A A N > 3nE,-iA96E@6X@Y6Oy6>6H vI?`!?q ? ?`l?? 6E@6;)6CJ}BJIIR IRV2ZZ= Zi=yZ_f;Q Z>٥\\ ^H^GFbϦ= b>djH5fKS?jH59f IfByhjC@j@f98Eif :f:f #H5-AFNOT Ignoring new targets: 143.89 m.::e ProNav: ac range: 143.886948 m, nav range: 137.446777 m, bearing: 151.093349 deg, approach rate: -0.534010 m/s, LOS rate: 0.077758 deg/s, cmd heading: 167.463685 deg, new cmd heading: 167.550250 deg. euU;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529509HeadingCmd: 2.924304 target range: 143.886948 and range: 144.90 m.bU';@ZYrYjYRaJaB~~}||||@ zB靝=I)/?I< @';@i';@i!GE?E!E!E-`5E)9Y YyBԡu DAT read: 14:06:16.5967 LVL= 32320, 32753, 25698, 32755, AGC= 62, IDX= 235, 0.40,-2.258, 2.650,-2.920,-2.849, PHS= 0.679,-0.738,-0.074, RAW= 117.9, 2.2, CAL= 127.0, -3.3, ROT= 23.0, 3.3 } Ygot valid direction response: 14:06:16.5967 LVL= 32320, 32753, 25698, 32755, AGC= 62, IDX= 235, 0.40,-2.258, 2.650,-2.920,-2.849, PHS= 0.679,-0.738,-0.074, RAW= 117.9, 2.2, CAL= 127.0, -3.3, ROT= 23.0, 3.3  PDAT read: Bearing 23.0, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 23.0, 3.3 (Local)  DAT read: Range 10 to 50 : 167.4 m (Round-trip 223.3 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.918978,0.390083,-0.057564] Fpublishing direction and range infoA yE % Eh??`8.yE f'CYA E @~)A IE bdiA E >E -?E E k= A )A E C??>j4"{?iE }wE E >E k= A )A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Թ 6G ZG RG A~G A A N >?ժE,oiA9~ @~q3@Y~B76y~A>~H\m?`{? Ex?Ɔ? w?`? ~ @~;)~CGGAAH>HHIH}BHHHHؚ<HEHHHHI IG"5-,DAT read: user:1917> 5BDAT read: Tx time:14:06:18.0193 5$Ping request sent.5٥  H HF =  m>  H5 :? H59 I By e? :E @E @ @8Ei -< ,< )H5M BM -AU QEԙ Zb.iA:&C:&CE1@ʁV.^c@5P@~@##% Eh??`8.y>k=ҁ (czLc"wN@%F"@83T#{u?%?zsBcjWqh?r? BHo5ɜ?lc  B] Cbr*@- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 167.399994 m, deltaT: 4.031703 s, deltaX: 22.500000 m, approachRate: 5.580768 m/s, rangeRepo size: 4  FNOT Ignoring new targets: 143.89 m. JDAT read: TxSync time:14:06:18.0185  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254619 e:% e:]  ProNav: ac range: 143.886948 m, nav range: 137.022766 m, bearing: 151.160597 deg, approach rate: -0.550628 m/s, LOS rate: 0.087600 deg/s, cmd heading: 167.550250 deg, new cmd heading: 167.752618 deg. ] yp;e HeadingCmd: 2.927835 target range: 143.886948 and range: 144.90 m.be a;@Za ra ji Ri Ji Bi ~q ~ +zB} | | | d@| ? %zB%"`=I))-3?QIU< QQU[]a;@YYi]a;@iaE)E)E)E5_0E16GIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825~G!)A1AIN]2? ?E,2iA9f? @f@YfyfL%>fHY?`?`c`?` U??`f? f? @fi ;)fCill)l lIl t)tzףxx|~Ai|I||I|i~A ) 9A |? F   9AI&1)Fi)I iٯ-}B- II= I=(2Mn= MO=yU;Q U>٥QQ UHQ] > ]>iuH5m,?}H59m ImByy}l@}@mD8Eim; ;m;m-H50-ATEFNOT Ignoring new targets: 143.89 m.:: ProNav: ac range: 143.886948 m, nav range: 136.800217 m, bearing: 151.189793 deg, approach rate: -0.637340 m/s, LOS rate: 0.083747 deg/s, cmd heading: 167.752615 deg, new cmd heading: 167.840345 deg. e;HeadingCmd: 2.929367 target range: 143.886948 and range: 144.90 m.bz;@ZrjRJBy~y~}||||`n?IIAA zB =I ) 59?I< 1= *Ez;@AIiMz;@iIE]?EYEaEeo0Ei)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755060Q 6G ~G A A N >U]E,]iA 9B@B4@YBpyB&>BH@`?a?\?? }}?@A?? B@B;)BCHv>HtHv IHv}BHv =HtHtHv<HvE=}B=I-Mb@Mb@Mb@))) )))Y-$C?X9vZd;Oy-?-}-j-A ))-C@I))y-@IEIE?13M|< U<=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006878yu;Q u>٥yy }H}IF} = >H5?H59 IBy ?:.@@H8Ei; ;0H5,AFNOT Ignoring new targets: 143.89 m.-:-: ProNav: ac range: 143.886948 m, nav range: 136.545776 m, bearing: 151.220098 deg, approach rate: -0.583135 m/s, LOS rate: 0.069582 deg/s, cmd heading: 167.840342 deg, new cmd heading: 167.931425 deg. q?;HeadingCmd: 2.930956 target range: 143.886948 and range: 144.90 m.bʔ;@ZrjRJB~~YzB}||)|)|5;"?KIdP"KK9*K2K:K01QA?)M0+o Fl1K;f,V>i#> zB=I);?I6< J<ʔ;@  i ʔ;@i):JBJ`JJ?RJZJbJbl9Jـ4JzJjJJ':rJ):ԡE?EEEE  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2606406GY jGe ?bGe .?~G9 AA AY Ne >LE, iAHM}BMIiU%=IU<I]I](*3[< V=yQ >٥ HJF >H5g?H59l IBy@L8Eid;r]; 4H5B,AWEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 143.89 m.:: ProNav: ac range: 143.886948 m, nav range: 136.325912 m, bearing: 151.246378 deg, approach rate: -0.578898 m/s, LOS rate: 0.069308 deg/s, cmd heading: 167.931430 deg, new cmd heading: 168.010398 deg. C>;HeadingCmd: 2.932335 target range: 143.886948 and range: 144.90 m.b_;@Zr!j!R!J!B!~)~)})|)|1|9|=@? uzBu;=Iq)u>?qI}"{< yy}J_;@i_;@i EEEE5E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5113076GȹIC=Ip=~G  A AY N >oE,'iAbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762713|=}B=.IMb@Mb@Mb@ )Y5^I ?333333Mby?3A )@I-@yf@II0= E=yQ >٥ H  > H5 ?H59  I xBy}?:@%@ O8Ei K; K; 7H51=S,A9FNOT Ignoring new targets: 143.89 m.::= ProNav: ac range: 143.886948 m, nav range: 136.088852 m, bearing: 151.276801 deg, approach rate: -0.540982 m/s, LOS rate: 0.069547 deg/s, cmd heading: 168.010400 deg, new cmd heading: 168.101827 deg. E>;EHeadingCmd: 2.933930 target range: 143.886948 and range: 144.90 m.bE;@ZIrIjIRIJIBQ~Q~UzB}Q|Y|Y|Y|] @ zB靍7I=I)F?I<  ];@i;@i)EEEE5EH>HH3IH}BHHHHܚ<HEQuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147866G ԁ ~G A A N >K ZCP"K 9*K 2K :K .\A KX !5:pJrH|v aODJ- ?J- ?WE,@mAiA96''@6:"@Y6|l:y6ʉ>6HI@P?0??`UV?MP?? 6''@6ސ;)4b}Bb4IIrIrV83zC< z]=yzʳ٥  HKFYY> >H5?H59 InBya@@S8Ei;1;,;H5(,AQuFNOT Ignoring new targets: 143.89 m.}{:}{: ProNav: ac range: 143.886948 m, nav range: 135.859940 m, bearing: 151.297626 deg, approach rate: -0.604360 m/s, LOS rate: 0.055072 deg/s, cmd heading: 168.101829 deg, new cmd heading: 168.164408 deg. .;HeadingCmd: 2.935023 target range: 143.886948 and range: 144.90 m.bi;@ZrjRJB~~}||||@ ]zB]+=IY)eH?aIe%< aae"lchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267565i;@ii;@iԑEEEE`5EԱ6G% ZG9 RG9 ~Gi Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518833A N >cE,#I[iA9>@>g$@Y>li;y>Z>>H Q? x?O?-m ? ? >@>;)>CJ}BJ2II Ib3%+ %G=y-Y;Q ->٥)) -H5LF5= 5>9EH5=?EH59= I=cByIMC@M@=W8Ei=:=:=>H5QU2,AUXEFNOT Ignoring new targets: 143.89 m.1X:1X: ProNav: ac range: 143.886948 m, nav range: 135.631393 m, bearing: 151.315536 deg, approach rate: -0.601962 m/s, LOS rate: 0.047253 deg/s, cmd heading: 168.164407 deg, new cmd heading: 168.218228 deg. ;HeadingCmd: 2.935962 target range: 143.886948 and range: 144.90 m.Թb;@ZrjRJB~~}||||`@ #+=I)hG?I< W{%;@!!i%;@i):J^BJdJJNRJZJ} :bJ|9J|4J@@@@EEEEP0E ><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7712916G~G A A N >A >H<H>FIH>~BH<H<H>1DH>К<H>E9N@N &@YNe;yN[>NH`Q@`?˩?O(d?x ?? N@N;)LZ ~B^=IUMb@Mb@Mb@QQQ Q)QYU"~?ʡE٥ H   = >H5?%H59 IUBy%?%:5BDAT read: Rx Time:14:06:20.6113 5TRx dataTimestamp_ set to:1749132381.903472=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024002%@e@[8EiX&<&&<\BH5iu+AqFNOT Ignoring new targets: 143.89 m.q@:q@: ProNav: ac range: 143.886948 m, nav range: 135.382736 m, bearing: 151.334148 deg, approach rate: -0.560907 m/s, LOS rate: 0.042062 deg/s, cmd heading: 168.218229 deg, new cmd heading: 168.274169 deg. :%HeadingCmd: 2.936938 target range: 143.886948 and range: 144.90 m.b%;@Z!r!j!R!J)B)~)~-zB}1|1|1|1|5{ @ zB靭 T=I)K?Iˬ< Ƽ;@n<Yi;@i!KP"K9*K2K:KO>q 0~?A$?5*PPqLrk<b~n` ^c#JJA9E?EEEEa checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2755426G ~G A A) NE >ԑ 0E,iA~B:II5I53]0 ]M=yeQ e>٥aa mHmMFm m>q}H5u?}H59u IuIBy@u_8Eiu;u;uEH5B+A[EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 143.89 m.J:J: ProNav: ac range: 143.886948 m, nav range: 135.164139 m, bearing: 151.350568 deg, approach rate: -0.589151 m/s, LOS rate: 0.044326 deg/s, cmd heading: 168.274168 deg, new cmd heading: 168.323509 deg. ]:HeadingCmd: 2.937799 target range: 143.886948 and range: 144.90 m.b<@ZrjRJB~~}||||` @ 1=]=I9)=J?9I=O< 9AEOՌE<@Mnf.*?&KпM CYI M0f)MxIMbSiMaMDM?5>?M7AM> M@)M%IM= @iMܸM'>~GAANd>Mܸ> I)IM k?|?PPFiM%>MI=M'>Mܸ> I)IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:JYBJTJJCRJZJ9bJ:9J4J A E,wiAN,DAT read: user:1918> NBDAT read: Tx time:14:06:21.8194 R$Ping request sent.RZH?@ *ݿP7?? W9[2?`YRO? ? Z@Z;)ZCz~Bz=IAMb@Mb@Mb@ )YB`"?(\µkty? 0 )I@yf@I I(2 6< E3=yM٥II UHUNFU> U>YH5]l?H59] I]9By?:!@@]c8Ei]<]<]IH5  +AZqbuiAu Cu Cuk8@ʁuZR'`@ =6@ǯsrBu:`s?>f.*?&Kпu'>uܸ>ҁu" Šv`"PA@$v8?u̧΢$}/ ?^B̿zu- Buju VƜ?ruH u*Bqq quA Cu;*@ addTargetRange:: Added new target pos. range: 140.800003 m, deltaT: 7.812932 s, deltaX: -4.099991 m, approachRate: -0.524770 m/s, rangeRepo size: 4  Added new target pos. range: 139.817764 m, bearing: 165.099644 deg, lat: 36.906441 deg, lon: -122.115957 deg, deltaT: 7.812932 s, deltaX: -4.069183 m, approachRate: -0.520827 m/s, posRepo size: 4 !%FNOT Ignoring new targets: 139.82 m.%)] ProNav: ac range: 139.817764 m, nav range: 138.257782 m, bearing: 152.811696 deg, approach rate: 0.000000 m/s, LOS rate: 0.044326 deg/s, cmd heading: 168.323510 deg, new cmd heading: 168.390991 deg. YeHeadingCmd: 2.938977 target range: 139.817764 and range: 140.80 m.be4<@ZarajaRaJaBi~i~mzB}q|||a@|? \=I)K?!I%7< !!%o-4<@1-#nHHRIH1~BH =HHHȚ<HEE?EEEP0EMJDAT read: TxSync time:14:06:21.8186 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251795Y KU P"KQ *KQ 2KU :KU =m2v/$|S L(y P  @1C p|uJe >Je ?6G- 0\ԉ ~G A A! NE >w%E,iA9b/@b+@Yb>bHϳi{ۿ?`hI??VÇ ?? b/@b;)bCn~Bn>IIvIvM3~d; [=yX;Q >٥   H  =  >H5.?H59 I,By!%#@%@f8Ei2::LH5)-+A-^EQ]FNOT Ignoring new targets: 139.82 m.]=:]=:m ProNav: ac range: 139.817764 m, nav range: 138.056366 m, bearing: 152.820908 deg, approach rate: -0.631038 m/s, LOS rate: 0.028904 deg/s, cmd heading: 168.390992 deg, new cmd heading: 168.418669 deg. m:uHeadingCmd: 2.939460 target range: 139.817764 and range: 140.80 m.b} <@ZyryjyRyJB~~}||||`? ε=I)wL?I+< 􋛻 <@<w9i <@iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503091E?EEEf0E6Gj>~~GYAaAyN:>ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759739 LE,iA9>@> -@Y>'I`>>H@h^ٿwg?`?@g?`$@\?? >@>;)>C)d fXCb~BrAIMG:J\BJWJJBRJZJ=:bJG9J-4JAII 31 mXYmAymB< 4=y3:Q >٥ HOF%= >H5?H59 IBy%@@j8Ei</<PH5+AFNOT Ignoring new targets: 139.82 m.99 ProNav: ac range: 139.817764 m, nav range: 137.801666 m, bearing: 152.829477 deg, approach rate: -0.533844 m/s, LOS rate: 0.017993 deg/s, cmd heading: 168.418668 deg, new cmd heading: 168.444421 deg. E:HeadingCmd: 2.939910 target range: 139.817764 and range: 140.80 m.b{'<@ZrjRJB~~}||||? uzB}o=I)eM?iIu< yy checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015295{'<@ = < D#i {'<@iE?EEE^0EFF6GUZGRG) ~G A A N >H >H H YIH ;~BH  =H H H <H EHIHIHIHM =IM = IMz4vE,xiA 9Bb!@BFv/@YBaBH@xJؿd? ?n?B>? ? Bb!@B;)BCJ~BNBI)P P-Mb@Mb@Mb@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263239))) )))Y-Fx?#~jˡEy- ?-㥽-'-IA -@)-@I-@)y-@II3J; W=y;Q >٥ HPF= >H5?H59 IBy ?:'@@m8Ei;D;:TH5+A aE1=FNOT Ignoring new targets: 139.82 m.EM[9EM[9] ProNav: ac range: 139.817764 m, nav range: 137.593277 m, bearing: 152.833760 deg, approach rate: -0.582057 m/s, LOS rate: 0.011983 deg/s, cmd heading: 168.444418 deg, new cmd heading: 168.457288 deg. ]:eHeadingCmd: 2.940134 target range: 139.817764 and range: 140.80 m.be)+<@ZarajaRaJaBa~i~mzB}i|q|y|y|}`? 靭=I)N?I0%< J)+<@ <D& i)+<@iqE?EEE0EKP"Kŷ9*K2K:KAoc;yj.'2X|PZfH " KG3!:Y'gIe, ԡ6GթOchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516003~G A A N >m^F,SiA9>g #@>1@Y>>>HDֿ_?`Qb?@B? @h?@/? >g #@>9;)>CV~BT\I^I^3f: f]=yj ;Q j>٥hh nHlnZ= n>pvH5rr?vH59r8 IrByxz3)@z@rq8Eir:r:rvWH5|~+AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 139.82 m.D8D8 ProNav: ac range: 139.817764 m, nav range: 137.389984 m, bearing: 152.835769 deg, approach rate: -0.517067 m/s, LOS rate: 0.005116 deg/s, cmd heading: 168.457286 deg, new cmd heading: 168.463320 deg. `9-HeadingCmd: 2.940240 target range: 139.817764 and range: 140.80 m.b-,<@Z)r)j)R1J1B9~9~9}9|A|A|A|E`=? zB v=I ) RN? I D< )150=,<@=<=i=,<@i9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767582E ?EEE51E6G|G~GA A)NMs>:J_BJdJJ?RJZJ :bJ|9Jـ4JQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018783݉ F,3,iA9:$@:+2@Y::H {lտ?`? 6? 1? ? :$@:;):CJ~BJ:IMb@Mb@Mb@ )YK7A`?Zd;Mby ?y @)@Iyf@II3 <=y ;Q >٥ HQFpp= >H5`?H59 IBy ?:,@@t8Ei:M:C[H5+AdE!-FNOT Ignoring new targets: 139.82 m.- 5 E ProNav: ac range: 139.817764 m, nav range: 137.153183 m, bearing: 152.832613 deg, approach rate: -0.572036 m/s, LOS rate: -0.007637 deg/s, cmd heading: 168.463324 deg, new cmd heading: 168.453840 deg. EMHeadingCmd: 2.940074 target range: 139.817764 and range: 140.80 m.bM-*<@ZIrIjIRIJIBQ~Q~UzB}Y|Y|Y|Y|]`l@ 1==I9)=K?9I=< 9AEZE-*<@MH)H-RIH-1~BH- =H)H-0DH-Ӛ<H-E6GWjG?bG?~GyAAN^>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270757qԡ K vP"K @9*K 2K :K zs.~*V# MGbNi`+L \:epF,) FiA9JJR&@Je4@YJJHWӿî?M?UX?6<?v? JJR&@J;)JC^~BbGIIfIf 3e= V=y%W;Q %>٥!! %H-RF-M= ->1]H55P?]H595S I5ByYea.@e@5x8Ei5";5v;5^H5im+AiyFNOT Ignoring new targets: 139.82 m.1k1k ProNav: ac range: 139.817764 m, nav range: 136.945236 m, bearing: 152.827625 deg, approach rate: -0.534969 m/s, LOS rate: -0.012851 deg/s, cmd heading: 168.453843 deg, new cmd heading: 168.438857 deg.  %HeadingCmd: 2.939813 target range: 139.817764 and range: 140.80 m.b%%<@Z!r!j!R!J!B)~)~)})|1|1|Q|U @ zB靥=I)P?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524228I< %<@{%<(ri%<@iԩEEEE15E6G# ~G! A) AA NM >a e Am checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774980 F,G_iA9N'@N<5@YNNH@9 ҿ??0?9(D?{? N'@N౎;)Lf~Bj6IIvIv(*2 >  K=y;Q >٥! %H!-q= ->9MH5=T??MH59= I=ݘBIyIyyQ/@@={8Ei=3<=e<=&bH5,AgEFNOT Ignoring new targets: 139.82 m. ProNav: ac range: 139.817764 m, nav range: 136.725281 m, bearing: 152.820169 deg, approach rate: -0.501057 m/s, LOS rate: -0.017014 deg/s, cmd heading: 168.438858 deg, new cmd heading: 168.416452 deg. :HeadingCmd: 2.939422 target range: 139.817764 and range: 140.80 m.b|<@Z!r!j!R!J!B!~)~)}Q|Q|Q|Y|]ә @ zB靵u:=I)I? I=< 9amŻ|<@<ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030176i|<@iyE1E1E1E55E196G ~G A A N >H! H! H% LIH% '~BH%  =H! H! H% <H% EY F,7yiA9>W)@>j7@Y>x[Pv>>H@ PѿYU?`Lj?`i@@?`y{?D? >W)@>n;)>Cr}Br1I-BDAT read: Rx Time:14:06:24.4766 -TRx dataTimestamp_ set to:1749132385.9402535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280716}only read 2 of 4 data items for bottom velocity. Device response is::BS, +546, -28,A aI}@a aM@a aQ@a aE@a II#3" B=y;Q >٥ HSFb= >H5\-?H59 IИB+:y:V1@@8Ei:> eH5B*,AhEFNOT Ignoring new targets: 139.82 m.  % ProNav: ac range: 139.817764 m, nav range: 136.497742 m, bearing: 152.810233 deg, approach rate: -0.599500 m/s, LOS rate: -0.026222 deg/s, cmd heading: 168.416455 deg, new cmd heading: 168.386597 deg. -15HeadingCmd: 2.938900 target range: 139.817764 and range: 140.80 m.b=<@Z9r9j9R9J9B9~A~A}A|A|I|I|M` @ zB靕g#=I)aH?Ij< ˻<@&ȍ<ʩi<@i:JaBJOJJCRJZJ:bJ%9J4JzJ;jJ;J~&:rJ&:K(;P"K}9*K2K:KSmLFO{B  a:_; 0u1JJEAEAEAEMP0EIԁ6GٲZG!RG!~GAAN%n>ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531664Թ $F,iA96*@6z8@Y626H` mп`??`? ٥tt vHxz4d= ~> H5? H59 IĘB :y~:2@@8Ei ;M?OgH5!%,A!B*** querying acoustic contact ***JRFNOT Ignoring new targets: 139.82 m.- ProNav: ac range: 139.817764 m, nav range: 136.292175 m, bearing: 152.799418 deg, approach rate: -0.505644 m/s, LOS rate: -0.026641 deg/s, cmd heading: 168.386593 deg, new cmd heading: 168.354102 deg. -DUHeadingCmd: 2.938333 target range: 139.817764 and range: 140.80 m.bU <@ZQrQjYRYJYBY~a~a}a|a|a|i|m@ԑ zB˰=I)mJ?I< )ѻ <@$<i <@iuDAT read: 14:06:24.4766 LVL= 20304, 22833, 14626, 17651, AGC= 66, IDX= 92,-0.11,-1.127,-2.024,-0.857,-1.975, PHS= 0.937,-0.002, 1.116, RAW= 158.6, -34.9, CAL= 160.1, -40.5, ROT= 349.9, 40.5 Ygot valid direction response: 14:06:24.4766 LVL= 20304, 22833, 14626, 17651, AGC= 66, IDX= 92,-0.11,-1.127,-2.024,-0.857,-1.975, PHS= 0.937,-0.002, 1.116, RAW= 158.6, -34.9, CAL= 160.1, -40.5, ROT= 349.9, 40.5 PDAT read: Bearing 349.9, 40.5 (Local) ~Local bearing/azimuth received: Bearing 349.9, 40.5 (Local) DAT read: Range 10 to 50 : 189.8 m (Round-trip 253.1 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.748622,-0.133350,-0.649448]Fpublishing direction and range info1y5.H?;xAG俹5=CY1 5PO)51YI5"9i5D5B5;o?5o5َ? 5m(1@)5II5[2@i545k@54? 1)15}?3b]? Mi5V,?5?5T454? 1)1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E E E EY0EԹII4=6G b~G A A9 Ne > ,DAT read: user:1919>  BDAT read: Tx time:14:06:25.8194  $Ping request sent. H``A"ο.?@B?@<F?`m?$? +@骝` ;)~B9IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@  )YGz?&1Zd;Oy?PjA @)@I@y@I%I%25b< 5*=y5;Q 5>٥99 =H=TF=4= E>IUH5MM?UH59M IMBUT:yUX?U:]4@]@M8EiM:M:M}kH5qu+AukEZabemiAeyHHFIH~BH =HH1DHښ<HE| g@| Q? UzB][=Iy)}L?yI}5< >׻;@<a׻i;@i9=JDAT read: TxSync time:14:06:25.8186 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245484EE?EIEIEMP0EI6G w~GAA N >a :J \BJ XJJ BRJ ZJ =:bJ 5K9J -4J zJ :jJ :J f:rJ f:K5 P"K5 9*K1 2K5 :K5 UO+: Dl# ({_u|h^?^+pwg16N`QW33mJE ?JE ?1F,QiA 9J,@J,:@YJ =yJb>JH@4H̿j?@M?Lh>x?@Y `6?&2? J,@JJ;)JCr}Br,III#3% | -s=y-Aԙ~GAANh> M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748187G7F,2iAP9b:-@b;@YbwX%=ybQ>bHKʿ2h?1?-? ?M? b:-@b{;)bCr}Br-Iiv٥aa eHae = m>i}H5m>?}H59m ImByy}6@}@m8Eim;m;mrH5B,AnEFNOT Ignoring new targets: 139.82 m.KNKN ProNav: ac range: 139.817764 m, nav range: 135.610275 m, bearing: 152.748887 deg, approach rate: -0.557334 m/s, LOS rate: -0.045089 deg/s, cmd heading: 168.257544 deg, new cmd heading: 168.202245 deg. HeadingCmd: 2.935683 target range: 139.817764 and range: 140.80 m.b;;@ZrjRJB~~}||||p;? =zB=oV=I9)=XH?9IE = AAEA້M;;@Mt׭=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0046766Gm秼~GI A A N >) H >H CH @IH ~BH  =H H H <H Er>F,iA9BMj.@B}<@YB2=yB3xI>BHZ@ɿHo?׹? W@i?NZ? BMj.@Buٍ;)BCN}BR.I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253810 MMb@Mb@Mb@III I)IYM"~?A`"I +yM?MYM9MA M@)M@IM@IyIIaIauf{; uH=y}٥ HVF< >H5 ?H59 IBy?:47@@8Ei::uH5<,Aq}FNOT Ignoring new targets: 139.82 m.QQ ProNav: ac range: 139.817764 m, nav range: 135.377945 m, bearing: 152.729299 deg, approach rate: -0.543360 m/s, LOS rate: -0.045889 deg/s, cmd heading: 168.202247 deg, new cmd heading: 168.143382 deg. HeadingCmd: 2.934656 target range: 139.817764 and range: 140.80 m.bf;@ZrjRJB~~2zB}||||@8? UzBU@e=IQ)UTI?YI]= YY]VP廉ef;@e暌<_TRJqZJu]:bJuS9Jut4JqzJu:jJu:JuQu:rJuSu:E?EEE0E K] P"K]9*KY2K]:K]WDE%(p<s({HHJ?&"skZ/ $ )) zJeAJeA6Gj~GAANa>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505282y DF,iA9>.@><@Y>_xE=y><>>Hrb@ȿM'`5?2?@q?k? >.@>0<;)>C^~B^5IIfIf(*3< U=y%>٥!) -H-WF-w< ->1=H55?EH595N I5ByAE7@E@58Ei5P;5;5yH5MBM ,AUqEY}B*** querying acoustic contact ***JRFNOT Ignoring new targets: 139.82 m.kk ProNav: ac range: 139.817764 m, nav range: 135.157043 m, bearing: 152.710104 deg, approach rate: -0.591993 m/s, LOS rate: -0.051526 deg/s, cmd heading: 168.143384 deg, new cmd heading: 168.085703 deg. r HeadingCmd: 2.933649 target range: 139.817764 and range: 140.80 m.b;@ZrjRJB~~}|||| ? zB3=I)L?IO= gl黉 ;@ xό< n5=i;@iEEEE5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7572816G[z<ZGRGԩ~GaAiA5GUZAy YZAyBNԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010490j+KF,@.iA9F}/@F"=@YFW=yF0>FHg`ȿ'?b??`5{? F}/@Fݎ;)FCR}BR,I)T TMb@Mb@Mb@ )Y㥛 ? ףp= /$y?Q8@ =@)@ԩIx@y@IIM3 ;=y*٥ Hb< >H5Z?H59 I}By ?:8@@8Ei:f:|H5A,A tE15FNOT Ignoring new targets: 139.82 m.E y y ProNav: ac range: 139.817764 m, nav range: 134.912811 m, bearing: 152.686902 deg, approach rate: -0.571959 m/s, LOS rate: -0.054433 deg/s, cmd heading: 168.085710 deg, new cmd heading: 168.015980 deg. mHeadingCmd: 2.932432 target range: 139.817764 and range: 140.80 m.b;@ZrjRJB ~ ~ zB} ||||e@ zB靽Vҭ=I) J?IN = T ;@ )< e=i ;@iHe>HeCHe3IHe}BHe =HaHaHeښ<HeEH9H9H9H9I9 I=0t5E?EEE2Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2605816G5 <:Jy BJy JJ} ARJy ZJy bJy J} 4Jy zJy jJy Jy rJy ~G A 1 A1 N= >K c6P"K }9*K 2K :K XRg h1YYKY+J=qpFJ >J > RF,HiA96F/@6mZ=@Y6scj=y6̵ >6H`j; ȿÛ???VH`A?? 6F/@6KN;)6C^}Bb IIfIf2nW r\=yrH٥tt vHvXFv< v>xH5z?H59z4 IzrBy8@@z8Eizq- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764412ԙ ?XF,_biA9B|/@B.=@YB؃z=yB>BHm`ǿ?! ?{K ?? B|/@B;)@N}BRIIV IVV2^3 ^K=ybv ٥`` fHfYFf< f>hnH5j?nH59j IjeBypr8@r@j8Eij:j:jH5tz,A~wE!-FNOT Ignoring new targets: 139.82 m.5ۆ5ۆE ProNav: ac range: 139.817764 m, nav range: 134.473633 m, bearing: 152.644200 deg, approach rate: -0.601029 m/s, LOS rate: -0.058950 deg/s, cmd heading: 167.954884 deg, new cmd heading: 167.887663 deg. E!MHeadingCmd: 2.930192 target range: 139.817764 and range: 140.80 m.bMF;@ZQrQjQRQJQBQ~Y~Y}Y|Y|Y|a|e5! @ zB=IA)EPB?AIEK = IIMO󻉢MF;@UH] >HY H] 'IH] }BHY HY H] 0DH] <H] E `^F,O|iA9>ʺ/@>;=@Y>4=y>R>>H p>ǿ@IyY?`61?ঠ? ? >ʺ/@>;)>CHHiN>IN=rArAzBDAT read: Rx Time:14:06:28.4740 zTRx dataTimestamp_ set to:1749132389.973086~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271026EMb@Mb@Mb@AAA A)AYEOn?I +I +yE?E94E9E@ E@)E@IEb@AyAIUIU<2uYp uA=y ٥ %H!%J < %>)}H5-p?}H59- I-VBy}?:e9@@-8Ei-G<-<-fH5,A15FNOT Ignoring new targets: 139.82 m.=~=~M ProNav: ac range: 139.817764 m, nav range: 134.216003 m, bearing: 152.618135 deg, approach rate: -0.549066 m/s, LOS rate: -0.055657 deg/s, cmd heading: 167.887662 deg, new cmd heading: 167.809317 deg. mHeadingCmd: 2.928825 target range: 139.817764 and range: 140.80 m.bq;@ZrjRJB~~yB}||||R @ zB靵*!=I)C?I=  q;@{<mB=iq;@Je4JeҔ4JeLK1:J%cBJ%XJJ%@RJ!ZJ%:bJ%5K9J%J4J!zJ%;jJ%;J%f:rJ%f:iK$P"K*K2K:KPM@y(-\H7+6X5%<4^A/"..EU?EYEYE]4EYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5202171 6G '2=Y ~G A A N >͊eF,>iA9>y/@>=@Y>W=y>/=>Hq{ǿ7!?`CN?C?@ٶ? >y/@>i;)>CF}BJIIRIR2V* ZN=yZ~!٥\\ ^H^ZFb|; b>hnH5j^?rH59j IjIBypry9@r@j8Eij:j:jH5tv-AvzE B*** querying acoustic contact ***J R FNOT Ignoring new targets: 139.82 m.%ɐ%ɐ5 ProNav: ac range: 139.817764 m, nav range: 133.998001 m, bearing: 152.595882 deg, approach rate: -0.619026 m/s, LOS rate: -0.063291 deg/s, cmd heading: 167.809319 deg, new cmd heading: 167.742451 deg. 5-=HeadingCmd: 2.927658 target range: 139.817764 and range: 140.80 m.b=^;@Z9r9jARAJABI~~}||||x@ =zB==IA)Ey@?AIE,= AAERu^;@u@)m=ImIs>@imnFmќ@mnF= i)ima9Q?]`”?Uߟ!?imLa?m@m0mnF= i)iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E1E1E1E5_0E16GГ>=~GAA NK> 5 ,DAT read: user:1920> M BDAT read: Tx time:14:06:29.8694 U $Ping request sent.] =BH`pƿs媿#?yN?rHɺ?? Bb/@B;)BCZ}BZIMMb@Mb@Mb@III I)IYM1Zd?/$I +yM"?M,IMQ@ M@)M@IM5@IyMG@IeIeT3) /=y;Q >٥ H[F"; >H5G?H59ͺ I8By?:9@@8EiR;;ŎH5:-A}EZbiiA}:C}:Ct'@ʁ&X;e@ڭ~GPoMI,ni?b(Xֿ.0ۣ0nF=ҁs_`c LhV@@o+_?I= _F;@l<DS=iF;@i9}JDAT read: TxSync time:14:06:29.8686 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246679EEEER0EY 6G5 B=ZG9 RG9 Km P"Km ŷ9*Ki 2Km :Km /I.3qf$7q6% v4JN/r CR+Yv~G A A) N5 >rF,riA(9:/@:6>@Y:m.=y:=:H`wpױƿh?`fX@[?$A_?{? :/@:i;):C~}B~III(*3U ]e=ye٥yy HoU; >H55?H59q I+By9@@8Ei8;ɪ;H5-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499179)5FNOT Ignoring new targets: 139.82 m.5L5L ProNav: ac range: 139.817764 m, nav range: 133.511414 m, bearing: 152.544735 deg, approach rate: -0.613328 m/s, LOS rate: -0.064826 deg/s, cmd heading: 167.656241 deg, new cmd heading: 167.588727 deg. 1HeadingCmd: 2.924975 target range: 139.817764 and range: 140.80 m.b2;@ZrjRJB~~}||||@E? ezBm=Ii)m8?iIm6= qqu~ԁ}2;@<W\=i2;@irEY>jE>EEEE`0EF=F=6GmV=ԩ~GAAN>ם Aם A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749738 dzxF,iA9:0@:,>@Y:j=y:#=:Hq\ƿƁ0?GZ.?Hȳxt?? :0@:]*;):CZ}BZI\:Jf_BJfPJJf?RJdZJf :bJf*9Jfـ4Jdj@j@j@j@IrIr3vԼ zQ=yz;Q z>٥x| ~H~\F~; >!5H5%u"?5H59% I%By9=9@=@%8Ei%P;%5;%SH5MBM-AMEquFNOT Ignoring new targets: 139.82 m.}m}m ProNav: ac range: 139.817764 m, nav range: 133.284836 m, bearing: 152.520567 deg, approach rate: -0.599067 m/s, LOS rate: -0.064008 deg/s, cmd heading: 167.588732 deg, new cmd heading: 167.516105 deg. /HeadingCmd: 2.923707 target range: 139.817764 and range: 140.80 m.b;@ZrjRJB~~}||||:l? zBq=I)6?ILN= , ;@<_f=i;@iEu?EqEqEu0Eq-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0043126GJR=~GAAN>H >H H IH }BH  =H H H <H EI ~F,^iA2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2534529FT0@F(h>@YFe=yF=FHt>ƿ x@$? f_?`8? ? FT0@FE;)FCU}BUIMb@Mb@Mb@ )YS?~jt/$y?D$@ b@)$@I@y@IIF3% - =y-;Q ->٥11 5H5]F5; =>9IMH5= ?MH59= I= ByU4?U:U9@U@=8Ei=0;= /;=H5Y]-A]E)-FNOT Ignoring new targets: 139.82 m.55e ProNav: ac range: 139.817764 m, nav range: 132.988724 m, bearing: 152.489802 deg, approach rate: -0.562889 m/s, LOS rate: -0.058612 deg/s, cmd heading: 167.516099 deg, new cmd heading: 167.423599 deg. e mHeadingCmd: 2.922093 target range: 139.817764 and range: 140.80 m.bm;@ZirijiRiJqBq~q~uyB}y|y|yKl"P"K9*K2K:KC!<PA>P"m"5ey- %&6G7ZjZuz\|Y|z_vo(ib[ETME=60E+b&JAJ|| ? %zB%c=I-)-5?)I-3o= ))-L/5;@5휑<=^x=i;@iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505736EQEQEQEU_0EQFYFYԡ 6G f=jG ?bG ?~Gi Ay A N >hF,iA9F_0@FIs>@YF=yF=FHpJſ @~ ?r`L?@l`n-?? F_0@F %;)FCiTT)T TIT T)XXXXX^Ai\I\\I\i\ ``)`` bOAb`ddfOAIf)did)hIhhh hlllillٯlrn}BvII~I~#3͋  n=y wxF,6iAHU>HQHUIHU}BHU =HQHU1DHUɚ<HUEo}BIEMb@Mb@Mb@AAA A)AYE`"?QMbyE?EEE@ E@)EQ@IEb@AyEz@I]I]2m!; u+=yuQ u>٥qy }H}^F} }>H5r?H59. IBy?:S;@@8Ei:A:H5F.AEquFNOT Ignoring new targets: 139.82 m.}3}3 ProNav: ac range: 139.817764 m, nav range: 132.516037 m, bearing: 152.436861 deg, approach rate: -0.641614 m/s, LOS rate: -0.075711 deg/s, cmd heading: 167.360330 deg, new cmd heading: 167.264494 deg. OHeadingCmd: 2.919316 target range: 139.817764 and range: 140.80 m.b:@ZrjRJB~~yB}||||@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261553 }zB}=I)2?I"= 3 :@<H=i:@iEEEEs0E9 K "Q"K 9*K 2K :K j"qO](I\i ( Y t       8 '  < 5N<oE(H5muQJ ?J ?6G |=~G A % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514878A) N= >ړF,(PiA9j 0@j >@Yj=yjBv=jH ٥ H_F] >H5F?H59 IܗBy:@@8Ei#;;3H5.AEFNOT Ignoring new targets: 139.82 m. ProNav: ac range: 139.817764 m, nav range: 132.302551 m, bearing: 152.412169 deg, approach rate: -0.573393 m/s, LOS rate: -0.066425 deg/s, cmd heading: 167.264489 deg, new cmd heading: 167.190295 deg. X6HeadingCmd: 2.918021 target range: 139.817764 and range: 140.80 m.b:@ZrjRJB~~} |a||i|uE@ zB=I)*?IV$= :@ѓ<3it=i:@iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765336)  G>Ee % %Y! y% BԹ E E E E _0E F =F =:J `BJ ^JJ >RJ ZJ :bJ d9J t4J 6Gm=ZGRG=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017935~GA 1AAN ?'F,PriA9e/@e=@Ye=ye.q=eH "]`sƿ `v?`m`7? _`r?a? e/@esF;)a?}BI-Mb@Mb@Mb@))) )))Y-v?S㥛Qy-?-/ݼ-u-@ -@)-@I))y-@IEIE3e+ּ e=ye=;Q m>٥ii mHm`Fu u>yԹH5}?H59} I}ǗBy ?:;@@}8Ei}_g<}g<})H5B.AEHHHIH[}BH =HHHݚ<HEHHHH =I = I7&5FNOT Ignoring new targets: 139.82 m. ProNav: ac range: 139.817764 m, nav range: 131.977386 m, bearing: 152.374116 deg, approach rate: -0.565167 m/s, LOS rate: -0.066303 deg/s, cmd heading: 167.190299 deg, new cmd heading: 167.075858 deg. 6HeadingCmd: 2.916024 target range: 139.817764 and range: 140.80 m.b":@ZrjRJB~~yB}|||| @ }zB}E֤=I)(?IMB'= ؞":@#<r=i":@iUBDAT read: Rx Time:14:06:32.5221 UTRx dataTimestamp_ set to:1749132394.003494]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270672>Ez EQ EQ EQ EU \0EQ A Km Q"Km 9*Ki 2Km :Km Il ^ 1i#%0,|2cc'6b;9'Jq Ju A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5222626Gghs=y~GA A)NU?4F,QiA9Bg/@Bج=@YBI=yBXk=BHU0Xǿ@ɸى? h?Ź@?`? Bg/@Bs;)@N*}BNIIVIVV83^/ ^)=y^η;Q b>٥`` bH`f f>hnH5j?nH59jT IjByln:@r@j8Eijd:j:j`H5iuR/A}E)5FNOT Ignoring new targets: 139.82 m.Ae e u ProNav: ac range: 139.817764 m, nav range: 131.701050 m, bearing: 152.342104 deg, approach rate: -0.561266 m/s, LOS rate: -0.065155 deg/s, cmd heading: 167.075853 deg, new cmd heading: 166.979617 deg. u2uHeadingCmd: 2.914344 target range: 139.817764 and range: 140.80 m.b}:@ZyryjRJB~~}||||˘@ zBM=I!)%$?!I%)= !!-@-:@-<5 k=i5:@iYDaDaDaDaiDAT read: 14:06:32.5221 LVL= 23840, 31009, 17490, 24563, AGC= 66, IDX= 73, 0.20, 2.644, 1.468,-2.843, 2.672, PHS= 0.059,-1.157, 0.765, RAW= 171.3, 4.0, CAL= 171.5, -5.0, ROT= 338.5, 5.0 Ygot valid direction response: 14:06:32.5221 LVL= 23840, 31009, 17490, 24563, AGC= 66, IDX= 73, 0.20, 2.644, 1.468,-2.843, 2.672, PHS= 0.059,-1.157, 0.765, RAW= 171.3, 4.0, CAL= 171.5, -5.0, ROT= 338.5, 5.0 PDAT read: Bearing 338.5, 5.0 (Local) ~Local bearing/azimuth received: Bearing 338.5, 5.0 (Local) DAT read: Range 10 to 50 : 186.4 m (Round-trip 248.6 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.926877,-0.365107,-0.087156]Fpublishing direction and range infoQyU`? O]׿OUf:CYQ U ])U!yIURDiU_QUq=UU C? U X?@)U5=IU=?@iU¸U @U¸= Q)QUAo^ ?2i/?Nڱ?iU*e?U􎽩U: U¸= Q)Q=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ԙ:J_BJ`JJ@RJZJ :bJbl9JJ4JE E E E P0E  ,DAT read: user:1921> 5 BDAT read: Tx time:14:06:33.9194 M $Ping request sent.U HCHIH)}BH =HHHښ<HԙMb@Mb@Mb@ )Y`"?l~jty?D@ )@IK@y\@I=I=m?3M6 M =yUp;Q U>٥qy }H}aFd >H5D?H59 IBy"?:19@@8Eiu;;H5g/AEZYb]ziA]9C]9C]I %@ʁ]%lre@+}7+8Pge0!0]`? O]׿O]: ]¸=ҁ]F{)cz-X@YfB]Eydm ʡa?R&ɿz]nB]Kj]tN ?r] ] A]Wqh?Y ]A]C]]1@ addTargetRange:: Added new target pos. range: 186.399994 m, deltaT: 12.099626 s, deltaX: 45.599991 m, approachRate: 3.768711 m/s, rangeRepo size: 4  Added new target pos. range: 185.100845 m, bearing: 147.751652 deg, lat: 36.906173 deg, lon: -122.115998 deg, deltaT: 12.099626 s, deltaX: 45.283081 m, approachRate: 3.742519 m/s, posRepo size: 4 FNOT Ignoring new targets: 185.10 m.5JDAT read: TxSync time:14:06:33.9186 =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243753E ProNav: ac range: 185.100845 m, nav range: 156.950806 m, bearing: 158.561323 deg, approach rate: 0.000000 m/s, LOS rate: -0.065155 deg/s, cmd heading: 166.979615 deg, new cmd heading: 166.865145 deg. AUHeadingCmd: 2.912346 target range: 185.100845 and range: 186.40 m.bUc:@ZQrQjQRQJQBY~Y~]yB}Y|a|a|eLg@|e7R? zBr=I)E%?I-= 򻉢c:@f<U=ic:@iEe?EaEaEe0EaFiFiKE mP"KE 9*KA 2KE :KE %Zm @:v"T-0-b\eVTE! 6G Mi= = = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495078~G A A N >F,)iA9V.@V"<@YVO=yVL=VH @-ȿ`,? [?Gݺk?? V.@V;)VCj}BnII~I~3 n  U=y Q >٥ HbF >!-H5% m?-H59% I%By)58@5@%8Ei%;%;%H59=/A=EQ]B*** querying acoustic contact ***JaRaiuFNOT Ignoring new targets: 185.10 m.uu ProNav: ac range: 185.100845 m, nav range: 156.729279 m, bearing: 158.551325 deg, approach rate: -0.622780 m/s, LOS rate: -0.028146 deg/s, cmd heading: 166.865141 deg, new cmd heading: 166.835106 deg. HeadingCmd: 2.911822 target range: 185.100845 and range: 186.40 m.b-J[:@Z)r)j)R)J1B1~1~1}9|9|9|9|E ԱI I @A 綺F,iA}|B}III[3Gͼ B=yQ >٥ HcF >ԹH5X?H59 I}By@8Ei)::H5"0Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0022609=FNOT Ignoring new targets: 185.10 m.EHEHU ProNav: ac range: 185.100845 m, nav range: 156.481842 m, bearing: 158.540124 deg, approach rate: -0.576732 m/s, LOS rate: -0.026150 deg/s, cmd heading: 166.835102 deg, new cmd heading: 166.801445 deg. U]HeadingCmd: 2.911234 target range: 185.100845 and range: 186.40 m.b]Q:@ZYrYjaRaJaBa~a~i}i|i|i|i|u c? zBu=I)? I0= %?]Q:@eSn<&|Q=iQ:@i H5>H5CH5IH5|BH5 =H1H50DH5<H5EEYEaEaEeX0Ea1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2506966G 8U=ZG RG Y ~Gy A A N >F,iA9:'1.@:D<@Y:[=y:}W=:H.~ɿ*`E? S?^@q?? :'1.@:e;):CJ|BJI:Jb]BJbRJJ`RJ`ZJb]:bJbS29J`J`zJb:fjJb:jJb;:jrJb<:jMb@Mb@Mb@ )Y5^I ?~jt٥ HX̼ > H5D?H59- InBy?:7@@8Ei4;$;5H5%~B%o0A%E1QUFNOT Ignoring new targets: 185.10 m.]]m ProNav: ac range: 185.100845 m, nav range: 156.238998 m, bearing: 158.531736 deg, approach rate: -0.596210 m/s, LOS rate: -0.020626 deg/s, cmd heading: 166.801443 deg, new cmd heading: 166.776239 deg. m|bHeadingCmd: 2.910794 target range: 185.100845 and range: 186.40 m.buJ:@ZrjRJB~~zB}||)|)|5`I@? }zB}+=IyK bP"K@9*K2K:KTW>4& CM:O@@Y4|hy)?Ir2= 뻉uJ:@җ<AC,=iuJ:@izEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503914aE?EEE_0EF=Fp=ԉ6G JR=~G A A N >Թ F,ͮ iA6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7556559-@;@Y=yi=H!`Aʿ p?$G@]$?绿7?`? -@>;)C-|B-~II=I=3M MT=yU/;Q U>٥ai mHmdFmÎ m>q}H5u{2?H59ux Iu_By6@@u8Eiu:u:uH50AFNOT Ignoring new targets: 185.10 m.dd ProNav: ac range: 185.100845 m, nav range: 156.011353 m, bearing: 158.524417 deg, approach rate: -0.591963 m/s, LOS rate: -0.019058 deg/s, cmd heading: 166.776240 deg, new cmd heading: 166.754253 deg. EQHeadingCmd: 2.910411 target range: 185.100845 and range: 186.40 m.b+D:@ZrjRJB~~}|||| @ %{zB-t=I))-?)I-_4= )15n黉=+D:@=7<==i=+D:@i9ԑIIR=E?EEE0E6GB;9=~GAAN>>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006811 H H <H% >H! H% xIH% |BH! H! H! H% <H% E9 F,:iA9> N-@>~a;@Y>=y> p=>H`ܡ˿@`'?`9gݭ? ?? > N-@>䮌;)>C|BlIMb@Mb@Mb@ )YA`"?&1٥ HeF >H5S?H59 INBy?:5@ @8Ei<::BH51AE9MFNOT Ignoring new targets: 185.10 m.뗹뗹 ProNav: ac range: 185.100845 m, nav range: 155.761826 m, bearing: 158.517441 deg, approach rate: -0.592919 m/s, LOS rate: -0.016602 deg/s, cmd heading: 166.754246 deg, new cmd heading: 166.733285 deg. N6 HeadingCmd: 2.910045 target range: 185.100845 and range: 186.40 m.b ->:@Z r j R J1B1~1~5zB}9|9|9|9|=`+@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259095 tzB=I)5?I6= IIUM滉]->:@ea:@iiE!E!E!E%0E!A:J^BJYJJGRJZJ} :bJ[O9Jc4JzJ_:jJd:J'n:rJ)n:y 6G )=jG ?bG >K% P"K% 9*K! 2K% :K% DKi'C[3~\~tn/Am bK  W$2aO~G A A N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510748F,_TiA 9NC,@N ;@YNo=yN=NH9@V̿@DO? .\l?@?? NC,@N;)NCZ|BZ`IIbIb2fG j^=yjU;Q j>٥ll nHlrm r>tvH5v ?zH59vˡ Iv?Byxz5@z@v8Eiv\:v:v{H5|Y1AEB*** querying acoustic contact ***JR)5FNOT Ignoring new targets: 185.10 m.==e ProNav: ac range: 185.100845 m, nav range: 155.542862 m, bearing: 158.511736 deg, approach rate: -0.593505 m/s, LOS rate: -0.015488 deg/s, cmd heading: 166.733291 deg, new cmd heading: 166.716150 deg. e*mHeadingCmd: 2.909746 target range: 185.100845 and range: 186.40 m.bmF9:@ZirijqRqJqBq~y~y}y|y|||&@ ozB靵]=I) ?IM8= v㻉F9:@ꃘ<KSׁׅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763799Թ W F,VJniA96u,@6:@Y6=y6d$=6HϪ̿ 䐺@?@)|?@􏽿`h]?`? 6u,@6HƋ;)4\^|B^RIIfIf 3nJ` nI=yrQ;Q r>٥pp rHrfFv v>x H5zC? H59zߟ Iz.By  p5@ @z8Eiz F;z1;zH51Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014886FNOT Ignoring new targets: 185.10 m.$$% ProNav: ac range: 185.100845 m, nav range: 155.301743 m, bearing: 158.505637 deg, approach rate: -0.561487 m/s, LOS rate: -0.014222 deg/s, cmd heading: 166.716148 deg, new cmd heading: 166.697825 deg. %+]HeadingCmd: 2.909426 target range: 185.100845 and range: 186.40 m.b] 4:@ZarajaRiJqBq~q~y}y|y|y||`b @ 5gzB5f,=I1)=* ?YI]f:= YY]v޻e 4:@eHHXIH|BH =HHH<HEEu?EqEyE}U1Ey BDAT read: Rx Time:14:06:36.5688  TRx dataTimestamp_ set to:1749132398.035515 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2680119 6G $3=ZG RG ~G A :J BJ JJ ERJ ZJ bJ J 4J zJ jJ c:J &n:rJ A N >PF,iA(9>7,@>:@Y>W=y>3=>H`̿%?#?G?? >7,@>~;)>CJ|BJIIMb@Mb@Mb@ )Y$C?v/Mby?xi @)v@I@yp@IIb2k 0=yJR;Q >٥ He >5H5?=H59 IBy=?=:=4@=@8Ei;;H5AM1AMEFNOT Ignoring new targets: 185.10 m.[m[m ProNav: ac range: 185.100845 m, nav range: 155.024200 m, bearing: 158.499754 deg, approach rate: -0.610740 m/s, LOS rate: -0.012970 deg/s, cmd heading: 166.697829 deg, new cmd heading: 166.680147 deg. jHeadingCmd: 2.909117 target range: 185.100845 and range: 186.40 m.b.:@ZrjRJB~!~-yB})|)|1|9|=@z @KRWP"K9*K2K:K2dYKS{UtLWA'oQTc7  nMAQ2 %3ԑ azB靭QҬ=I)?Ii9<= ۻ.:@Ϙ<lE%rE-N>jE-0>E ?E E E }0E  DAT read: 14:06:36.5688 LVL= 23312, 25073, 18482, 24467, AGC= 63, IDX= 409, 0.18, 2.290, 1.161, 2.718, 1.298, PHS= 1.079,-0.091, 1.417, RAW= 162.3, -31.8, CAL= 163.9, -38.3, ROT= 346.1, 38.3  Ygot valid direction response: 14:06:36.5688 LVL= 23312, 25073, 18482, 24467, AGC= 63, IDX= 409, 0.18, 2.290, 1.161, 2.718, 1.298, PHS= 1.079,-0.091, 1.417, RAW= 162.3, -31.8, CAL= 163.9, -38.3, ROT= 346.1, 38.3 % PDAT read: Bearing 346.1, 38.3 (Local) % ~Local bearing/azimuth received: Bearing 346.1, 38.3 (Local) 5 DAT read: Range 10 to 50 : 183.9 m (Round-trip 245.2 ms) speed 0.6 m/s 5 R#Rx 1: Read range and direction messages.= `direction in FSK: [0.761795,-0.188525,-0.619779]= Fpublishing direction and range info y +`?֦!ȿ:㿹 7CY [) aI 2Hi _ ? ? ևG 5^ B`? uJ5@) qI 7@i D + xL@ D +? ) w/?CˈO?#i d#=? %? Tlx D +? ) 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. M YQ yU S B6G Hn<~GAAN>F,iA9n:,@n:@Yn+#=ynРH=nHNJ Ϳ &?@o 9?!R\?? n:,@n힊;)lquk|Bu<I }=yI I(24 +=yL;Q >٥ HgF| >H5?UH593 IByYae@8Ei4T<<MH5C2AEZbiA6C6C3,@ʁE~ca@j:6A1K\+`?֦!ȿ:TlxD +?ҁf/\hj>eK@fQL`$3)俍ŕ?n0z^B!jȜ?r=R k Ĝ?=R  Aꁝ C˜.@  addTargetRange:: Added new target pos. range: 183.899994 m, deltaT: 4.032220 s, deltaX: -2.500000 m, approachRate: -0.620006 m/s, rangeRepo size: 4  Added new target pos. range: 182.615402 m, bearing: 154.163996 deg, lat: 36.906325 deg, lon: -122.116009 deg, deltaT: 4.032220 s, deltaX: -2.485443 m, approachRate: -0.616396 m/s, posRepo size: 4 5FNOT Ignoring new targets: 182.62 m.51 ProNav: ac range: 182.615402 m, nav range: 138.729248 m, bearing: 156.321221 deg, approach rate: 0.000000 m/s, LOS rate: -0.012970 deg/s, cmd heading: 166.680153 deg, new cmd heading: 166.660942 deg. HeadingCmd: 2.908782 target range: 182.615402 and range: 183.90 m.b}):@ZrjRJB~~}|||f@|`ծ? mZzBm=Iy)S?Ie>= =ֻ}):@<)B BDAT read: Tx time:14:06:37.9195 $Ping request sent.HH3IH]|BHHHH<HEHQHQHQHU =IQ IUc5>E% 9E E E E _0E u JDAT read: TxSync time:14:06:37.9187 } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251974)6G9f<jG%?bG%>:J\BJZJJTRJZJ=:bJS9J5JzJ:jJ:JQu:rJSu:~GA AN%?F,iA5|BI)Mb@Mb@Mb@ )YʡE?y&1{Gzy?`e#@ )AIy@II<2̽ =yQ >٥ HhF >H5?H59 IBy]?:4@@8Ei::H53A )5FNOT Ignoring new targets: 182.62 m.55 ProNav: ac range: 182.615402 m, nav range: 138.408234 m, bearing: 156.307981 deg, approach rate: -0.639544 m/s, LOS rate: -0.026440 deg/s, cmd heading: 166.660946 deg, new cmd heading: 166.621132 deg. *HeadingCmd: 2.908087 target range: 182.615402 and range: 183.90 m.b:@ZrjRJB~~zB}|||| ? 5SzB5"=I1)=>YI]+H@= YY]лe:@ei"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113QԁEEEEEԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548276G Hn< ~G A AN->F,:AiA9:K,@::@Y:=y:Ɲy=:HA!|Ϳ*p?I?H@? a? :K,@:>׉;)8F|BF IININ3V{ V@=yVڴQ Z>٥XX ZHZiF^豻 ^>`EH5b?EH59bp IbݖByAM4@M@b9Eib6!I%A= !!%F̻- :@-L@<-kHCHIH|BH =HH1DH<HE9 ~G A A N >uG,iARchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258843{B%Ii%%=I%p=-A-AMb@Mb@Mb@ )YV-?V- rhy?mC@ @)AI@y@IIT3%- %6=y-Q ->٥)1 5H5jF5 =>9EH5=)?MH59=, I=ȖBy]?]:]4@]@=9Ei=';=;=H5e}Be4AmEFNOT Ignoring new targets: 182.62 m. ProNav: ac range: 182.615402 m, nav range: 137.875717 m, bearing: 156.286701 deg, approach rate: -0.628169 m/s, LOS rate: -0.024797 deg/s, cmd heading: 166.589475 deg, new cmd heading: 166.557166 deg. $HeadingCmd: 2.906971 target range: 182.615402 and range: 183.90 m.b :@ZrjRJB~~2zB}||||@K? HzB=I)a>I.VC=   vǻ :@`<ܮ-G,@iA9>,@>W:@Y>A=y>Oy=>H^` ~Ϳ繿s? 6D?6`T?ష? >,@>P;)>CJ{BJIIRIRM3Z5+ Ze=yZ2PQ ^>٥\\ ^H\by b>djH5fu?jH59f_ IfByhn4@n@f9Eif;fw;fH5pv5AtFNOT Ignoring new targets: 182.62 m.̹̹ ProNav: ac range: 182.615402 m, nav range: 137.658936 m, bearing: 156.278137 deg, approach rate: -0.565811 m/s, LOS rate: -0.022387 deg/s, cmd heading: 166.557168 deg, new cmd heading: 166.531437 deg. uMHeadingCmd: 2.906522 target range: 182.615402 and range: 183.90 m.bUt:@ZQrQjQRQJYBY~a~a}a||||@L? EBzB]ݯ=Ia)eb>ID= d»checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764313t:@݁<9J4J@@@@i6G 9f<~Gy A ԙ A N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015223 G,5iAy9=F,@=:@Y=:;=y={==HJͿ H }?@?`UHHIH{BH =HHH<HE5Mb@Mb@Mb@111 1)1Y5X9v?Q롿Qy5?5\5u53@ 5$@)1I5C@1y5@IEIEUqJ U'=y]\:Q ]>٥Ya eHekFe7 e> H5 }\?%H59  I By%@?%:%7@-@  9Ei X; C; #H515q5A5Ey}FNOT Ignoring new targets: 182.62 m.ԡ!! ProNav: ac range: 182.615402 m, nav range: 137.349731 m, bearing: 156.260973 deg, approach rate: -0.632810 m/s, LOS rate: -0.035207 deg/s, cmd heading: 166.531432 deg, new cmd heading: 166.479823 deg. LHeadingCmd: 2.905621 target range: 182.615402 and range: 183.90 m.b9@ZrjRJB~~zB}||||`@ m=zBma=Ii)m>iIuqE= qqu3}9@V<G,}#PiA9>,@>t:@Y>=y>2~=>H`@ْͿS?^G?h?V? >,@>;)IF= 2︻KP"K]9*K2K:KM._(QyHB0DnK|O\'q!:jOY(.OhtQYUiy9@T™< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770980 lG,iiA9:~,@::@Y:3=y:=:H@SͿ@㹿?|r?5Tj? G? :~,@:D;):CILINAAJ4Jj4J1:JR\BJRNJJRBRJPZJR=:bJR!9JR-4JPZ^{BZIIbIb<2ji5 nN=yn_RQ n>٥lp rHrlFr r>tzH5v&9?~H59v Iv~By|~7@~@v9Eiv ;v;v`H5m6A5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 182.62 m.MM] ProNav: ac range: 182.615402 m, nav range: 136.916962 m, bearing: 156.236859 deg, approach rate: -0.604837 m/s, LOS rate: -0.033785 deg/s, cmd heading: 166.447571 deg, new cmd heading: 166.407365 deg. ]}eHeadingCmd: 2.904356 target range: 182.615402 and range: 183.90 m.be9@ZarajaRaJaBi~i~i}i|q||| o @ u4zBu=Iy)}>yI}G= yy}~9@K<d0ԙ G,iA"BDAT read: Rx Time:14:06:40.5665 &TRx dataTimestamp_ set to:1749132402.067204&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2757669r,@r:@Yr.=yr%]=rH``x{Ϳݹ`i?pb?E Nد?? r,@r;)p=B{B=IMb@Mb@Mb@ )Y~jt?Q{Gzy?ף@ Q@)IAIp@yQ@II[3Uw U5=y]Q ]>٥YY ]H]mFe\ ; e>qiH5m#?H59m ImiBy?:7@@m9EimE;m;mTH56AEFNOT Ignoring new targets: 182.62 m.8#8# ProNav: ac range: 182.615402 m, nav range: 136.647430 m, bearing: 156.220748 deg, approach rate: -0.595629 m/s, LOS rate: -0.035674 deg/s, cmd heading: 166.407368 deg, new cmd heading: 166.358939 deg. úHeadingCmd: 2.903511 target range: 182.615402 and range: 183.90 m.b!9@ZrjRJB~~zB}|||| @ 5/zB57=I1)5>9I=MH= 99=GE!9@EjEU >E ?E E E Z0E FFԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528642K5-P"K59*K12K5:K5VQ7P4yG'FoPIICKp?+ J`SouYl6Gm -<~G A A N > M'G,I۝iA9r,@r:@Yr\=yrRo=rH@'oͿù`^?%`[?`*8ݯ?@? r,@rw;)rC{B%iIi5=I5=IIIeIe#3߽ N=yQ  >٥  H1El: E>I}H5MM?}H59M9 IMUByy}7@}@M9EiM(:M :MH57AEԱFNOT Ignoring new targets: 182.62 m.uDAT read: 14:06:40.5665 LVL= 25632, 27889, 18658, 31731, AGC= 62, IDX= 56,-0.39,-1.142,-2.328,-0.529,-1.131, PHS= 0.077,-1.150, 0.600, RAW= 166.9, 6.1, CAL= 166.8, -3.3, ROT= 343.2, 3.3 }Ygot valid direction response: 14:06:40.5665 LVL= 25632, 27889, 18658, 31731, AGC= 62, IDX= 56,-0.39,-1.142,-2.328,-0.529,-1.131, PHS= 0.077,-1.150, 0.600, RAW= 166.9, 6.1, CAL= 166.8, -3.3, ROT= 343.2, 3.3 PDAT read: Bearing 343.2, 3.3 (Local) ~Local bearing/azimuth received: Bearing 343.2, 3.3 (Local) DAT read: Range 10 to 50 : 182.1 m (Round-trip 242.8 ms) speed 1.1 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.955732,-0.288552,-0.057564]Fpublishing direction and range info1y5E[?+wҿ`8.y56CY1 5 d)5lI5Hi5{5>5-=5335? 5m:@)5^ =I5AQ:@i5k5֭@5k= 1)15ax̺?β=? ɥ[?i5Q?5aH۽5J 5k= 1)1T****** received valid address query ******R****** received valid ping request ****** jj ProNav: ac range: 182.615402 m, nav range: 136.406448 m, bearing: 156.206251 deg, approach rate: -0.578182 m/s, LOS rate: -0.034843 deg/s, cmd heading: 166.358942 deg, new cmd heading: 166.315376 deg. LHeadingCmd: 2.902751 target range: 182.615402 and range: 183.90 m.Querying Benthos address 50 with one ping in standard two-way mode.b9@ZrjRJB~!~!}!|!|i|m@3f@|m? +zB\'=I)j>I"wI= MU9@UoL  BDAT read: Tx time:14:06:41.9695  $Ping request sent. -G,iAG9G=@AHU>HQHUqIHU"{BHU =HQHQHU<HUE9 ,@ ]:@Y =y FX= H@ cͿOT?`O?; ׯ?k? ,@ Ȇ;) CzBVIMb@Mb@Mb@ )YMb?V-:vy ?ThA )I@y@II(*2{ %=yzQ >٥ HnF0: >H5?H59 I?By ?:7@@!9Eim ;,: H5 8AZibm…iAm4Cm4Cm^'@ʁm=ի^e@:JT$mE[?+wҿ`8.ymJ mk=ҁm\AIc K) V@t@mb1Mjr^'?ǿzm BmJjm[k-?rm&w m*AmtN ?m&w  im,Cm&@] addTargetRange:: Added new target pos. range: 182.100006 m, deltaT: 4.030991 s, deltaX: -1.799988 m, approachRate: -0.446537 m/s, rangeRepo size: 4 u Added new target pos. range: 180.828964 m, bearing: 150.294300 deg, lat: 36.906109 deg, lon: -122.115637 deg, deltaT: 4.030991 s, deltaX: -1.786438 m, approachRate: -0.443176 m/s, posRepo size: 4 q}FNOT Ignoring new targets: 180.83 m.} ProNav: ac range: 180.828964 m, nav range: 172.747437 m, bearing: 149.364799 deg, approach rate: 0.000000 m/s, LOS rate: -0.034843 deg/s, cmd heading: 166.315379 deg, new cmd heading: 166.265292 deg. HeadingCmd: 2.901877 target range: 180.828964 and range: 182.10 m.bY9@ZrjRJB~~zB}||||$^? &zB =I ) O> I u1J= /ǠY9@3<jF4G,diA:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021089R3,@R:@YR2=yRTe{=RH@@Ϳ`u7?@'? @y0?@~? R3,@Ro;)RC^zB^6IIjIj(*3v' v=yvQ z ?٥xx zHzoF~A; ~ ?K g%P"K 9*K 2K :K FDn{&G=)G ;eneK <]H5?H59 I1By7@@$9Ei;];H5)-8A-EQUFNOT Ignoring new targets: 180.83 m.]{]{m ProNav: ac range: 180.828964 m, nav range: 172.558319 m, bearing: 149.347720 deg, approach rate: -0.606869 m/s, LOS rate: -0.054867 deg/s, cmd heading: 166.265287 deg, new cmd heading: 166.213993 deg. muHeadingCmd: 2.900981 target range: 180.828964 and range: 182.10 m.bu9@ZqrqjyRyJyBy~y~}||||pX? #zB靽ny}=I0<)>IJ=  gA9@<=i9@izEEEEEn0EF=Fp=q) M6G}A6G09<  YAyB!!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754714ԡ~GAAN>C@B:J dBJ ^JJ ARJ ZJ <:bJ d9J 4J 9:G, iA9J,@Jl:@YJ_^=yJZ=JH@y@Ϳ #˹ 71?o ?@͚0,?@j? J,@J;)JCvzBv,I)x xI~I~?13   I=yOQ >٥ H9M0: M>Q]H5U?]H59U IUByae7@e@U(9EiU;U;U{H5im9AiB*** querying acoustic contact ***JRFNOT Ignoring new targets: 180.83 m.zz ProNav: ac range: 180.828964 m, nav range: 172.310989 m, bearing: 149.325321 deg, approach rate: -0.602713 m/s, LOS rate: -0.054662 deg/s, cmd heading: 166.213992 deg, new cmd heading: 166.146699 deg. HeadingCmd: 2.899807 target range: 180.828964 and range: 182.10 m.bp9@ZrjRJB~~}||||DE? mzBmr=Ii)m>qIK= 5p9@<F =ip9@iԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007232EiEiEiEm0EiH>HCH9IHzBH =HHH<HEHƛCHƛCHHI = Iʶ56G sc= jG ?bG ?~G A A N >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2580179 =AG,ŒiA9Z],@Zͤ:@YZTl=yZ:m=ZHe gaͿ,@f?`Z7 ? .p?^? Z],@Zޫ;)ZCfzBfIeMb@Mb@Mb@aaa a)aYeMbX9?:vQye!?eԼeueA e@)eAIe@aye@IyIyϺ C=y8Q >٥ HpF- >I5ʼ?I59! I By!?:8@@-9Eie&;%;I5{B9AEFNOT Ignoring new targets: 180.83 m.rr ProNav: ac range: 180.828964 m, nav range: 172.060562 m, bearing: 149.302237 deg, approach rate: -0.575107 m/s, LOS rate: -0.053088 deg/s, cmd heading: 166.146701 deg, new cmd heading: 166.077350 deg. HeadingCmd: 2.898597 target range: 180.828964 and range: 182.10 m.b9@ZrjRJB~~yB}||||@T? uzBu"i=Iq)}h=yI}uK= yy}g9@@.<]^=i9@iEaEaEaEe0EaAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510116K,P"Kŷ9*K2K:K /J*NB 6+tPt*Cr-b`[ #SI_ ?nRdq 6G z =~G A A N >GG,{!iA9%Վ,@%E:@Y%=y%s}=%H|rͿ@)`k?M` ?>?Ź? %Վ,@%Q;)%C=gzB=IIMIM(*3] ]M=y]Q ]>٥aa eHeqFm3˹ m>q}I5u?I59uh IuBy8@@u19Eiu7_;u_;uI5A:AEFNOT Ignoring new targets: 180.83 m.55 ProNav: ac range: 180.828964 m, nav range: 171.820511 m, bearing: 149.280050 deg, approach rate: -0.633847 m/s, LOS rate: -0.058668 deg/s, cmd heading: 166.077347 deg, new cmd heading: 166.010692 deg.  !HeadingCmd: 2.897433 target range: 180.828964 and range: 182.10 m.bo9@ZrjRJBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762206~~} |||| ^)@ EzBEtb=II)M=IIMK= IQU`Uo9@]g<]x =i]o9@iYi>EubEZEԙEIEIEIEMo0EIFQFQ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015668 6Ge u=H >H H IH zBH  =H H H <H Ei ~G A A N >fOG,b>iA9VG,@V:@YVl=yV=VHy8YͿR?G?@?`x̽@Va?@i? VG,@V;)VCfWzBfIij>Ij>Mb@Mb@Mb@ )Y r?:v٥ H; > I5ӏ? I59Q~ IBy#?:$8@@69Ei;t; I5:AEQ]FNOT Ignoring new targets: 180.83 m.eei} ProNav: ac range: 180.828964 m, nav range: 171.527908 m, bearing: 149.252806 deg, approach rate: -0.609573 m/s, LOS rate: -0.056852 deg/s, cmd heading: 166.010685 deg, new cmd heading: 165.928815 deg. }HeadingCmd: 2.896004 target range: 180.828964 and range: 182.10 m.b"X9@ZrjRJB~~yB}||||A@ zB`]=I)6=IK= 0"X9@O<=i"X9@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266278>E<E?EEEB1Eԙ:J^BJ[JJCRJZJ} :bJW9J4JzJ_:jJd:J{|:rJ~|:6G z =~Gq A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518366 K P"K K9*K 2K :K sQ-(&bh}y msX=c`6C    H  ypNE)jJ >J >UG,]XiA9J),@J:@YJ=yJT=JHͿ@??#?˽ ?`\? J),@J+;)JCԱE6zBEIIUIU e. e4=ymFQ m>٥qq uHurFuy; u>yI5}Vx?I59}X| I}ѕByF8@@}:9Ei};};}I5;AFNOT Ignoring new targets: 180.83 m. V V% ProNav: ac range: 180.828964 m, nav range: 171.250137 m, bearing: 149.226650 deg, approach rate: -0.604072 m/s, LOS rate: -0.056974 deg/s, cmd heading: 165.928818 deg, new cmd heading: 165.850223 deg. -g5HeadingCmd: 2.894632 target range: 180.828964 and range: 182.10 m.b=A9@Z9r9j9R9JABA~I~Q}Q|Q|Y|Y|]`I@ %zB%|`V=I!)%\=)I-L= ))-s5A9@5'<5P =i5A9@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770102i9DaDaDaDa rE jE E ?E E E _0E 9 > < BDAT read: Rx Time:14:06:44.6134  TRx dataTimestamp_ set to:1749132405.847506 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023286i6Ge=~GAAH=>H9H=IH=/zBH= =H9H9H=<H=EN}?35_G,CiA 9z-@zY*;@Yz{=yza=zH E V̿~e?@Ia? >@h?? z-@zx;)zCi) I )  iIIi )! !%%F!)-9AI-E)-Fi))5CI111 1199i99ٯ9EzBMI ]=]=Mb@Mb@Mb@ )Yw/?٥ HsF< >!-I5%Z?-I59%y I%By51'?5:57@5@%@9Ei%#:%b:%I59=;A=EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 180.83 m.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2742189E~E~} ProNav: ac range: 180.828964 m, nav range: 170.899155 m, bearing: 149.194615 deg, approach rate: -0.608226 m/s, LOS rate: -0.055629 deg/s, cmd heading: 165.850216 deg, new cmd heading: 165.753913 deg. }HeadingCmd: 2.892951 target range: 180.828964 and range: 182.10 m.b&9@ZrjRJB~~zB}||||Z @  zB N=I)@=<I5(L= 99=_=&9@E9JJzJ:jJ:J|Q:rJQ:ԙ 6G5 "= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526576~G A A) N5 >fG,iAK@P"K9*K 2K:KL2F$1(R%#+&jv^6|W%u>42 ,qq@JHJJA95-@mI;@Yu=y =H`{W̿ *?`9?(?? 5-@\n;)CyBIII 3ԯ A=y±Q >٥ HtF; >I5D?I59w IBy7@@D9Ei;;YI5MtMr(? Mf;@)Mk=IMS<@iM+ȽMy@M+= I)IM'Oka?LN?=fo?iMKiV?MykM6M+= I)IeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.EEEE_0E 6Gu 9=~G A A N >rlG,/5iA89N;-@NXO;@YNr=yN'=NH@z-U̿ƶ ?@O ?`.?ʲ? N;-@Np;)LE,DAT read: user:1924> EBDAT read: Tx time:14:06:46.0195 M$Ping request sent.M٥y H?{: >I50?I59&v IBy7@@H9EiW::I5&HHIHyBH =HHH<HE  |E}8@}<SE=i8@izEEEEEEFFJDAT read: TxSync time:14:06:46.0187 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251159 6G ߛC=ZG RG ~G! ) A1 AI N] >٥ HuF >I5?I59s I~By b'? : 6@ @M9Ei~ ;e;I5zByG,iA 9R-@RG";@YRn=yRN\=RH@S̿<}?(@ ?`uȴ? ? R-@R;)P^yB^IIfIf2nrȼ n_=yrʉQ r>٥pp vHvvFv; v>x~I5z?~I59z:r IznBy6@@zQ9Eiz;z;z!I5=AȩEAEFNOT Ignoring new targets: 178.54 m.MHQ HU IHU yBHU  =HQ HU /DHU }<HU qENm > G,iA9>,@>u:@Y>`{=y>/=>H_̿z?@?乿 ?`? >,@>B;)>CJyBJ~IPchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259552Mb@Mb@Mb@ )Y?y&1:vyf&?`eTvA 3@)E AI@y AI%I%3ExU E6=yEˢQ M>٥YY ]HYeܻ e>yI5}D?I59}o I}ZBy '?:5@@}U9Ei}r;};}%I5yBs=AɩEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 178.54 m.`` ProNav: ac range: 178.544296 m, nav range: 173.031311 m, bearing: 149.154676 deg, approach rate: -0.625536 m/s, LOS rate: -0.049103 deg/s, cmd heading: 165.488517 deg, new cmd heading: 165.421211 deg. HeadingCmd: 2.887145 target range: 178.544296 and range: 179.80 m.b8@ZrjRJB~~&zB}|)|)|)|-`q? yB靭C1=I)ǽI)K= 8@ <hb==i8@ibEZE}A:JU[BJUMJJUARJQZJU:bJU9JU4JQzJU:jJU:JU*:rJU,:EE?EAEAEE5EAFM=FM=u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509516) 6G C=K] P"K] s9*KY 2K] :K] vO4up XmnnK ,tV`%e OG%UPFKp,s~Gy A A N >PG,9iA9NH,@N:@YNq =yN z=NHd ( Ϳ873?`Aմ?@gY;? ? NH,@NQ;)NCZyBZrI)\ \ ^p=^a=Ib$Ib<3rZ vc=yz6Q z>٥   HwF %>)5I5-u?5I59-n I-LBy9=Q5@=@-Y9Ei-;-;-(I5AE=AIFNOT Ignoring new targets: 178.54 m.`` ProNav: ac range: 178.544296 m, nav range: 172.803207 m, bearing: 149.136977 deg, approach rate: -0.631661 m/s, LOS rate: -0.049076 deg/s, cmd heading: 165.421212 deg, new cmd heading: 165.368046 deg. HeadingCmd: 2.886217 target range: 178.544296 and range: 179.80 m.bǷ8@ZrjRGA YAyBJB~~}||||%[? yBvK)=I) 꽉IMJ= iǷ8@<7=i Ƿ8@i 1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763121E?EEE4EQIM4=IMa=6G C9=ԉ ~G A A N >8G,q7iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0137699b],@bqp:@Yb=yb%J=bH @Ϳ`?P ?@;@9?`? b],@b2=;)bCndyBn_IIvIv(*3~ ~I=yQ >٥   H xF aT  >I5?I59k I;By!%4@%@]9Ei;;l,I5)5:>A5̩EYimFNOT Ignoring new targets: 178.54 m.ul\ul\ ProNav: ac range: 178.544296 m, nav range: 172.550247 m, bearing: 149.117778 deg, approach rate: -0.633819 m/s, LOS rate: -0.048177 deg/s, cmd heading: 165.368046 deg, new cmd heading: 165.310363 deg. @HeadingCmd: 2.885210 target range: 178.544296 and range: 179.80 m.bH8@ZrjRJB~~}||||@ ]yB])=IY)]YIe1hJ= aaemH8@m؟HCHqIHyBH =HHH<H{EHšCHšCHH =I = Ii56EU?EYEYEeQ0EaԑԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2663936GE 7=~G A A N > .G,QiAIyBOIԙMb@Mb@Mb@ )YS㥛?DlI +y$&?O94A QA) AI@y(AII3 v <=yQ >٥ H >I52?I59yi I*By'?:3@ @b9Eidh;Kf;:0I5>A9=FNOT Ignoring new targets: 178.54 m.ESIESIU ProNav: ac range: 178.544296 m, nav range: 172.273987 m, bearing: 149.098690 deg, approach rate: -0.635847 m/s, LOS rate: -0.044003 deg/s, cmd heading: 165.310358 deg, new cmd heading: 165.253004 deg. U]HeadingCmd: 2.884209 target range: 178.544296 and range: 179.80 m.be8@ZarajaRaJaBa~i~m!zB}i|i|q|q|u@ yB靵%=I)*II= >򺉢8@g><R/=i8@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.546757EEEE\0EFFKmJQ"Km@9*Ki2Km:Kmp | ! } q35bGQxDYeoP*j>3nK6G'=ZGRG~GAAIAaNmV>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.799399IG,('kiA9NԺ+@ND9@YN=yN=NH sο@ʵ? fli?yl`jE?y? NԺ+@Nd;)NCZ(yBZ:Ii^>I^<IbIb[3j j^=ynMQ n>٥lp rHryFrܼ r>tI5vJ?I59vZg IvBy  3@ @vf9Eiv;vc;vp3I5(?AϩE9EFNOT Ignoring new targets: 178.54 m.Ei?Mi?U ProNav: ac range: 178.544296 m, nav range: 172.040146 m, bearing: 149.083314 deg, approach rate: -0.635399 m/s, LOS rate: -0.041836 deg/s, cmd heading: 165.252998 deg, new cmd heading: 165.206808 deg. ]eHeadingCmd: 2.883403 target range: 178.544296 and range: 179.80 m.be8@ZarajaRaJaBi~i~i}i|i||| @:J\BJTJJBRJZJ=:bJ:9J-4J-@-@-@-@) }yB靅P=I)OII.I= dٺ8@̀< =i8@iqE E EE_0EA%BDAT read: Rx Time:14:06:48.6612 %TRx dataTimestamp_ set to:1749132409.907775-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.051039qH>HHRIHOyBH =HHH<HtE6G (=~GI Ai A N >ԡ 2G,iA9>t+@>9@Y>=y>'<>H`-Ͽ߳@Ȟ? &?`d?`? >t+@>;)<^yB^5IMb@Mb@Mb@ )YK7A?V-I +y "?hA zA)rAI@yAIIb2 ==yRQ >٥ HzF#" >I5?I59d I By#?:^2@@j9Ei_;_;87I5I?AҩEFNOT Ignoring new targets: 178.54 m.%22%225 ProNav: ac range: 178.544296 m, nav range: 171.771011 m, bearing: 149.066511 deg, approach rate: -0.622835 m/s, LOS rate: -0.038948 deg/s, cmd heading: 165.206812 deg, new cmd heading: 165.156323 deg. 5պ=HeadingCmd: 2.882522 target range: 178.544296 and range: 179.80 m.b=<{8@ZArAjARAJABA~I~M4zB}I|I|I|Y|e qh @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.303170ԉ uyBui=Iy)}/PyI}XvH= yy}v<{8@<=i<{8@iEAEAEAEAEAԡ6GH=~GAAN k>= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.555331K 5P"K s9*K 2K :K V<J!f}mi6~?'+  5mxK4&I*W)R \G,ޞiA96_:+@6M9@Y6G=y6X<6H``w{Ͽ`]?@@?Y@?0? 6_:+@6;)4NyBR$IIVIV(*3* \=y܀Q >٥!! -H)- 5>AeI5ETt?mI59Eb IEByiu$2@u@En9EiE;E;E:I5?AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 178.54 m.)) ProNav: ac range: 178.544296 m, nav range: 171.530228 m, bearing: 149.051729 deg, approach rate: -0.604117 m/s, LOS rate: -0.037140 deg/s, cmd heading: 165.156324 deg, new cmd heading: 165.111915 deg. ˺=HeadingCmd: 2.881747 target range: 178.544296 and range: 179.80 m.b=n8@Z9r9j9R9JABA~A~A}I|I|I|I|M 5@ =yB=L=I9)=i9IEG= AAEeMn8@MGۅ̌ۅM"? ܅N8@)܅ԇ=I܅8@i܅޹܅g@܅޹= ݁)݁݅&5u?~**͍?5!?i݅H?݅'݅j݅޹= ށ)ށET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.:J=WBJ=SJJ=CRJ9ZJ=;9bJ=y69J=4J9) 6Gm  =~G) A1 AA NM >Y G,ŸiA9F+@F9@YF=yFU rBDAT read: Tx time:14:06:50.0696 r$Ping request sent.r٥YY ]H]{F] ]>amI5e_?mI59e-` IeBy1@@er9Eie;eW;e+>I59@AթEZbbjiA0C0CH>HCH2IHyBH =HHH<HE)R'@ʁ]x6e@hJG=qA0CbI?Xjѿ0L3j޹=ҁ9qvbjSǣU@zL@aŋbG, iA9Rѽ*@RA8@YR8=yR=RH;пy6?@#?g?? Rѽ*@RYZ;)RC~xBIMb@Mb@Mb@ )YT㥛 ?333333I +y!?IA A)II@yAI!Ii31 2=yHQ >٥ H|F >I5UI?I59j] IߔBy0"?:81@@w9Ei;:)BI5xB~@AةE!%FNOT Ignoring new targets: 176.85 m.-F-F= ProNav: ac range: 176.849762 m, nav range: 170.286285 m, bearing: 149.488685 deg, approach rate: -0.800962 m/s, LOS rate: -0.043492 deg/s, cmd heading: 165.056384 deg, new cmd heading: 165.010099 deg. achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502975HeadingCmd: 2.879970 target range: 176.849762 and range: 178.10 m.blQ8@ZrjRJB~~zB}||||%@Փ? uyB靝 0J ?J>EqEqEyE}0EyԑԹ6G r< checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756561~G A A N > %G,ϾiA9Rɶ*@R98@YRS=yR=RH`SFп` ?e? ?? Rɶ*@R;)RC^xB^I:Jr\BJrTJJr>RJpZJr=:bJr:9Jrt4JpInIn2~ҭ ~Y=y\Q >٥  H    >I56?I59$[ IӔBy!%31@%@z9Ei;j;rEI5)-AA)aeFNOT Ignoring new targets: 176.85 m.mJmJ} ProNav: ac range: 176.849762 m, nav range: 170.052383 m, bearing: 149.475991 deg, approach rate: -0.620535 m/s, LOS rate: -0.033722 deg/s, cmd heading: 165.010103 deg, new cmd heading: 164.971969 deg. %HeadingCmd: 2.879304 target range: 176.849762 and range: 178.10 m.bF8@ZrjRJB~~}|||| E? EyBMxH}CH}IH}xBH} =HyH}.DH}<H}E6G+^<ZGRG}A1 ~G A A9 Nm >Q ,G,iA9>*@>l8@Y> =y>Tw.=>H`LBп?@b`?{ U?S? >*@>;)>CFxBFI-Mb@Mb@Mb@)))=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056 )))Y-Gz?Q뱿y&1y-p?-\-`e-vA -A))I-v@)y-AIUIU[3| ;=y2Q >٥ H}F:  >I5!?I59X IĔBy?:1@@9Ei::CII59=nAA=۩EaeFNOT Ignoring new targets: 176.85 m.m`m`} ProNav: ac range: 176.849762 m, nav range: 169.787140 m, bearing: 149.460979 deg, approach rate: -0.606802 m/s, LOS rate: -0.034397 deg/s, cmd heading: 164.971963 deg, new cmd heading: 164.926857 deg. }ټHeadingCmd: 2.878517 target range: 176.849762 and range: 178.10 m.b98@ZrjRJB~~zB}|||||? yBmK P"K 9*K 2K :K v2~i'rjakeH=V.jrd9I42Pu"J% AJ% A7G,2w"iA09zѲ*@zA8@Yz=yzHH=zHz@Tп`Z?/?-?`? zѲ*@z?.;)x%vxB-IIE#IE%x3Uc UV=yUxMQ U>٥YY ]HYe e>iuI5m?uI59m`V ImByqu1@u@m9Eim;m;mLI5AAީEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 176.85 m. ProNav: ac range: 176.849762 m, nav range: 169.555161 m, bearing: 149.447860 deg, approach rate: -0.609865 m/s, LOS rate: -0.034536 deg/s, cmd heading: 164.926857 deg, new cmd heading: 164.887446 deg. HeadingCmd: 2.877829 target range: 176.849762 and range: 178.10 m.bY.8@ZrjRJB~~}||||? yB9Jg4J6Gme~<~GI AQ Ay N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875aG,TS<iA9:r*@:8@Y:`=y:Z=:H[п@͒?>?泿F?? :r*@:X҈;):CF[xBFIININbVۉ VU=yZ]9Q Z>٥XX ZHZ~F\bƹ b>djI5f?jI59f$T IfByhhn@f9Eif;f;fOI5pvSBAtH=>H=CH=IH=xBH= =H9H9H=ǚ<H=EFNOT Ignoring new targets: 176.85 m. ProNav: ac range: 176.849762 m, nav range: 169.322083 m, bearing: 149.434644 deg, approach rate: -0.584428 m/s, LOS rate: -0.033184 deg/s, cmd heading: 164.887446 deg, new cmd heading: 164.847743 deg. 1HeadingCmd: 2.877136 target range: 176.849762 and range: 178.10 m.b"8@ZrjRJB~~}| ||1|5@W@ A ~G A A N >HG,)ViA9B*@B8@YBgĝ=yB2g=BHRпͮ@? ?ݬ?? B*@B;)BCNSxBNI5Mb@Mb@Mb@111 1)1Y5Q?Q뱿Mby5(?155 A 5A)5AI5@1y53AIUIUF3e m?=ymQ m>٥qq uHuFu : }>I5?I59Q IBy2?:1@@9Ei8::SI5rBAEFNOT Ignoring new targets: 176.85 m.H"]H"m ProNav: ac range: 176.849762 m, nav range: 169.064728 m, bearing: 149.420061 deg, approach rate: -0.625010 m/s, LOS rate: -0.035470 deg/s, cmd heading: 164.847749 deg, new cmd heading: 164.803934 deg. mºHeadingCmd: 2.876371 target range: 176.849762 and range: 178.10 m.bx8@ZrjRJB~~yB}||||[)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974 yB%tG, piAIhIjAA9 *@ 8@Y Ŝ=y v= Hg@п)@?@Meó?`ѓ ? H? *@ 3;) C7xB%IJ4J4J+0:J5ZBJ5\JJ5ARJ1ZJ59bJ5[9J54J1IIII] ]K=yeQ e>٥aa eHimY; m>qqI5u?I59uXO IuBy1@@u9Eiu:u:u4WI5wBBAߩEFNOT Ignoring new targets: 176.85 m.ee ProNav: ac range: 176.849762 m, nav range: 168.821960 m, bearing: 149.406145 deg, approach rate: -0.599273 m/s, LOS rate: -0.034401 deg/s, cmd heading: 164.803941 deg, new cmd heading: 164.762132 deg. ༺HeadingCmd: 2.875642 target range: 176.849762 and range: 178.10 m.b 8@ZrjRJB~~}||||9 @ 9=zD= AAETi9M 8@MS<HCHIHoxBHHHHٚ<HEHƙCHƙCHH =I = IS56GF<~Gq A A1 Nm > a[G,iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274741-xB-IMb@Mb@Mb@ )YX9v?٥ HF >I5?I59L IBy  ? : ~1@@9EiU<<ZI5CAEFNOT Ignoring new targets: 176.85 m.--= ProNav: ac range: 176.849762 m, nav range: 168.564911 m, bearing: 149.391531 deg, approach rate: -0.578677 m/s, LOS rate: -0.032950 deg/s, cmd heading: 164.762126 deg, new cmd heading: 164.718216 deg. =贺EHeadingCmd: 2.874875 target range: 176.849762 and range: 178.10 m.bE7@ZArIjIRIJiBi~q~uyB}q|q|y|y|} @ 靭r||G,̘iA96 *@69@Y6Z=y6=6H`%)п:@?<`Je? F%?@? 6 *@61;)4BxBBIiF=IF٥XX ZHZFZ; ^>\bI5^?bI59^J I^yBydf1@f@^9Ei^;^#;^ ^I5hnCAnEFNOT Ignoring new targets: 176.85 m.,, ProNav: ac range: 176.849762 m, nav range: 168.344971 m, bearing: 149.378815 deg, approach rate: -0.652915 m/s, LOS rate: -0.037797 deg/s, cmd heading: 164.718222 deg, new cmd heading: 164.680024 deg. ϺHeadingCmd: 2.874209 target range: 176.849762 and range: 178.10 m.b 7@ZrjRJB~ ~ } | |||`@I 靭+Em狿qE%!? E'7@)E A=IE8@iEqE@Eq= A)AEj?$g?`J?iE&G?EEԇEq= A)AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IR=I%=ԡ~G A1 AY Nu >  ,DAT read: user:1926>  BDAT read: Tx time:14:06:54.1196  $Ping request sent. +@>29@Y>|=y>)=>H п@@?O?12j?? >+@>퍈;)>CJwBNtIIVIVb2Z ^J=y^RJQ b>٥`d fHdfd$; f>hGpGpHtHtHvIHv(xBHtHtHtHvŚ<HvE}I5jܚ?I59jkH IjlBy1@@j9EijW :J5 _BJ5 TJJ5 CRJ1 ZJ5 :bJ5 :9J5 4J1 zJ5 ,:= jJ5 1:= J5 SJ:= rJ5 UJ:E 9 G,1iAwB`IMb@Mb@Mb@ )YS?A`"{Gzy/?Y#\ A 3A)IAy AI&I3 9=yQ >٥ HF >I5I?I59F I_By?:3@ @9Ei:Q:oeI5vBDAE5B*** querying acoustic contact ***J1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502741R1FNOT Ignoring new targets: 175.46 m.AA ProNav: ac range: 175.459000 m, nav range: 169.971832 m, bearing: 149.776647 deg, approach rate: -0.643207 m/s, LOS rate: -0.042336 deg/s, cmd heading: 164.629033 deg, new cmd heading: 164.576507 deg. pHeadingCmd: 2.872402 target range: 175.459000 and range: 176.70 m.bo7@ZrjRJ!B!~!~%yB})|)|I|I|U? x;Iʘ<)aI7= uO:o7@ < Y=i o7@ibEZEAE?EEE0EK P"K9*K2K:K0ddO(3 ~  q&gYf76=DIjG ?bG ?9~GAANb>i m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917G,F iA<9>U+@>h9@Y>,=y>=>H`eϿ"?`(?`.? 0? >U+@>?;)>CbwBbTI)d dIjIj3rR v\=yvûQ v>٥xx zHzFzZ< z>|I5~s? I59~ D I~TBy  3@ @~9Ei~K:~:~hI5DAFNOT Ignoring new targets: 175.46 m.88 ProNav: ac range: 175.459000 m, nav range: 169.748093 m, bearing: 149.761504 deg, approach rate: -0.595328 m/s, LOS rate: -0.040347 deg/s, cmd heading: 164.576509 deg, new cmd heading: 164.531019 deg. ݺ HeadingCmd: 2.871608 target range: 175.459000 and range: 176.70 m.b m7@Z r j R JB~~}||||%`>? Q]`*z;IY)]F YI]X6= aaec:em7@m5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008461H>HH}IHwBH =HH/DH˚<HE H, iA9>r+@>&9@Y>o=y>Z=>H pz]Ͽ@C䩿`\?`! ? J^?`? >r+@>9ه;)>CZwBZFIl%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259432]Mb@Mb@Mb@YYY Y)YY]jt?~jt~jty] ?]D]D]rA ]A)]AI]AYy] AIuIuV83@W A=yNQ >٥ H; >I5]?I59A IGByD!?:4@@9Ei2;;glI5DEAEFNOT Ignoring new targets: 175.46 m.^U^U ProNav: ac range: 175.459000 m, nav range: 169.487106 m, bearing: 149.742693 deg, approach rate: -0.646033 m/s, LOS rate: -0.046635 deg/s, cmd heading: 164.531020 deg, new cmd heading: 164.474501 deg.   HeadingCmd: 2.870622 target range: 175.459000 and range: 176.70 m.b D7@ZrjRJB~~yB}|||| ? 1M;IQ)UQIUSU4= QQU":]D7@]<]/=ieD7@ia:JbBJMJJBRJZJ:bJ9J-4JzJH ;jJJ ;J):rJ,:E)E)E)E-o5E19checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109746GU e[=a ~G A A N >K zP"K *K 2K :K Xb j h&[bGq:|AS}@Z,W7@ pG_/3"-MH,$ iA96+@69@Y6=y6i=6H~>Ͽ??9(۳?@z? 6+@60Ӈ;)6CBwBB6IIJIJ3R~ RZ=yV>5Q V>٥TT VHVFZH*; Z>\bI5^J?bI59^@ I^;By`f4@f@^9Ei^;^;^oI5hjEAjE9|}FNOT Ignoring new targets: 175.46 m./L/L ProNav: ac range: 175.459000 m, nav range: 169.258209 m, bearing: 149.726065 deg, approach rate: -0.613496 m/s, LOS rate: -0.044628 deg/s, cmd heading: 164.474507 deg, new cmd heading: 164.424554 deg.  HeadingCmd: 2.869750 target range: 175.459000 and range: 176.70 m.b7@Zrj!R!J)B)~)~)}1|1|||`i? `:I)RI #\2= 99=s:E7@EEU<rE]a>jE]>ԙE?EEE )1E 6G '2= ~G! A1 AA NU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014850yH,k> iAI)@HF>HFCHFQIHFwBHDHDHDHFĚ<HFE9Rj+@R1~9@YR讐=yR&=RH@jϿZm??,`m?`*ó? ? Rj+@RQ͇;)RCZiwB^'IIEIE2ub u>=yuֵQ u>٥yy }H}F4^ >I5_5?I59= I.Byԙ4@@9Ei{8;E9;msI5 FAFNOT Ignoring new targets: 175.46 m.JJ ProNav: ac range: 175.459000 m, nav range: 168.994156 m, bearing: 149.706964 deg, approach rate: -0.612011 m/s, LOS rate: -0.044341 deg/s, cmd heading: 164.424551 deg, new cmd heading: 164.367158 deg. rHeadingCmd: 2.868748 target range: 175.459000 and range: 176.70 m.b7@ZrjRJ B ~ ~ }||||@ EyBEԺII)MKIIMdl0= IIM<:7@ba<2=i7@i>E< E?EEEP0EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2673041:J `BJ XJJ @RJ ZJ :bJ 5K9J J4J zJ :jJ :J f:rJ f:6G {/=~G A A! N5 >Y [H,wX iA9>`R+@>e9@Y>(=y>=>H 5Ͽ"?@?k@M?? >`R+@>';)>CJ^wBJ I-Mb@Mb@Mb@))) )))Y-%C?Qy-Z$?-L-u-A -3A)-+AI-A)y- AI I(28ڼ G=yDQ >٥ Hm >I5@ ?I59; I By$?:4@@9Ei* ; ;wI57FAEB*** querying acoustic contact ***JR FNOT Ignoring new targets: 175.46 m.MM- ProNav: ac range: 175.459000 m, nav range: 168.735733 m, bearing: 149.688456 deg, approach rate: -0.627181 m/s, LOS rate: -0.044986 deg/s, cmd heading: 164.367164 deg, new cmd heading: 164.311556 deg. -5HeadingCmd: 2.867778 target range: 175.459000 and range: 176.70 m.9b57@ZArIjIRIJIBQ~Q~]yB}Y|Y|Y|Y|e@ yB靍checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519006I)!IQH.= $`;7@ä<g\1=i7@iaKlOP"K+9*K2K:K._ 2PCO{Ap D=%KKJ[p/e*<e2qBs >EuԘ<ԑE ?E E E a5E F AF AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771974 6G 4=jG ?bG #?~G)A1AANU>H,v iAH9F-+@FA9@YF #=yF=FH`S`Ͽ`쌨@;9?`E?A?? F-+@F,;)FCZ٥ll rHrFr˥ r>tzI5v ?zI59v99 IvBy|~`4@~@v9Eivu ;v ;vzI5uBFAE9=FNOT Ignoring new targets: 175.46 m.EKEKU ProNav: ac range: 175.459000 m, nav range: 168.458923 m, bearing: 149.668799 deg, approach rate: -0.625752 m/s, LOS rate: -0.044510 deg/s, cmd heading: 164.311552 deg, new cmd heading: 164.252484 deg. U_]HeadingCmd: 2.866747 target range: 175.459000 and range: 176.70 m.b]x7@ZYrajaRaJaBa~i~i}i|i|q|q|u٠ @ yB靥#I)*I+= t;x7@-*<K-=ix7@iDDDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025636H>HH,IHqwBH =HHH}<HtEEM?EIEIEM\3EI! e BDAT read: Rx Time:14:06:56.7556 e TRx dataTimestamp_ set to:1749132418.224486m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2771026Gu /=~GQ Aa A N >u$H, iAL95+@5o9@Y5y=y5G=5Hп@? ?Y?`vΰ?`? 5+@5;)5CM)wBMI:J]aBJ]UJJYRJYZJ]:bJ]>9JYJYzJ];jJ];J]}Q:rJ]Q:)q q ua=uR=Mb@Mb@Mb@ )Yv/? ףp= Qyx)?Q8+A A)AAI3Ay AIIV8358# 51=y=xQ =>٥9A EHEFE\ E>IUI5M9?]I59M6 IMBy])?]:]4@]@M9EiMf:MM:M~I5aGA9=FNOT Ignoring new targets: 175.46 m.eQeQu ProNav: ac range: 175.459000 m, nav range: 168.160858 m, bearing: 149.646773 deg, approach rate: -0.619960 m/s, LOS rate: -0.045894 deg/s, cmd heading: 164.252485 deg, new cmd heading: 164.186290 deg. u}HeadingCmd: 2.865591 target range: 175.459000 and range: 176.70 m.b}e7@ZyryjRJB~~yB}|||| @ %yB-I))-o.)I-)= 11=0;e7@<t)=ie7@iEEEEP0E]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527059G! I Y y cB6G ,=K q:*H, iA9F*@F8@YF=yF$v=FH@'п@A㧿@V?`?Sî?`}? F*@Fz;)FCRwBRIIZIZ2f)A fe=yfҬQ f>٥hh jHhj n>pvI5rg?vI59r4 IrBytv4@v@r9Eir:rK:rI5x~JGA~EAMFNOT Ignoring new targets: 175.46 m.UcUcDAT read: 14:06:56.7557 LVL= 27664, 32753, 19698, 32755, AGC= 63, IDX= 31,-0.05, 1.649, 0.416, 2.111, 1.551, PHS= 0.187,-1.087, 0.557, RAW= 162.4,C9 ROT= 347.1, 4.6 unknown deviceResponse_: 14:06:56.7557 LVL= 27664, 32753, 19698, 32755, AGC= 63, IDX= 31,-0.05, 1.649, 0.416, 2.111, 1.551, PHS= 0.187,-1.087, 0.557, RAW= 162.4,C9 ROT= 347.1, 4.6  PDAT read: Bearing 347.1, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 347.1, 4.6 (Local) -DAT read: Range 10 to 50 : 173.9 m (Round-trip 231.9 ms) speed 0.3 m/s --X#Rx 1: Read range message, but no direction.ڹڽ-CYڹ5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.} ProNav: ac range: 175.459000 m, nav range: 167.930923 m, bearing: 149.629940 deg, approach rate: -0.679440 m/s, LOS rate: -0.049808 deg/s, cmd heading: 164.186287 deg, new cmd heading: 164.135719 deg. HeadingCmd: 2.864709 target range: 175.459000 and range: 176.70 m.bcW7@ZrjRJB~~}!|!|)|=̼e@|E$? yB,kI)m2I&= f>;)5cW7@5U<5DP$=i5cW7@i9IiImp=EEEE_0EQu ,DAT read: user:1927> } BDAT read: Tx time:14:06:58.1197  $Ping request sent. q"1H,3 iA96*@6k8@Y6'Q=y6$_]=6H`f@\?п⧿?Mb?䯿?'? 6*@6/4;)6CF wBJII~I~3   F=y1lQ >٥ HF %>!-I5%?5I59%2 I%By154@5@%9Ei%:%:%I5AMGAUEa addTargetRange:: Added new target pos. range: 173.899994 m, deltaT: 4.031428 s, deltaX: -2.800003 m, approachRate: -0.694544 m/s, rangeRepo size: 4  FNOT Ignoring new targets: 175.46 m.]KM]KM ProNav: ac range: 175.459000 m, nav range: 167.663834 m, bearing: 149.610526 deg, approach rate: -0.616343 m/s, LOS rate: -0.044871 deg/s, cmd heading: 164.135716 deg, new cmd heading: 164.077382 deg. ZHeadingCmd: 2.863691 target range: 175.459000 and range: 173.90 m.bF7@ZrjRJB~~}||||>X?ԉJDAT read: TxSync time:14:06:58.1189 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250909 UyBUx?ۻIQ)]l5YI]n=$= YY]:?O;F7@ J<!=iF7@iEAEAEAEM^0EIԹ 6G} #=~GY Aa } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501800A N >h7H, iA9r*@rO8@Yrx=yr?E=rH`h@Vпǧ%?!?\@?@e? r*@r;)p vB IiR=I=ԁMb@Mb@Mb@ )Yx&? ףp= ~jty7)?DA `A)AIAyI]"I]q3eļ m3=ymiQ m>٥iq uHuFuP }>yI5}?I59}0 I}By)?:g4@@}9Ei}:}:}I5GAB*** querying acoustic contact ***JRFNOT Ignoring new targets: 175.46 m.>`>` ProNav: ac range: 175.459000 m, nav range: 167.369583 m, bearing: 149.589305 deg, approach rate: -0.678414 m/s, LOS rate: -0.049013 deg/s, cmd heading: 164.077386 deg, new cmd heading: 164.013611 deg. HeadingCmd: 2.862577 target range: 175.459000 and range: 173.90 m.bx47@ZrjRJB~~ yB} | | | |,|? MyBUt#nIQ)U7YI]5"= YY]\;ex47@e =H,̸ iA9>*@>'8@Y>~q=y>T=>H JпF`?C?@0`t? ? >*@>{;)<^vBbIIfIf(*3n ri=yrQ r>٥tt vHtv; v>xmI5z ?mI59z. Iz֓Byimv4@m@z9EizO1I5 = 19=j;=W&7@EM٦HCHIH wBH =HH.DH<HEEEEEO1E!6Gzc =jG-?bG->Y~G AA A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259029y oDH,!iA9F*@FS8@YF4h=yFC:=FH, 3п6?lWͭ?@٥qq }H}F}j"; >I5V?I59+ I̓ByC,?:4@@9Ei;;_I5HAEQQ]FNOT Ignoring new targets: 175.46 m.]Q]]Q]m ProNav: ac range: 175.459000 m, nav range: 166.864670 m, bearing: 149.553118 deg, approach rate: -0.681653 m/s, LOS rate: -0.048373 deg/s, cmd heading: 163.964196 deg, new cmd heading: 163.904879 deg. HeadingCmd: 2.860680 target range: 175.459000 and range: 173.90 m.ba7@ZrjRJB~~yB}||||8j? yB 7I)%=!I%0[= !!%Vz;Ma7@M<KE \P"KE s9*KA 2KE :KE |=sj`Ix-2n ?2= fq3XtRt| ҙJH,v,!iA9R*@R8@YRna=yR.=RH`#пϥl? /8?3ե?? R*@R;)RCZvB^I)` `IfIf2T P=yQ >٥!! %H%F% ; %>)5I5-Yr?=I59-q) I-ÓBy9=%4@=@-9Ei-;-;-̓I5AE~HAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155FNOT Ignoring new targets: 175.46 m.SS ProNav: ac range: 175.459000 m, nav range: 166.607147 m, bearing: 149.534740 deg, approach rate: -0.647852 m/s, LOS rate: -0.046307 deg/s, cmd heading: 163.904883 deg, new cmd heading: 163.849662 deg. =HeadingCmd: 2.859716 target range: 175.459000 and range: 173.90 m.b7@ZrjRJB~~}||||x9@ yB ꦓI ) 4D I z = Z;7@Ȗ<4=i7@i!ԩE?EEE@5E:J5aBJ5ZJJ5>RJ1ZJ5:bJ5S9J5t4J16G a.=~GAA N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013713H >H H IH wBH  =H H /DH К<H E1 QH,JF!iA9>*@>8@Y>\\=y>ϒ5=>HFAп椿? `?1` ?? >*@>5;)٥ll nHlrf r>I5]?I59,' IBy4@@9EiC;C&;FI5!-rHA-EaeFNOT Ignoring new targets: 175.46 m.mWmW ProNav: ac range: 175.459000 m, nav range: 166.345306 m, bearing: 149.516167 deg, approach rate: -0.661470 m/s, LOS rate: -0.046993 deg/s, cmd heading: 163.849668 deg, new cmd heading: 163.793861 deg. HeadingCmd: 2.858742 target range: 175.459000 and range: 173.90 m.b6@ZrjRJB~~ }||||/@ yBnMI)BI.+= [;6@<E/=i6@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265850E?EEEp5E9q 6G 4=ZG RG ~G A A N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664WH,w`!iAvBIMMb@Mb@Mb@III I)IYMsh|??T㥛 {GztyM)?MMףMA M A)MAIMAIyM AIYIYme u1=yuQ u>٥qy HF >I5D?I59i$ IBy*?:2@@9Ei:,:LI5sBHAEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 175.46 m.@@a ProNav: ac range: 175.459000 m, nav range: 166.044037 m, bearing: 149.496929 deg, approach rate: -0.659194 m/s, LOS rate: -0.042170 deg/s, cmd heading: 163.793865 deg, new cmd heading: 163.736047 deg. HeadingCmd: 2.857733 target range: 175.459000 and range: 173.90 m.b6@ZrjRJB~~yB}|||| ?@K%TP"K%9*K!2K%:K%xMm i$ nl+0GA]I iK+KbWg " yB,QuI)EI]=   mV;=6@=q<=H4=iE6@iAԙEEEE`5E}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771079 :JM [BJM RJJM =RJI ZJM :bJM S29JM g4JI 6G /=~G A A N >]H,Bz!iAL=vB=IiEJ>IE;AAIM#IM%x3m  m]=yqQ u>٥yy }Hyy >I5X1?I593" IBy@9Ei::I5HAFNOT Ignoring new targets: 175.46 m.C@C@ ProNav: ac range: 175.459000 m, nav range: 165.802948 m, bearing: 149.481483 deg, approach rate: -0.654935 m/s, LOS rate: -0.042022 deg/s, cmd heading: 163.736041 deg, new cmd heading: 163.689634 deg. HeadingCmd: 2.856923 target range: 175.459000 and range: 173.90 m.b6@ZrjRJB~ ~ } | |||4 @BDAT read: Rx Time:14:07:00.6791 TRx dataTimestamp_ set to:1749132422.003480checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022912 yBI)%FIK9= #;6@Ũ< "7=i 6@i He>HaHeIHevBHe =HeFDHe.DHe<HeEEEEEW0E)6G4=~G A9 A AQ N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274528dH,!!iA9> *@>x8@Y>x@=y>K=>H@gп ֏?@}?3p?? > *@>q;)>CJvBJImMb@Mb@Mb@iii i)iYm?p= ף٥ HFм >I5Y?I59 IBy>'?:1@@9EiD;S;I5HAEFNOT Ignoring new targets: 175.46 m. A, A, ProNav: ac range: 175.459000 m, nav range: 165.540070 m, bearing: 149.466006 deg, approach rate: -0.638491 m/s, LOS rate: -0.037649 deg/s, cmd heading: 163.689636 deg, new cmd heading: 163.643133 deg. %κ%HeadingCmd: 2.856112 target range: 175.459000 and range: 173.90 m.b%6@Z)r)j)R)J)B)~1~5yB}1|9|9|9|=@VI @ yB~KI)mHI= !!%C;%6@- <-=iU6@iYiE E E E^0E5DAT read: 14:07:00.6791 LVL= 23280, 27697, 18002, 28611, AGC= 67, IDX= 163,-0.27, 1.451, 0.232, 1.865, 1.282, PHS= 0.258,-1.003, 0.581, RAW= 161.1, 2.3, CAL= 162.4, -6.6, ROT= 347.6, 6.6 EYgot valid direction response: 14:07:00.6791 LVL= 23280, 27697, 18002, 28611, AGC= 67, IDX= 163,-0.27, 1.451, 0.232, 1.865, 1.282, PHS= 0.258,-1.003, 0.581, RAW= 161.1, 2.3, CAL= 162.4, -6.6, ROT= 347.6, 6.6 UPDAT read: Bearing 347.6, 6.6 (Local) ]~Local bearing/azimuth received: Bearing 347.6, 6.6 (Local) mDAT read: Range 10 to 50 : 116.4 m (Round-trip 155.3 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.`direction in FSK: [0.970200,-0.213312,-0.114937]Fpublishing direction and range infoy ?M˿NZlBY Z)1lIRFqioC>Nbj? P3@)l$=I g5@i뽉"@= )r?k?gv?iy7?#t]= )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6Gm /7=jGu ?bGu ?~GA AI Aa N} >K} O"K} 9*Ky 2K} :K} x,8=>/ ^  *NK:01;X{j|1 An}j_Kkyԡ jH,!iA9j )@jz7@YjIS7=yjH=jHv[ѿL؞?$6٥   HF >%I5?%I59Q IBy)-1@-@9Ei::vI5=,DAT read: user:1928> EBDAT read: Tx time:14:07:01.9197 E$Ping request sent.EJDAT read: TxSync time:14:07:01.9189 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251764HU >HU CHU IHU vBHU  =HU GDHQ HU <HU E oqH,G!iA96)@67@Y6/=y6:?=6H@`:Bѿ)s b#?@C`0?ߧ?? 6)@6;)4^vB^I)` ` b=bp=df@AIfIfV83nU nM=yrQ r>٥pp vHtv v>x I5z?I59z IzBy%Z1@%@z9Eizp;zJ;zI59=@IA9imFNOT Ignoring new targets: 175.46 m.u-u- ProNav: ac range: 175.459000 m, nav range: 165.034882 m, bearing: 149.436964 deg, approach rate: -0.662408 m/s, LOS rate: -0.037815 deg/s, cmd heading: 163.599888 deg, new cmd heading: 163.555876 deg. ϺHeadingCmd: 2.854589 target range: 175.459000 and range: 173.90 m.b6@ZrjRJB~~}|||| ? yBuI)PMI = %\;%6@-<-)=i-6@i)echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506180EEEEE)6G Л=~G A A N >Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7555638xH,h!iA):t> >]CvƈGA E YAyE B9lH)@[7@Y=y<H @ڊѿo!`%w??x?@h?!? lH)@QÊ;)C-vB5I9Mb@Mb@Mb@ )YMb?lMbpy#?+A  A)XAIvAy AI Ib3 ,=y Q  >٥  HF5 >%I5z?%I59 IBy-+$?-:-/@-@9Ei;;I55rB5JIA= EB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 175.46 m.5 5 E ProNav: ac range: 175.459000 m, nav range: 164.734573 m, bearing: 149.422109 deg, approach rate: -0.608296 m/s, LOS rate: -0.030145 deg/s, cmd heading: 163.555874 deg, new cmd heading: 163.511228 deg. muHeadingCmd: 2.853809 target range: 175.459000 and range: 173.90 m.buФ6@ZyryjyRJB~~yB}||||?KpEP"K+9*K2K:KUi*,"(9" )NaNXT55|^A^JfS1cN&7 %yB%ŧI!)-M)I-e5= ))-;5Ф6@5<5+jE>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804EqEqEqEyEyF=F=ԉ6G /=ZG RG ~G A A N% >l~H,FD!iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258734H%ڼ>H%CH%IH%vBH% =H%FDH%-DH%<H%EHCHCHH =I = Ie6vBIIIV83 /=y%Q %>٥!) -H-F- ->1=I55.?=I595 I5ByAAE@59Ei5S:5:5+I5IMIAUEy}FNOT Ignoring new targets: 175.46 m. ProNav: ac range: 175.459000 m, nav range: 164.438431 m, bearing: 149.407406 deg, approach rate: -0.671981 m/s, LOS rate: -0.033423 deg/s, cmd heading: 163.511232 deg, new cmd heading: 163.467043 deg. HeadingCmd: 2.853038 target range: 175.459000 and range: 173.90 m.b-6@ZrjRJB~~}||||? yB靭I)PI8= 8;-6@٩<CH,5%"iA9jT(@j¶6@Yj=yj89=jH-ҿUڕ ?@٥5e?@>9,?e? jT(@j‹;)jC~wvB~IiC=Ix>A)Mb@Mb@Mb@ )Y+?٥AI MHIMܼ M>Q]I5U?I59UZ IUyBy ?:a/@@U9EiU;U{;UoI5IAFNOT Ignoring new targets: 175.46 m.  = ProNav: ac range: 175.459000 m, nav range: 164.205841 m, bearing: 149.396577 deg, approach rate: -0.608070 m/s, LOS rate: -0.028351 deg/s, cmd heading: 163.467040 deg, new cmd heading: 163.434507 deg. =EHeadingCmd: 2.852470 target range: 175.459000 and range: 173.90 m.bEߎ6@ZArAjARAJABI~I~MyB}I|Q|Q|Q|U`? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764179 =yBEėۼIA)ESIIM= IIYUx;ߎ6@<b checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015847H,2"iA9f=(@fkQ6@Yfl =yfrS=fHtҿIw?}i?@d Cg?+? f=(@f%׊;)fCrsvBrIIzIz3I: X=y 'Q  >٥    H FL >-I5o?5I59 ItBy9=.@E@:Ei;;I5UqBUIAUEFNOT Ignoring new targets: 175.46 m.!!ԙ ProNav: ac range: 175.459000 m, nav range: 163.980911 m, bearing: 149.386563 deg, approach rate: -0.628185 m/s, LOS rate: -0.028005 deg/s, cmd heading: 163.434501 deg, new cmd heading: 163.404418 deg. ™HeadingCmd: 2.851945 target range: 175.459000 and range: 173.90 m.bE6@ZrjRJB~9~A}A|II]C=I]a=|Q||&@ 5yB5I1)5XT1I=S= 99=m;EE6@E3ة5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268829 H9H=<HM߼>HIHMIHMvBHM =HMGDHIHM<HM E! H,dL"iA9M'@ME6@YM =yM`=MH:ҿ`ࣷ?'7? O?@? M'@M;)MCevBIII?13-u 59=yEQ M>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518780٥ HF >I5?I59 ImBy.@@:Ei\ ;6;I5IAE)-FNOT Ignoring new targets: 175.46 m.5[5[U ProNav: ac range: 175.459000 m, nav range: 163.692825 m, bearing: 149.374112 deg, approach rate: -0.629399 m/s, LOS rate: -0.027250 deg/s, cmd heading: 163.404421 deg, new cmd heading: 163.367002 deg. U]HeadingCmd: 2.851292 target range: 175.459000 and range: 173.90 m.b]{6@ZYrYjYRYJYBa~a~a}a|i|i|i|ul@ yB靝*ۼI)WI\< X;{6@<Ivy 0H,f"iA9JU'@J5@YJ?E=yJ6k=JH@ wҿ[?҄`s?Ǡ^?`? JU'@Jt͉;)JC^YvB^I)` `MMb@Mb@Mb@III I)IYMףp= ?+~jtyM?MMDMA M/ A)MAIM/ AIyM AIaIau uW=y}o3Q }>٥ Hn >I5y?I59 IfBy ?:.@@:Ei|;;ȾI5QY]%JAYB*** querying acoustic contact ***JRFNOT Ignoring new targets: 175.46 m.!Ϲ!Ϲ ProNav: ac range: 175.459000 m, nav range: 163.469635 m, bearing: 149.365297 deg, approach rate: -0.572368 m/s, LOS rate: -0.022636 deg/s, cmd heading: 163.367005 deg, new cmd heading: 163.340525 deg. xHeadingCmd: 2.850830 target range: 175.459000 and range: 173.90 m.bt6@ZrjRJB ~ ~ yB}||!|!|-@: @Km(P"Km9*Ki2Km:Kmik`c FP.">&='*|a"=w yB靽JI))ZI\< >;t6@<hnIiImAAԱ kH,n"iA96>'@65@Y6'@6h$;)4fIvBfvIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274806Hv>HvCHvIHvvBHtHtHtHv<HvEI I 2& P=y%LQ %>٥!! -H-F- ->1=I55f?=I595 I5_ByAE.@E@5 :Ei5/;5d:56I5IMeJAMEq}FNOT Ignoring new targets: 175.46 m. ProNav: ac range: 175.459000 m, nav range: 163.226059 m, bearing: 149.355658 deg, approach rate: -0.672038 m/s, LOS rate: -0.026635 deg/s, cmd heading: 163.340532 deg, new cmd heading: 163.311571 deg. <HeadingCmd: 2.850325 target range: 175.459000 and range: 173.90 m.bk6@ZrjRJB~~}||||@p @ yBI)^I< [;k6@D< um DAT read: 14:07:04.4760 LVL= 18272, 24417, 15346, 24499, AGC= 68, IDX= 403,-0.01,-2.504, 2.454,-2.159,-2.698, PHS= 0.282,-1.084, 0.536, RAW= 158.4, 3.6, CAL= 159.6, -5.5, ROT= 350.4, 5.5 u Ygot valid direction response: 14:07:04.4760 LVL= 18272, 24417, 15346, 24499, AGC= 68, IDX= 403,-0.01,-2.504, 2.454,-2.159,-2.698, PHS= 0.282,-1.084, 0.536, RAW= 158.4, 3.6, CAL= 159.6, -5.5, ROT= 350.4, 5.5 } 8DAT read: $Error in header } *Received a bad header X#Rx 1: Read direction message, but no range. `direction in FSK: [0.981457,-0.166001,-0.095846]ڡyڥ)|h?:ۆ?ſaVXYڡ ۥ`G)ۥa_Iۥ;iۥ_ۥDۥNb>ۥۥL7 ? ܥ;0@)ܥ=IܥaF2@iܥ ĽܥE@ܥ = ݡݥݏGa= ?|&)?:Tد?iݥP}+?ݥ~ݥ+ݥ = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:J BJ SJJ CRJ ZJ bJ y69J 4J zJ jJ J )C:rJ +C:9 CH,gF"iA9>'@>j5@Y>φ~=>H@lҿ&`a?@oy?֯?`u? >'@>K;)٥! %H%F%: %>)=I5--R?=I59- I-WBy=Y?=:=f.@=@-:Ei-;-$;-I5IMJAIyFNOT Ignoring new targets: 175.46 m. ProNav: ac range: 175.459000 m, nav range: 162.958893 m, bearing: 149.344500 deg, approach rate: -0.610141 m/s, LOS rate: -0.025524 deg/s, cmd heading: 163.311572 deg, new cmd heading: 163.278042 deg. #HeadingCmd: 2.849739 target range: 175.459000 and range: 173.90 m.b!b6@ZrjRJB~~yB}||||@>@ yB靝:KI)bI,< +;!b6@z<WRNJq6G% y<~G A A N% > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsemH,."iA 9:l(@:6@Y:z?^`c?zS?`? :l(@:e;)8-"vB-^Ii5=I5;I=I=2MO MX=yUQ U>٥QQ UHQ]:; ]>amI5e)@?mI59e IePByqu.@u@e:Eie:e:eSI5y}JA}EFNOT Ignoring new targets: 175.46 m.oo ProNav: ac range: 175.459000 m, nav range: 162.726959 m, bearing: 149.334655 deg, approach rate: -0.610430 m/s, LOS rate: -0.025948 deg/s, cmd heading: 163.278035 deg, new cmd heading: 163.248459 deg. vHeadingCmd: 2.849223 target range: 175.459000 and range: 173.90 m.bY6@ZrjRJB~~}||||@}@ amZiI ) g I 0o<  ;Y6@il<ӐHHIHvBH =HHH<H,E 6G Ӕ<~G A A N >YH,_ "iAP9^(@^>(6@Y^Ԕ٥ HF"; > I5*?I59 IHBy.@@:Ei:k:KI5pBbKA%EquFNOT Ignoring new targets: 175.46 m.}z}z ProNav: ac range: 175.459000 m, nav range: 162.448471 m, bearing: 149.322684 deg, approach rate: -0.605270 m/s, LOS rate: -0.026062 deg/s, cmd heading: 163.248461 deg, new cmd heading: 163.212487 deg. HeadingCmd: 2.848595 target range: 175.459000 and range: 173.90 m.bcO6@ZrjRJ B ~ ~ }||||a@ yB靅0 I)mI< 7;cO6@c<LRJiZJm=:bJm*9Jmt4JizJm:jJm:Jm-:rJm-:EqEqEqEu_0Eq  T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse6G ~<jG ?bG %?~Gq A A N >H,"iA9>o,(@>?6@Y>B.=>Hӝҿ6wo,(@>;)>CbuBbCI|]Mb@Mb@Mb@YYY Y)YY]1Zd?p= ףy&1y]"?]]`eY ] A)YI]E AYy]AIuIu 3qO a=y!Q >٥ HF=; >I5`?I59E IBBy?:/@@:Ei* ;;vI5KAFNOT Ignoring new targets: 175.46 m.c c  ProNav: ac range: 175.459000 m, nav range: 162.229752 m, bearing: 149.312090 deg, approach rate: -0.619109 m/s, LOS rate: -0.030029 deg/s, cmd heading: 163.212493 deg, new cmd heading: 163.180667 deg. ݤHeadingCmd: 2.848040 target range: 175.459000 and range: 173.90 m.bIF6@ZrjRJ!B!~!~%yB})|)|)|)| c@ %1I!)%Qr!I%+< !im;uIF6@ub2hH,#iAHB>H@HBIHB_vBHB =H@H@HB<HBFEbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapse=uB=<I)A A AE=IMIMF2Ye mM=yuQ u>٥qy }Hy} }>I5?I59 I;By@ :Ei:g<I59=KA=!E}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 175.46 m. ProNav: ac range: 175.459000 m, nav range: 161.988892 m, bearing: 149.300389 deg, approach rate: -0.567991 m/s, LOS rate: -0.027634 deg/s, cmd heading: 163.180664 deg, new cmd heading: 163.145510 deg. HeadingCmd: 2.847426 target range: 175.459000 and range: 173.90 m.b<<6@ZrjRJB~~}|||| x@ yB靕&I)tI< ]<<<6@c<s/H,,#iA%uB%1IԱMb@Mb@Mb@ )Y{Gz?MbI +y#?9 / A)AI AyzAII2" A=yQ >٥ HF > I5 i?I59  I 2By$?:0@@ %:Ei  ; ; I5!%LA!YeFNOT Ignoring new targets: 175.46 m.mm ProNav: ac range: 175.459000 m, nav range: 161.721039 m, bearing: 149.286571 deg, approach rate: -0.671440 m/s, LOS rate: -0.034697 deg/s, cmd heading: 163.145516 deg, new cmd heading: 163.103992 deg. HeadingCmd: 2.846702 target range: 175.459000 and range: 173.90 m.b\06@ZrjRJB~)~-yB}1|1|9|9|=@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG AA EYIyM=H,g5#iA9z?h(@z{6@Yz~٥ HF< >I5?I59 I)ByE0@@):Ei;{; I5jLA$EFNOT Ignoring new targets: 175.46 m.  ProNav: ac range: 175.459000 m, nav range: 161.472610 m, bearing: 149.273365 deg, approach rate: -0.638788 m/s, LOS rate: -0.034010 deg/s, cmd heading: 163.103988 deg, new cmd heading: 163.064308 deg. :J5YBJ5QJJ5ERJ1ZJ59bJ5-.9J54J1=@=@=@E@EHeadingCmd: 2.846009 target range: 175.459000 and range: 173.90 m.bE%6@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|] @ MyBM[IUn<)U}YI< <%6@Ev<HuCHujIHu6vBHu =HqHqHuך<HuEHEƘCHEƘCHAHE =IA IER_5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsea6G= U~<~GY Ai Ay N >ԑ H,KO#iA9ZcW(@Zj6@YZc ٥yy Hy' >I5u?I59 I By50@@-:Ei<<I5%LA-'EqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1=FNOT Ignoring new targets: 175.46 m.=0 E0 u ProNav: ac range: 175.459000 m, nav range: 161.214523 m, bearing: 149.259694 deg, approach rate: -0.577529 m/s, LOS rate: -0.030641 deg/s, cmd heading: 163.064305 deg, new cmd heading: 163.023226 deg. u:}HeadingCmd: 2.845292 target range: 175.459000 and range: 173.90 m.b}D6@ZyryjyRyJyB~~}||||>h@ 4I)=I%g< !!% <-D6@-燩<5 H,i#iA9FE(@F$Y6@YF|٥ HF. >I5^?I59 IBy#?:]1@@1:Ei:;I5LAFNOT Ignoring new targets: 175.46 m.??  ProNav: ac range: 175.459000 m, nav range: 160.962311 m, bearing: 149.244631 deg, approach rate: -0.699716 m/s, LOS rate: -0.041855 deg/s, cmd heading: 163.023228 deg, new cmd heading: 162.977969 deg.  HeadingCmd: 2.844502 target range: 175.459000 and range: 173.90 m.bS 6@ZrjRJB~~yB}||||@ 0XI)4I A<   ݥ<5S 6@5<5QH,#iAH>HCHKIHvBH =HHH<HELT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse uBII% I%(2-D -Q=y5Q 5>٥19 =H9= E>I]I5M?]I59M" IMByaae@M5:EiM@;M^7;MI5moBm7MAm(EFNOT Ignoring new targets: 175.46 m.S,S, ProNav: ac range: 175.459000 m, nav range: 160.715424 m, bearing: 149.229840 deg, approach rate: -0.627733 m/s, LOS rate: -0.037665 deg/s, cmd heading: 162.977971 deg, new cmd heading: 162.933531 deg. κHeadingCmd: 2.843727 target range: 175.459000 and range: 173.90 m.b5@ZrjRJB~~}||||`e@  S \I )  Iί< <5@`<SE'<EQEYEYEe5EaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse! 6G V1H,]#iA9b'@bB 6@YbW٥qq uHuFu ! }>yI5}?I59} I}By(?: 0@@}::Ei}';}3&;}I5oMA+ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB*** querying acoustic contact ***JRFNOT Ignoring new targets: 175.46 m.oo ProNav: ac range: 175.459000 m, nav range: 160.397186 m, bearing: 149.213106 deg, approach rate: -0.644799 m/s, LOS rate: -0.033973 deg/s, cmd heading: 162.933534 deg, new cmd heading: 162.883232 deg.  HeadingCmd: 2.842849 target range: 175.459000 and range: 173.90 m.b <5@Z r j RJB~~cyB}|||!|%@. @ MyBU=IY)e>aIe4K< aaeE<E1E1E1E54E1K >O"K 9*K 2K :K s\`vP -<?0(Kt~0Q'a0En{s\J8) ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse6Gu +^<~G9 AY Ai Nu >dH,B{#iA 9J'@Ji5@YJE rh=yvX;Q v>٥tt vHvFz< z>|I5~v? I59~ I~By/@%@~>:Ei~;~Y;~I515MA1FNOT Ignoring new targets: 175.46 m.-- ProNav: ac range: 175.459000 m, nav range: 160.168182 m, bearing: 149.201204 deg, approach rate: -0.617787 m/s, LOS rate: -0.032153 deg/s, cmd heading: 162.883237 deg, new cmd heading: 162.847481 deg. HeadingCmd: 2.842225 target range: 175.459000 and range: 173.90 m.b5@ZrjRJB~ ~ } |1|1|1|5 @q yB_I);I< )-y$<55@5<51oHH2IHuBHHHH<HET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙEq Ey Ey E} 5Ey  6GU Hv< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseZGi RGi ~GAAN>H,[#iA9vͮ'@v:5@Yvʫ@? yQ ?@x`8?? vͮ'@vN;;)vCkuBIiMb@Mb@Mb@ )YZd;O?:v rhy~*?TC A + A)IX AyAII 3mD =yQ >٥ H%F%R ->)5I5-W[?=I59-/ I-By=+?=:=0@=@-C:Ei-:-=:-rI5MnBUMAU.EFNOT Ignoring new targets: 175.46 m.55 ProNav: ac range: 175.459000 m, nav range: 159.824295 m, bearing: 149.181332 deg, approach rate: -0.686514 m/s, LOS rate: -0.039757 deg/s, cmd heading: 162.847488 deg, new cmd heading: 162.787742 deg. Gں%HeadingCmd: 2.841182 target range: 175.459000 and range: 173.90 m.b%5@Z!r!j)R)J)B)~)~5kyB}1|1|1|1|=!@ yB靭 =LI)߉IR< - <5@9<ڠH,##iA9'@i5@Y!,;JVV^Rdffda\GXYT-PmJCA=61,'!  5 0 E\uBEIiM٥ii mHqu1 u>yI5}G?I59} I}By0@@}G:Ei}:}:}I5NA1EFNOT Ignoring new targets: 175.46 m.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB.B. ProNav: ac range: 175.459000 m, nav range: 159.574585 m, bearing: 149.166957 deg, approach rate: -0.660623 m/s, LOS rate: -0.038087 deg/s, cmd heading: 162.787737 deg, new cmd heading: 162.744547 deg. ѺHeadingCmd: 2.840428 target range: 175.459000 and range: 173.90 m.b5@ZrjRJB~~}||||%"@ yB靵n[qI)If< $<5@R<.H}CH}IH}uBH} =H}FDHyH}<H}E T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6G <~G A A N >Y I,t $iA9>;'@>5@Y>I"a[=>HӿMG?~@? $oz?? >;'@>q8;)>CJ^uBJIIVIV?13^5; bV=ybYQ b>٥`d fHfFf1: f>hnI5j3?rI59j; IjBypr0@r@jK:Eij;j;jI5tvMAxFNOT Ignoring new targets: 175.46 m.9ed#ed#u ProNav: ac range: 175.459000 m, nav range: 159.322479 m, bearing: 149.152396 deg, approach rate: -0.617316 m/s, LOS rate: -0.035712 deg/s, cmd heading: 162.744543 deg, new cmd heading: 162.700789 deg. }ĺ}HeadingCmd: 2.839664 target range: 175.459000 and range: 173.90 m.b5@ZrjRJB~~}|||| #@ yB靅xArI)&I=< (<5@΢<~G A A N >Թ  I,%$iA"T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapse9z'@z5@Yz$٥aa eHeFm|; m>ԑI5?I59I IBy5-?:1@@P:Ei:,:"I5BNA4EB*** querying acoustic contact ***JR!%FNOT Ignoring new targets: 175.46 m.M;GM;G] ProNav: ac range: 175.459000 m, nav range: 159.014679 m, bearing: 149.133116 deg, approach rate: -0.693838 m/s, LOS rate: -0.043545 deg/s, cmd heading: 162.700789 deg, new cmd heading: 162.642836 deg. ]eHeadingCmd: 2.838653 target range: 175.459000 and range: 173.90 m.be~5@ZarajiRiJB~~VyB}||||g$@ 5yB5nqI1)5>9I=^< 99=, +I,w?$iA96K'@65@Y6Cf٥ HH>HH IHuBH =HGDHH<HE5n; 5>9EI5=?EI59= I=ByIM1@M@=U:Ei=`:=:=I5UmBUNA]7EFNOT Ignoring new targets: 175.46 m.[E[E ProNav: ac range: 175.459000 m, nav range: 158.753525 m, bearing: 149.116560 deg, approach rate: -0.679323 m/s, LOS rate: -0.043136 deg/s, cmd heading: 162.642841 deg, new cmd heading: 162.593093 deg. HeadingCmd: 2.837785 target range: 175.459000 and range: 173.90 m.bD5@ZrjRJB!~!~!}!|)|)|) U=QUDAT read: ]0I,QY$iA9fx(@f6@YfvN٥ HF; >J5?J59N IޒBy -? : "2@ @Y:Ei:#:J5 NAIFNOT Ignoring new targets: 175.46 m.'J'J ProNav: ac range: 175.459000 m, nav range: 158.488876 m, bearing: 149.099074 deg, approach rate: -0.667611 m/s, LOS rate: -0.044184 deg/s, cmd heading: 162.593090 deg, new cmd heading: 162.540545 deg. HeadingCmd: 2.836868 target range: 175.459000 and range: 173.90 m.b=5@ZrjRJB~~YyB}||!|!|%%@Q yB ~|I)Ivf< !4 XCG9 u4Yyy}WAmBDAT read: Response Not Received m*response not receivedu,DAT read: user:1930> yBDAT read: Tx time:14:07:12.8698 $Ping request sent.X5I,4s$iAHz]uBzIIIF3}$< }S=yQ >٥ HF >J5?J59 IےBy@]:Ei:>:iJ5JDAT read: TxSync time:14:07:12.8690 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247653MA:EK wP"K 9*K 2K :K >)V&${7 .Xpy.bjSO !" h`FNOT Ignoring new targets: 175.46 m.%~G%~G5 ProNav: ac range: 175.459000 m, nav range: 158.229721 m, bearing: 149.081894 deg, approach rate: -0.656676 m/s, LOS rate: -0.043603 deg/s, cmd heading: 162.540539 deg, new cmd heading: 162.488915 deg. 5e=HeadingCmd: 2.835967 target range: 175.459000 and range: 173.90 m.b=z5@Z9r9j9R9JABA~A~I}I|I|I|I|U`&@ }yB}|I)^IY< 8<z5@<zH5>H5CH1H1H1H1H1H5ɚ<H5EHHHH =I IǮ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502702 #I,$iA9>C(@>lW6@Y>Ȏ=>H@pҿڴ?3t?@Ċ«?޳? ? >C(@>f;)>CfquBfIij=IhInIn2-L= 5P=y5| Q 5>٥99 =H9E ,< E>AMJ5E?UJ59Ep IEْByQUh2@U@Ea:EiE:El:E J5YeMAe=EFNOT Ignoring new targets: 175.46 m.UU ProNav: ac range: 175.459000 m, nav range: 157.967743 m, bearing: 149.064047 deg, approach rate: -0.682551 m/s, LOS rate: -0.046577 deg/s, cmd heading: 162.488916 deg, new cmd heading: 162.435285 deg. HeadingCmd: 2.835031 target range: 175.459000 and range: 173.90 m.b$q5@ZrjRJB~~}||||'@ yB2rwI)I"K< ET<<$q5@k!<=i$q5@i1E?EEEz5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752688EY:JBJPJJCRJZJbJ*9J4JzJ:jJ:JrJ6GU ><~G ԁ A A N >D)I,@ݦ$iA"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0025199zP(@zGd6@Yzن;yzjԜ=zH@ҥ@4_ҿ@?`h? ' )?2p ?`? zP(@zo;)zCtuBIQUMb@Mb@Mb@QQQ Q)QYU?S㥫Mbp?yU,?U/]U;UA U A)QIUAQyUGAIuIu(*3; 5=y*)Q >٥ HF: >J5?J59 IؒByZ-?:D1@@f:Eii ;: J5MA@EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 175.46 m.Y<Y< ProNav: ac range: 175.459000 m, nav range: 157.667496 m, bearing: 149.045524 deg, approach rate: -0.666029 m/s, LOS rate: -0.041167 deg/s, cmd heading: 162.435286 deg, new cmd heading: 162.379611 deg. HeadingCmd: 2.834059 target range: 175.459000 and range: 173.90 m.b8a5@Zr!j!R!J!B!~)~-yB}1|1|1|1|5@h(@ eyBevIi)m솿iImg<< iiu? 7(0I,$iA9Z}'(@Z:6@YZ:yZ3=ZH ҿ?Y?`?؉^? y] `?`B? Z}'(@Z;)ZCf}uBjIIn+Inn3v< vj=yz.ٻQ z>٥xx ~H|~ ~> J5? J59> Iy1@@j:Ei::J5lBnMA%>EFNOT Ignoring new targets: 175.46 m.66H>HHIHuBH =HHH<HCE ProNav: ac range: 175.459000 m, nav range: 157.433884 m, bearing: 149.031284 deg, approach rate: -0.655003 m/s, LOS rate: -0.039985 deg/s, cmd heading: 162.379606 deg, new cmd heading: 162.336823 deg. ۺHeadingCmd: 2.833312 target range: 175.459000 and range: 173.90 m.bT5@ZrjRJB~~}!|!|!|!|-`6)@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506847 EyBE1tIA)mniIu=.< qq}]C<T5@茪<!=iT5@iE9E9E9E= 5EA6Ge H=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762213~GI Y A A N >V6I,d$iA:JYBJ]MJJ]=RJYZJYbJ]9J]g4JYzJYjJYJ]*:rJ]-:uBI)  ==uMb@Mb@Mb@qqq q)qYuE?l~jth?yu&?uuD;uA u A)uAIuAqyuAIIF3^< 2=yQ >٥ HF >J58?J59 IגBy'?:.@@o:Ei4;<J5QUSMA]AEFNOT Ignoring new targets: 175.46 m.  % ProNav: ac range: 175.459000 m, nav range: 157.135498 m, bearing: 149.016723 deg, approach rate: -0.624125 m/s, LOS rate: -0.030515 deg/s, cmd heading: 162.336822 deg, new cmd heading: 162.293055 deg. --HeadingCmd: 2.832548 target range: 175.459000 and range: 173.90 m.b5xH5@Z1r1j1R1J1B1~9~=yB}9|a|a|a|e;*@ yB靵ńyI)QI <  F<xH5@<u==ixH5@i9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011954E?EEEO0Ei6G e[=~G ԙ A A N >|Q'@>;e5@Y>zy>Vm{=>H="PӿU?[?q*?.c?h?@? >Q'@>L!;)>CJuBJIIVIV?13^ ;= ^o=ybHQ b?٥`` fHfFf  f?hnJ5js?nJ59j Ihypr%.@r@js:Eij;j3;jJ5tvMAtFNOT Ignoring new targets: 175.46 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262772 ProNav: ac range: 175.459000 m, nav range: 156.912979 m, bearing: 149.006908 deg, approach rate: -0.670896 m/s, LOS rate: -0.029634 deg/s, cmd heading: 162.293054 deg, new cmd heading: 162.263568 deg. %KUP"KQ*KQ2KU:KUcyp B_fJ58.->Cqp_aQ2rr8eHeadingCmd: 2.832033 target range: 175.459000 and range: 173.90 m.be @5@ZarijiRiJiBi~qq~}||||*@ %yB%I))-)I5M< 19=IHH%IHuBHHHHٚ<HEu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5152036G =~Ga Ai A N > gCI,fI%iA96B&@64@Y6򻢻y6ep=6Hnӿ[e??`b@ƫ?xWt? /?@? 6B&@6Xώ;)4JuBJIIRIR2Z>J= ZK=yZлQ ^>٥\\ ^H\b b>djJ5f_?jJ59f IfؒByhj-@n@fw:EifD;f@;fZJ5prLArDEFNOT Ignoring new targets: 175.46 m.%%5 ProNav: ac range: 175.459000 m, nav range: 156.650299 m, bearing: 148.995967 deg, approach rate: -0.674010 m/s, LOS rate: -0.028120 deg/s, cmd heading: 162.263561 deg, new cmd heading: 162.230684 deg. 5b=HeadingCmd: 2.831460 target range: 175.459000 and range: 173.90 m.b=65@Z9r9jARAJABA~A~I}I|I|I|I|U 9+@ yB߃I ) ~)I5[< 115٣L<=65@=<=JKJ4JK(4JKl0:Ju\BJuYJJu@RJqZJu=:bJu[O9JuJ4JqzJu:jJu:Ju'n:rJu*n:) II,j(%iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018684 9F&@Fk4@YFLyFs[=FHa Կ@???4W@˨? u|?j?? F&@FL;)FCRuBRIMb@Mb@Mb@ )Y?333333Mb`?yf&?; A p A)AIVAyAIIF3g 9=ybɻQ >٥ HFoB > J5I?J59 Iy'?:B-@@{:Ei;;;J5%kB%LA%GEIUFNOT Ignoring new targets: 175.46 m.]]m ProNav: ac range: 175.459000 m, nav range: 156.361649 m, bearing: 148.984639 deg, approach rate: -0.653084 m/s, LOS rate: -0.025678 deg/s, cmd heading: 162.230680 deg, new cmd heading: 162.196634 deg. uHeadingCmd: 2.830865 target range: 175.459000 and range: 173.90 m.b,5@ZrjRJB~~ yB} | | |1|57r,@q yB靥5lI)n~IJ; fO<,5@<XwPI,A%iA9:U&@:h4@Y:"y:ewE=:HX >Կ@;I?@K?@VQ`ɥ?@>X?`*?? :U&@:;)8P HyH}<H>HH>IHuBH =HHH<HE5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522677uB$II"Iq3$q= %+=y%[Q %>٥)) -H-F5ٻ 5>ImJ5M1?uJ59M IMڒByy}-@@M:EiMA;M;Mi#J5PLA B*** querying acoustic contact ***J R FNOT Ignoring new targets: 175.46 m.oӹoӹe ProNav: ac range: 175.459000 m, nav range: 156.050232 m, bearing: 148.972739 deg, approach rate: -0.603453 m/s, LOS rate: -0.023107 deg/s, cmd heading: 162.196639 deg, new cmd heading: 162.160866 deg. e}mHeadingCmd: 2.830241 target range: 175.459000 and range: 173.90 m.bm"5@ZirijqRqJqBq~~}||||z-@ yB~bYI)%v!I%y; !!%R<-"5@-g<-v;VI,i\%iAYgot valid direction response: 14:07:15.4164 LVL= 32624, 30561, 23154, 32755, AGC= 66, IDX= 334, 0.28,-2.829, 2.140,-2.546,-3.133, PHS= 0.392,-0.964, 0.583, RAW= 156.5, -0.2, CAL= 159.1, -8.8, ROT= 350.9, 8.8 .PDAT read: Bearing 350.9, 8.8 (Local) .~Local bearing/azimuth received: Bearing 350.9, 8.8 (Local) 6DAT read: Range 10 to 50 : 106.7 m (Round-trip 142.3 ms) speed 0.8 m/s 6,DAT read: user:1931> T:Jn^BJnTJJlRJlZJn} :bJn:9JlJlzJn`:jJne:JnSJ:rJnUJ:BDAT read: Tx time:14:07:16.5199 $Ping request sent.۽v۽}?? ܽ.@)ܽdIܽg1@iܽnFܽ@ܽnF> ݹ)ݹݽ/Պ?69?}eiݽ#?ݽv.;ݽ"ݽnF> ޹)޹E:publishing transmit ping timeMFpublishing direction and range infoڹyڽ9x9? rĿ8C ÿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹ9e7&@eJ4@YeͶGye$;=eHSYԿ@˚?g? ME? ?|?? e7&@e;)a uC)}Aɵyyyܹܹ ݹ)ݹݽ/Պ?69?}eiݹݹݹݹ ޹)޹CɶiII3Ci )&C ɷ̏CAISc)Fi)%&CI%A%ɸ%|F !ɹ%C-^A)i))i- C-΃A)) 1I1ٯ1uB&I5Mb@Mb@Mb@111 1)1Y5'1Z?ʡEy5"?5-51 5 A)5AI5&A1y5AIEIE2u; u%=y}Q }>٥y HFo >J5g?J59T IےByU$? : +@ @:Eiv</<'J5?LAJEZbX%iABB5*@ʁ#Y@S /0-@\d509x9? rĿ8C ÿ"nF>ҁRfHWKH@GEa/mdd!At?^>¿z@BFj;pȜ?r?~ 7BL[?%g  WAꁽCV&@ addTargetRange:: Added new target pos. range: 106.699997 m, deltaT: 18.661896 s, deltaX: -67.199997 m, approachRate: -3.600920 m/s, rangeRepo size: 4 - Added new target pos. range: 105.948120 m, bearing: 152.734679 deg, lat: 36.906080 deg, lon: -122.115652 deg, deltaT: 22.693324 s, deltaX: -69.510880 m, approachRate: -3.063054 m/s, posRepo size: 4 )-FNOT Ignoring new targets: 105.95 m.51m ProNav: ac range: 105.948120 m, nav range: 152.904831 m, bearing: 148.915100 deg, approach rate: 0.000000 m/s, LOS rate: -0.023107 deg/s, cmd heading: 162.160862 deg, new cmd heading: 162.126926 deg. iuHeadingCmd: 2.829649 target range: 105.948120 and range: 106.70 m.bu5@ZqrqjyRyJyBy~~zB}|||̬Z@|? % yB% 4QcI) )- Wu) I- V; ) ) - IU<5 5@5 4<5 -٥ HH; >J5?J59 IܒBy+@@:Ei;j;*J5LAMEyFNOT Ignoring new targets: 105.95 m. ProNav: ac range: 105.948120 m, nav range: 152.672668 m, bearing: 148.907824 deg, approach rate: -0.661709 m/s, LOS rate: -0.020771 deg/s, cmd heading: 162.126930 deg, new cmd heading: 162.105067 deg. dHeadingCmd: 2.829267 target range: 105.948120 and range: 106.70 m.b5@ZrjRJBHE>HAHEWIHEvBHAHAHAHE+<HEdE~y~Y}|!|)|)|5 Y2? yB 8 }I )5r1I5`; 115W<=5@=<={Fi eI,76%iA9FG&@FZ4@YFԓyF_6=FHU=GԿ?X?@\Q&?@z?ɦ?? FG&@F\ߌ;)FCAUuBU4III(*3x< I=yλQ >٥ HFB >UJ5*?UJ59C IݒByQU+@U@:Ei;;.J5amKAqFNOT Ignoring new targets: 105.95 m.rr ProNav: ac range: 105.948120 m, nav range: 152.387177 m, bearing: 148.898863 deg, approach rate: -0.640982 m/s, LOS rate: -0.020157 deg/s, cmd heading: 162.105073 deg, new cmd heading: 162.078140 deg. V]MHeadingCmd: 2.828797 target range: 105.948120 and range: 106.70 m.qbM 5@ZqrqjqRqJyBy~~}||||`|jE>ԙE?EEEE 6G jG ?bG >~G A A N >6lI,ߋ%iA uB 1IMb@Mb@Mb@ )Yx&1?Cl绿~jthyA ?;߽D?A A)AI+AyII#3 /=y Q  >٥   HF >)5J5-?5J59-۱ I-ޒBy="?=:=X)@=@-:Ei-j:-M:-2J5AMKAMPEquFNOT Ignoring new targets: 105.95 m.}V}V ProNav: ac range: 105.948120 m, nav range: 152.115479 m, bearing: 148.894022 deg, approach rate: -0.657450 m/s, LOS rate: -0.011733 deg/s, cmd heading: 162.078135 deg, new cmd heading: 162.063589 deg. HeadingCmd: 2.828543 target range: 105.948120 and range: 106.70 m.b5@ZrjRJB~~zB}||||Ԗ?)K]lP"K]9*KY2K]:K]@ ;cLQRaZQj|y {=["gboM2 yB靅~I)oISS; Q\<5@ ȩ<JHHjIH6vBHHH.DH1<HnEHiHiHiHiIm = Im4y 6G F<~G A A N >æsI,P%iA,9:Y&@:*m4@Y:y: r=:H`W *Կ@,?dF?`O`&?^?=?@? :Y&@:,;):CNuBN-IIPIP^E ^c=y^,Q ^>٥`` bH`b J; f>dnJ5f$?nJ59f IfߒBylnn)@n@f:Eif#;f;f5J5rjBvLAvQEB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 105.95 m.-%T-%T ProNav: ac range: 105.948120 m, nav range: 151.888474 m, bearing: 148.889853 deg, approach rate: -0.630130 m/s, LOS rate: -0.011592 deg/s, cmd heading: 162.063587 deg, new cmd heading: 162.051059 deg. HeadingCmd: 2.828325 target range: 105.948120 and range: 106.70 m.bE5@ZrjRJB~~}||||? 靝⇽I)`qI%; gu^<E5@j<B^ yI, %iA:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1440399Zsf&@Zy4@YZӹyZP~=\ZH YԿ* ??:?`Py?@9? ¯?? Zsf&@Z͌;)ZCfuBf$IMb@Mb@Mb@ )YCl?ʡEMby;?ケA )IAy=AII2F 7=yQ >٥ HFF: >J5?J59D Iy "?:(@@:Ei;c;9J5>LAFNOT Ignoring new targets: 105.95 m.'!'! ProNav: ac range: 105.948120 m, nav range: 151.595230 m, bearing: 148.885799 deg, approach rate: -0.635806 m/s, LOS rate: -0.008806 deg/s, cmd heading: 162.051060 deg, new cmd heading: 162.038876 deg. bHeadingCmd: 2.828112 target range: 105.948120 and range: 106.70 m.b4@ZrjRJ!B!~!~% zB})|1|1|1|5 @ eyBeIa)etaIm: iquչ`<4@ݍ<qiJ ?A ~G A A N >:J ^BJ VJJ BRJ ZJ } :bJ B9J -4J I,@&iA96&@6h4@Y6y6'=6H ^@yԿ~?` ?TV?q!?`l?? 6&@6[V;)6CBuBB IIFIF2N Re=yR**Q R?٥PT VHTV; V?X^J5Z?bJ59Z IXy`b(@b@Z:EiZ;Z;ZHaHewIHeKvBHe =HaHe-DHe֚<HeE ProNav: ac range: 105.948120 m, nav range: 151.380096 m, bearing: 148.882678 deg, approach rate: -0.625549 m/s, LOS rate: -0.009090 deg/s, cmd heading: 162.038875 deg, new cmd heading: 162.029497 deg. ǹHeadingCmd: 2.827948 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~~}|||| @ eyBeIa)m.viImq: iim\b<4@@z<s4ԡ % BDAT read: Rx Time:14:07:19.0635 - TRx dataTimestamp_ set to:1749132440.411318- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.899540I,&iAԑ9ϣ&@;4@Y/ȼy|=H /c$ӿ@Y? ?Z ?S?@?? ϣ&@bߋ;)C]uB]I)a aUMb@Mb@Mb@QQQ Q)QYUCl?:v rhyQUԽUCUA U A)UAIUAQyUAImIm3}ͻ }$=y}Q }>٥ HF; >J5#?J59 IܒBy!?:>*@@:Eif:<AJ5)-bLA)yFNOT Ignoring new targets: 105.95 m.nn ProNav: ac range: 105.948120 m, nav range: 151.066040 m, bearing: 148.875335 deg, approach rate: -0.608436 m/s, LOS rate: -0.014254 deg/s, cmd heading: 162.029490 deg, new cmd heading: 162.007418 deg. ԡHeadingCmd: 2.827563 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~~+zB}|||| @ imRvIi)mviIm̈́7 qquIe<4@i<pI,-`8&iA9J&@Jd4@YJzSɼyJky=JH`i kӿꗥ?@?``ˬ?@)?@}?@e? J&@J؊;)HRuBVII^I^[3nCH nn=ynEԹQ n?٥pp rHrFvM; v?x~J5z?~J59z IzےBy|~d*@~@z:Eiz:z:zDJ5=DAT read: 14:07:19.0635 LVL= 25072, 28225, 18930, 30099, AGC= 68, IDX= 417,-0.49,-1.730,-3.093,-1.454,-1.996, PHS= 0.354,-1.050, 0.540, RAW= 156.1, 2.1, CAL= 158.1, -6.8, ROT= 351.9, 6.8 MYgot valid direction response: 14:07:19.0635 LVL= 25072, 28225, 18930, 30099, AGC= 68, IDX= 417,-0.49,-1.730,-3.093,-1.454,-1.996, PHS= 0.354,-1.050, 0.540, RAW= 156.1, 2.1, CAL= 158.1, -6.8, ROT= 351.9, 6.8 U8DAT read: $Error in header U*Received a bad headerYYeLAeWEFNOT Ignoring new targets: 105.95 m. ProNav: ac range: 105.948120 m, nav range: 150.849884 m, bearing: 148.870075 deg, approach rate: -0.648593 m/s, LOS rate: -0.015807 deg/s, cmd heading: 162.007415 deg, new cmd heading: 161.991611 deg. -HeadingCmd: 2.827287 target range: 105.948120 and range: 106.70 m.bE4@ZrjRJB~~}|||X#Rx 1: Read direction message, but no range.`direction in FSK: [0.983059,-0.139910,-0.118404] y 9^8u?1EOY  a) AnI Ii u D }?> ff q= ? ].@) Q =I r0@i  @ =  f],Z?+4A?.?i ^{!?    =uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse|+ @KP"K59*K2K:KE=IkhJ%:Up./gtaIk7D1 x:c I)'{I, g< E4@ f<  &HHpIHAvBH =HHHHEԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G~<jG ?bG >~G A A N > NI,R&iA9B&@BI5@YBcͼyBs=BHToӿ@ъ??@g??j?? B&@B;)BCNuBNIIVIVb1fF fM=yfQ f>٥hh jHhj; j>prJ5rm?vJ59r IrْBytv*@v@r:Eir:r:rGJ5xzMA~ZEB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 105.95 m.5?5?M ProNav: ac range: 105.948120 m, nav range: 150.598572 m, bearing: 148.863705 deg, approach rate: -0.646715 m/s, LOS rate: -0.016420 deg/s, cmd heading: 161.991610 deg, new cmd heading: 161.972468 deg. ML4UHeadingCmd: 2.826953 target range: 105.948120 and range: 106.70 m.bU4@ZQrQjQRQJYBY~a~a}a|a|a|i|m@ 靝&I)SI`> fi<4@j<9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseyI,k&iA9:'@:"25@Y:`Iмy:#|=:Hujӿ@?@ӊ?m` ? t? |?`? :'@:ˊ;):CbuBbIifR=Ifp<Mb@Mb@Mb@ )Y+?Mb~jty?A E A)+AIAypAII3 8=ygQ >٥    H F u;  >)5J5-W?=J59- I-גBy=!?=:=+@=@-:Ei- ;-] ;-{KJ5AENMAIi}FNOT Ignoring new targets: 105.95 m.}   ProNav: ac range: 105.948120 m, nav range: 150.317596 m, bearing: 148.854503 deg, approach rate: -0.629919 m/s, LOS rate: -0.020668 deg/s, cmd heading: 161.972472 deg, new cmd heading: 161.944815 deg. bHeadingCmd: 2.826470 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~~yB}||||@ 靍NI)󂿉II2 l<4@E}<HGjE>AEEEEX0E=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseqKM %P"KM 9*KI 2KM :KM %{+8P3W(B3  .0SS8HX  6G k <I I AA:J `BJ NJJ ERJ ZJ :bJ !9J 4J ~G A A N >ԙ UcI,_҅&iAH">H"CH"dIH",vBH H H".DH"<H"E9NE'@NhY5@YNҼyNx=NH{Aӿ,?be?Mq? \??? NE'@N+;)NCguBII% I%V2ey eU=ym4[Q m>٥qq uHuF}; >J5oE?J59 I֒By+@@:Ei];&;NJ5MA]EFNOT Ignoring new targets: 105.95 m.;ù;ù ProNav: ac range: 105.948120 m, nav range: 150.076370 m, bearing: 148.846333 deg, approach rate: -0.628955 m/s, LOS rate: -0.021335 deg/s, cmd heading: 161.944810 deg, new cmd heading: 161.920261 deg. GjHeadingCmd: 2.826042 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~~}||||@ )-XI1)51I5?QK 11=/o<=4@EE T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse xI,&iAM`uBMIMb@Mb@Mb@ )YK7A?Dl~jty "?OA )ZAIAyAII<2-] -0=y-Q 5>٥11 5H5F= =>AMJ5E.?MJ59EΕ IEԒByM#?U:U.@U@E:EiEe ;E:ERJ5mhBmMAm`EFNOT Ignoring new targets: 105.95 m. ProNav: ac range: 105.948120 m, nav range: 149.785294 m, bearing: 148.831841 deg, approach rate: -0.628749 m/s, LOS rate: -0.031365 deg/s, cmd heading: 161.920262 deg, new cmd heading: 161.876701 deg. 4HeadingCmd: 2.825281 target range: 105.948120 and range: 106.70 m.bi4@ZrjRJB~~yB}||||`b@ yB܀I ) ݆ I    r<i4@a<pI,t{&iAvTuBvI)x xT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI%I)3\ t=yQ ?٥!! %H!! %?)5J5-Y?5J59- I-ӒBy9AE@-:Ei-D;-Y[;-UJ5QUMAQFNOT Ignoring new targets: 105.95 m.^^ ProNav: ac range: 105.948120 m, nav range: 149.573914 m, bearing: 148.821281 deg, approach rate: -0.630733 m/s, LOS rate: -0.031554 deg/s, cmd heading: 161.876699 deg, new cmd heading: 161.844975 deg. =HeadingCmd: 2.824728 target range: 105.948120 and range: 106.70 m.bW4@ZrjRJB~~}||||ZD@ yB.I){I6 ݲt< W4@ Wͩ< HECHEKIHEvBHE =HAHAHEۚ<HEEy6G5-<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse~GI Ai ԩ A N >ǜI,X&iA@9Z'@Z?6@YZyZN=ZH`ҿ?? ?h??F? Z'@Z롈;)ZCf7uBjIIr IrV2vU zM=yzیQ z>٥x| ~H~F~< > J5 ?J59 IђBy9/@@:Ei::EYJ5!%gNA-cEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 105.95 m.  ProNav: ac range: 105.948120 m, nav range: 149.322174 m, bearing: 148.807624 deg, approach rate: -0.601948 m/s, LOS rate: -0.032711 deg/s, cmd heading: 161.844980 deg, new cmd heading: 161.803939 deg.  HeadingCmd: 2.824012 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~)~)}1|1|1|1|=@ aerZIi)m>iImJ: iimw<}4@}<}=i}4@iԱT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEM?EIEIEM0EI:J[BJPJJ?RJZJ:bJ*9Jـ4JzJ:5jJ:M) EG6Ger  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsecкI,u[&iA9R(@RM,6@YRL3yR7=RH૚ mҿ+?@›?9? n?B?`? R(@Rᙈ;)Pb1uBbIdMb@Mb@Mb@ )Y}?5^I?I +I +yM"?949 t A)+AIAyAI I2] ==yQ >٥ H; >J5?J59X IВBy"?:1@@:Ei&;=;]J5gBzNAbE)5FNOT Ignoring new targets: 105.95 m.58U58UM ProNav: ac range: 105.948120 m, nav range: 149.051208 m, bearing: 148.788361 deg, approach rate: -0.654343 m/s, LOS rate: -0.046603 deg/s, cmd heading: 161.803944 deg, new cmd heading: 161.746049 deg. MUHeadingCmd: 2.823001 target range: 105.948120 and range: 106.70 m.bU 4@ZQrQjQRQJQBY~Y~]xyB}a|a|i|i|m@ yB靭'I)Ir=ٻ rz< 4@d<*#=i 4@iE}?EyEyE1E6GU=~G)A1AINUT>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9K Q"K 9*K 2K :K n 7u 4H<\qj#lJ{n#%l{Q I,&'iAH}>HyH}2IH}uBH} =HyHyH}<H}EH)H)H)H- =I- = I-6'69BC(@BV6@YByBlӟ=BH`Cҿ@ԁ?Ls? O?\R?$?? BC(@Bt;)BC^(uB^Iib٥pp vHvF~; >%J5?%J59 IΒBy!%2@%@:EiW::Z`J515NA5eE1FNOT Ignoring new targets: 105.95 m.+G+G% ProNav: ac range: 105.948120 m, nav range: 148.815643 m, bearing: 148.771308 deg, approach rate: -0.600388 m/s, LOS rate: -0.043531 deg/s, cmd heading: 161.746051 deg, new cmd heading: 161.694812 deg. %-HeadingCmd: 2.822107 target range: 105.948120 and range: 106.70 m.b-f4@Z)r)j)R)JQBQ~Q~Q}Y|Y|Y|Y|] 2@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse yB靕xΩI)1IC }<f4@@ƪ<r/=if4@ibEZEiEe?EaEaEe3Eaԑ6G =% T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse~G A Թ A N >[I, 'iA:JN]BJNUJJNDRJLZJN]:bJN>9JN4JLzJN:jJN:JN}Q:rJNQ:ԙ9M`(@MHt6@YMQyMi=MH`ݤ 7&ҿ@ǩ?`V?3.?`,ɝ?%?@? M`(@ML;)MCe,uBeI-Mb@Mb@Mb@))) )))Y-v/?/$I +y-x)?--94-SA - A)-AI-A)y-AIMIM2]; ](=yeQtQ e>٥ii mHmFmZu; m>q}J5uu?}J59ux IuВBy)?:4@@u:Eiu;u;udJ5NAhEFNOT Ignoring new targets: 105.95 m. ProNav: ac range: 105.948120 m, nav range: 148.504074 m, bearing: 148.743921 deg, approach rate: -0.670123 m/s, LOS rate: -0.059027 deg/s, cmd heading: 161.694811 deg, new cmd heading: 161.612479 deg.  "HeadingCmd: 2.820670 target range: 105.948120 and range: 106.70 m.bۅ4@ZrjRJB~~@yB}||||@ )-WI))-ȍ1I5 115LS<=ۅ4@=1<=s9=i=ۅ4@iAԹT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEu?EqEqEu5Ey6G 0= ~G A A N >I,:'iA9>h(@>q{6@Y>y>=>H` ҿv?O?? 3?u? x? >h(@>hZ;)=iUPv4@iYK }P"K @9*K 2K :K ?bC[Vi Q@_q.##&X{Xc6!/GTue?S ]=EEEE1E!H>HCHIHuBHHHH<HEQT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G<=~G A A! N- >y I,T'iA9rP(@r~c6@Yryr̫=rH!@-0ҿ@;?f?@4@wN?@y6?p?f? rP(@rև;)rC7uBI)  I I(2-d= -C=y-wĺQ ->٥11 5H5F=d =>AMJ5E?MJ59Ej IEӒByIMt4@M@E:EiE:E:EjJ5Y][NA]kE}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 105.95 m.솺솺 ProNav: ac range: 105.948120 m, nav range: 148.029099 m, bearing: 148.702006 deg, approach rate: -0.668039 m/s, LOS rate: -0.058980 deg/s, cmd heading: 161.558125 deg, new cmd heading: 161.486526 deg. !HeadingCmd: 2.818472 target range: 105.948120 and range: 106.70 m.ba4@ZrjRJB~~}||||@ 빽I)sI Y&  :<a4@#<<=ia4@irE-?>jE->q %=%<-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseEAEAEAEER0EIԡ:J`BJSJJHRJZJ:bJy69JԺ4JzJ:jJ:J(C:rJ*C:6GM==~G1 A9 AQ N] > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ;&I,n'iA9nt*(@n=6@Ynynb=nH`{`Qҿ? ?@??`յ?@? nt*(@n;)nCz8uBzIMb@Mb@Mb@ )Yq= ףp?{GzMb`?y+?ף;$A  A)IAyAIIF31; ==yY Q >٥ HF? >J5f? J59 IגBy +? : R4@ @:Ei::nJ5fBTNAnEAMFNOT Ignoring new targets: 105.95 m.]׃]׃m ProNav: ac range: 105.948120 m, nav range: 147.746948 m, bearing: 148.677287 deg, approach rate: -0.656577 m/s, LOS rate: -0.057632 deg/s, cmd heading: 161.486531 deg, new cmd heading: 161.412233 deg. u5}HeadingCmd: 2.817175 target range: 105.948120 and range: 106.70 m.b}L4@ZyryjyRJB~~uyB}||||. @Ա ϑI)GI5 <L4@b<,9=iL4@iEEEE]0E%T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse6G<= I I @A~G! K% P"K% 9*K! 2K% :K% J uO 49? A)Cd6rfj~uE&k<JJ5 ?J1 Aa A N >H >H CH IH uBH  =H H /DH <H 6E9 I,'iA9N'@N36@YNOyN>=NHҿ@9?s?@`?@Ei?s?? N'@NSj;)NCZLuBZIIbIb3jZ= j_=yjQ n>٥ll nHlr" r>tzJ5vv?zJ59v IvےByxz4@z@v:Eiv:v:vqJ5NAq}FNOT Ignoring new targets: 105.95 m.}|}| ProNav: ac range: 105.948120 m, nav range: 147.507095 m, bearing: 148.656553 deg, approach rate: -0.638498 m/s, LOS rate: -0.055284 deg/s, cmd heading: 161.412233 deg, new cmd heading: 161.349930 deg. HeadingCmd: 2.816087 target range: 105.948120 and range: 106.70 m.b:4@ZrjRJB~~}||||!@ im4Ii)miIuEC qqu-<}:4@}5<T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse}/=i:4@iEU?EQEQE]_0EYQ6G}‹9=q ~G A A N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,'I,<2'iA:JBbBJBVJJBCRJ@ZJB:bJBB9JB4J@zJBH ;jJBJ ;JBX:rJBX:hI ) @9'@5@YmyϏ=H ]vҿ?q?`{Ű?̠?)? ? '@骍٥ HFh >J5[?J59} IBy,?:t3@@:Eif::XvJ5)-MA-qEFNOT Ignoring new targets: 105.95 m.yy ProNav: ac range: 105.948120 m, nav range: 147.176895 m, bearing: 148.629230 deg, approach rate: -0.658266 m/s, LOS rate: -0.054593 deg/s, cmd heading: 161.349928 deg, new cmd heading: 161.267772 deg.  HeadingCmd: 2.814654 target range: 105.948120 and range: 106.70 m.b I#4@Z rjRJB~~oyB}|||!|%"@ ]yBe/Ia)e͇aIeU iimݴGI,e'iA9>c'@> w5@Y>Y.y> =>H~bӿ@o?H?sP? ?;ڲ?H? >c'@>֙;)GG@AH>HHIHuBH =HHH*<H{Eԉ% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseԱ -I,и'iA96W&@65@Y6X y6C^=6H Ooxӿ@_?y?@Ffl?`F*?\?? 6W&@66;)6CZuB^ IIbIb<2 =  J=yMQ U>٥QQ UHUF]9s ]>amJ5ej5?mJ59ey IeByim2@u@e:Eie;e;e|J5y}LAyԑB*** querying acoustic contact ***JRFNOT Ignoring new targets: 105.95 m.fofo ProNav: ac range: 105.948120 m, nav range: 146.700836 m, bearing: 148.591130 deg, approach rate: -0.660490 m/s, LOS rate: -0.052325 deg/s, cmd heading: 161.217722 deg, new cmd heading: 161.153291 deg. HeadingCmd: 2.812655 target range: 105.948120 and range: 106.70 m.b4@ZrjRJB~~}||||*$@ )-6I1)51I5rl 11=R<=4@=ۓ E ٥ HFFQ >J5? J59v IBy G/? : 32@ @:EiC&;X%;YJ5eBLAwEAMFNOT Ignoring new targets: 105.95 m.M+jM+j] ProNav: ac range: 105.948120 m, nav range: 146.416397 m, bearing: 148.569608 deg, approach rate: -0.675111 m/s, LOS rate: -0.051182 deg/s, cmd heading: 161.153286 deg, new cmd heading: 161.088594 deg. ] mHeadingCmd: 2.811526 target range: 105.948120 and range: 106.70 m.bu 3@ZqrqjqRqJyBy~y~}yB}||||$@ =yBEqIA)EAIesz iim<} 3@}<}H H 2IH uBH H H H ؚ<H E;J,] (iA9ZWT&@Zg4@YZ yZnm=ZHT@$Կԣ?xI?@LQ^? F3?Ƥ?? ZWT&@Z;)ZC5uB=IIIIIU= U٥aa eHaeU m>iuJ5m ?}J59mt ImByy}1@}@m:Eim;m ;mJ5KLAzEFNOT Ignoring new targets: 105.95 m.cc ProNav: ac range: 105.948120 m, nav range: 146.157974 m, bearing: 148.550496 deg, approach rate: -0.672544 m/s, LOS rate: -0.049827 deg/s, cmd heading: 161.088591 deg, new cmd heading: 161.031154 deg. HeadingCmd: 2.810524 target range: 105.948120 and range: 106.70 m.b3@ZrjRJB~~}|||| y%@Q yB靭xI)wIx e<3@BDAT read: Response Not Received *response not received,DAT read: user:1933> BDAT read: Tx time:14:07:27.4700 $Ping request sent. JDAT read: TxSync time:14:07:27.4692  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250821 iJ,bI#(iAzG1 ܿYyAԩ9 &@*4@Y>y5z\=HJ`Կ@u?J?$Ij?٢?@2??  &@ч;)CuBAI1DVL BIT error. See manual. Result code: 94 Device respsone is::TS,25060506084491,35.0, +10.9, 0.0,1493.1, 094.47, 87.67, 90.39, 91.41 aI-@a5 aM5@a5 aQ5@a5 aE=@a= I=I=M3M= U.=yUQ U>٥YY ]H]F]d ]>iuJ5m?uJ59myq ImBu+:yqu{:u1@u@m:Eim:m>m J5^KAamFNOT Ignoring new targets: 105.95 m.mUUmUU ProNav: ac range: 105.948120 m, nav range: 145.842117 m, bearing: 148.527511 deg, approach rate: -0.639377 m/s, LOS rate: -0.046627 deg/s, cmd heading: 161.031149 deg, new cmd heading: 160.962047 deg. HeadingCmd: 2.809318 target range: 105.948120 and range: 106.70 m.b3@ZrjRJB~~}|!|!|)|5+&@ DI)hI +<3@<J,=(iA9>%@>[3@Y>dy>K=>HB~Կ?`ޫ?`> 5?\b?w?%? >%@> ;)>CJ vBJOIiNQ"K9*K2K:Ka1BQ6^}vq(.q`BX04H H H dIH ,vBH H H H <H EHĚCHĚCHH =I = I5ששchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0075426GA<~G A A N= >) J,5W(iA9B%@BD3@YByBxs=BH@hB@oԿ )? ܭ? -@ ?SX?l? ? B%@BT;)BCVvBVYII^I^?13fY&= fJ=yfF9Q j>٥hh jHhn n>pvJ5r?vJ59rl IrBv9ytv$:tz@r;Eirb:r?rЊJ5|~JA~~E%B*** querying acoustic contact ***J!R!15FNOT Ignoring new targets: 105.95 m.=kj=kjM ProNav: ac range: 105.948120 m, nav range: 145.347168 m, bearing: 148.491871 deg, approach rate: -0.709137 m/s, LOS rate: -0.051237 deg/s, cmd heading: 160.913793 deg, new cmd heading: 160.854937 deg. M UHeadingCmd: 2.807448 target range: 105.948120 and range: 106.70 m.bU<3@ZQrQjYRYJYBY~a~a}a|a|i|i|m7(@ 靥eiI)^Iݔ A<<3@<i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510693J,yq(iA =?vB=pIaI=aIE aMEaME aQEaQE aEMaEM MMb@Mb@Mb@III I)IYM|?5^?+y&1?yM-?MM`e٥ HF >J5?J59i IBT:y/?:,@@;Ei::ގJ5'JAFNOT Ignoring new targets: 105.95 m. N N ProNav: ac range: 105.948120 m, nav range: 145.032104 m, bearing: 148.478737 deg, approach rate: -0.681714 m/s, LOS rate: -0.028480 deg/s, cmd heading: 160.854944 deg, new cmd heading: 160.815456 deg. ]%HeadingCmd: 2.806759 target range: 105.948120 and range: 106.70 m.b%3@Z!r!j)R)J)B)~1~5IzB}1|1|9|9|= (@ aEII)MUIIM5 IQUUH H IH }vBH  =H H H <H EA N% >K ٥   H F  <  >%J5?%J59if I!By!-,@-@ ;Ei,;y-;J515IA5EFNOT Ignoring new targets: 105.95 m.55E ProNav: ac range: 105.948120 m, nav range: 144.794312 m, bearing: 148.468494 deg, approach rate: -0.640328 m/s, LOS rate: -0.027627 deg/s, cmd heading: 160.815452 deg, new cmd heading: 160.784673 deg. EMHeadingCmd: 2.806222 target range: 105.948120 and range: 106.70 m.bM$3@ZIrIjQRQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014082JB~~}||||)@ =yBE(IA)ENAIE!w IIMR5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685ԡ 7(J,S(iA9b&@b14@Ybyb{L=bHJ[Կ{?|?`K?Q?g?? b&@bײ;)`qUvvB]IԡMb@Mb@Mb@ )YZd;O?EԸ:v?y~*?ƽT<A \ A)AIAAyAII 3%-= -=y-U:Q ->٥11 5H5F5g9 5>AUJ5ET?UJ59E b IE*By]S,?]:]*@]@E;EiEM;E=;EJ5ecBmDIAmEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518038FNOT Ignoring new targets: 105.95 m.ƹƹ ProNav: ac range: 105.948120 m, nav range: 144.431290 m, bearing: 148.457137 deg, approach rate: -0.692692 m/s, LOS rate: -0.021726 deg/s, cmd heading: 160.784675 deg, new cmd heading: 160.750516 deg. nHeadingCmd: 2.805626 target range: 105.948120 and range: 106.70 m.b_3@ZrjRJB~~zB}||||,*@ 靭JnI)HHI ^<_3@:m<c0J,Z(iAt95l&@5#4@Y5 y5!jO=5HHhԿ?_?=IW? TU??? 5l&@5֬;)5C m̏C)mAɵiqq}CɶAiII@Ci 鶑)鷝3C lAɷ5AI )i)IA鸭Dɸ ɹ鹩iiЃA) Iٯ:J`BJSJJARJZJ:bJy69J4JvBIII= q=y Q  ?٥   H& ?J5cq?J59/_ I0By*@@;Ei:d:řJ5IA!-FNOT Ignoring new targets: 105.95 m.-໹5໹e ProNav: ac range: 105.948120 m, nav range: 144.192932 m, bearing: 148.449731 deg, approach rate: -0.659748 m/s, LOS rate: -0.020532 deg/s, cmd heading: 160.750510 deg, new cmd heading: 160.728257 deg. esamHeadingCmd: 2.805237 target range: 105.948120 and range: 106.70 m.bm3@ZirqjqRqGyG}?AH>HCHIHvBHHHHΚ<HEK:P"K9*K2K:Kj$+6Lxohd[%  NHruO3)JB~~}||||`+@ =yBEPIA)EEAIES AAMP6J,G(iA9>%@>{4@Y>%Ay>?2U=>HtE@{Կ۰??E@I ?&?m? .? >%@>./;)>C=vB=IiE%>IE;IIIIYeo= mW=yu s:Q }>٥ HFT >J5^?J599\ I6By*@@;EiQ;;J5HAEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 105.95 m... ProNav: ac range: 105.948120 m, nav range: 143.947205 m, bearing: 148.442194 deg, approach rate: -0.687119 m/s, LOS rate: -0.021112 deg/s, cmd heading: 160.728257 deg, new cmd heading: 160.705608 deg. gHeadingCmd: 2.804842 target range: 105.948120 and range: 106.70 m.b3@ZrjR J B ~ ~}||||>,@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274890 yB靍*I)$BIo< ͪ٥YY eHaedž e>iuJ5m&J?}J59mX Im;By}(&?}:}=)@}@m;EimG ;mL ;mJ5HAEFNOT Ignoring new targets: 105.95 m.~~ ProNav: ac range: 105.948120 m, nav range: 143.667358 m, bearing: 148.436208 deg, approach rate: -0.647848 m/s, LOS rate: -0.013884 deg/s, cmd heading: 160.705609 deg, new cmd heading: 160.687616 deg. tHeadingCmd: 2.804528 target range: 105.948120 and range: 106.70 m.bc}3@ZrjRJB~~zB}||||-@ %yB%삘I))-?)I-+ )15<<5c}3@=V<=, UBDAT read: Tx time:14:07:31.1200 U$Ping request sent.UgH? ?-@)nFI 1@it;?P@t;?> )"`&?H(Dg?jgi?=t;?> ):publishing transmit ping timeQFpublishing direction and range infoyu%?:\ 4¿ &K{ǿY )Ii )Ii )"`&?H(Dg?jgi )II:J_BJTJJBRJZJ :bJ:9J-4J6G <H >H CH IH wBH  =H H 0DH Ț<H ~G A A N >K 6P"K 9*K 2K :K `8EV#:'G@VFx%):|hBvsh<9~e`TjVJ ?J >A CJ,:)iA]vB]IIm Im2 Q=yQ >٥ HF >J5c7? J59U I?By   @;Ei::(J5HAZb)iABBx*+@ʁW_VfW@q+ 41u%?:\ 4¿ &K{ǿt;?>ҁvRԙ 5IJ,=()iA9%@`3@Y y|Pd=H@0:ུԿ@fI?@?@9j?? ?? %@Zk;)CvBIiMb@Mb@Mb@ )YCl?A`"{Gzy;?ٽ#A  A)AIAAyAIIF2w$ ;=yxQ >٥ HF >J5 #?J59 R IABy!?:)@@#;Ei:;J5bBIAEAEDNOT Ignoring new targets: 96.32 m.M®8M®8] ProNav: ac range: 96.321136 m, nav range: 95.868950 m, bearing: 152.068280 deg, approach rate: -0.648545 m/s, LOS rate: 0.004775 deg/s, cmd heading: 160.670802 deg, new cmd heading: 160.676880 deg. ]Q9eHeadingCmd: 2.804341 target range: 96.321136 and range: 97.00 m.beQz3@ZarajaRiJiBi~i~uzB}q|q|q|q|}@NQ? uyBuobI)GIп H<Qz3@}<^ > @ HPJ,oB)iA9N%@N3@YN<%yNTd=NH2@Կ٬? ?`]2@(?`? ‬?? N%@Nm;)LZ{vBZIIfIf[3jc ns=ynKQ n?٥pp vHtzS z?|J5~=? J59~SO I~CBy  (@ @~';Ei~:~:~J5#IAEAEDNOT Ignoring new targets: 96.32 m.M:8M:8e ProNav: ac range: 96.321136 m, nav range: 95.655060 m, bearing: 152.070233 deg, approach rate: -0.633621 m/s, LOS rate: 0.005798 deg/s, cmd heading: 160.676881 deg, new cmd heading: 160.682753 deg. e~9mHeadingCmd: 2.804443 target range: 96.321136 and range: 97.00 m.bu{3@ZqryjyRyJyBy~~}||||F? yB靽I)HIü 9<{3@<HECHEIHEwBHE =HAHE/DHE<HE3EE=?EAEIEMP0EIFQFU=K\P"K59*K2K:KMy6, h(u"T#a0 P> @N@_EN$} UqPNA6Gm+^<) ~GI AQ Ai N >VJ,ʍ\)iA9Bs%@B83@YB4*yB\=BH@-Կh=?`?/?@p[?c?? Bs%@B ;)BCJrvBJIIR#IR%x3Zc ZM=y^zcQ ^>٥`` bHbFb1` f>lvJ5n?vJ59nL InEBytv(@v@n+;Ein:nF:nkJ5x~FIA~EDNOT Ignoring new targets: 96.32 m.88 ProNav: ac range: 96.321136 m, nav range: 95.403366 m, bearing: 152.072756 deg, approach rate: -0.605703 m/s, LOS rate: 0.006087 deg/s, cmd heading: 160.682755 deg, new cmd heading: 160.690343 deg. 9HeadingCmd: 2.804575 target range: 96.321136 and range: 97.00 m.b*~3@ZrjRJB~~}!|!|!|)|-8? yB MI ) ZK QIɼ ) C<%GEAY YAyB*~3@< \J,Fv)iAH9N84%@NG3@YN+yN{[=NH]#2տ@G? jX?"%`۸? a?e?? N84%@Nц;)NCZqvBZIib>Ib>]Mb@Mb@Mb@YYY Y)YY]rh|?:v~jty]?]Խ]]nA ] A)] AI]AYy](AIu Iu(2[o ?=yQ >٥ HFy >J5??J59H Iy<?:(@@/;Ei;;%J5aBJIAE]B*** querying acoustic contact ***JYRYiuDNOT Ignoring new targets: 96.32 m.u{9}{9 ProNav: ac range: 96.321136 m, nav range: 95.139755 m, bearing: 152.075943 deg, approach rate: -0.615130 m/s, LOS rate: 0.007458 deg/s, cmd heading: 160.690336 deg, new cmd heading: 160.699924 deg. ǣ9HeadingCmd: 2.804743 target range: 96.321136 and range: 97.00 m.b3@ZrjRJB~~HzB}|||| ? 5yB5(I1)5:L1I5 ϼ 99=MHI HM IHM wBHM  =HI HM .DHM ؚ<HM EHəCHəCHH =I = I`6 ~G1 AA AQ Ne >K EP"K 9*K 2K :K , Sb1VSLrt0 T0R"ud.S].5r6cJ,)iA96M%@63@Y6+y6]=6H.M`տm?w?@E?^?:?? 6M%@60dž;)6CB_vBBIIJIJM3R@ R[=yV8Q V>٥TT ZHXZ Z>\bJ5^F?bJ59^E I\ydfd(@f@^3;Ei^W:^:^hJ5hjIAh|DNOT Ignoring new targets: 96.32 m. &9 &9 ProNav: ac range: 96.321136 m, nav range: 94.908951 m, bearing: 152.079161 deg, approach rate: -0.649372 m/s, LOS rate: 0.009075 deg/s, cmd heading: 160.699926 deg, new cmd heading: 160.709603 deg. N9%HeadingCmd: 2.804912 target range: 96.321136 and range: 97.00 m.b%3@Z!r!j!R!J)B)~1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255637~9}||||S@ MyBM\II)M2QIIUI Լ qquu\<}3@}Ѯ<}/ԁ :J ZBJ QJJ ?RJ ZJ 9bJ -.9J ـ4J zJ .:jJ 3:J 4:rJ 4:iJ,ߩ)iAa9$@/2@Y ,y0\=HPտ`?Z? я??n|?@? $@;)CU`vBUIMb@Mb@Mb@ )Y1Zd? rhZd;Oy"?CjA  A)rAIXAyAII 3 k; )=yzQ >٥)9 =HEFM˭ U>Q]J5U?eJ59UPB IQye8?e:e+@e@U8;EiU:U,:UJ5quIAuE)5DNOT Ignoring new targets: 96.32 m.5W5WE ProNav: ac range: 96.321136 m, nav range: 94.610352 m, bearing: 152.073388 deg, approach rate: -0.607947 m/s, LOS rate: -0.011791 deg/s, cmd heading: 160.709597 deg, new cmd heading: 160.692224 deg. Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758409EyeHeadingCmd: 2.804608 target range: 96.321136 and range: 97.00 m.ԉbe~3@ZrjRJB~~-zB}||||!I@ yBVI)QIE(ڼ AAEZpJ,)iA9:$@:2@Y:?/y:Kc=:H@ տE8?@&?`H?`?ef?`? :$@:tt;)8N@vBNpI)P PIVIV3^Ž ^|=yb˺Q b ?٥`` bH`f f ?hnJ5j?nJ59j@ Ihypr+@r@j;;Eij;j;jvJ5tv JAt!%DNOT Ignoring new targets: 96.32 m.-#N-#N ProNav: ac range: 96.321136 m, nav range: 94.416351 m, bearing: 152.069814 deg, approach rate: -0.610223 m/s, LOS rate: -0.011264 deg/s, cmd heading: 160.692221 deg, new cmd heading: 160.681478 deg. ^HeadingCmd: 2.804421 target range: 96.321136 and range: 97.00 m.b{3@ZrjRJB~~}||||`@ MyBMY½Iq)uZqIuC߼ qqu<}{3@}<}EtOH!H%IH%wBH!H!H!H%Ț<H%EEaEaEaEmo0EiK72P"K*K2K:K g.MPuN'6uO4ROw7^t']oVkroSKawuAuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262368Q6Gl o<~G A A N >y wJ,cc)iA9$@2@Yw0yPj=H9 տͮ?? I? l?@ P?? $@;)C51vB=gIIEIE 3U  ]A=y]kQ ]>٥aa eHeFe_ͻ m>qJ5ub?J59u= Iqy+@@u?;Eiu+;u,;u.J5CJAEDNOT Ignoring new targets: 96.32 m.;; ProNav: ac range: 96.321136 m, nav range: 94.156883 m, bearing: 152.065419 deg, approach rate: -0.603724 m/s, LOS rate: -0.010254 deg/s, cmd heading: 160.681484 deg, new cmd heading: 160.668263 deg. 2-HeadingCmd: 2.804190 target range: 96.321136 and range: 97.00 m.b-w3@Z)QrjRJDAT read: 14:07:33.6509 LVL= 26592, 29617, 20242, 25843, AGC= 67, IDX= 414,-0.14, 0.959,-0.403, 1.109, 0.542, PHS= 0.505,-0.898, 0.564, RAW= 152.0, -2.4, CAL= 155.8, -11.0, ROT= 354.2, 11.0 Ygot valid direction response: 14:07:33.6509 LVL= 26592, 29617, 20242, 25843, AGC= 67, IDX= 414,-0.14, 0.959,-0.403, 1.109, 0.542, PHS= 0.505,-0.898, 0.564, RAW= 152.0, -2.4, CAL= 155.8, -11.0, ROT= 354.2, 11.0 %PDAT read: Bearing 354.2, 11.0 (Local) %~Local bearing/azimuth received: Bearing 354.2, 11.0 (Local) -DAT read: Range 10 to 50 : 95.0 m (Round-trip 126.7 ms) speed 0.9 m/s 5,DAT read: user:1935> =BDAT read: Tx time:14:07:34.7701 =$Ping request sent.= )! ?DR8m?i|_i++?,=)QϽ D> ):publishing transmit ping time9Fpublishing direction and range infoypǾR@?J|#eP@mlȿY )Ii )Ii )! ?DR8m?i|_i ) 5yB5yI1)5v^9I=t 99=eן (}J,{1)iA9>o$@>,2@Y>F6y>c=>H %4տ@*?b? ޢ?Ʀ?p?`;? >o$@>Q;)٥Ա HF钻 >J5ˎ?J59: IDBy?:+-@@C;Ei;!;J5`B$JAEZ b N)iA B B ,@ʁ {v&W@9)":1 pǾR@?J|#eP@mlȿ )QϽ D>ҁ ۹ Uk-C@P-, /H`u쿰Y{ ?Aÿz B j +k>ǜ?r z  H CH IH vBH H H H <H E) 6G (<~G A A N >K 0'P"K *K 2K :K jP4,UL|F2tvovzv5Bv.{vP$|OQ  J,M*iA9B]$@B8q2@YBt>yBT]=BHY@տ ݯ? ? @䷡?_̧? i?3? B]$@Bw;)BCJ-vBNeIiRR=IR<IVIV?13^ ^e=y^Q b>٥`` bH`fP f?hnJ5j~?nJ59j7 Ihylr-@r@jF;Eija;j<;jJ5tvQJAt B*** querying acoustic contact ***J R DNOT Ignoring new targets: 94.33 m.%- ProNav: ac range: 94.332512 m, nav range: 93.260529 m, bearing: 152.539813 deg, approach rate: -0.645925 m/s, LOS rate: -0.016796 deg/s, cmd heading: 160.654068 deg, new cmd heading: 160.637835 deg. 5n85HeadingCmd: 2.803659 target range: 94.332512 and range: 95.00 m.b5'o3@ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Z9rIjQRQJYBY~a~a}a|a|a|i|mpv? eyBu^ȽIq)u`yI}^ yy}!<'o3@<jEE-?E)E)E5s5E1A6GUl<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998676~G) A9 AQ N] >i :J BJ QJJ ?RJ ZJ bJ -.9J ـ4J zJ jJ J 4:rJ 4:;JJ,(+*iA *vBcIII 3pܻ 0=yQ >٥ HF >J5qi?J594 ICBy@K;Ei;;#J5[JAEDNOT Ignoring new targets: 94.33 m.ϐϐ ProNav: ac range: 94.332512 m, nav range: 92.979813 m, bearing: 152.532492 deg, approach rate: -0.604935 m/s, LOS rate: -0.015825 deg/s, cmd heading: 160.637839 deg, new cmd heading: 160.615809 deg. -HeadingCmd: 2.803275 target range: 94.332512 and range: 95.00 m.bh3@ZrjR!J!B!~!~!})|)|)|1|5@>? ]yBe Ia)edbaIe aim[ ~G! A1 AA NU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5022581J,E*iAP= vB=]IMb@Mb@Mb@ )YRQ?+I +y"?94AA / A)/ AIXAy AI)I)E¼ EO=yIQ M>٥II MHMFQ U>iuJ5mV?uJ59m1 ImGBy}"?}:}.@}@mO;Eim#;m;mJ5JA HHH>HCHIHvBHHHH<HEDNOT Ignoring new targets: 94.33 m. ProNav: ac range: 94.332512 m, nav range: 92.728813 m, bearing: 152.522298 deg, approach rate: -0.627500 m/s, LOS rate: -0.025555 deg/s, cmd heading: 160.615805 deg, new cmd heading: 160.585140 deg. MHeadingCmd: 2.802739 target range: 94.332512 and range: 95.00 m.b`3@ZrjRJB~ ~ yB}|||| ? EyBEII)MeIIM IQU*\J,^*iA9:$@: 2@Y:XRy:!=:H@ 'տ@?`? Ҧ?`N?H۰?`? :$@:˻;):CF*vBFcI)H HIR IR2V< Zh=y^cQ b>٥`` bH`f< f>lvJ5nD?vJ59n/ InJBytz/@z@nS;EinN;n?;nJ5 _B RJAEquDNOT Ignoring new targets: 94.33 m.  ProNav: ac range: 94.332512 m, nav range: 92.504906 m, bearing: 152.512206 deg, approach rate: -0.622919 m/s, LOS rate: -0.028145 deg/s, cmd heading: 160.585138 deg, new cmd heading: 160.554788 deg.  HeadingCmd: 2.802210 target range: 94.332512 and range: 95.00 m.bgW3@Zr1j1R1J9B9~I~I}I|I|I|Q|u<@ ص>׵a=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007093 yBI)cIZ! r< gW3@ ,< Äu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259641ԁ J,غx*iA9z$@zj2@YzVyz݆=zHz տWM???̪? Ұ? ? z$@zQ;)zC3vBhIYMb@Mb@Mb@ )YK7?X9vy&1|y)?` ) AIAyfAI I 3< %5=y- Q ->٥)) 5H5F=ɸ =>AEJ5Em-?MJ59E, IEPByM)?M:M/@M@EW;EiE:E4:EJ5Y]-JA]EDNOT Ignoring new targets: 94.33 m.&(&( ProNav: ac range: 94.332512 m, nav range: 92.207565 m, bearing: 152.496109 deg, approach rate: -0.676719 m/s, LOS rate: -0.036752 deg/s, cmd heading: 160.554784 deg, new cmd heading: 160.506339 deg. ɺHeadingCmd: 2.801364 target range: 94.332512 and range: 95.00 m.bI3@ZrjRJB~~yB}||||ug@ yBmI)bI ˦< I3@ h< NԹII?A:JBJNJJ@RJZJbJ!9JJ4J@@@@H>HCHIHvBH =HHHښ<HE K] P"K] 9*KY 2K] :K] f_+p 6H|@~I<[3#?04[D(jw%|vJ,[*iAJ2>J2>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762053=vBoII%I%(5j< =Y=y=Q =>٥AA EHEFE E>ԩJ57?J59) IUBy@[;Ei::J5JA5B*** querying acoustic contact ***J1R1QUDNOT Ignoring new targets: 94.33 m.]!]!m ProNav: ac range: 94.332512 m, nav range: 91.948944 m, bearing: 152.482024 deg, approach rate: -0.646978 m/s, LOS rate: -0.035336 deg/s, cmd heading: 160.506345 deg, new cmd heading: 160.463970 deg. mº}HeadingCmd: 2.800625 target range: 94.332512 and range: 95.00 m.b}o=3@ZyrjRJB~~}||||@ yBI)3`Im 1 >J,o*iAIT)V@9%$@ 3@Yby=H8`Nտ0?R?x]?]Q?`q?c? %$@[;)C!JvBwIMb@Mb@Mb@ )YV-?:v{Gzt?y-?Լף;  A)IAy=AII3*< )=ycɻQ >٥ HG; >5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2663935J5?=J59& I_By=-?=:=0@=@a;EiO< <J5iuIAuE1=DNOT Ignoring new targets: 94.33 m.Ae1e1 ProNav: ac range: 94.332512 m, nav range: 91.634621 m, bearing: 152.462810 deg, approach rate: -0.634052 m/s, LOS rate: -0.038891 deg/s, cmd heading: 160.463970 deg, new cmd heading: 160.406131 deg. պHeadingCmd: 2.799615 target range: 94.332512 and range: 95.00 m.b,3@ZrjRJB~~yB}|||| @ yB靕xͲI)]I= <,3@*K<1  R#Rx 1: Read range and direction messages.6G c<% `direction in FSK: [0.977795,-0.078672,-0.194234]- Fpublishing direction and range info y SJ?uO#mVѫȿ fBY PU) A`I ;i r D ? ^i {? aU(@) ¸2I ,@i +H (~@ +H> ) v='~?f7#P?pռ.i  ? @/= l +H> ) u T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.~G A A J4Jr4J).0:J BJ UJJ =RJ ZJ bJ >9J g4J N%>YlJ,)*iAG0G2AAH6߼>H4H6IH6vBH4H4H6-DH6<H6EH-CH-CH)H- =I- = I-6LmvBIII 3%2= %F=y%Q %>٥)) -H-FU U>YeJ5]f?eJ59] $ I]hByaae@]e;Ei]u:]:]J5^B?IAEZAbEl*iAEBEBE.@ʁE8 t'V@G:<*a1ESJ?uO#mVѫȿElE+H>ҁE?Tq%&B@lv*E X|=?#z¿zE6BEjEkǜ?rE g E ABAE  EH:BEBE+@ addTargetRange:: Added new target pos. range: 92.699997 m, deltaT: 3.533117 s, deltaX: -2.300003 m, approachRate: -0.650984 m/s, rangeRepo size: 4  Added new target pos. range: 92.046242 m, bearing: 156.509476 deg, lat: 36.906415 deg, lon: -122.116015 deg, deltaT: 3.533117 s, deltaX: -2.286270 m, approachRate: -0.647097 m/s, posRepo size: 4 -DNOT Ignoring new targets: 92.05 m.51E ProNav: ac range: 92.046242 m, nav range: 90.760895 m, bearing: 153.170525 deg, approach rate: 0.000000 m/s, LOS rate: -0.038891 deg/s, cmd heading: 160.406132 deg, new cmd heading: 160.358599 deg. amHeadingCmd: 2.798785 target range: 92.046242 and range: 92.70 m.bmM3@ZirijiRiJqBq~q~q}yKP"K59*K2K:K Y_!6nk- j$8*>]u$cTO|||,W@|@r? EyBE7II)MQUIIM IIM蜸J, *iAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251430t9-;%@-eO3@Y-Vby->=-HB տ(?M?@!u?!G?U?? -;%@-;)-Cm{vBuII}"I}q3l= S=yS9Q >٥ HF&1< >J5?J59v! IpBy0@@i;EiB::,J5 IAimDNOT Ignoring new targets: 92.05 m.u&9u&9 ProNav: ac range: 92.046242 m, nav range: 90.497093 m, bearing: 153.155528 deg, approach rate: -0.709747 m/s, LOS rate: -0.040468 deg/s, cmd heading: 160.358594 deg, new cmd heading: 160.313471 deg. .޺HeadingCmd: 2.797998 target range: 92.046242 and range: 92.70 m.bf3@ZrjRJB~~}||||@"4? -yB-sǽI))-hR)I5 115<=f3@=Q,J,*iA9j.f%@jy3@YjBayj=jH&Կ@@%?%? ) q? ?Sױ?`? j.f%@jъ;)h vB IiMb@Mb@Mb@ )Y"~?Q롿I +?y3?\94< ) AIAy AI I 3d= %C=y%H:Q %>٥!) -H)-; ->9MJ5=?MJ59= I=zByM64?U:U80@U@=n;Ei=T;= N;=J5Y]HA]EDNOT Ignoring new targets: 92.05 m.<'<' ProNav: ac range: 92.046242 m, nav range: 90.208405 m, bearing: 153.140753 deg, approach rate: -0.711952 m/s, LOS rate: -0.036552 deg/s, cmd heading: 160.313474 deg, new cmd heading: 160.269010 deg. ȺHeadingCmd: 2.797222 target range: 92.046242 and range: 92.70 m.b3@ZrjRJB~~yB}||||`D"? }yB} :I)LI <3@i<jE >ԑEEEEo0EF:J^BJSJJBRJZJ} :bJy69J-4JFHm>HiHmIHmvBHm =HiHiHm<HmEԱ6GE < K JP"K *K 2K :K lR  m J = ' g)M bT-(\+\~G! A) A9 NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007305J,B+iA9:f%@:y3@Y:]y:=:H!'6Կ@C9?%?(@?@}? ? -? :f%@:y;):CFvBFIIZIZm?3nh9= rb=yr_ ;Q v>٥xx zHzFzn8 ~> J5!? J59 IBy   @r;Ei::J5bHAEԹB*** querying acoustic contact ***JRDNOT Ignoring new targets: 92.05 m. ProNav: ac range: 92.046242 m, nav range: 89.953598 m, bearing: 153.127636 deg, approach rate: -0.664547 m/s, LOS rate: -0.034307 deg/s, cmd heading: 160.269009 deg, new cmd heading: 160.229546 deg. [%HeadingCmd: 2.796533 target range: 92.046242 and range: 92.70 m.b-f2@Z)r1jaRaJaBi~i~i}i|q|9|9|= LC? yBnȹI)II + Tެ<f2@<=A J,1+iA9e%@rx3@Y[]y=H&FԿ ? <'?% @? ?_/?? e%@骍C;)CvBI=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511466MMb@Mb@Mb@III I)IYM +?Zd;O~jt?yM6?Mj٥ HFLP >J5Ց?J59 IBy07?:E/@@w;Ei::J5GADNOT Ignoring new targets: 92.05 m. ProNav: ac range: 92.046242 m, nav range: 89.627991 m, bearing: 153.113869 deg, approach rate: -0.745709 m/s, LOS rate: -0.031645 deg/s, cmd heading: 160.229544 deg, new cmd heading: 160.188092 deg. HeadingCmd: 2.795810 target range: 92.046242 and range: 92.70 m.b2@ZrjRJB~~yB}||||? 5yB=I9)=B9I= 9AEӭԙ :J _BJ TJJ ARJ ZJ :bJ :9J 4J  HU <HU <H] >H] CH] IH] wBH]  =HY H] /DH] <H] EZJ,5K+iA9VB%@VHV3@YV6YyV=VH`!Կ@س?G?` ?.? 6?`=? VB%@Vʋ;)TrvB~Ii~=I~>I I 2e= e[=yed#;Q m>٥ii mHiu+ u>yJ5}I}?J59} I}By"/@@}|;Ei}:}:}1J5]BGAEDNOT Ignoring new targets: 92.05 m.E ProNav: ac range: 92.046242 m, nav range: 89.363243 m, bearing: 153.102963 deg, approach rate: -0.698347 m/s, LOS rate: -0.028852 deg/s, cmd heading: 160.188085 deg, new cmd heading: 160.155271 deg. EhMHeadingCmd: 2.795237 target range: 92.046242 and range: 92.70 m.bM)2@ZIQrIjiRqJqBq~q~y}y|y|y|y|o@ yBUfI)HOjSC;yEEEEp5EԱ A A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1438246G < ~G A A N >&J,bf+iA9:$%@:73@Y:'@Yy:=:H}տ7?d???$?@iӴ?J? :$%@:<ϋ;):CFvBFIIRIR(*3Z%"= ZO=y^H9Q ^>٥`` bHbFfΛ f>9EJ5=f?EJ59= I=ByAE/@M@=;Ei= :=:=J5QUCGAUEy}DNOT Ignoring new targets: 92.05 m.** ProNav: ac range: 92.046242 m, nav range: 89.072449 m, bearing: 153.091259 deg, approach rate: -0.726207 m/s, LOS rate: -0.029324 deg/s, cmd heading: 160.155273 deg, new cmd heading: 160.120046 deg. HeadingCmd: 2.794622 target range: 92.046242 and range: 92.70 m.b2@ZrjRJB~~}||||@ yBI)8IQD m<2@ʭ<x checking for new query: numPingsReceived=0, elapsed TxPingTime=2.583491 J,t%+iA9> %@>R3@Y>Zy>+=>H14տ`j? E|?ī?`Q?t?O? > %@>Qz;)>CJwBJIeMb@Mb@Mb@aaa a)aYe/$?v/=yxNQ >٥ HFqj >J5P?J59 IBy1?:-@@;Ei(;,;hJ5\BqFAEDNOT Ignoring new targets: 92.05 m.bb  ProNav: ac range: 92.046242 m, nav range: 88.783119 m, bearing: 153.083095 deg, approach rate: -0.692529 m/s, LOS rate: -0.019604 deg/s, cmd heading: 160.120043 deg, new cmd heading: 160.095472 deg.  CWHeadingCmd: 2.794193 target range: 92.046242 and range: 92.70 m.b2@ZrjRJB!~)~5HHIH]wBHHH0DH<HE6Gm9f< ~GI AY Aq N} >K P"K s9*K 2K :K UKE!FBNZ!Wfi*M!%L&9 -3J,+iA96>$@63@Y6]y6;{=6H`` Wտ??`6c?ࡻ?? ? 6>$@6h;)6CJBDAT read: Rx Time:14:07:40.9441 RTRx dataTimestamp_ set to:1749132462.425472Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.091376='wB=IIMIM(*2< E=yQ >٥ H} >J5:?J59 IBy-@@;Eit;=;J5  EFA EUB*** querying acoustic contact ***JQRQDNOT Ignoring new targets: 92.05 m. ProNav: ac range: 92.046242 m, nav range: 88.497589 m, bearing: 153.075303 deg, approach rate: -0.670520 m/s, LOS rate: -0.018357 deg/s, cmd heading: 160.095468 deg, new cmd heading: 160.072016 deg. I%HeadingCmd: 2.793784 target range: 92.046242 and range: 92.70 m.b%Z2@Z!r)j)R)J)B1~9~9}A|A|A|I|mn @ yB靝㨽I!)%*!I%!! ))-;f<=Z2@=-<=n/J,+iA9D$@2@Yby=Hf{oտDʲ?@? =#???`I? ? D$@I;)CBwBIMb@Mb@Mb@ )YB`"?V-y.?hAA `A) AIAyz AII3d{= C=yJQ >٥ HF*4 > K5$? K59E IBy /? : O,@@;EiG::K5EA%EAMDNOT Ignoring new targets: 92.05 m.Mg.Ug.e ProNav: ac range: 92.046242 m, nav range: 88.208061 m, bearing: 153.071418 deg, approach rate: -0.707887 m/s, LOS rate: -0.009530 deg/s, cmd heading: 160.072013 deg, new cmd heading: 160.060320 deg. eHѹAAMDAT read: 14:07:40.9441 LVL= 24688, 32753, 17138, 32755, AGC= 67, IDX= 408, 0.18, 2.896, 1.602, 3.084, 2.483, PHS= 0.501,-0.835, 0.598, RAW= 153.5, -3.9, CAL= 157.6, -12.2, ROT= 352.4, 12.2 UYgot valid direction response: 14:07:40.9441 LVL= 24688, 32753, 17138, 32755, AGC= 67, IDX= 408, 0.18, 2.896, 1.602, 3.084, 2.483, PHS= 0.501,-0.835, 0.598, RAW= 153.5, -3.9, CAL= 157.6, -12.2, ROT= 352.4, 12.2 ]PDAT read: Bearing 352.4, 12.2 (Local) ]~Local bearing/azimuth received: Bearing 352.4, 12.2 (Local) eDAT read: Range 10 to 50 : 89.9 m (Round-trip 119.9 ms) speed 0.8 m/s u,DAT read: user:1937> }BDAT read: Tx time:14:07:42.0701 $Ping request sent. )?5'?$0i?=^ Z> ):publishing transmit ping timeځHeadingCmd: 2.793580 target range: 92.046242 and range: 92.70 m.b2@ZrjRJB~~-zB}|||yV@|?5Fpublishing direction and range infoyzhJk?;\ ˿Y )Ii )Ii )?5'?$0i ) MyBUTIQ)U$QIU# YY]3<2@(<sH H EIH wBH  =H H /DH ˚<H E6G J,+iA9z4$@z2@Yzgyzs=zH1 Iտ?Ȳ?`?Ci͢? [?Bn?a? z4$@z%;)zC _wB !IIIF3-k= -M=y-dQ 5>٥11 5H5F=! =>Q]K5U?]K59U  IUByY]-,@e@U;EiU:U:U0K5imcEAmEZbR+iABB:+@ʁ GҁL,$SmDC@}A0-5%3::`?l5ĿzRBYjT&*Ȝ?rR  Y Ay B% @% x B5J,g+iA9>$@>2@Y>,ny> =>H`q @ѣտ~?? ?È?E?O?v? >$@>˯;)>C:J%[BJ%UJJ%ERJ!ZJ%:bJ%>9J%4J!zJ%:jJ%:J%}Q:rJ%Q: kwB (III[3-< -.=QymVQ m>٥qq uHq}: }>K58?K59e IɓBy6,@@;Ei; ;TK53EADNOT Ignoring new targets: 89.27 m.u ProNav: ac range: 89.270622 m, nav range: 87.744690 m, bearing: 153.289959 deg, approach rate: -0.689690 m/s, LOS rate: -0.006937 deg/s, cmd heading: 160.048790 deg, new cmd heading: 160.038992 deg. uUHeadingCmd: 2.793207 target range: 89.270622 and range: 89.90 m.b2@ZrjRJB~~}!|!|!|!|%? uyBu?%Iqy)}I' ߐ<2@6<!~G)A1AINU>!K,,iA jُC)jAɵhhllɶlilIllIpip pp)pt vnAttɷtxz(AIzt)zFix)xIz-A~ɸ~uF |ɹ|||i|i΃A)D Iٯ=wB=8IԩH5>H1H5jIH5wBH5 =H1H1H5͚<H5EHCHCHCH =I = I05 Mb@Mb@Mb@    ) Y y&1?sh|?~jthy `%?  D A vA) AI A y ( AI5%I5)3EnU= E-=yEQ E>٥II MHMFM U>aK5e?K59e IeГBy&?:*@@e;Eie ;e;ee K5[BDAEDNOT Ignoring new targets: 89.27 m.88 ProNav: ac range: 89.270622 m, nav range: 87.441811 m, bearing: 153.291671 deg, approach rate: -0.645780 m/s, LOS rate: 0.003663 deg/s, cmd heading: 160.038996 deg, new cmd heading: 160.044150 deg.  9HeadingCmd: 2.793297 target range: 89.270622 and range: 89.90 m.bb2@ZrjRJB~~[zB}|||| (0? EyBEnIA)EwAIM:) IIM46G= q<1 ~Gq A A N >K,l!,iAwBAIII<2+= %a=y)Q ->٥)1 5H5F1 =>9EK5=?EK59= I=֓ByIIM@=;Ei=:=:=K5QUDA]E}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 89.27 m.uy8uy8 ProNav: ac range: 89.270622 m, nav range: 87.204269 m, bearing: 153.293022 deg, approach rate: -0.658547 m/s, LOS rate: 0.003756 deg/s, cmd heading: 160.044146 deg, new cmd heading: 160.048210 deg. $9HeadingCmd: 2.793368 target range: 89.270622 and range: 89.90 m.b2@Zr j R JB~~!}!|!|!|)|-? yB馽I)fI+ *״<2@<Ob#K,L;,iABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0023189>%$@>2@Y>Uety>+=>Hտ{??I @Y??;?@? >%$@>p;)>CUwBUIIMb@Mb@Mb@ )YCl?bX9ȶy&1|y;?E`rA )vAIAy AI I  3i< I=yQwQ >٥!! %H!%$/ ->)=K5-?=K59- I-ܓBy= ?=:=)@E@-;Ei-;-;-K5IMXDAIԑDNOT Ignoring new targets: 89.27 m. 1D9 1D9= ProNav: ac range: 89.270622 m, nav range: 86.951843 m, bearing: 153.297514 deg, approach rate: -0.600777 m/s, LOS rate: 0.010720 deg/s, cmd heading: 160.048216 deg, new cmd heading: 160.061730 deg. =o9EHeadingCmd: 2.793604 target range: 89.270622 and range: 89.90 m.bEi2@ZArAjARAJIBI~q~uYzB}y|y|y|| @ yBEI) I s-   k<i2@:<HECHEIHExBHE =HAHAHEך<HEE 6Ge b<ZGi RGi ~G9 AA AY Ne >1 E K,#U,iAwBSII-I-3u"= }U=y}Q }>٥ HF >K5?K59 IBy@;Ei;{;sK5DAĪEDNOT Ignoring new targets: 89.27 m.uW9uW9 ProNav: ac range: 89.270622 m, nav range: 86.711227 m, bearing: 153.301819 deg, approach rate: -0.656097 m/s, LOS rate: 0.011773 deg/s, cmd heading: 160.061727 deg, new cmd heading: 160.074679 deg. F:HeadingCmd: 2.793830 target range: 89.270622 and range: 89.90 m.b2@ZrjRJ B ~ ~ }||||@ EyBEII)U QI]C/ YY]E!Q E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758173:J ZBJ OJJ RJ ZJ 9bJ %9J J 4K,o,iA<wBOII]#I]%x3m*~ mK=yiQ u>٥qq uH}Fy }>K5W?K59 IBy@;Ei::2:K51DADNOT Ignoring new targets: 89.27 m.N9N9 ProNav: ac range: 89.270622 m, nav range: 86.458565 m, bearing: 153.306366 deg, approach rate: -0.623748 m/s, LOS rate: 0.011257 deg/s, cmd heading: 160.074677 deg, new cmd heading: 160.088357 deg. :9 HeadingCmd: 2.794069 target range: 89.270622 and range: 89.90 m.b 2@Z r j R J B~~}||||%@@ԑ UyBUrIY)]YI]51 YY]I~Ga Ai Ay N >"K,,iA9:#@:1@Y: }y:ce=:Huֿ`qֳ?@w? ]2???? :#@:!;):CXvwBv^I%only read 0 of 1 data item for BIT error. Device response is::TS,25060506090215,35.0, +10.91493.1, 0 aI%@a% aM%@a% aQ%@a% aE%@a- I-I-(*3o= F=ywQ >٥ H޼ >K5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264574H>HCHIHGxBH =HH.DHӚ<HE1?K59H IB+:y:(@@;Ei=>K5ZBCAŪEIMDNOT Ignoring new targets: 89.27 m.U9U9e ProNav: ac range: 89.270622 m, nav range: 86.199242 m, bearing: 153.312937 deg, approach rate: -0.576343 m/s, LOS rate: 0.014647 deg/s, cmd heading: 160.088351 deg, new cmd heading: 160.108122 deg. e :HeadingCmd: 2.794414 target range: 89.270622 and range: 89.90 m.b2@ZrjRJB~~}|||| @ MyBM(II)MS IIU3 QQU <]2@](<]o;i]2@iEE!E!E%5E!KO"K9*K2K:KW&d@%>E`YltnCO;J'<1}? }q}Y)j8O DAT read: 14:07:44.5909 LVL= 24176, 32337, 19090, 32755, AGC= 68, IDX= 407, 0.31, 0.025,-1.300, 0.178,-0.422, PHS= 0.535,-0.830, 0.597, RAW= 152.2, -4.4, CAL= 156.6, -12.7, ROT= 353.4, 12.7  Ygot valid direction response: 14:07:44.5909 LVL= 24176, 32337, 19090, 32755, AGC= 68, IDX= 407, 0.31, 0.025,-1.300, 0.178,-0.422, PHS= 0.535,-0.830, 0.597, RAW= 152.2, -4.4, CAL= 156.6, -12.7, ROT= 353.4, 12.7  PDAT read: Bearing 353.4, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 353.4, 12.7 (Local)  DAT read: Range 10 to 50 : 87.4 m (Round-trip 116.6 ms) speed 0.7 m/s % ,DAT read: user:1938> - BDAT read: Tx time:14:07:45.7201 - $Ping request sent.- ݱ )ݱ ݵ s5u?1)?OAiݵ ?ݵ 8=ݵ ݵ b> ޱ )ޱ % :publishing transmit ping time) % Fpublishing direction and range infoڱ yڵ |?qd)ݱ ݵ s5u?1)?OAiݱ ݱ ݱ ݱ ޱ )ޱ I(K,,iA9bΡ#@b81@YbKVyb{=bH@3ֿ`{?y?@X@?~?e?? bΡ#@bqs;)bC  AI]I]3m. mO=ymQ m>٥q HF8 >K5q?K59 IB :y]:(@@;EiN<IT?.K59ECAAZbP7,iABBO+@ʁj zU@A*1v#FX3|?qdҁ4k Sb3/C@.g8K,[V5+ׇK?T@l/ſzyBj3BȜ?r-2 M>B-2  2q.K,),iA9B#@Bp1@YBGyB*=BH`ֿ@Eش?e?]?2?z?? B#@BS;)BCNwBRdIԙaI aI  aM aM  aQ aQ  aE aE  Mb@Mb@Mb@    ) Y S?+ηI +y ? v 94 A A) IAI  A y  AIE*IE3< 9=yI0Q >٥ HFk >K5%^?K59 IBT:yx?:'@@;EiwT;%-;#K5YBCAȪE]B*** querying acoustic contact ***JYRYDNOT Ignoring new targets: 86.79 m.99 ProNav: ac range: 86.785561 m, nav range: 85.582008 m, bearing: 153.462405 deg, approach rate: -0.628742 m/s, LOS rate: 0.023031 deg/s, cmd heading: 160.125316 deg, new cmd heading: 160.154657 deg. |:HeadingCmd: 2.795226 target range: 86.785561 and range: 87.40 m.b2@ZrjRJB~~ HHIHexBT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H =HHH<HE:JQBJURJJU?RJQZJQbJUS29JUـ4JQzJU/:ejJU4:eJU;:erJU<:e6G ;ZG RG ) ~G A A N >'Y5K,n,iA9Jߡ#@JH1@YJyJŒ=JHֿ3?@??[?`ץ?@? Jߡ#@J8;)JCZwB^oIIbIb?13jO= jl=ynBuQ n?٥pp rHpv; v?xzK5zN?~K59z IzBy|~(@@z;Eiz ;z ;z &K5  SCA ˪EDNOT Ignoring new targets: 86.79 m.G9G9 ProNav: ac range: 86.785561 m, nav range: 85.370354 m, bearing: 153.469951 deg, approach rate: -0.627707 m/s, LOS rate: 0.022434 deg/s, cmd heading: 160.154658 deg, new cmd heading: 160.177351 deg. Uv:HeadingCmd: 2.795622 target range: 86.785561 and range: 87.40 m.by2@ZrjRJB~~}||||>s? yB9靕WI)fId8 #<y2@<;iy2@iK$P"K+9*K2K:K~+X{  ?z"  gs`?<_/wejtt{uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.990801E?EEE]0EFp=Fi6G;~GAANf>ԑ% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242610Թ X;K,E,iA9B#@B{1@YBUwyB8=BHRֿ??`? l?[?@Z? B#@Bo;)BCVwBVjII^#I^%x3f fK=yf(Q f>٥hh jHjFr< v>K5_1 jBK," -iA9:$@:2@Y:y:ⳁ=:H Y3ֿlL?q?@?y? *? )? :$@:3;):CJwBNvIH>HHIHxBH =HH-DH՚<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746621Mb@Mb@Mb@ )Y/$?/${Gzy?#rA A)3AIrAy AIIT3:J]BJTJJDRJZJ]:bJ:9J4JzJ:jJ:JSJ:rJUJ:51= 55=y=Q =>٥99 =HEFE; E>IUK5M'?UK59M1 IMBy])?]:]m)@]@M;EiM;M;M{-K5ae$CAeΪEDNOT Ignoring new targets: 86.79 m.q9q9 ProNav: ac range: 86.785561 m, nav range: 84.847336 m, bearing: 153.484059 deg, approach rate: -0.618645 m/s, LOS rate: 0.013173 deg/s, cmd heading: 160.202237 deg, new cmd heading: 160.219801 deg. :HeadingCmd: 2.796363 target range: 86.785561 and range: 87.40 m.b2@ZrjRJB~~1zB}||||`? zB靥I)I; 4<2@-<U%KM P"KI *KI 2KM :KM <RY0lg eqf:4,)~u1}2yA>}&r\1$Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998612HK,#-iA`n6GzZA  q YZAyBewBexIiu0>Iu>AII3< B=yQ >٥ H > K5 V?K59  I  By@ ;Ei ; : :1K5!-CA)QUDNOT Ignoring new targets: 86.79 m.er9er9u ProNav: ac range: 86.785561 m, nav range: 84.582825 m, bearing: 153.489709 deg, approach rate: -0.619626 m/s, LOS rate: 0.013277 deg/s, cmd heading: 160.219804 deg, new cmd heading: 160.236807 deg. }:}HeadingCmd: 2.796660 target range: 86.785561 and range: 87.40 m.b}z2@ZrjRJBԉ~~}||||`@  zB²I).Ic= <z2@R<  NK,1>-iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502606L9$@K)2@Yҝy=H`ֿ ? ^??౰?n?@C? $@骅Y ;)CwBwIMMb@Mb@Mb@III I)IYM)\(?MbX9y&1yMG!?MʡM`eM\ A MA)MAIM\ AIyMAI] I]<2mF uM=yu8Q u>٥qy }H}F}X; }>K5?K59 IBy"?:L*@@;Ei;;4K5CAѪEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 86.79 m. 9 9 ProNav: ac range: 86.785561 m, nav range: 84.333939 m, bearing: 153.492751 deg, approach rate: -0.631130 m/s, LOS rate: 0.007738 deg/s, cmd heading: 160.236812 deg, new cmd heading: 160.245966 deg. 9HeadingCmd: 2.796820 target range: 86.785561 and range: 87.40 m.b2@ZrjRJB~~yB}|||| u@ zBI)=9IEt? AAEHQHUIHUxBHU =HQHU.DHU$<HUSEHǘCHǘCHǓCH =I = I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754701I4=I%=:J \BJ ZJJ BRJ ZJ =:bJ S9J -4J zJ :jJ :J Qu:rJ Tu:6G OUK,^W-iA9B?$@B-2@YBφyB =BHG ~ ֿ W`?Y?@ѧ?ְ?@t?? B?$@B(NJ;)@RwBRIIZIZ#3b<= bk=ybۺQ b?٥dd fHdfH: j?hrK5jA?rK59j* IjByprQ*@r@j;Eij;ja;j7K5tzBA|QUDNOT Ignoring new targets: 86.79 m.] 9] 9m ProNav: ac range: 86.785561 m, nav range: 84.113419 m, bearing: 153.495413 deg, approach rate: -0.626203 m/s, LOS rate: 0.007578 deg/s, cmd heading: 160.245964 deg, new cmd heading: 160.253970 deg. mi9}HeadingCmd: 2.796959 target range: 86.785561 and range: 87.40 m.b}b3@ZrjRJB~~}|||| @ zBI)qI@  <b3@<z.JO+kd|R vZ~:;JEAJEAUBDAT read: Rx Time:14:07:48.2380 ]TRx dataTimestamp_ set to:1749132469.483180]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011508EqEqEqEu5Eq)Q6G9)<~GiAyAN>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262719=[K,q-iA9R0$@R22@YRćyR4=RH ֿň?@T?{?i?@?%? R0$@R_;)RC^xB^IIfIf[3r< rH=yvQ v>٥tt vHvFzA: z>|K5~?K59~ I~By W*@ @~;Ei~:~6:~B;K5XBBAԪEa9EDNOT Ignoring new targets: 86.79 m.M9M9} ProNav: ac range: 86.785561 m, nav range: 83.854156 m, bearing: 153.498503 deg, approach rate: -0.616048 m/s, LOS rate: 0.007366 deg/s, cmd heading: 160.253969 deg, new cmd heading: 160.263269 deg. }ơ9HeadingCmd: 2.797122 target range: 86.785561 and range: 87.40 m.b 3@ZrjRJB~~}||||X @ԑ zBq I)  I 'B   }< 3@ʫ<_0bK,K-iA9>[$$@>72@Y>dy>=>HfֿD?O?Q?@I)? ? ? >[$$@>Fȉ;)>CRwBRIHn>HlHnIHnxBHlHlHlHn<HnIEJJ(4JϚ0:JZBJUJJ>RJZJ9bJ>9Jt4JzJ.:jJ3:J}Q:rJQ:DAT read: 14:07:48.2380 LVL= 21568, 27073, 16562, 30691, AGC= 65, IDX= 410,-0.17,-1.521,-2.848,-1.378,-1.965, PHS= 0.532,-0.837, 0.584, RAW= 151.9, -4.0, CAL= 156.2, -12.5, ROT= 353.8, 12.5 Ygot valid direction response: 14:07:48.2380 LVL= 21568, 27073, 16562, 30691, AGC= 65, IDX= 410,-0.17,-1.521,-2.848,-1.378,-1.965, PHS= 0.532,-0.837, 0.584, RAW= 151.9, -4.0, CAL= 156.2, -12.5, ROT= 353.8, 12.5 PDAT read: Bearing 353.8, 12.5 (Local) ~Local bearing/azimuth received: Bearing 353.8, 12.5 (Local) DAT read: Range 10 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.8 m/s %,DAT read: user:1939> -BDAT read: Tx time:14:07:49.3201 -$Ping request sent.- ݑ)ݑݕP?3?*( iݕwM?ݕ=ݕiݽݕf_> ޑ)ޑ]:publishing transmit ping time)]Fpublishing direction and range infoڑyڕ qo ?d,K˿ڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑiIܑiܑܑܑ ݑ)ݑݕP?3?*( iݑݑݑݑ ޑ)ޑ]Mb@Mb@Mb@YYY Y)YY]w/?㥛 I +y]&?]]94]rA ]A)YIYYy] AIuIu(*2O %=y,кQ >٥ HF%: >}K5:?K59 IBy'?:,+@@;Ei'< <?K5WBBAժEZb.T-iAfBfBi,@ʁWSWT@+!VU2 qo ?d,K˿iݽf_>ҁȶXR'~.B@l93*~y'|хZ?jO8ĿzBʖjPEǜ?rd\ {BBPEǜ?d\  M>BꁕEBi,@m addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.783012 s, deltaX: -2.099998 m, approachRate: -0.555113 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 84.699852 m, bearing: 154.352400 deg, lat: 36.906407 deg, lon: -122.116032 deg, deltaT: 3.783012 s, deltaX: -2.085709 m, approachRate: -0.551335 m/s, posRepo size: 4 DNOT Ignoring new targets: 84.70 m.] ProNav: ac range: 84.699852 m, nav range: 83.636543 m, bearing: 154.352180 deg, approach rate: 0.000000 m/s, LOS rate: 0.007366 deg/s, cmd heading: 160.263272 deg, new cmd heading: 160.274899 deg. YeHeadingCmd: 2.797325 target range: 84.699852 and range: 85.30 m.be^3@ZarajaRaJaBi~i~zB}|||@3SU@|@? =zB=XI9)=9IE E AAEP<^3@<F1J5 ? 6G% {*<~G A AN >iK,臩-iA 9M$@_a2@Y y=H5@տ[?(? @~?]?`?@? M$@E8;)C xB III3M< MB=yUYQ U>٥QY ]HY]X; }>K5g?K59 I#ByT+@@;Ei>::OCK5BADNOT Ignoring new targets: 84.70 m.EF9EF9} ProNav: ac range: 84.699852 m, nav range: 83.360123 m, bearing: 154.355396 deg, approach rate: -0.717467 m/s, LOS rate: 0.008375 deg/s, cmd heading: 160.274897 deg, new cmd heading: 160.284577 deg. }9HeadingCmd: 2.797494 target range: 84.699852 and range: 85.30 m.b# 3@ZrjRJB~~}||||@9? zB1I9)=9I=RF 9AEdpK,m8-iA9>Wn$@>2@Y> ͋y>=>H տ`2?% ? Q?`(v? V?? >Wn$@>;)٥ii mHmFuu; u>ԹK5_?K59 I*By/?:,@@;EiU::FK5tBAتEUB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 84.70 m.mm ProNav: ac range: 84.699852 m, nav range: 83.097572 m, bearing: 154.353823 deg, approach rate: -0.693405 m/s, LOS rate: -0.004167 deg/s, cmd heading: 160.284582 deg, new cmd heading: 160.279848 deg. 7HeadingCmd: 2.797411 target range: 84.699852 and range: 85.30 m.b3@ZrjRJB~~yB}||||? % zB-⇰I))-iIu+H qquԼ<}3@}q^<}_AoH)H-IH-xBH- =H)H--DH-<H-"EEQEQEQEU4EQFYF]A T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:J^BJRJJDRJZJ} :bJS29J4JzJ`:jJe:J;:rJ<:6GM zQ<ZGY RGY ~G A A N >9 vK,-iAxB!I-I-M3=c: =M=yEQ E>٥AA MHMFM M>Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.240748mK5U]?mK59U IU0Byiim@U;EiUe;Ue;UJK5y}pBA}۪EDNOT Ignoring new targets: 84.70 m. ProNav: ac range: 84.699852 m, nav range: 82.835274 m, bearing: 154.352242 deg, approach rate: -0.687065 m/s, LOS rate: -0.004155 deg/s, cmd heading: 160.279842 deg, new cmd heading: 160.275083 deg. 6HeadingCmd: 2.797328 target range: 84.699852 and range: 85.30 m.bl3@ZrjRJB~~} | |!|!|-ڏ?K5P"K5h9*K12K5:K5w  1[ eJ0RI)*hW${Dj  fmCF Y& 5#zB5ܮI1)5:9I=I 99=Gԙ }K,A-iA9:$@:y2@Y:Ɗy:*=:H@տ`͖? ?@@J?vU?@Zv?? :$@:r;):CJxBNI)X X =I I 3%< %L=y-:Q 5>٥AA MHIUx; e>yK5}r?K59} I}6By-@@};Ei}r;}[;}MK5UBAyyDNOT Ignoring new targets: 84.70 m.VV ProNav: ac range: 84.699852 m, nav range: 82.555122 m, bearing: 154.350098 deg, approach rate: -0.606195 m/s, LOS rate: -0.004654 deg/s, cmd heading: 160.275088 deg, new cmd heading: 160.268636 deg. gLHeadingCmd: 2.797215 target range: 84.699852 and range: 85.30 m.b3@ZrjR JB~~}||||` ?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744666 &zB靭bZI)TIK <3@,<H1 H5 IH5 xBH5  =H1 H5 .DH5 <H5 3E~Gy A A N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9973479 K,.iA9N$@N2@YNڈyN=NH qտ?@?+ 9?? #? ? N$@N;)NCb,xBbIMb@Mb@Mb@ )Ygfffff?Zd;Oy&1|y33?j<`E A A)zAI/ Ay3AII?13h9= A=y~;Q >٥ HFx; >K5\?K59˿ I>By3?:.@@;Ei\;>;3QK5VBBAުE%DNOT Ignoring new targets: 84.70 m.%%= ProNav: ac range: 84.699852 m, nav range: 82.264786 m, bearing: 154.343071 deg, approach rate: -0.808118 m/s, LOS rate: -0.019628 deg/s, cmd heading: 160.268640 deg, new cmd heading: 160.247485 deg. =WEHeadingCmd: 2.796846 target range: 84.699852 and range: 85.30 m.bE2@ZArAjARAJABA~I~MyB}I|I|Q|Y|]@ (zB靕9cI)I%M 7<2@"<i ~G A A N >>+K,ʦ*.iA 9F;$@F2@YF yF8}=FH`Pտ1h??< [??9?? F;$@FG;)FCZ>xB^IIfIf 3n?= nY=yn:Q r>٥pp rHrFv; v>x~K5z4H?~K59z IzEBy|.@@z;Eiz?;z;z{TK5  AA E15DNOT Ignoring new targets: 84.70 m.=a=aM ProNav: ac range: 84.699852 m, nav range: 82.001633 m, bearing: 154.336333 deg, approach rate: -0.703616 m/s, LOS rate: -0.018073 deg/s, cmd heading: 160.247480 deg, new cmd heading: 160.227202 deg. MuFUHeadingCmd: 2.796492 target range: 84.699852 and range: 85.30 m.bU2@ZQrQjYRYJYBY~a~a}a|a|a|i|m @ +zB6DIY)]:YI]N YY]K checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752604K,D.iA9Br$@B3@YBEyB=BH `.տou??@@?`?M?\? Br$@BF;)BCLV7xBVIXZA}Mb@Mb@Mb@yyy y)yY}Q?ˡE~jthy}5?}'}D}\ A }hA)yI} Ayy} AII#3| >=yc:Q >٥ H; >K5v0?K59޹ INBy6?:Z/@@;Ei ; ;@XK5AAB*** querying acoustic contact ***JR DNOT Ignoring new targets: 84.70 m.ҹҹ- ProNav: ac range: 84.699852 m, nav range: 81.695816 m, bearing: 154.326419 deg, approach rate: -0.708531 m/s, LOS rate: -0.023056 deg/s, cmd heading: 160.227208 deg, new cmd heading: 160.197355 deg. -*}5HeadingCmd: 2.795971 target range: 84.699852 and range: 85.30 m.b522@Z1r9j9R9J9B9~A~EyB}A|A|A|I|M[?@ -zB᪽I)I0kP .<22@-!<-̟HCHIHxBHHHH:<H|EE?EEEn0EBDAT read: Rx Time:14:07:51.8349 TRx dataTimestamp_ set to:1749132473.263429checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0057366G <~G A A N >! 1?K,=e^.iA9>%@>!3@Y>y>V =>H`K`#տJ?t?le???`? >%@>p;)>CJMxBJIIRIRF3Zk= ^[=y^A:Q ^>٥`` bHbFb; b>dnK5f?nK59f' IfUBypvy/@v@f;Eif;f;f[K5%zAA%EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2580081=DNOT Ignoring new targets: 84.70 m.=;ɹ=;ɹM ProNav: ac range: 84.699852 m, nav range: 81.431419 m, bearing: 154.317433 deg, approach rate: -0.644986 m/s, LOS rate: -0.021991 deg/s, cmd heading: 160.197360 deg, new cmd heading: 160.170316 deg. uzqHeadingCmd: 2.795499 target range: 84.699852 and range: 85.30 m.bv2@ZrjRJB~~}|||| @K-P"KH9*K2K:K{>  #3]u aYRg2(#S>+Y?rO~S;ZzO]1B -0zB)9 =C5+GIA9 M YQyUB)=񾉞aImTQ iqu<v2@.<PG } BDAT read: Tx time:14:07:52.9202  $Ping request sent. gK,6x.iA9^%@^f33@Y^,y^K =^H@_տ@?@d? ??M?@? ^%@^0;)^C\xBII- I-V2Ym= m@=ym;Q u>٥ HF*!; >aK5e?K59eس Ie^By9E/@E@e H H IH xBH  =H H /DH <H EHHHH =I = I=5 = =6G] <~G1 A9 AI N] >ѤK,5.iAX9fB%@fPV3@Yf1yf=fHԿP?)D?tʮ?Qc? ?? fB%@fiˈ;)fCmxBI)   a= =Mb@Mb@Mb@ )Ygfffff? rh~jthy33?C E A @)I AyAII3 = )=y:Q >٥I MHIU]; U>YK5]4ߜ?K59] I]hByi3?:B0@@]U IIMA 6G] +^<~G A A N >K,.iA9>\:%@>M3@Y>y>Ԛ=>H Կ b?L? "ǩ? /?L?? >\:%@>k΋;)>CJxBJIIRIRm?3Zm= Zv=yZ};Q ^?٥\\ ^H^Fbֺ b ?djK5fߜ?jK59fY IfnByhj90@n@f ԙ K,.iA9:-%@:A3@Y:X~~y:Ȫ=:H տ@Zo?X?  ?ʯ? f?? :-%@:Wd;):CJxBJI-Mb@Mb@Mb@))) )))Y-kt?:vMbP?y- 0?-Լ-:- A ))-AI- A)y-AIEIE2UJR< U@=yU :Q ]>٥YY ]H]Fe e>iqK5uߜ? K59u~ IuwBy A0? : 0@ @u2 K,.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7457129Vd%@V3@YVzyVBӕ=VH8:տ?? ?Y?$?? Vd%@V͍;)VCbxBfIif?>IfV>IMIM2]= eJ=ym ;Q m>٥qq }Hy}0߻ }>K5 ߜ?K59è IBy0@@Y 1K,.iA9J$@JB2@YJT+yyJPE=JHhzտ^? ~?{P? ?P? ? J$@J;)JCVxBVII^ I^V2nߌ< rS=yvH:Q z>٥  HF-! 5>K5ߜ? K59 ԡIByh0@@H H 9IH &yBH  =H H H <H E6G < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500962~GY Ai A N > R$K, /iA9>-$@>2@Y>u=>H;տδ?? `?@LC?i?`? >-$@>;)٥ HF %>)5K5-{ߜ?5K59- I-By5w)?5:5/@5@-\cQJR+0N[{:tw32w6G<1 ~G A A N >CK,F@//iA 9Jb>$@JQ2@YJV}yJF=JH@@տ ?m9?@?㝯? ?(? Jb>$@J;)JCBDAT read: Rx Time:14:07:55.4315 TRx dataTimestamp_ set to:1749132476.794101checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010258ixBI) II2-= 5-=y5CQ 5>٥99 =H9= =>AMK5Esgߜ?UK59Eџ IEByQU.@U@E"AeEDNOT Ignoring new targets: 84.70 m. ProNav: ac range: 84.699852 m, nav range: 79.117676 m, bearing: 154.223381 deg, approach rate: -0.653547 m/s, LOS rate: -0.018968 deg/s, cmd heading: 159.914195 deg, new cmd heading: 159.887143 deg. HPHeadingCmd: 2.790557 target range: 84.699852 and range: 82.90 m.b}2@ZrjRJB ~ ~}||!|)|- @ K,J/iA9=$@=$2@Y=󝀽y=YA==H,` ֿ?gc?@W? ? [? ? =$@=q;)=C y)yɵy鵁ɶiIIi 鶱) ףɷ3AI)i)IAɸ ɹ))i11 HIHM<HU>HQHUXIHUYyBHQHQHQHU<HUEi9̃A) Iٯ yB*I DAT read: 14:07:55.4315 LVL= 23280, 31025, 14658, 31091, AGC= 65, IDX= 406, 0.07, 2.463, 1.141, 2.667, 2.036, PHS= 0.515,-0.849, 0.628, RAW= 153.9, -4.2, CAL= 158.1, -12.4, ROT= 351.9, 12.4 :JaBJaJJDRJZJ:bJp9J4JzJ;-jJ;-J:5rJ:=Ygot valid direction response: 14:07:55.4315 LVL= 23280, 31025, 14658, 31091, AGC= 65, IDX= 406, 0.07, 2.463, 1.141, 2.667, 2.036, PHS= 0.515,-0.849, 0.628, RAW= 153.9, -4.2, CAL= 158.1, -12.4, ROT= 351.9, 12.4 MPDAT read: Bearing 351.9, 12.4 (Local) M~Local bearing/azimuth received: Bearing 351.9, 12.4 (Local) UDAT read: Range 10 to 50 : 80.4 m (Round-trip 107.2 ms) speed 0.6 m/s ],DAT read: user:1941> eBDAT read: Tx time:14:07:56.5202 e$Ping request sent.e )>'z?w?N9giX?#>=k]> ):publishing transmit ping timeaFpublishing direction and range infoyRhj?òWh`r|˿Y )Ii )IiMb@Mb@Mb@ )YS㥛?Mby$?@ A @)AIAyzAImIm 3}= }-=y Q >٥ HF )>'z?w?N9gi )h >K5Oߜ?K59k IByM%?:{-@@'AE)ZbR/iABB)*@ʁzRLS@~-%!2t$1Rhj?òWh`r|˿k]>ҁr_iqQSAIB@,E)KIC뿉'SQ?ĿzJBjBXȜ?rQ0 ,EBT&*Ȝ?-2   ABgB@+@ addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.528052 s, deltaX: -2.500000 m, approachRate: -0.708606 m/s, rangeRepo size: 4  Added new target pos. range: 79.836777 m, bearing: 152.337883 deg, lat: 36.906413 deg, lon: -122.116020 deg, deltaT: 7.055156 s, deltaX: -4.863075 m, approachRate: -0.689294 m/s, posRepo size: 4 DNOT Ignoring new targets: 79.84 m.eau ProNav: ac range: 79.836777 m, nav range: 78.702499 m, bearing: 153.313982 deg, approach rate: 0.000000 m/s, LOS rate: -0.018968 deg/s, cmd heading: 159.887147 deg, new cmd heading: 159.859029 deg. q}HeadingCmd: 2.790066 target range: 79.836777 and range: 80.40 m.b}s2@ZyrjRJB~~yB}||| T@| ? quFIy)IC,^ <s2@|<|ۻQ >٥ HFF( %>!-K5%;ߜ?5K59% I%ByQ]6-@]@%+K,l/iA8FyBMIAMMb@Mb@Mb@III I)IYM-?i|?5~jthyM5?MqMDMA I)IIM`AIyMAI]*I]3m= u?=yuQ u>٥qy }Hy} }>K5!(ߜ?K59{ IBy?:+@@/jEu>H>HH}IHyBHHHH<HEԱE?EEE_0EF!F%A6Gܸ<<5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991267:J}[BJ}UJJ}CRJyZJ}:bJ}>9J}4JyzJ}:jJ}:J}|Q:rJ}Q:~GAANf> K,_'/iA9V#@V2@YV/܎yV{=VH@;ֿ@5?z?O@?ױ?Le?? V#@Vsj;)VC oyB fII-I-3M= M`=yU>Q U>٥QY ]H]Fe.; e>iuK5mߜ?uK59mݓ ImByqu+@u@m3E?EEE`0E96G F<U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494914~G A A9 N] >Y K,= /iA9:m#@:2@Y:y:u=:H L Aֿ@F? s}?(j2?0ӱ?3?i? :m#@:;):CJ{yBJmIIRIR2Z< ZT=yZ@9Q Z>٥\\ ^H^Fb b>djK5fߜ?jK59f jtIIfByhn+@n@f7BiIma i5<2@c<]nH CH IH yBH  =H H H Ӛ<H EHMʙCHMʙCHIHM =IM = IMD4~G9 AA AY Ne >Թ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9988118K,#/iA:JXBJWJJBRJZJ{9bJG9J-4JzJ:jJ:J_:rJ_:9z#@z 1@YzDTyzsu=zH Oֿ@%?? |`j>???@? z#@zT;)zCyB}I)! !Mb@Mb@Mb@ )YX9v?333333Mb`?y?;`A QA)@IAyAI I T3a= 4=yT:Q %>٥!! %H!-_ ->1=K55ޜ?=K595 I5ʔBy=?E:E5*@E@5;zB"I)(Iia !< 2@<^ K,8/iA9Z#@Z 1@YZyZu=ZH9]ֿ?ݘ? 1`?x?௢?0? Z#@ZS;)ZCvyBzIIIm?3 }= ]=y}:Q >٥ HF%h %>!-K5%ޜ?5K59%݊ I%ҔBy15'*@5@%?:%'K59E;AAimDNOT Ignoring new targets: 79.84 m.u9u9 ProNav: ac range: 79.836777 m, nav range: 77.205635 m, bearing: 153.308955 deg, approach rate: -0.624805 m/s, LOS rate: 0.007923 deg/s, cmd heading: 159.835210 deg, new cmd heading: 159.843924 deg. 9HeadingCmd: 2.789803 target range: 79.836777 and range: 80.40 m.b!2@ZrjRJB~~}|||| @  愽I)Ia  <!2@ ɪ<  P1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757160a RL,c0iAuyBuIMb@Mb@Mb@ )YCl?MbX9y;?ʡA v@)v@Iy\AII(*2!E= M+=yMQ M>٥QQ UHUFU U>K5ޜ?K59+ I۔By ?:)@@D/;,;UK56;AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 79.84 m._:9_:9H >H CH IH $zBH  =H H .DH ˚<H EM ProNav: ac range: 79.836777 m, nav range: 76.906410 m, bearing: 153.313912 deg, approach rate: -0.612265 m/s, LOS rate: 0.010184 deg/s, cmd heading: 159.843926 deg, new cmd heading: 159.858857 deg. M9UHeadingCmd: 2.790063 target range: 79.836777 and range: 80.40 m.bUf2@ZQrQjQRQJB!~!~-yzB}1|i|i|i|u`t@BDAT read: Rx Time:14:07:59.0285 TRx dataTimestamp_ set to:1749132480.319460checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008076:J5ZBJ5UJJ5?RJ1ZJ59bJ5>9J5ـ4J1zJ50:jJ55:J5~Q:rJ5Q:Q U?zB]`{IY)]ӽYI]ub YaePL,"0iA9J#@JC1@YJ:2yJw=JH`Lֿg? ?@??4ð?2C?? J#@J;)JCVyBZIiZ >IZ<\^AIbjchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259025IbV83v'< vn=yzJ) DAT read: 14:07:59.0285 LVL= 25392, 27553, 20594, 27619, AGC= 67, IDX= 406,-0.15,-1.445,-2.741,-1.272,-1.898, PHS= 0.541,-0.796, 0.623, RAW= 152.9, -5.4, CAL= 157.6, -13.5, ROT= 352.4, 13.5 % Ygot valid direction response: 14:07:59.0285 LVL= 25392, 27553, 20594, 27619, AGC= 67, IDX= 406,-0.15,-1.445,-2.741,-1.272,-1.898, PHS= 0.541,-0.796, 0.623, RAW= 152.9, -5.4, CAL= 157.6, -13.5, ROT= 352.4, 13.5 - PDAT read: Bearing 352.4, 13.5 (Local) 5 ~Local bearing/azimuth received: Bearing 352.4, 13.5 (Local) = DAT read: Range 10 to 50 : 78.0 m (Round-trip 104.1 ms) speed 0.5 m/s E ,DAT read: user:1942> Y ] BDAT read: Tx time:14:08:00.1203 e $Ping request sent.e ݉)݉ݍD?:JT?WfEiݍ8?ݍ=ݍݍ:Fq> މ)މ :publishing transmit ping timea  Fpublishing direction and range infoډyڍ޶3?Zv%EͿډYډ ۉ)ۉIۉiۉۉۉۉۉ ܉)܉I܉i܉܉܉ ݉)݉ݍD?:JT?WfEi݉݉݉݉ މ)މRqL,<0iA09>F#@>2@Y>y>=>H@-;ֿ:h??@?`?S?e? >F#@>(;)٥xx zHzFz; >!-K5%ޜ?-K59%b I%By15)@5@%KҁPWhA@Ts+fY쿓C?KƿzE Bj)xVȜ?ru SBB3BȜ?R  SBBB*@  addTargetRange:: Added new target pos. range: 78.000000 m, deltaT: 3.529459 s, deltaX: -2.400002 m, approachRate: -0.679991 m/s, rangeRepo size: 4 % Added new target pos. range: 77.451843 m, bearing: 152.808844 deg, lat: 36.906415 deg, lon: -122.116018 deg, deltaT: 3.529459 s, deltaX: -2.384933 m, approachRate: -0.675722 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 77.45 m.-)m ProNav: ac range: 77.451843 m, nav range: 76.277916 m, bearing: 153.073424 deg, approach rate: 0.000000 m/s, LOS rate: 0.010290 deg/s, cmd heading: 159.869170 deg, new cmd heading: 159.882310 deg. iHeadingCmd: 2.790473 target range: 77.451843 and range: 78.00 m.b2@ZrjRJB~~}|||S@|˼?ԑ JDAT read: TxSync time:14:08:00.1195 =@zB=wIY)e:aImc iimg H <H <H >H H IH azBH  =H H H <H E YL,?qV0iA9B!$@B12@YB8ByBhe=BH`Jֿ@]?MW?<?`???? B!$@BZԆ;)@\byBbIMb@Mb@Mb@ )Y?ʡEMbP?y ?-:`A @)`@IAyAIIM3E_r< M6=yUI;Q U>٥YY ]H]F]; e>amK5eАޜ?uK59e} IeByu!?u:uX)@u@ePA K DP"K 9*K 2K :K i7:h)EU7nHS,]2^/nQblU 3  $ \ *lisL,NFp0iA9bL]$@bp2@YbA~yb^=bHտzX?@Y?8?ү?[?l? bL]$@bf;)bCnyBrI)p pIzIzT3%;< %_=y-:Q ->٥)1 5H15,< 5>K5%ޜ?K59z IBy)@@Sj"L,y"0iA9F|$@F2@YF~yF=FH``0տiu? ?e֨?`ӯ??}? F|$@F(;)FCR zBRI=Mb@Mb@Mb@999 9)9Y=p= ף?RQ~jthy=%?=½=D=A =I@)9I99y=fAIUIUm?3ez< eF=ymQ m>٥qq }H}F}&; >K5kޜ?K59w IBy&?:=)@@XH1H5IH5zBH5 =H1H1H5<H5"EE?EEE_0E IIAA16GM ,<~G) A1 AI NU >a (L,0iA9>$@>b2@Y>bn|y>(8=>H@]տ`]??@k?? 8?F? >$@>;)>CJzBJIIRIR3Z< ZV=yZ:Q ^>٥`` bHdfw; f>AEK5EXޜ?MK59Egt IEByIM_)@M@E\<%ٯ .L, ؽ0iAzBIII2-{ -C=y5Q 5>٥9A EHEFE E>IUK5MEޜ?UK59Mq IM ByYY]@M`HM CHM ,IHM zBHM  =HI HM /DHM <HM E~Gi Aq A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490873 95L,0iA9>У$@>82@Y>4}y>x=>HտB^?\?> ?`V?n?? >У$@>̆;)٥ HF!W: > K5 .ޜ?K59 m I By5-?:j+@@ eK P"K 9*K 2K :K   U7 ,g$-:)A:' 1g/x1_qx}? x-5zkZCr$J AJ A;L,F0iA9:k$@:Һ2@Y:y:=:H@(`<տ ? ?  @ ??`?`)? :k$@:;):CB zBFIIJIJ2Rx< Rb=yVpQ V>٥TT ZHXZs : Z>\bK5^ޜ?bK59^j I^Bydfm+@f@^h'BL, 1iA9:$@:2@Y:~y:S=@:Hտp#?@?yǩ?`l??? :$@: r;)8JzBJI%Mb@Mb@Mb@!!! !)!Y%Fx?x&:vy%+?%7%T%A %@)%I@I%A!y%AIMIM2U/ e?=ye4]Q e>٥ai mHmFm m>qK5uޜ?K59u~g IuBy,?:g,@@umK5%NB-1:A-EYeDNOT Ignoring new targets: 77.45 m.eFeF ProNav: ac range: 77.451843 m, nav range: 74.152298 m, bearing: 153.090858 deg, approach rate: -0.641441 m/s, LOS rate: -0.010854 deg/s, cmd heading: 159.949438 deg, new cmd heading: 159.934802 deg. ^HeadingCmd: 2.791389 target range: 77.451843 and range: 78.00 m.b2@ZrjRJB~~%zB}||||! @H>HH3IHzBH =HHH<HEH}˜CH}˜CHyH} =I} = I}¸L6 LzBatI)nInd    9HL,%1iA9>$@^DAT read: 14:08:02.6254 LVL= 21744, 25441, 16210, 26035, AGC= 68, IDX= 407,-0.10,-1.318,-2.590,-1.116,-1.734, PHS= 0.505,-0.809, 0.615, RAW= 154.0, -4.6, CAL= 158.2, -12.8, ROT= 351.8, 12.8 bYgot valid direction response: 14:08:02.6254 LVL= 21744, 25441, 16210, 26035, AGC= 68, IDX= 407,-0.10,-1.318,-2.590,-1.116,-1.734, PHS= 0.505,-0.809, 0.615, RAW= 154.0, -4.6, CAL= 158.2, -12.8, ROT= 351.8, 12.8 jPDAT read: Bearing 351.8, 12.8 (Local) n~Local bearing/azimuth received: Bearing 351.8, 12.8 (Local) vDAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.5 m/s v,DAT read: user:1943> zBDAT read: Tx time:14:08:03.7203 z$Ping request sent.z @)@B+mTs?R$?]< @)@U:publishing transmit ping timexUFpublishing direction and range info@yB4{]?ƒ@|[̿@Y@ @)@I@i@@@@@ @)@I@i@@@ @)@B+mTs?R$?]<(2@Y>Ly>=>H૥տ$?? w{?nư?v0?? >$@>҇;)>CzBIIIu< u-=y}=Q }>٥yy }HF@ >K5ݜ?K59c IByQ,@@rҁB׀1GzPޢt@@:Z^E)B7GB H\R?ljſzBpBB҃jBq<Ȝ?rBT BGB@Bu  B{BBBBB'*@ addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.778309 s, deltaX: -2.300003 m, approachRate: -0.608739 m/s, rangeRepo size: 4  Added new target pos. range: 75.168777 m, bearing: 152.809662 deg, lat: 36.906415 deg, lon: -122.116015 deg, deltaT: 3.778309 s, deltaX: -2.283066 m, approachRate: -0.604256 m/s, posRepo size: 4 DNOT Ignoring new targets: 75.17 m.-) ProNav: ac range: 75.168777 m, nav range: 73.959068 m, bearing: 152.895354 deg, approach rate: 0.000000 m/s, LOS rate: -0.010854 deg/s, cmd heading: 159.934808 deg, new cmd heading: 159.919121 deg. HeadingCmd: 2.791115 target range: 75.168777 and range: 75.70 m.b2@ZrjRJB~~}|K$P"K59*K2K:KO mtl0 GhCp- e'*D,>`#.ge||eR@|em? OzBpI)PGIsd -<2@B<%xjE5>q =<==MJDAT read: TxSync time:14:08:03.7195 :JYBJRJJ>RJZJ9bJS29Jt4JEEEE0Eԡ 6G I<~GY Aa Ay N >GqPL,A1iA(9Z k$@Zp~2@YZyZ=ZH`Aտ@ֶ? ?5D? S? ?`O? Z k$@Z ;;)Xv zBvII~I~M3%- < -_=y-rQ ->٥11 5H15a =>9mK5=ݜ?mK59=a I=$Byim<,@u@=vHH?IHzBH =HHH<H(E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7417586G -<~G A A N >VL,"[1iA\-zBIMb@Mb@Mb@ )Y(\?)\(y&1y.?Ga`e @)@IAyQAI IV2Y< @=yQ >٥ HF > K5ݜ? K59] I*By .? :q-@@{\L,du1iA9:$@:2@Y: y:=:H`տ?@Q?4~?? G?? :$@:Ɇ;):CR.zBRIIfIf2zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247144A; O=y)ŻQ >٥ HF6< >K5ݜ?K59Z I0By-@@McL,ZF1iA9N$@N2@YNW$yNyKo=NHPoտ?:? ? ?@ѭ?~? N$@N;)NCZ:zBZIHEݼ>HECHEEIHEzBHE =HAHE-DHE֚<HEEuMb@Mb@Mb@qqq q)qYu? rhI +yu,?uC u94u3A u@)u@IuAqyqԙI I̍2< I=y+|Q >٥ Hޚ; >K5ݜ?K59X I7By -?:/@@EjL,yx1iA09B$@B"2@YByBNU=BH`Exտ٥`` bHbFf49 f>hrK5jTݜ?rK59j-U Ij>Bytv/@v@jqL,J1iA9:0$@:2@Y:ʼny::.S=:H~տ]R?`l?`8 J? v?`3R?`? :0$@:X;):CFHzBJIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508973tIz Iz2L2= F=yI[9Q >٥    H F >%K5oݜ?%K59XR IFBy15/@=@HHLIHzBH =HHHӚ<HEEEEE_0E9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758034:J[BJLJJRJZJ:bJq9JJzJ:jJ:J:rJ:i 6G %<~GY Aq A N >wL,B%1iA9jҘ$@j92@Yj4oyj0t=jHx տp͵?@ ? ?M?`Y|?`? jҘ$@j;)h5lzB5IAMb@Mb@Mb@ )Ysh|??:v~jtxy)?ԼĻzA @)@IAy @II28= ;=yR;Q >٥  H    >K5Yݜ?K59uO INBy%*?-:-30@5@_a3ruOY~G A A N > } >} < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261803 }L,_1iA9^x$@^2@Y^oTy^=^H>@տ?b?Zi? ??? ^x$@^;)\j{zBj Iin>In;IvIv2zS(= ~\=y~x:Q ~>٥ HF 9  >!uK5%Eݜ?}K59%L I%VByy}0@}@% BDAT read: Tx time:14:08:07.3203  $Ping request sent. i3i'1?;Om? *@)I/@iVhj @Vh> )$h? xA?$mΧ ) :publishing transmit ping time Fpublishing direction and range infoy54?OMWC:/2̿Y )Ii )Ii )$h? xA?$mΧH CH ^IH {BH  =H H .DH <H EA N >QĄL,a2iA9JU$@J(i2@YJ8yJSz=JH@տ>?@G!?@OM?c?@2?? JU$@Jɡ;)JC^zB^I-JDAT read: TxSync time:14:08:07.3195 Mb@Mb@Mb@ )YE?Qy&?A @IIBA:J\BJNJJ>RJZJ=:bJ!9Jt4JzJ:jJ:JT:rJV:)@IAy@II2= -=y:Q >٥    H Fܓ >EK5.ݜ?EK59I I`ByE&?E:Ev/@M@ҁ<TPHD @@~*(Cc"9쿹2)L,ȶ-2iA9f]$@ffp2@YfTyfY=fH`z`տ?J?С??ү?? f]$@f6;)dvzBv%IxzBAI~I~2 =  r=y ѺQ  ?٥ H: ?!-K5%ݜ?-K59%G I%gBy)-}/@5@%6GM\<~G AA!N5-> jΑL,G2iA9>ug$@>z2@Y>lmy>{q=>H`Rտ`?@? PTK?`;j??? >ug$@>m;)>CVzBZ.IIbIb<2= I=yeҊ:Q e>٥ii mHmF}<: >K5ݜ?K59D IpBy/@@HaHeqIHe"{BHe =HaHaHe<HeEHHHHI = I6zE!E9E9E9E=0E9 UZ?U"@:JBJPJJARJZJbJ*9J4JzJjJJ-:rJ-:Q 6Ge <ZG RG }A~GY Ai y A N >#L,}$b2iA9f_$@f>s2@YfEyf}m=fH@~@Oտ`OO?@?`+`ϟ?`YE? ?? f_$@f=;)fCrzBvEI}Mb@Mb@Mb@yyy y)yY}MbX9?S㥛~jth?y}!?}/ݼ}D;y y)}@I}hAyyyII?13׫= ==y:Q >٥ HF= =>AMK5Ehܜ?UK59EA IEzByU!?U:U/@U@EI)>I%$c !!%K<-2@-<-rBL,{2iA 9J^'$@J:2@YJyJbt=JHTֿ 1?RM?`Ƞ??rv?w? J^'$@JP;)JCzBPIII(*3%2= %T=y-OQ;Q ->٥)) 5H15# =>QeK5UPܜ?mK59U? IUByimz/@m@U!I%tc ))-Ͻ<5p1@5g<=ŕE+O<E?E!E!E-5E)FM=FM= H >H CH IH _{BH  =H H /DH Ț<H E6G5 < ~G A A1 N= >mL,2iA9>:#@> 2@Y>Іy> ~=>H ~3;ֿU?x? ?`ְ?`ů?@o? >:#@>w;)<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209401:J^BJ\JJ?RJZJ} :bJ[9Jـ4JzJ^:jJc:Jҁ:rJԁ:]{B]`ImMb@Mb@Mb@iii i)iYmMb?+{Gzt?ym#?mmף;mA m@)m@ImAiyiIIV83(= ٥ HFE >K5ܜ?K592; IBya#?:.@@yI}gb yy}<1@7<6E m<bE ZE E9EAEAEE_0EAԑK0P"K9*K2K:Kq I<&zihL&f 2)k B  J . A   # u>u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7134306G<~GyAAN$?.L,72iA9Je#@J1@YJ ~yJ L{=JH@@[ֿu;)JC P)PɵPPPTɶVAiTITTITiX XX)X\ ^lA^\ɷ\\\Ib)bFi`)`Ib-AbɸbnF dɹdddiddiYq)u qIqٯq6{B~III15= 5/=y=9Q =>٥99 =H=FEX E>IK5ܜ?K597 IBy-@@!I%Ga !!%O,<-T1@-)<-mwHHIH{BH =HHHܚ<HEE ?E E E E 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2171226G <~G!A1AINe?L,5 2iA9#@|1@Yn]yCn=HT`&ֿ?Ѿ?@ $Ÿ?@Ȱ?Ƴ?? #@;)CQ{BIMb@Mb@Mb@ )YMb?)\(Mb`?yGa;QA @)@IQAy=@I I 3<= %=y%8Q %>٥!) -H-F-/ ->1EK55ܜ?MK5953 I5ByM#?U:U:,@U@5 BDAT read: Tx time:14:08:10.9204 $Ping request sent.{N?,ږFhtп}̍BYy }U)}aI}>i}sq}B}ף?}<}"? }t*@)}5I}C0@i}%}@}%> y)y}U ?x ?F[ i} ?}=}g }%> y)y-:publishing transmit ping timeww ProNav: ac range: 72.883614 m, nav range: 69.476067 m, bearing: 152.691588 deg, approach rate: -0.626457 m/s, LOS rate: -0.013498 deg/s, cmd heading: 159.243128 deg, new cmd heading: 159.220104 deg. 7Fpublishing direction and range infoyy}>{N?,ږFhtпyYy y)yIyiyyyyy y)yIyiyyy y)y}U ?x ?F[ iyyyy y)y T****** received valid address query ******HeadingCmd: 2.778915 target range: 72.883614 and range: 73.40 m.b1@ZrjRJB~~ezB}|!|!|%Q@|%ݫ? R****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. -ܽ&I))-b|>)I-p` )151<51@= <=0L,2iA9^#@^Y1@Y^ꅽy^Pu=^H ԉֿ? ?@?K??? ^#@^y;)^Ch}w{B}IIIF3C= K=y:Q >٥ H-F=F =>qK5u!zܜ?K59u0 IuBy5,@@u{N?,ږFhtп]g ]%>ҁ]kOxN,>}h%@@r[,]ԫΕb|?v&Rɿz] B]Stj]w^Ȝ?r]i ]BB])xVȜ?]T  Y]B]GI*@ addTargetRange:: Added new target pos. range: 70.900002 m, deltaT: 3.531901 s, deltaX: -2.500000 m, approachRate: -0.707834 m/s, rangeRepo size: 4 % Added new target pos. range: 70.403122 m, bearing: 152.343921 deg, lat: 36.906417 deg, lon: -122.116013 deg, deltaT: 3.531901 s, deltaX: -2.480492 m, approachRate: -0.702311 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 70.40 m.-)= ProNav: ac range: 70.403122 m, nav range: 69.007713 m, bearing: 152.448168 deg, approach rate: 0.000000 m/s, LOS rate: -0.013498 deg/s, cmd heading: 159.220111 deg, new cmd heading: 159.202423 deg. 9mHeadingCmd: 2.778606 target range: 70.403122 and range: 70.90 m.bm1@ZqrqjqRqJqBq~~}||||bF?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.490696 ]UzB]KIa)e>iIm.v_ qqu\<1@F<CjE>9EyEyEE_0EHm >Hi Hm IHm {BHm  =Hi Hi Hm <Hm "EY 6Gm <ZGq RGu A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742871~Gi Ay ԉ A N >L,Z3iA9J#@Jk1@YJyJ=JH@5tֿ?`?h(?@? 2?g? J#@J+;)HV{BVIMb@Mb@Mb@ )YE?Q뱿MbP?y&?\: ~@)IAyIIm?3T< 7=yQ >٥ H: >L58eܜ?L59h- IBy'?:*@@I^ <1@<HCTL,'63iA 9F#@F/1@YFyF<=FH`Yֿ ? "?~?ܰ?ٱ?9? F#@F;)FCV{BVIiVR=IVY>XZAI^I^?13j= j[=yn:Q n>٥pp rHrFv; v>x~L5zRܜ?~L59z}* IzBy+@@zyI] <1@z<xL,P3iAP9#@1@Yɳy-=H Mֿ[??@3?K? t?`? #@骍X;)C{BI H<HH>HCHIH|BH =HH.DH<H٥    H F@: >%L5 ;ܜ?%L59& IɕBy%*?-:-#*@-@I;@\ '<%01@% <%r/L,ii3iA9V#@VI1@YVOyV{ۘ=VH@]ֿ/?ݪ?Y? ? ?`&? V#@V5U;)VCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002751j{BjIIrIr<2ze= zt=yzɡ;Q z?|٥| HR ?%L5\*ܜ?-L59# IЕBy)-*@-@qI}M[ yy}ȶ<1@ < O1| hLM;6Gb<:J\BJJJDRJZJ=:bJJ4J~G A A N >ԁ L,ܺ3iA9ND#@N1@YN8ryN~=NH >5uֿl(??W?tK?? t? ND#@Nol;)NCZ{BZIIzIz3 < I=y ;Q  >٥    HF1 >%L5?ܜ?%L59 IוBy)-)@-@ I Z im׵HH&IHI|BH =HH/DH<HEH}ǙCH}ǙCHyH} =I} = I}56G -<~G A A N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758471I I @AL,3iA]{B]IԹUMb@Mb@Mb@QQQ Q)QYUq= ףp?+{GzyU+?UU#UA U$@)U;@IU@QyU@I}I}3= 3=yQ >٥ HF >L5Mۜ?L59 IݕBy,?:g*@@)I-4X ))-Ǵ<5H1@5<55Y 8L,q3iA9JɎ#@J/1@YJyJQ=JHI ֿ`? +?qc?@?"?@? JɎ#@JM;)JCXZIIfIfm?3n nl=yne;Q r?٥pp rHpv v?x~L5zۜ?~L59z IzByM*@@zIDW <:1@<Թ #L,]3iAGaGaH}>HyH}?IH}r|BH} =HyH}.DH}<H}E9&#@1@Y }yr=H 0ֿ t?@?C@&??`?|? &#@\;)C{BI Mb@Mb@Mb@    ) Y Q?(\µQ?y H?  u<  @) I @ y @I5 I5̍2E< E)=yMe:Q M>٥II MHMFUI U>YeL5]@ۜ?eL59]Y I]Bye+J?m:m*@m@]I-V ߲<1@<5J BDAT read: Tx time:14:08:14.5204 $Ping request sent. A)AEHma?2&?_ϱ赿iEW?Ec}=EEk> A)AM:publishing transmit ping timeFpublishing direction and range infoAyE^?\?񽿻 :ͿAYA A)AIAiAAAAA A)AIAiAAA A)AEHma?2&?_ϱ赿iAAAA A)A! 6G V<~G A A N >Q ML,e73iA9F^w#@FĊ1@YF_`{yFJ=FH*ֿ?c? v?`f? ?? F^w#@F8;)FC~{B~II I (*3]M< ]o=yep:Q e?٥aa mHi[ ?L5мۜ?L59  IBy*@@ҁuMˌHRT>@E%'u K /uџ?ʣ ƿzuAunju:?Ȝ?ruw` uKBuq<Ȝ?uu  uGBuZBu8*@ addTargetRange:: Added new target pos. range: 68.500000 m, deltaT: 3.780237 s, deltaX: -2.400002 m, approachRate: -0.634881 m/s, rangeRepo size: 4  Added new target pos. range: 68.018982 m, bearing: 153.064789 deg, lat: 36.906415 deg, lon: -122.116015 deg, deltaT: 3.780237 s, deltaX: -2.384140 m, approachRate: -0.630685 m/s, posRepo size: 4 DNOT Ignoring new targets: 68.02 m.)5 ProNav: ac range: 68.018982 m, nav range: 66.676308 m, bearing: 152.689268 deg, approach rate: 0.000000 m/s, LOS rate: -0.003621 deg/s, cmd heading: 159.188555 deg, new cmd heading: 159.184571 deg. 1=HeadingCmd: 2.778295 target range: 68.018982 and range: 68.50 m.b=1@Z9r9j9R9J9BA~A~I}I|Q|Q|U Q@|U ? `zBBʼI)>I/T [<1@eߪ<5 jE5>EEEE^0EFFFFQK,P"K9*K2K:K?-jm9@c{> +wDky l7}.>r7{?q6  I1v T   JAJAԁ ~GY Ai Ay N >4M,4iA,9Fs#@F٥1@YF:}yF=FHFyֿ??w@?ģ? ?@?@? Fs#@F;)FCv{BvII~I~3 ΢  P=y wQ >٥ HF; >!-L5%ߥۜ?-L59%\ I%By)5*@5@%)I6S "<41@ת<8 ԹHqHqHuRIHu|BHu =HqHqHu <HuIE ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982715:J ^BJ ZJJ BRJ ZJ } :bJ S9J -4J zJ _: jJ d: J Qu: rJ Su: W]M,4iAl9z`#@zơ1@Yz٥ HF >L5 ۜ?L59 I By,?:*@@InR  IM<]1@]!ͪ<]a M,(84iA9F#@F1@YFdxyF; =FHHIֿK? ?05???? F#@F+;)Db{BbIIjIj2r* rk=yr:Q r?٥tt vHtz] ; z?xL5z}ۜ?L59z IzBy*@@zG g\Qrc KF1<h8J?J?I)'>I EQ <1@ƪ<ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740143 ppM,R4iA H <H <H%>H!H%XIH%|BH!H!H%/DH%<H%Eԙ9-jz#@-Ѝ1@Y-7ry-;Ê=-Hֿ@-[?`G?`z?Z?4M?? -jz#@-};))={BEIeMb@Mb@Mb@aaa a)aYeNbX9?S㥫I +ye%?e/]e94e+@ e@)e@Ie@aye@I}$I}<38= &=y$;Q >٥ HF# >L57eۜ?L595 IBy;&?:N,@@1I=O 99= RJZJ:bJ>9Jt4JzJ:jJ:J}Q:rJQ:EEEEp0E6G ~ M,sl4iA@@Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2430389N^#@Nq1@YN;oyN=NH`ֿ G? ?,G?oݭ?笱?x? N^#@N[1;)LV|BZIiZ>IZ%=IbIb2j = j=ynG;Q r?٥tt vHvFv v ?x~L5zUۜ?L59z IzBy3,@@zI,N M=<1@L<I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494706IK% P"K% 9*K! 2K% :K% 7y~m[[O='=^Y`DCHI   .J5 AJ1 y !M,ZJ4iA9bN#@b b1@YbejybSŏ=bH+ֿM??@?H?\? r? bN#@b8!;)bCn|BnIIvIv2~= ~H=y6;Q >٥   H %>)5L5-Aۜ?=L59- I- By9=$,@=@-=Ei-";-;;-2L5QU1AUOEuB*** querying acoustic contact ***JqRqyDNOT Ignoring new targets: 68.02 m. ProNav: ac range: 68.018982 m, nav range: 65.040939 m, bearing: 152.669951 deg, approach rate: -0.672489 m/s, LOS rate: -0.014875 deg/s, cmd heading: 159.144077 deg, new cmd heading: 159.126377 deg. W#HeadingCmd: 2.777279 target range: 68.018982 and range: 68.50 m.b1@ZrjRJB~~}||||@ lzB룩I)>IhcM P<1@HCH_IH|BH =HHH<H%E6GU}\<jGU ?bGU?ԩ~GI AQ Aq N} >E BDAT read: Rx Time:14:08:17.0129 M TRx dataTimestamp_ set to:1749132498.467291M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999721:J \BJ PJJ @RJ ZJ =:bJ *9J J4J zJ :jJ :J -:rJ -: !'M,%4iA|B%IԱMb@Mb@Mb@ )Y r? rh٥AA MHMFM M>Q]L5U(ۜ?]L59UK IU&Bye#?e:e .@e@U=EiU:UI:U-7L5mDBu1AuREDNOT Ignoring new targets: 68.02 m.ff ProNav: ac range: 68.018982 m, nav range: 64.717201 m, bearing: 152.654189 deg, approach rate: -0.640539 m/s, LOS rate: -0.031342 deg/s, cmd heading: 159.126373 deg, new cmd heading: 159.078850 deg. HeadingCmd: 2.776450 target range: 68.018982 and range: 68.50 m.bZ1@ZrjRJB~~DzB}||||; @ nzB ;ǼI )U>IEK w8<Z1@<v-M,F4iAԁ9F#@F(1@YFeyF0R=FH Q ׿?`PP?:I?ݮ? ?g? F#@F6+;)DN#|BRI)P PIZIZ2bw= b=yfP;Q f?٥dd jHjFjD j?lrL5nNۜ?vL59nE In*Bytv-@v@n =Ein:nB:n9L5xz1A|)5DNOT Ignoring new targets: 68.02 m.==M ProNav: ac range: 68.018982 m, nav range: 64.531296 m, bearing: 152.645635 deg, approach rate: -0.635151 m/s, LOS rate: -0.029309 deg/s, cmd heading: 159.078849 deg, new cmd heading: 159.053113 deg. M꠺MHeadingCmd: 2.776000 target range: 68.018982 and range: 68.50 m.bU1@ZQrQjQRQJQBY~Y~Y}Y|a|a|a|e @5DAT read: 14:08:17.0129 LVL= 23536, 24385, 17010, 29283, AGC= 67, IDX= 406,-0.25, 0.828,-0.496, 1.033, 0.412, PHS= 0.504,-0.861, 0.617, RAW= 153.9, -3.7, CAL= 157.9, -12.0, ROT= 352.1, 12.0 =Ygot valid direction response: 14:08:17.0129 LVL= 23536, 24385, 17010, 29283, AGC= 67, IDX= 406,-0.25, 0.828,-0.496, 1.033, 0.412, PHS= 0.504,-0.861, 0.617, RAW= 153.9, -3.7, CAL= 157.9, -12.0, ROT= 352.1, 12.0 EPDAT read: Bearing 352.1, 12.0 (Local) E~Local bearing/azimuth received: Bearing 352.1, 12.0 (Local) UDAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed 0.7 m/s U,DAT read: user:1947> ]BDAT read: Tx time:14:08:18.1204 ]$Ping request sent.e )='O~?7? T9{i/?+=0 PwV> ):publishing transmit ping timeYFpublishing direction and range info ozBy\+?r ^5hٜʿY )Ii )Ii )='O~?7? T9{i )h鈼I)>IYJ %1^<%1@%n<-d<KUO"KU9*KQ2KU:KUX=k36V 1|n4[m7SR4nT4,#E{5!i-1@iqE?EEEX0E96G p4M,4iA H^>H\H\H\H^ =H\H\H^Қ<H^EHCHCHHI Ii5- |B5 Iq%Mb@Mb@Mb@!!! !)!Y%V-?Mby%|?%̼%%I@ %@)%@I%@!y%@IUIU2 =yQ >٥  H >%L55ۜ?%L59 I1By-?-:-.@-@=Ei ;;v>L5151A=UEZ)b-4iA-B-B-"m)@ʁ-eO@箳!{M2`+-\+?r ^5hٜʿ-0 -PwV>ҁ-dLoy>@̣f%-@3뿈~vk?4&ҷĿz-A-dj-q-Ȝ?r-S -RQB-q-Ȝ?-T  -8JB-ڀB-;l*@:J]BJNJJQRJZJ]:bJ!9J4JzJ:jJ:JT:rJV: addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.527763 s, deltaX: -2.199997 m, approachRate: -0.623624 m/s, rangeRepo size: 4  Added new target pos. range: 65.835083 m, bearing: 151.678309 deg, lat: 36.906413 deg, lon: -122.116013 deg, deltaT: 3.527763 s, deltaX: -2.183899 m, approachRate: -0.619061 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.84 m. ProNav: ac range: 65.835083 m, nav range: 64.426819 m, bearing: 152.570402 deg, approach rate: 0.000000 m/s, LOS rate: -0.029309 deg/s, cmd heading: 159.053113 deg, new cmd heading: 159.004728 deg. HeadingCmd: 2.775156 target range: 65.835083 and range: 66.30 m.b(1@ZrjRJB~~*zB}|||@3P@|@.?ԙ =qzB=Z¼IA)E<>AIEVH AAMJ7HI6G Q<&1@0<). BM,Lo 5iA9jx"@jh0@Yjnxyjqd=jH1׿@?`?ìM??|?+? jx"@j ;)jC7|BIi =I 4?  AI Ib3-"= 5F=y5U6Q 5>٥99 =H= FE& E>AML5Eڜ?UL59E IE1A-B*** querying acoustic contact ***J)R)y}DNOT Ignoring new targets: 65.84 m. ProNav: ac range: 65.835083 m, nav range: 63.955254 m, bearing: 152.545775 deg, approach rate: -0.579365 m/s, LOS rate: -0.029468 deg/s, cmd heading: 158.969730 deg, new cmd heading: 158.930573 deg. ʡHeadingCmd: 2.773862 target range: 65.835083 and range: 66.30 m.b1@ZrjRJB~~}|||| ?Hu>HuCHukIHu|BHqHqHqHu<Hu"E 5szB=bI9)m>iIuE yy} <1@<UP1fIM,Ll'5iA9>:"@>wM0@Y>wy>2V=>H`׿\?+? YX??yª?? >:"@>:;)>CFQ|BJ,IuMb@Mb@Mb@qqq q)qYuV-?~jty&1|yquu`u@ u@)qIu@qyuG@II?13zk= <=y6:Q >٥ H >ԩL5ڜ?L59 IBBy?:c.@@=Ei>;%;HL5BB0AZE DNOT Ignoring new targets: 65.84 m.,,% ProNav: ac range: 65.835083 m, nav range: 63.684223 m, bearing: 152.530537 deg, approach rate: -0.666256 m/s, LOS rate: -0.037618 deg/s, cmd heading: 158.930579 deg, new cmd heading: 158.884671 deg. %κ-HeadingCmd: 2.773061 target range: 65.835083 and range: 66.30 m.b-y1@Z)r)j)R)J)B1~1~5GzB}9|A|I|I|M? }tzB}̷mI)n>IrD (< y1@ << ;i y1@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751148E?EEE_0E6G1X<~GYAaAyNY>1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003065:J BJ PJJ >RJ ZJ bJ *9J t4J  @ @ @ @GPM,-A5iA9>]"@>0@Y>R=>H@K*#ؿM#?N?@h f? ?B?? >]"@>;)<K^O"K^9*K\2K^:K^v`H&e8E,}R ;G]z:@OW hi|B:II-I-#3=u= =Q=yEe:Q E>٥AA EHE FM M>Q}L5UKڜ?}L59U IUHByy*.@@U=EiU;U;ULLL5q0ADNOT Ignoring new targets: 65.84 m.>>  ProNav: ac range: 65.835083 m, nav range: 63.442242 m, bearing: 152.517584 deg, approach rate: -0.611135 m/s, LOS rate: -0.032839 deg/s, cmd heading: 158.884666 deg, new cmd heading: 158.845659 deg.  KHeadingCmd: 2.772380 target range: 65.835083 and range: 66.30 m.bn1@Z1r1j1R1J9B9~9~9}A|A|A|A|E @ uzB靽^I)>ImB qqu殤E5%H H ~IH |BH  =H H .DH ˚<H Eԡ 6G 2<ZG RG ~Gq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508463AAN>'WM,_5iA9%!@%+/@Y%j3py%9U=%H`T9ؿ:?d? ~\??`l?? %!@%~;)%C|BJI) 5Mb@Mb@Mb@111 1)1Y5Pn?Mb~jthy5$?55D5@ 5@)5@I11y5\@I] I](2mE= m=ym;Q m>٥qq uHu F}5 }>L5ڜ?L59_ IQByM$?:,@@%=Ei);(;PL50A]EDNOT Ignoring new targets: 65.84 m.ιι ProNav: ac range: 65.835083 m, nav range: 63.109879 m, bearing: 152.506035 deg, approach rate: -0.647058 m/s, LOS rate: -0.022603 deg/s, cmd heading: 158.845652 deg, new cmd heading: 158.810823 deg. 1xHeadingCmd: 2.771772 target range: 65.835083 and range: 66.30 m.bd1@ZrjRJB~~;zB} | | ||@0@ IQU$vIQ)]P?YI]@ YY]?EM@ <E?EEE_0Eԁ6G!<;}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759091~GAAN>ԩ ]M,y5iA9:!@:J/@@Y:Dly:#Z=:Hp >ؿ@ײ?k?ސ?`?LK? ? :!@:H$;):Cv|BvWII~ I~̍2 Ll=  d=y \/;Q  >٥ H >)5L5-bڜ?5L59- I-WBy15,@=@-(=Ei-;-;-SL5AE/AM`EiuDNOT Ignoring new targets: 65.84 m.}?͹}?͹ ProNav: ac range: 65.835083 m, nav range: 62.879436 m, bearing: 152.498041 deg, approach rate: -0.644265 m/s, LOS rate: -0.022430 deg/s, cmd heading: 158.810818 deg, new cmd heading: 158.786750 deg. LvHeadingCmd: 2.771352 target range: 65.835083 and range: 66.30 m.b]1@ZrjRJB~~}||||@@ I)?I%? ><]1@ը<d0H;i]1@iDDD D BDAT read: Rx Time:14:08:20.6097 TRx dataTimestamp_ set to:1749132501.995402checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012152:JU[BJUbJJUIRJQZJU:bJUt9JUF4JQԱKO"Ks9*K2K:K R|E]W,!jX ?UVjtNzR+b@?LJJE5?E9E9E9E9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2644616G g;jG ?bG >~G1 1 AA Aa H} ߼>H} CH} IH} }BH}  =Hy Hy H} ǚ<H} EN >heM,5iA9m!@m>0@Ymjgym'#_=mH_1ؿ?=_?`儝?m?yի?? m!@m݈;)mC|BhIԑ%Mb@Mb@Mb@!!! !)!Y%?~jt~jtx?y%f&?%%;%@ !)%@I!!y!I=I=3ZJ= =y;Q >٥ H Fb: >L5nڜ? L59 IbBy &? : >,@ @.=Ei ;;XL5AB>/A%cEEB*** querying acoustic contact ***JARAQUDNOT Ignoring new targets: 65.84 m.]\]\DAT read: 14:08:20.6098 LVL= 30656, 32753, 18658, 31555, AGC= 67, IDX= 405,-0.11, 0.400,-0.916, 0.556,-0.026, PHS= 0.514,-0.843, 0.579, RAW= 152.3, -3.6, CAL= 156.5, -12.1, ROT= 353.5, 12.1 Ygot valid direction response: 14:08:20.6098 LVL= 30656, 32753, 18658, 31555, AGC= 67, IDX= 405,-0.11, 0.400,-0.916, 0.556,-0.026, PHS= 0.514,-0.843, 0.579, RAW= 152.3, -3.6, CAL= 156.5, -12.1, ROT= 353.5, 12.1 PDAT read: Bearing 353.5, 12.1 (Local) ~Local bearing/azimuth received: Bearing 353.5, 12.1 (Local) DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.2 ms) speed 0.7 m/s ,DAT read: user:1948> 5 ProNav: ac range: 65.835083 m, nav range: 62.525520 m, bearing: 152.488393 deg, approach rate: -0.647230 m/s, LOS rate: -0.017743 deg/s, cmd heading: 158.786749 deg, new cmd heading: 158.757642 deg. 5B=HeadingCmd: 2.770844 target range: 65.835083 and range: 66.30 m.MBDAT read: Tx time:14:08:21.7205 M$Ping request sent.U i)im??. =im h?m=mVm@X> i)i:publishing transmit ping timeIFpublishing direction and range infoiym?[ؠ#V9hʿiYi i)iIiiiiiii i)iIi靽 eI)m?I7b< ib<U1@l<;iU1@iiiii i)im??. =iiiii i)iEqEqEqEqEqF}AF}A% JDAT read: TxSync time:14:08:21.7197 ) 6G .A;~GQ Aa Aq N 'lM,5iA9vV"@v0@Yva5byvls=vHڌؿ`'Բ?M?>:e?@B?"]?? vV"@vۈ;)vC%|B%wIII2= ^=yc;Q >٥ HFOT; >L5f\ڜ?L59 IjByQ,@@2=Ei;2;[L5.AZqbu5iAu}Bu}Bu?)@ʁu" N@_,ӽc-Ù*u?[ؠ#V9hʿuVu@X>ҁu<$u? i6?ĿzuAu]ju,Ȝ?ru uSBu,Ȝ?ui  uKBu^yBu?*@ addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.528065 s, deltaX: -2.400002 m, approachRate: -0.680260 m/s, rangeRepo size: 4  Added new target pos. range: 63.450092 m, bearing: 151.944485 deg, lat: 36.906413 deg, lon: -122.116012 deg, deltaT: 3.528065 s, deltaX: -2.384991 m, approachRate: -0.676005 m/s, posRepo size: 4 DNOT Ignoring new targets: 63.45 m. ProNav: ac range: 63.450092 m, nav range: 62.342392 m, bearing: 152.415244 deg, approach rate: 0.000000 m/s, LOS rate: -0.017743 deg/s, cmd heading: 158.757639 deg, new cmd heading: 158.737339 deg. HeadingCmd: 2.770489 target range: 63.450092 and range: 63.90 m.bO1@ZrjRJB!~!~!}!|)|)|)|-? 靭[̺I)r?Ig: 0,<O1@5<;iO1@iEqEqEqEu`0Eq M=I:J]BJ[JJBRJZJ]:bJW9J-4J!K\$P"K9*K2K:K<(-,/Y rOko?!0/>^e[o T|[J ?J?6G 1;~GQ AY Ay N >I sM,5iA9>G="@>P0@Y>E`y>mK=>H`ؗ׿Y?@?`???@? >G="@>;)>CZ|BZIIfIfF3n= nY=yrߺ:Q r>٥pp vHtv< v>x~L5zIڜ?~L59z4 IzqBy,@@z6=Eiz+;z;z=_L5  o.A fE15DNOT Ignoring new targets: 63.45 m.=Iι=IιM ProNav: ac range: 63.450092 m, nav range: 62.097504 m, bearing: 152.407154 deg, approach rate: -0.679702 m/s, LOS rate: -0.022544 deg/s, cmd heading: 158.737339 deg, new cmd heading: 158.712972 deg. MwUHeadingCmd: 2.770064 target range: 63.450092 and range: 63.90 m.bUH1@ZQrYjYRYJYBY~a~a}a|a|i|i|m&? 9uv:Iq)u2?yI}9 yy}<H1@<4&HHIH=}BHHH-DH<H Eaԑ6G;~G A A N >Թ L2yM) C,5iA:9GJAjA GY%Ay%B9eU"@e0@Ye9]yez=eH{׿?`R?8 ? Σ?ᅳ?)? eU"@e;)eC}BIMb@Mb@Mb@ )Y rh?A`"Mbp?yC+?Y; )I@ԑy@IIm?3= /=y:Q >٥ HFIG< >L5$2ڜ?L59 IzBy+?:+@@;=Ei ;;QcL5-AIMDNOT Ignoring new targets: 63.45 m.UloUloe ProNav: ac range: 63.450092 m, nav range: 61.784641 m, bearing: 152.401003 deg, approach rate: -0.662070 m/s, LOS rate: -0.013082 deg/s, cmd heading: 158.712969 deg, new cmd heading: 158.694423 deg. emHeadingCmd: 2.769740 target range: 63.450092 and range: 63.90 m.bmlC1@ZirijqRqJqBq~q~}zB}y|y|y|y|}? 靽VI)#?I6 m[< lC1@ < Bb pM,s6iAJe4J 4J{1:JR[BJRUJJRDRJPZJR:bJR>9JR4JP9J>"@J0@YJYyJF=JH@i@-׿ 3?]z?Lj?:?? ? J>"@J;)JCf}BfIInInF3v>= vm=yz;Q z?٥| HF Od<  ?L5 ڜ?L59 IBy!%+@%@?=Ei;:VfL5-@B--A-iEQ]DNOT Ignoring new targets: 63.45 m.]嗹e嗹m ProNav: ac range: 63.450092 m, nav range: 61.553089 m, bearing: 152.395370 deg, approach rate: -0.679846 m/s, LOS rate: -0.016600 deg/s, cmd heading: 158.694418 deg, new cmd heading: 158.677457 deg. uF6}HeadingCmd: 2.769444 target range: 63.450092 and range: 63.90 m.b}>1@ZrjRJB~~}||||`? ;I)'?I4 } <>1@٧<1@iK&P"K9*K2K:KVS[R`sRHH%_zXHuY:$JJ Q4%jY#EJAJAE!E)E)E-5E)6G3Z<~GAANE>A H >H H IH p}BH  =H H H <H $EHEʗCHAHAHE =IE = IE5KM,we6iA@95#@5b1@Y5rRy5=5HD ׿"? r]?@ޮ?MK?@Ѳ?? 5#@5ആ;)5Cԙ5.}B5IMb@Mb@Mb@ )Y(\?T㥛 Mb`?y.?;@ C@)@Iy@I-I-T3=n8= ==yEj[;Q E>٥AA EHMFMi; M>Q]L5Uڜ?]L59Ur IUBye.?m:m2+@u@UE=EiU;U@;UkL5y}G-AlEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 63.45 m.11 ProNav: ac range: 63.450092 m, nav range: 61.181328 m, bearing: 152.390093 deg, approach rate: -0.679607 m/s, LOS rate: -0.009705 deg/s, cmd heading: 158.677452 deg, new cmd heading: 158.661525 deg. #չHeadingCmd: 2.769166 target range: 63.450092 and range: 63.90 m.b:1@ZrjRJB~~zB}||||@ vzBpA.I!)%-.?!I% 1 !!%*K<5:1@5cѧ<5'M,R66iA9> !#@>n41@Y>Ly>ʣ=>H@"ֿ?G?߽X̯?`?`l? ]? > !#@>p;)>C D)FAɵHHHHɶHiHILLILiL LL)LP PRףRFɷPTV-AIV\)VFiX)XIZ&A^Vɸ^gF \ɹ``diddidf΃A)jD hIhٯhllIIF2yO;Q  ?٥ Hy;  ?L5ٜ?L59 IByJ+@@H=Eig;;mL5 ?B C-AjEYDNOT Ignoring new targets: 63.45 m.@@ ProNav: ac range: 63.450092 m, nav range: 60.961987 m, bearing: 152.386645 deg, approach rate: -0.668027 m/s, LOS rate: -0.010542 deg/s, cmd heading: 158.661524 deg, new cmd heading: 158.651140 deg. HeadingCmd: 2.768985 target range: 63.450092 and range: 63.90 m.b 71@ZrjRJB~~}||||@ qu[KcP"Ks9*K2K:Kr%L5d2CF@i\]Fo,+A)$Ie9p 1qJ >J  ?Q ӓM,o P6iALNARchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7436099VI#@V~\1@YVIyV=VHgֿ@pC?p"?*@ͭ?6?rִ?`? VI#@Vl#;)VC]L}B]II"Iq3x&= ٥ HF; >L5^ٜ?L59 IByr+@@L=Ei:K:nqL5,AmEDNOT Ignoring new targets: 63.45 m.[[ ProNav: ac range: 63.450092 m, nav range: 60.686970 m, bearing: 152.381655 deg, approach rate: -0.658346 m/s, LOS rate: -0.011997 deg/s, cmd heading: 158.651142 deg, new cmd heading: 158.636107 deg. HeadingCmd: 2.768722 target range: 63.450092 and range: 63.90 m.b21@ZrjRJB~~} | |||&@H=>H9H=IH=}BH= =H9H=.DH=<H=Ei uwzBu;Iq)uj5?qI}e- yy}{<21@"٧<IPM,ii6iA9> j#@>r}1@Y>u[Gy>?=>H ֿɲ??@s~e??`?`C? > j#@>׷;)>CTfY}BfI ja=ja=eMb@Mb@Mb@aaa a)aYeS?x&{Gztye/?e7eףe@ e-@)aIe~@ayep@IuIu<2< E=y T:Q  >٥   H%C; %>)5L5-ٜ?5L59-C I-By=/?=:=K+@=@-Q=Ei- ;- ;- uL5AE,AMpEiuDNOT Ignoring new targets: 63.45 m.}V}V ProNav: ac range: 63.450092 m, nav range: 60.402878 m, bearing: 152.377102 deg, approach rate: -0.728547 m/s, LOS rate: -0.011731 deg/s, cmd heading: 158.636102 deg, new cmd heading: 158.622379 deg. HeadingCmd: 2.768483 target range: 63.450092 and range: 63.90 m.b.1@ZrjRJB~~zB}||||} @ xzB8') e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499269BM,06iA e}B IK%0P"K%59*K!2K%:K%U&E&%#Qc;(CXooZ%lpghSaJw `dJ1J5AIE IE<2U< UE=y]Q ]>٥aa eHeFe m>q}L5uٜ?}L59u IuByyy@uV=EiuB:u:uxL5a,ADNOT Ignoring new targets: 63.45 m.LJLJ ProNav: ac range: 63.450092 m, nav range: 60.119419 m, bearing: 152.372517 deg, approach rate: -0.680065 m/s, LOS rate: -0.011054 deg/s, cmd heading: 158.622374 deg, new cmd heading: 158.608551 deg.  HeadingCmd: 2.768241 target range: 63.450092 and range: 63.90 m.b *1@Z rjRJB~~}|||!|% K @ MyzBU %BDAT read: Tx time:14:08:25.3205 %$Ping request sent.% ݹ)ݹݽ)eȯ?N a$?`޳+iݽ?ݽ}i=ݽ@ݽQ> ޹)޹U:publishing transmit ping timeY!eFpublishing direction and range infoڹyڽyTw=?-G $ ɿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ)eȯ?N a$?`޳+iݹݹݹݹ ޹)޹6G=<jG?bG>H5 >H1 H5 IH5 }BH1 H1 H1 H5 Ԛ<H5 E~G A A N >ԁ _M,6iAQi}BI:J`BJ[JJ@RJZJ:bJW9JJ4JzJ:jJ:J||:rJ~|:=Mb@Mb@Mb@999 9)9Y=|?5^?ʡEI +y=-?=-=94=@ 9)9I=Q@9y=(@I]I]#3m< m,=yqQ u>y٥q HF >L5Uٜ?L59ҿ IByD/?:p)@@[=Ein;;|L5>BN,AsEZb^ؑ6iAEtBEtBxX*@ʁzM@|ʠ,ku(yTw=?-G $ ɿ@Q>ҁJ;@Sd[G$ Vbsm8M, 6iA9VZ#@V1@YV/:yVq=VHOjֿ ?ഭ?#|?q]? M*?? VZ#@Vx;)VCj{}BjIin٥| HU< > L5 ٜ?L59 ݼ I By)@@ _=Ei : : L5!%,A%vEUB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 61.07 m.mȀ8mȀ8} ProNav: ac range: 61.067478 m, nav range: 59.594036 m, bearing: 152.301790 deg, approach rate: -0.737707 m/s, LOS rate: 0.003519 deg/s, cmd heading: 158.591911 deg, new cmd heading: 158.595337 deg. }9HeadingCmd: 2.768011 target range: 61.067478 and range: 61.50 m.b'1@ZrjRJB~~}||||? {zBd checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999672jM,o6iAHrݼ>HpHr-IHr}BHr =HpHr-DHr<HrE9#@x1@Y6y.w=HQtֿ;?`%? ٪? 0?`?? #@;)C}BII5I5[3E&2= EF=yMH=;Q M>٥II UHUFUF U>YeL5]uuٜ?eL59]\ I]Byim)@m@]c=Ei]:]):]L5qu+AyDNOT Ignoring new targets: 61.07 m.s8s8 ProNav: ac range: 61.067478 m, nav range: 59.311016 m, bearing: 152.303226 deg, approach rate: -0.688293 m/s, LOS rate: 0.003509 deg/s, cmd heading: 158.595340 deg, new cmd heading: 158.599669 deg. $9HeadingCmd: 2.768086 target range: 61.067478 and range: 61.50 m.bT(1@ZrjIRQJQBQ~Q~Q}Y|Y|Y|Y|e@"? }zB靽+NmFM,J6iA9:#@:y1@Y:0,y:W=:H ֿ?:?&.?u?`?? :#@:J;):CN}BRIlmMb@Mb@Mb@iii i)iYmK7A`?+y&1ym+?mm`em@ m@)m@Im$@iym@I IV2u; E=y;Q >٥ HFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503542X] >L5s`ٜ?L59 IBy5,?:l*@@h=Ei; ;;&L5=B+AyE!-DNOT Ignoring new targets: 61.07 m.5^5^E ProNav: ac range: 61.067478 m, nav range: 59.030144 m, bearing: 152.301954 deg, approach rate: -0.666626 m/s, LOS rate: -0.003033 deg/s, cmd heading: 158.599670 deg, new cmd heading: 158.595836 deg. E6MHeadingCmd: 2.768019 target range: 61.067478 and range: 61.50 m.bM;'1@ZIrIjIRIJQBQ~Q~UzB}Y|Y|Y|Y|]? M~zBUp,M,\ 7iA9>/#@>1@Y>NH!y>:=>H`ȫֿj?`;?u ?`'??`? >/#@>;)>CHH)L LKNP"KNs9*KL2KN:KN[: Jf0e8Y #~ * Z ;W5p] IZIZ3҅: T=y;Q >٥ H%m %>)5L5-0Mٜ?5L59-Ѳ I-By15U*@5@-l=E9i-:-(;-~L5AE+AM|EiuDNOT Ignoring new targets: 61.07 m.u }  ProNav: ac range: 61.067478 m, nav range: 58.772461 m, bearing: 152.301127 deg, approach rate: -0.678568 m/s, LOS rate: -0.002187 deg/s, cmd heading: 158.595831 deg, new cmd heading: 158.593340 deg. "HeadingCmd: 2.767976 target range: 61.067478 and range: 61.50 m.b&1@ZrjRJB~~}|||| ? zBvC VM,'"7iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259413IBAAI@:JF^BJFQJJFGRJDZJF} :bJF-.9JFc4JDzJF`:jJFe:JF4:rJF4:ԙ}BI]EGmZA}AA YZAyBMb@Mb@Mb@ )Yp= ף?T㥛 Qy%?u~@ @)@I@yG@I%I%(*2=W =,=y=Q =>٥AA EHEFM M>L5/5ٜ?L59 IBy %? : +@ @q=Ei<f<ȎL5+AzE9EDNOT Ignoring new targets: 61.07 m.M׀M׀] ProNav: ac range: 61.067478 m, nav range: 58.454472 m, bearing: 152.294177 deg, approach rate: -0.640743 m/s, LOS rate: -0.014080 deg/s, cmd heading: 158.593345 deg, new cmd heading: 158.572382 deg. euHeadingCmd: 2.767610 target range: 61.067478 and range: 61.50 m.bu 1@ZqrqjqRqJyBy~y~}zB}||||&S@ zB靽e%M,5<7iA9>(#@>1@Y> y>귍=>H.`ֿ }V? (?`m?`?? i? >(#@>e4;)>CF}BJIIRIR2^C= ^~=y"\]me0T415Q,O+U rq$y6G checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015421y cjM,V7iAHJ>HHHJFIHJ~BHJ =HHHJ.DHJȚ<HJEHAHECHAHE =IA IEb5Q9}6#@}1@Y} y}'=}HIֿ`???@i?X??? }6#@};)y}BIi)>I=AII3Qa< %)=y%U;Q >٥ HM U> uL5 & ٜ?ԁL59  I By@ z=Ei < C< L5w+AEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269158YeDNOT Ignoring new targets: 61.07 m.e;Se;S ProNav: ac range: 61.067478 m, nav range: 57.910583 m, bearing: 152.282602 deg, approach rate: -0.537483 m/s, LOS rate: -0.011542 deg/s, cmd heading: 158.559358 deg, new cmd heading: 158.537473 deg. zHeadingCmd: 2.767001 target range: 61.067478 and range: 61.50 m.b1@ZrjRԩJB~~}|||| @ % zB- b;I1 )5 >E?1 I= + 9 9 = H }BDAT read: Tx time:14:08:28.9205 }$Ping request sent.} c &? ,@) I i f; f;> ) Is؀? ?6K*栿i ? 7= f;> ) :publishing transmit ping timeyFpublishing direction and range info y hc3?1!`5m~Sǿ Y ) I i 6GI<) I i ) Is؀? ?6K*栿i ) ~GAAN?M,@lz7iA9Wz#@1@Ykyu=H} ֿ ?`?@+??=H?? Wz#@Я;)C)M}BMIMb@Mb@Mb@ )Y+?A`"~jty?YDh@ -@)@Iy@II(*3U U=y[;Q >٥ HFέ >L5K؜?L59 IByY ?:;,@@=Ei;;L5+AQJDAT read: TxSync time:14:08:28.9197 Zibm]s7iAmjBmjBmy1*@ʁme.NIL@s= HJnc%mhc3?1!`5m~Sǿimf;>ҁmAY I_:@ f5"m,;-N?yhAXĿzmAmPMjm_ Ȝ?rm mFXBm:?Ȝ?m  mSBmbgBm#*@:JZBJRJJARJZJ9bJS29J4J@@@@ addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.531677 s, deltaX: -2.400002 m, approachRate: -0.679564 m/s, rangeRepo size: 4 % Added new target pos. range: 58.684246 m, bearing: 152.364927 deg, lat: 36.906411 deg, lon: -122.116010 deg, deltaT: 3.531677 s, deltaX: -2.383232 m, approachRate: -0.674816 m/s, posRepo size: 4 )UDNOT Ignoring new targets: 58.68 m.UUPowering the camera and arming the capture device at range: 59.10 m.zU]Y ProNav: ac range: 58.684246 m, nav range: 57.845753 m, bearing: 152.316865 deg, approach rate: 0.000000 m/s, LOS rate: -0.011542 deg/s, cmd heading: 158.537474 deg, new cmd heading: 158.522102 deg. HeadingCmd: 2.766733 target range: 58.684246 and range: 59.10 m.b&1@ZrjRzJB~~zB}|||̌M@|@? MzBMqH5CH1H1H5 =H1H5/DH1H5E~GAAN>K)M,י7iA9ZXS#@Zf1@YZyZ=ZHn@ֿ@??`? 7?L?-?? ZXS#@Z;)ZCf}BfIInInM3r vF=yvX̹Q v>٥11 5H5F5 =>9EL5=؜?ML59= I=ByIM,@U@==Ei=@;=[;=GL5};B+AEDNOT Ignoring new targets: 58.68 m.=Powering the camera and arming the capture device at range: 59.10 m.z9uquq% ProNav: ac range: 58.684246 m, nav range: 57.588322 m, bearing: 152.309096 deg, approach rate: -0.661341 m/s, LOS rate: -0.020047 deg/s, cmd heading: 158.522106 deg, new cmd heading: 158.498696 deg. -"\eHeadingCmd: 2.766324 target range: 58.684246 and range: 59.10 m.bmt 1@ZirqjqRyzJB~~}|| | | :? zB&RM,`7iA9Z,#@Z<@1@YZyZf=ZH@ ׿?@?Q@]?p? (p?? Z,#@Z;)ZCf}BfI)h h j=jp=eMb@Mb@Mb@aaa a)aYe\(\?~jt:vye?eDeTe~@ e@)e@Ie@ayeG@I}I}3Y= @=yL:Q >٥ HFp >L5؜?L59 IByf?:J,@@=Ei;:L5W+AEiquDNOT Ignoring new targets: 58.68 m.q}Powering the camera and arming the capture device at range: 59.10 m.zy ProNav: ac range: 58.684246 m, nav range: 57.335049 m, bearing: 152.300553 deg, approach rate: -0.595550 m/s, LOS rate: -0.020177 deg/s, cmd heading: 158.498692 deg, new cmd heading: 158.472951 deg. ]HeadingCmd: 2.765875 target range: 58.684246 and range: 59.10 m.b1@ZrjRzJB~~zB}||||@q? UzBURJiZJm]:bJm>9Jmt4Ji6G] V<~G9 AA Ai Nu > 5M,v7iAKO"K59*K2K :K D-#"T~r JR b]AJ">J"?9B#@B1@YByBI=BH 5@׿7?@?i?fh?ӟ?ð?`r? B#@B;)BC^}BbIIfIf(*2nH< rW=yr1;Q r>٥pt vHtv` v>x~L5z؜?L59zk Ixy,@@z=Eiz;z;z=L5  1+A -B*** querying acoustic contact ***J)R)DNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.z ProNav: ac range: 58.684246 m, nav range: 57.104755 m, bearing: 152.293345 deg, approach rate: -0.634887 m/s, LOS rate: -0.019952 deg/s, cmd heading: 158.472956 deg, new cmd heading: 158.451245 deg. [ HeadingCmd: 2.765496 target range: 58.684246 and range: 59.10 m.b 0@Zrj1R1z9J9BA~A~A}I|I|I|I|M? =zBEݭH-CH)H)H- =H)H)H-<H-EEU9EQEQE]o5EY6G5 )E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749522Q aM,Z7iA9r"@r0@YrUyro}=rH~׿츩?@Ģ?`\@ȧ?~I? ^?? r"@r;)rC||Mb@Mb@Mb@ )Y$C?Q롿٥ HF >L5؜?L59 IByc?:0-@@=Ei:4: L5qu/+AuEDNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.zJJ ProNav: ac range: 58.684246 m, nav range: 56.843086 m, bearing: 152.280650 deg, approach rate: -0.575350 m/s, LOS rate: -0.028040 deg/s, cmd heading: 158.451250 deg, new cmd heading: 158.412992 deg. ) 5HeadingCmd: 2.764828 target range: 58.684246 and range: 59.10 m.b50@Z1r9j9R9z9J9B9~A~EzB}A|y|||@"? -zB-GN,-8iA09Br"@Bף0@YB(yBm=BH =׿:m?? 9?@՜?J?? Br"@B;)BCJ}BJIiR>IR>I^I^F = V=yis;Q >٥ HF% %>1EL55}؜?EL595 I5ByAE,@E@5=Ei5:5:5_L5IU*AQy}DNOT Ignoring new targets: 58.68 m.yPowering the camera and arming the capture device at range: 59.10 m.ztt ProNav: ac range: 58.684246 m, nav range: 56.612957 m, bearing: 152.270141 deg, approach rate: -0.636110 m/s, LOS rate: -0.029168 deg/s, cmd heading: 158.412987 deg, new cmd heading: 158.381330 deg. $HeadingCmd: 2.764276 target range: 58.684246 and range: 59.10 m.b0@ZrjRzJB~~}|||| @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253972 zBK]@%P"K]+9*KY2K] :K](Y-Lf}z*@v md"[ERIAY:3.(#n<p0   < c Wv~> : Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505902 H- >H- CH) H) H-  =H) H- .DH- <H- EsN,8iA9Zmh"@\Z{0@YZڼyZ\=ZH׿?Q?{?X?`c?)? Zmh"@Z.;)ZCf}BhIr Ir<2z: zL=yzm;Q z>٥|| ~H ]ǻ  >%L5؜?%L595 IBy!%,@%@=Ei:L55:B5*A5EY]DNOT Ignoring new targets: 58.68 m.YePowering the camera and arming the capture device at range: 59.10 m.zam#m#} ProNav: ac range: 58.684246 m, nav range: 56.371475 m, bearing: 152.259639 deg, approach rate: -0.603386 m/s, LOS rate: -0.026352 deg/s, cmd heading: 158.381336 deg, new cmd heading: 158.349697 deg. }HeadingCmd: 2.763724 target range: 58.684246 and range: 59.10 m.b0@ZrjRzJB~~}||||U@ zB<ԁ ֜ N,48iA:BDAT read: Rx Time:14:08:31.4004 :TRx dataTimestamp_ set to:1749132512.840910>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0125389NQ"@Nyd0@YNͼyNxL=NH r׿?5?P`٢? ??6? NQ"@N;)Ln}BnIYMb@Mb@Mb@ )Y/$?MbMb`y?$@ @)Iy @II(*2~ ?=yt;Q >٥ HF [ >L5/o؜?L59M IBy?:-@@=Ei::L5+AE!%DNOT Ignoring new targets: 58.68 m.!-Powering the camera and arming the capture device at range: 59.10 m.z)UUe ProNav: ac range: 58.684246 m, nav range: 56.111233 m, bearing: 152.247226 deg, approach rate: -0.563234 m/s, LOS rate: -0.026989 deg/s, cmd heading: 158.349699 deg, new cmd heading: 158.312288 deg. e-eHeadingCmd: 2.763071 target range: 58.684246 and range: 59.10 m.bm&0@ZrjRzJB~~^zB}|||| @ =zBeǡҙN,eO8iAK&R"K&9*K$2K& :K&/ s m # < 9 rRyw?iu^  ej0WTM}BM I)Q QI] I]2m< uK=yuQ u>٥yy }H}F} }>ԉL5f\؜?L59 IBy@=Ei +;,;L59B*AEB*** querying acoustic contact ***JRYeDNOT Ignoring new targets: 58.68 m.aPowering the camera and arming the capture device at range: 59.10 m.z   ProNav: ac range: 58.684246 m, nav range: 55.865379 m, bearing: 152.235394 deg, approach rate: -0.640871 m/s, LOS rate: -0.030980 deg/s, cmd heading: 158.312283 deg, new cmd heading: 158.276628 deg. HeadingCmd: 2.762448 target range: 58.684246 and range: 59.10 m.b0@ZrjRzJB~!~!}!|)|)|)|-; @uDAT read: 14:08:31.4004 LVL= 20976, 25841, 17266, 28099, AGC= 65, IDX= 404, 0.48,-0.993,-2.311,-0.620,-1.381, PHS= 0.475,-0.884, 0.757, RAW= 159.3, -4.6, CAL= 162.8, -12.5, ROT= 347.2, 12.5 }Ygot valid direction response: 14:08:31.4004 LVL= 20976, 25841, 17266, 28099, AGC= 65, IDX= 404, 0.48,-0.993,-2.311,-0.620,-1.381, PHS= 0.475,-0.884, 0.757, RAW= 159.3, -4.6, CAL= 162.8, -12.5, ROT= 347.2, 12.5 PDAT read: Bearing 347.2, 12.5 (Local) ~Local bearing/azimuth received: Bearing 347.2, 12.5 (Local) DAT read: Range 10 to 50 : 56.8 m (Round-trip 75.8 ms) speed 0.5 m/s ,DAT read: user:1951> BDAT read: Tx time:14:08:32.5206 $Ping request sent.EMbEA? E1@)ElIEo5@iEf_ UzBUj A)AEm-C`?˭#-?;biE[/?Hܼ>HCHLIH'~BH =HH-DH <H8EI)I?If %7v<0@ب< A)A=:publishing transmit ping timeڡEFpublishing direction and range infoAyE[8w?9?˿K˿AYA A)AIAiAAAAA A)AIAiAAA A)AEm-C`?˭#-?;biAAiU0@iYzEaAA A)AE,EEEEFAFA6G y<  < < JDAT read: TxSync time:14:08:32.5198  I5 C=I5 p=) ~G  qGA A! 5 AE ANe > u %Yu Ayu M'BN,Yi8iAԹ}B IMb@Mb@Mb@ )Y r? rh~jthy#?C D @)@I@y\@I I 1 < 0=yQ >٥!! %H!! ->1=L55E؜?=L5959 I5By=#?E:E-@E@5=Ei5j:5o:5*L5IM*AMEZAbEU8iAEaBEaBE"@ʁE`7J@.re(eqj(E[8w?9?˿K˿EtdEf_>ҁE4rۯFy;?@/&E|}G^Ϛ?Ԅ8ɿzE9AE6jE";;ɜ?rEY EOBE,Ȝ?E  AE%^BEz)@ addTargetRange:: Added new target pos. range: 56.799999 m, deltaT: 3.532143 s, deltaX: -2.299999 m, approachRate: -0.651163 m/s, rangeRepo size: 4 U Added new target pos. range: 56.399860 m, bearing: 145.816541 deg, lat: 36.906413 deg, lon: -122.116005 deg, deltaT: 3.532143 s, deltaX: -2.284386 m, approachRate: -0.646742 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 56.40 m.Q]Powering the camera and arming the capture device at range: 56.80 m.za ProNav: ac range: 56.399860 m, nav range: 55.536598 m, bearing: 151.725299 deg, approach rate: 0.000000 m/s, LOS rate: -0.030980 deg/s, cmd heading: 158.276629 deg, new cmd heading: 158.233214 deg. HeadingCmd: 2.761691 target range: 56.399860 and range: 56.80 m.b0@ZrjRzJB~~wzB}|||`ffL@|S? MzBM,b !N,Y8iA9J"@J0@YJ1̼yJ5=JH౴0׿B?`?`@uX?v?@?g? J"@J\;)JCb}BbII~I~<2o< %e=y%> :Q %>٥AA MHM FUn< ]>a}L5e3؜?L59e IeByԉX-@@e=Eie;ei;eUL5:J[BJOJJDRJZJ:bJ%9J4J*ADNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.zj3j3 ProNav: ac range: 56.399860 m, nav range: 55.305058 m, bearing: 151.710794 deg, approach rate: -0.623373 m/s, LOS rate: -0.039214 deg/s, cmd heading: 158.233217 deg, new cmd heading: 158.189521 deg. L׺HeadingCmd: 2.760928 target range: 56.399860 and range: 56.80 m.b 0@ZrjRzJB~~}!|!|!|)|-K?  H CH RIH 1~BH  =H H H <H EHɘCHɘCHɔCH =I I`6~G A A N > -'N,T8iA%}B%Ii==I=1?IUIUF3m< uF=y}Q }>٥ H!F >L5؜?L59Å IBy@=Ei,;Q;L58B x*A%EDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.zJ+J+ ProNav: ac range: 56.399860 m, nav range: 55.043411 m, bearing: 151.694256 deg, approach rate: -0.589514 m/s, LOS rate: -0.037438 deg/s, cmd heading: 158.189517 deg, new cmd heading: 158.139668 deg. ͺMHeadingCmd: 2.760058 target range: 56.399860 and range: 56.80 m.bMʤ0@ZQrQjQRQzQJQBQ~Y~Y}Y|Y|a|a|eU? zB$b-N,S%8iA9N3"@N0@YNɼyNwq=NH@L Fo׿<֦??@uv?;?`6?;? N3"@N;)NCZ}BZ!IEMb@Mb@Mb@AAA A)AYEHzG?A`"yE=*?EYEE@ A)AIE@AyAI]"I]q3u:< }H=y}4:Q }>٥ H/; >L5t ؜?L59 IÖBy*?:+@@=Ei ;& ;sL5D*AE9DNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.z ProNav: ac range: 56.399860 m, nav range: 54.773376 m, bearing: 151.683634 deg, approach rate: -0.734685 m/s, LOS rate: -0.029043 deg/s, cmd heading: 158.139670 deg, new cmd heading: 158.107646 deg. sHeadingCmd: 2.759499 target range: 56.399860 and range: 56.80 m.b0@ZrjRzJB~~zB}!|!|!|!|% 2? zB靅4=IB){R?I.5 k<0@ڨ<Q O?4N,8iAK=6P"K}9*K2K:K}?d2gnWL+MXig(4Oy Jhx+*@z9>#@>1@Y>rƼy>=>HC׿Ix?i?`@}k?@͘?J?? >#@>,;)>CJ}BJ,IIR IR<2ZC= ZY=y^T:Q ^>٥\` bHb"Fb; b>djL5fuל?jL59f IfŖByln,@n@f=Eif;f;fL5pr)ApB*** querying acoustic contact ***JRDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.z   ProNav: ac range: 56.399860 m, nav range: 54.522724 m, bearing: 151.673039 deg, approach rate: -0.715240 m/s, LOS rate: -0.030371 deg/s, cmd heading: 158.107650 deg, new cmd heading: 158.075720 deg. HeadingCmd: 2.758942 target range: 56.399860 and range: 56.80 m.b0@ZrjRzJB~~}|||!|-@ @T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա  =I)V?Iܼ =h<0@<CHCHYIH;~BH =HHHޚ<HEEEhEIEIEU15EQ 6G- <~G) AI J+4J+4J+0:J} \BJ} NJJ} CRJy ZJ} =:bJ} !9J} 4Jy zJ} : jJ} : J} T: rJ} W:  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274305A N >9 Ti:N,28iAE}BE3I)I IMb@Mb@Mb@ )YGz?y&1~jtxy0?`eĻ@ @)p@I@yf@II]<  7=y Q  >٥  H#F >L58ל?L59| IǖBy:1?:+@@=Ei:,:L5)AEDNOT Ignoring new targets: 56.40 m.Powering the camera and arming the capture device at range: 56.80 m.z ProNav: ac range: 56.399860 m, nav range: 54.202782 m, bearing: 151.659655 deg, approach rate: -0.689080 m/s, LOS rate: -0.028996 deg/s, cmd heading: 158.075726 deg, new cmd heading: 158.035338 deg. 2HeadingCmd: 2.758237 target range: 56.399860 and range: 56.80 m.b0@ZrjRzJB~!~%zB}!|!|)|)|-@G@ ezBm=Im)mY?qIuּ qquR#e<}0@}H<}rQAN,Y9iA 9Bcz#@Bȍ1@YBUcļyB=BH[ֿ?@?@Rɰ?Ћ?U?`? Bcz#@B;)BCN}BR4IIZIZ 3b\S; fa=yf5:Q f>٥dh jHhjլ< j?lrL5nל?vL59nFy InȖBytvn,@v@n=Ein:n6:nL5z7Bz)A~E)5DNOT Ignoring new targets: 56.40 m.15Powering the camera and arming the capture device at range: 56.80 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780181lFinal approach. Armed for intercept at range: 56.80 m.\Transitioning guidance mode to: FINAL_APPROACH@ ProNav: ac range: 56.399860 m, nav range: 53.962170 m, bearing: 151.647567 deg, approach rate: -0.692058 m/s, LOS rate: -0.034924 deg/s, cmd heading: 158.035332 deg, new cmd heading: 157.998906 deg. HeadingCmd: 2.757601 target range: 56.399860 and range: 56.80 m.b|0@ZrjRJB~~}||||s@ mzBm}=Ii)mY?iIaм P4b<|0@F<~=i|0@iqKE P"KEs9*KA2KE:KEOnpb~[~z=wtjvi$ZcNzYicL#uJu}AJuAԙ>EH<EuEyEyEY5E= BDAT read: Rx Time:14:08:34.9973 = TRx dataTimestamp_ set to:1749132516.388344E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034730H ׼>H CH kIH Y~BH  =H H H '<H KHN,"9iA9VP#@V1@YVCƼyV彧=VH @ڝֿ?`?@A\?@ݘ?(?`!? VP#@V> ;)VC}B0I1II(*3:JZBJQJJARJZJ9bJ-.9J4JzJ/:jJ4:J4:rJ4:l*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285669 =ymQ >٥  H $F %;  >L5ל?L59u IʖBy%,@%@=Ei;;qL5)-)A)Q]DNOT Ignoring new targets: 56.40 m.Y]O,]O,} ProNav: ac range: 56.399860 m, nav range: 53.596130 m, bearing: 151.627831 deg, approach rate: -0.693765 m/s, LOS rate: -0.037661 deg/s, cmd heading: 157.998900 deg, new cmd heading: 157.939289 deg. }κHeadingCmd: 2.756561 target range: 56.399860 and range: 56.80 m.b}k0@ZrjRJB~~}||||g @ 4EYEEEEP0E6GH=ԉ~GAAN> DAT read: 14:08:34.9973 LVL= 22320, 25633, 15346, 26995, AGC= 65, IDX= 404,-0.11,-2.024, 2.960,-1.736,-2.378, PHS= 0.442,-0.898, 0.639, RAW= 156.8, -2.6, CAL= 160.0, -10.9, ROT= 350.0, 10.9  Ygot valid direction response: 14:08:34.9973 LVL= 22320, 25633, 15346, 26995, AGC= 65, IDX= 404,-0.11,-2.024, 2.960,-1.736,-2.378, PHS= 0.442,-0.898, 0.639, RAW= 156.8, -2.6, CAL= 160.0, -10.9, ROT= 350.0, 10.9  PDAT read: Bearing 350.0, 10.9 (Local)  ~Local bearing/azimuth received: Bearing 350.0, 10.9 (Local)  DAT read: Range 10 to 50 : 54.4 m (Round-trip 72.6 ms) speed 0.8 m/s  ,DAT read: user:1952>  BDAT read: Tx time:14:08:36.1206  $Ping request sent. ۝ Te۝ #? ܝ %/@)ܝ 9Iܝ ¸2@iܝ Bܝ z@ܝ B> ݙ )ݙ ݝ A9)?<)"?qbhqئiݝ C$?ݝ 6=ݝ 2ݝ B> ޙ )ޙ - :publishing transmit ping time 5 Fpublishing direction and range infoڙ yڝ g?pſoG4ȿڙ Yڙ ۙ )ۙ Iۙ iۙ ۙ ۙ ۙ ۙ ܙ )ܙ Iܙ iܙ ܙ ܙ ݙ )ݙ ݝ A9)?<)"?qbhqئiݙ ݙ ݙ ݙ ޙ )ޙ Ա qNN,d<9iA9R#@R1@YRǼyR=RH jֿD?h? !C?? m? q? R#@R;)RC~}B~2Ii)>I;eMb@Mb@Mb@aaa a)aYeGz?V-I +yaeme94e;@ e@ԑ)aIe@ayaII 2; L=yWQ >٥ H%F^ <  >L5Ɯל?%L59q Iy%I1?%:%,@%@=Ei:#:L5QU)AUEZb 99iAXBXB_'@ʁ3J@)Ldk"iUPm$g?pſoG4ȿ2B>ҁ:GWl]:@̟pH#V뿺m0=?bD"mƿzA8jkȜ?rQ kWB 9UBDUB@Z)@- addTargetRange:: Added new target pos. range: 54.400002 m, deltaT: 3.548579 s, deltaX: -2.399998 m, approachRate: -0.676326 m/s, rangeRepo size: 4 = Added new target pos. range: 54.016300 m, bearing: 150.259343 deg, lat: 36.906413 deg, lon: -122.116005 deg, deltaT: 3.548579 s, deltaX: -2.383560 m, approachRate: -0.671694 m/s, posRepo size: 4 AEDNOT Ignoring new targets: 54.02 m.IMQ ProNav: ac range: 54.016300 m, nav range: 53.317265 m, bearing: 151.612275 deg, approach rate: 0.000000 m/s, LOS rate: -0.037661 deg/s, cmd heading: 157.939286 deg, new cmd heading: 157.891219 deg. HeadingCmd: 2.755722 target range: 54.016300 and range: 54.40 m.b]0@Z r j R J B ~~zB}|||@33K@|`j? H CH xIH n~BH  =H H H F<H nEI6G=~GAAN?XN,a9iA9Z0$@Z2@YZȼyZKX=ZHs 6տ@?`?J??µ?? Z0$@Z߆;)ZCdj~BjAIIrIr<2~I9= ~=y_Q >٥   H  4<  >L5ל?L59 n Iy!%Q-@%@=Ei:;rL5-9B-y)A-EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 54.02 m. >X>X ProNav: ac range: 54.016300 m, nav range: 52.962868 m, bearing: 151.588477 deg, approach rate: -0.699167 m/s, LOS rate: -0.047264 deg/s, cmd heading: 157.891215 deg, new cmd heading: 157.819344 deg. HeadingCmd: 2.754467 target range: 54.016300 and range: 54.40 m.b 1I0@Z rjRJ):J}cBJ}YJJ}ERJyZJ}:bJ}[O9J}4JyzJ};jJ};T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J}'n:rJ})n:B1~~}||||%@v? imI m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995863"^N,J{9iA9>S$@>2@Y>Ky>r=>H#Ɛտ"z?b????@b? >S$@>ƍ;)>C9~B7IMb@Mb@Mb@ )YtV?&1y&1y2?P`eQ@ @)I@y@I&I3 &=y6;Q >٥ H&F=< >L5/gל?L59^j Iy33?:Q.@@=Ei::L58B)AEaDNOT Ignoring new targets: 54.02 m.II ProNav: ac range: 54.016300 m, nav range: 52.620647 m, bearing: 151.559344 deg, approach rate: -0.685112 m/s, LOS rate: -0.058702 deg/s, cmd heading: 157.819348 deg, new cmd heading: 157.731382 deg. %!HeadingCmd: 2.752932 target range: 54.016300 and range: 54.40 m.b  00@Z r j R J B ~~zB}||||`;? IM=II)MZ?QIUٵ QQU^eN,79iA9N%@N"3@YN0yN)=NHD"VտG? ~??e?@/?? N%@Nf;)NC T)VAɵTTTXɶXiXIXXI^LCi^|A \\)\` ```ɷ`dfҁAIf)fFid)dIjAjnɸh hɹhhhihlinCñA)n lIlٯpv~Bv?I)x x z=z=I~I~V83 +=  =yGHqHu~IHux~BHu =HqHu.DHu1<HuSE}||||ta? zB*;=I)a^?I8 GdQ<0@<s=i0@i!bE)ZE-AEEEEP0E6G‹9=~GAAN`>:J \BJ RJJ ARJ ZJ =:bJ S29J 4J zJ :jJ :J ;:rJ <: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753474e ƈG ZA AA :Y ZAy >B! $kN,Z9iA9:%@:,3@Y:y:䰖=:H@=$SտN? =y;Q >٥ H: > L5q >ל?L59 d I ȖB+:yu:.@@ =Ei < > L5E)AEDNOT Ignoring new targets: 54.02 m.DD ProNav: ac range: 54.016300 m, nav range: 52.099953 m, bearing: 151.511761 deg, approach rate: -0.662720 m/s, LOS rate: -0.061315 deg/s, cmd heading: 157.671133 deg, new cmd heading: 157.587909 deg. Q(HeadingCmd: 2.750428 target range: 54.016300 and range: 54.40 m.b%0@Z!r!j!R!J!B!~)~)})|1|1|1|5,? iu7"=Iq)u b?qIu. yy} ;rN,,9iA9B!%@B43@YBzyB1=BH&Pտ&S?@n?  r?`[?Fٱ? ? B!%@Bω;)BCN~BNFIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256049IbIb0j  j^=yn;Q n>٥lp rHr(Fre: r>tzL5v*ל?zL59vb IvǖB~ :y|~G:~.@~@v=Eiv4;vL?vL5 7B O)A EDNOT Ignoring new targets: 54.02 m.  ProNav: ac range: 54.016300 m, nav range: 51.843449 m, bearing: 151.487784 deg, approach rate: -0.692207 m/s, LOS rate: -0.065025 deg/s, cmd heading: 157.587914 deg, new cmd heading: 157.515627 deg.  2=HeadingCmd: 2.749166 target range: 54.016300 and range: 54.40 m.b=W/@ZArAjARAJABA~I~I}I|I|||`@ zB靅0'=I)na?IM L}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508991H>HHIH~BH =HHH <HEH5ȗCH5ȗCH5ȓCH5 =I1 I55) [9xN,~9iA9V%@VK-3@YVϲSyV=VH %@[տۡ?u?Y{?)v?`Y?y? V%@Vz;)VCQQIeIe3uN: u@=y};Q }>٥yy H)F% >L5ל?L59^ IŖB9y!:.@@=Eio:?L5L)AB*** querying acoustic contact ***JR DNOT Ignoring new targets: 54.02 m. %%- ProNav: ac range: 54.016300 m, nav range: 51.546036 m, bearing: 151.459857 deg, approach rate: -0.731978 m/s, LOS rate: -0.069130 deg/s, cmd heading: 157.515623 deg, new cmd heading: 157.431357 deg. -=HeadingCmd: 2.747695 target range: 54.016300 and range: 54.40 m.b>/@ZrjRJB~~)}1|9|AQ|q|}@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762434 zB!=I)a?I 7H<>/@7ѭ<ʀ=i>/@irE->jE->ԹEEEEEF=F= 6G Vw= BDAT read: Rx Time:14:08:38.5941  TRx dataTimestamp_ set to:1749132519.916077 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014150~G A A N >a~N,Q9iA\9j%@j]#3@YjR-yj=jH#}hտPy??@?8?`?? j%@jJ$;)jC ,~B PIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YuV?+~jtyr(?D3@ @)Q@IQ@y@IIo= E=y;Q >٥ Hq >L5֜?L59)\ IÖBT:y(?:o/@@=Eiu;u;JN,2:iAKN*P"KN@9*KL2KN:KN6QE#r4PiKj2 GZ.G\<)5)T|3N8NC]A JbAJbA9m$@3@YyIj=H ! v{տ?Ŏ?@ƭ? 8X?3?? m$@1;)C4~BUIDAT read: 14:08:38.5941 LVL= 32752, 29937, 21106, 32755, AGC= 68, IDX= 403, 0.16,-2.995, 1.972,-2.665, 3.003, PHS= 0.373,-0.985, 0.612, RAW= 158.0, 0.0, CAL= 160.4, -8.7, ROT= 349.6, 8.7 Ygot valid direction response: 14:08:38.5941 LVL= 32752, 29937, 21106, 32755, AGC= 68, IDX= 403, 0.16,-2.995, 1.972,-2.665, 3.003, PHS= 0.373,-0.985, 0.612, RAW= 158.0, 0.0, CAL= 160.4, -8.7, ROT= 349.6, 8.7 PDAT read: Bearing 349.6, 8.7 (Local) ~Local bearing/azimuth received: Bearing 349.6, 8.7 (Local) DAT read: Range 10 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.7 m/s ,DAT read: user:1953> BDAT read: Tx time:14:08:39.7206 $Ping request sent.H-CH-IH-~BH- =H)H)H-<H- E Fpublishing direction and range info1y5)WJ?mU/ƿni\ÿ5PBY1 5)5tI5rRi55D5>5(|5? 5|0@)5I5$+3@i5|5@@5|> 1)15~Ȁ9?!N?'>ri5)?5#595|> 1)1%:publishing transmit ping time%Fpublishing direction and range info1y5)WJ?mU/ƿni\ÿ1Y1 1)1I1i11111 1)1I1i111 1)15~Ȁ9?!N?'>ri1111 1)1II< /=y;Q >A٥ii mHu*FuR u>yL5}֜?L59}X I}By^/@@}=Ei}0<}1<}L5(AEZ1b5:iA5NB5NB5-(@ʁ5l}I@.tm" H7=5)WJ?mU/ƿni\ÿ595|>ҁ5͵W3F 1JV9@;559U~p!?rÿz5A51j5hHȜ?r5N( 5@^B5hHȜ?5N(  5kWB5 LB5"(@ addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.527464 s, deltaX: -2.400002 m, approachRate: -0.680376 m/s, rangeRepo size: 4 ] Added new target pos. range: 51.634628 m, bearing: 150.506941 deg, lat: 36.906416 deg, lon: -122.115997 deg, deltaT: 3.527464 s, deltaX: -2.381672 m, approachRate: -0.675180 m/s, posRepo size: 4 Y]DNOT Ignoring new targets: 51.63 m.Yeiq ProNav: ac range: 51.634628 m, nav range: 51.012978 m, bearing: 150.506792 deg, approach rate: 0.000000 m/s, LOS rate: -0.072765 deg/s, cmd heading: 157.341836 deg, new cmd heading: 157.223418 deg. HeadingCmd: 2.744066 target range: 51.634628 and range: 52.00 m.bȞ/@ZrjRJB ~y~y}|||J@|~? JDAT read: TxSync time:14:08:39.7198 ԙ zB靥 =I ) h? I : 'B< Ȟ/@ < j=i Ȟ/@i zE Eu Eq Eq Eu P0Eq 6Gm=~GYAaAqN}? N,::iAMJ~BUcI ]=]p=Mb@Mb@Mb@ )YS?Zd;O~jty?j @)@Iy@@AII#35.= 5=y5Q 5>٥99 =H=+F= E>IUL5M֜?UL59MU IMByU?U:U0@U@M=EiM:M:ML5e6Be(AeEDNOT Ignoring new targets: 51.63 m.ԩ ProNav: ac range: 51.634628 m, nav range: 50.712761 m, bearing: 150.460896 deg, approach rate: -0.672435 m/s, LOS rate: -0.103408 deg/s, cmd heading: 157.223414 deg, new cmd heading: 157.084911 deg. HeadingCmd: 2.741649 target range: 51.634628 and range: 52.00 m.b-w/@ZrjRJB~~zB}||||`@?  t]=I ) m? I  BZ?<-w/@*,<+=i-w/@i)EEEE_0E:Ju\BJuWJJu?RJqZJu=:bJuG9Juـ4Jq6Gq؃=~G A A N >) .N,ũT:iA9:^ %@:3@Y:Nݻy:=:H?#oտZ?`?Ԯ?໾{?&?? :^ %@:;):CJE~BJ_IKGP"K9*K2K:K^q qDcG5d)b}VcVMH5)bZC9J?J> H<H4=H>HHIH~BH =HH/DH4<HdE I%I% 37 '=y ";Q >٥ H,F: >L5֜?L59R IBy9E0@E@=Ei< <XL5QU(ADNOT Ignoring new targets: 51.63 m.   ProNav: ac range: 51.634628 m, nav range: 50.407478 m, bearing: 150.413367 deg, approach rate: -0.530368 m/s, LOS rate: -0.083072 deg/s, cmd heading: 157.084912 deg, new cmd heading: 156.941461 deg.  dHeadingCmd: 2.739145 target range: 51.634628 and range: 52.00 m.b(N/@ZrjRJB~~}|| ||F? IMb=IQ)Ul?QIUi QQU;<](N/@]0L<]=i](N/@iaq E E E E P0E F F a=ԑ 6G[=~GAAN>n}N,bt:iA9>$@>2@Y>~y>n=>H`ϒտ@?T? ?@q??? >$@>$;)>CJZ~BJlIP]Mb@Mb@Mb@YYY Y)YY]gfffff?Mb~jthy]3?]]D]@ ]@)]@I]-@Yy]@IuIuT3V= K=y;Q >٥ H 뫻  >L5֜?L59P Iyn?%:%u/@%@=Ei_;:L59=F(A=E]B*** querying acoustic contact ***JYRYamDNOT Ignoring new targets: 51.63 m.imҺmҺ ProNav: ac range: 51.634628 m, nav range: 50.189270 m, bearing: 150.384249 deg, approach rate: -0.687550 m/s, LOS rate: -0.092148 deg/s, cmd heading: 156.941464 deg, new cmd heading: 156.853729 deg. |HeadingCmd: 2.737614 target range: 51.634628 and range: 52.00 m.b5/@ZrjRJB~~zB}||||? q=I)q?I{ W9<5/@t<?==i5/@iuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.EEEE_0E6G=~GYAaAyNZ>! :J ]BJ ZJJ ARJ ZJ ]:bJ S9J 4J % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744749jN,Q:iA96$@62@Y6a+y6S'=6H `տ6?>?r@܃? ve?߯? ? 6$@6;)4hh|ia=IY> A AI IV2% %X=y-~;Q ->٥11 5H5-F5<ϻ =>9EM5= ֜?MM59=^N I=ByIMN/@M@==Ei=;=;=M5U5B]D(A]EDNOT Ignoring new targets: 51.63 m. ProNav: ac range: 51.634628 m, nav range: 49.972790 m, bearing: 150.355718 deg, approach rate: -0.573002 m/s, LOS rate: -0.075844 deg/s, cmd heading: 156.853723 deg, new cmd heading: 156.767762 deg. 4PHeadingCmd: 2.736114 target range: 51.634628 and range: 52.00 m.b|/@ZrjRJB~~}|||| ? Ma[=I)q?I$^o q6<|/@<=i|/@i!E=E9E9E=m0E9KEG0P"KE}9*KA2KE:KEY>+GovmRO*:BmXk*)#fhH<1c?41FH%>H%CH%IH%~BH% =H!H!H%Ś<H%Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996796Q6G= mԍ=~G A! A1 NE >y N,7:iAaII@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251270 o~B yIIAIA7= 1=yQ >٥ H.F   >M5d֜?M59K IBy@>Ei:y:M5)-'A-EQUDNOT Ignoring new targets: 51.63 m.Q]ׯ]ׯm ProNav: ac range: 51.634628 m, nav range: 49.708260 m, bearing: 150.320516 deg, approach rate: -0.574561 m/s, LOS rate: -0.076866 deg/s, cmd heading: 156.767759 deg, new cmd heading: 156.661591 deg. uSHeadingCmd: 2.734261 target range: 51.634628 and range: 52.00 m.b .@ZrjRJB~~}||||F@ ?I=I)w?I$` Dp3< .@Z<s=i .@iԉEiEiEiEm0EqԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5020036G d=~G A A  N >YvN,c:iA9R$@RT2@YR.ٺ;yR*l=RHmxֿ?|??[w?A? R$@RMډ;)P^v~Bb}I]Mb@Mb@Mb@YYY Y)YY]|?5^?:vMbP?y] ?]Լ]:]@ Y)YI]C@Yy]@IuIu#3{< e=yN٥ H >M5p֜?M59I Iy ?:/@@>Ei,::" M5]'AY%DNOT Ignoring new targets: 51.63 m.!U U  ProNav: ac range: 51.634628 m, nav range: 49.511898 m, bearing: 150.294950 deg, approach rate: -0.495055 m/s, LOS rate: -0.064711 deg/s, cmd heading: 156.661590 deg, new cmd heading: 156.584588 deg. 1HeadingCmd: 2.732917 target range: 51.634628 and range: 52.00 m.b.@ZrjRJB~~zB}||||N@ %zB:J[BJXJJ?RJZJ:bJ5K9Jـ4J%[=I)x?IЂS r0<.@t=<0v=i.@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7532111EEEE0EQ6G s=ԁ ~G A A K PN >"K 9*K 2K :K \Rz5:^>&m`-"xc_c:hOG G H% >H! H% IH% ~BH! H! H! H% <H% EN,:iA"A"A&BDAT read: Rx Time:14:08:42.1911 &TRx dataTimestamp_ set to:1749132523.443422*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0058669R#@R1@YRP ٥pt vHv/Fv: v>x~M5z_֜?~M59zVG IzBy.@@z>EizY;z#;zz M5  'A EIMDNOT Ignoring new targets: 51.63 m.QY ProNav: ac range: 51.634628 m, nav range: 49.301113 m, bearing: 150.268178 deg, approach rate: -0.558567 m/s, LOS rate: -0.071249 deg/s, cmd heading: 156.584587 deg, new cmd heading: 156.503926 deg. CHeadingCmd: 2.731509 target range: 51.634628 and range: 52.00 m.b .@ZrjRJB~!~!})|)|I|Q|Ux@ Ai=I)z?IaF WQ.<  .@ մ< Ft=i  .@iԁ) EEEE5EU+Gq OYyB6Gx\=e@eRBIR=Ia=~Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258964A9ԹANm > ԼN,(:iA96.#@61@Y6;٥   H0F >%M5L֜?-M59D IBy-e?-:-\-@-@ >Eio;R;[M554B='A=EUB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 51.63 m.im%m% ProNav: ac range: 51.634628 m, nav range: 49.054901 m, bearing: 150.243362 deg, approach rate: -0.600470 m/s, LOS rate: -0.060826 deg/s, cmd heading: 156.503922 deg, new cmd heading: 156.429101 deg. &HeadingCmd: 2.730203 target range: 51.634628 and range: 52.00 m.b.@ZrjRJBԡ~~{B}||||d @ zBmv=I)|?IG: 4+<.@a<Bm=i.@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510523EEEE\5E6G 1ev=% DAT read: 14:08:42.1911 LVL= 23200, 26577, 18002, 31891, AGC= 67, IDX= 404,-0.01,-1.146,-2.460,-0.785,-1.430, PHS= 0.372,-0.983, 0.642, RAW= 158.9, -0.4, CAL= 161.3, -9.0, ROT= 348.7, 9.0 5 Ygot valid direction response: 14:08:42.1911 LVL= 23200, 26577, 18002, 31891, AGC= 67, IDX= 404,-0.01,-1.146,-2.460,-0.785,-1.430, PHS= 0.372,-0.983, 0.642, RAW= 158.9, -0.4, CAL= 161.3, -9.0, ROT= 348.7, 9.0 = PDAT read: Bearing 348.7, 9.0 (Local) = ~Local bearing/azimuth received: Bearing 348.7, 9.0 (Local) ~GI AQ Ai Nu >} DAT read: Range 10 to 50 : 49.8 m (Round-trip 66.4 ms) speed 0.4 m/s  ,DAT read: user:1954> N,;iA BDAT read: Tx time:14:08:43.2706 >$Ping request sent.>-{-Z$? -5~1@)-I-,4@i-| -6@-| > )))->x?r18?9q}i--?-;-I-| > )))}:publishing transmit ping time<}Fpublishing direction and range info)y-u%K?]Tȿp Ŀ)Y) )))I)i))))) )))I)i))) )))->x?r18?9q}i)))) )))9=V#@=2j1@Y=b٥ HI >M59֜?M59A IBy%-@@>Ei::JM5'AZ)b-N ;iA-EB-EB-<@%@ʁ-Lw+G@:4$#T ؊-u%K?]Tȿp Ŀ-I-| >ҁ-,OD AFY9@㸤^x!-2꿃)7?McJƿz-A-$j-FȜ?r-h -&[B-kȜ?-Q  -FXB-XBB-v-'@ addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 3.779872 s, deltaX: -2.200001 m, approachRate: -0.582030 m/s, rangeRepo size: 4 - Added new target pos. range: 49.451256 m, bearing: 147.940316 deg, lat: 36.906420 deg, lon: -122.115994 deg, deltaT: 3.779872 s, deltaX: -2.183372 m, approachRate: -0.577631 m/s, posRepo size: 4 15DNOT Ignoring new targets: 49.45 m.1]Ym ProNav: ac range: 49.451256 m, nav range: 48.586189 m, bearing: 149.665153 deg, approach rate: 0.000000 m/s, LOS rate: -0.060826 deg/s, cmd heading: 156.429104 deg, new cmd heading: 156.343415 deg. iuHeadingCmd: 2.728707 target range: 49.451256 and range: 49.80 m.bu$.@ZrjRJB~~}|||`fH@|ۂ?KKP"K*K2K:KP3;zan!sI9n|Gr$R =feB^OaLj)EH>HCHIH~BH =HHH<HEHŘCHŘCHH =I = Iř6 =zB=O=IA)E:|?AIEN* AAEw)'DN,E+;iA:JVaBJVUJJVARJTZJV:bJV>9JV4JTzJV;jjJV;jJV}Q:nrJVQ:r9U^#@UCr1@YUG[٥ H1F: >M5&֜?M59? IBy?:u,@@>Ei ;;M5'AEDNOT Ignoring new targets: 49.45 m.%% ProNav: ac range: 49.451256 m, nav range: 48.340141 m, bearing: 149.641027 deg, approach rate: -0.587983 m/s, LOS rate: -0.057946 deg/s, cmd heading: 156.343413 deg, new cmd heading: 156.270669 deg. HeadingCmd: 2.727438 target range: 49.451256 and range: 49.80 m.bW.@ZrjRJB~~ {B}||||-t? zB靅o=I) |?I  '<W.@޷<S5p=iW.@i EEEIEIEM5EI9 6G 0i=~Ga i Aq A N >JN,jE;iA9>v#@>a1@Y>jv-=>HK׿S?@*?+@ ? Վ`?`? >v#@>1;)>CJ~BJIIR#IR%x3^< ^=yb;Q b?٥`` fH%2F-; -?9EM5=֜?EM59=< I=ByAM,@M@=>Ei=v;=?;=M5QUc'AQyDNOT Ignoring new targets: 49.45 m. ProNav: ac range: 49.451256 m, nav range: 48.155975 m, bearing: 149.622489 deg, approach rate: -0.564756 m/s, LOS rate: -0.057067 deg/s, cmd heading: 156.270671 deg, new cmd heading: 156.214843 deg. HeadingCmd: 2.726463 target range: 49.451256 and range: 49.80 m.b`~.@ZrjRJB~~}||||G-? j=I)}?I $<`~.@+<22y=i`~.@i EEEEV0E)6G q=~GAAN >a  H H <H >H H IH ~BH  =H H .DH ͚<H EK 'P"K 9*K 2K :K ez]o+5QvEe(&c<2E/HC T MS[pkN,_;iA 9v\#@v1@Yv٥ii mHiuv; u>M5/֜?M59H: IBy,@@>EiwT;AU;M53B'AëEDNOT Ignoring new targets: 49.45 m.P|P| ProNav: ac range: 49.451256 m, nav range: 47.924637 m, bearing: 149.598570 deg, approach rate: -0.530823 m/s, LOS rate: -0.055147 deg/s, cmd heading: 156.214841 deg, new cmd heading: 156.142740 deg. cHeadingCmd: 2.725205 target range: 49.451256 and range: 49.80 m.bi.@ZrjRJB~~}||||`h ? zB7j=I)x?IĮ %"<%i.@-<5@=i5i.@i1qEEEE^0E:J^BJRJJRJZJ} :bJS29JJzJ_:jJd:J;:rJ<:6G ay=~G A A N >N,y;iA96q#@61@Y6?٥ H3F啻 >M5՜?M597 IBy?:,@@>Ei::'"M5'AB*** querying acoustic contact ***JR DNOT Ignoring new targets: 49.45 m. % ProNav: ac range: 49.451256 m, nav range: 47.684772 m, bearing: 149.576065 deg, approach rate: -0.619353 m/s, LOS rate: -0.058403 deg/s, cmd heading: 156.142742 deg, new cmd heading: 156.074886 deg. %S -HeadingCmd: 2.724021 target range: 49.451256 and range: 49.80 m.b-[V.@5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Z)rjRJB~~{B}||||@b? EzBmPp=Ii)mBv?iIm# iqur }N,֒;iA9>S#@>f1@Y>OS=>H[)׿4]@?[?@J}`r?? >S#@>;)٥\\ ^H`b b>djM5fb՜?jM59f4 IfByhj+@n@f">Eif7%;fT&;fj%M5tv'AzƫE%DNOT Ignoring new targets: 49.45 m.!%x-x5 ProNav: ac range: 49.451256 m, nav range: 47.466606 m, bearing: 149.555859 deg, approach rate: -0.583835 m/s, LOS rate: -0.054322 deg/s, cmd heading: 156.074891 deg, new cmd heading: 156.013994 deg. =EHeadingCmd: 2.722958 target range: 49.451256 and range: 49.80 m.bED.@ZArAjARAJABA~I~I}I|I|Q|Q|U5@ -zB5=I1)=Yu?9I=A ڻ 99=t<]D.@][)<]|=i]D.@iaE-E)E)E-z0E)QH}>HyHyHyH} =HyH}/DH}<H}EK%AP"K%9*K!2K%:K%nROM7|fs_J=.nv;,AqVf$5=cJ5AJ1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.208946y6Gi~GI Ai Ay N >ԡ ʧN,-;iAJJ4J0:J2`BJ2XJJ2@RJ0ZJ2:bJ25K9J2J4J0bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.463511zJ2:jJ2:J2f:rJ2f:ԁ9u &#@uo91@Yu۽٥ H4FĴ >M5N՜?M59k1 IByB?:+@@'>Ei? ;e ;)M52B.(AɫE%DNOT Ignoring new targets: 49.45 m.!-v-v= ProNav: ac range: 49.451256 m, nav range: 47.161945 m, bearing: 149.528904 deg, approach rate: -0.605683 m/s, LOS rate: -0.053935 deg/s, cmd heading: 156.013993 deg, new cmd heading: 155.932603 deg. =EHeadingCmd: 2.721537 target range: 49.451256 and range: 49.80 m.bE-.@ZArAjARAԡJB~~{B}||||E@ UzB]SU=IY)}jn?I% <-.@<__x=i-.@iEYEYEaEe_0Ea]BDAT read: Rx Time:14:08:45.7384 ]TRx dataTimestamp_ set to:1749132526.971498mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.714897 6G} Š}=~GQ Ay A N >4N,`!;iA9>"@>J1@Y>trj=>H@y׿R m?@? N` H?G? >"@>U;)>CJO~BJfIiN%>IN4Eifh;fh;f,M5xzT(A~ȫE%DNOT Ignoring new targets: 49.45 m.!%n-n= ProNav: ac range: 49.451256 m, nav range: 46.972809 m, bearing: 149.512538 deg, approach rate: -0.600658 m/s, LOS rate: -0.052184 deg/s, cmd heading: 155.932604 deg, new cmd heading: 155.883309 deg. =@EHeadingCmd: 2.720677 target range: 49.451256 and range: 49.80 m.bE.@ZArAjARAJABI~I~I}Iԑ||||`@ 5zB5(=I1)5hk?1I=i 99=Իq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966376EEEEZ5EԹ6GEv=~GA AI AY Nm >H% >H! H% IH% ~BH! H! H! H% <H% ,E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217042K% S8P"K% 9*K! 2K% :K% x$z{Ow,^ tYPUx4 :LR1 J= >J= >N,U;iAuE~Bu_IIIm?3 /=yQ >٥ H >M5՜?M59+ IBy@/>Eia;;0M51Bz(A˫EDNOT Ignoring new targets: 49.45 m.  t  t ProNav: ac range: 49.451256 m, nav range: 46.690319 m, bearing: 149.487847 deg, approach rate: -0.606802 m/s, LOS rate: -0.053358 deg/s, cmd heading: 155.883304 deg, new cmd heading: 155.808783 deg. zHeadingCmd: 2.719376 target range: 49.451256 and range: 49.80 m.bC .@ZrjR J B ~~}|!|)|)|5 @9 MzBMW=II)Uh?QI] <C .@v8<[Ty=iC .@i:J=\BJ=YJJ=?RJ9ZJ==:bJ=[O9J=ـ4J9zJ=:jJ=:J=&n:rJ=)n:DAT read: 14:08:45.7384 LVL= 22464, 25649, 17810, 27267, AGC= 66, IDX= 409, 0.23,-1.528,-2.907,-1.162,-1.816, PHS= 0.376,-1.044, 0.652, RAW= 158.7, 0.2, CAL= 160.9, -8.4, ROT= 349.1, 8.4 Ygot valid direction response: 14:08:45.7384 LVL= 22464, 25649, 17810, 27267, AGC= 66, IDX= 409, 0.23,-1.528,-2.907,-1.162,-1.816, PHS= 0.376,-1.044, 0.652, RAW= 158.7, 0.2, CAL= 160.9, -8.4, ROT= 349.1, 8.4 PDAT read: Bearing 349.1, 8.4 (Local) ~Local bearing/azimuth received: Bearing 349.1, 8.4 (Local) DAT read: Range 10 to 50 : 47.7 m (Round-trip 63.7 ms) speed 0.5 m/s qEEEEo0E,DAT read: user:1955>  BDAT read: Tx time:14:08:46.8206  $Ping request sent. BYy }W)}1dI}Ei}j}B}>}ˡ}y&? }E1@)}d;I}3@i}Q }g@}Q > y)y}ddD? l?i+Sfm?i}-?}2k}tB}Q > y)y :publishing transmit ping time  Fpublishing direction and range infoyy}P?2'ǿ/8ٲ¿yYy y)yIyiyyyyy y)yIyiyyy y)y}ddD? l?i+Sfm?iyyyy y)yԙ 6G ghs=jG ?bG ?~Gi A A N >.N,$;iA9b"@b0@YbO٥ H6FE >M5ȓ՜?M59( IBy]#?:#,@@3>Ei:;;4M5!%(A!ZQbUς;iAUv=BUv=BU%@ʁUq8G@!ֽ]UP?2'ǿ/8ٲ¿UtBUQ >ҁUe:vC38@?K67!U|c -^? m 8ǿzUAUjU˚Ȝ?rU.: U[BU˚Ȝ?U.:  U&[BUX:BU%@  addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 3.528168 s, deltaX: -2.099998 m, approachRate: -0.595209 m/s, rangeRepo size: 4  Added new target pos. range: 47.365551 m, bearing: 147.774558 deg, lat: 36.906425 deg, lon: -122.115980 deg, deltaT: 3.528168 s, deltaX: -2.085705 m, approachRate: -0.591158 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 47.37 m.!IMI ProNav: ac range: 47.365551 m, nav range: 46.586212 m, bearing: 147.774415 deg, approach rate: 0.000000 m/s, LOS rate: -0.053358 deg/s, cmd heading: 155.808786 deg, new cmd heading: 155.732749 deg. HeadingCmd: 2.718049 target range: 47.365551 and range: 47.70 m.b-@ZrjRJB~~zB}|||G@|? zB_=I)Ea?Ia !AE*O,p"@>0@Y>{=>H l׿! *?, ? +~-?v? >"@>uߋ;)>CV~BVFI)` ` b=bp=IjIj2rF rl=yr^Q r?٥tt vHv7Fv7 z?xM5z]՜?M59z& IzBy,@ @z7>Eizl;z;z7M5)AΫE-B*** querying acoustic contact ***J1R1IMDNOT Ignoring new targets: 47.37 m.IU^ҺU^Һu ProNav: ac range: 47.365551 m, nav range: 46.370846 m, bearing: 147.745120 deg, approach rate: -0.672932 m/s, LOS rate: -0.091959 deg/s, cmd heading: 155.732753 deg, new cmd heading: 155.644461 deg. yuq|HeadingCmd: 2.716508 target range: 47.365551 and range: 47.70 m.bF-@ZrjRJB~~}|||| %!? zBA=I){\?Io@ [<F-@0C<rq=iF-@iH>HHIH~BH =HH.DH<H(EEuEqEqE}O0EyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.K-V P"K-s9*K)2K-:K-8(OLJoL.3h7yb. #l4U '56GM q=ԩ~G AA1NE0>UGmA XYAyBI @AI AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.929157 O,01٥aa eHim/_ m>M5l՜?M59" IxByD&?:&-@@<>Ei; ;;M5)AѫEDNOT Ignoring new targets: 47.37 m. ProNav: ac range: 47.365551 m, nav range: 46.075447 m, bearing: 147.698276 deg, approach rate: -0.645478 m/s, LOS rate: -0.103017 deg/s, cmd heading: 155.644466 deg, new cmd heading: 155.503032 deg. fHeadingCmd: 2.714040 target range: 47.365551 and range: 47.70 m.bԲ-@ZrjRJB~~zB}||||@? zB^R=I)-VU?)I- ))-T<5Բ-@5<5̎t=i=Բ-@i9EEEE$5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.179073 6G KXi=ZG RG }A~G A A N >1 (O,,-KEir;r>;r>M5  )A 1=DNOT Ignoring new targets: 47.37 m.9=EM ProNav: ac range: 47.365551 m, nav range: 45.852806 m, bearing: 147.662890 deg, approach rate: -0.640093 m/s, LOS rate: -0.102229 deg/s, cmd heading: 155.503026 deg, new cmd heading: 155.396352 deg. UQeHeadingCmd: 2.712178 target range: 47.365551 and range: 47.70 m.beS-@ZarijiRiJiBi~q~q}y||||?:JBJWJJERJZJbJG9J4J@@@@ zB~=I)T?I]к <S-@z</_w=iS-@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4306061EEEEP0E6Gms=~G!A1AANM1>aHu>HuCHuIHu~BHqHqHqHu<HuEH1H1ԉH1H5 =I5 = I5ȓ5  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.682459KE (P"KE 9*KA 2KE :KE  FsfbOn oXG5=NAW C @3t_= ! a5Թ mO,eI~>II 2- E=y:Q >٥! %H%9F%޻ %>)5M5-G՜?=M59-; I-hBy9=,@=@-C>Ei-3;-;-:BM5E0BE)AMԫE EDNOT Ignoring new targets: 47.37 m.Am޺m޺} ProNav: ac range: 47.365551 m, nav range: 45.586250 m, bearing: 147.621007 deg, approach rate: -0.616763 m/s, LOS rate: -0.097476 deg/s, cmd heading: 155.396352 deg, new cmd heading: 155.269969 deg. }˅HeadingCmd: 2.709972 target range: 47.365551 and range: 47.70 m.b/p-@ZrjԉRJB~~}||||? zBBmW=I)#O?Ic  B!< /p-@ 1<dt=i/p-@i5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935764EEEEO0E6GY ~G1 AA AQ N] > )O,7~٥ HԻ >M5f0՜?M59 I`By(?:;-@@H>Ei::&FM5*ADNOT Ignoring new targets: 47.37 m. ProNav: ac range: 47.365551 m, nav range: 45.293030 m, bearing: 147.572401 deg, approach rate: -0.680727 m/s, LOS rate: -0.113572 deg/s, cmd heading: 155.269966 deg, new cmd heading: 155.123205 deg. ⛻ HeadingCmd: 2.707411 target range: 47.365551 and range: 47.70 m.b 7F-@Z r jRJB~~zB}|||!|% w@ ]zB]]=Ia)e,I?aIeh aae<7F-@dþ<.^t=i7F-@iEEEET0E!:J]BJUJJCRJZJ]:bJ>9J4J5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437950I 6Gm nu=~GA AQ Ai N} >%O,!@>J/@Y>W,=>H >`0ؿbx`t?ࠇ G?њ`?? >!@>P̍;)>CN}BRITTIZIZ2b bk=yf;Q f?٥dd fHf:Fj% j?lrM5n՜?rM59nc InZBypv-@v@nL>Ein:n:n/IM5xz*Az׫EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 47.37 m. ProNav: ac range: 47.365551 m, nav range: 45.065876 m, bearing: 147.535309 deg, approach rate: -0.611938 m/s, LOS rate: -0.100426 deg/s, cmd heading: 155.123199 deg, new cmd heading: 155.011364 deg. ׉ HeadingCmd: 2.705459 target range: 47.365551 and range: 47.70 m.b <&-@Z r j RJH%>H!H%eIH%O~BH% =H!H!H%<H%,EBA~A~A}A|I|I|I|MU@ }zB}h=Iy)H?ITܾ9  <<&-@M<tn=i<&-@iQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.690606Km,P"Ki*Ki2Km:Kmk'm)$SCwp;-G1XkewC7_55,EEEE_0Eԁ6G s=Ա ~G A) AA Ne >E BDAT read: Rx Time:14:08:49.2858 M TRx dataTimestamp_ set to:1749132530.755519U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944276,O,*٥ H;FB >M5y՜?M59 ISByQ(?:-@@Q>Eir;;BMM5/Bo*AګE DNOT Ignoring new targets: 47.37 m.  D  D  ProNav: ac range: 47.365551 m, nav range: 44.762531 m, bearing: 147.482031 deg, approach rate: -0.688579 m/s, LOS rate: -0.121758 deg/s, cmd heading: 155.011362 deg, new cmd heading: 154.850445 deg. ԡHeadingCmd: 2.702650 target range: 47.365551 and range: 47.70 m.b8,@ZrjRJB~~zB}|||| @ -zB-lN=I1)5A?1I5 I: 115 <8,@[<%l=i8,@iE5E1E1E1E1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195823 6G q=~Gq Ay A N >'2O,p٥ H >M5Ԝ?M59V IMBy@U>Ei;;PM5\*AEDAT read: 14:08:49.2858 LVL= 22944, 27329, 17266, 29235, AGC= 67, IDX= 412, 0.36,-1.573,-2.880,-1.291,-1.867, PHS= 0.382,-0.966, 0.573, RAW= 156.5, 0.2, CAL= 159.0, -8.6, ROT= 351.0, 8.6 UYgot valid direction response: 14:08:49.2858 LVL= 22944, 27329, 17266, 29235, AGC= 67, IDX= 412, 0.36,-1.573,-2.880,-1.291,-1.867, PHS= 0.382,-0.966, 0.573, RAW= 156.5, 0.2, CAL= 159.0, -8.6, ROT= 351.0, 8.6 ]PDAT read: Bearing 351.0, 8.6 (Local) e~Local bearing/azimuth received: Bearing 351.0, 8.6 (Local) uDAT read: Range 10 to 50 : 45.7 m (Round-trip 61.0 ms) speed 0.7 m/s },DAT read: user:1956> BDAT read: Tx time:14:08:50.3707 $Ping request sent.Kw!? .@)IΚ1@i` @`> ) x?1 = ?_C+he?} addTargetRange:: Added new target pos. range: 45.700001 m, deltaT: 3.532178 s, deltaX: -2.000000 m, approachRate: -0.566223 m/s, rangeRepo size: 4 y}DNOT Ignoring new targets: 47.37 m.yi?#?Nk/t `> ):publishing transmit ping timeځFpublishing direction and range infoyV+@?BgÿS&r#ÿY )Ii )Ii ) x?1 = ?_C+he?i ProNav: ac range: 47.365551 m, nav range: 44.520451 m, bearing: 147.438987 deg, approach rate: -0.578967 m/s, LOS rate: -0.103505 deg/s, cmd heading: 154.850443 deg, new cmd heading: 154.720608 deg. HeadingCmd: 2.700384 target range: 47.365551 and range: 45.70 m. b,@Z r j RJB~~}|||F@|% ? ) zBQ[=I)B?InM: ,F <,@ElHCHLIH'~BHHHH<HEԑ K O"K *K 2K :K  h^ =4V|eo}ct(/uA&TN!2rA36G ,l=~G A A N >!9O,sL٥11 5H59MM5=Ԝ?MM59= I=EByQU5-@U@=Z>Ei=k;=l;=UM5m.Bmu*Am۫EZ)b-ҁ-hmB{OU7@.s!-n꿷;Dt?'m|ȿz-A-j-QZȜ?r-} -[B-kȜ?-}  -[B-1B-i%@Թ-DNOT Ignoring new targets: 47.37 m.15w5wE ProNav: ac range: 47.365551 m, nav range: 44.183598 m, bearing: 147.380503 deg, approach rate: -0.608357 m/s, LOS rate: -0.106427 deg/s, cmd heading: 154.720614 deg, new cmd heading: 154.543825 deg. EMHeadingCmd: 2.697299 target range: 47.365551 and range: 45.70 m.bm,@ZirijqRqJqBq~q~y}y|y|y|y|? zB C=I ) ?? I P$;     < ,@ X<% fm=i% ,@i! E E E E P0E 6Gnu=~GA)A9ANM?BO, =iA t)vAɵtttxɶxixIxxI|i| ||)|| ~jAɷAI }) i ) I A ɸ `F ɹii΃A)D Iٯ}B I:JBJJJ?RJZJbJJـ4JMb@Mb@Mb@ )Y"~j?y&1|yS#?̼` ;@)I;@yI Ib3%r %#=y%Q ->٥)) -H-=F5 5>9EM5=hԜ?MM59= I==ByUv#?U:U,@]@=_>Ei=;=s;=iYM5ae*AeޫEDNOT Ignoring new targets: 47.37 m. ProNav: ac range: 47.365551 m, nav range: 43.866619 m, bearing: 147.326523 deg, approach rate: -0.753115 m/s, LOS rate: -0.129179 deg/s, cmd heading: 154.543822 deg, new cmd heading: 154.380711 deg. OHeadingCmd: 2.694452 target range: 47.365551 and range: 45.70 m.bq,@ZrjRJB~~zB}|||||? zBC^=I)O=?IxL;  <q,@<Oy=iq,@iEEEE_0EIH >H CH 9IH ~BH  =H H 0DH <H EEԑ 6G l=~G A A N >HO,O@$=iAKP"K9*K2K :K7+s*bK\CqL'%dBxKb2^|TLD<9JC!@JbV/@YJEi=:=d:=W\M5QU*AQuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 47.37 m. ProNav: ac range: 47.365551 m, nav range: 43.654537 m, bearing: 147.290163 deg, approach rate: -0.634643 m/s, LOS rate: -0.109334 deg/s, cmd heading: 154.380717 deg, new cmd heading: 154.271107 deg. HeadingCmd: 2.692539 target range: 47.365551 and range: 45.70 m.bR,@ZrjRJB~~}||||`r? -zB-L~p=I))-9?)I-xl; 115<=R,@=rz<=<|=iER,@iIbEAZEAԱEmEiEiEm0EiFuAFuAET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.6Gx=~G A A! N5 >NO, >=iA9V>!@V//@YV+{=yV%=VHgh>ٿsb *?S ?@3??`Y? V>!@Vri;)VCl%}B% I)) )checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747657Mb@Mb@Mb@ )YʡE?y&1~jthy?`弹Dv@ h@)Iy@IIM3< >=yN;Q >٥ H>F泻 > M5 Ԝ?M59  I 3By%?%:%M,@%@ g>Ei y; x; `M51E*AEEiuDNOT Ignoring new targets: 47.37 m.q}3}3 ProNav: ac range: 47.365551 m, nav range: 43.391132 m, bearing: 147.247673 deg, approach rate: -0.606581 m/s, LOS rate: -0.098443 deg/s, cmd heading: 154.271106 deg, new cmd heading: 154.142862 deg. HeadingCmd: 2.690300 target range: 47.365551 and range: 45.70 m.b-,@ZrjRJB~~zB}||||? zBZ]=I)o:J ]BJ dJJ ERJ ZJ ]:bJ |9J 4J a RUO,jW=iA96 @6|/@Y6=y6`׌=6H oa[ٿ$nj ^E?hL ?`唱?%? 6 @6.y;)6CJ}BJ IIR IRV2ZEe< Za=yZ;Q Z>٥\\ ^Hb?Fb b>djM5fԜ?jM59f If/Byhj/,@n@fj>Eifu:f;fFcM5r-Brr*ArE9DNOT Ignoring new targets: 47.37 m.Q׺Q׺ ProNav: ac range: 47.365551 m, nav range: 43.169029 m, bearing: 147.211988 deg, approach rate: -0.582816 m/s, LOS rate: -0.094122 deg/s, cmd heading: 154.142862 deg, new cmd heading: 154.035257 deg. 0HeadingCmd: 2.688422 target range: 47.365551 and range: 45.70 m.b,@ZrjR!J!B!~!~!})|)|)|)|5`-~@H>HCH-IH}BH =HHH<HIE EzBEc=II)M#=?IIM, ; QQUJm?ԑ) -cG]ZA6G ;+z= Y ZAy gB~G A A9 NE > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502508[O,q=iA9>! @>.@Y>$ =y> "=>H@Zjzٿ[s@lb?F1T?`H>?? >! @>I;)>CJ}BJ IIRIR3V= VJ=yZS;Q Z>٥\\ ^H\^ b>`rM5bzԜ?rM59b Ib)Bytu,@}@bn>EibHbO, Ӌ=iA9>q @>.@Y>z=y>=>HTٿh}}?C=?@>?? >q @>e;)>CJ}BJ IiN=IN<=Mb@Mb@Mb@999 9)9Y=5^I ?y&1Mbp?y=?9=;=@ =C@)=@I=p@9y=(@IUIU2e; e?=ym:Q m>٥ii uHu@Fu u>yM5}fԜ?%M59}! I}%By%<?%:-+@-@}s>Ei}<}w<}jM5aeu*AeEDNOT Ignoring new targets: 47.37 m.   ProNav: ac range: 47.365551 m, nav range: 42.668636 m, bearing: 147.133015 deg, approach rate: -0.641456 m/s, LOS rate: -0.100597 deg/s, cmd heading: 153.915868 deg, new cmd heading: 153.796951 deg. HeadingCmd: 2.684263 target range: 47.365551 and range: 45.70 m.BDAT read: Rx Time:14:08:52.8325  TRx dataTimestamp_ set to:1749132534.283470 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007788b+@ZrjRJ!B!~!~%{B})|)|1|1|`a@ -zBUi=IY)]M;?YI]^U; YY]FH CH 'IH }BH  =H H H Ԛ<H EHșCHșCHȔCHI = IȏS66Gm f= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259498~G A A Թ N >hO,Ȕ=iAK;!P"Ks9*K2K":KBlDgF%i i 5CN D s>m;qQ!J2AJ09t @.@Yq=yId=H`Pٿᅿƍ?C ? 5m? ? t @ߌ;)C}BII I <2P% @=y-3;Q ->٥11 =H=AFE' M>QM5RԜ?M59 I!By+@@w>Ei);L;lnM5-B*AB*** querying acoustic contact ***JR)-DNOT Ignoring new targets: 47.37 m.)55E ProNav: ac range: 47.365551 m, nav range: 42.406933 m, bearing: 147.092101 deg, approach rate: -0.624946 m/s, LOS rate: -0.098305 deg/s, cmd heading: 153.796954 deg, new cmd heading: 153.673455 deg. EMHeadingCmd: 2.682108 target range: 47.365551 and range: 45.70 m.bM+@ZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|] @ zB靍o=I)9?Is; !<+@<)=i+@iE=EAEAEEP0EAy:J^BJQJJBRJZJ} :bJ-.9J-4JuDAT read: 14:08:52.8325 LVL= 25488, 29553, 20098, 32755, AGC= 66, IDX= 411,-0.07, 3.079, 1.718,-2.846, 2.819, PHS= 0.348,-1.054, 0.616, RAW= 158.6, 1.2, CAL= 160.5, -7.6, ROT= 349.5, 7.6 }Ygot valid direction response: 14:08:52.8325 LVL= 25488, 29553, 20098, 32755, AGC= 66, IDX= 411,-0.07, 3.079, 1.718,-2.846, 2.819, PHS= 0.348,-1.054, 0.616, RAW= 158.6, 1.2, CAL= 160.5, -7.6, ROT= 349.5, 7.6 PDAT read: Bearing 349.5, 7.6 (Local) ~Local bearing/azimuth received: Bearing 349.5, 7.6 (Local) DAT read: Range 10 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.5 m/s ,DAT read: user:1957> BDAT read: Tx time:14:08:53.9207 $Ping request sent.%y醿%-? %m(1@)% !)!%Bʈ?(?F?i%n,?%ǧ%t;%> !zJ_:jJd:J4:rJ4:)!:publishing transmit ping timeڡFpublishing direction and range info!y%. 0?tW ǿ) !Y! !)!I!i!!!!! !)!I!i!!! !)!ԩ%Bʈ?(?F?i!!!! !)!6G =~G A A N > oO,#g=iAJDAT read: TxSync time:14:08:53.9199 }B IԱMb@Mb@Mb@ )YX9v?Mby?@ p@)@Iy@I I 2=T; =:=y=Q E>٥AA EHAM m>q}M5ua@Ԝ?}M59u# IuBy}?:6+@@u{>Eiu;u%;u(rM5,B{*AEZYb]Po=iA]+B]+B]s#@ʁ]D@{w9]. 0?tW ǿ) ]t;]>ҁ]whA,!h7@8bc]as5#?\e6v?{ƿz]DA] j]|Ȝ?r]'h ]V_B]˚Ȝ?].:  ][B](B][C$@ addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.529132 s, deltaX: -2.500000 m, approachRate: -0.708389 m/s, rangeRepo size: 4  Added new target pos. range: 42.897629 m, bearing: 146.327561 deg, lat: 36.906425 deg, lon: -122.115980 deg, deltaT: 7.061310 s, deltaX: -4.467922 m, approachRate: -0.632733 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.90 m. ProNav: ac range: 42.897629 m, nav range: 42.161709 m, bearing: 147.055975 deg, approach rate: 0.000000 m/s, LOS rate: -0.098305 deg/s, cmd heading: 153.673451 deg, new cmd heading: 153.542886 deg. HeadingCmd: 2.679829 target range: 42.897629 and range: 43.20 m.b Q+@Z rjRJB~y~}?{B}|||E@|`? zBT[=I)$9? I 2; ;%Q+@%~<%xA=i%Q+@i)EEEEz2EFF 6G I@=9 ~GY Aa Ay N >UvO,I=iA9J @J_.@YJh=yJYo=JHTٿ}?@EL?`\?`? J @J4;)JC^}B^ I)` `IfIf(*3nh nv=yr;Q r?٥pp vHvBFv^; z?x~M5z2Ԝ?~M59z IzByI+@@z~>Eiz:z):zuM5 *AIMDNOT Ignoring new targets: 42.90 m.IUҺUҺe ProNav: ac range: 42.897629 m, nav range: 41.973312 m, bearing: 147.027636 deg, approach rate: -0.609114 m/s, LOS rate: -0.092036 deg/s, cmd heading: 153.542885 deg, new cmd heading: 153.457486 deg. e|mHeadingCmd: 2.678338 target range: 42.897629 and range: 43.20 m.bmi+@ZqrqjqRqJqBq~y~y}y|y|||`*? zB靽=I)j8?I; b;i+@<=ii+@iH>HHHH =HH/DH <H,EEEEE_0Eaa6G}(=~GQAYAqN}7> KjP"K9*K2K#:KMo _|] #\l\@fqxj-wvg|)!Xb9 I I 4=:J ]BJ WJJ RJ ZJ ]:bJ G9J J zJ :jJ :J _:@|O,d=iA<rJ_:9ba @b.@Yb=ybey=bHZxٿY``?@J6??1?? ba @b;)bC}B%IIEIE[3UR< ]C=y]B:Q ]>٥aa eHeCFe@; e>iM5mԜ?M59m ImByi+@@m>Eim''O,; >iA96 @6'.@Y6=y6=6HZyٿ:8^?Hi?ݢEX?? 6 @6Ue;)6CF}BJ Il-Mb@Mb@Mb@))) )))Y-S?Q롿Mbpy-?-\--@ -@)-@I-@)y-@IEIEm?3M枼 UK=yU٥YY ]HYe\9 e>amM5eԜ?uM59e] IeByuc?:*@@e>Eies<l=ir-+@i bE!ZE!EEEE_0EFF=6Gl=1~GqAyAN>HHHHH =HHH<HEa 0PO,'>iA9> @>:.@Y>&=y>1=>HTٿ惿 x?`TC(?+?? > @>K;)<KNP"KL*KL2KN$:KN;"%,3/wbs]D1mxu~:dy8/8.V}BZIiZ>IZa>IbIb3j-_ jS=yrmV;Q r>٥tt zHzDF >%M5~Ӝ?%M59 IBy)5*@5@>E9i;;M5QU*AYDNOT Ignoring new targets: 42.90 m.@@ ProNav: ac range: 42.897629 m, nav range: 41.290970 m, bearing: 146.925614 deg, approach rate: -0.574464 m/s, LOS rate: -0.084476 deg/s, cmd heading: 153.246086 deg, new cmd heading: 153.149740 deg. gHeadingCmd: 2.672967 target range: 42.897629 and range: 43.20 m.b+@ZrjRJB~~}||||@C1? zBp=I)0?I< ;+@PX<=i+@i!iEEEE0E:J_BJJJRJZJ :bJJJzJ+:jJ0:JrJԙ6G ~GA AI Aa Nm > 7O,%@>iA~}BIԙMb@Mb@Mb@ )YCl?٥ HEF >M5CӜ?M59 IBy-?:*@@>Ei;;fM5*B*A E%B*** querying acoustic contact ***J!R!1=DNOT Ignoring new targets: 42.90 m.9=v=v ProNav: ac range: 42.897629 m, nav range: 41.049316 m, bearing: 146.890249 deg, approach rate: -0.574476 m/s, LOS rate: -0.084569 deg/s, cmd heading: 153.149739 deg, new cmd heading: 153.043017 deg. 'hHeadingCmd: 2.671105 target range: 42.897629 and range: 43.20 m.ba*@ZrjRJB~ ~{B}||||`7@ zB靕Ai=I)o0?I&%< ;a*@*2<;=ia*@iEEEE0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6Ge =! ~G9 AI AY Nm >bO,TZ>iA9>Aq @>.@Y>"=y>f=>HC.ٿA?16`iH?@^@ʬ?? >Aq @>֋;)>Cb}BbIIf If̍2n# r[=yr’;Q r>٥tt vHtvo` v>x~M5zӜ?M59zH IzByx*@@z>Eiz;z+;zM5  *ADNOT Ignoring new targets: 42.90 m.;;  ProNav: ac range: 42.897629 m, nav range: 40.840927 m, bearing: 146.860955 deg, approach rate: -0.526680 m/s, LOS rate: -0.074413 deg/s, cmd heading: 153.043024 deg, new cmd heading: 152.954696 deg.  FLHeadingCmd: 2.669563 target range: 42.897629 and range: 43.20 m.b*@ZrjRJB~!~!})|) H=<H=p;HE>HAHAHAHE =HAHAHEښ<HEE|Y|Y|]`L@ zB靍8s=I),?IHo-<  ;*@Q<=i*@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755697!EAEAEAEM5EIFQFQKP"K9*K2K%:Kg} _jtY88=+c$1dC!i;D vI6G J=~G A A N >y J{-4J{-4J{80:J ]BJ VJJ CRJ ZJ ]:bJ B9J 4J zJ :jJ :J X:rJ X: BDAT read: Rx Time:14:08:56.3797  TRx dataTimestamp_ set to:1749132537.811351 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008140/ΜO,u>iA9=F @=eY.@Y=R$=y=[==H@:Gڿ6v H?`.q?ڈ n?? =F @=/|;)=C}BI) Ie Ie2= =$=yU)+:Q ]>٥a HFF >M5Ӝ?M59 IByL*@@>EidE;E;'M5+AEaDNOT Ignoring new targets: 42.90 m. ProNav: ac range: 42.897629 m, nav range: 40.552811 m, bearing: 146.821058 deg, approach rate: -0.580183 m/s, LOS rate: -0.080911 deg/s, cmd heading: 152.954696 deg, new cmd heading: 152.834156 deg. ^HeadingCmd: 2.667459 target range: 42.897629 and range: 43.20 m.b*@ZrjRJB~~}|||| @ 5zB5bHT=I9)]L'?YI]DR8< YYeJ;e*@e=O,p>iA9NQ @N/.@YN%=yNV=NH`$27.ڿ@| C?`&@s?~ɪ?? NQ @Ne;)NCZ|}BZIEMb@Mb@Mb@AAA A)AYEGz?L7A`堿{GzyE?E+E#E@ E@)E@IE@AyEG@ImIm3}"< }j=y}j:Q ?٥ HGF( ?M5Ӝ?M59| IBy?:*@@>Ei ; ; M5`+ADNOT Ignoring new targets: 42.90 m.UDAT read: 14:08:56.3797 LVL= 19232, 27889, 15442, 27043, AGC= 64, IDX= 415, 0.01,-0.614,-1.992,-0.311,-0.879, PHS= 0.353,-1.066, 0.566, RAW= 156.9, 1.9, CAL= 158.8, -6.9, ROT= 351.2, 6.9 eYgot valid direction response: 14:08:56.3797 LVL= 19232, 27889, 15442, 27043, AGC= 64, IDX= 415, 0.01,-0.614,-1.992,-0.311,-0.879, PHS= 0.353,-1.066, 0.566, RAW= 156.9, 1.9, CAL= 158.8, -6.9, ROT= 351.2, 6.9 mPDAT read: Bearing 351.2, 6.9 (Local) u~Local bearing/azimuth received: Bearing 351.2, 6.9 (Local) }DAT read: Range 10 to 50 : 41.1 m (Round-trip 54.9 ms) speed 0.4 m/s ,DAT read: user:1958> BDAT read: Tx time:14:08:57.4707 $Ping request sent.%r%`? %LB/@)%=I%a1@i%Ϣ%%@%Ϣ= !)!%Gw?[x:3?n\N?i%$?%$| %TF%Ϣ= !)!:publishing transmit ping timeډFpublishing direction and range info!y%| d?aSpÿrjƹI!Y! !)!I!i!!!!! !)!I!i!!! !)!%Gw?[x:3?n\N?i!!!! !)!= ProNav: ac range: 42.897629 m, nav range: 40.366219 m, bearing: 146.794025 deg, approach rate: -0.570924 m/s, LOS rate: -0.083096 deg/s, cmd heading: 152.834157 deg, new cmd heading: 152.752683 deg. =dEHeadingCmd: 2.666037 target range: 42.897629 and range: 43.20 m.bE[*@ZArAjARAJIBI~I~Mq{B}Q|Q|Q|ǔD@|}`s? zBr3o=I):"?I?< 5; [*@ < =i[*@i1EEEEA5EH>HHIH}BHHHH<HE 6G *= JDAT read: TxSync time:14:08:57.4699 ~Gq Ay A N >5 GA ީO,se>iAK>vP"K>9*K<2K>&:K>JH`5-JIbG{g$ ]DPQ KQ{\ ,FAP nYnAynjB9z8@z-@YzP%=yzNW=zH@U(`Yڿ@G`">??`?? z8@z^;)zCq}BI)II3 =y_ Q >٥ H. >IUM5MӢӜ?UM59M IMByQUR*@U@M>EiM:M:MM5)B+AEYZabe">iAe?#Be?#Be($@ʁeEzD@t-E6BF e| d?aSpÿrjƹIeTFeϢ=ҁe4@-Q5@\B̠CUeЋ꿔0ϓ ?&inſzeAemjeT}Ȝ?reEt ebBaa aeI Bex#@5 addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 3.526588 s, deltaX: -2.100002 m, approachRate: -0.595477 m/s, rangeRepo size: 4 E Added new target pos. range: 40.812180 m, bearing: 147.293086 deg, lat: 36.906425 deg, lon: -122.115980 deg, deltaT: 3.526588 s, deltaX: -2.085449 m, approachRate: -0.591350 m/s, posRepo size: 4 IMDNOT Ignoring new targets: 40.81 m.q ProNav: ac range: 40.812180 m, nav range: 40.072025 m, bearing: 146.752134 deg, approach rate: 0.000000 m/s, LOS rate: -0.083096 deg/s, cmd heading: 152.752687 deg, new cmd heading: 152.609929 deg. HeadingCmd: 2.663546 target range: 40.812180 and range: 41.10 m.bw*@ZrjRJB ~1 ~9 }A |y |y |y |} u?ԁ zB C=I ) ? I K<    n;% w*@% O<% Ф=i% w*@i) E E E E 0E F =F p=Ա 6Gj=~GyAAN ?O,X>iA9N@NS .@YNm=yNZ=NH+(Mڿ@:4?y``?I"`N?`? N@NG;)NCZ\}BZIi^p=I^=uMb@Mb@Mb@qqq q)qYuʡE?+I +yu-?uu94uI@ q)u@Iqqyu@II<2= ;=y1߻Q >٥ HHF5: >M5Ӝ?M59 IݕBy?:)@@>Ei;;^M5+AB*** querying acoustic contact ***JRaDNOT Ignoring new targets: 40.81 m.;; ProNav: ac range: 40.812180 m, nav range: 39.828239 m, bearing: 146.720148 deg, approach rate: -0.606751 m/s, LOS rate: -0.080097 deg/s, cmd heading: 152.609936 deg, new cmd heading: 152.513389 deg. [HeadingCmd: 2.661861 target range: 40.812180 and range: 41.10 m.b[*@ZrjRJB~1~5{B}1|Y|Y|Y|e M?:J\BJJJFRJZJ=:bJJ4J@@@@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. zBaa=I)?I5\S< 115Σ;=[*@=uQ<=Ո=i=[*@iAԑEEEE1EԹGQ GU AAH] >HY H] IH] }BH]  =HY HY H] <H] EH!H!H%ɓCH% =I! I%ɂ56GM = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247103 ~G! A1 AA NU >O, ->iA9>@>-@Y>-7=y>U=>Hvڿom? ?%A?@#? >@> ;)>CFQ}BJIIRIRm?3^G bZ=yE|8Q M>٥QY ]H]IFe e>iuM5mӜ?uM59m Im֕Byq}~)@}@m>EimB:m:mљM5,AEDNOT Ignoring new targets: 40.81 m. ProNav: ac range: 40.812180 m, nav range: 39.603630 m, bearing: 146.691602 deg, approach rate: -0.604287 m/s, LOS rate: -0.077235 deg/s, cmd heading: 152.513384 deg, new cmd heading: 152.427261 deg. THeadingCmd: 2.660357 target range: 40.812180 and range: 41.10 m.bLC*@ZrjRJB~~}||||t? {B%q=I!)-?)I-FY< ))-;5LC*@5Y<5=i5LC*@i9K%P"K9*K2K':Kt2 pa'|h"Xgm1~d+DHJ>J>EEEEP0E6G}ܒ=~GqAyAN;> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499015 i;O,P>iA0}:}BI=Mb@Mb@Mb@999 9)9Y=`"?+:vy=?9=T=@ 9)=@I99y=@I]I]<2mN m3=yu}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751117Q }>٥ H >M5lӜ?M59 I͕By,?:)@@>Ei;Z:M5(B],AEDNOT Ignoring new targets: 40.81 m. ᱺ ᱺ ProNav: ac range: 40.812180 m, nav range: 39.344193 m, bearing: 146.657211 deg, approach rate: -0.582746 m/s, LOS rate: -0.077758 deg/s, cmd heading: 152.427255 deg, new cmd heading: 152.323403 deg. uU%HeadingCmd: 2.658545 target range: 40.812180 and range: 41.10 m.b%%*@Z!r!j)R)J)B)~1~5{B}1|1|9|9|= ?ԉ m{Bm^GI=Iq)u ?qIua< qquj;}%*@}b<}HƑ=i}%*@ibEZEE}EyEyE}*4EFFԹ :J ZBJ \JJ BRJ ZJ 9bJ [9J -4J E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0059026G ‘=~G A A N >#O,?iA9V-@V{@-@YV =yVxG=VHpuۿˋ?`@?g@`?`? V-@V$;)VC\b6}BbI)d d j=j=IlIlvb vg=yvt:Q v>٥xx zHzJFzż ~> M5]Ӝ? M59* IǕBy  )@@>Ei :N:M5j,A!QUDNOT Ignoring new targets: 40.81 m.QBB ProNav: ac range: 40.812180 m, nav range: 39.135345 m, bearing: 146.631846 deg, approach rate: -0.598791 m/s, LOS rate: -0.073115 deg/s, cmd heading: 152.323409 deg, new cmd heading: 152.246906 deg.  H HeadingCmd: 2.657210 target range: 40.812180 and range: 41.10 m.b *@ZrjRJ9B9~9~9}A|A|A|A|E pK@  {B]=I) ?I3h< ; *@H>HCHIH}BHHHH<HW<ث=i*@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256066EEEEO0EF F F F K- O"K- ŷ9*K) 2K- (:K- 9x8_WJmc]t@c\nndA ~G A A N >"RO,d3?iAIJAAIH9Je@J-@YJO=yJ-G=JH`@/7ۿL[? ̮?4ި?`? Je@Jċ;)JCZ.}BZIvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508420IfIf3~ H=y :Q  >٥    H KF >!-M5%KӜ?-M59% I%By)-(@-@%>Ei%S:%;%PM5='B=,A=EaeDNOT Ignoring new targets: 40.81 m.amm} ProNav: ac range: 40.812180 m, nav range: 38.893513 m, bearing: 146.603353 deg, approach rate: -0.593761 m/s, LOS rate: -0.070392 deg/s, cmd heading: 152.246911 deg, new cmd heading: 152.160902 deg. }ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759014ԙ 6O,wM?iA9:4@:,@Y:F=y:F=:Hdۿ6)L?_? %ب?@F? :4@:M;):CR}BRImMb@Mb@Mb@iii i)iYmV-? ףp= ~jtyym?mQ8mDm@ m@)m@Im@iym@II2f A=y q:Q >٥ HJ >M58Ӝ?M59 IBya?:4(@@>Ei;;M5,AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 40.81 m.   % ProNav: ac range: 40.812180 m, nav range: 38.635677 m, bearing: 146.576728 deg, approach rate: -0.608415 m/s, LOS rate: -0.063247 deg/s, cmd heading: 152.160905 deg, new cmd heading: 152.080497 deg. %--HeadingCmd: 2.654305 target range: 40.812180 and range: 41.10 m.b-$)@Z)r)j)R)J)B1~1~54{B}9|9|9|9|E@ }{B}I=Iy)~?Iu<  6;$)@<=i$)@i:J^BJSJJARJZJ} :bJy69J4JBDAT read: Rx Time:14:08:59.9272 TRx dataTimestamp_ set to:1749132541.340726checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013447E-E)E)E)E)jG?bG?ԩ~GAAQAaNm5> H H 4<HE >HA HE IHE [}BHE  =HA HA HE ܚ<HE E  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264611`O,Tg?iA9>$@>,@Y>8=y>F=>H`ۿ` }?@.@?@ţɨ?F? >$@>׮;)>CN}BRIiR4>IRp<IZIZ3% %R=y%d9Q %>٥)) -H-LF5 5>9EM5=&Ӝ?MM59= I=ByQU'@]@=>Ei=O;=;=dM5y}-AEDNOT Ignoring new targets: 40.81 m.ccE ProNav: ac range: 40.812180 m, nav range: 38.397449 m, bearing: 146.553010 deg, approach rate: -0.599516 m/s, LOS rate: -0.060057 deg/s, cmd heading: 152.080500 deg, new cmd heading: 152.008906 deg. M$HeadingCmd: 2.653056 target range: 40.812180 and range: 41.10 m.b)@ZrjRJB~K]XP"KK9*K2K):K *to) lUQe C+QI$Fe'j~}!|)|Q|Y|]G @ {Bt?=I1)5>9I=E}< 99=U2;E)@EUG BDAT read: Tx time:14:09:01.0208 $Ping request sent.N >𧆿;? iw,@) )d?]gl?ۅYՎ?i?.v5> ) :publishing transmit ping time Fpublishing direction and range infoybu?lаtH@lY )Ii )Ii )d?]gl?ۅYՎ?i )ԙ HO,0?iA9>b@>u,@Y>%=y>==>H`?ۿ먍v?Kխ?ꙣ?@8? >b@>;)>Cj}BjIQ]JDAT read: TxSync time:14:09:01.0200 Mb@Mb@Mb@ )Y'1Z? ףp= :vy"?T@ )@I@y@IIM3sμ /=y٥ I MHMMFU U>YeM5]Ӝ?eM59] I]ByeA#?e:e'@e@]>Ei]E:];]M51-AZ)b-u?iA-B-B- %@ʁ-9W ,"C@ E;R-bu?lаtH@l--5>ҁ- 3@k`4@jX-|{ i?g0/+Mǿz-A-j-JbfȜ?r-RӪ -`B-T}Ȝ?-Et  -V_B- B-M$@U addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.527935 s, deltaX: -1.899998 m, approachRate: -0.538558 m/s, rangeRepo size: 4  Added new target pos. range: 38.924961 m, bearing: 147.830998 deg, lat: 36.906422 deg, lon: -122.115982 deg, deltaT: 3.527935 s, deltaX: -1.887218 m, approachRate: -0.534936 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.92 m. ProNav: ac range: 38.924961 m, nav range: 38.259338 m, bearing: 147.092341 deg, approach rate: 0.000000 m/s, LOS rate: -0.060057 deg/s, cmd heading: 152.008906 deg, new cmd heading: 151.921382 deg. HeadingCmd: 2.651528 target range: 38.924961 and range: 39.20 m.b)@ZrjRJB~~+{B}|||C@|@us? M{BME=IQ)U>QIU< QQU+;ԁ)@<v=i)@iEEEEEԱ:J bBJ XJJ >RJ ZJ :bJ 5K9J t4J 6G% }ܒ= ~G A! A1 NM >mO,?iA9Fv@F-,@YFR=yFRf`?? Fv@F\Ռ;)DZ|BZII^I^T3ff jw=yjdQ j?٥hl nHln{; n ?pvM5rӜ?zM59r IrByxz (@z@r>EirH:rU:rXM5~&B~-AE|--Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}5=Entering USBL mode with 120.000000 count pings at 39.200001 m (mode 2.000000 count ).1}=q}=IUDNOT Ignoring new targets: 38.92 m.QUሺUሺm ProNav: ac range: 38.924961 m, nav range: 38.054443 m, bearing: 147.074243 deg, approach rate: -0.673797 m/s, LOS rate: -0.059836 deg/s, cmd heading: 151.921384 deg, new cmd heading: 151.866798 deg. mB$uHeadingCmd: 2.650576 target range: 38.924961 and range: 39.20 m.bu)@ZqrqjqRqJqBq~y~y}y|y|!|!|- J? }{B}.R=I)1>IQ%< ;)@ԹR< =i)@iHHHIH=}BH =HHH<HEEEEE32E6G"=~GIAQAaNmW> Ku FP"Ku 9*Kq 2Ku *:Ku P(R}B{.*1,=R3hukKXL-">zSDd7QtO,?iA49>$^@>q,@Y>xJ=y>A=>H VۿI@T?>]?dȡD?? >$^@> f;)<IPIRBAZ|BX  AAI Ib3%au %G=y%Q %>٥)) -H-NF-o 5>1EM55PҜ?EM595 I5ByAE'@E@5>Ei5;5;5M5QU-AUE:^@q}}DNOT Ignoring new targets: 38.92 m.~~ ProNav: ac range: 38.924961 m, nav range: 37.792961 m, bearing: 147.051445 deg, approach rate: -0.634441 m/s, LOS rate: -0.055697 deg/s, cmd heading: 151.866797 deg, new cmd heading: 151.797931 deg. HeadingCmd: 2.649374 target range: 38.924961 and range: 39.20 m.bW)@ZrjRJB~~}||||`? #{B C=I ) N> I <  ;W)@<,z}=iW)@iԑEEEED5EԹ6Gnu=~GAA N > tO,?iA9J]6@JI,@YJl =yJ4=JHۿ`R? %`?l ?:? J]6@J6;)JCV|BV|I\MMb@Mb@Mb@III I)IYM#~j?A`"MbyM%?MYMM@ M$@)M@IM@IyIIeIeM3}0 D=y\ܺQ >٥ HOF >M5Ҝ?M59 IBy~&?:'@@>Ei::M5-AB}}B*** querying acoustic contact ***JRxYeDNOT Ignoring new targets: 38.92 m.aeNFeNF ProNav: ac range: 38.924961 m, nav range: 37.522861 m, bearing: 147.033020 deg, approach rate: -0.630828 m/s, LOS rate: -0.043343 deg/s, cmd heading: 151.797935 deg, new cmd heading: 151.742261 deg. HeadingCmd: 2.648402 target range: 38.924961 and range: 39.20 m.bk)@ZrjRJB~~zB}||||? -&{BMX-7=IQ)UE>QIU< QQUwB;]k)@]<]ax=iek)@iaT****** 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 O5E 1GG@A6GM [=jG] ?bG] >H >H H IH }BH H H H <H E~GA AQ i A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731666O,`Y?iA) RHG^ZAd ~YZAyB99eE@e,@YeE=ye#=eH_ܿ+G?'0?Сs?? eE@en;)eC|BvII I̍2 H=y:Q >٥ H >M5vҜ?M59{ IBy&@@>Ei::$M5%B.A EJ}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL  DNOT Ignoring new targets: 38.92 m. EE% ProNav: ac range: 38.924961 m, nav range: 37.258434 m, bearing: 147.016138 deg, approach rate: -0.672078 m/s, LOS rate: -0.043212 deg/s, cmd heading: 151.742256 deg, new cmd heading: 151.691251 deg. %?-HeadingCmd: 2.647512 target range: 38.924961 and range: 39.20 m.b-p)@Z)r)j1R1J1B1~9~9}9|9|A|A|E.? ){B靅$==I)\>IT< ;-p)@5y<5&o=i5p)@i9bEAZEAK}TP"K9*K2K+:Kk`l di5-::9 I mG3&  wL2FFf\iEEEEP0E:J]BJfJJKRJZJ]:bJ9J(4JzJ:jJ:J:rJ: 3?<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985741ԑ6Gvpx=~G A9 AQ N] > DP,]@iAE|BEiIiM=IM;QUAԩMb@Mb@Mb@ )Yw/?l񢿺I +y&?94@ ;@)3@I@yz@I%I%<25N =@=y=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235442Q M>٥II UHUPFU U>YeM5]Ҝ?eM59] I]Bym4'?m:mx(@m@]>Ei]:]:]M5qu\.AqDNOT Ignoring new targets: 38.92 m.-- ProNav: ac range: 38.924961 m, nav range: 36.979965 m, bearing: 146.987431 deg, approach rate: -0.653108 m/s, LOS rate: -0.067834 deg/s, cmd heading: 151.691248 deg, new cmd heading: 151.604480 deg. 6:HeadingCmd: 2.645997 target range: 38.924961 and range: 39.20 m.bX)@ZrjRJB~~{B}||||&O@ ,{B\1=I)>I+< %;X)@9<qv=iX)@iEiEiEqEqEq6G ,l= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487284~Gi Ay A N >9 ^P,b@iA9Jh@J&|+@YJ4=yJ.IP=JH`{ܿ ?=ѯ?w%? ? Jh@J;)JCV|BZ^IIbIb2fA jf=yj1;Q j>٥ll nHprμ r>tzM5vҜ?zM59v IvxByxz'@~@v>Eiv ;v ;vM5$B .A  EAEDNOT Ignoring new targets: 38.92 m.AMM] ProNav: ac range: 38.924961 m, nav range: 36.749233 m, bearing: 146.966472 deg, approach rate: -0.648557 m/s, LOS rate: -0.059283 deg/s, cmd heading: 151.604477 deg, new cmd heading: 151.541206 deg. ]"eHeadingCmd: 2.644893 target range: 38.924961 and range: 39.20 m.beE)@ZarajiRiJiBi~i~q}q|q|y|y|}&@ /{B靽M6=I)>I^K< w;E)@<W=iE)@iEiEqEqEu_0EyH>HHIH|BHHHH<HEHuØCHuØCHqHu =Iu = Iu5Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7394296G=x=ZGARGEA~GqԁAAN>K ŞP"K 9*K 2K ,:K lz,w!"@ tB7"X{Mwԙ P,5@iA:JBcBJBjJJBJRJ@ZJB:bJB9JB4J@zJB;jJB;JB:rJB:9JI@J1+@YJ=yJ +P=JHܿ@i`'?O ?`3£?T? JI@J|j;)JCbBDAT read: Rx Time:14:09:03.4743 bTRx dataTimestamp_ set to:1749132544.867406fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.992406q|B\I)   a=a=I=I=T3u u=y ;Q >ԡ٥ HQF >uM5Ҝ?uM59 ImByy}'@}@>Ei<<M5.AEDNOT Ignoring new targets: 38.92 m.yy ProNav: ac range: 38.924961 m, nav range: 36.379799 m, bearing: 146.935016 deg, approach rate: -0.632996 m/s, LOS rate: -0.054445 deg/s, cmd heading: 151.541202 deg, new cmd heading: 151.445875 deg. vHeadingCmd: 2.643229 target range: 38.924961 and range: 39.20 m.b*)@ZrjRJB~~}||||  @ -3{B-=I))->1I5< 19=q;=*)@EܢjEU>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244103EEEEO0E 6G- ^Y=~GaAyAN>P,ҍT@iAI)@9>@>*@Y> =y>bK=>H4ݿ=??v?`5d?`? >@D>a;)>C P)RAɵPPPTɶTiTITTIXiZzA XX)X\ ^lA^ף\ɷ\\b-AIblg)b}Fi`)`IfAfɸfXF dɹddhihhihjʃA)h hIlٯlppDAT read: 14:09:03.4743 LVL= 21664, 29041, 18978, 31987, AGC= 66, IDX= 406,-0.03, 2.231, 0.842, 2.379, 1.913, PHS= 0.406,-1.025, 0.463, RAW= 151.9, 2.2, CAL= 154.3, -6.7, ROT= 355.7, 6.7 Ygot valid direction response: 14:09:03.4743 LVL= 21664, 29041, 18978, 31987, AGC= 66, IDX= 406,-0.03, 2.231, 0.842, 2.379, 1.913, PHS= 0.406,-1.025, 0.463, RAW= 151.9, 2.2, CAL= 154.3, -6.7, ROT= 355.7, 6.7 PDAT read: Bearing 355.7, 6.7 (Local) ~Local bearing/azimuth received: Bearing 355.7, 6.7 (Local) DAT read: Range 10 to 50 : 37.0 m (Round-trip 49.4 ms) speed 0.5 m/s  ,DAT read: user:1960>  BDAT read: Tx time:14:09:04.5708 $Ping request sent.ۅ33ۅV> ܅)@)܅nF=I܅Z,@i܅|i܅@܅|= ݁)݁݅<#/#?b?p eR?i݅K?݅݅)݅|= ށ)ށE:publishing transmit ping timeEFpublishing direction and range infoځyڅȲ&?)fn8mu"޽ځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅<#/#?b?p eR?i݁݁݁݁ ށ)ށchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.022223Mb@Mb@Mb@ )Yp= ף?ktMby%? 0v@ $@)`@Iy@I5I52Աo: @=y~:Q >٥ HRFL >M5sҜ?M59k IfBy%?:&@@>EiyH<A<M5.AZbAW@iABB&@ʁh G}1B@$՘c%Ȳ&?)fn8mu"޽)|=ҁ=? S2@T,]T@[%8CHCH~IH|BH =HH.DH<HE|A|EB@|E ? 6{B靕'=I)>I< 6;-)@<ցJ=i-)@iM JDAT read: TxSync time:14:09:04.5700 M checking for new query: numPingsReceived=1, elapsed TxPingTime=0.237168EU EQ EQ EU 4EY  A 6G} JR=K JP"K 9*K 2K -:K >d5E =S7Nx + v! ]9i&t$ ~G9AAAYN>FP,}s@iA9f6@f*@Yf=yfL=fHgw@9ݿ臿!?l̯?}ԣ@S? ? f6@f;)fC|BLIԩ:J]BJSJJBRJZJ]:bJy69J-4JzJ:jJ:J)C:rJ+C:I I m?3t @=y'Q >-checking for new query: numPingsReceived=1, elapsed TxPingTime=0.486655٥II MHMSFUɻ U>YM5]|_Ҝ?M59] I]^By&@@]>Ei]%J<]J<]RM5#B/AE%B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 36.74 m.1]] ProNav: ac range: 36.740261 m, nav range: 35.931065 m, bearing: 147.480556 deg, approach rate: -0.683188 m/s, LOS rate: -0.031269 deg/s, cmd heading: 151.374218 deg, new cmd heading: 151.336001 deg. HeadingCmd: 2.641311 target range: 36.740261 and range: 37.00 m.b? )@ZrjRJB~~}||||? -8{B-˃-=I1)5>1IU< QQ];]? )@](r'#P,;@iA96i@6*@Y6=y6$=6Hy2ݿf ?`r潪?@҂a?? 6i@6<;)4|BKIMb@Mb@Mb@ )YʡE?I +y?̼94A ;@)@I$@yQ@II<2   L=yһQ >٥ H): >!-M5%MҜ?-M519% I%WBy=?=:=B(@=@%>Ei% ?;%=;%M5AE /AEEiuDNOT Ignoring new targets: 36.74 m.q}c}c ProNav: ac range: 36.740261 m, nav range: 35.687984 m, bearing: 147.459053 deg, approach rate: -0.644884 m/s, LOS rate: -0.057434 deg/s, cmd heading: 151.335996 deg, new cmd heading: 151.271049 deg. HeadingCmd: 2.640178 target range: 36.740261 and range: 37.00 m.b(@ZrjRJB~~Z{B}||||@r? }:{B靅J,=I)>I,< F;(@<QJ=i(@izEEMEIEIEMT0EI}checking for new query: numPingsReceived=1, elapsed TxPingTime=0.997504ԁԱ6G C=~GY Ai Ay H ټ>N >H H kIH |BH  =H H -DH <H /E P)P,@iA9:ݥ@:>*@Y:==y:+=:H`LtEݿ@z2?l,?@ơ k?? :ݥ@:a;):CFz|BFEIIN!INi3Vռ Vc=yZ>Q Z>٥XX ^H^TF^{ ^>`fM5bg=Ҝ?fM59b IbQByhj,(@j@b>Eib:b:bM5zchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.252212x~2/A|!%DNOT Ignoring new targets: 36.74 m.!-u-u= ProNav: ac range: 36.740261 m, nav range: 35.467506 m, bearing: 147.439774 deg, approach rate: -0.610431 m/s, LOS rate: -0.053711 deg/s, cmd heading: 151.271055 deg, new cmd heading: 151.212856 deg. =rEHeadingCmd: 2.639162 target range: 36.740261 and range: 37.00 m.bE (@ZArAjIRIJIBI~I~Q}Q|Q|Q|Q|? 5<{B54,=IQ)U>YI]Y< YY];e (@e#9J%Ժ4J!zJ%:jJ%:J%}Q:rJ%Q:checking for new query: numPingsReceived=1, elapsed TxPingTime=1.5026796G.H= ~G A A N >9 90P,@iA9@*@Y=y+=H`bn ]ݿK? f֪?o^?G? @骽;)Cq|B@IMb@Mb@Mb@ )Y`"?Zd;O~jty?jD`@ h@)v@Iy@IIT3  .=y4Q >٥ HUFh >M5(Ҝ?M59 IIBy?:0(@@>Eik;j;M5!BH/AE DNOT Ignoring new targets: 36.74 m.sschecking for new query: numPingsReceived=1, elapsed TxPingTime=1.754635 ProNav: ac range: 36.740261 m, nav range: 35.189838 m, bearing: 147.415045 deg, approach rate: -0.592988 m/s, LOS rate: -0.053226 deg/s, cmd heading: 151.212861 deg, new cmd heading: 151.138092 deg. HeadingCmd: 2.637857 target range: 36.740261 and range: 37.00 m.b(@Zrj!R!J)B)~)~-{B}1|1|1|1|5Ձ? ?{B=I)>Iγ< +;(@<G=i(@i AEEEE_0Ei 6G} H=ZG RG A~GY Aa Ay N > checking for new query: numPingsReceived=1, elapsed TxPingTime=2.006651a6P,r@iA 9fZ@f.n*@Yf=yf&=fH@cݿt[u?@c\@6E?`+ڠ ٤?? fZ@f@;)fCrk|Br<IIzIz3 j=yQ >٥    H  >%M5Ҝ?-M59[ ICBy15(@5@>Eijr;Us;M59Eb/AAimDNOT Ignoring new targets: 36.74 m.iu$iu$i ProNav: ac range: 36.740261 m, nav range: 34.983162 m, bearing: 147.397381 deg, approach rate: -0.592721 m/s, LOS rate: -0.050957 deg/s, cmd heading: 151.138098 deg, new cmd heading: 151.084793 deg.  HeadingCmd: 2.636927 target range: 36.740261 and range: 37.00 m.bj(@ZrjRJB~~}||||f@ A{Bc0.=I)>I 7< }";j(@B<@=ij(@iqGyGyEEEEs1EF=F=Hּ>HCH_IH|BHHHHǚ<HEԙchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.2586306G.H=~GAAN> K= vP"K= 9*K9 2K= /:K= dX9)uI" xqh8-%9l:ю٥ HVF >M5Ҝ?M59 IEiw;p;M59=~/A=E]DDAT read: Rx Time:14:09:06.7463 eTRx dataTimestamp_ set to:1749132547.900078mPDAT read: Bearing 358.0, 6.7 (Local) m~Local bearing/azimuth received: Bearing 358.0, 6.7 (Local) }DAT read: Range 10 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5 DAT read: 14:09:06.7463 LVL= 19600, 22129, 17714, 26867, AGC= 65, IDX= 151, 0.15, 1.686, 0.255, 1.759, 1.331, PHS= 0.444,-1.028, 0.425, RAW= 149.4, 2.2, CAL= 152.0, -6.7, ROT= 358.0, 6.7 MB*** querying acoustic contact ***JQRQuYgot valid direction response: 14:09:06.7463 LVL= 19600, 22129, 17714, 26867, AGC= 65, IDX= 151, 0.15, 1.686, 0.255, 1.759, 1.331, PHS= 0.444,-1.028, 0.425, RAW= 149.4, 2.2, CAL= 152.0, -6.7, ROT= 358.0, 6.7 }R#Rx 2: Read range and direction messages.DNOT Ignoring new targets: 36.74 m.`direction in FSK: [0.992566,-0.034661,-0.116671]HHFpublishing direction and range infoYy]Ej?3mu"޽]3 BYY ]L)]qVI]2Ei]h]A]S>]]> ]&@)YI])@iY]@Y Y)Y]o ?<:Y? ?i]B)?]^Z- ProNav: ac range: 36.740261 m, nav range: 34.725460 m, bearing: 147.376499 deg, approach rate: -0.536855 m/s, LOS rate: -0.043825 deg/s, cmd heading: 151.084795 deg, new cmd heading: 151.021684 deg. -5HeadingCmd: 2.635826 target range: 36.740261 and range: 37.00 m.b5^(@Z1r1j1R1J9B9~9~9]QY Y)Ymchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.578460}i|i|q|u`ffA@|u`}u? D{B)=I)>Ic< @;-^(@5><5X9=i5^(@iaE=E9EAEEo0EA checking for new query: numPingsReceived=2, elapsed TxPingTime=2.763271! 6G @A=jG bG ?~G A A N >CP,rAiAD9N@NA*@YN=yN.=NH-K?ݿ@\@w?+C`"=?V` ԥ? ? N@N{\;)NCjr|Bj@Iin>Inp٥q HWF!ͻ > M5ќ?5M59L I5By5Z?5:5F'@5@>Eig;Z;M59EC/AA:J}^BJ}RJJ}>RJyZJ}} :bJ}S29J}t4Jy@@@@Zb@iA7 B7 B(@ʁ?0&A@C?)|; Ej?3mu"޽Qҁ <=4t=.0@Q{l+Tɒ)?QÿzAjXI)Ȝ?rY} gBRӪ  bBu B$@DDAT read: Rx Time:14:09:07.2459 TRx dataTimestamp_ set to:1749132548.403968PDAT read: Bearing 358.2, 7.4 (Local) ~Local bearing/azimuth received: Bearing 358.2, 7.4 (Local) %DAT read: Range 10 to 50 : 34.2 m (trip time 22.8 ms) speed 0.6 MDAT read: 14:09:07.2459 LVL= 19760, 28065, 17394, 28387, AGC= 62, IDX= 499, 0.13,-1.066,-2.492,-1.009,-1.443, PHS= 0.465,-1.002, 0.431, RAW= 148.8, 1.5, CAL= 151.8, -7.4, ROT= 358.2, 7.4 UYgot valid direction response: 14:09:07.2459 LVL= 19760, 28065, 17394, 28387, AGC= 62, IDX= 499, 0.13,-1.066,-2.492,-1.009,-1.443, PHS= 0.465,-1.002, 0.431, RAW= 148.8, 1.5, CAL= 151.8, -7.4, ROT= 358.2, 7.4 UR#Rx 3: Read range and direction messages.]`direction in FSK: [0.991182,-0.031149,-0.128796]]Fpublishing direction and range infoyO·?埿OZ_|BY 0M)mICin>{>A> 6&@)Pw )Y??4s?i?Ӽѭ A> )checking for new query: numPingsReceived=3, elapsed TxPingTime=3.037293 addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 3.033347 s, deltaX: -2.799999 m, approachRate: -0.923073 m/s, rangeRepo size: 4  Added new target pos. range: 34.554314 m, bearing: 150.491356 deg, lat: 36.906419 deg, lon: -122.115987 deg, deltaT: 2.529457 s, deltaX: -2.185947 m, approachRate: -0.864196 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.55 m. ProNav: ac range: 34.554314 m, nav range: 34.365074 m, bearing: 147.574637 deg, approach rate: 0.000000 m/s, LOS rate: -0.043825 deg/s, cmd heading: 151.021684 deg, new cmd heading: 150.958219 deg. !-HeadingCmd: 2.634718 target range: 34.554314 and range: 34.20 m.b-8(@Z)r)j)R)J1B1~1~5I{B}9|9|9|=A@|E }Z? F{B靵e=I)>IAѥ< ;8(@ <"3=i8(@iEEEEn0EH} ׼>Hy H} XIH} |BH}  =Hy Hy H} <H} E  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.268670 +G! A 6Ge C9=q Y y +B~GqAyAN>JP,.AiA9@p)@Y0} =y<=H X;= ޿S `B ?1/? n`?? @;)Ep|BE?IIUIUb2\ 0=y:Q >٥ H > M5aќ?M59 I/By'@KE.?P"KEж9*KA2KE0:KE,;MkID\H430K-6f^x)q; H ABRu@>Eiܫ<<M5B5/AEZbAiABB= (@ʁ]@@fHxޮ~O·?埿OZ_|ѭ A>ҁV\;)='1}0@ā>8ɬzΦw?TĿzAIj6+ GȜ?r} 1fB6+ GȜ?4U=  JeBQB?&@DNOT Ignoring new targets: 34.55 m.% ProNav: ac range: 34.554314 m, nav range: 34.112091 m, bearing: 147.560177 deg, approach rate: -0.557239 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.958218 deg, new cmd heading: 150.914519 deg. %(UHeadingCmd: 2.633955 target range: 34.554314 and range: 34.20 m.b](@ZYrYjYRYJaBa~~}||||?DDAT read: Rx Time:14:09:07.7458 TRx dataTimestamp_ set to:1749132548.910792PDAT read: Bearing 357.5, 6.9 (Local) ~Local bearing/azimuth received: Bearing 357.5, 6.9 (Local) DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 DAT read: 14:09:07.7458 LVL= 21312, 27633, 20466, 31795, AGC= 63, IDX= 498, 0.14, 0.627,-0.815, 0.713, 0.267, PHS= 0.448,-1.035, 0.443, RAW= 149.8, 2.0, CAL= 152.5, -6.9, ROT= 357.5, 6.9 %Ygot valid direction response: 14:09:07.7458 LVL= 21312, 27633, 20466, 31795, AGC= 63, IDX= 498, 0.14, 0.627,-0.815, 0.713, 0.267, PHS= 0.448,-1.035, 0.443, RAW= 149.8, 2.0, CAL= 152.5, -6.9, ROT= 357.5, 6.9 %R#Rx 4: Read range and direction messages.M`direction in FSK: [0.991812,-0.043304,-0.120137]UFpublishing direction and range infoyx??{+rjƹIfBY @S)kIOi3|?B`>z> T'@)5=IX*@iϢi@Ϣ= ).C;?|,?"?iJ?A Ѹ2Ϣ= ) H{B靅P =I)(>I< 3;checking for new query: numPingsReceived=4, elapsed TxPingTime=3.541541(@Q<&(=i(@irE]>jE >!EaEaEaEe_0EaFmAFmAԑ 6Gm 1=~G) A1 AA N] >gRPchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.770531,/JAiA9r?@r)@YrO=yr?F=rH:$޿@>? /#`?(@2?@E? r?@rؑ;)p-h|B-:IaMb@Mb@Mb@ )Y?Zd;O~jtxy ?jĻ`@ @)IyII3+ 5=yN;Q >٥ HXF: >!-M5%xќ?-M59% I%(By- ?-:5'@5@%?Ei%;%};%M5]B].A]EZbkJ:AiAoBoBDQ'@ʁQx@@-*u!_Ex??{+rjƹIѸ2Ϣ=ҁ <)30@2"J]rVoO뿃o_?V;ĿzA-j_KȜ?rY gBY  1fBB]'@ addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.506824 s, deltaX: -0.100002 m, approachRate: -0.197312 m/s, rangeRepo size: 4 % Added new target pos. range: 33.859268 m, bearing: 149.790361 deg, lat: 36.906416 deg, lon: -122.116002 deg, deltaT: 1.010714 s, deltaX: -0.695045 m, approachRate: -0.687678 m/s, posRepo size: 4 )-DNOT Ignoring new targets: 33.86 m.IUQe ProNav: ac range: 33.859268 m, nav range: 33.482800 m, bearing: 149.834540 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.914519 deg, new cmd heading: 150.875576 deg. auHeadingCmd: 2.633276 target range: 33.859268 and range: 34.10 m.bu(@ZqrqjqRyJyBy~y~?{B}ԑ||| A@|`@? MI{BU0#=IY)]c>I < շ;(@:$<~+=i(@iJ4JH4J n1:JM[BJIJJMIRJIZJM:bJIJMF4JIDDAT read: Rx Time:14:09:08.2457 TRx dataTimestamp_ set to:1749132549.413451PDAT read: Bearing 358.3, 7.5 (Local) ~Local bearing/azimuth received: Bearing 358.3, 7.5 (Local) DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 5DAT read: 14:09:08.2457 LVL= 21216, 28401, 18610, 32755, AGC= 61, IDX= 495, 0.22, 0.063,-1.375, 0.115,-0.321, PHS= 0.472,-1.006, 0.433, RAW= 148.7, 1.4, CAL= 151.7, -7.5, ROT= 358.3, 7.5 EEEEm0EYgot valid direction response: 14:09:08.2457 LVL= 21216, 28401, 18610, 32755, AGC= 61, IDX= 495, 0.22, 0.063,-1.375, 0.115,-0.321, PHS= 0.472,-1.006, 0.433, RAW= 148.7, 1.4, CAL= 151.7, -7.5, ROT= 358.3, 7.5 R#Rx 5: Read range and direction messages.`direction in FSK: [0.991008,-0.029413,-0.130526]Fpublishing direction and range infoysMgW?B g /3BY R)nIHi=>Ā-> x&@)+ ) = @??~7?i3?1yȼ > )} checking for new query: numPingsReceived=5, elapsed TxPingTime=4.079510 H <H 6G k%=ZG RG AH ؼ>H H RIH |BH H H H ;<H ]EH˖CH˗CHH =I = IK5~G A A N >YLYP,fAiA9Z@Z )@YZK=yZlyS=ZH8<޿&?+0@h?fȢ`g?? Z@Z%ܐ;)ZC~b|B~6II-I-m?3=?b =N=y=3I;AQ >٥ HYF@: >M5uќ?M59 checking for new query: numPingsReceived=5, elapsed TxPingTime=4.274754I#By%'@@?Ei;;WM5.AZbuZAiA>B>BP(@ʁ~<@@7>"DžsMgW?B g / >ҁM%=IQ)U>QI]E< YY]PX;e|(@e!e DAT read: 14:09:08.7456 LVL= 20784, 26433, 18706, 31731, AGC= 62, IDX= 510, 0.47, 0.504,-0.919, 0.563, 0.151, PHS= 0.441,-1.023, 0.409, RAW= 148.9, 2.4, CAL= 151.5, -6.4, ROT= 358.5, 6.4  Ygot valid direction response: 14:09:08.7456 LVL= 20784, 26433, 18706, 31731, AGC= 62, IDX= 510, 0.47, 0.504,-0.919, 0.563, 0.151, PHS= 0.441,-1.023, 0.409, RAW= 148.9, 2.4, CAL= 151.5, -6.4, ROT= 358.5, 6.4  R#Rx 6: Read range and direction messages. `direction in FSK: [0.993427,-0.026014,-0.111469] Fpublishing direction and range infoq yu B5(?g -V:u fBYq u 0Q)u AgIu Iiu {u >u >u u sh> u R&@)u +=Iu %:)@iu 佉u c9@u = q )q u +?i?^?ƥ?iu s$?u R,u wּu = q )q  checking for new query: numPingsReceived=6, elapsed TxPingTime=4.613194J)`P,.AiAԹ9]3@])@Y](0=y]Q@k=]H@A ޿-y@3?q1@ }?D ^?? ]3@]Տ;)]Cf|B 9IIeIe#3< '=y:Q >٥ HZF !;  >M5%ќ?M59+ IBy:'@@ ?Ei:>:M5AM.AM"EZbzAiAsBsB5(@ʁ.i`@@Tf뿈"xY B5(?g -V:wּ=ҁy#-<-,ZX0@b1v=x-y?qVL6ÿz2Aj6-Ȝ?rp _hB} checking for new query: numPingsReceived=6, elapsed TxPingTime=4.780949 gBꁵaB[;(@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.504811 s, deltaX: -0.200001 m, approachRate: -0.396189 m/s, rangeRepo size: 4   Added new target pos. range: 33.362839 m, bearing: 150.933702 deg, lat: 36.906415 deg, lon: -122.116007 deg, deltaT: 0.504811 s, deltaX: -0.198589 m, approachRate: -0.393393 m/s, posRepo size: 4   DNOT Ignoring new targets: 33.36 m. e ProNav: ac range: 33.362839 m, nav range: 32.844887 m, bearing: 150.608984 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.835384 deg, new cmd heading: 150.788892 deg. amHeadingCmd: 2.631763 target range: 33.362839 and range: 33.60 m.bmn(@ZirijiRiJqBq~~}||!|%@@|%? L{B靽D=I)A>I@<  D;n(@6<^7=in(@izE E E E E _0E F1 F5 =9 :J \BJ PJJ ARJ ZJ =:bJ *9J 4J  DDAT read: Rx Time:14:09:09.2453  TRx dataTimestamp_ set to:1749132550.420091 PDAT read: Bearing 359.0, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 359.0, 5.9 (Local)  DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4  DAT read: 14:09:09.2453 LVL= 20832, 28657, 18290, 30963, AGC= 63, IDX= 508,-0.19,-2.349, 2.533,-2.302,-2.687, PHS= 0.426,-1.016, 0.382, RAW= 148.5, 3.0, CAL= 151.0, -5.9, ROT= 359.0, 5.9  Ygot valid direction response: 14:09:09.2453 LVL= 20832, 28657, 18290, 30963, AGC= 63, IDX= 508,-0.19,-2.349, 2.533,-2.302,-2.687, PHS= 0.426,-1.016, 0.382, RAW= 148.5, 3.0, CAL= 151.0, -5.9, ROT= 359.0, 5.9  R#Rx 7: Read range and direction messages. `direction in FSK: [0.994551,-0.017360,-0.102793] Fpublishing direction and range infoځ yڅ KG]? JƑzBPڅ BYځ ۅ `Q)ۅ oIۅ rGiۅ xۅ ?ۅ >ۅ J ۅ > ܅ H%@)܅ PwV=I܅ +(@i܅ Bҽ܅ @܅ B= ݁ )݁ ݅ ;}+?Z(u?^}sx?i݅ X>݅ S݅ ݅ B= ށ )ށ  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.0479326G-{/=i~GAA)N=>gP,hAiAH H H H H H H H #<H 9E9@)@Y!=y=H G ݿ3q?>4`?@£`]?!? @骵v;)Cb|B6IQ=Mb@Mb@Mb@999 9)9Y= rh?L7A`堿y=C ?=+==@ =~@)9I=h@9y=@IIF3 &=yv;Q >٥ Hn; >M5ќ?M59 IBy ?:&@@?EiE::M5.AZbAiABBG)@ʁX%d@@]]1Pz KG]? JƑzBPB=ҁ_8`</@3iǔ,y.? -¿zxAj4&Ȝ?r, iBe  4BW(@ addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.501829 s, deltaX: -0.399998 m, approachRate: -0.797080 m/s, rangeRepo size: 4  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.286625e Added new target pos. range: 32.965652 m, bearing: 151.548393 deg, lat: 36.906415 deg, lon: -122.116008 deg, deltaT: 0.501829 s, deltaX: -0.397186 m, approachRate: -0.791477 m/s, posRepo size: 4 amDNOT Ignoring new targets: 32.97 m.iiiԁ ProNav: ac range: 32.965652 m, nav range: 32.550900 m, bearing: 150.707982 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.788898 deg, new cmd heading: 150.742545 deg. HeadingCmd: 2.630954 target range: 32.965652 and range: 33.20 m.ba(@ZrjRJB~~M{B}|||@@|)? M{B靥v =I)>Iw< |2;a(@1&<|Y@=ia(@iEiEiEiEqEqԩK @KP"K 9*K 2K 2:K }7Yh5^!Z ~b;@vAAEe  DDAT read: Rx Time:14:09:09.7452  TRx dataTimestamp_ set to:1749132550.926584 PDAT read: Bearing 359.2, 5.7 (Local)  ~Local bearing/azimuth received: Bearing 359.2, 5.7 (Local)  DAT read: Range 10 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 6G 7=E DAT read: 14:09:09.7452 LVL= 20256, 27777, 18402, 31043, AGC= 62, IDX= 507, 0.04,-0.147,-1.558,-0.106,-0.487, PHS= 0.427,-1.024, 0.378, RAW= 148.3, 3.1, CAL= 150.8, -5.7, ROT= 359.2, 5.7 U Ygot valid direction response: 14:09:09.7452 LVL= 20256, 27777, 18402, 31043, AGC= 62, IDX= 507, 0.04,-0.147,-1.558,-0.106,-0.487, PHS= 0.427,-1.024, 0.378, RAW= 148.3, 3.1, CAL= 150.8, -5.7, ROT= 359.2, 5.7 U R#Rx 8: Read range and direction messages.] `direction in FSK: [0.994959,-0.013893,-0.099320]] Fpublishing direction and range infoڱ yڵ M9^?shܸmڵ BYڱ ۵ O)۵ lI۵ Gi۵ Cy۵ >۵ >۵ o۵ 7> ܵ %@)ܵ k]=Iܵ q(@iܵ %˽ܵ y@ܵ %= ݱ )ݱ ݵ U%"?p8K?vyIm˼?iݵ />ݵ .^ݵ Ddݵ %= ޱ )ޱ  checking for new query: numPingsReceived=8, elapsed TxPingTime=5.572116~G A A N>JnP,.AiAx9Vm @V*@YV45 =yV7=VHOݿ>"i?9$?W@P?? Vm @V;0;)VC5[|B52Ii=٥ H[Fۡ; >9}M5=ќ?M59=9| I=By =&@ @=?Ei=<=ڶ<)=M5UBU /A%EZ)b-'MAiA-B-B-)@ʁ- M@@(3 '"ݿY -M9^?shܸm-Dd-%=ҁ-خ@I&< ?;(T(@%N<%0|J=i%(T(@i1QEEEE`0Eԉ 6G @A=:Jq BJu RJJq RJq ZJq bJu S29Jq Jq ~G A ԡ A N >mvP,AiADDAT read: Rx Time:14:09:10.2450 TRx dataTimestamp_ set to:1749132551.427956"PDAT read: Bearing 358.9, 5.8 (Local) "~Local bearing/azimuth received: Bearing 358.9, 5.8 (Local) *DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 >DAT read: 14:09:10.2450 LVL= 21312, 25153, 18274, 29587, AGC= 63, IDX= 504, 0.22,-0.365,-1.781,-0.314,-0.704, PHS= 0.427,-1.030, 0.387, RAW= 148.6, 3.0, CAL= 151.1, -5.8, ROT= 358.9, 5.8 BYgot valid direction response: 14:09:10.2450 LVL= 21312, 25153, 18274, 29587, AGC= 63, IDX= 504, 0.22,-0.365,-1.781,-0.314,-0.704, PHS= 0.427,-1.030, 0.387, RAW= 148.6, 3.0, CAL= 151.1, -5.8, ROT= 358.9, 5.8 BR#Rx 9: Read range and direction messages.N`direction in FSK: [0.994697,-0.019099,-0.101056]NFpublishing direction and range infoy<鏏?t+hg޹BY @S)AbIbGis? ׃$> %@)PwV=I(@i4QϽr@4Q= )|)o ?^@?TF$)?i>hYF4Q= )%checking for new query: numPingsReceived=9, elapsed TxPingTime=6.0702059V@Wj*@YR %=y=H`ݿg@v?hI?ܟ-? ? V@骵*;)C=\|B=3IGG?AHݼ>HCHLIH|BH =HHH<<HdEEMb@Mb@Mb@AAA A)AYEDl?ktMb`yEO ?E 0EEhA Eh@)EAIE@AyE@I}I}2xI; !=y;Q >٥ H\FK< >UN5rќ?UN59^x I ByU ?U:Uv%@U@?Ei\::N5ae/AaZbcAiABB)@ʁ5 &@@^H6H7ȋ? <鏏?t+hg޹F4Q=ҁr`XI0< checking for new query: numPingsReceived=9, elapsed TxPingTime=6.290905vj;2G(@^<M]=i2G(@i q E E E E _0E ԡ 6G LO&Tv;3Z:(m~GAAN>}P,_AiAnDDAT read: Rx Time:14:09:10.7448 rTRx dataTimestamp_ set to:1749132551.931892vPDAT read: Bearing 358.4, 5.6 (Local) v~Local bearing/azimuth received: Bearing 358.4, 5.6 (Local) DAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 uDAT read: 14:09:10.7448 LVL= 20896, 25473, 19730, 29427, AGC= 64, IDX= 503,-0.47,-1.440,-2.835,-1.370,-1.761, PHS= 0.409,-1.027, 0.387, RAW= 149.3, 3.3, CAL= 151.6, -5.6, ROT= 358.4, 5.6 }Ygot valid direction response: 14:09:10.7448 LVL= 20896, 25473, 19730, 29427, AGC= 64, IDX= 503,-0.47,-1.440,-2.835,-1.370,-1.761, PHS= 0.409,-1.027, 0.387, RAW= 149.3, 3.3, CAL= 151.6, -5.6, ROT= 358.4, 5.6 T#Rx 10: Read range and direction messages.`direction in FSK: [0.994839,-0.027788,-0.097583]Fpublishing direction and range infopC|B#III 3~ N=yQ >٥ H >yr!Jb?בtA_1rBYp rQ)rcIrMirrr@rsh>rtp r &@)rk=IrV)@ir+Ƚr+@r+= p)pr'R?l}w4?>~"K?ird?ryjrr+= p)p%checking for new query: numPingsReceived=10, elapsed TxPingTime=6.584833-N51cќ?5N59[u IBy115@?Ei;6;N59=c/AE(EZpbrAiArBrBrt)@ʁr0p@@(aϜW| r!Jb?בtA_1rr+=ҁra(c;P7>.@7b6r_n`?"zrNtArjr/Ȝ?rr rVjBpp riBr/Ar\)@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503936 s, deltaX: -0.299999 m, approachRate: -0.595312 m/s, rangeRepo size: 4 5 Added new target pos. range: 32.171593 m, bearing: 151.361201 deg, lat: 36.906412 deg, lon: -122.116012 deg, deltaT: 0.503936 s, deltaX: -0.297886 m, approachRate: -0.591119 m/s, posRepo size: 4 15DNOT Ignoring new targets: 32.17 m.199u ProNav: ac range: 32.171593 m, nav range: 31.898314 m, bearing: 151.621712 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.650395 deg, new cmd heading: 150.614247 deg. yHeadingCmd: 2.628715 target range: 32.171593 and range: 32.40 m.b<(@ZrjRJB~~}|A|A|E@33@@|E@Jz? 5P{B}L=I)Ls>Iĵ< w;<(@<X^=i<(@iqEEEEE ׉׉checking for new query: numPingsReceived=10, elapsed TxPingTime=6.796109ԡ 6G- np_=~G A1 A N >AP,'BiA9Ù@$*@Y&=y=Ho`Yݿkf;?PWnc?`bۤۯ?S? Ù@骝+;)J|B'I)  ==UDDAT read: Rx Time:14:09:11.2445 ]TRx dataTimestamp_ set to:1749132552.438105mPDAT read: Bearing 360.0, 5.0 (Local) ~Local bearing/azimuth received: Bearing 360.0, 5.0 (Local) DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 =DAT read: 14:09:11.2445 LVL= 22944, 30497, 18098, 32755, AGC= 62, IDX= 500,-0.08, 2.754, 1.373, 2.775, 2.430, PHS= 0.412,-1.010, 0.342, RAW= 147.5, 3.7, CAL= 150.0, -5.0, ROT= 360.0, 5.0 EYgot valid direction response: 14:09:11.2445 LVL= 22944, 30497, 18098, 32755, AGC= 62, IDX= 500,-0.08, 2.754, 1.373, 2.775, 2.430, PHS= 0.412,-1.010, 0.342, RAW= 147.5, 3.7, CAL= 150.0, -5.0, ROT= 360.0, 5.0 MT#Rx 11: Read range and direction messages.^direction in FSK: [0.996195,0.000000,-0.087156]Fpublishing direction and range infoYy]}6? j`>O]BYY ]Y)]!wI]Fi]]>]>]G]> ]S$@)] A=I]6'@i]¸]@]¸= Y)Y],S?P|?w?i]>]S].;4]¸= Y)Ychecking for new query: numPingsReceived=11, elapsed TxPingTime=7.093308MMb@Mb@Mb@III I)IYMCl?MbyM?MLMMA M@)IIIIyM(@II2;< =yY:Q >٥ H]F; >N5Lќ?N59p IBy t? : %@ @?EiW;V;[ N5 B%F/A%+EZYb] BiA]1A]1A]S+@ʁ]K?@gO6>vz']}6? j`>O].;4]¸=ҁ] < ( t,@@2]Vݪ9R݁?iOz]cA]j]1 Ȝ?r]ܿ& ]lB]Ȝ?]L:  ]'jB]A])@HHHFIH||BH =HHH<H-E addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.506213 s, deltaX: -0.400002 m, approachRate: -0.790184 m/s, rangeRepo size: 4  Added new target pos. range: 31.774412 m, bearing: 153.165226 deg, lat: 36.906411 deg, lon: -122.116014 deg, deltaT: 0.506213 s, deltaX: -0.397181 m, approachRate: -0.784612 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.77 m.!Yu ProNav: ac range: 31.774412 m, nav range: 31.612312 m, bearing: 151.942765 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.614250 deg, new cmd heading: 150.560803 deg. yHeadingCmd: 2.627782 target range: 31.774412 and range: 32.00 m.b-(@ZrjRJB~~{B}|||@@|kc? mR{Bm =Ii)mw>qIb< `;-(@ >< ip=i -(@i Q E E E E \0E  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.298770y 6G g\=~GA A)NU?c3P,-^7BiA$KfP"K9*K2K4:K6^CxVP- 5 G gC}KBY")7JAJAIIAA:J`BJQJJGRJZJ:bJ-.9Jc4JzJ:jJ:J4:rJ4:MDDAT read: Rx Time:14:09:11.7444 MTRx dataTimestamp_ set to:1749132552.939916]PDAT read: Bearing 357.8, 6.3 (Local) ]~Local bearing/azimuth received: Bearing 357.8, 6.3 (Local) mDAT read: Range 10 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 DAT read: 14:09:11.7444 LVL= 20704, 30993, 18210, 32755, AGC= 63, IDX= 499, 0.11,-0.668,-2.066,-0.583,-1.001, PHS= 0.421,-1.018, 0.415, RAW= 149.8, 2.6, CAL= 152.2, -6.3, ROT= 357.8, 6.3 Ygot valid direction response: 14:09:11.7444 LVL= 20704, 30993, 18210, 32755, AGC= 63, IDX= 499, 0.11,-0.668,-2.066,-0.583,-1.001, PHS= 0.421,-1.018, 0.415, RAW= 149.8, 2.6, CAL= 152.2, -6.3, ROT= 357.8, 6.3 T#Rx 12: Read range and direction messages.`direction in FSK: [0.993228,-0.038156,-0.109734]Fpublishing direction and range infoIyM@?:,=MfAYI MP)MyIM"GiIM?MP>MMMz> MT'@)M9=IMP*@iMz0ὉMM@Mz0= I)IMnv1 ?}q?6M^?iMn?Mj7MFMz0= I)Ichecking for new query: numPingsReceived=12, elapsed TxPingTime=7.566104H|B&II=I= 3M_ M2=yUyQ }>٥ H^F >N5:ќ?N59Zm IBy@$?Ei ; ;[N5J/A*EZIbM't\?@I dF9 M@?:,=MFMz0=ҁMI/N;;(Yt4.@3 7EM}{ɬwjR?i>CÿzMqAMwjM3^=Ȝ?rMt MiBII IMAM)@] addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.501811 s, deltaX: -0.200001 m, approachRate: -0.398558 m/s, rangeRepo size: 4  Added new target pos. range: 31.575846 m, bearing: 151.055707 deg, lat: 36.906411 deg, lon: -122.116014 deg, deltaT: 0.501811 s, deltaX: -0.198566 m, approachRate: -0.395700 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.58 m. ProNav: ac range: 31.575846 m, nav range: 31.355301 m, bearing: 151.976968 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.560797 deg, new cmd heading: 150.517836 deg. HeadingCmd: 2.627032 target range: 31.575846 and range: 31.80 m.bJ!(@ZrjRJB~~}| | |?@|l=? S{B靥\=ԩI)^t>I< Y;J!(@<Bq=iJ!(@iE E E E P0E  checking for new query: numPingsReceived=12, elapsed TxPingTime=7.802991 6Gbq=~G!AIAaNu?P,@WBiA\9=թ@=5*@Y=?)=y=6]==HdsKݿ3d`-? Yص? "?? =թ@=MJ;)=Cu/|BuI=DDAT read: Rx Time:14:09:12.2442 =TRx dataTimestamp_ set to:1749132553.443957MPDAT read: Bearing 357.7, 6.3 (Local) M~Local bearing/azimuth received: Bearing 357.7, 6.3 (Local) ]DAT read: Range 10 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 DAT read: 14:09:12.2442 LVL= 22624, 30705, 18770, 31059, AGC= 61, IDX= 496, 0.29,-1.302,-2.704,-1.214,-1.634, PHS= 0.420,-1.022, 0.417, RAW= 149.9, 2.6, CAL= 152.3, -6.3, ROT= 357.7, 6.3 Ygot valid direction response: 14:09:12.2442 LVL= 22624, 30705, 18770, 31059, AGC= 61, IDX= 496, 0.29,-1.302,-2.704,-1.214,-1.634, PHS= 0.420,-1.022, 0.417, RAW= 149.9, 2.6, CAL= 152.3, -6.3, ROT= 357.7, 6.3 T#Rx 13: Read range and direction messages.`direction in FSK: [0.993160,-0.039889,-0.109734]Fpublishing direction and range info9y=C?LH\l,==AY9 =`X)=wI=RIi=Sy==== >=Ђ=> =p'@)9I=*@i9=@9 9)9=pڜ⋶?@4? R9?i=_?=9=Ql$9 9)9checking for new query: numPingsReceived=13, elapsed TxPingTime=8.077422=Mb@Mb@Mb@999 9)9Y= +?i|?5I +y=?=q=94=zA =~@)9I=@9y9I I 3ef, m=ym|i:Q u> H<Hp<Hۼ>HH9IHh|BHHHH<HE٥ %H%_F%,: ->q}N5ue!ќ?N59uHh IuBy?:q$@@u)?Eiu:u :uN5 B/A-EZ9b=i\BiA=8A=8A=(@ʁ=ap[?@w^^A)@u =C?LH\l,==Ql$9ҁ= ;-*-@/`-=\ȩw2!ޔ?|4 ÿz=oA=Oj=Y:Ȝ?r=` =iB=/Ȝ?=  =iB=zA=2)@% addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.504041 s, deltaX: -0.299999 m, approachRate: -0.595188 m/s, rangeRepo size: 4 )Q YEG % #޿Y! y- 8A checking for new query: numPingsReceived=13, elapsed TxPingTime=8.306792  Added new target pos. range: 31.277828 m, bearing: 151.022947 deg, lat: 36.906413 deg, lon: -122.116011 deg, deltaT: 0.504041 s, deltaX: -0.298018 m, approachRate: -0.591256 m/s, posRepo size: 4   DNOT Ignoring new targets: 31.28 m.   A e  ProNav: ac range: 31.277828 m, nav range: 30.934910 m, bearing: 151.474624 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.517835 deg, new cmd heading: 150.456740 deg. a m HeadingCmd: 2.625966 target range: 31.277828 and range: 31.50 m.bm (@Zi ri ji Ri Ji Bi ~q ~u {B}q |y | | ?@| a? V{B靕 [ =I ) X> I Q< ١; (@ < y=i (@i zE EQ EQ EQ E] L5EY q F F KuޏP"Ku}9*Kq2Ku5:Kurw\&@P&&@!VLB[B7 EzF*Pc? a wԙ:J=^BJ=XJJ=>RJ9ZJ=} :bJ=5K9J=t4J9zJ=`:jJ=d:J=f:rJ=f:DDAT read: Rx Time:14:09:12.7441 TRx dataTimestamp_ set to:1749132553.949162PDAT read: Bearing 4.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 4.6, 7.5 (Local) DAT read: Range 10 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 6G"]q=UDAT read: 14:09:12.7441 LVL= 23952, 30065, 20338, 32755, AGC= 61, IDX= 512,-0.44,-0.504,-1.963,-0.659,-0.970, PHS= 0.554,-0.946, 0.308, RAW= 141.2, 1.2, CAL= 145.4, -7.5, ROT= 4.6, 7.5 ~GAAN?BP,Q.BiA.Ygot valid direction response: 14:09:12.7441 LVL= 23952, 30065, 20338, 32755, AGC= 61, IDX= 512,-0.44,-0.504,-1.963,-0.659,-0.970, PHS= 0.554,-0.946, 0.308, RAW= 141.2, 1.2, CAL= 145.4, -7.5, ROT= 4.6, 7.5 .T#Rx 14: Read range and direction messages.2^direction in FSK: [0.988251,0.079513,-0.130526]2Fpublishing direction and range infoYy]f.?Z? /]3AYY ]])]quI]rOi]Y] ?]-r]-> ]ϸ@)] Y)Y]a?F$?S˼ ҕ?i]}>]Г]l=] > Y)Ybchecking for new query: numPingsReceived=14, elapsed TxPingTime=8.622983x"|BIi٥ H`F >)UN5- ќ?UN59-Hd I-ݔByYY]@-.?Ei-E;-;-N5ae/Ae0EZYb]|BiA]mA]mA]0@ʁ]-@>@QЧ.@ @IG]f.?Z? /]l=] >ҁ]S85 ]gBYY ]iB]=A]>)@= addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.505205 s, deltaX: -0.100000 m, approachRate: -0.197940 m/s, rangeRepo size: 4  Added new target pos. range: 31.178534 m, bearing: 158.033923 deg, lat: 36.906413 deg, lon: -122.116011 deg, deltaT: 0.505205 s, deltaX: -0.099295 m, approachRate: -0.196543 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.18 m. ProNav: ac range: 31.178534 m, nav range: 30.655224 m, bearing: 151.513536 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.456746 deg, new cmd heading: 150.413510 deg. HeadingCmd: 2.625211 target range: 31.178534 and range: 31.40 m.)bu(@Z1r1j1R1J1B1~~}|||`ff?@|`?}checking for new query: numPingsReceived=14, elapsed TxPingTime=8.810764 UX{B靅>=I)3I>Ir< 8;u(@b<`{=iu(@iaEEEEl3Eԁ 6Gu {=~G) A9 AY Ne >ZP,HBiA 9R@R *@YR<$=yR=RH^qRݿ-wo6?@]!?`-˰?? R@RF;)RC^{B^IfDDAT read: Rx Time:14:09:13.2438 fTRx dataTimestamp_ set to:1749132554.452002nPDAT read: Bearing 357.5, 5.5 (Local) n~Local bearing/azimuth received: Bearing 357.5, 5.5 (Local) zDAT read: Range 10 to 50 : 31.1 m (trip time 20.7 ms) speed 0.7 DAT read: 14:09:13.2438 LVL= 22128, 28385, 19106, 32755, AGC= 63, IDX= 509,-0.23, 2.401, 0.999, 2.503, 2.094, PHS= 0.396,-1.047, 0.407, RAW= 150.4, 3.4, CAL= 152.5, -5.5, ROT= 357.5, 5.5 %Ygot valid direction response: 14:09:13.2438 LVL= 22128, 28385, 19106, 32755, AGC= 63, IDX= 509,-0.23, 2.401, 0.999, 2.503, 2.094, PHS= 0.396,-1.047, 0.407, RAW= 150.4, 3.4, CAL= 152.5, -5.5, ROT= 357.5, 5.5 %T#Rx 15: Read range and direction messages.-`direction in FSK: [0.994449,-0.043419,-0.095846]5Fpublishing direction and range infodyf#I?J3]:aVXfAYd fpV)fnIfJidf?f>ffNb> f'@)fs=IfX*@if Ľfi@f = d)dfn?B='?N)p?if?fsfѸ2f = d)dMchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.079970Mb@Mb@Mb@ )Y+?DlQyv?OuA @)zAI@y@qI I #3HHH&IHI|BHHHH<HEH×CHHH =I = IM5m9 m=yu5Q u>٥ HaF >N5М?N59_ IєBy}?:#@@3?Ei;;[N5p0AZdbfBiAf Af AfDN(@ʁf~>@KsiꞭf#I?J3]:aVXfѸ2f =ҁf/A :MU-@5_'fۃx ?}q]PzfoAfPjf6 /Ȝ?rfs fjBf6 /Ȝ?ft  dfAf )@5 addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.502840 s, deltaX: -0.299999 m, approachRate: -0.596610 m/s, rangeRepo size: 4  Added new target pos. range: 30.880615 m, bearing: 150.675123 deg, lat: 36.906413 deg, lon: -122.116009 deg, deltaT: 0.502840 s, deltaX: -0.297918 m, approachRate: -0.592471 m/s, posRepo size: 4 ԙDNOT Ignoring new targets: 30.88 m. ProNav: ac range: 30.880615 m, nav range: 30.389061 m, bearing: 151.333557 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.413511 deg, new cmd heading: 150.361300 deg. HeadingCmd: 2.624300 target range: 30.880615 and range: 31.10 m.b'@ZrjRJB ~Q~Um{B}Y|Y|Y|]?@|]W? %[{B% =I!)%S!>!I-B< QQU';]'@e%Z>Z𧆿Z> Z &@)Z A=IZ%:)@iZKZc9@ZK= X)XZa?;,S3?s런?iZ?ZSZwּZK= X)X-checking for new query: numPingsReceived=16, elapsed TxPingTime=9.58254119@*@Y#=y=H`n_ݿ1|C? N\ݲ?`p!?? @骕롍;)C {B I!%BAI%"I%q3BP 7=yAQ >٥ H >N5М?N59[ IǔBy#@@7?Ei;;> N5!%0A-3EZXbZ/BiAZAZAZQ)@ʁZ1ps>@|HT ,ZBE?QZwּZK=ҁZhcH:q͛,@.B ZW  E3?9[{zZfAZZjZ Ȝ?rZcO ZkBXZcO  XZAZ)@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504046 s, deltaX: -0.300001 m, approachRate: -0.595186 m/s, rangeRepo size: 4 - Added new target pos. range: 30.582729 m, bearing: 151.581787 deg, lat: 36.906413 deg, lon: -122.116009 deg, deltaT: 0.504046 s, deltaX: -0.297886 m, approachRate: -0.590990 m/s, posRepo size: 4 QquDNOT Ignoring new targets: 30.58 m.qyy ProNav: ac range: 30.582729 m, nav range: 30.116369 m, bearing: 151.368662 deg, approach rate: 0.000000 m/s, LOS rate: -0.032085 deg/s, cmd heading: 150.361301 deg, new cmd heading: 150.319733 deg. HeadingCmd: 2.623574 target range: 30.582729 and range: 30.80 m.b'@Zr!j!R!J)BQ~Y~a}|||->@|5 ?ԉechecking for new query: numPingsReceived=16, elapsed TxPingTime=9.819282 ^{B靅GT=I)>I/ٿ< G;'@<Z |=i'@iE- E1 E1 E5 o0E1 F= =F= =ԩ 6G 6|=~GAAN>K~P,)µ> MQ%@)5z=I0(@iq^@q= )DlIJ3?ٰ?QhS3?i6>H=CH= IH= |BH= =H9H=,DH= <H=EU" ]=y]Q ]>٥aa eHebFe\ m>N5М?N59V IBy0!?:]%@@=?Ei:,:%N5 B1A6EZbpBiAAA@|`n? m`{BudP,-BiAp9%l@%a*@Y%=y%R=%H`e}ݿ?d?YZ5J 5V=y5#:JE`BJEUJJE@RJAZJE:bJE>9JEJ4JAzJE:jJE:JE}Q:rJEQ:Q ]>٥YY ]H]cFe0 e>iuN5m}М?uN59mcS DDAT read: Rx Time:14:09:14.7432 TRx dataTimestamp_ set to:1749132555.964188PDAT read: Bearing 359.1, 5.0 (Local) ~Local bearing/azimuth received: Bearing 359.1, 5.0 (Local) DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.6 DAT read: 14:09:14.7432 LVL= 24672, 27249, 20722, 32755, AGC= 64, IDX= 503,-0.16, 1.703, 0.306, 1.755, 1.389, PHS= 0.402,-1.036, 0.363, RAW= 148.7, 3.9, CAL= 150.9, -5.0, ROT= 359.1, 5.0 Ygot valid direction response: 14:09:14.7432 LVL= 24672, 27249, 20722, 32755, AGC= 64, IDX= 503,-0.16, 1.703, 0.306, 1.755, 1.389, PHS= 0.402,-1.036, 0.363, RAW= 148.7, 3.9, CAL= 150.9, -5.0, ROT= 359.1, 5.0 T#Rx 18: Read range and direction messages.`direction in FSK: [0.996072,-0.015647,-0.087156]Fpublishing direction and range infoڡyڥb:?~OڥAYڡ ۥ``)ۥqjIۥPiۡۥ@ۥ>ۥۥ#۹> ܥx&@)ܥ'g=Iܥ(@iܥ¸ܥ-@ܥ¸= ݡ)ݡݥ]% ??s.qV??iݥ>ݥzݥݥ¸= ޡ)ޡchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.590759ImBy!%S%@%@mA?Eim@|B? %b{B%deEEEE%0E!Ia  checking for new query: numPingsReceived=18, elapsed TxPingTime=10.8319856G vpx=ZG RG ~G A A N >H?P,cCiA9b `@bis*@Yb&=ybj9K=bHYc`hݿ@kІo? X@4? _?? b `@b;)bC {B IaMb@Mb@Mb@ )YJ +?Mby(?@ @)zAI@yf@I5 I5V2EӼ E.=ԉyQ >٥ HdFDʺ >N5М?N59O tIIBy@)?:&@@F?Ei+;:},N5 B1A7E B*** querying acoustic contact ***J R DNOT Ignoring new targets: 29.99 m.j:j:U ProNav: ac range: 29.986671 m, nav range: 29.414492 m, bearing: 152.008692 deg, approach rate: -0.706326 m/s, LOS rate: 0.081489 deg/s, cmd heading: 150.228959 deg, new cmd heading: 150.336861 deg. U_;]HeadingCmd: 2.623873 target range: 29.986671 and range: 30.20 m.b]'@ZYrYjYRYJYB~~C{B}||||7?DDAT read: Rx Time:14:09:15.2430 TRx dataTimestamp_ set to:1749132556.467886PDAT read: Bearing 358.8, 5.5 (Local) ~Local bearing/azimuth received: Bearing 358.8, 5.5 (Local) DAT read: Range 10 to 50 : 29.9 m (trip time 19.9 ms) speed 0.5 %DAT read: 14:09:15.2430 LVL= 22000, 28449, 17874, 32755, AGC= 65, IDX= 500,-0.48, 2.664, 1.264, 2.721, 2.340, PHS= 0.412,-1.029, 0.378, RAW= 148.8, 3.4, CAL= 151.2, -5.5, ROT= 358.8, 5.5 -Ygot valid direction response: 14:09:15.2430 LVL= 22000, 28449, 17874, 32755, AGC= 65, IDX= 500,-0.48, 2.664, 1.264, 2.721, 2.340, PHS= 0.412,-1.029, 0.378, RAW= 148.8, 3.4, CAL= 151.2, -5.5, ROT= 358.8, 5.5 -T#Rx 19: Read range and direction messages.5`direction in FSK: [0.995178,-0.020846,-0.095846]=Fpublishing direction and range infoy>MN???;XaVX3AY U)!oIEiA>F7> 6&@)s=I[(@i ĽHd@ = )\  ?8X?)'l@kR?i?r = )Uchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.096851 d{B靍GHHIH{BH =HHH<HEE E E E {0E F F ס ץ A checking for new query: numPingsReceived=19, elapsed TxPingTime=11.3368686GD{=9~GAAN >P,e1CiA9Va@Vu*@YV=yVG=VHcݿ5n?qY?} l?@V? Va@VX;)Tr{BrIIII(*3M> M1=yM Q M>٥QQ UHQUm9 ]>YN5]М?N59]K I]By&@@]J?Ei];];]o0N52A:EZAbECiAEAEAE j)@ʁEV==@a(㿍ME>MN???;XaVXEE =ҁE,M79M;c+@qEЉwe?NS9zEc_AE'jEkƊȜ?rEL. EkBAEcO  AEAEˈ)@ addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.503698 s, deltaX: -0.300001 m, approachRate: -0.595597 m/s, rangeRepo size: 4 y&TFailed to parse incomplete device message.II Added new target pos. range: 29.688576 m, bearing: 151.667479 deg, lat: 36.906410 deg, lon: -122.116009 deg, deltaT: 0.503698 s, deltaX: -0.298096 m, approachRate: -0.591814 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.69 m.:J5_BJ5PJJ5ARJ1ZJ5 :bJ5*9J54J1zJ5-:jJ51:J5-:rJ5-:MrDAT read: , 3.1, CAL= 150.3, -5.7, ROT= 359.7, 5.7 Uunknown deviceResponse_: , 3.1, CAL= 150.3, -5.7, ROT= 359.7, 5.7 Uchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.590591e ProNav: ac range: 29.688576 m, nav range: 29.190289 m, bearing: 151.775038 deg, approach rate: 0.000000 m/s, LOS rate: 0.081489 deg/s, cmd heading: 150.336862 deg, new cmd heading: 150.452383 deg. aHeadingCmd: 2.625890 target range: 29.688576 and range: 29.90 m.b(@ZrjRJB~~}|||`f=@| ? }g{B靅P,MPCiA9Z+l@Z*@YZ~=yZK=ZH`٥ HeF0: > N5 sМ?N59 1F I By(?:&@@ P?Ei : g< 45N5J2A%DNOT Ignoring new targets: 29.69 m.!%@:-@:Q] ProNav: ac range: 29.688576 m, nav range: 28.833109 m, bearing: 151.807649 deg, approach rate: -0.653824 m/s, LOS rate: 0.060435 deg/s, cmd heading: 150.452388 deg, new cmd heading: 150.551434 deg. e%;DDAT read: Rx Time:14:09:16.2425 TRx dataTimestamp_ set to:1749132557.483892PDAT read: Bearing 0.5, 4.6 (Local) ~Local bearing/azimuth received: Bearing 0.5, 4.6 (Local) DAT read: Range 10 to 50 : 29.1 m (trip time 19.4 ms) speed 0.7  DAT read: 14:09:16.2425 LVL= 20720, 32753, 14514, 32755, AGC= 64, IDX= 495,-0.05,-1.698,-3.058,-1.690,-2.013, PHS= 0.403,-0.998, 0.320, RAW= 147.0, 4.1, CAL= 149.5, -4.6, ROT= 0.5, 4.6 Ygot valid direction response: 14:09:16.2425 LVL= 20720, 32753, 14514, 32755, AGC= 64, IDX= 495,-0.05,-1.698,-3.058,-1.690,-2.013, PHS= 0.403,-0.998, 0.320, RAW= 147.0, 4.1, CAL= 149.5, -4.6, ROT= 0.5, 4.6 T#Rx 20: Read range and direction messages.^direction in FSK: [0.996741,0.008698,-0.080199]Fpublishing direction and range infoڹyڽ)8M?e{Ё?zꇴڽAYڹ ۽P)۽I۽8i۹۽@۽V>۽|۽ ף> ܽY3$@)ܽC=Iܽ<&@iܽlܽ5<ܽl= ݹ)ݹݽ#Lr?F( ?noeݽݽ5<ݽl= ޹)޹=checking for new query: numPingsReceived=20, elapsed TxPingTime=12.111354EHeadingCmd: 2.627618 target range: 29.688576 and range: 29.90 m.bE*(@ZArAjARAJIBI~~%{B}|||=@| 0? h{B靭zYHq Hu IHu {BHu  =Hq Hq Hu ؚ<Hu EԱ >E 9mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.347018EqEqEqEuO0EqFyF}p=6GRk=jG ?bG> ~GIAQAiNu#?{P,yCiA9m|@m?*@Ymdt=ymBs\=mH`#jnݿ@V?&]e?`M@?R? m|@mO;)mCo{BIIIb =ydQ >٥ HfFo:  >N5%ZМ?N59lA IzBy&@@V?Ei>:KE{FP"KE}9*KA2KE9:KE^8 79oMsskzF  `Z`\tF6::9N5] B]2ADDAT read: Rx Time:14:09:16.7424 TRx dataTimestamp_ set to:1749132557.987977PDAT read: Bearing 1.3, 4.2 (Local) ~Local bearing/azimuth received: Bearing 1.3, 4.2 (Local) ԹDAT read: Range 10 to 50 : 29.0 m (trip time 19.3 ms) speed 0.5 DAT read: 14:09:16.7424 LVL= 20928, 32753, 17490, 32755, AGC= 65, IDX= 510,-0.19,-1.352,-2.734,-1.370,-1.674, PHS= 0.409,-1.013, 0.301, RAW= 146.1, 4.5, CAL= 148.7, -4.2, ROT= 1.3, 4.2 Ygot valid direction response: 14:09:16.7424 LVL= 20928, 32753, 17490, 32755, AGC= 65, IDX= 510,-0.19,-1.352,-2.734,-1.370,-1.674, PHS= 0.409,-1.013, 0.301, RAW= 146.1, 4.5, CAL= 148.7, -4.2, ROT= 1.3, 4.2 T#Rx 21: Read range and direction messages. ^direction in FSK: [0.997058,0.022626,-0.073238] Fpublishing direction and range infoکyڭH?^X`+?ڭAYک ۭQ)۩IۭRDi۩ۭAۭsh>ۭۭ> ܭ1#@)ܭ|٠=Iܭx&@iܭQ ܭ޹<ܭQ = ݩ)ݩݭ s2w?t/?& ?iݭ!>ݭ̭ݭ޹<ݭQ = ީ)ީ%checking for new query: numPingsReceived=21, elapsed TxPingTime=12.614870]=EZb;CiA\A\AE,@ʁHӵ<@e%;O?'7H?^X`+?޹<Q =ҁbI9.-(@`§6 9U?03C|z GA2j}-ǜ?r-Z nBtȜ?b  kBꁭiA)@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 1.520091 s, deltaX: -0.900000 m, approachRate: -0.592070 m/s, rangeRepo size: 4  Added new target pos. range: 28.794987 m, bearing: 154.225979 deg, lat: 36.906410 deg, lon: -122.116011 deg, deltaT: 1.520091 s, deltaX: -0.893589 m, approachRate: -0.587852 m/s, posRepo size: 4 15DNOT Ignoring new targets: 28.79 m.9=A ProNav: ac range: 28.794987 m, nav range: 28.426348 m, bearing: 152.135490 deg, approach rate: 0.000000 m/s, LOS rate: 0.060435 deg/s, cmd heading: 150.551439 deg, new cmd heading: 150.656855 deg. HeadingCmd: 2.629458 target range: 28.794987 and range: 29.00 m.b I(@ZrjR J B ~~}|||=@|`'? j{B靍E X..x> .#@).5=I. &@i..+H<.= ,),.Pm^?x ?}un+0?i.>..F.+H<.= ,),prchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.121327HҼ>HHIH{BH =HHH<HEG YyAIchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.354750Z{BIq U Mb@Mb@Mb@Q Q Q Q )Q YU jt?V-y&1yU ?U U `eQ Q )U AIU @Q yU \@I I 3  % ٥) ) - H- hF- - <>9 E N5= .М?E N59= 9 I= gByE ?E :E '@E @= _?Ei= := := 1BN5M BU 2AU CEԑ Z,b.ECiA.cA.cA./+@ʁ.;w2<@}~zt ?+f.?J?U]k.+H<.=ҁ.A^,9O](@ӤAB .7bwY 21?xF`JӾz.rGA.gj.rAǜ?r.3 .mB.kƊȜ?.u]  .lB.A.*@= addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504471 s, deltaX: -0.500000 m, approachRate: -0.991137 m/s, rangeRepo size: 4 M Added new target pos. range: 28.298491 m, bearing: 153.657822 deg, lat: 36.906409 deg, lon: -122.116014 deg, deltaT: 0.504471 s, deltaX: -0.496496 m, approachRate: -0.984192 m/s, posRepo size: 4 IuDNOT Ignoring new targets: 28.30 m.qyy ProNav: ac range: 28.298491 m, nav range: 27.828888 m, bearing: 152.877259 deg, approach rate: 0.000000 m/s, LOS rate: 0.060435 deg/s, cmd heading: 150.656857 deg, new cmd heading: 150.819527 deg. HeadingCmd: 2.632297 target range: 28.298491 and range: 28.50 m.bw(@ZrjRJB~~{B}|!|!|%<@|%?K&-P"K*K2K::K-oH'xy6P1ETBWEI%9pnHB\4j ؽ<׽<DDAT read: Rx Time:14:09:17.7419 TRx dataTimestamp_ set to:1749132558.998408PDAT read: Bearing 1.9, 4.1 (Local) ~Local bearing/azimuth received: Bearing 1.9, 4.1 (Local) DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.7  DAT read: 14:09:17.7419 LVL= 24016, 32753, 20082, 32755, AGC= 63, IDX= 504, 0.26,-2.642, 2.239,-2.680,-2.976, PHS= 0.422,-1.021, 0.294, RAW= 145.4, 4.5, CAL= 148.1, -4.1, ROT= 1.9, 4.1 Ygot valid direction response: 14:09:17.7419 LVL= 24016, 32753, 20082, 32755, AGC= 63, IDX= 504, 0.26,-2.642, 2.239,-2.680,-2.976, PHS= 0.422,-1.021, 0.294, RAW= 145.4, 4.5, CAL= 148.1, -4.1, ROT= 1.9, 4.1 T#Rx 23: Read range and direction messages.^direction in FSK: [0.996892,0.033070,-0.071497]Fpublishing direction and range infoy')?&r? M 5l{B5`!+> i"@)|٠=Im%@iC=C= )=}?lUS}_?< ?i~>O=C= )echecking for new query: numPingsReceived=23, elapsed TxPingTime=13.629317E$n<٥ HiF >DAT read: 14:09:18.2416 LVL= 22848, 32753, 17026, 32755, AGC= 64, IDX= 501,-0.01, 2.048, 0.635, 2.032, 1.715, PHS= 0.422,-1.032, 0.314, RAW= 146.2, 4.3, CAL= 148.8, -4.4, ROT= 1.2, 4.4 Ygot valid direction response: 14:09:18.2416 LVL= 22848, 32753, 17026, 32755, AGC= 64, IDX= 501,-0.01, 2.048, 0.635, 2.032, 1.715, PHS= 0.422,-1.032, 0.314, RAW= 146.2, 4.3, CAL= 148.8, -4.4, ROT= 1.2, 4.4 T#Rx 24: Read range and direction messages.N5lМ?N5^direction in FSK: [0.996834,0.020881,-0.076719]Fpublishing direction and range infoy?G[a?.0ۣAY @Y)IBi@94 I\ByE?M:Mw'@M@e?Ei ;<E5<GN5Y]43AYĠ> N#@)`=I6&@inF<nF= )1_`_?m'?n w ?i>w<nF= )uchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.160209ԁZb@CiA=A=A),,@ʁ>nQ;@>fO?X]?G[a?.0ۣ<nF=ҁʱ瞀8'@3@WӢK?t<(Pz >AjbȜ?rA5 nBbȜ?3  mB?AU+@GaGe@AHmϼ>HiHmIHm~{BHm =HiHiHm<HmEH5ƖCH5ƖCH1H5 =I5 = I565 addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 1.011499 s, deltaX: -0.900000 m, approachRate: -0.889768 m/s, rangeRepo size: 4  Added new target pos. range: 27.404856 m, bearing: 154.136839 deg, lat: 36.906408 deg, lon: -122.116017 deg, deltaT: 1.011499 s, deltaX: -0.893635 m, approachRate: -0.883476 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.40 m. ProNav: ac range: 27.404856 m, nav range: 27.406042 m, bearing: 153.384716 deg, approach rate: 0.000000 m/s, LOS rate: 0.060435 deg/s, cmd heading: 150.819524 deg, new cmd heading: 150.936142 deg. HeadingCmd: 2.634333 target range: 27.404856 and range: 27.60 m.b(@ZrjRJB~~/{B}|||;@|Q? m{B靅ʑ٥11 =H9=V; =>iAuN5EbМ?uN59E>1 IETByqu'@u@Ei?EiE;E:EWKN5%3AFE-B*** querying acoustic contact ***J)R)9=DNOT Ignoring new targets: 27.40 m.9e:e:u ProNav: ac range: 27.404856 m, nav range: 27.145636 m, bearing: 153.417164 deg, approach rate: -0.638334 m/s, LOS rate: 0.080305 deg/s, cmd heading: 150.936143 deg, new cmd heading: 151.034423 deg. us\;}HeadingCmd: 2.636048 target range: 27.404856 and range: 27.60 m.DDAT read: Rx Time:14:09:18.7415 TRx dataTimestamp_ set to:1749132560.009262PDAT read: Bearing 2.7, 3.0 (Local) ~Local bearing/azimuth received: Bearing 2.7, 3.0 (Local) DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 DAT read: 14:09:18.7415 LVL= 22864, 32753, 18530, 32755, AGC= 65, IDX= 500,-0.31,-3.048, 1.852,-3.103, 2.921, PHS= 0.401,-1.022, 0.255, RAW= 144.7, 5.4, CAL= 147.3, -3.0, ROT= 2.7, 3.0 Ygot valid direction response: 14:09:18.7415 LVL= 22864, 32753, 18530, 32755, AGC= 65, IDX= 500,-0.31,-3.048, 1.852,-3.103, 2.921, PHS= 0.401,-1.022, 0.255, RAW= 144.7, 5.4, CAL= 147.3, -3.0, ROT= 2.7, 3.0 T#Rx 25: Read range and direction messages. ^direction in FSK: [0.997521,0.047042,-0.052336]Fpublishing direction and range infoڱyڵuC?)e?yoU˪ڵAYڱ ۵PY)۱I۵bHi۱۵A۵O>۵Ђ۵\> ܵ!@)ܵ=Iܵ"$@iܵPwVܵA=ܵPwV= ݱ)ݱݵ߸?״dC?R?iݵD>ݵ"½ݵA=ݵPwV= ޱ)ޱ-checking for new query: numPingsReceived=25, elapsed TxPingTime=14.635932K5CP"K59*K12K5;:K5M,$)&+-3Enq'I d C H 3zH>yrq'/b}(@ZYryjyRyJyBy~~}|||;@|@ś? ǫXzQ,DiA9@*@Yk=yhd=H@n \ݿށ uC?` >2?烬? /? @骍;)Թ}B{B}IMb@Mb@Mb@ )Y ףp= ?MbMbpyQ?A @)AI@yII3> #=y;:Q >٥ %H%jF%3 %>)5N5-Ϝ?5N59-G- I-MBy=?=:=;'@=@-n?Ei-:- :-ON5EBm03AmHEZbDiAqAqA-@ʁG<;@BcO?XjuC?)e?yoU˪A=PwV=ҁP;8s<6p&@v̧6<cP _>WK?mBҊz3A8jdǜ?rM3 qBrAǜ?-Z  nB.A-t,@J+4J+4J+֍0:J]BJRJJERJZJ]:bJS29J4J5 addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.505315 s, deltaX: -0.100000 m, approachRate: -0.197897 m/s, rangeRepo size: 4 m Added new target pos. range: 27.305450 m, bearing: 155.639368 deg, lat: 36.906405 deg, lon: -122.116021 deg, deltaT: 0.505315 s, deltaX: -0.099405 m, approachRate: -0.196719 m/s, posRepo size: 4 imDNOT Ignoring new targets: 27.31 m.iuqDDAT read: Rx Time:14:09:19.2412 TRx dataTimestamp_ set to:1749132560.513184PDAT read: Bearing 0.2, 4.9 (Local) ~Local bearing/azimuth received: Bearing 0.2, 4.9 (Local) DAT read: Range 10 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 5 ProNav: ac range: 27.305450 m, nav range: 27.022894 m, bearing: 154.388684 deg, approach rate: 0.000000 m/s, LOS rate: 0.080305 deg/s, cmd heading: 151.034429 deg, new cmd heading: 151.155488 deg. 1MDAT read: 14:09:19.2412 LVL= 23712, 30945, 19890, 32755, AGC= 65, IDX= 496, 0.26,-0.998,-2.422,-0.984,-1.332, PHS= 0.423,-1.043, 0.346, RAW= 147.3, 3.9, CAL= 149.8, -4.9, ROT= 0.2, 4.9 ]Ygot valid direction response: 14:09:19.2412 LVL= 23712, 30945, 19890, 32755, AGC= 65, IDX= 496, 0.26,-0.998,-2.422,-0.984,-1.332, PHS= 0.423,-1.043, 0.346, RAW= 147.3, 3.9, CAL= 149.8, -4.9, ROT= 0.2, 4.9 HeadingCmd: 2.638161 target range: 27.305450 and range: 27.50 m.b(@ZrT#Rx 26: Read range and direction messages.^direction in FSK: [0.996339,0.003478,-0.085417]Fpublishing direction and range infojRJB~~-{B}||||@r@?ڹyڽE?#A,}l?b$ݵڽAYڹ ۽\)۽xI۽Mi۹۹۽u>۽۽&> ܽ"$@)ܽ'g=IܽT'@iܽ%ܽd;ܽ%= ݹ)ݹݽX8]?nO?:fjP?iݽ.>ݽjݽd;ݽ%= ޹)޹checking for new query: numPingsReceived=26, elapsed TxPingTime=15.164880 Y]ɫHCHIHt{BHHHH<HE E- E1 E1 E5 0E1 F= =F= =A ]checking for new query: numPingsReceived=26, elapsed TxPingTime=15.3749266GuR`U=jG} ?bG} ?~G1A9AINU?% Q,R2DiA 9@*@Y9 =yEh=H nn@p]ݿHPC?`` {?4?`? @;)C58{B5IIEIE(*3uǼ }D=y}:Q }>٥ HkF|! >N5tϜ?N59) IGBy@r?Ei::eSN5Z3AZb DiAxAxA.+@ʁ0:@47ww޷?GQE?#A,}l?b$ݵd;%=Aҁlʽ7/~'@^˞ Y\ZE͕?p*bƿz?AjLȜ?r{ mB /A,@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503922 s, deltaX: -0.500000 m, approachRate: -0.992217 m/s, rangeRepo size: 4  Added new target pos. range: 26.808844 m, bearing: 153.248364 deg, lat: 36.906405 deg, lon: -122.116021 deg, deltaT: 0.503922 s, deltaX: -0.496607 m, approachRate: -0.985484 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.81 m. ProNav: ac range: 26.808844 m, nav range: 26.773232 m, bearing: 154.432382 deg, approach rate: 0.000000 m/s, LOS rate: 0.080305 deg/s, cmd heading: 151.155488 deg, new cmd heading: 151.255243 deg. HeadingCmd: 2.639902 target range: 26.808844 and range: 27.00 m.bE'(@ZIrIjQRQJyBy~y~y}|||;@| ? fT۽B`۽u> ܽN#@)ܽ%=Iܽx&@iܽ Aܽ޹<ܽ A= ݹ)ݹݽW*`?f;L.?6VlX?iݽc>ݽ"꯽ݽ޹<ݽ A= ޹)޹checking for new query: numPingsReceived=27, elapsed TxPingTime=15.665511ԡ 6G j Q,KLDiA<AA5checking for new query: numPingsReceived=27, elapsed TxPingTime=15.8825599ϐ@/*@Y"=y3l=H@-n y^ݿz@C?<_ ͽ?Ay?@? ϐ@;)u<{BuIԩMb@Mb@Mb@ )YtV? rhMbP?y?C :A 3@)I@yAI)I)]n< e=ye:Q e>٥ii mHmlFu u>yN5}Ϝ?N59}% I}@By?:&@@}w?Ei}:}3:}XN5BC3AKEZb%ADiAAAU,@ʁj:@ -Y?O z?ϯ.?P0޹< A=ҁiHS7g'@hE  '?\Q@zw8A~jNeǜ?rJ# HpBJ#  nB8AtI,@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502938 s, deltaX: -0.100000 m, approachRate: -0.198832 m/s, rangeRepo size: 4  Added new target pos. range: 26.709553 m, bearing: 154.282287 deg, lat: 36.906405 deg, lon: -122.116019 deg, deltaT: 0.502938 s, deltaX: -0.099291 m, approachRate: -0.197422 m/s, posRepo size: 4 EDNOT Ignoring new targets: 26.71 m.IYY ProNav: ac range: 26.709553 m, nav range: 26.527487 m, bearing: 154.239275 deg, approach rate: 0.000000 m/s, LOS rate: 0.080305 deg/s, cmd heading: 151.255236 deg, new cmd heading: 151.381517 deg. HeadingCmd: 2.642106 target range: 26.709553 and range: 26.90 m.bC)@ZrjRJB~~G{B}|||`f:@|D-?:J% ^BJ% ZJJ% ARJ! ZJ% } :bJ% S9J% 4J! A E = > ) I %@i +< ) WZ?þ ??i K> ï +< )  checking for new query: numPingsReceived=28, elapsed TxPingTime=16.193033H Ҽ>H CH IH j{BH  =H H H <H EE E E E `0E ) 6G.H=Q~GA AN-?Q,6pDiA&checking for new query: numPingsReceived=28, elapsed TxPingTime=16.3826899Z]@Z*@YZY&=yZKv=ZH`rCOݿs@ 3?`a@l?ɤ@3?s? Z]@Zى;)Xaԁ DDAT read: Rx Time:14:09:20.7407  TRx dataTimestamp_ set to:1749132562.025297PDAT read: Bearing 1.4, 3.7 (Local) ~Local bearing/azimuth received: Bearing 1.4, 3.7 (Local) -DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.6 UDAT read: 14:09:20.7407 LVL= 23360, 28321, 19010, 32755, AGC= 61, IDX= 507, 0.44, 1.181,-0.248, 1.160, 0.856, PHS= 0.413,-1.057, 0.301, RAW= 146.1, 4.9, CAL= 148.6, -3.7, ROT= 1.4, 3.7 ]Ygot valid direction response: 14:09:20.7407 LVL= 23360, 28321, 19010, 32755, AGC= 61, IDX= 507, 0.44, 1.181,-0.248, 1.160, 0.856, PHS= 0.413,-1.057, 0.301, RAW= 146.1, 4.9, CAL= 148.6, -3.7, ROT= 1.4, 3.7 ]T#Rx 29: Read range and direction messages.e^direction in FSK: [0.997618,0.024381,-0.064532]mFpublishing direction and range info y |?vf?P0 fAK.P"K9*K2K=:KPG4jQ`& GaV"}D#W5 / tQ f]nY  @[) nI BJi  = t> K  1#@) I i    )   [_?lJ$9?ώhҵ?ԩ>{BIIIm?3i -> ή   )  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.670666 ~;  ٥! ) M HM mFM : U >Q ] N5U 1Ϝ?e N59U IU 8Bya e &@e @U }?EiU :U #٥    H-DDAT read: Rx Time:14:09:21.2404 5TRx dataTimestamp_ set to:1749132562.529236EPDAT read: Bearing 0.5, 4.4 (Local) M~Local bearing/azimuth received: Bearing 0.5, 4.4 (Local) eDAT read: Range 10 to 50 : 25.8 m (trip time 17.2 ms) speed 0.5 ;: >N5Ϝ?N59  I3By?:%@@?Ei/:M:aN5g3ADAT read: 14:09:21.2404 LVL= 23424, 28241, 20626, 31635, AGC= 60, IDX= 504, 0.35, 2.083, 0.628, 2.089, 1.748, PHS= 0.423,-1.073, 0.337, RAW= 147.1, 4.4, CAL= 149.5, -4.4, ROT= 0.5, 4.4  Ygot valid direction response: 14:09:21.2404 LVL= 23424, 28241, 20626, 31635, AGC= 60, IDX= 504, 0.35, 2.083, 0.628, 2.089, 1.748, PHS= 0.423,-1.073, 0.337, RAW= 147.1, 4.4, CAL= 149.5, -4.4, ROT= 0.5, 4.4 UB*** querying acoustic contact ***JQRQuT#Rx 30: Read range and direction messages.^direction in FSK: [0.997015,0.008701,-0.076719]ԑDNOT Ignoring new targets: 26.11 m.;;Fpublishing direction and range info1y5:?>ǻс?.0ۣ5fAY1 5[)5QnI5Pi5{HԼ>HHHH =HHHߚ<HEe ProNav: ac range: 26.114004 m, nav range: 25.701202 m, bearing: 154.521606 deg, approach rate: -0.570982 m/s, LOS rate: 0.137868 deg/s, cmd heading: 151.542145 deg, new cmd heading: 151.739771 deg. e<;5<5u>5X5D> 5O$@)5nF=I5<&@i5nF55<5nF= 1)15ֲi?p ?cZfj?i5>5iy55<5nF= 1)1}checking for new query: numPingsReceived=30, elapsed TxPingTime=17.216019HeadingCmd: 2.648359 target range: 26.114004 and range: 26.30 m.b~)@ZrjRJB~~p{B}|||9@|ٵ? !%ǡ/-Q,NDiAX9-,@-*@Y-&=y-=-H7uCݿJw@&?@` ?aܤ?? -,@-98;)-C9{BIIIF3Mt< UC=y]j¹Q ]>٥YY eHenF6: >N5Ϝ?N59 I.By%@@?Ei:W:weN5BJ3AQEZIbMߡDiAMAMAMn+@ʁM|X9@qq·?`rM:?>ǻс?.0ۣM5<MnF=ҁM&6 &@[Tf5qM}|/?@ԽzM4AMpjMX2Ȝ?rM, MHoBIMJ#  IM>AMQZ,@ addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503939 s, deltaX: -0.500000 m, approachRate: -0.992184 m/s, rangeRepo size: 4  Added new target pos. range: 25.617659 m, bearing: 153.676169 deg, lat: 36.906406 deg, lon: -122.116019 deg, deltaT: 0.503939 s, deltaX: -0.496346 m, approachRate: -0.984932 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.62 m. ProNav: ac range: 25.617659 m, nav range: 25.530569 m, bearing: 154.298250 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 151.739769 deg, new cmd heading: 151.903385 deg. %HeadingCmd: 2.651214 target range: 25.617659 and range: 25.80 m.b%~)@Z!r!j!R!J)B)~)~)}1|1|1|1|]>?:J_BJSJJDRJZJ :bJy69J4JzJ,:jJJ(C:rJ+C: 靭rF%+%)\> %:M"@)%޹=I%4%@i%k%Q =%k= !)!%AP?NU-?sc?i%ч>%.%Q =KFP"K}9*K2K>:K`(;eNasaC;_HATz .*%k= !)!]checking for new query: numPingsReceived=31, elapsed TxPingTime=17.683176E E E E E F=F=)9 6G= f/=~Gi A A  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.896875N >w4Q,DiAd]({B]uI ep=aMb@Mb@Mb@ )YʡE?Q~jtxyuĻA `@)IAI`@yAI"Iq3t  =yQ >٥ HoF >N5nϜ?N59 I%By ? : $@ @?Eia;;iN5153A=TEZb DiA%A%A\-@ʁeH}u9@v@ ?'ǀi??`8.yQ =k=ҁ E47[sSN%@ܚ⾃? f<;.?lΣxzu*Ayjnfǜ?rd fqB ꁕAOr,@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.502780 s, deltaX: -0.099998 m, approachRate: -0.198891 m/s, rangeRepo size: 4  Added new target pos. range: 25.518368 m, bearing: 155.202516 deg, lat: 36.906406 deg, lon: -122.116019 deg, deltaT: 0.502780 s, deltaX: -0.099291 m, approachRate: -0.197484 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.52 m.!!u ProNav: ac range: 25.518368 m, nav range: 25.244911 m, bearing: 154.382158 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 151.903380 deg, new cmd heading: 152.115513 deg. q}HeadingCmd: 2.654917 target range: 25.518368 and range: 25.70 m.b}')@ZyryjyRyJB~~{B}|||@39@|? uDDAT read: Rx Time:14:09:22.2401 }TRx dataTimestamp_ set to:1749132563.537119PDAT read: Bearing 3.6, 2.2 (Local) ~Local bearing/azimuth received: Bearing 3.6, 2.2 (Local) DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 DAT read: 14:09:22.2401 LVL= 23088, 29345, 20274, 32755, AGC= 63, IDX= 501,-0.21,-0.098,-1.499,-0.182,-0.413, PHS= 0.403,-1.039, 0.228, RAW= 143.6, 6.0, CAL= 146.4, -2.2, ROT= 3.6, 2.2 `ܜ}}xi> }g @)}Pw=I}Ƈ#@i}nF}=}nF= y)y}Ta@(?d~?.?i}K>}׽}=}nF= y)yUchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.176926iyHE μ>HA HE IHE _{BHE  =HA HA HE <HE EE5 E1 E1 E5 4E1 Q )  u G g޿Y y }AY 6G]'=~GA!A1N=>k٥)) -H-pF-:V 5>1N55\Ϝ?N595  I5By$@@5?Ei5F3<5|3<5mN53AZb(`DiAAAL.@ʁ &9@mAQ?ors?^?.=nF=ҁ7R1K$@&ÂF)5Vg?0P:ಿz* Aj`Fǜ?r!P sBNeǜ?6|  qpBꁽAH -@y addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.505103 s, deltaX: -0.300001 m, approachRate: -0.593941 m/s, rangeRepo size: 4  Added new target pos. range: 25.220266 m, bearing: 156.546788 deg, lat: 36.906405 deg, lon: -122.116021 deg, deltaT: 0.505103 s, deltaX: -0.298101 m, approachRate: -0.590180 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.22 m. ProNav: ac range: 25.220266 m, nav range: 25.094687 m, bearing: 154.917105 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 152.115512 deg, new cmd heading: 152.304311 deg. HeadingCmd: 2.658212 target range: 25.220266 and range: 25.40 m.b$ *@ZrjRJ!B!~!~!})|)|)|-`ff9@|U`w? >P> !@)+=Il$@iA+H=A= )iF?`?h{+?i>Iɽ+H=A= )checking for new query: numPingsReceived=33, elapsed TxPingTime=18.688749KQ#P"Ks9*K2K?:KY iqkkl'K5E~N 6G =~GI Aa Aq N} >CQ,B EiA9n@nH*@Yn=yn =nHn]ݿ\q$B?Z?S{?? n@n;)nC{BI%I%35Z 5i=y5#Q =?٥99 ]HYe e>iԡN5m{NϜ?N59m' ImBy#@@m?Eim-! ۱ ۵ َ> ܵ "@)ܵ ޹=Iܵ %@iܵ kܵ nF=ܵ k= ݱ )ݱ ݵ lt?pO] ?IIf?iݵ Qf>ݵ ݵ nF=ݵ k= ޱ )ޱ = checking for new query: numPingsReceived=34, elapsed TxPingTime=19.180698H- ˼>H- CH- IH- U{BH) H) H) H- <H- EHHHH =I = Iu56G k =ZG RG ~G A A N >JQ,/*EiA49n@n^*@YnH=yn©=nH l{eݿr *L?@Y?gaO?u? n@n@j;)l~{B~jIUMb@Mb@Mb@QQQ Q)QYUd;O?Zd;٥ HqFΫ > =N5 9Ϝ?=N59  I By=?=:=#@=@ ?Ei ; K; >uN5IM3AIԑZIbMS#EiAMAMAMMM-@ʁM3[M8@ģ2?k9SMXSc?HIN9?`8.yMnF=Mk=ҁMh?6 ڛ$@E4FMT9v?zM$AMjMq5ǜ?rMPa MqBII MqBMAMœ-@checking for new query: numPingsReceived=34, elapsed TxPingTime=19.417395 addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504042 s, deltaX: -0.300001 m, approachRate: -0.595191 m/s, rangeRepo size: 4  Added new target pos. range: 24.624371 m, bearing: 155.147984 deg, lat: 36.906404 deg, lon: -122.116022 deg, deltaT: 0.504042 s, deltaX: -0.298019 m, approachRate: -0.591259 m/s, posRepo size: 4  DNOT Ignoring new targets: 24.62 m.AAU ProNav: ac range: 24.624371 m, nav range: 24.628107 m, bearing: 155.425843 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 152.478017 deg, new cmd heading: 152.657372 deg. Q]HeadingCmd: 2.664374 target range: 24.624371 and range: 24.80 m.b]*@ZYrYjYRJB~~{B}|||8@| ? Um{BUƯ= K= > = !@)= =I= S$@i= 4QO= ¸2== 4QO= 9 )9 = -V?}C?1?E?i= f>= Ž= ¸2== 4QO= 9 )9  checking for new query: numPingsReceived=35, elapsed TxPingTime=19.692312 6Gu $3=K P"K 9*K 2K @:K $n!Si\DA3]sLpLt(ttx$\e$~GQAYAiNu>RQ,rkHEiA9F@Fߚ*@YF*=yF|=FH@l dݿPjr@L?][`~X?6䢿щ?? F@F|P;)FCz{Bz_III24 %5=y%Q %>٥) HrF >N5v&Ϝ?N59 IBy#@@?EiO;;JyN5 4AXEZAbEpCEiAAAEa-@ʁEƑ8@)?eMEJSԸ? BeXM?|rQ穿E¸2=E4QO=ҁE9O6u wj$@}c"E ZcC?Ha󧵿zEU#AE~jEaOǜ?rE[ ErBEnfǜ?A ErBEAE-@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.505660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 24.624371 m, bearing: 155.414030 deg, lat: 36.906404 deg, lon: -122.116022 deg, deltaT: 0.505660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.62 m.] ProNav: ac range: 24.624371 m, nav range: 24.390528 m, bearing: 155.552826 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 152.657378 deg, new cmd heading: 152.844637 deg. aHeadingCmd: 2.667642 target range: 24.624371 and range: 24.80 m.b*@ZrjRJB ~!~)DDAT read: Rx Time:14:09:24.2393 TRx dataTimestamp_ set to:1749132565.312750PDAT read: Bearing 3.0, 3.0 (Local) ~Local bearing/azimuth received: Bearing 3.0, 3.0 (Local) checking for new query: numPingsReceived=35, elapsed TxPingTime=19.932451}1||||=@8? Un{BU:@ > B` >  E/!@) =I Y3$@i PwV PwV= PwV=  )   ?z;m7?4m?i > K PwV= PwV=  ) 6G z < checking for new query: numPingsReceived=36, elapsed TxPingTime=20.185398 He<Hep<Hmͼ>HiHmIHmA{BHm =HiHiHm <HmEԉ~GAAN>+aYQ,:WgEiAuzB}ZIMb@Mb@Mb@ )Y ףp= ?MbQyQ?@u`A v@)`AIy3AIeIe3- 5=y5Q 5>٥99 =H=sF= =>imN5m}Ϝ?uN59m ImByu?u:u%@u@m?Eim:m:m}N5}B,4A[EZbcEiAAA9*.@ʁ*8@e,-?I"C45Egʏ?4ޮ`ª?yoU˪PwV=PwV=ҁ%y5m.#@Gay8 D?C]zAjE ǜ?r7 rBE ǜ?7  rBOA4*.@] addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501561 s, deltaX: -0.500000 m, approachRate: -0.996888 m/s, rangeRepo size: 4 m Added new target pos. range: 24.127949 m, bearing: 155.920553 deg, lat: 36.906404 deg, lon: -122.116023 deg, deltaT: 0.501561 s, deltaX: -0.496422 m, approachRate: -0.989754 m/s, posRepo size: 4 quDNOT Ignoring new targets: 24.13 m.qyyDDAT read: Rx Time:14:09:24.7392 !5TRx dataTimestamp_ set to:1749132565.816265MPDAT read: Bearing 4.5, 1.9 (Local) U~Local bearing/azimuth received: Bearing 4.5, 1.9 (Local) echecking for new query: numPingsReceived=36, elapsed TxPingTime=20.434467E ProNav: ac range: 24.127949 m, nav range: 24.039024 m, bearing: 155.920492 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 152.844635 deg, new cmd heading: 153.067054 deg. A}HeadingCmd: 2.671524 target range: 24.127949 and range: 24.30 m.b}@*@ZyryjRJB~~{B}|||L8@|s? eo{Bg۵ t۵ Q> ܵ @)ܵ k=6GHn<jG ?bG?Iܵ j"@iܵ ܵ |٠=ܵ = ݱ )ݱ ݵ %/j?_Reݵ Iܽݵ |٠=ݵ = ޱ )ޱ 5checking for new query: numPingsReceived=37, elapsed TxPingTime=20.724161KEO"KE@9*KA2KEA:KE VbT\37d]wN3]93 kp'Ugxc@"ԡ~GAAN?bQ,EiA9n@n{*@Yn$ =ync=nHYw ;ݿ3v&?Gi?vl?@u? n@n";)nCzzBNII%I%2u* u==y}Q >٥ H; >N5+Μ?N59 IBy%@@?Ei::N5  v4AZQbUEiAU:AU:AU|/@ʁU\7@M%?_[~UA??B3U|٠=U=ҁUwd'6}@E\"@oEKUր 7s??ˢ<-zUAU;jUuNǜ?rU% UtBQQ QUIAUA.@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503773 s, deltaX: -0.099998 m, approachRate: -0.198499 m/s, rangeRepo size: 4 - Added new target pos. range: 24.028660 m, bearing: 157.491653 deg, lat: 36.906404 deg, lon: -122.116023 deg, deltaT: 0.503773 s, deltaX: -0.099289 m, approachRate: -0.197091 m/s, posRepo size: 4 15DNOT Ignoring new targets: 24.03 m.199 ProNav: ac range: 24.028660 m, nav range: 23.786083 m, bearing: 156.000406 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 153.067053 deg, new cmd heading: 153.245922 deg. HeadingCmd: 2.674646 target range: 24.028660 and range: 24.20 m.bf-+@ZrjRJB~~}|||@338@|r? =p{B]Ydnn#y> nE/!@)nB=InY3$@in+nPwV=n+= lnN ?Hf:?{KTL?inj>nҽnPwV=n+=Echecking for new query: numPingsReceived=39, elapsed TxPingTime=21.192350Hȼ>HHwIH-{BH =HH+DH&<H2E9]2@]*@Y]X =y]Hd=]Hd~`Q ݿφs@, ?Ap@ל?8Jz?? ]2@]V?;)]CuzBuFIAMb@Mb@Mb@ )Y$C?&1:vy?PT @)AI@y\AI-I-15 =%=y]tغQ ]>٥aa eHetFeq; m>iuN5mΜ?}N59m ImBy?:%@@m?Eim^;m;mN54A^EZbEiAAAAAd.@ʁVz7@E?JdBW?Ū? ۷pPwV=+=ҁ-~8v51u"@(ΤSK"Q/_}_?6zAj:ǜ?rp tB Aj].@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.257498 s, deltaX: -0.500000 m, approachRate: -1.941763 m/s, rangeRepo size: 4  Added new target pos. range: 23.532003 m, bearing: 156.125928 deg, lat: 36.906404 deg, lon: -122.116023 deg, deltaT: 0.257498 s, deltaX: -0.496656 m, approachRate: -1.928778 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.53 m. ProNav: ac range: 23.532003 m, nav range: 23.488665 m, bearing: 156.099575 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 153.245922 deg, new cmd heading: 153.452284 deg. HeadingCmd: 2.678248 target range: 23.532003 and range: 23.70 m.b ih+@Z r j R J B q~y~}{B}y|y|y|@37@|@? r{BmXc#pQ,lEiAI!I!EzBE?IIUIU2 V=yQ >٥ HuF >ԡDAT read: 14:09:25.7387 LVL= 26128, 30545, 21762, 32755, AGC= 58, IDX= 503,-0.02,-0.925,-2.341,-0.976,-1.244, PHS= 0.407,-1.050, 0.265, RAW= 144.9, 5.5, CAL= 147.5, -3.0, ROT= 2.5, 3.0 %Ygot valid direction response: 14:09:25.7387 LVL= 26128, 30545, 21762, 32755, AGC= 58, IDX= 503,-0.02,-0.925,-2.341,-0.976,-1.244, PHS= 0.407,-1.050, 0.265, RAW= 144.9, 5.5, CAL= 147.5, -3.0, ROT= 2.5, 3.0 -Z#Rx 41: Read direction message, but no range.=^direction in FSK: [0.997679,0.043560,-0.052336]y2?B)qM?yoU˪Y f)QwIUiNb>ff> !@) =IS$@iPwV¸2=PwV= oN?n+J?ry?i>Ľ¸2=PwV=}checking for new query: numPingsReceived=41, elapsed TxPingTime=21.700977N5]Μ?N59 IBy@?EiTH=ۄ<`N5!%4A)ZbEiA߹A߹A-@KP"K9*K2KB:KAiE"&k lV_JFhnT0",_JJʁaOD!.7@ lo1? It2?B)qM?yoU˪¸2=PwV=ҁU!ډY5eKY#@? d< I?c<|_zA¨jǜ?rG  sB sBAds.@ addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503017 s, deltaX: -0.300001 m, approachRate: -0.596404 m/s, rangeRepo size: 4 - Added new target pos. range: 23.234129 m, bearing: 155.660295 deg, lat: 36.906404 deg, lon: -122.116023 deg, deltaT: 0.503017 s, deltaX: -0.297874 m, approachRate: -0.592176 m/s, posRepo size: 4 )5DNOT Ignoring new targets: 23.23 m.999M ProNav: ac range: 23.234129 m, nav range: 23.263298 m, bearing: 156.176424 deg, approach rate: 0.000000 m/s, LOS rate: 0.137868 deg/s, cmd heading: 153.452289 deg, new cmd heading: 153.625354 deg. IHeadingCmd: 2.681268 target range: 23.234129 and range: 23.40 m.b+@ZrjRJB~~}|||`ff7@|? t{Bk8BvQ,ߤEiAI)9^H@^0+@Y^#=y^_=^H hܿ? ?)~6? c ? ? ^H@^n;)^CzB8IiMb@Mb@Mb@:J\BJTJJ@RJZJ=:bJ:9JJ4J@@@@ )Y?y&1{Gzy ?`弹#A )IQAyII3 =y]Q >٥ H&< >ԙN5>Μ?N59w IۓBy. ?:d(@@?Ei;I;N5B5AaEEB*** querying acoustic contact ***JARAGyG}AAH}ϼ>HyH}eIH}{BH} =HyH},DH}<H}EDDAT read: Rx Time:14:09:26.2384 TRx dataTimestamp_ set to:1749132567.616020PDAT read: Bearing 2.4, 3.0 (Local) ~Local bearing/azimuth received: Bearing 2.4, 3.0 (Local) DAT read: Range 10 to 50 : 23.0 m (trip time 15.3 ms) speed 0.5 DAT read: 14:09:26.2384 LVL= 25920, 32145, 24194, 32755, AGC= 59, IDX= 500, 0.08,-2.336, 2.544,-2.383,-2.651, PHS= 0.403,-1.041, 0.265, RAW= 145.0, 5.5, CAL= 147.6, -3.0, ROT= 2.4, 3.0 Ygot valid direction response: 14:09:26.2384 LVL= 25920, 32145, 24194, 32755, AGC= 59, IDX= 500, 0.08,-2.336, 2.544,-2.383,-2.651, PHS= 0.403,-1.041, 0.265, RAW= 145.0, 5.5, CAL= 147.6, -3.0, ROT= 2.4, 3.0 T#Rx 42: Read range and direction messages.^direction in FSK: [0.997754,0.041818,-0.052336]Fpublishing direction and range infoڡyڥdBW?\:4i?yoU˪ڥAYڡ ۥ@e)ۥ}Iۥ^iۡۥ;ۥV>ۥ}?ۡ ܥp!@)ܡIܥ$@iܡܥ+=ܡ ݡ)ݡݥ]}?`")?}ǗڄY?iݥA>ݥýݥ+=ݡ ޡ)ޡ%checking for new query: numPingsReceived=42, elapsed TxPingTime=22.243858] addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.792527 s, deltaX: -0.400000 m, approachRate: -0.504714 m/s, rangeRepo size: 4 amDNOT Ignoring new targets: 23.23 m.i5;5; ProNav: ac range: 23.234129 m, nav range: 22.936747 m, bearing: 156.253898 deg, approach rate: -0.657940 m/s, LOS rate: 0.158317 deg/s, cmd heading: 153.625352 deg, new cmd heading: 153.861081 deg. M;HeadingCmd: 2.685382 target range: 23.234129 and range: 23.00 m.bN+@ZrjR J B ~~i{B}|||7@|`? u{B靕 >}Q,mEiAT#Rx 43: Read range and direction messages..^direction in FSK: [0.997915,0.040080,-0.050593].Fpublishing direction and range infoqyu? k?|rQ穿ufAYq uPe)uIuViqu<u>uˡq u0"@)qIu$@iu4QOul$=u4QO= q)qu<?ӍN,E?fF!?iu(>uƽul$=u4QO= q)qjchecking for new query: numPingsReceived=43, elapsed TxPingTime=22.5431719^C@^1W+@Y^&٥ HvF; > N5 Μ?eN59 c I ՓByae(@e@ ?Ei e@< @< RN5quI5AudEZqbujEiAuAuAu!.@ʁuRc6@W=L ?c>\Su? k?|rQ穿ul$=u4QO=ҁu4YK*o"@ү1Qqu5qR?zmFzuAṳjuǜ?ru usBu:ǜ?q usBu|Au .@} addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.253268 s, deltaX: -0.200001 m, approachRate: -0.789680 m/s, rangeRepo size: 4  Added new target pos. range: 22.638563 m, bearing: 155.891000 deg, lat: 36.906404 deg, lon: -122.116023 deg, deltaT: 1.045795 s, deltaX: -0.595566 m, approachRate: -0.569486 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.64 m.I4=IR= ProNav: ac range: 22.638563 m, nav range: 22.685888 m, bearing: 156.297632 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 153.861076 deg, new cmd heading: 154.049051 deg. HeadingCmd: 2.688663 target range: 22.638563 and range: 22.80 m.b,@Zr1jQRQJQBQ~Y~Y}Y|Y|Y|e6@|e@? checking for new query: numPingsReceived=43, elapsed TxPingTime=22.730742 w{B1}'1}> }.k#@)}K=I}x&@i}5z}޹<}5z= y)y}\l!?bGME?L,;Ͷ?i}vB>}}޹<}5z= y)yMchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.0573839Ea}@E+@YE~٥ HwF; >IQ]N5UGΜ?eN59U IU̓B+:y:(@@U?EiU<;U^?U3N5BZ5AbEZyb}FiA}A}A}@T-@ʁ}mܒ׶16@LQÿ?hh}г?mLA0?.xA}޹<}5z=ҁ}4l܅)"@>)-:JYBJJJCRJZJ9bJJ4J}*eA~ ?fȎnz}A}ݠj}Jǜ?r}s }rB}ǜ?}  y}ѱA}6.@= addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.507422 s, deltaX: -0.400000 m, approachRate: -0.788298 m/s, rangeRepo size: 4 M Added new target pos. range: 22.241394 m, bearing: 155.172275 deg, lat: 36.906405 deg, lon: -122.116022 deg, deltaT: 0.507422 s, deltaX: -0.397169 m, approachRate: -0.782720 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 22.24 m.QY ProNav: ac range: 22.241394 m, nav range: 22.227274 m, bearing: 155.964596 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 154.049056 deg, new cmd heading: 154.306487 deg. HeadingCmd: 2.693156 target range: 22.241394 and range: 22.40 m.b\,@ZrjRJB~~}|||`ff6@|`?HAHECHERIHEzBHE =HAHAHE<HEE ex{Be)4Q,ka7FiA&A$*DDAT read: Rx Time:14:09:27.7379 .TRx dataTimestamp_ set to:1749132568.8762292PDAT read: Bearing 1.1, 3.1 (Local) 6~Local bearing/azimuth received: Bearing 1.1, 3.1 (Local) >DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.5 NDAT read: 14:09:27.7379 LVL= 21744, 26929, 19186, 32467, AGC= 62, IDX= 511,-0.14,-0.213,-1.637,-0.216,-0.515, PHS= 0.390,-1.076, 0.296, RAW= 146.7, 5.5, CAL= 148.9, -3.1, ROT= 1.1, 3.1 RYgot valid direction response: 14:09:27.7379 LVL= 21744, 26929, 19186, 32467, AGC= 62, IDX= 511,-0.14,-0.213,-1.637,-0.216,-0.515, PHS= 0.390,-1.076, 0.296, RAW= 146.7, 5.5, CAL= 148.9, -3.1, ROT= 1.1, 3.1 VT#Rx 45: Read range and direction messages.V^direction in FSK: [0.998353,0.019169,-0.054079]ZFpublishing direction and range info,y.mB?my^!?ʾ7.AY, .T).1iI.Ji.~.>.>.^.P> .#@). =I.R&@i.k].nF<.k]= ,),.=D=s?Tw?m ?i.>.\ƽ.nF<.k]= ,),nchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.5043139ُ@8+@Y}٥ HxFV); >AUN5EΜ?UN59E IEƓB] :yY^:(@@E?EiEh-%>yJ1 , WY.)j4TkJ9 J9 ԡ 6G <~G A A N >dQ,anRFiAQ9?@+@DDAT read: Rx Time:14:09:28.2377 TRx dataTimestamp_ set to:1749132569.384386%PDAT read: Bearing 1.0, 3.6 (Local) -~Local bearing/azimuth received: Bearing 1.0, 3.6 (Local) Y5r?5> )¸=IBo&@i5<= )1;x?^?zh?i>5<= )checking for new query: numPingsReceived=46, elapsed TxPingTime=24.065971qaI}aI} aM}aM} aQ}aQ} aE}aE} }Mb@Mb@Mb@yyy y)yY}V-?/$Mby}?},}} A }`@)} AI}hAyy}AIIV83; =yQ >٥  Hc; >-N5VhΜ?MN59B IBUT:yUY?U:U'@U@?Ei;g;fN5]B]|5AehEZbșXFiAAA;-@ʁX5@.6=?+W[X?* ֑?֏ 5<=ҁga3?"@H CH EIH zBH  =H H +DH <H EHɕCHɕCHHI I~5i U checking for new query: numPingsReceived=46, elapsed TxPingTime=24.246643 E E E E _0E 6GT<ZGRG~GAAN?`Q,xFiA.DDAT read: Rx Time:14:09:28.7377 .TRx dataTimestamp_ set to:1749132569.887921:PDAT read: Bearing 359.9, 4.2 (Local) :~Local bearing/azimuth received: Bearing 359.9, 4.2 (Local) BDAT read: Range 10 to 50 : 21.9 m (trip time 14.6 ms) speed 0.5 VDAT read: 14:09:28.7377 LVL= 22080, 31217, 18562, 31843, AGC= 63, IDX= 507, 0.25,-1.030,-2.460,-0.999,-1.344, PHS= 0.402,-1.069, 0.342, RAW= 147.9, 4.6, CAL= 150.1, -4.2, ROT= 359.9, 4.2 ZYgot valid direction response: 14:09:28.7377 LVL= 22080, 31217, 18562, 31843, AGC= 63, IDX= 507, 0.25,-1.030,-2.460,-0.999,-1.344, PHS= 0.402,-1.069, 0.342, RAW= 147.9, 4.6, CAL= 150.1, -4.2, ROT= 359.9, 4.2 ZT#Rx 47: Read range and direction messages.^`direction in FSK: [0.997313,-0.001741,-0.073238]bFpublishing direction and range info,y.RX?$\,Y, .@V).yI.Hi.c|.?.>.Ԉ.> .4%@).l=I.ϩ'@i.Q .@.Q = ,),. ͚.??~SU?i.Р>.Kۢ.".Q = ,),nchecking for new query: numPingsReceived=47, elapsed TxPingTime=24.516006t9u@u+@Yu`٥ HyFJ; >!-N5%URΜ?-N59%L I%By)-'@-@%?Ei%N:%:%N51=5AYZ,b.xFiA,,.&,@ʁ.nO5@waIQ{.RX?$\.".Q =ҁ.nw3Wo"@3!m|@.̥쿀"]?"\cz.#A.j.>ǜ?r.m .qB,.  .rB.٪A.V-@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503535 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 21.744835 m, bearing: 154.115289 deg, lat: 36.906406 deg, lon: -122.116018 deg, deltaT: 0.503535 s, deltaX: -0.000179 m, approachRate: -0.000356 m/s, posRepo size: 4 9=DNOT Ignoring new targets: 21.74 m.9AAu ProNav: ac range: 21.744835 m, nav range: 21.356375 m, bearing: 155.180894 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 154.762565 deg, new cmd heading: 155.003230 deg. yHeadingCmd: 2.705317 target range: 21.744835 and range: 21.90 m.b#-@ZrjRJB~~}||||@? =|{B= ;IA)EjAIE4< AAmgԁ Q,͏FiA))UDDAT read: Rx Time:14:09:29.2374 eTRx dataTimestamp_ set to:1749132570.397315PDAT read: Bearing 359.2, 4.0 (Local) ~Local bearing/azimuth received: Bearing 359.2, 4.0 (Local)  DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.6 1DAT read: 14:09:29.2374 LVL= 24928, 30177, 19282, 32723, AGC= 64, IDX= 504, 0.07,-2.733, 2.118,-2.676,-3.032, PHS= 0.387,-1.087, 0.353, RAW= 148.8, 4.8, CAL= 150.8, -4.0, ROT= 359.2, 4.0 Ygot valid direction response: 14:09:29.2374 LVL= 24928, 30177, 19282, 32723, AGC= 64, IDX= 504, 0.07,-2.733, 2.118,-2.676,-3.032, PHS= 0.387,-1.087, 0.353, RAW= 148.8, 4.8, CAL= 150.8, -4.0, ROT= 359.2, 4.0 T#Rx 48: Read range and direction messages.M`direction in FSK: [0.997467,-0.013928,-0.069756]MFpublishing direction and range infoQyUkc??#3V&k۱UfAYQ U`a)UuIURKiUU@U$>U"Uj> U6&@)U=IUq(@iU5Uy@U5= Q)QUsԑ?,d?vy?iUQ?UUDdU5= Q)QzBIchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.109583IUMb@Mb@Mb@QQQ Q)QYUCl?:vI +yUd?UTU94U A UX@)U AIUMAQyUAII23 =:J\BJPJJDRJZJ=:bJ*9J4JyQ >٥ HzF >!5N5%7Μ?]N59%H I%By]?]:]&@]@%?Ei%z;%T;%N5im5AmkEZQbUmFiAU1AU1AUsY+@ʁUU;qs5@{6Z.ҿJo"ŚUkc??#3V&k۱UDdU5=ҁU`\l2. б"@=A[U.}љz쿆Ym?QmHE ɼ>HA HE ?IHE zBHE  =HA HA HE <HE Eq zUAUjUk.vȜ?rU` U]rBUʮǜ?U  UrBUȧAUeg-@ checking for new query: numPingsReceived=48, elapsed TxPingTime=25.255104  addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.509394 s, deltaX: -0.600000 m, approachRate: -1.177871 m/s, rangeRepo size: 4 E  Added new target pos. range: 21.149086 m, bearing: 153.399968 deg, lat: 36.906407 deg, lon: -122.116018 deg, deltaT: 0.509394 s, deltaX: -0.595749 m, approachRate: -1.169525 m/s, posRepo size: 4 A m DNOT Ignoring new targets: 21.15 m.i q q   ProNav: ac range: 21.149086 m, nav range: 20.972969 m, bearing: 155.239235 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 155.003234 deg, new cmd heading: 155.290871 deg.   HeadingCmd: 2.710337 target range: 21.149086 and range: 21.30 m.b )v-@Z r j R J B ~ ~ {B} | | |e L5@|m ? ~{B靵 8;I ) s I ū< < )v-@ < Xnۍxۍw> ܍MQ%@)܍+=I܍p'@i܍d܍:܍d= ݉)݉ݍuqd#?t ?jUaݸ?iݍޛ>ݍ?ǽݍ:ݍd= މ)މchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.5243826GiG<~GAA N?pQ,FiA}zB}IIIb2); >=yQ >٥ H{F >N5X%Μ?N59 IBy@?Ei5;;N5B5AnEZbXFiAϦAϦAAH,@ʁz4@L?䣋0/;;6?X\?ᢔ:d=ҁ`t32[y"@،6\O@q?srᴿzAj8ǜ?r sB  rBAn,@5 addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.498732 s, deltaX: -0.299999 m, approachRate: -0.601524 m/s, rangeRepo size: 4 E Added new target pos. range: 20.851114 m, bearing: 154.235085 deg, lat: 36.906407 deg, lon: -122.116014 deg, deltaT: 0.498732 s, deltaX: -0.297972 m, approachRate: -0.597459 m/s, posRepo size: 4 AMDNOT Ignoring new targets: 20.85 m.IQqq ProNav: ac range: 20.851114 m, nav range: 20.883610 m, bearing: 154.369990 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 155.290867 deg, new cmd heading: 155.479554 deg. HeadingCmd: 2.713630 target range: 20.851114 and range: 21.00 m.b-@ZrjRJB~~}|||5@|`s? ={BE8 w;IA)ErAImK< iimG^Q,#FiA<DDAT read: Rx Time:14:09:30.2369 TRx dataTimestamp_ set to:1749132571.404305PDAT read: Bearing 358.3, 3.8 (Local) ~Local bearing/azimuth received: Bearing 358.3, 3.8 (Local) MDAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.6 ]DAT read: 14:09:30.2369 LVL= 24144, 31073, 21922, 32755, AGC= 64, IDX= 499,-0.11, 0.156,-1.277, 0.249,-0.124, PHS= 0.368,-1.107, 0.369, RAW= 150.1, 5.1, CAL= 151.7, -3.8, ROT= 358.3, 3.8 9c@³,@Y\۝-۝> ܝϩ'@)ܝK=IܝUs)@iܝԇܝ@ܝԇ= ݙ)ݙݝTR]?<΃I?4?iݝ 1?ݝݝݝԇ= ޙ)ޙchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.109533%Mb@Mb@Mb@!!! !)!Y%Zd;?V-{Gzy%?%m%#% A %A)%AI%dA!y!I}I}2i =y~Q >٥ H|F<< >N5 Μ?%N59! IBy%?%:%&@%@?Ei:=;N55AqEZb"FiAHmʼ>HiHm9IHmzBHm =HiHiHm<HmEAA +@ʁC^ff4@!_㿑2bNd?C8O{Sԇ=ҁL-29w_"@fm b4cp̽?3zhzAljȜ?r:l rB8ǜ?m  ꁝǣA,@% checking for new query: numPingsReceived=50, elapsed TxPingTime=26.262732E  addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.508258 s, deltaX: -0.400000 m, approachRate: -0.787001 m/s, rangeRepo size: 4   Added new target pos. range: 20.453951 m, bearing: 153.192238 deg, lat: 36.906408 deg, lon: -122.116013 deg, deltaT: 0.508258 s, deltaX: -0.397163 m, approachRate: -0.781421 m/s, posRepo size: 4   DNOT Ignoring new targets: 20.45 m.     ProNav: ac range: 20.453951 m, nav range: 20.472200 m, bearing: 154.087253 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 155.479558 deg, new cmd heading: 155.762916 deg.   HeadingCmd: 2.718576 target range: 20.453951 and range: 20.60 m.b %-@Z r j R J B ~ ~ {B} | | | 4@| `? {B靅 ;I ) ~ I [Χ< #< %-@ < -P`direction in FSK: [0.997746,-0.027870,-0.061049]BFpublishing direction and range infoyYPC?iى.xA3AY U)hIIiCw<!>!> 6'@)=IV)@i5z+@5z= )'>?<#?I?i ??IX5z= )=checking for new query: numPingsReceived=51, elapsed TxPingTime=26.578415)X9 *b@ u-@Y <٥ H}F< >-N5͜?5N59 IBy15f'@5@?Ei;;N5=B=6AEpEZbqFiA A A+@ʁPY'54@\w⿙)YPC?iى.xA5z=ҁU"2p!@4tG%x쿄Pd}t?/;z Aja|Ȝ?rڶX tsBa|Ȝ?ڶX  rBnA+@  addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.500202 s, deltaX: -0.200001 m, approachRate: -0.399840 m/s, rangeRepo size: 4  Added new target pos. range: 20.255396 m, bearing: 153.975321 deg, lat: 36.906408 deg, lon: -122.116012 deg, deltaT: 0.500202 s, deltaX: -0.198555 m, approachRate: -0.396950 m/s, posRepo size: 4 AEDNOT Ignoring new targets: 20.26 m.III] ProNav: ac range: 20.255396 m, nav range: 20.178871 m, bearing: 153.975269 deg, approach rate: 0.000000 m/s, LOS rate: 0.158317 deg/s, cmd heading: 155.762915 deg, new cmd heading: 155.962753 deg. YHeadingCmd: 2.722064 target range: 20.255396 and range: 20.40 m.bJ6.@ZrjRJB~~}|||`ff4@|@!?Jם4JC4Jַ/:J[BJOJJRJZJ:bJ%9JJzJ:jJ:J&:rJ&:  -{B-;I))-݂)I5!< 115 C<}J6.@H<ri1|T]g ^rx/#Pxa:l"kRGIkyi~GAA N >y xQ,9GiAYYImIm(*3yQ >٥ H >N5U͜? N59 IBy%@?Ei<<ȵN5}DDAT read: Rx Time:14:09:31.2365 TRx dataTimestamp_ set to:1749132572.413692PDAT read: Bearing 357.2, 3.9 (Local) ~Local bearing/azimuth received: Bearing 357.2, 3.9 (Local) }DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.7 5AsE=DAT read: 14:09:31.2365 LVL= 21280, 25905, 19122, 29491, AGC= 60, IDX= 495,-0.04,-2.883, 1.995,-2.756, 3.140, PHS= 0.348,-1.098, 0.385, RAW= 151.2, 5.0, CAL= 152.8, -3.9, ROT= 357.2, 3.9 uB*** querying acoustic contact ***JyRyYgot valid direction response: 14:09:31.2365 LVL= 21280, 25905, 19122, 29491, AGC= 60, IDX= 495,-0.04,-2.883, 1.995,-2.756, 3.140, PHS= 0.348,-1.098, 0.385, RAW= 151.2, 5.0, CAL= 152.8, -3.9, ROT= 357.2, 3.9 T#Rx 52: Read range and direction messages.`direction in FSK: [0.996493,-0.048736,-0.068015]Fpublishing direction and range infoځyڅE?,::siڅAYځ ۅ S)ۅ1eIۅJiۅ3sہۅ-> addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.509185 s, deltaX: -0.400000 m, approachRate: -0.785568 m/s, rangeRepo size: 4 ۅDۅ> ܅[(@)܅¸=I܅*@i܅'g܅@܅'g= ݁)݁݅D*@?+ω?s<)w?i݅A ?݅݅*H݅'g= ށ)ށchecking for new query: numPingsReceived=52, elapsed TxPingTime=27.104385DNOT Ignoring new targets: 20.26 m.&:&: ProNav: ac range: 20.255396 m, nav range: 19.957592 m, bearing: 154.020908 deg, approach rate: -0.515974 m/s, LOS rate: 0.107600 deg/s, cmd heading: 155.962752 deg, new cmd heading: 156.101188 deg. ;=HeadingCmd: 2.724480 target range: 20.255396 and range: 20.00 m.b=].@Z9r9j9R9J9BA~A~A}A|I|I|M4@|M [? {B靍I;I)qI"?< {<].@ӵ<mH1 H5 3IH5 zBH1 H1 H5 ,DH5 <H5 E checking for new query: numPingsReceived=52, elapsed TxPingTime=27.270826Y 6G zQ<jG ?bG ?~G A A N >Q,q2GiAԑ9 @..@Y9> )@)I+@i" @ )\3$J?&?]?id?y>) )Mchecking for new query: numPingsReceived=53, elapsed TxPingTime=27.540117ԹpzBI Mb@Mb@Mb@    ) Y 5^I ?lMby ?   E A A) AI zA y AIIT3iN ٥ H~F:< > N5 ͜?N59 R I By@?:Z&@@ ?Ei : : N5eBe-6AmvEZb[^:GiAGAGAÐ*@ʁϯX3@r7eg? ,::si)'g=ҁa2Pb1w[]!@H%u5@Lt+7?"zAjZȜ?r` rBk.vȜ?`  A+@%  addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.498317 s, deltaX: -0.200001 m, approachRate: -0.401352 m/s, rangeRepo size: 4 :Ja BJe SJJe @RJa ZJa bJe y69Je J4Ja zJa jJa Je (C:rJe +C:  Added new target pos. range: 19.659794 m, bearing: 152.698157 deg, lat: 36.906409 deg, lon: -122.116011 deg, deltaT: 1.007502 s, deltaX: -0.595602 m, approachRate: -0.591167 m/s, posRepo size: 4   DNOT Ignoring new targets: 19.66 m.     ProNav: ac range: 19.659794 m, nav range: 19.569094 m, bearing: 153.709202 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 156.101187 deg, new cmd heading: 156.293052 deg.   HeadingCmd: 2.727828 target range: 19.659794 and range: 19.80 m.b .@Z r j R J B ~ ~ {B} | | | 3@| `z? {B靍 hT;I ) I Ǡ<  < .@ <  ff> iw,@)=I'-@i`@`= )C4O?m?It?i?Hԫ)˽`= ) checking for new query: numPingsReceived=54, elapsed TxPingTime=28.105062Mb@Mb@Mb@ )YzG?333333~jty ?DrA @)vAIAyAII3%B -=y5E:Q =>I٥YY ]H]F]OE< >N5k͜?N59 I{ByI?:&@@?Ei::N5G6AZb[GiAAAJ(@ʁ{ 3@s2j>h1  Œ?ݲZ]1)˽`=ҁ0,%"@uŶmJ"(?֡ĻzAj2Ȝ?r| rBȜ?:l  jAa+@ addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.511448 s, deltaX: -0.400000 m, approachRate: -0.782092 m/s, rangeRepo size: 4 H]м>H]CH],IH]zBHYHYHYH]<H]E Added new target pos. range: 19.262627 m, bearing: 151.000424 deg, lat: 36.906410 deg, lon: -122.116010 deg, deltaT: 0.511448 s, deltaX: -0.397167 m, approachRate: -0.776554 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.26 m. ProNav: ac range: 19.262627 m, nav range: 19.177090 m, bearing: 153.429317 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 156.293047 deg, new cmd heading: 156.466436 deg. HeadingCmd: 2.730855 target range: 19.262627 and range: 19.40 m.bR.@ZrjRJB~~{B}|| )! ! |% `ff3@] checking for new query: numPingsReceived=54, elapsed TxPingTime=28.279636q G|} ?  ܿY y A JTimed out from 2025-06-05T13:59:33.3Z1i% % fCompleted lineCaptureHoming:MicromodemComms:CheckInh% % Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn% VCompleted lineCaptureHoming:MicromodemComms {B靕 D;I ) @ I < < R.@ < nَA> 3,@)޹=I.@i'g@'g= )O 6?d-c=!?H?i?K)QϽ'g= )checking for new query: numPingsReceived=55, elapsed TxPingTime=28.550959~GAAN ?ՈQ,M|GiAt9uL#!@u6/@Yu)٥ HF< >N5g͜?N59y IsByE'@@?EirY;=;'N5)6AyEZbzGiAAAM+)@ʁ8/2@Alo0?%{Ϲ,::si)QϽ'g=ҁDnh 0 `` "@7qٵVc<m?x͍ dzA@j%Ȝ?rӰ rBZȜ?`  rBꁕؗAo*@ addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.498159 s, deltaX: -0.199999 m, approachRate: -0.401476 m/s, rangeRepo size: 4  Added new target pos. range: 19.064119 m, bearing: 151.448096 deg, lat: 36.906410 deg, lon: -122.116007 deg, deltaT: 0.498159 s, deltaX: -0.198507 m, approachRate: -0.398482 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.06 m.!!e ProNav: ac range: 19.064119 m, nav range: 18.980850 m, bearing: 152.798421 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 156.466438 deg, new cmd heading: 156.611980 deg. amHeadingCmd: 2.733395 target range: 19.064119 and range: 19.20 m.bm.@ZirijiRiJiBi:JYBJJJGRJZJ9bJJc4JzJb:jJg:J)C:rJ~q~}|||@333@|hX?h nAggregate::initialize lineCaptureHoming:MicromodemCommsh~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn1i {B靕N:I)󌾉I< <.@<( =i.@ichecking for new query: numPingsReceived=55, elapsed TxPingTime=28.783772EMEIEIEIEIiK ?P"K 9*K 2K I:K @=2FTg^8EIcFs.z1Y5}Rq 6G Hn<~G A A ԙ DDAT read: Rx Time:14:09:33.2357 TRx dataTimestamp_ set to:1749132574.428355PDAT read: Bearing 353.1, 4.3 (Local) ~Local bearing/azimuth received: Bearing 353.1, 4.3 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 =DAT read: 14:09:33.2357 LVL= 23216, 28145, 20082, 30771, AGC= 58, IDX= 503,-0.07,-1.400,-2.788,-1.132,-1.609, PHS= 0.297,-1.132, 0.474, RAW= 155.8, 4.8, CAL= 156.9, -4.3, ROT= 353.1, 4.3 Ygot valid direction response: 14:09:33.2357 LVL= 23216, 28145, 20082, 30771, AGC= 58, IDX= 503,-0.07,-1.400,-2.788,-1.132,-1.609, PHS= 0.297,-1.132, 0.474, RAW= 155.8, 4.8, CAL= 156.9, -4.3, ROT= 353.1, 4.3 T#Rx 56: Read range and direction messages.`direction in FSK: [0.989963,-0.119798,-0.074979]Fpublishing direction and range infoډyڍC\ƭ?m]1ڍfAYډ ۍZ)ۍmIۍrNiۍ3xۉۍb>ۍ`吿ۍ!> ܍.@)܍=I܍LB/@i܍`܍P5@܍`= ݉)݉ݍ2?b7tN?g Y?iݍ&?ݍ0ݍݍ`= މ)މUchecking for new query: numPingsReceived=56, elapsed TxPingTime=29.131653Hμ>HH IHzBH =HHHԚ<HEHHHH =I = I4checking for new query: numPingsReceived=56, elapsed TxPingTime=29.286867!YNun?qQ,GiA9N !@N/@YNUʑUv> U /@)Ul=IU'0@iU|٠U@U|٠= Q)QUSE?~ ?ߔ?iU#?UԤU U|٠= Q)Quchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.576269%Mb@Mb@Mb@!!! !1)!Y%v?Dl{Gzy%?%O%ף%A %`@)%AI!!y%AY]AAIeIe(*3y ٥ HF; 2>5N5Hu͜?=N59ɷ I]ByE?E:E(@E@?Ei<<N5UBUq6AU|EZQbUbGiAUAUAU%'@ʁU~ >2@ӻ<*"/U;?JZQ5;U U|٠=ҁU r/$V"@)]UuLph?G/d;zUAU#~jU:Ȝ?rU#5 UqBU%Ȝ?UӰ  UrBUAU0)@  addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 1.006299 s, deltaX: -0.600000 m, approachRate: -0.596245 m/s, rangeRepo size: 4  Added new target pos. range: 18.468321 m, bearing: 150.003269 deg, lat: 36.906412 deg, lon: -122.116003 deg, deltaT: 1.006299 s, deltaX: -0.595798 m, approachRate: -0.592069 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.47 m.!II] ProNav: ac range: 18.468321 m, nav range: 18.363182 m, bearing: 151.466991 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 156.611976 deg, new cmd heading: 156.937172 deg. YHeadingCmd: 2.739070 target range: 18.468321 and range: 18.60 m.bL/@ZrjRJB~~{B}|||2@|@U0?:JbBJNJJARJZJ:bJ!9J4JzJI ;jJK ;JU:rJW: {B٬;I)옾IEyB< AAE~Q, %GiA9~I!@~/@Y~ʗUMU? U%/@)QIUC0@iQU@Q Q)QU= ?F ??iU z$?U[Ug Q Q)Qchecking for new query: numPingsReceived=58, elapsed TxPingTime=30.164072GG@AH˼>HCH IHzBH =HH+DH<HEԱ7zBI checking for new query: numPingsReceived=58, elapsed TxPingTime=30.294794 Mb@Mb@Mb@ ) Y 7A`?~jt~jty ? ļ \ A @)  AI y AI I 0 x^  ٥I I M HM FU "; U >Y  N5] 3W͜? N59] g I] MBy ? : '@ @] @Ei] f<] A<] N5 7A E ZQbU"GiAUAUAUl'@ʁU'7C1@NG&xUO8/? dhQ5;Ug QҁUd]/"Z!@wU6hOɽ$(?2C"zUAUxjU9Ȝ?rU UqBU2Ȝ?U|  UrBUAU*(@  addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.509593 s, deltaX: -0.400000 m, approachRate: -0.784939 m/s, rangeRepo size: 4   Added new target pos. range: 18.071070 m, bearing: 149.983251 deg, lat: 36.906413 deg, lon: -122.116002 deg, deltaT: 0.509593 s, deltaX: -0.397251 m, approachRate: -0.779546 m/s, posRepo size: 4   DNOT Ignoring new targets: 18.07 m.     ProNav: ac range: 18.071070 m, nav range: 17.863436 m, bearing: 151.041959 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 156.937175 deg, new cmd heading: 157.159307 deg.   HeadingCmd: 2.742947 target range: 18.071070 and range: 18.20 m.b s/@Z r j R J B ~ ~ {B} |! |! |% @332@|% @y? M{B靝9I)I=IO< AAE`o ۥnۥJ ? ܥ/@)ܡIܥ 0@iܡܥp{@ܡ ݡ)ݡݥj?ƶF?:Ju?iݥ&?ݥڣݥTݡ ޡ9)ޡEchecking for new query: numPingsReceived=59, elapsed TxPingTime=30.5709026GEf=y~GAA!N-9?WR,+HiA:Jm[BJmZJJiRJiZJm:bJmS9JiJizJm:jJm:JmRu:rJmTu:9!@<0@Y ٥ HFC< >N5C͜?N59 IBBy(@@@Ei: checking for new query: numPingsReceived=59, elapsed TxPingTime=30.798717:N5B7AEEZbGiA{E'@ʁ91@e^&x}f@? D3¿5;TҁIE +/U8"@Zt/ޭ?νzAxj6S)Ȝ?ru qB#5  qBA'@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.501763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.071070 m, bearing: 149.749146 deg, lat: 36.906413 deg, lon: -122.115999 deg, deltaT: 0.501763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.07 m.  E ProNav: ac range: 18.071070 m, nav range: 17.754194 m, bearing: 150.158759 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.159306 deg, new cmd heading: 157.303427 deg. AMHeadingCmd: 2.745463 target range: 18.071070 and range: 18.20 m.bM/@ZIrIjQRQJQBQ~y~y}y|y|y||? {B|Ie<)I< 6Y"</@J<!=i/@i ԑK'P"K*K2KK:KKQRAM}}1Ax/H XF=9a}fyDxy#:dEEEE3E6G < DDAT read: Rx Time:14:09:35.2350  TRx dataTimestamp_ set to:1749132576.443953 PDAT read: Bearing 351.4, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 351.4, 4.7 (Local)  DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5 ~GY  DAT read: 14:09:35.2350 LVL= 24608, 24289, 22930, 32755, AGC= 58, IDX= 494, 0.18,-0.800,-2.202,-0.470,-0.998, PHS= 0.286,-1.157, 0.526, RAW= 157.6, 4.4, CAL= 158.6, -4.7, ROT= 351.4, 4.7 A = Ygot valid direction response: 14:09:35.2350 LVL= 24608, 24289, 22930, 32755, AGC= 58, IDX= 494, 0.18,-0.800,-2.202,-0.470,-0.998, PHS= 0.286,-1.157, 0.526, RAW= 157.6, 4.4, CAL= 158.6, -4.7, ROT= 351.4, 4.7  T#Rx 60: Read range and direction messages.A  `direction in FSK: [0.985432,-0.149033,-0.081939] Fpublishing direction and range info y /?7ÿNe > R,8!HiA3AY `)^IYin>? x 0@)nF=Im(1@i?B@= )fڱMI?/t?y M`?i'?t= )Bchecking for new query: numPingsReceived=60, elapsed TxPingTime=31.154747ԱMyBUIMb@Mb@Mb@ )YS?ˡEZd;Oy?Hм>HCHIHWzBH =HH,DH <HE'jA v@)IzAyAII3P )=yQ >٥ HF >)5N5--͜?5N59- I-8By5?5:5+@=@- @Ei-D;-;-N5ae7AeEchecking for new query: numPingsReceived=60, elapsed TxPingTime=31.302891ZbiHiA/A/Ax&@ʁ,_1@ϐ4079CM/?7ÿt=ҁ $h\.<8i[!@K]&QU!cm0?AӾzArj3Ko.Ȝ?r3 jqB3Ko.Ȝ?  qB A'@u addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504682 s, deltaX: -0.300001 m, approachRate: -0.594436 m/s, rangeRepo size: 4  Added new target pos. range: 17.773294 m, bearing: 149.364431 deg, lat: 36.906413 deg, lon: -122.115998 deg, deltaT: 0.504682 s, deltaX: -0.297775 m, approachRate: -0.590026 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.77 m. ProNav: ac range: 17.773294 m, nav range: 17.506538 m, bearing: 150.132562 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.303423 deg, new cmd heading: 157.462170 deg. HeadingCmd: 2.748233 target range: 17.773294 and range: 17.90 m.b/@Zrj R JQBQ~Y~]t{B}Y|Y|a|e`f1@|e l? {BI)ξI~h< $< /@<۽ ۽ /? ܹ )ܽ l=Iܽ 1@iܽ |٠ܽ P@ܽ |٠= ݹ )ݹ ݽ SVTG?Vs?2a?iݽ '?ݽ 9`ݽ ݽ |٠= ޹ )޹  checking for new query: numPingsReceived=61, elapsed TxPingTime=31.588118~G)A1AINU>4R,?HiA9^n "@^0@Y^D٥ HFJx; > N5͜? N59ب I/By  +@@ @EiL$<v$<N57AZbrn'cAHcy!?E z ApjxU(Ȝ?r0n qBAu  A'@} addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.500288 s, deltaX: -0.199999 m, approachRate: -0.399767 m/s, rangeRepo size: 4  Added new target pos. range: 17.574711 m, bearing: 149.502125 deg, lat: 36.906413 deg, lon: -122.115996 deg, deltaT: 0.500288 s, deltaX: -0.198584 m, approachRate: -0.396939 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.57 m.% ProNav: ac range: 17.574711 m, nav range: 17.369299 m, bearing: 149.521905 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.462170 deg, new cmd heading: 157.592904 deg. !-HeadingCmd: 2.750515 target range: 17.574711 and range: 17.70 m.b-p0@Z)r)j)R1J1B1~Y~Y}a|i|i|m@31@|m@3? {B0/I)J˾I̋< 115&<=p0@=)<=bVR,YHiAL9nD"@n&0@Yn>hyQ >٥ H: >ۅnۅX> ܅LB/@)܅¸=I܅C0@i܅C܅@܅C= ݁)݁݅M_ր?T?ٿAl?i݅Ŷ$?݅݅g ݅C= ށ)ށchecking for new query: numPingsReceived=62, elapsed TxPingTime=32.145489N5͜?N59V I$By +@ @@Ei^;;N5B 8AEZb\HiAkAkAj'@ʁAY`0@cM1-ۀ{o?MXټS Mg C=ҁՠ/⊣-ϜR @A2Ǫ[WsvTh9a7?G {zAmjn$Ȝ?r rB6S)Ȝ? qBꁅAY '@} addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503814 s, deltaX: -0.400002 m, approachRate: -0.793947 m/s, rangeRepo size: 4  Added new target pos. range: 17.177540 m, bearing: 150.196540 deg, lat: 36.906412 deg, lon: -122.115996 deg, deltaT: 0.503814 s, deltaX: -0.397171 m, approachRate: -0.788329 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.18 m. ProNav: ac range: 17.177540 m, nav range: 17.118721 m, bearing: 149.545854 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.592900 deg, new cmd heading: 157.751767 deg. :J^BJQJJHRJZJ} :bJ-.9JԺ4J-@-@-@-@Q]HeadingCmd: 2.753288 target range: 17.177540 and range: 17.30 m.be50@ZarijiRiJiBi~q H<HHӼ>HHIH9zBH =HHH<H2E~}|||L1@|@ ? E{BE`II)M^ӾIImVK< qquF)<}50@}2<}]$E5 !<zEI Q EEEE[0EԁDDAT read: Rx Time:14:09:36.7345 TRx dataTimestamp_ set to:1749132577.951852PDAT read: Bearing 352.5, 3.7 (Local) ~Local bearing/azimuth received: Bearing 352.5, 3.7 (Local) DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5 =DAT read: 14:09:36.7345 LVL= 27024, 28113, 23778, 32755, AGC= 59, IDX= 506,-0.49, 2.669, 1.293, 2.967, 2.491, PHS= 0.266,-1.151, 0.473, RAW= 156.7, 5.5, CAL= 157.5, -3.7, ROT= 352.5, 3.7 EYgot valid direction response: 14:09:36.7345 LVL= 27024, 28113, 23778, 32755, AGC= 59, IDX= 506,-0.49, 2.669, 1.293, 2.967, 2.491, PHS= 0.266,-1.151, 0.473, RAW= 156.7, 5.5, CAL= 157.5, -3.7, ROT= 352.5, 3.7 ET#Rx 63: Read range and direction messages.M`direction in FSK: [0.989378,-0.130254,-0.064532]MFpublishing direction and range infoy?+P0̈AY i)mI\i'1>S->  /@) =I/@i A@ A= )2?} ?2#??i$?C½  A= )mchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.5798456G><jG?bG>~GԱAAN&?= R,*HiA9e(4"@eG0@YeuQ٥11 5H5F=eR; =>I]N5M̜?]N59ME IMBy]?]:]M-@]@M@EiMi ;M; ;M%N5imH8AmEZb%|HiAՇAՇA/(@ʁ6v0@U4?+P0  A=ҁ5:@m-bg @,Q? e}F뿭֬J?./}zAmkj@Ȝ?r֋ sBxU(Ȝ? qBꁍA#&@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503797 s, deltaX: -0.199999 m, approachRate: -0.396983 m/s, rangeRepo size: 4  Added new target pos. range: 16.979031 m, bearing: 150.568009 deg, lat: 36.906412 deg, lon: -122.115996 deg, deltaT: 0.503797 s, deltaX: -0.198509 m, approachRate: -0.394026 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.98 m. ProNav: ac range: 16.979031 m, nav range: 16.763391 m, bearing: 149.443702 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.751770 deg, new cmd heading: 157.935598 deg. HeadingCmd: 2.756496 target range: 16.979031 and range: 17.10 m.boj0@ZrjRJ B ~ ~>{B}|||1@|۟?checking for new query: numPingsReceived=63, elapsed TxPingTime=32.814777 {BZI)۾I/< $+<oj0@<| (6K>E̓m m Q> m ~{/@)m q=Im A`0@im 'gm U@m 'g= i )i m }7?j?-7?!3HiHmIHm$zBHiHiHiHm<HmEG)I }4޿YyIAchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.319828Mb@Mb@Mb@ )YZd;O?٥99 =H=FESI; E>A}N5E̜?}N59E IEByw?:/@@E@EiE;E ;EQN5BQ8AEZb4HiAAA'@ʁÈb0@ /0I -v?0<[,::si0 'g=ҁ˾%,7=>Z @&ea?;kzA/ej Ȝ?r/( sBn$Ȝ?  rBԂAy'@u addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504492 s, deltaX: -0.400000 m, approachRate: -0.792876 m/s, rangeRepo size: 4  Added new target pos. range: 16.581842 m, bearing: 150.281960 deg, lat: 36.906412 deg, lon: -122.115998 deg, deltaT: 0.504492 s, deltaX: -0.397188 m, approachRate: -0.787303 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.58 m. ProNav: ac range: 16.581842 m, nav range: 16.353607 m, bearing: 149.931873 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 157.935598 deg, new cmd heading: 158.134726 deg. HeadingCmd: 2.759972 target range: 16.581842 and range: 16.70 m.b`0@Zrj!R!J)B1~a~e0{B}i|q||@30@|8? % {B- I) )- ݾ) I- < ) 1 U .<] `0@] X<] ^/۵ Z۵ |> ܵ '0@)ܵ ޹=Iܵ ;0@iܵ 5ܵ ^@ܵ 5= ݱ )ݱ ݵ ʄ C:?rDx?ta9?iݵ F(?ݵ ݵ T ݵ 5= ޱ )ޱ 5 checking for new query: numPingsReceived=65, elapsed TxPingTime=33.588299A EEEE0Eqԙ6G<]checking for new query: numPingsReceived=65, elapsed TxPingTime=33.822800~G)AAAQNe*?3R,HiA9^я"@^/0@Y^D"٥    H F; >%N5x̜?%N59I IBy)-/@-@"@Ei;;N515>8A1aZbrHiAEAEA'@ʁi%0@~9g,0`?0¿&k۱T 5=ҁ],^(Y- @b!0aB?s]躿zjAv`jxFȜ?rl.  sB Ȝ? sBqA'@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503776 s, deltaX: -0.300001 m, approachRate: -0.595505 m/s, rangeRepo size: 4  Added new target pos. range: 16.283964 m, bearing: 150.033947 deg, lat: 36.906410 deg, lon: -122.115998 deg, deltaT: 0.503776 s, deltaX: -0.297878 m, approachRate: -0.591291 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.28 m.KCP"K@9*K2KN:K.2x9?Q&oD\0Z`si_A4iC 3zoL{E ProNav: ac range: 16.283964 m, nav range: 16.180191 m, bearing: 150.086542 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.134725 deg, new cmd heading: 158.299000 deg. A}HeadingCmd: 2.762839 target range: 16.283964 and range: 16.40 m.b}Z0@ZrjRJB~~}|||`ff0@| h? {B+@I)۾ I yx<    0<Z0@a<t۵y閿۵  ? ܵ1@)ܵ¸=Iܵ¸2@iܵ`ܵz@ܵ`= ݱ)ݱݵ$\ ? bN(3?G<?iݵث/?ݵt*ݵ2ݵ`= ޱ)ޱ checking for new query: numPingsReceived=66, elapsed TxPingTime=34.1783686G V< ~G A A N >9R,^HiA:J\BJQJJ@RJZJ=:bJ-.9JJ4JH6ռ>H4H6IH6zBH4H4H4H6<H6EH-CH-CH)H- =I) I-5=yB=Ichecking for new query: numPingsReceived=66, elapsed TxPingTime=34.326859Mb@Mb@Mb@ )YGz?~jth٥yy }H}F >N5f̜?N59\ IByu?:e0@@'@Ei;:)N58AEZbHiA|A|A %@ʁm+/@ڥבl?Jq*ƿ]12`=ҁ;u'*TkETj @xYRA^Y{ޢ?lpwzRAUjo5Ȝ?rj  rB 3~As|'@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504293 s, deltaX: -0.500000 m, approachRate: -0.991487 m/s, rangeRepo size: 4 = Added new target pos. range: 15.787581 m, bearing: 148.453695 deg, lat: 36.906410 deg, lon: -122.115998 deg, deltaT: 0.504293 s, deltaX: -0.496383 m, approachRate: -0.984314 m/s, posRepo size: 4 9uDNOT Ignoring new targets: 15.79 m.q- ProNav: ac range: 15.787581 m, nav range: 15.887575 m, bearing: 149.941380 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.299005 deg, new cmd heading: 158.459630 deg. )]HeadingCmd: 2.765642 target range: 15.787581 and range: 15.90 m.b]H1@ZarajaRaJaBi~q~{{B}|||/@| 3? 1UcA?IY)]y׾YI]q< YY]]3  D ? [2@) ޹=I Ud3@i C K$@ C= ) ڊ_?ܐO?ƁH?i 43? q= C= )  checking for new query: numPingsReceived=67, elapsed TxPingTime=34.603806Y 6Gu +^<~G1A9AIN]>AR,`xIiA9v"@v90@Yv٥ HFQ5< >EN5<̜?MN59֔ IByIM0@M@+@Ei-<-<N5UBUA8A]E%checking for new query: numPingsReceived=67, elapsed TxPingTime=34.830711ZbHiA{A{Aw%@ʁ9 .@m*A^3kO_?DK|ǿ Mq=C=Yҁ>}*Ew @t5rG@뿸8Yy?W3һzASj)#,Ȝ?r sBl.   sBGzAC'@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504283 s, deltaX: -0.099999 m, approachRate: -0.198300 m/s, rangeRepo size: 4  Added new target pos. range: 15.688290 m, bearing: 148.131928 deg, lat: 36.906410 deg, lon: -122.115998 deg, deltaT: 0.504283 s, deltaX: -0.099292 m, approachRate: -0.196897 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.69 m. ProNav: ac range: 15.688290 m, nav range: 15.642418 m, bearing: 149.743619 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.459624 deg, new cmd heading: 158.602043 deg. HeadingCmd: 2.768128 target range: 15.688290 and range: 15.80 m.b)1@Zrj!R!J!B!~!~)})|)|)|-/@|5S;? 靥I)CݾIw l< e5<)1@ͥ<f~GaAiAyN>Ա  DDAT read: Rx Time:14:09:39.2333  TRx dataTimestamp_ set to:1749132580.471974 PDAT read: Bearing 349.1, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 349.1, 3.8 (Local)  DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.5 % DAT read: 14:09:39.2333 LVL= 22160, 26225, 20418, 32531, AGC= 59, IDX= 509, 0.15, 2.876, 1.511,-2.976, 2.754, PHS= 0.210,-1.196, 0.550, RAW= 160.6, 5.5, CAL= 160.9, -3.8, ROT= 349.1, 3.8 5 Ygot valid direction response: 14:09:39.2333 LVL= 22160, 26225, 20418, 32531, AGC= 59, IDX= 509, 0.15, 2.876, 1.511,-2.976, 2.754, PHS= 0.210,-1.196, 0.550, RAW= 160.6, 5.5, CAL= 160.9, -3.8, ROT= 349.1, 3.8 = T#Rx 68: Read range and direction messages.U `direction in FSK: [0.979800,-0.188680,-0.066274]U Fpublishing direction and range info y `IZ?u&ȿ{S tAY V) qfI Oi  ; = W>  ? Ud3@) =I 3@i ԇ g@ ԇ= ) ǩ0?ȹ͸?K&?i KS5? NĽ tB ԇ= )  checking for new query: numPingsReceived=68, elapsed TxPingTime=35.107002GR,H!IiAx9} #@}1@Y} HaHaHaHe =HaHaHeŚ<HeEeMb@Mb@Mb@aaa a)aYeS?{GztMbP?ye/?eףe:eX A edA)e AIeAayeADAIIV83=checking for new query: numPingsReceived=68, elapsed TxPingTime=35.335873U< U=yUQ U>٥YY ]HY]; e>aN5em̜?N59e IeBy0?:0@@e1@Eie;eq;eN58AEZb4IiAsAsAXK%@ʁ5s> -@LfpR;`IZ?u&ȿ{StBԇ=ҁ} )pE, @ .~; 'm?.kz1ALj"N6Ȝ?r p sBI)#,Ȝ?j   1sA%@} addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503278 s, deltaX: -0.500000 m, approachRate: -0.993487 m/s, rangeRepo size: 4  Added new target pos. range: 15.191726 m, bearing: 147.979162 deg, lat: 36.906413 deg, lon: -122.115996 deg, deltaT: 0.503278 s, deltaX: -0.496564 m, approachRate: -0.986659 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.19 m. ProNav: ac range: 15.191726 m, nav range: 15.199478 m, bearing: 148.302775 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.602047 deg, new cmd heading: 158.772828 deg. %HeadingCmd: 2.771109 target range: 15.191726 and range: 15.30 m.b%Y1@Z!r!j!R!J)B)~)~-q{B}1|1|1|=.@|e`V? {B靥 3I ) I׾ I Pd< $7< Y1@ Γ< , Q ? {4@) K=I -5@i Q ?@ Q = ) v?V0|??o1?i ::? j t Z Q = ) uchecking for new query: numPingsReceived=69, elapsed TxPingTime=35.6042186G~GAAN ?4QR,V EIiA9M٥ HF-< >%O5Y̜?-O59 IBy)-0@-@5@Ei;;EO5]B]7AeEIIZabex>IiAezqAezqAe62$@ʁeqVl-@t^r F4{e5|1?ʿet ZeQ =ҁe@d()UM DDAT read: Rx Time:14:09:40.2330 M TRx dataTimestamp_ set to:1749132581.481343G\WR,;^IiAPDAT read: Bearing 347.0, 4.1 (Local) ~Local bearing/azimuth received: Bearing 347.0, 4.1 (Local) "DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.6 JDAT read: 14:09:40.2330 LVL= 22176, 27057, 17186, 30787, AGC= 58, IDX= 505, 0.05, 2.635, 1.293, 3.140, 2.538, PHS= 0.185,-1.199, 0.598, RAW= 162.7, 5.1, CAL= 163.0, -4.1, ROT= 347.0, 4.1 fYgot valid direction response: 14:09:40.2330 LVL= 22176, 27057, 17186, 30787, AGC= 58, IDX= 505, 0.05, 2.635, 1.293, 3.140, 2.538, PHS= 0.185,-1.199, 0.598, RAW= 162.7, 5.1, CAL= 163.0, -4.1, ROT= 347.0, 4.1 fT#Rx 70: Read range and direction messages.n`direction in FSK: [0.971876,-0.224375,-0.071497]Fpublishing direction and range infoځyڅۅxۅ? ܅ּ5@9en#@eX1@)܁I܅6@i܅C܅&@܅C= ݁)݁݅Ldn?B?w.?Yed?݅yE݅Vh݅C= ށ)ށ-checking for new query: numPingsReceived=70, elapsed TxPingTime=36.197235Q)eCezBeIHӼ>HHIH/zBH =HHH<HEyMb@Mb@Mb@ )Y~jt?Zd;Oy?j )IyII2 <   =y ,Q  >٥ HUF]G; e>iuO5checking for new query: numPingsReceived=70, elapsed TxPingTime=36.342724m>̜?O59ma ImBy?:/@@m:@Eim;m+;mPO5s7AEZbS^IiAiAiAf#@ʁZZW^,@Ӑh,3 '*1UUX? U36@)U =IU6@iUԇUi@Uԇ= Q)QU1j8?s歝K?{ I?iUB?UŽUTtUԇ= Q)Qchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.6123666G%<ZGRG1~GAA N(?{(bR,E IiA9n#@n1@YnՅ<:Jv^BJvRJJvARJtZJv} :bJvS29Jv4JtzJv`: jJve: Jv;: rJv<: ynέ=nHyֿ`?@?e ? g?m? n#@n>;)nC) II?13yxIQ >٥ HF; > O5 '̜?O59 W I ByB/@@ ?@E9i |: )<  O5eBe7AeEZb~IiAchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.846779dAdA"@ʁ[+@e^ KWR"n?)?ο{STtԇ=ҁg]4'~K @4eBVO׻JL꿅_5?r]z>A<jIȜ?r`, =tB"N6Ȝ?F2·  sBꁽeA:#@5 addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502884 s, deltaX: -0.300000 m, approachRate: -0.596559 m/s, rangeRepo size: 4 u Added new target pos. range: 14.298145 m, bearing: 145.701447 deg, lat: 36.906414 deg, lon: -122.115992 deg, deltaT: 0.502884 s, deltaX: -0.297878 m, approachRate: -0.592340 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.30 m. ProNav: ac range: 14.298145 m, nav range: 14.359692 m, bearing: 146.541469 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.112631 deg, new cmd heading: 159.250662 deg. HeadingCmd: 2.779449 target range: 14.298145 and range: 14.40 m.bM|1@ZQrQjQRQJQBQ~Y~Y}Y|Y|Y|e,@|e9?q {B靵OnBI)bþI]P< =<%|1@%Ln<%#۝ "۝ -? ܝ 7@)ܙ Iܝ 7@iܙ ܝ @ܙ ݙ )ݙ ݝ 6y^?t<{E?_ ?iݝ x;F?ݝ >ƽݝ ݙ ޙ )ޙ 5 checking for new query: numPingsReceived=72, elapsed TxPingTime=37.119186 6G <~GAAN>iR,AIiA9E#@E1@YEfHaHeIHeMzBHe =HaHaHe<HeE5zB=IQchecking for new query: numPingsReceived=72, elapsed TxPingTime=37.353416Mb@Mb@Mb@ )Y5^I ?&1y?PE A A) AI3AyAAAII2; ٥ HF < >O5̜?O59 IBy?%:%,@%@D@EiQ::YO5)-7A-EZQbUAIiAU`AU`AU#"@ʁUK +@q@8 ȱ2aU?hϿ{SUQҁU^I&h t@Hc(SUҩ!b6S1?+ zU@U6jU6tKȜ?rU UtBUEȜ?U+  UsBUZ^AU"@5 addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504150 s, deltaX: -0.299999 m, approachRate: -0.595059 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 14.000224 m, bearing: 145.154458 deg, lat: 36.906416 deg, lon: -122.115992 deg, deltaT: 0.504150 s, deltaX: -0.297921 m, approachRate: -0.590938 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.00 m.II ProNav: ac range: 14.000224 m, nav range: 13.897135 m, bearing: 145.868419 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.250669 deg, new cmd heading: 159.435659 deg. HeadingCmd: 2.782677 target range: 14.000224 and range: 14.10 m.bb2@ZrjRJB!~Q~U{B}Y|Y|Y|]@33,@|]@U? {B#I)I#J< J?<b2@e<H5 Hᚿ5 J "? 5 8@)5 =I5 R8@i5 'g5 M@5 'g= 1 )1 5 .+Cu?3b$?!&-?i5 I?5 5 ڸ5 'g= 1 )1  checking for new query: numPingsReceived=73, elapsed TxPingTime=37.624451 6G-<~G AA!N=?\krR,%IiAJ{-4J{ם4J{0:JR]BJRXJJRCRJPZJR]:bJR5K9JR4JPzJR:jJR:JRf:rJRf:9 $@ `12@Y L\٥ H; >O5;˜?O59 IBy,@@I@Ei:B:RO5{7AZyb}GIiA}<[A}<[A}8p!@ʁ}G_*@Ta ް}|B[?ܐHп,::sichecking for new query: numPingsReceived=73, elapsed TxPingTime=37.854771}ڸ}'g=ҁ}aⅨ4&`@@Ws<}_CASz?&hhz},@}1j}1jRȜ?r}A }tB}IȜ?}`,  }=tB}ZA}sQ"@m addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504682 s, deltaX: -0.300000 m, approachRate: -0.594434 m/s, rangeRepo size: 4  Added new target pos. range: 13.702347 m, bearing: 144.527126 deg, lat: 36.906416 deg, lon: -122.115991 deg, deltaT: 0.504682 s, deltaX: -0.297877 m, approachRate: -0.590228 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.70 m.  ProNav: ac range: 13.702347 m, nav range: 13.631581 m, bearing: 145.314768 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.435658 deg, new cmd heading: 159.576314 deg. MHeadingCmd: 2.785132 target range: 13.702347 and range: 13.80 m.bM?2@ZIrQjQRQJYBY~~}| ||+@|E? U{BU5CIQ)UvQID< @<?2@b<yR,PrIiA)! !H]Ҽ>HYH]IH]azBH] =HYHYH]<H]E+G %#Y!y%PA9g>$@?1BQ2@YK$@K;)C-zBIi٥AI HFI; >-O5˜?5O59 } IBy5|?5:5 +@5@O@Ei)<*:O5=BEH7AEEZabe IiAeTAeTAe @ʁeERП~)@R ~ ]heiS?ydiѿ,::sieÐaҁeE4$X%x3U@ eoӶxII?­Thze@e*jegZȜ?reR etBe6tKȜ?e  etBeTAe!@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503098 s, deltaX: -0.400001 m, approachRate: -0.795075 m/s, rangeRepo size: 4 AU Added new target pos. range: 13.305202 m, bearing: 143.722159 deg, lat: 36.906416 deg, lon: -122.115990 deg, deltaT: 0.503098 s, deltaX: -0.397144 m, approachRate: -0.789398 m/s, posRepo size: 4 Q]DNOT Ignoring new targets: 13.31 m.Y ProNav: ac range: 13.305202 m, nav range: 13.289103 m, bearing: 144.736016 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.576319 deg, new cmd heading: 159.783907 deg. HeadingCmd: 2.788755 target range: 13.305202 and range: 13.40 m.bz2@ZrjRJB~~{B}||| *@|% x? 靥 H[I )  I  >< &kB< z2@ V< 6٥ HFX< >O5˜?O590z IByc+@@S@Ei;;O5  {7A EZ)b-vJiA-QA-QA-Q4 @ʁ-  )@>-͝E?Z~uҿP0-J - A=ҁ- B$ή@l;- Lq@?Qz-@-'j-qzXȜ?r-ڷQ Y-7uB-1jRȜ?-A  -tB-SPA- @m addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505519 s, deltaX: -0.200000 m, approachRate: -0.395633 m/s, rangeRepo size: 4  Added new target pos. range: 13.106618 m, bearing: 143.422396 deg, lat: 36.906417 deg, lon: -122.115990 deg, deltaT: 0.505519 s, deltaX: -0.198585 m, approachRate: -0.392833 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.11 m.  ProNav: ac range: 13.106618 m, nav range: 13.020454 m, bearing: 144.113295 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.783902 deg, new cmd heading: 159.929737 deg.  HeadingCmd: 2.791301 target range: 13.106618 and range: 13.20 m.b2@ZrjRJB~~}!|A|A|E`ff*@|Md? 靝RI)DI8< mC<2@X<JU?yEEEE0E DDAT read: Rx Time:14:09:43.2317  TRx dataTimestamp_ set to:1749132584.504082 PDAT read: Bearing 343.0, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 343.0, 3.7 (Local)  DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5 U DAT read: 14:09:43.2317 LVL= 22512, 27329, 16882, 29523, AGC= 55, IDX= 508,-0.04, 1.437, 0.157, 2.096, 1.431, PHS= 0.094,-1.227, 0.662, RAW= 167.0, 5.7, CAL= 167.0, -3.7, ROT= 343.0, 3.7 e Ygot valid direction response: 14:09:43.2317 LVL= 22512, 27329, 16882, 29523, AGC= 55, IDX= 508,-0.04, 1.437, 0.157, 2.096, 1.431, PHS= 0.094,-1.227, 0.662, RAW= 167.0, 5.7, CAL= 167.0, -3.7, ROT= 343.0, 3.7  T#Rx 76: Read range and direction messages.Ա  `direction in FSK: [0.954311,-0.291762,-0.064532] Fpublishing direction and range info y 8"?#?A';ҿP0 LAY W) jI Ai Ss 7 = V x)? q:@) %=I q:@i =@ ) 3Ռ?ߠ M? fOUE?i x,R? ʽ 闾 ) ] checking for new query: numPingsReceived=76, elapsed TxPingTime=39.1604586G <~G A A!NU>݉R,Ab)JiA9Zm$@Z2@HHHIHvzBH =HHH՚<HEHHHH =I I85YZ ٥ HF<; >O5˜?%O59v IܒBy-?-:-)@-@W@Ei?<?<!O515n7A9Z)b-B JiA-YKA-YKA-) @ʁ-cPA(@ BFF p}%a>-8"?#?A';ҿP0-闾)ҁ-'P$[1@k-q@T ?Sj@z-@-"j-İ]Ȝ?r-m˨ -ouB-qzXȜ?-m˨  -tB-DKA-X @ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.502406 s, deltaX: -0.400000 m, approachRate: -0.796168 m/s, rangeRepo size: 4   Added new target pos. range: 12.709464 m, bearing: 143.385170 deg, lat: 36.906418 deg, lon: -122.115989 deg, deltaT: 0.502406 s, deltaX: -0.397154 m, approachRate: -0.790504 m/s, posRepo size: 4 =DNOT Ignoring new targets: 12.71 m.9AAU ProNav: ac range: 12.709464 m, nav range: 12.704239 m, bearing: 143.549869 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.929740 deg, new cmd heading: 160.096842 deg. yHeadingCmd: 2.794217 target range: 12.709464 and range: 12.80 m.bt2@ZrjRJB~~|B}|||)@|FZ? 1=SK;I9)=Ź9I=}2< AAEE;):Cf zBfI)1 1 9=p=IEIE2:JYBJ]NJJ]KRJYZJYbJ]!9J](4JYmb m;=yuQ >٥ HF9; >O5˜?O59]s IגBy)@@[@EiC;;%O5B7AEZ1b5@JiA115\" @ʁ5;(@ȑ[!~5Ռ2?lkeMSҿ֏ 5j5=ҁ5McO$2[c{7@$Pd5PćK!bA~?JsP'z5@5"j5d1JȜ?r5Y 5quB15R  57uB5GA5;@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.505079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.709464 m, bearing: 143.359601 deg, lat: 36.906418 deg, lon: -122.115989 deg, deltaT: 0.505079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.71 m. ProNav: ac range: 12.709464 m, nav range: 12.475192 m, bearing: 143.236764 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 160.096847 deg, new cmd heading: 160.214406 deg. )Uchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.870728UHeadingCmd: 2.796269 target range: 12.709464 and range: 12.80 m.b]2@ZYrYjYRYJYBY~a~a}||||? {B ^BI)RƾIy-< QF<2@]<R,"7hJiAIHʼ>HCHHH =HH+DHך<HE9!%@ 53@Y;y=H@& cgտ?n? c> ?zJ??? !%@_d;)=zB=I%checking for new query: numPingsReceived=78, elapsed TxPingTime=40.375080UMb@Mb@Mb@QQQ Q)QYU@5^I ?kt٥ HF; >O5˜?O59٥ H >O5u˜?O59k IǒBy@e@Ei>::/O51=/8AIiZIbMJiAMgCAMgCAM@ʁM}BPq@'@|}1S SMFv?D55ӿ.xAMaM5z=ҁM~G{# k#@;<3VMS鿗Έ?0>yzM@MjM[(@Ȝ?rMXhԫ MuBMd1JȜ?My&  MquBM@AMP@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.502928 s, deltaX: -0.200000 m, approachRate: -0.397671 m/s, rangeRepo size: 4  Added new target pos. range: 12.212840 m, bearing: 143.211531 deg, lat: 36.906416 deg, lon: -122.115988 deg, deltaT: 0.502928 s, deltaX: -0.198583 m, approachRate: -0.394853 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.21 m.q ProNav: ac range: 12.212840 m, nav range: 12.033213 m, bearing: 143.041216 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 160.427907 deg, new cmd heading: 160.584157 deg. HeadingCmd: 2.802722 target range: 12.212840 and range: 12.30 m.b_3@ZrjRJB~~}|||(@| H? %nȊI!)%yԾ!I%< iim"NIAY) - pM)- apI- 4i- 3w- 5- sh=- )\- D,? - ͋;@)) I- 5o;@i- s- @- s= ) )) - enW?I?v 0q{?i- U?- <Խ- - s= ) )) e checking for new query: numPingsReceived=80, elapsed TxPingTime=41.171791 6G e~<~G A1AN>UR,)YJiAH*ü>H(H*IH*WzBH* =H(H(H*<H*E:JzYBJxJJzARJxZJz9bJxJz4JxzJzc:jJzh: JzU: rJzX: yBIchecking for new query: numPingsReceived=80, elapsed TxPingTime=41.382732 Mb@Mb@Mb@    ) Y V-?lZd;Oy h?  j  )  AI A y AIEIET3Mꅽ U=yQQ >٥ HF1A E>O5W]˜?O59h IBy?:+@@j@Ei<C<3O58AEZbWJiA =A =AQ@ʁcMu&@? f)nlsj?ﰇӿCg]s=ҁ<-"ʊÒe@݂͟kAm; :?RZ[z,@7j|I2FȜ?r:_ uB|I2FȜ?:_  uBS澉9I=J< 99=JųR,~UJiA9N2&@N!4@YNx;yN>f=NH M@[Կ"???9c?o`?@? N2&@Nl9;)NCZyBZIIrIr2~?5 ~A=y~!ǻQ >I I ٥! %H%F-B= ->1=O55L˜?=O595xe I5By9= ,@E@5n@Ei5:5];5I7O5uBu8A}EZb JiAH8AH8A5P @ʁ.%@Bm 3Q7B"b?fd։ӿ`8.yz٠k=ҁ Uu"ǎ3 L@S'K᪢?~ʌ/z`@j~BȜ?r* uB+~EȜ? uB8Abk@A addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504837 s, deltaX: -0.299999 m, approachRate: -0.594250 m/s, rangeRepo size: 4  Added new target pos. range: 11.517658 m, bearing: 143.519937 deg, lat: 36.906416 deg, lon: -122.115988 deg, deltaT: 0.504837 s, deltaX: -0.297870 m, approachRate: -0.590031 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.52 m.checking for new query: numPingsReceived=81, elapsed TxPingTime=41.886898M ProNav: ac range: 11.517658 m, nav range: 11.561323 m, bearing: 142.719730 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 160.753365 deg, new cmd heading: 160.869484 deg. IMHeadingCmd: 2.807702 target range: 11.517658 and range: 11.60 m.bUd3@ZQrQjQRQJyBy~~}|I|Y|e@33'@|e ?i {Bt@I) 辉 I < oLG?Z+aԿ`8.y 1AY R) xI ?i w 9H= | V.? )<@) I S<@i y@ ) !?@]?n73J?i 8Y? ڽ 6 ) e checking for new query: numPingsReceived=82, elapsed TxPingTime=42.1942906G =<~G A A Ne>R,JiADHEɼ>HAHEIHE/zBHE =HAHAHE<HEE:JZBJSJJ?RJZJ9bJy69Jـ4JzJ.:jJ3:J(C:rJ+C:ԩchecking for new query: numPingsReceived=82, elapsed TxPingTime=42.391247 yB I = = = Mb@Mb@Mb@9 9 9 9 )9 Y= X9v?S㥫~jty= ?= /]= ļ9 = zA)9 I= 3A9 y= AIU IU #3u  u ٥y y } H} F  e>  O5 )˜? O59 ` I By |? : [.@ @ u@Ei ]: : >O5 9A EZbJiAW0AW0A@ʁ I$@]Yz t=MgZg>G?Z+aԿ`8.y6ҁ/eS,!==hU|@Om"y[p鿲9?Rn8Տ\z@1 jއGȜ?r/ vBy&  uB1As@  addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.505424 s, deltaX: -0.500000 m, approachRate: -0.989268 m/s, rangeRepo size: 4   Added new target pos. range: 11.021273 m, bearing: 142.920142 deg, lat: 36.906416 deg, lon: -122.115988 deg, deltaT: 0.505424 s, deltaX: -0.496386 m, approachRate: -0.982117 m/s, posRepo size: 4   DNOT Ignoring new targets: 11.02 m.! ! ! 5  ProNav: ac range: 11.021273 m, nav range: 11.118230 m, bearing: 142.209392 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 160.869478 deg, new cmd heading: 161.112042 deg. 1  DDAT read: Rx Time:14:09:46.7304  TRx dataTimestamp_ set to:1749132588.031980 PDAT read: Bearing 340.8, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 340.8, 3.2 (Local)  DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5  DAT read: 14:09:46.7304 LVL= 19824, 30705, 15442, 29635, AGC= 53, IDX= 511,-0.31, 0.273,-0.964, 1.015, 0.325, PHS= 0.036,-1.242, 0.687, RAW= 169.4, 6.2, CAL= 169.2, -3.2, ROT= 340.8, 3.2  Ygot valid direction response: 14:09:46.7304 LVL= 19824, 30705, 15442, 29635, AGC= 53, IDX= 511,-0.31, 0.273,-0.964, 1.015, 0.325, PHS= 0.036,-1.242, 0.687, RAW= 169.4, 6.2, CAL= 169.2, -3.2, ROT= 340.8, 3.2  T#Rx 83: Read range and direction messages. `direction in FSK: [0.942904,-0.328354,-0.055822] Fpublishing direction and range infoڡ yڥ ݐD,?x -iտᢔڥ 0AYڡ ۥ pM)ۥ wIۥ R<iۥ sۡ ۥ t=ۥ ۥ ;/? ܥ 8=@)ܥ k=Iܥ <@iܥ dܥ V@ܥ d= ݡ )ݡ ݥ  5Xn?/8_%?.z?iݥ \?ݥ M=ܽݥ ݥ d= ޡ )ޡ - checking for new query: numPingsReceived=83, elapsed TxPingTime=42.660107U HeadingCmd: 2.811936 target range: 11.021273 and range: 11.10 m.bU 3@ZY rY jY RY Ja Bi ~ ~ j{B} | | | &@| ,?   &I ) 󾉞 I <  ! % ZN<% 3@- -d<- m ٥ HF< >O5˜?O59^ IBy/@%@y@Ei~;;AO5)M9AIZb KiA.A.Aե@ʁĘ$@ch{ "EݐD,?x -iտᢔd=ҁ8+U׬]!!%>@suW͠p鿈w&9?rwz@ j%N;Ȝ?r= uB~BȜ?=  uBꁭ,AR@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.500736 s, deltaX: -0.100000 m, approachRate: -0.199707 m/s, rangeRepo size: 4  Added new target pos. range: 10.921981 m, bearing: 142.924132 deg, lat: 36.906415 deg, lon: -122.115990 deg, deltaT: 0.500736 s, deltaX: -0.099292 m, approachRate: -0.198292 m/s, posRepo size: 4  DNOT Ignoring new targets: 10.92 m.   M ProNav: ac range: 10.921981 m, nav range: 10.810752 m, bearing: 142.633745 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.112046 deg, new cmd heading: 161.252545 deg. IUHeadingCmd: 2.814388 target range: 10.921981 and range: 11.00 m.bU4@ZQrQjQRQJYBY~Y~Y}a|a|i|i|m? /I)K5P"K9*K2KW:KE ?6_tE <vKkCNbr\gIy; !!%P<%4@-<-q=i-4@i)aׁׅADDAT read: Rx Time:14:09:47.2301 TRx dataTimestamp_ set to:1749132588.538243PDAT read: Bearing 340.7, 2.9 (Local) ~Local bearing/azimuth received: Bearing 340.7, 2.9 (Local) DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 EEEEr0EEDAT read: 14:09:47.2301 LVL= 20304, 30305, 13634, 32435, AGC= 53, IDX= 508,-0.20,-0.834,-2.064,-0.084,-0.765, PHS= 0.019,-1.251, 0.678, RAW= 169.6, 6.6, CAL= 169.3, -2.9, ROT= 340.7, 2.9 Ygot valid direction response: 14:09:47.2301 LVL= 20304, 30305, 13634, 32435, AGC= 53, IDX= 508,-0.20,-0.834,-2.064,-0.084,-0.765, PHS= 0.019,-1.251, 0.678, RAW= 169.6, 6.6, CAL= 169.3, -2.9, ROT= 340.7, 2.9 T#Rx 84: Read range and direction messages.`direction in FSK: [0.942592,-0.330091,-0.050593]Fpublishing direction and range infoڑyڕ!F)?>6 տ|rQ穿ڕ(AYڑ ەPO)ەavIەB5iە~ۑە㥛<ە ەh-? ܕq=@)ܕ=Iܕ$=@iܕ4QOܕdH@ܕ4QO= ݑ)ݑݕv?ws8?(T?iݕd]?ݕo*뽩ݕjwݕ4QO= ޑ)ޑԉchecking for new query: numPingsReceived=84, elapsed TxPingTime=43.197521H} ռ>H} CH} IH} zBH}  =Hy H} ,DH} (<H} CE EG6G <  :JM \BJM PJJM CRJI ZJM =:bJM *9JM 4JI zJM :jJM :JM -:rJM -: m ۿYi ym A~G1 AA AY Ne >ĠR,v0KiA9^&@fchecking for new query: numPingsReceived=84, elapsed TxPingTime=43.398857^4@Y^2';y^=^Hmpӿ`?U?kR`x?Dq@-?? ^&@^;)^Cԁ%wyB%kIaI@a aM@a aQ@a aE@a IIF3e )=y %:Q m>٥qq uHuF}; }>ԩO5˜?O59&[ IB+:y:1/@@~@Ei;>CEO5B9AEZbr"KiA&A&A@ʁP)#@3 !F)?>6 տ|rQ穿jw4QO=ҁWc{ ,׳? @KA&t鿲$R6?ƵTS괿zM@j@FȜ?rX< vB@FȜ?*  uBꁵ'A@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.506263 s, deltaX: -0.500000 m, approachRate: -0.987629 m/s, rangeRepo size: 4  Added new target pos. range: 10.425753 m, bearing: 142.958392 deg, lat: 36.906416 deg, lon: -122.115990 deg, deltaT: 0.506263 s, deltaX: -0.496228 m, approachRate: -0.980179 m/s, posRepo size: 4  DNOT Ignoring new targets: 10.43 m.Yaa ProNav: ac range: 10.425753 m, nav range: 10.496121 m, bearing: 142.203844 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.252543 deg, new cmd heading: 161.414230 deg. HeadingCmd: 2.817210 target range: 10.425753 and range: 10.50 m.b*M4@ZrjRJB~~}|||%@|O? U{BU)ѼIy)}xIJ; =R<*M4@<F=i*M4@iDDAT read: Rx Time:14:09:47.7300 TRx dataTimestamp_ set to:1749132589.041742PDAT read: Bearing 340.8, 2.6 (Local) ~Local bearing/azimuth received: Bearing 340.8, 2.6 (Local) DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 E E E E _0E E DAT read: 14:09:47.7300 LVL= 23648, 32753, 17458, 32755, AGC= 54, IDX= 507,-0.13, 0.364,-0.881, 1.120, 0.442, PHS= 0.010,-1.277, 0.675, RAW= 169.6, 6.9, CAL= 169.2, -2.6, ROT= 340.8, 2.6 m Ygot valid direction response: 14:09:47.7300 LVL= 23648, 32753, 17458, 32755, AGC= 54, IDX= 507,-0.13, 0.364,-0.881, 1.120, 0.442, PHS= 0.010,-1.277, 0.675, RAW= 169.6, 6.9, CAL= 169.2, -2.6, ROT= 340.8, 2.6 u T#Rx 85: Read range and direction messages.} `direction in FSK: [0.943404,-0.328528,-0.045363]} Fpublishing direction and range infoډyڍ b]0?95տ99ڍf&AYډ ۍ`\)ۍIۍ2Diۍۍ6ۍ #<ۍtۍ,? ܉)܍Ϣ=I܍<@i܍9܍V@܍9= ݉)݉ݍsf?$ӌ.?Y?iݍ]?ݍ)ݍݍ9= މ)މ checking for new query: numPingsReceived=85, elapsed TxPingTime=43.698807 6G5 =~G AAN%>1 rR,sNKiAchecking for new query: numPingsReceived=85, elapsed TxPingTime=43.9040349avyBjIi٥11 5H5F= =>AMO5Eʜ?MO59EW IEBM :yIMp:IM@E@EiE#:EZ?EHO5YY]EKuJP"Kq*Kq2KuX:Ku?7&5,7`^0EC|i & }KV~zci_ZbBKiA9%A9%A@ʁ7{#@m# a ݿ b]0?95տ999=ҁ/fKt b@f.;T~kI>/?E1z @jfT1Ȝ?r OvB~BȜ?/  vB"A܉@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503499 s, deltaX: -0.100000 m, approachRate: -0.198611 m/s, rangeRepo size: 4  Added new target pos. range: 10.326459 m, bearing: 143.035128 deg, lat: 36.906415 deg, lon: -122.115990 deg, deltaT: 0.503499 s, deltaX: -0.099294 m, approachRate: -0.197207 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.33 m.  %  ProNav: ac range: 10.326459 m, nav range: 10.184012 m, bearing: 141.931064 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.414227 deg, new cmd heading: 161.596945 deg. ! 5 HeadingCmd: 2.820399 target range: 10.326459 and range: 10.40 m.b5 j4@Z1 r1 j1 R9 J9 B9 ~A ~A }I |I |Q |U $@|U :U? DDAT read: Rx Time:14:09:48.2298  TRx dataTimestamp_ set to:1749132589.545058 PDAT read: Bearing 340.5, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 340.5, 2.3 (Local)  DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed 0.6  DAT read: 14:09:48.2298 LVL= 21552, 32753, 16578, 32051, AGC= 53, IDX= 504,-0.05,-1.109,-2.336,-0.342,-1.013, PHS=-0.008,-1.277, 0.667, RAW= 170.0, 7.3, CAL= 169.5, -2.3, ROT= 340.5, 2.3  Ygot valid direction response: 14:09:48.2298 LVL= 21552, 32753, 16578, 32051, AGC= 53, IDX= 504,-0.05,-1.109,-2.336,-0.342,-1.013, PHS=-0.008,-1.277, 0.667, RAW= 170.0, 7.3, CAL= 169.5, -2.3, ROT= 340.5, 2.3  T#Rx 86: Read range and direction messages. `direction in FSK: [0.941882,-0.333538,-0.040132]% Fpublishing direction and range info y |9#?YXտ.=' !AY 0T) I @i 3} 5 o *? N=@) w>I TU=@i l$ +@ l$= ) ˪g? ]P?)qFA:?i a_? + @ l$= ) u checking for new query: numPingsReceived=86, elapsed TxPingTime=44.178417q ǼI )  I V;  ! % LT<- j4@- <- J|=i- j4@i) E E E E P0Ey ԙ Hټ>HHIHyBHHHH<HEH=ΕCH=ΕCH9H9I9 I=6:Ju^BJqJJu@RJqZJu} :bJqJuJ4JqzJu_:jJud:JqrJqchecking for new query: numPingsReceived=86, elapsed TxPingTime=44.4124156G= =jGU ?bGU>~G1AIAYNe"?$R, wKiAD958$'@575@Y5`;y5,I=5H`Hy )yӿ`?9?@`[,X? l"?G? 58$'@5wʇ;)1iELCMlA)I III I)IQQQQUOAiUIQYIЉiЉ Љω)ЉБ ѕMAЕББёѝ;AIѝ)ѝFiљ)ҙIҹ iٯmyBdIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )ԱY5^I ?/$Mby?A A)vAIIAy(AII35 =!=y=˺Q =>٥AA EHAE< E>QUO5Uʜ?]O59UT IUB]T:y]6?]:]3@]@U@EiU:U :U MO5mB}":A}EZb;bKiAu Au A5@ʁ\?"@]&[k ٿ|9#?YXտ.='@l$=ҁyZ9v@U@k:c|iI6?Sxqz@j-Ȝ?rO vB%N;Ȝ?  vBA@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503316 s, deltaX: -0.299999 m, approachRate: -0.596045 m/s, rangeRepo size: 4 M Added new target pos. range: 10.028644 m, bearing: 142.984892 deg, lat: 36.906414 deg, lon: -122.115991 deg, deltaT: 0.503316 s, deltaX: -0.297815 m, approachRate: -0.591706 m/s, posRepo size: 4 IUDNOT Ignoring new targets: 10.03 m.QQY ProNav: ac range: 10.028644 m, nav range: 9.915841 m, bearing: 142.106463 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.596948 deg, new cmd heading: 161.762968 deg. HeadingCmd: 2.823296 target range: 10.028644 and range: 10.10 m.b4@ZrjRJB~~D{B}ADDAT read: Rx Time:14:09:48.7296 TRx dataTimestamp_ set to:1749132590.052169PDAT read: Bearing 340.4, 2.0 (Local) ~Local bearing/azimuth received: Bearing 340.4, 2.0 (Local) DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5 -DAT read: 14:09:48.7296 LVL= 21120, 32753, 14802, 31859, AGC= 53, IDX= 502, 0.03, 0.203,-1.036, 0.983, 0.314, PHS=-0.023,-1.302, 0.667, RAW= 170.2, 7.7, CAL= 169.6, -2.0, ROT= 340.4, 2.0 5Ygot valid direction response: 14:09:48.7296 LVL= 21120, 32753, 14802, 31859, AGC= 53, IDX= 502, 0.03, 0.203,-1.036, 0.983, 0.314, PHS=-0.023,-1.302, 0.667, RAW= 170.2, 7.7, CAL= 169.6, -2.0, ROT= 340.4, 2.0 5T#Rx 87: Read range and direction messages.=`direction in FSK: [0.941484,-0.335247,-0.034899]=Fpublishing direction and range infoy ?=PutտXޡA||A|E#@|MǍ?Y R)I9is|j𧦿 >@) >Iq=@i5@5= )8mL?]?r2 ?i3M`?% {B靵I) IPI; XV<5= )checking for new query: numPingsReceived=87, elapsed TxPingTime=44.694710 4@ c< }=i 4@izE9EEEEO0E Ie C=Ie =6G 3;=I ~G A  DDAT read: Rx Time:14:09:49.2293  TRx dataTimestamp_ set to:1749132590.316672AN->R,XKiA"PDAT read: Bearing 340.5, 1.8 (Local) &~Local bearing/azimuth received: Bearing 340.5, 1.8 (Local) NDAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.5 -VZ#Rx 88: Read range message, but no direction.)-AY)zchecking for new query: numPingsReceived=88, elapsed TxPingTime=44.9704639}{.'@}A5@Y}y);y}=}Hz@oӿ`%?v}?`_D?4et?/? }{.'@};)}C!YyBYIII13 ?=y Q  >٥  HF: >MO5ʜ?MO59R IByIM%3@U@@Ei;|:PO5Y]n:AYZ)b-[DKiA-A-A-<@ʁ-~Kc!@(k$2Կ- ?=PutտXޡ-%-5=ҁ-gfdP[ >@)^&-Sbbv鿅cD?i2 Ez-@-#j-ؒVOȜ?r-6 -vB)-X<  -OvB-%A-@e addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.771614 s, deltaX: -0.800000 m, approachRate: -1.036788 m/s, rangeRepo size: 4  Added new target pos. range: 9.234296 m, bearing: 142.883573 deg, lat: 36.906414 deg, lon: -122.115992 deg, deltaT: 0.771614 s, deltaX: -0.794348 m, approachRate: -1.029463 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.23 m.6Short final. Range: 9.30 m.VTransitioning guidance mode to: SHORT_FINAL@@ ProNav: ac range: 9.234296 m, nav range: 9.634264 m, bearing: 141.940841 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.762963 deg, new cmd heading: 161.904556 deg. |HeadingCmd: 2.825768 target range: 9.234296 and range: 9.30 m.b`4@Zrj R J B ~~Q}Q|Y|Y|]"@|]?KtaP"K9*K2KY:KZ|Rh(wl[}cGBw5L %{B%)I))-O)IUߴ; QQUXX<`4@5 <:=i`4@i DAT read: 14:09:49.2293 LVL= 20192, 32753, 16290, 32595, AGC= 52, IDX= 499, 0.12,-0.369,-1.605, 0.411,-0.251, PHS=-0.030,-1.307, 0.658, RAW= 170.2, 7.9, CAL= 169.5, -1.8, ROT= 340.5, 1.8 Ygot valid direction response: 14:09:49.2293 LVL= 20192, 32753, 16290, 32595, AGC= 52, IDX= 499, 0.12,-0.369,-1.605, 0.411,-0.251, PHS=-0.030,-1.307, 0.658, RAW= 170.2, 7.9, CAL= 169.5, -1.8, ROT= 340.5, 1.8 Z#Rx 89: Read direction message, but no range.%`direction in FSK: [0.942176,-0.333642,-0.031411]y])O&?cZտIzY N)I?iS4Kr(? )0 >ITU=@i+@= jK? \/X?lx?i6`?n @==checking for new query: numPingsReceived=89, elapsed TxPingTime=45.176208ԁEEEE4EԱ H Լ>H H IH yBH  =H H H <H E6G H=~G A A N >R,QKiAbDDAT read: Rx Time:14:09:49.7292 jTRx dataTimestamp_ set to:1749132590.811590pzPDAT read: Bearing 339.7, 1.7 (Local) ~~Local bearing/azimuth received: Bearing 339.7, 1.7 (Local) DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 -eZ#Rx 90: Read range message, but no direction.df3AYduchecking for new query: numPingsReceived=90, elapsed TxPingTime=45.4446309Um*'@U=5@YUk=:yUj=UH Ezrӿ`ؗ?V?@a? R y?? Um*'@U%;)UCU]yBU[I =Mb@Mb@Mb@999 9)9Y=1Zd?~jtxI +y="?=Ļ=94=A =zA)=AI=EA9y9IIV83%; -=y-(Q ->٥11 =H]FeB e>iuO5mʜ?uO59mO ImByu+?u:u4@u@m@Eim:mb:mUO5BZ:AEZdbfKiAf(Af(Af@ʁf2ɤ6!@aDXV&]ҿf])O&?cZտIzf@f=ҁftBrRayf@CKDfޚg~8]??A*W>zfӯ@fjf_9Ȝ?rf f4wBf_9Ȝ?fO  fvBf1AfS@9] addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.494918 s, deltaX: -0.100000 m, approachRate: -0.202054 m/s, rangeRepo size: 4 m Added new target pos. range: 9.134941 m, bearing: 142.948159 deg, lat: 36.906414 deg, lon: -122.115992 deg, deltaT: 0.494918 s, deltaX: -0.099355 m, approachRate: -0.200750 m/s, posRepo size: 4 qqzIgnoring new targets. Set target to previous: 9.13 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 9.312314 m, bearing: 141.224786 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 161.904553 deg, new cmd heading: 162.082687 deg. |HeadingCmd: 2.828876 target range: 9.234296 and range: 9.20 m.bP 5@ZrjRJB~~4{B}|||`ff"@|WX?}DAT read: 14:09:49.7292 LVL= 21632, 32753, 17906, 32755, AGC= 52, IDX= 498, 0.19, 0.621,-0.597, 1.431, 0.763, PHS=-0.053,-1.313, 0.665, RAW= 171.0, 8.1, CAL= 170.3, -1.7, ROT= 339.7, 1.7 Ygot valid direction response: 14:09:49.7292 LVL= 21632, 32753, 17906, 32755, AGC= 52, IDX= 498, 0.19, 0.621,-0.597, 1.431, 0.763, PHS=-0.053,-1.313, 0.665, RAW= 171.0, 8.1, CAL= 170.3, -1.7, ROT= 339.7, 1.7 Z#Rx 91: Read direction message, but no range.`direction in FSK: [0.937476,-0.346783,-0.029666]QyUu?Ϣʰ1ֿ `YQ UT)QIUEiUQUYUbUq=*? UC?@)U>IU:>@iUUj@U< QUpMl?WhB?PRe?iUlc?UYU gU<checking for new query: numPingsReceived=91, elapsed TxPingTime=45.680801 {B I )  I Ġ;   xZ٥ HF!=D: =>IUO5Mdʜ?UO59MM IMByQU4@]@M@EiM:M:MYO5!:AEZbAKiAd Ad A@ʁP㘮 @{.ZTUEпu?Ϣʰ1ֿ ` g<ҁl{ZGZp怩@Iݿ/D#;T;9? TX謹zL@j7^<>Ȝ?r\ wB\  vB A@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504929 s, deltaX: -0.300000 m, approachRate: -0.594143 m/s, rangeRepo size: 4  Added new target pos. range: 8.837062 m, bearing: 142.144654 deg, lat: 36.906414 deg, lon: -122.115996 deg, deltaT: 0.999847 s, deltaX: -0.397234 m, approachRate: -0.397295 m/s, posRepo size: 4  zIgnoring new targets. Set target to previous: 8.84 m. 9.23 m.  M ProNav: ac range: 9.234296 m, nav range: 9.059061 m, bearing: 140.622788 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 162.082684 deg, new cmd heading: 162.235645 deg. IU|HeadingCmd: 2.831546 target range: 9.234296 and range: 8.90 m.bU 85@ZyryjyRyJB~~}|||!@|?KkHP"K}9*K2KZ:K%  Vj.t*g1ufZPI-Jsdcd }R-Eu!>J)J-AQ {B靥_I)n Ia; J2\< 85@<H H H H  =H H H <H Eԩ 6G F<~G A A N >R,&KiA5DDAT read: Rx Time:14:09:50.7290 ETRx dataTimestamp_ set to:1749132591.823359]PDAT read: Bearing 337.2, 1.4 (Local) ]~Local bearing/azimuth received: Bearing 337.2, 1.4 (Local) DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5 -Z#Rx 93: Read range message, but no direction.9=3 AY9checking for new query: numPingsReceived=93, elapsed TxPingTime=46.447891AvyBjIYMb@Mb@Mb@ )YZd;O?Mb{Gztyj?ףX A )AIyAII3A< =yQ >٥ H >%O5oʜ?%O59J IBy%o?%:-w4@-@@Ei::[^O5]B]9A]EB*** querying acoustic contact ***JR] addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.506840 s, deltaX: -0.200000 m, approachRate: -0.394601 m/s, rangeRepo size: 4 YYezIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.e4ټu4ټ} ProNav: ac range: 9.234296 m, nav range: 8.751528 m, bearing: 139.850387 deg, approach rate: -0.584336 m/s, LOS rate: -1.519146 deg/s, cmd heading: 162.235639 deg, new cmd heading: 159.838481 deg. R|HeadingCmd: 2.789708 target range: 9.234296 and range: 8.70 m.b2@ZrjRJB~~${B}|||`ff!@|? M{BMKII)UQI]Ӭ}; YY]]IA@i+ȼS@+< "+?@q?psh?in?n˾+<M checking for new query: numPingsReceived=94, elapsed TxPingTime=46.699432E E E E 0E F F =Ա 6G%5<:J]ZBJ]PJJ]ARJYZJ]9bJ]*9J]4JY~GA AN%>DS,>LiA aa}DDAT read: Rx Time:14:09:51.2287 TRx dataTimestamp_ set to:1749132592.328396PDAT read: Bearing 335.2, 1.4 (Local) ~Local bearing/azimuth received: Bearing 335.2, 1.4 (Local) DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.5 -Z#Rx 95: Read range message, but no direction.ځڅAYځchecking for new query: numPingsReceived=95, elapsed TxPingTime=46.9531719]3D'@]W5@Y]+ǻy]w=]H ~ Wӿ@x?h?ncY?`Vx? n? ? ]3D'@]I;)YyBzIII3%= %M=y-Q ->٥)1 5H5F5G; 5>9O5=X[ʜ?O59=H I=By4@@=@Ei=O/<=/<=aO59AZbqLiAAA@ʁ'Ja@tNʉ A\ɿ)FP}?˵'ؿ{J˾+<ҁvZ)~N@gEm׿U`*)?q{zv@jZJȜ?r݄ xB7^<>Ȝ? 4wBꁅAK@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.505037 s, deltaX: -0.400000 m, approachRate: -0.792020 m/s, rangeRepo size: 4  Added new target pos. range: 8.241220 m, bearing: 139.682641 deg, lat: 36.906415 deg, lon: -122.115996 deg, deltaT: 2.011724 s, deltaX: -0.993075 m, approachRate: -0.493644 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 8.24 m. 9.23 m.&: ProNav: ac range: 9.234296 m, nav range: 8.523768 m, bearing: 139.237401 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.838475 deg, new cmd heading: 159.970610 deg. ;|HeadingCmd: 2.792014 target range: 9.234296 and range: 8.30 m.b[2@ZrjRJ B ~ ~ }|||5 @|=@OjE->EEEE51EKEP"KE9*KA2KE[:KE2B,a^GE;[2?6|`u8nQL y(b6G6=% DAT read: 14:09:51.2287 LVL= 22512, 32753, 18866, 32755, AGC= 49, IDX= 508,-0.33,-1.482,-2.568,-0.538,-1.247, PHS=-0.147,-1.274, 0.706, RAW= 175.4, 8.4, CAL= 174.8, -1.4, ROT= 335.2, 1.4 5 Ygot valid direction response: 14:09:51.2287 LVL= 22512, 32753, 18866, 32755, AGC= 49, IDX= 508,-0.33,-1.482,-2.568,-0.538,-1.247, PHS=-0.147,-1.274, 0.706, RAW= 175.4, 8.4, CAL= 174.8, -1.4, ROT= 335.2, 1.4 5 Z#Rx 96: Read direction message, but no range.A M `direction in FSK: [0.907507,-0.419327,-0.024432] y %K ?-@ڿ{JY  W) I Ii   + o j4?  vC@) I @C@i  6@   W^p?$ ?7:>?i -w? i jݾ u checking for new query: numPingsReceived=96, elapsed TxPingTime=47.200615~G A A N >o S,.+LiA Hzļ>HzCHzIHzyBHz =HxHz+DHz<HzE9T'@wg5@YyD.=H@\ kGӿ@㛛? {Y?q@C???@? T'@F;)CyBII}DDAT read: Rx Time:14:09:51.7286 TRx dataTimestamp_ set to:1749132592.830701PDAT read: Bearing 333.4, 1.3 (Local) ~Local bearing/azimuth received: Bearing 333.4, 1.3 (Local) DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 -Z#Rx 97: Read range message, but no direction.y}AYy checking for new query: numPingsReceived=97, elapsed TxPingTime=47.460213Mb@Mb@Mb@ )YZd;?y&1|y?`廹\ A A)AIAyA@AII3o*= !=y AhQ  >٥ HF!: >%O5Bʜ?-O59OF IBy-?-:-4@U@@Ei;3;:fO5Y])9A]ìEqZyb}5*5LiA}A}A}@ʁ}+=1@64 k &ɿ}%K ?-@ڿ{J}jݾyҁ}GbC3%@L)ֿ}=af?-!Kz}@}Gj}>{MȜ?r}P$ }9xB}ZJȜ?y }wB}X@}@} addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.502305 s, deltaX: -0.200000 m, approachRate: -0.398164 m/s, rangeRepo size: 4  Added new target pos. range: 8.042521 m, bearing: 137.737979 deg, lat: 36.906416 deg, lon: -122.115996 deg, deltaT: 2.514029 s, deltaX: -1.191774 m, approachRate: -0.474050 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 8.04 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 8.238552 m, bearing: 138.412498 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.970612 deg, new cmd heading: 160.132320 deg. |HeadingCmd: 2.794836 target range: 9.234296 and range: 8.10 m.b2@ZrjRJB~~s{B}!|!|)|-@33 @|- @۾? {B靝ۼI)󾉞I&QC; `<2@;<w=i2@iԡ E E E E 0E F F 5 DAT read: 14:09:51.7286 LVL= 24288, 32753, 19922, 32755, AGC= 49, IDX= 507,-0.21,-0.311,-1.356, 0.696,-0.038, PHS=-0.185,-1.272, 0.730, RAW= 177.2, 8.4, CAL= 176.6, -1.3, ROT= 333.4, 1.3 = Ygot valid direction response: 14:09:51.7286 LVL= 24288, 32753, 19922, 32755, AGC= 49, IDX= 507,-0.21,-0.311,-1.356, 0.696,-0.038, PHS=-0.185,-1.272, 0.730, RAW= 177.2, 8.4, CAL= 176.6, -1.3, ROT= 333.4, 1.3 = Z#Rx 98: Read direction message, but no range.E `direction in FSK: [0.893924,-0.447644,-0.022687] y Յ?TT22ܿNGY;Y  ^) I Mi   p= Т H:?  .E@) I CE@i ޹ 4@ ޹<   ϕɇ*?4B?fs(?i e? $ * ޹<u checking for new query: numPingsReceived=98, elapsed TxPingTime=47.702801 6G٥yy HFG; >:JBJUJJCRJZJbJ>9J4JO5/ʜ?O59cD IBy4@@@Ei;`;iO5B8AƬEzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.I} ProNav: ac range: 9.234296 m, nav range: 8.024059 m, bearing: 137.747123 deg, approach rate: -0.597738 m/s, LOS rate: -1.903758 deg/s, cmd heading: 160.132323 deg, new cmd heading: 158.083758 deg. Q|HeadingCmd: 2.759082 target range: 9.234296 and range: 8.10 m.b͔0@ DDAT read: Rx Time:14:09:52.2283 TRx dataTimestamp_ set to:1749132593.3364755PDAT read: Bearing 332.0, 1.2 (Local) =~Local bearing/azimuth received: Bearing 332.0, 1.2 (Local) eDAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.5 -uZ#Rx 99: Read range message, but no direction.  f@Y checking for new query: numPingsReceived=99, elapsed TxPingTime=47.964676ZrjRJB~~}|||@|@؛? ={B=\PI9)=1뾉AIE~*; AAEaԡ K *P"K @9*K 2K \:K ?jGds7YWb* \ cDJ,Epd DAT read: 14:09:52.2283 LVL= 24144, 32753, 18290, 32755, AGC= 49, IDX= 504,-0.10,-1.414,-2.427,-0.355,-1.106, PHS=-0.220,-1.274, 0.748, RAW= 178.6, 8.6, CAL= 178.0, -1.2, ROT= 332.0, 1.2  Ygot valid direction response: 14:09:52.2283 LVL= 24144, 32753, 18290, 32755, AGC= 49, IDX= 504,-0.10,-1.414,-2.427,-0.355,-1.106, PHS=-0.220,-1.274, 0.748, RAW= 178.6, 8.6, CAL= 178.0, -1.2, ROT= 332.0, 1.2  \#Rx 100: Read direction message, but no range. `direction in FSK: [0.882754,-0.469369,-0.020942]ڑ yڕ ~$I??ʱK" ޿_2qYڑ ە P^)ۑ Iە rGiۑ ۑ ە Gaە oە |?? ܕ G@)ܕ `>Iܕ F@iܕ ܕ }l@ܕ < ݑ ݕ ՆɪV}?UU?,?iݕ ?ݕ ݕ 5ݕ < checking for new query: numPingsReceived=100, elapsed TxPingTime=48.204178AS,fLiA96.o'@65@Y6 y64=6HN+ӿY?@??vޭ?@?@+s?? 6.o'@6_܉;)6C@RyBPIfIf 35; 5O=y}Q }>٥y HR9 >O5!ʜ?O59_B IBy4@@@Eie<e<lO58A)a mCG9 HYH]<Hü>HԱHIHyBH =HHH<HE =ݿYAyEAZIbMΈULiAM@M@M`@ʁM`@AO / ʇ~ĿM~$I??ʱK" ޿_2qM5M<ҁMrfv\saԾ@sR=ԿMEC{u濎}?JWzM@MjMWȜ?rML$ MjxBIM݄  MxBM=@M}@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.505774 s, deltaX: -0.400001 m, approachRate: -0.790868 m/s, rangeRepo size: 4  Added new target pos. range: 7.645315 m, bearing: 134.625752 deg, lat: 36.906416 deg, lon: -122.115994 deg, deltaT: 3.019803 s, deltaX: -1.588981 m, approachRate: -0.526187 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.65 m. 9.23 m.&:DDAT read: Rx Time:14:09:52.7281 -TRx dataTimestamp_ set to:1749132593.839393EPDAT read: Bearing 330.4, 1.2 (Local) M~Local bearing/azimuth received: Bearing 330.4, 1.2 (Local) mDAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5  ProNav: ac range: 9.234296 m, nav range: 7.800518 m, bearing: 137.010352 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.083758 deg, new cmd heading: 158.247272 deg. ;|HeadingCmd: 2.761936 target range: 9.234296 and range: 7.70 m.b0@ZrjRJB~~}||||?DAT read: 14:09:52.7281 LVL= 23952, 32753, 17810, 31603, AGC= 48, IDX= 502,-0.01,-0.931,-1.919, 0.191,-0.591, PHS=-0.252,-1.280, 0.780, RAW= 180.1, 8.5, CAL= 179.6, -1.2, ROT= 330.4, 1.2 Ygot valid direction response: 14:09:52.7281 LVL= 23952, 32753, 17810, 31603, AGC= 48, IDX= 502,-0.01,-0.931,-1.919, 0.191,-0.591, PHS=-0.252,-1.280, 0.780, RAW= 180.1, 8.5, CAL= 179.6, -1.2, ROT= 330.4, 1.2  V#Rx 101: Read range and direction messages.`direction in FSK: [0.869304,-0.493834,-0.020942]Fpublishing direction and range infoy=V?~߿_2q@Y ])IEis{0% ףG? t,I@)>IyH@i@ )N]ǖ?Nbm?ˑ9?iN/?} A ) {B =ҼI ) J龉 I r ;    b< 1@ YO< ɟ=i 0@i M checking for new query: numPingsReceived=101, elapsed TxPingTime=48.509583 E E E E o0E 1 checking for new query: numPingsReceived=101, elapsed TxPingTime=48.6989786G x=~GAAN?@!S,SLiA09'@5@YN-yR=H نӿ =?@/?x 뭭?@?6g?? '@骅R ;)CyBI-only read 0 of 1 data item for BIT error. Device response is::TS,25060506110, +10.9, 0.0,1493.1, 0 aI-@a- aM-@a- aQ-@a5 aE5@a5 I]I]b2me= m=yuZQ >٥ HF: >O5ɜ?O59{? IB+:y:4@@@Eij:5?qO5)-_8A-ɬEԑJJe4Jc0:J5YBJ5RJJ5?RJ1ZJ59bJ5S29J5ـ4J1ZbuLiA@@T@ʁt@ 0ÿ=V?~߿_2q AҁUSEאdpq@baԿ[\5X? xB>{MȜ?P$  9xBꁭ@@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502918 s, deltaX: -0.300000 m, approachRate: -0.596518 m/s, rangeRepo size: 4  Added new target pos. range: 7.347445 m, bearing: 133.088634 deg, lat: 36.906416 deg, lon: -122.115993 deg, deltaT: 3.522721 s, deltaX: -1.886850 m, approachRate: -0.535623 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.35 m. 9.23 m.)) ProNav: ac range: 9.234296 m, nav range: 7.481539 m, bearing: 135.870997 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.247273 deg, new cmd heading: 158.405287 deg. |HeadingCmd: 2.764694 target range: 9.234296 and range: 7.40 m.b 0@Z r jRJDDAT read: Rx Time:14:09:53.2278 TRx dataTimestamp_ set to:1749132594.343922PDAT read: Bearing 329.5, 1.0 (Local) ~Local bearing/azimuth received: Bearing 329.5, 1.0 (Local) DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5 B~~}|||@| ?MDAT read: 14:09:53.2278 LVL= 24160, 27025, 15138, 30131, AGC= 48, IDX= 499, 0.08,-1.595,-2.562,-0.436,-1.228, PHS=-0.280,-1.287, 0.788, RAW= 181.0, 8.7, CAL= 180.5, -1.0, ROT= 329.5, 1.0 UYgot valid direction response: 14:09:53.2278 LVL= 24160, 27025, 15138, 30131, AGC= 48, IDX= 499, 0.08,-1.595,-2.562,-0.436,-1.228, PHS=-0.280,-1.287, 0.788, RAW= 181.0, 8.7, CAL= 180.5, -1.0, ROT= 329.5, 1.0 {B靅μI)׾I: c<0@V#Rx 102: Read range and direction messages.`direction in FSK: [0.861498,-0.507461,-0.017452]Fpublishing direction and range infoډyڍ$c?_?=W7) ߑڍ@Yډ ۍ`^)ۍiIۍ";iۍuۉۍ)\ۍjۍ^I? ܍-J@)܍|>I܍՞I@i܍5܍ @܍5< ݉)݉ݍ=K?nBP?[Շc?=i0@iiݍ6?ݍݍ}Fݍ5< މ)މchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.007099Em Ei Ei Eu _0Eq 6GM =~G A A! N5 >((S,sLiA9^~'@^5@Y^W)-y^ z=^H @ӿ?0?y`F??IV?/? ^~'@^$;)^ClryBrIIzIz(*3%6D= -d=y-A7Q ->٥11 5H5F] ]>amO5elɜ?mO59e= IeBm :yiu`:u4@u@e@EieV:Ku=P"Ku9*Kq2Ku]:Ku]7#&:hEzu:g?^%QTF^RW&8@tU6!ek?esO5B8A̬EAchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.203072ZbLiA;@;@@ʁś@=p J 曾$c?_?=W7) ߑ}F5<ҁP=uIka”) L@pY~Cѿ[v,}?(z`@ j3kȜ?r xBWȜ? jxB@(@} addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504529 s, deltaX: -0.500000 m, approachRate: -0.991023 m/s, rangeRepo size: 4  Added new target pos. range: 6.850996 m, bearing: 132.163279 deg, lat: 36.906417 deg, lon: -122.115993 deg, deltaT: 4.027250 s, deltaX: -2.383299 m, approachRate: -0.591793 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.85 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 7.286926 m, bearing: 135.121113 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.405283 deg, new cmd heading: 158.511189 deg.  |HeadingCmd: 2.766542 target range: 9.234296 and range: 6.90 m.b1@ZrjRJB~~}!|!|!|%@|-X?  U{BUIQ)U;QI]: YY]MkdHHIH$zBHHHH<HEHHHH =I = I5EEE!E%5E)i DDAT read: Rx Time:14:09:53.7277  TRx dataTimestamp_ set to:1749132594.848041 PDAT read: Bearing 328.0, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 328.0, 1.5 (Local)  DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 ԁ 6G Ơ= DAT read: 14:09:53.7277 LVL= 23968, 31809, 16370, 30803, AGC= 46, IDX= 498, 0.19,-0.180,-1.142, 1.067, 0.206, PHS=-0.298,-1.302, 0.857, RAW= 182.3, 8.0, CAL= 182.0, -1.5, ROT= 328.0, 1.5 E Ygot valid direction response: 14:09:53.7277 LVL= 23968, 31809, 16370, 30803, AGC= 46, IDX= 498, 0.19,-0.180,-1.142, 1.067, 0.206, PHS=-0.298,-1.302, 0.857, RAW= 182.3, 8.0, CAL= 182.0, -1.5, ROT= 328.0, 1.5 M V#Rx 103: Read range and direction messages.U `direction in FSK: [0.847757,-0.529738,-0.026177]~G A A N > Fpublishing direction and range infoڱ yڵ zQ ?l࿨P!Κڵ @Yڱ ۵ ])۵ A|I۵ ?i۵ Sx۵ .۵ u۵ 𧦿۵ Zd[? ܵ K@)ܵ 5>Iܵ KK@iܵ Pwּܵ 0@ܵ Pw< ݱ )ݱ ݵ <֗r??GhR?iݵ 5?ݵ ݵ 5ݵ Pw< ޱ )ޱ  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.529175'B.S,ͻLiA9>r'@>#5@Y>'y>!p=>H@Є*ӿ@? !r'@>䮈;)>CYyBIAaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yx&1?MbMbPyA ?@ A A)AI\AyI=I=2M3< U,=yU2:Q U>٥QY ]HY]Ⱥ ]>aO5e[ɜ?O59e: IeBT:y ?:0@@e@Eie;eF;ewO57AZbNFLiA@@I@ʁ3@Rs S^hƿzQ ?l࿨P!Κ5Pw<ҁ,DO] w@XԿGԳ2r@? ( uҨz@j3eȜ?rb_ xBYCYȜ?b_  xB@@} addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504119 s, deltaX: -0.100000 m, approachRate: -0.198366 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 6.751732 m, bearing: 130.644050 deg, lat: 36.906418 deg, lon: -122.115991 deg, deltaT: 4.531369 s, deltaX: -2.482564 m, approachRate: -0.547862 m/s, posRepo size: 4 checking for new query: numPingsReceived=103, elapsed TxPingTime=49.706692zIgnoring new targets. Set target to previous: 6.75 m. 9.23 m.   ProNav: ac range: 9.234296 m, nav range: 7.016792 m, bearing: 134.176599 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.511192 deg, new cmd heading: 158.662450 deg. M|HeadingCmd: 2.769182 target range: 9.234296 and range: 6.80 m.bMH:1@ZIrIjIRQJQBQ~Q~]{B}Y|Y|Y|@33@|M? {B ȼI)ǾI%: !!%Ce<-H:1@-<-=i-H:1@i)ԱEEEEE :J] _BJ] JJJ] BRJY ZJ] :bJ] &9J] -4JY 6G ť=jG bG >~Gy  DDAT read: Rx Time:14:09:54.2275  TRx dataTimestamp_ set to:1749132595.352399 PDAT read: Bearing 326.2, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 326.2, 2.2 (Local)  DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5  DAT read: 14:09:54.2275 LVL= 24720, 28769, 18530, 30867, AGC= 47, IDX= 495, 0.30,-1.551,-2.491,-0.216,-1.152, PHS=-0.311,-1.292, 0.933, RAW= 183.9, 7.0, CAL= 183.8, -2.2, ROT= 326.2, 2.2  Ygot valid direction response: 14:09:54.2275 LVL= 24720, 28769, 18530, 30867, AGC= 47, IDX= 495, 0.30,-1.551,-2.491,-0.216,-1.152, PHS=-0.311,-1.292, 0.933, RAW= 183.9, 7.0, CAL= 183.8, -2.2, ROT= 326.2, 2.2 % V#Rx 104: Read range and direction messages.- `direction in FSK: [0.830372,-0.555886,-0.038388]- Fpublishing direction and range info y r.6h?\. @A1 AA Y `) apI bHi x / d; B` n? kM@) 5=I |NM@i nF 8/@ nF= ) TQR?.? 5ι*?i UÎ? J  nF=Nu >5S,LiA )checking for new query: numPingsReceived=104, elapsed TxPingTime=49.993279\uyB}III<2< O=yQ >٥ HF5 5>9EO5=ɜ?EO59=Y8 I=ByIIm@=@Ei=;=;=zO5y}7AϬEZbLiA@@@ʁ_Eo@KЫk 6:BϿr.6h?\.nF=ҁb{,Fg@Pٿ酿gh Axp?pEFzs@cj nȜ?rl? bxB3eȜ? @@e addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504358 s, deltaX: -0.300000 m, approachRate: -0.594816 m/s, rangeRepo size: 4  Added new target pos. range: 6.453861 m, bearing: 128.883372 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 5.035727 s, deltaX: -2.780435 m, approachRate: -0.552142 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.45 m. 9.23 m.U ProNav: ac range: 9.234296 m, nav range: 6.786524 m, bearing: 133.305987 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.662453 deg, new cmd heading: 158.793181 deg. Q|HeadingCmd: 2.771464 target range: 9.234296 and range: 6.50 m.b_1@ZrjRJB~~}|||@| ? m~{Bu<>ɼIq)u⿾qIuCU: uf<_1@<Al=i_1@ichecking for new query: numPingsReceived=104, elapsed TxPingTime=50.211472KP"K9*K2K^:KR@#7--XX]1b7HFN IJz;"ZkbICcaEEEEr5Ea G G H >H CH IH WzBH H H H <H E6G] Υ=~Gi A A9 ԉ N >ԇ;)CM zBMIMb@Mb@Mb@ )YCl?v/Mb`y;?xiA A A)IyQAI-I-?13}< }=y}:Q >٥ HF >O5ɜ?O594 Iy?:/@@@EiZ:}g<QO5UBU7AUҬEZpbrsLiAr*@r*@ro@ʁr'Z_z@Ƕ *пr~@0?-h&V ۷prar+=ҁr!ci0UK@`Rٿrcwr㿽T?_zrr@rKsjr>iȜ?rr *y rqxBr>iȜ?p prH@rh@)M addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.500961 s, deltaX: -0.200000 m, approachRate: -0.399232 m/s, rangeRepo size: 4 ] Added new target pos. range: 6.255249 m, bearing: 127.515066 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 5.536688 s, deltaX: -2.979047 m, approachRate: -0.538056 m/s, posRepo size: 4 aazIgnoring new targets. Set target to previous: 6.26 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 6.481919 m, bearing: 132.111188 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.793183 deg, new cmd heading: 158.969271 deg. |HeadingCmd: 2.774537 target range: 9.234296 and range: 6.30 m.b1@ZrjRJB~~{B}|||@33@| ? u|{B}UIy)}IW9 f<1@5<=i1@irEY>jE>checking for new query: numPingsReceived=105, elapsed TxPingTime=50.715519Q E E E E 1E ԁ 6G J=~GA!ԹAIN?PES,fKMiA"DDAT read: Rx Time:14:09:55.2271 *TRx dataTimestamp_ set to:1749132596.357367.PDAT read: Bearing 323.8, 2.1 (Local) .~Local bearing/azimuth received: Bearing 323.8, 2.1 (Local) 6DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 JDAT read: 14:09:55.2271 LVL= 26384, 27105, 18530, 32163, AGC= 45, IDX= 508,-0.42, 2.595, 1.690,-2.208, 3.063, PHS=-0.380,-1.326, 1.010, RAW= 186.3, 6.9, CAL= 186.2, -2.1, ROT= 323.8, 2.1 NYgot valid direction response: 14:09:55.2271 LVL= 26384, 27105, 18530, 32163, AGC= 45, IDX= 508,-0.42, 2.595, 1.690,-2.208, 3.063, PHS=-0.380,-1.326, 1.010, RAW= 186.3, 6.9, CAL= 186.2, -2.1, ROT= 323.8, 2.1 NV#Rx 106: Read range and direction messages.R`direction in FSK: [0.806418,-0.590209,-0.036644]RFpublishing direction and range info$y&mtXn-?(א¢&@Y$ &g)&iI&bHi&}&-&\¾&^&G? &_P@)&Ϣ=I&O@i&Q &ش@&Q = $)$& O?(z?(u?i&?&Tm&E!&Q = $)$jchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.9869279})'@}p<5@Y}p"y} iF=}Hyuӿ)? j? r)? <?_ʨ? ? })'@};)}C zBI)  ==I I <2h; +=y_9Q =>٥AA EHEFUj{ ]>O5\ɜ?O591 Iyg/@@@Ei)::O5u7AZ$b&MiA&@&@& @ʁ&-p7@5 e ڌG E˿&mtXn-?(א¢&E!&Q =ҁ&' Ą3@4 hտ&Xfv?FZz&@&`j&8 xjȜ?r&` &xB&8 xjȜ?$ &xB&@&) @ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504007 s, deltaX: -0.300000 m, approachRate: -0.595230 m/s, rangeRepo size: 4  Added new target pos. range: 5.957379 m, bearing: 126.184530 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 6.040695 s, deltaX: -3.276917 m, approachRate: -0.542473 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.96 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 6.211734 m, bearing: 130.947811 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 158.969265 deg, new cmd heading: 159.118970 deg. -|HeadingCmd: 2.777150 target range: 9.234296 and range: 6.00 m.b-Ӽ1@Z)r)j)R)JQBY~a~a}a|i|i|m@|?  z{BI)%!I% 8 !!%gH ļ>H CH IH vzBH H H H <H E:uKS,0MiA :J=[BJ=QJJ=@RJ9ZJ=:bJ=-.9J=J4J9zJ=:}jJ=:J=4:rJ=4:UDDAT read: Rx Time:14:09:55.7270 ]TRx dataTimestamp_ set to:1749132596.859950ePDAT read: Bearing 322.8, 1.7 (Local) e~Local bearing/azimuth received: Bearing 322.8, 1.7 (Local) uDAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.5 DAT read: 14:09:55.7270 LVL= 28016, 26401, 18130, 31075, AGC= 47, IDX= 507,-0.31,-2.779, 2.637,-1.272,-2.272, PHS=-0.419,-1.328, 0.997, RAW= 187.2, 7.4, CAL= 187.2, -1.7, ROT= 322.8, 1.7 Ygot valid direction response: 14:09:55.7270 LVL= 28016, 26401, 18130, 31075, AGC= 47, IDX= 507,-0.31,-2.779, 2.637,-1.272,-2.272, PHS=-0.419,-1.328, 0.997, RAW= 187.2, 7.4, CAL= 187.2, -1.7, ROT= 322.8, 1.7 V#Rx 107: Read range and direction messages.`direction in FSK: [0.796179,-0.604333,-0.029666]Fpublishing direction and range infoQyUe6Lz?V `U̼@YQ Upm)U!gIUFiUcyU/U+־UUd;? UQ@)U A>IUQ@iUUI@U< Q)QU?!w>?=1n?iUu?U0 U6&U< Q)Qchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.4881029\&@5@Yفy3=H`:s`gӿg?@?l?+?{?? \&@骵[;)CzBIMMb@Mb@Mb@III I)IYMS?Q뱿{GzyM?M\M#M+ A MA)MrAIIIyM(AII2ӫ< =yi:Q >٥ HC > O58zɜ?5O59j. IBy5?5:5-@5@@Ei;;O5=BEA7AEԬEZQbUl 7MiAUu@Uu@Uq @ʁUC @Y8rR \g>ƿUe6Lz?V `U6&U<ҁU+x Nc+@<ڀImҿUY0U⿔T.?@V i *zU]@UVjU5c_Ȝ?rUZ% UxBU>iȜ?U`  QUߵ@U!X @ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.502583 s, deltaX: -0.100000 m, approachRate: -0.198972 m/s, rangeRepo size: 4  Added new target pos. range: 5.858122 m, bearing: 125.003838 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 6.543278 s, deltaX: -3.376173 m, approachRate: -0.515976 m/s, posRepo size: 4 %zIgnoring new targets. Set target to previous: 5.86 m. 9.23 m.!!u ProNav: ac range: 9.234296 m, nav range: 5.927005 m, bearing: 129.681636 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.118969 deg, new cmd heading: 159.285041 deg. q}|HeadingCmd: 2.780048 target range: 9.234296 and range: 5.90 m.b}P1@ZyryjyRJB~~{B}|||@|x? x{B =I ) x! I- { ) ) - h<5 P1@5 b<5 Ԋ=i5 P1@i1 )  checking for new query: numPingsReceived=107, elapsed TxPingTime=51.722843E E E E o0E F! F! I 6GeqT=~G9AIAYNe ?*dTS,kRMiAI I@AUDDAT read: Rx Time:14:09:56.2267 ]TRx dataTimestamp_ set to:1749132597.364007ePDAT read: Bearing 322.0, 0.1 (Local) e~Local bearing/azimuth received: Bearing 322.0, 0.1 (Local) uDAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 DAT read: 14:09:56.2267 LVL= 31536, 29153, 20610, 32755, AGC= 46, IDX= 504,-0.18, 2.533, 1.727,-2.273, 3.104, PHS=-0.483,-1.330, 0.903, RAW= 187.9, 9.4, CAL= 188.0, -0.1, ROT= 322.0, 0.1 Ygot valid direction response: 14:09:56.2267 LVL= 31536, 29153, 20610, 32755, AGC= 46, IDX= 504,-0.18, 2.533, 1.727,-2.273, 3.104, PHS=-0.483,-1.330, 0.903, RAW= 187.9, 9.4, CAL= 188.0, -0.1, ROT= 322.0, 0.1 V#Rx 108: Read range and direction messages.`direction in FSK: [0.788010,-0.615660,-0.001745]Fpublishing direction and range infoQyU!'_7?}㿉n p\U̬@YQ U0{)UqIUPiUU.UKUq=U+g? UQ@)U'>IU~Q@iU争Uֳ@U: Q)QUd=?ofB?k H?iU×?U:'U)U: Q)Qchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.992336A9&@.4@Y yg5=HyoܷӿT2? w?i`٥ HFQR >O5vdɜ?O59O+ IBy-@@@Ei:l:O57A׬EZQbUKWMiAU@U@U @ʁURpW*s@drbh '9*U!'_7?}㿉n p\U)U:ҁUXifp@صþUA .OŬLn?@zU@U@jUAgȜ?rUM UyBQQ UxBU @U @ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504057 s, deltaX: -0.500000 m, approachRate: -0.991951 m/s, rangeRepo size: 4 % Added new target pos. range: 5.361671 m, bearing: 124.054243 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 7.047335 s, deltaX: -3.872624 m, approachRate: -0.549516 m/s, posRepo size: 4 ))quzIgnoring new targets. Set target to previous: 5.36 m. 9.23 m.yy ProNav: ac range: 9.234296 m, nav range: 5.672770 m, bearing: 128.435196 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.285038 deg, new cmd heading: 159.436262 deg. i}|HeadingCmd: 2.782688 target range: 9.234296 and range: 5.40 m.b2@ZrjRJB~~}Y|a||@|O? v{B lHI ) S I     (siH H IH zBH  =H H H <H E6Gb=:JBJVJJGRJZJbJB9Jc4JzJ:~G9AqjJ:JX:rJX:AYDDAT read: Rx Time:14:09:56.7265 TRx dataTimestamp_ set to:1749132597.868213PDAT read: Bearing 322.1, -6.3 (Local) ~Local bearing/azimuth received: Bearing 322.1, -6.3 (Local) DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4  DAT read: 14:09:56.7265 LVL= 26864, 23777, 19330, 28787, AGC= 43, IDX= 502,-0.02,-2.993, 2.548,-1.582,-2.351, PHS=-0.555,-1.337, 0.766, RAW= 188.4, 12.2, CAL= 187.9, 6.3, ROT= 322.1, -6.3 Ygot valid direction response: 14:09:56.7265 LVL= 26864, 23777, 19330, 28787, AGC= 43, IDX= 502,-0.02,-2.993, 2.548,-1.582,-2.351, PHS=-0.555,-1.337, 0.766, RAW= 188.4, 12.2, CAL= 187.9, 6.3, ROT= 322.1, -6.3 V#Rx 109: Read range and direction messages.^direction in FSK: [0.784319,-0.610575,0.109734]%Fpublishing direction and range infoڹyڽ8#?inՉ,=?ڽ3@Yڹ ۽h)۽\I۽Ki۽sp۽+۽{۽"۽D? ܽqR@)ܽ^ Z>IܽQ@iܽz0=ܽ@ܽz0 ݹ)ݹݽB0?L ?ZSo ?iݽ}ؘ?ݽxZݽV)ݽz0 ޹)޹=checking for new query: numPingsReceived=109, elapsed TxPingTime=52.496304NM?9]S,2xMiAl9-&@-`4@Y-y-36=-HLl`ӿ~? F?et?;?Ц?? -&@-x;))zBIaI@a aM@a aQ@a aE@a IIV83S =y%:Q %>٥)1 5H5F5 5>9EO5=Kɜ?mO59=' I=Bm+:yim:m-@m@=@Ei=;=6 ?=O5BW7AڬEZb͐wMiA @ @\P @ʁ8@,GC?8#?inՉ,=?V)z0ҁFBvjQm@;8Ӱ?XN>7z?ө?z@3j%t^Ȝ?rE {BAgȜ? xB@Ī@  addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504206 s, deltaX: -0.300000 m, approachRate: -0.594995 m/s, rangeRepo size: 4  Added new target pos. range: 5.063805 m, bearing: 123.825040 deg, lat: 36.906419 deg, lon: -122.115991 deg, deltaT: 7.551541 s, deltaX: -4.170491 m, approachRate: -0.552270 m/s, posRepo size: 4 AAMzIgnoring new targets. Set target to previous: 5.06 m. 9.23 m.II] ProNav: ac range: 9.234296 m, nav range: 5.379214 m, bearing: 126.834149 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.436259 deg, new cmd heading: 159.610870 deg. Y|HeadingCmd: 2.785735 target range: 9.234296 and range: 5.10 m.b|I2@ZrjRJB~~}|||`ff@| ? mt{BmIq)uqIubKt qquij<|I2@<{=i|I2@i%checking for new query: numPingsReceived=109, elapsed TxPingTime=52.7319159EEEE\0EY 6G q؃=~G A A N >}dS,gFMiA8DDAT read: Rx Time:14:09:57.2263 TRx dataTimestamp_ set to:1749132598.372795PDAT read: Bearing 321.0, -17.3 (Local) ~Local bearing/azimuth received: Bearing 321.0, -17.3 (Local) DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 DAT read: 14:09:57.2263 LVL= 23392, 20625, 17218, 26003, AGC= 40, IDX= 499, 0.21, 2.650, 2.061,-2.309,-2.882, PHS=-0.663,-1.293, 0.570, RAW= 190.6, 16.6, CAL= 189.0, 17.3, ROT= 321.0, -17.3  Ygot valid direction response: 14:09:57.2263 LVL= 23392, 20625, 17218, 26003, AGC= 40, IDX= 499, 0.21, 2.650, 2.061,-2.309,-2.882, PHS=-0.663,-1.293, 0.570, RAW= 190.6, 16.6, CAL= 189.0, 17.3, ROT= 321.0, -17.3 V#Rx 110: Read range and direction messages.^direction in FSK: [0.741989,-0.600850,0.297375]Fpublishing direction and range infoڹyڽj^?]*:+0?ڽ@Yڹ ۽`[)۽PI۽BCi۽e۽(۽^)۽۽? ܽT@)ܽV>IܽrS@iܽ#>ܽG@ܽ# ݹ)ݹݽɽb?^5,\C?aN7O?iݽ*?ݽݽ@.ݽ# ޹)޹uchecking for new query: numPingsReceived=110, elapsed TxPingTime=53.0085119X&@4@Yy}7=Hj`Dӿ@7?=?@Cc@? W}??@? X&@骝7;)CzBII]I]2m< m:=ym:Q u>٥qԡ HF >O5 6ɜ?O59$ IB :ye:-@@@Ei<?O5y07AZbۗMiA@@@ʁ|GJ @nLP"v"?j^?]*:+0?@.#ҁ|d H4;@d\?%g[?p(Zi?z x@`j/&hȜ?rV [BM  yBꁽI@j@= addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504582 s, deltaX: -0.300000 m, approachRate: -0.594551 m/s, rangeRepo size: 4 u Added new target pos. range: 4.765934 m, bearing: 122.229495 deg, lat: 36.906419 deg, lon: -122.115992 deg, deltaT: 8.056123 s, deltaX: -4.468361 m, approachRate: -0.554654 m/s, posRepo size: 4 qy}zIgnoring new targets. Set target to previous: 4.77 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 5.139791 m, bearing: 125.375006 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.610866 deg, new cmd heading: 159.762283 deg. |HeadingCmd: 2.788378 target range: 9.234296 and range: 4.80 m.bt2@Zrj)R)J)B1~1~9}9|9|A|E@33@|m@? s{BgI)0I_ !%odk<-t2@-v<- p=i-t2@i1EEEEX0EF=F=m checking for new query: numPingsReceived=110, elapsed TxPingTime=53.236080K P"K }9*K 2K a:K B}f M %V{'oJQ`HQ 9 A  r ] (,l ևG 6G }z=ZG RG e Y y 0AH Ƽ>H H IH zBH  =H H H <H E! ~G A A N >#kS,ÃMiA:JMZBJMRJJMARJIZJM9bJMS29JM4JIzJM/:jJM4:JM;:rJM<:a%DDAT read: Rx Time:14:09:57.7263 -TRx dataTimestamp_ set to:1749132598.8764055PDAT read: Bearing 315.5, -25.6 (Local) 5~Local bearing/azimuth received: Bearing 315.5, -25.6 (Local) EDAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 mDAT read: 14:09:57.7263 LVL= 19504, 19185, 14786, 23507, AGC= 39, IDX= 499,-0.26, 0.904, 0.523, 2.217, 1.794, PHS=-0.802,-1.224, 0.419, RAW= 195.7, 21.0, CAL= 194.5, 25.6, ROT= 315.5, -25.6 uYgot valid direction response: 14:09:57.7263 LVL= 19504, 19185, 14786, 23507, AGC= 39, IDX= 499,-0.26, 0.904, 0.523, 2.217, 1.794, PHS=-0.802,-1.224, 0.419, RAW= 195.7, 21.0, CAL= 194.5, 25.6, ROT= 315.5, -25.6 uV#Rx 111: Read range and direction messages.}^direction in FSK: [0.643232,-0.632103,0.432086]}Fpublishing direction and range info!y%c/[?/:4J?!Y! %0L)%JI%9i%[%'%OM%%+> %XZ@)%f>I%3BY@i%>%\5@% !)!%1>c??Ke%?i%?%黾%F% !)!checking for new query: numPingsReceived=111, elapsed TxPingTime=53.507938yBI) aI%aI% aMEaME aQMaQM aEMaEM MMb@Mb@Mb@III I)MDYM@5^I ?S㥫~jtyMb?M/]MI M3A)MAIMEAIyMAI]ԉI]3 =yQ >٥ HF >!-O5%ɜ?5O59%~! I%B5T:y5 ?5:5.@5@%@Ei%;%:%0O57AݬEZ!b%MiA!!% @ʁ%X]@ uqE b@)h>Iia@i:\?!@:\ ) }E?)W o?.xj?iɹ?쾩qg:\ )]checking for new query: numPingsReceived=112, elapsed TxPingTime=54.008278myBuIII2OI 8=yQ >٥ H >O5~ ɜ?O59 I{By@@Ei:l: O55B57A5EZb&SMiA@@3?ʁZe|M@/{iyB4Pb0 @=+yb?Oiq1,?qg:\ҁ&vA @H#;@f|ѿGW?tcGZ?zd@Cj|7Ȝ?rUҺ B/&hȜ?Ժ  [Bl@9@ addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503670 s, deltaX: -0.300000 m, approachRate: -0.595628 m/s, rangeRepo size: 4 M Added new target pos. range: 4.468071 m, bearing: 108.863064 deg, lat: 36.906419 deg, lon: -122.115994 deg, deltaT: 9.063403 s, deltaX: -4.766224 m, approachRate: -0.525876 m/s, posRepo size: 4 IIUzIgnoring new targets. Set target to previous: 4.47 m. 9.23 m.QQ ProNav: ac range: 9.234296 m, nav range: 4.677193 m, bearing: 121.884771 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 159.930874 deg, new cmd heading: 160.074024 deg. |HeadingCmd: 2.793819 target range: 9.234296 and range: 4.50 m.b2@ZrjRJB~~}|||@|? %q{B%F޼I!)%W!I- ))5gm<]2@]_<]_=i]2@iaEEEEE checking for new query: numPingsReceived=112, elapsed TxPingTime=54.242901Ku P"Ku 9*Kq 2Ku b:Ku X oO% AjbaB!: s@+ptLA.im4.^vwJ J A6G }xd=! ~G A A N >zS,CUMiAGGH%Ǽ>H!H%IH%kzBH% =H!H!H%<H%EHHHHI I@59f&@(z4@YȂƻyrf=H[-Կ?6;? xP@\?Ox?Ѭ?? f&@骅Ĉ;)CyBI:J[BJQJJHRJZJ:bJ-.9JԺ4JzJ:jJ:J4:rJ4:IMIMM3 5=yv ;Q >٥ HFL >O5Ȝ?O59' IwBy.@@@Ei::O57A]DDAT read: Rx Time:14:09:58.7260 eTRx dataTimestamp_ set to:1749132599.883893mPDAT read: Bearing 251.9, -34.5 (Local) m~Local bearing/azimuth received: Bearing 251.9, -34.5 (Local) }DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 DAT read: 14:09:58.7260 LVL= 24560, 32753, 19250, 32755, AGC= 43, IDX= 512,-0.18,-2.810,-1.833,-1.075,-1.131, PHS=-1.591,-0.655, 0.053, RAW= 244.6, 28.5, CAL= 258.1, 34.5, ROT= 251.9, -34.5 Ygot valid direction response: 14:09:58.7260 LVL= 24560, 32753, 19250, 32755, AGC= 43, IDX= 512,-0.18,-2.810,-1.833,-1.075,-1.131, PHS=-1.591,-0.655, 0.053, RAW= 244.6, 28.5, CAL= 258.1, 34.5, ROT= 251.9, -34.5 V#Rx 113: Read range and direction messages.`direction in FSK: [-0.256037,-0.783345,0.566406]Fpublishing direction and range infoYy]MbпX)鿃?5?]̌@YY ]_)]I]2Ki]]+]˿]']Y= ]D@)]>I]v&@i]%?]@]% Y)Y]E߿p[_'?R4?i]' @],]k]% Y)Ychecking for new query: numPingsReceived=113, elapsed TxPingTime=54.511452ZYb]MiA]͋@]͋@]p?ʁ]ʕJFCl` b@]MbпX)鿃?5?]k]%ҁ]cdk@cb @yG+@]6X? b?sl?z]A@] @j]0 ɜ?r] ]B]";{Ȝ?]V  ]݀B],v@](a? addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503818 s, deltaX: -0.100000 m, approachRate: -0.198484 m/s, rangeRepo size: 4  Added new target pos. range: 4.368792 m, bearing: 53.908961 deg, lat: 36.906421 deg, lon: -122.115995 deg, deltaT: 9.567221 s, deltaX: -4.865504 m, approachRate: -0.508560 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.37 m. 9.23 m.- ProNav: ac range: 9.234296 m, nav range: 4.468390 m, bearing: 120.035281 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 160.074021 deg, new cmd heading: 160.222827 deg. 15|HeadingCmd: 2.796416 target range: 9.234296 and range: 4.40 m.b5z2@Z9r9j9R9J9B9~A~A}a|||@|`-? E+ۼI)¾IB !o<z2@<A=iz2@iIE E E E E F F q % checking for new query: numPingsReceived=113, elapsed TxPingTime=54.7497796G g\=jG ?bG >~GyAԙAN>;S, NiA9NK&@N^4@YN"yN h=NHuW GԿ`X?`U?K?Mx? ?@? NK&@N-;)NCzyBzIonly read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V aI@a aM@a aQ@a aE@a I I [3e eH=yea9Q m>٥ii mHmFuȅ u>O5Ȝ?O59 IsB+:y:d.@@@Ei:>O58AEmB*** querying acoustic contact ***JiRi11=zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.=Eu ProNav: ac range: 9.234296 m, nav range: 4.282210 m, bearing: 118.197623 deg, approach rate: -0.417314 m/s, LOS rate: -4.297383 deg/s, cmd heading: 160.222823 deg, new cmd heading: 154.490350 deg. uT8}|HeadingCmd: 2.696365 target range: 9.234296 and range: 4.40 m.b}@,@ZyryjyRyJyB~~}||||?DDAT read: Rx Time:14:09:59.2258 TRx dataTimestamp_ set to:1749132600.388041-PDAT read: Bearing 268.3, -45.1 (Local) -~Local bearing/azimuth received: Bearing 268.3, -45.1 (Local) =DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 eDAT read: 14:09:59.2258 LVL= 32752, 32753, 23634, 32755, AGC= 47, IDX= 509, 0.06, 0.148, 0.715, 1.625, 1.723, PHS=-1.486,-0.961,-0.100, RAW= 232.0, 36.6, CAL= 241.7, 45.1, ROT= 268.3, -45.1 mYgot valid direction response: 14:09:59.2258 LVL= 32752, 32753, 23634, 32755, AGC= 47, IDX= 509, 0.06, 0.148, 0.715, 1.625, 1.723, PHS=-1.486,-0.961,-0.100, RAW= 232.0, 36.6, CAL= 241.7, 45.1, ROT= 268.3, -45.1 uV#Rx 114: Read range and direction messages.}`direction in FSK: [-0.020941,-0.705561,0.708340]}Fpublishing direction and range infoAyV#vq*uH)E?3@Y )IR\i/?5v̽ @)Ƈ#?I@ijE{>E E E E E q ԩ 6G= A= A checking for new query: numPingsReceived=114, elapsed TxPingTime=55.252998~G1AIAYNe>S,GU*NiAKB7XP"KB}9*K@2KBc:KB(<8 (0#9]<znck Y|L0Rh lJ#AJJ?JJ>9- &@-34@Y-IAλy-g=-HPoԿ`?`}?GE@^?y?`&?? - &@->;)-CamyBmII}I}(*3h 6=y{Q >٥ H >O5pȜ?O59 IoB :yu:9.@@@Eib:[?pO5G8A)Hļ>HHIHWzBHHHH<HEZ1b5NiA5D@5D@5?ʁ5s"ҵzpd@5V#vq*uH)E?5̿5 4y@}|HeadingCmd: 2.698742 target range: 9.234296 and range: 4.10 m.b}2,@ZyryjRJB~~})B>IX@i?'@ ))Bʿ¨9?K?iL?Ҿ )checking for new query: numPingsReceived=115, elapsed TxPingTime=55.555542|||`ff@| ? 1 5 iI1 )5 UϾ1 I= RIL 9 9 = q8S,!ENiAQchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.754726%yB%IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )AYMbX?Q롿٥ HF >O5eȜ?O59& IjB T:y  ? : 30@ @@Eiu::O5UBU)8A]EZb$9NiA.?ʁ?À? ̓0> 4Is@ iʩU?jOZHpS~%?ҁ%{U?}=? @`9?FyE?Da?~fB?z^@2?je6Ȝ?r6b Be6Ȝ? O@J?% addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 4.070891 m, bearing: 78.668357 deg, lat: 36.906434 deg, lon: -122.115996 deg, deltaT: 10.576194 s, deltaX: -5.163404 m, approachRate: -0.488210 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.07 m. 9.23 m. ProNav: ac range: 9.234296 m, nav range: 3.879720 m, bearing: 113.256485 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 154.626549 deg, new cmd heading: 154.787278 deg. |HeadingCmd: 2.701548 target range: 9.234296 and range: 4.10 m.b(,@ZrjRJB~~{B}|||| ?:JZBJZJJ>RJZJ9bJS9Jt4J@@@@Թ hI!)%2̾!I-Y` ))-$s<5=+@15ݨ>i5(,@i9 ء ס  DDAT read: Rx Time:14:10:00.2255  TRx dataTimestamp_ set to:1749132601.396959 DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.3 - \#Rx 116: Read range message, but no direction.ڱ ڵ ff@Yڱ  checking for new query: numPingsReceived=116, elapsed TxPingTime=56.012344E E E E 84E 6G -=~GAAN>>S,cNiA9^n%@^3@Y^},y^* l=^HNCԿ1֙?@?7?E|? |?4? ^n%@^;)^Cqchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.258781KE4 P"KE9*KA2KEd:KEiH;SC,)>NYJ!-oUYZP:-IW\.W9OgJf=ԙHü>HCHIH9zBH =HHH <HEyBI)  p=a=II2%~ %=y5 Q U>٥aa eHeFe m>iO5mȜ?O59m ImfBy/@@m@Eim!gi o:!@i zE Eq Eq Eq Eu 0Eq Fy F} A6GU =)~G1A9AIN]?S,'0NiA9ar%@3@Y0y]=H-4 +տ)͙?q"? 3*@@ݨ?@??? ar%@?H;)C ) ɺ ɻiII]CiY YY)YeLC aaaɼaiiIi)iii)qIqqɽq qɾqqיםAchecking for new query: numPingsReceived=117, elapsed TxPingTime=56.762882iiA) IٯyBIMb@Mb@Mb@ )YK7?Mb:vyI ?T+ A A)Iy3AII3%i: %;=y%aQ %>٥II UHUF](S ]>O5ɑȜ?O59 IcBy ?:/@@@Ei::O5Bh8AE addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.502623 s, deltaX: -0.300000 m, approachRate: -0.596869 m/s, rangeRepo size: 4 !-zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.-E] ProNav: ac range: 9.234296 m, nav range: 3.508085 m, bearing: 107.010682 deg, approach rate: -0.427557 m/s, LOS rate: -8.201360 deg/s, cmd heading: 144.339041 deg, new cmd heading: 135.277619 deg. ]䯾e|HeadingCmd: 2.361040 target range: 9.234296 and range: 3.30 m.bmG@ZirijiRiJiBi~q~u`{B}q|q|y|y|}`.? 靭 I)bվII %v<x @!- >i-G@:J}]BJ}VJJ}?RJyZJ}]:bJ}B9J}ـ4JyiQ ] DDAT read: Rx Time:14:10:01.2252 ] TRx dataTimestamp_ set to:1749132602.404166m PDAT read: Bearing 316.8, -19.7 (Local) u ~Local bearing/azimuth received: Bearing 316.8, -19.7 (Local)  DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2  DAT read: 14:10:01.2252 LVL= 14576, 20529, 15986, 22195, AGC= 45, IDX= 503, 0.07,-0.112,-0.704, 1.702, 0.946, PHS=-0.970,-1.603, 0.753, RAW= 195.0, 16.9, CAL= 193.2, 19.7, ROT= 316.8, -19.7  Ygot valid direction response: 14:10:01.2252 LVL= 14576, 20529, 15986, 22195, AGC= 45, IDX= 503, 0.07,-0.112,-0.704, 1.702, 0.946, PHS=-0.970,-1.603, 0.753, RAW= 195.0, 16.9, CAL= 193.2, 19.7, ROT= 316.8, -19.7  V#Rx 118: Read range and direction messages. ^direction in FSK: [0.686302,-0.644481,0.337095] Fpublishing direction and range infoY y] @du0?(M?] L@YY ] 8)] 1PI] r>i] V] -] Qx] /Ϳ] @? ] -Y@)] >I] uW@i] x >] ;@] x Y )Y ] lw??2E?i] s?] l] A] x Y )Y  checking for new query: numPingsReceived=118, elapsed TxPingTime=57.032238E E E E 3E 6G H>ԁ ~G A A N >CYS,ҞNiA950%@5LD3@Y5y5F=5HL)`Sտ@n6? )`? !?O? ?)? 50%@5';)5C)-BAI-&I-3] : e{=ye''Q e ?٥ii mHimHL u ?qO5uSȜ?O59u IubBy/@@uAEiu;u;uO5b8AEZ)b-ݙNiA-XK@-XK@-"@ʁ-_;q@Ĭa*"?-@du0?(M?-A-x ҁ-S0\($زm@y؞?-$ۿq7?"HYH]IH]/zBH] =HYH]*DH] <H]EY 6G5 >jGM ?bGM ?~G1 Ai ԁ - DDAT read: Rx Time:14:10:01.7252 = TRx dataTimestamp_ set to:1749132602.913441M PDAT read: Bearing 320.5, -25.7 (Local) U ~Local bearing/azimuth received: Bearing 320.5, -25.7 (Local) e DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2  DAT read: 14:10:01.7252 LVL= 15216, 15425, 14578, 17459, AGC= 42, IDX= 503, 0.10, 2.942, 2.212,-1.769,-2.272, PHS=-0.981,-1.752, 0.500, RAW= 190.3, 21.7, CAL= 189.5, 25.7, ROT= 320.5, -25.7  Ygot valid direction response: 14:10:01.7252 LVL= 15216, 15425, 14578, 17459, AGC= 42, IDX= 503, 0.10, 2.942, 2.212,-1.769,-2.272, PHS=-0.981,-1.752, 0.500, RAW= 190.3, 21.7, CAL= 189.5, 25.7, ROT= 320.5, -25.7  V#Rx 119: Read range and direction messages. ^direction in FSK: [0.695293,-0.573156,0.433659] Fpublishing direction and range info1 y5 }`29??TepJWx1?1 Y1 5 p;)5 A<I5 8i5 3D5 *5 "{5 A5 ? 5 0T@)5 >I5 mS@i5 L>5 ?@5 L 1 )1 5 ?V??V|?i5 ?5 ¾5 |05 L 1 )1  checking for new query: numPingsReceived=119, elapsed TxPingTime=57.543648AN%>٥i i m Hm Fu & u >  O5 )fȜ? O59  I _By !? : /@ @ AEi : {: O5 B a8A EZbuNiAWK@WK@@@ʁ0usA@̕5#D ?}`29??TepJWx1?|0Lҁcܳ(-@Z+} ?hCܿS܄M?ݫl?z @Wj-uǜ?r#ܚ  B#ܚ  BꁕB@Zx?  addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.509275 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  =  Added new target pos. range: 3.177235 m, bearing: 119.687647 deg, lat: 36.906434 deg, lon: -122.115999 deg, deltaT: 12.596769 s, deltaX: -6.057061 m, approachRate: -0.480842 m/s, posRepo size: 4 A A u zIgnoring new targets. Set target to previous: 3.18 m. 9.23 m.y    ProNav: ac range: 9.234296 m, nav range: 3.174693 m, bearing: 99.217963 deg, approach rate: 0.000000 m/s, LOS rate: 0.107600 deg/s, cmd heading: 135.385879 deg, new cmd heading: 135.608800 deg.   |HeadingCmd: 2.366820 target range: 9.234296 and range: 3.20 m.b% y@Z) r) j1 R1 J9 B9 ~A ~A :JU [BJU OJJU ARJQ ZJU :bJU %9JU 4JQ }a |a |i |i |m @? q{B靽 m<ۼI ) nվ I '_ y< W@ i y@i bE ZE UDDAT read: Rx Time:14:10:02.2250 ]TRx dataTimestamp_ set to:1749132603.413430mPDAT read: Bearing 315.5, -40.9 (Local) m~Local bearing/azimuth received: Bearing 315.5, -40.9 (Local) DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.1 DAT read: 14:10:02.2250 LVL= 27344, 19953, 15586, 24243, AGC= 45, IDX= 501, 0.42, 1.892, 1.408,-2.973,-3.037, PHS=-1.266,-1.791, 0.061, RAW= 194.1, 32.7, CAL= 194.5, 40.9, ROT= 315.5, -40.9 Ygot valid direction response: 14:10:02.2250 LVL= 27344, 19953, 15586, 24243, AGC= 45, IDX= 501, 0.42, 1.892, 1.408,-2.973,-3.037, PHS=-1.266,-1.791, 0.061, RAW= 194.1, 32.7, CAL= 194.5, 40.9, ROT= 315.5, -40.9 V#Rx 120: Read range and direction messages.^direction in FSK: [0.539113,-0.529785,0.654741]Fpublishing direction and range infoQyU)Hi@?87࿴{S?U9@YQ Uj)UMIU<iU^U-UJ U}?U#y= UX@)U?IU3BY@iU36?U\5@U36 Q)QU&Aeǣ?(Ĵ?> aC?iUf?USUFU36 Q)QT****** 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_0EF=F=6G6<>~GAAN ?PS,NiAIi)5nA)1 1I1 1)119999i=I=UF9IYi]XA ЅDρ)ЁЁ сЍЍFЉэYCщIщ)щiё)ґIҕrAёё ґҙҙҙiҙҙٯyBII I(270= m=yQ ?٥ H9E E>IMO5M;WȜ?UO59M IM^ByQQ]@M AEiMq,?@ G?EԿO#?8V?z@Bgjub Ȝ?rNG B@Ȝ? B^$@B?AA ~G1 Aa A N} >սS,NiA2DDAT read: Rx Time:14:10:02.7250 :TRx dataTimestamp_ set to:1749132603.919749BPDAT read: Bearing 298.2, -53.6 (Local) F~Local bearing/azimuth received: Bearing 298.2, -53.6 (Local) VDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.1 vDAT read: 14:10:02.7250 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 502, 0.19,-0.891,-0.753, 0.516, 0.889, PHS=-1.692,-1.596,-0.376, RAW= 213.8, 45.6, CAL= 211.8, 53.6, ROT= 298.2, -53.6 =Ygot valid direction response: 14:10:02.7250 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 502, 0.19,-0.891,-0.753, 0.516, 0.889, PHS=-1.692,-1.596,-0.376, RAW= 213.8, 45.6, CAL= 211.8, 53.6, ROT= 298.2, -53.6 =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.280421,-0.522982,0.804894]EFpublishing direction and range info4y6ai?|Dy?4Y4 6)6I6i66+6uؿ6I̿6 6 n@)6%K?I67l@i6|o?6ۋ@6|o 4q)46R-u0!P\? ?i6Eq?6K66|o 4)4 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9U:#@UN1@YUXڻyU&٥ HFca > O5 BȜ?]O59  I _Bye?e:e-@e@  AEi =< U=< O5mBm;8AuEZ4b6+NiA446?ʁ6&&x? PYd@6ai?|Dy?66|oҁ6/}*ƿ2?tN@6ߐwʮz.S?x%3n?z6?6P1j6-3Ȝ?r6. 6{B44 46@6:? addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.506319 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.879354 m, bearing: 95.686565 deg, lat: 36.906410 deg, lon: -122.115999 deg, deltaT: 0.506319 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 bZrjRJB~~T{B}|| | | ? p{B靽TI)оIB {<ZG RG ~G A! A Nm >!JS,/OiA:J2ZBJ2UJJ2?RJ0ZJ29bJ2>9J2ـ4J0\9j"@~0@Y̻y'*<H)׿j܃?@]?~@}?y?@PT?@e? j"@骍";)C=DDAT read: Rx Time:14:10:03.2250 ETRx dataTimestamp_ set to:1749132604.419849MPDAT read: Bearing 264.3, -49.8 (Local) M~Local bearing/azimuth received: Bearing 264.3, -49.8 (Local) mDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 DAT read: 14:10:03.2250 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 501, 0.04, 2.116, 2.878,-2.483,-2.093, PHS=-1.986,-1.265,-0.393, RAW= 236.9, 43.0, CAL= 245.7, 49.8, ROT= 264.3, -49.8 Ygot valid direction response: 14:10:03.2250 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 501, 0.04, 2.116, 2.878,-2.483,-2.093, PHS=-1.986,-1.265,-0.393, RAW= 236.9, 43.0, CAL= 245.7, 49.8, ROT= 264.3, -49.8 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.064107,-0.642266,0.763796]Fpublishing direction and range info9y=Mi&q1UVq?9Y9 9)9I9i9=/=?5=롿=L7ɾ =WO@)=7 @?I=9@i=/^?=뜓@=/^ 9)9=cW'տpc??i=ъ@=@=տ=/^ 9)9 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yBIII(*35%= 5S=y5ɑ:Q 5>٥99 =H9= E>AmO5E1Ȝ?uO59ET IE`Byqu,@u@EAEiE;E;E O5y}7AZ9b=OiA99=k?ʁ=z)ǿBb7Ȗ~ @=Mi&q1UVq?=տ=/^ҁ=Q?(kp?!m@=gy?$hw?.yy6?z=?=b?j=G|Ȝ?r=Z =KB9=NG  9= ?=V|? addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.500100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 2.879354 m, bearing: 61.960315 deg, lat: 36.906410 deg, lon: -122.116003 deg, deltaT: 0.500100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uuTStarting intercept timer at range: 2.90 m.ybyZyryjyRyJyBy~~}||||r? )5|I1)5zȾ9I=MŻ aae,C}K *P"K *K 2K g:K B[v(O(r9U\&D g]B8uaSh=~G) Aa Aq N} >ۉS,^e0OiAH>HHIHCzBHHHHښ<HEHCHCHHI I5x9~!@ޑ/@Y|7ŻysA:H~ ؿFx? ?`~9xWx?@P?? ~!@1ʇ;)yBIIIMn< UF=yU6:Q U>٥YY ]H]F >O5DȜ?O59~ I!y-+@5@AEi̽</<O57AEMDDAT read: Rx Time:14:10:03.7251 eTRx dataTimestamp_ set to:1749132604.930775PDAT read: Bearing 248.7, -45.7 (Local) ~Local bearing/azimuth received: Bearing 248.7, -45.7 (Local) B*** querying acoustic contact ***JR b Z DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 r j)R1J1B1~1~9}9|9|9|9|EtM?DAT read: 14:10:03.7251 LVL= 25584, 29681, 14354, 32755, AGC= 43, IDX= 502,-0.07, 1.956, 3.087,-2.533,-2.142, PHS=-2.097,-1.007,-0.394, RAW= 249.2, 39.6, CAL= 261.3, 45.7, ROT= 248.7, -45.7 Ygot valid direction response: 14:10:03.7251 LVL= 25584, 29681, 14354, 32755, AGC= 43, IDX= 502,-0.07, 1.956, 3.087,-2.533,-2.142, PHS=-2.097,-1.007,-0.394, RAW= 249.2, 39.6, CAL= 261.3, 45.7, ROT= 248.7, -45.7 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.253700,-0.650707,0.715693]Fpublishing direction and range infoQyU]c}Ÿ<п~GAAN>tS,SyOOiA9Z @ZQ.@YZ48ƻyZuZHO^ٿ(l?ܭ?`mO}x? u? Z @Zh;)ZCryBvImMb@Mb@Mb@iii i)iYmI +?~jtym9?mDim\A mA)mAIiiym3AII(*2IIAAm<  =ye{Q >٥ HF%f %>)5O5- Ȝ?5O59- I-aBy5?=:=X)@=@-AEi- ;-:-O5EBE7AEEZ b ё;OiA >@ >@ 7DG?ʁ E+.d!U0 @ ]c}Ÿ<п~GqAyAN>S,nOiA 9^@^-@Y^uy^P^Hx \ڿ\??#`;J@x?@避? ^@^$#;)^Cz zB~IAAI I 2=}= =T=y=9Q =>٥AA EHEFE` M>KM4P"KM 9*KI2KMh:KM%nA2?nEJQQYm1+"O|@JYJYHuż>HqHuIHuWzBHu =HqHu+DHu<HuEO5ǜ?O59 IbByb(@@AEi ::O5B7AZb[OiAH8@H8@ C?ʁEF7m6!HAg? п忌B\?WlBIҁi)9?%?y8jv?6?|?4?z??jvȜ?r  BvȜ? ꁭ@o];? addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.499138 s, deltaX: -0.100000 m, approachRate: -0.200345 m/s, rangeRepo size: 4 % Added new target pos. range: 2.879406 m, bearing: 43.809413 deg, lat: 36.906421 deg, lon: -122.116005 deg, deltaT: 0.499138 s, deltaX: -0.099253 m, approachRate: -0.198849 m/s, posRepo size: 4 %%TStarting intercept timer at range: 2.90 m.!b!Z)r)j)R)J)B)~1~1}1|a|a|m@33@|m`?J[4J[>4J[0:J[BJVJJBRJZJ:bJB9J-4JzJ:jJ:JX:rJX: m{B $I!)-H)I= 9AEB݀<DDAT read: Rx Time:14:10:04.7251 TRx dataTimestamp_ set to:1749132605.938496PDAT read: Bearing 249.6, -40.3 (Local) ~Local bearing/azimuth received: Bearing 249.6, -40.3 (Local) DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 )YqqiqiyDAT read: 14:10:04.7251 LVL= 20272, 23185, 8690, 21459, AGC= 44, IDX= 501, 0.11, 2.658,-2.365,-1.513,-1.359, PHS=-2.179,-0.960,-0.157, RAW= 246.8, 33.5, CAL= 260.4, 40.3, ROT= 249.6, -40.3 Ygot valid direction response: 14:10:04.7251 LVL= 20272, 23185, 8690, 21459, AGC= 44, IDX= 501, 0.11, 2.658,-2.365,-1.513,-1.359, PHS=-2.179,-0.960,-0.157, RAW= 246.8, 33.5, CAL= 260.4, 40.3, ROT= 249.6, -40.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.265845,-0.714835,0.646790]Fpublishing direction and range infoکyڭCBnѿQGn8k?ڭ@@Yک ۭ0O)ۭZIۭ!iۭSۭ,ۭt ۭuۭ ܭ։@)ܭ?IܭOo@iܭ4?ܭ'g@ܭ4 ݩ)ݩݭmOJ ߿ڼxb?p?iݭ @ݭ}ݭϢݭ4 ީ)ީ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.EA EA EI EM S1EI FU =FU R=Y 6Ge >ԙ -S,(~OiAuzBuI)Mb@Mb@Mb@ )Y`"?y&1MbPy?`e rA)\AIEAy\AII2m< u =yQ >٥ H >O5ǜ?O59_ IcBy{?:'@@"AEi;";O59E7AEEIYI]R=aZbR|OiA>@>@pG?ʁ*jȺWn`\SO?CBnѿQGn8k?Ϣ4ҁ_ H??m"k?O ?gD?W?2y?zY??j gȜ?r0ڄ B ꁵ" @X? addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.508583 s, deltaX: 0.100000 m, approachRate: 0.196625 m/s, rangeRepo size: 4 U Added new target pos. range: 2.978696 m, bearing: 44.665667 deg, lat: 36.906421 deg, lon: -122.116005 deg, deltaT: 0.508583 s, deltaX: 0.099290 m, approachRate: 0.195229 m/s, posRepo size: 4 ]]RStopped intercept timer at range: 3.00 m.YbYZarajaRaJaBa~i~m{B}i|||@|;? I)I] 5<ii]DDAT read: Rx Time:14:10:05.2251 eTRx dataTimestamp_ set to:1749132606.436176mPDAT read: Bearing 245.8, -31.1 (Local) m~Local bearing/azimuth received: Bearing 245.8, -31.1 (Local) DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 DAT read: 14:10:05.2251 LVL= 24816, 21793, 13506, 26547, AGC= 45, IDX= 501,-0.36,-0.868, 0.714, 1.512, 1.402, PHS=-2.182,-0.641, 0.107, RAW= 251.3, 25.4, CAL= 264.2, 31.1, ROT= 245.8, -31.1 Ygot valid direction response: 14:10:05.2251 LVL= 24816, 21793, 13506, 26547, AGC= 45, IDX= 501,-0.36,-0.868, 0.714, 1.512, 1.402, PHS=-2.182,-0.641, 0.107, RAW= 251.3, 25.4, CAL= 264.2, 31.1, ROT= 245.8, -31.1 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.351003,-0.781019,0.516533]Fpublishing direction and range infoYy] vֿe迮jp?YYY ]`)]!UI]4i]g]-] ]$]"= ]7Z@)]>I]@i] ?]G@] Y)Y]F^:,?ܺfu?i]@]E 㾩] ] Y)Y u2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙEEEE1EԱ 6G >~G A A N >TS,7OOiA9^M@^+@Y^ty^R^H@`USܿQ?R? `߆.x?,|? ^M@^Jψ;)^C!zBI!E٥ HF+ >!-O5%ǜ?-O59%[ I%dBy15%@5@%&AEi%:%:%O5IU6AQZ!b%OOiA!!%-/?ʁ%֙A9Is?% vֿe迮jp?% % ҁ%Bb?6} _Ҳ?0R?%nyj&?L ?A?V>?z%?%?j%juȜ?r%i %,B!%   %B%w@%@?= addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.497680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 2.978696 m, bearing: 39.207124 deg, lat: 36.906421 deg, lon: -122.116004 deg, deltaT: 0.497680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MMTStarting intercept timer at range: 3.00 m.IbIZIrIjQRQJyB~~}||||e? Hɼ>HCHIHvzBH =HHH<HEK1 P"KK9*K2Ki:Kzdw dz9e }*'4<';mw.?1U_Tm{J?J ?% I!)%֥!I- ))-p6<111i1iAQE-E1E1E5o5E9:J\BJRJJARJZJ=:bJS29J4JzJ:jJ:J;:rJ<:ԁ% DDAT read: Rx Time:14:10:05.7251 - TRx dataTimestamp_ set to:1749132606.944635] PDAT read: Bearing 235.6, -35.2 (Local) e ~Local bearing/azimuth received: Bearing 235.6, -35.2 (Local)  DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.2 6GM %)>ZGQ RGQ  DAT read: 14:10:05.7251 LVL= 32640, 22769, 17634, 32755, AGC= 47, IDX= 502, 0.28, 0.516, 2.287, 2.652, 2.879, PHS=-2.275,-0.545,-0.230, RAW= 261.8, 29.5, CAL= 274.4, 35.2, ROT= 235.6, -35.2 ԩ  Ygot valid direction response: 14:10:05.7251 LVL= 32640, 22769, 17634, 32755, AGC= 47, IDX= 502, 0.28, 0.516, 2.287, 2.652, 2.879, PHS=-2.275,-0.545,-0.230, RAW= 261.8, 29.5, CAL= 274.4, 35.2, ROT= 235.6, -35.2  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.461660,-0.674237,0.576432] Fpublishing direction and range info! y% p?8֋ݿZN^F:"r?~G A A) N5 >! Y! % )% XI% Di% % /% %  % k % y7@)% ?I% @@i% nF?% x@% nF ! )! % .nDg6٥   HF >%O5lǜ?%O59 IeBy-?-:-%@-@*AEip3;12;O5UBU6AUEZibmtOiAm>@m>@mC0?ʁmq"Y3x?mp?8֋ݿZN^F:"r?m mnFҁm@Z?5L?m6z?|v4? 4?zm(?m@jm,epȜ?rm mBmjuȜ?m  mBm@m5>u8>  = <% DDAT read: Rx Time:14:10:06.2252 - TRx dataTimestamp_ set to:1749132607.4440035 DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 -5 X#Rx 1: Read range message, but no direction.! % L@Y! = 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.~G A A N >O9S,LOiA9r@rr)@Yr9ӻyrrH`4B޿?j??B|z?`u@? r@rz;)rC~zB~IAIuIu36; U=yQ >٥ HϞ >O5ǜ?O59a IfBy9=#@=@.AEiD;;O5MBM6AMEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.499368 s, deltaX: 0.200000 m, approachRate: 0.400506 m/s, rangeRepo size: 4 TStarting intercept timer at range: 3.20 m.bZrjRJB~~}|||  @|7? 靥QI)I< Q</P<>iiqEEEEP0EK @P"K U9*K 2K j:K abtaBQXyI+NJ J ~GI AQ Ai Nu > XS,OiA:J"YBJ"cJJ"@RJ ZJ"9bJ"x9J"J4J zJ"b:jJ"g:J":rJ":9^@^!(@Y^׻y^%}:^H޿@dty?`?Ub+z?׶O?? ^@^ ;)^Cj#zBjIIzIzb2EU< MR=yU}Q ]>٥iqԹ HF  >U,DAT read: user:1961> eDAT read: 120 m BDAT read: Tx time:14:10:07.1216 $Ping request sent.iiEEEEE6G!>jG ?bG>~GiAyAN> JDAT read: TxSync time:14:10:07.1208  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2424899 z?T,5PiA%)zB%IMb@Mb@Mb@ )Y5^I ?i|?5~jthy?qD3A )AI\Ay3AII(*3`< ?=yQ >٥ HF >  O5 bǜ?O59 7 I hBy?:"@@ 6AEi t2; 90; O5!%6A-EUURStopped intercept timer at range: 3.20 m.QbYZYrYjYRYJaBa~i~m{B}q|q|q|y|}@G? n{B靥3I)I QUKʄiYiYE!E!E!E%_0E!F-=F-a=Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.493938i6GM s>~G! A) AA NM >ԙ Ki T, +PiAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751661ՈGAA YAyAqHHH IHzBHHHH<HE5 zB5IIQIQ 2=yQ >٥ H >O5,xǜ?O59 Iy@:AEic;U;O5  6A K-mO"K- 9*K)2K-k:K-o1$ \T?#RJ$PliP$sbssX!D  JE ?JE>TStarting intercept timer at range: 3.20 m.bZrjRJB~~}||||8? mo{Bm^#Ii)miIu  qqumiyԡi:JuZBJuOJJqRJqZJu9bJu%9JqJqzJu.:jJu3:Ju&:rJu&:E]EYEaEaEachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0037586G] /D}> ~G9 AA AQ N} >7jT,=EPiA9J@J&%@YJ+yJ-ziaiichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254572EEEEo0E6G= ~>ZGA RGE }A~G A) A9 NE >u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505810) ,T,_PiA9ft@f#@Yf :yfk ٥AA MHMFM48 U>auO5e[ǜ?}O59e# IeeByQ@@eAAEie;e~;exO56ATStarting intercept timer at range: 3.20 m.bZrjRJB~~}||||*@ p{BuyIq)uԦqI} yy}͆<'=>>iiE)E)E)E-1E)F1F16Gpw>~GAAN J>9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757777 HHHʼ>HHHHHHHך<HEHȕCHȕCHH =I = I-5i KE P"KE 9*KA 2KE l:KE  #egTARaW`M(\_}(RVa/IIBMT,yPiA9J@Jp"@YJ PyJ٥ HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012473!U! ]>O5FJǜ?O59 IcBy%3@-@EAEiG|<]ziyiԉE-E)E)E-0E16G?L>~GAAN >Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263270Ԝ$T,XPiA9F@FC!@YF//yF٥ HFf" > O5 .<ǜ?O59  I aBy$?:@@ IAEi  ; ; O5%B%6A-E]]RStopped intercept timer at range: 3.20 m.YbaZarajaRaJaBa~i~m{B}i|i|q|q|uځ@ s{B靥gI)Ik# h<s=p#>iiIa=I:J\BJ[JJCRJZJ=:bJW9J4J%@%@%@%@EEEEt5EUDDAT read: Rx Time:14:10:09.2555 ]TRx dataTimestamp_ set to:1749132610.476368mDAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 -uX#Rx 1: Read range message, but no direction.QUff@YQ}checking for new query: numPingsReceived=1, elapsed TxPingTime=2.5201456GD>~Gi Aq A N >! *T,OPiAi96Y@6 @Y6y6%<6H `m?@ ?2 ?W?@)?V? 6Y@6z؈;)4Nchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.765946Z zBZIIbIb2j j]=yj;Q n>٥ll nHlr. r>txO5v.ǜ?O59v Iv^By @ @vLAEiv;vC;vO57AEM addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 3.032365 s, deltaX: 0.400000 m, approachRate: 0.131910 m/s, rangeRepo size: 4 UUTStarting intercept timer at range: 3.60 m.QbQZQrQjQRYJYBY~Y~Y}a|a|a|e @|m ? ]t{Be_IaHuü>HqHuIHuzBHu =HqHqHu<HuE)eHI "( Q<k=(>ii1K=-P"K= 9*K92K=m:K=i(%u4hd]q,ifJ[$q/EEEEV4EF=F>6G;>~GAANf>IeDDAT read: Rx Time:14:10:09.7557 uTRx dataTimestamp_ set to:1749132610.982792DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 -X#Rx 2: Read range message, but no direction.aey@Yachecking for new query: numPingsReceived=2, elapsed TxPingTime=3.031749y 51T,PiA9:@:3@Y::y:U<:Ho1`?h3?``V?Rb?? :@:vʈ;):CNzBNI5Mb@Mb@Mb@111 1)1Y5K7A`?y&1y5 ?5L15rA 5A)1I5EA1y5\AIEIEF3Q]8< eB=ymA;Q m>٥qq uH}F} }>O5C ǜ?O59o I[By ?: @@PAEi<<O56A addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.506424 s, deltaX: 0.300000 m, approachRate: 0.592389 m/s, rangeRepo size: 4 RStopped intercept timer at range: 3.90 m.bZrjRJB~~{B}|||@33@|@? %v{B% I!)%.!Iu, qy}Lii׹׽Achecking for new query: numPingsReceived=2, elapsed TxPingTime=3.272724ԑE!E!E!E%P0E!6G?^#>~GAAN k>ԱI! I! :J5 XBJ5 OJJ5 =RJ1 ZJ5 {9bJ5 %9J5 g4J1  DDAT read: Rx Time:14:10:10.2558  TRx dataTimestamp_ set to:1749132611.487548 DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 - X#Rx 3: Read range message, but no direction.ځ څ 3@Yځ  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.5308167T,PiAԱ zBII"Iq3? @=yQ >٥    H F >%P5ǜ?%P59[ IWBy!!%@SAEi::TP5157A1u addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504756 s, deltaX: 0.200000 m, approachRate: 0.396231 m/s, rangeRepo size: 4 qqbqZqrqjyRyJyBy~y~}|||`ff@|E&? x{B靵GI)I[1 ?<P)=!M >iiEEEIEIEMX0EIchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.779069 Hu>HuCHu IHuzBHu =HqHu*DHuš<HuE6G>">~G A A N >K} O"Ky *Ky 2K} n:K} .4lAqwjTpQ6Qj%U'&`Lsj} BRJ J 9 2>T,PiAI()(9jy@j@YjW;yjL=jH"@r?`? @M͜?@j S?`c? jy@j>;)jC zB II%I%<25K 5Y=y=;Q =>٥9A EHAE E>IUP5MVǜ?UP59M IMTByY]@]@MWAEiM;M;MP5mBm'7Am E  bZ!r)j)DDAT read: Rx Time:14:10:10.7561 TRx dataTimestamp_ set to:1749132612.004412DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 -X#Rx 4: Read range message, but no direction.ڡڥ@Yڡ=checking for new query: numPingsReceived=4, elapsed TxPingTime=4.062035R1JQBY~~}|||@| ? }z{B靅NI)I6 f<==iiIEyEyEyEU0EFF6GUh>~GqԁAAN>- checking for new query: numPingsReceived=4, elapsed TxPingTime=4.290279ԙ DT,$QiA9V@V@YVA֕;yV9=VH \@T? ^?@ ?úrh?`s? V@V}{;)VCbyBbIMb@Mb@Mb@ )YK7?Zd;O rhyI ?j<CA A)AIAy AIIM3` A=yF;Q >٥ HF >P5IƜ?P59R IOBy ?:@@ZAEi;;S P5\7A%B*** querying acoustic contact ***J!R!= addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.516864 s, deltaX: 0.400000 m, approachRate: 0.773898 m/s, rangeRepo size: 4 99b9Z9r9j9R9JABA~A~E{B}I|I|I|I|U@@?i |{B靍$Is <)-I2; `e<d=H=ii:JYBJPJJCRJZJ9bJ*9J4JEEEE_0EDDAT read: Rx Time:14:10:11.2561 TRx dataTimestamp_ set to:1749132612.504448ԙDAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 -X#Rx 5: Read range message, but no direction.ډډYډchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.5494146G # >~G A A N > KT,.QiA9: @:@Y:;y:<:H_us?`z?\T?`v@N?`? : @:jX;):CFzBJIIRIR?13V< Z^=yZ9;Q Z>٥\\ ^H^Fb:$ b>djP5f@Ɯ?jP59f IfKByhrchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.793938j@v@f^AEif;fʤ;f P5y}07A}E  addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.500036 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 H>HHIHvzBHHHH<HE11b1Z1r1j1R1J1B9~9~9}9|A|A|A|E ? }~{B靅lI).I@ v<QU=U=iQiK_O"Kŷ9*K2Ko:KvUA K Tv:^ iUKK@6Lf(T6cAAe{z| J>J>EyEyEyEyEy6GU>~G1A9AaNmx>DDAT read: Rx Time:14:10:11.7563 TRx dataTimestamp_ set to:1749132613.011407DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 -X#Rx 6: Read range message, but no direction.ڱڵ@Yڱ) u checking for new query: numPingsReceived=6, elapsed TxPingTime=5.073817Q RT,lHQiAiyBIMb@Mb@Mb@ )YˡE?~jty&1y?D`e A 3A)AI3AyAII3B 7=yQ >٥ H  >P51Ɯ?P59 IGBy?:;@@aAEi3:{:qP5!-Y7A)e addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.506959 s, deltaX: 0.300000 m, approachRate: 0.591764 m/s, rangeRepo size: 4 iibiZirijiRqJqBq~q~u{B}y|y|y|}@33@|`t? {B靵/I)SþI5E </S =dF=iiԡchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.298612E]EYEaEe0Ea6G%IQ=~GA)AANMR>:J _BJ SJJ ARJ ZJ :bJ y69J 4J ؙ ם = DDAT read: Rx Time:14:10:12.2563  TRx dataTimestamp_ set to:1749132613.512944 DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 - X#Rx 7: Read range message, but no direction.ڡ ڡ Yڡ  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.556321H)XT,;bQiA9J% @J8@YJ;lyJ٥ HF >P5Ɯ?P59 ICBy|@@eAEiG:S:P5 B i7A5 E addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.501537 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 bZrjRJB~~}||||? E{BEHIA)UƾQIUJ QY] C}ևGZAAA YZAyBchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.8021009>E}<H>HHIHazBH =HHH<HEEA EI EI EM _0EI a K P"K 9*K 2K p:K 8m. BE`[ .e N"\AP J! J! 6GM >=ZGQ RGU Aԡ ~G)AYDDAT read: Rx Time:14:10:12.7566 TRx dataTimestamp_ set to:1749132614.019203xDAT read: Range 10 to 50 : 5.3 time 3.5 ms) speed -0.4 -X#Rx 8: Read range message, but no direction.@Ychecking for new query: numPingsReceived=8, elapsed TxPingTime=6.067668AN] ?-aT,QiA,I)9Euv @EЉ@YE;yEh٥ HF" >P5Ɯ?P59b I>By\?:M@@jAEi4:;oP5F7AE addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.506259 s, deltaX: 0.500000 m, approachRate: 0.987637 m/s, rangeRepo size: 4 bZrjRJ!B)~1~5{B}1|1|9|=@33@|=R? m{Bm Ii)mtľiIm5R qquE <bE ZE EQ EY EY Ee O0Ea :J- ]BJ- NJJ- CRJ) ZJ- ]:bJ- !9J- 4J) 6GU qT= ~G) A1 AI N] >gT,휠QiA*DDAT read: Rx Time:14:10:13.2567 .TRx dataTimestamp_ set to:1749132614.520597:DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 ->X#Rx 9: Read range message, but no direction.,.̬@Y,Bchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.564280UyBUIIeIe3 _=yQ >٥ HF >P5"Ɯ?P59 I;By@mAEi::P5`7AB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.501394 s, deltaX: 0.100000 m, approachRate: 0.199444 m/s, rangeRepo size: 4 bZrjRJB~~ } | | | @|Ƕ? m{Bm *Ii)myȾiImaV qq}ܓ<# =״s=iiDDDD checking for new query: numPingsReceived=9, elapsed TxPingTime=6.810499EEEET0EH >H H IH WzBH  =H H 1 H <H qEHȔCHȔCHH =I = I5K] &O"K] K9*KY 2K] q:K] / wjKLP{1[w(t2FiE#p dZ /P-i Jm >Jm >6G Pă=~G A A N >qnT,LnQiA9Bm @B@YB&0;yB ٥!! %H%F-Bܼ ->1=P55Ɯ?=P595+ I57ByE ?E:Er@E@5rAEi5:5:5"P5MBM_7AUE} addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.502890 s, deltaX: 0.300000 m, approachRate: 0.596551 m/s, rangeRepo size: 4 bZrjRJB~~z{B}|||@|?! m{BmIq)uʾqIu^ qquc=ii9YEEEE_0EF=F=6GvY=~GiAqAN}>ԁ checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817808GY G] ?AHe >Ha He IHe azBHa Ha Ha He ͚<He Eԩ G}T,QiA9Bζ @B)@YB];yB٥aa eHeFm m>q}P5uЊƜ?}P59uu Iu3Byy@@uyAEiuv;u ;u1)P5B7AEKO"K9*K2Kr:KK$8 "|?R|wK 8@CLy (F# abZrjRJB~~}|||| X?:J]aBJ]PJJ]ERJYZJ]:bJ]*9J]4JYzJ];ejJ];mJ]-:mrJ]-:mԑ {B"(,I)þI"h :ї< m =ײ=iiEEEEj0EDDAT read: Rx Time:14:10:14.7572  TRx dataTimestamp_ set to:1749132616.034788-DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 -EZ#Rx 12: Read range message, but no direction.  f@Y checking for new query: numPingsReceived=12, elapsed TxPingTime=8.0842356G ‹9=~G A A N > \0T,͑RiA"checking for new query: numPingsReceived=12, elapsed TxPingTime=8.3218989By @B@YB*:yBl=BHL@xD?G?m@业?Z̡? ? By @B;)BC=zB9)A A E=AeMb@Mb@Mb@aaa a)aYeCl?~jtxye?eLeĻeA eA)e\AIeAayaIIM3Q: &=y QhQ  >٥ HF% %>IUP5MZ{Ɯ?UP59Mܐ IM1ByUr?]:]@]@M}AEiM:MI:M-P57A  addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.506234 s, deltaX: 0.300000 m, approachRate: 0.592611 m/s, rangeRepo size: 4  bZrjRJBA~A~E{B}I|I|I|M@|U`v? {BkI);ľI9hn $<v =+=ii !DDAT read: Rx Time:14:10:15.2573 TRx dataTimestamp_ set to:1749132616.536595DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 --Z#Rx 13: Read range message, but no direction.Y5checking for new query: numPingsReceived=13, elapsed TxPingTime=8.581676E=E9E9E=_0EA6G s=I ~G A A1 N= >YT,3j+RiAUchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.825910Yu zBuIIIb1< Q=yQ >٥ H >P5hoƜ?P59 I/By@AEi::0P56AEB*** querying acoustic contact ***JRH>HHIHkzBH =HHH<HE= addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.501807 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 99bAZArIjIRQJQBY~a~}|| | | ? U{B]+IY)] YIN's q<<o~ =թ=iiyEyEyEEn0EK5O"K5K9*K12K5s:K5kg`kw S1ski|= x?#  3r'AB~ JE>JE?J;4J;4J;C0:JuZBJu\JJuBRJqZJu9bJu[9Ju-4JqzJu0:jJu5:JuӁ:rJuԁ:ԩ  DDAT read: Rx Time:14:10:15.7575 - TRx dataTimestamp_ set to:1749132617.043119= DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4 -E Z#Rx 14: Read range message, but no direction.! % @Y! M checking for new query: numPingsReceived=14, elapsed TxPingTime=9.0869626GU =~G A Ai N >2T,HRiA9m @m-@Ym_(ѺymG=mH ',ء?@Q3?@\Y? %Z??@P? m @m2;)mCiyΙ)Ι ΙIΙ ϡ)ϥhAΡΡΡϩϭMAiϭIϱϹIi ) IA7 5AIC )Fi) CItA ߃AiٯuzBuIMb@Mb@Mb@ )YI +?&1Mb`y9?P A A)AIy AIIO< 1=y{Q >٥ HF~; >P5`Ɯ?P594 I.By?:c@@AEi;3;4P56A- addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.506524 s, deltaX: 0.300000 m, approachRate: 0.592272 m/s, rangeRepo size: 4 ))b)Z)r)j1R1J1B1~9~E{B}I|I|I|M@|U? }{B}<%I)I`x R<Ȍ =ł&=iichecking for new query: numPingsReceived=14, elapsed TxPingTime=9.330518YEE E E 0E i6GE ^S=jGI bGM >~G A! A9 NE >ԙ 9T,bRiADDAT read: Rx Time:14:10:16.2575 TRx dataTimestamp_ set to:1749132617.545084"PDAT read: Bearing 218.4, -24.6 (Local) &~Local bearing/azimuth received: Bearing 218.4, -24.6 (Local) 2DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4 nDAT read: 14:10:16.2575 LVL= 22960, 18513, 15410, 31907, AGC= 53, IDX= 513,-0.38,-1.121, 0.595, 0.195, 0.401, PHS=-1.434, 0.241,-0.209, RAW= 285.0, 18.3, CAL= 291.6, 24.6, ROT= 218.4, -24.6 vYgot valid direction response: 14:10:16.2575 LVL= 22960, 18513, 15410, 31907, AGC= 53, IDX= 513,-0.38,-1.121, 0.595, 0.195, 0.401, PHS=-1.434, 0.241,-0.209, RAW= 285.0, 18.3, CAL= 291.6, 24.6, ROT= 218.4, -24.6 vT#Rx 15: Read range and direction messages.`direction in FSK: [-0.712562,-0.564770,0.416281]Fpublishing direction and range infoy>O濢9u⿳7X?Y Y)QHI2<i|5Pv>V ,@)Ƈ>I4ܢ@i>s@۾ )zF0[̮k͋^?f@?i[8@iB1+۾ )checking for new query: numPingsReceived=15, elapsed TxPingTime=9.659286zBIi4٥ HF > P5_SƜ?P59y I-By@AEi<<]<<8P5im6AiZbbRiA@@#~@ʁ@ez,Q( (3~@>O濢9u⿳7X?1+۾ҁ@Ԋ޿ c@h?/R?zV˽@j%.GȜ?rF B,epȜ?0ڄ  @uV@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.501965 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.453762 m, bearing: 355.399859 deg, lat: 36.906420 deg, lon: -122.116000 deg, deltaT: 10.600449 s, deltaX: 3.475039 m, approachRate: 0.327820 m/s, posRepo size: 4 bZ!r!j!R!J)B)~)~1}1|1|1|1|=?ԙ e{BeC5Ii)miImm} iimv< = %=iibEZEchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.834938EMEIEQEUo0EQH}>HyH}IH}vzBHyHyHyH}<H}E :J [BJ XJJ ARJ ZJ :bJ 5K9J 4J 6G '=zJ :jJ :J f:rJ g:Km P"Km 9*Ki 2Km t:Km K.\e]Z|, /yg[g,YOj-Jy Jy ~G A AN >e@T,8RiA9ft^ @fq@Yfyfx=fH3 `?`~ ?Z*@ ?Cq??? ft^ @f;)fCDDAT read: Rx Time:14:10:16.7578 TRx dataTimestamp_ set to:1749132618.051150PDAT read: Bearing 194.7, -7.1 (Local) ~Local bearing/azimuth received: Bearing 194.7, -7.1 (Local) DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 uzBuIDAT read: 14:10:16.7578 LVL= 17520, 17489, 7346, 20131, AGC= 58, IDX= 3, 0.36,-1.958, 0.326,-1.167,-0.734, PHS=-1.136, 1.107,-0.436, RAW= 312.2, 4.7, CAL= 315.3, 7.1, ROT= 194.7, -7.1 II35Ygot valid direction response: 14:10:16.7578 LVL= 17520, 17489, 7346, 20131, AGC= 58, IDX= 3, 0.36,-1.958, 0.326,-1.167,-0.734, PHS=-1.136, 1.107,-0.436, RAW= 312.2, 4.7, CAL= 315.3, 7.1, ROT= 194.7, -7.1 =T#Rx 16: Read range and direction messages.})r 6=yQ >٥ Hy< >`direction in FSK: [-0.959851,-0.251812,0.123601]Fpublishing direction and range infoڑyڕ_ пA7X?ڕ@Yڑ ەpD)ەQDIەiەNە:ەshە-?ەd;߾ ܕ]@)ܕ=Iܕ@iܕ=ܕc{Y@ܕ ݑ)ݑݕ t*nJ ˿ |?iݕb;ݕNݕR8ݕ ޑ)ޑ9EP5DƜ?EP596} IyIM@M@AEi+<+< ?T,dRiA9JA @J@YJyJOp=JH H@)D?`a?<o˧? ^v?_?Y? JA @J7E;)JCbzBfIMb@Mb@Mb@ )Y7A`?v/Mb`y?xi A A)rAIyAII2%< >=y%CQ %>٥)) -H-F5J< 5>9EP5=6Ɯ?EP59=Ox I=,ByE<?M:M@M@=AEi=:=:]DDAT read: Rx Time:14:10:17.2580 eTRx dataTimestamp_ set to:1749132618.551955mPDAT read: Bearing 201.3, -6.1 (Local) m~Local bearing/azimuth received: Bearing 201.3, -6.1 (Local) qDAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed -0.5 =-@P5156A1DAT read: 14:10:17.2580 LVL= 32688, 17217, 17282, 32755, AGC= 56, IDX= 500, 0.24, 2.687,-1.421,-2.618,-2.380, PHS=-1.128, 1.006,-0.240, RAW= 305.6, 3.9, CAL= 308.7, 6.1, ROT= 201.3, -6.1 UYgot valid direction response: 14:10:17.2580 LVL= 32688, 17217, 17282, 32755, AGC= 56, IDX= 500, 0.24, 2.687,-1.421,-2.618,-2.380, PHS=-1.128, 1.006,-0.240, RAW= 305.6, 3.9, CAL= 308.7, 6.1, ROT= 201.3, -6.1 UT#Rx 17: Read range and direction messages.]`direction in FSK: [-0.926416,-0.361195,0.106264]]Fpublishing direction and range infoYy]28׿O4?]f@YY ])]ACI]Ci]]8ZYb];SRiA]@]@]@ʁ] checking for new query: numPingsReceived=17, elapsed TxPingTime=10.841966H >H H IH zBH  =H H H <H  \T, RiAUzBUI)Y YIeIe 3Y U=yQ >٥ HF >P5C*Ɯ?P59s Iy@AEi;y:CP5B6AEB*** querying acoustic contact ***JRbZrj:J_BJNJJCRJZJ :bJ!9J4JzJ-:jJ2:JU:rJW:RJ!B)~)~)})|1|1|1|5ak? {B靕0I)NIuo ;m<5 =ϰH=iirEi>jE >K"P"Kж9*K2Ku:KPTnekHm6_J A` '"7X" !&Y~tubTEEEE4EDDAT read: Rx Time:14:10:17.7583 TRx dataTimestamp_ set to:1749132619.057068PDAT read: Bearing 213.7, -3.9 (Local) ~Local bearing/azimuth received: Bearing 213.7, -3.9 (Local) DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 MDAT read: 14:10:17.7583 LVL= 32752, 22385, 16498, 32755, AGC= 57, IDX= 503, 0.23, 3.100,-1.048,-1.834,-1.891, PHS=-1.204, 0.890, 0.054, RAW= 293.3, 2.9, CAL= 296.3, 3.9, ROT= 213.7, -3.9 Ygot valid direction response: 14:10:17.7583 LVL= 32752, 22385, 16498, 32755, AGC= 57, IDX= 503, 0.23, 3.100,-1.048,-1.834,-1.891, PHS=-1.204, 0.890, 0.054, RAW= 293.3, 2.9, CAL= 296.3, 3.9, ROT= 213.7, -3.9 T#Rx 18: Read range and direction messages.`direction in FSK: [-0.830028,-0.553559,0.068015]Fpublishing direction and range infoډyڍRC ذ_¶,::si?ڍ@Yډ ۍ)ۍqWIۍr@iۉۍ9ۍۍ c?ۍ/]= ܍Cϣ@)܍4QO=I܍2|@i܍'g=܍n@܍'g ݉)݉ݍOϾ#8? V&?iݍA@ݍrNݍ.k#ݍ'g މ)މchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.1740126GE @A=Q ~G A! A9 NE >?T,RiA9> @>'@Y>#y>[=>H@r@M?`?4d`I??`f? 2? > @>·;)٥ H< >P5FƜ?P59,n I*By?:@@AEi;;GP5b6AEZbRiA@@@ʁ(09}x?%!?RC ذ_¶,::si?.k#'gҁ_xҖ@g:nEDE?EJ"?)ZHĿt?zq@jƾȜ?rd+ zBϫ  |B@@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505113 s, deltaX: 0.600000 m, approachRate: 1.187854 m/s, rangeRepo size: 4  Added new target pos. range: 7.744576 m, bearing: 350.976613 deg, lat: 36.906419 deg, lon: -122.115995 deg, deltaT: 0.505113 s, deltaX: 0.595802 m, approachRate: 1.179543 m/s, posRepo size: 4 bZrjRJB~~{B}|||@33@|m? U{BU$"IQ)]fYI]$ YY]Sd<* =yfd=iiԁEyEyEE1EDDAT read: Rx Time:14:10:18.2585 TRx dataTimestamp_ set to:1749132619.560139PDAT read: Bearing 218.9, -6.2 (Local) ~Local bearing/azimuth received: Bearing 218.9, -6.2 (Local) DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 DAT read: 14:10:18.2585 LVL= 31520, 23025, 20818, 32755, AGC= 57, IDX= 504, 0.27, 1.318,-2.791, 2.873, 2.743, PHS=-1.337, 0.796, 0.128, RAW= 287.8, 4.4, CAL= 291.1, 6.2, ROT= 218.9, -6.2 Ygot valid direction response: 14:10:18.2585 LVL= 31520, 23025, 20818, 32755, AGC= 57, IDX= 504, 0.27, 1.318,-2.791, 2.873, 2.743, PHS=-1.337, 0.796, 0.128, RAW= 287.8, 4.4, CAL= 291.1, 6.2, ROT= 218.9, -6.2 T#Rx 19: Read range and direction messages.`direction in FSK: [-0.773691,-0.624290,0.107999]Fpublishing direction and range infoڙyڝٮ迉v /㿄Niإ?ڝAYڙ ۝ {)۝YI۝RQiۙۙ۝"۝K?۝o> ܝ㼠@)ܝnF=Iܝ@iܝk=ܝ~t@ܝkݽ ݙ)ݙݝ/R*{?a۸?iݝv;@ݝݝ7ݝkݽ ޙ)ޙE checking for new query: numPingsReceived=19, elapsed TxPingTime=11.619844ԩ 6G] H=~G9 AA AY Ne >rT,RiA4zBIII3e8 e[=ymQ m>٥ii mHuFu u>yP5} Ɯ?P59}i I})By@}AEi}:};}JP56AEZbQRiAAA7@ʁ 'uLQ=e?ٮ迉v /㿄Niإ?7kݽҁp3 @@ [Z63?:$S?i֓(ث?zR7AjȜ?r~pw {BF  L|Bꁽ@@u addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503071 s, deltaX: 0.300000 m, approachRate: 0.596338 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 8.042445 m, bearing: 356.281655 deg, lat: 36.906419 deg, lon: -122.115975 deg, deltaT: 0.503071 s, deltaX: 0.297869 m, approachRate: 0.592101 m/s, posRepo size: 4 -XTarget missed at range: 8.10 m. Rolling out.zNTransitioning guidance mode to: ROLLOUTchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.850043@bZrjR?zJB~~}!|)|1GIGM@AH]ʼ>H]CHYHYH] =HYH]+DH]͚<H]EH H H H I  = I I5|@33 @|? {Bh-I)I X<X =Va=ii SA"&Changing to mode: 1"Standby mode."2Commanding positive:54396EEEE5E K O"K 9*K 2K v:K XKaH9xY3 (Id#_Ov4s6{#G1hI DDAT read: Rx Time:14:10:18.7588  TRx dataTimestamp_ set to:1749132620.064304 PDAT read: Bearing 211.8, -7.6 (Local)  ~Local bearing/azimuth received: Bearing 211.8, -7.6 (Local)  DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed -0.5 5 DAT read: 14:10:18.7588 LVL= 32752, 18801, 26962, 32755, AGC= 54, IDX= 508,-0.43,-0.656, 1.552, 0.686, 0.731, PHS=-1.299, 0.867,-0.048, RAW= 294.9, 5.1, CAL= 298.2, 7.6, ROT= 211.8, -7.6 E Ygot valid direction response: 14:10:18.7588 LVL= 32752, 18801, 26962, 32755, AGC= 54, IDX= 508,-0.43,-0.656, 1.552, 0.686, 0.731, PHS=-1.299, 0.867,-0.048, RAW= 294.9, 5.1, CAL= 298.2, 7.6, ROT= 211.8, -7.6 ] T#Rx 20: Read range and direction messages. `direction in FSK: [-0.842427,-0.522327,0.132256] Fpublishing direction and range infoڙ yڝ k%)Î)) ?ڝ AYڙ ۝ )۝ qII۝ Riiۙ ۝ 6۝ E۝ ]?۝ D ܝ @)ܝ K=Iܝ ۋ@iܝ >ܝ 7l@ܝ  ݙ )ݙ ݝ YxAnjᅢ ?-?iݝ cXC@6G }xd=q jG} ?bG} ?~GYAqAN>2yT,_ SiAݍE ݍ~%ݍ މ)މ*checking for new query: numPingsReceived=20, elapsed TxPingTime=12.210718EzBEIiM=IMp=Mb@Mb@Mb@ )YʡE?{Gzy?L#X A zA)rAI\AyAI= I=2M M=yQQ U>٥QQ UHUFY ]>aP5eŜ?P59e>c Ie'By<?:@@eAEie;e;eOP56A׭A׭Achecking for new query: numPingsReceived=20, elapsed TxPingTime=12.354175qAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse)EeEntering Midcourse tracking update period 60.000000 s sec at 8.100000 m (mode 5.000000 count ).1~ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 8.100000 m (mode 5.000000 count ).q~~ZbSiAAA!@ʁ࿹'5v.?k%)Î)) ?~%ҁX@ @{1A'Mw6ho?[5T?7c/ǿB?z ʿAj#Ȝ?r-Ԍ }BƾȜ?d+  ꁍA_@  addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504165 s, deltaX: 0.500000 m, approachRate: 0.991739 m/s, rangeRepo size: 4 = Added new target pos. range: 8.539033 m, bearing: 349.307919 deg, lat: 36.906425 deg, lon: -122.115975 deg, deltaT: 0.504165 s, deltaX: 0.496588 m, approachRate: 0.984971 m/s, posRepo size: 4 =BNOT Ignoring new targets: 8.54 m.b9Z9r9jARAzAJABA~I~M{B}I|I|I|U@33!@|U? {BϜ%I)ľI Y<   = a=ii1zE9ԑE E E E 0E :J XBJ JJ @RJ ZJ {9bJ J J4J  @ @ @ @Թ m DDAT read: Rx Time:14:10:19.2587 m TRx dataTimestamp_ set to:1749132620.568443u PDAT read: Bearing 204.0, -4.5 (Local) } ~Local bearing/azimuth received: Bearing 204.0, -4.5 (Local)  DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.6  DAT read: 14:10:19.2587 LVL= 25056, 17905, 20082, 30963, AGC= 53, IDX= 509,-0.24,-2.408,-0.180,-1.322,-1.165, PHS=-1.155, 1.032,-0.160, RAW= 303.0, 3.0, CAL= 306.0, 4.5, ROT= 204.0, -4.5  Ygot valid direction response: 14:10:19.2587 LVL= 25056, 17905, 20082, 30963, AGC= 53, IDX= 509,-0.24,-2.408,-0.180,-1.322,-1.165, PHS=-1.155, 1.032,-0.160, RAW= 303.0, 3.0, CAL= 306.0, 4.5, ROT= 204.0, -4.5  T#Rx 21: Read range and direction messages. `direction in FSK: [-0.910729,-0.405483,0.078459] Fpublishing direction and range infoi ym $;$z.nٿ5;?m fAYi m a)m EIm rNim xm 5m דm ?m # m %:@)m PwV=Im @im |٠=m c@m |٠ i )i m urBɂ(J?im Em Wm @.m |٠ i )i  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.6244006G np_=AQAaNu?1T,n*SiA9N @N@YN1SyN?=NHv~???`Sé?~?w?@? N @N/Q;)NCnzBnII5I52E<; EI=yM:QQ >٥ H2< >P5Ŝ?P59M^ I&By@@AEi;m;(SP5B6A!EN@1b?~~Zyb}_a$SiA}rA}rA}@ʁ}q1bϝ& &*?}$;$z.nٿ5;?}@.}|٠ҁ}ǻ@`itRC&?}((gb?SӿO (lh?z}k&}m@j}ƆJȜ?r}=eϢ }7{Byy }{B}WA}@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504139 s, deltaX: -0.200001 m, approachRate: -0.396717 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 8.340450 m, bearing: 341.823067 deg, lat: 36.906425 deg, lon: -122.115975 deg, deltaT: 0.504139 s, deltaX: -0.198583 m, approachRate: -0.393905 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.34 m.bZrjRzJB~~}|| |  @| mo? {B靕;I)ľIPa M<b ==iichecking for new query: numPingsReceived=21, elapsed TxPingTime=12.860057H̼>HHHHHHHݚ<HEE1#EEEo5E 6G 6a=~G] IAAi Ay N >Km lP"Km }9*Ki 2Km w:Km G]oZ] ] cu! ckA,'FuG'WtDJ} ?J} >) U DDAT read: Rx Time:14:10:19.7589 ] TRx dataTimestamp_ set to:1749132621.071804e PDAT read: Bearing 199.0, -5.2 (Local) e ~Local bearing/azimuth received: Bearing 199.0, -5.2 (Local) u DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.5  DAT read: 14:10:19.7589 LVL= 32752, 25665, 27682, 32755, AGC= 55, IDX= 511,-0.15,-1.334, 0.793,-0.452,-0.184, PHS=-1.062, 1.025,-0.270, RAW= 307.9, 3.4, CAL= 311.0, 5.2, ROT= 199.0, -5.2  Ygot valid direction response: 14:10:19.7589 LVL= 32752, 25665, 27682, 32755, AGC= 55, IDX= 511,-0.15,-1.334, 0.793,-0.452,-0.184, PHS=-1.062, 1.025,-0.270, RAW= 307.9, 3.4, CAL= 311.0, 5.2, ROT= 199.0, -5.2  T#Rx 22: Read range and direction messages. `direction in FSK: [-0.941627,-0.324228,0.090633] Fpublishing direction and range infoQ yU gH!ĸI(Կ0L3?U 3 AYQ U )U AdIU "liU U 7U U 33?U q= U @)U s=IU @iU ޹=U H^@U ޹ Q )Q U [ ᅯO)4MP f?iU 6@U XsU 3U ޹ Q )Q  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125211TT,_ESiA9FĢ @F@YF-cyF/K=FHšznF?@W?lO*?Jc? wC?? FĢ @Fn;)DzBIԙMb@Mb@Mb@ )YQ?{Gzy(? A )AIAԹyAII 2 Ǽ =y9ҺQ =>٥=?=? =H=FE : E>IUP5MŜ?uP59MW IM$Byu?}:}@}@MAEiM;M;M)XP56A1qj~1Z b pDSiA 6 A 6 A )-@ʁ |ūD ie h0N ?]checking for new query: numPingsReceived=22, elapsed TxPingTime=13.365452 gH!ĸI(Կ0L3? 3 ޹ҁ DU@ЎF WI? 9ff?ڒ ٿ[n?z ]X @j tȜ?r  {B   {B A Y@M addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503361 s, deltaX: 0.300000 m, approachRate: 0.595994 m/s, rangeRepo size: 4 ] Added new target pos. range: 8.638370 m, bearing: 336.928553 deg, lat: 36.906425 deg, lon: -122.115975 deg, deltaT: 0.503361 s, deltaX: 0.297919 m, approachRate: 0.591860 m/s, posRepo size: 4 ]BNOT Ignoring new targets: 8.64 m.bYZYrajaRazaJaBi~i~u{B}q|q|q|}`ff!@|}? {B% =)I! )% ;) I- ,J ) ) - r_<1 5 =5 9~=i1 iA bEQ ZEU AE &E E E `0E F F  :Ju ZBJu MJJu >RJq ZJu 9bJu 9Ju t4Jq 6GI@=ZGRGADDAT read: Rx Time:14:10:20.2591 TRx dataTimestamp_ set to:1749132621.577175DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.5 - Z#Rx 23: Read range message, but no direction.AY checking for new query: numPingsReceived=23, elapsed TxPingTime=13.618915A~GAAN?9T,OfSiAyBI) II0 X=yQ >٥ H >P5Ŝ?P59$S I#By@AEi:G:m[P5B7A$E)q--tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourseq--Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourser1155Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~5 5Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRM addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505371 s, deltaX: 0.300000 m, approachRate: 0.593624 m/s, rangeRepo size: 4 UBNOT Ignoring new targets: 8.64 m.bQZQrQjQRQzQJQBY~Y~Y}Y|a|a|e"@|m ;? {Bԡ靭RRI)dԾIe #<rM =ii!E)EEE`5EAHϼ>HCHIHvzBHHH,DH<HE=checking for new query: numPingsReceived=23, elapsed TxPingTime=13.8684056G= =~Gi Ay A N >! T,CpSiA9Fw @Fn@YFFbyF7=FHǐ@†?u? o?H???`? Fw @F;)FCRyBRIIZ IZ2bb b^=yf 9Q f>٥dd jHjFj} j>prP5rŜ?vP59rN Ir"Bytvc@v@rAEir:r:r^P5x~17A~#E5BNOT Ignoring new targets: 8.64 m.b9Z9r9j9R9z9J9BA~A~A}A|I|I|I|M1? }{B}l}KI)ؾI홼KpkP"K9*K2Kx:KfS[<3y-ku/4` 4j#9q BDZ_(r_sW H<=DDAT read: Rx Time:14:10:20.7594 ETRx dataTimestamp_ set to:1749132622.079802MPDAT read: Bearing 193.9, -2.7 (Local) M~Local bearing/azimuth received: Bearing 193.9, -2.7 (Local) ]DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5 }DAT read: 14:10:20.7594 LVL= 13472, 17905, 10418, 18003, AGC= 59, IDX= 3, 0.00, 1.405,-2.799, 2.097, 2.429, PHS=-0.936, 1.102,-0.335, RAW= 313.3, 1.9, CAL= 316.1, 2.7, ROT= 193.9, -2.7 Ygot valid direction response: 14:10:20.7594 LVL= 13472, 17905, 10418, 18003, AGC= 59, IDX= 3, 0.00, 1.405,-2.799, 2.097, 2.429, PHS=-0.936, 1.102,-0.335, RAW= 313.3, 1.9, CAL= 316.1, 2.7, ROT= 193.9, -2.7 T#Rx 24: Read range and direction messages.`direction in FSK: [-0.969639,-0.239961,0.047106]Fpublishing direction and range info9y=H οP7V?=AY9 =4)=EI=(i=SF=;=o=V?= =@)==I=&@i=A==X@=A 9)9=P;+{Ϳljs۠?i=-:=9=9=A 9)9checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132902X =t=iiEm+EiEqEu4Ey96GK=~GI AQ a Ai Nu > checking for new query: numPingsReceived=24, elapsed TxPingTime=14.372026OCT,DSiA 9>L @>`@Y>gy>j=>H @$??`??>?? >L @>:;)>CNyBRI-Mb@Mb@Mb@))) )))Y-A`"?+Qy-?--u) -A)-vAI))y-AAEDAIEIEF3URE UB=y]-NQ ]>٥aa eHmFu)Ȼ u>9EP5=Ŝ?EP59=I I= ByEv?E:EN@E@=AEi=:=#:=bP5IUA7A}&EZqbuzSiAuAuAu @ʁu J"bZŢ>p?uH οP7V?u9uAҁu @:蓒F?uX?\޿u?zuȐ:JXBJYJJBRJZJ{9bJ[O9J-4JueAjuLGcgȜ?ru|P uzBuƆJȜ?u=eϢ  quAu"@q addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502627 s, deltaX: 0.500000 m, approachRate: 0.994773 m/s, rangeRepo size: 4 - Added new target pos. range: 9.432744 m, bearing: 331.331286 deg, lat: 36.906423 deg, lon: -122.115983 deg, deltaT: 1.007998 s, deltaX: 0.794374 m, approachRate: 0.788071 m/s, posRepo size: 4 -BNOT Ignoring new targets: 9.43 m.b)Z)r)j1R1z1J1B1~9~={B}9|9|9|E#@|E ^?MDDAT read: Rx Time:14:10:21.2595 UTRx dataTimestamp_ set to:1749132622.584073]PDAT read: Bearing 193.0, -1.4 (Local) e~Local bearing/azimuth received: Bearing 193.0, -1.4 (Local) uDAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -0.4 DAT read: 14:10:21.2595 LVL= 24560, 23649, 16050, 29171, AGC= 56, IDX= 500, 0.12, 1.983,-2.195, 2.653, 2.985, PHS=-0.914, 1.150,-0.334, RAW= 314.2, 1.1, CAL= 317.0, 1.4, ROT= 193.0, -1.4 Ygot valid direction response: 14:10:21.2595 LVL= 24560, 23649, 16050, 29171, AGC= 56, IDX= 500, 0.12, 1.983,-2.195, 2.653, 2.985, PHS=-0.914, 1.150,-0.334, RAW= 314.2, 1.1, CAL= 317.0, 1.4, ROT= 193.0, -1.4 T#Rx 25: Read range and direction messages.`direction in FSK: [-0.974079,-0.224884,0.024432]Fpublishing direction and range infoQyUW(+/&̿{J?UAYQ U_)Ua\IU>iUqU8UiU33?U  U~{@)UnFHQ HU IHU kzBHU  =HQ HQ HU <HU (EA A N>JT,#SiA9 @@Y扼y'=H{e@왤?@ ?'e?٥ HF5> > P5^Ŝ? P59vD IBy -@5@AEi;;fP59=s7A9QZbtaSiAAAsS@ʁ7sA"CT8|&ܦN?W(+/&̿{J?q:+ȼҁ\I! @4W E?Mb^sa? {߿P9A$SzZ Aj>VȜ?r,5 yBtȜ?  7{BA ֺ@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504271 s, deltaX: 0.100000 m, approachRate: 0.198307 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.532062 m, bearing: 330.034373 deg, lat: 36.906421 deg, lon: -122.115989 deg, deltaT: 0.504271 s, deltaX: 0.099318 m, approachRate: 0.196953 m/s, posRepo size: 4 5BNOT Ignoring new targets: 9.53 m.b9Z9r9j9R9z9J9BA~A~A}A|i|i|m@33#@|u? {B靽BKI)g㾉I5 < =Y=iiԁE/1EEE4EK]tP"K]@9*KY2K]y:K]a L < Q } 4 zk { >8`SWu`~NG$NPDAT read: Bearing 193.1, -1.2 (Local) ~Local bearing/azimuth received: Bearing 193.1, -1.2 (Local) DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed -3.4 DAT read: 14:10:21.7598 LVL= 31216, 28081, 20466, 32755, AGC= 59, IDX= 503, 0.32, 3.142,-1.057,-2.475,-2.153, PHS=-0.900, 1.143,-0.324, RAW= 314.1, 0.9, CAL= 316.9, 1.2, ROT= 193.1, -1.2 Ygot valid direction response: 14:10:21.7598 LVL= 31216, 28081, 20466, 32755, AGC= 59, IDX= 503, 0.32, 3.142,-1.057,-2.475,-2.153, PHS=-0.900, 1.143,-0.324, RAW= 314.1, 0.9, CAL= 316.9, 1.2, ROT= 193.1, -1.2 T#Rx 26: Read range and direction messages.`direction in FSK: [-0.973762,-0.226602,0.020942]Fpublishing direction and range infoڙyڝaϝ)ivRIͿ_2q?ڝ!AYڙ ۝y)۝mI۝Oi۝۝;۝fff۝M?۝T㥾 ܝ2m@)ܝ 3T,fSiA~yB~IADDAT read: Rx Time:14:10:22.2600 %TRx dataTimestamp_ set to:1749132623.3438955PDAT read: Bearing 193.4, -1.3 (Local) =~Local bearing/azimuth received: Bearing 193.4, -1.3 (Local) Mchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.388028Ա-Mb@Mb@Mb@))) )))Y-Cl?L7A`堿{Gzy-;?-+-#- A -A)-AI-EA)y-AI9I9m` m(=yuQ u>٥qy }H}F >=P5Ŝ?=P59> IBy]y?]:]@]@AEi&<*<jP5}B}~7A)EZbSiAt At A`@ʁ6#)H .flz?aϝ)ivRIͿ_2q?m:ҁ?yTd!@r!GC嗟baw?5ok߿(ssz֟" AjWhȜ?r0 yBWhȜ?|P  zB A@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.502964 s, deltaX: 0.500000 m, approachRate: 0.994107 m/s, rangeRepo size: 4  Added new target pos. range: 10.028522 m, bearing: 330.127071 deg, lat: 36.906419 deg, lon: -122.115996 deg, deltaT: 0.502964 s, deltaX: 0.496461 m, approachRate: 0.987071 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.03 m.bZrjRzJB~~f{B}|||@33$@|^?I1I5@A:JE`BJENJJEDRJAZJE:bJE!9JE4JA {BaAI)澉Ic 7 E C G A A l26G%4X=Y%AyE4B~GA A)NE>|T,bSiA 9^eb @^u@Y^: y^<^H 4 O??5@33? #? ܝ?`? ^eb @^+Ň;)^C5yB5IIAIA< J=yQ >٥ HFJ >-DDAT read: Rx Time:14:10:22.7603 G9G=AAHU˼>HUCHUIHUazBHU =HQHU+DHU<HUETRx dataTimestamp_ set to:1749132623.859996PDAT read: Bearing 193.2, 0.4 (Local) ~Local bearing/azimuth received: Bearing 193.2, 0.4 (Local) DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed -3.5 -Z#Rx 28: Read range message, but no direction.ڙڝ,AYڙ5checking for new query: numPingsReceived=28, elapsed TxPingTime=15.917657 QmP5 ~}Ŝ?mP59 9 I Byim@u@ AEi @; ; mnP5y}c7AyZb- SiA+A+AB@ʁ$23C81j $?vȽ|PgͿNGY;?:޹ҁ"@W $?k X}l`rKjzwAjmȜ?rV yB,5  yBꁝ9$A,@E addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.772959 s, deltaX: 0.700000 m, approachRate: 0.905611 m/s, rangeRepo size: 4 U Added new target pos. range: 10.723490 m, bearing: 329.918960 deg, lat: 36.906419 deg, lon: -122.115997 deg, deltaT: 0.772959 s, deltaX: 0.694967 m, approachRate: 0.899100 m/s, posRepo size: 4 UDNOT Ignoring new targets: 10.72 m.bYZYrYjYRYzYJB~~}|||%@|? -{B-VQI))-侉)I5# 115<< = ;;=iiqEmA7EiEqEuO5Eqԩ %= DAT read: 14:10:22.7603 LVL= 22896, 23473, 18882, 29027, AGC= 62, IDX= 508,-0.11, 2.379,-1.736, 3.073,-2.912, PHS=-0.904, 1.223,-0.300, RAW= 314.0, -0.2, CAL= 316.8, -0.4, ROT= 193.2, 0.4  Ygot valid direction response: 14:10:22.7603 LVL= 22896, 23473, 18882, 29027, AGC= 62, IDX= 508,-0.11, 2.379,-1.736, 3.073,-2.912, PHS=-0.904, 1.223,-0.300, RAW= 314.0, -0.2, CAL= 316.8, -0.4, ROT= 193.2, 0.4  Z#Rx 29: Read direction message, but no range. bdirection in FSK: [-0.973555,-0.228345,-0.006981] y B-]' pk:Ϳa|Y pY) [I Ii cq > lg D? ^@) dI ;@i 仉 uW@ ; #z׈a 61,ο_dQnli j9 g; @Q: ; checking for new query: numPingsReceived=29, elapsed TxPingTime=16.143528K hP"K 9*K 2K z:K B-agMW(+'!*LM  7 Skw-# x%>J >56G5 @Z=~Gq A A NM >~?U, TiA9[ @/@Yɭy<H (Ӝ?0 ? A=T@Ǹ? ?@? [ @;)C=yB=IԙMb@Mb@Mb@ )YE?:v{Gzty&?Լף A 3A)\AIAyAI I M3L; "=yHQ >٥ HF >5DDAT read: Rx Time:14:10:23.2605 =TRx dataTimestamp_ set to:1749132624.350463MPDAT read: Bearing 193.6, -0.2 (Local) ]~Local bearing/azimuth received: Bearing 193.6, -0.2 (Local) }DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -3.7 -Z#Rx 30: Read range message, but no direction.151AP5njŜ?Y1checking for new query: numPingsReceived=30, elapsed TxPingTime=16.406204P593 I!By&? : @5@AEi<ע<rP5MߓBMP7Am,EZ1b5mTiA5W0A5W0A5@ʁ5"SsLu%l`2'"*5B-]' pk:Ϳa|5@Q:5;ҁ5ŰDZ"@P1"gjn<,zֿ5 Ɩ?eB2ݡPz595Aj5ʼnȜ?r5A 5xB150  5yB5O)A5@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.490467 s, deltaX: 0.300000 m, approachRate: 0.611662 m/s, rangeRepo size: 4  Added new target pos. range: 11.021364 m, bearing: 329.440872 deg, lat: 36.906419 deg, lon: -122.115997 deg, deltaT: 0.490467 s, deltaX: 0.297874 m, approachRate: 0.607328 m/s, posRepo size: 4  DNOT Ignoring new targets: 11.02 m.b Z r j R z JB~~{B}|||@33&@|@`? {B靝TEI)3㾉I_ Ѫ<8T =/=iiI] C=I] =Ee 0:Ea Ea Ee c5Ea 6GU 9=~G AY Ay N > DAT read: 14:10:23.2605 LVL= 21824, 20977, 13698, 27219, AGC= 60, IDX= 493,-0.03,-2.747,-0.514,-2.020,-1.708, PHS=-0.951, 1.241,-0.315, RAW= 313.6, 0.3, CAL= 316.4, 0.2, ROT= 193.6, -0.2  Ygot valid direction response: 14:10:23.2605 LVL= 21824, 20977, 13698, 27219, AGC= 60, IDX= 493,-0.03,-2.747,-0.514,-2.020,-1.708, PHS=-0.951, 1.241,-0.315, RAW= 313.6, 0.3, CAL= 316.4, 0.2, ROT= 193.6, -0.2 % Z#Rx 31: Read direction message, but no range.! - `direction in FSK: [-0.971955,-0.235141,0.003491] y JA%οQC1ml?Y @U) QI 5i Sj < ts ٞ? G %@) ;I @i d; @X@ d _ U,PQ'TiA=ׁM $οr?i9G9d*checking for new query: numPingsReceived=31, elapsed TxPingTime=16.6625909f @fm@YfU`yf[E)-P5-p]Ŝ?5P59-L/ I-"ByquP@u@-AEi-G&<-&<-uP5a7A*E%DNOT Ignoring new targets: 11.02 m.b!Z!r!j!R)z)J)BI~Q~Y}Y|a|a|a|m ? {BpI) 澉 I 1n   -y<o[ =N=iiE;EEEP0EAUDDAT read: Rx Time:14:10:23.7608 eTRx dataTimestamp_ set to:1749132624.854717}PDAT read: Bearing 193.4, -0.1 (Local) ~Local bearing/azimuth received: Bearing 193.4, -0.1 (Local) DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.6 -Z#Rx 32: Read range message, but no direction.Hż>HHHH =HHH<HEHǕCHǕCHH =I = Ia5Y]9AYYMchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.924414i 6G jG ?bG p?~Gi A A N >GU,,ATiA:JZBJXJJ?RJZJ9bJ5K9Jـ4JzJ0:"jJ5:"Jf:"rJg:"$9N(v @N@YN\μyNX ;NHh[?`[?*R] ʙ?@,}?.? N(v @NZ;)NCyBIi%٥qq HFX >P5NŜ?P59w* I%By@@AEi; ;-yP5)7A-Ee addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504254 s, deltaX: 0.500000 m, approachRate: 0.991564 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 11.02 m.bqZyryjyRyzyJyBy~~}|||@33'@|`?DAT read: 14:10:23.7608 LVL= 21664, 24241, 15298, 26291, AGC= 58, IDX= 495, 0.18,-0.870, 1.397,-0.144, 0.178, PHS=-0.960, 1.266,-0.324, RAW= 313.9, 0.2, CAL= 316.6, 0.1, ROT= 193.4, -0.1 Ygot valid direction response: 14:10:23.7608 LVL= 21664, 24241, 15298, 26291, AGC= 58, IDX= 495, 0.18,-0.870, 1.397,-0.144, 0.178, PHS=-0.960, 1.266,-0.324, RAW= 313.9, 0.2, CAL= 316.6, 0.1, ROT= 193.4, -0.1 Z#Rx 33: Read direction message, but no range.`direction in FSK: [-0.972774,-0.231747,0.001745]ڙyڝ Ϳn p\?Yڙ ۝T)۝^I۝;i۝f۝:۝u۝J ?۝T㥾 ܝP@)ܝd;IܝҰ@iܝ:ܝX@ܝ ݙݝ=$$<_ο|h@j?iݝ9KzP"Kh9*K2K{:K;d-ER]>z6Z8_i#Use+}.ݝ_Rݝ:ݝchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.155861i {BRWI):ྉI5 +<] =V =i i E?>EEEEԡ6G=~GAAN> M DDAT read: Rx Time:14:10:24.2609 ] TRx dataTimestamp_ set to:1749132625.356146} DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.8 - Z#Rx 34: Read range message, but no direction.Q U 3;AYQ  checking for new query: numPingsReceived=34, elapsed TxPingTime=17.401974sU,[TiA9:. @:B@Y:߼y:IA};:H  vL?t? ʐ`y?o?? :. @:‡;):CLRyBRI5Mb@Mb@Mb@111 1)1Y5Q?S㥛~jth?y5\/?5/ݼ5D;5A 5A)5AI5A1y5AI}I}(*2< G=yQ >٥ HF/ >P5>Ŝ?P59% I)By/?:@@AEib:=:|P57AZyb}VTiA}9A}9A}@ʁ}!&TǁÔ?} Ϳn p\?}:}ҁ}ɑ#@!E$= e._ӿ}K-^?W)6 j'Nz}h}Aj}dȜ?r}뉇 }xB}dȜ?}뉇  }yB}9A}@- addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.501429 s, deltaX: 0.099999 m, approachRate: 0.199429 m/s, rangeRepo size: 4 = Added new target pos. range: 11.616996 m, bearing: 328.818200 deg, lat: 36.906422 deg, lon: -122.115997 deg, deltaT: 1.005683 s, deltaX: 0.595632 m, approachRate: 0.592266 m/s, posRepo size: 4 =DNOT Ignoring new targets: 11.62 m.b9ZArAjARAzAJABA~I~M{B}Q|Q|Q|U`ff'@|U@G? {B靅XI)۾I޲ Eͬ<W =! pU,tTiADDAT read: Rx Time:14:10:24.7612 %TRx dataTimestamp_ set to:1749132625.863176=PDAT read: Bearing 194.2, -0.6 (Local) =~Local bearing/azimuth received: Bearing 194.2, -0.6 (Local)  HYHYHu>HuCHuIHukzBHqHqHqHu$<Hu+EDAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed -0.7 -Z#Rx 35: Read range message, but no direction.3CAYchecking for new query: numPingsReceived=35, elapsed TxPingTime=17.927479yBIII3|; *=yQ >٥ HF% %>)5P5-+Ŝ?5P59- I-/By99=@-AEi-~:-:-P5eޓBe6Ae0E addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.507030 s, deltaX: 0.500000 m, approachRate: 0.986135 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.62 m.bZrjRJB~~}|!|!|%`ff(@|%? {B靝HI)g۾Ib V<P =6$=ii:JM\BJMVJJMDRJIZJM=:bJMB9JM4JIzJM:jJM:JMX:rJMX:EEEE_0E)DAT read: 14:10:24.7612 LVL= 24016, 24929, 17138, 30019, AGC= 61, IDX= 500,-0.10, 2.921,-1.105,-2.607,-2.297, PHS=-0.977, 1.239,-0.312, RAW= 313.0, 0.5, CAL= 315.8, 0.6, ROT= 194.2, -0.6 Ygot valid direction response: 14:10:24.7612 LVL= 24016, 24929, 17138, 30019, AGC= 61, IDX= 500,-0.10, 2.921,-1.105,-2.607,-2.297, PHS=-0.977, 1.239,-0.312, RAW= 313.0, 0.5, CAL= 315.8, 0.6, ROT= 194.2, -0.6 Z#Rx 36: Read direction message, but no range.`direction in FSK: [-0.969392,-0.245294,0.010472]ڡyڥB£ eϿ/;r?Yڡ ۥ])ۥaaIۥBiۥCuۥ=ۥzۥ?ۥw ܥϮ@)ܥ59-@_5Dn:Y':zP=E_&Y 6G <ZG ARG ~G A A N >r#U,ITiA9bH@b@Ybyb4;bH@ӌ8`З??V?=dc?#? bH@b;)bCnyBlԙMb@Mb@Mb@ )Y +?٥11 =H=FE M>a}P5eŜ?P59e Ie5By 7?:`@@eAEie;eR;e(P5uAqDDAT read: Rx Time:14:10:25.2614 TRx dataTimestamp_ set to:1749132626.367354PDAT read: Bearing 193.7, -0.7 (Local) ~Local bearing/azimuth received: Bearing 193.7, -0.7 (Local) DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.7 -Z#Rx 37: Read range message, but no direction.ڑڕHAYڑchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.420218%6AaZbTiAFAFAķ@ʁc (0Z{Ƣ?B£ eϿ/;r?L39+ҁδ G%@ ȉ6Y]HmϿKo? vV]AzN>*Aj}$Ȝ?r2 yBʼnȜ? yBꁕCApN@% addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504178 s, deltaX: 0.300000 m, approachRate: 0.595028 m/s, rangeRepo size: 4 } Added new target pos. range: 12.411211 m, bearing: 329.034688 deg, lat: 36.906423 deg, lon: -122.115997 deg, deltaT: 1.011208 s, deltaX: 0.794215 m, approachRate: 0.785412 m/s, posRepo size: 4 }DNOT Ignoring new targets: 12.41 m.byZyrjRJB~~y{B}|||)@|52?  MiJI))5۾1I5 11=D$ } n?   %@) +@jQ@Yj+yjϥ:jH`,r{ 4?? muE g? T?? j+>@j ;)jCvzB5IIEIE?13u= u$=y}lQ }>٥yy HFg >P5 Ŝ?P59 I=By@@AEi<<)|P5uݓB}6A3E-DDAT read: Rx Time:14:10:25.7617 5TRx dataTimestamp_ set to:1749132626.871704HYHYH]IH]zBHYHYHYH]<H]EPDAT read: Bearing 194.9, -0.1 (Local) ~Local bearing/azimuth received: Bearing 194.9, -0.1 (Local) DNOT Ignoring new targets: 12.41 m.DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.7 bZArAjARAJABI~I~I}I|Q|Q|QeDAT read: 14:10:25.7617 LVL= 23504, 25841, 15410, 29603, AGC= 61, IDX= 505,-0.40, 2.707,-1.275,-2.783,-2.494, PHS=-0.994, 1.266,-0.292, RAW= 312.3, 0.2, CAL= 315.1, 0.1, ROT= 194.9, -0.1 mYgot valid direction response: 14:10:25.7617 LVL= 23504, 25841, 15410, 29603, AGC= 61, IDX= 505,-0.40, 2.707,-1.275,-2.783,-2.494, PHS=-0.994, 1.266,-0.292, RAW= 312.3, 0.2, CAL= 315.1, 0.1, ROT= 194.9, -0.1 uT#Rx 39: Read range and direction messages.|U [?`direction in FSK: [-0.966375,-0.257132,0.001745]Fpublishing direction and range info)y-^~Ntпn p\?-LAY) -[)-dI-2<i-s-=-v~-J ?- -k@)-d;I-,@i-:-Y@- )))-V{B+X˿(~ݫl?i-H;-~Mg-!k8- ))) %{B%SQI!)%3Ӿ)I-$Ѽ ))-5<5checking for new query: numPingsReceived=39, elapsed TxPingTime=18.968769QY]  =]|ϟ ص <׵ < checking for new query: numPingsReceived=39, elapsed TxPingTime=19.158157K P"K ]9*K 2K }:K AV.s(|-bEL,)Bo#b&Y8ԩ 2U,TiA%1zB%IIm Im(2Ԡ= H=yQ >٥ H >ԙP5Ĝ?P59 IEBy!)-@AEi<]<:P5QU&6A]2EZibmʷTiAmXKAmXKAm @ʁmH5 @(3$ :?m^~Ntпn p\?m!k8mҁm5%@PRqZOؿmd4ɍ?ۙ |>࿾+zmrm/AjmȜ?rm>O mxBmmȜ?i mxBmGNAmݶ@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504350 s, deltaX: 0.300000 m, approachRate: 0.594825 m/s, rangeRepo size: 4 - Added new target pos. range: 12.709086 m, bearing: 329.478953 deg, lat: 36.906423 deg, lon: -122.115997 deg, deltaT: 0.504350 s, deltaX: 0.297875 m, approachRate: 0.590612 m/s, posRepo size: 4 5DNOT Ignoring new targets: 12.71 m.b1Z1r1j1R1J1B9~9~9}9|A|A|E)@|Ml? 5yMI)¾ID < =Qf9U,oTiA2DAT read: 14:10:26.2618 LVL= 28288, 26385, 21026, 32499, AGC= 63, IDX= 506, 0.00, 2.298,-1.695, 3.125,-2.926, PHS=-0.971, 1.278,-0.235, RAW= 311.3, -0.7, CAL= 314.2, -1.2, ROT= 195.8, 1.2 6Ygot valid direction response: 14:10:26.2618 LVL= 28288, 26385, 21026, 32499, AGC= 63, IDX= 506, 0.00, 2.298,-1.695, 3.125,-2.926, PHS=-0.971, 1.278,-0.235, RAW= 311.3, -0.7, CAL= 314.2, -1.2, ROT= 195.8, 1.2 6Z#Rx 41: Read direction message, but no range.:bdirection in FSK: [-0.962007,-0.272221,-0.020942]yW:VAlѿ_2qY n)gI"Ri~?ux?ףp ܭ@)+HI~{@iZ@< fV^a2U ɿd,Kb?i v<Q<i7<Fchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.672367ԩ9a}@@Y4y穻H+j? ? .r_?8u`? a}@@;)LzBIMb@Mb@Mb@ )Yףp= ? ףp= ?Q8t<A )AIyAII[3M= =y?Q >٥ HF` > P5 Ĝ?P59 9 I NBy??:@@ AEi ; ?; P5AE5AM5EZ1b5 TiA5LA5LA5k'@ʁ5rc뻤(pl gǁk*ѿ5W:VAlѿ_2q5i75<ҁ5z&@Q+ƺC 52x1?ֈ>nT䬿z5L50Aj5mȜ?r5P 5gwB5ʼnȜ?52  5xB5SA5/@  addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504014 s, deltaX: 0.099999 m, approachRate: 0.198406 m/s, rangeRepo size: 4 = Added new target pos. range: 12.808375 m, bearing: 329.726435 deg, lat: 36.906423 deg, lon: -122.115997 deg, deltaT: 0.504014 s, deltaX: 0.099289 m, approachRate: 0.196996 m/s, posRepo size: 4 EDNOT Ignoring new targets: 12.81 m.bAZArAjARAJIBI~a~e{B}a|a|i|m)@|mU? ={B==I9)=9IEH ¼ AAE^H%CH%,IH%zBH% =H!H!H%<H%EUDDAT read: Rx Time:14:10:26.7622 a]TRx dataTimestamp_ set to:1749132627.889039uPDAT read: Bearing 195.8, 1.3 (Local) u~Local bearing/azimuth received: Bearing 195.8, 1.3 (Local) DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed -0.8 DAT read: 14:10:26.7622 LVL= 26176, 23105, 18114, 32755, AGC= 65, IDX= 510,-0.30, 0.911,-3.090, 1.738, 1.966, PHS=-0.967, 1.274,-0.231, RAW= 311.2, -0.8, CAL= 314.2, -1.3, ROT= 195.8, 1.3 Ygot valid direction response: 14:10:26.7622 LVL= 26176, 23105, 18114, 32755, AGC= 65, IDX= 510,-0.30, 0.911,-3.090, 1.738, 1.966, PHS=-0.967, 1.274,-0.231, RAW= 311.2, -0.8, CAL= 314.2, -1.3, ROT= 195.8, 1.3 T#Rx 42: Read range and direction messages.bdirection in FSK: [-0.961970,-0.272210,-0.022687]Fpublishing direction and range infoQyUlçu>IkѿNGY;UXAYQ U@f)UAZIUFiUUAUPwUo?UDl Uέ@)UdIQiU޹QU޹< Q)QUQ6cy[Wȿ&zϋiUc٥    H K >%P5Ĝ?%P59 IWBy!%@%@AEi::]P5155A1ZbTiAwVAwVA@ʁ)Ul0 IUrvӿlçu>IkѿNGY;޹<ҁ%'@01YyXi?{(n, Sz8AjȜ?rpL wBȜ?>O  ꁥUAx@ԩ addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.513321 s, deltaX: 0.600000 m, approachRate: 1.168860 m/s, rangeRepo size: 4  Added new target pos. range: 13.404156 m, bearing: 329.608314 deg, lat: 36.906424 deg, lon: -122.115992 deg, deltaT: 0.513321 s, deltaX: 0.595780 m, approachRate: 1.160639 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.40 m.bZrjRJB~~}||)|5+@|= 4I? )5>I1)51I5ļ 19=؎DAT read: 14:10:27.2624 LVL= 27776, 21793, 18642, 32755, AGC= 65, IDX= 495, 0.39,-0.647, 1.638, 0.122, 0.361, PHS=-0.919, 1.324,-0.242, RAW= 312.9, -1.7, CAL= 315.9, -2.4, ROT= 194.1, 2.4 Ygot valid direction response: 14:10:27.2624 LVL= 27776, 21793, 18642, 32755, AGC= 65, IDX= 495, 0.39,-0.647, 1.638, 0.122, 0.361, PHS=-0.919, 1.324,-0.242, RAW= 312.9, -1.7, CAL= 315.9, -2.4, ROT= 194.1, 2.4 T#Rx 43: Read range and direction messages.bdirection in FSK: [-0.969021,-0.243401,-0.041876] Fpublishing direction and range info1y58 ̄S~'Ͽ ۷p5\AY1 5l)5!UI5Hi115Ck5x?5w 5@)5I5n@i5+5X@5+= 1)153xA.L̿hi5+:5<5O95+= 1)1 checking for new query: numPingsReceived=43, elapsed TxPingTime=20.5044141 fHU, <#UiA9:1@:AE@Y:+y::H)ӛ?#?C@^`6r?c? :1@:\;):CI}checking for new query: numPingsReceived=43, elapsed TxPingTime=20.670000tzBI]HGamZAAA @YZAyMDBMMb@Mb@Mb@III I)IYM}?5^I?X9vMb?yMMB?M}M٥ HF >P5Ĝ?P59 IcByB?: @@AEi ;;rP5ܓB5A8EZibm3UiAm;[Am;[Am@ʁm=~*rD 4Pj\m8 ̄S~'Ͽ ۷pmO9m+=ҁms-+P'@래A ?m?p*7Qzmm8AjmvJ"Ȝ?rm$} muBim$}  mgwBm\Am&6@  addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.494335 s, deltaX: 0.300000 m, approachRate: 0.606876 m/s, rangeRepo size: 4 % Added new target pos. range: 13.702025 m, bearing: 327.775606 deg, lat: 36.906424 deg, lon: -122.115991 deg, deltaT: 0.494335 s, deltaX: 0.297870 m, approachRate: 0.602566 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.70 m.b!Z!r!j!R)J)B)~)~5{B}1|1|1|=+@|=^? {B~$3I)I}Ǽ  </ = ;i i ԑE ?E E E P0E M DDAT read: Rx Time:14:10:27.7625 M TRx dataTimestamp_ set to:1749132628.887566] PDAT read: Bearing 194.8, 2.2 (Local) e ~Local bearing/azimuth received: Bearing 194.8, 2.2 (Local) } DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.5  DAT read: 14:10:27.7625 LVL= 17136, 18657, 14578, 23699, AGC= 67, IDX= 2, 0.15,-1.948, 0.256,-1.180,-0.960, PHS=-0.900, 1.263,-0.223, RAW= 312.2, -1.5, CAL= 315.2, -2.2, ROT= 194.8, 2.2  Ygot valid direction response: 14:10:27.7625 LVL= 17136, 18657, 14578, 23699, AGC= 67, IDX= 2, 0.15,-1.948, 0.256,-1.180,-0.960, PHS=-0.900, 1.263,-0.223, RAW= 312.2, -1.5, CAL= 315.2, -2.2, ROT= 194.8, 2.2  T#Rx 44: Read range and direction messages. bdirection in FSK: [-0.966111,-0.255257,-0.038388] Fpublishing direction and range infoI yM ;aB'x#Vп.M aAYI M B)M HIM 8iM \M CM fffM ?M Zd M ]@H >H CH RIH zBH  =H H H <H E)M PwּIM x @iM nFM Y@M nF= I )I M CDsd*+˿V2piM is;M F٥YY H >P5eĜ?P59] IkBy@BEKO"K9*K2K:KTi6PSA`n,fl3 <Rbi1)U9j Qi:E<P5ۓB5A9EZb8UiA_A_Art@ʁ@L +s o2;aB'x#Vп.8nF=ҁG fK'@0b5:{ 1?ϘFf FzZ>Aj 6Ȝ?r vBpL  wBꁅM_AO@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504192 s, deltaX: 0.300000 m, approachRate: 0.595012 m/s, rangeRepo size: 4  Added new target pos. range: 13.999868 m, bearing: 328.474664 deg, lat: 36.906424 deg, lon: -122.115990 deg, deltaT: 0.504192 s, deltaX: 0.297843 m, approachRate: 0.590733 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.00 m.bZrjRJB~~}| |9|E@33,@|E@? {B靕J=I)颾Iɼ  < =;iiE?EEEE! E AE AM DDAT read: Rx Time:14:10:28.2627 ] TRx dataTimestamp_ set to:1749132629.389682e PDAT read: Bearing 194.7, 2.5 (Local) e ~Local bearing/azimuth received: Bearing 194.7, 2.5 (Local) u DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 -} Z#Rx 45: Read range message, but no direction.Q U ffAYQ  checking for new query: numPingsReceived=45, elapsed TxPingTime=21.4346736G ~q;I ~G A A N >WWU,6^UiAzBIi٥AI MHMFI u>y}P5}QĜ?P59} I}uByK?:@@}BEi}]:}:}P54ADAT read: 14:10:28.2627 LVL= 28368, 24689, 21906, 32755, AGC= 65, IDX= 500,-0.15, 2.340,-1.772, 3.097,-2.977, PHS=-0.878, 1.252,-0.212, RAW= 312.2, -1.7, CAL= 315.3, -2.5, ROT= 194.7, 2.5 Ygot valid direction response: 14:10:28.2627 LVL= 28368, 24689, 21906, 32755, AGC= 65, IDX= 500,-0.15, 2.340,-1.772, 3.097,-2.977, PHS=-0.878, 1.252,-0.212, RAW= 312.2, -1.7, CAL= 315.3, -2.5, ROT= 194.7, 2.5  Z#Rx 46: Read direction message, but no range.bdirection in FSK: [-0.966347,-0.253516,-0.043619]yJ3PHp9пGUY n)q`IUiA`A?Y )I@i¸2c{Y@¸2= *q&Cf l ˿&im;<R8¸2=-checking for new query: numPingsReceived=46, elapsed TxPingTime=21.689287ZԉbXUiAdAdAf@ʁĵw+Ȃ g ۊ(J3PHp9пGUR8¸2=ҁC(@vÊBM=d'?(%࿀I ]z BAj񛲕Ȝ?r^ uB 6Ȝ?  vBꁽdA>-@ addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502116 s, deltaX: 0.299999 m, approachRate: 0.597470 m/s, rangeRepo size: 4  Added new target pos. range: 14.297737 m, bearing: 328.378339 deg, lat: 36.906424 deg, lon: -122.115989 deg, deltaT: 0.502116 s, deltaX: 0.297869 m, approachRate: 0.593227 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.30 m.bZ)r)j)R)J)B1~1~5|B}1|9|9|=,@|=@? {B靕u5I)I7˼ ѯ< =;iiE?EEEE  DDAT read: Rx Time:14:10:28.7631  TRx dataTimestamp_ set to:1749132629.892536 PDAT read: Bearing 194.1, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 194.1, 2.3 (Local)  DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4  DAT read: 14:10:28.7631 LVL= 30256, 30017, 22642, 32755, AGC= 63, IDX= 503, 0.47,-0.700, 1.481, 0.038, 0.267, PHS=-0.879, 1.261,-0.233, RAW= 312.9, -1.6, CAL= 315.9, -2.3, ROT= 194.1, 2.3  Ygot valid direction response: 14:10:28.7631 LVL= 30256, 30017, 22642, 32755, AGC= 63, IDX= 503, 0.47,-0.700, 1.481, 0.038, 0.267, PHS=-0.879, 1.261,-0.233, RAW= 312.9, -1.6, CAL= 315.9, -2.3, ROT= 194.1, 2.3  T#Rx 47: Read range and direction messages. bdirection in FSK: [-0.969091,-0.243419,-0.040132] Fpublishing direction and range infoڑ yڕ Mrᅤ KX(Ͽ.='ڕ pAYڑ ە 0v)ە AuIە rXiۑ ە ?ە %aە sh?ە n ܕ @)ܕ Iܕ n@iܕ l$H% >H! H% kIH% {BH%  =H! H% *DH% <H% EHE̔CHE̔CHAHE =IE = IEZ56GE -;ܕ X@ܕ l$= ݑ )ݑ ݕ u.ᅡ~̿p\iݕ :ݕ <ݕ O9ݕ l$= ޑ )ޑ  checking for new query: numPingsReceived=47, elapsed TxPingTime=21.964268~GA!A1N=>u^U,|UiA9>8@>K@Y>2:y>>Hq'`? ?!u@PD?@r`s? >8@>;)>ClzB%II%I%2}\= }Y=y}'Q >٥ HF׍: >P5Ĝ?P59 I}By@@ BEi::BP5ړB>4A٥q  H F 0;  ~>  P5 jĜ? P59 G I By ?K?Ա  : 2@ @ BEi 0; /; ZP5 94A ?EZYb]YUiA]sA]sA]@ʁ]<u-;xf HUܿ]2'5,4wο `]9]<ҁ]M)@Y/iWB ٗ]~?,4L5z]]xLAj]6aɟȜ?r]v?v ]uBY]  Y]qA]@%  addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503574 s, deltaX: 0.300000 m, approachRate: 0.595742 m/s, rangeRepo size: 4 5  Added new target pos. range: 15.191150 m, bearing: 327.537866 deg, lat: 36.906424 deg, lon: -122.115989 deg, deltaT: 0.503574 s, deltaX: 0.297866 m, approachRate: 0.591504 m/s, posRepo size: 4 = DNOT Ignoring new targets: 15.19 m.b9 Z9 r9 j9 R9 JA BA ~A ~E |B}I |I |I |U .@|U ? {B靍 w'I ;<)  I {м Dž< ' = .H1H5IH5A{BH5 =H1H1H5̚<H5E6GM-;mYgot valid direction response: 14:10:29.7637 LVL= 30016, 30849, 22386, 32755, AGC= 65, IDX= 509, 0.09,-0.149, 1.979, 0.546, 0.827, PHS=-0.888, 1.199,-0.285, RAW= 313.7, -0.3, CAL= 316.5, -0.6, ROT= 193.5, 0.6 uT#Rx 49: Read range and direction messages.bdirection in FSK: [-0.972317,-0.233433,-0.010472]Fpublishing direction and range infoڹyڽ;7x$Ϳ/;rڽf~AYڹ ۽@u)۽xI۽rWi۹۽A۽Sc۽x?۽둾 ܽ4@)ܽIܽWİ@iܽ+ܽ>$X@ܽ+< ݹ)ݹݽ\@ )POοKjP=tiݽ9ݽ;ݽw9ݽ+< ޹)޹checking for new query: numPingsReceived=49, elapsed TxPingTime=22.972698~G!A1AANU?6nU,UiA9>@>f@Y>VCy>>B*<>H@[`Ϥ??Iyh?A?>? >@>;)KDP"K9*K2K:Kk@DU^\~kWBaO[hHd(=,A ,}p2J ?J ?Ay nuU,UiADDAT read: Rx Time:14:10:30.2639 TRx dataTimestamp_ set to:1749132631.407153PDAT read: Bearing 194.7, -0.3 (Local) ~Local bearing/azimuth received: Bearing 194.7, -0.3 (Local) DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.5 DAT read: 14:10:30.2639 LVL= 29168, 32193, 24050, 32755, AGC= 67, IDX= 511,-0.02,-2.189,-0.103,-1.471,-1.201, PHS=-0.900, 1.145,-0.273, RAW= 312.6, 0.3, CAL= 315.3, 0.3, ROT= 194.7, -0.3  Ygot valid direction response: 14:10:30.2639 LVL= 29168, 32193, 24050, 32755, AGC= 67, IDX= 511,-0.02,-2.189,-0.103,-1.471,-1.201, PHS=-0.900, 1.145,-0.273, RAW= 312.6, 0.3, CAL= 315.3, 0.3, ROT= 194.7, -0.3 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.967255,-0.253754,0.005236]%Fpublishing direction and range infoڑyڕΚUÿ-z܂=пsNru?ڕAIYڑ ەq)ە}Iە]iۑەCەfffە\?ەƋ ܕ@)ܕ;Iܕ@iܕ;ܕc{Y@ܕ ݑ)ݑݕEf:ᅪ˿$>Xv?iݕ;ݕ0²ݕR8ݕ ޑ)ޑechecking for new query: numPingsReceived=50, elapsed TxPingTime=23.472178%zB%9IMb@Mb@Mb@ )YFx?y٥ HF >P5NGĜ?P59k IByL?: @@BEi:b:P5UٓBU3AUAEZbUiAAA@ʁb}/ ϟS4/f?ΚUÿ-z܂=пsNru?R8ҁsB+@j& ϲej~[?;࿖PGz \AjpsȜ?rO{ wBOȜ?^  ꁕJ~Aۜ@:J9BJ=OJJ=?RJ9ZJ9bJ=%9J=ـ4J9m addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.506734 s, deltaX: 0.300001 m, approachRate: 0.592029 m/s, rangeRepo size: 4 } Added new target pos. range: 16.084784 m, bearing: 328.840469 deg, lat: 36.906426 deg, lon: -122.115988 deg, deltaT: 0.506734 s, deltaX: 0.297869 m, approachRate: 0.587821 m/s, posRepo size: 4 }DNOT Ignoring new targets: 16.08 m.byZrjRJB~~{B}|||@330@|`%;? ]{B靅&I)}IIԼ  2< =lWHzCHzIHz_{BHz =HxHz+DHz0<Hz٥! %H%F%^h< %>)5P5-Q4Ĝ?5P59-+ I-Byy}r@}@-%BEi-&<-&<-P53AZLbN+UiANANAN5@ʁNGh/F{?N/oDHп99?N7N9ҁNR\lO,@KjЪ വԥN E?Ԟ-kzNVNZeAjNaCȜ?rN< N@zBNٿȜ?Nv?v  NwBNAN@E addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501755 s, deltaX: 0.500000 m, approachRate: 0.996502 m/s, rangeRepo size: 4 u Added new target pos. range: 16.581518 m, bearing: 329.827803 deg, lat: 36.906429 deg, lon: -122.115988 deg, deltaT: 0.501755 s, deltaX: 0.496735 m, approachRate: 0.989994 m/s, posRepo size: 4 uDNOT Ignoring new targets: 16.58 m.byZyryjyRyJyBy~~}|||@30@|lt? {B0I)[Iּ < 15i =50Eu <KM P"KM 9*KI 2KM :KM z\?#X$H%`yEVJ$P\ZJ`+_Je AJa E ?E E E 0E y ԙ6G3Z< DDAT read: Rx Time:14:10:31.2645 TRx dataTimestamp_ set to:1749132632.4150445PDAT read: Bearing 194.9, -3.8 (Local) =~Local bearing/azimuth received: Bearing 194.9, -3.8 (Local) uDAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 DAT read: 14:10:31.2645 LVL= 22000, 24369, 19106, 32563, AGC= 68, IDX= 501,-0.16, 2.108,-2.215, 2.799, 3.109, PHS=-0.912, 1.006,-0.312, RAW= 312.2, 2.6, CAL= 315.1, 3.8, ROT= 194.9, -3.8 Ygot valid direction response: 14:10:31.2645 LVL= 22000, 24369, 19106, 32563, AGC= 68, IDX= 501,-0.16, 2.108,-2.215, 2.799, 3.109, PHS=-0.912, 1.006,-0.312, RAW= 312.2, 2.6, CAL= 315.1, 3.8, ROT= 194.9, -3.8 ~GAAN ?VU,DViAMT#Rx 52: Read range and direction messages.j`direction in FSK: [-0.964251,-0.256567,0.066274]jFpublishing direction and range infoڹyڽ%uٚkп{S?pڽ̈AYڹ ۽U)۽1_I۽Ji۽3۹۽xi۽Ā?۽w ܽ]@)ܽ9=Iܽ,@iܽԇ=ܽY@ܽԇ ݹ)ݹݽ|>￸<i5˿g2?iݽlp;ݽ9ݽ!k8ݽԇ ޹)޹checking for new query: numPingsReceived=52, elapsed TxPingTime=24.547699UzBU@IMb@Mb@Mb@ )YK7?RQy&1|yI?½` A)dAIAyA@A:JBJSJJ=RJZJbJy69Jg4JII3)< =yQ >٥!) -H-F- 5>1=P55 Ĝ?=P595 I5ByE2K?E:E@E@5-BEi5;5;5P5mؓBu|3AuDEZbViAԇAԇA@ʁ@(_0f7loeE"?%uٚkп{S?!k8ԇҁM<-@~kC!'֋?O?!%Eʙ?z iAjPȜ?rZ {BpsȜ?O{  wBꁽA@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.506136 s, deltaX: 0.400000 m, approachRate: 0.790301 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.978680 m, bearing: 329.437417 deg, lat: 36.906430 deg, lon: -122.115984 deg, deltaT: 0.506136 s, deltaX: 0.397161 m, approachRate: 0.784693 m/s, posRepo size: 4 5DNOT Ignoring new targets: 16.98 m.b1Z1r1j9R9J9B9~a~e{B}a|a|a|m1@|m=A?checking for new query: numPingsReceived=52, elapsed TxPingTime=24.701876 {B N#I ) Rw9I'yؼ AAE>E% }<E E E E \0E ԡ }DDAT read: Rx Time:14:10:31.7648 }TRx dataTimestamp_ set to:1749132632.915936PDAT read: Bearing 193.8, -4.2 (Local) ~Local bearing/azimuth received: Bearing 193.8, -4.2 (Local) DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.4 Hм>HCHIHt{BHHH,DH<HEDAT read: 14:10:31.7648 LVL= 20976, 21537, 18546, 30259, AGC= 68, IDX= 504,-0.26, 1.091, 3.128, 1.773, 2.126, PHS=-0.947, 1.048,-0.356, RAW= 313.3, 2.9, CAL= 316.2, 4.2, ROT= 193.8, -4.2 Ygot valid direction response: 14:10:31.7648 LVL= 20976, 21537, 18546, 30259, AGC= 68, IDX= 504,-0.26, 1.091, 3.128, 1.773, 2.126, PHS=-0.947, 1.048,-0.356, RAW= 313.3, 2.9, CAL= 316.2, 4.2, ROT= 193.8, -4.2 T#Rx 53: Read range and direction messages.`direction in FSK: [-0.968526,-0.237893,0.073238]Fpublishing direction and range infoyy}* Fsο?}̌AYy }Q)}!TI}rHi}3vy}nr}$?}E }@)}4QO=I}r@i}Q =}zX@}Q y)y}\6ᅬGͿF6>?i}E:}O}9}Q y)ychecking for new query: numPingsReceived=53, elapsed TxPingTime=24.9746916G<~GAAN?tU,AViA99@@Y8Py=HƢ@??/@%$?V?`? 9@;)CzBCIII<2?< +=yAQ >٥ HFK< >P5Ĝ?P59 IBy@@3BEi ;t;1P5d3AEEZ b :ViA ͋A ͋A @ʁ /0e!Lf Zz? * Fsο? 9 Q ҁ j-@T!"7Ч? ziDZ?̖]0?z  nAj RȜ?r  {B PȜ?  @zB 0A @ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.500892 s, deltaX: 0.500000 m, approachRate: 0.998219 m/s, rangeRepo size: 4  Added new target pos. range: 17.475458 m, bearing: 328.744706 deg, lat: 36.906433 deg, lon: -122.115981 deg, deltaT: 0.500892 s, deltaX: 0.496778 m, approachRate: 0.991788 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.48 m.bZrjRJB~~}||!|%1@|%O? {B靥,I)tILWڼ ]<FU =5eԱ0̗U,`ViA9 k@ E@Y Sy < H}圭?ܳ?Yx?`r?N? k@ Ӈ;) CEzBEMI):JBJVJJRJZJbJB9JJEMb@Mb@Mb@AAA A)AYEuV?EԸy&1|yErH?EƽAE\A EzA)EAIE\AAyEAI]"I]q3c<  =yɺQ >٥ HF@= >P5Ü?P59 IByI?:@@:BEi:: ECiG O YyB E{BExb#IA)MbhIIM ܼ IIMYH CH IH ~{BH  =H H +DH š<H E PDAT read: Bearing 192.4, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 192.4, -2.2 (Local) % DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.4 6G < DAT read: 14:10:32.7654 LVL= 31952, 25521, 25490, 32755, AGC= 66, IDX= 510,-0.16,-0.577, 1.370, 0.028, 0.362, PHS=-0.852, 1.054,-0.337, RAW= 314.9, 1.6, CAL= 317.6, 2.2, ROT= 192.4, -2.2  Ygot valid direction response: 14:10:32.7654 LVL= 31952, 25521, 25490, 32755, AGC= 66, IDX= 510,-0.16,-0.577, 1.370, 0.028, 0.362, PHS=-0.852, 1.054,-0.337, RAW= 314.9, 1.6, CAL= 317.6, 2.2, ROT= 192.4, -2.2  T#Rx 55: Read range and direction messages.-`direction in FSK: [-0.975952,-0.214577,0.038388]5Fpublishing direction and range infoڡ yڥ j;JJBw˿.?ڥ AYڡ ۥ |)ۥ cIۥ ciۡ ۡ ۥ Z~GAAN>%U,ViA}y?}D }߯@)} mrhп1?i}Gv8}1伩}6;}nF y)y.checking for new query: numPingsReceived=55, elapsed TxPingTime=26.043011)9M@P@Mc@YM+\WyM36٥QQ UHUF]Ƈ ]>P5GÜ?P59Ȟ IĒBy@@@BEi::P5דB3AHEZyb}4{ViA}A}A}@ʁ}&3S[1G܅?}j;JJBw˿.?}6;}nFҁ}Gy.@Г[#ABԿ} ?b(m.dvMޭz}}vAj}ZXȜ?r}ͥ }yB}RȜ?y y}rA}K.@Yu addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.502059 s, deltaX: 0.600000 m, approachRate: 1.195079 m/s, rangeRepo size: 4  Added new target pos. range: 18.368902 m, bearing: 327.073455 deg, lat: 36.906434 deg, lon: -122.115981 deg, deltaT: 0.502059 s, deltaX: 0.595568 m, approachRate: 1.186250 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.37 m.bZrjRJB~~}|||2@|@?checking for new query: numPingsReceived=55, elapsed TxPingTime=26.214153 {B靽mS-I)fI;*޼ *<  =ѦU,[ViA:DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 \EDAT read: 14:10:33.2656 LVL= 29872, 29169, 19650, 32755, AGC= 65, IDX= 511, 0.17, 2.513,-1.825,-3.107,-2.821, PHS=-0.861, 1.043,-0.289, RAW= 313.0, 1.3, CAL= 315.8, 1.8, ROT= 194.2, -1.8 MYgot valid direction response: 14:10:33.2656 LVL= 29872, 29169, 19650, 32755, AGC= 65, IDX= 511, 0.17, 2.513,-1.825,-3.107,-2.821, PHS=-0.861, 1.043,-0.289, RAW= 313.0, 1.3, CAL= 315.8, 1.8, ROT= 194.2, -1.8 MT#Rx 56: Read range and direction messages.}`direction in FSK: [-0.968967,-0.245186,0.031411]}Fpublishing direction and range infoy<1.{CbϿIz?fAY t)qILiAj\? Ϯ@)޹f,QoWԼ̿j*?iߐ:=L39 )checking for new query: numPingsReceived=56, elapsed TxPingTime=26.542208zBLIMb@Mb@Mb@ )YJ +?I +:vyH?9TEA dA)@IAyAII<2-y 5=y5Q 5>٥99 =H=F= =>iuP5m.Ü?uP59mj Im˒By}I?}:}A@}@mFBEim7:m:mYP5֓B3AKEZbzViAUAUA٬@ʁe2dNLfF?<1.{CbϿIz?L39ҁ剨Y/@ZbK#~Wꮩݿ,b?QR .NPlz\Aj)? ɜ?r˜  yBZXȜ?Z  A@} addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504253 s, deltaX: 0.299999 m, approachRate: 0.594938 m/s, rangeRepo size: 4  Added new target pos. range: 18.666777 m, bearing: 328.869168 deg, lat: 36.906434 deg, lon: -122.115980 deg, deltaT: 0.504253 s, deltaX: 0.297874 m, approachRate: 0.590724 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.67 m.bZrjRJB~~{B}|||2@| 4? {B-I9)=mm9I=߼ 9AEULٗU,ViA9:l$@:7@Y:ǝ[y:>;:Hcya? Z?8m#[p?ap?`)? :l$@:SN;):CJzBJ[IIRIRV83Z= Zx=y^ NQ ^?٥`` bHbFb f?djP5fټÜ?nP59f ntIIfВByln@n@fJBEif";f;f1P5pv2AtEDDAT read: Rx Time:14:10:33.7659 ETRx dataTimestamp_ set to:1749132634.931855UPDAT read: Bearing 193.2, -2.1 (Local) U~Local bearing/azimuth received: Bearing 193.2, -2.1 (Local) eDAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4 DAT read: 14:10:33.7659 LVL= 24736, 23857, 20274, 31795, AGC= 67, IDX= 3,-0.05, 0.760, 2.934, 1.458, 1.808, PHS=-0.961, 1.172,-0.354, RAW= 314.0, 1.5, CAL= 316.8, 2.1, ROT= 193.2, -2.1 Ygot valid direction response: 14:10:33.7659 LVL= 24736, 23857, 20274, 31795, AGC= 67, IDX= 3,-0.05, 0.760, 2.934, 1.458, 1.808, PHS=-0.961, 1.172,-0.354, RAW= 314.0, 1.5, CAL= 316.8, 2.1, ROT= 193.2, -2.1 T#Rx 57: Read range and direction messages.`direction in FSK: [-0.972925,-0.228198,0.036644]Fpublishing direction and range infoAyEtz3"¦g5Ϳ(א¢?E̘AYA E`)E1]IE2OiE3|ECEvE?E}? E^@H>HCHIH{BH =HHHE<HVEH CH CH H  =I  = I 6)EPwK ZP"K 9*K 2K :K  hWyG}DVD]u A \xt CU{@w  J% >J% ?}U,0ViA 9b @b@Yb^ybj;bHY|Ǥ?`y?@c@ԫ?`Qm? ? b @b[z;)bCzBYIIMIM(*3 >=yQ >٥ HF t > P5 Ü?P59 ԉ I ֒By%@%@ PBEi = = P5152A5LEqDNOT Ignoring new targets: 18.96 m.bZrjRJB~~}||||]? {BeDDAT read: Rx Time:14:10:34.2661 eTRx dataTimestamp_ set to:1749132635.437773uPDAT read: Bearing 192.9, -1.2 (Local) }~Local bearing/azimuth received: Bearing 192.9, -1.2 (Local) DAT read: Range 10 to 50 : 19.4 m (trip time 12.9 ms) speed -0.5 DAT read: 14:10:34.2661 LVL= 28096, 28145, 20722, 32755, AGC= 66, IDX= 501,-0.38,-0.594, 1.483, 0.065, 0.390, PHS=-0.896, 1.140,-0.329, RAW= 314.3, 0.9, CAL= 317.1, 1.2, ROT= 192.9, -1.2 Ygot valid direction response: 14:10:34.2661 LVL= 28096, 28145, 20722, 32755, AGC= 66, IDX= 501,-0.38,-0.594, 1.483, 0.065, 0.390, PHS=-0.896, 1.140,-0.329, RAW= 314.3, 0.9, CAL= 317.1, 1.2, ROT= 192.9, -1.2 T#Rx 58: Read range and direction messages.,I)j\I x<u =p2 checking for new query: numPingsReceived=58, elapsed TxPingTime=27.725834맺U,ViA9N@PNT@YNpcyN]c;NHPN` ?%?9X  aj?@Xl? S? N@N;)NCZ{BZlIaI@a aM@a aQ@a aE@a% I!I!5Ξ= 5P=y%@Q >٥ HFb >P5Ü?P59e IܒB+:yY:@@UBEi ;>P5H2AZbyViAAAD@ʁgZЄ2xM2B?"Z~/^ّ̿_2q? :ҁ`-0@ _U$VF U}?'TR^az&oAj_Ȝ?rt\? |xBt\?  yBꁕA}ڶ@- addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.505918 s, deltaX: 0.299999 m, approachRate: 0.592980 m/s, rangeRepo size: 4 = Added new target pos. range: 19.262207 m, bearing: 327.186508 deg, lat: 36.906435 deg, lon: -122.115978 deg, deltaT: 0.505918 s, deltaX: 0.297869 m, approachRate: 0.588769 m/s, posRepo size: 4 EDNOT Ignoring new targets: 19.26 m.bAZArIjIRIJQBY~Y~Y}Y|a|a|e`ff3@|eh? {B靕Q_*I)>I d< =qHHIH{BH =HH*DH$<H"EDAT read: 14:10:34.7665 LVL= 20928, 23953, 20802, 32755, AGC= 67, IDX= 504, 0.13, 1.653,-2.460, 2.340, 2.688, PHS=-0.947, 1.182,-0.351, RAW= 314.3, 1.2, CAL= 317.0, 1.7, ROT= 193.0, -1.7 Ygot valid direction response: 14:10:34.7665 LVL= 20928, 23953, 20802, 32755, AGC= 67, IDX= 504, 0.13, 1.653,-2.460, 2.340, 2.688, PHS=-0.947, 1.182,-0.351, RAW= 314.3, 1.2, CAL= 317.0, 1.7, ROT= 193.0, -1.7 T#Rx 59: Read range and direction messages.-`direction in FSK: [-0.973941,-0.224852,0.029666]Fpublishing direction and range infoiym*ᅢݜ̿ `?mAYi mQ)m]ImBQiimCmnrmK?mF i)m! U,WiA9:H@:@Y:fy:׾;:H)I7??@R`I֣Ҭ?`@b?? :H@:F؆;):CR {BRpI:Jb[BJbMJJb=RJ`ZJb:bJb9Jbg4J`zJb:jJb:Jb*:rJb-:|InIn3]߄< eH=ye+Q e>٥ai mHim+ m>qP5uÜ?P59u| IuB :y0:@@uZBEiu;uK?uP5ՓB)2AOEZbW?ViAܞAܞA¶@ʁ1: W3?J:{?*ᅢݜ̿ `?q:ҁ<0@t‡}%^QXڵ"#?.(W=UPῇVz+Aj( ɜ?r yB7ɜ?  yBꁝUA@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503593 s, deltaX: 0.600000 m, approachRate: 1.191439 m/s, rangeRepo size: 4  Added new target pos. range: 19.857805 m, bearing: 327.232226 deg, lat: 36.906436 deg, lon: -122.115979 deg, deltaT: 0.503593 s, deltaX: 0.595598 m, approachRate: 1.182698 m/s, posRepo size: 4 checking for new query: numPingsReceived=59, elapsed TxPingTime=28.231159DNOT Ignoring new targets: 19.86 m.bZrjRJB~~}|||4@|`SY? E{BE$IA)E.9IIM IquE `direction in FSK: [-0.980753,-0.192416,0.033155] Fpublishing direction and range infoy y} ]PmTb` j ȿB3?U,{ WiAڥ̠AYڡ ۥf)ۥdIۥrKiۡۥ@ۥocۥn?ۥþ ܥr@)ܥ+y٥Y HF >P5itÜ?P59ft IBT:ytQ?:J@@`BEi:*:P52AZb{WiAAA@ʁcr3Jzu%$O},?]PmTb` j ȿB3?<ҁ{h0@G3A&!ܿ3LO?H4{2dpz5FAj5Ȝ?rHj VyB ꁥA@u addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503700 s, deltaX: 0.100000 m, approachRate: 0.198532 m/s, rangeRepo size: 4  Added new target pos. range: 19.957096 m, bearing: 325.330796 deg, lat: 36.906436 deg, lon: -122.115979 deg, deltaT: 0.503700 s, deltaX: 0.099291 m, approachRate: 0.197123 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.96 m.bchecking for new query: numPingsReceived=60, elapsed TxPingTime=28.733919ZrjRJB~~{B}|||4@|t? E{BE'!II)M58IIM~ IIMna<) =l+iH CH IH {BH  =H H +DH <H E DAT read: 14:10:35.7669 LVL= 27056, 24913, 20034, 32755, AGC= 67, IDX= 509, 0.33, 2.383,-1.882, 2.994,-2.953, PHS=-0.859, 1.118,-0.339, RAW= 315.3, 0.9, CAL= 318.0, 1.2, ROT= 192.0, -1.2  Ygot valid direction response: 14:10:35.7669 LVL= 27056, 24913, 20034, 32755, AGC= 67, IDX= 509, 0.33, 2.383,-1.882, 2.994,-2.953, PHS=-0.859, 1.118,-0.339, RAW= 315.3, 0.9, CAL= 318.0, 1.2, ROT= 192.0, -1.2  T#Rx 61: Read range and direction messages. `direction in FSK: [-0.977933,-0.207866,0.020942] Fpublishing direction and range infoq yu NdD:K;[ʿ_2q?u AYq u i)u QaIu BNiq u Cu m[u ?u h u @)u ٥ HF+: >P5bÜ?P59m IByR@@fBEiN;;$P5ԓB1AQEZb_U,of[WiA9>+@>@Y>iy><>HOh? ?[@;?R? ]? >+@>C;)>CRT{BRI^DDAT read: Rx Time:14:10:36.2670 ^TRx dataTimestamp_ set to:1749132637.451800fPDAT read: Bearing 191.1, -1.1 (Local) f~Local bearing/azimuth received: Bearing 191.1, -1.1 (Local) nDAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.6 ~DAT read: 14:10:36.2670 LVL= 25824, 24369, 20162, 30403, AGC= 68, IDX= 511, 0.11, 0.961, 2.924, 1.529, 1.874, PHS=-0.825, 1.097,-0.348, RAW= 316.2, 0.9, CAL= 318.9, 1.1, ROT= 191.1, -1.1 Ygot valid direction response: 14:10:36.2670 LVL= 25824, 24369, 20162, 30403, AGC= 68, IDX= 511, 0.11, 0.961, 2.924, 1.529, 1.874, PHS=-0.825, 1.097,-0.348, RAW= 316.2, 0.9, CAL= 318.9, 1.1, ROT= 191.1, -1.1  T#Rx 62: Read range and direction messages.`direction in FSK: [-0.981112,-0.192487,0.019197]Fpublishing direction and range info\y^wDe%piffȿ]~?^3AY\ ^d)^1_I^Ni^v^D^33S^j?^- ^r@)\I^|@i^nF<^uU@^nF \)\^]u@iLѿ ?i^6^}^<^nF \)\Echecking for new query: numPingsReceived=62, elapsed TxPingTime=29.507824Mb@Mb@Mb@ )Y٥II MHMFU: U>yP5}KÜ?P59}e I}By T?:4@@}lBEi}:}:}P5O1ATEZ\b^K\WiA^A^A^a@ʁ^Ux\4gՠp4?^wDe%piffȿ]~?^<^nFҁ^tD91@V33'cJ^} S?.?5'恵z^Y<^Aj^imȜ?r^? ^#xB^_Ȝ?\ ^|xB^A^?׵@ addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503746 s, deltaX: 0.199999 m, approachRate: 0.397023 m/s, rangeRepo size: 4  Added new target pos. range: 20.751823 m, bearing: 325.410798 deg, lat: 36.906433 deg, lon: -122.115980 deg, deltaT: 0.503746 s, deltaX: 0.198582 m, approachRate: 0.394210 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.75 m.bZ1r1j1R1J1B1~9~={B}9|9|A|E`f4@|E*? {B靕faI)I: 1<|=[wU,xWiA89n5@n3I@Ynkgyn;nH@i`H?R?sv`?@9sv?? n5@n竆;)nCzc{BzIII#3%= e=y%:Q %>٥!) -H-F-E< ->1=P55;Ü?=P595;_ I5 ByAE{@E@5qBEi5G:5:5P5IM1AI}DNOT Ignoring new targets: 20.75 m.byZyryjyRyJB~~}||||S? I)JI+> ѩ<=,xHUCHUIHU{BHU =HQHU*DHUښ<HUEԙE?EEEP5EFF)qumM{1oԿȵ_ϡ?iuO?4uu X?u+H q)qchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.050287:J\BJYJJDRJZJ=:bJ[O9J4JzJ:jJ:J'n:rJ*n:6Gy<~GAAN>  checking for new query: numPingsReceived=63, elapsed TxPingTime=30.257818pU,WiA9VZJ@V]@YVK%eyVd ٥  HFwM; %>9MP5=)Ü?UP59=X I=Byae@e@=vBEi=;=b;=+P5ӓB0AWEKBP"KS9*K2K:K'}c|;^Y !L3qUXW=@O5(-q]>[J1J1Zb}WiAƪAƪA@ʁ'uya5m JS?'yʘVÿs!D? X?+Hҁ#1@q{n)В0 ſ㄁U?WMfxlW zKAj6LȜ?r'?o zBimȜ??  yB ꁵA@] addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.516752 s, deltaX: 0.600000 m, approachRate: 1.161099 m/s, rangeRepo size: 4  Added new target pos. range: 21.347160 m, bearing: 323.327899 deg, lat: 36.906433 deg, lon: -122.115980 deg, deltaT: 0.516752 s, deltaX: 0.595337 m, approachRate: 1.152075 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.35 m.bZrjRJB~~}|||5@| ĕ? {B$I)XʽI" *U,ΈWiArchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.763542Q9f]`@fs@Yfeeyfh<GfH Kx@8\??j`Q?)?`I? f]`@f;)fC -> Y1y5 BU{BUIMb@Mb@Mb@ )YCl?A`"Mbp?yd[?Y;dA MA)A@IAyAII2= $=yQ >٥   H FE.; E>aP5IÜ?P59O I"By[?w:|@@}BEi<z}<P51]g0AeUEZbaoWiA)A)A@ʁhP{5@C7{'Z)??y=|nA]\ M?BCҁ!pB0@+X?>{?HTaX9T?z\zAjTCȜ?r |B5Ȝ?Hj  VyBA@ addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.506996 s, deltaX: 0.299999 m, approachRate: 0.591719 m/s, rangeRepo size: 4  Added new target pos. range: 21.645027 m, bearing: 320.435499 deg, lat: 36.906431 deg, lon: -122.115982 deg, deltaT: 0.506996 s, deltaX: 0.297867 m, approachRate: 0.587513 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.65 m.bZrjRJB~~{B}|||5@|*n? !%gg II)MIIMԯ IQULkHE CHE IHE |BHE  =HA HE ,DHE ƚ<HE EE= 1EY Ա 6Ge *f< ~G!A)A9NE>eU,yWiA9^f@^y@Y^ey^<^H@z`W?`?²?m?? ^f@^';)^C~{B~II I m?3=< =V=y=rV8Q =>٥AA EHAM": M>q}P5uœ?}P59uI Iu,By@@uBEiu::u%:uP5ғB20AXEchecking for new query: numPingsReceived=65, elapsed TxPingTime=31.265850ZbWiAAAr@ʁN!6Wǿ޽[?% a ioSt[ڽIz?Aҁ&Sc1@sx+?T?P4Q."z]Aj$&Ȝ?r] =yB6LȜ?'?o  =yBAY@ addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.501729 s, deltaX: 0.600000 m, approachRate: 1.195866 m/s, rangeRepo size: 4 - Added new target pos. range: 22.241432 m, bearing: 321.445578 deg, lat: 36.906430 deg, lon: -122.115986 deg, deltaT: 0.501729 s, deltaX: 0.596405 m, approachRate: 1.188699 m/s, posRepo size: 4 -DNOT Ignoring new targets: 22.24 m.b1Z1r1j1R1J1B1~9~9}9|9|A|e`ff6@|m ? 靵]P I)΋I Z< \= -_F`8.y? AY ) zI i : J ? ,@) +=I @i k= N@ k ) $5(ؿ #I?i /~G1 AQ A N > ^, zC k )  checking for new query: numPingsReceived=66, elapsed TxPingTime=31.594067U,%@WiA9>Y@>Am@Y>ؾey>İ<>Hv@?Ѹ?ĄH@?H?`6? >Y@>ؒ;)>C^{B^IirRJZJ9bJ!9Jt4J@@@@Mb@Mb@Mb@ )YPn?MbMbP?yd?@:MA A)@IAy(AQI-I-3e/N= e-=ye Q e>٥ HF1к >P5œ?P59 A I8By id? m:  @ @BEi.;;P5/A[EZb2WiAPAPAM@ʁ%j6d`uq^?UB vK"+>_F`8.y?zCkҁu21@ O)E#-(4>oNj?\QvO-&ziAjU,EWiADDAT read: Rx Time:14:10:38.7686 TRx dataTimestamp_ set to:1749132639.992957PDAT read: Bearing 186.2, -4.5 (Local) ~Local bearing/azimuth received: Bearing 186.2, -4.5 (Local) "DAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed -0.4 6DAT read: 14:10:38.7686 LVL= 32752, 32081, 32754, 32755, AGC= 65, IDX= 510, 0.04,-2.446,-0.627,-2.066,-1.582, PHS=-0.775, 1.002,-0.487, RAW= 321.3, 3.2, CAL= 323.8, 4.5, ROT= 186.2, -4.5 G8G8H:μ>H:CH:&IH:I|BH: =H8H8H:<H:~EHIHIHMCHM =II IMq 6VYgot valid direction response: 14:10:38.7686 LVL= 32752, 32081, 32754, 32755, AGC= 65, IDX= 510, 0.04,-2.446,-0.627,-2.066,-1.582, PHS=-0.775, 1.002,-0.487, RAW= 321.3, 3.2, CAL= 323.8, 4.5, ROT= 186.2, -4.5 VT#Rx 67: Read range and direction messages.Z`direction in FSK: [-0.991086,-0.107666,0.078459]ZFpublishing direction and range infoyl5;?fAY )Q}IiAffFA?X r@)d=Iش@i|٠=O@|٠ )w5#:׿Yar?il@1c"B|٠ )checking for new query: numPingsReceived=67, elapsed TxPingTime=32.078671{BIII 3!E٥II MHMFU U>yP5}œ?P59}9 I}CBy@}BEi}:}):}P5i/AZbWiAAA4@@ʁ36<-S4' ?l5;?"B|٠ҁ<`V1@xMV%-җҏB?|N?G*(D[l?z*iAjg,Ȝ?r }B  {BA5@M addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505470 s, deltaX: 0.599998 m, approachRate: 1.187011 m/s, rangeRepo size: 4  Added new target pos. range: 23.135178 m, bearing: 320.947304 deg, lat: 36.906428 deg, lon: -122.115993 deg, deltaT: 0.505470 s, deltaX: 0.595869 m, approachRate: 1.178842 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.14 m.bZrjRJB~~}|||L7@| ? 靕II)(I$ q<=tV,XiA98@K@Yn%gy<Hjo[?@a?wA#?`?? 8@;)C%{B%IEDDAT read: Rx Time:14:10:39.2688 MTRx dataTimestamp_ set to:1749132640.497413UDAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed -0.7 -]Z#Rx 68: Read range message, but no direction.IM̼AYIechecking for new query: numPingsReceived=68, elapsed TxPingTime=32.539200ԱMb@Mb@Mb@ )Y'1Z?ktMb`yb? 0 X@)IAy @I] I](2q< +=y9Q >٥ HFЉ >P5œ?P591 INByc?o:1@@BEi6;;P5 ѓB >/A^E addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504456 s, deltaX: 0.300001 m, approachRate: 0.594702 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 23.14 m.bZrjRJB~~{B}|||7@| x? {B靵I)!I </=)njE>:J]\BJ]PJJ]=RJYZJ]=:bJ]*9J]g4JYE?EEEP5EFF = checking for new query: numPingsReceived=68, elapsed TxPingTime=32.7862139 6G <~G A)AyN>z V,Ȕ9XiA9>-@>@@Y>hy>P<>HfZ?)? r m?j?? >-@>U;)>CJ{BJI)L NAIRIR2^= ^j=yfh.Q f?٥dd fHhfFn n?pvQ5rxœ?vQ59r+ IrWBytv%@v@rBEiro;rw;rQ5~ГB~.A~`E-DNOT Ignoring new targets: 23.14 m.b)Z)r)j)R)J1B1~9~9}A|I|I|I|@"? 9ErIi)mlHUCHU?IHUr|BHQHQHU+DHU<HUEDAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed -0.6 E?EE E O0E ]DAT read: 14:10:39.7693 LVL= 16512, 15953, 13090, 21651, AGC= 67, IDX= 5,-0.50, 1.512,-2.930, 1.865, 2.300, PHS=-0.700, 1.101,-0.438, RAW= 322.3, 0.4, CAL= 324.5, 0.4, ROT= 185.5, -0.4 Ygot valid direction response: 14:10:39.7693 LVL= 16512, 15953, 13090, 21651, AGC= 67, IDX= 5,-0.50, 1.512,-2.930, 1.865, 2.300, PHS=-0.700, 1.101,-0.438, RAW= 322.3, 0.4, CAL= 324.5, 0.4, ROT= 185.5, -0.4 T#Rx 69: Read range and direction messages.`direction in FSK: [-0.995372,-0.095843,0.006981]Fpublishing direction and range infoy@￝ 2a|?fAY @)Q>I"3iTC3336G7ͤ<?A @);I(<@i;4O@ )6>ؿA?i10DVB )checking for new query: numPingsReceived=69, elapsed TxPingTime=33.119549~GAANI>)Y  checking for new query: numPingsReceived=69, elapsed TxPingTime=33.289818V,6XSXiA9>#@>e6@Y>miy>` ;>H@*b#??`lZ9?@q? ? >#@>o;)>CV|BVII^I^(*3fI= fJ=yjQ j>٥hh nHnFn+Ѻ r>pvQ5rsœ?vQ59r$ IraByxz@z@rBEir:r$:rdQ5.A AZYb]@XiA]A]A]@ʁ]η$"8+5tKU?]@￝ 2a|?]B]ҁ])jht2@.K`3f]21z?z|bqBz]w]Aj]%Ȝ?r]zܿ ]&wB]%Ȝ?]  Y]mA]Ȳ@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503916 s, deltaX: 0.699999 m, approachRate: 1.389118 m/s, rangeRepo size: 4 K%P"K*K2K:Ku>Zu[a;rIib0#V~#<uXm){pqXzONrJ?J>= Added new target pos. range: 24.127811 m, bearing: 319.985681 deg, lat: 36.906426 deg, lon: -122.115994 deg, deltaT: 1.008372 s, deltaX: 0.992634 m, approachRate: 0.984392 m/s, posRepo size: 4 =DNOT Ignoring new targets: 24.13 m.bAZArAjARAJABA~I~I}i|q|q|uL8@|u`y?q {BؼI))-=1I=RH 9<%=U$V,nXiAbchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.794003p]|Be Iiu٥ HF >Q59vœ?Q59w IrBy_?s:@@BEi:_: Q5ZBY*AcEDDAT read: Rx Time:14:10:40.7698 TRx dataTimestamp_ set to:1749132642.008834 H<HHͼ>HHXIH|BH =HH,DH<HEPDAT read: Bearing 185.7, 0.1 (Local) ~Local bearing/azimuth received: Bearing 185.7, 0.1 (Local) DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed -0.7 DAT read: 14:10:40.7698 LVL= 27952, 28545, 24002, 32755, AGC= 67, IDX= 506,-0.05, 0.616, 2.563, 0.993, 1.437, PHS=-0.733, 1.173,-0.447, RAW= 322.0, 0.1, CAL= 324.3, -0.1, ROT= 185.7, 0.1 Ygot valid direction response: 14:10:40.7698 LVL= 27952, 28545, 24002, 32755, AGC= 67, IDX= 506,-0.05, 0.616, 2.563, 0.993, 1.437, PHS=-0.733, 1.173,-0.447, RAW= 322.0, 0.1, CAL= 324.3, -0.1, ROT= 185.7, 0.1 T#Rx 71: Read range and direction messages. bdirection in FSK: [-0.995054,-0.099320,-0.001745] Fpublishing direction and range infoځyڅ{-ml*mn p\څ3AYځ ۅ0m)ۅoIۅ]iہۅCۅ;ۅ$?ۅ/ ܅ֳ@)܅:I܅@i܅争܅mO@܅: ݁)݁݅V *T;8YO׿AV?i݅|0݅5݅B݅: ށ)ށ% checking for new query: numPingsReceived=71, elapsed TxPingTime=34.068092ZbXiAAAtӲ@ʁ8wULi{-ml*mn p\B:ҁZܻjE2@ݨ/kՍRoY?Y[tɼE/z|Aj ȳȜ?rϹ KvB ȳȜ?  =yBꁅuAҲ@  addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 1.007505 s, deltaX: 0.600000 m, approachRate: 0.595531 m/s, rangeRepo size: 4   Added new target pos. range: 24.723688 m, bearing: 320.186691 deg, lat: 36.906427 deg, lon: -122.115993 deg, deltaT: 1.007505 s, deltaX: 0.595877 m, approachRate: 0.591438 m/s, posRepo size: 4  DNOT Ignoring new targets: 24.72 m.b Z r j R J B ~ ~ {B}! |A |A |M `f8@|M ?a {B靝 ˼I ) = I !< = ٥ HFKRWP"KS9*K2K:Kg] <cvBE {t?t pG>~JJ) 5>iQ5m8`œ?Q59m Im~By@mBEimO+V,XiA9F@F#@YFbvyF`8FHHZ?p?d@꥿p?=?8? F@F?};)FCTM|B)I%Mb@Mb@Mb@!!! !)!Y%Zd;O?Zd;Oy&1|y%j\?%j<%`%@ %`@)%@I%hA!y%@ImImM3tq= )=ygȻQ >٥ HFF! >Q5Iœ?Q59 IBy\?v:@@BEi::Q5YB)AgEZyb}נXiA},A},A}:@ʁ}\b8H`|g-[[ֿ}_~.M74}K$C}d<ҁ})( 3@(M!0_b}0X?GZ'nl`߲z}}MAj}K~Ȝ?r}l }tB}%Ȝ?y }&wB}A}@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504322 s, deltaX: 0.300001 m, approachRate: 0.594860 m/s, rangeRepo size: 4  Added new target pos. range: 25.021564 m, bearing: 319.723515 deg, lat: 36.906426 deg, lon: -122.115993 deg, deltaT: 0.504322 s, deltaX: 0.297876 m, approachRate: 0.590647 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.02 m.bZrjRJB!~!~%{B})|)|)|-@339@|53? ]{B]qIeX<)e,=aIe+) aaeȕ]2]]PwV Y)YMchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.0867351 6G 喇<jG s?bG ^?~Gi Aq A N >2V,h XiA9fU@hf@Yfˇxyf:fHW{`w/? )?b` ?rU?? fU@f(;)dZ|B1I) AI I<2= i=yQ >٥ HF > Q58œ? Q59 IBy@@BEi;;&Q5IMa)AImchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.305996ZQbU!XiAUAUAU@ʁUqj$C1@W~@Sk\/3@UN f?eѧ:?UUPwVҁU,%*['@Zn$24@Uڿ&m67?+[?zUr>AU,jUf&?rUN UBQUϹ  QUbAU?@  addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504532 s, deltaX: 0.799999 m, approachRate: 1.585626 m/s, rangeRepo size: 4 E Added new target pos. range: 25.815969 m, bearing: 132.251262 deg, lat: 36.906426 deg, lon: -122.115993 deg, deltaT: 0.504532 s, deltaX: 0.794405 m, approachRate: 1.574538 m/s, posRepo size: 4 EDNOT Ignoring new targets: 25.82 m.bAZIrIjIRIJIBI~Q~Q}Q|Q|Y|]:@|]@h? {BDI)>Ie <c=45 DAT read: 14:10:42.2707 LVL= 23184, 22881, 19218, 31475, AGC= 68, IDX= 3,-0.25, 2.327,-2.122, 2.662, 3.108, PHS=-0.694, 1.100,-0.450, RAW= 322.8, 0.5, CAL= 325.0, 0.5, ROT= 185.0, -0.5 = Ygot valid direction response: 14:10:42.2707 LVL= 23184, 22881, 19218, 31475, AGC= 68, IDX= 3,-0.25, 2.327,-2.122, 2.662, 3.108, PHS=-0.694, 1.100,-0.450, RAW= 322.8, 0.5, CAL= 325.0, 0.5, ROT= 185.0, -0.5 = T#Rx 74: Read range and direction messages.E `direction in FSK: [-0.996157,-0.087152,0.008727]M Fpublishing direction and range info) y- 5$6OB7߁?- fAY) - Z)- aYI- Ki- z- D- 1- ̌?- ff - I@)- 5٥11 =H9=( =>AQ5E]$œ?Q59EQ IEByW?{:Z@@EBEiEg CbmZXiAmAmAmk\@iʁm᪊s:p5NmH+?m5$6OB7߁?cG Y y u BmzCm5ҁm,2r3@e0tchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.810093@Bme7??nI1޵zmmKAjm7çȜ?rmۻ mwBm7çȜ?i mwBm8Amn@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503483 s, deltaX: 0.299999 m, approachRate: 0.595848 m/s, rangeRepo size: 4   Added new target pos. range: 26.113844 m, bearing: 319.354144 deg, lat: 36.906426 deg, lon: -122.115993 deg, deltaT: 0.503483 s, deltaX: 0.297874 m, approachRate: 0.591628 m/s, posRepo size: 4  DNOT Ignoring new targets: 26.11 m.b ZrjRJYBY~Y~]{B}a|a|a|eL:@|m ? {BI)>I 4<= yH H IH }BH  =H H +DH <H EE ON@E nF A )A E g nä#3ٿu $?iE E/E 6RE CE nF A )A  checking for new query: numPingsReceived=75, elapsed TxPingTime=36.0837176G T<)ZGIRGI~G AA)N5>YAV,YiA9=@=q @Y={y=:=H@P s??[  x?`SW?@? =@={;)9}|B}PIII2&]= 0=yȉQ >٥! HEFEI M>IUQ5M œ?UQ59Me IMByY]R@]@MBEiM:M:M#Q5XB(AmEZb[YiAAAW-@ʁIӪY:U,E?uh?6#1]~?CnFҁ2Q%4@H1(xb g#?]yI L<S=njsE `=<K P"K 9*K 2K E ?E E E 0E :K k:ab9-"4`/`Q&]A!& !lJ*nnQK%}Ա i i } DDAT read: Rx Time:14:10:43.2712  TRx dataTimestamp_ set to:1749132644.529827 PDAT read: Bearing 185.4, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 185.4, 1.7 (Local)  DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed -0.4 uDAT read: 14:10:43.2712 LVL= 26592, 22865, 23538, 28435, AGC= 70, IDX= 504, 0.09,-1.965, 0.004,-1.591,-1.173, PHS=-0.703, 1.225,-0.421, RAW= 322.2, -1.1, CAL= 324.6, -1.7, ROT= 185.4, 1.7 Ygot valid direction response: 14:10:43.2712 LVL= 26592, 22865, 23538, 28435, AGC= 70, IDX= 504, 0.09,-1.965, 0.004,-1.591,-1.173, PHS=-0.703, 1.225,-0.421, RAW= 322.2, -1.1, CAL= 324.6, -1.7, ROT= 185.4, 1.7 T#Rx 76: Read range and direction messages.bdirection in FSK: [-0.995124,-0.094067,-0.029666]Fpublishing direction and range infoy y} wI $ `} AYy } g)} QYI} [i} o} F} 3} ̜?} P׾ } P@)} nFI} uJ@i} } O@} < y )y } G@ 2ؿX^Ei} >0} )+<} C} < y )y 6Guy<checking for new query: numPingsReceived=76, elapsed TxPingTime=36.641155~G1AQAyN ?iIV,(YiAa9@s@Yh~y.WQ;HIl\Y?F?U2ǯ?j?@)? @骕;)Cuchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.817982ԉ|B`Ii٥ HFF >Q5?Q59j IBy!S?:@@BEi&==#Q5((AulEZYb]!YiA]A]A]`@ʁ]$:jR&Vu]wI $ `]C]<ҁ]'MPT4@fJg1 .]+J?O|\5xz]>]Aj]ؘȜ?r]+ ]rBY]+  Y]oA]Or@ addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504842 s, deltaX: 0.300001 m, approachRate: 0.594248 m/s, rangeRepo size: 4   Added new target pos. range: 27.007244 m, bearing: 319.668584 deg, lat: 36.906426 deg, lon: -122.115991 deg, deltaT: 0.504842 s, deltaX: 0.297876 m, approachRate: 0.590039 m/s, posRepo size: 4  DNOT Ignoring new targets: 27.01 m.b Z r j R J! B! ~! ~! }) |) |I |U @33;@|U `o)? M {BM II )M X>Q IU _ Q Q U E͚H H IH 3}BH  =H H ,DH <H EHQHQHU̓CHU =IU = IU̴5 DAT read: 14:10:43.7716 LVL= 31984, 26321, 22114, 32755, AGC= 66, IDX= 508, 0.06,-1.180, 0.869,-0.788,-0.311, PHS=-0.782, 1.227,-0.480, RAW= 322.0, 0.4, CAL= 324.3, 0.3, ROT= 185.7, -0.3  Ygot valid direction response: 14:10:43.7716 LVL= 31984, 26321, 22114, 32755, AGC= 66, IDX= 508, 0.06,-1.180, 0.869,-0.788,-0.311, PHS=-0.782, 1.227,-0.480, RAW= 322.0, 0.4, CAL= 324.3, 0.3, ROT= 185.7, -0.3  T#Rx 77: Read range and direction messages. `direction in FSK: [-0.995042,-0.099318,0.005236] Fpublishing direction and range info) y- )b₩ʾlsNru?- fAY) - |)- fI- bVi- - B- '1H- V?- - ֳ@)- ;I- @i- ;- mO@- ) )) - Sq =Mc׿m"B={?i- p0- Qػ- B- ) )) % checking for new query: numPingsReceived=77, elapsed TxPingTime=37.102932>E"<EIEIEIEMM3EI9:JMZBJMMJJM=RJIZJM9bJM9JMg4JIzJM.:jJM3:JM*:rJM,:checking for new query: numPingsReceived=77, elapsed TxPingTime=37.3246886Gmsq٥Ya eHeFe׺ e>iuQ5m-?uQ59mA ImƓByy}@}@mBEim:m;m.)Q5[B'AoEZb$ BYiAAA􃫲@ʁ>skw;}{|?)b₩ʾlsNru?BҁP5@qZu1)aaQp?v*U#KaGlzAjZȜ?rز zvB{EҰȜ? ADm@K}6O"K}ͼ9*Ky2K}:K}41DmMol#qV,Dy+E aS`MNb6R'8o5 addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.502164 s, deltaX: 0.599998 m, approachRate: 1.194826 m/s, rangeRepo size: 4  Added new target pos. range: 27.603342 m, bearing: 319.907338 deg, lat: 36.906427 deg, lon: -122.115991 deg, deltaT: 0.502164 s, deltaX: 0.596098 m, approachRate: 1.187058 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.60 m.bZrjRJB~~}!|)|Q|];@|e Sw?DDAT read: Rx Time:14:10:44.2718 TRx dataTimestamp_ set to:1749132645.541725 PDAT read: Bearing 185.4, -0.8 (Local) ~Local bearing/azimuth received: Bearing 185.4, -0.8 (Local) %DAT read: Range 10 to 50 : 28.1 m (trip time 18.7 ms) speed -0.3 eDAT read: 14:10:44.2718 LVL= 28208, 32193, 27762, 32755, AGC= 66, IDX= 510, 0.03, 2.840,-1.483,-3.074,-2.601, PHS=-0.754, 1.166,-0.476, RAW= 322.3, 0.7, CAL= 324.6, 0.8, ROT= 185.4, -0.8 }Ygot valid direction response: 14:10:44.2718 LVL= 28208, 32193, 27762, 32755, AGC= 66, IDX= 510, 0.03, 2.840,-1.483,-3.074,-2.601, PHS=-0.754, 1.166,-0.476, RAW= 322.3, 0.7, CAL= 324.6, 0.8, ROT= 185.4, -0.8 }T#Rx 78: Read range and direction messages. u{B靅SQI)>I 0И<*>=GTq?{? Vξ@V;)Te|BeI%Mb@Mb@Mb@!!! !)!Y%oʡ?(\µMbpy%M?%%! %@)%`@I%n@!y%Q@I5I5M3Ev= M=yM;Q M>٥QQ ]H]Fe e>iuQ5m?}Q59m ImӓBy}5N?}:} @}@mBEim ;m ;m.Q5ZB&ArEZ)b-bYiA-5A-5A-`v@ʁ-Q;u@/?-7\Em4~4?-C-dҁ-45@s@02#^;-JPbEQ?Sa俇JZz--Aj-.[Ȝ?r-ϲY -wB-ؘȜ?) )-A-T@ԑDDAT read: Rx Time:14:10:44.7721 TRx dataTimestamp_ set to:1749132646.040165DAT read: Range 10 to 50 : 28.5 m (trip time 19.0 ms) speed -0.4 -Z#Rx 79: Read range message, but no direction.AYchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.082779 HH<Hż>HHIHp}BH =HH+DH2<HI/޼ T<V=:CeV,6:YiA09l@@YC0ty";H:L@"$??~Eg?@~Nd?k? l@%;)C }B III 3e5= m4=ymр;Q m>٥iq uHuFu u>ԁyQ5}?Q59}F I}ݓBy@@}BEi});}u*;}2Q5YBe&AsEDNOT Ignoring new targets: 27.90 m.bZrjRJB~~}||| | @#? E{BE@@IA)E>IIMYܼ IIMΓZA@F-DDAT read: Rx Time:14:10:45.2723 ԱTRx dataTimestamp_ set to:1749132646.549228PDAT read: Bearing 184.3, 0.1 (Local) ~Local bearing/azimuth received: Bearing 184.3, 0.1 (Local) E?EEEP5E-DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed -0.5 DAT read: 14:10:45.2723 LVL= 21680, 22113, 20914, 31539, AGC= 69, IDX= 3,-0.15,-1.068, 0.878,-0.745,-0.265, PHS=-0.715, 1.190,-0.482, RAW= 323.6, 0.1, CAL= 325.7, -0.1, ROT= 184.3, 0.1 Ygot valid direction response: 14:10:45.2723 LVL= 21680, 22113, 20914, 31539, AGC= 69, IDX= 3,-0.15,-1.068, 0.878,-0.745,-0.265, PHS=-0.715, 1.190,-0.482, RAW= 323.6, 0.1, CAL= 325.7, -0.1, ROT= 184.3, 0.1 T#Rx 80: Read range and direction messages.bdirection in FSK: [-0.997184,-0.074979,-0.001745] Fpublishing direction and range infoڡyڥq1n p\ڥfAYڡ ۥT)ۥaVIۥQiۥ3{ۥEۥ= 7ۥQ?ۥ ܥ{@)ܥ:Iܥ@iܥ争ܥvM@ܥ: ݡ)ݡݥG&TDTٿq'[V?iݥ.ݥ:ݥ?BDݥ: ޡ)ޡUchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.642979 6G E<ZG RG ~G A A N >4kV,YiA\~3}B~Ichecking for new query: numPingsReceived=80, elapsed TxPingTime=38.834347Mb@Mb@Mb@ )YFx?sh|?MbPyK?@ @)3@IX@yf@IIV83%_= %b=y%Q %>٥)) -H-F >Q5!?Q59 IByL?: @@BEi::V5Q5&AZb&YiAAAԱ@ʁ.<>G'Fq1n p\?BD:ҁjX5@ݱT2 ;/h?|j4忺. hzêAj'ܣȜ?rJ /vB zvBAz/@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.509063 s, deltaX: 0.299999 m, approachRate: 0.589317 m/s, rangeRepo size: 4 - Added new target pos. range: 28.595875 m, bearing: 318.405173 deg, lat: 36.906427 deg, lon: -122.115991 deg, deltaT: 1.007503 s, deltaX: 0.694653 m, approachRate: 0.689479 m/s, posRepo size: 4 -DNOT Ignoring new targets: 28.60 m.b1Z1r1j1R1J1B1~9~={B}a|a|a|e<@|mA+? {B靽0:I)+>I_sټ <g=iiE?EEE.5E DDAT read: Rx Time:14:10:45.7727  TRx dataTimestamp_ set to:1749132647.047858 PDAT read: Bearing 183.9, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 183.9, 0.8 (Local) H >H CH IH }BH H H H <H E DAT read: Range 10 to 50 : 29.4 m (trip time 19.6 ms) speed -0.6  DAT read: 14:10:45.7727 LVL= 32752, 32673, 29682, 32755, AGC= 69, IDX= 503,-0.46, 0.286, 2.260, 0.603, 1.082, PHS=-0.708, 1.225,-0.482, RAW= 323.9, -0.4, CAL= 326.1, -0.8, ROT= 183.9, 0.8  Ygot valid direction response: 14:10:45.7727 LVL= 32752, 32673, 29682, 32755, AGC= 69, IDX= 503,-0.46, 0.286, 2.260, 0.603, 1.082, PHS=-0.708, 1.225,-0.482, RAW= 323.9, -0.4, CAL= 326.1, -0.8, ROT= 183.9, 0.8  T#Rx 81: Read range and direction messages. bdirection in FSK: [-0.997587,-0.068008,-0.013962] Fpublishing direction and range infoڑ yڕ x;; Si4ڕ 3AYڑ ە )ە Iە siە ۑ ە }?5ە ̜?ۑ ܕ _@)ܕ Iܕ @iܕ dܕ kM@ܕ d< ݑ )ݑ ݕ LDCm%ٿO.X{iݕ dh.ݕ 0;ݕ Dݕ d< ޑ )ޑ 5 checking for new query: numPingsReceived=81, elapsed TxPingTime=39.106892A 6G Y=<~G A A N >rV,lxYiA,9bܲ@b3@Yb݅`ybbH : N?@?-CZ" ?B? bܲ@bNH;)`Q}BIi%:J]BJSJJ=RJZJ]:bJy69Jg4JzJ:jJ:J)C:rJ,C:٥ HE >Q5x?Q59s IBy@@BEi9;G;8Q5%AvEZbYiAAA@ʁ}=dFOdڿx;; Si4Dd<ҁZo35@1}3jس̬?]L>]J;zAjȜ?r OuB /vB^A:@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.498630 s, deltaX: 0.600000 m, approachRate: 1.203298 m/s, rangeRepo size: 4 - Added new target pos. range: 29.191280 m, bearing: 317.994123 deg, lat: 36.906427 deg, lon: -122.115991 deg, deltaT: 0.498630 s, deltaX: 0.595406 m, approachRate: 1.194083 m/s, posRepo size: 4 5DNOT Ignoring new targets: 29.19 m.b1Z1r1j1R1J1B9~9~9}9|A|a|m`ff=@|me?ԁ {B靽x\;I)>IV ׼ <=g8J- ?~G A AY N > DDAT read: Rx Time:14:10:46.2728  TRx dataTimestamp_ set to:1749132647.556793= PDAT read: Bearing 183.8, 0.8 (Local) E ~Local bearing/azimuth received: Bearing 183.8, 0.8 (Local) HxV,KYiANDAT read: Range 10 to 50 : 29.6 m (trip time 19.7 ms) speed -0.4 \~DAT read: 14:10:46.2728 LVL= 32752, 28993, 23874, 32755, AGC= 69, IDX= 504, 0.20,-0.057, 1.886, 0.251, 0.725, PHS=-0.694, 1.208,-0.476, RAW= 324.0, -0.4, CAL= 326.2, -0.8, ROT= 183.8, 0.8 Ygot valid direction response: 14:10:46.2728 LVL= 32752, 28993, 23874, 32755, AGC= 69, IDX= 504, 0.20,-0.057, 1.886, 0.251, 0.725, PHS=-0.694, 1.208,-0.476, RAW= 324.0, -0.4, CAL= 326.2, -0.8, ROT= 183.8, 0.8  T#Rx 82: Read range and direction messages.bdirection in FSK: [-0.997704,-0.066268,-0.013962]]Fpublishing direction and range info1y5&KZ1G(45AY1 1)5AqI5B]i11515?5F 5@)1I58/@i15|NM@1 1)15'4/<ڿ~i5D.5|-;59D1 1)1checking for new query: numPingsReceived=82, elapsed TxPingTime=39.666073Mt}BUIMb@Mb@Mb@ )Ym?Mb`yN?̽@ @)@I+@yz@I)IW3%:= %=y-Q ->٥)) 5H5F5 5>YeQ5]v?mQ59] I]Bym,P?m:m @m@]BEi];] ;]g=Q5qu$AZ1b5YiA5A5A5@ʁ5MW R= gY):&Cڿ5&KZ1G(459D1ҁ575@O 3ZLo50a?pg忄Xz5G5Aj5E Ȝ?r5;| 5duB5Ȝ?5J  15A5l@U addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.508935 s, deltaX: 0.200001 m, approachRate: 0.392979 m/s, rangeRepo size: 4 e Added new target pos. range: 29.389862 m, bearing: 317.893917 deg, lat: 36.906426 deg, lon: -122.115994 deg, deltaT: 0.508935 s, deltaX: 0.198582 m, approachRate: 0.390191 m/s, posRepo size: 4 mDNOT Ignoring new targets: 29.39 m.biZirijiRiJqB~~{B}|||=@|? {BI':I)b>IzӼ VۋV,JZiARDDAT read: Rx Time:14:10:46.7732 VTRx dataTimestamp_ set to:1749132648.056941^PDAT read: Bearing 183.0, 1.1 (Local) ^~Local bearing/azimuth received: Bearing 183.0, 1.1 (Local) fDAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed -0.5 vDAT read: 14:10:46.7732 LVL= 32752, 31681, 28514, 32755, AGC= 71, IDX= 508,-0.06,-0.041, 1.934, 0.243, 0.737, PHS=-0.690, 1.244,-0.497, RAW= 324.8, -0.6, CAL= 327.0, -1.1, ROT= 183.0, 1.1 zYgot valid direction response: 14:10:46.7732 LVL= 32752, 31681, 28514, 32755, AGC= 71, IDX= 508,-0.06,-0.041, 1.934, 0.243, 0.737, PHS=-0.690, 1.244,-0.497, RAW= 324.8, -0.6, CAL= 327.0, -1.1, ROT= 183.0, 1.1 ~T#Rx 83: Read range and direction messages.bdirection in FSK: [-0.998445,-0.052326,-0.019197]Fpublishing direction and range infoTyVC:ʪ]~VAYT T)V{IVboiTVGVף0Vd;?Vv V g@G@AG@AHü>HH'IH}BH =HHH:<HCE)V+IV@iVnFViL@VnF< T)TVߋ F8ڿF^iVr[-V2٥ HF; >Q5e?Q59f IBy @@BEi:; AQ5$AyEZTbVZiAVAVAVr(@ʁV! m= |(jkVC:ʪ]~VEVnF<ҁVw5@Kn[9S4,IVɫrl? `忰C*zVVAjVBaQȜ?rV V2uBV'ܣȜ?V;|  VduBVAV@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.500148 s, deltaX: 0.600000 m, approachRate: 1.199646 m/s, rangeRepo size: 4  Added new target pos. range: 29.985777 m, bearing: 317.200170 deg, lat: 36.906426 deg, lon: -122.115995 deg, deltaT: 0.500148 s, deltaX: 0.595915 m, approachRate: 1.191477 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.99 m.b Z r j R J B ~~}9|9|A|E@33>@|E@W[?q {Bu;I)!>Iм 2<v=ET2V,{0ZiA9F@F@YFiCyF;FH%Pq??W@J!y?9o?@? F@F;)FC^}B^I)` `IfIfm?3r= rk=yr=;Q r?٥tt vHvFK5-8P"K5ͼ9*K12K5:K5J)PHM{/b ao~539WK D2\ԱMs; >Q5.V?Q59 I By!M@U@CEi O<P<TDQ5}XB}D$AxEDDAT read: Rx Time:14:10:47.2734 TRx dataTimestamp_ set to:1749132648.565505 PDAT read: Bearing 182.3, 2.0 (Local) ~Local bearing/azimuth received: Bearing 182.3, 2.0 (Local) DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed -0.4 DNOT Ignoring new targets: 29.99 m.bZrj R JB~~}||||%@?DAT read: 14:10:47.2734 LVL= 27280, 25361, 26210, 32755, AGC= 69, IDX= 510,-0.24,-2.084,-0.155,-1.829,-1.351, PHS=-0.645, 1.242,-0.481, RAW= 325.5, -1.3, CAL= 327.7, -2.0, ROT= 182.3, 2.0 EYgot valid direction response: 14:10:47.2734 LVL= 27280, 25361, 26210, 32755, AGC= 69, IDX= 510,-0.24,-2.084,-0.155,-1.829,-1.351, PHS=-0.645, 1.242,-0.481, RAW= 325.5, -1.3, CAL= 327.7, -2.0, ROT= 182.3, 2.0 MT#Rx 84: Read range and direction messages.Mbdirection in FSK: [-0.998586,-0.040107,-0.034899]UFpublishing direction and range infoyLjp􈤿XޡAY j)cIbfiE {B靍nIXxͼ <%?E "˵@)޹I@i5K@5= )ϧ@Qۿ`i0i,>=VXe9Jـ4Ju@u@}@}@y  Yy2Bu checking for new query: numPingsReceived=84, elapsed TxPingTime=40.8527306G 5[<9 ~G A A NE >ZV,O8ZiA}BIMb@Mb@Mb@ )Y&1?K~jthyP?^D@ @)3@I@y@II 3\< 0=yQ >٥ HF >Q5C?Q59 IBy1R?:@@CEi:k:HQ5($A{EZb<1$ZiADADAΰ@ʁHC=>X)n4DLjp􈤿Xޡ(~F5=ҁ75@e 34Pn )b(?G5[7*P/zWAjjzȜ?r5 ? sBE Ȝ?  OuBTA:9@M addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.508564 s, deltaX: 0.299999 m, approachRate: 0.589895 m/s, rangeRepo size: 4 ] Added new target pos. range: 30.283648 m, bearing: 316.571968 deg, lat: 36.906425 deg, lon: -122.115997 deg, deltaT: 0.508564 s, deltaX: 0.297871 m, approachRate: 0.585709 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 30.28 m.baZarajaRaJaBi~i~m |B}i|q|q|u>@|u ? M{BM"QIUʼ QQU1OH%CH%FIH%~BH% =H!H%,DH%<H%EEU?EYEYE]W0EYDAT read: 14:10:47.7738 LVL= 22768, 28561, 19890, 32755, AGC= 70, IDX= 1, 0.43, 1.268,-3.062, 1.511, 2.028, PHS=-0.672, 1.241,-0.520, RAW= 325.9, -0.5, CAL= 328.0, -1.0, ROT= 182.0, 1.0 Ygot valid direction response: 14:10:47.7738 LVL= 22768, 28561, 19890, 32755, AGC= 70, IDX= 1, 0.43, 1.268,-3.062, 1.511, 2.028, PHS=-0.672, 1.241,-0.520, RAW= 325.9, -0.5, CAL= 328.0, -1.0, ROT= 182.0, 1.0 T#Rx 85: Read range and direction messages.bdirection in FSK: [-0.999239,-0.034894,-0.017452]5Fpublishing direction and range infoyvDᅰNݡW7) ߑAY X)oIMiF1,ٞ? S@)5I0@i5KK@5< )Vd"j ۿv%CiA!,<F5< )]checking for new query: numPingsReceived=85, elapsed TxPingTime=41.152573i6G} D`<ZG RG ~G9 AA AY Ne >ԑ >V,QZiA9>@>/@Y>-/3y>\H<>H`c?&??@k@s1d?L?? >@>>;)>CF}BJ IIR IR2VZ= Vs=yZF4m= Le>%checking for new query: numPingsReceived=85, elapsed TxPingTime=41.354031 vDᅰNݡW7) ߑ F 5<ҁ Dd OV6@/~<5+Ggj Xqz%?B=濉#=z  Aj iʏȜ?r q  vB BaQȜ? 5 ?   &A @ addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.499761 s, deltaX: 0.600000 m, approachRate: 1.200575 m/s, rangeRepo size: 4 y Added new target pos. range: 30.880262 m, bearing: 316.445677 deg, lat: 36.906425 deg, lon: -122.115999 deg, deltaT: 0.499761 s, deltaX: 0.596615 m, approachRate: 1.193800 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.88 m.bZrjRJB~!~!}Q|Y|i|?@| @? ]{B]6aIe Ǽ aaҊ<=+Z-EV;=0j%#pnDDAT read: Rx Time:14:10:48.2739  TRx dataTimestamp_ set to:1749132649.571982% PDAT read: Bearing 181.2, 3.0 (Local) - ~Local bearing/azimuth received: Bearing 181.2, 3.0 (Local) e DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed -0.5 q ] DAT read: 14:10:48.2739 LVL= 29008, 31185, 25970, 32755, AGC= 67, IDX= 499, 0.10, 1.005, 2.962, 1.223, 1.711, PHS=-0.618, 1.298,-0.490, RAW= 326.6, -2.1, CAL= 328.8, -3.0, ROT= 181.2, 3.0 6Ge Qd< Ygot valid direction response: 14:10:48.2739 LVL= 29008, 31185, 25970, 32755, AGC= 67, IDX= 499, 0.10, 1.005, 2.962, 1.223, 1.711, PHS=-0.618, 1.298,-0.490, RAW= 326.6, -2.1, CAL= 328.8, -3.0, ROT= 181.2, 3.0  T#Rx 86: Read range and direction messages. bdirection in FSK: [-0.998411,-0.020914,-0.052336] Fpublishing direction and range infoybɌ￀ijyoU˪AY Pq)yIreiC?5$?H ih@)Q I@iPwVgJ@PwV= ),^^f^ܿ͜wsi`+==GPwV= ) checking for new query: numPingsReceived=86, elapsed TxPingTime=41.675449~G) AI Aa Nm >GiV,kZiA :J\BJVJJARJZJ=:bJB9J4J9f@&z@Y%y])<H~˷@?ุ?!@p ?@?? f@骽܌;)C}BIi٥ HF]; >!-Q5%?-Q59%G I%By-V?-}:-@-@%CEi%:%I:%cPQ5=WB=#A=~EZ)b-ZdZiA-A-A-h@ʁ-t}&)>m/*7-bɌ￀ijyoU˪-G-PwV=ҁ-xqA"6@;X{53<-#:EW?a}0(ȷz-ګ-Aj-#dȜ?r-*J> -@rB-iʏȜ?-  -2uB-A-ɰ@- addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.506716 s, deltaX: 0.100000 m, approachRate: 0.197350 m/s, rangeRepo size: 4 = Added new target pos. range: 30.979557 m, bearing: 315.858586 deg, lat: 36.906423 deg, lon: -122.116000 deg, deltaT: 0.506716 s, deltaX: 0.099295 m, approachRate: 0.195957 m/s, posRepo size: 4 EDNOT Ignoring new targets: 30.98 m.bAZArAjARAJIBI~q~u|B}q|q|y|}@33?@|}`(? {B;I)i?I0x¼ "< =pH! H% _IH% E~BH%  =H! H% -DH% <H% EHHH˔CH =I Ig6e DAT read: 14:10:48.7742 LVL= 32752, 32753, 28658, 32755, AGC= 70, IDX= 502,-0.11, 0.337, 2.286, 0.549, 1.048, PHS=-0.623, 1.285,-0.503, RAW= 326.8, -1.7, CAL= 329.0, -2.6, ROT= 181.0, 2.6 m Ygot valid direction response: 14:10:48.7742 LVL= 32752, 32753, 28658, 32755, AGC= 70, IDX= 502,-0.11, 0.337, 2.286, 0.549, 1.048, PHS=-0.623, 1.285,-0.503, RAW= 326.8, -1.7, CAL= 329.0, -2.6, ROT= 181.0, 2.6 m T#Rx 87: Read range and direction messages.} bdirection in FSK: [-0.998818,-0.017434,-0.045363] Fpublishing direction and range info y f( R↑DTڑ99 AY ) I oi F | z? @) I @i 9 -J@ 9= ) p"ܿyi %+ Թ< G 9= )  checking for new query: numPingsReceived=87, elapsed TxPingTime=42.1502426Gp<~GIAQAiNu?ߢV, ZiAX9<@@Yy<HN,w?5?3#2ѣ??? <@;)C=}B=IIuIu3}= v=yX;Q ?٥ HF; ?Q5+ ?Q59t I$By6@@CEi::RSQ5eVBmS#AmEZbDZiA9A9A_@ʁkMʯ=?[3skKlf( R↑DTڑ99G9=ҁVW6@xpº5@y*ף?L.;z֭AjZfȜ?r JsBjzȜ?*J>  sBAُ@E addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.500422 s, deltaX: 0.299999 m, approachRate: 0.599492 m/s, rangeRepo size: 4 U Added new target pos. range: 31.277922 m, bearing: 315.796429 deg, lat: 36.906421 deg, lon: -122.116000 deg, deltaT: 0.500422 s, deltaX: 0.298365 m, approachRate: 0.596226 m/s, posRepo size: 4 UDNOT Ignoring new targets: 31.28 m.bQZYrYjYRYJyB~~}|||?@| ? S9 K ? P"K ý9*K 2K :K ;2d{r=[73H-zhUi<@ny;DXdyRr DDAT read: Rx Time:14:10:49.2744  TRx dataTimestamp_ set to:1749132650.580576% PDAT read: Bearing 180.6, 2.4 (Local) - ~Local bearing/azimuth received: Bearing 180.6, 2.4 (Local) |V,|ҥZiArDAT read: Range 10 to 50 : 31.8 m (trip time 21.2 ms) speed -0.5 EDAT read: 14:10:49.2744 LVL= 32656, 27601, 27234, 32755, AGC= 67, IDX= 504,-0.25,-0.681, 1.324,-0.484, 0.047, PHS=-0.640, 1.323,-0.535, RAW= 327.3, -1.6, CAL= 329.4, -2.4, ROT= 180.6, 2.4 MYgot valid direction response: 14:10:49.2744 LVL= 32656, 27601, 27234, 32755, AGC= 67, IDX= 504,-0.25,-0.681, 1.324,-0.484, 0.047, PHS=-0.640, 1.323,-0.535, RAW= 327.3, -1.6, CAL= 329.4, -2.4, ROT= 180.6, 2.4 MT#Rx 88: Read range and direction messages.}bdirection in FSK: [-0.999068,-0.010463,-0.041876]}Fpublishing direction and range info9m,@m@Ym Uymb٥ HF; >]Q5}?eQ59 I*ByexY?ey:e9@e@CEi[g<g<WQ5iue#AqZ1b5((ZiA5A5A58@ʁ5kߋ?X$տ]'5HΌ][r)m ۷p5GdH5+=ҁ5yH CH rIH d~BH  =H H .DH њ<H ETRx dataTimestamp_ set to:1749132651.081537-PDAT read: Bearing 180.2, 2.5 (Local) -~Local bearing/azimuth received: Bearing 180.2, 2.5 (Local) UDAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed -0.8 DAT read: 14:10:49.7748 LVL= 26704, 26833, 22226, 32755, AGC= 68, IDX= 508,-0.33, 0.102, 2.130, 0.282, 0.828, PHS=-0.638, 1.349,-0.549, RAW= 327.7, -1.7, CAL= 329.8, -2.5, ROT= 180.2, 2.5 Ygot valid direction response: 14:10:49.7748 LVL= 26704, 26833, 22226, 32755, AGC= 68, IDX= 508,-0.33, 0.102, 2.130, 0.282, 0.828, PHS=-0.638, 1.349,-0.549, RAW= 327.7, -1.7, CAL= 329.8, -2.5, ROT= 180.2, 2.5 T#Rx 89: Read range and direction messages.bdirection in FSK: [-0.999042,-0.003487,-0.043619]Fpublishing direction and range info~GAAN?૱V,ZiAکyڭyl6'&3lGUڭBYک ۭPh)ۭhIۭVi۩ۭDۭS#ۭ?ۭD ܭ@)ܭIܭ1@iܭ¸2ܭ II@ܭ¸2= ݩ)ݩݭ4Z'PO|\ݿU^B(iݭ*ݭ(I<ݭHݭ¸2= ީ)ީRchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.168259!9=@@Y*y_<H`:?:?`ӫGuCZ??s? =@骵;)}B*I)   p= R=I=I=3E[= M/=yM <;Q M>٥QQ uHy\; >Q5?Q59| I/ByT@@$CEi ::[Q5"AEZb7ZiABB6 @QʁqL+@|;Rsyl6'&3lGUH¸2=ҁOԖ6@/G{6E(t+2?SFy濧"YzôAj״]Ȝ?r) sB#dȜ?  sBꁭAgA@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.500961 s, deltaX: 0.600002 m, approachRate: 1.197703 m/s, rangeRepo size: 4  Added new target pos. range: 32.171906 m, bearing: 315.205194 deg, lat: 36.906419 deg, lon: -122.116000 deg, deltaT: 0.500961 s, deltaX: 0.596100 m, approachRate: 1.189913 m/s, posRepo size: 4 MDNOT Ignoring new targets: 32.17 m.bIZIrIjIRQJQBQ~Q~Q}Y|Y|Y|]@33@@|e`? V@)ܵ4QOIܵmy@iܵQ ܵH@ܵQ = ݱ)ݱݵAG1r4޿8`UD0iݵ )ݵQ=ݵH@ݵQ = ޱ)ޱ}checking for new query: numPingsReceived=90, elapsed TxPingTime=43.7357419F@@YyZ<Ha~??jj`$ա?XŞ?T? F@R ;)u}Bu&II!I%AA:J=]BJ=XJJ9RJ9ZJ=]:bJ=5K9J9J9Mb@Mb@Mb@ )YX9v?+{Gzty]?ף@ @)3@I@yII#3K =y:Q >checking for new query: numPingsReceived=90, elapsed TxPingTime=43.873890٥ H FF!; 5>iQ5m~?Q59mq Im7By^?s:?@@m-CEimP$H H IH ~BH  =H H H <H EAMchecking for new query: numPingsReceived=91, elapsed TxPingTime=44.1553806GU <jGl?bG?~GqAAN?sV,I [iA9n@n@Ynync;٥ii uHquua; u>yQ5}?Q59}Jk I};ByS@@}2CEi}t4<}4<}mdQ5UB"AEZIbM([iAMCBMCBMʗ@ʁMYQw@:l??iÃMmџJ?MGH@MK=ҁMG6@XЗs7ѫMA~eH9?;8 ?:.zMMAjM2@Ȝ?rM& MmBM%ZȜ?M&Ӫ  IMTBM@ addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.499168 s, deltaX: 0.599998 m, approachRate: 1.201997 m/s, rangeRepo size: 4   Added new target pos. range: 33.065548 m, bearing: 314.397924 deg, lat: 36.906418 deg, lon: -122.116002 deg, deltaT: 0.499168 s, deltaX: 0.595757 m, approachRate: 1.193499 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.07 m.bZrjRJB9~A~A}A|A|A|M`f@@|M? {B靽KI V,v#[iADDAT read: Rx Time:14:10:51.2755 TRx dataTimestamp_ set to:1749132652.595957=PDAT read: Bearing 178.3, 5.0 (Local) E~Local bearing/azimuth received: Bearing 178.3, 5.0 (Local) KZ+P"KX*KX2KZ:KZf4'BB SlR|fD$4Cv-g I9uDAT read: Range 10 to 50 : 33.6 m (trip time 22.4 ms) speed -0.8 995@5[@Y5D5y5`<5H{`@.?ͅ?@D~E?˨? ? 5@5";)5CMDAT read: 14:10:51.2755 LVL= 23264, 28737, 20210, 32755, AGC= 71, IDX= 500,-0.17,-2.108,-0.028,-1.996,-1.451, PHS=-0.569, 1.470,-0.549, RAW= 329.5, -3.5, CAL= 331.7, -5.0, ROT= 178.3, 5.0 Ygot valid direction response: 14:10:51.2755 LVL= 23264, 28737, 20210, 32755, AGC= 71, IDX= 500,-0.17,-2.108,-0.028,-1.996,-1.451, PHS=-0.569, 1.470,-0.549, RAW= 329.5, -3.5, CAL= 331.7, -5.0, ROT= 178.3, 5.0 T#Rx 92: Read range and direction messages.`direction in FSK: [-0.995756,0.029553,-0.087156]Fpublishing direction and range info y a9,<|">C?O fBY  Z) ApI Ni  G  (? D  @) 5zI A@i ¸ )G@ ¸= ) -}B--Ii5=I5p<15A  f뿅/qw߿eXi ( z= )G@ ¸= ) checking for new query: numPingsReceived=92, elapsed TxPingTime=44.749977aMMb@Mb@Mb@III I)IYMx&1?)\({GzyMa?MGaM#Mv@ M@)M@IMv@IyM@II 2*<  =y5p:Q =>٥99 =H= FE8 E>IUQ5Mr?}Q59Ma IM@By}a?}p:}@@M:CEiM2;M;MiQ5"AEZ b )$&[iA tB tB  @ʁ 'ҡ~e@YT?vf4C a9,<|">C?O )G@ ¸=ҁ m9'6@꛺p8H d|?y8z<z ~ /Aj Ȝ?r p  /nB 2@Ȝ? )  oB B c@= addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.508179 s, deltaX: 0.299999 m, approachRate: 0.590342 m/s, rangeRepo size: 4 E Added new target pos. range: 33.363434 m, bearing: 313.424365 deg, lat: 36.906415 deg, lon: -122.116003 deg, deltaT: 0.508179 s, deltaX: 0.297886 m, approachRate: 0.586183 m/s, posRepo size: 4 MDNOT Ignoring new targets: 33.36 m.DDAT read: Rx Time:14:10:51.7758 TRx dataTimestamp_ set to:1749132652.845785checking for new query: numPingsReceived=92, elapsed TxPingTime=44.886955bIZrjRJB ~9 ~E {B}i |q |y | @@| ? J+Fpublishing direction and range infoy9j0L錣?zBPfBY d)IMiFGt? <@@)Q I@iBҽF@B= )HR޼>HPHPHPHPHPHR-DHR%<HR?E u߿вiv'節=F@B= ) checking for new query: numPingsReceived=93, elapsed TxPingTime=45.1627399-@-<@Y-y-Ih<-H@G?@?RƇ oy?`|?N? -@-;))=~BE5IIU1IUb2E = E\=yEr;;Q E>٥II MHIu8 u>yQ5}%?Q59}Z I}CBy@@}@CEi}k8<}8<}lQ5TB"AEZb0F[iApBpBX@ʁ=a%@̯?[% 9j0L錣?zBPF@B=ҁK6@, 48Փ1v?Ck=翱CJzAjfȜ?rNq lBc=Ȝ?&  /nBB3@ addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.498720 s, deltaX: 0.500000 m, approachRate: 1.002567 m/s, rangeRepo size: 4 U Added new target pos. range: 33.859856 m, bearing: 312.884083 deg, lat: 36.906415 deg, lon: -122.116005 deg, deltaT: 0.498720 s, deltaX: 0.496422 m, approachRate: 0.995392 m/s, posRepo size: 4 UDNOT Ignoring new targets: 33.86 m.bQZQrQjQRYJYBY~Y~Y}||| A@|? {BBRJIZJM=:bJMB9JMt4JIzJM:UjJM:UJMX:UrJMX:]YDDAT read: Rx Time:14:10:52.2762 TRx dataTimestamp_ set to:1749132653.352132checking for new query: numPingsReceived=93, elapsed TxPingTime=45.3936006G- Vv<~G A A! N5 > hV,_[iA9N@NF@YNI%yN4N;NH3`S?˖?Z*yÞ? f?? N@N4&;)NCb~Bb6IIrIr~; ~b=y:Q >٥    H  FȦ >!-Q5%dp?5Q59%LT I%FBy1=@E@%ECEi%C;%{;%oQ5QU"AQDNOT Ignoring new targets: 33.86 m.bZrjRJB~~}||||<*? 靕Y IևG iYy% B6G< ~G A A N >% DDAT read: Rx Time:14:10:52.7766 - TRx dataTimestamp_ set to:1749132653.859528E PDAT read: Bearing 178.2, 6.9 (Local) M ~Local bearing/azimuth received: Bearing 178.2, 6.9 (Local) e DAT read: Range 10 to 50 : 35.3 m (trip time 23.5 ms) speed -0.5 -u Z#Rx 95: Read range message, but no direction.) - 3 BY)  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.914948I (V,x~y[iA9Э@&@Y~^yuU:H^kI?@?@ ؓ@ʝ?@[?@? Э@|;)C=}B=2I U=U=Mb@Mb@Mb@ )Yjt?A`"~jtxy`?YĻ`@ )I`@y\@IYIYma )=yT:Q >٥ H F >Q5X?Q59K IKBy.a?q:@@KCEi,<+<9tQ5SB"AEZYb]w[iA]4 B]4 B]@ʁ]UkA7`&p?kO ]}Ԧ|O ?4ޮ`º]YF@]Pw=ҁ]]e7@Y[x9ϱ]͒u?BY@U.z]]Aj]c/Ȝ?r]_ ]IkB]c/Ȝ?]p  ]mB]/ B]7@ addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.764851 s, deltaX: 1.200001 m, approachRate: 1.568934 m/s, rangeRepo size: 4  Added new target pos. range: 35.051407 m, bearing: 312.844812 deg, lat: 36.906411 deg, lon: -122.116007 deg, deltaT: 0.764851 s, deltaX: 1.191551 m, approachRate: 1.557887 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.05 m.bZrjRJB~~{B}|||`fA@||? imwHHIH~BH =HH.DH<HEYgot valid direction response: 14:10:52.7766 LVL= 21664, 24465, 17682, 26067, AGC= 68, IDX= 510,-0.48, 0.591, 2.586, 0.709, 1.180, PHS=-0.500, 1.454,-0.473, RAW= 329.3, -5.0, CAL= 331.8, -6.9, ROT= 178.2, 6.9 Z#Rx 96: Read direction message, but no range.`direction in FSK: [-0.992267,0.031183,-0.120137]aye"Lh,?rjƹIYa eT)e_IeEieeeDee?e- er@)e¸IeO@ieϢe" G@eϢ= aeLf' >5߿:GYieR(e=e" G@eϢ=checking for new query: numPingsReceived=96, elapsed TxPingTime=46.164295q 6GE V<~G A A N% >:J ^BJ TJJ =RJ ZJ } :bJ :9J g4J zJ _:jJ c:J RJ:rJ UJ:V,][iA9>@>ݛ@Y>y>R&>H=`ؒ?0?,@M@Y?d? >@>;)>Cn}Bn1IIvIv ~ ~|=y:Q  ?٥ =H=FMC M?DDAT read: Rx Time:14:10:53.2768 TRx dataTimestamp_ set to:1749132654.362901PDAT read: Bearing 197.5, 13.7 (Local) ~Local bearing/azimuth received: Bearing 197.5, 13.7 (Local) DAT read: Range 10 to 50 : 35.6 m (trip time 23.7 ms) speed -0.6 EQ5H?MQ59 F INB--Z#Rx 97: Read range message, but no direction.fBYy@@PCEi =s=(wQ5"AEchecking for new query: numPingsReceived=97, elapsed TxPingTime=46.420197Zb9[iAe Be B֮@ʁW\ٹA'M?򠪠"Lh,?rjƹI" G@Ϣ=ҁ@ 7@YJ9<8%VO??z ]L׊ÿizbAjԲ"Ȝ?r! hBNq  lB1 By@% addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.503373 s, deltaX: 0.299999 m, approachRate: 0.595978 m/s, rangeRepo size: 4 m Added new target pos. range: 35.349323 m, bearing: 313.042716 deg, lat: 36.906411 deg, lon: -122.116011 deg, deltaT: 0.503373 s, deltaX: 0.297916 m, approachRate: 0.591840 m/s, posRepo size: 4 mDNOT Ignoring new targets: 35.35 m.biZirijqRqJqBq~q~y}y|y|y|}A@|q5? {B`= Ygot valid direction response: 14:10:53.2768 LVL= 27616, 24561, 20930, 32755, AGC= 68, IDX= 512,-0.33,-0.028, 2.487, 1.007, 0.841, PHS=-0.781, 1.693, 0.163, RAW= 307.8, -10.0, CAL= 312.5, -13.7, ROT= 197.5, 13.7 E Z#Rx 98: Read direction message, but no range.M bdirection in FSK: [-0.926583,-0.292150,-0.236838]y y} v X헲ҿ4ӋHPοYy } k)} _I} Qi} y } G} 9?} y&> } o@)} ¸2I} n@i} Gt} \@} Gt> y } V9￘59(ƿi} ]@} '2>} 5} Gt> checking for new query: numPingsReceived=98, elapsed TxPingTime=46.725288V,D6[iA96`@6s@Y6Mzy6諻6H%f ?L?@;X@M?`zu? 6`@6L;)4Pn ~Bn<I=Mb@Mb@Mb@999 9)9Y=Gz?/$Mbpy=p]?=,==@ =3@)=@I=I@9y=@IU IUV2%= 4=y%l:Q >٥ HF >%Q5A2?%Q59m> ISBy-]?=u:=X@E@VCEib8<;{Q5QUj"AQDNOT Ignoring new targets: 35.35 m.bZrjRJB~~{B}||||?DDAT read: Rx Time:14:10:53.7772 TRx dataTimestamp_ set to:1749132654.866390PDAT read: Bearing 178.9, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 178.9, 6.8 (Local) -DAT read: Range 10 to 50 : 36.2 m (trip time 24.1 ms) speed -0.5 -eZ#Rx 99: Read range message, but no direction.BY}checking for new query: numPingsReceived=99, elapsed TxPingTime=46.923943 ]{B靥ܴ1V,[iAH&>H$H$H$H$H$H$H&<H&EH CH CH CH  =I  = I 5:DAT read: 14:10:53.7772 LVL= 25712, 24801, 19154, 30099, AGC= 70, IDX= 4,-0.24,2.050, 0.117, 0.593, PHS=-0.535, 1.504,-0.479, RAW= 328.6, -4.9, CAL= 331.1, -6.8, ROT= 178.9, 6.8 B!unknown deviceResponse_: 14:10:53.7772 LVL= 25712, 24801, 19154, 30099, AGC= 70, IDX= 4,-0.24,2.050, 0.117, 0.593, PHS=-0.535, 1.504,-0.479, RAW= 328.6, -4.9, CAL= 331.1, -6.8, ROT= 178.9, 6.8 Bchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.1658339j53@jF@YjyjbjHn 7?;?o`b ? R@u? j53@j|/;)jC~~B8I  II%Ž %d=y%OQ %>٥)) -H)- ->y1Q55S!?Q5958 I5VBy*@@5[CEi5e<5e<5~Q5"AE- addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.503489 s, deltaX: 0.600002 m, approachRate: 1.191689 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 35.35 m.b1Z1r1jQRYJYBY~Y~a}a|a|a|eB@|u ? {B ԡ V,[iA9Vn @V@YV$zyVK$VH``@@G??aR%@>N?):? Vn @V>5;)VCqUDAT read: 14:10:54.2774 LVL= 18624, 22289, 15698, 24211, AGC= 70, IDX= 502,-0.30, 0.185, 2.245, 0.325, 0.773, PHS=-0.501, 1.518,-0.452, RAW= 328.8, -5.7, CAL= 331.4, -7.9, ROT= 178.6, 7.9 eYgot valid direction response: 14:10:54.2774 LVL= 18624, 22289, 15698, 24211, AGC= 70, IDX= 502,-0.30, 0.185, 2.245, 0.325, 0.773, PHS=-0.501, 1.518,-0.452, RAW= 328.8, -5.7, CAL= 331.4, -7.9, ROT= 178.6, 7.9 m\#Rx 101: Read direction message, but no range.`direction in FSK: [-0.990214,0.024200,-0.137445])y- ԯWU8ǘ?yjȗY) -H)-WI-R=K,P"Ký9*K2K:K v<T -  Rv+%'kl2 ()6pG3k7XQvc^i-^-F-A-M?-l -@)-%˽I-@i-0 -G@-0 > )- XIF뿱 ޿'_si-(-dc=-G@-0 >Echecking for new query: numPingsReceived=101, elapsed TxPingTime=47.688351U ~BU<Iԡ]Mb@Mb@Mb@YYY Y)YY]/$?Q{Gzty]\?]]ף]@ Y)]@I]`@Yy]f@ImIm(*2"< =yMQ >٥ HF"} >)5Q5-R?=Q59-- I-]By=\?=v:=@=@-dCEi-:-:-Q5ERBE_"AMEZ!b%[iA%B%B%ٮ@ʁ%88Add"?H% ԯWU8ǘ?yjȗ%G@%0 >ҁ%m~4h8@:H?9g%3\@?t !ϘI>ſz%%@Aj% Ȝ?r% %eB%Ȝ?! %IkB%B%Ϯ@M  addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.504269 s, deltaX: 0.299999 m, approachRate: 0.594919 m/s, rangeRepo size: 4   Added new target pos. range: 36.243195 m, bearing: 313.068792 deg, lat: 36.906410 deg, lon: -122.116011 deg, deltaT: 1.007758 s, deltaX: 0.893871 m, approachRate: 0.886990 m/s, posRepo size: 4  DNOT Ignoring new targets: 36.24 m.b Z r j R J B ~ ~ {B} | | | @B@| ]? DDAT read: Rx Time:14:10:54.7778  TRx dataTimestamp_ set to:1749132655.876745- PDAT read: Bearing 179.2, 6.3 (Local) 5 ~Local bearing/azimuth received: Bearing 179.2, 6.3 (Local)  DAT read: Range 10 to 50 : 37.1 m (trip time 24.7 ms) speed -0.6 - \#Rx 102: Read range message, but no direction.  fBY  checking for new query: numPingsReceived=102, elapsed TxPingTime=47.948250 M {BM bHHIH~BH =HHH<H E\#Rx 103: Read direction message, but no range.`direction in FSK: [-0.993864,0.013878,-0.109734]ڙyڝKy}!Zl?,=Yڙ ۝X)۝AkI۝Ji۝۝G۝ ۝X?۝33 ܝi@)ܝ|٠Iܝ@iܝz0Ὁܝ+H@ܝz0= ݙݝ}R쿩R޿aiݝ])ݝ4Y=ݝ+H@ݝz0=checking for new query: numPingsReceived=103, elapsed TxPingTime=48.178154AINm"?QW,ܹ \iA9E:@E@YEj=yE󻹪EH ={w?@? >&?`]~ 9? E:@E;)A )ɺ麑ɻiIIi ף) ɼI)i)Iɽ ɾiiA)  Iٯ)E~BE@III(1g< .=yYQ >٥    H FL >EQ5h뿜?MQ59% IbByIM@M@jCEi{;;‡Q5eQBeA"AeE:JM\BJMYJJMDRJIZJM=:bJM[O9JM4JIzJM:jJM:JM&n:rJM)n:Z!b%[iA%[B%[B%@ʁ%8M* tNB!c"\?4+%Ky}!Zl?,=%+H@%z0=ҁ%*1G9@UpS:;sd}%J"M(?=翳 cz%g%&Aj%'Ȝ?r%r %iB%c/Ȝ?! %iB%B%N@% addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.506086 s, deltaX: 0.599998 m, approachRate: 1.185566 m/s, rangeRepo size: 4 5 Added new target pos. range: 36.838959 m, bearing: 313.298789 deg, lat: 36.906411 deg, lon: -122.116011 deg, deltaT: 0.506086 s, deltaX: 0.595764 m, approachRate: 1.177199 m/s, posRepo size: 4 9UDNOT Ignoring new targets: 36.84 m.bYZYrYjYRYJYBY~a~a}a|a|i|m̌B@|m`w?DDAT read: Rx Time:14:10:55.2780 TRx dataTimestamp_ set to:1749132656.379757PDAT read: Bearing 180.4, 6.6 (Local) ~Local bearing/azimuth received: Bearing 180.4, 6.6 (Local) =DAT read: Range 10 to 50 : 37.4 m (trip time 24.9 ms) speed -0.5 -]\#Rx 104: Read range message, but no direction.BYuchecking for new query: numPingsReceived=104, elapsed TxPingTime=48.434208 {B靭T-W,W$\iA9n@@n@YnynnH@0 @?`G ?1᛿}?`Z@? n@@n;)nCA KM(P"KM9*KI}DAT read: 14:10:55.2780 LVL= 23104, 22577, 19826, 28787, AGC= 69, IDX= 507, 0.30, 0.012, 2.086, 0.220, 0.663, PHS=-0.563, 1.470,-0.445, RAW= 327.0, -4.7, CAL= 329.6, -6.6, ROT= 180.4, 6.6 2KM:KMw,<*38:;:8b40,(1%!U0G c  ' } h  - V) Ygot valid direction response: 14:10:55.2780 LVL= 23104, 22577, 19826, 28787, AGC= 69, IDX= 507, 0.30, 0.012, 2.086, 0.220, 0.663, PHS=-0.563, 1.470,-0.445, RAW= 327.0, -4.7, CAL= 329.6, -6.6, ROT= 180.4, 6.6 \#Rx 105: Read direction message, but no range.5bdirection in FSK: [-0.993349,-0.006935,-0.114937]E ~BMIIyM￞g|NZlY @Z)1XIrMispE (? @)IX@i뽉٥ H >%Q5Կ?%Q59 IgBy!-^@-@qCEi::Q5195 "AQZbM\iABB@ʁ@0*qBpSa{пafM￞g|NZlyH=ҁ$Y9@6䡁B:lbXs%>#&?%p{¿zAjJȜ?rN hBԲ"Ȝ?r  hBlB@ addTargetRange:: Added new target pos. range: 37.400002 m, deltaT: 0.503012 s, deltaX: 0.300003 m, approachRate: 0.596413 m/s, rangeRepo size: 4 - Added new target pos. range: 37.136848 m, bearing: 314.385866 deg, lat: 36.906412 deg, lon: -122.116010 deg, deltaT: 0.503012 s, deltaX: 0.297890 m, approachRate: 0.592212 m/s, posRepo size: 4 -DNOT Ignoring new targets: 37.14 m.b)Z1r1j1R1J1B9~9~9}9|A|A|E@3B@|E@&? -{B-vA3W,?\iA9Z e@Z`x@YZyZpx$ZH@$`a_??`K% `.|?@? Z e@Z;)ZCM3~BMTIImIm 2}-p= }=y}7Q } ?٥ HFѻ  ?Q5Ŀ?Q59 IjBy=@@uCEiC::Q5  !A E addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 0.503239 s, deltaX: 0.099998 m, approachRate: 0.198710 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 37.14 m.bZrjRJB~~}|||B@|@n? 5{B5~=I5)=*!?9I= 99e{dHAHEIHE~BHE =HAHE-DHEښ<HEEeDAT read: 14:10:55.7782 LVL= 27168, 25137, 21570, 32755, AGC= 72, IDX= 510, 0.15, 1.022, 3.010, 1.231, 1.706, PHS=-0.596, 1.350,-0.478, RAW= 326.9, -3.0, CAL= 329.3, -4.2, ROT= 180.7, 4.2 uYgot valid direction response: 14:10:55.7782 LVL= 27168, 25137, 21570, 32755, AGC= 72, IDX= 510, 0.15, 1.022, 3.010, 1.231, 1.706, PHS=-0.596, 1.350,-0.478, RAW= 326.9, -3.0, CAL= 329.3, -4.2, ROT= 180.7, 4.2 u\#Rx 107: Read direction message, but no range.}bdirection in FSK: [-0.997240,-0.012184,-0.073238]y@Xcᅳ\􈿀Y  j)1bIBTiHu̬?j M@)PwVIr@iQ I@Q = G쿼;Iܿgi+PS=GHQ =checking for new query: numPingsReceived=107, elapsed TxPingTime=49.184769"StoppingQ6GO <:J _BJ OJJ ?RJ ZJ :bJ %9J ـ4J zJ ,:jJ 1:J ~&:rJ &:~G A A N >i  DDAT read: Rx Time:14:10:56.2784  TRx dataTimestamp_ set to:1749132657.383473 DAT read: Range 10 to 50 : 37.8 m (trip time 25.2 ms) speed -0.7 - \#Rx 108: Read range message, but no direction. 3BY  checking for new query: numPingsReceived=108, elapsed TxPingTime=49.425304W,ÁY\iA9:[K@:^@Y:y:!::H` !@b??`㝿٥xx zHzFz ~>Q5)?Q59 IoBy#@@{CEi;X;CQ5y!AYZbҊX\iA"B"Bv@ʁ: BhDݿx OFW,{s\iA J~BbIԩDDAT read: Rx Time:14:10:56.7788 TRx dataTimestamp_ set to:1749132657.894565%PDAT read: Bearing 181.3, 5.8 (Local) %~Local bearing/azimuth received: Bearing 181.3, 5.8 (Local) =DAT read: Range 10 to 50 : 38.4 m (trip time 25.6 ms) speed -0.6 DAT read: 14:10:56.7788 LVL= 19936, 17825, 18098, 30195, AGC= 69, IDX= 4, 0.00, 0.593, 2.719, 0.840, 1.289, PHS=-0.608, 1.476,-0.453, RAW= 326.2, -4.2, CAL= 328.7, -5.8, ROT= 181.3, 5.8 Ygot valid direction response: 14:10:56.7788 LVL= 19936, 17825, 18098, 30195, AGC= 69, IDX= 4, 0.00, 0.593, 2.719, 0.840, 1.289, PHS=-0.608, 1.476,-0.453, RAW= 326.2, -4.2, CAL= 328.7, -5.8, ROT= 181.3, 5.8 V#Rx 109: Read range and direction messages.bdirection in FSK: [-0.994625,-0.022571,-0.101056]Fpublishing direction and range infoy+@ :+hg޹BY M)EIFiuE? 8/@)Q I@i4QϽJ@4Q= )&W} s'ܿ^ i+8)=G4Q= )Mchecking for new query: numPingsReceived=109, elapsed TxPingTime=49.983295only read 1 of 4 data items for bottom velocity. Device response is::BS, -3.00 aI@a aM@a aQ@a aE@a II25#< ==y=Q =>٥9A EHEFE E>IQ5M◿?Q59M IMtB+:yG:@MCEiMz%hȜ?r| qjBJȜ?N  iBEBf@ addTargetRange:: Added new target pos. range: 38.400002 m, deltaT: 0.511092 s, deltaX: 0.600002 m, approachRate: 1.173961 m/s, rangeRepo size: 4 - Added new target pos. range: 38.129482 m, bearing: 315.093581 deg, lat: 36.906416 deg, lon: -122.116003 deg, deltaT: 0.511092 s, deltaX: 0.595776 m, approachRate: 1.165691 m/s, posRepo size: 4 5DNOT Ignoring new targets: 38.13 m.b9Z9r9jARAJaBa~i~i}i|i|q|u@33C@|u`? {BH] CH] IH] ~BH]  =HY HY H] <H] E) >EM <"U StoppingY6G~q;ZGRG DDAT read: Rx Time:14:10:57.2790 TRx dataTimestamp_ set to:1749132658.3957995PDAT read: Bearing 180.5, 7.0 (Local) ԁ~GAAN?Ry&W,N'\iA~Local bearing/azimuth received: Bearing 180.5, 7.0 (Local) &DAT read: Range 10 to 50 : 38.7 m (trip time 25.8 ms) speed -0.5 DAT read: 14:10:57.2790 LVL= 26704, 25969, 22658, 32755, AGC= 69, IDX= 502,-0.09,-1.218, 0.914,-0.998,-0.559, PHS=-0.571, 1.519,-0.442, RAW= 326.8, -5.0, CAL= 329.5, -7.0, ROT= 180.5, 7.0 Ygot valid direction response: 14:10:57.2790 LVL= 26704, 25969, 22658, 32755, AGC= 69, IDX= 502,-0.09,-1.218, 0.914,-0.998,-0.559, PHS=-0.571, 1.519,-0.442, RAW= 326.8, -5.0, CAL= 329.5, -7.0, ROT= 180.5, 7.0 %V#Rx 110: Read range and direction messages.-bdirection in FSK: [-0.992508,-0.008662,-0.121869]Fpublishing direction and range infoکyڭV_,V_w"UM7P2ڭBYک ۭPh)ۭqeIۭXiۭ۩ۭ-ۭn?ۭM ܭ@)ܭ¸Iܭ @iܭ5ܭ՞I@ܭ5= ݩ)ݩݭ@ G_qY3a<ܿZHH3}iݭ+ݭ %=ݭHݭ5= ީ)ީchecking for new query: numPingsReceived=110, elapsed TxPingTime=50.5203939K@ _@YEVyiH@ &??VDl )?`]s? K@Ɔ;)Cchecking for new query: numPingsReceived=110, elapsed TxPingTime=50.6829645a~B=qI)Y YI}I}(1KH7P"KH9*K2K:Ks. ,D`rDR>h=&@a}&ZbeC E-_"}= ٥ HF! 7 - q>Y e Q5] ws?e Q59] I] |Bm :yi m !:m $@m @] CEi] :] ?] FQ5q u A G E! i Y y 1AZbT\iABB@ʁz,;CBΔ0Mտ6ۏ*wV_,V_w"UM7P2H5=ҁtS҃:@c5;: s?g|r3݄4ÿzAj-Ȝ?r QgB+  ꁭBk@  addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 0.501234 s, deltaX: 0.299999 m, approachRate: 0.598521 m/s, rangeRepo size: 4 U  Added new target pos. range: 38.426987 m, bearing: 314.259465 deg, lat: 36.906416 deg, lon: -122.116003 deg, deltaT: 0.501234 s, deltaX: 0.297504 m, approachRate: 0.593544 m/s, posRepo size: 4 e DNOT Ignoring new targets: 38.43 m.ba Za ri j R J B ~ ~ } | | | YC@| "?:J aBJ WJJ ARJ ZJ :bJ G9J 4J  @ @ @ @I U {B] lIEጹ"Stoppingԡ6Gchecking for new query: numPingsReceived=111, elapsed TxPingTime=51.185867Hټ>HHIH~BH =HHH<HE~G AA)N5B?>2W,\iA9^_@^mr@Y^߼y^&^H#?@?`%"k?`/Q? ^_@^;)^Cidd)d dIh h)hhhhlnEAin7 IllIpirZA pp)pp vCAvC xx 3AIC )i)I!! !!!!i))ٯ1=~BEIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yv?MbMb`?yX?@;@ @)@I@y@II 2M= =yA;Q >٥ H%F%; %>)=Q5-Y?]Q59- I-BeT:ye*Y?ez:e@e@-CEi-_;-;-%Q5mOBm AmEZbG\iABB3@ʁW؇gCiLe)W?;9PgĆp\?4ޮ`ºBH@Pw=ҁ7o:@reV;pAQ n\5?1NˣzAj%Ȝ?rZ iB iBB튯@% addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 0.505280 s, deltaX: 0.599998 m, approachRate: 1.187457 m/s, rangeRepo size: 4 5 Added new target pos. range: 39.022774 m, bearing: 313.697836 deg, lat: 36.906416 deg, lon: -122.116003 deg, deltaT: 0.505280 s, deltaX: 0.595787 m, approachRate: 1.179123 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 39.02 m.bYZYrYjYRYJYBa~a~e{B}a|i|i|m`fC@|mUe? {B=I)+6?I/N !%T<9E=} ;iyiD D DDDDAT read: Rx Time:14:10:58.2796 TRx dataTimestamp_ set to:1749132659.404045PDAT read: Bearing 179.9, 7.2 (Local) ~Local bearing/azimuth received: Bearing 179.9, 7.2 (Local) DAT read: Range 10 to 50 : 39.8 m (trip time 26.5 ms) speed -0.4 -\#Rx 112: Read range message, but no direction.ڱڵ3BYڱchecking for new query: numPingsReceived=112, elapsed TxPingTime=51.450321!" StoppingI 6G eDAT read: 14:10:58.2796 LVL= 27376, 25521, 25170, 32755, AGC= 68, IDX= 508,-0.34,-1.206, 0.879,-1.016,-0.574, PHS=-0.544, 1.500,-0.445, RAW= 327.5, -5.2, CAL= 330.1, -7.2, ROT= 179.9, 7.2 y}Ygot valid direction response: 14:10:58.2796 LVL= 27376, 25521, 25170, 32755, AGC= 68, IDX= 508,-0.34,-1.206, 0.879,-1.016,-0.574, PHS=-0.544, 1.500,-0.445, RAW= 327.5, -5.2, CAL= 330.1, -7.2, ROT= 179.9, 7.2 \#Rx 113: Read direction message, but no range.`direction in FSK: [-0.992113,0.001732,-0.125333]9y=D)dᅫ}^\?cK Y9 =j)=cI=Rbi9=D=C =?= =@)=޹I9i=9=> 9=v*GB쿖E=xݿ9i=M*=Vָ=9=>checking for new query: numPingsReceived=113, elapsed TxPingTime=51.704273~GAAN>T:W,U\iAKj7P"Kh*Kh2Kj:KjnEh{+vq#_wd8/QRKYZN& a ~.iv F J*J~AJ|ԡ~BI:JYBJ]UJJ]CRJYZJYbJ]>9J]4JYMb@Mb@Mb@ )YzG?J +y W?H@ @)Iy@II(1=  =yQ  >٥ HF% %>9UQ5=J>?]Q59= I=By]gW?e|:e@m@=CEi=;=;=RQ5}NB$ AEDDAT read: Rx Time:14:10:58.7800 TRx dataTimestamp_ set to:1749132659.903589DAT read: Range 10 to 50 : 40.4 m (trip time 26.9 ms) speed -0.4 -\#Rx 114: Read range message, but no direction.!BY checking for new query: numPingsReceived=114, elapsed TxPingTime=51.946568Zbg\iABB3@ʁ=2C}„?XD)dᅫ}^\?cK >ҁ`y:@>r5<<Lc᧶]?އt iÿzAjm' Ȝ?rк{ }fB-Ȝ? BQ@u addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 1.002510 s, deltaX: 1.100002 m, approachRate: 1.097248 m/s, rangeRepo size: 4  Added new target pos. range: 39.519249 m, bearing: 313.699050 deg, lat: 36.906413 deg, lon: -122.116003 deg, deltaT: 1.002510 s, deltaX: 0.496475 m, approachRate: 0.495232 m/s, posRepo size: 4 DNOT Ignoring new targets: 39.52 m.bZrjRJB~~{B}|||@33D@| '? -{B-& BW,ut]iAI)G8G8H>ۼ>H<H>IH>~BH> =H<H<H><H> EH]CHYHYH] =I] = I];59R@R@YRJyR$ V#Rx 115: Read range and direction messages. `direction in FSK: [-0.991235,0.029419,-0.128796] Fpublishing direction and range infoyy}W1%\ ?OZ_|}"BYy }pa)}gI}b_iy}E}y}r?}j }'ܷ@)}qI}A@i} A})G@} A> y)y}d$뿘so߿ 0i}u(}߽=})G@} A> y)y checking for new query: numPingsReceived=115, elapsed TxPingTime=52.494003 (HW,9"]iA9F@FT@YFCyF@?٥ HF׷; >Q5?Q59 IBy9@@CEi^;';Q5}AZb77]iA!B!B@ʁ0"D>;B?@W1%\ ?OZ_|)G@ A>ҁN:@xTq=C'V^?k[%3¿zAjfO^ǜ?rַ 5gB%Ȝ?к{  QgBꁵBA7@] addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 0.506031 s, deltaX: 0.299999 m, approachRate: 0.592848 m/s, rangeRepo size: 4 m Added new target pos. range: 40.413120 m, bearing: 312.455008 deg, lat: 36.906412 deg, lon: -122.116003 deg, deltaT: 0.506031 s, deltaX: 0.893871 m, approachRate: 1.766436 m/s, posRepo size: 4 uDNOT Ignoring new targets: 40.41 m.bqZqrqjqRqJyBy~y~y}|||YD@|@? {Bp7=I)|F?Ij. zI<8=QKx*P"Kͼ9*K2K:K^ mi qsQ/ /{~^EL@D<"xMceO)II%=:J_BJVJJ>RJZJ :bJB9Jt4JY  DDAT read: Rx Time:14:10:59.7804  TRx dataTimestamp_ set to:1749132660.913625 PDAT read: Bearing 178.1, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 178.1, 8.6 (Local)  DAT read: Range 10 to 50 : 41.0 m (trip time 27.3 ms) speed -0.8  DAT read: 14:10:59.7804 LVL= 17728, 21025, 13922, 27187, AGC= 69, IDX= 500, 0.34,-0.758, 1.418,-0.637,-0.167, PHS=-0.503, 1.633,-0.472, RAW= 329.3, -6.3, CAL= 331.9, -8.6, ROT= 178.1, 8.6  Ygot valid direction response: 14:10:59.7804 LVL= 17728, 21025, 13922, 27187, AGC= 69, IDX= 500, 0.34,-0.758, 1.418,-0.637,-0.167, PHS=-0.503, 1.633,-0.472, RAW= 329.3, -6.3, CAL= 331.9, -8.6, ROT= 178.1, 8.6  V#Rx 116: Read range and direction messages. `direction in FSK: [-0.988213,0.032782,-0.149535] RNW,<]iA9>s@>@Y>Bdy>m<>H_@@F? ?`0$? ? _? Y? >s@>,;)<^~BbI f=f=EFpublishing direction and range infoy.jpcȠ?S&r#ÿ$BY @E)!RIb6i3j%? r@)z0I0^@i`F@`> )'뿛߿(kar껿i\(}=F@`> )checking for new query: numPingsReceived=116, elapsed TxPingTime=53.0377121Mb@Mb@Mb@ )YS?٥ HFy; >Q5?Q59a IByg[?w:@@CEih< h<Q5IUgAUEZbx:]iA"B"B%q@ʁؠGוDLAYZ?L Y.jpcȠ?S&r#ÿF@`>ҁKƀ ;@,/ =N|g.gC??V's#ĿzlAjBHǜ?r^ ?dBm' Ȝ?Z  5gB B|@ addTargetRange:: Added new target pos. range: 41.000000 m, deltaT: 0.504005 s, deltaX: 0.299999 m, approachRate: 0.595231 m/s, rangeRepo size: 4  Added new target pos. range: 40.711006 m, bearing: 312.337135 deg, lat: 36.906412 deg, lon: -122.116004 deg, deltaT: 0.504005 s, deltaX: 0.297886 m, approachRate: 0.591038 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.71 m.bZrjRJB~A~E{B}A|A|I|MD@|MW?a =I)G?I"  F<=jHHIHBHHHH<HEchecking for new query: numPingsReceived=116, elapsed TxPingTime=53.202240ԉ6G ?<~Ga Aq A N >Թ R9UW,!U]iAEDDAT read: Rx Time:14:11:00.2807 ETRx dataTimestamp_ set to:1749132661.415939MPDAT read: Bearing 178.0, 8.7 (Local) U~Local bearing/azimuth received: Bearing 178.0, 8.7 (Local) eDAT read: Range 10 to 50 : 41.4 m (trip time 27.6 ms) speed -0.7 ԑDAT read: 14:11:00.2807 LVL= 23968, 25521, 19938, 32755, AGC= 71, IDX= 486, 0.26,-1.877, 0.226,-1.758,-1.307, PHS=-0.482, 1.580,-0.454, RAW= 329.3, -6.3, CAL= 332.0, -8.7, ROT= 178.0, 8.7 Ygot valid direction response: 14:11:00.2807 LVL= 23968, 25521, 19938, 32755, AGC= 71, IDX= 486, 0.26,-1.877, 0.226,-1.758,-1.307, PHS=-0.482, 1.580,-0.454, RAW= 329.3, -6.3, CAL= 332.0, -8.7, ROT= 178.0, 8.7 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.987892,0.034498,-0.151261]Fpublishing direction and range infoAyE^Ϝ￸/4?ni\ÿE%BYA E])EcIEMiEEGEEq=?Er A)AIE}l@iE|EF@E|> A)AEG5D`jonP&߿a~HiE1O(EϽ=EF@E|> A)Achecking for new query: numPingsReceived=117, elapsed TxPingTime=53.4717039#@l6@Y/y<H3k>??@kr??@?@E? #@骕E;)-~B5II9I9M= UO=yU٥QY ]H]F]; ]>amQ5e?uQ59e IeByqu@u@eCEie;e^;eQ5MBAEZAbEZ]iAEn$BEn$BEn@ʁE˗NDE?^.CE^Ϝ￸/4?ni\ÿEF@E|>ҁEBKsP;@yqDL=cE]':RC?XY翌ktĿzEEAjEp}qǜ?rEJ EZdBEfO^ǜ?E^  E}fBE"BEv@m addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 0.502314 s, deltaX: 0.400002 m, approachRate: 0.796318 m/s, rangeRepo size: 4  Added new target pos. range: 41.108002 m, bearing: 312.320418 deg, lat: 36.906408 deg, lon: -122.116011 deg, deltaT: 0.502314 s, deltaX: 0.396996 m, approachRate: 0.790333 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.11 m.bZrjRJB~~}|||@3D@| ǝ? {B >Y4=IQ)UN?YI]j, aamB<=[W,-r]iA9}@@}S@Y}7y}<}H@u76?@?u &?@x}?? ? }@@}2;)}CIIJk4Jkމ4JkT0:JBJTJJBRJZJbJ:9J-4J~BIMb@Mb@Mb@=DDAT read: Rx Time:14:11:00.7810 ETRx dataTimestamp_ set to:1749132661.922057]PDAT read: Bearing 177.9, 6.8 (Local) e~Local bearing/azimuth received: Bearing 177.9, 6.8 (Local) uDAT read: Range 10 to 50 : 41.9 m (trip time 27.9 ms) speed -0.7 DAT read: 14:11:00.7810 LVL= 19632, 18833, 16850, 30195, AGC= 70, IDX= 506, 0.20,-0.645, 1.475,-0.543,-0.027, PHS=-0.530, 1.549,-0.519, RAW= 329.7, -4.9, CAL= 332.1, -6.8, ROT= 177.9, 6.8  )Y7A`?DlMbpyV?O@ @)@I@y@IIb1; '=y;Q >٥ HYgot valid direction response: 14:11:00.7810 LVL= 19632, 18833, 16850, 30195, AGC= 70, IDX= 506, 0.20,-0.645, 1.475,-0.543,-0.027, PHS=-0.530, 1.549,-0.519, RAW= 329.7, -4.9, CAL= 332.1, -6.8, ROT= 177.9, 6.8 V#Rx 118: Read range and direction messages.`direction in FSK: [-0.992299,0.036386,-0.118404]Fpublishing direction and range info9y= Gpc0?EO='BY9 =L)=II=Ai=u=F==E?=/ =#@F!-Q5)=%I=z@i==YF@== 9)9=hIj[)Z߿vs @i=|'=-=%߾?5Q59%$ I!y5AW?=|:=@=@%CEi%X;%X;%kQ5IUAuE=YF@== 9)9checking for new query: numPingsReceived=118, elapsed TxPingTime=54.005669Z9b={]iA=j&B=j&B=Aq@ʁ=QX.\D?֜8??\= Gpc0?EO=YF@==ҁ=)?;@|`\>ֈ:.^=:P7b?7%xJ z==iAj=̓Ȝ?r=U =jB9=J  9=V$B=@u addTargetRange:: Added new target pos. range: 41.900002 m, deltaT: 0.506118 s, deltaX: 0.500000 m, approachRate: 0.987912 m/s, rangeRepo size: 4  Added new target pos. range: 41.604473 m, bearing: 312.337914 deg, lat: 36.906408 deg, lon: -122.116011 deg, deltaT: 0.506118 s, deltaX: 0.496471 m, approachRate: 0.980940 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.60 m.bZrjRJB~~{B}|||@3D@|@? 15M:=I1)5|O?1I=j 99=:?Ha He IHe CBHe  =Ha Ha He <He Ey  checking for new query: numPingsReceived=118, elapsed TxPingTime=54.2100226G Q<jG q?bG ?~G A A! N5 >"McW,؍]iA9RO@Rb@YRbyRGeDDAT read: Rx Time:14:11:01.2812 eTRx dataTimestamp_ set to:1749132662.425410uPDAT read: Bearing 177.6, 6.1 (Local) u~Local bearing/azimuth received: Bearing 177.6, 6.1 (Local) DAT read: Range 10 to 50 : 42.2 m (trip time 28.1 ms) speed -0.2 DAT read: 14:11:01.2812 LVL= 18576, 24673, 20338, 28963, AGC= 70, IDX= 508, 0.15,-1.476, 0.545,-1.388,-0.872, PHS=-0.516, 1.464,-0.518, RAW= 330.1, -4.4, CAL= 332.4, -6.1, ROT= 177.6, 6.1 Ygot valid direction response: 14:11:01.2812 LVL= 18576, 24673, 20338, 28963, AGC= 70, IDX= 508, 0.15,-1.476, 0.545,-1.388,-0.872, PHS=-0.516, 1.464,-0.518, RAW= 330.1, -4.4, CAL= 332.4, -6.1, ROT= 177.6, 6.1 V#Rx 119: Read range and direction messages.`direction in FSK: [-0.993466,0.041639,-0.106264]Fpublishing direction and range infoayeOxa?Q?O4e(BYa eH)ea`IerOie#qaeeZd?e e\@)enFIe@ie^ ڽeaF@e^ = a)ae8fHeZY߿M٥QQ UHQU ]>aeQ5e?mQ59e IeByiim@eCEie:e:eQ5uLB}A}EZb9]iA'B'BN@ʁЏwD2?9,Oxa?Q?O4aF@^ =׹׽Achecking for new query: numPingsReceived=119, elapsed TxPingTime=54.714481ҁ~$L;@>?adrcmnR?~wWؙKz<_Ajfcǜ?r(E lBp}qǜ?ַ  5gBꁥ&Ba]@ addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.503353 s, deltaX: 0.299999 m, approachRate: 0.596002 m/s, rangeRepo size: 4  Added new target pos. range: 41.902451 m, bearing: 312.097171 deg, lat: 36.906407 deg, lon: -122.116012 deg, deltaT: 0.503353 s, deltaX: 0.297977 m, approachRate: 0.591985 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.90 m.bZrjRJ B ~ ~ }|||E@|Q? QUfH=IY)]\P?YI]l YY]:5 W_d%}4}Ev3/YRg 6G喇<~GA!9AaN> DDAT read: Rx Time:14:11:01.7816  TRx dataTimestamp_ set to:1749132662.930430 PDAT read: Bearing 184.6, 28.6 (Local)  ~Local bearing/azimuth received: Bearing 184.6, 28.6 (Local)  DAT read: Range 10 to 50 : 42.8 m (trip time 28.5 ms) speed -0.5 E DAT read: 14:11:01.7816 LVL= 31344, 28065, 24626, 32755, AGC= 70, IDX= 512, 0.16, 0.920, 3.059, 1.326, 1.146, PHS=-0.138, 1.960, 0.177, RAW= 322.0, -19.8, CAL= 325.4, -28.6, ROT= 184.6, 28.6 U Ygot valid direction response: 14:11:01.7816 LVL= 31344, 28065, 24626, 32755, AGC= 70, IDX= 512, 0.16, 0.920, 3.059, 1.326, 1.146, PHS=-0.138, 1.960, 0.177, RAW= 322.0, -19.8, CAL= 325.4, -28.6, ROT= 184.6, 28.6 ] V#Rx 120: Read range and direction messages. bdirection in FSK: [-0.875155,-0.070413,-0.478692] Fpublishing direction and range infoډ yڍ kD101*޿ڍ 3+BYډ ۍ pz)ۍ mIۍ 2`iۍ ۉ ۍ O ۍ H?ۍ }?5> ܍ ֳ@)܍ ;ﰾI܍ ּ@i܍ r܍ ?3N@܍ r> ݉ )݉ ݍ E`ֿeտiݍ }0ݍ 9>ݍ vCݍ r> މ )މ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a YpW,w]iA~~B~I1]Mb@Mb@Mb@YYY Y)YY]Cl?+y&1|y]d[?]]`]@ ]@)]@IYYy]@II(< 6=yQ >٥ HF >mQ5?mQ59 IBymN\?mv:m@u@CEig<Bg<Q5y}A}EZb*]iA)B)B@ʁ BHZW4kD101*޿vCr>ҁn-;@48:4^PH1H5IH5MBH1H1H1H5<H5E addTargetRange:: Added new target pos. range: 42.799999 m, deltaT: 0.505020 s, deltaX: 0.599998 m, approachRate: 1.188069 m/s, rangeRepo size: 4 =#9J J4J zJ a:5 jJ f:5 J }Q:E rJ Q:M ~G A A Ne >Թ PvW,M]iADDAT read: Rx Time:14:11:02.2818 TRx dataTimestamp_ set to:1749132663.431924PDAT read: Bearing 177.4, 7.1 (Local) ~Local bearing/azimuth received: Bearing 177.4, 7.1 (Local) &DAT read: Range 10 to 50 : 43.1 m (trip time 28.7 ms) speed -0.7 >DAT read: 14:11:02.2818 LVL= 30384, 32753, 26050, 32755, AGC= 67, IDX= 2, 0.17,-1.787, 0.267,-1.706,-1.202, PHS=-0.496, 1.516,-0.506, RAW= 330.2, -5.1, CAL= 332.6, -7.1, ROT= 177.4, 7.1 BYgot valid direction response: 14:11:02.2818 LVL= 30384, 32753, 26050, 32755, AGC= 67, IDX= 2, 0.17,-1.787, 0.267,-1.706,-1.202, PHS=-0.496, 1.516,-0.506, RAW= 330.2, -5.1, CAL= 332.6, -7.1, ROT= 177.4, 7.1 BR#Rx 1: Read range and direction messages.F`direction in FSK: [-0.991310,0.045015,-0.123601]JFpublishing direction and range infoyCcиT: ?A7Xf,BY v)IeiCJ ?7 !k@)KIF¹@i_(F@= )NwG) ࿒+٥99 =H= FA E>YeQ5]u?eQ59]ǩ I]By@]CEi]<]<]BQ5KBAEEZb]iA/+B/+B/@ʁTO6EI@?U7/(CcиT: ?A7X_(F@=ҁ`JbU<@WYț? D/?5 xi.@zAj<8ǜ?rV  iB(E   iB)B$H@ addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 0.501494 s, deltaX: 0.299999 m, approachRate: 0.598211 m/s, rangeRepo size: 4 - Added new target pos. range: 42.796169 m, bearing: 311.874523 deg, lat: 36.906406 deg, lon: -122.116013 deg, deltaT: 0.501494 s, deltaX: 0.297951 m, approachRate: 0.594126 m/s, posRepo size: 4 5DNOT Ignoring new targets: 42.80 m.b1Z1r1j1R1J1B9~9~9}a|a|a|ěE@|mA?Թ ;K=I ) 9N? I  `4<=V!==ߩ KM O"KM H9*KI 2KM :KM bmC'heRH4 [   jv#5UrtjX1mWy)t6Gm }\< +G A ~G A  M YI yU UAAy N >u|W,]iA95@5g.@Y5w;y5;u<5H`h{?? gF΍?`.w`;?? 5@5n;)1M~BMI}only read 0 of 1 data item for BIT error. Device response is::TS,25060506122009,35.0, +10.8, 0.0, 0 aI}@a} aM}@a} aQ}@a} aE@a II3-= O=yR٥ H!F >Q5?Q59 IB+:yG:Թa@@CEi/;K>Q5AEDDAT read: Rx Time:14:11:02.7822 %TRx dataTimestamp_ set to:1749132663.938474]PDAT read: Bearing 176.9, 8.4 (Local) ]~Local bearing/azimuth received: Bearing 176.9, 8.4 (Local) DAT read: Range 10 to 50 : 43.7 m (trip time 29.1 ms) speed -0.4 DNOT Ignoring new targets: 42.80 m.bZrjRJB~~}||1|9|=o`?DAT read: 14:11:02.7822 LVL= 24352, 22433, 18978, 31219, AGC= 67, IDX= 502, 0.22,-1.122, 0.997,-1.057,-0.561, PHS=-0.473, 1.604,-0.500, RAW= 330.6, -6.1, CAL= 333.1, -8.4, ROT= 176.9, 8.4 Ygot valid direction response: 14:11:02.7822 LVL= 24352, 22433, 18978, 31219, AGC= 67, IDX= 502, 0.22,-1.122, 0.997,-1.057,-0.561, PHS=-0.473, 1.604,-0.500, RAW= 330.6, -6.1, CAL= 333.1, -8.4, ROT= 176.9, 8.4 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.987825,0.053499,-0.146083]Fpublishing direction and range info {B8_=I)_R?I C2<=p )JAo`뿡᥅7sǜ)i&=eE@Q > ) %2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode."UStopping 6Gu <G G @AH Ӽ>H H IH WBH  =H H H <H E~G1 AA Ay N > ^iA9>@@>1@Y>8;y>1 <>H@^#zP?f?f^@il?60}`%?@? >@>]J;)٥   H "Fܛ >yQ5} t?Q59} I}B :y!:E@@}CEi}(:}@?}Q5AZabe]iAe-Be-Bḙ@ʁe@|nE+v2@N-Ze=BS1-d?/8ٲ¿eeE@eQ >ҁe{VL<@+-+@w e?nQ 0e7ze\ebAjeLoǜ?rez efBe<8ǜ?eU  ae6,Be0@ addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.506550 s, deltaX: 0.600002 m, approachRate: 1.184488 m/s, rangeRepo size: 4   Added new target pos. range: 43.391464 m, bearing: 311.186711 deg, lat: 36.906406 deg, lon: -122.116013 deg, deltaT: 0.506550 s, deltaX: 0.595295 m, approachRate: 1.175195 m/s, posRepo size: 4  DNOT Ignoring new targets: 43.39 m.b ZrjRJ!B!~)~)})|)|1|5E@|5 ? aen=Ia)eP?aIm啙 iim/=DDAT read: Rx Time:14:11:03.2824 =TRx dataTimestamp_ set to:1749132664.441819EPDAT read: Bearing 177.7, 8.1 (Local) M~Local bearing/azimuth received: Bearing 177.7, 8.1 (Local) ]DAT read: Range 10 to 50 : 43.8 m (trip time 29.2 ms) speed -0.5 DAT read: 14:11:03.2824 LVL= 20704, 28529, 17266, 32611, AGC= 71, IDX= 504, 0.30,-2.788,-0.702,-2.685,-2.213, PHS=-0.487, 1.558,-0.476, RAW= 329.7, -5.9, CAL= 332.3, -8.1, ROT= 177.7, 8.1 Ygot valid direction response: 14:11:03.2824 LVL= 20704, 28529, 17266, 32611, AGC= 71, IDX= 504, 0.30,-2.788,-0.702,-2.685,-2.213, PHS=-0.487, 1.558,-0.476, RAW= 329.7, -5.9, CAL= 332.3, -8.1, ROT= 177.7, 8.1 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.989226,0.039732,-0.140901]Fpublishing direction and range info9y=uh(W?:N ¿=3/BY9 =P)=qoI=rCi=c=G=X=l?=F =#@)=BҽI=a@i==(~F@=> 9)9=I뿡XS߿ XDCi='=~==(~F@=> 9)9 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.! ͉W,)^iA|~BIII(*2M ME=yMQ M>٥QQ UHQU ]>aeQ5ea?mQ59e IeBm9yim:iu@eCEҁm6 Es{<@DC`@Ҽ 9m57?'nsyzm%mAjmzǜ?rme mgBmzǜ?m(E  mgBm -Bm#@% addTargetRange:: Added new target pos. range: 43.799999 m, deltaT: 0.503345 s, deltaX: 0.099998 m, approachRate: 0.198668 m/s, rangeRepo size: 4  Added new target pos. range: 43.490757 m, bearing: 311.988283 deg, lat: 36.906405 deg, lon: -122.116013 deg, deltaT: 0.503345 s, deltaX: 0.099293 m, approachRate: 0.197266 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.49 m.bZrjRJB~~}1KMJkP"KM9*KI2KM:KMb2Q[1) o$&&#nJhbZ g }4BL4l(   c|*-}R5o|y||`fE@|l? }{B}Q>==Iy)}M?I@} 9-<k<(_(p4?%)k¿= 31BY9 = 0H)= VI= :i= {9 = 1= n?= = <@@)= kݽI= @ԉ i= = aF@= > 9 )9 = pOD \߿Eiri= F'= == aF@= > 9 )9  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6G= l o<~G A A N- >W,B^iA9NB@N@YN,٥AA EHE#FE E>iuQ5mL?}Q59m\ ImB}T:y}X?}{:}@}@mCEim:m7:mQ5JBAHƼ>HCHIHMBH =HH,DH<HqEHyH}ÖCHyHyI} = I}À6E|CEC&%?%_mBl>(p4?%)k¿maF@m>ҁm#<@-B@ Z*m?H?$3mzmmAjmǜ?rm~* mfBmǜ?m~*  mfBmG.Bm@e addTargetRange:: Added new target pos. range: 44.299999 m, deltaT: 0.502372 s, deltaX: 0.500000 m, approachRate: 0.995278 m/s, rangeRepo size: 4  Added new target pos. range: 43.986317 m, bearing: 311.718989 deg, lat: 36.906404 deg, lon: -122.116012 deg, deltaT: 0.502372 s, deltaX: 0.495560 m, approachRate: 0.986440 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.99 m.bZrjRJB~~ |B}|||`f&F@|C? {B pN=I ) I? I8R +<=<= A )A E | *Vi 'iE i%E =E D@E 6&> A )A  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A N >2W,0^^iA9e[@e@Ye1ROC? ,?@Gw?Et 9? e[@eḇ;)eC~BII%I%(uЧ uL=y}Ϲ;Q }>٥yy H$FZ >Q5:?Q59A IBy@@CEi::Q5AE:AAZb\^iA1B1B>@ʁxmEpӼ"@]Dߙ1 .?oĿD@6&>ҁ=ؒR<@X@m]5gPk?G+[ÿz9Aj|ނǜ?r!o DdBV  &0B@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 0.503534 s, deltaX: 0.400002 m, approachRate: 0.794388 m/s, rangeRepo size: 4  Added new target pos. range: 44.383484 m, bearing: 310.195792 deg, lat: 36.906404 deg, lon: -122.116014 deg, deltaT: 0.503534 s, deltaX: 0.397167 m, approachRate: 0.788759 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.38 m.bZ!r!j)R)J)B1~1~1}|||YF@|ԕ? M{BM L=II)RG?I,% (<f<]?ƿڭ6BYک ۭpL)ۭ1fIۭAiۭtۭFۭܾۭ?ۭZ ܭ@)ܭ Iܭw@iܭX8ܭE@ܭX8> ݩ)ݩݭ0Y`Y:d5biݭ''ݭ>ݭE@ݭX8> ީ)ީ =2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9=@=@Y=٥ H%F N; ->1=Q55$?=Q595e} I5{By=Z?=x:=@E@5CEi5:51:5Q5mIBmAmEZb|^iA4B4B֭@ʁYF1F'GxP@' QI?p^S>]?ƿE@X8>ҁIe=@͋@)tSOR^Ӱ?c\kƼ :Ŀz /Ajǜ?r*T ZaBǜ?*T  fBꁭQ2B֭@ addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.504245 s, deltaX: 0.799999 m, approachRate: 1.586529 m/s, rangeRepo size: 4 5 Added new target pos. range: 45.177818 m, bearing: 311.257996 deg, lat: 36.906403 deg, lon: -122.116017 deg, deltaT: 0.504245 s, deltaX: 0.794334 m, approachRate: 1.575295 m/s, posRepo size: 4 5DNOT Ignoring new targets: 45.18 m.b1Z1r9j9R9J9B9~A~E{B}|||F@|`? {B6D=I)??I%V !!%#'<)-hJ<-t-HeCHeIHe9BHe =HaHe+DHe<HeEU ]W,k^iA1:J=\BJ=RJJ=>RJ9ZJ==:bJ=S29J=t4J9zJ=:jJ=:J=;:rJ=<:9}@}7@Y}٥QQ UHU&FUB; U>ayQ5}?Q59}v I}uBy@@}CEi}:}l:}YQ5pADDAT read: Rx Time:14:11:05.2836 TRx dataTimestamp_ set to:1749132666.457077PDAT read: Bearing 176.3, 9.4 (Local) ~Local bearing/azimuth received: Bearing 176.3, 9.4 (Local) DAT read: Range 10 to 50 : 45.8 m (trip time 30.5 ms) speed -0.5 DAT read: 14:11:05.2836 LVL= 24048, 23393, 19282, 28915, AGC= 72, IDX= 499, 0.42, 0.844, 2.890, 0.885, 1.354, PHS=-0.422, 1.583,-0.472, RAW= 331.2, -6.8, CAL= 333.7, -9.4, ROT= 176.3, 9.4  Ygot valid direction response: 14:11:05.2836 LVL= 24048, 23393, 19282, 28915, AGC= 72, IDX= 499, 0.42, 0.844, 2.890, 0.885, 1.354, PHS=-0.422, 1.583,-0.472, RAW= 331.2, -6.8, CAL= 333.7, -9.4, ROT= 176.3, 9.4  R#Rx 1: Read range and direction messages.`direction in FSK: [-0.984516,0.063666,-0.163326]Fpublishing direction and range infoڱyڵ<<'uzcL?$vzĿڵ37BYڱ ۵])۵a[I۵RKi۵p۵H۵bؾ۵?۵ ܵ@)ܵIܵ_@iܵ'ܵD@ܵ'> ݱ)ݱݵ\PH+ɏo!x࿈~iݵ/&ݵ=ݵD@ݵ'> ޱ)ޱ E2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Zb@^iA5B5B}@ʁdтbF-O)@Gp<<'uzcL?$vzĿD@'>ҁ؁!N=@q$A0TFl?2迤n¿zsAj-p$ǜ?reS dB dBꁵ3Bӭ@% addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.505107 s, deltaX: 0.299999 m, approachRate: 0.593932 m/s, rangeRepo size: 4 } Added new target pos. range: 45.474632 m, bearing: 310.635694 deg, lat: 36.906403 deg, lon: -122.116017 deg, deltaT: 0.505107 s, deltaX: 0.296814 m, approachRate: 0.587626 m/s, posRepo size: 4 }DNOT Ignoring new targets: 45.47 m.bZrjRJB~~}|||`fF@|@1@? u{BuoO=Iq)uB?yI}Ǡ yy},s%<<4J6W,o^iA 9@Z%@Y:;$*W y1t3}]]8p &xI IV2Er MR=y;Q >٥! -H9-'F]G; ]>qQ5uY?Q59un IunByN@@uCEiuB 9)9=芰)(~c5r&9R*~i= &=j==:D@=nF> 9)9 ]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԉ 6G Re<~G A A N >W,^iA9:oO@:b@Y:HHIHBH =HHHΚ<HE٥ H(F"< >Q5|?Q59h IiBy[?x:%@@DEi9;=;LQ5HBAEZb^iA}7B}7BG@ʁ ҝFe@ؼKVčN72İ?8C ÿ:D@nF>ҁe=@`7A yz{IRb?R违~z Ajǜ?r- fB-p$ǜ?-  ꁅ5B@ addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 0.505062 s, deltaX: 0.400002 m, approachRate: 0.791985 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 45.872658 m, bearing: 310.806355 deg, lat: 36.906401 deg, lon: -122.116018 deg, deltaT: 0.505062 s, deltaX: 0.398026 m, approachRate: 0.788073 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.87 m.bZrjRJB~~{B}|||G@|? U{BU_=IQ)];?YI]h YY] "<~<5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.rW,^iA9z@zl@Yzuw< ?Q5߽?Q59b IdByf@@DEi;;CQ5D AZbJ^iA8B8BSx@ʁŽ9Fzg @f~Hrӡ? -V:^D@=ҁQ-۪=@U9p,wApR[T?as5Rz }AjJaeǜ?rz+ nB!o  ꁅ7B}@ addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 0.502234 s, deltaX: 0.299999 m, approachRate: 0.597330 m/s, rangeRepo size: 4   Added new target pos. range: 46.170532 m, bearing: 310.596856 deg, lat: 36.906401 deg, lon: -122.116020 deg, deltaT: 0.502234 s, deltaX: 0.297874 m, approachRate: 0.593099 m/s, posRepo size: 4 DNOT Ignoring new targets: 46.17 m.bZrjRJB~~}|!|!|%@G@|%? {BX=I)3?I<9 L!<W<iHa _BW,^iADDAT read: Rx Time:14:11:06.7845 %TRx dataTimestamp_ set to:1749132667.970607-PDAT read: Bearing 174.9, 8.1 (Local) -~Local bearing/azimuth received: Bearing 174.9, 8.1 (Local) EDAT read: Range 10 to 50 : 47.1 m (trip time 31.4 ms) speed -0.3 mDAT read: 14:11:06.7845 LVL= 25504, 26337, 22066, 32755, AGC= 71, IDX= 509, 0.23, 2.124,-2.222, 2.103, 2.618, PHS=-0.406, 1.490,-0.519, RAW= 332.9, -5.8, CAL= 335.1, -8.1, ROT= 174.9, 8.1 uYgot valid direction response: 14:11:06.7845 LVL= 25504, 26337, 22066, 32755, AGC= 71, IDX= 509, 0.23, 2.124,-2.222, 2.103, 2.618, PHS=-0.406, 1.490,-0.519, RAW= 332.9, -5.8, CAL= 335.1, -8.1, ROT= 174.9, 8.1 uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.986104,0.088007,-0.140901]}Fpublishing direction and range infoyll*p?:N ¿f )dj&n꿷gAjFKiX$=|]C@> ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.x~BI9Mb@Mb@Mb@ )YOn?+{GzyX?#@ 3@)v@I@y@II"x '=yQ >٥ H)F% %>)5Q5-ɽ?5Q59-}Z I-\By=Y?=y:E@E@- DEi-;-;-Q5qu` AuEZbm^iA;B;B@ʁRGO߮v@w\[ll*p?:N ¿|]C@>ҁ y$=@{AK3g`C4L?-Ow2GAzVAjǜ?rq} iBeS  fB9Bx@a addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 0.506234 s, deltaX: 0.599998 m, approachRate: 1.185220 m/s, rangeRepo size: 4 ] Added new target pos. range: 46.766277 m, bearing: 309.683817 deg, lat: 36.906401 deg, lon: -122.116021 deg, deltaT: 0.506234 s, deltaX: 0.595745 m, approachRate: 1.176818 m/s, posRepo size: 4 eDNOT Ignoring new targets: 46.77 m.baZarajaRaJaBa~i~m|B}i|i|q|ǔG@|ub? {B3=I)0?Ij:  < <%GMH}CH}IH}~BH} =HyH},DH}<H}Eԉ`9W,[_iA9-`@-@Y-y٥ H*F< >Q5 ?Q59QT IUBy$@@DEi[:$:Q5i AEDNOT Ignoring new targets: 46.77 m.bAZIrIjIRIJiBq~q~q}y|y|||@w?DDAT read: Rx Time:14:11:07.2847 TRx dataTimestamp_ set to:1749132668.471975PDAT read: Bearing 175.7, 8.4 (Local) ~Local bearing/azimuth received: Bearing 175.7, 8.4 (Local) -DAT read: Range 10 to 50 : 47.4 m (trip time 31.6 ms) speed -0.5 UDAT read: 14:11:07.2847 LVL= 27760, 22673, 24818, 32755, AGC= 71, IDX= 511, 0.19,-0.057, 2.007,-0.047, 0.471, PHS=-0.440, 1.583,-0.521, RAW= 332.0, -6.1, CAL= 334.3, -8.4, ROT= 175.7, 8.4 ]Ygot valid direction response: 14:11:07.2847 LVL= 27760, 22673, 24818, 32755, AGC= 71, IDX= 511, 0.19,-0.057, 2.007,-0.047, 0.471, PHS=-0.440, 1.583,-0.521, RAW= 332.0, -6.1, CAL= 334.3, -8.4, ROT= 175.7, 8.4 ]R#Rx 1: Read range and direction messages.e`direction in FSK: [-0.986488,0.074175,-0.146083]eFpublishing direction and range infoywN<)?/8ٲ¿=BY pl)XI`iG?B` }l@)^ ڽIU@iQ ?BD@Q > )K P'|J !iu`%%P=?BD@Q > ) {B靥,o^=I)/?Iر: < <ס ס  `.N=Ve]bSII(1 2=yMQ M>٥YY:JyBJyJJ}>RJyZJybJyJ}t4Jy H+F >Q5(?%Q59%L ILBy)15@DEis<b<Q5eGBe AeEZ!b%4_iA%Bҁ%3jz>@V AkPj%QA?fb'$Kz% %Aj%3ǜ?r%y %hB%ǜ?! %hB%Z Q)QUj`X*At$]VliU+#U=UB@U0 > Q)Q 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.! Q 6Gu <ZGy RGy ~GI AQ Ai Hu ؼ>Hu CHu IHu ~BHu  =Hq Hu -DHu <Hu EN >W,yZL_iA9JE @J&@YJ@m=yJ=JH@O7rf?}?|@:? 4?`? JE @J߇;)HM٥!! =H=,FE*; M>aQ5e? Q59eQD IeCByY?y: @@eDEiedB=?>B=0@ʁ=E]brG8+ @p+&=5CM?yjȗ=B@=0 >ҁ==䢁!>@s  )  `ڃn7AJWh߶|i 4# s=  | >  )  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I ) '? I x:;  < ^< iQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9b @b9@YbW=ybK =bH)@J?́?@?4 Cf?? b @b_;)bC h)hɺllllɻlilIppIpip rt)tt txxɼx||I|)i) I bA ɽ  ɾ ii) Iٯ%Z~B%lI))I=I=ME ME=yUw>;Q U>٥QQ UHU-F] ]>amQ5ez?mQ59e~= Ie;Byy}@}@ԁe#DEie;ed;e\Q5 AZIbM=__iAMp?BMp?BMڬ@ʁMhJƆG#J]l@zJ&M(fquEҁM=6g]7>@%xTBRV0,MV4??#4LzMMAjMmǜ?rMZ M.gBMǜ?MZ  IM?BM @ addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 0.501657 s, deltaX: 0.299999 m, approachRate: 0.598017 m/s, rangeRepo size: 4  Added new target pos. range: 47.859783 m, bearing: 309.496164 deg, lat: 36.906396 deg, lon: -122.116025 deg, deltaT: 0.501657 s, deltaX: 0.297882 m, approachRate: 0.593796 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.86 m.bZrjRJB~~}|||H@|? U{B]JQ=IY)]{&?YI]$X; Yae=<<5 )))-3꿜,i࿖*Bi-sO%-H=-?BD@-> ))) 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.~Gq A A N > W,_iA]H~B]aI HHp<Hݼ>HCHIH~BH =HHH<HEHCHCHCHI = IWO6!]only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, + +0.00, 20.24 aIu@au aMu@au aQu@a} aE}@a} II(*25 50=y5Q =>٥99 =H9E E>IQ5M.e?Q59M5 IM2B+:yJ:MQ5FB!AǭEZqbuM_iAuABuABu@ʁu!+;G @fOuobqHG?:N ¿u?BD@u>ҁuX.{n?@bxmBB5hEu";E?a迤Ѭ(zuusAjuڽǜ?ru# uiBqq qu@Bu@  addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504501 s, deltaX: 0.599998 m, approachRate: 1.189291 m/s, rangeRepo size: 4  Added new target pos. range: 48.456215 m, bearing: 310.718302 deg, lat: 36.906396 deg, lon: -122.116025 deg, deltaT: 0.504501 s, deltaX: 0.596432 m, approachRate: 1.182221 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.46 m.bAZrQjQRQJQBY~Y~Y}|||`ffH@|]1? {B4=I ) !? I4n; Ą<=<=Lb M FDAT read: Command 'sbl' not found U dunknown deviceResponse_: Command 'sbl' not found U "DAT read: Error U @unknown deviceResponse_: Error ] ,DAT read: user:1964> ] BDAT read: Tx time:14:11:09.6725 e $Ping request sent.e W,<_iA9W@@Y4=y¢q<Hҫ 2qL?@«`l?塿V/?`? W@3;)C9~BXIII00 g=yc;Q >٥ H.F1̻ >Q5zT?Q59/ I+B :y#:@@.DEi ;T?Q5!%L!A%ƭEq}DNOT Ignoring new targets: 48.46 m.byZyryjyRyJB~~}|||| f? {B靍'U=I)?IT; T<<nK DAP"K *K 2K :K hj}L{BHylTL9}CX\6b<Uz`7V   oZ0|:J BJ RJJ ?RJ ZJ bJ S29J ـ4J AW,u˻_iA9R@R&@YRi=yRZc;RH? v??@P?`r`#G?q? R@R?;)RC%;~B%YI)! !aIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yv?y&1:vyX?`eT )@I@yQ@I&I3 ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500448 );  D=yk);Q >٥ H/F >!-R5%A?-R59%( I%!B-T:y5TY?5z:5@5@%4DEi% ;%` ;%IR5=EB=?!AEɭEDNOT Ignoring new targets: 48.46 m.bZrjRJB~~|B}||||%? {B靥ebA=I)V?I ;   3<%w<5SHCHIH~BH =HH,DH<HE6GU<) ~GI Aa Aq N} > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752131U)W,_iA 9F@F=@YF|=yF*ͺFH%@J⚿ĕ?`࣍?/,Y? F@F;)DZ3~BZTIIbIbb1j ja=yj8Q j>٥ll nHn0Fr_: r>tzR5v/?zR59v" IvByxz@z@v9DEivq:v:vwR5\!A̭EDNOT Ignoring new targets: 48.46 m.bZrjRJ B ~ ~ }||!|!|%@8? ]{B]qH=IY)]?YIe; aaeJ SW,_iA02A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2563049Fy@F̪@YFI=yF"FH` H?`?&`#U:? Fy@F0;)FCPR(~BRNIIZIZ3bּ bK=yf:Q f>٥dd jHj1Fj j>lrR5n ?rR59n InBytvm@v@n>DEin:nu:nR5!A-DNOT Ignoring new targets: 48.46 m.b1Z1r1j1R1J1B1~9~9}A|A|A|A|E"? {B!D=I)?I|; !%QHCH~IHx~BHHHH8<HFEMb@Mb@Mb@ )YS?T㥛 ٥Ya eHam m>q}R5u?}R59u IuBy}:[?}w:@@uDDEiu\:u:u R5!AϭEDNOT Ignoring new targets: 48.46 m.bZrjRJB~~0|B}||||@ %{B%4=I))-R?)I-?; 115~<1=<=X$ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025452eX,"8#`iA9>z@>*@Y>GQ"=y>cl>Hbfz@>;)>Ca~BEII-I-b2Eܼ U;=yUR٥YY ]H]2F] e>auR5e_?uR59eu IeByqup@u@eJDEie3;e;eR5}DB!AͭEDNOT Ignoring new targets: 48.46 m.bZrjRJB~~}||ԁ||a@ {B@2=I).?IZ; UC<ݴ<-\ KE ~P"KE H9*KA 2KE :KE  a nX"byHGOrLJp'nWt;- g \ X,=`iA96@6@Y6k)=y6|V6H@,O@p? V@?< Ɋ`?? 6@65;)6Ci<>lA)< @I@ @)@@@DDDiF= IF@FDIJCiH JL)LP PRO R˰FPXZ1AIZI )ZFi\)`I``d dj@Cj߃Alilpٯpz~Bz:ImDDAT read: Rx Time:14:11:11.9288 }TRx dataTimestamp_ set to:1749132673.033478PDAT read: Bearing 175.5, 10.0 (Local) ~Local bearing/azimuth received: Bearing 175.5, 10.0 (Local) DAT read: Range 10 to 50 : 95.3 m (trip time 63.5 ms) speed -0.1 -X#Rx 1: Read range message, but no direction.imBYichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.548542Mb@Mb@Mb@ )Y^I +?v/~jtxyXY?xiĻ3@ @)@I@yII?13Et E#=yMs;Q M>٥QQ UHU3F}*׻ }>R5ۼ?R59 IByY?y:@@QDEi::0R5!AЭE-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 95.300003 m, deltaT: 3.040845 s, deltaX: 46.500004 m, approachRate: 15.291803 m/s, rangeRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrjRJB~~|B}|||@3W@|`? -{B-h+=I5^<)=o ?9I=; AAE=HHrIHd~BH =HH+DH@<HPE DAT read: 14:11:11.9288 LVL= 26240, 26673, 22482, 32755, AGC= 68, IDX= 402, 0.18,-0.548, 1.502,-0.540,-0.066, PHS=-0.394, 1.615,-0.477, RAW= 332.0, -7.3, CAL= 334.5, -10.0, ROT= 175.5, 10.0  Ygot valid direction response: 14:11:11.9288 LVL= 26240, 26673, 22482, 32755, AGC= 68, IDX= 402, 0.18,-0.548, 1.502,-0.540,-0.066, PHS=-0.394, 1.615,-0.477, RAW= 332.0, -7.3, CAL= 334.5, -10.0, ROT= 175.5, 10.0  X#Rx 2: Read direction message, but no range. `direction in FSK: [-0.981772,0.077267,-0.173648] y Cj￱Xdz?ٖNs:ƿY f) 1hI Wi  D ^ɾ R? X9 ) wI Ѻ@i ¸2  D@ ¸2> [;Cɫ %(Fi O% >  D@ ¸2>5 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.789396A 6G] F<~G! A) A9 NU >zxX,V`iA~B6IJA{4JA{4J/:J5\BJ5OJJ5<RJ1ZJ5=:bJ5%9J5 [4J1zJ5:jJ5:J5&:rJ5&:III0]4 e=yeQ e!?٥ii mHm4Fm m!?R5ϼ?R59! IBy@UDEi::R5CB"AӭE=DNOT Ignoring new targets: 48.46 m.b9Z9r9j9R9J9BA~A~A}A|I|i|i|u ? {B&Q=I)?I; < <>Թ ) t> E ևGX,wp`iA,8^DAT read: 14:11:12.4291 LVL= 20976, 20945, 19250, 32755, AGC= 69, IDX= 500, 0.23,-1.697, 0.425,-1.639,-1.171, PHS=-0.438, 1.643,-0.471, RAW= 330.8, -7.1, CAL= 333.4, -9.7, ROT= 176.6, 9.7 bYgot valid direction response: 14:11:12.4291 LVL= 20976, 20945, 19250, 32755, AGC= 69, IDX= 500, 0.23,-1.697, 0.425,-1.639,-1.171, PHS=-0.438, 1.643,-0.471, RAW= 330.8, -7.1, CAL= 333.4, -9.7, ROT= 176.6, 9.7 bX#Rx 4: Read direction message, but no range.z`direction in FSK: [-0.983968,0.058458,-0.168489]LyN@p|lLB?RVſYL NQ)NQIN2KiLNENANM?N& N@)NIN4@iN-\-NCE@N-\-> LN\uHxҎ@2niN&Nc=NCE@N-\-> checking for new query: numPingsReceived=4, elapsed TxPingTime=3.298257 5Y1y5B95ݹ@50@Y5^7=y5Z5H@"@@' ?`I?r. ? 5ݹ@5ѱ;)5Cm}Bm1II}I}(1ԉ4 G=yD٥ H5F >R5ܻ?R59 IBy@@[DEi:R::R53"AZbR~b`iA B B@ʁ_W%8@^0@p|lLB?RVſCE@-\->ҁ$,N@!Qk'?㑫cf@zvBjp" ќ?rM hNB3ǜ? hBꁵMBA@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 95.699997 m, deltaT: 3.546327 s, deltaX: 46.899998 m, approachRate: 13.224950 m/s, rangeRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrjRJB~~)}1|9|i|uW@|}?K=*vP"K==9*K92K=:K=k +mO,k| %|}Pgl4U\=+: #A< e{Bewy'=Ia)e?iImCc< iim&!<<Ȅ q)qu@>:0RW9Ylihiu&u=uD@u0 > q)q checking for new query: numPingsReceived=5, elapsed TxPingTime=3.5917506G Y=<~G A A N > $"X,㦊`iA9>@>g@Y>f>=y>b/>HH@ @L@? Q@X?ʧ܏(? >@>M';)<~}B%!IHU>HUCHUeIHUO~BHQHQHQHU<<HUAEMb@Mb@Mb@ )YZd;?MbMbyY?I@ @)+@I@y(@I] I]V2m >=ys;Q >٥ H6F4U; >checking for new query: numPingsReceived=5, elapsed TxPingTime=3.788251R51?R59 IړBy{Z?x:@@`DEi);: ;R5BB "A ֭EZb`iABB}@ʁaW [^@ϼO3*\%Wf ]?yjȗD@0 >ҁ=ynN@scR<' !Dix9?rM>.9"ɣz ;wBj䃡ќ?r,MZ ZBڽǜ?ͺ<  .gBꁭPBS@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 96.000000 m, deltaT: 4.046979 s, deltaX: 47.200001 m, approachRate: 11.663021 m/s, rangeRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrjRJB~~2|B}|||X@|`Ks? {B靍3=I)>Ik < IB<a<2E 9" Starting"U BInit string: /1z16351aE13561N3m50 DDAT read: Rx Time:14:11:13.4296  TRx dataTimestamp_ set to:1749132674.546707 PDAT read: Bearing 175.9, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 175.9, 8.2 (Local)  DAT read: Range 10 to 50 : 96.6 m (trip time 64.4 ms) speed -0.6 - DAT read: 14:11:13.4296 LVL= 26240, 32753, 19538, 31699, AGC= 68, IDX= 506, 0.34,-1.542, 0.522,-1.521,-1.006, PHS=-0.448, 1.575,-0.519, RAW= 331.7, -6.0, CAL= 334.1, -8.2, ROT= 175.9, 8.2 = Ygot valid direction response: 14:11:13.4296 LVL= 26240, 32753, 19538, 31699, AGC= 68, IDX= 506, 0.34,-1.542, 0.522,-1.521,-1.006, PHS=-0.448, 1.575,-0.519, RAW= 331.7, -6.0, CAL= 334.1, -8.2, ROT= 175.9, 8.2 E R#Rx 6: Read range and direction messages.M `direction in FSK: [-0.987243,0.070767,-0.142629]U Fpublishing direction and range infoڙ yڝ ~;\y?x0A¿ڝ 3BYڙ ۝ f)۝ I۝ RLi۝ {۝ D۝ B`۝ ?۝ / ܝ A@)ܝ PwֽIܝ @iܝ Cܝ p{D@y ܝ C> ݙ )ݙ ݝ ]Wڹq'\iݝ %ݝ R=ݝ p{D@ݝ C> ޙ )ޙ  checking for new query: numPingsReceived=6, elapsed TxPingTime=4.088309ԡ6Gl<~GYAaAyN?@Q+X,w`iAA9U@U,@YU[I=yU UH``m?`'h鏡?0`dJS? U@U!!;)UC׉׍Achecking for new query: numPingsReceived=6, elapsed TxPingTime=4.293702I-I-T3yEa;Q E>٥II MHM7FM< M>QR5U? R59U IU͓By  [@ @UhDEiUb;U`;U!R5=AB="A=حEZb?`iAӿBӿBX@ʁW6/W1g&@x2]7\+~;\y?x0A¿p{D@C>ҁT֗N@n=o/Rj"d$?hRDE;&Pz~lwBjМ?rR!d YBМ?M  ZBꁕB@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 96.599998 m, deltaT: 4.554074 s, deltaX: 47.799999 m, approachRate: 10.496097 m/s, rangeRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrj R J1B9~Ai~I}q|q|q|}`f&X@|}? {B靝8u=I)>IjE< -E 6.<" Starting Ygot valid direction response: 14:11:13.9298 LVL= 27824, 32753, 24914, 32755, AGC= 69, IDX= 508, 0.30,-1.442, 0.555,-1.426,-0.930, PHS=-0.423, 1.533,-0.498, RAW= 331.9, -6.2, CAL= 334.2, -8.5, ROT= 175.8, 8.5  R#Rx 7: Read range and direction messages. `direction in FSK: [-0.986360,0.072434,-0.147809] Fpublishing direction and range infoY y] [+ʁBH[/?%)k¿] BYY ] l)Y I] Rai] ] E] uؾ] X9?] ] 0^@)] kݽI] @i] ] ^D@] > Y )Y ] `뿪SX ' i] w%] N=] ^D@] > Y )Y  checking for new query: numPingsReceived=7, elapsed TxPingTime=4.624388 H]>HYH]RIH]1~BH] =HYHYH]6<H]8EHHHΓCH =I = IΏ56G-9)<jG5n?bG5M?~GAA!N-?#%4X,b`iA^checking for new query: numPingsReceived=7, elapsed TxPingTime=4.796202xU}BUI}Mb@Mb@Mb@yyy y)yY}\(\?Dl~jthy}Z?}O}D}v@ }@)}X@I}@yy}@II3DԼ ٥ H8F >R55v?R59 IBy[?w:@@oDEi'::g&R5"AZb `iAlBlBJ@ʁ3?ƑW1s;>@Kf)q,[+ʁBH[/?%)k¿^D@>ҁkL0N@lᓣBRD #-ԕ??i KD<bdzwBj tМ?r"cb WB,MZ  YBꁵYBl@-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 96.900002 m, deltaT: 5.054947 s, deltaX: 48.100002 m, approachRate: 9.515431 m/s, rangeRepo size: 4]eaddTargetRange::Reached target pos rejection count limit. Clearing pos repo.eDNOT Ignoring new targets: 48.46 m.baZirijiRiJiBi~q~u3|B}q|q|q|}9X@|}? {B靵=I)>I)y< !E<"StartingPDAT read: Bearing 176.0, -8.7 (Local) ~Local bearing/azimuth received: Bearing 176.0, -8.7 (Local) m DAT read: Range 10 to 50 : 97.5 m (trip time 65.0 ms) speed -0.8  DAT read: 14:11:14.4302 LVL= 26976, 28065, 22642, 32755, AGC= 70, IDX= 512, 0.17, 2.475,-2.129, 2.504,-3.025, PHS=-0.695, 0.943,-0.757, RAW= 331.9, 6.2, CAL= 334.0, 8.7, ROT= 176.0, -8.7  Ygot valid direction response: 14:11:14.4302 LVL= 26976, 28065, 22642, 32755, AGC= 70, IDX= 512, 0.17, 2.475,-2.129, 2.504,-3.025, PHS=-0.695, 0.943,-0.757, RAW= 331.9, 6.2, CAL= 334.0, 8.7, ROT= 176.0, -8.7  R#Rx 8: Read range and direction messages. ^direction in FSK: [-0.986086,0.068954,0.151261] Fpublishing direction and range infoډyڍW d(7g?ni\?ڍBYډ ۍ`i)ۍmIۍrXiۉۍFۍ1ۍshq?ۍA ܉)܍k=I܍q@i܍|>܍ D@܍| ݉)݉ݍ*\9 뿼̫Ϩԁn?iݍM~%ݍ۽ݍ D@ݍ| މ)މ- checking for new query: numPingsReceived=8, elapsed TxPingTime=5.105682y 6G y<Ա ~G A AN >w,;X,`iA9BH@B@YB:P=yB.\٥dh jHj9Fj]< j>lrR5nc?rR59n> InBytvr@v@ntDEin;n;n)R5|~[#A~ۭEZbI`iABB@ʁl zW4fv@!QI-@W d(7g?ni\? D@|ҁsS O@A:ùQ*<3@K?ۼK9:?zMZxBjМ?r 7 B Bl@ addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 checking for new query: numPingsReceived=8, elapsed TxPingTime=5.300533-addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 96.807602 m, bearing: nan deg, deltaT: 5.558728 s, deltaX: 48.351387 m, approachRate: 8.698282 m/s, posRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrjR!J!BA~I~I}Q|Q|Q|]`X@|]z? {Bp=I)y>I` < <  {< w& ) c\c࿼ :i % +=  D@ 0 > ) ] checking for new query: numPingsReceived=9, elapsed TxPingTime=5.572709I 6G ~G A A N >CBX, aiAHͼ>HCH9IH~BH =HH,DH&<H-E9e@e<@YeEV=ye٥ H:F.< >R5J?R59] IBchecking for new query: numPingsReceived=9, elapsed TxPingTime=5.804156yW?|:@@|DEi;U;.R5@B#AܭEZbaiA7B7Bi@ʁ#AW!/@8a*O r=￙*?yjȗ D@0 >ҁ ΢jO@&fRIK9 :j?a@迾ccz0U{Bj zМ?r! Ha #]B! Ha  ZBꁽSB^@ addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 0.504057 s, deltaX: 0.300003 m, approachRate: 0.595177 m/s, rangeRepo size: 2 -addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 97.107498 m, bearing: nan deg, deltaT: 6.062785 s, deltaX: 48.651283 m, approachRate: 8.024577 m/s, posRepo size: 4DNOT Ignoring new targets: 48.46 m.bZrjRJB~~&|B}|||@3sX@|? |B靕; =I)T>Ib'< <fX<:J dBJ `JJ ARJ ZJ <:bJ bl9J 4J zJ ;jJ ;J ':rJ ):Q  DDAT read: Rx Time:14:11:15.4307  TRx dataTimestamp_ set to:1749132676.558661 PDAT read: Bearing 175.1, 7.0 (Local)  ~Local bearing/azimuth received: Bearing 175.1, 7.0 (Local)  DAT read: Range 10 to 50 : 98.3 m (trip time 65.5 ms) speed -0.6  DAT read: 14:11:15.4307 LVL= 29056, 28337, 21026, 32755, AGC= 67, IDX= 501,-0.01, 1.726,-2.618, 1.709, 2.249, PHS=-0.435, 1.464,-0.543, RAW= 332.7, -5.0, CAL= 334.9, -7.0, ROT= 175.1, 7.0  Ygot valid direction response: 14:11:15.4307 LVL= 29056, 28337, 21026, 32755, AGC= 67, IDX= 501,-0.01, 1.726,-2.618, 1.709, 2.249, PHS=-0.435, 1.464,-0.543, RAW= 332.7, -5.0, CAL= 334.9, -7.0, ROT= 175.1, 7.0  T#Rx 10: Read range and direction messages.% `direction in FSK: [-0.988919,0.084780,-0.121869],HX,d%aiA9F @F@YF|ZY=yFGg@ʁn!X#H @ѩU4'ʹ8`(?UM7P2C@5=ҁ-mO@lCϘRJ $z P?;nc U1zƔi{BjМ?rup gcBМ?"cb  #]BB\@ addTargetRange:: Added new target pos. range: 98.300003 m, deltaT: 0.503243 s, deltaX: 0.500000 m, approachRate: 0.993556 m/s, rangeRepo size: 3 -%addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 97.603958 m, bearing: nan deg, deltaT: 6.566028 s, deltaX: 49.147743 m, approachRate: 7.485156 m/s, posRepo size: 4-DNOT Ignoring new targets: 48.46 m.b)Z)r)j)R)J1B1~1~9}9|||@3X@|V? -|B-=I1)5h>1I5+< 1Y]Ա OX,(?aiAK}nP"K}9*Ky2K}:K} Oa5mv%jrUY.+1m XXpX~-]JN?JN?]DDAT read: Rx Time:14:11:15.9309 ]TRx dataTimestamp_ set to:1749132677.063609ePDAT read: Bearing 175.2, 6.1 (Local) m~Local bearing/azimuth received: Bearing 175.2, 6.1 (Local) }DAT read: Range 10 to 50 : 98.6 m (trip time 65.7 ms) speed -0.7 -}Z#Rx 11: Read range message, but no direction.Y]3BYYchecking for new query: numPingsReceived=11, elapsed TxPingTime=6.570021ԉx}BIMb@Mb@Mb@ )YQ?)\(y&1yU?`e@ )n@I3@y@IIF3-# 5%=y=Q =>٥99 =H=;F >R5#?R59 IBy@V?}:@@DEi::5R5?B$A߭E addTargetRange:: Added new target pos. range: 98.599998 m, deltaT: 0.504948 s, deltaX: 0.299995 m, approachRate: 0.594112 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 48.46 m.bZrjRJB~~|B}|| | `fX@| `n?H>HCHIH}BH =HH.DH<HE ] |B]5=IY)]>YIef1< aae}[dZi $ = EC@ ^ =] checking for new query: numPingsReceived=12, elapsed TxPingTime=6.826326 6G Hn<~GAAN>%WX,]aiAH P}BIi%٥ HR5?-R59 IBy99DDAT read: Rx Time:14:11:16.4313 TRx dataTimestamp_ set to:1749132677.565149PDAT read: Bearing 175.3, 5.8 (Local) ~Local bearing/azimuth received: Bearing 175.3, 5.8 (Local) EDAT read: Range 10 to 50 : 99.2 m (trip time 66.1 ms) speed -0.8 DAT read: 14:11:16.4313 LVL= 31120, 25761, 25906, 32755, AGC= 67, IDX= 507,-0.03, 0.699, 2.623, 0.688, 1.250, PHS=-0.463, 1.420,-0.565, RAW= 332.6, -4.1, CAL= 334.7, -5.8, ROT= 175.3, 5.8 Ygot valid direction response: 14:11:16.4313 LVL= 31120, 25761, 25906, 32755, AGC= 67, IDX= 507,-0.03, 0.699, 2.623, 0.688, 1.250, PHS=-0.463, 1.420,-0.565, RAW= 332.6, -4.1, CAL= 334.7, -5.8, ROT= 175.3, 5.8 T#Rx 13: Read range and direction messages.`direction in FSK: [-0.991535,0.081519,-0.101056]Fpublishing direction and range infoy0Cn޴?+hg޹@DEi8=@=U9R5)-$A)fBY y)dI2eiµ?ף F¹@)CI@i4QϽC@4Q= )=v+yՂ)4%:p#Gif$\=C@4Q= )checking for new query: numPingsReceived=13, elapsed TxPingTime=7.119501Zbg+daiABB_@ʁlFjX'~@ @K#0Cn޴?+hg޹C@4Q=ҁĒ}O@1R\(1vO?ܘnU,zЕ7Bjbќ?r&o 2kB gcBsB]@ addTargetRange:: Added new target pos. range: 99.199997 m, deltaT: 0.501540 s, deltaX: 0.599998 m, approachRate: 1.196312 m/s, rangeRepo size: 4 -addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 98.502037 m, bearing: nan deg, deltaT: 7.572516 s, deltaX: 50.045822 m, approachRate: 6.608876 m/s, posRepo size: 45DNOT Ignoring new targets: 48.46 m.b1Z9r9j9R9JABA~I~I}|||X@| ? % |B%<=I))->)IH6< *< < i i EEEE4E י י  checking for new query: numPingsReceived=13, elapsed TxPingTime=7.3166826G 9f ^X,zaiA9>[@>@Y>X=y><>H@ xm2?ͭ??-?? >[@>;)}BNIIbIb2jW$ j?=ynQ n>٥lp rHr=FrZt r>IYI]BA:Ju`BJuYJJuCRJqZJu:bJu[O9Ju4Jq@@@@R5|?R59 ItBy@=@DEi\<P<2=R5KmP"Kmý9*Ki2Km:KmeQWDE%n`I;,Q$B_y$O nh<+nOnUz J)J-A%AEDDAT read: Rx Time:14:11:16.9315 TRx dataTimestamp_ set to:1749132678.069307PDAT read: Bearing 175.2, 5.7 (Local) ~Local bearing/azimuth received: Bearing 175.2, 5.7 (Local) DAT read: Range 10 to 50 : 99.5 m (trip time 66.3 ms) speed -0.8 DAT read: 14:11:16.9315 LVL= 28912, 32753, 25506, 32755, AGC= 66, IDX= 493,-0.08,-0.829, 1.108,-0.844,-0.275, PHS=-0.466, 1.430,-0.572, RAW= 332.7, -4.1, CAL= 334.8, -5.7, ROT= 175.2, 5.7 Ygot valid direction response: 14:11:16.9315 LVL= 28912, 32753, 25506, 32755, AGC= 66, IDX= 493,-0.08,-0.829, 1.108,-0.844,-0.275, PHS=-0.466, 1.430,-0.572, RAW= 332.7, -4.1, CAL= 334.8, -5.7, ROT= 175.2, 5.7 T#Rx 14: Read range and direction messages.`direction in FSK: [-0.991566,0.083264,-0.099320]Fpublishing direction and range infoڑyڕɠFsP?hܸmڕBYڑ ەp)ەIەciۑەBەە= ?ەn ܕй@)ܑIܕ@iܕ%˽ܕEC@ܕ%= ݑ)ݑݕ鬢! >Yc#iݕ$ݕE:=ݕEC@ݕ%= ޑ)ޑchecking for new query: numPingsReceived=14, elapsed TxPingTime=7.588315E addTargetRange:: Added new target pos. range: 99.500000 m, deltaT: 0.504158 s, deltaX: 0.300003 m, approachRate: 0.595058 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 48.46 m.bIZIrIjIRIJIBI~q~q}q|y|y|}X@|} fڞ? |B%IL:< X <%<%yHU CHU IHU }BHU  =HQ HU /DHU ܚ<HU E6G <= checking for new query: numPingsReceived=14, elapsed TxPingTime=7.821756ԉ ~G A A N >EeX,LaiA9uQ@u@YuX=yuo٥ H>F >R5廜?R59 IeByW?{:@@DEi::tAR5>Bf%AEZboaiABB@@ʁ;k ~XGt @xB#ɠFsP?hܸmEC@%=ҁ)XO@D;R6F!*X? i迋㦿z~Bj5М?rBl ykBBl  2kBBbJ@DNOT Ignoring new targets: 48.46 m.bZrjRJB~~-|B}||| | L? |B5I3o>< !<<R٥aa eHe?Fm m>q}R5uһ?}R59u IuXByy}@@uDEiu~:u:uDR5%AZb圤aiAfBfB;@ʁ8Xp@ @^, $9}z+!O?+hg޹4Q=ҁR!O@}R]س(.?Z_NlxOzoBjМ?rrn -jBrn  -jBgBXF@ addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 0.502769 s, deltaX: 0.400002 m, approachRate: 0.795597 m/s, rangeRepo size: 4 -addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 99.199394 m, bearing: nan deg, deltaT: 8.579443 s, deltaX: 50.743179 m, approachRate: 5.914507 m/s, posRepo size: 4]addTargetPos::Reached target pos rejection count limit. Clearing pos repo.bZrjRJB~~}|||X@|-? |BcI%A< !!%"<)-<-uPRJZJ]:bJG9Jt4JEEE!E!E!K"K 9*K2K:Kk bt0IgX e!x^]c^Lyjt\z5 Ti DDAT read: Rx Time:14:11:17.9321 TRx dataTimestamp_ set to:1749132679.079767-PDAT read: Bearing 174.7, 6.4 (Local) 5~Local bearing/azimuth received: Bearing 174.7, 6.4 (Local) MDAT read: Range 10 to 50 : 100.2 m (trip time 66.8 ms) speed -0.9 DAT read: 14:11:17.9321 LVL= 22560, 26433, 18674, 27939, AGC= 67, IDX= 3,-0.30,-1.549, 0.320,-1.579,-1.033, PHS=-0.428, 1.400,-0.549, RAW= 333.2, -4.5, CAL= 335.3, -6.4, ROT= 174.7, 6.4 Ygot valid direction response: 14:11:17.9321 LVL= 22560, 26433, 18674, 27939, AGC= 67, IDX= 3,-0.30,-1.549, 0.320,-1.579,-1.033, PHS=-0.428, 1.400,-0.549, RAW= 333.2, -4.5, CAL= 335.3, -6.4, ROT= 174.7, 6.4 T#Rx 16: Read range and direction messages.`direction in FSK: [-0.989519,0.091795,-0.111469]Fpublishing direction and range infoyHI$>? -V:fBY  X)AgIHi#mC"۾33?D @)|٠IPD@i佉K$C@= )jQ꿑 @t (-i$K=K$C@= )checking for new query: numPingsReceived=16, elapsed TxPingTime=8.610524ԙ 6G 7<~G A A N >UUsX,"aiAH&>H$H&IH&p}BH& =H$H$H&<H&%E9z~@zз@YzmV=yzN^;zH@@u`ğ?R@k?@ʪ {?? z~@z;)xy]|B}IMb@Mb@Mb@ )YbX9?&1{GzyEV?P# @)dAIv@y@II2- 5=yAQ >٥ H@F؃ >R5?R59 ILByV?}:@@DEi::HR5  .&A5EQUAUchecking for new query: numPingsReceived=16, elapsed TxPingTime=8.828498ZIbMaiAMBMBMB@ʁM$;Xi? -V:MK$C@M=ҁMqO@JCc:!SƦ4UrM3NH]??D&C#t)zM MM}BjMМ?rMn}| M~eBM5М?M&o  IMBMW<@5 addTargetRange:: Added new target pos. range: 100.199997 m, deltaT: 0.507691 s, deltaX: 0.299995 m, approachRate: 0.590902 m/s, rangeRepo size: 4 9MU Added new target pos. range: 99.496880 m, bearing: 309.610237 deg, lat: 36.906650 deg, lon: -122.116399 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ]DNOT Ignoring new targets: 99.50 m.bYZYrYjYRYJaBa~a~m|B}i|i|i|u Y@|u)?ԡ |BI@D< w$<<PCyyX,aiAiUPwֽUvC@UPw= Q)QUjv꿙 I(+4")iU $Um=UvC@UPw= Q)Q6checking for new query: numPingsReceived=17, elapsed TxPingTime=9.1348419]H@]@Y])V=y]5]H] K?@@? ЪnQ? ]H@];)]C%|B-I11I=I=2m  mS=ym8Q m>٥qq uHq}Ao }>R5?R59 IABy@@DEi%:S:JLR5=Bj&A%EZQbU7aiAU/BU/BU'J@ʁU=?QXZ@@0$Uisd"?!k?4ޮ`ºUvC@UPw=ҁUW/X'P@/S; UAy W?wu a@#kL調zUU:BjUМ?rU1Fo UgBQU1Fo  QUBU[=@ addTargetRange:: Added new target pos. range: 100.800003 m, deltaT: 0.501752 s, deltaX: 0.600006 m, approachRate: 1.195822 m/s, rangeRepo size: 4  Added new target pos. range: 100.092674 m, bearing: 310.273933 deg, lat: 36.906650 deg, lon: -122.116399 deg, deltaT: 0.501752 s, deltaX: 0.595795 m, approachRate: 1.187429 m/s, posRepo size: 2 FNOT Ignoring new targets: 100.09 m.bZrjRJ B ~ ~ }|1|1|=@33Y@|=? |B靍IPF< %<(h<lX,mbiAKPP"K9*K 2K:K*c4,@D'K@9gIh%Gfx($NWI1)19mhy@m@YmU=ym(ܻmHf`=@?&`…?ްn{{@? mhy@m;)i|BsIDDAT read: Rx Time:14:11:18.9327 TRx dataTimestamp_ set to:1749132680.083883PDAT read: Bearing 175.4, 6.8 (Local) ~Local bearing/azimuth received: Bearing 175.4, 6.8 (Local) DAT read: Range 10 to 50 : 101.1 m (trip time 67.4 ms) speed -0.5 1UDAT read: 14:11:18.9327 LVL= 29984, 26513, 23906, 32755, AGC= 67, IDX= 488, 0.22, 0.718, 2.756, 0.709, 1.274, PHS=-0.469, 1.529,-0.568, RAW= 332.4, -4.8, CAL= 334.6, -6.8, ROT= 175.4, 6.8 ]Ygot valid direction response: 14:11:18.9327 LVL= 29984, 26513, 23906, 32755, AGC= 67, IDX= 488, 0.22, 0.718, 2.756, 0.709, 1.274, PHS=-0.469, 1.529,-0.568, RAW= 332.4, -4.8, CAL= 334.6, -6.8, ROT= 175.4, 6.8 ]T#Rx 18: Read range and direction messages.e`direction in FSK: [-0.989767,0.079635,-0.118404]Fpublishing direction and range infoڹyڽ^+Ldb?EOڽ3BYڹ ۽ u)۽gI۽b]i۹۹۽ ۽F?۽sh ܽ@)ܽIܹiܹܽܽ= ݹ)ݹݽשȞ1˲,w妵iݽ$ݽ6l=ݹݽ= ޹)޹checking for new query: numPingsReceived=18, elapsed TxPingTime=9.625540Mb@Mb@Mb@ )Y㥛 ?MbyU?L X@)AIy@II(*3rg )=y]Q >٥ HAFL$ >AaR5E?R59E IE4ByU?~:@@EDEiEͩH=CH=IH==}BH= =H9H=.DH=ך<H=EHƗCHƗCHƔCH =I = I16ZbW^biABBQF@ʁ?XTt@B'^+Ldb?EO=ҁB!-P@2cS=?jƠ?Ư1^迯A'؉2zmBj М?rel aBrn  gBꁽrB>@ addTargetRange:: Added new target pos. range: 101.099998 m, deltaT: 0.502364 s, deltaX: 0.299995 m, approachRate: 0.597167 m/s, rangeRepo size: 4  Added new target pos. range: 100.390564 m, bearing: 310.247105 deg, lat: 36.906650 deg, lon: -122.116398 deg, deltaT: 0.502364 s, deltaX: 0.297890 m, approachRate: 0.592976 m/s, posRepo size: 3 FNOT Ignoring new targets: 100.39 m.b!Z!r!j!R!J!B!~I~M+|B}I|Q|Q|U`fFY@|UILZI< '<g*<<0WT?L`u&M3BYI M@e)MqRIM]iIIM۾M?MC M޹@)M+ȽIMk@iM MzC@M > I)IM\M:6|qDWFɸiMc$M=MzC@M > I)Ichecking for new query: numPingsReceived=19, elapsed TxPingTime=10.104808|BiII-I-m?39EG E<=yEQ E>٥II MHMBFU U>YeR5][?mR59]_ I](Byi@]DEi]B<]B<]TR5'AEZIbMM%biAMBMBM@ʁM^vX@Jm!@T+M>0WT?L`u&MzC@M >ҁM hP@].7KS MB3p?sijz?J:zMYMހBjM.М?rMw M?[BMМ?M1Fo  M~eBM1BM<@ addTargetRange:: Added new target pos. range: 101.599998 m, deltaT: 0.503904 s, deltaX: 0.500000 m, approachRate: 0.992252 m/s, rangeRepo size: 4 - Added new target pos. range: 100.885536 m, bearing: 309.859215 deg, lat: 36.906650 deg, lon: -122.116399 deg, deltaT: 0.503904 s, deltaX: 0.494972 m, approachRate: 0.982275 m/s, posRepo size: 4 5FNOT Ignoring new targets: 100.89 m.b1Z1r1j1R1J9B9~9~9}A|A|Ai|u`ffY@|}? %|B7]IvK< !!%t)<)-"<-U aX,[>biAII4=:J&^BJ&JJ&>RJ$ZJ&} :bJ&9J&t4J$ԩK%,P"K%9*K!2K%:K%SeyR#KAT1iS*lbj/V0E\?}s96JU?JU>9u9@uL@YuX[=yuu$úuH@Hk Jţ?sE?g`[X@?? u9@u-;)uC|BbIeDDAT read: Rx Time:14:11:19.9332 eTRx dataTimestamp_ set to:1749132681.091996uPDAT read: Bearing 175.9, 6.8 (Local) u~Local bearing/azimuth received: Bearing 175.9, 6.8 (Local) DAT read: Range 10 to 50 : 101.9 m (trip time 67.9 ms) speed -0.6 DAT read: 14:11:19.9332 LVL= 26208, 24561, 25202, 32755, AGC= 68, IDX= 509,-0.07,-1.218, 0.711,-1.200,-0.680, PHS=-0.449, 1.438,-0.523, RAW= 331.9, -4.9, CAL= 334.1, -6.8, ROT= 175.9, 6.8 Ygot valid direction response: 14:11:19.9332 LVL= 26208, 24561, 25202, 32755, AGC= 68, IDX= 509,-0.07,-1.218, 0.711,-1.200,-0.680, PHS=-0.449, 1.438,-0.523, RAW= 331.9, -4.9, CAL= 334.1, -6.8, ROT= 175.9, 6.8 T#Rx 20: Read range and direction messages.`direction in FSK: [-0.990424,0.070995,-0.118404]Fpublishing direction and range infoayeDhg,?EOeBYa e`f)e_IerbiaeDeTeb?eT e0^@)e%Ie@ieep{D@e= a)aeD/ɋ]S"yoԵiek%eٮ=ep{D@e= a)a5checking for new query: numPingsReceived=20, elapsed TxPingTime=10.614946MMb@Mb@Mb@III I)IYM ףp= ?~jt{GztyMQX?MMףI M@)IIM@IyM@II3 =y$;Q >٥ HCF >5R5g?=R59[} IBye2Y?ez:e@m@DEiS<<-YR5uHCHIH }BH =HHH<HE% Added new target pos. range: 101.183426 m, bearing: 310.485960 deg, lat: 36.906651 deg, lon: -122.116399 deg, deltaT: 0.504209 s, deltaX: 0.297890 m, approachRate: 0.590806 m/s, posRepo size: 4 %FNOT Ignoring new targets: 101.18 m.b!Z!r)j)R)J)B)~1~5.|B}1|1||yY@| N|? (|B靵 G I 'M< ,< ܜ< 4x-@%@@Y%w\=y%/D%H f@oǕ`5?@bo r_?@ǏH@"? %>-@%};)%C=|B=OIIIIIDDAT read: Rx Time:14:11:20.4335 TRx dataTimestamp_ set to:1749132681.595559DAT read: Range 10 to 50 : 102.5 m (trip time 68.3 ms) speed -0.8 -Z#Rx 21: Read range message, but no direction.ڹڽBYڹchecking for new query: numPingsReceived=21, elapsed TxPingTime=11.099673㐽 @=y(:Q >٥ HDF >R5fT?R59v IBy@@DEi::\R515'A1uB*** querying acoustic contact ***JqRu addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 0.503563 s, deltaX: 0.599998 m, approachRate: 1.191506 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 101.18 m.bZrjRJB~~}|||Y@|9\? ]*|B]TFaX,O|biA9B,@B~&@YBz^=yBùBHZ]Z@"?@e£?`I۫k8? B,@Bd;)BCR~|BRGIIZ IZV2b@ b_=yb:Q f>٥dd fHfEFj> j>llrR5nC?vR59no InBytvf@z@nDEin}f;nk;n`R5;B'A E5FNOT Ignoring new targets: 101.18 m.b1Z1r1j1R1J9B9~A~A}A|A|A|I|M? ,|B靅B;1?stbPk7K/cE!E!E)E5m0E1DDAT read: Rx Time:14:11:20.9337 TRx dataTimestamp_ set to:1749132682.103445 PDAT read: Bearing 176.2, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 176.2, 5.4 (Local) eDAT read: Range 10 to 50 : 102.8 m (trip time 68.5 ms) speed -0.7 DAT read: 14:11:20.9337 LVL= 20976, 23073, 18994, 32755, AGC= 67, IDX= 499,-0.36,-1.213, 0.761,-1.189,-0.627, PHS=-0.498, 1.435,-0.565, RAW= 331.7, -3.8, CAL= 333.8, -5.4, ROT= 176.2, 5.4 Ygot valid direction response: 14:11:20.9337 LVL= 20976, 23073, 18994, 32755, AGC= 67, IDX= 499,-0.36,-1.213, 0.761,-1.189,-0.627, PHS=-0.498, 1.435,-0.565, RAW= 331.7, -3.8, CAL= 333.8, -5.4, ROT= 176.2, 5.4 T#Rx 22: Read range and direction messages.`direction in FSK: [-0.993373,0.065980,-0.094108]Fpublishing direction and range infoyIz\ ?|ӄ{BY Q)!ZI2JiC?ף A@)ԇIm@i:D@= )+.'{&Qvi%=:D@= )Mchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.64931096G1~G A1 AI Hm >Hi Hm ~IHm |BHm  =Hi Hi Hm !<Hm FEN >a IX,A+biAchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.8520779Ba@B@YBһc=yBf>BHZW_ N`F?@ aL?@s@egN? Ba@BÆ;)BCNy|BRDI9Mb@Mb@Mb@ )YA`"?p= ף~jtxyY?Ļn@ )AI@y\@II(1? <=y4/;Q >٥ HFF >R5/?R598h IByY?y:.@@DEit;G;cR5'AEZb؞biA'B'B7x@ʁYYG ޯ@.r6#Iz\ ?|ӄ{:D@=ҁ{jP@c\S$K nρ?:IG"r{zBjz ќ?r` lBМ?el  GBP@M addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 0.507886 s, deltaX: 0.300003 m, approachRate: 0.590690 m/s, rangeRepo size: 4  Added new target pos. range: 102.077484 m, bearing: 310.596103 deg, lat: 36.906652 deg, lon: -122.116397 deg, deltaT: 1.011449 s, deltaX: 0.894058 m, approachRate: 0.883938 m/s, posRepo size: 4 FNOT Ignoring new targets: 102.08 m.bZrjRJB~~1|B}|||@3Y@|i? u.|BuDE<ԩDDAT read: Rx Time:14:11:21.4341 TRx dataTimestamp_ set to:1749132682.604103PDAT read: Bearing 174.5, 10.5 (Local) ~Local bearing/azimuth received: Bearing 174.5, 10.5 (Local)  DAT read: Range 10 to 50 : 103.4 m (trip time 68.9 ms) speed -0.8 EDAT read: 14:11:21.4341 LVL= 23136, 23329, 21298, 32755, AGC= 68, IDX= 503,-0.21,-1.846, 0.119,-1.876,-1.409, PHS=-0.349, 1.576,-0.469, RAW= 333.0, -7.7, CAL= 335.5, -10.5, ROT= 174.5, 10.5 UYgot valid direction response: 14:11:21.4341 LVL= 23136, 23329, 21298, 32755, AGC= 68, IDX= 503,-0.21,-1.846, 0.119,-1.876,-1.409, PHS=-0.349, 1.576,-0.469, RAW= 333.0, -7.7, CAL= 335.5, -10.5, ROT= 174.5, 10.5 ]T#Rx 23: Read range and direction messages.m`direction in FSK: [-0.978728,0.094241,-0.182236]Fpublishing direction and range infoy{ƽQ$RF+ ?m~SǿBY `Z)![I2SiD!^? w@) I`@if;B@f;> )Mq5^!/OE]Qi94$; >B@f;> )checking for new query: numPingsReceived=23, elapsed TxPingTime=12.137760E ?E E E 5E 6G5 2HZ<jG5 t?bG5 ? ~GIAQAaNu>&X,zbiAchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.356135ԱX|B0IIIM31u =yQ >٥ HGF >R5?R59^ IBy@DEi:::hR5|(AZbbiAXBXB@ʁټZOY#AZ#@1F2{ƽQ$RF+ ?m~SǿB@f;>ҁ}P@K2SuLJ@*13s?K迭b]zfBj(М?r~ GB М? aBB?E@e addTargetRange:: Added new target pos. range: 103.400002 m, deltaT: 0.500658 s, deltaX: 0.599998 m, approachRate: 1.198420 m/s, rangeRepo size: 4 u Added new target pos. range: 102.673264 m, bearing: 308.944608 deg, lat: 36.906651 deg, lon: -122.116397 deg, deltaT: 0.500658 s, deltaX: 0.595779 m, approachRate: 1.189993 m/s, posRepo size: 4 uFNOT Ignoring new targets: 102.67 m.bqZqryjyRyJyB~~}|||Y@|OT? 0|B.x8HF}Ix0 Ge NLlGvDDAT read: Rx Time:14:11:21.9343 TRx dataTimestamp_ set to:1749132683.108000PDAT read: Bearing 176.6, 5.5 (Local) ~Local bearing/azimuth received: Bearing 176.6, 5.5 (Local) DAT read: Range 10 to 50 : 103.7 m (trip time 69.1 ms) speed -0.8   DAT read: 14:11:21.9343 LVL= 18928, 17377, 17346, 22643, AGC= 68, IDX= 489,-0.07, 1.405,-2.838, 1.443, 2.011, PHS=-0.518, 1.481,-0.570, RAW= 331.3, -3.9, CAL= 333.4, -5.5, ROT= 176.6, 5.5  Ygot valid direction response: 14:11:21.9343 LVL= 18928, 17377, 17346, 22643, AGC= 68, IDX= 489,-0.07, 1.405,-2.838, 1.443, 2.011, PHS=-0.518, 1.481,-0.570, RAW= 331.3, -3.9, CAL= 333.4, -5.5, ROT= 176.6, 5.5 % T#Rx 24: Read range and direction messages.- `direction in FSK: [-0.993644,0.059033,-0.095846]- Fpublishing direction and range infoyiѵ(9?aVXfBY I)CICisXh? g@)'gI4@>EE uIE_ؿ࿑"i &)E=CE@ = )u checking for new query: numPingsReceived=24, elapsed TxPingTime=12.630359E ?E E E 0E 1 HE >HE CHE eIHE |BHA HA HA HE <HE /E6GP٥99 =H=HFey e>iuR5m?uR59m[V ImޒByu [?ux:u@u@mDEimV:m:mlR5(AEZbybiABB٣@ʁ٢5Y$rP@k#iѵ(9?aVXCE@ =ҁeVP@(7qS]w']?v+QQNAzBj -ќ?rxFW 'lBМ?Ӊd  9bBꁵBqf@5 addTargetRange:: Added new target pos. range: 103.699997 m, deltaT: 0.503897 s, deltaX: 0.299995 m, approachRate: 0.595351 m/s, rangeRepo size: 4 m Added new target pos. range: 102.970245 m, bearing: 310.901278 deg, lat: 36.906654 deg, lon: -122.116394 deg, deltaT: 0.503897 s, deltaX: 0.296982 m, approachRate: 0.589370 m/s, posRepo size: 4 mFNOT Ignoring new targets: 102.97 m.bqZqrqjqRqJqB~~E|B}|||Y@| ?:Ju[BJuUJJqRJqZJu:bJu>9JqJqzJu:jJu:Ju}Q:rJuQ: 3|B靽l٥qq uHuIFu }>R5f纜?R59M IВBy@DEi2::qR5:BM(AMEZ1b5{-biA5!B5!B5i@ʁ5PFYk^>@}X y)5OQ͜O}ְ?A7X5:D@5=ҁ52P@ͲS4J5UV-5?%*HWC)z5,50Bj5=fМ?r5c 5v`B5=fМ?5c  15B5i@ addTargetRange:: Added new target pos. range: 104.300003 m, deltaT: 0.504151 s, deltaX: 0.600006 m, approachRate: 1.190132 m/s, rangeRepo size: 4 K&P"K9*K2K:K"nl!zF!BPZ(?X`bs@F  c DDAT read: Rx Time:14:11:22.9349 %TRx dataTimestamp_ set to:1749132684.117671-PDAT read: Bearing 174.7, 6.2 (Local) -~Local bearing/azimuth received: Bearing 174.7, 6.2 (Local) =DAT read: Range 10 to 50 : 104.6 m (trip time 69.7 ms) speed -0.1 eDAT read: 14:11:22.9349 LVL= 19728, 22433, 20674, 31203, AGC= 65, IDX= 495, 0.08, 0.140, 2.003, 0.107, 0.657, PHS=-0.429, 1.393,-0.554, RAW= 333.3, -4.4, CAL= 335.3, -6.2, ROT= 174.7, 6.2 uYgot valid direction response: 14:11:22.9349 LVL= 19728, 22433, 20674, 31203, AGC= 65, IDX= 495, 0.08, 0.140, 2.003, 0.107, 0.657, PHS=-0.429, 1.393,-0.554, RAW= 333.3, -4.4, CAL= 335.3, -6.2, ROT= 174.7, 6.2 uT#Rx 26: Read range and direction messages.}`direction in FSK: [-0.989901,0.091830,-0.107999]}Fpublishing direction and range infoydP(DK1?Niإ3BY M)WIPiyA۾M? [&@)nFIPD@ikݽK$C@k= ); ̫꿅صߧki#P=K$C@k= )checking for new query: numPingsReceived=26, elapsed TxPingTime=13.638643 Added new target pos. range: 103.566032 m, bearing: 310.489866 deg, lat: 36.906654 deg, lon: -122.116394 deg, deltaT: 0.504151 s, deltaX: 0.595787 m, approachRate: 1.181763 m/s, posRepo size: 4 FNOT Ignoring new targets: 103.57 m.bZrjRJB~~}|||`f&Z@|?9 M6|BU XHU CHU LIHU |BHU  =HQ HU -DHU <HU Ei ~Gi Ay A N >8`X,ZciA5*|B5IQuchecking for new query: numPingsReceived=26, elapsed TxPingTime=13.868117Mb@Mb@Mb@ )Y-?V-y5^?mA )I@yAIm Im2}s# }.=yQ >٥ HJF >R5GѺ?R59D IĒBy^?t:@@DEi ;P;uR5+)AZYb]ciA]B]B]@ʁ]Y#auH#@<o&]dP(DK1?Niإ]K$C@]k=ҁ]nfQP@`3'TveW]0őB?CW\ 9 )9 = U&ӽ|L_i= 4%= ?>= C@= %/> 9 )9  checking for new query: numPingsReceived=27, elapsed TxPingTime=14.148649 ~G A A N >όX,@,ciA96@6i@Y6e=y6<6H J-?P-ϧ?s?? 6@6S;)6CR|BRIIVIV2n r=yrQ r?٥pt vHtv?Y v ?%R5ú?%R59@ IBy!%@%@DEi>::/xR5)U)AUEZabe 'ciAeBeBeڬ@ʁeYLv @b$?1eOd$Qms׏?rlſeC@e%/>ҁeiH'xP@.TiSpBR'e%$98?5@k 6ze۟eBjesF<<@/ A atX,FciAIT)TrDDAT read: Rx Time:14:11:23.9354 rTRx dataTimestamp_ set to:1749132685.123834vPDAT read: Bearing 173.5, 10.8 (Local) z~Local bearing/azimuth received: Bearing 173.5, 10.8 (Local) DAT read: Range 10 to 50 : 105.3 m (trip time 70.2 ms) speed -0.7 -DAT read: 14:11:23.9354 LVL= 18224, 16481, 15650, 25331, AGC= 68, IDX= 500, 0.14,-0.737, 1.082,-0.803,-0.352, PHS=-0.297, 1.481,-0.454, RAW= 334.2, -7.9, CAL= 336.5, -10.8, ROT= 173.5, 10.8 5Ygot valid direction response: 14:11:23.9354 LVL= 18224, 16481, 15650, 25331, AGC= 68, IDX= 500, 0.14,-0.737, 1.082,-0.803,-0.352, PHS=-0.297, 1.481,-0.454, RAW= 334.2, -7.9, CAL= 336.5, -10.8, ROT= 173.5, 10.8 =T#Rx 28: Read range and direction messages.E`direction in FSK: [-0.975973,0.111198,-0.187381]EFpublishing direction and range infopyr6E+;￁fyw?0iǿrBYp r0G)ra@Ir"=irbrDrbrh?rr r @)r0 Ir@irAr&A@rA> p)pr@=#8%Ὶ>k?irl"r! >r&A@rA> p)p]checking for new query: numPingsReceived=28, elapsed TxPingTime=14.640691KeP"Keý9*Ka2Ke:KehtpaP^B}Dp\DG9U`X3e|#Mg9@>@Yb=yu<HH`Ǡ`q?N`;?>Z`?`(? @骍p;)C |BI MMb@Mb@Mb@III I)IYMX9v?V-MbPyM]?IMMzA MzA)MAIM@IyM=AIeIe3u u=yuyQ }>٥yH׼>HH3IH]|BH =HH,DH<HEHHHH =I = IE"6y %H%KF%6 %>)ER5-h?UR59-6 I-Byr^?t:@@-DEi-f<-uf<-|R59B)AE9ZpbrGciArBrBrm٫@ʁr/wm҂Yw@'@mϕ53r6E+;￁fyw?0iǿr&A@rA>ҁr4O@zT0+rf-$%e?LGzrr|}BjrjϜ?rra'M rDBpp prBr~۬@ addTargetRange:: Added new target pos. range: 105.300003 m, deltaT: 0.502554 s, deltaX: 0.300003 m, approachRate: 0.596957 m/s, rangeRepo size: 4 ׉׍Achecking for new query: numPingsReceived=28, elapsed TxPingTime=14.876792 Added new target pos. range: 104.556267 m, bearing: 307.695023 deg, lat: 36.906639 deg, lon: -122.116403 deg, deltaT: 0.502554 s, deltaX: 0.297310 m, approachRate: 0.591598 m/s, posRepo size: 4 FNOT Ignoring new targets: 104.56 m.bZrjRJB ~ ~ d|B} | | | @3SZ@| .?a >|B A=U|E@U'g= Q)Qchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.148177~GA!A1N=?X,XjciA9M@M@YM\=yM:MHB@~ բ@?yJ`1? kƯQ?? M@M5;)MCԙ{BIII2½ '=yCQ >٥99 =HELFEH# E>IUR5M?UR59M~. IMByy}@}@MDEiMS;M;MR5g*AEZbIhciABBM@ʁdkMV) 0X,+ciA9R@RP@YRaX=yRxRH A@B5?`J? 3o@x? R@R;)RC{BI %=UDDAT read: Rx Time:14:11:24.9361 eTRx dataTimestamp_ set to:1749132686.140449PDAT read: Bearing 174.9, 9.0 (Local) ~Local bearing/azimuth received: Bearing 174.9, 9.0 (Local) DAT read: Range 10 to 50 : 106.2 m (trip time 70.8 ms) speed -0.7 DAT read: 14:11:24.9361 LVL= 17904, 23249, 15554, 32147, AGC= 67, IDX= 506, 0.42,-1.521, 0.408,-1.538,-1.050, PHS=-0.382, 1.505,-0.491, RAW= 332.8, -6.6, CAL= 335.1, -9.0, ROT= 174.9, 9.0 Ygot valid direction response: 14:11:24.9361 LVL= 17904, 23249, 15554, 32147, AGC= 67, IDX= 506, 0.42,-1.521, 0.408,-1.538,-1.050, PHS=-0.382, 1.505,-0.491, RAW= 332.8, -6.6, CAL= 335.1, -9.0, ROT= 174.9, 9.0 T#Rx 30: Read range and direction messages.`direction in FSK: [-0.983778,0.087800,-0.156434]Fpublishing direction and range infoYy]mQM{@ z?p Ŀ]fBYYK:P"Kͼ9*K2K:KiY+9 N(vJVHol4{:[J >1/ ]E)]ZI]<i]}]C]þ]ף?]Zd ]޹@)]I]'@i]| ]|]C@]| > Y)Y]oo"꿀w6I`M Y)Y checking for new query: numPingsReceived=30, elapsed TxPingTime=15.664019UMb@Mb@Mb@QQQ Q)QYU+?L7A`尿~jthyUv^?U+UDQ UA)UAIUA@QyU\AI IV2@P &=y Q >٥ HMFM >R5}? R59% IBy _? s: @ @EEi,::JR5U8B]j*A]EZYb]ciA]B]B]X@ʁ]iJPYFX"@U~0]mQM{@ z?p Ŀ]|]C@]| >ҁ]3JP@WT'2 &]Q~?HP Oz]]RBj]FmJDМ?r]C ]OB]MМ?]C  ]OB]B]@ H<HHۼ>HHIH5|BH =HH-DH<H+E} addTargetRange:: Added new target pos. range: 106.199997 m, deltaT: 0.510961 s, deltaX: 0.099998 m, approachRate: 0.195707 m/s, rangeRepo size: 4  Added new target pos. range: 105.449905 m, bearing: 309.114254 deg, lat: 36.906635 deg, lon: -122.116408 deg, deltaT: 0.510961 s, deltaX: 0.099289 m, approachRate: 0.194318 m/s, posRepo size: 4 FNOT Ignoring new targets: 105.45 m.bZrjRJB~~{|B}|||̌Z@|? mE|Bu8Z;Iy)}۽IM< H<;<d5࿱?ڙiB8%l=^D@B= )checking for new query: numPingsReceived=31, elapsed TxPingTime=16.165434Ai {B I ==II 2-F =yQ >٥   H OF   >R5`?=R59- IByAE@E@ EEi`;;R5Ye*AeEZbciABBD@ʁ`@LZO7@>p1%,Ḿ￞җP?zBP^D@B=ҁ-$pQ@봰JT  ?l~jpzUBjw.М?rǹu eBsFMSLk?E J̡?⃩@dX? 6@68;)6Ci<<)< HYH]IH] |BH] =HYH],DH]b<H]EIM<2}ڝ }7=y}8Q }>٥ HPFx >R5K?R59d I~By]?t:G@@EEi::zR5 i+AEI addTargetRange:: Added new target pos. range: 107.300003 m, deltaT: 0.508005 s, deltaX: 0.500000 m, approachRate: 0.984242 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 106.05 m.bZrjRJB~~|B}|||@3Z@|`|&? M|B靕w8I)7I:H< N<<Z X,E/ciA89:@@Y-OC=yMX:H`]=' >?C@ҡ?`g@FK?? :@7;)C}DDAT read: Rx Time:14:11:26.4908 }TRx dataTimestamp_ set to:1749132687.644627PDAT read: Bearing 178.1, 58.2 (Local) ~Local bearing/azimuth received: Bearing 178.1, 58.2 (Local) DAT read: Range 10 to 50 : 188.3 m (trip time 125.5 ms) speed -0.3 DAT read: 14:11:26.4908 LVL= 23840, 17745, 18610, 22755, AGC= 69, IDX= 41,-0.24,-0.145, 1.348,-0.075,-0.915, PHS= 0.858, 2.309, 0.836, RAW= 330.7, -44.1, CAL= 331.9, -58.2, ROT= 178.1, 58.2 Ygot valid direction response: 14:11:26.4908 LVL= 23840, 17745, 18610, 22755, AGC= 69, IDX= 41,-0.24,-0.145, 1.348,-0.075,-0.915, PHS= 0.858, 2.309, 0.836, RAW= 330.7, -44.1, CAL= 331.9, -58.2, ROT= 178.1, 58.2 T#Rx 33: Read range and direction messages.`direction in FSK: [-0.526666,0.017471,-0.849893]Fpublishing direction and range infoyy}r ??q-R2뿹}L٥II MHIU ]>AMR5E7?MR59E IEsByQUD@U@EEEiE:E:E0R5e7Bm+AmEԙZyb}AciA}:C}:C}e@ʁ}oX!Xw! @1Y,RdiA9~@~@Y~s/=y~f:~H@ߝG?E@c%?S qP?p? ~@~;)~CEo{Bi}I DDAT read: Rx Time:14:11:26.9374 TRx dataTimestamp_ set to:1749132688.152436UPDAT read: Bearing 175.7, 8.0 (Local) e~Local bearing/azimuth received: Bearing 175.7, 8.0 (Local) KP"Kf9*K2KDAT read: Range 10 to 50 : 108.2 m (trip time 72.1 ms) speed -0.4 :Koxj\nbll\;Hp a=<`)T@^mI jY5DAT read: 14:11:26.9374 LVL= 22976, 25921, 18354, 30195, AGC= 72, IDX= 471,-0.29,-0.839, 1.126,-0.826,-0.323, PHS=-0.427, 1.497,-0.506, RAW= 332.0, -5.8, CAL= 334.3, -8.0, ROT= 175.7, 8.0 II<2 =yQ >٥ HQF@:Ygot valid direction response: 14:11:26.9374 LVL= 22976, 25921, 18354, 30195, AGC= 72, IDX= 471,-0.29,-0.839, 1.126,-0.826,-0.323, PHS=-0.427, 1.497,-0.506, RAW= 332.0, -5.8, CAL= 334.3, -8.0, ROT= 175.7, 8.0 T#Rx 34: Read range and direction messages.`direction in FSK: [-0.987481,0.074249,-0.139173]Fpublishing direction and range infoyz>p￐ ?H@lfBY Y)AeIGiuHھ?7 }l@)4QϽ >R5?R59 IhByK@@EEi::R5IU@i5?BD@5> )t'뿜ba࿀D;ٹiR%k&=?BD@5> )checking for new query: numPingsReceived=34, elapsed TxPingTime=17.7171941=+A=EԙZb diABB @ʁ0X5@υZ(qx@dh-z>p￐ ?H@l?BD@5>ҁ Q@PM&T:u$f?G&QvPz?Bj9М?rsv QB QB2By@E addTargetRange:: Added new target pos. range: 108.199997 m, deltaT: 1.008532 s, deltaX: 0.899994 m, approachRate: 0.892380 m/s, rangeRepo size: 4 U Added new target pos. range: 107.435806 m, bearing: 309.825746 deg, lat: 36.906648 deg, lon: -122.116401 deg, deltaT: 1.516537 s, deltaX: 1.389481 m, approachRate: 0.916219 m/s, posRepo size: 4 ]FNOT Ignoring new targets: 107.44 m.bYZYrYjYRYJaBa~a~a}i|i|| [@|@:?Hм>HHIH{BH =HHH'<H9E V|BH(I)fIXA<   $T٥ HRF9 >R5 ?R59 I`By[?w:@@$EEi::2R5P,A E-FNOT Ignoring new targets: 107.44 m.b)Z1r1j1R1J1B1~9~=O|B}9|9|A|A|E`? }Y|B靅ݻI)I+>< cV<<  )NlUSO<῝ y{ij$|H=|]C@> )checking for new query: numPingsReceived=35, elapsed TxPingTime=18.192335E=?E9E9E=`0EAևG X Yy B6G Mh <~GA A N5 >9 } checking for new query: numPingsReceived=35, elapsed TxPingTime=18.404245Y,=diA%={B%II5I53e풽 mP=yuQ }>٥ HSF >R5?R59 IWBy@)EEi;;R5,A!IR=Ia=:J ]BJ KJJ >RJ ZJ ]:bJ K9J t4J Z b )diA B B w@ʁ 1[)fZsS"@OR/ L￰qɁ?%)k¿ |]C@ >ҁ `&P@c/6Tф]' 7 ?TaNdgz  Bj Sd4М?r P  MB 9М? sv  OB @B  @ addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 0.499708 s, deltaX: 0.400002 m, approachRate: 0.800471 m/s, rangeRepo size: 4  Added new target pos. range: 107.831635 m, bearing: 309.038161 deg, lat: 36.906645 deg, lon: -122.116402 deg, deltaT: 0.499708 s, deltaX: 0.395828 m, approachRate: 0.792119 m/s, posRepo size: 4 FNOT Ignoring new targets: 107.83 m.bZrjRJB~~ } | | | `f&[@|k?A ]|B靭:I)YI U:<  rYp< J?m~Local bearing/azimuth received: Bearing 174.3, 8.7 (Local) DAT read: Range 10 to 50 : 108.8 m (trip time 72.5 ms) speed -0.2 qDAT read: 14:11:27.9377 LVL= 22736, 25457, 22002, 32755, AGC= 71, IDX= 507, 0.43,-2.302,-0.397,-2.345,-1.839, PHS=-0.375, 1.489,-0.509, RAW= 333.5, -6.3, CAL= 335.7, -8.7, ROT= 174.3, 8.7 Ygot valid direction response: 14:11:27.9377 LVL= 22736, 25457, 22002, 32755, AGC= 71, IDX= 507, 0.43,-2.302,-0.397,-2.345,-1.839, PHS=-0.375, 1.489,-0.509, RAW= 333.5, -6.3, CAL= 335.7, -8.7, ROT= 174.3, 8.7 T#Rx 36: Read range and direction messages.`direction in FSK: [-0.983606,0.098177,-0.151261]E-?E)E)E-5E)F5=F5=EFpublishing direction and range info!y%Y yw{"?ni\ÿ%BY! %X)%qcI%Ui%%G%%?%M %B@)%z0I%}@i%|%B@%|> !)!%lU6+ކYV"i%ĵ#% =%B@%|> !)!checking for new query: numPingsReceived=36, elapsed TxPingTime=18.746408H ̼>H CH IH {BH H H +DH #<H /Eԙ 6G O <ZG! RG% A~G A A N >Y,$*YdiA>checking for new query: numPingsReceived=36, elapsed TxPingTime=18.909338T9z'@zw@Yz۸=yzѸzHE`u᛿@9?LJ٥YY ]H]TFe: m>R5乜?%R59 IMBy-Y?Uy:U@]@0EEi<<R56B-A EZbkJdiABBJ@ʁ@LAZ'B6%@1W0Y yw{"?ni\ÿB@|>ҁ~$P@̒kU C_(`)&?(T1Ἷz BjTϜ?rHT mJB MBꁍB @ addTargetRange:: Added new target pos. range: 108.800003 m, deltaT: 0.512005 s, deltaX: 0.200005 m, approachRate: 0.390630 m/s, rangeRepo size: 4 M Added new target pos. range: 108.029312 m, bearing: 308.482591 deg, lat: 36.906645 deg, lon: -122.116402 deg, deltaT: 0.512005 s, deltaX: 0.197678 m, approachRate: 0.386085 m/s, posRepo size: 4 UFNOT Ignoring new targets: 108.03 m.bQZQrQjQRQJYBY~Y~]i|B}a|||@33[@|w? Eb|BE:QIA)E⚾AIM-5< IIM\ 1)15}꿿WG *ci5i$5Rx=5EC@5C> 1)1u checking for new query: numPingsReceived=37, elapsed TxPingTime=19.2036931 6G9 i ~G A AN5>Y,3vdiA9b@b@Ybv=yb=j:bHJK??`KO`?06*P? ? b@bMƇ;)`={B=eIIM$IM<3  G=y٥ HUFבוAchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.412443; >R5ѹ?R59 IEBy@@5EEi;p;~R5x-AZyb}ҁ}m3*Q@OT T; &}xj?5?9|+z}}QBj}4&kМ?r}cfy~ }MB}4&kМ?}cfy~  y}AB}Ϭ@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 0.496998 s, deltaX: 0.699997 m, approachRate: 1.408450 m/s, rangeRepo size: 4  Added new target pos. range: 108.724350 m, bearing: 309.418189 deg, lat: 36.906638 deg, lon: -122.116405 deg, deltaT: 0.496998 s, deltaX: 0.695038 m, approachRate: 1.398472 m/s, posRepo size: 4 FNOT Ignoring new targets: 108.72 m.bZrjRJB~)~)})|1|1|5`[@|5B]? e|B%%`IA)MRIIMF+1< IIMb_?y|V;'zL`EJ J A DAT read: 14:11:28.9384 LVL= 30128, 24945, 24114, 32755, AGC= 68, IDX= 2,-0.39, 2.126,-2.129, 2.107, 2.632, PHS=-0.417, 1.569,-0.528, RAW= 332.7, -6.2, CAL= 335.0, -8.5, ROT= 175.0, 8.5  Ygot valid direction response: 14:11:28.9384 LVL= 30128, 24945, 24114, 32755, AGC= 68, IDX= 2,-0.39, 2.126,-2.129, 2.107, 2.632, PHS=-0.417, 1.569,-0.528, RAW= 332.7, -6.2, CAL= 335.0, -8.5, ROT= 175.0, 8.5  T#Rx 38: Read range and direction messages. `direction in FSK: [-0.985252,0.086198,-0.147809] Fpublishing direction and range infoq yu /Lǥ?%)k¿u BYq u u)u qaIu 2^iq u Du վu ?u + u й@)u kݽIu k@iu u zC@u > q )q u ON'f*/῔yyiu M$u 8=u zC@u > q )q 6G] l<m checking for new query: numPingsReceived=38, elapsed TxPingTime=19.726992 ~G A9 AY N >$Y,6;diAH*ʼ>H(H*IH*{BH* =H(H(H* <H* EHCHCHCH =I = Id59uS@u@YuQ|=yu{9;uHQ e?U6?@Lg9g?? uS@uч;)uCzBTIyMb@Mb@Mb@ )Y5^I ?Q뱿~jtxyX?\ĻA EA) AIAyAIEIE2U[ U#=yU囸Q U>٥YY ]H]VFeV; e>i}checking for new query: numPingsReceived=38, elapsed TxPingTime=19.916191R5m?R59m Im;ByX?z:@@mҁu%Q@_?To>''u=d!?D^迺 ] zuɧu.BjuwOМ?ruNd u)KBuwOМ?uNd  quBu@ addTargetRange:: Added new target pos. range: 109.800003 m, deltaT: 0.506683 s, deltaX: 0.300003 m, approachRate: 0.592092 m/s, rangeRepo size: 4  Added new target pos. range: 109.021835 m, bearing: 309.269013 deg, lat: 36.906635 deg, lon: -122.116405 deg, deltaT: 0.506683 s, deltaX: 0.297485 m, approachRate: 0.587123 m/s, posRepo size: 4 FNOT Ignoring new targets: 109.02 m.bԩZrjRJB~~:|B}|||@3s[@|? Uh|BU)>SIQ)UẾQI]q+< YY]b 1 )1 5 . cXZ@z(i5 6$5 |=5 vC@5 > 1 )1  checking for new query: numPingsReceived=39, elapsed TxPingTime=20.195999~Gy A A N >*Y,}˭diA9nO@n@Yn=yn#O};nH`['@?D_oǞ?yo?? nO@nv;)nCzBKII% I%(256' =m=y=Q E?٥IԑI HWFv; >R5窹?R59 I4By@@AEEi)<)<R5.AEZb?ĪdiAҁH9uQ@twJT0Ai#xܟ'c? vƁ迄IKzBjМ?roz TB TB@ addTargetRange:: Added new target pos. range: 110.400002 m, deltaT: 0.500398 s, deltaX: 0.599998 m, approachRate: 1.199043 m/s, rangeRepo size: 4 M Added new target pos. range: 109.617577 m, bearing: 309.757073 deg, lat: 36.906635 deg, lon: -122.116405 deg, deltaT: 0.500398 s, deltaX: 0.595741 m, approachRate: 1.190535 m/s, posRepo size: 4 ]FNOT Ignoring new targets: 109.62 m.]Completed rollout at range: 110.40 m. Resuming terminal guidance.]bTransitioning guidance mode to: TERMINAL_GUIDANCE]?b]D@ZarjRL?JB~~}|||[@|@ ? 5k|B5BI58<)=iþ9I=&< YaeBbe>1Y,%diA9j@j+1@Yj =DDAT read: Rx Time:14:11:29.9390 TRx dataTimestamp_ set to:1749132691.176647PDAT read: Bearing 174.5, 6.0 (Local) !=~Local bearing/azimuth received: Bearing 174.5, 6.0 (Local) uDAT read: Range 10 to 50 : 110.7 m (trip time 73.8 ms) speed -0.4 yjEb;jHGe`~=ߖ?@g)ˠ?) |?? j@j.;)hzB;IDAT read: 14:11:29.9390 LVL= 32752, 26353, 31714, 32755, AGC= 68, IDX= 488,-0.32, 1.599,-2.752, 1.553, 2.135, PHS=-0.448, 1.443,-0.585, RAW= 333.5, -4.2, CAL= 335.5, -6.0, ROT= 174.5, 6.0 Ygot valid direction response: 14:11:29.9390 LVL= 32752, 26353, 31714, 32755, AGC= 68, IDX= 488,-0.32, 1.599,-2.752, 1.553, 2.135, PHS=-0.448, 1.443,-0.585, RAW= 333.5, -4.2, CAL= 335.5, -6.0, ROT= 174.5, 6.0 T#Rx 40: Read range and direction messages.`direction in FSK: [-0.989943,0.095321,-0.104528]Fpublishing direction and range infoڹyڽdLCa\f?4ޮ`ºڽfBYڹ ۽KNP"K 9*K2K:K0XptgF[  >}G75 ue()۽fI۽{i۹۽D۽B`۽9?۽ ܽB@)ܽQ Iܽ`@iܽPwֽܽB@ܽPw= ݹ)ݹݽifC,ڲiݽd#ݽ=ݽB@ݽPw= ޹)޹Uchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.729692Mb@Mb@Mb@ )Y5^I ?Q뱿{Gztyף A)+ AIAyAIMIM3dI =yr:Hμ>HHIHU{BHHH,DH<H%E9Q >٥ HXFD; >R5P?R59 I)Byz:@@HEEiK;;R5.AEeC@uAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalug@}Entering Terminal tracking update period 2.000000 s sec at 110.400002 m (mode 1.000000 count ).1Zb/NdiABB@ʁn9j3[6?^$@/*&dLCa\f?4ޮ`ºB@Pw=ҁ9`w;Q@"RTUK1!D?N迢 @zۉBj)iBМ?rd )^B MBꁽ>Bﺬ@ addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1  Added new target pos. range: 109.916023 m, bearing: 308.935219 deg, lat: 36.906635 deg, lon: -122.116405 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 FNOT Ignoring new targets: 109.92 m.a  ProNav pure pursuit: ac range: 109.916023 m, nav range: 109.122414 m, bearing: 309.272252 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 315.608802 deg, new cmd heading: 309.272252 deg. HeadingCmd: 5.397819 target range: 109.916023 and range: 110.70 m.bﺬ@ZrjRJB~~D|B} | | | ̬[@| ?U checking for new query: numPingsReceived=40, elapsed TxPingTime=20.925785 n|B靍 ϾhI ) tҾ I < kni< 6@ R|RJZJbJ:9Jt4JzJ`:jJ%JSJ:5rJUJ:5AԹAN>89Y,diA9T@h@YW#=yF;Hx.@.?`{`e?ay?@Z? T@骵4;)CzB)IIIb=DDAT read: Rx Time:14:11:30.4393 =TRx dataTimestamp_ set to:1749132691.676846EPDAT read: Bearing 174.0, 6.2 (Local) M~Local bearing/azimuth received: Bearing 174.0, 6.2 (Local) ]DAT read: Range 10 to 50 : 111.2 m (trip time 74.1 ms) speed -0.8 DAT read: 14:11:30.4393 LVL= 32752, 28945, 32002, 32755, AGC= 68, IDX= 507,-0.29, 0.729, 2.664, 0.663, 1.252, PHS=-0.434, 1.459,-0.591, RAW= 333.9, -4.4, CAL= 336.0, -6.2, ROT= 174.0, 6.2 Ygot valid direction response: 14:11:30.4393 LVL= 32752, 28945, 32002, 32755, AGC= 68, IDX= 507,-0.29, 0.729, 2.664, 0.663, 1.252, PHS=-0.434, 1.459,-0.591, RAW= 333.9, -4.4, CAL= 336.0, -6.2, ROT= 174.0, 6.2 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.988705,0.103917,-0.107999]Fpublishing direction and range info9y=H{Qtxb͢O?Niإ=fBY9 9)=qI=}i99=?5޾=?=K =%|@)=nFI=f@i=kݽ= \B@=k= 9)9=3uwGr`WRѳi=%#=6== \B@=k= 9)9checking for new query: numPingsReceived=41, elapsed TxPingTime=21.198210P C=y:Q >٥ H < >!5R5V?5R59 I"By15@=@MEEib<<R54B.AE@1qZ9b=rQdiA=B=B=_@ʁ=1bRJ[?c1ӎ&@T'=H{Qtxb͢O?Niإ= \B@=k=ҁ=Y!1Q@&q5(U_X=Ry?#.?cbz==Bj=#М?r= =\B99 =TB=B=6@ addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 0.500199 s, deltaX: 0.500000 m, approachRate: 0.999602 m/s, rangeRepo size: 2 E Added new target pos. range: 110.412483 m, bearing: 308.634210 deg, lat: 36.906635 deg, lon: -122.116405 deg, deltaT: 0.500199 s, deltaX: 0.496460 m, approachRate: 0.992525 m/s, posRepo size: 2 IMFNOT Ignoring new targets: 110.41 m.MQ ProNav: ac range: 110.412483 m, nav range: 109.454895 m, bearing: 309.274182 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 309.272250 deg, new cmd heading: 309.272250 deg. HeadingCmd: 5.397819 target range: 110.412483 and range: 111.20 m.bZrjRJB~~}|||[@|`!? Up|BU{żIY)]⾉YI]< YY]Hl@Y,܄eiA(9h@ |@Yn =y;H H P?[d? `{p?? h@骭RN;)CzBIII2MS MD=yM̺Q M>٥UL?UL? UHUYF]?; ]>ԁR5l?R59ȿ IBy/@@SEEiR;;ѸR5b/AEq=B*** querying acoustic contact ***J9R9Q}FNOT Ignoring new targets: 110.41 m.88 ProNav: ac range: 110.412483 m, nav range: 109.813065 m, bearing: 309.276473 deg, approach rate: 0.868168 m/s, LOS rate: 0.005537 deg/s, cmd heading: 309.272250 deg, new cmd heading: 309.279103 deg. 4s9eDDAT read: Rx Time:14:11:30.9395 mTRx dataTimestamp_ set to:1749132692.184387PDAT read: Bearing 174.7, 5.8 (Local) ~Local bearing/azimuth received: Bearing 174.7, 5.8 (Local) HeadingCmd: 5.397939 target range: 110.412483 and range: 111.20 m.b껬@Z r1j1R1J9BA~~KQ"Kͼ9*K2K:K'h>Rc+~A`.HP-oy)bXmOfvB[@DAT read: Range 10 to 50 : 111.5 m (trip time 74.3 ms) speed -0.6 }|)|1|1|5'"?DAT read: 14:11:30.9395 LVL= 28864, 23537, 23954, 32755, AGC= 70, IDX= 493,-0.37,-0.477, 1.559,-0.521, 0.093, PHS=-0.482, 1.513,-0.616, RAW= 333.2, -4.1, CAL= 335.3, -5.8, ROT= 174.7, 5.8 s|B[I)񾉞Ik<  p<@ni껬@Ygot valid direction response: 14:11:30.9395 LVL= 28864, 23537, 23954, 32755, AGC= 70, IDX= 493,-0.37,-0.477, 1.559,-0.521, 0.093, PHS=-0.482, 1.513,-0.616, RAW= 333.2, -4.1, CAL= 335.3, -5.8, ROT= 174.7, 5.8 T#Rx 42: Read range and direction messages. `direction in FSK: [-0.990627,0.091898,-0.101056] Fpublishing direction and range infoaye~7?+hg޹eBYa ep)e[Ie]iaeFee?e- e@)eCIePD@ie4QϽeK$C@e4Q= aiA)ae3M`[f{|A<$ie#eA=eK$C@e4Q= a)amchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.784960Hּ>HCHkIH{BH =HHH'<HEm <zEq  checking for new query: numPingsReceived=42, elapsed TxPingTime=21.932184) E?E!E!E%`0E!6G;~GAAYN-?׵HY,$eiA:JB_BJBUJJBERJ@ZJB :bJB>9JB4J@zJB+:jJB/:JB|Q:rJBQ:9%[@%@Y%~=y%[;%HR ×?N@S,?@n`st?? %[@%~;)!]|zB] IQMb@Mb@Mb@ )Yv?X9vMbyX?}\A A)Iy\AII?13 H -=y5h Q 5>٥11 =H=ZF=L; =>AuDDAT read: Rx Time:14:11:31.4399 }TRx dataTimestamp_ set to:1749132692.683936PDAT read: Bearing 177.0, 2.5 (Local) ~Local bearing/azimuth received: Bearing 177.0, 2.5 (Local) DAT read: Range 10 to 50 : 112.1 m (trip time 74.7 ms) speed -0.4 DAT read: 14:11:31.4399 LVL= 25328, 24273, 22770, 32755, AGC= 71, IDX= 513,-0.47, 2.423,-2.058, 2.473, 3.037, PHS=-0.527, 1.235,-0.568, RAW= 331.1, -1.6, CAL= 333.0, -2.5, ROT= 177.0, 2.5 Ygot valid direction response: 14:11:31.4399 LVL= 25328, 24273, 22770, 32755, AGC= 71, IDX= 513,-0.47, 2.423,-2.058, 2.473, 3.037, PHS=-0.527, 1.235,-0.568, RAW= 331.1, -1.6, CAL= 333.0, -2.5, ROT= 177.0, 2.5 T#Rx 43: Read range and direction messages.`direction in FSK: [-0.997679,0.052286,-0.043619]Fpublishing direction and range infoqyuJOoBŪ?GUu3BYq ub)u^IuXiquGR5E9S?R59Eh IEBykY?z:@@E[EEiEPE <5 checking for new query: numPingsReceived=43, elapsed TxPingTime=22.438486 Eq Eq Eq Eu 4Ey II6G}*~GAAN?aRY,IeiA(=DDAT read: Rx Time:14:11:31.9401 eTRx dataTimestamp_ set to:1749132693.200063PDAT read: Bearing 173.3, 7.7 (Local) ~Local bearing/azimuth received: Bearing 173.3, 7.7 (Local) =DAT read: Range 10 to 50 : 112.4 m (trip time 74.9 ms) speed -0.4 K>P"K9*K2K:Kf/_|@Ahd@&VG1!CqL]yODAT read: 14:11:31.9401 LVL= 23136, 22401, 19858, 32627, AGC= 67, IDX= 2, 0.24, 2.488,-1.920, 2.399, 2.952, PHS=-0.376, 1.458,-0.555, RAW= 334.6, -5.5, CAL= 336.7, -7.7, ROT= 173.3, 7.7 Ygot valid direction response: 14:11:31.9401 LVL= 23136, 22401, 19858, 32627, AGC= 67, IDX= 2, 0.24, 2.488,-1.920, 2.399, 2.952, PHS=-0.376, 1.458,-0.555, RAW= 334.6, -5.5, CAL= 336.7, -7.7, ROT= 173.3, 7.7 95v@5ƽ@Y5q =y5zF<5HQ@ŅL?`?XM%?`? 5v@5w;)1ET#Rx 44: Read range and direction messages.M`direction in FSK: [-0.984215,0.115619,-0.133986]MFpublishing direction and range infoYy]QY~￁|I0?L`u&]BYY ]`Z)]WI]Mi]s]C]]?]{ ];@)] ĽI]| @i] ]A@] > Yԁ^zBI)Y]KM7jE"ni]g"]\!=]A@] > Y)Ychecking for new query: numPingsReceived=44, elapsed TxPingTime=22.784389H%ؼ>H!H%EIH%zBH% =H!H!H%4<H%SEMb@Mb@Mb@ )Yn?x&~jtxyV?7ĻA ) AIAyAI% I%V2Ա- ٥ H[FQ; |>1=R552?=R595h I5By=V?=}:=@E@5dEEi5:5U:5R5M3BM%0AMEZYb]LeiA]6B]6B]F@ʁ]v[:)@'k?-]QY~￁|I0?L`u&]A@] >ҁ]CL%Q@n iU)fw%]tϗ??/5 !*4z]]*Bj]wϜ?r]Q ]iNB])iBМ?]d  Y]B]ҍ@5 addTargetRange:: Added new target pos. range: 112.400002 m, deltaT: 0.516127 s, deltaX: 0.300003 m, approachRate: 0.581258 m/s, rangeRepo size: 4  Added new target pos. range: 111.605629 m, bearing: 308.134585 deg, lat: 36.906634 deg, lon: -122.116415 deg, deltaT: 0.516127 s, deltaX: 0.298492 m, approachRate: 0.578331 m/s, posRepo size: 4 checking for new query: numPingsReceived=44, elapsed TxPingTime=22.944927FNOT Ignoring new targets: 111.61 m.    ProNav: ac range: 111.605629 m, nav range: 111.439377 m, bearing: 308.956720 deg, approach rate: 0.000000 m/s, LOS rate: 0.005537 deg/s, cmd heading: 309.288751 deg, new cmd heading: 309.300158 deg.   HeadingCmd: 5.398306 target range: 111.605629 and range: 112.40 m.b @Z r j R J! B! ~! ~% |B}) |1 |9 |] \@|] @}? y|B靵 ^}I )  I ; y< ,@ mGi @i :J [BJ SJJ @RJ ZJ :bJ y69J J4J zJ :jJ :J (C:rJ *C:>E%)<EEEEg0E9DDAT read: Rx Time:14:11:32.4405 TRx dataTimestamp_ set to:1749132693.6969766G PDAT read: Bearing 173.7, 6.7 (Local) ~Local bearing/azimuth received: Bearing 173.7, 6.7 (Local) DAT read: Range 10 to 50 : 112.8 m (trip time 75.2 ms) speed -0.5 DAT read: 14:11:32.4405 LVL= 31824, 22081, 23026, 32755, AGC= 71, IDX= 502, 0.00, 2.918,-1.428, 2.838,-2.859, PHS=-0.419, 1.478,-0.589, RAW= 334.3, -4.8, CAL= 336.3, -6.7, ROT= 173.7, 6.7 5Ygot valid direction response: 14:11:32.4405 LVL= 31824, 22081, 23026, 32755, AGC= 71, IDX= 502, 0.00, 2.918,-1.428, 2.838,-2.859, PHS=-0.419, 1.478,-0.589, RAW= 334.3, -4.8, CAL= 336.3, -6.7, ROT= 173.7, 6.7 =T#Rx 45: Read range and direction messages.M`direction in FSK: [-0.987173,0.108985,-0.116671]~GQAaAqN?$[Y,neiABFpublishing direction and range infoځyڅʿ˅￵Gsn?mu"޽څBYځ ۅP|)ۅAVIۅYiۅۅGۅ+־ۅ/?ۅ ܅U@)܅I܅Jӻ@i܅|i܅WB@܅|= ݁)݁݅c3\\W@, >]Ti݅n"݅ժ=݅WB@݅|= ށ)ށNchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.250528)  6G %Y)y-xB57zB5IIEIE3}߯ }9=y}Q }>٥ H\F >R5??R59L IBy@jEEi><U><R50AEZbAleiABB]S@ʁ`g;[ i(@("*ʿ˅￵Gsn?mu"޽WB@|=ҁrnE) IA IE AAi E ?E E E `0E 6G 4~GQ Aa Aq N} >bY,7eiAvDDAT read: Rx Time:14:11:32.9407 ~TRx dataTimestamp_ set to:1749132694.203637PDAT read: Bearing 174.1, 7.4 (Local) =~Local bearing/azimuth received: Bearing 174.1, 7.4 (Local) I}DAT read: Range 10 to 50 : 113.1 m (trip time 75.4 ms) speed -0.6 K/P"KH9*K2K:KsP87kCyp&BHXCGY$ `YvYa5}DAT read: 14:11:32.9407 LVL= 27232, 27745, 25746, 32755, AGC= 70, IDX= 504,-0.27, 0.994, 3.033, 0.928, 1.513, PHS=-0.431, 1.568,-0.588, RAW= 333.8, -5.3, CAL= 335.9, -7.4, ROT= 174.1, 7.4 Ygot valid direction response: 14:11:32.9407 LVL= 27232, 27745, 25746, 32755, AGC= 70, IDX= 504,-0.27, 0.994, 3.033, 0.928, 1.513, PHS=-0.431, 1.568,-0.588, RAW= 333.8, -5.3, CAL= 335.9, -7.4, ROT= 174.1, 7.4 T#Rx 46: Read range and direction messages.9@&@Y* x)xz_l~.K[(÷izu^#zb=zxB@z A> x)xHԼ>HH&IHzBH =HHHG<HnEchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.799032q}Mb@Mb@Mb@yyy y)yY}|?5^?ʡE~jty}M?}}D} A }\A)} AI}3Ayy}AIIvu =yMQ >٥ H]F; %>1R556?R595 I5ByN?:@@5qEEi5<5<54R5 2B 0AEZxbzceiAzBzBzt@ʁzO◱[ϕ&@r,zn}F?OZ_|zxB@z A>ҁzS {Q@"Utr^%z>PS ?a'迖c!zzzBjzc4/М?rz9܊ zLNBxx zUBzBzh@U addTargetRange:: Added new target pos. range: 113.099998 m, deltaT: 0.506661 s, deltaX: 0.299995 m, approachRate: 0.592103 m/s, rangeRepo size: 4  Added new target pos. range: 112.300140 m, bearing: 309.003122 deg, lat: 36.906630 deg, lon: -122.116419 deg, deltaT: 0.506661 s, deltaX: 0.297340 m, approachRate: 0.586863 m/s, posRepo size: 4 FNOT Ignoring new targets: 112.30 m.ԙ ProNav: ac range: 112.300140 m, nav range: 112.286575 m, bearing: 308.697440 deg, approach rate: 0.000000 m/s, LOS rate: 0.005537 deg/s, cmd heading: 309.307767 deg, new cmd heading: 309.316687 deg. HeadingCmd: 5.398595 target range: 112.300140 and range: 113.10 m.bJ@ZrjRJB~~/|B}9|A|A|M`fF\@|U`w?checking for new query: numPingsReceived=46, elapsed TxPingTime=23.953938 ||B靝 ̏I ) a I 7U; 8r< :@ i J@i :J% YBJ! JJ% ?RJ! ZJ% 9bJ! J% ـ4J! zJ% b:jJ% g:J! rJ% +C: >EU<E?EEE4E5DDAT read: Rx Time:14:11:33.4410 =TRx dataTimestamp_ set to:1749132694.704229MPDAT read: Bearing 172.8, 7.2 (Local) U~Local bearing/azimuth received: Bearing 172.8, 7.2 (Local) mDAT read: Range 10 to 50 : 113.6 m (trip time 75.7 ms) speed -0.4 DAT read: 14:11:33.4410 LVL= 32752, 28721, 31218, 32755, AGC= 69, IDX= 507, 0.20,-1.871, 0.098,-1.996,-1.387, PHS=-0.396, 1.531,-0.613, RAW= 335.3, -5.2, CAL= 337.2, -7.2, ROT= 172.8, 7.2 Ygot valid direction response: 14:11:33.4410 LVL= 32752, 28721, 31218, 32755, AGC= 69, IDX= 507, 0.20,-1.871, 0.098,-1.996,-1.387, PHS=-0.396, 1.531,-0.613, RAW= 335.3, -5.2, CAL= 337.2, -7.2, ROT= 172.8, 7.2 T#Rx 47: Read range and direction messages.`direction in FSK: [-0.984292,0.124345,-0.125333]Fpublishing direction and range info1y5eQvaտ?cK 53BY1 5)51pI5yi15E6G"ZGRG5ʾ5?5 5PD@)5޹I5S@!i55A@5> 1)15J꿢岶g-O i5֨!5f=~GAAN?kY,$eiAA@> )6checking for new query: numPingsReceived=47, elapsed TxPingTime=24.2719889-') @-v<@Y-!K٥ H (= >=R5?=R59 IBy9=7@E@wEEi;C;iR5IMQ1AIyZbeiABBS@ʁ [tLm& ,@U-:F,eQvaտ?cK A@>ҁQ~Q@ߴaUH\%Y2E?Q述lspzBjP5Ϝ?r;* NBrМ?;*  NBBZ@E addTargetRange:: Added new target pos. range: 113.599998 m, deltaT: 0.500592 s, deltaX: 0.500000 m, approachRate: 0.998817 m/s, rangeRepo size: 4  Added new target pos. range: 112.796608 m, bearing: 308.551409 deg, lat: 36.906627 deg, lon: -122.116418 deg, deltaT: 0.500592 s, deltaX: 0.496468 m, approachRate: 0.991761 m/s, posRepo size: 4 FNOT Ignoring new targets: 112.80 m. ProNav: ac range: 112.796608 m, nav range: 112.349663 m, bearing: 308.601175 deg, approach rate: 0.000000 m/s, LOS rate: 0.005537 deg/s, cmd heading: 309.316701 deg, new cmd heading: 309.324197 deg. HeadingCmd: 5.398726 target range: 112.796608 and range: 113.60 m.b\¬@ZrjRJB~~}i|i|q|u`ff\@|uu? }|B I) I; <%P@@!!i%\¬@i)ԩ checking for new query: numPingsReceived=47, elapsed TxPingTime=24.456362>E .<E E E E 54E < <%DDAT read: Rx Time:14:11:33.9412 5TRx dataTimestamp_ set to:1749132695.220986}PDAT read: Bearing 171.7, 7.0 (Local) ~Local bearing/azimuth received: Bearing 171.7, 7.0 (Local) 6G7%DAT read: Range 10 to 50 : 113.9 m (trip time 75.9 ms) speed 0.0 1~GAAKP"K9N?@tY*Kq2Ku:Ku9;3^pLIUdPEz"OS0d$$*l-/62320/-*j(%#j <,eiAHR>HRCHRIHRvzBHR =HPHR*DHR6<HRAEHiHmCHiHiIi Imq6fDAT read: 14:11:33.9412 LVL= 31216, 29473, 22626, 32755, AGC= 71, IDX= 509,-0.16, 2.095,-2.336, 1.935, 2.543, PHS=-0.359, 1.451,-0.611, RAW= 336.4, -5.0, CAL= 338.3, -7.0, ROT= 171.7, 7.0 jYgot valid direction response: 14:11:33.9412 LVL= 31216, 29473, 22626, 32755, AGC= 71, IDX= 509,-0.16, 2.095,-2.336, 1.935, 2.543, PHS=-0.359, 1.451,-0.611, RAW= 336.4, -5.0, CAL= 338.3, -7.0, ROT= 171.7, 7.0 nT#Rx 48: Read range and direction messages.9>D @>W@Y>ekz=>H ݁ne??EU)%?ql@ ?@? >D @>\Å;)>CvzBzI=`direction in FSK: [-0.982150,0.143280,-0.121869]EFpublishing direction and range infoyqml XW?UM7P2BY y)!sIbXiGη^?j @)¸I>@i5n?@5= ) >u~qSoBi^ *P=n?@5= )checking for new query: numPingsReceived=48, elapsed TxPingTime=24.831841qMb@Mb@Mb@ )Y/$?{Gz~jty1H?ף A 3A)A AIAyAII<2W =yQ >٥ H^F< >%R5cڸ?%R59L IޑBy-BI?-:-@-@~EEi;;BR59=u1A=EZb$eiA.B.B,@ʁ p[j40@=+qml XW?UM7P2n?@5=ҁ2WqQ@VeS֏$Q?ZG>G]zϰBjeϜ?rkwu PBP5Ϝ?AF  BO@ addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 0.516757 s, deltaX: 0.300003 m, approachRate: 0.580550 m/s, rangeRepo size: 4  Added new target pos. range: 113.090172 m, bearing: 308.278787 deg, lat: 36.906626 deg, lon: -122.116419 deg, deltaT: 0.516757 s, deltaX: 0.293564 m, approachRate: 0.568089 m/s, posRepo size: 4 FNOT Ignoring new targets: 113.09 m. ProNav: ac range: 113.090172 m, nav range: 112.806992 m, bearing: 308.523411 deg, approach rate: 0.000000 m/s, LOS rate: 0.005537 deg/s, cmd heading: 309.324186 deg, new cmd heading: 309.333562 deg.  HeadingCmd: 5.398889 target range: 113.090172 and range: 113.90 m.b ì@Z r j R JB~~|B}|||y\@|E`Va?checking for new query: numPingsReceived=48, elapsed TxPingTime=24.961988ԡ |B靽_xI)Iԭ; t<RH@iì@iJ5ـ4J54J5?0:J BJ KJJ >RJ ZJ bJ K9J t4J zJ d:jJ i:J :rJ :>E} )< E ?E E E 0E = DDAT read: Rx Time:14:11:34.4414 E TRx dataTimestamp_ set to:1749132695.711982M PDAT read: Bearing 168.3, 2.9 (Local) M ~Local bearing/azimuth received: Bearing 168.3, 2.9 (Local) ] DAT read: Range 10 to 50 : 114.2 m (trip time 76.1 ms) speed -0.4  DAT read: 14:11:34.4414 LVL= 21376, 20273, 15890, 31507, AGC= 67, IDX= 511, 0.23,-1.305, 0.424,-1.615,-0.846, PHS=-0.371, 1.318,-0.772, RAW= 340.4, -1.8, CAL= 341.7, -2.9, ROT= 168.3, 2.9 6G + Ygot valid direction response: 14:11:34.4414 LVL= 21376, 20273, 15890, 31507, AGC= 67, IDX= 511, 0.23,-1.305, 0.424,-1.615,-0.846, PHS=-0.371, 1.318,-0.772, RAW= 340.4, -1.8, CAL= 341.7, -2.9, ROT= 168.3, 2.9 T#Rx 49: Read range and direction messages.~GAAN>Ѫ{Y,eiA(`direction in FSK: [-0.977969,0.202528,-0.050593].Fpublishing direction and range infoy~-KƗgl?|rQ穿fBY S)1OI>i{C9?ˡE @)I_׾@i4QO/;@4QO= )\Y`g4_{i0i=/;@4QO= )Nchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.284784%zB%II5 I5b3E2 M/=yUQ ]>٥aa eHe_Fm m>quR5uƸ?}R59u Iu֑Byyy}@uEEiu:u /Eg< E1 E1 E1 E5 0E1 6G [jG >bG >~G A A N >1Y, fiA`9  @ @Y ;y "/> H1dun@C?@?`?s?a?  @ ,;) CDDAT read: Rx Time:14:11:34.9416 TRx dataTimestamp_ set to:1749132696.216015DAT read: Range 10 to 50 : 114.5 m (trip time 76.3 ms) speed -0.6 -Z#Rx 50: Read range message, but no direction.ځڅBYځchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.720102yBII]I](*3] e;=yQ >٥K 9FQ"K 9*K 2K :K *N 9  t  I ) 7  ' > 3 6Z"|(d2*r H`F%Ź= %>H5>H5CH5IH5WzBH1H1H5)DH50<H5/EIUR5M?UR59M<| IMϑByQU@]@MEEiM%:Mu:M[R5ae1AaB*** querying acoustic contact ***JRU addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 0.504033 s, deltaX: 0.300003 m, approachRate: 0.595205 m/s, rangeRepo size: 4 Q]FNOT Ignoring new targets: 113.39 m.]-:-: ProNav: ac range: 113.388031 m, nav range: 113.532562 m, bearing: 308.550851 deg, approach rate: 0.780695 m/s, LOS rate: 0.037955 deg/s, cmd heading: 309.341016 deg, new cmd heading: 309.393784 deg. b:HeadingCmd: 5.399940 target range: 113.388031 and range: 114.50 m.bO̬@ZrjRJB~~} |||5\@|=`+?= checking for new query: numPingsReceived=50, elapsed TxPingTime=25.969238 e |B靍  I ) t I ; }< < i O̬@i A y >E ?B<EEEE`0EFF6G]M̈́ԙDDAT read: Rx Time:14:11:35.4923 TRx dataTimestamp_ set to:1749132696.721242 PDAT read: Bearing 189.2, 57.1 (Local) ~Local bearing/azimuth received: Bearing 189.2, 57.1 (Local) %DAT read: Range 10 to 50 : 190.7 m (trip time 127.1 ms) speed -0.7 ~GYDAT read: 14:11:35.4923 LVL= 20896, 19169, 18290, 20899, AGC= 71, IDX= 8, 0.21,-2.468,-0.902,-2.177,-3.069, PHS= 0.689, 2.215, 0.889, RAW= 323.1, -43.0, CAL= 320.8, -57.1, ROT= 189.2, 57.1 Ygot valid direction response: 14:11:35.4923 LVL= 20896, 19169, 18290, 20899, AGC= 71, IDX= 8, 0.21,-2.468,-0.902,-2.177,-3.069, PHS= 0.689, 2.215, 0.889, RAW= 323.1, -43.0, CAL= 320.8, -57.1, ROT= 189.2, 57.1 T#Rx 51: Read range and direction messages.AAN?Y,L0fiA2bdirection in FSK: [-0.536187,-0.086843,-0.839620]2Fpublishing direction and range infoځyڅ9r(Ж];u*u*꿹څ>CYځ ۅQ)ۅJIۅrGiۅQۅGۅNb0?ۅ @ۅc? ܅s@)܅7 @I܅$+@i܅ ܅VS@܅ ? ݁)݁݅cԗQ6TUҿ#?i݅I/݅D@?݅>݅ ? ށ)ށ^checking for new query: numPingsReceived=51, elapsed TxPingTime=26.2795739Ur@U@YUlyUxi>UH`~%??@FW?@@ ~?o~?`m?+? Ur@U#;)UCchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.472410ezBeIA Mb@Mb@Mb@ ) Y Mb?(\µ~jty C?  A dA) + AI rA y AI I 3 v;  ٥  H aF ʊ=  \> % R5 ?% R59 q I őBy% ND?% :- @- @ EEi : : hR51 5 1A5 'E:Je \BJe UJJe =RJa ZJe =:bJe >9Je g4Ja m @m @m @m @q Zb(.fiAW=CW=C@ʁTamaY3+iq0-/c9r(Ж];u*u*> ?ҁ(P@(|6!Sʡtcd鲓3?.lYOٿz Bj'mEΜ?r;Q eϜ?;*  NBꁅyB D@- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.699997 m, deltaT: 0.505227 s, deltaX: 76.199997 m, approachRate: 150.823288 m/s, rangeRepo size: 4  FNOT Ignoring new targets: 113.39 m.5 `{:5 `{:u  ProNav: ac range: 113.388031 m, nav range: 114.144768 m, bearing: 308.595484 deg, approach rate: 0.757674 m/s, LOS rate: 0.054943 deg/s, cmd heading: 309.393772 deg, new cmd heading: 309.526955 deg. u ;} HeadingCmd: 5.402265 target range: 113.388031 and range: 114.50 m.b} Z߬@Zy ry j R J B ~ ~ r|B} | | | `fg@| e?  DI )  I =Q;    ڄ<% +3! ! i% Z߬@i! eDDAT read: Rx Time:14:11:35.9420 eTRx dataTimestamp_ set to:1749132697.225530ԉPDAT read: Bearing 163.9, 1.5 (Local) ~Local bearing/azimuth received: Bearing 163.9, 1.5 (Local) DAT read: Range 10 to 50 : 115.2 m (trip time 76.8 ms) speed -0.6 MDAT read: 14:11:35.9420 LVL= 23744, 23793, 24146, 32755, AGC= 71, IDX= 502, 0.22,-1.555,-0.077,-1.995,-1.187, PHS=-0.281, 1.157,-0.811, RAW= 345.1, -0.7, CAL= 346.1, -1.5, ROT= 163.9, 1.5 Ygot valid direction response: 14:11:35.9420 LVL= 23744, 23793, 24146, 32755, AGC= 71, IDX= 502, 0.22,-1.555,-0.077,-1.995,-1.187, PHS=-0.281, 1.157,-0.811, RAW= 345.1, -0.7, CAL= 346.1, -1.5, ROT= 163.9, 1.5 T#Rx 52: Read range and direction messages.`direction in FSK: [-0.960450,0.277220,-0.026177]Fpublishing direction and range infoH>HHIH9zBH =HHHo<HEKP"KS9*K2K:KR Cq6nyG7gJU-FxHN| qhjaye7d#Xe?P!ΚefBYa e\)e\IeR^ieae;ߏe?eO e~@)e+HIexL@>E5)ieenvU٥11 5H=bF= =>AmR5El?mR59EUh IEByuo>?u:u@u@EEEiE:E:ER50B1A)EZbnfiAXBXBu@ʁ[[ uT@@fkL)ug  &?ᢔ6@d=ҁX P@rDIW@xe?c?ltP' d?zLxBj޸Μ?rp *{B'mEΜ?kwu  PBcB @e addTargetRange:: Added new target pos. range: 116.000000 m, deltaT: 1.511995 s, deltaX: 1.500000 m, approachRate: 0.992067 m/s, rangeRepo size: 4 u Added new target pos. range: 115.172829 m, bearing: 306.023660 deg, lat: 36.906596 deg, lon: -122.116421 deg, deltaT: 2.016028 s, deltaX: 1.784798 m, approachRate: 0.885304 m/s, posRepo size: 4 quFNOT Ignoring new targets: 115.17 m. ProNav: ac range: 115.172829 m, nav range: 112.694351 m, bearing: 307.258751 deg, approach rate: 0.000000 m/s, LOS rate: 0.054943 deg/s, cmd heading: 309.526961 deg, new cmd heading: 309.634041 deg. HeadingCmd: 5.404133 target range: 115.172829 and range: 116.00 m.b@ZrjRJB~~}B}|||]@|˶? ]|B]'Ia)e: aIe; aae<E m< checking for new query: numPingsReceived=53, elapsed TxPingTime=27.485250EYEaEaEm`0EiF >F=a:J[BJKJJRJZJ:bJK9JJԁ6Gȹ~GYAaAyN#?Y,،fiA9z<@z%@YzJyz>zH4@r߿`??`*?:?@h0?ق? z<@zy;)zCDDAT read: Rx Time:14:11:36.9427 TRx dataTimestamp_ set to:1749132698.235947%PDAT read: Bearing 162.5, 2.3 (Local) E~Local bearing/azimuth received: Bearing 162.5, 2.3 (Local) ]DAT read: Range 10 to 50 : 116.3 m (trip time 77.5 ms) speed 0.0 yBIi٥ HcFDAT read: 14:11:36.9427 LVL= 23888, 17393, 20594, 32755, AGC= 70, IDX= 508, 0.04,-0.434, 1.094,-0.956,-0.095, PHS=-0.251, 1.236,-0.864, RAW= 346.5, -1.3, CAL= 347.5, -2.3, ROT= 162.5, 2.3 )5E> >Ygot valid direction response: 14:11:36.9427 LVL= 23888, 17393, 20594, 32755, AGC= 70, IDX= 508, 0.04,-0.434, 1.094,-0.956,-0.095, PHS=-0.251, 1.236,-0.864, RAW= 346.5, -1.3, CAL= 347.5, -2.3, ROT= 162.5, 2.3 T#Rx 54: Read range and direction messages.R5`direction in FSK: [-0.952949,0.300464,-0.040132]S?ER59$b IByQHu>HqHuIHu/zBHqHqHqHuv<HuEFpublishing direction and range infoK>cP"K9*K2K:K]VtT8vSL,vN YDWEgE'#lII1M9!}uMvU@@@EEi/=7=R5 1Ay1y~m:?.='BY P])CIrPiF?5?/] @)޹I@il$5@l$= )Q濆x3l&ji2"dU<5@l$= )-checking for new query: numPingsReceived=54, elapsed TxPingTime=27.838135ZbfiABB@ʁ|c[QNXA@@1y~m:?.='5@l$=ҁK?]R@e)U/C'@Ax?m~*| z<W?zBjMGќ?ruW B sB"Br@E addTargetRange:: Added new target pos. range: 116.300003 m, deltaT: 0.507937 s, deltaX: 0.300003 m, approachRate: 0.590630 m/s, rangeRepo size: 4 Qu Added new target pos. range: 115.470383 m, bearing: 311.049288 deg, lat: 36.906596 deg, lon: -122.116421 deg, deltaT: 0.507937 s, deltaX: 0.297554 m, approachRate: 0.585809 m/s, posRepo size: 4 q}FNOT Ignoring new targets: 115.47 m. ProNav: ac range: 115.470383 m, nav range: 113.067314 m, bearing: 307.310493 deg, approach rate: 0.000000 m/s, LOS rate: 0.054943 deg/s, cmd heading: 309.634031 deg, new cmd heading: 309.728649 deg. HeadingCmd: 5.405785 target range: 115.470383 and range: 116.30 m.b0@ZrjRJB~~}|||-@3]@|-@YM? |B靅CIy<)a#IL: =<"i0@iychecking for new query: numPingsReceived=54, elapsed TxPingTime=27.988201>E- <ԩ E ?E E E 5E DDAT read: Rx Time:14:11:37.4431 TRx dataTimestamp_ set to:1749132698.741640PDAT read: Bearing 159.8, 2.8 (Local) ~Local bearing/azimuth received: Bearing 159.8, 2.8 (Local) DAT read: Range 10 to 50 : 116.9 m (trip time 77.9 ms) speed -0.4 DAT read: 14:11:37.4431 LVL= 22368, 26033, 24930, 32755, AGC= 69, IDX= 511, 0.28, 1.899,-2.918, 1.268, 2.169, PHS=-0.182, 1.243,-0.904, RAW= 349.3, -1.7, CAL= 350.2, -2.8, ROT= 159.8, 2.8 Ygot valid direction response: 14:11:37.4431 LVL= 22368, 26033, 24930, 32755, AGC= 69, IDX= 511, 0.28, 1.899,-2.918, 1.268, 2.169, PHS=-0.182, 1.243,-0.904, RAW= 349.3, -1.7, CAL= 350.2, -2.8, ROT= 159.8, 2.8 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.937373,0.344886,-0.048850]Fpublishing direction and range infoځyڅUo?s!DڅBYځ6G! ۅ`W)ۅeIۅbaiہۅEۅ5^:ۅ?ۅlg ܅@)܅I܅@i܅+H܅2@܅+H= ݁)݁݅1 >3~?X*Zi݅݅;<݅2@݅+H= ށ)ށ=checking for new query: numPingsReceived=55, elapsed TxPingTime=28.265982jG>GbG> =YAyESA~GAA!N- ?Y,fiA9#@r)@Y:By>H@Dwۿ ?`?`R ?@X?P?N? #@s;)CyBIMb@Mb@Mb@ )YQ?p= ףI +y\/?94(A @)AIAyzAI)IW37%< ٥ HdF#= >%R51?%R59[ Iy-+0?-:-$@-@EEi#:,:R5QU1A],EZbwfiA!B!BU@ʁ53[_nD@NUo?s!D2@+H=ҁTM{wS@/UZN@_w?B[pJ?zB checking for new query: numPingsReceived=55, elapsed TxPingTime=28.494576)jќ?r}Bf6 QBuW  *{BzBN.@ addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 0.505693 s, deltaX: 0.599998 m, approachRate: 1.186488 m/s, rangeRepo size: 4 - Added new target pos. range: 116.066101 m, bearing: 312.144673 deg, lat: 36.906596 deg, lon: -122.116389 deg, deltaT: 0.505693 s, deltaX: 0.595718 m, approachRate: 1.178024 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 116.07 m.11e ProNav: ac range: 116.066101 m, nav range: 111.239601 m, bearing: 308.288684 deg, approach rate: 0.000000 m/s, LOS rate: 0.054943 deg/s, cmd heading: 309.728643 deg, new cmd heading: 309.834946 deg. i}HeadingCmd: 5.407640 target range: 116.066101 and range: 116.90 m.b}c @ZyryjyRJB~~}B}|||9]@|? -|B- I))-!)I5T: 1155 <=O9Yi]c @iaY>E]v<:J ZBJ QJJ CRJ ZJ 9bJ -.9J 4J E- ?E) E) E5 0E1 F9 F9 ԉ  DDAT read: Rx Time:14:11:37.9432  TRx dataTimestamp_ set to:1749132699.245005 DAT read: Range 10 to 50 : 117.0 m (trip time 78.0 ms) speed -0.3 - Z#Rx 56: Read range message, but no direction.ڱ ڵ BYڱ  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.749100Թ6GH!H!H%IH%9zBH!H!H!H%9<H%9E~GAAKcP"K 9*K2K:KD[}XF8dB;w=S"yLt5VXuf9N?WY,hfiA9@j+@Y'ay>HYٿ@?\ ?9`?@Q!?Q?"K? @bL;)C=zBEIMMb@Mb@Mb@III I)IYM(\?X9v{GzyM.?M}MףMQ2A M@)MX AIMAIyM3AIIF3F< )=y{Q >٥ HeFn= >R5?R59W Iy.?:'@@EEi: :R5-/B-t1A-/EB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 0.503365 s, deltaX: 0.099998 m, approachRate: 0.198660 m/s, rangeRepo size: 4  FNOT Ignoring new targets: 116.07 m.M;M;] ProNav: ac range: 116.066101 m, nav range: 111.549301 m, bearing: 308.350650 deg, approach rate: 0.682619 m/s, LOS rate: 0.136204 deg/s, cmd heading: 309.834948 deg, new cmd heading: 310.020332 deg. e;uchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.996201eHeadingCmd: 5.410875 target range: 116.066101 and range: 117.00 m.b%@ZrjR)J9Bi~y~~B}||!|-@]@|5 ?Q  |B I )  I 8    m<% }! ! i% %@i1 D9 D9 D9 D9 y   - DDAT read: Rx Time:14:11:38.4434 - TRx dataTimestamp_ set to:1749132699.7481745 PDAT read: Bearing 156.7, 3.1 (Local) ] ~Local bearing/azimuth received: Bearing 156.7, 3.1 (Local) u DAT read: Range 10 to 50 : 117.3 m (trip time 78.2 ms) speed -0.5  DAT read: 14:11:38.4434 LVL= 28272, 25537, 18834, 28275, AGC= 69, IDX= 3, 0.03,-0.303, 1.145,-1.102,-0.102, PHS=-0.113, 1.294,-1.003, RAW= 352.6, -1.8, CAL= 353.3, -3.1, ROT= 156.7, 3.1  Ygot valid direction response: 14:11:38.4434 LVL= 28272, 25537, 18834, 28275, AGC= 69, IDX= 3, 0.03,-0.303, 1.145,-1.102,-0.102, PHS=-0.113, 1.294,-1.003, RAW= 352.6, -1.8, CAL= 353.3, -3.1, ROT= 156.7, 3.1  T#Rx 57: Read range and direction messages. `direction in FSK: [-0.917102,0.394967,-0.054079] Fpublishing direction and range info) y- B(Xֽ'"G?ʾ7- BY) - pn)- cI- Ii- sn) - l- ˡ?- Nb - @)- I- Q@i- k]-  /@- k]= ) )) - K|mLhѴi- O- u=-  /@- k]= ) ))  checking for new query: numPingsReceived=57, elapsed TxPingTime=29.269909Em?EqEqEu^0Eyԩ6G~GAAchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.500088N&?Y,YgiA)9]U!@]/@Y]y]>]Hǁ`ֿ@c?c?@An^?@0?[?l? ]U!@]m;)]CUzBUI)Y YIeIe#3uX< u٥y HfFR= >R5L?R59Q IBy+@@EEi;w;\R571A2EZbfiABB@ʁ$Cr³Z6F@Y1B(Xֽ'"G?ʾ7 /@k]=ҁ5Љ`T@kFTh>$?m@e?h$激@z?z^BjҜ?rw| }BMGќ?}Bf6  }BOBg@m addTargetRange:: Added new target pos. range: 117.300003 m, deltaT: 0.503169 s, deltaX: 0.300003 m, approachRate: 0.596227 m/s, rangeRepo size: 4  Added new target pos. range: 116.463264 m, bearing: 314.416942 deg, lat: 36.906662 deg, lon: -122.116374 deg, deltaT: 1.006534 s, deltaX: 0.397163 m, approachRate: 0.394585 m/s, posRepo size: 4 FNOT Ignoring new targets: 116.46 m.= ProNav: ac range: 116.463264 m, nav range: 115.655952 m, bearing: 311.660528 deg, approach rate: 0.000000 m/s, LOS rate: 0.136204 deg/s, cmd heading: 310.020319 deg, new cmd heading: 310.282248 deg. AQuHeadingCmd: 5.415447 target range: 116.463264 and range: 117.30 m.buWK@ZqrqjqRqJqBy~y~y}y|||@3S]@|@ʤ?:J[BJNJJARJZJ:bJ!9J4J |BI)I   o<- 11i5WK@i1E?EEE_0EԁDDAT read: Rx Time:14:11:38.9435 TRx dataTimestamp_ set to:1749132700.253480PDAT read: Bearing 153.6, 2.0 (Local) ~Local bearing/azimuth received: Bearing 153.6, 2.0 (Local) DAT read: Range 10 to 50 : 117.5 m (trip time 78.3 ms) speed -0.8 %DAT read: 14:11:38.9435 LVL= 29664, 23857, 23586, 32755, AGC= 68, IDX= 500, 0.37,-1.565,-0.275,-2.451,-1.412, PHS=-0.065, 1.184,-1.042, RAW= 356.0, -0.8, CAL= 356.4, -2.0, ROT= 153.6, 2.0 ]Ygot valid direction response: 14:11:38.9435 LVL= 29664, 23857, 23586, 32755, AGC= 68, IDX= 500, 0.37,-1.565,-0.275,-2.451,-1.412, PHS=-0.065, 1.184,-1.042, RAW= 356.0, -0.8, CAL= 356.4, -2.0, ROT= 153.6, 2.0 eT#Rx 58: Read range and direction messages.m`direction in FSK: [-0.895166,0.444364,-0.034899]mFpublishing direction and range infoڱyڵRew3-9vp?XޡڵBYڱ ۵s)۵1]I۵"\i۵۵D۵۵P?۵B` ܵ@)ܵdIܵ" @iܵ5ܵ+@ܵ5= ݱ)ݱݵawo)،H >H H IH WzBH  =H H H <H EHɓCHɓCHH =I = I"L5iݵ ݵZf<ݵ+@ݵ5= ޱ)ޱԱ  checking for new query: numPingsReceived=58, elapsed TxPingTime=29.856668K *P"K ]9*K 2K :K uH)9lYXewHC[88E@$Yb~$%CJ AJ 6G- ȹ~G A A! N% >#Y,DgiA9^`#@^1@Y^;Qy^0{>^H`xLԿ? ?@6"?f??@p~? ^`#@^<;)\ԙ-checking for new query: numPingsReceived=58, elapsed TxPingTime=30.006241 1zB IMb@Mb@Mb@ )Yw/?Dly&?O̼1A @)p AIyfAII2 T=  =y Q  >٥   H gF 9P=  >! - S5% ڷ?5 S59% DM I! y5 '?5 :5 D,@5 @% EEi% ;% ;% S5= .B= 0AE 3EZb9giARBRB@ʁz$hZyI@]P'IRew3-9vp?Xޡ+@5=ҁɒgwT@^KT UI?G@=:( ?A-翐I ?zBjcELҜ?r ݄Bќ? QBIBr@  addTargetRange:: Added new target pos. range: 117.500000 m, deltaT: 0.505306 s, deltaX: 0.199997 m, approachRate: 0.395794 m/s, rangeRepo size: 4   Added new target pos. range: 116.661827 m, bearing: 313.550976 deg, lat: 36.906677 deg, lon: -122.116374 deg, deltaT: 0.505306 s, deltaX: 0.198563 m, approachRate: 0.392955 m/s, posRepo size: 4   FNOT Ignoring new targets: 116.66 m.    ProNav: ac range: 116.661827 m, nav range: 117.143173 m, bearing: 312.343973 deg, approach rate: 0.000000 m/s, LOS rate: 0.136204 deg/s, cmd heading: 310.282243 deg, new cmd heading: 310.529287 deg.   HeadingCmd: 5.419758 target range: 116.661827 and range: 117.50 m.b n@Z r j R J B ~ ~ ~B} | | | `]@| `N^? % |B靥 I ) & I JԠ < + i n@i  DDAT read: Rx Time:14:11:39.4439  TRx dataTimestamp_ set to:1749132700.756819 PDAT read: Bearing 152.0, 1.4 (Local)  ~Local bearing/azimuth received: Bearing 152.0, 1.4 (Local)  DAT read: Range 10 to 50 : 118.1 m (trip time 78.7 ms) speed -0.4 9 E DAT read: 14:11:39.4439 LVL= 31808, 24881, 25442, 32755, AGC= 69, IDX= 488,-0.32,-1.528,-0.298,-2.466,-1.398, PHS=-0.042, 1.147,-1.071, RAW= 357.6, -0.4, CAL= 358.0, -1.4, ROT= 152.0, 1.4 M Ygot valid direction response: 14:11:39.4439 LVL= 31808, 24881, 25442, 32755, AGC= 69, IDX= 488,-0.32,-1.528,-0.298,-2.466,-1.398, PHS=-0.042, 1.147,-1.071, RAW= 357.6, -0.4, CAL= 358.0, -1.4, ROT= 152.0, 1.4 M T#Rx 59: Read range and direction messages.e `direction in FSK: [-0.882684,0.469331,-0.024432]e Fpublishing direction and range info y f> ?{J 3BY @|) 1aI bci E 1, В?  @) I @i +ȼ )@ +< ) w/y#d뿢(Eyi  ; )@ +< )  checking for new query: numPingsReceived=59, elapsed TxPingTime=30.280331E E E E 0E F% =F% =q6G=ԙ~GAAN%?x5Y,d?giA6checking for new query: numPingsReceived=59, elapsed TxPingTime=30.511013ԡinA) I )fAEAi+I8FIi ) CA1İF1AI1)i)I iٯ EzBII IV2-,G= -K=y5Q 5>٥19 }Hy} }>S5%Ʒ?S59/J IBy@EEi::VS5[0A6EZ1b5o0giA5B5B5Y]@ʁ5&QYR-K@D:5f> ?{J5)@5+<ҁ5 쑮S@CU&-qAP)@5HvJw?`i0& )#_?z55PBj5-xќ?r5 Z7 57B11 5B5B5y@ addTargetRange:: Added new target pos. range: 118.099998 m, deltaT: 0.503339 s, deltaX: 0.599998 m, approachRate: 1.192037 m/s, rangeRepo size: 4  Added new target pos. range: 117.257545 m, bearing: 312.198696 deg, lat: 36.906677 deg, lon: -122.116374 deg, deltaT: 0.503339 s, deltaX: 0.595718 m, approachRate: 1.183533 m/s, posRepo size: 4 FNOT Ignoring new targets: 117.26 m. ProNav: ac range: 117.257545 m, nav range: 117.393028 m, bearing: 312.392936 deg, approach rate: 0.000000 m/s, LOS rate: 0.136204 deg/s, cmd heading: 310.529278 deg, new cmd heading: 310.705388 deg. %HeadingCmd: 5.422832 target range: 117.257545 and range: 118.10 m.b%ׇ@Z!r!j!R!J!B)~)~)}Q|Q|Q|U`f]@|Uτ? |B=4!I)I  <   i ׇ@iE?EEE1E %=%<5DDAT read: Rx Time:14:11:39.9440 =TRx dataTimestamp_ set to:1749132701.265614ePDAT read: Bearing 153.1, 0.5 (Local) m~Local bearing/azimuth received: Bearing 153.1, 0.5 (Local) DAT read: Range 10 to 50 : 118.2 m (trip time 78.8 ms) speed -0.4  H5 >H1 H5 IH5 vzBH5  =H1 H1 H5 <H5 E DAT read: 14:11:39.9440 LVL= 24560, 21169, 31106, 32755, AGC= 69, IDX= 505,-0.10,-2.944,-1.628, 2.399,-2.764, PHS=-0.092, 1.184,-1.123, RAW= 356.5, 0.3, CAL= 356.9, -0.5, ROT= 153.1, 0.5  Ygot valid direction response: 14:11:39.9440 LVL= 24560, 21169, 31106, 32755, AGC= 69, IDX= 505,-0.10,-2.944,-1.628, 2.399,-2.764, PHS=-0.092, 1.184,-1.123, RAW= 356.5, 0.3, CAL= 356.9, -0.5, ROT= 153.1, 0.5  T#Rx 60: Read range and direction messages.% `direction in FSK: [-0.891764,0.452417,-0.008727]% Fpublishing direction and range info9y=S쿳?Xh?B7߁K 72P"K 9*K 2K :K  ]>A] j6'BqjvBe--9 # *=fBY9 =_)=RI=yi99=j=P?=w =o@)=;I=T@6G i=5=+@=5<) 9)9=Rʯm῀h|mcmv?i= =Zk=+@=5< 9)9M checking for new query: numPingsReceived=60, elapsed TxPingTime=30.900597~G A A N >*jY,ZgiASzBIi=IaDDAT read: Rx Time:14:11:40.4443 TRx dataTimestamp_ set to:1749132701.519464-checking for new query: numPingsReceived=60, elapsed TxPingTime=31.023745MMb@Mb@Mb@III I)IYMPn?㥛 Zd;OyM$?MMjM,A M`@)M-AIMAIyMAI5I53E< M&=yIQ M>٥qq uHuhFq }>yS5}R?S59}F I}ByB%?:ԑ+@@}EEi};};} S5-B"0A9EZbPgiABB@ʁ;. )Z6SJ@oi5bS쿳?Xh?B7߁+@5<ҁ7N.*T@pR.)ZpЏ('?zQBjK;Ҝ?r* qBK;Ҝ?*  ݄BGB@ addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 0.508795 s, deltaX: 0.099998 m, approachRate: 0.196540 m/s, rangeRepo size: 4  Added new target pos. range: 117.357170 m, bearing: 313.517158 deg, lat: 36.906688 deg, lon: -122.116353 deg, deltaT: 0.508795 s, deltaX: 0.099625 m, approachRate: 0.195805 m/s, posRepo size: 4 FNOT Ignoring new targets: 117.36 m. ProNav: ac range: 117.357170 m, nav range: 117.139435 m, bearing: 313.517581 deg, approach rate: 0.000000 m/s, LOS rate: 0.136204 deg/s, cmd heading: 310.705387 deg, new cmd heading: 310.902924 deg. HeadingCmd: 5.426280 target range: 117.357170 and range: 118.20 m.b%@Z!r)j)R)J)B)~1~5 ~B}9|A:JmcBJmRJJmHRJiZJm:bJmS29JmԺ4JizJm;}jJm;}Jm;:}rJm<:}||̌]@|.? |B'I)I K<_i@iE ?E E E 0E  PDAT read: Bearing 150.5, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 150.5, 0.5 (Local)  DAT read: Range 10 to 50 : 118.7 m (trip time 79.1 ms) speed -0.4  DAT read: 14:11:40.4443 LVL= 27120, 24001, 22050, 32755, AGC= 65, IDX= 508, 0.01,-0.121, 1.183,-1.231, 0.004, PHS=-0.036, 1.226,-1.237, RAW= 359.2, 0.4, CAL= 359.5, -0.5, ROT= 150.5, 0.5  Ygot valid direction response: 14:11:40.4443 LVL= 27120, 24001, 22050, 32755, AGC= 65, IDX= 508, 0.01,-0.121, 1.183,-1.231, 0.004, PHS=-0.036, 1.226,-1.237, RAW= 359.2, 0.4, CAL= 359.5, -0.5, ROT= 150.5, 0.5  T#Rx 61: Read range and direction messages. `direction in FSK: [-0.870323,0.492405,-0.008727] Fpublishing direction and range infoڑ yڕ 'Ö뿢zЏ?B7߁ڕ fBYڑ ە i)ە ]Iە "Viۑ ە Aە tە ?ە V ܕ y@)ܕ ;Iܕ ^@iܑ ܕ 0(@ܑ ݑ )ݑ ݕ H׾,d0juz9I?iݕ ݕ R>ݕ 0(@ݑ ޑ )ޑ U checking for new query: numPingsReceived=61, elapsed TxPingTime=31.292458 6G ȹ~GAAN>Y,ygiA$9?+@9@Yy>H@`ʩɿ H?$?|??@*?@D? ?+@䳈;)`zBIII2M = MT=yM]Q M>٥QQ UHUiF]> ]>S5{?S59ZD IBy3@@EEi:g:S5/AZQbU qgiAUBUBU5@DDAT read: Rx Time:14:11:40.9444 TRx dataTimestamp_ set to:1749132702.022210PDAT read: Bearing 148.3, 3.6 (Local) ~Local bearing/azimuth received: Bearing 148.3, 3.6 (Local) checking for new query: numPingsReceived=61, elapsed TxPingTime=31.529205ʁU}UjYNRpM@}͋tU'Ö뿢zЏ?B7߁U0(@QҁU?U@ SfAS@U#}u?;jW̔լ?zU4UBjU.mԜ?rU 5[ UvBUcELҜ?U  U7BUBU4@= addTargetRange:: Added new target pos. range: 118.699997 m, deltaT: 0.501051 s, deltaX: 0.500000 m, approachRate: 0.997902 m/s, rangeRepo size: 4 u Added new target pos. range: 117.853600 m, bearing: 318.086748 deg, lat: 36.906689 deg, lon: -122.116351 deg, deltaT: 0.501051 s, deltaX: 0.496429 m, approachRate: 0.990776 m/s, posRepo size: 4 quFNOT Ignoring new targets: 117.85 m.yy ProNav: ac range: 117.853600 m, nav range: 117.366592 m, bearing: 313.706673 deg, approach rate: 0.000000 m/s, LOS rate: 0.136204 deg/s, cmd heading: 310.902916 deg, new cmd heading: 311.084691 deg. HeadingCmd: 5.429452 target range: 117.853600 and range: 118.70 m.b@ZrjRJB~~}| | | ̬]@|`? ]|B] Ie;)e aIeN5 a?<r⿩i@iE!E!E!E%0E!A M DAT read: Range 10 to 50 : 118.7 m (trip time 79.1 ms) speed -0.5  DAT read: 14:11:40.9444 LVL= 25840, 22129, 23970, 32723, AGC= 68, IDX= 509,-0.03, 0.329, 1.486,-0.805, 0.318, PHS= 0.099, 1.216,-1.126, RAW= 1.5, -1.9, CAL= 1.7, -3.6, ROT= 148.3, 3.6  Ygot valid direction response: 14:11:40.9444 LVL= 25840, 22129, 23970, 32723, AGC= 68, IDX= 509,-0.03, 0.329, 1.486,-0.805, 0.318, PHS= 0.099, 1.216,-1.126, RAW= 1.5, -1.9, CAL= 1.7, -3.6, ROT= 148.3, 3.6  T#Rx 62: Read range and direction messages. `direction in FSK: [-0.849132,0.524435,-0.062791] Fpublishing direction and range info1 y5  n,rZB+?֏ 1 Y1 5 d)5 qV6G- ZG1 RG1 I5 ]i5 5 D5 =5 㥛?5 5 Pw<)5 I5 < H <H <~GA a A H- >H) H- &IH- zBH) H) A N>5Y,YgiAHH#<HEiܭܭ%@ܭ= ݩ)ݩݭY:޿%q2768eڠiݭvVݭf=ݭ%@ݭ=K #P"K 59*K 2K :K 5)BBN#[ZJ7X"T-E2XdB ީ)ީ-checking for new query: numPingsReceived=62, elapsed TxPingTime=31.9039029J-@;@Yqy>H5ſ?`H?1?yƶ?/?? J-@#e;)ClzB%IԁMb@Mb@Mb@ )Yx&1?y&1{GzyA ?`eף?+A v@)AIAyQAII?13r< =yQ >٥ HjFx= >!-S5%U?-S59%A I%őBy5 ?5:U7@]@%EEi%;%<%wS5DDAT read: Rx Time:14:11:41.4447 TRx dataTimestamp_ set to:1749132702.523613DAT read: Range 10 to 50 : 119.1 m (trip time 79.4 ms) speed -0.5 -Z#Rx 63: Read range message, but no direction.3BYchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.027695/A+Y,W>giA9~1/@~ >@Y~s,y~L>~H`ie ƵI??@t[ ?8]?`3?? ~1/@~";)~C)  =II2q: @=y}Q >٥ H-= >S5j?S59F@ IɑBy*9@@EEi9::&S5 /A ?EEB*** querying acoustic contact ***JARAq}FNOT Ignoring new targets: 118.25 m.}^Y, giA@BDAT read: 14:11:41.9447 LVL= 31216, 28257, 28338, 32755, AGC= 66, IDX= 513,-0.42, 0.852, 1.981,-0.323, 0.692, PHS= 0.248, 1.336,-1.018, RAW= 2.5, -5.6, CAL= 2.6, -8.6, ROT= 147.4, 8.6 JYgot valid direction response: 14:11:41.9447 LVL= 31216, 28257, 28338, 32755, AGC= 66, IDX= 513,-0.42, 0.852, 1.981,-0.323, 0.692, PHS= 0.248, 1.336,-1.018, RAW= 2.5, -5.6, CAL= 2.6, -8.6, ROT= 147.4, 8.6 JZ#Rx 65: Read direction message, but no range.N`direction in FSK: [-0.832980,0.532713,-0.149535]0y2Dŧ꿩O ?S&r#ÿY0 2y)2anI2ni22B2}>2 ?2M 2¸2=)2+ȽI29=i2`2$@2`> 02P:iݿ{ܯ?쿏H94i2?2=3=2$@2`>Zchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.789822H=>H9H=LIH=zBH= =H9H=*DH=/<H=/EzBIIEIE3ԱUI|= U'=y]Q ]>٥aa eHekF >S5]Q?S59D> IϑBy@EEi~:2:vS5KP"K*K2K:Kceqdt4rh-y4^fg^5g'-`lJ>J>ҁuBaxbU@=PTߋzuv%?Jt{o<95zuuBjuoyӜ?rud@5 uZBuoyӜ?ud@5  quBu@] addTargetRange:: Added new target pos. range: 119.099998 m, deltaT: 0.510739 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 118.252029 m, bearing: 316.468709 deg, lat: 36.906722 deg, lon: -122.116308 deg, deltaT: 0.510739 s, deltaX: 0.000732 m, approachRate: 0.001434 m/s, posRepo size: 4 FNOT Ignoring new targets: 118.25 m. ProNav: ac range: 118.252029 m, nav range: 117.984291 m, bearing: 316.469128 deg, approach rate: 0.000000 m/s, LOS rate: 0.182929 deg/s, cmd heading: 311.491706 deg, new cmd heading: 311.764721 deg. HeadingCmd: 5.441321 target range: 118.252029 and range: 119.10 m.bM@ZrjRJB~~}!|!|!|!|%? |BrI)!I-f ))52yE <:J \BJ `JJ @RJ ZJ =:bJ bl9J J4J zJ :jJ :J (:rJ ):9 E ?E E E 0E )q u|CDAT read: Range 10 to 50 : 119.4 m (trip time 79.6 ms) speed -0.4 DAT read: 14:11:42.44406, 32755, AGC= 69, IDX= 2, 0.30, 2.071, 3.136, 0.728, 1.972, PHS= 0.186, 1.211,-1.247, RAW= 5.5, -1.4, CAL= 5.5, -3.1, ROT= 144.5, 3.1 unknown deviceResponse_: 14:11:42.44406, 32755, AGC= 69, IDX= 2, 0.30, 2.071, 3.136, 0.728, 1.972, PHS= 0.186, 1.211,-1.247, RAW= 5.5, -1.4, CAL= 5.5, -3.1, ROT= 144.5, 3.1 -Z#Rx 66: Read range message, but no direction.BY checking for new query: numPingsReceived=66, elapsed TxPingTime=33.292679-GAYa VYyuAMU @M B6GjG>bG?~GAAN?ٍY,giAH9f46@f*D@Yfލýyf^ϑ>fH৿ *ڼ?y?ѯ@{?:h?`#?:? f46@f;)fCrzBrIMb@Mb@Mb@ )YʡE?ˡE{Gzy?')A )\AIjAyAIMIMm?3]< ]=y]Q e>٥aa eHelFm0> m>q}S5u4?}S59u= IuבBy} ?}:@@@uEEiuW;uK;uJ S5,B/ABE addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 0.748169 s, deltaX: 0.300003 m, approachRate: 0.400983 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 118.25 m.1N;1N; ProNav: ac range: 118.252029 m, nav range: 118.260361 m, bearing: 316.566295 deg, approach rate: 0.513369 m/s, LOS rate: 0.180266 deg/s, cmd heading: 311.764722 deg, new cmd heading: 312.055540 deg. n;HeadingCmd: 5.446397 target range: 118.252029 and range: 119.40 m.bH@ZrjRJB~~L~B}||| ]@| 6? E|BEIM)M[IIM\ IIMuEeyb];DDAT read: Rx Time:14:11:42.9450 TRx dataTimestamp_ set to:1749132704.039139PDAT read: Bearing 143.9, 3.4 (Local) ~Local bearing/azimuth received: Bearing 143.9, 3.4 (Local) DAT read: Range 10 to 50 : 119.6 m (trip time 79.7 ms) speed -0.5 - Z#Rx 67: Read range message, but no direction.ڙڝ3BYڙMchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.562237Em?EqEqEu_0EqI 6G ~G A A N >=pZ,hiADAT read: 14:11:42.9450 LVL= 25104, 30961, 32338, 32755, AGC= 63, IDX= 499, 0.13, 0.512, 1.588,-0.908, 0.384, PHS= 0.216, 1.251,-1.295, RAW= 6.2, -1.6, CAL= 6.1, -3.4, ROT= 143.9, 3.4 Ygot valid direction response: 14:11:42.9450 LVL= 25104, 30961, 32338, 32755, AGC= 63, IDX= 499, 0.13, 0.512, 1.588,-0.908, 0.384, PHS= 0.216, 1.251,-1.295, RAW= 6.2, -1.6, CAL= 6.1, -3.4, ROT= 143.9, 3.4 Z#Rx 68: Read direction message, but no range.`direction in FSK: [-0.806568,0.588159,-0.059306]ayeaf鿔=3?Cg]Ya eb)exIeR~iae?e/]>e ?e¥ ek=)eIe^ =iese @es= ae1pxٿfHDB6zieQebH@u@"`?;s? D?.?@?@? bc 8@bۉ;)bCjzBn9IIrIr3zV> ~e=y\ Q  >٥    HmF= >!5S5%C"?=S59%< I%ܑByIMB@U@GyGyH>HCHeIH{BH =HHH<HE%EEi%>=%@=%o#S5F.AEEZbAhiABB@ʁ* WƎM uQ@f+af鿔=3?Cg] @s=ҁGrQW@r&ZRjɆ& @]`|"?뿹㿐:C?zՒBK%P"K%@9*K!2K%:K% DW]xhWGr(M I'!)P@Z6;u\[A AjO$'՜?r -BDӜ?kTĒ  -BeB&@ addTargetRange:: Added new target pos. range: 119.599998 m, deltaT: 0.256618 s, deltaX: 0.199997 m, approachRate: 0.779357 m/s, rangeRepo size: 4  Added new target pos. range: 118.749092 m, bearing: 321.792937 deg, lat: 36.906734 deg, lon: -122.116304 deg, deltaT: 1.004787 s, deltaX: 0.497063 m, approachRate: 0.494695 m/s, posRepo size: 4 FNOT Ignoring new targets: 118.75 m. ProNav: ac range: 118.749092 m, nav range: 119.199181 m, bearing: 317.187653 deg, approach rate: 0.000000 m/s, LOS rate: 0.180266 deg/s, cmd heading: 312.055552 deg, new cmd heading: 312.301293 deg. HeadingCmd: 5.450686 target range: 118.749092 and range: 119.60 m.bl@ZrjRJB~!~!}!|)|)|-`f]@|-5? }|B靝I)1I0˩ +r<.il@iDADAyDDAT read: Rx Time:14:11:43.4454 TRx dataTimestamp_ set to:1749132704.544823PDAT read: Bearing 142.9, 4.6 (Local) ~Local bearing/azimuth received: Bearing 142.9, 4.6 (Local) MDAT read: Range 10 to 50 : 120.2 m (trip time 80.1 ms) speed -0.4 -]Z#Rx 69: Read range message, but no direction.fBYchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.072208>E :bE ZE ԩ E] ?EY EY E] 5EY :J= [BJ= UJJ= ?RJ9 ZJ= :bJ= >9J= ـ4J9 zJ= :jJ= :J= ~Q:rJ= Q: }DAT read: 14:11:43.4454 LVL= 23984, 32753, 31314, 32755, AGC= 65, IDX= 502,-0.06, 0.418, 1.448,-1.035, 0.232, PHS= 0.275, 1.264,-1.270, RAW= 7.2, -2.5, CAL= 7.1, -4.6, ROT= 142.9, 4.6 Ygot valid direction response: 14:11:43.4454 LVL= 23984, 32753, 31314, 32755, AGC= 65, IDX= 502,-0.06, 0.418, 1.448,-1.035, 0.232, PHS= 0.275, 1.264,-1.270, RAW= 7.2, -2.5, CAL= 7.1, -4.6, ROT= 142.9, 4.6 Z#Rx 70: Read direction message, but no range.`direction in FSK: [-0.795015,0.601265,-0.080199]I6GȹZGRGyM|Ħpƪ~e=?zꇴYI M])MIMRziIMAM̌>Mʡ?M\ M>)M¸2IM=iMlM@Ml= IMUؿOzoŹ,iMMC/=M@Ml=checking for new query: numPingsReceived=70, elapsed TxPingTime=34.310562~GYAiAN ?n Z,f5hiA(9 Y9@  H@Y RŽy lЏ> H ?u˸?`O?q?@??s? Y9@ X;) C-zBM?I}Mb@Mb@Mb@yyy y)yY}$C?Q롿٥ HnFK= >AMS5E?MS59E; IEByMp?M:MD@M@EEEiE:E8:E(S5]+B].A]HEyZba"hiABBa@ʁTz`W#"F&Q@$#|Ħpƪ~e=?zꇴ@l=ҁ"!W@ΫGR!K?9ֱI?9&wи7?z<Bj&5֜?r%C qB.mԜ? 5[  qBꁥnB@ addTargetRange:: Added new target pos. range: 120.199997 m, deltaT: 0.505684 s, deltaX: 0.599998 m, approachRate: 1.186509 m/s, rangeRepo size: 4 M Added new target pos. range: 119.344826 m, bearing: 322.214480 deg, lat: 36.906748 deg, lon: -122.116281 deg, deltaT: 0.505684 s, deltaX: 0.595734 m, approachRate: 1.178075 m/s, posRepo size: 4 IUFNOT Ignoring new targets: 119.34 m.yy ProNav: ac range: 119.344826 m, nav range: 119.215630 m, bearing: 318.546611 deg, approach rate: 0.000000 m/s, LOS rate: 0.180266 deg/s, cmd heading: 312.301302 deg, new cmd heading: 312.588830 deg. HeadingCmd: 5.455704 target range: 119.344826 and range: 120.20 m.b!@ZrjRJB~~,~B}||| ^@|`Ǹ? |BI)뾉I5VL 99Em<uDDAT read: Rx Time:14:11:43.9455 }TRx dataTimestamp_ set to:1749132705.047359PDAT read: Bearing 142.4, 5.3 (Local) ~Local bearing/azimuth received: Bearing 142.4, 5.3 (Local) ԱDAT read: Range 10 to 50 : 120.3 m (trip time 80.2 ms) speed -0.4 [  i !@iDAT read: 14:11:43.9455 LVL= 23504, 29425, 27250, 32755, AGC= 63, IDX= 503,-0.40,-0.389, 0.616,-1.851,-0.605, PHS= 0.304, 1.267,-1.249, RAW= 7.7, -3.0, CAL= 7.6, -5.3, ROT= 142.4, 5.3 Ygot valid direction response: 14:11:43.9455 LVL= 23504, 29425, 27250, 32755, AGC= 63, IDX= 503,-0.40,-0.389, 0.616,-1.851,-0.605, PHS= 0.304, 1.267,-1.249, RAW= 7.7, -3.0, CAL= 7.6, -5.3, ROT= 142.4, 5.3 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.788902,0.607537,-0.092371] Fpublishing direction and range infoqyu>LEUp?{]UuBYq u[)urIurjiqu?u㥛>u-?u;ߟ u >)uPwVIu>iuqu@uq= q)qu~=ؿ9<9Ayiuu>S=u@uq= q)qMchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.608650 >E5 8E ?E E E o0E  checking for new query: numPingsReceived=71, elapsed TxPingTime=34.796555H}>HyH}IH}A{BH} =HyHyH}<H}EHYHYHYH] =I] = I]5ԉ6GQ~GAAIAaN}?dZ,U\hiAKP"K9*K2K:K <0>*-,!AZ:! 2K1/\2$4v*Y9=zB=GIUDDAT read: Rx Time:14:11:44.4457 ]TRx dataTimestamp_ set to:1749132705.551376}PDAT read: Bearing 140.7, 5.1 (Local) ~Local bearing/azimuth received: Bearing 140.7, 5.1 (Local) DAT read: Range 10 to 50 : 120.6 m (trip time 80.4 ms) speed -0.4 DAT read: 14:11:44.4457 LVL= 18400, 25633, 23858, 27491, AGC= 61, IDX= 505, 0.09, 2.249,-3.106, 0.731, 1.996, PHS= 0.341, 1.228,-1.268, RAW= 9.5, -2.8, CAL= 9.3, -5.1, ROT= 140.7, 5.1 Ygot valid direction response: 14:11:44.4457 LVL= 18400, 25633, 23858, 27491, AGC= 61, IDX= 505, 0.09, 2.249,-3.106, 0.731, 1.996, PHS= 0.341, 1.228,-1.268, RAW= 9.5, -2.8, CAL= 9.3, -5.1, ROT= 140.7, 5.1 %Mb@Mb@Mb@!!! !)!Y%zG? rhMby% ?%C%%%A %3@)%AI%&A!y% AII2-T#Rx 72: Read range and direction messages.5`direction in FSK: [-0.770777,0.630873,-0.088894]5Fpublishing direction and range infoQyUsw3%qua0?U3BYQ UG)U!dIU2]iUckU=U>U/?UM U)>)U+HIU6&>iUKU)@UK=q}< ٥ HoF > Q)QUV\yhֿB?)&ZGըiUU1F=U)@UK= Q)Qchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.100548%S5⶜?-S59; IBy-(?-:-F@-@EEi:,:.S51=-A=KEZQbUIchiAU|BU|BU`@ʁUP9W^@WR@I%Usw3%qua0?U)@UK=ҁUcUV@@t@S(0?Ui|?|(h?zUUZBjUn ՜?rUo( UBUn ՜?Uo(  QUuBUp@ addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 1.006553 s, deltaX: 0.400002 m, approachRate: 0.397397 m/s, rangeRepo size: 4 5 Added new target pos. range: 119.743019 m, bearing: 319.969350 deg, lat: 36.906765 deg, lon: -122.116259 deg, deltaT: 1.006553 s, deltaX: 0.398193 m, approachRate: 0.395601 m/s, posRepo size: 4 15FNOT Ignoring new targets: 119.74 m.99M ProNav: ac range: 119.743019 m, nav range: 119.729446 m, bearing: 319.969764 deg, approach rate: 0.000000 m/s, LOS rate: 0.180266 deg/s, cmd heading: 312.588826 deg, new cmd heading: 312.961084 deg. IԑHeadingCmd: 5.462201 target range: 119.743019 and range: 120.60 m.bZʮ@ZrjRJB~~}B}|||`f&^@|? =|B=GEI9)=羉9IElλ AAEgbGM>DDAT read: Rx Time:14:11:44.9458 TRx dataTimestamp_ set to:1749132706.054724PDAT read: Bearing 138.6, 5.1 (Local) ~Local bearing/azimuth received: Bearing 138.6, 5.1 (Local) mDAT read: Range 10 to 50 : 120.8 m (trip time 80.5 ms) speed -0.4 -uZ#Rx 73: Read range message, but no direction.ڱڵBYڱ}checking for new query: numPingsReceived=73, elapsed TxPingTime=35.581196~GAAN$?U!Z,阅hiAL9y?@ҌM@Yy*>H`@Ц?8?ܱеl???? y?@骅CH;)CzB[III3U[= U=yU;Q U>٥YY ]H]pF]M> e>aS5enƶ?S59e; IeByE@eEEiey;e:e~3S5c-ANEB*** querying acoustic contact ***JR] addTargetRange:: Added new target pos. range: 120.800003 m, deltaT: 0.503348 s, deltaX: 0.200005 m, approachRate: 0.397349 m/s, rangeRepo size: 4 Y]FNOT Ignoring new targets: 119.74 m.:JmZBJmOJJmARJiZJm9bJm%9Jm4Jiu@u@u@u@d;d; ProNav: ac range: 119.743019 m, nav range: 119.974983 m, bearing: 320.078520 deg, approach rate: 0.452383 m/s, LOS rate: 0.199965 deg/s, cmd heading: 312.961071 deg, new cmd heading: 313.286668 deg. ; <HeadingCmd: 5.467884 target range: 119.743019 and range: 120.80 m.b@ZrjRJB~~}|||@33^@|? |B\I)ھIGݻ fc<$hi@iDAT read: 14:11:44.9458 LVL= 20528, 23361, 25442, 26771, AGC= 63, IDX= 506,-0.44, 0.015, 0.853,-1.575,-0.290, PHS= 0.392, 1.189,-1.289, RAW= 11.6, -2.7, CAL= 11.4, -5.1, ROT= 138.6, 5.1 Ygot valid direction response: 14:11:44.9458 LVL= 20528, 23361, 25442, 26771, AGC= 63, IDX= 506,-0.44, 0.015, 0.853,-1.575,-0.290, PHS= 0.392, 1.189,-1.289, RAW= 11.6, -2.7, CAL= 11.4, -5.1, ROT= 138.6, 5.1 Z#Rx 74: Read direction message, but no range.`direction in FSK: [-0.747141,0.658694,-0.088894]ڑyڕĥ/&?Yڑ ە0P)ەA[Iەbciەhە?ە9>ە'1?ە ܕ4QO>)ܕAIܕ%K>iܑܕT@ܑ ݑݕA#ԿX~y3KV iݕ3ݕ@=ݕT@ݑchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.818050E E E E _0E H<H<Hż>HHIHj{BHHH+DH<HE! 6G Ku EP"Ku @9*Kq 2Ku :Ku >2_T*_57v-;ip3^P5sk\~G A A N >{'Z,|`hiA9RA@?fO@YOym{>H  Փ??O3S8?U?`? ? RA@B;)C%DDAT read: Rx Time:14:11:45.4459 -TRx dataTimestamp_ set to:1749132706.559852EPDAT read: Bearing 135.8, 5.9 (Local) M~Local bearing/azimuth received: Bearing 135.8, 5.9 (Local) ]DAT read: Range 10 to 50 : 121.1 m (trip time 80.7 ms) speed -0.3 -eZ#Rx 75: Read range message, but no direction.!%3BY!mchecking for new query: numPingsReceived=75, elapsed TxPingTime=36.070053 {BpI)Mb@Mb@Mb@ )Y(\?I +٥ Hg= >S5w?S59< IBy ? : D @EEiH::7S5*B-,A-QEZ!b%ԣhiA%{B%{B%3@ʁ%ꎊuV8TS@5K`%%ĥ/&?%T@!ҁ%_xosX@E'|zQ0 /|@%Oa?JU>&6?z%Ӌ%Bj%.֜?r%exn %B%O$'՜?%  %B%B%@ addTargetRange:: Added new target pos. range: 121.099998 m, deltaT: 0.505128 s, deltaX: 0.299995 m, approachRate: 0.593900 m/s, rangeRepo size: 4 Q] Added new target pos. range: 120.240395 m, bearing: 324.441349 deg, lat: 36.906786 deg, lon: -122.116219 deg, deltaT: 1.008476 s, deltaX: 0.497375 m, approachRate: 0.493195 m/s, posRepo size: 4 YeFNOT Ignoring new targets: 120.24 m.ea ProNav: ac range: 120.240395 m, nav range: 119.792366 m, bearing: 322.203437 deg, approach rate: 0.000000 m/s, LOS rate: 0.199965 deg/s, cmd heading: 313.286680 deg, new cmd heading: 313.599479 deg. HeadingCmd: 5.473343 target range: 120.240395 and range: 121.10 m.b%@ZrjRJB~~}B}|||`fF^@|` ? ]|B]]IY)]˾YI]A aaeqE_۵ G?۵ ܵ >)ܵ kIܵ }>iܵ Bҽܵ @ܵ B= ݱ ݵ 0XѿܱQE@Liݵ 뿉ݵ kh=ݵ @ݵ B= checking for new query: numPingsReceived=76, elapsed TxPingTime=36.322178EE ?EI EI EM 5EI ԁ Ա 6G-ȹZG1RG1~G AA)N5>/Z,-AhiAԱEDDAT read: Rx Time:14:11:45.9459 UTRx dataTimestamp_ set to:1749132707.062932mPDAT read: Bearing 133.9, 5.1 (Local) m~Local bearing/azimuth received: Bearing 133.9, 5.1 (Local) }DAT read: Range 10 to 50 : 121.1 m (trip time 80.7 ms) speed -0.3 9E@0S@Yz^y]>H#x n??8Ŀq ?C? 4?? E@1;)DAT read: 14:11:45.9459 LVL= 16016, 19089, 20114, 24179, AGC= 59, IDX= 508, 0.07, 1.653, 2.275,-0.045, 1.244, PHS= 0.497, 1.079,-1.291, RAW= 16.4, -2.7, CAL= 16.1, -5.1, ROT= 133.9, 5.1 Ygot valid direction response: 14:11:45.9459 LVL= 16016, 19089, 20114, 24179, AGC= 59, IDX= 508, 0.07, 1.653, 2.275,-0.045, 1.244, PHS= 0.497, 1.079,-1.291, RAW= 16.4, -2.7, CAL= 16.1, -5.1, ROT= 133.9, 5.1 T#Rx 77: Read range and direction messages.`direction in FSK: [-0.690657,0.717699,-0.088894]Fpublishing direction and range infoIyMW濟E)MJIMNiMs^M;Mv>M?M}? MC>)MAIMޏ>iMKMW@MK= I)IME&,ο7,iM翉M@=MW@MK= I)IUchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.598087I=I=2m4(= m;=ym];Q m>٥qq uHuqF}> }>S5?S59[= I By@@EEi</<;S5,AZIbMhiAIIM@ʁM@yTvnU@5K`%MW濟EH H IH {BH  =H H H <H E) 6G] ~GI Ay A N >޼6Z,BhiADK%_P"K%9*K!2K%:K%9K8|OeNjX^ r1rH$>o}A5C 95G@U@Y=y@>H N?g? ǿ? r(??U?? 5G@骅e#;)CQ{BIDDAT read: Rx Time:14:11:46.4460 TRx dataTimestamp_ set to:1749132707.566199PDAT read: Bearing 130.7, 7.1 (Local) ~Local bearing/azimuth received: Bearing 130.7, 7.1 (Local) DAT read: Range 10 to 50 : 121.2 m (trip time 80.8 ms) speed -0.2 DAT read: 14:11:46.4460 LVL= 18368, 20305, 20978, 24819, AGC= 60, IDX= 509, 0.12, 2.887,-2.916, 1.134, 2.366, PHS= 0.608, 1.047,-1.236, RAW= 19.6, -4.0, CAL= 19.3, -7.1, ROT= 130.7, 7.1 Ygot valid direction response: 14:11:46.4460 LVL= 18368, 20305, 20978, 24819, AGC= 60, IDX= 509, 0.12, 2.887,-2.916, 1.134, 2.366, PHS= 0.608, 1.047,-1.236, RAW= 19.6, -4.0, CAL= 19.3, -7.1, ROT= 130.7, 7.1 T#Rx 78: Read range and direction messages.%`direction in FSK: [-0.647098,0.752321,-0.123601]%Fpublishing direction and range infoyH>O?A7XfBY G)QOIQi`<???5 %>)5Iiw>iI@= )tQ"ǿ#ed↓Ӧlxi,b࿉[Z=I@= )Echecking for new query: numPingsReceived=78, elapsed TxPingTime=37.081776IMb@Mb@Mb@ )Y/$?~jtQy&?Du A @)IAyf AI- I-(2=os= ==y=׌:Q =>٥AA EHErFuNj= }>S5x?S59> IBy<?:=@EEi::7@S5 ,ATEZbO?A7XI@=ҁ4W@R}_?=0?㿨F?z(Bj9t՜?rd +B +BB<@M addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 0.503267 s, deltaX: 0.099998 m, approachRate: 0.198699 m/s, rangeRepo size: 4  Added new target pos. range: 120.339615 m, bearing: 321.394386 deg, lat: 36.906792 deg, lon: -122.116215 deg, deltaT: 0.503267 s, deltaX: 0.099220 m, approachRate: 0.197152 m/s, posRepo size: 4 FNOT Ignoring new targets: 120.34 m.Y} ProNav: ac range: 120.339615 m, nav range: 120.505714 m, bearing: 322.708522 deg, approach rate: 0.000000 m/s, LOS rate: 0.199965 deg/s, cmd heading: 313.855853 deg, new cmd heading: 314.157005 deg. yHeadingCmd: 5.483074 target range: 120.339615 and range: 121.20 m.bXu@ZrjRJB~~}B}|||L^@|`V}? 5|B[I)I KW<eIiXu@iԉ E E E E 0E m checking for new query: numPingsReceived=78, elapsed TxPingTime=37.316589Թ 6G~GAAN?>Z,|hiAI)@9ZWH@ZW@YZ#yZ?7>ZHx?@?@–˿b?`׶??`? ZWH@ZgB;)ZCff{BfIIlIl]= U=y=;Q >٥! %H! %= M>QeS5Un?S59U? IUBy;@UFEiU-=UX0=UCS5+AWEEDDAT read: Rx Time:14:11:46.9460 MTRx dataTimestamp_ set to:1749132708.067925UPDAT read: Bearing 127.5, 7.2 (Local) U~Local bearing/azimuth received: Bearing 127.5, 7.2 (Local) mDAT read: Range 10 to 50 : 121.2 m (trip time 80.8 ms) speed -0.3 DAT read: 14:11:46.9460 LVL= 22720, 21681, 21314, 29347, AGC= 58, IDX= 509, 0.12, 1.625, 1.976,-0.209, 1.033, PHS= 0.680, 0.989,-1.245, RAW= 22.7, -4.1, CAL= 22.5, -7.2, ROT= 127.5, 7.2 Ygot valid direction response: 14:11:46.9460 LVL= 22720, 21681, 21314, 29347, AGC= 58, IDX= 509, 0.12, 1.625, 1.976,-0.209, 1.033, PHS= 0.680, 0.989,-1.245, RAW= 22.7, -4.1, CAL= 22.5, -7.2, ROT= 127.5, 7.2 T#Rx 79: Read range and direction messages.`direction in FSK: [-0.603961,0.787097,-0.125333]Fpublishing direction and range infoIyMzjS fC/?cK IYI MX)MTIMBSiMrM:M{.?M/}?M)\ Mb>)MCIM>iMM;k@M> I)IMWZ¢K PǹOAiMqٿM-=M;k@M> I)Ichecking for new query: numPingsReceived=79, elapsed TxPingTime=37.584869ZIbMXiiAIIM@ʁMT+R~9W@Ǡ;D*.MzjS fC/?cK M;k@M>ҁMgն` W@oq~QS9 @MX球?nhN̙W{e?zMM_BjMwuԜ?rMϼ3 MBM9t՜?Md  MBMBM~@9] addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 0.501726 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 120.339615 m, bearing: 320.029581 deg, lat: 36.906776 deg, lon: -122.116239 deg, deltaT: 0.501726 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 iFNOT Ignoring new targets: 120.34 m. ProNav: ac range: 120.339615 m, nav range: 120.464607 m, bearing: 321.473891 deg, approach rate: 0.000000 m/s, LOS rate: 0.199965 deg/s, cmd heading: 314.157010 deg, new cmd heading: 314.427705 deg. HeadingCmd: 5.487799 target range: 120.339615 and range: 121.20 m.b @ZrjRJB~~}|||| ? U|B]hxIY)]ׯYI] YYeDTH H IH {BH  =H H H <H E~G A A N >EZ,7SiiA9}J@}X@Y}Py}q>}H`H? ?[Ͽ4%? m?@)?? }J@}K[;)}C {B IAK/P"K@9*K2K:K(I"0fAUGE&/{Ze.9'!7,@ !Mb@Mb@Mb@ )YM?٥ HsFN= >S5R?S59A I%By?:9@FEi;>;HS5 +AEB*** querying acoustic contact ***IJARA} addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 0.504054 s, deltaX: 0.300003 m, approachRate: 0.595180 m/s, rangeRepo size: 4 yFNOT Ignoring new targets: 120.34 m..;.; ProNav: ac range: 120.339615 m, nav range: 120.673714 m, bearing: 321.602103 deg, approach rate: 0.397604 m/s, LOS rate: 0.243365 deg/s, cmd heading: 314.427704 deg, new cmd heading: 314.811667 deg. '<HeadingCmd: 5.494500 target range: 120.339615 and range: 121.50 m.bү@ZrjRJB~!~%}B}!|!|)|-`^@|-N? }|B}9Iy)uI= ܏P<GIiү@iy E ?E E E o0E } G EY y nA checking for new query: numPingsReceived=80, elapsed TxPingTime=38.325848ԡ 6Gȹ~GAAN?FMZ,h]9iiA8i:< {BIII3-= -[=y-Q ->٥11 5H5tF= =>AmS5EuA?mS59EMC IE+Byiqu@E FEiE;EA;EKS5})B}*A}ZEFNOT Ignoring new targets: 120.34 m.jx;jx; ProNav: ac range: 120.339615 m, nav range: 120.803078 m, bearing: 321.681015 deg, approach rate: 0.356417 m/s, LOS rate: 0.217183 deg/s, cmd heading: 314.811670 deg, new cmd heading: 315.048152 deg.  < HeadingCmd: 5.498628 target range: 120.339615 and range: 121.50 m.b @Z r j RJB~~}||9|A|E? -|B-:AI1)]_YIm iq5M<=H99i=@iA}DDAT read: Rx Time:14:11:47.9462 TRx dataTimestamp_ set to:1749132709.076168PDAT read: Bearing 117.5, 8.6 (Local) ~Local bearing/azimuth received: Bearing 117.5, 8.6 (Local) DAT read: Range 10 to 50 : 121.5 m (trip time 81.0 ms) speed -0.2 DAT read: 14:11:47.9462 LVL= 20256, 18897, 19666, 22867, AGC= 57, IDX= 511,-0.24, 1.155, 1.111,-0.884, 0.339, PHS= 0.903, 0.818,-1.226, RAW= 32.0, -4.8, CAL= 32.5, -8.6, ROT= 117.5, 8.6 Ygot valid direction response: 14:11:47.9462 LVL= 20256, 18897, 19666, 22867, AGC= 57, IDX= 511,-0.24, 1.155, 1.111,-0.884, 0.339, PHS= 0.903, 0.818,-1.226, RAW= 32.0, -4.8, CAL= 32.5, -8.6, ROT= 117.5, 8.6 T#Rx 81: Read range and direction messages.`direction in FSK: [-0.456557,0.877038,-0.149535]Fpublishing direction and range infoځyڅޢ:8ݿgѢ"?S&r#ÿځYځ ۅ O)ۅIIۅLiۅSYۅ9ۅ+g?ۅshQ?ۅ휿 ܅5?)܅I܅6?i܅`܅?@܅`> ݁)݁݅)!8?SK`Ubi݅EĿ݅E=݅?@݅`> ށ)ށ%checking for new query: numPingsReceived=81, elapsed TxPingTime=38.597599EEEE0EiI I %=:J YBJ RJJ CRJ ZJ 9bJ S29J 4J ԑ 6GI ~G A A) N5 >TZ,RiiA9RoN@R\@YRTyR >RHc! ?x@TUӿ6"`Q?RD?J?? RoN@Re;)RCr{BrIzchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.828209IIm?3%< %_=yMI٥QQ UH]uFex#> e>ԙH>HHIH{BH =HH*DH<HES5/? S59D I1By  5 @FEig<1g<NOS5q*A]EZbDiiAEBEB@ʁ KasZ@Nx 2ޢ:8ݿgѢ"?S&r#ÿ?@`>ҁ~AzcU@YƅK2Uį@yn?݀}濄d=x?zBj9mzYҜ?r EB BB9@ addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 0.504189 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 120.636597 m, bearing: 315.258483 deg, lat: 36.906776 deg, lon: -122.116239 deg, deltaT: 1.008243 s, deltaX: 0.296982 m, approachRate: 0.294554 m/s, posRepo size: 4 FNOT Ignoring new targets: 120.64 m.M ProNav: ac range: 120.636597 m, nav range: 120.926102 m, bearing: 321.765749 deg, approach rate: 0.000000 m/s, LOS rate: 0.217183 deg/s, cmd heading: 315.048158 deg, new cmd heading: 315.309261 deg. IUHeadingCmd: 5.503185 target range: 120.636597 and range: 121.50 m.bU@ZQrQjQRQJQBy~~}|| ||ecA?Թ |B靥VI)I* |nJ<Gi@iKP"K}9*K2K:KGy<@a>-YGe:IqOm|%_S@Qu wBJ?J?EIEQEYE]0EaDDAT read: Rx Time:14:11:48.4463 TRx dataTimestamp_ set to:1749132709.583483PDAT read: Bearing 95.6, -7.1 (Local) ~Local bearing/azimuth received: Bearing 95.6, -7.1 (Local) DAT read: Range 10 to 50 : 121.7 m (trip time 81.1 ms) speed -0.2 - DAT read: 14:11:48.4463 LVL= 18816, 19569, 18914, 26227, AGC= 58, IDX= 512, 0.32, 2.824, 2.173, 1.298, 2.272, PHS= 0.640,-0.053,-0.977, RAW= 55.3, 5.6, CAL= 54.4, 7.1, ROT= 95.6, -7.1 5 Ygot valid direction response: 14:11:48.4463 LVL= 18816, 19569, 18914, 26227, AGC= 58, IDX= 512, 0.32, 2.824, 2.173, 1.298, 2.272, PHS= 0.640,-0.053,-0.977, RAW= 55.3, 5.6, CAL= 54.4, 7.1, ROT= 95.6, -7.1 5 T#Rx 82: Read range and direction messages.= ^direction in FSK: [-0.096835,0.987596,0.123601]= Fpublishing direction and range infoytQ'ʸOgb?A7X?fBY I)qLIIisf: #?Yz 0w?)+=Is?i=? )~H4?tz``?i TȽ? )} checking for new query: numPingsReceived=82, elapsed TxPingTime=39.107754 6G ~GI Ai A N >ZZ,czmiiA9JeP@J^@YJryJA>JH ˫?鐿տh?? B? ? JeP@J‰;)JCf{BfIԙEMb@Mb@Mb@AAA A)AYEB`"?Mbp?I +yE?E;E94A E@)EAIAAyEAII#3f= 0=y;Q >٥ H== >S5?-S59FG I9By5?5:525@FEi%*<)<ISS59=)A9Zchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.332291bWeiiABB%@ʁMf' IY]@ȇ-@tQ'ʸOgb?A7X??ҁUU•I@TbX$dF@ijW?9}[ F#?zLBjƜ?rpBu BwuԜ?ϼ3  BꁥBs@M addTargetRange:: Added new target pos. range: 121.699997 m, deltaT: 0.507315 s, deltaX: 0.199997 m, approachRate: 0.394226 m/s, rangeRepo size: 4 ] Added new target pos. range: 120.835175 m, bearing: 297.208892 deg, lat: 36.906757 deg, lon: -122.116264 deg, deltaT: 0.507315 s, deltaX: 0.198578 m, approachRate: 0.391429 m/s, posRepo size: 4 YFNOT Ignoring new targets: 120.84 m. ProNav: ac range: 120.835175 m, nav range: 120.863884 m, bearing: 320.431480 deg, approach rate: 0.000000 m/s, LOS rate: 0.217183 deg/s, cmd heading: 315.309263 deg, new cmd heading: 315.602688 deg. HeadingCmd: 5.508306 target range: 120.835175 and range: 121.70 m.b D@ZrjRJB~~}B}||!|%l^@|-@? U|BU0޼IY)]YIP G<~^Fi D@izEEYEYEYE]0EYFaFe=! m DDAT read: Rx Time:14:11:48.9463 m TRx dataTimestamp_ set to:1749132710.084132} DAT read: Range 10 to 50 : 121.7 m (trip time 81.1 ms) speed -0.2 -} Z#Rx 83: Read range message, but no direction.i i Yi  checking for new query: numPingsReceived=83, elapsed TxPingTime=39.5886276G ~GY Aa Aq N} >RaZ,GiiA9~IT@~O\b@Y~Ey~a>~Hs`?#mؿ@B3` ? O?@O)?@μ? ~IT@~1;)~C5 |BMII](I]̍3> W=yي٥ HvFS> >S5 ?S59vI I?ByIM.U@FEiVp<p<VS5](B])A]`E addTargetRange:: Added new target pos. range: 121.699997 m, deltaT: 0.500649 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 120.84 m.;;  ProNav: ac range: 120.835175 m, nav range: 120.959427 m, bearing: 320.519850 deg, approach rate: 0.262318 m/s, LOS rate: 0.242434 deg/s, cmd heading: 315.602688 deg, new cmd heading: 315.867587 deg.  a&<HeadingCmd: 5.512929 target range: 120.835175 and range: 121.70 m.bi@ZrjRJB~~}A|A|A|I|M L?IaIa |B靝A˼I)UI [E<{/Eii@iE?EEE5Echecking for new query: numPingsReceived=83, elapsed TxPingTime=39.836300 HiHm<Hu>HqHuIHu+|BHu =HqHu+DHu#<Hu"EH=ǔCH=ǔCH9H9I9 I=Y5!6G ȹ~G AA Y A N >gZ,_iiAK P"K9*K2K:K1#XArmc5t$2$Rt7pFFn b/fx(0<{+JdJd92"V@5d@Y y>HM`y?5Fڿ@c??`>?@ǻ? 2"V@;)CDDAT read: Rx Time:14:11:49.4465 TRx dataTimestamp_ set to:1749132710.587996 PDAT read: Bearing 103.7, 13.7 (Local) ~Local bearing/azimuth received: Bearing 103.7, 13.7 (Local) 1MDAT read: Range 10 to 50 : 122.0 m (trip time 81.3 ms) speed 0.0 DAT read: 14:11:49.4465 LVL= 19344, 18385, 17202, 20643, AGC= 66, IDX= 2,-0.41,-0.685,-1.178,-2.912,-1.822, PHS= 1.225, 0.691,-1.093, RAW= 42.7, -7.9, CAL= 46.3, -13.7, ROT= 103.7, 13.7 Ygot valid direction response: 14:11:49.4465 LVL= 19344, 18385, 17202, 20643, AGC= 66, IDX= 2,-0.41,-0.685,-1.178,-2.912,-1.822, PHS= 1.225, 0.691,-1.093, RAW= 42.7, -7.9, CAL= 46.3, -13.7, ROT= 103.7, 13.7 T#Rx 84: Read range and direction messages.|BI`direction in FSK: [-0.230100,0.943908,-0.236838]Fpublishing direction and range infoy=sͿ7f}4?4ӋHPοBY K)GI2CiPB̜?`0?m狿 >?)0 IN?iGt?Gt> )ͯ?J*!ϕYi⬬s >?Gt> )mchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.135601=Mb@Mb@Mb@999 9)9Y=m?Mbp?Mby=?9=="A =@)=AI=+ A9y=zAI"Iq3%x< -=y-p;Q ->٥11 5H5wF5$f= 5>YS5o?S59L IHBy?:9-5@FEi< <%[S5AE(AAZbiiADBDBث@:J}\BJ}PJJ}@RJyZJ}=:bJ}*9J}J4JyzJ}:jJ}:J}-:rJ}-:ʁ|Ǥm;C\@a<=sͿ7f}4?4ӋHPο?Gt>ҁ "R@W ̴r?y4?hR鿐9r?zBj4@UΜ?rB,* B9mzYҜ?  BzB-B@ addTargetRange:: Added new target pos. range: 122.000000 m, deltaT: 0.503864 s, deltaX: 0.300003 m, approachRate: 0.595405 m/s, rangeRepo size: 4 = Added new target pos. range: 121.133331 m, bearing: 307.685147 deg, lat: 36.906691 deg, lon: -122.116351 deg, deltaT: 1.004513 s, deltaX: 0.298157 m, approachRate: 0.296817 m/s, posRepo size: 4 9=FNOT Ignoring new targets: 121.13 m.EA ProNav: ac range: 121.133331 m, nav range: 120.739311 m, bearing: 315.589616 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 315.867590 deg, new cmd heading: 316.262821 deg. HeadingCmd: 5.519827 target range: 121.133331 and range: 122.00 m.bm@ZrjRJB~~}B}|||^@|?? M|BU IQ)UUQIU YY](A<]pkCaaiem@ԁi checking for new query: numPingsReceived=84, elapsed TxPingTime=40.341431E ?E E E% 0E! F) F) Թ 6GE~GA)AQN?pZ,siiA9~W@~e@Y~y~>~H?Cۿ`tc?`l? pA?? ~W@~4!;)~CDDAT read: Rx Time:14:11:49.9464 TRx dataTimestamp_ set to:1749132711.093106PDAT read: Bearing 100.4, 16.1 (Local) ~Local bearing/azimuth received: Bearing 100.4, 16.1 (Local) DAT read: Range 10 to 50 : 121.8 m (trip time 81.2 ms) speed -0.1 DAT read: 14:11:49.9464 LVL= 16096, 18513, 17490, 24531, AGC= 65, IDX= 497, 0.36,-1.856,-2.418, 2.216,-3.063, PHS= 1.295, 0.693,-1.007, RAW= 44.6, -9.5, CAL= 49.6, -16.1, ROT= 100.4, 16.1 Ygot valid direction response: 14:11:49.9464 LVL= 16096, 18513, 17490, 24531, AGC= 65, IDX= 497, 0.36,-1.856,-2.418, 2.216,-3.063, PHS= 1.295, 0.693,-1.007, RAW= 44.6, -9.5, CAL= 49.6, -16.1, ROT= 100.4, 16.1 T#Rx 85: Read range and direction messages.`direction in FSK: [-0.173439,0.944995,-0.277315] Fpublishing direction and range infoڱyڵh@3ƿX] f=?/ѿڵBYڱ ۵>)۵QHI۵RDi۵_۵A۵¥?۵sh1?۵`倿 ܵSFG?)ܵ)Iܵk]?iܵޏܵK?ܵޏ> ݱ)ݱݵ?k$'#A,ſiݵ pݵU,*>ݵK?ݵޏ> ޱ)ޱ5checking for new query: numPingsReceived=85, elapsed TxPingTime=40.611439Qԁ8|BIII2%}= % =y5Ә;Q =>٥99 =HExFEhD= E>IUS5Moݵ?US59MqP IMQByY]o+]@M FEiM;M;M%`S5aeb(AeeEZbsiiABBͪ@ʁߙk4L\@-k˻@h@3ƿX] f=?/ѿK?ޏ>ҁm<ܰQ@ X04LXr?GAh;`zBjcb(͜?rXO#g pB4@UΜ?B,*  ꁵ`B0@ addTargetRange:: Added new target pos. range: 121.800003 m, deltaT: 0.505110 s, deltaX: -0.199997 m, approachRate: -0.395947 m/s, rangeRepo size: 4  Added new target pos. range: 120.934753 m, bearing: 305.824024 deg, lat: 36.906581 deg, lon: -122.116478 deg, deltaT: 0.505110 s, deltaX: -0.198578 m, approachRate: -0.393138 m/s, posRepo size: 4 FNOT Ignoring new targets: 120.93 m. ProNav: ac range: 120.934753 m, nav range: 121.188301 m, bearing: 307.833244 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 316.262812 deg, new cmd heading: 316.660159 deg. HeadingCmd: 5.526762 target range: 120.934753 and range: 121.80 m.b=۰@Zr j R J B ~~}|||@3s^@|Z?Ա |BjI)8I4 >< A  i =۰@i) m checking for new query: numPingsReceived=85, elapsed TxPingTime=40.847782H H H 9IH h|BH H H H Ś<H EE E E E _0E 6G ȹAK= P"K}9*K2K:K};<3=)SrjPK 85"DysYo~G A)AIN] ?QxZ,XiiA96Y@6g@Y6qĆy6>6HpQz?@ȍݿF1?qհ?@=?Ѿ? 6Y@6>;)6C @)@ɺ@@@DɻFOAiDIDDIDiD HH)HH HHHɼLVDDAT read: Rx Time:14:11:50.4466 VTRx dataTimestamp_ set to:1749132711.595932ZPDAT read: Bearing 99.4, 16.8 (Local) ^~Local bearing/azimuth received: Bearing 99.4, 16.8 (Local) fDAT read: Range 10 to 50 : 122.1 m (trip time 81.4 ms) speed 0.0 vDAT read: 14:11:50.4466 LVL= 23104, 26417, 24050, 32755, AGC= 68, IDX= 2, 0.33, 1.060, 0.496,-1.088,-0.132, PHS= 1.280, 0.675,-0.959, RAW= 45.1, -10.0, CAL= 50.6, -16.8, ROT= 99.4, 16.8 zYgot valid direction response: 14:11:50.4466 LVL= 23104, 26417, 24050, 32755, AGC= 68, IDX= 2, 0.33, 1.060, 0.496,-1.088,-0.132, PHS= 1.280, 0.675,-0.959, RAW= 45.1, -10.0, CAL= 50.6, -16.8, ROT= 99.4, 16.8 ~T#Rx 86: Read range and direction messages.`direction in FSK: [-0.156355,0.944465,-0.289032]Fpublishing direction and range infoTyV;rĿ_!*9?\.ҿV3BYT V@Z)V1gIV]iVVD9=nAI9)AiA)IIMdAQɽQ yɾy}ZAyiyyi)V ף?V,?Vu V T)TVYڻv?ySTl 5!ƿiVZ=V1>V?VQ > T)T Iٯb|B6Ichecking for new query: numPingsReceived=86, elapsed TxPingTime=41.140034Mb@Mb@Mb@ )Yoʡ?y&1?Mbpy ?`e< A h@)dAI AyAIIm?3= @=y@;Q >٥ H݆= >-S5̵?-S59tS IYBy5 ?=:=(e@$FEia<f<cS5'AhE!:J1BJ5[JJ5>RJ1ZJ1bJ5W9J5t4J1zJ1jJ1J5||:rJ5|:ZTbV#iiAVwBVwBV!@ʁV32oeZ\@X6"AV;rĿ_!*9?\.ҿV?VQ >ҁVMQ@Zݺ`XnDIViҼ?Fwd3 2zVV֏BjVox͜?rVO_\ VlBVox͜?VO_\  VBVSBV!@ addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 0.502826 s, deltaX: 0.299995 m, approachRate: 0.596619 m/s, rangeRepo size: 4   Added new target pos. range: 121.232712 m, bearing: 306.410366 deg, lat: 36.906558 deg, lon: -122.116500 deg, deltaT: 0.502826 s, deltaX: 0.297958 m, approachRate: 0.592568 m/s, posRepo size: 4  =FNOT Ignoring new targets: 121.23 m.99M ProNav: ac range: 121.232712 m, nav range: 121.163994 m, bearing: 306.410809 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 316.660165 deg, new cmd heading: 317.004167 deg. IUHeadingCmd: 5.532766 target range: 121.232712 and range: 122.10 m.bUl @ZyryjyRyJyBy~~~B}|||`f^@| ;? =|B=gGIA)E*AIE! AAE{;Z,FjiA-DDAT read: Rx Time:14:11:50.9466 5TRx dataTimestamp_ set to:1749132712.100000=PDAT read: Bearing 94.8, 18.7 (Local) =~Local bearing/azimuth received: Bearing 94.8, 18.7 (Local) UDAT read: Range 10 to 50 : 122.1 m (trip time 81.4 ms) speed 0.0 DAT read: 14:11:50.9466 LVL= 17136, 20593, 18322, 23347, AGC= 65, IDX= 498, 0.10,-0.778,-1.490,-3.057,-2.120, PHS= 1.430, 0.677,-0.940, RAW= 48.1, -11.1, CAL= 55.2, -18.7, ROT= 94.8, 18.7 Ygot valid direction response: 14:11:50.9466 LVL= 17136, 20593, 18322, 23347, AGC= 65, IDX= 498, 0.10,-0.778,-1.490,-3.057,-2.120, PHS= 1.430, 0.677,-0.940, RAW= 48.1, -11.1, CAL= 55.2, -18.7, ROT= 94.8, 18.7 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.079261,0.943888,-0.320613]Fpublishing direction and range info1y5gӋjJd-U4?C.jԿ1Y1 5B)5qPI5Gi53[5A5= ?5O-?5ףp 5V?)5aFI5Ϣv?i55?5> 1)15^[ $'?Ϫȿi5C5#F>5?5> 1)1 checking for new query: numPingsReceived=87, elapsed TxPingTime=41.6294339=j]@=}k@Y= y=>=H l ??\@ ] )T?%!?`,a?@? =j]@=̉;)9Ur|BU@IIeIe3= *=y@;Q >٥ HyFr= >S56?S590W IbBy$@(FEi:1:hS5z'AZ1b5ffjiA115q@ʁ5!~t7#Y9I\@CJ4oC5gӋjJd-U4?C.jԿ5?5>ҁ5oQ@P-XLo5M4h?Ix,꿸QSz55xBj5̜?r5ݡ 5aB5cb(͜?5XO#g  5pB5B5@ addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 0.504068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 121.232712 m, bearing: 305.179738 deg, lat: 36.906549 deg, lon: -122.116504 deg, deltaT: 0.504068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.23 m.  ProNav: ac range: 121.232712 m, nav range: 120.946304 m, bearing: 306.060577 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 317.004160 deg, new cmd heading: 317.329158 deg.  HeadingCmd: 5.538439 target range: 121.232712 and range: 122.10 m.b:@ZrjRJB~!~!}!|!|!|I|M 9? }B靽TpI)BI# z9<>i:@i9EEEEEF=F=checking for new query: numPingsReceived=87, elapsed TxPingTime=41.852211Q Gq Gu @AHy Hy H} _IH} |BHy Hy Hy H} <H} E6G jG ?bG *?ԑ ~G A A N >'{Z,y#jiAK^P"K*K2K:K}6 [~$z&2ehde5*,^@Colu-HquA}DDAT read: Rx Time:14:11:51.4468 }TRx dataTimestamp_ set to:1749132712.604116PDAT read: Bearing 92.7, 17.3 (Local) ~Local bearing/azimuth received: Bearing 92.7, 17.3 (Local) DAT read: Range 10 to 50 : 122.4 m (trip time 81.6 ms) speed 0.0 DAT read: 14:11:51.4468 LVL= 14896, 19793, 18210, 24307, AGC= 65, IDX= 500,-0.19,-0.813,-1.587,-3.046,-2.115, PHS= 1.390, 0.575,-0.934, RAW= 50.2, -10.1, CAL= 57.3, -17.3, ROT= 92.7, 17.3 Ygot valid direction response: 14:11:51.4468 LVL= 14896, 19793, 18210, 24307, AGC= 65, IDX= 500,-0.19,-0.813,-1.587,-3.046,-2.115, PHS= 1.390, 0.575,-0.934, RAW= 50.2, -10.1, CAL= 57.3, -17.3, ROT= 92.7, 17.3 T#Rx 88: Read range and direction messages.`direction in FSK: [-0.044975,0.953701,-0.297375]Fpublishing direction and range infoyy} W澷?+0ӿ}BYy }0:)}QMI}"Gi}^y}?}33?}o }K`?)}J4I}j?i}#}?}#> y)y}:?B;]"h}ƿi}囿}4>}?}#> y)ychecking for new query: numPingsReceived=88, elapsed TxPingTime=42.119957|BZI5Mb@Mb@Mb@111 1)1Y5K7?{Gzt~jtxy5 ?5ף5Ļ5GA 5Q@)5AI5A1y5AII(*31= =y%Q %>٥)) -H-zF5 5>yS5}ѣ?S59} [ I}iBy ?:'@}-FEi}:}:}lS5'B&AkE:J [BJ LJJ ?RJ ZJ :bJ q9J ـ4J zJ :jJ :J :rJ :Zyb}֩&jiA}B}B}e@ʁ}D }i\@˧?B} W澷?+0ӿ}?}#>ҁ}pHuP@U bYxo }?%x'l$z}}cBj}+" ˜?r} }MnByy }MnB}B}@} addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 0.504116 s, deltaX: 0.300003 m, approachRate: 0.595107 m/s, rangeRepo size: 4   Added new target pos. range: 121.530594 m, bearing: 303.300283 deg, lat: 36.906549 deg, lon: -122.116504 deg, deltaT: 0.504116 s, deltaX: 0.297882 m, approachRate: 0.590900 m/s, posRepo size: 4   FNOT Ignoring new targets: 121.53 m.E ProNav: ac range: 121.530594 m, nav range: 120.975288 m, bearing: 306.199443 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 317.329168 deg, new cmd heading: 317.757063 deg. AMHeadingCmd: 5.545907 target range: 121.530594 and range: 122.40 m.bMx@ZIrQjQRQJQBQ~Y~]!~B}Y|Y|Y|e^@|u?  }B#FI)|۽IH& \X5<% checking for new query: numPingsReceived=88, elapsed TxPingTime=42.356220- D<1 1 i= x@iY  E ?E E E 5E I 6G%ȹ~GAAN?FZ,YEjiA,9Na@NI1o@YNr|yN>NHo[?@N/̊?@.?`?? Na@NҮ;)NCfDDAT read: Rx Time:14:11:51.9467 fTRx dataTimestamp_ set to:1749132713.109017jPDAT read: Bearing 89.5, 18.6 (Local) n~Local bearing/azimuth received: Bearing 89.5, 18.6 (Local) vDAT read: Range 10 to 50 : 122.3 m (trip time 81.5 ms) speed -0.2  DAT read: 14:11:51.9467 LVL= 15056, 19953, 20098, 27923, AGC= 63, IDX= 499, 0.25, 1.047, 0.213,-1.148,-0.283, PHS= 1.417, 0.543,-0.868, RAW= 52.3, -10.9, CAL= 60.5, -18.6, ROT= 89.5, 18.6 Ygot valid direction response: 14:11:51.9467 LVL= 15056, 19953, 20098, 27923, AGC= 63, IDX= 499, 0.25, 1.047, 0.213,-1.148,-0.283, PHS= 1.417, 0.543,-0.868, RAW= 52.3, -10.9, CAL= 60.5, -18.6, ROT= 89.5, 18.6 T#Rx 89: Read range and direction messages.%^direction in FSK: [0.008271,0.947732,-0.318959]%Fpublishing direction and range infodyfx+B?)XS?ˬQiԿfBYd f:)fMIfNifmf?fB`?f  ?f?5^ fi?)fBIf(?if6f?f6> d)df L? QKȿifMfC>f?f6> d)d}checking for new query: numPingsReceived=89, elapsed TxPingTime=42.633068ԁ|BpIi I= I=V2E{= M=yuk;Q }>٥y H{F_= >ԱS5?S59_ tIIqByO#@2FEi5;(;qS5 <&AnEZdbf"FjiAfBfBf@ʁf?`?XSf\@]Cfx+B?)XS?ˬQiԿf?f6>ҁfc*P@|IYLεf^Pܢ?/;xiҨzfNfمBjf:˜?rfc f3eBf̜?fݡ  flBf$Bf0@ addTargetRange:: Added new target pos. range: 122.300003 m, deltaT: 0.504901 s, deltaX: -0.099998 m, approachRate: -0.198056 m/s, rangeRepo size: 4   Added new target pos. range: 121.431305 m, bearing: 303.489169 deg, lat: 36.906536 deg, lon: -122.116517 deg, deltaT: 0.504901 s, deltaX: -0.099289 m, approachRate: -0.196650 m/s, posRepo size: 4  FNOT Ignoring new targets: 121.43 m.M ProNav: ac range: 121.431305 m, nav range: 121.071068 m, bearing: 305.462222 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 317.757066 deg, new cmd heading: 318.142391 deg. IUHeadingCmd: 5.552632 target range: 121.431305 and range: 122.30 m.bU*@ZQrYjYRY m=m=mchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.860470JB~~}|||@3^@|X?Hļ>HHIH|BH =HHH<HE u }Bu wIy )} ঽy I ώ' 2< ; i *@i EA EA EA EM 0EI  KKP"K 9*K2K:Ka\i7rJ$iXEfD3B< 'q6G-DDAT read: Rx Time:14:11:52.4469 -TRx dataTimestamp_ set to:1749132713.6128931EPDAT read: Bearing 84.0, 19.0 (Local) M~Local bearing/azimuth received: Bearing 84.0, 19.0 (Local) eDAT read: Range 10 to 50 : 122.6 m (trip time 81.7 ms) speed -0.1 DAT read: 14:11:52.4469 LVL= 14016, 21633, 17186, 24419, AGC= 61, IDX= 501,-0.08, 0.988,-0.048,-1.333,-0.475, PHS= 1.551, 0.474,-0.861, RAW= 56.5, -11.1, CAL= 66.0, -19.0, ROT= 84.0, 19.0 Ygot valid direction response: 14:11:52.4469 LVL= 14016, 21633, 17186, 24419, AGC= 61, IDX= 501,-0.08, 0.988,-0.048,-1.333,-0.475, PHS= 1.551, 0.474,-0.861, RAW= 56.5, -11.1, CAL= 66.0, -19.0, ROT= 84.0, 19.0 T#Rx 90: Read range and direction messages.^direction in FSK: [0.098834,0.940339,-0.325568]Fpublishing direction and range info)y- (M?3A?`FIԿ-3BY) -6)-TI-"Ci-c_-=-+?-!>-j\ -q|?)-aFI-r?i-ɩ-f?-ɩ> )))-T?WjǩT2rȿi--F>-f?-ɩ> )))checking for new query: numPingsReceived=90, elapsed TxPingTime=43.131584~GAAN ?Z,XhjiA9 d@ r@Y ?m{y ܌> H/X'*?rTo?h?Z?? d@ ;) CieCa)eף eߴFIa mC)mtAiiimYCmnAiuIqqIuLCiuVA qq)yyչ ֽ?AսսϯFչCAI)Fi) CI;AF ٯ|BI:JZBJKJJARJZJ9bJK9J4JzJ.:jJ3:J :rJ :)i iG! UxYQyUAԩchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.364063Mb@Mb@Mb@ )YZd;O?~jth{Gzy~ ?D#A ;@)IAyAIUIU3(= =yK:Q >٥ H|F@= > S5x? S59d IxBy ?:5@7FEi: :wS5Y]%AaZb9gjiAuBuBs@ʁҁ'R2@O@Yh| ,[.?͵#7wz~Bj;s~rʜ?rO] cB+" ˜?c  3eBBH@  addTargetRange:: Added new target pos. range: 122.599998 m, deltaT: 0.503876 s, deltaX: 0.299995 m, approachRate: 0.595375 m/s, rangeRepo size: 4 U  Added new target pos. range: 121.729942 m, bearing: 301.611744 deg, lat: 36.906506 deg, lon: -122.116546 deg, deltaT: 0.503876 s, deltaX: 0.298637 m, approachRate: 0.592680 m/s, posRepo size: 4 q u FNOT Ignoring new targets: 121.73 m.y y   ProNav: ac range: 121.729942 m, nav range: 121.277954 m, bearing: 303.651403 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 318.142398 deg, new cmd heading: 318.580696 deg.   HeadingCmd: 5.560282 target range: 121.729942 and range: 122.60 m.b @Z r j R J B ~ ~ ~B} | | | `f^@| Gn? m }Bu hIq )u q Iu <( q y } In.<} .9 i @i E ?E E E _0E DDAT read: Rx Time:14:11:52.9468 TRx dataTimestamp_ set to:1749132714.116180PDAT read: Bearing 87.9, 17.9 (Local) ~Local bearing/azimuth received: Bearing 87.9, 17.9 (Local) DAT read: Range 10 to 50 : 122.4 m (trip time 81.6 ms) speed 0.0 DAT read: 14:11:52.9468 LVL= 15424, 24113, 19826, 27043, AGC= 65, IDX= 500, 0.48, 0.973, 0.068,-1.269,-0.385, PHS= 1.446, 0.500,-0.887, RAW= 53.8, -10.4, CAL= 62.1, -17.9, ROT= 87.9, 17.9 Ygot valid direction response: 14:11:52.9468 LVL= 15424, 24113, 19826, 27043, AGC= 65, IDX= 500, 0.48, 0.973, 0.068,-1.269,-0.385, PHS= 1.446, 0.500,-0.887, RAW= 53.8, -10.4, CAL= 62.1, -17.9, ROT= 87.9, 17.9 T#Rx 91: Read range and direction messages.^direction in FSK: [0.034870,0.950955,-0.307357] Fpublishing direction and range infoڡyڥyڡ?P9n?uYӿڥBYڡ ۥ@<)ۥ1^IۥrMiۥiۥAۥ?ۥ?ۥoc ܥvap?)ܥ9Iܥ?iܥܥ^?ܥ> ݡ)ݡݥ^?쿍ox0ǿiݥݥ~:>ݥ^?ݥ> ޡ)ޡ%checking for new query: numPingsReceived=91, elapsed TxPingTime=43.63375516G~GAAN?PZ,jiAT9zf@zt@Yz{yz>zH ?@}0@b?p[??? ? zf@zy;)zC|BI) II 3n= U=yh9Q >٥ H}F+= >S5|k?S59/h I|ByJ@:FEi>:K:`zS5El%AEqEZqbu~ojiAuBuBu_@ʁul5@❉\@V}>Buyڡ?P9n?uYӿu^?u>ҁuoMR@ۧ9XUIuBG:F?>3]ž鿠 颿zuulBjuP͜?ru&a ujBqq quBu@  addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 0.503287 s, deltaX: -0.199997 m, approachRate: -0.397382 m/s, rangeRepo size: 4 E Added new target pos. range: 121.531364 m, bearing: 307.072169 deg, lat: 36.906506 deg, lon: -122.116546 deg, deltaT: 0.503287 s, deltaX: -0.198578 m, approachRate: -0.394562 m/s, posRepo size: 4 IMFNOT Ignoring new targets: 121.53 m.Qq ProNav: ac range: 121.531364 m, nav range: 121.258347 m, bearing: 303.747854 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 318.580705 deg, new cmd heading: 318.859221 deg. HeadingCmd: 5.565143 target range: 121.531364 and range: 122.40 m.b@ZrjRJB~~}|||^@| ?checking for new query: numPingsReceived=91, elapsed TxPingTime=43.868401 $}B8aI)FIr) ,<7i@i HH<Hż>HHIH}BHHHH<H EE!E!E!E!E! 6G ȹM DDAT read: Rx Time:14:11:53.4470 U TRx dataTimestamp_ set to:1749132714.619989e PDAT read: Bearing 88.3, 16.1 (Local) e ~Local bearing/azimuth received: Bearing 88.3, 16.1 (Local) } DAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed 0.0  DAT read: 14:11:53.4470 LVL= 13536, 27761, 20210, 28083, AGC= 64, IDX= 502, 0.19, 0.319,-0.569,-1.849,-0.956, PHS= 1.363, 0.434,-0.896, RAW= 54.1, -9.2, CAL= 61.7, -16.1, ROT= 88.3, 16.1  Ygot valid direction response: 14:11:53.4470 LVL= 13536, 27761, 20210, 28083, AGC= 64, IDX= 502, 0.19, 0.319,-0.569,-1.849,-0.956, PHS= 1.363, 0.434,-0.896, RAW= 54.1, -9.2, CAL= 61.7, -16.1, ROT= 88.3, 16.1  T#Rx 92: Read range and direction messages. ^direction in FSK: [0.028503,0.960356,-0.277315] Fpublishing direction and range infoI yM JD/?,=?/ѿM fBYI M 4)M qlIM NiM mM @M v?M ?5>M B`e M q?)M l$IM ։?iM ޏK `P"K }9M C?M ޏ> I )I M Rx?k#rnMwĿiM +M p$>M C?M ޏ> I )I  checking for new query: numPingsReceived=92, elapsed TxPingTime=44.141552*K 2K :K sA0ay\IH A j5H^  )00|JF# ~G A A! N- >Z,EjiAT9Zh@Z v@YZВ{yZH/>ZH j#`?`Q`:?Jm?&?`I? Zh@Z0;)ZC}BIMb@Mb@Mb@ )YK7A`?Mb`?{Gzy ?;A )@IypAII3c~= =y|Q >٥ HVU= >S5X?S59m IBy  ? :  @?FEi ; ;QS5$AZb歧jiABB;@ʁ` @'?]@6@JD/?,=?/ѿC?ޏ>ҁ;DS@(Wp<G{>?@@|D~z%BjNΜ?r1# oyB jBꁭoB@checking for new query: numPingsReceived=92, elapsed TxPingTime=44.375561- addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.503809 s, deltaX: 0.299995 m, approachRate: 0.595455 m/s, rangeRepo size: 4 = Added new target pos. range: 121.829636 m, bearing: 309.246349 deg, lat: 36.906506 deg, lon: -122.116546 deg, deltaT: 0.503809 s, deltaX: 0.298271 m, approachRate: 0.592032 m/s, posRepo size: 4 9=FNOT Ignoring new targets: 121.83 m.ii ProNav: ac range: 121.829636 m, nav range: 121.217880 m, bearing: 303.891619 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 318.859212 deg, new cmd heading: 319.267934 deg. HeadingCmd: 5.572277 target range: 121.829636 and range: 122.70 m.bP@ZrjRJB~~@~B}|||̬^@|XV? =/}B]l@Ia)e𾼉iIm) qqu d(<} 5iP@iE1 E1 E1 E1 E1 Q Y 6GjG%>bG%!?DDAT read: Rx Time:14:11:53.9470 TRx dataTimestamp_ set to:1749132715.126218PDAT read: Bearing 91.6, 11.9 (Local) ~Local bearing/azimuth received: Bearing 91.6, 11.9 (Local) DAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed 0.0 ~GAAN>&Z,yjiA"DAT read: 14:11:53.9470 LVL= 19040, 26289, 21554, 31923, AGC= 66, IDX= 502,-0.06, 3.122, 2.295, 1.023, 1.991, PHS= 1.219, 0.351,-0.971, RAW= 53.2, -6.3, CAL= 58.4, -11.9, ROT= 91.6, 11.9 :Ygot valid direction response: 14:11:53.9470 LVL= 19040, 26289, 21554, 31923, AGC= 66, IDX= 502,-0.06, 3.122, 2.295, 1.023, 1.991, PHS= 1.219, 0.351,-0.971, RAW= 53.2, -6.3, CAL= 58.4, -11.9, ROT= 91.6, 11.9 :T#Rx 93: Read range and direction messages.f`direction in FSK: [-0.027322,0.978127,-0.206204]fFpublishing direction and range infoyg߲1EL?Fa5dʿY `J)fI2Ti|B1?F>ux ,m?)z0Iw?iȭT?ȭT> )v?YS=55iI#=?ȭT> )9j@ذx@Y|y[>H~F?`4TdJ?? m ?? j@b;)C-checking for new query: numPingsReceived=93, elapsed TxPingTime=44.670921M!}BUIԉI]I](*3/< e=y[Q >٥ H~FD= >S5-L? S59q IBy@BFEi;;oS5E&BE$AEuEZbjiAћ@ʁ(\0 /]@,9g߲1EL?Fa5dʿ?ȭT>ҁ GU@1(U#@O[?Ye!x?z>Bj,IQќ?r/Fa TBP͜?&a  B@ addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.506229 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 121.829636 m, bearing: 314.426091 deg, lat: 36.906559 deg, lon: -122.116502 deg, deltaT: 0.506229 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 AMFNOT Ignoring new targets: 121.83 m.II ProNav: ac range: 121.829636 m, nav range: 121.405540 m, bearing: 307.307911 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 319.267931 deg, new cmd heading: 319.530661 deg. HeadingCmd: 5.576862 target range: 121.829636 and range: 122.70 m.bu@ZrjRJB:J_BJqJJ@RJZJ :bJq9JJ4J @ @ @ @~~}!|!|!|!|%F>?Ա e6}Be|AIa)eiI#* %<4iu@i5checking for new query: numPingsReceived=93, elapsed TxPingTime=44.877216H}ʼ>H}CH}IH}[}BH} =HyHyH}3<H}AEH)H)H)H- =I- = I-5EEEEE 6G ~G AA)9N5>KZ,jiADDJDDAT read: Rx Time:14:11:54.4470 NTRx dataTimestamp_ set to:1749132715.628266RPDAT read: Bearing 93.2, 12.3 (Local) V~Local bearing/azimuth received: Bearing 93.2, 12.3 (Local) ZDAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed 0.4 &bTFailed to parse incomplete device message.rDAT read: 14:11:54.4470 LVL= 17520, 30881, 26450, 32755, AGC= 65, IDX= 502, 0.41,-3.040, 2.515, 1.273, 2.188, PHS= 1.143, 0.374,-0.918, RAW= 51.7, -6.7, CAL= 56.8, -12.3, ROT= 93.2, 12.3 vYgot valid direction response: 14:11:54.4470 LVL= 17520, 30881, 26450, 32755, AGC= 65, IDX= 502, 0.41,-3.040, 2.515, 1.273, 2.188, PHS= 1.143, 0.374,-0.918, RAW= 51.7, -6.7, CAL= 56.8, -12.3, ROT= 93.2, 12.3 vT#Rx 94: Read range and direction messages.z`direction in FSK: [-0.054540,0.975522,-0.213030]zFpublishing direction and range infoLyN.(p쫿?Z2z7?AzUmD˿LYL NpD)NxINRgiNNANM?N|>N k Nqf?)N|IN}?iN[N5?N[> L)LN/^w?2`i UٽiNsNV=N5?N[> L)L5checking for new query: numPingsReceived=94, elapsed TxPingTime=45.1488493}BIiI<Mb@Mb@Mb@ )Y rh?y&1|QyC ?`廹uA $@)MAI\AyIU IUV2e< e=ymQ m>٥i HF >S5A9?S59jv IByT ?:@GFEi0;;QS5-j$A)ZLbN5jiANBNBNw@ʁNa +O]@Isq"9N.(p쫿?Z2z7?AzUmD˿N5?N[>ҁNAo܃U@T%Uh aɍ+@N?407NYNq?zN(NBjNmҜ?rNح* N/BNNΜ?N1#  NoyBNBNج@Im addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.502048 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 121.830765 m, bearing: 315.959631 deg, lat: 36.906592 deg, lon: -122.116475 deg, deltaT: 0.502048 s, deltaX: 0.001129 m, approachRate: 0.002249 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.83 m. ProNav: ac range: 121.830765 m, nav range: 121.797348 m, bearing: 309.480403 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 319.530675 deg, new cmd heading: 319.943239 deg. EHeadingCmd: 5.584063 target range: 121.830765 and range: 122.70 m.bE@ZArAjARAJABA~I~M\~B}I|Q|Q|Q|U5=? A}B7I)cI1c* ("<2i@iEchecking for new query: numPingsReceived=94, elapsed TxPingTime=45.380257y E ?E E E s4E Ա 6G ~GAAN>tyZ,'/kiAtDDAT read: Rx Time:14:11:54.9469 TRx dataTimestamp_ set to:1749132716.131958%PDAT read: Bearing 95.6, 10.9 (Local) %~Local bearing/azimuth received: Bearing 95.6, 10.9 (Local) 5DAT read: Range 10 to 50 : 122.6 m (trip time 81.7 ms) speed 0.1 ]B}BeIIuIu?13=DAT read: 14:11:54.9469 LVL= 17424, 30769, 22946, 32755, AGC= 67, IDX= 502,-0.24, 0.858, 0.204,-1.027,-0.110, PHS= 1.056, 0.361,-0.920, RAW= 50.3, -5.8, CAL= 54.4, -10.9, ROT= 95.6, 10.9 Ygot valid direction response: 14:11:54.9469 LVL= 17424, 30769, 22946, 32755, AGC= 67, IDX= 502,-0.24, 0.858, 0.204,-1.027,-0.110, PHS= 1.056, 0.361,-0.920, RAW= 50.3, -5.8, CAL= 54.4, -10.9, ROT= 95.6, 10.9  P=yQ >٥ HF >T#Rx 95: Read range and direction messages.`direction in FSK: [-0.095822,0.977272,-0.189095]Fpublishing direction and range infoyЇdE?oG4ȿ3BY D)1xS5+?S595z IBy@JFEi;T;S5,$AxEIYiC+?Ը>k `?)4QϽIs?iB?B> ),_?>;H^[u ǹi+=?B> )checking for new query: numPingsReceived=95, elapsed TxPingTime=45.665882ZbrkiAvBvB1ױ@ʁ85FT'֏ ]@gV7ЇdE?oG4ȿ?B>ҁ/&V@i~$TVzoXi!@?KPI&.e?z$BjQNӜ?r MB,IQќ?/Fa  /B@B@ addTargetRange:: Added new target pos. range: 122.599998 m, deltaT: 0.503692 s, deltaX: -0.099998 m, approachRate: -0.198531 m/s, rangeRepo size: 4   Added new target pos. range: 121.731476 m, bearing: 318.422359 deg, lat: 36.906663 deg, lon: -122.116393 deg, deltaT: 0.503692 s, deltaX: -0.099289 m, approachRate: -0.197122 m/s, posRepo size: 4  FNOT Ignoring new targets: 121.73 m.M ProNav: ac range: 121.731476 m, nav range: 121.625351 m, bearing: 314.670237 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 319.943245 deg, new cmd heading: 320.221233 deg. IUHeadingCmd: 5.588915 target range: 121.731476 and range: 122.60 m.bUdز@ZYrYjaRaJiBi~i~i}q|q|q|u`f^@|uO? H}B+2I)ϻIv* S<1idز@i!:JBJQJJRJZJbJ-.9JJEEEE`0EA ؽ<׽%=checking for new query: numPingsReceived=95, elapsed TxPingTime=45.888680GGAAHƼ>HHIH}BH =HHH<HE6G ZG RG q ~G A A N >Z,KkiAi95r@$@Y|y>H ?ſC?|?`?? 5r@›;)CmN}BI5DDAT read: Rx Time:14:11:55.4470 =TRx dataTimestamp_ set to:1749132716.636000EPDAT read: Bearing 95.0, 11.2 (Local) E~Local bearing/azimuth received: Bearing 95.0, 11.2 (Local) eDAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed -0.2 KeDR"Ke9*Ka2Ke:KeRzSXU}('QF@:.<??UԁDAT read: 14:11:55.4470 LVL= 23264, 32753, 29938, 32755, AGC= 66, IDX= 502, 0.44, 2.124, 1.467, 0.261, 1.159, PHS= 1.053, 0.354,-0.901, RAW= 50.7, -6.0, CAL= 55.0, -11.2, ROT= 95.0, 11.2 Ygot valid direction response: 14:11:55.4470 LVL= 23264, 32753, 29938, 32755, AGC= 66, IDX= 502, 0.44, 2.124, 1.467, 0.261, 1.159, PHS= 1.053, 0.354,-0.901, RAW= 50.7, -6.0, CAL= 55.0, -11.2, ROT= 95.0, 11.2 T#Rx 96: Read range and direction messages.`direction in FSK: [-0.085496,0.977222,-0.194234]Fpublishing direction and range info1y5ֵ(2㵿gE?mVѫȿ5fBY1 5Z)5I5ti15B5Ȇ?5}?>5f 5b?)5PwֽI5 u?i5+H5g;?Mb@Mb@Mb@ )YV-?Mb?~jty ?<DA @)AIEAyQAIeIeT3uд< u=y}g9Q }>٥y5+H> 1)15DEx?V!E4Џi5⚿5=5g;?5+H> 1)1checking for new query: numPingsReceived=96, elapsed TxPingTime=46.180744 Hd> >S5=?S59- IBy ?:@OFEi:~;cS5#AZ1b59(kiA5B5B5K@ʁ5nc$xA]@i%75ֵ(2㵿gE?mVѫȿ5g;?5+H>ҁ59\MX@U0&QV.{ @5p?ML}⿌t?z5Ɍ5*Bj5H՜?r5¾ 5cB5mҜ?5ح*  5TB5QB52@ addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.504042 s, deltaX: 0.099998 m, approachRate: 0.198393 m/s, rangeRepo size: 4  Added new target pos. range: 121.830261 m, bearing: 324.608294 deg, lat: 36.906682 deg, lon: -122.116369 deg, deltaT: 0.504042 s, deltaX: 0.098785 m, approachRate: 0.195986 m/s, posRepo size: 4  FNOT Ignoring new targets: 121.83 m.19E ProNav: ac range: 121.830261 m, nav range: 121.658783 m, bearing: 316.198259 deg, approach rate: 0.000000 m/s, LOS rate: 0.242434 deg/s, cmd heading: 320.221234 deg, new cmd heading: 320.607775 deg. IMHeadingCmd: 5.595661 target range: 121.830261 and range: 122.70 m.bU@ZQrQjqRqJqBy~y~}/~B}y|||̬^@|@˺?Ա S}B /Iq)uqIu* qy}3:<}0i@iEe ?Ei Ei Em r5Ei  checking for new query: numPingsReceived=96, elapsed TxPingTime=46.388153)6G~GiAqAN?'Z,@kiA i <9=>!t@=F@Y=)zy=Ad>=HN^?ſ# ?@7@? ?P? =>!t@=AT;)=Cb}BIII2;= @=yZ:Q >٥ HF= >S5:?S59 IBy  @SFEi};;S515#A1}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 121.83 m.՗;՗; ProNav: ac range: 121.830261 m, nav range: 121.634300 m, bearing: 316.307388 deg, approach rate: -0.059550 m/s, LOS rate: 0.265489 deg/s, cmd heading: 320.607768 deg, new cmd heading: 320.935216 deg. DDAT read: Rx Time:14:11:55.9469  TRx dataTimestamp_ set to:1749132717.141711PDAT read: Bearing 93.4, 11.9 (Local) ~Local bearing/azimuth received: Bearing 93.4, 11.9 (Local) %DAT read: Range 10 to 50 : 122.6 m (trip time 81.7 ms) speed -0.1 MDAT read: 14:11:55.9469 LVL= 23024, 27489, 27762, 32755, AGC= 62, IDX= 501, 0.26,-2.070,-2.785, 2.276,-3.099, PHS= 1.117, 0.361,-0.912, RAW= 51.6, -6.4, CAL= 56.6, -11.9, ROT= 93.4, 11.9 UYgot valid direction response: 14:11:55.9469 LVL= 23024, 27489, 27762, 32755, AGC= 62, IDX= 501, 0.26,-2.070,-2.785, 2.276,-3.099, PHS= 1.117, 0.361,-0.912, RAW= 51.6, -6.4, CAL= 56.6, -11.9, ROT= 93.4, 11.9 ]T#Rx 97: Read range and direction messages.]`direction in FSK: [-0.058032,0.976787,-0.206204]eFpublishing direction and range infoy>/Z"WA?Fa5dʿ3B36<mHeadingCmd: 5.601376 target range: 121.830261 and range: 122.70 m.bmy>@ZirqjqRqJqByY Y)akIrli>?Ը>xi f?)I'|?iȭTY?ȭT> )gq?h\I5]iͼ=Y?ȭT> )checking for new query: numPingsReceived=97, elapsed TxPingTime=46.662605~~}|||`f^@|}"? \}B靕$I);Iz* rM< .iy>@iEyEyEyE} 5Ey:J}[BJ}PJJ}ARJyZJ}:bJ}*9J}4JyA  checking for new query: numPingsReceived=97, elapsed TxPingTime=46.8933416G H ̼>H H IH }BH  =H H ,DH <H E~Gy A A N >~Z,=[kiA9^Gu@^K@Y^Ywy^+>^HN?@|KƿqTB@(F?a?k? ? ^Gu@^TJ;)^Ci}BIIM!IMi3Թ]< _=y:Q >٥ HFϙ= >%S5?%S59 IBy!% %@VFEi;p:lS515#A5{EZbIkiAvBvBiB@ʁ&]A(.}t]@9J29>/Z"WA?Fa5dʿY?ȭT>ҁ3JY@}P`@kv#U?*E畋῰(vD?zÆUBjݍR֜?ryx BQNӜ?  B@e addTargetRange:: Added new target pos. range: 122.599998 m, deltaT: 0.505711 s, deltaX: -0.099998 m, approachRate: -0.197738 m/s, rangeRepo size: 4  Added new target pos. range: 121.731903 m, bearing: 326.334230 deg, lat: 36.906710 deg, lon: -122.116326 deg, deltaT: 0.505711 s, deltaX: -0.098358 m, approachRate: -0.194495 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.73 m.E ProNav: ac range: 121.731903 m, nav range: 121.365204 m, bearing: 318.770527 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 320.935208 deg, new cmd heading: 321.309440 deg. IDDAT read: Rx Time:14:11:56.4470 TRx dataTimestamp_ set to:1749132717.643876PDAT read: Bearing 91.4, 13.1 (Local) ~Local bearing/azimuth received: Bearing 91.4, 13.1 (Local) DAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed 0.0 DAT read: 14:11:56.4470 LVL= 23632, 30673, 27330, 32755, AGC= 61, IDX= 502, 0.31,-0.526,-1.285,-2.483,-1.600, PHS= 1.162, 0.362,-0.886, RAW= 52.8, -7.2, CAL= 58.6, -13.1, ROT= 91.4, 13.1 Ygot valid direction response: 14:11:56.4470 LVL= 23632, 30673, 27330, 32755, AGC= 61, IDX= 502, 0.31,-0.526,-1.285,-2.483,-1.600, PHS= 1.162, 0.362,-0.886, RAW= 52.8, -7.2, CAL= 58.6, -13.1, ROT= 91.4, 13.1 T#Rx 98: Read range and direction messages.`direction in FSK: [-0.023796,0.973685,-0.226651] Fpublishing direction and range infoکyڭ%/Y^Xm(?+#ͿڭfBYک ۭP\)ۭwIۭji۩ۭ=ۭj?ۭX>ۭb ܭk?)ܭIܭ?iܭ jܭ0?ܭ j> ݩ)ݩݭC5Ü?!*dDiݭ9ݭ>ݭ0?ݭ j> ީ)ީ5checking for new query: numPingsReceived=98, elapsed TxPingTime=47.162296K=qrP"K=K9*K92K=:K=W $[x|v[]7B t  U  \ L J&B_HBKRH0"JM ?JM?UHeadingCmd: 5.607908 target range: 121.731903 and range: 122.60 m.bUs@ZQrQjQRQJQBQ~Y~Y}Y|a|a|e̬^@|e`B? f}B靵'I));I:p* <,is@iE ?E E E 5E A 6G ]checking for new query: numPingsReceived=98, elapsed TxPingTime=47.397003~GqAAN>Z,ykiA9bw@b@Ybryb>bH`l?ǿ`@Ck? P? O?z? bw@b$;)`f}B%IMb@Mb@Mb@ )YʡE?Q?y&1y?u<`e @)+@I3AyAIIF3+ =yk;Q >٥ H!5 f= 5>9AMS5E ?MS59E IEByM?M:U" U@E[FEiE{:E;ES5#AZbD5ikiABB @ʁЙho1d]@;%/Y^Xm(?+#Ϳ0? j>ҁŸ9Y@ K Q@b*L?{ ܒ}?zJBjC.֜?rT %BH՜?¾  BꁕBd}@ addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.502165 s, deltaX: 0.099998 m, approachRate: 0.199135 m/s, rangeRepo size: 4  Added new target pos. range: 121.831192 m, bearing: 325.966486 deg, lat: 36.906783 deg, lon: -122.116214 deg, deltaT: 0.502165 s, deltaX: 0.099289 m, approachRate: 0.197722 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.83 m. ProNav: ac range: 121.831192 m, nav range: 121.547653 m, bearing: 324.956237 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 321.309447 deg, new cmd heading: 321.694454 deg. HeadingCmd: 5.614627 target range: 121.831192 and range: 122.70 m.b@ZrjRJ B)~9~=}B}9|9|9|A|E2?i o}Bɣ4I)I* I<&+i@iuDDAT read: Rx Time:14:11:56.9469 }TRx dataTimestamp_ set to:1749132718.148689PDAT read: Bearing 90.4, 14.1 (Local) ~Local bearing/azimuth received: Bearing 90.4, 14.1 (Local) DAT read: Range 10 to 50 : 122.6 m (trip time 81.7 ms) speed 0.0 DAT read: 14:11:56.9469 LVL= 24480, 29969, 32674, 32755, AGC= 62, IDX= 501, 0.20,-1.907,-2.693, 2.391,-3.021, PHS= 1.202, 0.375,-0.874, RAW= 53.3, -7.8, CAL= 59.6, -14.1, ROT= 90.4, 14.1 Ygot valid direction response: 14:11:56.9469 LVL= 24480, 29969, 32674, 32755, AGC= 62, IDX= 501, 0.20,-1.907,-2.693, 2.391,-3.021, PHS= 1.202, 0.375,-0.874, RAW= 53.3, -7.8, CAL= 59.6, -14.1, ROT= 90.4, 14.1 T#Rx 99: Read range and direction messages.U`direction in FSK: [-0.006771,0.969848,-0.243615]UFpublishing direction and range infoyy}/GJл{Tx? .Ͽ}3BYy }_)}uI}iy}>}#ۙ?}>}w_ }%n?)}'g I}%?i}d{}?}d{> y)y}9f?'ݟ(L!Xii}} >}?}d{> y)ychecking for new query: numPingsReceived=99, elapsed TxPingTime=47.693905EEEE5EFFԙ J;J4J;4J;Ϛ/:J `BJ JJ ?RJ ZJ :bJ J ـ4J 6G ~G A A N >sZ,ޖkiAI0)2@Mchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.900146 HU<HQH]м>HYH]IH]}BH] =HYHYH]<H]En}BII%I)3< C=yQ >1٥YY eHeFe e>iuS5m촜?uS59m3 ImByqy@m_FEim%ҁ-Af[X@EMi{Qm@-}d/?" a⿸ E2Ò?z-ۋ- %a ft?) VI ։?i A C? A> ) 6]}?c5bg¿i ӑ v> C? A> )  checking for new query: numPingsReceived=100, elapsed TxPingTime=48.180725E E E E 0E K KP"K 9*K 2K :K fX+5x/!uK&RiF<Jnf)kn 'AY(oԡ +G 6G1 e#YayeFA~GA9AQNu?.Z,KkiA5checking for new query: numPingsReceived=100, elapsed TxPingTime=48.404217 }B IԉMb@Mb@Mb@ )Y"~?٥ %H%F! %>)5S5-ݴ?5S59-[ I-By=?=:} }@-dFEi-'<-&'<-S5##AZbЩkiAR@ʁahj @?8i]@A?Ƶ^?c/?l39YпC? A>ҁɧBX@g_R@Kj?JAd?NQ㿰1?zBjy8Ԝ?r̶, B %BBm@  addTargetRange:: Added new target pos. range: 122.599998 m, deltaT: 0.504636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 121.732956 m, bearing: 322.862906 deg, lat: 36.906783 deg, lon: -122.116214 deg, deltaT: 0.504636 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 !%FNOT Ignoring new targets: 121.73 m.II] ProNav: ac range: 121.732956 m, nav range: 121.534492 m, bearing: 325.222259 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 322.009378 deg, new cmd heading: 322.492053 deg. YeHeadingCmd: 5.628548 target range: 121.732956 and range: 122.60 m.be@ZarajRJB~~~B}|||| _? %}B%:*I))-:)I-۶* ))-w <5M'11i=@i9DDAT read: Rx Time:14:11:57.9468 TRx dataTimestamp_ set to:1749132719.158040 PDAT read: Bearing 86.8, 18.1 (Local)  ~Local bearing/azimuth received: Bearing 86.8, 18.1 (Local) - DAT read: Range 10 to 50 : 122.4 m (trip time 81.6 ms) speed 0.0 Y m DAT read: 14:11:57.9468 LVL= 22304, 24241, 24562, 32707, AGC= 62, IDX= 500,-0.47,-2.533, 2.880, 1.660, 2.473, PHS= 1.365, 0.453,-0.816, RAW= 54.6, -10.6, CAL= 63.2, -18.1, ROT= 86.8, 18.1 } Ygot valid direction response: 14:11:57.9468 LVL= 22304, 24241, 24562, 32707, AGC= 62, IDX= 500,-0.47,-2.533, 2.880, 1.660, 2.473, PHS= 1.365, 0.453,-0.816, RAW= 54.6, -10.6, CAL= 63.2, -18.1, ROT= 86.8, 18.1 } V#Rx 101: Read range and direction messages. ^direction in FSK: [0.053059,0.949034,-0.310676] Fpublishing direction and range infoy*?qV{^?\ӿBY  W)^I_i>R?>`P s?)q=I0?i???> )RQ0?ՙP.~ǿi=>??> ) checking for new query: numPingsReceived=101, elapsed TxPingTime=48.683575E1 E9 E9 E= o0E9 FE =FA ԑ :J \BJ SJJ ARJ ZJ =:bJ y69J 4J 6GAZGARGA~GAA!N->Z,` kiAD9Z%@Zt@YZ(]yZB>ZH g޿47?lʿݿ=E?M?@?@? Z%@Z4C;)ZCzz}BzIIIm?35媼 5F=y=J٥99 =H=FHMؼ>HMCHM IHM}BHM =HIHM-DHM$<HM6Euchecking for new query: numPingsReceived=101, elapsed TxPingTime=48.909264u> }>S5Դ?S59 IBy@hFEi:K:6S5F#AZQbUTkiAUBUBUS@ʁUj-=\@P`\@yBU*?qV{^?\ӿU?U?>ҁUyleY@#)PDUX79?8 -x@+zUIUBjUǓ ֜?rUI UzgBUC.֜?UT  U-BUtBUC@= addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 0.504715 s, deltaX: -0.199997 m, approachRate: -0.396257 m/s, rangeRepo size: 4  Added new target pos. range: 121.535942 m, bearing: 327.830375 deg, lat: 36.906796 deg, lon: -122.116195 deg, deltaT: 0.504715 s, deltaX: -0.197014 m, approachRate: -0.390347 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.54 m. ProNav: ac range: 121.535942 m, nav range: 121.726723 m, bearing: 326.343279 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 322.492054 deg, new cmd heading: 322.768597 deg. HeadingCmd: 5.633375 target range: 121.535942 and range: 122.40 m.bD@ZrjRJB~~}|||^@| ? }B靥U% 7A % ;?)% ^ Z6G ȹK= ^P"K= }9*K9 2K= I :K= zgUaCAKo$U]A<,   KfI% ww?i% K% ?% K> ! )! % r?2c˿i% ݋% 3Y>% ?% K> ! )! } checking for new query: numPingsReceived=102, elapsed TxPingTime=49.204872~G A A N >Z,kiAx}BI =p=Mb@Mb@Mb@ )Y333333?/$?y?,=A @)@IyAIUIU 3tN= *=yQ >٥ HF > S5Kʴ? S59٨ IŒBy?:@lFEi::pS5%B"A)%Echecking for new query: numPingsReceived=102, elapsed TxPingTime=49.412193Zabe!?kiAaae@ʁe& p.@97\@<.EeZ]57H?=d,?<Oֿe?eK>ҁe%r PX@P R4$e j*? 3hrGze_eBjedԜ?ref e)UBe%՜?e]݊  eBe>Be@= addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 0.502063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 121.535942 m, bearing: 323.414691 deg, lat: 36.906783 deg, lon: -122.116218 deg, deltaT: 0.502063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 IUFNOT Ignoring new targets: 121.54 m.QQ ProNav: ac range: 121.535942 m, nav range: 121.622780 m, bearing: 325.331876 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 322.768594 deg, new cmd heading: 323.157561 deg. HeadingCmd: 5.640163 target range: 121.535942 and range: 122.40 m.b8|@ZrjRJBY~a~e}B}a|i|||d? %}B%uf*I))-9)aI-* <$i8|@iԁ E E E E `0E = DDAT read: Rx Time:14:11:58.9467 E TRx dataTimestamp_ set to:1749132720.163989M PDAT read: Bearing 80.6, 22.1 (Local) M ~Local bearing/azimuth received: Bearing 80.6, 22.1 (Local) ] DAT read: Range 10 to 50 : 122.3 m (trip time 81.5 ms) speed 0.0  DAT read: 14:11:58.9467 LVL= 15696, 21377, 22642, 24707, AGC= 59, IDX= 498, 0.31, 1.382, 0.341,-0.801,-0.105, PHS= 1.575, 0.493,-0.699, RAW= 58.4, -13.8, CAL= 69.4, -22.1, ROT= 80.6, 22.1  Ygot valid direction response: 14:11:58.9467 LVL= 15696, 21377, 22642, 24707, AGC= 59, IDX= 498, 0.31, 1.382, 0.341,-0.801,-0.105, PHS= 1.575, 0.493,-0.699, RAW= 58.4, -13.8, CAL= 69.4, -22.1, ROT= 80.6, 22.1  V#Rx 103: Read range and direction messages. ^direction in FSK: [0.151326,0.914087,-0.376224] Fpublishing direction and range info9 y= e^?[4@?*ؿ= BY9 = P=)= SI= rXi= `= ;= ?= j>= 2 = w?)= ϢvI= ?i= |ž= ?= |> 9 )9 = #Yۦ?=Uοi= {= v>= ?= |> 9 )9  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.681667ԩ 6G~GAAN?w<[,liA9zZS@z]@YzSyzTF>zH`7ۿ?˿ڿ2?s?`\ ?? zZS@z;)zC!5}B5IIuIu26= 7=y;Q >٥ H= >S5´?S59: IΒBy'@qFEi1::>S5"AZb~ liABBF@ʁ e`2@,<[@5,5Fe^?[4@?*ؿ?|>ҁj\_X@vA~HQ*8l?F7T# YzCBjvG~R՜?rU GBvG~R՜?U  zgBaBT@u addTargetRange:: Added new target pos. range: 122.300003 m, deltaT: 0.503886 s, deltaX: -0.099998 m, approachRate: -0.198455 m/s, rangeRepo size: 4  Added new target pos. range: 121.436646 m, bearing: 325.053348 deg, lat: 36.906772 deg, lon: -122.116220 deg, deltaT: 0.503886 s, deltaX: -0.099297 m, approachRate: -0.197062 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.44 m. ProNav: ac range: 121.436646 m, nav range: 120.689568 m, bearing: 325.053739 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 323.157560 deg, new cmd heading: 323.503383 deg.   HeadingCmd: 5.646199 target range: 121.436646 and range: 122.30 m.b @ZrjRJ1B1~9~9}9|9|A|E@3^@|E/?GG=checking for new query: numPingsReceived=103, elapsed TxPingTime=49.917210QH>HCH-IH}BH =HHH<HEHÕCHÖCHH =I = I6 }B靝I)Z<Iβ* <#i@iE?EEEo0EԁԱ 6G ~G A  DDAT read: Rx Time:14:11:59.4468  TRx dataTimestamp_ set to:1749132720.667871 PDAT read: Bearing 78.8, 23.4 (Local)  ~Local bearing/azimuth received: Bearing 78.8, 23.4 (Local)  DAT read: Range 10 to 50 : 122.4 m (trip time 81.6 ms) speed 0.0 = DAT read: 14:11:59.4468 LVL= 18288, 23537, 22210, 26355, AGC= 57, IDX= 499,-0.24, 0.916,-0.193,-1.320,-0.667, PHS= 1.672, 0.522,-0.656, RAW= 59.6, -15.1, CAL= 71.2, -23.4, ROT= 78.8, 23.4 E Ygot valid direction response: 14:11:59.4468 LVL= 18288, 23537, 22210, 26355, AGC= 57, IDX= 499,-0.24, 0.916,-0.193,-1.320,-0.667, PHS= 1.672, 0.522,-0.656, RAW= 59.6, -15.1, CAL= 71.2, -23.4, ROT= 78.8, 23.4 E V#Rx 104: Read range and direction messages.M ^direction in FSK: [0.178259,0.900276,-0.397148]M Fpublishing direction and range info y 4?;?M\1jٿ BY pG) [I Vi f 9 ? ˡ? ' %?) VI ?i Ѿ x ? > ) p?꿋*Bbпi  > x ? > ) m checking for new query: numPingsReceived=104, elapsed TxPingTime=50.184937Aq N} >^{ [,+liAK^IP"K^59*K\2K^:K^qcI!xlaB0Yhg8r?kL7KS@"43o J`J`Q}BMb@Mb@Mb@ )Y ףp= ?y&1?{Gzt?yQ?`<ף;9A @)+@IAyAIIm?3Ӻ )=yQ >٥ HF >:J_BJXJJRJZJ :bJ5K9JJzJ+:jJ0:Jf:rJf: S5t? S59. IْBy ~? : D @uFEi;;wS5"AEԁZbf*liABB@ʁW%AL5@[H¶Z[@?JZ"H4?;?M\1jٿx ?>ҁ(+X@OQ~7#/02$t?OHl LFp zYBj-Ԝ?r]0Z [,%$HliAI)L9n@n<%@YnlJyn6O>nH@1ؿæ?̿~׿@v?J?@K?? n@n;)nC}B II-I-(*3== Ee=yE;Q E>٥AI MHMFM> M>eDDAT read: Rx Time:14:11:59.9466 eTRx dataTimestamp_ set to:1749132721.172037}PDAT read: Bearing 75.5, 23.3 (Local) }~Local bearing/azimuth received: Bearing 75.5, 23.3 (Local) DAT read: Range 10 to 50 : 122.1 m (trip time 81.4 ms) speed 0.0 DAT read: 14:11:59.9466 LVL= 15760, 22097, 17954, 21331, AGC= 59, IDX= 497,-0.05, 1.338, 0.099,-0.944,-0.308, PHS= 1.734, 0.453,-0.639, RAW= 62.6, -14.9, CAL= 74.5, -23.3, ROT= 75.5, 23.3 S5߱?S59Ȼ IBy% %@yFEi:t:̶S5)-Ygot valid direction response: 14:11:59.9466 LVL= 15760, 22097, 17954, 21331, AGC= 59, IDX= 497,-0.05, 1.338, 0.099,-0.944,-0.308, PHS= 1.734, 0.453,-0.639, RAW= 62.6, -14.9, CAL= 74.5, -23.3, ROT= 75.5, 23.3 5V#Rx 105: Read range and direction messages.=^direction in FSK: [0.229961,0.889192,-0.395545]=Fpublishing direction and range infoayeOwYo?ss0Bt?EFTPٿe3BYa e=)eQVIe"FieSSe;e?e>e# eً?)e%IeBo?ie5оe+?e5> a-8"Aq)aeY?o, ʜD5tпie(ea >e+?e5> a)achecking for new query: numPingsReceived=105, elapsed TxPingTime=50.712540ZabeKliAezBezBez@ʁe/z'^;@|oيZ@k_UXGeOwYo?ss0Bt?EFTPٿe+?e5>ҁeDƨ$X@}Qd 0e'~Ȩ|?DNe⿲lzeێe Bje {Ԝ?re5 e;BedԜ?e5  eGBeBeմ@m addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 0.504166 s, deltaX: -0.300003 m, approachRate: -0.595048 m/s, rangeRepo size: 4  Added new target pos. range: 121.239716 m, bearing: 323.509063 deg, lat: 36.906758 deg, lon: -122.116251 deg, deltaT: 0.504166 s, deltaX: -0.297890 m, approachRate: -0.590856 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.24 m. ProNav: ac range: 121.239716 m, nav range: 120.898842 m, bearing: 323.785197 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 323.890931 deg, new cmd heading: 324.199441 deg. HeadingCmd: 5.658348 target range: 121.239716 and range: 122.10 m.b/@ZrjRJB~~}|||`f^@| y? 5}B=I9)=<9I=Y* 9AEHH9IH~BH =HH.DH<H E checking for new query: numPingsReceived=105, elapsed TxPingTime=50.925411! 6G5 ~G Q Ai A N >[,dliAԹ DDAT read: Rx Time:14:12:00.4467 TRx dataTimestamp_ set to:1749132721.676438PDAT read: Bearing 71.6, 22.8 (Local) ~Local bearing/azimuth received: Bearing 71.6, 22.8 (Local) -DAT read: Range 10 to 50 : 122.3 m (trip time 81.5 ms) speed 0.2 UDAT read: 14:12:00.4467 LVL= 15312, 22897, 17746, 23827, AGC= 62, IDX= 1, 0.06,-1.311,-2.680, 2.690,-2.979, PHS= 1.756, 0.346,-0.617, RAW= 66.2, -14.3, CAL= 78.4, -22.8, ROT= 71.6, 22.8 ]Ygot valid direction response: 14:12:00.4467 LVL= 15312, 22897, 17746, 23827, AGC= 62, IDX= 1, 0.06,-1.311,-2.680, 2.690,-2.979, PHS= 1.756, 0.346,-0.617, RAW= 66.2, -14.3, CAL= 78.4, -22.8, ROT= 71.6, 22.8 eV#Rx 106: Read range and direction messages.e^direction in FSK: [0.290985,0.874734,-0.387516]mFpublishing direction and range info y D?t?h%ؿ BY  ;) qYI REi ] > ? &>  h?) rI %?i %˾ ? %> )  HR?fmɣ鿏+.SϿi Yp İ~> ? %> ) checking for new query: numPingsReceived=106, elapsed TxPingTime=51.1976139ۄ@@YCyEڈ>H\տ`t9?Ϳ D ӿJ? v?a?@? ۄ@{;)C}BIKn0P"K9*K2K:K1Q3^56_)+K67[ [^<8FM3%Mb@Mb@Mb@ )YK??y&1|?y^?<`; @)@IAyAIm ImV2}o< }=y+;Q >٥11 5H5F=٭= =>IR=Ip=:J\BJWJJDRJZJ=:bJG9J4JzJ:jJ:J_:rJ_:S5;?S59f IBy?:@FEif::YS5!AEZ b JkliA B B h@ʁ 8'A@Z@ 9,G D?t?h%ؿ ? %>ҁ ?] X@]Rڹg?/ [Y?3H㿵wz  jBj SԜ?r σ9  O?B -Ԝ? f  O?B RB ̴@ addTargetRange:: Added new target pos. range: 122.300003 m, deltaT: 0.504401 s, deltaX: 0.200005 m, approachRate: 0.396519 m/s, rangeRepo size: 4  Added new target pos. range: 121.439613 m, bearing: 323.022839 deg, lat: 36.906751 deg, lon: -122.116252 deg, deltaT: 0.504401 s, deltaX: 0.199898 m, approachRate: 0.396307 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.44 m. %  ProNav: ac range: 121.439613 m, nav range: 120.161690 m, bearing: 323.720549 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 324.199437 deg, new cmd heading: 324.696381 deg. ! - HeadingCmd: 5.667021 target range: 121.439613 and range: 122.30 m.b- bH ӿ?ο`gMҿ?"? ٥ H= >S5?S59 IByv@FEih::S5L!AY  0?) aUI Ci F  ? fff> t  ?) ,mI oٵ?i  ľ @?  > )  M&}?CV\clͿi Pb ҂m> @?  > ) 5checking for new query: numPingsReceived=107, elapsed TxPingTime=51.710979Z b sliA HB HB @ʁ -ݫ}D@$Z@K#гF R֦?W5ӟ?׿ @?  >ҁ y')W@PKQR ˔, &W?%rtQz  Bj VӜ?r Hu  DB  {Ԝ? ]0Z   B ɴ@5 addTargetRange:: Added new target pos. range: 122.000000 m, deltaT: 0.503521 s, deltaX: -0.300003 m, approachRate: -0.595810 m/s, rangeRepo size: 4 E Added new target pos. range: 121.141724 m, bearing: 321.739718 deg, lat: 36.906749 deg, lon: -122.116254 deg, deltaT: 0.503521 s, deltaX: -0.297890 m, approachRate: -0.591613 m/s, posRepo size: 4 AEFNOT Ignoring new targets: 121.14 m. ProNav: ac range: 121.141724 m, nav range: 120.035591 m, bearing: 323.699389 deg, approach rate: 0.000000 m/s, LOS rate: 0.265489 deg/s, cmd heading: 324.696374 deg, new cmd heading: 325.002377 deg. HeadingCmd: 5.672361 target range: 121.141724 and range: 122.00 m.b@ZrjRJB~~}|||^@|-e?i }B靝nƻI)8z=I ) If;^i@iEaEaEaEaEaԑ H5<H5<H=ּ>H=CH=FIH=~BH= =H9H=-DH=Ϛ<H=Echecking for new query: numPingsReceived=107, elapsed TxPingTime=51.9323626GA ~G) AY A N% >h([,5EliA9-@-@Y-=y-]>-H@ҿa?eο Fпҵ?/?? ? -@-O;)-C]}Be4IԙImImm?3č< I=y:Q >٥ HF9= >S5이?S59e IBy!-E@FEiTE<K<1S52!AE-DDAT read: Rx Time:14:12:01.4464 5TRx dataTimestamp_ set to:1749132722.687796UPDAT read: Bearing 64.9, 20.0 (Local) ]~Local bearing/azimuth received: Bearing 64.9, 20.0 (Local) mDAT read: Range 10 to 50 : 121.8 m (trip time 81.2 ms) speed 0.2 DAT read: 14:12:01.4464 LVL= 14976, 28065, 17090, 21235, AGC= 64, IDX= 511,-0.25, 0.722,-0.781,-1.353,-0.769, PHS= 1.579, 0.035,-0.587, RAW= 73.8, -10.7, CAL= 85.1, -20.0, ROT= 64.9, 20.0 Ygot valid direction response: 14:12:01.4464 LVL= 14976, 28065, 17090, 21235, AGC= 64, IDX= 511,-0.25, 0.722,-0.781,-1.353,-0.769, PHS= 1.579, 0.035,-0.587, RAW= 73.8, -10.7, CAL= 85.1, -20.0, ROT= 64.9, 20.0 V#Rx 108: Read range and direction messages.B*** querying acoustic contact ***JRFNOT Ignoring new targets: 121.14 m.l;l; ProNav: ac range: 121.141724 m, nav range: 119.943085 m, bearing: 323.809004 deg, approach rate: -0.198204 m/s, LOS rate: 0.235042 deg/s, cmd heading: 325.002367 deg, new cmd heading: 325.331461 deg.  N!< HeadingCmd: 5.678105 target range: 121.141724 and range: 122.00 m.b @ZrjRJB%^direction in FSK: [0.398617,0.850956,-0.342020]%Fpublishing direction and range info)y-ю,?2);?Kjտ-BY) -:)-mI-Bi-R-@-?-)\=-E -ޤ?)-t;?I-?i-¸-?-¸> )))-C Խ0?)!+Kǿi-cN-TD>>-?~Y~a}a|a|a|m@3s^@|m\?-¸> )))checking for new query: numPingsReceived=108, elapsed TxPingTime=52.231853K=\P"K9*K2K:KFeiviw#WK-Nt;L> X$-F }B靽fλI)Tz=Ia( Wu;i @i:J]BJJJARJZJ]:bJJ4JzJ:jJ:JrJEEEEEFF  checking for new query: numPingsReceived=108, elapsed TxPingTime=52.4374776G jG ?bG ?~G A A N>:0[,liA95r@5{@Y5 :;y5m>5HVlп?kοlPο޻?`+e?`y?#? 5r@5U.;)5Cu~BuBIIMb@Mb@Mb@ )Y$C?X9v?~jtx?y?<; A )@IAyzAII<2&= =yZ:Q >٥ HFB= >AAMDDAT read: Rx Time:14:12:01.9462 MTRx dataTimestamp_ set to:1749132723.188263mPDAT read: Bearing 61.8, 17.8 (Local) m~Local bearing/azimuth received: Bearing 61.8, 17.8 (Local) }DAT read: Range 10 to 50 : 121.5 m (trip time 81.0 ms) speed 0.0 DAT read: 14:12:01.9462 LVL= 19600, 29345, 20210, 25651, AGC= 64, IDX= 509, 0.08,-1.914, 2.809, 2.405, 2.964, PHS= 1.493,-0.108,-0.562, RAW= 77.9, -8.8, CAL= 88.2, -17.8, ROT= 61.8, 17.8 Ygot valid direction response: 14:12:01.9462 LVL= 19600, 29345, 20210, 25651, AGC= 64, IDX= 509, 0.08,-1.914, 2.809, 2.405, 2.964, PHS= 1.493,-0.108,-0.562, RAW= 77.9, -8.8, CAL= 88.2, -17.8, ROT= 61.8, 17.8 V#Rx 109: Read range and direction messages.^direction in FSK: [0.449929,0.839115,-0.305695]Fpublishing direction and range infoIS5䗴?S59" I ByR?:D@FEi<`<S5 AyM{٤? ?ќӿMBYI ML)MrIMNiM3dIM?M/ݽM; M?)MnFIMj ?iMM?M> I)IMϜSr?A6'ۈZÿiMFM?M> I)Ichecking for new query: numPingsReceived=109, elapsed TxPingTime=52.714275qZIbM liAMHBMHBM|@ʁM 0#K@VNY@캜pBM{٤? ?ќӿM?M>ҁMf.kV@DŽ2T8`>Mʘ3?_1R0q_WzMɠMYBjMzRҜ?rM\3 MaBMSԜ?Mσ9  IM:BMڛ@ addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 1.008304 s, deltaX: -0.500000 m, approachRate: -0.495882 m/s, rangeRepo size: 4  Added new target pos. range: 120.642303 m, bearing: 318.123650 deg, lat: 36.906745 deg, lon: -122.116267 deg, deltaT: 1.008304 s, deltaX: -0.499420 m, approachRate: -0.495307 m/s, posRepo size: 4 FNOT Ignoring new targets: 120.64 m.5 ProNav: ac range: 120.642303 m, nav range: 120.113899 m, bearing: 323.378807 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 325.331472 deg, new cmd heading: 325.705957 deg. 1=HeadingCmd: 5.684641 target range: 120.642303 and range: 121.50 m.b=@Z9r9j9R9J9BA~A~E~B}I|I|I|M`^@|@q? 5}B5JI1)=&=9I=& 99=/;E*:AAiE@iqԩ E E E E E H] Ѽ>HY H] _IH] E~BH]  =HY H] ,DH] <H] E  checking for new query: numPingsReceived=109, elapsed TxPingTime=52.9403116G!~GAANM?7[,liATI)9I.@7@Y7y'>HʿU?5KϿ`zKǿ ^??V? ? I.@+ʊ;)C!~BIIi Y)Y]Gg?K?B&zzBi]t0] n>]aх?]K> Y)Ychecking for new query: numPingsReceived=110, elapsed TxPingTime=53.213413-Mb@Mb@Mb@))) )))Y-7A`?S㥛?MbPy-?-/<--A -@)-@I))y-QAIIV83/<  =y:KO"K@9*K2K:K"nE; (`s,6FPdA\-q\o`u ;%2vQ >٥ HF1= > S5 ?S59 Z I By=?=:=ݿ)I I=@G FEi +< < - ߿Y) y5 A dS5A M AI ZYb]XliA]B]B:J aBJ NJJ CRJ ZJ :bJ !9J 4J zJ ;jJ ;J T:rJ W:]XL@ʁ]g+M@娃 >)Y@aY@]+2?D?RlyQѿ]aх?]K>ҁ]Ju`V@S5,ᦷSXb]Sb;?HMh0ȁ_Ęz]]Bj]Ҝ?r])B ]prB]VӜ?]Hu  ]DB]B]@) M  addTargetRange:: Added new target pos. range: 121.699997 m, deltaT: 0.504650 s, deltaX: 0.199997 m, approachRate: 0.396308 m/s, rangeRepo size: 4 ]  Added new target pos. range: 120.839890 m, bearing: 319.241720 deg, lat: 36.906728 deg, lon: -122.116292 deg, deltaT: 0.504650 s, deltaX: 0.197586 m, approachRate: 0.391531 m/s, posRepo size: 4 a e FNOT Ignoring new targets: 120.84 m.    ProNav: ac range: 120.839890 m, nav range: 119.855087 m, bearing: 322.142060 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 325.705958 deg, new cmd heading: 326.139139 deg.   HeadingCmd: 5.692202 target range: 120.839890 and range: 121.70 m.b &@Z r j R J B ~ ~ ~B} | | | l^@| y? e }Be e3Ii )m =i Im r:% i i u 9;u Jq y i} &@iy   < checking for new query: numPingsReceived=110, elapsed TxPingTime=53.446808a Em ?Eq Ey E 0E ԉ6Gq~GYAaAqN?A[,~miA!-DDAT read: Rx Time:14:12:02.9461 -TRx dataTimestamp_ set to:1749132724.195983=PDAT read: Bearing 57.7, 15.6 (Local) =~Local bearing/azimuth received: Bearing 57.7, 15.6 (Local) MDAT read: Range 10 to 50 : 121.4 m (trip time 80.9 ms) speed 0.3 uDAT read: 14:12:02.9461 LVL= 19248, 31105, 19938, 27123, AGC= 66, IDX= 508,-0.26,-1.072,-2.755,-2.966,-2.439, PHS= 1.455,-0.269,-0.530, RAW= 83.1, -7.1, CAL= 92.3, -15.6, ROT= 57.7, 15.6 }Ygot valid direction response: 14:12:02.9461 LVL= 19248, 31105, 19938, 27123, AGC= 66, IDX= 508,-0.26,-1.072,-2.755,-2.966,-2.439, PHS= 1.455,-0.269,-0.530, RAW= 83.1, -7.1, CAL= 92.3, -15.6, ROT= 57.7, 15.6 V#Rx 111: Read range and direction messages.^direction in FSK: [0.514668,0.814125,-0.268920]Fpublishing direction and range info)y-}ȅJ)x?RO ?]^|5ѿ-BY) -0K)-yI-Mi-i)-q=?-^- -?)-I-?3?i-'g-.?-'g> )))-/MV`?VP|VMi-%-=-.?-'g> )))checking for new query: numPingsReceived=111, elapsed TxPingTime=53.721470Q9~BXIIMIMm?3] = ] =yyQ >٥ HF >S5_?S59~ IBy@FEi::S5C AEZ)b- miA-B-B-a@ʁ-@O@ X@!C5@-}ȅJ)x?RO ?]^|5ѿ-.?-'g>ҁ-ꙄV@ǹThb -.q?:Ū2כz--Bj-ќ?r-\ -qB-Ҝ?-)B  -aB-=B-`@ addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 0.503070 s, deltaX: -0.299995 m, approachRate: -0.596329 m/s, rangeRepo size: 4  Added new target pos. range: 120.542015 m, bearing: 317.122769 deg, lat: 36.906700 deg, lon: -122.116352 deg, deltaT: 0.503070 s, deltaX: -0.297874 m, approachRate: -0.592113 m/s, posRepo size: 4 FNOT Ignoring new targets: 120.54 m.G! G% @AH- ¼>H- CH- rIH- d~BH-  =H) H- +DH- <H- EA A }  ProNav: ac range: 120.542015 m, nav range: 120.620689 m, bearing: 319.384448 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 326.139129 deg, new cmd heading: 326.534026 deg. y  HeadingCmd: 5.699094 target range: 120.542015 and range: 121.40 m.b ^@Z r j R J B ~ ~ } | | | Y^@| Ý? checking for new query: numPingsReceived=111, elapsed TxPingTime=53.948433  }B >I ) 4= I5 Mu# 1 1 5 ;= 9 9 iE ^@iA Ա E ?E E E _0E 6GI ~G)Aa׉׍ADDAT read: Rx Time:14:12:03.4461 TRx dataTimestamp_ set to:1749132724.705068PDAT read: Bearing 58.1, 15.0 (Local) ~Local bearing/azimuth received: Bearing 58.1, 15.0 (Local) DAT read: Range 10 to 50 : 121.4 m (trip time 80.9 ms) speed 0.3 =DAT read: 14:12:03.4461 LVL= 11680, 24625, 16626, 23011, AGC= 63, IDX= 508,-0.11,-1.380,-3.092, 2.963,-2.765, PHS= 1.473,-0.280,-0.558, RAW= 82.8, -6.7, CAL= 91.9, -15.0, ROT= 58.1, 15.0 EYgot valid direction response: 14:12:03.4461 LVL= 11680, 24625, 16626, 23011, AGC= 63, IDX= 508,-0.11,-1.380,-3.092, 2.963,-2.765, PHS= 1.473,-0.280,-0.558, RAW= 82.8, -6.7, CAL= 91.9, -15.0, ROT= 58.1, 15.0 MV#Rx 112: Read range and direction messages.AYNm?(K[,s.miA ^direction in FSK: [0.510432,0.820044,-0.258819] Fpublishing direction and range infoyuU?غ==?V!}пY -)1`I@iY?D?)\ ?)|I|N?i ˁ? > )nWK?¸%<Huiaq&$=ˁ? > )Vchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.234898K|sP"K9*K2K:Kfp\_&,uv/HC_- x:<,V@ f>A9Mϋ@Mؒ@YM7+1yM>MH }`ϻ?@Ͽ?`#?`n?o? Mϋ@M*9;)MC ]sC)] Aɿe10F鿁Ci7 I#FI CijA `)C •nACAI™)™i™)َCI CAiٯK~BcIIIMb@Mb@Mb@ )YQ?{Gz?~jthy?ף<DA b@)@IMAy @II29u= }=y}1?;Q }>٥y HF> >S5 ?S59 I&By?:vԿ@FEi\<<BS5  A-EZb-miABB@checking for new query: numPingsReceived=112, elapsed TxPingTime=54.453190ʁA}/zN@=X@n-.2?uU?غ==?V!}пˁ? >ҁ%INvW@djC}R owW,lC?@+j'zSBj$EӜ?rC uB qBBq@ addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 0.509085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 120.539345 m, bearing: 322.147987 deg, lat: 36.906700 deg, lon: -122.116352 deg, deltaT: 0.509085 s, deltaX: -0.002670 m, approachRate: -0.005245 m/s, posRepo size: 4 AMFNOT Ignoring new targets: 120.54 m.IIa  ProNav: ac range: 120.539345 m, nav range: 120.440529 m, bearing: 319.504721 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 326.534023 deg, new cmd heading: 326.940781 deg.  5 HeadingCmd: 5.706193 target range: 120.539345 and range: 121.40 m.b5 "@ZY rY ja Ra Ja Bi ~ ~ }B} | | |9 |= @$? }B靭 ƁI ) = I ݁)݁݅ 9?b[;Bi݅*݅t=݅~?݅@X> ށ)ށ checking for new query: numPingsReceived=113, elapsed TxPingTime=54.7222946G jG?bG?~GA A!N5?0T[,TmiA:Jv`BJtJJvFRJtZJv:bJtJv4Jt@@@@9 q@ @Y 2-y `> H@Cg}?,пV Ҵ?෤?%|?? q@ ?;) CH%˼>H!H%IH%~BH% =H!H%,DH%<H!H–CHH”CHI = IB=6checking for new query: numPingsReceived=113, elapsed TxPingTime=54.956066R~BgI)  ==II?13 <  1 ٥9 9 = H= F= = E x>I } S5M ?} S59M IM 0Byy } п @M FEiM :M :M S5 A Zb MmiA|B|B'@ʁl)P@@0{X@E~49^ ` ?jwh=?9hʿ~?@X>ҁ W@O8߮_VRggX0@/z+V?ʻ;\Vx?zhBjӜ?r;P1 B prB`B܈@ DDAT read: Rx Time:14:12:04.4459  TRx dataTimestamp_ set to:1749132725.712249 PDAT read: Bearing 56.1, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 56.1, 12.1 (Local)  DAT read: Range 10 to 50 : 121.1 m (trip time 80.7 ms) speed 0.3 = DAT read: 14:12:04.4459 LVL= 13808, 30497, 20466, 28403, AGC= 63, IDX= 506,-0.12,-2.121, 2.538, 2.425, 2.948, PHS= 1.302,-0.363,-0.526, RAW= 85.4, -4.8, CAL= 93.9, -12.1, ROT= 56.1, 12.1 E Ygot valid direction response: 14:12:04.4459 LVL= 13808, 30497, 20466, 28403, AGC= 63, IDX= 506,-0.12,-2.121, 2.538, 2.425, 2.948, PHS= 1.302,-0.363,-0.526, RAW= 85.4, -4.8, CAL= 93.9, -12.1, ROT= 56.1, 12.1 E V#Rx 114: Read range and direction messages.M ^direction in FSK: [0.545354,0.811572,-0.209619]M Fpublishing direction and range info y s?jnf?9hʿ Y 5) !wI Oi n ? ? #۹  ɾ?) I M?i >z? a ) 2%>?tg[)⿈NnBi  SF= >z? ) m checking for new query: numPingsReceived=114, elapsed TxPingTime=55.233105  addTargetRange:: Added new target pos. range: 121.099998 m, deltaT: 1.007181 s, deltaX: -0.300003 m, approachRate: -0.297864 m/s, rangeRepo size: 4   Added new target pos. range: 120.242500 m, bearing: 322.387755 deg, lat: 36.906700 deg, lon: -122.116352 deg, deltaT: 0.498909 s, deltaX: -0.296844 m, approachRate: -0.594987 m/s, posRepo size: 4   FNOT Ignoring new targets: 120.24 m.    ProNav: ac range: 120.242500 m, nav range: 120.187759 m, bearing: 319.664979 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 326.940774 deg, new cmd heading: 327.471981 deg.   HeadingCmd: 5.715464 target range: 120.242500 and range: 121.10 m.b @Z r j! R! J! B! ~! ~) }1 |Y |Y |] `fF^@|] `ש? }B靭 I ) = I Q l; .V i @i KE@KP"KE59*KA2KE:KE{"XTe"/* OCT+5($/xp3 DԉEEEE_0EIU4=IU=Թechecking for new query: numPingsReceived=114, elapsed TxPingTime=55.4609796G~GqAAN,?`[, miAI1)5@I9 }@@YMX(y>HMm?@п @ I?` ?L??  }@Ҋ;)CieCa)a aIa mC)iiiiufCupAiqIqqIչiչ չ) ȯFQQIQ)QiY)YI]9A]Y Yٯamv~Bm}Iq-Mb@Mb@Mb@))) )))Y-7A`?:v?y&1|y-?-<-`-A )))I-n@)y-@I= I=(2uDDAT read: Rx Time:14:12:04.9458 }TRx dataTimestamp_ set to:1749132726.212191PDAT read: Bearing 54.3, 9.2 (Local) ~Local bearing/azimuth received: Bearing 54.3, 9.2 (Local) DAT read: Range 10 to 50 : 120.8 m (trip time 80.5 ms) speed 0.3 DAT read: 14:12:04.9458 LVL= 17520, 32753, 27058, 32755, AGC= 66, IDX= 504,-0.19,-2.786, 1.853, 1.823, 2.352, PHS= 1.233,-0.452,-0.533, RAW= 87.7, -2.9, CAL= 95.7, -9.2, ROT= 54.3, 9.2 Ygot valid direction response: 14:12:04.9458 LVL= 17520, 32753, 27058, 32755, AGC= 66, IDX= 504,-0.19,-2.786, 1.853, 1.823, 2.352, PHS= 1.233,-0.452,-0.533, RAW= 87.7, -2.9, CAL= 95.7, -9.2, ROT= 54.3, 9.2 V#Rx 115: Read range and direction messages.^direction in FSK: [0.576035,0.801637,-0.159881]Fpublishing direction and range infoqyu+Jn?>?ČsvĿuBYq upD)uIuiiuuBuҝ?ulur uv?)u4QOIu?iul$u_r?ul$> q)quV?C)'N\iucquO=u_r?ul$> q)qchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.729549%g= -=y- :Q ->٥11 5H5F5ܻ= =>9eS5=?mS59=" I=8Bym?m:mGȿm@=FEi=!;=:=S5q}TAyԡZqbumiAuBuBu/@ʁuEQ@Dv X@$wH-3u+Jn?>?ČsvĿu_r?ul$>ҁu0`dW@P&R&""@up+ Y?Zƕ^6?zu0u BjueJXӜ?ruG uBueJXӜ?uC  uuBuBu@- addTargetRange:: Added new target pos. range: 120.800003 m, deltaT: 0.499942 s, deltaX: -0.299995 m, approachRate: -0.600060 m/s, rangeRepo size: 4 e Added new target pos. range: 119.944633 m, bearing: 322.621216 deg, lat: 36.906731 deg, lon: -122.116304 deg, deltaT: 1.008214 s, deltaX: -0.297867 m, approachRate: -0.295440 m/s, posRepo size: 4 imFNOT Ignoring new targets: 119.94 m.qq ProNav: ac range: 119.944633 m, nav range: 119.933167 m, bearing: 322.400205 deg, approach rate: 0.000000 m/s, LOS rate: 0.235042 deg/s, cmd heading: 327.471972 deg, new cmd heading: 327.844072 deg. HeadingCmd: 5.721959 target range: 119.944633 and range: 120.80 m.bI@ZrjRJB~~~B}|||@33^@|J? }B靕 ǺI ) U> I $ ;  i I@i :J% [BJ% RJJ% >RJ! ZJ% :bJ% S29J% t4J! E ?E E E E  H% <H! H- ̼>H) H- IH- ~BH) H) H) H- <H- E %checking for new query: numPingsReceived=115, elapsed TxPingTime=55.9642146GZGRG~GA)AYN?h[,h^miA9a@0k@Yt(y>H`'}?ȝпG ? ?'?Q? a@;)C-z~B-IIm&Im3}2< >=ԉyQ >٥ H_= >S5ʊ?S59 I=By15Ŀ=@FEi<<S5AA=DDAT read: Rx Time:14:12:05.4457 MTRx dataTimestamp_ set to:1749132726.723064uPDAT read: Bearing 52.4, 8.4 (Local) ~Local bearing/azimuth received: Bearing 52.4, 8.4 (Local) DAT read: Range 10 to 50 : 120.6 m (trip time 80.4 ms) speed 0.3 %B*** querying acoustic contact ***J!R!1uFNOT Ignoring new targets: 119.94 m.}]^;}]^; ProNav: ac range: 119.944633 m, nav range: 119.770409 m, bearing: 322.494588 deg, approach rate: -0.334789 m/s, LOS rate: 0.194407 deg/s, cmd heading: 327.844080 deg, new cmd heading: 328.127610 deg. k<DAT read: 14:12:05.4457 LVL= 16592, 32753, 23458, 32755, AGC= 64, IDX= 503,-0.29, 2.771, 1.156, 1.191, 1.684, PHS= 1.175,-0.481,-0.496, RAW= 89.6, -2.4, CAL= 97.6, -8.4, ROT= 52.4, 8.4 Ygot valid direction response: 14:12:05.4457 LVL= 16592, 32753, 23458, 32755, AGC= 64, IDX= 503,-0.29, 2.771, 1.156, 1.191, 1.684, PHS= 1.175,-0.481,-0.496, RAW= 89.6, -2.4, CAL= 97.6, -8.4, ROT= 52.4, 8.4 V#Rx 116: Read range and direction messages.ԱHeadingCmd: 5.726907 target range: 119.944633 and range: 120.80 m.bB@ZrjRJB~~}||||?^direction in FSK: [0.603600,0.783790,-0.146083]Fpublishing direction and range infoAyE9PP?˭J?/8ٲ¿E3BYA E@)AIE[iAE@Eff?EEE E+?)E+IE^ ?iEQ E j?EQ > A)AE(?399YiEU EB,=E j?EQ > A)A]checking for new query: numPingsReceived=116, elapsed TxPingTime=56.292896 }}B靅I)>I ܿ;@hiB@iKP"Kŷ9*K2K:KEpIpnEf=<:~tE;)2nb26P~$_jE-?E)E)E)E) ر ׵ = checking for new query: numPingsReceived=116, elapsed TxPingTime=56.468544 6G5 ȹ~G A1 AQ N} >lp[,rmiAԩ~BI=Mb@Mb@Mb@999 9)9Y=A`"?S㥛?y&1|y=?=/<9=SA 9)9I=@9y=@IuIu#3< +=yQ >٥ HF >S5?S59U ICByA?:Ŀ@FEi::S52AEZ9b=FmiA=~B=~B=@ʁ=|w R@-vW@.~1=9PP?˭J?/8ٲ¿= j?=Q >ҁ=P 6yW@ARD$@=~'j4?=݃Зr)l?z= =Bj=$ėӜ?r=O =9B99 =B=.B=i,@% addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 0.510873 s, deltaX: -0.200005 m, approachRate: -0.391496 m/s, rangeRepo size: 4 5 Added new target pos. range: 119.746269 m, bearing: 322.251294 deg, lat: 36.906731 deg, lon: -122.116304 deg, deltaT: 0.510873 s, deltaX: -0.198364 m, approachRate: -0.388285 m/s, posRepo size: 4 15FNOT Ignoring new targets: 119.75 m.=9M ProNav: ac range: 119.746269 m, nav range: 119.590332 m, bearing: 322.599358 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 328.127615 deg, new cmd heading: 328.365241 deg. IUHeadingCmd: 5.731055 target range: 119.746269 and range: 120.60 m.bUd@ZQrQjQRQJYBi~y~~B}|||`f&^@|H?YDDAT read: Rx Time:14:12:05.9455 TRx dataTimestamp_ set to:1749132727.219932PDAT read: Bearing 49.2, 4.5 (Local) ~Local bearing/azimuth received: Bearing 49.2, 4.5 (Local)  DAT read: Range 10 to 50 : 120.3 m (trip time 80.2 ms) speed 0.3 5DAT read: 14:12:05.9455 LVL= 20256, 32753, 28978, 32755, AGC= 67, IDX= 500, 0.45, 3.042, 1.448, 1.585, 2.065, PHS= 1.065,-0.570,-0.483, RAW= 92.7, -0.2, CAL= 100.8, -4.5, ROT= 49.2, 4.5 =Ygot valid direction response: 14:12:05.9455 LVL= 20256, 32753, 28978, 32755, AGC= 67, IDX= 500, 0.45, 3.042, 1.448, 1.585, 2.065, PHS= 1.065,-0.570,-0.483, RAW= 92.7, -0.2, CAL= 100.8, -4.5, ROT= 49.2, 4.5 EV#Rx 117: Read range and direction messages.M^direction in FSK: [0.651406,0.754662,-0.078459]MFpublishing direction and range infoy|DR?/&?5;BY  O)I2qiCQ?K ?)dIz0?i|٠[?|٠= );6p?WݿTWeiƂ.;[?|٠= )echecking for new query: numPingsReceived=117, elapsed TxPingTime=56.737759 }B靥2(I)A>IF ;mX id@iԉEEEEE:J BJ XJJ =RJ ZJ bJ 5K9J g4J Ա H} ͼ>Hy H} IH} ~BHy Hy Hy H} <H} E6G ~Gi Aq  checking for new query: numPingsReceived=117, elapsed TxPingTime=56.972195A N >Dw[,ymiA9>9@>B@Y>f+y>Ǹ>>He?=?п@;`???`w?@|?? >9@>;)>CQ~BIIMIM3Es= ?=yQ >٥ HF > %>)-S5-?5S59- I-IBy15<5@-FEi-:-:-S5YeAaZb^miABB@ʁ-sS@*V@^9_"|DR?/&?5;[?|٠=ҁ<6W@:iIА ^[;0 iȉ@iDDAT read: Rx Time:14:12:06.4455 TRx dataTimestamp_ set to:1749132727.729063PDAT read: Bearing 47.2, 4.3 (Local) ~Local bearing/azimuth received: Bearing 47.2, 4.3 (Local) )5DAT read: Range 10 to 50 : 120.3 m (trip time 80.2 ms) speed 0.4 mDAT read: 14:12:06.4455 LVL= 16704, 32753, 24498, 32755, AGC= 67, IDX= 500, 0.13,-1.151,-2.787,-2.596,-2.135, PHS= 1.072,-0.605,-0.464, RAW= 94.4, -0.0, CAL= 102.8, -4.3, ROT= 47.2, 4.3 uYgot valid direction response: 14:12:06.4455 LVL= 16704, 32753, 24498, 32755, AGC= 67, IDX= 500, 0.13,-1.151,-2.787,-2.596,-2.135, PHS= 1.072,-0.605,-0.464, RAW= 94.4, -0.0, CAL= 102.8, -4.3, ROT= 47.2, 4.3 uV#Rx 118: Read range and direction messages.}^direction in FSK: [0.677529,0.731665,-0.074979]Fpublishing direction and range infoڹyڽo0P?9Bni?]1ڹYڹ ۽@A)۹I۽_i۹۹۽L7?۽H۽h ܽB?)ܽIܽL?iܽ`ܽBR?ܽ`= ݹ)ݹE?EEEEFFݽYV?t ۿ{Eiݽ=徉ݽޓ,:ݽBR?ݽ`= ޹)޹checking for new query: numPingsReceived=118, elapsed TxPingTime=57.270939K :P"K 9*K 2K :K   H2cRBN*|V0G_[IY5G/0ZQ 6G ȹjG ?bG >~G A A N >S7~[,omiAH9f@fm"@Yf>t2yf%>fHi??@zLѿ` |?@w?@L?@?A? f@f;)fCr~BrI]checking for new query: numPingsReceived=118, elapsed TxPingTime=57.476974mMb@Mb@Mb@iii i)iYmCl?:v?٥ HF= >S5?S59+& IOBy=?=:=뵿=@FEir<r<S5E&BEAMEZYb]miAYY]o~@ʁ]fO;T@Rs}\U@ [!]o0P?9Bni?]1]BR?]`=ҁ]^W@8usQs ѝ?2@]'@NP?fĥn?z]]Bj]EӜ?r]Xn ]УB]EӜ?];P1  ]9B]uB]?@E addTargetRange:: Added new target pos. range: 120.300003 m, deltaT: 0.509131 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 119.448555 m, bearing: 323.173038 deg, lat: 36.906727 deg, lon: -122.116302 deg, deltaT: 0.509131 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 119.45 m. ProNav: ac range: 119.448555 m, nav range: 118.728645 m, bearing: 322.735837 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 328.623897 deg, new cmd heading: 328.929773 deg. HeadingCmd: 5.740908 target range: 119.448555 and range: 120.30 m.b@ZrjRJB ~~~B}||||`? ~B靕$:I)g>I zT; i@i DDAT read: Rx Time:14:12:06.9453 % TRx dataTimestamp_ set to:1749132728.2297635 PDAT read: Bearing 45.2, 1.0 (Local) 5 ~Local bearing/azimuth received: Bearing 45.2, 1.0 (Local) m DAT read: Range 10 to 50 : 120.0 m (trip time 80.0 ms) speed 0.4  DAT read: 14:12:06.9453 LVL= 25120, 32753, 29874, 32755, AGC= 69, IDX= 498,-0.12, 2.947, 1.406, 1.630, 2.082, PHS= 0.953,-0.629,-0.455, RAW= 95.7, 1.8, CAL= 104.8, -1.0, ROT= 45.2, 1.0  Ygot valid direction response: 14:12:06.9453 LVL= 25120, 32753, 29874, 32755, AGC= 69, IDX= 498,-0.12, 2.947, 1.406, 1.630, 2.082, PHS= 0.953,-0.629,-0.455, RAW= 95.7, 1.8, CAL= 104.8, -1.0, ROT= 45.2, 1.0  V#Rx 119: Read range and direction messages. ^direction in FSK: [0.704527,0.709463,-0.017452] Fpublishing direction and range info y W{?S?W7) ߑ BY  b) I ti  E s? %!  ?) =I  ?i 5 I? 5<  )  ,YH)?Dڿ낌?i 7ؾ Qn I? 5<  )  checking for new query: numPingsReceived=119, elapsed TxPingTime=57.752876E ?E E E o5E  I 6G :J XBJ SJJ BRJ ZJ {9bJ y69J -4J ~GaAiAN>>[,a2niAHzƼ>HxHzIHz~BHz =HxHz+DHz <HzE9]@]@Y]2j6y]З>]H ?~?rѿ?@8{?`X˦?@w7? ? ]@]B͋;)]C%checking for new query: numPingsReceived=119, elapsed TxPingTime=57.980400]~B]IImIm#3[= E=yQ >٥ H= >S5@?S59, IUBy-@FEi::S5PAZ b pniA LB LB @ʁ %=lT@N&"U@%õ W{?S?W7) ߑ I? 5<ҁ Y W@rKQ lz8@ i9R?l.%qK?z  Bj gҜ?r !`  PB $ėӜ? !`  JB FB OU@= addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 0.500700 s, deltaX: -0.300003 m, approachRate: -0.599167 m/s, rangeRepo size: 4 m Added new target pos. range: 119.149658 m, bearing: 322.314504 deg, lat: 36.906725 deg, lon: -122.116298 deg, deltaT: 0.500700 s, deltaX: -0.298897 m, approachRate: -0.596958 m/s, posRepo size: 4 quFNOT Ignoring new targets: 119.15 m.yy ProNav: ac range: 119.149658 m, nav range: 118.136887 m, bearing: 322.885425 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 328.929780 deg, new cmd heading: 329.192520 deg. HeadingCmd: 5.745493 target range: 119.149658 and range: 120.00 m.b۷@ZrjRJB~~} |||^@|@B? ~B靕/;I)2>I_ kճ;, i۷@iAEEEE|5E DDAT read: Rx Time:14:12:07.4452  TRx dataTimestamp_ set to:1749132728.737187- PDAT read: Bearing 42.6, 0.7 (Local) = ~Local bearing/azimuth received: Bearing 42.6, 0.7 (Local) } DAT read: Range 10 to 50 : 119.9 m (trip time 79.9 ms) speed 0.9 i  DAT read: 14:12:07.4452 LVL= 21888, 32753, 25794, 32755, AGC= 68, IDX= 498,-0.50,-1.326,-2.910,-2.623,-2.196, PHS= 0.958,-0.667,-0.431, RAW= 97.7, 1.9, CAL= 107.4, -0.7, ROT= 42.6, 0.7  Ygot valid direction response: 14:12:07.4452 LVL= 21888, 32753, 25794, 32755, AGC= 68, IDX= 498,-0.50,-1.326,-2.910,-2.623,-2.196, PHS= 0.958,-0.667,-0.431, RAW= 97.7, 1.9, CAL= 107.4, -0.7, ROT= 42.6, 0.7  V#Rx 120: Read range and direction messages. ^direction in FSK: [0.736042,0.676825,-0.012217] cGa y 6G  Fpublishing direction and range info y ˳J?ԍ?I: BY  U) I di  D }?u? * ܾ  C?) =I ?i +H V>? +H<  )  @:??ؿg6?i Ǿ D V>? +H<  ) K} )P"K} 9*Ky 2K} :K} -f/<3E{~y1? [Jj}c^*"SbnwP;~ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.~G A A N>a@[,7niA MVYyzAH9Z@ZV@YZ7yZ>ZH`?W?vwѿ ?S?`:?? Z@Z;)ZCf~B IMb@Mb@Mb@ )YS?S㥛?Mb`y/?/<jA 5@)In@y@I!Ii3S< 0=y(Q >٥ HF= > S57? S59 4 I\ByV?:@FEi::S5=A=E?+H<ҁDhV@;¶.3Rin88@6w? oS;R ?zBj+Ҝ?r3 ӯBJZӜ?O  УBꁅB@ addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 0.507424 s, deltaX: -0.099998 m, approachRate: -0.197071 m/s, rangeRepo size: 4 = Added new target pos. range: 119.050369 m, bearing: 321.349676 deg, lat: 36.906712 deg, lon: -122.116308 deg, deltaT: 0.507424 s, deltaX: -0.099289 m, approachRate: -0.195673 m/s, posRepo size: 4 9EFNOT Ignoring new targets: 119.05 m.qy ProNav: ac range: 119.050369 m, nav range: 117.342628 m, bearing: 322.189947 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 329.192524 deg, new cmd heading: 329.471102 deg.  HeadingCmd: 5.750356 target range: 119.050369 and range: 119.90 m.b @Z r j R J B~~+~B}|||]@|@I?  ~B靵q0;I):>I;a Д;gi@ibEZEEy Ey Ey E} t2Ey F F  = DDAT read: Rx Time:14:12:07.9450 = TRx dataTimestamp_ set to:1749132729.235980E PDAT read: Bearing 40.0, 2.8 (Local) M ~Local bearing/azimuth received: Bearing 40.0, 2.8 (Local) e DAT read: Range 10 to 50 : 119.6 m (trip time 79.7 ms) speed 0.3  DAT read: 14:12:07.9450 LVL= 30048, 32753, 32754, 32755, AGC= 69, IDX= 511, 0.14,-1.300,-2.934,-2.569,-2.202, PHS= 0.990,-0.684,-0.370, RAW= 100.2, 0.8, CAL= 110.0, -2.8, ROT= 40.0, 2.8  Ygot valid direction response: 14:12:07.9450 LVL= 30048, 32753, 32754, 32755, AGC= 69, IDX= 511, 0.14,-1.300,-2.934,-2.569,-2.202, PHS= 0.990,-0.684,-0.370, RAW= 100.2, 0.8, CAL= 110.0, -2.8, ROT= 40.0, 2.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.765130,0.642020,-0.048850] Fpublishing direction and range info9 y= g{?m?s!D= 3BY9 = `u)9 I= i9 = E= p}?= /= p = T?)= d2[,]WniAI9  @ @Huü>HuCHuIHu~BHqHqHqHuۚ<HuEY 9y > H`}? E.?dѿ@`4%?Y`v5?(?Y?  @ ;) C~BIip٥ HFud= 5>9ES5=?ES59=z< I=fByAEڪM@q=FEi=M<=V<=dS5 AQZbLOniABB-@ʁ:t)V@/,$nS@apȴ94g{?m?s!D¸2?+H=ҁAϕdV@ ӃR[ 2@Zx|?Jg~ct?zBjҜ?r)t bBgҜ?(S!  bBꁕBa@U addTargetRange:: Added new target pos. range: 119.599998 m, deltaT: 0.498793 s, deltaX: -0.300003 m, approachRate: -0.601458 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 118.751869 m, bearing: 320.819157 deg, lat: 36.906708 deg, lon: -122.116310 deg, deltaT: 0.498793 s, deltaX: -0.298500 m, approachRate: -0.598445 m/s, posRepo size: 4 FNOT Ignoring new targets: 118.75 m. ProNav: ac range: 118.751869 m, nav range: 116.816032 m, bearing: 322.074591 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 329.471113 deg, new cmd heading: 329.789671 deg. %HeadingCmd: 5.755916 target range: 118.751869 and range: 119.60 m.b%v0@Z!r!j!R!J)B)~)~)}1|1|1|5`f]@|=g~? ~B靍|wx;I)hM>I զ;&iv0@iE ?E E E p0E  DDAT read: Rx Time:14:12:08.4449  TRx dataTimestamp_ set to:1749132729.745003 PDAT read: Bearing 37.2, -1.2 (Local)  ~Local bearing/azimuth received: Bearing 37.2, -1.2 (Local) 5 DAT read: Range 10 to 50 : 119.4 m (trip time 79.6 ms) speed 0.4  DAT read: 14:12:08.4449 LVL= 24224, 32753, 26466, 32755, AGC= 66, IDX= 511,-0.15,-1.732, 2.927,-2.936,-2.546, PHS= 0.902,-0.763,-0.393, RAW= 102.2, 3.4, CAL= 112.8, 1.2, ROT= 37.2, -1.2  Ygot valid direction response: 14:12:08.4449 LVL= 24224, 32753, 26466, 32755, AGC= 66, IDX= 511,-0.15,-1.732, 2.927,-2.936,-2.546, PHS= 0.902,-0.763,-0.393, RAW= 102.2, 3.4, CAL= 112.8, 1.2, ROT= 37.2, -1.2  R#Rx 1: Read range and direction messages. \direction in FSK: [0.796355,0.604467,0.020942] Fpublishing direction and range infoڙ yڝ N^{?|,W?_2q?ڝ BYڙ ۝ ^)ۙ I۝ bgiۙ ۝ B۝ yf?۝ SC۝ L7ɾ ܝ &Q?)ܝ s=Iܝ d?iܝ <ܝ 6&?ܝ ݙ )ݙ ݝ 2j?qHӿ\aO?iݝ Ꞿݝ arݝ 6&?ݝ ޙ )ޙ E 2Acoustic response timeoutE Querying Benthos address 50 with one ping in standard two-way mode. 6GK-fKP"K-}9*K)2K-:K-AI?8~YPozQ'83dNPRg#8& 16 11~GAAN?|[,2xniAIR=Ia=J4J`4JO0:JZBJOJJ>RJZJ9bJ%9Jt4JzJ/:&jJ4:&J&:*rJ&:*9~ϗ@~ٞ@Y~; :y~~>~H?Q?@ ѿ`~?@ٗ`[?? ?? ~ϗ@~;)~C~BIQMb@Mb@Mb@ )Y+?y&1?Mb`y?`<A @)v@IX@y@IIm?3I= &=y Q >٥ HF%= %>)5T5-?5T59-D I-nBy5?=:=2=@-FEi-:-:-T5EIv `;#iW@iԩEE ?EA EA EE h0EA  DDAT read: Rx Time:14:12:08.9447  TRx dataTimestamp_ set to:1749132730.244081 PDAT read: Bearing 33.7, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 33.7, 0.3 (Local) % DAT read: Range 10 to 50 : 119.1 m (trip time 79.4 ms) speed 0.4 E DAT read: 14:12:08.9447 LVL= 32608, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.25,-0.965,-2.584,-2.084,-1.774, PHS= 0.897,-0.763,-0.313, RAW= 105.2, 2.4, CAL= 116.3, -0.3, ROT= 33.7, 0.3 M Ygot valid direction response: 14:12:08.9447 LVL= 32608, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.25,-0.965,-2.584,-2.084,-1.774, PHS= 0.897,-0.763,-0.313, RAW= 105.2, 2.4, CAL= 116.3, -0.3, ROT= 33.7, 0.3 U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.831943,0.554837,-0.005236]] Fpublishing direction and range info y LTWF?A$9?sNru 3BY  `) I i  D ˡe?  A  ?) +=I @i  ? ;  )  oU?+!-WпMhť?i tO 8. ? ;  )  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6Ga ~GAAIAYNm>q[,k֖niA9N@NNɟ@YN8yN">NH?@? пն?Qw?`?\? N@N;)NCjBjIIrIr(*3= %H=y% 7:Q %>٥qq uHqui= u>yT5}"?T59}J I}uByr@}FEi}.*<}X*<}ET5AZbniABBM@@ʁ`)0GnX@k:2gP@xTLTWF?A$9?sNru?;ҁ2V@MF S|fw4@X?IՏ:l?z7Bjќ?rԾ BҜ?  B-Z@ addTargetRange:: Added new target pos. range: 119.099998 m, deltaT: 0.499078 s, deltaX: -0.300003 m, approachRate: -0.601115 m/s, rangeRepo size: 4 Թ H<HH>HCHIHBH =HH*DH<HEH•CH”CH“CH =I = I+6% Added new target pos. range: 118.255417 m, bearing: 319.157490 deg, lat: 36.906696 deg, lon: -122.116331 deg, deltaT: 0.499078 s, deltaX: -0.297874 m, approachRate: -0.596850 m/s, posRepo size: 4 !%FNOT Ignoring new targets: 118.26 m.))] ProNav: ac range: 118.255417 m, nav range: 116.493546 m, bearing: 321.128971 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 330.063318 deg, new cmd heading: 330.279574 deg. YeHeadingCmd: 5.764466 target range: 118.255417 and range: 119.10 m.bev@ZarajiRiJiBi~i~q}q|q|q|`f]@|6? 5~B=Iz !%s;iv@iE?EEEa0EFF - DDAT read: Rx Time:14:12:09.4445 = TRx dataTimestamp_ set to:1749132730.755676I } PDAT read: Bearing 32.5, -0.5 (Local) 6G ȹjG ?bG ?U ~Local bearing/azimuth received: Bearing 32.5, -0.5 (Local)  DAT read: Range 10 to 50 : 118.8 m (trip time 79.2 ms) speed 0.4 ~G AAN%>[,|niARDAT read: 14:12:09.4445 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.19,-1.527,-3.134,-2.610,-2.306, PHS= 0.867,-0.781,-0.307, RAW= 106.2, 3.1, CAL= 117.5, 0.5, ROT= 32.5, -0.5 nYgot valid direction response: 14:12:09.4445 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.19,-1.527,-3.134,-2.610,-2.306, PHS= 0.867,-0.781,-0.307, RAW= 106.2, 3.1, CAL= 117.5, 0.5, ROT= 32.5, -0.5 nR#Rx 1: Read range and direction messages.r\direction in FSK: [0.843359,0.537279,0.008727]rFpublishing direction and range infoڑyڕ ?eٴ d1?B7߁?ڕBYڑ ە)ۑIۑiۑەBە]?ەGە/ ܕ@?)ܕk]=Iܕ?@iܕ5<ܕ6?ܕ5 ݑ)ݑݕW ?mQqοЗr/?iݕlBvݕǕYݕ6?ݕ5 ޑI)ޑ m2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode./BI) KYP"K9*K2K:K}N w  &q{F(Y u Nld!T!Ly; :JmXBJmMJJmDRJiZJm{9bJm9Jm4JizJm:jJm:Jm+:rJm-:Mb@Mb@Mb@ )YZd;?Mb?Mbp?y?=;A )`@IA@y@I-I-25R= ==y=Q =>٥AA EHEFM M>QUT5U?]T59UR IUBy]0?]:]}@UFEiU;U;U T5'B}AEZb\niABB@~@ʁNX@(}O@Kc(x? ?eٴ d1?B7߁?6?5ҁ}1uU@KtuS/o: 6@< I?̀,l忾 ?zBjVHМ?rWU B"Ҝ?)t  BꁕB@ԁ addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 0.511595 s, deltaX: -0.299995 m, approachRate: -0.586392 m/s, rangeRepo size: 4  Added new target pos. range: 117.954643 m, bearing: 317.800281 deg, lat: 36.906685 deg, lon: -122.116336 deg, deltaT: 0.511595 s, deltaX: -0.300774 m, approachRate: -0.587914 m/s, posRepo size: 4 FNOT Ignoring new targets: 117.95 m.} I i  4ْ; k  i f@i E ?E E E _0E 5 DDAT read: Rx Time:14:12:09.9443 5 TRx dataTimestamp_ set to:1749132731.252058= PDAT read: Bearing 29.4, 1.1 (Local) E ~Local bearing/azimuth received: Bearing 29.4, 1.1 (Local) ] DAT read: Range 10 to 50 : 118.7 m (trip time 79.1 ms) speed 0.8  DAT read: 14:12:09.9443 LVL= 23280, 32753, 28402, 32755, AGC= 68, IDX= 504, 0.05,-0.148,-1.740,-1.133,-0.906, PHS= 0.846,-0.787,-0.230, RAW= 109.6, 2.4, CAL= 120.6, -1.1, ROT= 29.4, 1.1  Ygot valid direction response: 14:12:09.9443 LVL= 23280, 32753, 28402, 32755, AGC= 68, IDX= 504, 0.05,-0.148,-1.740,-1.133,-0.906, PHS= 0.846,-0.787,-0.230, RAW= 109.6, 2.4, CAL= 120.6, -1.1, ROT= 29.4, 1.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.871053,0.490813,-0.019197] Fpublishing direction and range info1 y5 X?wa|i?]~5 fBY1 5 Z)1 I5 ni1 5 D5 uX?5 xI5 k 5 G?)5 +=I5 $@i5 nF5 G\?5 nF< 1 )1 5 )\r?vAǿWl?i5 95 ^ ,5 G\?5 nF< 1 )1  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6G~GAAN? 6[,^niAA%KB%IHiHiHmIHmMBHm =HiHiHm2<Hm%EI"Iq3R= =yQ >٥ HF >!-T5%ԙI z;i=ϸ@iEU ?EQ EY EY EY  >DAT read: R ie:14:12:10.4442  \unknown deviceResponse_: R ie:14:12:10.4442  PDAT read: Bearing 29.6, -2.1 (Local)  ~Local bearing/azimuth received: Bearing 29.6, -2.1 (Local)  DAT read: Range 10 to 50 : 118.5 m (trip time 79.0 ms) speed 0.4 6GDAT read: 14:12:10.4442 LVL= 32560, 32753, 32754, 32755, AGC= 67, IDX= 503, 0.35, 1.785, 0.276, 0.852, 1.124, PHS= 0.749,-0.801,-0.276, RAW= 109.5, 4.8, CAL= 120.4, 2.1, ROT= 29.6, -2.1 Ygot valid direction response: 14:12:10.4442 LVL= 32560, 32753, 32754, 32755, AGC= 67, IDX= 503, 0.35, 1.785, 0.276, 0.852, 1.124, PHS= 0.749,-0.801,-0.276, RAW= 109.5, 4.8, CAL= 120.4, 2.1, ROT= 29.6, -2.1 R#Rx 1: Read range and direction messages.~GAA N>[,niAJ\direction in FSK: [0.868911,0.493610,0.036644]JFpublishing direction and range infoyi\?cO?(א¢?BY 0)IiCw??VMO ?)=I|@iQ = A?Q  )إ*X?aZǿww1?i6<J A?Q  ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9uz@u@Yu2yuXԍ>uH?`];?-ѿy`?U2X?s|?1? uz@uq;)uC ) Aɿ+)F鿁CAiC IICilA Ļ)C KfP"K9*K2K:K{6Sqa^7,]N`u)xs(P(AmuAwTJ?J? :J5\BJ5KJJ1RJ1ZJ5=:bJ5K9J1J1zJ5:jJ5:J5 :rJ5 :ȄCEAIA)AiA)iIiii iu Cqqiqqٯq}jB}IMb@Mb@Mb@ )YGz?ˡE?I +?yp?'=94<A @)I+@y=@II2l= =y.:;Q >٥ HFAc> >T5ʹ?T59b IBy?E@i\?cO?(א¢? A?Q ҁN!gV@]m R"7x8@7H`?쟢Xܭ?zc>BjLMҜ?rb B BB`@ addTargetRange:: Added new target pos. range: 118.500000 m, deltaT: 0.504473 s, deltaX: -0.199997 m, approachRate: -0.396447 m/s, rangeRepo size: 4 M Added new target pos. range: 117.656448 m, bearing: 321.147208 deg, lat: 36.906672 deg, lon: -122.116365 deg, deltaT: 0.504473 s, deltaX: -0.198578 m, approachRate: -0.393634 m/s, posRepo size: 4 QUFNOT Ignoring new targets: 117.66 m.YYԁ ProNav: ac range: 117.656448 m, nav range: 115.511185 m, bearing: 319.385657 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 330.900180 deg, new cmd heading: 331.245340 deg. HeadingCmd: 5.781322 target range: 117.656448 and range: 118.50 m.b@ZrjRJB~~~B}|||]@|$? U $~BU oBy I X 's; z i @i ԩ  DDAT read: Rx Time:14:12:10.9439  TRx dataTimestamp_ set to:1749132732.264242% JDAT read: Bearig 276, -2.4 (Local) % bLocal DAT time set to Bearig 276, -2.4 (Local) 5 DAT read: Range 10 to 50 : 118.1 m (trip time 78.7 ms) speed 0.4 m DAT read: 14:12:10.9439 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.43, 0.310,-1.113,-0.511,-0.279, PHS= 0.677,-0.788,-0.235, RAW= 111.9, 5.5, CAL= 122.4, 2.4, ROT= 27.6, -2.4 } Ygot valid direction response: 14:12:10.9439 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 501,-0.43, 0.310,-1.113,-0.511,-0.279, PHS= 0.677,-0.788,-0.235, RAW= 111.9, 5.5, CAL= 122.4, 2.4, ROT= 27.6, -2.4 } R#Rx 1: Read range and direction messages.>E 9zE  \direction in FSK: [0.885426,0.462890,0.041876] Fpublishing direction and range info y 1>`iU?t? ۷p? 3BY  ) I i   O-? ^I ףp  ?) =I ܸ@i += Ϣ> +  )  .i?Չ+bJT?i  ½ Ϣ> +  )  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.E=?E9E9E=0E9FAFE= GGAAHHH'IHBHHHH_<HgE6GȹZGRG~GYAaADDAT read: Rx Time:14:12:11.4440 TRx dataTimestamp_ set to:1749132732.519926 PDAT read: Bearing 25.5, -0.1 (Local) ~Local bearing/azimuth received: Bearing 25.5, -0.1 (Local) Ht?F?4ѿY'?j*?`?@ ? h@骍e^;)CUBU&Ii]٥ HF:= >T5jܴ?T59k IBy  @FEi|<<T5%A%EZ!b%WoiA%B%B%<"@ʁ%Q>Y@'2#K@,*@%1>`iU?t? ۷p?%Ϣ>%+ҁ%d=C6V@͖>'R18@%KB??2 ɡS?z%?%Bj%pҜ?r%! %B!! !%KB%&k@U addTargetRange:: Added new target pos. range: 118.099998 m, deltaT: 0.507711 s, deltaX: -0.400002 m, approachRate: -0.787853 m/s, rangeRepo size: 4  Added new target pos. range: 117.259460 m, bearing: 320.737701 deg, lat: 36.906672 deg, lon: -122.116365 deg, deltaT: 0.507711 s, deltaX: -0.396988 m, approachRate: -0.781917 m/s, posRepo size: 4 FNOT Ignoring new targets: 117.26 m. ProNav: ac range: 117.259460 m, nav range: 115.147308 m, bearing: 319.457173 deg, approach rate: 0.000000 m/s, LOS rate: 0.194407 deg/s, cmd heading: 331.245351 deg, new cmd heading: 331.583550 deg. HeadingCmd: 5.787225 target range: 117.259460 and range: 118.10 m.b0@ZrjRJB~~}||!|-`f]@|-`h? )~BUIZܻ L{u;   i 0@iEDAT read: Range 10 to 50 : 118.2 m (trip time 78.8 ms) speed 0.6  DAT read: 14:12:11440LL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.33,-2.743, 2.097, 2.749, 2.916, PHS= 0.712,-0.771,-0.169, RAW= 113.8, 3.6, CAL= 124.5, 0.1, ROT= 25.5, -0.1 5 1unknown deviceResponse_: 14:12:11440LL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 500,-0.33,-2.743, 2.097, 2.749, 2.916, PHS= 0.712,-0.771,-0.169, RAW= 113.8, 3.6, CAL= 124.5, 0.1, ROT= 25.5, -0.1 -= X#Rx 1: Read range message, but no direction.  fBY A  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.>E K} 4P"K} 9*Ky 2K} :K} +&) sW 3dZ ldBMS  ~>|L,v :J [BJ TJJ BRJ ZJ :bJ :9J -4J zJ :jJ :J SJ:rJ VJ:q Ey Ey Ey E} _0Ey ,DAT read: user:1965> ,DAT read: user:1965> DAT read: Txtie:14:12:12.3235 \unknown deviceResponse_: Txtie:14:12:12.3235 JDAT read: TxSync time:14:12:12.3227 ٥II MHMFU u>yT5}?T59}Eu I}By ?:@}FEi}:}:} T5(BAEB*** querying acoustic contact ***JR  addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 0.505205 s, deltaX: 0.099998 m, approachRate: 0.197936 m/s, rangeRepo size: 4  FNOT Ignoring new targets: 117.26 m.u:u: ProNav: ac range: 117.259460 m, nav range: 114.757011 m, bearing: 319.527206 deg, approach rate: -0.616642 m/s, LOS rate: 0.111024 deg/s, cmd heading: 331.583554 deg, new cmd heading: 331.794368 deg. c;HeadingCmd: 5.790904 target range: 117.259460 and range: 118.20 m.bO@ZrjRJB~~~B}|||̌]@|@(?ԉ /~B靝vbIͻ jb;R iO@iDDDDH >H H LIH BH  =H H H <H EԹ bEY ZEY } @>@Y>:/y>N>>H >3?n?bп?,n? ?@? > @>ۊ;)>CJBJJI)L LIRIR3Z)= Z6=y^q:Q ^>٥\\ bHbFb>> b>drT5f?vT59fG{ IfȓBytv xv@fFEifq;fIr;ff$T5x~6A~EFNOT Ignoring new targets: 117.26 m.: Ir nR;<i^@i1EEEE4EKEP"KE9*KA2KE:KE^vL4h2) mj Tx9i Jt'b>`un~Cr#hY S[,PoiABRIeMb@Mb@Mb@aaa a)eeDYe?٥ H >T5 ?T59 I֓By!?:t@FEio:1:r(T5A!-FNOT Ignoring new targets: 117.26 m.5W:5W:E ProNav: ac range: 117.259460 m, nav range: 114.208954 m, bearing: 319.599222 deg, approach rate: -0.625799 m/s, LOS rate: 0.080581 deg/s, cmd heading: 331.902360 deg, new cmd heading: 332.010923 deg. E5];MHeadingCmd: 5.794684 target range: 117.259460 and range: 118.20 m.bM n@ZIrIjIRIJQBQ~a~e~B}a|a|i|i|m`M? 9~BwIu !%n8E;%IIiM n@iI  [,;6oiA2rH` ?@?)οo ?@Yӥ?`xj?`:? r@r?;)rC~B~TII 'I @3; e=y%36:Q %>٥)) 5H5F=f> =>AMT5E?MT59E) IEByIUDgU@EFEiEh:E;E+T5Y]A]EFNOT Ignoring new targets: 117.26 m.Ȑ:Ȑ: ProNav: ac range: 117.259460 m, nav range: 113.989296 m, bearing: 319.621403 deg, approach rate: -0.625553 m/s, LOS rate: 0.063290 deg/s, cmd heading: 332.010933 deg, new cmd heading: 332.077604 deg. -;HeadingCmd: 5.795847 target range: 117.259460 and range: 118.20 m.bw@ZrjR1J1B9~9~9}A|A|A|A|E-? }=~B}*IQ 8;`iw@iEe?EaEiEiEiFqFu=Q [,!!oiA9>@>i@Y>4+y>>>H?? Uο |?-d??f? >@>;)>CNBNZIiR=IR>K(P"Ks9*K2K:K-G>Ep1*rqR2*p}@Ksi~mEMb@Mb@Mb@AAA A)EAYE)\(?Q?{Gz?yEG!?E\=E#٥ HF= >-T5O#?-T59 IBy5J"?5:5`5@FEi;;R/T59=A9FNOT Ignoring new targets: 117.26 m.r:r: ProNav: ac range: 117.259460 m, nav range: 113.722099 m, bearing: 319.644925 deg, approach rate: -0.601414 m/s, LOS rate: 0.053068 deg/s, cmd heading: 332.077596 deg, new cmd heading: 332.148327 deg. ;HeadingCmd: 5.797082 target range: 117.259460 and range: 118.20 m.b@ZrjRJB)~9~=w~Bm I O  );i@iaEEEEEQԁ 6GQ   A v[,zoiA09ZA@Z陪@YZO&yZ>ZH?S?+Ϳ `4? >@Τ?Nj?`}? ZA@Z;)ZCfBfYIInIn3v z]=y~K;Q ~>٥ H =  >T5^0?T59K IBy9=IY=@GEim;;2T5M)BMAMEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 117.26 m.S:S: ProNav: ac range: 117.259460 m, nav range: 113.490021 m, bearing: 319.661966 deg, approach rate: -0.628438 m/s, LOS rate: 0.046242 deg/s, cmd heading: 332.148329 deg, new cmd heading: 332.199559 deg. :5HeadingCmd: 5.797976 target range: 117.259460 and range: 118.20 m.bU@ZQrYjYRYJYBY~a~a}a|a|a|i|mA@ E~BbIҗ VL;Tmi@i!:J][BJ]TJJYRJYZJ]:bJ]:9JYJYԉH]>HYH]IH]BH] =HYHYH]=<H]8EHēCHēCHH =I = IİH5E EEE`0E$[,+oiA9>y@>M@Y>y#y>>>H@H?@$x?9Ϳ<@?nѿ@m? p?@]? >y@>ѐ;)>CRBRVITV@AIZIZ#3`f( fM=yj:Q j>٥lp rHrFr= r>tzT5v>?zT59v( IvBy|~Q~@vGEiv;v;v6T5  A 15FNOT Ignoring new targets: 117.26 m.=k/:=k/:M ProNav: ac range: 117.259460 m, nav range: 113.239250 m, bearing: 319.676774 deg, approach rate: -0.647887 m/s, LOS rate: 0.038341 deg/s, cmd heading: 332.199555 deg, new cmd heading: 332.244076 deg. M:eHeadingCmd: 5.798753 target range: 117.259460 and range: 118.20 m.bec@ZarajaRaJiBi~i~i}q|q|q|q|}`@Iw );~!)iUc@iYzEEm?EiEqEum0EqFyFyKG0P"K9*K2K:K"&jNP)+K$lo-t^g +S?~yDz<- ؕ x>ו < \,cpiA9>8^@>g@Y>y>e>>H?@f?`̿@2?ͱ?vZ?@? >8^@>٥ HFt= >T5P?T59 IByu$?:H@ GEiI::$:T5*BAE%FNOT Ignoring new targets: 117.26 m.%c9%c9= ProNav: ac range: 117.259460 m, nav range: 112.940903 m, bearing: 319.689012 deg, approach rate: -0.638723 m/s, LOS rate: 0.026270 deg/s, cmd heading: 332.244088 deg, new cmd heading: 332.280901 deg. =;:MHeadingCmd: 5.799396 target range: 117.259460 and range: 118.20 m.bM@ZIrQjQRQJQBQ~Y~]i~B}Y|Y|Y|a|e@! @ -M~B-F۴1I5 115;=H9IAim@iiBDAT read: Rx Time:14:12:14.8250 TRx dataTimestamp_ set to:1749132736.295831RJ ZJ 9bJ q9J t4J 6G GI GI HM >HI HM IHM BHM  =HI HI HM C<HM >Eԩ ~G A A N >M9\,F~"piARH޳?b]?#̿^B? ?@jp?? RK@R;)RCbBb^IIj Ij2 k=y ;Q  ?٥AA MHQy= >T5;_?T59 IBy =oA=@GEi"z<q{<]=T5Y]Aa9EFNOT Ignoring new targets: 117.26 m.E.9m.9} ProNav: ac range: 117.259460 m, nav range: 112.704865 m, bearing: 319.695263 deg, approach rate: -0.577310 m/s, LOS rate: 0.015319 deg/s, cmd heading: 332.280889 deg, new cmd heading: 332.299680 deg. }7(:}HeadingCmd: 5.799724 target range: 117.259460 and range: 118.20 m.bV@ZrjRJB~~}||||` @ %Q~B-|)I-n 115:5R99i=V@i9ԩE?EEE0E%DAT read: 14:12:14.8250 LVL= 25408, 31601, 29922, 32755, AGC= 64, IDX= 273,-0.19, 0.497,-0.929,-0.014,-0.109, PHS= 0.693,-0.774, 0.092, RAW= 125.9, -0.2, CAL= 132.6, -8.5, ROT= 17.4, 8.5 5Ygot valid direction response: 14:12:14.8250 LVL= 25408, 31601, 29922, 32755, AGC= 64, IDX= 273,-0.19, 0.497,-0.929,-0.014,-0.109, PHS= 0.693,-0.774, 0.092, RAW= 125.9, -0.2, CAL= 132.6, -8.5, ROT= 17.4, 8.5 EPDAT read: Bearing 17.4, 8.5 (Local) ]~Local bearing/azimuth received: Bearing 17.4, 8.5 (Local) DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.3 ms) speed 0.8 m/s ,DAT read: user:1966> ] BDAT read: Tx time:14:12:15.9235  $Ping request sent.   Fpublishing direction and range infoyE3?A Z?%)k¿̑BY @c)q{Iti@sh1?$Fj=  @)dI@i|>> )`&?ҍ ?whi=G;|>> ) :publishing transmit ping time  Fpublishing direction and range infoyE3?A Z?%)k¿Y )IiKa\,vP3>B.]CE EMb@Mb@Mb@AAA A)AYEE?333333?yE&?AEEA A)E@IAAyE(@IeIe2< .=yQ >٥ HF   >1=T55Kq?=T595Q I5!ByE'?E:EhAE@5GEi5:5:5LAT5imAm}EZ!b%3piA%ÐB%ÐB%s@ʁ%Q@q=Ch5@ie%%E3?A Z?%)k¿%|>%>ҁ%|O@㞎r~B % )}?4AjZ>gz%%xBj%ɜ?r%r % wB%VHМ?%!  !%B%@-EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 72.900002 m, deltaT: 4.029235 s, deltaX: -45.299995 m, approachRate: -11.242827 m/s, rangeRepo size: 4aFNOT Ignoring new targets: 117.26 m.b9b9 ProNav: ac range: 117.259460 m, nav range: 112.410797 m, bearing: 319.703070 deg, approach rate: -0.674847 m/s, LOS rate: 0.017964 deg/s, cmd heading: 332.299686 deg, new cmd heading: 332.323170 deg. BE:HeadingCmd: 5.800134 target range: 117.259460 and range: 118.20 m.b@ZrjRJB~~?~B}|||9R@|? 5U~B=I`W H:Ri@ibEZEE?E!E!E!E)FE=FE=16G] i ~Gq A A N >Fn\,;VpiAi9Z@Z(@YZyZ >ZH+?? e˿`? Pſ@x?F?@Y? Z@Z죎;)ZCfBf`Iij4=Ij%=In'In@3v- vl=yz5;Q z?٥x| ~H~F~Vq> ~?T5?T59 I)By,%@GEig;h;IDT5)-A)MB*** querying acoustic contact ***JIRIFNOT Ignoring new targets: 117.26 m.225 ProNav: ac range: 117.259460 m, nav range: 112.187401 m, bearing: 319.699762 deg, approach rate: -0.658194 m/s, LOS rate: -0.009768 deg/s, cmd heading: 332.323182 deg, new cmd heading: 332.313236 deg. 5ֹ=HeadingCmd: 5.799960 target range: 117.259460 and range: 118.20 m.b=F@Z9r9j9R9JABA~~}||||@ ?:JXBJOJJDRJZJ{9bJ%9J4J -W~B-1I5HHIH%BH =HHH <HEEEEE5E)T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.A6G ȹ~G A A N% >q \,vppiA9Rɩ@R6Ӱ@YRyRl$>RH`٥qq uHq}M= }>T5#?T59 I0By&?:(2@GEi8;;IT5AzEԹIIFNOT Ignoring new targets: 117.26 m.}e=}e= ProNav: ac range: 117.259460 m, nav range: 111.829689 m, bearing: 319.698396 deg, approach rate: -0.675684 m/s, LOS rate: -0.002587 deg/s, cmd heading: 332.313237 deg, new cmd heading: 332.309128 deg. FHeadingCmd: 5.799889 target range: 117.259460 and range: 118.20 m.b@ZrjRJB~~~B}||||? m\~BmXqI+ Y`:r<@i@KO"K 9*K2K:KNVDYP9^;l hL@Jit{Q|i5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190966E E E E 0E 6G 5v~Gy A A N > 4z"\, dpiA96ճ@6}@Y68 y6&>6H {?`GI?`Qʿ`L*?5ǿ\?@1i?@#? 6ճ@6;)6Ci<>jA)< @I@ @)@@@@DDiDIDDIHiH HH)HL N;ANLLPRAAIV)VFiT)XI^7Ab` `ٯdnB]YIII 3q^< =y;Q ?٥ HF= ?%T5?%T59% I4By)-*-@ GEi:e:KT5m+BmA{EFNOT Ignoring new targets: 117.26 m.SS ProNav: ac range: 117.259460 m, nav range: 111.639244 m, bearing: 319.694870 deg, approach rate: -0.623012 m/s, LOS rate: -0.011557 deg/s, cmd heading: 332.309139 deg, new cmd heading: 332.298541 deg. %HeadingCmd: 5.799704 target range: 117.259460 and range: 118.20 m.b%,@Z!r!j!R)J)B)~Q~Q}Q|Q|Q|Y|]r? ^~B0I :I  H <H <H >H H H H  =H H H ߚ<H E:J ZBJ ]JJ ?RJ ZJ 9bJ _9J ـ4J zJ /: jJ 4: J h: rJ i: = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694265[(\,K?piAI )"@9b-@bէ@Yb}yb:ߋ>bH@u??I&ɿ-@?ǿw?`YB?{? b-@bX;)bC}B}\III<22< O=y-٥ H#= >T5?T59" I8By#@$GEie;e;OT5AxEFNOT Ignoring new targets: 117.26 m.xx ProNav: ac range: 117.259460 m, nav range: 111.385864 m, bearing: 319.686420 deg, approach rate: -0.632610 m/s, LOS rate: -0.021143 deg/s, cmd heading: 332.298539 deg, new cmd heading: 332.273133 deg. *hHeadingCmd: 5.799260 target range: 117.259460 and range: 118.20 m.b@ZrjRJB~~}|||| i? 5`~B5y9I=o 99=Z:MQM!<]Ti]@iYE?EEE_0EyGchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.946199ZAAA %YZAyB6GM~Gi A ԩ A1 N] >.\,piA@9>x@>w@Y>6fy> >>H`??@xǿfJ?@eǿ+? ?? >x@>'܌;)>C%B%TIMb@Mb@Mb@ )Y~jt?y&1?Qy$?`<uA S@)@I@y@KaP"K9*K2K:K]  e>`XI!'@DF^9]sgII2b E=y;Q >٥ HF= > T5 3ǵ?T59 B I :By$?: @ )GEi L; /; RT5!%A!IUFNOT Ignoring new targets: 117.26 m. ?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.19850855E ProNav: ac range: 117.259460 m, nav range: 111.119278 m, bearing: 319.675650 deg, approach rate: -0.684204 m/s, LOS rate: -0.027708 deg/s, cmd heading: 332.273130 deg, new cmd heading: 332.240743 deg. E MHeadingCmd: 5.798695 target range: 117.259460 and range: 118.20 m.bM鎹@ZIrijqRqJqBq~y~}~B}y|y|y||I@Ա %c~B%8IIM QQUq-:]eg6G@~GAAN%>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4502925\,6piA96C@6XM@Y6Lļy6!>6H}??.ſ T?vǿ?ΰ?@? 6C@6;)6CFBFXIININ3V͕< Va=yZ{ ٥XX ^H^F^‹= ^>`fT5bp׵?fT59b IbAIE˺ AAM :UxdUCHQHUIHUBHU =HQHQHU <HUEE?EEEE6GHZGRGA~GAANE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7022491Y ;\,piA9:w@:@Y:薨y:u>:Hz?T?gÿ^@ H?)ǿ{?@k? |? :w@:a&;):CzBzTIII?137W D=y+٥ H%i`= %>)-T5-X굜?5T59- I-=By155@-1GE9i-:-8;-}YT5AMAImBDAT read: Rx Time:14:12:18.4741 uTRx dataTimestamp_ set to:1749132739.824871uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.956783FNOT Ignoring new targets: 117.26 m.>> ProNav: ac range: 117.259460 m, nav range: 110.621117 m, bearing: 319.645820 deg, approach rate: -0.634361 m/s, LOS rate: -0.041679 deg/s, cmd heading: 332.203435 deg, new cmd heading: 332.151048 deg. HeadingCmd: 5.797130 target range: 117.259460 and range: 118.20 m.b@ZrjRJB~~}||||M@ g~B!I%b !!-D9-B-k<5(i5@i9E?EEE`0Eq:JYBJXJJCRJZJ9bJ5K9J4JzJb:jJg:Jf:rJf:ԡ6G-"KU8P"KQ*KQ2KU:KU<>nU'AHo93%+G:09xmX7`ieJ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206193~G A! A1 N= > B\,B qiA9J̫@Jt@YJyJ)p>JHQ? ٖ? ¿+1 ?`Qǿ??o? J̫@J ;)JCTTԙMb@Mb@Mb@ )YMb?:v?:vy ?T<TA A j@)@II@y@II 3yM;Q M>٥QQ UH]F]5= ]>aT5et?T59e Iay ?:m@e5GEied;e;e]T5ArEFNOT Ignoring new targets: 117.26 m.9696] ProNav: ac range: 117.259460 m, nav range: 110.324036 m, bearing: 319.626508 deg, approach rate: -0.611040 m/s, LOS rate: -0.039828 deg/s, cmd heading: 332.151061 deg, new cmd heading: 332.092970 deg. ]ںeHeadingCmd: 5.796116 target range: 117.259460 and range: 118.20 m.DAT read: 14:12:18.4741 LVL= 30336, 30065, 20978, 32755, AGC= 68, IDX= 443,-0.27,-2.939,-2.782,-2.582, 2.364, PHS= 1.068, 1.184, 1.334, RAW= 235.8, -79.7, CAL= 228.3, -78.7, ROT= 281.7, 78.7 Ygot valid direction response: 14:12:18.4741 LVL= 30336, 30065, 20978, 32755, AGC= 68, IDX= 443,-0.27,-2.939,-2.782,-2.582, 2.364, PHS= 1.068, 1.184, 1.334, RAW= 235.8, -79.7, CAL= 228.3, -78.7, ROT= 281.7, 78.7 PDAT read: Bearing 281.7, 78.7 (Local) ~Local bearing/azimuth received: Bearing 281.7, 78.7 (Local) DAT read: Range 10 to 50 : 109.8 m (Round-trip 146.4 ms) speed 0.9 m/s ,DAT read: user:1967> BDAT read: Tx time:14:12:19.5735 $Ping request sent.Ij i9E,aEFHQ HU IHU BHU  =HQ HQ HU !<HU EHHHHI I5~G A A N- >  JDAT read: TxSync time:14:12:19.5727 H\,n%qiA9>8L@>U@Y>Edy>p>>H`0?<?C ? ǿ?@!?? >8L@>P;)>CRBR[IIXIX5\< 5aIe. aam$*8B<Eis@i)E?EEEh0E6G}#jG?bG?~G9AIAaNmx>Qy Je4JҔ4J+0:J ]BJ NJJ RJ ZJ ]:bJ !9J J zJ :jJ :J T:rJ W:qO\,i?qiA9:e¯@: ̶@Y:P$My:lcg>:H`?*?I@J?`Iǿ ^?@?/? :e¯@:#/;)8NBNZI PR=Mb@Mb@Mb@ )Y/$?Mb=y9X;Q >٥ H%= %>)]T5QKU%P) ^g-*!?mT59- I-:Bym?m:m@-=GEi-Y<-X<-^dT5AoEYeFNOT Ignoring new targets: 109.02 m.e}Re}R ProNav: ac range: 109.019913 m, nav range: 103.845100 m, bearing: 318.941865 deg, approach rate: -0.593080 m/s, LOS rate: -0.046006 deg/s, cmd heading: 332.051996 deg, new cmd heading: 331.991015 deg. HeadingCmd: 5.794336 target range: 109.019913 and range: 109.80 m.b4k@ZrjRJB~~B}B}||||>? n~B靵 sI&K  pJ )x< i 4k@iyEEEE`0Eԩ6Gu  ~GQ Aa Aq N} >V\,(YqiA9:H@:R@Y:E]y:vd>:H4?^?ܿ  ?kǿK?]?3? :H@:&O;):CFBF\IININ3V^/< V`=yb ٥dd fHfFj7= j>lnT5n*1?rT59n In8Byprr@nAGEin:n:ngT5v-BzAzlEmB*** querying acoustic contact ***JiRiy}FNOT Ignoring new targets: 109.02 m.N~N~ ProNav: ac range: 109.019913 m, nav range: 103.623634 m, bearing: 318.922603 deg, approach rate: -0.637707 m/s, LOS rate: -0.055583 deg/s, cmd heading: 331.991016 deg, new cmd heading: 331.933107 deg. HeadingCmd: 5.793325 target range: 109.019913 and range: 109.80 m.bb@ZrjRJB~~}||||3?ԁH>HCHHHHH+DH?<H?E %o~B%֑)I-pո ))-縉55[<5ivi5b@i9EEEE0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6GH~GAANf> s?\\,_sqiA9:ð@:ͷ@Y:Qӻy:#`>:Ht?`c? %oR?ǿ qz?\?@?;? :ð@: ;)8bBbfI-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499509Iv Ivb3p= ?=y;Q >٥ HF = >T5kD?T59v I4By @EGEiP:;bkT5QUAUnEFNOT Ignoring new targets: 109.02 m.Uq]q ProNav: ac range: 109.019913 m, nav range: 103.360237 m, bearing: 318.897352 deg, approach rate: -0.549921 m/s, LOS rate: -0.052852 deg/s, cmd heading: 331.933096 deg, new cmd heading: 331.857151 deg. HeadingCmd: 5.792000 target range: 109.019913 and range: 109.80 m.bX@ZrjRJB~~}|||| ;>? uq~Bu|yI}@A9:J%ZBJ%JJJ%>RJ!ZJ%9bJ%&9J%t4J!-@-@-@-@1 y15rE|MV%c\, 4qiA9R6@R[@@YR*yR9Y>RH@`?@[?`SYD ?Iǿ`VS?@N?G? R6@R};)P^ B^{Iib=Ibp>ddEMb@Mb@Mb@AAA A)AYEGz?٥ H= >}T5V?}T59 I2By{?:. @IGEi;>;nT5.B$AkEFNOT Ignoring new targets: 109.02 m.WW5 ProNav: ac range: 109.019913 m, nav range: 103.114769 m, bearing: 318.872317 deg, approach rate: -0.651399 m/s, LOS rate: -0.066593 deg/s, cmd heading: 331.857144 deg, new cmd heading: 331.781861 deg. 56=HeadingCmd: 5.790686 target range: 109.019913 and range: 109.80 m.b=LM@ZArAjARAJABA~I~Md}BQ}i|i|q|q|u? r~B0I^: 2(<C:iLM@i5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002860EEEE5Ey HHH>HHHHHHH,<H%E6G Թ ~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254715Qi\,qiA9: @<:@Y:{;y:AO>:H4?@.?z`{߿G?dƿ`Kbo?@X? : @:q;)8LLIVIVF3%: %R=y-T٥)1 5H5F5l< 5>9ET5=g?MT59= I=/ByIMiM@=MGEi=:=:=CrT5Y]"AYFNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 102.884621 m, bearing: 318.847297 deg, approach rate: -0.643970 m/s, LOS rate: -0.070164 deg/s, cmd heading: 331.781848 deg, new cmd heading: 331.706620 deg. @HeadingCmd: 5.789372 target range: 109.019913 and range: 109.80 m.bB@ZrjRJB~~}||||i@ s~B =I)>I $[:   OAй"[<:=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506692 :J= aBJ= ^JJ= BRJ9 ZJ= :bJ= d9J= -4J9 Z9p\,qiA9>mʱ@>Ը@Y> B>>H@ ??໥@Q߿`p?@ſ@~@5?k? >mʱ@>q;)>ClzBzIMb@Mb@Mb@ )Yjt?Mb٥ HF< >T5!{?T59c I,By ?:`@QGEi::uT5AhEKuP"Ku}9*Kq2Ku:KumQ2T(ygp#]l?NCp](I16]>/Kchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758826FNOT Ignoring new targets: 109.02 m.ԚԚ ProNav: ac range: 109.019913 m, nav range: 102.623444 m, bearing: 318.817561 deg, approach rate: -0.592933 m/s, LOS rate: -0.067680 deg/s, cmd heading: 331.706607 deg, new cmd heading: 331.617171 deg. 9 HeadingCmd: 5.787811 target range: 109.019913 and range: 109.80 m.b 5@Z r jRJB~~T}B}|||!|%Q@ t~B靭Izb: 59-<8E BDAT read: Rx Time:14:12:22.0686 M TRx dataTimestamp_ set to:1749132743.351218M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011638a av\,3qiA9>D@>@Y>!Q4>>H y ? u? Hвx޿`?xĿ`0ex?`? >D@>ua;)>C^BbI)` ` f=f=IjIj2r6= rY=yr8٥tt vHtzY< z>|T5~a?T59~k I~(By( @~UGEi~^;~:~=yT5AyB*** querying acoustic contact ***JRFNOT Ignoring new targets: 109.02 m.   ProNav: ac range: 109.019913 m, nav range: 102.393555 m, bearing: 318.790620 deg, approach rate: -0.603063 m/s, LOS rate: -0.070831 deg/s, cmd heading: 331.617159 deg, new cmd heading: 331.536156 deg. EqBMHeadingCmd: 5.786397 target range: 109.019913 and range: 109.80 m.bM+*@ZIrIjIRIJIBQH>HHIHBH =HHH<HE~~}||||ċ @ u~B=I)>IM: IIM ]Z]<]߲) |C5 ևGQ |\,qiA4mDAT read: 14:12:22.= 27856, 25425, 19490, 27731, AGC= 70, IDX= 383, 0.14, 2.924, 1.509, 3.025, 2.525, PHS= 0.487,-0.969, 0.497, RAW= 150.3, -0.2, CAL= 153.6, -9.1, ROT= 356.4, 9.1 }!unknown deviceResponse_: 14:12:22.= 27856, 25425, 19490, 27731, AGC= 70, IDX= 383, 0.14, 2.924, 1.509, 3.025, 2.525, PHS= 0.487,-0.969, 0.497, RAW= 150.3, -0.2, CAL= 153.6, -9.1, ROT= 356.4, 9.1 8DAT read: $Error in header {Yy0B*Received a bad header0DAT read: 004 Mod:MFSK Nunknown deviceResponse_: 004 Mod:MFSK DAT read: %,DAT read: user:1968> %checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5528569MM@M @YMMH 3?y?P޿$?]¿ϑ U?`? MM@M駏;)MC BII4=IR=1]Mb@Mb@Mb@YYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768316KV P"K9*K2K:K*JykWyD5Yi xiR8TYP(U$=,\;q "YY Y)YY]"~j?Mbpy]S#?]]]zA ]@)]@I]h@Yy]Q@II3e ; e ٥i i m Hm Fu /; u >y  T5} ? T59} I} #By T#? :  @} \GEi} <} <} 6T5 vA eE  FNOT Ignoring new targets: 109.02 m. 1 1M  ProNav: ac range: 109.019913 m, nav range: 101.968132 m, bearing: 318.737218 deg, approach rate: -0.635290 m/s, LOS rate: -0.080079 deg/s, cmd heading: 331.536153 deg, new cmd heading: 331.375278 deg. M [U HeadingCmd: 5.783590 target range: 109.019913 and range: 109.80 m.bU +@ZQ rQ jQ RQ JQ BY ~y ~} }B} | | | | @@Y i m O I Y; $ < 2VH?\?hA@޿f?IGC@a1?@? V@V~;)VC checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019143Q-0B5II=I=2MQ= U=yUiI ; @%7<'HuCHuIHu%BHu =HqHu*DHu<HuEԡ:J[BJPJJDRJZJ:bJ*9J4JzJ:-jJ:-J-:5rJ-:5EEEE05Eԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2713476G ޹<~G A A N > $\,.riA9>2@>@Y>>>H ??@[޿"?,Z@V?੷? >2@>7;)>C D)FAɿFI DDHJAiJI IJFHIN&CiL LL)LP PPPPTVAIT)TiT)ZCIZAXX XXX\i\\ٯ\b1B`IpIpv; zz=yzII!5; y/ŏ<, ؽ =׽ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7748631  \,-HriAK"@P"K"59*K 2K":K"< I4As{ w4!lH4hT\+ B :)  '59V@V@YV٥ HF >T5⶜?T59 IBy)?:@gGEi;&;T5A_EFNOT Ignoring new targets: 109.02 m.ee ProNav: ac range: 109.019913 m, nav range: 101.260765 m, bearing: 318.644564 deg, approach rate: -0.615859 m/s, LOS rate: -0.084607 deg/s, cmd heading: 331.226417 deg, new cmd heading: 331.096632 deg. Bh%HeadingCmd: 5.778727 target range: 109.019913 and range: 109.80 m.b%T@Z!r!j!R!J!B)~)~-/}B})|1|1|1|5 @9 =I)>IlMX; 32$<<%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026876iT@iqrEN>jE>E- ?E) E) E- R5E1 i :J- \BJ) JJ- ARJ) ZJ- =:bJ) J- 4J) = @= @= @= @H Ǽ>H CH IH IBH  =H H +DH )<H $EHE˔C HE˔CHAHE =IE = IE&66G X<~G AAN>^\,E.friA9J.Ա@Jݸ@YJ=yJ=JH;?`$ ? M@T߿?V]ୃ?? J.Ա@J]<;)JCZchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.278695MEBMIIeIeM3u= uP=y}k ٥yy HFdݻ >T5?T59- IBy@kGEi"::oT50BVA]EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 109.02 m.vںvں ProNav: ac range: 109.019913 m, nav range: 101.007515 m, bearing: 318.610085 deg, approach rate: -0.699675 m/s, LOS rate: -0.095498 deg/s, cmd heading: 331.096644 deg, new cmd heading: 330.992946 deg. HeadingCmd: 5.776917 target range: 109.019913 and range: 109.80 m.bܸ@ZrjRJB~~}||||@w@ iu-=Iq)uM?qIup; qq}W:ך<Q >\,0riA9r@rW¸@Yr=yrz=rH?A?``y1߿@?`W(?? ? r@r!;)rC%HB%I)) )Mb@Mb@Mb@ )Ygfffff?~jt?Mbpy33?<@ 5@)@I@yp@II<2#T< A=y6;Q >٥ H%& %>)15T5- ?=T59- I- By=D3?=:==@-pGEi-x5;-Z4;- T5IU@AQyFNOT Ignoring new targets: 109.02 m.eۺeۺ5 ProNav: ac range: 109.019913 m, nav range: 100.720581 m, bearing: 318.570045 deg, approach rate: -0.685327 m/s, LOS rate: -0.095906 deg/s, cmd heading: 330.992934 deg, new cmd heading: 330.872472 deg. 5=HeadingCmd: 5.774814 target range: 109.019913 and range: 109.80 m.b=G˸@Z9r9j9RAJABA~i~m }B}i|i|q|q|u#@ u~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.7843149%=I) ? I ;   >$3<d}\,9riA9@@Yr*=y=H??{v߿@H?XA?? @Ջ;)C-KB-II=I=2M_< ML=yMo٥QQ UHUF]; ]>amT5e ?mT59eA IeByim'u@euGEiez:e:eT5,AZEFNOT Ignoring new targets: 109.02 m.ԺԺ ProNav: ac range: 109.019913 m, nav range: 100.447693 m, bearing: 318.532854 deg, approach rate: -0.681246 m/s, LOS rate: -0.093097 deg/s, cmd heading: 330.872477 deg, new cmd heading: 330.760601 deg. HeadingCmd: 5.772861 target range: 109.019913 and range: 109.80 m.bH@ZrjRJB~~}||||v@ H<H<:J[BJSJJCRJZJ:bJy69J4JHͼ>HCHIHXBHHH,DH-<H1E Q靕')=I8)M?I; ><=a \,TriA9Z{h@Z#r@YZb4=yZ=ZH`O?P?]\߿`?qwM? ? Z{h@Z';)ZCfLBfIInIn2zk; zR=y:;Q >٥ HF   >T505?T59 IBy%%@yGEi:b; T5-1B-(A-WEQUFNOT Ignoring new targets: 109.02 m.]0Ժ]0Ժu ProNav: ac range: 109.019913 m, nav range: 100.181808 m, bearing: 318.496921 deg, approach rate: -0.684525 m/s, LOS rate: -0.092755 deg/s, cmd heading: 330.760599 deg, new cmd heading: 330.652515 deg. u~HeadingCmd: 5.770975 target range: 109.019913 and range: 109.80 m.bԫ@ZrjRJB~~}||checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538899|| ;6@Q t~B靝3=I)?I ; ~<>6 <ϦԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790651K P"K }9*K 2K :K kF/5&[$=y%m7Y<%_Cl) ` \,SriA9^AP@^Y@Y^5{>=y^}=^H`|?n?\Z?s߿`3? ^@4ͧcdz?@? ^AP@^};)^CjSBjIin٥yy H >T5K?T59X IB+:yu:F@~GEi:>T5AFNOT Ignoring new targets: 109.02 m.sѺsѺ ProNav: ac range: 109.019913 m, nav range: 99.894630 m, bearing: 318.458404 deg, approach rate: -0.680680 m/s, LOS rate: -0.091557 deg/s, cmd heading: 330.652518 deg, new cmd heading: 330.536634 deg. V{HeadingCmd: 5.768952 target range: 109.019913 and range: 109.80 m.bB@ZrjRJB~~}| | | | @ ae>3=Ia)e ?aImȉ; iim;uäu :J ZBJ PJJ ARJ ZJ 9bJ *9J 4J H Ҽ>H H IH bBH  =H H H <H E9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.2955752\,riA9>I;@>D@Y>DE=y>4Z=>Hu?]?fLm?``Q?g' `?? >I;@>G+;)>CNOBRII^I^2b피 fS=yf׌;Q f>٥hh jHjFj3ۻ n>lrT5n^?vT59n InBv :ytvF:zz@nGEin9;nbN?n7T5|~A~TEB*** querying acoustic contact ***JR1=FNOT Ignoring new targets: 109.02 m.=κ=κ ProNav: ac range: 109.019913 m, nav range: 99.634323 m, bearing: 318.423700 deg, approach rate: -0.676399 m/s, LOS rate: -0.090413 deg/s, cmd heading: 330.536623 deg, new cmd heading: 330.432239 deg. 2xHeadingCmd: 5.767130 target range: 109.019913 and range: 109.80 m.bU@ZrjRJB~~}||||~@ s~B靍;1=I)0 ?I/; 70<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.547418E?EEE_0Ei ԉ 6G <jG ?bG /?~Gy A A N >G\,5^siA)5Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.798812aIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YCl?J +?~jtxy;??H=Ļv@ @)@I@y @II3I !=yQ >٥ HF >T5{?T59$ IBT:y??:@GEi ;j;T52BAQEK"P"Kŷ9*K2K:KK ] qHMca " BROl`/!%FNOT Ignoring new targets: 109.02 m.-b-b= ProNav: ac range: 109.019913 m, nav range: 99.267319 m, bearing: 318.365775 deg, approach rate: -0.719566 m/s, LOS rate: -0.113990 deg/s, cmd heading: 330.432230 deg, new cmd heading: 330.257815 deg. =uEHeadingCmd: 5.764086 target range: 109.019913 and range: 109.80 m.bEes@ZArAjIRIJIBI~I~UL}B}Q|Q|Q|Q|]w@ q~B靍~(=I)< ?IzD; H08< Eq9ԩm checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052141E ?E E E `0E 6G <H]Ѽ>HYH]IH]]BH] =HYHYH]<H]E~GAAN>\,Z$siA9-@-/%@Y-mU=y-0=-H%?3?C|? +}?J`2?@? -@-%;)-C]FB]I)q qI!Ii3" 5=yK ٥ H >T5.?T59! IޓBy@GEi::T5Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.302751cANEFNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 98.939957 m, bearing: 318.314520 deg, approach rate: -0.695831 m/s, LOS rate: -0.109307 deg/s, cmd heading: 330.257815 deg, new cmd heading: 330.103540 deg. %HeadingCmd: 5.761394 target range: 109.019913 and range: 109.80 m.b%V]@Z!r)j)R)J)B)~1~1}1|9a|a|a|ma @ uo~Bu!=Iq)u?I ; =3#"g<(8٥ HF >T5󲷜?T59 IғByD?:@GEi<;;T5AKEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.806799FNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 98.560173 m, bearing: 318.253668 deg, approach rate: -0.742608 m/s, LOS rate: -0.119444 deg/s, cmd heading: 330.103534 deg, new cmd heading: 329.920277 deg. HeadingCmd: 5.758195 target range: 109.019913 and range: 109.80 m.b"C@ZrjRJB~)~E3}B}i|q|q|q|}`*!@ԡKEQ"K9*K2K:K%F`,l.`FIM/|'aj!Nj9`&}F8(3J m~B7%=I)?I); aae\memrjEyEU?EQEQEQEY checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059969 6G Fթ<ZG RG ~Gq A A N >\\,^siA9>@>@Y>ba=y>=>H?@>CJ9BJIIPIPZG Z^=yZ٥\` bHbFfG8 f>phvT5jQȷ?zT59j IjɓByxzY~@jGEijQʆ\,xsiABchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.562801r1BvIiv٥)1 5H5F5 5>9AMT5Eො?MT59E IEByIIU@EGEiE:Eq:ET5Y]A]JE}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 97.978462 m, bearing: 318.159887 deg, approach rate: -0.797829 m/s, LOS rate: -0.129400 deg/s, cmd heading: 329.788444 deg, new cmd heading: 329.638088 deg. HeadingCmd: 5.753270 target range: 109.019913 and range: 109.80 m.b@ZrjRJB~~}||||<#@ j~BD4=I)>I>< Q  Xl< 9J4J@@@@ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8154686GMV<~G) A1 AQ N] >K 6P"K 9*K 2K :K 5qPA=- x5yMee _C6~}95 p#[l #o\,siA9J!!@J*@YJh=yJw?=JH ?1??@{?`y?{? J!!@J;)JCԑ$BI٥ H[; >T5r?T59' IByC?:߾@GEi:t:zT54BAGEFNOT Ignoring new targets: 109.02 m.,, ProNav: ac range: 109.019913 m, nav range: 97.603348 m, bearing: 318.093468 deg, approach rate: -0.728829 m/s, LOS rate: -0.129544 deg/s, cmd heading: 329.638098 deg, new cmd heading: 329.438077 deg. ϱ HeadingCmd: 5.749779 target range: 109.019913 and range: 109.80 m.b 1@Z r j R JB~)~-}B})|1|1|1|5@D$@ g~B=I)^>I@ <   Y8้ N̈́<6>HCHIH?BH =HH-DH<H%EH ȕCH ȕCH H  =I  = I șI5 E \,|+siA9V}+@V&5@YVƁk=yV_=VH ?p)?A[?(~?ol/ݴ?*? V}+@V&;)VCi\blA)` `I` d)ddddddijףIhhIhijXA hh)ll n?Anllpr?AIr)pip)tIv5AvvF tٯtzB~II  I b3)-y -=y-;Q 5 ?٥11 5H5F=; = ?AMT5E!?MT59E IEByIUC߾U@EGEiE:E:EGT5Y]A]DEFNOT Ignoring new targets: 109.02 m.  5 ProNav: ac range: 109.019913 m, nav range: 97.369339 m, bearing: 318.051568 deg, approach rate: -0.731261 m/s, LOS rate: -0.131249 deg/s, cmd heading: 329.438083 deg, new cmd heading: 329.312081 deg. 5&]HeadingCmd: 5.747580 target range: 109.019913 and range: 109.80 m.b]-@ZYrajaRaJaBa~i~i}i|i|i|q|u$@ f~B2=I)>Ig< ͹k %<%=& =i%-@i)QEEEE0E6G-<yԩ :J \BJ NJJ @RJ ZJ =:bJ !9J J4J 7\,siA9>2@>;@Y>3Pp=y>W&=>Hݠ? $?? 4 4? U?]? >2@>T@;)>CEBEIe٥ HF : >T5e*?T59! IBy9B?:@GEi>+;.';'T5KUP"KU9*KQ2KU:KU{R[OM 7CCr:Qc}BTix qu AqFNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 97.046074 m, bearing: 317.999123 deg, approach rate: -0.683521 m/s, LOS rate: -0.111262 deg/s, cmd heading: 329.312079 deg, new cmd heading: 329.154219 deg. HeadingCmd: 5.744825 target range: 109.019913 and range: 109.80 m.bշ@ZrjRJB~~}B})|)|)|)|5G%@ }c~B}[=I)@>I?J< ] <j]=iշ@iE9EAEAEE0EAFM=FM= BDAT read: Response Not Received % *response not received5 ,DAT read: user:1969> M BDAT read: Tx time:14:12:30.5237 ] $Ping request sent.] \,xsiAHLHLHNIHN BHN =HLHLHNQ<HNqE9v9;@vD@Yvu=yvW=vH??4?Ɂ?Ӻ h?? v9;@v};)tByIIIV83 c S=yd;Q >٥ H%U;; %>)5T5-@?5T59-N% I-By15=@-GEi-u:-;-T5E5BEiAEAEimFNOT Ignoring new targets: 109.02 m.}e}e ProNav: ac range: 109.019913 m, nav range: 96.761124 m, bearing: 317.952374 deg, approach rate: -0.788467 m/s, LOS rate: -0.129737 deg/s, cmd heading: 329.154220 deg, new cmd heading: 329.013560 deg. HeadingCmd: 5.742370 target range: 109.019913 and range: 109.80 m.b@ZrjRJB~~}||||Ӓ&@ a~B_T(=I)]>I< ̀r <t!=i@ibE ZE uJDAT read: TxSync time:14:12:30.5229 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245212E?EEE5E!6Ge=~GyAAN`>Iy - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496139 2\,PsiA9>B@>cL@Y>>{=y>ɵ=>H ?<?]?T߿`;?kv[೦? n? >B@>Z;)>CJBJdIIRIR<2Z  Za=y^c;Q ^>٥`` bHbFb'; b>hrT5j>U?vT59j( IjBytvtv@jGEij+;j:jT5xzA~>EB*** querying acoustic contact ***JR!-FNOT Ignoring new targets: 109.02 m.- 5   ProNav: ac range: 109.019913 m, nav range: 96.498810 m, bearing: 317.908921 deg, approach rate: -0.723904 m/s, LOS rate: -0.120242 deg/s, cmd heading: 329.013573 deg, new cmd heading: 328.882861 deg.   =HeadingCmd: 5.740089 target range: 109.019913 and range: 109.80 m.b=Ϯ@Z9r9j9R9JABAY~Q~q}q|y|y|y|}v^'@ ^~By=I)>IZ#< A%Z %=<%+=i%Ϯ@i!IC=Ip=J-4Jw4Jb0:J^BJKJJFRJZJ} :bJK9J4JE ?E)E)E-q5E1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747976ԩK X5P"K 9*K 2K :K m_,mP|&qqon%* L;k+B["k]6G V=~G A A N > ],etiA962@6f<@Y6z=y6]=6H1? %?PĂ?#}?|=? ? 62@6;)6CRBRSITTMb@Mb@Mb@ )YGz?L7A`?٥ HF   > T5 m?T59 |, I rBy=?:U%@ GEi T ; i ; T5)-gA)QUFNOT Ignoring new targets: 109.02 m.]]m ProNav: ac range: 109.019913 m, nav range: 96.181557 m, bearing: 317.859557 deg, approach rate: -0.717530 m/s, LOS rate: -0.112015 deg/s, cmd heading: 328.882870 deg, new cmd heading: 328.734290 deg. muHeadingCmd: 5.737496 target range: 109.019913 and range: 109.80 m.bu@ZqrqjyRyJyBy~~|B}||||/(@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000399 [~B=I)>Iq(< ɸO k<J,=i@iE?EEE`5EG!G%@AHԼ>HHrIHBHHHH<HE6G{/=~GqAAN~>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2511949 'D ],A/tiA9>s-@>7@Y>>~=y>]>=>H`?*?y?`W @|?o¯V?? >s-@>;)>C~B~<II !I i3-½ -X=y-S0;Q 5>٥11 5H1=) =>AMT5E?MT59E/ IEgByIMM@EGEiE:E:ET5Y]A];EFNOT Ignoring new targets: 109.02 m. ProNav: ac range: 109.019913 m, nav range: 95.911659 m, bearing: 317.817416 deg, approach rate: -0.714156 m/s, LOS rate: -0.111819 deg/s, cmd heading: 328.734300 deg, new cmd heading: 328.607523 deg. zHeadingCmd: 5.735283 target range: 109.019913 and range: 109.80 m.bq@ZrjRJB~~}||||(@ X~B靽\=I)թ>IF,< PULC <2=iq@irER>jEEEEE^0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.50342696Gs*=i ~G A A N >I I .],W'ItiA9J$@J-@YJoG=yJ<=JH?3?,?*`y?/.&`?`Q? J$@Jm;)JCVBV,I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755195UMb@Mb@Mb@QQQ Q)QYU ףp= ?I +?I +yUQ8?U9٥ HF2' >T5?T593 IXBy}8?:4@GEiP%<%<T56BnA9EIUFNOT Ignoring new targets: 109.02 m.i]m ProNav: ac range: 109.019913 m, nav range: 95.598877 m, bearing: 317.771201 deg, approach rate: -0.675080 m/s, LOS rate: -0.100074 deg/s, cmd heading: 328.607532 deg, new cmd heading: 328.468432 deg. [HeadingCmd: 5.732856 target range: 109.019913 and range: 109.80 m.bs@ZrjRJB~~|B}K P"K59*K2K:KFWyJ8G _m(PcIF]r.ezJAJ}A||| | ^)@ UT~BU~YI] 1< YY8a "<96=i s@i ԑEEEEy2Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008856 6G 334=~G A A N% >V],btiAH"ּ>H H"FIH"BH H H H"<H"EP9 @ @Y  =y R*= H`?8D?A?`X! s?@t?@? @ ׆;) C%B%$II-I-#3= EO=yEp٥AI MHIM M>YmT5]ƭ?mT59],7 I]KByimXm@]GEi];];]T5y}Ay:JbBJOJJERJZJ:bJ%9J4JzJH ;jJJ ;J~&:rJ&:FNOT Ignoring new targets: 109.02 m.   ProNav: ac range: 109.019913 m, nav range: 95.346367 m, bearing: 317.734023 deg, approach rate: -0.716737 m/s, LOS rate: -0.105808 deg/s, cmd heading: 328.468442 deg, new cmd heading: 328.356612 deg. :HeadingCmd: 5.730904 target range: 109.019913 and range: 109.80 m.bc@ZrjRJB~ ~ } | |||*@ Q~B=I <)>Ip4< IU9Nb ta<;5=ic@i1]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260232EEEE_0E)! %wCG Y y B6GM 4=~G! A1 A AI NU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511131],0|tiA9R@R@YR{<=yR2ޕ=RH ? U?@_?@1j?N`#s?`? R@R;)RCf\Bf IInIn3v:˽ vP=yz;Q z>٥xx zH~F~ɻ ~> T5¸? T59: IIU7< QQU9][ ]9<]4=i]OR@iazEE1E9E9QEE`0EY ]>]%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764471q6G:6=~G A A N >K P"K *K 2K :K h,Hd-@-M(R$Lk02-)Jn?uZKԡ i%],tiA9FB@F@YF=yFJ=FHtu?٥ HFλ >ET5׸?ET59> I.ByM*/?M:MM@GEik<I<T5u8BtA3EBDAT read: Rx Time:14:12:33.0084 TRx dataTimestamp_ set to:1749132754.443455checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016368FNOT Ignoring new targets: 109.02 m.̶̶ ProNav: ac range: 109.019913 m, nav range: 94.791435 m, bearing: 317.657973 deg, approach rate: -0.623153 m/s, LOS rate: -0.079907 deg/s, cmd heading: 328.235915 deg, new cmd heading: 328.127789 deg. [[HeadingCmd: 5.726910 target range: 109.019913 and range: 109.80 m.bB@ZrjRJB~~|B}||||N,@ uI~BuqI};< yy}:hԩ<41=iB@iE]?EaEaEe_0EaHԼ>HHIHvBH =HHH<HE:J\BJUJJARJZJ=:bJ>9J4JzJ:jJ:J}Q:rJQ:m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2679986G 4= ~Gy A A N >+],}tiA9ְ@@YU==y:=H+k?`y?1 ? SHV?#7N? ? ְ@骥b;)C1BIII2 B=y ی;Q %>٥)) -H)5> 5>9ET5=츜?ET59=nB I=ByAE=E@=GEi=y:=:=T5QUAQ-FNOT Ignoring new targets: 109.02 m.-NѺ5NѺ= ProNav: ac range: 109.019913 m, nav range: 94.507660 m, bearing: 317.621873 deg, approach rate: -0.717088 m/s, LOS rate: -0.091495 deg/s, cmd heading: 328.127779 deg, new cmd heading: 328.019156 deg. E+{MHeadingCmd: 5.725014 target range: 109.019913 and range: 109.80 m.bMQ3@ZIrIjIRIJIBQ~Q~Q}Q|Y|Y|Y|]x-@ F~B靕/I>< V(:MB<c1=iQ3@iDAT read: 14:12:33.0084 LVL= 23280, 25537, 18418, 32755, AGC= 68, IDX= 342, 0.27, 2.363, 0.900, 2.459, 2.040, PHS= 0.412,-1.093, 0.416, RAW= 150.2, 3.6, CAL= 152.3, -5.3, ROT= 357.7, 5.3 Ygot valid direction response: 14:12:33.0084 LVL= 23280, 25537, 18418, 32755, AGC= 68, IDX= 342, 0.27, 2.363, 0.900, 2.459, 2.040, PHS= 0.412,-1.093, 0.416, RAW= 150.2, 3.6, CAL= 152.3, -5.3, ROT= 357.7, 5.3 PDAT read: Bearing 357.7, 5.3 (Local) ~Local bearing/azimuth received: Bearing 357.7, 5.3 (Local) DAT read: Range 10 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.6 m/s ,DAT read: user:1970> %BDAT read: Tx time:14:12:34.1237 %$Ping request sent.%۽m狿۽> ܽg'@)ܽ=Iܽ*@iܽqܽ@ܽq= ݹ)ݹݽbd?ѫ__?j&ů?iݽ7?ݽS~ݽQl$ݽq= ޹)޹m:publishing transmit ping time!uFpublishing direction and range infoڹyڽ:g?iRu{]UڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽbd?ѫ__?j&ů?iݹݹݹݹ ޹)޹>EbEZE9EA EA EI EI EI ԁ 6G5 m1=u JDAT read: TxSync time:14:12:34.1229 ~G AA!N5>q3],rtiA09vŰ@vϷ@Yv=yvً=vH@Va??섟? aO?@e@j?? vŰ@vV;)vC-B-IK==P"K=}9*K92K=:K=MN)@~^a.d{WyJAWc49]h }Mb@Mb@Mb@yyy y)yY}Zd;O?~jtI +y}~*?}D}94}@ y)}@I};@yy}p@IIm?3 '=yy;Q >٥ HF >T5?T59F IBy*?:W@GEik:1: T5A0EZbBtiAoBoBk@ʁ}M@),]C(:g?iRu{]UQl$q=ҁ H@i@Dh~$"SR}?F ῞pſz-FBjx[ɜ?rs! VBɜ?s!   wB rB3@% addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 14.619781 s, deltaX: -49.400002 m, approachRate: -3.378984 m/s, rangeRepo size: 4 5 Added new target pos. range: 59.973549 m, bearing: 327.159586 deg, lat: 36.906460 deg, lon: -122.115977 deg, deltaT: 14.619781 s, deltaX: -49.046364 m, approachRate: -3.354795 m/s, posRepo size: 4 1=DNOT Ignoring new targets: 59.97 m.=AM ProNav: ac range: 59.973549 m, nav range: 60.509148 m, bearing: 328.023345 deg, approach rate: 0.000000 m/s, LOS rate: -0.091495 deg/s, cmd heading: 328.019152 deg, new cmd heading: 327.885909 deg. I]HeadingCmd: 5.722689 target range: 59.973549 and range: 60.40 m.b]D @ZYrYjYRYJYBY~a~e|B}a|a|i|m@33N@|m1?ԑ A~B靽)qIpB< d^:|5<8x2=iD @i>E &<EEEEEH H H IH /BH H H H <H EH ʖCH ʖCH H I  I /5 6G 1=:J ]BJ PJJ CRJ ZJ ]:bJ *9J 4J zJ :jJ :J -:rJ -:~Gy A A N >9],ftiA9^@^9@Y^X=y^^@=^H Q??u?{A?@J` Ƴ%?? ^@^;)^CBII+In3% %\=y%߄:Q %>٥)) -H-F5c( 5>9ET5=?ET59=WJ I=ByAEUE@=GEi=:=:=MT5Y]A]-EDNOT Ignoring new targets: 59.97 m.77 ProNav: ac range: 59.973549 m, nav range: 60.262451 m, bearing: 328.023765 deg, approach rate: -0.667270 m/s, LOS rate: 0.001141 deg/s, cmd heading: 327.885909 deg, new cmd heading: 327.887174 deg. H8HeadingCmd: 5.722711 target range: 59.973549 and range: 60.40 m.br @ZrjRJB~~Q}Q|Y|a|i|m~?i <~B靝,ID< U:G{<#=ir @iDDDDԑE! E! E) E) E) 6GU '2=~GAA N5>:B],WZ uiAt9~ @~@Y~["=y~an=~H )D?C??L:?y' V?? ~ @~V;)|-~B-IMb@Mb@Mb@ )Y"~j?Mb{GzyS#?#+@ h@)A@IQ@yQ@II 3 =y);Q >٥    H F Z  >T5-?%T59O IBy%\#?%:%%@GEik::T5)5VA1MB*** querying acoustic contact ***JIRIimDNOT Ignoring new targets: 59.97 m.uFuF ProNav: ac range: 59.973549 m, nav range: 59.927258 m, bearing: 328.023559 deg, approach rate: -0.634501 m/s, LOS rate: -0.000391 deg/s, cmd heading: 327.887165 deg, new cmd heading: 327.886545 deg. HeadingCmd: 5.722700 target range: 59.973549 and range: 60.40 m.b[ @ZrjRJQBQ~Q~U|B}Y|Y|Y|a|e ? 7~B WI7MG< :{[<%`=i%[ @i!rE5i>jE5>KM>P"KI*KI2KM:KMI~JLjqU`l3"3R:=9  I rgQEEEEEF=F=9ב ו A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.6G ɓ%=i ~G A) AI NU >?VH],"uiAH˼>HCHIH~BH =HH,DH<HE9J솰@J@YJ5=yJvf=JH-??` ?? ^7?zX?? J솰@Jg;)JCV~BZIIrIrV83M MY=yM`t;Q M>٥QYQ eHamE+ m>q}T5uH>?}T59u^R IuByy}}@uGEiu;u;u9T59BA,EDNOT Ignoring new targets: 59.97 m.66 ProNav: ac range: 59.973549 m, nav range: 59.686699 m, bearing: 328.023647 deg, approach rate: -0.639277 m/s, LOS rate: 0.000233 deg/s, cmd heading: 327.886537 deg, new cmd heading: 327.886800 deg. #7HeadingCmd: 5.722704 target range: 59.973549 and range: 60.40 m.be @ZrjRJB~~}!|!|!|!|%Q?:Je[BJe`JJeDRJaZJe:bJebl9Je4JazJe:jJe:Je(:rJe): 3~B靽:IzH< D:{W><=ie @iQԉEEEE`0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753383Ա6G =~Gi Aq A N > 'N],٥ HF]: > T5R? T59gV IؒBy@GEi;;4T5:B A)EQ]DNOT Ignoring new targets: 59.97 m.]D]Du ProNav: ac range: 59.973549 m, nav range: 59.397350 m, bearing: 328.023529 deg, approach rate: -0.632146 m/s, LOS rate: -0.000258 deg/s, cmd heading: 327.886810 deg, new cmd heading: 327.886455 deg. u5}HeadingCmd: 5.722698 target range: 59.973549 and range: 60.40 m.b}X @ZyryjyRyJB~~}||||@ -~BA K P"K 9*K 2K :K hhcE [! #?Y" }3-\+1yC"Ryi0s;gU],VuiA9F@F@YF"(=yF=FH`D?`)?b? 6?@`ߴ ~?`? F@Fǒ;)FC L)NAɿNZR"FPPRAiR/]IPPITiVjA TT)TX ZrAXXX\\I\)\i\)`IbA`` `bC`diddٯdj~BjIin=Inp<Mb@Mb@Mb@ )Y(\?{Gzt:vy'?ףT@ @)Ih@y@II[3$N< \=y:Q >٥ HF: >T5e?T59Z IʒBy'?:: @GEi:4:T5 A)5DNOT Ignoring new targets: 59.97 m.55E ProNav: ac range: 59.973549 m, nav range: 59.135948 m, bearing: 328.021902 deg, approach rate: -0.655579 m/s, LOS rate: -0.004099 deg/s, cmd heading: 327.886455 deg, new cmd heading: 327.881552 deg. E4MHeadingCmd: 5.722613 target range: 59.973549 and range: 60.40 m.bM@ZIrIjQRQJQBQ~Q~]|B}Y|Y|Y|Y|e$@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508238 -(~B-PN>1I5QL< 115Fr:==ڨ<=>=iE@iAzEQIE?EEE0EH%Ƽ>H!H%IH%~BH% =H!H%+DH%ؚ<H%E~GAANg>ԁ:JYBJRJJ<RJZJ9bJS29J [4JzJb:jJg:J;:rJ<:% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758791ԙ A[],puiA}~B}II IV2ҽ M=yQ >٥ H >T5v?T59M] IBy@GEi ::T5A&E qDNOT Ignoring new targets: 59.97 m.vv ProNav: ac range: 59.973549 m, nav range: 58.897701 m, bearing: 328.020406 deg, approach rate: -0.647850 m/s, LOS rate: -0.004083 deg/s, cmd heading: 327.881565 deg, new cmd heading: 327.877060 deg. Z3HeadingCmd: 5.722534 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}||||N@ E#~BMP۟}Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011099I R=I a= S|b],luiA9E@Ea@YE=yEYE=EHF?&?@?`̉2?c`䝴@PU?I? E@EDM;)ECchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263562x~B~IMb@Mb@Mb@ )YV-?٥ HF%9 %>!5T5%?5T59%a I%By5-?5:55@%GEi%:%:%T5AEAAeB*** querying acoustic contact ***JiRiyDNOT Ignoring new targets: 59.97 m.GG ProNav: ac range: 59.973549 m, nav range: 58.593666 m, bearing: 328.020101 deg, approach rate: -0.673904 m/s, LOS rate: -0.000680 deg/s, cmd heading: 327.877057 deg, new cmd heading: 327.876137 deg. HeadingCmd: 5.722518 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~|B}||||ų @ ~B靍XJ?E=?E9E9E=F1E9~GAA1N=r>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514800H% ¼>H% CH% IH% ~BH! H! H! H% %<H% "E|h],?uiAI)@ l~BxII-I-3=p =n=yMQ M?٥II MHQU U?YeT5]7?eT59]d I]Byaim@]GEi]C:]:]T5qu# Au#EDNOT Ignoring new targets: 59.97 m.AA- ProNav: ac range: 59.973549 m, nav range: 58.361004 m, bearing: 328.019865 deg, approach rate: -0.651133 m/s, LOS rate: -0.000662 deg/s, cmd heading: 327.876128 deg, new cmd heading: 327.875418 deg. -EHeadingCmd: 5.722506 target range: 59.973549 and range: 60.40 m.bE@ZArIjIRIJIBQ~Q~Q}Y|Y|Y|Y|e @ ~B靍 n],7uiA"checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018893P9b@b+@Ybx=yb=bH`A??,?@Y+?\ l?? b@b;)bCnf~BntIIvIv3~r ~N=y̻Q >٥ HF kw  >%T5@?%T59h IBy)--@HEiY;Z;LT55;B5> A= EYeDNOT Ignoring new targets: 59.97 m.eb6mb6} ProNav: ac range: 59.973549 m, nav range: 58.094677 m, bearing: 328.019978 deg, approach rate: -0.698918 m/s, LOS rate: 0.000296 deg/s, cmd heading: 327.875417 deg, new cmd heading: 327.875756 deg. }P7HeadingCmd: 5.722511 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}||||M@ ~B! K TeP"K 9*K 2K :K LqE3ZqyR$5-?#%ITz3rIJ AJ A#u],uiA96}@6@Y6@=y6=6H $٥ HFU >U5kƹ?U59l IBy5?5:5 =@HEi;;U5AEu AADNOT Ignoring new targets: 59.97 m.yy ProNav: ac range: 59.973549 m, nav range: 57.788292 m, bearing: 328.013983 deg, approach rate: -0.693320 m/s, LOS rate: -0.013638 deg/s, cmd heading: 327.875745 deg, new cmd heading: 327.857664 deg. HeadingCmd: 5.722196 target range: 59.973549 and range: 60.40 m.b:@ZrjRJB~ ~5|B}9|9|A|I|M@#@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.522988  ~BrHHrIHd~BH =HH*DH2<H/EQ6G k[=jG ?bG >ԁ ~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774939{],E+uiA9> q@>z@Y>=y>ĉ=>H 6?V? ? 1%? 1(? ? > q@>;)>CJK~BJcIIRIR?13^  ^O=ybʔQ b>٥`` fHdf f>hnU5jdٹ?nU59j2p Ij{Bypr9 r@j HEij:j :jVU5vԱ :J= `BJ= QJJ= FRJ9 ZJ= :bJ= -.9J= 4J9 &܂], viA9}Si@}r@Y}8~=y}Bq=}H3? ??uC٥ HFm >U5?U59t IlBy ??:@HEi,;b;h U5 AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 59.97 m.eιeι ProNav: ac range: 59.973549 m, nav range: 57.179405 m, bearing: 327.998229 deg, approach rate: -0.708571 m/s, LOS rate: -0.022555 deg/s, cmd heading: 327.843206 deg, new cmd heading: 327.810124 deg. wHeadingCmd: 5.721366 target range: 59.973549 and range: 60.40 m.bn@ZrjRJB!~)~-|B}1|9|9|9|]Ĉ@Թ ~B ȕJ%?EEEE]0EM checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530837 H >H CH eIH O~BH  =H H H /<H (EHe˔CHe˔CHaHe =Ie = Ie=56G =~GA AY Aq N} >],E(viA9>^@>sh@Y>|=y>)=>H.?"?M??:?&? >^@>V;)>CJY~BJkIININ3Vߨ; VX=yZaVQ Z>٥X\ ^H^F^|_ ^>l!-U5%?-U59%x I%`By15/5@%HEi%:%:% U59= A9DNOT Ignoring new targets: 59.97 m.ܹܹ ProNav: ac range: 59.973549 m, nav range: 56.889843 m, bearing: 327.989341 deg, approach rate: -0.779722 m/s, LOS rate: -0.024055 deg/s, cmd heading: 327.810121 deg, new cmd heading: 327.783322 deg. HeadingCmd: 5.720898 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}|!|!|!|%@@ U}BUI 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035689v],4AviA99EB@EcL@YEΌ=yEБ=EHu!?`?X=?`J+ ?길4$+?? EB@Eג;)EC}L~B}dIIIm?3P ==yQ >٥ H >U5^?U59| ISBy!% %@HEir<r<xU5)- A-EYeDNOT Ignoring new targets: 59.97 m.mm ProNav: ac range: 59.973549 m, nav range: 56.578308 m, bearing: 327.980745 deg, approach rate: -0.728645 m/s, LOS rate: -0.020217 deg/s, cmd heading: 327.783319 deg, new cmd heading: 327.757388 deg. ]HeadingCmd: 5.720446 target range: 59.973549 and range: 60.40 m.b @ZrjRJB~~}||||@ }BĻԹ K= 5P"K= 9*K9 2K= :K= ' +#F{n'&U9L s  ?  F41UtA0*rADJI JI w],}[viA9F52@F;@YF!=yF=FH`g? ,?@?0?U = ?`|? F52@F{;)FCRK~BVcIԙMb@Mb@Mb@ )Y'1Z?+?MbpyB?= @)@I@y@II2 F=yXQ >٥ HFchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.538916 > U5 5?U59 Ҁ I HByC?:l@  HEi 5; 4; U5-=B- A-EqDNOT Ignoring new targets: 59.97 m.AA= ProNav: ac range: 59.973549 m, nav range: 56.262985 m, bearing: 327.963617 deg, approach rate: -0.776208 m/s, LOS rate: -0.042399 deg/s, cmd heading: 327.757392 deg, new cmd heading: 327.705719 deg. EmHeadingCmd: 5.719544 target range: 59.973549 and range: 60.40 m.bm@ZqrqjqRqJqBq~y~}|B}y|y|||h@ }BٸH=CH9H9H9H9H=+DH=0<H=2Ei@iE]?EYEaEe`0Ea checking for new query: numPingsReceived=0, elapsed TxPingTime=6.7908206G $3=! ~G A A N >ʜ],HuviA9R"@R#@YRQ=yRd=RH ??U?`L?B@8>?`? R"@R;)RC^\~B^mIII3-= Y=y%5Q %>٥)) -H-F-e 5>1EU55J?EU595 I5>ByAE-E@5$HEi5\ ;5F:5dU5QUz AQyDNOT Ignoring new targets: 59.97 m.66 ProNav: ac range: 59.973549 m, nav range: 55.976765 m, bearing: 327.948767 deg, approach rate: -0.766928 m/s, LOS rate: -0.039994 deg/s, cmd heading: 327.705728 deg, new cmd heading: 327.660951 deg. ۺHeadingCmd: 5.718762 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}||||`t@ }Be:J [BJ QJJ ARJ ZJ :bJ -.9J 4J ԁ ã],yɏviA.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.2967711N~BeI!!Mb@Mb@Mb@ )YK7?Q?~jthyIL?u=DA 3@)AIy@II3 $=yQ >٥ H >U5sh?U59c I1By L? : 5 @+HEi ;e ;U5 AE5B*** querying acoustic contact ***J1R1AEDNOT Ignoring new targets: 59.97 m.MSMS] ProNav: ac range: 59.973549 m, nav range: 55.579456 m, bearing: 327.918148 deg, approach rate: -0.795932 m/s, LOS rate: -0.061778 deg/s, cmd heading: 327.660949 deg, new cmd heading: 327.568436 deg. ])mHeadingCmd: 5.717148 target range: 59.973549 and range: 60.40 m.bm@ZqrqjqRqJqBq~y~}/}B}y|y||| @K=P"K=9*K92K=:K=uY'u|{3PPmf&+S+nLjRM_T49a }B靵(H H kIH Y~BH  =H H H <H E6G F< ~G A A N- >W],kaviA9Jn߯@J@YJ=yJ=JH?E?G?`I(`?@yv?`? Jn߯@J;)HiTT)V TIT X)XXXXXZnAi^I\\I\i\ \`)`` bAAbfFdfCfAAIf)fFid)hIj9Ajh hٯhrO~BpI I27b; p=yMQ ?٥ HF%? %?)5U5-|?5U59-Œ I-(By155@-/HEi-7:-:-U5E>BE AEEDNOT Ignoring new targets: 59.97 m. ProNav: ac range: 59.973549 m, nav range: 55.309460 m, bearing: 327.899104 deg, approach rate: -0.793632 m/s, LOS rate: -0.056252 deg/s, cmd heading: 327.568441 deg, new cmd heading: 327.511030 deg. kHeadingCmd: 5.716146 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}|||| %@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.799544 }B靕- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050698A 2],viA9>k@>¶@Y>=y>:=>H?e?6a?5IO?z|?? >k@>;)<E~B_III#3 x ==y;Q >٥ HF%3 %>)9U5-6?U59- I-BI@AIyP@-5HEi-@<-J<-#U5?B A E15DNOT Ignoring new targets: 59.97 m.=#g=#gM ProNav: ac range: 59.973549 m, nav range: 54.963779 m, bearing: 327.876169 deg, approach rate: -0.756680 m/s, LOS rate: -0.050519 deg/s, cmd heading: 327.511040 deg, new cmd heading: 327.441804 deg. M UHeadingCmd: 5.714938 target range: 59.973549 and range: 60.40 m.bU@ZQrQjYRYJYBY~Y~a}a|a|a|q|u@} @ }B靥Թ \],nviAI)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.563569V~BjIMb@Mb@Mb@ )ԑYMbX?=yQ >٥ H >Hͼ>HCHHHHH,DH;<HMEU5?U59A IByK?:t@:HEi; ;?'U5!% A!IUDNOT Ignoring new targets: 59.97 m.U؟U؟e ProNav: ac range: 59.973549 m, nav range: 54.624630 m, bearing: 327.847896 deg, approach rate: -0.833005 m/s, LOS rate: -0.069875 deg/s, cmd heading: 327.441810 deg, new cmd heading: 327.356464 deg. e?mHeadingCmd: 5.713448 target range: 59.973549 and range: 60.40 m.bmԶ@ZqrqjqRqJqBq~y~}}B}y|y|y||`L!@ }B靝IE_< [;NU<],fviA9>Jp@>y@Y>k=y>Q4t=>HԲ?@ޠ?@?@ƅ@?Jr?? >Jp@>,;)HEin7:n:n0*U5xz Az E!-DNOT Ignoring new targets: 59.97 m.55 ProNav: ac range: 59.973549 m, nav range: 54.358067 m, bearing: 327.827909 deg, approach rate: -0.800936 m/s, LOS rate: -0.060349 deg/s, cmd heading: 327.356460 deg, new cmd heading: 327.296205 deg. %HeadingCmd: 5.712397 target range: 59.973549 and range: 60.40 m.b˶@ZrjRJB~~}||||`"@ u}B}ƚyI}TDa< y;39<4 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321130p],wiA M,~BMPIMb@Mb@Mb@ )YS㥛?333333?MbpyD?=A )AIy@IIS] 6=yQ >٥!! %H%F- ->1=U55Iݺ?=U595͜ I5By=E?=:=l=@5DHEi5:59:5.U5IMK!AMEq}DNOT Ignoring new targets: 59.97 m.}9}9 ProNav: ac range: 59.973549 m, nav range: 54.013443 m, bearing: 327.799240 deg, approach rate: -0.768705 m/s, LOS rate: -0.064357 deg/s, cmd heading: 327.296217 deg, new cmd heading: 327.209661 deg. IM0]HeadingCmd: 5.710886 target range: 59.973549 and range: 60.40 m.be@ZarajaRJB~~j}B}||||`"@ %}BEuEEEE\5Ey6G喇<]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571660~GAAN>H޼>HCH_IHE~BH =HH-DH<HE :J ]BJ \JJ RJ ZJ ]:bJ [9J J zJ :jJ :J ҁ:rJ ԁ:],q,wiA9:C6@:?@Y:=y:e=:H @? ?杕?Q@?@Դ)?? :C6@:);)8L^ ~Bb=IIfIfm?3% -\=y-#Q ->٥)1 5H15 5>9EU5=?EU59=] I=ByIM M@=IHEi=:=:=[1U5U@BU!A}EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 59.97 m. ProNav: ac range: 59.973549 m, nav range: 53.727108 m, bearing: 327.777314 deg, approach rate: -0.752476 m/s, LOS rate: -0.057926 deg/s, cmd heading: 327.209665 deg, new cmd heading: 327.143539 deg. HeadingCmd: 5.709732 target range: 59.973549 and range: 60.40 m.b @ZrjR J B ~ ~ }|1|1|9|=#@ }B靍)! e ~%@>'/@Y>y^}=y> 'c=>H@^?`?O?@N}?䔴BS?? >~%@>\;)>C^}B^.IIn"Inq3r?z vN=yv^!Q v>٥xx zHzF|~⨻ ~> U5\ ? U59- IBy@MHEi:l:4U5%."A!Q]DNOT Ignoring new targets: 59.97 m.]\]\m ProNav: ac range: 59.973549 m, nav range: 53.421707 m, bearing: 327.754345 deg, approach rate: -0.782279 m/s, LOS rate: -0.059171 deg/s, cmd heading: 327.143549 deg, new cmd heading: 327.074248 deg. mo"}HeadingCmd: 5.708522 target range: 59.973549 and range: 60.40 m.b}7@ZyryjyRyJB~~}||||@g$@ e}Bey K= f=H??_?`Sy?` U\?? @/;)C}B IeMb@Mb@Mb@aaa a)aYeV-?l?y&1|ye|??e=e`eA e@)eAIe`@aye@I}I}3H>HCHLIH'~BHHH.DH<HEH]•CH]•CH]”CH] =I] = I]¡%6 > 0=yLQ >٥ HF >IUU5M $?UU59M IMByUn@?]:]]@MSHEiM:M :M9U5ae"AEDNOT Ignoring new targets: 59.97 m.GG  ProNav: ac range: 59.973549 m, nav range: 53.063530 m, bearing: 327.726697 deg, approach rate: -0.738447 m/s, LOS rate: -0.057386 deg/s, cmd heading: 327.074236 deg, new cmd heading: 326.990733 deg.  HeadingCmd: 5.707065 target range: 59.973549 and range: 60.40 m.b%G@ZArAjARIJIBQԉ~Y~}B}||||sm%@ E}BE2H9J4JzJ;jJ;J|Q:rJQ:EQEQEQEQEQԩBDAT read: Response Not Received *response not received,DAT read: user:1971> BDAT read: Tx time:14:12:45.0753 $Ping request sent.~G1 A9 AQ Ne >y],/zwiA9:@:?&@Y:Px=y:j=:H?@?$ג?=`w?\Ŵ2N1?`? :@:T1;):CJ}BJIIR IRV2Zr Zp=yZQ Z?٥\\ ^H\^뛺 ^?djU5f6?jU59f IfّByhjj@fWHEif::f:f;U5rABr"ArEDNOT Ignoring new targets: 59.97 m.A%A5 ProNav: ac range: 59.973549 m, nav range: 52.821083 m, bearing: 327.707876 deg, approach rate: -0.763761 m/s, LOS rate: -0.059562 deg/s, cmd heading: 326.990744 deg, new cmd heading: 326.934022 deg. 5#=HeadingCmd: 5.706075 target range: 59.973549 and range: 60.40 m.b=+@Z9r9j9R9JAԡB~~}||||@1 &@ }B靍q) < < checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503467_],qwiA9f@f/)@Yfr=yfs=fH.?? T? 8x?FN? Q?J? f@f;)fCr}BvIMb@Mb@Mb@ )Y +?MbX9?y&1y6?ʡ=`ezA @)AI@yIIM3Ͻ :=yaQ >٥ HFU: > U5M? U59 I͑By 7?:]@\HEi0:;8;?U5!%#A!IMDNOT Ignoring new targets: 59.97 m.UUe ProNav: ac range: 59.973549 m, nav range: 52.505692 m, bearing: 327.678766 deg, approach rate: -0.715302 m/s, LOS rate: -0.066418 deg/s, cmd heading: 326.934026 deg, new cmd heading: 326.846171 deg. eS6uHeadingCmd: 5.704542 target range: 59.973549 and range: 60.40 m.b}@ZyryjyRyJB~~8}B}||||[&@ }B0F^J5?AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754121i6Gy<H>HH IH}BH =HHH<HE~GA AY A N >ԙ :J ]BJ ]JJ @RJ ZJ ]:bJ _9J J4J zJ :jJ :J h:rJ i:A],,wiA9>8"@>+@Y> g=y>Z=>H`??`Nt?@!~?`"aݬCL?L? >8"@>G;)>CJ}BJIIR"IRq3V Z`=yZHQ Z>٥X\ ^H\^,l: b>dnU5f=a?nU59f IfđBypr>r@f`HEif5;fc2;fBU5tv#AvE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 59.97 m.%=%=5 ProNav: ac range: 59.973549 m, nav range: 52.246235 m, bearing: 327.654487 deg, approach rate: -0.712310 m/s, LOS rate: -0.066987 deg/s, cmd heading: 326.846163 deg, new cmd heading: 326.772963 deg. 57HeadingCmd: 5.703264 target range: 59.973549 and range: 60.40 m.b$@ZrjRJB~~}||||('@ E}BEQSM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256625 /],wiA9F0>@FG@YF_=yFx=FH`??? s?`@ ?`? F0>@F';)DNV}BRII^I^T3fz fH=yjQ j>٥hh jHnFnA < n>pvU5r!w?vU59r2 IrByxztz@reHEir:r6:rnFU5~BB~$A~E!-DNOT Ignoring new targets: 59.97 m.=e=eM ProNav: ac range: 59.973549 m, nav range: 51.955196 m, bearing: 327.625834 deg, approach rate: -0.717031 m/s, LOS rate: -0.070989 deg/s, cmd heading: 326.772970 deg, new cmd heading: 326.686528 deg. UBUHeadingCmd: 5.701756 target range: 59.973549 and range: 60.40 m.bUt@ZYrYjYRYJYBY~a~a}a|a|i|i|mo(@ }B靥") K 4CP"K @9*K 2K :K *<irL s T%aI>J J A#],XuwiA9rf@rpp@YrV=yr=rH ??~?@`?v۪Aڰ?? rf@rÏ;)rCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760753}BIH=ټ>H9H=IH=}BH= =H9H=-DH=<H=E-Mb@Mb@Mb@))) )))Y-M?+?V-y-n2?-=--A -@))I-@)y)IeIe2uD u2=y}웻Q }>٥yy }H}F0< >U5i?U59e IBy2?:@jHEi;;pJU5%ADNOT Ignoring new targets: 59.97 m.  ProNav: ac range: 59.973549 m, nav range: 51.636536 m, bearing: 327.611051 deg, approach rate: -0.688023 m/s, LOS rate: -0.032115 deg/s, cmd heading: 326.686527 deg, new cmd heading: 326.641905 deg.  RHeadingCmd: 5.700977 target range: 59.973549 and range: 60.40 m.bgn@ZrjRJB~~|B}!|!|!|!|%[)@I ]}B]g;Ia)hֽIc< 3?; <"],IwiA@9>ӕ@>}@Y>eQ=y>Nn=>H ;?0}?m?i ?`6c?? >ӕ@>;)>CJ|BNIIVIV2^ ^l=y WhQ  >٥ H< >!-U5%?-U59% I%By15m5@%nHEi%:%:%MU59=V&AEEamDNOT Ignoring new targets: 59.97 m.u-}- ProNav: ac range: 59.973549 m, nav range: 51.387669 m, bearing: 327.597720 deg, approach rate: -0.704569 m/s, LOS rate: -0.037923 deg/s, cmd heading: 326.641913 deg, new cmd heading: 326.601727 deg. 5кHeadingCmd: 5.700275 target range: 59.973549 and range: 60.40 m.bh@ZrjRJB~~}|||| h*@ }BdC;I)IRa< ;9<+=ih@iEqEqEqEua5EyԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2658826GMHn<jGU>bGQ~G!A)AANM0>:J\BJYJJDRJZJ=:bJ[O9J4J@@@@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519044^,DxiAh9 ݻ@ Ŷ@Y M=y = H@0?]?LIj? i`P?? ݻ@ ;) C%|B%I)) )Mb@Mb@Mb@ )Ym?y&1|?X9vy.?`;A @)3AI@y@II3-L 54=y5 Q 5>٥19 =H=F=+< =>I]U5M6?]U59M IMBy].?]:]]@MsHEiM`;M:MpQU5mCBm&AmEDNOT Ignoring new targets: 59.97 m.۸۸ ProNav: ac range: 59.973549 m, nav range: 51.086224 m, bearing: 327.595067 deg, approach rate: -0.678269 m/s, LOS rate: -0.006005 deg/s, cmd heading: 326.601724 deg, new cmd heading: 326.593717 deg. ߃HeadingCmd: 5.700136 target range: 59.973549 and range: 60.40 m.bg@ZrjRJB~~|B}||||@*@ }}B L@;I ) % Iw_< >;B;<c=ig@i!EEEE`5EKQ*P"K}9*K2K:Kl=(rVKldWnc#b)}R/)osG~xu  Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768955)H-ɼ>H-CH-IH-3}BH- =H)H-+DH-<H-E6G<~Gy A A N >Q g4 ^,.xiA9:iѯ@:۶@Y:YJ=y:=:H?nJ?Aq`7 ?dU߰?x? :iѯ@:*ߎ;):CF|BJgIIRIR2^Yؽ bf=yb Q b>٥dd fHfFf; j>hnU5jvǻ?rU59j0 IjByprr@jwHEij;j&;jTU5tzP'Ax B*** querying acoustic contact ***J R DNOT Ignoring new targets: 59.97 m.%%AU ProNav: ac range: 59.973549 m, nav range: 50.845436 m, bearing: 327.592147 deg, approach rate: -0.680496 m/s, LOS rate: -0.008293 deg/s, cmd heading: 326.593719 deg, new cmd heading: 326.584915 deg. !HeadingCmd: 5.699982 target range: 59.973549 and range: 60.40 m.bAf@ZrjRJB ~ ~ } ||||`"+@ ew}BeIeN:<)mbEiImO]< iimx8;}BDAT read: Rx Time:14:12:47.5462 TRx dataTimestamp_ set to:1749132768.815540checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021981LZi<Ȉ=iAf@i5ևGYy YyBE)E)E)E-_0E)i6G H=~GAA NK>ԑ- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272572 ^,HxiA9Blׯ@B@YBTK=yB=BH -=y9Q >٥ H: >U5q޻?U59 IvBy @|HEi; ;XU5'AE9=DNOT Ignoring new targets: 59.97 m.E&E&U ProNav: ac range: 59.973549 m, nav range: 50.524807 m, bearing: 327.587861 deg, approach rate: -0.677070 m/s, LOS rate: -0.009108 deg/s, cmd heading: 326.584921 deg, new cmd heading: 326.571982 deg. Uȹ]HeadingCmd: 5.699756 target range: 59.973549 and range: 60.40 m.b]gd@ZYrYjYRYJaBa~a~a}i|i|i|q|u,@ =o}BEWIA)E^AIZY< `;[ʥ<7=igd@i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.574090bEyZEyEEEE@4EF=Fp= & TFailed to parse incomplete device message.6G =~G H5Ǽ>H1H5xIH5|BH5 =H1H1H5<H5EIAAAqN>_^,;QgxiA*DAT read: 14:12:47.5462 LVL= 22800, 22817, 19954, 26915, AGC= 69, IDX= 264,-0.18, 2.277, 0.950, 2.330, 1.959, PHS= 0.407,-0.962, 0.368, RAW= 148.6, 2.8, CAL= 151.2, -6.1, ROT= 358.8, 6.1 .Ygot valid direction response: 14:12:47.5462 LVL= 22800, 22817, 19954, 26915, AGC= 69, IDX= 264,-0.18, 2.277, 0.950, 2.330, 1.959, PHS= 0.407,-0.962, 0.368, RAW= 148.6, 2.8, CAL= 151.2, -6.1, ROT= 358.8, 6.1 28DAT read: $Error in header 2*Received a bad header^X#Rx 1: Read direction message, but no range.b`direction in FSK: [0.994120,-0.020824,-0.106264]yx?7RO4Y Y)!YIMi#iENb>Evj> %@)+H=I[(@i^ ڽHd@^ = *P ? ?)c3 ?ibE>rH^ =vT****** received valid address query ******vR****** received valid ping request ******zreceived new query, but waiting for acoustic response period to elapse ) AɿAi1IFIi  )   pA   QIY)YiY)YIYYa aaaaiaaٯii|B:Ii=I4<}Mb@Mb@Mb@yyy y)yY}&1?/$y&1y}0?}}`y }@)yI}@yy}QAII<2# =yQ >٥ %H%F- ->15U55?=U595< I5dBy=1?=:=K=@5HEi5:5;5x]U5iuy(AuEDNOT Ignoring new targets: 59.97 m.e9e9% ProNav: ac range: 59.973549 m, nav range: 50.145458 m, bearing: 327.600523 deg, approach rate: -0.680445 m/s, LOS rate: 0.022884 deg/s, cmd heading: 326.571971 deg, new cmd heading: 326.610244 deg. %F{:-HeadingCmd: 5.700424 target range: 59.973549 and range: 60.40 m.b-i@Z)r)j)R)J)B1~1~5J|B}1|9|Y|Y|e-@ f}BH*غI)/}I;U< ;/<=ii@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEE1EI y 6G zc =~G A A N >' !^,S\xiA9Jï@JͶ@YJzS=yJ(=JH?V?~B? I Xl? ? Jï@J+$;)JCM4|BMII]I]2m um=yu;Q u?٥qy }H}F} }?U5?U59 IYBy@HEib;;b`U5DBO)AET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseDNOT Ignoring new targets: 59.97 m.a9a9 ProNav: ac range: 59.973549 m, nav range: 49.915806 m, bearing: 327.608874 deg, approach rate: -0.656281 m/s, LOS rate: 0.023975 deg/s, cmd heading: 326.610248 deg, new cmd heading: 326.635416 deg. :HeadingCmd: 5.700863 target range: 59.973549 and range: 60.40 m.bym@ZrjRJB~~}||||Fo.@ `}B靕I)ޕIiQ< O;2 <5=iym@iIC=Ia=:J\BJYJJCRJZJ=:bJ[O9J4J )>EEh%<u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseE ?E E E 0E Q 6G=ԁK*P"K9*K2K :K,O6jUF+^dnE)6~Rz!$'C :5MD@J~GAAN%>x(^,xiA9:@:N@Y:ho`=y:`H=:H_? r~?rh`Ρ?@ k U Y?`? :@:vĊ;):C5:|B5IH̼>HH?IHr|BH =HHH<HEHHCHH =I = I6T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉMb@Mb@Mb@ )Y> ףp=?J +~jty1?HļA @)AI@yzAIeIe(*3u*< u=yu;Q u>٥yy }H}F >U59#?U59 IFByw2?:$@HEi:g:JeU5=)AEDNOT Ignoring new targets: 59.97 m.{:{:  ProNav: ac range: 59.973549 m, nav range: 49.527180 m, bearing: 327.643990 deg, approach rate: -0.717528 m/s, LOS rate: 0.065344 deg/s, cmd heading: 326.635410 deg, new cmd heading: 326.741585 deg. a3;HeadingCmd: 5.702716 target range: 59.973549 and range: 60.40 m.b|@ZrjRJB~!~%%|B}!|!|)|)|- Ɓ/@ ]W}B]XfIY)]aIeM< aae;mmEEu< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE ?E E E o0E F F 6G OK=jG ?bG ?~GAAN>0^,xiA9By@B*@YB\e=yB~=BH`??X]"?Ǻ3?@ ? By@B;)BCR|BRI)T TIZ IZV2bϽ bJ=yfH;Q f>٥dd jHhj) j>lrU5n6?rU59n@ In8Bytv%v@nHEinX:ne:nhU5zEB~)A~E%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 59.97 m.=:=:M ProNav: ac range: 59.973549 m, nav range: 49.247753 m, bearing: 327.670799 deg, approach rate: -0.697369 m/s, LOS rate: 0.067287 deg/s, cmd heading: 326.741579 deg, new cmd heading: 326.822462 deg. M8;UHeadingCmd: 5.704128 target range: 59.973549 and range: 60.40 m.bU8@ZQrQjYRYJYBY~Y~a}a|a|a|a|m'0@ 5O}B5ĩI1)59I=H< 99=ή;E=ERJZJ:bJS29Jt4JԑE?EEEu0E6G< ~G  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA1 AY Nm > 7^,qxiA@9Nda@Nk@YN? g=yNͫ=NH?ʫ?HxJ?`)/?ҹ<ݬ tj?5? Nda@N-;)NCZ|BZIEMb@Mb@Mb@AAA A)AYEv?S㥫QyE8?E/]EuA Ev@)EAIE@AyEpAI] I]b3} }>=yad:Q >٥ HFP >U5J?U59; I+Byc9?:'@HEi&;;lU5)ADNOT Ignoring new targets: 59.97 m.K.P"K*K2K :K yxySEwuV>_Epi&a'8Iav  gJ ?J  ?5֤:5֤:u ProNav: ac range: 59.973549 m, nav range: 48.938858 m, bearing: 327.703891 deg, approach rate: -0.668374 m/s, LOS rate: 0.072056 deg/s, cmd heading: 326.822475 deg, new cmd heading: 326.922380 deg. uE;}HeadingCmd: 5.705872 target range: 59.973549 and range: 60.40 m.b}@ZyryjyRyJB~~7|B}|||Ա|@0@ F}BnI)YI)D<   a;<gHHIH5|BH =HH,DHӚ<HEUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseEEEE5E6G F< ~GA AI AY Nm >(=^,0xiA9FE@FN@YFf=yFo=FH??o?ū?`+{ Ϭ`ѳ? e? FE@F;)FCR|BRIXXIZbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseIZ3j_  jX=yn2Q r>٥pp vHvFv  v>x|U5z]?U59z IzBy( @zHEiz(;z(;zoU5)*AE9=DNOT Ignoring new targets: 59.97 m.Em:Em:U ProNav: ac range: 59.973549 m, nav range: 48.665833 m, bearing: 327.734666 deg, approach rate: -0.788364 m/s, LOS rate: 0.089362 deg/s, cmd heading: 326.922387 deg, new cmd heading: 327.015231 deg. UPu;eHeadingCmd: 5.707492 target range: 59.973549 and range: 60.40 m.beǣ@ZirijiRiJiBi~q~q}q|y|y|y|}@0@ @}B靭2LI)ݟI@< YuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseԉ <D^,yiA9v+@vA5@Yva=yv=vH`t?@s?"xp?At?X .`v$?`? v+@v A;)vC%|B%Ii-p٥Ya eHae e>iuU5m9q?uU59m ImByy})}@mHEimG:m:msU5*AEDNOT Ignoring new targets: 59.97 m.:: ProNav: ac range: 59.973549 m, nav range: 48.364037 m, bearing: 327.770236 deg, approach rate: -0.710327 m/s, LOS rate: 0.084241 deg/s, cmd heading: 327.015223 deg, new cmd heading: 327.122598 deg. Ag;HeadingCmd: 5.709366 target range: 59.973549 and range: 60.40 m.b!@ZrjRJB~~}| | | |1c1@ 8}BI)%♾!I5 << 19=<]e<KbH CH IH |BH  =H H +DH ʚ<H EA N% > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse:J^,d*yiA96!@6@Y6[=y6z=6H? T?im?eg?@l%?v? 6!@6\_;)6CR|BRI]Mb@Mb@Mb@YYY Y)YY]1Zd?~jtMby]";?]]]rA ]@)YI]@Yy]AII3ػ E=yjQ >٥Թ HFW >U5?U59] IByf;?:$@HEi;;2wU5FB-*AE  DNOT Ignoring new targets: 59.97 m.:J^BJOJJ@RJZJ} :bJ%9JJ4JzJ`:jJe:J&:rJ&:s:s:% ProNav: ac range: 59.973549 m, nav range: 48.061893 m, bearing: 327.799525 deg, approach rate: -0.736943 m/s, LOS rate: 0.071887 deg/s, cmd heading: 327.122594 deg, new cmd heading: 327.211014 deg. %WE;UHeadingCmd: 5.710909 target range: 59.973549 and range: 60.40 m.bUſ@ZQrQjQRQJQBY~Y~]4|B}Y|a|a|a|e`1@ /}B{I)ΖIG8< ws<0i< ɤ!9 q%Q^,DyiA96@6> @Y6@V=y6%=6Hy?`?b?@ *_?Ī֩?`? 6@6];)4F|BFIININ 3VM< V[=yZaQ Z>٥X\ ^H^F^P b>`fU5b?fU59b IbByhjB%j@bHEib":bi:bqzU5ln*ArEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 59.97 m./:/: ProNav: ac range: 59.973549 m, nav range: 47.791382 m, bearing: 327.826681 deg, approach rate: -0.693596 m/s, LOS rate: 0.070022 deg/s, cmd heading: 327.211004 deg, new cmd heading: 327.292933 deg. 9@;HeadingCmd: 5.712339 target range: 59.973549 and range: 60.40 m.b|˶@ZrjRJB~~}||||02@5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse '}B靵f I)I4< d<"^ <-c;i-|˶@i)AEIEIEIEIEIFQFQq6G l o<jG ?bG > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~G Aq A N >ԑ )MW^,ӟ^yiA9F@F6@YFmQ=yF{=FH@Vt?&?}J?-Y?U綿&`Ѳ?@%? F@FϮ;)FCR |BRI)T TuMb@Mb@Mb@qqq q)qYu+?/$~jth?yu??uuD;uA u@)qIu@qyuAII2΃< ;=y5Z9Q 5>٥99 =H9E;1 E>IUU5M?]U59M IMBy]??]:]]@MHEiMY<;MU;Mf~U5y*ADNOT Ignoring new targets: 59.97 m.2:2: ProNav: ac range: 59.973549 m, nav range: 47.453167 m, bearing: 327.852200 deg, approach rate: -0.760456 m/s, LOS rate: 0.057787 deg/s, cmd heading: 327.292939 deg, new cmd heading: 327.370042 deg. ;%HeadingCmd: 5.713685 target range: 59.973549 and range: 60.40 m.b%ֶ@Z!r!j)R)J)BI~Q~UU|B}Q|Q|Y|Y|]@-2@KP"K@9*K2K :K:*yb.g^xQ;i0a_ #yHPUM [ Ua.ERB'{ j} h }B@dI)I1<  <  <Cگ;iֶ@iHȼ>HHHH =HHH <HEMT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseԩE?EEE`0E:J\BJNJJMRJZJ=:bJ!9J 4JzJ:jJ:JT:rJW:)  cG) A } VYy y zA6G ; ~G A A N >j]^,0byyiA =T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse|BII%I)3; C=yQ >٥ HF >U5ü?U59 IBy@HEig;h;U5GB)A߭EDNOT Ignoring new targets: 59.97 m.%c:%c:5 ProNav: ac range: 59.973549 m, nav range: 47.152706 m, bearing: 327.875178 deg, approach rate: -0.763302 m/s, LOS rate: 0.058746 deg/s, cmd heading: 327.370038 deg, new cmd heading: 327.439411 deg. 5D!;=HeadingCmd: 5.714896 target range: 59.973549 and range: 60.40 m.b=m@Z9r9jARAJABA~I~I}I|I|I|Q|U3@a }B I)邾I;-< Z<k{%e<%;i%m@i!EEEE_0EԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԹ6G{/;~G A) A9 NM >I- 4=I- R= d^,#yiA9>1ޮ@>@Y>D=y>}=>Hg?`?ƏaL?j`铨 ?!? >1ޮ@>;)>CJ,|BJIIRIRZѕ= Z^=yZQ Z>٥\\ ^HF2 >!-U5%׼?-U59% I%By)5} 5@%HEi%:%e:%;U59=)A=ܭEquDNOT Ignoring new targets: 59.97 m.}Q:}Q: ProNav: ac range: 59.973549 m, nav range: 46.868954 m, bearing: 327.898184 deg, approach rate: -0.746621 m/s, LOS rate: 0.060901 deg/s, cmd heading: 327.439405 deg, new cmd heading: 327.508841 deg. .';HeadingCmd: 5.716108 target range: 59.973549 and range: 60.40 m.b[@ZrjRJB~~}||||wi3@ }B I ) b I +< ]b<,%)<-O5:i-[@i9mT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseEEEEm0E6G 1;) & TFailed to parse incomplete device message.~G A A N >HM ͼ>HM CHM IHM 5|BHI HI HM ,DHM <HM E T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIj^,^yiA:9J4JzJ.:jJ3:J}Q:rJQ:Q)|BIEMb@Mb@Mb@AAA A)AYE+??Et٥qq }Hy} }>U5?U59 IBy>?:@HEi:=:ΉU5HB)A٭EDNOT Ignoring new targets: 59.97 m.ׄ9ׄ9 ProNav: ac range: 59.973549 m, nav range: 46.479683 m, bearing: 327.905917 deg, approach rate: -0.724738 m/s, LOS rate: 0.014517 deg/s, cmd heading: 327.508855 deg, new cmd heading: 327.532247 deg. h:HeadingCmd: 5.716516 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~|B}||||3@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsey }B靝,I)w[I:;'< F<=9k<>0i@iEEEE_0Eԡ 6G 9 ~Gq Ay A N >Br^,xyiA>T****** received valid address query ******>R****** received valid ping request ******>received new query, but waiting for acoustic response period to elapse9N]֮@N@YN"9=yN =NH%d?@?c K?iZ`V"`?m? N]֮@Nq;)LiTT)zף xIx x)xxx||~pAi|I||Ii )  =A   5&C1I5)1i1)9I9==F 9ٯ98|BIII3+= f=yQ >٥ HFa >U5?U596 IސBy@HEi;=;֌U5^)A=B*** querying acoustic contact ***J9R9iquDNOT Ignoring new targets: 59.97 m.}9}9 ProNav: ac range: 59.973549 m, nav range: 46.221516 m, bearing: 327.911116 deg, approach rate: -0.747834 m/s, LOS rate: 0.015144 deg/s, cmd heading: 327.532241 deg, new cmd heading: 327.547925 deg. J&:HeadingCmd: 5.716790 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}||||5L4@ m|BuʭI)EI%< |(<Jl < ii@iII?AEu?EqEqE}o0Eyԙ 11ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse6G !~G A A! N= > ex^,78yiA9Boۮ@B@YB2=yB=BH@wg??s-`M?YX)l? ? Boۮ@B8É;)BCY]IMb@Mb@Mb@ )Y'1Z?v/?~jt?yB?xi=D< A +@)AIAyII2u: E=yrQ >٥! %H%F%6: %>)5U5-?=U59-g I-ڐBy=bC?=:=E@-HEi-R;-u`;-xU5KUMP"KQ*KQ2KU:KUWlLGmp? n@X2'NXDw@| ~ wamd)AmحEHʼ>HH-IHS|BH =HH+DH<HEHH•CH“CH =I IQn5=DNOT Ignoring new targets: 59.97 m.uuT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 59.973549 m, nav range: 45.904613 m, bearing: 327.897452 deg, approach rate: -0.780094 m/s, LOS rate: -0.033868 deg/s, cmd heading: 327.547923 deg, new cmd heading: 327.506649 deg. HeadingCmd: 5.716069 target range: 59.973549 and range: 60.40 m.b @Z r j R JB~~}B}||||`4@ }|B靅8!I)1=Ii"< 9<.<쒁:i @izE  E?EEEEF:J\BJJJARJZJ=:bJJ4JzJ:jJ:JrJQ:F) 6G zQE Q ~^,yiAI )"@9z@zB@Yz#+=yz6=zH[o??~R?@A{`d?? z@z;)zCI|B'I =R=II3e*= O=yJQ >٥ H; >U51?U59^ IאBy&@HEiz::U5IB$)AխEDNOT Ignoring new targets: 59.97 m.rr1E ProNav: ac range: 59.973549 m, nav range: 45.603992 m, bearing: 327.883746 deg, approach rate: -0.730787 m/s, LOS rate: -0.033539 deg/s, cmd heading: 327.506642 deg, new cmd heading: 327.465252 deg. E#mHeadingCmd: 5.715347 target range: 59.973549 and range: 60.40 m.bm@ZirijiRiJqBq~q~q}y|y|y|y|}A5@ |BʺI))%I(P < %<=]=y5<=VA;i=@iIEEEE0EYy^,YziA,9>@>9@Y>k%=y>9a=>H@3x??P@`Y?@@Yb?I? >@>rK;)>CJC|BJ#IIbIb 3j| [=y%쇻Q %>٥!! -H-F=%; =>Y}U5]|G?U59]@ I]ԐBy@]HEi] <]2 <]KU5<)A HH9IHh|BHHHH<HEK *P"K +9*K 2K :K 1~6Ps"-__q q. +3d qX+:Ki7 BDAT read: Response Not Received  *response not received- n^,0ziA\:JuZBJuXJJuGRJqZJu9bJu5K9Juc4JqzJu.:jJu3:Juf:rJuf:8|BIMb@Mb@Mb@ )Y)\(?K?I +?yGA?^=94< A X@)rAIMAyQAI#I%x3B !=yQ >٥ HF > U5 c?U59  I ѐByB?:I@ HEi : $: U5m)AҭEDNOT Ignoring new targets: 59.97 m.ʺʺ,DAT read: user:1973> %BDAT read: Tx time:14:12:56.0239 %$Ping request sent.% ^,}LziA i"<9>@>%@Y>=y>e-=>H D?`?syn?b0PP|?@? >@>-;)>CJ1|BNIIRIRV83U̚ Ui=y]Q ]>٥YY eHaeO< e>U5w?U59 IϐBy@HEi"::U5JB)AϭEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 59.97 m.˺˺U ProNav: ac range: 59.973549 m, nav range: 44.666264 m, bearing: 327.798788 deg, approach rate: -0.772710 m/s, LOS rate: -0.088775 deg/s, cmd heading: 327.301326 deg, new cmd heading: 327.208573 deg. Us]HeadingCmd: 5.710867 target range: 59.973549 and range: 60.40 m.b]l@ZYrYjaRaJaB~~}||||`W6@I |Bx`&I)'I=ɮ< AAE1"70^,fziA9>"@@>+@Y>=y>=>H?? q? Qy㮴?? >"@>;)>CN|BNIHe̼>HaHaHaHaHaHaHe%<He/EMb@Mb@Mb@ )Yjt?q= ףp?{Gzt?y@?=ף; A )AIzAypAII3  B=y~Q >٥ HF: >U5? U59# I̐By C? : . @HEi_::XU5K P"K9*K2K:KQD 8`gy bD9a  cX!2^O,Lxq9) >t!-*A-̭EQUDNOT Ignoring new targets: 59.97 m.] ] m ProNav: ac range: 59.973549 m, nav range: 44.351307 m, bearing: 327.748812 deg, approach rate: -0.768920 m/s, LOS rate: -0.122877 deg/s, cmd heading: 327.208572 deg, new cmd heading: 327.057579 deg. muHeadingCmd: 5.708231 target range: 59.973549 and range: 60.40 m.y}A}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752266bթ@ZrjRJB~~9}B}|||| j6@ }|B靅lI)BIM< $<00q <i = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005770B^,ziA96A@6K@Y6 =y6=6H4?@?PMq?W㶿[?`? 6A@6OH;)6CZ|BZIhIb!Ibi3r$ r[=yrEQ r>٥tt vHvFzh*< z> U5?U59& IʐBy=߾@HEi@;;U5F*A!AMDNOT Ignoring new targets: 59.97 m.UUe ProNav: ac range: 59.973549 m, nav range: 44.069408 m, bearing: 327.702059 deg, approach rate: -0.758177 m/s, LOS rate: -0.126549 deg/s, cmd heading: 327.057571 deg, new cmd heading: 326.916414 deg. eeHeadingCmd: 5.705768 target range: 59.973549 and range: 60.40 m.bm@ZirijiRiJiBq~q~q}q|y|y||e7@ u|Bu:Iy)}IyI}< yֺ&<<xY |G^,GVziAI8):@zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.51061999q@T{@Y7٥11 5H9=;< =>AMU5EWý?MU59E+ IEƐByUB?U:UU@EHEiE:E:EU5aae*AeɭE=DNOT Ignoring new targets: 59.97 m.En En U ProNav: ac range: 59.973549 m, nav range: 43.683617 m, bearing: 327.639700 deg, approach rate: -0.752917 m/s, LOS rate: -0.122775 deg/s, cmd heading: 326.916404 deg, new cmd heading: 326.727677 deg. U}HeadingCmd: 5.702474 target range: 59.973549 and range: 60.40 m.b}z@ZrjRJB~~:}B}||||5 7@ |B靍H9gI) RI L< !)<1<~3n^,TziA9R@Rj@YR٥xx ~H~F~ < ~> U5_ؽ? U592. IÐBy@HEiU;;:U5KB+AƭEIMDNOT Ignoring new targets: 59.97 m.]]u ProNav: ac range: 59.973549 m, nav range: 43.410324 m, bearing: 327.593545 deg, approach rate: -0.759165 m/s, LOS rate: -0.129019 deg/s, cmd heading: 326.727672 deg, new cmd heading: 326.588336 deg. u}HeadingCmd: 5.700042 target range: 59.973549 and range: 60.40 m.b}f@ZyryjyRyJB~~}||||7@ |B靽kI)|jI< *<H<=if@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012059E?EEE^0E6G}<~G9AQAqN9>Iԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264219DN^,=ziA09F@FE@YF2٥)) -H-F-; 5>1MU55#?UU5951 I5ByQU޾U@5HEi5;5ƒ;5̰U5eLBe+AeĭEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 59.97 m.__ ProNav: ac range: 59.973549 m, nav range: 43.101929 m, bearing: 327.539895 deg, approach rate: -0.750337 m/s, LOS rate: -0.131467 deg/s, cmd heading: 326.588337 deg, new cmd heading: 326.426235 deg. rHeadingCmd: 5.697213 target range: 59.973549 and range: 60.40 m.bO@ZrjRJB~~}|||| e8@ |B靥 I) I~B < ,<L['<mU=iO@izEԑEiEiEiEm_0Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5165216GU<ZGYRGY~G9 AA AQ Ne > He ü>He CHe IHe |BHe  =Ha He +DHe )<He /E ^,%=ziA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767908K.O"K.9*K,2K.:K./IA%SG\d]z_on*t5\|Bcip٥ Hz; >%U5 ?-U595 IBy5CB?=:==@HEi;9;U5QU,AYDNOT Ignoring new targets: 59.97 m.ٺٺ ProNav: ac range: 59.973549 m, nav range: 42.771721 m, bearing: 327.498259 deg, approach rate: -0.749428 m/s, LOS rate: -0.095224 deg/s, cmd heading: 326.426242 deg, new cmd heading: 326.300372 deg. HeadingCmd: 5.695016 target range: 59.973549 and range: 60.40 m.b=@ZrjRJB~~|B}||||[8@ |B靥3I)5In]< 8.<A,_<́=i=@iEEEEE6Ge=~GA ><BDAT read: Rx Time:14:12:58.4839 TRx dataTimestamp_ set to:1749132779.951669checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021311AN > d^,{iA9RB@R컶@YR2٥pp rHvFv: v>x U5z? U59z8 IzBy@zHEiz,;zE;z˷U5!%w,A%EIUDNOT Ignoring new targets: 59.97 m.]]m ProNav: ac range: 59.973549 m, nav range: 42.497128 m, bearing: 327.462917 deg, approach rate: -0.761790 m/s, LOS rate: -0.098682 deg/s, cmd heading: 326.300376 deg, new cmd heading: 326.193663 deg. msuHeadingCmd: 5.693153 target range: 59.973549 and range: 60.40 m.buP.@ZqrqjqRyJyB~~}||||`F29@ |BfI)|I < QQU+0ԙ  DAT read: 14:12:58.4839 LVL= 25264, 32593, 20018, 31875, AGC= 69, IDX= 329,-0.00,-0.742,-2.041,-0.647,-1.050, PHS= 0.396,-0.944, 0.401, RAW= 150.2, 2.2, CAL= 152.7, -6.7, ROT= 357.3, 6.7  Ygot valid direction response: 14:12:58.4839 LVL= 25264, 32593, 20018, 31875, AGC= 69, IDX= 329,-0.00,-0.742,-2.041,-0.647,-1.050, PHS= 0.396,-0.944, 0.401, RAW= 150.2, 2.2, CAL= 152.7, -6.7, ROT= 357.3, 6.7 ^,ͫ{iA68DAT read: $Error in header :*Received a bad headerrX#Rx 1: Read direction message, but no range.E`direction in FSK: [0.992068,-0.046785,-0.116671]IyMu?X>66mu"޽YI Mb)MQqIM2NiM|IM>MqMO> Mg'@)MnF=IMJ*@iM|iMЍ@M|= IMjX~?d =?MlQaΣ?iM?M*}MQAM|=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9U⮯@U@YUBI`*}?Q? U⮯@U;)UCO{BIMb@Mb@Mb@ )YCl?:v?~jtyd;?T= A )rAIAyAI  I V2  =ys'Q >٥!A EHEFM2R M>Q]U5U9?]U59U= IUBy];?]:]]@UIEiU_:U;UHU5*-AEԡDNOT Ignoring new targets: 59.97 m.H ż>H H IH {BH  =H H H ;<H IEHHHH =I = I5V-V= ProNav: ac range: 59.973549 m, nav range: 42.121410 m, bearing: 327.428218 deg, approach rate: -0.724066 m/s, LOS rate: -0.067466 deg/s, cmd heading: 326.193661 deg, new cmd heading: 326.088637 deg. =49eHeadingCmd: 5.691320 target range: 59.973549 and range: 60.40 m.beL@ZarajaRaJiBi~i~m|B}q||||9@ %|B%LI!)%ի!I-; ))-j3<5s5<5J)=i5L@iYT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseK1P"K9*K2K:K^K(?8_0$3zbZjCf,S ]GhKfsD2DJJAEEEE_0E 6G (=jG) bG- ?~G A! A1 NE >-^,Sx;{iAI)vT****** received valid address query ******vR****** received valid ping request ******vreceived new query, but waiting for acoustic response period to elapsex5{B}III2 d=yQ >٥ H >U5L?U59@ IBy@IEi^;w;eU5 -A )5DNOT Ignoring new targets: 59.97 m.5ס=סM ProNav: ac range: 59.973549 m, nav range: 41.860733 m, bearing: 327.403777 deg, approach rate: -0.749887 m/s, LOS rate: -0.070747 deg/s, cmd heading: 326.088640 deg, new cmd heading: 326.014861 deg. M6BUHeadingCmd: 5.690033 target range: 59.973549 and range: 60.40 m.bU@ZQrQjQRQJQBQ~~}||!|!|%@:@ |B靍I)OYI]{; YY]k5:J \BJ UJJ @RJ ZJ =:bJ >9J J4J  ^,"U{iA9F@FR@YFI<٥ HFP %>!-U5%2a?-U59%D I%By15M5@% IEi%u:%:%U5=MBE.AEEaB*** querying acoustic contact ***JR DNOT Ignoring new targets: 59.97 m.=U=UM ProNav: ac range: 59.973549 m, nav range: 41.585991 m, bearing: 327.379583 deg, approach rate: -0.692037 m/s, LOS rate: -0.061345 deg/s, cmd heading: 326.014874 deg, new cmd heading: 325.941811 deg. Mg(UHeadingCmd: 5.688758 target range: 59.973549 and range: 60.40 m.bUN @ZQrqjqRyJyBy~y~y}||||@Pw:@ |BI)NžI; 7< e, %UH9 H= IH= {BH=  =H9 H= *DH= <H= E~G A A9 NE > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseKU P"KQ *KQ 2KU :KU -];dN]USO [ GV'CWhO':^,o{iAJ>?J>?9Rk@t@Yn٥)1 5H5F5߻ =>AMU5E{?MU59EI IEByU7:?U:UU@EIEiE :E:EU5Yeb.AeEDNOT Ignoring new targets: 59.97 m.)L)L ProNav: ac range: 59.973549 m, nav range: 41.216927 m, bearing: 327.374204 deg, approach rate: -0.758635 m/s, LOS rate: -0.011156 deg/s, cmd heading: 325.941818 deg, new cmd heading: 325.925537 deg. HeadingCmd: 5.688474 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~+|B}||||:@ |BxI)*ʾIZ; :<?/<=i@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEEo0E9 6G zc =~G A A N >Bf^,b{iA. ^,{iA96}.@6(8@Y6;٥  H F X >%U5?%U59Q IBy%9?%:%z%@IEik:t:U55NB5.A5EYeDNOT Ignoring new targets: 59.97 m.e9e9u ProNav: ac range: 59.973549 m, nav range: 40.672153 m, bearing: 327.383545 deg, approach rate: -0.723547 m/s, LOS rate: 0.026868 deg/s, cmd heading: 325.919033 deg, new cmd heading: 325.953780 deg. }:HeadingCmd: 5.688967 target range: 59.973549 and range: 60.40 m.b @ZrjRJB~~|B}||||;@ HQHU<H]>HYH]IH]K{BHYHYHYH]*<H],E |B靝I)dӾI; ><"<fRJYZJ]:bJ][9J]t4JYzJ]:mjJ]:mJ]Ӂ:mrJ]ԁ:m6G z =~Ga Ai A N >ԁ 2^,5{iA6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse9B@B@YB٥qq uHq5_ 5>9EU5=?EU59=U I=ByAEzE@=IEi=\:=G:=>U5UOBQ]]/A]EDNOT Ignoring new targets: 59.97 m.:: ProNav: ac range: 59.973549 m, nav range: 40.376446 m, bearing: 327.396248 deg, approach rate: -0.720943 m/s, LOS rate: 0.031196 deg/s, cmd heading: 325.953785 deg, new cmd heading: 325.992171 deg. F:HeadingCmd: 5.689637 target range: 59.973549 and range: 60.40 m.b@ZrjRJB~~}||||<@ |B`мI)ྉI; i@< <)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ ܗ^,u{iAI)9>@>@Y>ۡm=>H +y?`6?>i?]᱔ j?? >@>{ߊ;)>CRzBR+IIZIZ3fk jS=yjQ j>٥ll nHnFr! r>pvU5rȾ?zU59rY IrByxzfz@r#IEir*:rX:reU5/A%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 59.97 m.5#:=#:U ProNav: ac range: 59.973549 m, nav range: 40.115154 m, bearing: 327.408974 deg, approach rate: -0.727084 m/s, LOS rate: 0.035645 deg/s, cmd heading: 325.992170 deg, new cmd heading: 326.030599 deg. U:]HeadingCmd: 5.690308 target range: 59.973549 and range: 60.40 m.be@ZarajaRaJaBa~i~i}i|i|q|q|uw<@ |B靥4I)辉I; n$C<ֲ< HQ HQ HU kIHU {BHQ HQ HQ HU !<HU E  % T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse1 K= O"K= +9*K9 2K= :K= -|bsA|VdIh"^VL z0jNr\^,O{iAnzBn,IMb@Mb@Mb@ )Yl?~jt{Gzy7?ļ# )\AIAyGAI!Ii3/; :=yQ >)  :J^BJPJJ?RJZJ} :bJ*9Jـ4JzJ`:jJe:J-:rJ-:٥AY eHmF >pG  EܿYAyMA!eU5%߾?eU59%'_ I%{Bym7?m: @%(IEi%CE<%;D<%U5/AEDNOT Ignoring new targets: 59.97 m.::% ProNav: ac range: 59.973549 m, nav range: 39.773529 m, bearing: 327.438546 deg, approach rate: -0.694470 m/s, LOS rate: 0.060631 deg/s, cmd heading: 326.030611 deg, new cmd heading: 326.120088 deg. Mq&;MHeadingCmd: 5.691869 target range: 59.973549 and range: 60.40 m.bM#@ZQrQjQRQJQBQ~Y~]{B}Y|Y|a|a|e<@ y|BeIi)u?侉qI}; yy}F<{`ڜ<>:_,5 |iA-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse5zB5(IIE IEb3]ck ]H=yaQ m>٥ii mHiq u>y}U5}#?U59}Hc I}vBy@}-IEi}G:}s;}U5/AEDNOT Ignoring new targets: 59.97 m.:: ProNav: ac range: 59.973549 m, nav range: 39.507603 m, bearing: 327.461920 deg, approach rate: -0.746106 m/s, LOS rate: 0.066021 deg/s, cmd heading: 326.120086 deg, new cmd heading: 326.190680 deg. =5;HeadingCmd: 5.693101 target range: 59.973549 and range: 60.40 m.b-@ZrjRJB~~}||||P=@Թ t|B?I)h侉!I%Z^; !!%0OH<--<-ҭ _,wI&|iA9F@Fb@YFх٥ HFļ >U5?U59g IsBy 9? : ! @2IEi::wU5s/AGaGe@AHu>HqHuXIHuzBHu =HqHqHu<HuEDNOT Ignoring new targets: 59.97 m.::Qu ProNav: ac range: 59.973549 m, nav range: 39.204823 m, bearing: 327.489829 deg, approach rate: -0.699530 m/s, LOS rate: 0.064978 deg/s, cmd heading: 326.190683 deg, new cmd heading: 326.275057 deg. u_2;}HeadingCmd: 5.694574 target range: 59.973549 and range: 60.40 m.b}9@ZyryjyRyJB~~|B}|||| =@ m|BI)KվI; J< = `K< 09 yEEEEE:JZBJOJJ@RJZJ9bJ%9JJ4JzJ/:jJ4:J&:rJ&:ԩ 6G %<~G A A N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse_,h%@|iA9>@>`@@Y>X;v=>H??K?@GGL .?ox?Dʮ?? >@>;)>C5zB=1IIMIM3UƼ ]T=y]Q ]>٥aa eHeFm{ٻ m>quU5u?}U59u\l IuoByy})"}@u6IEiu;u;uU5PB/AEDNOT Ignoring new targets: 59.97 m.:: ProNav: ac range: 59.973549 m, nav range: 38.925694 m, bearing: 327.516997 deg, approach rate: -0.747301 m/s, LOS rate: 0.073258 deg/s, cmd heading: 326.275049 deg, new cmd heading: 326.357138 deg. I;HeadingCmd: 5.696007 target range: 59.973549 and range: 60.40 m.bE@ZrjRJB~~}|||| >@ h|B靥/oݼI)k׾I; L<RQ < ~GAAQAiNuW>]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse 5_,1 Z|iA9B|@BQ@YB0٥dd fHhj呻 j>lpvU5r,?vU59rp IrlBytv"z@r;IEirz:r:r7U5~QB~/A~E-B*** querying acoustic contact ***J)R)9=DNOT Ignoring new targets: 59.97 m.E:E:U ProNav: ac range: 59.973549 m, nav range: 38.646076 m, bearing: 327.545318 deg, approach rate: -0.722225 m/s, LOS rate: 0.073680 deg/s, cmd heading: 326.357148 deg, new cmd heading: 326.442726 deg. UCJ;]HeadingCmd: 5.697500 target range: 59.973549 and range: 60.40 m.b]Q@ZYrYjYRaJaBa~a~a}i|i|i|i|u༁>@ b|B靭TFּI)ҾI]s; N<w?<2;iQ@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE?EEE0E!16G-2<He>HaHaHaHe =HaHaHe<HeEHȔCHȔCHH =I = Iȃz5~G A A) N= >e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapsei K5 oP"K5 s9*K1 2K5 :K5 Vs  -3Qk^ `;3k+%,Aj>@S\BpZd SzB`^_,s|iA9J4J-4JV1:J[BJSJJBRJZJ:bJy69J-4JzJ:jJ:J(C:rJ+C:9%q@%{@Y%,٥ HF8+ >U5.E?U59)v IkBy 7?:1@@IEiX;.;U5y/AE!aDNOT Ignoring new targets: 59.97 m.}:}:= ProNav: ac range: 59.973549 m, nav range: 38.291466 m, bearing: 327.572670 deg, approach rate: -0.710638 m/s, LOS rate: 0.055321 deg/s, cmd heading: 326.442717 deg, new cmd heading: 326.525532 deg. e;uHeadingCmd: 5.698946 target range: 59.973549 and range: 60.40 m.bu]@ZqrqjyRJB~~!|BT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse}||||`j?@ -Z|B5#I1)5ʾ1I5^V; 1Y]Qu,$_,o|iA9^m@^Rw@Y^D٥   H F >eU5W?mU59Iz IjByimVm@EIEi::U5uRBu/A}EDNOT Ignoring new targets: 59.97 m.,~:,~:E ProNav: ac range: 59.973549 m, nav range: 38.021748 m, bearing: 327.594043 deg, approach rate: -0.696137 m/s, LOS rate: 0.055554 deg/s, cmd heading: 326.525526 deg, new cmd heading: 326.590099 deg. E;EHeadingCmd: 5.700073 target range: 59.973549 and range: 60.40 m.bMf@ZIrIjIRIJIBI~Q~Q}Q|Q|y|y|}sh?@ V|BؼI)u˾I%~C; !!%؛S<-F-<-E";i-f@i)E ?E E E p0E 6G!j;1~GAANg>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ M*_,4|iA HHp<H"Ƽ>H H"^IH"{BH H H"+DH"/<H":E`9J%m@Jv@YJhS=y:Q >٥ H >U5l? U59~ IiBy 5?:@IIEi(n;l;U5/AuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseDNOT Ignoring new targets: 59.97 m.OB:OB:  ProNav: ac range: 59.973549 m, nav range: 37.717716 m, bearing: 327.612239 deg, approach rate: -0.703957 m/s, LOS rate: 0.042469 deg/s, cmd heading: 326.590112 deg, new cmd heading: 326.645139 deg. +:HeadingCmd: 5.701033 target range: 59.973549 and range: 60.40 m.bn@ZrjRJ!B!~!~%F|B}I|I|I|I|m@?@ P|BsüI)ǾI.; U<Sx<ƭ:in@iKE~[8% VA^W!EEEE0E6G q;- g31_,W |iA9:u@:7@Y:d٥ HF; > U5Y? U59~ Iy @NIEi;+;nU5/AEDNOT Ignoring new targets: 59.97 m.-C:-C: ProNav: ac range: 59.973549 m, nav range: 37.407459 m, bearing: 327.630643 deg, approach rate: -0.713229 m/s, LOS rate: 0.042659 deg/s, cmd heading: 326.645136 deg, new cmd heading: 326.700807 deg. 6:HeadingCmd: 5.702005 target range: 59.973549 and range: 60.40 m.bv@ZrjRJB~~}||||!@@ %K|B-񑳼I))-)I-.; ))5W<5;5<=r:i=v@i9a\7_,n|iA9fe@f@Yf`٥ HF; >U5?U59c Iy@SIEi;^;U5  H/A EB*** querying acoustic contact ***JR)=DNOT Ignoring new targets: 59.97 m.m8":u8":Ա% ProNav: ac range: 59.973549 m, nav range: 37.146248 m, bearing: 327.645219 deg, approach rate: -0.630941 m/s, LOS rate: 0.035456 deg/s, cmd heading: 326.700816 deg, new cmd heading: 326.744853 deg. %:-HeadingCmd: 5.702774 target range: 59.973549 and range: 60.40 m.b-}@Z)r)j1R1J1B1~1~9}9|9|9|9|m/[@@ E|B靵𿱼I)I; HZ<<Ux;i}@i!HU̼>HUCHUkIHU{BHU =HQHQHU"<HU-EE?EEE0EBDAT read: Response Not Received *response not received,DAT read: user:1975> BDAT read: Tx time:14:13:06.9740 $Ping request sent.J ? 6G :~G A A N >=_,|iAA}zB}II%Mb@Mb@Mb@!!! !)!Y%7A`?Q?{Gz?y%6?%\=!%A A %MA)%AI%A!y%AIeIe 3u< }7=y}Q }>٥y H >U5%?%U59ԋ Iy%6?=:=E@XIEi3<<eJDAT read: TxSync time:14:13:06.9732 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253437U5/ADNOT Ignoring new targets: 59.97 m.ͮͮ5 ProNav: ac range: 59.973549 m, nav range: 36.829178 m, bearing: 327.643218 deg, approach rate: -0.750387 m/s, LOS rate: -0.004776 deg/s, cmd heading: 326.744857 deg, new cmd heading: 326.738803 deg. 5Q=HeadingCmd: 5.702668 target range: 59.973549 and range: 60.40 m.b=A|@Z9r9j9RAJABAi~~Q|B}||||8@@ @|B靵 EI)ﯾI: Mj\<͜A?<g;iA|@iԑEEEE1E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5014376G ;~G A A N E_,z}iAI)@9B+@Bֱ@YB]٥y:J]BJRJJARJZJ]:bJS29J4Jy HF]< >9EV5=G G ?AH H H qIH "{BH  =H H H <H E$K_,˽.}iA9>®@>̵@Y>C;=>H_?` ?@@CL?-W`ð?S? >®@>͎;)>CJzBJNI-Mb@Mb@Mb@))) )))Y-^I +?Q?y&1|?y-X9?-u=-`;- A -dA)- AI-AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005583y)y-AI I M3q B=y :Q >٥!! %H%F-Y; ->)=V5-nտ?=V59- I)y=9?=:E%E@-aIEi-;-;-V5eTBe.AeEDNOT Ignoring new targets: 59.97 m.$u$u ProNav: ac range: 59.973549 m, nav range: 36.244770 m, bearing: 327.619240 deg, approach rate: -0.751866 m/s, LOS rate: -0.053580 deg/s, cmd heading: 326.728164 deg, new cmd heading: 326.666268 deg. HeadingCmd: 5.701402 target range: 59.973549 and range: 60.40 m.bq@Zrj!R!J!B!~!~-|B})|)|QKuP"Ku9*Kq2Ku:KuK)"WnH0pk]:uNDtYF4V?||@@-G]Aq ԡYAyA 7|B靽I)I⫟:   :Z`< <E'R_,uH}iA9>@>@Y>$F=>H`s???G`]?3)`T$l?@? >@>,3;)>CFzBFJIIrIr2z z^=y~Q ~>٥| H?< > V5 鿜?V59 5 I y@ eIEi ; ; V5!%/A)iuDNOT Ignoring new targets: 59.97 m.}Є}Є ProNav: ac range: 59.973549 m, nav range: 35.977734 m, bearing: 327.598271 deg, approach rate: -0.733913 m/s, LOS rate: -0.058057 deg/s, cmd heading: 326.666255 deg, new cmd heading: 326.602883 deg. %`HeadingCmd: 5.700295 target range: 59.973549 and range: 60.40 m.bh@ZrjRJB~~}||||`)#A@ 54|B5PüI9)=ݨAI?ǁ: %b<D8W~<-qq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7621938X_,zb}iAJ٥!! %H%F%7< ->)=V5-?=V59- I)y9==@-jIEi)-;-f V5AM;p^_,|}iA9B-@B7@YB}٥qq uHuF5< U>YeV5]?eV59]ɞ I]lByeb=?m:mm@]oIEi]b:]:]LV5qu/A}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265675ԱB*** querying acoustic contact ***JR1=DNOT Ignoring new targets: 59.97 m.M7M7 ProNav: ac range: 59.973549 m, nav range: 35.354492 m, bearing: 327.509270 deg, approach rate: -0.704755 m/s, LOS rate: -0.137449 deg/s, cmd heading: 326.525144 deg, new cmd heading: 326.333478 deg. HeadingCmd: 5.695594 target range: 59.973549 and range: 60.40 m.bNB@ZrjRJB~~D{B}|||||A@ e+|B靅I)I9 jf<fl7Z<{ M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5174699 Xe_,k}iA9FI@FhS@YF{٥hh jHhnv< n>pvV5r+?vV59rġ IrnByxzOz@rsIEir:r:riV5|~/A!-DNOT Ignoring new targets: 59.97 m.-p4-p4M ProNav: ac range: 59.973549 m, nav range: 35.093021 m, bearing: 327.456447 deg, approach rate: -0.775087 m/s, LOS rate: -0.157752 deg/s, cmd heading: 326.333489 deg, new cmd heading: 326.173839 deg. MػUHeadingCmd: 5.692807 target range: 59.973549 and range: 60.40 m.bUz+@ZQrQI]R=I]%=:JeYBJePJJaRJaZJe9bJe*9JaJajQRqJqBq~q~y}y|y|y||A@ '|BڼI)II2H9  +h<#g<-i  H H <H μ>H H kIH {BH  =H H ,DH <H EH}ʕCH}ʕCHyH} =I} = I}ʳv5߂k_,H}iA I()(9FS@F]@YF,t٥ HF-; >V5E?V59 tIIlByL2TwQFD\%qXqyZkYUZi@i)E?EEE_0EF=F=6GG<~GAAN>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273498 kr_,&}iApmzBm4III#3˻ Y=y Q >٥!! %H-F5 =>IuV5MZ?}V59M IMjByyy}@M~IEiM;M ;MV5/AEDNOT Ignoring new targets: 59.97 m./Ⱥ/ȺU ProNav: ac range: 59.973549 m, nav range: 34.465126 m, bearing: 327.382347 deg, approach rate: -0.728221 m/s, LOS rate: -0.087507 deg/s, cmd heading: 326.051292 deg, new cmd heading: 325.949501 deg. U8p]HeadingCmd: 5.688892 target range: 59.973549 and range: 60.40 m.b]g @ZYrYjYRaJaBa~a~a}||||*B@AEDAT read: 14:13:09.4236 LVL= 27424, 32753, 19442, 32755, AGC= 67, IDX= 333,-0.07, 0.175,-1.251, 0.179,-0.180, PHS= 0.443,-1.024, 0.356, RAW= 147.0, 3.2, CAL= 149.7, -5.6, ROT= 0.3, 5.6 MYgot valid direction response: 14:13:09.4236 LVL= 27424, 32753, 19442, 32755, AGC= 67, IDX= 333,-0.07, 0.175,-1.251, 0.179,-0.180, PHS= 0.443,-1.024, 0.356, RAW= 147.0, 3.2, CAL= 149.7, -5.6, ROT= 0.3, 5.6 UPDAT read: Bearing 0.3, 5.6 (Local) ]~Local bearing/azimuth received: Bearing 0.3, 5.6 (Local) eDAT read: Range 10 to 50 : 34.0 m (Round-trip 45.4 ms) speed 0.7 m/s m,DAT read: user:1976> uBDAT read: Tx time:14:13:10.5241 u$Ping request sent.uoE> Y3$@)d=Im7'@i+Ƚ;+= )\S y?$[ ??i>Wd;+= ):publishing transmit ping timeqFpublishing direction and range infoyR?yXu?A_1Y )Ii )Ii )\S y?$[ ??i ) u|BuIy)}񯾉yI}%+ l<#<M =ig @iE?EEEE9  JDAT read: TxSync time:14:13:10.5233 6G <~G A A N >)x_,}iA9ZhM@ZW@YZYg٥!A MHIU2 ]>ԡV5Bp?V59^ IhBy@IEi.B<I<[V5-VB550A=EZb}iA B B@ʁJB}@@|?VZ R?yXu?A_1;+=HѼ>HH^IH{BHHHH;<HVEҁ5IK5<@&W}*2M׻ ϝ3Ƽ?I@ (8@(gzSAj9ɜ?r׋ kB9ɜ?׋  kB3B@u addTargetRange:: Added new target pos. range: 34.000000 m, deltaT: 36.345260 s, deltaX: -26.400002 m, approachRate: -0.726367 m/s, rangeRepo size: 4  Added new target pos. range: 33.759171 m, bearing: 327.217744 deg, lat: 36.906455 deg, lon: -122.115974 deg, deltaT: 36.345260 s, deltaX: -26.214378 m, approachRate: -0.721260 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.76 m.Powering the camera and arming the capture device at range: 34.00 m.z ProNav: ac range: 33.759171 m, nav range: 33.550732 m, bearing: 327.217847 deg, approach rate: 0.000000 m/s, LOS rate: -0.087507 deg/s, cmd heading: 325.949495 deg, new cmd heading: 325.826348 deg. HeadingCmd: 5.686743 target range: 33.759171 and range: 34.00 m.b@ZrjRz J)B)~1~1}1|1|9|=A@|=4? |B靵c ԼI)I+H n<r<=i@i"&Changing to mode: 2"Armed mode."2Commanding negative:54396E?EEEg0EK \$P"K 9*K 2K :K O-mmW2IGc88$3  }o/y T4J >J >:J ZBJ ZJJ RJ ZJ 9bJ S9J J zJ .:% jJ 3:% J Qu:% rJ Tu:% ! 6G H=~G A A N >p|_, ~iA(i*<<9R4@R9>@YR!rQ٥99 =H=FEͻ E>Q]V5U?eV59U IUdBye=?e:em@UIEiU;U;U V5quB0AuE|Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}Entering USBL mode with 120.000000 count pings at 34.000000 m (mode 1.000000 count ).1}q}B*** querying acoustic contact ***JRDNOT Ignoring new targets: 33.76 m.Powering the camera and arming the capture device at range: 34.00 m.zɺɺ ProNav: ac range: 33.759171 m, nav range: 33.198738 m, bearing: 327.182751 deg, approach rate: -0.874555 m/s, LOS rate: -0.088123 deg/s, cmd heading: 325.826361 deg, new cmd heading: 325.719957 deg. qHeadingCmd: 5.684886 target range: 33.759171 and range: 34.00 m.bE@ZArAjARAzAJIBI~Q~U|B}Y|Y|q|q|}tM?ԡ |BۼI)㼾IOE =qg_,:~iA9N'$@N-@YNL٥QY }H}F}死 }>V5?V59 IaBy8@IEiV::#V5WB0AE:^@q}}=DNOT Ignoring new targets: 33.76 m.9EPowering the camera and arming the capture device at range: 34.00 m.zAMM  ProNav: ac range: 33.759171 m, nav range: 32.920807 m, bearing: 327.155494 deg, approach rate: -0.727192 m/s, LOS rate: -0.071918 deg/s, cmd heading: 325.719946 deg, new cmd heading: 325.637485 deg.  mE]HeadingCmd: 5.683446 target range: 33.759171 and range: 34.00 m.b]޵@ZYrYjYRazaJaBachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247093~i~}||||`-7? U|BUݼIY)]¾YI]`# YY]Ls<|<c= =i޵@i 9E4;EEEo0EGaGeAAHmӼ>HmCHmLIHmzBHm =HiHiHm5<HmPEi M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5004556G AC =~G A A1 NE >A_,ė7~iA(9>$@>'@Y>^3J_=>H Ȓ?"?@`&?AFݫ?@$@>Iș;)>CN}zBN IKM*P"KMs9*KI2KM :KM j6.Rg5UtHyb7=_3:y8i>n @ qHdJUAJU}A:JuaBJuTJJuFRJqZJu:bJu:9Ju4JqzJu;jJu;JuRJ:rJuUJ:Mb@Mb@Mb@ )YʡE?ˡE?~jty=?'=DA A)AIAy(AIIm?3 6=yQ >٥ H׺ >V5?V59 I]By>?:@IEi;v;'V50AEB}}!-DNOT Ignoring new targets: 33.76 m.)-Powering the camera and arming the capture device at range: 34.00 m.z)5l5lE ProNav: ac range: 33.759171 m, nav range: 32.590343 m, bearing: 327.133112 deg, approach rate: -0.756446 m/s, LOS rate: -0.051753 deg/s, cmd heading: 325.637492 deg, new cmd heading: 325.569666 deg. EMHeadingCmd: 5.682262 target range: 33.759171 and range: 34.00 m.bMյ@ZIrIjIRIzQJQBQ~Q~]T|B}Y|Y|Y|| ? -|B-bI))5Cɾ1I5,ݺ 11] euk _,NQ~iAI$)$9BK%@B.@YB<٥hh nHnFn; n>pvV5ri?vV59r IrYByxzz@rIEir:r:r*V5|~0A|J}-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0046495Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|55Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLAEDNOT Ignoring new targets: 33.76 m.AMPowering the camera and arming the capture device at range: 34.00 m.zIUPoUPo ProNav: ac range: 33.759171 m, nav range: 32.316093 m, bearing: 327.113769 deg, approach rate: -0.735367 m/s, LOS rate: -0.052306 deg/s, cmd heading: 325.569655 deg, new cmd heading: 325.511133 deg. HeadingCmd: 5.681241 target range: 33.759171 and range: 34.00 m.b̵@ZrjRzJB~~}||||B@ } |B靅I)q;Ia lw<a<=i̵@iEm6EiEiEm4EiFFp=6Gk = ?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256882~G! A1 AI Q Ne >KQ_,cFk~iAHMԼ>HIHM?IHMzBHM =HIHIHMȚ<HME97*@3@Y'*٥QQ UH]F]: ]>amV5e?mV59e IeVByuxA?u:u u@eIEie:eR:e//V50AEDNOT Ignoring new targets: 33.76 m.Powering the camera and arming the capture device at range: 34.00 m.z44 ProNav: ac range: 33.759171 m, nav range: 31.947687 m, bearing: 327.094813 deg, approach rate: -0.758256 m/s, LOS rate: -0.039467 deg/s, cmd heading: 325.511134 deg, new cmd heading: 325.453608 deg. غHeadingCmd: 5.680237 target range: 33.759171 and range: 34.00 m.bĵ@ZrjRzJB~~$|B}||||@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511147I  |BcּI )! !)\ľ1IM Iq}Vy<GAZ ?YyB<Ń=iĵ@ii:JZBJ\JJ?RJZJ9bJ[9Jـ4JzJ.:jJ3:JӁ:rJԁ:KZO"K59*K2K!:KuYy1=l8Q" +PJ&`j{F T - 0 jdNX|.0+tJ>J?E3EEEo5Eԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7598766G #=~G A A N > H_,#.~iA9F-@F^7@YF٥ H@: >V5?V593 ITByz @IEiY;J;2V5XB1A E!-B*** querying acoustic contact ***J)R-x1=DNOT Ignoring new targets: 33.76 m.9=Powering the camera and arming the capture device at range: 34.00 m.z9E!:E!:U ProNav: ac range: 33.759171 m, nav range: 31.619453 m, bearing: 327.077281 deg, approach rate: -0.753857 m/s, LOS rate: -0.040682 deg/s, cmd heading: 325.453596 deg, new cmd heading: 325.400456 deg. U[ߺ]HeadingCmd: 5.679309 target range: 33.759171 and range: 34.00 m.b]缵@ZYrYjaRazaJaBa~i~i}q|y|y|y|W@ |B靭>I)̾I^0 {<<=i缵@iE]1EYEYE]3EYBDAT read: Rx Time:14:13:12.9702 TRx dataTimestamp_ set to:1749132794.315444checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012294Qy 6G `=~G A A N >%_,f~iA*٥    H F=J} E>QeV5U?mV59U, IURByim m@UIEiU;Ui;UW6V50AE DNOT Ignoring new targets: 33.76 m.Powering the camera and arming the capture device at range: 34.00 m.zq5q5M ProNav: ac range: 33.759171 m, nav range: 31.329000 m, bearing: 327.061646 deg, approach rate: -0.729957 m/s, LOS rate: -0.039658 deg/s, cmd heading: 325.400457 deg, new cmd heading: 325.353118 deg. Mٺ]HeadingCmd: 5.678483 target range: 33.759171 and range: 34.00 m.b]"@ZYrYjaRaԉzJB~~}|||| @ |BI)ǾI5SF 9QUH~< HH<Hͼ>HCH9IHzBH =HHH<H(EMU</=i"@ibEAZE= DAT read: 14:13:12.9702 LVL= 20592, 30705, 19570, 32755, AGC= 60, IDX= 409, 0.40, 0.758,-0.715, 0.761, 0.362, PHS= 0.484,-1.030, 0.397, RAW= 147.0, 2.0, CAL= 150.1, -6.8, ROT= 359.9, 6.8 U Ygot valid direction response: 14:13:12.9702 LVL= 20592, 30705, 19570, 32755, AGC= 60, IDX= 409, 0.40, 0.758,-0.715, 0.761, 0.362, PHS= 0.484,-1.030, 0.397, RAW= 147.0, 2.0, CAL= 150.1, -6.8, ROT= 359.9, 6.8 e PDAT read: Bearing 359.9, 6.8 (Local) m ~Local bearing/azimuth received: Bearing 359.9, 6.8 (Local) E /.E E E o5E F AF  DAT read: Range 10 to 50 : 31.4 m (Round-trip 41.9 ms) speed 0.6 m/s  ,DAT read: user:1977>  BDAT read: Tx time:14:13:14.0741  $Ping request sent.  ׃C> )5=Iϩ'@i@= )Mb;z?{s?eN?iA>+{"= ) :publishing transmit ping time  Fpublishing direction and range infoy†m\? 'e\EOY )Ii )Ii )Mb;z?{s?eN?i ):J= XBJ= NJJ= =RJ9 ZJ= {9bJ= !9J= g4J9 zJ= :jJ= :J= U:rJ= W:K P"K 9*K 2K ":K o8nQ`O: bV}`2mAN++Vh*YNUro` 6G k[=~GAAN>M_,E~iA9%$@%G.@Y%b;y%"=Q%H˖?`a?i?r;v@ײ?? %$@%P;)%C ؕ=ו<JDAT read: TxSync time:14:13:14.0733 ozB IMb@Mb@Mb@ )YK7A?{Gz?y B?#= A) AI\AyAII2 b   =yއQ >٥ HFE E>IUV5M/?UV59M IMQByUQB?U:U ]@MIEiM ;M ;M-;V5eYBe 1AeEyZibmo~iAmkAmkAmg@ʁm!VO>@}.cL m†m\? 'e\EOm"m=ҁmm9@!>1AAm8 E?nL4B{r@zmAmAjmeoɜ?rm蓑 mkBmeoɜ?i mkBmAm)@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 3.527461 s, deltaX: -2.600000 m, approachRate: -0.737074 m/s, rangeRepo size: 4 - Added new target pos. range: 31.177610 m, bearing: 326.596833 deg, lat: 36.906454 deg, lon: -122.115974 deg, deltaT: 3.527461 s, deltaX: -2.581560 m, approachRate: -0.731847 m/s, posRepo size: 4 )UDNOT Ignoring new targets: 31.18 m.Q]Powering the camera and arming the capture device at range: 31.40 m.zYeau ProNav: ac range: 31.177610 m, nav range: 30.821436 m, bearing: 326.926966 deg, approach rate: 0.000000 m/s, LOS rate: -0.039658 deg/s, cmd heading: 325.353110 deg, new cmd heading: 325.287538 deg. q}HeadingCmd: 5.677339 target range: 31.177610 and range: 31.40 m.b}¬@ZyryjRzJB~~1|B}|||`ff?@|@? |B%JݼI!)%Ⱦ!I%t.b !)-4ɶ_,[y~iA9>l@>@Y>k;y>!=>HG?@?`2v?Cvm/?p? >l@>GJ;)<~zzB~ I I I F3i= x=y%&ĻQ %?٥)) -H)-л -?1=V55A?=V595, I1yAE! E@5IEi5;5 ;5>V5IU0AU~EDNOT Ignoring new targets: 31.18 m.Powering the camera and arming the capture device at range: 31.40 m.zXX ProNav: ac range: 31.177610 m, nav range: 30.575621 m, bearing: 326.909611 deg, approach rate: -0.784187 m/s, LOS rate: -0.055810 deg/s, cmd heading: 325.287541 deg, new cmd heading: 325.235057 deg. 5HeadingCmd: 5.676423 target range: 31.177610 and range: 31.40 m.bA@ZrjRzJB~~}||||w? {BI)F¾I%Bp !!%<5T5 p<5=i5A@i99E*EEEP0EaH>HCH3IHzBH =HH*DH<HEHYHYHYH] =IY I]ȣ 66G =~G A! A1 NE >ԑ _,*~iAI)9>@>] @Y>q:y>=>H ??YڦCl?\@-S[ [ ?@C? >@>T>;)٥ HFT >V5X?V59m IRBy5@?:C @IEiK(; ';AV50A{EDNOT Ignoring new targets: 31.18 m.Powering the camera and arming the capture device at range: 31.40 m.zCC ProNav: ac range: 31.177610 m, nav range: 30.265690 m, bearing: 326.892221 deg, approach rate: -0.752144 m/s, LOS rate: -0.042635 deg/s, cmd heading: 325.235057 deg, new cmd heading: 325.182352 deg.   HeadingCmd: 5.675503 target range: 31.177610 and range: 31.40 m.b @ZrjRzJB~~`|B}||||? E{BE.Ii)uRqI}  yy}Ё<KqLP"Kͼ9*K2K#:K1LbXK:0ImP:Xc#Hn,vv C? [ <m=i@iԩE 'EEEEF=F=6G ^S=jG ?bG ?~G A A  N- >_,iA9B&@B@YB8yB=BH`t?Y?b@\? ` g?x? B&@B;)@NzBNIIV#IV%x3f;; fV=yfQ f>٥hh jHjFj n>pvV5rl?vV59ra IrTBytv) v@rIEirw:r:rDV5|~0A|B*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 31.18 m.)-Powering the camera and arming the capture device at range: 31.40 m.z)5/5/M ProNav: ac range: 31.177610 m, nav range: 29.979353 m, bearing: 326.877755 deg, approach rate: -0.753150 m/s, LOS rate: -0.038415 deg/s, cmd heading: 325.182356 deg, new cmd heading: 325.138542 deg. MҺUHeadingCmd: 5.674738 target range: 31.177610 and range: 31.40 m.bUt@ZQrYjYRYzYJYBa~a~a}a|i|i|i|m`? {B靥I)IW <9t<5 =it@i}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E0$EEE_0EIa=Ip=:JZBJSJJDRJZJ9bJy69J4J@@@@6GV=1~GAA N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723151Y _,)iA9: ݮ@:@Y:F:y:=:Hn? h?`@ ~U?LG@ ?? : ݮ@:;):CFzBDIVIV(1Z: ^K=y^:Q ^>٥dh jHhv G v>x~V5z?V59z IzUByz @zIEiz;zD;zHV5 ZB xEAEDNOT Ignoring new targets: 31.18 m.IMPowering the camera and arming the capture device at range: 31.40 m.zIe)e)H=ȼ>H=CH=?IH=zBH= =H9H=+DH=<H= Eԑ ProNav: ac range: 31.177610 m, nav range: 29.673994 m, bearing: 326.862753 deg, approach rate: -0.748397 m/s, LOS rate: -0.037144 deg/s, cmd heading: 325.138533 deg, new cmd heading: 325.093067 deg. ˺ HeadingCmd: 5.673944 target range: 31.177610 and range: 31.40 m.b@Zrj!R!z!JQBY~~}||||@;? {B I )  I p<6< =i@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.976817ԡE!EEEEK PvP"K 59*K 2K $:K 3Bn%=?^ Eygl*q82 XRP.,%(6Ge k =~G9 AI AY Ne > _,CiA"٥ HF_ >V5?V591 Iy:?:t @IEi1::LV5Y0AuE DNOT Ignoring new targets: 31.18 m.%Powering the camera and arming the capture device at range: 31.40 m.z!-nA5nA] ProNav: ac range: 31.177610 m, nav range: 29.340187 m, bearing: 326.843384 deg, approach rate: -0.720421 m/s, LOS rate: -0.042278 deg/s, cmd heading: 325.093072 deg, new cmd heading: 325.034303 deg. euHeadingCmd: 5.672919 target range: 31.177610 and range: 31.40 m.bu@ZyryjyRyzyJB ~~|B}||||]@ {B靕JI)I9 G=<k:< =i@iEOEEE`0EFF׉׍Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479469) 6G ZG ~ARG A~G A JKJ4JKr4JK 0:J aBJ nJJ ARJ ZJ :bJ 99J 4J A N >Q B_,b]iA9>@>`õ@Y>>:y>A =>HZ?m?c&J? GZ;^?@? >@>}:;)>CJzBJIIRIRM3Z ^l=y^:Q ^?٥`` bHbFbv b?d=V5f?=V59f IfVBy9= =@fIEif9lHCHLIHzBH =HH,DH<H(E6GM  =ԉ ~Gy A A N > BDAT read: Rx Time:14:13:16.5164  TRx dataTimestamp_ set to:1749132797.843364 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984326]8_, swiA0 zB IMb@Mb@Mb@ )YA`"?X9v?y&1|?y9?}=`;=A )IAy AIIm?38< 9=yQ >٥ H >V5?V59 IXBy9?:@IEi;;_SV5 q0A rE15DNOT Ignoring new targets: 31.18 m.9=Powering the camera and arming the capture device at range: 31.40 m.=lFinal approach. Armed for intercept at range: 31.40 m.E\Transitioning guidance mode to: FINAL_APPROACHE@UպUպe ProNav: ac range: 31.177610 m, nav range: 28.768795 m, bearing: 326.791163 deg, approach rate: -0.765461 m/s, LOS rate: -0.093435 deg/s, cmd heading: 324.992832 deg, new cmd heading: 324.876008 deg. e?mHeadingCmd: 5.670156 target range: 31.177610 and range: 31.40 m.bmq@ZirijiRiJqBq~q~}|B}y|y|y|y|@ @ u{BulYIq)uJqI} yy}҅<}bI< =iq@iԉK *#P"K s9*K 2K %:K $Vm='"urdBxn$Q{<,IQ@>J ?J?EEEAEAEEK3EAԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2352746Gm h= ~Gi A A N &_,iiAIH)J@\9]@]@Y] U;y]a]=]HI? 9?՜>R??j?? ]@]\ ;)]CzBIII(; E=y%ʀ;Q %>٥)) -H-F5 5>9=V5=?EV59= I=YB}DAT read: 14:13:16.5164 LVL= 19248, 23537, 17378, 25875, AGC= 65, IDX= 403,-0.30, 2.180, 0.757, 2.316, 1.847, PHS= 0.421,-1.044, 0.465, RAW= 151.5, 2.1, CAL= 153.9, -6.7, ROT= 356.1, 6.7 Ygot valid direction response: 14:13:16.5164 LVL= 19248, 23537, 17378, 25875, AGC= 65, IDX= 403,-0.30, 2.180, 0.757, 2.316, 1.847, PHS= 0.421,-1.044, 0.465, RAW= 151.5, 2.1, CAL= 153.9, -6.7, ROT= 356.1, 6.7 PDAT read: Bearing 356.1, 6.7 (Local) ~Local bearing/azimuth received: Bearing 356.1, 6.7 (Local) DAT read: Range 10 to 50 : 28.5 m (Round-trip 38.1 ms) speed 0.6 m/s ,DAT read: user:1978> BDAT read: Tx time:14:13:17.6241 $Ping request sent.MˡM{> M%:)@)MQ =IMo+@iM|iM>@M|= I)IM,jMF?%b?>e6?iM ?MM)gM|= I)I:publishing transmit ping timeڱFpublishing direction and range infoIyM\g6??fKmu"޽IYI I)IIIiIIIII I)IIIiIII I)IM,jMF?%b?>e6?iIIII I)Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.008402yA@=IEi=n<=<=WV5\Bn0A pEZIbM/iAMcAMcAM@ʁM *P <@V/7i M\g6??fKmu"޽M)gM|=ҁM L 6@g1"8 MAK?#4ȭ㿮SqzM8MRAjM_ɜ?rML MlBMx[ɜ?M蓑  IMAM?@  addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 3.527347 s, deltaX: -2.900000 m, approachRate: -0.822148 m/s, rangeRepo size: 4 ] Added new target pos. range: 28.298637 m, bearing: 321.705917 deg, lat: 36.906445 deg, lon: -122.115976 deg, deltaT: 3.527347 s, deltaX: -2.878973 m, approachRate: -0.816186 m/s, posRepo size: 4 YeDNOT Ignoring new targets: 28.30 m.aei:JZBJUJJ?RJZJ9bJ>9Jـ4J ProNav: ac range: 28.298637 m, nav range: 27.747149 m, bearing: 325.241994 deg, approach rate: 0.000000 m/s, LOS rate: -0.093435 deg/s, cmd heading: 324.876008 deg, new cmd heading: 324.736343 deg. %HeadingCmd: 5.667718 target range: 28.298637 and range: 28.50 m.b%]@Z!r)j)RIJB~~}|||<@|@/1?  ={B=CּIA)3Is =ֆ<:q<=i]@iE} Ey Ey E} o0Ey F =F = JDAT read: TxSync time:14:13:17.6233  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.241163A q 6G}  =jG ?bG ?H-ܼ>H)H-RIH-zBH- =H)H--DH-<H)~GAANu?_,.iA9M@M@YM;yMS=MH`HI?@:?| ?E?? r{?? M@M;)MC15A=checking for new query: numPingsReceived=1, elapsed TxPingTime=0.491794GA WYAywZB9zBI%Mb@Mb@Mb@!!! !)!Y%&1?l?{Gzt?y%0?%=%ף;%A %A)!I!!y%AI5I5[3EF E٥I HFUZ >V5?V59 I[By1?:,@IEi<;k:\V50AmEK P"K *K 2K &:K '^/@DiuuX W]Q H>%$^Gck9$%B*** querying acoustic contact ***J!R!1=DNOT Ignoring new targets: 28.30 m.9=KEKU ProNav: ac range: 28.298637 m, nav range: 27.292986 m, bearing: 325.140570 deg, approach rate: -0.783716 m/s, LOS rate: -0.177931 deg/s, cmd heading: 324.736344 deg, new cmd heading: 324.427015 deg. U9]HeadingCmd: 5.662320 target range: 28.298637 and range: 28.50 m.b]1@ZYrYjYRYJYBa~a~e|B}ai|q|q|q|uw? {B靥["ܼI)IPȻ <ج<r=i1@iEI EI EQ EU `0EQ  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744395ԙ 6G 3;= ~GYAiAyN>_,B`iA9:؄@:@Y:;y:-=:H checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248353 _,+iAi<9:@:-@Y:W];y:>=:H??J?(MS7?@[ yڧ? ? :@:Б;):C%zB%II5#I5%x3; G=yY;Q >٥ H>: >V5 œ?V59 I]By@IEiq:\:bV50AjEDNOT Ignoring new targets: 28.30 m.C9C9- ProNav: ac range: 28.298637 m, nav range: 26.799513 m, bearing: 325.028796 deg, approach rate: -0.700449 m/s, LOS rate: -0.161971 deg/s, cmd heading: 324.285634 deg, new cmd heading: 324.088533 deg. 5Q޻Hm߼>HmCHiHiHiHiHiHm<Hm`,iA9:6@:ᢵ@Y:C;y:¨[=:H3H?@٥ HFȅ; >V5$7œ?V59 I\By3?:@IEi::fV5]B1AgE%DNOT Ignoring new targets: 28.30 m.!%)-)Q] ProNav: ac range: 28.298637 m, nav range: 26.492334 m, bearing: 324.964730 deg, approach rate: -0.702623 m/s, LOS rate: -0.148240 deg/s, cmd heading: 324.088542 deg, new cmd heading: 323.894117 deg. ]x˻eHeadingCmd: 5.653019 target range: 28.298637 and range: 28.50 m.be@ZarajaRaJiBq~y~}L|B}y|y|y||iG? 靵I)IP- 6ӊ<R!_<:=i@iE-E)E)E-5E)ԁ= checking for new query: numPingsReceived=1, elapsed TxPingTime=2.0035846GM ,=ԩ ~G! A1 AA NM >V!`,iA<:J^ZBJ^RJJ^BRJ\ZJ^9bJ^S29J^-4J\9r@r+@Yr٥iq uHuFu|; u>yV5}jKœ?V59}q I}[By@}IEi}!;}";}AjV5j1A%DNOT Ignoring new targets: 28.30 m.)-,-,E ProNav: ac range: 28.298637 m, nav range: 26.217794 m, bearing: 324.904697 deg, approach rate: -0.683726 m/s, LOS rate: -0.151074 deg/s, cmd heading: 323.894127 deg, new cmd heading: 323.712144 deg. u\ϻ}HeadingCmd: 5.649843 target range: 28.298637 and range: 28.50 m.b}˴@ZyrjRԡJ)B)~)~)}1|1|1|1|=@checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255050 WIlY<)3Ⱦ I    <""<L=i˴@i9EEEEEGIGIHmۼ>HmCHmEIHmzBHm =HiHiHm<HmEH=ȖCH=ȖCH=ȔCH= =I= = I=ȧ5 6G <=~G1 = checking for new query: numPingsReceived=1, elapsed TxPingTime=2.507779AI AY Nm >VY `,Y7iA\9^H@^ɵ@Y^٥YY ]HY]; e>auV5e,`œ?uV59e IeYByu2?u:uFu@eIEie ;e ;emV51AdEDNOT Ignoring new targets: 28.30 m.44 ProNav: ac range: 28.298637 m, nav range: 25.936514 m, bearing: 324.842514 deg, approach rate: -0.706634 m/s, LOS rate: -0.157911 deg/s, cmd heading: 323.712144 deg, new cmd heading: 323.523572 deg. ػHeadingCmd: 5.646552 target range: 28.298637 and range: 28.50 m.b@ZrjRJB~~U|B}||||@ 5{B5VI1)5c;9I=e 99= }>y}checking for new query: numPingsReceived=1, elapsed TxPingTime=2.759828A ?`,QiA9:ή@:ص@Y:1"٥qq uHuF}B; }>V5dsœ?V59w IVBy@IEi::qV51AaEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 28.30 m.Q9Q9 ProNav: ac range: 28.298637 m, nav range: 25.676474 m, bearing: 324.782742 deg, approach rate: -0.697793 m/s, LOS rate: -0.162018 deg/s, cmd heading: 323.523576 deg, new cmd heading: 323.342444 deg. a޻HeadingCmd: 5.643390 target range: 28.298637 and range: 28.50 m.b@ZrjRJB~~}|| | | }@ ={B=I9)=־AIE` AAEH checking for new query: numPingsReceived=1, elapsed TxPingTime=3.263108 Yi`,GkiA9>ծ@>޵@Y>2J.&!=>Hi? ?@X?`+Ʌ@砰?`ծ@>;)٥tt zHxz: z>!-V5%œ?-V59% I%TBy155@%IEi%\:%G:%}tV59= 2AAy}DNOT Ignoring new targets: 28.30 m.)=)= ProNav: ac range: 28.298637 m, nav range: 25.403908 m, bearing: 324.718319 deg, approach rate: -0.692271 m/s, LOS rate: -0.165378 deg/s, cmd heading: 323.342439 deg, new cmd heading: 323.147099 deg. ԙHeadingCmd: 5.639981 target range: 28.298637 and range: 28.50 m.bz@ZrjRJB~~}||||! @Hؼ>HH,IHzBHHH,DHߚ<HE y}Iy)}۾I\$ ␏< $F<k }=iz@ii-DAT read: 14:13:20.0633 LVL= 22544, 31585, 18514, 32755, AGC= 63, IDX= 402, 0.39,-0.637,-1.963,-0.522,-0.946, PHS= 0.397,-0.970, 0.421, RAW= 150.9, 2.2, CAL= 153.3, -6.7, ROT= 356.7, 6.7 5Ygot valid direction response: 14:13:20.0633 LVL= 22544, 31585, 18514, 32755, AGC= 63, IDX= 402, 0.39,-0.637,-1.963,-0.522,-0.946, PHS= 0.397,-0.970, 0.421, RAW= 150.9, 2.2, CAL= 153.3, -6.7, ROT= 356.7, 6.7 =PDAT read: Bearing 356.7, 6.7 (Local) E~Local bearing/azimuth received: Bearing 356.7, 6.7 (Local) EX#Rx 2: Read direction message, but no range.M`direction in FSK: [0.991524,-0.057171,-0.116671]yC.j#?+f3vEmu"޽Y X)a{IRHi?C>QxP> (@)nF=I<+@i8@ r?sCg? x?iE ?Qkchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.542524>Em<ԑEEEE4E:J] \BJ] XJJY RJY ZJ] =:bJ] 5K9JY JY zJ] :u jJ] :} J] f:} rJ] f:} & TFailed to parse incomplete device message. 6G q=ZG ARG A DAT read: Range 10 to 50 : 26.2 m (Round-trip 35.0 ms) speed 0.5 m/s  ,DAT read: user:1979>  BDAT read: Tx time:14:13:21.1742  $Ping request sent. p"`,=iA٥ %H% F% %>)5V5-_œ?5V59-o I-OBy55?=:=D=@-IEi- ;- ;-yV5E^BEc2AE`EZbb0iAAAE@ʁ9R^9@o W<g%M0<=iP@ichecking for new query: numPingsReceived=3, elapsed TxPingTime=0.244157 >E (=E E E E 0E ]X=fHV?@-(?@ۘ,K?T |@?T? f@f;)fC=zB=II]I]3e m4= HqHqHuټ>HqHu IHuzBHu =HqHqHuȚ<HuEyQ >٥ H Fn >V5œ?V59 ILBya@JEi ; ;}V5_B2A]EDNOT Ignoring new targets: 26.01 m.!!  ProNav: ac range: 26.014923 m, nav range: 24.831900 m, bearing: 324.667504 deg, approach rate: -0.727798 m/s, LOS rate: -0.141269 deg/s, cmd heading: 322.854791 deg, new cmd heading: 322.666528 deg.  HeadingCmd: 5.631593 target range: 26.014923 and range: 26.20 m.b6@ZrjR!J)B1~9~A}I|I|Q|Q|U? {B2&IA)M3QI&j ͒<&<=i6@ichecking for new query: numPingsReceived=3, elapsed TxPingTime=0.747752:J BJ RJJ CRJ ZJ bJ S29J 4J zJ jJ J ;:rJ <:>E= YπiA9R@R˰@YR;yRZ=RH8P?0?@m5E?Hȧ r5\? 7? R@R5;)RCryBrIMb@Mb@Mb@ )YX9v?Zd;O?y&1y3?j<`e A)IyAI%#I%%x35J  5=y=Q =>٥9A EHE FER$I M>Q]V5Uœ?]V59Ui IUGBy]3?]:eSe@U JEiU:U:UnV5imE3AmZEDNOT Ignoring new targets: 26.01 m. ProNav: ac range: 26.014923 m, nav range: 24.437021 m, bearing: 324.625730 deg, approach rate: -0.702090 m/s, LOS rate: -0.075474 deg/s, cmd heading: 322.666524 deg, new cmd heading: 322.539177 deg. 0OeHeadingCmd: 5.629371 target range: 26.014923 and range: 26.20 m.be#@ZarajaRaJiBi~i~m{B}q|q|q|q|}? ,*$I)EIm c<a`'<=i#@iD AD Achecking for new query: numPingsReceived=3, elapsed TxPingTime=1.252123y>EEF<ԡE E E E _0E 5 checking for new query: numPingsReceived=3, elapsed TxPingTime=1.5026206G q؃=~GA AN%>`<;`,d iAH<H<H>IH>WzBH> =H<H<H><H>E9@@Y`y,k=H K?@)5? $ 8='@?@L?q?`p? @Q;)CEyBEIIUIU?13e6: e.=ym7Q m>٥iq uHu Fu  u>yV5}Gœ?V59}# I}DBy@}JEi}I;};}V5WEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 26.01 m.m ProNav: ac range: 26.014923 m, nav range: 24.107807 m, bearing: 324.590678 deg, approach rate: -0.700473 m/s, LOS rate: -0.075599 deg/s, cmd heading: 322.539182 deg, new cmd heading: 322.432590 deg. mOHeadingCmd: 5.627511 target range: 26.014923 and range: 26.20 m.b@ZrjRJB ~I~Q}Y) MևGuZA||||+?checking for new query: numPingsReceived=3, elapsed TxPingTime=1.755563AA YZAy%IB -{B-&Iq)u)qIuZ) qqu̕<}N'}F<O=i@i1:J-YBJ-SJJ-DRJ)ZJ-9bJ-y69J-4J)zJ-b:jJ-f:J-(C:rJ-+C:a >E <zE K -P"K }9*K 2K +:K w*"^] Y43*MM9IFVB~dRzT}}RJ! J% ~AE E E E P0E u checking for new query: numPingsReceived=3, elapsed TxPingTime=2.007201Y 6G]XH=q~GIAQAaN}?D`,iA9N@NZ@YN zyN~=NH`I?q4?ģ ?`=?@o `Wo? ٯ?? N@N5;)LZyBZI-only read 2 of 4 data items for bottom velocity. Device response is::BS, +22, +696, -B, +696, aI-@a5 aM5@a5 aQ5@a5 aE5@a5 I=I=[3Mdʼ M=yM못Q M>٥QQ UHU F] ]>amV5e Ü?mV59e( IeABm+:yimt:mu@eJEier;e4?eV5~3ADNOT Ignoring new targets: 26.01 m. ProNav: ac range: 26.014923 m, nav range: 23.708513 m, bearing: 324.547046 deg, approach rate: -0.702332 m/s, LOS rate: -0.078040 deg/s, cmd heading: 322.432604 deg, new cmd heading: 322.299501 deg. ;VHeadingCmd: 5.625187 target range: 26.014923 and range: 26.20 m.b@ZrjRJB~~}||||@!checking for new query: numPingsReceived=3, elapsed TxPingTime=2.258766 zQ1I)I1 <r(~<fŋ=i@i!I>E=8<ԉEEEEQ0EU checking for new query: numPingsReceived=3, elapsed TxPingTime=2.510531 6G [=H ü>H CH IH CzBH  =H H +DH '<H 2E~G A A N>K`,)1iA9>ٓ@>@Y>ۻy>r=>H &E?@7? `jE7? u{?j?`? >ٓ@>j|;)٥dd fHdm u>qV5u#Ü?V59uv- Iu@B :yF:@uJEiu`~HeadingCmd: 5.623285 target range: 26.014923 and range: 26.20 m.b@ZrjRJBBDAT read: Rx Time:14:13:23.6100 TRx dataTimestamp_ set to:1749132804.899437 checking for new query: numPingsReceived=3, elapsed TxPingTime=2.763779~~}|!|!|!|%@B4@ m{Bu3Iq)u=qI: V<@(h`<F=i@i):JqBJuRJJuBRJqZJqbJuS29Ju-4JqzJud:jJui:Ju;:rJu<:>E] FT }w$]Q&>   `T"hJ ?J ?E E E E m5E  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.015553ԁ 6G5b=jG= ?bG=*?~G!AAAaN} ?T`,_SiAyBII-I-<2eM< e =ymQ u>٥ HFchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.268234Ye m>V5AÜ?V593 I=B9y :@"JEi};8?V5aBv3ARE9=DNOT Ignoring new targets: 26.01 m.9E˺E˺u ProNav: ac range: 26.014923 m, nav range: 22.957066 m, bearing: 324.462415 deg, approach rate: -0.763349 m/s, LOS rate: -0.088786 deg/s, cmd heading: 322.190487 deg, new cmd heading: 322.041402 deg. us}HeadingCmd: 5.620683 target range: 26.014923 and range: 26.20 m.bܳ@ZrjRJB~~}|||| @ 4q,I)hI0D <ř)(j<=iܳ@iԁԩ >EM < ؕ =ו %= DAT read: 14:13:23.6100 LVL= 27120, 28801, 18610, 29091, AGC= 62, IDX= 400, 0.36,-1.535,-2.967,-1.307,-1.861, PHS= 0.414,-1.059, 0.551, RAW= 154.4, 1.2, CAL= 156.8, -7.6, ROT= 353.2, 7.6  Ygot valid direction response: 14:13:23.6100 LVL= 27120, 28801, 18610, 29091, AGC= 62, IDX= 400, 0.36,-1.535,-2.967,-1.307,-1.861, PHS= 0.414,-1.059, 0.551, RAW= 154.4, 1.2, CAL= 156.8, -7.6, ROT= 353.2, 7.6  PDAT read: Bearing 353.2, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 353.2, 7.6 (Local)  DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed 0.7 m/s  ,DAT read: user:1980> - BDAT read: Tx time:14:13:24.7242 5 $Ping request sent.5 ۝ >۝ P۝ V ? ܝ iw,@)ܝ ݙ )ݙ ݝ :h+e?oI?ݗm?iݝ ʴ?ݝ Xݝ ݝ > ޙ )ޙ  :publishing transmit ping time1  Fpublishing direction and range infoڙ yڝ h~?|3 ) ڙ Yڙ ۙ )ۙ Iۙ iۙ ۙ ۙ ۙ ۙ ܙ )ܙ Iܙ iܙ ܙ ܙ ݙ )ݙ ݝ :h+e?oI?ݗm?iݙ ݙ ݙ ݙ ޙ )ޙ  checking for new query: numPingsReceived=4, elapsed TxPingTime=0.056066H >H CH IH 9zBH  =H H *DH 3<H ٥    H F0 >V5#^Ü?V599 IBBT:y.?:>@(JEi1h<:7V5f3AOEZbjiA@A@A@ʁجY")7@sK h~?|3 ) >ҁ}gIT1@K.i[I@ܴIo?!]n俻'b>zvAjX!ɜ?r, mB ~  lBꁝA@] addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 3.529183 s, deltaX: -2.500000 m, approachRate: -0.708379 m/s, rangeRepo size: 4 m Added new target pos. range: 23.531473 m, bearing: 318.602200 deg, lat: 36.906447 deg, lon: -122.115989 deg, deltaT: 3.529183 s, deltaX: -2.483450 m, approachRate: -0.703690 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 23.53 m.q ProNav: ac range: 23.531473 m, nav range: 23.195444 m, bearing: 322.268556 deg, approach rate: 0.000000 m/s, LOS rate: -0.088786 deg/s, cmd heading: 322.041398 deg, new cmd heading: 321.880184 deg. HeadingCmd: 5.617869 target range: 23.531473 and range: 23.70 m.bų@ZrjRJB~~{B}|||@37@|@? e{Bm)I)I&@N 'ƚ< *R*r<s|=ių@iDUDUDYDYK P"K9*K2K-:K6zHS=!Yem}s!(# G%@sDJAJA m checking for new query: numPingsReceived=4, elapsed TxPingTime=0.4829821 E E E E Y0E Y=checking for new query: numPingsReceived=4, elapsed TxPingTime=0.7380646G=ZGRGԉ~GAAN?^#g`,iA9B2@B<@YBAyB~=BH`q ??P ?@֤@G?w ?? B2@B;4;)BC:J]BJTJJGRJZJ]:bJ:9Jc4J@@@@yBIII(*3< =yQ >٥ HF+ >V5wyÜ?V59R? IHBy@.JEi;;=V5>3ALEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 23.53 m. ProNav: ac range: 23.531473 m, nav range: 22.804117 m, bearing: 322.207734 deg, approach rate: -0.692953 m/s, LOS rate: -0.109551 deg/s, cmd heading: 321.880178 deg, new cmd heading: 321.694580 deg. ^HeadingCmd: 5.614630 target range: 23.531473 and range: 23.70 m.b @ZrjRJB~~}|||| n? {B /I )  IW <w&+J<2=i% @i!checking for new query: numPingsReceived=4, elapsed TxPingTime=0.987629EEEE_0E6Gj=~GaAqAN>H м>H CH IH MzBH  =H H +DH :<H TE9 ?Lm`,qƷiA@mchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.24100296@ @Y:ytt=H?՚?I# V :?hӢ?i?? 6@[;) )Aɿ7 FAi7 IFIijA ) AI)i)IA iٯyBIMb@Mb@Mb@ )YHzG?V-?Mb?y=*?<<A dA)AI AyG AIm%Im)3}< }N=ԩyQ >٥ HF" >V5|Ü?V599C IOBys*?:@3JEiH:#:ɝV53A!q}DNOT Ignoring new targets: 23.53 m.y ProNav: ac range: 23.531473 m, nav range: 22.534986 m, bearing: 322.153711 deg, approach rate: -0.673649 m/s, LOS rate: -0.136835 deg/s, cmd heading: 321.694588 deg, new cmd heading: 321.530586 deg. ѻHeadingCmd: 5.611767 target range: 23.531473 and range: 23.70 m.b@ZrjRJB ~ ~ |B} ||||? u{BuW@Iy)}yI}:] yy}\g< +6<ɇ=i@iE1E1E9E=`0E9KP"K9*K2K.:K(;TW)#SGwQ2h1$U:/q]9*<a/=*[wcJJ? checking for new query: numPingsReceived=4, elapsed TxPingTime=1.491205 6G jG bG ?~Gi Ay A N >_et`,&pҁiA89>3@>@Y>sy>Gj=>H@?:?[ ?oġ n?:?? >3@>;;)>C5zB5IIeIeV83x= g=y19Q >٥ HM >V5Ü?V59F ITBy@6JEi?;L ;ϠV5bB2AIEDNOT Ignoring new targets: 23.53 m.   ProNav: ac range: 23.531473 m, nav range: 22.305414 m, bearing: 322.107209 deg, approach rate: -0.682970 m/s, LOS rate: -0.139767 deg/s, cmd heading: 321.530581 deg, new cmd heading: 321.389639 deg. ׿-HeadingCmd: 5.609307 target range: 23.531473 and range: 23.70 m.b-r@Z)r1j1R1J1B1~9~9}9|9|a|a|e`?ԡ  DI)쾉IIc v<checking for new query: numPingsReceived=4, elapsed TxPingTime=1.742875 A, S< |=ir@izEYEEEEo0E:J_BJVJJBRJZJ :bJB9J-4J 6G- {= checking for new query: numPingsReceived=4, elapsed TxPingTime=1.995201~G) A1 AY Ne >?z`,`xiA9>@>/ @Y>y> *^=>H? ?Ψ?Q: ?A?@6? >@>`;)>C\UzB]IIuIu<2; I=yۺQ >٥ HF >V5Ü?V59rJ I[Byd@;JEiP::TV52ADNOT Ignoring new targets: 23.53 m.  ProNav: ac range: 23.531473 m, nav range: 22.038319 m, bearing: 322.053081 deg, approach rate: -0.663282 m/s, LOS rate: -0.136045 deg/s, cmd heading: 321.389634 deg, new cmd heading: 321.225283 deg.  HeadingCmd: 5.606439 target range: 23.531473 and range: 23.70 m.bg@ZrjRJB~!~!}!|!|!|)|- E@H=Լ>H=CH=IH=vzBH= =H9H=,DH=<H=E {B靅4DI)4뾉Ih !!%$<-F?--=<-=i5g@i1EEEE?1E5checking for new query: numPingsReceived=4, elapsed TxPingTime=2.2537406G j=A ~G A) AA NM >o`,iA9J@J@YJyJiP=JH`??3A 1?0m?|?`x? J@J5k;)JCVzBVI9MMb@Mb@Mb@III I)IYME?l?٥ HFû >V5Ü?V59M IbBy'?:5@?JEi::ϧV52AFEK~`,.iA9Fԭ@F޴@YFyF\J=FH?f?ƈ?'?X?? Fԭ@F;)DV(zBZIIfIfF3vW = vU=yv{Q z>٥x| ~H| >V5)Ü?%V59&Q IiBy!--@CJEiP;Q;0V5J-4J4J0:Je^BJeUJJeARJaZJe} :bJe>9Je4Jaԙ5cBz2AEEAEDNOT Ignoring new targets: 23.53 m.AUQuQ ProNav: ac range: 23.531473 m, nav range: 21.530010 m, bearing: 321.856188 deg, approach rate: -0.624715 m/s, LOS rate: -0.245354 deg/s, cmd heading: 320.922831 deg, new cmd heading: 320.627670 deg. b(HeadingCmd: 5.596008 target range: 23.531473 and range: 23.70 m.b@ZrjRJB~~}|||| .r@ ]{Ben?Ia)e[⾉aIet aamHeCHeIHezBHe =HaHe+DHe<HeE6GM x=~G! A1 AA NM >! G - Y) y5 gB`ȍ`,9iA~checking for new query: numPingsReceived=4, elapsed TxPingTime=3.2584229ut@u Ǵ@Yua(ɼyu)G^=uH??@돪qW?❿f$?Bë?`y? ut@uA+;)uC)zBi!>I%=Monly read 0 of 1 data item for BIT error. Device response is::TS,25060506144522,35.0, +10.8, 0.0,1492.9,A, 0.00, 89.02, 81.55, 84.26, 85.28 aI@a aM@a aQ@a aE@a IIb1Y: -=y9٥    H F Xǻ >V5Ü?%V593U IsB%+:y!%:%5@HJEi?;x>V5AEx2AAeB*** querying acoustic contact ***JaRaquDNOT Ignoring new targets: 23.53 m.q}} ProNav: ac range: 23.531473 m, nav range: 21.224831 m, bearing: 321.737114 deg, approach rate: -0.687581 m/s, LOS rate: -0.272135 deg/s, cmd heading: 320.627658 deg, new cmd heading: 320.265306 deg. :HeadingCmd: 5.589684 target range: 23.531473 and range: 23.70 m.b޲@ZrjRJB~~}||||' @ {B靥`8I)ᾉI{ L<M1<=i޲@iEEEE5EQDAT read: 14:13:27.1567 LVL= 22256, 30673, 18930, 32755, AGC= 59, IDX= 415,-0.42, 2.613, 1.258, 2.779, 2.280, PHS= 0.421,-0.975, 0.496, RAW= 152.6, 0.8, CAL= 155.3, -8.0, ROT= 354.7, 8.0 Ygot valid direction response: 14:13:27.1567 LVL= 22256, 30673, 18930, 32755, AGC= 59, IDX= 415,-0.42, 2.613, 1.258, 2.779, 2.280, PHS= 0.421,-0.975, 0.496, RAW= 152.6, 0.8, CAL= 155.3, -8.0, ROT= 354.7, 8.0 PDAT read: Bearing 354.7, 8.0 (Local) ~Local bearing/azimuth received: Bearing 354.7, 8.0 (Local) DAT read: Range 10 to 50 : 21.3 m (Round-trip 28.4 ms) speed 0.7 m/s ,DAT read: user:1981>  BDAT read: Tx time:14:13:28.2742  $Ping request sent. ۍyۍ> ܍t*@)܍d ݉)݉ݍA?ߧy މ)މ} :publishing transmit ping time } Fpublishing direction and range infoډyڍ,?5jH@lډYډ ۉ)ۉIۉiۉۉۉۉۉ ܉)܉I܉i܉܉܉ ݉)݉ݍA?ߧy`,ܜSiA9Vg@V@YVҁ| /@:URș+ 16??ܡ] WLQz]|Aj.ɜ?r 2 2pB.ɜ?L  lBꁽA@s@ addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 3.525337 s, deltaX: -2.400002 m, approachRate: -0.680786 m/s, rangeRepo size: 4 % Added new target pos. range: 21.149084 m, bearing: 318.734194 deg, lat: 36.906440 deg, lon: -122.115994 deg, deltaT: 3.525337 s, deltaX: -2.382389 m, approachRate: -0.675790 m/s, posRepo size: 4 !-DNOT Ignoring new targets: 21.15 m.)mq} ProNav: ac range: 21.149084 m, nav range: 20.754385 m, bearing: 319.513844 deg, approach rate: 0.000000 m/s, LOS rate: -0.272135 deg/s, cmd heading: 320.265303 deg, new cmd heading: 319.949327 deg. HeadingCmd: 5.584169 target range: 21.149084 and range: 21.30 m.b@ZrjRJB~~}|||L5@|*?checking for new query: numPingsReceived=5, elapsed TxPingTime=0.236038 5{B5S_8I9)=!ھ9I=p 99= checking for new query: numPingsReceived=5, elapsed TxPingTime=0.488382 ך`, {miA9:np@:z@Y:y:\'s=:Hۗ?`?@:@/@?@ݚ`? \? ? :np@:n;):CnAzBnIIz"Izq3%< -L=y-[Q ->٥)1 5H15, =>9EV5=>Ĝ?EV59=[ I=BM9yIM,:M M@=PJEi=/:=,?=aV5Y]2AYDNOT Ignoring new targets: 21.15 m.pȻpȻ ProNav: ac range: 21.149084 m, nav range: 20.502890 m, bearing: 319.389656 deg, approach rate: -0.701144 m/s, LOS rate: -0.350472 deg/s, cmd heading: 319.949338 deg, new cmd heading: 319.572208 deg. pHeadingCmd: 5.577587 target range: 21.149084 and range: 21.30 m.b{@ZrjRJB~~}||||?Hͼ>HH&IHzBH =HHH<H%E %{B%"CI!)%lԾ!I%m ))-%x<54=i{@iEMEIEIEM\0EIFU=FU=checking for new query: numPingsReceived=5, elapsed TxPingTime=0.7424946Gmڠ=) ~GQ AY Ai N} >`,NiA9FOU@F^@YFyFEpn=FH? 2?䮿Dj? ">?ŭ?? FOU@F⪊;)FCRNzBRI)T TaI5aI5 aM5aM= aQ=aQ= aE=aE= =Mb@Mb@Mb@999 9)9Y=x&?Dl?~jth?y=7)?=O==D;=A 9)=3AI= A9y=AI]I](*3m< mF=yuһQ u>٥qq }H}F}` }>V5#Ĝ?V59l_ IBT:y#*?: @TJEi::V51A?E ]>]?mchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.993520KmBP"Kms9*Ki2Km1:KmB)h-3<iB^-mnGIbzy5K]R0DNOT Ignoring new targets: 21.15 m.(( ProNav: ac range: 21.149084 m, nav range: 20.232716 m, bearing: 319.261562 deg, approach rate: -0.619268 m/s, LOS rate: -0.297526 deg/s, cmd heading: 319.572202 deg, new cmd heading: 319.182794 deg. 0LHeadingCmd: 5.570791 target range: 21.149084 and range: 21.30 m.bC@ZrjRJB~~N|B}||||@9|?Q u{BuN0Iq)}D;yI}Ρ yy}ˠ<|_6G< ^=iC@iEEEE_0Ey6Gm p=ԩ  checking for new query: numPingsReceived=5, elapsed TxPingTime=1.244329~GA AQ Aa Nm >`,-iA@9j6@ju@@Yj{ yj,d=jH`8t?K? \%w?܉N?k?? j6@jC;)jCv>zBzIII<2 >' P=yTQ >٥ HF% %>)I=4=I9EV5-5Ĝ?EV59-b I-ByAM M@-XJEi-;-;-iV5QU,2AUHCH3IHzBH =HH,DH<HEHǕCHǕCHǓCH =I = I5~GAAN> `,]iAjchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.750193p9$@n.@Y yKU=H`i?@[?@E=k*m?Δɻ??`? $@;)JzBI:J][BJ]YJJ]>RJYZJ]:bJ][O9J]t4JYzJ]:ejJ]:eJ]&n:mrJ])n:mMb@Mb@Mb@ )YM?Zd;?MbPyn2?y= A )AI Ay AIIm?3< =ytͺQ >٥ H > V55PĜ?V59`,aׂiA9@i@Y2~yqO=H%W? r?l@ \? n?E? (? @骕$;)iӱӵlA)ӱ ӹIӹ Թ)ԹӹiIIiVA ) =A+AId;)Fi)I"A/ ٯDzB}III3checking for new query: numPingsReceived=5, elapsed TxPingTime=2.251962` ]=yqQ >٥ HFr >V5bĜ? V59k IBy   @bJEiz: :WV599=2A9DNOT Ignoring new targets: 21.15 m. ProNav: ac range: 21.149084 m, nav range: 19.348480 m, bearing: 318.865110 deg, approach rate: -0.677792 m/s, LOS rate: -0.301663 deg/s, cmd heading: 318.322032 deg, new cmd heading: 317.975155 deg. OHeadingCmd: 5.549714 target range: 21.149084 and range: 21.30 m.bA@ZrjRJB~~}||||  @ {B靝|ԑ U checking for new query: numPingsReceived=5, elapsed TxPingTime=2.504111Ұ`,iA@HFμ>HDHF9IHFzBHF =HDHDHF<HFE9V@V@YV<yV_XV=VHD?6? st6 J??)ê?@? V@V;)VC]>zB]IImIm 2}& }c=y_Q >٥ HF& >V5etĜ?V59~o IBy@fJEi;;oV512A6EDNOT Ignoring new targets: 21.15 m.}?}? ProNav: ac range: 21.149084 m, nav range: 19.103573 m, bearing: 318.757412 deg, approach rate: -0.703706 m/s, LOS rate: -0.313423 deg/s, cmd heading: 317.975167 deg, new cmd heading: 317.647933 deg. WHeadingCmd: 5.544003 target range: 21.149084 and range: 21.30 m.bxh@ZrjRJB~~}||||@\@ {BGEI)ӾI$ !%Cߡ<%;=-<-b=i-xh@iQԱEEEE0EBDAT read: Rx Time:14:13:30.7039 TRx dataTimestamp_ set to:1749132811.960076checking for new query: numPingsReceived=5, elapsed TxPingTime=2.7645636G) jG1 bG5 %?:Je _BJe TJJe DRJa ZJe :bJe :9Je 4Ja zJe -:jJe 2:Je SJ:rJe VJ: ~G A A) N5 >=`,6 iAl5checking for new query: numPingsReceived=5, elapsed TxPingTime=3.009719}QzB}IKGP"K@9*K2K3:KB"E4?#1Djd[h=?d9sn.&m'&qz5Mb@Mb@Mb@111 1)1Y5n?Q?~jthy56?5u=5D5+ A 1)5AI5A1y5AIMIMV83+= 6=yQ >٥ H >V5 Ĝ?V59t IBy6?:I@lJEi8::\V5 fB 1A 7E9=DNOT Ignoring new targets: 21.15 m.9E_E_U ProNav: ac range: 21.149084 m, nav range: 18.786608 m, bearing: 318.616745 deg, approach rate: -0.710496 m/s, LOS rate: -0.320633 deg/s, cmd heading: 317.647947 deg, new cmd heading: 317.218834 deg. U \]HeadingCmd: 5.536513 target range: 21.149084 and range: 21.30 m.b]+@ZYrYjYRaJaBa~a~e{B}i|i|i|q|uG@ {B靝6I)ȾI[ <%?=i+@i bEAZEE%E!E)E-0E)F1F19Achecking for new query: numPingsReceived=5, elapsed TxPingTime=3.262101i 6Gm =~G A A N >h`,$iA9J@J4@YJ&yJiX=JH? ϵ?@p'?`ؤ?-?? J@J;)JCRLzBVII^I^(*3f fr=yf)Q f?٥hh jHjFn n?prV5rĜ?vV59rw IrBytvv@roJEir :r:rNV52A4E1)5DNOT Ignoring new targets: 21.15 m.9=.=.M ProNav: ac range: 21.149084 m, nav range: 18.548555 m, bearing: 318.513248 deg, approach rate: -0.703566 m/s, LOS rate: -0.309810 deg/s, cmd heading: 317.218847 deg, new cmd heading: 316.904376 deg. UTUHeadingCmd: 5.531025 target range: 21.149084 and range: 21.30 m.bU(@ZYrYjYRYJYBY~a~a}a|a|a|i|m@ @ {B靥tEI)ʾI ?<@x<J(=i(@imDAT read: 14:13:30.7039 LVL= 21664, 23793, 17346, 28147, AGC= 64, IDX= 416, 0.21, 3.066, 1.602,-3.082, 2.682, PHS= 0.472,-1.032, 0.517, RAW= 151.5, 0.6, CAL= 154.3, -8.3, ROT= 355.7, 8.3 Ygot valid direction response: 14:13:30.7039 LVL= 21664, 23793, 17346, 28147, AGC= 64, IDX= 416, 0.21, 3.066, 1.602,-3.082, 2.682, PHS= 0.472,-1.032, 0.517, RAW= 151.5, 0.6, CAL= 154.3, -8.3, ROT= 355.7, 8.3 PDAT read: Bearing 355.7, 8.3 (Local) ~Local bearing/azimuth received: Bearing 355.7, 8.3 (Local) ԙDAT read: Range 10 to 50 : 19.0 m (Round-trip 25.4 ms) speed 0.7 m/s ,DAT read: user:1982> BDAT read: Tx time:14:13:31.8243 $Ping request sent.%%Z? %%:)@)%+ !)!% IK?ჳ?r0Xc?i%S ?%##%)%V> !)!:publishing transmit ping timeڱFpublishing direction and range info!y% T`?8%O'ЌCz¿!Y! !)!I!i!!!!! !)!I!i!!!EEEE`5E !)!% IK?ჳ?r0Xc?i!!!! !)!5checking for new query: numPingsReceived=6, elapsed TxPingTime=0.0158586G7=GyGyH>HCH?IHzBH =HH*DH<HE~GAANe>  checking for new query: numPingsReceived=6, elapsed TxPingTime=0.236515`,>iAFzBI:J BJ NJJ ?RJ ZJ bJ !9J ـ4J zJ jJ J U:rJ W:}Mb@Mb@Mb@yyy y)yY}`"?v/?Mb`?y}7?}xi=};} A }A)}AI}rAyy}AII2/  =yQ >٥    H F >EV5Ĝ?EV59| IByEc8?E:MxM@uJEi;;V5QU2AU1EZQbU|-iAUAUAU@ʁUJ Mg2@dHFU T`?8%O'ЌCz¿U)UV>ҁUK+@t\)ь(CUzT?Z9M忀`zUHU^AjUqKɜ?rUX U$rBQU 2  UmBUAUQ@  addTargetRange:: Added new target pos. range: 19.000000 m, deltaT: 3.528269 s, deltaX: -2.299999 m, approachRate: -0.651878 m/s, rangeRepo size: 4 = Added new target pos. range: 18.865000 m, bearing: 317.960210 deg, lat: 36.906440 deg, lon: -122.115998 deg, deltaT: 3.528269 s, deltaX: -2.284084 m, approachRate: -0.647367 m/s, posRepo size: 4 AUDNOT Ignoring new targets: 18.86 m.q}y ProNav: ac range: 18.865000 m, nav range: 18.437229 m, bearing: 317.483850 deg, approach rate: 0.000000 m/s, LOS rate: -0.309810 deg/s, cmd heading: 316.904385 deg, new cmd heading: 316.412456 deg. HeadingCmd: 5.522439 target range: 18.865000 and range: 19.00 m.bҷ@ZrjRJB~~{B}|||3@|&T? {B.I!)%;̾!I%+ !!-UO<-GBU(/MR |;F  yi-co Q 6GM 5=ZGQ RGQ ~G) A1 AA NU >[`,qZiA9z]@zf@Yz:yzVB=zH @? ? Ŵ?@DR?S?V5Ĝ?V59Ӏ IBy@yJEi.:::V51AB*** querying acoustic contact ***JR)5DNOT Ignoring new targets: 18.86 m.15Ȼ5ȻU ProNav: ac range: 18.865000 m, nav range: 18.177099 m, bearing: 317.364713 deg, approach rate: -0.754991 m/s, LOS rate: -0.350726 deg/s, cmd heading: 316.412447 deg, new cmd heading: 316.049928 deg. Up]HeadingCmd: 5.516112 target range: 18.865000 and range: 19.00 m.b]@ZYrYjYRYJaBa~i~i}i|i|q|q|u$? {B靥CI)fI uZ<^Dk<=i@iYEyEyEyE}2Ey6GUXY=~G)A1AINUS>ԁ= checking for new query: numPingsReceived=6, elapsed TxPingTime=0.989544ԩ H} >H} CH} LIH} zBH}  =Hy Hy H} <H} E|`,`tiA9>e-@>7@Y>Dy>K?=>H@?`v? j*|?y??@? >e-@>;)>CN_zBRIIfIf3n@U nQ=yr(Q r>٥pp vHvFv΀ v>x~V5ztĜ?~V59z΄ IzBy@z~JEizT:zA;z/V5 gB 1A .E)I MmCԙG DNOT Ignoring new targets: 18.86 m. A-AEMm ProNav: ac range: 18.865000 m, nav range: 17.913507 m, bearing: 317.245426 deg, approach rate: -0.685373 m/s, LOS rate: -0.314725 deg/s, cmd heading: 316.049928 deg, new cmd heading: 315.686807 deg. uYuAyu)BWHeadingCmd: 5.509774 target range: 18.865000 and range: 19.00 m.bP@ZrjRJB~~}||||2? %{B%b6I%6<)%ս!I% ))-C=! ~GY Aq A N >e checking for new query: numPingsReceived=6, elapsed TxPingTime=1.493622-p`,kiA96 @6@Y6 GKy6?=6H`M?5E?6j@3S@?r5f?C?`? 6 @6:;)4JczBJIKEP"KE9*KA2KE5:KEJ m-7[2bz_o(,EWNMb@Mb@Mb@ )YZd;?x&?Mbp?y9?7=; A dA)AIAypAII2< ;=y٥ HFt >V5Ĝ?V59 IːBy:?:@JEi\,;`+;V51A+E%DNOT Ignoring new targets: 18.86 m.!%Wӻ%Wӻ5 ProNav: ac range: 18.865000 m, nav range: 17.599834 m, bearing: 317.092305 deg, approach rate: -0.743754 m/s, LOS rate: -0.369537 deg/s, cmd heading: 315.686808 deg, new cmd heading: 315.219269 deg. 5}=HeadingCmd: 5.501614 target range: 18.865000 and range: 19.00 m.bE9 @ZArAjARAJABA~I~M{B}I|I|Q|Q|UXr? -{B-R:IY)eaIm7 (<H_=i9 @iEEEEEF=F=checking for new query: numPingsReceived=6, elapsed TxPingTime=1.74633896G B=~G A A N >a `,8iA9Fԫ@Fz޲@YF_LyFMD=FHƓ?_? ?n?tt;? y?i? Fԫ@F!P;)FCRzBRIIZ1IZ3j= j\=yn=Q n>٥lp rHpr= r>tV5vRŜ?V59v IvԐBy   @vJEivFL;vx5;vH)H-XIH-zBH- =H)H-)DH-ؚ<H-Eԁ6G55=ԩ~G A) A9 NE > checking for new query: numPingsReceived=6, elapsed TxPingTime=2.251778 z`,hƒiA9Rȧ@Rt@YRNyRv[D=RHv?@?0ı F?vqө? ?,? Rȧ@R;)RCnzBnImMb@Mb@Mb@iii i)iYm(\?x&?y&1?ymz4?im`e=yϫQ >٥ HFQ >V5[Ŝ?V59 IߐByT5?:@JEiH::V5hB91A*EԩimDNOT Ignoring new targets: 18.86 m.quXuX ProNav: ac range: 18.865000 m, nav range: 17.032492 m, bearing: 316.812770 deg, approach rate: -0.629480 m/s, LOS rate: -0.317090 deg/s, cmd heading: 314.820412 deg, new cmd heading: 314.366758 deg. YHeadingCmd: 5.486735 target range: 18.865000 and range: 19.00 m.bU@ZrjRJB~~{B}||||@@ 5{B5IC)I9)=9I= %<0K<=iU@ichecking for new query: numPingsReceived=6, elapsed TxPingTime=2.501630K O"K9*K2K6:K1p_,$pv;L< 3X!g6&ziZdWeLfJ]<AJ?J>>E< EY EY EY E] 5EY )  BDAT read: Rx Time:14:13:34.2503  TRx dataTimestamp_ set to:1749132815.488201 checking for new query: numPingsReceived=6, elapsed TxPingTime=2.7618076G!=a~GyAAN?PX`,XiA9~IJ@~S@Y~Ty~>=~H9?`?`CڱQ`[H?HX`왪?@(ԧ? ? ~IJ@~]h;)~C zB III#3-$r< -#=y5aFQ 5>٥19 =H=F= =>AMV5E0Ŝ?MV59E} IEByQ]]@EJEiEZ;E[;EaV5im1Am'EB*** querying acoustic contact ***JR:JZBJMJJARJZJ9bJ9J4J@@@@DNOT Ignoring new targets: 18.86 m.ԻԻ ProNav: ac range: 18.865000 m, nav range: 16.681070 m, bearing: 316.645959 deg, approach rate: -0.766909 m/s, LOS rate: -0.371700 deg/s, cmd heading: 314.366751 deg, new cmd heading: 313.855791 deg. HeadingCmd: 5.477817 target range: 18.865000 and range: 19.00 m.bGJ@ZrjRJB~~}||||2@ %{B%)I!)%!I-M즼 ))-c<5,N15xK=i5GJ@i9>E-፨<EEEER0Echecking for new query: numPingsReceived=6, elapsed TxPingTime=3.006026H>HHqIH"{BH =HH*DH<HEHǓCHǔCHǔCH =I = Iǂ56G0=! ~G A A! N5 >`,liA9B@B@YBfWyBr8=BH"?f?Ƹ 2%?ȶD??-?X? B@B>8;)@NzBN+IIVIV?13bھ= bR=yfQ f>٥dd jHhj j>lvV5nCŜ?zV59n InBy| @nJEin;n;nV5%checking for new query: numPingsReceived=6, elapsed TxPingTime=3.257733B-K4A)-DNOT Ignoring new targets: 18.86 m.Y) ProNav: ac range: 18.865000 m, nav range: 16.408329 m, bearing: 316.517902 deg, approach rate: -0.614043 m/s, LOS rate: -0.293096 deg/s, cmd heading: 313.855798 deg, new cmd heading: 313.465248 deg. &IHeadingCmd: 5.471001 target range: 18.865000 and range: 19.00 m.bp@ZrjRJ B ~ ~}||||`R @ {B靵MI)IY %<ROv<=ip@iy>E- 5%<} DAT read: 14:13:34.2503 LVL= 21312, 31217, 18354, 32755, AGC= 57, IDX= 413,-0.27, 2.413, 1.022, 2.491, 2.013, PHS= 0.488,-0.944, 0.476, RAW= 149.6, -0.3, CAL= 152.9, -9.2, ROT= 357.1, 9.2  Ygot valid direction response: 14:13:34.2503 LVL= 21312, 31217, 18354, 32755, AGC= 57, IDX= 413,-0.27, 2.413, 1.022, 2.491, 2.013, PHS= 0.488,-0.944, 0.476, RAW= 149.6, -0.3, CAL= 152.9, -9.2, ROT= 357.1, 9.2  PDAT read: Bearing 357.1, 9.2 (Local) Ա  ~Local bearing/azimuth received: Bearing 357.1, 9.2 (Local)  DAT read: Range 10 to 50 : 16.4 m (Round-trip 21.9 ms) speed 0.7 m/s  ,DAT read: user:1983>  BDAT read: Tx time:14:13:35.3743  $Ping request sent. ,C?_ TČsvĿ3AY @S)yIGi9#>K P"K ŷ9*K 2K 7:K (1SK?@zU-~7tyNsGEiaw8qF> '@)I{*@il$8q@l$> )% ?G?WOti,?z;QQOl$> E! E! E! E% r5E! ) :publishing transmit ping timeڙ  Fpublishing direction and range infoy>,C?_ TČsvĿY )Ii )Ii ) % ?G?WOti ) checking for new query: numPingsReceived=7, elapsed TxPingTime=0.0792816GE^=jGM?bGM?~GA1AQachecking for new query: numPingsReceived=7, elapsed TxPingTime=0.195287N ?a,iAi9Rު@R@YR[yR4=RH??@qƱ'`?Įc? 0|?Ŕ?4? Rު@R);)PfzBf2IeMb@Mb@Mb@aaa a)aYeS?Q?y&1?ye/?eu=aerA edA)aIerAayeAII#3< =yۺQ >٥ H F-+ ->1=V55m`Ŝ?=V595c I5 By=/?E:E#E@5JEi5:5:57V5IM4AM$E:J}^BJ}TJJ}=RJyZJ}} :bJ}:9J}g4JyZbmTiACACA@ʁ( 0@uY%O꿺r8>,C?_ TČsvĿQQOl$>ҁ3DQ'@!3E4u&lVA?6濺3ػz3:Aj6ɜ?r: sB6ɜ?X  2pBꁽA@% addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 3.528786 s, deltaX: -2.600000 m, approachRate: -0.736797 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.283195 m, bearing: 316.074893 deg, lat: 36.906441 deg, lon: -122.115999 deg, deltaT: 3.528786 s, deltaX: -2.581804 m, approachRate: -0.731641 m/s, posRepo size: 4 9=DNOT Ignoring new targets: 16.28 m.9ea ProNav: ac range: 16.283195 m, nav range: 16.123228 m, bearing: 316.309167 deg, approach rate: 0.000000 m/s, LOS rate: -0.293096 deg/s, cmd heading: 313.465248 deg, new cmd heading: 312.955449 deg. HeadingCmd: 5.462103 target range: 16.283195 and range: 16.40 m.bɮ@ZrjRJB~~{B}|||`ff0@|@? 5{B5I1)=Յ9Im iim>JH} CH} IH} A{BH}  =Hy Hy H} <H} EE E E E 0E q 6GB =EAEAMchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.697821ԩ~GA A9Nm ? a,%BiA9@Q@YwcyA<H$?iV?@XX? &P?@7k?\?? @骍u\;)CzB5IYMb@Mb@Mb@ )YJ +?x&?٥ H!Fz >V5;xŜ?V59ѧ IBy)?:e!@JEi;1;V5B4A !E15DNOT Ignoring new targets: 16.28 m.1=۾=۾] ProNav: ac range: 16.283195 m, nav range: 15.776606 m, bearing: 316.141867 deg, approach rate: -0.676560 m/s, LOS rate: -0.333721 deg/s, cmd heading: 312.955443 deg, new cmd heading: 312.442530 deg. ]eeHeadingCmd: 5.453151 target range: 16.283195 and range: 16.40 m.be6@ZarajaRiJiBi~i~u{B}q|q|q|y|} ? {B靭țI)ˁI2 <$}TR`=i6@iEmEiEiEm5Eiԑchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.949471KO"K@9*K2K8:KkE'$p'_9/FGQ^ 8d1mN~AJJ ?Ա6G =~G A A N > a,W[iA96Ad@6m@Y6>ey6l <6HHu >Hu CHu IHu j{BHu  =Hq Hq Hu <Hu EQ a,WuiAzB%>Ii%N>I%x>)-AI5I5(*3E EE=yEQ M>٥II MHIU U>imV5m Ŝ?uV59m Im(Byqq}@mJEim ;ma#;mqV53AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 16.28 m. ProNav: ac range: 16.283195 m, nav range: 15.281452 m, bearing: 315.902556 deg, approach rate: -0.646578 m/s, LOS rate: -0.322660 deg/s, cmd heading: 312.121641 deg, new cmd heading: 311.712907 deg. p]HeadingCmd: 5.440416 target range: 16.283195 and range: 16.40 m.b@ZrjRJB~~}| | | | ࡨ? M{BMD%II)UpQIUej QQU͞<]WY]=i]@ia)EmEiEiEmP0Eichecking for new query: numPingsReceived=7, elapsed TxPingTime=1.706384a6Gea=~Ga Aq ԁ A N >#a,iA2checking for new query: numPingsReceived=7, elapsed TxPingTime=1.95716809F~@F*@YF gyF=y Q  >٥  H#F >%V5Ŝ?%V59$ I2By-'?-:-(-@JEi:;-V55B=3A= EaeDNOT Ignoring new targets: 16.28 m.amm ProNav: ac range: 16.283195 m, nav range: 15.004886 m, bearing: 315.786229 deg, approach rate: -0.655846 m/s, LOS rate: -0.280941 deg/s, cmd heading: 311.712895 deg, new cmd heading: 311.357485 deg. @HeadingCmd: 5.434213 target range: 16.283195 and range: 16.40 m.b@ZrjRJB~~{B}||||@KO"K9*K2K9:K,Mr_ K;3M|w8Wr~({; <6  (Jl^:JJAԉ {B2I)u^I k6<;VY<=i@iEEEAEAEAEI6G=Թ~GQAYAiN}z>-checking for new query: numPingsReceived=7, elapsed TxPingTime=2.211654 :J ZBJ RJJ =RJ ZJ 9bJ S29J g4J 7)a,_iA9:ʩ@:Ӱ@Y:{dy:L<:H 7? ?!@ G?쉓?!?E?[? :ʩ@:1;):CzBBII%I%T35 =9=y=ԥ:Q =>٥9A EHE$FEH E>IUW5MŜ?UW59Mո IMH H IH ~{BH  =H H H W<H gE {B靥I)dIo <Zsx<Ύ=i@iMևGQmZAAAEEEEE YZAyBF=Fp=ԉ = checking for new query: numPingsReceived=7, elapsed TxPingTime=2.7154446G= t=jGU ?bGU +?~G9 AY A N >^1a, ƄiA ~sC)~΁Aɿ~~ F||ہAi=IIi  )      AI)i)I%A!! )111i11ٯ1=zBEGI)A AMb@Mb@Mb@ )YNbX9?y&1?~jth?y%?`e=D;EA dA)dAIy(AI Ib3ˑ< D=yQ >٥ H    >W5Ŝ?W59B IDBy%@&?%:%+-@JEiġ<<W5B3AE 1=DNOT Ignoring new targets: 16.28 m.9=Eu ProNav: ac range: 16.283195 m, nav range: 14.449535 m, bearing: 315.557241 deg, approach rate: -0.608611 m/s, LOS rate: -0.253542 deg/s, cmd heading: 310.993321 deg, new cmd heading: 310.657445 deg. u.}HeadingCmd: 5.421995 target range: 16.283195 and range: 16.40 m.b}@ZyryjyRyJyBy~~{B}||||@ {B ĔI ) YI! <v\<=f=iE@iA  >=BDAT read: Rx Time:14:13:37.7970 TRx dataTimestamp_ set to:1749132819.264958checking for new query: numPingsReceived=7, elapsed TxPingTime=2.968486EEEEE96GX=KUuP"KU@9*KQ2KU::KU s/Tb~K_9dU$ZOxa2ijvX~GAAN>i )7a,iiA&checking for new query: numPingsReceived=7, elapsed TxPingTime=3.217668,9mv@m"%@Ym_ymu٥11 5H=%F=E =>AMW5EŜ?UW59E IEMByQU91U@EJEiE$;E%;EW5]BeI3AaԑIIDNOT Ignoring new targets: 16.28 m.J݂4J݂C4J݂1:JgBJVJJMRJZJ%:bJB9J 4J{{ ProNav: ac range: 16.283195 m, nav range: 14.164330 m, bearing: 315.460801 deg, approach rate: -0.636406 m/s, LOS rate: -0.219528 deg/s, cmd heading: 310.657439 deg, new cmd heading: 310.362298 deg. HeadingCmd: 5.416844 target range: 16.283195 and range: 16.40 m.bV@ZrjRJB~ ~ } | |||v @ {B靍3wI)EI Շ<]$<rn=iV@iԹEqEqEyEyEyEDAT read: 14:13:37.7970 LVL= 22960, 32753, 20658, 32755, AGC= 57, IDX= 411, 0.09,-2.831, 2.058,-2.987, 3.010, PHS= 0.530,-0.905, 0.283, RAW= 140.7, 1.4, CAL= 145.0, -7.3, ROT= 5.0, 7.3 MYgot valid direction response: 14:13:37.7970 LVL= 22960, 32753, 20658, 32755, AGC= 57, IDX= 411, 0.09,-2.831, 2.058,-2.987, 3.010, PHS= 0.530,-0.905, 0.283, RAW= 140.7, 1.4, CAL= 145.0, -7.3, ROT= 5.0, 7.3 UPDAT read: Bearing 5.0, 7.3 (Local) U~Local bearing/azimuth received: Bearing 5.0, 7.3 (Local) eDAT read: Range 10 to 50 : 13.9 m (Round-trip 18.6 ms) speed 0.7 m/s e,DAT read: user:1984> uBDAT read: Tx time:14:13:38.9243 u$Ping request sent.u )@)+ )F8?>*7@\?k?iM>{ȼ¸=w> ):publishing transmit ping timeqFpublishing direction and range infoy $"ͭ?^{{!?*7@\?k?i )checking for new query: numPingsReceived=8, elapsed TxPingTime=0.010045Hu ļ>Hu CHu IHu {BHu  =Hq Hu +DHu *<Hu /E 6G} ;=ZG RG ~G A A N >2>a,iA9fpب@f@Yf~`yf1٥ H&FN > =W5 %Ŝ?=W59 M I UBy9=P3=@ JEi x; ;  W5EBMv3AMEJDAT read: TxSync time:14:13:38.9235 checking for new query: numPingsReceived=8, elapsed TxPingTime=0.237045ZbDiA\A\Au@ʁK QOF+@MJM?V~G $"ͭ?^{{!?ҁ%@@ҍ!~VrϠv?ـ俐tlw*z| (AjeF>mɜ?rH vB $rBꁍ^A{$@Q addTargetRange:: Added new target pos. range: 13.900000 m, deltaT: 3.527517 s, deltaX: -2.500000 m, approachRate: -0.708714 m/s, rangeRepo size: 4  Added new target pos. range: 13.801284 m, bearing: 320.032868 deg, lat: 36.906441 deg, lon: -122.115999 deg, deltaT: 3.527517 s, deltaX: -2.481912 m, approachRate: -0.703586 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.80 m.% ProNav: ac range: 13.801284 m, nav range: 13.915825 m, bearing: 315.381946 deg, approach rate: 0.000000 m/s, LOS rate: -0.219528 deg/s, cmd heading: 310.362293 deg, new cmd heading: 310.104982 deg. AHeadingCmd: 5.412353 target range: 13.801284 and range: 13.90 m.b1@ZrjRJB~1~1}9|i|q|u+@|`:? e{BeIa)eLaIm9 iqu.m checking for new query: numPingsReceived=8, elapsed TxPingTime=0.488400OEa,giA<9F,@Fٌ@YFfyF;FH@R?`p?@@\?&?Ӭ?`p?? F,@F껏;)FCKn P"Kn9*Kl2Kn;:Kn2q[/pUg7/CW2Gr `VeYSh{\:bjPvzBvBIiz=Iza=uMb@Mb@Mb@qqq q)qYu(\?~jt?Mbyu'?uD=uuA q)u@IuAqyu\AII[3 P=ytQ >٥ H[ټ >W5eƜ?W59 I[By$(?:V9@JEi;;TW53AB*** querying acoustic contact ***JRq}DNOT Ignoring new targets: 13.80 m.y}1;1; ProNav: ac range: 13.801284 m, nav range: 13.658845 m, bearing: 315.322857 deg, approach rate: -0.698592 m/s, LOS rate: -0.163655 deg/s, cmd heading: 310.104986 deg, new cmd heading: 309.924383 deg. HeadingCmd: 5.409201 target range: 13.801284 and range: 13.90 m.b-@ZrjRJB~~y{B})|1|1|1|5?ԩ {BW!I)\ZI W<l_g1<=i-@iEEEE_0Echecking for new query: numPingsReceived=8, elapsed TxPingTime=0.7425146G 7= ~G A A N >DKa,@/iA9j>U@j^@Yj}hyj; %>%@-checking for new query: numPingsReceived=8, elapsed TxPingTime=0.9931191jHx1?{?`M U@jv;)jCUzBUNIIeIeM3uD= uM=yuGQ u>٥ H'F] > W5yƜ? W59 IaBy :@JEi:q:W5)-j3A-EQUDNOT Ignoring new targets: 13.80 m.Y]*]*m ProNav: ac range: 13.801284 m, nav range: 13.387333 m, bearing: 315.264452 deg, approach rate: -0.679846 m/s, LOS rate: -0.149207 deg/s, cmd heading: 309.924396 deg, new cmd heading: 309.745629 deg. m̻H}ʼ>H}CH}IH}{BH} =HyHyH}]<H}EHE”CHAHE“CHE =IE = IEL!6HeadingCmd: 5.406081 target range: 13.801284 and range: 13.90 m.b@ZrjRJB~~}||||? {BQI)]DIXT C<`A<f=i@i)EEEE0E6G=~GYAaAyNZ>Qchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.244190ԉ M.Ra,%IiA:JZBJPJJ@RJZJ9bJ*9JJ4JzJ.:jJ3:J-:rJ-:9Jn&@J0@YJ]kyJ1٥ H(Fh >W5Z&Ɯ? W59g IgBy ,? : = @JEisQ;gP;xW5B3AEDNOT Ignoring new targets: 13.80 m. ProNav: ac range: 13.801284 m, nav range: 13.115913 m, bearing: 315.217951 deg, approach rate: -0.648346 m/s, LOS rate: -0.113375 deg/s, cmd heading: 309.745636 deg, new cmd heading: 309.603248 deg. HeadingCmd: 5.403596 target range: 13.801284 and range: 13.90 m.bB@ZrjRJ B ~~3{B}||||5? {B靕^I)&SI ߈<,a< =iB@i-checking for new query: numPingsReceived=8, elapsed TxPingTime=1.496248ԉEaEaEaEe0EaFm=Fm=K5  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.7489038VXa,biA95F @5@Y5my56<5H?1?MI. ?).?@Ѻ?`͒?`? 5F @5;)5CMzBMGI)Q QIm Im(2}< Q=yԺQ >٥ H >W56Ɯ?W59 ImBy>@JEi+;u:W53AEԹDNOT Ignoring new targets: 13.80 m. ProNav: ac range: 13.801284 m, nav range: 12.852776 m, bearing: 315.174903 deg, approach rate: -0.700239 m/s, LOS rate: -0.116901 deg/s, cmd heading: 309.603241 deg, new cmd heading: 309.471452 deg. t HeadingCmd: 5.401296 target range: 13.801284 and range: 13.90 m.b j׬@Z rjRJB~~}||!|!|%`? M{BUiI)II\  <a<=i j׬@iEEEE5E=checking for new query: numPingsReceived=8, elapsed TxPingTime=2.0001006Gmb=H>HCHHH =HH*DHC<HPE~GA AI Aa Nm >9 >^a,F|iA9>[@>@Y>sy><>H@i? \D? !@Db?@ ?[?ז?? >[@>Z5;)>CJzBJMIIVIV2b< bW=ybTQ b>٥dd fHf)Ff( j>hrW5jvFƜ?rW59j IjsBypr?r@jJEijM;j;j3W5tzw3Ax%DNOT Ignoring new targets: 13.80 m.!%%5 ProNav: ac range: 13.801284 m, nav range: 12.597013 m, bearing: 315.135766 deg, approach rate: -0.676864 m/s, LOS rate: -0.105679 deg/s, cmd heading: 309.471445 deg, new cmd heading: 309.351649 deg. = MHeadingCmd: 5.399205 target range: 13.801284 and range: 13.90 m.bMIƬ@ZIrIjIRIJQBQ~Q~Q}Y|Y|a|a|ed@ {B vI)=I5" 115}p checking for new query: numPingsReceived=8, elapsed TxPingTime=2.511571ԙ hea,iA9>ç@>Iͮ@Y>;#xy>V=>H`?a[?hy ^ ? J?@?`"?`? >ç@>;)>CFzBJOI-Mb@Mb@Mb@))) )))Y-Cl?l?MbpK}P"K} 9*Ky2K}=:K}R_[BY rugtK:Gt.mwuFH&X3C; aIXYWy-/?-=--A )))I-A)y-AIIT3 ; ;=y;Q >٥ H*F1 >W5XƜ?W59. I|By!0?:>D@JEiI:F:!W5Bp3AE B*** querying acoustic contact ***J R %DNOT Ignoring new targets: 13.80 m.!%v%v5 ProNav: ac range: 13.801284 m, nav range: 12.297010 m, bearing: 315.112768 deg, approach rate: -0.686821 m/s, LOS rate: -0.053934 deg/s, cmd heading: 309.351644 deg, new cmd heading: 309.280968 deg. ==HeadingCmd: 5.397971 target range: 13.801284 and range: 13.90 m.bE.@ZArAjARAJABA~I~M<{B}I|I|Q|Q|U@DN@q {B靅3I)}7I ^ <eb]Y=0=i.@ibEZEE)E)E)E-O0E)F1F1ԡchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.7650976Gm̈=~GI AY Ai Ny ka,iA96@6]@Y6}y6=6H`ۦ?`t?籿z?Z6??n? X? 6@6^;)6C=BDAT read: Rx Time:14:13:41.3441 =TRx dataTimestamp_ set to:1749132822.799298Echecking for new query: numPingsReceived=8, elapsed TxPingTime=3.017150H>HCHIH{BH =HHHK<HVE]{B]^Iie0>Ie=IuIu<2N= 0=yHQ >٥ H9 >W5kƜ?W59 IByE@JEi:):%W53ADNOT Ignoring new targets: 13.80 m.33  ProNav: ac range: 13.801284 m, nav range: 11.978329 m, bearing: 315.095018 deg, approach rate: -0.686206 m/s, LOS rate: -0.039238 deg/s, cmd heading: 309.280965 deg, new cmd heading: 309.226298 deg. m׺HeadingCmd: 5.397017 target range: 13.801284 and range: 13.90 m.b]@ZrjRJ!B!~!~!})|)|)|)|5 @ ]{B]Ia)eaIe aae"qra,=ʅiA:JZBJRJJBRJZJ9bJS29J-4JzJ0:jJ5:J;:rJ<:i||)| I )  iIIiXA ) 9AO F!%AI%P)!i!))I- A)-F )ٯ)5{B=iI]Mb@Mb@Mb@YYY Y)YY]V-?Q?Mbpy]h1?]٥ H+F > W5v{Ɯ? W59 IBy1?:GH@JEi;<;Z(W5A2AE EDNOT Ignoring new targets: 13.80 m.᪸᪸ ProNav: ac range: 13.801284 m, nav range: 11.718342 m, bearing: 315.093240 deg, approach rate: -0.667936 m/s, LOS rate: -0.004669 deg/s, cmd heading: 309.226296 deg, new cmd heading: 309.220845 deg. MHeadingCmd: 5.396922 target range: 13.801284 and range: 13.90 m.b@ZrjRJB~ ~ {B}|||| g6 @DAT read: 14:13:41.3441 LVL= 22336, 21601, 18290, 27123, AGC= 54, IDX= 412, 0.21, 1.366,-0.111, 1.091, 0.853, PHS= 0.601,-0.917, 0.235, RAW= 136.6, 1.2, CAL= 141.6, -7.4, ROT= 8.4, 7.4 Ygot valid direction response: 14:13:41.3441 LVL= 22336, 21601, 18290, 27123, AGC= 54, IDX= 412, 0.21, 1.366,-0.111, 1.091, 0.853, PHS= 0.601,-0.917, 0.235, RAW= 136.6, 1.2, CAL= 141.6, -7.4, ROT= 8.4, 7.4 PDAT read: Bearing 8.4, 7.4 (Local) ~Local bearing/azimuth received: Bearing 8.4, 7.4 (Local) DAT read: Range 10 to 50 : 11.7 m (Round-trip 15.7 ms) speed 0.5 m/s ,DAT read: user:1985> BDAT read: Tx time:14:13:42.4243 $Ping request sent. ]k@)]] A> Y)Y]ѽ?2˭S?pz^?i]Ժ>]]Q >] A> Y)Y5:publishing transmit ping time5Fpublishing direction and range info E{BEIA)EAIMp IIMo :K/\119"'AizBY&: b Q` !%()(&$:!J>J?ԩ 6GU =jGe ?bGe ? JDAT read: TxSync time:14:13:42.4236 % checking for new query: numPingsReceived=9, elapsed TxPingTime=0.240422~G) A9 AI N] >xa, iA89F;@FUE@YFyF8=FH`ea?®?`ٛEx?-?f|?k?@? F;@F;)FCm"{BuqIII[3I = ]=y׻Q >٥ H > W5ފƜ?%W59 IBy)--K-@JEiÜ;;+W55B52A5EZb^ӅiA9A9AY@ʁ\x&@+r:?EVZd?M7d?OZ_|Q > A>ҁV!@t`-IZ)d?$/R;|ka zAj] ɜ?rjC gxBqKɜ? 2  sBꁍ9A+@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 3.535628 s, deltaX: -2.200000 m, approachRate: -0.622237 m/s, rangeRepo size: 4 E Added new target pos. range: 11.616704 m, bearing: 320.703524 deg, lat: 36.906443 deg, lon: -122.115998 deg, deltaT: 3.535628 s, deltaX: -2.184580 m, approachRate: -0.617876 m/s, posRepo size: 4 AEDNOT Ignoring new targets: 11.62 m.IMI ProNav: ac range: 11.616704 m, nav range: 11.563090 m, bearing: 316.309954 deg, approach rate: 0.000000 m/s, LOS rate: -0.004669 deg/s, cmd heading: 309.220832 deg, new cmd heading: 309.215416 deg. HeadingCmd: 5.396827 target range: 11.616704 and range: 11.70 m.bϲ@ZrjRJB~~ԙ}|||`ff'@|0? {BII(w"<)=齉9I=¼ 9AEDH)H-IH-{BH- =H)H)H-3<H-/E)  6G ,= G5 fAM A Y fAy nB~G A A N >5 G@5 Bi~a,8iA9>@>v @Y>y>;8#=>H`k7??ƲN??̰?cZ?? >@>,;)>Cp<{BI)! !I-I-m?3̅= O=yNLQ >٥ H,F덼 >W5Ɯ?W59 IByL@JEiP:: /W542A EDNOT Ignoring new targets: 11.62 m.%;%;  ProNav: ac range: 11.616704 m, nav range: 11.294023 m, bearing: 316.361803 deg, approach rate: -0.734812 m/s, LOS rate: 0.144971 deg/s, cmd heading: 309.215423 deg, new cmd heading: 309.374676 deg.  ;HeadingCmd: 5.399607 target range: 11.616704 and range: 11.70 m.bɬ@ZrjRJB~!~!}!|!|)|)|- ? {B靽+I)I ¼ 3o<checking for new query: numPingsReceived=9, elapsed TxPingTime=0.74307412b=%.~=iɬ@i EEEE_0E6G 2=:Je]BJe]JJeDRJaZJe]:bJe_9Je4JazJe:jJe:Jei:rJej:~GA!9AaNuz>a  checking for new query: numPingsReceived=9, elapsed TxPingTime=0.994680a,iA9>l˦@>խ@Y>iy>%=>H ??`%??0?$?? >l˦@>ˏ;)>CfL{BjI9KP"Kŷ9*K2K?:KO";u  T [ Y UzNrX Uv  F ^  m`}LE<5!?JJ|A-Mb@Mb@Mb@))) )))Y-V-?/$?~jtx?y)-,=-;-A -@)-@I))y-AIeIe(*3D= 7=yQ >٥ H-FR| >W5Ɯ?W59 IBy1?:eJ@JEi;G;2W5!%1A!eB*** querying acoustic contact ***JaRaDNOT Ignoring new targets: 11.62 m.>:>: ProNav: ac range: 11.616704 m, nav range: 10.985375 m, bearing: 316.408467 deg, approach rate: -0.675632 m/s, LOS rate: 0.105019 deg/s, cmd heading: 309.374675 deg, new cmd heading: 309.518601 deg. %;HeadingCmd: 5.402119 target range: 11.616704 and range: 11.70 m.b(ެ@ZirjRJB~~B{B}|||| @T?checking for new query: numPingsReceived=9, elapsed TxPingTime=1.246551 {By;I)I &ü *<aG==`=i=(ެ@iAԙEEEEX0E 6G =ZG RG ~G A A N >N4a,I03iA>checking for new query: numPingsReceived=9, elapsed TxPingTime=1.4986429B~@B+@YB!~yBX$=BH`? ?鲿 }$9?? ?}?h٥hh nHln n>pvW5rȻƜ?vW59r` GG?AH>HHIH{BH =HH)DH-<H%EIrBy)5 L5@rJEir!Emu<5checking for new query: numPingsReceived=9, elapsed TxPingTime=1.751316E E E E P0E 6G l=Y ~G! AQ A N >9a,oLiA9Fm@Fvw@YF܆yF8C!=FH ?-:? R?!? z?yذ?@?? Fm@F2;)FCR{BRIi^C>I^i>9MMb@Mb@Mb@III I)IYMoʡ??{Gz?yM-?ML=M#٥ H.F? >W5Ɯ?W59 IBy-?:I@JEi~ ;;9W5Q]1AYDNOT Ignoring new targets: 11.62 m.:: ProNav: ac range: 11.616704 m, nav range: 10.447637 m, bearing: 316.502602 deg, approach rate: -0.668786 m/s, LOS rate: 0.109112 deg/s, cmd heading: 309.667964 deg, new cmd heading: 309.808164 deg. ĕ;%HeadingCmd: 5.407173 target range: 11.616704 and range: 11.70 m.b%@Z!r!j!R!J!B!~)~-a{B}I|Q|Q|Q|U>@ ؕ?ו=checking for new query: numPingsReceived=9, elapsed TxPingTime=2.003042 {BPoI)\;IOü P<`B`9=6i+=i@ii>E d6<EEEE_0EK]AQ"K]9*KY2K]@:K]0RequXV! y\357 M9tt:rT@M"i~d!ԑ6G _= M checking for new query: numPingsReceived=9, elapsed TxPingTime=2.255220~G A A N >=@a,fiA9@@PJ@Y哅yQ8"=H?W?₲\ »??t?:?+? @@[;)C={B=IIMIMV83]ҋ= ]L=y]_:Q e>٥aa eHe/Fma m>qԙW5uƜ?W59u IȗBy`K@uJEiusE}<H->H)H- IH- |BH- =H)H-*DH-<H-EHƓCHƓCHH =I = I5EEEEE6G {/=jG ?bG >~G A A N > o(a,iA9F@F"@YF傽yF&=FH Ά?p?`}v ?@0>?Y?Ѥ?{? F@F_;)FCR{BRIIVIVm?3b`= bU=yb_;Q b>٥dd fHdfM j>hrW5jƜ?rW59j IjבByprLr@jKEij:j;j@W5~B~B0AE)-DNOT Ignoring new targets: 11.62 m.)5$Za,iA-{B-I)1 1K$ P"K9*K2KA:KeBMZsh&AlX{$Y=pMb@Mb@Mb@ )Ysh|??:v?:v?y)?T=T<A @)@IAyf@II3a= 7=yQ >٥   H 0F   >W5Ɯ?W59K IBy%*?%:%K%@KEiz;;DW5)-/A-EAUB*** querying acoustic contact ***JQRQYDNOT Ignoring new targets: 11.62 m. E1; E1;M ProNav: ac range: 11.616704 m, nav range: 9.621698 m, bearing: 316.684837 deg, approach rate: -0.664782 m/s, LOS rate: 0.154982 deg/s, cmd heading: 310.163043 deg, new cmd heading: 310.370191 deg. U;HeadingCmd: 5.416982 target range: 11.616704 and range: 11.70 m.bW@ZrjRJB~~n{B}||||`b @ {{B靅4I),=I¼  p<] checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264219ԁ/= ~~a,sgiA 2%=2<JDAT read: 14:13:44.8410 LVL= 25936, 26177, 21554, 32755, AGC= 53, IDX= 412,-0.04,-2.308, 2.497,-2.716,-2.779, PHS= 0.559,-0.960, 0.059, RAW= 131.2, 5.2, CAL= 137.4, -1.4, ROT= 12.6, 1.4 RYgot valid direction response: 14:13:44.8410 LVL= 25936, 26177, 21554, 32755, AGC= 53, IDX= 412,-0.04,-2.308, 2.497,-2.716,-2.779, PHS= 0.559,-0.960, 0.059, RAW= 131.2, 5.2, CAL= 137.4, -1.4, ROT= 12.6, 1.4 VPDAT read: Bearing 12.6, 1.4 (Local) Z~Local bearing/azimuth received: Bearing 12.6, 1.4 (Local) HbƼ>HbCHb3IHb]|BHb =H`Hb+DHb<HbErDAT read: Range 10 to 50 : 9.3 m (Round-trip 12.5 ms) speed 0.6 m/s v,DAT read: user:1986> zBDAT read: Tx time:14:13:45.9244 z$Ping request sent.z2+< 0)02ﬢD?.\l7?| ?i20pG>2/2z0a>2+< 0)0e:publishing transmit ping timexeFpublishing direction and range info0y2)R8?٥aa eHe1Fu >W5ǜ?W59 IByLM@ KEi):W:HW5T/AZ0b2,iA2A2A2@ʁ2i͔"@"@,&̿2)R8?2+<ҁ2LVG/@ψ w?20~H?ǭx Ҡxmɜ?2jC  2vB2EA2܀@% addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 3.528193 s, deltaX: -2.400000 m, approachRate: -0.680235 m/s, rangeRepo size: 4 5 Added new target pos. range: 9.234023 m, bearing: 322.268417 deg, lat: 36.906447 deg, lon: -122.115991 deg, deltaT: 3.528193 s, deltaX: -2.382681 m, approachRate: -0.675326 m/s, posRepo size: 4 15BNOT Ignoring new targets: 9.23 m.1]6Short final. Range: 9.30 m.eVTransitioning guidance mode to: SHORT_FINALe@@eau ProNav: ac range: 9.234023 m, nav range: 9.204535 m, bearing: 321.399526 deg, approach rate: 0.000000 m/s, LOS rate: 0.154982 deg/s, cmd heading: 310.370189 deg, new cmd heading: 310.598767 deg. q|HeadingCmd: 5.420971 target range: 9.234023 and range: 9.30 m.bx@ZrjRJB~~}|||"@|#G? w{B靝b|I) >I  <\r = ~&a,hцiA9Vץ@V@YVVnyV7=VHU?ϙ?lX j? D? ֭? ?? Vץ@VQ;)VC^|BbIԩchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.485591mMb@Mb@Mb@iii i)iYmw/? rh?٥ HUC >-W5 ǜ?-W594" IBy5'?5:5G5@KEiA;;OLW5=B=.A=EzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<< ProNav: ac range: 9.234023 m, nav range: 8.922800 m, bearing: 321.588549 deg, approach rate: -0.691952 m/s, LOS rate: 0.478907 deg/s, cmd heading: 310.598754 deg, new cmd heading: 311.183708 deg. U<|HeadingCmd: 5.431180 target range: 9.234023 and range: 9.30 m.b;̭@ZrjRJB~!~-{B})|1|1|1|5? t{B靭II)} >I Z<ZH;i;̭@i KU=O"KU@9*KQ2KUB:KU}3SYX  WP[z,Jepx`&t\A/&rAV {EEEEt5E6G|< ~GAAN> checking for new query: numPingsReceived=10, elapsed TxPingTime=0.7375051 RWa,_iA9>@>MŬ@Y>ky>K=>H@??-`QU?y? (y?@l?J? >@>=A;)>CJ#|BJIiN=IN=IRIRT3Z)= Zq=y^ ;Q ^?٥\:JdBJfSJJf?RJdZJdbJfy69Jfـ4Jd\ jHj2Fn" n?t~W5vK-ǜ?~W59vN& IvBy|~H@vKEivv";v;vCOW5  .A 11=zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.=<E<M ProNav: ac range: 9.234023 m, nav range: 8.703220 m, bearing: 321.749546 deg, approach rate: -0.676996 m/s, LOS rate: 0.508900 deg/s, cmd heading: 311.183719 deg, new cmd heading: 311.678883 deg. U<U|HeadingCmd: 5.439823 target range: 9.234023 and range: 9.30 m.bU@ZQrYjYRYJYBY~a~a}i|q|q|q|}? Mq{BM)$II)Mc1>IIU QQU܊<W~0i@iEIEQEQEUP0EQchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.990496H5ͼ>H5CH5_IH5|BH5 =H1H5,DH5<H5EI6G5Tԡ [1a,iA:checking for new query: numPingsReceived=10, elapsed TxPingTime=1.2424599J@JGɬ@YJhyJWj=JHHD?s?b@} X?g~?`?@??\? J@J;)JCVN|BV*II^I^m?3f(= fK=yj:Q j>٥hh nHn3FrӞ: r>x~W5z<ǜ?~W59z++ IzByG@zKEiz ;z ;zRW5  .A E11=zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.E9<E9<U ProNav: ac range: 9.234023 m, nav range: 8.442722 m, bearing: 321.951055 deg, approach rate: -0.650039 m/s, LOS rate: 0.518353 deg/s, cmd heading: 311.678881 deg, new cmd heading: 312.302033 deg. Uޱ<]|HeadingCmd: 5.450699 target range: 9.234023 and range: 9.30 m.b] l@ZYrYjYRYJaBi~q~q}q|q|y|y|}U? o{B靭I)^>IuĽ 硉<U^,i l@iԙEEEE^0E6GMh <jG?bG?~GAAN>>checking for new query: numPingsReceived=10, elapsed TxPingTime=1.493733) ^\a,iA9>˥@>>լ@Y>ay>=>H@N? ?` a?8]?0?@[U?? >˥@>l;)>CKN8P"KN}9*KL2KNC:KNN"TV0E3EM:.vhx0>GI` {"u#V`|BZ5IMb@Mb@Mb@ )YMb? rh?Mb?y#?<A @)@Iy@I%I%3-M'= 56=y5̀;Q =>٥99 =H9ET; E>QmW5U>Nǜ?uW59Ux0 IUBy}$?:F@UKEiU;U ;UVW5B-AEB*** querying acoustic contact ***JRIIUzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.U<]<e ProNav: ac range: 9.234023 m, nav range: 8.157521 m, bearing: 322.177348 deg, approach rate: -0.624538 m/s, LOS rate: 0.512863 deg/s, cmd heading: 312.302040 deg, new cmd heading: 313.004615 deg. m<uchecking for new query: numPingsReceived=10, elapsed TxPingTime=1.745634|HeadingCmd: 5.462961 target range: 9.234023 and range: 9.30 m.bЮ@ZrjRJB~~{B}||||7U? %k{B%!I!)%t>IIM@޻ IIM HE ʼ>HA HE ~IHE |BHE  =HA HA HE <HE EM Ga,8iA>ZAJAA Y ZAy aB9R@@Y˘WyK=Hwi?{?u@{?s?? -? R@^_;)CEr|BE@I)I IIUIU3e>= eX=ye;Q m>٥ii mHm4Fu;8< u>yW5}\ǜ?W59}4 I}(ByE@} KEi}h:}S:}YW5z-AEzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<< ProNav: ac range: 9.234023 m, nav range: 7.918732 m, bearing: 322.372269 deg, approach rate: -0.638581 m/s, LOS rate: 0.536985 deg/s, cmd heading: 313.004620 deg, new cmd heading: 313.606994 deg. C< |HeadingCmd: 5.473475 target range: 9.234023 and range: 9.30 m.b &@Z r j R JB~~}|||!|%@ ]i{BeUIa)e>aIef aim[Թ pa,RiA@9:p@:@Y:Py:0D=:H'?@f^?Ij~`?!_??T? :p@:.;):Cb||BbFIMb@Mb@Mb@ )YS㥛?l?Mbp?y$?=;A I@)@IdAy(@II<21< D=y;Q >٥ H5F#7< >checking for new query: numPingsReceived=10, elapsed TxPingTime=2.501629Q]W5Umǜ?]W59U9 IU1Bye%?e:ekBe@U%KEiU:U:U]W5imR-AzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<<5 ProNav: ac range: 9.234023 m, nav range: 7.640561 m, bearing: 322.587336 deg, approach rate: -0.632928 m/s, LOS rate: 0.507161 deg/s, cmd heading: 313.606988 deg, new cmd heading: 314.275648 deg. 5<=|HeadingCmd: 5.485145 target range: 9.234023 and range: 9.30 m.b=N@Z9rAjARAJABA~~{B}||||2@ԩ g{B靵8I)>I7I  <bLL5iN@iE]EYEYEYEYFaFaKP"K59*K2KD:K#&#!O O_nJ]W/g  - D ,?\1FH H5j<7 BDAT read: Rx Time:14:13:48.3376  TRx dataTimestamp_ set to:1749132829.603226 checking for new query: numPingsReceived=10, elapsed TxPingTime=2.754430 6G} `6ZG ARG ~G A A N > a,wliAl9z9@zC@YzsJyzM`=zH??@?.f?fK?-?? z9@zՈ;)zC|BKIIE IEV2M4< UR=yUȀ;Q U>٥YY ]HYe@< e>y}W5}|ǜ?W59}Z> I}9ByGA@})KEi}%:}:} aW5B6-AEzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<< ProNav: ac range: 9.234023 m, nav range: 7.398758 m, bearing: 322.779061 deg, approach rate: -0.665228 m/s, LOS rate: 0.544694 deg/s, cmd heading: 314.275636 deg, new cmd heading: 314.869586 deg. <|HeadingCmd: 5.495511 target range: 9.234023 and range: 9.30 m.b:ۯ@ZrjRJB~~}|||| n@ =e{BE@II)M̏>IZȶ -<5I15 i5:ۯ@i9  8>=checking for new query: numPingsReceived=10, elapsed TxPingTime=3.005871H Ǽ>H H IH }BH H H +DH K<H dEE%E!E!E%~0E!6G~ʼ~GAA!N-p>1a a,}YiA.checking for new query: numPingsReceived=10, elapsed TxPingTime=3.259891ym|BmPIiu=Iu4٥ H6F >W5`ǜ?W59C ICBy@-KEi ::dW5-AI:J[BJTJJBRJZJ:bJ:9J-4JzJ:%jJ:-JSJ:5rJVJ:5iyyzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.! <! < ProNav: ac range: 9.234023 m, nav range: 7.113376 m, bearing: 323.022207 deg, approach rate: -0.541139 m/s, LOS rate: 0.479548 deg/s, cmd heading: 314.869590 deg, new cmd heading: 315.628246 deg. <|HeadingCmd: 5.508752 target range: 9.234023 and range: 9.30 m.bG@ZrjRJB~~}||||` @ mb{BucI)>I[1 !%<%  BDAT read: Tx time:14:13:49.4244 E $Ping request sent.E 5^zo; @)nF>I{@i+H=Q>+H )!GJ?1-s? n5ӯ?iTh>GQ>+H ) :publishing transmit ping time  Fpublishing direction and range infoyXc7L?P1?s!D?Y )Ii )Ii )!GJ?1-s? n5ӯ?i )u checking for new query: numPingsReceived=11, elapsed TxPingTime=0.043255Թ 6G TK EP"K 9*K 2K E:K d-&st" o^y d 9 3 F }/Yd<D}?dg9AL'9J- AJ- A~G A A N >~a,kiA9V*Ѧ@Vڭ@YV7K?yVq=VH@S?8?@`?@(@-? !˸?? V*Ѧ@V⎉;)VCchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.214629]|B]WIuMb@Mb@Mb@qqq q)qYu%C?ʡE?~jth?yuZ$?u=uD;u3A u3@)u@IuAqyu@II 3< =y3;Q >٥ H7FX= >W5ǜ?W59I INBy%?:L;@3KEi ; ;iW5,AEZbiA@@<@ʁPj@Mx?d?Xc7L?P1?s!D?Q>+Hҁ4zY@u4AGK Ϙ?@xaK?fSU^B LH$?zȪ@jIfɜ?rb B gxBꁅ%@@= addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 3.528320 s, deltaX: -2.500000 m, approachRate: -0.708553 m/s, rangeRepo size: 4 IU Added new target pos. range: 6.751810 m, bearing: 322.714282 deg, lat: 36.906447 deg, lon: -122.115991 deg, deltaT: 3.528320 s, deltaX: -2.482213 m, approachRate: -0.703511 m/s, posRepo size: 4 QQ]zIgnoring new targets. Set target to previous: 6.75 m. 9.23 m.]]E1;m ProNav: ac range: 9.234023 m, nav range: 6.754534 m, bearing: 323.285467 deg, approach rate: 0.000000 m/s, LOS rate: 0.154982 deg/s, cmd heading: 315.628260 deg, new cmd heading: 315.851827 deg. m;u|HeadingCmd: 5.512654 target range: 9.234023 and range: 6.80 m.bug@ZqryjyRyJyBy~~{B}|||@33@|V? E`{BEpII)M>IIM۱ IIUHI HM IHM }BHM  =HI HI HM <HM EHɕCHɕCHH =I = Iɤ5ԉ 6G r(~GY Aq A N >,a,d\iA,9:@:~@Y:x?y:{=:H7?`? >?@L6?` \?o? :@:I';):C H)JAɿJI HH\^ Ai^VI^F\I`i` ``)`d frAddddjAIh)hih)hIhhl lllpippٯp |B VII=I=V83M M=yMԹQ M+?٥QQ UHQ}< )?W5ǜ?W59L ITBy9@6KEi $<;$<lW5,A%B*** querying acoustic contact ***J)R)QQ]zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.]b<eb< ProNav: ac range: 9.234023 m, nav range: 6.584192 m, bearing: 323.412704 deg, approach rate: -0.617863 m/s, LOS rate: 0.473452 deg/s, cmd heading: 315.851826 deg, new cmd heading: 316.243406 deg. v<|HeadingCmd: 5.519489 target range: 9.234023 and range: 6.80 m.b@ZrjRJB~~}||||`? _{B݃;I)>I-{ %<%C!-W iM@iIԑchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.717441EEEEg2EԹJJO4Jz:0:J}YBJ}SJJ}FRJyZJ}9bJ}y69J}4JyzJ}b:jJ}g:J})C:rJ}+C:6G ^D8 ~G A A N >ia,0ׇiAchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.969300@iB<\9^-@^7@Y^>y^,=^H`\?`)?ܢoa?ؑ ۧ?ϻ? ? ^-@^Y;)^C}|B}ZI=Mb@Mb@Mb@999 9)9Y=Fx?ʡE?~jth?y=+?999 =@)=@I=MA9y9IM&IM3ePZ< m:=yu9Q u>٥yy }H}8F}"a< >W5;ǜ?W59Q I]By,?:9@:KEi;;oW5B,AEzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.&<&< ProNav: ac range: 9.234023 m, nav range: 6.292004 m, bearing: 323.644838 deg, approach rate: -0.698554 m/s, LOS rate: 0.580748 deg/s, cmd heading: 316.243414 deg, new cmd heading: 316.972114 deg. H<|HeadingCmd: 5.532207 target range: 9.234023 and range: 6.80 m.b@ZrjRJB~ ~ {B} ||||%? E]{BE8II)MI>IIM^ IIU~checking for new query: numPingsReceived=11, elapsed TxPingTime=1.222064A a,iA9>:y@>炮@Y>0@=>H~?jW?g^`'?ڒ??K? >:y@>·;)>CI-"I-q3ye:Q e>٥ii mHm9Fm< m>q}W5uǜ?W59uOV IueByk7@u>KEiu:u:u&sW5B,AEQQ]zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.]<e< ProNav: ac range: 9.234023 m, nav range: 6.043563 m, bearing: 323.838341 deg, approach rate: -0.637286 m/s, LOS rate: 0.516768 deg/s, cmd heading: 316.972113 deg, new cmd heading: 317.576463 deg. S<|HeadingCmd: 5.542755 target range: 9.234023 and range: 6.80 m.b@^@ZrjRJB~~}||||?HǼ>HHIH)}BH =HHH<HE %\{B%@V:5checking for new query: numPingsReceived=11, elapsed TxPingTime=1.473340I ) > I R H|<،=I#i@^@iIEEEEp5Eq6G O~G ԡ A A N > A  checking for new query: numPingsReceived=11, elapsed TxPingTime=1.726242b,6 iA9>\̧@> ֮@Y>L7y>H@?M?[]Z?4"`?P? -? >\̧@>;)>CJ|BJ]IInInF3v; v٥xx zHx~< ~> W5ǜ? W59Z InBy  4 @CKEi :~:vW5,AQQ]zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.]<]<m ProNav: ac range: 9.234023 m, nav range: 5.782501 m, bearing: 324.033512 deg, approach rate: -0.705065 m/s, LOS rate: 0.550906 deg/s, cmd heading: 317.576476 deg, new cmd heading: 318.188399 deg. m <u|HeadingCmd: 5.553435 target range: 9.234023 and range: 6.80 m.bu@yZqryjyRyJB~~}||||`? [{BP);I)>I=n z<: &i@i:J}]BJ}VJJ}ERJyZJ}]:bJ}B9J}4JyzJ}:jJ}:J}X:rJ}X:EEEEP0Eԩ6G~GAAN=>Mchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.978079 K 3P"K h9*K 2K G:K 4iE;tZ;&eV^+{jo*<saEJ AJ Ab,$iAI)@9F@Fr&@YF&4yF>FHo ??9" +&?w@?@9*?l? F@FX;)FCn|BnYIprAMb@Mb@Mb@ )checking for new query: numPingsReceived=11, elapsed TxPingTime=2.230731Y@5^I ?)\(?MbPyb0?Ga=EA @)@I@y@I IV2B[ ;=yU:Q ]>٥YY ]H]:Fe< e>iW5m[ǜ?W59m?` ImvBy0?::@mHKEimm;m;myzW5,AEzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.\<\<U ProNav: ac range: 9.234023 m, nav range: 5.473590 m, bearing: 324.366872 deg, approach rate: -0.677100 m/s, LOS rate: 0.771922 deg/s, cmd heading: 318.188406 deg, new cmd heading: 319.244799 deg. ]p=]|HeadingCmd: 5.571873 target range: 9.234023 and range: 6.80 m.b]L@ZYrajaRaJaBa~i~m{B}||||@ mZ{BmIq)ut>qIuT qquxQw<}6yT`DiL@ i EEEE3E1GGHż>HHHHHHH<H EU checking for new query: numPingsReceived=11, elapsed TxPingTime=2.4814036G WDY ~G A A NE >tb,er>iA96>d@6m@Y631y6>6H@??@6?D 3?~?m? 6>d@6dc;)6CJ|BJ_IIRIR3Z< Zc=y^l:Q ^?٥\\ ^H`b;< b?djW5fȜ?jW59fnd If}Byhn8n@fKKEifs;f ;f}W5pr,Ap%zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.%2e<%2e<5 ProNav: ac range: 9.234023 m, nav range: 5.234486 m, bearing: 324.629076 deg, approach rate: -0.698976 m/s, LOS rate: 0.801515 deg/s, cmd heading: 319.244790 deg, new cmd heading: 320.067276 deg. = ==|HeadingCmd: 5.586228 target range: 9.234023 and range: 6.80 m.b=a²@ZArAjARAJABA~I~I}I|Q|Q|Q|UiG@ -Y{B-;I1)5>1I579 1159u<=k29=fbWi=a²@iAIEEEE _0E BDAT read: Rx Time:14:13:51.8350 TRx dataTimestamp_ set to:1749132833.132577checking for new query: numPingsReceived=11, elapsed TxPingTime=2.7355756GJY1ԁ~GAANF>:Je[BJeSJJe@RJaZJe:bJey69JeJ4JazJe:jJe:Je)C:rJe+C:ԩ #b,;XiAchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.985275YYMb@Mb@Mb@ )Y> ףp=?J +?MbP?y1?H=:A @)@IMAy@I I ?13]ߺ e3=yeQ m>٥qq }H};F} }>W5Ȝ?W59j IBy\2?:7;@QKEi ; ;W5B,AEԱB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.t<t< ProNav: ac range: 9.234023 m, nav range: 4.917067 m, bearing: 325.052669 deg, approach rate: -0.691500 m/s, LOS rate: 0.982363 deg/s, cmd heading: 320.067282 deg, new cmd heading: 321.419832 deg. (=|HeadingCmd: 5.609834 target range: 9.234023 and range: 6.80 m.bÃ@Zr j R J B ~~{B}||||@@ MX{BMŽ:IQ)U>QIUݣ QQUAr<]`,Y]ieÃ@iaE!E!E!E%^0E!K=P"K=9*K92K=H:K=Dr;2tW  5saI5 r`OxcPoJE ?JE?DAT read: 14:13:51.8350 LVL= 32752, 32753, 31154, 32755, AGC= 51, IDX= 413,-0.25, 0.062,-1.533,-0.126,-0.199, PHS= 0.349,-1.287, 0.071, RAW= 140.9, 11.4, CAL= 143.9, 4.6, ROT= 6.1, -4.6 Ygot valid direction response: 14:13:51.8350 LVL= 32752, 32753, 31154, 32755, AGC= 51, IDX= 413,-0.25, 0.062,-1.533,-0.126,-0.199, PHS= 0.349,-1.287, 0.071, RAW= 140.9, 11.4, CAL= 143.9, 4.6, ROT= 6.1, -4.6 PDAT read: Bearing 6.1, -4.6 (Local) ~Local bearing/azimuth received: Bearing 6.1, -4.6 (Local) DAT read: Range 10 to 50 : 4.8 m (Round-trip 6.5 ms) speed 0.6 m/s ,DAT read: user:1988> BDAT read: Tx time:14:13:52.9244 5 $Ping request sent.= jsh= c@)%K>I @il=^ =l )Ӯ!O?[Dz_W?3]?itp>CL^ =l )- :publishing transmit ping time1 - Fpublishing direction and range infoy6`?M?zꇴ?Y )Ii )~GA AQ Aq N >Ii )Ӯ!O?[Dz_W?3]?i )- checking for new query: numPingsReceived=12, elapsed TxPingTime=0.0639739 Jb,riA.@>@Y>-y>>>H$?N?`-ɏ?`ˡ?`V?۲? >.@>q;)>CJ|BN\IIjIj2C  c=y pJ;Q  >٥ HamW5e)Ȝ?mW59ewn IeByim07m@eUKEie:e:eW5,AZb|hiA@@@ʁS~V@#aX8z'? -=l_v?6`?M?zꇴ?^ =lҁ2:$ @ %go1?`|u?JP,俫E:dK?zN@&i@j\ɜ?r 3B }B:@o@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 3.277013 s, deltaX: -2.000000 m, approachRate: -0.610312 m/s, rangeRepo size: 4 Hɼ>HHHH =) HHHך<HE=JDAT read: TxSync time:14:13:52.9236 =checking for new query: numPingsReceived=12, elapsed TxPingTime=0.208365ecGy  YyB Added new target pos. range: 4.765960 m, bearing: 320.483536 deg, lat: 36.906447 deg, lon: -122.115991 deg, deltaT: 6.805333 s, deltaX: -4.468063 m, approachRate: -0.656553 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.77 m. 9.23 m.E1;5 ProNav: ac range: 9.234023 m, nav range: 4.663423 m, bearing: 325.383199 deg, approach rate: 0.000000 m/s, LOS rate: 0.154982 deg/s, cmd heading: 321.419823 deg, new cmd heading: 321.602914 deg. 5;5|HeadingCmd: 5.613030 target range: 9.234023 and range: 4.80 m.b=@Z9r9j9R9J9B9~A~A}|||@33@|?  :I ) > I r{ p< (-K=Yi@iyEEEEEFFA6Gw~GqAyAN>ԉ  checking for new query: numPingsReceived=12, elapsed TxPingTime=0.459498"b,iA,9>@>w(@Y>2-y><>>H?d'?@bɾ q?4㯿?x?? >@>;)>CR|BR^IIr!Iri3E < MF=yM bQ M>٥QQ UHQ]< ]>aeW5e;Ȝ?mW59eIs IeByimb5m@eYKEieP:e:eCW5B,AEAAMzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.M<M< ProNav: ac range: 9.234023 m, nav range: 4.383992 m, bearing: 325.765834 deg, approach rate: -0.705768 m/s, LOS rate: 1.028025 deg/s, cmd heading: 321.602927 deg, new cmd heading: 322.823805 deg. a0=5|HeadingCmd: 5.634338 target range: 9.234023 and range: 4.80 m.b=L@Z9rAjIRqJyԑB~~}I|Q|Y||b?  (ZF;I ) > IU m<|\(f@iL@i! E=E4=Uchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.713178EEEE_0E 6G ,~G A A N >n)b,s֥iA9:[@:e@KO"K9*K2KI:K^=+? NBx(ZZ 'XC"2`}uJ8VJBAJBAY:,y:=:Hu?}?޼;F?@5?_?`˾? :[@:H[;):Cchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.963315|BjI}Mb@Mb@Mb@yyy y)yY}ʡE?{Gz?Mb`?y}-2?}#=};}rA }h@)}@I}n@yy}=@II3w= )=y]N9Q >٥ H=F{< >W5^QȜ?W59y IByx2?:6@_KEi&;%;W5,AEAzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.ݯ<ݯ<:J%YBJ%[JJ%DRJ!ZJ%9bJ%W9J%4J!-@-@-@-@5 ProNav: ac range: 9.234023 m, nav range: 4.048103 m, bearing: 326.322732 deg, approach rate: -0.685046 m/s, LOS rate: 1.230018 deg/s, cmd heading: 322.823809 deg, new cmd heading: 324.632501 deg. 5 S=]|HeadingCmd: 5.665906 target range: 9.234023 and range: 4.80 m.b]O@ZYrajaRiJiBq~~{B}||||`[? uW{BX;I) >IsȜ ]j<u½iO@iq HHHҼ>HHHH =HH,DH<HEEEEEEU checking for new query: numPingsReceived=12, elapsed TxPingTime=1.216009ԙ 6G l ~G A AN>0b,UÈiAI)9>@>@Y>-y>p=>H+?c?׌y@!? M`?? ? >@>s;)٥| H>F5< >W5aȜ?W59} IBy4@cKEi::W5!-,A)zIgnoring new targets. Set target to previous: 9.23 m. 9.23 m. м< м< ProNav: ac range: 9.234023 m, nav range: 3.792921 m, bearing: 326.770844 deg, approach rate: -0.704628 m/s, LOS rate: 1.320593 deg/s, cmd heading: 324.632498 deg, new cmd heading: 326.066964 deg. b=%|HeadingCmd: 5.690942 target range: 9.234023 and range: 4.80 m.b%3@ZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|]@? X{BX;I)>I h<9^½i3@checking for new query: numPingsReceived=12, elapsed TxPingTime=1.467308iEEEE0EF=F=6Gȏ~GYAaAN l>9  checking for new query: numPingsReceived=12, elapsed TxPingTime=1.7192636b,݈iA9>K@>@Y>-y>o>>H{k?w?!\??7? ?? >K@>ő;)>C=|B=hIMb@Mb@Mb@ )Y|?5^?~jt?MbPy-?<EA )v@IX@yQ@I I 2N 0=yѹQ >٥ H?F< >W5uȜ?W59 IBy-?:6@hKEi::ʓW5 B ,AE=B*** querying acoustic contact ***J9R9IIQUzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.]<]<m ProNav: ac range: 9.234023 m, nav range: 3.480775 m, bearing: 327.461727 deg, approach rate: -0.695584 m/s, LOS rate: 1.677581 deg/s, cmd heading: 326.066975 deg, new cmd heading: 328.324270 deg. m=u|HeadingCmd: 5.730340 target range: 9.234023 and range: 4.80 m.bu^@ZqrqjqRyJyBy~y~{B}||||_? w;I)%>!I%a AIM{e:J bBJ NJJ HRJ ZJ :bJ !9J Ժ4J =b,iA96w@6@Y6-y6_ >6H`?&?@aw?m ?~k?Z? 6w@6Р;)6CHRԼ>HRCHRIHR3}BHR =HPHPHR<HREHaHaHaHe =Ie = Ie5\5|B5yIIEIE3]checking for new query: numPingsReceived=12, elapsed TxPingTime=2.223354= g=y9Q >٥ H = >W5&Ȝ?W595 IBys3@lKEiB;;W5!%8,A!izIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<< ProNav: ac range: 9.234023 m, nav range: 3.231894 m, bearing: 328.052847 deg, approach rate: -0.661250 m/s, LOS rate: 1.691457 deg/s, cmd heading: 328.324270 deg, new cmd heading: 330.233450 deg. =|HeadingCmd: 5.763661 target range: 9.234023 and range: 4.80 m.bo@ZrjRJB~~}|||| @@ Q](YI]  aaewc<^ eio@iE]EYEaEe3Ea checking for new query: numPingsReceived=12, elapsed TxPingTime=2.4754766G VGýA ~G A A N >Db,iA9Bܪ@B@YB@/yBWx >BH?`?)y@+?<M??? Bܪ@B;)BC^|B^zI bp=b=IfIfV83!=u; D=yӀQ >٥ H@F <  >)EW5-QȜ?MW59- I-ByaeD0m@-pKEi-<-<-W5)=5,A=EzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.<< ProNav: ac range: 9.234023 m, nav range: 2.955260 m, bearing: 328.759865 deg, approach rate: -0.622351 m/s, LOS rate: 1.739447 deg/s, cmd heading: 330.233445 deg, new cmd heading: 332.551721 deg. 8=|HeadingCmd: 5.804122 target range: 9.234023 and range: 4.80 m.b_@ZrjRJB~~}|)|)|)|-@I}checking for new query: numPingsReceived=12, elapsed TxPingTime=2.728914 5Y{B5$@;I1)5k>9I=S 99=`ԡ K PP"K 9*K 2K K:K n  q~3+eB)[qI9Qv3z`R #O%+3cwU BDAT read: Rx Time:14:13:55.3324 % TRx dataTimestamp_ set to:1749132836.659280% checking for new query: numPingsReceived=12, elapsed TxPingTime=2.980300*Jb,ʣ*iA9 KE@ N@Y 0y EU> H&9?@?X@?Я`? V?ң? KE@ $;) C-|B-yIԡMb@Mb@Mb@ )YFx?y&1|?y+?`;rA Q@)IyG@I"Iq3%ir %D=y%IQ %>٥)) -H)-I< 5>9EW5=ܩȜ?EW59= I=ByE+?E:Ea3M@=uKEi=:=1:=+W5UB]:,A]EzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.G?=G?= ProNav: ac range: 9.234023 m, nav range: 2.686559 m, bearing: 329.659170 deg, approach rate: -0.726794 m/s, LOS rate: 2.675651 deg/s, cmd heading: 332.551720 deg, new cmd heading: 335.516700 deg. =|HeadingCmd: 5.855871 target range: 9.234023 and range: 4.80 m.bLc@ZrjRJB~~{B}|||| @  `(<IUR=IU%=:J]]BJ]RJJ]DRJYZJ]]:bJ]S29J]4JYI>9)>IcU [.^<XھNiLc@iEIEQEQEU4EY6G%<GGAAH׼>HHIHG}BH =HH-DH <HE~G9AAAQNmx>}checking for new query: numPingsReceived=12, elapsed TxPingTime=3.2313819 pQb,EDiA9F5@F@YF2yF>FH@?#?z@}@a?@涿P?@5?/? F5@F ;)FCr|BvIIzIzT3EY;= EZ=yE Q E>٥II MHMAFU= U>YeW5]CȜ?eW59] I]ĒByae/e@]yKEi]":] :]sW5qu+Au߬EzIgnoring new targets. Set target to previous: 9.23 m. 9.23 m.>B=>B= ProNav: ac range: 9.234023 m, nav range: 2.438244 m, bearing: 330.585737 deg, approach rate: -0.660905 m/s, LOS rate: 2.717153 deg/s, cmd heading: 335.516705 deg, new cmd heading: 338.576451 deg. =|HeadingCmd: 5.909274 target range: 9.234023 and range: 4.80 m.b@ZrjRJB~~}||||`% @ =Z{B=*q$AIEU AAE[ BDAT read: Tx time:14:13:56.4245 $Ping request sent. JDAT read: TxSync time:14:13:56.4237  checking for new query: numPingsReceived=13, elapsed TxPingTime=0.248505y CWb,u^iA961@6;@Y6v4y6'>6H? ?gm'`7? C@??@X? 61@6n;)6CJ|BJIEMb@Mb@Mb@AAA A)AYES㥛?:v?Mb`yE$&?ET٥YY ]H]BF]u = ]>iuW5mAȜ?uW59mW ImʒBy}-&?}:p)@m}KEimw;mv;mMW5+AB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 2.800000 m, deltaT: 3.526364 s, deltaX: -2.000000 m, approachRate: -0.567156 m/s, rangeRepo size: 4 BIntercept lockout. Range: 2.80 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT@bZrjRJB~~{B}|||`ff@| h!? }[{B靝I# hX<~5fiirE G>jE >K#>P"K}9*K2KL:K\bsU{l.H7# ]}Qt#McE`9  q-[ {  eqEEEEEF=F=checking for new query: numPingsReceived=13, elapsed TxPingTime=0.5033416G4p~GAAN>ԡIY I] BA:Ju \BJu UJJu ARJq ZJu =:bJu >9Ju 4Jq g]b,6xiAH&ۼ>H$H&IH&[}BH$H$H$H& <H&E9J:@J贳@YJ9yJ/>JH?`Q?¿@h?%:٥yy }Hy'"= >W5Ȝ?W59/ IВBy%@KEi;;W5B+AܬEbZrjRJB~~}||||? \{B%\!I% ))-{U<-a%5R<5Zi1i9Ա>E] &<EEEEE6G E checking for new query: numPingsReceived=13, elapsed TxPingTime=1.008047 ~G A A N >9 Ndb,iA9>9@>gC@Y>/;y>*>>Hr?`??e;X,P?. c?w? ? >9@>;)٥\\ ^HbCFf;= j>tW5vȜ?W59v Iv֒By 2! @vKEivO;v6;vW53+A99bAZArAjARAJIBQ~Q~Q}||||? ^{B靝"'?I~ =R<[q>iiuchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.259753>E9AE}EyEyE}Y0E6G}`~GAAN>q K CP"K @9*K 2K M:K ce hyF.!TPZW)0+L*ca$KQ pKD checking for new query: numPingsReceived=13, elapsed TxPingTime=1.511584xjb,x쫉iA 9R)׭@R@YR;:yRP'>RH?m?@,? jE?2?? R)׭@RӞ;)RC^-}B^I b=b=Mb@Mb@Mb@ )YS㥛?y&1?y$?`e< A @)In@y@I*I3e= 7=yf:Q >٥    H DF0= >%W5+ɜ?%W59W IݒBy%$?%:--@KEi:1:ɯW515*A5٬EYYbYZarajaRaJaBa~i~m|B}i|i|i|q|}֪? _{B靥0I 5O<Uqw<l0iiDDDDԱ:JIBJMVJJM>RJIZJIbJMB9JMt4JIHUټ>HQHUIHUz}BHU =HQHQHU<HU EuSGAA EYMAyMBchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.764156EaEaEaEaEa 6Gu a1 ~GQ Ai Ay N >zqb,HȉiAE}B%II5I5F3U2d= UB=yUQ ]>٥aa mHim m>q}W5uɜ?}W59uo IuBy@uKEiu/;un;uxW5Bu*A֬Echecking for new query: numPingsReceived=13, elapsed TxPingTime=2.015961bZrjRJB~~}||||p7@ a{BuIu %K<%_q% <-3i)i)EEEEs0E6GFa~GyAAN?>1 U checking for new query: numPingsReceived=13, elapsed TxPingTime=2.267541xb,iA 9R _@Rh@YRi@yR\B>RH?`8?`D@¿Id?z?7*?vc? R _@R;)PfV}BjIMb@Mb@Mb@ )Y?{Gz?{Gzt?yf&?ף<ף; A @)v@IX@y@II<2&= A=yytQ >٥  H%EF52= 5>9EW5=(ɜ?EW59=F I=ByM{&?M:M M@=KEi=u:=:=2W5Y].*AaB*** querying acoustic contact ***JRbZrjRJB~~V|B}||||@@ c{B Iz %H<Yq<.iiqchecking for new query: numPingsReceived=13, elapsed TxPingTime=2.519781EEEE0EK%M4P"K%9*K!2K%N:K%$r40z:6*[3"6`+I"0.s 0<tXlJ)J->6G4<ԙ~GAANn> H- Լ>H) H- IH- }BH-  =H) H- ,DH- <H- EC~b, iAchecking for new query: numPingsReceived=13, elapsed TxPingTime=2.773276LIP)P9?@cI@Y,EyӡP>H:(?@B?=¿?`4¿Ѱ?k?9M? ?@;)-f}B-IIE IE(2UF'= UV=y]MQ ]>٥Ya eHeFFe?= e>iuW5m:ɜ?}W59m ImByy}}@mKEim;m;mW5B)AլEbZrjRJB1~9~9}A|A|A|I|MD@ e{B[s:JA BJE UJJE ARJA ZJA bJE >9JE 4JA zJE :M jJE :M JE }Q:M rJE Q:U )b,ʦiA9JX+@J5@YJwHyJn^>JH6?F?-ÿ$`(.?@"Ŀ k ?m?35? JX+@JQ;)H-}B5II!Ii3>= D=y%ۺQ >٥ H=  >)W5-+Oɜ?W59- I-By@-KEi-<-<-;W5)A 58>1=checking for new query: numPingsReceived=13, elapsed TxPingTime=3.275903AAbAZArAjARAJIBI~q~q}q|q|q|y|};P @ h{Bԁ  DAT read: 14:13:58.8305 LVL= 31808, 18017, 20498, 22195, AGC= 40, IDX= 417,-0.38,-1.299,-0.543, 0.417, 0.783, PHS=-1.994,-1.279,-0.370, RAW= 236.1, 42.4, CAL= 245.0, 49.4, ROT= 265.0, -49.4  Ygot valid direction response: 14:13:58.8305 LVL= 31808, 18017, 20498, 22195, AGC= 40, IDX= 417,-0.38,-1.299,-0.543, 0.417, 0.783, PHS=-1.994,-1.279,-0.370, RAW= 236.1, 42.4, CAL= 245.0, 49.4, ROT= 265.0, -49.4 % PDAT read: Bearing 265.0, -49.4 (Local) % ~Local bearing/azimuth received: Bearing 265.0, -49.4 (Local) 5 DAT read: Range 10 to 50 : 1.4 m (Round-trip 1.9 ms) speed -0.4 m/s 5 ,DAT read: user:1990> = BDAT read: Tx time:14:13:59.9245 E $Ping request sent.E ٥ H%GF% %>)5W5-qfɜ?5W59- I- By=E)?=:==@-KEi-:-:-WW5Am=)AmҬEԉHڼ>HHIH}BH =HH-DH<HEHĖCHĖCHH =I = IO5Zbt,iA??@ʁv>A/p3ey*A?W"a; D2۾g)eK?g;Կ\ҁZ!忀:x` tBIfɜ?b  3B6=W? addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 3.532056 s, deltaX: -1.400000 m, approachRate: -0.396370 m/s, rangeRepo size: 4 % Added new target pos. range: 1.390125 m, bearing: 233.657323 deg, lat: 36.906446 deg, lon: -122.115991 deg, deltaT: 13.863753 s, deltaX: -7.843898 m, approachRate: -0.565785 m/s, posRepo size: 4 !)b)Z)r)j)R)J)B1~1~5|B}1|9EJDAT read: TxSync time:14:13:59.9237 Mchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.241305|Y|]`ff?|]@ e? k{B靵 A@>]@Y>{Ly>!l>>Hx?|?¿m ݿ?RPǿ 7?@BN?? >@>׬;)>C^}B^ IIf"Ifq3 = =yHUQ ?٥ H=HF=6> =?AMW5E vɜ?MW59E IEByQUվU@EKEiE":E:E W5B(AϬEchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.492424ԹbZrjRJB~1~1}9|9|9|9|= +? l{B靍=I')@?I^ 49<aq`+<d%iiEEEE 3EFF:J[BJ\JJDRJZJ:bJ[9J4JzJ:jJ:JӁ:rJԁ:6GjG?bG>U checking for new query: numPingsReceived=14, elapsed TxPingTime=0.744867~G A A N >9 eb,*8ciAv}BvIMb@Mb@Mb@ )YZd;O? ףp= ?{Gz?y~*?Q8=#<=A x@)`@I@yIIF3 = @=yQ >٥ H >W5Ջɜ?W59ؼ IBy*?:Ѿ@KEi ;";W5x(A B*** querying acoustic contact ***J R !b!Z!r!j!R!J!B)~)~-}B})|1|1|1|5? o{BJ>6G\ ѽ~GAANj>qH ˼>H CH 9IH ~BH  =H H ,DH <H Eԡ ] =Y ] checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248477pb,^/}iA9Zղ@Zs߹@YZVyZ‘>>ZH@Sq?`Z?:ݿN? ¿ ??l? Zղ@ZI;)Xf}BfIIn#In%x3vSE= vV=yv=Q z>٥xx zHzIF~ ~> W5Wɜ?W59 I%BypҾ@KEi<.< W51(A̬EbZrjRJB)~)~)})|1|1|1|5U?a r{B靭j䂽ԑ~G1A9AQN]T>checking for new query: numPingsReceived=14, elapsed TxPingTime=1.501280J4JC4JL0:J `BJ RJJ FRJ ZJ :bJ S29J 4J zJ :jJ :J ;:rJ <: b,EJiAIH)J@U}BU$IyyԩII(*2checking for new query: numPingsReceived=14, elapsed TxPingTime=1.752737< ,=yQ >٥ HJFm m>q}W5uyɜ?W59u Iu/By@uKEiu/;u];uNW5B (AɬEbZrjRJB~~}||||@δ? u{B EE : E E E E `5E  checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004966) KM kP"KM 9*KI 2KM Q:KM IxtM#w]K? p*KD9Gk*ZM6G %ZG RG ~GAAN>b,fiA96*8@6A@Y6hμy6=86H*? ?᳿ T޿?_8ޙ??? 6*8@6!E;)6C HH<HHHYIH;~BH =HHH<HEmchecking for new query: numPingsReceived=14, elapsed TxPingTime=2.256400u}B},IԡMMb@Mb@Mb@III I)IYMV-?{Gz?~jt?yM>M#٥yy }Hy >W5ɜ?W59 I6By >:@KEi3;;W5'AbZrjRJB~~/}B}||||@ z{B%x/E[1EEEE4E6GeI~G9 AI Aa Nm >  checking for new query: numPingsReceived=14, elapsed TxPingTime=2.508273jb,FЊiA9:A @:@Y:y:%=:H?@H? ޿?Z?S?? :A @:n;):C D)FAɿFyFFDHJAiJoIJFHIPiP PP)TT VpAV`廉TTXXIX)XiX)\I\\\ \`bA`i``ٯ`f~Bf>IlIrIr2z= z=yz7n; @; dW5)-k'A5ƬE:JE[BJEeJJE@RJAZJE:bJE9JEJ4JAzJE:jJE:JE:rJE:ybZrjRJB~~}||||2@ |{B5~=I1)5$?9I=j3 99=O'Euܪ&E) E) E) E- 4E) a 6GU Uԑ 5BDAT read: Rx Time:14:14:02.3323 5TRx dataTimestamp_ set to:1749132843.719329=checking for new query: numPingsReceived=14, elapsed TxPingTime=3.013377~GAAIAaNu>.b,)iAi<9>'@>@Y>m9y>P>>H?`Sy?Ō`޿T?S? ">?? >'@>j;)>CK"P"K9*K2KR:KIHZp4xMSX-l*aN1r[EAO3* ?_$~BKI) IMb@Mb@Mb@ )YHzG?ˡE?{Gz?y= ?'=#<dA @)3@I@y=@II 3N%= =yT;Q >٥ HLFaϻ >)5W5-ɜ?5W59- I-ABy5 ?5:=/ܾ=@-KEi-:-I:-#W5AE'AAmB*** querying acoustic contact ***JiRibZrjRJB~~9|B}||||B @ {BݖENJκ=8GUZAbEQ]AAZEQyHѼ>HHrIHd~BH =HHH?<HVE YZAyBEEEEP0E}checking for new query: numPingsReceived=14, elapsed TxPingTime=3.2661066GSQwԡ~GA A) N5 > b,ViA9FM@F@YFiyF~>FH ?s?! =޿`?`<+1=??? FM@F;)FCV&~BVLII^I^2f$; jq=ynD BDAT read: Tx time:14:14:03.4245 $Ping request sent.*b,p>"iA9r@rJ@Yr;yr>>rH ? ?@Ҳ@޿?=2`?@? ? r@rS;)rCu-~B}QIMb@Mb@Mb@ )Ym?kt?MbPy? 0=zA @)I@y@IIm?3-q< 56=y=;Q E>٥AA EHEMFM8 M>W5ʜ?W59 IGBy?:ھ@KEi:_:W5  &Ae addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 3.528261 s, deltaX: 1.300000 m, approachRate: 0.368454 m/s, rangeRepo size: 4 bZrjRJB~~7|B}|||@|? {B靕=I))?I <aq<οiichecking for new query: numPingsReceived=15, elapsed TxPingTime=0.5001059EuEyEyE}_0EyK0'P"K9*K2KS:K3J;7@'.i' Ku0CZQoN1jQS;ja :Jm \BJm VJJm ERJi ZJm =:bJm B9Jm 4Ji u @u @u @u @6G} 銝~Gy G G @AH ռ>H CH IH ~BH H H -DH 8<H PEA A N >lRb,@YfIyf#=fHs ?8?ۗu޿r?` 2@\?H?? f@fte;)dv*~BzOIi=I;II?13Uchecking for new query: numPingsReceived=15, elapsed TxPingTime=0.753165m mX=y};Q }>٥ HNFn; >%W5=ʜ?%W59 IIBy)-ھ-@KEi2<<IW5UBU'AU¬EbZrjRJB~~}|||| ? M{BUr!=IQ)Uw'?YI]3 YY]8jEyEEEEf0Eԙchecking for new query: numPingsReceived=15, elapsed TxPingTime=1.0033086GE N ~G! A) AI NU >8b,GUiA9F@FX@YFGϻyF=FH@x?Q?M`޿#?6@y?'?? F@F;)FCP^8~B^WIIfIf<2n= nT=ynG٥pp rHpv7< v>xW5z.ʜ?W59zV IzJBy  ׾ @zKEizsQ;z=R;zW5&AAAbAZArAjARAJIBI~I~I}I|Q|Q|Q|U@ә? {B靍ӟ*=I))?I f<Uqy<@iiEE!E!E-1E)uchecking for new query: numPingsReceived=15, elapsed TxPingTime=1.2581226Gu4jG}?bG}M?~GQAYAiN}>)  checking for new query: numPingsReceived=15, elapsed TxPingTime=1.507241cb,oiA9BI@BS@YBpyB">BHQ5?`? ;`7޿`@?`zT ~n?`Q?? BI@B˂;)BCV-~BVQI|Mb@Mb@Mb@ )Y-?&1?y??P=A )v@II@y@I!Ii3 ==y;Q >٥ HOF[{< >W5Bʜ?W59 ILBy?:tϾ@KEi{!;4;_W5&AEbZrjR!J!B!~!~%V|B})|)|)|)|5?K5c6P"K1*K12K5T:K51G+j  { 4u`wC|D}7O9!JE>JE> u{Bu=Iq)u&?yI} yy}&<_qUV<)㈽ii:J=^BJ=OJJ9RJ9ZJ=} :bJ=%9J9J9EEEEx3E)HMּ>HIHMIHM~BHM =HIHIHM<HMEH ŕCH ŕCH H  =I  = I M6mchecking for new query: numPingsReceived=15, elapsed TxPingTime=1.761144y6Gmz~GI AQ Aa Nu >ԉ Lb,jiA i"<9>g@>@Y> y>>>H@eV?`%w? /ݿ`?`Q?? ? >g@>e;)>CHJPI)T TIbIb#3jE jY=yjY;Q j>٥ll nHnPFr< r>tzW5v3Sʜ?zW59v3 IvNByxz˾z@vKEivT ;v ;vW5B'AE%B*** querying acoustic contact ***J!R!)1b1Z1r1j9R9J9BA~A~I}I|I|I|I|U৆?Y {B靅j!=I)$?I *<Yq]<]tiYiazEichecking for new query: numPingsReceived=15, elapsed TxPingTime=2.011517EMEIEIEU5EQFYF]Aԁ6G]~G9AIAqNY>Ա u J?u < checking for new query: numPingsReceived=15, elapsed TxPingTime=2.266872 Pub,yiA9F@FL@YF:yF >FH|?E?i'ݿp6?շQ.?? F@FC|;)FCn,~BpuMb@Mb@Mb@qqq q)qYu ףp= ?/$?{GztyuQ?u,=uףuA u@)qIuv@qyqII2o >=y(;Q >٥ H=<Թ >W5)gʜ?W59 Iy?:;@KEi::mW5'AbZrjRJB~~U|B}||||Y@ E{BE[=IE)Em#?AIM8ٻ IIMj HE <HE p<HE ۼ>HA HE IHE ~BHA HA HA HE <HE EY Sb,TiA%checking for new query: numPingsReceived=15, elapsed TxPingTime=2.767304e(~BeMIIIT3 # -=yQ >٥ HQF >W5|ʜ?W59 Iy@KEi; ;i ;W5'AEbZrjRJB~~}||||W!@ {B=AI!)E ?AIM`oƻ IIMFԹ vb,C9׋iA9:@:7@Y:W˃;y:5>:H`?`i?3ۿt?fhyp?Ξ? :@:ў;)8iDFlA)D DID H)HHHHHTiTITTIXiZVA XX)X\ ^$A^F^F\bCbAIbP)b8Fi`)fCIfbAdd dٯdn~BnGIIz"Izq3 =y DAT read: 14:14:05.8346 LVL= 29504, 24545, 19810, 32755, AGC= 59, IDX= 442, 0.18, 0.074, 2.141, 0.961, 1.218, PHS=-1.056, 0.970,-0.260, RAW= 307.1, 4.0, CAL= 310.2, 6.2, ROT= 199.8, -6.2  Ygot valid direction response: 14:14:05.8346 LVL= 29504, 24545, 19810, 32755, AGC= 59, IDX= 442, 0.18, 0.074, 2.141, 0.961, 1.218, PHS=-1.056, 0.970,-0.260, RAW= 307.1, 4.0, CAL= 310.2, 6.2, ROT= 199.8, -6.2 % PDAT read: Bearing 199.8, -6.2 (Local) % ~Local bearing/azimuth received: Bearing 199.8, -6.2 (Local) 5 DAT read: Range 10 to 50 : 4.5 m (Round-trip 6.0 ms) speed -0.6 m/s = DAT read: use = :unknown deviceResponse_: use = BDAT read: Tx time:14:14:06.9245 E $Ping request sent.E *UsBj6sJ?J?II@A:J%ZBJ%XJJ%ERJ!ZJ%9bJ%5K9J%4J!~B:IHܼ>HHxIHn~BHHHH<HEMb@Mb@Mb@ )Y5^I ?y&1?I +y?`<94 @)I3@y@I*I3y =yQ >٥ H > X5 åʜ?X59  I KBy%B?%:%q;%@ KEi 2d; GH; =X59EBM'AMEZ b iA @ @ 'C@ʁ ,dDշkWkq? Fڜu kտNiإ? 2 kݽҁ i??#!? gBu÷?o?z ]> j d/ɜ?r 7  B \ɜ?   W@ /2@ addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 3.527589 s, deltaX: 1.800000 m, approachRate: 0.510264 m/s, rangeRepo size: 4 - Added new target pos. range: 4.468278 m, bearing: 174.664530 deg, lat: 36.906445 deg, lon: -122.115995 deg, deltaT: 7.055850 s, deltaX: 3.078153 m, approachRate: 0.436255 m/s, posRepo size: 4 ))b)Z1r1j1R1=JDAT read: TxSync time:14:14:06.9237 Echecking for new query: numPingsReceived=16, elapsed TxPingTime=0.239918J1BI~I~M|B}Q|Q|q|u@|}C? {B @\E "EIEIEIEMk0EIchecking for new query: numPingsReceived=16, elapsed TxPingTime=0.4918246G~GAAN% ?c,2iA(i(9VNn@Vw@YV+;yV.">VH'??`0@<`ڿ`?^¿Ps٥ HSFX= >X5Qʜ?X59 IIBy.@KEi::wX5'AEB*** querying acoustic contact ***JR5ETStarting intercept timer at range: 4.50 m.AbIZIrIchecking for new query: numPingsReceived=16, elapsed TxPingTime=0.746561jRJB~~}||||@b? ={B=YHHkIHY~BH =HHH5<HNE~GA)AINe?Ĵc,=iAY]AyB9b@bɲ@YbD;yb2>bH@?? ?)Tٿ?c9¿@Rvਡ?? b@b;)bC~}B~(Iuchecking for new query: numPingsReceived=16, elapsed TxPingTime=1.247111yMb@Mb@Mb@ )Y`"? rh? rhy?C<CEA @)`@II@y=@y}@AI#I%x3 =yd:Q >٥ HTF@< >X5ʜ?X59j ICBy? : ž @KEiOe;sU; X5B(AEUeRStopped intercept timer at range: 4.50 m.ibiZirijiRiJqBq~q~u{B}y|y|y|y|>? {B靵wS <=Uq='% checking for new query: numPingsReceived=16, elapsed TxPingTime=1.498994 c,qWiA:J6YBJ6]JJ6BRJ4ZJ69bJ6_9J6-4J4zJ6a::jJ6f::J6h::rJ6i:>9J@J@YJF;yJ>JH`!W?@M?ٿ`? wB?? J@J(;)JCV}BZ,IIfIfT3n< nn=yrs:Q r?٥pp rHrUFvT< v?x~X5z\ʜ?X59z\ Iz@By|@zKEizسY = checking for new query: numPingsReceived=16, elapsed TxPingTime=2.003024*c,5qiA9F5+@F4@YFU FH@s??2ٿ~?`[`'?@f? F5+@F;)FCR}BR#IiV>IV]>XZAaIn@an aMn@ar aQr@ar aEr@ar II#3  D=y;Q >٥ H%< %>)5X5-ʜ?5X59- I--X5AE@(AEE bZrjRJB~~}|A|A|A|E V@ {B'=I)?IgB K<Yq A<h;iiK==P"K9*K92K=X:K=rDti^R [Tb*@C=:X7EEEE1EHռ>HHYIH;~BHHHH<H E16GN~GAANg>}checking for new query: numPingsReceived=16, elapsed TxPingTime=2.256712aԉ "c,iiA9Fh@Fr@YF$FHO?@oj?;Vؿ p:?H뜄@,0?t? Fh@Fj;)DN}BRIIVIV?13^ bQ=yb;;Q b>٥dd fHfVFf< f>hnX5j˜?rX59j Ij8Bv :ytzj:z7z@jKEij;jO?jX5 B v(A E11b9Z9r9j9R9J9BA~A~A}A|I|I|I|M@a@ {B靍<=I)d?I) <Sq<' checking for new query: numPingsReceived=16, elapsed TxPingTime=2.7621011 F(c,0GiA9:њ@:@Y:<:H`=? ?$ 7ؿoO?P?+? :њ@:;):CF}BJIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YZd;?Mb?~jty?<A @)I3@y@I I(2R; <=ymZ;Q >٥ HWFd< >X5"˜?X59c I2BT:y?:@KEi:]:X5n(AE=B*** querying acoustic contact ***JARARStopped intercept timer at range: 4.50 m.bZrjRJB~~{B}||||9o@ M{BUhI K P"K ж9*K 2K Y:K we\<]|WT~:-u' ('r _2+(m?5nq H H <H Ӽ>H H LIH '~BH H H ,DH K<H jEHʖCHʖCHHI = Ip;5 /c,) iA9:ε@:ؼ@Y:/R:H??!᣿׿}f?J EId?`Y? :ε@:9);):CR}BRIIVIV3j nZ=yrGd;Q r>٥tt vHtv< z>Echecking for new query: numPingsReceived=16, elapsed TxPingTime=3.263028xX5zy4˜?X59z Iz.By~@zKEizV  BDAT read: Tx time:14:14:10.4246  $Ping request sent. IB@ihJJ@; )}"쿟Yݿ47)i* L9MG; ) :publishing transmit ping timeڑ  Fpublishing direction and range infoyAe`ᅪusNruY )Ii )Ii )}"쿟Yݿ47)i )% checking for new query: numPingsReceived=17, elapsed TxPingTime=0.051127}5c, ٌiA:JZBJQJJARJZJ9bJ-.9J4JzJ.:jJ3:J4:rJ4:<}BIIIT3/ 7=yQ >٥ %H%XF% %>IUX5MI˜?UX59M IM(ByYY]@MLEiM:MQ:MX5ae(AiZbьiA=@=@k1@ʁIr w<aq<ZF  checking for new query: numPingsReceived=17, elapsed TxPingTime=0.483203F :H?`"1?@`@׿?B?? :@:;):Cln}BrI}Mb@Mb@Mb@yyy y)yY}333333?y&1y}?}}`e}A y)yI}@yy}@I I̍2: B=y(٥ HYF< >X5`]˜?X59h I#By?:ڼ@LEi4:t: X5(AE  b Z r j R JB~~{B}||||% ?I)I) ]{B]gN=IY)]W>YIezy aae>0e %|MU} O` S<ruU2I] G 0I+6 Hּ>HH@IH~BHHH-DH<HEE!E!E!E%P0E!9]checking for new query: numPingsReceived=17, elapsed TxPingTime=0.7351046G |Cc,Ͱ iAI)@9>6@>?@Y>C=>H? ?&@׿? fG7ѿ?? >6@>";)I _C<checking for new query: numPingsReceived=17, elapsed TxPingTime=0.987053Uq}<ԑ checking for new query: numPingsReceived=17, elapsed TxPingTime=1.242447 b8Ic,*&iA9Fi@FPs@YF٥  H ZF ~f<  >X5B˜?X59 IBy-?-:--@LEia];\;'X51=t(A=E]B*** querying acoustic contact ***JYRYiibiZirijiRiJiBq~q~u{B}q|y|y|y|}=? {B靽^ =I)H>I`-=  <_q<=iiEyEyEyEyEyԹchecking for new query: numPingsReceived=17, elapsed TxPingTime=1.4924546GIE 4=IE <~G A A N >K 'P"K 9*K 2K [:K z t5 O");m|mzeU=J`n]-tBY+Gq Gu AAH} ϼ>Hy H} 9IH} ~BH}  =Hy H} ,DH} <H} E) Pc,Eg@iA9ba¶@b̽@Yb1P٥ H[F <  >X55checking for new query: numPingsReceived=17, elapsed TxPingTime=1.744653L˜?UX59 IByQ] ]@LEiw<<*X5eBep(AeEbZrjRJB~~}|||| l? {BAm=I)U>QIU]@9 YY]Y<]Yqeichecking for new query: numPingsReceived=17, elapsed TxPingTime=1.995034ԙ NKVc,MfZiA(i*<9V,@V@YV=yV =VH`??`տ? 潿`ٽ0Ƽ? ? V,@Vw;)VCb}Bb&IIj Ijb3̼< I=y ;٥ %H! < >X5-˜?X59 IBy@LEi};b;u.X5I(AbZ!ar!jRJB~~}||||.@ {B靍=I)^>I-&: V<Sqv<?=ii5checking for new query: numPingsReceived=17, elapsed TxPingTime=2.249354zEԙEiEiEiEml0EiԹ6GU H=~G) A9 AI NU > checking for new query: numPingsReceived=17, elapsed TxPingTime=2.498930 Hm\c,CtiA9>.@>@Y>=y>=>H@k?`?oտ`?+@Z`L?? >.@>d;)>CJ}BJ#IMb@Mb@Mb@ )YMb??~jtxy ?<ĻdA @)I@y@IIm?3y @=y;Q >٥ H\F; >X5˜?X59 IBy ?:ɛ@LEi[;w:2X5\(AE!!b)Z)r)j)R)J)B)~1~5{B}1|9|9|9|=@)i iIIAAJ4J4J0:JZBJOJJARJZJ9bJ%9J4J-@-@-@-@5+GMZAeAA YZAy\B {B靵Ac =I)>In: i<]qF<P;I=K-P"KK9*K2K\:Ks^J.8/m2S)z:@q \D7PfT!fPiiH5>H5CH1H1H5 =H1H5+DH5v<H5EEEEE0E6G$+/=Echecking for new query: numPingsReceived=17, elapsed TxPingTime=2.751542~GyAAN>) 4Tcc,fiA9>@>[@Y>M=y>=>H`0?`o? `0vտ?{`rȣŻ?? >@>J>;)>C}B(II-I-#3r< K=y';Q >٥ H]F$; >X5˜?X59 IByb@LEi;n;5X5BA(AE  bZrjRJB~~}|!|!|!|%<@ ]{B] =Ia)e9>aIe;: aaeu U checking for new query: numPingsReceived=17, elapsed TxPingTime=3.255483ic,iAI\)^@imLCmA)i iIi u3C)qqqquCyiyIyyI}Ciy yŁ)Ɓƕ C Ǖ;AƕƕFƑǝ&CǝAIǙ)ǙiǙ)ȥCIȡǡǡ ȡȭCȭ߃Aȩiȩȩٯ}BMb@Mb@Mb@ )Yp= ף?J +?~jtxy%?H=MA )@Iy\@I IV2%vV: %-=y%Q %>٥)) -H)- 5>9EX5=˜?EX59= I=ByE%?M:MM@=$LEi=:=:=9X5QU@(AYY}B*** querying acoustic contact ***JyRybZrjR1J1B1~9~={B}9|9|9|A|E`] @ {B靽J=I<)>IJ=: <aqӼ<14Q=iiUDAT read: 14:14:12.8407 LVL= 26080, 22449, 23826, 32755, AGC= 60, IDX= 454, 0.47,-0.054, 1.902,-0.125, 0.451, PHS=-0.417, 1.498,-0.579, RAW= 334.0, -5.1, CAL= 336.1, -7.1, ROT= 173.9, 7.1 ]Ygot valid direction response: 14:14:12.8407 LVL= 26080, 22449, 23826, 32755, AGC= 60, IDX= 454, 0.47,-0.054, 1.902,-0.125, 0.451, PHS=-0.417, 1.498,-0.579, RAW= 334.0, -5.1, CAL= 336.1, -7.1, ROT= 173.9, 7.1 ePDAT read: Bearing 173.9, 7.1 (Local) e~Local bearing/azimuth received: Bearing 173.9, 7.1 (Local) DAT read: Range 10 to 50 : 9.0 m (Round-trip 12.0 ms) speed -0.5 m/s ,DAT read: user:1994> BDAT read: Tx time:14:14:13.9246 $Ping request sent.RJZJ9bJp9Jt4J H H p<H >Ա H H H H  =H H *DH -<H (EK (P"K *K 2K ]:K vRn[.;pDc[ YIC6.%x7Gn-6Ge 8U=jGm ?bGm >~G! A1 AQ Nm >Hpc,R ÍiA.checking for new query: numPingsReceived=18, elapsed TxPingTime=0.22745189J"@JR,@YJK4=yJ=JH"?`?? Vտ%?w?? J"@JM;)JCm}Bu4III(*3/O= f=yw٥ H^F; >X5˜? X59l IBy   @(LEic;;vc,W܍iA9>@>0!@Y>[7=y>M=>H?@p?]X? kտ?`@ 馿1?@? >@>;)>Chmchecking for new query: numPingsReceived=18, elapsed TxPingTime=0.731995II 2ya:Q >٥  =HE_FU+ }>X5̜?X59 IByƇ@-LEio; ;mAX5B'AEq 5Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse=uEntering Midcourse tracking update period 60.000000 s sec at 9.000000 m (mode 5.000000 count ).uu1~} Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 9.000000 m (mode 5.000000 count ).q~~BNOT Ignoring new targets: 8.94 m.bZr )j)R1z1J1B1~1~9}9|9|9|9|E`)? {B-Z=I))->1I=j17; 99EHCH@IH~BH =HHHf<HwEHEϔCHEϕCHEϔCHE =IE = IEH6AA)N5?Yc,iAKO"K@9*K 2K^:K}jh4^4 <;j8dbYmh<,Gh:;b&٥ HԻ >X5u3̜?X59 IBy-)?: @2LEi%<%<xEX5 (AE=N@=1=be?~e~euBNOT Ignoring new targets: 8.94 m.bqZqrqjqRyzyJyBy~~{B}||||9? |Bv=I)>I%0S; !!-В<]_qey%E ጹ E checking for new query: numPingsReceived=18, elapsed TxPingTime=1.487348E} $Ey Ey E} ]0Ey I 6GS=~G}IAyAAN ?,c,!iA9v@vj@Yv+sI=yvǤ=vH-?V? _? ]տ? +?? v@v̉;)vC]checking for new query: numPingsReceived=18, elapsed TxPingTime=1.743240m~BmCIIIM3O= =y%c;Q 5>٥=?=? EHaFvB >1=X55Q̜?=X595F I5ڒBy9=E@58LEi5$;5z%;5mJX5eBm'AmE1qj~1 BNOT Ignoring new targets: 8.94 m.b Z r j R z JB~~}|9|9|A|E`N? |Bۦ =I)?I9z; <Yq̨<C=ii!checking for new query: numPingsReceived=18, elapsed TxPingTime=1.991291A >E] <zEa E (E E E P0E F =F a=Iu R=Iu %=:J YBJ WJJ GRJ ZJ 9bJ G9J c4J ԙ G) G- @AHE >HA HE FIHE ~BHE  =HA HA HE }<HE EK%9P"K%59*K!2K%_:K%t,ws ML} b YU`Iyc)|\|2q "_;J5~AJ5~A6G]F=checking for new query: numPingsReceived=18, elapsed TxPingTime=2.245207~GAAN?ڑc,?GiA9Jֶ@JZ@YJRq=yJh=JH8??r?Tտ`?@1./K? ? Jֶ@J;)JCpU~BU>IImIm(w =y٥ HbFǻ > X5m̜?X59 IΒBy@=LEi%;ũ;NX515'A9aqemtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqmmAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourseri1muCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~u uAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRBNOT Ignoring new targets: 8.94 m.bZrjRzJB~~}||||@0@ |B靽=I)?I; LT<Sq<N9=iiDDDDMchecking for new query: numPingsReceived=18, elapsed TxPingTime=2.495559AE5 +E1 E1 E1 E1 i 6G] C=ԑ  BDAT read: Rx Time:14:14:16.3436 TRx dataTimestamp_ set to:1749132857.581993%checking for new query: numPingsReceived=18, elapsed TxPingTime=2.752798~G1A9AQNe>c,eiAY9]x@]'½@Y]̀=y]k=]H?`V?>?ֿP?`0`?v? ]x@]2t;)Y~B6IaI @a  aM @a  aQ @a  aE @a  I5I53E E=yMu;Q M>٥II MHMcFu' u>X5܉̜?X59 IB+:y:@CLEi);?RX5B'AEEBNOT Ignoring new targets: 8.94 m.bAZArAjARAzAJIBI~~}|||| @  |B!1=I)>I; )<%]q%Xm<-3-=i)i1ԑE6.EEEO0EAAEchecking for new query: numPingsReceived=18, elapsed TxPingTime=2.999652ԱI I 6G- 9=Hu >Hq Hq Hq Hu  =Hq Hq Hu 9<Hu 8E ~GY Ai K ]+P"K s9*K 2K `:K dA8`h].[/n1NyfnJ N5-4!ETt6B>J ?J >A N >u8c,쀎iA9JI@J@YJጆ=yJc=JH ^? ?v?_ֿ?5`ΰg?? JI@J7ɉ;)JCV~BVCII^I^F2f^k= fq=yf?ԉ DAT read: 14:14:16.3436 LVL= 24672, 22321, 22642, 32755, AGC= 56, IDX= 453,-0.07,-2.823,-0.745,-2.799,-2.300, PHS=-0.435, 1.602,-0.501, RAW= 331.6, -6.5, CAL= 334.0, -8.9, ROT= 176.0, 8.9  Ygot valid direction response: 14:14:16.3436 LVL= 24672, 22321, 22642, 32755, AGC= 56, IDX= 453,-0.07,-2.823,-0.745,-2.799,-2.300, PHS=-0.435, 1.602,-0.501, RAW= 331.6, -6.5, CAL= 334.0, -8.9, ROT= 176.0, 8.9  PDAT read: Bearing 176.0, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 176.0, 8.9 (Local) % DAT read: Range 10 to 50 : 11.1 m (Round-trip 14.9 ms) speed -0.7 m/s - ,DAT read: user:1995> 5 BDAT read: Tx time:14:14:17.4246 5 $Ping request sent.5 ) > Q pHcmʦ:'^K켿i % = D@ > ) e :publishing transmit ping time1 e Fpublishing direction and range info y 05-݆?jÿ Y ) I i ) I i ) > Q pHcmʦ:'^K켿i )  checking for new query: numPingsReceived=19, elapsed TxPingTime=0.011023Թ bc,ŚiA:J\BJQJJARJZJ=:bJ-.9J4JzJjJJ4:rJ4:}~B}8III0# :=yQ >٥ HdF >X5|̜?X59r IB%9y!%*:!%@KLEi(:?VX5-B-'A-EZbhiAV0AV0A--@ʁ[jID%YN?H;KG05-݆?jÿ D@>ҁw}#B9Gh>@Sl1/~쿋{?Ԧ굿zI@Gj4lɜ?r,0[ ԑ>zBݷ  }B4A3@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 3.525642 s, deltaX: 2.100000 m, approachRate: 0.595636 m/s, rangeRepo size: 4 E Added new target pos. range: 11.021071 m, bearing: 155.037869 deg, lat: 36.906440 deg, lon: -122.115992 deg, deltaT: 3.525642 s, deltaX: 2.085035 m, approachRate: 0.591392 m/s, posRepo size: 4 MDNOT Ignoring new targets: 11.02 m.bqZqrqjqRyzyJyB~~}|||@33&@|?  |B靍=I)>IHE;  <aq<g=ii-checking for new query: numPingsReceived=19, elapsed TxPingTime=0.238757E]2EYEYEe_0Ea6G -=~G A A N > .c,ܠiA9>W<@Bchecking for new query: numPingsReceived=19, elapsed TxPingTime=0.490654>F@Y>̓=y>=>H`?@o0?[%?ֿ?T@α`‹?+? >W<@>2;)>CV}BV+IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YʡE?+?~jty=?=D@ @)A@I@y@I(I̍3G K=y٥ HeFռ >X5̜?X59 IBT:y=?:M@PLEi ; ;ZX5L(AMDNOT Ignoring new targets: 11.02 m.baZirqjqRzJBAMA WYAyXB~~{B}||||?I C=I a= -|B-j=I1)5p>1I5Ϟ; 115ym <=[q=<=pHCH@IH~BH =HH,DHN<HlEE@5EEE0EK}ҀP"K}}9*Ky2K}a:K}Rg>I}Lo+xN3   d6swt+$t)OJJAMchecking for new query: numPingsReceived=19, elapsed TxPingTime=0.744665i 6GE =~G A) A9 NE >xc,ΎiA 9R @R@YR=yRW٥ll nHnfFr r>|~X5~4̜?X59~& I~Byt@~TLEi~:~:~^]X5  o(AE=DNOT Ignoring new targets: 11.02 m.bAZArAjARAzAJABI~I~I}I|Q|Q|Q|UF? 靕-=I)->It;  <Uq<!ԩ:J]BJMJJ?RJZJ]:bJ9Jـ4JzJ:jJ:J):rJ,: = checking for new query: numPingsReceived=19, elapsed TxPingTime=1.246800͡c,QfiA\It)v@9@@YZ=yĪ<H??W(?׿?`ϱ@J?`_? @;)C}B"IMb@Mb@Mb@ )Y%C?l?٥99 EHEgFEW E>I]X5M̜?eX59MH! IMByeD?m:mm@MZLEiMj;Mi;MaX5uBu(AuEDNOT Ignoring new targets: 11.02 m.bZrjRzJB~~{B}||||IZ; d<_q_<"H CH 9IH ~BH  =H H -DH H<H nEԩ 6G <~G A A N% >ʆc,Y5iAK.P"K.9*K,2K.b:K.6'm|Z6jE@s+?yH,4YdX n&t{:9Fڵ@F`@YF؏=yF I ;   <Yq<GV checking for new query: numPingsReceived=19, elapsed TxPingTime=2.002745 'c,J iA9Vѵ@V|ۼ@YV=yV1٥19 =H=hFE1 E>IMX5M+͜?UX59M&& IMfByQUFU@McLEiM":M.:M hX5ae(AaEDNOT Ignoring new targets: 11.02 m.bIZIrIjIRIzIJyB~~}||||@ M|BM=Ii)u>qIuD; qqua<}Sq}T<}놣EaEaEeO0Ea96Gm b<ZG} ~ARGy ~GA AQ Aa Nu >Y c,5iA٥ HiF% %>)5X5-"I͜?5X59-i) I-UBy=L?=:==@-iLEi-:-I:-lX5EBEd)AEzEG)G-AAH-ռ>H)H-'IH-}BH- =H)H-,DH-!<H-/EHÕCHHH =I = I<6uDNOT Ignoring new targets: 11.02 m.bqZqrqjqRqzqJqBy~y~}{B}|!|!|!|% i@Y q} =I<)x>I9n< Eb<]qΊ<O;c,(PiA9F]ϵ@F ټ@YF<=yFF!Ia< <Wqu<բ<checking for new query: numPingsReceived=19, elapsed TxPingTime=3.011218iiIEm?EiEiEmX0Ei:JBJSJJBRJZJbJy69J-4JzJjJJ(C:rJ+C:y6G *f<~Gi A ؽ <׽ < checking for new query: numPingsReceived=19, elapsed TxPingTime=3.265564A) Nu >Ա '!c,x|jiAԁ}BI}Mb@Mb@Mb@yyy y)yY}|?5^?l?Mby}M?}=}}@ }`@)}n@I}@yy}@II?13Ġ $=yQ >٥ HkF >X5z~͜?X59@/ I5ByN?:@tLEi{:g:ssX5)AtEDNOT Ignoring new targets: 11.02 m.bZrjRJB~!~%{B}!|!|)|)|-w @ Ye=Ii)mK>iIu < qquc <}aq}X<}^ BDAT read: Tx time:14:14:20.9747 $Ping request sent. !)!%~K?+쿃\WܿuEɺi%+%Ǯ=%G%V> !)!:publishing transmit ping timeFpublishing direction and range info!y%\Z'ЌCz¿!Y! !)!I!i!!!!! !)!I!i!!! !)!%~K?+쿃\WܿuEɺi!!!! !)!checking for new query: numPingsReceived=20, elapsed TxPingTime=0.027056H Ӽ>H H IH }BH  =H H H <H %E6G ~G A A N > c,[AiAKNMZP"KN9*KL2KNd:KNm&&LfSV]6X|W5B|'6wG*>s_OY\_m}BI!%AI-I-[3eʽ ey=yiQ m?٥ii mHqq u?checking for new query: numPingsReceived=20, elapsed TxPingTime=0.226876X5͜?X591 I)By@xLEi;s;\vX5Bx*ArEZYb]7PwiA]=[A]=[A]1@ʁ]kͲ}"+eJοq ]\Z'ЌCz¿]G]V>ҁ]u)I@@@Vb]fkX?L'!z],@]Lj]^=aɜ?r]N) ]UyB]#"\ɜ?]N)  ]{B]c[A]1@m addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 3.529754 s, deltaX: 2.700000 m, approachRate: 0.764926 m/s, rangeRepo size: 4  Added new target pos. range: 13.702492 m, bearing: 158.933323 deg, lat: 36.906445 deg, lon: -122.115989 deg, deltaT: 3.529754 s, deltaX: 2.681420 m, approachRate: 0.759662 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.70 m.bZrjRJB~~}|||+@| i? aeF=Ii)m>I6< _<[q?<ii)>E X<5 checking for new query: numPingsReceived=20, elapsed TxPingTime=0.479693Q E E E E P0E ԉ :J= _BJ= QJJ= ?RJ9 ZJ= :bJ= -.9J= ـ4J9 zJ= ,:jJ= 1:J= 4:rJ= 4:6G )ş<~GAA N>c,裏iA9B@Bh@YB=DyB٥dd fHflFf; j>hnX5j͜?nX59j4 IjBypr^v@j~LEijG;j-e;juzX5~B~*A~oEchecking for new query: numPingsReceived=20, elapsed TxPingTime=0.731159DNOT Ignoring new targets: 13.70 m.bZrjRJB~~}||||`h? |B靥'I< ;<Uq*<_ϲE <ԹEqEqEyE}_0E checking for new query: numPingsReceived=20, elapsed TxPingTime=0.9865076G 7ͤc,yiA9> ݵ@>@Y>t=y>r<>H`E??7?@׿?@1S`?:?@? > ݵ@>D·;)>CJ=}BJI Hb<Hb4<Hfͼ>HfCHfIHf}BHf =HdHdHf<HfE|UMb@Mb@Mb@QQQ Q)QYU"~?I +?/$yUS?U9٥II UHUmFUܥ U>YmX5]#͜?mX59]18 I]By}T?}:}}@]LEi]j;];]f~X5>+ADNOT Ignoring new targets: 13.70 m.bZrjRJB~~{B}||||?  F I o< qqutV<}_q},<هP"KM9*KI2KMe:KM/&ad=g;ur_t1 z_TY`{%checking for new query: numPingsReceived=20, elapsed TxPingTime=1.234789Y>E<rE_?jE>E) E) E) E- O0E) ԁ  checking for new query: numPingsReceived=20, elapsed TxPingTime=1.4876636G k <ZG ARG ~GAAN>rc,`w܏iAi9>@>\@Y>P=y>Y=>H??O?׿`?`,@&`?`? >@>aw;)>CF}BJIININ2V׽ Z>=yZ iQ Z>٥X\ ^H^nF^; ^>`fX5b=͜?jX59bf; IbByhj.j@bLEibD;b ;b)X5ln+ArlEDNOT Ignoring new targets: 13.70 m.bZrjRJ!B!~~}||||w9?! |B靍I< !<Yq <*Fc,iA >wYAyh|BHϼ>HHIHQ}BHHHH<HEII@A:J\BJMJJRJZJ=:bJ9JJzJ:jJ:J*:rJ,: |B IMb@Mb@Mb@  )YQ?٥aa eHeoFm m>iuX5mΜ?}X59m? ImBy}U?}~:}֪}@mLEim:m9:m6X5B},AfEDNOT Ignoring new targets: 13.70 m.bZrjRJB~~{B}|||| @ |B `I%< !)-Q$<Sq <bnI5jL 20z oRn@8cbAAOWO8k=Y @vgZchecking for new query: numPingsReceived=20, elapsed TxPingTime=2.2436349Eu?EqEqEyEya 6G E<~G A A N >)d,iA 9>E@>@Y> =y>C2=>H`?Hx?d?`M׿? `Hϰ)ܠ?@? >E@>c;)>CN|BVwII^I^<2f f=yj/Q j ?٥hh nHnpFnL< n ?pvX5r&Μ?vX59rA Ir֑ByxzѨz@rLEir:r:rX5|~-A5DNOT Ignoring new targets: 13.70 m.b1Z1r1j1R9J9B9~A~A}A|A|A|I|MV @echecking for new query: numPingsReceived=20, elapsed TxPingTime=2.494904 |BIj <   &< ]q5<Y V d,/iAPI)))9@b%@Y=yh=H̾?=e??<׿ ?-7 Xt+V?? @骝d;)C|BhIMb@Mb@Mb@ )Yn? rh?QyV?C =@ v@)AI3@yG@II(*3P /=yBQ >٥ HqFT!; >X5EΜ?X59*E IƑBy:V?}:~@LEi::X5Bt-AcE%DNOT Ignoring new targets: 13.70 m.b!Z)r)j)R)J)B)~1~5{B}1|1|9|9|=@  |B I#< ~l)<WqM<HCHIH}BH =HH+DH<HEJ;4J;4J;0:JZBJTJJARJZJ9bJ:9J4JzJ1:jJ6:JTJ:rJVJ:6G Vv<) ~G A A N >K mP"K ]9*K 2K g:K (.@f:Lm2B)--c checking for new query: numPingsReceived=20, elapsed TxPingTime=3.250772;d,l]IiA!9+@&@Y=y<H@?`a?7?*:׿?@l@M?? +@;)C|BKIII3 K=yoQ >٥ HrF9 >X5`Μ?X59H IByj@LEi;;X53.A`E5DNOT Ignoring new targets: 13.70 m.b1Z1r1j1R1J1B1~9~A}I|Q|Y|a|m& @  |B靝 BDAT read: Tx time:14:14:24.5247 $Ping request sent. ݁)݁݅â <$ݿՀni݅C)݅=݅+H@݅'> ށ)ށ:publishing transmit ping timeFpublishing direction and range infoځyڅ L6ᅤ5?$vzĿځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅â <$ݿՀni݁݁݁݁ ށ)ށ5checking for new query: numPingsReceived=21, elapsed TxPingTime=0.0108606G e~<~G A A N >A ed,9ciA9B@B$@YBc=yB׿ ?>@)? c? B@B;)BC~l|B~<II  I b3E Me=yMQ U>٥QQ UHQ]`H ]>amX5etxΜ?mX59eJ IeByimu@eLEieq:e~:eX5 B.A]EZbwYiArArA 0@ʁHt0Λ>.i?Lc L6ᅤ5?$vzĿ+H@'>ҁ X.@2L@Uߪioo{HC?٪za@ujikɜ?r/7 uB^=aɜ?/7  >zBꁵA70@U addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 3.527603 s, deltaX: 2.999999 m, approachRate: 0.850436 m/s, rangeRepo size: 4 e Added new target pos. range: 16.680731 m, bearing: 157.600332 deg, lat: 36.906446 deg, lon: -122.115984 deg, deltaT: 3.527603 s, deltaX: 2.978239 m, approachRate: 0.844267 m/s, posRepo size: 4 mDNOT Ignoring new targets: 16.68 m.biZirijiRiJB~~}|||0@| @?JDAT read: TxSync time:14:14:24.5239 checking for new query: numPingsReceived=21, elapsed TxPingTime=0.240760 ] |B] checking for new query: numPingsReceived=21, elapsed TxPingTime=0.497091ԙ d,}iA9> @>@Y>=y>҅<>H-? ?Ԩ? o^׿`?@;@ v?+? > @>'3;)>CZF|BZ%IHe>HaHeqIHe|BHe =HaHaHe^<HewEH1H1H5CH5 =I5 = I5h56Mb@Mb@Mb@ )Y333333??~jtyY?< @)AII@y@I#I%x3:J[BJ\JJ>RJZJ:bJ[9Jt4JzJ:jJ:JӁ:rJԁ:, ?=yO̺Q >٥ HsF<  > X5 Μ?X59 M I ByY?y:%^%@ LEi  V; g; tX59=2/A=ZEmDNOT Ignoring new targets: 16.68 m.biZirijiRiJqB~~F{B}||||`? u |Buk;? checking for new query: numPingsReceived=21, elapsed TxPingTime=0.748323KPP"K9*K2Kh:K >_@\UnAo< 0eTHKm9`9PdW7E  6G %<~G A A N 1 x%d,|iAechecking for new query: numPingsReceived=21, elapsed TxPingTime=0.9993989@@Yy=y i<HZ??ǧ? ~׿`?@= 1@?? @;)C'|BIIEIE#3 @=y:oQ >٥ HtF- >X5Μ?X59Q IBy@LEiS::,X5 B/AYE%DNOT Ignoring new targets: 16.68 m.b!Z!r!j!R!J!B)~I~I}Q|Q|Q|Q|U@95? |B2J+d, ְiA|BI%Mb@Mb@Mb@!!! !)!Y%Mb?/$?Mby%`?%<%! %@)%zAI%@!y%@I=I=V83M M?=yMQ U>٥QQ UHUuF] ]>iq}X5uJΜ?}X59u}T Iu~By}`?}r:}@uLEiuo:u1:uX5  E0A uchecking for new query: numPingsReceived=21, elapsed TxPingTime=1.505075UDNOT Ignoring new targets: 16.68 m.byZyryjyRyJB~~K{B}||||rS? |B%5EF=F= H]<H]<Heȼ>HeCHe?IHer|BHaHaHaHe<HeE:JZBJVJJ<RJZJ9bJB9J [4JzJ/:jJ4:JX:rJX: 6G %<jG x?bG j?~G A A N >% checking for new query: numPingsReceived=21, elapsed TxPingTime=1.756188KU DP"KU ػ9*KQ 2KU i:KU d!p)g <k2mOm;Qu[> 8|<I2d,ʐiA96@6@Y6u=y6N<6H ?@0? f?@`ؿ? Z`yω?? 6@6;)6CB{BBIiF>XIF>IbIb2j j|=yj7Q j ?٥ll nHnvFrlż r ?tmX5v|Μ?uX59vW IvsByquu@vLEiv1 8d,iA!{BIII<2U <=yQ >٥ H >X5kϜ?X59Z IdBy@LEi:7:X5C1ASE=DNOT Ignoring new targets: 16.68 m.b9Z9r9j9R9JABA~A~A}I|I|I|I|ML@ }|B靅N;I)\jIC%< I;<]q<P%=checking for new query: numPingsReceived=21, elapsed TxPingTime=2.259741E E E E EI6G{<~G)AYAN_>y checking for new query: numPingsReceived=21, elapsed TxPingTime=2.511372ԡ (>d,diAH м>H H IH +|BH  =H H ,DH <H "EyI@AI?Ae{BeI]Mb@Mb@Mb@YYY Y)YY]%C?V-?I +y]Zd?]<]94]n@ ]@)YIYYyYII2ԡ_c #=yQ >٥ HwF >X5&Ϝ?X59^ ISBy}d?m:P@LEiG ;/;X5 B1APEDNOT Ignoring new targets: 16.68 m.bZrjRJB~~zBchecking for new query: numPingsReceived=21, elapsed TxPingTime=2.763362}||||6@K]P"K]9*KY2K]j:K]Nz ! I y deE  Kq *r  kb\[sJaJe? {B靍LR;I)@Ii$< Sb?<WqV<b~+Fd,ziAi<$9F Q@FZ@YF#m=yFPׁFH`u?b?r?ؿ?301? F Q@Fo;)FCiNYCL)P PIP @C)Ļ   C i I  Ii ) IA-!EIAIE)E0FiA)MCIM`AII IIQQiQQٯQ]{BuIII#3 g=ylQ >٥ HxFg >X5[?Ϝ?X59a IHBy@LEi1::X5!%2A%MEMDNOT Ignoring new targets: 16.68 m.bIZIrIjIRIJQBQ~Q~Q}Y|Y|Y|a|m@ {BxM;I!)%Tн!I-\#< ))-A<:JE[BJEOJJEBRJAZJE:bJE%9JE-4JAU@U@U@U@]aqeLd,,5iA\+GDAT read: 14:14:26.9553 LVL= 25424, 23201, 26930, 32755, AGC= 65, IDX= 459, 0.40,-2.976,-0.819,-2.722,-2.339, PHS=-0.548, 1.567,-0.385, RAW= 326.0, -6.3, CAL= 328.9, -8.6, ROT= 181.1, 8.6 %Ygot valid direction response: 14:14:26.9553 LVL= 25424, 23201, 26930, 32755, AGC= 65, IDX= 459, 0.40,-2.976,-0.819,-2.722,-2.339, PHS=-0.548, 1.567,-0.385, RAW= 326.0, -6.3, CAL= 328.9, -8.6, ROT= 181.1, 8.6 -PDAT read: Bearing 181.1, 8.6 (Local) 5~Local bearing/azimuth received: Bearing 181.1, 8.6 (Local) =DAT read: Range 10 to 50 : 19.8 m (Round-trip 26.5 ms) speed -0.7 m/s E,DAT read: user:1998> UAAUBDAT read: Tx time:14:14:28.0747 }$Ping request sent.} )x[6ƤۿEHDi+N=MG`> ):publishing transmit ping timeyFpublishing direction and range infoyGfACoS&r#ÿY )Ii )Ii )x[6ƤۿEHDi )checking for new query: numPingsReceived=22, elapsed TxPingTime=0.016129GGHʼ>HHIH{BH =HH+DHA<HYEI]R=I]={BIUMb@Mb@Mb@QQQ Q)QYUuV?٥ HyF > X5lϜ? X59Og I4ByE h?M i:M &M @LEi6<5<X5U BU 82AU JEZb'.;iAGAGA0@ʁ6ao3n׿hcGfACoS&r#ÿMG`>ҁ12|(@qJ$l~F?Kthz4@j{oɜ?r QtBikɜ? UyBA1[0@5  addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 3.532818 s, deltaX: 3.000000 m, approachRate: 0.849180 m/s, rangeRepo size: 4 A e  Added new target pos. range: 19.659706 m, bearing: 158.341622 deg, lat: 36.906447 deg, lon: -122.115984 deg, deltaT: 3.532818 s, deltaX: 2.978975 m, approachRate: 0.843229 m/s, posRepo size: 4 m DNOT Ignoring new targets: 19.66 m.bi Zi ri ji Ri Ji Bi ~q ~u :{B JDAT read: TxSync time:14:14:28.0739  checking for new query: numPingsReceived=22, elapsed TxPingTime=0.232447}y | | | 3@| @F? {B X?;I ) ս I !<K P"K ]9*K 2K k:K  .s*oy*U(R^S__O}}C55#0W!?uCTJ- AJ- A Y e F 8@>A@Y>c=y>>H(m?x???ؿ`x?@ 땿@q0X? > 8@>y;)>C D)F1AɰDJFHNfCɱNAiNILLIRCiRdA RR]F)PP VAVhMhFɲIUCQIQ)QiQ)]CIYYɳY Yɴ]Ce_Aaiaaٯa[{BII I V83% %J=y-ǻQ ->٥11 =H=zFEo >X5Ϝ?X59j tII'By¾@LEiC`;;)X5:J^BJMJJ@RJZJ} :bJ9JJ4J2A GEUDNOT Ignoring new targets: 19.66 m.bYZYrYjYRYJYBY~a~a}i|i|i|i|mt? {B P.QI ) IH7< nkI<Uq=`> ]d,viA9:d;@:E@Y:MZ=y:p޺:H _o?"??`mؿ`ez?1`P[`R? :d;@:;)8~X{BIYMb@Mb@Mb@ )Y#~j? rh?Mbye?C =MA @)3AIy(AI Ib3 M=yQ  >٥    H {F: >-X5FϜ?5X593n IBy5f?5l:=D=@LEip;S;X5EBE 3AEDEYY]checking for new query: numPingsReceived=22, elapsed TxPingTime=0.986772}DNOT Ignoring new targets: 19.66 m.bZrjRJB~~/{B}||||8? u{Buh^Iq)uqI}Cn< yy} L<_q^<;iiԉHEϼ>HAHEIHE{BHE =HAHE,DHE1<HEFEEYEYEYEeP0EaԱ6Gm ; checking for new query: numPingsReceived=22, elapsed TxPingTime=1.238829~GI AQ Ai Nu > K r&P"K ػ9*K 2K l:K 1(@'a}; gYc%hf>:/AI}gZ^cd,ʍiA96 M@6V@Y6wER=y6 X;6Hw??h? ؿ٥IQ UHU|FU; ]>YeX5]-Ϝ?mX59]\q I]Byim$m@]LEi]q:]:]ݽX5uB}[3A}CEԹMDNOT Ignoring new targets: 19.66 m.bIZIrIjIRIJIBq~q~q}y|y|y|y|}? {B8I)%I9J<  -N<5Yq=<=;iAiAE!E!E!E!E!echecking for new query: numPingsReceived=22, elapsed TxPingTime=1.490444:J]BJUJJ=RJZJ]:bJ>9Jg4J6G- @;~G! A9 AI NU >9 Ujd,diAi<9Jb@JEl@YJnN=yJ[٥tt vHv}Fz; z>|X5~Ϝ?X59~t I~By   @~LEi~:~S:~GX5H3A@EEDNOT Ignoring new targets: 19.66 m.bAZArAjARAJABI~I~I}I|Q|Q|Q|U@}? {B靕p9I)$IAv< YQ<Sq^<? H% <H! H- м>H- CH- IH- {BH-  =H) H) H- U<H- ~EHHHHI = I5ԙ qd,AđiA9>x@>K@Y>N=y> <>H?@?Ӄ? oؿ`e?\QkΩd?? >x@>;)=yd7Q >٥ H; >X5Ϝ?X59x IByd?m:@LEie`;^;X53A=E DNOT Ignoring new targets: 19.66 m.b Z rjRJB~~B{B}||!|!|%@@q {B MI)-I< rT<-]q5Y<5N8y y  checking for new query: numPingsReceived=22, elapsed TxPingTime=2.498896 -wd,?ޑiA9r@r@YrM=yrv!٥ H~Fzs; >X5М?X59P{ IBy@@LEiY;P;X5B3A :EUDNOT Ignoring new targets: 19.66 m.bQZYrYjYRYJYBY~a~a}a|a|i|i|m@ {B靝hJI)/I< -W<:J[BJQJJARJZJ:bJ-.9J4JWq<%iIY Cc}d,&iAI)@9>ً@>@Y>=N=y><>H w?`e? Ѣ?`Lؿ?@ĩ kT?? >ً@>;)٥Y HF%; >%BDAT read: Rx Time:14:14:30.5096 -TRx dataTimestamp_ set to:1749132871.947389-checking for new query: numPingsReceived=22, elapsed TxPingTime=3.003560=X53М?X59~ IBy5f?=l:=-=@MEi+=.*=,X5IM3AM7EDNOT Ignoring new targets: 19.66 m.bZrjRJB~~t{B}|||| m@ {BI!)%y0!I%,< !!-VZ<-aqUCd,!iA,95@嚼@YN=y<Hm?Y?`?Bؿ?@=V`ܩ@?? 5@骝f;)C{BoIi >I<IIV83 D=y9Q >٥ HF: >X5cPМ?X59 IByն@MEi;M;X5B4A4EDNOT Ignoring new targets: 19.66 m.bZrjRJB~~}|||| @ U{BU4I]O<)]:YI]/< YYes] =BDAT read: Tx time:14:14:31.6248 =$Ping request sent.= 9)9=zqM o2TVۿTѴhdi=,=g==bG=6&> 9)9:publishing transmit ping time9Fpublishing direction and range info9y=?$soĿ9Y9 9)9I9i99999 9)9I9i999 9)9=zqM o2TVۿTѴhdi9999 9)9checking for new query: numPingsReceived=23, elapsed TxPingTime=0.041893 6G zQ<~G A A N >id,ɬ+iA9:^@:@Y:P=y:n<:H@U?`W?JI? Aؿ?9&?? :^@:;):CF{BFnIRJDAT read: TxSync time:14:14:31.6240 Vchecking for new query: numPingsReceived=23, elapsed TxPingTime=0.220453\Ij"Ijq3 Y=yō:Q >٥    H FY8 >EX5kМ?EX59! IܐByIUжU@ MEiU\;z[;X54AZqbuRiAu~Au~Au1@ʁuYᕠ6Jqb- u?$soĿubGu6&>ҁuy6G5tU @0U*|uV9GƤT ?BakzuAu<ju*iɜ?ru upBqu  uuBu¶Au1@e addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 3.525889 s, deltaX: 3.300001 m, approachRate: 0.935934 m/s, rangeRepo size: 4  Added new target pos. range: 22.936527 m, bearing: 159.002819 deg, lat: 36.906447 deg, lon: -122.115986 deg, deltaT: 3.525889 s, deltaX: 3.276821 m, approachRate: 0.929360 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.94 m.bZrjRJB~~}|||7@|@? %{B-D}I))-7QIU < YY]/_H H IH _{BH  =H H H !<H 9E~Gy A A N >:J ^BJ TJJ =RJ ZJ } :bJ :9J g4J zJ _: jJ d: J RJ: rJ UJ: hQd,/EiA i 9Fn@F@YFN=yFĠ٥ HFD9 >X5rМ?X59 IӐBye?l:t@MEiZ;;X5  14A 1EEDNOT Ignoring new targets: 22.94 m.bAZArIjIRIJIBI~Q~U}{B}Q|Q|Y|Y|] j? {B靍8I)]9I (Q < ܪb<_q <Zԩ m checking for new query: numPingsReceived=23, elapsed TxPingTime=0.976804|d,wh_iA9:m@:@Y:?M=y:<:H?4i?@sS?@Nؿ Q?צ6`G?? :m@:;):CNzBN[I)P PIVIVM3^ ^Z=yb5Q b>٥`` fHdf+ f>hrX5jМ?rX59j Ij̐Byprr@jMEij);jC*;jX5zBz4Az.E-DNOT Ignoring new targets: 22.94 m.b)Z1r1j1R1J1B9~9~9}A|A|A|A|EM?ԙ {B ĻI)jNIP< !!%e<=Yq=<=PKED-< ?\?checking for new query: numPingsReceived=23, elapsed TxPingTime=1.230156EAEAEAEE5EA! 6G 5[<) jG i?bG i?5 GU Au A ,Y Ay /B~G1AAIAauchecking for new query: numPingsReceived=23, elapsed TxPingTime=1.479919N}>Ӻd,}iAmzBmNIMb@Mb@Mb@ )YMbX9?l?~jth?ya?=D;A A)\AIn@y\AI Ib3- -=y-Q 5>٥11 5H5F=HAHAHEIHEA{BHE =HAHE-DHE9<HE]E e>iuX5mМ?uX59m ImBy}a?}p:}M}@mMEim4;m;mX54A+EDNOT Ignoring new targets: 22.94 m.bZrjRQJYBY~a~e{B}a|a|i|i|m <?:J[BJUJJARJZJ:bJ>9J4JzJ:jJ:J}Q:rJQ: %{B%2vI))-])I-< )QUoiEEI EI EI EM 0EI y 6GK<echecking for new query: numPingsReceived=23, elapsed TxPingTime=1.984948~GAAN ?dd,viAI)@9:g@:Dq@Y:YG=y:z<:H`@?`?? ؿ`?ˠ`訿F?W? :g@:c;):C^zB^>II~I~<2=T E%=yE>Q M>٥iq uHuF} }>X5М?X59 IByt@%MEi::X5Bc5A)EDNOT Ignoring new targets: 22.94 m.bZrjRJB!~!~!}!|I|I|I|M@ {B靥(I)drI5< l<]qR?<0 utd,נiA9B?g@Bp@YBD=yB,qԱ٥i HF >%X5 ќ?-X59 IBy5)c?5o:55@,MEi1;0; X5UBU5AU&EDNOT Ignoring new targets: 22.94 m.bZrjRJB~~z{B} HH<Hڼ>HHqIH"{BH =HHHO<H~E|!|)|)|-@A@ }{B}pUI)I; p<Wq.<;RJqZJu=:bJuG9Jut4JqzJu:jJu:Ju_:rJu_:EEEE3EFF6Gh<ZGRG~GAAN>  m>m<uchecking for new query: numPingsReceived=23, elapsed TxPingTime=2.740160K P"K ý9*K 2K q:K )N(L&#i O ~CtUV,Vcg S!&|K +Wb 1 \Xd,Qk֒iA9Zj@Zs@YZ<=yZ٥ HF_k: >X5e'ќ?X59 IByջ@1MEiG:u:iX5Y6A#EeDNOT Ignoring new targets: 22.94 m.baZarajqRqJqBq~y~y}y|y|||}@ {B;TI) I; s<aq=<% checking for new query: numPingsReceived=23, elapsed TxPingTime=3.243572ԙ d,FiAi<9>(w@>؀@Y>O3=y>Wۋ<>H??`8b?4tؿ`?̧sov?@? >(w@>;)>CF`BPC1A got IPBS message with 6 sticks (min is 7). JYC)JЂAɰHJȯFHNCɱRzAiRTIPPIVCiVA VfV9F)TX ZAZ𾉲Z`FɲX^C\I\)\i\)bCI``ɳ` `ٯ`fizBfI jp=j=IrIr#3vս zT=yzQ z>٥x| ~H~F; > X5 PBќ?X59  I By@ 7MEi ": c< X5B7A E%DNOT Ignoring new targets: 22.94 m.b)Z)r1jaRaJiBiԁ~~}||||@6 @ {BdI)  I^; AMv<][qa<R/ BDAT read: Tx time:14:14:35.1748 $Ping request sent. )BM ?B쿙ܿ3#Ni#*>I¸2> ):publishing transmit ping timeFpublishing direction and range infoyH`wٖNs:ƿY )IHۼ>HHLIHzBH =HHHG<HtEHȖCHȖCHH =I = I75i )Ii )BM ?B쿙ܿ3#Ni )% checking for new query: numPingsReceived=24, elapsed TxPingTime=0.037938J{t4J{}4J{\00:J BJ SJJ =RJ ZJ bJ y69J g4J zJ :jJ :J (C:rJ *C:6G] < ~G9 AA AY Nm >ud,;Q iANzBI-JDAT read: TxSync time:14:14:35.1740 -checking for new query: numPingsReceived=24, elapsed TxPingTime=0.216680ԹMb@Mb@Mb@ )YS㥛?/$?Qyd?<uEA A)AIMAyzA)-BAI-I-2epb e'=ymQ m>٥ HF >X5dќ?X59I IByd?m:@>MEi;;X5t7AEZbiAAA/@ʁG9VB2¾!~d#H`wٖNs:ƿI¸2>ҁ7t#@2.8 G SG͹q?­zA%j,kɜ?rY0 lB QtBA-:1@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 3.528640 s, deltaX: 3.199999 m, approachRate: 0.906865 m/s, rangeRepo size: 4 KP"K9*K2Kr:K&h@GSc?f|X+0.qg'7BD6D) Added new target pos. range: 26.114342 m, bearing: 157.342546 deg, lat: 36.906447 deg, lon: -122.115986 deg, deltaT: 3.528640 s, deltaX: 3.177814 m, approachRate: 0.900578 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.11 m.bZrjRJB~~9{B} |)|)|-L:@|5? }{B}I)]I5u; 9kz<Uq<n'+d,5E(iA9N@ND@YN*=yNx[٥hl rHrFvH; v>x~X5zќ?~X59z IzBy@zCMEizw;z/;zhX5 8AE!=DNOT Ignoring new targets: 26.11 m.bAZArAjARAJABI~I~I}I|Q|Q|Q|UK.? {B靕n5I)𾾉I&;  }<_qH<ZCԩ  checking for new query: numPingsReceived=24, elapsed TxPingTime=0.971669^vd,xAiAI)@9>*@>ڗ@Y>-=y>6<>HӔ?U?uy? zKؿ2? ߘҢن?? >*@>qz;)>CGPGPHV>HVCHV&IHVzBHTHTHTHV<HVEbzBbIԙMb@Mb@Mb@ )YZd;O?٥!! %H!--; ->)=X5-'ќ?=X59-o I-wBy=j?Eg:E]¾E@-JMEi-$;-;-BX5MBMT8AMEEDNOT Ignoring new targets: 26.11 m.bAZIrqjqRqJqBq~~ {B}||||? {BI)-ž)I-; ))5M<5Yq58<=MHQ`d,[iAUyBUIIe Ieb3uֽ uT=y}Q }>٥y HF >X5ќ?X59۬ ImBy@OMEi;;X58AEchecking for new query: numPingsReceived=24, elapsed TxPingTime=1.478460DNOT Ignoring new targets: 26.11 m.bZrj!R!J)B)~1~9}A|A|I|Q|]@? U{BUUͼIY)]׾YIe5; aaeƁjE>!EAEAEAEAEI:J}`BJ}VJJ}@RJyZJ}:bJ}B9J}J4Jy@@@@Q} checking for new query: numPingsReceived=24, elapsed TxPingTime=1.7288836G iG<ZG RG ~Ga Ay A N >y td,ԶuiA9B_ϵ@Bټ@YB*=yB ٥hh jHjFn*< n>pvX5rќ?vX59r6 IrdBytv;v@rUMEir:r:rX5~B~F9AEMDNOT Ignoring new targets: 26.11 m.bYZYrajaRiJqBy~~}||| |?Q {B¼I ) 1ݾ I ;   Z<]qyb<HHIHazBH =HHH <H Eԩ6G ^,<~G A A N > d,㌏iA $?"checking for new query: numPingsReceived=24, elapsed TxPingTime=2.2340499@4 @Yԩ٥ HF5O< >Y5ќ?Y59V IZByk?f:2@\MEi;;Y5B9AEDNOT Ignoring new targets: 26.11 m.bZrjRJB~!~%zB}!K-z?P"K- 9*K)2K-t:K-tD)P!|cfd'j6 ASIPV|[]Z__9]YUVRMG?$92,2'#"Z8 e [ |!|9|9|=@ m{Bu9fؼIq)u辉qIu; qq}7҄<}Wq}X\<checking for new query: numPingsReceived=24, elapsed TxPingTime=2.483459 :J \BJ RJJ RJ ZJ =:bJ S29J J 1 d,:]iAyBII-I-F3mB ma=yuQ u>٥qy }H}F} >Y5Ҝ?Y59 IRBy@aMEi::1Y55:A EDNOT Ignoring new targets: 26.11 m.bZrjRJB~~}||||[@ {BI)!I%›; !!%9<-aq-V<-d,@ÓiA H"<H"<H&ϼ>H&CH&IH&zBH& =H$H&,DH&#<H&8E9n=@n@Yn|٥QQ ]HY]'; ]>amY5e.Ҝ?mY59e IeJBu+:yqu::u6u@egMEie;e>e Y5yu:ADNOT Ignoring new targets: 26.11 m.bZrjRJB~~}||||+J @ 5{B5I9)=9I=,; AAƇ<[q9V<ԩ d,ݓiA9N@N @YNf4٥ HF P  >Y5JҜ?Y59 IBB :y%:%%@mMEi;K?F Y5-B-:A- EUDNOT Ignoring new targets: 26.11 m.bYZYrYjYRYJYBa~a~a}i|qy|q||`5 @DAT read: 14:14:37.6183 LVL= 22032, 26577, 23154, 32755, AGC= 66, IDX= 464,-0.25,-1.609, 0.451,-1.440,-1.011, PHS=-0.510, 1.509,-0.432, RAW= 328.1, -5.8, CAL= 330.7, -8.0, ROT= 179.3, 8.0 Ygot valid direction response: 14:14:37.6183 LVL= 22032, 26577, 23154, 32755, AGC= 66, IDX= 464,-0.25,-1.609, 0.451,-1.440,-1.011, PHS=-0.510, 1.509,-0.432, RAW= 328.1, -5.8, CAL= 330.7, -8.0, ROT= 179.3, 8.0 PDAT read: Bearing 179.3, 8.0 (Local) ~Local bearing/azimuth received: Bearing 179.3, 8.0 (Local) DAT read: Range 10 to 50 : 29.5 m (Round-trip 39.4 ms) speed -0.7 m/s ,DAT read: user:2001> BDAT read: Tx time:14:14:38.7248  $Ping request sent.U@)ܝ4QϽIܝ@iܝ5ܝGH@ܝ5> ݙ)ݙݝ3?bH|}r=OݿO}[Źiݝ)ݝ=ݝGH@ݝ5> ޙ)ޙ:publishing transmit ping time Fpublishing direction and range infoڙyڝ. ƈ?H@lڙYڙ ۙ)ۙIۙiۙۙ_<<UqO<md,BiA9B@B@YB!'٥dd fHfFf j>lnY5ngҜ?rY59n# In:Br9ypr9rr@nsMEin:n?nY5xz:A~EZbmiATATA_/@ʁ=k?$aN. ƈ?H@lGH@5>ҁDq:/L&@΅'c Z9 \?0`뽿zd2Aj9vvɜ?r-wb kB{oɜ?/7  pBA30@ addTargetRange:: Added new target pos. range: 29.500000 m, deltaT: 3.527437 s, deltaX: 3.200001 m, approachRate: 0.907174 m/s, rangeRepo size: 4  Added new target pos. range: 29.291187 m, bearing: 157.463271 deg, lat: 36.906447 deg, lon: -122.115984 deg, deltaT: 3.527437 s, deltaX: 3.176846 m, approachRate: 0.900610 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.29 m.bZrjRJB~~}|I|Q|]=@|#? uz{Bu+checking for new query: numPingsReceived=25, elapsed TxPingTime=0.457435I)Ig; <_q C<ONHECHEIHEyBHE =HAHE+DHEL<HEnEEYEYEYE]1EY!IMAAIMAA6Gu ~<~GQ Y Aa Aq N >U checking for new query: numPingsReceived=25, elapsed TxPingTime=0.709203_e,iA9>@>@Y>ŧ|;>H?ۧ?{?t׿`?RR-~?@? >@>to;)>CJiyBJbIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y> ףp=?MbP?Mb`yq?:rA )AIAy=AIIM3 ;=ytQ >٥ HF >Y5*Ҝ?Y59* I5BT:yq?`:8@yMEia;D;Y5B(;AE)=DNOT Ignoring new targets: 29.29 m.b9Z9r9j9R9J9BA~A~EzB}||||@x&? Et{BE:C IA)EIIM؄O; IIM:J] YBJ] RJJ] CRJY ZJ] 9bJ] S29J] 4JY Թ * e,*iAi<9>R@>@Y>A8;>H+?`??׿ n?/* f?f? >R@>r;)>CJ_yBJ\IIRIR[3Zټ Z^=yZv#Q ^>٥`` bHbFjú j>lrY5nVҜ?rY59n In1Byprv@nMEinP;n;n+Y5xzT;AzE}DNOT Ignoring new targets: 29.29 m.byZyryjRJB~~}||||`]? o{B I)Ip7; P<Sq'&<  checking for new query: numPingsReceived=25, elapsed TxPingTime=1.467357 G9 G= @AHE м>HA HE IHE yBHE  =HA HE ,DHE z<HE Ee,ZDiAH9H9H9H= =I= = I= 59Zr@Z"@YZ{٥AA EHEFM2; M>Q]Y5UҜ?]Y59U IU.Byeo?eb:e e@UMEiU:U:U Y5im;AmEDNOT Ignoring new targets: 29.29 m.bZrjRJB~~zB}|||| vt? g{BI)IM; Ď<]q<VjE>EEEEE 5?Y?%checking for new query: numPingsReceived=25, elapsed TxPingTime=1.717489)6G- <jG5 k?bG5 d?Q ~G A A! K% ZiP"K% f9*K! 2K% w:K% :X 0 c5Gg/zBL`& 6AV*NE >De,|^iA9@q@YȆ٥ H<; >Y5Ҝ?Y59 I+By@MEir;͎;|Y5Bp;AE5DNOT Ignoring new targets: 29.29 m.b1Z1r1j1R1J1B9~9~9}9|A|||`@A `{BNI)=I: "<Wq <$ge,?7xiAI)@@9>@>@Y>ds5;>H`?@??׿?@I#r@>!;)>CԱ%nyB-eIIIchecking for new query: numPingsReceived=25, elapsed TxPingTime=2.477992-Mb@Mb@Mb@))) )))Y-S?٥YY ]HeFe : e>i}Y5mӜ?Y59mG Im(ByHo?c:@mMEimp;mo;m!Y5B);AEDNOT Ignoring new targets: 29.29 m.bZrjRJB~~zB}||||@@Hμ>HCHIHyBH =HHHk<HE X{B9I)Il: < aq < %e,^iA9N@NB@YN9Y! $+e,iA9>@>I@Y>+AƧ;>H ?`?c?`J׿к?`6 st?Q? >@>;)٥ HF >checking for new query: numPingsReceived=25, elapsed TxPingTime=3.233633Y5i>Ӝ?Y59K I&ByB@MEi8r;vw;y'Y5BEDNOT Ignoring new targets: 29.29 m.bZ!r!j!R!J!B!~)~)})|)|)|1|5b\ @ %L{B%I!)%쾉!I-B: ))-H CH H H  =H H H }<H E~G A = Ygot valid direction response: 14:14:41.1727 LVL= 28720, 22033, 23266, 32755, AGC= 66, IDX= 477, 0.00, 0.097, 2.159, 0.303, 0.766, PHS=-0.581, 1.440,-0.466, RAW= 327.1, -4.0, CAL= 329.6, -5.7, ROT= 180.4, 5.7 E PDAT read: Bearing 180.4, 5.7 (Local) E ~Local bearing/azimuth received: Bearing 180.4, 5.7 (Local) U DAT read: Range 10 to 50 : 32.8 m (Round-trip 43.8 ms) speed -0.8 m/s ] ,DAT read: user:2002> Aa Nm >u BDAT read: Tx time:14:14:42.2748 } $Ping request sent.} RJPZJPbJR*9JRt4JPzJR:^jJR:^JR-:brJR-:bdJDAT read: TxSync time:14:14:42.2740 checking for new query: numPingsReceived=26, elapsed TxPingTime=0.187241٥ HF >Y5cӜ?Y59` I%Byl?e:`@MEim;y;+Y5)-:A-EZb.”iAEBEB:1@ʁ6פ3@w%Q̿:?^  NK↓"kt|hܸmyH%=ҁ8>7`_'@3!M2?:kz!8e,ciA96@6vʼ@Y6/)! ! G A +Y Ay -BM M'@U 0*B?e,J)iAchecking for new query: numPingsReceived=26, elapsed TxPingTime=0.9438969=㽵@=Ǽ@Y=Ħ;y=L=Hȫ?D?s-y?'׿? ̝bz )? =㽵@=Î;)=CMyBUqIHʼ>HHIHyBH =HH+DH<<HVEMb@Mb@Mb@ )Y rh?A`"?I +?yCk?Y=I94<A A)rAIAyAII2쁻 &=y擻Q >٥ HF@ >Y5ӟӜ?Y59 I&Byk?f:@MEi::3Y5B%:A%E}DNOT Ignoring new targets: 32.57 m.byZyryjyRJB~~0{B}||||g? M8{BMIQ)Uu۾QIUlhڹ QQU<:Je^BJeSJJeARJaZJe} :bJey69Je4JazJea:jJef:Je)C:rJe+C:Sqƍ<IKFe,ծiA9>@>@Y>h;y>-^;>H@?@ ?_`?`ؿ?vUr mk?? >@>l;)>CHHiN=IN2?IV&IV3yf"Q f ?٥hh jHjFjE n ?lvY5nӜ?vY59nQ In'Bytvv@nMEin!;n;n5Y5~B~:A~E%DNOT Ignoring new targets: 32.57 m.b!Z!r)j)R)J)B)~1~1}9KECP"KEý9*KA2KEz:KE4V$VsmJd\N&%jRi[86#$%rj O|Q|Y|Y|] {? %4{B% I))-Nپ)I-fw1 ))-dҗ<5]q5hq<=OjEIaE?EEE5Echecking for new query: numPingsReceived=26, elapsed TxPingTime=1.446003ԁ6GE<~GAA N >Ա r=Le,V3iAchecking for new query: numPingsReceived=26, elapsed TxPingTime=1.703070P9b@bX@Yb& ;ybR;bH?0 ?N},@ ؿ@?,yDa`Ew?`? b@b;)bCnyBroIIzIz2u ٥    H F` >%Y5Ӝ?%Y59 I)By!%§%@MEi;;`9Y59=:AEEDNOT Ignoring new targets: 32.57 m.bZrjRJB~~}||||`? /{B I)ؾIjc 뫘<WqhL<HHIHyBH =HHH<H"E~GA A! N- >! :JA BJE NJJE @RJA ZJA bJE !9JE J4JA zJE `:jJE e:JE T:rJE W:%Se,3MiA|yBvIMb@Mb@Mb@ )Y?Dl?=yQ >٥ HF >Y5Ӝ?Y59 I+Byxm?d: @MEik:[:!=Y5:AE5DNOT Ignoring new targets: 32.57 m.b1Z1r1j1R9J9B9~9~E`{B}A|A|A|A|M`@ ){B" I)ϾIVM ٍ<aq"<D2ԁ  checking for new query: numPingsReceived=26, elapsed TxPingTime=2.457149?PYe,AgiA96멵@6@Y69y6;6Hr?E?GSLؿb?`n5`#p?? 6멵@6*t;)6CByBBsIIJIJ?13R? R_=yVQ V>٥TT ZHXZ> ^>dvY5fUԜ?vY59f{ If-Byx~~@fMEife;fm;fZ@Y5YB:AEDNOT Ignoring new targets: 32.57 m.bZrjRJB~~}||||`@ U${BuMIy)}ϾIܺ PU<[qv<u o;`e,HiA9㤵@BDAT read: Rx Time:14:14:44.7273  TRx dataTimestamp_ set to:1749132886.080298checking for new query: numPingsReceived=26, elapsed TxPingTime=2.977054@YpHAHAHEIHEyBHE =HAHAHE7<HEMEHCHCHH =I = I5ym:H@?@%?V`%ؿ? bPN?}W?? 㤵@骅G;)Cu{yB}mI Mb@Mb@Mb@    ) Y n?L7A`?y Vn? +=  rA rA) rAI A y QAI%$I%<3MV M=yU%Q ]>٥ HF >IIBA:J_BJRJJNRJZJ :bJS29J|4JzJ-:jJ2:J;:rJ<:Y5N8Ԝ?%Y59 Iy%n?%c:%ء%@MEiR<[M<EY5uB:AݫEDNOT Ignoring new targets: 32.57 m.bZrjRJB~~]{B}!|!|!|!|%h @ {B靥HټI)оIM? ^@<Uq<4n ge,MiA9B@B8@YBsdKjyP"Kh*Kh2Kj|:Kj?CY`P` {zY|?s&L_*:+{yM 2)Z hnyB4n:BH?@/?@tb /ؿ?@7?`-5b?@?? B@B2;)BCuiyB}bII"Iq3E#F MW=yU{`Q }>٥ Hۺ >Y5 UԜ?Y59 Iy-@MEi2::bHY5!%;A%ګEDNOT Ignoring new targets: 32.57 m.bZrjRJB~~}|||DAT read: 14:14:44.7273 LVL= 27056, 25329, 21186, 32755, AGC= 67, IDX= 475,-0.05,-2.156,-0.105,-1.889,-1.459, PHS=-0.609, 1.401,-0.433, RAW= 325.5, -3.8, CAL= 328.1, -5.3, ROT= 181.9, 5.3 Ygot valid direction response: 14:14:44.7273 LVL= 27056, 25329, 21186, 32755, AGC= 67, IDX= 475,-0.05,-2.156,-0.105,-1.889,-1.459, PHS=-0.609, 1.401,-0.433, RAW= 325.5, -3.8, CAL= 328.1, -5.3, ROT= 181.9, 5.3 PDAT read: Bearing 181.9, 5.3 (Local) %~Local bearing/azimuth received: Bearing 181.9, 5.3 (Local) ]DAT read: Range 10 to 50 : 36.2 m (Round-trip 48.3 ms) speed -1.1 m/s ],DAT read: user:2003> eBDAT read: Tx time:14:14:45.8249 e$Ping request sent.e@iܽqܽ+/K@ܽq= ݹ)ݹݽ4;|8ypuۿ 6Ѱiݽ͝,ݽ=ݽFݽq= ޹)޹%:publishing transmit ping timea-Fpublishing direction and range info M{BM.II)UؾQIU QQU<]_q]<]Ie5dme,*iA9Z@Z@YZ^yZ:ZH ? t.?jo.ؿ?0}>@tk?q^? ? Z@Z;)ZC`veyBv`III- -W=y5KQ 5>٥11 5H5F=99 =>yY5}pԜ?Y59}Y I}.By%@}MEi}:}u:}KY5B ;A׫EZbJiABBA`2@ʁA!W[/^ ݤ}￑5"砿{]UFq=ҁϪ@ t(@! H|]ow\?\zFA6j_C=eɜ?r , kB lBꁍ6B1@ addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 3.542623 s, deltaX: 3.400002 m, approachRate: 0.959741 m/s, rangeRepo size: 4  Added new target pos. range: 35.943172 m, bearing: 159.690492 deg, lat: 36.906447 deg, lon: -122.115986 deg, deltaT: 3.542623 s, deltaX: 3.375450 m, approachRate: 0.952811 m/s, posRepo size: 4  DNOT Ignoring new targets: 35.94 m.b Z r j R JB~~}||!|%B@|%2T? M{BUIQ)U׾QIU3 YY]ܵHHHH =HHH3<HCE checking for new query: numPingsReceived=27, elapsed TxPingTime=0.502311!6Gjhn<~GAAN >I @te,ѕiA9b@b@Yb,姻yb;bH@ӟ?1?C|j2ؿ@?@ ףp=?{Gz?~jthy}q?}ף=}D}A }A)yIyyyyIIF3b D=yŇQ >٥ HFh# >Y5Ԝ?Y59g Iyr?_:C@MEi::2OY5 =>?checking for new query: numPingsReceived=27, elapsed TxPingTime=0.734472~;ADNOT Ignoring new targets: 35.94 m.bZrjRJB~~/{B}| |||{? ]{BeIa)eᾉaI4L ~<Sqs:<ybԹ 'kze,ٲiAJJ4J4Jb1:J*ZBJ*MJJ*?RJ(ZJ*9bJ*9J*ـ4J(6@6@6@6@9b@bW@Yb ybqy)٥qq uH}F}o }>Y5/Ԝ?Y59d I/ByƜ@MEԙi:;RY5;AԫEDNOT Ignoring new targets: 35.94 m.bZr j R J B ~9~9}A|A|I|q|uo?  {B靽;I)侉Ib   5<]q<6 pUe,iAH*>H*CH*IH*yBH* =H(H**DH*[<H*sEZchecking for new query: numPingsReceived=27, elapsed TxPingTime=1.504382IMb@Mb@Mb@ )Y> ףp=?L7A`?y&1|y+=` rA)IyzAIIT31- 4=yQ >٥ HF˻ >Y5Ԝ?Y59 I0Byr?`:@MEit::VY5Bq }e,hiA9VZ@VBd@YV@yV)84VN;)Tv!yBv6II I 3%# %h=y-Q ->٥11 5H9=p E>I]Y5MԜ?]Y59M IIyaee@MMEiM9O;MO;MYY5q}=e checking for new query: numPingsReceived=27, elapsed TxPingTime=2.258171 e,.=9iAmGAuyB,IAA R+YAy.BII3Y ==y Q  >٥    H F >%Y5Q ՜?%Y596 I1By!)-@MEi"::k]Y515HaHeIHeyBHe =HaHaHe`<He|Echecking for new query: numPingsReceived=27, elapsed TxPingTime=2.512806 6G o;~G A A N >9 Qe,SiA%xB%Ii-%>I-p<Mb@Mb@Mb@ )YCl?~jt?y&1yo?D<`erA A)AIyAII 3 e]  J=y Q  >٥checking for new query: numPingsReceived=27, elapsed TxPingTime=2.762219 %H%F! %>)5Y5-)՜?=Y59- I-0By=o?=b:=ľ=@-NEi-;-;-`Y5EBMN36GM 1XKe,miA:J\BJ[JJ<RJZJ=:bJW9J [4J$9U@U@YU=77yU4ػUH` i?`}7?s6ٿi?!q?`?{@O? U@Ub;)UCexBe IIuIu2 R=yQ >٥ HF佼 >Y5`E՜?Y59 I/ByȾ@NEiJ0;e ;[dY5BR=AǫE5DNOT Ignoring new targets: 35.94 m.b1Z1r1j9R9J9B9~9~A}A|A|I|I|M` @ zBi+I):I    :<_qx<qiiaE?EEEZ5Echecking for new query: numPingsReceived=27, elapsed TxPingTime=3.266171ԉ6G &;ZG! RG% A ~G A A N% >HM Լ>HM CHM wIHM yBHM  =HI HM ,DHM '<HM ?Eȡe,g|iA4ZDAT read: 14:14:48.2818 LVL= 28064, 20801, 24338, 32755, AGC= 68, IDX= 472, 0.48, 1.124,-3.045, 1.446, 1.935, PHS=-0.723, 1.351,-0.492, RAW= 324.2, -1.4, CAL= 326.5, -2.1, ROT= 183.5, 2.1 ~Ygot valid direction response: 14:14:48.2818 LVL= 28064, 20801, 24338, 32755, AGC= 68, IDX= 472, 0.48, 1.124,-3.045, 1.446, 1.935, PHS=-0.723, 1.351,-0.492, RAW= 324.2, -1.4, CAL= 326.5, -2.1, ROT= 183.5, 2.1 ~Z#Rx 28: Read direction message, but no range.bdirection in FSK: [-0.997464,-0.061008,-0.036644]y :9`<(א¢Y m)AQI_iD9?m D@)+ȼIZ@iQ L@Q = H/Oh1ڿްi. <'EQ =]checking for new query: numPingsReceived=28, elapsed TxPingTime=3.556323IIAA}xB}IԙMb@Mb@Mb@ )Y@5^I ?~jth~jtybp?DD\A  A)IAyAII(*35 5=y=Q =>٥99 =HEFE E>iuY5mdl՜?uY59m Iiy}gp?}b:}Ѿ}@mNEimQ:m:m iY5=AīEDNOT Ignoring new targets: 35.94 m.bZrjRJB~ ~ zB}|||| @ uzB靅E I)I8Ļ V<Yq><r*ii8DAT read: $Error in header *Received a bad headerE9E9E9E=1E9mchecking for new query: numPingsReceived=28, elapsed TxPingTime=3.7868816G p~G A A N e,7iA i 9>@>1!@Y>Oy>~^>H`yk?*+?)@ *ٿk?`ϝ?.?`9kK? >@>;)a  checking for new query: numPingsReceived=28, elapsed TxPingTime=4.274073(e,iAxB%II)I)9E EE=yMQ M>٥II MHMFU U>YeY5];՜?eY59]| IYyaim@]NEi]:]:]nY5uBu>AuEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||J@ zB靍'r:I)| I*3ݻ J<]qC<9iiEIEIEIEIEIq H<H4<Hռ>HH^IHcyBH =HHHL<H{EHHHŔCHI = Im6uchecking for new query: numPingsReceived=28, elapsed TxPingTime=4.528152ԩ6GM5:jGUx?bGUg?~G) AA AQ N] > e,ԖiA96<@6E@Y6ay6F&<6Hy?? ؿ@rz?`!{p@5?`ۄ?@? 6<@6;)4FxBJIUMb@Mb@Mb@QQQ Q)QYUS?Zd;O٥ HFԙ0< >Y5՜?Y59" I0By0o?c:/پ@NEchecking for new query: numPingsReceived=28, elapsed TxPingTime=4.778508i:s;rY50>AEDNOT Ignoring new targets: 35.94 m.bZrj R J B ~~czB}||||@@ zBO:I)!I%g !!-m<5Wq5d<5M ;i9i9E?EEE E KUP"KUS9*KQ2KU:KUIl9  M[IzmDUVmqo# Y+6G- }:} checking for new query: numPingsReceived=28, elapsed TxPingTime=5.031289~G A A! NM > $e,iA9K@9U@Ycy><H??M "ؿ (?r`q?h?`6? K@=;)-xB-II=I=T3M8» MN=yM$Q M>٥Ya eHeFuE; u>Y5՜?Y59& Iy0ؾ@%NEi"`;)K;vY5B=>AE%DNOT Ignoring new targets: 35.94 m.b!Z)r)j)R1J9B9~9~A}A|I|Q|Q|]e@ zB@I)$I F<aq%<% e;i!i! <<checking for new query: numPingsReceived=28, elapsed TxPingTime=5.282444E?EEE_0E!Y6G- ~q;~G A A) N5 >y H ؼ>H H EIH ;yBH  =H H H <<H dEie,iAchecking for new query: numPingsReceived=28, elapsed TxPingTime=5.535895QUxBUIIIBA:JbBJSJJBRJZJ:bJy69J-4JzJH ;jJK ;J(C:rJ+C: Mb@Mb@Mb@    ) Y  rh?X9vMb`y Ck?    EA) AI A y AI%I%#3; &=yQ >٥ HF > Y5՜?Y59+ I3Byek?f:ܾ@,NEi{:R:FzY55>A%EuDNOT Ignoring new targets: 35.94 m.bqZqrqjqRqJqBy~y~}&zB}y||||@ zB(0I) I0 2<%[q%9<-(;i)i)ԁE?EEEX0Echecking for new query: numPingsReceived=28, elapsed TxPingTime=5.787478ԩ6G ; ~G A A N5 >)e,<"iAUxBUIae@AIe%Ie)3KuP"Ku 9*Kq2Ku:Ku0x66T -*>)MWXBj3z~3<g SqKԼ ~=yQ  ?٥ H  ?Y5}֜?Y59. I5By@1NEi ::}Y5W>AEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||`@ zB靥QI) I .<Uq<;ii]checking for new query: numPingsReceived=28, elapsed TxPingTime=6.039390EEEE~0E6G;! ~G A A N > checking for new query: numPingsReceived=28, elapsed TxPingTime=6.290242Pe, ٥hh jHjFjw< j>AEY5E,֜?MY59E2 IE7ByIMپM@E6NEiE:Eu:EY5UBUU>A]EDNOT Ignoring new targets: 35.94 m.bZrjRJB~!~!})|1|Q|Y|]@ zB靽?I) I ۨ<_qk<=-HuCHu9IHu&yBHu =HqHqHu9<Hq}checking for new query: numPingsReceived=28, elapsed TxPingTime=6.544648ԉ6G~q;:J ]BJ JJ >RJ ZJ ]:bJ J t4J zJ :jJ :J rJ ~G A ԩ A N >);e,UiA96Ɋ@6z@@Y6ry6a<6H`՗?1L?/噿 >Uؿ ?`[?1? L? 6Ɋ@6#[;)6C^xB^IMb@Mb@Mb@ )YDl?MbMb`?yOm?;A 3A)EAIAy AI ع׽<checking for new query: numPingsReceived=28, elapsed TxPingTime=6.794486I 3#< ;=yٺQ >٥ HF; >Y5cJ֜?Y597 I:Bytm?d:gپ@=NEi$;#;9Y5  3>AE=DNOT Ignoring new targets: 35.94 m.b9Z9r9jARAJABA~I~M>zB}I|I|Q|Q|U W@ zB靕9>I)HI d<YqS<?KBP"K{9*K2K:KO7y4]L'6H#?@ p]=hH|L dqm checking for new query: numPingsReceived=28, elapsed TxPingTime=7.046153 de,>oiA96@6k@Y6my6j<6H`?@/5?ؙ@%=ؿ`A?Β@͐?0? ? 6@6#;)6C^xBbIlIzIz[3; %W=y-Q ->٥99 =H=FE; M>YmY5]e֜?uY59]: I]=Byy}ؾ}@]BNEi]$;];]Y5BEUDNOT Ignoring new targets: 35.94 m.bQZYrYjaRaJiBi~q~q}q|q|y|y|} @ zB靭:a He ټ>He CHe 2IHe yBHa Ha Ha He Q<He EPe,FiA.checking for new query: numPingsReceived=28, elapsed TxPingTime=7.5567689I)95@5ͷ@Y5by5[<5H@? ?,qؿ@/?4?@?`!? 5@5e;)5CUxBUI:JBJLJJERJZJbJq9J4JzJjJJ:rJ: Mb@Mb@Mb@    ) Y Zd;O?٥19 =H=FMٽ; M>Q]Y5U:֜?]Y59Uo? IUCByej?eg:eϾe@UINEiU ;U ;UY5iu=AuEUDNOT Ignoring new targets: 35.94 m.bQZQrQjQRQJQBYa~y~}^zB}|||| @ zBl=)I)I (   .<]q#<wle,ViA9>|ɵ@>-Ӽ@Y>y> <>H? ?*@c׿ ?` ?@|ɵ@>m;)>CJxBJ IIR IRV2b= b=ybZQ b ?٥dd fHdj+< j ?lrY5n֜?rY59nsB InGBypr;r@nNNEine:n.:n}Y5MBU=AUEDNOT Ignoring new targets: 35.94 m.bZrjRJBԩ~~}|||| @KP"KH9*K2K:Ko Y$eDxA4= \q8WW[r0  Kd*DJJA zBDDI!)%o𾉞!IEH- AIM checking for new query: numPingsReceived=28, elapsed TxPingTime=8.3101201 e,'iA9>y@>*@Y>cVy>}=>Hͺ??;׿B?; ?m?? >y@>;)>CJxBJIIZIZ#3b< bK=ybuQ b>٥dd fHfFj)< j>lrY5n{֜?rY59n6F InMBypr˾r@nTNEino;n;nY5xzp=AzE%DNOT Ignoring new targets: 35.94 m.b!Z)r)j)R)J1B1~1~1}9|9|9|9|E @ zBv0I) 龉Iy/3 5;<=aq=<=FH1H5?IH50yBH1H1H1H5 <H5:J5 ZBJ5 OJJ5 ?RJ1 ZJ5 9bJ5 %9J5 ـ4J1 zJ5 .:jJ5 3:J5 &:rJ5 &:ԙ |e,חiA9F@F @YF4мyFR=FH?g?٥ HFm; >%Y5֜?-Y59J ITBy-f?-k:-z-@[NEi::{Y515.=A=EeDNOT Ignoring new targets: 35.94 m.baZarijiRiJiBi~q~udzB}q|q|q|y|} !@ zBeI) ݾI]j>: YY]  "yU3 19Zz+R_ z~B 7   6>1`3ׁ ׅ A checking for new query: numPingsReceived=28, elapsed TxPingTime=9.0663756GU Sݮ< ~G) A9 AI NU >Ce,iA9V@V3@YVCڼyV#=VH?`A?rPR׿@:?@{ P?{?? V@V;)Ti\\)bt `I` `)```dddidIdhIhih hh)hl lnllrCpIrQ)r)Fip)pIttt ttxxixxٯx~ yB~5II I 3%> -=y5R}Q 5?٥9A EHEFU; U?a}Y5e"֜?Y59eNM IeYByS@e`NEie ;e;e %H ϼ>H H XIH YyBH  =H H H <H ,EHʖCHʖCHʓCH =I = I5cf, iA2checking for new query: numPingsReceived=28, elapsed TxPingTime=9.57247689eT!@e+@Ye޼ye.=eH?`J*? 9<׿(?F`ϛ?@Â?? eT!@e9;)a&yB9IMb@Mb@Mb@ ԉ)YS㥛?X9v?٥ HFB8; >Y5{ל?Y59KQ IbBye?m:@gNEi%;N;Y5!Bmf,$iA9> !@>*@Y>&y> "=>H`?q)?@ <׿?7wT?`%Z? c? > !@>޽;)>C\rNyBrQIiv  =y Q  ?٥ H ?)=Y5--ל?=Y59-S I-gBy9EǬE@-kNEi-;-Z;-7Y5IM;AIDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}|| | | $@KU*Q"KU9*KQ2KU:KUog{}YA/U9?cl09X=HDx us7r }zB}I)IyG t<Yqv <]A  checking for new query: numPingsReceived=28, elapsed TxPingTime=10.326127f,f>iA9:@:k(@Y:Vy:$F=:H?/?L@׿ ?N p?Ţ?`T? :@:U`;):C^SyB^UIIdIdn`< nM=ynQ n>٥pp rHrFvD: v>x~Y5z#Jל?Y59zV IzoBy  謾 @zqNEiz=m;z(n;zY5;AEEDNOT Ignoring new targets: 35.94 m.bIZIrIjIRIJIBI~Q~Q}Q|Y|Y|Y|]$@ zB靝SI)I/K n<Sqy<5IHCHwIHyBH =HH*DHL<H_Euchecking for new query: numPingsReceived=28, elapsed TxPingTime=10.580511y6GF<~GAI4=I%=AN >ԙ f,6XiA%oyB-fIԁBDAT read: Response Not Received *response not received,DAT read: user:2005> -٥ HF >Y5nל?Y59bZ I{By@n?d::@xNEis;_;Y5R;AE]DNOT Ignoring new targets: 35.94 m.bYZarajiRiJiBq~y~zB}||||%@ԩ zBI)꒾AIEP AAEf, nriA9N@NC@YNY|yNxH ɼ>H CH IH yBH  =H H +DH H<H dE1 "f,.iAchecking for new query: numPingsReceived=28, elapsed TxPingTime=0.5074619MHյ@M޼@YMyMR;MHఱ?-? z׿`?s?@?@x?? MHյ@M[};)MC}yB}qIUMb@Mb@Mb@QQQ Q)QYUoʡ?MbX9?~jt?yUm?Uʡ=UD٥yy HF# >Y5ל?Y59j` IBym?d:|@NEin;f:Y5;AE DNOT Ignoring new targets: 35.94 m.b Z rjRJB~)~-zB})|)|1|1|5T}'@ ]zBeTIa)ehaIm_aW iim;ԡ )f,iA9Nj@N@YN\yNH$kNH?:?@ؿ`B?3†?@w*?Eaq? Nj@N#i;)NCZyBZ|IIbIb#3f(h= j=yjQ j ?٥ll nHlr? r ?tY5vל?Y59vb IvBy/ @vNEivH;v;;vԱY5#B:AE=DNOT Ignoring new targets: 35.94 m.b9ZArAjARAJABA~I~I}I|I|I|Q|U(@ zB靕;I),uI7Y <[q<O-]P"Kͼ9*K2K:KHcq}-\Gl>6\s!8* &2J`OcJAJ|AE?EEEP0EMchecking for new query: numPingsReceived=28, elapsed TxPingTime=1.0138376G<~GAAN%>J4J(4JͰ0:JaBJcJJRJZJ:bJx9JJԹ G A A checking for new query: numPingsReceived=28, elapsed TxPingTime=1.268316  Y Ay & B ;/f,忘iA9: @:Ҏ@Y:Oy:E𻹪:HӒ?c?*Z]ؿ? ?@?~? : @:l;):CNyBRIIV%IV)3 ϓ<  G=y UQ  >٥ HF0 >!%Y5%ל?-Y59%e I%By)-g-@%NEi%z:%:%jY515:A=EuDNOT Ignoring new targets: 35.94 m.bqZqrqjqRqJyBy~y~y}||||;(@ zB靵I)}iI9\ <UqD<6'HUCHUIHUyBHU =HQHU,DHU5<HUREmchecking for new query: numPingsReceived=28, elapsed TxPingTime=1.5201816G<~GAA! ) N5 >Q %6f,٘iA9>q@>T{@Y>y>>s3>H@}? #?ɘrؿ?k?|?@k? >q@>hԆ;)>CFyBJIeMb@Mb@Mb@aaa a)aYen?333333?Mb?yeVn?e=e٥ HF > ؽF?׽q?checking for new query: numPingsReceived=28, elapsed TxPingTime=1.772314Y5؜?Y59h IByo?c: @NEi;i;Y5:AEDNOT Ignoring new targets: 35.94 m.bZrjRJ B ~ ~ zB}||||)@ UzB]VVIY)][YI]_ YaeۭYK% P"K% 9*K! 2K% :K% n#Pg9!tus4XClzf/kuJ5 ?J5 ?m checking for new query: numPingsReceived=28, elapsed TxPingTime=2.023544ԡ :J [BJ MJJ ?RJ ZJ :bJ 9J ـ4J M٥11 5H5F5 5>9EY5=H؜?MY59=k I=ByIM M@=NEi=:=:=Y5U$BU|:A]EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||*@ }zBfI)NTI|b έ<YqO<;iiԩEM?EIEIEM_0EIchecking for new query: numPingsReceived=28, elapsed TxPingTime=2.2772836GM<jGUi?bGU[?~GQ Aa Aq N} > HM ͼ>HI HM IHM $zBHM  =HI HI HM <HM E8Cf, iAchecking for new query: numPingsReceived=28, elapsed TxPingTime=2.528637p9 P@ 2Z@Y Jy Pwf H~?z?`rؿ 2?Gt?Dx?0ˌR? P@ ;) yBI]Mb@Mb@Mb@YYY Y)YY]"~?L7A`?Mb`y]s?]+=]]3A ]A)]AI]EAYy]AIIM3v< &=yyQ >٥ HF >Y5C؜?Y59o IByt?^:@NEi3; ;Y5  i:A E=DNOT Ignoring new targets: 35.94 m.b9Z9r9j9R9J9BA~I~MzB}I|I|I|Q|U +@ %yzB%׼I!)%K)I-^e ))-A\If,E'iA9N?F@NO@YNyNТ^NH@z?Z?`OTؿH|?@ST?`?Ћ /? N?F@N_;)NCVyBVII^I^(*3f< j=yn+ Q r?٥tt vHvFv z?x~Y5z[؜?Y59zSr IzBy@zNEiz];z&;z{Y5 f:AE=DNOT Ignoring new targets: 35.94 m.AbAZArAjARIJIBI~I~I}Q|Q|Y|a|e`&,@ vzB靕T I)HFI=ŧg 99=/9J4Jԙ6G;~G) A9 AI N] >  checking for new query: numPingsReceived=28, elapsed TxPingTime=3.2835137Pf,F@iA9:>@:H@Y:R`y:yP]:Hrw?B?Uؿ\y?@P? I?? :>@:]\;):CRyBRIIZIZ2b0 bM=yb1Q b>٥dd fHdn n>pvY5ray؜?vY59ru IrByxzz@rNEir:r:rY5~%B~z:A~~E-DNOT Ignoring new targets: 35.94 m.b)Z)r)j)R)J)B1~1~1}1|9|9|9|=`,@ uszBuRIy)}GyI}/j yʃ<Wq< wl;iiE5?E1E1E55E9FAFAG @AG AAHȼ>HCHIHCzBH =HH+DH<HEHÕCHÕCHH =I = IÎi6echecking for new query: numPingsReceived=28, elapsed TxPingTime=3.5356606G};ZGRG~GAA) NQ A bVf,?ZiA9>D@>dN@Y> y>[5>H`zy??K`ؿ`|?@6З?3?E? >D@>;)>CFyBFI]Mb@Mb@Mb@YYY Y)YY]gfffff?J +?{Gzy]3s?]H=]#]A Y)]AI]\AYy]AIu IuV2!; >=y9Q >٥ HFU: >Y5؜?Y598y IBys?_:ñ@NEi::Y5checking for new query: numPingsReceived=28, elapsed TxPingTime=3.788409u:A{EDNOT Ignoring new targets: 35.94 m.bZrjRJB~ ~ zB} | | ||`b-@ MpzBU ߼IQ)UNBQI]l YY]Uԡ \f,tiA96N@67X@Y6>/ y63 6H`}?s?o% vؿU?@??? 6N@6);)6CByBBIIJIJ[3V VZ=yZKQ ^>٥`` fHfFj O; j>lrY5n9؜?rY59nr| InÐBytv"v@nNEin:n:nY5z&Bz:AzxE%DNOT Ignoring new targets: 35.94 m.b!Z!r!j!R!J)B)~)~)})|1|1|1|5༎.@ mzB`\I)MIoo 0<[q.w< ޮ;iiyEEEE5Echecking for new query: numPingsReceived=28, elapsed TxPingTime=4.291753ԡ6G5;~G A A N >H Ҽ>H CH IH MzBH  =H H ,DH <H E >tcf,|iAchecking for new query: numPingsReceived=28, elapsed TxPingTime=4.5454879V"\@Ve@YVGyV᫛VH@??9ܟ`ؿ@/?@Y? G?@Jrs ? V"\@Vڼ;)VCryBrItvAAI~I~(*3 ==y-:Q >٥ HF ^u; 5>I:JbBJTJJGRJZJ:bJ:9Jc4JzJH ;jJK ;JRJ:%rJUJ:%-Y5M>؜?-Y59MB IMɐByQUBU@MNEiMyQ _if,R`iA9>j@>Ht@Y>]\y>\9>H V?F?J@ؿe?y?|?@2?? >j@>.;)>CFyBFI)H H}Mb@Mb@Mb@yyy y)yY}l?S㥛?y&1|y}w?}/<}`}A }A)yI}EAyy}(AI I̍2!; H=yQ >٥ HF:; >Y5؜?Y59ǃ IΐByw?[:l@NEi:_:SY5:ArE DNOT Ignoring new targets: 35.94 m.b Z r j R J B~~vzB}||||%0@ MhzBaI) IIt ɬ< _q _< `E checking for new query: numPingsReceived=28, elapsed TxPingTime=5.304953;pf,3™iA09R}|@R/@YR'yR;RH`?[m?`itlؿී?? ݢ?_u?S? R}|@R9;)PjyBjIIzIz(*3F T=y%邺Q %>٥)) 5H15v; =>IY5MDٜ?Y59MO IMԐByI@MNEiMHCHIHCzBH =HH-DHHEE?EEEEechecking for new query: numPingsReceived=28, elapsed TxPingTime=5.555906Թ6GE4<:J\BJOJJARJZJ=:bJ%9J4J~G1 AY zJ:jJ:J&:rJ&:A N >vf,ZܙiA9B͉@B@YByBr_٥y HF; >Y52ٜ?Y59A IڐByz?X:}¾@NEit;fs;TY5checking for new query: numPingsReceived=28, elapsed TxPingTime=5.807679:AlEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~@zB}|||| 0@ czB靅I)PFI*2z @N<Sq"k<h4=|f,iA9>@>W@Y>y>k]<>Ho?@S6?\@q=ؿ?W~f@>;)>CJyBJIiN٥! %H-F5p; =>AMY5E$Qٜ?MY59E IEByIMM@ENEiE:E:EY5Y]:A]iEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||O1@ `zB&I)FIe| !<]q@<9GH ̼>H CH IH 9zBH  =H H ,DH <H /EԹ .Ãf,iAchecking for new query: numPingsReceived=28, elapsed TxPingTime=6.563639yBII- I-(2=; =B=yEQ M>٥YY eHmFԙIIAA:JYBJgJJ>RJZJ9bJ9Jt4JzJd:jJi:J=:rJ>:  >AY5E3uٜ?Y59E IEBy@ENEiE%If,)iAyB%IMb@Mb@Mb@ )Y +?y&1|?~jthyv?`;DA A)IAy3A@AI-I3\4 @=yQ >٥ HF > Y5ٜ? Y59 IByv?\:Hþ@NEiô<< Y5)B:AdE DNOT Ignoring new targets: 35.94 m.b 5checking for new query: numPingsReceived=28, elapsed TxPingTime=7.067564Z r9j9R9J9B9~I~M5zB}Y|Y|Y|Y|e|-2@K P"K H9*K 2K :K ucJ:93Ih #.QFs-A j#8PbzB; +JAJ -ZzB-gOI1)5>1I5H瀼 115<=aq=m<=\C/Ԑf,yCiA"V@>@Y>y>?<>H`? & ?vؿ'?@B;r6?`ԃ?? >V@>V;)٥dd fHdj2; j>lrY5nٜ?rY59n[ InByprv@nNEino;n:n?Y5xz:AxDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||`\2@Q WzB2I)L2I _<[q­<BmHYHYHYH] =HYHYH] <H]EEiEiEiEu0EqԁMchecking for new query: numPingsReceived=28, elapsed TxPingTime=7.572285:J[BJOJJBRJZJ:bJ%9J-4JzJ:jJ:J~&:rJ&:6G= Y=Y f,m]iA96@6@Y6y6Ğ<6H@? ?@y7` ؿY?'"\uU?@j?? 6@6;;)6CZyBZIMMb@Mb@Mb@III I)IYM> ףp=?I +~jth?yMq?M94MD;M3A MdA)M@IM3AIyMAI]I]?13 ؑו4=checking for new query: numPingsReceived=28, elapsed TxPingTime=7.825136 = 6=y Q >٥!! %H%FM: M>YY5]|ٜ?Y59] I]Byq?`:A˾@]NEi]I<]<]8Y5p:AaEDNOT Ignoring new targets: 35.94 m.bZrjRJB!~!~EEe<U checking for new query: numPingsReceived=28, elapsed TxPingTime=8.077271ԉ E! E! E! E- _0E) Ku JrP"Ku 39*Kq 2Ku :Ku =OrXZ*mEJ[!`1m1g%b3PaJK DXJ ?J ?ԩ 6G%mo<~GAAN%>̕f,,}iAXchecking for new query: numPingsReceived=28, elapsed TxPingTime=8.327411yBII#I%x3Tt %$=y%Q e>٥ii mHmFm m>q}Y5u#ٜ?}Y59u IuBy@uNEiu7:uu:uY5*B:A[EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||Rw3@ PzB ׼I ) U! I A =<_q%lW<%+oE%5%<E?EEE~0EH}޼>H}CH}IH}CzBH} =HyH}-DH}&<H}IEHEƖCHEƖCHAHE =IE = IEƒ>6 ׁ ׁ  checking for new query: numPingsReceived=28, elapsed TxPingTime=8.5798376G1 9 ~G9 Aa A N >izf,"iAIX)Z@yBIMb@Mb@Mb@ )Y(\?{GztMbp?yn?ף;A A)AIAyfAI=I=M3M\= U9=yQQ U>٥YY ]H]FY ]>iuY5mڜ?uY59m ImByun?}d:}Ⱦ}@mOEim,:m:maY55:AXEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~.zB}||||3@ MzB ̼I)I0  S<%YqA-<]oTqsD'J79F+KM<B[X5 9PJ!J!~G:J bBJ WJJ CRJ ZJ :bJ G9J 4J @@@@A!A1N}?9f,}xiA9fӵ@f1ݼ@Yfqyf٥)) 5H5F5< 5>9EY5=?1ڜ?EY59= I=ByIMžM@=OEi=:=:=1Y5yU+B9AUE DNOT Ignoring new targets: 35.94 m.b Z r j R J1B1~1~9}9|9|9|9|Ez[4@ JzB靵UI)T߽Id j<Sqz<4> HQ HU <HU ּ>HQ HU IHU MzBHU  =HQ HU ,DHU <HU E f, MњiA"checking for new query: numPingsReceived=28, elapsed TxPingTime=9.5910259bе@bټ@Yb/ybl8٥ HF   >Y5Nڜ?Y59J I By1ƾ%@ OEi2;U=;Y5159A1eDNOT Ignoring new targets: 35.94 m.baZarajaRaJiBi~i~i}q|q|q|q|}>4@ GzB靵I)ĽI? 쇩<]q<0checking for new query: numPingsReceived=28, elapsed TxPingTime=9.8434761Y Qf,#IiA96̵@6iּ@Y6;y6L<6H ? "?]֦ c׿? E~wa?`h ?y? 6̵@6;)6CJyBJI%Mb@Mb@Mb@!!! !)!Y%q= ףp?~jtx?~jt?y%k?%;%D<%A %X@)%@I%A!y%AI=*I=3U74= UD=yU59Q U>٥YY ]H]F] e>amZ5e lڜ?uZ59e Ie*By}k?}f:}k@eOEiea;e_;ePZ5 ,B 9A TE)UDNOT Ignoring new targets: 35.94 m.bYZYrYjYRYJYBY~~*zB}||||d-5@ CzBI!)%4!I%@$ !)- <-Wq5<5X[J>E?EEE5EQ:J\BJUJJ@RJZJ=:bJ>9JJ4J~GAANG>y checking for new query: numPingsReceived=28, elapsed TxPingTime=10.347500Ա W2f,iA9Bȵ@BҼ@YBAyB0ߪ;)@bzBbIIfIf2zM= zR=yz:Q z>٥|| ~H| > Z5 9ڜ?Z59 x I 3By@ OEi : : Z5!%9A%QEMDNOT Ignoring new targets: 35.94 m.bIZIrIjQRQJQBQ~Y~Y}Y|Y|a|a|m5@ @zB靝ΣI)@Isk 뤨<aqy<%HHIHkzBH =HH-DHښ<HEE%?E!E!E%O0E)echecking for new query: numPingsReceived=28, elapsed TxPingTime=10.5994986GUzQ<~G)AAAiN>) \f,@iA9>r@>$Ƽ@Y>y>Sn<>Hy?O?裿׿7?t?mՍ?@? >r@>#/;)>CJ&zBJI ؽ%=׽R=BDAT read: Response Not Received *response not received,DAT read: user:2006> BDAT read: Tx time:14:15:07.7250 $Ping request sent.٥)) -H-F5` 5>9EZ5=ڜ?EZ59=- I==ByEe?Ml:MIM@=OEi=:=:=Z5Ye8AeNEMDNOT Ignoring new targets: 35.94 m.bIZrjRJB~~;zB}||||6@ =zB"I)%!I% !!%x<[qX<,|:J ZBJ SJJ BRJ ZJ 9bJ y69J -4J 5f,8iA9:3@:幼@Y:ߒy: <:H? ?󟢿 ؿ {?v?[Q? Ǐ? t? :3@:5;):CGA1 ui YuAy}E BQ,zBII!Ii3 C< 2=y:Q >٥ HF U >Z5 ڜ?Z59 IGBy@&OEip;; Z5checking for new query: numPingsReceived=28, elapsed TxPingTime=0.498694-B8A%KEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||~6@y :zB靅͎I)^I }<Uqi<[hHHIHzBH =HHH<HEԩ 6G} v.r< checking for new query: numPingsReceived=28, elapsed TxPingTime=0.751639 ~G A A N >.f,UiA9v@v?@Yvsyv:vH ?D? fAؿ0?[?O ?6]?@P? v@v ;)vCi|) I )nA     i!I!!I)i) ))))1 9=ȽEFAQUGAI]Ľ)YiY)qIyyy ȁȑșșiȡȡٯ14zBmIIIF3< ?=yMRXQ e>٥ii mHmFm u>q}Z5uڜ?}Z59u IuQBy»@u,OEiu;u;uoZ58AHEDNOT Ignoring new targets: 35.94 m.bZr9jYRYJYBa~a~a}a|i|i|i|m6@ 7zBI)yIY "<_q7<B6Sf,oiA96:@6욼@Y6Ky6!W;6HΕ?H?`)] Eؿt?׆? N(?j? 8? 6:@6;)6C=?zBEI)A Achecking for new query: numPingsReceived=28, elapsed TxPingTime=1.254690Mb@Mb@Mb@ )Y~jt?{Gz?{Gz?yd?#<A A)IyAIIV83< ]=y|Q >٥! %H%F-M 5>A]Z5Ewۜ?eZ59E IEYBymd?mm:uٻu@ԹE1OEiEu m D?m ?u checking for new query: numPingsReceived=28, elapsed TxPingTime=1.5069099 ;f,}]iAH%>H%CH%,IH%zBH!H!H%.DH%<H%EQzBIII2<= R=yQ >٥ HF >Z5ۜ?Z59 IbBy@7OEi :z:Z5.B*8ABEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}|!|!|!|%.7@ U3zBUk8jIQ)]3if,,GiAchecking for new query: numPingsReceived=28, elapsed TxPingTime=2.0106929F뉵@F@YFTyFX;FH` ?T?ઞ+Sؿ͘?!?`"?gs?@/? F뉵@Fh;)FCNizBRI5Mb@Mb@Mb@111 1)1Y5MbX?y&1?{Gz?y5j?5`<15A 5n@)1I11y5AIU IU̍2eGn= eN=ye8Q m>٥ii mHiu~ u>yZ5}G8ۜ?Z59}r I}kByj?g:%@}=OEi}:}:}tZ5157A5?EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~izB}||||8@i }1zB}SI)^=I /<]q<U*K &P"K ý9*K 2K :K  IM.9j~"gDhk]Y.Vq8uH6V8CMml@pmWUf, iAP9~߆@~@Y~y~a;~H ?2[?`Xؿ?0?ۢ?7l?d? ~߆@~ω;)~C ezB Ii)>Ip=AI-I-2M UL=yU:Q U>٥YY ]H]F]Ns e>amZ5e=Uۜ?uZ59e IetByquTu@eCOEie;e];eZ5y7AHCHEIHzBH =HH-DH<HEHƗCHƗCHHI = I'766GM9)<~G A A N >!  checking for new query: numPingsReceived=28, elapsed TxPingTime=2.766688xf,֛iA9R߄@R@YR~yR!;RHD?@v_?U\ؿ`? ?wߢ?`/d?`h? R߄@R߉;)RCrxzBrIIzIR=I:J%ZBJ%PJJ%?RJ!ZJ%9bJ%*9J%ـ4J!zJ%0:5jJ%5:5J%-:5rJ%-:59IzT3M:= MK=yMzQ U>٥QQ UH]F] ]>amZ5ebrۜ?mZ59eI Ie}Byimru@eIOEie :e:e{!Z5}/B}7A};EEDNOT Ignoring new targets: 35.94 m.bAZIrjRJB~1~1}A|A|q|y|@8@ -zB @I) =IiA ٣<-aq-)<-_"f,miA|zB% Ichecking for new query: numPingsReceived=28, elapsed TxPingTime=3.270785ԡMb@Mb@Mb@ )YZd;O?Q?Mbp?y~j?<;dA )A@IAyAII3-< -==y5Q 5>٥99 =H=F= E>AMZ5Eۜ?UZ59E IEByUj?Ug:UOU@EOOEiE;E ;EC%Z5e0Be7Ae8EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~qzB}||||D9@ ,zB靅`>1I)=I… /<[q<iiKE0MP"KE9*KA2KE:KE3%#0 -s3Gl3!/.=SpJP $JDEaEaEaEe0EaFiFie checking for new query: numPingsReceived=28, elapsed TxPingTime=3.5250796Gu !<~Gi A A N >! g, iA9>@>@Y>y>$93:>H 2?F`?@ơ@T\ؿ?@Ƌ?`?(cF?O? >@>?;)HdHfXIHfzBHf =HdHdHf$<HfCEQ ^>٥pp vHvFv8 v>x~Z5zۜ?~Z59z IzByL@zTOEiz:z:zj(Z5  7A =DNOT Ignoring new targets: 35.94 m.b9Z9r9jARAJIBI~Q~Q}Q|Y|Y|Y|]ɠ9@ +zB靍V&I)=ITP v<5Uq5꿿<9i9i9E)E)E)E-q5E)ששchecking for new query: numPingsReceived=28, elapsed TxPingTime=3.775627!II@A:J\BJ^JJARJZJ=:bJd9J4JzJ:jJ:J:rJ:Y6G$<~G A A N >y ] checking for new query: numPingsReceived=28, elapsed TxPingTime=4.026651@g, $iA9>|@>.@Y>/y>z:>H?b?@j`_ؿ?`M?@\A?ٲQ? 3? >|@>gi;)>CvszBzIMb@Mb@Mb@ )Y/$?٥ Hٹ >Z5ۜ?Z59 IBy6l?f:+@[OEi;;?,Z57A5EIDNOT Ignoring new targets: 35.94 m.bZrjRJ B ~ ~ !zB}||||:@ U)zBU,zK X5P"K ͼ9*K 2K :K +m wnxl?\y!x$Wn(@;a+'p.ds6 g J J g,Z>iA96o@6!@Y6#y60d;6H?`)e?Vâ@bؿy? >?@?@l? ? 6o@6gr;)6CBzBBIIFIFm?3N)P= Rb=yRغQ R>٥TT VHVFV5 V>XbZ5Zۜ?bZ59Z IZBy`bLb@Z`OEiZ;ZI;Zg/Z5j1Bjv7Aj2E}DNOT Ignoring new targets: 35.94 m.byZyryjyRyJB~~}||||hq:@ 'zB%bpI!)%ܼ=!I%7 ))-p<-Yq5K<5fHHeIH{BH =HH.DH<H,E6GM)< ~GI AQ Ai Nu > checking for new query: numPingsReceived=28, elapsed TxPingTime=4.782774A g,6XiA9>|@>@Y> y><>Hȍ? i?n jؿ@5? y?? ?? >|@>(;)>CJzBHiN٥\` bHbFbn b>djZ5fܜ?jZ59f IfByhnn@:JBJ]JJ=RJZJbJ_9Jg4JzJ:jJJh:rJi:ffOEif.g,riAI)$9BVx@B@YByBSŤ_sؿ?af??t?9? BVx@B;)BCPTchecking for new query: numPingsReceived=28, elapsed TxPingTime=5.286718Mb@Mb@Mb@ )Y&1?S㥛?MbPyp?/< X@)@IAy\@IIg: 8=yQ >٥ HF > Z5$ܜ? Z59 IByp?a:)@mOEi;9;6Z5%~7A%,EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~=zB}||||TL;@q }$zB}$(Iy)}b=yIꂼ <]qʾ<Z _f&7yqGyG<n %Y%Ay%BJ%?J%>ԙ6G- b<= checking for new query: numPingsReceived=28, elapsed TxPingTime=5.539412 ~Gi Ay A N >"g,5시iAH>>H<H>kIH>{BH> =H<H>-DH>7<H>dEP9ji@jys@YjZi"yj٥ HFV >Z5Aܜ?Z59} IBy@sOEidh;i;A:Z57A)EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||g;@ =#zBEFIA)E=AIE^ AAMSĞ) = == %=E checking for new query: numPingsReceived=28, elapsed TxPingTime=6.042912 )g,祜iA9be@bo@Yby%ybj/٥ HF > Z5 `ܜ?Z59 w I By;t?^:Fƾ@ yOEi W; E: =Z5%5B%D7A-&EUDNOT Ignoring new targets: 35.94 m.bQZQrQjQRQJYBY~Y~]yB}a|a|a|i|m<@ "zB靥9I)=IL Eߝ<aqcD<;iiEyEyEyE}_0EyIchecking for new query: numPingsReceived=28, elapsed TxPingTime=6.2947976Go;~G A A N >q K 6P"K ý9*K 2K :K *>] *OtreC<d !I;xk(paJ J <,/g,iA9Fe@Fn@YF(yF,(ؿ@/?z???? Fe@F׶;)FCRzBR(IIZIZ3bM= f`=yfQ f>٥dh jHhj j>lrZ5n{ܜ?vZ59n In‘BytvRƾv@nOEin:n:nAZ5zDBzw7Az$EB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 35.94 m.b!Z!r)j)R)J)B)~1~1}1|1|1|9|= s<@Y u zB}»Iy)} >I Ā <[q< ;iichecking for new query: numPingsReceived=28, elapsed TxPingTime=6.547697Em?EqEqEu0EqԁHe>HeCHewIHe-{BHe =HaHe.DHe<He2E6GԹ~GAAN> checking for new query: numPingsReceived=28, elapsed TxPingTime=6.798787 6g,}ٜiA9>i@>r@Y>+y>[S<>H`"?u?`^`ؿ݌?@q?_z?#s?? >i@>K;)٥\\ HFg: >!-Z5%ܜ?-Z59% I%ˑBy15ƾ5@%OEi%:%\:%DZ59=z7AE!EuDNOT Ignoring new targets: 35.94 m.bqZyryjyRyJyBy~~}||||<@ -zB-GлI9)E >AIMV <Uq< ;i i9E%?E!E!E%o0E)F-=F) checking for new query: numPingsReceived=28, elapsed TxPingTime=7.0512966G ~GI AQ Ai N >9 >ij@>t@Y>0y>8Ou<>HO?P?@Aؿy?ge?`?[?? >ij@>ԅ;)٥ HF9 >Z5ܜ?Z59 IՑByr?_:¾@OEiG);*(;lHZ5EB87AEDNOT Ignoring new targets: 35.94 m.bZrjR!J!B!~!~- zB})|)|)|1|=J=@ mzBmjIuԲ<)u>qIuA} yy}<}_qv<d;ii:J[BJQJJ@RJZJ:bJ-.9JJ4J@@@@EIEIEIEU 2EQAK*P"KH9*K2K:K X./-U:'^C"b3~^F]Fmy7h 6Gu2<ԁ   = checking for new query: numPingsReceived=28, elapsed TxPingTime=7.555564~G A A N >ԡ ^%Cg,1 iAH>HHIHA{BH =HHH<H٥|| HF; > %Z5 8ܜ?%Z59 G I ޑBy!%I¾%@ OEi 9; 1; KZ5)57A5E]DNOT Ignoring new targets: 35.94 m.bYZYrYjaRaJaBa~a~i}i|i|i|i|u=@ zB靭LI)->Ii{ o<5Yq=9<=~jEyE E E E 5Euchecking for new query: numPingsReceived=28, elapsed TxPingTime=7.806710ԩIIAA6Gm&;~Gq A A N5 > 5 checking for new query: numPingsReceived=28, elapsed TxPingTime=8.060521:PIg,,'iA9:p@:Iz@Y:^5y:L<:H`@?@3w?@0ؿ?Uaݩ??@;? :p@:ֶ;):CbzBbBI]Mb@Mb@Mb@YYY Y)YY]bX9?{Gz?Mb`?y]Ev?]#<];Y ]@)YIYYy]@II2N< A=yqQ >٥ HF堹 >Z5ܜ?Z59I IByIv?\: ľ@OEi;;qOZ56AEDNOT Ignoring new targets: 35.94 m.bZrjRJB~ ~ zB} | | ||W>@ zB5FI1)5;>1I=Ax 99=ǘRJ ZJ } :bJ 9J t4J ~G A A N >7Pg,h@iAKaNP"K*K2K:Kv_~j[d6sPwn_u)=>gz6:ZZ%vi2EpQi#9Bw@B̀@YB4yB;٥`` bH`f ; f>hjZ5jXݜ?nZ59j IjByY]þ]@jOEij%@ zB sI)E>Ixgv ڽ<]q%Q<-.H-CH-IH-U{BH- =H)H)H-<H-E>EyԁzEE5?E1E1E5f2E1ԩ  checking for new query: numPingsReceived=28, elapsed TxPingTime=8.8157396G% -; I I p=~G A! A1 N= >Vg,\iA9NF@N@YN{/4yN¿٥xx ~H~F ; >!-Z5%3ݜ?-Z59% I%By15 þ5@%OEi%;%v;%VZ59=6A=E}DNOT Ignoring new targets: 35.94 m.byZyryjyRyJB~~}||||`>@ zB(I)-N>Is `<Wq+n<cE#<E?EEEc5E 6G O <~Gi A A N >\g,QiviA6checking for new query: numPingsReceived=28, elapsed TxPingTime=9.3188479F:@F햼@YF)3yF=y:Q >٥ HF; >Z5JSݜ?Z59 IBy{p?b:s@OEi(::WZZ56AE-DNOT Ignoring new targets: 35.94 m.b)Z)r)j)R)J1B1~1~9}9|9|9|A|M`W?@ }zB}H?;I)s>IQp G<aq?<S+<:J]BJ[JJCRJZJ]:bJW9J4Ji iDDDDQKyP"K(9*K2K:KM*AT+> H 8)!o<jG TyN/6LrN#ychecking for new query: numPingsReceived=28, elapsed TxPingTime=9.570989EQEQEQEUp5EQFYF]=ԩ HU >HQ HU IHU ~{BHU  =HQ HU -DHU <HU E6G jx< ~G A A N >dg,6\iA9>@>@Y>0y>Э<>Hn?*?v4ؿ? kc??? >@>S ;)>CJ{BJiIIRIR2^%< ^C=yb:Q b>٥`d fHfFft; f>hnZ5j0rݜ?nZ59jh IjByprr@jOEij;j^;j]Z5vGBv5AvEDNOT Ignoring new targets: 35.94 m.bZrjRJB!~!~!})|1|1|9|=?@ mzBmtM7;Ii)m>iIuYl qqu[<checking for new query: numPingsReceived=28, elapsed TxPingTime=9.822724[q <Թ djg,5iA%{B%nIMb@Mb@Mb@ )YV-??~jth?ym?<D; @)IyI I<2-Ն< -5=y5Q 5>٥99 =H=F= E>AMZ5E.ݜ?UZ59EN IEByUm?Ud:UU@EOEiE ;E;EaZ5eHBe5Ae EԙDNOT Ignoring new targets: 35.94 m.bZrjRJB~~'zB}||||,@@ zB>;I)C>Ii  <Uqֻ<Q<KE UP"KE 9*KA 2KE :KE xdQI +:dcafae7~(?eJQ JQ  *qg,ǝiA2checking for new query: numPingsReceived=28, elapsed TxPingTime=10.5785339vB@vɼ@YvQ(yvM٥)1 5H5F=N< =>AMZ5Edݜ?MZ59Ey IE!ByIUU@EOEiE:E;E-eZ5Y]5AYDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||`J@@ zBpo;I)>Ie 腑<_q<$ӁHHIH{BH =HHH<H6EE?EEE_0EFF%BDAT read: Response Not Received -*response not received-,DAT read: user:2007> --"wg,iA 9е@ټ@Y"yI<HŬ?b? _׿?*A???@? е@*-;)G{BIԁBDAT read: Tx time:14:15:18.6752 $Ping request sent.٥yy HFVv; >Z5ݜ?Z59 I+ByHg?k:@OEi::iZ5)5AEDNOT Ignoring new targets: 35.94 m.bZrjRԑJB~~zB}||||Y@@ -zB-l;IQ)UH>QI]*_ YY]jE}>E E E E P0E 9 = AE checking for new query: numPingsReceived=28, elapsed TxPingTime=0.251615 6G- ᜆ<~G A!AANU>Z g,ZiA9^Y۵@^ @Y^Ry^<^HY??X ׿? -ϝ? ?@? ^Y۵@^b;)^Cj={BjIIrIr3z zf=yz-c;Q ~>٥|| ~H|; > Z5 Zݜ?Z59  I 3Byܲ@ OEi %: S: lZ5!%Q5A)eDNOT Ignoring new targets: 35.94 m.baZarajaRaJiBi~i~i}q|q|q|q|u@@ AEIIM-] IIM<<]Sqe낻J>E?EEE_0Echecking for new query: numPingsReceived=28, elapsed TxPingTime=0.505012He޼>HaHeIHe{BHe =HaHaHe<He(E6G=`L<~Gi Ay A N >A kg,öiAchecking for new query: numPingsReceived=28, elapsed TxPingTime=0.7609249f]е@fڼ@Yfgzyfmo٥   H F Z  >Z5 ޜ?%Z59! I:By!%%@OEi;-/;DpZ5=IB=#5A=EmDNOT Ignoring new targets: 35.94 m.biZirijiRiJiBi~q~q}q|q|y|y|} @@ 靵I&Y <]qnj<dRJaZJe:bJe:9Jet4JazJe:}jJe:}JeSJ:}rJeUJ:EQEQEQEUy0EQFYF]=i6Gu"<checking for new query: numPingsReceived=28, elapsed TxPingTime=1.011802~GQAaAqԑN>Թ g,2iA~Z{B~I  AMb@Mb@Mb@ )YJ +?~jt?yh?<A@ v@)v@I+@y @I&I3= >=yQ >٥ HF >Z5'ޜ?Z59j% IBByh?i:ֵ@OEi::tZ54AE5DNOT Ignoring new targets: 35.94 m.b1Z9r9j9R9J9B9~A~EzB}A|A|A|I|M,$A@ԑ %zB%~'!I%nT )5checking for new query: numPingsReceived=28, elapsed TxPingTime=1.263807IM u checking for new query: numPingsReceived=28, elapsed TxPingTime=1.516385 g, LiA9B@B@YB=yBEy٥pp rHrFv=.< z>|Z5~Bޜ?Z59~( I~HByͳ@~OEi~:~q:~NwZ5 4AHؼ>HHIH{BH =HHH <HEHHHH =I = Ijk5EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||]YA@ zB &IP F<aq@<%E)g,kfiA checking for new query: numPingsReceived=28, elapsed TxPingTime=2.019447q{BI]Mb@Mb@Mb@YYY Y)YY]w/?Mb?{Gzty]f?]<]ף]@ ]@)]@I]@Yy]@Iu$Iu<3< 1=yQ >٥ HF >Z5cޜ?Z59W, INByf?k:2@OEi;z;P{Z5JB4AEDNOT Ignoring new targets: 35.94 m.AbZrjRJB~~zB}|||| A@ %/!I%K ))-<-[q5`3<5mg,%iA@9N# @N@YNyNU=IZG <Uq1< ݺ׭<checking for new query: numPingsReceived=28, elapsed TxPingTime=2.523686H=ռ>H=CH=IH={BH9H9H=,DH=1<H=ME6Ge<~GAA N% > e checking for new query: numPingsReceived=28, elapsed TxPingTime=2.776159?g,4iA9B@BW@YBpѼyBrE٥AA EHEFM1 M>Q]Z5U-ޜ?]Z59U3 IUVByYeZe@UOEiU:U:U߂Z5mKBmu4AmEDNOT Ignoring new targets: 35.94 m.bZrj!R!J1B9~A~I}Q|Y|a|i|uB@ I\@ ͇<_q'<φg,iA9Bڵ@B@YB8ةyB 4;BH!?!?P@ ׿ ?_U?`:?|? ? Bڵ@B8;)@iHN~A)L LIL L)RpARףTTXXiXIX\bchecking for new query: numPingsReceived=28, elapsed TxPingTime=3.279529Ii )!%C -EA-н)15&C=/AI=%)="Fi9)AIAAA AIIIiIIٯIU{BUIa}Mb@Mb@Mb@yyy y)yY}q= ףp?y&1|?~jtxy}k?}`;}Ļy }v@)}@I}@yy}f@II(*3:T= >=y7٥ HF& > Z59ޜ?Z59U7 IYByk?f:Ⱦ@OEil;;Z54A%EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~)zB}|||| 6B@  G}Is; <Yqz<%V/H H IH |BH  =H H -DH <H %EA A N > qg,DҞiA9nHõ@n̼@Yncyn]:nH ?? ;u-׿ ?ʹv? =?`*Z? ? nHõ@n7;)l{BIi>III3ș Z=y;Q >٥ HF -  >!5Z5%ޜ?=Z59%: I%[By9EGE@%OEi%;%b;%Z5qu<4AuEԩDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}|||| riB@checking for new query: numPingsReceived=28, elapsed TxPingTime=3.783452 zB/coIc7 <Sqy<cvjE >E?EEE"5E:J[BJUJJ@RJZJ:bJ>9JJ4JzJ:jJ:J}Q:rJQ: 6G d<~G A A9 NM > u =u <} checking for new query: numPingsReceived=28, elapsed TxPingTime=4.0356481 \g, iAI,).@9Jݥ@J@YJ4yJ{i@JH̡?$?@c"ؿ ?wނ?`?C h ? Jݥ@Jn;)JCM{BMI Mb@Mb@Mb@    ) Y /$?Mb?MbPy l? <  @ @) v@I @ y @I5I5(*3MS= UA=y]s;Q ]>٥YY ]H]Fe m>iuZ5mޜ?}Z59mw> Im^By} l?}f:}}@mPEim:mP ;mZ5LB3AEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~yB}||||B@ 靍"&I:1 X <]qɺ<"CFg, iA 9FY@F @YF܈yFX=tFH>?E? ÌZCؿ ??b?@n? FY@F;)FCR{BRIIbIb?13j< jg=yn/:Q n>٥lp rHprƻ r>tzZ5vKߜ?zZ59vA IvaBy|~¾~@K~aNP"K~ý9*K|2K~:K~y1oL.r2rj f{ a!'*/*221X0.,*/'~#2 KC[m]P vPEivτ;v+;vZ53AEEDNOT Ignoring new targets: 35.94 m.bAZArAjARAJIBI~I~I}Q|Q|Q|Q|UB@ 靅,I1~- Q<Wq~<+HuCHuIHu |BHqHqHqHu#<HuCE~GAAN!>yԩ A checking for new query: numPingsReceived=28, elapsed TxPingTime=4.791610g,h iA:J2]BJ2XJJ2HRJ0ZJ2]:bJ25K9J2Ժ4J0zJ2:jJ2:J2f:rJ2f:@9R@Rm@YR+>yRZRH`?`>`?@Z^^ؿ y?Ʉ?g?@Jp`? R@R˨;)P) I%I)3 c: 8=y+Q %>٥!) -H-F-! ->AMZ5E3ߜ?MZ59EE IEdByQUþU@E PEiEy;E;EZ5Ye3AeEԹDNOT Ignoring new targets: 35.94 m.bZrjRJB1~9~A}q|q|y||@ C@  zBm5checking for new query: numPingsReceived=28, elapsed TxPingTime=5.044563IeҰ& aaeC@g,_C:iA9>@Bchecking for new query: numPingsReceived=28, elapsed TxPingTime=5.295396>@Y>y>>H=?f?W`;eؿ0?ˊ?^?bb? >@>ӆ;)>CR{BRIl=Mb@Mb@Mb@999 9)9Y=B`"?Mb`?Mbp?y=n?=;=;=@ =v@)9I99y9IMIM3= I=yJ8Q >٥!! %H%F%C ->)UZ5-Pߜ?]Z59-pI I-hBy]n?]c:]'Ǿ]@-PEi--;-;-Z5eMBmF3AmEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~zB}||||6C@ 1=9I=! AAEY1KU$RQ"KUͼ9*KQ2KU:KU  # I8* $ZOSm$~v~2`(*MuJaJeA5checking for new query: numPingsReceived=28, elapsed TxPingTime=5.547423GA GA y HU >HQ HU IHU |BHU  =HQ HU .DHU <HU Eg,TiA9|@|@Y*y9H=?o?:nؿZ?y? e?`,9?@? |@V;)-{B-I9IEIEm?3U4< ]X=yeQ e>٥ai mHmFm ܺ m>q}Z5ullߜ?Z59uL IulBy}Ǿ@uPEiu;u:unZ5-3ADNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||@-eC@ $II! l\<Uq<be checking for new query: numPingsReceived=28, elapsed TxPingTime=6.054860g,;miA{BIԙMb@Mb@Mb@ )YtV?{Gz?~jtx?yr?#<; @)`@IyI Ib3< A=yQ >٥ HF > Z5ߜ? Z59P IqBy r? _: /þ @PEi::Z5NB3AEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~"zB}||||VC@ am,I/ oK<_q<F  g,ӇiA9>@>8@Y>+y><>H ?[d?@'+fؿ S?(] i?,?e? >@>^9;)>CJ{BJIIVIV2^= b`=ybºQ b>٥dd fHfFfZ: f>hnZ5jϦߜ?rZ59jMT IjuBypr¾r@j$PEij:jA;jOZ5tv2AvުEK]P"K]9*KY2K]:K]O]- + N H > yv '(8<.pDu8sR4OHuJe>Je>DNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||C@checking for new query: numPingsReceived=28, elapsed TxPingTime=6.555579 Q靅>I' |~<Yq\t<ƹHHIH5|BH =HHH<H%EHHHH =I = I5EYEaEaEe1Ea!Q6Gm>`<~GI AQ Ai N > checking for new query: numPingsReceived=28, elapsed TxPingTime=6.807441y Og,ɰiA9R@Ȑ@YRyR=٥pp rHpv: v>xZ5zߜ?Z59zX IzzBy ¾ @z*PEiz;z:zZ52A۪EEDNOT Ignoring new targets: 35.94 m.bAZArAjARAJABA~I~I}I|I|Q|Q|UMC@Y zB靵I/ A|<Sq:<)l 2g,iA6checking for new query: numPingsReceived=28, elapsed TxPingTime=7.3119469Nf@N@YNL+yN`J? VZ?^? Nf@Nʅ;)LV|BVIMb@Mb@Mb@ )Y-?y&1?I +?y?u?`<94<@ I@)3@I@y@IIF3= <=y@;Q >٥ HFO; >Z5ߜ?Z59[ IBy^u?]:@1PEi;;Z5OB2A تE:J[BJZJJCRJZJ:bJS9J4JԱDNOT Ignoring new targets: 35.94 m.bZrjRJB~~AzB}|| | | `89D@ }zB}..jEEAEAEAEEr5EAFM=FM=K;P"Ký9*K2K:KtL.R1b )pn!L %E0{lr8checking for new query: numPingsReceived=28, elapsed TxPingTime=7.563364 6Ga H ݼ>H H 3IH ]|BH  =H H -DH <H E~G A A N >1 g,g՟iA96j@6@Y66dy6aS<6H`?J?> Lؿ[?+{੘?ak?? 6j@6pv;)4F|BJ II^I^ 3rM< rZ=yv;Q z>٥YY ]H]Fe&: e>imZ5m>?uZ59mi_ ImByquu@m6PEimi;mC;mZ52AժEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||% iD@ im٥ii mHmFuR; u>yZ5}!?Z59}b I}Byss?_:@}=PEi}w:}:}Z52AҪEDNOT Ignoring new targets: 35.94 m.bZrjRJB~Q~UGzB}Y|Y|Y|Y|]՝D@ zB靽ܺRJZJ9bJB9Jt4J~Ga Aq A N > =.h,l% iA96n@6!@Y6%y6nd<6H?1?ត 4ؿ`? ^?(l?? 6n@6};)6CF?|BJ!ILInIn3rĦ= rR=yv;Q v>٥tx zHzF~e=: > Z5 b??Z59 f I By{@ CPEi ^; ; Z5%PB%1A-ϪE]DNOT Ignoring new targets: 35.94 m.bYZYrYjYRYJaBa~a~a}i|i|i|i|mD@KKP"K9*K2K:KI 2fNY@QiUD'=dXE0a zB靽+=I)M ?I"ݻ xs<[qchecking for new query: numPingsReceived=28, elapsed TxPingTime=8.571483t<r:HHLIH|BH =HHH<HE6Gŋ4<~GAAN> checking for new query: numPingsReceived=28, elapsed TxPingTime=8.8234401 I I AA:Vh,"iA9:H@:@Y: y:x<:HƟ?/?@H)1ؿ?v˸??? :H@:[;):CF4|BFIININ3V ڼ VN=yZs;Q Z>٥XX ^H\^: ^>`fZ5b!]?fZ59bpi IbByhj]j@bIPEib:b::bxZ5pr1Ar̪E|DNOT Ignoring new targets: 35.94 m.bZrjRJB~~}|||| E@ uzBVԉ h,'٥!! %H%F@9 >Z5?Z59tm IByq?a:@PPEi;;ػZ5151A5ɪEmDNOT Ignoring new targets: 35.94 m.bqZqrqjqRqJqBq~y~}dzB}yԁ||||!BE@ zB靽H H _IH |BH  =H H H <H E 6GU ܸ<<ZGY RGY ~G1 AQ Aa N} >h,WiA9F@F4@YFyFgE = %= checking for new query: numPingsReceived=28, elapsed TxPingTime=10.086601 ܢh,>piA9>వ@>@Y>Wvy>#<>H?_?@vPؿզ?D~r?/t?? >వ@>$;) ףp=?Mb?yUq?U=UU@ U`@)U@IU@QyU@I}I}m?3 @=y/;Q >٥ HF E; >Z5޺?Z59Qs IByyr?`:@[PEit:|:WZ52AŪEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~_zB}| | | | `E@ zB8>Echecking for new query: numPingsReceived=28, elapsed TxPingTime=10.335416Iԁ "h,㤊iA9>@>XƼ@Y>wy>;>Hn??My׿`^?`Dv`>n?`7}?? >@>h;)٥x| ~H~FUm; U>YeZ5]?mZ59]cv I]Byimm@]aPEi]q:]:]Z5uRBu1A}ªEchecking for new query: numPingsReceived=28, elapsed TxPingTime=10.587678DNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||AE@KDP"Ký9*K2K:KEymG3++@Gf5I~` Mr,$(~qDd7DJ ?J? zB6=I)5?Ie %i<%]q%<-WnH!H%eIH%|BH% =H!H%.DH%<H%-EEEEEm2EjGu?bGd?~GAAN(>ԉԩU BDAT read: Response Not Received U *response not receivedU ,DAT read: user:2008> ] BDAT read: Tx time:14:15:29.6253 ] $Ping request sent.] RJ ZJ ]:bJ %9J t4J zJ : jJ : J ~&: rJ &: (h,iA9>ɵ@>Ӽ@Y>Ny>~ <>H@n?9?y׿ F?2{@Ni?@v?`? >ɵ@>t;)>CJ|BJIIbIbj jL=yn:Q ~>٥| HM; > Z5 ?Z59 my I By9=#=@ gPEi T; ; Ia Zg<ԱWqၷ<LJDAT read: TxSync time:14:15:29.6246 E?EEE5E=checking for new query: numPingsReceived=28, elapsed TxPingTime=0.256547~GA AN-N> 1 e checking for new query: numPingsReceived=28, elapsed TxPingTime=0.503075.h,MiAI)@9>͵@>ּ@Y>ucy>>N<>H ??`e4 ׿&?Enl?lj?@M? >͵@>.;)>Cr{BrIMb@Mb@Mb@ )Yoʡ?y&1?I +ym?`e=94v@ )v@Iy@II3Ȃ <=yt?Q >٥ HFe: >Z5?Z59| IBym?d:@nPEi:1:Z52AEDNOT Ignoring new targets: 35.94 m.bZrjRJB~!~%zB}!|!|!|)|-?F@ zB靝e\IUz 4f<aq?d<d%2E:Lt H <H 4=H H CH XIH |BH  =H H H <H 2EHHHH =I = I5Y 6G P<ZG RG ~Gq A A N >A5h,?8ؠiA 9J3۵@J@YJSyJQ@٥hh jHnFn—; n>pvZ5rL2?vZ59r IrByxzz@rsPEirC:rq:r@Z5~SB~_3A~EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}|!|!|)|-nF@  zB`cchecking for new query: numPingsReceived=28, elapsed TxPingTime=1.006476I e d<%[q%O<%I checking for new query: numPingsReceived=28, elapsed TxPingTime=1.260368;h,iAL{BIMb@Mb@Mb@ )Y rh?kt? rhyl? 0=C@ I@)@I`@y3@IIM3ZF 8=yQ  >٥    H F >%Z5R?%Z59& IBy%l?%e:-Ī-@zPEi:: Z5153A5EDNOT Ignoring new targets: 35.94 m.bZrjRJB~~yB}|||| F@ "zB[I_P Pc<Uq:<Bh, iA9F@FG@YF"yFK٥pp rHrFrg< r>tzZ5vm?zZ59v IvBy|@vPEivI8;v8;vQZ5  3A MDNOT Ignoring new targets: 35.94 m.bIZIrIjIRIJIBQ~Q~Q}Q|Y|Y|a|e`F@checking for new query: numPingsReceived=28, elapsed TxPingTime=1.762295 #zB靝OIlj> Ca<_q7<jJ ?H>HCH?IHr|BH =HH-DHi<HEEU?EQEYE]Y0EY)Y6Gp<jGbG?~GqAAN>5 checking for new query: numPingsReceived=28, elapsed TxPingTime=2.014132ԁ JK-4JK4JK0:J% \BJ% QJJ% FRJ! ZJ% =:bJ% -.9J% 4J! zJ% :jJ% :J% 4:rJ% 4:Ih,%iA9:@:@Y:.7y:?<:H?`S?](@U׿? '&r?`?\? :@:φ;):CJ{BJIIRIR2ZO ZL=yZ:Q Z>٥ H%֖; %>)-Z5-[?5Z59-> I-By1Y]&]@-PEi-;-;-Z5ae14AeEDNOT Ignoring new targets: 35.94 m.bZrjRJB~~}||||G@ $zB(IY1* E/`<Yq%9 0Oh,?iADDAT read: Rx Time:14:15:31.9102 "TRx dataTimestamp_ set to:1749132933.002944.PDAT read: Bearing 179.2, 10.7 (Local) 2~Local bearing/azimuth received: Bearing 179.2, 10.7 (Local) FDAT read: Range 10 to 50 : 116.9 m (trip time 77.9 ms) speed -0.3 -NZ#Rx 29: Read range message, but no direction.BYZchecking for new query: numPingsReceived=29, elapsed TxPingTime=2.5441409]4@]!@Y]ŀy]=<]H@?`NN?@ZO׿?!p?u?c? ]4@]];)]C{BIi=IR= Mb@Mb@Mb@    ) Y v/?:v? rhy xi? T<  @ 3@) @I v@ y @IEIEV83U2% U=yUn{:Q U>٥YY ]H]FeA: e>iuZ5m%?Z59m ImByi?h:v@mPEimC II C^<hzQ%ջi!1@iAbE!ZE!DAT read: 14:15:31.9102 LVL= 29616, 22481, 27010, 32755, AGC= 69, IDX= 359,-0.02,-2.794,-0.667,-2.615,-2.246, PHS=-0.459, 1.626,-0.371, RAW= 327.9, -7.8, CAL= 330.8, -10.7, ROT= 179.2, 10.7 Ygot valid direction response: 14:15:31.9102 LVL= 29616, 22481, 27010, 32755, AGC= 69, IDX= 359,-0.02,-2.794,-0.667,-2.615,-2.246, PHS=-0.459, 1.626,-0.371, RAW= 327.9, -7.8, CAL= 330.8, -10.7, ROT= 179.2, 10.7 Z#Rx 30: Read direction message, but no range.`direction in FSK: [-0.982517,0.013719,-0.185667]EEEEO0EڑyڕȾpᅬ..? &K{ǿYڑ ەs)ەWIەiiۑەEە ە ?ە ܕH"@)ܕ'g Iܕ@iܕt;?)ܕ+H@ܕt;?> ݑݕ쿬N/ݿ$xiݕ)ݕ07 >ݕ+H@ݕt;?>=checking for new query: numPingsReceived=30, elapsed TxPingTime=2.791281Hڼ>HH IH?|BH =HHHQ<HEKTQ"K9*K2K:KZ ]_:%CryAZ; :>P|/)cnj4Y 6G ~<~G A A! NE >Vh,][iA9:_@:'@Y:esy:DR<:H#?D?@T E׿?hyn?GH?D? :_@:x;):CBh{BFIIN!INi3b b=yjI,:Q j ?٥ll rHrFr; r ?|Z5~\?Z59~C I~By!%!-@~PEi~;~Ǻ;~3Z5AQ]DDAT read: Rx Time:14:15:32.4105 mTRx dataTimestamp_ set to:1749132933.507972checking for new query: numPingsReceived=30, elapsed TxPingTime=3.041814U5A]EC@Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalg@Entering Terminal tracking update period 2.000000 s sec at 116.900002 m (mode 1.000000 count ).1bZrjRJB~~}||||B? ]'zB]aiI h]<yb8iiIIa=:J^BJXJJ@RJZJ} :bJ5K9JJ4JzJ`:jJe:Jf:rJf:EE?EAEAEEV0EA6G"<ZG!RG!ԑAAN> PDAT read: Bearing 177.8, 12.0 (Local)  ~Local bearing/azimuth received: Bearing 177.8, 12.0 (Local) = DAT read: Range 10 to 50 : 117.3 m (trip time 78.2 ms) speed -0.2  DAT read: 14:15:32.4105 LVL= 32752, 28513, 28322, 32755, AGC= 69, IDX= 506, 0.09,-2.169,-0.146,-2.047,-1.697, PHS=-0.384, 1.598,-0.353, RAW= 329.2, -8.8, CAL= 332.2, -12.0, ROT= 177.8, 12.0  Ygot valid direction response: 14:15:32.4105 LVL= 32752, 28513, 28322, 32755, AGC= 69, IDX= 506, 0.09,-2.169,-0.146,-2.047,-1.697, PHS=-0.384, 1.598,-0.353, RAW= 329.2, -8.8, CAL= 332.2, -12.0, ROT= 177.8, 12.0  T#Rx 31: Read range and direction messages. `direction in FSK: [-0.977427,0.037549,-0.207912] Fpublishing direction and range infoڹ yڽ 2GW*ٜ9?hٜʿڽ BYڹ ۽ )۽ aoI۽ ni۹ ۹ ۽ ľ۽ D?۽ j ܽ 'ܷ@)ܽ nFIܽ @iܽ PwVܽ F@ܽ PwV> ݹ )ݹ ݽ tsz[n޿hN ?ÿiݽ l(ݽ @>ݽ F@ݽ PwV> ޹ )޹ ګ\h,%uiARchecking for new query: numPingsReceived=31, elapsed TxPingTime=3.3776059>@>(@Y>qMy>ifY<>H?@A? C׿*?z0i? ,? =? >@>H;)>CZp{B^IԹMb@Mb@Mb@ )Y|?5^?y&1| rhym?`廹@ I@)`@II@y@II#3]z< ](=ye :Q m>٥ HF9 >Z5 ?Z59 IBym?d:1¾@) PEi2 <k<|Z5mGZA=DDAT read: Rx Time:14:15:32.9107 MTRx dataTimestamp_ set to:1749132934.002633]PDAT read: Bearing 178.7, 7.8 (Local) u~Local bearing/azimuth received: Bearing 178.7, 7.8 (Local) DAT read: Range 10 to 50 : 117.6 m (trip time 78.4 ms) speed -0.6 -Z#Rx 32: Read range message, but no direction.AE3BYAchecking for new query: numPingsReceived=32, elapsed TxPingTime=3.543776UB4A .YZAyBEe@1eqeZAbE$+iAEBEBE.@ʁERdL\=>؉@c`*G8E2GW*ٜ9?hٜʿEF@EPwV>ҁE7PG"Z1RF@+3J8E{oI?îUmKʿzE]7BEjE~+?rEY E"BAE-wb  EkBEBE_1@ addTargetRange:: Added new target pos. range: 117.599998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 % Added new target pos. range: 116.770691 m, bearing: 156.323699 deg, lat: 36.906447 deg, lon: -122.115981 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 !-FNOT Ignoring new targets: 116.77 m.-5]  ProNav pure pursuit: ac range: 116.770691 m, nav range: 79.770912 m, bearing: 158.790942 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 158.576439 deg, new cmd heading: 158.790942 deg. eHeadingCmd: 2.771425 target range: 116.770691 and range: 117.60 m.be_1@ZarijiRiJiBi~~zyB}|||`ff]@|? ](zB]uYIesٺ aae[jEEA EA EA EE O0EI A  DAT read: 14:15:32.9107 LVL= 23504, 25633, 18386, 25651, AGC= 68, IDX= 508, 0.14, 2.894,-1.212, 3.037,-2.768, PHS=-0.533, 1.603,-0.481, RAW= 328.8, -5.6, CAL= 331.3, -7.8, ROT= 178.7, 7.8  Ygot valid direction response: 14:15:32.9107 LVL= 23504, 25633, 18386, 25651, AGC= 68, IDX= 508, 0.14, 2.894,-1.212, 3.037,-2.768, PHS=-0.533, 1.603,-0.481, RAW= 328.8, -5.6, CAL= 331.3, -7.8, ROT= 178.7, 7.8  Z#Rx 33: Read direction message, but no range. `direction in FSK: [-0.990493,0.022477,-0.135716] y Qᅩ4/P? M _Y [) !dI Gi 3d D r /? E @) +ȽI g@i 'g G@ 'g > *뿇;8A޿rO>#i ( m= G@ 'g >= checking for new query: numPingsReceived=33, elapsed TxPingTime=3.790247H м>H CH IH |BH  =H H ,DH <H E6GUiKmEP"Km{9*Ki2Km:KmsA{5uR?Ve %)1Cvw{47+r~~G AAAN >dh,iA9-@-g$@Y-2#=y-w<-H`0?gI? ŀJ׿z? dg?:?? -@-I;)-Cu\{BuI)y yI"Iq33 ;=y.:Q >٥L?L? HF >Z5B ?Z59 IByn¾@PEi1:u:=Z5!%:5A%EYq]]eB*** querying acoustic contact ***JaRaԉFNOT Ignoring new targets: 116.77 m.? ?   ProNav pure pursuit: ac range: 116.770691 m, nav range: 80.169853 m, bearing: 158.788210 deg, approach rate: 1.132371 m/s, LOS rate: -0.007718 deg/s, cmd heading: 158.790943 deg, new cmd heading: 158.788210 deg. HeadingCmd: 2.771377 target range: 116.770691 and range: 117.60 m.b>^1@Zrj R J B ~ ~}||||@G? 靍)I eZ</=i>^1@iEAEIEIEU_0EQDDAT read: Rx Time:14:15:33.4112 TRx dataTimestamp_ set to:1749132934.508619ԹPDAT read: Bearing 191.9, -1.1 (Local) ~Local bearing/azimuth received: Bearing 191.9, -1.1 (Local) -DAT read: Range 10 to 50 : 118.4 m (trip time 78.9 ms) speed -0.4 -EZ#Rx 34: Read range message, but no direction.کڭBYک]checking for new query: numPingsReceived=34, elapsed TxPingTime=4.0580186GK~GAAN >IaIa kh,LiADAT read: 14:15:33.4112 LVL= 32752, 21441, 22306, 32755, AGC= 70, IDX= 512, 0.12, 0.442, 2.304, 1.009, 1.319, PHS=-0.788, 1.032,-0.313, RAW= 315.4, 0.9, CAL= 318.1, 1.1, ROT= 191.9, -1.1 Q{BI=Ygot valid direction response: 14:15:33.4112 LVL= 32752, 21441, 22306, 32755, AGC= 70, IDX= 512, 0.12, 0.442, 2.304, 1.009, 1.319, PHS=-0.788, 1.032,-0.313, RAW= 315.4, 0.9, CAL= 318.1, 1.1, ROT= 191.9, -1.1 MZ#Rx 35: Read direction message, but no range.e`direction in FSK: [-0.978329,-0.206166,0.019197]I%I%2Ƽ <=yQ >٥ H >pyr2"wNS( cʿ]~?Yp r)rSIr"WirrFr^Ir?rA r'@)r@ʁV7v\Fn<8cX$@2"wNS( cʿ]~?;nFҁ'\kA3@v?X棐U= ?=2Ǻ^%?z Aj`?r4 ƀB_C=eɜ? b  BK1@u addTargetRange:: Added new target pos. range: 118.400002 m, deltaT: 0.505986 s, deltaX: 0.800003 m, approachRate: 1.581077 m/s, rangeRepo size: 2  Added new target pos. range: 117.562851 m, bearing: 170.572249 deg, lat: 36.906446 deg, lon: -122.115986 deg, deltaT: 0.505986 s, deltaX: 0.792160 m, approachRate: 1.565577 m/s, posRepo size: 2 FNOT Ignoring new targets: 117.56 m. ProNav: ac range: 117.562851 m, nav range: 80.539986 m, bearing: 159.124103 deg, approach rate: 0.000000 m/s, LOS rate: -0.007718 deg/s, cmd heading: 158.788211 deg, new cmd heading: 158.777476 deg. ~HeadingCmd: 2.771190 target range: 117.562851 and range: 118.40 m.b,[1@ZrjRJB~~}|||]@|%M? )zB靽uI㚺 xY<,wἩ i,[1@iyE?EEE^0E6GmljGub?bGu>checking for new query: numPingsReceived=35, elapsed TxPingTime=4.537495~G) AQ Aq ԡ N >:J ZBJ TJJ <RJ ZJ 9bJ :9J [4J  @ @ @ @qh,TȡiA@9^5@^8?@Y^Jy^+F=^H@?@? ׿j?5na??? ^5@^=;)^C X{BIMb@Mb@Mb@ )YHzG?٥ HF; >Z5I?Z59 ԩIzByJj?h:ƾ@PEi+<y+<Z5VBP5AEDDAT read: Rx Time:14:15:33.9594 TRx dataTimestamp_ set to:1749132935.264012%PDAT read: Bearing 178.7, 8.9 (Local) -~Local bearing/azimuth received: Bearing 178.7, 8.9 (Local) =DAT read: Range 10 to 50 : 190.7 m (trip time 127.1 ms) speed -0.4 ]DAT read: 14:15:33.9594 LVL= 28896, 23921, 20770, 30755, AGC= 68, IDX= 2, 0.10,-2.327,-0.265,-2.180,-1.759, PHS=-0.479, 1.542,-0.423, RAW= 328.6, -6.5, CAL= 331.3, -8.9, ROT= 178.7, 8.9 uYgot valid direction response: 14:15:33.9594 LVL= 28896, 23921, 20770, 30755, AGC= 68, IDX= 2, 0.10,-2.327,-0.265,-2.180,-1.759, PHS=-0.479, 1.542,-0.423, RAW= 328.6, -6.5, CAL= 331.3, -8.9, ROT= 178.7, 8.9 }T#Rx 36: Read range and direction messages.`direction in FSK: [-0.987706,0.022414,-0.154710]Fpublishing direction and range infoy?uHC}'?jÿ>CY p)q]I"Qi#xD}?B`?uؾ ^@)VIg@iG@> )g#5`\r޿޼i)u=G@> )checking for new query: numPingsReceived=36, elapsed TxPingTime=4.807955 H<H<HӼ>HHIH{BH =HHHB<HdEZbСiAZ=CZ=C/@ʁ0`go@.sK=?uHC}'?jÿG@>ҁheuxQR@  T=26%iw?Nv/ÿzǐBu,jЄ?rC- FB~+? kB B8@KpP"K=9*K2K:Kmim=h)'giC|V)&KIhn:$-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.699997 m, deltaT: 0.755393 s, deltaX: 72.299995 m, approachRate: 95.711761 m/s, rangeRepo size: 2FNOT Ignoring new targets: 117.56 m.ьь= ProNav: ac range: 117.562851 m, nav range: 80.938049 m, bearing: 159.117266 deg, approach rate: 0.900493 m/s, LOS rate: -0.015389 deg/s, cmd heading: 158.777473 deg, new cmd heading: 158.757065 deg. =(EHeadingCmd: 2.770833 target range: 117.562851 and range: 118.40 m.bEVU1@ZArIjIRIJIBI~Q~UlyB}Q|Q|Q|]`fg@|}`? DIop hX<=i%VU1@i!zE)E?EEE_0E6G ޽ ~Gi Aq A N > checking for new query: numPingsReceived=36, elapsed TxPingTime=5.044663*xh,@iAl9,h@q@Y_y2c=H ?Y?0")ֿ i?#h P?%p?Y? ,h@Q;)W{Bi=I=I I V83E  M\=ymB;Q m>٥qq uHuFu< }>yZ5} d?Z59}ϣ I}yBy  þ @}PEi}<}<}Z5V5AEyFNOT Ignoring new targets: 117.56 m.1e1e ProNav: ac range: 117.562851 m, nav range: 81.274887 m, bearing: 159.113044 deg, approach rate: 1.003180 m/s, LOS rate: -0.012523 deg/s, cmd heading: 158.757065 deg, new cmd heading: 158.744450 deg.   HeadingCmd: 2.770613 target range: 117.562851 and range: 118.40 m.b Q1@Z r j RJB~~}|||| S?  vI\; FeW<=6 >99i=Q1@iI E q)qu ڣ:2#0޿͍8Ciue)u!=uMG@u| > q)q checking for new query: numPingsReceived=37, elapsed TxPingTime=5.376895ԡ 6G ~G A A N >I~h,$iA9NĶ@Nν@YNyN =NHz ?? 3 @ ֿ`"??548??? NĶ@N;)NCԩchecking for new query: numPingsReceived=37, elapsed TxPingTime=5.553031:JYBJNJJ>RJZJ9bJ!9Jt4Jk{BI}Mb@Mb@Mb@yyy y)yY}w/?QMb`?y}f?}};}@ }@)}`@Iyyy}@II#= =y:Q >٥ HF!< >Z5f?Z59- Iy g?k:$ž@PEi3;t2;GZ55AEZbiA;C;Cx0@ʁ 3gQF @iZg=X;٦h}j?p ĿMG@| >ҁV-ejfQ@ =~`OoBi?\sFÿz6B),jmc⩜?r1D 'B`?Y  "B*B0@-EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 189.300003 m, deltaT: 1.269808 s, deltaX: 70.900002 m, approachRate: 55.835213 m/s, rangeRepo size: 2IMFNOT Ignoring new targets: 117.56 m.U+rU+re ProNav: ac range: 117.562851 m, nav range: 81.817177 m, bearing: 159.105258 deg, approach rate: 0.927801 m/s, LOS rate: -0.013233 deg/s, cmd heading: 158.744456 deg, new cmd heading: 158.721253 deg. eMmHeadingCmd: 2.770208 target range: 117.562851 and range: 118.40 m.bmK1@ZirijqRqJyB~~VyB}|||g@|? PI  V<#>iK1@i DDAT read: Rx Time:14:15:34.9578  TRx dataTimestamp_ set to:1749132936.277027 PDAT read: Bearing 176.3, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 176.3, 11.3 (Local)  DAT read: Range 10 to 50 : 188.1 m (trip time 125.4 ms) speed -0.4  DAT read: 14:15:34.9578 LVL= 23600, 19697, 17042, 32755, AGC= 67, IDX= 23,-0.11, 2.153,-2.043, 2.201, 2.626, PHS=-0.384, 1.662,-0.428, RAW= 331.1, -8.3, CAL= 333.7, -11.3, ROT= 176.3, 11.3  Ygot valid direction response: 14:15:34.9578 LVL= 23600, 19697, 17042, 32755, AGC= 67, IDX= 23,-0.11, 2.153,-2.043, 2.201, 2.626, PHS=-0.384, 1.662,-0.428, RAW= 331.1, -8.3, CAL= 333.7, -11.3, ROT= 176.3, 11.3  T#Rx 38: Read range and direction messages. `direction in FSK: [-0.978571,0.063281,-0.195946] Fpublishing direction and range infoډ yڍ T}sP13?>x_ɿڍ H H IH {BH  =H H H :<H SEHɖCHɖCHH =I = I5)܍ VI܍ _@i܍ I܍ D@܍ I> ݉ )݉ ݍ 뵮 !hVcO;g¿iݍ Z_&ݍ s>ݍ D@ݍ I> މ )މ = checking for new query: numPingsReceived=38, elapsed TxPingTime=5.825967bEa ZEa 1 KM UP"KM ͼ9*KI 2KM :KM &Fr:!iXr\  Q+b,tnB+75&C2  E E E E P0E 6G 0ZG RG ~G A A N >Th,iALi%A)! !I! %LC)%nA)))))i)I)1I1i1 11)1= C =AA= ׽= F9ECEGAIEƽ)AiA)IIIII IIIQiQQٯQ{BIII2 =  =yQ '?٥ H %'?!-Z5%:?-Z59% I!yqqu@%PEi%~%<%%<%Z5}WB}4AE׭A׭ADDAT read: Rx Time:14:15:35.4594 TRx dataTimestamp_ set to:1749132936.541585 PDAT read: Bearing 185.5, 52.2 (Local) ~Local bearing/azimuth received: Bearing 185.5, 52.2 (Local) ZQmDAT read: Range 10 to 50 : 190.7 m (trip time 127.1 ms) speed -0.6 -}Z#Rx 39: Read range message, but no direction.bUϺiAU:CU:CUk[-@ʁU@C3-fe&b8L'@Ţ]LBUT}sP13?>x_ɿUD@UI>>CYchecking for new query: numPingsReceived=39, elapsed TxPingTime=6.103180ҁUf2d{:S@/(`AU/ o[?wQZȿzUՙBUq&jUu^׫?rU,` UAUu^׫?U1D  U'BUr4CUw/@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.699997 m, deltaT: 2.032966 s, deltaX: 72.299995 m, approachRate: 35.563801 m/s, rangeRepo size: 2yFNOT Ignoring new targets: 117.56 m.11m ProNav: ac range: 117.562851 m, nav range: 82.058205 m, bearing: 159.101830 deg, approach rate: 0.684130 m/s, LOS rate: -0.009700 deg/s, cmd heading: 158.721247 deg, new cmd heading: 158.710995 deg. mչ}HeadingCmd: 2.770029 target range: 117.562851 and range: 118.40 m.b})H1@ZyryjyRyJB~~}|||`fg@| od? +I <   }T<R>11i5)H1@i9EEEE`0E6G ?! ~G A A N > DAT read: 14:15:35.4594 LVL= 18176, 13809, 14098, 16771, AGC= 69, IDX= 12, 0.39, 0.204, 1.707, 0.440,-0.212, PHS= 0.504, 1.966, 0.649, RAW= 324.9, -38.3, CAL= 324.5, -52.2, ROT= 185.5, 52.2  Ygot valid direction response: 14:15:35.4594 LVL= 18176, 13809, 14098, 16771, AGC= 69, IDX= 12, 0.39, 0.204, 1.707, 0.440,-0.212, PHS= 0.504, 1.966, 0.649, RAW= 324.9, -38.3, CAL= 324.5, -52.2, ROT= 185.5, 52.2  Z#Rx 40: Read direction message, but no range.h,&m4iAFbdirection in FSK: [-0.610085,-0.058745,-0.790155]ڑyڕх+.HYڑ ەG)ە5Iە7iەAەEە%?ە?ە$&? ܕYu@)ܕD +Iܕ(<@iܕZ;iܕ4O@ܕZ;i? ݑ|ݕ<y'տ!%RiݕQ-ݕK:+?ݕBݕZ;i? checking for new query: numPingsReceived=40, elapsed TxPingTime=6.3802859߷@@Yuܺy>Hjg??[ӿ?`~[??i? ߷@z;){BI!Mb@Mb@Mb@ )Y}?5^I?I +I +?yMb?994<MA @)@II@y3@I I 2A= "=y*Q >٥!! %H%F-{= ->15[55?=[595 I5{By]db?ep:e쯾e@5PEi5o;5;5[5imP4AmEZ b T"iA Y=C Y=C ӣ.@ʁ '+E\y ?&b х+.H B Z;i?ҁ ѳuQgZ.T4:G@:)cb ک h?%Qz 9B #j scڿ?r ڮu  ӭ   FB 4C /@!-FNOT Ignoring new targets: 117.56 m.- 95 9DDAT read: Rx Time:14:15:35.9590 TRx dataTimestamp_ set to:1749132937.043389PDAT read: Bearing 173.0, 9.0 (Local) ~Local bearing/azimuth received: Bearing 173.0, 9.0 (Local) DAT read: Range 10 to 50 : 190.1 m (trip time 126.7 ms) speed 0.0 --Z#Rx 41: Read range message, but no direction.>CYEchecking for new query: numPingsReceived=41, elapsed TxPingTime=6.583201Q ProNav: ac range: 117.562851 m, nav range: 82.503738 m, bearing: 159.108371 deg, approach rate: 1.025739 m/s, LOS rate: 0.014977 deg/s, cmd heading: 158.710988 deg, new cmd heading: 158.730504 deg. t$:-HeadingCmd: 2.770370 target range: 117.562851 and range: 118.40 m.b-M1@Z)r1j1R1J1B1~9~=yB}9|A||@3g@|@\r?  (zB P I `t9  @S< e>  i M1@i :J [BJ [JJ DRJ ZJ :bJ W9J 4J ԁ E E E E _0E 6Ge Cv~G1 A9 AQ Nu >[uh,sNiA9Jw@J+@YJ݀byJG9>JHञ???6~඗ҿ?ſPl?@?y? Jw@J>;)JC9]{B]IImImV83,= =yƻQ ?٥ HJ= ?[5?[59 I}By@PEi::[5XB,4AE%DAT read: 14:15:35.9590 LVL= 19680, 18865, 16690, 31699, AGC= 67, IDX= 29,-0.24, 0.621, 2.510, 0.519, 1.050, PHS=-0.342, 1.507,-0.534, RAW= 334.9, -6.5, CAL= 337.0, -9.0, ROT= 173.0, 9.0 -Ygot valid direction response: 14:15:35.9590 LVL= 19680, 18865, 16690, 31699, AGC= 67, IDX= 29,-0.24, 0.621, 2.510, 0.519, 1.050, PHS=-0.342, 1.507,-0.534, RAW= 334.9, -6.5, CAL= 337.0, -9.0, ROT= 173.0, 9.0 -Z#Rx 42: Read direction message, but no range.G1G5AAH=ռ>H9H9H9H= =H9H9H=<H=EU`direction in FSK: [-0.980326,0.120369,-0.156434]y 1^wXly~о?p ĿY L)II2Ai{C`?9  @)VI`7@i| ,>A@| > qXm/47?i" =,>A@| >mchecking for new query: numPingsReceived=42, elapsed TxPingTime=6.832658ZbBiAA@| >ҁg eSۉ T@XO̕9沬^Du[2?bW=YzlB(j%=?rhp NB%=?C-   8C.@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.100006 m, deltaT: 2.534770 s, deltaX: 71.700005 m, approachRate: 28.286592 m/s, rangeRepo size: 2%FNOT Ignoring new targets: 117.56 m.%9%9U ProNav: ac range: 117.562851 m, nav range: 82.766762 m, bearing: 159.116231 deg, approach rate: 0.857206 m/s, LOS rate: 0.025537 deg/s, cmd heading: 158.730509 deg, new cmd heading: 158.754016 deg. ]4:]HeadingCmd: 2.770780 target range: 117.562851 and range: 118.40 m.b]wT1@ZarajaRaJaBaK(hP"K*K2K:K^wmLj%{uojegpoUJ>8G8 'JJ~~}||||f?i 靝f=I)>IN9 R<;>iwT1@iE?EEE5E6GujG}>bG}>ԡ~GIAYAiNu> DDAT read: Rx Time:14:15:36.4589  TRx dataTimestamp_ set to:1749132937.547740 PDAT read: Bearing 170.0, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 170.0, 7.8 (Local)  DAT read: Range 10 to 50 : 189.9 m (trip time 126.6 ms) speed -0.7 - Z#Rx 43: Read range message, but no direction. =CY U checking for new query: numPingsReceived=43, elapsed TxPingTime=7.091064 랙h,:ZhiA9>z@>:@Y>y>_y\>>Hl?f?1Rп*?@ #ʿ}? X? B? >z@>υ;)٥hl ~H~F= >  [5 ?[59 A I By@ PEi ":  : [59=4AEE}B*** querying acoustic contact ***JRԙ-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 189.899994 m, deltaT: 3.039121 s, deltaX: 71.499992 m, approachRate: 23.526537 m/s, rangeRepo size: 2]addTargetRange::Reached target pos rejection count limit. Clearing pos repo.RStarting intercept timer at range: nan m.FNOT Ignoring new targets: 117.56 m.P:P: ProNav: ac range: 117.562851 m, nav range: 83.099724 m, bearing: 159.132438 deg, approach rate: 0.941454 m/s, LOS rate: 0.045640 deg/s, cmd heading: 158.754019 deg, new cmd heading: 158.802443 deg. :~HeadingCmd: 2.771626 target range: 117.562851 and range: nan m.bPb1@ZrjRJB ~ ~ } |||U̼g@|UO? 5'zB5E1I=h5: 99=8WP@)+ȽIN@i'g N=@'g > 9hv鿋_ ?"niWS5'=N=@'g >mchecking for new query: numPingsReceived=44, elapsed TxPingTime=7.3998196G Gi~G A A N > Vh,PiA.A.A>DDAT read: Rx Time:14:15:36.9590 BTRx dataTimestamp_ set to:1749132938.051556NPDAT read: Bearing 167.7, 5.3 (Local) N~Local bearing/azimuth received: Bearing 167.7, 5.3 (Local) bDAT read: Range 10 to 50 : 190.1 m (trip time 126.7 ms) speed -0.7 -nZ#Rx 45: Read range message, but no direction.<>>CY<zchecking for new query: numPingsReceived=45, elapsed TxPingTime=7.5933149y@-@YueJyk }>H?? В GͿ`A2? οL?iN?`? y@;)C={BEIiM٥ HF;z= >5[5U?=[59" IByE\?Ev:EzM@PEi<<x [5qu3AuEZ<b>LiA<<> -@ʁ>_cg<@@9>28 !v? M _>N=@>'g >ҁ>(BerIAS@&[l+3>Nk&$ h?0 z>(B>*j>?r>Z >/B<>,`  >'B>~:C>-@5 addTargetRange:: Added new target pos. range: 190.100006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 -EaddTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 188.755875 m, bearing: nan deg, deltaT: 3.542937 s, deltaX: 71.193024 m, approachRate: 20.094353 m/s, posRepo size: 2mmVStopped intercept timer at range: 190.10 m.uFNOT Ignoring new targets: 117.56 m.u:u: ProNav: ac range: 117.562851 m, nav range: 83.546448 m, bearing: 159.169117 deg, approach rate: 0.808234 m/s, LOS rate: 0.066008 deg/s, cmd heading: 158.802445 deg, new cmd heading: 158.911895 deg. 35;HeadingCmd: 2.773536 target range: 117.562851 and range: 190.10 m.b1@ZrjRJB~~zB}|)|)|-@3g@|-`? &zB靭tHI6: ̐M<޿-?i1@iH->H-CH-IH-{BH)H)H-.DH-<H-+EAUDAT read: 14:15:36.9590 LVL= 30000, 19345, 19522, 25843, AGC= 67, IDX= 35,-0.31,-1.865,-0.171,-2.186,-1.476, PHS=-0.301, 1.352,-0.713, RAW= 340.9, -3.6, CAL= 342.3, -5.3, ROT= 167.7, 5.3 eYgot valid direction response: 14:15:36.9590 LVL= 30000, 19345, 19522, 25843, AGC= 67, IDX= 35,-0.31,-1.865,-0.171,-2.186,-1.476, PHS=-0.301, 1.352,-0.713, RAW= 340.9, -3.6, CAL= 342.3, -5.3, ROT= 167.7, 5.3 mZ#Rx 46: Read direction message, but no range.u`direction in FSK: [-0.972868,0.212120,-0.092371]y<:!*&?{]UY 0u)KIBLidCV?+6 d@)I'-@iqR;@q= n5Q &=x.俼!i_j=R;@q=checking for new query: numPingsReceived=46, elapsed TxPingTime=7.845046EY Ea Ea Ee 5Ea K ,O"K ػ9*K 2K :K 'pzu~tDH N.R  N2=/ZJC63yq 6G ~GaAqAԙN>h,,iA=DDAT read: Rx Time:14:15:37.4593 ETRx dataTimestamp_ set to:1749132938.556847ePDAT read: Bearing 166.0, 5.3 (Local) m~Local bearing/azimuth received: Bearing 166.0, 5.3 (Local) DAT read: Range 10 to 50 : 190.5 m (trip time 127.0 ms) speed -0.5 -Z#Rx 47: Read range message, but no direction.9=>CY9checking for new query: numPingsReceived=47, elapsed TxPingTime=8.0968689ğ@x@YƇy؎>Hc[?`? a`lɿ`.?] ѿ ?K?? ğ@(E;)C!%{B%II5I5<2EW< E7=yUMVQ U>٥ HFܟ= >[5e9?[59E IByW@PEi;;h[5YBq3AEIIZ9b=biA=(=C=(=C=o-@ʁ=*D*g56]D@RV y1=<:!*&?{]U=R;@=q=ҁ=}^xse1EnoS@ƛ~R*"=Q)73?z=B=+j=O?r=}y =WB9=}y  =NB=;C=6-@M addTargetRange:: Added new target pos. range: 190.500000 m, deltaT: 0.505291 s, deltaX: 0.399994 m, approachRate: 0.791611 m/s, rangeRepo size: 2 -maddTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 189.159821 m, bearing: nan deg, deltaT: 4.048228 s, deltaX: 71.596970 m, approachRate: 17.686003 m/s, posRepo size: 2imFNOT Ignoring new targets: 117.56 m.:: ProNav: ac range: 117.562851 m, nav range: 83.930939 m, bearing: 159.209734 deg, approach rate: 0.852014 m/s, LOS rate: 0.089591 deg/s, cmd heading: 158.911892 deg, new cmd heading: 159.033182 deg. u;HeadingCmd: 2.775653 target range: 117.562851 and range: 190.50 m.bK1@ZrjRJB~~}||| g@| )?I y}dyI"m:  J< iE?  i K1@i M DAT read: 14:15:37.4593 LVL= 21104, 14321, 14066, 28627, AGC= 66, IDX= 38, 0.45,-0.212, 1.402,-0.591, 0.133, PHS=-0.257, 1.316,-0.727, RAW= 342.7, -3.6, CAL= 344.0, -5.3, ROT= 166.0, 5.3 ԉ  Ygot valid direction response: 14:15:37.4593 LVL= 21104, 14321, 14066, 28627, AGC= 66, IDX= 38, 0.45,-0.212, 1.402,-0.591, 0.133, PHS=-0.257, 1.316,-0.727, RAW= 342.7, -3.6, CAL= 344.0, -5.3, ROT= 166.0, 5.3 E E E E P2E  Z#Rx 48: Read direction message, but no range. `direction in FSK: [-0.966147,0.240888,-0.092371]ysB^g?{]UY pR)7I6ioBr?: Yf@)I7 @i}l9@ ȓy` M.i2a=}l9@ checking for new query: numPingsReceived=48, elapsed TxPingTime=8.399387ԡ 6GȹGA~GA)AANm?L\h,iA( .ܿY.Ay.$A~DDAT read: Rx Time:14:15:37.9136 TRx dataTimestamp_ set to:1749132939.055959PDAT read: Bearing 162.6, 2.2 (Local) ~Local bearing/azimuth received: Bearing 162.6, 2.2 (Local) %zDAT read: Range 10 to 50 : 122.0 m (e 81.3 ms) speed -0.8 mDAT read: 14:15:3VL= 28656, 22129, 19618, 32755, AGC= 65, IDX= 40, 0.11, 0.667, 2.135, 0.174, 1.000, PHS=-0.245, 1.182,-0.829, RAW= 346.4, -1.2, CAL= 347.4, -2.2, ROT= 162.6, 2.2 u!unknown deviceResponse_: 14:15:3VL= 28656, 22129, 19618, 32755, AGC= 65, IDX= 40, 0.11, 0.667, 2.135, 0.174, 1.000, PHS=-0.245, 1.182,-0.829, RAW= 346.4, -1.2, CAL= 347.4, -2.2, ROT= 162.6, 2.2 -uZ#Rx 49: Read range message, but no direction.BY}checking for new query: numPingsReceived=49, elapsed TxPingTime=8.5988259MV@M @YMyMf>MH@E??7Z? JԿ?? E? MV@Mn;)MC{BIԁ:J=\BJ=MJJ=CRJ9ZJ==:bJ=9J=4J9Mb@Mb@Mb@ )Y|?5^?y&1?~jt?yR?`e<<A x@)@I+@y@I]I] 3m9= m =yuQ u>٥qy }H}F}> }>[5`?[59 IByS?:@PEij<j<^[53AEZbՔâiAHBHBV0@ʁy؛B]  y.=@>a&sB^g?{]U}l9@ҁn¢\JGF@V_!Q {>X?ڙZzn6BEj#w?r9 iB /B;CC-@Ա-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 122.000000 m, deltaT: 0.499112 s, deltaX: -68.500000 m, approachRate: -137.243744 m/s, rangeRepo size: 2FNOT Ignoring new targets: 117.56 m.Z; Z; ProNav: ac range: 117.562851 m, nav range: 84.384323 m, bearing: 159.287067 deg, approach rate: 0.805725 m/s, LOS rate: 0.136693 deg/s, cmd heading: 159.033182 deg, new cmd heading: 159.263934 deg. ;MHeadingCmd: 2.779680 target range: 117.562851 and range: 190.50 m.bMG1@ZIrIjQRQJQBQ~Q~]a{B}Y|Y|Y|]^@|e@D? 靽IQ; 2F<b?iG1@ichecking for new query: numPingsReceived=49, elapsed TxPingTime=8.834418 H<Hp<H߼>HCHIH{BH =HH-DH <H E E E E E p0E K sP"K 9*K 2K :K !Q}@)LL fEkG=W?_@dO>^7"m 6G ~GAAANqh,iA`zDDAT read: Rx Time:14:15:38.4138 ~TRx dataTimestamp_ set to:1749132939.562744%PDAT read: Bearing 162.0, 0.5 (Local) -~Local bearing/azimuth received: Bearing 162.0, 0.5 (Local) MDAT read: Range 10 to 50 : 122.3 m (trip time 81.5 ms) speed -0.9 DAT read: 14:15:38.4138 LVL= 28960, 24481, 32658, 32755, AGC= 66, IDX= 491,-0.11,-0.423, 1.034,-0.945,-0.067, PHS=-0.268, 1.148,-0.881, RAW= 347.1, 0.0, CAL= 348.0, -0.5, ROT= 162.0, 0.5 Ygot valid direction response: 14:15:38.4138 LVL= 28960, 24481, 32658, 32755, AGC= 66, IDX= 491,-0.11,-0.423, 1.034,-0.945,-0.067, PHS=-0.268, 1.148,-0.881, RAW= 347.1, 0.0, CAL= 348.0, -0.5, ROT= 162.0, 0.5 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.951020,0.309005,-0.008727]Fpublishing direction and range info|y~wn_y?B7߁~BY| ~ q)~_I~i~|~L7~?~7a ~r@)~I~ \@i~5~4@~5< |)|~Yfر sϚF)?i~k~M~4@~5< |)|checking for new query: numPingsReceived=50, elapsed TxPingTime=9.11637893@=@YQ y۽>Hj?[?xn ? տ@K|?@vJ?X(? 3@骍@;)C|BIII2%= %==ym8Q m>٥iq uHqu= u>yIR=I%=[5}?[59}w I}Byt@}PEi}1<}1<}9[52AEZ|b~iA~B~B~kC0@ʁ~qy e\>Y8B@Q*ͯ~wn_y?B7߁~4@~5<ҁ~!\+{F@th{)@~O4 o"?P3ʯ?z~07B~pj~?r~j ~B|| ~WB~UI6Y; _B<zz?i 2@iEEEE~0Echecking for new query: numPingsReceived=50, elapsed TxPingTime=9.341598I 6G ~G A A N >h,oiA(|B I5DDAT read: Rx Time:14:15:38.9140 5TRx dataTimestamp_ set to:1749132940.064069=PDAT read: Bearing 160.4, -0.4 (Local) E~Local bearing/azimuth received: Bearing 160.4, -0.4 (Local) UDAT read: Range 10 to 50 : 122.6 m (trip time 81.7 ms) speed -0.3 uDAT read: 14:15:38.9140 LVL= 30672, 20737, 32754, 32755, AGC= 64, IDX= 493,-0.42,-0.685, 0.775,-1.288,-0.334, PHS=-0.263, 1.156,-0.958, RAW= 348.8, 0.7, CAL= 349.6, 0.4, ROT= 160.4, -0.4 ԁYgot valid direction response: 14:15:38.9140 LVL= 30672, 20737, 32754, 32755, AGC= 64, IDX= 493,-0.42,-0.685, 0.775,-1.288,-0.334, PHS=-0.263, 1.156,-0.958, RAW= 348.8, 0.7, CAL= 349.6, 0.4, ROT= 160.4, -0.4 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.942034,0.335443,0.006981]Fpublishing direction and range info1y5)*%%ňw?a|?53BY1 5w)5QI5i15@5𧆾5?5}?u 5@)5+H٥II MHMFM M>y[5}?[59} I}By^O?:;e@}PEi}XB<}A<}[5k2AEZ1b5iA5yB5yB5*.@ʁ5ŗ \gD/jD@p*2?5)*%%ňw?a|?5$+3@5ҁ5!po[~wH@$C$@53誩"Af,fX?Pw?z5@B5j5ݧ>?r5] 5B5#w?5]  5iB5B5#;/@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 122.599998 m, deltaT: 1.507222 s, deltaX: -67.900002 m, approachRate: -45.049767 m/s, rangeRepo size: 2FNOT Ignoring new targets: 117.56 m.ԩo:;o:; ProNav: ac range: 117.562851 m, nav range: 85.113556 m, bearing: 159.435734 deg, approach rate: 0.774464 m/s, LOS rate: 0.162995 deg/s, cmd heading: 159.467828 deg, new cmd heading: 159.708016 deg. ;HeadingCmd: 2.787431 target range: 117.562851 and range: 190.50 m.bDe2@ZrjRJB~~|B}|!|!|%`f^@|% ?  =I)+>I>; X><?iDe2@i H ܼ>H H IH |BH  =H H H <H E checking for new query: numPingsReceived=51, elapsed TxPingTime=9.842227>E &< Ke P"Ke 9*Ka 2Ke :Ke TzDV< 5ztML|DZ53%0r5 i4LQE} ?Ey Ey E} P0Ey 96GȹZGRG~GADDAT read: Rx Time:14:15:39.4145 TRx dataTimestamp_ set to:1749132940.579079PDAT read: Bearing 152.8, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 152.8, 3.4 (Local) 5DAT read: Range 10 to 50 : 123.3 m (trip time 82.2 ms) speed -0.6 AIaN$?,h,|&iAFDAT read: 14:15:39.4145 LVL= 24480, 19953, 25954, 32755, AGC= 63, IDX= 512, 0.25,-1.215, 0.083,-2.159,-1.113, PHS=-0.014, 1.243,-1.049, RAW= 356.8, -1.8, CAL= 357.2, -3.4, ROT= 152.8, 3.4 JYgot valid direction response: 14:15:39.4145 LVL= 24480, 19953, 25954, 32755, AGC= 63, IDX= 512, 0.25,-1.215, 0.083,-2.159,-1.113, PHS=-0.014, 1.243,-1.049, RAW= 356.8, -1.8, CAL= 357.2, -3.4, ROT= 152.8, 3.4 NT#Rx 52: Read range and direction messages.R`direction in FSK: [-0.887851,0.456293,-0.059306]RFpublishing direction and range infoy@HFi쿢O3?Cg]BY _)MIbei?B`e?E SF@)I@is*@s= )m{;5;hlai՝ =*@s= )~checking for new query: numPingsReceived=52, elapsed TxPingTime=10.160377:J[BJPJJRJZJ:bJ*9JJzJ:jJ:J-:rJ-:9 @y>H?=ܞ@᣿`ۗ?S?@eԿ§? ZU??N?  @;)CU(|BUIIIP< =yܰQ  >٥    H F,<> >[5?[59p IŒByH=@PEi"::![5ZB.2AEZb%iABB,@ʁ{,[y-ƠK@C . @HFi쿢O3?Cg]*@s=ҁ'M~[yJ@}ªO@5xD3W~Q?N"_?zUBj?ri: B? BB@H/@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 123.300003 m, deltaT: 2.022232 s, deltaX: -67.199997 m, approachRate: -33.230606 m/s, rangeRepo size: 2FNOT Ignoring new targets: 117.56 m.gy;gy; ProNav: ac range: 117.562851 m, nav range: 85.549438 m, bearing: 159.561854 deg, approach rate: 0.757448 m/s, LOS rate: 0.218047 deg/s, cmd heading: 159.708018 deg, new cmd heading: 160.084446 deg. <HeadingCmd: 2.794001 target range: 117.562851 and range: 190.50 m.b2@Zr j R J B~~}|||@3^@|:? 'zB靭yz=I)g?I-d; 9f8<f?i2@iYchecking for new query: numPingsReceived=52, elapsed TxPingTime=10.354889q >E EM ?EI EI EM P5EI ԩ בבDDAT read: Rx Time:14:15:39.9146 TRx dataTimestamp_ set to:1749132941.080219PDAT read: Bearing 156.1, 1.3 (Local) ~Local bearing/azimuth received: Bearing 156.1, 1.3 (Local) DAT read: Range 10 to 50 : 123.5 m (trip time 82.3 ms) speed -1.1 ]DAT read: 14:15:39.9146 LVL= 28144, 21633, 20722, 26947, AGC= 65, IDX= 2, 0.03, 0.766, 2.200,-0.062, 0.998, PHS=-0.144, 1.249,-1.063, RAW= 353.3, -0.4, CAL= 353.9, -1.3, ROT= 156.1, 1.3 6GYgot valid direction response: 14:15:39.9146 LVL= 28144, 21633, 20722, 26947, AGC= 65, IDX= 2, 0.03, 0.766, 2.200,-0.062, 0.998, PHS=-0.144, 1.249,-1.063, RAW= 353.3, -0.4, CAL= 353.9, -1.3, ROT= 156.1, 1.3 T#Rx 53: Read range and direction messages.%`direction in FSK: [-0.914019,0.405037,-0.022687]~GIAYAiNu ?)h,IiA-Fpublishing direction and range infoکyڭU}/?BG ?NGY;ڭBYک ۭm)ۭTIۭPiۭCiۭAۭtۭ;ߟ?ۭb ܭQ@)ܭIܭ@iܭ޹ܭ].@ܭ޹< ݩ)ݩݭnf%/U'Ch*~iݭ ݭS;ݭ].@ݭ޹< ީ)ީrchecking for new query: numPingsReceived=53, elapsed TxPingTime=10.6974878|BIy-Mb@Mb@Mb@))) )))Y-Fx?kt?S㥛?y-K?- =-/<) ))-X@I-A)y-AIe IeV2}< }=y}Q }>٥ HF >[5>?[59: IݒByM?:)=@PEi:L:[&[51A}EZbO"EiABBBBOQ0@ʁAăw\H@3AU}/?BG ?NGY;].@޹<ҁ&퓮U\uo@G@̻RE@^f?kV_?z8Bj2xk?r B2xk?  BꁭB9Q0@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 123.500000 m, deltaT: 2.523372 s, deltaX: -67.000000 m, approachRate: -26.551773 m/s, rangeRepo size: 2]addTargetRange::Reached target pos rejection count limit. Clearing pos repo.FNOT Ignoring new targets: 117.56 m.7;7; ProNav: ac range: 117.562851 m, nav range: 85.931015 m, bearing: 159.689330 deg, approach rate: 0.710878 m/s, LOS rate: 0.236431 deg/s, cmd heading: 160.084444 deg, new cmd heading: 160.465165 deg. B"<~HeadingCmd: 2.800645 target range: 117.562851 and range: nan m.b=3@ZrjRJB~~|B}|||^@|D?GIGM?AHQHQHU-IHUS|BHU =HQHQHU/<HUPEH5ŗCH5ŗCH1H5 =I5 = I5a5 (zB靍f=I)?ԩchecking for new query: numPingsReceived=53, elapsed TxPingTime=10.858420I; A2<{?i=3@i>E0K=;P"K=9*K92K=:K=Ba cH y H s{cD|xM 6 X)+ X GG&,27;>AaBA@>;?96JQJQEyEyEyE}H5Ey 6G ~GQ Aa  DDAT read: Rx Time:14:15:40.4150  TRx dataTimestamp_ set to:1749132941.585428 PDAT read: Bearing 153.6, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 153.6, 1.6 (Local)  DAT read: Range 10 to 50 : 124.1 m (trip time 82.7 ms) speed -0.9 A N>7h,fiAZDAT read: 14:15:40.4150 LVL= 25568, 23537, 29074, 32755, AGC= 65, IDX= 486,-0.13,-0.077, 1.222,-0.967, 0.087, PHS=-0.076, 1.183,-1.056, RAW= 355.9, -0.5, CAL= 356.4, -1.6, ROT= 153.6, 1.6 ^Ygot valid direction response: 14:15:40.4150 LVL= 25568, 23537, 29074, 32755, AGC= 65, IDX= 486,-0.13,-0.077, 1.222,-0.967, 0.087, PHS=-0.076, 1.183,-1.056, RAW= 355.9, -0.5, CAL= 356.4, -1.6, ROT= 153.6, 1.6 bT#Rx 54: Read range and direction messages.f`direction in FSK: [-0.895363,0.444462,-0.027922]fFpublishing direction and range info yc Ϧv.r?|p}3BY c)[Iqi㥛l?+ @)5I" @i伉+@< )S<-}:iB <+@< )uchecking for new query: numPingsReceived=54, elapsed TxPingTime=11.178302:J \BJ RJJ ARJ ZJ =:bJ S29J 4J zJ :jJ :J ;:rJ <:-?|B-!IIEIEm?3u}< u?=yqQ u>٥yy }Hyy >[5?[59B IBy@QEi+#<a#<*[5  1A zEZbweiAsBsBI-@ʁ>r|0[mMgbK@LRWp c Ϧv.r?|p}+@<ҁhx?[o5BYI@-?L "@p{ ]^?JchK?zLBmj:mB?rbs *Bݧ>?]  BB5/@ addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1  Added new target pos. range: 123.225029 m, bearing: 155.371730 deg, lat: 36.906162 deg, lon: -122.115780 deg, deltaT: 7.076809 s, deltaX: 5.662178 m, approachRate: 0.800103 m/s, posRepo size: 3 FNOT Ignoring new targets: 123.23 m.% ProNav: ac range: 123.225029 m, nav range: 122.380989 m, bearing: 156.853529 deg, approach rate: 0.000000 m/s, LOS rate: 0.236431 deg/s, cmd heading: 160.465159 deg, new cmd heading: 160.773658 deg. !9]HeadingCmd: 2.806030 target range: 123.225029 and range: 124.10 m.b]3@ZYrYjYRYJaBa~a~a}i|i|i|m`f_@|m? %)zB-@==I))-?)IU; QQU-<]s?YYi]3@iachecking for new query: numPingsReceived=54, elapsed TxPingTime=11.362424i>E% zE1 ԙ E ?E E E P1E DDAT read: Rx Time:14:15:40.9152 TRx dataTimestamp_ set to:1749132942.089506PDAT read: Bearing 153.4, 1.1 (Local) ~Local bearing/azimuth received: Bearing 153.4, 1.1 (Local) 6GjG>bG>-DAT read: Range 10 to 50 : 124.4 m (trip time 82.9 ms) speed -0.9 ~GAAN?h,ADiA&DAT read: 14:15:40.9152 LVL= 32400, 26449, 32754, 32755, AGC= 66, IDX= 487, 0.42,-0.001, 1.320,-0.918, 0.173, PHS=-0.086, 1.194,-1.094, RAW= 356.1, -0.1, CAL= 356.6, -1.1, ROT= 153.4, 1.1 *Ygot valid direction response: 14:15:40.9152 LVL= 32400, 26449, 32754, 32755, AGC= 66, IDX= 487, 0.42,-0.001, 1.320,-0.918, 0.173, PHS=-0.086, 1.194,-1.094, RAW= 356.1, -0.1, CAL= 356.6, -1.1, ROT= 153.4, 1.1 *T#Rx 55: Read range and direction messages.N`direction in FSK: [-0.893989,0.447677,-0.019197]NFpublishing direction and range infoQyU_Xpл?]~UBYQ U~)UQgIUiQUB9j@j]=Yjf[yj>jH.?οn@? _?ҿ@Oo?@f?`,?t j@j3;)jCU UԘ?U1 U>@)UIU)@iUnFUuY+@UnF< Q)QUpi|*:yNnU?kjdiUWm UiS#;UuY+@UnF< Q)Q=checking for new query: numPingsReceived=55, elapsed TxPingTime=11.696181u7|BuI ==]Mb@Mb@Mb@YYY Y)YY]w/?ˡE?~jtx?y]F?]'=];]A Y)]@I]AYy]AII(U =yNQ >٥11 5H=F=+> =>AM[5E.?M[59E[ IEByM1G?u:}2&>}@E QEiE;E&;E$/[5[B1AwEZQbUwiAU BU BU&3@ʁU:3Og[ \/K@ xU_Xpл?]~UuY+@UnF<ҁUo{]TRD@oPG@U8\s&y?4?zU"BUjU޽?rUr UBQQ QUBUU/@m addTargetRange:: Added new target pos. range: 124.400002 m, deltaT: 0.504078 s, deltaX: 0.300003 m, approachRate: 0.595152 m/s, rangeRepo size: 2 H޼>HHFIH||BHHHH<H2Emchecking for new query: numPingsReceived=55, elapsed TxPingTime=11.866353 Added new target pos. range: 123.522911 m, bearing: 160.749729 deg, lat: 36.906162 deg, lon: -122.115780 deg, deltaT: 0.504078 s, deltaX: 0.297882 m, approachRate: 0.590944 m/s, posRepo size: 4 FNOT Ignoring new targets: 123.52 m. ProNav: ac range: 123.522911 m, nav range: 122.758331 m, bearing: 156.965426 deg, approach rate: 0.000000 m/s, LOS rate: 0.236431 deg/s, cmd heading: 160.773651 deg, new cmd heading: 161.183744 deg. HeadingCmd: 2.813187 target range: 123.522911 and range: 124.40 m.bB 4@ZrjRJB~~u|B}!|!|!|%_@|-?A u*zBut =I)+?I'; 3&<?iB 4@i DDD9D9K5 7Q"K5 59*K1 2K5 :K5 31.,O+)&$"!sGXZ=XJ   J gf]q_ZL _ A- &-)i E} ?Ey E E _0E ԡ %DDAT read: Rx Time:14:15:41.4155 -TRx dataTimestamp_ set to:1749132942.592996=PDAT read: Bearing 153.2, 2.0 (Local) E~Local bearing/azimuth received: Bearing 153.2, 2.0 (Local) UDAT read: Range 10 to 50 : 124.8 m (trip time 83.2 ms) speed -0.7 DAT read: 14:15:41.4155 LVL= 29152, 22065, 26658, 32755, AGC= 66, IDX= 491, 0.04, 0.521, 1.849,-0.417, 0.667, PHS=-0.058, 1.229,-1.087, RAW= 356.3, -0.8, CAL= 356.8, -2.0, ROT= 153.2, 2.0 Ygot valid direction response: 14:15:41.4155 LVL= 29152, 22065, 26658, 32755, AGC= 66, IDX= 491, 0.04, 0.521, 1.849,-0.417, 0.667, PHS=-0.058, 1.229,-1.087, RAW= 356.3, -0.8, CAL= 356.8, -2.0, ROT= 153.2, 2.0 T#Rx 56: Read range and direction messages.`direction in FSK: [-0.892042,0.450603,-0.034899]Fpublishing direction and range info)y-+ ›vȽ?Xޡ-BY) -q)-1VI-"hi))-hm-O?-" -@)-dI-SF@i-5-D +@-5= )))-m oh5>6MqF>Bi-& -7r<-D +@-5= )))Echecking for new query: numPingsReceived=56, elapsed TxPingTime=12.156337II:JYBJVJJRJZJ9bJB9JJzJb:jJg:JX:rJX:6Gȹ~GAAN?ih,ݯiA9R@R3>YRWyRލ>RH`v?Rǿ _U?`9?~ѿ@Vݪ?@{?? R@RΞ;)RCn?|Br!II5 I52Eb< E=yMS;Q m>٥qq uHu Fu4= }>y[5}O?[59} I}Bye>@}QEi}$<},<}3[51AtEZbiABBM6@ʁ7![KUeK@_L+ ›vȽ?XޡD +@5=ҁT ]1{4TA@̶R3@1:HKٚ=?h[EK?z Bj/?rRr# B2xk?  BB0@checking for new query: numPingsReceived=56, elapsed TxPingTime=12.372629E addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 0.503490 s, deltaX: 0.400002 m, approachRate: 0.794458 m/s, rangeRepo size: 3 U Added new target pos. range: 123.920715 m, bearing: 163.743748 deg, lat: 36.906152 deg, lon: -122.115802 deg, deltaT: 0.503490 s, deltaX: 0.397804 m, approachRate: 0.790094 m/s, posRepo size: 4 QFNOT Ignoring new targets: 123.92 m.A ProNav: ac range: 123.920715 m, nav range: 123.391266 m, bearing: 158.140261 deg, approach rate: 0.000000 m/s, LOS rate: 0.236431 deg/s, cmd heading: 161.183749 deg, new cmd heading: 161.565203 deg. AHeadingCmd: 2.819845 target range: 123.920715 and range: 124.80 m.bVx4@ZrjRJB~~}|| | @33_@| ? }-zB} =I)?Iӻ; J<0(?iVx4@iqEIEIEQEQEQ DDAT read: Rx Time:14:15:41.9156  TRx dataTimestamp_ set to:1749132943.096074 PDAT read: Bearing 151.0, 2.1 (Local)  ~Local bearing/azimuth received: Bearing 151.0, 2.1 (Local)  DAT read: Range 10 to 50 : 125.0 m (trip time 83.3 ms) speed -0.8  DAT read: 14:15:41.9156 LVL= 31120, 26449, 31730, 32755, AGC= 65, IDX= 508, 0.32, 1.308, 2.578, 0.265, 1.402, PHS=-0.005, 1.223,-1.140, RAW= 358.7, -0.8, CAL= 359.0, -2.1, ROT= 151.0, 2.1  Ygot valid direction response: 14:15:41.9156 LVL= 31120, 26449, 31730, 32755, AGC= 65, IDX= 508, 0.32, 1.308, 2.578, 0.265, 1.402, PHS=-0.005, 1.223,-1.140, RAW= 358.7, -0.8, CAL= 359.0, -2.1, ROT= 151.0, 2.1  T#Rx 57: Read range and direction messages. `direction in FSK: [-0.874032,0.484484,-0.036644] Fpublishing direction and range infoڡ yڥ O뿈?(א¢ڥ BYڡ ۥ y)ۥ QgIۥ { iۡ ۥ Aۥ ףۥ D?ۥ 둿 ܥ U@)ܡ Iܥ @iܥ Q ܥ +(@ܥ Q = ݡ )ݡ ݥ 3nrV5_VWiݥ ~ݥ \<ݥ +(@ݥ Q = ޡ )ޡ - checking for new query: numPingsReceived=57, elapsed TxPingTime=12.6402386G ~Ga Aq A N >p'h,:ͣiA]5|B]IMb@Mb@Mb@ )YˡE?Zd;O?MbpyG?j<A @)v@IAy@II2 %=y%Q %>i HHHݼ>HHXIH|BH =HHH<HE٥ H F > [5 r?[59 IByH?:RR>@QEi';/;Mchecking for new query: numPingsReceived=57, elapsed TxPingTime=12.874463j8[5iu2AunEZ)b-&ƣiA-=B-=B-4@ʁ-Lj[gE!!N@UdY1-O뿈?(א¢-+(@-Q =ҁ-"hg]k`C@lXw@-DuREE-?Ok-C?z-B-;j-gѺ?r-m -֊B-޽?-r  )-B-13@M addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 0.503078 s, deltaX: 0.199997 m, approachRate: 0.397547 m/s, rangeRepo size: 4  Added new target pos. range: 124.119331 m, bearing: 161.595521 deg, lat: 36.906131 deg, lon: -122.115863 deg, deltaT: 0.503078 s, deltaX: 0.198616 m, approachRate: 0.394802 m/s, posRepo size: 4 FNOT Ignoring new targets: 124.12 m. ProNav: ac range: 124.119331 m, nav range: 123.979729 m, bearing: 160.949214 deg, approach rate: 0.000000 m/s, LOS rate: 0.236431 deg/s, cmd heading: 161.565201 deg, new cmd heading: 161.948195 deg. HeadingCmd: 2.826529 target range: 124.119331 and range: 125.00 m.b4@ZrjRJB~~{B}|||@_@|@? }.zB} !=Iy)}?yI; g<q?i4@iԙbEZEKU?Q"KU9*KQ2KU:KUxyX-W(;PUG5 ~hUC/HAhSY'EM?EIEQEQEQF]=F]=  DDAT read: Rx Time:14:15:42.4159  TRx dataTimestamp_ set to:1749132943.600455 PDAT read: Bearing 148.0, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 148.0, 3.3 (Local) % DAT read: Range 10 to 50 : 125.3 m (trip time 83.5 ms) speed -0.2 ] DAT read: 14:15:42.4159 LVL= 28256, 22065, 24434, 32755, AGC= 68, IDX= 494, 0.49,-1.697,-0.528,-2.863,-1.708, PHS= 0.100, 1.228,-1.158, RAW= 1.8, -1.7, CAL= 2.0, -3.3, ROT= 148.0, 3.3 e Ygot valid direction response: 14:15:42.4159 LVL= 28256, 22065, 24434, 32755, AGC= 68, IDX= 494, 0.49,-1.697,-0.528,-2.863,-1.708, PHS= 0.100, 1.228,-1.158, RAW= 1.8, -1.7, CAL= 2.0, -3.3, ROT= 148.0, 3.3 m T#Rx 58: Read range and direction messages.u `direction in FSK: [-0.846642,0.529041,-0.057564]u Fpublishing direction and range info y k䛰9?`8.y BY `n) 1VI r_i D = /? X9 =) I 5=i k MQ%@ k= ) 3%nZ:޿ue]0Si [ < MQ%@ k= )  checking for new query: numPingsReceived=58, elapsed TxPingTime=13.1466686G ~G A A N y%h,iAJk4Jk4Jk0:JZBJZQJJZERJXZJZ:bJZ-.9JZ4JXzJZm;jJZo;JZ4:rJZ4:9ؔ<'Iq>YDy>H p?aοH?@?`?֯ѿ`?`u?`s? ؔ<ω;)C6|BiI<AII2z7; C=y-٥ H F!%.> %>)5[5-ҋ?5[59- I-&By9=>=@-QEi-:-\<-;[52AZbmiABB4@ʁvMUZӗtP@Qlץk䛰9?`8.yMQ%@k=ҁ6W#]]dC@4#@|!]mxR?!?z"B!j®?r첲 #BgѺ?m  ֊BꁕpB4@ addTargetRange:: Added new target pos. range: 125.300003 m, deltaT: 0.504381 s, deltaX: 0.300003 m, approachRate: 0.594795 m/s, rangeRepo size: 4  Added new target pos. range: 124.417221 m, bearing: 161.814702 deg, lat: 36.906127 deg, lon: -122.115878 deg, deltaT: 0.504381 s, deltaX: 0.297890 m, approachRate: 0.590605 m/s, posRepo size: 4 FNOT Ignoring new targets: 124.42 m. ProNav: ac range: 124.417221 m, nav range: 124.220070 m, bearing: 161.676180 deg, approach rate: 0.000000 m/s, LOS rate: 0.236431 deg/s, cmd heading: 161.948198 deg, new cmd heading: 162.233291 deg.  HeadingCmd: 2.831505 target range: 124.417221 and range: 125.30 m.b a75@Z r j R J B~9~A}A|I|I|M@3S_@|M?? 0zB靽7+=I)?IY; ˡ<2?ia75@iQchecking for new query: numPingsReceived=58, elapsed TxPingTime=13.378903E?EEEEԉ)A A  GQ a 4޿Y y A6G % q@% 6B~G A A ԩ N >i,@iA9>:=>8>Y>n8y>M>>H?пt?e?`?ѿ ?ౣ?? >:=>>;)>CN,|BRI%4DAT read: Rx Ti:42.9160 -Runknown deviceResponse_: Rx Ti:42.9160 5DAT read: Range 10 to 50 : 125.4 m (trip time 83.6 ms) speed -0.4 -5Z#Rx 59: Read range message, but no direction.!%BY!Echecking for new query: numPingsReceived=59, elapsed TxPingTime=13.633752Mb@Mb@Mb@ )YK7A?~jtx:vy B?ĻTA )I@I@y3@I5I52M Ѽ uF=yu;Q }>٥yy }Hy)= >ԑ[5O?[59b I*ByB?:t>@"QEiG;;?[5,2AjEB*** querying acoustic contact ***JR  addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 0.502449 s, deltaX: 0.099998 m, approachRate: 0.199022 m/s, rangeRepo size: 4  5FNOT Ignoring new targets: 124.42 m.5 l;5 l;E ProNav: ac range: 124.417221 m, nav range: 124.481743 m, bearing: 161.755469 deg, approach rate: 0.682492 m/s, LOS rate: 0.206365 deg/s, cmd heading: 162.233290 deg, new cmd heading: 162.470654 deg. M <HeadingCmd: 2.835648 target range: 124.417221 and range: 125.40 m.bA{5@ZrjRJB~~_{B}|||Y_@| 3? 2zB-=I!)%>!I%H; !IMD<] ?YaieA{5@iE=?E9E9EEo0EAH>HH_IH|BH =HHH<HEchecking for new query: numPingsReceived=59, elapsed TxPingTime=13.8824276G ~G A A N >K L-P"K 9*K 2K :K _, PqcM6rD6)](u]!B-NO1oTkWROJ% ?J% ?) -i,iA9Vt=Vq8>YV*yVWА>VH {?ҿ@?@ޜ?*J?CѿS??? Vt=Vt;)VC}6|BIII(*3V< D=y7٥ H F;= >[5?m[59 I.ByquǕ>u@'QEiƖ<<4C[5y}2A}gE=DDAT read: Rx Time:14:15:43.4163 ETRx dataTimestamp_ set to:1749132944.609041MPDAT read: Bearing 147.1, 4.0 (Local) M~Local bearing/azimuth received: Bearing 147.1, 4.0 (Local) ]DAT read: Range 10 to 50 : 125.9 m (trip time 83.9 ms) speed -0.5 DAT read: 14:15:43.4163 LVL= 30896, 16369, 25682, 31219, AGC= 64, IDX= 3,-0.03,-2.312,-1.193, 2.787,-2.361, PHS= 0.137, 1.216,-1.137, RAW= 2.8, -2.1, CAL= 2.9, -4.0, ROT= 147.1, 4.0 Ygot valid direction response: 14:15:43.4163 LVL= 30896, 16369, 25682, 31219, AGC= 64, IDX= 3,-0.03,-2.312,-1.193, 2.787,-2.361, PHS= 0.137, 1.216,-1.137, RAW= 2.8, -2.1, CAL= 2.9, -4.0, ROT= 147.1, 4.0 T#Rx 60: Read range and direction messages.`direction in FSK: [-0.837575,0.541851,-0.069756]Fpublishing direction and range info9y=ިei꿬=JV?&k۱=BY9 =x)=?I=Rdi=y=@=I >=㥛?=7 =+H= addTargetRange:: Added new target pos. range: 125.900002 m, deltaT: 0.506137 s, deltaX: 0.500000 m, approachRate: 0.987875 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 124.42 m.N;N;)=Q I=4QO=i=5=O$@=5= 9)9=T@vDKݿ‘am쿐lls 'i=?={A==O$@=5= 9)9checking for new query: numPingsReceived=60, elapsed TxPingTime=14.155060 ProNav: ac range: 124.417221 m, nav range: 124.739845 m, bearing: 161.838457 deg, approach rate: 0.563025 m/s, LOS rate: 0.180656 deg/s, cmd heading: 162.470652 deg, new cmd heading: 162.719100 deg. ;HeadingCmd: 2.839984 target range: 124.417221 and range: 125.90 m.bL5@ZrjRJB~!~!})|1|9|=y_@|m 稣? 4zB#=I)%N?!I%; !!%kK <-@))i-L5@i1E?EEEEQ  checking for new query: numPingsReceived=60, elapsed TxPingTime=14.3869306G jG >bG >y ~G A) A N >.i,|;iA%٥YY ]H] F] ]>iu[5m~?}[59mR Iiy} >?:y>@m-QEimm^;mD\;DDAT read: Rx Time:14:15:43.9164 TRx dataTimestamp_ set to:1749132945.112061PDAT read: Bearing 145.3, 4.3 (Local) ~Local bearing/azimuth received: Bearing 145.3, 4.3 (Local) DAT read: Range 10 to 50 : 126.0 m (trip time 84.0 ms) speed 0.0 DAT read: 14:15:43.9164 LVL= 22768, 23249, 27170, 30771, AGC= 65, IDX= 500, 0.09, 2.949,-2.267, 1.676, 2.845, PHS= 0.192, 1.218,-1.172, RAW= 4.7, -2.3, CAL= 4.7, -4.3, ROT= 145.3, 4.3 Ygot valid direction response: 14:15:43.9164 LVL= 22768, 23249, 27170, 30771, AGC= 65, IDX= 500, 0.09, 2.949,-2.267, 1.676, 2.845, PHS= 0.192, 1.218,-1.172, RAW= 4.7, -2.3, CAL= 4.7, -4.3, ROT= 145.3, 4.3 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.819830,0.567677,-0.074979]Fpublishing direction and range infoڑyڕ1 ەm?ە ܕ=)ܕl$Iܕ=iܕ`ܕ:M"@ܕ`= ݑ)ݑݕ=?c\ۿvV~5iݕݕ4%=ݕ:M"@ݕ`= ޑ)ޑUchecking for new query: numPingsReceived=61, elapsed TxPingTime=14.663403Zb,GiA9B9B@e5@ʁ4ዤY8\Q@S"1 ]YB@^ @t%uT?2=_?z*B-j2?rѲ 1B®?첲  ꁕCB3 5@ addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 0.503020 s, deltaX: 0.099998 m, approachRate: 0.198796 m/s, rangeRepo size: 4 ] Added new target pos. range: 125.112587 m, bearing: 162.393703 deg, lat: 36.906126 deg, lon: -122.115881 deg, deltaT: 1.511606 s, deltaX: 0.695366 m, approachRate: 0.460018 m/s, posRepo size: 4 aeFNOT Ignoring new targets: 125.11 m.eiu ProNav: ac range: 125.112587 m, nav range: 125.131096 m, bearing: 162.075291 deg, approach rate: 0.000000 m/s, LOS rate: 0.180656 deg/s, cmd heading: 162.719094 deg, new cmd heading: 163.007535 deg. HeadingCmd: 2.845018 target range: 125.112587 and range: 126.00 m.b6@ZrjRJB~~k{B}|||_@|b? %7zB%<=I))-?)I-< ))-a<:JE\BJESJJE?RJAZJE=:bJEy69JEـ4JAM@M@M@M@UX @YYi]6@iYE E E E _0E ! GA GE @AHM >HI HM XIHM |BHI HI HM .DHM <HM EE checking for new query: numPingsReceived=61, elapsed TxPingTime=14.8904166GQ~GAA N%> i,O?[iA9z-'>zߙ>Yzyz>zH`t?T׿?`?j? pѿ:??`? z-'>zC;)zC5L|B5(IIeIe2u< u]=yu٥ HF_r> >K0MP"K59*K2K:Kg\/aS=;/$#! y6d{dqE{JJA[5? [59ܦ I,By¯>@2QEi<ʠ<4K[5ay1AaEFNOT Ignoring new targets: 125.11 m.^;^;M ProNav: ac range: 125.112587 m, nav range: 125.351372 m, bearing: 162.152771 deg, approach rate: 0.555008 m/s, LOS rate: 0.194875 deg/s, cmd heading: 163.007533 deg, new cmd heading: 163.239562 deg. M<UHeadingCmd: 2.849068 target range: 125.112587 and range: 126.00 m.bU!W6@ZQrYjYRYJYBY~a~a}a|a|a|i|mMK? :zB8=I)q?IIl < <_? @  i !W6@i ԁDDAT read: Rx Time:14:15:44.4166 TRx dataTimestamp_ set to:1749132945.618700PDAT read: Bearing 146.0, 6.2 (Local) ~Local bearing/azimuth received: Bearing 146.0, 6.2 (Local) -DAT read: Range 10 to 50 : 126.5 m (trip time 84.3 ms) speed -0.6 E?EEEEDAT read: 14:15:44.4166 LVL= 18624, 21217, 22162, 30515, AGC= 63, IDX= 503, 0.06,-1.935,-0.845, 3.106,-2.070, PHS= 0.222, 1.272,-1.110, RAW= 3.9, -3.8, CAL= 4.0, -6.2, ROT= 146.0, 6.2 MYgot valid direction response: 14:15:44.4166 LVL= 18624, 21217, 22162, 30515, AGC= 63, IDX= 503, 0.06,-1.935,-0.845, 3.106,-2.070, PHS= 0.222, 1.272,-1.110, RAW= 3.9, -3.8, CAL= 4.0, -6.2, ROT= 146.0, 6.2 }T#Rx 62: Read range and direction messages.`direction in FSK: [-0.824189,0.555922,-0.107999]Fpublishing direction and range infoy6<_Gt?NiإBY H)RIVi3w?Sc>Т?{ 'g=)ԇI5=ikݽe#@k= )8\ܿY x%&ŰiqyG=e#@k= )checking for new query: numPingsReceived=62, elapsed TxPingTime=15.208378Ա6G ~G A A N > i,tiA965E>6_g>Y6>y6k>6HfL?`-ٿR? ?6?`[пִ?[?`b? 65E>6 ;)6CQ|B,IEchecking for new query: numPingsReceived=62, elapsed TxPingTime=15.394232IM$IM<39I< F=y ٥ H= >m[5_ ?[59 I*Byy>@7QEi.)<!<N[51AZ1b5ȘgiA58B58B5=@ʁ5~Y!xuQ@65!+56<_Gt?Niإ5e#@5k=ҁ5`^'W7@V_@5ǟ"o ԇ?$I?z5A5j5²o?r5= 5B52?5Ѳ  5#B5B55@ U addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 0.506639 s, deltaX: 0.500000 m, approachRate: 0.986896 m/s, rangeRepo size: 4  Added new target pos. range: 125.609566 m, bearing: 169.288350 deg, lat: 36.906126 deg, lon: -122.115889 deg, deltaT: 0.506639 s, deltaX: 0.496979 m, approachRate: 0.980933 m/s, posRepo size: 4 FNOT Ignoring new targets: 125.61 m. ProNav: ac range: 125.609566 m, nav range: 125.399864 m, bearing: 162.557497 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 163.239568 deg, new cmd heading: 163.512018 deg. %HeadingCmd: 2.853823 target range: 125.609566 and range: 126.50 m.b% 6@Z!r!j!R)J)B)~)~)}1|Q|Q|]_@|]ȯ? =zB靭 o*=I)?I>< ~V;@i 6@izEQ DDAT read: Rx Time:14:15:44.9167  TRx dataTimestamp_ set to:1749132946.121687 PDAT read: Bearing 142.9, 6.5 (Local) % ~Local bearing/azimuth received: Bearing 142.9, 6.5 (Local) ) E DAT read: Range 10 to 50 : 126.6 m (trip time 84.4 ms) speed -0.5  DAT read: 14:15:44.9167 LVL= 15696, 23105, 19554, 25779, AGC= 62, IDX= 504,-0.17, 2.690,-2.599, 1.296, 2.466, PHS= 0.312, 1.265,-1.172, RAW= 7.2, -3.9, CAL= 7.1, -6.5, ROT= 142.9, 6.5  Ygot valid direction response: 14:15:44.9167 LVL= 15696, 23105, 19554, 25779, AGC= 62, IDX= 504,-0.17, 2.690,-2.599, 1.296, 2.466, PHS= 0.312, 1.265,-1.172, RAW= 7.2, -3.9, CAL= 7.1, -6.5, ROT= 142.9, 6.5  T#Rx 63: Read range and direction messages. `direction in FSK: [-0.792457,0.599331,-0.113203] Fpublishing direction and range info y 3i[s-?5E E E E E  3BY  P=) AZI bLi d > w> ?   >) 'gI =i V轉 @ V=  )  $xѱؿJt2mk1i } |= @ V=  ) U checking for new query: numPingsReceived=63, elapsed TxPingTime=15.691595:J _BJ JJ FRJ ZJ :bJ J 4J Q 6G ZGRG~GAAN> $i,HiAI)HJۼ>HHHJRIHJ|BHJ =HHHJ-DHJ<HJEHQHQHQHQIU = IU5X9rI7d>r>YrԼyr >rHk?ڿη?i?ž?@Jп9?`HC?~? rI7d>rU;)rC}c|B}7Ichecking for new query: numPingsReceived=63, elapsed TxPingTime=15.898124Mb@Mb@Mb@ )Y7A`?S㥛y6?L/ݼA @)`@I@y@IUIU(*3= =y;Q >٥q uHuF} U= }>[5|-?[59 I$By7?:o>@=QEi;;S[5U1A^EZbɇiAjBjB;@KP"K9*K2K:K}Zhp"hfIy3>b yqe~97:U`Td%04S:0&ʁX"R@QL~v,3i[s-?5@V=ҁԯU^]+F:@ꇥ޼#@I3F!3GF?no?z4Aj0𻼜?r# CB ꁕoB55@ addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 0.502987 s, deltaX: 0.099998 m, approachRate: 0.198809 m/s, rangeRepo size: 4 - Added new target pos. range: 125.707657 m, bearing: 167.928562 deg, lat: 36.906126 deg, lon: -122.115889 deg, deltaT: 0.502987 s, deltaX: 0.098091 m, approachRate: 0.195017 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 125.71 m.11u ProNav: ac range: 125.707657 m, nav range: 125.717316 m, bearing: 162.676816 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 163.512024 deg, new cmd heading: 163.819193 deg. yHeadingCmd: 2.859184 target range: 125.707657 and range: 126.60 m.b6@ZrjRJB~~c{B}|||%`f_@|%? mAzBm-=Iq)u?qIu< qqu~;7@i6@im DDAT read: Rx Time:14:15:45.4169 u TRx dataTimestamp_ set to:1749132946.625113 PDAT read: Bearing 142.4, 7.1 (Local)  ~Local bearing/azimuth received: Bearing 142.4, 7.1 (Local)  DAT read: Range 10 to 50 : 126.9 m (trip time 84.6 ms) speed -0.4  DAT read: 14:15:45.4169 LVL= 17680, 22241, 21666, 28243, AGC= 62, IDX= 506, 0.44,-0.718, 0.254,-2.127,-0.970, PHS= 0.341, 1.271,-1.159, RAW= 7.7, -4.3, CAL= 7.6, -7.1, ROT= 142.4, 7.1 1 = Ygot valid direction response: 14:15:45.4169 LVL= 17680, 22241, 21666, 28243, AGC= 62, IDX= 506, 0.44,-0.718, 0.254,-2.127,-0.970, PHS= 0.341, 1.271,-1.159, RAW= 7.7, -4.3, CAL= 7.6, -7.1, ROT= 142.4, 7.1 = T#Rx 64: Read range and direction messages.E `direction in FSK: [-0.786214,0.605467,-0.123601]E Fpublishing direction and range infoi ym #(鿰Cn_?A7Xm BYi m EEQ EQ EQ EU R0EQ )m VIm Tim Sni m >m !?m Z m >)m `Im >im m @m = i )i m F4ؿ)X;@im Fm )=m @m = i )i  checking for new query: numPingsReceived=64, elapsed TxPingTime=16.195148Y 6Gu~GQAYAiNu?,i,7ĴiA9^b>^?>Y^I6y^<>^H m?Rܿcc? ?@U]?пEF?G?@? ^b>^;)^C checking for new query: numPingsReceived=64, elapsed TxPingTime=16.403254h|B:II Ib3< %3=y-A;Q ->٥)) 5H5F5R= 5>9[5=VE?[59= tII=By>@=BQEi=<=7<=W[5F1A[EAZqbuiAuBuBu<@ʁuOX0S@%!&/u#(鿰Cn_?A7Xu@u=ҁu^ .8@x > @uRgUhd!;ߐ?$.=?zuwAu<juѬT?rut uBu0𻼜?u#  uCBuBut;@ addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 0.503426 s, deltaX: 0.300003 m, approachRate: 0.595923 m/s, rangeRepo size: 4 5 Added new target pos. range: 126.005547 m, bearing: 168.931109 deg, lat: 36.906100 deg, lon: -122.116015 deg, deltaT: 0.503426 s, deltaX: 0.297890 m, approachRate: 0.591725 m/s, posRepo size: 4 15FNOT Ignoring new targets: 126.01 m.99au ProNav: ac range: 126.005547 m, nav range: 125.893829 m, bearing: 168.010683 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 163.819191 deg, new cmd heading: 164.096226 deg. q}HeadingCmd: 2.864019 target range: 126.005547 and range: 126.90 m.b}L7@ZyryjyRyJB~~}|||_@|@? EzBEL=2=IA)E?AIEU#< AIMz;Md~!@QQiUL7@iQM DDAT read: Rx Time:14:15:45.9170 U TRx dataTimestamp_ set to:1749132947.128884m PDAT read: Bearing 141.0, 8.2 (Local) u ~Local bearing/azimuth received: Bearing 141.0, 8.2 (Local)  DAT read: Range 10 to 50 : 127.1 m (trip time 84.7 ms) speed -0.7  DAT read: 14:15:45.9170 LVL= 13296, 20129, 15730, 21683, AGC= 60, IDX= 507,-0.05,-1.250,-0.354,-2.684,-1.560, PHS= 0.398, 1.253,-1.127, RAW= 9.2, -5.1, CAL= 9.0, -8.2, ROT= 141.0, 8.2  Ygot valid direction response: 14:15:45.9170 LVL= 13296, 20129, 15730, 21683, AGC= 60, IDX= 507,-0.05,-1.250,-0.354,-2.684,-1.560, PHS= 0.398, 1.253,-1.127, RAW= 9.2, -5.1, CAL= 9.0, -8.2, ROT= 141.0, 8.2 E E E E P0E U T#Rx 65: Read range and direction messages.] `direction in FSK: [-0.769201,0.622886,-0.142629]] Fpublishing direction and range infoI yM ;oJ=Yc?x0A¿M 3BYI M 3)M NIM r=iM TM <M >M Nb?M A M l$>ԑ )M KIM | >iM CM @M C> I )I M fֿE5x}h5iM zuM 8=M @M C> I )I  checking for new query: numPingsReceived=65, elapsed TxPingTime=16.706097:J ZBJ ZJJ ?RJ ZJ 9bJ S9J ـ4J 6G~GAAN>4i,)>ԤiA9N S>NP>YN:FyN؋>NHS?Eݿ?{??`sϿu? B? ? N S>Nv\;)NC HZ<HZ<H^Ӽ>H^CH^XIH^|BH^ =H\H\H^<H^Ezx|BzDIchecking for new query: numPingsReceived=65, elapsed TxPingTime=16.906298Mb@Mb@Mb@ )Ykt?V-/$y 0?m=A )I@y@IEIE#3< =yF;Q >٥ HF%[5a?%[59 IBy%0?%:%>%@HQEio::O\[55]B51A5XEZb?ȤiAgBgB&<@ʁ$DX+YS@d2;oJ=Yc?x0A¿@C>ҁf^l0#8@B?e7cgs0X{? ??zAjYڜ?r" 4BYڜ?"  B_B<@!E addTargetRange:: Added new target pos. range: 127.099998 m, deltaT: 0.503771 s, deltaX: 0.199997 m, approachRate: 0.397000 m/s, rangeRepo size: 4  Added new target pos. range: 126.202393 m, bearing: 168.971314 deg, lat: 36.906097 deg, lon: -122.116035 deg, deltaT: 0.503771 s, deltaX: 0.196846 m, approachRate: 0.390745 m/s, posRepo size: 4 K P"K9*K2K:K|SxOQjEx+Ob==Hx)i!nIhHrFNOT Ignoring new targets: 126.20 m. ProNav: ac range: 126.202393 m, nav range: 126.186836 m, bearing: 168.971153 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 164.096224 deg, new cmd heading: 164.365361 deg. -HeadingCmd: 2.868717 target range: 126.202393 and range: 127.10 m.b-7@Z)r)j1R1J1B1~1~=E{B}9|9|9|=`f_@|E,? IzB靍:=I) ?I%,< i۵ Y۵ ;۵ >۵ X9?۵ M ܵ d>)ܵ Iܵ f_>iܵ 'g ܵ ǖ@ܵ 'g > ݱ )ݱ ݵ vCfҿH^vC 8iݵ ￉ݵ =ݵ ǖ@ݵ 'g > ޱ )ޱ ] checking for new query: numPingsReceived=66, elapsed TxPingTime=17.214624y IM C=IM =6GM ȹ~GA)A9NE>h;i,,iA(9VI>V+?YVUyV >VHA0?\??`'?Ϳ`?{?? VI>Vc;)VCr|BrQI va=vp=I IV2%_= %T=y-ۇ٥ii mHqu> u>y[5}Hv?[59}3 I}By>@}MQEi}<}Ŵ<}_[5150A5UEZb@iABB<@ʁŵWbZ%*U@R+1_d:k? M _ǖ@'g >ҁs],_px{8@ >C@E_￶ej?Yf-?zA jP?r5 B B%<@ addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 0.504493 s, deltaX: 0.300003 m, approachRate: 0.594662 m/s, rangeRepo size: 4  Added new target pos. range: 126.500282 m, bearing: 168.833510 deg, lat: 36.906097 deg, lon: -122.116035 deg, deltaT: 0.504493 s, deltaX: 0.297890 m, approachRate: 0.590473 m/s, posRepo size: 4  checking for new query: numPingsReceived=66, elapsed TxPingTime=17.410263!%FNOT Ignoring new targets: 126.50 m.))= ProNav: ac range: 126.500282 m, nav range: 126.399445 m, bearing: 169.048229 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 164.365360 deg, new cmd heading: 164.596799 deg. 9eHeadingCmd: 2.872756 target range: 126.500282 and range: 127.40 m.be<7@ZarajaRaJiBi~i~i}q|q|q|u_@|u?ԁ mKzBmO[=Iq)u?qIu\2< qg;z,@i<7@iAEYEYEaEaEiQ  DDAT read: Rx Time:14:15:46.9173  TRx dataTimestamp_ set to:1749132948.136064 PDAT read: Bearing 135.5, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 135.5, 8.8 (Local)  DAT read: Range 10 to 50 : 127.5 m (trip time 85.0 ms) speed -0.4 } DAT read: 14:15:46.9173 LVL= 19296, 22721, 20978, 25123, AGC= 63, IDX= 509,-0.10,-1.841,-1.156, 2.815,-2.300, PHS= 0.547, 1.191,-1.172, RAW= 14.7, -5.4, CAL= 14.5, -8.8, ROT= 135.5, 8.8  Ygot valid direction response: 14:15:46.9173 LVL= 19296, 22721, 20978, 25123, AGC= 63, IDX= 509,-0.10,-1.841,-1.156, 2.815,-2.300, PHS= 0.547, 1.191,-1.172, RAW= 14.7, -5.4, CAL= 14.5, -8.8, ROT= 135.5, 8.8  T#Rx 67: Read range and direction messages. `direction in FSK: [-0.704854,0.692658,-0.152986] Fpublishing direction and range info y O**濧B*?8C ÿ BY `K) XI Qi #b ? 1 ? r? 6G G\>) I >i nF Z@ nF> )  {п%\ +"㛼i 4뿉 != Z@ nF> )  checking for new query: numPingsReceived=67, elapsed TxPingTime=17.720142~G A A N >3Ci,vk iA:J:[BJ:]JJ:>RJ8ZJ::bJ:_9J:t4J8D9Uʿ>U-?YU%yUX>UH@?@c@O~?؛??M̿i?x?? Uʿ>UE;)Qm|Bm_IMb@Mb@Mb@ )YV-? ףp= Qy-?Q8uA @)v@I@y @IeIe2/= #=yC;Q >٥ HFZa= >Ա[5?[59 IBy-?:L?@RQEi$;;d[5Z0AH̼>HH_IH|BH =HH,DH<HEZIbMFiAM2BM2BM;@ʁM ? NV~ϢU@l!^3MO**濧B*?8C ÿMZ@MnF>ҁM ^5g9@Q @Mp_Q￰U4 ?x47?zMAMjM52Ƽ?rM*& MLBMP?M5  MLBMTBM<@ addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 0.502687 s, deltaX: 0.099998 m, approachRate: 0.198928 m/s, rangeRepo size: 4  Added new target pos. range: 126.598015 m, bearing: 168.252613 deg, lat: 36.906098 deg, lon: -122.116030 deg, deltaT: 0.502687 s, deltaX: 0.097733 m, approachRate: 0.194420 m/s, posRepo size: 4 FNOT Ignoring new targets: 126.60 m.5 ProNav: ac range: 126.598015 m, nav range: 126.665924 m, bearing: 168.934095 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 164.596795 deg, new cmd heading: 164.881800 deg. 1=HeadingCmd: 2.877730 target range: 126.598015 and range: 127.50 m.b=,8@Z9r9j9RAJABAmchecking for new query: numPingsReceived=67, elapsed TxPingTime=17.914280~q~uR{B}y|y|y|}_@|}4? PzB靥C=I)?Iv;< ;SZ3@i,8@iEEEEEK P"K 9 *K 2K :K m"kstvp|z7bz71!9PjnU | f  X pzhh(M @J= ?J= >% DDAT read: Rx Time:14:15:47.4176 - TRx dataTimestamp_ set to:1749132948.6401565 PDAT read: Bearing 133.2, 9.3 (Local) 9 E ~Local bearing/azimuth received: Bearing 133.2, 9.3 (Local)  DAT read: Range 10 to 50 : 128.0 m (trip time 85.3 ms) speed -0.3 EDAT read: 14:15:47.4176 LVL= 17616, 18737, 20594, 23091, AGC= 62, IDX= 511, 0.37,-0.819,-0.233,-2.501,-1.337, PHS= 0.606, 1.151,-1.167, RAW= 17.0, -5.7, CAL= 16.8, -9.3, ROT= 133.2, 9.3 MYgot valid direction response: 14:15:47.4176 LVL= 17616, 18737, 20594, 23091, AGC= 62, IDX= 511, 0.37,-0.819,-0.233,-2.501,-1.337, PHS= 0.606, 1.151,-1.167, RAW= 17.0, -5.7, CAL= 16.8, -9.3, ROT= 133.2, 9.3 MT#Rx 68: Read range and direction messages.6GU`direction in FSK: [-0.675549,0.719387,-0.161604]Fpublishing direction and range info! y% ˙eBh7?oĿ% CY! % D)% 1II% rPi% 3Z% >% "?% S?% B` % >)% %˽I% Q >i% 6&% ,@% 6&> ! )! % "H̿$-z8Pi% 濉% =% ,@% 6&> ! )! checking for new query: numPingsReceived=68, elapsed TxPingTime=18.219307~G1AQAqN?Ji,#.iAhm|BmhII} I}(2< '=yQ >٥ HF >M[5?M[59f I ByIIM@WQEig<:Th[5Y]0A]PEZbQ(iA0B0BW9@ʁ2vU}nƻV@ܱ4˙eBh7?oĿ,@6&>ҁvd^z>@A @|JPj!&?xK^5?z&Axjo?rkt^ B BBn<@m addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 0.504092 s, deltaX: 0.500000 m, approachRate: 0.991882 m/s, rangeRepo size: 4  Added new target pos. range: 127.094482 m, bearing: 165.926707 deg, lat: 36.906098 deg, lon: -122.116030 deg, deltaT: 0.504092 s, deltaX: 0.496468 m, approachRate: 0.984875 m/s, posRepo size: 4 FNOT Ignoring new targets: 127.09 m. ProNav: ac range: 127.094482 m, nav range: 126.913857 m, bearing: 169.031747 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 164.881805 deg, new cmd heading: 165.175346 deg. HeadingCmd: 2.882854 target range: 127.094482 and range: 128.00 m.b8@ZrjRJB~~}||!|%`@|%?Mchecking for new query: numPingsReceived=68, elapsed TxPingTime=18.420246 UzB靕mJ=I)?I{E< ;w7@i8@i1E G EE E E E ܿY y AF F =Y  DDAT read: Rx Time:14:15:47.9176  TRx dataTimestamp_ set to:1749132949.144471 PDAT read: Bearing 116.4, -5.7 (Local)  ~Local bearing/azimuth received: Bearing 116.4, -5.7 (Local)  DAT read: Range 10 to 50 : 128.0 m (trip time 85.3 ms) speed -0.4 = DAT read: 14:15:47.9176 LVL= 16944, 18209, 22034, 21571, AGC= 58, IDX= 512,-0.31,-0.182,-0.301,-1.774,-0.595, PHS= 0.501, 0.341,-1.182, RAW= 34.9, 4.3, CAL= 33.6, 5.7, ROT= 116.4, -5.7 E Ygot valid direction response: 14:15:47.9176 LVL= 16944, 18209, 22034, 21571, AGC= 58, IDX= 512,-0.31,-0.182,-0.301,-1.774,-0.595, PHS= 0.501, 0.341,-1.182, RAW= 34.9, 4.3, CAL= 33.6, 5.7, ROT= 116.4, -5.7 E T#Rx 69: Read range and direction messages.M ^direction in FSK: [-0.442437,0.891283,0.099320]U Fpublishing direction and range info y <#1PܿQc?hܸm? Y 0B) !GI Vi CT : A? > K I?) `=I Q ?i %= "@ %˽ ) +c:?f" /&*?i e c "@ %˽ ) } checking for new query: numPingsReceived=69, elapsed TxPingTime=18.687994ԁ 6Gȹ~GYAqAN|Si,NiA9Z >ZS#?YZ)yZOf>ZH?k\? ?_?"k˿`os?K?? Z >Z;)ZCz|B~pI!Mb@Mb@Mb@ )Y rh?{GzI +yC+?#94A )`@Iv@yz@IEIEF3])< ]=y]&٥aa eHeFm-= u>GG?AHռ>HHqIH|BH =HH-DHD<HhE[5;?[59) IBy+?:?@]QEi::m[5/AMEZb?IiA1B1Bd,@ʁ)kLN&Q\@ ?)@<#1PܿQc?hܸm?"@%˽ҁV/[!'I@xcD@Q#ϐ]M뿈?s?zNBj%Xkœ?r]: B52Ƽ?*&  LBB-<@ addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 0.504315 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 127.096085 m, bearing: 154.592265 deg, lat: 36.906101 deg, lon: -122.116014 deg, deltaT: 0.504315 s, deltaX: 0.001602 m, approachRate: 0.003177 m/s, posRepo size: 4 FNOT Ignoring new targets: 127.10 m. checking for new query: numPingsReceived=69, elapsed TxPingTime=18.922640= ProNav: ac range: 127.096085 m, nav range: 127.049614 m, bearing: 168.466665 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 165.175353 deg, new cmd heading: 165.479383 deg. 9EHeadingCmd: 2.888160 target range: 127.096085 and range: 128.00 m.bE8@ZArAjARAJABi~q~u{B}y|y||| q? UZzBUH=IQ)U?QIUgO< YY]+;ey:@i8@izEԉE-?E)E)E5a5E1K P"K *K 2K :K I]?Oe<_r&9Cz ECN1A5XG0PFR Awpԩ 6G  DDAT read: Rx Time:14:15:48.4178  TRx dataTimestamp_ set to:1749132949.649454 PDAT read: Bearing 125.8, 10.9 (Local)  ~Local bearing/azimuth received: Bearing 125.8, 10.9 (Local)  DAT read: Range 10 to 50 : 128.3 m (trip time 85.5 ms) speed -0.4 - DAT read: 14:15:48.4178 LVL= 13696, 13345, 15490, 15859, AGC= 60, IDX= 2,-0.08,-0.989,-0.702,-2.804,-1.678, PHS= 0.777, 1.023,-1.129, RAW= 24.0, -6.6, CAL= 24.2, -10.9, ROT= 125.8, 10.9 ~GY Aa Aq N} >>Zi,jiA,2Ygot valid direction response: 14:15:48.4178 LVL= 13696, 13345, 15490, 15859, AGC= 60, IDX= 2,-0.08,-0.989,-0.702,-2.804,-1.678, PHS= 0.777, 1.023,-1.129, RAW= 24.0, -6.6, CAL= 24.2, -10.9, ROT= 125.8, 10.9 6T#Rx 70: Read range and direction messages.^`direction in FSK: [-0.574404,0.796431,-0.189095]^Fpublishing direction and range infoy Zavg]|?oG4ȿLCY 5)!4I<i=<yF?? Pw>)I@>iB @B> )Ҥ&č%~q;Fisֿ= @B> )9x>`G*?Y{y>H-? 4??cH?hʿa? ?H? x>/;)Cchecking for new query: numPingsReceived=70, elapsed TxPingTime=19.233536I4=I:J ^BJ JJ FRJ ZJ } :bJ J 4J zJ `:-jJ e:-J h:5rJ i:5ԁԱ|BIchecking for new query: numPingsReceived=70, elapsed TxPingTime=19.426332II3f=  =y;Q >٥ HF ;=  >[5ҁVz^6;dkB@Gp @#Q4 ?%= ?z\Bj~T?r Bo?kt^  B9@=  addTargetRange:: Added new target pos. range: 128.300003 m, deltaT: 0.504983 s, deltaX: 0.300003 m, approachRate: 0.594085 m/s, rangeRepo size: 4 i   Added new target pos. range: 127.393967 m, bearing: 163.185394 deg, lat: 36.906110 deg, lon: -122.115954 deg, deltaT: 0.504983 s, deltaX: 0.297882 m, approachRate: 0.589885 m/s, posRepo size: 4   FNOT Ignoring new targets: 127.39 m.    ProNav: ac range: 127.393967 m, nav range: 127.550056 m, bearing: 166.178912 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 165.479378 deg, new cmd heading: 165.823889 deg.   HeadingCmd: 2.894173 target range: 127.393967 and range: 128.30 m.b !:9@Z r j R J B ~ ~ } | | | `@| Hj?  azB JF=I )% B ?! I% \< ! ! % 0;- dB:@) ) i- !:9@i1 E ?E E E `0E ԁDDAT read: Rx Time:14:15:48.9178 TRx dataTimestamp_ set to:1749132950.152488PDAT read: Bearing 121.7, 12.3 (Local) ~Local bearing/azimuth received: Bearing 121.7, 12.3 (Local) DAT read: Range 10 to 50 : 128.3 m (trip time 85.5 ms) speed -0.4 DAT read: 14:15:48.9178 LVL= 15856, 17265, 16370, 23139, AGC= 56, IDX= 498, 0.07,-0.075, 0.062,-1.987,-0.875, PHS= 0.887, 0.984,-1.115, RAW= 27.7, -7.4, CAL= 28.3, -12.3, ROT= 121.7, 12.3  Ygot valid direction response: 14:15:48.9178 LVL= 15856, 17265, 16370, 23139, AGC= 56, IDX= 498, 0.07,-0.075, 0.062,-1.987,-0.875, PHS= 0.887, 0.984,-1.115, RAW= 27.7, -7.4, CAL= 28.3, -12.3, ROT= 121.7, 12.3  T#Rx 71: Read range and direction messages.`direction in FSK: [-0.513410,0.831281,-0.213030]Fpublishing direction and range infoڱyڵs-mp(ۙ?AzUmD˿ڱYڱ ۵=)۵qCI۵?i۵cZ۵8۵oc?۵m{?۵R ܵ>)ܵ AIܵ'>iܵ[ܵ@ܵ[> ݱ)ݱݵKȤ#] iݵMοݵ1>ݵ@ݵ[> ޱ)ޱ5checking for new query: numPingsReceived=71, elapsed TxPingTime=19.695639Ա6GȹjG>bG>~GAA N ?di,iiA^H?`_ ??Z??)ȿuBW`?? ^?^!;)\idfA)d dId h)jpAnĻll i I  I i  ) SA\VAIO)i)!I!!A AMCM݃AIiIIٯI]|BeIHܼ>HCHIH|BHHHH <HEMb@Mb@Mb@ )YK7?S㥛:vyI,?/ݼTA )Iyp@I I 3Uchecking for new query: numPingsReceived=71, elapsed TxPingTime=19.932362uG< u(=y;Q >٥ H= > 5[5 ?5[59 { I By=u,?=:=/?=@ iQEi J; ; pv[5AE*/AEGEZb]‰iABBF5@ʁ9ZPQŶyZ@#;s-mp(ۙ?AzUmD˿@[>ҁv24GP^OeC@PjXV?tvuuB&n?`.H+?z;Bjr ?rW5v B~T?  BBk6@E addTargetRange:: Added new target pos. range: 128.300003 m, deltaT: 0.503034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 127.395844 m, bearing: 162.145490 deg, lat: 36.906127 deg, lon: -122.115883 deg, deltaT: 0.503034 s, deltaX: 0.001877 m, approachRate: 0.003731 m/s, posRepo size: 4 FNOT Ignoring new targets: 127.40 m.  ProNav: ac range: 127.395844 m, nav range: 127.537987 m, bearing: 163.309055 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 165.823893 deg, new cmd heading: 166.113377 deg.  UHeadingCmd: 2.899225 target range: 127.395844 and range: 128.30 m.b]9@ZrjRJB~~l{B}||||-t? gzB]=I)"?I=*7g< 99=;_;E9@AAiM9@iI&]TFailed to parse incomplete device message.E E E E _0E  DDAT read: Rx Time:14:15:49.4181  TRx dataTimestamp_ set to:1749132950.656080 PDAT read: Bearing 116.1, 13.8 (Local)  ~Local bearing/azimuth received: Bearing 116.1, 13.8 (Local)  DAT read: Range 10 to 50 : 128.7 m (trip time 85.8 ms) speed -0.4 E DAT read: 14:15:49.4181 LVL= 16144, 14449, 17202, 24451, AGC= 56, IDX= 500, 0.34, 2.054, 2.000, 0.065, 1.139, PHS= 1.003, 0.908,-1.077, RAW= 32.3, -8.3, CAL= 33.9, -13.8, ROT= 116.1, 13.8 I M Ygot valid direction response: 14:15:49.4181 LVL= 16144, 14449, 17202, 24451, AGC= 56, IDX= 500, 0.34, 2.054, 2.000, 0.065, 1.139, PHS= 1.003, 0.908,-1.077, RAW= 32.3, -8.3, CAL= 33.9, -13.8, ROT= 116.1, 13.8 U T#Rx 72: Read range and direction messages.] `direction in FSK: [-0.427240,0.872105,-0.238533]] Fpublishing direction and range info y WۿwI?iCο CY ?) q8I 2Ci _ Nb? rh? #ۉ ZQ?) VI ww?i Ϣv X@ Ϣv> ) xGj~?2;s\¿i .ÿ fh> X@ Ϣv> ) } checking for new query: numPingsReceived=72, elapsed TxPingTime=20.199745I I :J _BJ UJJ IRJ ZJ :bJ >9J F4J zJ ,:jJ 1:J }Q:rJ Q:y6G~GAAN?tli,?iA }BII Ib3&Q= ,=yQ >٥ HF% %>checking for new query: numPingsReceived=72, elapsed TxPingTime=20.436514[5{?[59u IBy@nQEi:u:z[59=.A9Zb7iABBF.@ʁX_\LK3[@{>WۿwI?iCοX@Ϣv>ҁ1VVN]ZS?nI@9dpUE%[Dx?,#qzqKBwj#adp?r9 zBr ?W5v  Bꁥ'BC5@ addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 0.503592 s, deltaX: 0.399994 m, approachRate: 0.794282 m/s, rangeRepo size: 4  Added new target pos. range: 127.793022 m, bearing: 156.546711 deg, lat: 36.906136 deg, lon: -122.115855 deg, deltaT: 0.503592 s, deltaX: 0.397179 m, approachRate: 0.788691 m/s, posRepo size: 4 FNOT Ignoring new targets: 127.79 m. ProNav: ac range: 127.793022 m, nav range: 127.577942 m, bearing: 162.276023 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 166.113370 deg, new cmd heading: 166.455607 deg. HeadingCmd: 2.905198 target range: 127.793022 and range: 128.70 m.b9@!Z9r9jARAJABA~I~I}I|I|I|U`f`@|U`?  mzB% ]=I! )% ('?! I% jr< ! ) - ܮ;- 9@1 1 i5 9@i1 bEA ZEA  DDAT read: Rx Time:14:15:49.9181  TRx dataTimestamp_ set to:1749132951.160884 PDAT read: Bearing 109.5, 13.7 (Local)  ~Local bearing/azimuth received: Bearing 109.5, 13.7 (Local)  DAT read: Range 10 to 50 : 128.7 m (trip time 85.8 ms) speed -0.4  DAT read: 14:15:49.9181 LVL= 14208, 12273, 14834, 18211, AGC= 58, IDX= 501,-0.26,-0.300,-0.587,-2.407,-1.326, PHS= 1.115, 0.786,-1.084, RAW= 38.0, -8.0, CAL= 40.5, -13.7, ROT= 109.5, 13.7  Ygot valid direction response: 14:15:49.9181 LVL= 14208, 12273, 14834, 18211, AGC= 58, IDX= 501,-0.26,-0.300,-0.587,-2.407,-1.326, PHS= 1.115, 0.786,-1.084, RAW= 38.0, -8.0, CAL= 40.5, -13.7, ROT= 109.5, 13.7  T#Rx 73: Read range and direction messages. `direction in FSK: [-0.324310,0.915823,-0.236838] Fpublishing direction and range infoځ yڅ /w}ԿjN?4ӋHPοځ Yځ ۅ 7)ۅ /Iۅ 9iۅ #Gۅ :ۅ R?ۅ L7I?ۅ ܅ )?)܅ 5I܅ 4?i܅ Gt܅ ?܅ Gt> ݁ )݁ ݅ Lc?1aKyi݅ @݅ >݅ ?݅ Gt> ށ )ށ  checking for new query: numPingsReceived=73, elapsed TxPingTime=20.705667I Ey Ey E E P0E ԁ6GZGRG~GQAY Hu<Hu<H}>HyH}IH} }BH} =HyH}.DH}<H}(EH=ЖCH=ЖCH9H= =I= = I=b6AN ?/ui,K<ץiA9b?b,N?Yb${;yb<>bH+? 0MN?`?@^?`_ǿaOpO?? b?b;)bC|}checking for new query: numPingsReceived=73, elapsed TxPingTime=20.938448}BI%Mb@Mb@Mb@!!! !)!Y%|?5^? rh rhy%-?%C%C% A !)%v@I%3@!y%@I]I]M3}< } =y;Q >٥ HF> >[5{?[59n IBy-?:)%I?M@tQEi s<t<[5.ACEZYb]KʥiAYY]G6-@ʁ]zD^WTB]@X5D>]/w}ԿjN?4ӋHPο]?]Gt>ҁ]\ J@kʝx@]-t\*?PRH|?z]pWB]j]#T?r]w ]B]#adp?]]:  ]B]B]N /@e addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 0.504804 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 127.793800 m, bearing: 155.067460 deg, lat: 36.906174 deg, lon: -122.115720 deg, deltaT: 0.504804 s, deltaX: 0.000778 m, approachRate: 0.001542 m/s, posRepo size: 4 FNOT Ignoring new targets: 127.79 m.&TFailed to parse incomplete device message. ProNav: ac range: 127.793800 m, nav range: 127.924179 m, bearing: 156.704185 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 166.455603 deg, new cmd heading: 166.758567 deg. HeadingCmd: 2.910486 target range: 127.793800 and range: 128.70 m.bgE:@ZrjRJB~~Q{B}||||@?Q szB靅Ug=I)(?I}< ;gE:@igE:@i) - A= DDAT read: Rx Time:14:15:50.4182 = TRx dataTimestamp_ set to:1749132951.664972E PDAT read: Bearing 106.7, 15.4 (Local) M ~Local bearing/azimuth received: Bearing 106.7, 15.4 (Local) ] DAT read: Range 10 to 50 : 128.9 m (trip time 85.9 ms) speed -0.4 Ee ?Ea Ea Ea Ea  DAT read: 14:15:50.4182 LVL= 16880, 15713, 16786, 24003, AGC= 58, IDX= 502,-0.04, 0.260,-0.094,-1.832,-0.816, PHS= 1.164, 0.769,-1.018, RAW= 39.8, -9.1, CAL= 43.3, -15.4, ROT= 106.7, 15.4  Ygot valid direction response: 14:15:50.4182 LVL= 16880, 15713, 16786, 24003, AGC= 58, IDX= 502,-0.04, 0.260,-0.094,-1.832,-0.816, PHS= 1.164, 0.769,-1.018, RAW= 39.8, -9.1, CAL= 43.3, -15.4, ROT= 106.7, 15.4  T#Rx 74: Read range and direction messages.y  `direction in FSK: [-0.277043,0.923432,-0.265556] Fpublishing direction and range info9 y=  WѿKq?<п= CY9 = A)= a=I= Ai= ]9 = ?= /D?= M = 1?)= "I= \wA?i= = ^?= > 9 )9 = w?H(H"T1Դ_MĿi= h6= U#>= ^?= > 9 )9  checking for new query: numPingsReceived=74, elapsed TxPingTime=21.242188:J ]BJ XJJ NRJ ZJ ]:bJ 5K9J |4J zJ :jJ :J f:rJ f:6GM ԩ ~G A!A1N=>5|i,jiA9Z&L?ZʙU?YZڗ;yZq>ZH`~? S@.0?6??`fƿQr`2j?? Z&L?ZfƋ;)ZCv}BvII~I~2-E -Q=y-:Q 5>٥11 5H5F== =>[5,?[59i IBy-Q?@xQEiS::[5.AZbiABB+@ʁZ8ͺA=iN]@e؜@ WѿKq?<пchecking for new query: numPingsReceived=74, elapsed TxPingTime=21.442356ԩ^?>ҁ W\ )L@ǥbؿ4L\쿫v0*?pi,chzNaBjVW?rF {B9  BꁅC.)/@5 addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 0.504088 s, deltaX: 0.199997 m, approachRate: 0.396750 m/s, rangeRepo size: 4 E Added new target pos. range: 127.992386 m, bearing: 153.891202 deg, lat: 36.906174 deg, lon: -122.115720 deg, deltaT: 0.504088 s, deltaX: 0.198586 m, approachRate: 0.393950 m/s, posRepo size: 4 IMFNOT Ignoring new targets: 127.99 m.QQ ProNav: ac range: 127.992386 m, nav range: 128.017715 m, bearing: 156.812156 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 166.758563 deg, new cmd heading: 166.963170 deg. HeadingCmd: 2.914057 target range: 127.992386 and range: 128.90 m.b:@ZrjRJB~~}|||`@| ]? =xzB=X=I9)=%?9IEং< AAE a;M:@IIim:@iyԑE?EEEV0EԱ ] DDAT read: Rx Time:14:15:50.9182 ] TRx dataTimestamp_ set to:1749132952.168215e PDAT read: Bearing 102.0, 17.7 (Local) m ~Local bearing/azimuth received: Bearing 102.0, 17.7 (Local) } DAT read: Range 10 to 50 : 128.9 m (trip time 85.9 ms) speed -0.4  DAT read: 14:15:50.9182 LVL= 15408, 15009, 16226, 18995, AGC= 59, IDX= 502, 0.17, 1.234, 0.732,-1.002,-0.006, PHS= 1.328, 0.786,-0.999, RAW= 42.9, -10.6, CAL= 48.0, -17.7, ROT= 102.0, 17.7  Ygot valid direction response: 14:15:50.9182 LVL= 15408, 15009, 16226, 18995, AGC= 59, IDX= 502, 0.17, 1.234, 0.732,-1.002,-0.006, PHS= 1.328, 0.786,-0.999, RAW= 42.9, -10.6, CAL= 48.0, -17.7, ROT= 102.0, 17.7  T#Rx 75: Read range and direction messages. `direction in FSK: [-0.198070,0.931844,-0.304033] Fpublishing direction and range infoY y] lWZɿ؂?z0GuӿY YY ] 0<)] :I] b?i] 3J] ;] ?] L7I?] w ] ֭??)] q=I] PwV?i] 2+] ?] 2+> Y )Y ] :?,u/ǿi] T] :=>] ?] 2+> Y )Y  checking for new query: numPingsReceived=75, elapsed TxPingTime=21.7129546G ~G A A N >2i,iA9>%$?>\?Y>;y>(>>H+?`dF?P??`ſpug.?)? >%$?>ԥ;)>CF}BJI N=LP]Mb@Mb@Mb@YYY Y)YY]kt?S㥛~jty] 0?]/ݼ]ļ]&A ]@)YI]I@Yy]@IIң< 6=y#:Q >٥ H́= >[5#>?[59c IBy^0?:U?@}QEi;,:[5!%.A%@EZb iA (@ʁY9\X3D5]@UtClWZɿ؂?z0Guӿ?2+>ҁ0ł]k[rLRO@XREvɆ?`f*#SzxB{ju?rh gB#T?w  {BꁥB{-@ addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 0.503243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 H>HCHIH)}BH =HH/DH><HwEU Added new target pos. range: 127.992386 m, bearing: 150.901641 deg, lat: 36.906189 deg, lon: -122.115683 deg, deltaT: 0.503243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 Y]FNOT Ignoring new targets: 127.99 m.   ProNav: ac range: 127.992386 m, nav range: 127.940964 m, bearing: 155.311213 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 166.963168 deg, new cmd heading: 167.217385 deg. EHeadingCmd: 2.918494 target range: 127.992386 and range: 128.90 m.bE:@ZArAjARIJIBI~I~U{B}Q|Q|Q|Q|]GR?checking for new query: numPingsReceived=75, elapsed TxPingTime=21.946291 ~zB|t=I ) &? I bl<   ;:@i:@i9E?EEES0E! K= @%P"K= 9*K9 2K= :K= |{HG~;}[3L^G u Ay5}1&o1Q6Gu jG} ?bG} >~G9 Q Aa  DDAT read: Rx Time:14:15:51.4185  TRx dataTimestamp_ set to:1749132952.673805 PDAT read: Bearing 98.7, 17.2 (Local)  ~Local bearing/azimuth received: Bearing 98.7, 17.2 (Local)  DAT read: Range 10 to 50 : 129.3 m (trip time 86.2 ms) speed -0.3 A N>i,O#,iADAT read: 14:15:51.4185 LVL= 15056, 15985, 15794, 20707, AGC= 60, IDX= 505,-0.45, 1.172, 0.554,-1.115,-0.113, PHS= 1.373, 0.714,-1.005, RAW= 45.6, -10.2, CAL= 51.3, -17.2, ROT= 98.7, 17.2 &Ygot valid direction response: 14:15:51.4185 LVL= 15056, 15985, 15794, 20707, AGC= 60, IDX= 505,-0.45, 1.172, 0.554,-1.115,-0.113, PHS= 1.373, 0.714,-1.005, RAW= 45.6, -10.2, CAL= 51.3, -17.2, ROT= 98.7, 17.2 &T#Rx 76: Read range and direction messages.*`direction in FSK: [-0.144496,0.944287,-0.295708]*Fpublishing direction and range info y `lt~¿r7?-ҿ LCY :) q>I =i P < w? 6? ף %K?) K6I 5e?i ` w? `> ) +?)tV.`ƿi {H B6> w? `> ) :checking for new query: numPingsReceived=76, elapsed TxPingTime=22.230757J٥ HF > E[5 3P?M[59 ] I ؒByIIM@ QEi Y< (j; [5u^B}.A}=EZ b +iA dC dC 9%@ʁ X*c2Qac(YO^@B `lt~¿r7?-ҿ w? `>ҁ o2G4$[8Q@@5g $#1?W6aOz ܈B !j gœ?r NR  emB VW? F  zB *C 2,@E addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 0.505590 s, deltaX: 0.400009 m, approachRate: 0.791173 m/s, rangeRepo size: 4 } Added new target pos. range: 128.393005 m, bearing: 147.775910 deg, lat: 36.906199 deg, lon: -122.115654 deg, deltaT: 0.505590 s, deltaX: 0.400620 m, approachRate: 0.792380 m/s, posRepo size: 4 y}FNOT Ignoring new targets: 128.39 m. ProNav: ac range: 128.393005 m, nav range: 128.166855 m, bearing: 154.160106 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 167.217388 deg, new cmd heading: 167.493494 deg. HeadingCmd: 2.923313 target range: 128.393005 and range: 129.30 m.b;@ZrjRJB~~}|||)`@|`E? MzBM"v=IQ)Uc%?QIU< QQU;];@Yaie;@iaԱ%checking for new query: numPingsReceived=76, elapsed TxPingTime=22.450258E=?E9E9EEY0EA6G  ~Gy A A N >xi,wFiA9v3?v\k?Yve;yvJ>vHf?BX?`Yr??ÿ@{9?@6? v3?v`;)vC}BI=DDAT read: Rx Time:14:15:51.9185 ETRx dataTimestamp_ set to:1749132953.176856MPDAT read: Bearing 97.6, 17.8 (Local) U~Local bearing/azimuth received: Bearing 97.6, 17.8 (Local) eDAT read: Range 10 to 50 : 129.3 m (trip time 86.2 ms) speed -0.4 DAT read: 14:15:51.9185 LVL= 16176, 17873, 18754, 22771, AGC= 60, IDX= 505,-0.15,-0.148,-0.785,-2.412,-1.441, PHS= 1.382, 0.704,-0.974, RAW= 46.2, -10.6, CAL= 52.4, -17.8, ROT= 97.6, 17.8 ԉYgot valid direction response: 14:15:51.9185 LVL= 16176, 17873, 18754, 22771, AGC= 60, IDX= 505,-0.15,-0.148,-0.785,-2.412,-1.441, PHS= 1.382, 0.704,-0.974, RAW= 46.2, -10.6, CAL= 52.4, -17.8, ROT= 97.6, 17.8 T#Rx 77: Read range and direction messages.`direction in FSK: [-0.125925,0.943765,-0.305695]Fpublishing direction and range infoAyEr]Q/JS3?ќӿAYA E0?)EEIEBIiEXAE`?EX94?EXy EplN?)Eq=IE j?iEE^ ?E> A)AEմE?5;4E3ǿiE[ͤECs=>E^ ?E> A)Achecking for new query: numPingsReceived=77, elapsed TxPingTime=22.721216Mb@Mb@Mb@ )YV-?&1 rhyh1?PC A @)`@I@y@IUIUF3쭼 +=yNH;Q >٥ HF= >[5b?[59)W I̒By2?:\?@QEi::*[5.AZAbEQKiAAAEz'@ʁE*0ogK^@AxCEr]Q/JS3?ќӿE^ ?E>ҁE`[)P@xʝQE^L=\mH?HzEBEjE~2 ?rE EfBEu?Eh  EemBECE(@Թ addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 0.503051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 128.393005 m, bearing: 149.934680 deg, lat: 36.906229 deg, lon: -122.115585 deg, deltaT: 0.503051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.39 m. ProNav: ac range: 128.393005 m, nav range: 128.020447 m, bearing: 151.183255 deg, approach rate: 0.000000 m/s, LOS rate: 0.194875 deg/s, cmd heading: 167.493492 deg, new cmd heading: 167.762850 deg. !%HeadingCmd: 2.928014 target range: 128.393005 and range: 129.30 m.b-d;@Z)r)j)R)J)B)~Q~]V{B}Y|Y|Y|Y|eN? zBo=I)&!?I"< Z;d;@id;@i GGAAH>HCHIH3}BH =HHH*<H]EE?EEEP0E checking for new query: numPingsReceived=77, elapsed TxPingTime=22.954351 6G ȹ~GAA!N->i,uWdiA9=S:?=r?Y='l;y=4>KpP"K9*K2K:Kml=eY"Qmh0,lV:he 3Tz=H ѫ?  `?? ?¿s} ?? =S:?=3;)=C}BIi=I4=AII(*3 ؼ U=y:Q >٥ HF= >!M[5%p?M[59%Q I%’ByQUc?U@%QEi%*;%d:%y[5Y].A]:EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 128.39 m.&;&; ProNav: ac range: 128.393005 m, nav range: 128.067322 m, bearing: 151.299060 deg, approach rate: 0.125428 m/s, LOS rate: 0.309755 deg/s, cmd heading: 167.762847 deg, new cmd heading: 168.110129 deg. T<5HeadingCmd: 2.934075 target range: 128.393005 and range: 129.30 m.b=;@Z9r9j9R9DDAT read: Rx Time:14:15:52.4188 TRx dataTimestamp_ set to:1749132953.683626PDAT read: Bearing 94.3, 18.6 (Local) ~Local bearing/azimuth received: Bearing 94.3, 18.6 (Local) DAT read: Range 10 to 50 : 129.8 m (trip time 86.5 ms) speed -0.3 J9B~~}||| DAT read: 14:15:52.4188 LVL= 15712, 17825, 16882, 21571, AGC= 58, IDX= 507, 0.02, 2.665, 1.916, 0.322, 1.282, PHS= 1.470, 0.681,-0.963, RAW= 48.5, -11.1, CAL= 55.7, -18.6, ROT= 94.3, 18.6 Ygot valid direction response: 14:15:52.4188 LVL= 15712, 17825, 16882, 21571, AGC= 58, IDX= 507, 0.02, 2.665, 1.916, 0.322, 1.282, PHS= 1.470, 0.681,-0.963, RAW= 48.5, -11.1, CAL= 55.7, -18.6, ROT= 94.3, 18.6 T#Rx 78: Read range and direction messages.9|?]`direction in FSK: [-0.071063,0.945101,-0.318959]]Fpublishing direction and range infoډyڍZ$'1<|ɉC>?ˬQiԿڍCYډ ۍ`=)ۍEIۍAiۍCTۍ:ۍ(?ۍV.?ۍ+v ܍8X?)܍aFI܍x?i܍6܍?܍6> ݉)݉ݍz?'O>JՊȿiݍ੟ݍ֏E>ݍ?ݍ6> މ)މ}checking for new query: numPingsReceived=78, elapsed TxPingTime=23.240765 zBbdz=I) ? I <  ;5;@99i=;@i9zEII5C=I1EEEE^0Eqԙ 6G % checking for new query: numPingsReceived=78, elapsed TxPingTime=23.459555~G A A N >͞i,~iA) rcGI!)%@ ]x߿Yaye"AԁԹ}BIMb@Mb@Mb@ )YʡE? rh+y/?CX A @)@I@y=@IIV83б< =yQ >٥ H >[5?[59J IBy0?:^?@QEi ;; [5]B.A8EZbkiACC%@ʁjQ"Ht^@0 q%-DZ$'1<|ɉC>?ˬQiԿ?6>ҁg| rf[0f;FP@1ժVei;5Qݿ?`V/z̆B3j oœ?rRZ ^B~2 ?  gBaC'@U addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 0.506770 s, deltaX: 0.500000 m, approachRate: 0.986641 m/s, rangeRepo size: 4 e Added new target pos. range: 128.890274 m, bearing: 148.410499 deg, lat: 36.906240 deg, lon: -122.115556 deg, deltaT: 0.506770 s, deltaX: 0.497269 m, approachRate: 0.981251 m/s, posRepo size: 4 amFNOT Ignoring new targets: 128.89 m.miDDAT read: Rx Time:14:15:52.9188 TRx dataTimestamp_ set to:1749132954.184052PDAT read: Bearing 94.9, 18.0 (Local) ~Local bearing/azimuth received: Bearing 94.9, 18.0 (Local) DAT read: Range 10 to 50 : 129.8 m (trip time 86.5 ms) speed -0.4 DAT read: 14:15:52.9188 LVL= 17840, 22433, 19058, 24627, AGC= 60, IDX= 507, 0.23, 1.694, 0.975,-0.590, 0.365, PHS= 1.418, 0.658,-0.958, RAW= 48.3, -10.6, CAL= 55.1, -18.0, ROT= 94.9, 18.0 %Ygot valid direction response: 14:15:52.9188 LVL= 17840, 22433, 19058, 24627, AGC= 60, IDX= 507, 0.23, 1.694, 0.975,-0.590, 0.365, PHS= 1.418, 0.658,-0.958, RAW= 48.3, -10.6, CAL= 55.1, -18.0, ROT= 94.9, 18.0 %T#Rx 79: Read range and direction messages.-`direction in FSK: [-0.081236,0.947581,-0.309017]-Fpublishing direction and range infoډyڍ-˴XTR?;[@ӿډYډ ۍE)ۍWIۍrJiۍ3`ۍ<ۍ?ۍr(?ۍ}?u ܍uW?)܍q=I܍m0v?i܍|٠܍6?܍|٠> ݉)݉ݍe! t?"ΉǿiݍJݍ\>>ݍ6?ݍ|٠> މ)މUchecking for new query: numPingsReceived=79, elapsed TxPingTime=23.736807 ProNav: ac range: 128.890274 m, nav range: 128.380829 m, bearing: 150.208458 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 168.110135 deg, new cmd heading: 168.586579 deg. HeadingCmd: 2.942391 target range: 128.890274 and range: 129.80 m.b"P<@ZrjRJB~~${B}|||9`@| G? -zB- i=IQ)U?QI]a"< YY];e"P<@aaie"P<@ia:J] ]BJ] VJJ] @RJY ZJ] ]:bJ] B9J] J4JY m @m @m @m @EA EI EI EM O0EI  H! H! H! H! H! H! H! H% <H% 2E=checking for new query: numPingsReceived=79, elapsed TxPingTime=23.963043A6Gi~G)A1AINU?3i,5iA9uO?u!?Yu uHKt?=k`?@q??@Q?r? uO?uk5;)uC}BII I(2evҼ e@=yed:;Q m>٥ii mHmFuPH> u>y[5}?[59}JD I}ByLs?@}QEi}(<}[<}[5^B.A5EZbNjiA+@ʁ%k$j|^@ !2m'C-˴XTR?;[@ӿ6?|٠>ҁΪ9G;\{L@ЍyE4=3-Ӡ7DI?8vzcBjUnV?rrng eB fBꁽiC'@m addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 0.500426 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 128.890411 m, bearing: 153.741515 deg, lat: 36.906240 deg, lon: -122.115556 deg, deltaT: 0.500426 s, deltaX: 0.000137 m, approachRate: 0.000274 m/s, posRepo size: 4 K P"K59*K2K:K:tQ?^6cjl%YRS2#y6 "fnv}:pE&JJAFNOT Ignoring new targets: 128.89 m.- ProNav: ac range: 128.890411 m, nav range: 128.410385 m, bearing: 150.337891 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 168.586581 deg, new cmd heading: 168.995324 deg. )5HeadingCmd: 2.949525 target range: 128.890411 and range: 129.80 m.1b5<@ZyryjyRyJyBy~~}|||| ? zB75u=I)?I[< !%kz;-<@))i-<@DDAT read: Rx Time:14:15:53.4191 TRx dataTimestamp_ set to:1749132954.687864PDAT read: Bearing 89.7, 18.6 (Local) ~Local bearing/azimuth received: Bearing 89.7, 18.6 (Local) DAT read: Range 10 to 50 : 130.2 m (trip time 86.8 ms) speed -0.3 DAT read: 14:15:53.4191 LVL= 16240, 25937, 17442, 22931, AGC= 60, IDX= 509, 0.39, 1.970, 1.086,-0.379, 0.545, PHS= 1.513, 0.587,-0.928, RAW= 52.1, -11.0, CAL= 60.3, -18.6, ROT= 89.7, 18.6 %Ygot valid direction response: 14:15:53.4191 LVL= 16240, 25937, 17442, 22931, AGC= 60, IDX= 509, 0.39, 1.970, 1.086,-0.379, 0.545, PHS= 1.513, 0.587,-0.928, RAW= 52.1, -11.0, CAL= 60.3, -18.6, ROT= 89.7, 18.6 %T#Rx 80: Read range and direction messages.-^direction in FSK: [0.004962,0.947755,-0.318959]-Fpublishing direction and range infoڙyڝ+6iSt?l"8+T?ˬQiԿڝ3CYڙ ۝p?)۝QeI۝"Di۝Yۙ۝?۝E?۝hm ܝh?)ܝ DIܝ$?iܝ6ܝHd?ܝ6> ݙ)ݙݝueH ?9tV dȿiݝV—ݝZD>ݝHd?ݝ6> ޙ)ޙmchecking for new query: numPingsReceived=80, elapsed TxPingTime=24.241770iiEA EA EA EM P0EI ԑ 6Ga ~GAmchecking for new query: numPingsReceived=80, elapsed TxPingTime=24.470715AiAyN>xi,iA9%V?%.i?Y%J%H`hg? ?`? )a?濿O避5?? %V?%(;)%C|B%I)  -p=-R=aIuIu3 E$=yM:Q U>٥ai mHmF}'Z= >[5?[59e< IByRz?@QEi:):X[5  /A ZbiAICIC'@ʁߨ?^@TeD+6iSt?l"8+T?ˬQiԿHd?6>ҁ't0o \(MO@.뿢{b?ӪzrBkj 5D?rɋ۩ aBɋ۩  eBꁕC'@- addTargetRange:: Added new target pos. range: 130.199997 m, deltaT: 0.503812 s, deltaX: 0.399994 m, approachRate: 0.793935 m/s, rangeRepo size: 4 = Added new target pos. range: 129.287598 m, bearing: 150.354611 deg, lat: 36.906240 deg, lon: -122.115549 deg, deltaT: 0.503812 s, deltaX: 0.397186 m, approachRate: 0.788362 m/s, posRepo size: 4 9EFNOT Ignoring new targets: 129.29 m.AA ProNav: ac range: 129.287598 m, nav range: 128.741470 m, bearing: 150.260792 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 168.995327 deg, new cmd heading: 169.482734 deg. ԉHeadingCmd: 2.958032 target range: 129.287598 and range: 130.20 m.bdP=@ZrjRJB~~}|||`fF`@|@ ? 5zB5^;d=I9)=?9I=MH< 99=m;DDAT read: Rx Time:14:15:53.9191 TRx dataTimestamp_ set to:1749132955.195959PDAT read: Bearing 88.1, 18.5 (Local) ~Local bearing/azimuth received: Bearing 88.1, 18.5 (Local) DAT read: Range 10 to 50 : 130.2 m (trip time 86.8 ms) speed -0.2 DAT read: 14:15:53.9191 LVL= 18832, 28209, 20466, 24739, AGC= 63, IDX= 510,-0.39,-1.749,-2.689, 2.169, 3.090, PHS= 1.532, 0.551,-0.924, RAW= 53.4, -10.8, CAL= 61.9, -18.5, ROT= 88.1, 18.5 Ygot valid direction response: 14:15:53.9191 LVL= 18832, 28209, 20466, 24739, AGC= 63, IDX= 510,-0.39,-1.749,-2.689, 2.169, 3.090, PHS= 1.532, 0.551,-0.924, RAW= 53.4, -10.8, CAL= 61.9, -18.5, ROT= 88.1, 18.5 T#Rx 81: Read range and direction messages.^direction in FSK: [0.031442,0.947802,-0.317305]Fpublishing direction and range infoڑyڕD*$?$ueT?Hs%NԿڑYڑ ەI)ە1nIەOiە`ە?ە?ەV ?ەDl ܕn?)ܕAIܕ3I?iܕMQܕ:?ܕMQ> ݑ)ݑݕf3?U͑쿞Z8ȿiݕ֔ݕ؞A>ݕ:?ݕMQ> ޑ)ޑchecking for new query: numPingsReceived=81, elapsed TxPingTime=24.739305dP=@idP=@iAbEIZEIԱ E E E E O0E JJ24J1:J= \BJ= QJJ9 RJ9 ZJ= =:bJ= -.9J9 J9 H >H H IH )}BH H H H 4<H jE 6G ~GAAN>i, ۦiA>checking for new query: numPingsReceived=81, elapsed TxPingTime=24.9743239nՙ]?n?YnnHp?`Q=?`N?R?@?*? nՙ]?n{;)nC5}B5IqMb@Mb@Mb@ )YV-? ףp= ףp= y-?QQ8 A @)I@I@y@IUIU2mi< m%=ymO8Q m>٥qq uHuFԙ}j= >[51?[59]5 IByx/?:y?@QEi:/;z[5.A2EZQbU̦iAQQUh(@ʁUtѓB@0su^@9T3DUD*$?$ueT?Hs%NԿU:?UMQ>ҁUr \O@=L0#U&&-n?PުzU~BUjU k?rU"; UaBU k?Q UaBU CU(@ addTargetRange:: Added new target pos. range: 130.199997 m, deltaT: 0.508095 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 129.286926 m, bearing: 150.420330 deg, lat: 36.906237 deg, lon: -122.115549 deg, deltaT: 0.508095 s, deltaX: -0.000671 m, approachRate: -0.001321 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.29 m.% ProNav: ac range: 129.286926 m, nav range: 129.041077 m, bearing: 150.473105 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 169.482729 deg, new cmd heading: 169.921628 deg. !-HeadingCmd: 2.965692 target range: 129.286926 and range: 130.20 m.b-=@Z)rQjQRQJQBQ~Y~]!{B}Y|a|||?K P"K}9*K2K:K*nnM4HU,OzXd<$~c! ,6_pgpRJ>J? zBs{m=I)?Iɧ< Va;=@i=@i=DDAT read: Rx Time:14:15:54.4192 ETRx dataTimestamp_ set to:1749132955.701084UPDAT read: Bearing 89.4, 17.5 (Local) U~Local bearing/azimuth received: Bearing 89.4, 17.5 (Local) Ee?EaEiEmP0EiDAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed -0.2 - DAT read: 14:15:54.4192 LVL= 18336, 30353, 23186, 32755, AGC= 63, IDX= 511, 0.40, 1.037, 0.169,-1.204,-0.301, PHS= 1.426, 0.517,-0.906, RAW= 52.8, -10.2, CAL= 60.6, -17.5, ROT= 89.4, 17.5 5 Ygot valid direction response: 14:15:54.4192 LVL= 18336, 30353, 23186, 32755, AGC= 63, IDX= 511, 0.40, 1.037, 0.169,-1.204,-0.301, PHS= 1.426, 0.517,-0.906, RAW= 52.8, -10.2, CAL= 60.6, -17.5, ROT= 89.4, 17.5 = T#Rx 82: Read range and direction messages. ^direction in FSK: [0.009987,0.953665,-0.300706] Fpublishing direction and range info9y=P't?6Ak?->ӿ=fCY9 =G)=vI=Zi=9=+?=Z?=g =k?)=K6I=a?i=a=?=a> 9)9=!l mZ?L,/ ȸ~䷯ƿi=)>=t6>=?=a> 9)9e checking for new query: numPingsReceived=82, elapsed TxPingTime=25.298496I I a= 6G ~G A A N >ri,giA49jid?j[?YjEjH U??@,? !v?``2?@? jid?jUA;)jC|BIIeIe?13u uh=y}|C:Q }>٥yy H= >[5?[59 0 IuByC?@QEi::[5Z/A%checking for new query: numPingsReceived=82, elapsed TxPingTime=25.478239Z b iA |C |C +@ʁ K ڰ?^@8wC P't?6Ak?->ӿ ? a>ҁ QK\9R3M@p#I b2ԏ?3Yz iB j 1?r ʄ^-  SiB 5D?   &C 9(@ԡ addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.505125 s, deltaX: 0.199997 m, approachRate: 0.395936 m/s, rangeRepo size: 4   Added new target pos. range: 129.485535 m, bearing: 153.169960 deg, lat: 36.906236 deg, lon: -122.115549 deg, deltaT: 0.505125 s, deltaX: 0.198608 m, approachRate: 0.393187 m/s, posRepo size: 4 1=FNOT Ignoring new targets: 129.49 m.II ProNav: ac range: 129.485535 m, nav range: 129.148743 m, bearing: 150.603161 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 169.921624 deg, new cmd heading: 170.266269 deg. HeadingCmd: 2.971707 target range: 129.485535 and range: 130.40 m.bs0>@ZrjRJB~a~i}q|y||L`@|`"? zBҧd=I) ?Ia < %lU;%s0>@!)i-s0>@i) DDAT read: Rx Time:14:15:54.9192  TRx dataTimestamp_ set to:1749132956.205051  PDAT read: Bearing 89.4, 15.6 (Local)  ~Local bearing/azimuth received: Bearing 89.4, 15.6 (Local)  DAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed 0.0 E) E) E1 E5 @5E1  DAT read: 14:15:54.9192 LVL= 19936, 30369, 24658, 30899, AGC= 61, IDX= 511, 0.02, 1.272, 0.389,-0.939,-0.010, PHS= 1.370, 0.446,-0.932, RAW= 53.5, -8.9, CAL= 60.6, -15.6, ROT= 89.4, 15.6  Ygot valid direction response: 14:15:54.9192 LVL= 19936, 30369, 24658, 30899, AGC= 61, IDX= 511, 0.02, 1.272, 0.389,-0.939,-0.010, PHS= 1.370, 0.446,-0.932, RAW= 53.5, -8.9, CAL= 60.6, -15.6, ROT= 89.4, 15.6  T#Rx 83: Read range and direction messages. ^direction in FSK: [0.010086,0.963110,-0.268920] Fpublishing direction and range info y |v???]^|5ѿ Y M) vI R`i x = )\? Z> n Q o?) I i 'g 'g> ) E.L8?[2쿼 Vÿi ;> 'g> ) M checking for new query: numPingsReceived=83, elapsed TxPingTime=25.777681:J ]BJ SJJ ARJ ZJ ]:bJ y69J 4J  6Gȹ~GAAN>yiH>H HIH}BH =H H Hg<HEH]CH]CHYH] =I] = I]5,GiAA9-y!r?-7?Y-%-H@7?٥ HF>=  >][5?][59& I_By](?]:eφ?e@QEi< <ԫ[5m]BmT/Am0EZabe iAaae.@ʁeEOvU? c-_@@ !iAe|v???]^|5ѿae'g>ҁesM]lIJ@3'leFHV8?~ 8{zePBejeO̿?reuKU exyBe1?eʄ^-  eeBeiCeI+@ addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 129.485977 m, bearing: 156.218921 deg, lat: 36.906209 deg, lon: -122.115606 deg, deltaT: 0.503967 s, deltaX: 0.000443 m, approachRate: 0.000878 m/s, posRepo size: 4 9eFNOT Ignoring new targets: 129.49 m.ii} ProNav: ac range: 129.485977 m, nav range: 129.413330 m, bearing: 153.344643 deg, approach rate: 0.000000 m/s, LOS rate: 0.309755 deg/s, cmd heading: 170.266275 deg, new cmd heading: 170.810530 deg. yHeadingCmd: 2.981206 target range: 129.485977 and range: 130.40 m.b>@ZrjRJB~~#{B}||||n? -zB-th=I1)5 ?1I=8< 99=UJ;e>@aaie>@iirEuY>jEqԙKP"K9*K2K:K"  1 ^e+PMT hHd6eCi> GWWE ?E E E a5E 5 DDAT read: Rx Time:14:15:55.4193 = TRx dataTimestamp_ set to:1749132956.707633E DAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed 0.0 -E Z#Rx 84: Read range message, but no direction.1 5 CY1 M checking for new query: numPingsReceived=84, elapsed TxPingTime=26.237740 I I @A6G= ~G A A!N>i,q6iA95gDy?5ɘ?Y5y.5H ?ȩ@ ?ȿ?? mم` ?4? 5gDy?5ӑ;)1u|BuIII 3w[ X=y$:Q >٥ H F= >[5_?[59;! IQBy!%d?%@QEi;T;[55^B=k/A=-E]B*** querying acoustic contact ***JYRYԁ addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.502582 s, deltaX: 0.100006 m, approachRate: 0.198985 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 129.49 m.G;G; ProNav: ac range: 129.485977 m, nav range: 129.419586 m, bearing: 153.453927 deg, approach rate: 0.017045 m/s, LOS rate: 0.297737 deg/s, cmd heading: 170.810532 deg, new cmd heading: 171.138363 deg. UL<HeadingCmd: 2.986928 target range: 129.485977 and range: 130.50 m.b)?@ZrjRJB~~}|||P`@|@?Mchecking for new query: numPingsReceived=84, elapsed TxPingTime=26.486675 zB靕x=I)?Ig<   @;)?@ i )?@iԱEEEE3E DDAT read: Rx Time:14:15:55.9201  TRx dataTimestamp_ set to:1749132957.211901 PDAT read: Bearing 97.6, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 97.6, 8.9 (Local)  DAT read: Range 10 to 50 : 131.6 m (trip time 87.7 ms) speed 0.0 e DAT read: 14:15:55.9201 LVL= 16976, 31505, 22562, 21555, AGC= 66, IDX= 0, 0.61, 1.495, 0.891,-0.325, 0.607, PHS= 0.976, 0.331,-0.935, RAW= 49.4, -4.5, CAL= 52.4, -8.9, ROT= 97.6, 8.9 u Ygot valid direction response: 14:15:55.9201 LVL= 16976, 31505, 22562, 21555, AGC= 66, IDX= 0, 0.61, 1.495, 0.891,-0.325, 0.607, PHS= 0.976, 0.331,-0.935, RAW= 49.4, -4.5, CAL= 52.4, -8.9, ROT= 97.6, 8.9 u T#Rx 85: Read range and direction messages.} `direction in FSK: [-0.130664,0.979281,-0.154710]} Fpublishing direction and range info y 5bwҋvEV?jÿ CY PB) {I "Xi 3T B #y? x> )\o \?) |٠I  j?i  ^ ? > ) g{*?Ze¦HץTﳿi ǝ = ^ ? > )  checking for new query: numPingsReceived=85, elapsed TxPingTime=26.7593316G ~G A A N >&i,hQiA:JneBJnPJJnCRJlZJn\:bJn*9Jn4Jl9E[?E-F?YE=EH2?= ??Y?f@٠.?'? E[?E2;)EC|BIiGAGE?AHM>HIHMIHM}BHM =HIHIHM<HMIEMb@Mb@Mb@ )Y)\(?ˡE{GzyG!?什#nA )Iy@II2): '=yY:Q >٥ H!Ff= >[5?[59 I@By"?:`?@QEi;;Y[515h/A1ZbɏMiACC+;@ʁ&'_'1C#_@N745bwҋvEV?jÿ^ ?>ҁO#O_N C<@4V,@p/kl ￘ή?F ?zAj4'?r+d1  B SiBꁵkC+@ addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 0.504268 s, deltaX: 1.100006 m, approachRate: 2.181392 m/s, rangeRepo size: 4  Added new target pos. range: 130.677338 m, bearing: 167.432676 deg, lat: 36.906209 deg, lon: -122.115606 deg, deltaT: 1.006850 s, deltaX: 1.191360 m, approachRate: 1.183255 m/s, posRepo size: 4 FNOT Ignoring new targets: 130.68 m. = ProNav: ac range: 130.677338 m, nav range: 129.418457 m, bearing: 153.589537 deg, approach rate: 0.000000 m/s, LOS rate: 0.297737 deg/s, cmd heading: 171.138367 deg, new cmd heading: 171.577642 deg. 9EHeadingCmd: 2.994595 target range: 130.677338 and range: 131.60 m.bEq?@ZArAjARAJIBI~I~M {B}Q|q|q|u@3s`@|}໔?ԑ zBSXc=I)A?checking for new query: numPingsReceived=85, elapsed TxPingTime=26.993616I< `5;q?@iq?@i E?EEE.4EF AF A 6G) Km ܔP"Km 59*Ki 2Km :Km o7iA <#0zW2, sViKZaI0Kn%kVT~G A A N >i,liA:A:ABDDAT read: Rx Time:14:15:56.4194 BTRx dataTimestamp_ set to:1749132957.716184FPDAT read: Bearing 94.7, 11.4 (Local) J~Local bearing/azimuth received: Bearing 94.7, 11.4 (Local) RDAT read: Range 10 to 50 : 130.7 m (trip time 87.1 ms) speed -0.1 bDAT read: 14:15:56.4194 LVL= 15120, 26609, 24370, 32755, AGC= 64, IDX= 497, 0.24,-2.735, 2.858, 1.606, 2.535, PHS= 1.101, 0.370,-0.932, RAW= 50.8, -6.1, CAL= 55.3, -11.4, ROT= 94.7, 11.4 fYgot valid direction response: 14:15:56.4194 LVL= 15120, 26609, 24370, 32755, AGC= 64, IDX= 497, 0.24,-2.735, 2.858, 1.606, 2.535, PHS= 1.101, 0.370,-0.932, RAW= 50.8, -6.1, CAL= 55.3, -11.4, ROT= 94.7, 11.4 jT#Rx 86: Read range and direction messages.n`direction in FSK: [-0.080322,0.976975,-0.197657]nFpublishing direction and range info@yBZ`C?g4LɿBCY@ B;)BgIB2_iBB@B?Bp>Bn Bb?)B^ ڽIB0w?iB%KBԏ?B%K> @)@BjG?n=YLC+kU2iBOB=Bԏ?B%K> @)@checking for new query: numPingsReceived=86, elapsed TxPingTime=27.2620359 ? џ?Y tL HC?@I4?`Y?@|? d@#`D?/? ? p;) C|BI)  IIb2U(Ӽ UX=y]#;Q ]>٥YY ]Hae= >[5h?[59# I3By?@QEi::[5  /A Z@bBmiABCBCB9@ʁBsT$Nkc)_@-&9BZ`C?g4LɿBԏ?B%K>ҁBPEm_y?@65Jn!@Bu%?70?zBABhjBf?rB BڏBBO̿?BuKU  BxyBBCBC.@ addTargetRange:: Added new target pos. range: 130.699997 m, deltaT: 0.504283 s, deltaX: -0.900009 m, approachRate: -1.784730 m/s, rangeRepo size: 4  Added new target pos. range: 129.783646 m, bearing: 166.108801 deg, lat: 36.906184 deg, lon: -122.115671 deg, deltaT: 0.504283 s, deltaX: -0.893692 m, approachRate: -1.772203 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.78 m.  ProNav: ac range: 129.783646 m, nav range: 129.521286 m, bearing: 156.571146 deg, approach rate: 0.000000 m/s, LOS rate: 0.297737 deg/s, cmd heading: 171.577644 deg, new cmd heading: 171.943939 deg. 9uHeadingCmd: 3.000988 target range: 129.783646 and range: 130.70 m.b}/@@ZyryjyRyJB~~}|||`fV`@|ޭ? ezBe0ih=Ii)m6?IqQ< +;/@@i/@@izE5checking for new query: numPingsReceived=86, elapsed TxPingTime=27.494799EE?EAEAEE3EIiԑ 6G jG ?bG +?~G A AN>Ni,[iA953?5ZZ?Y58Y5HД?`k?a?`)#?2?@!? 53?5X0;)5CMDDAT read: Rx Time:14:15:56.9193 UTRx dataTimestamp_ set to:1749132958.220146]PDAT read: Bearing 107.7, 7.5 (Local) e~Local bearing/azimuth received: Bearing 107.7, 7.5 (Local) }DAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed 0.0 DAT read: 14:15:56.9193 LVL= 15760, 24689, 22498, 30387, AGC= 63, IDX= 512, 0.31, 1.666, 1.311,-0.196, 0.858, PHS= 0.896, 0.500,-1.057, RAW= 41.0, -3.8, CAL= 42.3, -7.5, ROT= 107.7, 7.5 Ygot valid direction response: 14:15:56.9193 LVL= 15760, 24689, 22498, 30387, AGC= 63, IDX= 512, 0.31, 1.666, 1.311,-0.196, 0.858, PHS= 0.896, 0.500,-1.057, RAW= 41.0, -3.8, CAL= 42.3, -7.5, ROT= 107.7, 7.5 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.301432,0.944511,-0.130526]Fpublishing direction and range infoQyUŶJJӿ uo9? /UCYQ U=)Uq`IUWiUvU?UB`e?U?UK U07?)UԇIU Q)QU];K~?lU\iUQ\U1=U?U > Q)Qchecking for new query: numPingsReceived=87, elapsed TxPingTime=27.764025|B|I%Mb@Mb@Mb@!!! !)!Y%ʡE?S㥫Mby%?%/]%% A %@)%@I%@!y%=@I=I=3M/  M =yM:Q M>٥QQ H"FX= >U[5&?U[59, I%By]?e:eK?e@QEi<<O[5}]B/A)E:J_BJXJJRJZJ :bJ5K9JJZQbUiAUCUCUI@ʁUTчCC@^@ 0UŶJJӿ uo9? /U?U >ҁU}v` UŐ0@U2mQ￿եBxW?zU̿UjUS?rUbI6 UBUf?U  UڏBUCU)9@ addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.503962 s, deltaX: -0.199997 m, approachRate: -0.396849 m/s, rangeRepo size: 4  Added new target pos. range: 129.585052 m, bearing: 180.712565 deg, lat: 36.906122 deg, lon: -122.115901 deg, deltaT: 0.503962 s, deltaX: -0.198593 m, approachRate: -0.394064 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.59 m. ProNav: ac range: 129.585052 m, nav range: 129.530807 m, bearing: 166.250643 deg, approach rate: 0.000000 m/s, LOS rate: 0.297737 deg/s, cmd heading: 171.943933 deg, new cmd heading: 172.400611 deg. HeadingCmd: 3.008958 target range: 129.585052 and range: 130.50 m.bƒ@@Zrj R JB~~zB}|||%P`@HIHIHMIHM}BHIHIHIHMc<HMEԑ| %? zB靥\=I)>I=<  ;ƒ@@iƒ@@i  checking for new query: numPingsReceived=87, elapsed TxPingTime=27.999372Eq Ey Ey E 5E F F Ա 6G ~GAAN>T$i,ʉiAKv:P"Kv}9*Kt2Kv:KvW#*NXj)aK']cy14Log5*9~؊?~?Y~U_~H{?@?`?ot?@Q ?=? ~؊?~^;)~C|B}II%)I%m?3Uf; UA=yUvm:Q U>٥YY ]H]#Fev= e>[5?[59 IBy?@QEi::վ[5/ADDAT read: Rx Time:14:15:57.4193 TRx dataTimestamp_ set to:1749132958.723986PDAT read: Bearing 101.8, -1.1 (Local) ~Local bearing/azimuth received: Bearing 101.8, -1.1 (Local) DAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed 0.0 DAT read: 14:15:57.4193 LVL= 14320, 31217, 26898, 32755, AGC= 62, IDX= 512, 0.20, 2.165, 1.604, 0.418, 1.495, PHS= 0.758, 0.157,-1.080, RAW= 48.7, 2.1, CAL= 48.2, 1.1, ROT= 101.8, -1.1 Ygot valid direction response: 14:15:57.4193 LVL= 14320, 31217, 26898, 32755, AGC= 62, IDX= 512, 0.20, 2.165, 1.604, 0.418, 1.495, PHS= 0.758, 0.157,-1.080, RAW= 48.7, 2.1, CAL= 48.2, 1.1, ROT= 101.8, -1.1 T#Rx 88: Read range and direction messages.%^direction in FSK: [-0.204458,0.978687,0.019197]-Fpublishing direction and range infoy{B+ʿA4bagQ?]~?Y 7)yIii>J B? >q= Y?)Q =I\W?inF<cl?nF )0"?YpJ߳c?iGp$cl?nF )Echecking for new query: numPingsReceived=88, elapsed TxPingTime=28.265429ZbUiAʁE@ʁW[~:C0_@V_@{B+ʿA4bagQ?]~?cl?nFҁ~! _R$K@,7(B@&I?n|G?z@fj?r P  B+d1   BC!L;@e addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.503840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 129.584747 m, bearing: 176.817451 deg, lat: 36.906122 deg, lon: -122.115935 deg, deltaT: 0.503840 s, deltaX: -0.000305 m, approachRate: -0.000606 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.58 m. ProNav: ac range: 129.584747 m, nav range: 128.870255 m, bearing: 167.677336 deg, approach rate: 0.000000 m/s, LOS rate: 0.297737 deg/s, cmd heading: 172.400614 deg, new cmd heading: 172.776216 deg. HeadingCmd: 3.015514 target range: 129.584747 and range: 130.50 m.b.@@ZrjRJB~~}|||)|-?Q zBo=I)(>I< ,;.@@i.@@i EEEEP5Eԡ checking for new query: numPingsReceived=88, elapsed TxPingTime=28.503096% GQ y Ա Y y bA6G ~Ga Aq A N >.i,QħiAIIQ)U@9=u?=蛪?Y=xxk=H)? ?l??&n?? =u?=;)=C}|B}xIiDDAT read: Rx Time:14:15:57.9192 TRx dataTimestamp_ set to:1749132959.227971@DAT read: Bearing 94.3, 12.9 ^unknown deviceResponse_: Bearing 94.3, 12.9 DAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed 0.0 DAT read: 14:15:57.9192 LVL= 12576, 25841, 23026, 31875, AGC= 62, IDX= 511,-0.01, 2.855, 2.188, 0.958, 1.837, PHS= 1.105, 0.397,-0.882, RAW= 50.6, -7.2, CAL= 55.7, -12.9, ROT= 94.3, 12.9 Ygot valid direction response: 14:15:57.9192 LVL= 12576, 25841, 23026, 31875, AGC= 62, IDX= 511,-0.01, 2.855, 2.188, 0.958, 1.837, PHS= 1.105, 0.397,-0.882, RAW= 50.6, -7.2, CAL= 55.7, -12.9, ROT= 94.3, 12.9 T#Rx 89: Read range and direction messages.`direction in FSK: [-0.073086,0.972017,-0.223250]Fpublishing direction and range infoڙyڝ:PʵC 5+?Nu̿ڝfCYڙ ۝ 1)۝dI۝Yi۝|ۙ۝p?۝C>۝a ܝ=b?)ܝIܝx?iܝfܝ?ܝf> ݙ)ݙݝK@)6R?TU^?"s뿿iݝݝ>ݝ?ݝf> ޙ)ޙ%checking for new query: numPingsReceived=89, elapsed TxPingTime=28.772343Mb@Mb@Mb@ )YZd;?X9vy?̼ j@)v@I@yI I̍2U =ye:Q e>٥aa mHm$FmG= m>q}[5u>?}[59u Iu ByM?:Х?@uQEiuF/@ʁK<`"m,w_@hf[<:PʵC 5+?Nu̿?f>ҁ:V_^I5@H$@naᧈmZ+7 ?tJ?zMA2j?ro B4'?o  ꁝCkr>@ԙ addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.503985 s, deltaX: -0.100006 m, approachRate: -0.198431 m/s, rangeRepo size: 4  Added new target pos. range: 129.485443 m, bearing: 170.528278 deg, lat: 36.906112 deg, lon: -122.116001 deg, deltaT: 0.503985 s, deltaX: -0.099304 m, approachRate: -0.197038 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.49 m.% ProNav: ac range: 129.485443 m, nav range: 128.942245 m, bearing: 170.496966 deg, approach rate: 0.000000 m/s, LOS rate: 0.297737 deg/s, cmd heading: 172.776219 deg, new cmd heading: 173.275397 deg. !-HeadingCmd: 3.024226 target range: 129.485443 and range: 130.40 m.b-A@Z)r)j)R)J1B1~q~uzB}y|y|y|}L`@|`X? zBJ!Y=I)>I<    М ; A@ i A@iQ  H H 4<H >H H IH |BH  =H H H .<H hE E E E E 1E E checking for new query: numPingsReceived=89, elapsed TxPingTime=29.006449 6GZGRG~GAAN?i,8iA9?ױ?YyH`?`J?x??@us"4?@? ?;A)CU|BUIII2X< \=y;Q >٥ H> >[5n?[59 IBy  ? @QEi::[5/AUB*** querying acoustic contact ***JQRQFNOT Ignoring new targets: 129.49 m.k;k; ProNav: ac range: 129.485443 m, nav range: 128.954544 m, bearing: 170.598605 deg, approach rate: 0.035002 m/s, LOS rate: 0.289240 deg/s, cmd heading: 173.275397 deg, new cmd heading: 173.580280 deg. F<HeadingCmd: 3.029547 target range: 129.485443 and range: 130.40 m.bA@ZrjRJB~~}||||? MzBU,|=IY)]>YIe< iim\;uA@yyi}A@iyKluP"K9*K2K:K ?oaqc\6:UL2^M@{u {'#%DDAT read: Rx Time:14:15:58.4193 -TRx dataTimestamp_ set to:1749132959.732801=DAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed -0.1 -EZ#Rx 90: Read range message, but no direction.!%CY!Uchecking for new query: numPingsReceived=90, elapsed TxPingTime=29.264870qE5?E1E1E5D2E1:J\BJPJJ?RJZJ=:bJ*9Jـ4JzJ:jJ:J-:rJ-:ԡ6GQ ~G) A9 AI NU >  checking for new query: numPingsReceived=90, elapsed TxPingTime=29.513605=i,iAԱ|BxIII<2 E=yQ >٥   H %F   >[5 ?[59 IBy!!%@QEie:::[5)-/A1m addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.504830 s, deltaX: 0.100006 m, approachRate: 0.198099 m/s, rangeRepo size: 4 quFNOT Ignoring new targets: 129.49 m.}M;}M; ProNav: ac range: 129.485443 m, nav range: 128.968658 m, bearing: 170.711347 deg, approach rate: 0.035532 m/s, LOS rate: 0.283789 deg/s, cmd heading: 173.580283 deg, new cmd heading: 173.918469 deg. B< HeadingCmd: 3.035450 target range: 129.485443 and range: 130.50 m.bDB@ZrjRJB~~}||!|%P`@|%c? zB靝8m=I)S>I< \:-DB@99iEDB@iE?EEE4EMDDAT read: Rx Time:14:15:58.9192 UTRx dataTimestamp_ set to:1749132960.238015]PDAT read: Bearing 90.1, 15.9 (Local) ]~Local bearing/azimuth received: Bearing 90.1, 15.9 (Local) }DAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed 0.0 DAT read: 14:15:58.9192 LVL= 18464, 28033, 26066, 29939, AGC= 63, IDX= 511,-0.28, 0.620,-0.147,-1.354,-0.521, PHS= 1.229, 0.421,-0.836, RAW= 52.8, -9.1, CAL= 59.9, -15.9, ROT= 90.1, 15.9 Ygot valid direction response: 14:15:58.9192 LVL= 18464, 28033, 26066, 29939, AGC= 63, IDX= 511,-0.28, 0.620,-0.147,-1.354,-0.521, PHS= 1.229, 0.421,-0.836, RAW= 52.8, -9.1, CAL= 59.9, -15.9, ROT= 90.1, 15.9 T#Rx 91: Read range and direction messages.`direction in FSK: [-0.001678,0.961740,-0.273959]Fpublishing direction and range infoQyUG؁[4?ψ.ѿUfCYQ U H)UmIUeiUtU?UO?UP>UV  Uk?)U"IUaх?iUqU I?Uq> Q)QUw.J?vo.ĿiUU#">U I?Uq> Q)Q=checking for new query: numPingsReceived=91, elapsed TxPingTime=29.7952146G= ȹI ~G A H >H CH IH |BH  =H H .DH C<H |EA9 NM >\ j,-iA"nH _ ?m`?{?@?M`5Z\?@? naҜ?n;)nCM|BUIDDAT read: Rx Time:14:15:59.4193 TRx dataTimestamp_ set to:1749132960.495201PDAT read: Bearing 86.2, 18.1 (Local) ~Local bearing/azimuth received: Bearing 86.2, 18.1 (Local)  checking for new query: numPingsReceived=91, elapsed TxPingTime=30.027411}Mb@Mb@Mb@yyy y)yY}K7A?Zd;Oy} "?}L}j}X A }@)}@I}@yy}@IuIu[3-8 = -'=y=)EQ =>٥9QA mHm&Fu= u>y[5}P?[59} I}By"? : x? @}QEi}ؖ<}<}"[5r/A$EZb;iA{C{C"A@ʁh`˿!_@m0AG؁[4?ψ.ѿ I?q>ҁc)+`q0@@,^￟+O?@j6XɀzA|jƼ?rB xB?B  ڏBꁍCA@ addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.505214 s, deltaX: -0.100006 m, approachRate: -0.197948 m/s, rangeRepo size: 4 E Added new target pos. range: 129.484222 m, bearing: 172.901553 deg, lat: 36.906108 deg, lon: -122.116052 deg, deltaT: 1.010044 s, deltaX: -0.001221 m, approachRate: -0.001209 m/s, posRepo size: 4 AEFNOT Ignoring new targets: 129.48 m.MYm ProNav: ac range: 129.484222 m, nav range: 128.764038 m, bearing: 172.861779 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 173.918473 deg, new cmd heading: 174.390593 deg. iuHeadingCmd: 3.043690 target range: 129.484222 and range: 130.40 m.buB@ZqrqjyRyJyB~~zB}|||L`@|E? zB6^=I)> I <<   D:B@i=B@i9rEAjEE>qE ?E E E v5E K P"K ж9*K 2K :K )`~px$5rF>0 7I4IkE/"hTY_!t<CS DAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed 0.0  DAT read: 14:15:59.4193 LVL= 20192, 32753, 25218, 30707, AGC= 63, IDX= 511, 0.13,-0.435,-1.308,-2.495,-1.696, PHS= 1.349, 0.434,-0.803, RAW= 55.0, -10.5, CAL= 63.8, -18.1, ROT= 86.2, 18.1  Ygot valid direction response: 14:15:59.4193 LVL= 20192, 32753, 25218, 30707, AGC= 63, IDX= 511, 0.13,-0.435,-1.308,-2.495,-1.696, PHS= 1.349, 0.434,-0.803, RAW= 55.0, -10.5, CAL= 63.8, -18.1, ROT= 86.2, 18.1  T#Rx 92: Read range and direction messages. ^direction in FSK: [0.062994,0.948426,-0.310676] Fpublishing direction and range infoq yu Ԛf ?}xY?\ӿu CYq u N)u Iu biu wq u ?u ?5>u hM u u?)u f;Iu Ӈ?iu ?u ?u ?> q )q u ^zR?'r5쿵AeOǿiu Qu ڊ;>u ?u ?> q )q  checking for new query: numPingsReceived=92, elapsed TxPingTime=30.285574ԡ :J BJ XJJ HRJ ZJ bJ 5K9J Ժ4J zJ :jJ :J f:rJ g:6G jG ?bG ?~GAAN> j,8iA95[?5Y?Y5oKo5H ? 6`m??'?l (鍿:?`m? 5[?50e;)5CiiI}I}2 O=y?Q >٥ HØ= > [5?[59 IBy?@QEi@;;h[5AEs/AIZbu/iACC>@ʁglyS @1{矹^@ !DԚf ?}xY?\ӿ??>ҁAĦ_54@H,/7tSJm?Y.3zoAj5?r [cB BC4A@  addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.505360 s, deltaX: 0.100006 m, approachRate: 0.197891 m/s, rangeRepo size: 4 !UDDAT read: Rx Time:14:15:59.9192 ]TRx dataTimestamp_ set to:1749132960.998314mPDAT read: Bearing 84.0, 19.2 (Local) u~Local bearing/azimuth received: Bearing 84.0, 19.2 (Local) checking for new query: numPingsReceived=92, elapsed TxPingTime=30.530277 Added new target pos. range: 129.583527 m, bearing: 170.805936 deg, lat: 36.906108 deg, lon: -122.116052 deg, deltaT: 0.505360 s, deltaX: 0.099304 m, approachRate: 0.196502 m/s, posRepo size: 4  5FNOT Ignoring new targets: 129.58 m.AA ProNav: ac range: 129.583527 m, nav range: 128.773758 m, bearing: 172.967322 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 174.390589 deg, new cmd heading: 174.688192 deg. HeadingCmd: 3.048884 target range: 129.583527 and range: 130.50 m.b C@ZrjRJB~~}|||P`@|k? =zB=Pr=IA)EL>AIEl_< AAE:M C@QQiU C@iQIE?EEE$4Ey  DAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed 0.0 6G) M DAT read: 14:15:59.9192 LVL= 14832, 29041, 20786, 24771, AGC= 60, IDX= 510,-0.19,-1.287,-2.232, 2.874,-2.625, PHS= 1.426, 0.440,-0.788, RAW= 56.4, -11.2, CAL= 66.0, -19.2, ROT= 84.0, 19.2 ] Ygot valid direction response: 14:15:59.9192 LVL= 14832, 29041, 20786, 24771, AGC= 60, IDX= 510,-0.19,-1.287,-2.232, 2.874,-2.625, PHS= 1.426, 0.440,-0.788, RAW= 56.4, -11.2, CAL= 66.0, -19.2, ROT= 84.0, 19.2 ] T#Rx 93: Read range and direction messages. ^direction in FSK: [0.098714,0.939203,-0.328867] Fpublishing direction and range info y 2#TE?:d ?f& տ fCY 9) qqI 2Qi ` < +? G> ^I d{?) +HI r?i f? > ) Ce?@8Rȿi  H> f? > ) ~G A A! N- >\qj,nRiA,>checking for new query: numPingsReceived=93, elapsed TxPingTime=30.804893U|BU}IMb@Mb@Mb@ )Yjt?ˡEI +y ?'9 )`@I@y@II 3Ο 9=yQ >٥ H-'F- ->1=[55?=[595 I5ߑByE5!?E:E?E@5QEi5;GIGMAAHU>HUCHQHQHU =HQHQHUM<HUEHHØCHHI = IH6ԡ5:5A[5/AZ1b5>OiA5{C5{C5́<@ʁ5$@)@O  g^@ϥJE52#TE?:d ?f& տ5f?5>ҁ5v7%_u 4-9@D85"5K&SOT+k?hVKٱz5iA5aj5u;e?r5FiC 5XB55?5o  5xB5[C5!?@ addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.503710 s, deltaX: -0.100006 m, approachRate: -0.198539 m/s, rangeRepo size: 4  Added new target pos. range: 129.482315 m, bearing: 168.760265 deg, lat: 36.906108 deg, lon: -122.116001 deg, deltaT: 0.503710 s, deltaX: -0.101212 m, approachRate: -0.200932 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.48 m. ProNav: ac range: 129.482315 m, nav range: 129.359283 m, bearing: 171.110783 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 174.688194 deg, new cmd heading: 175.077828 deg.  HeadingCmd: 3.055685 target range: 129.482315 and range: 130.40 m.b VC@Z r j R JB~~zB}|||L`@|@o?}DDAT read: Rx Time:14:16:00.4193 TRx dataTimestamp_ set to:1749132961.503301PDAT read: Bearing 81.0, 19.6 (Local) ~Local bearing/azimuth received: Bearing 81.0, 19.6 (Local) ԹDAT read: Range 10 to 50 : 130.5 m (trip time 87.0 ms) speed 0.0 -=Z#Rx 94: Read range message, but no direction.y}CYychecking for new query: numPingsReceived=94, elapsed TxPingTime=31.070396 zBjc=I)\>I%4$< QQ]bе:VC@iVC@izE E9 E9 EA EE 5EA K O"K @9*K 2K :K p"8YG,?6kNcJW?})d!U\LH-DAT read: 14:16:00.4193 LVL= 15232, 32497, 21874, 29427, AGC= 60, IDX= 510, 0.31, 2.216, 1.215, 0.129, 0.869, PHS= 1.435, 0.392,-0.743, RAW= 58.6, -11.5, CAL= 69.0, -19.6, ROT= 81.0, 19.6 =Ygot valid direction response: 14:16:00.4193 LVL= 15232, 32497, 21874, 29427, AGC= 60, IDX= 510, 0.31, 2.216, 1.215, 0.129, 0.869, PHS= 1.435, 0.392,-0.743, RAW= 58.6, -11.5, CAL= 69.0, -19.6, ROT= 81.0, 19.6 =Z#Rx 95: Read direction message, but no range.M^direction in FSK: [0.147370,0.930459,-0.335452] y _'s?PCJR?g* xտY  ;) ~I rUi r  ? 9> ?5> ?) MI %?i % ? %>  N?{٘KKaizɿi ) 5M> ? %>mchecking for new query: numPingsReceived=95, elapsed TxPingTime=31.2903716Gq~GAAIAYNe?$j,1riAh9[?r?Y,qH<3? ?@h?`]f??"g?N%p?? [?4׊;)C:J9BJ=WJJ=IRJ9ZJ9bJ=G9J=F4J9zJ=:jJ=:J=_:rJ=_:M|BUIiQIU=Y]AIeIe<2?= /=ỳ9Q >٥ H(F= >IU[5M?U[59M IMՑByY]?]@MQEiM%:M:Mh[5ae=/AaZb6`iACC[<@ʁEƲ3@%m{q$^@IE_'s?PCJR?g* xտ?%>ҁY_b0v8@hs[f>%Pz^*?zAj]?r^[N nRB  [cBꁝhC?@u addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 0.256216 s, deltaX: 0.100006 m, approachRate: 0.390319 m/s, rangeRepo size: 4  Added new target pos. range: 129.581619 m, bearing: 169.080448 deg, lat: 36.906108 deg, lon: -122.115996 deg, deltaT: 0.256216 s, deltaX: 0.099304 m, approachRate: 0.387580 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.58 m. ProNav: ac range: 129.581619 m, nav range: 129.406479 m, bearing: 171.060278 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 175.077829 deg, new cmd heading: 175.476744 deg.  -HeadingCmd: 3.062647 target range: 129.581619 and range: 130.50 m.b-hD@Z)r1j1R1JYBa~i~i}i|q||P`@|[^? %zB%w=I!)%>!I%=M< ))-:5hD@11i5hD@iYuDDAT read: Rx Time:14:16:00.9192 TRx dataTimestamp_ set to:1749132962.007386PDAT read: Bearing 77.3, 19.3 (Local) ~Local bearing/azimuth received: Bearing 77.3, 19.3 (Local) DAT read: Range 10 to 50 : 130.4 m (trip time 86.9 ms) speed 0.0 E?EEE4E1-EZ#Rx 96: Read range message, but no direction.y}fCYy}checking for new query: numPingsReceived=96, elapsed TxPingTime=31.567026Y 6Gy ~Gy A Ai Nu >g#j,!iA^DAT read: 14:16:00.9192 LVL= 13024, 30993, 18930, 25075, AGC= 58, IDX= 509, 0.07, 1.036,-0.098,-1.088,-0.359, PHS= 1.483, 0.307,-0.732, RAW= 62.0, -11.0, CAL= 72.7, -19.3, ROT= 77.3, 19.3 bYgot valid direction response: 14:16:00.9192 LVL= 13024, 30993, 18930, 25075, AGC= 58, IDX= 509, 0.07, 1.036,-0.098,-1.088,-0.359, PHS= 1.483, 0.307,-0.732, RAW= 62.0, -11.0, CAL= 72.7, -19.3, ROT= 77.3, 19.3 fZ#Rx 97: Read direction message, but no range.j^direction in FSK: [0.207491,0.920710,-0.330514]HyJs+?̅uv? 3%'տYH J2)JyIJIiJaJ:Jҽ?J/>JZd; Jc?)J DIJi?iJiwJ?Jiw> HJNP? 7z{ȿiJxJ`E>J?Jiw>zchecking for new query: numPingsReceived=97, elapsed TxPingTime=31.7937419??YԅqHQ???4X?܄?r0`?w? ?As;)C%|B%IAMb@Mb@Mb@ )Y+?ˡEI +y?A @)I@y@IMIM 3; =y'8Q >٥ H)F(V= >[5w?[59b IʑBy/ ?:?@QEiu;:[5*/A"EH>HCHIH|BH =HHH<H/EZbyiA{C{C:@ʁ:@P']@d:eEs+?̅uv? 3%'տ?iw>ҁ֤s_C<@. VJ%2I_I!Y?Ζ4JSzjAjO?ri QB]?^[N  XBꁍC!=@5 addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 0.504085 s, deltaX: -0.100006 m, approachRate: -0.198391 m/s, rangeRepo size: 4 i Added new target pos. range: 129.483887 m, bearing: 167.159224 deg, lat: 36.906118 deg, lon: -122.115947 deg, deltaT: 0.504085 s, deltaX: -0.097733 m, approachRate: -0.193881 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.48 m.5 ProNav: ac range: 129.483887 m, nav range: 129.106964 m, bearing: 169.223033 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 175.476740 deg, new cmd heading: 175.925232 deg. 1=HeadingCmd: 3.070475 target range: 129.483887 and range: 130.40 m.b=D@Z9r9j9R9J9Ba~i~m{B}i|i|i|uL`@|u :=?mDDAT read: Rx Time:14:16:01.4191 TRx dataTimestamp_ set to:1749132962.513136PDAT read: Bearing 74.2, 20.5 (Local) ~Local bearing/azimuth received: Bearing 74.2, 20.5 (Local) DAT read: Range 10 to 50 : 130.2 m (trip time 86.8 ms) speed 0.0 -Z#Rx 98: Read range message, but no direction.qu3CYq checking for new query: numPingsReceived=98, elapsed TxPingTime=32.059891 u {B} Te=Iy )} >y I} < 0܊: D@ i D@i ԑ bE ZE E E E E 0E F =F = 6GDAT read: 14:16:01.4191 LVL= 13424, 27569, 18514, 23651, AGC= 58, IDX= 509,-0.14, 0.658,-0.595,-1.536,-0.839, PHS= 1.585, 0.291,-0.700, RAW= 64.4, -11.8, CAL= 75.8, -20.5, ROT= 74.2, 20.5 %Ygot valid direction response: 14:16:01.4191 LVL= 13424, 27569, 18514, 23651, AGC= 58, IDX= 509,-0.14, 0.658,-0.595,-1.536,-0.839, PHS= 1.585, 0.291,-0.700, RAW= 64.4, -11.8, CAL= 75.8, -20.5, ROT= 74.2, 20.5 -Z#Rx 99: Read direction message, but no range.=^direction in FSK: [0.255037,0.901283,-0.350207]y=y,R?3O?Z8iֿY p4)kIRHic\H?>KMiP"KM}9*KI2KM:KMa(x. 3=kI60i xma\333 ޏ?)BRIV?ii0å?0> 6S?s#Ժ>ʿixLwS>å?0>checking for new query: numPingsReceived=99, elapsed TxPingTime=32.303589~GAAN ?8+j,'iA9n.Q?nw?YnTunH M` ;??@7љ?J`RH?~? n.Q?nm;)nC}BI) I!Ii3:JBJUJJCRJZJbJ>9J4JzJ:jJ:J}Q:rJQ:,= 1=y :Q ->٥)1 5H15= 5>9E[5=?E[59= I=ByIM|?M@=QEi={;=f;=[5QU.AYZAbE8נiAEICEICE0C;@ʁEzo}|@@L~r!]@7siFE=y,R?3O?Z8iֿEå?E0>ҁEA^_{;@ପWB-E⟃К5?4D?zEAEjEϽ?rEK| E}BBEu;e?EFiC  EnRBE CE<@e addTargetRange:: Added new target pos. range: 130.199997 m, deltaT: 0.505750 s, deltaX: -0.199997 m, approachRate: -0.395446 m/s, rangeRepo size: 4 u Added new target pos. range: 129.285294 m, bearing: 167.646070 deg, lat: 36.906118 deg, lon: -122.115943 deg, deltaT: 0.505750 s, deltaX: -0.198593 m, approachRate: -0.392671 m/s, posRepo size: 4 y}FNOT Ignoring new targets: 129.29 m. ProNav: ac range: 129.285294 m, nav range: 129.046814 m, bearing: 169.161975 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 175.925237 deg, new cmd heading: 176.312947 deg.  HeadingCmd: 3.077241 target range: 129.285294 and range: 130.20 m.b D@Z rjRJB~~}|9|A|E`fF`@|EK8? {B靍5{=I)>I"< 7l:D@iD@i =%=DDAT read: Rx Time:14:16:01.9190 TRx dataTimestamp_ set to:1749132963.015736E5?E1E9E=Z2E9 PDAT read: Bearing 71.2, 18.8 (Local)  ~Local bearing/azimuth received: Bearing 71.2, 18.8 (Local) DAT read: Range 10 to 50 : 130.1 m (trip time 86.7 ms) speed 0.0 =DAT read: 14:16:01.9190 LVL= 12832, 28209, 17570, 22947, AGC= 57, IDX= 508,-0.36,-0.749,-2.088,-2.892,-2.200, PHS= 1.539, 0.159,-0.695, RAW= 67.7, -10.3, CAL= 78.8, -18.8, ROT= 71.2, 18.8 Ygot valid direction response: 14:16:01.9190 LVL= 12832, 28209, 17570, 22947, AGC= 57, IDX= 508,-0.36,-0.749,-2.088,-2.892,-2.200, PHS= 1.539, 0.159,-0.695, RAW= 67.7, -10.3, CAL= 78.8, -18.8, ROT= 71.2, 18.8 V#Rx 100: Read range and direction messages.^direction in FSK: [0.305073,0.896145,-0.322266]% Fpublishing direction and range infoyb?pO?Y7?ɜLԿCY  2)1nIDiY9?">1 E>?)X8Ix ?i?> )xE?=, +_ƿi~iz7>?> )A = checking for new query: numPingsReceived=100, elapsed TxPingTime=32.6127936GQ q ~GI Aq A N >3j,ΨiAchecking for new query: numPingsReceived=100, elapsed TxPingTime=32.790421% }B%IMb@Mb@Mb@ )YV-?MbQy|?A )@Iy3@IIV83>Z< $=yQ >٥ H*F >[5?[59 IBy ? : U? @QEi;p;a[5.AZbiA/C/CU7@ʁ9uC@cC=\@ݽ}Db?pO?Y7?ɜLԿ?>ҁg_,rA@J&2!Y}yV>t?қfKz#B3jIE?r.9 vOBO?K|  QBCHqHuIHu}BHu =HqHqHqHq  {Bu=I)>I< t>:jE@!!i%jE@i!EEEE,1EY DDAT read: Rx Time:14:16:02.4191 - TRx dataTimestamp_ set to:1749132963.529743E PDAT read: Bearing 68.1, 16.6 (Local) U ~Local bearing/azimuth received: Bearing 68.1, 16.6 (Local) } DAT read: Range 10 to 50 : 130.2 m (trip time 86.8 ms) speed 0.1 - \#Rx 101: Read range message, but no direction.! % 3CY!  checking for new query: numPingsReceived=101, elapsed TxPingTime=33.072189ԁ 6G ~G A A N >:j,iAԩKP"K@9*K2K:K gPU*:^{$=]A/%I9%!~DAT read: 14:16:02.4191 LVL= 14896, 25937, 17650, 22163, AGC= 57, IDX= 508, 0.24,-2.506, 2.327, 1.676, 2.364, PHS= 1.501, 0.010,-0.691, RAW= 71.8, -8.5, CAL= 81.9, -16.6, ROT= 68.1, 16.6 Ygot valid direction response: 14:16:02.4191 LVL= 14896, 25937, 17650, 22163, AGC= 57, IDX= 508, 0.24,-2.506, 2.327, 1.676, 2.364, PHS= 1.501, 0.010,-0.691, RAW= 71.8, -8.5, CAL= 81.9, -16.6, ROT= 68.1, 16.6 \#Rx 102: Read direction message, but no range. ^direction in FSK: [0.357443,0.889166,-0.285688]y %W?ɽ! t?WԷHҿY 0:)QeIDiV ? #<`0 g?)Ic?iV #?V> Fqa?XYn݋¿idW> #?V>%checking for new query: numPingsReceived=102, elapsed TxPingTime=33.317974}BIII#3' =yQ >٥ H+F >I][5M6 ?e[59M IMBy@MQEiM/ҁs?^Ui}D@J {R^LV ݹ )ݹ ݽ =ImR?mqS[iݽ XvDݽ #=ݽ ?ݽ Gt> ޹ )޹ U checking for new query: numPingsReceived=103, elapsed TxPingTime=33.584618u  ProNav: ac range: 129.285217 m, nav range: 128.537888 m, bearing: 167.537821 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 176.736090 deg, new cmd heading: 177.224763 deg. q } HeadingCmd: 3.093156 target range: 129.285217 and range: 130.20 m.b} CE@Zy ry jy Ry Jy B ~ ~ } | | | <`@| pX? E {BM J'b=IQ )U >Q IU `< Y Y ] *:] CE@ i CE@i rE ?>jE >aEEEER0EF!F!ԑ6GZGRGEchecking for new query: numPingsReceived=103, elapsed TxPingTime=33.814281~GAAN'?Dj,iAI)d:JmbBJmgJJm@RJiZJm:bJm9JmJ4Jiu@u@u@u@9=+?=R?Y==H`~,Ŀv W??¿W? ⏿?? =+?=;)=CiĩĭA)ĩ ĩIĩ ű)ŵnAıııŹŹiII i   )  t9IEh)EFiA)AIAAI IIM߃AMDiIIٯQ]}B]IH>HHIH}BHHHH#<HFE]Mb@Mb@Mb@YYY Y)YY]V-?(\µL7A`堿yY]]+]\ A Y)]h@I]@Yy]G@IIV839=  =y:Q >٥ H,FH> >![5%?[59% I%By/!?:G?@%QEi%<%*<%.[5\Be.A!E < <-DDAT read: Rx Time:14:16:03.4190 -TRx dataTimestamp_ set to:1749132964.5441929EPDAT read: Bearing 62.2, 12.7 (Local) E~Local bearing/azimuth received: Bearing 62.2, 12.7 (Local) UDAT read: Range 10 to 50 : 130.1 m (trip time 86.7 ms) speed -0.1 uDAT read: 14:16:03.4190 LVL= 14448, 27121, 19522, 25747, AGC= 58, IDX= 508,-0.09, 1.415,-0.170,-0.531, 0.112, PHS= 1.391,-0.235,-0.645, RAW= 79.0, -5.5, CAL= 87.8, -12.7, ROT= 62.2, 12.7 Ygot valid direction response: 14:16:03.4190 LVL= 14448, 27121, 19522, 25747, AGC= 58, IDX= 508,-0.09, 1.415,-0.170,-0.531, 0.112, PHS= 1.391,-0.235,-0.645, RAW= 79.0, -5.5, CAL= 87.8, -12.7, ROT= 62.2, 12.7 V#Rx 104: Read range and direction messages.^direction in FSK: [0.454976,0.862939,-0.219846]Fpublishing direction and range info)y-w,T?2?F#̿-CY) -p8)-iI-BLi-d)-J ?-ףp-% -|?)- ĽI-%?i-b-?-b> )))-YV$ ?A/آi-7-=-?-b> )))checking for new query: numPingsReceived=104, elapsed TxPingTime=34.088680Z)b- "iA-/C-/C-w4@ʁ-iNWcM@>O[@xxgf<-w,T?2?F#̿-?-b>ҁ-t۶^C@,`k?-G^n˻nIF?03K2x?z-B-j- ?r- -B-IE?-.9  )-C-|D8@M addTargetRange:: Added new target pos. range: 130.100006 m, deltaT: 1.014449 s, deltaX: -0.099991 m, approachRate: -0.098567 m/s, rangeRepo size: 4 } Added new target pos. range: 129.184982 m, bearing: 161.995797 deg, lat: 36.906142 deg, lon: -122.115829 deg, deltaT: 1.014449 s, deltaX: -0.100235 m, approachRate: -0.098807 m/s, posRepo size: 4 yFNOT Ignoring new targets: 129.18 m. ProNav: ac range: 129.184982 m, nav range: 128.499115 m, bearing: 164.964859 deg, approach rate: 0.000000 m/s, LOS rate: 0.283789 deg/s, cmd heading: 177.224763 deg, new cmd heading: 177.751978 deg. HeadingCmd: 3.102357 target range: 129.184982 and range: 130.10 m.bF@ZrjRJB~~{B}|||@3C`@| ^? m {Bm v=I ) ? I < \9 F@ i F@i i E E E E 0E ԑ checking for new query: numPingsReceived=104, elapsed TxPingTime=34.320187KP"K9*K2K:KcG J^gP*'@z,+q8 y~/+16G~GAAN?/GMj,67iA9b?b?Yb&VbHǿ }W?p?aƿ`g? ?l? b?b;)bC}1}B}I ==II3+= 4=ya9Q >٥ H-FƁ= >[5P?[59 IBy?@QEi;i;[5.A=B*** querying acoustic contact ***J9R9IMFNOT Ignoring new targets: 129.18 m.U;; ProNav: ac range: 129.184982 m, nav range: 128.407944 m, bearing: 165.083229 deg, approach rate: -0.249678 m/s, LOS rate: 0.324395 deg/s, cmd heading: 177.751985 deg, new cmd heading: 178.107343 deg. ^<HeadingCmd: 3.108560 target range: 129.184982 and range: 130.10 m.bF@ZrjRJB~~}||||K?UDDAT read: Rx Time:14:16:03.9189 ]TRx dataTimestamp_ set to:1749132965.044576ePDAT read: Bearing 59.3, 12.3 (Local) e~Local bearing/azimuth received: Bearing 59.3, 12.3 (Local) uDAT read: Range 10 to 50 : 129.9 m (trip time 86.6 ms) speed 0.0 -}\#Rx 105: Read range message, but no direction.QUCYQchecking for new query: numPingsReceived=105, elapsed TxPingTime=34.577019 {B6=I)?IK< !%K%95F@11i5F@iE?EEE_4E1 Y 6G % DAT read: 14:16:03.9189 LVL= 16656, 28369, 19250, 25331, AGC= 57, IDX= 507,-0.16,-1.765, 2.897, 2.656,-3.035, PHS= 1.358,-0.304,-0.596, RAW= 82.1, -5.1, CAL= 90.7, -12.3, ROT= 59.3, 12.3 = Ygot valid direction response: 14:16:03.9189 LVL= 16656, 28369, 19250, 25331, AGC= 57, IDX= 507,-0.16,-1.765, 2.897, 2.656,-3.035, PHS= 1.358,-0.304,-0.596, RAW= 82.1, -5.1, CAL= 90.7, -12.3, ROT= 59.3, 12.3 = \#Rx 106: Read direction message, but no range.M ^direction in FSK: [0.498824,0.840115,-0.213030] y 0`y?z8?AzUmD˿~GQ Ai Ay N >Tj,TiAY A)nI2Kib9ҭ?㥛u i?)KI0?i[;z?[> Tu!?uS㿉~RV2iϝ) .=;z?[>checking for new query: numPingsReceived=106, elapsed TxPingTime=34.84786295d?5?Y5Q45HBD˿'@?B?ɿk?@]F`}?l? 5d?5;)5C:J`BJQJJRJZJ:bJ-.9JJ=+}B=IGG?AH%>H%CH%IH%)}BH% =H!H%/DH%<H%MEMb@Mb@Mb@ )Y1Zd?V-kty"? 0 @)~@I@y@I=I=2M4 u=y}9Q }>٥yy }H}.FU= >[5?[59 IkByU?:?@REi:4:[56.AZQbUUBiAUCUCU[5@ʁUEP@MZFn[@z;U0`y?z8?AzUmD˿U;z?U[>ҁUV^YzC@ E?U7LL~Rtd?x ?zUWBUjUv?rU޸: UBUv?U޸:  U_`B1UCU[5@ addTargetRange:: Added new target pos. range: 129.899994 m, deltaT: 0.500384 s, deltaX: -0.200012 m, approachRate: -0.399717 m/s, rangeRepo size: 4  Added new target pos. range: 128.989639 m, bearing: 162.360283 deg, lat: 36.906153 deg, lon: -122.115758 deg, deltaT: 0.500384 s, deltaX: -0.195343 m, approachRate: -0.390386 m/s, posRepo size: 4 -DDAT read: Rx Time:14:16:04.4190 5TRx dataTimestamp_ set to:1749132965.548325=PDAT read: Bearing 57.0, 12.1 (Local) =~Local bearing/azimuth received: Bearing 57.0, 12.1 (Local) MDAT read: Range 10 to 50 : 130.1 m (trip time 86.7 ms) speed 0.0 uDAT read: 14:16:04.4190 LVL= 14176, 28449, 18610, 23859, AGC= 57, IDX= 508,-0.17, 3.097, 1.432, 1.279, 1.835, PHS= 1.349,-0.357,-0.560, RAW= 84.4, -4.8, CAL= 93.0, -12.1, ROT= 57.0, 12.1 Ygot valid direction response: 14:16:04.4190 LVL= 14176, 28449, 18610, 23859, AGC= 57, IDX= 508,-0.17, 3.097, 1.432, 1.279, 1.835, PHS= 1.349,-0.357,-0.560, RAW= 84.4, -4.8, CAL= 93.0, -12.1, ROT= 57.0, 12.1 V#Rx 107: Read range and direction messages.^direction in FSK: [0.532539,0.820038,-0.209619]Fpublishing direction and range info)y-^ ` ?jwh=?9hʿ-CY) -`7)-!oI-Hi-3])-?-ȶ-)\ -)?)-I-?i-@X-~?-@X> )))-U1?ںLˊ⿨ȈOpti--׫=-~?-@X> )))checking for new query: numPingsReceived=107, elapsed TxPingTime=35.092064FNOT Ignoring new targets: 128.99 m. ProNav: ac range: 128.989639 m, nav range: 128.981110 m, bearing: 162.360031 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 178.107346 deg, new cmd heading: 178.656612 deg. EHeadingCmd: 3.118146 target range: 128.989639 and range: 129.90 m.bEG@ZArAjARAJABI~I~M+{B}I|Q|QQ||@?  {B~qv=I)?I!< LFG@i G@i zE E ?E E E 5E F =F =ԉ Աchecking for new query: numPingsReceived=107, elapsed TxPingTime=35.3262796GjG?bG>KmO"Ki*Ki2Km:Km =Z`+X:eMkCZpyXHn`$ .^yf-d~GAAN?\j,?uiAu@}BuIII m9= m3=ymQ u>٥qq uHq} }>[5?[59 IXBy@ REi-<Q:[5-AZbciA0C0C2@ʁ.93Q@+.|Z@;^ ` ?jwh=?9hʿ~?@X>ҁSq^^NDE@wlSv?YkZW?0J?z/Bj >?rꥭ B ?  BCm\5@ addTargetRange:: Added new target pos. range: 130.100006 m, deltaT: 0.503749 s, deltaX: 0.200012 m, approachRate: 0.397047 m/s, rangeRepo size: 4  Added new target pos. range: 129.188248 m, bearing: 160.108237 deg, lat: 36.906153 deg, lon: -122.115755 deg, deltaT: 0.503749 s, deltaX: 0.198608 m, approachRate: 0.394261 m/s, posRepo size: 4 FNOT Ignoring new targets: 129.19 m.  ProNav: ac range: 129.188248 m, nav range: 128.864395 m, bearing: 162.362851 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 178.656616 deg, new cmd heading: 179.084363 deg. EHeadingCmd: 3.125612 target range: 129.188248 and range: 130.10 m.bE H@ZArAjARAJABA~I~I}I|I|Q|Q|U3?9 U#{B+h=I)P?Iu<  "k[ H@!!i% H@iQ ص<׵<DDAT read: Rx Time:14:16:04.9188 TRx dataTimestamp_ set to:1749132966.052291PDAT read: Bearing 56.1, 11.0 (Local) ~Local bearing/azimuth received: Bearing 56.1, 11.0 (Local) DAT read: Range 10 to 50 : 129.8 m (trip time 86.5 ms) speed 0.1 DAT read: 14:16:04.9188 LVL= 17456, 27857, 18642, 25475, AGC= 59, IDX= 507,-0.46, 2.224, 0.558, 0.447, 0.999, PHS= 1.313,-0.394,-0.555, RAW= 85.5, -4.1, CAL= 93.9, -11.0, ROT= 56.1, 11.0 %Ygot valid direction response: 14:16:04.9188 LVL= 17456, 27857, 18642, 25475, AGC= 59, IDX= 507,-0.46, 2.224, 0.558, 0.447, 0.999, PHS= 1.313,-0.394,-0.555, RAW= 85.5, -4.1, CAL= 93.9, -11.0, ROT= 56.1, 11.0 ]V#Rx 108: Read range and direction messages.e^direction in FSK: [0.547498,0.814763,-0.190809]Fpublishing direction and range infoڹyڽV?ys?P@mlȿڽCYڹ ۽0D)۽lI۽Hi۽c۽;۽b?۽^ɾ۽{ ܽC?)ܽCIܽM?iܽ Dܽ>z?ܽ D> ݹ)ݹݽ-K!Q?h^j,Siݽ<EE E E p5E ݽ=ݽ>z?ݽ D> ޹)޹Mchecking for new query: numPingsReceived=108, elapsed TxPingTime=35.630127aԱ 6Gu ~Gi A A N>sdj,TiA2checking for new query: numPingsReceived=108, elapsed TxPingTime=35.830963h9??YH`SҿԜ ??@ѿ?p? ? ?;)C9=IiE=IE4=J;e4J;T4J;0:Ju\BJuXJJuBRJqZJu=:bJu5K9Ju-4JqH>HHIH=}BH =HHH)<H]EHØCHHHI = I[5eMb@Mb@Mb@aaa a)aYe +?V-¿J +ye?eheHe A e@)ev@Ie@ayeG@IuIu[3A =y;Q >٥ H/F> >\5^? \59- I>By ? : .?@REi2<2<v\5][Be-AeEZ9b=XiA=C=C=6@ʁ=GNQ@I޳@Z@&8=V?ys?P@mlȿ=>z?= D>ҁ=^B@(ӭ@=lĸ)Zb?h?z=B=hj=}R`?r=+6 =B99 =B=C=5@ addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 0.503966 s, deltaX: -0.300003 m, approachRate: -0.595284 m/s, rangeRepo size: 4 1 Added new target pos. range: 128.890594 m, bearing: 163.717568 deg, lat: 36.906153 deg, lon: -122.115755 deg, deltaT: 0.503966 s, deltaX: -0.297653 m, approachRate: -0.590622 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.89 m. ProNav: ac range: 128.890594 m, nav range: 128.739716 m, bearing: 162.496434 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 179.084364 deg, new cmd heading: 179.602638 deg. DDAT read: Rx Time:14:16:05.4189 TRx dataTimestamp_ set to:1749132966.555998-PDAT read: Bearing 54.2, 9.0 (Local) 5~Local bearing/azimuth received: Bearing 54.2, 9.0 (Local) EDAT read: Range 10 to 50 : 129.9 m (trip time 86.6 ms) speed 0.0 eDAT read: 14:16:05.4189 LVL= 15312, 30497, 19682, 27523, AGC= 59, IDX= 506, 0.16, 3.071, 1.388, 1.359, 1.902, PHS= 1.257,-0.466,-0.546, RAW= 87.8, -2.8, CAL= 95.8, -9.0, ROT= 54.2, 9.0 mYgot valid direction response: 14:16:05.4189 LVL= 15312, 30497, 19682, 27523, AGC= 59, IDX= 506, 0.16, 3.071, 1.388, 1.359, 1.902, PHS= 1.257,-0.466,-0.546, RAW= 87.8, -2.8, CAL= 95.8, -9.0, ROT= 54.2, 9.0 uV#Rx 109: Read range and direction messages.}^direction in FSK: [0.577756,0.801078,-0.156434]}Fpublishing direction and range infoy|?mn?p ĿCY ;)!wILik`? %?)+HI?i| *r?| > )ј?PX)*/iH=*r?| > )checking for new query: numPingsReceived=109, elapsed TxPingTime=36.100136HeadingCmd: 3.134657 target range: 128.890594 and range: 129.80 m.b:H@ZrjRJB~~5{B}|||<`@|R? U '{BU z=IY )] ?y I = ۹ :H@ i :H@i bE ZE AY E= ?E9 E9 E= 0E9 FA FE Aԁ 6G]ȹ׽A׹checking for new query: numPingsReceived=109, elapsed TxPingTime=36.335709~G1AAKUtP"KU9*KQ2KU:KUVJ4{Xq{b;@Ie*Jhl6$[GAqN} ?ֲlj,BiA9v@?vg?Yv˞vH [OԿFdM3? V?@}WӿF?(ٓ`oR?? v@?vW;)t%A}B%II] I](23; >=ybI;Q >٥!) -H-0F5u= 5>9E\5=?E\59= I=(By?@=REi=i%<=%<=c\5-AZbyiACC26@ʁ~'R@/Y@p!-4|?mn?p Ŀ*r?| >ҁE q^h_B@14u@I ߗ@ع 2?8/"p?zBj:}?rHŦ mBv?޸:  BC25@E addTargetRange:: Added new target pos. range: 129.899994 m, deltaT: 0.503707 s, deltaX: 0.099991 m, approachRate: 0.198510 m/s, rangeRepo size: 4 U Added new target pos. range: 128.989883 m, bearing: 163.112775 deg, lat: 36.906153 deg, lon: -122.115758 deg, deltaT: 0.503707 s, deltaX: 0.099289 m, approachRate: 0.197116 m/s, posRepo size: 4 Q]FNOT Ignoring new targets: 128.99 m.a ProNav: ac range: 128.989883 m, nav range: 128.651215 m, bearing: 162.718733 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 179.602638 deg, new cmd heading: 180.038721 deg. HeadingCmd: 3.142268 target range: 128.989883 and range: 129.90 m.bI@ZrjRJB~~}||||? =*{BEZ-=II)M?IIMfk= IQU IiI@iԉDDAT read: Rx Time:14:16:05.9188  TRx dataTimestamp_ set to:1749132967.061349PDAT read: Bearing 53.7, 4.1 (Local) ~Local bearing/azimuth received: Bearing 53.7, 4.1 (Local) -DAT read: Range 10 to 50 : 129.8 m (trip time 86.5 ms) speed 0.1 ]DAT read: 14:16:05.9188 LVL= 14752, 30993, 19602, 27955, AGC= 58, IDX= 505,-0.26, 0.548,-1.075,-1.062,-0.481, PHS= 1.118,-0.547,-0.584, RAW= 88.9, 0.2, CAL= 96.3, -4.1, ROT= 53.7, 4.1 mYgot valid direction response: 14:16:05.9188 LVL= 14752, 30993, 19602, 27955, AGC= 58, IDX= 505,-0.26, 0.548,-1.075,-1.062,-0.481, PHS= 1.118,-0.547,-0.584, RAW= 88.9, 0.2, CAL= 96.3, -4.1, ROT= 53.7, 4.1 uV#Rx 110: Read range and direction messages.}^direction in FSK: [0.590498,0.803866,-0.071497]}Fpublishing direction and range infoy F\?XD? MEEEE1ECY 9)yILi3m:?1  ?)d;I"?iCo?C= )8g?%B@5v\f?i 2o?C= ) checking for new query: numPingsReceived=110, elapsed TxPingTime=36.622269Թ 6G ~G A Aq N >Ztj,CҩiAjchecking for new query: numPingsReceived=110, elapsed TxPingTime=36.8386429m?m?YmRmH8ֿ ?@ ?Կq+?_8? ? m?m+t;)i <}B I ==A:JBJQJJ=RJZJbJ-.9Jg4JMb@Mb@Mb@ )YX9v?T㥛 Mby?@X A  H5<H1HE>HAHEIHEG}BHE =HAHAHE8<HEqE)I@yIeIe(*3 =y3;Q >٥ H1FS= >\5u?\59x IBy?:? @REi/</<" \5Q]-AYiZb$éiACCq6@ʁ&?S@d Y@;n" F\?XD? Mo?C=ҁ~`\^S.gbBB@¦F/@Q=#/pW"?/K?zB2jCC?rx !BHŦ  BꁵHCE6@ addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 0.505351 s, deltaX: -0.099991 m, approachRate: -0.197864 m/s, rangeRepo size: 4 m Added new target pos. range: 128.889938 m, bearing: 163.412021 deg, lat: 36.906153 deg, lon: -122.115767 deg, deltaT: 0.505351 s, deltaX: -0.099945 m, approachRate: -0.197774 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.89 m.= ProNav: ac range: 128.889938 m, nav range: 128.281357 m, bearing: 163.178386 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 180.038719 deg, new cmd heading: 180.585957 deg. 9EHeadingCmd: 3.151819 target range: 128.889938 and range: 129.80 m.bEiI@ZArAjARAJIBI~QDDAT read: Rx Time:14:16:06.4188 TRx dataTimestamp_ set to:1749132967.563948PDAT read: Bearing 50.8, 2.4 (Local) ~Local bearing/azimuth received: Bearing 50.8, 2.4 (Local) DAT read: Range 10 to 50 : 129.8 m (trip time 86.5 ms) speed 0.1 ԱDAT read: 14:16:06.4188 LVL= 15088, 31265, 21106, 29075, AGC= 59, IDX= 505, 0.10, 2.672, 1.030, 1.126, 1.682, PHS= 1.078,-0.605,-0.558, RAW= 91.4, 1.0, CAL= 99.2, -2.4, ROT= 50.8, 2.4 Ygot valid direction response: 14:16:06.4188 LVL= 15088, 31265, 21106, 29075, AGC= 59, IDX= 505, 0.10, 2.672, 1.030, 1.126, 1.682, PHS= 1.078,-0.605,-0.558, RAW= 91.4, 1.0, CAL= 99.2, -2.4, ROT= 50.8, 2.4 V#Rx 111: Read range and direction messages.^direction in FSK: [0.631475,0.774265,-0.041876]Fpublishing direction and range infoځyڅ+[ 5?? ۷pځYځ ۅ:)ۅ!zIۅrRiۅqۅ;ۅ?ۅHۅ ܅0?)܅5-H׿ 4??`ֿ@ C? s㖿`0E?? -?-B;)-Cԉ(}BIII22 3=yOT;Q >٥ H= > \5 3 ?\59 q I By{?@ REi : : \5;.A"EZ9b=iA99="4@ʁ=WPYT@ EX@)8=+[ 5?? ۷p=b?=+=ҁ=܉،2O^j^C@=U2@=J|b7>)?ʆ364?z=B=yj=H=$?r=YX[ =>B=CC?9 =mB=B=\6@m addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 0.502599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 128.889938 m, bearing: 161.858242 deg, lat: 36.906154 deg, lon: -122.115767 deg, deltaT: 0.502599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.89 m. ProNav: ac range: 128.889938 m, nav range: 127.972733 m, bearing: 163.258953 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 180.585953 deg, new cmd heading: 181.028718 deg. HeadingCmd: 3.159547 target range: 128.889938 and range: 129.80 m.b6J@ZrjR!J!B!~!~!})|)|)|)|5/?Թ 0{B-=I)> I = %0o=GAIiM6J@iqDDAT read: Rx Time:14:16:06.9186 TRx dataTimestamp_ set to:1749132968.0690385PDAT read: Bearing 48.4, 0.1 (Local) 5~Local bearing/azimuth received: Bearing 48.4, 0.1 (Local) EM?EQEQEQEQ}DAT read: Range 10 to 50 : 129.5 m (trip time 86.3 ms) speed 0.1 UDAT read: 14:16:06.9186 LVL= 16368, 32753, 26498, 32755, AGC= 60, IDX= 504,-0.42,-1.566, 3.099,-3.027,-2.488, PHS= 1.010,-0.649,-0.543, RAW= 93.3, 2.3, CAL= 101.6, -0.1, ROT= 48.4, 0.1 Ygot valid direction response: 14:16:06.9186 LVL= 16368, 32753, 26498, 32755, AGC= 60, IDX= 504,-0.42,-1.566, 3.099,-3.027,-2.488, PHS= 1.010,-0.649,-0.543, RAW= 93.3, 2.3, CAL= 101.6, -0.1, ROT= 48.4, 0.1 V#Rx 112: Read range and direction messages.^direction in FSK: [0.663925,0.747797,-0.001745]Fpublishing direction and range infoyZ>?;S?n p\CY ?)Igi<G?$&  (o?)l$=I?i争@X?: )}4ю?K_s ܿ3ʀv?i:#@X?: )checking for new query: numPingsReceived=112, elapsed TxPingTime=37.651173 6G ~GI AY Aq N} >sj,iAIIMchecking for new query: numPingsReceived=112, elapsed TxPingTime=37.8474399?G@YIKH`$ۿ ??ٿX?`?? ?;)C}BI5Mb@Mb@Mb@111 1)1Y5 +?!rh ףp= y5?5l罹5Q85\ A 5@)5@I5@1y5@IMIM<2 $=yI;Q >٥ H2F= >\5v?\59pj IBy?:?@!REi <<u\5)-v.A-!EZ!b%kiA%C%C%6U5@H>HCHIHQ}BHHH.DHHjEʁ%P~(XU@KI X@g~L̿%Z>?;S?n p\%@X?%:ҁ%Pqر(^n4C@j6@%f%+?'k?z%B%Ej%P?r%ev %B!! %!B%B%|6@U addTargetRange:: Added new target pos. range: 129.500000 m, deltaT: 0.505090 s, deltaX: -0.300003 m, approachRate: -0.593960 m/s, rangeRepo size: 4  Added new target pos. range: 128.592041 m, bearing: 162.337618 deg, lat: 36.906154 deg, lon: -122.115767 deg, deltaT: 0.505090 s, deltaX: -0.297897 m, approachRate: -0.589791 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.59 m.- ProNav: ac range: 128.592041 m, nav range: 127.814285 m, bearing: 163.370997 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 181.028713 deg, new cmd heading: 181.506404 deg. )5HeadingCmd: 3.167884 target range: 128.592041 and range: 129.50 m.b5J@Z1r1j1R9JYBa~q~uA{B}|||0`@| ?1 e 3{Be қz=Ii )m >i Im = YC aG i J@i  DDAT read: Rx Time:14:16:07.4187  TRx dataTimestamp_ set to:1749132968.575663% PDAT read: Bearing 46.5, -1.5 (Local) % ~Local bearing/azimuth received: Bearing 46.5, -1.5 (Local) 5 DAT read: Range 10 to 50 : 129.6 m (trip time 86.4 ms) speed 0.2 e DAT read: 14:16:07.4187 LVL= 20544, 32753, 26162, 32755, AGC= 62, IDX= 504,-0.09,-1.288,-2.919,-2.716,-2.174, PHS= 0.974,-0.698,-0.545, RAW= 94.7, 3.4, CAL= 103.5, 1.5, ROT= 46.5, -1.5 u Ygot valid direction response: 14:16:07.4187 LVL= 20544, 32753, 26162, 32755, AGC= 62, IDX= 504,-0.09,-1.288,-2.919,-2.716,-2.174, PHS= 0.974,-0.698,-0.545, RAW= 94.7, 3.4, CAL= 103.5, 1.5, ROT= 46.5, -1.5 u V#Rx 113: Read range and direction messages. \direction in FSK: [0.688119,0.725126,0.026177] Fpublishing direction and range info y "2~?;4?P!Κ? CY  @P) I 2fi  > Xy? !2   ԏ?) s=I 8?i Pw< O? Pwּ  )  oW&?B3HAۿK\?i ᾉ s O? Pwּ  )  checking for new query: numPingsReceived=113, elapsed TxPingTime=38.126133A Ee ?Ea Ea Em V0Ei q6G~GIAQAiNu ?yj,T52iA9zc?zy@YzTzHܿ`ݩs??@wۿ?`d7? ? zc?zܗ;)zC)-}B5IAAUchecking for new query: numPingsReceived=113, elapsed TxPingTime=38.354214IuIu2} :=y(;Q >٥   H 3F ܆=  >\5?\59c IϐBy!%?e@%REi*<:+<g\5iu.AqKb/P"K9*K2K:K/N~C`{xmi[^SL< p~jLEpsMg\h jJJAZ)b-$iA-C-C-4@ʁ-Ns#V@ >TW@" @-"2~?;4?P!Κ?-O?-Pwּҁ-n]9?C@Xt<\9@-' E?o9?z-B-j-?r-]T -CB-H=$?-ev  ->B-B-5@IAIEBA:JM]BJMRJJMERJIZJM]:bJMS29JM4JIzJM:UjJM:UJM;:UrJM<:] addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 0.506625 s, deltaX: 0.100006 m, approachRate: 0.197397 m/s, rangeRepo size: 4  Added new target pos. range: 128.689850 m, bearing: 161.786648 deg, lat: 36.906166 deg, lon: -122.115746 deg, deltaT: 0.506625 s, deltaX: 0.097809 m, approachRate: 0.193060 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.69 m. ProNav: ac range: 128.689850 m, nav range: 126.947174 m, bearing: 162.508082 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 181.506403 deg, new cmd heading: 181.942116 deg. YeHeadingCmd: 3.175489 target range: 128.689850 and range: 129.60 m.be6;K@ZarajaRiJiBq~~}|||@33`@|$? -5{B-'P=Iq)u>qIua = qquF}Fyi6;K@iHG) uYyy}?AԉEEEE_0E DDAT read: Rx Time:14:16:07.9185  TRx dataTimestamp_ set to:1749132969.079987 PDAT read: Bearing 44.2, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 44.2, -4.3 (Local) % xDAT read: Range 10 to 50 : 129.3 m (trip time 86.2 d 0.3  DAT read: 14:16:07.9185 LVL= 19952, 29841, 26418, 31043, AGC= 62, IDX= 502,-0.10,-1.111,-2.689,-2.434,-1.893, PHS= 0.870,-0.750,-0.544, RAW= 96.7, 5.6, CAL= 105.8, 4.3, ROT= 44.2, -4.3  Ygot valid direction response: 14:16:07.9185 LVL= 19952, 29841, 26418, 31043, AGC= 62, IDX= 502,-0.10,-1.111,-2.689,-2.434,-1.893, PHS= 0.870,-0.750,-0.544, RAW= 96.7, 5.6, CAL= 105.8, 4.3, ROT= 44.2, -4.3  V#Rx 114: Read range and direction messages. \direction in FSK: [0.714893,0.695203,0.074979] Fpublishing direction and range info y  jgf???]1? LCY M) tI 2gi Cy R^? @ C ?) +=I \?i `= |E? ` ) 截X@?G/ٿys ?i _%о )ZȽ |E? ` ) - checking for new query: numPingsReceived=114, elapsed TxPingTime=38.643841Ա 6G ~G A A N >4j,rMiAI)@p9nÓ?nJ]@YnnH޿5@٥11 5H54F5s= =>9E\5=?\59=U\ I=By?@=*REi=5<=6<=\5/AZbEiAdCdCFK3@ʁ@PUV@(E1PV@\@#@ jgf???]1?|E?`ҁPYb]LND@FUt">@ cKnַ?n>.?z_&Bj!F?r;| ɻBP?YX[  Bꁍ+B5@M addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 0.504324 s, deltaX: -0.300003 m, approachRate: -0.594862 m/s, rangeRepo size: 4 ] Added new target pos. range: 128.391953 m, bearing: 160.512365 deg, lat: 36.906171 deg, lon: -122.115734 deg, deltaT: 0.504324 s, deltaX: -0.297897 m, approachRate: -0.590686 m/s, posRepo size: 4 YFNOT Ignoring new targets: 128.39 m. ProNav: ac range: 128.391953 m, nav range: 126.585350 m, bearing: 162.101151 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 181.942115 deg, new cmd heading: 182.425067 deg. HeadingCmd: 3.183918 target range: 128.391953 and range: 129.30 m.bPK@ZrjRJB~~}|||)`@|% &? m7{Bu=Iq)u>qIu = qy}ʯeZFiPK@iGGAAH>HCHIH=}BH =HH/DH0<HfE9E%?E!E!E!E!a } DDAT read: Rx Time:14:16:08.4184  TRx dataTimestamp_ set to:1749132969.585823 PDAT read: Bearing 42.3, -3.3 (Local)  ~Local bearing/azimuth received: Bearing 42.3, -3.3 (Local)  DAT read: Range 10 to 50 : 129.2 m (trip time 86.1 ms) speed 0.3  DAT read: 14:16:08.4184 LVL= 17248, 32753, 25842, 32755, AGC= 63, IDX= 502,-0.22, 1.569,-0.040, 0.262, 0.765, PHS= 0.892,-0.758,-0.506, RAW= 98.1, 4.9, CAL= 107.7, 3.3, ROT= 42.3, -3.3  Ygot valid direction response: 14:16:08.4184 LVL= 17248, 32753, 25842, 32755, AGC= 63, IDX= 502,-0.22, 1.569,-0.040, 0.262, 0.765, PHS= 0.892,-0.758,-0.506, RAW= 98.1, 4.9, CAL= 107.7, 3.3, ROT= 42.3, -3.3  V#Rx 115: Read range and direction messages.% \direction in FSK: [0.738405,0.671897,0.057564]5 Fpublishing direction and range infoy y} hx?6\*-?`8.y?} 3CYy } `C)} I} di} } ?} Zd?} J B} 7 } R(?)} %=I} ?i} k=} a j,jiA9^.W?^>@Y^|`^H@4`9@q?`̦?w޿ \?8kg?`)? ^.W?^;)\z|BzIMb@Mb@Mb@ )Y +?+ηktyv 0rA @)I@yI5I5[3e eB=ye9Q m>٥ii mHiuv= u>y\5} ?\59}V I}By ?:?@}-REi}n;};}&\5/AZQbU ~eiAUKCUKCU}<3@ʁU<4W@{Dڠ׌U@pd@Uhx?6\*-?`8.y?UeD@]:k<@U Prm^p=}?q i?zU~'BUjUU?rU} U|BU?U]T  UCBUBU4@ addTargetRange:: Added new target pos. range: 129.199997 m, deltaT: 0.505836 s, deltaX: -0.100006 m, approachRate: -0.197705 m/s, rangeRepo size: 4  Added new target pos. range: 128.294540 m, bearing: 160.460664 deg, lat: 36.906177 deg, lon: -122.115732 deg, deltaT: 0.505836 s, deltaX: -0.097412 m, approachRate: -0.192576 m/s, posRepo size: 4 FNOT Ignoring new targets: 128.29 m. ProNav: ac range: 128.294540 m, nav range: 125.836845 m, bearing: 161.972870 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 182.425064 deg, new cmd heading: 182.814460 deg. HeadingCmd: 3.190714 target range: 128.294540 and range: 129.20 m.b4L@ZrjRJABA~I~M{B}I|I|Q|U`f&`@|Ua?aeAmchecking for new query: numPingsReceived=115, elapsed TxPingTime=39.362427 9{BAEb=IA)Md>IIMވ = IIM/U EQQiU4L@iYbEZEAK=P"K9*K2K:K&uRUsC._|7& 1R4b|EcNp:JBJVJJ>RJZJbJB9Jt4JzJ:jJ:JX:rJX:EEEE^0EFFi 6G9 ԡ ~G A! A1 M DDAT read: Rx Time:14:16:08.9182 U TRx dataTimestamp_ set to:1749132970.093783] PDAT read: Bearing 39.8, -3.6 (Local) ] ~Local bearing/azimuth received: Bearing 39.8, -3.6 (Local) m DAT read: Range 10 to 50 : 128.9 m (trip time 85.9 ms) speed 0.3  DAT read: 14:16:08.9182 LVL= 20208, 32753, 26674, 32755, AGC= 65, IDX= 499, 0.44, 2.886, 1.251, 1.617, 2.097, PHS= 0.877,-0.799,-0.483, RAW= 100.2, 5.3, CAL= 110.2, 3.6, ROT= 39.8, -3.6  Ygot valid direction response: 14:16:08.9182 LVL= 20208, 32753, 26674, 32755, AGC= 65, IDX= 499, 0.44, 2.886, 1.251, 1.617, 2.097, PHS= 0.877,-0.799,-0.483, RAW= 100.2, 5.3, CAL= 110.2, 3.6, ROT= 39.8, -3.6  V#Rx 116: Read range and direction messages. \direction in FSK: [0.766767,0.638847,0.062791] Fpublishing direction and range infoQ yU Y{[?LPknq?֏ ?U CYQ U N)Q IU 2hiQ U AU `?U DLU K U T?)U q=IU m0?iU =U 1?U Q )Q U ޢ?=տL sP?iU °U U 1?U Q )Q  checking for new query: numPingsReceived=116, elapsed TxPingTime=39.636765N >j,+iA9Z?Z@YZ ZH@ E?-.? w@F?rҋ?#? Z?ZX;)ZCb|BbI z=zp=I~I~3 C  G=y5QQ 5>٥11 5H55F=n= =>AM\5E?u\59EP IEByquR?u@E1REiE;E ;E"\5ZBm/A$EZbiABB.2@ʁܧ1X@yMKqT@`m @Y{[?LPknq?֏ ?1?ҁ~-F] Y~E@Jy;@c %BF5?]z>?z.B0j}9\?ry BU?;|  BB3@= addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 0.507960 s, deltaX: -0.300003 m, approachRate: -0.590604 m/s, rangeRepo size: 4 } Added new target pos. range: 127.996643 m, bearing: 159.517891 deg, lat: 36.906192 deg, lon: -122.115704 deg, deltaT: 0.507960 s, deltaX: -0.297897 m, approachRate: -0.586458 m/s, posRepo size: 4 yFNOT Ignoring new targets: 128.00 m. ProNav: ac range: 127.996643 m, nav range: 124.866333 m, bearing: 160.754833 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 182.814466 deg, new cmd heading: 183.205859 deg. HeadingCmd: 3.197546 target range: 127.996643 and range: 128.90 m.bL@ZrjRJB~~}|||`@|h? =;{B==I9)E>AIET= AAE ϺM{EIIiML@iQE}?EEE`0E-checking for new query: numPingsReceived=116, elapsed TxPingTime=39.872955AH H H IH }BH  =H H 0DH ۚ<H E6G ȹy ~G A AA N >"j,iA`ib<9m>?m @YmPmHD@ wr?`?~@?k] X~?6? m>?m彊;)mC|BqI5DDAT read: Rx Time:14:16:09.4181 5TRx dataTimestamp_ set to:1749132970.596024=PDAT read: Bearing 37.2, -3.6 (Local) E~Local bearing/azimuth received: Bearing 37.2, -3.6 (Local) UDAT read: Range 10 to 50 : 128.7 m (trip time 85.8 ms) speed 0.4 uDAT read: 14:16:09.4181 LVL= 21712, 32753, 27394, 32755, AGC= 65, IDX= 498, 0.14, 3.054, 1.387, 1.825, 2.273, PHS= 0.870,-0.839,-0.450, RAW= 102.5, 5.5, CAL= 112.8, 3.6, ROT= 37.2, -3.6 }Ygot valid direction response: 14:16:09.4181 LVL= 21712, 32753, 27394, 32755, AGC= 65, IDX= 498, 0.14, 3.054, 1.387, 1.825, 2.273, PHS= 0.870,-0.839,-0.450, RAW= 102.5, 5.5, CAL= 112.8, 3.6, ROT= 37.2, -3.6 V#Rx 117: Read range and direction messages.\direction in FSK: [0.794958,0.603406,0.062791]Fpublishing direction and range info1y5>#Lp?_^EO?֏ ?5CY1 5T)1I5ki115R^?5V5ff 5?)5 =I5d?i156&?1 1)15<7c?HklӿH=R U?i55½56&?1 1)1checking for new query: numPingsReceived=117, elapsed TxPingTime=40.140347Mb@Mb@Mb@ )YA`"?333333Mby?@A )@I@y(@I=I= 3M9 M=yMQ M>٥QQ UHu6F}b= }>\5V?\59I IBy?:@@6REi;;M'\5/A"EZ1b5B%iA5B5B5\(1@ʁ5:bfY@}_aZGS@ | @5>#Lp?_^EO?֏ ?956&?1ҁ5$]uAF@F-:@5fTv)1n? J8?z56B5j5jG?r5M 5B5!F?5}  15B5W3@E addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 0.502241 s, deltaX: -0.199997 m, approachRate: -0.398209 m/s, rangeRepo size: 4 } Added new target pos. range: 127.799324 m, bearing: 158.599785 deg, lat: 36.906197 deg, lon: -122.115699 deg, deltaT: 0.502241 s, deltaX: -0.197319 m, approachRate: -0.392877 m/s, posRepo size: 4 y}FNOT Ignoring new targets: 127.80 m. ProNav: ac range: 127.799324 m, nav range: 124.290871 m, bearing: 160.555586 deg, approach rate: 0.000000 m/s, LOS rate: 0.324395 deg/s, cmd heading: 183.205864 deg, new cmd heading: 183.735683 deg. HeadingCmd: 3.206793 target range: 127.799324 and range: 128.70 m.bI3= 7ẉDijE>YE ?E E E _0E F F A checking for new query: numPingsReceived=117, elapsed TxPingTime=40.374462KM P"KI *KI 2KM :KM 3HKQQr"L{upH U/ !X ,0cԉ :J ^BJ QJJ BRJ ZJ } :bJ -.9J -4J zJ _:jJ d:J 4:rJ 4:6G ~GԹAA!Nm?/yj,HiADDAT read: Rx Time:14:16:09.9179 %TRx dataTimestamp_ set to:1749132971.099901-PDAT read: Bearing 35.3, -4.7 (Local) -~Local bearing/azimuth received: Bearing 35.3, -4.7 (Local) =DAT read: Range 10 to 50 : 128.4 m (trip time 85.6 ms) speed 0.4 mDAT read: 14:16:09.9179 LVL= 22160, 32753, 28482, 32755, AGC= 66, IDX= 496,-0.14, 0.394,-1.223,-0.740,-0.316, PHS= 0.798,-0.860,-0.428, RAW= 104.6, 6.6, CAL= 114.7, 4.7, ROT= 35.3, -4.7 yYgot valid direction response: 14:16:09.9179 LVL= 22160, 32753, 28482, 32755, AGC= 66, IDX= 496,-0.14, 0.394,-1.223,-0.740,-0.316, PHS= 0.798,-0.860,-0.428, RAW= 104.6, 6.6, CAL= 114.7, 4.7, ROT= 35.3, -4.7 V#Rx 118: Read range and direction messages.\direction in FSK: [0.813393,0.575914,0.081939]Fpublishing direction and range infoyHHFQ?٥ H7F >\5?\59B ImBy@;REih:u:+\5  0A %EZbdƪiABB.@ʁ^\Y@Lǃ[R@惵n$@HHFQ?{B靵s=I)>I=  t񺉢eDiM@iE?EEE^0E checking for new query: numPingsReceived=118, elapsed TxPingTime=40.878296 6G H} >H} CH} IH} |BH}  =Hy H} .DH} <H} EHU̙CHU̙CHQHU =IU = IUx\6~G A A N >Fj,4/ݪiA9^/@^-C@Y^(^Haa? ?Q?`[^?? ^/@^߉;)^Cr|BvSI1mMb@Mb@Mb@iii i)iYmS?Mblym?mmmrA i)m@Iiiym3@II2͏ A=y@Q >٥ HH> >=\5?E\59P= I`ByE!?E:E @E@?REi\*<*<H/\5IU0AQDDAT read: Rx Time:14:16:10.4178 TRx dataTimestamp_ set to:1749132971.604065PDAT read: Bearing 33.1, -3.8 (Local) ~Local bearing/azimuth received: Bearing 33.1, -3.8 (Local) DAT read: Range 10 to 50 : 128.3 m (trip time 85.5 ms) speed 0.4 DAT read: 14:16:10.4178 LVL= 29984, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.34, 2.776, 1.106, 1.654, 2.042, PHS= 0.822,-0.889,-0.391, RAW= 106.5, 6.1, CAL= 116.9, 3.8, ROT= 33.1, -3.8 Ygot valid direction response: 14:16:10.4178 LVL= 29984, 32753, 32754, 32755, AGC= 65, IDX= 511, 0.34, 2.776, 1.106, 1.654, 2.042, PHS= 0.822,-0.889,-0.391, RAW= 106.5, 6.1, CAL= 116.9, 3.8, ROT= 33.1, -3.8 V#Rx 119: Read range and direction messages.\direction in FSK: [0.835877,0.544901,0.066274]Fpublishing direction and range infoډyڍ?&d?u@o?{S?ڍLCYډ ۍ u)ۉIۍiۉۍAۍnR?ۍcۍ'1Ⱦ ܍\?)܍^ =I܍@i܍ԇ=܍h?܍ԇ ݉)݉ݍR3+?FͿ!@ ?iݍPlrݍؽݍh?ݍԇ މ)މ checking for new query: numPingsReceived=119, elapsed TxPingTime=41.147797YZbiABBD2@ʁ_[A`LZ@39ZQ@w'e @?&d?u@o?{S?h?ԇҁ:L]$Q4E@鋴7@+Z=\^p J?~?9?z/Bgj0.?rA BA  I5= 19= =,CAAiE;N@iIԁE?EEE[0EԱ 5 checking for new query: numPingsReceived=119, elapsed TxPingTime=41.3823136G ~G K oP"K @9*K 2K :K - #u/`oWa k)^V V17v%J3}zTecLA :J[BJOJJRJZJ:bJ%9JJzJ:jJ:J&:rJ&:A1N=>j, iAI)L=|B=LIiE٥ H8F %>a\5e?\59e8 IeTBy@eCREieI= CiqN@izE!DDAT read: Rx Time:14:16:10.9175 TRx dataTimestamp_ set to:1749132972.111980PDAT read: Bearing 32.9, -5.9 (Local) ~Local bearing/azimuth received: Bearing 32.9, -5.9 (Local) DAT read: Range 10 to 50 : 127.8 m (trip time 85.2 ms) speed 0.4 uDAT read: 14:16:10.9175 LVL= 24960, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.19, 0.899,-0.688,-0.146, 0.260, PHS= 0.727,-0.901,-0.409, RAW= 107.1, 8.1, CAL= 117.1, 5.9, ROT= 32.9, -5.9 E?EEE_0EFF=Ygot valid direction response: 14:16:10.9175 LVL= 24960, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.19, 0.899,-0.688,-0.146, 0.260, PHS= 0.727,-0.901,-0.409, RAW= 107.1, 8.1, CAL= 117.1, 5.9, ROT= 32.9, -5.9  V#Rx 120: Read range and direction messages.=\direction in FSK: [0.835172,0.540297,0.102793]=Fpublishing direction and range infoy#?[wCJ?zBP?BY a)Ii:?fshѾ C?)>IM@iB=?Bҽ )su?6̿ 5g?ie?Bҽ )}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.! 6G ~G A A N >5j,wiARH5@Iϐ?:?``H?w7M?? @u;)C%|B-II 5=5=H%߼>H%CH%xIH%|BH% =H!H%-DH%<H%EMb@Mb@Mb@ )Y+?L7A`堿Mby?+ A @)@I@y@II#3 '=y)Q >٥ %H%9F%= %>)e\5-?e\59-1 I-GBym- ?u:uz@}@-HREi-)<-;-7\5YB0A(EZb*iABB5@ʁ A~Z@ r%i$Q@*@#?[wCJ?zBP??Bҽҁ.%@v]PR C@= ;@31|d93?,Kɀy?zNBj{9ܿ?rF B ꁍfB%2@ addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 0.507915 s, deltaX: -0.500000 m, approachRate: -0.984417 m/s, rangeRepo size: 4  Added new target pos. range: 126.900070 m, bearing: 162.094020 deg, lat: 36.906199 deg, lon: -122.115664 deg, deltaT: 0.507915 s, deltaX: -0.497910 m, approachRate: -0.980301 m/s, posRepo size: 4 FNOT Ignoring new targets: 126.90 m.- ProNav: ac range: 126.900070 m, nav range: 124.200577 m, bearing: 159.486543 deg, approach rate: 0.000000 m/s, LOS rate: 0.156488 deg/s, cmd heading: 184.818007 deg, new cmd heading: 185.055439 deg. )5HeadingCmd: 3.229827 target range: 126.900070 and range: 127.80 m.b5{N@Z1r1j9R9J9B~~%zB})|)|1|5@3_@|5@?EDDAT read: Rx Time:14:16:11.4175 MTRx dataTimestamp_ set to:1749132972.611939uPDAT read: Bearing 30.0, -6.4 (Local) }~Local bearing/azimuth received: Bearing 30.0, -6.4 (Local) DAT read: Range 10 to 50 : 127.8 m (trip time 85.2 ms) speed 0.4 DAT read: 14:16:11.4175 LVL= 24720, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.04,-2.536, 2.215, 2.819,-3.107, PHS= 0.659,-0.914,-0.360, RAW= 110.3, 9.0, CAL= 120.0, 6.4, ROT= 30.0, -6.4 Ygot valid direction response: 14:16:11.4175 LVL= 24720, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.04,-2.536, 2.215, 2.819,-3.107, PHS= 0.659,-0.914,-0.360, RAW= 110.3, 9.0, CAL= 120.0, 6.4, ROT= 30.0, -6.4 R#Rx 1: Read range and direction messages.\direction in FSK: [0.860628,0.496884,0.111469]Fpublishing direction and range infoAyEDD?n? -V:?AYA E`)AIAiAE@E9(?EiEQ Ei?)E| >IE @iE=E ?E A)AE)?Eſ?iE-E E ?E A)A 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. e @{Bm `=Ii )m >i I =  :jC i {N@i 1 Ee ?Ei Ei Em P0Ei Y 6GS@>@Y>]>>HUd@?vR? @j?L+tg?X? >S@>g;)٥ H = >\5ޖ?\59>, I:ByYeY@e@MREi<<;\5q1A&E9ZQbU*'iAQQUr3@ʁUgɢM[@yh"sO@GCsJ,@UDD?n? -V:?U ?UҁU^>]xBjD@Vw;@U$jNL?#ws?zUR#BUjU_?rUց U'BU0.?Q U'BUBUP2@ addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 0.499959 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 126.900070 m, bearing: 160.757769 deg, lat: 36.906195 deg, lon: -122.115664 deg, deltaT: 0.499959 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 FNOT Ignoring new targets: 126.90 m.   ProNav: ac range: 126.900070 m, nav range: 124.455299 m, bearing: 159.636491 deg, approach rate: 0.000000 m/s, LOS rate: 0.156488 deg/s, cmd heading: 185.055438 deg, new cmd heading: 185.292963 deg. a%HeadingCmd: 3.233972 target range: 126.900070 and range: 127.80 m.bmgN@ZirijiRiJiBi~q~q}q|q|y|y|} ?=DDAT read: Rx Time:14:16:11.9172 MTRx dataTimestamp_ set to:1749132973.118849ePDAT read: Bearing 29.2, -7.0 (Local) e~Local bearing/azimuth received: Bearing 29.2, -7.0 (Local) DAT read: Range 10 to 50 : 127.4 m (trip time 84.9 ms) speed 0.4 9Ec=IA)Eh>AIE= IIMMO&CQQiUgN@]DAT read: 14:16:11.9172 LVL= 25584, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.16,-2.143, 2.631,-3.031,-2.679, PHS= 0.624,-0.926,-0.355, RAW= 111.4, 9.7, CAL= 120.8, 7.0, ROT= 29.2, -7.0 eYgot valid direction response: 14:16:11.9172 LVL= 25584, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.16,-2.143, 2.631,-3.031,-2.679, PHS= 0.624,-0.926,-0.355, RAW= 111.4, 9.7, CAL= 120.8, 7.0, ROT= 29.2, -7.0 eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.866415,0.484223,0.121869]iFpublishing direction and range infoAyE0ެ??UM7P2?EBYA Ec)AIAiAAEw?EVmEµ E?)E-\->IEV@iE5=Ew?E5 A)AEQ!/?'¿\:?iEjpE-Ew?E5 A)A % 2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.ԑ E) E1 E1 E5 I4E1 Թ 6G5H =i] ?h?`W F?ɻ?@? 5k @5ġ;)5CmX|Bm0IHۼ>HH_IH|BH =HHH<HEMb@Mb@Mb@ )Y-?٥ H;F$= >\5~?\59$ I,Bym?:~@@SREi;S;@\5f1A)EZ b 9GiA B B I6@ʁ 'Rf[@&z2N@tYI].@ 0ެ??UM7P2? w? 5ҁ mHR]>A@4<@ @;Ao^F? b?z B j =풨?r Iy  ,B _? ց  I@i5>'>5 )#'.?'hkZ6Dl ?iA'>5  Added new target pos. range: 126.502098 m, bearing: 163.192362 deg, lat: 36.906192 deg, lon: -122.115692 deg, deltaT: 0.506910 s, deltaX: -0.397972 m, approachRate: -0.785094 m/s, posRepo size: 4 FNOT Ignoring new targets: 126.50 m. ProNav: ac range: 126.502098 m, nav range: 123.531876 m, bearing: 160.835891 deg, approach rate: 0.000000 m/s, LOS rate: 0.156488 deg/s, cmd heading: 185.292964 deg, new cmd heading: 185.562524 deg. ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. HeadingCmd: 3.238677 target range: 126.502098 and range: 127.20 m.b |FO@Z r j R JB~~zB}Y|Y|Y|]_@|e>? 靵[=I)>I=   $ 8B i |FO@i Ա E ?E E E 5E F F ~H@@HX?@F? `?F@Ԫ?@? ~l @~;)~CZ|B1I) G9 ޿Yy.AII2; ,=yuwQ >٥ H =  >E\5l?M\59 I"ByIMm@M@XREi/;/;D\5UXB]\1A],EZ)b-giA-BDDAT read: Rx Time:14:16:12.9170 %TRx dataTimestamp_ set to:1749132974.1266339EPDAT read: Bearing 27.8, -8.9 (Local) M~Local bearing/azimuth received: Bearing 27.8, -8.9 (Local) mDAT read: Range 10 to 50 : 127.1 m (trip time 84.7 ms) speed 0.4 -B-6@ʁ-U[@(M@!1@-mg?Yw] ?H@l?-'>-5ҁ-} o]#i'A@:>@-d?-Iַb?Rt΢?z-= B-xDAT read: 14:16:12.9170 LVL= 32688, 3754, 32755, AGC= 61, IDX= 502,-0.39, 3.104, 1.728, 2.350, 2.681, PHS= 0.511,-0.906,-0.334, RAW= 113.7, 11.8, CAL= 122.2, 8.9, ROT= 27.8, -8.9 j-lJ?r-_ -B-{9ܿ?-F  -B-B-IK5@AEFNOT Ignoring new targets: 126.50 m.M/:M/:U!unknown deviceResponse_: 14:16:12.9170 LVL= 32688, 3754, 32755, AGC= 61, IDX= 502,-0.39, 3.104, 1.728, 2.350, 2.681, PHS= 0.511,-0.906,-0.334, RAW= 113.7, 11.8, CAL= 122.2, 8.9, ROT= 27.8, -8.9 -]X#Rx 1: Read range message, but no direction.3BY ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.} ProNav: ac range: 126.502098 m, nav range: 123.260674 m, bearing: 160.890664 deg, approach rate: -0.512244 m/s, LOS rate: 0.103682 deg/s, cmd heading: 185.562525 deg, new cmd heading: 185.727204 deg. }O;HeadingCmd: 3.241551 target range: 126.502098 and range: 127.20 m.buO@ZrjRJB~~}|||`f_@|[? E&*_=I) >I!= lA-!BiuO@irEN>jE >a E} ?E E E 0E ԙ  H0H2FIH2||BH2 =H0H2.DH2<H2E9~J@~>^@Y~@~H`*?` ?%`?Ǔ%?? ~J@~Ċ;)~C=S|B=-IIMb@Mb@Mb@ )Y+?~jtZd;Oyv?Dj A @)@Iy@IIF3MX M=yUmQ U>٥QQ ]H]\5W?\59 IBy?:@@]REi':#:I\5y1AmB*** querying acoustic contact ***JiRi addTargetRange:: Added new target pos. range: 127.099998 m, deltaT: 0.506634 s, deltaX: -0.099998 m, approachRate: -0.197378 m/s, rangeRepo size: 4 DDAT read: Rx Time:14:16:13.4168 TRx dataTimestamp_ set to:1749132974.632125PDAT read: Bearing 26.9, -5.4 (Local) ~Local bearing/azimuth received: Bearing 26.9, -5.4 (Local) DAT read: Range 10 to 50 : 126.8 m (trip time 84.5 ms) speed 0.8 5DAT read: 14:16:13.4168 LVL= 27376, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.16, 2.869, 1.486, 2.110, 2.374, PHS= 0.582,-0.841,-0.267, RAW= 113.6, 8.5, CAL= 123.1, 5.4, ROT= 26.9, -5.4 EYgot valid direction response: 14:16:13.4168 LVL= 27376, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.16, 2.869, 1.486, 2.110, 2.374, PHS= 0.582,-0.841,-0.267, RAW= 113.6, 8.5, CAL= 123.1, 5.4, ROT= 26.9, -5.4 ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.887840,0.450427,0.094108]MFpublishing direction and range infoy׽.i?!?|ӄ{?BYUFNOT Ignoring new targets: 126.50 m.]g ;]g ;m ProNav: ac range: 126.502098 m, nav range: 122.955879 m, bearing: 160.946365 deg, approach rate: -0.665257 m/s, LOS rate: 0.121876 deg/s, cmd heading: 185.727201 deg, new cmd heading: 185.894717 deg. mI;uHeadingCmd: 3.244475 target range: 126.502098 and range: 127.10 m.q j)Ii??KW9 ?)>I @i=va> ) nos?q2Ⱦo?i㽉-pva> ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.buzO@ZrjRJB~~]zB}|||@3_@|-? Y]_=IY)]>YIe5= aaeYT6m:zBiizO@iE! E! E) E- 0E) ԡ 6G  j,BiA9j*@j>@YjjH~C7? ? $?CÓ ? T? j*@jd;)jC ^|B4II}I}?13h< `=yFQ >٥ H=Fi= >\5H?\59S IBy@@`REKc6P"K 9*K2K:KPQDC8Y|jJ e%1&x%6OKWl %  kni:r<L\5AEJ1AE/EZbtiABB9@ʁgI[@K&[L@E'@׽.i?!?|ӄ{?va>ҁUQF^Nbp8=@/#R8@3W )̼a?"/?zAj*ƾ?rC ԮBlJ?Iy  ꁅBmv6@ addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 0.505492 s, deltaX: -0.299995 m, approachRate: -0.593472 m/s, rangeRepo size: 4  Added new target pos. range: 125.907532 m, bearing: 166.318603 deg, lat: 36.906180 deg, lon: -122.115747 deg, deltaT: 1.513276 s, deltaX: -0.594566 m, approachRate: -0.392900 m/s, posRepo size: 4 FNOT Ignoring new targets: 125.91 m. ProNav: ac range: 125.907532 m, nav range: 122.445938 m, bearing: 163.349011 deg, approach rate: 0.000000 m/s, LOS rate: 0.121876 deg/s, cmd heading: 185.894718 deg, new cmd heading: 186.039242 deg. HeadingCmd: 3.246997 target range: 125.907532 and range: 126.80 m.bO@ZrjRJ!B!~)~)})|)|1|1|5S?A ?{B靵Yl=I)>I= h5> PB  i O@i }DDAT read: Rx Time:14:16:13.9166 TRx dataTimestamp_ set to:1749132975.139750PDAT read: Bearing 27.5, -4.1 (Local) ~Local bearing/azimuth received: Bearing 27.5, -4.1 (Local) E%?E!E!E%0E)UDAT read: Range 10 to 50 : 126.5 m (trip time 84.3 ms) speed 0.4 iDAT read: 14:16:13.9166 LVL= 27056, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.03,-3.109, 1.746, 2.363, 2.623, PHS= 0.639,-0.831,-0.264, RAW= 112.5, 7.1, CAL= 122.5, 4.1, ROT= 27.5, -4.1 Ygot valid direction response: 14:16:13.9166 LVL= 27056, 32753, 32754, 32755, AGC= 65, IDX= 497, 0.03,-3.109, 1.746, 2.363, 2.623, PHS= 0.639,-0.831,-0.264, RAW= 112.5, 7.1, CAL= 122.5, 4.1, ROT= 27.5, -4.1 R#Rx 1: Read range and direction messages.\direction in FSK: [0.884741,0.460567,0.071497]Fpublishing direction and range infoyy}1xO?1Ry? M?}BYy }i)yIyiy}A}#?}jT}+ }S?)}=I}u@i}C=} >}C y)y}!VRz?Y簝Y?i}J[}} >}C y)y - 2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.Թ 6G5 ȹ~G A A1 N= >Fj,pիiARH2d e?C]? . ?# ?@@? @a.;)-n|B->I:JZBJTJJBRJZJ9bJ:9J-4J HH<H>HCH9IHh|BHHHHΚ<HEMb@Mb@Mb@ )Yx?~jt٥qq uHu>Fu= }>\5/?\59s IBy}?:@@fREiH:#:3R\51A2E ZbȫiA8B8B*>@ʁn B[@f5L@N0!@1xO?1Ry? M? >CҁRȉ^gZK4@ m5@8%￀(?{%P%?zXAj?r} B=풨?_  'BBO7@ addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 0.507625 s, deltaX: -0.300003 m, approachRate: -0.590993 m/s, rangeRepo size: 4 E  Added new target pos. range: 125.610611 m, bearing: 170.559034 deg, lat: 36.906180 deg, lon: -122.115760 deg, deltaT: 0.507625 s, deltaX: -0.296921 m, approachRate: -0.584921 m/s, posRepo size: 4 A M FNOT Ignoring new targets: 125.61 m.I I e  ProNav: ac range: 125.610611 m, nav range: 121.810226 m, bearing: 163.922120 deg, approach rate: 0.000000 m/s, LOS rate: 0.121876 deg/s, cmd heading: 186.039245 deg, new cmd heading: 186.257923 deg. a m HeadingCmd: 3.250814 target range: 125.610611 and range: 126.50 m.bm V P@Zi ri ji Ri Ji Bq  DDAT read: Rx Time:14:16:14.4165  TRx dataTimestamp_ set to:1749132975.639954 PDAT read: Bearing 25.7, -1.4 (Local)  ~Local bearing/azimuth received: Bearing 25.7, -1.4 (Local)  DAT read: Range 10 to 50 : 126.2 m (trip time 84.1 ms) speed 0.5  DAT read: 14:16:14.4165 LVL= 25616, 29601, 29090, 32755, AGC= 64, IDX= 496, 0.32,-2.204, 2.726,-2.940,-2.761, PHS= 0.644,-0.750,-0.183, RAW= 113.8, 4.8, CAL= 124.3, 1.4, ROT= 25.7, -1.4  Ygot valid direction response: 14:16:14.4165 LVL= 25616, 29601, 29090, 32755, AGC= 64, IDX= 496, 0.32,-2.204, 2.726,-2.940,-2.761, PHS= 0.644,-0.750,-0.183, RAW= 113.8, 4.8, CAL= 124.3, 1.4, ROT= 25.7, -1.4  R#Rx 1: Read range and direction messages. \direction in FSK: [0.900808,0.433530,0.024432] Fpublishing direction and range infoځ yڅ _k?Z?{J?څ fBYځ ۅ d)ۅ sIۅ qiہ ۅ @ۅ /$?ۅ @ۅ Zd; ܅ M;?)܅ =I܅ - @i܅ +<܅ L>܅ +ȼ ݁ )݁ ݅ P]:?~OhStw?i݅ ۽݅ R﫽݅ L>݅ +ȼ ށ )ށ M 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode.~Q ~] zB}Y |Y |Y |e ̌_@|e ? >{B 2a=I ) > I =    JI `B 1 i5 V P@i1 1 zEA E ?E E E ]0E Y6G 9=A=rH#D?? ";?@ Z?>? r!@rk;)rC=q|B=?I)A AK4P"K9*K2K:Kh'-em%F CFFdJWX.pLugD)'dII 3UƵ; ]B=y]s:Q ]>٥Ya eHa= >\5?\59 IBy!@@jREi::U\5WB0A1EZbiABB*?@ʁ^s*~8\@)K@r_H~@_k?Z?{J?L>+ȼҁf^Խ^)3@h3B^-@6=ke_bҒ?)J?zLAjH[8?rH B*ƾ?C  ԮBB9@= addTargetRange:: Added new target pos. range: 126.199997 m, deltaT: 0.500204 s, deltaX: -0.300003 m, approachRate: -0.599761 m/s, rangeRepo size: 4 u Added new target pos. range: 125.312714 m, bearing: 171.141201 deg, lat: 36.906156 deg, lon: -122.115813 deg, deltaT: 0.500204 s, deltaX: -0.297897 m, approachRate: -0.595552 m/s, posRepo size: 4 quFNOT Ignoring new targets: 125.31 m.yy ProNav: ac range: 125.312714 m, nav range: 122.964363 m, bearing: 166.428650 deg, approach rate: 0.000000 m/s, LOS rate: 0.121876 deg/s, cmd heading: 186.257920 deg, new cmd heading: 186.405925 deg. HeadingCmd: 3.253397 target range: 125.312714 and range: 126.20 m.b7P@ZrjRJB~~}||||D? ={B靭u=I)>I= iQ Ai7P@iEEEE`0EDDAT read: Rx Time:14:16:14.9162 TRx dataTimestamp_ set to:1749132976.143763 DAT read: Range 10 to 50 : 125.7 m (trip time 83.8 ms) speed 0.4 -X#Rx 1: Read range message, but no direction.fBY 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. 6G ~G A A N >4k,_^iA9v~@v0%@Yv;vH`2k?`?-|?`T?`? v~@v`;)t|BPIe٥ H?Fc= >\5X ?\59 :JaBJJJCRJZJ:bJJ4JIBy%#@%@oREi < <Y\5HU>HQHQHQHQHQHQHU˚<HQHėCHėCHH =I = IĢ5qu0A}4E addTargetRange:: Added new target pos. range: 125.699997 m, deltaT: 0.503809 s, deltaX: -0.500000 m, approachRate: -0.992440 m/s, rangeRepo size: 4 -FNOT Ignoring new targets: 125.31 m.5y:=y: ProNav: ac range: 125.312714 m, nav range: 122.717422 m, bearing: 166.470613 deg, approach rate: -0.545468 m/s, LOS rate: 0.092880 deg/s, cmd heading: 186.405930 deg, new cmd heading: 186.532073 deg. ~;%HeadingCmd: 3.255599 target range: 125.312714 and range: 125.70 m.b%[P@Z!r)j)R1J1B9~i~i}qԁ|||l_@|`p"? <{Br=I)>I= 3[Ai[P@iE ?E E E _0E  DDAT read: Rx Time:14:16:15.4162  TRx dataTimestamp_ set to:1749132976.648408- PDAT read: Bearing 23.8, 1.5 (Local) - ~Local bearing/azimuth received: Bearing 23.8, 1.5 (Local) M DAT read: Range 10 to 50 : 125.7 m (trip time 83.8 ms) speed 0.4  DAT read: 14:16:15.4162 LVL= 25072, 32753, 32754, 32755, AGC= 65, IDX= 509, 0.09,-2.733, 2.193, 2.863, 2.973, PHS= 0.665,-0.733,-0.113, RAW= 116.3, 3.0, CAL= 126.2, -1.5, ROT= 23.8, 1.5  Ygot valid direction response: 14:16:15.4162 LVL= 25072, 32753, 32754, 32755, AGC= 65, IDX= 509, 0.09,-2.733, 2.193, 2.863, 2.973, PHS= 0.665,-0.733,-0.113, RAW= 116.3, 3.0, CAL= 126.2, -1.5, ROT= 23.8, 1.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.914646,0.403407,-0.026177] Fpublishing direction and range info y -HD?jRk?P!Κ Y  a) I i  A q=*? ; l  @) PwV=I } @i Pwּ ȭ> Pw<  )  D?.O7Wܪ?i r W ȭ> Pw<  ) } 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. 6G ȹ~GAAN>Y k,3iAI)@9zG@z)['@Yz zH/ d߿?@??@ĿY? ? zG@z;)zCu|Bu[I٥YY ]H]@Feo= e>iu\5mf?u\59m ImBy?:#@@msREim;m);m]\5VB<0AZb)iABB~A@ʁvGv\@"y1-I@8~# 1-HD?jRk?P!Κȭ>Pw<ҁ^Ye-@cDOE@ްo͸`n{%?L+2?z/kAvjy>?rZQ B?}  BꁝB2>@ addTargetRange:: Added new target pos. range: 125.699997 m, deltaT: 0.504645 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 124.817093 m, bearing: 173.225097 deg, lat: 36.906135 deg, lon: -122.115911 deg, deltaT: 1.008454 s, deltaX: -0.495621 m, approachRate: -0.491466 m/s, posRepo size: 4 FNOT Ignoring new targets: 124.82 m. ProNav: ac range: 124.817093 m, nav range: 123.008369 m, bearing: 170.709514 deg, approach rate: 0.000000 m/s, LOS rate: 0.092880 deg/s, cmd heading: 186.532070 deg, new cmd heading: 186.664832 deg. K P"K9*K2K:K-%~v9U:$\eru:t~eE|9T)ZMHeadingCmd: 3.257916 target range: 124.817093 and range: 125.70 m.bMP@ZQrQjQRYJYB~~zB}||||@H? M:{BMz=II)Ud>QIUb? = QQU{14?} BYy } _)y I} 2iiy y } \"?} ;O} Q } @)} `=I} T@i} } g>} y )y } :z?#^S@:?i} r䜺} } g>} y )y  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.6G ~G A A N > k,RPiA9N@Nf)@YNNH `ݿuú?? ~?`(?? N@Nˉ;)L|BgIiC=Ip=I]I]3G= K=y ;Q >٥ H= >\5?\59 IBy%@@wREiB:d:pa\5/A7EZbIiABBB?@ʁJ,]@?K75E@߬/?Fv>{14? g>ҁäަ^ya3@m @g^"H!H%FIH%||BH% =H!H!H%<H%EIJ4J4J_0:J ^BJ |JJ @RJ ZJ } :bJ @9J J4J zJ _:=jJ d:MJ y:UrJ {:U U9{BU=IQ)UL>yI!= roH~AinP@iԑ EQ EQ EQ EU P0EQ  DDAT read: Rx Time:14:16:16.4159  TRx dataTimestamp_ set to:1749132977.656007 PDAT read: Bearing 18.0, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 18.0, 1.0 (Local)  DAT read: Range 10 to 50 : 125.3 m (trip time 83.5 ms) speed 0.4 E DAT read: 14:16:16.4159 LVL= 20000, 31009, 26450, 32755, AGC= 66, IDX= 506, 0.04, 3.105, 1.625, 2.516, 2.552, PHS= 0.641,-0.880,-0.038, RAW= 123.5, 4.2, CAL= 132.0, -1.0, ROT= 18.0, 1.0 M Ygot valid direction response: 14:16:16.4159 LVL= 20000, 31009, 26450, 32755, AGC= 66, IDX= 506, 0.04, 3.105, 1.625, 2.516, 2.552, PHS= 0.641,-0.880,-0.038, RAW= 123.5, 4.2, CAL= 132.0, -1.0, ROT= 18.0, 1.0 M R#Rx 1: Read range and direction messages.U ^direction in FSK: [0.950912,0.308970,-0.017452]U Fpublishing direction and range info y _ZKm?)?W7) ߑ Y N) !yI Rgi B $? Ga  i @) Q =I r@i 5 |٠> 5< ) ???i o}= |٠> 5< ) u 2Acoustic response timeoutu Querying Benthos address 50 with one ping in standard two-way mode.ԡ 6G=~GAAN%>Hk, piAPu1 ٥i i m Hm BFu u c>y  \5} ?? \59} I} ֏By _? : C#@ @} }REi} '<} 7'<} U5<ҁUK ^HR#7@Z~ @UZScᅱOQO?7"?zU AUjU?rU1 UBU?Q UUBUBU?@5 DDAT read: Rx Time:14:16:16.9156 5 TRx dataTimestamp_ set to:1749132978.160645= PDAT read: Bearing 17.2, -0.2 (Local) E ~Local bearing/azimuth received: Bearing 17.2, -0.2 (Local) U DAT read: Range 10 to 50 : 125.0 m (trip time 83.3 ms) speed 0.4 u DAT read: 14:16:16.9156 LVL= 26224, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.47, 1.416,-0.040, 0.860, 0.902, PHS= 0.602,-0.895,-0.044, RAW= 124.5, 5.2, CAL= 132.8, 0.2, ROT= 17.2, -0.2 } Ygot valid direction response: 14:16:16.9156 LVL= 26224, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.47, 1.416,-0.040, 0.860, 0.902, PHS= 0.602,-0.895,-0.044, RAW= 124.5, 5.2, CAL= 132.8, 0.2, ROT= 17.2, -0.2  R#Rx 1: Read range and direction messages. \direction in FSK: [0.955273,0.295706,0.003491] Fpublishing direction and range info1 y5 x_?;jW?QC1ml?5 BY1 5 pf)5 I5 i1 5 A5 ?5 e5 X94 5 ^ @)5 ޹=I5 V@i5 d;5 `>  addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 1.008541 s, deltaX: -0.300003 m, approachRate: -0.297462 m/s, rangeRepo size: 4   Added new target pos. range: 124.420280 m, bearing: 169.041952 deg, lat: 36.906125 deg, lon: -122.115915 deg, deltaT: 0.503903 s, deltaX: 0.000374 m, approachRate: 0.000742 m/s, posRepo size: 4  5 d 1 )1 5 2`t?Bm?C7[?i5 =5 U5 `>5 d 1 )1  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Y m FNOT Ignoring new targets: 124.42 m.    ProNav: ac range: 124.420280 m, nav range: 123.541206 m, bearing: 171.081482 deg, approach rate: 0.000000 m/s, LOS rate: 0.092880 deg/s, cmd heading: 186.775812 deg, new cmd heading: 187.001455 deg.   HeadingCmd: 3.263791 target range: 124.420280 and range: 125.00 m.b P@Z r j R J B ~ ~ zB}|||@_@|? 5{B靕v=I)>Iw#= .5}=AiP@irEjEE?EEE0EԡԹHH_IH|BH =HH/DH<HE~GAAN=?`'k,ZHiA ePw< )G6?I>?|&?i@=`ޏ>Pw< ) e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.ԉMb@Mb@Mb@ )AY)\(?MbX9y&1yG?ʡ`enA )@I@yz@IIF2ڦ= =yQ >٥   H CF   >\5?\59 IǏBy%?%:%@M@REi;;m\5USBU.AQZbA~iABB5:@ʁS|]@GU Y-A@c @v?{im?P!Κޏ>Pw<ҁf"7^x&+;@rk71@e(;/6fC?ik|H?z\Aj콜?r* B BB-?@  addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 0.503311 s, deltaX: -0.199997 m, approachRate: -0.397363 m/s, rangeRepo size: 4  Added new target pos. range: 123.924461 m, bearing: 167.331394 deg, lat: 36.906125 deg, lon: -122.115915 deg, deltaT: 1.007949 s, deltaX: -0.495819 m, approachRate: -0.491909 m/s, posRepo size: 4 FNOT Ignoring new targets: 123.92 m.II] ProNav: ac range: 123.924461 m, nav range: 123.256783 m, bearing: 171.151489 deg, approach rate: 0.000000 m/s, LOS rate: 0.092880 deg/s, cmd heading: 187.001454 deg, new cmd heading: 187.169729 deg. yHeadingCmd: 3.266728 target range: 123.924461 and range: 124.80 m.bQ@ZrjRJB~~Q{B}|||@33_@|3? - 3{B- l=I) )- >) I5 m%= 1 1 5  } Ay y i} Q@i Թ E- ?E1 E1 E5 _0E1  JH`INֿ|?M?@ m??@? J#@J ;)JC}BIiII3}0= }H=y}B٥ H> >\5?\59 IBy(@ @REi;;eq\5>B-A=E}DDAT read: Rx Time:14:16:17.9153 TRx dataTimestamp_ set to:1749132979.170032PDAT read: Bearing 15.7, 5.8 (Local) ~Local bearing/azimuth received: Bearing 15.7, 5.8 (Local) DAT read: Range 10 to 50 : 124.5 m (trip time 83.0 ms) speed 0.4 DAT read: 14:16:17.9153 LVL= 26496, 30097, 25778, 32755, AGC= 64, IDX= 500,-0.31,-0.582,-1.969,-1.041,-1.118, PHS= 0.624,-0.804, 0.074, RAW= 1277, CAL= 134.3, -5.8, ROT= 15.7, 5.8 !unknown deviceResponse_: 14:16:17.9153 LVL= 26496, 30097, 25778, 32755, AGC= 64, IDX= 500,-0.31,-0.582,-1.969,-1.041,-1.118, PHS= 0.624,-0.804, 0.074, RAW= 1277, CAL= 134.3, -5.8, ROT= 15.7, 5.8 -X#Rx 1: Read range message, but no direction.ځڅBYځ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. B*** querying acoustic contact ***J R E addTargetRange:: Added new target pos. range: 124.500000 m, deltaT: 0.506076 s, deltaX: -0.300003 m, approachRate: -0.592802 m/s, rangeRepo size: 4 AMFNOT Ignoring new targets: 123.92 m.U:U: ProNav: ac range: 123.924461 m, nav range: 123.057709 m, bearing: 171.185383 deg, approach rate: -0.465443 m/s, LOS rate: 0.079375 deg/s, cmd heading: 187.169723 deg, new cmd heading: 187.271571 deg. Y;HeadingCmd: 3.268506 target range: 123.924461 and range: 124.50 m.b2/Q@ZrjRJBԑ~~}||| _@|? 2{B/=I)_>I'= [%%@!!i%2/Q@i)EEEEE- H H xIH |BH  =H H .DH <H "E~GA Aq A N >U7k,miAy }BI a=p=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 II-=; -!=y5Q 5>٥19 =H=DF= =>ԩ\5?\59 IB+:y:@REi;?t\5-A DDAT read: Rx Time:14:16:18.4152 TRx dataTimestamp_ set to:1749132979.671930PDAT read: Bearing 16.0, 12.5 (Local) %~Local bearing/azimuth received: Bearing 16.0, 12.5 (Local) =DAT read: Range 10 to 50 : 124.4 m (trip time 82.9 ms) speed 0.4 ]DAT read: 14:16:18.4152 LVL= 24368, 29809, 24978, 32755, AGC= 66, IDX= 499, 0.18, 2.970, 1.527, 2.506, 2.323, PHS= 0.735,-0.749, 0.180, RAW= 128.3, -2.6, CAL= 134.0, -12.5, ROT= 16.0, 12.5 eYgot valid direction response: 14:16:18.4152 LVL= 24368, 29809, 24978, 32755, AGC= 66, IDX= 499, 0.18, 2.970, 1.527, 2.506, 2.323, PHS= 0.735,-0.749, 0.180, RAW= 128.3, -2.6, CAL= 134.0, -12.5, ROT= 16.0, 12.5 mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.938476,0.269104,-0.216440]uFpublishing direction and range info y .T?u8?K˿ BY  0_) qtI ai   ( O@) 9I @i f_ 5> f_> )  ^?^Ugi?i2i _> 8= 5> f_> Z b iA  B  B F@ʁ @N\@aO@@ l: .T?u8?K˿ 5> f_>ҁ ӂ r^]J߂*@[;4 .\_￀"ɡ?6ҷĿz T@ j /}?r   ,B H?  B B pG?@)  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. addTargetRange:: Added new target pos. range: 124.400002 m, deltaT: 0.501898 s, deltaX: -0.099998 m, approachRate: -0.199241 m/s, rangeRepo size: 4 5 Added new target pos. range: 123.526543 m, bearing: 177.981787 deg, lat: 36.906123 deg, lon: -122.115915 deg, deltaT: 1.007974 s, deltaX: -0.397919 m, approachRate: -0.394771 m/s, posRepo size: 4 1mFNOT Ignoring new targets: 123.53 m. ProNav: ac range: 123.526543 m, nav range: 123.034279 m, bearing: 171.241919 deg, approach rate: 0.000000 m/s, LOS rate: 0.079375 deg/s, cmd heading: 187.271575 deg, new cmd heading: 187.392359 deg. uHeadingCmd: 3.270614 target range: 123.526543 and range: 124.40 m.buQQ@ZqrqjyRyJyBy~y~}|||_@|2Ŵ? 0{B D=I)>I[)= Ϗ @11i5QQ@i9E ?E E E S0E  HQ|(ӿ@? +^?` \g?yN?~? &M'@骅p;)C}BIi٥ HEF= >9U\5=r?}\59= I=B} :y:8,@@=REi=<=w?=w\5-A>EZYbYYY]GJ@ʁ]@N\@aO@@ l:].T?u8?K˿YYҁ]8πs^hɋ\k4](ťaЍDN7e5D:)ſz]^]j]i6j?r]3)+ ]d+BYY ]B]B]P?@AEFNOT Ignoring new targets: 123.53 m.Mڢ:Mڢ:} ProNav: ac range: 123.526543 m, nav range: 122.812294 m, bearing: 171.273706 deg, approach rate: -0.496245 m/s, LOS rate: 0.071188 deg/s, cmd heading: 187.392360 deg, new cmd heading: 187.487893 deg. }lC;HeadingCmd: 3.272281 target range: 123.526543 and range: 124.40 m.b mQ@ZrjRJB~~}||||2;?=DDAT read: Rx Time:14:16:18.9150 =TRx dataTimestamp_ set to:1749132980.175906EPDAT read: Bearing 13.3, 11.2 (Local) M~Local bearing/azimuth received: Bearing 13.3, 11.2 (Local) I]DAT read: Range 10 to 50 : 124.1 m (trip time 82.7 ms) speed 0.3 DAT read: 14:16:18.9150 LVL= 24880, 31713, 23730, 30899, AGC= 67, IDX= 497,-0.15, 0.084,-1.312,-0.301,-0.503, PHS= 0.675,-0.762, 0.199, RAW= 131.0, -1.8, CAL= 136.7, -11.2, ROT= 13.3, 11.2 Ygot valid direction response: 14:16:18.9150 LVL= 24880, 31713, 23730, 30899, AGC= 67, IDX= 497,-0.15, 0.084,-1.312,-0.301,-0.503, PHS= 0.675,-0.762, 0.199, RAW= 131.0, -1.8, CAL= 136.7, -11.2, ROT= 13.3, 11.2 R#Rx 1: Read range and direction messages.^direction in FSK: [0.954645,0.225668,-0.194234]Fpublishing direction and range info9y=CPs?A#r?mVѫȿ=3BY9 =0a)={I=\i=x=C=,?=oC=K> /{B/=I)l>I)+= ¬@i mQ@i  =T@)=I=@i=+H=,m>=+H> 9)9=td?ۯ;|Cx?1*i=aE>=<=,m>=+H> 9)9 E2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.E?EEE^0Ey6Gm ȹԡ ~G) A1 AI Ne >  HAHEIHE}BHE =HAHE/DHE <HE(E}BIaI=aI= aM=aM= aQ=aQ= aE=aE= =Mb@Mb@Mb@999 9)9Y=Gz?#~jZd;Oy=p>=㥽=j=&A 9)=+@I=@9y= @IUIU 3eZ< e=ymQ m>٥ii mHmFFu u>y\5}:o?\59}) I}BT:y?:,@@}REi}i:}X:}|\5=By-AAEZyb} B iA}uB}uB}G@ʁ}ch]@?Ʒ;@up7}CPs?A#r?mVѫȿ},m>}+H>ҁ}Yk_hj^VB@)#13}Xdޗ¢;0-I]RSi]#m]E]ȶ>]]> ]Ƈ#@)] >I]m%@i]]=]< Y)Y]2j?K8f6?;WJ?i]>]]=]< Y)Y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IIMB-= QQUU@YYi]Q@iYE ?E E E P0E Ա 6G ~GAԹAN>(Nk,Ec;iA5H@2@BC̿oV?'A?h ?Ҟ`?I? 5),@52;)5CE}BEIAIIII:Je\BJeUJJeGRJaZJe=:bJe>9Jec4JazJajJaJe}Q:rJeQ:II#3U UB=yUmM;Q U>٥YY ]HYeN> e>iu\5m^?u\59m- ImByy1@@mREim;m<;m\5-AK]P"K]9*KY2K]:K]zMrNi=@[9?[}}kz8fCV!\pI3 p+JiJiZb+iA=@ʁ6kY^@z8W@4p|?m?^-?y&=<ҁN~@^Apr6@6lڣ̸?Oʆ^zAjo?ri{ kB nBF@ addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 0.504127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 123.229027 m, bearing: 169.312574 deg, lat: 36.906121 deg, lon: -122.116078 deg, deltaT: 0.504127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5FNOT Ignoring new targets: 123.23 m.99M ProNav: ac range: 123.229027 m, nav range: 121.216492 m, bearing: 178.107004 deg, approach rate: 0.000000 m/s, LOS rate: 0.071188 deg/s, cmd heading: 187.596063 deg, new cmd heading: 187.689980 deg. IuHeadingCmd: 3.275808 target range: 123.229027 and range: 124.10 m.buצQ@ZqrqjqRyJyBy~y~y}||||@n?1 -{B=ɚ=IA)E>IIU.= QQU_ex@eDEe?EaEiEmU0Ei #@)PwּI- @iA=A> )][?,.?)beiM>3<=A> ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.a ԉ 6G ~Ga Aq A N >Uk,tWiA i 9j.@j <@Yj5jH@aȿ@Ca??7A?kǻ?@#? j.@jƫ;)jCr}BvII-I-<2u{< uU=yu:Q }>٥yy }H}GF= >\5kO?\59{ I~ByR3@@REi;=;HQHUIHU}BHQHQHQHU<HUCEH ØCH ØCH H I  = I T5qʁ4&ڝ]@)k+@@6 n6 9?|h?0iǿ=A>ҁ-)^ @f 16/t=T ?ƣ$ǿz@IjJ ?r\0~ Z$B ,BBmF@ addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 0.505034 s, deltaX: -0.500000 m, approachRate: -0.990032 m/s, rangeRepo size: 4  Added new target pos. range: 122.732536 m, bearing: 178.102685 deg, lat: 36.906121 deg, lon: -122.116078 deg, deltaT: 0.505034 s, deltaX: -0.496490 m, approachRate: -0.983083 m/s, posRepo size: 4 FNOT Ignoring new targets: 122.73 m. ProNav: ac range: 122.732536 m, nav range: 121.032570 m, bearing: 178.134573 deg, approach rate: 0.000000 m/s, LOS rate: 0.071188 deg/s, cmd heading: 187.689978 deg, new cmd heading: 187.793121 deg. HeadingCmd: 3.277608 target range: 122.732536 and range: 123.60 m.bMVQ@ZIrIjIRIJIBQ~Q~Q}Q|Y|Y|]`f^@|]a? B=I)>I0= ?t V?L`u&ڵ BYڱ ۵ d)۵ qI۵ 2Si۵ n۵ C۵ /?۵ p]۵ ;ߏ> ܵ )@)ܵ 5 ݱ )ݱ ݵ vAA?Mr?{g[?iݵ b>ݵ ޒݵ ¸=ݵ > ޱ )ޱ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ԩ 6GZGRG~GYAiAN?Nq]k,axiA9Zs0@Z>@YZZH`z`Aſ@u? ?Yo&?@_`q?B? Zs0@Z;)Xr}BvI٥   HHF:J5aBJ5QJJ5ERJ1ZJ5:bJ5-.9J54J1zJ5;jJ5;J54:rJ54:_D= > \55? \59 IjByMn?U:U5@U@REih*<%*<u\5Y]-AYԩZbaliABB_0F@ʁ"V^@l4/<%@hx08>?t V?L`u&¸= >ҁÆ2i^]@yu0PՇm`¦?N"CK fP"K @9*K 2K :K $-Lj$}Z}vB-Rd dk q$[HZ $ E  X 2zݮ@LjDp*?rx?U 9Bi6j?\0~  X0BꁭBWF@} addTargetRange:: Added new target pos. range: 123.800003 m, deltaT: 0.503982 s, deltaX: 0.200005 m, approachRate: 0.396849 m/s, rangeRepo size: 4  Added new target pos. range: 122.931145 m, bearing: 177.427980 deg, lat: 36.906119 deg, lon: -122.116077 deg, deltaT: 0.503982 s, deltaX: 0.198608 m, approachRate: 0.394078 m/s, posRepo size: 4 FNOT Ignoring new targets: 122.93 m. ProNav: ac range: 122.931145 m, nav range: 120.959373 m, bearing: 178.151762 deg, approach rate: 0.000000 m/s, LOS rate: 0.071188 deg/s, cmd heading: 187.793128 deg, new cmd heading: 187.903872 deg. HeadingCmd: 3.279541 target range: 122.931145 and range: 123.80 m.bQ@ZrjRJB~~{B}| | | @3^@|? y}=I) >I"2= sЪ;@T<`iQ@iEU ?EY EY E] 4EY  DDAT read: Rx Time:14:16:20.9145  TRx dataTimestamp_ set to:1749132982.196700 PDAT read: Bearing 2.7, 10.2 (Local)  ~Local bearing/azimuth received: Bearing 2.7, 10.2 (Local)  DAT read: Range 10 to 50 : 123.3 m (trip time 82.2 ms) speed 0.4  DAT read: 14:16:20.9145 LVL= 32304, 28449, 21890, 32755, AGC= 69, IDX= 507, 0.03, 1.816, 0.401, 1.712, 1.329, PHS= 0.574,-0.881, 0.379, RAW= 142.9, -1.1, CAL= 147.3, -10.2, ROT= 2.7, 10.2 % Ygot valid direction response: 14:16:20.9145 LVL= 32304, 28449, 21890, 32755, AGC= 69, IDX= 507, 0.03, 1.816, 0.401, 1.712, 1.329, PHS= 0.574,-0.881, 0.379, RAW= 142.9, -1.1, CAL= 147.3, -10.2, ROT= 2.7, 10.2 % R#Rx 1: Read range and direction messages.6G5 Xw- ^direction in FSK: [0.983103,0.046362,-0.177085]U Fpublishing direction and range infoڡ yڥ Y{u?$Q?kiƿڥ BYڡ ۥ 0~)ۥ !oIۥ Uiۥ ۥ Eۥ ?ۥ 7aۥ J > ܥ @)ܥ nFIܥ "$@iܥ K6ܥ A=ܥ K6> ݡ )ݡ ݥ Ѯx??͛?FCG iݥ >ݥ }l<ݥ A=ݥ K6> ޡ )ޡ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.~G A A N > {Odk,UiA9:GD2@:W@@Y:A:H`M`z!5{?`y`?@?FP?? :GD2@:z;):CN|BNIIVIVV83\  =y Q  ?٥  H= "?%\5}*?-\59 IaBy)-_7@-@REi2::ۊ\515".A]GEZbiABBZOF@ʁrBj^@*_؊@8j5Y{u?$Q?kiƿA=K6>ҁO.^N @,F7Te u*IIMD3= QQU e,@K< G HCHIH }BH =HHH<HIEEQEQEQEU[0EQ 6G Qpu DDAT read: Rx Time:14:16:21.4144  TRx dataTimestamp_ set to:1749132982.701441 PDAT read: Bearing 359.9, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 359.9, 8.7 (Local)  DAT read: Range 10 to 50 : 123.2 m (trip time 82.1 ms) speed 0.3  DAT read: 14:16:21.4144 LVL= 23360, 27377, 17906, 27635, AGC= 69, IDX= 505, 0.36, 3.039, 1.604, 3.031, 2.608, PHS= 0.519,-0.957, 0.420, RAW= 146.6, 0.2, CAL= 150.1, -8.7, ROT= 359.9, 8.7 % Ygot valid direction response: 14:16:21.4144 LVL= 23360, 27377, 17906, 27635, AGC= 69, IDX= 505, 0.36, 3.039, 1.604, 3.031, 2.608, PHS= 0.519,-0.957, 0.420, RAW= 146.6, 0.2, CAL= 150.1, -8.7, ROT= 359.9, 8.7 - R#Rx 1: Read range and direction messages.~G1 A9 AI N] >Tjk,iA `direction in FSK: [0.988492,-0.001725,-0.151261] Fpublishing direction and range infoyƺ?EFE\ni\ÿfBY @[)jIEik/?t= > #@)d;Iϩ'@i|@|> )O]?C? gz=r?iX>둻"|> ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IH)Hh|BIMb@Mb@Mb@ )Y!rh?sh|?٥IQ UHUIFU >\5!?\59 IKByc ?:7@@REi:,:ȏ\55).A1Zbi䬭iABB]B@ʁv/sl;^@<:M˿x-32ƺ?EFE\ni\ÿ"|>ҁ ++]P0[j'@5#7Yᅣ?%ƿzR;Aj=??re &BJ ?x?U  &BB5F@ addTargetRange:: Added new target pos. range: 123.199997 m, deltaT: 0.504741 s, deltaX: -0.100006 m, approachRate: -0.198133 m/s, rangeRepo size: 4 ] Added new target pos. range: 122.336296 m, bearing: 174.420472 deg, lat: 36.906124 deg, lon: -122.116060 deg, deltaT: 0.504741 s, deltaX: -0.098358 m, approachRate: -0.194869 m/s, posRepo size: 4 Y]FNOT Ignoring new targets: 122.34 m.aa ProNav: ac range: 122.336296 m, nav range: 120.035210 m, bearing: 177.447207 deg, approach rate: 0.000000 m/s, LOS rate: 0.071188 deg/s, cmd heading: 187.956820 deg, new cmd heading: 188.079848 deg. HeadingCmd: 3.282613 target range: 122.336296 and range: 123.20 m.bSR@ZrjRJB~~{B}|||^@|@-? I5= 4\a @]S<JOiSR@izE E E E E P0E Y 6G G gjG >bG >~GQ Ai Km P"Km 9*Ki 2Km :Km 3ABPF&HabA[ED5@O8!yp &2.cB 5J-{A N >]qk,ǭiA99]5@]'C@Y])]H) ļj?j?㞿@H? ? ]5@];)]C|BvIII<25 5t=y5쓺Q 5?٥99 =H=JF=,> E?A}DDAT read: Rx Time:14:16:21.9141 }TRx dataTimestamp_ set to:1749132983.203905PDAT read: Bearing 358.7, 7.9 (Local) ~Local bearing/azimuth received: Bearing 358.7, 7.9 (Local) DAT read: Range 10 to 50 : 122.7 m (trip time 81.8 ms) speed 0.4 DAT read: 14:16:21.9141 LVL= 22240, 32753, 19282, 32755, AGC= 68, IDX= 503,-0.24, 0.013,-1.377, 0.051,-0.370, PHS= 0.471,-0.960, 0.418, RAW= 148.1, 1.0, CAL= 151.3, -7.9, ROT= 358.7, 7.9 Ygot valid direction response: 14:16:21.9141 LVL= 22240, 32753, 19282, 32755, AGC= 68, IDX= 503,-0.24, 0.013,-1.377, 0.051,-0.370, PHS= 0.471,-0.960, 0.418, RAW= 148.1, 1.0, CAL= 151.3, -7.9, ROT= 358.7, 7.9 \5E\?\59E IE@Byq;@@EREiE|*?v'yjȗ}fBYy }V)}I}RKi}}D}&>}u}> }m%@)}5 y)y}}Q}޹}0 > y)y u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.Zyb} ͭiA}B}B}}D@ʁ}, L)^@2^4;%0}7!>*?v'yjȗ}޹}0 >ҁ}La]k"] @O&4}G̳1zG~Y?A6xſz}@}j}ߐ?r} }*Byy y}B}9F@a addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 0.502464 s, deltaX: -0.500000 m, approachRate: -0.995096 m/s, rangeRepo size: 4 e Added new target pos. range: 121.839798 m, bearing: 176.284841 deg, lat: 36.906124 deg, lon: -122.116060 deg, deltaT: 0.502464 s, deltaX: -0.496498 m, approachRate: -0.988127 m/s, posRepo size: 4 amFNOT Ignoring new targets: 121.84 m.ii ProNav: ac range: 121.839798 m, nav range: 119.870377 m, bearing: 177.460589 deg, approach rate: 0.000000 m/s, LOS rate: 0.071188 deg/s, cmd heading: 188.079846 deg, new cmd heading: 188.156433 deg. HeadingCmd: 3.283949 target range: 121.839798 and range: 122.70 m.b:,R@ZrjRJB~~}|||̬^@|@B[? =I)=>I7=  z?d<i:,R@i ԑE?EEE\0E6Ge I% H CH IH |BH  =H H .DH <H E AI N] >xk,iA9K7@E@YDH@K@B?@?b'?;? K7@ ;)C|B`IԹeMb@Mb@Mb@aaa a)aYe rh? rhktye ?eCe 0a e@)e+@IaayeQ@II )=y$úQ >٥ HKF4a= >\59?\59 I-By ?:V?@@REi;.;\5ۍۍ/> ܍(@)܍A=I܍D +@i܍kݽ܍SF@܍k= ݉)݉ݍ R"p? >d?Ǣ?iݍ ?ݍK?ݍdݍk= މ)މ 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.-HeadingCmd: 3.284667 target range: 121.839798 and range: 122.70 m.b-7R@Z1r1j1R1J1B1~9~=}{B}9|9|9|E`f^@|EI? .{B靽!=I)>IrL8= ?<V i7R@iE?EEE_0E 6G ͆G- 1k,iA)4> |1QIuR=Iu%= YyKA)9:@H@YHH@2*`S8l?"s?o?`? :@\;)C |B PI)  II1MNi M@=yMQ M>٥QQ UHQU= ]>KFOP"K}9*K2K:K=i7 |Qc `L,Vbc] {GZhA;9zPY\5]?\59]; I]ByvB@@]REi]_;];]x\5/AZbgeiAzBzB0)G@ʁ=5^@"xzLK*b?a[iNiإdk=ҁC٤^?i\ @#1^p-￧Z?@#¿zd@j#l1QQIUz9= yy}r?5<_i+DR@iDDAT read: Rx Time:14:16:22.9137 TRx dataTimestamp_ set to:1749132984.213054PDAT read: Bearing 354.6, 6.4 (Local) ~Local bearing/azimuth received: Bearing 354.6, 6.4 (Local) DAT read: Range 10 to 50 : 122.1 m (trip time 81.4 ms) speed 0.1 ]DAT read: 14:16:22.9137 LVL= 30832, 32753, 22610, 32755, AGC= 68, IDX= 499,-0.02, 2.211, 0.853, 2.396, 1.924, PHS= 0.375,-1.024, 0.470, RAW= 153.3, 2.5, CAL= 155.4, -6.4, ROT= 354.6, 6.4 E?EEEEYgot valid direction response: 14:16:22.9137 LVL= 30832, 32753, 22610, 32755, AGC= 68, IDX= 499,-0.02, 2.211, 0.853, 2.396, 1.924, PHS= 0.375,-1.024, 0.470, RAW= 153.3, 2.5, CAL= 155.4, -6.4, ROT= 354.6, 6.4 R#Rx 1: Read range and direction messages.`direction in FSK: [0.989358,-0.093522,-0.111469]Fpublishing direction and range infoڡyڥ ,Ѩ?>' -V:ڥ3BYڡ ۥpx)ۥIۥRXiۡۥDۥ>ۥoۥף> ܥ<+@)ܥ¸2=Iܥ^-@iܥ佉ܥ @ܥ= ݡ)ݡݥٲO4? ?H\W?iݥ ?ݥL2ݥݥ= ޡ)ޡ6Gm*<ԙ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.~GA Aa A N >Ա &k,~iA~v|B~BII I 2E Ms=yMQ U?٥YY eHeLFe e?iu\5m?u\59m ImBy@mREim ' -V:=ҁc6d]m:wX@4$FQm3+d{*U?Ŀz @j#m;|?rd .B  BD@:J^BJPJJBRJZJ} :bJ*9J-4JH߼>HCH_IH|BH =HHH<H%E- addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 0.503740 s, deltaX: -0.500000 m, approachRate: -0.992576 m/s, rangeRepo size: 4 = Added new target pos. range: 121.242348 m, bearing: 176.211428 deg, lat: 36.906123 deg, lon: -122.116032 deg, deltaT: 0.503740 s, deltaX: -0.496490 m, approachRate: -0.985609 m/s, posRepo size: 4 amFNOT Ignoring new targets: 121.24 m.qq ProNav: ac range: 121.242348 m, nav range: 119.417725 m, bearing: 176.303593 deg, approach rate: 0.000000 m/s, LOS rate: 0.032375 deg/s, cmd heading: 188.240164 deg, new cmd heading: 188.281957 deg. HeadingCmd: 3.286140 target range: 121.242348 and range: 122.10 m.bPR@ZrjRJB~~}|||%`f^@|% ? /{B靝ш=I)5>I:= 0Ż?\Ζ<ͽiPR@iE?EEEE6Gm 9S DDAT read: Rx Time:14:16:23.4136  TRx dataTimestamp_ set to:1749132984.715940 PDAT read: Bearing 351.7, 6.2 (Local)  ~Local bearing/azimuth received: Bearing 351.7, 6.2 (Local)  DAT read: Range 10 to 50 : 122.0 m (trip time 81.3 ms) speed 0.4  DAT read: 14:16:23.4136 LVL= 27872, 32753, 26370, 32755, AGC= 67, IDX= 498, 0.00,-2.461, 2.505,-2.176,-2.695, PHS= 0.322,-1.036, 0.516, RAW= 156.6, 2.7, CAL= 158.3, -6.2, ROT= 351.7, 6.2  Ygot valid direction response: 14:16:23.4136 LVL= 27872, 32753, 26370, 32755, AGC= 67, IDX= 498, 0.00,-2.461, 2.505,-2.176,-2.695, PHS= 0.322,-1.036, 0.516, RAW= 156.6, 2.7, CAL= 158.3, -6.2, ROT= 351.7, 6.2 % R#Rx 1: Read range and direction messages.5 `direction in FSK: [0.983738,-0.143512,-0.107999]5 Fpublishing direction and range infoڱ yڵ J@z?w+^¿Niإڵ BYڱ ۵ l)۱ I۵ gi۱ ۵ C۵ /ݤ>~GA AQ Aa Nm >۵ ۵ ? ܵ .@)ܵ A=Iܵ 0@iܵ kݽܵ %m@ܵ k= ݱ )ݱ ݵ ;N?9L0 ?cO/4lq?iݵ x#?ݵ kCݵ Vݵ k= ޱ )ޱ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. >k,\3iA9:ZM<@:`J@Y:v:H h?:ܠ V?`b ?? :ZM<@:[';)8NZ|BN1IMb@Mb@Mb@ )Ygfffff?J + ףp= y3?HQ8 )A@IyI] I]V2m} m9=ymQ m>٥qq uHuMF}~`= }>\5ĵ?\59r IBy.?:XF@@REi;;D\5}0AZb-iAHBHBC@ʁU]@4b1cD **J@z?w+^¿NiإVk=ҁ^t]:ZS6&@2KK5p4DgIx?J uſz1Aj |l?rMٹ *Bd  [BnD@ addTargetRange:: Added new target pos. range: 122.000000 m, deltaT: 0.502886 s, deltaX: -0.099998 m, approachRate: -0.198849 m/s, rangeRepo size: 4  Added new target pos. range: 121.140968 m, bearing: 174.663286 deg, lat: 36.906123 deg, lon: -122.116029 deg, deltaT: 0.502886 s, deltaX: -0.101379 m, approachRate: -0.201595 m/s, posRepo size: 4 FNOT Ignoring new targets: 121.14 m.   ProNav: ac range: 121.140968 m, nav range: 119.178970 m, bearing: 176.200716 deg, approach rate: 0.000000 m/s, LOS rate: 0.032375 deg/s, cmd heading: 188.281951 deg, new cmd heading: 188.316363 deg. %HeadingCmd: 3.286741 target range: 121.140968 and range: 122.00 m.b%YR@Z!r!j!R!JaBi~i~m1{B}i|q|q|u^@|u? 0{Bs=I)>Iu;= bɻ?a<V )k,EMiA 2DDAT read: Rx Time:14:16:23.9133 6TRx dataTimestamp_ set to:1749132985.219944:PDAT read: Bearing 348.9, 4.6 (Local) :~Local bearing/azimuth received: Bearing 348.9, 4.6 (Local) BDAT read: Range 10 to 50 : 121.5 m (trip time 81.0 ms) speed 0.2 VDAT read: 14:16:23.9133 LVL= 23472, 24849, 13506, 32755, AGC= 61, IDX= 495,-0.15,-2.896, 2.200,-2.511,-3.013, PHS= 0.205,-1.023, 0.499, RAW= 160.5, 4.6, CAL= 161.1, -4.6, ROT= 348.9, 4.6 ZYgot valid direction response: 14:16:23.9133 LVL= 23472, 24849, 13506, 32755, AGC= 61, IDX= 495,-0.15,-2.896, 2.200,-2.511,-3.013, PHS= 0.205,-1.023, 0.499, RAW= 160.5, 4.6, CAL= 161.1, -4.6, ROT= 348.9, 4.6 ZR#Rx 1: Read range and direction messages.^`direction in FSK: [0.978132,-0.191902,-0.080199]^Fpublishing direction and range info0y2 L?s=ȿzꇴ2BY0 2[)2aI24i02=2Q>22|> 2G3@)2l=I2P3@i2l2@2l= 0)02mA?(? ?i24?29Ҥ2aF2l= 0)0 n2Acoustic response timeoutnQuerying Benthos address 50 with one ping in standard two-way mode.I()(9[?@M@YHS@?`$`(H??? [?@z;)eCalculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5.]I]AiY)]GI]ԃA}Failed to receive data from 4 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 8, 40, 42, 46.2|BIIIM3 D=y[:Q >٥) -H)5= =>Iq\5u?\59un IuByH@@uREiu}rg QA@?h`ÿz2MA2j2ڙ?r2p 2$3B00 2.B2B27D@ addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 0.504004 s, deltaX: -0.500000 m, approachRate: -0.992056 m/s, rangeRepo size: 4 5 Added new target pos. range: 120.644485 m, bearing: 173.817317 deg, lat: 36.906123 deg, lon: -122.116029 deg, deltaT: 0.504004 s, deltaX: -0.496483 m, approachRate: -0.985077 m/s, posRepo size: 4 amFNOT Ignoring new targets: 120.64 m.iq ProNav: ac range: 120.644485 m, nav range: 118.929443 m, bearing: 176.192968 deg, approach rate: 0.000000 m/s, LOS rate: 0.032375 deg/s, cmd heading: 188.316361 deg, new cmd heading: 188.358365 deg. HeadingCmd: 3.287474 target range: 120.644485 and range: 121.50 m.beR@ZrjRJB~~1}1|9|9|=`^@|=@,?q Cw~=I)Ԁ>Iq<= $}ͻ ? <5S2i5eR@i1%H H 9IH h|BH  =H H H <H E:J \BJ JJ >RJ ZJ =:bJ J t4J zJ : jJ : J -: rJ -: -" @getADC uart error serial timeout]" Puart error - getPosition..serial timeout1 -" (Communications Fault6G ~G A - bCommunications Fault in component: DockingStepperA N >Ak, hiA9z1@@zZEN@YzzH $?Joʹ w?P?A)? z1@@zr;)zCA]|BeIMb@Mb@Mb@ )Y333333?~jt/$y?D,A DDAT read: Rx Time:14:16:24.4132 TRx dataTimestamp_ set to:1749132985.725157JDAT read: Bearing 344.7 .7(Local) %xLocal bearing/azimuth received: Bearing 344.7 .7(Local) -DAT read: Range 10 to 50 : 121.4 m (trip time 80.9 ms) speed 0.2 UDAT read: 14:16:24.4132 LVL= 21488, 25489, 13858, 28915, AGC= 68, IDX= 510,-0.32,-1.148,-2.312,-0.649,-1.277, PHS= 0.216,-0.988, 0.624, RAW= 164.1, 2.1, CAL= 165.3, -6.7, ROT= 344.7, 6.7 ]Ygot valid direction response: 14:16:24.4132 LVL= 21488, 25489, 13858, 28915, AGC= 68, IDX= 510,-0.32,-1.148,-2.312,-0.649,-1.277, PHS= 0.216,-0.988, 0.624, RAW= 164.1, 2.1, CAL= 165.3, -6.7, ROT= 344.7, 6.7 ]R#Rx 1: Read range and direction messages.e`direction in FSK: [0.957970,-0.262071,-0.116671]mFpublishing direction and range info y jV? пmu"޽ BY  S) cI "6i p D /]> | w? -M7@) Q =I R8@i |i M@ |= )  9P?)6??n$Ȁq?i D? 3 ڸ |= )  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. @)@I@yf@IIb2tm 5=yH;Q ->٥11 5H5NF=y(= =>AM\5E8?M\5i9E IEByw?:G@EREiE!I2== лB?j6<*irrR@i"Stop ":Uninitialize Docking Stepper."Powering downbEZErEjEԡ6G0~GAA N > ٥AA EHEOFm m?y\5}x?\59} I}ӎBy@}REi};}~;}\51A%B*** querying acoustic contact ***J!R!)5FNOT Ignoring new targets: 120.55 m.55m ProNav: ac range: 120.545570 m, nav range: 118.685104 m, bearing: 174.626619 deg, approach rate: -0.623136 m/s, LOS rate: -0.034110 deg/s, cmd heading: 188.401998 deg, new cmd heading: 188.368302 deg. mFuHeadingCmd: 3.287647 target range: 120.545570 and range: 121.40 m.buhR@ZyryK- P"K9*K2K:Kcb:6g-`N/"CY"_({:AJ(bK"J?J>jRJB~~}||||? )-G}=I1)5/M>1I5;== 1150ӻ]?]i515q= >5m狿5Q? 5R8@)5%=I58@i5`5hY@5`= 1)15I5^o? f0?&u4ب?i5lRJ?5{5*g5`= 1)1 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.6G~Gy A A N >1 k,ziAi<9>AB@>TP@Y>c =y>W>>H`m?- @@?`?EF? >AB@>wZ;)>Ce|BHHIH+|BH =HH-DH<:J=ZBJ=TJJ=@RJ9ZJ=9bJ=:9J=J4J9zJ=/:jJ=3:J=SJ:rJ=UJ:HEH×CHHH =I = I 61I] I]V2FC; =yl;Q >٥ H|= > 5\5 ^?5\59  I By1=E=@ REi ; >; \5AE1AEYEZabeMiAeBeBe++@@ʁe $@\@ J4)@m|"e߾V?a)ѿ]1e*ge`=ҁeSeZCT]zfh0@.nuy3ei`E¢|~?UĿzeCAeje%Ґ?re<. e.Beڙ?ep  e.BeBeB@ addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 0.505269 s, deltaX: -0.500000 m, approachRate: -0.989572 m/s, rangeRepo size: 4 % Added new target pos. range: 120.048546 m, bearing: 172.038298 deg, lat: 36.906124 deg, lon: -122.115974 deg, deltaT: 0.505269 s, deltaX: -0.497025 m, approachRate: -0.983683 m/s, posRepo size: 4 IMFNOT Ignoring new targets: 120.05 m.UQe ProNav: ac range: 120.048546 m, nav range: 118.476868 m, bearing: 173.764551 deg, approach rate: 0.000000 m/s, LOS rate: -0.034110 deg/s, cmd heading: 188.368298 deg, new cmd heading: 188.313984 deg. aHeadingCmd: 3.286699 target range: 120.048546 and range: 120.90 m.bGYR@ZrjRJB~~}|||9^@|($? p=I)N>I\>= ֻEn?E@i- Bҽ- ќ@- B= ) - 8f ?$y>[r?i?i- o^?- ,BM- 0- B= ԑ k,VeiA{BIqMb@Mb@Mb@ )Y1Zd? rhMby"?C + A K@)@I@y(@II(*U} U=y]Q ] ?٥YY eHePFe e ?\5EN?\59o IBy?:D@REi:M:R\5;B2A\EFNOT Ignoring new targets: 120.05 m.%z%zDDAT read: Rx Time:14:16:25.9124 TRx dataTimestamp_ set to:1749132986.987505PDAT read: Bearing 339.9, 5.6 (Local) ~Local bearing/azimuth received: Bearing 339.9, 5.6 (Local) I ?=   i=ٻ?%<ػiJR@I=@AI=@Ai9"MStopping6G5c/ ~GAA N >K% O"K% 9*K! 2K% :K% s;` )7f''obgmKa?fiS' qxr!R/A U DAT read: Range 10 to 50 : 120.0 m (trip time 80.0 ms)spe0.7 k,AϮiA9VC@VQ@YV"#=yVyF>VH``L?ڱ B"k?b y?@_? VC@V;)VC^DAT read: 14:16:25.9124 LVL= 19840, 30177, 13810, 30179, AGC= 67, IDX= 501, 0.10, 3.135, 2.018,-2.459, 3.118, PHS= 0.105,-1.053, 0.703, RAW= 169.6, 3.2, CAL= 170.1, -5.6, ROT= 339.9, 5.6 bYgot valid direction response: 14:16:25.9124 LVL= 19840, 30177, 13810, 30179, AGC= 67, IDX= 501, 0.10, 3.135, 2.018,-2.459, 3.118, PHS= 0.105,-1.053, 0.703, RAW= 169.6, 3.2, CAL= 170.1, -5.6, ROT= 339.9, 5.6 bR#Rx 1: Read range and direction messages.f`direction in FSK: [0.934612,-0.342020,-0.097583]fFpublishing direction and range infoqyuʳ&X?zmpտA_1uBYq uM)uuIu5iuuuCu= =uȆu3? uq=@)ud={BIIu>@iu+Ƚuֽ@u+= q)qu߾?Q?᢬?iu>x]?u5euu+= q)q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I= I=<2t; h=y٥ Ho= >\5bIZ?= ڻ?h<ٌH H IH {BH  =H H .DH <H E~G A A N >йk,(iA I)9rcD@rwR@Yr*.=yr3]=>rHamm?~ȸ¿& _?ϥ?m? rcD@r;)pE{BEIDAT read: Range 10 to 50 : 119.9 m (trip time 79.9 ms) speed 0.8 5DAT read: 4:6:6.4123 LVL= 21776, 32753, 14226, 32755, AGC= 67, IDX= 500,-0.04, 3.035, 1.973,-2.525, 3.051, PHS= 0.073,-1.031, 0.705, RAW= 171.1, 3.4, CAL= 171.5, -5.5, ROT= 338.5, 5.5 =Mgot valid direction response: 4:6:6.4123 LVL= 21776, 32753, 14226, 32755, AGC= 67, IDX= 500,-0.04, 3.035, 1.973,-2.525, 3.051, PHS= 0.073,-1.031, 0.705, RAW= 171.1, 3.4, CAL= 171.5, -5.5, ROT= 338.5, 5.5 =R#Rx 1: Read range and direction messages.E`direction in FSK: [0.926134,-0.364814,-0.095846]EFpublishing direction and range infoIyV?b0Y׿aVXBY U)I7i=z4? ?@)s=I=?@i Ľ @ = )?j{?y, ?i8d?yp:  = ) u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.UMb@Mb@Mb@QQQ Q)QYU/$?Zd;O/$yU?UjUUA Q)U@IU@QyU@II3' ,=y@;Q >٥ HQFܚ< >-\5Q$?-\59 IBy-?-:5A5@REi;:\59=2A=_EZbNGiABB϶;@ʁ5a[@?tEFn&V?b0Y׿aVX:  =ҁh\QK&8@l17 9V:o?,g%Dɿz2A7jऔ?rd FB#?z  BB?@ addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 0.503430 s, deltaX: -0.099998 m, approachRate: -0.198634 m/s, rangeRepo size: 4 - Added new target pos. range: 119.055870 m, bearing: 168.050402 deg, lat: 36.906139 deg, lon: -122.115914 deg, deltaT: 0.503430 s, deltaX: -0.099014 m, approachRate: -0.196679 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 119.06 m.11 ProNav: ac range: 119.055870 m, nav range: 116.887123 m, bearing: 171.008834 deg, approach rate: 0.000000 m/s, LOS rate: -0.054783 deg/s, cmd heading: 188.203390 deg, new cmd heading: 188.126959 deg. HeadingCmd: 3.283435 target range: 119.055870 and range: 119.90 m.b#R@ZrjRJB~~yB}|||]@|V ? AEi=IA)E>IIM@= IIMܻqU?}<} ~GiAyAN>ԡ  DDAT read: Rx Time:14:16:26.9120  TRx dataTimestamp_ set to:1749132987.995040 PDAT read: Bearing 338.5, 4.3 (Local)  ~Local bearing/azimuth received: Bearing 338.5, 4.3 (Local)  DAT read: Range 10 to 50 : 119.4 m (trip time 79.6 ms) speed 0.7 - X#Rx 1: Read range message, but no direction. BY M 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode.k,TiA<~{B~I:J!BJ%SJJ%ARJ!ZJ!bJ%y69J%4J!-@-@-@-@I I UȻ U=yQ ?٥ HRF ?\5?\59r IBy@REi4;a;_\52AQB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 0.256313 s, deltaX: -0.500000 m, approachRate: -1.950740 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 119.06 m.5 ProNav: ac range: 119.055870 m, nav range: 116.694786 m, bearing: 170.982375 deg, approach rate: -0.570894 m/s, LOS rate: -0.078662 deg/s, cmd heading: 188.126960 deg, new cmd heading: 188.047455 deg. 5W=HeadingCmd: 3.282047 target range: 119.055870 and range: 119.40 m.b= R@Z9r9j9R9J9BA~A~A}A|q|q|u]@|u`?ԩ /{BFq=I)]>I@= ޻@%W<-ؽn6P#{l/!H]] w,6G%O <~GAqDAT read: 14:16:26.9120 LVL= 21024, 28241, 13810, 28051, AGC= 69, IDX= 497,-0.15, 1.717,,103,0.83, RAW= 171.5, 4.9, CAL= 171.5, -4.3, ROT= 338.5, 4.3 unknown deviceResponse_: 14:16:26.9120 LVL= 21024, 28241, 13810, 28051, AGC= 69, IDX= 497,-0.15, 1.717,,103,0.83, RAW= 171.5, 4.9, CAL= 171.5, -4.3, ROT= 338.5, 4.3 % k,iA9>8E@>1LS@Y>oG=y>)>>Hލ?@ܲ-\Ŀ2`X? k먿v?@ ? >8E@>-;)>CR{BRIpIZeDDAT read: Rx Time:14:16:27.4120 eTRx dataTimestamp_ set to:1749132988.495484mDAT read: Range 10 to 50 : 119.4 m (trip time 79.6 ms) speed 0.6 -uX#Rx 1: Read range message, but no direction.aaYa }2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.IZ1s E=yIu٥ HW= >)\5-)?\59-P I-By@@-REi-<-/<- \52AbEH5޼>H1H5IH5{BH5 =H1H5-DH50<H5VEU addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 0.500444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q]FNOT Ignoring new targets: 119.06 m.&& ProNav: ac range: 119.055870 m, nav range: 116.448738 m, bearing: 170.946794 deg, approach rate: -0.507212 m/s, LOS rate: -0.073503 deg/s, cmd heading: 188.047457 deg, new cmd heading: 187.940488 deg. IHeadingCmd: 3.280180 target range: 119.055870 and range: 119.40 m.byQ@ZrjRJB~~}||||? -.{B-()i=I))->)I-A= 115߻5;1@] k,6iA"%nE@>S@Y>VbU=y>c<>>H@2\?H`tĿ`@? 4`M?`? >%nE@>-;)>CF{BFIIMb@Mb@Mb@ )YZd;O?I +Qyj?94uA b@)Iy@IAIAU$ U?=y]٥YY eHeSFe; e>i\5m8?\59mK ImBy}?:?@mREim7IA= ߻pQ@ g<"=iFQ@i"StoppingFAFA`direction in FSK: [0.901984,-0.422520,-0.088894]Fpublishing direction and range infoځyڅ$ ?F ۿڅBYځ ۅS)ۅqIۅ6iہۅEۅoۅˡۅ\B? ܅|]C@)܅ A=I܅C@i܅K܅ @܅K= ݁)݁݅}_??:w?i݅ 4u?݅փ݅K݅K= ށ)ށ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.J4Jw4J0:JM[BJMPJJM>RJIZJM:bJM*9JMt4JI6Gu<1~G9AQAaN}>K 0'P"K 9*K 2K :K ^UW[ Peh' jU}eW{i(? Y  6H@ ?R&ſO? f 8?ɨ? 6(E@6;)6CR{BRIIf If̍2 < b=y{٥!) -H-TF5; 5>Ye\5]{?e\59]0 I]wByim_?m@]REi]:]:]\5qu2AZ9b'@iARBRBQ8@ʁZ@ {H%n%$ ?F ۿKK=ҁؠ[:,z=@%l7Q1<@ addTargetRange:: Added new target pos. range: 119.000000 m, deltaT: 0.506942 s, deltaX: -0.400002 m, approachRate: -0.789048 m/s, rangeRepo size: 4  Added new target pos. range: 118.161598 m, bearing: 165.011214 deg, lat: 36.906148 deg, lon: -122.115869 deg, deltaT: 1.263699 s, deltaX: -0.894272 m, approachRate: -0.707662 m/s, posRepo size: 4 FNOT Ignoring new targets: 118.16 m.  ProNav: ac range: 118.161598 m, nav range: 115.620850 m, bearing: 168.852740 deg, approach rate: 0.000000 m/s, LOS rate: -0.110155 deg/s, cmd heading: 187.827880 deg, new cmd heading: 187.704192 deg. )5HeadingCmd: 3.276056 target range: 118.161598 and range: 119.00 m.b5Q@Z1r9j9R9J9B9~A~A}A|A|A|M]@|M?? ,{B靵p=I)>I?A= ߻t@<r3=iQ@i"=StoppingaDDAT read: Rx Time:14:16:28.4116 TRx dataTimestamp_ set to:1749132989.506811PDAT read: Bearing 334.7, 6.5 (Local) ~Local bearing/azimuth received: Bearing 334.7, 6.5 (Local) DAT read: Range 10 to 50 : 118.8 m (trip time 79.2 ms) speed 0.3 -X#Rx 1: Read range message, but no direction.ڑڕBYڑ %2Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.ԑ6GM {=H5 ߼>H1 H5 IH5 {BH1 H1 H1 H5 -<H5 RE~G A A N% >Թ k, ejiA9:E@:S@Y:Pp=y:'=:H`V1?'㳿@8ſ`p[ /`? @ ;? ? :E@:Q;):CV{BVIԑMb@Mb@Mb@ )Yv?{Gzt{Gzy?ף#A @)A@Iy@DAT read: 14:16:28.4116 LVL= 21216, 30545, 14658, 31379, AGC= 67, IDX= 508,-0.43,-2.259, 3.027,-1.413,-2.215, PHS= 0.044,-0.995, 0.798, RAW= 174.8, 2.0 CA= 175.3, -6.5, ROT= 334.7, 6.5  9unknown deviceResponse_: 14:16:28.4116 LVL= 21216, 30545, 14658, 31379, AGC= 67, IDX= 508,-0.43,-2.259, 3.027,-1.413,-2.215, PHS= 0.044,-0.995, 0.798, RAW= 174.8, 2.0 CA= 175.3, -6.5, ROT= 334.7, 6.5  ٥ H: >\5?\59f IlBy?:>@REi<]<\5U:BU2AUhE addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 0.504385 s, deltaX: -0.199997 m, approachRate: -0.396516 m/s, rangeRepo size: 4   FNOT Ignoring new targets: 118.16 m.E ProNav: ac range: 118.161598 m, nav range: 115.351425 m, bearing: 168.803103 deg, approach rate: -0.558019 m/s, LOS rate: -0.103046 deg/s, cmd heading: 187.704199 deg, new cmd heading: 187.554941 deg. EpMHeadingCmd: 3.273451 target range: 118.161598 and range: 118.80 m.bM:Q@ZIrIjIRIJIBQ~Q~UyB}Q|Y|Y|]@3]@| .? +{B靕t|f=I)R >I*~B= @߻z@M<==i:Q@i"%Stopping DDAT read: Rx Time:14:16:28.9113  TRx dataTimestamp_ set to:1749132990.012194 PDAT read: Bearing 334.9, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 334.9, 5.2 (Local) 6G% 4=jG= ?bG= ?m DAT read: Range 10 to 50 : 118.5 m (trip time 79.0 ms) speed 0.4 -u X#Rx 1: Read range message, but no direction.ڱ ڵ BYڱ u 2Acoustic response timeoutu Querying Benthos address 50 with one ping in standard two-way mode.~G A) A9 A NM >3k,2iA9NE@N%S@YNoL~=yN^@=NH ,4?NS,ſ`!e?Sį@^? ? NE@N־;)NCn{BnIipIr<IvIv̍~A= ~=:J `BJ [JJ ?RJ ZJ :bJ W9J ـ4J y~1e@5REi5|;5;5\5qu2AukE addTargetRange:: Added new target pos. range: 118.500000 m, deltaT: 0.505383 s, deltaX: -0.300003 m, approachRate: -0.593615 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 118.16 m. ProNav: ac range: 118.161598 m, nav range: 115.173180 m, bearing: 168.770180 deg, approach rate: -0.592410 m/s, LOS rate: -0.109591 deg/s, cmd heading: 187.554946 deg, new cmd heading: 187.456024 deg. lHeadingCmd: 3.271725 target range: 118.161598 and range: 118.50 m.bcQ@ZrjRJB~~}|||]@|@Q? *{B靵Jt=I)>IzB= X߻û@<B=icQ@i"UStoppingFe=Fe=K FP"K ŷ9*K 2K :K L(+rqrQ{]VbXGS = DAT read: 14:16:28.9113 LVL= 21728, 26913, 16274, 30371, AGC= 67, IDX= 505,-0.35, 2.823, 1.822,-2.606, 2.909, PHS= 0.002,-1.040, 0.766, RAW= 174.9, 3.5, CAL= 175.1, -5.2, ROT= 334.9, 5.2 Ygot valid direction response: 14:16:28.9113 LVL= 21728, 26913, 16274, 30371, AGC= 67, IDX= 505,-0.35, 2.823, 1.822,-2.606, 2.909, PHS= 0.002,-1.040, 0.766, RAW= 174.9, 3.5, CAL= 175.1, -5.2, ROT= 334.9, 5.2 X#Rx 1: Read direction message, but no range.`direction in FSK: [0.901842,-0.422454,-0.090633]yQ?T/{ ۿ0L3Y T)!iI?ivCo;D? )5z=Ii޹޹=  Wk,s۝iA0}DDAT read: Rx Time:14:16:29.4111 TRx dataTimestamp_ set to:1749132990.515893PDAT read: Bearing 334.8, 4.5 (Local) ~Local bearing/azimuth received: Bearing 334.8, 4.5 (Local) DAT read: Range 10 to 50 : 118.2 m (trip time 78.8 ms) speed 0.4 -X#Rx 1: Read range message, but no direction.ځڅfBYځ %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.9UE@US@YU =yUƮ=UH@x?̴ _Ŀ`Jn葷?S ՚?`? UE@U%i;)UC{BIH>HHHH =HHHA<HqEAI5I52Er< E,=ԑym;Q >٥ HVFp >m\5F?u\59k IWByy}>@REi<<3\52AZbdiABB+7@ʁ J4vZ@ DEHhNF%Q?T/{ ۿ0L3޹=ҁ+[ If>@ D(f6'7d%I _ȥ?zI̮ȿz2A(j ?r~ C!Bऔ?d  BꁅB?b;@Թ addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 0.503699 s, deltaX: -0.300003 m, approachRate: -0.595600 m/s, rangeRepo size: 4  Added new target pos. range: 117.367531 m, bearing: 164.694479 deg, lat: 36.906151 deg, lon: -122.115848 deg, deltaT: 1.513467 s, deltaX: -0.794067 m, approachRate: -0.524668 m/s, posRepo size: 4 FNOT Ignoring new targets: 117.37 m.} ProNav: ac range: 117.367531 m, nav range: 115.040047 m, bearing: 167.754675 deg, approach rate: 0.000000 m/s, LOS rate: -0.109591 deg/s, cmd heading: 187.456031 deg, new cmd heading: 187.271855 deg. yHeadingCmd: 3.268511 target range: 117.367531 and range: 118.20 m.bG/Q@ZrjRJB~~}|||̌]@|`? M'{BU i=IQ)U9#>QIUiC= YY]޻en@m*Y<F=iG/Q@i"StoppingU DAT read: 14:16:29.4111 LVL= 21360, 29425, 15810, 27843, AGC= 69, IDX= 503,-0.05, 0.539,-0.487, 1.426, 0.655, PHS=-0.029,-1.095, 0.767, RAW= 175.2, 4.5, CAL= 175.2, -4.5, ROT= 334.8, 4.5 u Ygot valid direction response: 14:16:29.4111 LVL= 21360, 29425, 15810, 27843, AGC= 69, IDX= 503,-0.05, 0.539,-0.487, 1.426, 0.655, PHS=-0.029,-1.095, 0.767, RAW= 175.2, 4.5, CAL= 175.2, -4.5, ROT= 334.8, 4.5 } X#Rx 1: Read direction message, but no range. `direction in FSK: [0.902038,-0.424467,-0.078459] y P~?{v*ۿ5;Y  pS) rI =i l E h ( ZD?  EC@) |٠=I EC@i |٠ @ |٠=   ap3?i4@+3?TY?i Mv? k z0 |٠= Hk,uviA9ZXlE@ZS@YZn=yZ|=ZH`:@?@=Ŀ w L?`B Th?A? ZXlE@Zp;)Xf{BfIԩ99]DDAT read: Rx Time:14:16:29.9108 mTRx dataTimestamp_ set to:1749132991.023747PDAT read: Bearing 335.4, 4.8 (Local) ~Local bearing/azimuth received: Bearing 335.4, 4.8 (Local) DAT read: Range 10 to 50 : 117.8 m (trip time 78.5 ms) speed 0.5 -X#Rx 1: Read range message, but no direction.aeBYa 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.UMb@Mb@Mb@QQQ Q)QYUn?MbpyU?UUUdA U@)UX@IU@QyU@II P; &=y;Q >٥ H` >-\5?-\59 INBy-?5:5?5@REi;;`\59=2A=nEZabeiAeBeBe7@ʁeF`Z@ 4HZZ"eP~?{v*ۿ5;ez0e|٠=ҁeu[mY>@5e*b9^P}[]m?ǿzeAeje?re em'Be1\X?IAAIAA:J ZBJ ^JJ `RJ ZJ 9bJ d9J *5J ev  aeBe8@U addTargetRange:: Added new target pos. range: 117.800003 m, deltaT: 0.507854 s, deltaX: -0.399994 m, approachRate: -0.787616 m/s, rangeRepo size: 4  Added new target pos. range: 116.970352 m, bearing: 164.386440 deg, lat: 36.906162 deg, lon: -122.115784 deg, deltaT: 0.507854 s, deltaX: -0.397179 m, approachRate: -0.782072 m/s, posRepo size: 4 FNOT Ignoring new targets: 116.97 m. ProNav: ac range: 116.970352 m, nav range: 114.938522 m, bearing: 164.797241 deg, approach rate: 0.000000 m/s, LOS rate: -0.109591 deg/s, cmd heading: 187.271862 deg, new cmd heading: 187.128037 deg. HeadingCmd: 3.266000 target range: 116.970352 and range: 117.80 m.b&Q@ZrjRJ!B!~!~%yB})|)|)|-@3s]@|-@#? %{B靍/o=I)&>I7D= ܻAI<I=i&Q@i"StoppingK- fP"K- 9*K) 2K- :K- ?^sFFRL8-jK Ns c>X~mcp g ]gi9 DAT read: 14:16:29.9108 LVL= 20528, 26017, 14418, 29683, AGC= 69, IDX= 500, 0.18,-0.269,-1.307, 0.591,-0.176, PHS=-0.005,-1.084, 0.764, RAW= 174.5, 4.1, CAL= 174.6, -4.8, ROT= 335.4, 4.8  Ygot valid direction response: 14:16:29.9108 LVL= 20528, 26017, 14418, 29683, AGC= 69, IDX= 500, 0.18,-0.269,-1.307, 0.591,-0.176, PHS=-0.005,-1.084, 0.764, RAW= 174.5, 4.1, CAL= 174.6, -4.8, ROT= 335.4, 4.8  X#Rx 1: Read direction message, but no range. `direction in FSK: [0.906047,-0.414821,-0.083678] y ޙk,SׯiA9{BII I 2Mo MU=yMQ M>٥QQ UHUWF] ]>am\5el?m\59ev IeFByiim@eREie:e:e\52AqEEB*** querying acoustic contact ***JARAFNOT Ignoring new targets: 116.97 m.) ) yDDAT read: Rx Time:14:16:30.4108 TRx dataTimestamp_ set to:1749132991.530859PDAT read: Bearing 335.7, 5.0 (Local) ~Local bearing/azimuth received: Bearing 335.7, 5.0 (Local) DAT read: Range 10 to 50 : 117.8 m (trip time 78.5 ms) speed 0.6 }DAT read: 14:16:30.4108 LVL= 27120, 32753, 18498, 31539, AGC= 68, IDX= 499, 0.48,-0.540,-1.588, 0.308,-0.461, PHS= 0.010,-1.079, 0.767, RAW= 174.1, 3.8, CAL= 174.3, -5.0, ROT= 335.7, 5.0 Ygot valid direction response: 14:16:30.4108 LVL= 27120, 32753, 18498, 31539, AGC= 68, IDX= 499, 0.48,-0.540,-1.588, 0.308,-0.461, PHS= 0.010,-1.079, 0.767, RAW= 174.1, 3.8, CAL= 174.3, -5.0, ROT= 335.7, 5.0  ProNav: ac range: 116.970352 m, nav range: 114.738930 m, bearing: 164.752531 deg, approach rate: -0.538294 m/s, LOS rate: -0.120789 deg/s, cmd heading: 187.128031 deg, new cmd heading: 186.993670 deg. ˥HeadingCmd: 3.263655 target range: 116.970352 and range: 117.80 m.bP@ZrjRJBR#Rx 1: Read range and direction messages.H>HHIH{BH =HHH<H9EHHŗCHHI IrL5~~}|| | | ?-`direction in FSK: [0.907935,-0.409948,-0.087156]-Fpublishing direction and range infoyGx1 ? L<ڿOY i)IBHi3{D #<ZD? xB@)ԇ=IB@i¸}@¸= )`>?Q#?tli ?izq?ه%پ¸= )  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. U#{Bԡ}r=I)v%>I;D= Hۻ?A<%ER=i-P@i9"Stopping U k,yiA{BIMMb@Mb@Mb@III I)IYYMtV?I +yM?M9IMA M~@)MAIM~@IyM(@I I2q< "=yQ >٥ HXF %>!-\5%sT?U\59%j I%;ByU?U:UAU@%REi%9;%;%\5ae2AaZbiAMDDAT read: Rx Time:14:16:30.9105 UTRx dataTimestamp_ set to:1749132992.031326uPDAT read: Bearing 335.4, 4.6 (Local) u~Local bearing/azimuth received: Bearing 335.4, 4.6 (Local) ԁDAT read: Range 10 to 50 : 117.3 m (trip time 78.2 ms) speed 0.6 DAT read: 14:16:30.9105 LVL= 20928, 26977, 16114, 31475, AGC= 68, IDX= 497,-0.26,-2.940, 2.331,-2.095,-2.841, PHS=-0.011,-1.065, 0.743, RAW= 174.5, 4.3, CAL= 174.6, -4.6, ROT= 335.4, 4.6 !8@ʁlZ@CjGc(c$Ygot valid direction response: 14:16:30.9105 LVL= 20928, 26977, 16114, 31475, AGC= 68, IDX= 497,-0.26,-2.940, 2.331,-2.095,-2.841, PHS=-0.011,-1.065, 0.743, RAW= 174.5, 4.3, CAL= 174.6, -4.6, ROT= 335.4, 4.6 R#Rx 1: Read range and direction messages. `direction in FSK: [0.906307,-0.414940,-0.080199] Fpublishing direction and range infoGx1 ? L<ڿO%پ¸=ҁq[2$=@nY5rNPg?^ȿzAFj8 ?rD #B C!BꁍB7@IyMC4!x??k `ڿzꇴMBYI MQ)MaiIM>iMzIMX94MQM?5>? MB@)M`=IMC@iMlMR@Ml= I)IMCa]ង??Y^?iMs?MnM۾Ml= I)I u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode. addTargetRange:: Added new target pos. range: 117.800003 m, deltaT: 0.507112 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 116.970314 m, bearing: 165.327308 deg, lat: 36.906162 deg, lon: -122.115784 deg, deltaT: 0.507112 s, deltaX: -0.000038 m, approachRate: -0.000075 m/s, posRepo size: 4 FNOT Ignoring new targets: 116.97 m.% ProNav: ac range: 116.970314 m, nav range: 114.469635 m, bearing: 164.696973 deg, approach rate: 0.000000 m/s, LOS rate: -0.120789 deg/s, cmd heading: 186.993668 deg, new cmd heading: 186.785171 deg. !5HeadingCmd: 3.260016 target range: 116.970314 and range: 117.80 m.b5P@Z1r1jYRYJYBY~a~e"zB}a|a|a|m@3S]@|m ?I4=I=Թ {B o=I ) %0> I E= Smڻ:J BJ PJJ ARJ ZJ bJ *9J 4J = {A= D<= ^=i= P@iA "m Stopping K] HO"K] }9*KY 2K] :K] O.+ ?VZ:#=aOy\ O/CVBa#TsUJ: ٥ HEYFE E>IU\5M>?U\59M1 IM0ByY]A}@MREiMq;M;M \52AtEZ1b5?iA5B5B5j7@ʁ5cZ@b;2*Hd"5C4!x??k `ڿzꇴ5۾5l=ҁ5=[F/?@|"55#S4;$I<0"?ǿz5}A5wj5ӧ?r5]0 5'B15~  5#B5B5L7@ԙ addTargetRange:: Added new target pos. range: 117.300003 m, deltaT: 0.500467 s, deltaX: -0.500000 m, approachRate: -0.999067 m/s, rangeRepo size: 4  Added new target pos. range: 116.473831 m, bearing: 164.203319 deg, lat: 36.906162 deg, lon: -122.115780 deg, deltaT: 0.500467 s, deltaX: -0.496483 m, approachRate: -0.992039 m/s, posRepo size: 4 FNOT Ignoring new targets: 116.47 m. ProNav: ac range: 116.473831 m, nav range: 114.310753 m, bearing: 164.502595 deg, approach rate: 0.000000 m/s, LOS rate: -0.120789 deg/s, cmd heading: 186.785170 deg, new cmd heading: 186.647383 deg. %HeadingCmd: 3.257611 target range: 116.473831 and range: 117.30 m.b%|P@Z!r!j!R!J)B)~q~q}y||||`Me?DDAT read: Rx Time:14:16:31.4104 TRx dataTimestamp_ set to:1749132992.536082%PDAT read: Bearing 354.8, -4.1 (Local) -~Local bearing/azimuth received: Bearing 354.8, -4.1 (Local) MDAT read: Range 10 to 50 : 117.2 m (trip time 78.1 ms) speed 0.5 {B靍x=Im8)I1>IF= 9PػA<^+A=i|P@iDAT read: 14:16:31.4104 LVL= 21392, 26769, 13778, 27187, AGC= 68, IDX= 512,-0.14, 0.128,-1.423, 0.384, 0.087, PHS= 0.129,-1.463, 0.295, RAW= 154.9, 12.3, CAL= 155.2, 4.1, ROT= 354.8, -4.1 H ݼ>H H IH {BH H H H -<H PE"%StoppingMYgot valid direction response: 14:16:31.4104 LVL= 21392, 26769, 13778, 27187, AGC= 68, IDX= 512,-0.14, 0.128,-1.423, 0.384, 0.087, PHS= 0.129,-1.463, 0.295, RAW= 154.9, 12.3, CAL= 155.2, 4.1, ROT= 354.8, -4.1 MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.993336,-0.090401,0.071497]UFpublishing direction and range infoy(cMg?c($ M?fBY S)hI5i3j>C= > c-@)[>I-\-@iC=_(@C )yJ`??`R?i?I\޹C ) 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.! 6G 6a=~Gi A A N >~ l,60iADv٥ HEл E>IM\5M)?U\59M IM$Byu?u:u(B}@MSEiMO;M;M\59BI2AwEԹZb+O"iABB%L@ʁ J\@K6.b %w: @(cMg?c($ M?޹Cҁ/E ]G2+Psj-@8hMl5X䒿zZj뼜?re JsBӧ? m'BMB7@ addTargetRange:: Added new target pos. range: 117.199997 m, deltaT: 0.504756 s, deltaX: -0.100006 m, approachRate: -0.198128 m/s, rangeRepo size: 4  Added new target pos. range: 116.373871 m, bearing: 183.169355 deg, lat: 36.906161 deg, lon: -122.115780 deg, deltaT: 0.504756 s, deltaX: -0.099960 m, approachRate: -0.198037 m/s, posRepo size: 4 FNOT Ignoring new targets: 116.37 m. ProNav: ac range: 116.373871 m, nav range: 114.152260 m, bearing: 164.466350 deg, approach rate: 0.000000 m/s, LOS rate: -0.120789 deg/s, cmd heading: 186.647377 deg, new cmd heading: 186.487966 deg. HeadingCmd: 3.254829 target range: 116.373871 and range: 117.20 m.bOP@Zr j)R)J)B)~1~5QzB}9|9|A|mL]@|m@_A? {BO}=I ) E> I 1F=   ջAZ=<D=iOP@i"%StoppingF-=F-=6GA=,DAT read: user:2009> DAT read: 0 8unknown deviceResponse_: 0 DAT read: Ok :unknown deviceResponse_: Ok ,DAT read: user:2010> BDAT read: Tx time:14:16:32.3262 $Ping request sent. IA IE ?A>[l,.IiA9BmD@BR@YBa=yBv=BH@?P5¿`Qڧ?V?? BmD@BO;)BCJ{BJIIfIf#3|n# u=y qIu?G= qquӻ}HA}<}A=i}n1P@i"StoppingY6Gi~G) AI A N >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500097[l,=ciAH2>H0H2IH2{BH2 =H0H0H2+<H09EQD@E&eR@YEWd=yEum=QEH?̆¿`?Ķ@_?? EQD@EC;)EC{BI:J-[BJ-OJJ-BRJ)ZJ-:bJ-%9J--4J)zJ-:]jJ-:eJ-~&:mrJ-&:mIIU U(=yeae;Q >٥ H[F,_ >\5?\590 I ByoB@ SEiG::/\5!%2A%zEyB*** querying acoustic contact ***JRFNOT Ignoring new targets: 116.37 m.HH} ProNav: ac range: 116.373871 m, nav range: 113.718277 m, bearing: 164.380168 deg, approach rate: -0.510339 m/s, LOS rate: -0.101538 deg/s, cmd heading: 186.384142 deg, new cmd heading: 186.228900 deg. }^HeadingCmd: 3.250308 target range: 116.373871 and range: 117.20 m.b P@ZrjRJB~~}||||r? 5{B=u=I9)=i/>9I=G= AAEϻEBMt7E " StoppingF F A ) T> wCGZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0049806G@A= EڿYEZAyEA~GAAN?F!l,[[iA9b-D@bPAR@Yb2=ybRj=bH@S ?Lz?¿ a;n?".٥)) -H)5 5>9E\5=?m\59= I=Bym?m:mSBm@=SEi=;=*;=\5q}2A}}EFNOT Ignoring new targets: 116.37 m. ProNav: ac range: 116.373871 m, nav range: 113.452423 m, bearing: 164.326862 deg, approach rate: -0.546147 m/s, LOS rate: -0.109764 deg/s, cmd heading: 186.228905 deg, new cmd heading: 186.068612 deg. %HeadingCmd: 3.247510 target range: 116.373871 and range: 117.20 m.b%4O@Z!r!j)R)J)B)~1~5\zB}1|1|1|9|= ?a {B靽?v=I)1>IH= #̻HB͘<UH=i4O@i>E"Stopping}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255624KiP"K}9*K2K:KJyM zm~V>^2]' MoH  RNhX9;59] ԉ6G .H=~G A A N >p'l,H2iA9f D@fR@Yf̋=yfh=fHl O[?@oC @ ?Ѩ@? ? f D@f<;)dv{BvI ~p=~=I I 35 5m=y5;Q =?٥9A EHE\FMcλ M?Ye\5]6?m\59] I]ByquvBu@]SEi]X;]@Y;]\52Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507119FNOT Ignoring new targets: 116.37 m. ProNav: ac range: 116.373871 m, nav range: 113.270752 m, bearing: 164.290510 deg, approach rate: -0.530225 m/s, LOS rate: -0.106266 deg/s, cmd heading: 186.068614 deg, new cmd heading: 185.959384 deg. ܑHeadingCmd: 3.245604 target range: 116.373871 and range: 117.20 m.bO@ZrjRJB ~ ~ }|||| '@H>HCHIH{BH =HH.DH<HE ={BE}=IA)e:1>aIm$I= iim HɻugBu>G=iuO@iyDyDyDD:JBJNJJDRJZJbJ!9J4JzJjJJT:rJV:"UStopping checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759002 6G F=~G A A N >-l,tiAI)9>C@>]Q@Y>#=y>j=>H?@Q@iE?W@f.?`? >C@>S;)٥ H]F >\57?\59 IBy?:D@SEi ;o:b\52AE  FNOT Ignoring new targets: 116.37 m.= ProNav: ac range: 116.373871 m, nav range: 113.036270 m, bearing: 164.246751 deg, approach rate: -0.543543 m/s, LOS rate: -0.101647 deg/s, cmd heading: 185.959386 deg, new cmd heading: 185.827837 deg. EEHeadingCmd: 3.243308 target range: 116.373871 and range: 117.20 m.bEZO@ZIrIjIRIJIBI~Q~UzB}i|q=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011266q|||6@  {Bo!u=I))>I I=   ĻZB֙<H=iZO@i"%StoppingFM=FMp=ԙ6G5 H=~G A A) N= >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262938K= _P"K= 59*K9 2K= :K= rB egxQZf&lt8OgXAgT " !zglvyd=W4l,6԰iA9V?C@VQ@YV=yV:mn=VH̊`?˺vV?`Ԥ?`? V?C@V׈;)VCb{BbIIjIjF2rD rY=yr;Q r>٥tt vHtz; z>|\5~#?\59~w I~܍ByD@~SEi~~:~:~\5e3A9=FNOT Ignoring new targets: 116.37 m.EEU ProNav: ac range: 116.373871 m, nav range: 112.834320 m, bearing: 164.209034 deg, approach rate: -0.537522 m/s, LOS rate: -0.100568 deg/s, cmd heading: 185.827837 deg, new cmd heading: 185.714484 deg. U ]HeadingCmd: 3.241329 target range: 116.373871 and range: 117.20 m.b]qO@ZYrYjYRaJaBa~a~a}i|i|i|q|u@ {B靝mAy=I)>IJ= ԩŭB5<ȥL=iqO@i"Stopping6G.H=~GAANn>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515049 H <H 4<H>HHIH{BH =HHHK<HE:J BJ UJJ BRJ ZJ bJ >9J -4J zJ :jJ :J }Q:rJ Q:9 &:l,iA9JC@JQ@YJ=yJMs=JH`?.RONS%?94? ? JC@J&;)JC^{BbIdfAMb@Mb@Mb@ )Y(\? ףp= y&1|yz?Q8`A @)3AI@y=@II} >=y`;Q >٥ H^Fà >]51?]59 I͍By?:EE@SEi:<:s]58B~3AE B*** querying acoustic contact ***J R !%FNOT Ignoring new targets: 116.37 m.-ܺ-ܺ ProNav: ac range: 116.373871 m, nav range: 112.599174 m, bearing: 164.167400 deg, approach rate: -0.543922 m/s, LOS rate: -0.096507 deg/s, cmd heading: 185.714483 deg, new cmd heading: 185.589318 deg. vHeadingCmd: 3.239145 target range: 116.373871 and range: 117.20 m.b%NO@ZrjRJB~~zB}||||$ @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767609 {B靅o=I)o>IhJ= 8輻BZϚ<ORL=i%NO@i"StoppingI6Gu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019897ԙ *Al,iA9BuC@BۥQ@YBlk=yBst=BH`ʌS?@ _@ _? ⹿`f?@~? BuC@BЯ;)BCRw{BRIIZIZf- fZ=yfl;Q j>٥hh jHj_Fn n>pv]5r?v]59r- IrByxziEz@r SEir:r:r]5]9B]3A]EFNOT Ignoring new targets: 116.37 m.jӺjӺ ProNav: ac range: 116.373871 m, nav range: 112.395683 m, bearing: 164.131473 deg, approach rate: -0.522504 m/s, LOS rate: -0.092417 deg/s, cmd heading: 185.589313 deg, new cmd heading: 185.481336 deg. }HeadingCmd: 3.237260 target range: 116.373871 and range: 117.20 m.bE/O@ZrjR!J!B)~Q~Q}Q|Y|Y|Y|]@N @q zB l=I1)5=1I5_J= 19=|=qBE]K=BDAT read: Rx Time:14:16:34.8376 TRx dataTimestamp_ set to:1749132996.311621checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272399KP"K9*K2K:K b*xr>((;/:E '+ AbR"(7'CHJIHEB ?94s/x*%!6GM=~GAA N Hl,!iA9ZUvC@ZQ@YZ6=yZm8o=ZH ?ۻn ް1?Q(਺?;? ZUvC@Zd;)ZCbZ{BbIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523080I% I%̍25 5D=y=(;Q =>٥99 =H9E| E>IU]5Mw?U]59M IMByQ]E]@M#SEiM;M^;M\]5ae`4AaFNOT Ignoring new targets: 116.37 m.||H>HCHIH_{BH =HHH"<HFEHHHH =I I5 ProNav: ac range: 116.373871 m, nav range: 112.167450 m, bearing: 164.091239 deg, approach rate: -0.567913 m/s, LOS rate: -0.100316 deg/s, cmd heading: 185.481341 deg, new cmd heading: 185.360395 deg. HeadingCmd: 3.235149 target range: 116.373871 and range: 117.20 m.b O@ZrjRJB~~}|| ||<@:JE\BJEYJJE@RJAZJE=:bJE[O9JEJ4JAzJE:jJE:JE'n:rJE*n: MzB}|d=I)=IQK=  C _<sM=i O@iA"StoppingDAT read: 14:16:34.8376 LVL= 26544, 29025, 17826, 30243, AGC= 70, IDX= 246,-0.19, 1.997, 0.921, 2.863, 2.081, PHS= 0.004,-1.113, 0.778, RAW= 174.0, 4.1, CAL= 174.2, -4.8, ROT= 335.8, 4.8  Ygot valid direction response: 14:16:34.8376 LVL= 26544, 29025, 17826, 30243, AGC= 70, IDX= 246,-0.19, 1.997, 0.921, 2.863, 2.081, PHS= 0.004,-1.113, 0.778, RAW= 174.0, 4.1, CAL= 174.2, -4.8, ROT= 335.8, 4.8 ) E PDAT read: Bearing 335.8, 4.8 (Local) E ~Local bearing/azimuth received: Bearing 335.8, 4.8 (Local) U DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.2 ms) speed 0.6 m/s ] ,DAT read: user:2011> ] BDAT read: Tx time:14:16:35.9263  $Ping request sent. yaO?/=$ڿU]kY )Ii )Ii ) J?l?gV%?i )Q M6Nl,$;iAK{BI %=%=Mb@Mb@Mb@ )Yn?I +y?L94A @)AI@y@)I-I-=- =-=yEQ E>٥ii mHu`Fu u>y]5}``?]59} I}By?:E@}(SEi};};} ]58B4AEZb%"4iABBj6@ʁH#$R@=Y5N@aO?/=$ڿU]k@ؾ=ҁiXGRxETw6@YȔ>/mu>?@`ɿzAܕj+ɜ?riB ;BD  'B BN8@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 80.400002 m, deltaT: 4.278502 s, deltaX: -36.799995 m, approachRate: -8.601140 m/s, rangeRepo size: 4FNOT Ignoring new targets: 116.37 m.κκ- ProNav: ac range: 116.373871 m, nav range: 111.904312 m, bearing: 164.045752 deg, approach rate: -0.521601 m/s, LOS rate: -0.090379 deg/s, cmd heading: 185.360392 deg, new cmd heading: 185.223609 deg. -x5HeadingCmd: 3.232762 target range: 116.373871 and range: 117.20 m.b5N@Z1r1j1R1J1BY~Y~]zB}a|i|q|uT@|+? zBa=I)=InK= d#:C y< V=i N@i "StoppingQԑ 6G= K=jGE ?bGE ?~GQ AY Aq N >Ul,^eUiAI)09BhHHqIH"{BH =HH-DH)<HIE~GiAyAN> ,F[l,{IoiAp9z0C@z&DQ@Yz=yzK=zHwݾ?Z`F`3K?f@a?Q? z0C@z;)x%{B%bIMb@Mb@Mb@ )Y5^I ?A`"I +y?Y @)AI@y@II 3) 8=yO:Q >٥    H  aҺ ؕ>ו@ >]5m9?]59c IBy?:F@/SEi::c]55AE B*** querying acoustic contact ***J R FNOT Ignoring new targets: 116.37 m.MjںMjں] ProNav: ac range: 116.373871 m, nav range: 111.465332 m, bearing: 163.970908 deg, approach rate: -0.561071 m/s, LOS rate: -0.095477 deg/s, cmd heading: 185.132769 deg, new cmd heading: 184.998627 deg. ] eHeadingCmd: 3.228835 target range: 116.373871 and range: 117.20 m.beM T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.a Z.bl,%iA9:ZC@:mQ@Y:<=y:=:Hؚ?\``3?j{@{?? :ZC@:;):CILIN4=:JR]BJRTJJR>RJPZJR]:bJR:9JRt4JPV@V@V@V@JzBZEI\^AIb$Ib<3j j`=yjj:Q n>٥pp rHrbFr(; r>t~]5vi(?~]59v IvtByXF@v2SEivU;v V;v_]5 Z6AE9AEFNOT Ignoring new targets: 116.37 m.MۺMۺ ProNav: ac range: 116.373871 m, nav range: 111.273636 m, bearing: 163.937955 deg, approach rate: -0.558147 m/s, LOS rate: -0.096112 deg/s, cmd heading: 184.998624 deg, new cmd heading: 184.899595 deg. 냻HeadingCmd: 3.227107 target range: 116.373871 and range: 117.20 m.bN@ZrjRJB~~}|||| WP? zB靝,2G=I<)xIK= =ʖC<e=iN@i"Stoppingachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4885426G8U=K\QQ"K9*K2K:K F 2 d|l<ul0m.gN+RuMT0R{7]J?J?~GԑAAN>Թ Xhl,iAN٥)) -H-cF-L; 5>9E]5=?E]59= I=dByAEEFE@=6SEi=:=>:=]5IU6AQHmܼ>HiHmEIHmzBHm =HiHiHm0<HmTEԑFNOT Ignoring new targets: 116.37 m.ܺܺ ProNav: ac range: 116.373871 m, nav range: 111.041672 m, bearing: 163.897763 deg, approach rate: -0.555604 m/s, LOS rate: -0.096469 deg/s, cmd heading: 184.899600 deg, new cmd heading: 184.778774 deg. iHeadingCmd: 3.224998 target range: 116.373871 and range: 117.20 m.b^fN@ZrjRJqBq~q~q}y|y|y|y|}E? zBB=I)@I K= WC< Zp=i ^fN@i "MStoppingFQFUA6G5Cf=~GA AN%>)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9923139 "nl,ѼiA9>mmC@>ӀQ@Y>R=y>-g=>H`` ?ۼbZz?$=̷?? >mmC@>hЇ;)٥ H >]5?]59/ ISByH?:HF@:SEiA:;]5e7AE!HGAFNOT Ignoring new targets: 116.37 m. 5FY5Ay5Bu ProNav: ac range: 116.373871 m, nav range: 110.803940 m, bearing: 163.856414 deg, approach rate: -0.570660 m/s, LOS rate: -0.099468 deg/s, cmd heading: 184.778774 deg, new cmd heading: 184.654462 deg. }}HeadingCmd: 3.222828 target range: 116.373871 and range: 117.20 m.bBN@ZrjRJB~~zB}|||| @ zB~(8=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244354I))-p)I-liK= ))52ߐ5C5b<=v=i=BN@i9"eStoppingA:JBJ[JJBRJZJbJW9J-4Jq6Gvr=~G A A N >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497157`hul,}ֱiAK^QP"K\*K\2K^:K^eh"^0,f~3oeU'!&^s5"cTN_Fvzl[JdJd=vzBEI M=M=IQIQ΢ K=yQ >٥ HdF >]5N?]59u IBBy@>SEi::& ]57B7AEFNOT Ignoring new targets: 116.37 m.HH ProNav: ac range: 116.373871 m, nav range: 110.574509 m, bearing: 163.816331 deg, approach rate: -0.577483 m/s, LOS rate: -0.101101 deg/s, cmd heading: 184.654465 deg, new cmd heading: 184.533965 deg. ĊHeadingCmd: 3.220725 target range: 116.373871 and range: 117.20 m.b] N@ZrjRJB~ ~ } | | ||I@q }zB}zc.=Iy)}ɽyI}K= cYC <) ~=i] N@iԡ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748671Heݼ>HaHe IHezBHaHaHaHe <HeE>E"Stopping6G vpx= ~G A A) N= >{|l,giAI"@)"@9>#C@>)Q@Y>I=y>Lk=>H໎?`K ~@f-? (9?q? >#C@>;)>CFHzBJIMb@Mb@Mb@ )YZd;O?Mb٥ HeFD > ]5 ?]59  I .By?::D@ CSEi : : $]5158A1=B*** querying acoustic contact ***J9R9IUFNOT Ignoring new targets: 116.37 m.UU ProNav: ac range: 116.373871 m, nav range: 110.320465 m, bearing: 163.766962 deg, approach rate: -0.528925 m/s, LOS rate: -0.103023 deg/s, cmd heading: 184.533967 deg, new cmd heading: 184.385521 deg. hHeadingCmd: 3.218134 target range: 116.373871 and range: 117.20 m.bM@ZrjRJB~~{zB}||||7@ zB%=I), IŗJ= *RE)DEˠEEH<"EStoppingIQ Q ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2544956G] x}=~G9 AI A N >q Jk-4Jk4Jks2:J ZBJ TJJ GRJ ZJ 9bJ :9J c4J l,@ iAImzBmII}I}b2u <=yQ >٥ H > ]5^?]59 IBy@GSEiu;v;']5!%\9A-EIUFNOT Ignoring new targets: 116.37 m.UUm ProNav: ac range: 116.373871 m, nav range: 110.073807 m, bearing: 163.718795 deg, approach rate: -0.610344 m/s, LOS rate: -0.119454 deg/s, cmd heading: 184.385519 deg, new cmd heading: 184.240694 deg. muHeadingCmd: 3.215607 target range: 116.373871 and range: 117.20 m.buM@ZqrqjqRqJqBy~y~y}y||||` @ zB%=I)7IJ= u5SDw<D~=iM@iDDDDDAT read: 14:16:38.4349 LVL= 21952, 28145, 15778, 29107, AGC= 68, IDX= 410,-0.24,-0.125,-1.251, 0.674,-0.018, PHS=-0.019,-1.186, 0.690, RAW= 172.0, 6.3, CAL= 171.7, -3.1, ROT= 338.3, 3.1 Ygot valid direction response: 14:16:38.4349 LVL= 21952, 28145, 15778, 29107, AGC= 68, IDX= 410,-0.24,-0.125,-1.251, 0.674,-0.018, PHS=-0.019,-1.186, 0.690, RAW= 172.0, 6.3, CAL= 171.7, -3.1, ROT= 338.3, 3.1 PDAT read: Bearing 338.3, 3.1 (Local) ~Local bearing/azimuth received: Bearing 338.3, 3.1 (Local) DAT read: Range 10 to 50 : 78.3 m (Round-trip 104.4 ms) speed 0.7 m/s ,DAT read: user:2012> BDAT read: Tx time:14:16:39.5263 $Ping request sent.@ܥk]= ݡ)ݡݥoaP?G~T ?NH} CH} IH} zBH}  =Hy H} .DH} \<H} E~G A A N >Pl,'iA=yB=IAAIMIMb1V W=yQ >٥ HfF >]5X?]59 I By@JSEi%:: +]54:AE9ZabeiAeBeBe!8@ʁeTR@]ͼ<*b{e`P?TJ׿ʾ7eek]=ҁe')RY673@J<+e=檗 *LM?gkƿzeAe0jeyFɜ?re ehCBaeiB  e;BeBes;@ addTargetRange:: Added new target pos. range: 78.300003 m, deltaT: 7.807054 s, deltaX: -38.899994 m, approachRate: -4.982673 m/s, rangeRepo size: 4  Added new target pos. range: 77.749001 m, bearing: 165.460204 deg, lat: 36.906161 deg, lon: -122.115873 deg, deltaT: 7.807054 s, deltaX: -38.624870 m, approachRate: -4.947432 m/s, posRepo size: 4 DNOT Ignoring new targets: 77.75 m. ProNav: ac range: 77.749001 m, nav range: 107.825676 m, bearing: 167.909265 deg, approach rate: 0.000000 m/s, LOS rate: -0.119454 deg/s, cmd heading: 184.240692 deg, new cmd heading: 184.098963 deg. HeadingCmd: 3.213133 target range: 77.749001 and range: 78.30 m.bM@Z!r)j)RIJIBQ~Q~Q}Q|Y|Y|]@3S@|]"? zB` =II)MhQI]l:I= YYe Fe{DC<FK=iM@i"MStoppingiԑ6G {=~G A A) N5 >Թ 7l,6@iAi9j+ B@j P@Yj=yjxL=jH``Ϻ?`z n?`Pjs? ? j+ B@jLJ;)jCyBIMb@Mb@Mb@ )YK?~jt٥ H! >Qm]5U۔?m]59Uu IUBym?m:mwDm@UOSEiUEP;ԙU6;U.]5:A DNOT Ignoring new targets: 77.75 m.ϺϺ% ProNav: ac range: 77.749001 m, nav range: 107.580215 m, bearing: 167.871270 deg, approach rate: -0.585966 m/s, LOS rate: -0.090909 deg/s, cmd heading: 184.098965 deg, new cmd heading: 183.984720 deg. %y5HeadingCmd: 3.211139 target range: 77.749001 and range: 78.30 m.b5NM@Z1r1j1R1J1B9~9~=VzB}9|A|A|A|E? zB =I)m}I>gH= =UgDТ<5P=iNM@i"Stopping:JU_BJUQJJUPRJQZJU :bJU-.9JU^4JQ6G- T=~G A A) N5 > al,ZiA&&TFailed to parse incomplete device message.9%AA@%O@Y%=y%bJH=%H}¹?n`r/?G"?@? %AA@%4C;)%C5yB5tIIU IU<2} }?=y}YQ }>٥ HgF% >]5-?]59 IByD@RSEi;;t2]5;AEDNOT Ignoring new targets: 77.75 m.ккq ProNav: ac range: 77.749001 m, nav range: 107.343781 m, bearing: 167.835094 deg, approach rate: -0.594459 m/s, LOS rate: -0.091154 deg/s, cmd heading: 183.984724 deg, new cmd heading: 183.875960 deg. ;zHeadingCmd: 3.209241 target range: 77.749001 and range: 78.30 m.b4dM@ZrjRJB~1~1}9|9|9|9|=8k? 5zB=HCHIHyBH =HH-DH<<HnEHqHqHqHu =Iq Ius5}C%D%+a<%^N=i%4dM@i)"5Stoppingԙ6G'\=~GAAN> l,tiAL9F.oA@FO@YF=yF?=FH0X{?( It?̧?? F.oA@F8;)FCVWyBVWI]Mb@Mb@Mb@YYY Y)YY]\(\?Q~jty]?]u]]\A ]@)] AI]@Yy]AIuIu#3L Z=yTQ >٥ HhFg >]5=m?]59Z I׌By?:D@VSEi;>;5]56BV ul, iA96#A@6 7O@Y6=y68=6H`;[? l}q`w?lj@?@? 6#A@6Ї;)4JGyBJMIiN0>IN>IRIR2Z2 ZY=y^ݑQ ^>٥\` bH`bI b>dj]5fTZ?j]59f IfȌByhvjDv@fZSEifu;fHv;f9]5%x?/0RQ6G@A=~GAAN >ԁ H ޼> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262037H H KIH EyBH  =H H H <H ٥ HiF:JZBJOJJ=RJZJ9bJ%9Jg4JzJ.:jJ3:J&:rJ&:T& >]5C?]59D IByD@^SEi:S:<]5=AEAMDNOT Ignoring new targets: 77.75 m.U{ݺU{ݺe ProNav: ac range: 77.749001 m, nav range: 106.652176 m, bearing: 167.726351 deg, approach rate: -0.621536 m/s, LOS rate: -0.096816 deg/s, cmd heading: 183.670385 deg, new cmd heading: 183.549012 deg. eㄻmHeadingCmd: 3.203535 target range: 77.749001 and range: 78.30 m.bmM@ZirijiRiJqBq~q~q}y|y|y|y|}@ zB靽Ąԡ džl,L5²iA9>@@>N@Y>P=y>@=>HCK?H7% xy?* ?I? >@@>;)>CzxBzIAMb@Mb@Mb@ )Y/$?y&1y&1y?`e`e`A hA)AI@yAII 2ս P=ԹyG"Q >٥ HjF0 >]5/?]59 IBy?:D@bSEi:V:`@]5=AE%DNOT Ignoring new targets: 77.75 m.%Ϻ-Ϻ= ProNav: ac range: 77.749001 m, nav range: 106.423218 m, bearing: 167.690952 deg, approach rate: -0.586104 m/s, LOS rate: -0.090812 deg/s, cmd heading: 183.549012 deg, new cmd heading: 183.442587 deg. EKyMHeadingCmd: 3.201677 target range: 77.749001 and range: 78.30 m.bMGL@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768141ZQrjRJB~~yB}||||P@ }zB}碚u BDAT read: Rx Time:14:16:42.0320 u TRx dataTimestamp_ set to:1749133003.376731} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022568I l,(ܲiA i K2c6P"K2s9*K02K2:K2ww}}aK6,Zrb%)P!I4~_D;yrl`*9Wc9F\P@@FcN@YF=yFiK=FH?@ƺ}- ?`ֹ@?$? F\P@@F3;)FCxB  III̍-& 5S=y5O)Q 5>٥19 =H9=u. E>AM]5E?U]59E IEByQU"EU@EfSEiEP:E\:EC]5YeD>AaDNOT Ignoring new targets: 77.75 m.̺̺ ProNav: ac range: 77.749001 m, nav range: 106.198456 m, bearing: 167.656577 deg, approach rate: -0.584651 m/s, LOS rate: -0.089604 deg/s, cmd heading: 183.442584 deg, new cmd heading: 183.339243 deg. uHeadingCmd: 3.199873 target range: 77.749001 and range: 78.30 m.bL@ZrjRJB~~}||||7 @ zBX3f HE<HE<HMܼ>HIHMIHMxBHIHIHIHM<HM?Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273597:J9BJ=JJJ=JRJ9ZJ9bJ=&9J=4J9zJ=/:jJ=4:J=:rJ=:ԉ ޼l,"iA %=EDAT read: 14:16:42.0320 LVL= 24560, 30705, 19650, 32755, AGC= 66, IDX= 411, 0.21, 1.151,-0.009, 1.852, 1.211, PHS= 0.028,-1.172, 0.639, RAW= 169.3, 6.4, CAL= 169.1, -3.1, ROT= 340.9, 3.1 UYgot valid direction response: 14:16:42.0320 LVL= 24560, 30705, 19650, 32755, AGC= 66, IDX= 411, 0.21, 1.151,-0.009, 1.852, 1.211, PHS= 0.028,-1.172, 0.639, RAW= 169.3, 6.4, CAL= 169.1, -3.1, ROT= 340.9, 3.1 UPDAT read: Bearing 340.9, 3.1 (Local) ]~Local bearing/azimuth received: Bearing 340.9, 3.1 (Local) eDAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.8 m/s m,DAT read: user:2013> }BDAT read: Tx time:14:16:43.1263 }$Ping request sent.٥ HkF >am]5e?m]59e IeBym.?u:uoDu@ejSEie:e:e+H]5y>AEZb=iA B B8@ʁO Q@`|8=-nX v1?KFKԿʾ7꭪ҁ-5 R?' 2@`(f12"qg^?&ɨ!ſz%A`j>ɜ?r*# FB>ɜ?  hCBzBK8@)i iԹG addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.535629 s, deltaX: -2.200005 m, approachRate: -0.622239 m/s, rangeRepo size: 4 ! UyYQyU(B Added new target pos. range: 75.563011 m, bearing: 165.612536 deg, lat: 36.906442 deg, lon: -122.115911 deg, deltaT: 3.535629 s, deltaX: -2.185989 m, approachRate: -0.618275 m/s, posRepo size: 4 DNOT Ignoring new targets: 75.56 m.c? A ProNav: ac range: 75.563011 m, nav range: 74.738914 m, bearing: 164.989896 deg, approach rate: 0.000000 m/s, LOS rate: -0.089604 deg/s, cmd heading: 183.339244 deg, new cmd heading: 183.196951 deg. HeadingCmd: 3.197390 target range: 75.563011 and range: 76.10 m.b L@ZrjRJ)B1~1~5zB}1|9|9|=`fS@|=? zBSɨ= v }E < -=i  L@iJDAT read: TxSync time:14:16:43.1255 I] C=I] R=>E " Stopping A6G؛*=~GAAN?)l,wiA9>h?@>M@Y>=y>Y=>HVX>? E?-?@? >h?@>;)>CFxBFI r=rp=IzIz3 0=yQ >٥    H lFg >]5?%]59 IuBy15D5@oSEi;#;L]5=5BE1?AEEQeB*** querying acoustic contact ***JaRaquDNOT Ignoring new targets: 75.56 m.}3}3 ProNav: ac range: 75.563011 m, nav range: 74.479233 m, bearing: 164.921964 deg, approach rate: -0.599077 m/s, LOS rate: -0.157263 deg/s, cmd heading: 183.196957 deg, new cmd heading: 182.992452 deg. ׻HeadingCmd: 3.193821 target range: 75.563011 and range: 76.10 m.bgL@ZrjRJB~~}|||| 5? zB ,<K2P"Kŷ9*K2K:K\XQ{X#nLzV`YYH. 5|K" c\^.~qJ?JI)Iy==  %E } < '"=i gL@i>Emx<"StoppingyHټ>HHIHxBHHH,DHf<HEA%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.6GE/=ԩ~GAAYAN>:J \BJ SJJ ARJ ZJ =:bJ y69J 4J zJ :jJ :J (C:rJ +C: Pl,3iAԱMxBUIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995025Mb@Mb@Mb@ )YQ?Mb`?y;+ A )AI@yAI I b1- -,=y-Q 5>٥11 5H5mF= =>AM]5E?M]59E IEgByM)?M:M*DU@EsSEiE/;E;EBP]5Y]X?AYDNOT Ignoring new targets: 75.56 m.u4u4M ProNav: ac range: 75.563011 m, nav range: 74.207993 m, bearing: 164.847951 deg, approach rate: -0.576087 m/s, LOS rate: -0.157770 deg/s, cmd heading: 182.992447 deg, new cmd heading: 182.769599 deg. MػUHeadingCmd: 3.189931 target range: 75.563011 and range: 76.10 m.bU'L@ZQrQjQRQJQBQ~Y~]zB}Y|||| 7? zBjw<I)I6w;= ? E < 01=i 'L@i >E '<" Stopping- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247774A I I AA6G zc =i~GAAN>yl,RiA9N_?@NĩM@YN|=yNwP=NH%'? {O` `?淿`?? N_?@N;)NCZmxBZIIbIb3jVý jG=ynHQ n>٥ll nHlr> r>t~]5v?]59v) Iv[By  xD @vwSEiv;v;vS]5?AE9=DNOT Ignoring new targets: 75.56 m.Eg1Eg1U ProNav: ac range: 75.563011 m, nav range: 73.972961 m, bearing: 164.784325 deg, approach rate: -0.571106 m/s, LOS rate: -0.155098 deg/s, cmd heading: 182.769606 deg, new cmd heading: 182.578121 deg. UԻ]HeadingCmd: 3.186589 target range: 75.563011 and range: 76.10 m.b]K@ZYrYjYRaJaBa~i~i}i|i|q|q|u`b? zB靭6H H IH oxBH  =H H -DH U<H E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7540276GM /=A ~Ga Ai A N >l,miA9>{?@>RM@Y>#j=y>OY=>H8?0a汿@¿?Ą?? >{?@> ;)٥QQ ]H]nF]w ]>am]5e?m]59e IeOByquDu@e|SEie;ef;eW]5y}?A}EDNOT Ignoring new targets: 75.56 m.22 ProNav: ac range: 75.563011 m, nav range: 73.728310 m, bearing: 164.717983 deg, approach rate: -0.574083 m/s, LOS rate: -0.156190 deg/s, cmd heading: 182.578115 deg, new cmd heading: 182.378428 deg. bֻHeadingCmd: 3.183104 target range: 75.563011 and range: 76.10 m.bK@ZrjRJB~~}||||(4? MzBM-9 l,[ІiA 9FxQ?@FdM@YFs=yFWb=FH??>@o?)?,? FxQ?@FS;)FCVqxBVI9=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255293MMb@Mb@Mb@III I)IYM+?y&1|y&1|?yM?M`廹M`;M A MA)MAIMn@IyM(AIeIe 2u: }I=y}%Q }>٥ HoFл >]5͒?]59 IEBy?:}E@SEi$k;L; []5?ADNOT Ignoring new targets: 75.56 m."%"% ProNav: ac range: 75.563011 m, nav range: 73.488068 m, bearing: 164.655367 deg, approach rate: -0.552113 m/s, LOS rate: -0.144370 deg/s, cmd heading: 182.378427 deg, new cmd heading: 182.189968 deg. (ƻHeadingCmd: 3.179815 target range: 75.563011 and range: 76.10 m.bK@ZrjRJB~~HzB}|||| @I uyzB}.ԡ K O"K 59*K 2K :K P~l'@y4bO1qo~PsG?U{2nc{a%J% >J% >l,iA@9z7+?@z>M@Yzp=yzyn=zHn®? j@` Z\٪?`?`X? z7+?@z_;)zCOxBII-I-=\ =N=yEٴQ E>٥AA EHAM M>Q]]5U ~?]]59U\ IU;ByaeEe@USEiU;U;U^]5m4Bmi@AmEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 75.56 m.c9c9 ProNav: ac range: 75.563011 m, nav range: 73.253944 m, bearing: 164.594412 deg, approach rate: -0.620542 m/s, LOS rate: -0.162078 deg/s, cmd heading: 182.189969 deg, new cmd heading: 182.006519 deg. w޻HeadingCmd: 3.176613 target range: 75.563011 and range: 76.10 m.bMK@Zrj!R!J!B!~)~)})|)|||@ tzBH,;I) I}4= 95F= <=7=i=MK@iAHu>HqHuIHuQxBHqHqHqHuY<HuEHQHQHQHQIU = IUç>5ԩ"Stoppedechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7608876G4=~GA dClearing failed state for component DockingStepper1AN >  BDAT read: Rx Time:14:16:45.6292  TRx dataTimestamp_ set to:1749133006.903295 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011981l,iAI@)pYaie,>Iea==Mb@Mb@Mb@999 9)9Y=-?/$y&1|?y=5?=9=X A =A)=&AI=MA9y=AI]I]F2ugh: u8=yuQ }>٥yy }H}pF >]5g?]59 I0ByO?:G@SEi;^;wb]5e@AEDNOT Ignoring new targets: 75.56 m.'' ProNav: ac range: 75.563011 m, nav range: 72.992798 m, bearing: 164.531091 deg, approach rate: -0.602088 m/s, LOS rate: -0.146513 deg/s, cmd heading: 182.006523 deg, new cmd heading: 181.815880 deg. ɻHeadingCmd: 3.173286 target range: 75.563011 and range: 76.10 m.bK@ZrjRJB~ ~ OzB} |||| @ EnzBEu;IA)EAIMDz2= IIM :UGUv:J _BJ XJJ BRJ ZJ :bJ 5K9J -4J  @ @ @ @a l,`ԳiA9:>@:TL@Y:FR=y:|=:Hm?! @? $8|?u? :>@:k;):CRBxBRIIZIZ(*2f fi=yj%~Q j>٥hh jHjqFn! r>]5T?]59 I(B9yG@SEiX<z<e]5@AiDNOT Ignoring new targets: 75.56 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517700  U ProNav: ac range: 75.563011 m, nav range: 72.783546 m, bearing: 164.481192 deg, approach rate: -0.534201 m/s, LOS rate: -0.127754 deg/s, cmd heading: 181.815879 deg, new cmd heading: 181.665753 deg. ]ZHeadingCmd: 3.170666 target range: 75.563011 and range: 76.10 m.b/J@ZrjRJB~~}||||` @ 5hzB5;I1)5 1I=0= 99=e:im3GuH H IH 2xBH H H H <H FE~G A A N > DAT read: 14:16:45.6292 LVL= 28752, 31121, 19602, 32755, AGC= 69, IDX= 414, 0.26, 1.874, 0.667, 2.523, 1.877, PHS= 0.086,-1.163, 0.643, RAW= 167.6, 5.5, CAL= 167.6, -3.8, ROT= 342.4, 3.8  Ygot valid direction response: 14:16:45.6292 LVL= 28752, 31121, 19602, 32755, AGC= 69, IDX= 414, 0.26, 1.874, 0.667, 2.523, 1.877, PHS= 0.086,-1.163, 0.643, RAW= 167.6, 5.5, CAL= 167.6, -3.8, ROT= 342.4, 3.8  PDAT read: Bearing 342.4, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 342.4, 3.8 (Local)  DAT read: Range 10 to 50 : 74.0 m (Round-trip 98.7 ms) speed 0.6 m/s  ,DAT read: user:2014>  BDAT read: Tx time:14:16:46.7264  $Ping request sent. @MOL@YM=yMl=MH@\?O@`8穿`zz?{@si?{? M&<>@M;)MC.xBIII(1 - -=y!WQ >٥ Hŋ >]5;?]59 IByHu@SEiu<<i]5@AE!Zb#iABB8@ʁtȞxQ@z^1+6@z~Y^o?g"Oӿ{SjFԇ=ҁǎQ9qO2@R2&-s?<ÿz}Avjɜ?rh VJB*#  FBꁕB]8@m addTargetRange:: Added new target pos. range: 74.000000 m, deltaT: 3.779669 s, deltaX: -2.099998 m, approachRate: -0.555604 m/s, rangeRepo size: 4  Added new target pos. range: 73.478134 m, bearing: 165.386567 deg, lat: 36.906442 deg, lon: -122.115921 deg, deltaT: 3.779669 s, deltaX: -2.084877 m, approachRate: -0.551603 m/s, posRepo size: 4 DNOT Ignoring new targets: 73.48 m. ProNav: ac range: 73.478134 m, nav range: 72.272369 m, bearing: 165.053605 deg, approach rate: 0.000000 m/s, LOS rate: -0.127754 deg/s, cmd heading: 181.665752 deg, new cmd heading: 181.460892 deg. HeadingCmd: 3.167090 target range: 73.478134 and range: 74.00 m.bJ@ZrjRJB~~}|||R@| C? bzB$ 6m,H iA(i*p<9fz>@fL@Yf\Ò=yfL=fHiq?䲿@=``ӧ?fT@o?@? fz>@fI;)fCrxBrI)t tMb@Mb@Mb@ )YT㥛 ?ˡE~jtx?y!?';A EA)AIAy AI)IW33 U=y%NQ >٥ HrF >]5(?]59 IBy_!?:G@@SEi#::l]5,AAEDNOT Ignoring new targets: 73.48 m.%]0%]05 ProNav: ac range: 73.478134 m, nav range: 72.052933 m, bearing: 165.010395 deg, approach rate: -0.780663 m/s, LOS rate: -0.154191 deg/s, cmd heading: 181.460887 deg, new cmd heading: 181.330862 deg. 5ӻ=HeadingCmd: 3.164821 target range: 73.478134 and range: 74.00 m.b=lJ@Z9r9j9R9JABA~A~EzB}I|I|I|I|M? _zB P@I )  I 3-= ܟ::J%ZBJ%NJJ%CRJ!ZJ%9bJ%!9J%4J!HG=<=G$=i=lJ@iA"MStarting"BInit string: /1z16351aE13561N3m50ԙ ===8?Ա6G5 #=~G A! A9 NU > -Vm,b"iAK[ P"K*K2K:K4 fGFLC)4i8ZV*2m9 5t2b ^  p=9>G=@J?J>>K@Y>=y>KF=>H h?g,PhL?7#?D? >G=@>;)٥\\ ^H`b~ b>dj]5fg?j]59f IfByhjG@n@fSEifh:f.:f:p]5prAApB*** querying acoustic contact ***JR DNOT Ignoring new targets: 73.48 m.- ProNav: ac range: 73.478134 m, nav range: 71.826645 m, bearing: 164.966646 deg, approach rate: -0.615434 m/s, LOS rate: -0.119358 deg/s, cmd heading: 181.330867 deg, new cmd heading: 181.199208 deg. -ԣ5HeadingCmd: 3.162523 target range: 73.478134 and range: 74.00 m.b5fJ@Z1r1j1R1J1B1~9~9}9|A|A|A|EY? 5[zBULIQ)]YI]o+= YY]T:eGe֩HHIHxBH =HHH2<HdEi"StartingT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6G"=jG?bG?~GAAN>) m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244529m,٥ HsF<4 >]5Iߜ?]59 IByf!?:D@@SEi;; t]53BAAĪEGAA ]OY]Ay]dBԉDNOT Ignoring new targets: 73.48 m.ǺǺ ProNav: ac range: 73.478134 m, nav range: 71.556892 m, bearing: 164.924139 deg, approach rate: -0.552640 m/s, LOS rate: -0.087412 deg/s, cmd heading: 181.199209 deg, new cmd heading: 181.071208 deg. o HeadingCmd: 3.160289 target range: 73.478134 and range: 74.00 m.b ,BJ@ZrjRJB~~vzB}|||!|%? UzB靭4;I)I)= a:G2 <=i,BJ@i"Startingchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4961466G=:JQ BJU _JJU BRJQ ZJQ bJU =h9JU -4JQ ~G A A N% >hm,.ViA9>=@>(K@Y>(=y>#=>H`e?@#@ ]?MBf? ? >=@>1Ĉ;)>CFwBFqIiJ>IJ;>\Iv Iv2z ~V=y~Q ~>٥ HtF 3  > ]5 8ߜ?]59  I By!%pD@%@ SEi *; LC; \w]515BA=ǪEaeDNOT Ignoring new targets: 73.48 m.em} ProNav: ac range: 73.478134 m, nav range: 71.322487 m, bearing: 164.887752 deg, approach rate: -0.709810 m/s, LOS rate: -0.110549 deg/s, cmd heading: 181.071211 deg, new cmd heading: 180.961689 deg. }HeadingCmd: 3.158377 target range: 73.478134 and range: 74.00 m.b"J@ZrjRJB~~}||||? RzBkI)0Im'= :G J<=i"J@i"Starting%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7489286Gs=K:P"K9*K2K:Kd`|\c7XlVa.*IQ?0-uY[EJAJA~GA!A1NEr>H>HCHIH xBH =HHH+<H]E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999802A <m,piA9F<@F1 K@YFO{=yFM=FH@>m?`ϴ ?`dkߢ? ? F<@Fm;)FCRwBRbIIZIZ(*3^y bM=ybQ b>٥dd fHdfS j>ln]5n'ߜ?r]59n) InByprSD@r@nSEin:n:nz]5imzBAqDNOT Ignoring new targets: 73.48 m.ѺѺ ProNav: ac range: 73.478134 m, nav range: 71.076302 m, bearing: 164.849633 deg, approach rate: -0.588238 m/s, LOS rate: -0.091397 deg/s, cmd heading: 180.961682 deg, new cmd heading: 180.846930 deg. zHeadingCmd: 3.156374 target range: 73.478134 and range: 74.00 m.b J@ZrjRJB~ ~}||||t[@ mMzBmIq)uJ!qIu\%= qqu ;H < =i J@i)"MStartingI"LSent speed cmd:/1V10000 Response:/0@ -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253126i6Gsc=ZG RG ~G A A N >ԑ {"m,]kiAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5044279<@-J@YLq=y=H d@'?wV?%գ?? <@ш;)CwBVIqMb@Mb@Mb@ )Y+?V-y&1|y?h`nA rA)=AI3Ay AI IV2/ :=y~Q >٥ HuFk >]5ߜ?]59 IBy  ? : C@ @SEi:_:~]5BAʪEDNOT Ignoring new targets: 73.48 m.ZӺZӺ ProNav: ac range: 73.478134 m, nav range: 70.804832 m, bearing: 164.809617 deg, approach rate: -0.624371 m/s, LOS rate: -0.092389 deg/s, cmd heading: 180.846935 deg, new cmd heading: 180.726426 deg. }HeadingCmd: 3.154271 target range: 73.478134 and range: 74.00 m.bI@ZrjR:J[BJVJJ>RJZJ:bJB9Jt4JJ!B!~!~%czB})|I|I|I|UN@ IzB靥)KI)$I#= ;!@Hm<-= =iI@i"Startingԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7565296GM3;=~G) A1 AI NU > ߥ(m,EiA9Fu<@FJ@YF7g=yF٥ll rHrvFrr r>tz]5vߜ?z]59v IvBy|~C@~@vSEiv;v;v]5BAͪE%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 73.48 m.=ٺ=ٺM ProNav: ac range: 73.478134 m, nav range: 70.577560 m, bearing: 164.776125 deg, approach rate: -0.643987 m/s, LOS rate: -0.095207 deg/s, cmd heading: 180.726423 deg, new cmd heading: 180.625624 deg. MUHeadingCmd: 3.152512 target range: 73.478134 and range: 74.00 m.bUI@ZQrQjQRJB~~}||||.@H=ۼ>H=CH=qIH=wBH= =H9H9H=S<H=E FzB靅I)'IY!= H>(;-\H-k<5 =i5I@i1"E&Changing to mode: 1"EStandby mode.׉׉BDAT read: Rx Time:14:16:49.2262 TRx dataTimestamp_ set to:1749133010.683784checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009352E?EEEo0E)6G% : =~G A1 Aa N >U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261997a J.m,iA9uf<@u˶J@YuUM^=yuH/=uH`6?9N@Sd> W6?,ƫ L?`m? uf<@u;)uCwB:I9Mb@Mb@Mb@ )YGz?X9v{Gzyp?}#A  A)SAIEAy AI I(2 ,=y\Q >٥ H fd  >]5ߜ?]59u I֋ByB?:%QD@%@SEi{:b:]5)-{CA1aeDNOT Ignoring new targets: 73.48 m.m'ۺm'ۺ} ProNav: ac range: 73.478134 m, nav range: 70.290634 m, bearing: 164.730760 deg, approach rate: -0.603462 m/s, LOS rate: -0.095799 deg/s, cmd heading: 180.625623 deg, new cmd heading: 180.488975 deg. }~HeadingCmd: 3.150127 target range: 73.478134 and range: 74.00 m.bI@ZrjRJB~~}zB}|||| o @ AzBwûI).Iō= [6;H3<=iI@iaE%?E!E!E%o5E!DAT read: 14:16:49.2262 LVL= 28512, 32753, 23106, 29619, AGC= 69, IDX= 416, 0.00, 2.164, 0.985, 2.686, 2.056, PHS= 0.196,-1.024, 0.628, RAW= 164.6, 2.7, CAL= 165.5, -6.1, ROT= 344.5, 6.1 Ygot valid direction response: 14:16:49.2262 LVL= 28512, 32753, 23106, 29619, AGC= 69, IDX= 416, 0.00, 2.164, 0.985, 2.686, 2.056, PHS= 0.196,-1.024, 0.628, RAW= 164.6, 2.7, CAL= 165.5, -6.1, ROT= 344.5, 6.1 8DAT read: $Error in header *Received a bad header]X#Rx 1: Read direction message, but no range.e`direction in FSK: [0.958174,-0.265725,-0.106264]ڡyڥ7^]?M֖PѿO4Yڡ ۥ`o)ۥIۥBZiۥsۡۥ9H>ۥoۥ ? ܥ'7@)ܥA=Iܥ8@iܥ^ ڽܥg@ܥ^ = ݡݥ[t?Sq?ʚ^?iݥrIG?ݥCݥjݥ^ =}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԑ6G AC =jG ?bG >~G A A N >Թ <5m,@״iA9:<@:J@Y:V=y:0=:H${?a` ǙK`R?0ܪ?(? :<@:^;):CVowBV+III[3 `=yqQ >٥ HwFDغ >]5~ߜ?]59 I͋ByGD@@ =4=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseSEij;Vk;@]52BCAϪEAEDNOT Ignoring new targets: 73.48 m.M[ۺM[ۺ] ProNav: ac range: 73.478134 m, nav range: 70.069435 m, bearing: 164.695639 deg, approach rate: -0.602017 m/s, LOS rate: -0.095888 deg/s, cmd heading: 180.488978 deg, new cmd heading: 180.383282 deg. ]eHeadingCmd: 3.148282 target range: 73.478134 and range: 74.00 m.beu}I@ZarajaRaJiBi~i~i}q|q|q|q|}q_@ԙ >zB靽MVI)3In= UC;@Hl<=iu}I@izEEEEE5EԹK72P"K9*K2K:Ku(iJQKya7d_xyx - &ezjvKrE H=Ҽ>H=CH=QIH=wBH9H9H=,DH=<H=2EHHHH =I Iȼ 66Gs= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~G A A! N- > ;m,EiAJ#J+4J+h1:J}_BJ}MJJ}CRJyZJ} :bJ}9J}4JyzJ}-:6jJ}2:6J}*::rJ}-::IH)J@9]<@ J@YO=yk`8=H#?t`@e?`w?`*? ]<@1;)CMUwBMI ]p=YIeIe2}܃ }O=yAQ >٥ HxF >]5iߜ?]59 IŋByBm, iA2T****** received valid address query ******2R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse9 ۆ<@ @J@Y TK=y K= H ?`ۨ?g`q?? ۆ<@ ^;) C%6wB%IMb@Mb@Mb@ )YS?A`"Qy/?YuA + A)=AI\AyG AII#3 D=y-Q >٥ HWy > ]5Tߜ? ]59 IBy ? : )E@ @SEi::W]5DADNOT Ignoring new targets: 73.48 m.% ProNav: ac range: 73.478134 m, nav range: 69.579872 m, bearing: 164.614272 deg, approach rate: -0.572176 m/s, LOS rate: -0.099229 deg/s, cmd heading: 180.269005 deg, new cmd heading: 180.138327 deg. %3-HeadingCmd: 3.144007 target range: 73.478134 and range: 74.00 m.b-i7I@YZ)rajaRaJaBa~i~mUzB}||||` @ 7zB靭j6Hm,ׅ%iA9>|<@@>J@Y>oG=y>[ [=>H@L?`ƪ?`eU?`? >|<@>;)>CJwBJIIRIR2b b_=yb}Q b>٥dd fHfyFj j>K-P"K59*K2K:Kr{umL&2|p-dl8-U0k`ShjjH![Y"<WdogJ.l=]5n+Aߜ?E]59n InByAE E@E@nSEinhfHH,IHqwBH =HHH<HHeadingCmd: 3.142000 target range: 73.478134 and range: 74.00 m.bI@ZrjRJB~~} | | | |`@ 5zB靝ܛI)]GI= JYl;- IE<G{"=iI@ibEAZEAuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseԱE?EEE0E:J ZBJ UJJ =RJ ZJ 9bJ >9J g4J zJ .:jJ 3:J }Q:rJ Q:6Gk[=~G A A N= > ) - <= T****** received valid address query ******= R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseOm,c?iA9>g<@>F{J@Y>SD=y>dg=>H@@? `i@[?``?? >g<@>!;)>CVvBVI)X ZAl\^AMb@Mb@Mb@ )YzG?Mby&1y ?`e&A  A)SAIyp AIIF3] 7=y Q  >٥  HzF8 >)5]5-*ߜ?5]59- I-By5M?=:=G@=@-SEi- ;-] ;-r]5AEEAEتEiuDNOT Ignoring new targets: 73.48 m.u u  ProNav: ac range: 73.478134 m, nav range: 69.103600 m, bearing: 164.524432 deg, approach rate: -0.599940 m/s, LOS rate: -0.121395 deg/s, cmd heading: 180.023351 deg, new cmd heading: 179.867869 deg. HeadingCmd: 3.139287 target range: 73.478134 and range: 74.00 m.bH@ZrjRJB~~$zB}||||`W@ 2zBI)MIcH= ){;H@<8A'=iH@i EaEaEaEep0EaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9I I 6G #=~Ga i Aq A N >AVm,}@YiA9>4c<@>vJ@Y>}C=y>o=>H ? d`kk?@Zm3?`? >4c<@>;)>CrvBrIII#3  [=yIQ >٥ H%2I %>)5]5-ߜ?5]59-] I-By19=G@=@-SEi-F1;-1;-]5AM_FAIyDNOT Ignoring new targets: 73.48 m.vv ProNav: ac range: 73.478134 m, nav range: 68.890953 m, bearing: 164.481306 deg, approach rate: -0.569274 m/s, LOS rate: -0.115809 deg/s, cmd heading: 179.867868 deg, new cmd heading: 179.738090 deg. HeadingCmd: 3.137022 target range: 73.478134 and range: 74.00 m.bH@ZrjRJB~~}|||| M*@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse /zBؼI)XI@= ф;H@ K< 8X.=i H@i E?EEE0EqK5 P"K59*K12K5:K5s YzW8 _AgQSp Sp59rN X];CHSP=CJMAJMAԑGGAAH߼>HCHIH*wBH =HH-DH;<HnE6G5(=~Gi Ay  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA N > :J `BJ XJJ CRJ ZJ :bJ 5K9J 4J zJ :jJ :J f:rJ f:b.\m,rsiA9P<@cJ@YLD=yq=H`tK?,@3 q]?/?T? P<@;)C5vB5IIEIE2}w }F=y}9Q }>٥ H{F97 >ԙ]5ߜ?]59( IByG@@SEi; ;U]51BwFA۪E9=DNOT Ignoring new targets: 73.48 m.=8E8M ProNav: ac range: 73.478134 m, nav range: 68.652206 m, bearing: 164.432802 deg, approach rate: -0.558438 m/s, LOS rate: -0.113846 deg/s, cmd heading: 179.738095 deg, new cmd heading: 179.592079 deg. UC}HeadingCmd: 3.134473 target range: 73.478134 and range: 74.00 m.b}5H@ZyryjyRyJyB~~}||||`N@ 5-zB5rI1)5Y9I=r = 99=;E5H@EU ;cm,xiA"T****** received valid address query ******"R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse9BM<@BFaJ@YBSC=yB k=BH5@?Z`2 > S۬?@*nT?3? BM<@B׆;)@vBIi%٥    H |F >%]5Gޜ?%]59$ IBy-o?-:-H@-@SEiw::]5FAުEDNOT Ignoring new targets: 73.48 m. ProNav: ac range: 73.478134 m, nav range: 68.405724 m, bearing: 164.375743 deg, approach rate: -0.578788 m/s, LOS rate: -0.134469 deg/s, cmd heading: 179.592079 deg, new cmd heading: 179.420284 deg. %HeadingCmd: 3.131475 target range: 73.478134 and range: 74.00 m.b%jH@Z!r!j!R!J)B)~I~UzB}Q|Q|Q|Q|]@ *zB靭vͼI)l^If = ;jH@Eí<<=ijH@i)E?EEEm0E 4=4=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsea6G '2=~G A A N >y V@im,ͦiA9>B<@>VJ@Y> B=y>l=>H0` ?0ʨ]@?`>`?? >B<@>uN;)>CJvBJIIVIV2^= ^b=ybQ b>٥`` bHdf f>hn]5jޜ?n]59j IjByprH@r@jSEij8;j#;j.]5tv.GAt B*** querying acoustic contact ***J R K]P"K]59*KY2K]:K]7%@x;.6EIbI [B\s\kTXE-DWUVH>HCHIHvBH =HHH0<HgEDNOT Ignoring new targets: 73.48 m.tt ProNav: ac range: 73.478134 m, nav range: 68.194366 m, bearing: 164.326603 deg, approach rate: -0.582753 m/s, LOS rate: -0.135907 deg/s, cmd heading: 179.420286 deg, new cmd heading: 179.272411 deg. HeadingCmd: 3.128894 target range: 73.478134 and range: 74.00 m.b?H@Zrj!R!J!B!~)Y~1}i|i|q||@$!@ (zB.I)!dI= ;]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse?H@w*<B=i?H@iEE?EAEAEEo0EAԁ:J[BJRJJARJZJ:bJS29J4JzJ:jJ:J;:rJ<:Թ6G Г>=~Gi A A N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse *pm,iA9Fh1<@FDJ@YF>=yFD(=FH N?@[Ik?Χ`֯?@D? Fh1<@Fl;)DbvBbIMb@Mb@Mb@ )Y333333?y&1|Mb`y?`廹A )I AyIIW 7=yQ  >٥    H }F >%]5>ޜ?%]59. IBy%?%:%H-@SEi:t:]515GA5EYeDNOT Ignoring new targets: 73.48 m.e'e' ProNav: ac range: 73.478134 m, nav range: 67.937263 m, bearing: 164.264018 deg, approach rate: -0.599431 m/s, LOS rate: -0.146468 deg/s, cmd heading: 179.272412 deg, new cmd heading: 179.083947 deg.  ɻԩ HeadingCmd: 3.125604 target range: 73.478134 and range: 74.00 m.b H@ZrjRJB~~yB}||!|!|%@ %zB靕f_I)niI&= Z; H@B<LJ=i H@iE?EEEe0E]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse 6G= C=~G A) AA NM >1 `Svm,'ڵiAi<9B !<@Bq4J@YBd;=yB\=BH/x?DD&+C?j`t?w? B !<@B7;)BCJsvBNI)P PIV IV(2^^ b=yeQ >٥! %H!%I/ %>)5]5-dޜ?5]59-7 I-{By9=H=@-SEi-;-;-W]5AEGAIDNOT Ignoring new targets: 73.48 m.k k  ProNav: ac range: 73.478134 m, nav range: 67.722359 m, bearing: 164.211519 deg, approach rate: -0.572301 m/s, LOS rate: -0.140250 deg/s, cmd heading: 179.083940 deg, new cmd heading: 178.925945 deg. HeadingCmd: 3.122847 target range: 73.478134 and range: 74.00 m.bG@ZrjRJB~~}|T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse|||A@ "zB/PI ) k I /=  ;G@<P=iG@iE?EEEn0E9 H<H<H>HHIHvBH =HH.DH.<HjE6G0P=KO"Kŷ9*K2K:K%B eK.T! bGAx,gmH=:("= jH,~G A A! N5 >m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseq <|m,%wiA :J*aBJ*YJJ(RJ(ZJ*:bJ*[O9J(J(zJ*;jJ*;J*&n:rJ*)n:9v <@v[J@YvI8=yv~w=vH $?@s㐿@ࣚ?{ǰ?@? v <@vW;)vC%[vB%IIMIM 3]i ]@=y]ݺQ ]>٥aa eHe~FeU m>q}]5u}ޜ?}]59u@ IuuByy}H}@uSEiu:u:u]50BHAEDNOT Ignoring new targets: 73.48 m.D"D"u ProNav: ac range: 73.478134 m, nav range: 67.484039 m, bearing: 164.153187 deg, approach rate: -0.577552 m/s, LOS rate: -0.141864 deg/s, cmd heading: 178.925944 deg, new cmd heading: 178.750330 deg. u»}HeadingCmd: 3.119782 target range: 73.478134 and range: 74.00 m.b}G@ZyryjyRyJyB~~}|||| @a zB靝CI)} qI<  1;T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMG@7<U=iG@iԙEm?EiEiEm5EqԹ 6G jG ?bG ? T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~G A A N >m,&siA9>);@>I@Y>d3=y>z=>HQ9?Ц􎍿 l°?`_ ?E? >);@>;)>CJZvBLMb@Mb@Mb@ )YS?Mby?SA + A)AI AyAII[3pi 9=y'FQ >٥ HF >%]5ޜ?%]59* IoBy-?-:-KH@-@SEiy-;,;Գ]515HA5EaeDNOT Ignoring new targets: 73.48 m.mm ProNav: ac range: 73.478134 m, nav range: 67.226067 m, bearing: 164.093613 deg, approach rate: -0.582721 m/s, LOS rate: -0.135085 deg/s, cmd heading: 178.750326 deg, new cmd heading: 178.570918 deg. jHeadingCmd: 3.116651 target range: 73.478134 and range: 74.00 m.b4wG@ZrjRJB~~zB}|||| [!@Q MzBMxqIi)u\pqIu< qqu;}4wG@}38<:Y=i4wG@iԁE?EEE5EeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse 6GM X=~Ga Ai A N >(Ήm,\ )iA9:0;@:I@Y:{-=y:ӂ=:H!?0``@%8? S?? :0;@:O;):CN@vBHR>HRCHRIHR}vBHR =HPHPHR6<HR{EHeC\HeCHeCHe =Ie = Ie5NqIidIf=Ij!Iji3v v_=yvpQ v>٥xx zHxK=MZP"K=s9*K92K=:K=nD)3=o&{lw9U!q ERJUepc:JKV\ !z u>y]5}sޜ?]59} I}jByH@@}SEi}h:}:})]5HAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 73.48 m.  = ProNav: ac range: 73.478134 m, nav range: 67.003586 m, bearing: 164.042499 deg, approach rate: -0.571793 m/s, LOS rate: -0.131803 deg/s, cmd heading: 178.570925 deg, new cmd heading: 178.417074 deg. =鴻EHeadingCmd: 3.113965 target range: 73.478134 and range: 74.00 m.bE5KG@ZArAjARAJIBI~I~I}q|q|q|q|}` !"@ zB/I<)FvIC<AAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse l;5KG@<)W=i5KG@iE?EEE4E6G @Z=~G A9 AY i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseN >|m,3BiA9Ny;@N)I@YN(=yN u=NH.u?H@L Bs?`h?@g? Ny;@NP;)NCVBvBVrIYmMb@Mb@Mb@iii i)iYmjt?{GzMb`?ym ?mףm;mA m A)iIm+ AiymAIIm?3p; @=y3Q >٥ HF >]5]ޜ?]59 IdBy ?:G@@SEiV;;]5zHAEDNOT Ignoring new targets: 73.48 m. ProNav: ac range: 73.478134 m, nav range: 66.754807 m, bearing: 163.987023 deg, approach rate: -0.617015 m/s, LOS rate: -0.138103 deg/s, cmd heading: 178.417068 deg, new cmd heading: 178.250019 deg. HeadingCmd: 3.111050 target range: 73.478134 and range: 74.00 m.bpG@ZrjRJB~~zB}||||@"@ -zB-jII)M9uIIU-< QQU~;]pG@]:0<]PkU=i]pG@iaԉE?EEEC5ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱIQIU@A:J]\BJ]RJJ]>RJYZJ]=:bJ]S29J]t4JYe@e@e@e@6G Z=~G A A N ߖm,\iA9>@;@>SI@Y>$=y>/d=>H@[@z_?@eqKWl?`X|?? >@;@>;)٥ll nHnFr r>tv]5vIޜ?z]59v Iv`ByxzGG@z@vSEiv:v:v ]5ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseY]HA]EDNOT Ignoring new targets: 73.48 m.55Թ ProNav: ac range: 73.478134 m, nav range: 66.524414 m, bearing: 163.936000 deg, approach rate: -0.587001 m/s, LOS rate: -0.130448 deg/s, cmd heading: 178.250015 deg, new cmd heading: 178.096416 deg.  HeadingCmd: 3.108369 target range: 73.478134 and range: 74.00 m.bF@ZrjRJ9B9~A~A}I|Y|Y|Y|]#@ zB%̰#I!)%w!I%e< ))-;]F@],<]kR=i]F@iaE%?E!E)E-=5E)GG?AH>HHIHivBH =HHH,<HjEKu:P"Ku9*Kq2Ku:KuVWkB}[0Jf"I kV5StA{A  m,ɬviA9::@: I@Y:6=y:S=:H@Ib`(Σ@M-?`|?@֣u?? ::@:d;)8^"vB^^I)d dItIte]9 eA=ymbJQ m>٥ii mHiu* u>]5G3ޜ?]59 I[ByG@@SEim;;]5HADNOT Ignoring new targets: 73.48 m.%%] ProNav: ac range: 73.478134 m, nav range: 66.264580 m, bearing: 163.879065 deg, approach rate: -0.627283 m/s, LOS rate: -0.137988 deg/s, cmd heading: 178.096418 deg, new cmd heading: 177.924945 deg. efeHeadingCmd: 3.105376 target range: 73.478134 and range: 74.00 m.bm{F@ZirijiRiJiBi~~}||||$@]E (<ԡ  ٥ HFb >]5ޜ?]59 ITBy?:E@@SEir;qa;]5/B(IAEBDAT read: Response Not Received *response not received,DAT read: user:2016> BDAT read: Tx time:14:16:57.6765 $Ping request sent.HUCHU}IHUUvBHU =HQHU-DHUI<HUEK2P"K+9*K2K:K.t<v _bb0Sa(7jiagf> >E< JDAT read: TxSync time:14:16:57.6757  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251823 EQ EQ EQ EU `0EQ 6GD:@>)XH@Y>03=y>%=>HV`≿塿`c??l% ?!? >D:@>f;)٥`` fHfFf f>hn]5j ݜ?n]59j IjOBypvuE@v@jSEij |;j;j&]5IAE ؙםa=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505453B*** querying acoustic contact ***JR G-ZA]Aԉ ޿YZAyADNOT Ignoring new targets: 73.48 m.YY ProNav: ac range: 73.478134 m, nav range: 65.613495 m, bearing: 163.747945 deg, approach rate: -0.520145 m/s, LOS rate: -0.105065 deg/s, cmd heading: 177.709624 deg, new cmd heading: 177.529619 deg. 5 HeadingCmd: 3.098476 target range: 73.478134 and range: 74.00 m.b pMF@Z rjRJB~~}9|A|I|I|U]&@  zB靽 I)|I< iA;pMF@^<H3B=ipMF@iD D D D ԱU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795 E= ?E9 E9 E= 5E9 :J \BJ OJJ DRJ ZJ =:bJ %9J 4J  6G]Г>=~G9AAAQNe?m,w,ݶiA9>9@>7H@Y> =y>c=>H@>M-`w? P8?U`?? >9@> ;)>CFvBFVIh]monly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 0 +0.00, 20.00,2200.3 -44, +636, +6, +5,A 636, +6,A aI]@a] aM]@a] aQ]@a] aE]@a] aaIeIeT3} }=y}DQ >٥ HFWchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005814 >]5$ݜ?]59 IJB+:y:%E@@TEiY;( ?]5$IAE)5DNOT Ignoring new targets: 73.48 m.5#5#U ProNav: ac range: 73.478134 m, nav range: 65.289978 m, bearing: 163.683711 deg, approach rate: -0.717102 m/s, LOS rate: -0.143086 deg/s, cmd heading: 177.529621 deg, new cmd heading: 177.335964 deg. UeĻeHeadingCmd: 3.095096 target range: 73.478134 and range: 74.00 m.beF@ZirijiRiJqBq~y~y}y||)|1|5 '@  zB靭%I)}I< V^;F@Գ<l&==iF@iE?EEE4EHμ>HCHwIHKvBH =HH+DHj<HE)KE2P"KE59*KA2KE:KEso6BRjJt4c*(aM3%mdEQ8NTJy,JQJU|AE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2576866G A=Y ~G A A N >m,|iA9VZ9@VG@YV~=yVj=VH$UQ )?A 0ޣ? ?? VZ9@V&;)VCbvBbSIIjIjm?3r7 rV=yrほQ r>٥tt vHvFv/ z>x~]5zMݜ?]59z IzFB :y_:D@@zTEiz;zi?z]5 .B3IAE99EDNOT Ignoring new targets: 73.48 m.ER ER m ProNav: ac range: 73.478134 m, nav range: 65.059761 m, bearing: 163.638351 deg, approach rate: -0.620436 m/s, LOS rate: -0.122679 deg/s, cmd heading: 177.335958 deg, new cmd heading: 177.199396 deg. mcHeadingCmd: 3.092713 target range: 73.478134 and range: 74.00 m.bE@ZrjRJB~~}|||| (@ zB靥JI)}I#< "<E@#/<|9=iE@iEU?EYEYEe`0qEachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512240ԑ6G- 8<=~G A A! N= > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761793m,iA2٥ H >]5ݜ?]59 IBBT:y%?:B@@ TEi;b;)]5IADNOT Ignoring new targets: 73.48 m. ProNav: ac range: 73.478134 m, nav range: 64.763054 m, bearing: 163.588632 deg, approach rate: -0.617398 m/s, LOS rate: -0.103930 deg/s, cmd heading: 177.199395 deg, new cmd heading: 177.049556 deg. HeadingCmd: 3.090098 target range: 73.478134 and range: 74.00 m.b)E@ZrjRJB~~KzB}||||`/v)@ %zB%,I))-|{)I-Y< ))5!<5)E@5<=2=i=)E@iYrEu>jEu >EEEE4EFp=Fa= ح?׭=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0149456G 9= ~G1 A9 AI N] >*m,*iAH6ۼ>H6CH6pIH6AvBH6 =H4H6,DH6N<H6E9n9/9@nBG@Yn.٥!! %H%F%: %?)5]5- ݜ?5]59-7 I->By9=B@=@-TEi-;-D;-5]5IU}IAUEDNOT Ignoring new targets: 73.48 m. ProNav: ac range: 73.478134 m, nav range: 64.541161 m, bearing: 163.551955 deg, approach rate: -0.658812 m/s, LOS rate: -0.109271 deg/s, cmd heading: 177.049555 deg, new cmd heading: 176.939144 deg. HeadingCmd: 3.088171 target range: 73.478134 and range: 74.00 m.bE@ZrjRJB~~}|||| *@KuP"Ku9*Kq2Ku:Ku9VU  Ra+P=*~1 zB靍^I)ဿIaЭ< kR <E@<e,=iE@i-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268003E?EEE`0E!a6G- '2=~G A A! N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517729ԁ m,DiA9=8@= G@Y=A٥99 EHEFEQ E>IQ]]5Ubݜ?]]59Up IU9By]#?]:]VB@e@UTEiU:U:U]5iyIAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 73.48 m.u ProNav: ac range: 73.478134 m, nav range: 64.263412 m, bearing: 163.506379 deg, approach rate: -0.623025 m/s, LOS rate: -0.102673 deg/s, cmd heading: 176.939138 deg, new cmd heading: 176.801821 deg. u팻}HeadingCmd: 3.085774 target range: 73.478134 and range: 74.00 m.b}R}E@ZyryjyRyJB~~1zB}||||+@ =zB=U9I9)}Iz9< <R}E@ A<)=iR}E@iԉ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849EEEE4Eԩ6G} s*=~GY Ai A N > Gm,+^iAI)@9>8@>F@Y>{ =>H ` Z@"?`@7-?ߘ9?? >8@>o;)>CJuBJBIIR#IR%x3Z׼ Ze=yZQ Z>٥\\ ^H\b b>dj]5fXtݜ?j]59f If6BylnB@n@fTEifK:f6:f.]5r-BrIArEuBDAT read: Rx Time:14:17:00.1673 }TRx dataTimestamp_ set to:1749133021.524684checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025457DNOT Ignoring new targets: 73.48 m.m޺m޺ ProNav: ac range: 73.478134 m, nav range: 64.039795 m, bearing: 163.470113 deg, approach rate: -0.597435 m/s, LOS rate: -0.097230 deg/s, cmd heading: 176.801824 deg, new cmd heading: 176.692646 deg. tEHeadingCmd: 3.083869 target range: 73.478134 and range: 74.00 m.bE^E@ZArAjARAJIBI~I~I}I|Q|Q|Q|U!+@ԙ zBaI)I=4< 99=wqHQHUjIHU6vBHU =HQHQHUt<HUEHƗCHƗCHH =I = I^-6K1P"K9*K2K:K<6] !^^nf@(!2x[.hQd^AD=96G؛*=ZGRG- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275527~G A A N >:J _BJ YJJ BRJ ZJ :bJ [O9J -4J zJ -: jJ 2: J 'n: rJ *n: ! km,JxiA9b~8@bF@Yb:٥ HF >]52]ݜ?]59 I2ByA@@TEi <& <]5IAE9eDNOT Ignoring new targets: 73.48 m.mݺmݺ ProNav: ac range: 73.478134 m, nav range: 63.767635 m, bearing: 163.426612 deg, approach rate: -0.604487 m/s, LOS rate: -0.097033 deg/s, cmd heading: 176.692650 deg, new cmd heading: 176.561588 deg. /HeadingCmd: 3.081581 target range: 73.478134 and range: 74.00 m.b8E@ZrjRJB~~}||||K,@ ezBeAKIa)eaIm&< iimP< ؅<ׅ=%DAT read: 14:17:00.1673 LVL= 25680, 27889, 17202, 32755, AGC= 68, IDX= 356,-0.12,-0.983,-2.250,-0.608,-1.110, PHS= 0.215,-1.093, 0.499, RAW= 159.6, 5.2, CAL= 160.2, -4.1, ROT= 349.8, 4.1 =8E@EkԵ EBDAT read: Tx time:14:17:01.2765 E$Ping request sent.Eۅm狿ۅ|> ܅aF2@)܅޹=I܅2@i܅C܅|]@܅C= ݁)݁݅SƍM?C2S?-H~]:?i݅1?݅p݅K6݅C= ށ)ށ:publishing transmit ping timeAFpublishing direction and range infoځyڅ3߅i?Y;ݛƿ MځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅SƍM?C2S?-H~]:?i݁݁݁݁ ށ)ށE?EEE5Ea = JDAT read: TxSync time:14:17:01.2757 ԉ 6G "=~G A A N >` m,iA9~7@~BE@Y~鲄٥ HF >]5]Cݜ?]59 I.By!?:@@@!TEi::B]5!%IA-EZb(iABB:@ʁH`ۭO@#l&`C>Au3߅i?Y;ݛƿ MK6C=ҁNWSOφ,@ʬB8.I?}H>淿z6dAzj]zȜ?r1dv ]B }B6@ addTargetRange:: Added new target pos. range: 65.000000 m, deltaT: 14.368492 s, deltaX: -9.000000 m, approachRate: -0.626371 m/s, rangeRepo size: 4 % Added new target pos. range: 64.540863 m, bearing: 167.175468 deg, lat: 36.906442 deg, lon: -122.115921 deg, deltaT: 14.368492 s, deltaX: -8.937271 m, approachRate: -0.622005 m/s, posRepo size: 4 !-DNOT Ignoring new targets: 64.54 m.-)e ProNav: ac range: 64.540863 m, nav range: 63.462360 m, bearing: 163.382503 deg, approach rate: 0.000000 m/s, LOS rate: -0.097033 deg/s, cmd heading: 176.561592 deg, new cmd heading: 176.424369 deg. aeHeadingCmd: 3.079186 target range: 64.540863 and range: 65.00 m.bmcE@ZirijiRiJiBi~q~uzB}q|||@P@|Xm? zBEI)σI< \<cE@% <% 6=i%cE@i!E?EEEF5E!H ʼ>H CH dIH ,vBH  =H H +DH <H E6G =Q ~G) A1 AA NU >hIm, WiA:٥ H uH  >-]51ݜ?-]59" I,By15n@@5@$TEi:;.;M]59=*JA9KmXP"Km9*Ki2Km:Km-| =ai>uG jadk;:FN3thyDNOT Ignoring new targets: 64.54 m.պպ ProNav: ac range: 64.540863 m, nav range: 63.246067 m, bearing: 163.351852 deg, approach rate: -0.657363 m/s, LOS rate: -0.093473 deg/s, cmd heading: 176.424374 deg, new cmd heading: 176.332106 deg. LHeadingCmd: 3.077576 target range: 64.540863 and range: 65.00 m.bD@ZrjRJB~~}||||ؗ?) yB靅.僽I)I< <D@-< RJZJ:bJ-.9Jt4JzJ:jJ:J4:rJ4:E?EEE`0EY6G}k =~GQAYAN`>ԁԱ -m,"ɷiA96z7@6[E@Y6 ٥ HF >]5wݜ?]59 I)By?:1?@@)TEi:o:]5,BVJAEB*** querying acoustic contact ***JRԑ DNOT Ignoring new targets: 64.54 m. ProNav: ac range: 64.540863 m, nav range: 62.988865 m, bearing: 163.319752 deg, approach rate: -0.607378 m/s, LOS rate: -0.076113 deg/s, cmd heading: 176.332111 deg, new cmd heading: 176.235419 deg. PHeadingCmd: 3.075888 target range: 64.540863 and range: 65.00 m.b[D@ZrjRJB~~ zB}||||Mk? 靽^I)aIQ< ۙ"<mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.[D@U</  y? X?% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4224161 BVm,iA9>,P7@>cE@Y>.;y>g=>H[hvp^?L?@[?y x?? >,P7@>ڈ;)>CFuBJIIRIRT3Zvʼ ZW=yZ(ӻQ Z>٥\\ ^H\br b>dj]5ftݜ?j]59f% If(Byhj?@j@f,TEif`:fK:fA]5y}zJA} EDNOT Ignoring new targets: 64.54 m.\\ ProNav: ac range: 64.540863 m, nav range: 62.762512 m, bearing: 163.291832 deg, approach rate: -0.573323 m/s, LOS rate: -0.070973 deg/s, cmd heading: 176.235423 deg, new cmd heading: 176.151361 deg. B HeadingCmd: 3.074421 target range: 64.540863 and range: 65.00 m.b QD@Z r j R J B~1~1}9|9|9|9|=@z? ~I)Iy< >%<QD@vt<JHCH^IH"vBHHH*DHg<HEE)E)E)E-`0E)6G+Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.674811KP"K9*K2K:KQ0;>O8VXKFR8q% G 7.0h(<3$XJJAI :J YBJ MJJ BRJ ZJ 9bJ 9J -4J zJ d:jJ i:J +:rJ -:m,iAI@)@ 9V$7@V`8E@YVu;yV =VH(Ʈmd?`c[?r5??C? V$7@V;)VC~uB"I ==I= I=V2sy< ;=ylQ >٥ HFŻ >]5ܜ?]59 I&By>@@0TEi:-:]5_JADNOT Ignoring new targets: 64.54 m.%%5 ProNav: ac range: 64.540863 m, nav range: 62.495941 m, bearing: 163.259350 deg, approach rate: -0.643242 m/s, LOS rate: -0.078714 deg/s, cmd heading: 176.151357 deg, new cmd heading: 176.053496 deg. 5X=HeadingCmd: 3.072713 target range: 64.540863 and range: 65.00 m.b=UD@Z9r9j9R9JABA~I~Q}Y|Y|Y|Y|e\@ yB靍% vI))4> mCIk< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.929090yL)<GAAA UYUAy]BuUD@}<}GZhn,diA9>7@>}'E@Y>b"8;y>=>HE;K`=?wԁ?@Jg`3s?? >7@>!v;)>C\ruBrImMb@Mb@Mb@iii i)iYmV-?T㥛 ~jtxym?mmĻm?A i)mnAIiiyiI I2L K=yQ >٥ HF=' >]5ܜ?]59 tII$By?:>@@4TEi);(;]5JA E  DNOT Ignoring new targets: 64.54 m.ee- ProNav: ac range: 64.540863 m, nav range: 62.250496 m, bearing: 163.230029 deg, approach rate: -0.610132 m/s, LOS rate: -0.073175 deg/s, cmd heading: 176.053494 deg, new cmd heading: 175.965184 deg. =H=HeadingCmd: 3.071172 target range: 64.540863 and range: 65.00 m.bED@ZArAjARAJABA~I~MyB}I|I|Q||4[@ %xI!)%z!I%ܼ\< !)MO,Hm >Hm CHm QIHm vBHm  =Hi Hi Hm m<Hm E n,0iA9Bp7@B"E@YBLt:yB+=BH zb`)T?)c?`|?@N /?? Bp7@Bx;)BCnuBn IIvIv3| #&  T=yQ >٥ H%B >!-]5%ܜ?-]59% I%"By15>@5@%8TEi%;%D;%]59=JAEE]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.685913q}DNOT Ignoring new targets: 64.54 m.KxP"K9*K2K:Kv5#<voDRW.{!?hEL!}~O.6i @$J>J>m ProNav: ac range: 64.540863 m, nav range: 62.015831 m, bearing: 163.201830 deg, approach rate: -0.608801 m/s, LOS rate: -0.073436 deg/s, cmd heading: 175.965180 deg, new cmd heading: 175.880262 deg. uI}HeadingCmd: 3.069690 target range: 64.540863 and range: 65.00 m.b}uD@ZyryjRJB~~}||||`0@ yBZÂI))-)I-4[N< 115:0<5uD@=ֶ<=;CRJZJ:bJJt4JzJI ;jJL ;JrJ)E?EEEm0EQ6G N< BDAT read: Rx Time:14:17:03.7644  TRx dataTimestamp_ set to:1749133025.055872 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939255~Ga ԉ A A N >zn,cJiAi٥aa eHeFm m>y]5}ܜ?]59} I} By?:?@@}=TEi}:}M:}]5JAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 64.54 m. ProNav: ac range: 64.540863 m, nav range: 61.744774 m, bearing: 163.164923 deg, approach rate: -0.607411 m/s, LOS rate: -0.083068 deg/s, cmd heading: 175.880267 deg, new cmd heading: 175.769060 deg. dHeadingCmd: 3.067749 target range: 64.540863 and range: 65.00 m.bUD@ZrjRJB~~9zB}||||@C @ 靵󎁽I)I+?< 3<UD@<Wj=iUD@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.189809ԉE?EEEEԱ6G :^<jG ?bG > ~G A A N n,ADdiABDAT read: 14:17:03.7645 LVL= 21168, 28769, 15970, 30051, AGC= 69, IDX= 406,-0.21, 2.951, 1.617,-3.047, 2.718, PHS= 0.321,-1.054, 0.516, RAW= 156.5, 3.0, CAL= 158.1, -6.0, ROT= 351.9, 6.0 FYgot valid direction response: 14:17:03.7645 LVL= 21168, 28769, 15970, 30051, AGC= 69, IDX= 406,-0.21, 2.951, 1.617,-3.047, 2.718, PHS= 0.321,-1.054, 0.516, RAW= 156.5, 3.0, CAL= 158.1, -6.0, ROT= 351.9, 6.0 JPDAT read: Bearing 351.9, 6.0 (Local) J~Local bearing/azimuth received: Bearing 351.9, 6.0 (Local) jDAT read: Range 10 to 50 : 62.7 m (Round-trip 83.7 ms) speed 0.6 m/s j,DAT read: user:2018> ~BDAT read: Tx time:14:17:04.8782 $Ping request sent.i]cu]E]Z>]y醿]? ].@)]PwV=I]r0@i]Pwֽ]@]Pw= Y)Y]IȬ?ak$?N8֥w?i]E#?]ZS]]Pw= Y)Y9]7@]_E@Y]4Fy]`=]H;@Bz?@? ?h?O?@? ]7@]Bψ;)]CuuBu IIIm?3:publishing transmit ping timeFpublishing direction and range infoYy]/lR؁?)M4ޮ`ºYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y]IȬ?ak$?N8֥w?iYYYY Y)Y X=Աy)Q >٥ HFٺ >^5aܜ?^59 IBy?@@@TEiN:9:8^5]+B]JA]EZYb]ciA]yBG G ?AHļ>HCHKIHvBHHHHS<H{E]yB]m<@ʁ]ťN@5#lxr!w]/lR؁?)M4ޮ`º]]Pw=ҁ]Fэ#WNaXiTE(@,)]y1w4\?ii컿z]*BA]rj]XȜ?r]T? ]rZB]ɜ?]h  ]VJB]7wB]6@ addTargetRange:: Added new target pos. range: 62.700001 m, deltaT: 3.533864 s, deltaX: -2.299999 m, approachRate: -0.650845 m/s, rangeRepo size: 4  Added new target pos. range: 62.253796 m, bearing: 168.690737 deg, lat: 36.906438 deg, lon: -122.115924 deg, deltaT: 3.533864 s, deltaX: -2.287067 m, approachRate: -0.647186 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.25 m.%!5 ProNav: ac range: 62.253796 m, nav range: 61.804554 m, bearing: 163.533177 deg, approach rate: 0.000000 m/s, LOS rate: -0.083068 deg/s, cmd heading: 175.769058 deg, new cmd heading: 175.653629 deg. 1=HeadingCmd: 3.065734 target range: 62.253796 and range: 62.70 m.b=4D@Z9r9j9R9JaBa~a~i}i|i|i|mYO@|u@? zBhnI ) | I Z-< GF7<4D@=:<=z =i=4D@i9}AyJDAT read: TxSync time:14:17:04.8774 E?EEE_0EK9P"K9*K2K:KpS6PKA`t #Z[';W&+#IaFWJ)J)A 6G l=~G A A N >n,%>iA9=6@=%E@Y=򗤻y=v==H ?B?a`?t?`Ϯ? ? =6@=&|;)9uuB}IԉII2 >=yQ >٥ H > ^5 ܜ?^59  I By?@@ ETEi : : ^5)5 KA5Ey}DNOT Ignoring new targets: 62.25 m.ۺۺ ProNav: ac range: 62.253796 m, nav range: 61.545467 m, bearing: 163.499368 deg, approach rate: -0.733408 m/s, LOS rate: -0.096107 deg/s, cmd heading: 175.653628 deg, new cmd heading: 175.551774 deg. ꃻHeadingCmd: 3.063956 target range: 62.253796 and range: 62.70 m.bD@ZrjRJB~~}|||!|-? am6Ii)mGiIm_X< i:<D@n<A=iD@iEIEIEIEM`0EI 6G  =:J] ]BJ] PJJY RJY ZJ] ]:bJ] *9JY JY m @m @m @m @~G A A N >*&n,ܙiAI@)@9j7@j E@YjyjB=jHF[q? ٯ??@|? M?? j7@j\;)jCruBrIMb@Mb@Mb@ )Y333333?i|?5Mbԉy?qA A)AIAyIIm?3 F=y4Q >٥ HF9 >^5uܜ?^59 IByZ?:>@@ITEi :: ^5imRKAiDNOT Ignoring new targets: 62.25 m.s-sM ProNav: ac range: 62.253796 m, nav range: 61.301434 m, bearing: 163.469902 deg, approach rate: -0.574963 m/s, LOS rate: -0.069701 deg/s, cmd heading: 175.551776 deg, new cmd heading: 175.463026 deg. MW?]HeadingCmd: 3.062407 target range: 62.253796 and range: 62.70 m.b]|C@ZYrjRJB~~zB}||||H? zB靅֑I)I< =<|C@褷<@=Թi|C@iEEEEEH% Ƽ>H! H% >IH% uBH%  =H! H! H% K<H% qEHȕCHȕCHȓCH =I = Ix56G =ZG RG  ~G A A) N5 >M,n,|iA9B6@B6 E@YBMyBJ=BHӯ%?`? ??` V?? B6@B锌;)BCRuBVIIZ IZb3b  f\=yf:Q f>٥hh jHjFj j>lr^5nzbܜ?v^59n InBytv>@v@nLTEinS:n:n ^5xz\KA~E)5DNOT Ignoring new targets: 62.25 m.55K]+P"KY*KY2K]:K]m4pdb |4a{fA:"xg^%GD  ProNav: ac range: 62.253796 m, nav range: 61.079418 m, bearing: 163.442968 deg, approach rate: -0.632328 m/s, LOS rate: -0.076989 deg/s, cmd heading: 175.463025 deg, new cmd heading: 175.381930 deg. YSHeadingCmd: 3.060992 target range: 62.253796 and range: 62.70 m.bLC@ZrjRJB~~}||||? uzBu"RIq)}pyI}< yy}@<LC@N׷<V=iLC@iEM?EIEIEM0EI!Q6G=~G A A N >ԁ 53n,v͸iA966@6D@Y6y6R=6HQ@v@?`泰? ?@JX~?P?? 66@6I;)6CF|uBFIMb@Mb@Mb@ )Yrh|? ףp= ~jtxy?Q8Ļ )I&AyAI5!I5i3E EC=yMN:Q M>٥II MHQUOͻ U>%^5Kܜ?%^59 IBy%V?%:%3@@%@PTEi::^55*B5dKA=EYB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.25 m.ºº ProNav: ac range: 62.253796 m, nav range: 60.811237 m, bearing: 163.404640 deg, approach rate: -0.593479 m/s, LOS rate: -0.085192 deg/s, cmd heading: 175.381937 deg, new cmd heading: 175.266448 deg. iHeadingCmd: 3.058977 target range: 62.253796 and range: 62.70 m.bFC@ZrjRJB~~yB}||!|!|%?uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. zB靕I)ڐIR; 4oD<FC@d<7v=iFC@iԁEEEEo0E:J\BJ[JJRJZJ=:bJW9JJԱ6G e=~Ga Ay A N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977147 _9n,PiAi<9>6@>DD@Y>RWy>&X=>H^1ʅ?@?\ ?|?`?Y? >6@>͔;)>CFuBJIIRIR<2Z6< ZT=yZ:Q Z>٥\\ ^HF% %>)5^5-8ܜ?5^59-& I-By15?@5@-TTEi-:-{;-^5AENKAAq}DNOT Ignoring new targets: 62.25 m.}UǺUǺ ProNav: ac range: 62.253796 m, nav range: 60.585800 m, bearing: 163.372935 deg, approach rate: -0.617266 m/s, LOS rate: -0.087135 deg/s, cmd heading: 175.266452 deg, new cmd heading: 175.170982 deg. 3oHeadingCmd: 3.057310 target range: 62.253796 and range: 62.70 m.bC@ZrjRJB~~}||||@ zB,\I)aI; G<C@D< =iC@iԱ H<H4<HǼ>HHHHHH+DH<HEEu?EqEqEu 1EqF}=F}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2278376G=jG?bG?KIP"K59*K2K:K 2*9$2ad'+r^"1!Uua 3<@F3 Tw~GqAyAN> 9 G@n,,iA9>a6@>tD@Y>y>d=>H@E@?g?@K@>?}? ?? >a6@>z;)>CZpuBZIIvIvm?3 ! E=yu#Q %>٥!) -H-F5 5>I]^5M$ܜ?]^59M3 IMByY]?@e@MXTEiM;;MJ4;Mx^5m)BmKAmEDNOT Ignoring new targets: 62.25 m. ProNav: ac range: 62.253796 m, nav range: 60.339371 m, bearing: 163.338729 deg, approach rate: -0.604683 m/s, LOS rate: -0.084278 deg/s, cmd heading: 175.170979 deg, new cmd heading: 175.067941 deg. [gHeadingCmd: 3.055512 target range: 62.253796 and range: 62.70 m.bC@ZrjRJB~~}||  ?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480218||@&'@ ēI)I(; =WK<C@w< =iC@iE?EEE0E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731937 6G% =~G A! A9 NE >I C=I p=:J YBJ WJJ BRJ ZJ 9bJ G9J -4J qFn,iA9ZL6@ZJ`D@YZyZ%k=ZH@Ƈ?`׹?=?t~?er?6? ZL6@Z[;)ZCffuBfIleMb@Mb@Mb@aaa a)aYeZd;O?I +y&1|yej?e94e`a a)eAIeAayaIuIuT3 C=y:Q >٥ HD >^5ܜ?^59; IBy?:?@@\TEi ; ;^5KA"EDNOT Ignoring new targets: 62.25 m.[[ ProNav: ac range: 62.253796 m, nav range: 60.086529 m, bearing: 163.303159 deg, approach rate: -0.579740 m/s, LOS rate: -0.081901 deg/s, cmd heading: 175.067939 deg, new cmd heading: 174.960781 deg. `HeadingCmd: 3.053642 target range: 62.253796 and range: 62.70 m.bnC@Z r j R JQBQ~Y~]yB}Y|a|a|i|@  5zB= "I9)=ؓ9I=Ì; AAE&O<nC@{< =inC@iBDAT read: Rx Time:14:17:07.3630 TRx dataTimestamp_ set to:1749133028.583638checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985217EEE!E%0E!9Hɼ>HH2IHuBH =HHHH<HqE6G] z =a ~G9 AQ Ai Nu >Ln,4iAI)&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2359189FT6@FJhD@YFyF&m=FH$Xw ??dH?|?`w?? FT6@F;)FCR`uBVIIZIZ(*3bM} fX=yf|:Q f>٥dh jHjFju: j>lr^5nvۜ?r^59n\ InBytv?@v@n`TEinS:n>:ni^59|]KAYDNOT Ignoring new targets: 62.25 m.ǺǺKP"K9*K2K:KP ? 8HO<  "h#Za0.'r,3<;K5&2Qn(5; ProNav: ac range: 62.253796 m, nav range: 59.857845 m, bearing: 163.270616 deg, approach rate: -0.611020 m/s, LOS rate: -0.087285 deg/s, cmd heading: 174.960787 deg, new cmd heading: 174.862784 deg. oHeadingCmd: 3.051931 target range: 62.253796 and range: 62.70 m.bRC@ZrjRJB~~}|||!|%@ @ imrI)I d; ;R<RC@A<1=iRC@izEEM?EIEIEM5EIFQFQyG!Iԙ YyBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4879936Gm =ZGqRGq ~G A A N >Sn,NiAԙMb@Mb@Mb@ )Y/$?Q롿~jthy?\DA A)AIy AII2yQ  >٥    H F >^5ۜ?^59g Iy?:@@@dTEi ;3;l#^5KA%EB*** querying acoustic contact ***JR1=DNOT Ignoring new targets: 62.25 m.=ߺ=ߺDAT read: 14:17:07.3630 LVL= 25664, 32113, 21026, 32755, AGC= 67, IDX= 407,-0.29,-1.277,-2.547,-1.053,-1.559, PHS= 0.370,-0.941, 0.503, RAW= 154.8, 1.0, CAL= 157.2, -7.8, ROT= 352.8, 7.8 Ygot valid direction response: 14:17:07.3630 LVL= 25664, 32113, 21026, 32755, AGC= 67, IDX= 407,-0.29,-1.277,-2.547,-1.053,-1.559, PHS= 0.370,-0.941, 0.503, RAW= 154.8, 1.0, CAL= 157.2, -7.8, ROT= 352.8, 7.8 %PDAT read: Bearing 352.8, 7.8 (Local) %~Local bearing/azimuth received: Bearing 352.8, 7.8 (Local) U ProNav: ac range: 62.253796 m, nav range: 59.580135 m, bearing: 163.226827 deg, approach rate: -0.616751 m/s, LOS rate: -0.097701 deg/s, cmd heading: 174.862788 deg, new cmd heading: 174.730810 deg. U]HeadingCmd: 3.049628 target range: 62.253796 and range: 62.70 m.b]-C@ZYrYjYRYJaBaDAT read: Range 10 to 50 : 60.5 m (Round-trip 80.7 ms) speed 0.4 m/s ~~yB}|||| H@,DAT read: user:2019> BDAT read: Tx time:14:17:08.4766 $Ping request sent.U`pU? U,@)U5< aeՖIi)mqIu'o; yy}RV<-C@1<=i-C@iIIBA:J\BJdJJ>RJZJ=:bJ|9Jt4JIU/@iU'g Uj @U'g > Q)QUr^}G?6-3@?8|SΑ?iUe?UvUU'g > Q)Q:publishing transmit ping timeFpublishing direction and range infoQyU 5t?ɿ M _QYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QUr^}G?6-3@?8|SΑ?iQQQQ Q)QE=?E9E9E=0E9! 6G {=~GY Aa Aq N >nYn,hiA9NV6@NiD@YNȻyNr=NH @`ss /M?l? L ?0y?`M?@|? NV6@Nnވ;)NCX\IbIbm?3y~#;Q ~>٥|| ~H|9 >1=^55<ۜ?=^595 I1y9=@@=@5hTEi5W:5y:5&^5IIZYb]yUiA]HpB]HpB]5<@ʁ]G]ӅM@PV9c$>N ] 5t?ɿ M _]]'g >ҁ]!=7M⛑w&@W5Oo ]a!¦T?H z]3A]ij]Ȝ?r] ]TBGIGMAAHUμ>HUCHU,IHUuBHU =HQHQHU4<HUVE]XȜ?]1dv  ]TB]6oB]^:@ addTargetRange:: Added new target pos. range: 60.500000 m, deltaT: 3.778228 s, deltaX: -2.200001 m, approachRate: -0.582284 m/s, rangeRepo size: 4 - Added new target pos. range: 60.070583 m, bearing: 169.118391 deg, lat: 36.906426 deg, lon: -122.115964 deg, deltaT: 3.778228 s, deltaX: -2.183212 m, approachRate: -0.577840 m/s, posRepo size: 4 15DNOT Ignoring new targets: 60.07 m.59m ProNav: ac range: 60.070583 m, nav range: 59.803246 m, bearing: 166.847389 deg, approach rate: 0.000000 m/s, LOS rate: -0.097701 deg/s, cmd heading: 174.730815 deg, new cmd heading: 174.615035 deg. iuHeadingCmd: 3.047607 target range: 60.070583 and range: 60.50 m.bu C@ZqrqjqRqJqBy~y~y}|||@N@|@f? %?I!)-)I-: ))-,Z<5 C@5bs<5#=i] C@iYE?EEEV2EKWP"K59*K2K :K5+G ! : 9oA JnW/Bq>'2+eI*jT1GA#88!6G5 k[=~G A A) N= >Q ç`n,iA٥xx zHzF~; ~> %^5 Ѽۜ?-^59  I y1=@@=@ lTEi ; ; *^5](B]KA](EDNOT Ignoring new targets: 60.07 m. ProNav: ac range: 60.070583 m, nav range: 59.560196 m, bearing: 166.823678 deg, approach rate: -0.650317 m/s, LOS rate: -0.063703 deg/s, cmd heading: 174.615029 deg, new cmd heading: 174.543604 deg. 1.UHeadingCmd: 3.046360 target range: 60.070583 and range: 60.50 m.bUB@ZQrYjYRYJYBY~a~a}a|a|a|i|m ? zBy#I)I!:   D4^<B@<^/+=iB@iE-?E)E1E5y5E9aFU=FUp=ԩA E A6GM k%=jG] >bG] >~Gy A A N > fn,ViA9 6@ 1D@Y  y £`= H@O@?v?@Na???@a? 6@ ;) C%VuB%IMb@Mb@Mb@ )YMb?L7A`堿~jthy ?+~A A)jAIAyAI,I3= :=yQ >٥ HF >Ա^5Ȥۜ?^59 Iy ?:@@@pTEi2;G;.^5KA+EYeDNOT Ignoring new targets: 60.07 m. ProNav: ac range: 60.070583 m, nav range: 59.274082 m, bearing: 166.795472 deg, approach rate: -0.624663 m/s, LOS rate: -0.061878 deg/s, cmd heading: 174.543599 deg, new cmd heading: 174.458573 deg. )HeadingCmd: 3.044877 target range: 60.070583 and range: 60.50 m.bBB@ZrjRJB~~zB}|||| ? 靍?I)I~޹ Bb<BB@ < I=iBB@iE?EEE5EHUռ>HQHU%IHUuBHU =HQHU,DHUN<HUE 6G (=~G A A N >1 ln,5~iA9>5@>;C@Y>y>%t=>H k E ?`t? ? ?@;?`? >5@>;)>C^ZuB^IIfIfT3< %W=y%=Q %>٥!) -H)-2 ->9M^5=ۜ?M^59= I9yIU@@U@=tTEi=T&;=;=61^5Y]KAYDNOT Ignoring new targets: 60.07 m. ProNav: ac range: 60.070583 m, nav range: 59.051464 m, bearing: 166.774178 deg, approach rate: -0.646775 m/s, LOS rate: -0.062099 deg/s, cmd heading: 174.458577 deg, new cmd heading: 174.394454 deg. x*HeadingCmd: 3.043757 target range: 60.070583 and range: 60.50 m.bB@ZrjRJB~~}|||K؄P"K9*K2K :K <c|:gJ0#Dir\n&P5VqLQd, J>J>|,? I)JI` >e<B@%:<% =i%B@i!:J]`BJ]UJJ]ARJYZJ]:bJ]>9J]4JYzJ]:jJ]:J]}Q:rJ]Q: EEEE`0E6G =~GAAN@>9a Ssn,NFйiAI)@8=KuB=IMb@Mb@Mb@ )YMb?٥IQ UHUF] ]>am^5ezۜ?m^59e IeBymU#?m:mW@@m@eyTEie/:e:e5^5y}LA}.EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 60.07 m.00 ProNav: ac range: 60.070583 m, nav range: 58.771877 m, bearing: 166.748321 deg, approach rate: -0.635977 m/s, LOS rate: -0.059096 deg/s, cmd heading: 174.394455 deg, new cmd heading: 174.316517 deg. :"HeadingCmd: 3.042397 target range: 60.070583 and range: 60.50 m.bB@ZrjRJB~~yB}||=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.ԉ||`@ 靭>Uzn,ViA9>}5@>{C@Y>),y>1w=>H@Xµ?`C?O@fa?? ?? >}5@>=;)>CJTuBJIIRIR2Z < Z\=y^ Q ^>٥\\ bH`bX 5>9E^5=fۜ?M^59=% I9yIM?@M@=|TEi=;=D;=m8^5U'BUKA]1E HaHe<Hmܼ>HmCHmIHmuBHm =HiHiHmؚ<HmEH-CH-CH)H- =I- = I-5DNOT Ignoring new targets: 60.07 m.4{4{ ProNav: ac range: 60.070583 m, nav range: 58.526791 m, bearing: 166.726880 deg, approach rate: -0.624971 m/s, LOS rate: -0.054905 deg/s, cmd heading: 174.316523 deg, new cmd heading: 174.251928 deg. HeadingCmd: 3.041270 target range: 60.070583 and range: 60.50 m.b*B@ZrjRJB~~}||||5@ )-)ŽI-5=)-1I57O 115m<=*B@=K<=1$ =iE*B@iAYE?EEE`0E׭A׭Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.470209ԁK?P"K9*K2K :Kr^J76jux+;oE }lrB.F_ <^kJAJ6G0u=:JbBJVJJCRJZJ:bJB9J4JzJH ;jJK ;JX:rJX:~GAAN>Ա 2n,iA96c5@6vC@Y67y6 p=6H`, '?? 4\?@Zv??? V? 6c5@6k;)6CPVZuBZIInIn 3y< G=y  Q >-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722651٥11 =H=FEYm^5]Pۜ?u^59], I]Byy?@@]TEi]L;]ͫ;];^5KADNOT Ignoring new targets: 60.07 m.1}1} ProNav: ac range: 60.070583 m, nav range: 58.269287 m, bearing: 166.704557 deg, approach rate: -0.635563 m/s, LOS rate: -0.055339 deg/s, cmd heading: 174.251923 deg, new cmd heading: 174.184660 deg. HeadingCmd: 3.040096 target range: 60.070583 and range: 60.50 m.bB@ZrjR J B ~ ~ }||||H@ EzBmeIy)I1n q~G) A1 AA NU >W\n,iA٥Ya eHeFe e>iu^5m8ۜ?}^59m Iiy}K'?}:}.?@}@mTEim ;m ;m?^5KA4EDNOT Ignoring new targets: 60.07 m.ii ProNav: ac range: 60.070583 m, nav range: 57.983406 m, bearing: 166.682568 deg, approach rate: -0.661670 m/s, LOS rate: -0.051144 deg/s, cmd heading: 174.184659 deg, new cmd heading: 174.118367 deg. f HeadingCmd: 3.038939 target range: 60.070583 and range: 60.50 m.b}B@ZrjRJB~~yB}||| |  @ =zB=wI9)=9IE[맻 AAEuHHHHHH-DHL<HE6G) ~G A A! N- >  DAT read: 14:17:10.9585 LVL= 28528, 27601, 17442, 30147, AGC= 68, IDX= 409,-0.48,-2.968, 1.893,-2.738, 2.968, PHS= 0.435,-1.029, 0.574, RAW= 154.5, 0.3, CAL= 157.1, -8.5, ROT= 352.9, 8.5 % Ygot valid direction response: 14:17:10.9585 LVL= 28528, 27601, 17442, 30147, AGC= 68, IDX= 409,-0.48,-2.968, 1.893,-2.738, 2.968, PHS= 0.435,-1.029, 0.574, RAW= 154.5, 0.3, CAL= 157.1, -8.5, ROT= 352.9, 8.5 % PDAT read: Bearing 352.9, 8.5 (Local) - ~Local bearing/azimuth received: Bearing 352.9, 8.5 (Local) = DAT read: Range 10 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.5 m/s = ,DAT read: user:2020> E BDAT read: Tx time:14:17:12.0766 E $Ping request sent.E F ? ,@) ;I ~{/@i  @ > ) g'k`?E |q?,,r?i ? > ) *:publishing transmit ping timeq.Fpublishing direction and range info y Ma%g?T+^K%)k¿ Y 9NF-5@N@C@YN=^yNg=NH@1?@ 4? /?Nj? ?(? NF-5@N6;)L) I i ) I i ) g'k`?E |q?,,r?i ) VuBI:J`BJRJJ@RJZJ:bJS29JJ4JzJ:jJ:J;:rJ<:K(P"Kh9*K2K :K&Z}+K,: %`JrFc;29EnhQ8jBI\Y;boTQM[IIF3&< UN=yuQ u>٥yy }H}F >^5"ۜ?^59 IBy>@@TEi;u;\C^5KA7EZ b 7iA gB gB ;@ʁ dhL@/zRNMh! Ma%g?T+^K%)k¿  >ҁ / LZt(n'@VW  'w\?kLX¿z p;A d`j h8Ȝ?r 'B  TB  'B  TB zeB ;@ addTargetRange:: Added new target pos. range: 58.299999 m, deltaT: 3.531557 s, deltaX: -2.200001 m, approachRate: -0.622955 m/s, rangeRepo size: 4   Added new target pos. range: 57.888317 m, bearing: 168.204460 deg, lat: 36.906426 deg, lon: -122.115982 deg, deltaT: 3.531557 s, deltaX: -2.182266 m, approachRate: -0.617933 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.89 m.Powering the camera and arming the capture device at range: 58.30 m.z%! ProNav: ac range: 57.888317 m, nav range: 57.370087 m, bearing: 168.217180 deg, approach rate: 0.000000 m/s, LOS rate: -0.051144 deg/s, cmd heading: 174.118365 deg, new cmd heading: 174.052369 deg. HeadingCmd: 3.037787 target range: 57.888317 and range: 58.30 m.bkB@ZrjRzJB~~}|||`f&M@|? zB靥I)qI̻ y<kB@O<^1=ikB@iMJDAT read: TxSync time:14:17:12.0758 1>E <"% &Changing to mode: 2"% Armed mode.i " 2Commanding negative:54408E ?E E E 1E ԉ6GH=~GԹAAN?a5n,<^iAI )"@9Be4@BC@YBtyBi|=BH`\÷@.?*? `?0? 㔯? ? Be4@B;)BCVRuBVIMb@Mb@Mb@ )Y#~j?~jtMb`y%?D A)AIyI&I3"Ż   =y 5Q >٥ H!-Ż ->9E^5=iۜ?M^59=B I=ByMW&?M:MQ>@M@=TEi= ;= ;=eH^5U&BUKA]:EB*** querying acoustic contact ***JR DNOT Ignoring new targets: 57.89 m.  Powering the camera and arming the capture device at range: 58.30 m.z iiM ProNav: ac range: 57.888317 m, nav range: 56.995834 m, bearing: 168.202954 deg, approach rate: -0.655262 m/s, LOS rate: -0.025071 deg/s, cmd heading: 174.052372 deg, new cmd heading: 174.009414 deg. MUHeadingCmd: 3.037037 target range: 57.888317 and range: 58.30 m.bU^B@ZQrQjQRQzQJYBY~~}||||@u? zBI)IT @~< ^B@ }< Q/E+=1E=EEE4EGG@AH߼>HHHH =HHHd<HEy 6G 3;=~G A A N >Vn,=wiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.99470849j4@jZC@Yj)&yjz=jHl?@?=?p$?.P?? j4@jS;)jCv`uBvII~I~F3 0=  ]=y㨻Q >٥ H%F%: %>)5^5-ڜ?5^59-6 I-By15Y>@=@-TEi-:-%;-K^5AEKAE=EiuDNOT Ignoring new targets: 57.89 m.quPowering the camera and arming the capture device at range: 58.30 m.zq}} ProNav: ac range: 57.888317 m, nav range: 56.757736 m, bearing: 168.193696 deg, approach rate: -0.681525 m/s, LOS rate: -0.026611 deg/s, cmd heading: 174.009410 deg, new cmd heading: 173.981520 deg. HeadingCmd: 3.036550 target range: 57.888317 and range: 58.30 m.bVB@ZrjRzJB~~}||||r?J3J;J4J;0:J][BJ]UJJYRJYZJ]:bJ]>9JYJYzJ]:jJ]:J]}Q:rJ]Q: yB靅I)ޓI7 ݀<VB@R</@=iVB@KP"K+9*K2K :Kjcm0g{a[tCBJU55`-qFC" /iDDDDԑ)9 AևGAA  YAy BԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247433E/;EEE%\2E! 6G +V< ~GQ AY Ai N} >uѤn,~5iA5euB5IMb@Mb@Mb@ )YE?y&1{Gzty&?`eף~A )AIychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498973I"Iq3- < -+=y5Q 5>٥11 =H=F= =>AU^5Eڜ?]^59E IEBy]F'?]:]=@e@ETEiEu;Es;EO^5imKAiDNOT Ignoring new targets: 57.89 m.Powering the camera and arming the capture device at range: 58.30 m.z ProNav: ac range: 57.888317 m, nav range: 56.445820 m, bearing: 168.185114 deg, approach rate: -0.650634 m/s, LOS rate: -0.018000 deg/s, cmd heading: 173.981516 deg, new cmd heading: 173.955628 deg. EHeadingCmd: 3.036098 target range: 57.888317 and range: 58.30 m.bpOB@ZrjRzJB~~yB}||||F? yB ìI)I%[ !!%>т<-pOB@-Z̻<-{=i-pOB@i1Eo9EEE4E! 6G] l= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750789~G9 AA AQ Ne >in,iA i HFƼ>HFCHF%IHFuBHF =HFFDHF+DHFp<HFE9nۯ4@n?B@Yn`ynf,\=nH8 θ`?`V&?9?`k?P? ? nۯ4@n@;)nCz|uBzII%I%(*35~= 5\=yET Q E>٥II MHIUaL U>Ye^5]ڜ?e^59] I]ByimN=@m@]TEi]K:]6:]S^5u%Bu:KAu>EDNOT Ignoring new targets: 57.89 m.5Powering the camera and arming the capture device at range: 58.30 m.z1==Q] ProNav: ac range: 57.888317 m, nav range: 56.202255 m, bearing: 168.179525 deg, approach rate: -0.607021 m/s, LOS rate: -0.013990 deg/s, cmd heading: 173.955629 deg, new cmd heading: 173.938789 deg. ]eHeadingCmd: 3.035805 target range: 57.888317 and range: 58.30 m.beJB@ZarajaRiziJiBi~q~q}q||||? MI) Iee* }<JB@<ORJQZJU{9bJU5K9JUt4JQzJU:jJU:JUf:rJUg:Ա 6G ~GY Ai A N >~ޱn,ǺiABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254887DuBIII3B< A=yQ >٥ HF >^5ڜ?^59@ IBy@TEi;f;V^5KAAE9=DNOT Ignoring new targets: 57.89 m.9EPowering the camera and arming the capture device at range: 58.30 m.zAE M ] ProNav: ac range: 57.888317 m, nav range: 55.926590 m, bearing: 168.173140 deg, approach rate: -0.699832 m/s, LOS rate: -0.016289 deg/s, cmd heading: 173.938786 deg, new cmd heading: 173.919538 deg. ]2eHeadingCmd: 3.035469 target range: 57.888317 and range: 58.30 m.beEB@ZarajaRazaJiBi~i~i}||||@ uyBuIq)uyI}e|7 yy}P<EB@<ON n,iA9VG4@V3[B@YVݼyV4;=VH`n@5?`ú???`y?b? VG4@VI;)TbguBbIl]Mb@Mb@Mb@YYY Y)YY]Mb?&1~jthy]#?]P]D]A ]A)]AI]AYy] AIuIu(*3 O=y,Q >٥ HF >^5Ǖڜ?^59 I"By#?:B=@@TEip;;,Z^5KAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 57.89 m.Powering the camera and arming the capture device at range: 58.30 m.z ProNav: ac range: 57.888317 m, nav range: 55.673950 m, bearing: 168.167410 deg, approach rate: -0.641288 m/s, LOS rate: -0.014611 deg/s, cmd heading: 173.919538 deg, new cmd heading: 173.902270 deg. o HeadingCmd: 3.035167 target range: 57.888317 and range: 58.30 m.b.@B@Z!r!j!R!z!J!B!~)~-yB})|)| || @ }yBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759471靅DI)IlF  <.@B@<ҌHH2IHuBH =HGDH*DHm<HE16G ><ZG ARG i ~G A A N >E BDAT read: Rx Time:14:17:14.5553 E TRx dataTimestamp_ set to:1749133035.895395M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011999L3n,iAI)9>4@>(B@Y>_y>"2=>H6@?K?@W}?j?>?`? >4@>;)٥\\ ^H\b b>dj^5fڜ?j^59f If$Byln=@r@fTEif8W;fX;fu]^5v$BvEKAvDE9DNOT Ignoring new targets: 57.89 m.Powering the camera and arming the capture device at range: 58.30 m.z[[ ProNav: ac range: 57.888317 m, nav range: 55.433720 m, bearing: 168.162694 deg, approach rate: -0.609569 m/s, LOS rate: -0.012018 deg/s, cmd heading: 173.902272 deg, new cmd heading: 173.888063 deg. HeadingCmd: 3.034919 target range: 57.888317 and range: 58.30 m.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262876ԑ Cn,wiAԑ943@A@YXy/=H @ջ@բ?`2??[?`Wݥ?@?? 43@骭u;)uBIA%DAT read: 14:17:14.5553 LVL= 24160, 25313, 14882, 25715, AGC= 64, IDX= 408,-0.16, 0.756,-0.645, 0.980, 0.368, PHS= 0.476,-0.966, 0.609, RAW= 154.4, -1.6, CAL= 157.6, -10.2, ROT= 352.4, 10.2 UYgot valid direction response: 14:17:14.5553 LVL= 24160, 25313, 14882, 25715, AGC= 64, IDX= 408,-0.16, 0.756,-0.645, 0.980, 0.368, PHS= 0.476,-0.966, 0.609, RAW= 154.4, -1.6, CAL= 157.6, -10.2, ROT= 352.4, 10.2 ]PDAT read: Bearing 352.4, 10.2 (Local) ]~Local bearing/azimuth received: Bearing 352.4, 10.2 (Local) mDAT read: Range 10 to 50 : 55.9 m (Round-trip 74.6 ms) speed 0.6 m/s u,DAT read: user:2021> uBDAT read: Tx time:14:17:15.6766 }$Ping request sent.}Kwm? iw,@)Ix 0@iK6:@K6> )k%og?/xs?/Kwi?<K6> ):publishing transmit ping timeyFpublishing direction and range infoy87?RHkiƿY )Ii:J)BJ-QJJ-@RJ)ZJ)bJ--.9J-J4J)5@5@5@5@ )Ii )k%og?/xs?/Kwi )Mb@Mb@Mb@ )Y}?5^I?~jtxyM"?LĻA )AIAy3AIUIU(1m< m =yuQ u>٥yy }H}F狻 >^5bڜ?^59 I(By"?:<@@TEi O<N<b^5YeJAmGEZbiA^B^Bf :@ʁ/ ZK@].;C#87?RHkiƿK6>ҁcJvdħ_)@0pj 0tNYVk?5OÿzLAtUjȜ?r^y  TB :\B;@ addTargetRange:: Added new target pos. range: 55.900002 m, deltaT: 3.528333 s, deltaX: -2.399998 m, approachRate: -0.680207 m/s, rangeRepo size: 4  Added new target pos. range: 55.502472 m, bearing: 166.555720 deg, lat: 36.906426 deg, lon: -122.115982 deg, deltaT: 3.528333 s, deltaX: -2.385845 m, approachRate: -0.676196 m/s, posRepo size: 4 DNOT Ignoring new targets: 55.50 m.E Powering the camera and arming the capture device at range: 55.90 m.zA E A }  ProNav: ac range: 55.502472 m, nav range: 55.056717 m, bearing: 168.155658 deg, approach rate: 0.000000 m/s, LOS rate: -0.012018 deg/s, cmd heading: 173.888065 deg, new cmd heading: 173.865056 deg. y  JDAT read: TxSync time:14:17:15.6758  HeadingCmd: 3.034518 target range: 55.502472 and range: 55.90 m.b 5B@Z r j R z J B ~ ~ #zB} | | | @3K@| `!? m yBm VIi )m ߍi Iu ~l q q u w< 5B@ 8< wtH} CH} EIH} uBH}  =Hy Hy H} <H} EH=̕CH9H=̔CH= =I= = I=W6A6G}?<~GQAYiAqN?n,O:iAi=uB] IIm(Im̍3;5= E=yQ >٥ HF >^5Lڜ?^59 I+By@TEiu:):Lf^5JAJE%DNOT Ignoring new targets: 55.50 m.!%Powering the camera and arming the capture device at range: 55.90 m.z!-ʀMʀ] ProNav: ac range: 55.502472 m, nav range: 54.790546 m, bearing: 168.150631 deg, approach rate: -0.741695 m/s, LOS rate: -0.014075 deg/s, cmd heading: 173.865061 deg, new cmd heading: 173.849908 deg. ]eHeadingCmd: 3.034253 target range: 55.502472 and range: 55.90 m.be51B@ZarajiRiziJB~~}||||`;? K-P"K-9*K)2K-:K-}!uV[_b,l0&,50<*c3gkAW M'J5>J5> yB='ɽI9)=tAIEvx AAE/<51B@/<a n,-TiA 93@wA@Y"yB=Hz?@?@ʥ?`]?;?S? 3@骥Y0;)CuB IMb@Mb@Mb@ )YS?Zd;~jthy/?yD A VA)&AIjAy AIIm?3; 9=yQ >٥ HF' >^5j6ڜ?^59, I/By?:z;@@TEiE;N;j^5JADNOT Ignoring new targets: 55.50 m.%Powering the camera and arming the capture device at range: 55.90 m.z!]*8]*8i} ProNav: ac range: 55.502472 m, nav range: 54.520771 m, bearing: 168.152163 deg, approach rate: -0.618430 m/s, LOS rate: 0.003529 deg/s, cmd heading: 173.849911 deg, new cmd heading: 173.854530 deg. }9}HeadingCmd: 3.034334 target range: 55.502472 and range: 55.90 m.b2B@ZrjRzJB~~.zB}||||Q? LRI)$Io X<2B@λ<p <:J[BJTJJRJZJ:bJ:9JJi2B@iԑEM%EQEQEU4EQ 6G <~G A A N% >n,UmiAPGpGrAAHv>HtHvQIHvvBHv =HtHv)DHvX<HvwEuBII Ib3%E5= %h=y-Q ->٥)) -H)5 5>AM^5Eg$ڜ?M^59E IE2ByQQU@ETEiEE:E:E7m^5]#BecJAeME}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 55.50 m.Powering the camera and arming the capture device at range: 55.90 m.z88 ProNav: ac range: 55.502472 m, nav range: 54.302135 m, bearing: 168.153415 deg, approach rate: -0.620891 m/s, LOS rate: 0.003572 deg/s, cmd heading: 173.854529 deg, new cmd heading: 173.858302 deg. 9HeadingCmd: 3.034400 target range: 55.502472 and range: 55.90 m.b3B@ZrjRzJB~~}|||| ? yB靝uɽI)IY <3B@N<f! ?n,ՇiAI)9~|3@~A@Y~:Ey~d=~H)2 ??i?`न?v? ? ~|3@~;)~C =uB=IIM IMV2mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751532}< }E=yӤQ >٥ HFN): >^5Iڜ?^59 I7By;@@TEi;$;[;p^5>JAPEDNOT Ignoring new targets: 55.50 m.Powering the camera and arming the capture device at range: 55.90 m.zPv8Pv8 ProNav: ac range: 55.502472 m, nav range: 54.045822 m, bearing: 168.154808 deg, approach rate: -0.616393 m/s, LOS rate: 0.003365 deg/s, cmd heading: 173.858299 deg, new cmd heading: 173.862496 deg. 9 HeadingCmd: 3.034473 target range: 55.502472 and range: 55.90 m.b 4B@Z rjRzJB~~}|!|!|!|%P? QI) I7 rː<%4B@-㧻:J% XBJ% SJJ% DRJ! ZJ% {9bJ% y69J% 4J! n,GiA9^3@^>A@Y^5My^l=^H@5Ĭ?$r?5གྷ? D?e? ? ^3@^,$;)\nuBn'I1Mb@Mb@Mb@ )Y^I +?p= ף{GztyX?ףA A)VAIyAII2$$= C=yמQ >٥ HFZ; >^5ٜ?^59 IԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506866_2n,iA9>0 4@> B@Y>6Ty>)v=>H``׺ ?౥?Uī??Ů?%? >0 4@>D;)<^uB^,IIfIf2rh< r]=yvQ v>٥tt zHxzN < z>|^5~Hٜ?^59~ I~@By  ?;@ @~TEi~g:~R:~w^5IASEAEDNOT Ignoring new targets: 55.50 m.AMPowering the camera and arming the capture device at range: 55.90 m.zIMn8Mn8m ProNav: ac range: 55.502472 m, nav range: 53.571827 m, bearing: 168.160264 deg, approach rate: -0.602580 m/s, LOS rate: 0.005913 deg/s, cmd heading: 173.872396 deg, new cmd heading: 173.878932 deg. m܁9uHeadingCmd: 3.034760 target range: 55.502472 and range: 55.90 m.bu9B@ZqrqjqRqzqJyBy~~}||||@Թ 靽&½I)фI P<9B@<o٥ HF >^5ٜ?^59F IEBy?::@@TEi ;~ ;{^5BDAT read: Rx Time:14:17:18.1524 TRx dataTimestamp_ set to:1749133039.427433checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012070IA!-DNOT Ignoring new targets: 55.50 m.1=Powering the camera and arming the capture device at range: 55.90 m.elFinal approach. Armed for intercept at range: 55.90 m.e\Transitioning guidance mode to: FINAL_APPROACHe@m$9m$9 ProNav: ac range: 55.502472 m, nav range: 53.299561 m, bearing: 168.164404 deg, approach rate: -0.588173 m/s, LOS rate: 0.008989 deg/s, cmd heading: 173.878926 deg, new cmd heading: 173.891408 deg. f9HeadingCmd: 3.034978 target range: 55.502472 and range: 55.90 m.b=B@Zrj!R!J!B!~)~-NzB})|)|)|1|5 -@9:Je\BJeJJJe>RJaZJe=:bJe&9Jet4Ja yB靝/I<)I} q<=B@ۋ<H CH }IH UvBH  =H H *DH .<H EE~Gi A A N >n,iA9>z4@>MB@Y>A,_y> x=>H ??*خ??j?`? >z4@>>;)<uB<I!I5I5 3Ee= EJ=yEӻQ E>٥II MHIU< ]>am^5eٜ?m^59e IeJByqu];@u@eTEie:e:eG^5}"BjIAVEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 55.50 m.88 ProNav: ac range: 55.502472 m, nav range: 53.058876 m, bearing: 168.166336 deg, approach rate: -0.598730 m/s, LOS rate: 0.004828 deg/s, cmd heading: 173.891412 deg, new cmd heading: 173.897234 deg. T9HeadingCmd: 3.035079 target range: 55.502472 and range: 55.90 m.b>B@ZrjRJB~~}||||@ @ yB2>˽I)I󙭼 <>B@G<B@i1Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517520EEEEp0EyKP"K9*K2K:KaWM,1"MX3!/$$?#,!4ZQ L  :mcnzJAJA6GQ ~G A) A9 NE >ԩ o,ެ iAZDAT read: 14:17:18.1524 LVL= 23344, 27569, 18562, 30483, AGC= 66, IDX= 409,-0.19,-1.885, 3.013,-1.710,-2.317, PHS= 0.520,-0.906, 0.604, RAW= 152.9, -3.0, CAL= 156.7, -11.5, ROT= 353.3, 11.5 9f4@fB@Yf-Ycyfғ=fH`SY緿̯??@?ig?n?@? f4@f0;)dvYgot valid direction response: 14:17:18.1524 LVL= 23344, 27569, 18562, 30483, AGC= 66, IDX= 409,-0.19,-1.885, 3.013,-1.710,-2.317, PHS= 0.520,-0.906, 0.604, RAW= 152.9, -3.0, CAL= 156.7, -11.5, ROT= 353.3, 11.5 zPDAT read: Bearing 353.3, 11.5 (Local) z~Local bearing/azimuth received: Bearing 353.3, 11.5 (Local) ~DAT read: Range 10 to 50 : 53.6 m (Round-trip 71.5 ms) speed 0.5 m/s ,DAT read: user:2022>  BDAT read: Tx time:14:17:19.2767  $Ping request sent. ٥aa eHeFm< m>q}`direction in FSK: [0.973232,-0.114329,-0.199368]:publishing transmit ping time Fpublishing direction and range info4y6햩K$?G@%Diɿ6fVBY4 60[)6kI6Hi6w6B6?6g6? 6{*@)6PwVI6 /@i6M6Q@6M> 4^5ugٜ?^59u IuNBԙ)46iE?T?#ZϪi6?6ėV=6|6M> 4)4:publishing transmit ping time Fpublishing direction and range infoy;@@uTEiu[ҁ6Iq{$@ C 6$=i>?Ohÿz6+&A6e o,5+iAI)9bF5@bC@Yb{cjyby@=bH P@n?`շ?@W?WH?Y?? bF5@bi;)bC uB ?IMb@Mb@Mb@ )Y333333?L7A`尿{Gzty?+ A  A)AI;Ay=AII(*3-6< -=y-aVQ ->٥11 5H5F=C< =>9AM^5E3ٜ?M^59E IEUByU?U:U!<@Hmϼ>HiHmIHm}vBHm =HiHm+DHm-<HmLE]@ETEiEZE}l=ԙ:J _BJ `JJ CRJ ZJ :bJ bl9J 4J zJ ,: jJ 1: J (: rJ ): E E E E E K Q"K 9*K 2K :K HacA_ >S-US.>l8#a(9_FV?*,N"6GU+V<~GAAN?o,(LiA9:Y5@:mC@Y:py:nI=:H+ ?y?`O?q?`Ov?S? :Y5@:A;):C}uBGII%I)3Z<  =ySEQ >٥ HF *< >)=^5-{vٜ?E^5I9-V I-[ByQ]|<@]@-TEi-;-;-^5imIAm\EDNOT Ignoring new targets: 53.22 m. ProNav: ac range: 53.219196 m, nav range: 52.084045 m, bearing: 168.392839 deg, approach rate: -0.604275 m/s, LOS rate: -0.004057 deg/s, cmd heading: 173.904061 deg, new cmd heading: 173.897792 deg. 62HeadingCmd: 3.035089 target range: 53.219196 and range: 53.60 m.b>B@ZrjRJB~~}Y|a|i|q|u? MyBU)Ia)eiqIż <ܗ<->B@-[C<5=i5>B@i1>E F<ԹEEEE4EIy I} BA 6G H=~G A A N >6o,jiA9Ru5@RC@YR vyR:=RH S@>?@sش?4`?e?g?@? Ru5@R͈;)RC^uB^;ImMb@Mb@Mb@iii i)iYmbX9?V-~jtxymE?mhmĻmA mE A)mAIm?AiymAI'I@3M' 6=y @Q >٥ HFbk< >u^5`ٜ?u^59 I`By}`?}:}9<@}@TEiE<<^5!BeIA_EGAGAHMѼ>HMCHMIHMvBHIHIHIHM1<HMSEH H ÕCH H  =I  I xf6yDNOT Ignoring new targets: 53.22 m.~~ ProNav: ac range: 53.219196 m, nav range: 51.822819 m, bearing: 168.392263 deg, approach rate: -0.537503 m/s, LOS rate: -0.001192 deg/s, cmd heading: 173.897791 deg, new cmd heading: 173.896053 deg. dQHeadingCmd: 3.035059 target range: 53.219196 and range: 53.60 m.bg>B@ZrjRJB~~1zB}||||p?9 MyBM*II)MwIIUyͼ QQUϘ<}g>B@}<}2=ig>B@iDDDDiE E E E 5E F F =ԑ :J [BJ QJJ ARJ ZJ :bJ -.9J 4J zJ :jJ :J 4:rJ 4:& TFailed to parse incomplete device message. 6G =ZGARGA~GAAN>}A"o,)viA95@>C@Yavy=H F`BҲ`2?S?)?@zǮ?8)? ? 5@LJ;)CuuBuEI)y yIIM3= '=yo%Q >٥ H; >^5Iٜ?^59w IfByZ<@@TEi::^5"IAbEMB*** querying acoustic contact ***JIRIQ]DNOT Ignoring new targets: 53.22 m.Y]QeQ ProNav: ac range: 53.219196 m, nav range: 51.534096 m, bearing: 168.390972 deg, approach rate: -0.636673 m/s, LOS rate: -0.002863 deg/s, cmd heading: 173.896056 deg, new cmd heading: 173.892161 deg. HeadingCmd: 3.034991 target range: 53.219196 and range: 53.60 m.bJ=B@ZrjRJB~~}||||@Z@ -yB-]gI1)51I5Լ 115™<=J=B@=<=w7=i=J=B@ia!E)E)E)E-_0E)6G'2=~GA!AINuy>Aי ם A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.y e(o,.8iA9>E5@>D@Y>lvy>4y=>H~?-?Za?`?`? ? >E5@>DLJ;)>CFuBFCIeMb@Mb@Mb@aaa a)aYe`"?V-y&1ye?ae`eeA et A)aIeAayeAI}I}2b L=yO9Q >٥ HFr; >^5:5ٜ?^59= IiBy?:<@@TEi:V:^52IADNOT Ignoring new targets: 53.22 m.<<  ProNav: ac range: 53.219196 m, nav range: 51.294235 m, bearing: 168.389029 deg, approach rate: -0.615294 m/s, LOS rate: -0.005006 deg/s, cmd heading: 173.892163 deg, new cmd heading: 173.886308 deg. [HeadingCmd: 3.034889 target range: 53.219196 and range: 53.60 m.b;B@ZrjRJ!B!~!~%qzB})|)|)|)|-g@ԑ zBȽI)cI\~ۼ ѽ<;B@F\<|;=i;B@iEEEEE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498768HӼ>HHIHvBH =HH,DH<H9E6G.P2=~G A A N% > 3.o,iA6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7505129B5@B7 D@YB:xyB!;=BH1Ʋ@~?? Jܲ?y? ?? B5@B%;)BCNuBNAIIZIZ3= EO=yEQ E>٥AI MHMFMP9: M>Qe^5U!ٜ?e^59U IUlByaae@UTEiU^;U';U^5u#BuQIAueEDNOT Ignoring new targets: 53.22 m.`` ProNav: ac range: 53.219196 m, nav range: 51.059219 m, bearing: 168.387106 deg, approach rate: -0.599429 m/s, LOS rate: -0.004928 deg/s, cmd heading: 173.886303 deg, new cmd heading: 173.880506 deg. tXHeadingCmd: 3.034787 target range: 53.219196 and range: 53.60 m.b9B@ZrjRJB~~}||||`ƍ@ zB ʭνI)􁿉:J%_BJ%cJJ%?RJ!ZJ% :bJ%x9J%ـ4J!zJ%,:jJ%1:J%:rJ%:I 9AEJ>BDAT read: Rx Time:14:17:21.7497 TRx dataTimestamp_ set to:1749133043.219236%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0034746G>=Q ~G A A1 Ne >1{5o,iּiAI|)|95@D@Y{y=H9ϲ\??@wJɰ?^?@?٥ %H!%E: %>)5^5- ٜ?5^59-س I-qBy=2?=:=>@=@-TEi-f:- :- ^5IE.BMIAMhEmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254635DNOT Ignoring new targets: 53.22 m. ProNav: ac range: 53.219196 m, nav range: 50.780975 m, bearing: 168.374714 deg, approach rate: -0.595211 m/s, LOS rate: -0.026654 deg/s, cmd heading: 173.880511 deg, new cmd heading: 173.843130 deg. WHeadingCmd: 3.034135 target range: 53.219196 and range: 53.60 m.bE/B@ZrjRJB~~zB}q||||`B @q zB鷽I)iI 8Ĝ<E/B@ A<?=iE/B@i EEEEX4Eԡ U DAT read: 14:17:21.7497 LVL= 24528, 26449, 17490, 30195, AGC= 64, IDX= 413,-0.25,-2.473, 2.429,-2.199,-2.862, PHS= 0.477,-0.945, 0.659, RAW= 156.0, -2.5, CAL= 159.3, -11.0, ROT= 350.7, 11.0 ] Ygot valid direction response: 14:17:21.7497 LVL= 24528, 26449, 17490, 30195, AGC= 64, IDX= 413,-0.25,-2.473, 2.429,-2.199,-2.862, PHS= 0.477,-0.945, 0.659, RAW= 156.0, -2.5, CAL= 159.3, -11.0, ROT= 350.7, 11.0 e PDAT read: Bearing 350.7, 11.0 (Local) m ~Local bearing/azimuth received: Bearing 350.7, 11.0 (Local) } DAT read: Range 10 to 50 : 51.6 m (Round-trip 68.8 ms) speed 0.7 m/s } ,DAT read: user:2023>  BDAT read: Tx time:14:17:22.8767  $Ping request sent.  q 9(?  @.@) ¸2I 1@i D +@ D>  )  ]?VO?մi = ? 5= 5& D>  )  :publishing transmit ping timeځ  Fpublishing direction and range info y r?( NĿP@mlȿ Y  ) I i      ) I i    )  ]?VO?մi     )  H <H H Լ>H H H H  =H H H #<H CE 6G5 8<=~GAA!N->٥ HF >^5؜?^59 IuBy>@@TEi: :^5 -IA1Zqbu=iAuLBuLBu(:@ʁu۔x H@C QA ҐU#ur?( NĿP@mlȿu5&u D>ҁu)H ת&@Z̬uǒ?X5N?Yzu6AuEju@Ȝ?ru6J% u=i$B@i:Je]BJeQJJeERJaZJe]:bJe-.9Je4JazJe:jJe:Je4:rJe4:E) hCEEE_0E upGA YAyB)K] P"K] }9*KY 2K] :K] ,\Lxf.Fe8_d \Z0[r!PG4d< |Jm AJi 6G] R>=y ~G) A9 AQ N] >x~Co,iAeuBe8II}I}V83  L=yQ >٥ HF >^5؜?^59 IyBy@TEiu::5^5IAkEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 51.23 m. ProNav: ac range: 51.234688 m, nav range: 50.280575 m, bearing: 168.086139 deg, approach rate: -0.645038 m/s, LOS rate: -0.032028 deg/s, cmd heading: 173.807059 deg, new cmd heading: 173.771840 deg. د HeadingCmd: 3.032891 target range: 51.234688 and range: 51.60 m.b B@Z r j RJB~~}|||!|%.m?A % zB%ڽI))-)I-S ))-!֞<5B@5G<]f@=i]B@iYE%E!E)E1E1ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ6G5 ?=~G A! A1 NM > -Io,W(iAi<9>5@> C@Y>zy>_i=>H @f?Pv?@$`?`;̰??? >5@>`;)>CVvBVIIEMb@Mb@Mb@AAA A)AYEK?V-QyE^?EEuE?A E A)E AIEAAyEAIU!IUi3u= uM=y}tQ }>٥y HX9 >^5؜?^59 I~By?:@@@TEi ;;^5-BnIAnEDNOT Ignoring new targets: 51.23 m. ProNav: ac range: 51.234688 m, nav range: 50.041153 m, bearing: 168.063840 deg, approach rate: -0.601401 m/s, LOS rate: -0.056281 deg/s, cmd heading: 173.771842 deg, new cmd heading: 173.704625 deg. HeadingCmd: 3.031718 target range: 51.234688 and range: 51.60 m.bB@Zrj R J B ~~ zB}||||@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994712 M zBU-нIQ)UvQIUЈ YY]#ɟ<]B@e]HyH}IH}vBH} =HyHyH}%<HyE E E E E !6GM A=I ~G! A1 AA NI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246665Po,+2BiA9BF5@BC@YByBnw=BHӳ`h?`ڴ?yG?٥dd fHfFjL j>l=^5n؜?=^59n( InByAE@@E@nUEinnEEEEo0E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498612y6G~GA AI Ne >ԩ Vo,0\iA89n˒5@n.C@Yn4щynf=nH> {??`^ O?6? ?&? n˒5@n;)lzuBzGIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750680Mb@Mb@Mb@ )Yx?Q롿{GzyK?\#jA p A)A AIAyAI&I3-P< -4=y5N9Q 5>٥99 =H=FM̻ M>Qe^5U)؜?e^59U& IUBym?m:m?@m@UUEiUo;U9J4J@@@@ԙDNOT Ignoring new targets: 51.23 m.MM ProNav: ac range: 51.234688 m, nav range: 49.543636 m, bearing: 168.022140 deg, approach rate: -0.584894 m/s, LOS rate: -0.045018 deg/s, cmd heading: 173.640880 deg, new cmd heading: 173.578887 deg. )HeadingCmd: 3.029523 target range: 51.234688 and range: 51.60 m.bA@ZrjRJB~~ yB} | | | |v? zB靭ƽI)fI1s <A@)<V9=iA@iEEEE_0E% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002676 Gi Gi Hu ͼ>Hq Hq Hq Hu  =Hq Hu +DHu <Hu 2E6G Г>=jG ?bG ?~G A A N >\o,uiAI)9:}5@:C@Y:wy:'=:H״ǡ?@?`?`[? \?3? :}5@:ņ;)8F vBFOIIR"IRq3VS= Zg=yZѺQ Z>٥\\ ^H\^v b>`f^5bҒ؜?j^59b] IbByhj?@j@bUElibu:b90;b^5pr?IApDNOT Ignoring new targets: 51.23 m.MKMK ProNav: ac range: 51.234688 m, nav range: 49.336151 m, bearing: 168.006427 deg, approach rate: -0.584294 m/s, LOS rate: -0.044435 deg/s, cmd heading: 173.578890 deg, new cmd heading: 173.531552 deg. HeadingCmd: 3.028697 target range: 51.234688 and range: 51.60 m.b,A@ZrjRJB~~}| | | |=n@ MzBU*޽IQ)U΀QIUU QY]<],A@ey = >= <co,:ˏiA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5092009Zd5@ZQxC@YZejyZ:=ZH?5`Բ?`nI? @޴?lj?ί?@? Zd5@ZÈ;)ZCvB WII% I%(25<9 =B=y=ںQ E>٥AA EHEFMe M>Q]^5U ~؜?]^59Ui IUByY]?@e@U UEiU;U8;U^5m,Bm IAmrEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 51.23 m.TT ProNav: ac range: 51.234688 m, nav range: 49.087402 m, bearing: 167.987845 deg, approach rate: -0.619918 m/s, LOS rate: -0.046542 deg/s, cmd heading: 173.531556 deg, new cmd heading: 173.475529 deg. HeadingCmd: 3.027719 target range: 51.234688 and range: 51.60 m.b'A@ZrjRJB~~}||||ҳ@ %zB%ٽI!)%~!I%bc ))-<5'A@57<57=i5'A@i9EEEE1Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758902ԙ6G!8=~GAAN>I I 4=:J ZBJ RJJ RJ ZJ 9bJ S29J J Թ io,iA.vBeIԙMb@Mb@Mb@ )Y ףp= ?~jt~jtxyQ?ĻA + A) AIAyAI I<2h]= @=yQ >٥ HF > ^5h؜? ^59 IBy g? : wA@ @UEi::v^5HAuEBDAT read: Rx Time:14:17:25.3466 TRx dataTimestamp_ set to:1749133046.747425checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011793!%DNOT Ignoring new targets: 51.23 m.!--= ProNav: ac range: 51.234688 m, nav range: 48.835159 m, bearing: 167.960840 deg, approach rate: -0.555384 m/s, LOS rate: -0.059765 deg/s, cmd heading: 173.475535 deg, new cmd heading: 173.394103 deg. =$EHeadingCmd: 3.026298 target range: 51.234688 and range: 51.60 m.bEޮA@ZArAjARQJQBQ~Y~]yB}a|a|a|a|etO@ zB靝O˽I)6yI x<ޮA@Hļ>HCHIHvBH =HH*DH<HEHÖCHÖCHÓCHI = Ir54<V<=iޮA@iEE!E!E%0E!6GE /7=ZGI RGM A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262631~G ! A) AA NM >Kpo,lzýiA"vBJoIIZ$IZ<3b2= b_=ybQ f>٥dd fHdj j>lr^5nV؜?r^59n InByprWA@v@nUEin;n:n^5xzgHAx-DNOT Ignoring new targets: 51.23 m.)5Ǜ5Ǜ ProNav: ac range: 51.234688 m, nav range: 48.618439 m, bearing: 167.937929 deg, approach rate: -0.641255 m/s, LOS rate: -0.068096 deg/s, cmd heading: 173.394106 deg, new cmd heading: 173.325064 deg. :MHeadingCmd: 3.025093 target range: 51.234688 and range: 51.60 m.bM A@ZQryjyRyJB~1~1}1|9|9|9|= @ zB靵ѽI)XuI- Q< A@<$19=i A@iK P"K 9*K 2K :K 8s79I-kWBjjS;HRw_V\\b)EEEE2E]DAT read: 14:17:25.3466 LVL= 25904, 27121, 16754, 30675, AGC= 67, IDX= 414, 0.07,-2.604, 2.278,-2.375,-3.010, PHS= 0.495,-0.948, 0.632, RAW= 154.5, -2.4, CAL= 158.0, -10.9, ROT= 352.0, 10.9 mYgot valid direction response: 14:17:25.3466 LVL= 25904, 27121, 16754, 30675, AGC= 67, IDX= 414, 0.07,-2.604, 2.278,-2.375,-3.010, PHS= 0.495,-0.948, 0.632, RAW= 154.5, -2.4, CAL= 158.0, -10.9, ROT= 352.0, 10.9 uPDAT read: Bearing 352.0, 10.9 (Local) u~Local bearing/azimuth received: Bearing 352.0, 10.9 (Local) DAT read: Range 10 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.5 m/s ,DAT read: user:2024> BDAT read: Tx time:14:17:26.4267 $Ping request sent.!r!? ,@)+I|0@iB @B> ) TQZ? 9?% ):publishing transmit ping timeڑFpublishing direction and range infoy6?x_\%~oG4ȿY )Ii )Ii ) TQZ? 9?%=~G A A N >ԉ wo,kݽiA]JDAT read: TxSync time:14:17:26.4259 I9}],5@}?C@Y}Ēy} T|=}H K F `=?`(??}T?p?`y? }],5@};)}C_vBIIAIEAA:JMXBJIJJMCRJIZJM{9bJIJM4JIMb@Mb@Mb@ )YQ?{GzMb`y?ףA )+ AIyAI  I V2ezn= e=ym^Q m>٥ii mHmFu,y >^5/;؜?^59۪ IBy?:A@@UEiB;;^5+BGAxEZ)b-нiA-CB-CB-~-;@ʁ-G@]:ev~'"-6?x_\%~oG4ȿ-4-B>ҁ-,h67#Gl;$@H-Β/'ݨS?>%Bz-6'A-=j-1Ȝ?r-K -]B)-K  -cUB-rAB-/;@ addTargetRange:: Added new target pos. range: 49.299999 m, deltaT: 3.528821 s, deltaX: -2.299999 m, approachRate: -0.651776 m/s, rangeRepo size: 4  Added new target pos. range: 48.949680 m, bearing: 167.570191 deg, lat: 36.906427 deg, lon: -122.115979 deg, deltaT: 3.528821 s, deltaX: -2.285007 m, approachRate: -0.647527 m/s, posRepo size: 4 DNOT Ignoring new targets: 48.95 m. ProNav: ac range: 48.949680 m, nav range: 48.361908 m, bearing: 167.520163 deg, approach rate: 0.000000 m/s, LOS rate: -0.068096 deg/s, cmd heading: 173.325066 deg, new cmd heading: 173.206751 deg. 5HeadingCmd: 3.023028 target range: 48.949680 and range: 49.30 m.b5KyA@Z1r1j1R1J1B9~9~= zB}9|A|A|E`fH@|E ~? 靝I)FmI"; v<KyA@ <*<=iKyA@iԩE E E E o0E  H <H H >H CH IH vBH =H H H 7<H FE 6G‹9=jG bG ?~GAA N>b~o,iA9:(5@:2wo,$iA }vB}IIIM3'= <=yQ >٥ H >^5؜?^59` IBy@ UEi%::P^5;GAeB*** querying acoustic contact ***JaRaDNOT Ignoring new targets: 48.95 m.FFq ProNav: ac range: 48.949680 m, nav range: 47.913437 m, bearing: 167.470262 deg, approach rate: -0.592659 m/s, LOS rate: -0.066564 deg/s, cmd heading: 173.141498 deg, new cmd heading: 173.056334 deg. 6HeadingCmd: 3.020403 target range: 48.949680 and range: 49.30 m.bHNA@ZIrQjQRYJYBa~a~}|||ששT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.| ? imŽIq)ufcqI}B yy<HNA@<zD=iHNA@iԡ:JBJQJJARJZJbJ-.9J4JE=E9E9E=0E9 6G] T?=~G9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493734Ai Ay N >8o,j41iA4Hb>HbCHbIHb wBH`H`Hb(DHb<HbEvBI}Mb@Mb@Mb@yyy y)yY}n?Zd;Oy&1|?y}?}j}`;}A } A)} AI}=Ayy}fAIIT3n= 9=yQ >٥ HF >^5ל?^59| IȋBy$?:@@@$UEi/; +;-^5FA~E  DNOT Ignoring new targets: 48.95 m. % ProNav: ac range: 48.949680 m, nav range: 47.655949 m, bearing: 167.443059 deg, approach rate: -0.607394 m/s, LOS rate: -0.064516 deg/s, cmd heading: 173.056339 deg, new cmd heading: 172.974289 deg. %1-HeadingCmd: 3.018971 target range: 48.949680 and range: 49.30 m.b-6A@Z)r)j1R1J1B1~9~=zB}A|A|I|I|UG?ԙ zBFνI)YI  N6< 6A@ 9<I=i6A@iEEEE5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.745567- G] Ay Y Ay B6G ߛC=ZG RG  ~G A A N >No,}JiAl9;5@NC@YWy `=H@R굿i?u?K?x?%?W? ;5@:;)CK]`P"K]9*KY2K]:K]GwSf! L<!)$%$#" 7}-W [ we\YU2I;;8C@~mvBmII}I}m?3= _=y``Q >٥ HFRM; >^5 ל?^59 IыBy@@@(UEiG::`^5=*B=EA=Ey}DNOT Ignoring new targets: 48.95 m.y&& ProNav: ac range: 48.949680 m, nav range: 47.442818 m, bearing: 167.420012 deg, approach rate: -0.555965 m/s, LOS rate: -0.060389 deg/s, cmd heading: 172.974295 deg, new cmd heading: 172.904843 deg. %HeadingCmd: 3.017759 target range: 48.949680 and range: 49.30 m.b"A@ZrjRJB~~}||||@ PʽI)AOI*@" Ϩ<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997663"A@<XR=i"A@iEEEE4E96G0P=~G A A9 i N} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2508866Řo,diA9Z'5@Z;C@YZd2yZɷ`=ZH 8P-?C:?`@w?@?`? ? Z'5@Z~K;)ZCbvBbI)d d9Mb@Mb@Mb@ )Y9v?~jt~jt?y?DD<=A + A) AIy=AI Ib3-a= @=yxQ >٥ H`4 >^5ל?^59 I݋By?:=@@,UEi;;:^5EADNOT Ignoring new targets: 48.95 m.))% ProNav: ac range: 48.949680 m, nav range: 47.186604 m, bearing: 167.406054 deg, approach rate: -0.607193 m/s, LOS rate: -0.033258 deg/s, cmd heading: 172.904845 deg, new cmd heading: 172.862745 deg. -5HeadingCmd: 3.017024 target range: 48.949680 and range: 49.30 m.b5A@Z1r1j1R1J9B9~9~=MzB}A|A|A|A|Mtq@ y}DIy)}PII$ Y<A@<zO=iA@iiE E E E 3E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501710H¼>HCH&IHgwBH =HH*DH2<HAEԑ6G= U=~GY Ai Ay N > o,9~iA9>@$5@>7C@Y> 4y>D,_=>H FK?G??H?!? Ϋ?? >@$5@>Ԉ;)>CFwBJIIN IN̍2V޲= Zd=yZ%Q Z?٥\\ ^H^F^" ^?dn^5f;ל?n^59f IfBypr=@r@f/UEifWg;fBh;f8^5tvEAvEDNOT Ignoring new targets: 48.95 m.%5 ProNav: ac range: 48.949680 m, nav range: 46.987579 m, bearing: 167.395158 deg, approach rate: -0.579195 m/s, LOS rate: -0.031844 deg/s, cmd heading: 172.862744 deg, new cmd heading: 172.829917 deg. 5ծ=HeadingCmd: 3.016451 target range: 48.949680 and range: 49.30 m.b= A@Z9r9j9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753713R9JIBQ~Y~a}a|a|a|i|m`S5@ԁ 15 ŽI1)5fA1I}=' yy}ܩ< A@<CQ=i A@i:JABJESJJECRJAZJAbJEy69JE4JAzJE:]jJE:]JE(C:erJE+C:eE5E1E1E5_0E1ԱK)Q"Kŷ9*K2K:KP #xsvP(+Sk}x]7RL>8JJ6GuBO=jG} ?bG}?BDAT read: Rx Time:14:17:28.8937  TRx dataTimestamp_ set to:1749133050.276152 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007897~Gi A A N > eեo,wiA961 5@6C@Y6̚y6d=6Hx@??`M@̨?T?!k?? 61 5@6Y;)6CR7wBR IIb$Ib<3zƽ= zH=yQ >٥ H%h %>^55ל?^59 IBy=@@3UEil::^5sDAB*** querying acoustic contact ***JR9mDNOT Ignoring new targets: 48.95 m.q ProNav: ac range: 48.949680 m, nav range: 46.746445 m, bearing: 167.382274 deg, approach rate: -0.511856 m/s, LOS rate: -0.027490 deg/s, cmd heading: 172.829918 deg, new cmd heading: 172.791066 deg. 5HeadingCmd: 3.015773 target range: 48.949680 and range: 49.30 m.b=mA@Z9r9j9R9JABAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258498~y~y}||||@YQ @! MzBM7IQ)U7QIUd* QQU1<}mA@<ONN=imA@iQEEEE@5Eԁ  < M DAT read: 14:17:28.8938 LVL= 22544, 29041, 18786, 30291, AGC= 64, IDX= 416, 0.30, 2.807, 1.460, 3.011, 2.368, PHS= 0.528,-0.860, 0.640, RAW= 153.9, -4.3, CAL= 158.0, -12.6, ROT= 352.0, 12.6 U Ygot valid direction response: 14:17:28.8938 LVL= 22544, 29041, 18786, 30291, AGC= 64, IDX= 416, 0.30, 2.807, 1.460, 3.011, 2.368, PHS= 0.528,-0.860, 0.640, RAW= 153.9, -4.3, CAL= 158.0, -12.6, ROT= 352.0, 12.6 ] PDAT read: Bearing 352.0, 12.6 (Local) ] ~Local bearing/azimuth received: Bearing 352.0, 12.6 (Local) m DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.8 ms) speed 0.6 m/s m ,DAT read: user:2025> u BDAT read: Tx time:14:17:29.9768 u $Ping request sent.}  )  f^#?ր?pOg?n~*5i 6? XΙ=  z0a>  )  :publishing transmit ping timeq  Fpublishing direction and range info y  I?b'$˿ H >H H XIH wBH =H H )DH f<H EY  ) I i      ) I i    )  f^#?ր?pOg?n~*5i     ) 6G 0P=~GiAqAN>"o,iA94@(C@YOyb=HYͶk´?`׷?y?@(?"*?? 4@d;)CMQwBMIiU>IU; Ua=Up=Mb@Mb@Mb@ )Y`"?p= ףy&1|?y?`;A  A)IyII29(9= =y/̺Q >٥ HF >^5ל?^59Ţ IBy?:<@@8UEi|4;3;^5)B DAEZbkױiA;B;B ;@ʁD$͘F@%hDg$ I?b'$˿z0a>ҁAj&FEW$@xwe6 fxy?C-Nÿz A4jb8Ȝ?rBK SȜ? J ?6GE }M= ~G A A! N- >}uo,ҾiAkwB(IIUIU3e= e\=ymQ m>٥qq uHuFu }>y^5}ל?^59} I}By@}:o,iA9J5@JQC@YJ?yJ=JH@'>@?f·?s`?"??? J5@J;)JCVwBV=IMMb@Mb@Mb@III I)IYM7A`?#~j~jth?yM?M㥽MD;MA M A)M AIMAIyMp AIeIe(*3u= u7=y}#Q }>٥yy HFZ9: >^5oqל?^59 IBy?:M:@@@UEi*:':^5CADNOT Ignoring new targets: 46.76 m.99 HM<HM<HU>HUCHUIHU xBHU =HQHU(DHUR<HUVEHCHCHCH =I = I6 ProNav: ac range: 46.764149 m, nav range: 45.918076 m, bearing: 167.369394 deg, approach rate: -0.618602 m/s, LOS rate: 0.007872 deg/s, cmd heading: 172.734145 deg, new cmd heading: 172.744236 deg. 9HeadingCmd: 3.014956 target range: 46.764149 and range: 47.10 m.b @@ZrjRJB~~zB}||||m? UzB]&]IY)]<#YI]E1 aam< @@s<LP=i @@iE=E9E9E=_0E9A6Ge O=~G1 AA AY Nm >:J= YBJ= LJJ= >RJ9 ZJ= 9bJ= q9J= t4J9 zJ= e:jJ= j:J= :rJ= :q o,iA9J4@J4C@YJyJr=JHZv??`?Ϟ?O:?@=?? J4@J?;)JCZwBZFI)\ \IdIdj= nV=ynxQ r>٥pp rHpvG v>x~^5z^ל?^59z IzBy9:@@zCUEiz ;zj!;z^5  BAEIMDNOT Ignoring new targets: 46.76 m.IU9U9m ProNav: ac range: 46.764149 m, nav range: 45.692402 m, bearing: 167.372610 deg, approach rate: -0.590954 m/s, LOS rate: 0.008464 deg/s, cmd heading: 172.744240 deg, new cmd heading: 172.753937 deg. m9mHeadingCmd: 3.015125 target range: 46.764149 and range: 47.10 m.bu@@ZqrqjqRqJqBq~~}||||f?Y ezBe~Ii)miIm+3 iim[<@@<vK=i@@iK)P"Ks9*K2K:KFkAS52r&L/:Roq3d_7' a$bN`d{4EiEiEiEiEi حx?׭a?ԁ6GCXP=Թ~G A A N > Yo,#iA9B4@BB@YB$yB+=BH@N`E;?`*?shn?nL?`k?@? B4@B+;)@JwBJSI-Mb@Mb@Mb@))) )))Y- ףp= ?I +Mb`y-Q?-9-) - A)-AI-XA)y)II37= <=y&Q >٥ HF >^5Iל?^59 I%By?:h9@II<@HUEi?F;V;^5(BBAE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 46.76 m.%9%95 ProNav: ac range: 46.764149 m, nav range: 45.431339 m, bearing: 167.380571 deg, approach rate: -0.599037 m/s, LOS rate: 0.018372 deg/s, cmd heading: 172.753939 deg, new cmd heading: 172.777959 deg. 5I:=HeadingCmd: 3.015544 target range: 46.764149 and range: 47.10 m.b=@@Z9r9j9RAJABA~A~EzB}I|I|I|Q|U?ԉ zB靕 I)3Id:5 <@@[9<>=i@@iEEEAEAEAEAԹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H5>H1H5IH5GxBH5 =H1H1H5b<H5qE6G po,d٥II MHMFM M>Qm^5U6ל?u^59U IU-Byqqu@UKUEiU;U/;UG^5@BADNOT Ignoring new targets: 46.76 m.99 ProNav: ac range: 46.764149 m, nav range: 45.199986 m, bearing: 167.387703 deg, approach rate: -0.559859 m/s, LOS rate: 0.017347 deg/s, cmd heading: 172.777954 deg, new cmd heading: 172.799459 deg. z>:HeadingCmd: 3.015919 target range: 46.764149 and range: 47.10 m.bA@ZrjRJB~~}|||| @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256673 zB靽nI)WIuY7 筫< A@ )<}x?=iA@i:JbBJQJJ@RJZJ:bJ-.9JJ4JzJI ;jJL ;J4:rJ4:EEEEEAi 6G 8<=Ke NP"Ke 9*Ka 2Ke :Ke D_w#x^.2dul ;Trqq9*/:\tek~G A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508889A N >Z\o,|ViA9R74@R/B@YRyyRQU=RH`жg["?]?^. ?k?\?`? R74@R";)RCZwB^_Ii^?>I^p<IfIf#3n< nQ=ynQ n>٥pp rHpr̼ v>t~^5vz#ל?~^59v Iv5By|~8@~@vOUEiv;v;v^5 0BA E15DNOT Ignoring new targets: 46.76 m.1=3:=3:m ProNav: ac range: 46.764149 m, nav range: 44.964981 m, bearing: 167.397922 deg, approach rate: -0.651020 m/s, LOS rate: 0.028458 deg/s, cmd heading: 172.799456 deg, new cmd heading: 172.830274 deg. m>:}HeadingCmd: 3.016457 target range: 46.764149 and range: 47.10 m.b} A@ZrjRJB~~}||||@  zB#I)I8 S o,IpiAXwBmIBDAT read: Rx Time:14:17:32.4412 TRx dataTimestamp_ set to:1749133053.803329checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013660Mb@Mb@Mb@ )Y9v?EԸ~jtxy?ƽĻA A)\AIAyQ AGG@AH>HCHIHzxBH =HH)DH$<HEI!Ii3%ZI= %8=y-Q >٥ HF > ^5 ל? ^59 I>By?:7@@TUEi;;^5AAEiDNOT Ignoring new targets: 46.76 m.j3:j3: ProNav: ac range: 46.764149 m, nav range: 44.687943 m, bearing: 167.416469 deg, approach rate: -0.582126 m/s, LOS rate: 0.039214 deg/s, cmd heading: 172.830273 deg, new cmd heading: 172.886260 deg. L:HeadingCmd: 3.017434 target range: 46.764149 and range: 47.10 m.bA@ZrjRJB~~zB}||||@ U"zBU^IQ)]YI]D; YY]5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264641)Y ] cC G ) ) ] YY y] Bno,4iA9Br3@BA@YByB4[=BH`,J?)R? ?Q?M? w? Br3@B;)BCJwBNfIIRIR 3Z\ ^d=y^:Q ^>٥`` bH`b9 b?dj^5f֜?n^59f IfDBylnh7@n@fWUEifM;f;f^5prBAtxa}DNOT Ignoring new targets: 46.76 m.yY@:Y@: ProNav: ac range: 46.764149 m, nav range: 44.492199 m, bearing: 167.430658 deg, approach rate: -0.577454 m/s, LOS rate: 0.042041 deg/s, cmd heading: 172.886254 deg, new cmd heading: 172.929007 deg. :mHeadingCmd: 3.018181 target range: 46.764149 and range: 47.10 m.bm)A@ZqrqjyRyJB~~}||||@ @ m$zBmӴIq)uMqIu= qquu/<})A@}=<}kb =i)A@i!KeDP"KeK9*Ka2Ke!:KeV NMjXTa]f@#&+9.!?N <@UDAT read: 14:17:32.4412 LVL= 23744, 25169, 16082, 28755, AGC= 65, IDX= 421, 0.03,-0.781,-2.163,-0.591,-1.260, PHS= 0.567,-0.856, 0.666, RAW= 153.3, -5.2, CAL= 157.8, -13.3, ROT= 352.2, 13.3 Ygot valid direction response: 14:17:32.4412 LVL= 23744, 25169, 16082, 28755, AGC= 65, IDX= 421, 0.03,-0.781,-2.163,-0.591,-1.260, PHS= 0.567,-0.856, 0.666, RAW= 153.3, -5.2, CAL= 157.8, -13.3, ROT= 352.2, 13.3 PDAT read: Bearing 352.2, 13.3 (Local)  ~Local bearing/azimuth received: Bearing 352.2, 13.3 (Local) DAT read: Range 10 to 50 : 45.1 m (Round-trip 60.2 ms) speed 0.6 m/s ,DAT read: user:2026> %BDAT read: Tx time:14:17:33.5268 %$Ping request sent.%iۅSpۅAۅ&?ۅ"[ۅ~*? ܅<+@)܅޹I܅C0@i܅,m܅@܅,m> ݁)݁݅%@?y/?'$5 i݅?݅=݅g ݅,m> ށ)ށM:publishing transmit ping time!UFpublishing direction and range infoځyڅR?F[gz}"ErͿځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅%@?y/?'$5 i݁݁݁݁ ށ)ށEuEqEqEuo0EqI6G e=~Gy A A ԙ N >A A o,(iAJDAT read: TxSync time:14:17:33.5260 9m3@qmIA@Ym(qymZ=mH8@ õ?G@?A?@h?`'?\? m3@m݊;)mCwBwI) :JZBJJJ?RJZJ9bJJـ4J@@@@Mb@Mb@Mb@ )YtV?ˡE~jty?什D \A)AI&AyI= I=2}b= }%=y};Q >٥ HF: >_5֜?_59 IKBy6?:8@@[UEi;;_5'BAAEԩZbjiA3B3B/:@ʁEE@'y9@d8$R?F[gz}"ErͿg ,m>ҁeiE*]$@sA'W"HZ;?&!p^Ŀz"A,jNeȜ?ro j[B ꁵ0B ;@ addTargetRange:: Added new target pos. range: 45.099998 m, deltaT: 3.528198 s, deltaX: -2.000000 m, approachRate: -0.566862 m/s, rangeRepo size: 4 e Added new target pos. range: 44.778191 m, bearing: 166.682874 deg, lat: 36.906427 deg, lon: -122.115979 deg, deltaT: 3.528198 s, deltaX: -1.985958 m, approachRate: -0.562882 m/s, posRepo size: 4 amDNOT Ignoring new targets: 44.78 m.i ProNav: ac range: 44.778191 m, nav range: 44.203678 m, bearing: 167.442830 deg, approach rate: 0.000000 m/s, LOS rate: 0.042041 deg/s, cmd heading: 172.929011 deg, new cmd heading: 172.995054 deg. HeadingCmd: 3.019333 target range: 44.778191 and range: 45.10 m.bHHIHxBH =HHH\<HqEEMEIEIEM_0EI 6Gm sc=~GI AQ Ai Nu >o,BiA9N3@NBB@YN_,yNfZ=XNH ~/ֺY? ?;?џ?2?? N3@N V;)LbwBblIIj#Ij%x3rE rf=yvQ v>٥xx zHzFzL; ~>|_5~֜? _59~c I~QBy  9@ @~_UEi~;~;~)_5AAEB*** querying acoustic contact ***JARAQUDNOT Ignoring new targets: 44.78 m.Q]9]9m ProNav: ac range: 44.778191 m, nav range: 44.000420 m, bearing: 167.451115 deg, approach rate: -0.638134 m/s, LOS rate: 0.026130 deg/s, cmd heading: 172.995059 deg, new cmd heading: 173.020027 deg. mv:uHeadingCmd: 3.019769 target range: 44.778191 and range: 45.10 m.buCA@ZqrqjqRqJyBy~y~y}||||{? )zBI)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I@ aam>K} O"K} @9*Ky 2K} ":K} sNWt}mfYZHAw HXQM=i<Fg``^4ADy checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988758~G A A N >1 #3o,ڿiA9>3@>hB@Y>Ʀy>,D=>H4@຿`?ϻ?Gf? Ҵ?@܂?m? >3@>x;)٥hh nHlnm&: n>pv_5r֜?v_59r IrWByxz 9@z@rbUEirh:r:r_5AAE)5DNOT Ignoring new targets: 44.78 m.15959M ProNav: ac range: 44.778191 m, nav range: 43.769917 m, bearing: 167.460575 deg, approach rate: -0.579574 m/s, LOS rate: 0.023911 deg/s, cmd heading: 173.020030 deg, new cmd heading: 173.048559 deg. MG:MHeadingCmd: 3.020267 target range: 44.778191 and range: 45.10 m.bULA@ZQrQjQRQJQBQ~a~a}i|q|q|q|}Q\? +zB靽˳I)IʝB  <LA@<n =iLA@iE9IEAEYE]L2Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.241168:J\BJNJJCRJZJ=:bJ!9J4Jq6G H=~G A A) N5 >ԡ y]o,iA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491236HF>HDHFIHFxBHDHDHDHF<HFE9VH3@VA@YVsiyVV=VHy?D)?@@? '?NĪ?`? VH3@V;)VC^wBbuIib,>Ib7?yMb@Mb@Mb@ )YʡE?v/{Gzy-?xiףA A)AIAy\ AII?13% < %6=y%$٥)) -H-F-_K 5>9E_5=֜?E_59=| I=]ByE?M:M;@M@=fUEi=:=:= _5U&BUAAUEDNOT Ignoring new targets: 44.78 m.%% ProNav: ac range: 44.778191 m, nav range: 43.513027 m, bearing: 167.456956 deg, approach rate: -0.559769 m/s, LOS rate: -0.007931 deg/s, cmd heading: 173.048553 deg, new cmd heading: 173.037633 deg. --HeadingCmd: 3.020077 target range: 44.778191 and range: 45.10 m.b-HA@Z1r1j1R1J1B1~9~=zB}9|9|9|A|E G? /zB靽!I)ID <HA@<Ԡ=iHA@iԩEEEE1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7432636G% AC =~G  A A) N= > Ep,( iA9>3@>AA@Y>?y>j=>H!࣒P??@Je?@!?;?? >3@> ;)>CJwBJpIIR IRb3Z5 Ze=yZ`i9Q ^>٥\\ bHbFb˻ b>dn_5f֜?n_59f\ IfaBypr;@r@fjUEifoR;f(S;f_5tvAAvEDNOT Ignoring new targets: 44.78 m.%Q%Q5 ProNav: ac range: 44.778191 m, nav range: 43.308304 m, bearing: 167.454590 deg, approach rate: -0.591286 m/s, LOS rate: -0.006866 deg/s, cmd heading: 173.037638 deg, new cmd heading: 173.030506 deg. 5ʖ=HeadingCmd: 3.019952 target range: 44.778191 and range: 45.10 m.b=FA@ZArAjARAJABA~I~I}I|I|Q|Q|U4? 1zB靽ݺI)~IF <FA@R<'=iFA@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995401K P"K59*K2K#:KX g|3}N_ Rc=4ATac*JJAEEEE5EF=Fa= 96G3;=ZG RG ~G! AQ Ay N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249736a 3o p,'iA9B3@BhA@YB9yBz=BH`e B?}?6{??@P?? $? B3@B+M;)BCJ4J4J1:JR[BJRSJJRLRJPZJR:bJRy69JR4JPbwBbqIUMb@Mb@Mb@QQQ Q)QYUV-?{GzQyUh?U#UuQ UA)U3AIUAQyU AII?13;: 8=y:Q >٥ H; >_5֜? _59* IhBy ? : =@@nUEiˁ;%;_59M%BMAAMEq}DNOT Ignoring new targets: 44.78 m.y};}; ProNav: ac range: 44.778191 m, nav range: 43.056316 m, bearing: 167.441698 deg, approach rate: -0.561592 m/s, LOS rate: -0.028901 deg/s, cmd heading: 173.030507 deg, new cmd heading: 172.991603 deg. HeadingCmd: 3.019273 target range: 44.778191 and range: 45.10 m.b;A@ZrjRJB~~QzB}||||/@ 5zB$I)IMH QQU"Թ Wp,DmAiA5wB5{I)9 999IE"IEq3UE*= UT=y]Q ]>٥Ya eHeFe e>iu_5mt֜?u_59m! ImmByyy}@mqUEimo;m;m_5jAAB*** querying acoustic contact ***JRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751445DNOT Ignoring new targets: 44.78 m.  ProNav: ac range: 44.778191 m, nav range: 42.837246 m, bearing: 167.430366 deg, approach rate: -0.565544 m/s, LOS rate: -0.029404 deg/s, cmd heading: 172.991603 deg, new cmd heading: 172.957433 deg. oHeadingCmd: 3.018677 target range: 44.778191 and range: 45.10 m.b2A@Z!r!j!R!J)B)~)~1}1|1|9|9|=M@ m8zBm Ii)miIuVJ qqu-U<}2A@}A<} =i}2A@iԙEEEE^0E6G3;=~GAA! N- >u BDAT read: Rx Time:14:17:35.9883 u TRx dataTimestamp_ set to:1749133057.331339} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004324K P"K @9*K 2K $:K sUWhjM;rWm"T#*n$1k2SS, J >J ? 1p,T[iA9B4@BB@YB2yBѶ=BH`k@w? ?@@?)?RŰ?? B4@B;)BCJwBJIIR&IR3Z<< ZU=y^e9Q ^>٥\\ bHbFb; b>dj_5fb֜?j_59f IfsByln=@n@fuUEif8;f;fE_5prNAArE!-DNOT Ignoring new targets: 44.78 m.1==M ProNav: ac range: 44.778191 m, nav range: 42.618950 m, bearing: 167.418063 deg, approach rate: -0.577512 m/s, LOS rate: -0.032713 deg/s, cmd heading: 172.957438 deg, new cmd heading: 172.920342 deg. MUHeadingCmd: 3.018029 target range: 44.778191 and range: 45.10 m.bUd'A@ZQrQjQRQJYBY~Y~Y}a|a|a|a|e S @ U:zBUpIQ)UQI]-L YY]Zp,#uiA2DAT read: 14:17:35.9883 LVL= 19584, 22609, 16018, 26083, AGC= 64, IDX= 408, 0.27, 2.847, 1.505, 3.011, 2.377, PHS= 0.558,-0.824, 0.631, RAW= 152.5, -5.2, CAL= 157.2, -13.4, ROT= 352.8, 13.4 6Ygot valid direction response: 14:17:35.9883 LVL= 19584, 22609, 16018, 26083, AGC= 64, IDX= 408, 0.27, 2.847, 1.505, 3.011, 2.377, PHS= 0.558,-0.824, 0.631, RAW= 152.5, -5.2, CAL= 157.2, -13.4, ROT= 352.8, 13.4 :PDAT read: Bearing 352.8, 13.4 (Local) :~Local bearing/azimuth received: Bearing 352.8, 13.4 (Local) G@G@HDHDHDHDHDHDHDHFf<HFwERDAT read: Range 10 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.5 m/s V,DAT read: user:2027> VBDAT read: Tx time:14:17:37.0768 Z$Ping request sent.Zie@?R7!? X*@)I/@i|oj @|o> )܇?ۋP%?́+itq?ޞ=|o> )r:publishing transmit ping timeXrFpublishing direction and range infoyeNvQ$?!?6] AͿY )Ii )Ii )܇?ۋP%?́+i )9FQ4@dB@Yyzy=HyO@=U?ɉ?ź?Pܴ?a ?? FQ4@骥;)CxBI Mb@Mb@Mb@    ) Y Cl?Zd;?Q?y ? y= u< @ 3A) AI  y pAIEIE35< $=y:Q >٥ H< >_5 K֜?_59" IBy?:H@yUEi8::_5)Q]AA]EZb/kuiA*B*Bh;@ʁ%)pD@H "$*I#eNvQ$?!?6] AͿ|o>ҁD<w!@??44N?wdĿzA$jȜ?r \BȜ? j[B(B:@ addTargetRange:: Added new target pos. range: 43.000000 m, deltaT: 3.527696 s, deltaX: -2.099998 m, approachRate: -0.595289 m/s, rangeRepo size: 4 U Added new target pos. range: 42.692646 m, bearing: 167.775020 deg, lat: 36.906428 deg, lon: -122.115979 deg, deltaT: 3.527696 s, deltaX: -2.085545 m, approachRate: -0.591192 m/s, posRepo size: 4 Q]DNOT Ignoring new targets: 42.69 m.Yea ProNav: ac range: 42.692646 m, nav range: 42.225040 m, bearing: 167.297658 deg, approach rate: 0.000000 m/s, LOS rate: -0.032713 deg/s, cmd heading: 172.920336 deg, new cmd heading: 172.868040 deg. HeadingCmd: 3.017117 target range: 42.692646 and range: 43.00 m.bpA@ZrjRJB~~,yB}|||E@|? >zB靭TwI)IN t<pA@<)=ipA@iQJDAT read: TxSync time:14:17:37.0760 EuEqEqEup5Eqԉ 6G= e=~G A A N% >!#p,iAD94@JB@Yy|=H `z?q̹?@4?d?`?? 4@;)CMwBUIiU=IUa=IIm?3a `=ydQ >٥ HF< >_59֜?_59) IByH@|UEi:G: _54AA9EDNOT Ignoring new targets: 42.69 m.AMVMVU ProNav: ac range: 42.692646 m, nav range: 42.027779 m, bearing: 167.235436 deg, approach rate: -0.591900 m/s, LOS rate: -0.187581 deg/s, cmd heading: 172.868044 deg, new cmd heading: 172.680500 deg. ] e%=e%=HeadingCmd: 3.013843 target range: 42.692646 and range: 43.00 m.b@@ZrjRJB~~}||||`X? @zBĽI)I<P <@@<P?=i@@i!&]TFailed to parse incomplete device message.ԱEEEE_0E6Gzc =~GAANh>1 I I a=P*p,piA:J]BJLJJIRJZJ]:bJq9JF4J9F4@FKB@YFyF~=FHIE|? ?Mzs?} ?@?? F4@F;;)FCrxBrIMb@Mb@Mb@ )YV-?I +yh?9nA )AInAy AII#3W= H=y h9Q >٥ HF&; >_5&֜?_59Q IBy?:*@@@UEi;;`$_5$B@A E15DNOT Ignoring new targets: 42.69 m.1=►=►M ProNav: ac range: 42.692646 m, nav range: 41.797268 m, bearing: 167.208904 deg, approach rate: -0.569888 m/s, LOS rate: -0.065956 deg/s, cmd heading: 172.680501 deg, new cmd heading: 172.600467 deg. M5UHeadingCmd: 3.012446 target range: 42.692646 and range: 43.00 m.bU@@ZQrQjQRYJYBY~Y~]JzB}a|i|q|q|u? BzB靥CI) I9Q <@@es<%E=i@@iE)E)E)E)E)QH>HCHIHxBH =HH)DH<<H>Ei6GM؛*=ZGQRGQ~G! A1 AA NM >ԙ 1p,EiA6)GBANA fYfAyjHB9=4@=B@Y="y= (==H Cȷ?6?` ,,? 8?ܱ?`k? =4@=a);)=C]#xB]IIm!Imi3q}C< O=yHQ >٥ HQ; >_5֜?_59 IBy?@@@UEi::'_5@AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 42.69 m.ee  ProNav: ac range: 42.692646 m, nav range: 41.574078 m, bearing: 167.182537 deg, approach rate: -0.564570 m/s, LOS rate: -0.067055 deg/s, cmd heading: 172.600465 deg, new cmd heading: 172.520939 deg.  8HeadingCmd: 3.011058 target range: 42.692646 and range: 43.00 m.b.@@ZrjRJB~!~!}!|!|!|)|-? eDzBe\qIa)e$iImS iim)=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.K P"K }9*K 2K &:K M,;]mP|v'A\qTe+D.7ftcy p-7p,iA96g4@6B@Y6Ly6e=6Hs`Q`????@-?A? 6g4@6];)6CN*xBRI)P PIZ"IZq3z-< zT=yz:Q z>٥|| ~H~F1b; > _5 ֜?_59  I ByU@@@ UEi G: < 1+_5|@AE9=DNOT Ignoring new targets: 42.69 m.9EE ProNav: ac range: 42.692646 m, nav range: 41.356758 m, bearing: 167.156179 deg, approach rate: -0.525840 m/s, LOS rate: -0.064113 deg/s, cmd heading: 172.520934 deg, new cmd heading: 172.441445 deg. /HeadingCmd: 3.009671 target range: 42.692646 and range: 43.00 m.bs@@ZrjRJB~~}| |1|1|=r? FzBI)IU `<s@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748579-]<5@IW=i5s@@iiE}EyEyEyE16G C=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998477~G A H >H H IH xBH  =H H H A<H GEA N >Y=p,riA9n4@nB@Ynryn헞=nH@?K? ?`? ?? n4@n& ;)l~>xB~IMb@Mb@Mb@ )YS?QMbP?y?u:\ A A)AI AyzAIIT35= >=y,Q:Q >٥ HFE; >_5՜?_59 IBy'?:+A@@UEi:k:._51qu*@AuEDNOT Ignoring new targets: 42.69 m. ProNav: ac range: 42.692646 m, nav range: 41.117550 m, bearing: 167.122454 deg, approach rate: -0.567438 m/s, LOS rate: -0.080466 deg/s, cmd heading: 172.441444 deg, new cmd heading: 172.339682 deg. \HeadingCmd: 3.007895 target range: 42.692646 and range: 43.00 m.bZ@@ZrjRJ B)~1~5)zB}1|1|1|9|=)@ HzB靭,I)Iw-W <Z@@<Pa=iZ@@iiEEEE`0E6G]X=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250850~GAAN>ԉ:JYBJOJJARJZJ9bJ%9J4JzJc:jJh:J&:rJ&: Y?Dp,iA9>4@>+B@Y>Dy>=>H@ZS?o8? ;wI??K?? >4@>;)>CFnxBFIIN IN̍2V{> V^=yZQ Z>٥XX ZH\^Pe; ^>`f_5b՜?f_59bJ IbByhj@A@j@bUEib:b:b-2_5lnh?AlDNOT Ignoring new targets: 42.69 m. ProNav: ac range: 42.692646 m, nav range: 40.913681 m, bearing: 167.093027 deg, approach rate: -0.584548 m/s, LOS rate: -0.084796 deg/s, cmd heading: 172.339688 deg, new cmd heading: 172.250967 deg. hHeadingCmd: 3.006346 target range: 42.692646 and range: 43.00 m.bg@@Zr j R J B]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502723~y~y}y||||`4@ԑ UIzBUIQ)UQI]X YY]Ӥ 8iJp,+iA9B 5@B|C@YBq1yB_=BH`ƶ?1?@vв?!?`Ǵ?E? B 5@B;)@NxBNIiR)>IR=-Mb@Mb@Mb@))) )))Y-Q?{GzMb`?y-?-ף-;-A -A)-zAI-E A)y-AIEIEM3eg(= e?=ymNQ m>٥ii uHuFu; u>y_5}՜?_59}t I}ȌBy?:@@@}UEi}:}o:}5_5?AEDNOT Ignoring new targets: 42.69 m.;U;m ProNav: ac range: 42.692646 m, nav range: 40.665489 m, bearing: 167.058705 deg, approach rate: -0.581981 m/s, LOS rate: -0.080971 deg/s, cmd heading: 172.250964 deg, new cmd heading: 172.147371 deg. mG^HeadingCmd: 3.004539 target range: 42.692646 and range: 43.00 m.b\J@@ZrjRJB~~CzB}||||y@ %KzB%$I))-X徉)IM=%Z IQUHCH&IHyBH =HH+DH1<HEyEE0E!I 6G Y`n=ZG RG ~G A A N >QQp,UEiA9>5@>b(C@Y> .y>ҥ=>H@`е??sT???? >5@>;)>Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258380fxBfIInIn 3v= vR=yvՋ7Q v>٥xx zHzF~: ~> _5՜? _59 IҌBy  @@ @UEi::N9_5>AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 42.69 m.  H HM ProNav: ac range: 42.692646 m, nav range: 40.440029 m, bearing: 167.026926 deg, approach rate: -0.546745 m/s, LOS rate: -0.077495 deg/s, cmd heading: 172.147378 deg, new cmd heading: 172.051508 deg. MTuHeadingCmd: 3.002865 target range: 42.692646 and range: 43.00 m.bu.@@ZqrqjqRqJyBy~y~y}||||`B @:J\BJJJDRJZJ=:bJJ4JzJ:jJ:J~&:rJ&:I ]LzB]zIa)eb־aIe[ aaeʹ BDAT read: Tx time:14:17:40.6268 $Ping request sent.u$?uYu$? u,@)u|٠Iu 0@iubup{@ub> q)qusWzn?D)?1iu$?u=uTub> q)q :publishing transmit ping time Fpublishing direction and range infoqyuY;?`TF#̿qYq q)qIqiqqqqq q)qIqiqqq q)qusWzn?D)?1iqqqq q)q6G5 }z=Ա K < P"K 9*K 2K (:K sAp2z4nm2?nLS^J_ z;g2+6w, -~G A A N 6|Wp,,e_iA<9F!5@F"5C@YF򂧽yFa=FH@z@U?N?7 ǻ?d??Y? F!5@Ff;)FCbxBbIIfIf(1 [=  H=yoQ:Q >٥ HY]: ]>au_5ed՜?_59e Ie܌ByA@@eUEie;e;e<_5#BD>AEZb4WiAp"Bp"BM;@ʁ C@?!vH!Y;?`TF#̿Tb>ҁ;PœCuq7)!!@4EIhHađ? hۑ;ÿz AjsȜ?r> N`BBK  \Bꁥ B :@ addTargetRange:: Added new target pos. range: 40.900002 m, deltaT: 3.527922 s, deltaX: -2.099998 m, approachRate: -0.595251 m/s, rangeRepo size: 4 m Added new target pos. range: 40.609898 m, bearing: 167.682703 deg, lat: 36.906428 deg, lon: -122.115980 deg, deltaT: 3.527922 s, deltaX: -2.082748 m, approachRate: -0.590361 m/s, posRepo size: 4 q}DNOT Ignoring new targets: 40.61 m.yԱJDAT read: TxSync time:14:17:40.6260  ProNav: ac range: 40.609898 m, nav range: 40.174423 m, bearing: 167.138777 deg, approach rate: 0.000000 m/s, LOS rate: -0.077495 deg/s, cmd heading: 172.051509 deg, new cmd heading: 171.951721 deg. %HeadingCmd: 3.001124 target range: 40.609898 and range: 40.90 m.bi@@ZrjRJB~~}!|)|1|=@3sD@|@n? NzBI)˾I7] 圮<i@@f<h=ii@@iEEEEo0E H ¼>H H KIH EyBH  =H H H %<H /EH!H%˔CH%˔CH% =I% = I%˾,66G} =~G1 AA AQ N] >+^p,o{iAi<9B$5@B7C@YB yB>=BH D`R? >C?/@??Ҳ?? B$5@B;)BCZxBZI)\ \Mb@Mb@Mb@ )YQ?{GzMbp?y#;X A zA)AI Ay\AI#I%x3C= %,=y%кQ %>٥)) -H-F-9 5>1=_55̉՜?E_595 I5ByE?E:M>@M@5UEi5;5;5A_5QU=AUE%DNOT Ignoring new targets: 40.61 m.!%B-BAm ProNav: ac range: 40.609898 m, nav range: 39.903381 m, bearing: 167.113706 deg, approach rate: -0.611406 m/s, LOS rate: -0.056940 deg/s, cmd heading: 171.951720 deg, new cmd heading: 171.875994 deg. uOHeadingCmd: 2.999802 target range: 40.609898 and range: 40.90 m.b?@ZrjRJB~~qzB}||||? %OzB-3I))-)I-R^ ))5d ep,!iA@9Fy5@F(C@YFyFyt=FH C? J~? m[y?@j?1o?? Fy5@F҈;)DRxBRIIZIZ[3bP= be=yf]Q f>٥dd fHfFj|( j>pv_5rfx՜?z_59r߃ IrByxz>@z@rUEir:r):r#D_5|;=A)-DNOT Ignoring new targets: 40.61 m.)5959M ProNav: ac range: 40.609898 m, nav range: 39.694649 m, bearing: 167.094435 deg, approach rate: -0.608660 m/s, LOS rate: -0.056488 deg/s, cmd heading: 171.875987 deg, new cmd heading: 171.817871 deg. MUHeadingCmd: 2.998788 target range: 40.609898 and range: 40.90 m.bU#?@ZQrQjQRYJYBa~a~i}i|i|q|q|u M I I %=e4kp,iA9>4@>B@Y>y>Wv=>H`[ᶿbܶ?P ?s?x?G?0? >4@>;)>CbyBb,IlMb@Mb@Mb@ )Y7A`?&1Mb`?y?P;A A )IA Ay3AI+In3g= <=yQ >٥ H] >_5+c՜?_59 IBy?:p=@@UEiZ::G_5"BH9H=wIH=yBH= =H9H9H=[<H=~EEEEE4E96G z=ZG RG A~G A A N >q ?rp,iAI4)49rΣ4@r.B@Yr=yrw=rHයhd?@? Ύ??ݮ?@? rΣ4@rK>;)rC 1yB @IYIm Im2}q= }N=y}$Q }>٥ HFJ8 >:J\BJPJJARJZJ=:bJ*9J4JzJ:jJ:J-:rJ-:_5O՜?_59 IBy(=@@UEiF;;cK_5Ma y <?@<z=i?@iE5E1E1E=^0E9i]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԙ6Gu=~GI AY Aq N} >K %&P"K 9*K 2K *:K n k.G:_~bT2~w,*FIH2Z) Gxp,ܷiA9:sw4@:ӊB@Y:~uy:j}=:H@`??@8.?*?Ԛ?`K? :sw4@: ;)8FRyBJTIIv"Ivq3~Ϩ= R=y#:Q >٥   H  a  >_5=՜?%_59d IBy!%<@%@UEi;@;N_5)-;A)q}DNOT Ignoring new targets: 40.61 m.y} } ԙ ProNav: ac range: 40.609898 m, nav range: 38.978443 m, bearing: 167.052355 deg, approach rate: -0.590926 m/s, LOS rate: -0.032375 deg/s, cmd heading: 171.728386 deg, new cmd heading: 171.690857 deg. HeadingCmd: 2.996571 target range: 40.609898 and range: 40.90 m.b?@ZrjRJB~~}|||| @ UzB8䕽I)|I* b ŭ<?@X<t=i?@irE N>jE >׹׹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254867EEEE_0EII6Gvpx=~GAAN>H5 ɼ>H1 H5 IH5 yBH1 H1 H1 H5 <H5 Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505129 p~p,!iA9:^4@:qB@Y:4y:X=:H!~%?@mS?L??i9? 1? :^4@:;):CRiyBVbI5Mb@Mb@Mb@111 1)1Y5v?T㥛 Mbp?y5?55;5 A 5A)5dAI5+ A1y5fAIM IM̍2eb= mD=ym0eQ u>٥qq uH}F}n }>_5j(՜?_59 IBy?:;@@UEi#::oR_5h;A«EDNOT Ignoring new targets: 40.61 m. ProNav: ac range: 40.609898 m, nav range: 38.728378 m, bearing: 167.046115 deg, approach rate: -0.603156 m/s, LOS rate: -0.015149 deg/s, cmd heading: 171.690861 deg, new cmd heading: 171.672020 deg. W&HeadingCmd: 2.996242 target range: 40.609898 and range: 40.90 m.bn?@ZrjRJB~ ~ zB} | | | |55@ WzB)I)mI *b   `<n?@<q=in?@i) ]G}AAAEEE YAyBEE@!-PBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758170Q6GM t=jGU ?bGU ?~G! A9 AY Nu >ԁ ^Xp,YkiAi<9JY4@JulB@YJ\yJ=JHv=H?@h?8ݵ?ĵ? "?? JY4@J;)JCRyBRwIIZIZ3fİ= fT=yjQ j>٥hh nHnFnd n>pv_5r~՜?v_59r} Ir$Byxz;@z@rUEir:rl:rU_5|~:A%BDAT read: Rx Time:14:17:43.0829 -TRx dataTimestamp_ set to:1749133064.387409-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0102589EDNOT Ignoring new targets: 40.61 m.IUfUfe ProNav: ac range: 40.609898 m, nav range: 38.498863 m, bearing: 167.040432 deg, approach rate: -0.594089 m/s, LOS rate: -0.014797 deg/s, cmd heading: 171.672024 deg, new cmd heading: 171.654874 deg. m{"mHeadingCmd: 2.995943 target range: 40.609898 and range: 40.90 m.bm?@ZqrqjqRqJqBq~y~y}y|||| K@ YzB靵I)MI4zc <?@rI R=I a=:J ZBJ TJJ CRJ ZJ 9bJ :9J 4J  @ @ @% @ 4p,wI0iA9:O4@:.cB@Y:y:=:HB<uo?:?&7>?`?Rۯ?? :O4@:{`;):C^yB^I}Mb@Mb@Mb@yyy y)yY}l? rhy}?}C}y }dA)}AIyyy}AI!Ii3O= ==yiºQ >٥ HE >_5R՜?_59K| I/By?:;@@UEi;;Y_5!B:AūE  DNOT Ignoring new targets: 40.61 m. - ProNav: ac range: 40.609898 m, nav range: 38.241482 m, bearing: 167.037576 deg, approach rate: -0.597966 m/s, LOS rate: -0.006681 deg/s, cmd heading: 171.654880 deg, new cmd heading: 171.646253 deg. 5=HeadingCmd: 2.995792 target range: 40.609898 and range: 40.90 m.b=?@Z9r9j9R9JABA~A~EzB}I|I|I|I|M @Թ E\zBMċIu<)u,ByI}j,d <HѼ>HHIH$zBH =HH,DH<HEDAT read: 14:17:43.0829 LVL= 23536, 26705, 18466, 26307, AGC= 65, IDX= 415, 0.33, 2.165, 0.765, 2.396, 1.719, PHS= 0.534,-0.906, 0.674, RAW= 154.6, -4.0, CAL= 158.6, -12.3, ROT= 351.4, 12.3 Ygot valid direction response: 14:17:43.0829 LVL= 23536, 26705, 18466, 26307, AGC= 65, IDX= 415, 0.33, 2.165, 0.765, 2.396, 1.719, PHS= 0.534,-0.906, 0.674, RAW= 154.6, -4.0, CAL= 158.6, -12.3, ROT= 351.4, 12.3 PDAT read: Bearing 351.4, 12.3 (Local) ~Local bearing/azimuth received: Bearing 351.4, 12.3 (Local) DAT read: Range 10 to 50 : 38.8 m (Round-trip 51.8 ms) speed 0.5 m/s ,DAT read: user:2029> BDAT read: Tx time:14:17:44.1769 $Ping request sent. 9)9=X'3G?Vw\*?,%i=o?===t=[> 9)9:publishing transmit ping timeFpublishing direction and range info9y=9o?u¿AzUmD˿9Y9 9)9I9i99999 9)9I9%?@-&<-dq=i-?@i)zEIi999 9)9=X'3G?Vw\*?,%i9999 9)9EEEEEFF 6G s=~G A  JDAT read: TxSync time:14:17:44.1761 A N >9 2op,5JiA9V]a4@VtB@YVyV,{=VH 䎷? ?G?Ʀ??@C?? ? V]a4@Vև;)VCnyBrIIvIvM3%W> %S=y%Q %>٥)) -H-F-5; U>Y]_5];Ԝ?e_59]z I]8Byae ;@e@]UEi]:]:]\_59AȫEZabe9iAeBeBe9@ʁeDޛB@bTU;Tj e9o?u¿AzUmD˿ete[>ҁe-1B2o!@q*eaÀf?=xzeAeYje"iȜ?rePD edBaa ae BeV:@e addTargetRange:: Added new target pos. range: 38.799999 m, deltaT: 3.529738 s, deltaX: -2.100002 m, approachRate: -0.594946 m/s, rangeRepo size: 4  Added new target pos. range: 38.525288 m, bearing: 166.382420 deg, lat: 36.906428 deg, lon: -122.115980 deg, deltaT: 3.529738 s, deltaX: -2.084610 m, approachRate: -0.590585 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.53 m. ProNav: ac range: 38.525288 m, nav range: 38.009472 m, bearing: 167.034599 deg, approach rate: 0.000000 m/s, LOS rate: -0.006681 deg/s, cmd heading: 171.646247 deg, new cmd heading: 171.637930 deg. HeadingCmd: 2.995647 target range: 38.525288 and range: 38.80 m.b?@ZrjRJB~~}|||`ffC@|? ^zB靕:eI)fId *<?@ <$}v=i?@iEEEE`0E9a K /P"K 9*K 2K ,:K {(>T&7up.muF,PrwB#HHI2loT@ 76G q=~G A A! N= >p, diA9:e4@:yB@Y:@y:caz=:HnZ渿@;ӷ? E5?@?``?(?`f? :e4@:؆;):CFyBFI J=Ja=LNAAIN#IN%x3V~< VR=yZ6Q Z>٥)) -H-F5>-: 5>9E_5=Ԝ?E_59=y I=BByAE$;@M@=UEi=:=:={`_5QU9AQ|mmAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}u}Entering USBL mode with 120.000000 count pings at 38.799999 m (mode 2.000000 count ).1}}q}}B*** querying acoustic contact ***JRDNOT Ignoring new targets: 38.53 m. ProNav: ac range: 38.525288 m, nav range: 37.771893 m, bearing: 167.031420 deg, approach rate: -0.627920 m/s, LOS rate: -0.008455 deg/s, cmd heading: 171.637927 deg, new cmd heading: 171.628330 deg. HeadingCmd: 2.995479 target range: 38.525288 and range: 38.80 m.b?@ZrjRJB~~}||||u~? azBHGI!)% !I%e !!%o<-?@5U&<5iw=i5?@i1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qEEEE0E:JBJJJARJZJbJJ4Jԑ6G-'@s=~GAA N > H ϼ>H CH IH azBH  =H H H H E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987883p,}iA9Bv4@B֢B@YByBm=BH`VT??`?@@I?/?{ٰ?@? Bv4@B+;)BC\byBfIeMb@Mb@Mb@aaa a)aYe9v? rhMbpye?aee A ehA)ev@Ie AayeAI}(I}̍3 |< ==yIQ >٥ H9; >_5Ԝ?_59?x IKBy?:7;@@UEi::d_5 B9A˫E:^@q}}uDNOT Ignoring new targets: 38.53 m.q}(%}(% ProNav: ac range: 38.525288 m, nav range: 37.528492 m, bearing: 167.027695 deg, approach rate: -0.585878 m/s, LOS rate: -0.009024 deg/s, cmd heading: 171.628324 deg, new cmd heading: 171.617077 deg. 0ƹHeadingCmd: 2.995283 target range: 38.525288 and range: 38.80 m.b?@ZrjRJB~~zB}||||B? dzB)I!)% !I%e !!%<]?@],<]=i]?@iachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239878>Eu<E) E) E) E- _0E) A 6GM x=] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492456jGe ?bGe >y ~GAAN>p,'iA9>4@>B@Y>לy>Gz=>H&l`J? ĸ?T??@G9? ? >4@>;)>CJyBJIIZIZ(*3b= b0=ybQ b>٥dd fHfFf; j>lr_5nSԜ?r_59nv InUBytvi;@v@nUEin:nW:n,h_5xz9A~ΫEB}}K5P"K59*K12K5-:K5qD%ZrxD*x* *w?dbF^w~n,I;6U6ԩDNOT Ignoring new targets: 38.53 m.PP5 ProNav: ac range: 38.525288 m, nav range: 37.257465 m, bearing: 167.022224 deg, approach rate: -0.561565 m/s, LOS rate: -0.011418 deg/s, cmd heading: 171.617082 deg, new cmd heading: 171.600549 deg. 5mHeadingCmd: 2.994995 target range: 38.525288 and range: 38.80 m.bm?@ZirqjqRqJyBy~~}||||r? hzB靝nI)VнIe ]ک<?@<=i?@iD p=D =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743900:J=[BJ=RJJ=FRJ9ZJ=:bJ=S29J=4J9>E}U<E= E9 E9 E9 EA 1 H] Ƽ>H] CH] IH] zBH]  =HY H] +DH] <H] EH͕CH͕CH͓CH =I = If5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9991326GeI@=i~G9AIAaNu?٫p,+iA9E4@B@Yjy}^=H~%Tշ?N?uL?@??? E4@Q?;)C] zBeI)q qAUMb@Mb@Mb@QQQ Q)QYUtV?L7A`尿y&1|yU?U+U`Q UQA)U`@IU AQyUQAIm!Imi3<  =y|:Q >٥ HF#G; >_5 Ԝ?_59t IbBy?:;@@UEiE:M:am_58AJ}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL)-DNOT Ignoring new targets: 38.53 m.)5'5'E ProNav: ac range: 38.525288 m, nav range: 36.914494 m, bearing: 167.013218 deg, approach rate: -0.586194 m/s, LOS rate: -0.015535 deg/s, cmd heading: 171.600553 deg, new cmd heading: 171.573285 deg. E*MHeadingCmd: 2.994519 target range: 38.525288 and range: 38.80 m.bM2?@ZQrQjQRQJQBQ~Y~]zB}Y|Y|a|a|e@@ lzB&~I)FŽI ff <52?@5{<5o=i52?@Ii1DQDQDUDUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248869yE E E E @5E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5030566GU{=~GIAQAiNq$p,iA9>4@>B@Y>VHy>.\=>Hӷ?@ݰ? t B?@x?v?? >4@> ;)٥pp vHvFUd U>KmC:P"Km@9*Ki2Km.:Km 6YHIP2)vEb|<f1fKld50 1@idI`JAJA_5~Ԝ?_59rs IkBy;@@UEi;;Bq_5Br8AѫEq}DNOT Ignoring new targets: 38.53 m.y}}}ԡ ProNav: ac range: 38.525288 m, nav range: 36.659065 m, bearing: 167.007006 deg, approach rate: -0.566315 m/s, LOS rate: -0.013869 deg/s, cmd heading: 171.573286 deg, new cmd heading: 171.554521 deg. IHeadingCmd: 2.994191 target range: 38.525288 and range: 38.80 m.bԠ?@ZrjRJB~~}||||@_@ pzB靅zI)I>f I<%Ԡ?@%EW<%(=i%Ԡ?@i)EEEE_0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753033IIJK4JK4JK0:JZBJTJJDRJZJ9bJ:9J4J 6G B=~Gq A A N >) Kp,iAH^Ҽ>H\H^EIH^zBH^ =H\H^,DH^<H^"E55zB=I]BDAT read: Rx Time:14:17:46.6300 ]TRx dataTimestamp_ set to:1749133067.915350echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004935Mb@Mb@Mb@ )Y|?5^?Q{Gzty?uףA A)X@IAy(AII<2I= -=yQ >٥ HF >  _5 hԜ?_59 r I uBy?:6<@@ UEi : : )u_5!%%8A-ԫEUB*** querying acoustic contact ***JQRUxaDNOT Ignoring new targets: 38.53 m.d߹d߹ ProNav: ac range: 38.525288 m, nav range: 36.402260 m, bearing: 166.996503 deg, approach rate: -0.592708 m/s, LOS rate: -0.024413 deg/s, cmd heading: 171.554517 deg, new cmd heading: 171.522785 deg. HeadingCmd: 2.993637 target range: 38.525288 and range: 38.80 m.b?@ZrjRJB~~ {B}!|!|!|)|-`4@ tzB靭wI)$|If E<?@B<2=i?@i9EEEEE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255761a 6G {=~Gq A A N 3p,AiAI )"@9>K4@>B@Y>ͯy>T2p=>HwJ?V?`???`? >K4@>!dž;) BDAT read: Tx time:14:17:47.7269 $Ping request sent. q)qu*?Uw]?$Jiur?uY=u5u5z> q)qE:publishing transmit ping timeEFpublishing direction and range infoqyu )j?monE79KοqYq q)qIqiqqqqq q)qIqiqqq q)qu*?Uw]?$Jiqqqq q)qԑKEnP"K9*K2K/:KH%P9 Fh'I\,$)cIpl6Ge b=jGm ?bGm > ~G9 AY Ai Nu >% JDAT read: TxSync time:14:17:47.7261 VZp,Ql+iA964@6B@Y6Ny66w=6H6mG?ܬ?z?@o|? [خ?)? 64@6.;)6CLrFzBrII-I-(*3U= A=ỷ;Q >IC=I=٥ HFD %>a_5eoCԜ?_59eo IeBy;@%@eUEieҁƕAaa@dzT{,ymƈ?t]ſz @ j MȜ?rD( aB"iȜ?  N`BꁭB:@ addTargetRange:: Added new target pos. range: 36.700001 m, deltaT: 3.528676 s, deltaX: -2.099998 m, approachRate: -0.595124 m/s, rangeRepo size: 4  Added new target pos. range: 36.440235 m, bearing: 168.203291 deg, lat: 36.906428 deg, lon: -122.115983 deg, deltaT: 3.528676 s, deltaX: -2.085052 m, approachRate: -0.590888 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.44 m.  ProNav: ac range: 36.440235 m, nav range: 35.939091 m, bearing: 167.391926 deg, approach rate: 0.000000 m/s, LOS rate: -0.020877 deg/s, cmd heading: 171.501146 deg, new cmd heading: 171.469806 deg.  HeadingCmd: 2.992713 target range: 36.440235 and range: 36.70 m.b?@ZrjRJB~~}|A|A|EYB@|E? |zB靝TtI)x[IMg <?@a<=i?@iH޼>HCHXIHzBH =HH-DH2<HVEE]EYEYEYEY ؍=׍*p,GiA9>a4@>XuB@Y>ny>n{=>H;|?F? cݪ?G? L? F? >a4@>;)>CNIzBNIMb@Mb@Mb@ )Y> ףp=?&1٥ H >_50Ԝ?_59n IBy?:<@@UEi::_57ADNOT Ignoring new targets: 36.44 m.% % 5 ProNav: ac range: 36.440235 m, nav range: 35.704453 m, bearing: 167.381149 deg, approach rate: -0.670349 m/s, LOS rate: -0.030992 deg/s, cmd heading: 171.469809 deg, new cmd heading: 171.437265 deg. 5(=HeadingCmd: 2.992145 target range: 36.440235 and range: 36.70 m.b=M?@ZArAjARAJABA~I~MzB}I|I|Q|Q|U`ft? zB靍OxI)ZIqrg p<M?@<=iM?@iQ:J[BJQJJERJZJ:bJ-.9J4JzJ:jJ:J4:rJ4:%EEEEo0Eԁ6Gt=~G A Թ A N >p,`iA(i*٥ HF >_5jԜ?_59\m IBy<@@UEi;;_57AثEDNOT Ignoring new targets: 36.44 m.޹޹ ProNav: ac range: 36.440235 m, nav range: 35.479576 m, bearing: 167.371685 deg, approach rate: -0.574277 m/s, LOS rate: -0.024321 deg/s, cmd heading: 171.437270 deg, new cmd heading: 171.408700 deg. HeadingCmd: 2.991646 target range: 36.440235 and range: 36.70 m.b"w?@ZrjRJB~~}||||{? 5zB5D&wI9)=h[9I=bg 99=ޤ) G G H >H H eIH {BH  =H H H <H E{p,uziA|9=A 4@=B@Y=㥽y=)==H``ۺ巵?@?@턠?@??/? =A 4@=9u;)=CMbzBMI%Mb@Mb@Mb@!!! !)!Y%M?{Gz٥QY ]H]Fem e>iu_5mԜ?}_59m4l ImBy}?}:}=@}@mUEim:m{:mن_5Be7A۫EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 36.44 m.z6z6 ProNav: ac range: 36.440235 m, nav range: 35.231686 m, bearing: 167.354486 deg, approach rate: -0.570826 m/s, LOS rate: -0.039883 deg/s, cmd heading: 171.408706 deg, new cmd heading: 171.356746 deg. ںHeadingCmd: 2.990739 target range: 36.440235 and range: 36.70 m.bFh?@ZrjRJB~~zB}||||u? -zB-1rI))-1I5(g 115><=Fh?@= <=0w=i=Fh?@iA)EEEE0EQET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.6Gx}=~G A A N >:J% ]BJ% RJJ% ?RJ! ZJ% ]:bJ% S29J% ـ4J! zJ% :jJ% :J% ;:rJ% <:ԁ Vp,^iA9:3@:LA@Y::~y:CF4=:H``j??`ɡ?SJ? t?R? :3@:y;):CFRzBFIININF3V6 Vi=yV;Q Z>٥\\  H  Me  >_5Ӝ?_598k IBy!%]=@%@UEiQ;;_5)-7A)aiuDNOT Ignoring new targets: 36.44 m.qu|"}|" ProNav: ac range: 36.440235 m, nav range: 35.026447 m, bearing: 167.341732 deg, approach rate: -0.568157 m/s, LOS rate: -0.035514 deg/s, cmd heading: 171.356742 deg, new cmd heading: 171.318255 deg. ºHeadingCmd: 2.990068 target range: 36.440235 and range: 36.70 m.bE]?@ZrjRJB~~}|||| 6? zB,yI)jI^g Σ<E]?@<qg=iE]?@iEQEYEYE]5EY ؕ?וz?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971316ԉKu`GP"Ku@9*Kq2Ku1:KuqnAkju_8j}  :C!R fAW,6G}vpx=Ա~GiAyAN> E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222933p,d;iA9^C3@^~VA@Y^y^A=^Hrڽ)?v?F?`Q޳?(?#?IpIrp= ^C3@^;)^C-XzB-I M=M=ԹI5 I5V2*Z< .=yc;Q >٥ HFx >!U_5%~Ӝ?U_59%i I%ByQU<@U@%UEi%!;%X;%_5Ye7AeޫEDNOT Ignoring new targets: 36.44 m.LL ProNav: ac range: 36.440235 m, nav range: 34.756847 m, bearing: 167.327890 deg, approach rate: -0.558850 m/s, LOS rate: -0.028916 deg/s, cmd heading: 171.318261 deg, new cmd heading: 171.276412 deg. HeadingCmd: 2.989337 target range: 36.440235 and range: 36.70 m.bNQ?@ZrjRJB~~}|| | | w@ EzBEvIA)MbIIMW$h IIMAHHkIH{BHHHH<HEEEEE1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4754396G }xd=~G9 A AY Ai Nu >Qp,PiA9J2@J@@YJl՜yJ I=JH?`N?@? ƕ?- ?@'? J2@J;)JCVfzBVI=Mb@Mb@Mb@999 9)9Y=Cl?V-Qy=?==u=3A 9)=@I=EA9y=AIUIU2e= eb=ye.L;Q e>٥ii mHmFu u>_5Ӝ?_59h IBy?:=@@UEic;=R;+_5O7A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729369DNOT Ignoring new targets: 36.44 m.>> ProNav: ac range: 36.440235 m, nav range: 34.559422 m, bearing: 167.313860 deg, approach rate: -0.582793 m/s, LOS rate: -0.041653 deg/s, cmd heading: 171.276419 deg, new cmd heading: 171.234088 deg. HeadingCmd: 2.988599 target range: 36.440235 and range: 36.70 m.b3E?@ZrjRJB~~zB}||||%@u@ zB靵ypuI)6IGh ע<3E?@O<;=i3E?@i:J\BJNJJARJZJ=:bJ!9J4JzJ:jJ:JT:rJV:E)E)E)E55E1Q6G R=~GAANj>i BDAT read: Rx Time:14:17:50.1775  TRx dataTimestamp_ set to:1749133071.444186 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980785ԙ p,iA9Nt2@N@@YNଚyNK L=NH1`7д?9?[ $?P?@k?? Nt2@NS߈;)NCVozBVII^I^2f< fT=yjH3;Q j>٥pp rHpvL[ v>x~_5z%Ӝ?~_59zg IzBy|~Q=@~@zUEizQ;z;z_5 B (7A EKP"K9*K2K2:Kq <#BEfZ=lU`$a t[@_<o'*$s?')(@''MYJJDNOT Ignoring new targets: 36.44 m.% ProNav: ac range: 36.440235 m, nav range: 34.342800 m, bearing: 167.300146 deg, approach rate: -0.547350 m/s, LOS rate: -0.034870 deg/s, cmd heading: 171.234086 deg, new cmd heading: 171.192685 deg. %r-HeadingCmd: 2.987876 target range: 36.440235 and range: 36.70 m.b-\9?@Z)r)j)R)J1B1~1~1}9|9|9|9|=v @q zBQsI)t Ifh r<\9?@<.=i\9?@iEEEE4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.232699ԙ6G- JR=~GY Ai Ay N > H H <H >H H qIH "{BH H H H <H EHe˗CHe˗CHaHe =Ie = Ie˨4 Cp,iA:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484887XiZ<9A2@FU@@Y񣚽y@R=H̜U?Z?@}ޤ?O?H?@? A2@J[;)-qzB-IMb@Mb@Mb@ )Y> ףp=?٥11 5H5F5ӻ 5>9U_5=fӜ?U_59=f I=ByU?]:]g?@]@=UEi=Pa;=yH;=_5ae7AeEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 36.44 m.BB ProNav: ac range: 36.440235 m, nav range: 34.070473 m, bearing: 167.267690 deg, approach rate: -0.579508 m/s, LOS rate: -0.069617 deg/s, cmd heading: 171.192681 deg, new cmd heading: 171.094536 deg. ?HeadingCmd: 2.986163 target range: 36.440235 and range: 36.70 m.bK?@ZrjRJB~~RzB}||||I @ zB#sI ) ( I yh  <K?@ <I,=iK?@izEE=E9E9E=5E9FAFA6G0=~GAEDAT read: 14:17:50.1775 LVL= 20320, 24625, 18338, 29587, AGC= 62, IDX= 407, 0.31,-1.316,-2.713,-1.203,-1.850, PHS= 0.622,-0.816, 0.644, RAW= 150.8, -6.3, CAL= 155.9, -14.5, ROT= 354.1, 14.5 UYgot valid direction response: 14:17:50.1775 LVL= 20320, 24625, 18338, 29587, AGC= 62, IDX= 407, 0.31,-1.316,-2.713,-1.203,-1.850, PHS= 0.622,-0.816, 0.644, RAW= 150.8, -6.3, CAL= 155.9, -14.5, ROT= 354.1, 14.5 ]PDAT read: Bearing 354.1, 14.5 (Local) e~Local bearing/azimuth received: Bearing 354.1, 14.5 (Local) uDAT read: Range 10 to 50 : 34.8 m (Round-trip 46.4 ms) speed 0.6 m/s },DAT read: user:2031> BDAT read: Tx time:14:17:51.2769 $Ping request sent.JDAT read: TxSync time:14:17:51.2761 R#Rx 1: Read range and direction messages.`direction in FSK: [0.963019,-0.099518,-0.250380]:publishing transmit ping timeځFpublishing direction and range infoymc ?}dz=9п3 BY `O)1`IGis>d;?`P/$? q(@)z0IX$.@iJ@> )s#U?{>C? 3i=h ?=)ҽ> ):publishing transmit ping timeځFpublishing direction and range infoymc ?}dz=9пY )Ii )Ii )s#U?{>C? 3i ) checking for new query: numPingsReceived=1, elapsed TxPingTime=0.018637! :J BJ PJJ BRJ ZJ bJ *9J -4J zJ jJ J -:rJ -:Q ,q,iA9>N'2@>:@@Y>ly>SU=>H@Y@oɴ?\?~"?(?C?`? >N'2@>C/;) z?|_5~Ӝ?_59~f I~By  M?@ @~UEi~l:~:~_5=37A9ZAbE iAE8 BE8 BE:@ʁEǮ3No@@5RG NM!Emc ?}dz=9пE)ҽE>ҁE@m/>@8r@!7Ekؖͩ|$k1?JYǿzE@EqjEU!Ȝ?rE1 E4aBEsȜ?A E4aBEBE:@ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 3.778016 s, deltaX: -1.900002 m, approachRate: -0.502910 m/s, rangeRepo size: 4  Added new target pos. range: 34.554695 m, bearing: 167.054190 deg, lat: 36.906428 deg, lon: -122.115983 deg, deltaT: 3.778016 s, deltaX: -1.885540 m, approachRate: -0.499082 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.55 m.  = ProNav: ac range: 34.554695 m, nav range: 33.893677 m, bearing: 167.249699 deg, approach rate: 0.000000 m/s, LOS rate: -0.069617 deg/s, cmd heading: 171.094531 deg, new cmd heading: 171.022489 deg. 9EHeadingCmd: 2.984905 target range: 34.554695 and range: 34.80 m.bE?@ZArAjARIJIBI~Q~Q}Q|Y|Y|]`ffA@|]G?) 5zB5GqwI1)5H1I=h 99=% checking for new query: numPingsReceived=1, elapsed TxPingTime=0.489730U q,;/iA,9:#2@:s6@@Y:Uy:Z8b=:H}`!?f?*|?e?.?@? :#2@:);)8bzBbII "I q3}@= 3=y:Q >٥ H >!M_5%@Ӝ?U_59%d I%ƍByQUJ?@U@%VEi%;%>;%_5Y]6AeEԉ DNOT Ignoring new targets: 34.55 m.㚺㚺5 ProNav: ac range: 34.554695 m, nav range: 33.624454 m, bearing: 167.217605 deg, approach rate: -0.563472 m/s, LOS rate: -0.067708 deg/s, cmd heading: 171.022486 deg, new cmd heading: 170.925436 deg. 59=HeadingCmd: 2.983212 target range: 34.554695 and range: 34.80 m.b=>@Z9r9j9RAJB~~}||||9? zBpI)pIh <>@_<%;1=i>@i!HQHQHUwIHU-{BHQHQHQHU<HU;q,]IiA9>2@>2@@Y>y>iQm=>Hҙ f??@@$??@?O? >2@>B;)٥ HFs >_5pӜ?_593d I͍By?:checking for new query: numPingsReceived=1, elapsed TxPingTime=0.993670?@@VEi>;;_56A)-DNOT Ignoring new targets: 34.55 m.1==M ProNav: ac range: 34.554695 m, nav range: 33.416584 m, bearing: 167.190068 deg, approach rate: -0.606585 m/s, LOS rate: -0.080857 deg/s, cmd heading: 170.925429 deg, new cmd heading: 170.842303 deg. M]UHeadingCmd: 2.981761 target range: 34.554695 and range: 34.80 m.bU+>@ZQrQjYRYJYBY~Y~eSzB}a|i|y|y|}s? %zB%nI))-)Iuh qquܯ<}+>@}I<]~5=i+>@ibEZE}AEeEaEaEaEa checking for new query: numPingsReceived=1, elapsed TxPingTime=1.2465746G {/=A ~G A A N >eq,&8ciA9:1@:?@@Y:y:v=:H`L?@T?? ϳ?? ? :1@:;):CFzBF%IININ(*3Vh= V\=yZo$Q Z>٥XX ^H\b b>dj_5f^Ӝ?n_59f\c IfӍByln?@n@f VEif&;f;f$_5vBvA6AvEDNOT Ignoring new targets: 34.55 m.%$%$5 ProNav: ac range: 34.554695 m, nav range: 33.201260 m, bearing: 167.161909 deg, approach rate: -0.584992 m/s, LOS rate: -0.076998 deg/s, cmd heading: 170.842306 deg, new cmd heading: 170.757281 deg. 5_S=HeadingCmd: 2.980277 target range: 34.554695 and range: 34.80 m.b=ۼ>@Z9r9jARAJIBQ~Q~Q}Q||||@?KR1P"K*K2K4:K7td7.pqPC %GB@|)F6%LJ%AJ! MzBMhII)Mx9IIUh Qqu-<}ۼ>@}<}s2=i}ۼ>@iEEEE`0EIchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.497772:JbBJXJJRJZJ:bJ5K9JJ@@@@y6G4=~G! AY A N >Ա GA GE AAHI HI HM IHM K{BHM  =HI HI HM <HM ,EOq,w}iA&checking for new query: numPingsReceived=1, elapsed TxPingTime=1.7500779JH1@J?@YJ5yJe{=JH`!@Ħ@?:?6 ?š?`gY?u? JH1@J5;)JCZzBZ-IEMb@Mb@Mb@AAA A)AYEQ?:v{GzyE?ETE#EzA E@)AIEAAyE @IYIYmF< m?=ym:Q u>٥qq uHuFyѻ > _5ZIӜ? _59>b IۍBy ? : >@ @VEi:w:_5AE6AMEDNOT Ignoring new targets: 34.55 m. ProNav: ac range: 34.554695 m, nav range: 32.942905 m, bearing: 167.135104 deg, approach rate: -0.571022 m/s, LOS rate: -0.059711 deg/s, cmd heading: 170.757284 deg, new cmd heading: 170.676237 deg. #HeadingCmd: 2.978862 target range: 34.554695 and range: 34.80 m.b>@Zrj R J1B9~9~=`zB}A|A|A|A|E ?)t> 5ևGMAY rYAy{Bԩ zB靭EPfI)@<Ih @M0@iQEqEqEyE}_0EyFFchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.001940 6Gy ZG RG ~Gq A A N >%q,iA9>M1@>?@Y>3[y>||=>H`@q? v? `? f?`.|?? >M1@>w;)٥pp vHvFU U>Ye_5]D6Ӝ?e_59]>a I]Byimk>@m@]VEi];];]r_5y~5AԙB*** querying acoustic contact ***JR DNOT Ignoring new targets: 34.55 m.E ProNav: ac range: 34.554695 m, nav range: 32.713615 m, bearing: 167.111693 deg, approach rate: -0.577153 m/s, LOS rate: -0.059339 deg/s, cmd heading: 170.676237 deg, new cmd heading: 170.605514 deg. M"]HeadingCmd: 2.977628 target range: 34.554695 and range: 34.80 m.b]u>@ZYrYjYRaJaBi~y checking for new query: numPingsReceived=1, elapsed TxPingTime=2.253789~}!|!|!|)|- a-@ uzB}T\Iy)},=Iұh <u>@i<,=iu>@irEe>jE>EYEYEYE]o0EYK%jgP"K%s9*K!2K%5:K%y=f%&BB4,|$nyA-rf9:4DA~6G s*= checking for new query: numPingsReceived=1, elapsed TxPingTime=2.506017 ~G) A9 AI N] >m+q,9_iAI.R=I,:J2\BJ2OJJ2CRJ0ZJ2=:bJ2%9J24J09Jғ1@J2?@YJܚyJԘ~=JHz¿\l?`D?@aΩ? V??? Jғ1@Ji;)JCjzBjPIIrIrF3W= H=y :Q  >٥ H-t >_5!Ӝ?_59*` IBy)ML>@U@VEiO<2<_5B"5AEyDNOT Ignoring new targets: 34.55 m.zz ProNav: ac range: 34.554695 m, nav range: 32.469898 m, bearing: 167.087246 deg, approach rate: -0.540904 m/s, LOS rate: -0.054665 deg/s, cmd heading: 170.605517 deg, new cmd heading: 170.531625 deg. HeadingCmd: 2.976338 target range: 34.554695 and range: 34.80 m.bT|>@ZrjRJB~~}||||Н@ uzBu&WIq)u{=yI}yh yHHHIHj{BH =HHH<HEU<T|>@2<|*=iT|>@i5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.760185EEEE`0EI6G -=q ~G A A N >2q,3iA5 {B5dI}BDAT read: Rx Time:14:17:53.7249 TRx dataTimestamp_ set to:1749133075.223412checking for new query: numPingsReceived=1, elapsed TxPingTime=3.010741QMb@Mb@Mb@ )Y`"?~jtMb`y?ļ @)@IzAy@II3!= 0=yQ >٥ HF >_5e Ӝ?_59^ IBy?:=@@VEi::_54AE9EDNOT Ignoring new targets: 34.55 m.AMMMM] ProNav: ac range: 34.554695 m, nav range: 32.209339 m, bearing: 167.069580 deg, approach rate: -0.658669 m/s, LOS rate: -0.045020 deg/s, cmd heading: 170.531628 deg, new cmd heading: 170.478200 deg. ]-eHeadingCmd: 2.975406 target range: 34.554695 and range: 34.80 m.be m>@ZarijiRiJqBq~q~u}zB}y|y|y|y|}@Z@ -zB-MI))-=)I5m/h 115<= m>@=<=.=i= m>@iaԁEEEE0EF=F=ԩU checking for new query: numPingsReceived=1, elapsed TxPingTime=3.2662316G s*=~G A AA Ne > 98q,iA9>j1@>}?@Y>(1y>&}=>H`r¿=?`?ක+?!?k?s? >j1@>L;)>CR{BRnITVBAIZIZ(*3b@ZQrQjQRQJQBQ~Y~Y}Y|a|a|a|e`We @ zBJFI)=I&g < b>@<H5'=i b>@izEK5 P"K59*K12K56:K5f9 dWxMDy)zv1r1w7 ~#U=aԱEEEEp5EDAT read: 14:17:53.7249 LVL= 20944, 22417, 19010, 28819, AGC= 64, IDX= 412,-0.22, 1.251,-0.190, 1.383, 0.707, PHS= 0.632,-0.850, 0.673, RAW= 151.4, -6.1, CAL= 156.4, -14.3, ROT= 353.6, 14.3 Ygot valid direction response: 14:17:53.7249 LVL= 20944, 22417, 19010, 28819, AGC= 64, IDX= 412,-0.22, 1.251,-0.190, 1.383, 0.707, PHS= 0.632,-0.850, 0.673, RAW= 151.4, -6.1, CAL= 156.4, -14.3, ROT= 353.6, 14.3 PDAT read: Bearing 353.6, 14.3 (Local) ~Local bearing/azimuth received: Bearing 353.6, 14.3 (Local) DAT read: Range 10 to 50 : 32.7 m (Round-trip 43.7 ms) speed 0.5 m/s ,DAT read: user:2032> BDAT read: Tx time:14:17:54.8270 $Ping request sent. ݑ)ݑݕM+?(A?Sg->iݕ ?ݕ`=ݕiݕr> ޑ)ޑU:publishing transmit ping timeUFpublishing direction and range infoڑyڕh1?ݦ⩝ϿڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑIܑiܑܑܑ ݑ)ݑݕM+?(A?Sg->iݑݑݑݑ ޑ)ޑchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.029196IyI}AA:J]BJUJJRJZJ]:bJ>9JJ6G/=~GA AY N >H ͼ>H CH IH {BH  =H H ,DH <H %EE checking for new query: numPingsReceived=2, elapsed TxPingTime=0.236840A >q,eiA9>`1@>Qt?@Y>җy>m=>H¿@+? )? zU?? j?? >`1@>چ;)>Cv7{Bv~IMb@Mb@Mb@ )YA`"?L7A`堿y?+A )v@Iy@II#3X= *=yH:Q >٥!! %H%F% ->Ym_5]Ҝ?u_59]W\ I]ByuR?u:u;@u@]!VEi]M;]4;]_5}B}3AEZb>iABBu\9@ʁ{\G7D?@x <d h1?ݦ⩝Ͽir>ҁX{%>x1N@^&_|*vA2?P*%ǿz.@joȜ?r6 cBU!Ȝ?1  aBkA\:@E addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 3.528840 s, deltaX: -2.099998 m, approachRate: -0.595096 m/s, rangeRepo size: 4  Added new target pos. range: 32.468559 m, bearing: 165.943937 deg, lat: 36.906427 deg, lon: -122.115981 deg, deltaT: 3.528840 s, deltaX: -2.086136 m, approachRate: -0.591168 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.47 m. ProNav: ac range: 32.468559 m, nav range: 31.802393 m, bearing: 166.837630 deg, approach rate: 0.000000 m/s, LOS rate: -0.038248 deg/s, cmd heading: 170.439707 deg, new cmd heading: 170.381840 deg. HeadingCmd: 2.973724 target range: 32.468559 and range: 32.70 m.bQ>@ZrjRJB~ ~ uzB} | | |Y@@|C? zB靅 GI)=>IXg =<Q>@h<W*=iQ>@i9E1E9E9E=1E9checking for new query: numPingsReceived=2, elapsed TxPingTime=0.488744i 6G% (=ZG) RG- A~GQ Aa Aq N >WFq,+iA9Nk1@N~?@YN,yN_=NH@3¿?? Q? " ??? Nk1@Nچ;)NCZV{BZII^I^M3j= js=yjxQ n?٥tx ~H| :  ? _5 yҜ?_59 D[ I  By;@@ $VEi : : _5)-s3A)MB*** querying acoustic contact ***JIRIQ]DNOT Ignoring new targets: 32.47 m.Y]]u ProNav: ac range: 32.468559 m, nav range: 31.601833 m, bearing: 166.828511 deg, approach rate: -0.634883 m/s, LOS rate: -0.029048 deg/s, cmd heading: 170.381842 deg, new cmd heading: 170.354313 deg. }|HeadingCmd: 2.973244 target range: 32.468559 and range: 32.70 m.bI>@ZrjRJB~~}||||? zBi1I)\">I4f <I>@}<]d.=i]I>@iachecking for new query: numPingsReceived=2, elapsed TxPingTime=0.740689AEEEE3Ea6G=WK*=KuzO"Ku9*Kq2Ku7:Ku7'B>n_# 4 h8,5` _t!#9SV~G A) AA N] >ԑ } checking for new query: numPingsReceived=2, elapsed TxPingTime=0.994277Lq, 2iA:JZBJbJJDRJZJ9bJt9J4J@9-J21@-E?@Y-eܔy-;=-Hÿ#? s?@? [?`_?@? -J21@-%;)-CM{BMI)i iIIF3UK= ]:=ym;Q >٥ HF >U_5pҜ?]_59Y IByam;@@)VEi^<]<$_5ԩ2AE!H5̼>H5CH5IH5{BH5 =H1H1H5#<H5/EHHÖCHÔCHI = Id6UDNOT Ignoring new targets: 32.47 m.QUϹUϹe ProNav: ac range: 32.468559 m, nav range: 31.322502 m, bearing: 166.817415 deg, approach rate: -0.566642 m/s, LOS rate: -0.022711 deg/s, cmd heading: 170.354316 deg, new cmd heading: 170.320730 deg. m`ymHeadingCmd: 2.972657 target range: 32.468559 and range: 32.70 m.bu@>@ZqrqjqRqJqBq~y~y}||||Mr? zB靽1I)dP>I"f [<@>@%<@"=i@>@ibEZEchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.245305E]EYEaEe]5Ea 6GE {/=~G! A1 AA NM >Sq,LiAt9~1@~?@Y~Ӑy~ Z=~H Xÿ?>?@;O? ?,? ? ~1@~);)~CEchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.496395E{BMIMb@Mb@Mb@ )YK?٥ H%& %>)5_5-Ҝ?5_59-zX I-By=?=:=E;@=@-,VEi-$;-#;-g_5EBEz2AMEDNOT Ignoring new targets: 32.47 m.%%U ProNav: ac range: 32.468559 m, nav range: 31.097492 m, bearing: 166.811355 deg, approach rate: -0.608696 m/s, LOS rate: -0.016511 deg/s, cmd heading: 170.320725 deg, new cmd heading: 170.302415 deg. UM5eHeadingCmd: 2.972338 target range: 32.468559 and range: 32.70 m.be:>@ZirijiRiJB~~zB}||||?  EzBml'Ii)m[>qIuse qqu<}:>@}<},=i}:>@iE}EyEyE}W4EyIchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.749376ԉ 6G C`#=jG ?bG ?~G A A N >0Yq,fiA9Ja0@J?@YJyJuz=JH iÿ@³?$?ő{?ڏ?C?`? Ja0@J>;)JCV{BVIIbIbV83j= ja=yn;Q n>٥ll rHrFr> r>tz_5vҜ?z_59v=W Iv$Byx~4;@~@v0VEiv;v;v_51A )YDNOT Ignoring new targets: 32.47 m. ProNav: ac range: 32.468559 m, nav range: 30.878498 m, bearing: 166.805793 deg, approach rate: -0.641376 m/s, LOS rate: -0.016406 deg/s, cmd heading: 170.302420 deg, new cmd heading: 170.285615 deg. &4HeadingCmd: 2.972045 target range: 32.468559 and range: 32.70 m.b5>@Zr)j)R1J1BY~Y~a}a|a|a|a|m >?KuejP"Ku9*Kq2Ku8:Kua}^52{+%V=@r; 1r PAwvAsz0 zBI)h>Id 1<5>@+<?=i5>@i]checking for new query: numPingsReceived=2, elapsed TxPingTime=2.001827ԉEeEaEaEe_0Ea6Gee=:J5[BJ5ZJJ5FRJ1ZJ5:bJ5S9J54J1~GԹAAN>HE ϼ>HA HE IHE 5|BHA HA HA HE <HE E  checking for new query: numPingsReceived=2, elapsed TxPingTime=2.252528`q,shiA9Z0@ZG ?@YZ~ӉyZ޳=ZH@!ZÿK??@X?7? ɰ?`? Z0@Z-Ň;)Xb{BbIifC>If=UMb@Mb@Mb@QQQ Q)QYU`"?S㥫Mb`?yU?U/]U;Q U`@)QIU@QyU@ImIm3Y= @=yP;Q >٥ HFU: >_5#Ҝ?_59U I-Byo?:79@@4VEiQ::O_5Թx1AEDNOT Ignoring new targets: 32.47 m.99 ProNav: ac range: 32.468559 m, nav range: 30.624554 m, bearing: 166.814000 deg, approach rate: -0.557057 m/s, LOS rate: 0.018154 deg/s, cmd heading: 170.285618 deg, new cmd heading: 170.310445 deg. VG:HeadingCmd: 2.972478 target range: 32.468559 and range: 32.70 m.b=>@Zr)j1R1J1B1~1~=zB}9|9|9|9|E@ zB靵BI)>I9c W<=>@cY<P=i=>@iirEuR>jEu>EEEEE]checking for new query: numPingsReceived=2, elapsed TxPingTime=2.5046606GE =ZGI RGI ~G A) 9 AI N] >Cfq,FiA9:R1@:-?@Y:-y:`z=:HÿI?@? ۑ??k"?@? :R1@:*m;):CF{BJIIfIf 3n= rU=yr\;Q r>٥tt vHtv; v> _5pҜ? _59#T I4By  Z9@ @8VEi::_50A=B*** querying acoustic contact ***J9R9IMDNOT Ignoring new targets: 32.47 m.IUy9Uy9e ProNav: ac range: 32.468559 m, nav range: 30.396658 m, bearing: 166.820575 deg, approach rate: -0.640961 m/s, LOS rate: 0.018630 deg/s, cmd heading: 170.310439 deg, new cmd heading: 170.330311 deg. eL:mHeadingCmd: 2.972825 target range: 32.468559 and range: 32.70 m.bmB>@ZirijiRiJiBq~~}||||@@ zB靽ИI)>Ib r<B>@K<y' =iB>@iBDAT read: Rx Time:14:17:57.2719 TRx dataTimestamp_ set to:1749133078.500107checking for new query: numPingsReceived=2, elapsed TxPingTime=2.758807EEEE`0EFFA6G=i~GKP"K@9*K2K9:Ks?(.xK! MB73K)= C-=S_zM2YAAN>a a m checking for new query: numPingsReceived=2, elapsed TxPingTime=3.008839ԡ iqlq,0iA9B,1@B4@?@YBVyBGs=BH@=¿!? ?|ᖭ?⯰?@V?\? B,1@BP;)@N|BNIIbIb#3~0= H=y:Q >٥   H F 5;  >=_5\Ҝ?E_59R I@ZrjqRJB~~}||| |@g @HӼ>HCHFIH||BH =HHHݚ<HE zB靅I)_>Ia <uH>@.<BY"=iuH>@iԙchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.261279EEEE_0E6G  Y y B6G =~G A A N > H`sq,)iA"L1@>_?@Y>C7y>=>H¿ٲ?B?7L1@>e;)>CJ/|BJIEDAT read: 14:17:57.2719 LVL= 20928, 24369, 19362, 28659, AGC= 61, IDX= 413, 0.39, 1.491, 0.085, 1.587, 0.959, PHS= 0.621,-0.826, 0.625, RAW= 150.2, -5.8, CAL= 155.2, -14.2, ROT= 354.8, 14.2 MYgot valid direction response: 14:17:57.2719 LVL= 20928, 24369, 19362, 28659, AGC= 61, IDX= 413, 0.39, 1.491, 0.085, 1.587, 0.959, PHS= 0.621,-0.826, 0.625, RAW= 150.2, -5.8, CAL= 155.2, -14.2, ROT= 354.8, 14.2 UPDAT read: Bearing 354.8, 14.2 (Local) U~Local bearing/azimuth received: Bearing 354.8, 14.2 (Local) mDAT read: Range 10 to 50 : 30.6 m (Round-trip 40.8 ms) speed 0.6 m/s m,DAT read: user:2033> uBDAT read: Tx time:14:17:58.3770 u$Ping request sent.u )  r0?ɉe ?ii ?? %= ޹ }> ) :publishing transmit ping timeqFpublishing direction and range info y e?R7~/;fϿ Y  ) I i      ) Mb@Mb@Mb@ )YbX9?i|?5MbpyE?qA )v@In@yԹI i    )  r0?ɉe ?ii     ) checking for new query: numPingsReceived=3, elapsed TxPingTime=0.047218J[e4J[4J[0:J\BJTJJBRJZJ=:bJ:9J-4JzJ=jJ=JRJ:ErJUJ:EI!Ii39= &=yp;Q >٥ HF{; >!-_5%dDҜ?-_59%P I%CBy?:9@@%@VEi% <%<%_5B0AEZ b JiA A A s:@ʁ ")lU=@[[ 5 e?R7~/;fϿ ޹ }>ҁ ~)G/"=at!n@ W>_k?nI ȿz q@ j OXYȜ?r   FeB oȜ?  cB A ]:@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 3.526717 s, deltaX: -2.100000 m, approachRate: -0.595455 m/s, rangeRepo size: 4  Added new target pos. range: 30.383623 m, bearing: 167.206355 deg, lat: 36.906427 deg, lon: -122.115981 deg, deltaT: 3.526717 s, deltaX: -2.084936 m, approachRate: -0.591183 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.38 m.5 ProNav: ac range: 30.383623 m, nav range: 29.866659 m, bearing: 166.843627 deg, approach rate: 0.000000 m/s, LOS rate: 0.016110 deg/s, cmd heading: 170.350232 deg, new cmd heading: 170.376204 deg. 1HeadingCmd: 2.973626 target range: 30.383623 and range: 30.60 m.bO>@ZrjRJB~~/{B}|||>@| l\? zB$I)>Im.` @EU@iQJDAT read: TxSync time:14:17:58.3762 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.241670 E] EY EY EY EY A 6G "=jG% ?bG% >~G AAN%>pzq,iAKvP"Kv}9*Kt2Kv::Kvpf]LH^rsdF/QspU :A #)!!{[]L$c289va1@vu?@Yv*yv=vH`P¿c? ?@1?`{?O?? va1@vl;)vC:|BIII-#I-%x3< O=yqQ >٥ HG\; >-_52Ҝ?-_59/O IIBy)59@5@DVEi<:_59=/A=EMchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.490442DNOT Ignoring new targets: 30.38 m.99 ProNav: ac range: 30.383623 m, nav range: 29.641838 m, bearing: 166.852327 deg, approach rate: -0.609836 m/s, LOS rate: 0.023780 deg/s, cmd heading: 170.376200 deg, new cmd heading: 170.402500 deg. :HeadingCmd: 2.974085 target range: 30.383623 and range: 30.60 m.bgW>@ZrjRJB!~)~)})|)|)|1|5? zB靵l߼I)>I1 _ <gW>@9<#)*=igW>@iԁEEEEEF=Fa=ԩ HHH ټ>H H eIH |BH  =H H -DH <H E6G k%= checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743643 ~G A A N >HQq,iA9:!1@:?@Y:Ѓy:׳=:H!¿ ?@W? G5?'w? 'Ȳ?@? :!1@:v;)8FA|BF"IuMb@Mb@Mb@qqq q)qYu"~?v/Mbyu?uxiuq uI@)qIuMAqyu@II3< J=y:9Q >٥ HFJ; >Թ_5Ҝ?_59M INBy?:l9@@HVEi::_5B/AE DNOT Ignoring new targets: 30.38 m.  99% ProNav: ac range: 30.383623 m, nav range: 29.406403 m, bearing: 166.859146 deg, approach rate: -0.616565 m/s, LOS rate: 0.018001 deg/s, cmd heading: 170.402496 deg, new cmd heading: 170.423117 deg. %E:-HeadingCmd: 2.974445 target range: 30.383623 and range: 30.60 m.b-M]>@Z)r)j)R)J)B9~A~EK{B}A|A|I|I|M ? }zB}ɳܼIy)}>yI^ ֓<M]>@Ku<33=iM]>@iE)E)E)E-0E1mchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.994515:J}_BJ}RJJyRJyZJ} :bJ}S29JyJyzJ},:jJ}1:J};:rJ}<:6Gm{/=~G A A N >9 {q,biA9>1@>?@Y>NTy> =>H Z Բ?u?̚Rb?g?5?]? >1@>o;)>Cbchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.246701Z|B%1Ii-=I-+? 5=5a=IeIe?13p= J=y/:Q >٥ HFy; >_5e Ҝ?_59/L ITBy9@@KVEi>:l:_59=I/A= E}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 30.38 m.99 ProNav: ac range: 30.383623 m, nav range: 29.169538 m, bearing: 166.865106 deg, approach rate: -0.563360 m/s, LOS rate: 0.014289 deg/s, cmd heading: 170.423124 deg, new cmd heading: 170.441147 deg. :HeadingCmd: 2.974759 target range: 30.383623 and range: 30.60 m.btb>@ZrjRJB~~}!|!|)|)| `? zB靭I)H>I{\ `<tb>@v<\9=itb>@ibEZEAAEYEYEYE]o0EYK=89P"K=9*K92K=;:K=;<n9  ^vrm|-"R2fHQ {f_ y7>9!checking for new query: numPingsReceived=3, elapsed TxPingTime=1.500040ԉI C=I %=6G 4=~Gy A ԙ A N >q,d9iAHԼ>HHIH|BH =HH,DH9<HTE91@?@YHy=H1c? c?E{?? z3?4? 1@+;)CEb|BE6IaMb@Mb@Mb@ )YQ?MbI +y\?@94MA @)IX@y\@II3 <  5=y%;Q >٥ Hchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.750357Ś: >_5ќ?_59J IYBy?::@@PVEis;;/_5 &/A Q}DNOT Ignoring new targets: 30.38 m.y};Q};Q ProNav: ac range: 30.383623 m, nav range: 28.905966 m, bearing: 166.863788 deg, approach rate: -0.566676 m/s, LOS rate: -0.002858 deg/s, cmd heading: 170.441142 deg, new cmd heading: 170.437153 deg. HeadingCmd: 2.974689 target range: 30.383623 and range: 30.60 m.bPa>@ZrjRJB~~{B}||||? EzBEܼIA)E>IIM [ IԑI<Pa>@c <:=iPa>@iEEEEEFFu checking for new query: numPingsReceived=3, elapsed TxPingTime=2.0024276G 9= ~G A A N >q,STiA:JBYBJBUJJB?RJ@ZJB9bJB>9JBـ4J@zJBb:jJBg:JB}Q:rJBQ:9n"1@n?@Yn}yn0=nH e?(g?A"???F? n"1@ns;)nCf|B8III3; A=y;Q >٥Y ]H]Fe5c e>iu_5mќ?u_59m?I Im]Byqu:@}@mSVEiml:m:m_5B/A EDNOT Ignoring new targets: 30.38 m.DD ProNav: ac range: 30.383623 m, nav range: 28.673492 m, bearing: 166.862703 deg, approach rate: -0.570952 m/s, LOS rate: -0.002688 deg/s, cmd heading: 170.437153 deg, new cmd heading: 170.433870 deg. HeadingCmd: 2.974632 target range: 30.383623 and range: 30.60 m.b``>@ZrjRJB~~}||||@@ -zB-.ͼI1)5(>1I5Y 115Ɛ<=``>@=f@iI9EEEE1E %checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255234i6G] J`<=~G9 AQ Aa Nu >ԑ q,oniA96|1@6?@Y6Z{y6yw=6Hv@¿]?V~? R ?`Df? ۮ?@? 6|1@6;)6CFr|BF@I)H HIRIR2VX= Zy=yZ:Q Z?K^8_P"K^@9*K\2K^<:K^^{l><7sK u=\nrp&:a[&S٥Xd fHfFj j ?lr_5nќ?r_59n.H In`Bypr}:@v@nVVEinS:n:n_5xz.Axy}A}checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506450DNOT Ignoring new targets: 30.38 m. ProNav: ac range: 30.383623 m, nav range: 28.494005 m, bearing: 166.862128 deg, approach rate: -0.535243 m/s, LOS rate: -0.001725 deg/s, cmd heading: 170.433874 deg, new cmd heading: 170.432139 deg. HeadingCmd: 2.974602 target range: 30.383623 and range: 30.60 m.b_>@ZrjRJB~1~1}1|1|9|9|=\@q UzBU軼IQ)U>QIUGX YY]%ߏ<]_>@eq@iarE]>jE>EAEAEAEE5EAHͼ>HCHIH}BH =HHH<HEHƖCHHƓCH =I = I 5 M BDAT read: Rx Time:14:18:00.8191 U TRx dataTimestamp_ set to:1749133082.031567U checking for new query: numPingsReceived=3, elapsed TxPingTime=2.7636266G ‹9=~G A A N- >9 q,OWiA9:1@:t?@Y:|xy:*s=:H '¿膱?jy?? ?oR?`? :1@:pT;)8Fx|BFDI5Mb@Mb@Mb@111 1)1Y5S?~jtQy5?55u5n@ 53@)5I@I5A@1y5f@I)IW3 l< <=yD:Q >٥ HB9 >_5ќ?_59F IdBy|?:;@@ZVEi:A:\_5.AE DNOT Ignoring new targets: 30.38 m. ùù% ProNav: ac range: 30.383623 m, nav range: 28.252323 m, bearing: 166.853292 deg, approach rate: -0.580866 m/s, LOS rate: -0.021418 deg/s, cmd heading: 170.432139 deg, new cmd heading: 170.405405 deg. %.k-HeadingCmd: 2.974135 target range: 30.383623 and range: 30.60 m.b-@Z)r)j)R)J)B1~1~5{B}9|9|9|9|E j@ }zB}*l¼I)5>I!WW [<@< ;=i@iE E E EG4EFF=checking for new query: numPingsReceived=3, elapsed TxPingTime=3.011386A:J`BJSJJ@RJZJ:bJy69JJ4JzJ:jJ:J)C:rJ+C:6GUw5=~G) A1 AI NU >i E checking for new query: numPingsReceived=3, elapsed TxPingTime=3.263100)q,W=iA 9J_1@J?@YJ&vyJt=JHC¿`_s?+?y u?Ю?`M}?@? J_1@Jd;)JCR|BVKII^I^?13j#= jX=yj:Q =>٥Ya eHeFuݟ >_5Yќ?_59E IhBy j;@ @^VEi6<|<_5MB.AE=B*** querying acoustic contact ***J9R9iDNOT Ignoring new targets: 30.38 m.蘹蘹 ProNav: ac range: 30.383623 m, nav range: 28.025703 m, bearing: 166.845760 deg, approach rate: -0.498757 m/s, LOS rate: -0.016710 deg/s, cmd heading: 170.405406 deg, new cmd heading: 170.382628 deg. }7HeadingCmd: 2.973738 target range: 30.383623 and range: 30.60 m.bQ>@ZrjRJB~~}||||> @ zBć˼I)[>IzU Pݍ<Q>@dE<o5=iQ>@iEEEEo5EԹK P"K9*K2K=:Ks(6Io<#h^R9+7HtqGnmY:3F/)=/$':w/DAT read: 14:18:00.8191 LVL= 18768, 26209, 16578, 29331, AGC= 61, IDX= 417, 0.15,-1.296,-2.695,-1.222,-1.852, PHS= 0.644,-0.796, 0.627, RAW= 149.4, -6.7, CAL= 154.8, -15.1, ROT= 355.2, 15.1 Ygot valid direction response: 14:18:00.8191 LVL= 18768, 26209, 16578, 29331, AGC= 61, IDX= 417, 0.15,-1.296,-2.695,-1.222,-1.852, PHS= 0.644,-0.796, 0.627, RAW= 149.4, -6.7, CAL= 154.8, -15.1, ROT= 355.2, 15.1 PDAT read: Bearing 355.2, 15.1 (Local) ~Local bearing/azimuth received: Bearing 355.2, 15.1 (Local) DAT read: Range 10 to 50 : 28.4 m (Round-trip 37.9 ms) speed 0.4 m/s ,DAT read: user:2034> BDAT read: Tx time:14:18:01.9270 $Ping request sent. ݑ)ݑݕIxk?6I6?loƽӽiݕh?ݕL(=ݕݕV> ޑ)ޑ:publishing transmit ping timeFpublishing direction and range infoڑyڕV<4i? O6QfJ0пڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑIܑiܑܑܑ ݑ)ݑݕIxk?6I6?loƽӽiݑݑݑݑ ޑ)ޑ-checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008360 6G 8<=~Gq A H% ˼>H! H% IH% )}BH%  =H! H! H% <H% EA N >-q,iA9-1@-?@Y-Ywy-Cx=-H<¿?`?87?l??? -1@-;)-C=JDAT read: TxSync time:14:18:01.9262 Echecking for new query: numPingsReceived=4, elapsed TxPingTime=0.241772M|BUQIi}=I}<Mb@Mb@Mb@ )YʡE?+:vy?TX@ @)Iy@AAII 3< =yoQ >٥ HF%ɉ9 %>)U_5-ܕќ?U_59-C I-lByU?U:UP;@U@-bVEi-;:-8:-T_5aeo.AaZ b iA A A j;@ʁ ?7!;@J߳9Tҁ ׊:ǐZ@.Cݥ\G Z}"u?L`jʿz Ժ@ j ~hȜ?r Re(       A ~:@ addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 3.527932 s, deltaX: -2.200001 m, approachRate: -0.623595 m/s, rangeRepo size: 4 % Added new target pos. range: 28.198872 m, bearing: 167.783830 deg, lat: 36.906427 deg, lon: -122.115983 deg, deltaT: 3.527932 s, deltaX: -2.184752 m, approachRate: -0.619273 m/s, posRepo size: 4 !-DNOT Ignoring new targets: 28.20 m.)-1A ProNav: ac range: 28.198872 m, nav range: 27.697725 m, bearing: 167.220491 deg, approach rate: 0.000000 m/s, LOS rate: -0.016710 deg/s, cmd heading: 170.382634 deg, new cmd heading: 170.357530 deg. HeadingCmd: 2.973300 target range: 28.198872 and range: 28.40 m.bJ>@ZrjRJB~~{B}|||`ff<@| ? -zB-NeּI))-k>)I5{S 115Ԭ<]J>@](<] 8=i]J>@iazEiEEEEy2Eichecking for new query: numPingsReceived=4, elapsed TxPingTime=0.493135ԙ 6G 4=~G A A N >gq,@iA9F1@F?@YF|yFU=FH@3c¿?-?@H@5?@?? J? F1@F%+;)Db|BbVIIrIrM3< X=ykQ >٥ H<; >_56ќ?_59B IpByk;@@fVEi::_5M.AEDNOT Ignoring new targets: 28.20 m.BrBr5 ProNav: ac range: 28.198872 m, nav range: 27.483458 m, bearing: 167.216077 deg, approach rate: -0.637576 m/s, LOS rate: -0.013237 deg/s, cmd heading: 170.357526 deg, new cmd heading: 170.344180 deg. =[EHeadingCmd: 2.973067 target range: 28.198872 and range: 28.40 m.bEF>@ZArAjIRIJIBI~Q~Q}Q|Q|Y|Y|]`? zB(I\;)>IR zɋ<-F>@-<->=i5F>@i9checking for new query: numPingsReceived=4, elapsed TxPingTime=0.745847EEEE4E)6G ‹9=~G A A N >K P"K ŷ9*K 2K >:K ;=xvC\I0wTR4X nWOR'' .,:fgJ J U checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996766q q,iA9:1@:F?@Y:Ty:/a=:H=?7k?6a=?@'?=!?E? :1@:;):C~|B~UI:J-dBJ-YJJ-ARJ)ZJ-<:bJ-[O9J-4J)M@M@M@M@I I m?3| J=yobQ >٥ HFu: >`5qќ?`59A ItByr;@@iVEi;;,`5S.ADNOT Ignoring new targets: 28.20 m.bb- ProNav: ac range: 28.198872 m, nav range: 27.257366 m, bearing: 167.211143 deg, approach rate: -0.562590 m/s, LOS rate: -0.012377 deg/s, cmd heading: 170.344180 deg, new cmd heading: 170.329258 deg. Y-HeadingCmd: 2.972806 target range: 28.198872 and range: 28.40 m.bvB>@ZrjRJB~~}||||? =zB=IA)E>AIEZnQ AAEm<]vB>@]0<]A=i]vB>@iiHҼ>HHIH=}BH =HHH <HEԉchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.249599EEEEe5E)! !GԱAA  PY Ay B 6G Г>=jG ?bG ?~G A A N >q,"iA9>1@>v?@Y>=y>p=>HC¿T??]?S??5? >1@>䗇;)>CF|BFfIUchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.500963}Mb@Mb@Mb@yyy y)yY}ʡE?:vy}-?}̼y}A@ }@)}@I}@yy}@II(*3= ?=y$ϺQ >٥ HFH >`5W]ќ?`59P@ IyByZ?:<@@mVEi ;r;`5-AE9MDNOT Ignoring new targets: 28.20 m.IM9U9] ProNav: ac range: 28.198872 m, nav range: 27.012827 m, bearing: 167.193676 deg, approach rate: -0.562598 m/s, LOS rate: -0.040551 deg/s, cmd heading: 170.329263 deg, new cmd heading: 170.276385 deg. e޺mHeadingCmd: 2.971884 target range: 28.198872 and range: 28.40 m.bmW3>@ZirijiRiJqBq~q~uzB}y|y|y|y|}{? uzBu⬼Iq)}>yI}O yYo<W3>@)<P;=iW3>@iEuEqEqE}_0EyA% checking for new query: numPingsReceived=4, elapsed TxPingTime=1.7569076G ߛC=~G A A N >q q,)iA9>TX1@>k?@Y>ey>E}=>Hϒ`¿s?+?w?I?C?? >TX1@>Hv;)٥`` fHdf! f>hn`5jKќ?n`59j=? Ij}Bypr<@r@jqVEij^;j;j)`5vBv-AvE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 28.20 m.!5.5.E ProNav: ac range: 28.198872 m, nav range: 26.800686 m, bearing: 167.179799 deg, approach rate: -0.579828 m/s, LOS rate: -0.038227 deg/s, cmd heading: 170.276384 deg, new cmd heading: 170.234425 deg. EѺMHeadingCmd: 2.971151 target range: 28.198872 and range: 28.40 m.bMW'>@ZIrQjQRQJQBQ~~}||||? =zB=!I9)= >AIEN AAEK_@M@YiQimAuchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.005301KP"K9*K2K?:K/ec1L%)6U!-b^{_1"1BxhE |FL>%M. = = aWl7ԁIR=Ip=:J\BJSJJERJZJ=:bJy69J4J>E]<E5E1E1E54E1ԱH Ѽ>H CH IH G}BH  =H H H <H E % checking for new query: numPingsReceived=4, elapsed TxPingTime=2.2577486G5 ;=~G A A1 N= >fWq,QEiA9:+1@:??@Y:y:0=:H`¿?@؃?@5@q?`/?&? ? :+1@:~#;):CZ|BZhIMb@Mb@Mb@ )YbX9?Mb:vyE?+@ @)I@y3@IIT3< 0=yZg:Q >٥ HFֿ >`5 5ќ?`59= IBy?:;@@uVEi ;;? `5-A-DNOT Ignoring new targets: 28.20 m.)5͹5͹E ProNav: ac range: 28.198872 m, nav range: 26.525980 m, bearing: 167.169418 deg, approach rate: -0.588171 m/s, LOS rate: -0.022458 deg/s, cmd heading: 170.234419 deg, new cmd heading: 170.202952 deg. EvMHeadingCmd: 2.970602 target range: 28.198872 and range: 28.40 m.bMW>@ZQrQjQRQJQBQ~Y~]zB}Y|Y|Y|a|e`m@ zB I)'>IL <<W>@<>M+=iEW>@iA>EEX;EEEE^0Echecking for new query: numPingsReceived=4, elapsed TxPingTime=2.509384!6G $+/=ZG RG A~G A A N >Q 6{q,`_iAI$)&@9j1@j?@Yjրyjވ=jH`Aÿ M?;?t? ?@#? )? j1@j1;)jCz|BzrIII2y/= L=ye:Q >٥ HF̻ >`5!ќ?`59z< IBy;@@yVEi3;;`5-AEchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.76092819=DNOT Ignoring new targets: 28.20 m.9EsEsU ProNav: ac range: 28.198872 m, nav range: 26.291109 m, bearing: 167.161597 deg, approach rate: -0.580450 m/s, LOS rate: -0.019502 deg/s, cmd heading: 170.202946 deg, new cmd heading: 170.179272 deg. U$V]HeadingCmd: 2.970189 target range: 28.198872 and range: 28.40 m.b]>@ZYrYjaRaJaBa~a~i}i|i|i|i|u>L@ zBnI)B>ItK <>@:<re$=i>@iDDDDaԑE5 E9 E9 E= P0E9 FI FI  BDAT read: Rx Time:14:18:04.3666  TRx dataTimestamp_ set to:1749133085.808550 checking for new query: numPingsReceived=4, elapsed TxPingTime=3.016393K ejP"K *K 2K @:K "%wJdC}5'I)6$  Yoz2i#PԹ :J [BJ JJ ?RJ ZJ :bJ J ـ4J 6G5 s*=~G AAAYNe>q,O}iA@9J1@J]?@YJyJg/=JHk`6ÿ?`?@s@`?C??? J1@Jfӆ;GPGR@AHVμ>HVCHVIHV[}BHTHTHTHV<HVE)JC|B}II%I%3e= m%=y}:Q >٥ HN:checking for new query: numPingsReceived=4, elapsed TxPingTime=3.265720 > `5 ќ?`59 : I By;@@ ~VEi ; ; 9`5%B%@-A%"EiDNOT Ignoring new targets: 28.20 m.潹潹ԩ ProNav: ac range: 28.198872 m, nav range: 25.989643 m, bearing: 167.151090 deg, approach rate: -0.588616 m/s, LOS rate: -0.020753 deg/s, cmd heading: 170.179272 deg, new cmd heading: 170.147385 deg. cHeadingCmd: 2.969632 target range: 28.198872 and range: 28.40 m.bt>@Zr)j)R)J)B)~1~1}1|1|9|9|= @ EzBMS鴼II)UX>QI}EI nk<t>@<X)=it>@iEEEE2E ס ס  DAT read: 14:18:04.3666 LVL= 19904, 23025, 18066, 29331, AGC= 61, IDX= 422, 0.10,-0.494,-1.916,-0.412,-1.060, PHS= 0.654,-0.809, 0.645, RAW= 149.7, -6.8, CAL= 155.1, -15.1, ROT= 354.9, 15.1  Ygot valid direction response: 14:18:04.3666 LVL= 19904, 23025, 18066, 29331, AGC= 61, IDX= 422, 0.10,-0.494,-1.916,-0.412,-1.060, PHS= 0.654,-0.809, 0.645, RAW= 149.7, -6.8, CAL= 155.1, -15.1, ROT= 354.9, 15.1  PDAT read: Bearing 354.9, 15.1 (Local)  ~Local bearing/azimuth received: Bearing 354.9, 15.1 (Local)  DAT read: Range 10 to 50 : 26.4 m (Round-trip 35.3 ms) speed 0.5 m/s  ,DAT read: user:2035>  BDAT read: Tx time:14:18:05.4771  $Ping request sent. 5Oq,viA9n@1@n,?@Yn zynj=nH`Dÿ #??`?R?y?f? n@1@n\J;)nC|BzIaI@a aM@a aQ@a aE@a ԙII2  0=y);Q >٥ HF[; > `5М?`59f9 IB=+:y9=:=;@=@VEi;>i`5IMP-AQZabeaiAeAeAe(:@ʁeI~;59@&m~DPeт?p mQfJ0пeKaҁe/F9!Ts@*esX֠?tn@ZrjRJB~~}|||`ff:@|? UzBUQI]G YY]o2@e@iE!E!E!E%^0E!6GE ɓ%=! E checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492552~Ga A K DP"K 9*K 2K A:K J XLK'kh`Z)\\%UrG+[TWA N >q,aiA9~.1@~DB?@Y~J>xy~w=~H 9`¿ ?d~?`YĬ??@,?? ~.1@~;)~C|BII%I%T35lu= 5\=y52:Q 5>٥99 =H=FEh; E>IU`5MMМ?U`59M<8 IMBU :yQUl:U;@]@MVEiMM:MQ?M`5ae,Ae%E:Ju^BJuQJJuARJqZJu} :bJu-.9Ju4JqB*** querying acoustic contact ***JR DNOT Ignoring new targets: 26.21 m. \\E ProNav: ac range: 26.213205 m, nav range: 25.499605 m, bearing: 167.127107 deg, approach rate: -0.630857 m/s, LOS rate: -0.026377 deg/s, cmd heading: 170.117841 deg, new cmd heading: 170.090817 deg. MА]HeadingCmd: 2.968645 target range: 26.213205 and range: 26.40 m.ab}G=@ZrjRJB~~}||||@%? {B@KI)>IQF   ,< G=@<$4=iG=@iHʼ>HHIHp}BHHHH<HEHĕCHĕCHH =I IĽ5E%E!E)E5_0E1ԑ checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744680Թ6GU /=~G A A N > ֢q,5@iA9>/91@>L?@Y>qy>=>Hi¿!Y?`j? q.?9?~ ?? >/91@>څ;)>CF|BFIaIuaIu aMuaMu aQ}aQ} aE}aE} }Mb@Mb@Mb@yyy y)yY}ףp= ?y&1Mby}?}`弹}}@ }@)}@I}@yy}@IIF30= D=y'r;Q >٥ H: >`5М?`596 IBT:y?:w<@@VEi ; ;*`5B,A(E DNOT Ignoring new targets: 26.21 m.~6~6= ProNav: ac range: 26.213205 m, nav range: 25.240498 m, bearing: 167.110716 deg, approach rate: -0.624148 m/s, LOS rate: -0.039887 deg/s, cmd heading: 170.090821 deg, new cmd heading: 170.041146 deg. =ںEHeadingCmd: 2.967778 target range: 26.213205 and range: 26.40 m.bE=@ZArAjARAJABI~I~MzB}I|Q}checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996681||| fa? E{BMDiII)M>iIuD qqu<}=@}J<}9=i}=@iyE%E!E)E-`0E)) 6GM 1=- checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248495~G1 A A N >Y q,4iA96M1@6`?@Y6 my6o=6HڔI¿ݰ?`B?ʘ F?@_?@ϭ? ]? 6M1@6#`;)4F}BFIININ(*3V< V[=yZQ;Q Z>٥\\ ^H^F^Z; b>`f`5bʸМ?j`59b5 IbByhj<@j@bVEib;b;bk`5lrz,ApDNOT Ignoring new targets: 26.21 m.55 ProNav: ac range: 26.213205 m, nav range: 25.009642 m, bearing: 167.095205 deg, approach rate: -0.585799 m/s, LOS rate: -0.039724 deg/s, cmd heading: 170.041152 deg, new cmd heading: 169.994188 deg. ںHeadingCmd: 2.966958 target range: 26.213205 and range: 26.40 m.b=@ZrjRJB!~!~!}!|)|1|1|5y? {B II)>I L C   r<=@<@=i=@i!E5E9E9E9E9}checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500693K5 O"K59*K12K5B:K5kiB^NT#)`.>?bgU*T_"g%>Q6G} 9=ԁ ZG RG A~Gy  H H <H ̼>H H IH }BH  =H H H $<H ,EA A N >xr,iA0~checking for new query: numPingsReceived=5, elapsed TxPingTime=1.7553489]1@p?@Y,^yUc=Hࣗ@¿ڹ?@$?ך?`"ԫ?C\?K? ]1@骽q;)C}BImMb@Mb@Mb@iii i)iYmjt?L7A`堿MbPym ?m+mm@ m~@)m@Im@iym@I#I%x3= /=y0;Q >٥ HF ; > `5М?`59+4 IBy ?:<@@VEi:M:{#`5%-,A%+EԉDNOT Ignoring new targets: 26.21 m. ProNav: ac range: 26.213205 m, nav range: 24.717659 m, bearing: 167.079968 deg, approach rate: -0.627527 m/s, LOS rate: -0.033135 deg/s, cmd heading: 169.994188 deg, new cmd heading: 169.947936 deg. 뵺HeadingCmd: 2.966151 target range: 26.213205 and range: 26.40 m.bk=@ZrjRJB~~zB}| | | | `? ]{B]yYIY)?It#A /}<k=@< F=ik=@ibEYZE]AEEEE_0Echecking for new query: numPingsReceived=5, elapsed TxPingTime=2.005080 :J [BJ ~JJ DRJ ZJ :bJ f9J 4J zJ : jJ : J : rJ : 6G A=~G A! A1 NE >Ur,еiA9Ji1@Jx|?@YJJPyJ[=JH@ִ¿ ݭ?%?% yG??xo?@? Ji1@J;)JCR,}BRII^I^3br= fo=lyr3 Q  checking for new query: numPingsReceived=5, elapsed TxPingTime=2.512798 r,i6iAKRg%P"KR}9*KP2KRC:KR._Hd,!8d,#qa}6G"1y, -w-JV?JV?9b1@bo?@YbCyb=)^=bH¿;??`e7٧?Ap?? ? b1@b…;)`j5}BjIIr#Ir%x3z< zI=y~٥| HF8c; > `5 yМ?`59 1 I By9<@@ VEi ; U;  *`5!%+A!9MB*** querying acoustic contact ***JIRIQ]DNOT Ignoring new targets: 26.21 m.Ye+e+u ProNav: ac range: 26.213205 m, nav range: 24.246447 m, bearing: 167.052969 deg, approach rate: -0.627000 m/s, LOS rate: -0.037588 deg/s, cmd heading: 169.911816 deg, new cmd heading: 169.866151 deg. u_κ}HeadingCmd: 2.964724 target range: 26.213205 and range: 26.40 m.b}=@ZrjRJB~~}||||1@  {B4I)A ?I[= - y<=@Q<R=i=@iEEEE5EHu˼>HqHuIHu}BHqHqHqHu'<Hu/EԉԹchecking for new query: numPingsReceived=5, elapsed TxPingTime=2.779300G6G5PK=jG ?bG?A-AA e6YeAymIB~GAAN> Zr,kFPiA٥ HF   >`5cМ?`590 IBy?%:%:@%@VEi ;j:-`59=U+A=1EaeDNOT Ignoring new targets: 26.21 m.im۷m۷} ProNav: ac range: 26.213205 m, nav range: 23.979824 m, bearing: 167.052320 deg, approach rate: -0.607795 m/s, LOS rate: -0.001496 deg/s, cmd heading: 169.866149 deg, new cmd heading: 169.864180 deg. uHeadingCmd: 2.964689 target range: 26.213205 and range: 26.40 m.bx=@ZrjRJB~~{B}|||| :@BDAT read: Rx Time:14:18:07.9137 TRx dataTimestamp_ set to:1749133089.355463%checking for new query: numPingsReceived=5, elapsed TxPingTime=3.033772 {B靕I)5?Is; v<x=@ <R=ix=@i:J\BJPJJCRJZJ=:bJ*9J4JzJ:jJ:J-:rJ-:E!E)E)E-5E)F5=F5=6GM R`U=~G! A1 A N > checking for new query: numPingsReceived=5, elapsed TxPingTime=3.2845939 r,0jiA9-1@-?@Y-/,y- |=-H  {7¿????@щ?%? -1@-zŅ;)-C[}BIIIV83-= 5G=y57^٥19 =H9=%; =>AM`5E?OМ?U`59E. IEByQU:@U@EVEiE;E;Et1`5]Be+Ae2EDNOT Ignoring new targets: 26.21 m.ǸǸ ProNav: ac range: 26.213205 m, nav range: 23.729010 m, bearing: 167.050099 deg, approach rate: -0.610450 m/s, LOS rate: -0.005463 deg/s, cmd heading: 169.864182 deg, new cmd heading: 169.857448 deg. oHeadingCmd: 2.964572 target range: 26.213205 and range: 26.40 m.b=@ZrjRJB~~}||||@ @ U{B]pIY)]?YI] 9 Yaet<=@dt<S?\=i=@iE!E!E!E%p5E!IUDAT read: 14:18:07.9137 LVL= 19024, 24561, 17698, 27811, AGC= 60, IDX= 408, 0.38, 3.024, 1.620, 3.131, 2.526, PHS= 0.587,-0.859, 0.602, RAW= 150.5, -4.6, CAL= 155.2, -13.1, ROT= 354.8, 13.1 ]Ygot valid direction response: 14:18:07.9137 LVL= 19024, 24561, 17698, 27811, AGC= 60, IDX= 408, 0.38, 3.024, 1.620, 3.131, 2.526, PHS= 0.587,-0.859, 0.602, RAW= 150.5, -4.6, CAL= 155.2, -13.1, ROT= 354.8, 13.1 ePDAT read: Bearing 354.8, 13.1 (Local) e~Local bearing/azimuth received: Bearing 354.8, 13.1 (Local) mDAT read: Range 10 to 50 : 24.3 m (Round-trip 32.5 ms) speed 0.5 m/s u,DAT read: user:2036> }BDAT read: Tx time:14:18:09.0271 }$Ping request sent.} !)!%u z?1?{i%ET?%=%޹% j> !)!:publishing transmit ping timeyFpublishing direction and range info!y%,3 ?,9i +#Ϳ!Y! !)!I!i!!!!! !)!I!i!!! !)!%u z?1?{i!!!! !)!checking for new query: numPingsReceived=6, elapsed TxPingTime=0.012875K"P"K*K2KD:KKDYL9sDka q}xRgR]E <7+B{JJi6GM S=~G A) Gi Gm AAHu Ǽ>Hq Hu IHu }BHu  =Hq Hu +DHu /<Hu 8EA N >ԑ  r,{iAJDAT read: TxSync time:14:18:09.0263 checking for new query: numPingsReceived=6, elapsed TxPingTime=0.245405ip}BIMb@Mb@Mb@ )YZd;?lMbpy? ~@)@I`@yp@I#I%x3x-= *=yQ >٥ HF >%`56М?-`59- IBy-&?-:5;@5@VEi;oV;5`5iu*AԙqZQbU>wiAUAUAU:@ʁU5P8g7@v kU,3 ?,9i +#ͿU޹U j>ҁUj<7.Ł@2|BMdUG>SХm(0ι?SZzdȿzUW@UݸjUȜ?rU> U kBUoȜ?U̍m  QU{AU:@- addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 3.549003 s, deltaX: -2.100000 m, approachRate: -0.591716 m/s, rangeRepo size: 4 ] Added new target pos. range: 24.127823 m, bearing: 167.322235 deg, lat: 36.906427 deg, lon: -122.115984 deg, deltaT: 3.549003 s, deltaX: -2.085382 m, approachRate: -0.587597 m/s, posRepo size: 4 YeDNOT Ignoring new targets: 24.13 m.aea ProNav: ac range: 24.127823 m, nav range: 23.435333 m, bearing: 167.119909 deg, approach rate: 0.000000 m/s, LOS rate: -0.005463 deg/s, cmd heading: 169.857447 deg, new cmd heading: 169.848907 deg. HeadingCmd: 2.964423 target range: 24.127823 and range: 24.30 m.b=@ZrjRJB~~zB}|||L8@|X? e{BeIa)ew?aImFc7 iimur<}޾[=i}=@i5 checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492633Ea Ea Ea Ee 0Ea Fi Fi J4J4J60:J cBJ TJJ DRJ ZJ :bJ :9J 4J zJ ;jJ ;J SJ:rJ VJ: 6G '\=ZG RG A~GAAN>l(r,ViA9Bv1@B?@YBPtyB2=BH* c¿`0k?=Z?r ۷?@Fͣ?y?? Bv1@B`;)BCJ}BJIiNa=INp;IRIR 3b2= b_=yf٥hh jHjFn; n>pv`5r,%М?v`59r+ IrÎBytz;@z@rVEirY;r#;r8`5|~v*A~5E!-DNOT Ignoring new targets: 24.13 m.)checking for new query: numPingsReceived=6, elapsed TxPingTime=0.743648 ProNav: ac range: 24.127823 m, nav range: 23.221636 m, bearing: 167.109424 deg, approach rate: -0.657312 m/s, LOS rate: -0.032548 deg/s, cmd heading: 169.848910 deg, new cmd heading: 169.817165 deg. HeadingCmd: 2.963869 target range: 24.127823 and range: 24.30 m.b=@ZrjRJB~)~)})|)|1|1|5>s? {B:I)F?I5   p< =@c<d=i=@iaEEEEo5Eԉ6G= `hZ=י י  checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996105Թ ~G A! A9 NE >K !P"K @9*K 2K E:K  tQB!S8+Y+a,t>Tvy -~%9LI5 C=I5 =.r,iAL9f1@f`?@YfyfmɈ=fH?3?j$? ߢ??-? f1@f;)fCr}BvII~%I~)3 <  G=y ̐;Q  >٥ H>; >!%`5%М?-`59%* I%ƎBy)-<@-@%VEi%:%:%q<`515T*A9UB*** querying acoustic contact ***JQRQamDNOT Ignoring new targets: 24.13 m.immHϼ>HH-IH}BH =HH,DH<HE ProNav: ac range: 24.127823 m, nav range: 22.974865 m, bearing: 167.096333 deg, approach rate: -0.601427 m/s, LOS rate: -0.032246 deg/s, cmd heading: 169.817163 deg, new cmd heading: 169.777470 deg.  HeadingCmd: 2.963176 target range: 24.127823 and range: 24.30 m.b=@ZrjRJB~~}||||Br? {B@`I)?I3 n<=@< Şj=i5=@iAchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.248552E%E!E)E-4E)6G- c=~G A ! A9 NA y5r,iA2checking for new query: numPingsReceived=6, elapsed TxPingTime=1.499562|91@(?@Y7:J`BJRJJERJZJ:bJS29J4JzJ:jJ:J;:rJ<:y=H Φ??@WF?h:=?E?;?`#? 1@1骵~;)u}BuIQchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.751588ԁ Mb@Mb@Mb@ ) Y Q?/$y&1|y \? , ` @ Q@) @I I@ y I I F3 /<  ٥  H F I  t>  `5 Ϝ? `59 E( I ʎBy% ?% :% );@% @ VEi ; ; B`55 B= *A= ;Ea m DNOT Ignoring new targets: 24.13 m.i u Uu U  ProNav: ac range: 24.127823 m, nav range: 22.564619 m, bearing: 167.087961 deg, approach rate: -0.560228 m/s, LOS rate: -0.011641 deg/s, cmd heading: 169.777466 deg, new cmd heading: 169.751893 deg.   HeadingCmd: 2.962729 target range: 24.127823 and range: 24.30 m.b \=@Z r j R J B ~ ~ {B} | | | | ? {B BI ) *!? I 0 bl< \=@ ߪ< i=i \=@i bE ZE AEQ EY EY E] `0EY Fe =Fe =ԩ checking for new query: numPingsReceived=6, elapsed TxPingTime=2.005499K1P"K9*K2KF:Kf6! Q^SxXtE}x5 m/mi>Za^IYIY6Guыk=jG} ?bG}?~GqAyAN?>r,iA9b1@b?@Yb,$yb=bH|¿E??@? VÞ?W?z? b1@bR2;)bC}B  III(*3% = -=H5Ҽ>H1H59IH5~BH5 =H1H1H5 <H5 EHHHH =I IB5yUR yEr,iA6checking for new query: numPingsReceived=6, elapsed TxPingTime=2.5116379B2w1@B?@YBes߼yB=BHֳ¿@jǢ?@?  J??@۰?)? B2w1@B0;)@R}BR IMb@Mb@Mb@ )YMbX?ˡE{Gzty ?'ף@ h@)@I3@y@IIM3Y A=y;Q >٥ HFK` >`5Ϝ?`59% I͎By' ?::@@VEij:: I`5  B y)A>EAEDNOT Ignoring new targets: 24.13 m.IM:JM:Je ProNav: ac range: 24.127823 m, nav range: 22.172087 m, bearing: 167.085082 deg, approach rate: -0.558527 m/s, LOS rate: -0.002763 deg/s, cmd heading: 169.746566 deg, new cmd heading: 169.743178 deg. emHeadingCmd: 2.962577 target range: 24.127823 and range: 24.30 m.bmޚ=@ZirijiRiJiBi~q~uL{B}y|y|y|y|}@ {B靅;I)E)?Iu., ti<ޚ=@qk<k-X=iޚ=@i  EEEE1Echecking for new query: numPingsReceived=6, elapsed TxPingTime=2.76355416G g\=~G A A N >a Kr,1iA9B\1@Bp?@YBG̼yBx =BH `<¿`(?g+?yu?@P?@]? ? B\1@B΅;)BCR}BRIiV4>IV= V=Vp=IZIZm?3b K= f]=yf;Q f>٥dh jHhjl n>lr`5nLϜ?r`59n$ InΎBytv:@v@nVEin>:nK:nFL`5x~-)A|15DNOT Ignoring new targets: 24.13 m.1=W=WM ProNav: ac range: 24.127823 m, nav range: 21.971441 m, bearing: 167.084939 deg, approach rate: -0.543256 m/s, LOS rate: -0.000392 deg/s, cmd heading: 169.743178 deg, new cmd heading: 169.742744 deg. MUHeadingCmd: 2.962570 target range: 24.127823 and range: 24.30 m.bU=@ZQrYjYRYJYBY~a~a}a|a|a|i|m`@1 u{BuP;Iq)u-?yI}* yy}|g<=@<R=i=@irE4>jE>}BDAT read: Rx Time:14:18:11.4608 TRx dataTimestamp_ set to:1749133092.888780checking for new query: numPingsReceived=6, elapsed TxPingTime=3.018488EaEaEaEeR5Ei:J_BJ^JJDRJZJ :bJd9J4J@@@@K*P"K9*K2KG:K\  3wfJ#KoHkM/57FWaZ~p"V"2^oYHEռ>HECHERIHE1~BHE =HAHAHE&<HE6E6GW=ԉ~Gi A A N >= checking for new query: numPingsReceived=6, elapsed TxPingTime=3.269837Թ Rr,8KiA }B "IyMb@Mb@Mb@ )YHzG?y&1|y= ?L`@ )I@yz@II3 = *=ymQ m>٥iq uHuFu }>y`5}mϜ?`59}# I}ώBy ?:9@@}VEi}/:}:}P`5(AAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 24.13 m.e9e9 ProNav: ac range: 24.127823 m, nav range: 21.704176 m, bearing: 167.096419 deg, approach rate: -0.543851 m/s, LOS rate: 0.023649 deg/s, cmd heading: 169.742741 deg, new cmd heading: 169.777606 deg. ց:HeadingCmd: 2.963178 target range: 24.127823 and range: 24.30 m.b=@ZrjRJB~~>{B}||| | j @ ={B=X;I9)=1?9IE%Z' AAEe BDAT read: Tx time:14:18:12.5771 $Ping request sent.},@ieQ-"@getADC uart error serial timeout]"Puart error - getPosition..serial timeout1-"(Communications FaulteY@eQ> a)ae{+rŬ?k2?.;ƪie ?eIOV=ei eQ> a)a%:publishing transmit ping time%Fpublishing direction and range infoayepv@@?߹D\ ɿaYa a)aIaiaaaaa a)aIaiaaa a)ae{+rŬ?k2?.;ƪiaaaa a)achecking for new query: numPingsReceived=7, elapsed TxPingTime=0.0510386G JR= ~G A - bCommunications Fault in component: DockingStepperA N >=Yr,fiA5JDAT read: TxSync time:14:18:12.5763 5checking for new query: numPingsReceived=7, elapsed TxPingTime=0.2350059(1@|;?@Y<:y<|=H`ҝ aÿ@릞??`? F?d?? (1@骵ą;)C}B+II Ib35= 5O=y5219٥AA EHEFE M>IU`5M\Ϝ?}`59M! IIyy}b9@}@MVEiM;MF;MS`5(AZb XiAAAa;@ʁ[L%n5@v .vٛpv@@?߹D\ ɿi Q>ҁvsu}5'iJ@(z^77S"_?S!ǿzW@jwȜ?rRM mBOXYȜ?>  +gB A:@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 3.530749 s, deltaX: -2.199999 m, approachRate: -0.623097 m/s, rangeRepo size: 4 5 Added new target pos. range: 21.943895 m, bearing: 167.753250 deg, lat: 36.906427 deg, lon: -122.115984 deg, deltaT: 3.530749 s, deltaX: -2.183928 m, approachRate: -0.618545 m/s, posRepo size: 4 1=DNOT Ignoring new targets: 21.94 m.9=9m ProNav: ac range: 21.943895 m, nav range: 21.504784 m, bearing: 167.183455 deg, approach rate: 0.000000 m/s, LOS rate: 0.023649 deg/s, cmd heading: 169.777602 deg, new cmd heading: 169.807554 deg. iuHeadingCmd: 2.963701 target range: 21.943895 and range: 22.10 m.buG=@ZyryjyRyJyBy~~}|||6@| ? {B@;I)5?)I5!$ 19=d<=G=@E$K P"K 9*K 2K H:K {#y?}oO=|vz 31B5_+^ `r,iiAH*ּ>H(H*_IH*E~BH(H(H*-DH*ߚ<H*E9->'1@-:?@Y-'1@-R4;))}}B2I) IIM3m< O=y:Q >٥   H    >Q]`5UϜ?]`59Ue IQyiim@) UVEiUVifr,iA i"<9BR0@B>@YByBmg=BH Iÿ ??` ?`Q?n?x? BR0@B+c;)@~B7I%only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V aI%@a% aM%@a% aQE@aE aEE@aE IMIM?13]L< ]@=yeS[;Q >٥ HF >`5rϜ?`59 I+:y:9@@VEi'<>pZ`5V(A15DNOT Ignoring new targets: 21.94 m.q}H:}H: ProNav: ac range: 21.943895 m, nav range: 21.058229 m, bearing: 167.211837 deg, approach rate: -0.623800 m/s, LOS rate: 0.043883 deg/s, cmd heading: 169.845344 deg, new cmd heading: 169.893611 deg. :HeadingCmd: 2.965203 target range: 21.943895 and range: 22.10 m.b=@ZrjRJB1~1~9}9|A|A|I|M]?? {B%Flr,giA9B0@B~>@YBb4yB-r=BH;Ŀ8??໇ g?@O?@? k? B0@BI;)BCJ~BJCIIZIZ2b[= bj=yfl;Q f>٥dh jHjFjY j?pr`5rcϜ?v`59r Ipv :ytv:v8@v@rVEir:rE?rl\`5x~(A~GEDNOT Ignoring new targets: 21.94 m.Mb:Mb: ProNav: ac range: 21.943895 m, nav range: 20.870600 m, bearing: 167.227496 deg, approach rate: -0.587365 m/s, LOS rate: 0.049462 deg/s, cmd heading: 169.893606 deg, new cmd heading: 169.941007 deg. ;HeadingCmd: 2.966030 target range: 21.943895 and range: 22.10 m.bp=@ZrjRJB~!~!})|)|1|1|5 ?}checking for new query: numPingsReceived=7, elapsed TxPingTime=1.493572 !{BTH ϼ>H CH rIH d~BH  =H H ,DH 4<H FEԉԱ M checking for new query: numPingsReceived=7, elapsed TxPingTime=1.748491usr,iA96a0@6t>@Y6xy6x=@6HێJĿ?_? &[?? ?? 6a0@6);)4V ~BV=IaImaIm aMmaMm aQmaQm aEmaEm mMb@Mb@Mb@iii i)iYmm?QMbpym?mumm@ m@)mI@Im@iymf@BAII  ==y;Q >٥ H >`5OϜ?`59 IT:yk?:7@@VEi::4``5 B&(AJE DNOT Ignoring new targets: 21.94 m.::% ProNav: ac range: 21.943895 m, nav range: 20.628447 m, bearing: 167.260785 deg, approach rate: -0.581223 m/s, LOS rate: 0.080838 deg/s, cmd heading: 169.941008 deg, new cmd heading: 170.042046 deg. -];-HeadingCmd: 2.967793 target range: 21.943895 and range: 22.10 m.b-T=@Z1r1j1R1J1B9~9~={B}9|A|A|A|E`w? u#{Bu$e[ /yr,W[iAI@)@9>50@>I>@Y>T[y>z~=>Hi`Nſ+?`s?}0?Ty?Kɯ?u? >50@>;)>CJ~BJCIvchecking for new query: numPingsReceived=7, elapsed TxPingTime=2.250296xII(1r< T=yx;Q >٥ai mHmFmA޻ m>y`5}=Ϝ?`59}^ Iyyu7@@}VEi}:}:}c`5(AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 21.94 m. : : ProNav: ac range: 21.943895 m, nav range: 20.407286 m, bearing: 167.293535 deg, approach rate: -0.561077 m/s, LOS rate: 0.083986 deg/s, cmd heading: 170.042040 deg, new cmd heading: 170.141354 deg. f;HeadingCmd: 2.969527 target range: 21.943895 and range: 22.10 m.b >@ZrjRJB~~}||||`Ur@ 5%{B5|k@Ehl@iI"Stopping6G =~GAAN>9checking for new query: numPingsReceived=7, elapsed TxPingTime=2.501116I I @A:J BJ TJJ ARJ ZJ bJ :9J 4J a K xO"K 9*K 2K J:K su'5o]O,MZW 2JuzyvL" Rh a*r%J J  H H H μ>H H ~IH x~BH  =H H H O<H jERr,a3iA9v,0@vP@>@Yv\>yvpX=vH܊bſn?@m?| r?tˇ?`6?? v,0@vf;)vC9= ~BE<IIMIM3}bּ }D=y;Q >٥ H >`5j+Ϝ?`59 Iym7@@VEi;:7g`5)(AMEDNOT Ignoring new targets: 21.94 m.d: d: ProNav: ac range: 21.943895 m, nav range: 20.179489 m, bearing: 167.328363 deg, approach rate: -0.555240 m/s, LOS rate: 0.085849 deg/s, cmd heading: 170.141351 deg, new cmd heading: 170.247014 deg. k;%HeadingCmd: 2.971371 target range: 21.943895 and range: 22.10 m.b%*>@Z!r!j!R!J!B)~)~)})|1|1|1|5 1@ ({BN@q< N@i"Stoppinguchecking for new query: numPingsReceived=7, elapsed TxPingTime=2.768937yԑ6GH=~GAAN>  BDAT read: Rx Time:14:18:15.0083  TRx dataTimestamp_ set to:1749133096.427636 checking for new query: numPingsReceived=7, elapsed TxPingTime=3.018582"r,5 iAԙ~B>IeMb@Mb@Mb@aaa a)aYe㥛 ?A`"{Gztye?eYeףe@ e@)e@Ie@aye@II1b; 9=yQ >٥ HF >`5%Ϝ?`59 Iy?:8@@VEi;Y;k`5(AQUDNOT Ignoring new targets: 21.94 m.Q]:]:m ProNav: ac range: 21.943895 m, nav range: 19.918608 m, bearing: 167.356554 deg, approach rate: -0.581366 m/s, LOS rate: 0.063646 deg/s, cmd heading: 170.247014 deg, new cmd heading: 170.332695 deg.  .; HeadingCmd: 2.972866 target range: 21.943895 and range: 22.10 m.bqC>@ZrjRJB~~{B}||!|!|%v @ u+{Bu2@Tp< @i"StoppingF =F =]checking for new query: numPingsReceived=7, elapsed TxPingTime=3.2693246GM <~G) AY Ay N >! (܌r,N5iA96:0@6M>@Y60By6z=6H`: ?Nſ>h?i? .~8?`6(?L?Z? 6:0@6h;)6C^}B^0IIf If2n nl=yr@ZarijiRiJiBi~q~q}q|q|y|y| @ -{B靽@n<=@i"StoppingױױDAT read: 14:18:15.0083 LVL= 19440, 25809, 20322, 31923, AGC= 57, IDX= 417,-0.35,-0.402,-1.793,-0.397,-0.868, PHS= 0.554,-0.878, 0.467, RAW= 146.9, -2.1, CAL= 151.1, -11.0, ROT= 358.9, 11.0 Ygot valid direction response: 14:18:15.0083 LVL= 19440, 25809, 20322, 31923, AGC= 57, IDX= 417,-0.35,-0.402,-1.793,-0.397,-0.868, PHS= 0.554,-0.878, 0.467, RAW= 146.9, -2.1, CAL= 151.1, -11.0, ROT= 358.9, 11.0 PDAT read: Bearing 358.9, 11.0 (Local) ~Local bearing/azimuth received: Bearing 358.9, 11.0 (Local) 6G < DAT read: Range 10 to 50 : 20.2 m (Round-trip 27.0 ms) speed 0.4 m/s U,DAT read: user:2038> ]BDAT read: Tx time:14:18:16.1272 ]$Ping request sent.]i۵|۵9۵ ?۵`۵> ܵ$@)ܵQ Iܵ(@iܵ Dܵr@ܵ D> ݱ)ݱݵ]>+?~tD?/+$\qiݵS>ݵ=ݵFݵ D> ޱ)ޱ:publishing transmit ping timeKF"P"K59*K2KK:KZ"~ RH@?6tSsB qFsE J d/pYFpublishing direction and range infoڱyڵ-h?&LP@mlȿڱYڱ ۱)۱I۱i۱۱۱۱۱ ܱ)ܱIܱiܱܱܱ ݱ)ݱݵ]>+?~tD?/+$\qiݱݱݱݱ ޱ)ޱchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.052746:JBJSJJ@RJZJbJy69JJ4J!Hż>HCHHH =HH+DH<HEHiHiHiHm =Im = Im55Q JDAT read: TxSync time:14:18:16.1264  checking for new query: numPingsReceived=8, elapsed TxPingTime=0.239326y “r,OiA9:dL0@:_>@Y:"y:}=:Hƍ6,ſG?F? 1`?X{?`8?? :dL0@:};):CV ~BV;IMb@Mb@Mb@ )Y+?v/~jtyv?xiDv@ h@)Iy@QIIe "= m4=y:Q >٥ H; >`5Μ?`59 I̎By*?:8@@VEiV<<r`515%(A5SEZb;iAtAtAR=@ʁ'CF3@=6%0ؿ\us-h?&LP@mlȿF D>ҁ 4aj3yȣiR @z y G ?^ǿzZ@VjnBȜ?rd NoBwȜ?RM  kBA;@  addTargetRange:: Added new target pos. range: 20.200001 m, deltaT: 3.540410 s, deltaX: -1.900000 m, approachRate: -0.536661 m/s, rangeRepo size: 4  Added new target pos. range: 20.056799 m, bearing: 170.024531 deg, lat: 36.906426 deg, lon: -122.115986 deg, deltaT: 3.540410 s, deltaX: -1.887096 m, approachRate: -0.533016 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 20.06 m.!MI] ProNav: ac range: 20.056799 m, nav range: 19.487803 m, bearing: 168.039233 deg, approach rate: 0.000000 m/s, LOS rate: 0.065065 deg/s, cmd heading: 170.398521 deg, new cmd heading: 170.493328 deg. YeHeadingCmd: 2.975670 target range: 20.056799 and range: 20.20 m.be`q>@ZarqjqRyJyBy~~R{B}|||@334@|L? e1{Bm3@>j< @i"StoppingFFAchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.486487Ա6G ><ZG RG ~G9 AI AY Nm > 8r,siiA9>Sy0@>>@Y>y>:=>HmĿ@??p? ? Id?? >Sy0@>䉇;)>C^}B^0IInInm?3vAO vf=yvQ v>٥xx zHzFzb< ~> `5Μ? `59C IʎBy  8@@VEi::+u`5n(AMchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.739248=B*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 20.06 m.am:m:} ProNav: ac range: 20.056799 m, nav range: 19.270170 m, bearing: 168.068950 deg, approach rate: -0.667940 m/s, LOS rate: 0.092234 deg/s, cmd heading: 170.493324 deg, new cmd heading: 170.583481 deg. }2};HeadingCmd: 2.977243 target range: 20.056799 and range: 20.20 m.b(>@ZrjRJB~~}||||̱? 3{Bط@xj<@i"StoppingԹ6G=q<~GA!A1NEs>checking for new query: numPingsReceived=8, elapsed TxPingTime=0.991182) I I AAK 8_P"K 9*K 2K L:K 0ra4lH@"lgZ +ex C8~H Ƽ>H H xIH n~BH  =H H H ><H IEӠr,wiA9F 0@F~>@YFyF}-=FHk`bĿ@ٓ? ?`˔?Ͼ?b?? F 0@F;)FCb}Bb(IItIt   H=y xQ  >٥ HFs; >!-`5%Μ?5`59% I%ȎBy9E8@E@%VEi%ؙ;%ס;%x`5e Be(AmVE1EDNOT Ignoring new targets: 20.06 m.A:: ProNav: ac range: 20.056799 m, nav range: 19.016928 m, bearing: 168.103229 deg, approach rate: -0.588271 m/s, LOS rate: 0.080690 deg/s, cmd heading: 170.583483 deg, new cmd heading: 170.687690 deg. ];HeadingCmd: 2.979062 target range: 20.056799 and range: 20.20 m.b>@ZrjRJB~~}||||`rx? ]7{Be*@i<(@i"=Stoppinguchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.245774A6G<~Gi q Ay A N > checking for new query: numPingsReceived=8, elapsed TxPingTime=1.494431gr,~UiA :JZ]BJXJJZARJXZJZ]:bJXJZ4JXzJZ:bjJZ:bJZ(C:brJZ+C:b9N0@Nr>@YNXyN8=NH@JĿ@?@'j?'? ?ð?? N0@N师;)NCn}Bn&ImMb@Mb@Mb@iii i)iYmS㥛? rhym$?mLmCm`@ i)m@IiiyiI%,I%3e m6=ymQ m>٥ H; >`5Μ?`59 IĎByj%?:9@@VEi;$;|`5(ATEiyDNOT Ignoring new targets: 20.06 m.:: ProNav: ac range: 20.056799 m, nav range: 18.723225 m, bearing: 168.128513 deg, approach rate: -0.657964 m/s, LOS rate: 0.057531 deg/s, cmd heading: 170.687684 deg, new cmd heading: 170.764726 deg. ;HeadingCmd: 2.980407 target range: 20.056799 and range: 20.20 m.b>@ZrjRJB~~/{B})|)|)|)|5`'? }:{B}(8+?I{ *S<>@sm</@i"StoppingF-=F-=ԡ]checking for new query: numPingsReceived=8, elapsed TxPingTime=1.7464466G jG ?bG > ~G A A N >(r,0iA9B0@Bs>@YB@'yB=BH t@!ĿL9?@?8?`?s??` ? B0@B켈;)BCJ}BNITI^I^b1fL fh=yj:Q j>٥hh jHjFnr; n?t~`5vΜ?~`59vi IvŽBy|~:@@vVEiv;vH;v`5 B (A WE15DNOT Ignoring new targets: 20.06 m.9=̈́:Ë́:M ProNav: ac range: 20.056799 m, nav range: 18.499382 m, bearing: 168.147393 deg, approach rate: -0.680073 m/s, LOS rate: 0.058053 deg/s, cmd heading: 170.764729 deg, new cmd heading: 170.822052 deg. U];UHeadingCmd: 2.981407 target range: 20.056799 and range: 20.20 m.bU`>@ZYrYjYRYJYBa~a~i}q|q|y|y|}`9? ={B靭@p<\ @iy"Stoppingchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.998474K(P"K9*K2KM:KSTa:Q15|6<c q  m^.^`w}HMͼ>HMCHMkIHMY~BHM =HIHM,DHM&<HM,E6G+V<~GAAN> GA) UYUAyU{B) u ?u < checking for new query: numPingsReceived=8, elapsed TxPingTime=2.254633Jr,J iA9:/0@:>@Y: y:GՊ=:H@*Ŀ@g?@٥ HFD9 >`5Μ?`59 IBy!?: ;@@VEi ;:`5  (A ZE1=DNOT Ignoring new targets: 20.06 m.9=19=19] ProNav: ac range: 20.056799 m, nav range: 18.223230 m, bearing: 168.158031 deg, approach rate: -0.632072 m/s, LOS rate: 0.024719 deg/s, cmd heading: 170.822048 deg, new cmd heading: 170.854447 deg. ]:eHeadingCmd: 2.981973 target range: 20.056799 and range: 20.20 m.be>@ZarajaRaJiBi~i~m{B}q|q|q|q|}S@ @{B靥-@5s<5ҟ@i9"EStopping)checking for new query: numPingsReceived=8, elapsed TxPingTime=2.502452:J\BJTJJ>RJZJ=:bJ:9Jt4JzJ:jJ:JRJ:rJUJ:Y6G<~GAAN>ԁ ;r,BiA9BR0@B>@YByBk=BHfĿg? "?@) qȰ?'z?DR?? BR0@B;)BCZ}B^ IIfIfj0 n\=yn:Q n>٥pp rHpr ; v>tz`5vsΜ?~`59v~ IvBy|~;@~@vVEiv#;v;v̆`5 A)A %checking for new query: numPingsReceived=8, elapsed TxPingTime=2.754717YeB*** querying acoustic contact ***JaRaquDNOT Ignoring new targets: 20.06 m.q}j9}j9 ProNav: ac range: 20.056799 m, nav range: 17.989033 m, bearing: 168.166715 deg, approach rate: -0.618030 m/s, LOS rate: 0.023213 deg/s, cmd heading: 170.854450 deg, new cmd heading: 170.880840 deg. ~:HeadingCmd: 2.982433 target range: 20.056799 and range: 20.20 m.b0>@ZrjRJB~~}||||`[@ B{B@oR@uw@iy"Stoppingԁ6G?<ZGRGA~GqAyAN>ԱBDAT read: Rx Time:14:18:18.5556 TRx dataTimestamp_ set to:1749133099.960353checking for new query: numPingsReceived=8, elapsed TxPingTime=3.008496  H9 H= <HE м>HA HE YIHE ;~BHA HA HA HE 9<HE LEK P"K @9*K 2K N:K xn;jBxb@xb4/ B ,q,NTY[<uy2"r,+iA960@6 >@Y6–y6tU=6H@ÿFē?*?@ ?ҁ??@w? 60@6;)6Cz}BzIi>I;I5I5e6< mB=ym̺Q m>٥qq uHuFu`: }>`5]Μ?`59 IBy!;@@WEi::}`5B*)A]EԹDNOT Ignoring new targets: 20.06 m.99 ProNav: ac range: 20.056799 m, nav range: 17.722317 m, bearing: 168.176304 deg, approach rate: -0.637796 m/s, LOS rate: 0.023276 deg/s, cmd heading: 170.880842 deg, new cmd heading: 170.910042 deg. :HeadingCmd: 2.982943 target range: 20.056799 and range: 20.20 m.b>@ZrjRJ B ~ ~ }||||k @ E{B-@[|<4@i"5StoppingUchecking for new query: numPingsReceived=8, elapsed TxPingTime=3.262078)6G~G9AQAN >Y  DAT read: 14:18:18.5556 LVL= 20560, 30257, 17890, 32755, AGC= 58, IDX= 421,-0.47, 0.332,-1.056, 0.345,-0.108, PHS= 0.528,-0.901, 0.450, RAW= 147.2, -1.1, CAL= 151.1, -10.1, ROT= 358.9, 10.1  Ygot valid direction response: 14:18:18.5556 LVL= 20560, 30257, 17890, 32755, AGC= 58, IDX= 421,-0.47, 0.332,-1.056, 0.345,-0.108, PHS= 0.528,-0.901, 0.450, RAW= 147.2, -1.1, CAL= 151.1, -10.1, ROT= 358.9, 10.1  PDAT read: Bearing 358.9, 10.1 (Local) % ~Local bearing/azimuth received: Bearing 358.9, 10.1 (Local) - DAT read: Range 10 to 50 : 18.2 m (Round-trip 24.3 ms) speed 0.6 m/s 5 ,DAT read: user:2039> E BDAT read: Tx time:14:18:19.6772 M $Ping request sent.M l$@) nFI i J4 J4> ) WZ(s?Wbt;.D?Q5$i m8> ;< J4> ) :publishing transmit ping timeyFpublishing direction and range info 9 0@g?@Yy=H@1Sÿ??` tH? ?߱??  0@骍;)C%}B%I1y P̴P?,Z:ujrƿ Y ) I i ) I i ) WZ(s?Wbt;.D?Q5$i ) Mchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.076977Mb@Mb@Mb@ )Y%C?/${GzyZ$?ף )@Iy@I I b~ &=yQ %>٥!! HF: >`5BΜ?`59b IBy$?:=@@WEi;;`5q)A`EZ b iA A A >@ʁ bGu1@9/տ2PZ  P̴P?,Z:ujrƿ  J4>ҁ %Q$j1D]r2@?' aii/!RNl͉?bſz 9@ j ;*myȜ?r "  qB Ȝ?  mB VA H;@a addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 3.531677 s, deltaX: -2.000000 m, approachRate: -0.566303 m/s, rangeRepo size: 4  Added new target pos. range: 18.071266 m, bearing: 170.633869 deg, lat: 36.906425 deg, lon: -122.115986 deg, deltaT: 3.531677 s, deltaX: -1.985533 m, approachRate: -0.562207 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.07 m.% ProNav: ac range: 18.071266 m, nav range: 17.542360 m, bearing: 168.254883 deg, approach rate: 0.000000 m/s, LOS rate: 0.023276 deg/s, cmd heading: 170.910048 deg, new cmd heading: 170.946251 deg. !%HeadingCmd: 2.983575 target range: 18.071266 and range: 18.20 m.b->@Z)r)j)R)J)B)~1~5zB}1|1|y|}@332@|}`.? H{B;I)?I aN< =4==%=EJDAT read: TxSync time:14:18:19.6764 Echecking for new query: numPingsReceived=9, elapsed TxPingTime=0.239767>@<@i"StoppingFFFFԑԹ ~G9 AA AY Ne >`r,8iA9f1@fl$?@Yfz+yf6ɏ=fHZ`Rÿ?F?@ɊT?@@o??^? f1@fC;)fC~}B~IIUIU?13eq= e=yekQ  ?٥ HT; ?`5p2Μ?`59l IBy1=@@ WEi;;`5)AimDNOT Ignoring new targets: 18.07 m.iu?u?checking for new query: numPingsReceived=9, elapsed TxPingTime=0.490534ԉ ProNav: ac range: 18.071266 m, nav range: 17.344425 m, bearing: 168.242085 deg, approach rate: -0.640194 m/s, LOS rate: -0.041865 deg/s, cmd heading: 170.946248 deg, new cmd heading: 170.907417 deg. HeadingCmd: 2.982897 target range: 18.071266 and range: 18.20 m.b>@ZrjRJB~~}|||| ? -I{B-@]@ia"mStoppingԩH5ʼ>H1H5LIH5'~B~GiAyAN\>H5 =H1H1H58<H5GEU checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744653 ^r,SRiA9Jq1@Ja?@YJ6yJ=JH`¿@??`8?ކ?ܳ?? Jq1@Jn;)JCn}Bn IMb@Mb@Mb@ )Yףp= ?{GzQy?#u )@I@y@II3 D=yjܺQ >٥ HFh< >`5.Μ?`59S IBy?:>@@WEi ;;2`5BM)AcE)5DNOT Ignoring new targets: 18.07 m.1E]ӺE]ӺU ProNav: ac range: 18.071266 m, nav range: 17.088995 m, bearing: 168.206200 deg, approach rate: -0.647986 m/s, LOS rate: -0.092395 deg/s, cmd heading: 170.907411 deg, new cmd heading: 170.798147 deg. U}]HeadingCmd: 2.980990 target range: 18.071266 and range: 18.20 m.b]>@ZYrYjYRYJaBa~a~ezB}i|i|i|i|m@!? K{B靝^@<V =i>@i"Stopping~G!A)AINU2>checking for new query: numPingsReceived=9, elapsed TxPingTime=0.994460!JJ-4JA0:J`BJJJDRJZJ:bJJ4JzJ:jJ:JSJ:rJI r,D0liA i 9>1@T>s?@Y>dDy>,=>H`fS¿0??+?@?г? ? >1@>;E;)>Cchecking for new query: numPingsReceived=9, elapsed TxPingTime=1.246609=}B=IIMIM<2]^< ]R=yeqQ e>٥aa eHeFm,< m>q}`5u Μ?}`59uQ IuBy>@@uWEiu;u;u`5#)AfEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 18.07 m. ProNav: ac range: 18.071266 m, nav range: 16.848232 m, bearing: 168.168024 deg, approach rate: -0.616349 m/s, LOS rate: -0.099128 deg/s, cmd heading: 170.798142 deg, new cmd heading: 170.681976 deg. HeadingCmd: 2.978962 target range: 18.071266 and range: 18.20 m.bR>@ZrjRJB~~}||||? M{B靍2_@{<3=iR>@i"StoppingZGRG}Aԩ~GAAN>checking for new query: numPingsReceived=9, elapsed TxPingTime=1.499828 G G @AH ȼ>H H FIH ~BH H H +DH O<H fEHHHH =I Iʫ5K P"K }9*K 2K P:K 4x9T+9@g9$Y-Nza<8}utE^yr,IiA96a1@6?@Y6?.y6{=6H`h@#¿ ?K?ߔ?ޅ?9?S? 6a1@6ֈ;)6C`~}B~II I 1i<= M=yS;Q %>٥!! %H!-; ->1=`55͜?=`595K =tII5By9E>@E@5WEi5 ;5 ;5`5IM(AI!%DNOT Ignoring new targets: 18.07 m.!--] ProNav: ac range: 18.071266 m, nav range: 16.600822 m, bearing: 168.126278 deg, approach rate: -0.589288 m/s, LOS rate: -0.100913 deg/s, cmd heading: 170.681974 deg, new cmd heading: 170.554870 deg. ]eHeadingCmd: 2.976744 target range: 18.071266 and range: 18.20 m.be>@ZarajaRaJiBi~i~i}q|y|y|y|}bw? O{B$j@]m8<]%?=i]>@iachecking for new query: numPingsReceived=9, elapsed TxPingTime=1.751130"]Stopping6G=~G A A N >A  checking for new query: numPingsReceived=9, elapsed TxPingTime=2.002514r,iAA9u1@ue?@YuByum=uH¿?,?`7`d?1?@?? u1@ud;)q}BIiIp> ==eMb@Mb@Mb@aaa a)aYe㥛 ?~jtx~jtxye?eĻeĻev@ e$@)aIaaye@I}I}(1; 6=yJ;Q >٥ H F ; >`5͜?`59@ Iy?:V?@@WEi;;`5(AiEDNOT Ignoring new targets: 18.07 m.   ProNav: ac range: 18.071266 m, nav range: 16.339499 m, bearing: 168.075542 deg, approach rate: -0.610867 m/s, LOS rate: -0.120496 deg/s, cmd heading: 170.554864 deg, new cmd heading: 170.400223 deg. dHeadingCmd: 2.974045 target range: 18.071266 and range: 18.20 m.bV>@Zrj!R!J!B!~9~={B}A|A|Q|Q|]4*@ UP{BU_@<OK=iV>@i"Stopping6Gɓ%=~GyAAN^>checking for new query: numPingsReceived=9, elapsed TxPingTime=2.254504ԑԹ mr,¹iA9>1@> @@Y>y>2Ɯ=>Hc`:5?? ?Ŝ? ?? >1@> ;)>CV}BV1II~ I~(2 w=  g=y Z;Q  >٥ HɅ; >!-`5%z͜?-`59%o I%By)-n?@5@%WEi%(;%\G;%`5EBE@(AElEq}DNOT Ignoring new targets: 18.07 m.y}d d  ProNav: ac range: 18.071266 m, nav range: 16.132999 m, bearing: 168.033234 deg, approach rate: -0.583084 m/s, LOS rate: -0.120992 deg/s, cmd heading: 170.400229 deg, new cmd heading: 170.271681 deg. ԙHeadingCmd: 2.971802 target range: 18.071266 and range: 18.20 m.b1>@ZrjRJB~~}||||@@ R{B|@<W=i1>@i" Stopping}checking for new query: numPingsReceived=9, elapsed TxPingTime=2.506817IC=I%=:JfBJSJJ[RJZJ|":bJy69J5J@@@@Hļ>HCHLIH'~BH =HHH<HEKzO"K9*K2KQ:K[TTQTS1FkkWEv2l \S]6 tm,mZ 6G@=~GAAN%n>M checking for new query: numPingsReceived=9, elapsed TxPingTime=2.761831) zr,ciA% ~B%<IMb@Mb@Mb@ )YʡE?٥ H F > `5 5͜?%`59 m I By%?-:->@-@ #WEi U; @; `51='A9aeDNOT Ignoring new targets: 18.07 m.amm} ProNav: ac range: 18.071266 m, nav range: 15.889780 m, bearing: 167.988222 deg, approach rate: -0.560257 m/s, LOS rate: -0.105273 deg/s, cmd heading: 170.271685 deg, new cmd heading: 170.134581 deg. }HeadingCmd: 2.969409 target range: 18.071266 and range: 18.20 m.b >@ZrjRJB~~+{B}||||`o@ US{BU'@eW@i"StoppingFAFA1BDAT read: Rx Time:14:18:22.1023 TRx dataTimestamp_ set to:1749133103.487383checking for new query: numPingsReceived=9, elapsed TxPingTime=3.0115346G4X=Q~GiAyAN>ԁ r,lviA9>2@>@@Y> /y>T=>Hʯ 䦐?`?-Pa?@v?bų?g? >2@>@;)<vchecking for new query: numPingsReceived=9, elapsed TxPingTime=3.262867e3~BeTI)q qI I̍2= O=y=;Q >٥ H F2; > `5 \͜?5`59  I By9= ?@=@ &WEi  ; _; i`5AEZ'AEoEQB*** querying acoustic contact ***JRDNOT Ignoring new targets: 18.07 m. ProNav: ac range: 18.071266 m, nav range: 15.663664 m, bearing: 167.944211 deg, approach rate: -0.543611 m/s, LOS rate: -0.107334 deg/s, cmd heading: 170.134575 deg, new cmd heading: 170.000638 deg. SHeadingCmd: 2.967071 target range: 18.071266 and range: 18.20 m.b%}=@Z!r!j!R!J!B!~)~)}i|i|q|q|u@ @ uT{B}@A BDAT read: Tx time:14:18:23.2272 $Ping request sent.}ޓ@\~>ĿڕyAYڑ ەO)ەqvIە2CiەۑەE>ەnە> ܕ'@)ܕdIܕ{*@iܕ"ܕ8q@ܕ"> ݑ)ݑݕ߹+?8v.?/$vpiݕ_?ݕ9;ݕQQOݕ"> ޑ)ޑ :publishing transmit ping time Fpublishing direction and range infoڑyڕyS툎?>}ޓ@\~>ĿڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑIܑiܑܑܑI I ?A:J ZBJ QJJ @RJ ZJ 9bJ -.9J J4J ݑ)ݑݕ߹+?8v.?/$vpiݑݑݑݑ ޑ)ޑH ͼ>H CH eIH O~BH  =H H ,DH <H E6G ]= checking for new query: numPingsReceived=10, elapsed TxPingTime=0.062286~Gy A A N > ) 4> XCs,5biAKO"K@9*K2KR:KD?mVI=Xsd<Ic&$ey$`c/66G@T nYlynB9U2@Us(@@YUN0xyU=UH@ʰ&??`Øy?o?@س?H? U2@U`;)UCmD~Bm^II}I}(*2'= L=yѐ;Q >٥ H; >`5ޓ͜?`59 IBy?@@*WEi?<!F<ޭ`5qu'AyԩZbdiAwAwA^=@ʁ*eΌ.@tx/yS툎?>}ޓ@\~>ĿQQO">ҁ;3.y^@m!{p^IF?,7l3Ŀz,@pj/= Ȝ?rq쒷 |tBq쒷  NoBꁽfuAg=@5 addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 3.527944 s, deltaX: -2.600000 m, approachRate: -0.736973 m/s, rangeRepo size: 4 m Added new target pos. range: 15.489553 m, bearing: 169.849841 deg, lat: 36.906425 deg, lon: -122.115992 deg, deltaT: 3.527944 s, deltaX: -2.581713 m, approachRate: -0.731790 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 15.49 m.q ProNav: ac range: 15.489553 m, nav range: 15.337481 m, bearing: 169.877939 deg, approach rate: 0.000000 m/s, LOS rate: -0.107334 deg/s, cmd heading: 170.000635 deg, new cmd heading: 169.865599 deg. HeadingCmd: 2.964714 target range: 15.489553 and range: 15.60 m.b=@ZrjRJDAT read: TxSync time:14:18:23.2264  checking for new query: numPingsReceived=10, elapsed TxPingTime=0.242976J B ~~}|||@33/@|J? EU{BMn<I1)=;?9IEռ IIuA<=@&l<du=i=@i"Stopping 6G Rk= checking for new query: numPingsReceived=10, elapsed TxPingTime=0.491632~G A A N >1 >s,6!iA9E2%2@E8@@YEyE =EH`{ ?*?@ۙ至?up? vܳ?>? E2%2@Eׇ;)EC]T~B]iIMb@Mb@Mb@ )YˡE?V-y&1|?y?`;@ $@)@I@y@II#3=   6=yQ >٥ H F; >!`5%!͜?`59%a I%By&?:<@@%.WEi%>f<%e<%ʱ`5B&ArE  DNOT Ignoring new targets: 15.49 m. $:$:% ProNav: ac range: 15.489553 m, nav range: 15.098838 m, bearing: 169.893240 deg, approach rate: -0.552970 m/s, LOS rate: 0.036016 deg/s, cmd heading: 169.865603 deg, new cmd heading: 169.912232 deg. e:mHeadingCmd: 2.965528 target range: 15.489553 and range: 15.60 m.bm6=@ZirijiRiJqBq~q~u{B}y|y|y|y|} ? V{BJ!s,;iA 9FwB2@FU@@YF5yF"=FH$Q`\?1f?ɚ/?f?`>?O? FwB2@F;)Dnn~BnxIir<q=@oF<Τy=iq=@i"Stoppingq:J]BJWJJ?RJZJ]:bJG9Jـ4JH=ռ>H=CH=IH=~BH= =H9H9H=)<H=9EK}m)P"K}9*Ky2K}S:K}^NrV~waS `xw,<~Y& +    #ԙ6Gs=~GAAN>  checking for new query: numPingsReceived=10, elapsed TxPingTime=1.246966s,TiA9BE2@B(Y@@YB+yB=BH@. Nn?_??W?@aγ?o? BE2@BЬ;)BC\~~B~IMb@Mb@Mb@ )YRQ?A`"٥ H9 > `5 ^͜?`59  I ByH?:9@@ 4WEi ; : `5)- &A-uEQUDNOT Ignoring new targets: 15.49 m.Q];];m ProNav: ac range: 15.489553 m, nav range: 14.696342 m, bearing: 169.959964 deg, approach rate: -0.512630 m/s, LOS rate: 0.131116 deg/s, cmd heading: 169.944519 deg, new cmd heading: 170.115348 deg. m;}HeadingCmd: 2.969073 target range: 15.489553 and range: 15.60 m.b}J>@ZyrjRJB~~{B}||||Ͼ? X{BE@U?@iY"eStopping]checking for new query: numPingsReceived=10, elapsed TxPingTime=1.4991956Gx=~GAAN>9 %s,aniA9:A2@:U@@Y:9y:=:H`D\` ?@g?` k?<`V;?? :A2@:_;):CN~Bbchecking for new query: numPingsReceived=10, elapsed TxPingTime=1.750887fIIrIr(*3ze= z\=y~a;Q ~>٥| HF2 > `5 zO͜?`59  !I By!%9@%@ 7WEi _N; N; ǻ`5-B-p%A5xEaeDNOT Ignoring new targets: 15.49 m.imS;uS; ProNav: ac range: 15.489553 m, nav range: 14.507160 m, bearing: 170.009157 deg, approach rate: -0.508872 m/s, LOS rate: 0.134048 deg/s, cmd heading: 170.115342 deg, new cmd heading: 170.264845 deg. ;HeadingCmd: 2.971682 target range: 15.489553 and range: 15.60 m.b 0>@ZrjRJB~~}||||@*? Y{Bt=I)RT?I 1;< 0>@].<]?e=i 0>@i"StoppingFFI6GRk=~GA A!N5p>y}checking for new query: numPingsReceived=10, elapsed TxPingTime=2.003383:J ZBJ TJJ @RJ ZJ 9bJ :9J J4J G! G! H- ټ>H) H- IH- ~BH-  =H) H- -DH- <H- "Eԡ n "s,ЛiAK.C:P"K.9*K,2K.T:K.q#6df;4 {<B@UaP{mP?^shgP3@U79F2@F-3@@YF ;yF3=FH`@~`벀?`ܪ? s?@Qa`?f? F2@F]>;)FCu~BuIy) IIF2Zڼ @=y;Q >٥ HFN >`5=͜?`59 IBy9@@;WEia;* ;}`5%AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 15.49 m.d$;d$; ProNav: ac range: 15.489553 m, nav range: 14.289767 m, bearing: 170.069098 deg, approach rate: -0.513437 m/s, LOS rate: 0.143721 deg/s, cmd heading: 170.264841 deg, new cmd heading: 170.447398 deg. D;HeadingCmd: 2.974868 target range: 15.489553 and range: 15.60 m.b>d>@ZrjRJB!~!~!}!|)|)|)|- @ [{B靍 =I)P?Iٻ 9<>d>@<\S=i>d>@i"Stoppingchecking for new query: numPingsReceived=10, elapsed TxPingTime=2.255195ԩ6GCf=~GAAN>  checking for new query: numPingsReceived=10, elapsed TxPingTime=2.507169l7(s,dviA&? m`K? ? z2@z+;)x]~B]IMb@Mb@Mb@ )YMbX9?+MbP?y?:@ )@IyII%tk= -B=y5h;Q 5>٥99 =H9Em E>AM`5E",͜?U`59E IEByUQ?]:]X6@]@E>WEiE;E;E0`5ae8%Ae{EDNOT Ignoring new targets: 15.49 m.$;$;U ProNav: ac range: 15.489553 m, nav range: 14.074235 m, bearing: 170.174096 deg, approach rate: -0.509558 m/s, LOS rate: 0.252037 deg/s, cmd heading: 170.447398 deg, new cmd heading: 170.767214 deg. U,<UHeadingCmd: 2.980450 target range: 15.489553 and range: 15.60 m.b]>@ZYrYjYRYJYBY~a~e(|B}a|a|i||O@ ]{B2=I)V?I! 7@m@iq"}Stoppingchecking for new query: numPingsReceived=10, elapsed TxPingTime=2.75942596G R=~G A A N >Y c.s,ZiA961@6?@Y6_;y6oM=6H``+¿u?+?`ı?gsű?#? 61@6ۇ;)6CF~BFIII 2%λ %\=y-$P;Q ->٥)) 5H5F5׻ =>9E`5=͜?M`59=e I=ByIM06@M@=AWEi=y:=:=m`5Q]A%AYDNOT Ignoring new targets: 15.49 m.O;O; ProNav: ac range: 15.489553 m, nav range: 13.885535 m, bearing: 170.270665 deg, approach rate: -0.506684 m/s, LOS rate: 0.262824 deg/s, cmd heading: 170.767215 deg, new cmd heading: 171.060856 deg. _4<HeadingCmd: 2.985575 target range: 15.489553 and range: 15.60 m.b?@ZrjRJB~~}||||1@ ^{BT+=I ) U? I ;6<?@I <q!=i?@i!"-Stopping=BDAT read: Rx Time:14:18:25.6496 =TRx dataTimestamp_ set to:1749133107.015424=checking for new query: numPingsReceived=10, elapsed TxPingTime=3.012077AFM=FMp=6GA=Hּ>HHIH~BH =HHHA<H]EHÖCHHÔCH =I = Isa5~G AA)N= >aKcP"K@9*K2KU:KnxMaUKSO.1yr?MY>BCW ԉ checking for new query: numPingsReceived=10, elapsed TxPingTime=3.262857Թ N5s,BiA9!1@~?@Y;y =H:[¿@ۆp?gZ?`N9?/tvaް?? !1@iه;)C~BIi%Y>I%<=Mb@Mb@Mb@999 9)9Y=y&1?Mb{Gzy=`?==#9 =h@ԉ)=I@I=@9y=p@@AII1= =-=yM:Q M>٥YY HFC >`5z͜?`59I IBy?:4@@EWEi::`5Bx%A~EYeDNOT Ignoring new targets: 15.49 m.auf;uf; ProNav: ac range: 15.489553 m, nav range: 13.634351 m, bearing: 170.431314 deg, approach rate: -0.505755 m/s, LOS rate: 0.329422 deg/s, cmd heading: 171.060858 deg, new cmd heading: 171.551671 deg. b<HeadingCmd: 2.994142 target range: 15.489553 and range: 15.60 m.b?@ZrjRJB~~!|B}||||s @DAT read: 14:18:25.6496 LVL= 22208, 30113, 19538, 32563, AGC= 56, IDX= 406, 0.30, 0.763,-0.690, 0.880, 0.365, PHS= 0.487,-1.008, 0.513, RAW= 150.9, 0.1, CAL= 154.0, -8.7, ROT= 356.0, 8.7 Ygot valid direction response: 14:18:25.6496 LVL= 22208, 30113, 19538, 32563, AGC= 56, IDX= 406, 0.30, 0.763,-0.690, 0.880, 0.365, PHS= 0.487,-1.008, 0.513, RAW= 150.9, 0.1, CAL= 154.0, -8.7, ROT= 356.0, 8.7 PDAT read: Bearing 356.0, 8.7 (Local) ~Local bearing/azimuth received: Bearing 356.0, 8.7 (Local) ԱDAT read: Range 10 to 50 : 13.6 m (Round-trip 18.2 ms) speed 0.4 m/s ,DAT read: user:2041> BDAT read: Tx time:14:18:26.7772 $Ping request sent.E%ES? E(@)E:IE,@iE|E@E|> A)AE9DGx?ti?[lW^?iE ?EE)E|> A)A:publishing transmit ping timeFpublishing direction and range infoAyEi+?O&ni\ÿAYA A)AIAiAAAAA A)AIAiAAA A)AE9DGx?ti?[lW^?:J^BJNJJCRJZJ} :bJ!9J4JzJ_:jJd:JT:rJV:iAAAA A)A=checking for new query: numPingsReceived=11, elapsed TxPingTime=0.044505 b{B靅k|٥ H >1=`55̜?E`595 I5ByAAE@5HWEi5B:5:5`5QU%AQZYb]\=iA]XA]XA]6 <@ʁ],q١*@։jrLW]i+?O&ni\ÿ])]|>ҁ]F#*3oH@4GMa]}g?K+Ŀz]j,@]Pj] ɫȜ?r]ؑ ]uB]/= Ȝ?Y ]qB]*VA]9~>@ addTargetRange:: Added new target pos. range: 13.600000 m, deltaT: 3.528834 s, deltaX: -2.000000 m, approachRate: -0.566759 m/s, rangeRepo size: 4  Added new target pos. range: 13.504008 m, bearing: 168.338562 deg, lat: 36.906425 deg, lon: -122.115992 deg, deltaT: 3.528834 s, deltaX: -1.985545 m, approachRate: -0.562663 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.50 m.!U ProNav: ac range: 13.504008 m, nav range: 13.385329 m, bearing: 170.538248 deg, approach rate: 0.000000 m/s, LOS rate: 0.329422 deg/s, cmd heading: 171.551676 deg, new cmd heading: 171.936904 deg. Q]HeadingCmd: 3.000865 target range: 13.504008 and range: 13.60 m.b],@@ZYrYjYRYJYBa~~}|||@33+@| ? c{B(-=I)&M?aIe0 aae25checking for new query: numPingsReceived=11, elapsed TxPingTime=0.483611) H<HHм>HCHIH~BHHH,DHE<HY K !P"K ŷ9*K 2K V:K $ d(>{>(wwV%WqvW7qlXS:3(FyBs,w/ iA961@6,?@Y6G;y6So=6H@s:¿]m? g9?`a?s?@? 61@6▇;)6CBp~BBzIIFIF2fU۽ f`=yj Q j>٥hh jHjF=6; =>AM`5E̜?M`59E IEByIM4@U@ELWEiES:E:ET`5]B]K&A]E}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 13.50 m.;; ProNav: ac range: 13.504008 m, nav range: 13.190953 m, bearing: 170.670082 deg, approach rate: -0.533175 m/s, LOS rate: 0.366952 deg/s, cmd heading: 171.936898 deg, new cmd heading: 172.338223 deg. {< HeadingCmd: 3.007869 target range: 13.504008 and range: 13.60 m.b@@ZrjRJ!B!~)~19}A|A|I|I|M@?checking for new query: numPingsReceived=11, elapsed TxPingTime=0.735538 f{BM$=IQ)UB?YI]C YY]k1<@@U checking for new query: numPingsReceived=11, elapsed TxPingTime=0.988207:J ]BJ SJJ @RJ ZJ ]:bJ y69J J4J zJ :jJ :J (C:rJ +C:Թ Is,t&iA9V1@Vy?@YVGͅ;yV_S=VH¿vl??o?ॹph?? V1@Vֈ;)VCbh~BbuI)d ddfA]Mb@Mb@Mb@YYY Y)YY] rh?/$٥    H F >%`5̜?%`59 IBy%A?%:%)6@-@OWEif: :`515k&A1YeDNOT Ignoring new targets: 13.50 m.ae;m; ProNav: ac range: 13.504008 m, nav range: 12.953614 m, bearing: 170.809969 deg, approach rate: -0.556612 m/s, LOS rate: 0.334076 deg/s, cmd heading: 172.338227 deg, new cmd heading: 172.765567 deg. Ee<HeadingCmd: 3.015328 target range: 13.504008 and range: 13.60 m.b"@@ZrjԑRJB~~{B}|||| ? h{B =I)??Ib /<"@@Xchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.239496 ;Os,G?iA9Bܮ1@B9?@YB_b;yBb \=BH¿q?z? u? ([l`>~?!? Bܮ1@B;)BC^H~BbaIIjIj3v v^=yv8ݺQ z>٥xx zHxchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.491511~#Y  >`5̜?`59 IBy!%*6@%@SWEi;;U`5)-&A-EaeDNOT Ignoring new targets: 13.50 m.im/;m/; ProNav: ac range: 13.504008 m, nav range: 12.749937 m, bearing: 170.934196 deg, approach rate: -0.547944 m/s, LOS rate: 0.339542 deg/s, cmd heading: 172.765564 deg, new cmd heading: 173.144194 deg. i<HeadingCmd: 3.021936 target range: 13.504008 and range: 13.60 m.bggA@ZrjRJB~~}||||? k{BX =I)27?IM .j.<ggA@MHiHmIHm~BHiHiHiHm&<Hm/EIR=I4="StoppingGA =YAyOBK=7P"K=9*K92K=W:K=DF8)]X39)8r]<Ja|Py<JMAJM}A6G-<~GAA)NM>checking for new query: numPingsReceived=11, elapsed TxPingTime=1.743499Q L#Vs,YiA9>1@>?@Y>t;y>6Bd=>HwF¿@ m?E?9`?q@m?`4? >1@>V;)٥ HF£; >`5ԯ̜?`59 IBy.?:8@@WWEi::`5Bd'AEDNOT Ignoring new targets: 13.50 m.;; ProNav: ac range: 13.504008 m, nav range: 12.502314 m, bearing: 171.045613 deg, approach rate: -0.587164 m/s, LOS rate: 0.269422 deg/s, cmd heading: 173.144189 deg, new cmd heading: 173.485054 deg.  8< HeadingCmd: 3.027885 target range: 13.504008 and range: 13.60 m.b A@ZrjRJB~~{B}|!|!|!|% =? en{Be}:JcBJ`JJBRJZJ:bJbl9J-4J@@@@yԩ  checking for new query: numPingsReceived=11, elapsed TxPingTime=2.247391M\s,siA9:92@:@@Y:zš;y:fz=:H@R]o?w?@+@iU?JXsM?`? :92@:;):CTV~BV6IiZ >IZp=I|I| Ž  R=y=Ph:Q =>٥AA EHEFMz< M>Q}`5U̜?}`59UP IUByy}8@}@UZWEiU;U.;Uv`5'ADNOT Ignoring new targets: 13.50 m.;;  ProNav: ac range: 13.504008 m, nav range: 12.271132 m, bearing: 171.150033 deg, approach rate: -0.570177 m/s, LOS rate: 0.262389 deg/s, cmd heading: 173.485056 deg, new cmd heading: 173.804216 deg. 4<=HeadingCmd: 3.033456 target range: 13.504008 and range: 13.60 m.b=$$B@Z9r9j9R9J9B9~A~A}A|A|I|I|M@ q{B靭daHUּ>HUCHUIHU~BHU =HQHQHU9<HUPEIIAA! 7cs,~iAKBrO"KB9*K@2KBX:KB79shNuLIlG!YjQ4={ zv3]a{JJ?JJ?9f g2@fgz@@Yf;yf?!=fHT@Tmq?? ʢ?`!t? u? f g2@fT;)fC|~}B~#II I  %I=y%9Q %>٥!) -H)-iv< ->1=`55̜?E`595 I5ByAEL9@E@5^WEi5l:5:5`5IMt(AUEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 13.50 m.Ɨ;Ɨ; ProNav: ac range: 13.504008 m, nav range: 12.035597 m, bearing: 171.253279 deg, approach rate: -0.593799 m/s, LOS rate: 0.265383 deg/s, cmd heading: 173.804217 deg, new cmd heading: 174.120012 deg. !6< HeadingCmd: 3.038968 target range: 13.504008 and range: 13.60 m.b r~B@uchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.751547Z rjRJB~~}||||G@ t{B靍MQ5 BDAT read: Rx Time:14:18:29.1972 5 TRx dataTimestamp_ set to:1749133110.544450= checking for new query: numPingsReceived=11, elapsed TxPingTime=3.005993y :J \BJ RJJ ARJ ZJ =:bJ S29J 4J _is,QiAam}BmIMb@Mb@Mb@ )Y\(\?y&1Q롿y?`弹\@ h@)Iy@I%I%V=9 =:=y=Q =>٥AA EHEFM M>Q]`5Uys̜?e`59U IUyBymM?m:m=@m@UcWEiU q;U_;U`5q}(AyDNOT Ignoring new targets: 13.50 m.F:F: ProNav: ac range: 13.504008 m, nav range: 11.769646 m, bearing: 171.283889 deg, approach rate: -0.613833 m/s, LOS rate: 0.072247 deg/s, cmd heading: 174.120018 deg, new cmd heading: 174.213924 deg. TF;HeadingCmd: 3.040606 target range: 13.504008 and range: 13.60 m.bLB@ZrjRJB~~5{B}||||@ @ v{Bu fHps,/iA9>$3@>7A@Y>;y>M=>HrFJv?WK?`?`u-?`)? >$3@>J;)>CF}BJI)H HIRIR1Z  Zg=yba:Q b>٥dd fHdj= j> DAT read: 14:18:29.1972 LVL= 21984, 31409, 18306, 32755, AGC= 54, IDX= 414,-0.04, 0.552,-0.836, 0.572, 0.184, PHS= 0.457,-0.973, 0.385, RAW= 147.4, 1.9, CAL= 150.5, -7.0, ROT= 359.5, 7.0 Ygot valid direction response: 14:18:29.1972 LVL= 21984, 31409, 18306, 32755, AGC= 54, IDX= 414,-0.04, 0.552,-0.836, 0.572, 0.184, PHS= 0.457,-0.973, 0.385, RAW= 147.4, 1.9, CAL= 150.5, -7.0, ROT= 359.5, 7.0 MPDAT read: Bearing 359.5, 7.0 (Local) M~Local bearing/azimuth received: Bearing 359.5, 7.0 (Local) ]DAT read: Range 10 to 50 : 11.8 m (Round-trip 15.8 ms) speed 0.5 m/s ],DAT read: user:2042> eBDAT read: Tx time:14:18:30.2773 e$Ping request sent.eHHrIHd~BH =HH-DH7<HTE>@@nfWEinNnyn> n$@)n=In0(@in5n^@n5= l)lncplb?=yy?Z?in-2>n?nDn5= l)l:publishing transmit ping timeaFpublishing direction and range infolZlbn iAnx;Anx;Ayn ?\iUM7P2lYl l)lIlilllll l)lIlilll l)lncplb?=yy?Z?illll l)lchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.053073ntZA@ʁn?B'@wڈUqn ?\iUM7P2nDn5=ҁn^Lh';pW? Jh-nqTSm?YAYLzn?n8jnUȜ?rn߉ nwBnUȜ?nd  n|tBn:AnL?@} addTargetRange:: Added new target pos. range: 11.800000 m, deltaT: 3.527263 s, deltaX: -1.800000 m, approachRate: -0.510311 m/s, rangeRepo size: 4  Added new target pos. range: 11.716797 m, bearing: 173.098906 deg, lat: 36.906424 deg, lon: -122.115993 deg, deltaT: 3.527263 s, deltaX: -1.787211 m, approachRate: -0.506685 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.72 m.] ProNav: ac range: 11.716797 m, nav range: 11.656979 m, bearing: 171.779972 deg, approach rate: 0.000000 m/s, LOS rate: 0.072247 deg/s, cmd heading: 174.213920 deg, new cmd heading: 174.307370 deg. YHeadingCmd: 3.042238 target range: 11.716797 and range: 11.80 m.bB@ZrjRJB~~}|||'@| ? y{B靍c&vs,jiA9=o3@=xA@Y=o;y===H`6"`gw?}#?fil?Mv`m?~? =o3@=;)=C}BIMb@Mb@Mb@ )Yy&1?y&1?S㥛y`%?`e</ݼ@ $@)3@I@ychecking for new query: numPingsReceived=12, elapsed TxPingTime=0.490282II0qc =y 9Q >٥!! %H%F%< ->)5`5-8E̜?=`59- I-jBy]%?e:e%C@m@-kWEi-;-q;-|`5qu)AuEZb)A@ʁ?B'@wڈUq ?\iUM7P2ҁc'b$T?e_gt寅 ?4>PSz?8jaexȜ?r߾ wB"  uB5A @@)5DNOT Ignoring new targets: 11.72 m.1]Z]Z ProNav: ac range: 11.716797 m, nav range: 11.319767 m, bearing: 171.692805 deg, approach rate: -0.717745 m/s, LOS rate: -0.191060 deg/s, cmd heading: 174.307370 deg, new cmd heading: 174.038080 deg. HeadingCmd: 3.037538 target range: 11.716797 and range: 11.80 m.bgB@ZrjRJB~~zB}||||`r? {{B訒Q ] checking for new query: numPingsReceived=12, elapsed TxPingTime=0.739660|s,iA9F3@FA@YF;yF=FHL )y??,?`6r2?Ixw )f'<3B@<w=HCH9IH~BHHHH6<HYEHYH]ǖCH]ǓCH] =IY I]5:J^BJTJJ>RJZJ} :bJ:9Jt4JzJ^:5jJc:5JRJ:=rJUJ:=i~GAAN>ԙ 㢃s,l@iAK2uBP"K0*K02K2Z:K2?^PI]OBdFt[?7.07je+8=~9F 4@FB@YF];yFL=FH`֯8x?? >?6ps!?m? F 4@F4R;)FC^Z}BbIIfIf2n! nN=yr⡺Q r>٥pt vHtv< v>x~`5z4̜?~`59z Iz`ByC@@zsWEiz:zQ;z`5 B *A EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 11.72 m.rr ProNav: ac range: 11.716797 m, nav range: 10.867917 m, bearing: 171.548423 deg, approach rate: -0.622396 m/s, LOS rate: -0.211645 deg/s, cmd heading: 173.856264 deg, new cmd heading: 173.595810 deg. @checking for new query: numPingsReceived=12, elapsed TxPingTime=1.243405=HeadingCmd: 3.029819 target range: 11.716797 and range: 11.80 m.b=A@ZArAjIRIJIBq~y~y}||||@Zc?ԑ U~{BUgQI]k&q YY]& checking for new query: numPingsReceived=12, elapsed TxPingTime=1.496008 Љs,0*)iAI)@9ZY#4@Z6B@YZ_;yZ *=ZH`M@Qz?@(W?&ᑷ?k?@? ZY#4@Z;)ZC~S}B~IMb@Mb@Mb@ )Yw/?+?~jty&?=@ @)I@yz@I!Ii3 <=yLQ >٥ HFvZ; >`5P̜?`59z I\ByG'?:1F@@wWEi::g`5*AEDNOT Ignoring new targets: 11.72 m.^ջ^ջ ProNav: ac range: 11.716797 m, nav range: 10.585666 m, bearing: 171.390984 deg, approach rate: -0.651479 m/s, LOS rate: -0.373081 deg/s, cmd heading: 173.595815 deg, new cmd heading: 173.110918 deg. HeadingCmd: 3.021355 target range: 11.716797 and range: 11.80 m.b]A@ZrjRJB~~zB}!|!|!|I|UE? e{BeiImՙj iim;%s,BiABchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.9991039F4@F"/B@YFu;yF =FH n;"y?Fu?z Q?p@X? ? F4@Fph;)FCRT}BRIIZIZ(*2b%; b]=yb:Q b>٥dd fHfFf j>hr`5j˜?v`59j0 IjYByxz*F@z@j{WEijlf;jhg;j`5|*AHm>HiHmIHm}BHiHiHm.DHm&<HmCEDNOT Ignoring new targets: 11.72 m.0ܻ0ܻ ProNav: ac range: 11.716797 m, nav range: 10.345484 m, bearing: 171.250738 deg, approach rate: -0.644389 m/s, LOS rate: -0.385004 deg/s, cmd heading: 173.110912 deg, new cmd heading: 172.680415 deg. JJ4J4J62:J[BJQJJ?RJZJ:bJ-.9Jـ4JzJ:jJ:J4:rJ4:5HeadingCmd: 3.013842 target range: 11.716797 and range: 11.80 m.b5@@Z9r9j9R9J9B9~A~A}A|A|I|I|M7@ {BSMI7e 5%<@@>=i@@i" StoppingQ6Gsc=ZGRG~GAAN>ԁKOP"K@9*K2K[:K+a/$Y z\8zGQLDFKekK(,ydU5checking for new query: numPingsReceived=12, elapsed TxPingTime=2.251081 As,\iA<9Z3@Z* B@YZf;yZ=ZH*x?@G?@T@?@ t9 ?? Z3@ZP ;)ZCn_}BnImMb@Mb@Mb@iii i)iYmJ +?~jt?~jtxym(?mD=mĻi m@)iIm@iym@IIb1< ==y :Q >٥ H >`5˜?`59 IXBy()?:F@@WEi<;nZ;i`5Bp*AEDNOT Ignoring new targets: 11.72 m.  ProNav: ac range: 11.716797 m, nav range: 10.062005 m, bearing: 171.062132 deg, approach rate: -0.648141 m/s, LOS rate: -0.443373 deg/s, cmd heading: 172.680419 deg, new cmd heading: 172.098682 deg.  $HeadingCmd: 3.003689 target range: 11.716797 and range: 11.80 m.bo<@@ZrjRJB~~%zB}!|!|)|)|-@׉׍Achecking for new query: numPingsReceived=12, elapsed TxPingTime=2.503579ԡ {B靵jI^ z$<o<@@X=io<@@i"Stopping6G-(=~G A A! N- > = checking for new query: numPingsReceived=12, elapsed TxPingTime=2.755160 s,viA3@>zA@Y>;y>U=>H@u?'?@q?+v@?? >3@>i;)>CFj}BJIIV IV(2pr/< vW=yz :Q z>٥|| HF ʹ  >a5e˜?a59 IWByF@@WEi ::a5?*AEY]DNOT Ignoring new targets: 11.72 m.Yee ProNav: ac range: 11.716797 m, nav range: 9.796144 m, bearing: 170.878600 deg, approach rate: -0.674861 m/s, LOS rate: -0.478521 deg/s, cmd heading: 172.098678 deg, new cmd heading: 171.533157 deg. 3HeadingCmd: 2.993818 target range: 11.716797 and range: 11.80 m.b?@ZrjRJB~~}||||4@ {BhIӂX #<?@;3r=i?@i"Stopping6GpI=~GAAN>>BDAT read: Rx Time:14:18:32.6945 TRx dataTimestamp_ set to:1749133114.071460checking for new query: numPingsReceived=12, elapsed TxPingTime=3.0083341GYG]AAHe>HaHeIHe}BHaHaHaHeޚ<HeE) :JYBJPJJBRJZJ9bJ*9J-4JzJ`:jJe:J-:rJ-:upGA YAyBa s,iAKjkP"Kj}9*Kh2Kj\:Kj:yn&7XisLy|u3vmJ WMj Vw^)z}B~I1II(1E= EC=yMQ M>٥II MHMFU U>Yea5]˜?ea59]a I]VByaim@]WEi].:]G:]aa5uBu)AuEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 11.72 m. ProNav: ac range: 11.716797 m, nav range: 9.538608 m, bearing: 170.690986 deg, approach rate: -0.676254 m/s, LOS rate: -0.505949 deg/s, cmd heading: 171.533152 deg, new cmd heading: 170.955134 deg. HeadingCmd: 2.983730 target range: 11.716797 and range: 11.80 m.bo>@ZrjRchecking for new query: numPingsReceived=12, elapsed TxPingTime=3.259270JB~~}||| | ` ; @ u{Bu:y@W=io>@i"Stoppedaԙ6G@Z=jG ?bG?~GA dClearing failed state for component DockingStepper1AN> DAT read: 14:18:32.6945 LVL= 21232, 29393, 14962, 31219, AGC= 56, IDX= 417, 0.17, 2.185, 0.760, 2.429, 1.889, PHS= 0.384,-1.083, 0.537, RAW= 154.9, 2.1, CAL= 157.0, -6.8, ROT= 353.0, 6.8  Ygot valid direction response: 14:18:32.6945 LVL= 21232, 29393, 14962, 31219, AGC= 56, IDX= 417, 0.17, 2.185, 0.760, 2.429, 1.889, PHS= 0.384,-1.083, 0.537, RAW= 154.9, 2.1, CAL= 157.0, -6.8, ROT= 353.0, 6.8  PDAT read: Bearing 353.0, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 353.0, 6.8 (Local)  DAT read: Range 10 to 50 : 9.7 m (Round-trip 13.0 ms) speed 0.6 m/s  ,DAT read: user:2043>  BDAT read: Tx time:14:18:33.7773  $Ping request sent. ۭ ۭ x ? ܭ c-@)ܭ Q =Iܭ ^/@iܭ ܭ '@ܭ = ݩ )ݩ ݭ {9?z.L?q٥ Hٴ >a5˜?a59 IWByV#?:ME@@WEi::J a5)AZb ӤiAAA:@ʁ;jC"@1x :?j ?=5ϦEO5=ҁn\>B"[!@Z"ț8V^t?eưz @juȜ?r nxBq쒷  wBKA=@ addTargetRange:: Added new target pos. range: 9.700000 m, deltaT: 3.528753 s, deltaX: -2.100000 m, approachRate: -0.595111 m/s, rangeRepo size: 4   Added new target pos. range: 9.631747 m, bearing: 167.037333 deg, lat: 36.906424 deg, lon: -122.115992 deg, deltaT: 3.528753 s, deltaX: -2.085050 m, approachRate: -0.590874 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.63 m.6Short final. Range: 9.70 m.VTransitioning guidance mode to: SHORT_FINAL@@U ProNav: ac range: 9.631747 m, nav range: 9.268516 m, bearing: 170.009210 deg, approach rate: 0.000000 m/s, LOS rate: -0.505949 deg/s, cmd heading: 170.955141 deg, new cmd heading: 170.233302 deg. QU|HeadingCmd: 2.971132 target range: 9.631747 and range: 9.70 m.b]'>@ZYrYjYRYJYBY~a~{B}|||`ff#@| D2? {BJDAT read: TxSync time:14:18:33.7765 checking for new query: numPingsReceived=13, elapsed TxPingTime=0.240989Bϱ@IMp=iM'>@iQ"] Start "]4Initializing EZServoServo. "8Initializing DockingStepper.6G]iT=~GA!A9NEs>! is,=DiA02A2checking for new query: numPingsReceived=13, elapsed TxPingTime=0.4914189F3@FKA@YF;yF=FH@#L3g?`E?`ȳ ?1w ٲ?? F3@Fn;)FCR}BRIIZIZ2fW= fk=yjQ n>٥ll nHrFr r>tza5v˜?za59v IvXByxHm>HiHmIHm}BHm =HiHiHm3<HmVE:J]BJgJJ@RJZJ]:bJ9JJ4JzJ:jJ:J<:rJ=:IE@@vWEiv=v=vO a5%')A%EzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m. ProNav: ac range: 9.631747 m, nav range: 9.049626 m, bearing: 169.848568 deg, approach rate: -0.603238 m/s, LOS rate: -0.453422 deg/s, cmd heading: 170.233299 deg, new cmd heading: 169.739729 deg. |HeadingCmd: 2.962517 target range: 9.631747 and range: 9.70 m.b=@ZrjRJB~ ~}||||j? {B靝.ԁ 1s,Q-iA}BIIMb@Mb@Mb@ )YCl?{Gz?~jt?y;?#<D<@ h@)I@yIIV83= /=yQ >٥ HF >a5k˜?a59 IZByH?:B@@WEi::ca5mchecking for new query: numPingsReceived=13, elapsed TxPingTime=0.995102mBm(AuE zIgnoring new targets. Set target to previous: 9.63 m. 9.63 m. W W ProNav: ac range: 9.631747 m, nav range: 8.760173 m, bearing: 169.702131 deg, approach rate: -0.640164 m/s, LOS rate: -0.334564 deg/s, cmd heading: 169.739736 deg, new cmd heading: 169.285920 deg. %e%|HeadingCmd: 2.954597 target range: 9.631747 and range: 9.70 m.b%=@Z)r)j)R)J)B1~A~ED{B}A|A|I|I|M? q}Fԡ checking for new query: numPingsReceived=13, elapsed TxPingTime=1.247241 Ws,iAr}Br-IIzIz[3= k=y Q  ?٥! %H!! %>)5a5-gY˜?5a59-B I-\By99=@-WEi-;-;-qa5AE (AIiiuzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.}ֻ}ֻ ProNav: ac range: 9.631747 m, nav range: 8.543359 m, bearing: 169.585922 deg, approach rate: -0.681169 m/s, LOS rate: -0.374363 deg/s, cmd heading: 169.285924 deg, new cmd heading: 168.928453 deg. v|HeadingCmd: 2.948358 target range: 9.631747 and range: 9.70 m.b<@ZrjRJB~~}||||஬? =I)N?I")5 M<<@_u=i<@i"StartingԱ"@Init string: /1z7616aE13561N3m50checking for new query: numPingsReceived=13, elapsed TxPingTime=1.499371H]ؼ>H]CH] IH]}BHYHYH]-DH]!<H]2E:JZBJOJJCRJZJ9bJ%9J4JzJ-:jJ2:J~&:rJ&:6Gf=) ~G A A N >A t?s,iA9R42@R@@YR}J9;yRkT=RH` z@)n?JA?`n?M)gj? ? R42@R;)P^#~B^JIIfIf#3n= nM=yn3Q n>٥pp rHrFv z>K~,P"K~K9*K|2K~^:K~'^ h]* foJC<;Z8mxf%WEl\qAdJ ?J ?a5D˜?a59 I^By!%A@%@WEiQ;;a5)-K'A-EMB*** querying acoustic contact ***JIRIYYezIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.e^e^u ProNav: ac range: 9.631747 m, nav range: 8.294750 m, bearing: 169.466412 deg, approach rate: -0.619323 m/s, LOS rate: -0.306641 deg/s, cmd heading: 168.928460 deg, new cmd heading: 168.559189 deg. checking for new query: numPingsReceived=13, elapsed TxPingTime=1.751197uqR|HeadingCmd: 2.941913 target range: 9.631747 and range: 9.70 m.bMH<@ZrjRJ!B!~!~!})|)|)|)|-b? }{B}` =I)'?I, <MH<@<+=iMH<@i"Starting6G =~GyAAN*>Ii  checking for new query: numPingsReceived=13, elapsed TxPingTime=2.003694ns,+iA(9FИ2@F-@@YF^;yF-dG=FH _`h? ?? k ??? FИ2@F';)DZ;~BZYIuMb@Mb@Mb@qqq q)qYu9v?l{Gz?yu?uuף=yr:Q >٥ H F >a50˜?a59@ IaBya?:<@@WEi:E:a5&AzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m. pp: pp: ProNav: ac range: 9.631747 m, nav range: 8.046646 m, bearing: 169.488161 deg, approach rate: -0.581562 m/s, LOS rate: 0.052552 deg/s, cmd heading: 168.559192 deg, new cmd heading: 168.626451 deg. C;%|HeadingCmd: 2.943087 target range: 9.631747 and range: 9.70 m.b%[<@Z!r!jRJB~~{B}|||| @ Y];=aI)-?I" ><[<@<=D=i[<@i"StartingF=F=checking for new query: numPingsReceived=13, elapsed TxPingTime=2.255927ԑ6G$=jG ?bG$?~GAA N >Թ #Qs,EiA&checking for new query: numPingsReceived=13, elapsed TxPingTime=2.507257P9bk2@b@@Yb X;yb;=bHಶ cg?h?~?k{?V? bk2@b';)`j[~BnmIir=Ir<IvIv2~= ~V=Hڼ>HHYIH;~BH =HHH<HEHCHCHH =I = I5y%ꍹQ ->٥)1 5H1= E>AMa5EF˜?Ua59E IEeByQUV<@U@EWEiE:E:Ea5eBef&AeEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.$:$: ProNav: ac range: 9.631747 m, nav range: 7.819680 m, bearing: 169.513697 deg, approach rate: -0.585762 m/s, LOS rate: 0.067818 deg/s, cmd heading: 168.626456 deg, new cmd heading: 168.705289 deg. +:;|HeadingCmd: 2.944463 target range: 9.631747 and range: 9.70 m.br<@ZrjRJB~~}||||@ 靅*=I)5?I8 J<r<@<£=ir<@i"Starting6G4I=~GAAN> >checking for new query: numPingsReceived=13, elapsed TxPingTime=2.759558K5u P"K59*K12K5_:K5 JVKQu  |Xw  p*=KJ) s,Cu_iAx9%@2@%S@@Y%Ye;y%h0=%Hȳj`5c? i?! ?`8l? X? %@2@%㸈;)%CE~BMIMb@Mb@Mb@ )Y&1?ʡE~jt?y?<v@ @)`@I@y@IIT3g= /=y9Q >٥ H!F׻ >a5˜?a594 IhByO?:7@@WEi::#a5  %A E9AMBDAT read: Rx Time:14:18:36.1915 UTRx dataTimestamp_ set to:1749133117.599455Uchecking for new query: numPingsReceived=13, elapsed TxPingTime=3.012437]zIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.];e;u ProNav: ac range: 9.631747 m, nav range: 7.558132 m, bearing: 169.692543 deg, approach rate: -0.567245 m/s, LOS rate: 0.401300 deg/s, cmd heading: 168.705290 deg, new cmd heading: 169.260375 deg. u<}|HeadingCmd: 2.954151 target range: 9.631747 and range: 9.70 m.b}=@ZyryjyRyJyBy~~|B}||||@B@! U{BU"=IQ)U>?QIUv YY]9J4J@@@@"]LSent speed cmd:/1V10000 Response:/0@ I6G} 5=~GY Aa y Ay N > checking for new query: numPingsReceived=13, elapsed TxPingTime=3.263225s,S=yiA96z2@6,@@Y6:Sd;y68#=6H@S`?d?@6n?cl=a?@u? 6z2@6;)6CF~BFIININ?13Vb= Vw=yZ FQ Z?٥XX ZHX^ ^?`fa5bʜ?fa59b IbjBydjq7@j@bWEib:b$:b%a5lnv%AlzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.Y;;5 ProNav: ac range: 9.631747 m, nav range: 7.369592 m, bearing: 169.832769 deg, approach rate: -0.568753 m/s, LOS rate: 0.433833 deg/s, cmd heading: 169.260379 deg, new cmd heading: 169.691813 deg. Uޔ<m|HeadingCmd: 2.961681 target range: 9.631747 and range: 9.70 m.bm.=@ZirjRJB~~}||||%f^ @ {B<=I))-UC?)I- ))-|<5.=@15:{=i=.=@i9"eStartingFiFmAԑ6GE=~GA!A1N=Q>DAT read: 14:18:36.1915 LVL= 21904, 26385, 16210, 29587, AGC= 49, IDX= 403,-0.40, 2.471, 1.107, 2.936, 2.333, PHS= 0.226,-1.179, 0.601, RAW= 161.5, 4.4, CAL= 162.1, -4.8, ROT= 347.9, 4.8 Ygot valid direction response: 14:18:36.1915 LVL= 21904, 26385, 16210, 29587, AGC= 49, IDX= 403,-0.40, 2.471, 1.107, 2.936, 2.333, PHS= 0.226,-1.179, 0.601, RAW= 161.5, 4.4, CAL= 162.1, -4.8, ROT= 347.9, 4.8 PDAT read: Bearing 347.9, 4.8 (Local) ~Local bearing/azimuth received: Bearing 347.9, 4.8 (Local) DAT read: Range 10 to 50 : 7.5 m (Round-trip 10.0 ms) speed 0.5 m/s ,DAT read: user:2044> BDAT read: Tx time:14:18:37.2773 $Ping request sent.HCHIH~BH =HH,DH<HE=`direction in FSK: [0.974354,-0.208883,-0.083678]=:publishing transmit ping time=Fpublishing direction and range infoYy]=w{-?7|ʿU]k]@YY ]U)]gI]R?i]s]1]lg>]y閿]#? ]e4@)]nF=I]D5@i]]M@]= Y)Y] ? &'?w99?i]9?]]@X]= Y)Y:publishing transmit ping timeFpublishing direction and range infoYy]=w{-?7|ʿU]kYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y] ? &'?w99?ԱiYYYY Y)Ychecking for new query: numPingsReceived=14, elapsed TxPingTime=0.034635 ɍs,iA9>2@>@@Y>4];y>c=>H@YG^?l?֩,?@k? =? >2@>G;)>CR~BRIIZIZ3=< EA=yEQ E>٥II MHM"FMlM M>ya5}ʜ?a59} I}mBy]7@@}WEi}:}N:})a5BM%AJDAT read: TxSync time:14:18:37.2765 checking for new query: numPingsReceived=14, elapsed TxPingTime=0.238900EZbXiAM@M@2@ʁ@ 5SE=w{-?7|ʿU]k@X=ҁq}X<@-2\F(;%l{?#n>z!@jPȜ?rIq {Bؑ  wBꁍN@W9@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 3.527296 s, deltaX: -2.200000 m, approachRate: -0.623707 m/s, rangeRepo size: 4 K5P"K}9*K2K`:Kx`-e'8tC P=\+<g9[/)`L5 Added new target pos. range: 7.446939 m, bearing: 160.048439 deg, lat: 36.906424 deg, lon: -122.115987 deg, deltaT: 3.527296 s, deltaX: -2.184809 m, approachRate: -0.619400 m/s, posRepo size: 4 QQ]zIgnoring new targets. Set target to previous: 7.45 m. 9.63 m.ee ProNav: ac range: 9.631747 m, nav range: 7.126453 m, bearing: 170.027098 deg, approach rate: 0.000000 m/s, LOS rate: -0.505949 deg/s, cmd heading: 169.691815 deg, new cmd heading: 169.002159 deg. |HeadingCmd: 2.949644 target range: 9.631747 and range: 7.50 m.b<@ZrjRJB~~}|||@| ? U{BU9=IQ)]bE?YI]V YY]'0EM *;"U &Changing to mode: 2"U Armed mode.zEQ  checking for new query: numPingsReceived=14, elapsed TxPingTime=0.493685E E E E 5E I) I) 9 :JE _BJE RJJA RJA ZJE :bJE S29JA JA i6Gm=~G9AIAYNe ?s,~iA9>1@>@@Y>w::y>H<>H@F`Wh? ?mEޚ?_GI?$? >1@>=;)>CJ~BJInchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.7462569EMb@Mb@Mb@AAA A)AYEL7A`?!rhMbp?yE+?El罹E;A E@)Ev@IAAyE @IIF3 Y<  =y ݚQ >٥ H#F >!Ma5%ʜ?Ma59%Z I%nByU; ?U:U2@U@%WEi%;%;%.a5Y]+%AeEB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.t<t<  ProNav: ac range: 9.631747 m, nav range: 6.829880 m, bearing: 170.473452 deg, approach rate: -0.545292 m/s, LOS rate: 0.856313 deg/s, cmd heading: 169.002157 deg, new cmd heading: 170.399076 deg.  =|HeadingCmd: 2.974025 target range: 9.631747 and range: 7.50 m.bmV>@ZrjRJB~~U|B}A|A|I|I|Ma? {B靝T)=I)F?I/ڻ t< >@Y=imV>@iYԑ>Eeqchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.998130H̼>HHIH~BH =HHH:<HIE G% ZA= A m OYu ZAyu BEY EY EY Ee 0Ea Fm =Fm =Ա 6G=Z=~GA!A9NE> s,ZiA9>H1@>?@Y>:y>y<>H`ep¿']n?q?2?\C n?a? >H1@>C;)>CF~BHIR!IRi3Z ^1=y^rQ b>٥`` bHb$Ff f>hna5jlʜ?na59j IhylnN2@r@jWEij :j:j2a5tv.%Azchecking for new query: numPingsReceived=14, elapsed TxPingTime=1.250059tzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.<< ProNav: ac range: 9.631747 m, nav range: 6.587423 m, bearing: 170.877757 deg, approach rate: -0.521917 m/s, LOS rate: 0.902339 deg/s, cmd heading: 170.399081 deg, new cmd heading: 171.656427 deg. =|HeadingCmd: 2.995970 target range: 9.631747 and range: 7.50 m.b?@ZrjRJ)B)~)~)}1|1|9Ke P"Keŷ9*Ka2Kea:Ke3[HyFUP\04;,TN)=o pSZ*XY6|A|u? %{B%$4=I))-NF?)I-.» ))5 <5?@1=Q Ds,@iA9>1@>S?@Y>5:y>=>Hզ ¿`PNs?`}?@?f@a?? >1@>O;)>CF~BFI5Mb@Mb@Mb@111 1)1Y5%C?S㥻{Gzy5Z?5/ݽ5#1 5@)5@I5@1y5@IM IM̍2]  ]A=yeIQ e>٥aa mHim m>qa5uçʜ?a59u IukBy;?:{2@@uWEiu checking for new query: numPingsReceived=14, elapsed TxPingTime=2.005870 H ռ>H CH IH BH  =H H H *<H 8EU.t,% iAI)9:et1@:‡?@Y:/1;y:0=:H`Iq¿ \n?`'?`?%f`{?f? :et1@:o;)8-x~B-II=I=<2Mּ MK=yM;Q M>٥QQ UH]%F]hL ]>ama5eʜ?ma59e IegByimi2@u@eWEie:e;e9a5y%AEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.<< ProNav: ac range: 9.631747 m, nav range: 6.160371 m, bearing: 171.659777 deg, approach rate: -0.555424 m/s, LOS rate: 1.091290 deg/s, cmd heading: 172.855750 deg, new cmd heading: 174.082043 deg. <;=|HeadingCmd: 3.038305 target range: 9.631747 and range: 7.50 m.bsB@ZrjRJB~~}|||| /@ }{B}@F=Iy)}:?I <ԑsB@ isB@iEaEaEaEiEi6G=A=Թ~GAA!N-N>%checking for new query: numPingsReceived=14, elapsed TxPingTime=2.259431KP"K9*K2Kb:K3T|? k MTH{[M1_#pw%y-|px Xt,~#iA91@?@Y <;yH=Hl¿@٥ H&Fk: >a5Wʜ?a59- I`ByG?:z4@@WEiC ;X ;=a5BV&AE:J _BJ ZJJ FRJ ZJ  :bJ S9J 4J EzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.M5t<M5t<U ProNav: ac range: 9.631747 m, nav range: 5.931140 m, bearing: 172.053941 deg, approach rate: -0.478187 m/s, LOS rate: 0.854019 deg/s, cmd heading: 174.082042 deg, new cmd heading: 175.310040 deg. ]=]|HeadingCmd: 3.059737 target range: 9.631747 and range: 7.50 m.b]C@ZrjRJB~~E|B}||||{@ {B靭=I)1?In 2< C@'μiC@i!rE->jE->EEEE5E6G9)% checking for new query: numPingsReceived=14, elapsed TxPingTime=2.761899%t,1@>?@Y>;y>=_=>H ¿O?s?Z`>?}`ޫ?? >1@>;)>Cb:~BbYIInInm?3v. vg=yz;Q z?٥xx ~H|~~; ~? a5uʜ? a59 IZBy4@@WEi::@a5&AB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.ۍ<ۍ<  ProNav: ac range: 9.631747 m, nav range: 5.753866 m, bearing: 172.377704 deg, approach rate: -0.527012 m/s, LOS rate: 0.992155 deg/s, cmd heading: 175.310042 deg, new cmd heading: 176.311148 deg.  :*=|HeadingCmd: 3.077210 target range: 9.631747 and range: 7.50 m.bD@ZrjRJB!~!~!}!|)|)|)|-X@ {B靍K=I))?I"^o  #<D@+iD@iQEUEQEQEUo0EYBDAT read: Rx Time:14:18:39.6887 TRx dataTimestamp_ set to:1749133121.131404checking for new query: numPingsReceived=14, elapsed TxPingTime=3.015102Hڼ>HHIH~BH =HH-DH<HEԁ6GMMh <~G) A1 AI NU >ԩ ht,dViA$i&<<9F1@F0?@YF٥yy }H}'F} < >a5jdʜ?a59 IRBy4@@WEi;{;kDa5S'AEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.KJkP"Kŷ9*K2Kc:K>PNuq-D)unf|UIIv*JJ<<e ProNav: ac range: 9.631747 m, nav range: 5.539141 m, bearing: 172.789158 deg, approach rate: -0.500842 m/s, LOS rate: 0.996903 deg/s, cmd heading: 176.311143 deg, new cmd heading: 177.593130 deg. m +=|HeadingCmd: 3.099585 target range: 9.631747 and range: 7.50 m.b_F@ZrjRJB~ ~}||!|I|M # @ {B靥E=I)w ?IC R<_F@Xi_F@iDAT read: 14:18:39.6887 LVL= 29136, 32593, 25378, 32755, AGC= 51, IDX= 407,-0.01, 2.652, 1.249, 2.853, 2.539, PHS= 0.202,-1.243, 0.311, RAW= 153.6, 9.7, CAL= 153.7, 0.7, ROT= 356.3, -0.7  Ygot valid direction response: 14:18:39.6887 LVL= 29136, 32593, 25378, 32755, AGC= 51, IDX= 407,-0.01, 2.652, 1.249, 2.853, 2.539, PHS= 0.202,-1.243, 0.311, RAW= 153.6, 9.7, CAL= 153.7, 0.7, ROT= 356.3, -0.7  PDAT read: Bearing 356.3, -0.7 (Local)  ~Local bearing/azimuth received: Bearing 356.3, -0.7 (Local)  DAT read: Range 10 to 50 : 5.4 m (Round-trip 7.3 ms) speed 0.4 m/s % ,DAT read: user:2045> - BDAT read: Tx time:14:18:40.7773 - $Ping request sent.- EI EI EI EU 1EQ ۝۝d;> ܝ+@)ܝ-\->Iܝ>+@iܝ+H<ܝ@ܝ+H ݙ)ݙݝ[_D? s1t?=v?iݝ"?ݝ3.ݝ)Aݝ+H ޙ)ޙ :publishing transmit ping time)  Fpublishing direction and range infoڙyڝ2 P?*ve㄰I:?ڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝ[_D? s1t?=v?iݙݙ 6G- ݌jݙݙ ޙ)ޙ] checking for new query: numPingsReceived=15, elapsed TxPingTime=0.038873~G A A N% >t, piAl9m2@mL%@@Ym8k1 ٥ H(F< >a5Oʜ?a5JDAT read: TxSync time:14:18:40.7765 checking for new query: numPingsReceived=15, elapsed TxPingTime=0.2334989V IHBy?:9@@WEi <P <Ha5%B%'A%EZbhiA@@;@ʁ7f@$ֿAͨŰ?2 P?*ve㄰I:?)A+HҁCl m?vm@x U/0$?,Vizn?jтȜ?r~ }B~  nxB@F;@ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 3.533411 s, deltaX: -2.100000 m, approachRate: -0.594327 m/s, rangeRepo size: 4  Added new target pos. range: 5.361903 m, bearing: 168.278288 deg, lat: 36.906424 deg, lon: -122.115987 deg, deltaT: 7.060707 s, deltaX: -4.269844 m, approachRate: -0.604733 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.36 m. 9.63 m. ProNav: ac range: 9.631747 m, nav range: 5.290567 m, bearing: 173.091616 deg, approach rate: 0.000000 m/s, LOS rate: -0.505949 deg/s, cmd heading: 177.593128 deg, new cmd heading: 176.880075 deg. |HeadingCmd: 3.087140 target range: 9.631747 and range: 5.40 m.bE@ZrjRJB~ ~ {B} | | |5@|=!? {B靅O=I))?I$ <<MF@/j<1iE@i1EmEqEqEu0Eq6GE ZGI RGI ~G A A! N5 >Y ؕ =ו = checking for new query: numPingsReceived=15, elapsed TxPingTime=0.484826H ۼ>H H IH ~BH H H H !<H 3EH]˖CH]˖CHYH] =I] = I]5z"t,AgiA9>k2@>@@Y>XM,=>H &_?N?ԪY?,? >k2@>t;)>Cf}BjI:JtBJvWJJvERJtZJtbJvG9Jv4JtzJv+:~jJv0:~Jv_:rJv_:9IEIE[3U/ Uv=yb;Q ?٥ H[< ?a5,Aʜ?a59@ I@By=:@@WEi;3;Ka5%(A!aizIgnoring new targets. Set target to previous: 9.63 m. 9.63 m. I< I< ProNav: ac range: 9.631747 m, nav range: 5.111908 m, bearing: 173.314923 deg, approach rate: -0.543494 m/s, LOS rate: 0.703057 deg/s, cmd heading: 176.880070 deg, new cmd heading: 177.573367 deg. @<|HeadingCmd: 3.099240 target range: 9.631747 and range: 5.40 m.bYF@ZrjRJB~~}||||`? {B靅-%=I)?IF ;YF@<2iYF@iqEMEIEIEM5EIchecking for new query: numPingsReceived=15, elapsed TxPingTime=0.737416ԙKe P"Ke 9*Ka 2Ke d:Ke tMa'=7k9 />Y)(ME\yb!'f1416Gu w!~Ga Ai Ay N > (t,JiA9m3@mR'A@Ym<\٥ H)F3< >%a5-ʜ?Ma59m I7ByUA ?U:]@@]@WEir;;xOa5eBeE)AEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.II@A: : ProNav: ac range: 9.631747 m, nav range: 4.871836 m, bearing: 173.353771 deg, approach rate: -0.531824 m/s, LOS rate: 0.090301 deg/s, cmd heading: 177.573362 deg, new cmd heading: 177.695651 deg. w;|HeadingCmd: 3.101374 target range: 9.631747 and range: 5.40 m.b|F@Zr!jARAJABA~I~M]{B}I|Q|Y|Y|MA? 5{B59IEu AAEC;e|F@e(?2.t,;iA~l}BII !I i3- 5n=y=Q =?٥9A EHE*FE E?IUa5Mʜ?Ua59M IM0ByYae@MWEiM4;M5;MxRa5im)AiB*** querying acoustic contact ***JRzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.:: ProNav: ac range: 9.631747 m, nav range: 4.686805 m, bearing: 173.386429 deg, approach rate: -0.561350 m/s, LOS rate: 0.102990 deg/s, cmd heading: 177.695649 deg, new cmd heading: 177.797491 deg. \;|HeadingCmd: 3.103152 target range: 9.631747 and range: 5.40 m.b F@ZrjRJB~~}||||R? {B =I)d>I% !!%;- F@-j<-Mi- F@iEEEEG5E!HUݼ>HQHU_IHUE~BHU =HQHQHU <HUE6G#jG ?bG?checking for new query: numPingsReceived=15, elapsed TxPingTime=1.502440~GAAQAaNmW>:JaBJTJJGRJZJ:bJ:9Jc4JzJ;jJ;JRJ:rJUJ:Qy 5t,"iA96t3@6dA@Y6IiGcQF?ʆ?#\K?? 6t3@6v;)6CRQ}BRIIZIZF3bd bP=yf;Q f>٥hh jHhnt< n>lra5zchecking for new query: numPingsReceived=15, elapsed TxPingTime=1.752546n ʜ?~a59n In(By"A@ @nWEinѮ;np;nUa5d*AìE99EzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.M-:M-:] ProNav: ac range: 9.631747 m, nav range: 4.475505 m, bearing: 173.409211 deg, approach rate: -0.534980 m/s, LOS rate: 0.060402 deg/s, cmd heading: 177.797488 deg, new cmd heading: 177.869059 deg. ]%;e|HeadingCmd: 3.104401 target range: 9.631747 and range: 5.40 m.beF@ZirijiRiJiBi~q~q}q|q|y||%?A m{Bm$qIu鑺 qquZ;F@P<w iF@iKe]P"Keŷ9*Ka2Kee:Ke4,}?Wa6OhS61"~N7V/g<q[Ejo EMEIEIEM2EIqchecking for new query: numPingsReceived=15, elapsed TxPingTime=2.0066806G ~G A I I 4=A N > i;t,hiA9ZyP4@ZcB@YZs ףp=?Mb?S㥛y]?]=]/ݼ]n@ ];@)]v@I]@YyYIIT3#Y ?=yU;Q >٥ H+F= >a5uɜ?a59 I!ByP?:SF@@WEi* ;;Ya5*AzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.&*&* ProNav: ac range: 9.631747 m, nav range: 4.232395 m, bearing: 173.170798 deg, approach rate: -0.573794 m/s, LOS rate: -0.595027 deg/s, cmd heading: 177.869054 deg, new cmd heading: 177.112779 deg. .̼|HeadingCmd: 3.091201 target range: 9.631747 and range: 5.40 m.b=E@ZrjRJB~~zB}||||@@ {BX!I%XK !!%@;M=E@QU/iU=E@iQchecking for new query: numPingsReceived=15, elapsed TxPingTime=2.257760EEEE0E6G- 1 ~G A A) )U t> Q N > HG A AA - ?Y- Ay- RB HE <HE <HM ޼>HI HM IHM }BHI HI HI HM <HM %E q @ BBt, iA checking for new query: numPingsReceived=15, elapsed TxPingTime=2.533377Je4JJ_0:J^\BJ^OJJ^ARJ\ZJ^=:bJ^%9J^4J\zJ^:jJ^:J^~&:rJ^&:U!}BUIIeIem?3b :=yQ >٥ H,F  > a5 ɜ?a59  I By@ WEi : : ]a5IMBU+A]ƬEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.:: ProNav: ac range: 9.631747 m, nav range: 3.975732 m, bearing: 172.887355 deg, approach rate: -0.555863 m/s, LOS rate: -0.653489 deg/s, cmd heading: 177.112775 deg, new cmd heading: 176.207630 deg. =|HeadingCmd: 3.075403 target range: 9.631747 and range: 5.40 m.bhD@ZrjRJB~~}||||@f@ {B!I%: !!%S;-hD@)-*q:i-hD@i1EEEE0Eq6GļZGRG~GQAqAN}>BDAT read: Rx Time:14:18:43.1865 TRx dataTimestamp_ set to:1749133124.439343checking for new query: numPingsReceived=15, elapsed TxPingTime=2.785568ԙ K 5P"K @9*K 2K f:K mt88 J^;'cw[E>d~yWAK4kHt,є%iA@  }BI =>Mb@Mb@Mb@ )YS?Mb?Mby?@=dA @)@Echecking for new query: numPingsReceived=15, elapsed TxPingTime=3.038372I@y@I]I]3u>b u==yqQ u>٥yy }Hyy }>a5dɜ?a59b IBy%?:G@@WEi:I:I S;KmC@Pt,_@iAI()*@09J5@JOC@YJJH[=ZKu`?@Н@s?`@ U?`? J5@J`e;)JCZ}BZIIbIb?13j ju=ynD8Q n?٥lp vHv-Fved= v?x~a5zVɜ?~a59z[ IzByH@@zWEizI;z#;z(da5  +A 5B*** querying acoustic contact ***J1R1IIUzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.UǺUǺm ProNav: ac range: 9.631747 m, nav range: 3.522497 m, bearing: 172.083403 deg, approach rate: -0.600658 m/s, LOS rate: -1.306343 deg/s, cmd heading: 174.955282 deg, new cmd heading: 173.646068 deg. m"`m|HeadingCmd: 3.030696 target range: 9.631747 and range: 5.40 m.bmA@ZqrqjqRqJqBq~y~y}y||||Z @ E{BE IIMdƖ8 IIMY;UA@QUSd=iuA@iyԑEEEE0EFFHHHIHp}BHHHH(<HCE6G6DAT read: 14:18:43.1865 LVL= 31696, 32753, 21874, 32755, AGC= 51, IDX= 413, 0.34,-0.708,-2.039,-0.084,-0.620, PHS= 0.000,-1.371, 0.533, RAW= 165.7, 9.9, CAL= -0.2, ROT= 345.4, 0.2 ~GA A!N-N>=!unknown deviceResponse_: 14:18:43.1865 LVL= 31696, 32753, 21874, 32755, AGC= 51, IDX= 413, 0.34,-0.708,-2.039,-0.084,-0.620, PHS= 0.000,-1.371, 0.533, RAW= 165.7, 9.9, CAL= -0.2, ROT= 345.4, 0.2 EPDAT read: Bearing 345.4, 0.2 (Local) M~Local bearing/azimuth received: Bearing 345.4, 0.2 (Local) UDAT read: Range 10 to 50 : 3.6 m (Round-trip 4.9 ms) speed 0.4 m/s ],DAT read: user:2046> :Jm[BJmYJJmDRJiZJm:bJm[O9Jm4JizJm:jJm:Jm&n:rJm)n:BDAT read: Tx time:14:18:44.2774 $Ping request sent.٥II UHQU`< U>Yea5]3ɜ?ma59][ I] Byim Im@]WEi]:]:]ga5uBu^+A}̬E addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 3.558890 s, deltaX: -1.800000 m, approachRate: -0.505776 m/s, rangeRepo size: 4 zIgnoring new targets. Set target to previous: 9.63 m. 9.63 m. ProNav: ac range: 9.631747 m, nav range: 3.274238 m, bearing: 171.477056 deg, approach rate: -0.601769 m/s, LOS rate: -1.581169 deg/s, cmd heading: 173.646071 deg, new cmd heading: 171.689902 deg. |HeadingCmd: 2.996554 target range: 9.631747 and range: 3.60 m.b?@ZrjRJB~~}||| @| ? -{B5l1I=Cֶ9 99=L;E?@AE%=iE?@iAKUP"KQ*KQ2KUg:KUnKmMU9mUFz X}L3 S2wE`"6Vw\VEEEE0E 6GӔ<~GA)AQN}X>9checking for new query: numPingsReceived=16, elapsed TxPingTime=0.476924a (_\t,siA96:6@6DND@Y6U l٥ai mHm.FmVa< m>a5Xɜ?a59B I ByW"?:$H@@WEi:<Yka51=+A9aaezIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.m?m? ProNav: ac range: 9.631747 m, nav range: 3.017395 m, bearing: 170.817102 deg, approach rate: -0.600164 m/s, LOS rate: -1.673336 deg/s, cmd heading: 171.689905 deg, new cmd heading: 169.542569 deg. |HeadingCmd: 2.959076 target range: 9.631747 and range: 3.60 m.ba=@ZrjRJB~~{B}||||H? u{BuXyIe`1: ;a=@]=ia=@iMchecking for new query: numPingsReceived=16, elapsed TxPingTime=0.728139aEEEE0Eԙ6G 喇<H ̼>H CH IH G}BH  =H H ,DH &<Թ H 2E~G A A N > checking for new query: numPingsReceived=16, elapsed TxPingTime=0.980088 Fct, iAi9B X6@BgkD@YB i٥xx zHz/FR; >a5zɜ?a5ԙ9, I ByBH@@WEiA;A;na5*AϬEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.- ProNav: ac range: 9.631747 m, nav range: 2.763702 m, bearing: 170.033686 deg, approach rate: -0.657926 m/s, LOS rate: -2.218142 deg/s, cmd heading: 169.542562 deg, new cmd heading: 166.978368 deg. -I=|HeadingCmd: 2.914322 target range: 9.631747 and range: 3.60 m.b=B:@Z9r9jARAJABI~Q~Q}a|a|i|i|u`4? M{Bu(qIuw: yy} ;}B:@">iB:@iE!E!E!E%0E!6G=<~GAAN k>]checking for new query: numPingsReceived=16, elapsed TxPingTime=1.231981K P"K 9*K 2K h:K ;^;}`%H*)#)sh(n\#/FFb<f2 :" rit,iA9] d6@]fwD@Y]xk٥yy }H:: >checking for new query: numPingsReceived=16, elapsed TxPingTime=1.485287a5cbɜ?a59 I By7(?:D@@WEi0<w<ra5B 2*A ҬE:JYBJ]NJJ]BRJYZJYbJ]!9J]-4JY@@@@11=zIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.eeu ProNav: ac range: 9.631747 m, nav range: 2.476414 m, bearing: 169.300239 deg, approach rate: -0.595295 m/s, LOS rate: -1.696054 deg/s, cmd heading: 166.978372 deg, new cmd heading: 164.524338 deg. u}|HeadingCmd: 2.871491 target range: 9.631747 and range: 3.60 m.b}7@ZyryjyRJB~~%{B}||||`T? )5/1I5-: 19=W;e8@aey3>ie7@iiE5E1E1E5o0E16G  =ZGRGAI~GAA N >m checking for new query: numPingsReceived=16, elapsed TxPingTime=1.736961q Wpt,oiA9>6@>D@Y>4=>H\*,`>߱?Uж?kf@?? >6@>e;)>CFs}BFI N=N=IV!IVi3^U= ^l=ybV;Q b?٥`d fHf0Ff ; f?hna5j\Oɜ?na59jQ IhyprE@r@jWEij;j;jua5tv)AvլEmB*** querying acoustic contact ***JiRizIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.r3r3 ProNav: ac range: 9.631747 m, nav range: 2.252101 m, bearing: 168.584777 deg, approach rate: -0.715714 m/s, LOS rate: -2.510123 deg/s, cmd heading: 164.524340 deg, new cmd heading: 162.165565 deg. U׽|HeadingCmd: 2.830323 target range: 9.631747 and range: 3.60 m.b$5@ZrjRJB~~1}9|9|9|9|=@h?Q {B靍G=I)>I: ã;7@DO>i$5@iH=Ƽ>H=CH=IH=[}BH= =H9H=+DH=L<H=`EHQHQHUĔCHU =IQ IU]A6EmEqEqEu0Eq6GEq'=ԁchecking for new query: numPingsReceived=16, elapsed TxPingTime=1.988488~GA AN%N>ԩ 1vt,TiAI,),9^6@^?D@Y^]٥ H1F G;  >checking for new query: numPingsReceived=16, elapsed TxPingTime=2.240138%a58ɜ?%a59 I By)-&E@-@XEi`;a;Wya51=D)A9aaezIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.mYmY ProNav: ac range: 9.631747 m, nav range: 1.984138 m, bearing: 167.507756 deg, approach rate: -0.666925 m/s, LOS rate: -3.042408 deg/s, cmd heading: 162.165561 deg, new cmd heading: 158.503348 deg. |HeadingCmd: 2.766405 target range: 9.631747 and range: 3.60 m.b 1@ZrjRJB~~}||||O@ j=I)>I8]; ; :3@  d>i  1@ԩiKO"K@9*K2Ki:Kqp7`Kc{D^~L%C;a7Q sg0FF]OJJEiEqEqEu0Ey6G=checking for new query: numPingsReceived=16, elapsed TxPingTime=2.492105 ~G :J ^BJ OJJ RJ ZJ } :bJ %9J J A A N >1 u|t, $iA9BP6@BD@YB٥ H >a5!ɜ?a59 Iy$?:A@@XEi;z;}a5Bk(AجEzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.u4}4 ProNav: ac range: 9.631747 m, nav range: 1.714992 m, bearing: 166.587703 deg, approach rate: -0.638992 m/s, LOS rate: -2.527037 deg/s, cmd heading: 158.503351 deg, new cmd heading: 155.313456 deg. ؽ|HeadingCmd: 2.710731 target range: 9.631747 and range: 3.60 m.b|-@ZrjRJB~~{B}||||@ 5{B5=I9)=?9I=h"; 99=*;Ef-@AE >iM|-@ii=BDAT read: Rx Time:14:18:46.6842 =TRx dataTimestamp_ set to:1749133127.968594Echecking for new query: numPingsReceived=16, elapsed TxPingTime=2.746752EMEIEIEM0EI6G>I~GAANl>i H- ˼>H- CH- IH- }BH-  =H) H) H- <H- E > < checking for new query: numPingsReceived=16, elapsed TxPingTime=2.996269t,ziA@9Bp6@B,D@YB0N٥xx ~H~2F~p > a55 ɜ? a59J IyA@@ XEi\::ba5(A%۬EzIgnoring new targets. Set target to previous: 9.63 m. 9.63 m.ii  ProNav: ac range: 9.631747 m, nav range: 1.469560 m, bearing: 165.466087 deg, approach rate: -0.612836 m/s, LOS rate: -3.268158 deg/s, cmd heading: 155.313461 deg, new cmd heading: 151.393027 deg.  . 5|HeadingCmd: 2.642307 target range: 9.631747 and range: 3.60 m.b5)@Z1r1j9R9J9B9~A~A}I|Q|q|q|}G@ d)=I)} ?I@>; 1;*@i)@iԩEEEE0E6Gx1>~GAA)uchecking for new query: numPingsReceived=16, elapsed TxPingTime=3.250393N> K- P"K- K9*K) 2K- j:K- PbZ0R)kdO/'Iq>#K3f.G.~t,l(iAl9:6@0ND@Y BDAT read: Tx time:14:18:47.7774 $Ping request sent.٥AA EHM3FMfһ M>Q]a5U#Ȝ?ݍeyKp?auLUۿUD?i݉݉݉݉ މ)މechecking for new query: numPingsReceived=17, elapsed TxPingTime=0.047061]a59U IU Bym&#?m:m<@u@UXEiUx;Uw;Uބa5y}'AyZb\>.iA/?/?@ʁ(%oտ!3Z?a8jgKɜ?ra BтȜ? {Bꁍ?UU"@  addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 3.527573 s, deltaX: -1.600000 m, approachRate: -0.453570 m/s, rangeRepo size: 4 = Added new target pos. range: 1.985829 m, bearing: 292.833408 deg, lat: 36.906424 deg, lon: -122.115987 deg, deltaT: 14.147170 s, deltaX: -7.645918 m, approachRate: -0.540456 m/s, posRepo size: 4 AAEBIntercept lockout. Range: 2.00 m.EbTransitioning guidance mode to: INTERCEPT_LOCKOUTE@bAZArIjIRIJIBI~Q~U|B}Q|Q|y|}@|}ज़? {Bb=I)~?I5o{d; 99=;Evn'@AAiAiI1E E E E o0E 6Gk>~G A A N >M checking for new query: numPingsReceived=17, elapsed TxPingTime=0.240366Y t,BiA965@6C@Y6e'AެEB*** querying acoustic contact ***JRGAA -Y-Ay-BiibiZqrqjqRqJqBq~y~y}y|y|y||?HѼ>HH'IH}BH =HH,DH<HE ]{B]oD=IYa)(?IG; ;j&@iichecking for new query: numPingsReceived=17, elapsed TxPingTime=0.491759EqEyEyE}{0Ey6GU >ԑ~GA!AINm>Թ *ϖt,\\iA9> >5@>iQC@Y>U<>H`ș ?`?I ?? > >5@>/;)٥`` bHb4Fb׼ f>dja5fȜ?ja59f_ IfBylchecking for new query: numPingsReceived=17, elapsed TxPingTime=0.742906n<@]@fXEifƔchecking for new query: numPingsReceived=17, elapsed TxPingTime=0.994943~GI Aa Im 4=Im =:J ]BJ QJJ ARJ ZJ ]:bJ -.9J 4J A N >! st,+kviA9>y^4@>qB@Y>D <>H`NzI@i?`ු?`G,?@2? >y^4@>ʌ;)>CJ!~BJII%Mb@Mb@Mb@!!! !)!Y%333333?+ηy&1|?y%?%v%`;%@ %Q@)%@I%$@!y%@IIT39; ;=y;Q >٥ H5F >a5Ȝ?a59 IByq?:8@@XEi: :a5&A))b)Z)r)j)R)J)B1~1~5|B}9|9|9|9|= 6? }{B}6@=Iy)}r?yI@Ɲ; #;TU(@iichecking for new query: numPingsReceived=17, elapsed TxPingTime=1.247024EEEEn1E)6G>~GyAAN_>QG G ?AH ռ>H CH YIH ;~BH H H H <H Eԁ  checking for new query: numPingsReceived=17, elapsed TxPingTime=1.498817t,AiA9N 3@NgA@YN=yNd٥ll nHlr r>tza5v{Ȝ?za59v IvByxz7@z@vXEiv~:v:va5B&AE99b9Z9r9jARAJABA~A~I}I|I|I|I|U>? %{B%{I=I!)%?!I-; ))-E;5-(@11i19iAEEEE2Ea5checking for new query: numPingsReceived=17, elapsed TxPingTime=1.7562166G>8>~GAԹAN>KE P"KA *KA 2KE l:KE vg#6m|Du{l.1Y-(i,0Ofn\/(M @U t,/4iA9˥2@'@@Y]=yi;H@b ?L@,؂?١/Js? ? ˥2@G;)C"~BA}checking for new query: numPingsReceived=17, elapsed TxPingTime=2.003821Mb@Mb@Mb@ )Ykt?B`"۹Mb`y ?ν@ @)X@I@yI%I)3g# -=y;Q >٥ H6F > a5 ڏȜ?a59 ӷ I Byn?:Z5@@ #XEi : b: &a5!%&A%EQYbYZYrYjaRiJiBq~y~}|B}a|a|i|i|m@ {By0=I ) ? I >; &;=)@9AiAiAEEEE0E) % checking for new query: numPingsReceived=17, elapsed TxPingTime=2.2548576G >~G A A N >I t,iAHyH}rIH}d~BH} =HyH}-DH} <H}EEEEE5Echecking for new query: numPingsReceived=17, elapsed TxPingTime=2.507629:JE[BJAJJE@RJAZJE:bJAJEJ4JAzJAMjJAMJE4:MrJE4:UY6G >ԁ ~GA) Ay N >t,fiA09Bs0@B ?@YB=yBAm溹BH ÿi&?͛p? > q\2? Bs0@BJ;)BCJ~BN>IIVIV3^ ^J=y^6;Q b>٥`d fHdjc j>rBDAT read: Rx Time:14:18:50.1836 vTRx dataTimestamp_ set to:1749133131.495463vchecking for new query: numPingsReceived=17, elapsed TxPingTime=2.760101xa5z)nȜ?a59z= IzBy3@@z*XEiz:;z;za5B8'AEbZrjRJB~~}||||x@ {B^:=I)?I; }; ))i1i1ԉKe6O"Ke}9*Ka2Kem:Kev{& :@>VtV&}xwq"iM<n@o\{K^EEEEo3EFFFFchecking for new query: numPingsReceived=17, elapsed TxPingTime=3.012029~GY A A N > Gt,>iA`}B/I a= %= Mb@Mb@Mb@    ) Y v/?K rhy x ? ^ C  @) A@I  y @I] I]V2R 0=yQ >٥ H8F >)EDAT read: 14:18:50.1836 LVL= 18640, 25153, 14386, 21667, AGC= 42, IDX= 434,-0.24, 2.853,-1.359,-1.233,-1.655, PHS=-1.687, 0.343, 0.419, RAW= 268.2, 9.0, CAL= 274.1, 12.5, ROT= 235.9, -12.5 UYgot valid direction response: 14:18:50.1836 LVL= 18640, 25153, 14386, 21667, AGC= 42, IDX= 434,-0.24, 2.853,-1.359,-1.233,-1.655, PHS=-1.687, 0.343, 0.419, RAW= 268.2, 9.0, CAL= 274.1, 12.5, ROT= 235.9, -12.5 UPDAT read: Bearing 235.9, -12.5 (Local) ]~Local bearing/azimuth received: Bearing 235.9, -12.5 (Local) eDAT read: Range 10 to 50 : 1.5 m (Round-trip 2.1 ms) speed -0.4 m/s ,DAT read: user:2048> BDAT read: Tx time:14:18:51.2774 $Ping request sent.+> ʕ@)| >I@if_>\@f_ )-0=꿽Ϣ?P?i%@  f_ ):publishing transmit ping timeFpublishing direction and range infoy;HEeK?Y )Ii )Ii )-0=꿽Ϣ?P?i )ZbiA??|S?ʁ&/q] UCVQ &?;HEeK? f_ҁ(_?e+?4 `n?EG)!??E\ ?z$?z?j?kȜ?rG aBPȜ?  }BZ?g>}checking for new query: numPingsReceived=18, elapsed TxPingTime=0.033760 addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 3.277083 s, deltaX: -0.500000 m, approachRate: -0.152575 m/s, rangeRepo size: 4  Added new target pos. range: 1.489413 m, bearing: 47.332691 deg, lat: 36.906424 deg, lon: -122.115986 deg, deltaT: 3.277083 s, deltaX: -0.496417 m, approachRate: -0.151481 m/s, posRepo size: 4 bZrjRJB~~g|B}|||?|?Y {B靍%=I)?I; e;ii Hu <Hq H} ؼ>Hy Hy Hy H}  =Hy Hy H} )<H}  JDAT read: TxSync time:14:18:51.2766  checking for new query: numPingsReceived=18, elapsed TxPingTime=0.220055:Jm ZBJm WJJm ?RJi ZJm 9bJm G9Jm ـ4Ji zJm -:jJm 2:Jm _:rJm _:Et,iAI)9>O=@Y>r=y>M7>H@IpXǿY?vc?(֣$s? >;)٥!) -H))5 5>9Ea5=JȜ?Ea59=` I=ByAE2@M@=1XEi=:=<;=ʣa5}B}2(A}EZbL?ʁ'\꿥 CH?;HEeK?ҁ| ?8/?<ù@?? A?ʝ?z??jp(Ȝ?rm ?Bp(Ȝ?G  ?B?F\I?b)Z)r)j)R)J)B1~1~1}1|1|9|9|=? {B)mZ=I)?I\; q;iiaEEEE5E~GyAAN=>checking for new query: numPingsReceived=18, elapsed TxPingTime=0.471044ԉK %P"K 9*K 2K n:K 4cJowe;boc]r}8O!\D*?l+*=It ot, +iAԑ9Ek.@~<@YÁ=yxTH@\ȿ ~u?b w?`_? Ek.@;)}BI) A -=-:?5checking for new query: numPingsReceived=18, elapsed TxPingTime=0.723321-Mb@Mb@Mb@))) )))Y-)\(?:v:vy-G?-T-Լ-@ -@)-n@I-3@)y-f@IEIET3U U,=yU$Q U>٥YY ]H]9FeOܼ e>iua5m27Ȝ?ua59m ImڍByu"?u:u5@}@m5XEimZ:m:ma5(AEbYZarajaRaJiBq~q~uG|B}q|yԹ|||? {B=I)>I%< !!%g;)))i)i1EEEE/1E~GAA!N-> checking for new query: numPingsReceived=18, elapsed TxPingTime=0.974996 Rt,EiA9: |-@:g;@Y:p=y:|v9:H`DDʿ* ? YJ(?{qIUD < QQU;Y]AiaiaH˼>HCHYIH;~BH =HH,DH<HEE%E!E)E-B5E)~GA !A!N-->mchecking for new query: numPingsReceived=18, elapsed TxPingTime=1.230616:J[BJVJJBRJZJ:bJB9J-4JzJ:jJ:JX:rJX:Qy {t,c_iAVchecking for new query: numPingsReceived=18, elapsed TxPingTime=1.479428%z}B%II=#I=%x3U n eA=ymQ m>٥qq uHq >a5lȜ?a59b IɍBy@;XEi;;a5 ~)A AAbAZArAjARAJABI~I~I}I|QQ|Y|Y|]? {B靍b=I)c>I< =;'<{>iiE-E)E)E- 5E)Ky1P"K9*K2Ko:KHJA-"+d~| gMSbR* ?\\cwzB#xwxT9I~GIAiAyԁN9>echecking for new query: numPingsReceived=18, elapsed TxPingTime=1.732179ԩI I < t,=yiA9BQ+@B9@YBZ&=yBDUMb@Mb@Mb@QQQ Q)QYUK? rhS㥛yU^>UCU/ݼU@ U@)QIU@QyUp@ImImm?3{ G=y;Q >٥ H;Fn >a5Ȝ?a59 IBy>:^7@@>XEi:V:a5BN*AEbZrjRJB~~{B}|q|y||ݠ?Ա {BG =I)b> I  <  -S;15_<5Dm>i1i9checking for new query: numPingsReceived=18, elapsed TxPingTime=1.982981EE E E 5E~G9AAAYNeU>) mGAAA GYAyJBGG@A H ʼ>H CH -IH }BH  =H H +DH (<H ,Ee checking for new query: numPingsReceived=18, elapsed TxPingTime=2.234964:J! BJ% XJJ% ARJ! ZJ! bJ% 5K9J% 4J! 9 zJ% :jJ% :J% f:rJ% f:[t, iA%}BII-I-<2E MN=yMQ M>٥aa eHei}a5mǜ?}a59m ImByyy}@mAXEim;mf;m|a5*AbZrjRJB~~}||||@@ {Bw =I) a> I I<   C;<~[r>iiEEEE_0E9checking for new query: numPingsReceived=18, elapsed TxPingTime=2.4876726G >~GA A N >a K O"K ж9*K 2K p:K Mv`h2IO-!G;@IcBq/aFk-bpt,iA$9ufg)@uz7@Yu29=yu;٥yy }HyN >a5ǜ?a59 IByQ5@@DXEiv;/;Sa5BM+AEiiibiZrjRJB~~}|||| @ {BtI%< IIU:;a*=1T>iiEEEEf5Eԡ6GuN|>~GQAaAqN>  BDAT read: Rx Time:14:18:53.6854  TRx dataTimestamp_ set to:1749133135.023484 checking for new query: numPingsReceived=18, elapsed TxPingTime=2.992199 t,giA9>`(@>Ht6@Y>wC=y>b<>H@@@ugҿ:N@eS?` /R?l?? >`(@>FS;)>CLR|BRI)T T=Mb@Mb@Mb@999 9)9Y=\(\?y&1?~jty=>=`e<==@ 9)=X@I=@9y=@IU IU(2e-N e[=ym;Q m>٥ii uHu=Fud1 }>ya5})ǜ?a59} I}By+>:V8@@}GXEi}:},:}a5%+A!eB*** querying acoustic contact ***JaRaHԼ>HCHIH}BH =HH,DH<HEbZrjRJB~~v{B}|||| @ E{BMҠiImk < qqu~;q}s=}4H>iyiy5checking for new query: numPingsReceived=18, elapsed TxPingTime=3.244595EEEAEAEE_0EAJ4J턈4J턅0:J]BJNJJHRJZJ]:bJ!9JԺ4JzJ:jJ:JS:rJV:6G /r>! ~Ga A A N >t,iAfDAT read: 14:18:53.6854 LVL= 22128, 13473, 17778, 28451, AGC= 49, IDX= 437,-0.37, 0.410, 2.557, 1.293, 1.661, PHS=-1.163, 0.943,-0.371, RAW= 308.2, 6.5, CAL= 311.5, 10.2, ROT= 198.5, -10.2 jYgot valid direction response: 14:18:53.6854 LVL= 22128, 13473, 17778, 28451, AGC= 49, IDX= 437,-0.37, 0.410, 2.557, 1.293, 1.661, PHS=-1.163, 0.943,-0.371, RAW= 308.2, 6.5, CAL= 311.5, 10.2, ROT= 198.5, -10.2 rPDAT read: Bearing 198.5, -10.2 (Local) r~Local bearing/azimuth received: Bearing 198.5, -10.2 (Local) |DAT read: Range 10 to 50 : 2.8 m (Round-trip 3.8 ms) speed -0.4 m/s ,DAT read: user:2049> %BDAT read: Tx time:14:18:54.7775 %$Ping request sent.%B]@BK6 @)@Bݗy(#S_¿O iټ?iB ?BF罩Be4BK6 @)@U:publishing transmit ping time!UFpublishing direction and range info@yBʟu&Hӿki?@Y@ @)@I@i@@@@@ @)@I@i@@@ @)@Bݗy(#S_¿O iټ?i@@@@ @)@checking for new query: numPingsReceived=19, elapsed TxPingTime=0.0093219?'@S5@YZK=yo<Hs|ӿ`f? NyP¡?h?+? ?'@;)C|B~IAII<25x =>=y=Y;Q =>٥AA EHE>FE' E>QUa5Uǜ?]a59U! IUByY]57@]@UKXEiU6:U:UTa5am,AmEZ@bBiAB1@B1@Bì<ʁBN0GP뿳b [?Bʟu&Hӿki?Be4BK6ҁBؼJ@S;M?sG?B46;?#dq??zBoj=B-@jBìȜ?rBʋ @B?kȜ?Bʋ  @B)+@BT< addTargetRange:: Added new target pos. range: 2.800000 m, deltaT: 3.527254 s, deltaX: 1.300000 m, approachRate: 0.368559 m/s, rangeRepo size: 4 !5 Added new target pos. range: 2.780202 m, bearing: 1.208339 deg, lat: 36.906426 deg, lon: -122.115983 deg, deltaT: 3.527254 s, deltaX: 1.290789 m, approachRate: 0.365947 m/s, posRepo size: 4 ==TStarting intercept timer at range: 2.80 m.9b9Z9r9j9RAJB~~}|||`ff@|ؘ?K]P"K]U9*KY2K]q:K]Gy(-pUzSmJP cS  {B靍BIS$< ;=x;>iiaEEEEp5EMJDAT read: TxSync time:14:18:54.7767 Mchecking for new query: numPingsReceived=19, elapsed TxPingTime=0.2344876Goa>~G A A N >ԁ Vt,wiA9>'&@>:4@Y>}S=y>=<>H@GԿ{J>p?N`?l!?@? >'&@>T;)>CN|BNlIYMb@Mb@Mb@ )Yx&1?V-?I +y?<94 @)MAI3@yf@I%"I%q35 =J=y=T;Q =>٥AA EHAE~- E>I}a5Mǜ?}a59M IMBy}?}:}7@}@MNXEiM;M;Ma5v,AmRStopped intercept timer at range: 2.80 m.bZrjRJB~~R{B}||||*3?checking for new query: numPingsReceived=19, elapsed TxPingTime=0.486986 {BfI&< L;!E]=M*0->iIiIԑԱ>E-9 H<HHѼ>HCHIH3}BH =HHH<HEE E E E 5E 6Ge jH> e checking for new query: numPingsReceived=19, elapsed TxPingTime=0.738736~Ga Aq A N >[u,_iA9b.%@b&B3@YbR=ybz=@>F?G? b.%@bp;)bCn|BniIIvIvF3~D0 ~a=y݂Q >٥ H?F .+  >a5ǜ?a59[ IBy!%6@%@QXEi;;a5-B-,A-EmmTStarting intercept timer at range: 2.80 m.ibiZirqjqRqJqBq~y~y}y||||`? {B靵z1I5vE)< 99=a[;AM=M >iIiQ>E5;EEEE`0E!checking for new query: numPingsReceived=19, elapsed TxPingTime=0.992269y6GH>~G A A N >ԙ K +PP"K *K 2K r:K O*~Fb' qa7 j 95I,IN0Q_ u,K.iA97#@ 2@YP=ya;H!@ֿ.}?@@ ? U~? ? 7#@q܊;)C}|B}]I =R=II3 ;=y3-checking for new query: numPingsReceived=19, elapsed TxPingTime=1.245323yQ >٥ H@F:J\BJSJJARJZJ=:bJy69J4J@@@@% >a5ǜ?a59 IBy5@@UXEi:`:a5)E,AIbZrjRJB~~}||||,? -{B5.1I5d,< 11=_;YeT=e>iaiaԙ>E *:< checking for new query: numPingsReceived=19, elapsed TxPingTime=1.496288E E E E 5E 6G r[/> ~G A A N >~"u,(HiA9>C"@>0@Y>O=y>7<>HZ׿`?2ѝ?C?? >C"@>;)>CF|BFhImMb@Mb@Mb@iii i)iYm(\?~jt?~jthym?m٥ H0C >a5݅ǜ?a59 I|By?:33@@XXEHǼ>HCHIH|BHHH+DH<HEHCHHH =I = IX6i:;da5,AEaB*** querying acoustic contact ***JRRStopped intercept timer at range: 2.80 m.bZrjRJB~~v{B}|| | | Ue? ]{B靅I/< z;=>iiDDDDchecking for new query: numPingsReceived=19, elapsed TxPingTime=1.746921ԑEE E E 5E 6G 69 >~G A A N > Iu,PbiAchecking for new query: numPingsReceived=19, elapsed TxPingTime=1.9989429j!@jV/@YjU=yjQ٥ HAFH< >a5tǜ?a59Û IvBy2@@[XEii; ;a5 ,A 5=TStarting intercept timer at range: 2.80 m.9b9Z9r9j9RAJABA~A~A}I|I|Q|Q|U@ {B I1< ;%Z=%z =i!i)EEEEl0EK%P"K%9*K!2K%s:K%' Ep`/,U"sya6ex-(|WABB i9TJ checking for new query: numPingsReceived=19, elapsed TxPingTime=2.253345:JqBJuNJJu>RJqZJqbJu!9Jut4Jq6G!>Q ~G A A N >pu,|iA9>׌ @>2.@Y>lX=y>^<>HD@ɽٿ`#?J?`G $? L? >׌ @>;)>CJ|BJfI%Mb@Mb@Mb@!!! !)!Y%> ףp=?Mb`?y%?%%;%@ %@)!I%@!y!I5I5m?3MwD; MQ=yU ;Q U>٥QQ UHUBF]1 ]>qa5ucǜ?a59ue IupBy?:.@@u_XEiucIt4< ;}==ii!rE-t>11=checking for new query: numPingsReceived=19, elapsed TxPingTime=2.503129IjE)EEEEn0E6G>ԁ~GAANf>Hɼ>HH~IH|BH =HHH<HEԩ  checking for new query: numPingsReceived=19, elapsed TxPingTime=2.754834gX%u,kiA@9F@F-@YFGX=yFk׬٥xx zHx~ ~> a5Rǜ? a59 IkBy -@@bXEi:l:a5J,A!uuTStarting intercept timer at range: 2.80 m.qbqZqrqjyRyJyB~~}|||| F@ {B靽)I:7< ;quZ=u"=iyiyԱE E E E o0E 6GR=~GAANH>EBDAT read: Rx Time:14:18:57.1881 ETRx dataTimestamp_ set to:1749133138.555263Mchecking for new query: numPingsReceived=19, elapsed TxPingTime=3.007824 K FP"K ж9*K 2K t:K C0t~Ynl {B]bZz܆+u,XiA9Bp@B,@lYBCW=yBoƸ:JM_BJMQJJM?RJIZJM :bJM-.9JMـ4JII4<Mb@Mb@Mb@ )Y5^I ?Mb{Gzt?y?ף;@ @)AII@y@IIm?3< "=y2KQ >٥ HCFμ > a5y<ǜ?a59< IdByJ?:t)@@gXEi/:o:*a5m,AmE=ERStopped intercept timer at range: 2.80 m.AbIZIrIjIRIJQBQ~Q~u{B}y|y|y|y|,D @ e{BeIM;< v;=L=i1iAE! E! E! E% `0E! } DAT read: 14:18:57.1881 LVL= 30688, 26705, 17714, 32755, AGC= 53, IDX= 447,-0.09,-2.325,-0.050,-1.184,-1.260, PHS=-0.977, 1.257, 0.073, RAW= 302.0, -3.7, CAL= 305.5, -5.3, ROT= 204.5, 5.3  Ygot valid direction response: 14:18:57.1881 LVL= 30688, 26705, 17714, 32755, AGC= 53, IDX= 447,-0.09,-2.325,-0.050,-1.184,-1.260, PHS=-0.977, 1.257, 0.073, RAW= 302.0, -3.7, CAL= 305.5, -5.3, ROT= 204.5, 5.3  PDAT read: Bearing 204.5, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 204.5, 5.3 (Local)  DAT read: Range 10 to 50 : 4.8 m (Round-trip 6.5 ms) speed -0.5 m/s  ,DAT read: user:2050>  BDAT read: Tx time:14:18:58.2775  $Ping request sent. H CH H H  =H H H <H E~G AAN>R3u,xiA9VW@V+@YVV=yV٥qq uH}DF] >a5x+ǜ?a59: I^By!(@@kXEiD;;a5 B +AEԙJDAT read: TxSync time:14:18:58.2767 checking for new query: numPingsReceived=20, elapsed TxPingTime=0.238131ZbiA@@@ʁȌNEh> |7,ܿ;ާaQzxImڿ{]U-q=ҁCBSV8@P>ƿmv6ѿ2FO?憘Y%㬿z4)@j+Ȝ?r {BìȜ?G  ꁵw@+@E addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 3.532968 s, deltaX: 2.000000 m, approachRate: 0.566096 m/s, rangeRepo size: 4  Added new target pos. range: 4.765971 m, bearing: 357.872544 deg, lat: 36.906427 deg, lon: -122.115978 deg, deltaT: 3.532968 s, deltaX: 1.985769 m, approachRate: 0.562068 m/s, posRepo size: 4 TStarting intercept timer at range: 4.80 m.bZrjRJB~~}|||@33@| l? 151I=j>< 99=;AE"% =EF}=iAiAE!E!E!E%e0E!6Gl=~GAAN>׉ ׉  checking for new query: numPingsReceived=20, elapsed TxPingTime=0.489762 o9u,iA9>Z@>!+@Y>kO=y>Wt<>Hܿ`l?@iۥ?ꩿ`Ɩ? x? >Z@>";)>Cb|BbIIj$Ij<3< Q=y%Q %>٥!! %H)- ->1Ma55ǜ?Ma595B I5YByQU'@U@5nXEi5;5;5a5Ye+AeE}B*** querying acoustic contact ***JyRybZrjRJB~~}||||Γ? {B=I):>I#A< ;9P =q*m=iiEEEE0EK O"K K9*K 2K u:K 1-w ]sM M;p=ov!(0zmP6G=~GiA%checking for new query: numPingsReceived=20, elapsed TxPingTime=0.744795AAQN[>IC=Ia=:J^BJVJJCRJZJ} :bJB9J4Ji W@u, miA 9>v@>*@Y>lJ=y>h<>H esݿBמ@W?`e:?JZ?S? >v@>;)>CJ|BJI-Mb@Mb@Mb@))) )))Y-jt?Q뱿Mbp?y- ?-\echecking for new query: numPingsReceived=20, elapsed TxPingTime=0.993134-;-n@ -@)-zAI-`@)y-@II3n< >=yz:Q >٥ HEF >a5ǜ?a59M ISBy!?:k#@@sXEi8::a5 B+AEMMRStopped intercept timer at range: 4.80 m.IbIZIrIjQRQJQBQ~Y~]/|B}Y|Y|a|a|eC? 靕IaD< ;HCHIH|BH =HH*DHK<HYEԙ6G^= checking for new query: numPingsReceived=20, elapsed TxPingTime=1.245092~G A A N >ZFu,UiA96@6E)@Y6B=y62N=6H`Cwݿ!c?@nM?`X#?? 6@6B;)6CF|BFILIRIRm?3Zf Z_=y^Q ^>٥\\ bH`bMȼ b>dja5fƜ?ja59f IfNByln"@n@fwXEif#;f;fa5pr+ApTStarting intercept timer at range: 4.80 m.bZ!r!j!R!J!B!~)~)})|)|)|1|5`~? e{BeIaImG< iim;! KE P"KE ŷ9*KA 2KE v:KE   7"jM3YIHM7K`P<ZU\1y{- checking for new query: numPingsReceived=20, elapsed TxPingTime=1.751309Lu,r75iAI@IBBA|9W@Ik)@Y B=y/&=H`"t޿@U? y? Z@Dͤ?? W@骵Z;)C|BIMb@Mb@Mb@ )YT㥛 ?/${Gzy!?#A @)AI@yp@II2< ,=y!8Q >٥ HFF >a5XƜ?a59; ICByy"?: @@{XEi:M:a5  ~+A  E]mRStopped intercept timer at range: 4.80 m.qbqZqrqjqRqJyB~ ~ i|B} ||!|9|E? {B靍WI-L< <0 ==iiEQEQEQEUp0EQ6G-5PK=Q}checking for new query: numPingsReceived=20, elapsed TxPingTime=2.002550~G AA!N5>y H >H CH IH }BH H H H F<H GEDSu,NiA9>@>?)@Y>A=y>I'=>Hf@g޿@rc?@? 7?? >@>g;)>CJ|BJIIZIZV83%X8< %k=y-JQ -?٥)) -H-GF5w 5?AUa5EaƜ?Ua59E} IE;ByQYU @e@EXEiE3;E;Ea5imn+AiTStarting intercept timer at range: 4.80 m.bZrjRJB~~}|||| @ {Bh =I):>IN< A< =:=iichecking for new query: numPingsReceived=20, elapsed TxPingTime=2.254554:JaBJWJJ?RJZJ:bJG9Jـ4JzJ;jJ;J_:rJ_:EEEE3EFAFAԉԹ6GO=jG?bG?~GAA N > checking for new query: numPingsReceived=20, elapsed TxPingTime=2.505180 Yu,UhiA9:@:(@Y:'<=y:]6=:H7޿@]?_S?gϦ?8? :@:;):CF|BFIIVIV[3^ļ ^Q=y^jQ ^>٥`` bH`f f>hja5jƜ?na59jy Ij3Bylng @n@jXEij;jw;joa5vBv+AvE B*** querying acoustic contact ***J R bZrjRJB~~}|Թ|||@ U{B]6YI]cR< Yae]<~GA1echecking for new query: numPingsReceived=20, elapsed TxPingTime=2.760066AqNc>9 ʩ`u,&ȂiA96w@6(@Y6j7=y6D=6HZ߿Y|? H? L릿銨?\? 6w@6=;)6C~|B}IEBDAT read: Rx Time:14:19:00.6903 ETRx dataTimestamp_ set to:1749133142.084515Uchecking for new query: numPingsReceived=20, elapsed TxPingTime=3.011735Mb@Mb@Mb@ )YZd;?I +Qy?9uA )I@yf@ II 35 5=y%%Q %>٥!! %H-HFY" >a5ɯƜ?a59Ju I(By ?:@@XEi^;0;a5 +AE]]RStopped intercept timer at range: 4.80 m.YbYZYrajaRaJB~~n|B}||||@@ {BbI&U< YYeR]HqHuIHu}BHu =HqHu)DHu&<HuEH%ŔCH%ŔCH%ŔCH% =I% = I%ť6EEEE0Eachecking for new query: numPingsReceived=20, elapsed TxPingTime=3.261087:J [BJ UJJ ARJ ZJ :bJ >9J 4J zJ :jJ :J ~Q:rJ Q:6G =~G A A N >ԑ qfu,MiA|ByIiI5I52B @=yQ >٥ HIF > a5Ɯ? a59=q IBy   @XEi#;$;a5+AEMTStarting intercept timer at range: 4.80 m.IbIZIrIjIRIJIBQ~Q~Q}Q|Y|Y|Y|]Y @ {B靝IAX< *<~ =ױ BDAT read: Tx time:14:19:01.7775 $Ping request sent.<~GY Ai Ay N >K #P"K }9*K 2K x:K obPfA;QzC@5jf7!|gcpa=$L_  JDAT read: TxSync time:14:19:01.7767 = checking for new query: numPingsReceived=21, elapsed TxPingTime=0.2360111lu,viA9o@(@Y,=ykh=Hb -߿@v?|? ?? o@;)CU|BUoIMb@Mb@Mb@ )YA`"?#~jy?㥽̼zA @)Iy @IIm?3m! u3=yuEQ u>٥yy }H}JF}M9 >b5ڋƜ?b59l IBy?:Q @@XEiZ:V: b5B1,AEZyb}iA}V@}V@}@ʁ} j긛wJN}yZ&ܡ׿}0}=ҁ}tp%@_-(ٿ}0~è?_W kb9IE|-\< AAEc'He CHe IHe }BHe  =Ha Ha He #<He E6GU Ntu,yiA(i(9N`@N(@YN=yNvON=NH ޿@ჿ ?V?ӣ1©?@y? N`@N5w;)NCZ|BZ`IIb!Ibi3j jy=yj.Q j?٥ll nHlv< v?x~b5z~Ɯ?~b59zi IzByw @@zXEiz:z:zb5,A99b9Z9r9j9R9JABA~A~I}I|I|I|Q|U?checking for new query: numPingsReceived=21, elapsed TxPingTime=0.736276:J-XBJ-TJJ-@RJ)ZJ-{9bJ-:9J-J4J)zJ-:jJ-:J-TJ:rJ-VJ: ]{BeiIu]< qqu i 1zu,iA9>@>(@Y>KR=y>_=>H`y`޿D{ N?s?@I`?? >@>;)>CR|BR\IIZ-IZ3b9p bL=yf-Q f>٥dd fHjKFn9 r>tzb5vEnƜ?zb59vf IvByxzl @z@vXEivW:v:vub5B,AE%B*** querying acoustic contact ***J!R!))b)Z1r1j1R1J1B1~9~9}A|A|A|A|M&q? {B靕bIT@`< +<l =Gԩ Y ] Ae checking for new query: numPingsReceived=21, elapsed TxPingTime=1.492315)u,iA9>~@>(@Y><=y>eJs=>H` ޿_7h߷?@~?f _?`E? >~@>@;)>CF|BFII)l ppGAA YAyBMb@Mb@Mb@ )YV-?Q뱿S㥛yh?\/ݼA @)AIy\@ԡI!Ii3̂ -=ypQ >٥ H2K; >b5[Ɯ?b59b IBy?:R!@@XEi;; b5!-AbZrj!R!J!B!~)~-9|B})|1|1|9|E? m{Bm^qIupb< qquHCHIH|BH =HH(DH<HEEUEQEQE]P5EYchecking for new query: numPingsReceived=21, elapsed TxPingTime=1.744518:JU\BJUSJJU?RJQZJU=:bJUy69JUـ4JQzJU:jJU:JU)C:rJU,C: 6G] :^<~Gy A A N >) 㹇u,g iAI()(9Z @Zd )@YZe=yZ|:=ZH@`S޿#Y?E^?`!?`P? Z @Zz;)ZCjd|Bj8IIzIz2   l=yʁ:Q ?٥!! %H%LF-; -?1=b55DNƜ?Eb595^ I5ByAEc!@E@5XEi5;5a;5b5IM-AUE11b1Z1r9j9R9J9B9~A~A}A|A|A|I|MR? {B靽ʴK% O"K% ŷ9*K! 2K% z:K% fsdodMJHnXQ[RE '>/[ KD?a+# checking for new query: numPingsReceived=21, elapsed TxPingTime=2.249608tu,ff:iA(9v"@v@6)@YvB=yvψ=vHn@:޿@ۇ??6碿?'? v"@vV;)vCT|B-IMb@Mb@Mb@ )Yw/?:vZd;Oy?Tj @)AI@yI$I<3 <=y8:Q >٥ HMF<; >b5Y>Ɯ?b59[ IތBy ? : #@ @XEi;;_b5-AbZrjRJB~~ |B}||||W@ԁ m{B靅GH CH qIH |BH  =H H )DH 1<H E ~Ga Ai A N >˔u,TTiA9>KQ@>d)@Y>e=y>b=>Hv$v޿La? _? ??뢿 ݤ?? >KQ@>;)>CFH|BF&IIR IRb3V Zb=yZ8Q Z>٥X\ ^H\`b; b>djb5f0Ɯ?nb59fX IfՌByprM#@r@fXEifX;f/Y;fb5tv-Axchecking for new query: numPingsReceived=21, elapsed TxPingTime=2.760203bZrjRJB~~}||||U@ {B靝lA u,TmiA2}@>)@Y>=y>TD=>H`.bP޿ q?E8?}F?G9?? >2}@>;)>CF:|BJIIRIR3V  VJ=yZ@:Q Z>٥\` bHbNFf; f>hjb5j!Ɯ?nb59jU IǰBypr}#@r@jXEij;j;jb5vBv2.AvE B*** querying acoustic contact ***J R bZ!r!j!R!J!B!~)~)})|)|)|1|5|\ @ m{Bmt"=ii!EEEE`0EYchecking for new query: numPingsReceived=21, elapsed TxPingTime=3.265843KO"K*K2K{:JE^BJEOJJEDRJAZJE} :bJE%9JE4JAu@u@u@u@:KI]VkLQY-j|7GU?+ $Fyk&ԁ6G=jG ?bG ?~GAA N >ԡ ݡu,|ӇiA*DAT read: 14:19:04.1932 LVL= 26352, 26017, 22514, 32755, AGC= 57, IDX= 450,-0.00, 2.213,-1.782, 2.882,-3.083, PHS=-0.900, 1.348,-0.321, RAW= 315.6, -1.3, CAL= 318.6, -1.9, ROT= 191.4, 1.9 2Ygot valid direction response: 14:19:04.1932 LVL= 26352, 26017, 22514, 32755, AGC= 57, IDX= 450,-0.00, 2.213,-1.782, 2.882,-3.083, PHS=-0.900, 1.348,-0.321, RAW= 315.6, -1.3, CAL= 318.6, -1.9, ROT= 191.4, 1.9 6PDAT read: Bearing 191.4, 1.9 (Local) :~Local bearing/azimuth received: Bearing 191.4, 1.9 (Local) >DAT read: Range 10 to 50 : 8.6 m (Round-trip 11.5 ms) speed -0.5 m/s B,DAT read: user:2052> BBDAT read: Tx time:14:19:05.2776 F$Ping request sent.FHyH}RIH}|BH} =HyHyH}<H}EuMb@Mb@Mb@qqq q)qYu%C? rh/$yuZ?uC uq u@)uAIu@qyu@ԩII#3j =yQ >٥ H OF >)5b5- Ɯ?=b59-Q I-By=?:%@@-XEi-f><-=<-b5.AEZby iAAAr@ʁ! "A8 5n|Cҿc\jYWqFIɿB3S<=ҁT @@*TQۙ?nҿ`4 zAjbɽȜ?rL {BìȜ?  {BA]'@M addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 3.539912 s, deltaX: 2.200000 m, approachRate: 0.621484 m/s, rangeRepo size: 4  Added new target pos. range: 8.538549 m, bearing: 343.008441 deg, lat: 36.906427 deg, lon: -122.115978 deg, deltaT: 3.539912 s, deltaX: 2.184182 m, approachRate: 0.617016 m/s, posRepo size: 4 -XTarget missed at range: 8.60 m. Rolling out.zNTransitioning guidance mode to: ROLLOUT@bZrjR?zJB~~{B}|||@33!@| ?JDAT read: TxSync time:14:19:05.2768 checking for new query: numPingsReceived=22, elapsed TxPingTime=0.240468 {Bmg٥|| ~H|p< > b5 cŜ?b59 N I Bye&@@ XEi G ; : q!b5%B%/A%EqAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseEntering Midcourse tracking update period 60.000000 s sec at 8.600000 m (mode 5.000000 count ).1~ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 8.600000 m (mode 5.000000 count ).q~ ~ BNOT Ignoring new targets: 8.54 m.bZrjRzJ!B!~!~I}I|Q|Q|Q|U? {BNjp'u,(iA9F!@F{*@YFP3=yF4=FH tEݿv?<-?Tum?P墿V|?? F!@FN;)FCR|BRI=Mb@Mb@Mb@999 9)9Y=#~j?{Gz:vy=?=ף=T=A =@)=AI=@9y=zAIU!IUi3]D: eB=yeZ:Q e>٥ii mHmPFchecking for new query: numPingsReceived=22, elapsed TxPingTime=0.995616 Y< >%b5bŜ?%b59K IBy%?%:-o(@m@XEi\'<*'<N%b5qu /Au EN@1b?~~BNOT Ignoring new targets: 8.54 m.bZrjRzJB~~{B}||||D? e|BehH H -IH S|BH  =H H H )<H EHĒCHĒCHēCH =I = I5E=E"E9E9E=^0E96GsC=ZG%ARG!~GMIAAYiAqN}{> checking for new query: numPingsReceived=22, elapsed TxPingTime=1.247570ԙ AMu,8iA9B@BH*@YB=yBCH=BHݿi?}?@cj?> ?? B@BB;)BCN{BNIIV"IVq3^}b ^V=y^:Q b>٥b?b? bHbQFf< f>hnb5jŜ?nb59jI IjByln(@r@jXEij ;j;ju(b5xz`/A|!1%q%j)~-1-MBNOT Ignoring new targets: 8.54 m.bIZIrIjQRQzQJYBY~a~a}i|i|q|qy|uEa? |BL vu,wiA *8?*I?6checking for new query: numPingsReceived=22, elapsed TxPingTime=1.755650K>O"K>9*K<2K>}:K>3Draw7^mFy'4PX@X@dfN24"o^) :J\BJ^SJJ^BRJ\ZJ\bJ^y69J^-4J\9m@m*@Ym&%=ymN=mH@`ݿ8 ?xd@\?@m?`H? m@m;)mC{BI))Mb@Mb@Mb@ )Y?Mby&1|yf?` @)AI@yAI%I%(15Ҽ 5=y=;Q =>٥99 =HERFE; E>b5Ŝ?b59F IByy?:)@@XEi:s: -b5B/A#E q  tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourseq  Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourser1Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~ Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATREBNOT Ignoring new targets: 8.54 m.bIZIrIjIRIzIJIBI~Q~U{B}Q|Y|Y|Y|]@[? |B A!u,iA\ {B III#3UZ Uc=y]Q ]>٥YY eHeSFe e>qub5unŜ?}b59uC IuByyy}@uXEiu:u-:u!0b5/Achecking for new query: numPingsReceived=22, elapsed TxPingTime=2.255586UBNOT Ignoring new targets: 8.54 m.bQZQrQjQRQzQJQBY~Y~Y}Y|a|||@U@ |B61 Cu,>@/iA9>)@>*@Y>Xd4=y>>ބ=>H xv`>ݿ,`? c?`?? >)@>4;)>CN{BNIIZIZ?13b bU=yf_٥dh jHhjJλ j>lrb5nŜ?vb59n"A InBytv(@v@nXEin:n:n{3b5xz/A~&E!=BNOT Ignoring new targets: 8.54 m.b9Z9r9j9RAzAJABA~A~I}I|I|I|I|U?;@ |B靅,Iƥe< )<7 =M`=iiEu,EqEyE}`0EyFFIchecking for new query: numPingsReceived=22, elapsed TxPingTime=2.759594:JIBJMVJJM@RJIZJIbJMB9JMJ4JIKuP"Ku@9*Kq2Ku~:Ku|0lA6bvngpL1Mzl7"SYC2. OI Z5 s=6G]̨i=y~GAAN>ԩ 0u,/0IiA"BDAT read: Rx Time:14:19:07.6958 "TRx dataTimestamp_ set to:1749133149.151940&checking for new query: numPingsReceived=22, elapsed TxPingTime=3.013249.HG8@ Z%YXyZ(Bq9ء@2*@YAP6=y{Yg=H pDSݿ@\#-3?b ?Ȧ߬?? ء@骵چ;)C{BI =UMb@Mb@Mb@QQQ Q)QYUd;O?Zd;Oy&1|yU?UjQU3A U@)U3AIQQyUAImIm2 1=H5>H1H5IH5 |BH5 =H1H1H5/<H5Eyez:Q e>٥ii mHmTFuYN u>yb5}Ŝ?b59}s= I}By?:8(@@}XEi}g;};}7b5/ABNOT Ignoring new targets: 8.54 m.bZ!r!j!R!z!J!B!~)~-{B})|)|1|1|5; @ԙ |B靥ԁ&0Vu,nbiA9>@>N*@Y>k5=y>>=>H@zjahݿ@k#K?a#?`ϧ?`? >@>;) BDAT read: Tx time:14:19:08.7776 $Ping request sent.UVMU?5?Uƾ U@)UIU@iU¸2UQ@U¸2= Q)QU|y R~տMC?OiU&!3U checking for new query: numPingsReceived=23, elapsed TxPingTime=0.228199Y K 89P"K 9*K 2K :K  U|HgR1pYix7-fq-I':8v,u,0}iA99f@y*@Yy2=y#=H3cԂݿԔmh?]X?bM@[?`? 9f@;)C{BI)  uMb@Mb@Mb@qqq q)qYuMbX9?{Gz~jthyu!?u#uDuA uX@)uEAIuA@qyu=AII2" -=yǺQ >٥ HVF >b5vŜ?b597 IBy"?:p&@@XEi۽;;>b5/AZYb]iiA]&A]&A]@ʁ]~L$ø' Wݿ],O)8JGU]@]¸2=ҁ]#@A%ta hŹ8]9,? *(տ0wz]c]Aj]Ȝ?r]h~ ]{B]Ȝ?]h~  ]{B]&A]@  addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 3.528220 s, deltaX: 1.900000 m, approachRate: 0.538515 m/s, rangeRepo size: 4 = Added new target pos. range: 10.425016 m, bearing: 340.103534 deg, lat: 36.906427 deg, lon: -122.115977 deg, deltaT: 3.528220 s, deltaX: 1.886467 m, approachRate: 0.534680 m/s, posRepo size: 4 =DNOT Ignoring new targets: 10.43 m.b9ZArAjARAzAJABA~I~M(|B}I|I|Q|U%@|U`M?9 M |Bu&H CH IH {BH  =H H *DH e<H wE6Gm YW=ԑ ~G A A N >:u,xӗiA9Ng@NP{*@YN)=yN{-=NHOdݿ@ڈ@g?@a]@Q?@)!?? Ng@N:};)NC^{B^I``IdIdnk nc=yrѻQ r>٥pp vHvWFvΚ9 v>x~b5zIfŜ?~b59z3 IzzByr&@@zXEizK:z:zAb5 ߓB "0A,E5checking for new query: numPingsReceived=23, elapsed TxPingTime=0.731821UDNOT Ignoring new targets: 10.43 m.bQZQrYjYRYzYJYBY~a~a}a|a|a|i|m0n?:J`BJOJJDRJZJ:bJ%9J4JzJ:jJ:J&:rJ&:  |Be;Ia)e䨽aIm'8b< iimԉ Iu,iA~{B~IIIT3- = -F=y-Q ->٥11 5H5XF5 =>AEb5ExSŜ?Mb59Ei0 IEsByIIM@EXEiE:E:EaEb5Q]/AYDNOT Ignoring new targets: 10.43 m.bZrjRzJB~~}||||`?  |B9DPD2 XJM?JM?ԡ6G}CXP=~GAAN> checking for new query: numPingsReceived=23, elapsed TxPingTime=1.487656 u,+jiA-{B-Ii5=I5%=Mb@Mb@Mb@ )YDl? rhMbpyO-?CA @)AIyAIIV83aѼ ?=yQ >٥ H > b5>Ŝ?b596, IlBy/.?:$@@XEih; ;!Ib5!%0A%-EMDNOT Ignoring new targets: 10.43 m.bIZIrIjIRQH]>HYH]IH]{BH] =HYH])DH] <H]EzQJqBy~~|B}||||7? U|BUQ u,HNiA9B0@B'*@YBp)=yBy٥\` bHbYFbe f>lrb5n^-Ŝ?rb59n( IneBypv#@v@nXEin:n:nTLb5zޓBz(0Az0E%DNOT Ignoring new targets: 10.43 m.b!Z!r!j!R!z!J)B)~)~)}1|1|1|1|=ky? |Bߎ;I)عI_< 3"< =V>=i i checking for new query: numPingsReceived=23, elapsed TxPingTime=1.9977741E>EEEB5EY6GCXP=~GAAN>ԁ  checking for new query: numPingsReceived=23, elapsed TxPingTime=2.247982K O"K 59*K 2K :K ]5&]"PtB &FY4oo}GA,NP~l  &?wu,a3iA<9}@}P)@Y}v/=y}P;?;}H`WD`Rݿ/?@zJ-!?@'g? s? }@}`;)}C{BIeMb@Mb@Mb@aaa a)aYe5^I ?{Gzye8?eףeeA eA)aIeX@ayefAIuIu(*2Ax< 0=yO;Q >٥ HZF >b5Ŝ?b59# I^By39?:"@@XEi ;?;^Pb5 0ADNOT Ignoring new targets: 10.43 m.bZrj R z J B ~~ |B}||||`w@ M|BMns HM<HIH]>HYHYHYH] =HYHYH]Z<H]fEHȓCHȓCHH =I = I 6 v,iA9>@>?)@Y>$5=y>3?;>H;: ޿蘣`=?A (? Zc`?`? >@>;)>CJ{BNIpIjIjv vi=yz;Q z>٥xx ~H~[F~= ~>-b5^Ŝ?-b59 IXBy)-"@-@XEiN;;rSb5EBDAT read: Rx Time:14:19:11.1986 MTRx dataTimestamp_ set to:1749133152.431644Mchecking for new query: numPingsReceived=23, elapsed TxPingTime=2.753057=ݓBU:0AU3E:J[BJLJJ@RJZJ:bJq9JJ4JzJ:jJ:J:rJ:DNOT Ignoring new targets: 10.43 m.bZrjRJB~~}||||@S@ |B;I)ʽI\<  &<x =?-=iiE?EEE_0E A6G>=jG?bG?checking for new query: numPingsReceived=23, elapsed TxPingTime=3.003725~G) AA AQ Ne >a  v,E2iA9:4z@:)@Y:E:=y:ߑ,;:H+B޿ߣ\8?`2Da?`Fe?? :4z@:蒉;):CF{BFIIN IN2VQ; VN=yZo-;Q Z>٥XX ^H^\F^, b>`fb5bĜ?jb59b IbRByhjt"@j@bXEibu:b:bVb5lr.0Ap9DNOT Ignoring new targets: 10.43 m.bZrjRJB~~}||||< @ |B0;Iʤ<)ȽI%zI[< !!%F(<)-x =- =i)i1E?EEEEMchecking for new query: numPingsReceived=23, elapsed TxPingTime=3.255587iKP"K*K2K:KTV/47ir0$A/kDa9>ex'veC5L@V#vԙ6G ,=~GAA N5 >Թ = DAT read: 14:19:11.1986 LVL= 22080, 22001, 19298, 32755, AGC= 61, IDX= 457, 0.09, 1.303,-2.797, 1.753, 2.060, PHS=-0.669, 1.474,-0.310, RAW= 321.0, -5.0, CAL= 324.2, -6.9, ROT= 185.8, 6.9 E Ygot valid direction response: 14:19:11.1986 LVL= 22080, 22001, 19298, 32755, AGC= 61, IDX= 457, 0.09, 1.303,-2.797, 1.753, 2.060, PHS=-0.669, 1.474,-0.310, RAW= 321.0, -5.0, CAL= 324.2, -6.9, ROT= 185.8, 6.9 M PDAT read: Bearing 185.8, 6.9 (Local) M ~Local bearing/azimuth received: Bearing 185.8, 6.9 (Local) Mv,LiAVDAT read: Range 10 to 50 : 12.6 m (Round-trip 16.8 ms) speed -0.6 m/s Z,DAT read: user:2054> ^BDAT read: Tx time:14:19:12.2776 ^$Ping request sent.^HCHHH =HH*DH<H EI-D@i-Ϣ-dO@-Ϣ= )))->ŚMqfֿ)+0si-1-Գ=-QB-Ϣ= )))%:publishing transmit ping time\%Fpublishing direction and range info)y-NڮrjƹI)Y) )))I)i))))) )))I)i))) )))->ŚMqfֿ)+0si)))) )))mchecking for new query: numPingsReceived=24, elapsed TxPingTime=0.055137{BImonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 81.21, 82.57, 84.26 aI@a aM@a aQ@a aE@a II3SD -=y-Q ->٥99 =HE]FM M>ab5emĜ?b59e IeIB+:ym:@eXEie'=e?eZb50A6EZ)b-KiA-*HA-*HA-@ʁ-c(r^{! -NڮrjƹI-QB-Ϣ=ҁ-Q,R7'@̦r,-!}}?JJy_ؿM?czKz-u-w8Aj- Ȝ?r-y  -wB)-L  -{B-0JA-@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 3.531508 s, deltaX: 2.100000 m, approachRate: 0.594647 m/s, rangeRepo size: 4 ]checking for new query: numPingsReceived=24, elapsed TxPingTime=0.217618e Added new target pos. range: 12.510414 m, bearing: 337.547719 deg, lat: 36.906427 deg, lon: -122.115977 deg, deltaT: 3.531508 s, deltaX: 2.085398 m, approachRate: 0.590512 m/s, posRepo size: 4 eDNOT Ignoring new targets: 12.51 m.baZirijiRiJi:J\BJ\JJBRJZJ=:bJ[9J-4JzJ:jJ:JӁ:rJԁ:BI~~}|||@33)@|? - |Bm @;Ii )m q Iu &X< q q } ?h+< I = "=i i zEq ! E ?E E E 0E Qchecking for new query: numPingsReceived=24, elapsed TxPingTime=0.4700726G%zc =~GAA)N5?v,piA 9B|4@BG)@YB+==yBQjc8BH`}޿Ťiu?"~?Re ?C? B|4@B;K;)@f~{BjIin=InC=IvIvV83#U 0=yX:Q  >٥    H  >%b5Ĝ?%b59 IAB- :y)-@:-."@-@XEi:{?5]b55ܓB50A59EDNOT Ignoring new targets: 12.51 m.bZrjRJB ~ ~ } ||1|1|=׼? |B靥:I)IV< r-<M ==ii!qE?EEE5Echecking for new query: numPingsReceived=24, elapsed TxPingTime=0.722271IIԙK5ZP"K5ػ9*K12K5:K5 l-*a!L/n=}l$&sThYbU&G'0*6G"=~G A A N >) G ! U 6|"v,ʤiAYy2BPvchecking for new query: numPingsReceived=24, elapsed TxPingTime=0.974336i{BIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y'1Z?EԸHHIH{BH =HH+DH(<H/E5/ 5,=y5Q =>٥99 =H=^FE E>Ib5MĜ?b59Mh IM6BT:ygD?:'!@@MXEiM T< .0< ==iiichecking for new query: numPingsReceived=24, elapsed TxPingTime=1.228529>E- O=<) E ?E E E o0E Q 6GOK=jG?bGa?Echecking for new query: numPingsReceived=24, elapsed TxPingTime=1.477336~GIAQAaNu ?*v,iA9B@B(@YB/5=yB)<9BHt޿`>ң?u 0? ݶfA8? ? B@Bʑ;)BCJW{BJIIZ#IZ%x3b b2=ybQ f>٥dd jHj_Fj? j>lrb5nĜ?rb59n In,Bytv @v@nYEin;n;n^eb5xz}1Az>EDNOT Ignoring new targets: 12.51 m.bZrjRJB~~}||||? |B I ) F I UdQ< 2< = =ii!>ER5ş1v,iA9:ԙ@:-(@@Y:88=y:9:H`߿@I?@M?% Q9?? :ԙ@:;)8JB{BJI)H H5Mb@Mb@Mb@111 1)1Y5Mb?EԸI +y5@?15945A 5A)5AI11y5QAIM IM(2]hE eB=ym:Q u>٥y H`Fv >b5xĜ?b59 I#By B?:t @@YEiV;?F;ib5QU1AQchecking for new query: numPingsReceived=24, elapsed TxPingTime=1.982880EDNOT Ignoring new targets: 12.51 m.bAZQrQjQRQJQBQ~Y~]#|B}Y|Y|a|a|e=@Ա  |BޱI)]I N< %.5H CH IH {BH  =H H H F<H `EE ?E E E `0E  checking for new query: numPingsReceived=24, elapsed TxPingTime=2.2333811 6G <ZG ARG ~GAAN>9v,viA9riU@rh(@Yr8=yrv9rHJA߿@2 9?౫?.?? riU@r;)p.{ByIII3%" %*=y%HQ %>٥)) -H-aFq-] >b5_Ĝ?b59 IBy/ @@YEi:>:[mb5ړB2AAEDNOT Ignoring new targets: 12.51 m.bZr!j!R!J!B!~)~)}1|1|1|9|=@ "|B]I);sI3J< 8<% =-u % BDAT read: Rx Time:14:19:14.7023 - TRx dataTimestamp_ set to:1749133155.960319- checking for new query: numPingsReceived=24, elapsed TxPingTime=2.739466:J] \BJ] ZJJY RJY ZJ] =:bJ] S9JY JY Y@v,iAKzz?P"Kz9*Kx2Kz:Kz7} j 4,KN*.ZCnhp%u\wz9. @3(@Y{L5=y~?{Hn߿` g?f?`O? . @骽ڈ;)CE {BEeIMb@Mb@Mb@ )Y)\(?l~jtyGA?DA A) AI@yAI I 3ჽ "=yQ >٥!! %H%bF-sӻ ->1=b55FĜ?=b595{ I5 By=:B?=:=!@E@5YEi5{:5A:5qb5IM2AMDEDNOT Ignoring new targets: 12.51 m.bZrjRJB~~"|B}||||@ #|B KI ) ,IIF< ];<)-e =5'HiHmIHm{BHm =HiHm,DHm<HmE6G rn#Fv,iA9>@>'@Y>O0=y>">HB߿S?nM?  Bc? >@>p;)>CbzBbVIIjIj2r r=yr\Q r?٥tt vHvcFzB z?|b5~6Ĝ?b59~ I~By!@@~YEi~w;~/;~:tb52Achecking for new query: numPingsReceived=24, elapsed TxPingTime=3.243594QDNOT Ignoring new targets: 12.51 m.b!Z!r!j!R)JQBY~i~}||||`i @ =%|BE< =nk DAT read: 14:19:14.7023 LVL= 24800, 22113, 19378, 32755, AGC= 61, IDX= 462,-0.15, 1.137,-2.930, 1.564, 1.900, PHS=-0.674, 1.500,-0.339, RAW= 321.8, -4.8, CAL= 324.8, -6.7, ROT= 185.2, 6.7  Ygot valid direction response: 14:19:14.7023 LVL= 24800, 22113, 19378, 32755, AGC= 61, IDX= 462,-0.15, 1.137,-2.930, 1.564, 1.900, PHS=-0.674, 1.500,-0.339, RAW= 321.8, -4.8, CAL= 324.8, -6.7, ROT= 185.2, 6.7  PDAT read: Bearing 185.2, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 185.2, 6.7 (Local) 5 DAT read: Range 10 to 50 : 15.3 m (Round-trip 20.5 ms) speed -0.6 m/s = ,DAT read: user:2055> U BDAT read: Tx time:14:19:15.8277 U $Ping request sent.U =ݍ @Cݍ |= މ )މ  :publishing transmit ping timeQ  Fpublishing direction and range infoډ yڍ ׂi mu"޽ډ Yډ ۉ )ۉ Iۉ iۉ ۉ ۉ ۉ ۉ ܉ )܉ I܉ i܉ ܉ ܉ ݉ )݉ ݍ wQog}n׿db㩵i݉ ݉ ݉ ݉ މ )މ  checking for new query: numPingsReceived=25, elapsed TxPingTime=0.014892Թ ?NLv,3iA9>@>p'@Y>|,=y>>Ho ߿آ@?@r?@A`? >@>ň;)<zBHII5I5[3e3Q eB=yeQ m>٥ii mHmdFu u>b5 Ĝ?b59* IBy!@@YEi:p:wb5ٓBK3AEEZb-iAsAsA&R@ʁ.&B .ӝFB2[ׂi mu"޽@C|=ҁ[ T(+@ l:DY3X\?Sm ڿT^t>+za\AjAȜ?r U RvBAȜ?y   {BꁽmrAO@ԑ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 3.527986 s, deltaX: 2.700000 m, approachRate: 0.765309 m/s, rangeRepo size: 4  Added new target pos. range: 15.191741 m, bearing: 335.396762 deg, lat: 36.906426 deg, lon: -122.115977 deg, deltaT: 3.527986 s, deltaX: 2.681327 m, approachRate: 0.760016 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.19 m.bZrjRJB~~}|||.@||]? u&|BuDF;Iy)}ryI}L>< yy}H@<-4J64NT2C*Xw t!iJ 6G q<~Ga Ai A N > Q7Sv,=}MiA*checking for new query: numPingsReceived=25, elapsed TxPingTime=0.4801529v@vj'@Yvs'=yv`vHӹ߿F3`?@̿` ?줿,'? v@v$;)tezBm8IMb@Mb@Mb@ )Y+?DlI +y??O943A EAHռ>HCHIHU{BHHHH"<H6EHCHCHCH =I = I x5)AIdAypAIEIE#3Urv U<=y]K9Q ]>٥YY ]HYe\ e>iub5mS Ĝ?ub59mD ImBy}@?}:!@@m"YEimws;ms;m{b5ؓB3AHE=DNOT Ignoring new targets: 15.19 m.b9Z9r9j9R9JABA~A~E{B}i|i|i|i|u v? '|BkJI)oI%9< !)-C<)5G =5y`Yv,RgiA9Br@B$'@YBY>=yBȨlBH`k @ ?<ୖ?ƣ nm? Br@BQ ;)BC^zB^-IIf&If3vD ve=yvλQ z>٥xx zHzeF~ ~> b5Ü? b59- IBy !@@&YEi::~b53AMDNOT Ignoring new targets: 15.19 m.bIZIrIjIRIJIBQ~Q~Q}Y|Y|a|a|m` A? (|Bw7I)IZ5< %BFԩ  checking for new query: numPingsReceived=25, elapsed TxPingTime=1.236580J-4J-4JJv/:JE [BJE ^JJA RJA ZJE :bJE d9JA JA G`v,,iALK]P"K]9*KY2K]:K]YO1CYUtye5)'=hKlfH~[~{! ptA9==@==Q'@Y=F=y=3@ =H{]``?a?' a ?? ==@=Ũ;)=CzB%IEMb@Mb@Mb@AAA A)AYET㥛 ?v/MbpԩyEA?ExiEEA EA)E AIEAAyEAII2-μ - =y5Q 5>٥11 5H5fF=Bϻ =>Amb5EÜ?b59Ek IEByA?:{"@@E-YEiEQHCHkIH{BH =HH+DH<HE 6G 3Z<~G A A N >~qfv,yiA9> @>w'@Y>6=y>YY>H` 0y`{-?W?٢`&K`q? > @>!;)Qu checking for new query: numPingsReceived=25, elapsed TxPingTime=1.990495ԁ `lv,-iA96@63&@Y6c=y6q;:6H@MCX!@?/Z?\ˢiCW?x? 6@6;)6CNxzBN IIVIV2^cڼ ^O=y^琹Q b>٥`` bHbhFfڻ f>hnb5jÜ?nb59j Ij؋Bylr"@r@j5YEij;j;j^b5tv4At%DNOT Ignoring new targets: 15.19 m.b!Z!r!j)R)J)B)~)~1}1Q||||X@ *|BHI!)%ؾ!I%%< !!%\N<)= ==Y;iAiQEAEAEAEE_0EAFU=FU=ԩchecking for new query: numPingsReceived=25, elapsed TxPingTime=2.243248:J}_BJ}RJJ}>RJyZJ} :bJ}S29J}t4JyKNO"K]9*K2K:K2=RS5$8SXLSF=:]WDtcnmNLh`BfE" P6Gܸ<<~G A A N] >u ևG ZA AA 00Y ZAy m3B sv,ϽiAchecking for new query: numPingsReceived=25, elapsed TxPingTime=2.4946359fB@f&@YfY=yf!G;fH ~@AYcڛT? ?`(`?b? fB@fW;)fC~fzB~IH>HHLIHzBH =HH*DHޚ<HE=Mb@Mb@Mb@999 9)9Y=K7A?I +{Gzty= B?=94=ף=EA =A)9I=zA9y=fAIMIM3]! e3=yuUQ }>٥ HiFͻ >b5+Ü?b59U IЋBy`B?: #@@;YEi;: ;jb55AQEDNOT Ignoring new targets: 15.19 m.bZrjRJB~~{B}||| | @ 1=I9)=.⾉9I=%y< AAE&R1a yv,NiA~PzBII I 3Ui U]=yUQ ]>٥Ya eHae e>iub5mÜ?ub59mB ImʋByyy}@m?YEim;m;mb5֓Bm5ASEDNOT Ignoring new targets: 15.19 m.bZrjRJB~~}|||| @ h1ɼI) I <   U< =;iiԑ=checking for new query: numPingsReceived=25, elapsed TxPingTime=2.999298E?EEEE6G ;ZG ARG ~G A A N > checking for new query: numPingsReceived=25, elapsed TxPingTime=3.250316) 'v,^iAK P"K 9*K2K:KEJq4H |`c7#IVDVWS=1nJ0!t9Te@x&@Yc =y1&<H٥QQ ]H]jF] ]>amb5etÜ?mb59e Ie‹Byqu"@u@eEYEie;e:eb5y}5AyDNOT Ignoring new targets: 15.19 m.bZrjRJB~~}||||`] @ )5I1)5k𾉞9Iܟ< X<_ =!D9ii DAT read: 14:19:18.2559 LVL= 31136, 30129, 22482, 32755, AGC= 67, IDX= 467, 0.06,-0.010, 2.178, 0.365, 0.761, PHS=-0.683, 1.464,-0.399, RAW= 323.0, -3.8, CAL= 325.8, -5.3, ROT= 184.2, 5.3 Ygot valid direction response: 14:19:18.2559 LVL= 31136, 30129, 22482, 32755, AGC= 67, IDX= 467, 0.06,-0.010, 2.178, 0.365, 0.761, PHS=-0.683, 1.464,-0.399, RAW= 323.0, -3.8, CAL= 325.8, -5.3, ROT= 184.2, 5.3 PDAT read: Bearing 184.2, 5.3 (Local) ~Local bearing/azimuth received: Bearing 184.2, 5.3 (Local) DAT read: Range 10 to 50 : 18.0 m (Round-trip 24.1 ms) speed -0.7 m/s ,DAT read: user:2056> BDAT read: Tx time:14:19:19.3777 $Ping request sent.HH3IHzBH =HHH̚<HEAA A)Amchecking for new query: numPingsReceived=26, elapsed TxPingTime=0.056902I 6G 1;~G A A N >v, WiA @zB IJDAT read: TxSync time:14:19:19.3769 checking for new query: numPingsReceived=26, elapsed TxPingTime=0.241572:JaBJMJJRJZJ:bJ9JJzJ; jJ;J):rJ,:IEMb@Mb@Mb@AAA A)AYEuV?ktMbpyErH?E 0EEA EEA)E+ AIEAAyE AI} I}V2 D=yQ >٥ HkF >b5]Ü?b59 IByH?:"@@JYEi::_b5ՓB5AVEZqbuiAuAuAuy@ʁucas1ОfAOiuR-"P'7{]Uu^Duq=ҁuo#/@! J-%Su@F|@4?$<)nܿ=ZEzuu~AjuHʡȜ?ruoE uvBquL  uwBuuAuq@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 3.529140 s, deltaX: 2.700000 m, approachRate: 0.765059 m/s, rangeRepo size: 4  Added new target pos. range: 17.872057 m, bearing: 333.167905 deg, lat: 36.906426 deg, lon: -122.115977 deg, deltaT: 3.529140 s, deltaX: 2.680316 m, approachRate: 0.759481 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.87 m.bZrjRJB~~{B}|||%2@|%{? iuIq)uJqIu& < yy}[<l =:iiyEqEqEqEyEyM checking for new query: numPingsReceived=26, elapsed TxPingTime=0.488846ԩ 6G zQ~Gq Ay A N >v,6iA9>k@>&@Y>=y>}/ <>Hdn -v Jr?p3?@ U C? ? >k@>Qx;)>CJ3zBNIIZIZ3b b=ybsQ b ?٥dd fHflFj՟: j ?lrb5nKÜ?rb59n{ InBytv"@v@nNYEin:nS:nb5zԓBz5AzYEDNOT Ignoring new targets: 17.87 m.bZrjRJB~~} | | | | ? 靕I)XI"< cu^<6 =gp:iiaechecking for new query: numPingsReceived=26, elapsed TxPingTime=0.740912E}?EyEyE}z0EIICAԉK P"Kͼ9*K2K:K9joL\ H)){*Y)>|-Z}lCp@J?J?6G7:jG}?bGi?~G A A N >  checking for new query: numPingsReceived=26, elapsed TxPingTime=0.9932098v,\PiA|H=ļ>H9H=IH=zBH= =H9H=+DH=+<H=3E9u?@u0'@Yu|٥ HmF%< %>)5b5-1Ü?5b59- I-By=G?=:=#@=@-TYEi-:-:-Jb5AE)6AADNOT Ignoring new targets: 17.87 m.bZrjRJB~~{B}||||L?! e)|Be`ѼIa)eiIm ; iimav,fjiAbzBbIIjIjF3ve vu=yzQ ~?٥|| H ? b5 UÜ?b59 G I By@ XYEi /; )0; 5b5))-\EUDNOT Ignoring new targets: 17.87 m.bQYZQrYjYRYJaBa~i~i}q|y|y||&{? 靭xIhP<)I; id<k=Ա checking for new query: numPingsReceived=26, elapsed TxPingTime=1.748880I I v,>iA9b{@bh'@Yb=yb){٥ HnFX< > -b5 DÜ?5b59 ` I By9E$@E@ ^YEi ; u; b5mӓBK}WO"Ky*Ky2K}:K}O!s|*@  Aa@Vj'at;R3 JAJAML6AM_EDNOT Ignoring new targets: 17.87 m.bZrjRJB~~}||||R%? (|B2?ּI)I%֓; !!%h<)-M=-oHAHE IHEzBHE =HAHE*DHE<HEEH ǔCH ǔCH ǓCH  =I  = I g66G% 2<~G A A! N- >9 /v,t$iA9N`@N'@YNt=yNd;)L^zB^IEchecking for new query: numPingsReceived=26, elapsed TxPingTime=2.253817:J^BJQJJ<RJZJ} :bJ-.9J [4JzJa:jJf:J4:rJ4:Mb@Mb@Mb@ )YtV?~jtMbp?yR?D;\A rA) AIAyAI=I=V83U U>=yUT:Q U>٥YY ]H]oF]~; e>ab5eœ?b59el IeBy S?:#@@ecYEieW;e;eb5ғB6A`E5DNOT Ignoring new targets: 17.87 m.b9Z9rAjARAJABA~i~m{B}i|i|q|q|u̷@ '|BfI)I; ]kk<%7=%7٥pp rHrpFrГ; v>tzb5vlœ?zb59v5 IvBy|~$@~@vhYEiv ;v%;vìb5  Y6AEDNOT Ignoring new targets: 17.87 m.bAZArAjARAJIBI~I~I}Q|Q|Q|Q|U d@ &|B靅 I)I ; #En<c==M4=Uchecking for new query: numPingsReceived=26, elapsed TxPingTime=2.757100>EԩE?EEE\1EKF"P"K*K2K:K :'F$e (u6_Cg14TkE\nk]0 yj{D%A6G ~< BDAT read: Rx Time:14:19:21.8096  TRx dataTimestamp_ set to:1749133163.267322 checking for new query: numPingsReceived=26, elapsed TxPingTime=3.009963~G  A A1 N= >2v,EiA9Fr@F'@YFM)=yFHCHIHazBH =HH)DH!<HEMb@Mb@Mb@ )Ygfffff?+y3S? A )A AIyAI!Ii3U U)=y]|?9Q ]>٥Ya eHeqFe4; m>iub5mܾœ?ub59m& ImBy}$T?}:}!@}@mnYEim,:m:mb56AcEDNOT Ignoring new targets: 17.87 m.bZrjRJB~~{B}||||iA @ E$|BEII)M IIMw; IIUp(rE=0RJZJ:bJ>9Jt4JzJ:jJ:J~Q:rJQ:ԉ 6G <ԩ ~G A A N >-v,iA9>@>'@Y>=y><>H >൨߿ӹ??ՙ?`Q? >@>i;) BDAT read: Tx time:14:19:22.9277 $Ping request sent.v,7iA9j @jh(@Yj, 5nHJuAA A-YAy0BI I (*3I_' (=ybQ >٥ HrF:; >b5œ?b59 IBy"@@yYEiD;:Fb57AiEZibm/PiAm6Am6AmqY@ʁmZ׺~4vC|,1D"m~{}irjƹImbGmϢ=ҁmhG#2@^{e#s,m-?X޿n#' zm+mAjmȜ?rmZ; mnrBm Ȝ?mh~  mRvBm_Am·@  addTargetRange:: Added new target pos. range: 20.799999 m, deltaT: 3.526683 s, deltaX: 2.799999 m, approachRate: 0.793947 m/s, rangeRepo size: 4  Added new target pos. range: 20.651636 m, bearing: 331.866784 deg, lat: 36.906425 deg, lon: -122.115977 deg, deltaT: 3.526683 s, deltaX: 2.779579 m, approachRate: 0.788157 m/s, posRepo size: 4 Mchecking for new query: numPingsReceived=27, elapsed TxPingTime=0.491511MDNOT Ignoring new targets: 20.65 m.bIZQrQjQRQJQBQ~Y~Y}Y|Y||4@|yc?He>HaHeIHeMzBHe =HaHaHeo<HeEy  |BZI)I ;    y<=#1v,2$iA9>@>Q#(@Y>-<>Hu߿J|z?@?`ž?@O? >@>Aʈ;)>CryBrIMonly read -1 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, +0.00, aIM@aM aMM@aM aQM@aM aEU@aU ImImm?3 M=yݻQ >٥ HsFՉ: >b5 xœ?b59 IB+:y O: "@ @YEiR;> b5-7ADNOT Ignoring new targets: 20.65 m.bZrjRJ!B!~!~!})|)|)|)|-? |B靭GI)I`; |<=a v,=iA9B$@B|((@YBo٥`` bHbtFb_: f>lrb5nbœ?rb59n InBv :ytv(:v"@v@nYEin1;nD?n=b5zГBz7AzjEDNOT Ignoring new targets: 20.65 m.bZrjRJB~~}||||?checking for new query: numPingsReceived=27, elapsed TxPingTime=1.247602 %|B%@%I))-_)I-эw; ))-^13XpjiHXheI~AgRԩ6GSݮ<ש ׭ A checking for new query: numPingsReceived=27, elapsed TxPingTime=1.499509~G A A N >H >H CH IH /zBH  =H H *DH O<H dE Ѩv,ǼWiAyBIaI-aI5 aM5aM5 aQ=aQ= aE=aE= =Mb@Mb@Mb@999 9)9Y=-?ʡEy&1|y=?U?=-=`= A = A)= AI=EA9y= AIUIU#3el< e2=yeQ m>٥ii mHuuFu u>yb5}Hœ?b59}; I}}BT:yjV?}:!@@}YEi}:} ;}>b5ϓBd7AmEԱDNOT Ignoring new targets: 20.65 m.bZrjRJB~~|B}||||`? |BI)#IrT; <=-1 v,zqiA2checking for new query: numPingsReceived=27, elapsed TxPingTime=2.0032739J9@J'@YJ٥ HvF% %>)5b5-3œ?5b59- I-xBy15L!@=@-YEi-;-8;-db5AE7AAuDNOT Ignoring new targets: 20.65 m.bqZqrqjqRqJqBy~y~y}||||m@ |BP5I)Ia9; ><=9checking for new query: numPingsReceived=27, elapsed TxPingTime=2.255275:J]BJSJJ>RJZJ]:bJy69Jt4Ji 0v,xiA K=W.P"K=9*K92K=:K=nQ8-?uyN\6vm;{sn1_m^qrL9\@'@Yc٥ Hs >b5!œ?b59} IsByT?: @@YEi:A:cb58ApEUDNOT Ignoring new targets: 20.65 m.bQZQrQjQRQJYBY~Y~]{B}a|amchecking for new query: numPingsReceived=27, elapsed TxPingTime=2.507493q|y|y|l/@GAGE@AHM>HIHMIHMzBHM =HIHIHM;<HMIE |Be=Ia)eaIm; iim<q=3QjE>E]?EaEaEe_0Eaԑ~GAAN> - checking for new query: numPingsReceived=27, elapsed TxPingTime=2.760646v,EiA9>@>F'@Y>H1<>Hw߿O3 ?K? ӔE? ? >@>G;)>CFyBFvIPIRIR(*3Z% Zr=y^̚Q ^?٥\` bHbwFb b?hrb5jœ?rb59jUy IjpBytv @v@jYEij%);j;j[b5zΓBzN8AzsEDNOT Ignoring new targets: 20.65 m.bZrjRJB~~}||||@@ m|Bu~$9I)"Iʟ: ><T='3BDAT read: Rx Time:14:19:25.3635 TRx dataTimestamp_ set to:1749133166.795393checking for new query: numPingsReceived=27, elapsed TxPingTime=3.012417! 4v,%iA9>@>'@Y>Fd;>H` ߿ z5?0h?hkp?`v? >@>;)٥dd fHfxFj j>lrb5n7?rb59nt InmBytv @v@nYEinH:n:nb5xz8Ax|-DNOT Ignoring new targets: 20.65 m.b)Z)r)j)R1J9B9~A~A}A|A|I|I|M[ @ }|B};Iy)}%IP: u8<5=M~Gi  DAT read: 14:19:25.3635 LVL= 31648, 29265, 29602, 32755, AGC= 64, IDX= 465,-0.21, 2.290,-2.028, 2.472, 2.936, PHS=-0.559, 1.366,-0.467, RAW= 327.6, -3.7, CAL= 330.0, -5.2, ROT= 180.0, 5.2  Ygot valid direction response: 14:19:25.3635 LVL= 31648, 29265, 29602, 32755, AGC= 64, IDX= 465,-0.21, 2.290,-2.028, 2.472, 2.936, PHS=-0.559, 1.366,-0.467, RAW= 327.6, -3.7, CAL= 330.0, -5.2, ROT= 180.0, 5.2  PDAT read: Bearing 180.0, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 180.0, 5.2 (Local)  DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.7 ms) speed -0.4 m/s  ,DAT read: user:2058>  BDAT read: Tx time:14:19:26.4777  $Ping request sent. HM CHM IHM yBHM  =HI HM )DHM E<HM MEHʓCHʓCHH =I = Iʤ5ݕ Ne3$ݿ5WTiݕ C*ݕ r=ݕ Iݕ ޹= ޑ )ޑ  :publishing transmit ping time  Fpublishing direction and range infoڑ yڕ "Hᅫ60^w0L3ڑ Yڑ ۑ )ۑ Iۑ iۑ ۑ ۑ ۑ ۑ ܑ )ܑ Iܑ iܑ ܑ ܑ ݑ )ݑ ݕ Ne3$ݿ5WTiݑ ݑ ݑ ݑ ޑ )ޑ ԡ  checking for new query: numPingsReceived=28, elapsed TxPingTime=0.017502A A N >0v,iA9Mj@M'@YM ٥AA EHEyFM M>q}b5u?}b59um IuhBy}Q?: @@uYEiu:u:u*b5͓B8AuEZbj.iA?A?Aj@ʁc'o7A]ق/9ݚ"Hᅫ60^w0L3I޹=ҁ']4@1T'*K (1?V%Tn߿stz:AjȜ?r$D rBHʡȜ?Z;  vBA@ԩ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 3.529189 s, deltaX: 2.900002 m, approachRate: 0.821719 m/s, rangeRepo size: 4 JDAT read: TxSync time:14:19:26.4769 checking for new query: numPingsReceived=28, elapsed TxPingTime=0.234494 Added new target pos. range: 23.531034 m, bearing: 330.192716 deg, lat: 36.906425 deg, lon: -122.115979 deg, deltaT: 3.529189 s, deltaX: 2.879398 m, approachRate: 0.815881 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.53 m.b!Z!r!j!R!J)B1~1~5|B}9|9|9|e@37@|eC? |B) I)D) I :   =<b=CZv,wiAmTyBmUIy}AII3+p W=yQ >٥ HzF >b5?b59(i IdBy@YEiu:l:sb59AxEDNOT Ignoring new targets: 23.53 m.bZrjRJ!B!~!~!})|)|)|1|5`G? u|BuZIq)u.yI}~9 yy}<n=RJZJ} :bJ*9Jt4J6Gep<~G9 AI Aa Nu >ԙ 0hw,8JiAKVP"KV9*KT2KV:KV1}bVo*+kC K e)g  Sf B5$KT$z9]@]0'@Y]O٥iq uHu{Fu; u>yb5}w?b59}c I}bBchecking for new query: numPingsReceived=28, elapsed TxPingTime=0.989661y>P?:q @@}YEi}x;}w;}*b5̓BH9A{EDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||!H=>H9H=IH=yBH= =H9H=*DH=T<H=gE|Y|]ƈ?  |B O?I ) p1 I p<=[ w,h"(iA96H@6'@Y6'-1=b55?=b595&_ I5`ByAES @E@5YEi5:5g:5Tb5IM9AIDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||?  |B:l^I)5Iv{ ?<`=\~Y vw,=AiA ~L?~Y?checking for new query: numPingsReceived=28, elapsed TxPingTime=1.745668 )yB ;III9ȼ ==yQ >٥ H|F >b5|}?b59Y I^By@YEid;5;b5ϓB9A~EDNOT Ignoring new targets: 23.53 m.bZrjRJB~ ~ } | | ||?1 M|BM|OII)M7IIM̺ QQUI C  MRchn^M,zVFl6GӔ<ԑchecking for new query: numPingsReceived=28, elapsed TxPingTime=1.998170~G HE >HA HE IHE yBHE  =HA HE )DHE ><HE FEAi Ay N >Թ .w,[iAyB&I%Mb@Mb@Mb@!!! !)!Y%Gz?EԸ~jtxy%P?%ƽ%Ļ% A %+ A)% AI% A!y% AI}I}3ԑĚ :=yQ >٥ H}F >b5d?b59T I[ByR?:( @@YEiI;DX;b5ΓBW:AEUDNOT Ignoring new targets: 23.53 m.bQZQrQjQRYJYBY~a~e{B}i|i|i|i|u@ |B靝PSI)?I; l<Y= checking for new query: numPingsReceived=28, elapsed TxPingTime=2.501546 w,uiA9>*v@>'@Y>m;y>b;>Hg@-o ?@k}y?!szTQl?? >*v@>-;)>C^xBbIIfIfF3rJ rl=yr~BQ r?٥tt vHv~Fz! z?|b5~Q?b59~O I~YBy@@~YEi~ ;~N:~b5:AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||@@ =|B=npIA)EAAIE|5 AAM~#w,6iA(KWP"Ký9*K2K:K ) '!nD2'l(Q<S<I9@'@YM;y|;H` ߿ ^l?v |?t t?`? @ҿ;) yB'I]Mb@Mb@Mb@YYY Y)YY](\?ʡEMby]zT?]-]]+ AuBDAT read: Rx Time:14:19:28.9175 uTRx dataTimestamp_ set to:1749133170.323378}checking for new query: numPingsReceived=28, elapsed TxPingTime=3.006669 ] A)]nAIYYy]( AII#3< 1=y(NQ >٥ HF21; >b57?b59I IVByU?~: @@YEi::b5͓BH>HHwIHyBHHHH<HEG:AEaDNOT Ignoring new targets: 23.53 m.b Z r j R J B ~~{B}||||@@ {BNI)v=Ig;e <=oh)w,W]iA9F@F'@YF`;yF;FH e߿xL4?`S?0 `~?lEz? ? F@Fۈ;)FCPRxBRIIZIZm?3bv fn=yfQ f?٥dh jHhj0; j?x b5z#?b59zEE IzTBy!- @-@zYEiz;z;zb5:AEDNOT Ignoring new targets: 23.53 m.bZrjRJB ~~}|||| @ {B靝tI)BI G<<=tE0w,i;iA9>@>'@Y>I0:y>O<>Hb߿@d??S?`Z#? ? >@>;)>CFxBFIILILV VL=yZQ Z>٥XX ZH^Frchecking for new query: numPingsReceived=29, elapsed TxPingTime=3.761544|=5; =>Qmb5U0 ?mb59U? IURByim!@m@UYEiUk;U1l;Ub5̓B:AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}|||| @ e{BevIi)mYBiImxҖ ii}䶘< =<HHdIHmyBHHHH0<H1E~GQ Aa A N= >ԁ W6w,iA9F@FE'@YF↹YyF\;FHp@G߿ak? v?Nu? R0?@ y?? F@FY;)FCxB IMb@Mb@Mb@ )Yi|?5?㥛 y&1|yQ?` )X AI AyQ AI#I%x3J *=yQ >٥    H F{ ; >%b5?%b590: IPBy%R?%:%"@-@YEi{::b5AE:AAchecking for new query: numPingsReceived=29, elapsed TxPingTime=4.265703 DNOT Ignoring new targets: 23.53 m.b Z r j R JB~~{B}||||%(@:Ju^BJqJJu=RJqZJu} :bJqJug4JqzJu`:jJue:JqrJqԉ {B靕ZbI)EIޤ h<=$] checking for new query: numPingsReceived=29, elapsed TxPingTime=4.517580=w,.iA9:s@:'@Y:`ֺy:Wڔ;:H@߿n?`? i? Z?Er?? :s@:/;):CJxBrIIzIz[3   o=y)Q ?٥ HF %?!-b5%?5b59%5 I%OBy15"@=@%YEi%;%;%b5AE;AEEuDNOT Ignoring new targets: 23.53 m.bqZqrqjqRqJyBy~~}||||@r@ԩ {B]I)CHI :Ǜ<~=9 Dw,siAKO"K9*K2K:K$a! }Q\hJ[fGSL8q8&~ "qy@ 9]@'@Y7oHqHuRIHuOyBHu =HqHqHu<HuEH1H1H1H1I5 = I5gM5Mb@Mb@Mb@ )YI +?٥ HFsӺ >b5? b59/ IyU?:3"@@YEiu;؛;b5%˓B- ;A-EDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||~@9 e{Be=^Ia)eFiIm2Vٻ iim膝DJw,+iA9>@>'@Y>3y>A}p;>H Z2߿u?e?lpR?`÷p?@n?`? >@>Ah;) G"Qw,DiA9F@F9'@YF;yF^HFH ߿rEq?@?0p`ngw?`X? F@Rchecking for new query: numPingsReceived=29, elapsed TxPingTime=5.777725Fj;)DZxBZII`I`j jJ=yn3Q n>٥pp rHrFrt v>tzc5v?zc59v& IvPBy|~"@~@vYEiv ;v ;vc5ʓB :A EI!I%BAMDNOT Ignoring new targets: 23.53 m.bIZIrIjIRIJQBQ~Q~Q}Y|Y|a|a|e 9G@ {B靽yI)DIN% r?< =X_>K-A!8km5l"zQc6Gmo<J-?mchecking for new query: numPingsReceived=29, elapsed TxPingTime=6.031899H>HHKIHEyBH =HHH"<HE~GAAN>J-? 9 LWw,g^iA9Fj@F~'@YF@ٻyFdFHg? r?n‿`({?mLw? Fj@FJLj;)FCfxBfIMb@Mb@Mb@ )YbX9?p= ףMbPyEV?  A)IA Ay AII#3%2= -7=y-5Q ->٥11 HF? >c5&~?c59! IQByV?|:"@@YEi ;;!c5:AEDNOT Ignoring new targets: 23.53 m.bZrjRJB ~ ~{B}||!|!|%`@ U{BUhIY)]w>YI]Q YY]Xġe checking for new query: numPingsReceived=29, elapsed TxPingTime=6.533596w]w,{xiA 9B]@B_p'@YBm#yB*BH @˲`?Z ?࠮b$?@_? B]@B{;)BCNxBR IIVIV3bD bd=ybeQ b>٥dh jHjFn n?pvc5ri?vc59r IrRByxzz"@~@rYEirv;re;r' c5ɓB:AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}|||| @ 5{B5I1)=B9I=n 99= adw, ^iAPchecking for new query: numPingsReceived=29, elapsed TxPingTime=7.037512H%>H%CH!H!H% =H!H!H%2<H%,EUxB]IKA,P"K=9*K2K:KMi<N?e[N$_NvddJAJAMb@Mb@Mb@ )Y(\?MbMbpyzT?+ A X A) AI Ayz AIIV83 = #=yQ >٥ HF >c5M?c59} ISByU?:"@@ZEi ;* ;c5ȓB:AEDNOT Ignoring new targets: 23.53 m.bZr!j!R!J!B!~)~-{B})|)|1|1|5@d@UJTimed out from 2025-06-05T14:09:34.1Z1iU]fCompleted lineCaptureHoming:MicromodemComms:CheckInh]]Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIneVCompleted lineCaptureHoming:MicromodemComms -{B=HdIA)E2jw,靬iA9^c@^w'@Y^yOy^}^H@a4 ނz?> ? 4?``<`?d ^c@^ ;)^ChhIzIz2y>sQ  ?٥    H  _:  ?c5:?c59 ITBy!%"@%@ZEi;;Sc5)11]DNOT Ignoring new targets: 23.53 m.bYZarajaRaJiBi~q~q}q|q|q|y|}@ @h хnAggregate::initialize lineCaptureHoming:MicromodemCommshх~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn1i {B靭I)<Iث% Υ<]=&BRJ! ZJ% :bJ% t9J% t4J! y ԩN ?sw,diA9:s@:-'@Y:sm\y:л:H@T`#T? >?y@w?`z? :s@:]J;)8FxBFIININ2VyP; V٥X\ bHbFb: b>djc5fF?jc59f IfVByln"@n@f ZEifB;fNR;f c5xz:AzEDNOT Ignoring new targets: 23.53 m.bZrjRJB ~~!})|1|9|A|E` @checking for new query: numPingsReceived=29, elapsed TxPingTime=8.047553H>HHXIHYyBHHH(DH<HE M{BMSII)M:IIU74 QQU@bE checking for new query: numPingsReceived=29, elapsed TxPingTime=8.297700yw,iA$9>x@>'@Y>ry>0C>H _@i??@?@w +^?meh ? >x@>e;)>CJyBJ#I%Mb@Mb@Mb@!!! !)!Y%M? rhMbP?y%nR?%C%:% A %nA)!I!!y% AI=I=2UR= U@=yKQ >٥ HF*: > c5? c59U IYBy &S? : C"@@ZEi#::c5ǓB2:AEEDNOT Ignoring new targets: 23.53 m.bIZIrQjQRQJYBY~Y~] |B}a|a|a|a|e @ {B靕I)3I< 9<0=PԀw,yiA9B@B'@YBtyBoúBH`߿`?@/?@ͽ`炿iN?uX? B@B*و;)BCJ yBJ(IPIZIZb< fT=yfCQ f>٥hh jHjFj; j>lrc5n쿜?vc59n In\Bytvb"@v@nZEin):n:nc5zƓBz :A~E-DNOT Ignoring new targets: 23.53 m.b)Z1r1j1R1J1B9~9~9}A|A|A|A|E!@ u{BudCIq)<1I!E ţ<Z=)lH > checking for new query: numPingsReceived=29, elapsed TxPingTime=9.055934H CH dIH myBH  =H H H @<H 6E! Ke 0P"Ke H9*Ka 2Ke :Ke d ~n`~ j*m0fjx,TqKX^3H}`(#w,\iA9f @fc'@YfeyfTZ;fH@N߿X ?6?s|L? q?? f @f؈;)dr-yBr=I|mMb@Mb@Mb@iii i)iYmI +?#~jym9T?m㥽mi i)iImA Aiym AI I2= ;=y Q >٥ HF0; >c5ӿ?c595 I_By jE>)checking for new query: numPingsReceived=29, elapsed TxPingTime=9.306981E}?EyEE1EQ6G mo<ZG RG ~G ԉ A A N >\)w,47iA6checking for new query: numPingsReceived=29, elapsed TxPingTime=9.5582029B9@B'@YBkyB٥`` bHbFff; f>hnc5jپ?nc59j IjbBylr!@r@j!ZEij ;j ;j*%c5xYz9AEDNOT Ignoring new targets: 23.53 m.bZrjRJ B ~ ~ }|)|1|I|MvF#@ {B靵qyI)f+IW <=U @w, QiA9B@B'@YByBI)T TIZIZ2b1= bJ=yfQ f>٥ll nHlr'; r>tzc5v?zc59vg IvdByxz!@z@v&ZEivu:v:v(c5œBs9AE5DNOT Ignoring new targets: 23.53 m.b1Z1r1j1R1J1B1~9~9}9|A|A|A|E$@Թ E{BMH)H-qIH-yBH- =H)H-'Dchecking for new query: numPingsReceived=29, elapsed TxPingTime=10.064130H-<H-EHÒCHÒCHH =I = IÅ6iKSP"K*K2K:K2UORc J qqhFQ- Cg`FM(;~E?EEE5EFFR=6G ᜆ<~G A A N >% checking for new query: numPingsReceived=29, elapsed TxPingTime=10.313612A `?`B? j/@j;)jCv/yBtxxMb@Mb@Mb@ )YbX9?Zd;OyEV?j A A A)I Ay AII2m: 8=y¬Q >٥ HFI; > c5+?c59 IhByW?|: !@@,ZEi8;7;,c5%ēB%i9A-E]DNOT Ignoring new targets: 23.53 m.bYZYrajaRaJaBa~i~m$|B}i|i|q|q|u$@ {B靥6nI)%Ibh  <XO=ԙ [&w,҄iA9R@RK.(@YR$yR ٥pt vHvFvض; v>x~c5zx?~c59z IzkBy ,!@ @z1ZEizPB;zy;z/c59AMDNOT Ignoring new targets: 23.53 m.bIZIrIjIRIJQBQ~Q~Y}Y|Y|Y|Y|e%@ {B靽@juI)% IlWp <8=ҩ %BDAT read: Tx time:14:19:37.4279 5$Ping request sent.5H1 H5 IH5 yB~Gi A  JDAT read: TxSync time:14:19:37.4271  checking for new query: numPingsReceived=29, elapsed TxPingTime=0.250979H5  =H1 H1 H5 <H5 EAI NU > yNw,UiAK^P"K^ý9*K\2K^:K^Kkxs#:f;C:Uv{yFVfHO_XXP6yBCIMb@Mb@Mb@ )YI +?bX9ȶy9T?E  A)X AIX Ay AIIb2- -7=y5Q 5>٥19 =H=F= =>AMc5E`_?Mc59E1 IEnByUqU?U~:UU!@U@E7ZEiEu ;E ;E3c5Y]H9A]EUDNOT Ignoring new targets: 23.53 m.bQZQrYjYRYJYBY~a~eJ|B}a|a|a||&@ {BW9fI)"I4z ?< =,Puw,uiA02A6checking for new query: numPingsReceived=29, elapsed TxPingTime=0.7486589FS@F3g(@YFyF5٥xx zH~F~ < ~> c5J? c59 IqBy!@@7hw,|iA49ZE@Z6Y(@YZ٥xx zHzF~ ~> c5]3? c59j ItBy !@@BZEiz ;T ;k:c5% 9A!UDNOT Ignoring new targets: 23.53 m.bQZQrQjQRQJQBY~Y~Y}Y|a|a|i|m(@ {B靵HHIHyBHHH(DH<HE}checking for new query: numPingsReceived=29, elapsed TxPingTime=1.254983ԡE E EEEK?P"K{9*K2K:K?4-, fs>qL^}n).FnM=6G=<~G A) A9 NE >  checking for new query: numPingsReceived=29, elapsed TxPingTime=1.504525:Ju [BJu UJJu BRJq ZJu :bJu >9Ju -4Jq zJu :} jJu :} Ju ~Q:} rJu Q: w, 7iA9f@f&(@Yf\yf;fH `ax߿eĕ?x?@r -+? {?? f@f;)fClr9yBrEIMb@Mb@Mb@ )Yi|?5? ףp= MbPyQ?QA A )+ AIyQ AII[3DN <=yۺQ >٥ HC > c5? c59  tIIxBy R? :%!@@GZEi2;1;7>c5!%19A%EUDNOT Ignoring new targets: 23.53 m.bQZQrQjQRQJYBY~Y~]|B}a|a|a|a|e`N(@ {BqqI) I%' !!-^a pw, iA96:@6'@Y6䦼y6i;6H@x߿m? (?m`1ܔ?`T~?@? 6:@68;)6CF٥\\ bHbFb> b>djc5fk?jc59fC IfzByhn @n@fLZEif:fY;feAc5r“Br 9ArE%DNOT Ignoring new targets: 23.53 m.b!Z!r!j!R!J!B)~)~)})|1|1|1|5Ϊ)@9checking for new query: numPingsReceived=29, elapsed TxPingTime=2.008337 {B J}I) I=q 99=jHCHIHyBH =HHH:<H/E checking for new query: numPingsReceived=29, elapsed TxPingTime=2.263761~G1 Aa A N >w,iA9>@>'@Y>`y>k;>HR߿`7?M?x3v`?8,v?'? >@>;)٥ HF պ  >-c5p?-c59p I|By-S?: @@RZEi<<NEc5Bv9AEMDNOT Ignoring new targets: 23.53 m.bIZIrIjIRQJQBQ~Q~]|B}Y|Y|Y|Y|e`*@ {B靭lAvI)r%IS <=Wi w,f9iA&checking for new query: numPingsReceived=29, elapsed TxPingTime=2.7644559Bl@B®'@YB_CyBYKd9BH>߿??޾`>Q@ȕ?ć,?%? Bl@B=Ї;)@N yBN5IiR0>IR;ITITbQ f_=yfQ f>٥hh jHjFjoȺ j>lrc5n(پ?vc59n In~Bytv @v@nWZEin):n6:nzHc5xz9A|MDNOT Ignoring new targets: 23.53 m.bIZIrIjIRQJQBQ~Q~Q}||||`U+@ {BBI)x&I̕ <q=d=checking for new query: numPingsReceived=29, elapsed TxPingTime=3.016612Q6GuT;f<~GI AQ Ai N} >y w,SiA9> @>_'@Y>_y>O>H39߿̑?@?K`b ?q? > @>;)>CJyBN3I j=j=IrIr2z  zH=yzEQ z>٥|| ~H~F24: > c5 M¾?c59 ^ I By @%@ \ZEi A; U; Lc5-B-9A-EHu>HuCHqHqHu =HqHu'DHu<HuEԉuBDAT read: Rx Time:14:19:40.0098 TRx dataTimestamp_ set to:1749133181.419967checking for new query: numPingsReceived=29, elapsed TxPingTime=3.276386DNOT Ignoring new targets: 23.53 m.bZrjRJ)B1~A~A}y|y||| #R,@ {B靅tI)0'I- <D=}iYw,pniAyB*IԁmMb@Mb@Mb@iii i)iYmM?(\µ:vymnR?mmTmA A i)m AImA AiymQ AII3 !=yQ >٥ HF >c5?c59 IByS?:!@@cZEi:M:{Pc5QBN6AMEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||`@--@ 15 I9)=*9I= 99=s BDAT read: Tx time:14:19:41.1279 $Ping request sent.) |w,6iAryBr&IItIt   =y Q   ?٥ H9 E ?AMc5E}?Uc59Eҳ IEByQ]JDAT read: TxSync time:14:19:41.1271 echecking for new query: numPingsReceived=30, elapsed TxPingTime=0.224183Qm@EgZEiE4;E;EKSc5yk6AZ1b5_ziA5XC5XC5kS@ʁ5/N(_O!_1z]5YW޿I殇"&5vC5?ҁ5!:lqK@8En9fQq]5S?p=3tOLȿSAzz55[Bj53М?r5I 5^15oE  5rB5AB5@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 133.300003 m, deltaT: 14.619321 s, deltaX: 109.600006 m, approachRate: 7.496929 m/s, rangeRepo size: 4DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}|||`@|@u:? AE IA)E,iImXm iim"HCHIHyBH =HHHR<HCEHǑCHǑCHHI I26- checking for new query: numPingsReceived=30, elapsed TxPingTime=0.477777ԉ 6G ~G A A N >w, iA9Z@Z8(@YZ?yZŤZH`f߿`y?j?`;F~?b? Z@Zg[;)ZCbxBf IK5O"K59*K12K5:K5xVb3-r-HbZ@_ivwz NPeRsufK}Mb@Mb@Mb@yyy y)yY}|?5^? ףp= Mby}R?}Q}} A y)} AI} Ayy} AI!Ii3: A=yMQ >٥ HFb< >c5{?c59z IBy% checking for new query: numPingsReceived=30, elapsed TxPingTime=0.979804Aw,˻iA9>3@>F(@Y>Dy>4p>H@^߿`Aߚ?`Z?@Y/@g[?N'? >3@>;)٥`` fHfFf < j>hc5j}f?c59j IjByP!@@jrZEij}checking for new query: numPingsReceived=30, elapsed TxPingTime=1.231166! )w,HiA9>Z@>@n(@Y> ;y>VM<:>Ht <߿XŜ?M8?(}F?G?? >Z@>AƆ;)>CbxBbIIfIfF3n rH=yr:Q r>٥tt vHvFv{; v>x|c5zDO?c59z IzBy x!@ @zwZEizG);z(;z]c56AíEH>HCHIHyBH =HH)DH<HEmDNOT Ignoring new targets: 23.53 m.biZirijiRiJqB~~}||||?checking for new query: numPingsReceived=30, elapsed TxPingTime=1.486051Q  ņI ) d1 I ] @jEu>E?EEEE5EFFyK@P"Ký9*K2K:KB]xIOK8ZvQ?gQ$*+!$?2SPzmxB>"SS checking for new query: numPingsReceived=30, elapsed TxPingTime=1.738313ԡ 6G5 )ş<~GQ Aa Aq N} >hw,jiAy9~@e(@Yy:H߿ [?`?@;X? Y?? ~@骅䆆;)CxBIMb@Mb@Mb@ )Y> ףp=? rhMbyQ?C A  A)Iy AII 3t< .=y>Q >٥ HF;; >c5"4?c59ݞ IByR?:F#@@}ZEis;q;ac56A-DNOT Ignoring new targets: 23.53 m.b)Z)r)j)R)J)B1~1~5{B}1|9|9|9|=< y=  Lx,M iA)4 4vG ZA%checking for new query: numPingsReceived=30, elapsed TxPingTime=2.239928-AA mI(YmZAyma+BIyI}AA:J]BJPJJ?RJZJ]:bJ*9Jـ4J@@@@$@'BxBIII2z; H=yQ >٥ H >c5? c59 IBy   @ZEiU;;wec5NB6AƭEEDNOT Ignoring new targets: 23.53 m.bAZArAjARAJIBQ~Y~Y}a|a|a|a|eH@ 靕豑I)2/IN @<=H}CH}}IH}yBH} =HyH}&DH};<H}E1checking for new query: numPingsReceived=30, elapsed TxPingTime=2.4931006Gm N<~Gi A A N >Y vx,|#iAyB%IK0P"Kͼ9*K2K:K.^uyvz/py$*HF zf^u.\{D^q&JJAMb@Mb@Mb@ )Y5^I ?)\({GzyX?Ga# A + A) AI Ay3 AI-I-[31E< EU=yAQ E>٥II MHMFI M>Yec5]?ec59]R I]ByeX?e{:eg$@e@]ZEi]j:]:]hc5quY6AuɭEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||@ 9I),I# =<5=ii5checking for new query: numPingsReceived=30, elapsed TxPingTime=2.743976E?EEEEFF=aԉ6GV<~G A A N >Թ  checking for new query: numPingsReceived=30, elapsed TxPingTime=2.995774x,of=iAI()(9r@rU(@YrSyr` ٥)) 5H5F5; =>9Ec5=|?Ec59= I=ByIM$@M@=ZEi=::=%:=lc5*6A̭EDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||@@ԑ {BjI))In¼ E<= _x,MWiA9B@B(@YB yB٥`` bHbFb9 f>H>HCHwIHyBH =HH(DH(<HEyc5}ֽ?c59} I}By$@@}ZEi};};}oc5MB5AʭE-DNOT Ignoring new targets: 23.53 m.b1Z9r9j9R9J9B9~A~A}I|I|I|I|U`) @checking for new query: numPingsReceived=30, elapsed TxPingTime=3.499861 9靥I)'I'JǼ XL< o{=xY9 U checking for new query: numPingsReceived=30, elapsed TxPingTime=3.7540296G e~<~G A) A9 NM >x,qiA9:Ֆ@:*(@Y:y:h<:H߿{?@?3j? "?`? :Ֆ@:\;):CB yBF5IuMb@Mb@Mb@qqq q)qYuZd;?I +Mb`yuY?u94uq u A)uAIuA Aqyu AII2< 0=y̺Q >٥ HF >c5컽?c59 IBy%Z?y:\%@@ZEi:A:sc55AͭEIDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||ǻ@ %{B%ϏIA)E%IIM˼ IIM/U"x,liA<checking for new query: numPingsReceived=30, elapsed TxPingTime=4.255049@yB III%I)3M= Mc=yMQ M>٥QQ UHQ:Je[BJeOJJe?RJaZJe:bJe%9Jeـ4Jam m>q}c5u̥?c59uZ IuBy@uZEiu;u6:uvc5LBc5AЭE}DNOT Ignoring new targets: 23.53 m.byZyryjyRyJyBy~~}||||@mV@ {BhI) ~ I ҧϼ IIM?H%CH%}IH%yBH% =H!H%*DH%<H%Eױ׵Achecking for new query: numPingsReceived=30, elapsed TxPingTime=4.5075436G 9f< ~G AI Ay N >(x,¤iA9>e@>y(@Y> y>s8:>H 1߿`#=?L.?䙎^?]?E? >e@>H;)>CNKyBbPIl]Mb@Mb@Mb@YYY Y)YY]\(\?)\(MbPy]Z?]Ga]]+ A ]+ A)YI] AYy] AIuIu2< F=y Q >٥Km)P"Ký9*K2K:KTaTQj\ u :VVxF,#')9-(D5v'JAJA HF >c5M?c594} IByU[?w:\$@@ZEi:M:Yzc5  45AӭEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||s@ ɊI)I%Ӽ !!%&<)-T=-ܾ checking for new query: numPingsReceived=30, elapsed TxPingTime=5.012423.x,ÝiA9:]U@:h(@Y: y:Sp:Hl'B߿@?`d٥XX ZHZF^3 ^>`fc5b;v?fc59bx IbBydfK$@f@bZEib:b>:b}c5ln4AlDNOT Ignoring new targets: 23.53 m.bZrjRJYB~~}||||w@ -{B5늽IQ)UQI]z2׼ YY]checking for new query: numPingsReceived=30, elapsed TxPingTime=5.263193Ա:J\BJSJJARJZJ=:bJy69J4J q5x,wiA9:J@:](@Y:y::H@ VN߿v?E?q5ܡ?`~`? :J@:܆;):CFyBFwIIN IN<2VQ= VJ=yV!Q Z>٥XX ZHZF^VԺ ^>Hbż>HbCHbIHbyBHb =H`Hb+DHb<Hb"EHCHCHCH =I = IG6x~c5z_]?c59zs IzBy@$@@zZEiz;z@;zc5 KB 44A֭E=DNOT Ignoring new targets: 23.53 m.b9Z9r9j9R9JABA~A~A}I|I|I|I|Ui@ im/}checking for new query: numPingsReceived=30, elapsed TxPingTime=5.515328Iq) Iڼ `<.= ޵5 checking for new query: numPingsReceived=30, elapsed TxPingTime=5.768035Y 1٥qq uHuFu9 u>yc5}JA?c59}?n I}By\?v:|%@@}ZEi} ;}; ;}c53AحEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~|B}||||X@ {BDI)Iy޼ !%<)-w=- 7Ա Bx,4/ iA9>OI@>\(@Y>Ǩ y>T z>HDR߿?@F?@WҞ`6?@<`7? >OI@>+;)>CNyBNIIV!IVi3rchecking for new query: numPingsReceived=30, elapsed TxPingTime=6.2712595k= 5W=y5M:Q 5>٥AA EHAM M>Q]c5U*?]c59Ui IUËByY]y%@e@UZEiUf;U;UGc5mJBmu3AmۭEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||U@ !-ZI))-b)I-~ 115<<9====zHHIHyBH =HH*DH$<H~GIAYAiN}>checking for new query: numPingsReceived=30, elapsed TxPingTime=6.523138 Ix, &iAyBIMb@Mb@Mb@ )YS?L7A`尿 rh?yZ?+C<A  A)rAI Ay= AII?13{]= @=yQ >٥ HF > c5-?c59d I͋ByQ[?w:p#@@ZEi; ;c5!%3A!MDNOT Ignoring new targets: 23.53 m.bIZIrIjIRQKU P"KUػ9*KQ2KU:KU9OSo\9U0 aQ. g # e O <eTIe ,JaJeAJaBa~i~m+|B}i|i|q|q|u@ 靥vI)򾉞IK <IU=QiQiQchecking for new query: numPingsReceived=30, elapsed TxPingTime=6.775928:J]^BJ]TJJ]@RJYZJ]} :bJ]:9J]J4JYzJ]a:ujJ]f:uJ]TJ:urJ]VJ:uE?EEEE~G!A)A9NMR>I  checking for new query: numPingsReceived=30, elapsed TxPingTime=7.028013;Ox,?iA9J,>@JQ(@YJ yJcJH @;Y߿@R̚?`P?`?(ހ? J,>@J%;)HRyBRIIZIZ2b= b^=yf[[Q f>٥dd jHjFr r>tzc5v!?zc59v_ Iv֋Byxzb#@z@vZEiv:v:v9c52AޭE-DNOT Ignoring new targets: 23.53 m.b)Z1r1j1R1J1B1~9~9}9|9|A|A|E`*{@ {BgyI)Y侉!I%p !!%!<)-=-7,ychecking for new query: numPingsReceived=30, elapsed TxPingTime=7.279648ԩ #Vx,UYiAH:Ǽ>H8H:IH:/zBH: =H8H8H:<H:ET9 )@ \<(@Y ry x H li߿࿌?b?`E@. g ? Fo? )@ e;) CEzBEIIeIe#3m= u@=yuQ u>٥yy }H}FFG >c5Ἔ?c59Z IByL#@@ZEigo;r;c5IB 2AEYY]checking for new query: numPingsReceived=30, elapsed TxPingTime=7.531521DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||I@ 靅aI)4ҾIʚ QQ]1<x=KmxP"KmH9*Ki2Km:KmvE(U0%s~n;h4:\!tJjT checking for new query: numPingsReceived=30, elapsed TxPingTime=7.783154! :Ju XBJu QJJu CRJq ZJu {9bJu -.9Ju 4Jq zJu :jJu :Ju 4:rJu 4:`O\x,ӡsiA9B?@B(@YB]#yBúBH@@߿`?େ?`ԓ@Xâ?@vX}? B?@BO݆;)BCR$zBRITVA|-Mb@Mb@Mb@))) )))Y-On?333333:v?y-X?--T<) - A)-AI- A)y-f AIEIE(*3U?= UL=y]bQ ]>٥ii uHuFӻ >c5ɼ?c59wU IBysY?y:g"@@ZEi::yc51AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~!~%|B}i|i|i|q|u @ {BdI)Ⱦ)IH )15S<1=Z==H5cx,viA96.@6'@Y6y6#6H߿`?\? -@ u? 4Aq? 6.@6;)6CF>zBJIIRIR2Z= ZV=yZQ Z>٥\bchecking for new query: numPingsReceived=30, elapsed TxPingTime=8.287376\ fHdfg f>hnc5j?rc59jP IjByprQ"@r@jZEij{;jD;jʙc5tvR1AxYDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||`R @ imxgIi)mBiImm %<='sGYGYHeԼ>HeCHeIHevzBHe =HaHe,DHe <HeEԱuchecking for new query: numPingsReceived=30, elapsed TxPingTime=8.539202 _ix,PiA9>@>2'@Y>qA$y>/s>H߿T?-?`[ņ?wn[? >@>;)٥ HF   >c5Q?c59J IByU?%~:% @%@ZEi;:c5-HB-1A-EUDNOT Ignoring new targets: 23.53 m.bYZYrYjYRYJaBa~q~u|B}q|y|y|y|} w!@ {B靭]KlP"K9*K2K:K~z`GQJ~o0,n@susVOez[ ,2x5J< VpZ, 3I)I <\m=8yjE>checking for new query: numPingsReceived=30, elapsed TxPingTime=8.791799:J=\BJ9JJ==RJ9ZJ==:bJ9J=g4J9zJ=:jJ=:J=4:rJ=4:Em?EiEqEuz0Eq6G <~G A A N >9 y y  checking for new query: numPingsReceived=30, elapsed TxPingTime=9.043432Gpx,+iA9VԚ@V('@YV)yVfzVH`߿`+?l?` q@I=? EO? VԚ@Vg;)VCjVzBjI n=n=IrIr2z< z]=yzvQ ~>٥|| ~HF/ػ > c5 S?c59 F I By @@ ZEi s; I; c5!%0A%E]DNOT Ignoring new targets: 23.53 m.bYZYrajaRaJaBa~i~i}i|i|i|i|u`J"@ {B靥_aI)oIv <K=rWԙ H] ü>H] CH] ,IH] zBH]  =HY H] +DH] <H] E,vx,gaiA9:@:'@Y:"G.y:|Α:H9߿ [?`?ͷ`5ǥ?5r@? :@:%e;):CFfzBFII~I~2 =  F=y'Q >٥ HFk >!-c5%m?5c59%@ I% By15p @5@%ZEi%M;!%c5=GB=0AEEmDNOT Ignoring new targets: 23.53 m.biZirjRJB~~}||||_#@ {BjXI)I.  <!=E{ W dM  d&kEO -48L>iԱJJ ?~G A A! NE > checking for new query: numPingsReceived=30, elapsed TxPingTime=9.799111JKJ4JK4JK/:J% ZBJ% RJJ% ?RJ! ZJ% 9bJ% S29J% ـ4J! zJ% /:jJ% 4:J% ;:rJ% <: |x,3iA9>{@>'@Y>FD1y>p >HI ??#p͝&?ѩ`? >{@>;)>CFjzBFI5Mb@Mb@Mb@111 1)1Y5(\?"~jMbP?y5N?5S㽹5:1 5 A)1I5 A1y5 AIEIE0#< >=y*޺Q ->٥19 =H=FEWy ]>yc5}U?c59}: ԩI}ByP?:@@}ZEi};};}mc50A%DNOT Ignoring new targets: 23.53 m.b1Z1r9j9R9J9B9~A~E|B}A|I|I|I|M 1 $@ {B靅oTI)Iũ c<<A1 Tx,*iAI()(Bchecking for new query: numPingsReceived=30, elapsed TxPingTime=10.3029879N|@NK'@YNŚ0yN|NH/Hߠ??nӝ`?>끿? N|@N;)NCV|zBZ IIfIf<2r9F= r\=yr9Q r>٥tt vHtzKd9 z>xc5zB?c59z,6 IzBy@ @zZEiz;z[;zc5G0AE=DNOT Ignoring new targets: 23.53 m.bAZArIjIRIJQBQ~Q~Y}a|a|a|a|mĸ$@ {B靕p^I),Ikg <<-:CHHRIHzBHHH*DHH<HYEHŔCHŔCHH =I = INt696GuY=<99=checking for new query: numPingsReceived=30, elapsed TxPingTime=10.556022~GAAN>i x,r(iA 9B@B['@YBw}0yB6BHk ߿E?:?4ɼ ? zՁ? B@B_;)BCJ}zBJ I5Mb@Mb@Mb@111 1)1Y5K7A`?|?5^Mby5K?5ҽ55rA 5A A)5 AI5 A1y5 AIMIM?13: ;=yX8Q >٥ HF.; > c5X+? c590 I By L? : \@@ZEi8:G;Rc5FBA0AE]DNOT Ignoring new targets: 23.53 m.bYZYrYjYRYJYBa~a~e|B}a|i|i|i|mĘ%@ {B靝YTI)I A<KP"K9*K2K:Ks(<]9~cqVd.9B JNFQiRRQBPN L6IEB>:4/*% zq)JJL -E BDAT read: Tx time:14:19:52.0780 E $Ping request sent.E ٥xx zHzF~; ~> c5 :?c59 + I %Byy@%@ ZEi Q; ; c5)->0A-EUDNOT Ignoring new targets: 23.53 m.bQZQrYjYRYJYBY~a~a}a|a|a|i|mV&@ {B靭)]I)ӡIV +<' <kRJ!ZJ%]:bJ%:9J%t4J!5@5@5@5@6GP<jGp?bG?~GiAqAN>! H >H CH kIH {BH H H H T<H dE-Жx,\iA9>!@>u'@Y>^/-y>m9>H``߿ @ۢ? ?``> E?-?? >!@>Ɔ;)٥\\ ^H^FbX; b>djc5f?jc59f& If*Byhj@j@fZEifh:f;f c5xz10AzE|DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}|||| ,'@checking for new query: numPingsReceived=30, elapsed TxPingTime=0.504660 {B靵WI)Ii v<<8ԁ x,TqviA9F%@F8(@YF{-yF, 1=y}TrQ }>٥ HFG< >=c5뻜?Ec59o! I0ByM*K?M:M@U@[Ei<Z<͹c5EB0AEEDNOT Ignoring new targets: 23.53 m.bAZArIjiRiJqBq~q~u|B}y|y|y|y|}@Y(@ {B5^I)jI <<ߨ-x,IiA2checking for new query: numPingsReceived=30, elapsed TxPingTime=1.259655:JbZBJ`JJbARJ`ZJb9bJ`Jb4J`9j8i@j|(@Yj,yjg٥ H-< >!5c5%ֻ?5c59% I%4By9=> @=@% [Ei%y;%Hz;%5c5AEo0AIuDNOT Ignoring new targets: 23.53 m.bqZqrqjqRqJyBy~y~y}|||| %(@ {BkI):I ^'<u<2GG?AHɼ>HCHqIH"{BH =HH+DH<HEchecking for new query: numPingsReceived=30, elapsed TxPingTime=1.5121341a x,o*iAlzBIMb@Mb@Mb@ )Yx&?EԸMby7I?ƽA  A)rAI Ayp AII2 ==yQ >٥ HF > c5⾻?c59F I8ByJ?: @@[Ei{v;@t;c5!%y0A%E1]DNOT Ignoring new targets: 23.53 m.bYZYrYjYRYJYBa~a~e|B}a|i|i|i|m1)@KM$P"KM 9*KI2KM:KMPbV*iHIB&7oV.0hM$7_Atth=ktVMu mS?mY?uchecking for new query: numPingsReceived=30, elapsed TxPingTime=1.763874 {B靝^I)WI f<=O<ִ% checking for new query: numPingsReceived=30, elapsed TxPingTime=2.015550Թ x,iA9ni@n=}(@Ynp%ynW٥!! %H%F%Y8 %>)uc5-s?uc59- I-;Byy} @}@-[Ei-%<-%<-Ic5DB0AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}|||| 9i*@ ]{B]qIY)]YIe aae<ԑ:2<KH} Ƽ>Hy Hy Hy H}  =Hy Hy H} <H} "E xx,iA9VgS@Vf(@YV|$yV"Ibp;InIn#3v vM=yvz:Q z>٥xx zHzF~db ~> c5? c59 I=By @@[Ei:y:c50A%EMDNOT Ignoring new targets: 23.53 m.bQZQrQjYRYJaBa~a~i}i|i|q|q|uh0+@ {B8uI)]checking for new query: numPingsReceived=30, elapsed TxPingTime=2.535361aIe& aae+xK bP"K 9*K 2K :K 9n<4SC31ieaM@H_g(]b J5K.D # u '  checking for new query: numPingsReceived=30, elapsed TxPingTime=2.774015Gx, iA =zBIMb@Mb@Mb@ )Y?lMbyL? A \A)AIyzAII2^  ;=yQ >٥ HF >c5|? c59v IABy M? : "@ @[Ei::c5%CB%*1A-EUDNOT Ignoring new targets: 23.53 m.bZrjRJB~~(|B}|!|)|Q|U,@q {BpI)/˾I?  < </x,CiA2checking for new query: numPingsReceived=30, elapsed TxPingTime=3.2796069B@Ba (@YBȤ*yB;BH߿5? {?S?@w?? B@B?f;L)@V0zBVI:Jb\BJbYJJb=RJ`ZJb=:bJb[O9Jbg4J`IjIj#3r  r\=yvՄQ v>٥tt vHvFzv z>|c5~h?c59~ I~DBy &"@ @~#[Ei~;~%-;~c5!%Z1A%EMDNOT Ignoring new targets: 23.53 m.bIZIrQjQRQJQBQ~Y~Y}Y|Y|a|a|e,@ {B%I))-Ӿ)I-U ))5K<9=E<=өH5CH5^IH5{BH5 =H1H1H5"<H5/E]DAT read: 14:19:54.6075 LVL= 22768, 23425, 23474, 31091, AGC= 69, IDX= 367,-0.03,-0.104, 1.728,-0.104, 0.528, PHS=-0.544, 1.246,-0.635, RAW= 332.5, -0.7, CAL= 334.1, -1.4, ROT= 175.9, 1.4 eYgot valid direction response: 14:19:54.6075 LVL= 22768, 23425, 23474, 31091, AGC= 69, IDX= 367,-0.03,-0.104, 1.728,-0.104, 0.528, PHS=-0.544, 1.246,-0.635, RAW= 332.5, -0.7, CAL= 334.1, -1.4, ROT= 175.9, 1.4 6Gm<}8DAT read: $Error in header *Received a bad headerZ#Rx 31: Read direction message, but no range.`direction in FSK: [-0.997143,0.071476,-0.024432]y~vDL?{JY X)[I[isyEC |?\" @)+HI@i+ȼp{D@+< c]L0,eb-kgi0$! .^x,p|+iA|u,zBuI)y yEMb@Mb@Mb@AAA A)AYEn? ףp= /$yEV?EQ8EE\A EA)AIAAyEAII(1!  2=yQ >٥ H >c5L?c59 IGBydV?}:$@@)[Ei:M:c5g1AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~ ~ {B} | | ||@-@ E{BEs|IA)E־IIM"b IIM4$Q*gnk D@RXrp{DJJA!EEEED2EI6GE 喇<ZGI RGI ~Gy y A A N >% checking for new query: numPingsReceived=31, elapsed TxPingTime=4.036634Ax,DEiA9:@:'@Y:2y:ܒ:H@߿@#?[?`Ǻ@-@8@?@$Wr-? :@:J9;)8F*zBFIIN IN(2V Vp=yV H- >H- CH- LIH- zBH-  =H) H- *DH- T<H- jEHHHʓCH =I IʇD66kx,_iAE%zBEIIUIU2e3 e?=yeQ e>٥ii mHmFu u>Թchecking for new query: numPingsReceived=31, elapsed TxPingTime=4.540235q}c5uS?c59uG IuMBy@u3[EiuE;uE;uc5BB1AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||S/@ {B靕I)$ݾI: <<<K~G A A N >9 cx,ixiA9J V@J^i'@YJ3h5yJM%JHl@?z ?@*`8 ?? J V@J;)HR,zBRIEMb@Mb@Mb@AAA A)AYE`"?MbI +yEW?EE94EA E\A)EAIEAAyE3AIeIe3uҍ< uI=y}Q }>٥yy }H}F >c5?c59s ISByW?{:$@@9[Eii ; ;c5`1A EDNOT Ignoring new targets: 23.53 m.bZrjRԑJB~~{B}||||0@ {By3I)ھI $< {< ߨ kx,fݒiA"checking for new query: numPingsReceived=31, elapsed TxPingTime=5.2955769F+S@F~f'@YFw7yFFH`P? ?# `?_? F+S@F;)FCv6zBzII I 2W< P=y%Q %>٥!! -H-F- ->1=c55Lﺜ?=c595 I5XByAE$@E@5>[Ei5;5:5c5M@BM,1AM EDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||m0@ {B:qI)־I }E<n/<ZHCH?IHzBH =HH)DH<HE~G!A9AIN]3>checking for new query: numPingsReceived=31, elapsed TxPingTime=5.547763A 3x,IiA$9^^@^q'@Y^7y^T^H P@ ?`?׫@슢?@>@? ^^@^w:;)^Cj5zBjIMb@Mb@Mb@ )Y/$?y&1y&1|y\?`弹`3A rA)AIyAII23 ?=yEQ >٥ H): >c5Ժ?c59 I_By\?v:[%@@D[Ei:b:Gc5%11A!MDNOT Ignoring new targets: 23.53 m.bIZIrQjQRQJQBY~a~e{B}q|q|q|q|}`D0@ 5{B5偽I9)=ؾ9I=k 99=@O@>;8JYJYE!E!E!E!E!ԙ6GE jx<ZGQ RGQ ~G A A N > checking for new query: numPingsReceived=31, elapsed TxPingTime=6.052979x,?iA9>l@>X'@Y>8y>8>Hȫ`??@ްȟ?@C? >l@>$;)>CJJzBJIPIRIRM3^j= ^^=ybXQ b>٥dd fHfFj; j>lrc5n=?rc59n7 IneBypri%@v@nI[Ein;n:n{c5xz0AzEDNOT Ignoring new targets: 23.53 m.bZrj!R!J!B!~)~)})|)|)|)|581@ {BII)ξI M<GZA5{<AA/! H >H H H H  =H H H .<H (Ex,hiA|-ezB-I9=AIE IEb3U'y= UA=yUQ ]>٥YY eHeFe e>iuc5m,?uc59m$ ImlByqy}@mO[Eim;m;m-c5k0AEchecking for new query: numPingsReceived=31, elapsed TxPingTime=6.556480DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||Q1@ {B靕A{I)¾I~ <<{,ex,/QiA9Z@ZR'@YZ-8yZͺZH`U߿`"? ?5`b?`ΫY? Z@Z7;)ZCjzzBj I]Mb@Mb@Mb@YYY Y)YY]}?5^I?Zd;Oy&1|y]Mb?]j٥ HFQ; >c5?c59 IsByb?o:@$@@U[Ei;;c5?B0AE-DNOT Ignoring new targets: 23.53 m.b1Z1r1j1R1J1B1~9~={B}9|9|A|| P2@ {B|I)6I1 !%7 y,OiAchecking for new query: numPingsReceived=31, elapsed TxPingTime=7.311556zB"III(*2a= G=yQ >٥ HF >c5p?c59 IzBy@Z[EiT;;Zc5x/A]DNOT Ignoring new targets: 23.53 m.bYZarajaRaJaBi~q~y}y|y|y|y|@z2@ {B靭tI)`IP; <<~<HHLIHzBHHH*DHn<HE E!E!E!E%o0E!checking for new query: numPingsReceived=31, elapsed TxPingTime=7.56348416Gm ܸ<<~GA Ai Ay N >a ) y,y.iA9~(@~{'@Y~c;y~4d|;~H`_`߿ uD??@w`j?o?@^? ~(@~^B;)~C%zB-.IMb@Mb@Mb@ )YPn?Mb{Gz?yd?#< EA)I\AyAAIMIM3]R8= ]@=yeQ e>٥aa mHiumչ u>y}c5}U?c59}n I}ByAd?n:D%@@}a[Ei}:}:}c5>B"/AEDNOT Ignoring new targets: 23.53 m.bZrjRJB~~{B}||||2@ {BmmI)OI?H  checking for new query: numPingsReceived=31, elapsed TxPingTime=8.068169Ա y,RGiA9:~@:'@Y:٥| HF^ > c5  ??c59  I By%@ f[Ei %; %; 0c5)5.A5E]DNOT Ignoring new targets: 23.53 m.bYZYrYjYRaJaBa~a~a}i|i|i|i|m?3@ {B靥ylI)I g3<<T8Mchecking for new query: numPingsReceived=31, elapsed TxPingTime=8.320094Hm >Hi Hm eIHm {BHm  =Hi Hm )DHm K<Hm RE! n y,aiA9b8l@b'@Yb@yb#M;bH5`?@`?@XI?`i?? b8l@b9;)bCzBSI) I%I%2=j= =D=y=`Q =>٥AA EHEFE3 M>IUc5M$?]c59M IMByY]1%@]@Mk[EiM';M;Mc5e=Be-.AmEchecking for new query: numPingsReceived=31, elapsed TxPingTime=8.571648DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||F3@ {B_I)I g< 7<H'jE%> EEEE5E~GAAN$>A] checking for new query: numPingsReceived=31, elapsed TxPingTime=8.824668a :J [BJ NJJ ?RJ ZJ :bJ !9J ـ4J zJ :jJ :J U:rJ W:K b/P"K ͼ9*K 2K :K >5n>Q*M[Z.4HG]nkpQ2y,n{iA49fX@f"l'@YfECyf:fH% ݘ?@ ?`ʖSf?@sH_?`? fX@fO;)fC${BrIMb@Mb@Mb@ )YRQ?X9v٥ HF L5  >!-d5%, ?-d59%3 I%By5 c?5o:5"@5@%r[Ei% ;% ;%d59E[-AEEmDNOT Ignoring new targets: 23.53 m.biZirijiRiJqBq~q~}$|B}y|y|y|y|4@ {B靅|PI)OIسԉ <5,< u checking for new query: numPingsReceived=31, elapsed TxPingTime=9.330458A%y, iAII89NG@N ['@YN5HyNUNHy D??@٥ll nHnFr4 r>t~d5v?d59vL IvBy"@@vw[EivU;vU;vd5,AEDNOT Ignoring new targets: 23.53 m.bAZArAjARAJIBI~I~Q}Q|Q|Q|Q|]x4@ {BIPI)8I> <%<)HCHIH_{BH =HH(DH;<H/EHÓCHÓCHH =I = I75Eu?EqEqE}!5Eymchecking for new query: numPingsReceived=31, elapsed TxPingTime=9.5795366G3Z<jGn?bG?~G A A N > qe+y,̯iAl9 4@ /H'@Y Ky Vh H`j 2?`?c Ĝq?m? 4@ gۅ;) C%b{B%IMb@Mb@Mb@ )Y +?333333Mb?yV?<A A)zAIyQAIMIM3u= }4=y}DQ }>٥ HF& >d5ع?d59r IByW?|:!@@}[Ei:o:d5^,A!Echecking for new query: numPingsReceived=31, elapsed TxPingTime=9.831606DNOT Ignoring new targets: 23.53 m.bZrjRJB~~C|B}||||4@ 5{B5c>BI9)=9I= 99E/{a ׁ ׅ A checking for new query: numPingsReceived=31, elapsed TxPingTime=10.085249 K2y,iA9:y@:#'@Y:ahNy:x:H / $?M(?  ݝ@ʩ?Uq? :y@:a;):Cf{BjIIrIr2z= zf=y~Q ~>٥ Heͻ > d5 MĹ?d59  I ČBym!@@ [Ei ; ;  d5%H >H CH IH {BH H H H /<H E Cu8y,yiA9>1@>'@Y>Py>q컹>H@l7?`/?`i?`"}"? >1@>r;)>CF{BFIIRIR2^= ^N=yb ɺQ b>٥`d fHfFfG. f>hnd5jo?rd59jʩ IjΌBypr\!@r@j[Eij5;j;j_d5v;BvI+Az&EEchecking for new query: numPingsReceived=31, elapsed TxPingTime=10.587491ԙDNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||઱5@ E{BEy2IA)EAIM=Z IIMQ+  BDAT read: Tx time:14:20:03.0282  $Ping request sent. K /P"K 9*K 2K :K 4]exs03N|JYH3L9#cp`|n9>[)7:iFd! J! J% ?>y,[iA96@6 '@Y6Py6}&6H;@/ݣ?2?*`G1?h̄? 6@6;;)6Cf{BfI}Mb@Mb@Mb@yyy y)yY}M?Mby&1|?y}nR?}}`;}A }A)}AI}Ayy}zAII 3 YH=  7=y `Q >٥ HF-u ->9Md5=`?d59= I=ڌByS?:@@=[Ei= <= <=Od5*ADNOT Ignoring new targets: 23.53 m.bZrjRJB~~|B}|||| !6@ %{B%,I))-΀I <)<";iieJDAT read: TxSync time:14:20:03.0274 uchecking for new query: numPingsReceived=31, elapsed TxPingTime=0.252746!EEEEE) XC-pG=AUA FYAy BI6G @;~G A A N >y  checking for new query: numPingsReceived=31, elapsed TxPingTime=0.500019:J] ZBJ] IJJ] ARJY ZJ] 9bJ] 9J] 4JY ˑEy,6\iA9bc@b%'@YbTyblYLbH`-&?#'?›4@?Ti? bc@b;)bCz{BzII'I@32= Z=y+Q >٥ HF%ȏ; %>)5d5-?5d59- I-By1=@=@-[Ei-u:-:-d5AEQ*AE)E}DNOT Ignoring new targets: 23.53 m.byZrjRJB~~}||||E6@ {BF#I)ܼIn ̡<n<;iiA He<HaHu>HqHuIHu |BHqHqHqHub<Hu`EEEEE`0EqMchecking for new query: numPingsReceived=31, elapsed TxPingTime=0.7523106G 1;ԡ~GAAN> Ky,Y1iA9=-S@=f'@Y=Uy=FI;=H` @1?@% ?Fິ ⸪?`Kc?? =-S@=Ά;)=Ce|BeIMb@Mb@Mb@ )Yv/?rh|~jtx?yxI?;zA A)AIAy\AI I m?3= ;=y%Q %>٥!! -H-F-< 5>1=d55i?Ed595I I5ByEK?E:Eu@E@5[Ei5:5,:checking for new query: numPingsReceived=31, elapsed TxPingTime=1.004200Թ5]d5:B)A,E=DNOT Ignoring new targets: 23.53 m.b9Z9r9jARAJABA~i~m|B}i|i|q|q|u 6@ |BdI);II 0<th<1 JRy,mJiA9:@:ޯ'@Y: Vy:K9:Hn`߿٥`` bH`b3M< b>drd5f\V?vd59f IfByxz@~@f[Eif;f;f|d5%a)A!DNOT Ignoring new targets: 23.53 m.bZrjRJB~~}||||@Q7@ |B靝 I)0<IĐ <$<ݘSHu CHu 9IHu h|BHu =Hq Hu 'DHu .<Hu Eԉ A N >[Xy,QdiA 9N@N '@YNVMyN;NHE߿ڦ?k?yz×#?]_?`? N@NO;)NCZ$|BZI ^=^=IbIb<2jz< jH=yn۝;Q n>٥lp rHrFr; r>tzd5v@?zd59vD IvBy|~@~@v[Eivu ;v ;v d5@)A -E-checking for new query: numPingsReceived=31, elapsed TxPingTime=1.760775MDNOT Ignoring new targets: 23.53 m.bQZQrQjQRQJQBQ~Y~Y}a|a|a|a|e`f7@ |B靥I)<Iy s<j<gyԡchecking for new query: numPingsReceived=31, elapsed TxPingTime=2.012096 K P"K *K 2K :K b(hKK@# )lXXv  BJ ?J >^y,~iA96v@6 (@Y6/Hy6;6H'@Ï߿`?\? }ʠ`r?r?"? 6v@6EM;)6CB5|BBILMb@Mb@Mb@ )YS㥛?x&Mbp?yD?7 ;A )dAIEAyAI I2= ;=yT;Q >٥ HFk; >d5*?d59 I ByG?:@@[Ei;;#d59B(A0E%B*** querying acoustic contact ***J!R%5DNOT Ignoring new targets: 23.53 m.b1Z1r1j1R9J9B9~9~=|B}A|A|A|A|M3"8@  |BdI)0=IP  !  checking for new query: numPingsReceived=31, elapsed TxPingTime=2.516092:J= [BJ= QJJ= ARJ9 ZJ= :bJ= -.9J= 4J9 ey,xiA9B\@B.(@YBDyB"٥`` bHbFb\; f>hrd5j?rd59jń IjBytv@v@j[Eij:j:j'd5xz(Ax|%DNOT Ignoring new targets: 23.53 m.b!Z!r)j)R)J)B)~1~1}1|1|1||8@  |B `I ) ~= I%  158<9=|<=.H%CH%eIH%|BH% =H!H%&DH%<H%EEEEE5E16G<~GaAyAN:>=checking for new query: numPingsReceived=31, elapsed TxPingTime=2.768025Yԉ ]ly,siAI9e9@eL(@YehDyeBn ؍>׍<BDAT read: Rx Time:14:20:05.6219 TRx dataTimestamp_ set to:1749133206.871767checking for new query: numPingsReceived=31, elapsed TxPingTime=3.021572٥ HFe; >d5?d59~ IByG?:@@[Ei2;1;2+d5(A3EDNOT Ignoring new targets: 23.53 m.bZrjRJABA~A~M|B}Y|Y|Y|Y|e 9@y |B靕 I)Q=I A<I<@6ry,A-iA9>fZ@>m(@Y>2Dy><>H`f-߿ z?3?Z-x ??`? >fZ@>V;)>CJN|BJ*IIlIlv< vi=yzCQ z>٥xx ~H|~ؾ; ~? d5x? d59Mz IBy@@[EiT;U;2.d5-8B-(A-6EUDNOT Ignoring new targets: 23.53 m.bQZYrYjYRYJYBY~a~a}a|a|i|i|m`;Q9@ |B靥9I)o=IE .<Թf.<Ochecking for new query: numPingsReceived=31, elapsed TxPingTime=3.525253H >H CH ~IH |BH  =H H 'DH !<H EHȐCHȐCHȔCH =I = I;6A Eyy,N iA96f@6y(@Y6@)Gy6E<6H@x@߿?(?Jg@?`i?? 6f@6҅;)4^G|Bb%IIf"Ifq3nD nK=yrQ r>٥pp vHvFv: v>eDAT read: 14:20:05.6219 LVL= 26512, 28753, 21218, 31555, AGC= 69, IDX= 81, 0.39, 2.763,-1.950, 2.932, 2.259, PHS= 0.591, 2.120, 0.670, RAW= 327.4, -38.7, CAL= 328.0, -52.6, ROT= 182.0, 52.6 mYgot valid direction response: 14:20:05.6219 LVL= 26512, 28753, 21218, 31555, AGC= 69, IDX= 81, 0.39, 2.763,-1.950, 2.932, 2.259, PHS= 0.591, 2.120, 0.670, RAW= 327.4, -38.7, CAL= 328.0, -52.6, ROT= 182.0, 52.6 PDAT read: Bearing 182.0, 52.6 (Local) ~Local bearing/azimuth received: Bearing 182.0, 52.6 (Local) DAT read: Range 10 to 50 : 142.2 m (Round-trip 189.6 ms) speed 0.0 m/s ,DAT read: user:2065>  d5ظ? d59t I"By @@%BDAT read: Tx time:14:20:06.7282 %$Ping request sent.%K +*P"K 9*K 2K :K kGf1R$mk7B%=YS:). Uz09uN9Q' <y,iA96U}@6(@Y6[Ky69<6H o ߿`S?x?%e=m??l? 6U}@65;)6CR6|BRI V=Vp=mMb@Mb@Mb@iii i)iqYmsh|??S㥛MbymI?m$mmA mdA)iIm3AiymAI&I3Y -=yQ >٥ HF%>; %>)Ud5-?Ud59-n I-'ByUL?U:]@]@-[Ei-;-;-5d5ae(Ae8EC@Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalg@Entering Terminal tracking update period 2.000000 s sec at 142.199997 m (mode 1.000000 count ).1checking for new query: numPingsReceived=32, elapsed TxPingTime=0.466967Z9b999=@ʁ=qXlU` ю \=hl^%k99ҁ=ӮQ@&)D*YC<]=&(V@?[=1ѿgq_]z==Bj=~Ϝ?r=j = U=~Ϝ?=󼈶I  =T=ٞB=X@bQZQrQjQRQJQBY~Y~]|B}Y|a|a|a|?? }|Bԡ靥 I)<I| J<_.@ָUiiEyEyEyE}P5E6GUq<A A N > checking for new query: numPingsReceived=32, elapsed TxPingTime=0.718853 I9 I9 'y,WiA9>m@>(@Y> Py> <>H ޿jn?e?7r?y?`G? >m@>;;)>CF4|BJIIRIRF3^6 ^v=yb\Q b?٥`` bHfFf< f?hnd5jq?nd59jj Ij+ByprC@r@j[Eij@;j :j8d5v7Bv(Av;E@1q B*** querying acoustic contact ***J R bZrjRJB!~!~!}!|)|)|)|- ? |BnI)<I!o I<ʎ1@J8ii H<HH>HCHIH|BH =HHH<HEEEEE_0E6Gڻ~G} AAANC>checking for new query: numPingsReceived=32, elapsed TxPingTime=0.970911! Oy,@3iA9x@(@YPyř<H)޿ ? ? ax>?? ? x@骽;)C#|BIuchecking for new query: numPingsReceived=32, elapsed TxPingTime=1.222932Mb@Mb@Mb@ )Y&1?&1MbyP?нA @)n@IA:JZBJKJJ@RJZJ9bJK9JJ4JzJ0:jJ5:J :rJ :yAII[3p +=yȷQ >٥L?L? H F ;  >%d5?-d59d I0By5R?5:5!@5@[Eiv;'v;KTP"K*K2K:KlA{dfF*. zA.Rqg$(yE?EEEEԩ 1 5 AM checking for new query: numPingsReceived=32, elapsed TxPingTime=1.4790376G gjG q?bG q?~G GA A! 5 ZA] AAN} > *Y ZAy .BnNy,/MiA(9n@n")@Yn}Oyn/E‚Y]G@erCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminaleC@eAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalbqZqrqjyRyJyBy~y~}|||A|Eಘ? &|B靭`OI)@m;IFl \<<@7giiyE?EEE`0E]checking for new query: numPingsReceived=32, elapsed TxPingTime=1.7276476G:_~GiAyAN]> H>HHIH|BH =HH(DH<HE1 ,py,)giA9> I@>r\)@Y>Ky> =>H`Q޿?`a?@)o?)|? ?? > I@>4;)>CJ!|BJIIRIR2Zy ZR=yZ;fchecking for new query: numPingsReceived=32, elapsed TxPingTime=1.980098Q ~>٥| HFx< > d5 j?d59 +[ I 9By!%q!@%@ [Ei +; ),; kCd5-6B-0)A-AEbqZrjRJB~~}|||| ?[@ *|B5I1)5`9I=8s 99Eyuchecking for new query: numPingsReceived=32, elapsed TxPingTime=2.230908:JBJXJJTRJZJbJ5K9J5JzJjJJf:rJg:ԡ K P"K H9*K 2K :K c:w74!W\|k/NDU_GwV{-tY@:Wy,7miA96M@6)@Y6?Hy60/=6H.3PݿR1?w?@=b?j?V?@? 6M@6v;)6CN |BRI%Mb@Mb@Mb@!!! !)!Y%A`"?MbX9y&1y%Y?%ʡ%`e%A !)%X@I%A!y%AI=I=m?3MrW MA=yMl ;Q M>٥QQ UHQԙP< >d5P?d59U I>ByZ? y: #@ @[Ei9;M:4Gd55)AQbZrjRJB~~ |B}||||@ .|B D6$I))5<1I5 19=ʑ  checking for new query: numPingsReceived=32, elapsed TxPingTime=2.734836Ńy,"SiA9V&@V-:*@YVt~EyV=VH Slݿ Z?? X ?[? ?\? V&@V;)T^|B^IIf If2rT rQ=yrf:Q r>٥tt vHvFvG< z>| d5~.:? d59~IQ I~BBy  [$@ @~[Ei~H%;~%;~vJd5)ADE=B*** querying acoustic contact ***J9R9bAZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|] @ 2|B靝$'I)2IM f<*EiH5>H5CH5~IH5|BH5 =H1H5)DH5<H5EiQEEEE0E6G7~GAANA>BDAT read: Rx Time:14:20:09.3236 TRx dataTimestamp_ set to:1749133210.651298checking for new query: numPingsReceived=32, elapsed TxPingTime=2.987911Iy ty,2=iA9@D+@YUGyQ=Hs ܿ^??`=`if?@? ? ? @ ;)C{BI5checking for new query: numPingsReceived=32, elapsed TxPingTime=3.238992I:J\BJLJJ?RJZJ=:bJq9Jـ4JzJ:jJ:J:rJ:5Mb@Mb@Mb@111 1)1Y5Zd;?V-y&1y5Y?5m15A 5A@)5A@I11y5AIMIMU ](=ye0Q e>٥qq uHuFu< }>yd5} ?d59}K I}HBydZ?x:&@@}[Ei}:}:}Nd55B)AEEbaZarijiRiJqBq~~{B}|||| @ 6|B%t)I!)%l!I% !)-E&<->11i1i9yKM*P"KMͼ9*KI2KM:KMmcK-Lwz_OgX|m];eKf$}!=q- NdR'JeAJaEEEEo0Eԡ DAT read: Range 10 to 50 : 143.4 m (Round-trip 191.3 ms) speed 0.0 m/s  ,DAT read: user:2066>  BDAT read: Tx time:14:20:10.4282  $Ping request sent. ~G A A1 N= >y,iA9ZO@Z0c,@YZMyZk=ZH@")ۿk????`y5?? ZO@ZE@;)ZCb |BbII I2%i%= Ey=yM舻Q U?٥YY ]HYeu= e?d5?d59G ILBy1(@@[Ei::Qd5)AHE- addTargetRange:: Added new target pos. range: 143.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 b)Z1r1j1R1J1B1~9~9}9|a|a|ea@|e ? 9|B靵*I)AI. Թ<F::iiE?EEE5E]JDAT read: TxSync time:14:20:10.4274 uchecking for new query: numPingsReceived=33, elapsed TxPingTime=0.2521596G$2~GAAN`>HE>HAHEkIHE|BHE =HAHAHE<HEE :H`!|ٿ?F? b??@PZ?@.? :B@:A;)8N|BPTTjchecking for new query: numPingsReceived=33, elapsed TxPingTime=0.502712lIZ"IZq3M; MI=yUٻQ U>٥ HFs= >d53?d59C IPBy)@@[Ei)<*<5Ud54B )A KEbZrjRJB~~}||||l? m=|B靭')I)(TI\A <}4iiEEEE5E6G]Y~GAchecking for new query: numPingsReceived=33, elapsed TxPingTime=0.756916AAN>A y,ywiAK>d=P"K> 9*K<2K>:K> kB!%`mm \3%0:>KN?huKAC>D9UAJF?JF>=|B=IMb@Mb@Mb@ )Y7A`?/$y&1|yV?` A I@)X@IAyAI Ib3= @=yQ >٥ HF >d5ҷ? d59? IWBy V? }: q,@ @[Eij::Xd5E)AbZrjRJB~~"|B}||||? U@|BU&IY)] YI]\b YY]Ri checking for new query: numPingsReceived=33, elapsed TxPingTime=1.257333ԙ :J ZBJ ]JJ RJ ZJ 9bJ _9J J  @ @ @ @:y,PiA9nc#@n@w1@Ynvyn>a>nHտ@m? ?_H@^S?tԮ?? Y,? nc#@ny.;)nCv$|BvII &I 3= %X=y%Q %>٥)) -H)- > ->1=d55#?Ed595< I5_ByAE0@E@5[Ei5U;5:5#\d5IM)AUNEmB*** querying acoustic contact ***JiRi H<H4<b9Z9r9j9R9JABA~I~I}Iy|Q|y||? UC|BU$I]s<)]@YI]u{ YY]xHmCHmXIHm|BHm =HiHm*DHmN<Hm[EHCHCHH =I = I?V6iEE?EAEAEE^0EAԡchecking for new query: numPingsReceived=33, elapsed TxPingTime=1.5095296Gm ~GA AI Aa Nm > y,s.6iA9@%@ T3@Y糇y>H`8`ӿ@;t?`E?`}ad?O?$?w? @%@骝;)C E:?E{?Echecking for new query: numPingsReceived=33, elapsed TxPingTime=1.7629426|BI ==EMb@Mb@Mb@AAA A)AYE> ףp=?I +yEQ?E9EEjA E@)AIEAAyE\AI]I]3e= m+=yeHQ >٥ HFr= >d5w?d598 IkByQ?:1@@\Eix;w;n`d5%3B-(A-QEbZrjRJB~~|B}||||@ٍ? 5F|B=NI9)=9Ie aae BE1E1E1E54E91  checking for new query: numPingsReceived=33, elapsed TxPingTime=2.0132576G ~G A A N5 >y,7OiA 9j$%'@ju85@Yj"5yjݑ>jH@Qeѿ@f`?y?`sqs? b??? j$%'@j,;)jCzE|Bz$III 3:= {=y(Q ?٥ H%F%= %?)5d5-?5d59-6 I-tBy9=3@=@-\Ei-3;-y:-)cd5AE(AETEbyZyryjyRyJB~~}||||`>'@ I|B靽I)tIɍ R<iiAEaEiEiEu_0Eq]checking for new query: numPingsReceived=33, elapsed TxPingTime=2.265313IIp=:J]BJWJJ@RJZJ]:bJG9JJ4Jq6G~GAAN >H= ü>H= CH= eIH= |BH=  =H9 H= +DH= Z<H= qEԙ y,iiA<9>#)@>t07@Y> y> R>>Hο? a?#aK? E?IL?|h? >#)@>U4;)>CJk|BJ<IIRIR2Z= ZR=yZQ ^>jchecking for new query: numPingsReceived=33, elapsed TxPingTime=2.518911٥hl nHlr= r>tvd5v0l?zd59v4 IvByxz5@z@v \Eiv>:vl:vfd5'AWEb)Z)r)j)R)J)B)~1~1}1||||b@ L|BdI)<It $1<.ii!ԩ>E=<EEEE^0Echecking for new query: numPingsReceived=33, elapsed TxPingTime=2.771859 6G ȹ~G A A N- >/@y,>iAKP"K9*K2K:KSq?I:\<GqVQc'b #1+#Uwis \9B"+@B<69@YBP]yB_:>BH@nʿ? C?`@lk? ?@e9?M=? B"+@BLJ;)BCJ~|BJGIPPuMb@Mb@Mb@qqq q)qYux&1?S㥛MbyuA?u/ݼuu1A u;@)uMAIurAqyuAII?13"#= 1=y gQ >٥ HF= >d59P?d591 IByA?:A7@@\Ei;;jd5'AbAZArAjARAJABA~I~M}B}I|I|Q|Q|U@ P|B靥]I)5=II <checking for new query: numPingsReceived=33, elapsed TxPingTime=3.0229235}#1)9 ESCAiAYiGA %Y%Ay-B>EMu<ԁEEEE`0Eԩ  BDAT read: Rx Time:14:20:12.9708  TRx dataTimestamp_ set to:1749133214.431902 checking for new query: numPingsReceived=33, elapsed TxPingTime=3.274908I @AI @AJkJ4Jk4JkP1:J [BJ JJ CRJ ZJ :bJ J 4J 6G% ~G A A N >E\y,3ߞiA9Jz&-@PJ9;@YJLyJX>JH8 @XKƿ?@X? $`~?`aA?@.? %? Jz&-@JS;)JCj|BjhIGG?AII#3E > ER=yEQ E>٥II MHIUq= U>amd5e 8?md59e/ IeByquG9@u@e\Eie6:e:end52B&AYEB*** querying acoustic contact ***JRb)Z)r)j)R1JQBY~a~i}i|i|q||@,M @ %T|B-I-< <)-=IIU QQU9Hr7d@?`? *?F? ?l6? z 1@@;)C|B~I!Mb@Mb@Mb@ )YQ?Q롿Mbpy5?\-$A @)I AyAII3P= checking for new query: numPingsReceived=34, elapsed TxPingTime=4.029375٥ HF%= %>)5d5-B?5d59-&- I-By55?5:5=<@5@-\Ei-P;-;-sd5e1Be0&Ae\EbZrjRJB~~~B}||||`>B@ M[|BM4)II)M=IQIuQU qq} <iiEm?EiEiEm5Eiԁ6Gi  checking for new query: numPingsReceived=34, elapsed TxPingTime=4.281313Թ I R=I :J ZBJ VJJ >RJ ZJ 9bJ B9J t4J ~GY Aq A N >:y,{OiAE}BMII}I}3ZQ> p=yQ ?٥ H ?d5h?d59+ IBy@!\Eiˁ;j;vd50B%A_E!H=>H=CH=IH=Q}BH= =H9H=*DH=1<H=,EbYZYrYjYRYJYBa~a~a}a|i|i|i|m`@ ^|B%٨I))-B?>)I-< ))-]U<5>B99i9i9EM?EIEIEM_0EIQchecking for new query: numPingsReceived=34, elapsed TxPingTime=4.533391q6Gi ~GI AQ Ai Nu >ԡ Vy,iA9>5@>'C@Y>)y>(>>Hli?@q? ?@ v?? d? >5@> ·;)>CZA}BZII`I`jU= jY=ynQ n>٥pp rHrFr#,> v>tzd5v]綜?~d59v* IvBy|~<@@~@v%\Eiv;v;v zd5 ~$A bE=checking for new query: numPingsReceived=34, elapsed TxPingTime=4.788648bQZYrajaRaJiԙBq~~}|1|9|9|=IM@ c|B靍DI)3^>I  <bSiirE t>jE >EEEEEK)P"K+9*K2K:K}vee+R9L5.=]D3 7i-ved,fL:p&?o checking for new query: numPingsReceived=34, elapsed TxPingTime=5.0390336G ȹ~G A AA NM > ?z,iA9 \7@ -E@Y y Ǧ> Hə ?1ٮ?١? ?p?Fm? \7@ ;) C%z}B%I)) ))-AMb@Mb@Mb@ )YRQ?l{Gzy"?#^ A @)+@I+ AyAII2Uf= ]4=y]*Q ]>٥aa eHaeӎ= e>i}d5mN϶?d59m* ImˍBy"?:A@@m)\Eim*^;mP];m~d5#AeEbZrjRJB~~~B}|||| @ g|BKOIQ)R>I5 e<%!!i!i!-checking for new query: numPingsReceived=34, elapsed TxPingTime=5.289280!>E5D-<HM>HIHMIHM}BHM =HIHIHM#<HMEE ?E E E E I ԁ  checking for new query: numPingsReceived=34, elapsed TxPingTime=5.5414826Gm ~GIAYAiNu>y z,!0iA9JB9@JVG@YJyJ>JH@}?4?Xl?`Ԩ??b? R?p? JB9@J;)JCV}BV IIbIb3j > jA=ynJQ n>٥ll rHrFr= r>tzd5v?~d59v) Iv׍By|~ D@~@v.\Eiv:v`:vd5"A %B*** querying acoustic contact ***J!R!)b9ZArAjARIJIBI~Q~Q}Q|Q|Y|Y|] @ l|B靍sI)>IV b<Ῡii>Er;aEEEEE 5checking for new query: numPingsReceived=34, elapsed TxPingTime=5.796663:J[BJJJ?RJZJ:bJJـ4JzJ:jJ:JX:%rJX:%ԉ6G9 ~G A! A1 NE >Ա K :O"K 9*K 2K :K Cg)%t 8HO7v"rmbK/6 \7J J Zz,IiA~}B~Ichecking for new query: numPingsReceived=34, elapsed TxPingTime=6.046505ԙMb@Mb@Mb@ )Y"~?Mby&1|y?@`A @)@I AyAII2ڠ= 9=yQ >٥ HF >d5?d59( IByw?:B@@2\Ei8::d5/B "AhEbZrjRJB ~ ~ ~B}||||zg@ Eq|BM,\II)M>IIU QQUf<]gWտYYiYia>EጺzE= checking for new query: numPingsReceived=34, elapsed TxPingTime=6.298087Em ?Ei Ei Ei Ei ! 6G ȹZG RG Q~GAAN>z,UhiA9Rb=@R vK@YR@%yR*U>RHl??e??f?@l? Rb=@R;)Pb~BbCIInInV83vc> v8=yvQ z>٥xx zHzF~> ~> d5? d59( IBy  F@@6\Ei ;;vd5!AkEbQZQrQjQRQJQBQ~Y~Y}Y|Y|a|a|e@ w|B靕RI)>IU (<ɿiiDDDD-checking for new query: numPingsReceived=34, elapsed TxPingTime=6.549376EEEE]0E  checking for new query: numPingsReceived=34, elapsed TxPingTime=6.804039:J ^BJ ZJJ DRJ ZJ } :bJ S9J 4J  @ @ @ @6G ~GA I AQ Aq N} > z,iA9>Nj?@>M@Y>toy>K>>Hֹ?M?{$?=?4G?@r? >Nj?@>C;)>CJC~BJ^I}Mb@Mb@Mb@yyy y)yY}sh|??I +:vy} ?}94}T}A }@)}@Iyyy}AII2r= <=yH;Q >٥ H|= >d5y?d59( IBy{ ?:I@:\Ei:k:@d5j AbZrjRJB~~%B}!|!|!|!|-@<@ }|B׻I)A>I \<ii1Km?P"Km9*Ki2Km:Km~Bv)YJLOZ#~4? ' i2  <svJ}>J}>E?EEE`0Echecking for new query: numPingsReceived=34, elapsed TxPingTime=7.0550036G I ~GI AQ Ai Nu >$&z,_ҜiA6checking for new query: numPingsReceived=34, elapsed TxPingTime=7.3053639FA@FgO@YFٹyF->FH %? ?@`Sc@f? ӧ?@0?`fx? FA@Fc;)FCNj~BRvIITIT^= b[=yj;Q j>٥hh nHnFn = n>pvd5rh?vd59r( IrByxzFz@r=\Eirq:r\:rd5.BAnEbZrjRJB~~}||1|Y|]H}@Hü>HCHIH~BH =HH+DH<HE |B  I1)5(>1I5 115v<=99i9iAQEEEEEychecking for new query: numPingsReceived=34, elapsed TxPingTime=7.5574426G) jGE >bGE >ԩ ~Ga Aq A N >6 -z,GiA9>C@@>Q@Y>޽y>S#>>H`?"R?@W==?`ϻ?&? }? >C@>hI;)>CJ~BJIIVIV3bz= bJ=yb ٥dd fHdfԫ= j>hnd5jV?rd59j%) IjByprDr@j@\Eij0;j;j d5tv\Ax B*** querying acoustic contact ***J R b!Z!r!j!R!J)B1~1~1}9|9|9|A|E e@ m|Bu=:Iq)u{>qIߦ ۭ<ii ؅=ׅ%=checking for new query: numPingsReceived=34, elapsed TxPingTime=7.813321ԱEEEE0E:Jm\BJmSJJiRJiZJm=:bJmy69JiJizJm:jJm:Jm(C:rJm+C:6G~GAAN >K m)Q"K s9*K 2K :K \%ux]Lz=-k [ &Xtg/VsZ4+!hC5J J A +G  gY y A% checking for new query: numPingsReceived=34, elapsed TxPingTime=8.0613313z,YiA96&E@6wS@Y6׽y6>6H[?B?ſ I!? ?`?? 6&E@6Fo;)6CB~BBIlMb@Mb@Mb@ )Y~jt?{Gz{Gzy?#ף|A @)@IrAyAIIq= ;=y`;Q >٥ HF= >d5C?d59) IBy?:(B@D\Ei :I:ޗd5AqEbZrjRJB~!~%&B}!|!|)|)|-@XY @ E|BEmgIA)E?AIM' IIUHHIH/BH =HHH <HEH娔CH娔CH娓CH =I = I娉+66Gi ~Ga i Aq A N >7:z,giA9>`G@>V@Y>Utнy>TV>>H.M? ?'ɿ@`\???v? >`G@>;)>C^~B^IIf IfV2n= nZ=yr٥tt vHzF9z= >d5b2?d59* I By"@@G\Ei;3;Qd5UAbchecking for new query: numPingsReceived=34, elapsed TxPingTime=8.565362ZrjRJB~~}||||P%!@ -|B-;I))5 ?1I5> 115><=9AiAiAE?EEE5EF=F=iԙ6G)ZG1RG1~Gi  checking for new query: numPingsReceived=34, elapsed TxPingTime=8.819599A A N >:Jy BJ} VJJ} ARJy ZJy bJ} B9 J} 4Jy zJ} :jJ} :J} X:rJ} X:Az,>iA9>?I@>X@Y>]ʽy> >>H3?Ӝ?{Ϳ`Xͣ?'A?`\?v? >?I@>;)>CF~BFIiJ٥ H =  >d5P ?d59+ IBy?:;>%@K\Ei:;:d5--B-:A-tEbqZyryjyRyJyBy~~B}||||C!@ |B}l;I) ?I 8< &  i i1Ku[Q"Ku@9*Kq2Ku:Ku@3-6g8|fq0 lf"ta]1checking for new query: numPingsReceived=34, elapsed TxPingTime=9.069177EEEE5E 6G~G! A) AA NM >9 -Gz,;iA&checking for new query: numPingsReceived=34, elapsed TxPingTime=9.3214049rM@r[@Yr_ yrg>rH1{M{?j?pҿ)'?@?@?k? rM@r{;)p~~B~II I 0IAAIBA%Ԕ= %Y=y%|٥11 =H=F=(> E>I]d5M<?]d59M, IMByae?:e@MN\EiM_N;M];MMd5quAqbZrjRJB H<HpHCHIHlBH =HH,DH<HE |B;I)B?I4 ,<ҜyiiEEEE`5EAchecking for new query: numPingsReceived=34, elapsed TxPingTime=9.573363ԁ6G ~G A A N >ԙ RWMz,7iA9^O@^&]@Y^5ൽy^>^H0c6?ÝrԿ#@?a??~? ^O@^;)^Cf~BfIInIn 3vX< vN=yv٥xx zHzF~= ~>d5?d59. IBy!%H8%@Q\Ei8;;d5)-A-wEMB*** querying acoustic contact ***JIRIbQZYrYjYRYJaBa~a~a}a|i|i|i|m J#@ |B靥bG>~GAAN>K P"K 9*K 2K :K  xzFtCcY+u wF}LP( YU"=6kY checking for new query: numPingsReceived=34, elapsed TxPingTime=10.077235 DTz,qQiA9BQ@B:_@YB쯽yB>BHY?乒`,ֿbU???`,? BQ@B;)BCN~BNI)P PuMb@Mb@Mb@qqq q)qYuˡE?٥ HP= >d5:?d59/ Iy?:T5@U\Ei;;d5AzEb!Z!r!j!R!J!B!~)~-~B})|1|1|1|5@d$@ e|Be;Ia)ew?aIm{ iimOH-CH-'IH-BH- =H)H-+DH-?<H-IE6G ) ~G A A! N- >hZz,kiA9JS@Ja@YJyJ8׊>JH M?z`׿@NM?.??? JS@J%g;)JCV~BVII^I^ 3f̼ fZ=yf^٥pp rHrFv = v>xzd5zGݵ?~d59z1 Ixy|~n3~@zX\Eiz&;z";zɬd5  A {Eb1Z1r1j1R1J1B1~9~9}A|A|A|A|EZ#%@ |B靅Q u checking for new query: numPingsReceived=34, elapsed TxPingTime=10.833216ԩ 7Qaz,biA@E~BEIMb@Mb@Mb@ )YS?ˡEkty?' 0A K@)3@IAyz@I'I@3-= -6=y5Q =>٥AA MHMFM M>Yed5]!ɵ?ed59]3 I]Bye?e:e3e@]\\Ei]:],:]d5qumAu~EbZrjRJB~~Z~B}||||` &@ |B靝(d;I)?I{ B<h!ԩiibEZEK-`P"K)*K)2K-:K-=T; TOJ7T/ZU2Urlqz|CP}D)@xBDAT read: Response Not Received *response not received,DAT read: user:2068> BDAT read: Tx time:14:20:21.3783 $Ping request sent.T{gz,xaiAJDAT read: TxSync time:14:20:21.3775 checking for new query: numPingsReceived=34, elapsed TxPingTime=0.248419p:J-^BJ-PJJ-<RJ)ZJ-} :bJ-*9J- [4J)=@=@=@=@9AW@e@YLby>H .?@?䦿ۿ`@?#? ?R? AW@骅_;)C~BIiHH-IHBH =HHH<HEI%I%V83u9 }F=y}F٥ Hz> >d51?d5976 IBy/@`\Eig;h;Od5rAbZrjRJB~~}||||&@ |B%Xua mz,O=iA96Y@6Pg@Y6y6뒈>6HSE?f*^ݿ%???5? 6Y@6ˇ;)4F BJIIf,If3n= rh=yr߁;Q r>٥tt vHvFvo= v> d5? d59c8 I By  -@c\Ei:W:fd5,B8AE9=B*** querying acoustic contact ***J9R9bIZIrIjIRIJQBQ~Q~Q}Y|Y|Y|a|e'@ |B靝";KE YP"KE @9*KA 2KE :KE tE4&-M7&"k875_F2|v/JQ JQ  checking for new query: numPingsReceived=34, elapsed TxPingTime=1.006419tz,&iA9N=|[@Ni@YNm>yN鈋>NH@L?`f q߿*K?:#?-?? N=|[@N;)NCZ~BZImMb@Mb@Mb@iii i)iYmn?QQ롿ym?muԑm\mA m5@)m@ImMAiym@IIM3  ==y#s;Q >٥ HF= >d5A?d59; IByU?:)@g\Ei ; ;(d5tAb Z r jRJB~~~B}|!|)|1|5n(@ u|B}pH;Iy)} ?yI}D (<AIiIiQrEp>jE>E]?EaEaEaEa=checking for new query: numPingsReceived=34, elapsed TxPingTime=1.255954:J][BJ]QJJYRJYZJ]:bJ]-.9JYJYH>HCHHH =HH*DH<H E6G jG ?bG ?~Ga Ai A N > zz,iAI)@9>}w]@>͊k@Y>7y>ި>>Hne%U?@j0`@OF?b?o? ? >}w]@>̇;)>CJ~BJIIRIR?13V< Z]=y^=٥`` fHdf= f>hnd5jf?nd59j|> IjBypr'r@jj\Eij;j;jgd5tvbAvEbZrjRJB~!~!}!|!|!|)|-+)@ e|BehU checking for new query: numPingsReceived=34, elapsed TxPingTime=1.759495Ii Im a=ԁ Vz, iA%B%IMb@Mb@Mb@ )YX9v?MbX9vy?SA @)@IA@y@II3f; 8=yQ >٥ HF >d5q?d59B IBy4?:L' @o\Ei::Cd5[AQ) XC)Aa YyAbZrjRJB~~}B}||||h**@Ke P"Ke}9*Ka2Ke:KeRq[H+2nsTGo&N~W%%C}J  BK AlUJu?Ju?checking for new query: numPingsReceived=34, elapsed TxPingTime=2.011584 |BBm;I)?I <liiԁE?EEE}0EԱ6G ~G A A N >e checking for new query: numPingsReceived=34, elapsed TxPingTime=2.263815҇z, iA9VYa@Vmo@YV yVR>VH\@?Qj` ?{??@? VYa@V;;)VCfBfI:J%_BJ%SJJ%>RJ!ZJ% :bJ%y69J%t4J! HM<HM<HUļ>HUCHU'IHUBHU =HQHU+DHU<HUEHHHHI I$6IvIv2K= L=yoJ٥ HF6> >d5_?%d59E IBy!%g#-@s\Ei;;d55+B5A5EԡbZrjRJB~~}||||z*@ -|B5@) z,:iA9::H {ώ?؇ Ϩ?ǯ??`M? :٥XX ^H\^= ^>`fd5bP?fd59b1I IbByhj!j@bv\Eib:b2:bd5pvAt B*** querying acoustic contact ***J R bZrjRJB~!~!}!|!|!|)|-R+@ U|BU>QK :P"K 9*K 2K :K i@(1$H6zUQi8{=  | :-|* }`Q { BDAT read: Rx Time:14:20:23.8743  TRx dataTimestamp_ set to:1749133225.268837 checking for new query: numPingsReceived=34, elapsed TxPingTime=3.022122J J Ar۔z,c_TiA 9^(e@^T;s@Y^y^y]>^H@@@I?o^q/???li?׹? ^(e@^pۇ;)^Cv*BzIaI-@a- aM-@a- aQ-@a- aE-@a- I5I52E = EA=yMd;Q M>٥II UHUFU= U>Yed5]>?ed59]ZM I]Bm+:yim:mm@]{\Ei]:]>]d5quAuEbZrjRJB~~}|||| p,@ u|B}HiHm-IHmBHiHiHm,DHm<HmE6GȹjG?bG?~G A A1 N] >z,>lf@> u@Y>~y>x>>H@˯?oC`y ?ׯ?&??z? >lf@>N.;)>CFDBFIPIVIV3^= zT=y~ES;Q ~>٥ H=  > d5 .?d59 ]Q I B :y!%a:%%@ \Ei uI; !R? ;d515GA5EbYZYrYjaRaJaBa~a~i}i|i|i|i|u:-@DAT read: 14:20:23.8743 LVL= 20032, 18721, 19522, 25555, AGC= 64, IDX= 455, 0.41, 1.102, 0.767,-1.047, 0.058, PHS= 1.133, 0.757,-1.108, RAW= 39.0, -7.6, CAL= 41.6, -13.1, ROT= 108.4, 13.1 Ygot valid direction response: 14:20:23.8743 LVL= 20032, 18721, 19522, 25555, AGC= 64, IDX= 455, 0.41, 1.102, 0.767,-1.047, 0.058, PHS= 1.133, 0.757,-1.108, RAW= 39.0, -7.6, CAL= 41.6, -13.1, ROT= 108.4, 13.1 PDAT read: Bearing 108.4, 13.1 (Local) ~Local bearing/azimuth received: Bearing 108.4, 13.1 (Local) DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.7 ms) speed -0.1 m/s ,DAT read: user:2069> BDAT read: Tx time:14:20:24.9784 $Ping request sent. y)y}ʴW?U:T■Ý3[i}y}g>}*?} j> y)yE:publishing transmit ping timeEFpublishing direction and range infoyy}sӿ*2W ?+#ͿyYy y)yIyiyyyyy y =}B靵`?) z,,iA9Fh@Fv@YFyyFL>FH 3?@`8? -? *?`? Fh@Fވ;)FCRLBRI)T TxaI=aI= aM=aME aQEaQE aEEaEE EMb@Mb@Mb@AAA A)AYEK7A?~jth:vyE "?EDETEA E@)E@IE@AyE(@I]I]2e< m?=ym K;Q m>٥qy }H}F= >d5?d59U IBT:y"?:@\Ei:7:d5'AZb~RqiAmBmBɷ@ʁ+44-&2VO@*c.sӿ*2W ?+#Ϳ*? j>ҁy$gAM@ :A׎?f Rr? Frp6?z9  jBjh`Ȝ?r/j /B ꁥoB@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 68.699997 m, deltaT: 14.616205 s, deltaX: -74.699997 m, approachRate: -5.110765 m/s, rangeRepo size: 1bZrjRJB~~}B}|||,Q@|Q?  }BZ6m/[JE?EEEEI6G% ~G A! Ai y N >= checking for new query: numPingsReceived=35, elapsed TxPingTime=0.743527z,iA9Nj@NTx@YNxyNz8>NHyK?`Q`+??x ?? Nj@N<;)NCZtBZIIb!Ibi3j= jU=yj:Q n>٥lp rHrFv~= z>xGGAAH μ>H CH FIH BH H H H <H EYd5z ?d59zRZ Iz ByP@z\Eiz* Az,̻iA9>~l@>Rz@Y>;sy>>>H ?}¿NQ -r?v??? >~l@>;)>CFBF&IIN&IN3VlL= VM=yZE;Q Z>٥XX ZH\^6= b>hnd5j?nd59j^ Ij%Bylrr@j\EijD;j ;jd5tv0At B*** querying acoustic contact ***J R bZrjRJB~!~!}!|!|)|)|-@9? m}BmjE checking for new query: numPingsReceived=35, elapsed TxPingTime=1.247630Eu?EyEyEyEy:J}\BJ}SJJ}CRJyZJ}=:bJ}y69J}4JyzJ}:jJ}:J}(C:rJ}*C:6G~GqAyAN> checking for new query: numPingsReceived=35, elapsed TxPingTime=1.498999K% P"K% @9*K! 2K% :K% 1_1kR\C"'!=Ew)DP#1{x9 )z,iA9J9n@JM|@YJQoyJ>JH>z?ÿ@ k??? ? J9n@Jo;)JCZBZ:Iib=Ibe>Mb@Mb@Mb@ )YS?I +~jthy/?94DA @)@I@y@I'I@3= ;=yB&;Q >٥ HF}= >d5ﴜ?d59c I,By6?:@\EiM::d5imAmEbZrjRJB~~}B}||||@L? ]!}B]|HHlIHBHHHHݚ<HEq6Gm ȹ~GA AY Ai Nu >ԙ Xz,iA9p@2~@Yeyx>H?@?@=Ŀ@o@SW?? 1? ? p@m\;)C%B%\II5I5 3E> EQ=yET;Q M>٥II MH]checking for new query: numPingsReceived=35, elapsed TxPingTime=2.002887]F]u= ]>amd5eᴜ?ud59eh Ie1Byquu@e\Eie ;e ;ed5AbZrjRJB~~}||||>@ '}BYbG>~GAAN> checking for new query: numPingsReceived=35, elapsed TxPingTime=2.254836:J5 ^BJ5 QJJ5 BRJ1 ZJ5 } :bJ5 -.9J5 -4J1 = @= @= @E @ gBz,y iA9Zq@Z @YZn]yZ/͊>ZH?#ſ`4@in???@=? Zq@Zf;)XbBbiIMb@Mb@Mb@ )YK?{Gz?y^?#< @)@I@y@II(*3PI= B=yH;Q >٥ H= >d5Ӵ?d59m I:Byc?:U@\Ei::d5 zA b1Z1r1j1R1J1B1~9~=~B}9|9|A|A|E@ 0}B靅20 checking for new query: numPingsReceived=35, elapsed TxPingTime=2.759963ez,G9#iAHPHPHRIHR BHPHPHPHR<HRE=B=I)A AQUAI]I] 3mA= mQ=ymQ u>٥qq uHF >d5ƴ?d59ir ICBy@\Ei~:;.d5AEb!Z!r!j)R)J)B)~)~)}1|1|1|9|=E@ u7}BuHԡ z,Y=iA<9Fu@Fh@YFCRyF >FH+i@? ǿ`1c@?fܗ?~E?@`? ? Fu@Fʉ;)FCRBRIIbIb2jy= jU=yjS;Q j>٥ll nHrFr > r>tzd5v ?zd59vw IvKByx~~@v\Eiv;v;vnd5kA%B*** querying acoustic contact ***J!R!bAZArAjARAJABI~I~I}I|Q|Q|Q|U@ @ ?}B靅] ?Iay =wk<piichecking for new query: numPingsReceived=35, elapsed TxPingTime=3.263822EU?EQEQEUx5EQFYF]=Թ:J]BJVJJARJZJ]:bJB9J4J~G6GȹZGRG ! ]YYy]B~GA A! N= >  DAT read: 14:20:27.4750 LVL= 17648, 29345, 19730, 25203, AGC= 57, IDX= 432, 0.14, 1.568, 0.634,-0.806, 0.101, PHS= 1.556, 0.581,-0.910, RAW= 53.1, -11.4, CAL= 61.9, -19.3, ROT= 88.1, 19.3  Ygot valid direction response: 14:20:27.4750 LVL= 17648, 29345, 19730, 25203, AGC= 57, IDX= 432, 0.14, 1.568, 0.634,-0.806, 0.101, PHS= 1.556, 0.581,-0.910, RAW= 53.1, -11.4, CAL= 61.9, -19.3, ROT= 88.1, 19.3  PDAT read: Bearing 88.1, 19.3 (Local)  ~Local bearing/azimuth received: Bearing 88.1, 19.3 (Local)  DAT read: Range 10 to 50 : 69.3 m (Round-trip 92.5 ms) speed -0.1 m/s  ,DAT read: user:2070>  BDAT read: Tx time:14:20:28.5784  $Ping request sent. ݁ )݁ ݅  4/?EyF2lMɿi݅ n݅ K>݅ :?݅ iw> ށ )ށ  :publishing transmit ping time  Fpublishing direction and range infoځ yڅ NV}?!I]/? 3%'տځ Yځ ہ )ہ Iہ iہ ہ ہ ہ ہ ܁ )܁ I܁ i܁ ܁ ܁ ݁ )݁ ݅  4/?EyF2lMɿi݁ ݁ ݁ ݁ ށ )ށ 5 checking for new query: numPingsReceived=36, elapsed TxPingTime=0.008691K P"K 9*K 2K :K  gGLzbN`x6Tu`|{9PV S~,rx]{}P ahP5?xz,RViA96w@6(Ղ@Y60My6 >6HK?ǿn`:???? 6w@6;)6Cl]/B]IMb@Mb@Mb@ )YV-? rh?y&1|?yh?C<`;X A )@I`@y@ IIb2E= %=y%;Q %>٥ H]Z= >d5JDAT read: TxSync time:14:20:28.5776 checking for new query: numPingsReceived=36, elapsed TxPingTime=0.239767?d59} IVBy{?: @\EiZ<X<Hd5)BAEZb"SiABB@ʁ 9@f+:P@7 6NV}?!I]/? 3%'տ:?iw>ҁ$K@]wEs1{.A??BRï@DN3Zz('YBjYƜ?rP mBj  ꁵB2@HHHIHNBHHHH<HEHeƕCHeƕCHaHe =Ie = Ie/4 addTargetRange:: Added new target pos. range: 69.300003 m, deltaT: 18.144076 s, deltaX: -74.099991 m, approachRate: -4.083977 m/s, rangeRepo size: 2  Added new target pos. range: 68.809898 m, bearing: 322.259422 deg, lat: 36.906621 deg, lon: -122.116069 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 DNOT Ignoring new targets: 68.81 m.%-1} ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.827438 m, bearing: 335.177926 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 331.393028 deg, new cmd heading: 335.177926 deg. HeadingCmd: 5.849958 target range: 68.809898 and range: 69.30 m.b2@ZrjRJB~~J~B}|||@3SQ@|N@? L}B(z,&viA9V/qy@V@ƒ@YV1GyV.>VH`?ȿx@?@?3?`!? V/qy@VF;)VC^JB^Iib=Ib< ddIj&Ij3r > rW=yv{;Q v>٥x| ~H~F= > d5 ]?d59 5 I ]By@ \Ei : : @d5!%A)IUDNOT Ignoring new targets: 68.81 m.U;];m ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.853745 m, bearing: 335.298194 deg, approach rate: 0.086108 m/s, LOS rate: 0.393556 deg/s, cmd heading: 335.177928 deg, new cmd heading: 335.298194 deg. uHeadingCmd: 5.852057 target range: 68.809898 and range: 69.30 m.b}D@ZyryjRJB~~}|||| $? R}Bm;=I^)P?I겼 /bԩ jz,ďiA9>f+{@>[@Y>:Dy>~~>>H@^1`<7?ɿ =`???? >f+{@>/;)>CJUBJI-Mb@Mb@Mb@))) )))Y-V-?{Gz?{Gz?y- ?-#=-#<- A -j@)-@I))y-G@I=I=V83M[= ME=yU:Q U>٥QQ ]H]F]ԅ= e>checking for new query: numPingsReceived=36, elapsed TxPingTime=0.994832qd5u?d59u} IugBy ?%:%%@u\Eiuڶ \}B=I)S?I ,H]<s۾iX@iE?EEE$3E checking for new query: numPingsReceived=36, elapsed TxPingTime=1.2493226G jG ?bG >H= м>H9 H= IH= wBH9 H9 H9 H= <H= E~Gi Ay A N > 2z,ZiA9J3}@Jj@YJ1-?yJ%>JH sT`"?ɿ z"޿@@#?m?`?v? J3}@JZ;)JCVbBVII^I^3n= nR=ynO;Q r>٥pp rHpv;= v>xzd5z⑴?~d59z IzpBy|~~@z\Eizo;z;zAd5  :A 15DNOT Ignoring new targets: 68.81 m.=);=);U ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.879791 m, bearing: 335.576950 deg, approach rate: 0.026416 m/s, LOS rate: 0.381462 deg/s, cmd heading: 335.442092 deg, new cmd heading: 335.576950 deg. eHeadingCmd: 5.856923 target range: 68.809898 and range: 69.30 m.bek@ZarajaRaJaBi~i~i}i|q|q|q|u b? c}B靥5=I)jX?Ih LY<!?ھik@iE?EEEP4Echecking for new query: numPingsReceived=36, elapsed TxPingTime=1.499485!6G~GA A N >I z,|iA"checking for new query: numPingsReceived=36, elapsed TxPingTime=1.750609$9b_ @b؏@YbJ7ybgȇ>bH`߿,?ʿYݿ'!?f??`? b_ @b9;)bCnvBnI)p pIv Iv(2~= H=y;;Q >٥    H F =  >d5?%d59 IyBy!%%@\Ei5;.B;d5=*B=A=EeB*** querying acoustic contact ***JaRaqDNOT Ignoring new targets: 68.81 m.;; ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.883667 m, bearing: 335.719410 deg, approach rate: 0.009399 m/s, LOS rate: 0.345461 deg/s, cmd heading: 335.576947 deg, new cmd heading: 335.719410 deg. HeadingCmd: 5.859409 target range: 68.809898 and range: 69.30 m.bG@ZrjRJB~~}||||@*?Q m}B=I)_?IV !)-PT<-;ؾ11i5G@i9ychecking for new query: numPingsReceived=36, elapsed TxPingTime=2.006199>EKe .P"Ke }9*Ka 2Ke :Ke 'gaLPtZa&YA[1_H!0J%H.xAV_pok!-njԩ EE ?EA EA EE 0EA 6Gi~GIAaAN?checking for new query: numPingsReceived=36, elapsed TxPingTime=2.254831Gz,6iA0HDHDHF-IHFBHDHDHDHF.<HF6E:J%^BJ%\JJ%BRJ!ZJ%} :bJ%[9J%-4J!zJ%_:5jJ%d:5J%Ӂ:5rJ%ԁ:5ezBmI-Mb@Mb@Mb@))) )))Y-/$?X9v?~jt?y-1?-}=-D<- A ))-@I-I@)y-@IEIE3y< =yQ >٥ HF >e5?e591 IBy% ?:]@\Ei ;;e5~AamDNOT Ignoring new targets: 68.81 m.ԑX;X;  ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.877266 m, bearing: 335.908890 deg, approach rate: -0.011125 m/s, LOS rate: 0.329326 deg/s, cmd heading: 335.719398 deg, new cmd heading: 335.908890 deg. HeadingCmd: 5.862716 target range: 68.809898 and range: 69.30 m.b_@ZrjRJB~~~B}||||C$@ z}B=I)^?Io N<G׾!i%_@i)>EEEEE0Echecking for new query: numPingsReceived=36, elapsed TxPingTime=2.508036 6Ga ~G A A N >z,iA(9BZ@B2d@YByB6>BH yڿS?̿6@dؿ?ಳ??? BZ@By;)BC~BII I = ]=y%٥!! -H)5t> 5>9Ee5=z?Ee59=% I=ByIMU@=\Ei=wo;=p;=e5YeAaDNOT Ignoring new targets: 68.81 m.;;  ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.856201 m, bearing: 336.032789 deg, approach rate: -0.059001 m/s, LOS rate: 0.347112 deg/s, cmd heading: 335.908895 deg, new cmd heading: 336.032789 deg. HeadingCmd: 5.864879 target range: 68.809898 and range: 69.30 m.b@ZrjRJB~~}||||@@ }B(Q=I)0d?I ?J<O,־  i @iDDDDchecking for new query: numPingsReceived=36, elapsed TxPingTime=2.758839ԁԱEM?EIEIEM1EI ] checking for new query: numPingsReceived=36, elapsed TxPingTime=3.0107056G1 ~G A K- &P"K- 9*K) 2K- :K- 4>$(KZRJP~IG8%bSu16Zvwjx*A9 NM >{,iA\~B~#IMb@Mb@Mb@ )YNbX9?Mb?{Gz?y?=#<X A S@)I3@y\@I5I5<2M= U9=yUQ ]>٥aa eHeFm m>q}e5ut?}e59u IuBy}?:7@u\Eiu:u=:ue5ADNOT Ignoring new targets: 68.81 m.d;d;U  ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.830452 m, bearing: 336.178280 deg, approach rate: -0.058284 m/s, LOS rate: 0.329413 deg/s, cmd heading: 336.032794 deg, new cmd heading: 336.178280 deg. HeadingCmd: 5.867418 target range: 68.809898 and range: 69.30 m.b@ZrjRJB~~~B}|||| @ }B6&=I)e?Iˍ -xE<5yԾ19i=@i9BDAT read: Rx Time:14:20:31.0755 TRx dataTimestamp_ set to:1749133232.578127checking for new query: numPingsReceived=36, elapsed TxPingTime=3.267027EEEE D5E H-Ѽ>H)H-LIH-BH- =H)H)H-8<H-CE:J[BJTJJARJZJ:bJ:9J4JzJ:jJ:JRJ:rJUJ:6GE ȹA ~Gy A A N >A {,2iA9>2@>s<@Y>Oy>>>HnֿX?οADտ??? ? >2@>t;)٥pp rHrFr&> v>tze5vp?ze59v IvBy|~~@v\Eiv ;v ;v e5  A 5checking for new query: numPingsReceived=36, elapsed TxPingTime=3.516781ADNOT Ignoring new targets: 68.81 m.;;  ProNav pure pursuit: ac range: 68.809898 m, nav range: 90.799713 m, bearing: 336.293708 deg, approach rate: -0.082232 m/s, LOS rate: 0.308899 deg/s, cmd heading: 336.178277 deg, new cmd heading: 336.293708 deg. HeadingCmd: 5.869432 target range: 68.809898 and range: 69.30 m.bdһ@ZrjRJB~)~1}1|1|1|1|= @ }B靅s@=I)Je?I( 7A<cӾidһ@iiEaEaEaEe_0Eaԑ DAT read: 14:20:31.0755 LVL= 13104, 27793, 27826, 32755, AGC= 61, IDX= 437, 0.10, 2.680, 1.991, 0.773, 1.653, PHS= 1.115, 0.385,-0.883, RAW= 51.2, -7.1, CAL= 56.4, -12.9, ROT= 93.6, 12.9  Ygot valid direction response: 14:20:31.0755 LVL= 13104, 27793, 27826, 32755, AGC= 61, IDX= 437, 0.10, 2.680, 1.991, 0.773, 1.653, PHS= 1.115, 0.385,-0.883, RAW= 51.2, -7.1, CAL= 56.4, -12.9, ROT= 93.6, 12.9  PDAT read: Bearing 93.6, 12.9 (Local) % ~Local bearing/azimuth received: Bearing 93.6, 12.9 (Local) 5 DAT read: Range 10 to 50 : 69.7 m (Round-trip 93.0 ms) speed 0.0 m/s = ,DAT read: user:2071> E BDAT read: Tx time:14:20:32.1784 M $Ping request sent.M J b d?)Id{?if?f> )>?Q]5tziQș =?f> ) :publishing transmit ping timeI  Fpublishing direction and range infoyQ ZVs|!?Nu̿Y )Ii  6G )Ii )>?Q]5tzi ~G9 Ai A ) checking for new query: numPingsReceived=37, elapsed TxPingTime=0.112834Nu >K{,NiAX9u@uk$@Yuyu>uH@ԿA? aο9`ӿ@w?V?4?? u@u&;)qB.IMb@Mb@Mb@ )YQ?ʡE?~jtx?y?=; )@I@y  JDAT read: TxSync time:14:20:32.1776 checking for new query: numPingsReceived=37, elapsed TxPingTime=0.237928I-I-b=< ==y=c;Q E>٥AA MHMFMQ_= M>Q]e5U^l?]e59U IUBya ?:\@U\EiUi;U;U}e5)BuAEZbEiAjBjBi@ʁn|aP@~ş.Q ZVs|!?Nu̿?f>ҁQE P@v2(6z`J2@v??"ѿ;?zHBj\ʜ?rd 'B\ʜ? mBBl @E addTargetRange:: Added new target pos. range: 69.699997 m, deltaT: 3.781031 s, deltaX: 0.399994 m, approachRate: 0.105790 m/s, rangeRepo size: 3 U Added new target pos. range: 69.207466 m, bearing: 344.513985 deg, lat: 36.906473 deg, lon: -122.116069 deg, deltaT: 3.781031 s, deltaX: 0.397568 m, approachRate: 0.105148 m/s, posRepo size: 2 Q]DNOT Ignoring new targets: 69.21 m.} ProNav: ac range: 69.207466 m, nav range: 75.853813 m, bearing: 331.467979 deg, approach rate: 0.000000 m/s, LOS rate: 0.308899 deg/s, cmd heading: 336.293707 deg, new cmd heading: 336.771963 deg. S<HeadingCmd: 5.877779 target range: 69.207466 and range: 69.70 m.b@ZrjRJBK6+P"KK9*K2K:Kn\p<_6#1{m!u(<|iDj*(~1~5~B}A|I|I|MlQ@|Uj? }B(j!=I)d?I <<]Ͼi@i bEZEE?EEE`5E9  checking for new query: numPingsReceived=37, elapsed TxPingTime=0.494837H Լ>H H _IH ÀBH  =H H -DH <H E6GE :J `BJ VJJ ?RJ ZJ :bJ B9J ـ4J zJ :jJ :J X:rJ X:~G A A1 N= >פ{,shiA)mBm2I)q qy}AII3M-r< M]=yUQ U>٥YY eHa >e5i?e59+ IBy@\Eiq::e5*BaAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 69.21 m.-;-; ProNav: ac range: 69.207466 m, nav range: 75.794220 m, bearing: 331.614040 deg, approach rate: -0.164081 m/s, LOS rate: 0.402472 deg/s, cmd heading: 336.771957 deg, new cmd heading: 337.210475 deg. <HeadingCmd: 5.885433 target range: 69.207466 and range: 69.70 m.bxU@ZrjRJ!B!~!~!})|)|)|)|-? }B靭[=I)Ed?Ijw #9<'˾ixU@iYE}?EyEyE}]0EyUchecking for new query: numPingsReceived=37, elapsed TxPingTime=0.744840ԉ6G ȹ~Gq A A N >Ա چ {,5iA9B*Ԇ@Bݍ@YBByB&Ί>BHѿ ?Ͽ@\ozп -??`{!?? B*Ԇ@Bh;)BCNBR-IIVIV?13b bh=yf ;Q f>٥hh jHjFn> n?pve5rf?ve59r IrBytv|ۿv@r\Eir:r:re5|~A|!-DNOT Ignoring new targets: 69.21 m.-;-;E ProNav: ac range: 69.207466 m, nav range: 75.729958 m, bearing: 331.747038 deg, approach rate: -0.187387 m/s, LOS rate: 0.388148 deg/s, cmd heading: 337.210483 deg, new cmd heading: 337.609809 deg. E0<UHeadingCmd: 5.892403 target range: 69.207466 and range: 69.70 m.bU@ZYrYjYRYJYBY~a~a}a|a|i|i|m@?ԙ }B靥(W=I)B`?Im {5<Ⱦi@checking for new query: numPingsReceived=37, elapsed TxPingTime=0.996729iIC=Ia=E ?E E E_0E)Q YG5AeA YAy-B6G~G A A) N5 >} checking for new query: numPingsReceived=37, elapsed TxPingTime=1.250111 K eDP"K 9*K 2K :K 1 G=(Uz#@|4lI&.vRz9 n)J >J >&{, iA~B~/IaI@a aM@a aQ@a aE@a I#I%x3; :=yQ >٥ H >e5c?e596 IɎB+:y:@\EiO/;>e5  tA%DNOT Ignoring new targets: 69.21 m.-;M;] ProNav: ac range: 69.207466 m, nav range: 75.649460 m, bearing: 331.915178 deg, approach rate: -0.172109 m/s, LOS rate: 0.359875 deg/s, cmd heading: 337.609803 deg, new cmd heading: 338.114745 deg. ]v<eHeadingCmd: 5.901216 target range: 69.207466 and range: 69.70 m.beּ@ZarijiRiJiB~~}||||? }Be*=I)]?I$` 0<þiּ@i)checking for new query: numPingsReceived=37, elapsed TxPingTime=1.502128H׼>HHfIHȀB1HHHH2<H?EHHHH =I = I.Z5E?EEEE:JBJ]JJFRJZJbJ_9J4JzJjJJh:rJi:Q6G ~G A A N% >y ,{,iAchecking for new query: numPingsReceived=37, elapsed TxPingTime=1.7527639B@BB@YBּyBɆ>BH˿f2?@bϿ`63/ʿ?њ?@!? ? B@B;)BCrBv,II~I~#3Il W=yXE٥! %H%F%> %>)5e5-ob?5e59- I-юB= :y9=:=ӿ=@-\Ei- ;-Q?-e5AEAAiuDNOT Ignoring new targets: 69.21 m.}";}"; ProNav: ac range: 69.207466 m, nav range: 75.569008 m, bearing: 332.057851 deg, approach rate: -0.229623 m/s, LOS rate: 0.407645 deg/s, cmd heading: 338.114745 deg, new cmd heading: 338.543212 deg. <HeadingCmd: 5.908694 target range: 69.207466 and range: 69.70 m.b@ZrjRJB~~}||||? }BЬT=I)TZ?IV w-<Ui@iIE?EEEs0Ey6Gchecking for new query: numPingsReceived=37, elapsed TxPingTime=2.005176jG ?bG*?ԩ~G A A) N= > Z3{,iA9N@N(@YNќyN>NH Sȿ b? aϿihsƿ3J???B? N@NX;)NCVBV-IaIEaIE aMEaME aQEaQE aEEaEE EMb@Mb@Mb@AAA A)AYEB`"?l?y&1|?yE?E=E`;E+ A E=@)E~@IE@AyE@I] I]̍2}u; }D=y};Q >٥ HF= >e5a?e59 IڎBT:y?:ѿ@\Ei::e5AquDNOT Ignoring new targets: 69.21 m.}_;}_;ԩ ProNav: ac range: 69.207466 m, nav range: 75.473663 m, bearing: 332.220094 deg, approach rate: -0.217949 m/s, LOS rate: 0.371342 deg/s, cmd heading: 338.543217 deg, new cmd heading: 339.030549 deg. ~<HeadingCmd: 5.917199 target range: 69.207466 and range: 69.70 m.bY@ZrjRJB~~~B}|||| :@5checking for new query: numPingsReceived=37, elapsed TxPingTime=2.256739 }B靕I1=I)W?I EJ )<biY@iE]?EYEYE]o0EaKeP"K9*K2K:K%V@ NuB ZD8vSi sOxQUr5m+IJAJ 6G ȹ~Gy A A N > checking for new query: numPingsReceived=37, elapsed TxPingTime=2.510448H ټ>H CH _IH ÀBH  =H H H /<H fH`ݪĿ?m п Iÿ@?$?u?? fg@fxU;)fCrBr*IIzIz 38E R=y>;Q >٥    H = >%e5k`?%e59 IBy!%Ϳ%@\Ei:\:!#e515A5EamDNOT Ignoring new targets: 69.21 m.u;u; ProNav: ac range: 69.207466 m, nav range: 75.379395 m, bearing: 332.369952 deg, approach rate: -0.254564 m/s, LOS rate: 0.405182 deg/s, cmd heading: 339.030537 deg, new cmd heading: 339.480661 deg.  <HeadingCmd: 5.925056 target range: 69.207466 and range: 69.70 m.b@ZrjRJB~~}|||| @ }BdK=I)T?I@ 4&<\i@iE?EEE2EFF==checking for new query: numPingsReceived=37, elapsed TxPingTime=2.76065996Gm~GAAIAiN>a @{,|iA 9Fy@F(@YFyF>FH@  ?=п 1 Q?F??? Fy@Fʼn;)FCVBV+IIbIbm?3jt; jN=yj=;Q j>٥ll nHnFre= r>tve5v=`?ze59v] IvByxzHʿz@v\Eiv:v`:v&e5A%B*** querying acoustic contact ***J!R!9EDNOT Ignoring new targets: 69.21 m.E|;E|;U ProNav: ac range: 69.207466 m, nav range: 75.278297 m, bearing: 332.520808 deg, approach rate: -0.254505 m/s, LOS rate: 0.380279 deg/s, cmd heading: 339.480674 deg, new cmd heading: 339.933841 deg. U}<]HeadingCmd: 5.932965 target range: 69.207466 and range: 69.70 m.b]ڽ@ZYrajaRaJaBa~i~i}i|i|i|q|u`,@BDAT read: Rx Time:14:20:34.6752 TRx dataTimestamp_ set to:1749133236.107357checking for new query: numPingsReceived=37, elapsed TxPingTime=3.013771 }Bw>=I)R?Ik5 \"<P:J[BJ^JJBRJZJ:bJd9J-4J@@@@iڽ@iqEQEYEYE]J4EYԩ6GȹY ] A checking for new query: numPingsReceived=37, elapsed TxPingTime=3.267496~G A A N > K b P"K K9*K 2K :K wjI5Q!jj}J 1Q.25*NWj-YWR{G{,^iAP9=c@=m@Y=;/y=>=H亿 ?@:Mпd@Ը?`?@٥ HFz= >e5W_?e59 IBy?:ο@\Ei] ;;*e5A)5DNOT Ignoring new targets: 69.21 m.E=;E=; ProNav: ac range: 69.207466 m, nav range: 75.162392 m, bearing: 332.708910 deg, approach rate: -0.247685 m/s, LOS rate: 0.402583 deg/s, cmd heading: 339.933843 deg, new cmd heading: 340.498999 deg. %< HeadingCmd: 5.942829 target range: 69.207466 and range: 69.70 m.b +@Z r jRJB~!~%p~B})|)|)|)|- @HHHYIHBHHHH3<HCEDAT read: 14:20:34.6752 LVL= 15472, 24769, 18002, 23331, AGC= 65, IDX= 434,-0.06, 1.424, 0.404,-0.702,-0.004, PHS= 1.516, 0.454,-0.702, RAW= 58.6, -13.1, CAL= 69.5, -21.4, ROT= 80.5, 21.4 5Ygot valid direction response: 14:20:34.6752 LVL= 15472, 24769, 18002, 23331, AGC= 65, IDX= 434,-0.06, 1.424, 0.404,-0.702,-0.004, PHS= 1.516, 0.454,-0.702, RAW= 58.6, -13.1, CAL= 69.5, -21.4, ROT= 80.5, 21.4 EPDAT read: Bearing 80.5, 21.4 (Local) M~Local bearing/azimuth received: Bearing 80.5, 21.4 (Local) DAT read: Range 10 to 50 : 69.5 m (Round-trip 92.7 ms) speed 0.2 m/s ,DAT read: user:2072> -}B-=I1)5M?1I57'=BDAT read: Tx time:14:20:35.7784 =$Ping request sent.E8^.$Z׿BY p<)`IRF yy}j<=Ci#[Ai+@J ?r>F3 ?) jIC?it;ֳ?t;> )$"X? l\M`FuͿi1,{j>ֳ?t;> ) :publishing transmit ping time9 Fpublishing direction and range infoy3h? Ob?>8^.$Z׿Y )Ii )Ii )$"X? l\M`FuͿii )checking for new query: numPingsReceived=38, elapsed TxPingTime=0.043728E?EEEo0E! } JDAT read: TxSync time:14:20:35.7776 } checking for new query: numPingsReceived=38, elapsed TxPingTime=0.2045386G I ~G A A N >M{,u:iA9Z M@ZV@YZyZ>ZH`G? oп걿@ ?a??`? Z M@Z܉;)ZCB#II IV2G* F=y~;Q >٥ H= >e5_?e59 IBynʿ@\Ei;%;K.e5AZibmV'iAmBmBm@ʁmB[5%@I_vO@[.9m3h? Ob?>8^.$Z׿mֳ?mt;>ҁmzP@Y\/|mh?@Z{Ϳr8 ļzmR~mhBjm8Tʜ?rmB m bBm8Tʜ?m/j  imBm1@ԙ addTargetRange:: Added new target pos. range: 69.500000 m, deltaT: 3.535107 s, deltaX: -0.199997 m, approachRate: -0.056575 m/s, rangeRepo size: 4  Added new target pos. range: 69.009811 m, bearing: 346.596869 deg, lat: 36.906472 deg, lon: -122.116017 deg, deltaT: 3.535107 s, deltaX: -0.197655 m, approachRate: -0.055912 m/s, posRepo size: 3 DNOT Ignoring new targets: 69.01 m. ProNav: ac range: 69.009811 m, nav range: 72.990906 m, bearing: 336.047525 deg, approach rate: 0.000000 m/s, LOS rate: 0.402583 deg/s, cmd heading: 340.499000 deg, new cmd heading: 341.023361 deg.  HeadingCmd: 5.951981 target range: 69.009811 and range: 69.50 m.b v@Z r jRJB1~9~9}9|9|A|E`Q@|E ? }B靵?=I)>J?I <iv@iEM?EIEQEU2EQMchecking for new query: numPingsReceived=38, elapsed TxPingTime=0.456061J4J4J#e0:J-_BJ-iJJ-=RJ)ZJ- :bJ-ڈ9J-g4J)6G1 ~G! AI Aq N >! T{,TiA9>6(@>1@Y>y>?P>>H՜@?&п8`˜?@H? a?? >6(@>eg;)>CJBJIiN4=IN4< TV=Mb@Mb@Mb@ )Yd;O?Zd;O?~jthyj<= &@)I@y@I Ib3ͼ I=y>:Q >checking for new query: numPingsReceived=38, elapsed TxPingTime=0.707989٥ HFb= >e5_?e59" IBy4?:ſ@\EiU;#;1e5A!-DNOT Ignoring new targets: 69.01 m.-;-;= ProNav: ac range: 69.009811 m, nav range: 72.888832 m, bearing: 336.215997 deg, approach rate: -0.263453 m/s, LOS rate: 0.435436 deg/s, cmd heading: 341.023368 deg, new cmd heading: 341.529478 deg. Ej<EHeadingCmd: 5.960814 target range: 69.009811 and range: 69.50 m.bE@ZIrIjIRIJIBI~Q~UW~B}Q|Y|Y|Y|eN? ]~Bu9=Iq)ufE?qI}5 yy}< i@iKKP"K9*K2K:K Ha[0@6(cHH5=!9H%  \EZI/E%?E!E!E%p5E)AH= ؼ>H9 H= LIH= BH=  =H9 H9 H= <H= Em checking for new query: numPingsReceived=38, elapsed TxPingTime=0.9597936Gq y ~GQ Aq A N >Z{,miA 9B @Bb@YB_ryB]>BH#ϖ?@%п 1?K?`?|? B @B4;)BCJBJIIRIRV83ZL Z\=yZ? ;Q ^>٥dd fHfFj= j>lre5n`?re59n InBypvv@n\Ein:n:n5e5z+Bz!AzEDNOT Ignoring new targets: 69.01 m.;; ProNav: ac range: 69.009811 m, nav range: 72.790741 m, bearing: 336.368213 deg, approach rate: -0.254236 m/s, LOS rate: 0.395049 deg/s, cmd heading: 341.529485 deg, new cmd heading: 341.986737 deg. <HeadingCmd: 5.968794 target range: 69.009811 and range: 69.50 m.b]@ZrjRJB~~}||||@? - ~B->=I))5A@?1I5 11=`<=AAiM]@iYqEEEE\0Echecking for new query: numPingsReceived=38, elapsed TxPingTime=1.212272ԙ6G~GAAN > a{,RՇiAchecking for new query: numPingsReceived=38, elapsed TxPingTime=1.4644039B@Bj@YBeyBĉ>BHht?`?οп ?b??Q?? B@BC;)@PVBVII^ I^b3fu; fI=yj:Q j>٥hh jHhnC= n>pve5rUb?ve59r IrBytzyz@r\Eir:rq:r8e5:JdBJTJJCRJZJ<:bJ:9J4J A=B*** querying acoustic contact ***J9R9IMDNOT Ignoring new targets: 69.01 m.U;U; ProNav: ac range: 69.009811 m, nav range: 72.678833 m, bearing: 336.532010 deg, approach rate: -0.283874 m/s, LOS rate: 0.416140 deg/s, cmd heading: 341.986725 deg, new cmd heading: 342.478861 deg. ˎ<HeadingCmd: 5.977384 target range: 69.009811 and range: 69.50 m.bF@ZrjRJB~~}||||`9? ~B靝1=I)>?Iҿ y<iF@iE]?EYEYEe_0Eachecking for new query: numPingsReceived=38, elapsed TxPingTime=1.7158756G~G A A N >! K ZP"K 9*K 2K :K {NLs*RAb8;P%3i_l J/*_Ux$u h{,iA|BI) ]Mb@Mb@Mb@YYY Y)YY]zG?Mb?٥ HF >e5#c?e592 IBy?:Ŀ@\Ei::HCH@IHBHHHH<HE%DNOT Ignoring new targets: 69.01 m.%;%; 5`?5p=5checking for new query: numPingsReceived=38, elapsed TxPingTime=1.968255E ProNav: ac range: 69.009811 m, nav range: 72.562317 m, bearing: 336.725701 deg, approach rate: -0.251045 m/s, LOS rate: 0.417994 deg/s, cmd heading: 342.478854 deg, new cmd heading: 343.060837 deg. En<MHeadingCmd: 5.987541 target range: 69.009811 and range: 69.50 m.bM@ZQrQjQRQJQBQ~Y~]~B}Y|Y|a|a|e.@)  ~Bv =I)69?Il $<^i@iE?EEE\0EQԁ  checking for new query: numPingsReceived=38, elapsed TxPingTime=2.2199236G ~G A A N% >/2n{,ߊiA9>ё@>Jۘ@Y>p&#y>k >>Hx?? Fп`?p~d??? >ё@>n;)>CFBFIIR IR<2V!< Zn=yZ*A b?dje5fd?je59f Idyhjj@f\Eif:f:f?e5tvAtYDNOT Ignoring new targets: 69.01 m.;; ProNav: ac range: 69.009811 m, nav range: 72.465004 m, bearing: 336.866606 deg, approach rate: -0.272377 m/s, LOS rate: 0.394920 deg/s, cmd heading: 343.060840 deg, new cmd heading: 343.484115 deg. <HeadingCmd: 5.994929 target range: 69.009811 and range: 69.50 m.buֿ@ZrjRJB~~} | | | |@@ ='~B=oL=IA)E9?AIEۻ AAE u{,eiA9>Լ@>|ƙ@Y>/y>^>>H˷?`j?-п@D|?Z@z?` ?? >Լ@>);)>CbzBbIeMb@Mb@Mb@aaa a)aYeOn?{Gz?I +ye?e#٥99 =H9E= E>Yee5]\g?ee59] I]Bye?e:ese@]\Ei]G:].:]Ce5quAqDNOT Ignoring new targets: 69.01 m.;; ProNav: ac range: 69.009811 m, nav range: 72.331062 m, bearing: 337.053346 deg, approach rate: -0.308647 m/s, LOS rate: 0.431108 deg/s, cmd heading: 343.484121 deg, new cmd heading: 344.045359 deg. <HeadingCmd: 6.004725 target range: 69.009811 and range: 69.50 m.b&@ZrjRJB~~ ~B}||||`;@ u/~Bu@&=Iq)u*1?qI}tǻ yy} <ci&@iK P"K ŷ9*K 2K :K 'C#xi7 cU N -]Su-"SI+#)EE?EEEEHּ>HH4IHBHHHH<HEHȖCHȖCHH =I = I4] BDAT read: Rx Time:14:20:38.2744 ] TRx dataTimestamp_ set to:1749133239.640377e checking for new query: numPingsReceived=38, elapsed TxPingTime=2.9779586G ~G A A N >9 E{{,,GiA9B,@BԮ@YBDлyB>BH`??`п}@T?Oz??? B,@Bφ;)@^{B^Iib>Ib< b=b=IfIfF3nD; rb=yr;Q r>٥tt vHvFv= v>x~e5zi?e59z5 IxyѶ@z\Eiz;z:zFe5  AEAMDNOT Ignoring new targets: 69.01 m.M;M;] ProNav: ac range: 69.009811 m, nav range: 72.220726 m, bearing: 337.198681 deg, approach rate: -0.306278 m/s, LOS rate: 0.404045 deg/s, cmd heading: 344.045371 deg, new cmd heading: 344.482033 deg. ]<eHeadingCmd: 6.012346 target range: 69.009811 and range: 69.50 m.be#e@ZirijiRiJiBi~q~q}q|q|y|y|}` @ 7~B靵29=I)/?Iз r<}i#e@iEiEiEiEmp0Eichecking for new query: numPingsReceived=38, elapsed TxPingTime=3.228030A6GQ~G)A9AQN]>iԙ  DAT read: 14:20:38.2744 LVL= 19408, 29729, 22402, 28147, AGC= 60, IDX= 424,-0.38, 0.457,-1.175,-1.401,-0.866, PHS= 1.411,-0.262,-0.538, RAW= 82.5, -6.8, CAL= 91.7, -15.0, ROT= 58.3, 15.0  Ygot valid direction response: 14:20:38.2744 LVL= 19408, 29729, 22402, 28147, AGC= 60, IDX= 424,-0.38, 0.457,-1.175,-1.401,-0.866, PHS= 1.411,-0.262,-0.538, RAW= 82.5, -6.8, CAL= 91.7, -15.0, ROT= 58.3, 15.0 }{,o iAIR=I=*PDAT read: Bearing 58.3, 15.0 (Local) .~Local bearing/azimuth received: Bearing 58.3, 15.0 (Local) :DAT read: Range 10 to 50 : 68.7 m (Round-trip 91.7 ms) speed 0.2 m/s :J^`BJ^VJJ^ARJ\ZJ^:bJ^B9J^4J\f,DAT read: user:2073> jBDAT read: Tx time:14:20:39.3785 j$Ping request sent.j? > )p)4?L)Z*Dyi'9=S>? > ):publishing transmit ping timehFpublishing direction and range infoyXV=?j9_ZL?V!}пY )Ii )Ii )p)4?L)Z*Dyi ) checking for new query: numPingsReceived=39, elapsed TxPingTime=0.039305uBuIII3H< =y Q >٥A MHMF] ]>e5m? e59 IBy@]Eiv<f<Ke5IAZb0 iAnBnB@ʁwrOA@9L@W*ŧ1XV=?j9_ZL?V!}пS>? >ҁ߸v]?O@C;;gߡSQ?ázٿLj{PzyBjɜ?r \yBɜ?  \yB`B @ addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.528940 s, deltaX: -0.800003 m, approachRate: -0.226698 m/s, rangeRepo size: 4  Added new target pos. range: 68.215088 m, bearing: 336.430972 deg, lat: 36.906435 deg, lon: -122.116013 deg, deltaT: 3.528940 s, deltaX: -0.794724 m, approachRate: -0.225202 m/s, posRepo size: 4 DNOT Ignoring new targets: 68.22 m.JDAT read: TxSync time:14:20:39.3777 %checking for new query: numPingsReceived=39, elapsed TxPingTime=0.206880= ProNav: ac range: 68.215088 m, nav range: 68.188179 m, bearing: 336.431141 deg, approach rate: 0.000000 m/s, LOS rate: 0.404045 deg/s, cmd heading: 344.482039 deg, new cmd heading: 345.212587 deg. 9=HeadingCmd: 6.025096 target range: 68.215088 and range: 68.70 m.bE@ZArAjARAJABA~I~I}|||,Q@| $? C~B` =I ) >0?Icp  %<7$!i%@i!)E E E E _0E K P"K K9*K 2K :K ei?/]V &J2V#lRnn!|jLJ ?J ?Y  H-<H-<H=׼>H9H=-IH=BH9H9H9H=-<H=9E6Gmԙchecking for new query: numPingsReceived=39, elapsed TxPingTime=0.457715~G!A1AINU?%{,`*iA9nC@nkM@Yn"Ժynχ>nHL?=? sпBW?PcZ?.?y? nC@nIx;)nCeBIaMb@Mb@Mb@ )YX9v?~jtx?Qy?;u )@Ih@yI I [3< $=y٥ HFW-> >e5-s?e597 IBy?:@ ]Ei;;Oe5  "A EEB*** querying acoustic contact ***JIRIy}DNOT Ignoring new targets: 68.22 m.<< ProNav: ac range: 68.215088 m, nav range: 68.015556 m, bearing: 336.630882 deg, approach rate: -0.402888 m/s, LOS rate: 0.467362 deg/s, cmd heading: 345.212596 deg, new cmd heading: 345.813315 deg. _<HeadingCmd: 6.035581 target range: 68.215088 and range: 68.70 m.b{#@ZrjRJB~~#~B}||||@? EK~BEG1=ԉII)0?I k<}i{#@i5checking for new query: numPingsReceived=39, elapsed TxPingTime=0.710370EaEaEaEaEaԹ6G ~G A A) N5 >}{,@FiAI()*@9~]!@~+@Y~Py~~>~H9?? Oп@'٥ H= >e5)x?e59k& IBy@ ]Ei:s:$Se52ADNOT Ignoring new targets: 68.22 m.;%;- ProNav: ac range: 68.215088 m, nav range: 67.868156 m, bearing: 336.793532 deg, approach rate: -0.380394 m/s, LOS rate: 0.420660 deg/s, cmd heading: 345.813325 deg, new cmd heading: 346.302321 deg. 5Y<=HeadingCmd: 6.044116 target range: 68.215088 and range: 68.70 m.b=ei@Z9r9j9R9J9BA~A~A}A|I|I|I|M ? R~B靕9=I)'.?IΉo \;t  i ei@iE?EEEE!1U checking for new query: numPingsReceived=39, elapsed TxPingTime=1.213327a 6G ~G A A N >3{,!aiAKXP"K9*K2K:Ko\. ~w7]2CyF{9_EG<PgH6JJ|A9b@b@Yb9yb\>bH1?`?0п c\??3 <`5?? b@b;)bCjBjIyMb@Mb@Mb@ )Y+?٥ HFrs= > e5}?e59, IBy~?:@]Eil;;Ve59=A9yDNOT Ignoring new targets: 68.22 m.;; ProNav: ac range: 68.215088 m, nav range: 67.709869 m, bearing: 336.960049 deg, approach rate: -0.387222 m/s, LOS rate: 0.408309 deg/s, cmd heading: 346.302312 deg, new cmd heading: 346.803020 deg. <HeadingCmd: 6.052855 target range: 68.215088 and range: 68.70 m.b@ZrjRJBH=ټ>H=CH9H9H= =H9H9H=<H=E~q~u~B}q|q|q|y|}`?checking for new query: numPingsReceived=39, elapsed TxPingTime=1.465570 [~BE-=I)/?!I%EG !!%;MkIIiU@iQԩ:JaBJ_JJYRJZJ:bJ=h9J-5JzJ;jJ;J:rJ:EEEE E F!F!6GE ȹ ~G! A1 AA NU > checking for new query: numPingsReceived=39, elapsed TxPingTime=1.717388X%{,U{iA9Jߘ@JH@YJ<6;yJT>JH?@1?п `P?Zsb2? I? Jߘ@JK;)JCRBV&II^I^F3f+A= f`=yfx;Q f>٥hh jHhn= n>pve5r?ve59r2 IrBytv_v@r]Eir::r%:rYe5U,B]A]EDNOT Ignoring new targets: 68.22 m.P;P; ProNav: ac range: 68.215088 m, nav range: 67.563972 m, bearing: 337.105859 deg, approach rate: -0.391609 m/s, LOS rate: 0.392217 deg/s, cmd heading: 346.803019 deg, new cmd heading: 347.241382 deg. <HeadingCmd: 6.060505 target range: 68.215088 and range: 68.70 m.b@ZrjRJB~~}||||? ma~BmDK=I)1?IJ1( ;>di@iE?EEEo0E!%checking for new query: numPingsReceived=39, elapsed TxPingTime=1.970841Q6G~G A A N >y v{,piA9=ę@=͠@Y=o;y=|>=H ?a?Ͽr@?`m`?? =ę@=V;)9YYie=Ie> ep=ep=9Y]Aechecking for new query: numPingsReceived=39, elapsed TxPingTime=2.222953Mb@Mb@Mb@ )YMb?y&1?~jtxy ?`e<ĻA )@I;@yII2yI@;Q >٥ HFe= >e5A?e59C: IBy ?:@]Ei;;<^e5DNOT Ignoring new targets: 68.22 m.;;  ProNav: ac range: 68.215088 m, nav range: 67.354858 m, bearing: 337.302467 deg, approach rate: -0.432168 m/s, LOS rate: 0.407584 deg/s, cmd heading: 347.241381 deg, new cmd heading: 347.833015 deg.  ܋<HeadingCmd: 6.070831 target range: 68.215088 and range: 68.70 m.b@D@ZrjRJB~~(~B}!|!|!|)|-E@ mi~Bm>-=Ii)u/?qIu qqu ;}RsYyyi}@D@iaEaEiEiEmn0EiKuNP"Ku9*Kq2Ku:Kue!4@r6 0b'U- <YRo4YJ D 0|}bԑH- ݼ>H) H- 4IH- BH-  =H) H) H- <H- E checking for new query: numPingsReceived=39, elapsed TxPingTime=2.4761766G :J BJ ZJJ DRJ ZJ bJ S9J 4J zJ jJ J Pu:rJ Ru: ~G A AQ N >5d{,uǯiA9V#@V̮@YV);yVh>VH Z?!?(]Ͽn*v?Tq಺?? V#@V=;)TrBv:II~ I~V2 n=   :{,ZiA9Fe@F@YFy;yF"O>FH@J?I?ο &?@@+s? ? Fe@FGD;)FCVBDAT read: Rx Time:14:20:41.8727 VTRx dataTimestamp_ set to:1749133243.167405Zchecking for new query: numPingsReceived=39, elapsed TxPingTime=2.978559NBZ<IIbIb3j; jQ=yj]:Q j>٥ll nHlrU= r>x~e5zm?e59zaE IzBy疿@z!]Eiz3;zw;zde5 7A-B*** querying acoustic contact ***J)R)9EDNOT Ignoring new targets: 68.22 m.E;E;U ProNav: ac range: 68.215088 m, nav range: 67.037659 m, bearing: 337.579734 deg, approach rate: -0.443960 m/s, LOS rate: 0.380645 deg/s, cmd heading: 348.218316 deg, new cmd heading: 348.666774 deg. U<]HeadingCmd: 6.085383 target range: 68.215088 and range: 68.70 m.b]v@ZarajaRaJaBi~q~q}y|||| j@ u~B靵%H=I1)=y5?9I="i 99=;EJAAiEv@iIE?EEE5E16G]checking for new query: numPingsReceived=39, elapsed TxPingTime=3.229961~GqAyANI g{,@iAK2+P"K2ŷ9*K02K2:K2q^D/.HYvU {ip{EFev4EbrA9Zg@Zq@YZi;yZ>ZH?? wο`d? s`=?? Zg@Z~/;)ZCfBfSI)h hhjAUMb@Mb@Mb@QQQ Q)QYUx&1?{Gz?y&1|?yUA ?Uף٥ HF~= > e5 ?e59 L I ByY ?:咿@ %]Ei _; 1; ihe59=A9H>HHFIHBH =HHH<HEQ-DNOT Ignoring new targets: 68.22 m.5.;=.;MDAT read: 14:20:41.8727 LVL= 18880, 32753, 28482, 32755, AGC= 62, IDX= 423,-0.04,-0.807,-2.422,-2.212,-1.714, PHS= 0.995,-0.661,-0.501, RAW= 95.0, 2.1, CAL= 103.9, -0.3, ROT= 46.1, 0.3 UYgot valid direction response: 14:20:41.8727 LVL= 18880, 32753, 28482, 32755, AGC= 62, IDX= 423,-0.04,-0.807,-2.422,-2.212,-1.714, PHS= 0.995,-0.661,-0.501, RAW= 95.0, 2.1, CAL= 103.9, -0.3, ROT= 46.1, 0.3 ]PDAT read: Bearing 46.1, 0.3 (Local) e~Local bearing/azimuth received: Bearing 46.1, 0.3 (Local) :J_BJ^JJBRJZJ :bJd9J-4JzJ):jJ.:J:rJ:DAT read: Range 10 to 50 : 67.5 m (Round-trip 90.1 ms) speed 0.4 m/s  ProNav: ac range: 68.215088 m, nav range: 66.837364 m, bearing: 337.741945 deg, approach rate: -0.417993 m/s, LOS rate: 0.339530 deg/s, cmd heading: 348.666786 deg, new cmd heading: 349.154865 deg. i<HeadingCmd: 6.093902 target range: 68.215088 and range: 68.70 m.b?@ZrjRJ,DAT read: user:2074>  BDAT read: Tx time:14:20:42.9785  $Ping request sent. ۽R~?۽L7)۽A ܽg;?)ܽQ =Iܽf?iܽܽM?ܽ; ݹ)ݹݽg?O<ۿ݁28?iݽ.߾ݽݽM?ݽ; ޹)޹u:publishing transmit ping time uFpublishing direction and range infoڹyڽ܆OE0?7q|?sNruڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽg?O<ۿ݁28?iݹݹݹݹ ޹)޹%checking for new query: numPingsReceived=40, elapsed TxPingTime=0.035298 m~~Buf4=yI)l6{,diA9RcK@R U@YR;yR0>RHjE?`0? +ο-zK?glr@ͫ?? RcK@R;)PhnTII5I5?13=E: EA=ya*Q >٥ HF= >e5?e59vR IByX@)]Ei3;@;6le5-BEZb iA B B@ʁ%aƴ {,IiAnchecking for new query: numPingsReceived=40, elapsed TxPingTime=0.7120349~$@~.@Y~$C;y~>~H? ?ο?޽ qhO?? ~$@~֊;)~CeBe[IMb@Mb@Mb@ )Yx&1?:v?~jt?yT=D< @)@I;@y@I-I- 3=M< =;=yEpQ E>٥QQ ]HY]h= ]>iue5mF?ue59mX ImByu ?u:u셿}@m.]Eim:m4:moe5pAEDNOT Ignoring new targets: 67.02 m.;; ProNav: ac range: 67.024490 m, nav range: 65.764694 m, bearing: 339.510832 deg, approach rate: -0.509557 m/s, LOS rate: 0.365008 deg/s, cmd heading: 349.578671 deg, new cmd heading: 350.023403 deg. z<HeadingCmd: 6.109061 target range: 67.024490 and range: 67.50 m.bm}@ZrjRJB~~~B}||||@mb? %~B-+\=I))-,=?)I-Ԇ: 115.;5M299i=m}@iAEEEE 5EK7XP"KK9*K2K:K  _cU `ib6&eNm -H}ܼ>HyH}fIH}ȀBH} =HyHyH}<H}EH)H)H)H- =I- = I-rz5checking for new query: numPingsReceived=40, elapsed TxPingTime=0.9647486G! :J fBJ ZJJ ARJ ZJ |":bJ S9J 4J zJ ;jJ ;J Pu:rJ Su:~G A A N >={,W3iA(9F~@F'@YFa:yF>FHYC?q? E!ο`u@.?jx_`?? F~@F;)FCNπBRoIIV#IV%x3b,= bg=yfDQ f>٥dd jHjFj= j>lre5n´?re59n] InBytvv@n1]Ein:n:nse5xzAx%DNOT Ignoring new targets: 67.02 m.%;%;5 ProNav: ac range: 67.024490 m, nav range: 65.591286 m, bearing: 339.629331 deg, approach rate: -0.494186 m/s, LOS rate: 0.338597 deg/s, cmd heading: 350.023399 deg, new cmd heading: 350.379832 deg. 5`h<MHeadingCmd: 6.115282 target range: 67.024490 and range: 67.50 m.bMc@ZIrIjIRIJIBI~Q~Q}Q|Q|y|y|@S? ~B靭o=I)C?In: A;+ic@iqchecking for new query: numPingsReceived=40, elapsed TxPingTime=1.215817E?EEE_0Eԙ6GȹjG?bG?~G A A! NM >  checking for new query: numPingsReceived=40, elapsed TxPingTime=1.467414;{,&MiA<9J՟@Jަ@YJ9yJi>JH?M? !Ϳ# ?Gs2Y?? J՟@J"6;)JCVBVII^"I^q3fޟ= fG=yj傻Q j>٥hh nHnFn= n>pve5rδ?ze59r6c IrBy|~Z~~@r5]Eira;rb;rve5 kA %B*** querying acoustic contact ***J!R!DNOT Ignoring new targets: 67.02 m.,;,; ProNav: ac range: 67.024490 m, nav range: 65.384354 m, bearing: 339.763908 deg, approach rate: -0.477528 m/s, LOS rate: 0.311539 deg/s, cmd heading: 350.379825 deg, new cmd heading: 350.784826 deg. U<HeadingCmd: 6.122350 target range: 67.024490 and range: 67.50 m.bK@ZrjRJ!B!~!~)}1|1|1|1|5 ? ~B靥YMa=I)J?I_; ;$iK@iԩE?EEEEchecking for new query: numPingsReceived=40, elapsed TxPingTime=1.7197636G~G A A N >K bP"K 9*K 2K :K |`iv d0 R5lQa4 ^vn24vPZyD^e,T_{,]PgiA9F͠@Fnק@YFz]9yF>FH@?.? qͿX?,@W+``?? F͠@FB;)FC^݀BbIlH߼>HHIHBH =HHH<HEMb@Mb@Mb@ )Y}?5^I?Mb?~jt?yM?=D= A @)7@I~@yp@IIT3L ;=y(Q >٥ H=checking for new query: numPingsReceived=40, elapsed TxPingTime=1.971459r= >e5ڴ?e59@h IBy?:)q@9]Eik:R:ze5.BAEI@AIAAamDNOT Ignoring new targets: 67.02 m.!;!; ProNav: ac range: 67.024490 m, nav range: 65.187706 m, bearing: 339.879423 deg, approach rate: -0.433667 m/s, LOS rate: 0.255515 deg/s, cmd heading: 350.784828 deg, new cmd heading: 351.132415 deg. [/<HeadingCmd: 6.128417 target range: 67.024490 and range: 67.50 m.b@ZrjRJB~~5}B}||||@  u~B}[=Iy)}vG?yI}C; yp;{i@iEE?EAEAEAEA9 checking for new query: numPingsReceived=40, elapsed TxPingTime=2.223467a 6G ~Gq A A N >tG{,+iA9>_ǡ@>Ѩ@Y>:y>Z>>H)?`?@̿w?+¿S^B?? >_ǡ@>;;)>CJBJIInIn2v= v[=yz;u:Q z>٥xx ~H~F~A= ~? e5㴜? e59k IByfi@<]Ei\:%:}e5 AYimDNOT Ignoring new targets: 67.02 m.uӌ;uӌ; ProNav: ac range: 67.024490 m, nav range: 65.037056 m, bearing: 339.962773 deg, approach rate: -0.444033 m/s, LOS rate: 0.246237 deg/s, cmd heading: 351.132403 deg, new cmd heading: 351.383029 deg. (<HeadingCmd: 6.132791 target range: 67.024490 and range: 67.50 m.b?@ZrjRJB~~}||||0@ ~Bd=I)'N?Ibe; ;i?@iEqEqEqEu`0EqԉMchecking for new query: numPingsReceived=40, elapsed TxPingTime=2.475535:J%_BJ%eJJ%@RJ!ZJ% :bJ%9J%J4J!-@-@5@5@6GQZGaRGaԱ~GAAN> 4s{, iAVchecking for new query: numPingsReceived=40, elapsed TxPingTime=2.7288829b{@b$ũ@Yb^1:yb;>bH`?ɑ?j̿8? '?ÿ>F(? ? b{@b߈;)bCjBjIMb@Mb@Mb@ )Y/$?MbX??y?=< A @)@Ih@y@I=I=3M< M6=yU9Q U>٥QQ ]H]F]ԇ= ]>ame5ex?me59eaq Ie'Byu?u:uUu@e@]Eiez%;e*$;ee5}/BAEDNOT Ignoring new targets: 67.02 m.˒;˒; ProNav: ac range: 67.024490 m, nav range: 64.791298 m, bearing: 340.077157 deg, approach rate: -0.549395 m/s, LOS rate: 0.256676 deg/s, cmd heading: 351.383016 deg, new cmd heading: 351.727465 deg. '0<HeadingCmd: 6.138803 target range: 67.024490 and range: 67.50 m.bq@ZrjRJB~ ~ B}||||[@ ~B3f=I)N?Iԋ; ))-;=99i=q@iaAKDP"KK9*K2K:K ,uw+U/SU.W7#L$EI9_3;VK8OR5E?EEE_0EH޼>HHIHBH =HHHӚ<HEeBDAT read: Rx Time:14:20:45.4706 mTRx dataTimestamp_ set to:1749133246.697939uchecking for new query: numPingsReceived=40, elapsed TxPingTime=2.983505qI- R=I- p=6G ȹ~G A9 AY N >ԙ {,iA9J֬@J@YJ\1[:yJr>JH?% ?|˿?@-Ŀ@+fK;?m? J֬@Jr;)JCVBVII^I^F3b ; ff=yf9Q f>٥hh jHhn*= n>pre5rI?ve59ru Ir0BytvMv@rD]Eir:r:re5x~A)5DNOT Ignoring new targets: 67.02 m.EO;EO;U ProNav: ac range: 67.024490 m, nav range: 64.594528 m, bearing: 340.162988 deg, approach rate: -0.556729 m/s, LOS rate: 0.243586 deg/s, cmd heading: 351.727476 deg, new cmd heading: 351.985752 deg. U+'<]HeadingCmd: 6.143310 target range: 67.024490 and range: 67.50 m.b]@ZYrajaRaJaBa~i~i}i|i|i|q|u# @ ~B靭3=I)"N?I*; :S;n;i@iqchecking for new query: numPingsReceived=40, elapsed TxPingTime=3.231877E?EEE{0Eԙ6G)~G A A) N= >] checking for new query: numPingsReceived=40, elapsed TxPingTime=3.483501 :JU cBJU [JJU BRJQ ZJU :bJU W9JU -4JQ {,iA9 @@Y?:yt>H l?-?`k ˿n@{?Ŀ 'Z`?I?  @;)CBII I V83< 5=y%:Q %>٥!! %H% F-L= ->1=e55?=e595z I5 BDAT read: Tx time:14:20:46.5785 $Ping request sent.IܥԖ@iܥB=ܥ ?ܥBҽ ݡ)ݡݥ ?_7ȿP2/%`?iݥǭHݥݥ ?ݥBҽ ޡ)ޡE:publishing transmit ping timeEFpublishing direction and range infoڡyڥ2?r![?zBP?ڡYڡ ۡ)ۡIۡiۡۡۡۡۡ ܡ)ܡIܡiܡܡܡ ݡ)ݡݥ ?_7ȿP2/%`?iݡݡݡݡ ޡ)ޡchecking for new query: numPingsReceived=41, elapsed TxPingTime=0.032167 6GE jGE ?bGE ?~G A A N% >1 KU 3bP"KU 9*KQ 2KU :KU /qOBh?d!Y}A]w.W~+B PS{,eiAH:ּ>H:CH:IH: BH: =H8H8H:<H:aE96Ϗ@6x@Y61;y6U">6H`'??`#ʿk?ſ E9b ?? 6Ϗ@6,;)4LNI =4=JDAT read: TxSync time:14:20:46.5777 checking for new query: numPingsReceived=41, elapsed TxPingTime=0.238662mMb@Mb@Mb@iii i)iYmX9v?Zd;O?y&1?ym?mj=m`e٥ H F(= > e5!?e59 IDBy?:@@M]Ei::le5AMAIZbiAނBނBɼ@ʁ SSLK@gQ@E@@Ϋ@2?r![?zBP? ?BҽҁtM@2xw7p .@ ^?|jj=I)K?I ;   G;6i@i)E?EEE_0EY  checking for new query: numPingsReceived=41, elapsed TxPingTime=0.4885466G ԁ ~G A A1 NE >4%|,iA9Z[r@Z|@YZY2;yZoa>ZH?u?+ɿI?ƿ ٥AA EHAEt= M>Iee5M0?me59M IMKByy9@MQ]EiM;MU;Me5AEDNOT Ignoring new targets: 65.43 m.~;~; ProNav: ac range: 65.434921 m, nav range: 63.874901 m, bearing: 340.440637 deg, approach rate: -0.616491 m/s, LOS rate: 0.222934 deg/s, cmd heading: 352.613734 deg, new cmd heading: 352.850780 deg. <HeadingCmd: 6.158408 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||? =~B==I9)=1I?9IE1; AAE0;MUIIiM@iQ checking for new query: numPingsReceived=41, elapsed TxPingTime=0.740591E?EEEg2EJ#J+ם4J+82:J]BJJJ@RJZJ]:bJJJ4J6GI~G) I AQ Ai Nu > checking for new query: numPingsReceived=41, elapsed TxPingTime=0.994298L|,wiA 9j%T@j]@YjWt7;yjl>jH~??ǿw R?`ƿf`??? j%T@j;)jCvBvI-Mb@Mb@Mb@))) )))Y-}?5^I?~jt?y&1|?y-M"?-=-`;-A A -@)-@I))y-@IEIEF2U U:=y]99Q ]>٥YY ]H] Fea= e>iue5mB?}e59mc ImQBy)$?: 1@mU]Eimh;mg;me50ADNOT Ignoring new targets: 65.43 m.e;e; ProNav: ac range: 65.434921 m, nav range: 63.610416 m, bearing: 340.527674 deg, approach rate: -0.607255 m/s, LOS rate: 0.200666 deg/s, cmd heading: 352.850769 deg, new cmd heading: 353.112962 deg.  <HeadingCmd: 6.162984 target range: 65.434921 and range: 65.90 m.b*7@ZrjRJB~~B}||||y? 5~B=.p=I9)=2C?9I=a; 99E;E>,IIiM*7@iIE?EEE3EFFKEP"KE9*KA2KE:KEvU.iM~+;x>?. DFn_?dPC0# HHp<HԼ>HHHH =HHHΚ<HE-checking for new query: numPingsReceived=41, elapsed TxPingTime=1.24631096G ZG RG ~G A A N- >a w |,}8iA9-'5@->@Y-V+;y-/U>9-H`|??@4oƿgz?@Yǿdu [?? -'5@-@W;)-CMBMIIeIe#3uR* uZ=y}|;Q }>٥yy }H} F > >e5+S?e59# IWBy  " @Y]Ei <"<ٖe5DAEAEDNOT Ignoring new targets: 65.43 m.M9;M9;e ProNav: ac range: 65.434921 m, nav range: 63.380074 m, bearing: 340.590526 deg, approach rate: -0.592641 m/s, LOS rate: 0.162298 deg/s, cmd heading: 353.112966 deg, new cmd heading: 353.302208 deg. m;}checking for new query: numPingsReceived=41, elapsed TxPingTime=1.496528}HeadingCmd: 6.166287 target range: 65.434921 and range: 65.90 m.b}9R@ZyryjyRJB~~}|||| % ?% D?- checking for new query: numPingsReceived=41, elapsed TxPingTime=1.748537 ~G AԹ AA:J aBJ UJJ ?RJ ZJ :bJ >9J ـ4J % Y% Ay% Bm^|,SRiA9z(@z2@Yze;yz.>zH s?`?ſ[ѩ? ȿ ~[?@? z(@zE;)zCۀB~II I̍2%{ %O=y-;Q ->٥)) 5H1EB= E>AMe5Ed?Ue59E IE\ByQUvU@E]]EiE7:E:EMe5aeAaB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.B5;ԙB5; ProNav: ac range: 65.434921 m, nav range: 63.135750 m, bearing: 340.650614 deg, approach rate: -0.641863 m/s, LOS rate: 0.158468 deg/s, cmd heading: 353.302217 deg, new cmd heading: 353.483179 deg. ;HeadingCmd: 6.169446 target range: 65.434921 and range: 65.90 m.bl@ZrjRJB~~}||||qQ? ~BHw=I ) 9? I  <   a;P轩il@iEEEE[0Echecking for new query: numPingsReceived=41, elapsed TxPingTime=2.0005726G~G) A9 Ai Nu > H ռ>H H IH BH  =H H H <H EHE˕CHE˕CHAHE =IA IE 5K eDP"K ŷ9*K 2K :K itmtz3=rW-(XKN;}6/J% AJ% A|,.liArchecking for new query: numPingsReceived=41, elapsed TxPingTime=2.2523179-@-f@Y--H`?/\? Ŀ p??TɿGt)?? -@-;)-C=ՀB=vI E=Ea=Mb@Mb@Mb@ )YMbX9?Mb?Mbpy!?@=A @)I$@y@II3 4=yS;Q >٥ H F= >e5x?e59v I]By="?:$@b]Ei;;Be51BAE DNOT Ignoring new targets: 65.43 m.H;H;% ProNav: ac range: 65.434921 m, nav range: 62.862095 m, bearing: 340.729379 deg, approach rate: -0.604960 m/s, LOS rate: 0.174881 deg/s, cmd heading: 353.483190 deg, new cmd heading: 353.720512 deg. % ;-HeadingCmd: 6.173588 target range: 65.434921 and range: 65.90 m.b-@Z)r1j1R1J9B9~I~Mm~B}Q|Y|Y|a|e @ ~B靕UXc=I)G4?I< ';tཀྵi@i1E?EEEc4EQchecking for new query: numPingsReceived=41, elapsed TxPingTime=2.5042986G jG ?bG >~G A A N >y t!|,iA9V#@V@YV'VH ?@?7ĿlU ?`ʿ ?? V#@VΊ;)VCb̀BbmIIjIjF2rE/ rl=yvg;Q v?٥|| ~H|:= ?  e5 C?e59 З I y@ e]Ei ; ; Me5!%A!IMDNOT Ignoring new targets: 65.43 m.U17;U17;e ProNav: ac range: 65.434921 m, nav range: 62.650089 m, bearing: 340.784920 deg, approach rate: -0.609283 m/s, LOS rate: 0.160160 deg/s, cmd heading: 353.720525 deg, new cmd heading: 353.887712 deg. e;mHeadingCmd: 6.176506 target range: 65.434921 and range: 65.90 m.bm@ZqrqjqRqJyBy~~}||||@ 5~B5tv=I9)=7/?9I=< 99=-n;EzڽAIiM@Iiichecking for new query: numPingsReceived=41, elapsed TxPingTime=2.756900E E E E _0Ey6GEȹԩ~G! A1 AA NM > BDAT read: Rx Time:14:20:49.0682  TRx dataTimestamp_ set to:1749133250.478764 checking for new query: numPingsReceived=41, elapsed TxPingTime=3.014210 '|,iA9@~@Yخ4H``D? X?qÿU?>˿ླྀ?? @骕>e;)CŀBcI=Mb@Mb@Mb@999 9)9Y=ˡE? rh?/$y='?=C === A =@)=@I=h@9y=@IUIU#3m  u4=yu):Q }>٥yy }H}F}= >e5盵?e59@ IYBy?(?:+@j]Eir;w;@e52BbAEԱDNOT Ignoring new targets: 65.43 m.16;16; ProNav: ac range: 65.434921 m, nav range: 62.363468 m, bearing: 340.856921 deg, approach rate: -0.631188 m/s, LOS rate: 0.159286 deg/s, cmd heading: 353.887701 deg, new cmd heading: 354.104694 deg. ; HeadingCmd: 6.180293 target range: 65.434921 and range: 65.90 m.b @Z r j RJB~~}||||`%Q @ ~BZ[=I))?I)< pL;%Kҽ!!iE@iIH5ؼ>H1H5IH5BH1H1H1H5Ԛ<H5EEEEE^0EK#P"K9*K2K:KwqXb[L6:jup^gy=7{Bq0<8iJ->J->checking for new query: numPingsReceived=41, elapsed TxPingTime=3.260490:J_BJJJRJZJ :bJJJzJ):jJ.:J|Q:rJ~Q: 6G ~G A A N >1 -|,¿iA=BEJIIU IUV2eܽ e]=ymQ m>٥ii uHuFu u>ye5}ì?e59}ߟ I}UBy@}n]Ei}:}.:}{e5ADNOT Ignoring new targets: 65.43 m.8;8; ProNav: ac range: 65.434921 m, nav range: 62.129349 m, bearing: 340.916244 deg, approach rate: -0.634528 m/s, LOS rate: 0.161388 deg/s, cmd heading: 354.104682 deg, new cmd heading: 354.283322 deg. ;HeadingCmd: 6.183411 target range: 65.434921 and range: 65.90 m.b@ZrjR]8DAT read: $Error in header e*Received a bad headerchecking for new query: numPingsReceived=41, elapsed TxPingTime=3.523905JB~~}|Q|Q|Q|U@Jz @ ~B(\=I)"?I 1<   ~w;5V̽11i5@i9E?EEE_0E9i 6G ZG RG  checking for new query: numPingsReceived=41, elapsed TxPingTime=3.766363~G A A N >4|,iA(9b@b@Yb;=bHR?? 2\?2/̿ļ@?? b@bb;)bCjBjPIII3i}Т< }-=yӛ:Q >٥ HFs= >e5õ?e59; IPBy @s]Ei<<e5AEquAchecking for new query: numPingsReceived=41, elapsed TxPingTime=4.020117B*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m. ; ;- ProNav: ac range: 65.434921 m, nav range: 61.818394 m, bearing: 340.978728 deg, approach rate: -0.576315 m/s, LOS rate: 0.116388 deg/s, cmd heading: 354.283333 deg, new cmd heading: 354.471727 deg. 5;eHeadingCmd: 6.186699 target range: 65.434921 and range: 65.90 m.bep@ZarajiRiJiBi~q~qԙ}||||wR@ ~B靍?K=I)?Iq<< E!m;Žip@iE ?E E E ]0E H= >H= CH= lIH= ̀BH=  =H9 H= *DH= <H= E& TFailed to parse incomplete device message. 5 checking for new query: numPingsReceived=41, elapsed TxPingTime=4.2716686G I AAI :JZBJiJJERJZJ9bJڈ9J4JzJ0:jJ5:Jg:rJh:~GAAN>f<|,ٲiA9^x@^!@Y^r}?^H?`?vso? ̿?`? ^x@^-;)^CjBjAIIr Irb3ze ~J=y~a|9Q ~>٥ H1= >e5ֵ?e59 IMBy!-5@w]EiΣ;!;"e5IU3BUCAUEy}DNOT Ignoring new targets: 65.43 m.0;0; ProNav: ac range: 65.434921 m, nav range: 61.565739 m, bearing: 341.022954 deg, approach rate: -0.742075 m/s, LOS rate: 0.130430 deg/s, cmd heading: 354.471737 deg, new cmd heading: 354.604960 deg. ;HeadingCmd: 6.189024 target range: 65.434921 and range: 65.90 m.b| @ZrjRJB~~}||||`@ ~Bpt=I).?I OB<  e;i| @iJJE?EEE_0Eychecking for new query: numPingsReceived=41, elapsed TxPingTime=4.5202696GԱ~GAAN > 6B|,]p iA96u@6g@Y6N?6H-L?-?` ±C?EͿ?? 6u@6/;)6CRBR7IIZIZ<2b. bO=yb`8Q f>٥dd fHfFjȍ= j>lre5n鵜?re59nΪ InIBypvv@n{]Eine ;n:ne5xA )5DNOT Ignoring new targets: 65.43 m.5/:5/:E ProNav: ac range: 65.434921 m, nav range: 61.309425 m, bearing: 341.061426 deg, approach rate: -0.653076 m/s, LOS rate: 0.098435 deg/s, cmd heading: 354.604953 deg, new cmd heading: 354.720851 deg. M;MHeadingCmd: 6.191047 target range: 65.434921 and range: 65.90 m.bU@ZQrQjQRQJQBQechecking for new query: numPingsReceived=41, elapsed TxPingTime=4.772624~i~i}i|i|i|q|u(@ ~B靭W=I)?I^I< B ];Թ/i@iE1E1E1E=o0E96GYjGm?bGm?~GQAAN>- checking for new query: numPingsReceived=41, elapsed TxPingTime=5.026906A 'I|,e&iAB3IaIm@am aMm@am aQm@am aEm@au IuIu3| >=yQ >٥ HF >e5G?e59d IEB+:y:@]Ei;>e5AE )5DNOT Ignoring new targets: 65.43 m.5:5:H]>H]CH]SIH]BH] =HYH])DH](<H]Eu ProNav: ac range: 65.434921 m, nav range: 61.024120 m, bearing: 341.104635 deg, approach rate: -0.650849 m/s, LOS rate: 0.099030 deg/s, cmd heading: 354.720848 deg, new cmd heading: 354.851079 deg. u;}HeadingCmd: 6.193320 target range: 65.434921 and range: 65.90 m.b}/@ZyryjyRyJyB~~}||||@ ~B靽UM=I)?I'Q< %T;X i/@iK#P"K9*K2K:K*o7w6(&#h<<}sDyhF{r{/-echecking for new query: numPingsReceived=41, elapsed TxPingTime=5.276497EEEEE9:Je\BJeXJJe>RJaZJe=:bJe5K9Jet4JazJe:jJe:Jef:rJef:a6G~G A A N >ԑ  checking for new query: numPingsReceived=41, elapsed TxPingTime=5.528639 P|,)&@iA9j';@jD@Yj;jH-? s]?`MHQ޿?%Ͽ |wM?`a? j';@jm;)jCB6III<2%Gv< %R=y%_%Q %>٥)) -H)5> 5>IUe5Mx?Ue59M. IMABU :yQUS:U޾]@M]EiM(;MS?Me5e4BeAeEDNOT Ignoring new targets: 65.43 m.:: ProNav: ac range: 65.434921 m, nav range: 60.774387 m, bearing: 341.129505 deg, approach rate: -0.654179 m/s, LOS rate: 0.065417 deg/s, cmd heading: 354.851086 deg, new cmd heading: 354.926005 deg. 3;HeadingCmd: 6.194627 target range: 65.434921 and range: 65.90 m.bc:@ZrjRJB1~9~9}A|A|I|I|Uŀ@q BU=I)!? I  jY<   I`K;U^YYi]c:@iYE%?E!E!E%p0E!ԡ}checking for new query: numPingsReceived=41, elapsed TxPingTime=5.7805536GI ~G! A1 AQ N] > 3V|,ZiA9>M@>$@Y>59,>>Hg?:?*@ܿ z?ୀϿ&G?)? >M@>C;)٥`d fHjFr= v>xe5zy&?e59z Iz=B9y+:о@z]Eizr;z֛?ze5Achecking for new query: numPingsReceived=41, elapsed TxPingTime=6.034960DNOT Ignoring new targets: 65.43 m.%vF:-vF: ProNav: ac range: 65.434921 m, nav range: 60.516609 m, bearing: 341.148660 deg, approach rate: -0.581292 m/s, LOS rate: 0.043377 deg/s, cmd heading: 354.925999 deg, new cmd heading: 354.983707 deg. (:HeadingCmd: 6.195634 target range: 65.434921 and range: 65.90 m.bB@ZrjRJB~~}| | || Y@ B靍lN=I) ?Ia< (B;MiB@izE!E?EEEEFFHm>HiHmLIHmBHm =HiHm(DHmB<Hm$EI  checking for new query: numPingsReceived=41, elapsed TxPingTime=6.284449K EO"K 9*K 2K :K m.e E!"##"-!E . _`RVa1CE& J >J >6G ZG RG :J [BJ ZJJ MRJ ZJ :bJ S9J 4J zJ :jJ :J Qu:rJ Tu:~G A A N% >^\|,"siA9j@j@Yj?jH?i?ɸ@<ۿj? <Ͽ@:? ? j@j];)jCvBvFIaIuaIu aMuaMu aQuaQ} aE}aE} }Mb@Mb@Mb@yyy y)yY}q= ףp?X9v~jty}+?}}ļ} A y)}@I}Q@yy}G@II<2b= ;=yk:Q >٥ Hy= >e5:Mc|,wڍiA) XC>G@HP jYlynA5checking for new query: numPingsReceived=41, elapsed TxPingTime=6.788392BCIII356 5B=y=Q =>٥99 =H=FE E>Iee5M\Q?ee59Mź IM,Byaam@M]EiM%H;M;;M.e5u5BuJAuEDNOT Ignoring new targets: 65.43 m._:_: ProNav: ac range: 65.434921 m, nav range: 59.950554 m, bearing: 341.227946 deg, approach rate: -0.687460 m/s, LOS rate: 0.097206 deg/s, cmd heading: 355.104376 deg, new cmd heading: 355.222687 deg. l;HeadingCmd: 6.199805 target range: 65.434921 and range: 65.90 m.bd@ZrjRJB~~}||||Jn@ Bzb=I)@?Ip< ;0;ԙ<êR<Gid@iEEEE5E6GuƁ~GAAN> checking for new query: numPingsReceived=41, elapsed TxPingTime=7.043253 Doi|,\iA9>@>a@Y>Kﰇ>>H'?`t?hdؿ@? Ͽvy@"? a? >@>;)>CbBfQIlMb@Mb@Mb@ )Y r?y&1Qy#?`eu+ A @)I;@yII2l= S=y:Q >٥ HF > >e5d?e59S I'By#?:e;GG?AH>HCHHH =HHHe<HSEHCHCHCH =I = I~6@]Ei9;;e5!-A)aeDNOT Ignoring new targets: 65.43 m.mK:mK:} ProNav: ac range: 65.434921 m, nav range: 59.702961 m, bearing: 341.245449 deg, approach rate: -0.627680 m/s, LOS rate: 0.044557 deg/s, cmd heading: 355.222675 deg, new cmd heading: 355.275403 deg. }:HeadingCmd: 6.200726 target range: 65.434921 and range: 65.90 m.bXl@ZrjRJB~~d~B}|||| @ UBUΠh=IQ)U ?YI]Jw< YY]Ke';e਽e< checking for new query: numPingsReceived=41, elapsed TxPingTime=7.544686Wp|,UmiA9:p@:@Y:Q:H`??@_@e}ֿM?4Ͽ<@$?? :p@:p;)8FBFOIIVIV<2^v ^]=y:Q >٥!! %H)5C= 5>9AEe5Ew?Me59E IE"ByIMM@E]EiE:E:Ee5QUA]~EDNOT Ignoring new targets: 65.43 m.:: ProNav: ac range: 65.434921 m, nav range: 59.458767 m, bearing: 341.256480 deg, approach rate: -0.650501 m/s, LOS rate: 0.029506 deg/s, cmd heading: 355.275404 deg, new cmd heading: 355.308633 deg. :HeadingCmd: 6.201305 target range: 65.434921 and range: 65.90 m.bq@ZrjRJB~~}||||`@ Bk=I)K?I~< {; < Bi q@i EEEE_0Ei6GS{~GAAN=> ]<]<]checking for new query: numPingsReceived=41, elapsed TxPingTime=7.796675ԑ:J]XBJ]aJJ]=RJYZJ]{9bJ]p9J]g4JYe@e@e@e@ 'v|,TiA96$j@6s@Y6oEY6H@-A?@'U?FmԿ`1?Ͽy(S? 6? 6$j@6;)4^€B^_IIf!Ifi3nZz= nH=yn2:Q n>٥pp rHrFv= v>te5vċ?e59v IvBy  | @v]Eivm;vn;v]e5)5A9aeDNOT Ignoring new targets: 65.43 m.mZ9mZ9ԑm ProNav: ac range: 65.434921 m, nav range: 59.206841 m, bearing: 341.261239 deg, approach rate: -0.628231 m/s, LOS rate: 0.011918 deg/s, cmd heading: 355.308626 deg, new cmd heading: 355.322964 deg. :checking for new query: numPingsReceived=41, elapsed TxPingTime=8.052180HeadingCmd: 6.201556 target range: 65.434921 and range: 65.90 m.b%s@ZrjRJIBQ~a~a}||||2 @ %BEO`=IA)E?AIM < IIMx&;Uw-U H>HCH_IHÀBH =HHH4<HE)e checking for new query: numPingsReceived=41, elapsed TxPingTime=8.300340K P"K *K 2K :K (q#}'v-V%B<~,r=PD:s7G<J ?J >9 IY I] @AA||,1#iA9RI@R0S@YRӫkRH߆?`X?`@,ӿq?@%п7u0?@W? RI@RS;)RCf΀BfmIhhmMb@Mb@Mb@iii i)iYmMbX9?:v?~jtxym!?mT٥ HF‚= >e5?e59 IBy!?:[@]Ei* ;v;e56B>A{EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.&& ProNav: ac range: 65.434921 m, nav range: 58.937168 m, bearing: 341.249407 deg, approach rate: -0.640395 m/s, LOS rate: -0.028228 deg/s, cmd heading: 355.322970 deg, new cmd heading: 355.287309 deg. HeadingCmd: 6.200933 target range: 65.434921 and range: 65.90 m.b n@ZrjRJB~~t~B}|||| @ B靥2Qz=I)?I< a ;s%g3(|,riA9J,@J+6@YJt JH@?? Fyѿ?Lп$??? J,@JA ;)JCVӀBVsII^ I^V2j< jW=ynV;Q n>٥pp rHprW= v>tze5v4?ze59v IvBy|~+~@v]Eiv;vt;vje5  A xE%checking for new query: numPingsReceived=41, elapsed TxPingTime=8.804631AMDNOT Ignoring new targets: 65.43 m.UMUMm ProNav: ac range: 65.434921 m, nav range: 58.697651 m, bearing: 341.232304 deg, approach rate: -0.627557 m/s, LOS rate: -0.044994 deg/s, cmd heading: 355.287316 deg, new cmd heading: 355.235798 deg. mmHeadingCmd: 6.200034 target range: 65.434921 and range: 65.90 m.buf@ZqrqjqRqJqBq~y~y}y||||@!@  B靵=I)!?Ic< ;IKD<#:JYBJPJJ>RJZJ9bJ*9Jt4Jif@iYyE?EEEE6GO~GAԡAN>>checking for new query: numPingsReceived=41, elapsed TxPingTime=9.0590091  {|,j(iA9:@:@Y:{:HX?`D?8Ͽz?@'п@בe?=? :@:f;):CFۀBF}I%Mb@Mb@Mb@!!! !)!Y%)\(?y&1?y%G!?%`<%%\A !)%@I%$@!y%@IEIE[3UA= UC=yU;Q ]>٥YY ]HeFez= e>iue5m ˶?ue59m Iiyup!? H<H=H>HCHrIHҀBH =HHH <HE:T@m]EimI  checking for new query: numPingsReceived=41, elapsed TxPingTime=9.564432i|,+BiA9:Ⱥ@:l@Y:+:H-?a?!ۣN̿"?G п *a0? ? :Ⱥ@:ˈ;)8RـBR|IIM IM̍2  D=y΀;Q >٥ HF%r= >e5ග?e594 IBy;@]Ei;o;e57BAuEDNOT Ignoring new targets: 65.43 m.(ں%(ں5 ProNav: ac range: 65.434921 m, nav range: 58.174793 m, bearing: 341.163980 deg, approach rate: -0.660928 m/s, LOS rate: -0.095363 deg/s, cmd heading: 355.142407 deg, new cmd heading: 355.029895 deg. 5䂻=HeadingCmd: 6.196441 target range: 65.434921 and range: 65.90 m.b=>I@Z9r9j9R9J9BA~A~A}A|I|I|I|U#@ -&B-v=I1)5t#?1I5< 115-:I<i>I@izEEYEYEaEaEaFm=Fma=q]checking for new query: numPingsReceived=41, elapsed TxPingTime=9.816955:J5kBJ5IJJ5QRJ1ZJ52:bJ5 9J54J16G 3ԩ ~G A A N >yϖ|,\iA9>@>@@Y>Pa)>>H`V?@S?ʹɿR?`Ͽ ˕?? >@>5׈;)>CJBJIIRIRT3Z<`= Z\=y^e;Q ^>٥\\ bH`b= b>dje5fG?je59f/ IfByhn8#n@f]Eifm:fA;fe5xzA~rE!-DNOT Ignoring new targets: 65.43 m.--= ProNav: ac range: 65.434921 m, nav range: 57.944111 m, bearing: 341.124974 deg, approach rate: -0.619498 m/s, LOS rate: -0.105168 deg/s, cmd heading: 355.029900 deg, new cmd heading: 354.912416 deg. EZEHeadingCmd: 6.194390 target range: 65.434921 and range: 65.90 m.bEr8@ZIrIjIRIJIBI~Q~Q}Q|Q|Q|Y|]$@Achecking for new query: numPingsReceived=41, elapsed TxPingTime=10.072559 (BԹ=I)'?I< :-Dڵ-%<5{i5r8@i1EEEEn0E6G}*K~GYAaAqN{>H>HHIHBH =HHH<HE m checking for new query: numPingsReceived=41, elapsed TxPingTime=10.320538K% JP"K% 9*K! 2K% :K% LaW;t]t1]|0T(7bTBb/*q= KI9 I9 |,QlviA96_<@6 F@Y66H@!x? ?1bǿ@|?&WϿ@Q?@? 6_<@6\;)6CRBRIpMb@Mb@Mb@ )YPn?Q?~jthy$?\=D @)@IyII2; ;=y;Q >٥ HFJ= >e5 ?e59 tIIByW$?:@]Ei ; ;e5AB*** querying acoustic contact ***JR DNOT Ignoring new targets: 65.43 m.NN ProNav: ac range: 65.434921 m, nav range: 57.669758 m, bearing: 341.068981 deg, approach rate: -0.632293 m/s, LOS rate: -0.129659 deg/s, cmd heading: 354.912421 deg, new cmd heading: 354.743644 deg. HeadingCmd: 6.191444 target range: 65.434921 and range: 65.90 m.bP @ZrjRJB~~~B}||||$@ +B靥=I)(?Iw< :⻽<r-iP @i E?EEE0Echecking for new query: numPingsReceived=41, elapsed TxPingTime=10.5724696G]gɽ9~GAAN>i \|,tFiA%BDAT read: Response Not Received %*response not received-,DAT read: user:2077> =BDAT read: Tx time:14:20:57.5287 =$Ping request sent.E٥99 =H=FE E>IUe5M@"?e59M IMBy@M]EiM&&z(|,0iA9No@Ncy@YNlHNH? ?]~w@G¿@>?`3ο 0?? No@Nty;)NCZBZIGG@AH >H H IH BH H H H S<H 2Ea}Mb@Mb@Mb@yyy y)yY}sh|??ˡE?~jtxy})?}'=}Ļ}EA y)}@I}@yy}\@I"Iq3 D=yS٥ Ho= >Yme5][9?me59] I] BymP*?m:mym@]]Ei]S*;]%);]e5y}A}lEDNOT Ignoring new targets: 65.43 m.RJRJ ProNav: ac range: 65.434921 m, nav range: 57.138996 m, bearing: 340.946266 deg, approach rate: -0.687317 m/s, LOS rate: -0.176882 deg/s, cmd heading: 354.579517 deg, new cmd heading: 354.373781 deg.  HeadingCmd: 6.184989 target range: 65.434921 and range: 65.90 m.b o@Z r j R JB~1~=~B}9|9|9|A|E`&@ /Bchecking for new query: numPingsReceived=41, elapsed TxPingTime=0.500298 w=I),&?IJ< :ɽx&<%Ҧi%o@i!ԉK 3P"K K9*K 2K :K 2VP[@zMw\abHR.7keZ8H .dq,EEEE3E6G䧛~GAԹAN>  checking for new query: numPingsReceived=41, elapsed TxPingTime=0.752280|,`>iA9:ڽ@:}@Y::Hશ??F?Y ? Ϳ@˵@g?H*? :ڽ@:;)8FBFIININF3V; V^=yVM;Q V>٥XX ZHZF^T= ^>`fe5bL?je59b Ib Bylnn@b]EibWg;bh;be5prAt DNOT Ignoring new targets: 65.43 m.KK- ProNav: ac range: 65.434921 m, nav range: 56.915455 m, bearing: 340.885332 deg, approach rate: -0.648735 m/s, LOS rate: -0.177529 deg/s, cmd heading: 354.373792 deg, new cmd heading: 354.190274 deg. -5HeadingCmd: 6.181787 target range: 65.434921 and range: 65.90 m.b52@Z1r1j1R1J1B9~~}|||| X'@ ]1B]L=Ia)ev&?aIe\< aim :m&Ͻu<,(;i2@iEm?EiEiEm4Ei 6GMIևGA ߿YAy'A~GA)A9NEQ>checking for new query: numPingsReceived=41, elapsed TxPingTime=1.0042901Jـ4Je4J*1:JBJYJJ@RJZJbJ[O9JJ4JY -|,iiA9BS-@B6@YB;=yB1d_>BH U?Ͽ?Fz?@ ?̿?_9? BS-@BR;)BCbBbIIj%Ij)3rx< rG=yv;Q v>٥tt vHtz< z>|e5~c?e59~p I~Bym @~]Ei~:~:~e5sAiEQDNOT Ignoring new targets: 65.43 m.gQgQ% ProNav: ac range: 65.434921 m, nav range: 56.652405 m, bearing: 340.810091 deg, approach rate: -0.637087 m/s, LOS rate: -0.183075 deg/s, cmd heading: 354.190278 deg, new cmd heading: 353.963508 deg. %HAeHeadingCmd: 6.177829 target range: 65.434921 and range: 65.90 m.beư@Zichecking for new query: numPingsReceived=41, elapsed TxPingTime=1.258601rijRJB~~}1|9|A|I|u_C(@ }3B}=I)q(?I#< es:׽{<]}K r&P"K 9*K 2K :K `< sdAM0bCt+a\{szCiwc %q z- Թ ~G A A N >W|,iA||Mb@Mb@Mb@ )Y|?5^?Zd;O?I +y-?j<=94A )@I@y@I"Iq3g :=yQ >٥   H F   >ye5}}?e59} I}By>.?:rO@}]Ei}U:}Z:}e5ԑ9ByAfEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.]]  ProNav: ac range: 65.434921 m, nav range: 56.356476 m, bearing: 340.722161 deg, approach rate: -0.646870 m/s, LOS rate: -0.193215 deg/s, cmd heading: 353.963516 deg, new cmd heading: 353.698343 deg. HeadingCmd: 6.173201 target range: 65.434921 and range: 65.90 m.b܊@ZrjRJB~!~%E~B}!|!|)|)|- ] )@ ]4B]* =IY)]'?YIe< aimW:?Ὡw< 4@|,AiA9:θ@:x@Y:)y&=y:*H>:H?@??Y 2?QAɿͤa?Y]? :θ@:=;):C^݀B^IIfIf3rchecking for new query: numPingsReceived=41, elapsed TxPingTime=2.012082v v^=yz٥| HF3<= > e5 A?e59  I By @ ]Ei ; _; e5!-A-cEDNOT Ignoring new targets: 65.43 m.dede- ProNav: ac range: 65.434921 m, nav range: 56.124496 m, bearing: 340.648156 deg, approach rate: -0.626071 m/s, LOS rate: -0.200551 deg/s, cmd heading: 353.698341 deg, new cmd heading: 353.475410 deg. - ]HeadingCmd: 6.169310 target range: 65.434921 and range: 65.90 m.b]j@ZarajiRiJB~~}||||t)@ 6B=I ) !? In< hB:7齩<C=ij@i!EEEE^0E!6G:~GAANE>checking for new query: numPingsReceived=41, elapsed TxPingTime=2.265164I j|,\+iA9>@>@Y>6=y>~=>>H@?}?;+? ḿ`:G?`ǿ8[?k? >@>;)>C Hb<Hb<Hb>H`HbIHbBHb =H`Hb(DHb&<HbE׀ByIMb@Mb@Mb@ )Yn?٥ HqY< >e5)?e59 IBy'6?:Z@]Ei);a;e5ADNOT Ignoring new targets: 65.43 m.$_$_ ProNav: ac range: 65.434921 m, nav range: 55.827656 m, bearing: 340.563600 deg, approach rate: -0.681233 m/s, LOS rate: -0.195084 deg/s, cmd heading: 353.475404 deg, new cmd heading: 353.220387 deg. %%HeadingCmd: 6.164859 target range: 65.434921 and range: 65.90 m.b%F@Z)r)Ij)RQJQBQ~Y~]}B}a|i||| ر*@checking for new query: numPingsReceived=41, elapsed TxPingTime=2.516931 7ByK=I)?IǑ< p/:5 U򽩢5<5]2=i5F@iA:J\BJRJJDRJZJ=:bJS29J4JzJ:jJ:J;:rJ<:K;P"K*K2K:K8a1xqrKUXQ>p3d!{pZ4.QVa'$E?EEE_0EFFyԡ 6GU <ZGY RGY ~Gy  checking for new query: numPingsReceived=41, elapsed TxPingTime=2.769434A A N >$Q|,EiA9:|@:&@Y:bD=@y:0>:H???`誟?@ \?pƿ퉨 ?%}? :|@: ;):CJԀBJuIIRIR3^:c ^_=yb٥dd fHfFf < f>hne5j·?re59j IjByprr@j]Eij;j;je5v:Bv+Az`EDNOT Ignoring new targets: 65.43 m.SsSs ProNav: ac range: 65.434921 m, nav range: 55.577435 m, bearing: 340.490675 deg, approach rate: -0.726654 m/s, LOS rate: -0.212731 deg/s, cmd heading: 353.220392 deg, new cmd heading: 353.000633 deg. HeadingCmd: 6.161023 target range: 65.434921 and range: 65.90 m.b'@ZrjRJB~~}||||`f+@ ]8B]=Ia)e]?aIe< aam.y :m30m7 >BDAT read: Rx Time:14:21:00.0088 TRx dataTimestamp_ set to:1749133261.315565 checking for new query: numPingsReceived=41, elapsed TxPingTime=3.021568 ||,g_iA9:@:@Y:Q=y:E!>:H?z?L?^@p?{Ŀ`5@o"?#? :@:S;)8^ڀBb|IlIrIr3~y< ~F=y٥   H F%P%; %>)=f5-ڷ?Ef59- I-ێByAE)E@-]Ei-T;-U;-if5Y]A]]E]checking for new query: numPingsReceived=41, elapsed TxPingTime=3.272396Y]DNOT Ignoring new targets: 65.43 m.eZeZ ProNav: ac range: 65.434921 m, nav range: 55.293755 m, bearing: 340.406947 deg, approach rate: -0.644180 m/s, LOS rate: -0.191105 deg/s, cmd heading: 353.000623 deg, new cmd heading: 352.748152 deg. 'eHeadingCmd: 6.156617 target range: 65.434921 and range: 65.90 m.be@ZrjRJB~~}||Q|Q|]\,@ 9B%n=I))-?1I5 < 115!&:=.}<}lZ=i}@iH>HHIH܀BH =HHHN<H/EEEEE_0E9} DAT read: 14:21:00.0088 LVL= 22736, 26513, 14034, 28355, AGC= 69, IDX= 343,-0.37, 2.710, 1.580,-3.070, 2.618, PHS= 0.180,-0.991, 0.592, RAW= 164.5, 3.1, CAL= 165.4, -5.8, ROT= 344.6, 5.8 ԁ  Ygot valid direction response: 14:21:00.0088 LVL= 22736, 26513, 14034, 28355, AGC= 69, IDX= 343,-0.37, 2.710, 1.580,-3.070, 2.618, PHS= 0.180,-0.991, 0.592, RAW= 164.5, 3.1, CAL= 165.4, -5.8, ROT= 344.6, 5.8  8DAT read: $Error in header  *Received a bad header:J ZBJ LJJ RJ ZJ 9bJ q9J J zJ /:jJ 4:J :rJ : Z#Rx 42: Read direction message, but no range. `direction in FSK: [0.959160,-0.264196,-0.101056] y Dz -} P? 7@) k]=I 8@i 4QϽ v@ 4Q= ?p?Kh?ӫ?i F? ѻ^ 4Q=- checking for new query: numPingsReceived=42, elapsed TxPingTime=3.5613436G] 4=K 5P"K ж9*K 2K :K  Mf+DbjONR>% &=~W7l/ XL#yJ% ?J% ?~G1 AA AQ Ne >|,h^yiA9j@j@Yju^=yj >jH??̘?I跿H?@¿ IګG? ǟ? j@j;)jCQUـBU{I Y]=Mb@Mb@Mb@ )YZd;?~jtx?:vy>?;Լ+@ S@)@I@y=@I IV2EԻ E*=yMu;Q M>٥II MHIU U>Yf5]?f59]J I]ˎBy??:9@]]Ei]:]1:]f5;BAZE=B*** querying acoustic contact ***J9R9AMDNOT Ignoring new targets: 65.43 m.MgMgy ProNav: ac range: 65.434921 m, nav range: 54.951298 m, bearing: 340.311445 deg, approach rate: -0.722367 m/s, LOS rate: -0.202704 deg/s, cmd heading: 352.748152 deg, new cmd heading: 352.459864 deg.  HeadingCmd: 6.151585 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}B}||||`3-@eJDAT read: TxSync time:14:21:01.1279 }checking for new query: numPingsReceived=42, elapsed TxPingTime=3.780182 :B靭̤=I)?Il_< & :BZK<sh=i@iEEEEEF=F=ԡ6GeU=~G A) A9 NE > Y|,iA9>X@>@Y>l=y> >>H E?.??RP?P@ 4? ? >X@>p;)>CNʀBRhIIZ"IZq3bchecking for new query: numPingsReceived=42, elapsed TxPingTime=4.028370f f=yf#$uu>u ProNav: ac range: 65.434921 m, nav range: 54.715763 m, bearing: 340.245592 deg, approach rate: -0.763585 m/s, LOS rate: -0.214408 deg/s, cmd heading: 352.459864 deg, new cmd heading: 352.261456 deg. %HeadingCmd: 6.148122 target range: 65.434921 and range: 65.90 m.bk@ZrjRJB~~}|||| -@Թ Z=I)?I < J9M <1n=ik@iEqEyEyE}3Ey6GZ=}checking for new query: numPingsReceived=42, elapsed TxPingTime=4.280545~GAAN >I |,5 iAG,G.?AH6>H6CH6xIH6׀BH6 =H4H4H6O<H63E9E@EN@YED=yE5=EH`=?@? G? ?`r ? ? E@E;)EC]ĀB]aIMb@Mb@Mb@ )YS㥛?~jtx?y&1y$F?`@ @)Ib@y@ IIm?3ռ %6=y%=٥)) -H-"F5py =>IUf5M)?Uf59M IMByUGF?U:Uh]@M]EiM_:M:MT f5e9J4JzJa:jJe:J~Q:rJQ:9E?EEE91EKP"K@9*K2K:Ko^`}{g"IBw~ ?hp}cm s"s#vi6G ap=~G A A9 N] > checking for new query: numPingsReceived=42, elapsed TxPingTime=4.785453ԑ .|,diA9r@r@Yr=yr=rH?Լ?9?e?rM?? r@r;)pzÀB~`I) I I  3% %]=y-;Q ->٥)) 5H15=l 5>9Ef5=A?Ef59=[ I=ByIMbŽM@=]Ei=:= :=f5QUAUVEyDNOT Ignoring new targets: 65.43 m.rr ProNav: ac range: 65.434921 m, nav range: 54.109287 m, bearing: 340.080457 deg, approach rate: -0.780573 m/s, LOS rate: -0.212144 deg/s, cmd heading: 351.987269 deg, new cmd heading: 351.763266 deg. HeadingCmd: 6.139427 target range: 65.434921 and range: 65.90 m.b0v@ZrjRJB~1~1}9|9|9|9|Et/@ ima=Im)u?qI< U9^5<a=i0v@iE?EEEp5EFF}Aԡchecking for new query: numPingsReceived=42, elapsed TxPingTime=5.0361716GUva=~G) A1 AQ N] > h|,iA9jDn@jw@Yj=yjcM=jH ?@Z?"֭? `?@KZ`N8?? jDn@jB;)jC|~_IIE IE(2Utw ]F=y] ٥aa eHe#FeA e>if5m6\?f59m4 ImBy0н@m]EimNm;m=;m#f5=BASEDNOT Ignoring new targets: 65.43 m.dd ProNav: ac range: 65.434921 m, nav range: 53.802139 m, bearing: 339.998311 deg, approach rate: -0.743763 m/s, LOS rate: -0.200052 deg/s, cmd heading: 351.763266 deg, new cmd heading: 351.515424 deg. K HeadingCmd: 6.135101 target range: 65.434921 and range: 65.90 m.bR@ZrjRJB~~}||||0@AAUchecking for new query: numPingsReceived=42, elapsed TxPingTime=5.292581 ae4 =Ia)m?iImN< iiu9uR}!<}_#`=i}R@iEM?EIEQEU2EYHYHYH]fIH]ȀBH] =HYHYH]<H]E6G6a=! ~G A A N > checking for new query: numPingsReceived=42, elapsed TxPingTime=5.541127I I :J ]BJ QJJ GRJ ZJ ]:bJ -.9J c4J zJ :jJ :J 4:rJ 4:|,iAK&P"K&9*K$2K&:K& G ^z4 zA Sb B r!5&e$%-B"J.?J.>9JQ@JZ@YJL=yJ"Œ=JH?`;?,y? i?,I@H?? JQ@JV;)JCnBrVIeMb@Mb@Mb@aaa a)aYeNbX9?y&1?S㥛yeE?e`e٥ H$F >f5v?f59 I~ByE?:½@]Ei|:B:f5APEaeDNOT Ignoring new targets: 65.43 m.uee ProNav: ac range: 65.434921 m, nav range: 53.497356 m, bearing: 339.913581 deg, approach rate: -0.718836 m/s, LOS rate: -0.200975 deg/s, cmd heading: 351.515412 deg, new cmd heading: 351.259776 deg.  HeadingCmd: 6.130640 target range: 65.434921 and range: 65.90 m.b3.@ZrjRJB~~l}B}||||y0@Q )UN=IQ)U?YI]ˆ< YY]T<:e4edEE- ?E) E) E- 1E) ) 4> Q m A Y Ay B  checking for new query: numPingsReceived=42, elapsed TxPingTime=6.0445946G a=~GiAqAN>},,iA9N%,@N5@YN|y=yNgߊ=NH??Bh? a-?@t𪲿L?@j? N%,@N;)NCVBVIII\I\fl3 j4=yj;Q j>٥hl nHln/" n>pvf5r?vf59r IrkByxzd̽z@r^Eir:r7:rf5  fA ME-B*** querying acoustic contact ***J)R)1=DNOT Ignoring new targets: 65.43 m.=t=tM ProNav: ac range: 65.434921 m, nav range: 53.158897 m, bearing: 339.820113 deg, approach rate: -0.767862 m/s, LOS rate: -0.213402 deg/s, cmd heading: 351.259772 deg, new cmd heading: 350.977584 deg. UtUHeadingCmd: 6.125714 target range: 65.434921 and range: 65.90 m.b]@ZYrYjYRYJYBYa~i~i}i|i|q|q|u0@ 靭p=I) ?I8S< e :@!*<7e=i@i>EE1E9E9E=1E9ԙ checking for new query: numPingsReceived=42, elapsed TxPingTime=6.2963006GCf= H <H H >H CH YIH BH  =H H H '<H EHHHH =I IɌ5~GA AI AY Ne > 9 },2iABHIchecking for new query: numPingsReceived=42, elapsed TxPingTime=6.549344Mb@Mb@Mb@ )Y%C?Q?Zd;OyZD?u<j@ b@)@Iy@IIM3" ==yQ >٥ H%F >f5?f59 IZByzD?:/ʽ@^Ei@t;{;|f5oAIUC=IQDNOT Ignoring new targets: 65.43 m.7`%7`U ProNav: ac range: 65.434921 m, nav range: 52.838249 m, bearing: 339.730021 deg, approach rate: -0.693467 m/s, LOS rate: -0.196023 deg/s, cmd heading: 350.977576 deg, new cmd heading: 350.705664 deg. U]HeadingCmd: 6.120968 target range: 65.434921 and range: 65.90 m.b]@ZYrYjYRYJYBa~a~ej}B}a|i|i|i|mv1@ :B/~=I)S ?I#< )-:5.&5<5w=i5@i9KM7P"KM9*KI2KM:KMb[<PDi"ImpdiYVHTv% 1 Pi44 1>E8E checking for new query: numPingsReceived=42, elapsed TxPingTime=6.802683EM ?EI EI EM 0EI Y 6Giԑ~GAAQAaNm?]},1SiA9>@@>@Y>7=y>=>H??[?S|?"V`?? >@@> D;)>CJBJEIIRIRF2V Z.=y^~٥\\ ^Hb&FbZ b>hnf5j͸?nf59j IjFBypr{ڽr@j ^Eij:jG:j"f5v>Bchecking for new query: numPingsReceived=42, elapsed TxPingTime=7.055741AJEDNOT Ignoring new targets: 65.43 m.kk% ProNav: ac range: 65.434921 m, nav range: 52.490101 m, bearing: 339.634138 deg, approach rate: -0.742775 m/s, LOS rate: -0.205922 deg/s, cmd heading: 350.705653 deg, new cmd heading: 350.416099 deg. %R I:JeZBJePJJe@RJaZJe9bJe*9JeJ4Jam@m@m@m@uHeadingCmd: 6.115915 target range: 65.434921 and range: 65.90 m.bu@ZqrqjqRqJyBy~y~y}|||| S1@ e9Be=Ii)mk?iIm< iim_&:I+q<jj=i@iDDD D qԡ% checking for new query: numPingsReceived=42, elapsed TxPingTime=7.304318E= ?E9 EA EE 0EA H >H H FIH BH  =H H 'DH N<H ,E6G }z=~GyAAN>;},riA$%B%;IMb@Mb@Mb@ )YMb?Zd;O?Zd;Oy@?j<@ @)@Iy3@I I(2 =yQ >٥ H'F > f5u? f59 I1By @?:ý@^EiT:C:#'f5%checking for new query: numPingsReceived=42, elapsed TxPingTime=7.556340)-A-GEAEDNOT Ignoring new targets: 65.43 m.MqMqq ProNav: ac range: 65.434921 m, nav range: 52.114025 m, bearing: 339.524179 deg, approach rate: -0.717821 m/s, LOS rate: -0.211396 deg/s, cmd heading: 350.416107 deg, new cmd heading: 350.083852 deg. HeadingCmd: 6.110116 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~~}B}||||s2@ E8BETw=IA)M?IIM< IIU8:e91eE1&"},iA9Bb@B @YB&=yB=BH`C??-?'O?`-"S?`? Bb@B#p;)@\bBb-IInIn3v v]=yz٥xx ~H|~ ~> f5? f59 I"ByVѽ@^Eig::[*f5?B*A%DEAMDNOT Ignoring new targets: 65.43 m.MMm ProNav: ac range: 65.434921 m, nav range: 51.847301 m, bearing: 339.447282 deg, approach rate: -0.793768 m/s, LOS rate: -0.230021 deg/s, cmd heading: 350.083859 deg, new cmd heading: 349.851984 deg. muHeadingCmd: 6.106069 target range: 65.434921 and range: 65.90 m.bud@ZqrqjqRyJyBy~~}|||| 2@ 7B靽F=I)>I< A:]54<I=v=id@irEG>jE>EEEE_0E6Gux=Mchecking for new query: numPingsReceived=42, elapsed TxPingTime=8.060339~GIAYAqN8>:J%]BJ!JJ!RJ!ZJ%]:bJ!J!J!A (},XiA9:@:;@Y:ۨ=y:J=:H@?rJ? ? @Λ?DzA`y?(? :@:$;):CRchecking for new query: numPingsReceived=42, elapsed TxPingTime=8.312112VBVIIbIb(*3jo{ jL=yj;Q n>٥lp rHr(Fr r>tzf5v?zf59vU IvBy|~ؽ~@v^EivD;v ;v-f5A AE-B*** querying acoustic contact ***J)R)AEDNOT Ignoring new targets: 65.43 m.MmMm] ProNav: ac range: 65.434921 m, nav range: 51.556759 m, bearing: 339.363848 deg, approach rate: -0.719078 m/s, LOS rate: -0.207659 deg/s, cmd heading: 349.851988 deg, new cmd heading: 349.600277 deg. ]eHeadingCmd: 6.101676 target range: 65.434921 and range: 65.90 m.be@@ZarijiRiJiBi~q~q}q|q|y|y|}.3@ U6B]{=Ia)>Ia< S:9)NHqHu-IHuBHu =HqHu(DHuY<Hu?E%z=i@@iE=?E9E9E= 5E9q]checking for new query: numPingsReceived=42, elapsed TxPingTime=8.5657526G} I@=ԡ ~GY K} P"K} +9*Ky 2K} :K} Zd}zwM6w&./. r 2x U -1s>A A N >+/},F`iAbBbI f=fa=yMb@Mb@Mb@ )YK?Q?y&1y^:?<`@ @)Iyz@II2  ;=yQ >٥ H)F >f519?f59 IBy:?:@ ^Eiy;P ;1f5@BA>EDNOT Ignoring new targets: 65.43 m.fgfg= ProNav: ac range: 65.434921 m, nav range: 51.252316 m, bearing: 339.271300 deg, approach rate: -0.661567 m/s, LOS rate: -0.202306 deg/s, cmd heading: 349.600282 deg, new cmd heading: 349.320990 deg. = EHeadingCmd: 6.096801 target range: 65.434921 and range: 65.90 m.bE@ZArAjARAJABA~I~Me}B}q|q|y||M3@checking for new query: numPingsReceived=42, elapsed TxPingTime=8.816778Ա U4B]gp=I)t>I]<  _l:r><M=i@iE?EEE5E m BDAT read: Response Not Received m *response not received-m Hb6},iA9nWL@nV@Yn}¯=ynHt=nH?r?k?¿ B?Phg? W? nWL@nfZ;)nCzBz II I V83ż J=y%N٥!) -H)- ->1Ef55Q?Mf595 I5ByYeԽm@5%^Ei5N;5;555f5quA};EDNOT Ignoring new targets: 65.43 m.{{ ProNav: ac range: 65.434921 m, nav range: 50.968925 m, bearing: 339.187289 deg, approach rate: -0.738751 m/s, LOS rate: -0.220218 deg/s, cmd heading: 349.320982 deg, new cmd heading: 349.067552 deg. "HeadingCmd: 6.092378 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||@4@ 3B靭=I)>I}:< :S|:bC~<y=i@iIEEEE^0E6GPă=checking for new query: numPingsReceived=42, elapsed TxPingTime=9.320491~GaAiAyN]>yH >H CH IH BH  =H H )DH w<H wEԡ x|<},^iA9>(@>>2@Y>=y>*b=>HW?T?@d?.Pÿ$?[n%?? >(@>E;)>CbiBfIchecking for new query: numPingsReceived=42, elapsed TxPingTime=9.572611Mb@Mb@Mb@ )YtV?Q?S㥛y2?/ݼ@ @)`@Ix@ԙyp@II2ӽ C=yz;Q >٥ H*FY* >f5>j?f59 I؍By2?:ڽ@)^Ei:F:8f5ADNOT Ignoring new targets: 65.43 m. Y Y5 ProNav: ac range: 65.434921 m, nav range: 50.686356 m, bearing: 339.103486 deg, approach rate: -0.636291 m/s, LOS rate: -0.189760 deg/s, cmd heading: 349.067555 deg, new cmd heading: 348.814745 deg. 5;=HeadingCmd: 6.087966 target range: 65.434921 and range: 65.90 m.b=@Z9r9jARAJABA~i~uN}B}q|q|q|y|}z4@ 1B  m=I <)>I$< Ӌ:G^<n{=i@i!KEP"KE9*KA2KE:KEthO&X# p10 & ' TF+"TykKP@B]~E?EEE_0EI M A] checking for new query: numPingsReceived=42, elapsed TxPingTime=9.8296256G%  =~G A A! ) N5 >GdC},9iA9: @:@Y:j=y:fS=:H&z??w?Ŀ? դ۶X?b? : @:`f;):CF[BFI)H HIR IR<2Z Z\=y^;Q ^>٥`` bH`bu b>hzf5j?~f59j IjȍBy-@j-^EijL;j;jYI]n< YY]:eKey = checking for new query: numPingsReceived=42, elapsed TxPingTime=10.328233I},(iA9:м@:@Y:¥=y:.vI=:H1r?@G?@j?Ŀ ?0tLn? #? :м@:*;)8VGBVIIb&Ib3f-Ƚ fH=yj;Q j>٥!! %H%+F-J ->1]f55뗹?]f595d I5ByY]]@52^Ei5;5 ;5?f5ABA5EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m. d dY ProNav: ac range: 65.434921 m, nav range: 50.157776 m, bearing: 338.949544 deg, approach rate: -0.684530 m/s, LOS rate: -0.199444 deg/s, cmd heading: 348.595288 deg, new cmd heading: 348.350509 deg. -HeadingCmd: 6.079864 target range: 65.434921 and range: 65.90 m.b->@Z1r1j1R9J9BA H}<H}4<H>HHIHbBH =HHHY<HME~~}||!|!|-@O5@ -B0~Z=I)v>I< &?:3P=<r=i>@iyE?EEEEchecking for new query: numPingsReceived=42, elapsed TxPingTime=10.581943Ա6G s=jG ?bG ?K] aP"K] 9*KY 2K] :K] wtEOk'WEn#:'>.L~G A A N >2vP},AiA9^H{@^@Y^ =y^_3=^H;a???ſ`w?@k7`iP?p? ^H{@^;)^C >B IMb@Mb@Mb@ )YDl?Mb?:vyO-?<Լ@ @)v@I@yf@I%I%35# 56=y=٥9A EHE,FE¼ E>IUf5M?Uf59M IMBy]|-?]:]B]@M7^EiM3;M&;MCf5aeAe2EԱDNOT Ignoring new targets: 65.43 m.FF ProNav: ac range: 65.434921 m, nav range: 49.869469 m, bearing: 338.875570 deg, approach rate: -0.671103 m/s, LOS rate: -0.173187 deg/s, cmd heading: 348.350521 deg, new cmd heading: 348.127318 deg. HeadingCmd: 6.075968 target range: 65.434921 and range: 65.90 m.bTn@ZrjRJB~~}B}|||| 5@checking for new query: numPingsReceived=42, elapsed TxPingTime=10.832416 %+B-ؗd=I))-:>)I5= 115ڶ:M0TUEጹ E ?E E E E  checking for new query: numPingsReceived=42, elapsed TxPingTime=11.0843109 6G ~G A!AIaNu?/X},VbiA9n=T@n]@Ynf=yn/=nHX?U)?Y?ƿ`*q?^ߥ?٥ H-F= >f5˹?f59 IBy*@<^Ei :\:Gf5!%A)y}DNOT Ignoring new targets: 65.43 m.l<l< ProNav: ac range: 65.434921 m, nav range: 49.547791 m, bearing: 338.793865 deg, approach rate: -0.644378 m/s, LOS rate: -0.164733 deg/s, cmd heading: 348.127311 deg, new cmd heading: 347.880604 deg. !!-checking for new query: numPingsReceived=42, elapsed TxPingTime=11.345167]HeadingCmd: 6.071662 target range: 65.434921 and range: 65.90 m.b]K@ZYrajaRaJaBa~i~i}i|i|i|q|u26@ e(BmM=I)Ԝ>It= :H}>HyH}IH}?BH} =HyHyH}d<H}]EHƑCHƑCHH =I = I 6XI<\=iK@i   checking for new query: numPingsReceived=42, elapsed TxPingTime=11.596431>E- <Ii Im AA:J} [BJ} SJJ} @RJy ZJ} :bJ} y69J} J4Jy zJ} : jJ} : J} (C: rJ} +C: E E E E 5E ! K= P"K9*K2K:KETr!;lo i_g`hK LQQ8tA YJ>J>Q6G%np_=~GAA9NM?b},qiAchecking for new query: numPingsReceived=42, elapsed TxPingTime=11.8482749n+@n-5@Yn~=yn/s.=nH3P??ö? f,ǿi?ԗ0?? n+@nC;)lzBzI1Mb@Mb@Mb@ )Y(\? rh?S㥛y.?C</ݼ @)@Iy@II(*38 =yMD;Q >٥ H.F >f50﹜?f59 IlByE.?:@C^EiY</;^Mf5BBBA/EAeDNOT Ignoring new targets: 65.43 m.mAmA} ProNav: ac range: 65.434921 m, nav range: 49.134579 m, bearing: 338.689091 deg, approach rate: -0.661764 m/s, LOS rate: -0.169207 deg/s, cmd heading: 347.880604 deg, new cmd heading: 347.563643 deg. }@HeadingCmd: 6.066130 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~|B}||||'6@Y $B靥)A=I)>I$= :C^<_=i@iDDDDԉchecking for new query: numPingsReceived=42, elapsed TxPingTime=12.100352E E E E 0E Թ 6G%*^=~GAA!N->pi},YiA:checking for new query: numPingsReceived=42, elapsed TxPingTime=12.3524099JP׻@J@YJ"=yJQ+=JH>?? ? mtȿ@Y?tꮿNY?`}? JP׻@Jq;)JCRBVlIIZIZ3bE f:=yj;Q n>٥ll rHpr r>tzf5v?zf59v IvWBy|~V*~@vH^Eiv7:vC:v8Qf5 *A ,E1=DNOT Ignoring new targets: 65.43 m.==== ProNav: ac range: 65.434921 m, nav range: 48.843903 m, bearing: 338.617974 deg, approach rate: -0.674624 m/s, LOS rate: -0.166038 deg/s, cmd heading: 347.563656 deg, new cmd heading: 347.349035 deg. -HeadingCmd: 6.062384 target range: 65.434921 and range: 65.90 m.b- @Z1r1j9R9JIBI~Q~Q}|||| D7@GG@AH>HCHIHBH =HHHT<HME  5 B5W9=I1)5Y>9I= = 99=;EbE]_p},1iAK"P"K"}9*K 2K":K" CdmIv")_( ` ^ w h:\Y: rr9V@VC@YVm=yVK,=VH`7??)?D ɿR?I@@Pιk?? V@Vr;)VCbBbUI)d ddfAMMb@Mb@Mb@III I)IYMB`"?MbPyM.?MM̼M3@ M;@)M@IM@IyM@IeIeb2m㱽 uA=yu:Q u>٥yy }H}/F7 >f5g?f59\ ICBy.?:J@L^Eiu;;Tf5CBA)EB*** querying acoustic contact ***JRYiDNOT Ignoring new targets: 65.43 m.@@ ProNav: ac range: 65.434921 m, nav range: 48.563454 m, bearing: 338.559358 deg, approach rate: -0.637356 m/s, LOS rate: -0.133981 deg/s, cmd heading: 347.349024 deg, new cmd heading: 347.172162 deg. 添HeadingCmd: 6.059297 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~|B}||||@J7@ UBUm;=IQ)U6>QI]G= YY];eBeבבchecking for new query: numPingsReceived=42, elapsed TxPingTime=12.857007J<cD=i@izEEM?EIEIEU0EQԉ6G%M=~GAAN k>ԩE checking for new query: numPingsReceived=42, elapsed TxPingTime=13.108211 ^v},0iA9-뉻@-@Y-9=y-C%1=-H/?RI?V?@-ɿI?`ȹ?? -뉻@-?;)-C]B]IIԱII3eM' m.=ym٥qq uHu0Fu% }>yf5}9?f59} I},ByiO@}Q^Ei};};}Xf5A&EDNOT Ignoring new targets: 65.43 m.|$|$ ProNav: ac range: 65.434921 m, nav range: 48.250961 m, bearing: 338.495020 deg, approach rate: -0.693965 m/s, LOS rate: -0.143803 deg/s, cmd heading: 347.172150 deg, new cmd heading: 346.977887 deg. aŻHeadingCmd: 6.055907 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||.8@ =BE1=IA)E&>AIM%= IIM;UhUH H SIH BH  =H H *D6G H=H ]<H _E~G A A N >9 |},iA9:"h@:q@Y:+=y:1=:H (??߶?%ʿ`B?@&W?@? :"h@:P;)8^B^+IMb@Mb@Mb@ )YM?Qy&1yn2?u` )@IyI Ib3F  j=yg&Q >٥ HcA >f5fM?f59x IBy2?:,h@U^Ei:: \f5A <checking for new query: numPingsReceived=42, elapsed TxPingTime=13.6125821=DNOT Ignoring new targets: 65.43 m.=: =: M ProNav: ac range: 65.434921 m, nav range: 48.012299 m, bearing: 338.452380 deg, approach rate: -0.677930 m/s, LOS rate: -0.121722 deg/s, cmd heading: 346.977899 deg, new cmd heading: 346.849345 deg. MUHeadingCmd: 6.053663 target range: 65.434921 and range: 65.90 m.bU@ZQrYjYRYJYBY~a~e|B}a|a|a|i|mSx8@:JBJPJJARJZJbJ*9J4JzJjJJ-:rJ-:  B靥L(=IeaA<)e=aIe= iim+;mkuPÃ},iA 9n?@n0I@Ynn=yn-=nH!? =h?`Ъ?ʿ@:?@ ?@? n?@nÆ;)nC~zBI = =II<2%(i %U=y%Q %>٥)) -H-1F-[S 5>9Ef5=0c?Ef59= I=ByAEJmE@=Y^Ei=":=:=f_f5IU3AU#EDNOT Ignoring new targets: 65.43 m.: :  ProNav: ac range: 65.434921 m, nav range: 47.749439 m, bearing: 338.406529 deg, approach rate: -0.689006 m/s, LOS rate: -0.120847 deg/s, cmd heading: 346.849355 deg, new cmd heading: 346.711045 deg. ߥHeadingCmd: 6.051250 target range: 65.434921 and range: 65.90 m.b֣@ZrjRJB~~}||||8@ Bj$=I)=I= |6; m < I1=i ֣@iqE?EEEE checking for new query: numPingsReceived=42, elapsed TxPingTime=14.116731ԙ6G9=~GAAN > },.)iAI ) 2checking for new query: numPingsReceived=42, elapsed TxPingTime=14.368413L~kB~II I (*3%b %J=y%Q %>٥)) -H-2F5 5>9Ef5=z?Mf59= I=ByQQU@=^^Ei=p;=r;=bf5]DBetAe EDNOT Ignoring new targets: 65.43 m.   ProNav: ac range: 65.434921 m, nav range: 47.473091 m, bearing: 338.357771 deg, approach rate: -0.682968 m/s, LOS rate: -0.121202 deg/s, cmd heading: 346.711057 deg, new cmd heading: 346.563933 deg. \HeadingCmd: 6.048682 target range: 65.434921 and range: 65.90 m.b͎@ZrjRJB~~}||||@A9@ B靽=I)p=IB= pD;!p<2<=i͎@i H1H5<HU>HUCHU!IHUBHU =HQHQHUW<HQE?EEE`0Echecking for new query: numPingsReceived=42, elapsed TxPingTime=14.620321I4=I%=:J[BJTJJDRJZJ:bJ:9J4JzJ:jJ:JRJ:rJUJ:6G &/=) ~Gy A A N >Ԑ},|CiAK^?P"K^9*K\2K^:K^#]x5M!WC{-+ YAO?+K|RBIMb@Mb@Mb@ )Yx? rhS㥛yK7?C/ݼv@ ~@)@I@yz@IIg B=yQ >٥ H >f5?f59 IތByz7?:o@c^Ei:-:ff5Y]A]EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.= ProNav: ac range: 65.434921 m, nav range: 47.177277 m, bearing: 338.305798 deg, approach rate: -0.672852 m/s, LOS rate: -0.118957 deg/s, cmd heading: 346.563935 deg, new cmd heading: 346.407039 deg. =Guchecking for new query: numPingsReceived=42, elapsed TxPingTime=14.872306}HeadingCmd: 6.045943 target range: 65.434921 and range: 65.90 m.b}^x@ZyryjyRyJB~~|B}||||$9@  B@=I)R=I^= )IMLS;]re:<cE=i^x@iQ>EEE ?EA EA EE ^0EA ԁ - checking for new query: numPingsReceived=42, elapsed TxPingTime=15.124681Ա 6G<=~GaAyAN?},dIӺ@>@Y>=y>{.=>H# ?@ ??ij̿"?`?`(å? ? >IӺ@>Iv;)>CJ:BJIIRIR3ZH Z*=yZrQ Z>٥\\ ^H^3Fb b>d9Uf5fr?Uf59f IfƌByY]2}e@fh^EifoE<=checking for new query: numPingsReceived=42, elapsed TxPingTime=15.376480qEu?EyEyE}_0EyH̼>HCHIHCBH =HH+DHHoEԩ6GU`C=~G) A9 AI NU >  checking for new query: numPingsReceived=42, elapsed TxPingTime=15.628249I I ў},F'~iAԑBI5Mb@Mb@Mb@111 1)1Y5Gz?٥ H4F >f5ʺ?f59 IBy=?: @n^Ei ;;nf5EBAE  DNOT Ignoring new targets: 65.43 m.% ProNav: ac range: 65.434921 m, nav range: 46.496834 m, bearing: 338.199559 deg, approach rate: -0.758254 m/s, LOS rate: -0.115107 deg/s, cmd heading: 346.241987 deg, new cmd heading: 346.085993 deg. %-HeadingCmd: 6.040340 target range: 65.434921 and range: 65.90 m.b-wJ@Z)r)j1R1J9B9~A~E|B}I|I|Q|Q|UϠ:@ B靅% =I)<I= p;rx<,=iwJ@iK% P"K%K9*K!2K%:K%HB}p0.mG_I}2(O"z=L|'f[(DJI )J=>J=>Echecking for new query: numPingsReceived=42, elapsed TxPingTime=15.880911>EMe<)! )ևGEEEEE  #Y! y% A 6G s= checking for new query: numPingsReceived=42, elapsed TxPingTime=16.133465~G A AN%>z},ӛiA:JB^BJBSJJBNRJ@ZJB} :bJBy69JB|4J@F@F@F@F@9J@J@YJ=yJz8=JH@ ??1? iͿ?`ذ؈?? J@J =;)HRBVIIZIZ<2j jJ=y5Q >٥! %H!%Ꞽ %>)5f5-)㺜?Uf59-4 I-ByY]]@-r^Ei-u;-;-rf5eFBeAmEDNOT Ignoring new targets: 65.43 m.rr ProNav: ac range: 65.434921 m, nav range: 46.196323 m, bearing: 338.156632 deg, approach rate: -0.715845 m/s, LOS rate: -0.102922 deg/s, cmd heading: 346.085986 deg, new cmd heading: 345.956367 deg. DHeadingCmd: 6.038078 target range: 65.434921 and range: 65.90 m.b7@ZrjRJB~~}!|!|!|!|% ;@ -~B5F; =I1)5<9I=÷= 99E|;Q]fz]<]=ie7@iaDDDDychecking for new query: numPingsReceived=42, elapsed TxPingTime=16.385893EEEE]0Eԡ G G AAH- ˼>H- CH- IH- BH-  =H) H- ,DH- e<H- EHɓCHɓCHɔCH =I = I66G ,= ~G A A N >G},ӸiAI0)09Nq@NR{@YN=yN7=NH`??ô?kͿ` ?` ְ@9)? 6? Nq@N?Ά;)NC^B^I]checking for new query: numPingsReceived=42, elapsed TxPingTime=16.636549eMb@Mb@Mb@aaa a)aYeT㥛 ?QyeA?eeue@ e@)eX@IeQ@aye@IuIu 2nV; ,=yMQ >٥ H5F >f5?f59\ IByA?:q@x^Eidh;g;vf5AE1DNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 45.849689 m, bearing: 338.093260 deg, approach rate: -0.714432 m/s, LOS rate: -0.131602 deg/s, cmd heading: 345.956376 deg, new cmd heading: 345.764822 deg. HeadingCmd: 6.034735 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~!~%|B})|)|)|)|5b;@ ~Br=I)<I= x;i~<Ԯ=i @i YE?EEE`0E6Gu0u=K- P"K-}9*K)2K-:K-- a  cRNua1<Av<4 (oN`n,&~GiAyAN~>ԁ checking for new query: numPingsReceived=42, elapsed TxPingTime=16.890421ԩ o},ZiA9rW@roa@Yr1=yrJ>=rH ? ?%?@Lο`+?+?? rW@rȆ;)rCz~BzII IV2%JU %R=y%JQ %>٥)) -H-6F5 5>9Ef5=?Ef59=/ I=wByAEtE@=}^Ei=:=C:=yf5IU8AUEmB*** querying acoustic contact ***JiRiyDNOT Ignoring new targets: 65.43 m.%% ProNav: ac range: 65.434921 m, nav range: 45.560474 m, bearing: 338.040801 deg, approach rate: -0.794259 m/s, LOS rate: -0.144979 deg/s, cmd heading: 345.764830 deg, new cmd heading: 345.606456 deg. ƻHeadingCmd: 6.031971 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||[;@ ~B0 =I)p2<I= !!%ă;-7-73<-=i-@i1bE9ZE9ԉE?EEEo0Euchecking for new query: numPingsReceived=42, elapsed TxPingTime=17.141312:J5\BJ5PJJ5ARJ1ZJ5=:bJ5*9J54J1Թ6G$=jG?bG?~GAAN> checking for new query: numPingsReceived=42, elapsed TxPingTime=17.392185! `},tiA96B@6@L@Y6չ=y62WA=6HW? ??/?Aο?Jz2(?@6? 6B@6x;)6Cf~BfIIn#In%x3v9 vN=yv˚Q v>٥x| HԻ > f5 50?f59  I fBy{w@ ^Ei ; ; y}f5-GB-A-EQUDNOT Ignoring new targets: 65.43 m.] ] m ProNav: ac range: 65.434921 m, nav range: 45.265083 m, bearing: 337.987505 deg, approach rate: -0.741617 m/s, LOS rate: -0.134680 deg/s, cmd heading: 345.606452 deg, new cmd heading: 345.445521 deg. m۸uHeadingCmd: 6.029162 target range: 65.434921 and range: 65.90 m.bu@ZyryjRJB~~}||||NK<@ ~B3=I)I= ; a mY< =i @HEμ>HAHEIHE~BHE =HAHAHE$<HE(EiEE E E {0E}checking for new query: numPingsReceived=42, elapsed TxPingTime=17.6446066G{=Q ~G A A N > },JiA9FA5@F>@YF9=yFzG=FH ?s?@?@yο`? `ݨ?T? FA5@FR;)FCR~BRITTK~P"K~9*K|2K~:K~w`{027]Z%<Gd *x%fr$6~j+aI @a aM@a aQ@a aE@a II3-g -F=y-PQ ->٥11 5H57F5 =>AMf5E_I?Mf59E IEUBM+:yIMd:MyM@E^EiE:E >E`f5YeAaDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 44.960472 m, bearing: 337.932436 deg, approach rate: -0.734474 m/s, LOS rate: -0.133681 deg/s, cmd heading: 345.445533 deg, new cmd heading: 345.279207 deg. }HeadingCmd: 6.026259 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~Q}Q|Q|Y|Y|]`=<@ ~B靭UO=I)PNIM=checking for new query: numPingsReceived=42, elapsed TxPingTime=17.896315 v;ۋh<-Y=i@i!QE?EEE0Eԁ6G- e=ԩ ~G A A) N5 > checking for new query: numPingsReceived=42, elapsed TxPingTime=18.149260:JA BJE SJJE ?RJA ZJA bJE y69JE ـ4JA %},% iA@}~B}III 3= C=yQ >٥ H8F >f5c?f59 IDB :y8:@^Ei];$U?Ƃf5A EDNOT Ignoring new targets: 65.43 m.   ProNav: ac range: 65.434921 m, nav range: 44.650085 m, bearing: 337.875543 deg, approach rate: -0.746879 m/s, LOS rate: -0.137853 deg/s, cmd heading: 345.279204 deg, new cmd heading: 345.107338 deg. %6%HeadingCmd: 6.023259 target range: 65.434921 and range: 65.90 m.b%@Z)r)j)R)J)B)~1~1}1|1|9|9|E=@ ~B*=I) ;I= ;   H=CH=IH=~BH= =H9H=+DH=<H=E6G) ZG1 RG1 ~G  AI Ay N >=},:iA9>j*@>4@Y>\=y>UAa=>H@? ?@C?<Ͽ(?`IȲd% ?? >j*@>[y;)>CZ~BZItEchecking for new query: numPingsReceived=42, elapsed TxPingTime=18.652340aIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Yy&1?Q?~jtxy`E?<ĻA@ @)MAIh@y@II(*2Լ I=ycQ >٥ HT >f5|?f59 I5BT:yE?:S@^Ei ; ;Wf5HBA EDNOT Ignoring new targets: 65.43 m.CC ProNav: ac range: 65.434921 m, nav range: 44.341564 m, bearing: 337.803000 deg, approach rate: -0.722835 m/s, LOS rate: -0.171144 deg/s, cmd heading: 345.107329 deg, new cmd heading: 344.888186 deg. HeadingCmd: 6.019434 target range: 65.434921 and range: 65.90 m.b5@ZrjRJB~~}B}||| | č=@ }~B}=Iy):Ia= m;_ !<->.=i5@iEAEAEAEE5EI9KUO"KU9*KQ2KU:KU\D{eA~i&;Y5 v)FA}-Ey 5T';4MAchecking for new query: numPingsReceived=42, elapsed TxPingTime=18.9045476Gm $=~GA AQ a Ai Nu >$},SiA9-@|7@Y+>=y=H8??@y?hο@?ʹcꍰ?G? -@ۆ;)C-~B-Ii5٥qq }H}9F: >f5?f59X I)ByR@^EiPx;{;Љf5AEB*** querying acoustic contact ***JR9EDNOT Ignoring new targets: 65.43 m.M8UU8Ue ProNav: ac range: 65.434921 m, nav range: 44.040855 m, bearing: 337.731119 deg, approach rate: -0.774540 m/s, LOS rate: -0.186410 deg/s, cmd heading: 344.888189 deg, new cmd heading: 344.671074 deg. emHeadingCmd: 6.015645 target range: 65.434921 and range: 65.90 m.bm*@ZirijiRiJiBq~~}||||=@ u~Bu7,=Iq)}yI}= yy}w; H<==i*@i]checking for new query: numPingsReceived=42, elapsed TxPingTime=19.157421i:J%_BJ%RJJ%ARJ!ZJ% :bJ%S29J%4J!EE?EAEAEE`5EIԙ6G /=~Ga Ai A N >  checking for new query: numPingsReceived=42, elapsed TxPingTime=19.408278|},$miA9Jc/@J9@YJz=yJs=JH?D?b?`Fο?``0`,?F? Jc/@J;)JCV~BVII^I^2f fS=yj_ Q j>٥hh jHj:Fv: v>x~f5zW?~f59z IzBysR@z^Eiz;z;z&f5  $A ԙH>HCHIH~BH =HH)DH)<HEDNOT Ignoring new targets: 65.43 m.dNdN- ProNav: ac range: 65.434921 m, nav range: 43.752041 m, bearing: 337.661057 deg, approach rate: -0.738955 m/s, LOS rate: -0.180442 deg/s, cmd heading: 344.671071 deg, new cmd heading: 344.459499 deg. -UHeadingCmd: 6.011952 target range: 65.434921 and range: 65.90 m.bUa@ZQrQjYRYJYBa~~}|||| Y>@ ~B=II)M8QI]= YYeL;EߊE}=jG ?bG > ~G A A N >:},iA9F-@F97@YFgC=yFJ=FH@? ??ο?@ ıڱ??? F-@F#\;)FCN~BNI5Mb@Mb@Mb@111 1)1Y5'1Z?y&1?{Gzy5B?5`e=5#5n@ 1)5AI5@1KuZP"Kuŷ9*Kq2Ku:Ku^ wIs\W c<e3WHxfaRT]lpdh|_2 hy5@I I<2 9=yQ >٥   H ) >%f5Xʻ?%f59o IBy%\C?-:-.-@^Ei;;f5UIBU\AUEDNOT Ignoring new targets: 65.43 m.^^checking for new query: numPingsReceived=42, elapsed TxPingTime=19.912441 ProNav: ac range: 65.434921 m, nav range: 43.422966 m, bearing: 337.564349 deg, approach rate: -0.763940 m/s, LOS rate: -0.226206 deg/s, cmd heading: 344.459499 deg, new cmd heading: 344.167181 deg. >HeadingCmd: 6.006850 target range: 65.434921 and range: 65.90 m.b8@ZrjRJB~)~-@}B})|)|)|1|5>@ ~B靥.=I) I= x;{D<Z=i8@iEU?EQEQEU0EQIm checking for new query: numPingsReceived=42, elapsed TxPingTime=20.1658736G} 5PK=~GY ԁ A A N >:J5 bBJ1 JJ5 GRJ1 ZJ5 :bJ1 J5 c4J1 },tiA9rx"@r#,@Yr-*=yr>Ð=rH x??@8R?`W+Ͽ?`X!, ? 9? rx"@r+;)rCz~BzI)| |II3; Y=y%׻Q ->٥)) -H-;F5l 5>9Ef5=⻜?Ef59= I=ByIMG0M@=^Ei=:=4:=Lf5QUVAUEDNOT Ignoring new targets: 65.43 m.~~ ProNav: ac range: 65.434921 m, nav range: 43.144581 m, bearing: 337.481886 deg, approach rate: -0.747576 m/s, LOS rate: -0.222875 deg/s, cmd heading: 344.167167 deg, new cmd heading: 343.918183 deg. HeadingCmd: 6.002505 target range: 65.434921 and range: 65.90 m.b@ZrjR1J1B1~9~9}9|9|9|A|E%?@Q ~B靵8~=I)+I&= g;Wt<c=i@iEEEE_0E6G]_=ԁchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.416796~GYAaAyNZ>GG?AH>HCHIH~BH =HH(DH?<H(Eԩ B$},vPiA96$@6@Y6g=y6Џ=6Hp??c?`kϿ?@󩰿@?z? 6$@6;)6CF~BFI%checking for new query: numPingsReceived=42, elapsed TxPingTime=20.668440-Mb@Mb@Mb@))) )))Y-'1Z?p= ף?٥aa eHeif5m?f59m ImByC?:g&@m^Eimz9 },$iA9BE@B @YBF=yB=BH?`"?,?@ѥϿ ?(`E?? BE@B_);)BCN~BNIIZIZV83j? nS=yvꀻQ v>٥x| H  >!=f5%?=f59%Y I%ByAEG(M@%^Ei%ơ;%f;%Sf5]JBeAmEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.00 ProNav: ac range: 65.434921 m, nav range: 42.547886 m, bearing: 337.294002 deg, approach rate: -0.770772 m/s, LOS rate: -0.245129 deg/s, cmd heading: 343.629549 deg, new cmd heading: 343.350604 deg. :(HeadingCmd: 5.992599 target range: 65.434921 and range: 65.90 m.b^ÿ@ZrjRJB~~}||||`?@ U~BUS checking for new query: numPingsReceived=42, elapsed TxPingTime=21.4242344},GiA 9J@J@YJ=yJU=JH? L? e? п?^@!߰?'? J@JT;)JCV~BVIiXIZ< Z=XIbIb 3n rJ=yr2Q r>٥pt vHv=Fv  v>x~f5z3.?f59z IzBy+@z^Eiz<;z;zΞf5  L A 9=DNOT Ignoring new targets: 65.43 m.E뉻M뉻e ProNav: ac range: 65.434921 m, nav range: 42.252468 m, bearing: 337.200876 deg, approach rate: -0.759690 m/s, LOS rate: -0.241154 deg/s, cmd heading: 343.350604 deg, new cmd heading: 343.069277 deg. e%eHeadingCmd: 5.987689 target range: 65.434921 and range: 65.90 m.bm%@ZirijiRiJiBi~q~q}qH>HCHIH~BH =HH)DHx<HEHIHIHIHM =IM = IM 6||||@r,@@ M~Bu_= yy}-;UK<|=i%@iyE?EEEo0Eԙ=checking for new query: numPingsReceived=42, elapsed TxPingTime=21.676298II:J[BJXJJ=RJZJ:bJ5K9Jg4JzJ:jJ: Jf: rJf: 6G {= ~G! A) AA NM >~,3iA9>ƹ@>@Y>g}=y>ϖ=>HC?"?if?Gп?RB?@-? >ƹ@>;)>CLVe~BZsI}Mb@Mb@Mb@yyy y)yY}ʡE?Zd;?:vy}=?}y=}T}A }@)}dAI}@yy}Q@I I(2 >=yPQ >٥ H>F( >f5H?f5K]O"K9*K2K:K=q^^r sy y]JV8DM1J>J?9& I؋By]>?:2@^Ei;c;f5 AE!%DNOT Ignoring new targets: 65.43 m.--= ProNav: ac range: 65.434921 m, nav range: 41.940727 m, bearing: 337.104060 deg, approach rate: -0.718732 m/s, LOS rate: -0.224874 deg/s, cmd heading: 343.069282 deg, new cmd heading: 342.776676 deg. =TEHeadingCmd: 5.982582 target range: 65.434921 and range: 65.90 m.bEOq@ZArAjARAJIBI~I~M<}B}Q|Q|Q|Q|]`a@@ ~B靍?:! m checking for new query: numPingsReceived=42, elapsed TxPingTime=22.184326I~, "iA9:%@:Э@Y: |=y:Fo=:H??`c? п`\?`| ݭ?? :%@:Z;):CJW~BJjIIRIR?13V Z[=yZQ Z>٥\\ ^H\bl; b>`ff5b_?jf59bp Ib͋Byhj7n@b^Eib ;b ;bҥf5rKBr ArExDNOT Ignoring new targets: 65.43 m.vv% ProNav: ac range: 65.434921 m, nav range: 41.671803 m, bearing: 337.021021 deg, approach rate: -0.693774 m/s, LOS rate: -0.215606 deg/s, cmd heading: 342.776677 deg, new cmd heading: 342.525955 deg. %5HeadingCmd: 5.978206 target range: 65.434921 and range: 65.90 m.b5vM@Z1r1j1R1J1B9~9~9}9|A|A|A|E@+@@ u~Bu<HCHIH~BH =HH+DH<HE6GI@=~GAAN>ԉ r~,x٥ H?F >f5{?f59) IBy=?:D@^Ei $;";ߩf5!AEDNOT Ignoring new targets: 65.43 m.## ProNav: ac range: 65.434921 m, nav range: 41.336681 m, bearing: 336.922440 deg, approach rate: -0.752170 m/s, LOS rate: -0.223057 deg/s, cmd heading: 342.525955 deg, new cmd heading: 342.227815 deg. HeadingCmd: 5.973002 target range: 65.434921 and range: 65.90 m.b"@ZrjRJB~~;}B}|!|!|!|%@@ ~Bkh~,ViAԙ9d@n@Yv=y/=H?1?@է?5ѿ`?@Gͮ ե?`? d@Z;)C-~B5@IIMIM2] ]K=y]YQ ]>٥aa eHe@FeR m>i}f5ms?}f59m ImByy}L}@m^Eimf:m:maf5"AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.`` ProNav: ac range: 65.434921 m, nav range: 41.046032 m, bearing: 336.838970 deg, approach rate: -0.678786 m/s, LOS rate: -0.196315 deg/s, cmd heading: 342.227803 deg, new cmd heading: 341.975624 deg. HeadingCmd: 5.968601 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||`qA@ ~Bާ checking for new query: numPingsReceived=42, elapsed TxPingTime=23.444242G~,IpiA9b[F@bP@YbW`s=ybB&=bH?mj???@ѿ ?H5ug~?? b[F@b|4;)bCj}Bj0IIrIr3za zg=yzhQ ~>٥|| ~H, > f5 ?f59  I ByP@ ^Ei : : zf5!%~"A!He>HaHeeIHeO~BHe =HaHaHe<HeEy}DNOT Ignoring new targets: 65.43 m.}} ProNav: ac range: 65.434921 m, nav range: 40.789413 m, bearing: 336.765680 deg, approach rate: -0.769681 m/s, LOS rate: -0.221205 deg/s, cmd heading: 341.975633 deg, new cmd heading: 341.754379 deg. HeadingCmd: 5.964739 target range: 65.434921 and range: 65.90 m.b%߾@ZrjRJB~~}||||@.A@ ~B靽xԩ k"~,'iA}BIi%٥ HAF >f5Iļ?f59 IByl=?:}j@^Ein;3;Cf5LB #A EK5O"K5s9*K12K5:K5J $\ea`60 \iuC =$aD^& xQNQUDNOT Ignoring new targets: 65.43 m.]4T]4Tm ProNav: ac range: 65.434921 m, nav range: 40.474892 m, bearing: 336.686250 deg, approach rate: -0.728956 m/s, LOS rate: -0.185522 deg/s, cmd heading: 341.754389 deg, new cmd heading: 341.514250 deg. mqchecking for new query: numPingsReceived=42, elapsed TxPingTime=23.948229 HeadingCmd: 5.960548 target range: 65.434921 and range: 65.90 m.b ϼ@ZrjRJB~~|B}||!|!|%gA@ ~B靕Bץ (~,YiA9: @:R@Y:`g=y:6,=:Hò?O?nإ?ࣳѿ?@Vvy?? : @:;):CF}BJIIjIj2rx r\=yrQ r>٥xx zH| >  f5 ڼ?f59  I Byq@ ^Ei : : f5%MB%#A%EIMDNOT Ignoring new targets: 65.43 m.UOUOe ProNav: ac range: 65.434921 m, nav range: 40.202950 m, bearing: 336.619459 deg, approach rate: -0.734677 m/s, LOS rate: -0.181662 deg/s, cmd heading: 341.514240 deg, new cmd heading: 341.312513 deg. eXmHeadingCmd: 5.957027 target range: 65.434921 and range: 65.90 m.bm@ZqrqjyRyJB~~}||||A@ ~B靽 ~GAA N*>checking for new query: numPingsReceived=42, elapsed TxPingTime=24.452412GYG]@AHe>HeCHe@IHe~BHe =HaHe(DHec<HeaE) 2.~,JiA89F@Fr@YFFkb=yF5=FH࿪??`Ť?@/ѿ@u?@I@3?}? F@Fb;)FCN}BNIchecking for new query: numPingsReceived=42, elapsed TxPingTime=24.705172:J YBJ TJJ BRJ ZJ 9bJ :9J -4J zJ f:jJ k:J UJ:rJ WJ:=Mb@Mb@Mb@999 9)9Y=ʡE?Zd;O?Zd;Oy==?=j<=j=@ =@)=dAI=`@9y==@I}I}T3@ 0=yc:Q >٥ HBF >f5?f59 IBy=?:@^Eid;;f5#AE!imDNOT Ignoring new targets: 65.43 m.u9u9 ProNav: ac range: 65.434921 m, nav range: 39.865982 m, bearing: 336.543249 deg, approach rate: -0.709511 m/s, LOS rate: -0.161823 deg/s, cmd heading: 341.312503 deg, new cmd heading: 341.081941 deg. ޻HeadingCmd: 5.953003 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~|B}||||VA@ 5x~B5 vͮ5~,iA(9F@Fǿ@YF?C^=yF;=FHC?o?@?@Fҿƛ?cīUf?^? F@F ;)DRm}BRI)X XXZAI^I^2f>  jn=yj]AQ j?٥hl nHnCFn؄ n?pvf5rr ?zf59r IrxByxzۃz@r^Eir;r7;rf5|~$A|!-DNOT Ignoring new targets: 65.43 m.-A5A= ProNav: ac range: 65.434921 m, nav range: 39.614765 m, bearing: 336.487638 deg, approach rate: -0.759870 m/s, LOS rate: -0.169275 deg/s, cmd heading: 341.081943 deg, new cmd heading: 340.914054 deg. EXEHeadingCmd: 5.950073 target range: 65.434921 and range: 65.90 m.bEf@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|]`A@ ]q~B]ԩ  checking for new query: numPingsReceived=42, elapsed TxPingTime=25.460218;~,GiA9>@>@Y>sY=y>hC=>Hm? q??jҿ?@~F`F4 a?? >@>BЇ;)>Cpr_}BrIIz H>HCHIH}BH =HH'DHH<H/EIz2E!  ED=yM-Q M>٥IQ UHQU ] U>Yef5]$?ef59] I]kByimm@]^Ei]:]:]8f5uNBu$AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.N2N2- ProNav: ac range: 65.434921 m, nav range: 39.309528 m, bearing: 336.421640 deg, approach rate: -0.715403 m/s, LOS rate: -0.155886 deg/s, cmd heading: 340.914057 deg, new cmd heading: 340.714526 deg. -ջ5HeadingCmd: 5.946590 target range: 65.434921 and range: 65.90 m.b5xJ@Z1rQjQRQJYBY~Y~Y}a|a|a|a|e R3B@ i~Bl`B~,i iAA}BI9Mb@Mb@Mb@ )Y1Zd?~jthMby";?DdA @)AI@y@I"Iq3 @=yQ >)  ٥! %H-DFE M>mGchecking for new query: numPingsReceived=42, elapsed TxPingTime=25.966131K|P"K+9*K2K:K<-c{PzWz2Om9Xiq4\ B\hL@UD ؿYy1Af5>?f59O I^By.;?:@^Ei<Y;f5n%AE)5DNOT Ignoring new targets: 65.43 m.5o 5o E ProNav: ac range: 65.434921 m, nav range: 38.985783 m, bearing: 336.367750 deg, approach rate: -0.726314 m/s, LOS rate: -0.121904 deg/s, cmd heading: 340.714534 deg, new cmd heading: 340.551522 deg. ERHeadingCmd: 5.943745 target range: 65.434921 and range: 65.90 m.b)3@ZrjRJB~~~|B}|!|!|!|%VnB@i _~BĺU9J 4J  @ @ @ @ 6G vpx=~G A A N >H~,AD%iA9>A"@>+@Y>U=y>8=>HEq??`V?pӿ` n?`%?`? >A"@>e;)>C^}BbIi`Ib= fa=fa=IrIr(*3%K %X=y-REQ ->٥)) -H-EF5 5>9Ef5=S?Ef59=j I=UByAM؟M@=^Ei=u:=`:==f5Ye&AeޭEDNOT Ignoring new targets: 65.43 m.CC ProNav: ac range: 65.434921 m, nav range: 38.727013 m, bearing: 336.329234 deg, approach rate: -0.738868 m/s, LOS rate: -0.110710 deg/s, cmd heading: 340.551511 deg, new cmd heading: 340.435191 deg. HeadingCmd: 5.941715 target range: 65.434921 and range: 65.90 m.b"@ZrjRJBԹ~~}||||B@ X~BV;I)I&< ; =ծ /<Z=i"@iEEEE1E6GI@=~GAAQAiN}7>checking for new query: numPingsReceived=42, elapsed TxPingTime=26.468130 H<H<H>HCHIHz}BH =HH*DH@<H٥ H >f5n?f598 IIByJ@?:ä@^Ei(::)f5(&ADNOT Ignoring new targets: 65.43 m.22 ProNav: ac range: 65.434921 m, nav range: 38.392029 m, bearing: 336.283446 deg, approach rate: -0.745669 m/s, LOS rate: -0.102812 deg/s, cmd heading: 340.435179 deg, new cmd heading: 340.296617 deg. HeadingCmd: 5.939296 target range: 65.434921 and range: 65.90 m.b@Z r j R J B ~~|B}||||B@ ]N~B] +U~,YXiA9FF@F@YFN=yF"=FH M?o? ?xMԿL? e`ѩ?:?-? FF@F6;)D|BII-I-<25 5b=y=Q =>٥AA EHEFFE0 M>IUf5M?Uf59M" IM@ByY] ]@M^EiM;M ;MQf5eOBe&AmۭEDNOT Ignoring new targets: 65.43 m."˺"˺ ProNav: ac range: 65.434921 m, nav range: 38.121872 m, bearing: 336.251752 deg, approach rate: -0.751557 m/s, LOS rate: -0.088797 deg/s, cmd heading: 340.296608 deg, new cmd heading: 340.200851 deg. sHeadingCmd: 5.937625 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||`B@ F~Bt;I)cI%>< !)-;;=Q= checking for new query: numPingsReceived=42, elapsed TxPingTime=27.476280 I\~,riAHR>HRCHRIHR=}BHR =HPHR+DHRU<HRgE5|B5I)9 9AEAIIII] ]H=yeQ e>٥aa eHeGFm m>qf5u{?f59u<% Iu6By@u^EiuVP;uQ;uf5&AحEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.1̺1̺ ProNav: ac range: 65.434921 m, nav range: 37.816418 m, bearing: 336.215369 deg, approach rate: -0.743388 m/s, LOS rate: -0.089260 deg/s, cmd heading: 340.200849 deg, new cmd heading: 340.090820 deg. uHeadingCmd: 5.935705 target range: 65.434921 and range: 65.90 m.bK@ZrjRJB~~}||||T4C@ 5=~B=-;I9)=9I='< 9AEg;E豾MRQ c~,iA9FE@FSO@YF_D=yF͝٥ H >f5%?f59' I,By@?:׭@_Ei:g:f5PBH'AխE]checking for new query: numPingsReceived=42, elapsed TxPingTime=27.980307DNOT Ignoring new targets: 65.43 m.ѾѾ ProNav: ac range: 65.434921 m, nav range: 37.506908 m, bearing: 336.179563 deg, approach rate: -0.715114 m/s, LOS rate: -0.083412 deg/s, cmd heading: 340.090828 deg, new cmd heading: 339.982523 deg. dK P"K9*K2K:KYS)+W\B|3?w8Cr+6k7#=M}AJ>J? HeadingCmd: 5.933815 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~]|B}||!|!|%lC@) u3~Bu|8;Iq)uyI}5< yy}b<ಾ6I<sz=i@iEaEiEiEm05Eqa6Gu'HF=~GQAiAN|>ԉ  checking for new query: numPingsReceived=42, elapsed TxPingTime=28.233274:J [BJ NJJ ?RJ ZJ :bJ !9J ـ4J !1i~,iA09>@>!@Y>Y">=y>\p<>Hm?@/?7?5jտk?@w§\Ğ? y? >@>ц;)>CN|BRuIIVIV3rk rW=yrQ r>٥tt vHvHFzIp z>|f5~˽?f59~* I~#By@~_Ei~;~:~f5^'ADNOT Ignoring new targets: 65.43 m.  ProNav: ac range: 65.434921 m, nav range: 37.222511 m, bearing: 336.148593 deg, approach rate: -0.767562 m/s, LOS rate: -0.084223 deg/s, cmd heading: 339.982529 deg, new cmd heading: 339.888910 deg.  4g5HeadingCmd: 5.932180 target range: 65.434921 and range: 65.90 m.b5lԽ@Z1r1j9R9J9BA~I~I}I|q|q|q|uC@ *~B-@ϟ;I1)51I5 < 115T.<=ﶳ=ohHCHIH}BH =ԹHH*DH.<H%E6G- H= ~G A A! N- >Yp~,riAbchecking for new query: numPingsReceived=42, elapsed TxPingTime=28.736692dI ) @9@D@Y5=yZ=H?@?}?`տ`o?D Ǹm?@? @.;)C|BMkIiU4=IU%=Mb@Mb@Mb@ )Yx&1?٥ HIF >f5뽜?f59- IByA?:褾@ _Ei=;;sf5'AҭEDNOT Ignoring new targets: 65.43 m.%%E ProNav: ac range: 65.434921 m, nav range: 36.823662 m, bearing: 336.089955 deg, approach rate: -0.770194 m/s, LOS rate: -0.114458 deg/s, cmd heading: 339.888900 deg, new cmd heading: 339.711082 deg. EMHeadingCmd: 5.929077 target range: 65.434921 and range: 65.90 m.bM@ZIrIjIRIJIBQ~Q~U\|B}Q|Y|||C@ m~Bub.Bv~,BiA96ȶ@6|ҽ@Y6+=y6e=6H?@??@.ֿ ?@>x Y?? 6ȶ@6q;)4R|BRdIIbIb 3jJ. j=yjeQ j"?٥ll nHlrf r"?tzf5vb?zf59v/ IvByxz[z@v_Eiv*:v:9vf5y'AϭEDNOT Ignoring new targets: 65.43 m.NN ProNav: ac range: 65.434921 m, nav range: 36.616482 m, bearing: 336.060555 deg, approach rate: -0.708499 m/s, LOS rate: -0.101111 deg/s, cmd heading: 339.711070 deg, new cmd heading: 339.622369 deg. ȊHeadingCmd: 5.927528 target range: 65.434921 and range: 65.90 m.bP@ZrjRJB~~}!|!|!|!|-D@ =~BEV9IA)EIchecking for new query: numPingsReceived=42, elapsed TxPingTime=29.241198I-3]< ))-I<55Օ<5p!=i5P@i9:JuXBJuZJJuARJqZJu{9bJuS9Ju4JqyE%?E!E!E%_0E!ԑ6GE =jGM ?bGM ? ~G A1 AI NU > checking for new query: numPingsReceived=42, elapsed TxPingTime=29.492195~|~,giAH>HCHIH|BH =HH)DH><H2E9^@^@Y^|#=y^1=^H?Y?@ϖ?@ֿ?﫿 n 3?? ^@^{s;)^Cj|B~[II I̍2H 5D=yEQ E>٥II MHMJFU U>Yef5]?ef59]V2 I] Byaenm@]_Ei]:]P:]f5uQBu(AqͭEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 36.298286 m, bearing: 336.016796 deg, approach rate: -0.767952 m/s, LOS rate: -0.106536 deg/s, cmd heading: 339.622359 deg, new cmd heading: 339.489932 deg. :%HeadingCmd: 5.925217 target range: 65.434921 and range: 65.90 m.b%a@Z!r!j!R!J!B!~)~)})|Q|Q|Q|U8D@  ~Bv;I)I< !- <G<y6 \d~,*:iA |B `I) Mb@Mb@Mb@ )YS?y&1?{Gzty/=?`e<ף +@)I@yAII?13}< >=yQ >٥ HKF >f5.?f59 5 IBy8=?:@_EiD;:?f5  'A checking for new query: numPingsReceived=42, elapsed TxPingTime=29.996418QUDNOT Ignoring new targets: 65.43 m.]]m ProNav: ac range: 65.434921 m, nav range: 35.987110 m, bearing: 335.975851 deg, approach rate: -0.744466 m/s, LOS rate: -0.098805 deg/s, cmd heading: 339.489935 deg, new cmd heading: 339.366038 deg. muHeadingCmd: 5.923055 target range: 65.434921 and range: 65.90 m.bu@ZqryjyRyJyBy~~r|B}||||Y ~,"(iA9r[@rCe@Yr=yrN=rH??q?@ֿ@?.@ө?e? r[@r@;)p |B ]II Ib3-k' -V=y54٥19 =H9=ż =>AMf5EE?Mf59E7 IEByQUʰU@E_EiE;E;Ef5]RB] (A]ʭE1)5DNOT Ignoring new targets: 65.43 m.=,=,M ProNav: ac range: 65.434921 m, nav range: 35.705357 m, bearing: 335.942330 deg, approach rate: -0.704211 m/s, LOS rate: -0.084442 deg/s, cmd heading: 339.366036 deg, new cmd heading: 339.264681 deg. MgUHeadingCmd: 5.921286 target range: 65.434921 and range: 65.90 m.bU,{@ZQrQjQRYJYBY~Y~Y}a|a|a|a|mD@ }B靥L=;I)oIƓ< z <J<*H!H%IH%|BH% =H!H!H% <H%E6GMz =ZGQRGQԉ~G! A9 AI NU > y~,"AiAJchecking for new query: numPingsReceived=42, elapsed TxPingTime=30.753998:J`BJXJJBRJZJ:bJ5K9J-4JzJ:-jJ:-Jf:-rJf:-92>@G@Y=yGU=H@??G?h׿?F@p?^? 2>@骵i;)C|B[IԉMb@Mb@Mb@ )YʡE?Q?y=?<A @)I+@yzAI IV2  3=yoQ >٥ HLF >f5`?f59n: IBy=?:̧@"_Eim;tl;f5(AǭE!-DNOT Ignoring new targets: 65.43 m.-D5D= ProNav: ac range: 65.434921 m, nav range: 35.369209 m, bearing: 335.892006 deg, approach rate: -0.770920 m/s, LOS rate: -0.116511 deg/s, cmd heading: 339.264676 deg, new cmd heading: 339.112267 deg. E럻MHeadingCmd: 5.918626 target range: 65.434921 and range: 65.90 m.bMbe@ZIrIjIRIJIBQ~Q~U|B}Q|Y|Y|Y|]`;D@ }B靝;I)ɧI<< `3<Ә<3AUHGi ܿYyFA5checking for new query: numPingsReceived=42, elapsed TxPingTime=31.004522K P"K 9*K 2K :K ql=c wpy27O76/7C+e2 p(pM2Zw?#A n~,[iA969#@6,@Y6}~GA AY Aq N >= checking for new query: numPingsReceived=42, elapsed TxPingTime=31.508177H >H CH xIH |BH H H H P<H SEHH˓CH˓CH =I = I6˜~,ުuiA 9B@By@YB٥YY ]H]MF]I ]>amf5e錾?mf59eF? IeByquu@e+_EieL:e:e5f5y}>(AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 34.807861 m, bearing: 335.809936 deg, approach rate: -0.734356 m/s, LOS rate: -0.107917 deg/s, cmd heading: 338.998790 deg, new cmd heading: 338.864070 deg.  HeadingCmd: 5.914294 target range: 65.434921 and range: 65.90 m.bA@ZrjRJB~~}||||9E@ %}B%ȭ;I))-O1I=4@< 99=RJIZJM:bJM%9JMt4JIzJM;jJM;JM&:rJM&:6GU<~G) A1 Aa Nm > ~,됏iA9B@B@YB٥aa mHmNFmk m>q}f5uФ?f59uA IuBy;?:桾@u0_Eiu;u;uf5(AEchecking for new query: numPingsReceived=42, elapsed TxPingTime=32.012211AEDNOT Ignoring new targets: 65.43 m.mNmN} ProNav: ac range: 65.434921 m, nav range: 34.511105 m, bearing: 335.757522 deg, approach rate: -0.703310 m/s, LOS rate: -0.125289 deg/s, cmd heading: 338.864072 deg, new cmd heading: 338.705477 deg. }HeadingCmd: 5.911526 target range: 65.434921 and range: 65.90 m.b8+@ZrjRJB~~p|B}||||pE@ M}BM;IQ)UhYIe< <)Jom<2OiEEEEE checking for new query: numPingsReceived=42, elapsed TxPingTime=32.2664306G 9fܩ~,]iA9:U@:@Y:*٥XX ZHXZ9 ^>)5f5-?5f59-D I-By15Ρ=@-4_Ei-M;-';-3f5AE(AEEy}DNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 34.223888 m, bearing: 335.705832 deg, approach rate: -0.761086 m/s, LOS rate: -0.138121 deg/s, cmd heading: 338.705475 deg, new cmd heading: 338.549104 deg. HeadingCmd: 5.908797 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||E@ }BK;I)I>< <ӯ l<źHCHqIH|BH =HHHe<HqEy6G%<ZGRG~G A! A1 NE >ԡ Ȱ~,8JiA>checking for new query: numPingsReceived=42, elapsed TxPingTime=32.770947I|I|:JZBJMJJRJZJ9bJ9JJzJ0:jJ5:J+:rJ-:q9J @@Yk٥ HOF: >!-g5%׾?-g59%F I%ߊBy5;?5:5ӛ5@%:_Ei%:%:%Ng5=TB=(A=EDNOT Ignoring new targets: 65.43 m.1'1' ProNav: ac range: 65.434921 m, nav range: 33.881863 m, bearing: 335.636284 deg, approach rate: -0.711658 m/s, LOS rate: -0.146172 deg/s, cmd heading: 338.549118 deg, new cmd heading: 338.338367 deg. ȻHeadingCmd: 5.905118 target range: 65.434921 and range: 65.90 m.b@ZrjRJABA~A~Er|B}I|I|Q|Y|}E@ԡ }B;I)I8\< H<z<M=i@i E?EEE5E checking for new query: numPingsReceived=42, elapsed TxPingTime=33.020191K *P"K 9*K 2K :K S 0a5C>C.-eC>[ q"I AiJ) J) 6G F< ~G A A1 NU >~,iA9F$@F@YFG[_Ei : ; ;g5!%(A)iuDNOT Ignoring new targets: 65.43 m.}3}3 ProNav: ac range: 65.434921 m, nav range: 33.637936 m, bearing: 335.585336 deg, approach rate: -0.746779 m/s, LOS rate: -0.157105 deg/s, cmd heading: 338.338366 deg, new cmd heading: 338.184416 deg. ׻HeadingCmd: 5.902431 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||[F@ }B4;I)Ij< !%4&<%'¾-m<X=i@ichecking for new query: numPingsReceived=42, elapsed TxPingTime=33.274319EE?EAEIEM]0EI6G%l=~GAANI>)% checking for new query: numPingsReceived=42, elapsed TxPingTime=33.524303a H >H H kIH |BH  =H H H <H E~,iA9>%@>%@Y>x1b׊=>H? Q?mF׿@? A%bV?? >%@>&ʆ;)>CN^|BN4IIVIV3^e ^N=ybxQ b>٥`` fHdfI; f>hng5j?ng59jK Ij֊Byprr@jB_Eij:j:jg5tv+)AvEB*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 65.43 m.-4-4 ProNav: ac range: 65.434921 m, nav range: 33.349247 m, bearing: 335.523437 deg, approach rate: -0.731122 m/s, LOS rate: -0.158121 deg/s, cmd heading: 338.184413 deg, new cmd heading: 337.997109 deg. ٻHeadingCmd: 5.899162 target range: 65.434921 and range: 65.90 m.bż@ZrjRJB~~}||||;F@ }Bބ;I)!I%b< !!%g!<-ľ-#<9M=iUż@iYzEiE%?E!E)E-_0E)F5=F5=qchecking for new query: numPingsReceived=42, elapsed TxPingTime=33.778606:J\BJXJJ@RJZJ=:bJ5K9JJ4JzJ:jJ:Jf:rJg:6G1ԉ~G A A! N= >Թ ~,iA9F$@F>.@YF۹=ygF9Q >٥ HQF; >g5?g59sM IҊByI9?:a@G_Ei:$:s g5UB;)AEchecking for new query: numPingsReceived=42, elapsed TxPingTime=34.028648aeDNOT Ignoring new targets: 65.43 m.m/m/ԑ ProNav: ac range: 65.434921 m, nav range: 33.040871 m, bearing: 335.455874 deg, approach rate: -0.695161 m/s, LOS rate: -0.153727 deg/s, cmd heading: 337.997102 deg, new cmd heading: 337.792521 deg. ӻHeadingCmd: 5.895592 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~|B}||||sF@ M}BMT0;IQ)UʞQIUzr< QQU#<]rƾ]<]p /=i]@iaK-/P"K-9*K)2K- :K-Z+>T5&@=%yn!nTeZtP%gv1D9J9J=?EEE E E 6G =~GAANg> checking for new query: numPingsReceived=42, elapsed TxPingTime=34.281952 *~,*iA9:-@:i7@Y:٥hh nHnRFr@; r>tvg5v1?zg59vO IvΊByxzΙz@vL_EivL:vz:vg5|)AEDNOT Ignoring new targets: 65.43 m.b:b: ProNav: ac range: 65.434921 m, nav range: 32.768051 m, bearing: 335.394488 deg, approach rate: -0.718222 m/s, LOS rate: -0.162949 deg/s, cmd heading: 337.792524 deg, new cmd heading: 337.606834 deg. ߻HeadingCmd: 5.892351 target range: 65.434921 and range: 65.90 m.b#@ZrjR!J!B!~!~!})|)|)|)|5@F@ }}B靅HL4;I)᣾Ir< *!<uȾ3<d==i#@iEM?EIEIEMo0EIchecking for new query: numPingsReceived=42, elapsed TxPingTime=34.533394 HiHm<Hu>HuCHu_IHu|BHu =HqHu(DHu<HuE6G"=~G A A) N5 >I ~,ԙDiA&checking for new query: numPingsReceived=42, elapsed TxPingTime=34.78627809 0@9@Y8ɿ٥ H: >g5N?g59R IɊBy.;?:l@R_Ei; ;g5VB)AEDNOT Ignoring new targets: 65.43 m.22  ProNav: ac range: 65.434921 m, nav range: 32.409744 m, bearing: 335.320597 deg, approach rate: -0.746695 m/s, LOS rate: -0.155688 deg/s, cmd heading: 337.606825 deg, new cmd heading: 337.382703 deg.  ջHeadingCmd: 5.888439 target range: 65.434921 and range: 65.90 m.bn@ZrjRJB~~]|B}!|!|!|!|%`F@ }B< ;I)I< N</ʾ<oK=in@iE?EEE_0EFFAchecking for new query: numPingsReceived=42, elapsed TxPingTime=35.036572 K 'O"K *K 2K :K CE8{a'  )YL,/ IN6G @A=ZG RG ~G A A N >>~,c^iA\}-|B}II!Ii3 l=yQ ?٥ HSF ?g5Mc?g59T IŊBy@V_EiM;N;!g5)AEAMDNOT Ignoring new targets: 65.43 m.UE/UE/m ProNav: ac range: 65.434921 m, nav range: 32.157009 m, bearing: 335.267480 deg, approach rate: -0.723409 m/s, LOS rate: -0.153232 deg/s, cmd heading: 337.382713 deg, new cmd heading: 337.222111 deg. uRһHeadingCmd: 5.885636 target range: 65.434921 and range: 65.90 m.b"W@ZrjRJB~~}|||| G@Uchecking for new query: numPingsReceived=42, elapsed TxPingTime=35.288380J;4J;މ4J;J0:JZBJNJJ?RJZJ9bJ!9Jـ4J%@5@5@5@A %y}B%X@;I))-)I5< 115n<=˾=<=T=i]"W@iaE?EEEo0EQԁ 6G BO=  A checking for new query: numPingsReceived=42, elapsed TxPingTime=35.540745He >He CHe LIHe |BHe  =Ha He )DHe J<He CE~G A A N g~,"7xiA9:(@:32@Y:w٥`` fHdj'# j>| g5~&y? g59~V I~By  䠾 @~Z_Ei~:~2:~cg5%*A%E=B*** querying acoustic contact ***JARAIUDNOT Ignoring new targets: 65.43 m.U72U72Ym ProNav: ac range: 65.434921 m, nav range: 31.886286 m, bearing: 335.210093 deg, approach rate: -0.728830 m/s, LOS rate: -0.155807 deg/s, cmd heading: 337.222121 deg, new cmd heading: 337.048499 deg. mջ}HeadingCmd: 5.882606 target range: 65.434921 and range: 65.90 m.bO>@ZrjRJB~~}||||N=G@ q}BsI)QI< r<;@<J[=iO>@iEU?EQEQEU5EQ6G50P=ԉ~GAA)N5.>}checking for new query: numPingsReceived=42, elapsed TxPingTime=35.794968Ա )i i EG A P~,iA9v @v@Yv@٥II MHMTFU U>amg5es?ug59eY IeByuW;?u:uu@e__Eie ;er;eSg5}WB)AEDNOT Ignoring new targets: 65.43 m."" ProNav: ac range: 65.434921 m, nav range: 31.558533 m, bearing: 335.147175 deg, approach rate: -0.730236 m/s, LOS rate: -0.141638 deg/s, cmd heading: 337.048498 deg, new cmd heading: 336.857783 deg. i»HeadingCmd: 5.879277 target range: 65.434921 and range: 65.90 m.bM #@ZIrIjIRIJIBQ~Q~Ub|B}Y|a|a|i|m`xG@ f}B靽j;I)I< F< ξ<,Y=i #@iKP"K}9*K2K :K 1I/%(`eT;:Ui BJ?J?E}?EEEZ4Eu checking for new query: numPingsReceived=42, elapsed TxPingTime=36.2968676G JR=:J YBJ SJJ BRJ ZJ 9bJ y69J -4J ~G A A N >9 x~,iA=|B= IIUIU2mC mY=ymQ m>٥qq uHuUFu }>g5J?g59[ IBy@d_Ei::!g5F*ADNOT Ignoring new targets: 65.43 m.U#U#e ProNav: ac range: 65.434921 m, nav range: 31.286421 m, bearing: 335.093930 deg, approach rate: -0.724405 m/s, LOS rate: -0.142978 deg/s, cmd heading: 336.857772 deg, new cmd heading: 336.696649 deg. e?ĻmHeadingCmd: 5.876465 target range: 65.434921 and range: 65.90 m.bm @ZirijqRqJB~~}||||G@ 5]}B5@R:I9)=s9IE< AAEHH9IHh|BH =HHH+<HEHĒCHĒCHH =I = II 6Ai6GY=~G A A N >ԡ e~,wiAchecking for new query: numPingsReceived=42, elapsed TxPingTime=36.802895i{BIUMb@Mb@Mb@QQQ Q)QYU-??Ut٥y HVF >g5Ŀ?g590_ IBy;>?:@i_Ei;;%g5*AEDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 30.936386 m, bearing: 335.046316 deg, approach rate: -0.739062 m/s, LOS rate: -0.101669 deg/s, cmd heading: 336.696661 deg, new cmd heading: 336.552204 deg. HeadingCmd: 5.873944 target range: 65.434921 and range: 65.90 m.bZ@Zr j R J B ~~A|B}|||)|-WG@ ]R}B] :I)I[< ^~<Ѿ<l=iZ@iԙEu?EqEyE}o5Eychecking for new query: numPingsReceived=42, elapsed TxPingTime=37.0523266G d=K WP"K ŷ9*K 2K :K i^g/&7,M5akp4]B ,o%o)r{e~Gq Ay A N > ݊~,iA96 @6ɼ@Y6Ja=6H`??uw?׿y?`@S!?@Q? 6 @6;)6CN{BRIIj Ij̍2vUp< v=yz;Q z ?٥yy H ?g5ؿ?g59a IBy⽾@m_Eiq::(g5XB*AEDNOT Ignoring new targets: 65.43 m.cкcк ProNav: ac range: 65.434921 m, nav range: 30.685362 m, bearing: 335.015968 deg, approach rate: -0.747361 m/s, LOS rate: -0.091093 deg/s, cmd heading: 336.552216 deg, new cmd heading: 336.460427 deg. zHeadingCmd: 5.872342 target range: 65.434921 and range: 65.90 m.b:@ZrjRJB~~}| |||0H@ ]J}B]4aIa)e;aIeԏ< aae  checking for new query: numPingsReceived=42, elapsed TxPingTime=37.556236H- >H- CH- &IH- I|BH-  =H) H- *DH- c<H- tEQ Q~,iA9>b@> @Y>&ՄT=>H?`F?=fz?6ؿՏ?R i✿ ي?? >b@>a;)>Cv{BzIII2 H=yQ >٥ HWF%c@ %>)5g5-jᅵ?5g59-dd I-By1=A=@-r_Ei- ;-;-,g5AE*AAmB*** querying acoustic contact ***JiRiy}DNOT Ignoring new targets: 65.43 m.ZºZº ProNav: ac range: 65.434921 m, nav range: 30.396324 m, bearing: 334.982933 deg, approach rate: -0.736344 m/s, LOS rate: -0.084958 deg/s, cmd heading: 336.460419 deg, new cmd heading: 336.360372 deg. 9iHeadingCmd: 5.870596 target range: 65.434921 and range: 65.90 m.bۻ@ZrjRJB~~}||||f@H@ A}B@:I){I{< (4"<>Ӿ?<  G=i ۻ@i 1EEEEE6GJR=~GaAyANA> M=Ia}checking for new query: numPingsReceived=42, elapsed TxPingTime=37.815041IIAAԉ ,]iA9:u@:U@Y:I?mף;mĻmEA mA@)mAIiiymAII2checking for new query: numPingsReceived=42, elapsed TxPingTime=38.060368# B=y Q >٥ H- >g5?g59g IByy>?:cž@w_Ei3;';/g54+AE DNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 30.081736 m, bearing: 334.952283 deg, approach rate: -0.744823 m/s, LOS rate: -0.073328 deg/s, cmd heading: 336.360370 deg, new cmd heading: 336.267457 deg. KIHeadingCmd: 5.868974 target range: 65.434921 and range: 65.90 m.bλ@ZrjRJB~~!|B}| | |)|-@9zH@ 7}B靅@:ԩI)I< #<Ծ<n>=iλ@iKey^P"Ke9*Ka2Ke:Kejw\Sb58zyMGc%KH}.%R1O Dlff"Jm>Jm>Eu?EqEqEqEyU checking for new query: numPingsReceived=42, elapsed TxPingTime=38.3126986G ,3-iA9>I@>RS@Y>E=>H|? ?o{?ؿr?.A@A? U? >I@>\;)>CF{BFIIV IV̍2^ ^Z=ybQ b>٥`` bHbXFf3k f>hng5j?|Ug59jKj IjByQU%ȾU@j{_Eij#HCHIH+|BH =HH)DHW<H]Echecking for new query: numPingsReceived=42, elapsed TxPingTime=38.5695466G9=~GAANB>Qԁ ,&GiAchecking for new query: numPingsReceived=42, elapsed TxPingTime=38.822910INR=INa=Y{BMb@Mb@Mb@ )Y?~jth?٥ HYF >g5:?g59n IBy@?:pɾ@_Ei;;s7g5YB\+AE)-DNOT Ignoring new targets: 65.43 m.55E ProNav: ac range: 65.434921 m, nav range: 29.427666 m, bearing: 334.895191 deg, approach rate: -0.767595 m/s, LOS rate: -0.066888 deg/s, cmd heading: 336.192867 deg, new cmd heading: 336.094242 deg. E7MHeadingCmd: 5.865951 target range: 65.434921 and range: 65.90 m.bMߵ@ZIrIjIRQJQBQ~Q~]|B}Y|Y|a|a|e H@ԁ %!}B-=K P"K 59*K 2K :K wl}7P{#zc&BT7y3L6$e J J ~G A! A9 NM >,`iA9RK@R@YRH >H H IH |BH  =H H (DH '<H E checking for new query: numPingsReceived=42, elapsed TxPingTime=39.5763091 x,ziA9Vش@VX@YVQ;)VCb{BbIIjIj3vT? vL=yvQ v>٥xx zHzZFz; ~>g5pd? g59s IBy  о @_EiP:~:=g5ZB+AE5B*** querying acoustic contact ***J1R1DNOT Ignoring new targets: 65.43 m.]] ProNav: ac range: 65.434921 m, nav range: 28.892733 m, bearing: 334.860239 deg, approach rate: -0.775671 m/s, LOS rate: -0.048514 deg/s, cmd heading: 336.044815 deg, new cmd heading: 335.988395 deg. -HeadingCmd: 5.864104 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||`CI@ -}B5`فIY)]˥YI]f< YY]L)jEyE ?E E E 1E FFA6Gs=A~GAANK>]checking for new query: numPingsReceived=42, elapsed TxPingTime=39.830563:J[BJQJJCRJZJ:bJ-.9J4JzJ: jJ:J4:rJ4:%yԙ `$,4iA9: @:@Y:q٥יםAchecking for new query: numPingsReceived=42, elapsed TxPingTime=40.081047 H[F >g5}?g59w IByWC?:VѾ@_Ei(::oAg5+AEDNOT Ignoring new targets: 65.43 m. X Xq ProNav: ac range: 65.434921 m, nav range: 28.565834 m, bearing: 334.840624 deg, approach rate: -0.778150 m/s, LOS rate: -0.047226 deg/s, cmd heading: 335.988398 deg, new cmd heading: 335.928879 deg. HeadingCmd: 5.863065 target range: 65.434921 and range: 65.90 m.b:@ZrjRJB~~|B}||||`y{I@ U}BU~:IY)]ߠYI]e< YY]* `+,eiA96@6Q@Y6٥\\ ^H\b# b>dfg5f?jg59fz IfByhj:Ӿn@f_Eif;f ;fDg5pr+ArEDNOT Ignoring new targets: 65.43 m..4.4% ProNav: ac range: 65.434921 m, nav range: 28.281704 m, bearing: 334.825333 deg, approach rate: -0.724511 m/s, LOS rate: -0.039382 deg/s, cmd heading: 335.928866 deg, new cmd heading: 335.882533 deg. -8غEHeadingCmd: 5.862256 target range: 65.434921 and range: 65.90 m.bE@ZArIjIRJB~~}||||୮I@ |B:I)IV< p+<  ׾?b<HIHMIHM|BHM =HIHIHM<<HM,Echecking for new query: numPingsReceived=42, elapsed TxPingTime=40.585972EU?EYEYE]&3EY) 6G} e[=~GQ Aa Aq N >U checking for new query: numPingsReceived=42, elapsed TxPingTime=40.836136Y 2,>wiA:JJcBJJ^JJJKRJHZJJ:bJJd9JJ(4JHzJJ;jJJ;JJ:rJJ:9%|@%E@Y%?٥ H\F߻ >g5X?g59~ IzBy C?:Ͼ%@_E9iX~<z<Ig5Qq ڿYypA[B+AEYeDNOT Ignoring new targets: 65.43 m.mxhmxh ProNav: ac range: 65.434921 m, nav range: 27.898649 m, bearing: 334.798898 deg, approach rate: -0.726261 m/s, LOS rate: -0.050810 deg/s, cmd heading: 335.882530 deg, new cmd heading: 335.802134 deg. { HeadingCmd: 5.860853 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~=|B}||||I@Q |B靵(T);I)I< +-<;ؾJ_<9,+iA9b#b@bk@Ybք٥11 =H=]F=~ =>AMg5Uchecking for new query: numPingsReceived=42, elapsed TxPingTime=41.340355E?]g59E IEvByY]hѾ]@E_EiEc;Ec;EbLg5am+AiDNOT Ignoring new targets: 65.43 m.   ProNav: ac range: 65.434921 m, nav range: 27.608614 m, bearing: 334.780326 deg, approach rate: -0.865062 m/s, LOS rate: -0.055973 deg/s, cmd heading: 335.802125 deg, new cmd heading: 335.745826 deg. HeadingCmd: 5.859870 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}|||| J@ %|B%bI!)-M)I-䅮< ))-}%.<5ϼؾ5W<5[HCHIH |BHHHH8<HEHIHIHIHM =II IMZ6   checking for new query: numPingsReceived=42, elapsed TxPingTime=41.592388~G! A) AA NM >Q 6,?,iA96Q@6V[@Y6٥pt vHtv짻 v>| g5~? g59~H I~qBy  nҾ@~_Ei~|;~:~Og5EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.OO  ProNav: ac range: 65.434921 m, nav range: 27.308266 m, bearing: 334.761942 deg, approach rate: -0.733509 m/s, LOS rate: -0.045391 deg/s, cmd heading: 335.745817 deg, new cmd heading: 335.690059 deg.  59UHeadingCmd: 5.858897 target range: 65.434921 and range: 65.90 m.bU|@ZQrQjQRYJYBY~Y~Y}a|a|a|a|mOJ@ |BF;I)BI< 8/Թ  checking for new query: numPingsReceived=42, elapsed TxPingTime=42.096241F,(~iA9>E@>O@Y>Dz=>Hg? ?@w`ڿ?@?&H;?? >E@>I;)>CF{BFILNA%Mb@Mb@Mb@!!! !)!Y%x&1??Mb`y%A?%<%! %A@)%3AI!!y!II2. :=yQ >٥ H^FW  > g5 ?g59  I nByA?: ˾@ _Ei ; ; Sg5%\B-+A-EQ]DNOT Ignoring new targets: 65.43 m.eNmN} ProNav: ac range: 65.434921 m, nav range: 26.976154 m, bearing: 334.730939 deg, approach rate: -0.787783 m/s, LOS rate: -0.074446 deg/s, cmd heading: 335.690055 deg, new cmd heading: 335.595902 deg. }]LHeadingCmd: 5.857254 target range: 65.434921 and range: 65.90 m.bn@ZrjRJBԑ~~F|B}|||| &J@ |Bu&;Iq)u^qI}x< yy}d;0<ھ;<VJ>E-?E)E)E-_0E)}checking for new query: numPingsReceived=42, elapsed TxPingTime=42.3482406G- <~G A) Aa N > =L,X3iA9>?@>`I@Y>=>H@?=?b}ڿs?`԰u?? >?@>;)>CF{BFIININ?13V < Vb=yZQ Z>٥`` bHb_Ff f>hng5j2?ng59jx IjkByprl˾r@j_Eij;j;jVg5tv+AtDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 26.701487 m, bearing: 334.705157 deg, approach rate: -0.756115 m/s, LOS rate: -0.071704 deg/s, cmd heading: 335.595908 deg, new cmd heading: 335.517766 deg. DHeadingCmd: 5.855890 target range: 65.434921 and range: 65.90 m.bsc@ZrjRJB~~}||||J@ H=<H9HM>HIHIHIHM =HIHIHM#<HME |B靅B;I)IO< )1<}ھ1<I  checking for new query: numPingsReceived=42, elapsed TxPingTime=42.852531I C=I 4=:J XBJ JJJ ?RJ ZJ {9bJ &9J ـ4J zJ :jJ :J :rJ :+S,MMiA 9=@;G@Ybw?!>?@? =@骅;)C{BI=Mb@Mb@Mb@999 9)9Y=%C?~jt?~jth?y=ZD?=D==D;=rA =n@)=EAI99y=AIUIU2e& m1=ym;_Q m>٥qq uHqu u>yg5})?g59}Ӎ I}hByD?:@}_Ei};}&;}Zg5+AEDNOT Ignoring new targets: 65.43 m._ _ A ProNav: ac range: 65.434921 m, nav range: 26.348745 m, bearing: 334.649162 deg, approach rate: -0.762875 m/s, LOS rate: -0.122722 deg/s, cmd heading: 335.517771 deg, new cmd heading: 335.347538 deg. rHeadingCmd: 5.852919 target range: 65.434921 and range: 65.90 m.bK@ZrjRJB~~|B}||||J@ |Bړ;I)%y!I-w}< ))-2K 5$P"K 9*K 2K :K d]R[pmuJ=q#)qK5<Q]Xt(C!4QFAJ J 4PY,giA969@6JC@Y6d٥tt vHv`Fz z>Echecking for new query: numPingsReceived=42, elapsed TxPingTime=43.356258Yeg5] @?eg59]~ I]gByaee@]_Ei]::]:] ^g5m]Bu+AuEDNOT Ignoring new targets: 65.43 m.$ $ E ProNav: ac range: 65.434921 m, nav range: 26.069035 m, bearing: 334.603978 deg, approach rate: -0.745067 m/s, LOS rate: -0.121649 deg/s, cmd heading: 335.347535 deg, new cmd heading: 335.210528 deg. EMHeadingCmd: 5.850527 target range: 65.434921 and range: 65.90 m.bM7@ZIrIjIRIJQBq~q~q}y|y|y|y|K@ |B靝Hb;I)qIR< 2<ԩaݾ4<nH9H=IH=|BH= =H9H9H=F<H=6Echecking for new query: numPingsReceived=42, elapsed TxPingTime=43.6082126G < ~G A A N >7`,iAt~{BIII2E= ED=yMQ M>٥IQ UHUaFU U>iug5mX?ug59mu ImeByqy}@m_Eim;m;mag5{+AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 25.757870 m, bearing: 334.552557 deg, approach rate: -0.788922 m/s, LOS rate: -0.131948 deg/s, cmd heading: 335.210521 deg, new cmd heading: 335.054394 deg. HeadingCmd: 5.847802 target range: 65.434921 and range: 65.90 m.b2!@ZQrQjQRQJYBY~Y~Y}a|i|i||LSK@ |Bt;I ) Z Iu@< yy}T3<޾B<=i2!@i  aauchecking for new query: numPingsReceived=42, elapsed TxPingTime=43.864243IIBAEm?EqEqE}`0E:JZBJTJJARJZJ9bJ:9J4JzJ0:jJ5:JTJ:rJVJ:16G :^ checking for new query: numPingsReceived=42, elapsed TxPingTime=44.112282syf,'iAv{BzI Mb@Mb@Mb@ )YCl?Q?MbP?y;??u=:A A@)3AIdAy\AII3m ?=yQ >٥ H >g5q?g59\ IbBy??:߳@_Ei::Seg5 ^B +A EAMDNOT Ignoring new targets: 65.43 m.M4M4] ProNav: ac range: 65.434921 m, nav range: 25.439148 m, bearing: 334.485723 deg, approach rate: -0.744036 m/s, LOS rate: -0.157974 deg/s, cmd heading: 335.054383 deg, new cmd heading: 334.851371 deg. ]ػeHeadingCmd: 5.844259 target range: 65.434921 and range: 65.90 m.be+@ZarijiRiJiBi~q~ur|B}q|q|q|y|}`ԆK@ |B;I)aI03< G4<ྩ[<D=i+@i9KF)P"K9*K2K:K+Of#NsG[`D3IU|%  _\Z|/dbJJ>E1E1E1E5o0E1-checking for new query: numPingsReceived=42, elapsed TxPingTime=44.364285a6G= z =~G A1 AQ Nu >ԑ l,iA96>@67H@Y6@6;)6CF{BFIININ3V V`=yVQ V>٥XX ZHZbF^: ^>`bg5b?fg59b՘ Ib`Bydff@b_Eib:b:bhg5ln+Al DNOT Ignoring new targets: 65.43 m.s:s:- ProNav: ac range: 65.434921 m, nav range: 25.167261 m, bearing: 334.427029 deg, approach rate: -0.747026 m/s, LOS rate: -0.163007 deg/s, cmd heading: 334.851363 deg, new cmd heading: 334.673380 deg. -߻5HeadingCmd: 5.841152 target range: 65.434921 and range: 65.90 m.b5@Z1r1j1R1J9B9~9~9}A|A|A|A|EkK@q |B靅H{k;I)`GGH>HCHHH =HH'DH><H"EI-< IIM`5E checking for new query: numPingsReceived=42, elapsed TxPingTime=44.868488I a=I R= zs,uiA9US>@UG@YU@U;)UC}{B}IMb@Mb@Mb@ )YCl?#~j?~jthy=D A +@)AIAyAII2 -=y/Q >٥ HcFl >g5?g59͛ I^ByZ@?:/@_Ei<ҵ<lg5+A~EDNOT Ignoring new targets: 65.43 m.nn ProNav: ac range: 65.434921 m, nav range: 24.814674 m, bearing: 334.325792 deg, approach rate: -0.716966 m/s, LOS rate: -0.208785 deg/s, cmd heading: 334.673368 deg, new cmd heading: 334.365345 deg. IHeadingCmd: 5.835776 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~|B}||||`K@ 5|B5$n;I9)=O_9I="< 99EA6K / P"K 9*K 2K :K qwQPmFw:qp}C RC]>/^t"x;V:sJ! J! q y,iA96C1@6:@Y6٥11 =H9= =>AUg5E?]g59E IE\Byaem@E_EiEf;E;Eog5:JYBJIJJ>RJZJ9bJ 9Jt4J@@@@_B+,A{EDNOT Ignoring new targets: 65.43 m.== ProNav: ac range: 65.434921 m, nav range: 24.553148 m, bearing: 334.249799 deg, approach rate: -0.775457 m/s, LOS rate: -0.227729 deg/s, cmd heading: 334.365354 deg, new cmd heading: 334.134948 deg. IHeadingCmd: 5.831755 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}||||wL@ |B%c ;I!)%f!I%E< !)-7<-!義5'<5d:=i5@QiEEEEv5Eԁ6G4=~GAANh>H>HHIH |BH =HHHT<HCEchecking for new query: numPingsReceived=42, elapsed TxPingTime=45.624264Թ L,dviA{BII=I=3MԼ MH=yMQ M>٥QQ UHUdF] ]>amg5en?mg59e IeYByiim@e_Eie:e:eDsg5y}Y,A}xEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.恻恻 ProNav: ac range: 65.434921 m, nav range: 24.249210 m, bearing: 334.159406 deg, approach rate: -0.754267 m/s, LOS rate: -0.227136 deg/s, cmd heading: 334.134958 deg, new cmd heading: 333.860381 deg. HeadingCmd: 5.826963 target range: 65.434921 and range: 65.90 m.b{v@ZrjRJB~~}||||`#SL@ |B T;I)j!I%b< !!% 7<Թ-龩xI<J'K=i{v@ibEZE%checking for new query: numPingsReceived=42, elapsed TxPingTime=45.878395E?EEE4EF=F=) eGy EۿYyA5_?=8A6G'2= ~G A A N >  checking for new query: numPingsReceived=42, elapsed TxPingTime=46.1295559 Ć,5ciA9Z: @Z@YZ"?eE=ea eX@)eEAIezAayeQAI}I}(*3P; E=y;Q >٥ HC< >g5S?g59& IWBy??:@_EiV::vg5N,ADNOT Ignoring new targets: 65.43 m.11 E ProNav: ac range: 65.434921 m, nav range: 23.940943 m, bearing: 334.060858 deg, approach rate: -0.697637 m/s, LOS rate: -0.225895 deg/s, cmd heading: 333.860384 deg, new cmd heading: 333.560935 deg. MMHeadingCmd: 5.821737 target range: 65.434921 and range: 65.90 m.bMK@ZQrQjQRQJQBQ~Y~]|B}Y|Y|a||L@ |Bp;IY)]_aIeϴ< aae8Jm ?1E9E9E9E=@5E9checking for new query: numPingsReceived=42, elapsed TxPingTime=46.380997J4J4J'1:JeBJNJJHRJZJ\:bJ!9JԺ4Ji 6G BO=~G A A N= >,*6iA 9>@>y@Y>=>H?`E?D`?ۿ?@K`t`ܰ?? >@>a;)>CJ{BJIIRIRM3Vꢽ Z[=yZi:Q Z>٥\\ ^H^eFb b>dfg5fœ?jg59fy IfUByhjaj@f_Eif:f:f'zg5lr,AruE H]<H]<He>HaHeIHe{BHe =HaHaHe<HeEH%CH%CH!H% =I% = I%F6DNOT Ignoring new targets: 65.43 m.  ProNav: ac range: 65.434921 m, nav range: 23.663921 m, bearing: 333.972018 deg, approach rate: -0.748789 m/s, LOS rate: -0.242946 deg/s, cmd heading: 333.560949 deg, new cmd heading: 333.291311 deg.  &5HeadingCmd: 5.817031 target range: 65.434921 and range: 65.90 m.b5%@Z9r9j9R9J9B9~A~A}A|A|A|I|ML@checking for new query: numPingsReceived=42, elapsed TxPingTime=46.633255 |B:ԉI)xIE< 9<ѫO<dQ=i%@iE?EEE^0EԹ6G .H= - checking for new query: numPingsReceived=42, elapsed TxPingTime=46.884308~G A A N >ԓ,PiA`9\ҳ@ܺ@YI٥ HfF >g5œ?g59r IRByK O"K }9*K 2K :K {TTZX?Y? 0&8d"J J ,iiA96L@6@Y6٥xx zHx~S ~> g5s0œ? g59 IPBy   @_Eie:q:Gg5%H-A%oE:Jm\BJmPJJm>RJiZJm=:bJm*9Jmt4JiDNOT Ignoring new targets: 65.43 m.ElEl ProNav: ac range: 65.434921 m, nav range: 23.066999 m, bearing: 333.799317 deg, approach rate: -0.711369 m/s, LOS rate: -0.206563 deg/s, cmd heading: 332.990519 deg, new cmd heading: 332.766423 deg.  HeadingCmd: 5.807870 target range: 65.434921 and range: 65.90 m.bڹ@ZrjRJB~~}||||"M@ w|B靝kqI)Iϖ<  <<\󾩢<R=iڹ@iIE?EEEEH]>H]CH]IH]{BH] =HYHYH]@<H](EqץAץAchecking for new query: numPingsReceived=42, elapsed TxPingTime=47.6433306GI ~G A ԡ A N >,iA9>g@>@Y>K=>H?:?tZ ܿ?` Ϋޖ[?`? >g@>;@;)>CN^{BNIIVIV3^  ^N=y^A:Q b>٥`` bHbgFfM f>hjg5jGœ?ng59jY IjLBylnn@j_Eij;j^;jg5tv-At B*** querying acoustic contact ***J R yDNOT Ignoring new targets: 65.43 m.hh ProNav: ac range: 65.434921 m, nav range: 22.775753 m, bearing: 333.717350 deg, approach rate: -0.713292 m/s, LOS rate: -0.203312 deg/s, cmd heading: 332.766434 deg, new cmd heading: 332.517390 deg.  HeadingCmd: 5.803523 target range: 65.434921 and range: 65.90 m.bv@ZrjR J B ~1~1}9|9|9|9|= WM@ q|B靽 F I)dI < B=<O <PP=iv@iQchecking for new query: numPingsReceived=42, elapsed TxPingTime=47.892788ԩEU?EQEYEYEi6G CXP=~Ga Ai A N >  checking for new query: numPingsReceived=42, elapsed TxPingTime=48.144173$,iA9>_@>Li@Y>78=>Hy?TQ?/+?Gܿ,?ͩa@?? >_@>t;)٥ HhF' >g5`œ?g59] IGBy:?:  @_Ei;;g5aB-AnEDNOT Ignoring new targets: 65.43 m.%F%FU ProNav: ac range: 65.434921 m, nav range: 22.456308 m, bearing: 333.640880 deg, approach rate: -0.713258 m/s, LOS rate: -0.173173 deg/s, cmd heading: 332.517378 deg, new cmd heading: 332.284704 deg. ]]HeadingCmd: 5.799462 target range: 65.434921 and range: 65.90 m.b]2@ZarajaRaJaBa~i~|B}||||aM@ Ej|B靍4nI)Iޒ< ȫ><o<yO=i2@i KO"K9*K2K:K(u~StI[cp#50np#M8-F$F]0SJ?J?Ee?EaEaEaEa checking for new query: numPingsReceived=42, elapsed TxPingTime=48.397583:J}jBJ}fJJ}IRJyZJ}.:bJ}9J}F4Jy16G 0P=a ~G A A N- >7,piA9>8@>A@Y>` 0=>H@?#?RK?ܿr?˨떿 M?`b? >8@>;)>CF0{BFzIININ3V0K V]=yZ*Q Z>٥XX ZH\G|G|H>HCHIH{BH =HH(DHU<HSE^HW =>AMg5Evœ?Mg59E IEBByQUue@E_EiE;E;Eg5y}M.AkEDNOT Ignoring new targets: 65.43 m.OO1E ProNav: ac range: 65.434921 m, nav range: 22.178877 m, bearing: 333.576185 deg, approach rate: -0.769359 m/s, LOS rate: -0.181653 deg/s, cmd heading: 332.284714 deg, new cmd heading: 332.088202 deg. EUMHeadingCmd: 5.796032 target range: 65.434921 and range: 65.90 m.bMy@ZIrIjIRIJQmchecking for new query: numPingsReceived=42, elapsed TxPingTime=48.649860BQ~q~y}y|y|y|y|M@ e|BؗI)IQ< ?<l"<%J=i%y@i!EEEE0Ei6G>O=ԑ~Gi A A N > checking for new query: numPingsReceived=42, elapsed TxPingTime=48.900616Թ a0,iAq#{BrIMb@Mb@Mb@ )Yl?ˡE?Qy7?'=uA dA)IAyQAI$I<3ɼ !=yQ >٥ HiF >g5-œ?g59 I;By7?:0Ͼ@_Ei::qB,iAKO"K9*K2K:Ka(;M|[jUGkA9QW v S  . X   | SaD/t$Vx(jchecking for new query: numPingsReceived=42, elapsed TxPingTime=49.404510 {B _III2 q=yQ ?٥ HjF   ?g5œ?g598 I6By@_Ei*::7g5)-/A1quDNOT Ignoring new targets: 65.43 m.}T}T ProNav: ac range: 65.434921 m, nav range: 21.582226 m, bearing: 333.486563 deg, approach rate: -0.708898 m/s, LOS rate: -0.109428 deg/s, cmd heading: 331.928616 deg, new cmd heading: 331.815540 deg. 2HeadingCmd: 5.791274 target range: 65.434921 and range: 65.90 m.bR@ZrjRJB~~}||||]'N@ Y|B靕I)تI\Œ< eB<<p\=iR@i1Em?EiEiEm0EiFqFqH>HCHIH~{BH =HH)DHT<H]Echecking for new query: numPingsReceived=42, elapsed TxPingTime=49.656178Y 6GU R`U=~G) A9 AQ Ne >",iA09bŲ@bϹ@YbY٥ H   >%g5œ?-g59 I0By)-W־-@`Ei2::qg59E/AMeE}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 65.43 m.úú ProNav: ac range: 65.434921 m, nav range: 21.317120 m, bearing: 333.455112 deg, approach rate: -0.712289 m/s, LOS rate: -0.085554 deg/s, cmd heading: 331.815535 deg, new cmd heading: 331.720008 deg. jHeadingCmd: 5.789607 target range: 65.434921 and range: 65.90 m.buD@ZrjRJB~~}||||*WN@ uU|B}Iy)}㪾yI}ي< CD<a<Y,=iuD@iq checking for new query: numPingsReceived=42, elapsed TxPingTime=49.909946EEEE25E:Ju[BJuRJJu=RJqZJu:bJuS29Jug4JqzJu:}jJu:}Ju;:rJu<:ԡ6GM[=~G) AQ Aa Nm >  checking for new query: numPingsReceived=42, elapsed TxPingTime=50.160286^],iA<9J@JM@YJr٥ HkF%> %>!-g5%œ?5g59% I%*By57?=:=$=@% `Ei%R;%V;%Qg5EcBE{/AEbEy}DNOT Ignoring new targets: 65.43 m.xx ProNav: ac range: 65.434921 m, nav range: 20.999313 m, bearing: 333.441455 deg, approach rate: -0.723800 m/s, LOS rate: -0.031576 deg/s, cmd heading: 331.720022 deg, new cmd heading: 331.678428 deg. ]HeadingCmd: 5.788881 target range: 65.434921 and range: 65.90 m.b>@ZrjRJB~~{B}||||>N@ N|BD߻I)ӳItS< E<{<#=i>@iԩEE?EAEAEE 5EA6G3=K=P"K=ŷ9*K92K=:K=2dn9YeC Pkz7ao13{s9sJU ?JU?checking for new query: numPingsReceived=42, elapsed TxPingTime=50.412827~GYAaAqN{> v,dx8iA HdHf<Hr>HpHrIHrK{BHr =HpHr*DHr+<Hr%E)ezBmDIII2* T=yQ >٥ HlF >g5œ?g59 I$By@ `EiX;B;g5֓BQ3A IUDNOT Ignoring new targets: 65.43 m.echecking for new query: numPingsReceived=42, elapsed TxPingTime=50.665119mm} ProNav: ac range: 65.434921 m, nav range: 20.719738 m, bearing: 333.429093 deg, approach rate: -0.709715 m/s, LOS rate: -0.031803 deg/s, cmd heading: 331.678439 deg, new cmd heading: 331.640855 deg. }HeadingCmd: 5.788225 target range: 65.434921 and range: 65.90 m.b#9@ZrjRJB~~}||||N@ H|B靝 I)I߅< }G<uk@ < '=i#9@i)EaEaEaEe_0EiQ6G s*=ZG RG  checking for new query: numPingsReceived=42, elapsed TxPingTime=50.916824~G :J YBJ nJJ RJ ZJ 9bJ 99J J zJ c:jJ g:J Q:rJ R:ԩ A A N > 6G! 9 ^,;URiA &ܿY$y*5Ai5zB1IIII]_: ]2=yYQ ]>٥aa eHai m>q}g5uœ?}g59u IuByyy}@u`Eiu:u%:ug5דBT3A_EDNOT Ignoring new targets: 65.43 m. ProNav: ac range: 65.434921 m, nav range: 20.392805 m, bearing: 333.414208 deg, approach rate: -0.725484 m/s, LOS rate: -0.033560 deg/s, cmd heading: 331.640846 deg, new cmd heading: 331.595475 deg. AHeadingCmd: 5.787433 target range: 65.434921 and range: 65.90 m.b2@ZrjRJB~~}||||N@ԁ MB|BMNIQ)UQI]Te< YY]?I<mchecking for new query: numPingsReceived=42, elapsed TxPingTime=51.168373uOuC<}X*=i}2@iE9E9E9E=2EAԹ 6G} (=~GQ Aa A N >Ү,liAKXP"K@9*K2K:KEzL{B/| t >]E5EP TJI`<L2JJ>checking for new query: numPingsReceived=42, elapsed TxPingTime=51.4203389V4@V@YVm*HHwIH-{BHHH)DH'<HEH=ƓCH=ƒCH=ƔCH= =I= = I=85-checking for new query: numPingsReceived=42, elapsed TxPingTime=51.6722376GE-=~GY Aa Ay N > ,닆iA9R@R@YR;Q z>٥xx zHx~ ~> g5y'Ü? g59 IBy  X@`Eie::$g5v3A=B*** querying acoustic contact ***JARAQUDNOT Ignoring new targets: 65.43 m.]O9]O9m ProNav: ac range: 65.434921 m, nav range: 19.865067 m, bearing: 333.419940 deg, approach rate: -0.713700 m/s, LOS rate: 0.011353 deg/s, cmd heading: 331.599100 deg, new cmd heading: 331.612905 deg. mT9uHeadingCmd: 5.787737 target range: 65.434921 and range: 65.90 m.bu$5@ZqrqjqRyJyBy~~}||||YO@ 7|B靽BI)I\N~< YL<c<61E AE AE checking for new query: numPingsReceived=42, elapsed TxPingTime=52.176502a i,jiA9Vб@V>ڸ@YV;٥ HnFλ >g5:@Ü?g59 I Byp;?:@ `Ei;+;g5ؓB3AZEDNOT Ignoring new targets: 65.43 m.:: ProNav: ac range: 65.434921 m, nav range: 19.532362 m, bearing: 333.444935 deg, approach rate: -0.731024 m/s, LOS rate: 0.055856 deg/s, cmd heading: 331.612897 deg, new cmd heading: 331.689160 deg. U;HeadingCmd: 5.789068 target range: 65.434921 and range: 65.90 m.b @@ZrjRJB~~{B}||||@ɖO@ .|BPG˻I)zIx< 6N<%<%ТJ>E?EEE_0E!ԑ6G= N< ~G A1 AY H} >Hy H} kIH} {BHy Hy Hy H} 8<H} 6ENu >,úiAzB?II-I-2=; =\=yMQ M>٥QQ UHUoFU ]>aeg5eTÜ?mg59e` IeByiim@e%`Eie:e :e`g5uٓBu3A}WEDNOT Ignoring new targets: 65.43 m.M:M:checking for new query: numPingsReceived=42, elapsed TxPingTime=52.680374 ProNav: ac range: 65.434921 m, nav range: 19.259439 m, bearing: 333.466084 deg, approach rate: -0.735900 m/s, LOS rate: 0.057834 deg/s, cmd heading: 331.689149 deg, new cmd heading: 331.753495 deg. ;HeadingCmd: 5.790191 target range: 65.434921 and range: 65.90 m.b>I@ZrjRJB~~}||||`O@Q )|B靝;I)Iu< O<i<^I@iEQEQEQE]v0EY6G%<ԁ~G9AaAqN^>Ա} checking for new query: numPingsReceived=42, elapsed TxPingTime=52.933170:J WBJ SJJ >RJ ZJ ;9bJ y69J t4J zJ ʛ:jJ ϛ:J )C:rJ +C: !,ViA9i@@Y٥ HpF| > g5 nÜ? g59 IBy A?:@*`Ei%);*(;ag5%U3A)QUDNOT Ignoring new targets: 65.43 m.]:]: ProNav: ac range: 65.434921 m, nav range: 18.912788 m, bearing: 333.515970 deg, approach rate: -0.751917 m/s, LOS rate: 0.110191 deg/s, cmd heading: 331.753489 deg, new cmd heading: 331.905891 deg. ?;HeadingCmd: 5.792850 target range: 65.434921 and range: 65.90 m.b_@ZrjRJB~~{B}!|)|)|1|5P@ !|B靵checking for new query: numPingsReceived=42, elapsed TxPingTime=53.184689I)[I o< v=Q<1 Kr< _) ,iAchecking for new query: numPingsReceived=42, elapsed TxPingTime=53.436367K;O"Ks9*K2K:KF;0tuD.>56>E/abhS# r29z@zK@YzO;HHHHHH*DHR<H`Ea~GAAchecking for new query: numPingsReceived=42, elapsed TxPingTime=53.688553N>ԁ /,WjA49N̤@Nx@YN٥hh nHnqFn= r>x~g5z,Ü?~g59z IzBy(@z3`Eiz;z;z׹g5 ړB 3A QE-B*** querying acoustic contact ***J)R)9=DNOT Ignoring new targets: 65.43 m.E3 ;E3 ;U ProNav: ac range: 65.434921 m, nav range: 18.353701 m, bearing: 333.602762 deg, approach rate: -0.754662 m/s, LOS rate: 0.121698 deg/s, cmd heading: 332.026233 deg, new cmd heading: 332.170215 deg. U ;]HeadingCmd: 5.797464 target range: 65.434921 and range: 65.90 m.b]ӄ@ZYrYjYRaJaBi~q~q}q||||/P@ m|B靵KӻI)SIh< S<u<I  checking for new query: numPingsReceived=42, elapsed TxPingTime=54.192192',4"jA9Z @Z@YZ٥ H8 >g5SÜ? g59 IBy C? : H @8`Ei:p:g5T3ANEAEDNOT Ignoring new targets: 65.43 m.U :U :e ProNav: ac range: 65.434921 m, nav range: 18.018415 m, bearing: 333.616079 deg, approach rate: -0.765035 m/s, LOS rate: 0.030950 deg/s, cmd heading: 332.170213 deg, new cmd heading: 332.210905 deg. e:mHeadingCmd: 5.798174 target range: 65.434921 and range: 65.90 m.bm@ZirqjqRqJyBy~y~}{B}||||JP@ |B靵MӻI)ޗI%d<  U<oS< bGm>Echecking for new query: numPingsReceived=42, elapsed TxPingTime=54.444405~GIAQAq:JXBJQJJ?RJZJ{9bJ-.9Jـ4J@@@@KO"K@9*K2K:KYb? ">>k!A[(cvJ &4M"M!zN%n>A H >H H qIH "{BH  =H H )DH 7<H 6ES,<jA9Z@Z@YZ٥xx zHzrF~ ~> g5Ü? g59 IBy  O @=`EiX:e:g5%2A!checking for new query: numPingsReceived=42, elapsed TxPingTime=54.696213QDNOT Ignoring new targets: 65.43 m.:: ProNav: ac range: 65.434921 m, nav range: 17.734079 m, bearing: 333.627814 deg, approach rate: -0.760853 m/s, LOS rate: 0.031905 deg/s, cmd heading: 332.210894 deg, new cmd heading: 332.246663 deg. +:HeadingCmd: 5.798798 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~}|||| jcP@  |B靝"eI)I_a< @5V<#<vԙ U9,-UjA9U͠@Uy@YUM٥ HsFA >g5Ü?g59 IBy@C`Ei̯;;g5ۓBKEQUDNOT Ignoring new targets: 65.43 m.e:e: ProNav: ac range: 65.434921 m, nav range: 17.383877 m, bearing: 333.643412 deg, approach rate: -0.748186 m/s, LOS rate: 0.033996 deg/s, cmd heading: 332.246656 deg, new cmd heading: 332.294394 deg. :MHeadingCmd: 5.799631 target range: 65.434921 and range: 65.90 m.bM@ZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|] $P@checking for new query: numPingsReceived=42, elapsed TxPingTime=55.200539Ա |B'2I)IIMR]< QQUuW<]c<N;i@iEEEEp5E 6G 2<ZG RG e checking for new query: numPingsReceived=42, elapsed TxPingTime=55.452827~G A A K =O"K 59*K 2K :K .tHuQJfzz`Yf;j5n{Jf!FJ~L^0N > ,LqjA:J4BJ6VJJ6DRJ4ZJ4bJ6B9J64J49B @B@YB'٥ H8 > g5Ü? g59@ Iy??:1@G`Ei;w;vg5%ܓB%2A%HEiuDNOT Ignoring new targets: 65.43 m.}} ProNav: ac range: 65.434921 m, nav range: 17.080498 m, bearing: 333.640763 deg, approach rate: -0.759292 m/s, LOS rate: -0.006749 deg/s, cmd heading: 332.294386 deg, new cmd heading: 332.286297 deg. 5HeadingCmd: 5.799490 target range: 65.434921 and range: 65.90 m.bl@ZrjRJB~~S|B}|||!|%P@ {B ڍI)G}I3Z< X<P<#;il@iIH>HH~IH7{BH =HHH;<H8EE?EEE\0Echecking for new query: numPingsReceived=42, elapsed TxPingTime=55.704304q6G o;ԩ ~G A A N >",(jA9>e@>@Y>i(=>H2?@Va?!`d߿?`[-?@F?h? >e@>$h;)>CJzBJZIIVIV#3^kp ^[=y~:Q ~>٥ HtF > %g5  Ĝ?%g59  I y!%g-@ L`Ei C; ,; g5152A5JEMB*** querying acoustic contact ***JQRQYeDNOT Ignoring new targets: 65.43 m.e׸e׸u ProNav: ac range: 65.434921 m, nav range: 16.800322 m, bearing: 333.638629 deg, approach rate: -0.758759 m/s, LOS rate: -0.005876 deg/s, cmd heading: 332.286299 deg, new cmd heading: 332.279789 deg. y} HeadingCmd: 5.799376 target range: 65.434921 and range: 65.90 m.b~@ZrjRJB~~}||||P@ {BI)h~ImW< Y<ǵ<a;i~@i <checking for new query: numPingsReceived=42, elapsed TxPingTime=55.970730) SCmGEEEE_0E xܿYyAԩ6Gy~GQAYAqN}>u checking for new query: numPingsReceived=42, elapsed TxPingTime=56.221092 (,ujA9V̞@Vx@YVɒ٥ HuF9 >g5$Ĝ?g59 IByKA?:پ@Q`Ei::{g52AGE!-DNOT Ignoring new targets: 65.43 m.-iպ5iպE ProNav: ac range: 65.434921 m, nav range: 16.476267 m, bearing: 333.599293 deg, approach rate: -0.753710 m/s, LOS rate: -0.093289 deg/s, cmd heading: 332.279797 deg, new cmd heading: 332.159469 deg. E MHeadingCmd: 5.797276 target range: 65.434921 and range: 65.90 m.bMJ@ZIrIjIRIJIBQ~Y~]w|B}Y|Y|Y|a|eP@ {B靝`I)*xIT< Z<<vI% 9wuQTa8x"ow.PEyJE?JE>:J[BJTJJARJZJ:bJ:9J4J16G;~Ga Aq A N >G G AAH >H H IH A{BH  =H H H C<H CEHHʓCHʓCHI I5Y .,DjA9:š@:q@Y:X٥dd fHdf : j>%checking for new query: numPingsReceived=42, elapsed TxPingTime=56.724155)=g5-;Ĝ?=g59-+ I)y9=پE@-V`Ei-;;-{<;-g5MݓBM3AMDEDNOT Ignoring new targets: 65.43 m.;غ;غ% ProNav: ac range: 65.434921 m, nav range: 16.187820 m, bearing: 333.562600 deg, approach rate: -0.730026 m/s, LOS rate: -0.094522 deg/s, cmd heading: 332.159476 deg, new cmd heading: 332.047434 deg. %-HeadingCmd: 5.795321 target range: 65.434921 and range: 65.90 m.b-Es@Z)r1j11R1JQBY~a~a}i|i|i|i|u@ P@ {BPI){IP<   \ 5,jA9٬@@Y٥    H vF9; >%g5YVĜ?%g59 IBy%X??%:%-Ⱦ-@[`EiD;Y;g55ޓB5?3A5AEimDNOT Ignoring new targets: 65.43 m.udud ProNav: ac range: 65.434921 m, nav range: 15.838721 m, bearing: 333.473482 deg, approach rate: -0.767138 m/s, LOS rate: -0.200149 deg/s, cmd heading: 332.047434 deg, new cmd heading: 331.774192 deg. \ HeadingCmd: 5.790552 target range: 65.434921 and range: 65.90 m.b4L@ZrjRJB~~|B}|||| vQ@ {BI)V~IL"M< Q]<-checking for new query: numPingsReceived=42, elapsed TxPingTime=57.229095e:<^j<,jAJA{4J4J,1:J]BJRJJ=RJZJ]:bJS29Jg4JK"O"K"}9*K 2K"":K"P )@a79a,km~*f<;% $4P.jL RVrZvJ(J(9~@~.@Y~2HYH]~IH]7{BHYHYHYH]*<H]"EEIEIEIEMp0EI6G-mo<ZG9RG9~G!5checking for new query: numPingsReceived=42, elapsed TxPingTime=57.734520AAAQN]w>1 B,1z jA9Vı@Vjθ@YV٥tt vHt; > g5 Ĝ?g59 6 I Byƾ@ d`Ei a;  ; bg5!%3A->EEB*** querying acoustic contact ***JARAQ]DNOT Ignoring new targets: 65.43 m.]}]}m ProNav: ac range: 65.434921 m, nav range: 15.286725 m, bearing: 333.319809 deg, approach rate: -0.759885 m/s, LOS rate: -0.221730 deg/s, cmd heading: 331.561616 deg, new cmd heading: 331.304875 deg. m+}HeadingCmd: 5.782361 target range: 65.434921 and range: 65.90 m.b} @ZyryjRJB~~}||||`2Q@ {BrI)9IF< Z_<6< A A M checking for new query: numPingsReceived=42, elapsed TxPingTime=58.237362"I,P&jA9>ձ@>S߸@Y>Y=>H??:߿@E? ޱ@ޱ?@? >ձ@>ƅ;)٥ HxFH; > g5Ĝ? g59a IBy 9? :Ⱦ@i`Ei\(;';/g55ߓB5*4A=;EDNOT Ignoring new targets: 65.43 m.hh ProNav: ac range: 65.434921 m, nav range: 14.973116 m, bearing: 333.231476 deg, approach rate: -0.708287 m/s, LOS rate: -0.203678 deg/s, cmd heading: 331.304883 deg, new cmd heading: 331.034336 deg.  HeadingCmd: 5.777639 target range: 65.434921 and range: 65.90 m.bk@ZrjRJB~~.|B}|||| OQ@ }{B靅I)ʔIGB<  aa< zk !<IJ>~GqAAN>! Hm >Hi Hm qIHm "{BHi Hi Hi Hm ;<Hm ٥ HyF >g5Ĝ?g59= IBy@n`EiQ;qe;g5h4A8EDNOT Ignoring new targets: 65.43 m.yy ProNav: ac range: 65.434921 m, nav range: 14.690066 m, bearing: 333.148503 deg, approach rate: -0.731477 m/s, LOS rate: -0.218555 deg/s, cmd heading: 331.034325 deg, new cmd heading: 330.780614 deg. HeadingCmd: 5.773211 target range: 65.434921 and range: 65.90 m.b%@Zr j R J B ~~}||||iQ@ {B靍I)IG>< b<a<L =i%@!iaE?EEE5Eichecking for new query: numPingsReceived=42, elapsed TxPingTime=58.992271:J aBJ UJJ @RJ ZJ :bJ >9J J4J zJ ; jJ ; J ~Q: rJ Q: 6G9 jGE ?bGE ?y ~G A! A1 N= >3V,ZjAԑ9B@@Yp٥yy }H.< >g5bĜ?g59 IBy9?: ʾ@s`Eib::g54ADNOT Ignoring new targets: 65.43 m.9{9{ ProNav: ac range: 65.434921 m, nav range: 14.353246 m, bearing: 333.048784 deg, approach rate: -0.724858 m/s, LOS rate: -0.219638 deg/s, cmd heading: 330.780625 deg, new cmd heading: 330.474450 deg. HeadingCmd: 5.767867 target range: 65.434921 and range: 65.90 m.b^@checking for new query: numPingsReceived=42, elapsed TxPingTime=59.245148Zr!j!R!J!B)~1~=|B}9|9|A|A|EQ@ԩ M{BMlIQ)ULQIU9< QQU8Rd<]]<`-=i^@iEyEyEyE}5Ey6GUn =~Gi Aq A N >  checking for new query: numPingsReceived=42, elapsed TxPingTime=59.496197l_\,!sjA9:v@:"@Y:]drH)H-RIH-zBH- =H)H)H-Q<H-VEE?EE E _0E %checking for new query: numPingsReceived=42, elapsed TxPingTime=59.749550)6G-  =~G A A! N5 >Y LEc,᷍jA9:@:P&@Y:S*f٥XX ZHXZat; Z>pzg5rĜ?zg59r IrByxz(Ⱦz@r|`Eir7!;r;rg5B5A3EB*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 65.43 m.55% ProNav: ac range: 65.434921 m, nav range: 13.831964 m, bearing: 332.878235 deg, approach rate: -0.758771 m/s, LOS rate: -0.259663 deg/s, cmd heading: 330.252651 deg, new cmd heading: 329.953059 deg. %42-HeadingCmd: 5.758767 target range: 65.434921 and range: 65.90 m.b-G@Z)r)j)R)J)B11~Q~Q}Y|Y|Y|Y|e@õQ@}checking for new query: numPingsReceived=42, elapsed TxPingTime=60.000866 {BvI)fI"1<  g<F@<8V=iG@ibE ZE :J5[BJ5QJJ5?RJ1ZJ5:bJ5-.9J5ـ4J1zJ5:jJ5:J54:rJ54:E?EEEEa6G,=~GA1AyN>ԑ- checking for new query: numPingsReceived=42, elapsed TxPingTime=60.252289Թ pi,jA9:R@:&@Y:hi٥ H{FF9 >g53 Ŝ?g59H IBy7?:*׾@`Ei:I:g526A%DNOT Ignoring new targets: 65.43 m.%=%== ProNav: ac range: 65.434921 m, nav range: 13.519377 m, bearing: 332.807801 deg, approach rate: -0.718749 m/s, LOS rate: -0.165698 deg/s, cmd heading: 329.953052 deg, new cmd heading: 329.736865 deg. =oEHeadingCmd: 5.754994 target range: 65.434921 and range: 65.90 m.bE(@ZIrIjIRIJQBQ~Y~]{B}Y|Y|Y|a|e`Q@ԑ {B靝#I)ʾI+< h<7=<"b=i(@iEU?EQEQEYEY ؁ׁchecking for new query: numPingsReceived=42, elapsed TxPingTime=60.504864ԹKP"K9*K2K%:KCZJq4-Lq L`<Gq:xBuuZ1J>J?6G-@A=~G A1 AI NU >H >H CH 3IH zBH  =H H (DH g<H qE Xp,tjArchecking for new query: numPingsReceived=42, elapsed TxPingTime=60.7563979j@j=%@Yjh٥YY ]H]|Fe* e>yg5} Ŝ?g59}O I}ByE׾@}`Ei};};}6g5z6A0EDNOT Ignoring new targets: 65.43 m.-?-?E ProNav: ac range: 65.434921 m, nav range: 13.238522 m, bearing: 332.741923 deg, approach rate: -0.697749 m/s, LOS rate: -0.167139 deg/s, cmd heading: 329.736862 deg, new cmd heading: 329.535035 deg. Mi]HeadingCmd: 5.751472 target range: 65.434921 and range: 65.90 m.b] @ZYrajaRaJiBi~i~i}||||Q@ m{Bm HIi)u*ѾqIu;&< qqu!j<}h}|}<}Cl=i} @iE!E!E!E!E!6Gva=!~GAA)NEs>ևG1Q ܿYyiAchecking for new query: numPingsReceived=42, elapsed TxPingTime=61.008492:JU ZBJU PJJU CRJQ ZJU 9bJU *9JU 4JQ zJU 0:jJU 5:JU -:rJU -:i v,_\jA9n@n@Ynf?U޿ ?`9Ì-A?`? n@n;)l-zB5IIm Im(2= @=y VιQ >٥ H > g59Ŝ?%g59 IډBy)-ؾ-@`EiV4<7<$g5=B=6AM-EiDNOT Ignoring new targets: 65.43 m.+@+@checking for new query: numPingsReceived=42, elapsed TxPingTime=61.260387 ProNav: ac range: 65.434921 m, nav range: 12.916104 m, bearing: 332.666293 deg, approach rate: -0.698788 m/s, LOS rate: -0.168008 deg/s, cmd heading: 329.535044 deg, new cmd heading: 329.302491 deg.  =HeadingCmd: 5.747413 target range: 65.434921 and range: 65.90 m.b=@ZArAjARAJABA~I~I}I|I|I|Q|U}R@ {BɎI)׾I< Ctl<e( U<Jq=i@i ԙE EEEEF!F!Թ 6G= Db=jGE ?bGE > checking for new query: numPingsReceived=42, elapsed TxPingTime=61.512314~Gi Aq A N >|,]jA<KZ[P"KZs9*KX2KZ&:KZwyjtgwW_!, ,@3<5S;lAjDO,,yx2 9r@ri@Yrj٥ H}FQ >g5MŜ?Mg59 IՉByM6?M:MM@`Ei}<]<ng5QU#7AYDNOT Ignoring new targets: 65.43 m.~~  ProNav: ac range: 65.434921 m, nav range: 12.647700 m, bearing: 332.656426 deg, approach rate: -0.717525 m/s, LOS rate: -0.026938 deg/s, cmd heading: 329.302490 deg, new cmd heading: 329.272260 deg. 哺HeadingCmd: 5.746885 target range: 65.434921 and range: 65.90 m.b|@ZrjRJB~I~M{B}Q|Q|Q|Q|]@R@Hm>HiHm IHmzBHm =HiHiHm@<Hm9EHIԁHMÒCHIHM =IM = IM5 {BI)⾉Ivi< In<J p<f=i|@i!EEEEc0Echecking for new query: numPingsReceived=42, elapsed TxPingTime=61.7659576G ghs= ~G A A N% >ϳ,fjA9:ȱ@:Ѹ@Y:q٥pp rHr~FvsH v>x~h5zaŜ?~h59z8! IzЉBy|~@z`Eiz: ;z0;zh5B7A*EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.%X%X ProNav: ac range: 65.434921 m, nav range: 12.379445 m, bearing: 332.652094 deg, approach rate: -0.715903 m/s, LOS rate: -0.011811 deg/s, cmd heading: 329.272273 deg, new cmd heading: 329.258996 deg. HeadingCmd: 5.746654 target range: 65.434921 and range: 65.90 m.b@ZrjRJBchecking for new query: numPingsReceived=42, elapsed TxPingTime=62.016819~!~!}!|!|)|)|-%7R@ {B靥LI)߾IR< p<'Z <{W=i@iIIAA:J[BJYJJ?RJZJ:bJ[O9Jـ4JzJ:jJ:J(n:rJ*n: E)E)E)E-0E)A6Gm}xd=~GA AQ Aa N > checking for new query: numPingsReceived=42, elapsed TxPingTime=62.268360a zމ,d)jA9F)@F֥@YF{٥yy }HyDO >h5)xŜ?h59% IˉBy6?:@`EiG ;L ;jh5O7A'EDNOT Ignoring new targets: 65.43 m.U:U:e ProNav: ac range: 65.434921 m, nav range: 12.077864 m, bearing: 332.695407 deg, approach rate: -0.744362 m/s, LOS rate: 0.109574 deg/s, cmd heading: 329.258995 deg, new cmd heading: 329.392178 deg. ef;HeadingCmd: 5.748978 target range: 65.434921 and range: 65.90 m.b@ZrjRJB~~{B}||||@QR@ M{BMhAIQ)U㾉QIU6< QQUr<]]<]M==ie@iaiEEEE _1E F=F==checking for new query: numPingsReceived=42, elapsed TxPingTime=62.522701KvO"K59*K2K':Kl^>EGxx} }"Y5B^LlzOfԑ6GM JR=ZGY RGY Hi Hi Hm IHm MzBHm  =Hi Hi Hm .<Hm E~GA AI AY Nm > kĐ,7CjAZchecking for new query: numPingsReceived=42, elapsed TxPingTime=62.7776459=?n@=w@Y=٥ HFb >ԙh5tŜ?h59( IʼnByg@`Ei:q:h5l7ADNOT Ignoring new targets: 65.43 m.;;  ProNav: ac range: 65.434921 m, nav range: 11.788038 m, bearing: 332.747186 deg, approach rate: -0.709444 m/s, LOS rate: 0.129863 deg/s, cmd heading: 329.392184 deg, new cmd heading: 329.551340 deg.  ?;HeadingCmd: 5.751756 target range: 65.434921 and range: 65.90 m.bb@ZrjRJB~!~!}!|!|)|)|-jR@ e{BevIi)mc徉iIm < iimOt<5 5><5!=i5b@i9E?EEE5E6G‹9=~GAANf>echecking for new query: numPingsReceived=42, elapsed TxPingTime=63.029003:Jm WBJm RJJi RJi ZJm ;9bJm S29Ji Ji zJm ˛:jJm Л:Jm ;:rJm <:! :,:]jA9?@oI@Y6٥yy }H}FF > 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.amh5eŜ?mh59e- IeBym9?u:uru@e`Eie:ej:eK h5}B}7A}$EDNOT Ignoring new targets: 65.43 m.aD;aD; ProNav: ac range: 65.434921 m, nav range: 11.429190 m, bearing: 332.829317 deg, approach rate: -0.727311 m/s, LOS rate: 0.171689 deg/s, cmd heading: 329.551327 deg, new cmd heading: 329.805455 deg. ;HeadingCmd: 5.756191 target range: 65.434921 and range: 65.90 m.b2@ZrjRJB~~c{B}|||||R@ {B/I)ԁIt+< v<J<_=i2@iEQEQEQEU1EQԩe ,DAT read: user:2079> m BDAT read: Tx time:14:22:00.9293 u $Ping request sent.u = ~Gq A A N >t@,wjAKv6P"Kvh9*Kt2Kv(:Kv } V s  zXdr+%.O71<'e(=oj-J|J|MyBMII] I](2= f=yQ >٥ H >h5 Ŝ?h590 IBy!!-@`EiZ<Z<'h55B5{7A5#EaDNOT Ignoring new targets: 65.43 m.L@;L@; ProNav: ac range: 65.434921 m, nav range: 11.192039 m, bearing: 332.886488 deg, approach rate: -0.682903 m/s, LOS rate: 0.168119 deg/s, cmd heading: 329.805465 deg, new cmd heading: 329.980612 deg. ;HHHIH9zBHHHHB<HԹ ,fLjA9FS@F@YF ٥hh jHjFj n>pvh5rŜ?vh59rJ4 IrBytvnv@r`Eir.:r:rjh5x~j7A|EB*** querying acoustic contact ***JARAIUDNOT Ignoring new targets: 65.43 m.U;U;e ProNav: ac range: 65.434921 m, nav range: 10.921626 m, bearing: 332.971299 deg, approach rate: -0.754813 m/s, LOS rate: 0.242598 deg/s, cmd heading: 329.980618 deg, new cmd heading: 330.241350 deg. m~&<mHeadingCmd: 5.763799 target range: 65.434921 and range: 65.90 m.bm q@ZqrqjqRqJqBq~y~y}||||R@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.517723 {BfּI)ݾI6 ; hz< <q A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.770107Q NL,w1jA9B@B@YB'٥99 =H=FE7 E>IUh5MŜ?Uh59M8 IMByUH>HHHH =HH)DH6<H-Eԉ L1,jA0jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2748689~@@Yf#w٥)) -H)-1=h55Ŝ?Eh595< I5ByAEW E@5`Ei5:5:5h5MBM6AUEDNOT Ignoring new targets: 65.43 m.}; };= ProNav: ac range: 65.434921 m, nav range: 10.295969 m, bearing: 333.243717 deg, approach rate: -0.708771 m/s, LOS rate: 0.336574 deg/s, cmd heading: 330.663446 deg, new cmd heading: 331.083047 deg. =f<EHeadingCmd: 5.778489 target range: 65.434921 and range: 65.90 m.bEb@ZArAjARAJABI~I~i}q|q|q|q|u VR@ԑ {B靝ؗI)(ľI=; 7~<3<ib@iEYEYEaEaEaԹ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.525746 6GE l o<~G! A1 AA NU >$p,2jAL)zBIII#3U = ]D=yeQ u>٥yy HF >h5 Ɯ?h59:A IBy@`Ei/;;h56AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.778242!%DNOT Ignoring new targets: 65.43 m.-;-;E ProNav: ac range: 65.434921 m, nav range: 9.986183 m, bearing: 333.395421 deg, approach rate: -0.691438 m/s, LOS rate: 0.349105 deg/s, cmd heading: 331.083038 deg, new cmd heading: 331.552257 deg. Eo<UHeadingCmd: 5.786678 target range: 65.434921 and range: 65.90 m.bUx,@ZQrQjQRQJQBY~Y~Y}a|a|a|a|e S@ {B靕T1I)I>;  2<.6Bix,@iEiEiEiEm]0Eq6GE|;~Gy A A N > e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030042Iq Iu %=:J} YBJ} UJJ} >RJy ZJ} 9bJ} >9J} t4Jy ,DjA|9n|@n@YnЉH]CH]IH]MzBH] =HYHYH] <H]EuLd= uI=yu;Q }>٥yy }H}F >h5w%Ɯ?h595E IByp) - GI }Ā,jA@ VYXyZ4B9 @ ‰@Y n٥AA MHIM: M>Qyh5U8Ɯ?h59UH IQy @U`EiU!;Um;U:$h5B6AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 65.43 m.};};checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533673] ProNav: ac range: 65.434921 m, nav range: 9.424586 m, bearing: 333.646777 deg, approach rate: -0.722248 m/s, LOS rate: 0.341823 deg/s, cmd heading: 331.948669 deg, new cmd heading: 332.328458 deg. ]j<eHeadingCmd: 5.800226 target range: 65.434921 and range: 65.90 m.bes@ZarijiRiJiBi~q~y}y||||A;S@ {B_I ) া1I5; 115R<=rF=:<=9i=s@iAԩEE?EIEIEMp0EI6G%f~GAAAqN> BDAT read: Rx Time:14:22:03.3473  TRx dataTimestamp_ set to:1749133324.615331 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786749 ʀ,,jA9^@^J@Y^^+٥ H%F%; %>)5h5- QƜ?5h59-L I-By=??=:=u=@-`Ei-;- ;-'h5AE5AEEy}DNOT Ignoring new targets: 65.43 m.:: ProNav: ac range: 65.434921 m, nav range: 9.101498 m, bearing: 333.686367 deg, approach rate: -0.756341 m/s, LOS rate: 0.095970 deg/s, cmd heading: 332.328455 deg, new cmd heading: 332.451441 deg. ;HeadingCmd: 5.802372 target range: 65.434921 and range: 65.90 m.b @Zrj!R!J!B!~!~-$|B})|I|I|Q|U@VS@ {B靭(}I)dIr; <ӂ<-qS<Wi @i 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038965:JUWBJUMJJQRJQZJU;9bJU9JQJQE?EEE0EKP"K}9*K2K+:Ka1[2&%ex8>E17<#0mu!?9G#'11 HQHUp<H]>HYH]IH]kzBH] =HYHYH]4<H]-EHȒCHHH =I I56G D&~G A A N >Y yр,eFjA>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2931739@õ@Y/U٥ HF < >  h5 gƜ?h59 jP I By!--@ `Ei ; ; +h55B55A=EYeDNOT Ignoring new targets: 65.43 m.em:em:} ProNav: ac range: 65.434921 m, nav range: 8.798575 m, bearing: 333.719666 deg, approach rate: -0.747434 m/s, LOS rate: 0.084991 deg/s, cmd heading: 332.451453 deg, new cmd heading: 332.554788 deg. }Pi;HeadingCmd: 5.804176 target range: 65.434921 and range: 65.90 m.bϻ@ZrjRJB~~}||||yoS@ {BX+I)–IA; <@<1Uiϻ@iE?EEEZ3E96G}E~G9AAAQN]U>EDAT read: 14:22:03.3473 LVL= 22000, 26833, 21666, 32755, AGC= 56, IDX= 282, 0.05,-0.778,-2.259,-1.346,-1.232, PHS= 0.542,-0.980,-0.117, RAW= 124.4, 8.4, CAL= 132.1, 3.7, ROT= 17.9, -3.7 MYgot valid direction response: 14:22:03.3473 LVL= 22000, 26833, 21666, 32755, AGC= 56, IDX= 282, 0.05,-0.778,-2.259,-1.346,-1.232, PHS= 0.542,-0.980,-0.117, RAW= 124.4, 8.4, CAL= 132.1, 3.7, ROT= 17.9, -3.7 ]DAT read: Range 10 to 50 : 10.3 m (Round-trip 13.8 ms) speed 0.6 m/s ]R#Rx 1: Read range and direction messages.am\direction in FSK: [0.949611,0.306716,0.064532]mFpublishing direction and range info y Qp6c?';?P0? $AY  U) hI Ti  8  ? Hz   @) Q >I @i  A= >  A )  '%AL?Ov?h?i '+=  >  A ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙ ׀,K`jA9] ԰@]ݷ@Y]٥ H 6<  >h5jƜ?h59YT IBy!%i%@`Ei;;]/h5)-5A-EZ1b5WjA5#A5#A},DAT read: user:2080> BDAT read: Tx time:14:22:04.7293 $Ping request sent.5 Aҁ5I">N#@ 66a}?5# ?1kcͿO(?z5F5Aj5)wɜ?r56 5}B11 5}B5A5qf@ addTargetRange:: Added new target pos. range: 10.300000 m, deltaT: 77.918937 s, deltaX: -55.600002 m, approachRate: -0.713562 m/s, rangeRepo size: 4  Added new target pos. range: 10.226462 m, bearing: 346.684844 deg, lat: 36.906435 deg, lon: -122.115992 deg, deltaT: 77.918937 s, deltaX: -55.208458 m, approachRate: -0.708537 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.23 m.Powering the camera and arming the capture device at range: 10.30 m.z ProNav: ac range: 10.226462 m, nav range: 8.469875 m, bearing: 333.748196 deg, approach rate: 0.000000 m/s, LOS rate: 0.084991 deg/s, cmd heading: 332.554780 deg, new cmd heading: 332.669240 deg. HeadingCmd: 5.806174 target range: 10.226462 and range: 10.30 m.b-̹@Zrj R z JB~~}|||%$@|%? {B{TI)莾I}; Ń<:U<.$i-̹@i"&Changing to mode: 2"Armed mode.bEZEԑ"2Commanding negative:54402EEEE91EԹ JDAT read: TxSync time:14:22:04.7286 :JM \BJM NJJM @RJI ZJM =:bJM !9JM J4JI ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255218 6G- f~G A A1 N= >Inހ,|jA9N@N@YNhq3?ꣿ= g?@K,@'??KRO"KR9*KP2KR,:KRM9'Ml#fvfQb 4 Y n l ? CKD%L5 N@N;)NC^}zB^ IHv>HvCHvIHvzBHv =HtHv(DHvm<Hv{EeMb@Mb@Mb@aaa a)aYeRQ?MbX9?Q?yeB?eʡ=eu٥ HFS< >h5Ɯ?h59W IByC?:ܾ@`Ei::2h5=B=U5A=E|UUAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}}Entering USBL mode with 120.000000 count pings at 10.300000 m (mode 1.000000 count ).1}q}DNOT Ignoring new targets: 10.23 m. 5Powering the camera and arming the capture device at range: 10.30 m.z1= = M ProNav: ac range: 10.226462 m, nav range: 8.174624 m, bearing: 333.692672 deg, approach rate: -0.721107 m/s, LOS rate: -0.140507 deg/s, cmd heading: 332.669254 deg, new cmd heading: 332.496666 deg. MMHeadingCmd: 5.803162 target range: 10.226462 and range: 10.30 m.bU@ZqrqjqRqzqJqBy~y~}}|B}y||||? U{B]^IY)].YI]; YYeBKI,,jA9:@:%@Y:Ck٥\\ ^Hln~$< n>t >#@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751068h5v"Ɯ?h59vZ IvByھ@v`Eivchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002766 r,}jA9BGP@BY@YBd٥iq uHuFutw< u>yh5}Ɯ?h59}^ I}ÉByzI?:Ⱦ@}`Ei}:}:}9h55A EB}}DNOT Ignoring new targets: 10.23 m.]Powering the camera and arming the capture device at range: 10.30 m.zYee ProNav: ac range: 10.226462 m, nav range: 7.554699 m, bearing: 333.455203 deg, approach rate: -0.834955 m/s, LOS rate: -0.450054 deg/s, cmd heading: 332.290916 deg, new cmd heading: 331.754462 deg. oHeadingCmd: 5.790208 target range: 10.226462 and range: 10.30 m.bbI@ZrjRzJB~~|B}||||? M{BU/9FIY)]zaIe*; aimШ<gZ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506610:],jA 9rm@r@Yrgn٥YY ]H]F]͆< e>amh5eƜ?mh59eԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758723Jـ4J4J0:JaBJeXJJe>RJaZJabJe5K9Jet4JazJe:ujJe:uJef:}rJeg:} ?,ϼjA`9@Y@Y v٥ H%?< %>)5h5-Ɯ?5h59-d I-ȉBy=E?=:=¾=@-`Ei-5;-:-EAh5AE"5AEEDNOT Ignoring new targets: 10.23 m.Powering the camera and arming the capture device at range: 10.30 m.z!! ProNav: ac range: 10.226462 m, nav range: 6.884691 m, bearing: 333.005937 deg, approach rate: -0.746938 m/s, LOS rate: -0.565688 deg/s, cmd heading: 331.148690 deg, new cmd heading: 330.341920 deg. ¼%HeadingCmd: 5.765554 target range: 10.226462 and range: 10.30 m.b%k@ZirijiRiziJiBi~q~u|B}q|q|y|y|}ฬ@ {BL5I)5uI^6; x,<d_=ik@i E3EEEP0E- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262610Q 6G K <jG ?bG ?~G A A N >,jA9>{ѱ@>(۸@Y>k|7=>H??yJ ߿`?ns[5?`? >{ѱ@>ִ;)HPHR3IHRzBHR =HPHPHR><HR2EI^I^2fg fw=yfZ:Q j?٥hh jHjFn:< n?ph5rǜ?h59r1g IrʉBy@r`Eiri;r;r'Dh5 o5AK=P"K=}9*K92K=.:K=o8YT4^,CvjlNSn QkkG.J{c wJE~AJEADNOT Ignoring new targets: 10.23 m.Powering the camera and arming the capture device at range: 10.30 m.z99 ProNav: ac range: 10.226462 m, nav range: 6.630948 m, bearing: 332.798255 deg, approach rate: -0.763458 m/s, LOS rate: -0.648781 deg/s, cmd heading: 330.341908 deg, new cmd heading: 329.695047 deg. ޼HeadingCmd: 5.754264 target range: 10.226462 and range: 10.30 m.b"@Zrj R z J B ~1~1}1|1|9|9|UUW@ }{B}ڂI)sIa}; tو<fgQK=i"@iaEK3EEE`0EF=F=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5160276GzQ<~GYAyAN`>ԑԹ 0,rjA9Fޱ@Ff@YFrԀ٥xx zHzF~; ~> h5C(ǜ? h59;j I͉By @`Eiz::Gh5:J%[BJ%KJJ%BRJ!ZJ%:bJ%K9J%-4J!zJ%:jJ%:J% :rJ% :ԙB5AE]B*** querying acoustic contact ***JYRYiuDNOT Ignoring new targets: 10.23 m.Powering the camera and arming the capture device at range: 10.30 m.zBHBH ProNav: ac range: 10.226462 m, nav range: 6.317564 m, bearing: 332.514098 deg, approach rate: -0.735857 m/s, LOS rate: -0.700325 deg/s, cmd heading: 329.695034 deg, new cmd heading: 328.800355 deg. PHeadingCmd: 5.738649 target range: 10.226462 and range: 10.30 m.b@ZrjRzJB~~}|||| @@ {B靵qI)ZI,m; <f  p=i@iE6/EEEE6G= ~GA!A1N=>בבchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018942! q ,N1jA9:@:^@Y:Ab٥qq uH6; > h5Bǜ? h59Sm IΉByC?:@`Ei%);(;Kh5=BE6AEEDNOT Ignoring new targets: 10.23 m.Powering the camera and arming the capture device at range: 10.30 m.z ProNav: ac range: 10.226462 m, nav range: 5.987121 m, bearing: 332.135193 deg, approach rate: -0.809640 m/s, LOS rate: -0.979610 deg/s, cmd heading: 328.800362 deg, new cmd heading: 327.601092 deg. (HeadingCmd: 5.717718 target range: 10.226462 and range: 10.30 m.b%@Z!r!j!R!z!J!B)~)~M|B}Q|Q|Q|Q|U@ @ }{B靥k]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274748IIII1I)UʙQI]]; <z=i@iH>HCHHH =HHHf<HjEK)P"K+9*K2K/:K98k#k j,2f" I zb@=C-K;E+EEE^0EQԁ  DAT read: 14:22:07.1437 LVL= 14688, 28449, 16866, 23795, AGC= 51, IDX= 404,-0.21, 0.757,-0.861, 0.023, 0.241, PHS= 0.604,-1.055,-0.221, RAW= 120.2, 9.4, CAL= 128.6, 5.4, ROT= 21.4, -5.4  Ygot valid direction response: 14:22:07.1437 LVL= 14688, 28449, 16866, 23795, AGC= 51, IDX= 404,-0.21, 0.757,-0.861, 0.023, 0.241, PHS= 0.604,-1.055,-0.221, RAW= 120.2, 9.4, CAL= 128.6, 5.4, ROT= 21.4, -5.4  PDAT read: Bearing 21.4, -5.4 (Local)  ~Local bearing/azimuth received: Bearing 21.4, -5.4 (Local)  DAT read: Range 10 to 50 : 7.5 m (Round-trip 10.1 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.926924,0.363257,0.094108] Fpublishing direction and range infoڙ yڝ \?j1??|ӄ{?ڝ @Yڙ ۝ `9)۝ !oI۝ Ai۝ \۝ 3۝ ?۝ = ۝ Mb ܝ C@)ܝ '>Iܝ ȥ@iܝ =ܝ t;>ܝ  ݙ )ݙ ݝ Ց2?#zfrPi?S3?iݝ CM;ݝ 'ݝ t;>ݝ  ޙ )ޙ 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.6GU e=~GQ Aq A N >L,MjA 9}uޱ@}"@Y}XW٥iq uHuFu% u>h5p`ǜ?h59p IωBy@`Ei::Oh5Bn6AEAZbIjAH@H@@ʁ/ϊ͛@@W]l?\?j1??|ӄ{?t;>ҁ2J@Y-*&i*d?;4Dx?Gf¿! ?zU@j<ɜ?rꐌ }B ꁅ@:@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 3.779955 s, deltaX: -2.800000 m, approachRate: -0.740750 m/s, rangeRepo size: 4  Added new target pos. range: 7.446299 m, bearing: 351.829523 deg, lat: 36.906435 deg, lon: -122.115992 deg, deltaT: 3.779955 s, deltaX: -2.780164 m, approachRate: -0.735502 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.45 m.Powering the camera and arming the capture device at range: 7.50 m.z = ProNav: ac range: 7.446299 m, nav range: 5.610623 m, bearing: 331.652476 deg, approach rate: 0.000000 m/s, LOS rate: -0.979610 deg/s, cmd heading: 327.601090 deg, new cmd heading: 326.079407 deg. 9=|HeadingCmd: 5.691159 target range: 7.446299 and range: 7.50 m.bE@ZArAjARAzAJABA~I~I}I|I||@|`?,DAT read: user:2081> BDAT read: Tx time:14:22:08.5294 $Ping request sent.ԑ u,)gjA5JDAT read: TxSync time:14:22:08.5287 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.256669i9α@ظ@YtĔ=y5O:Q 5>٥yy }H}FM >h5yǜ?h59s ỈBy>?:ԙ@aEi!;;Sh56AEBNOT Ignoring new targets: 7.45 m.%Powering the camera and arming the capture device at range: 7.50 m.z!%`%`] ProNav: ac range: 7.446299 m, nav range: 5.289771 m, bearing: 331.227082 deg, approach rate: -0.772784 m/s, LOS rate: -1.086712 deg/s, cmd heading: 326.079405 deg, new cmd heading: 324.726078 deg. ]s:}|HeadingCmd: 5.667539 target range: 7.446299 and range: 7.50 m.b}{\@ZyryjyRyzyJB~~{|B}||||? z{BI(<)I5; ӌ<r=i{\@iE&EEE|0E6G s=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504981~Gy A A N > H] >HY H] IH] zBH]  =HY HY H] U<H] PEHHHHI = I95V ,jljA9> @>ͱ@Y> <KBzP"KB9*K@2KB0:KBz )T1'*%sT[Qqz-@7>+F$[j7&k"e x y>=>H ?`P?6 KR߿@? 챿邑@?@K? > @>;)>CbyBbIIjIjM3   =y hQ  ?٥ Ho ?h5ǜ?h59+v IʉByj@aEiq::SVh57ABNOT Ignoring new targets: 7.45 m.Powering the camera and arming the capture device at range: 7.50 m.z ProNav: ac range: 7.446299 m, nav range: 5.065460 m, bearing: 330.909666 deg, approach rate: -0.765182 m/s, LOS rate: -1.130730 deg/s, cmd heading: 324.726072 deg, new cmd heading: 323.731761 deg. B|HeadingCmd: 5.650185 target range: 7.446299 and range: 7.50 m.bQδ@ZrjRzJB~~}||||`? IMKgIY)]žYIeE'; aae)<}O ">iQδ@i)-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755255EM$EIEIEM5EI 16Gm=~G A A N >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007521:JA BJE NJJE DRJA ZJA bJE !9JE 4JA zJE :jJE :JE U:rJE X:.&,PjA9:왱@:@Y:R٥aa eHeFe m>ih5mǜ?h59my ImljByQ¾@m aEim!i@iqE!EEE4E6G-{3==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258839~G AA1N=>ԉԹ i,, (jA~yB~IMb@Mb@Mb@ )YzG?~jt?~jty 7?=nA A)+ AIAy AII(*3d ==yQ >٥ HF >h5ǜ?h593| IBy"8?:Ͼ@aEi;h;x]h5uB}p8A}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510840ԙAEBNOT Ignoring new targets: 7.45 m.AGGH >H H IH MzBH  =H H H _<H `EԹPowering the camera and arming the capture device at range: 7.50 m.z%P%P5 ProNav: ac range: 7.446299 m, nav range: 4.471473 m, bearing: 330.029319 deg, approach rate: -0.664441 m/s, LOS rate: -1.002348 deg/s, cmd heading: 322.265701 deg, new cmd heading: 320.921615 deg. 5+|HeadingCmd: 5.601139 target range: 7.446299 and range: 7.50 m.b<@ZrjRzJB~~{B}||||@_?K`P"Kŷ9*K2K1:KpB-(K[kc5{f8+S0dC1 x{B żI)/߾Ig%: Bg<.  *>i <@i! U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763736 >E '<EEEE_0EYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014764q6G>ZGARG~A~G)AIAiN,?7,v6jA9Z{9@Z(C@YZ٥qq }H}F}g }>h5ǜ?h59M IBy־@aEi;;Cch59AEBNOT Ignoring new targets: 7.45 m.Powering the camera and arming the capture device at range: 7.50 m.jFinal approach. Armed for intercept at range: 7.50 m.\Transitioning guidance mode to: FINAL_APPROACH@ĶĶ ProNav: ac range: 7.446299 m, nav range: 3.997725 m, bearing: 329.313598 deg, approach rate: -0.756499 m/s, LOS rate: -1.278294 deg/s, cmd heading: 320.921629 deg, new cmd heading: 318.521485 deg. R[|HeadingCmd: 5.559248 target range: 7.446299 and range: 7.50 m.b]@ZrjRJB ~ ~ }||||]@ Uw{BU2IY)]򾉞YI]: YY]#ޑie]@i>ETԙ~GAAN>Թ =,jA9> @>W@FDDAT read: Rx Time:14:22:10.6653 FTRx dataTimestamp_ set to:1749133331.923844RPDAT read: Bearing 22.0, -13.0 (Local) V~Local bearing/azimuth received: Bearing 22.0, -13.0 (Local) ZDAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.6 nDAT read: 14:22:10.6653 LVL= 10464, 20385, 14258, 18467, AGC= 45, IDX= 145, 0.12,-1.780, 2.585,-2.616,-2.173, PHS= 0.481,-1.478,-0.446, RAW= 121.8, 16.7, CAL= 128.0, 13.0, ROT= 22.0, -13.0 vYgot valid direction response: 14:22:10.6653 LVL= 10464, 20385, 14258, 18467, AGC= 45, IDX= 145, 0.12,-1.780, 2.585,-2.616,-2.173, PHS= 0.481,-1.478,-0.446, RAW= 121.8, 16.7, CAL= 128.0, 13.0, ROT= 22.0, -13.0 vR#Rx 1: Read range and direction messages.z\direction in FSK: [0.903420,0.365005,0.224951]zFpublishing direction and range infoDyFQv?Zt?\?:/2?F3@YDI|I~R=:J[BJOJJGRJZJ:bJ%9Jc4J @ @ @ @ F()FOIF7iF#HF-FE>F/FZ FJ @)F;>IF5@iFVh>F >FVh D)DF?{!GU?+#l?iF:lFVh D)D5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.541343ԙY>FU<>H?5?$?~2E?m顿HΞ? ? > @>;)>CH>HHIHzBH =HH'DHI<H9E5ZyB5YIMb@Mb@Mb@ KP"K}9*K2K2:K';:Swy7Cr}E`EW>&K6q-JJA)YtV?Zd;O?Zd;Oy2?j<=j A 3A) AI\Ay AII[3ս =y #9Q  >٥    H F7 >Eh5Bǜ?Eh59 IByE,3?E:MM@aEi;;gh5UBU9AUEZDbFC jAF@F@F@ʁFkB!)L@$S?{i9?FQv?Zt?\?:/2?F >FVhҁFj@+Ugm#?Fq?2EJGÿIr/?zF:CF-@jFKɜ?rFP F}BFKɜ?FP  F}BF@F@5 addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 2.773360 s, deltaX: -2.400000 m, approachRate: -0.865376 m/s, rangeRepo size: 4 M Added new target pos. range: 5.063397 m, bearing: 351.118937 deg, lat: 36.906451 deg, lon: -122.115980 deg, deltaT: 2.773360 s, deltaX: -2.382901 m, approachRate: -0.859211 m/s, posRepo size: 4 IMBNOT Ignoring new targets: 5.06 m.IU6Short final. Range: 5.10 m.UVTransitioning guidance mode to: SHORT_FINALU@@UQ ProNav: ac range: 5.063397 m, nav range: 4.939727 m, bearing: 351.118943 deg, approach rate: 0.000000 m/s, LOS rate: -1.278294 deg/s, cmd heading: 318.521473 deg, new cmd heading: 316.431428 deg. |HeadingCmd: 5.522770 target range: 5.063397 and range: 5.10 m.b@ZrjRJB~~{B}|||`ff@|? 靍PmI)9I@(: <B\>i@i5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770801Q >E o=<zE EY EY Ea Ee P0Ea iDDAT read: Rx Time:14:22:11.1651 TRx dataTimestamp_ set to:1749133332.429033PDAT read: Bearing 29.7, -16.2 (Local) ~Local bearing/azimuth received: Bearing 29.7, -16.2 (Local) DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.5 =DAT read: 14:22:11.1651 LVL= 18240, 23361, 29042, 30787, AGC= 41, IDX= 510, 0.16, 1.433,-0.596, 0.284, 0.986, PHS= 0.535,-1.535,-0.706, RAW= 113.5, 18.5, CAL= 120.3, 16.2, ROT= 29.7, -16.2 EYgot valid direction response: 14:22:11.1651 LVL= 18240, 23361, 29042, 30787, AGC= 41, IDX= 510, 0.16, 1.433,-0.596, 0.284, 0.986, PHS= 0.535,-1.535,-0.706, RAW= 113.5, 18.5, CAL= 120.3, 16.2, ROT= 29.7, -16.2 ER#Rx 2: Read range and direction messages.M\direction in FSK: [0.834141,0.475786,0.278991]MFpublishing direction and range infoyKE,I?Fs??@Y @G)A[IrqiCx)?zĿj4 ?)MQ>I[`@iÐ>m?Ð )&?(gr&J?iP꽉)m?Ð )}checking for new query: numPingsReceived=2, elapsed TxPingTime=3.0416356G*>jG?bG?Ա~GqAAN?G,FE!jAchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.27871399z@@YG7m٥A I M HM FM 佼 M m>Q  h5U Ȝ? h59U v IU By H0? : J @U (aEiU ;U :U bnh5 :A EZbGujA@@@ʁz&@G #@5E?KE,I?Fs??m?Ðҁ#cL@Ce@ƿ?$/??{#;]?z2c@jIbɜ?r }~BIbɜ?6  @O@M  addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505189 s, deltaX: -0.300000 m, approachRate: -0.593837 m/s, rangeRepo size: 4 }  Added new target pos. range: 4.765551 m, bearing: 357.823577 deg, lat: 36.906453 deg, lon: -122.115976 deg, deltaT: 0.505189 s, deltaX: -0.297846 m, approachRate: -0.589574 m/s, posRepo size: 4 y y  zIgnoring new targets. Set target to previous: 4.77 m. 5.06 m.    ProNav: ac range: 5.063397 m, nav range: 4.462221 m, bearing: 353.542380 deg, approach rate: 0.000000 m/s, LOS rate: -1.278294 deg/s, cmd heading: 316.431435 deg, new cmd heading: 313.569667 deg.   |HeadingCmd: 5.472823 target range: 5.063397 and range: 4.80 m.b ^!@Z r j R J B ~ ~ 1{B} | | | @33@| ? E v{BM nII )M 7I Iu G q q u ˕<} sOy } t.w>i} ^!@i D D D D ԑ  DDAT read: Rx Time:14:22:11.6650  TRx dataTimestamp_ set to:1749133332.932111 PDAT read: Bearing 40.5, -24.7 (Local)  ~Local bearing/azimuth received: Bearing 40.5, -24.7 (Local)  DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5  DAT read: 14:22:11.6650 LVL= 18912, 29057, 32754, 32755, AGC= 40, IDX= 509, 0.35, 0.083,-1.825,-1.336,-0.330, PHS= 0.501,-1.448,-1.009, RAW= 102.4, 21.3, CAL= 109.5, 24.7, ROT= 40.5, -24.7  Ygot valid direction response: 14:22:11.6650 LVL= 18912, 29057, 32754, 32755, AGC= 40, IDX= 509, 0.35, 0.083,-1.825,-1.336,-0.330, PHS= 0.501,-1.448,-1.009, RAW= 102.4, 21.3, CAL= 109.5, 24.7, ROT= 40.5, -24.7  R#Rx 3: Read range and direction messages. \direction in FSK: [0.690835,0.590029,0.417867] Fpublishing direction and range infoڙ yڝ R?P/?wU?:J \BJ RJJ @RJ ZJ =:bJ S29J J4J ڝ f@Yڙ ۝ I)۝ qI۝ i۝ ۝ (۝ A?۝ X۝ & ܝ ?)ܝ V>Iܝ ?iܝ >ܝ 4?ܝ ܾ ݙ )ݙ ݝ B:vi?>8~,ҿH?iݝ Kݝ Zݝ 4?ݝ ܾ ޙ )ޙ  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.571608 H<H4<H>HCHIHyBH =HHHq<HoEEEEEm0EK- P"K-9*K)2K-3:K-xyjxA'V  }soyy|)7^+l;6GR> ~GiAqAN?Q,1HjA96@6'@Y6}DʁH, @)2@ :2?R?P/?wU?4?ܾҁ}&@A?j=P?M?H?y?z?D@j ʒɜ?rre jB  ꁍҋ@@ addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503078 s, deltaX: -0.100000 m, approachRate: -0.198777 m/s, rangeRepo size: 4  Added new target pos. range: 4.666227 m, bearing: 7.886961 deg, lat: 36.906453 deg, lon: -122.115976 deg, deltaT: 1.008267 s, deltaX: -0.397171 m, approachRate: -0.393914 m/s, posRepo size: 4 ԡzIgnoring new targets. Set target to previous: 4.67 m. 5.06 m.% ProNav: ac range: 5.063397 m, nav range: 4.245331 m, bearing: 354.882767 deg, approach rate: 0.000000 m/s, LOS rate: -1.278294 deg/s, cmd heading: 313.569668 deg, new cmd heading: 312.209070 deg. )=|HeadingCmd: 5.449076 target range: 5.063397 and range: 4.70 m.bE^@ZArIjIRIJQBY~~}|||@| +j? Qu?0Iy)}'yI}6 yyH<-U})>i^@iEMEIEIEM5EI6G%s\>~GA A N >m DDAT read: Rx Time:14:22:12.1647 m TRx dataTimestamp_ set to:1749133333.436164u PDAT read: Bearing 56.6, -34.7 (Local) } ~Local bearing/azimuth received: Bearing 56.6, -34.7 (Local)  DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.5  DAT read: 14:22:12.1647 LVL= 14352, 27697, 29522, 32755, AGC= 38, IDX= 507,-0.34, 1.584, 0.041, 0.131, 1.362, PHS= 0.310,-1.274,-1.234, RAW= 91.3, 26.4, CAL= 93.4, 34.7, ROT= 56.6, -34.7  Ygot valid direction response: 14:22:12.1647 LVL= 14352, 27697, 29522, 32755, AGC= 38, IDX= 507,-0.34, 1.584, 0.041, 0.131, 1.362, PHS= 0.310,-1.274,-1.234, RAW= 91.3, 26.4, CAL= 93.4, 34.7, ROT= 56.6, -34.7  R#Rx 4: Read range and direction messages. \direction in FSK: [0.452574,0.686365,0.569280] Fpublishing direction and range infoi ym ?_?0}7?m f@Yi m 8)m 1lIm Rsii m &m R>m om m W?)m >Im Y?im ?m '|?m  i )i m Nf!?wۿ8/jBx?im @_m .쾩m '|?m  i )i  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.0489781 X,ajA9N0@N޸@YN٥AA EHEFMY M>Q}h5UDȜ?}h59U IUByy} }@U0aEiU;U`;Uth5;AEZb[jAo@o@>ʁi1?FHj@8-<@?_?0}7?'|? ҁ0I' @q/,˞?N/@#_`!?!Kb?NG?z?=I@j^Mɜ?ro 8BKɜ?ꐌ  }~Bꁥ@/=E addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504053 s, deltaX: -0.500000 m, approachRate: -0.991959 m/s, rangeRepo size: 4 u Added new target pos. range: 4.169820 m, bearing: 23.255333 deg, lat: 36.906451 deg, lon: -122.115974 deg, deltaT: 1.512320 s, deltaX: -0.893578 m, approachRate: -0.590865 m/s, posRepo size: 4 qy}zIgnoring new targets. Set target to previous: 4.17 m. 5.06 m. ProNav: ac range: 5.063397 m, nav range: 4.001178 m, bearing: 356.648796 deg, approach rate: 0.000000 m/s, LOS rate: -1.278294 deg/s, cmd heading: 312.209067 deg, new cmd heading: 310.702758 deg. |HeadingCmd: 5.422786 target range: 5.063397 and range: 4.20 m.bw@ZrjRJB ~~9}A|A|i|u@|}?checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285379 u{B oAI)"I険 <C\>iw@iAbEAZEEIEIEIEUp5EQF]=F]>a } DDAT read: Rx Time:14:22:12.6646  TRx dataTimestamp_ set to:1749133333.940081 PDAT read: Bearing 64.9, -37.8 (Local)  ~Local bearing/azimuth received: Bearing 64.9, -37.8 (Local) Ա  DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4  DAT read: 14:22:12.6646 LVL= 16592, 32753, 32754, 32755, AGC= 38, IDX= 506, 0.09, 0.397,-1.080,-1.185, 0.265, PHS= 0.220,-1.298,-1.452, RAW= 85.2, 29.2, CAL= 85.1, 37.8, ROT= 64.9, -37.8  Ygot valid direction response: 14:22:12.6646 LVL= 16592, 32753, 32754, 32755, AGC= 38, IDX= 506, 0.09, 0.397,-1.080,-1.185, 0.265, PHS= 0.220,-1.298,-1.452, RAW= 85.2, 29.2, CAL= 85.1, 37.8, ROT= 64.9, -37.8  R#Rx 5: Read range and direction messages.:J [BJ JJJ PRJ ZJ :bJ &9J ^4J  \direction in FSK: [0.335183,0.715540,0.612907] Fpublishing direction and range infoځ yڅ Nhs?3a?o m4?څ 3@Yځ ۅ @)ۅ Iۅ iہ ہ ۅ Ga>ۅ $ۅ #۹ ܅ V?)܅ w?I܅ ?i܅ [(?܅ ?܅ [( ݁ )݁ ݅ Մ?Ꮂ>߿D8?i݅ e݅ cv݅ ?݅ [(6G- ]> ށ )ށ ] checking for new query: numPingsReceived=5, elapsed TxPingTime=4.563000~G A A N>&_,jAH:>H8H:dIH:myBH8H8H:&DH:H<H:3ExBIK:P"KK9*K2K4:K<5~[wmJ<W`~r*A<OxrwMb@Mb@Mb@ )YMbX?٥YY ]H]F] e>amh5eJ_Ȝ?mh59e IeBy*?:@e6aEie;e;eyh5B;AEZbI*|jAA@A@ ?ʁ_Ȝy?Q(M@Zǣw@Nhs?3a?o m4??[(ҁwa@; J? IP@Sdb|?X>X?rsL?z~?.@jvfEɜ?rl wB ʒɜ?re  jBq@C> addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503917 s, deltaX: -0.100000 m, approachRate: -0.198445 m/s, rangeRepo size: 4  Added new target pos. range: 4.070531 m, bearing: 31.515157 deg, lat: 36.906451 deg, lon: -122.115969 deg, deltaT: 2.016237 s, deltaX: -0.992867 m, approachRate: -0.492435 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.07 m. 5.06 m.checking for new query: numPingsReceived=5, elapsed TxPingTime=4.7869845 ProNav: ac range: 5.063397 m, nav range: 3.681659 m, bearing: 359.593165 deg, approach rate: 0.000000 m/s, LOS rate: -1.278294 deg/s, cmd heading: 310.702765 deg, new cmd heading: 308.543809 deg. 1=|HeadingCmd: 5.385105 target range: 5.063397 and range: 4.10 m.b=R@Z9r9j9R9JABA~a~mzB}i|i|i|m`ff@|u ? t{BE%I)o#I,   l< e >iR@i!EEEE5E)  ևG A AA m ?Ym Aym CB6G- )o>Q ~G A A! N- >f,FjA9J@JLõ@YJa;yJûJH`Z?@<&?y?m&`Z?Mh?7l`Exx ? J@J;)JCfxBfIDDAT read: Rx Time:14:22:13.1643 TRx dataTimestamp_ set to:1749133334.445250PDAT read: Bearing 59.2, -31.8 (Local) ~Local bearing/azimuth received: Bearing 59.2, -31.8 (Local) DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4 DAT read: 14:22:13.1643 LVL= 15968, 32753, 32754, 32755, AGC= 42, IDX= 503, 0.48,-1.300, 3.109, 3.086,-1.697, PHS= 0.486,-1.429,-1.503, RAW= 88.1, 23.9, CAL= 90.8, 31.8, ROT= 31.8 !unknown deviceResponse_: 14:22:13.1643 LVL= 15968, 32753, 32754, 32755, AGC= 42, IDX= 503, 0.48,-1.300, 3.109, 3.086,-1.697, PHS= 0.486,-1.429,-1.503, RAW= 88.1, 23.9, CAL= 90.8, 31.8, ROT= 31.8 -X#Rx 6: Read range message, but no direction.ډڍff@Yډchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.051633I 1I 2]2= ]g=y] Q ]?٥aa eHamϵ m?h5nȜ?h59x IBy@9aEi.::|h5;AB*** querying acoustic contact ***JR  addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.505169 s, deltaX: -0.500000 m, approachRate: -0.989768 m/s, rangeRepo size: 4 zIgnoring new targets. Set target to previous: 5.06 m. 5.06 m.==U ProNav: ac range: 5.063397 m, nav range: 3.497073 m, bearing: 1.733880 deg, approach rate: -0.526141 m/s, LOS rate: 6.422423 deg/s, cmd heading: 308.543796 deg, new cmd heading: 315.272250 deg. U>]|HeadingCmd: 5.502539 target range: 5.063397 and range: 3.60 m.b]@ZYrYjRJB~~}||| @|@?a s{B靽+DI)IS æ<Hyhi@iEYEaEiEu4Eq6G=}@>ԑ~G) m checking for new query: numPingsReceived=6, elapsed TxPingTime=5.297563A A N >Ա .l,ejA9>4@>>@Y>q!9y>>H ?@ڒ?1w?`e?_~? .7]y ? >4@>;)>C^xB^Iԙ=Mb@Mb@Mb@999 9)9Y=Cl?~jt{Gzy=/?==#=A =rA)= AI=A9y=AIuIu#3 9=yQ >٥ HF >h5`Ȝ?h59J IBy/?:%@>aEi;y;h5;AEiq}zIgnoring new targets. Set target to previous: 5.06 m. 5.06 m.}>}>DDAT read: Rx Time:14:22:13.6641 TRx dataTimestamp_ set to:1749133334.951523DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.3 -X#Rx 7: Read range message, but no direction.ڱڵ3S@Yڱchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.552852 ProNav: ac range: 5.063397 m, nav range: 3.266134 m, bearing: 5.072226 deg, approach rate: -0.549026 m/s, LOS rate: 8.492799 deg/s, cmd heading: 315.272243 deg, new cmd heading: 325.866921 deg. :J \BJ RJJ ?RJ ZJ =:bJ S29J ـ4J 5$>=|HeadingCmd: 5.687451 target range: 5.063397 and range: 3.60 m.b=@Z9r9j9R9J9Ba~a~ezB}i|q|q|}`ff @|}`? q{B?I)"IQ(: !!%<%e)-~>i-@i)rE]%?jE]>GG@AH>HHRIHOyBH =HHHN<Hm checking for new query: numPingsReceived=7, elapsed TxPingTime=5.800225~G9 Aa Ay N >s,yjA9b @b@Ybgyb>bH`ؾ? ?`t?`I?i?b?`ׇ`l? b @b*};)bChh)l lIrIr3yzQ ~>٥|| ~HEFE: E>IUh5MȜ?]h59MY etIIMByae)m@MBaEiM;MF;M݃h5B;AE% addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.506273 s, deltaX: -0.300000 m, approachRate: -0.592566 m/s, rangeRepo size: 4 !)5zIgnoring new targets. Set target to previous: 5.06 m. 5.06 m.5h!>5h!>E ProNav: ac range: 5.063397 m, nav range: 3.088428 m, bearing: 8.240772 deg, approach rate: -0.479193 m/s, LOS rate: 9.031193 deg/s, cmd heading: 325.866932 deg, new cmd heading: 335.813264 deg. M>M|HeadingCmd: 5.861047 target range: 5.063397 and range: 3.30 m.bM@ZIrQjQRQJQBQ~Y~Y}Y|Y|a|a|e`G? p{BuTIq)uT"yI}U yy}S<^X>i@iEEEE[0E6Ge> ؍=׍=DDAT read: Rx Time:14:22:14.1639 TRx dataTimestamp_ set to:1749133335.457213DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.3 -X#Rx 8: Read range message, but no direction.ڑڕ@@Yڑchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.057352~G9AAAN>A y,4+jA9:@:|%@Y:7y:䗂:H g?@u?@1y? %u`ff?@hy?Fr?R? :@:;):CJyBJ%IIbIbF3j = n٥pp rHprs: r>tzh5vyȜ?~h59vʩ IvBy|~u.~@vGaEivN;v;vDh5c;A checking for new query: numPingsReceived=8, elapsed TxPingTime=6.3048831 addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505690 s, deltaX: -0.300000 m, approachRate: -0.593249 m/s, rangeRepo size: 4 BIntercept lockout. Range: 3.00 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT@b!Z9r9jARJB~~}|||@|=? n{B-I)=I@{ 1<3OP>ii YEEEEY0Eԁ DDAT read: Rx Time:14:22:14.6639  TRx dataTimestamp_ set to:1749133335.961192 PDAT read: Bearing 39.0, -41.4 (Local)  ~Local bearing/azimuth received: Bearing 39.0, -41.4 (Local) I R=I p= DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2  DAT read: 14:22:14.6639 LVL= 20000, 21137, 13218, 18787, AGC= 42, IDX= 500,-0.48, 0.896,-1.243,-0.578, 0.791, PHS= 0.193,-1.987,-1.373, RAW= 105.9, 29.9, CAL= 111.0, 41.4, ROT= 39.0, -41.4 E Ygot valid direction response: 14:22:14.6639 LVL= 20000, 21137, 13218, 18787, AGC= 42, IDX= 500,-0.48, 0.896,-1.243,-0.578, 0.791, PHS= 0.193,-1.987,-1.373, RAW= 105.9, 29.9, CAL= 111.0, 41.4, ROT= 39.0, -41.4 E R#Rx 9: Read range and direction messages.U \direction in FSK: [0.582946,0.472060,0.661312]U Fpublishing direction and range info6G] S~>H H H H H  =H H 'DH <H E ڱ yڵ ۵ V۵ w ܵ 7?)ܵ 0?Iܵ ?iܵ 8?ܵ @.?ܵ 8 ݱ )ݱ ݵ (hj?_@ ˿B-?iݵ F|ݵ 3ݵ @.?ݵ 8 ޱ )ޱ ~G1 AI AY Ne >v, #jA6checking for new query: numPingsReceived=9, elapsed TxPingTime=6.637595E!yBE6IyKvP"K9*K2K6:K~Y i_oPI3HP'326q/vzLq#JAJ-Mb@Mb@Mb@))) )))Y-Gz?{GztMb`?y-0?-ף-;-A -A)-rAI))y-AIeIe<2ma= u&=yuQ u>٥ HF >h58Ȝ?h59Q IBy0?:*)@LaEi;;h5:A߬EZb+jA>@>@P%=ʁiC ?=vm~?3lЃ?~G A! A1 N= > ކ,jAI)@6DDAT read: Rx Time:14:22:15.1639 :TRx dataTimestamp_ set to:1749133336.463864>PDAT read: Bearing 60.4, -51.5 (Local) >~Local bearing/azimuth received: Bearing 60.4, -51.5 (Local) FDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 VDAT read: 14:22:15.1639 LVL= 19072, 21457, 24306, 32755, AGC= 44, IDX= 499,-0.39,-1.396,-2.679,-2.634,-0.960, PHS=-0.348,-1.672,-1.677, RAW= 89.8, 44.6, CAL= 89.6, 51.5, ROT= 60.4, -51.5 ZYgot valid direction response: 14:22:15.1639 LVL= 19072, 21457, 24306, 32755, AGC= 44, IDX= 499,-0.39,-1.396,-2.679,-2.634,-0.960, PHS=-0.348,-1.672,-1.677, RAW= 89.8, 44.6, CAL= 89.6, 51.5, ROT= 60.4, -51.5 ^T#Rx 10: Read range and direction messages.:JjVBJjMJJj@RJhZJj9bJj9JjJ4JhzJj:rjJj:rJj+:rrJj.:rv\direction in FSK: [0.307486,0.541273,0.782608]zFpublishing direction and range info4y6٭?T R?iŪ: ?4Y4 6J)6SI6^i66,6-6ֿ6ֿ 6y?)6SFG?I6+?i6f?6V?6f 4)46M۳?B}"ֿb]u?i66,G6V?6f 4)4 checking for new query: numPingsReceived=10, elapsed TxPingTime=7.0796009U~@U, @YUHyU~UHN?#S?r?R #?@?`)|?}Џ@? U~@U_;)UC]3yBeAIIIT3%@@= %Q=y%"ʻQ %>٥)) -H-FU2 ]>ah5eȜ?h59e IeBy2@ePaEie;e;eh5B:AEZ4b6jA446>ʁ6՛{N?`?Mul˥@6٭?T R?iŪ: ?6V?6fҁ6`?)r?Ȝ\x~@6d?x2`O$?Df=?z63?6?j6D`ɜ?r6h 69B6D`ɜ?4 68B6'@6W? addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.502672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.978445 m, bearing: 21.933352 deg, lat: 36.906446 deg, lon: -122.115969 deg, deltaT: 0.502672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4   b Z r j R JB~~}||||@i? j{B靵̏.I) Iq &><;%ڙiiE}EyEEE5checking for new query: numPingsReceived=10, elapsed TxPingTime=7.3136196G\J>Y ~G A A) NM >& ,66jA9>z@>@Y>vy>>Ha??T.?Z(a???``c? >z@> ̆;)>CJOyBJRIMb@Mb@Mb@ )YK7??Mb?yI,?<<A  A) AIAyp AII[3 =  ^=y Q >٥ H7 >!-h5%Ȝ?Uh59%߷ I%Byet,?e:m*m@%TaEi%F<%<%2h5E:AެEB*** querying acoustic contact ***JRbZrjRJB~~x{B}||||?I mHCHkIHxyBH =HH&DH5<HEEEEE0Ey6G#%>jG?bG4?~GAAN=>KO"K@9*K2K7:K@.TI?>k,df&{^h,VIyԡ 5 checking for new query: numPingsReceived=11, elapsed TxPingTime=7.816170K,HPjA@9^@^5@Y^!y^ՒQ^H  ? ?'n ?~?ϕ?$2j? ^@^N;)^C~yBpII I ?13%>> %Z=y-8Q ->٥)1 5H5F54 5>9Eh5=dȜ?Eh59= I=ByIM/M@=XaEi= :=::=wh5QU9AQZb=jASK@SK@M{?ʁ]EӿC@N@:v:c?{S?^?36ҁ#i^? {wYY @ro@{?Ų4?V0D?zb@?j^ɜ?rz7 B^ɜ?z7  ꁭ<@J{? addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504316 s, deltaX: 0.200000 m, approachRate: 0.396577 m/s, rangeRepo size: 4  Added new target pos. range: 3.176949 m, bearing: 56.344842 deg, lat: 36.906446 deg, lon: -122.115972 deg, deltaT: 0.504316 s, deltaX: 0.198503 m, approachRate: 0.393609 m/s, posRepo size: 4 TStarting intercept timer at range: 3.20 m.bZrjRJB~~}||Q|U @|]v? g{B$5!I)~󾉞Id ܢ<: i!i!ԩEEEE&5EDDAT read: Rx Time:14:22:16.1639 TRx dataTimestamp_ set to:1749133337.471491DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 -Z#Rx 12: Read range message, but no direction.ځڅ@@Yځchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.070981:JZBJOJJARJZJ9bJ%9J4JzJ2:jJ7:J&:rJ&:6G>~G A  A N >,^gjjA9>|@>@Y>y>.<>H?w?@e [xo?[.Y{?`?h? >|@>U6;)٥XX ZHZFl >AEh5EȜ?Mh59E IEByIM2M@E]aEiE:E:Eh5}B}f9A۬Echecking for new query: numPingsReceived=12, elapsed TxPingTime=8.322529 addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503311 s, deltaX: -0.200000 m, approachRate: -0.397369 m/s, rangeRepo size: 4 bZrjRJB~~}|||@|wg? Ue{BU~IY)]qYI]Z YY]Ѷ1~GAAN> DDAT read: Rx Time:14:22:16.6640  TRx dataTimestamp_ set to:1749133337.976219 DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.2 - Z#Rx 13: Read range message, but no direction.ڑ ڕ L@Yڑ  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.575739a H >H CH IH yBH  =H H 'DH [<H VE,AjAyBI9Mb@Mb@Mb@ )Y(\?㥛 ?/$?y.?=< A A)AIrAyG AI#I%x3= 5=yQ >٥ %H!% %>)5h5-0ɜ?5h59-H I-By=)/?=:= =@-aaEi-_;-F;-˜h5AE8AMجE addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504728 s, deltaX: 0.200000 m, approachRate: 0.396253 m/s, rangeRepo size: 4  RStopped intercept timer at range: 3.20 m. b Z K h3P"K K9*K 2K 8:K -7o; (o;5Rk>z1&} 2du j r jR!J!B!~!~-{B})|I|I|U @|Uk? d{B靝I)2վI-̻ k<r"ؾWhiiiDDAT read: Rx Time:14:22:17.1641 %TRx dataTimestamp_ set to:1749133338.233064=checking for new query: numPingsReceived=13, elapsed TxPingTime=8.832094EmEiEiEmP5Eq6G}=~GYAaAyN{>ԑ -,HjA&DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.2 -*Z#Rx 14: Read range message, but no direction. "3S@Y .checking for new query: numPingsReceived=14, elapsed TxPingTime=9.077114J4J4J@1:JV_BJTJJV>RJTZJV :bJTJVt4JTzJV,:jJV1:JV&:rJV&:ԙ9-"@-Х@Y-y-N<-H!? =?Ś?y`b? oh?#? -"@-$;)-CyBII=I=2u= uD=y}J8Q }>٥yy }HF >h5+'ɜ?h59 IBy,(@faEi;U<mh558Ae addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.502485 s, deltaX: 0.100000 m, approachRate: 0.199011 m/s, rangeRepo size: 4 emTStarting intercept timer at range: 3.30 m.ibiZrjRJB~~}|||`ff @| 5&? uc{BuIq)uƾyI}}ֻ yy}c<ߑ˾ iiE}EyEyE}!5Ey6G],=checking for new query: numPingsReceived=14, elapsed TxPingTime=9.3303561~GAAQ N >9 W,jA9>.@>7@Y>Cy>M#=>Hv?g? a k?s@]~?#?? >.@>,;)٥ HFR >h58ɜ?h59 IBy.+?:P@jaEik::ãh5B7AլE-5RStopped intercept timer at range: 3.30 m.1b1Z9r9j9R9J9B9~A~E|B}A|A|A|I|M? b{B: I)I0߻ <$xɾi i eDDAT read: Rx Time:14:22:17.6643 mTRx dataTimestamp_ set to:1749133338.985225uDAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.3 -uZ#Rx 15: Read range message, but no direction.aeff@Ya}checking for new query: numPingsReceived=15, elapsed TxPingTime=9.584016GGH>HCHIHzBH =HH(DHHdEEEEEP0EA6Gg:~GAANc>iKM 2P"KM ж9*KI 2KM 9:KM #9<.",Y V$\ q&%.S s .r<Om.r ~lpbSq A checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833277ԡ F,jAdlx %EY!y%AiuyBuII&I3c5= %6=y-Q 5>٥11 =H9E E>Ieh5MMɜ?eh59MH IMByaim@MoaEiMa;MP;Mh57A׬EB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.506521 s, deltaX: 0.300000 m, approachRate: 0.592275 m/s, rangeRepo size: 4 TStarting intercept timer at range: 3.60 m.bZrjRJB~~}||| @|@Y? a{B>I)Ұ!I%> !!%e<-Ծ)-i)i1ԙEEEEEeDDAT read: Rx Time:14:22:18.1643 eTRx dataTimestamp_ set to:1749133339.488883uPDAT read: Bearing 104.0, -32.5 (Local) u~Local bearing/azimuth received: Bearing 104.0, -32.5 (Local) DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 :JYBJ]JJARJZJ9bJ_9J4JzJc:jJh:Jh:rJj:6GIjG?bG?DAT read: 14:22:18.1643 LVL= 29488, 22513, 29666, 32211, AGC= 46, IDX= 502,-0.14, 0.118,-0.615,-2.059, 0.085, PHS= 0.121,-0.653,-2.147, RAW= 49.6, 25.4, CAL= 46.0, 32.5, ROT= 104.0, -32.5 -Ygot valid direction response: 14:22:18.1643 LVL= 29488, 22513, 29666, 32211, AGC= 46, IDX= 502,-0.14, 0.118,-0.615,-2.059, 0.085, PHS= 0.121,-0.653,-2.147, RAW= 49.6, 25.4, CAL= 46.0, 32.5, ROT= 104.0, -32.5 5T#Rx 16: Read range and direction messages.=^direction in FSK: [-0.204035,0.818339,0.537300]EFpublishing direction and range infoaye&;ʿń/?Ef1?aYa e0s)eWIesie}e.e=e+'esh ek]?)e>IeM?ie6?eV?e6 a)ae ~i?_.<:ҍm?~GAAN>ie>e⾩eV?e6 a)achecking for new query: numPingsReceived=16, elapsed TxPingTime=10.136605 \j,jA9Jw@J@YJ2yJN=JHR??&$P?8@F?kȣ?`? Jw@J;)JC~zB~II I F3r= s=y!Q %?٥!! %H%F- -?1Eh55\ɜ?Eh595 I5ByIU"]@5raEi5;5;5h5mBmI7AmԬEDDAT read: Rx Time:14:22:18.6645 TRx dataTimestamp_ set to:1749133339.743530checking for new query: numPingsReceived=16, elapsed TxPingTime=10.342943ZbIjAd@d@?ʁ/w:VaGTf@p .?&;ʿń/?Ef1?V?6ҁގ4S?di,@QL5@P3@9?H3hՓ?/%@#?ze!@?jɜ?rO BD`ɜ?O  Bꁝk!@? addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.574272 m, bearing: 58.914489 deg, lat: 36.906446 deg, lon: -122.115977 deg, deltaT: 2.520703 s, deltaX: 0.397323 m, approachRate: 0.157624 m/s, posRepo size: 4 5=RStopped intercept timer at range: 3.60 m.9b9Z9r9j9R9JABA~i~i}q|q|q|q|}Ƽ? E`{BEkIA)EBIIM IIM_) u PDAT read: Bearing 118.7, -29.4 (Local) } ~Local bearing/azimuth received: Bearing 118.7, -29.4 (Local)  DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4  DAT read: 14:22:18.6645 LVL= 18256, 29089, 25122, 26195, AGC= 47, IDX= 504, 0.09, 2.158, 2.028, 0.386, 2.263, PHS=-0.017,-0.188,-1.880, RAW= 34.8, 22.5, CAL= 31.3, 29.4, ROT= 118.7, -29.4  Ygot valid direction response: 14:22:18.6645 LVL= 18256, 29089, 25122, 26195, AGC= 47, IDX= 504, 0.09, 2.158, 2.028, 0.386, 2.263, PHS=-0.017,-0.188,-1.880, RAW= 34.8, 22.5, CAL= 31.3, 29.4, ROT= 118.7, -29.4  T#Rx 17: Read range and direction messages. ^direction in FSK: [-0.418377,0.764182,0.490904] Fpublishing direction and range infoi ym 7ñڿ3-t?xފj?m y@Yi m PG)m qIm "bim Sfm /m Cm @m ף m |?)m >Im ?im G\?m Ԗ@m G\ i )i m D᮪?/x3}q?im lm Ⱦm Ԗ@m G\ i )i  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.624574H >H H IH MzBH  =H H H C<H C< A A) AI Ay AIIM3= <=yI7Q  >٥ Hld; >!-h5%*qɜ?-h59% I%By5)?=:==@%waEi%,m;%Rl;%qh5AM 7AMѬEZbRdjAw@w@Q?ʁc'[d@N"i?7ñڿ3-t?xފj?Ԗ@G\ҁAt`?v}[ @1f@$OE@氹?$\R2?rKM?zJ@3f?j ɜ?rve #B~oyɜ? ꁍ+@<`?% addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.501615 s, deltaX: 0.300000 m, approachRate: 0.598069 m/s, rangeRepo size: 4 = Added new target pos. range: 3.872102 m, bearing: 74.162636 deg, lat: 36.906448 deg, lon: -122.115977 deg, deltaT: 0.501615 s, deltaX: 0.297831 m, approachRate: 0.593743 m/s, posRepo size: 4 Ke Q"Ke9*Ka2Ke::Ke@D"$ tHpE<FakF a/ !qqbqZqrqjqRqJyByԁ~y~v|B}|||@33@| ?  8I)ϝI=B 99=<} Hǁ, rjA"DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 RDAT read: 14:22:19.1646 LVL= 13552, 27857, 19570, 27379, AGC= 48, IDX= 505,-0.16, 2.768, 2.342, 0.822, 2.233, PHS= 0.624, 0.156,-1.414, RAW= 42.7, 6.9, CAL= 40.6, 10.1, ROT= 109.4, -10.1 \nYgot valid direction response: 14:22:19.1646 LVL= 13552, 27857, 19570, 27379, AGC= 48, IDX= 505,-0.16, 2.768, 2.342, 0.822, 2.233, PHS= 0.624, 0.156,-1.414, RAW= 42.7, 6.9, CAL= 40.6, 10.1, ROT= 109.4, -10.1 nT#Rx 18: Read range and direction messages.z^direction in FSK: [-0.327014,0.928606,0.175367]:Jz^BJzOJJz@RJxZJz} :bJz%9JzJ4JxzJzb:jJzg:Jz&:rJz&:UFpublishing direction and range infoyRvԿ4M#?:ujr?3@Y 4)lIrLij0w?w> >?)Ϣ=I g5?iJ4>f?J4 )OӤ?t?5F?DϾ?i3Ƭtf?J4 )checking for new query: numPingsReceived=18, elapsed TxPingTime=11.1428149俨@ɯ@Y:y=H?[?`Ƭ`ڹ@~?R.W?^?? 俨@D;)C-zB-II=I=3MI M7=yUJQ U>٥QQ ]H]F]Շ< ]>h5<ɜ?h59% IByI@|aEi:G:\h5"7AZbfjAB@B@@?ʁ4sLL=@ ?RvԿ4M#?:ujr?f?J4ҁ` e0? ؑ @#_ib ??Fv~?{m?zd@?jnʜ?r }B ɜ?z7  6W@1?- addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505376 s, deltaX: 0.200000 m, approachRate: 0.395745 m/s, rangeRepo size: 4 e Added new target pos. range: 4.070671 m, bearing: 64.570560 deg, lat: 36.906456 deg, lon: -122.115972 deg, deltaT: 0.505376 s, deltaX: 0.198569 m, approachRate: 0.392913 m/s, posRepo size: 4 aabaZirijiRiJiBi~q~q}q|q|y|}`ff@|}zi? _{B\I)jI 0<k"ؾii!DDAT read: Rx Time:14:22:19.6648 TRx dataTimestamp_ set to:1749133340.750607DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 --Z#Rx 19: Read range message, but no direction.̌@YEchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.357060EmEiEqEu[0EyA 6G d-ZG ARG A~Gi q Ay A N >J΁, ;jA9:'@:0@Y:Rdy:00=:H #?T?p? `?@?`? :'@:6;):CF#zBFIuMb@Mb@Mb@qqq q)qYup= ף?S㥛?Mb?yu%?u$>u٥ HF:= >h5ߘɜ?h59 IʼnBy2*?:@aEi:,;;h5B7AάEchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.594914 addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.254733 s, deltaX: 0.300000 m, approachRate: 1.177704 m/s, rangeRepo size: 4 bZ!r!j!R!J!B!~)~-k|B})|)|1|5@|5 R~? qudIy)}yI}J H<Hp<HHH IHzBH =HHH<<H/E y!%d<%u"ؾ-W<-Ɂi)i)EEEEo0EF>F=6GC)~GAANd>K}P"K}@9*Ky2K};:K}M6E]n((o1XEn,;$WGuGL4%bb@HY  DDAT read: Rx Time:14:22:20.1648  TRx dataTimestamp_ set to:1749133341.251352 DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.1 - Z#Rx 20: Read range message, but no direction.ڙ ڙ Yڙ  checking for new query: numPingsReceived=20, elapsed TxPingTime=11.850083)Ձ,nUjA 9>@>@Y>y>f=>HF+? M?)? i@@?`Y?? >@>;)>CrzBrIiv٥    H-= >%h5gɜ?%h59 ỈBy!--@aEiP:\:h515.7A1e addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.500745 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 aibiZirijiRiJiBq~y~y}||||$? % I!)%Q)I-L 1<"ؾ<[NviiiEmEiEiEm0Ei  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.1000676GMT|>~GA1AIN]U>ԙ Uہ,ƉojA>DDAT read: Rx Time:14:22:20.6650 >TRx dataTimestamp_ set to:1749133341.758149JDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 -NZ#Rx 21: Read range message, but no direction.<>f@Y<Rchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.358770T9zO@zEY@Yzyz,>zH ?[? %@w? >ⴿ@W? ?? zO@z;)zCMzBUII5I53U #=yQ >٥ HF#= > h5ɜ?h59 I׉By@aEirY;Y;qh5IM_7AMˬEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.506797 s, deltaX: 0.300000 m, approachRate: 0.591952 m/s, rangeRepo size: 4 bZrjRJB~~}|||@|`_? Q]jIY)]aIe= aae<y"ؾ^<ضfiiE5E1E1E5q0E96G FIwjG ?bG>=checking for new query: numPingsReceived=21, elapsed TxPingTime=12.608013:JuZBJuTJJuBRJqZJu9bJu:9Ju-4Jq@@@@~GAAN>H >H H IH zBH  =H H )DH )<H E! <,ajA9: @:<@Y:̼y:>+ >:Hw?? 8@ ?#ṿÙ??v? : @:l;):CFyBFI|-Mb@Mb@Mb@))) )))Y-Mb?(\?MbP?y-#?-z>-:-=A -A)- AI- A)y- AIE IEb3Mڽ U=yUjQ U ?٥YY ]H]F]B= e ?ih5mTɜ?h59m Im݉By>'?:H@maEimԁ M checking for new query: numPingsReceived=22, elapsed TxPingTime=13.111600e,7jA9R@R>@YR]yRA<>RH@_?@-?~ \``?0P?c?`.r? R@R'';)RCZyB^I)` ```In In2vC vQ=yziQ z>٥xx zH|~= ~> h5rɜ? h59 IBy@aEi::h5(8AYe addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505373 s, deltaX: 0.100000 m, approachRate: 0.197874 m/s, rangeRepo size: 4 aabaZarajaRiJiBi~i~i}q|q|q|u@33@|} j? `{B靥;I)I  Rp<}"ؾ3<9 Ӑ,jA9:&@:@Y:HLy:W>:H`E???ÿq?O¿?? F? :&@:7;):CRyBRIMMb@Mb@Mb@III I)IYMS㥛?q= ףp?{GztyM$&?M=MףMA Mn@)M AIM AIyM AIe!Iei3uH uB=yuZQ }>٥yy }H}F= >h5ɜ?h59$ IBy(?:@aEi;D;Qh5B8AƬEԹ addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505088 s, deltaX: 0.600000 m, approachRate: 1.187912 m/s, rangeRepo size: 4 bZrjRJchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.614897B~~q|B}| | | @|  *?I5@AI1:JE[BJEPJJE@RJAZJE:bJE*9JEJ4JAH>HHIHvzBH =HHHB<H>E ua{BuuIy)}ӾyI}T yy}r<w"ؾ<#ii EEEE4E6G}Ml~GQAaAqN}{>K= LSP"K= ŷ9*K9 2K= =:K= TdruN%Y 5Mh Vl@X Y<sR8zJe ?Je ? DDAT read: Rx Time:14:22:22.1655  TRx dataTimestamp_ set to:1749133343.274775 PDAT read: Bearing 134.6, -14.5 (Local)  ~Local bearing/azimuth received: Bearing 134.6, -14.5 (Local)  DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.5 -% Z#Rx 24: Read range message, but no direction. Y 5 checking for new query: numPingsReceived=24, elapsed TxPingTime=13.8841189 |x,jA-yB-II=I=(*3MM MM=yUQ U>٥QQ ]H]F] ]>amh5eʜ?mh59e_ IeByiiu@eaEie:e":eh5y}8Ay= addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.506165 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 9AbAZArIjIRIJqBy~~}||||? QU@g"IY)]"ؾYI]" YY]c) )>I >i > Y@   aͿdR"7 ?i &翉 O*) Y@ checking for new query: numPingsReceived=25, elapsed TxPingTime=14.142494E%E!E!E-P0E)F5>F16GgN~GAAN>iԡ ,jA:DDAT read: Rx Time:14:22:22.6658 BTRx dataTimestamp_ set to:1749133343.779000RPDAT read: Bearing 138.4, -13.0 (Local) V~Local bearing/azimuth received: Bearing 138.4, -13.0 (Local) zDAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 I9)9ԁeDAT read: 14:22:22.6658 LVL= 16336, 13553, 27378, 23843, AGC= 53, IDX= 4,-0.15, 1.706, 2.511, 0.105, 1.793, PHS= 0.001, 0.765,-1.691, RAW= 12.3, 8.5, CAL= 11.6, 13.0, ROT= 138.4, -13.0 }Ygot valid direction response: 14:22:22.6658 LVL= 16336, 13553, 27378, 23843, AGC= 53, IDX= 4,-0.15, 1.706, 2.511, 0.105, 1.793, PHS= 0.001, 0.765,-1.691, RAW= 12.3, 8.5, CAL= 11.6, 13.0, ROT= 138.4, -13.0 T#Rx 26: Read range and direction messages.^direction in FSK: [-0.728632,0.646910,0.224951]Fpublishing direction and range infoF7P;|?:/2?>̼@Y< >?)>4I>ji>#]>5>o:> C?>rؿ >[>)>>I>4QO>i>Vh>>#@>Vh <)<>X I<ӿJ|%B?i>>F>#@>Vh <)<checking for new query: numPingsReceived=26, elapsed TxPingTime=14.51171096@@YlDy>H iw? ?@ƿ 5?ǿb?`?? 6@骽;)yBzIi%=I=ԑuMb@Mb@Mb@qqq q)qYuE?l?y&1yu&?u=u`eu#A u@)u AIuAqyu AIIf  =yMQ U>٥QQ UHUF]= ]>ah5e,ʜ?h59e) IeBy'?:@eaEiez;e;eh5w9AìEZ<b>#jA>s@>s@>W?ʁ> lP@Vei?>F7P;|?:/2?>#@>Vhҁ>A-(׀@5h@>BRh ӿ!嫒?u?z>@>6߿j>@ɜ?r>mp >̀B<>ve  >B>Β@>a?checking for new query: numPingsReceived=26, elapsed TxPingTime=14.624255:JeZBJeQJJeFRJaZJe9bJe-.9Je4Ja addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504225 s, deltaX: 0.500000 m, approachRate: 0.991621 m/s, rangeRepo size: 4 H>HCHIH9zBHHH(DH3<HE Added new target pos. range: 5.857841 m, bearing: 108.478603 deg, lat: 36.906456 deg, lon: -122.115971 deg, deltaT: 3.283126 s, deltaX: 1.787170 m, approachRate: 0.544350 m/s, posRepo size: 4 bZrjRJB~~|B}|||@| ? c{B靝 I w3<) 龉 I + < {"ؾ \< ۽i i EQ EQ EQ EU 2EQ K}WO"Ky*Ky2K}>:K}/HnS x>pe Gp;E|UA*+DDAT read: Rx Time:14:22:23.1659 TRx dataTimestamp_ set to:1749133344.281770PDAT read: Bearing 137.0, -8.6 (Local) ~Local bearing/azimuth received: Bearing 137.0, -8.6 (Local)  DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.5 )-> -C-5Z#Rx 27: Read range message, but no direction.@YGchecking for new query: numPingsReceived=27, elapsed TxPingTime=14.9001346G*< YyAJJ~GAAN?#e,jA9}@}h@Y} Xy}u>}H? '$?Kǿ{Z?ȿ`?`?? }@}sy;)}CpyBgIII3 ?=y>Q >٥!! %H!-k= ->15h55@ʜ?Eh595L I5 ByIUU@5aEi5}h<5Fj<5h5B9AE}B*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502770 s, deltaX: 0.100000 m, approachRate: 0.198898 m/s, rangeRepo size: 4 bZrjRJB~~}|||@|? ud{B靍t75I)Iέ2 +ը<u"ؾd<> iiDAT read: 14:22:23.1659 LVL= 18352, 32753, 32754, 32755, AGC= 47, IDX= 501,-0.31,-1.213,-0.477,-2.818,-1.247, PHS= 0.122, 0.817,-1.574, RAW= 13.6, 6.0, CAL= 13.0, 8.6, ROT= 137.0, -8.6 Ygot valid direction response: 14:22:23.1659 LVL= 18352, 32753, 32754, 32755, AGC= 47, IDX= 501,-0.31,-1.213,-0.477,-2.818,-1.247, PHS= 0.122, 0.817,-1.574, RAW= 13.6, 6.0, CAL= 13.0, 8.6, ROT= 137.0, -8.6 Z#Rx 28: Read direction message, but no range.^direction in FSK: [-0.723131,0.674330,0.149535]qyu98#˳4?S&r#?Yq uG)uIuiuu/u#=u&Q?uxɿ us>)uPw=IuVh>iu`>u@u` quJѿcǾdT֡Ժ?iuڹu( ׽u@u`checking for new query: numPingsReceived=28, elapsed TxPingTime=15.148023EEEE3E6G+9~GYAiAyN>i a ,V0jA DDAT read: Rx Time:14:22:23.6661 TRx dataTimestamp_ set to:1749133344.7893075PDAT read: Bearing 138.0, -6.7 (Local) =~Local bearing/azimuth received: Bearing 138.0, -6.7 (Local) MDAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.5 DAT read: 14:22:23.6661 LVL= 18000, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.46,-0.082, 0.693,-1.636,-0.127, PHS= 0.134, 0.868,-1.511, RAW= 12.5, 4.9, CAL= 12.0, 6.7, ROT= 138.0, -6.7 Ygot valid direction response: 14:22:23.6661 LVL= 18000, 32753, 32754, 32755, AGC= 46, IDX= 504,-0.46,-0.082, 0.693,-1.636,-0.127, PHS= 0.134, 0.868,-1.511, RAW= 12.5, 4.9, CAL= 12.0, 6.7, ROT= 138.0, -6.7 T#Rx 29: Read range and direction messages.aE^direction in FSK: [-0.738070,0.664561,0.116671]Fpublishing direction and range info y 0g DCAD?mu"޽? f@Y  PF) I i  . L7 > ?5^? sh f_>) %=I PwV>i |= %@ | )  yf5ӿwM*gvi-?i @; 8? %@ | ) checking for new query: numPingsReceived=29, elapsed TxPingTime=15.469594eWyBeWIy-Mb@Mb@Mb@))) )))Y-J +?S㥛?٥ HF >h5[ʜ?h59 IBy(?:b@aEi ;;h5%a:A%EZ b 2jA @ @ ?ʁ KF,\@YI? 0g DCAD?mu"޽? %@ |ҁ onK@}p.9? b9ӿUif?X&G{?z @ vj xrɜ?r 5m  eB    ̀B @ 6?} addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.507537 s, deltaX: 0.200000 m, approachRate: 0.394060 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=29, elapsed TxPingTime=15.630926ԡ Added new target pos. range: 6.155571 m, bearing: 108.589800 deg, lat: 36.906456 deg, lon: -122.115969 deg, deltaT: 1.010307 s, deltaX: 0.297729 m, approachRate: 0.294692 m/s, posRepo size: 4 bZrjRJB~~|B}:JYBJJJCRJZJ9bJJ4J H <H <H >H H IH yBH  =H H H 1<H EHȒCHȒCHȓCHI = IJ5|) |) |5 @|5 3? } f{B靽 D*I )  I S< i< "ؾ < !`i i bE AZE E E E E `0E F F 6Gu a~G) A9 AI NU >,B]LjA%DyB%LI)1 1ԩI}I}[3-} -=y9Q e?٥qq HF ?KWP"KK9*K2K?:KdYW\8Rj mg[9Na{~ z~DDAT read: Rx Time:14:22:24.1662  TRx dataTimestamp_ set to:1749133345.292218PDAT read: Bearing 140.0, -7.1 (Local) ~Local bearing/azimuth received: Bearing 140.0, -7.1 (Local) -DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed -0.5 MDAT read: 14:22:24.1662 LVL= 20752, 32753, 32754, 32755, AGC= 46, IDX= 504, 0.46,-0.967,-0.123,-2.430,-0.954, PHS= 0.075, 0.877,-1.480, RAW= 10.4, 5.1, CAL= 10.0, 7.1, ROT= 140.0, -7.1 UYgot valid direction response: 14:22:24.1662 LVL= 20752, 32753, 32754, 32755, AGC= 46, IDX= 504, 0.46,-0.967,-0.123,-2.430,-0.954, PHS= 0.075, 0.877,-1.480, RAW= 10.4, 5.1, CAL= 10.0, 7.1, ROT= 140.0, -7.1 ]T#Rx 30: Read range and direction messages.e^direction in FSK: [-0.760170,0.637859,0.123601]eFpublishing direction and range info y GG$PSVi?A7X? @Y  Q) I i   = `? p 9>) K=I ¸2>i = a@  )  79ZTտ [?i P 屷 a@  ) checking for new query: numPingsReceived=30, elapsed TxPingTime=15.903245h5kʜ?h59 IBy@aEie::wh5:AZ b RjA '@ '@ \A?ʁ -f .@U(Q? GG$PSVi?A7X? a@ ҁ U2K!;)+x@꘮x? ՒLտ.V?X}L?z @  j z;ɜ?r 9io  cB xrɜ? mp  eB @ Ğ?] addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.502911 s, deltaX: 0.100000 m, approachRate: 0.198843 m/s, rangeRepo size: 4 m Added new target pos. range: 6.254860 m, bearing: 110.677232 deg, lat: 36.906455 deg, lon: -122.115962 deg, deltaT: 0.502911 s, deltaX: 0.099290 m, approachRate: 0.197430 m/s, posRepo size: 4 bZrjRJB~~}I|I|Q|U@33@|UL1? h{Bt \I)I-.A ))-YnEm T< checking for new query: numPingsReceived=30, elapsed TxPingTime=16.139418) E E E E _0E Q6G\Gܽ~GAANM?,_pjADDAT read: Rx Time:14:22:24.6664 TRx dataTimestamp_ set to:1749133345.796473%PDAT read: Bearing 143.5, -7.5 (Local) %~Local bearing/azimuth received: Bearing 143.5, -7.5 (Local) 5DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.5 ]DAT read: 14:22:24.6664 LVL= 22448, 32753, 32754, 32755, AGC= 48, IDX= 507,-0.43,-2.992,-2.007, 1.954,-2.880, PHS=-0.024, 0.920,-1.452, RAW= 6.7, 5.4, CAL= 6.5, 7.5, ROT= 143.5, -7.5 eYgot valid direction response: 14:22:24.6664 LVL= 22448, 32753, 32754, 32755, AGC= 48, IDX= 507,-0.43,-2.992,-2.007, 1.954,-2.880, PHS=-0.024, 0.920,-1.452, RAW= 6.7, 5.4, CAL= 6.5, 7.5, ROT= 143.5, -7.5 mT#Rx 31: Read range and direction messages.u^direction in FSK: [-0.796980,0.589734,0.130526]uFpublishing direction and range infoy3:VۀIҵ? /?3@Y W)Ii0ļk?#۹ |=)=IV=i >J @  )_ڝ.ٿYǃ9C*c8?il ½J @  )checking for new query: numPingsReceived=31, elapsed TxPingTime=16.4190569@{ @Yw9ybu>H |?`dA?4Ŀ@ܿ`x? 3ǿ?1R?`Q?a @H;)C>yBUHI Mb@Mb@Mb@    ) Y uV?y&1I +y r(? `e 9 -$A ) AI  y p AIM&IM3] ]٥ HF > }>h5ӌʜ?h59S IBy(?:@aEiuE;D;[h5 B :A EZbjrjA@@Zb@ʁݶtA3@ "^?3:VۀIҵ? /?J @ ҁwD+" p=J@%?/?~yF޿slK7?AS#X?zU@Ijzɜ?rw ~Bz;ɜ? cBz@? addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504255 s, deltaX: 0.300000 m, approachRate: 0.594936 m/s, rangeRepo size: 4  Added new target pos. range: 6.552711 m, bearing: 119.411732 deg, lat: 36.906455 deg, lon: -122.115962 deg, deltaT: 0.504255 s, deltaX: 0.297850 m, approachRate: 0.590674 m/s, posRepo size: 4 bZrjRJB~ ~ g|B} | ||`ff@|`jK?checking for new query: numPingsReceived=31, elapsed TxPingTime=16.642918 k{Bx,I)3 IܨM <s"ؾ ?<XiiDADAH >H H IH yBH  =H H 'DH 7<H EԱ >E <rE i>jE >EEEEP0E6G*/uDDAT read: Rx Time:14:22:25.1665 }TRx dataTimestamp_ set to:1749133346.299933PDAT read: Bearing 147.2, -7.1 (Local) ~Local bearing/azimuth received: Bearing 147.2, -7.1 (Local) DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed -0.7 DAT read: 14:22:25.1665 LVL= 24496, 32753, 32754, 32755, AGC= 50, IDX= 508,-0.31, 1.423, 2.534, 0.242, 1.617, PHS=-0.106, 0.965,-1.377, RAW= 2.8, 5.2, CAL= 2.8, 7.1, ROT= 147.2, -7.1 Ygot valid direction response: 14:22:25.1665 LVL= 24496, 32753, 32754, 32755, AGC= 50, IDX= 508,-0.31, 1.423, 2.534, 0.242, 1.617, PHS=-0.106, 0.965,-1.377, RAW= 2.8, 5.2, CAL= 2.8, 7.1, ROT= 147.2, -7.1 T#Rx 32: Read range and direction messages.^direction in FSK: [-0.834121,0.537554,0.123601]Fpublishing direction and range infoqyu@ 3?A7X?u@Yq u_)qIqiqu2uٽu= w?uA u+H=)u޹=Iu+H=iu=ul$@u q)quݙݿWzZ۰?iumu3ul$@u q)qchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.910656K6P"K9*K2K@:K0* i[co\n^"^81 BSr>$DQ~GAAN? P%,oHjA9j܄@j@Yjyje>jH? ?ÿ`ۿ>?@/ƿV ? fs?c"? j܄@j.4;)hIMyBQII-I-2== =5=yEvQ E>٥AI MHMFM= M>Q]h5Uʜ?]h59U IU!Byaee@UaEiUۓ H%@  ) Blg޿jv_y yQ> H@6?8?@vڿ? iĿ@7 ? g?`qE? Z@ 1;) C=WyBEWI5Mb@Mb@Mb@111 1)1Y5Pn?X9vy&1y5$?55`e5"A 5v@)5AI5A1y5( AII3K< =y:Q >٥ H/= >-h5ʜ?-h59j I'By-S$?-:--@aEi;;h5=B=r:A=Echecking for new query: numPingsReceived=33, elapsed TxPingTime=17.651081GGH>HCHIHyBH =HH)DHQ<HZEZb\ujA@@ @ʁj ˷vTzr@0'Я?߶+ \? /?H%@ ҁlSyUfN@*Дv?%a?Y ?zu@ӈj'ңWɜ?rrx ~Bzɜ?w  ~Bꁅ$@D@e addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504105 s, deltaX: 0.600000 m, approachRate: 1.190228 m/s, rangeRepo size: 4 u Added new target pos. range: 7.346889 m, bearing: 126.271914 deg, lat: 36.906450 deg, lon: -122.115965 deg, deltaT: 0.504105 s, deltaX: 0.595694 m, approachRate: 1.181686 m/s, posRepo size: 4 qqbqZqryjyRyJyB~~.|B}|||@|`)? 5p{B] 03IY)]taIe` aamV) e DDAT read: Rx Time:14:22:26.1669 e TRx dataTimestamp_ set to:1749133347.307777} PDAT read: Bearing 164.7, -0.6 (Local) } ~Local bearing/azimuth received: Bearing 164.7, -0.6 (Local)  DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.5  DAT read: 14:22:26.1669 LVL= 25456, 32753, 32754, 32755, AGC= 50, IDX= 512, 0.04,-2.237,-0.355,-2.781,-1.719, PHS=-0.431, 1.411,-1.066, RAW= 344.3, 0.8, CAL= 345.3, 0.6, ROT= 164.7, -0.6  Ygot valid direction response: 14:22:26.1669 LVL= 25456, 32753, 32754, 32755, AGC= 50, IDX= 512, 0.04,-2.237,-0.355,-2.781,-1.719, PHS=-0.431, 1.411,-1.066, RAW= 344.3, 0.8, CAL= 345.3, 0.6, ROT= 164.7, -0.6  T#Rx 34: Read range and direction messages. ^direction in FSK: [-0.964505,0.263859,0.010472] Fpublishing direction and range infoa ye ?80?/;r?e @Ya e pc)a Ia ia a e ܾe ?e r e K@)e d:H`5? /?O~ٿ?ÿݯ?i?P? :ٳ@:O5;):CFsyBFiI,;LWpɛ?iʗs_7@+ )}checking for new query: numPingsReceived=34, elapsed TxPingTime=17.972569ININ#3- = 5[=y5:Q 5>٥99 =H=F= < e>imh5mʜ?uh59m8 Im+Byqu7u@maEim:m:mh5B:AEZbjAI@I@j@ʁEJClo?PE[Z??80?/;r?7@+ҁ)J<^@hi:}?EϲCʞ?f_?z@j'Ȝ?r} yBlɜ?rx  ~B[@v= @y addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503739 s, deltaX: 0.100000 m, approachRate: 0.198515 m/s, rangeRepo size: 4  Added new target pos. range: 7.446466 m, bearing: 141.275554 deg, lat: 36.906447 deg, lon: -122.115966 deg, deltaT: 0.503739 s, deltaX: 0.099577 m, approachRate: 0.197676 m/s, posRepo size: 4 bZrjRJB~~}|||%@|%`? ms{BmNIq)uIU f <"ؾؽ< 4%;,4jA!9F@@Y0}y@>HZ? S?8@+ٿM ?`'¿??_? F@&F;)CyBwII I rd= M=y%:Q %>٥!! %H%F-< ->1=h55Wʜ?=h595 I5/ByAEE@5aEi15:5=h5IM9AIDDAT read: Rx Time:14:22:26.6672 TRx dataTimestamp_ set to:1749133347.812644PDAT read: Bearing 150.2, -7.7 (Local) ~Local bearing/azimuth received: Bearing 150.2, -7.7 (Local) DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed -0.7 DAT read: 14:22:26.6672 LVL= 17776, 24449, 18898, 32755, AGC= 53, IDX= 3, 0.25, 3.141,-1.955, 2.103,-2.867, PHS=-0.188, 0.959,-1.317, RAW= 359.7, 5.6, CAL= 359.8, 7.7, ROT= 150.2, -7.7 Ygot valid direction response: 14:22:26.6672 LVL= 17776, 24449, 18898, 32755, AGC= 53, IDX= 3, 0.25, 3.141,-1.955, 2.103,-2.867, PHS=-0.188, 0.959,-1.317, RAW= 359.7, 5.6, CAL= 359.8, 7.7, ROT= 150.2, -7.7 T#Rx 35: Read range and direction messages.%^direction in FSK: [-0.859941,0.492493,0.133986]%Fpublishing direction and range infoځyڅS5}?L`u&?څAYځ ۅpEZb\jA,@,@['@ʁzZR;XhK@S ?S5}?L`u&?g'@ ҁ:5c\O@͒8?X"c V|?`?z@̝)ۅ_IۅIiہۅ5ۅ@ۅu?ۅu ܅@)܅+=I܅B@i܅ >܅g'@܅ ݁)݁݅g_. ՞_7?i݅aU݅2ǽ݅g'@݅ ށ)ށechecking for new query: numPingsReceived=35, elapsed TxPingTime=18.436480jEɜ?r~w ~B'ңWɜ? ꁅ]@@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504867 s, deltaX: 0.500000 m, approachRate: 0.990360 m/s, rangeRepo size: 4  Added new target pos. range: 7.942898 m, bearing: 129.053126 deg, lat: 36.906445 deg, lon: -122.115966 deg, deltaT: 0.504867 s, deltaX: 0.496431 m, approachRate: 0.983291 m/s, posRepo size: 4 bZ1r1j1R9JAIBi~y~y}||| @|? Uv{BU*;IQ)UQI}BUm yy<{"ؾ< #=iiyEUEQEQEQEQ6G- :~G A A N >- checking for new query: numPingsReceived=35, elapsed TxPingTime=18.658691H5 >H5 CH5 IH5 yBH5  =H1 H1 H5 H<H5 SEԡ B,$ jA9>X@>a@Y>Լxy>~2>>H@Fw?ڴ?@|@ؿ3?`?}(?t? >X@>h;)>C~yB~IyeMb@Mb@Mb@aaa a)aYe~jt?~jt{Gzt?ye$?eeף;e|A e@)eAIeX Aaye AII 3w= B=y(;Q >٥ H< >h5ʜ?h59C I7By$?:d@aEi';;h5159A=EB*** querying acoustic contact ***JRqybyZԱrjRJB~~{B}||||8? ux{Buv@Iq)u侉qI}r yy}:<DDAT read: Rx Time:14:22:27.1674 TRx dataTimestamp_ set to:1749133348.315979PDAT read: Bearing 151.6, -6.7 (Local) ~Local bearing/azimuth received: Bearing 151.6, -6.7 (Local) DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -0.5 DAT read: 14:22:27.1674 LVL= 27568, 31025, 32754, 32755, AGC= 50, IDX= 501,-0.42, 0.326, 1.577,-0.665, 0.619, PHS=-0.205, 1.005,-1.287, RAW= 358.1, 5.0, CAL= 358.4, 6.7, ROT= 151.6, -6.7 Ygot valid direction response: 14:22:27.1674 LVL= 27568, 31025, 32754, 32755, AGC= 50, IDX= 501,-0.42, 0.326, 1.577,-0.665, 0.619, PHS=-0.205, 1.005,-1.287, RAW= 358.1, 5.0, CAL= 358.4, 6.7, ROT= 151.6, -6.7 T#Rx 36: Read range and direction messages.^direction in FSK: [-0.873641,0.472376,0.116671]Fpublishing direction and range infoډK*P"Ks9*K2KB:K(SMcFzw4wf:FX+P I/J J Ayڍ@s&\g;?mu"޽?ڍAYډ ۍk)ۍ1yIۍiۉۍ2ۍQۍף?ۍj ܍3@)܍¸=I܍+@i܍|=܍V)@܍| ݉)݉ݍsX= +:d?iݍݍݍV)@ݍ| މ)މ%checking for new query: numPingsReceived=36, elapsed TxPingTime=18.931271-u"ؾ5U<54?=i1i1EEEEE 6GU ;~G1 = checking for new query: numPingsReceived=36, elapsed TxPingTime=19.163626AI :J} [BJ} RJJ} BRJy ZJ} :bJ} S29J} -4Jy A N >H,М% jA(9>Ѝ@>~@Y>kuy>#>>H6?`bp?|-Eؿ V?i`ʨ?Y?? >Ѝ@>I;)>CJyBJIIRIR?13^j > ^Q=y^;Q b>٥`` bHbFf < f>hnh5j ˜?nh59j! Ij?Byln n@jaEij::jh:jTh5tvC8AtZ9b=9 jA=A=A=@ʁ=74S*0f$@nCQ?=@s&\g;?mu"޽?=V)@=|ҁ=+Tz*E@>)?=atG俎*?3rܡ?z=@=j=܀Kɜ?r=HT{ =o~B=܀Kɜ?=HT{  =o~B=A=@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503335 s, deltaX: 0.300000 m, approachRate: 0.596025 m/s, rangeRepo size: 4   Added new target pos. range: 8.240838 m, bearing: 130.795237 deg, lat: 36.906443 deg, lon: -122.115967 deg, deltaT: 0.503335 s, deltaX: 0.297940 m, approachRate: 0.591932 m/s, posRepo size: 4  bZrj)R)J)B1~9~9}A|A|A|E @|M$(? {{B靕5I)0˾Iw 7ݤ<"ؾ<T=iiԉEiEiEiEu_0Eq6G*;Ա~GAANf>DDAT read: Rx Time:14:22:27.6677 TRx dataTimestamp_ set to:1749133348.819913%PDAT read: Bearing 152.1, -3.6 (Local) -~Local bearing/azimuth received: Bearing 152.1, -3.6 (Local) =DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.6 mDAT read: 14:22:27.6677 LVL= 22896, 23313, 32754, 32755, AGC= 49, IDX= 504,-0.14, 1.384, 2.685, 0.391, 1.631, PHS=-0.159, 1.101,-1.243, RAW= 357.5, 3.0, CAL= 357.9, 3.6, ROT= 152.1, -3.6 uYgot valid direction response: 14:22:27.6677 LVL= 22896, 23313, 32754, 32755, AGC= 49, IDX= 504,-0.14, 1.384, 2.685, 0.391, 1.631, PHS=-0.159, 1.101,-1.243, RAW= 357.5, 3.0, CAL= 357.9, 3.6, ROT= 152.1, -3.6 }T#Rx 37: Read range and direction messages.^direction in FSK: [-0.882022,0.467006,0.062791]Fpublishing direction and range infoy9RrTn?֏ ?3 AY pY)[Ii1"? i@)PwV=I@i=)@ )NTe)ʢ꿘Ǫ?ia:UV)@ )checking for new query: numPingsReceived=37, elapsed TxPingTime=19.432524 O,Zc? jA\~zB~I HQHQH]>HYH]IH]zBHYHYHYH]W<H]dE}checking for new query: numPingsReceived=37, elapsed TxPingTime=19.667095Mb@Mb@Mb@ )YK7?{Gzt/$?y)?ף<A @)I AyAI I2&}= ,=yQ  >٥ HF >1=h55%˜?=h595g! I5MBy=)?=:=;=@5aEi5Z:5:5h5EBM7AMEZQbUty4 jAU4 AU4 AU@ʁUEyU["@.,[?U9RrTn?֏ ?U)@UҁUHyz]C@4_4n?U9cpp'?vJS?zU@U׳jUKɜ?rUHu U|BQUrx  QUGAU@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503934 s, deltaX: 0.400000 m, approachRate: 0.793754 m/s, rangeRepo size: 4 = Added new target pos. range: 8.637920 m, bearing: 130.760361 deg, lat: 36.906443 deg, lon: -122.115966 deg, deltaT: 0.503934 s, deltaX: 0.397082 m, approachRate: 0.787965 m/s, posRepo size: 4 9AbAZArAjARAJaBi~i~m|B}i|q|q|u`ff!@|u G 5 DDAT read: Rx Time:14:22:28.1679 = TRx dataTimestamp_ set to:1749133349.324527M PDAT read: Bearing 154.1, -4.5 (Local) U ~Local bearing/azimuth received: Bearing 154.1, -4.5 (Local) a e DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.5  DAT read: 14:22:28.1679 LVL= 24976, 28497, 32754, 32755, AGC= 49, IDX= 505, 0.02, 1.408, 2.789, 0.485, 1.722, PHS=-0.226, 1.114,-1.241, RAW= 355.4, 3.5, CAL= 355.9, 4.5, ROT= 154.1, -4.5  Ygot valid direction response: 14:22:28.1679 LVL= 24976, 28497, 32754, 32755, AGC= 49, IDX= 505, 0.02, 1.408, 2.789, 0.485, 1.722, PHS=-0.226, 1.114,-1.241, RAW= 355.4, 3.5, CAL= 355.9, 4.5, ROT= 154.1, -4.5  T#Rx 38: Read range and direction messages. ^direction in FSK: [-0.896785,0.435455,0.078459] Fpublishing direction and range info1 y5 kv$Z*?5;?5 AY1 5 a)5 QoI1 i1 1 5 lg5 ?5 ٞ 5 (~@)5 5z=I5 @i5 |٠=5 !,@5 |٠ 1 )1 5  0⿟h9N#AP,?i5 >! 5 y5 !,@5 |٠ 1 )1  checking for new query: numPingsReceived=38, elapsed TxPingTime=19.937485 Y y AK TP"K 9*K 2K C:K la)2f%oy*r(\tqWOZfii  t&|&E=V,l@Y jA96ɵ@6JӼ@Y6 my6q >6H?2?`R׿ ?`?@7A?c? 6ɵ@6e;)4R)zBRIInInM3v= vq=yz;Q z?٥x H%د< -?)5h59-6˜?]h59-# I-WByY]ɾ]@-aEi-.;-;-{h5ae;7AmEZabe T jAeAeAe#@ʁe[ U !@, [o?ekv$Z*?5;?e!,@e|٠ҁe_̴kV’@QV%?eb]e'?G?D?ze@eje2.6ɜ?re ex e-}BeEɜ?e ex  e-}Bes Ae@- addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504614 s, deltaX: 0.300000 m, approachRate: 0.594514 m/s, rangeRepo size: 4 e Added new target pos. range: 8.935780 m, bearing: 133.105456 deg, lat: 36.906443 deg, lon: -122.115965 deg, deltaT: 0.504614 s, deltaX: 0.297859 m, approachRate: 0.590271 m/s, posRepo size: 4 ae-eXTarget missed at range: 9.00 m. Rolling out.zemNTransitioning guidance mode to: ROLLOUTm@biZirijiRm?ziJB~~}|||"@|%?q {B靥$$I)I\ ȣ<s"ؾ\<6~m=iiSA"=&Changing to mode: 1"=Standby mode.checking for new query: numPingsReceived=38, elapsed TxPingTime=20.170906JJ4J'0:J^BJUJJ@RJZJ} :bJ>9JJ4J"U2Commanding positive:54389ԙEEEEE 6G >=ZG RG ~G A A N >#\,;t jADDAT read: Rx Time:14:22:28.6681 TRx dataTimestamp_ set to:1749133349.828792PDAT read: Bearing 155.2, -3.0 (Local) ~Local bearing/azimuth received: Bearing 155.2, -3.0 (Local) "DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.5 6DAT read: 14:22:28.6681 LVL= 19552, 20625, 24626, 32755, AGC= 48, IDX= 507, 0.21, 1.682, 3.124, 0.791, 1.997, PHS=-0.227, 1.174,-1.209, RAW= 354.2, 2.6, CAL= 354.8, 3.0, ROT= 155.2, -3.0 :Ygot valid direction response: 14:22:28.6681 LVL= 19552, 20625, 24626, 32755, AGC= 48, IDX= 507, 0.21, 1.682, 3.124, 0.791, 1.997, PHS=-0.227, 1.174,-1.209, RAW= 354.2, 2.6, CAL= 354.8, 3.0, ROT= 155.2, -3.0 :T#Rx 39: Read range and direction messages.>^direction in FSK: [-0.906533,0.418877,0.052336]>Fpublishing direction and range infoyMR e?yoU˪?AY `L)PI2`i0rhE? @)9=I_(@iPwV=-\-@PwV )`i̲(8 Q].nCצ?i 6-\-@PwV )Rchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.440586h9ߵ@c@Yl:iyr>H6??׿F?8P@E#? {?g? ߵ@骭 ;)CVzBIII#3Z= 0=yD;Q >٥19 =HEFm; u>=i5O˜?ei59& IfByquXȾ}@)aEiO=fN=i5AE6AAq}}Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse}Entering Midcourse tracking update period 60.000000 s sec at 9.000000 m (mode 5.000000 count ).1~ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 9.000000 m (mode 5.000000 count ).q~~Zb u jAAAJ@ʁ <-@+E?MR e?yoU˪?-\-@PwVҁrWd}@Ϟ"?Zb;/a?2a~?z@Hj2ɜ?r]x V|B]x   A@u addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504265 s, deltaX: 0.300000 m, approachRate: 0.594926 m/s, rangeRepo size: 4  Added new target pos. range: 9.233640 m, bearing: 134.088658 deg, lat: 36.906443 deg, lon: -122.115965 deg, deltaT: 0.504265 s, deltaX: 0.297860 m, approachRate: 0.590682 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.23 m.bZrjRzJB ~~}|||"@|q? {B靕 I) I&; X<}"ؾrg<*ss=iirEG>jE>IH>HHIHvzBH =HHHL<HVEH]ǓCHYH]ǔCchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.675707H] =I] = I],6Ee_ EaEaEe\0Ea6GE Eug=q A A N >wc,? jAY9%e@%@Y%#dy%u=%Hm?|?`׿і?? ?? %e@%՘;)%C zB I5DDAT read: Rx Time:14:22:29.1682 =TRx dataTimestamp_ set to:1749133350.331972EPDAT read: Bearing 157.4, -2.5 (Local) E~Local bearing/azimuth received: Bearing 157.4, -2.5 (Local) UDAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.8 }DAT read: 14:22:29.1682 LVL= 18736, 21569, 28818, 32755, AGC= 49, IDX= 508, 0.36, 1.126, 2.672, 0.306, 1.486, PHS=-0.272, 1.233,-1.183, RAW= 351.9, 2.1, CAL= 352.6, 2.5, ROT= 157.4, -2.5 Ygot valid direction response: 14:22:29.1682 LVL= 18736, 21569, 28818, 32755, AGC= 49, IDX= 508, 0.36, 1.126, 2.672, 0.306, 1.486, PHS=-0.272, 1.233,-1.183, RAW= 351.9, 2.1, CAL= 352.6, 2.5, ROT= 157.4, -2.5 T#Rx 40: Read range and direction messages.^direction in FSK: [-0.922331,0.383930,0.043619]Fpublishing direction and range info1y5 ٥YY ]H]Fe: e>iui5m=i˜?ui59m) ImxByug(?u:u@maEim;mp;mi5B5AEN@1b?~~Z1b5? jA5A5A5@ʁ5J@>f! @usT?5 ıj,۬ jA9~@~t@Y~"f_y~0B=~H?`W$? Q׿ \?`􏵿9?ӭ?,? ~@~{v;)~C}zB}8IiQx?IEIE(1= ==yA;Q >٥?? HF: > i5˜? i59+ IBy @%DDAT read: Rx Time:14:22:29.6685 %TRx dataTimestamp_ set to:1749133350.8362415PDAT read: Bearing 160.2, -2.4 (Local) 5~Local bearing/azimuth received: Bearing 160.2, -2.4 (Local) EDAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.5 uDAT read: 14:22:29.6685 LVL= 17584, 20305, 25410, 32211, AGC= 49, IDX= 496,-0.43, 0.655, 2.283,-0.037, 1.080, PHS=-0.337, 1.250,-1.120, RAW= 348.9, 2.0, CAL= 349.8, 2.4, ROT= 160.2, -2.4 }Ygot valid direction response: 14:22:29.6685 LVL= 17584, 20305, 25410, 32211, AGC= 49, IDX= 496,-0.43, 0.655, 2.283,-0.037, 1.080, PHS=-0.337, 1.250,-1.120, RAW= 348.9, 2.0, CAL= 349.8, 2.4, ROT= 160.2, -2.4 T#Rx 41: Read range and direction messages.^direction in FSK: [-0.940055,0.338441,0.041876]Fpublishing direction and range info!y%楖$b'r? ۷p?%fAY! %D)%QOI%Bci%}!%D%?%)\ %@)%5=I%|]@i%+=%2@%+ !)!%S$忋@8"7k?i%ok%E%2@%+ !)!checking for new query: numPingsReceived=41, elapsed TxPingTime=21.448421aEi< < i5B4AE1qj~1Z!b% jA%EA%EA%0@ʁ%pWz"݇b @AW?%楖$b'r? ۷p?%2@%+ҁ%0̡{ Bȍ@df?%L4,迄%d?Zo5?z%@%j%Sɜ?r% %{B%2ɜ?! %V|B%#A%@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504269 s, deltaX: 0.400000 m, approachRate: 0.793227 m/s, rangeRepo size: 4  Added new target pos. range: 9.829439 m, bearing: 138.934155 deg, lat: 36.906441 deg, lon: -122.115965 deg, deltaT: 0.504269 s, deltaX: 0.397148 m, approachRate: 0.787572 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.83 m.bZrjRzJB~~}|||#@|5 2? {B%HI!)%I!I% !)-<-"ؾ5<5Nv=i1i1 E &E E E R0E Gi Gi Hy Hy H} EIH} zBH}  =Hy H} *DH} <H} E checking for new query: numPingsReceived=41, elapsed TxPingTime=21.682903:J XBJ OJJ ARJ ZJ {9bJ %9J 4J zJ : jJ : J &: rJ &: A 6G v=~GAA5JAN>@r,c jA09M@M@YM=OyMT=MH@`? ^\?ϳ`׿Ȭ?@?{?@? M@M;)MCzBFIi I 4<ԑEMb@Mb@Mb@AAA A)AYEV-?{Gz?Q?yE-?Eף=qq}DDAT read: Rx Time:14:22:30.1687 TRx dataTimestamp_ set to:1749133351.340315PDAT read: Bearing 175.5, 5.5 (Local) ~Local bearing/azimuth received: Bearing 175.5, 5.5 (Local) DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.6 DAT read: 14:22:30.1687 LVL= 13360, 24385, 20242, 25075, AGC= 51, IDX= 513,-0.29, 2.113,-2.319, 2.114, 2.655, PHS=-0.454, 1.356,-0.544, RAW= 332.4, -3.9, CAL= 334.5, -5.5, ROT= 175.5, 5.5 -Ygot valid direction response: 14:22:30.1687 LVL= 13360, 24385, 20242, 25075, AGC= 51, IDX= 513,-0.29, 2.113,-2.319, 2.114, 2.655, PHS=-0.454, 1.356,-0.544, RAW= 332.4, -3.9, CAL= 334.5, -5.5, ROT= 175.5, 5.5 -T#Rx 42: Read range and direction messages.5`direction in FSK: [-0.992328,0.078098,-0.095846]5Fpublishing direction and range infoyy}&IT,8?aVX}3#AYy }04)}A_I}Oi}a}3}r}h?}C }@)}'gI}Ѻ@i} Ľ} D@} = y)y},l BI2 Smii}4$}f=} D@} = y)yMchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.995272&UTFailed to parse incomplete device message.ԹE٥ HFj} >i5H˜?i59. IBy.?:҇@aEiW<& <i54A EIqMUtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqUUAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcoursery1}}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1~} }Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRZyb} jA} "A} "A}>+@ʁ}fi$g׉٥checking for new query: numPingsReceived=43, elapsed TxPingTime=22.457586 HFYw > i5˜? i590 IBy)-@-@aEi;~;i5=B=3A=EZtbv jAv)Av)Av@ʁv娀t$4U@]-Cx?v:"g? ۷p?v7@v+ҁvDW @#pS?v˄qM?>|xC?zv@vjvOȜ?rv? v{BvSɜ?v  v{Bv'Av'@- addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504932 s, deltaX: 0.500000 m, approachRate: 0.990232 m/s, rangeRepo size: 4 u Added new target pos. range: 10.623767 m, bearing: 142.893582 deg, lat: 36.906437 deg, lon: -122.115969 deg, deltaT: 0.504932 s, deltaX: 0.496438 m, approachRate: 0.983178 m/s, posRepo size: 4 ԩDNOT Ignoring new targets: 10.62 m.bZr j R zJBA~Q~Q}|||`ff%@|`l? {B靽_ټI)IL] <u"ؾ'<7%o=iiE.EEEP0EH>HHIHA{BH =HH)DH<HE ؕ<ו<checking for new query: numPingsReceived=43, elapsed TxPingTime=22.692095:J]BJPJJGRJZJ]:bJ*9Jc4JzJ:jJ:J-:rJ-: 6G v=~G A A N >,5A jA {B`I]DDAT read: Rx Time:14:22:31.1691 ]TRx dataTimestamp_ set to:1749133352.347948mPDAT read: Bearing 159.6, 1.4 (Local) m~Local bearing/azimuth received: Bearing 159.6, 1.4 (Local) }DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed -0.8 ԉDAT read: 14:22:31.1691 LVL= 12912, 22209, 24450, 28547, AGC= 55, IDX= 501, 0.09, 1.410, 3.047, 0.675, 1.733, PHS=-0.235, 1.361,-1.061, RAW= 349.6, -0.6, CAL= 350.4, -1.4, ROT= 159.6, 1.4 Ygot valid direction response: 14:22:31.1691 LVL= 12912, 22209, 24450, 28547, AGC= 55, IDX= 501, 0.09, 1.410, 3.047, 0.675, 1.733, PHS=-0.235, 1.361,-1.061, RAW= 349.6, -0.6, CAL= 350.4, -1.4, ROT= 159.6, 1.4 T#Rx 44: Read range and direction messages.`direction in FSK: [-0.937002,0.348468,-0.024432]Fpublishing direction and range infoYy]9HJxNLM?{J],AYY ]p2)]VI]_i]o]7]ףp]?5?]· ]@@)]+I]E@i]+ȼ]aF2@]+< Y)Y]ڂ>0tg^进#Љi]¨].0<]aF2@]+< Y)Ychecking for new query: numPingsReceived=44, elapsed TxPingTime=22.960762Mb@Mb@Mb@ )YʡE?"~j?I +?y-2?S=9<A A n@)K7P"K@9*K2KF:KRvz-=g>8b1-+$(#[ -)Wu"  m]SuWj}@gpX hsIAyAII2G<  =yQ >٥ HF >i5˜?i593 IBy4?:e@aEi2::i53AEZYb]D jA]+A]+A]@ʁ]uvM$T @`п]9HJxNLM?{J]aF2@]+<ҁ]{4H+@StO]ZL%%ε[ ?9 Vz]@]j]Y=ɜ?r]:u ]xBYY ]{B]-A]8@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.502701 s, deltaX: 0.100000 m, approachRate: 0.198926 m/s, rangeRepo size: 4 Թ Added new target pos. range: 10.722990 m, bearing: 137.709777 deg, lat: 36.906437 deg, lon: -122.115969 deg, deltaT: 0.502701 s, deltaX: 0.099223 m, approachRate: 0.197380 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.72 m.bZrjRzJ!B!~!~%C|B})|)|)|-%@|- ? {B靽 ؼI)\I< 7<"ؾ<+@p=iiE /E E E O0E  checking for new query: numPingsReceived=44, elapsed TxPingTime=23.1949561 6G l=~GiAyAN>,g*. jAԡ9x@'@Y٥!! %H%F-& ->9Ei5=˜?Ei59=4 I=ʊByIMnM@=aEi= ;= ;="i5UB]{3A]EDNOT Ignoring new targets: 10.72 m.bZrjRzJB~~}|||| ?DDAT read: Rx Time:14:22:31.6696 TRx dataTimestamp_ set to:1749133352.851969 PDAT read: Bearing 149.1, 6.9 (Local)  ~Local bearing/azimuth received: Bearing 149.1, 6.9 (Local) DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.7 UDAT read: 14:22:31.6696 LVL= 16016, 19873, 24962, 29107, AGC= 56, IDX= 489,-0.41, 0.819, 2.062,-0.345, 0.737, PHS= 0.170, 1.372,-1.085, RAW= 0.7, -4.3, CAL= 0.9, -6.9, ROT= 149.1, 6.9 ]Ygot valid direction response: 14:22:31.6696 LVL= 16016, 19873, 24962, 29107, AGC= 56, IDX= 489,-0.41, 0.819, 2.062,-0.345, 0.737, PHS= 0.170, 1.372,-1.085, RAW= 0.7, -4.3, CAL= 0.9, -6.9, ROT= 149.1, 6.9 ]T#Rx 45: Read range and direction messages.e`direction in FSK: [-0.851850,0.509822,-0.120137]eFpublishing direction and range infoy+E[B뿆uP?rjƹI9AY >)MIaiq8{.>?H኿ +H<)`I3=ۋ&@Ϣ= )checking for new query: numPingsReceived=45, elapsed TxPingTime=23.464167 {BռI)Ii <-y"ؾ59<5wL=i9iiEe2EiEiEuP0Eq H H 4<H >H H IH {B) H H H H 4<H -E checking for new query: numPingsReceived=45, elapsed TxPingTime=23.701897:J _BJ TJJ >RJ ZJ :bJ :9J t4J zJ -:jJ 2:J SJ:rJ VJ:6GA jGM ~?bGM ?~G A! AA NU >g,J jA9Jg@Jpq@YJ8yJ-٥yy H+ >i53̜?i596 IԊBy%>?%:%x%@bEi{<a<w i5)53A1Z1b56 jA5F8A5F8A5 @ʁ5\V:#ƽ]|@`l#5+E[B뿆uP?rjƹI5ۋ&@5Ϣ=ҁ5 Kռ)Ag"@.HK5G)56Yq;?"0æC¿z5=A5Hj5KGɜ?r5*D 5tB11 5xB5H5A5sp@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504021 s, deltaX: 0.800000 m, approachRate: 1.587236 m/s, rangeRepo size: 4 1E Added new target pos. range: 11.517272 m, bearing: 126.169188 deg, lat: 36.906437 deg, lon: -122.115969 deg, deltaT: 0.504021 s, deltaX: 0.794282 m, approachRate: 1.575891 m/s, posRepo size: 4 EDNOT Ignoring new targets: 11.52 m.bAZArAjIRIzIJiBq~q~u{B}q|y|y|}@33'@|}? {B8#ۼI)Ij r/<s"ؾמ<DB=iiDDAT read: Rx Time:14:22:32.1697 TRx dataTimestamp_ set to:1749133353.3573155PDAT read: Bearing 154.2, 5.4 (Local) =~Local bearing/azimuth received: Bearing 154.2, 5.4 (Local) UDAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.5 DAT read: 14:22:32.1697 LVL= 25712, 26017, 30690, 32755, AGC= 56, IDX= 506, 0.30,-2.266,-0.836, 3.065,-2.183, PHS= 0.005, 1.394,-1.038, RAW= 355.3, -3.5, CAL= 355.8, -5.4, ROT= 154.2, 5.4 Ygot valid direction response: 14:22:32.1697 LVL= 25712, 26017, 30690, 32755, AGC= 56, IDX= 506, 0.30,-2.266,-0.836, 3.065,-2.183, PHS= 0.005, 1.394,-1.038, RAW= 355.3, -3.5, CAL= 355.8, -5.4, ROT= 154.2, 5.4 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.896323,0.433299,-0.094108]Fpublishing direction and range infoyl䭮=g@-?|ӄ{3;AY pd)eIwi ף;n?/݄ o@)5zIY@i9>,@= ) '.zd^C|ݮiTI w=9>,@E5EEEE= )checking for new query: numPingsReceived=46, elapsed TxPingTime=23.980047a6GH;R=K0Q"K9*K2KG:K@_`6'R: K/e\82mpM@!-~GqAAN>ԉ ,c jA9:&C@:L@Y:AN7y:WY<:H@u?? ~ؿ 7~?tN?+Û?? :&C@:t;):CN${BNrIIV IV̍2< %R=y=S:Q E>٥II MHMF }=}<checking for new query: numPingsReceived=46, elapsed TxPingTime=24.204893ԡU9 >i5̜?i598 IފBy}@bEi:{:$i5Bo3AEZabe@V jAe9Ae9Aes@ʁeCܕ $oW@"@ ÷}el䭮=g@-?|ӄ{e9>,@e=ҁeuR6d_!@FZ̰e^俸i?+HJQze Aejeɫɜ?re.nS etuBeY=ɜ?e:u  etuBe7Aen@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.505346 s, deltaX: 0.099999 m, approachRate: 0.197883 m/s, rangeRepo size: 4  Added new target pos. range: 11.616558 m, bearing: 131.110556 deg, lat: 36.906442 deg, lon: -122.115964 deg, deltaT: 0.505346 s, deltaX: 0.099286 m, approachRate: 0.196471 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.62 m.bZrjRzJ B~~}!|!|!|%`ff'@|- -y? u{B靍1"߼I)? I5 }Ɲ<}"ؾ<3=iiEES7EAEAEE_0EA = DDAT read: Rx Time:14:22:32.6700 E TRx dataTimestamp_ set to:1749133353.861094M PDAT read: Bearing 161.4, 3.4 (Local) M ~Local bearing/azimuth received: Bearing 161.4, 3.4 (Local) ] DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed -0.8  DAT read: 14:22:32.6700 LVL= 27696, 23537, 24002, 32755, AGC= 56, IDX= 509,-0.06, 1.557,-3.111, 0.939, 1.861, PHS=-0.216, 1.359,-0.925, RAW= 347.7, -2.2, CAL= 348.6, -3.4, ROT= 161.4, 3.4  Ygot valid direction response: 14:22:32.6700 LVL= 27696, 23537, 24002, 32755, AGC= 56, IDX= 509,-0.06, 1.557,-3.111, 0.939, 1.861, PHS=-0.216, 1.359,-0.925, RAW= 347.7, -2.2, CAL= 348.6, -3.4, ROT= 161.4, 3.4  T#Rx 47: Read range and direction messages. `direction in FSK: [-0.946100,0.318398,-0.059306] Fpublishing direction and range info9 y=  @sF`?Cg]= 3CAY9 = 0l)= [I= ]i9 9 = /]= ?= l = <1@)= nFI= @i= s= I4@= s= 9 )9 = W+m^5I~ҳyi= u= M== I4@= s=6G 5PK= 9 )9 5 checking for new query: numPingsReceived=47, elapsed TxPingTime=24.487553~G A A N > r,} jA9@O$@Y3y<H f?_?`꨿@ٿn?bb@\w?? F? @8b;)CE{BEgIH>HHIH{BH =HHHO<HVE}checking for new query: numPingsReceived=47, elapsed TxPingTime=24.707735:JYBJJJARJZJ9bJJ4JzJc:jJh:JrJMb@Mb@Mb@ )Ym?B`"۹?I +yN?=94A dA)MAIEA yAII2%6  %=y-:Q ->٥)) -H5F5 5>9mi5=9B̜?ui59=; I=By}9P?}:}ώ}@= bEi=z<=L<=(i53AEZQbU*w jAUAAUAAUN@ʁUtZ&a@U @sF`?Cg]UI4@Us=ҁU /!_Q @_xl8U UFzB?`J/zUAUjUTMɜ?rUg UvBUTMɜ?Ug  UvBU@AUN@e addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503779 s, deltaX: 0.500000 m, approachRate: 0.992499 m/s, rangeRepo size: 4  Added new target pos. range: 12.113054 m, bearing: 138.142964 deg, lat: 36.906444 deg, lon: -122.115958 deg, deltaT: 0.503779 s, deltaX: 0.496496 m, approachRate: 0.985544 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.11 m.bZrjRzJB~~{B}|||`ff(@| ? ]{B]޼IY)]^#YIe aae 1B%~GԉAAN>Ҧ, jA9F6@F@YF90yFQYmi5]Y̜?mi59]= I]By@]bEi]<]߄<]+i53A5EZbL jAeCAeCA\ @ʁ|~O1'G@N$9Fۿ"'Y#a,cB?Xޡ :@5=ҁ0ј# 3v@xɬ鿯 q?=%)GDzz{@jɜ?r1$1 qwB EA@] addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.502953 s, deltaX: 0.100000 m, approachRate: 0.198826 m/s, rangeRepo size: 4  Added new target pos. range: 12.212341 m, bearing: 143.562921 deg, lat: 36.906444 deg, lon: -122.115958 deg, deltaT: 0.502953 s, deltaX: 0.099287 m, approachRate: 0.197408 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.21 m.bZrjRzJB~~}|||(@|`? E{BMyII)M*2IIM뭏 QQUVݜq ,l jA FDDAT read: Rx Time:14:22:33.6705 FTRx dataTimestamp_ set to:1749133354.867747JPDAT read: Bearing 170.7, 0.9 (Local) N~Local bearing/azimuth received: Bearing 170.7, 0.9 (Local) VDAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -3.5 jDAT read: 14:22:33.6705 LVL= 12016, 17633, 14530, 18675, AGC= 61, IDX= 2, 0.15,-2.772,-0.950,-2.996,-2.205, PHS=-0.479, 1.303,-0.793, RAW= 338.0, -0.3, CAL= 339.3, -0.9, ROT= 170.7, 0.9 rYgot valid direction response: 14:22:33.6705 LVL= 12016, 17633, 14530, 18675, AGC= 61, IDX= 2, 0.15,-2.772,-0.950,-2.996,-2.205, PHS=-0.479, 1.303,-0.793, RAW= 338.0, -0.3, CAL= 339.3, -0.9, ROT= 170.7, 0.9 rT#Rx 49: Read range and direction messages.v`direction in FSK: [-0.986734,0.161584,-0.015707]vFpublishing direction and range infoDyF\߱S￁VCɮ?y&FLAYD F.)FDIF8iFHF=F}?FȦ?F K FZƼ@)FIF8@iFFy>@F< D)DF=|8鿏:g}viFZFgl;Fy>@F< D)D checking for new query: numPingsReceived=49, elapsed TxPingTime=25.4793729>G@>@Y>,y>9>7<>Hr=??@ }ٿ2E?q{?.?q?4? >G@>;)<zBVIII3e} e6=ym ;Q m>٥iq HFp >i5v̜?i59@ IByV@bEiX:C:/i5q-BM54AUEZDbF+ jAFWKAFWKAF $@ʁFݒ)g+m@SU,ɿF\߱S￁VCɮ?y&Fy>@F<ҁF4z=%PqI@x/FVsؽ꿷G%<|?̅hzF7@F)jF Ȝ?rF J F#xBDD DFpJAF@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503700 s, deltaX: 0.500000 m, approachRate: 0.992654 m/s, rangeRepo size: 4 E Added new target pos. range: 12.708778 m, bearing: 146.820874 deg, lat: 36.906444 deg, lon: -122.115958 deg, deltaT: 0.503700 s, deltaX: 0.496437 m, approachRate: 0.985581 m/s, posRepo size: 4 EDNOT Ignoring new targets: 12.71 m.bIZIrIjIRIzIJIBI~Q~Q}Q|Q|y|})@|}@0?ԙ {B-I)HI@ yz<{"ؾu<AHaHaHaHaHaHaHe1<He-EH!H%ǓCH%ǓCH% =I% = I%a4Echecking for new query: numPingsReceived=49, elapsed TxPingTime=25.716183E?EEEP0E 6G jG ? bG ?~G)A1AINU>ᴂ,z jA9>@>j@Y>a*y><>H)?15?`GO@5ڿK1??J?9l?? >@>;)>CFzBFLIMb@Mb@Mb@ )Y-?333333?y&1y?U?=`eA ADDAT read: Rx Time:14:22:34.1706 TRx dataTimestamp_ set to:1749133355.371986PDAT read: Bearing 172.5, -3.6 (Local) ~Local bearing/azimuth received: Bearing 172.5, -3.6 (Local) DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed -0.5 DAT read: 14:22:34.1706 LVL= 23696, 22385, 25074, 32755, AGC= 58, IDX= 484,-0.02, 0.841, 2.587, 0.710, 1.506, PHS=-0.577, 1.128,-0.798, RAW= 336.0, 2.7, CAL= 337.5, 3.6, ROT= 172.5, -3.6 Ygot valid direction response: 14:22:34.1706 LVL= 23696, 22385, 25074, 32755, AGC= 58, IDX= 484,-0.02, 0.841, 2.587, 0.710, 1.506, PHS=-0.577, 1.128,-0.798, RAW= 336.0, 2.7, CAL= 337.5, 3.6, ROT= 172.5, -3.6 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.989488,0.130269,0.062791]Fpublishing direction and range infoڙyڝZ%"Yz?֏ ?ڝfNAYڙ ۝\)۝qWI۝ai۝۝:۝F۝Nb?۝IL ܝf@)ܝA=Iܝ~@iܝ=ܝ2@@ܝ ݙ)ݙݝ d^⿻'v?iݝZ ݝCݝ2@@ݝ ޙ)ޙchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.002584)@IAyAI&I3U U#=y]:Q ]>٥ HF B >i5H̜?i59"D IBy#V?}:KvP"K9*K2KI:Kt&4Q3ZWNOiR'?rRi_o]eP'D% ( @bEi`J<!J<3i5=w4A=EZb jALALAr%@ʁ&X)+"? 8?Z%"Yz?֏ ?2@@ҁT%f?@?;Kq?xM?z@g.jToɜ?rje |Bɜ?1$1  qwBꁝNA!@} addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504239 s, deltaX: 0.099999 m, approachRate: 0.198318 m/s, rangeRepo size: 4  Added new target pos. range: 12.808085 m, bearing: 148.350205 deg, lat: 36.906439 deg, lon: -122.115968 deg, deltaT: 0.504239 s, deltaX: 0.099307 m, approachRate: 0.196944 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.81 m.bZrjRzJB~~`{B}|||5)@|=`f? {BhI)S]I钼 5.<u"ؾu<vQ ,X; jA9jS@j]@Yj*yj ٥ HFW  ?!9=i5%̜?=i59%F I%ByAEE@%#bEi%y;%L^;% 7i5IM4AIDNOT Ignoring new targets: 12.81 m.bZrjRJB~~}||| | @? }{B靅I)mIc <"ؾf<1He >Ha He IHe {BHe  =Ha He *DHe *<He (EԹ e checking for new query: numPingsReceived=51, elapsed TxPingTime=26.723888,B jAI4=I%=9Z'@ZM1@YZk+yZ;ZH ??`ڿD ?!?`?x?? Z'@ZI3;)XvzBv/IMb@Mb@Mb@ )Y\(\?+?MbyZ?=A )IAyAI"Iq3 K=yQ >٥ H^ >i5̜?i59J IBy%[?x:ƾ@(bEi:B::i5ԁeB:5AEZbR jAvVAvVAC>%@ʁd]l*}F?0?PQ?)? -V:?b@@ҁuч&+Vd@и1sq? VPro3?Q o+?z%@H5jLɜ?r۳ ~BLɜ? J  #xBWAg$@U addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.508075 s, deltaX: 0.600000 m, approachRate: 1.180929 m/s, rangeRepo size: 4  Added new target pos. range: 13.403954 m, bearing: 147.933415 deg, lat: 36.906437 deg, lon: -122.115973 deg, deltaT: 0.508075 s, deltaX: 0.595868 m, approachRate: 1.172796 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.40 m.bZrj R J1B9~I~M{B}y|||+@| S? {B靅TԩI)GI_ <y"ؾ9<pۭff&ۭnr?ۭY ܭ͋@)ܭV=Iܭ~@iܭl$>ܭ2@@ܭl$ ݩ)ݩݭc<<5V&?iݭ !ݭ齩ݭ2@@ݭl$ ީ)ީ5checking for new query: numPingsReceived=52, elapsed TxPingTime=26.993303E?EEE0E6G ۣ<~Gi Ay K P"K 9*K 2K J:K w#^Uq*vXAvZ sRyABzSySegk'_\!KJ AJ AA N > XȂ,n! jA}zB}2IIIF3z]< J=yQ >٥ HF >i5Y̜? i59M IBy   @.bEi:` ;>i5qu'5A}EZbeU jA:[A:[A%@ʁe*“M "吽 t;?@ Ľ ) e checking for new query: numPingsReceived=53, elapsed TxPingTime=27.499664~G A A N >B΂,; jA9eҳ@ejܺ@YeP-ye@?v9eH?jz??tۿ`? i?`@?.?? eҳ@e;)eCzB!II}I}<2 :=QyQ e>٥ HF崼 >-i5͜?-i59Q IBy)-˾5@4bEi;6;*Bi5=B=5A=EZb;8 jA,cA,cA"@ʁAB+3 L@lQc?_Kzxp@}?aVX?t;?@ Ľҁ4bfs'^@ȧ?ĉ0m[?s>{?z@;j(e(ɜ?rs }B }BaA%@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504934 s, deltaX: 0.500000 m, approachRate: 0.990228 m/s, rangeRepo size: 4  Added new target pos. range: 14.198261 m, bearing: 145.802504 deg, lat: 36.906437 deg, lon: -122.115975 deg, deltaT: 0.504934 s, deltaX: 0.496443 m, approachRate: 0.983184 m/s, posRepo size: 4  HH<H H CH IH t{BH  =H H H 7<H ?EEDNOT Ignoring new targets: 14.20 m.bAZArAjARAJIBI~I~I}Q|Q|Y|},@|@V? {BlI)6I 峛<}"ؾ<;ii5checking for new query: numPingsReceived=53, elapsed TxPingTime=27.732826IaIayE?EEE5EԱ 6G RD<~Gy A A N >/SՂ,UV jA9n<@n@Yn/yn\;nH??@;ۿY??B?u?R? n<@nK;)lzB&I5DDAT read: Rx Time:14:22:36.1717 5TRx dataTimestamp_ set to:1749133357.387906EPDAT read: Bearing 172.3, -6.0 (Local) E~Local bearing/azimuth received: Bearing 172.3, -6.0 (Local) UDAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.6 DAT read: 14:22:36.1717 LVL= 27280, 24721, 29362, 32755, AGC= 61, IDX= 511, 0.40, 1.954,-2.649, 1.828, 2.643, PHS=-0.601, 1.038,-0.819, RAW= 336.2, 4.4, CAL= 337.7, 6.0, ROT= 172.3, -6.0 Ygot valid direction response: 14:22:36.1717 LVL= 27280, 24721, 29362, 32755, AGC= 61, IDX= 511, 0.40, 1.954,-2.649, 1.828, 2.643, PHS=-0.601, 1.038,-0.819, RAW= 336.2, 4.4, CAL= 337.7, 6.0, ROT= 172.3, -6.0 T#Rx 54: Read range and direction messages.^direction in FSK: [-0.985555,0.133252,0.104528]Fpublishing direction and range info1y5ޗᅰng?4ޮ`º?53kAY1 5j)5`I5ri15=5#5/݄?5Q 5Ļ@)5nF=I5v@i5Pw=5v@@5Pwֽ 1)15es(3C⿅$:rJ0{jU6=?8S;J>J?II2< ,=yQ >٥ HF >i5 ͜?i59U I By!Y?%z:%%@:bEi88<w8<Fi5}B5AEԉZ1b5tX jA5iA5iA5>#@ʁ5s,;?u$ i?5ޗᅰng?4ޮ`º?5v@@5Pwֽҁ5R+|\(& |@qV?5-ݜ8\׃?*a?z5@5Bj56ɜ?r5dc 5R~B5ɜ?1 5R~B5eA5%@  addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502760 s, deltaX: 0.400000 m, approachRate: 0.795608 m/s, rangeRepo size: 4  Added new target pos. range: 14.595502 m, bearing: 146.740856 deg, lat: 36.906438 deg, lon: -122.115975 deg, deltaT: 0.502760 s, deltaX: 0.397241 m, approachRate: 0.790120 m/s, posRepo size: 4 EDNOT Ignoring new targets: 14.60 m.bAZArIjIRIJIBI~Q~UzB}Q|Q|Q|]`ff-@|]? {BUI)>ID   &< w"ؾa<;iichecking for new query: numPingsReceived=54, elapsed TxPingTime=28.235758:J% \BJ% VJJ% CRJ! ZJ% =:bJ% B9J% 4J! Ա E ?E E E /1E 6G #N;jG ?bG u?~Gi Aq A N >xۂ,mp jAL9@Q@Y2yNR<H ?ݻ?)ۿ ?~?@NP? BC?? @H ;)C5zB5,IIIm?3A< _=yQ >٥ HF~ >i5!9͜?i59pY IBy@?bEi :~:GIi5MDDAT read: Rx Time:14:22:36.6720 UTRx dataTimestamp_ set to:1749133357.892533ePDAT read: Bearing 172.0, -3.0 (Local) e~Local bearing/azimuth received: Bearing 172.0, -3.0 (Local) uDAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.5 DAT read: 14:22:36.6720 LVL= 20576, 17457, 16882, 23107, AGC= 67, IDX= 2, 0.44, 1.822,-2.705, 1.668, 2.472, PHS=-0.563, 1.152,-0.807, RAW= 336.6, 2.4, CAL= 338.0, 3.0, ROT= 172.0, -3.0 Ygot valid direction response: 14:22:36.6720 LVL= 20576, 17457, 16882, 23107, AGC= 67, IDX= 2, 0.44, 1.822,-2.705, 1.668, 2.472, PHS=-0.563, 1.152,-0.807, RAW= 336.6, 2.4, CAL= 338.0, 3.0, ROT= 172.0, -3.0 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.988911,0.138982,0.052336]Fpublishing direction and range infoIyM(1z =-?yoU˪?M3sAYI M`P)M1DIMAiMCZMCM Mt?MN M/@)M+=IMZƼ@iMPwV=M7 @@MPwV I)IM68RHi agR?iM8 Me*M7 @@MPwV I)Ichecking for new query: numPingsReceived=55, elapsed TxPingTime=28.504286b5A}EZIbMCy jAMxqAMxqAMvu#@ʁMPd-]O@HԬvF?M(1z =-?yoU˪?M7 @@MPwVҁMoWZ):/z @0a/?MSp?ϡ꿴Ԣ?>4Zu?zMAMHjMԲɜ?rMQ } MZ{BIMdc  IMnAM-$@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504627 s, deltaX: 0.500000 m, approachRate: 0.990831 m/s, rangeRepo size: 4 % Added new target pos. range: 15.091948 m, bearing: 146.335956 deg, lat: 36.906438 deg, lon: -122.115970 deg, deltaT: 0.504627 s, deltaX: 0.496446 m, approachRate: 0.983787 m/s, posRepo size: 4 %DNOT Ignoring new targets: 15.09 m.b!Z!r!j)R)J)B)~q~q}q|q|y|}`ff.@|} E? {B|j$I))Id !%Bu<%"ؾM H CH IH U{BH  =H H )DH Y<H gE checking for new query: numPingsReceived=55, elapsed TxPingTime=28.740334I 6G &;~GaAiAN>, jA9@@Ydk5yMx<H@??ۿ|?m^i? ?j? @骍];)CzB(I Mb@Mb@Mb@    ) Y n?y&1MbPy V? `e  A n@) I A y AI%I% 3UK U"=y]Q ]>٥Ya eHeFe e>i5vX͜?i59g^ IBy V?}:3@FbEi::Mi5B5AzEDDAT read: Rx Time:14:22:37.1722 TRx dataTimestamp_ set to:1749133358.396599-PDAT read: Bearing 172.6, -4.8 (Local) -~Local bearing/azimuth received: Bearing 172.6, -4.8 (Local) =DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.5 ]DAT read: 14:22:37.1722 LVL= 27376, 21441, 24978, 32755, AGC= 63, IDX= 500, 0.46, 0.207, 1.882, 0.092, 0.873, PHS=-0.578, 1.056,-0.784, RAW= 335.9, 3.6, CAL= 337.4, 4.8, ROT= 172.6, -4.8 mYgot valid direction response: 14:22:37.1722 LVL= 27376, 21441, 24978, 32755, AGC= 63, IDX= 500, 0.46, 0.207, 1.882, 0.092, 0.873, PHS=-0.578, 1.056,-0.784, RAW= 335.9, 3.6, CAL= 337.4, 4.8, ROT= 172.6, -4.8 mT#Rx 56: Read range and direction messages.u^direction in FSK: [-0.988193,0.128344,0.083678]uFpublishing direction and range infoyiG)I/m?U]k?xAY j)SIai?+?9H @)=Ip@i=@@ )9*鿊_y7,5фm?iY!t}@@ )checking for new query: numPingsReceived=56, elapsed TxPingTime=29.008991ԩ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504066 s, deltaX: 0.300000 m, approachRate: 0.595161 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.09 m.bZrjRJB~~zB}|!|)|-/@|-/? }{B}*Q Iy)}IL M<{"ؾa<*w:iiK5rO"K59*K12K5L:K5'=6%Y>D *;[\uQ Z_Y/+LLSE]?EYEYE]5EY 6G )o; checking for new query: numPingsReceived=56, elapsed TxPingTime=29.245117:J ZBJ TJJ ARJ ZJ 9bJ :9J 4J ~Gy A A N >u,ޫ jAAzB%3II}I}3-N4= -D=y=Q =>٥IQ uHuF} }>i5r͜?i59b IBy@LbEi*::RQi585AwEZba jA;vA;vA$@ʁ_ }jj.I ;?ds?iG)I/m?U]k?@@ҁ6)oٟ! @fo>.?EE 5?["?zAMj}6ɜ?rs/ c}Bq6ɜ? }BꁵSzANp$@DNOT Ignoring new targets: 15.09 m.bZrjRJB~~}||||? m{Bm!Iq)u-qIu7 qq}E+<}u"ؾ}U.<«:iiDDAT read: Rx Time:14:22:37.6726 TRx dataTimestamp_ set to:1749133358.900788PDAT read: Bearing 172.0, -4.1 (Local) ~Local bearing/azimuth received: Bearing 172.0, -4.1 (Local)  DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed -0.6 -DAT read: 14:22:37.6726 LVL= 25744, 20625, 23890, 32755, AGC= 62, IDX= 505,-0.48, 0.539, 2.204, 0.400, 1.181, PHS=-0.554, 1.070,-0.783, RAW= 336.5, 3.1, CAL= 338.0, 4.1, ROT= 172.0, -4.1 5Ygot valid direction response: 14:22:37.6726 LVL= 25744, 20625, 23890, 32755, AGC= 62, IDX= 505,-0.48, 0.539, 2.204, 0.400, 1.181, PHS=-0.554, 1.070,-0.783, RAW= 336.5, 3.1, CAL= 338.0, 4.1, ROT= 172.0, -4.1 =T#Rx 57: Read range and direction messages.E^direction in FSK: [-0.987734,0.138817,0.071497]EFpublishing direction and range infoڑyڕY̓£Qh? M?ڕ̀AYڑ ەd)ەPIەR]iۑە>ە ە?ەrH ܕ@)ܕk]=IܕZƼ@iܕC=ܕ7 @@ܕC ݑ)ݑݕht]t䞑?iݕ?H ݕ\ݕ7 @@ݕC ޑ)ޑuchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.524658ԙEEEE^5E 6G 9~G A A G G ?AH H H IH K{BH  =H H H <H EN- >,>{ jA9N@NT@YN7yN-=NH 2??`Oۿ?Έ??? N@NC;)NCVzBVBIlchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.746916Mb@Mb@Mb@ )Y|?5^?~jtyR?ļdA +@)+@IAy\@I I<2l= P=yºQ >٥    H  Z4; >i5͜?ei59uf I&ByeS?m:mm@QbEiF.<.<Ti5qu4AqZb jAAAl#@ʁB/f@yQI?Y̓£Qh? M?7 @@Cҁz*[!@ιFX?v`꿵 :?ǀ3'\?z ATjn*ɜ?r8| |B(e(ɜ?s  c}BA#@  addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504189 s, deltaX: 0.600000 m, approachRate: 1.190031 m/s, rangeRepo size: 4  Added new target pos. range: 15.985192 m, bearing: 146.306186 deg, lat: 36.906440 deg, lon: -122.115969 deg, deltaT: 1.008255 s, deltaX: 0.893245 m, approachRate: 0.885931 m/s, posRepo size: 4 =DNOT Ignoring new targets: 15.99 m.b9Z9r9jARAJABA~A~MzB}I|I|I|M0@|U`7? %{B-)IQ)]YIe aiJ<"ؾ<-;iizE1EZAmAA A-YZAyp0B!E)E)E)E-!5E)DDAT read: Rx Time:14:22:38.1728 TRx dataTimestamp_ set to:1749133359.404144PDAT read: Bearing 171.5, -6.5 (Local) ~Local bearing/azimuth received: Bearing 171.5, -6.5 (Local) DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed -0.5  DAT read: 14:22:38.1728 LVL= 27392, 20241, 29106, 32755, AGC= 63, IDX= 507,-0.39,-0.685, 0.892,-0.827,-0.032, PHS=-0.565, 0.971,-0.799, RAW= 337.0, 4.8, CAL= 338.5, 6.5, ROT= 171.5, -6.5  Ygot valid direction response: 14:22:38.1728 LVL= 27392, 20241, 29106, 32755, AGC= 63, IDX= 507,-0.39,-0.685, 0.892,-0.827,-0.032, PHS=-0.565, 0.971,-0.799, RAW= 337.0, 4.8, CAL= 338.5, 6.5, ROT= 171.5, -6.5 % T#Rx 58: Read range and direction messages.- ^direction in FSK: [-0.982658,0.146859,0.113203]- Fpublishing direction and range infoyVqI?5?3AY k)OIqi?ףux?DL `7@)=I @iV==?@V )x鿾Y/32H?iy=?@V )E checking for new query: numPingsReceived=58, elapsed TxPingTime=30.016085Q 6G- 7:~G A A K )PN5 >"K 9*K 2K M:K ,m^ )\F  tcui(~ v;~VP 1Ip:,3 jA9%8@%笺@Y%7y%$=%H??ۿ?J @?0r?? %8@%[&;)!9zBCII#I%x3mv; D=y49Q >٥ HF; >i5~͜?i59j I-By@VbEi;;[Xi5B4AtEZ b  jA CA CA #@ʁ k-Z,0$k!@$/"!~? VqI?5? =?@ Vҁ oá*fG׌%"@,'m? Ǣsv'q?߶4g?z ,A uWj UJ5ɜ?r r{  B n*ɜ? Q }   A #@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503356 s, deltaX: 0.299999 m, approachRate: 0.595998 m/s, rangeRepo size: 4  Added new target pos. range: 16.283052 m, bearing: 146.028391 deg, lat: 36.906440 deg, lon: -122.115967 deg, deltaT: 0.503356 s, deltaX: 0.297860 m, approachRate: 0.591748 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.28 m.bZ 5<54=]checking for new query: numPingsReceived=58, elapsed TxPingTime=30.256582qr!jyRyJyBy~~}|||`ff0@|`+?:JyBJ}KJJ}<RJyZJybJ}K9J} [4Jy {B;I)Iڥ e͚<y"ؾ%Nc<%>Ir;i!i!ԙEEEE3EԹ  DDAT read: Rx Time:14:22:38.6732  TRx dataTimestamp_ set to:1749133359.909473 PDAT read: Bearing 170.9, -5.5 (Local)  ~Local bearing/azimuth received: Bearing 170.9, -5.5 (Local)  DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.5 6G5 :e DAT read: 14:22:38.6732 LVL= 29328, 22513, 25810, 32755, AGC= 64, IDX= 511,-0.32, 0.338, 1.916, 0.167, 0.965, PHS=-0.539, 0.998,-0.801, RAW= 337.8, 4.1, CAL= 339.1, 5.5, ROT= 170.9, -5.5 m Ygot valid direction response: 14:22:38.6732 LVL= 29328, 22513, 25810, 32755, AGC= 64, IDX= 511,-0.32, 0.338, 1.916, 0.167, 0.965, PHS=-0.539, 0.998,-0.801, RAW= 337.8, 4.1, CAL= 339.1, 5.5, ROT= 170.9, -5.5 u T#Rx 59: Read range and direction messages. ^direction in FSK: [-0.982868,0.157430,0.095846] Fpublishing direction and range info y ss: &?aVX? AY r) WI di @ |? VM @) C=I c@i = >@ Ľ ) >i@ Ľ )  checking for new query: numPingsReceived=59, elapsed TxPingTime=30.535624~G1 A9 AQ N >, jA,9ܳ@@Y5y)=H`?:?`Oۿ _?Yxj?`?? ܳ@;)CEzBMRII I̍2Ar= A=y:Q >٥ HF; > i5 ͜?i59 n I 5By = =@ \bEi T$=ԙ %= \i515v4A=qEH>HHIHU{BH =HHH\<HjEHQHQHQHU =IQ IUU6Zb4 jAAA"@ʁ3SHf0A@n W?ss: &?aVX?>@ Ľҁ_St+Zn#@8=? `U"?spZ?zA=^j*,ɜ?rs ~B*,ɜ?8|  5A #@U addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505329 s, deltaX: 0.600000 m, approachRate: 1.187346 m/s, rangeRepo size: 4  Added new target pos. range: 16.878775 m, bearing: 145.521493 deg, lat: 36.906440 deg, lon: -122.115967 deg, deltaT: 0.505329 s, deltaX: 0.595722 m, approachRate: 1.178880 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.88 m.bZrjRJB~~}|||1@|+? checking for new query: numPingsReceived=59, elapsed TxPingTime=30.755657 U{BUDIQ)U.xQIeἧ aam<}s"ؾ}*<tƭ;iiԹEQEYEYE]4EaF}AFy 6G l; ~Gi Ay A  DDAT read: Rx Time:14:22:39.1734  TRx dataTimestamp_ set to:1749133360.412260 PDAT read: Bearing 171.7, -8.4 (Local)  ~Local bearing/azimuth received: Bearing 171.7, -8.4 (Local)  DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 DAT read: 14:22:39.1734 LVL= 29488, 20689, 28962, 32755, AGC= 64, IDX= 513,-0.30, 0.163, 1.656, 0.041, 0.819, PHS=-0.568, 0.883,-0.781, RAW= 336.8, 6.0, CAL= 338.3, 8.4, ROT= 171.7, -8.4  Ygot valid direction response: 14:22:39.1734 LVL= 29488, 20689, 28962, 32755, AGC= 64, IDX= 513,-0.30, 0.163, 1.656, 0.041, 0.819, PHS=-0.568, 0.883,-0.781, RAW= 336.8, 6.0, CAL= 338.3, 8.4, ROT= 171.7, -8.4  T#Rx 60: Read range and direction messages.^direction in FSK: [-0.978910,0.142808,0.146083]Fpublishing direction and range infoڹ yڽ Â@iܽ Q >ܽ n?@ܽ Q  ݹ )ݹ ݽ ̄IJ' p_?iݽ  ݽ 1Zֽݽ n?@ݽ Q  ޹ )޹ =checking for new query: numPingsReceived=60, elapsed TxPingTime=31.024399NM> ,_ jA9-Ƴ@-к@Y-3y-M,=-Ha?@Dn?Kvۿ^?ਯ^??? -Ƴ@-;))={B=`IK-=P"K-S9*K)2K-N:K-`NaP41\x K6* A*s%x5vF$]Mb@Mb@Mb@YYY Y)YY]@5^I ?I +Mb?y]bP?]94]<]zA ]@)YI]AYy]AI I(2= =yݏ:Q >٥ HF; > i5͜?i593t IBByiP?!]:]]@cbEig<G<`i5eBe(4AmpEZbxb jAiAiA#@ʁs`20Ǽ3V@ĿR@ÂDDAT read: Rx Time:14:22:39.6738 BTRx dataTimestamp_ set to:1749133360.915963FPDAT read: Bearing 170.1, -4.9 (Local) F~Local bearing/azimuth received: Bearing 170.1, -4.9 (Local) NDAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 bDAT read: 14:22:39.6738 LVL= 17888, 21777, 15554, 28819, AGC= 68, IDX= 5,-0.33, 0.331, 1.881, 0.132, 0.927, PHS=-0.507, 1.001,-0.798, RAW= 338.6, 3.7, CAL= 339.9, 4.9, ROT= 170.1, -4.9 jYgot valid direction response: 14:22:39.6738 LVL= 17888, 21777, 15554, 28819, AGC= 68, IDX= 5,-0.33, 0.331, 1.881, 0.132, 0.927, PHS=-0.507, 1.001,-0.798, RAW= 338.6, 3.7, CAL= 339.9, 4.9, ROT= 170.1, -4.9 nT#Rx 61: Read range and direction messages.r^direction in FSK: [-0.981509,0.171301,0.085417]rFpublishing direction and range info@yBvਅh#\.?b$ݵ?B3AY@ BE)BUIB<iBpBDBB ?BIL B$@)B A=IBֽ@iB%=B>@B% @)@Bڛk+zoѥj?iB*BElB>@B% @)@checking for new query: numPingsReceived=61, elapsed TxPingTime=31.548727m+{BmwII}!I}i3 I=  F=y Q >٥ HF >ԁi5?͜?i59?x IKBy@ibEi:~:di5B3AmEZ@bB#: jAB-AB-AB!@ʁBϛq1\Z@i^II?Bvਅh#\.?b$ݵ?B>@B%ҁB[:ʉ-Dcr$@J3?B ] HCHIH~{BH =HHH <HE {BaI))-rA)I-b ))-<5w"ؾ5 H<=A;i9i9 )-<5checking for new query: numPingsReceived=61, elapsed TxPingTime=31.764267IeAAIaJK4JK4JK 0:JyBJ}OJJ}@RJyZJybJ}%9J}J4JyzJ}1:jJ}6:J}&:rJ}&:E ?E E E 5E 6G &; ~G A AN>ڄ,%W jADDAT read: Rx Time:14:22:40.1740 TRx dataTimestamp_ set to:1749133361.419920PDAT read: Bearing 170.9, -3.7 (Local) ~Local bearing/azimuth received: Bearing 170.9, -3.7 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed -0.3 DAT read: 14:22:40.1740 LVL= 32464, 21489, 27634, 32755, AGC= 64, IDX= 502, 0.49, 0.763, 2.421, 0.577, 1.381, PHS=-0.531, 1.087,-0.807, RAW= 337.8, 2.9, CAL= 339.1, 3.7, ROT= 170.9, -3.7 %Ygot valid direction response: 14:22:40.1740 LVL= 32464, 21489, 27634, 32755, AGC= 64, IDX= 502, 0.49, 0.763, 2.421, 0.577, 1.381, PHS=-0.531, 1.087,-0.807, RAW= 337.8, 2.9, CAL= 339.1, 3.7, ROT= 170.9, -3.7 %T#Rx 62: Read range and direction messages.-^direction in FSK: [-0.985356,0.157829,0.064532]-Fpublishing direction and range infoy). 3?P0?AY ~)SIki@"?N @)4QO=Ic@i A=>@ A )$E-(:ɩ+?i;L>@ A )Mchecking for new query: numPingsReceived=62, elapsed TxPingTime=32.031898I9@@Y@+y&?=H`?? @Yۿ`Q? a*~?<ݧ? ? @I;)CG{BIiuMb@Mb@Mb@qqq q)qYu/$?Mb?~jt?K]P"K 9*K2KO:KgyqN'Vj|1w`m~L806E`Myu&Q?u٥ HF%k< %>)5i5-|Μ?5i59-"} I-XBy5/Q?5:=)۾=@-pbEi-:-R:-wii5IM(3AMjEZbZ jAAAO$#@ʁ>01X@REZ?). 3?P0?>@ AҁD/MM-u.4,$@kԓ?(ǀ ~?3 ?za!Aoj.ɜ?r es z}Bs  aA9##@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503957 s, deltaX: 0.300001 m, approachRate: 0.595291 m/s, rangeRepo size: 4  Added new target pos. range: 18.070044 m, bearing: 146.052163 deg, lat: 36.906441 deg, lon: -122.115963 deg, deltaT: 0.503957 s, deltaX: 0.297630 m, approachRate: 0.590587 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.07 m.bZrjRJB~~zB}|||@332@|? }{B}0Iy)}'yI}X <"ؾ~<Vd,w jA9NR@N%@YN4*yN-0=NH?C?a`8ڿ ?@A??]? NR@N3s;)NCVm{BVIIn"Inq3z= zo=yz :Q z?٥|| ~H~F~M; ?-i52Μ?5i59! I`By15پ5@tbEiL;;kli5= B=2AEgEDDAT read: Rx Time:14:22:40.6743 TRx dataTimestamp_ set to:1749133361.925729PDAT read: Bearing 170.3, -6.9 (Local) ~Local bearing/azimuth received: Bearing 170.3, -6.9 (Local) DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.5 MDAT read: 14:22:40.6743 LVL= 32752, 28481, 32754, 32755, AGC= 65, IDX= 505, 0.21, 1.936,-2.775, 1.743, 2.580, PHS=-0.556, 0.976,-0.840, RAW= 338.4, 5.0, CAL= 339.7, 6.9, ROT= 170.3, -6.9 ]Ygot valid direction response: 14:22:40.6743 LVL= 32752, 28481, 32754, 32755, AGC= 65, IDX= 505, 0.21, 1.936,-2.775, 1.743, 2.580, PHS=-0.556, 0.976,-0.840, RAW= 338.4, 5.0, CAL= 339.7, 6.9, ROT= 170.3, -6.9 ]T#Rx 63: Read range and direction messages.e^direction in FSK: [-0.978564,0.167269,0.120137]eFpublishing direction and range infoyT6fPAGi?rjƹI?̔AY )AoIiAV#y?= W @)¸=Ij@iϢ=:>@Ϣ )[2A迪R՝N=5(a?i7xG:>@Ϣ )checking for new query: numPingsReceived=63, elapsed TxPingTime=32.545227ԡZb%?{ jAAA"@ʁB2=|?@n 櫿@T6fPAGi?rjƹI?:>@Ϣҁu h.Úθ$@qq?XFA?ׂ#?z%A@sj"1ɜ?r(o B es  AG#@E addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505809 s, deltaX: 0.400000 m, approachRate: 0.790812 m/s, rangeRepo size: 4  Added new target pos. range: 18.467188 m, bearing: 145.725641 deg, lat: 36.906441 deg, lon: -122.115963 deg, deltaT: 0.505809 s, deltaX: 0.397144 m, approachRate: 0.785167 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.47 m.bZrjRJB~~}|||2@|揱? {B靍GI)I.% K<{"ؾ<{HHIH{BH =H6G-]S<H(DH1<HE~G A A N- >m checking for new query: numPingsReceived=63, elapsed TxPingTime=32.771111q :J BJ SJJ RJ ZJ bJ y69J J zJ 0:jJ 5:J )C:rJ ,C:&$,Mj jA 9/@8@YZp'yg=Hu?`?G@ڿ` ?@"k@?wǣ? ? /@ԅ;)C{BIMMb@Mb@Mb@III I)IYM&1?Q?Mb?yMP?M٥ HF; >i5RΜ?i59= IkBy Q?:ʾ@{bEid.;-;pi5I2AdEZbU"@ʁ,12(@ !P@T6fPAGi?rjƹI?ҁ8q.TO$@S?+`PI?q?zR%AsjdOOɜ?rBt B"1ɜ? BAY#@DNOT Ignoring new targets: 18.47 m.bZrjRJDDAT read: Rx Time:14:22:41.1745 TRx dataTimestamp_ set to:1749133362.428717PDAT read: Bearing 170.3, -6.5 (Local) ~Local bearing/azimuth received: Bearing 170.3, -6.5 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 DAT read: 14:22:41.1745 LVL= 32752, 32753, 31602, 32755, AGC= 63, IDX= 507, 0.08, 0.192, 1.707, 0.008, 0.808, PHS=-0.529, 0.945,-0.803, RAW= 338.4, 4.8, CAL= 339.7, 6.5, ROT= 170.3, -6.5 Ygot valid direction response: 14:22:41.1745 LVL= 32752, 32753, 31602, 32755, AGC= 63, IDX= 507, 0.08, 0.192, 1.707, 0.008, 0.808, PHS=-0.529, 0.945,-0.803, RAW= 338.4, 4.8, CAL= 339.7, 6.5, ROT= 170.3, -6.5 T#Rx 64: Read range and direction messages.%^direction in FSK: [-0.979367,0.167406,0.113203]%Fpublishing direction and range infoyUaV￁-m?5?fAY )Ir{i?lq?hM )=IiV=V )GдR迚'=SWo?i,1-V )Mchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.041199B~Y~]%{B}Y|Y|a|e2@|eW? {B!1I)⽉I <u"ؾ<7ȌkJ- AJ) Թ 6G l o< checking for new query: numPingsReceived=64, elapsed TxPingTime=33.276730 ~G) AY Ai N} ><*, jA969@6C@Y6#y60=6HK ?+?9ڿ?ʋ7b?? ? 69@6*;)6CB{BBIDDIJ(IJ̍3R= Rm=yVbH;Q V?٥X\ ^H^Fb{; f?t i5v hΜ?i59v IvrByʾ@vbEiv)1 Z1,` jAG4G6AAHF>HDHFIHF{BHF =HDHDHF<HFEchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.778885:JUWBJUQJJU?RJQZJU;9bJU-.9JUـ4JQzJU˛:jJUЛ:JU4:rJU4:u{BuI Mb@Mb@Mb@ )Yl?l?~jtx?yW?=;zA )@Iy@I- I-V2< =yQ >٥ %H%F- 5>ii5mΜ?i59m Im~ByW?{:cƾ@mbEim~^%@tS?SԀNt<+?1c?L?z.AY}jUɜ?r k ~BdOOɜ? A.W#@ addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503346 s, deltaX: 0.600000 m, approachRate: 1.192024 m/s, rangeRepo size: 4  Added new target pos. range: 19.261271 m, bearing: 145.365596 deg, lat: 36.906444 deg, lon: -122.115963 deg, deltaT: 0.503346 s, deltaX: 0.595778 m, approachRate: 1.183634 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.26 m.bZrjRJB~~6{B}|||`ff3@|*5? {B靅GмI)Ip <y"ؾt<*I @i ޹> !,@ ޹ ) [bg9S=I?i Ѩ ~ !,@ ޹ )  checking for new query: numPingsReceived=66, elapsed TxPingTime=34.068192ԙ 6G <KE7P"KE9*KA2KEQ:KEbS7 H UWt85hh.VIw0<[DK1x:-C~GiAqAN>3 9, jA9J;@JME@YJMnyJ٥9A EHAe: m>iui5mΜ?}i59m ImByy}Dƾ}@mbEimz:m:m{i5)1A^EZb jAAA@ʁG0SK@@HΓ1~j]""?_S{?!,@޹ҁ-'T e+@7s@*cg_rG?Z9k?z^A<jBʜ?rp) ۊBUɜ?(o  BA""@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.505594 s, deltaX: 0.100000 m, approachRate: 0.197788 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=66, elapsed TxPingTime=34.282970 Added new target pos. range: 19.360556 m, bearing: 130.324391 deg, lat: 36.906445 deg, lon: -122.115961 deg, deltaT: 0.505594 s, deltaX: 0.099285 m, approachRate: 0.196373 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.36 m.bZrjRJB~ ~ } | ||3@| B\? {B靍&ȼI),)I3 З<s"ؾZ<. ^direction in FSK: [-0.986321,0.150928,0.066274] Fpublishing direction and range infoڡ yڥ C]OԆQ?{S?ڥ ̠AYڡ ۡ )ۥ mIۡ iۡ ۥ Bۥ ˡۥ +?ۥ $F ܥ Db@)ܥ 4QO=Iܥ p*@iܥ ԇ=ܥ X?@ܥ ԇ ݡ )ݡ ݥ (j;-ќ&`U\۩?iݥ !`ݥ Nݥ X?@ݥ ԇ ޡ )ޡ - checking for new query: numPingsReceived=67, elapsed TxPingTime=34.587204-?, jA}{B}IԑII?13{= C=yQ >٥ HF >%i5¾Μ?%i59* IBy!)-@bEi ::Oi5U BU0AU\EZb< jAAA#@ʁ!A3>@Mɣ>I)?C]OԆQ?{S? X?@ԇҁA㡢Q0нX%@,RK?GL0?]Y?z /AjjkAɜ?rjq ~Bjq  ̀BAy#@% addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503563 s, deltaX: 0.600000 m, approachRate: 1.191510 m/s, rangeRepo size: 4   Added new target pos. range: 19.956266 m, bearing: 146.735124 deg, lat: 36.906445 deg, lon: -122.115963 deg, deltaT: 0.503563 s, deltaX: 0.595711 m, approachRate: 1.182992 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.96 m.HE>HECHEIHE5|BHE =HAHAHE(<HE Eb!ZrjRJB~~})|9|a|m4@|u? checking for new query: numPingsReceived=67, elapsed TxPingTime=34.787132:JE\BJEJJJEERJAZJE=:bJE&9JE4JAzJE:jJE:JE:rJE: ]{B]|ηIY)]aIe^U aaeSF,h jA2DDAT read: Rx Time:14:22:43.1756 6TRx dataTimestamp_ set to:1749133364.445130:PDAT read: Bearing 171.1, 0.4 (Local) :~Local bearing/azimuth received: Bearing 171.1, 0.4 (Local) BDAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed -0.5 VDAT read: 14:22:43.1756 LVL= 31888, 29553, 29362, 32755, AGC= 67, IDX= 502, 0.04, 3.057,-1.488, 2.863,-2.665, PHS=-0.474, 1.223,-0.758, RAW= 337.6, 0.1, CAL= 338.9, -0.4, ROT= 171.1, 0.4 ZYgot valid direction response: 14:22:43.1756 LVL= 31888, 29553, 29362, 32755, AGC= 67, IDX= 502, 0.04, 3.057,-1.488, 2.863,-2.665, PHS=-0.474, 1.223,-0.758, RAW= 337.6, 0.1, CAL= 338.9, -0.4, ROT= 171.1, 0.4 ZT#Rx 68: Read range and direction messages.^`direction in FSK: [-0.987936,0.154706,-0.006981]bFpublishing direction and range info0y2L+k?a|2̤AY0 2|)2qsI2ri02C2!2D?2J B 2)@)2:I2G@i2仉2?@2; 0)02aX L㿟R@\?i2 2 ຩ2?@2; 0)0checking for new query: numPingsReceived=68, elapsed TxPingTime=35.060726tE{BEIKmP"K 9*K2KR:Kd^qG-IgB=:-'\;B0vmX+.^!"]Mb@Mb@Mb@YYY Y)YY]Zd;?:v?Mb?y]^?]T=]<]dA Y)YI]MAYy]z@II[3< =yQ >٥II MHMFQ U>Yei5]<Μ?ei59] I]Byea_?es:=@]bEi]Fh<]g<]Yi5 B0AYEIZ0b2} jA2A2A2#@ʁ2d44p$P @-F¿2L+k?a|2?@2;ҁ26R01ߌ&@x{2 C꿄0?P+]z24A2)j22Kɜ?r2il 2xB02il  2~B2A2Q#@checking for new query: numPingsReceived=68, elapsed TxPingTime=35.290749 addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503910 s, deltaX: 0.500000 m, approachRate: 0.992241 m/s, rangeRepo size: 4 e Added new target pos. range: 20.452488 m, bearing: 146.392102 deg, lat: 36.906445 deg, lon: -122.115960 deg, deltaT: 0.503910 s, deltaX: 0.496222 m, approachRate: 0.984742 m/s, posRepo size: 4 mDNOT Ignoring new targets: 20.45 m.biZirijiRiJqBq~q~uM{B}y|||4@|ൄ? 1 5 I1 ) @ I a Ö<5 w"ؾ= R <= !٥ HԩF  >Qi5 H<H<H>HCH9IHh|BH =HH)DHi<HsEUcϜ?ei59U IUByimu@HÒCHÒCHH =I = Ia;6UbEiUF=U0=Ui50AVEZqbuz< jAucAucAu'$@ʁueۘ4P@'<+u?uLJTOA?I:?u?@u+Hҁum1j^1o&@EqM׿u`B-Pfԭq? 8 zu7Au"juպ8ɜ?rul uzBu2Kɜ?ul  u~BuզAu#@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502775 s, deltaX: 0.600000 m, approachRate: 1.193377 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=69, elapsed TxPingTime=35.795017  Added new target pos. range: 21.048655 m, bearing: 146.959621 deg, lat: 36.906444 deg, lon: -122.115960 deg, deltaT: 0.502775 s, deltaX: 0.596167 m, approachRate: 1.185752 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.05 m.bZrjRJB~~}!|!|!|%@335@|%?? {B靽 I)<I* Y<"ؾ-K<-~^W,P` jA9U@UM$@YUyU~Go5;K 9Y8`JLk&+mZ~F= =y ;Q >٥ HF% %>)Ui5-,Ϝ?Ui59- I-ByUg?Uj:U(U@-bEi-;-2;-*i5e Be/AeSEZb:\ jAŪAŪAj$@ʁ Sfs#5Yd I4w@mu''?A*,?NGY;?<@@޹ҁ14fL!'@2ZZ¿f\YpLq;V?XD[{z 9AjDɜ?rԨn {BDɜ?il  {BꁥA:$@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503891 s, deltaX: 0.299999 m, approachRate: 0.595365 m/s, rangeRepo size: 4 ] Added new target pos. range: 21.346512 m, bearing: 147.194549 deg, lat: 36.906443 deg, lon: -122.115960 deg, deltaT: 0.503891 s, deltaX: 0.297857 m, approachRate: 0.591115 m/s, posRepo size: 4 eDNOT Ignoring new targets: 21.35 m.baZarajRJB~~`{B}|||5@checking for new query: numPingsReceived=70, elapsed TxPingTime=36.298889|`m?:J XBJ IJJ =RJ ZJ {9bJ  9J g4J @@@@ )5f`I1)5 V=1I5 11=<={"ؾe6jEu>ԉEEEE 0E F)F)ԩ 6G] T< ~G1 AA AQ Ne >T^,| jADDAT read: Rx Time:14:22:44.6765 TRx dataTimestamp_ set to:1749133365.956089PDAT read: Bearing 172.7, -1.3 (Local) ~Local bearing/azimuth received: Bearing 172.7, -1.3 (Local) &DAT read: Range 10 to 50 : 21.9 m (trip time 14.6 ms) speed -0.5 :DAT read: 14:22:44.6765 LVL= 32752, 29585, 32754, 32755, AGC= 67, IDX= 511, 0.09, 1.319, 3.021, 1.202, 1.927, PHS=-0.521, 1.141,-0.729, RAW= 335.8, 1.2, CAL= 337.3, 1.3, ROT= 172.7, -1.3 >Ygot valid direction response: 14:22:44.6765 LVL= 32752, 29585, 32754, 32755, AGC= 67, IDX= 511, 0.09, 1.319, 3.021, 1.202, 1.927, PHS=-0.521, 1.141,-0.729, RAW= 335.8, 1.2, CAL= 337.3, 1.3, ROT= 172.7, -1.3 BT#Rx 71: Read range and direction messages.F^direction in FSK: [-0.991639,0.127032,0.022687]FFpublishing direction and range infoy[￐B?NGY;?3AY )sIiCB`: ͋@)IDb@ib@@ )!_s=n&9?i !Hбb@@ )Uchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.5903669|BI) II 3;= ]=yQ >٥ HF- ->1=i55 GϜ?=i595 I5By99=@5bEi5:5:5ni5/APEԡZb0} jAAA}%@ʁvO֏5L@ɎiQ?[￐B?NGY;?b@@ҁe2\`--'@I]¿ъTl4 ?$,t{zi9A.j8ɜ?rq {BkAɜ?Ԩn  A$@E addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504293 s, deltaX: 0.400000 m, approachRate: 0.793189 m/s, rangeRepo size: 4  Added new target pos. range: 21.743656 m, bearing: 147.794321 deg, lat: 36.906442 deg, lon: -122.115961 deg, deltaT: 0.504293 s, deltaX: 0.397144 m, approachRate: 0.787527 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.74 m.bZrjRJB9~A~A}A|A|I|M`f5@|U@? I1)5 =9I=AW 99=HCHRIH|BH =HHH <HEEEEE0E!checking for new query: numPingsReceived=71, elapsed TxPingTime=36.803474I R=I p= 6GU mo<~G A ) A1 N= >ce, jAMD|BM#IMb@Mb@Mb@ )Y|?5^?T㥛 ?Mbp?yr?=;n@ @)I@y=@IIb2< ==yQ >٥ HF! %>)5i5-jgϜ?5i59-˦ MDDAT read: Rx Time:14:22:45.1767 UTRx dataTimestamp_ set to:1749133366.461112]PDAT read: Bearing 152.4, 11.8 (Local) ]~Local bearing/azimuth received: Bearing 152.4, 11.8 (Local) mDAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed -0.8 DAT read: 14:22:45.1767 LVL= 32752, 32753, 31474, 32755, AGC= 65, IDX= 513, 0.32, 1.156, 1.971, 0.593, 1.116, PHS= 0.128, 0.902,-0.526, RAW= 357.2, -8.2, CAL= 357.6, -11.8, ROT= 152.4, 11.8 Ygot valid direction response: 14:22:45.1767 LVL= 32752, 32753, 31474, 32755, AGC= 65, IDX= 513, 0.32, 1.156, 1.971, 0.593, 1.116, PHS= 0.128, 0.902,-0.526, RAW= 357.2, -8.2, CAL= 357.6, -11.8, ROT= 152.4, 11.8 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.867476,0.453506,-0.204496]Fpublishing direction and range infoIyMsd\<?rG,ʿMAYI I)MIMziIMAMo>I-By{s?_:ʼ@-bEi-T<-<-7i5B`/AMEMyf?M M@)MCIM@iMBRM;*@MBR> I)IM%= i꿪\Q;¿iM$ M ^>M;*@MBR> I)Ichecking for new query: numPingsReceived=72, elapsed TxPingTime=37.080002ZIbM܂ jAMUAMUAM @ʁM]3珇#@3Msd\<?rG,ʿM;*@MBR>ҁMQ16)䰜:1@Sd5MG~%3@+?Rtm̿zMAMOjMoL"˜?rM MWhBMDɜ?Mil  MzBMAM/$@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.505023 s, deltaX: 0.300001 m, approachRate: 0.594035 m/s, rangeRepo size: 4  Added new target pos. range: 22.041767 m, bearing: 127.167128 deg, lat: 36.906443 deg, lon: -122.115960 deg, deltaT: 0.505023 s, deltaX: 0.298111 m, approachRate: 0.590292 m/s, posRepo size: 4 %DNOT Ignoring new targets: 22.04 m.b!Z!r!j!R)JIBQ~Y~]X{B}Y|a|a|e@336@|ѳ? 5{B5h넼I9)=J=9I=ʭ 99=dl, jA9 @@YyJ;Hw?v?9@ۿ@??ߠ?/q?y?  @8;)C5O|B5*II=I=?13MS< UI=yUQ U>٥YY ]H]F]* ]>aui5eWϜ?}i59en IeBy@ebEie;e;ei57/AJEDNOT Ignoring new targets: 22.04 m.bZrjRJB~~}||||@H? .lI)`=IT q<%y"ؾ%(<GTG) G) HE >HE CHE kIHE |BHE  =HA HA HE <HE EY U checking for new query: numPingsReceived=73, elapsed TxPingTime=37.810730mKs, jA9>@>8@Y>( y>{ ;>H@? ?ۿ?@ޛ?+?>r? ? >@>a";)>CjZ|Bn1Ii~=I~=)-Mb@Mb@Mb@))) )))Y- +?X9v?Mbpy-v?-}=--+@ -@)-@I-X@)y-@IuIu 3< +=yNQ >٥ HF* >i5pϜ?i59خ IȋByKw?[:@bEi:F:i5B /AGEZbⰽ jAAA%@ʁ-+l+6WM@B *v?￈5ll?sNru?A@ҁ|hn3 X"'@0:f?v8g*z?AsjDɜ?rWBs yBDɜ?Ԩn  NAP%@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.502809 s, deltaX: 0.799999 m, approachRate: 1.591060 m/s, rangeRepo size: 4 % Added new target pos. range: 22.835901 m, bearing: 148.348441 deg, lat: 36.906443 deg, lon: -122.115961 deg, deltaT: 0.502809 s, deltaX: 0.794134 m, approachRate: 1.579395 m/s, posRepo size: 4 -DNOT Ignoring new targets: 22.84 m.b)Z)r)j)R)J1B1~1~5F{B}9|9|A|E7@|E@ ? {BsI)&=1I=ބ 99=iy,{ jA9v@v\@YvNyv8z? Y?Ѓ?Z? v@v{;)vCn|B>III#3%x= %}=K%5P"K%9*K!2K%U:K%;U]`jn!nQu!G8dj~wj $nMm]KJ5 ?J5?yUdQ U?٥QY ]HY]z ]?i5Ϝ?i59 I΋By@bEi:`:Ҟi5B.AFEZ b V jA A A oC'@ʁ ~ 7.@E)5)? yEŮ3?n p\? @C@ ҁ R٠3'^M'@ gU{  뿓iz?x(u1z h:A şj =0ɜ?r _  _yB  q  yB pA ~%@ԡ5checking for new query: numPingsReceived=74, elapsed TxPingTime=38.316971:JmXBJmRJJm?RJiZJm{9bJmS29Jmـ4Ji addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505521 s, deltaX: 0.299999 m, approachRate: 0.593446 m/s, rangeRepo size: 4  Added new target pos. range: 23.133759 m, bearing: 149.742000 deg, lat: 36.906443 deg, lon: -122.115962 deg, deltaT: 0.505521 s, deltaX: 0.297857 m, approachRate: 0.589209 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.13 m.bZrjRJB ~1~9}A|A|I|ML7@|}@:? {B靵QI)=I ys<}"ؾ<3R2,R*jA9 @r@Y|y~<H? ?@hۿ?W?΢?`׏?{?  @>;)Cuv|BuCII I<2< 7=y.Q >)٥)1 5H5F5: 5>ami5eϜ?ui59e3 IeՋByquu@ebEie2:e:eѢi5.AH >H H ~IH |BH H H H  <H E5CEZ)b-3 jA-սA-սA-1'@ʁ-lj7 ]ˆ@3{?-戇6CE?/;r?-K$C@-+ҁ-C1Dz4ݩl['@,)9<-Ĵg뿺U0&?ް Cz-?A-ңj-'ɜ?r-ʱz -zB-8ɜ?-WBs  )-A-HD&@}checking for new query: numPingsReceived=75, elapsed TxPingTime=38.821484ԉ addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.502425 s, deltaX: 0.600000 m, approachRate: 1.194209 m/s, rangeRepo size: 4  Added new target pos. range: 23.729370 m, bearing: 149.680894 deg, lat: 36.906441 deg, lon: -122.115963 deg, deltaT: 0.502425 s, deltaX: 0.595612 m, approachRate: 1.185474 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.73 m.bZrjRJ)B)~9~9}a|i|q|}`f7@|2? {BpORI)/>IG <w"ؾu<eY٥ HF >i5М?%i59 IߋBy-w?-[:5Ǿ5@bEiS<S<i5am.Am@EZbjAAA['@ʁ#a8Cқ@fտ_{.-?4d<ҁAy4E Nf(@\n(,C/^.?Ֆ{4z2CA?j.8ɜ?rj3z wB.8ɜ?j3z  _yBAV'@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505054 s, deltaX: 0.400000 m, approachRate: 0.791994 m/s, rangeRepo size: 4 <checking for new query: numPingsReceived=76, elapsed TxPingTime=39.324703:JU]BJUSJJU>RJQZJU]:bJUy69JUt4JQ Added new target pos. range: 24.126514 m, bearing: 149.584356 deg, lat: 36.906441 deg, lon: -122.115966 deg, deltaT: 0.505054 s, deltaX: 0.397144 m, approachRate: 0.786340 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.13 m.bZrjRJB~~U{B}!|)|)|5L8@|EH? {B靝-|GI) >IR 6֑<"ؾ2<G쵐, BjA)ށ2checking for new query: numPingsReceived=77, elapsed TxPingTime=39.654270<9-@-@Y-Ly-d<-Hb?,?@Ť`y2ۿ?p'?ע?|?@A? -@-;)-C|BQII1I1E = E8=yEU:Q E>٥II MHMFu8: }>i50М?i59 IBy~Ⱦ@bEi;;i5BX.A:E H5<H54<H=>H9H=IH=|BH= =H9H=(DH=/<H=EZbE>jAAAu'@ʁ]8]n(J@\Oֿ: C←B|Vݵ?4C@ҁYv]5zT(@ߏqm`/ۧ =?+z FAj(ɜ?rݪy wB=0ɜ? ꁅAԱ_'@e addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503198 s, deltaX: 0.600000 m, approachRate: 1.192374 m/s, rangeRepo size: 4   Added new target pos. range: 24.721979 m, bearing: 149.915419 deg, lat: 36.906441 deg, lon: -122.115966 deg, deltaT: 0.503198 s, deltaX: 0.595465 m, approachRate: 1.183361 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.72 m.bZrAjIRIJQBQchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.827400~~}|||`f8@|:8? {B g,I)%>!I-&^ )15 <{"ؾ<o}5;,7bjAQ]|B]PIMb@Mb@Mb@ )Y5^I ??{Gzt?yx?L=ף;A@ @)v@I+@y@I=I=V83m m=yuQ u>٥qq uH}F} }>i5YМ?i59 IByex?Z:ƾ@bEi<<1i5B_.A7EZb^jA(A(A'@ʁ'}o8C.p @,[T ￝O釴?n p\vC@:ҁT_k5{ا.(@qDv?<rZXzFAjOK-4ɜ?r} xBʱz  xBAҘ'@K}P"K}S9*Ky2K}W:K}_7^#B{gxP3K'416sK(Lzrԡ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504229 s, deltaX: 0.300001 m, approachRate: 0.594970 m/s, rangeRepo size: 4  Added new target pos. range: 25.019836 m, bearing: 150.229696 deg, lat: 36.906441 deg, lon: -122.115966 deg, deltaT: 0.504229 s, deltaX: 0.297857 m, approachRate: 0.590718 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.02 m.bZrjRJ B ~ ~ O{B}|||@339@|@ X? {B靅Ht(I) >I07 8A<u"ؾb<wT7jE>checking for new query: numPingsReceived=78, elapsed TxPingTime=40.330959EqEqEyE}0EyԱ 6GU I3<~Gi Aq A N >a,}jAI"@) 9>&@>@Y>-xy>@<>H`?,?D;.ۿ I?@4s?n?? !? >&@>;)>CJ|BJ[IIRIRF3^J]= b{=ybh";Q b ?٥dd fHfFj?T: j?lni5ncqМ?ri59n" InBypr]ƾr@nbEinM;n';ni5xz.Az4EDDAT read: Rx Time:14:22:48.6791 TRx dataTimestamp_ set to:1749133369.987948PDAT read: Bearing 175.7, -0.1 (Local) %~Local bearing/azimuth received: Bearing 175.7, -0.1 (Local) 5DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed -0.6 amDAT read: 14:22:48.6791 LVL= 32752, 32753, 32306, 32755, AGC= 66, IDX= 505, 0.28,-2.147,-0.337,-2.155,-1.492, PHS=-0.567, 1.202,-0.666, RAW= 332.7, 0.3, CAL= 334.3, 0.1, ROT= 175.7, -0.1 uYgot valid direction response: 14:22:48.6791 LVL= 32752, 32753, 32306, 32755, AGC= 66, IDX= 505, 0.28,-2.147,-0.337,-2.155,-1.492, PHS=-0.567, 1.202,-0.666, RAW= 332.7, 0.3, CAL= 334.3, 0.1, ROT= 175.7, -0.1 uT#Rx 79: Read range and direction messages.}^direction in FSK: [-0.997184,0.074979,0.001745]}Fpublishing direction and range infoykRm¬_H1?n p\?AY )I2~iB&#ۙ?~* й@);IU@i:?BD@ )푕꿭hu|IOJx?iT$EŻ?BD@ )checking for new query: numPingsReceived=79, elapsed TxPingTime=40.612820Zb:jA!A!A)(@ʁ#q9N`?:1ͦ?kRm¬_H1?n p\??BD@ҁ@46z)@ kF*Tarc*npms?# zHAj"ɜ?r} 9yB(ɜ? A'@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503600 s, deltaX: 0.500000 m, approachRate: 0.992851 m/s, rangeRepo size: 4  Added new target pos. range: 25.516260 m, bearing: 150.548125 deg, lat: 36.906440 deg, lon: -122.115966 deg, deltaT: 0.503600 s, deltaX: 0.496424 m, approachRate: 0.985750 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.52 m.bZrjRJ!B!~!~!})|)|)|-@39@|-K? {BI)1>Ij5 !<"ؾ}<;H1H5IH5}BH5 =H1H5)DH5<H5EHHHH =I = IS6 =checking for new query: numPingsReceived=79, elapsed TxPingTime=40.838909:J \BJ JJ BRJ ZJ =:bJ J -4J zJ :] jJ :e J )C:m rJ +C:u 6G 2< ~Gi Ay A N >h,jA9>@>Y @Y>;ly>J<<>H?"?@֢$ۿ?=r?@ ?@o? ^? >@>Ǧ;)<~|B~aI Mb@Mb@Mb@    ) Y |?5^?J +?Mb`?y r? H= ; @ @) I A@ y @IMIM#3}< }2=y}:Q }>٥ HF: >i5NМ?i59s IByDs?_:ž@bEi,::i5B-A1E=DNOT Ignoring new targets: 25.52 m.b9ZArAjARAJABI~q~uK{B}q|q|q|y|}Ϸ? {BZI5DDAT read: Rx Time:14:22:49.1794 =TRx dataTimestamp_ set to:1749133370.492100MPDAT read: Bearing 175.6, 0.9 (Local) U~Local bearing/azimuth received: Bearing 175.6, 0.9 (Local) eDAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed -0.7 DAT read: 14:22:49.1794 LVL= 32400, 27937, 29010, 32755, AGC= 69, IDX= 508,-0.19, 1.940,-2.556, 1.929, 2.564, PHS=-0.536, 1.210,-0.638, RAW= 332.8, -0.4, CAL= 334.4, -0.9, ROT= 175.6, 0.9 Ygot valid direction response: 14:22:49.1794 LVL= 32400, 27937, 29010, 32755, AGC= 69, IDX= 508,-0.19, 1.940,-2.556, 1.929, 2.564, PHS=-0.536, 1.210,-0.638, RAW= 332.8, -0.4, CAL= 334.4, -0.9, ROT= 175.6, 0.9 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.996930,0.076709,-0.015707]Fpublishing direction and range info1y5s>H9?y&5fAY1 5~)5!mI5Rqi15E5L7 5H?5S# 5޹@)5I5ú@i55%D@5< 1)15\7îEW῰ޥ|i5zh$5;5%D@5< 1)1checking for new query: numPingsReceived=80, elapsed TxPingTime=41.104424)j<>I "׎<y"ؾ C<C< iiE?EEEp5E1K P"K 9*K 2K X:K #q:*o{;F2o2u &nh%  Z6G Y=W,kjA|B[II(I̍3Ǽ U=yQ >٥ HF > i5М? i59 IBy @bEi ;G:[i5&.A2EAZqbu~jAuAuAuV(@ʁuߜ7<:,D@`)?ڿus>H9?y&u%D@u<ҁuFF6pд)@Kxu!jѭI?;HzuMAuju}7ɜ?ru&p} ufwBuOK-4ɜ?u&p}  uwBuAuy (@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504152 s, deltaX: 0.599998 m, approachRate: 1.190114 m/s, rangeRepo size: 4  Added new target pos. range: 26.112339 m, bearing: 150.472539 deg, lat: 36.906441 deg, lon: -122.115968 deg, deltaT: 0.504152 s, deltaX: 0.596079 m, approachRate: 1.182340 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.11 m.bZrj R J B~~}||!|%L:@|%{? e{BegIa)e4>aIeޣ iim$ i,jAGG?AH>HHIH3}BH =HHHD<H٥  H%; ->Ai5EМ?i59E IEBy ľ=@EbEiE=En=Ei5B-A/EDDAT read: Rx Time:14:22:50.1801 TRx dataTimestamp_ set to:1749133371.252243:J[BJRJJRJZJ:bJS29JJzJ:jJ:J;:rJ<:Ychecking for new query: numPingsReceived=81, elapsed TxPingTime=41.869453 addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504013 s, deltaX: 0.600000 m, approachRate: 1.190446 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 26.11 m.bZrjRJB~~}|||`f:@|? M{BMII)MB>IIUn QQUgO<]}"ؾ]<]c츃,kjA|B`I Mb@Mb@Mb@    ) Y v/?~jt?{Gzty xi? D= ף @ ) @I @ y @I%I%25 5#=y=Q =>٥9A EHEFE E>Qei5UМ?ei59U IUBymi?mh:mLľm@UcEiU.;U:Ui5qu .Au,EZb\jAAAP(@ʁTbR;.UA@JK2`?ᅰa0?NGY;?BD@޹<ҁg1g7$r-*@&$FbOǷ뿠/I?niɬzTAżj1*ɜ?rMvz vB1*ɜ? wB!A(@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.502383 s, deltaX: 0.400000 m, approachRate: 0.796205 m/s, rangeRepo size: 4  Added new target pos. range: 27.105171 m, bearing: 150.684622 deg, lat: 36.906440 deg, lon: -122.115968 deg, deltaT: 1.006396 s, deltaX: 0.992832 m, approachRate: 0.986522 m/s, posRepo size: 4 DNOT Ignoring new targets: 27.11 m.bZrjRJB~~5{B}|||L;@|? 5{B5mлI1)=A>9I=4 99=G0.AJ?J?E?EEEE1Y 6G Re<~GI AY Aq N > ,jA FPDAT read: Bearing 175.8, 2.0 (Local) J~Local bearing/azimuth received: Bearing 175.8, 2.0 (Local) RDAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed -0.8 fDAT read: 14:22:50.6805 LVL= 27888, 24721, 30114, 32755, AGC= 67, IDX= 503, 0.15,-2.854,-1.010,-2.854,-2.233, PHS=-0.533, 1.270,-0.623, RAW= 332.4, -1.2, CAL= 334.2, -2.0, ROT= 175.8, 2.0 jYgot valid direction response: 14:22:50.6805 LVL= 27888, 24721, 30114, 32755, AGC= 67, IDX= 503, 0.15,-2.854,-1.010,-2.854,-2.233, PHS=-0.533, 1.270,-0.623, RAW= 332.4, -1.2, CAL= 334.2, -2.0, ROT= 175.8, 2.0 jT#Rx 83: Read range and direction messages.r`direction in FSK: [-0.996707,0.073194,-0.034899]rFpublishing direction and range info@yB ￈rм?XޡB3AY@ Bl)B`IBui@BCBrB\?B| B@)BIB @iB5B^D@B5= @)@BXwaGF&څ׬NiB$BC{8yt*@ StVB[Uߗ-? zBWABjBɜ?rB:w B uB@@ BfwBBAB(@  addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.504098 s, deltaX: 0.600000 m, approachRate: 1.190246 m/s, rangeRepo size: 4  Added new target pos. range: 27.700890 m, bearing: 150.770106 deg, lat: 36.906440 deg, lon: -122.115968 deg, deltaT: 0.504098 s, deltaX: 0.595718 m, approachRate: 1.181751 m/s, posRepo size: 4 %DNOT Ignoring new targets: 27.70 m.b!Z!r!j!R!JIBQ~Q~Q}Y|Y|Y|]`f;@|e4? {B靵&ػI)9A>Iꟼ ɋ<"ؾ}<L ^HHIH=}BH =HHH+<HEEe?EaEaEeP0EaFm=Fmp=ԡ]DDAT read: Rx Time:14:22:51.1808 J[4J[4J[W0:JYBJNJJ?RJZJ9bJ!9Jـ4JzJc:jJh:JU:rJW:mTRx dataTimestamp_ set to:1749133372.260524 PDAT read: Bearing 174.9, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 174.9, 1.9 (Local) ] DAT read: Range 10 to 50 : 28.4 m (trip time 18.9 ms) speed -0.7 6G 3Z<M DAT read: 14:22:51.1808 LVL= 20544, 22897, 17138, 32755, AGC= 68, IDX= 490,-0.44, 1.968,-2.507, 1.932, 2.569, PHS=-0.513, 1.254,-0.640, RAW= 333.4, -1.1, CAL= 335.1, -1.9, ROT= 174.9, 1.9 ] Ygot valid direction response: 14:22:51.1808 LVL= 20544, 22897, 17138, 32755, AGC= 68, IDX= 490,-0.44, 1.968,-2.507, 1.932, 2.569, PHS=-0.513, 1.254,-0.640, RAW= 333.4, -1.1, CAL= 335.1, -1.9, ROT= 174.9, 1.9 ~Ga Ay A N > T#Rx 84: Read range and direction messages. `direction in FSK: [-0.995493,0.088845,-0.033155] Fpublishing direction and range infoaye{FZVX?B3e3AYa e@P)eqYIeBiaeDeSe?e # e4@)enFIe'@iee|]C@e= a)ae8t8F΅ie#e3@P>`=@Y>xy><>H ? ?Yڿ?hi$Ρ?r?@|? >3@>~(;)>Cf|BjXIij٥AA EHEFE< M>q}i5u7(ќ?}i59ur Iu!By}g?}j:}~˾}@ucEiub:u:u i5H.Achecking for new query: numPingsReceived=84, elapsed TxPingTime=43.103004&EZbmjAAA'@ʁpI -<{"ؾV<$̃,g5jA9-/@-I9@Y-`y-?:<-H ??yKڿ`~?T[~Dנ? j? V? -/@-:;)-C]|BeZIIu!Iui3"< O=y8;Q >٥ HF >i5Cќ?i59 I%By˾@cEi:.:xi5B;.A#EeDNOT Ignoring new targets: 28.20 m.baZarajaRaJaBa~i~i}i|i|||!?Q {B gI)eA>I>q  Q<u"ؾt8<w+ԩ  HM <HM <HM >HM CHI HI HM  =HI HM (DHM V<HM MEӃ,TOjA<rDDAT read: Rx Time:14:22:52.1814 :JBJXJJ>RJZJbJ5K9Jt4JzJe:jJj:Jf:rJg:zTRx dataTimestamp_ set to:1749133373.268572PDAT read: Bearing 179.0, 5.4 (Local) ~Local bearing/azimuth received: Bearing 179.0, 5.4 (Local) DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed -0.4 DAT read: 14:22:52.1814 LVL= 26032, 27377, 25586, 32755, AGC= 68, IDX= 512,-0.14, 0.523, 2.291, 0.660, 1.094, PHS=-0.484, 1.243,-0.437, RAW= 328.6, -3.8, CAL= 331.0, -5.4, ROT= 179.0, 5.4 Ygot valid direction response: 14:22:52.1814 LVL= 26032, 27377, 25586, 32755, AGC= 68, IDX= 512,-0.14, 0.523, 2.291, 0.660, 1.094, PHS=-0.484, 1.243,-0.437, RAW= 328.6, -3.8, CAL= 331.0, -5.4, ROT= 179.0, 5.4 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.995410,0.017375,-0.094108]Fpublishing direction and range infopyr1fINʑ?|ӄ{rfAYp re)rjIrciprDrr?rw߾ r^@)rԇIrݸ@irrG@r= p)prtM4gD޿ir)r=rG@r= p)pchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.936188ԡ|BXIMb@Mb@Mb@ )Y%C?~jt?~jtyZd?<D@ )Iyz@I*I3 =yQ >٥ HF > 5i5 %iќ?=i59 ( I *ByEld?Em:EXҾE@ cEi ; ; 4i5IMP.A EZpbrI0QjArArAr,@ʁrQ<kf7)@;h rNp#p?FE,zrIArjrȜ?rrT rmBr ɜ?p r'uBrArr(@% addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 1.008048 s, deltaX: 0.900000 m, approachRate: 0.892814 m/s, rangeRepo size: 4 ] Added new target pos. range: 29.090378 m, bearing: 154.092639 deg, lat: 36.906439 deg, lon: -122.115966 deg, deltaT: 1.008048 s, deltaX: 0.893257 m, approachRate: 0.886126 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 29.09 m.bYZYrYjaRaJaBa~a~mzB}|||L=@|y? {BtI) ?A> I NÛ   k<"ؾ <x6;ۃ,ojA9b/@b8@Ybiyb?`? !? b/@b 3;)bC DDAT read: Rx Time:14:22:52.6817 TRx dataTimestamp_ set to:1749133373.770061%PDAT read: Bearing 175.5, 4.2 (Local) -~Local bearing/azimuth received: Bearing 175.5, 4.2 (Local) Echecking for new query: numPingsReceived=86, elapsed TxPingTime=44.372700KkP"K*K2K[:KaS&]w#Z17Hh  Rz^UJ?f&([XPfmq/p|B\I) II[3< C=y;Q >٥ HF >i5ќ?i59+ I-By9=aҾ=@#cEiz$<$<i5AE6.AMEDNOT Ignoring new targets: 29.09 m.bZrjRJB~~}|||| A*? M{BM6ǦIi)m?L>iImj q<y"ؾL<2N *iݥ$ݥL=ݥ D@ݥQ = ޡ)ޡ= checking for new query: numPingsReceived=87, elapsed TxPingTime=44.633461Q 6G `L<~Gq A A N >G,jA9V:"@V+@YVSyVHdHfIHf3}BHdHdHdHf <HfEv|BvXII~I~3 v=y%Ԗ;Q %?٥!! -H)- - ?1=i55ќ?=i5959 I5/ByAE4ӾE@5(cEi5;5o;5i5MBMT.AMEZb3jAAA&(@ʁ@C@Q=gu@FE3 !@? D@Q =ҁak9'A,@wF<׭qR?$zfA[j9R4ɜ?rUr pB:w  uBꁍA(@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.750225 s, deltaX: 0.400002 m, approachRate: 0.533175 m/s, rangeRepo size: 4  Added new target pos. range: 29.487236 m, bearing: 150.534506 deg, lat: 36.906439 deg, lon: -122.115965 deg, deltaT: 0.750225 s, deltaX: 0.396858 m, approachRate: 0.528986 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.49 m.bZrjRJB~~}|||@3=@|  -? {BpI)LH>IZ 5<s"ؾ(< su checking for new query: numPingsReceived=88, elapsed TxPingTime=45.119812ԉ e,8jA9:@:@Y:ڼy: qa<:H?@'?@Q ۿ@?S X?T+?M? :@:|;):Cj|BjPIonly read 0 of 1 data item for water mass range. Device response is::WD, +0. +0.00, +0.00, 20.00,2555.52 aI@a aM@a aQ@a aE@a I  I <2 %<=y%;Q %>٥)) -H-F- ->Yei5]ќ?ei59]` I]2Bm+:yim@:mDԾm@].cEi]:]>]i5qB.AEZ1b5_jA5GA5GA5'(@ʁ5=8@<5ݎd￯o?5%D@5=ҁ59r싟 -@z@ 5;~NIhK?2}z5iA5Ej5rX>ɜ?r5uBs 5oB15uBs  5pB5ZA5)(@ addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.258081 s, deltaX: 0.299999 m, approachRate: 1.162423 m/s, rangeRepo size: 4 % Added new target pos. range: 29.785086 m, bearing: 150.539625 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 0.258081 s, deltaX: 0.297850 m, approachRate: 1.154094 m/s, posRepo size: 4 -DNOT Ignoring new targets: 29.79 m.b)Z)r9j9R9J9BA~A~A}A|I|I|M>@|@? {B TŻI)r?>I +<}"ؾ!<%X 9,jAI:@):@9@h@Yͼyb;H?(? z@(ۿ? Tp?Ѵ?`)~?@2? @F\;)|BNIII[3/ L=y;Q >٥    H F s >i5Qќ?%i59% I4B% :y!%:%վ%@3cEi:'V?$i5]DAT read: 14:22:53.6824 LVL= 26896, 29681, 26034, 32755, AGC= 68, IDX= 505, 0.37,-0.528, 1.368,-0.499, 0.056, PHS=-0.497, 1.358,-0.558, RAW= 331.6, -3.3, CAL= 333.7, -4.7, ROT= 176.3, 4.7 eYgot valid direction response: 14:22:53.6824 LVL= 26896, 29681, 26034, 32755, AGC= 68, IDX= 505, 0.37,-0.528, 1.368,-0.499, 0.056, PHS=-0.497, 1.358,-0.558, RAW= 331.6, -3.3, CAL= 333.7, -4.7, ROT= 176.3, 4.7 mZ#Rx 90: Read direction message, but no range.u`direction in FSK: [-0.994560,0.064315,-0.081939]9y=o#v?Y9 =i)=sI=ei9=D=v=ҭ?= =L3@)9I=_@i9=D@9 9=s5&t.=wi=J%=`h==D@9checking for new query: numPingsReceived=90, elapsed TxPingTime=45.633549.AEZ9b=jA=A=A=(@ʁ=g=i>"w?ڂ =o#v?=D@9ҁ=Bn:hjZ-@  =@4Iެ뿏_Ʒ?UL=z=jA=j=#r]ɜ?r=^ut =oB99 =oB=+A=(@ addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504370 s, deltaX: 0.799999 m, approachRate: 1.586136 m/s, rangeRepo size: 4 m Added new target pos. range: 30.579353 m, bearing: 151.137638 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 0.504370 s, deltaX: 0.794268 m, approachRate: 1.574772 m/s, posRepo size: 4 mDNOT Ignoring new targets: 30.58 m.bqZrjRJB~~}|||>@|? {B.GI)>>I6Ɩ  <w"ؾ F[< Y8HHIH)}BH =HH'DH<HEHƑCHƑCHH =I = I51 6G P<5 DDAT read: Rx Time:14:22:54.1826 M TRx dataTimestamp_ set to:1749133375.289239m PDAT read: Bearing 176.9, 4.8 (Local) ~G A } ~Local bearing/azimuth received: Bearing 176.9, 4.8 (Local) AY Nm >5 DAT read: Range 10 to 50 : 31.1 m (trip time 20.7 ms) speed -0.5  DAT read: 14:22:54.1826 LVL= 26448, 32753, 23330, 32755, AGC= 67, IDX= 507, 0.36,-1.306, 0.578,-1.252,-0.719, PHS=-0.499, 1.344,-0.536, RAW= 331.0, -3.4, CAL= 333.1, -4.8, ROT= 176.9, 4.8  Ygot valid direction response: 14:22:54.1826 LVL= 26448, 32753, 23330, 32755, AGC= 67, IDX= 507, 0.36,-1.306, 0.578,-1.252,-0.719, PHS=-0.499, 1.344,-0.536, RAW= 331.0, -3.4, CAL= 333.1, -4.8, ROT= 176.9, 4.8  T#Rx 91: Read range and direction messages. `direction in FSK: [-0.995035,0.053889,-0.083678] Fpublishing direction and range info1 y5 FWRo[?U]k5 AY1 5 Pg)5 I5 "[i1 5 C5 |5 1?5 L7 5 ݸ@)5 sI5 @i5 5 eE@5 = 1 )1 5 b!{U@rni5 7s&5 fp=5 eE@5 = 1 )1 Q {,jA.checking for new query: numPingsReceived=91, elapsed TxPingTime=45.9496389~@~O@Y~Ƽy~FU;~H@?Y?@嗿)Xۿc?@eg~? \ژ?j? ? ~@~4;)~C)aI-aI- aM-aM- aQ-aQ- aE5aE5 5Mb@Mb@Mb@111 1)1Y5S㥛?Mbp?٥ %H%F-5λ ->Mchecking for new query: numPingsReceived=91, elapsed TxPingTime=46.1273841ei55ќ?mi5952 I57BmT:ymd?mm:u߾u@5;cEi5N;5 M;5i5B.AEZabejAeAeAeO)@ʁetvCH> J$k~?go&yeFWRo[?U]keeE@e=ҁe.9:",e9-@Cb e516NyI?(npzeiAejeMɜ?re8{ e=oBeMɜ?e^ut  eoBeAe(@Q addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.507991 s, deltaX: 0.300001 m, approachRate: 0.590564 m/s, rangeRepo size: 4  Added new target pos. range: 30.877073 m, bearing: 151.575552 deg, lat: 36.906438 deg, lon: -122.115964 deg, deltaT: 0.507991 s, deltaX: 0.297720 m, approachRate: 0.586073 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.88 m.bZrjRJB~~zB}|||?@| ? E{BEϻIA)EiD>AIM&* IIM}9JM 4JI 6G Q8<K vP"K 9*K 2K ]:K p-VsbW2C#65 }r%7whbJ >J >ePDAT read: Bearing 176.9, 4.9 (Local) e~Local bearing/azimuth received: Bearing 176.9, 4.9 (Local) uDAT read: Range 10 to 50 : 31.4 m (trip time 20.9 ms) speed -0.4 DAT read: 14:22:54.6829 LVL= 24096, 23729, 22386, 32755, AGC= 68, IDX= 511, 0.29, 0.637, 2.546, 0.689, 1.227, PHS=-0.502, 1.366,-0.541, RAW= 331.0, -3.5, CAL= 333.1, -4.9, ROT= 176.9, 4.9 Ygot valid direction response: 14:22:54.6829 LVL= 24096, 23729, 22386, 32755, AGC= 68, IDX= 511, 0.29, 0.637, 2.546, 0.689, 1.227, PHS=-0.502, 1.366,-0.541, RAW= 331.0, -3.5, CAL= 333.1, -4.9, ROT= 176.9, 4.9 T#Rx 92: Read range and direction messages.`direction in FSK: [-0.994887,0.053881,-0.085417]Fpublishing direction and range info y ^U,O?b$ݵ 3AY ^) \I rWi D  ٮ? ~ ) 5zI i % %= ) *@_:uv࿥eꮿi h& yw= %= ) checking for new query: numPingsReceived=92, elapsed TxPingTime=46.449348~GA)A9NU?),6jA@9e̳@edֺ@Yeyewqa:eH?#?&|ۿ`? &? ?`.,L?? e̳@eu;)a|BKII%I)3(M I=yd:Q >٥ HF >!-i5%ZҜ?-i59%= I%:ByQUKU@%@cEi%;%;%i5im.AmEZ1b5qYjA5fA5fA59#)@ʁ5~ ?'G:8?RM5^U,O?b$ݵ15%=ҁ5/Zl6;tp-@>! 50"FyQweo?kȋ@ػz54mA5j5Uɜ?r5h?y 5nB5Uɜ?1 15A5(@- addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.497470 s, deltaX: 0.299999 m, approachRate: 0.603050 m/s, rangeRepo size: 4 Ա  Added new target pos. range: 31.174923 m, bearing: 151.419838 deg, lat: 36.906439 deg, lon: -122.115964 deg, deltaT: 0.497470 s, deltaX: 0.297850 m, approachRate: 0.598729 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.17 m.bZrjRJB~!~!}A|I|I|M`ff?@|U ? {BI)C>I֓ z<{"ؾO< p;i iMchecking for new query: numPingsReceived=92, elapsed TxPingTime=46.630932EEEEo0EH >H CH IH }BH  =H H )DH 4<H +E 6G P <~G  DDAT read: Rx Time:14:22:55.1831  TRx dataTimestamp_ set to:1749133376.290868M DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed -0.1 -] Z#Rx 93: Read range message, but no direction.  AY q  checking for new query: numPingsReceived=93, elapsed TxPingTime=46.900131A A N>Z,?rjA9Z@Z/ź@YZdDyZ,)$ZH`r?`?`e ۿm?b??D? Z@ZҼ;)ZCvv|BvCIԱMb@Mb@Mb@ )YK7?{GzMb`yi?#I@ @)3@I@y@I Ib3kǼ =y*9Q >٥ HF9 >i5y7Ҝ?i59 I?Byi?h:F@HcEiCd;c;i5B.A E% addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504159 s, deltaX: 0.300001 m, approachRate: 0.595053 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 31.17 m.b!Z)r)j)R)J)B1~1~5zB}1|9|9|=@3?@|=@/? }{B}Iy)};>yIi &v<u"ؾ ]< ;iiEE E E ~0E checking for new query: numPingsReceived=93, elapsed TxPingTime=47.136326 6GE ~q;~G! A) A9 NM >I  ,U0jA=DDAT read: Rx Time:14:22:55.6834 MTRx dataTimestamp_ set to:1749133376.796305:Jm^BJmNJJiRJiZJm} :bJm!9JiJiPDAT read: Bearing 176.6, 6.6 (Local) ~Local bearing/azimuth received: Bearing 176.6, 6.6 (Local) DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed -0.4 KOP"Kػ9*K2K^:Kh 1kYSj? C >wp|#Oys9jCJ,>/y*<JJAI-Z#Rx 94: Read range message, but no direction.AE3BYAchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.4389119Е@@Y|yߏH "?`?vۿ`?@?З? Ӱ``? Е@骽;)C|BKIII?13 < D=yY:Q >٥ HF4 %>)-i5-+TҜ?5i59- I-CBy155@-NcEi-:-::--i59En.AE E addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.505437 s, deltaX: 0.599998 m, approachRate: 1.187088 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 31.17 m.bZrjRJBA~I~I}Q|Y|Y|`f&@@|@a4? {BLI)M>Io c<"ؾ%<%:i!i!yEEEEo0EԡDAT read: 14:22:55.6834 LVL= 30432, 21121, 21602, 30531, AGC= 71, IDX= 5, 0.14, 1.317,-3.054, 1.365, 1.866, PHS=-0.461, 1.410,-0.504, RAW= 331.1, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6 Ygot valid direction response: 14:22:55.6834 LVL= 30432, 21121, 21602, 30531, AGC= 71, IDX= 5, 0.14, 1.317,-3.054, 1.365, 1.866, PHS=-0.461, 1.410,-0.504, RAW= 331.1, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6 Z#Rx 95: Read direction message, but no range. `direction in FSK: [-0.991624,0.058913,-0.114937]y#bYq)?NZlY v)RIbTiCwG1z?% @)I4@i뽉CE@= |P mLj]b:|wJk4iJ&թ=CE@=% checking for new query: numPingsReceived=95, elapsed TxPingTime=47.6494036G CQ; ~G A A N >j,-"JjA Hr<Hr<Hvʼ>HvCHvIHv }BHv =HtHv+DHv<HvE]|B]SIImIm2}= }i=y}Q }>٥ H >i5mlҜ?i59 IGBy@ScEi:\:Ai56.ADNOT Ignoring new targets: 31.17 m.bZrjRJB~~}||||@8? M{BM@IQ)U_>QI]xᏼ YY]mi Օ,`djAchecking for new query: numPingsReceived=96, elapsed TxPingTime=48.1627359]<@]젺@Y]v^Ǽy];]H??@ۿ?$y?-? Tt? y? ]<@]t;)Y|B^Ii=Ia=]Mb@Mb@Mb@YYY Y)YY]v/?MbpMb`y]xi?]Y]@ ]v@)]@I]@Yy]@I Ib3= :=yi Q >٥ HF9 >i5Ҝ?i59 IKByyi?h:,@ZcEi5;|;i5B-A EZbmTjABB)@ʁq&\e)@n`?\/PM8|rx?b$ݵ(~F@ҁV"sI ƒ<s"ؾt5<-$:ii)EEEE5Eԩ:J[BJWJJ@RJZJ:bJG9JJ4J 4=DDAT read: Rx Time:14:22:56.6840 TRx dataTimestamp_ set to:1749133377.820117PDAT read: Bearing 177.0, 5.0 (Local) ~Local bearing/azimuth received: Bearing 177.0, 5.0 (Local) DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed -0.1 -DAT read: 14:22:56.6840 LVL= 27360, 28001, 22882, 32755, AGC= 69, IDX= 506, 0.13,-1.654, 0.239,-1.597,-1.069, PHS=-0.498, 1.355,-0.531, RAW= 330.9, -3.5, CAL= 333.0, -5.0, ROT= 177.0, 5.0 5Ygot valid direction response: 14:22:56.6840 LVL= 27360, 28001, 22882, 32755, AGC= 69, IDX= 506, 0.13,-1.654, 0.239,-1.597,-1.069, PHS=-0.498, 1.355,-0.531, RAW= 330.9, -3.5, CAL= 333.0, -5.0, ROT= 177.0, 5.0 =T#Rx 97: Read range and direction messages.E`direction in FSK: [-0.994829,0.052137,-0.087156]EFpublishing direction and range infoy|lᯱ?OBY j)amIbYiEp? 6ϸ@)5zIw@i¸E@¸= ):i]Ejc࿯XiŒ&-|=E@¸= )]checking for new query: numPingsReceived=97, elapsed TxPingTime=48.432217K6P"K*K2K_:K> Nc<GYY\aO!OrVW,Gepkwdis 6G% }:~G A A N% >n,M}jAL9b@bN@YbZͼyb٥)) -H-F-PU; 5>ami5eҜ?mi59e IeOBy@e_cEie,9I=U 99=@ HCHIH}BH =HH,DH<HE) 6GE g: DDAT read: Rx Time:14:22:57.1842  TRx dataTimestamp_ set to:1749133378.328694= PDAT read: Bearing 177.0, 6.6 (Local) E ~Local bearing/azimuth received: Bearing 177.0, 6.6 (Local) u DAT read: Range 10 to 50 : 33.5 m (trip time 22.3 ms) speed -0.5 ~G A A N >W%,jADAT read: 14:22:57.1842 LVL= 25488, 24225, 24338, 32755, AGC= 69, IDX= 508,-0.06,-1.735, 0.198,-1.671,-1.173, PHS=-0.474, 1.418,-0.501, RAW= 330.7, -4.7, CAL= 333.0, -6.6, ROT= 177.0, 6.6  Ygot valid direction response: 14:22:57.1842 LVL= 25488, 24225, 24338, 32755, AGC= 69, IDX= 508,-0.06,-1.735, 0.198,-1.671,-1.173, PHS=-0.474, 1.418,-0.501, RAW= 330.7, -4.7, CAL= 333.0, -6.6, ROT= 177.0, 6.6  T#Rx 98: Read range and direction messages.`direction in FSK: [-0.992011,0.051989,-0.114937]4:Fpublishing direction and range infoکyڭjYDT?NZlڭBYک ۭc)ۭ^Iۭ_i۩۩ۭ!ۭ?ۭA ܭ@)ܭIܩiܭ뽉ܩܭ= ݩ)ݩݭ#57l뿗V̬H4OsGiݭ,&ݭh=ݩݭ= ީ)ީchecking for new query: numPingsReceived=98, elapsed TxPingTime=49.017258]|BevIԑMb@Mb@Mb@ )Y(\?٥ HF >i5Ҝ?i59 IVBy n? d: Y@gcEi;4;i515f-A=Echecking for new query: numPingsReceived=98, elapsed TxPingTime=49.171024ZbS jA B B(@ʁ?@NG?n ѕjYDT?NZl=ҁ^?<n/@j;\tzA뿰?Xz>~Aj%ZJɜ?rLMy BjB-K-ɜ? mnBꁭB/)@- addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.508577 s, deltaX: 0.299999 m, approachRate: 0.589880 m/s, rangeRepo size: 4 e Added new target pos. range: 33.262985 m, bearing: 151.156682 deg, lat: 36.906440 deg, lon: -122.115966 deg, deltaT: 0.508577 s, deltaX: 0.298401 m, approachRate: 0.586737 m/s, posRepo size: 4 mDNOT Ignoring new targets: 33.26 m.biZirijiRiJqBq~q~uzB}y|y|y|}@@|}v? {B:I)[>I扼 Z,<%w"ؾ%[<- ;i)i)EEEE3E 6G :! } DDAT read: Rx Time:14:22:57.6846  TRx dataTimestamp_ set to:1749133378.830796 DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed -0.4 - Z#Rx 99: Read range message, but no direction.y } fBYy  checking for new query: numPingsReceived=99, elapsed TxPingTime=49.432636K*P"K9*K2K`:KqbMpkrp8ET & 5Rh4+?~G9AAAa:JuYBJuOJJu<RJqZJu9bJu%9Ju [4JqN>I-,wjA9~sг@~#ں@Y~1ּy~e-<~H? u? -C|ۿ`?@6@]К?ec? g? ~sг@~Fs;)~Cԑ|BI) AI!Ii3 = P=yA;Q >٥ HFn< >!-i5%Ҝ?-i59% I%\ByQUr޾U@%mcEi%;%<;%^i5]Be,AeE addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.502102 s, deltaX: 0.599998 m, approachRate: 1.194973 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 33.26 m.bZrj R J B ~~}||| A@| ? {B<;I;)>I  _<"ؾ^<;iiEEEEO5E]checking for new query: numPingsReceived=99, elapsed TxPingTime=49.674805G G ?AH ̼>H H IH 3}BH  =H H H <H E6G :~G A  A N- >14,FjADDAT read: Rx Time:14:22:58.1848 TRx dataTimestamp_ set to:1749133379.336520PDAT read: Bearing 176.0, 4.9 (Local) -~Local bearing/azimuth received: Bearing 176.0, 4.9 (Local) G YyJ B9@s@Y ټy<H ???hJۿ`?,z٥    H F ;  >%j5 Ӝ?-j59t% IdB5+:y158:5ܾ@ucEi< ?%j5m,AEZbjABB9(@ʁ5p@,)@rs W(-1(ʱ?b$ݵ D@%=ҁ!=uYi.0@+ߨh%f=ߟ9??zQAjܤOɜ?r en nB~3ɜ?LMy  nB#B14)@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.505724 s, deltaX: 0.300003 m, approachRate: 0.593215 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.156490 m, bearing: 150.602522 deg, lat: 36.906441 deg, lon: -122.115966 deg, deltaT: 1.007826 s, deltaX: 0.893505 m, approachRate: 0.886567 m/s, posRepo size: 4 =DNOT Ignoring new targets: 34.16 m.b9Z9r9jARAJABAI~i~i}i|q|q|u@33A@|u ? {B;I)>I p    (<- {"ؾ- B<- c`direction in FSK: [-0.992922,0.074658,-0.092371]>Fpublishing direction and range infoy 7| ҆`?{]U BY `_)I 2Xi C - &?  @) ԇI U@i q ?BD@ q= ) ݜj3xFῴդw}Űi % D= ?BD@ q= )Nchecking for new query: numPingsReceived=101, elapsed TxPingTime=50.448315`KrqP"KrS9*Kp2Kra:Kr [gt~\Y7AeJ=.)jp'hW3a ,59=G@= @Y=3\ۼy===H ? ?5>"ۿ?#j??`? =G@=$;)=C-}BII IV2= B=yعQ >٥ HF&; > j5 )Ӝ?j59 ) I jB :yY]:][۾]@ {cEi  &< Ux? j5ae+AmEZb jA  B  B (@ʁ (r,@A d@Ė A  7| ҆`?{]U ?BD@ q=ҁ )}tU>hI1@͌g2 Ve뿌^?Խz DA (j (9Hɜ?r ,i  lB (9Hɜ? v  mB  B (@- addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.499415 s, deltaX: 0.599998 m, approachRate: 1.201403 m/s, rangeRepo size: 4  Added new target pos. range: 34.752243 m, bearing: 150.428802 deg, lat: 36.906443 deg, lon: -122.115965 deg, deltaT: 0.499415 s, deltaX: 0.595753 m, approachRate: 1.192901 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.75 m.bZrjRJB~~}|| | A@| I'{ c~<u"ؾ3<u@H- CH- IH- f}BH-  =H) H- +DH- <H- EHʔCHʔCHʔCH =I = I}566G (<~G ԉ A ANe>D,ljA:Jv[BJv`JJv>RJtZJv:bJvbl9Jvt4JtzJv:zjJv:zJv(:~rJv):~ DDAT read: Rx Time:14:22:59.1854 TRx dataTimestamp_ set to:1749133380.339995=PDAT read: Bearing 175.6, 5.6 (Local) U~Local bearing/azimuth received: Bearing 175.6, 5.6 (Local)  DAT read: Range 10 to 50 : 35.3 m (trip time 23.5 ms) speed -0.8 A]DAT read: 14:22:59.1854 LVL= 24528, 26817, 23906, 32755, AGC= 67, IDX= 488, 0.20, 1.678,-2.708, 1.681, 2.231, PHS=-0.465, 1.391,-0.553, RAW= 332.3, -4.0, CAL= 334.4, -5.6, ROT= 175.6, 5.6 eYgot valid direction response: 14:22:59.1854 LVL= 24528, 26817, 23906, 32755, AGC= 67, IDX= 488, 0.20, 1.678,-2.708, 1.681, 2.231, PHS=-0.465, 1.391,-0.553, RAW= 332.3, -4.0, CAL= 334.4, -5.6, ROT= 175.6, 5.6 mV#Rx 102: Read range and direction messages.`direction in FSK: [-0.992294,0.076353,-0.097583]Fpublishing direction and range info y ᅧkً?A_1 3 BY  _) hI b]i   { J ? h a@) 5I ú@i +Ƚ %D@ += )  z!ag ./i d$ z΍= %D@ += ) 5M}B5IiE٥ H]F] ]>amj5eWӜ?mj59e/ IexBuT:yu~j?ug:u!ʾu@ecEie:e/:e> j5Bi+AEZ b zjA 2 B 2 B F'@ʁ fcA|:h@\  ᅧkً?A_1 %D@checking for new query: numPingsReceived=102, elapsed TxPingTime=51.186928ԑ +=ҁ El9>V= :1@( Y)CTͽt?6m3p%z ЉA j P eɜ?r &i  >lB %ZJɜ?  en  lB  B v(@u  addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.504060 s, deltaX: 0.299999 m, approachRate: 0.595166 m/s, rangeRepo size: 4   Added new target pos. range: 35.049305 m, bearing: 150.318452 deg, lat: 36.906443 deg, lon: -122.115961 deg, deltaT: 0.504060 s, deltaX: 0.297062 m, approachRate: 0.589338 m/s, posRepo size: 4  DNOT Ignoring new targets: 35.05 m.b Z r j R J B ~ ~ {B} | | | `fA@| ? m {Bm 1q Iu Ͼy q q u {<} "ؾ} -<} :E]<}DDAT read: Rx Time:14:22:59.6858 }TRx dataTimestamp_ set to:1749133380.845309PDAT read: Bearing 175.1, 5.8 (Local) ~Local bearing/azimuth received: Bearing 175.1, 5.8 (Local) DAT read: Range 10 to 50 : 35.9 m (trip time 23.9 ms) speed -0.6 E?EEE;5E DAT read: 14:22:59.6858 LVL= 25184, 25985, 22194, 32755, AGC= 67, IDX= 492, 0.24,-1.925,-0.025,-1.944,-1.384, PHS=-0.453, 1.405,-0.563, RAW= 332.8, -4.1, CAL= 334.9, -5.8, ROT= 175.1, 5.8 Ygot valid direction response: 14:22:59.6858 LVL= 25184, 25985, 22194, 32755, AGC= 67, IDX= 492, 0.24,-1.925,-0.025,-1.944,-1.384, PHS=-0.453, 1.405,-0.563, RAW= 332.8, -4.1, CAL= 334.9, -5.8, ROT= 175.1, 5.8 V#Rx 103: Read range and direction messages.m`direction in FSK: [-0.991245,0.084980,-0.101056]mFpublishing direction and range infoyy};FiA9?+hg޹}BYy }`b)}eI}Viyy}} ׳?}  }޹@)}CI} @i}4QϽ}C@}4Q= y)y}cYNx^PhUi}^$}͒=}C@}4Q= y)ychecking for new query: numPingsReceived=103, elapsed TxPingTime=51.480785KO"KH9*K2Kb:K!Yg/]m2{6xNEdy`y% yd3JJ6GY=@NG@YNk%yN9"=NH+??`,mڿ? @???? N>@N;)LVn}BZIIb+Ibn3j= j=yj~Q j>٥ll nHnFno< r>tvj5v{Ӝ?zj59vY4 IvByxzvƾz@vcEiv:v:vj5B*AEZAbE6jAEBEBE'@ʁE"A#;@.z7 E;FiA9?+hg޹EC@E4Q=ҁEWY>VRܕ1@ §E㊼]1?QX^&쿿zEAEzjE'aɜ?rElN e EkBEܤOɜ?E&i  E>lBE BE|?(@mchecking for new query: numPingsReceived=103, elapsed TxPingTime=51.691784 addTargetRange:: Added new target pos. range: 35.900002 m, deltaT: 0.505314 s, deltaX: 0.600002 m, approachRate: 1.187385 m/s, rangeRepo size: 4 Թ Added new target pos. range: 35.645046 m, bearing: 150.183207 deg, lat: 36.906444 deg, lon: -122.115959 deg, deltaT: 0.505314 s, deltaX: 0.595741 m, approachRate: 1.178953 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.65 m.bZrjRJB~ ~ } | |1|5@3A@|5 f? |{B靕Iq Px<y"ؾJ <yE0; H<H<H>HHIH}BH =HHH<HEEAEAEAEEO0EA  DDAT read: Rx Time:14:23:00.1861  TRx dataTimestamp_ set to:1749133381.3995219 :J] ZBJ] [JJ] ARJY ZJ] 9bJ] W9J] 4JY zJ] /:jJ] 4:J] ||:rJ] ~|:6Gy  PDAT read: Bearing 174.8, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 174.8, 5.1 (Local)  DAT read: Range 10 to 50 : 36.3 m (trip time 24.2 ms) speed -0.8 % DAT read: 14:23:00.1861 LVL= 26992, 23905, 24786, 32755, AGC= 66, IDX= 510, 0.47, 2.721,-1.656, 2.686,-3.008, PHS=-0.466, 1.399,-0.593, RAW= 333.2, -3.6, CAL= 335.2, -5.1, ROT= 174.8, 5.1 - Ygot valid direction response: 14:23:00.1861 LVL= 26992, 23905, 24786, 32755, AGC= 66, IDX= 510, 0.47, 2.721,-1.656, 2.686,-3.008, PHS=-0.466, 1.399,-0.593, RAW= 333.2, -3.6, CAL= 335.2, -5.1, ROT= 174.8, 5.1 5 V#Rx 104: Read range and direction messages.e `direction in FSK: [-0.991942,0.090274,-0.088894]e Fpublishing direction and range infoک yڭ ڧjؙI-?ڭ 3BYک ۭ pi)ۭ a]Iۭ `i۩ ۭ Bۭ ۭ o?ۭ  ܭ @)ܭ Iܭ 6@iܭ Kܭ @C@ܭ K= ݩ )ݩ ݭ dU|| ͯiݭ #ݭ ?~=ݭ @C@ݭ K= ީ )ީ  checking for new query: numPingsReceived=104, elapsed TxPingTime=52.060627~G A A N >3W, 5^jA9~U@~__@Y~p:߼y~K\ =~H?a{??飿ڿ?@U k?`i?@8? ~U@~5;)~C5}B5IԑeMb@Mb@Mb@aaa a)aYeK7A`?v/?٥ HF; >j59Ӝ?j599 IByk?f:@cEi:4:dj5Bg*AEZQbUYjAU+BU+BU'@ʁU =ALw  @ְT UڧjؙI-?U@C@UK=ҁUĩW ?,'1@^>\AU><?F\H޼zU̎AU`jUAjɜ?rUSb UNmBU'aɜ?U,i  UlBU(BU (@checking for new query: numPingsReceived=104, elapsed TxPingTime=52.214928 addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 0.554212 s, deltaX: 0.399998 m, approachRate: 0.721741 m/s, rangeRepo size: 4 Թ Added new target pos. range: 36.042301 m, bearing: 150.104462 deg, lat: 36.906446 deg, lon: -122.115959 deg, deltaT: 0.554212 s, deltaX: 0.397255 m, approachRate: 0.716792 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.04 m.bZrjRJB~~g{B}|||`f&B@| Z? eu{BmM?Gڿ,?@)$M??? bz@b e;)bCj}BnI)l nAIvIvV83~t= ~-=y~|X;Q ~>٥ HF)<  >j5Ӝ?j59= IBy2@cEi:K:zj5!-)A-EZbwjA'B'B'@ʁ!N!B+a @ݕ*sD'=??K$C@=ҁz?߂}1@؅y_O-i\.Ђ?WI캿zAj`ɜ?r~ c NnBlN e  'B(@ addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 0.472739 s, deltaX: 0.500000 m, approachRate: 1.057666 m/s, rangeRepo size: 4 J-?J-?u Added new target pos. range: 36.538750 m, bearing: 150.323307 deg, lat: 36.906446 deg, lon: -122.115957 deg, deltaT: 0.472739 s, deltaX: 0.496449 m, approachRate: 1.050153 m/s, posRepo size: 4 }DNOT Ignoring new targets: 36.54 m.byZrjRJB~~}|||`ffB@| ?checking for new query: numPingsReceived=105, elapsed TxPingTime=52.718845 n{B0cHCH-IH}BH =HH*DHB<HCE6G<~G A A N- >:J= \BJ= PJJ= ?RJ9 ZJ= =:bJ= *9J= ـ4J9 zJ= :jJ= :J= -:rJ= -: DDAT read: Rx Time:14:23:01.1866  TRx dataTimestamp_ set to:1749133382.380746 PDAT read: Bearing 174.6, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 174.6, 4.9 (Local) = DAT read: Range 10 to 50 : 37.1 m (trip time 24.7 ms) speed -0.8  DAT read: 14:23:01.1866 LVL= 22352, 29329, 19506, 32755, AGC= 68, IDX= 500, 0.04, 1.833,-2.558, 1.789, 2.386, PHS=-0.464, 1.387,-0.599, RAW= 333.5, -3.4, CAL= 335.4, -4.9, ROT= 174.6, 4.9 hf,jANYgot valid direction response: 14:23:01.1866 LVL= 22352, 29329, 19506, 32755, AGC= 68, IDX= 500, 0.04, 1.833,-2.558, 1.789, 2.386, PHS=-0.464, 1.387,-0.599, RAW= 333.5, -3.4, CAL= 335.4, -4.9, ROT= 174.6, 4.9 NV#Rx 106: Read range and direction messages.R`direction in FSK: [-0.991923,0.093764,-0.085417]VFpublishing direction and range infoy&Rֽ \?b$ݵfBY PW)rI2LiDh7?hX B@)sIR@i%C@%= )~[DKui#ns=C@%=9M>@M@YMvǼyM[@M ;)MC}B I )checking for new query: numPingsReceived=106, elapsed TxPingTime=53.082619Mb@Mb@Mb@ )YFx?ʡE?~jt?yk?=D< )@Iy\@II[3= %#=y%4;Q %>٥)) -H-F-`: ->1]j55FӜ?ej5955A I5Byel?ee:eڭe@5cEi5;52;5j5y)AEZb$^jAXBXB'@ʁUDBƇ:= @֘P+ &Rֽ \?b$ݵC@%=ҁ*m?ޤ=Ԏ*2@VDH Ne?8?xJzTAej$Hrɜ?r`b mBP eɜ?~ c  NmBBn(@m addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.508486 s, deltaX: 0.299999 m, approachRate: 0.589985 m/s, rangeRepo size: 4  Added new target pos. range: 36.836052 m, bearing: 150.261959 deg, lat: 36.906446 deg, lon: -122.115956 deg, deltaT: 0.508486 s, deltaX: 0.297302 m, approachRate: 0.584681 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.84 m.bZrjRJB~~x{B}|||̌B@|@?checking for new query: numPingsReceived=106, elapsed TxPingTime=53.223820 -h{B-+m,ɶjA9>@>@Y>sy><>H.?@w/?E!@%7ڿ0?@r͗??? >@>O;)xR`Sljq fcmKPII(*3% < e`=ym:;Q m>٥iq uHuFuX: u>yj5}LԜ?j59}0D I}By@}cEi}l<}l<} j5B)AEZ\b^PjA^B^B^M(@ʁ^}oBZW @` ^(t,XjAd9}x@}P@Y}$y}?O<}H`}*?:E?@֜Kڿ ,? ޕ? :?L? }x@};)}C}BIi٥ HFh >j5!Ԝ?j59TG IByD@cEi%<D<#j5)AEJsJ{Ȃ4J{/:JZBJMJJRJZJ9bJ9JJzJ/:jJ4:J*:rJ-:DDAT read: Rx Time:14:23:02.1874 TRx dataTimestamp_ set to:1749133383.388814PDAT read: Bearing 175.4, 7.1 (Local) %~Local bearing/azimuth received: Bearing 175.4, 7.1 (Local) }DNOT Ignoring new targets: 37.43 m.bZrjRJDAT read: Range 10 to 50 : 38.1 m (trip time 25.4 ms) speed -0.5 B)~9~9}||||`*(?DAT read: 14:23:02.1874 LVL= 27376, 29345, 23170, 32755, AGC= 69, IDX= 491,-0.14, 0.849, 2.731, 0.850, 1.363, PHS=-0.425, 1.416,-0.516, RAW= 332.4, -5.1, CAL= 334.6, -7.1, ROT= 175.4, 7.1 Ygot valid direction response: 14:23:02.1874 LVL= 27376, 29345, 23170, 32755, AGC= 69, IDX= 491,-0.14, 0.849, 2.731, 0.850, 1.363, PHS=-0.425, 1.416,-0.516, RAW= 332.4, -5.1, CAL= 334.6, -7.1, ROT= 175.4, 7.1 V#Rx 108: Read range and direction messages. `direction in FSK: [-0.989136,0.079584,-0.123601] Fpublishing direction and range infoy0JM■#y_?A7XfBY j)rIZiEپ}?? @)KI;@ivC@= )؛#꿻0 |Ik&i+$=vC@ M]{BMYz,zjA9^Fh@^q@Y^2y^Z<^H$?e?`И` jڿ%?}@ ?Z ?@`? ^Fh@^߅;)^Cj}BjIMb@Mb@Mb@ )Yoʡ? rh?ym?C=v@ @)@II@y @I%I%(*355 5%=y=;Q =>٥99 =HEFEK E>IUj5MEԜ?Uj59MK IMBy]m?]d:]U]@McEiMo:M:M'j5eBe)AeEZbTjAPBPB(@ʁz\P|B5 0@vSS0JM■#y_?A7XvC@=ҁdJ#\@88*82@v`͝Y+םy4y?s>r¿zAjɜ?rt|k hhBAjɜ? ꁵRBJ(@ addTargetRange:: Added new target pos. range: 38.099998 m, deltaT: 0.508888 s, deltaX: 0.399998 m, approachRate: 0.786023 m/s, rangeRepo size: 4  Added new target pos. range: 37.828854 m, bearing: 150.889595 deg, lat: 36.906447 deg, lon: -122.115956 deg, deltaT: 0.508888 s, deltaX: 0.397068 m, approachRate: 0.780266 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.83 m.bZrjRJB~~p{B}|a|i|m C@|m4? Y{B靽 9f<u"ؾ<,mjA0rchecking for new query: numPingsReceived=109, elapsed TxPingTime=54.7349439UR@U\@YU;UyU`٥!! %H!% %>IUj5M`Ԝ?]j59MN IMByY]]@McEiM:MS:M +j5ae)AmݫEZbjABB:)@ʁHr C.@i6yvJ?mu"޽D@|=ҁ;@ݡ+2@rcD D?Ixz^Aj-{\ɜ?rw=o UiB`ɜ?Sd  kBꁽB(@ addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 0.499160 s, deltaX: 0.600002 m, approachRate: 1.202024 m/s, rangeRepo size: 4 H5>H1H5_IH5E~BH5 =H1H1H57<H53EM Added new target pos. range: 38.424587 m, bearing: 151.502579 deg, lat: 36.906446 deg, lon: -122.115957 deg, deltaT: 0.499160 s, deltaX: 0.595734 m, approachRate: 1.193472 m/s, posRepo size: 4 UDNOT Ignoring new targets: 38.42 m.bQZQrQjQRQJQBY~Y~Y}Y|a|aԉ|eYC@|? T{Bs=I):?I6 d< "ؾA< ۇ, jA\}BI) Achecking for new query: numPingsReceived=110, elapsed TxPingTime=55.240540Mb@Mb@Mb@ )Yn?J +?MbyVn?H= @)@I@y@IM IM̍2] ]+=y]Q ]>٥a HF >j5Ԝ?j59R IByn?c:<@cEi>;;5/j5B*AܫEZbjABB)@ʁq1=?JCW@UZ +e? -V: D@=ҁ)Ֆ@y2@nqoԫ&aa?ZLRMPzϓAj}W[ɜ?r>U'l iB-{\ɜ?t|k  iBmB)@ addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 0.504153 s, deltaX: 0.500000 m, approachRate: 0.991762 m/s, rangeRepo size: 4  Added new target pos. range: 38.921200 m, bearing: 151.405439 deg, lat: 36.906445 deg, lon: -122.115960 deg, deltaT: 0.504153 s, deltaX: 0.496613 m, approachRate: 0.985043 m/s, posRepo size: 4 DNOT Ignoring new targets: 38.92 m.bZrjRJB!~!~%9{B})|)|)|-C@|-h? O{B靥\ d}=9`tR: w/O ~G A A N >,=jA9f,@f6@YfUGKyfRfH% ?@?@ڿ ?O‰?h?``? f,@f;)fC}BIIIm?3 `=yC٥ HFS >j54Ԝ?j598V Iy9=¾E@cEiu<#v<\2j5MBMY*AM٫EZabe^9jAeEBeEBewG)@ʁe( C#0@M*eJY<ӓn?zBPeD@eB=ҁe8B$+A[|2@5Y/e#$TI?St{$ze۔AeY jePɜ?rek elkBe}W[ɜ?ek  aeBex-)@m addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 0.504274 s, deltaX: 0.399998 m, approachRate: 0.793215 m/s, rangeRepo size: 4 } Added new target pos. range: 39.318352 m, bearing: 151.546587 deg, lat: 36.906445 deg, lon: -122.115960 deg, deltaT: 0.504274 s, deltaX: 0.397152 m, approachRate: 0.787572 m/s, posRepo size: 4 DNOT Ignoring new targets: 39.32 m.bZrjRJB~~}|||C@|P? mK{Bmd=Ii)m?qIu.Y& qqup_<}s"ؾ}ˌ<}sHCHHH =HH,DHL<HfEHǓCHHH =I = Iǿ61 6G- ᔳ<~G A A! N5 >Q ,VWjA9R@RZ(@YR6yR6RHO?? )v@ڿ`?>S?ц?C׆`? R@Rؘ;)RC^}B^IIfIf 3rDDAT read: Rx Time:14:23:04.1886 rTRx dataTimestamp_ set to:1749133385.399753PDAT read: Bearing 176.6, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 176.6, 6.6 (Local) eDAT read: Range 10 to 50 : 40.1 m (trip time 26.7 ms) speed -0.7 DAT read: 14:23:04.1886 LVL= 25760, 23985, 27106, 32755, AGC= 68, IDX= 488,-0.26,-1.961, 0.010,-1.913,-1.396, PHS=-0.477, 1.453,-0.520, RAW= 331.1, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6 =Ygot valid direction response: 14:23:04.1886 LVL= 25760, 23985, 27106, 32755, AGC= 68, IDX= 488,-0.26,-1.961, 0.010,-1.913,-1.396, PHS=-0.477, 1.453,-0.520, RAW= 331.1, -4.7, CAL= 333.4, -6.6, ROT= 176.6, 6.6 EV#Rx 112: Read range and direction messages. :=`direction in FSK: [-0.991624,0.058913,-0.114937]y8;Q >٥ HFj| >!15Fpublishing direction and range infopyr#bYq)?NZlrf BYpmj5%Ԝ?mj59%TZ I%Byquþu@%cEi%#<%$<%G6j5y}*A}֫E rd)r]IriiprDrX9r?r r@)rIr4@ir뽉rCE@r= p)prߵ;O뿪 @x࿿airT&rTǨ=rCE@r= p)pchecking for new query: numPingsReceived=112, elapsed TxPingTime=56.084778ZpbrYjArCBrCBr{)@ʁrB~ɽCSc E@{1Nr#bYq)?NZlrCE@r=ҁrLfAA{N2@:')W*rzwAζ3v?Km^5zroAr2 jrtJɜ?rrO0n r`iBpr>U'l  r`iBriBrD)@e addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 0.503352 s, deltaX: 0.500000 m, approachRate: 0.993341 m/s, rangeRepo size: 4 u Added new target pos. range: 39.816200 m, bearing: 151.773944 deg, lat: 36.906445 deg, lon: -122.115960 deg, deltaT: 0.503352 s, deltaX: 0.497849 m, approachRate: 0.989066 m/s, posRepo size: 4 }DNOT Ignoring new targets: 39.82 m.byZyryjyRyJB~~}||| D@|wٿ? UF{B]ԁ S؛,}qjA(92@$@YRJaZJe:bJeq9Jet4Jayʋ >=yy:Q >٥ HF >j5Ԝ?j59^ IBymw?[:Ͼ@cEi&;%;9j5DDAT read: Rx Time:14:23:04.6890 TRx dataTimestamp_ set to:1749133385.903865PDAT read: Bearing 176.8, 7.7 (Local) ~Local bearing/azimuth received: Bearing 176.8, 7.7 (Local) DAT read: Range 10 to 50 : 40.7 m (trip time 27.1 ms) speed -0.7 5DAT read: 14:23:04.6890 LVL= 26960, 25585, 24562, 32755, AGC= 66, IDX= 508, 0.14,-0.218, 1.774,-0.161, 0.329, PHS=-0.460, 1.492,-0.493, RAW= 330.9, -5.5, CAL= 333.2, -7.7, ROT= 176.8, 7.7 =Ygot valid direction response: 14:23:04.6890 LVL= 26960, 25585, 24562, 32755, AGC= 66, IDX= 508, 0.14,-0.218, 1.774,-0.161, 0.329, PHS=-0.460, 1.492,-0.493, RAW= 330.9, -5.5, CAL= 333.2, -7.7, ROT= 176.8, 7.7 EV#Rx 113: Read range and direction messages.M`direction in FSK: [-0.989438,0.055318,-0.133986]MFpublishing direction and range infoyYBy!R?L`u&"BY Pi)cI_iB?j 6ϸ@) ĽI@i |E@ > )ġIOY뿩SnK/i]&=|E@ > )mchecking for new query: numPingsReceived=113, elapsed TxPingTime=56.515877qu+AӫEZbyjA!B!B@)@ʁGEC7ҁa/ FڤA/2@GҮ7"v J&}?Ll ¿zhA& jc Aɜ?r<@o eBPɜ?O0n  [B)@U addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 0.504112 s, deltaX: 0.600002 m, approachRate: 1.190216 m/s, rangeRepo size: 4 e Added new target pos. range: 40.411957 m, bearing: 151.951489 deg, lat: 36.906444 deg, lon: -122.115961 deg, deltaT: 0.504112 s, deltaX: 0.595757 m, approachRate: 1.181794 m/s, posRepo size: 4 mDNOT Ignoring new targets: 40.41 m.biZirijiRiJiB~~zB}|||YD@| ?K$P"K9*K2Kg:K!  p!e'!*QF)xcxP03rO DkJ B{B%.,qYjAH:̼>H8H:LIH:'~BH: =H8H8H:8<H:GE9@B!@Yq6,yjH@_?@?yڿH?h? ? M? @G;)Uh}BmII I2ZG T=yE:Q M>٥YY HF葺 >j5Ԝ? j59b IBy="о=@cEi&~<x<}=j5EBM.+AMЫEDNOT Ignoring new targets: 40.41 m.bZrjRJB~~}||||qn? =>{B=R, jA5[}BUIchecking for new query: numPingsReceived=114, elapsed TxPingTime=57.261906%Mb@Mb@Mb@!!! !)!Y%v?{Gzt?/$y%x?%ף;%%@ %3@)%@I%@!y%z@II3 A=yQ >٥ H >j5՜?j59f IByx?Z:]ܾ@cEi;;Aj5f+AͫEZbijA<#B<#B)@ʁB7DK@p-ItKy?A7XeE@=ҁ9[YA_322@D5"뿎R2?^94zٗAj)Yɜ?rg>r jgB ꁝv"B)@iu addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 0.512908 s, deltaX: 0.399998 m, approachRate: 0.779862 m/s, rangeRepo size: 4  Added new target pos. range: 40.809048 m, bearing: 152.005741 deg, lat: 36.906444 deg, lon: -122.115961 deg, deltaT: 0.512908 s, deltaX: 0.397091 m, approachRate: 0.774195 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.81 m.bAZIrIjIRQJQBY~~zB}|||̌D@|"? =9{B=Ā,jAI\)\9 D!@ *@Y l:y W; H c??`ڿ?da@sM?1?`;? D!@ ;) C%C}B%II5I539W 5=yQQ >٥ HF &; >-checking for new query: numPingsReceived=115, elapsed TxPingTime=57.764748ij5m>՜?j59ml ImBy۾@mcEim'H H 3IH }BH H H H <H E- Added new target pos. range: 41.404800 m, bearing: 152.265888 deg, lat: 36.906443 deg, lon: -122.115961 deg, deltaT: 0.499130 s, deltaX: 0.595753 m, approachRate: 1.193582 m/s, posRepo size: 4 5DNOT Ignoring new targets: 41.40 m.b1Z1r1j1R1J9B9~9~9}A|Ai|A|uD@|uG? 3{B靭[jE>ԙ Em ?Eq Eq Eu \0Eq  DDAT read: Rx Time:14:23:06.1900  TRx dataTimestamp_ set to:1749133387.419955 PDAT read: Bearing 176.3, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 176.3, 8.3 (Local)  DAT read: Range 10 to 50 : 42.2 m (trip time 28.1 ms) speed -0.7 = DAT read: 14:23:06.1900 LVL= 27024, 24897, 19890, 32755, AGC= 70, IDX= 486,-0.48, 2.963,-1.334, 3.001,-2.797, PHS=-0.435, 1.511,-0.488, RAW= 331.3, -6.0, CAL= 333.7, -8.3, ROT= 176.3, 8.3 } Ygot valid direction response: 14:23:06.1900 LVL= 27024, 24897, 19890, 32755, AGC= 70, IDX= 486,-0.48, 2.963,-1.334, 3.001,-2.797, PHS=-0.435, 1.511,-0.488, RAW= 331.3, -6.0, CAL= 333.7, -8.3, ROT= 176.3, 8.3  V#Rx 116: Read range and direction messages.5 `direction in FSK: [-0.987463,0.063856,-0.144356]e Fpublishing direction and range info y  L~3X?'ЌCz¿ (BY i) AaI Mi F R޾ sh? # g@) PwֽI _@i V D@ V> ) U.뿕4{p5Ӻi & = D@ V> ) checking for new query: numPingsReceived=116, elapsed TxPingTime=58.1049736G~GAAN?g,5@jA <}BIMb@Mb@Mb@ )Y5^I ?:vMbyx?T@ @)I@y@I-I-<2=J ="=y=Q =>٥AA EHEFIm m>q}j5ua՜?}j59uaq IuBy}x?[:@ucEiu:u[:ujIj5B+AɫE׭Aשchecking for new query: numPingsReceived=116, elapsed TxPingTime=58.267143ZbjA'B'B )@ʁ9(D`dg@ ^1 L~3X?'ЌCz¿D@V>ҁbSj)Bk#]3@}Fޥk6lO?( ÿzžAOjUlɜ?rE#f >cB jgBꁍa&B)@ addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.504052 s, deltaX: 0.500000 m, approachRate: 0.991961 m/s, rangeRepo size: 4  Added new target pos. range: 41.901531 m, bearing: 151.352775 deg, lat: 36.906443 deg, lon: -122.115961 deg, deltaT: 0.504052 s, deltaX: 0.496731 m, approachRate: 0.985475 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.90 m.bZrjRJB~~zzB}|||E@|!? M-{BMt- DAT read: 14:23:06.6904 LVL= 24752, 26881, 22418, 32755, AGC= 67, IDX= 506,-0.16,-1.555, 0.395,-1.484,-0.987, PHS=-0.480, 1.429,-0.500, RAW= 330.5, -4.7, CAL= 332.8, -6.6, ROT= 177.2, 6.6 ,jA@BYgot valid direction response: 14:23:06.6904 LVL= 24752, 26881, 22418, 32755, AGC= 67, IDX= 506,-0.16,-1.555, 0.395,-1.484,-0.987, PHS=-0.480, 1.429,-0.500, RAW= 330.5, -4.7, CAL= 332.8, -6.6, ROT= 177.2, 6.6 BV#Rx 117: Read range and direction messages.F`direction in FSK: [-0.992187,0.048526,-0.114937]JFpublishing direction and range infoڙyڝı,/iب?NZlڝ3+BYڙ ۝`)۝iI۝Wiۙ۝C۝۝y?۝9>n"@>,@Y>)\<>H?`?` ڿ ?? ?` ? >n"@>ׇ;)>C ܝ@)ܝIܝ޹@iܝ뽉ܝ.E@ܝ= ݙ)ݙݝD3yYA[1iݝV&ݝh=ݝ.E@ݝ= ޙ)ޙzchecking for new query: numPingsReceived=117, elapsed TxPingTime=58.580254z4}BzIK]/P"K]S9*KY2K]i:K]{4HxsUvLsc*(8;hTl piUAJS+,JiJiI-I-1 h=yQ >٥ HF9 ?%j5^|՜?%j59Yu IBy!--@cEi::%:Lj51},A}ƫEZb)jA)B)B{*@ʁ&E q@&dþı,/iب?NZl.E@=ҁҧBB3p63@@Rk3?M zIA/jq5ɜ?r]jZo gBzHɜ?]jZo  ꁝ'BQ)@ addTargetRange:: Added new target pos. range: 42.799999 m, deltaT: 0.504477 s, deltaX: 0.599998 m, approachRate: 1.189348 m/s, rangeRepo size: 4  Added new target pos. range: 42.497284 m, bearing: 152.204090 deg, lat: 36.906443 deg, lon: -122.115962 deg, deltaT: 0.504477 s, deltaX: 0.595753 m, approachRate: 1.180931 m/s, posRepo size: 4 %DNOT Ignoring new targets: 42.50 m.b!Z!r!j!R!J)B)ԩ~~}|||`ffE@| Ui? ){B靕H}CH}IH}}BH} =HyH}+DH}:<H}?E 6G 5[<jG s?bG h?~Ga Aq A N >wń,jA9>@>u'@Y>0y>ף<>H`?&?R@Sڿ?G㋿Z?`Kz?? >@>\;)>CZ.}BZIlIvIv3z' ~V=y~;Q ~>٥ HF Qú  >%j5՜?%j59ty IBy)-8-@cEi::Oj515-,A5ëEDNOT Ignoring new targets: 42.50 m.bZrjRJB~~}||||?-DDAT read: Rx Time:14:23:07.1906 -TRx dataTimestamp_ set to:1749133388.429155=PDAT read: Bearing 177.0, 6.9 (Local) =~Local bearing/azimuth received: Bearing 177.0, 6.9 (Local) MDAT read: Range 10 to 50 : 43.1 m (trip time 28.7 ms) speed -0.7 uDAT read: 14:23:07.1906 LVL= 28384, 32753, 23778, 32755, AGC= 69, IDX= 492, 0.04,-0.762, 1.269,-0.697,-0.182, PHS=-0.492, 1.498,-0.518, RAW= 330.6, -4.9, CAL= 333.0, -6.9, ROT= 177.0, 6.9 }Ygot valid direction response: 14:23:07.1906 LVL= 28384, 32753, 23778, 32755, AGC= 69, IDX= 492, 0.04,-0.762, 1.269,-0.697,-0.182, PHS=-0.492, 1.498,-0.518, RAW= 330.6, -4.9, CAL= 333.0, -6.9, ROT= 177.0, 6.9 }V#Rx 118: Read range and direction messages.`direction in FSK: [-0.991397,0.051957,-0.120137]Fpublishing direction and range info)y-ٷƅT~?rjƹI-f,BY) -n)-I-\i)-E-m-w?- -R@)-%I-w@i-Ϣ-E@-Ϣ= )))-^nm?@;i- &-=-E@-Ϣ= )))checking for new query: numPingsReceived=118, elapsed TxPingTime=59.048161 ${B%˄,0jA99 @Q@Y>UyԦ<H c?<?ב`Iۿ?`M] ?`ٔ??  @骅݆;)C,}BI-Mb@Mb@Mb@))) )))Y-M?~jt{Gzy-nr?-D-#-3@ -@)-@I-@)y-@IEIE3U U6=yU;Q U>٥YY ]H]F] e>aj5e۷՜?j59eM~ Iaywr?`:@edEieiӄ,NjA HHH>HCHIH}BH =HH)DH8<H(E9r9@r @Yr yrt٥ HF@ >j5՜?j59w IBy@ dEi~;Zn;Wj5+AEm~G qYy BZqbuۤ;jAu,Bu,Bu=I)@ʁuǮR kE>e{O(@6uFhiv,-!d?NZlu|E@u=ҁusVB=Lk4@cVuy;GYB?e~FzuZAujuqɜ?ru%i u!hBu3m^gɜ?uin  ugBu+Bu)@u addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.502782 s, deltaX: 0.400002 m, approachRate: 0.795576 m/s, rangeRepo size: 4  Added new target pos. range: 43.189480 m, bearing: 151.552793 deg, lat: 36.906446 deg, lon: -122.115961 deg, deltaT: 0.502782 s, deltaX: 0.395584 m, approachRate: 0.786790 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.19 m.bZrjRJB~!~!}!|!|!|-E@|5@? {B:J\BJNJJ>RJZJ=:bJ!9Jt4JzJ:jJ:JV:rJY:靥 i)imHn뿁7!y%90Wޥ.im%&mP=mE@m> i)iu T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a 6G E<ZG RG ~G A A N >hڄ,qkjAy0k<H@O?@=?@ ?ۿ?:V}?_?? @骅 ;)CD}BIԹMb@Mb@Mb@ )Y&1?:vyp?TI@ @)3@Iy@IIT3*n< =y;Q >٥ HF i>  >j5՜?j59= IByp?%a:%<e@dEi&<&<\j5uB}+A}EZb\jA-B-BNr)@ʁV;Eqf@(B7CC*y?cK E@>ҁy(BJG|p4@bg:C,sd뿖?qzAj\ɜ?rn XfBUlɜ? %gBT-B)@M addTargetRange:: Added new target pos. range: 43.799999 m, deltaT: 0.507074 s, deltaX: 0.299999 m, approachRate: 0.591628 m/s, rangeRepo size: 4 ] Added new target pos. range: 43.487335 m, bearing: 151.696391 deg, lat: 36.906447 deg, lon: -122.115961 deg, deltaT: 0.507074 s, deltaX: 0.297855 m, approachRate: 0.587400 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.49 m.bZrjRJB~~zB}|||`fE@|W? {B  )RQ͒8뿊uP߿fPi6'R=aF@ > )E) E) E) E- o0E1 F1 F1 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.K P"K ͼ9*K 2K k:K n 8pUX?FiwK""Ow6ERUb02S# _W9 6GU 2<~G1AQAaiNm>^^,JjA9n @n@Ynyn};nH`?Q?5'Rۿ?ഠiw?`y?? n @n ;)lzB}BzI٥ii uHuFuW u>yj5}֜?j59}w I}ByH>HCHIH}BH =HH*DHR<HZEH]”CHYHYH] =I] = I]«6@}dEi}&<}'<}_j5+AEZb (|jAU0BU0Bn*@ʁh&EH?@LJ5nNʲo"A? /AaF@ >ҁ]nTCfP4@./P'|8T~?yhzAjCaɜ?r 0@v GeB3m^gɜ?n  .BŮ)@5 addTargetRange:: Added new target pos. range: 44.400002 m, deltaT: 0.500933 s, deltaX: 0.600002 m, approachRate: 1.197770 m/s, rangeRepo size: 4  Added new target pos. range: 44.083942 m, bearing: 152.280848 deg, lat: 36.906446 deg, lon: -122.115961 deg, deltaT: 0.500933 s, deltaX: 0.596607 m, approachRate: 1.190992 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.08 m.bZrjRJB~~1}Y|Y|Y|e@33F@|e?  {BB=I)E?I (,E< {"ؾ #< ǡ 9J1J1zJ5:jJ5:J5|Q:rJ5Q:DDAT read: Rx Time:14:23:09.1918 TRx dataTimestamp_ set to:1749133390.445602PDAT read: Bearing 177.6, 6.7 (Local) ~Local bearing/azimuth received: Bearing 177.6, 6.7 (Local) DAT read: Range 10 to 50 : 44.9 m (trip time 29.9 ms) speed -0.6 % DAT read: 14:23:09.1918 LVL= 25536, 32113, 22178, 32755, AGC= 69, IDX= 488,-0.04, 2.779,-1.554, 2.868,-2.932, PHS=-0.484, 1.425,-0.486, RAW= 330.0, -4.8, CAL= 332.4, -6.7, ROT= 177.6, 6.7 - Ygot valid direction response: 14:23:09.1918 LVL= 25536, 32113, 22178, 32755, AGC= 69, IDX= 488,-0.04, 2.779,-1.554, 2.868,-2.932, PHS=-0.484, 1.425,-0.486, RAW= 330.0, -4.8, CAL= 332.4, -6.7, ROT= 177.6, 6.7 - R#Rx 1: Read range and direction messages.5 `direction in FSK: [-0.992299,0.041590,-0.116671]5 Fpublishing direction and range infoyɉ)>K?mu"޽3BY c)q}IViEff? )Ii|i|= )+OL߿F:1|i[~'\=|= ) ] 2Acoustic response timeout] Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԁ 6G n<Ա ~GI AY Ai Nu >i,A*jA9zi@z@YzHjyz㹹zH@q?@X?i Xۿ{?@{_?Um? `<@? zi@zHw;)zCMT}BMIaMb@Mb@Mb@ )YHzG?:v?Mbp?y=j? ٥aa eHamu m>qj5u<֜?j59u0 IuByDj?h:ھ@udEiu6ɉ)>K?mu"޽|=ҁKAtCW4@+N7q 쿊C;?-C"ȾzAjE|Vɜ?rVHt gB 0B޸)@ addTargetRange:: Added new target pos. range: 44.900002 m, deltaT: 0.505658 s, deltaX: 0.500000 m, approachRate: 0.988811 m/s, rangeRepo size: 4 % Added new target pos. range: 44.580383 m, bearing: 152.305909 deg, lat: 36.906446 deg, lon: -122.115961 deg, deltaT: 0.505658 s, deltaX: 0.496441 m, approachRate: 0.981772 m/s, posRepo size: 4 ԑDNOT Ignoring new targets: 44.58 m.bZrjRJB~~%zB}!|I|Q|]@3sF@|]#? {B=I)%V?!I%H !AEpB ) /N3CKHH߿H4i ' = (~F@ > ) E 2Acoustic response timeoutM Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 6G Mh <jG m?bG ]?~G A A N >A,<jAK"72P"K"9*K 2K"l:K"4_=jD c/+U@i#7T:9^@^s@Y^F2y^B:^Hn?@1;?U٥9A EHEFE*; E>IUj5M^W֜?Uj5Y9M IMByy}پ}@M#dEiM;M;MWgj5+AEZb-jA4B4B[*@ʁ=XFd>?y=#vuh(W?:N ¿(~F@>ҁ}Cy4@GI!L?ِ;?_?`¿zAj_j5Iɜ?r)Nv ecBCaɜ?VHt  XfBꁍ1B*@ addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 0.502651 s, deltaX: 0.599998 m, approachRate: 1.193668 m/s, rangeRepo size: 4 u Added new target pos. range: 45.176113 m, bearing: 152.512688 deg, lat: 36.906446 deg, lon: -122.115964 deg, deltaT: 0.502651 s, deltaX: 0.595730 m, approachRate: 1.185176 m/s, posRepo size: 4 uDNOT Ignoring new targets: 45.18 m.bqZqrqjyRyJyBy~y~}|||F@|? }zB}{!=ԉjE>Hʼ>HCHIH}BH =HH+DHB<HSEE?EEE0EԹ6G 1X< ~G A A I I @A:J [BJ JJ @RJ ZJ :bJ J J4J zJ :jJ :J }Q:rJ N >e DDAT read: Rx Time:14:23:10.1924 e TRx dataTimestamp_ set to:1749133391.452014u PDAT read: Bearing 176.7, 7.6 (Local) u ~Local bearing/azimuth received: Bearing 176.7, 7.6 (Local)  DAT read: Range 10 to 50 : 45.8 m (trip time 30.5 ms) speed -0.9  DAT read: 14:23:10.1924 LVL= 24608, 22817, 20210, 32755, AGC= 68, IDX= 494, 0.05,-1.310, 0.693,-1.255,-0.759, PHS=-0.463, 1.499,-0.499, RAW= 330.9, -5.5, CAL= 333.3, -7.6, ROT= 176.7, 7.6  Ygot valid direction response: 14:23:10.1924 LVL= 24608, 22817, 20210, 32755, AGC= 68, IDX= 494, 0.05,-1.310, 0.693,-1.255,-0.759, PHS=-0.463, 1.499,-0.499, RAW= 330.9, -5.5, CAL= 333.3, -7.6, ROT= 176.7, 7.6  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.989572,0.057058,-0.132256] Fpublishing direction and range infoa ye  /↓~O6?) e 37BYa e `)e !YIe Nia e De Ve ;߿?e | e 6ϸ@)e ĽIe [&@ie e 4`E@e > a )a L,jAݽ$(U=[࿼_Jniݽ@&ݽ=ݽ4`E@ݽ> ޹)޹ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.t9E @E@YEIyE);EH?`?"o`ۿ?Ig h8b?6Eq?@? E @E>;)EC[}BI Mb@Mb@Mb@ )YT㥛 ?٥II MHMFMg; U>Q}j5U2֜?j59UO IUBy7a?q:ʾ@U+dEiU2;U:Ulj5 B+AEҁD0~FCm5@>Wi>KnTA(?”e-zoAjДsɜ?rnf dB GeBꁽ 4BJ"*@ addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 0.503761 s, deltaX: 0.299999 m, approachRate: 0.595519 m/s, rangeRepo size: 4  Added new target pos. range: 45.475460 m, bearing: 151.606109 deg, lat: 36.906446 deg, lon: -122.115964 deg, deltaT: 0.503761 s, deltaX: 0.299347 m, approachRate: 0.594224 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.48 m.bZrjRJB~~zB}|||`fF@|Qd? EzBM=I)r?I> M><y"ؾbX<Ԥ= DAT read: 20 :unknown deviceResponse_: 20 DAT read: Ok :unknown deviceResponse_: Ok ,DAT read: user:2083> BDAT read: Tx time:14:23:11.0803 $Ping request sent.2JJ9&@0@Yy <H1 ? ?u Bڿ ?@a&|@X:`?0c?@? &@Zi;)Cu}BIII3a= N=yY#:Q >٥AA EHMFM< M>Q]j5U}֜?]j59U؞ IUByY]ɾe@U1dEiU;Up;U pj5.+AEDNOT Ignoring new targets: 45.48 m.bZrjRJB~~}||||? UzBU%2=IY)},!?yI}k <<s"ؾ5<OuHYH]IH]}BH] =HYHYH]`<H]~E6G Y=< ~G A A N >E,NjA9F5@F?@YFAyFjF٥dd fHfFfC; j>lrj5nƳ֜?rj59n InByprȾr@n6dEin:n:n"sj5tzF+AzE:J \BJ \JJ =RJ ZJ =:bJ [9J g4J zJ :jJ :J Ӂ:rJ ԁ:EDNOT Ignoring new targets: 45.48 m.bIZIrIjIRIJIBI~Q~Q}Q|Y|Y|Y|]% ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499438 zB靥8=I) ?I (9ԙ m ,4jA9>G@>QQ@Y>.ty>wu<>H ??ɻڿG? an?U?? >G@>m;)>CF~}BJIUMb@Mb@Mb@QQQ Q)QYUx&1?~jt?Mb`yUa?UD=UU@ U@)U@IQQyUz@yII[3 = >=y;YQ >٥ HF; >j5֜?j59 Iya?p:@|s~$M+5=td[~6Gᜆ<J%>J% ?~GI AQ Aa Nu > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254512T,MjA9Zf@Zdp@YZ LEyZ٥tt vHvFz#< z> H<H4<H >H CH IH }BH  =H H H 3<H 6E|Ej5~֜?Ej59~٨ I|yIUU@~AdEi~D<~Ҥ;~8zj5qu +A-DNOT Ignoring new targets: 45.48 m.b)Z1r1j1R1JYBY~Y~Y}a|a|a|a|e? zBu3=I)2'?Ip _4<"ؾ<>ԙ ~,gjA9Jr@Jf|@YJúyJw٥qq uHq}c; }>j5ל?j59% IBy|W?|:a@GdEi::}j5!B*AEq}DNOT Ignoring new targets: 45.48 m.byZyryjyRyJyB~~zB}||||@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758861 5zB=5:=I9)E+?AIEˆ AAE;>2E <bEZEE- ?E) E) E- m2E) F5 =F1 :J) BJ- RJJ- BRJ) ZJ) bJ- S29J- -4J) 5 @5 @5 @5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010568 6G ӌ<~G A A N>=!,1jA9>@>@Y>"m:y><>Ht0? 8? q:ڿ;.?]ȖUMw?? >@>҈;)>CK^[P"K^9*K\2K^o:K^H<zG; F0!D=ZkuJsncvj}BjIIrIrT3z-; z8=y~;Q ~>٥|| ~HF; > j5 h%ל?j59  I By]@ MdEi ": .: ȁj5!)-*A-EUDNOT Ignoring new targets: 45.48 m.bQZQrQjQRYJYBY~Y~Y}a|a|a|i|mof@ zB靝@=I)-?IM9 x/<u"ؾ;<E0::E5?E1E1E5O0E1echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263740aHU>HUCHU IHU}BHQHQHU*DHU<HUEԁ) 5G6GUbԩ  `DAT read: Rx Time:14:23:13.27ring 1757 (Local) % TRx dataTimestamp_ set to:1749133394.4777585 DAT read: Range 10 to 50 : 47.3 m (trip time 31.5 ms) speed -0.6 [',ܞjADAT read: 14:23:13.2724 LVL= 22848, 24273, 20594, 32755, AGC= 72, IDX= 25-2.553,-0.553,-2.549,-2.050, PHS=-0.416, 1.544,-0.502, RAW= 332.1, -6.3, CAL= 334.5, -8.7, ROT= 175.5, 8.7 !unknown deviceResponse_: 14:23:13.2724 LVL= 22848, 24273, 20594, 32755, AGC= 72, IDX= 25-2.553,-0.553,-2.549,-2.050, PHS=-0.416, 1.544,-0.502, RAW= 332.1, -6.3, CAL= 334.5, -8.7, ROT= 175.5, 8.7 -X#Rx 1: Read range message, but no direction.ae3=BYa"checking for new query: numPingsReceived=1, elapsed TxPingTime=2.5300729Rޑ@R@YR7`;yR"٥ HF; > j5 ?Bל?j59  I y!%o-@ SdEi = L= j5e"B*AE= addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 3.025744 s, deltaX: 1.500000 m, approachRate: 0.495746 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 45.48 m.baZarajaRaJaBi~i~q}y|||`fG@|@Z? zB3j)=I)51?I%`7: !!%,<-"ؾ-|<-iE% I E E E E o0E qJ{ـ4J{4J{EC0:JBJ_JJ>RJZJbJ=h9Jt4J5DDAT read: Rx Time:14:23:13.7727 5TRx dataTimestamp_ set to:1749133394.979823=PDAT read: Bearing 175.5, 9.0 (Local) E~Local bearing/azimuth received: Bearing 175.5, 9.0 (Local) UDAT read: Range 10 to 50 : 47.7 m (trip time 31.8 ms) speed -0.6 uDAT read: 14:23:13.7727 LVL= 28096, 26145, 24562, 32755, AGC= 68, IDX= 4, 0.02,-1.975,-0.013,-1.969,-1.487, PHS=-0.400, 1.521,-0.485, RAW= 332.1, -6.5, CAL= 334.5, -9.0, ROT= 175.5, 9.0 }Ygot valid direction response: 14:23:13.7727 LVL= 28096, 26145, 24562, 32755, AGC= 68, IDX= 4, 0.02,-1.975,-0.013,-1.969,-1.487, PHS=-0.400, 1.521,-0.485, RAW= 332.1, -6.5, CAL= 334.5, -9.0, ROT= 175.5, 9.0 }R#Rx 2: Read range and direction messages.`direction in FSK: [-0.984644,0.077493,-0.156434]Fpublishing direction and range info1y5=w[3R!ֳ?p Ŀ5>BY1 5m)5!fI5_i115̾5!?5Q 5z@)5VI5Ѻ@i5| 5 D@5| > 1)15=,(g࿭H+Gi5B'%5i[=5 D@5| > 1)1checking for new query: numPingsReceived=2, elapsed TxPingTime=3.0354966G<jGp?bGx?ԡ~GAAN?1,hBjA9eW@e @Ye ٥)) MHMFU_; U>Yj5]nל?j59]! I]ByUf?k:F@]\dEi]A<]PA<] j5#B*AEZbljAq=Bq=B)@ʁAg QGbG{oc\ @=w[3R!ֳ?p Ŀ D@| >ҁ./^Dz%Zk6@\̍x{,XK?h}¿zZA$j[ɜ?r'Svi aB dB@B*@u addTargetRange:: Added new target pos. range: 47.700001 m, deltaT: 0.502065 s, deltaX: 0.400002 m, approachRate: 0.796713 m/s, rangeRepo size: 4  Added new target pos. range: 47.360508 m, bearing: 151.407927 deg, lat: 36.906446 deg, lon: -122.115964 deg, deltaT: 3.527809 s, deltaX: 1.885048 m, approachRate: 0.534340 m/s, posRepo size: 4 DNOT Ignoring new targets: 47.36 m.bZrjRJB~~ {B}|||G@|s?checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272662 UzBU2=IY)]0?YI] t: yys*<y"ؾ<K{HH'IH}BH =HHHO<HVEHHHœCH =I = IA6I E E E E ]0E I1 I1 y  DDAT read: Rx Time:14:23:14.2729  TRx dataTimestamp_ set to:1749133395.483913 PDAT read: Bearing 175.2, 9.6 (Local)  ~Local bearing/azimuth received: Bearing 175.2, 9.6 (Local)  DAT read: Range 10 to 50 : 48.0 m (trip time 32.0 ms) speed -0.6  DAT read: 14:23:14.2729 LVL= 26352, 22081, 19378, 32755, AGC= 68, IDX= 502, 0.16, 2.843,-1.498, 2.839,-2.975, PHS=-0.378, 1.523,-0.473, RAW= 332.4, -7.0, CAL= 334.8, -9.6, ROT= 175.2, 9.6  Ygot valid direction response: 14:23:14.2729 LVL= 26352, 22081, 19378, 32755, AGC= 68, IDX= 502, 0.16, 2.843,-1.498, 2.839,-2.975, PHS=-0.378, 1.523,-0.473, RAW= 332.4, -7.0, CAL= 334.8, -9.6, ROT= 175.2, 9.6  R#Rx 3: Read range and direction messages.% `direction in FSK: [-0.982538,0.082506,-0.166769]% Fpublishing direction and range info y 2pq?8_Xſ @BY f) AVI Ki 7 ? - @) 5I @i + EC@ +> ) A6Y꿵]h1'Wi $ IF= EC@ +> ) E checking for new query: numPingsReceived=3, elapsed TxPingTime=3.5397796G<Ա~G1AYAN=?9,ajA9])@]ۮ@Y]5٥yy }H}F}9 >j5ל?j59 IB+:y?:)@ddEi%< ?ڎj5*AEMchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.777081Z b njA >B >B (@ʁ Po+iGat@u` 2pq?8_Xſ EC@ +>ҁ B?ҝDzl6@$Sڂ p'=뿼wц?o<ÿz ۵A $j >C_ʜ?r Qe  `B Дsɜ? 'Svi  ecB BB *@5 addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 0.504090 s, deltaX: 0.299999 m, approachRate: 0.595130 m/s, rangeRepo size: 4 e Added new target pos. range: 47.658573 m, bearing: 151.131643 deg, lat: 36.906448 deg, lon: -122.115959 deg, deltaT: 0.504090 s, deltaX: 0.298065 m, approachRate: 0.591294 m/s, posRepo size: 4 mDNOT Ignoring new targets: 47.66 m.biZirijiRqJqBy~~}|||H@|+? %zB%6=I!)%4?)I-N$; ))-](<5s"ؾ5N<5@,qjA9-á@-u@Y-_٥ H F> >j5ל?ej59ſ IBm :yim:m_m@idEi<`q?j5u$Bu*A}EKO"K9*K2Kq:Kt9Sa>?e|%7B}!`sMLt%~vret,#!Zb)>jAABAB*@ʁ7QG @ Zzk8MNmg?EOD@=ҁ~HCHHH =HH)DHf<HlEEaEiEiEiEi)Y 6G %<ZG RG ~GQ Aa Aq Ny IF,ejA9@@@Yl I)IMJ3;'뿶F6,3ViM%M'=M:D@M > I)Ichecking for new query: numPingsReceived=5, elapsed TxPingTime=4.548083y;Q >٥ H F >!-j5%@ל?5j59%< I%B59y1]9e׶e@%odEi%<% ?%j5*AZIbM}jAMBBMBBMe)@ʁM2[<H @!` MURI _uF)а?L`u&M:D@M >ҁM* edE0_{6@tϬM k|쿛B?azM;AM#+jM:fɜ?rM an MfBM:fɜ?I MdBMABM)@ addTargetRange:: Added new target pos. range: 49.099998 m, deltaT: 0.503842 s, deltaX: 0.500000 m, approachRate: 0.992375 m/s, rangeRepo size: 4  Added new target pos. range: 48.749641 m, bearing: 152.098868 deg, lat: 36.906455 deg, lon: -122.115959 deg, deltaT: 0.503842 s, deltaX: 0.495338 m, approachRate: 0.983123 m/s, posRepo size: 4 -DNOT Ignoring new targets: 48.75 m.bQZQrQjYRYJaB~~}|||%̌H@9|m`3? ezBemP=Ia)e4?iIm s; iqu$<}w"ؾ}'.<M, 9jAh9Ey@EƂ@YEF;٥ H FSM?A @)4QϽIi55> )Jb*ٍ6䐻鹿i%ڨ=5> )checking for new query: numPingsReceived=6, elapsed TxPingTime=5.063772 >j5ל?j59 IBT:yjs?_:?þ@wdEiP;;wj5   +AEZb?jADBDB)@ʁQGHnh @e\Vpr Ͱ?H@l5>ҁ5E#7@J7dzZ? zA0,j@֐ɜ?r(Tj tfB@֐ɜ?(Tj  tfB:CB)@ addTargetRange:: Added new target pos. range: 49.500000 m, deltaT: 0.504386 s, deltaX: 0.400002 m, approachRate: 0.793046 m/s, rangeRepo size: 4  Added new target pos. range: 49.146790 m, bearing: 151.884289 deg, lat: 36.906457 deg, lon: -122.115959 deg, deltaT: 0.504386 s, deltaX: 0.397148 m, approachRate: 0.787389 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.15 m.bZrjRJB~ ~m>{B}i|q|q|uH@|ur? zBH=I)2?))I-n; 115F"<5"ؾ=(<=1_./Yw_ u^x!7oTTM5FGEEEE_0Ei } checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286592 H H <H% >H! H! H! H%  =H! H% (DH% <H% E6G <ԙ ~GA)AINe>U,31XjA95`f@5p@Y5٥qq uHu F}ͻ >j5؜?j59 IBykľ@}dEi;;j5%B*AEDNOT Ignoring new targets: 49.15 m.bZrjRJB~~}||||]? zB%x=I!)%5?!I%; ))-= <-{"ؾ5m<5 ݹ)ݹݽ3a lgZa+࿫iݽ&ݽ҉=ݽE@ݽ> ޹)޹=checking for new query: numPingsReceived=7, elapsed TxPingTime=5.588813i~GAAN J>ԑe checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790571Թ e[,WqjA96P@6Z@Y6٥)1 5H5 FElɻ E>Թj52؜?j59 IBy%t?-^:-þU@dEi r<v<֞j52+AEZ b 7`jA EB EB >*@ʁ XxIqHk\h~@^e ­(lZ?:N ¿ E@ >ҁ c-E:(6@ #+x ;J-쿩!.r? ;z A '.j ɜ?r #x  gB  an  fB FB )@ addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503616 s, deltaX: 0.299999 m, approachRate: 0.595690 m/s, rangeRepo size: 4  Added new target pos. range: 49.444126 m, bearing: 152.411498 deg, lat: 36.906457 deg, lon: -122.115961 deg, deltaT: 0.503616 s, deltaX: 0.297337 m, approachRate: 0.590403 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.44 m.bZrjRJB~~"{B}|||`fH@|@/1? ezBmH=Ii)m82?iIm{; iiuX ),6F뿃 Kjlhi&Y=CE@'> )uchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.094043 K O"K 9*K 2K s:K mywOlrTXb=e 3paB,b6M<`_VOJ J 6G= 5/c,>^jA96D@6tN@Y6٥tt vHvFzz z>|j5~qN؜?j59~^ I~Byľ @~dEi~;~;~ j5&B+AEmchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.294585ZYb]0ejA]GB]GB]b)@ʁ]:tHK`@H c,P H>HH IH}BH =HH)DH8<H(E]mƃᅭAm?$vzĿ]CE@]'>ҁ]~UEYE 3K7@TЪ]MA?N^z]]A].j]bɜ?r]Pm ]bBYY Y]GB]*@AU addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 0.506163 s, deltaX: 0.500000 m, approachRate: 0.987824 m/s, rangeRepo size: 4  Added new target pos. range: 49.940552 m, bearing: 151.920479 deg, lat: 36.906457 deg, lon: -122.115961 deg, deltaT: 0.506163 s, deltaX: 0.496426 m, approachRate: 0.980762 m/s, posRepo size: 4 DNOT Ignoring new targets: 49.94 m.bZrjRJB~~}|||`f&I@|ྐྵ? zB"n=I9)= 5?9I=; 9AE,:J]BJRJJARJZJ]:bJS29J4JzJ:ԹjJ:J;:rJ<:- DDAT read: Rx Time:14:23:17.2749 = TRx dataTimestamp_ set to:1749133398.509669E PDAT read: Bearing 177.3, 9.1 (Local) M ~Local bearing/azimuth received: Bearing 177.3, 9.1 (Local) e DAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed -0.8  DAT read: 14:23:17.2749 LVL= 27888, 28417, 27602, 32755, AGC= 70, IDX= 489,-0.33,-1.498, 0.589,-1.411,-0.954, PHS=-0.457, 1.589,-0.461, RAW= 330.1, -6.6, CAL= 332.7, -9.1, ROT= 177.3, 9.1  Ygot valid direction response: 14:23:17.2749 LVL= 27888, 28417, 27602, 32755, AGC= 70, IDX= 489,-0.33,-1.498, 0.589,-1.411,-0.954, PHS=-0.457, 1.589,-0.461, RAW= 330.1, -6.6, CAL= 332.7, -9.1, ROT= 177.3, 9.1  R#Rx 9: Read range and direction messages. `direction in FSK: [-0.986318,0.046513,-0.158158] Fpublishing direction and range info1 y5 S) :/ҝЧ?@\~>Ŀ5 KBY1 5 l)5 oI5 ki1 5 F5 5 Zd?5 1 5 \@)5 I5 й@i5 "5 F@5 "> 1 )1 5 |^v}=j߿9ڎui5 q'5 n.=5 F@5 "> 1 )1  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.593845 7Vi,J)jAm}B IMb@Mb@Mb@ )Y~jt?~jt?y{?= )v@Iy @I5&I53EI E=yEQ E>٥II MHMFM U>Qej5Uu؜?ej59Up IUBye{?eW:eLȾm@UdEiU=;U;Uj5u'Bu+AuEchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.799165ZibmkjAm%JBm%JBm"z*@ʁm@:/Hx@,mS) :/ҝЧ?@\~>Ŀm F@m">ҁmS@F< 7@PE2mO-쿼Ǎ0?ԓhtzmdAm2jm9ɜ?rm"-y mpcBm9ɜ?i mtfBm:IBm*@5 addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.503493 s, deltaX: 0.600002 m, approachRate: 1.191679 m/s, rangeRepo size: 4 E Added new target pos. range: 50.536671 m, bearing: 152.619022 deg, lat: 36.906458 deg, lon: -122.115961 deg, deltaT: 0.503493 s, deltaX: 0.596119 m, approachRate: 1.183967 m/s, posRepo size: 4 MDNOT Ignoring new targets: 50.54 m.bIZIrIjIRIJIBI~q~u{B}q|y|y|}@3sI@|}? zB;KL=I)Y/?I;  A )A E GB!֖=ƒ߿%9iE ԯ'E p6=E aF@E Q > A )A  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.0690696G <ZG RG ~G A A N >Xq,TjA9Rz+@R,5@YR =yRs;RH?`?lڝ?`ڿ ?O8 _@ p?8? Rz+@R<;)RCnh}BnIipIr4=I5I52Ez Ee=yM?F٥yy H >Աj5؜?5j592 IBy9=ɾ=@dEi<P$<֩j5+AEKeuP"Kep9*Ka2Ket:Ke35%x 9^s:C-9+cb|2Sq>Zb=jALBLB̥*@ʁ ̞ EI:a#@\Uqe|5?/8ٲ¿aF@Q >ҁF/9?7@PjK>+F N-?x %zA4jɜ?rpw pfBpw  pfB JBDt*@ addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.503346 s, deltaX: 0.599998 m, approachRate: 1.192020 m/s, rangeRepo size: 4  Added new target pos. range: 51.132389 m, bearing: 152.771709 deg, lat: 36.906458 deg, lon: -122.115965 deg, deltaT: 0.503346 s, deltaX: 0.595718 m, approachRate: 1.183517 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.13 m.bZrjRJB~ ~ } | | |I@| T? zB靥P^=I).?I(; <s"ؾ<lH]CH]IH]}BH] =HYH]*DH]%<H]EEEEE5E G) % Y! y% B6G 9 ~GQ Aa Ay N > -w,jA9>#@>-@Y>9=y>;>H@H?@? q??ڿ ?Ц$F{?? >#@>T;)>CR\}BRIIbIb[3f" jS=yj;Q j>٥hl nHnFIlInAA:JvYBJvTJJv@RJtZJv9bJv:9JvJ4JtzJvc:jJvg:JvSJ:rJvVJ:mDDAT read: Rx Time:14:23:18.2754 uTRx dataTimestamp_ set to:1749133399.517334PDAT read: Bearing 177.6, 8.9 (Local) ~Local bearing/azimuth received: Bearing 177.6, 8.9 (Local) DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.8 ^ >j5M؜?DAT read: 14:23:18.2754 LVL= 20752, 23569, 17794, 32627, AGC= 68, IDX= 495, 0.39, 0.554, 2.598, 0.653, 1.098, PHS=-0.456, 1.547,-0.448, RAW= 329.8, -6.5, CAL= 332.4, -8.9, ROT= 177.6, 8.9  Ygot valid direction response: 14:23:18.2754 LVL= 20752, 23569, 17794, 32627, AGC= 68, IDX= 495, 0.39, 0.554, 2.598, 0.653, 1.098, PHS=-0.456, 1.547,-0.448, RAW= 329.8, -6.5, CAL= 332.4, -8.9, ROT= 177.6, 8.9 T#Rx 11: Read range and direction messages.5j592 IByAEWʾE@dEipN<N<Wj5]`direction in FSK: [-0.987093,0.041371,-0.154710]]Fpublishing direction and range infoqyuęDᅦ$R.?jÿu3OBYq uQ)u\IuEiusuDuxu?uB` u1@)uVIqiuqu> q)qu٦>G2ԟ߿Aiu'u=qu>+A}E q)qchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.598126ZqbujAuMBuMBu]*@ʁue3bIy8@G}uęDᅦ$R.?jÿqu>ҁu\Fm7@Ru;dM;&?Ԧ/}zuhAu5juɜ?ru&v udBqq udBuKBu~*@] addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.504319 s, deltaX: 0.299999 m, approachRate: 0.594860 m/s, rangeRepo size: 4  Added new target pos. range: 51.431019 m, bearing: 152.693268 deg, lat: 36.906458 deg, lon: -122.115965 deg, deltaT: 0.504319 s, deltaX: 0.298630 m, approachRate: 0.592145 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.43 m.ibZrjRJB~~}|I|Q|}`fI@|}? zB%zP=I!)%X,?!I%H< ))-<-}"ؾ5x<5zae<~,jAd9v@vf"@YvE=yv*٥ HFh8 >j5؜?j59 I{By|?W:zȾ@dEik::bj5(By}zEDDAT read: Rx Time:14:23:18.7759 TRx dataTimestamp_ set to:1749133400.020215PDAT read: Bearing 178.2, 8.3 (Local) ~Local bearing/azimuth received: Bearing 178.2, 8.3 (Local) DAT read: Range 10 to 50 : 52.5 m (trip time 35.0 ms) speed -0.4 DAT read: 14:23:18.7759 LVL= 22224, 22641, 20754, 32755, AGC= 68, IDX= 500,-0.07, 1.050, 3.120, 1.175, 1.625, PHS=-0.486, 1.542,-0.453, RAW= 329.2, -6.0, CAL= 331.8, -8.3, ROT= 178.2, 8.3 Ygot valid direction response: 14:23:18.7759 LVL= 22224, 22641, 20754, 32755, AGC= 68, IDX= 500,-0.07, 1.050, 3.120, 1.175, 1.625, PHS=-0.486, 1.542,-0.453, RAW= 329.2, -6.0, CAL= 331.8, -8.3, ROT= 178.2, 8.3 T#Rx 12: Read range and direction messages. `direction in FSK: [-0.989038,0.031082,-0.144356]Fpublishing direction and range infoکyڭ-s1<8ӟ?'ЌCz¿ڭRBYک ۭV)ۭqXIۭQiۭ۩ۭۭB`?ۭ ܭ'ܷ@)ܭPwֽIܭO@iܭVܭ" G@ܭV> ݩ)ݩݭk <) ߿rLiݭu(ݭs;=ݭ" G@ݭV> ީ)ީ-checking for new query: numPingsReceived=12, elapsed TxPingTime=8.075958u addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 0.502881 s, deltaX: 0.700001 m, approachRate: 1.391981 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 51.43 m.bZrjRJB~~*{B}|||@J@|@4? zB靝h=I) -?IB < }<w"ؾN<hRH CH IH }BH  =H H )DH G<H CEHUʒCHUʒCHQHU =IU = IU56G% Qd<jG- r?bG- Z?~G AI Ai N >8E, jA 9K@@Y=y#<H??I+?Gۿs?ę Ƒ \?? K@;)C4}BI) I$I<3% %@=y%";Q ->٥)) -H-F5 5>9Ej5=O؜?Ej59= I=qByAEȾE@=dEi=;=:=j5QUp,AUwEZb4KjAPBPB?+@ʁǜbIHB1?z>b?-s1<8ӟ?'ЌCz¿" G@V>ҁ;"M[yG8ck7@ Z]be q?2݉{w+z\A8j`Lɜ?rެ gB􏜱ɜ? ꁝOBW*@DNOT Ignoring new targets: 51.43 m.bZrjRJB~~}||||`? zB3Gd=I)_#?I<<  ݁)݁݅4!WT߿3ܓSi݅(݅3=݅F@݅C> ށ)ށchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.599900Y6G F<~G AA Ai ԑ N >uc,P/jA9>0@>@Y>}$=y><>H?? ?ܠ? ۿ }?혿`F`?@ ? >0@>;)>CJ(}BJI%checking for new query: numPingsReceived=13, elapsed TxPingTime=8.822257mMb@Mb@Mb@iiiy i)iYmn?~jt?y&1|ymv?m=m`m@ m3@)m@Im@iymG@IIm?3 T=y6;Q >٥ HF$R >j5 ٜ?j59 IiBy6v?\:˾@dEit::qj5,AtEZb!jAQBQB*@ʁ;IC1?9?XEBNᅵ^ޒ?x0A¿F@C>ҁɌJ,5GI7@:=`CS%UMkr?r>z&A9j cɜ?rDz gB"-y  pfBQB*@- addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.505575 s, deltaX: 0.299999 m, approachRate: 0.593382 m/s, rangeRepo size: 4 E Added new target pos. range: 52.423477 m, bearing: 152.883712 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 1.008456 s, deltaX: 0.992458 m, approachRate: 0.984136 m/s, posRepo size: 4 EDNOT Ignoring new targets: 52.42 m.bAZIrIjIRIJIBI~Q~U{B}Q|Y|Y|]`ffJ@|]E ? zBMaT=IQ)U ?QI]< YaeY&<{"ؾ<ԩK5 )!d޿siu)P=G@0 > )] checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092218 ~G! A) AA NM >tK,IjA9>X@> @Y>;5+=y>;>H?-?t? #ۿ`u?e z?? >X@>a;)>Cj}BnII I T3(t S=y%;Q %>٥!! %H!-?" ->1]j55.ٜ?ej595 I5_Byae$̾e@5dEi5;5';5ѻj5m)Bu -AuuEZ b ]NBjA TB TB Y+@ʁ v]@JXP̘?M& ߽qUy"&F=?yjȗ G@ 0 >ҁ QGn7@i>Q <뮏쿸H?醸z tA '=j 3ɜ?r U4 KqP"KH9*K2Kv:K|0j,fJ. 6PNNn~S*"A)Iv hB `Lɜ? Dz  gB RB *@e addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.510243 s, deltaX: 0.600002 m, approachRate: 1.175915 m/s, rangeRepo size: 4  Added new target pos. range: 53.019199 m, bearing: 153.640906 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.510243 s, deltaX: 0.595722 m, approachRate: 1.167526 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.02 m.bZrjRJB~~}|||@3J@|? zB![=I)?I "< !%ʑ<%u"ؾ-<- ,)HUCHUIHU}BHU =HQHU*DHU/<HU%EEEEEO0EZGRG!~GAAN J>1:J- XBJ- UJJ- =RJ) ZJ- {9bJ- >9J- g4J) zJ- :jJ- :J- }Q:rJ- Q:a  DDAT read: Rx Time:14:23:20.2767  TRx dataTimestamp_ set to:1749133401.540819 PDAT read: Bearing 178.1, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 178.1, 9.5 (Local) % DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed -1.0 E DAT read: 14:23:20.2767 LVL= 21024, 24417, 19634, 31187, AGC= 67, IDX= 492, 0.49, 0.484, 2.572, 0.609, 1.034, PHS=-0.463, 1.585,-0.428, RAW= 329.2, -6.9, CAL= 331.9, -9.5, ROT= 178.1, 9.5 M Ygot valid direction response: 14:23:20.2767 LVL= 21024, 24417, 19634, 31187, AGC= 67, IDX= 492, 0.49, 0.484, 2.572, 0.609, 1.034, PHS=-0.463, 1.585,-0.428, RAW= 329.2, -6.9, CAL= 331.9, -9.5, ROT= 178.1, 9.5 M T#Rx 15: Read range and direction messages. u,xcjA9:@:@Y:1=y:l3;:H?9?`z?.ۿ@?)"<{? ? :@:S;)8R`direction in FSK: [-0.985743,0.032700,-0.165048]RFpublishing direction and range infoyv~5r?G ſVBY  R)a_ILiyVH?"۾ 'ܷ@)Ϣ|BIi% )*5H*뿪Ô޿rdSiŁ(jB=F@)> )Mchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.635706I=I=3m7 mE=ym;Q m>٥qq uHuF" >j5Nٜ?j59 IUBy̾@dEi;;xj5-ArEYZbǜbjAEUBEUBA*@ʁv[GJ ~fb? t!v~5r?G ſF@)>ҁz \_G"7h8@"C"EF~_s?6mD2zAl<jɜ?rGy bBɜ?  TB*@ addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.504786 s, deltaX: 0.299999 m, approachRate: 0.594310 m/s, rangeRepo size: 4  Added new target pos. range: 53.317619 m, bearing: 152.888719 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.504786 s, deltaX: 0.298420 m, approachRate: 0.591181 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.32 m.bZrjRJ!B!~)~)})|)|)|5J@|5s?ԁ zB?=I)?IVK+<   \< "ؾs< ,[}jA9B@Bj@YB8=yB>Q;BH`?|??a?`?4ۿ@C?90z?`? B@BS<;)BCn|BnyIMb@Mb@Mb@ )Y@5^I ?ˡE?Qybp?'=uv@ I@)@I@y@II3 A=yPe;Q >٥    H Fs >!-j5%lٜ?-j59% I%IBy-p?-a:-ʾ5@%dEi%;%;%&j5=*B=.A=oEmDNOT Ignoring new targets: 53.32 m.biZirijiRiJqBq~q~uzB}y|y|y|y|}@?DDAT read: Rx Time:14:23:20.7772 ԱTRx dataTimestamp_ set to:1749133402.045517PDAT read: Bearing 177.9, 8.8 (Local) ~Local bearing/azimuth received: Bearing 177.9, 8.8 (Local) DAT read: Range 10 to 50 : 54.5 m (trip time 36.3 ms) speed -0.5 DAT read: 14:23:20.7772 LVL= 20336, 20033, 20242, 31091, AGC= 66, IDX= 497, 0.04, 1.646,-2.585, 1.758, 2.200, PHS=-0.466, 1.545,-0.445, RAW= 329.5, -6.4, CAL= 332.1, -8.8, ROT= 177.9, 8.8 %Ygot valid direction response: 14:23:20.7772 LVL= 20336, 20033, 20242, 31091, AGC= 66, IDX= 497, 0.04, 1.646,-2.585, 1.758, 2.200, PHS=-0.466, 1.545,-0.445, RAW= 329.5, -6.4, CAL= 332.1, -8.8, ROT= 177.9, 8.8 -T#Rx 16: Read range and direction messages.5`direction in FSK: [-0.987565,0.036212,-0.152986]5Fpublishing direction and range infoکyڭe ݩ)ݩݭ;s뿜L߿,ny=iݭ("(ݭ;=ݭYF@ݭnF> ީ)ީUchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.106358 zBT=I) ?Is1< C <y"ؾZC<KM5P"KMͼ9*KI2KMw:KM7W?C7@0{Q@~\zrG c`zuGg WJYJY H- >H) H- IU checking for new query: numPingsReceived=16, elapsed TxPingTime=10.335825H- [}BH-  =H) H) H- G<H- IE9 |,EjA9/@@Yeu;=yG;H@? WJ?Q??ۿ?lt?S? /@骝5;)|BcII*I3ʮ I=y;Q >٥ HF% %>)5j5-aٜ?5j59- I-=By1=˾=@-dEi-:-%:-j5AE.AElEZbjArXBrXB*@ʁ;X2J,+ 7Z?F6 eҁ@SaG^8@s;B{ÚA=?m@܂zA ?jSɜ?rhP1q ieB cɜ? VB*@% addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 0.504698 s, deltaX: 0.799999 m, approachRate: 1.585105 m/s, rangeRepo size: 4 U Added new target pos. range: 54.111935 m, bearing: 152.641911 deg, lat: 36.906457 deg, lon: -122.115966 deg, deltaT: 0.504698 s, deltaX: 0.794315 m, approachRate: 1.573843 m/s, posRepo size: 4 UDNOT Ignoring new targets: 54.11 m.bQZYrYjYRYJYBY~~}|||@K@|? zB?=I]<)?I@8< 9E ݩ)ݩݭ5Y:j:޿Gm?Hiݭ(ݭB=ݭbG@ݭ'g > ީ)ީchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.655264a 6G y<jG n?bG `?~G A A N >, jA 9r@r@Yr]<=yr^;rH?I??>ۿ?M3ex?1? r@r;)rCz|BzZIchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.838579)  Mb@Mb@Mb@ )Y&1?{Gz?{Gzyp?#=ף@ v@)@I@y3@qImIm2A 51=y5\9Q 5>٥99 =H=FE19 E>q}j5u8ٜ?}j59u" Iu-By}*q?}a:}˾@udEiu:u:uj5+B.AiEZb*jA ZB ZB8++@ʁBV=Jn?"GMwlIn ? M _bG@'g >ҁAAIE @< AAE$" )# k)=߿N\qĿi@N(=F@%/> )] checking for new query: numPingsReceived=18, elapsed TxPingTime=11.112069 6G Mh < ~GQ AY Aq N} >,,PjAK-OP"K-9*K)2K-x:K- ]*[Qi aItVU3A; I,-J=?J=>-}|B-GII=I=?13u# uO=yuQ u>٥yy }H}F >j5ٜ?j59 I!By@dEi::.j5f/AԡH>HHIH}BH =HHHK<HSEfEchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.342544Zb@kjA7]B7]By*@ʁU*U;Kt7 5n? 2"R{[Cᅨj?rlſF@%/>ҁ9IEgF< AAEFL ݡ )ݡ ݥ Z2޿r$(Diݥ (ݥ e=ݥ bG@ݥ )> ޡ )ޡ % checking for new query: numPingsReceived=19, elapsed TxPingTime=11.611817) 6Gm f6<~GI Aa A N > ,gjAԁ-X|B-0Imchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.846799uMb@Mb@Mb@qԡqq q)qYu&1?I +?{Gzyqu94=qu@ uI@)u+@IqqyqI&I3r =yQ >٥ HF >!-j5%sٜ?-j59% I%By56q?5a:5[ɾ5@%dEi%Q:%:%j5=,BM/AM`EZAbE`jAE^BE^BE(+@ʁE#4euKP`b?Db"E3 OIp?G ſEbG@E)>ҁE[H HEO8@'yϙEA]~|ﳞ?knzEDAEEjE4ɜ?rEey EaBAA EbBE\BE+@5 addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 0.502510 s, deltaX: 0.399998 m, approachRate: 0.796000 m/s, rangeRepo size: 4 } Added new target pos. range: 55.700886 m, bearing: 153.230131 deg, lat: 36.906455 deg, lon: -122.115966 deg, deltaT: 0.502510 s, deltaX: 0.397152 m, approachRate: 0.790336 m/s, posRepo size: 4 }DNOT Ignoring new targets: 55.70 m.bZrjRJB~~zB}||| L@|-? zB !=I))5>1I5'N< 115<="ؾ=*<=Fz#֟?x0A¿- aBY) - i)- !_I- rRi) ) - - ƻ?- d;߾ - 'ܷ@)- BҽI- O@i- C- " G@- C> ) )) - L]sո߿ Phi- y(- =- " G@- C> ) )) >E q9 checking for new query: numPingsReceived=20, elapsed TxPingTime=12.124949)E?EEE4EFAFAYKU{P"KUͼ9*KQ2KUy:KU>+,Fe R o?>v2Xfwmo;CBr"6Gl<ZGRGH}>H}CH}xIH}|BH} =HyH})DH}_<H}dEAAchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.350657~GAA!N-)?ą,jA,)@ BC%GAq OYy B9g@@YB=y<H@?Y9??O'ۿ ?@X?`? g@;)C,|BIiIa=II3Z =y%+;Q ->٥11 5H5F=l&; =>AMj5ETڜ?Mj59E IEByIMxȾU@EdEiE%:E:E"j5Y]0A]]EԁZbhjA_B_B*@ʁ߲K-?{`H>z#֟?x0A¿" G@C>ҁgŗHdw{rZ9@W?C} ߽^|?D~'MzAFjɜ?rYws fBYws  ieBꁅg_B*@ addTargetRange:: Added new target pos. range: 56.400002 m, deltaT: 0.505190 s, deltaX: 0.300003 m, approachRate: 0.593842 m/s, rangeRepo size: 4  Added new target pos. range: 55.997303 m, bearing: 152.947078 deg, lat: 36.906455 deg, lon: -122.115963 deg, deltaT: 0.505190 s, deltaX: 0.296417 m, approachRate: 0.586744 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.00 m.bZrjRJB~~}||!|%@33L@|%`? zB靝,=I)R>IU< y Y)Y]j=0+'ݿ~rCȿi]2:*]KC>]G@] A> Y)Ychecking for new query: numPingsReceived=21, elapsed TxPingTime=12.620003 >E X< E ?E E E o0E checking for new query: numPingsReceived=21, elapsed TxPingTime=12.85488596G jx<~GAA N ?;}΅,<jA$9V@V`@YVU#O=yV٥ HF >%j5Fڜ?%j59 IBy-n?-d:-ʾ-@dEi:*:Fj55-B5C1A5\EZb$jA.aB.aB+@ʁbf5Kp4#e?,f|aEG?l39YпG@ A>ҁ|aH,|8@3l0' 7?᫃\ʿzAdEjKWʜ?r  MBey  aB*aBc/+@ addTargetRange:: Added new target pos. range: 56.700001 m, deltaT: 0.502819 s, deltaX: 0.299999 m, approachRate: 0.596635 m/s, rangeRepo size: 4 :JZBJYJJ?RJZJ9bJ[O9Jـ4J Added new target pos. range: 56.295158 m, bearing: 153.610560 deg, lat: 36.906455 deg, lon: -122.115966 deg, deltaT: 0.502819 s, deltaX: 0.297855 m, approachRate: 0.592371 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.30 m.b!Z)r)j)R)J)B1~Q~UzB}Y|Y|a|mYL@|u?qDDAT read: Rx Time:14:23:23.7791 TRx dataTimestamp_ set to:1749133405.067978PDAT read: Bearing 179.1, 6.9 (Local) ~Local bearing/azimuth received: Bearing 179.1, 6.9 (Local) DAT read: Range 10 to 50 : 57.3 m (trip time 38.2 ms) speed -0.5 DAT read: 14:23:23.7791 LVL= 27088, 25681, 20146, 32115, AGC= 68, IDX= 5, 0.04,-3.072,-1.050,-2.917,-2.461, PHS=-0.523, 1.458,-0.459, RAW= 328.4, -4.9, CAL= 330.9, -6.9, ROT= 179.1, 6.9 Ygot valid direction response: 14:23:23.7791 LVL= 27088, 25681, 20146, 32115, AGC= 68, IDX= 5, 0.04,-3.072,-1.050,-2.917,-2.461, PHS=-0.523, 1.458,-0.459, RAW= 328.4, -4.9, CAL= 330.9, -6.9, ROT= 179.1, 6.9 T#Rx 22: Read range and direction messages.`direction in FSK: [-0.992635,0.015593,-0.120137] Fpublishing direction and range infoڡyڥ{a3x?rjƹIڥ3eBYڡ ۥi)ۥQdIۥNiۥs}ۥDۥTۥ?ۥ  ܥi@)ܥ%Iܥ6ϸ@iܥϢܥH@ܥϢ= ݡ)ݡݥrX mH|L޿\Riݥ_)ݥT=ݥH@ݥϢ= ޡ)ޡ }zB} =I)>I\< 7<checking for new query: numPingsReceived=22, elapsed TxPingTime=13.133074u"ؾ*<#H H LIH |BH  =H H H H hEHʓCHʓCHH =I Iʭ5M checking for new query: numPingsReceived=22, elapsed TxPingTime=13.358711 6Gu9)<~GAAN?Gׅ,;^jAE{BMI)Q QImIm2}Dp =yQ >٥ HF >j5kڜ?j59 I؋By@dEiP;sQ;j5.B1AYEZ b YDjA cB cB +@ʁ {ۻs )ОUP/(a޿:in0),=G@nF> )checking for new query: numPingsReceived=23, elapsed TxPingTime=13.631567 Added new target pos. range: 56.891293 m, bearing: 153.828631 deg, lat: 36.906455 deg, lon: -122.115966 deg, deltaT: 0.504038 s, deltaX: 0.596134 m, approachRate: 1.182717 m/s, posRepo size: 4 DNOT Ignoring new targets: 56.89 m.bZrjRJB~~}|||`fL@|3? zB%2 =I!)%>!I-Db< <"ؾ4<iiiEEEE_0Eԑ ׉ ׉  checking for new query: numPingsReceived=23, elapsed TxPingTime=13.8629506G < ~G A A N >a/ޅ,{jA9F@F@YFza=yFG~;FH`$?&_?ۧ?Nۿ?垿+@$~?`^? F@F!;)FCR{BbIuMb@Mb@Mb@qqq q)qYujt??Mbpyu`?u٥ HF| >j5ڜ?j59' I̋By`?q:rӾ@dEi;;j5/B2AVEZbSdjAeBeBpf+@ʁH/YL/"?J! ʝᅭjC1?8C ÿG@nF>ҁ]kI9@ߌ!`_|쿻\?G y?Y&z?AWLjɜ?rV} ,eBɜ?V}  ,eBꁝpdBef+@ addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 0.503758 s, deltaX: 0.500000 m, approachRate: 0.992540 m/s, rangeRepo size: 4  Added new target pos. range: 57.387726 m, bearing: 153.445394 deg, lat: 36.906455 deg, lon: -122.115968 deg, deltaT: 0.503758 s, deltaX: 0.496433 m, approachRate: 0.985460 m/s, posRepo size: 4 DNOT Ignoring new targets: 57.39 m.bZrjRJB~ ~ SzB} | ||1|5n?JJ`4J2:J[BJfJJRJZJ:bJ9JJ zBҡ=I)>I (f< rE ݙ)ݙݝ"Pt4I޿RYiݝ(ݝ2C>ݝSFG@ݝ%/> ޙ)ޙchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.156049E?EEEi0Eq6G) ~G A A N >Ke YbP"Ke ͼ9*Ka 2Ke {:Ke +$@FBnr 2LCuOJ~{,W0k>G7Ji Ji ԡ H >H CH IH 5|BH  =H H *DH :<H :EE checking for new query: numPingsReceived=24, elapsed TxPingTime=14.370471F,8jA9]ݳ@]@Y]i=y]K;]HD? h??Zۿ?ڛ/Ui?`? ]ݳ@];)]C{BIIU'IU@3ԉ <=y;Q >٥ HF2 >j5ڜ?j593" IByӾ@eEi&;q';j52ASEZb!jAgBgB*@ʁώL? '#\kP8,?rlſSFG@%/>ҁ\'I<53^:@9_3*V쿥f/?vG|zAaMj0Aɜ?rnq LaB0Aɜ? eBH`+@5 addTargetRange:: Added new target pos. range: 58.400002 m, deltaT: 0.508455 s, deltaX: 0.600002 m, approachRate: 1.180050 m/s, rangeRepo size: 4 ] Added new target pos. range: 57.984100 m, bearing: 153.034588 deg, lat: 36.906456 deg, lon: -122.115968 deg, deltaT: 0.508455 s, deltaX: 0.596375 m, approachRate: 1.172915 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 57.98 m.bYZarjRJB~~}|||@33M@|!T? zB靥.=I)u>Ii< <s"ؾ<1 ;iiԹE?EEEo0EFFDDAT read: Rx Time:14:23:25.2800 TRx dataTimestamp_ set to:1749133406.584005PDAT read: Bearing 178.7, 9.4 (Local) ~Local bearing/azimuth received: Bearing 178.7, 9.4 (Local) DAT read: Range 10 to 50 : 58.7 m (trip time 39.1 ms) speed -0.7 DAT read: 14:23:25.2800 LVL= 25584, 22513, 25650, 32755, AGC= 69, IDX= 509, 0.05, 2.569,-1.658, 2.719, 3.122, PHS=-0.465, 1.549,-0.407, RAW= 328.5, -6.9, CAL= 331.3, -9.4, ROT= 178.7, 9.4  Ygot valid direction response: 14:23:25.2800 LVL= 25584, 22513, 25650, 32755, AGC= 69, IDX= 509, 0.05, 2.569,-1.658, 2.719, 3.122, PHS=-0.465, 1.549,-0.407, RAW= 328.5, -6.9, CAL= 331.3, -9.4, ROT= 178.7, 9.4 T#Rx 25: Read range and direction messages.`direction in FSK: [-0.986318,0.022383,-0.163326]Fpublishing direction and range infoڱyڵ[_>X{?$vzĿڵjBYڱ ۵c)۵WI۵2di۱۵E۵{۵E?۵Nbо ܵx@)ܵϢIܵg@iܵ'ܵG@ܵ'> ݱ)ݱݵ%^EЁǃ+^޿=*iݵ+)ݵ=ݵG@ݵ'> ޱ)ޱ]checking for new query: numPingsReceived=25, elapsed TxPingTime=14.6439936G &;ZG RG ~G A A N > 8,jAIA)E@{BIchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.874696Mb@Mb@Mb@ )Y? rh?Mby`?C<@ @)AI3@yQ@IeIe3F $=yQ >٥ HF >j5ڜ?j59& IBy `?r:ؾ@ eEi ;;j50B33APEZbW`jA iB iBDF+@ʁm+Lk{tA?q~ش #[_>X{?$vzĿG@'>ҁhvHrIo:@ 2#t0nu5?p6NUzA#Ojz ɜ?r@Ey bBz ɜ? bBgBj+@1 addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 0.503814 s, deltaX: 0.299999 m, approachRate: 0.595456 m/s, rangeRepo size: 4  Added new target pos. range: 58.281963 m, bearing: 153.332878 deg, lat: 36.906456 deg, lon: -122.115968 deg, deltaT: 0.503814 s, deltaX: 0.297863 m, approachRate: 0.591216 m/s, posRepo size: 4 DNOT Ignoring new targets: 58.28 m.bZrjRJB ~ ~MjzB}Q|Q|Q|UYM@|] ? zBΪIj%n< %o}<-}"ؾ-T<5k;i1i1i E E E E _0E :J bBJ RJJ @RJ ZJ :bJ S29J J4J  DDAT read: Rx Time:14:23:25.7804  TRx dataTimestamp_ set to:1749133407.088334 PDAT read: Bearing 175.0, -20.3 (Local)  ~Local bearing/azimuth received: Bearing 175.0, -20.3 (Local)  DAT read: Range 10 to 50 : 59.3 m (trip time 39.5 ms) speed -0.9  DAT read: 14:23:25.7804 LVL= 23024, 18321, 20866, 32755, AGC= 67, IDX= 513, 0.01,-1.721,-0.452,-1.695,-0.944, PHS=-0.689, 0.540,-0.753, RAW= 332.5, 14.2, CAL= 335.0, 20.3, ROT= 175.0, -20.3 % Ygot valid direction response: 14:23:25.7804 LVL= 23024, 18321, 20866, 32755, AGC= 67, IDX= 513, 0.01,-1.721,-0.452,-1.695,-0.944, PHS=-0.689, 0.540,-0.753, RAW= 332.5, 14.2, CAL= 335.0, 20.3, ROT= 175.0, -20.3 % T#Rx 26: Read range and direction messages.- ^direction in FSK: [-0.934320,0.081742,0.346936]5 Fpublishing direction and range info y hWb?Fv>{14? 3mBY Y) GI Qi C Nb0 q= ? @ @) }>I k@i g> zC@ g ) &R)꿈8jGQHZ?i $ @j} zC@ g ) M checking for new query: numPingsReceived=26, elapsed TxPingTime=15.144541ԑ 6G o;~GIAQAaNm>N-,?SjA9z޳@z@Yzx=yzh<:zH ?e?Uի?Wۿs?@ƛI]T?@? z޳@z8;)zC {B III] I]b3$ p=y3{14?zC@ gҁ$_3:G'> L;@X7@x?\`?A5(?z`A9j #˜?r7[ HMCHMIHM{BHM =HIHM+DHMŚ<HMEK]uP"KY*KY2K]|:K]p7~|b< N^ivly[MAyn P3We(#JiJm? zB靕=I)Ls>IUp< Ѵ <w"ؾc<;iichecking for new query: numPingsReceived=26, elapsed TxPingTime=15.378974yE?E!E!E-s1E1ԡ6Gy ~GQ Aa Aq N >  DDAT read: Rx Time:14:23:26.2806  TRx dataTimestamp_ set to:1749133407.591915 PDAT read: Bearing 178.9, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 178.9, 8.6 (Local)  DAT read: Range 10 to 50 : 59.6 m (trip time 39.7 ms) speed -0.6  DAT read: 14:23:26.2806 LVL= 21232, 19569, 21154, 32755, AGC= 69, IDX= 499,-0.06, 1.474,-2.831, 1.625, 2.030, PHS=-0.468, 1.469,-0.408, RAW= 328.4, -6.3, CAL= 331.1, -8.6, ROT= 178.9, 8.6  Ygot valid direction response: 14:23:26.2806 LVL= 21232, 19569, 21154, 32755, AGC= 69, IDX= 499,-0.06, 1.474,-2.831, 1.625, 2.030, PHS=-0.468, 1.469,-0.408, RAW= 328.4, -6.3, CAL= 331.1, -8.6, ROT= 178.9, 8.6  T#Rx 27: Read range and direction messages. `direction in FSK: [-0.988574,0.018982,-0.149535] Fpublishing direction and range infoڹ yڽ Gf�zo?S&r#ÿڽ fnBYڹ ۽ R)۽ qLI۽ Ri۹ ۽ E۽ ۽ 1?S,jA`о i@)z0I@i`MG@`> )WMf'K޿zBMiK),=MG@`> )Jchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.6691409U@U`@YUV|=yU;UH`?@[?@?`Kۿ?Bp?@d? U@U;)Qo{BIԱII3[ :=y:Q >٥ H": >j5Wڜ?5j59W. IBy9= ؾE@eEi:<<j5@BH4AJEZbjAlBlB+@ʁw;)@M5*V?~&=!Gf�zo?S&r#ÿMG@`>ҁ6MdJBtrN::@ϙL|r]?szA'SjYWɜ?r*N{ fB jBN+@= addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 0.503581 s, deltaX: 0.299999 m, approachRate: 0.595732 m/s, rangeRepo size: 4 M Added new target pos. range: 59.176853 m, bearing: 153.578954 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.503581 s, deltaX: 0.299164 m, approachRate: 0.594073 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.18 m.bZrjRJB~~}|||M@|`mp? zBT I 7et<  =checking for new query: numPingsReceived=27, elapsed TxPingTime=15.885377 "<}"ؾǻ<;iizEQE ?E E E _0E F =F =I 6G *;jG x?bG w?aDDAT read: Rx Time:14:23:26.7809 TRx dataTimestamp_ set to:1749133408.096168PDAT read: Bearing 178.8, 9.1 (Local) ~Local bearing/azimuth received: Bearing 178.8, 9.1 (Local) DAT read: Range 10 to 50 : 60.0 m (trip time 40.0 ms) speed -0.5 DAT read: 14:23:26.7809 LVL= 25968, 22257, 25954, 32755, AGC= 67, IDX= 502,-0.09, 0.324, 2.371, 0.476, 0.884, PHS=-0.472, 1.534,-0.411, RAW= 328.5, -6.6, CAL= 331.2, -9.1, ROT= 178.8, 9.1 Ygot valid direction response: 14:23:26.7809 LVL= 25968, 22257, 25954, 32755, AGC= 67, IDX= 502,-0.09, 0.324, 2.371, 0.476, 0.884, PHS=-0.472, 1.534,-0.411, RAW= 328.5, -6.6, CAL= 331.2, -9.1, ROT= 178.8, 9.1 T#Rx 28: Read range and direction messages.%`direction in FSK: [-0.987197,0.020679,-0.158158]%Fpublishing direction and range infoyᅣ4,?@\~>ĿpBY pe)VIbeiCZ?nҾ x@)I@i"G@"> )%W뿅2WM޿~q퉌i=C)t=G@"> )Uchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.152189~GQAaAyN?,֨jA9a@@Yxm=y<H?`;?#?@'ۿ`?9E c诿`Y?? a@骅D;)CU{BI Mb@Mb@Mb@ )YZd;?{Gz?MbPy^?#<A@ @)zAII@y=@I !I i3: ]=yeޮ:Q e>٥aa eHm"Fmz; m>qj5uw#ۜ?j59u3 IuBy^?s:ھ@ueEiu9;u;uj5AB4AIEZb'jAKnBKnB+@ʁgM%5?yN"ᅣ4,?@\~>ĿG@">ҁu6mJwOb:@2!~Ho쿜mRX?rW"7؝zAkTjnmɜ?r| kdB kdBzlBS+@9e addTargetRange:: Added new target pos. range: 60.000000 m, deltaT: 0.504253 s, deltaX: 0.400002 m, approachRate: 0.793256 m/s, rangeRepo size: 4 u Added new target pos. range: 59.574013 m, bearing: 153.580504 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.504253 s, deltaX: 0.397160 m, approachRate: 0.787620 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.57 m.bZrjRJB~~}|||N@|`+?Hͼ>HCHIH{BH =HH,DHE<H`E =zBEQXAIEsw< IIM.%<KuGP"Ku9*Kq2Ku}:Ku{-xE%)$.ZdZYPbdkF!Uh{"ؾ냻<,t(%jANDDAT read: Rx Time:14:23:27.2811 NTRx dataTimestamp_ set to:1749133408.599897RPDAT read: Bearing 178.1, 10.3 (Local) V~Local bearing/azimuth received: Bearing 178.1, 10.3 (Local) T^DAT read: Range 10 to 50 : 60.3 m (trip time 40.2 ms) speed -0.7 mDAT read: 14:23:27.2811 LVL= 23168, 22001, 23154, 32755, AGC= 65, IDX= 504,-0.25,-0.750, 1.265,-0.625,-0.236, PHS=-0.426, 1.548,-0.391, RAW= 329.1, -7.5, CAL= 331.9, -10.3, ROT= 178.1, 10.3 uYgot valid direction response: 14:23:27.2811 LVL= 23168, 22001, 23154, 32755, AGC= 65, IDX= 504,-0.25,-0.750, 1.265,-0.625,-0.236, PHS=-0.426, 1.548,-0.391, RAW= 329.1, -7.5, CAL= 331.9, -10.3, ROT= 178.1, 10.3 }T#Rx 29: Read range and direction messages.`direction in FSK: [-0.983344,0.032621,-0.178802]Fpublishing direction and range infoLyN7w߱K?ƿN3qBYL NZ)NUINrZiLNANھN$?N'1Ⱦ Nͷ@)N IN0^@iNX8NF@NX8> L)LNh+3Itb޿kiN(Nx>NF@NX8> L)Lchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.672564>{BIII2Mc MK=y]Q ]>٥ii uHq} >j5I>ۜ?j59s7 I}By@%eEih:2:'j55AFEZLbNd&jAN}oBN}oBNu*@ʁNѩ1pM3f??~+i%N7w߱K?ƿNF@NX8>ҁNbjMKvJMs;@SN~AI ;?azNANSjN%zɜ?rNEEm N?_BLL LNmBNW+@ addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 0.503729 s, deltaX: 0.299999 m, approachRate: 0.595557 m/s, rangeRepo size: 4   Added new target pos. range: 59.872913 m, bearing: 152.878937 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.503729 s, deltaX: 0.298901 m, approachRate: 0.593376 m/s, posRepo size: 4 DNOT Ignoring new targets: 59.87 m.bZr1j1R9J9B9~9~9}A|A|A|E`f&N@|M`ؾ? zB՞1I5y< 11=X'<=u"ؾ=eH,q>jA)8{BIMb@Mb@Mb@ )Y)\(?{Gz?yGa?X@ +@)AI@y@I#I%x3Z E=yQ >٥ H#F >k5Yۜ?k59W; IrByKa?q:ھ@*eEiP;h;k5BB05ACEB*** querying acoustic contact ***JR-DNOT Ignoring new targets: 59.87 m.b)Z)r1j1R1J1B1~9~=zB}9|9|A|A|E3? zB靅NI {< 0(<"ؾ^<b )%j>%j*߿S[Bݺi/d(O=" G@V> )checking for new query: numPingsReceived=30, elapsed TxPingTime=17.179132ԁ>E &<E E E E% _0E! F9 F9  Hu <Hu <H} Ѽ>Hy H} IH} {BH}  =Hy Hy H} 3<H} IEԱ  DDAT read: Rx Time:14:23:28.2816  TRx dataTimestamp_ set to:1749133409.359444 PDAT read: Bearing 177.3, 10.6 (Local)  ~Local bearing/azimuth received: Bearing 177.3, 10.6 (Local)  checking for new query: numPingsReceived=30, elapsed TxPingTime=17.404785K P"K ý9*K 2K ~:K  -@{2*aH 5:)xH %^s.C:,V  +G % Y! y- {B6G <ZG RG ~GqAAN>,k]jA95(I@5R@Y5n=y5z<5H; ?F??@ܕڿv?}@j`uė?? 5(I@5;?;)5C0{BzIi=Ip<IIV83t %2=y5G;Q 5>٥AiA H$F< >k5yۜ?k59? IdByվ%@1eEifZ<Z<k5)-S5A-@EZbbFjAzqBzqB_+@ʁPzMeY?g[m!-s1<8ӟ?'ЌCz¿" G@V>ҁQvPJ{Ƃ~:@p1nI:JBJQJJRJZJbJ-.9JJzJjJJ4:rJ4:J쿥m?kXrzcAEWjɜ?rwz gBɜ?wz  fBꁭpB_+@ addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 0.503642 s, deltaX: 0.500000 m, approachRate: 0.992769 m/s, rangeRepo size: 4 m Added new target pos. range: 60.369656 m, bearing: 153.422244 deg, lat: 36.906456 deg, lon: -122.115966 deg, deltaT: 0.503642 s, deltaX: 0.496742 m, approachRate: 0.986300 m/s, posRepo size: 4 mDNOT Ignoring new targets: 60.37 m.biZirqjqRqJqBq~yDAT read: Range 10 to 50 : 61.1 m (trip time 40.7 ms) speed -0.2 DAT read: 14:23:28.2816 LVL= 26000, 28001, 20594, 32147, AGC= 71, IDX= 509, 0.25,-2.443,-0.468,-2.352,-1.958, PHS=-0.397, .398, RAW= 330.0, -7 332.7, -10.6, ROT= 177.3, 10.6 unknown deviceResponse_: 14:23:28.2816 LVL= 26000, 28001, 20594, 32147, AGC= 71, IDX= 509, 0.25,-2.443,-0.468,-2.352,-1.958, PHS=-0.397, .398, RAW= 330.0, -7 332.7, -10.6, ROT= 177.3, 10.6 -Z#Rx 31: Read range message, but no direction.y}ftBYychecking for new query: numPingsReceived=31, elapsed TxPingTime=17.656401~}|||̌N@|`҉? UzBԙUC'Iڛ~< mt+<y"ؾ<EE= 5%< E DDAT read: Rx Time:14:23:28.7820 M TRx dataTimestamp_ set to:1749133409.861550U checking for new query: numPingsReceived=31, elapsed TxPingTime=17.902332E ?E E E P0E 6Go[<~GAAN?S ,&jA(9Vr@VN|@YVJ=yV ٥ H%F< >k5(ۜ?k59D ITBy_?r:Ѿ@9eEi:: k5s5A=EDAT read: Range 10 to 50 : 61.7 m (trip time 41.1 ms) speed -0.8 -Z#Rx 32: Read range message, but no direction.vBYchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.153225 addTargetRange:: Added new target pos. range: 61.700001 m, deltaT: 1.007544 s, deltaX: 0.900002 m, approachRate: 0.893263 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 60.37 m.bZrjRJB~~zB}|||N@| 쿞? EzBEŔAIM< IIM .HHIH_{BH =HH+DH<HEHEȕCHEȕCHEȔCHE =IE = IE6EEEEE DDAT read: Rx Time:14:23:29.2823  TRx dataTimestamp_ set to:1749133410.366046 PDAT read: Bearing 178.3, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 6.7 (Local)  checking for new query: numPingsReceived=32, elapsed TxPingTime=18.4106226G *f< K )P"K 9*K 2K :K  @ 6T dctfh5CS1&zkYpq)<HuF-:J J A~G A A) N= >&,ԜjA9VX~@V @YV=yV]=VH?$]?@ ?5ڿ C$?8ѫ? ? VX~@V X;)VCp% {B%dII5I5#3ez eN=ym1Q m>٥ii uHu&Fu"m; u>k59ۜ?k59H IHByо@>eEi'</<3 k5CB5A:EDNOT Ignoring new targets: 60.37 m.bZrjRJB~~}!|!|Q|Y|]~? zB< :J5^BJ5cJJ1RJ1ZJ5} :bJ5x9J1J1zJ5a:jJ5f:J5:rJ5:I)>Ia< l-0<}"ؾ6<޷-,?jAFDDAT read: Rx Time:14:23:29.7827 NTRx dataTimestamp_ set to:1749133410.870549VPDAT read: Bearing 178.1, 7.7 (Local) Z~Local bearing/azimuth received: Bearing 178.1, 7.7 (Local) nDAT read: Range 10 to 50 : 62.6 m (trip time 41.7 ms) speed -0.7 -zZ#Rx 34: Read range message, but no direction.HJfzBYHchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.924498Q9%Ɇ@%|@Y%s1}=y%ڗ<%H@#?M?Z?&ڿ@(?f`0?o? %Ɇ@%͈;)%C={B=_I)a ayMb@Mb@Mb@ )YL7A`?~jt?~jthy+g?D<A A@)3AI@yAII(*3hz  =yMQ >٥ H'F-; >k5ۜ?k59RM I9By0g?k:Ѿ@FeEiI::k5 6A7EZHbJjAJxBJxBJ+@ʁJTE4NҢ:M?vJ yᅰ}^+?mu"޽J)G@J|=ҁJadK1[=E;@: X J<.ҔZO? BzJ)AJ_jJeɜ?rJ\~ JmBJnmɜ?J*N{  HJvBJI+@ addTargetRange:: Added new target pos. range: 62.599998 m, deltaT: 0.759466 s, deltaX: 0.899998 m, approachRate: 1.185040 m/s, rangeRepo size: 4  Added new target pos. range: 62.156372 m, bearing: 153.935385 deg, lat: 36.906453 deg, lon: -122.115967 deg, deltaT: 1.767010 s, deltaX: 1.786716 m, approachRate: 1.011152 m/s, posRepo size: 4  DNOT Ignoring new targets: 62.16 m.bZrjRJB~~zB}||!|%LO@|%X? zB靥K )-r뿁{ÇG߿Nhi-L5(-]=-F@- > checking for new query: numPingsReceived=35, elapsed TxPingTime=19.188419 6G q<~G A A N >q4,jA HZ>HZCHZ~IHZ7{BHZ =HXHZ*DHZ<HZE9V@V[@YV4z=yVJ ?DAT read: Range 10 to 50 : 63.0 m (trip time 42.0 ms) speed -0.8 -Z#Rx 36: Read range message, but no direction.|BYchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.444286AZb"jA5zB5zB"+@ʁy#N1q@S% ӫᅥ:Ҡ?L`u&F@ >ҁO8MK ;@6:l?4VI?42zz,A_jɜ?rpx hBwz  gB1xBϛ+@ addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 0.506561 s, deltaX: 0.400002 m, approachRate: 0.789641 m/s, rangeRepo size: 4  Added new target pos. range: 62.552319 m, bearing: 153.696110 deg, lat: 36.906453 deg, lon: -122.115966 deg, deltaT: 0.506561 s, deltaX: 0.395947 m, approachRate: 0.781636 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.55 m.bZrjRJB~~}|||O@|^? Y]RJZJ:bJ5K9Jt4JzJ:jJ:Jf:rJf: DAT read: 14:23:30.2830 LVL= 31200, 32017, 25554, 32755, AGC= 66, IDX= 506, 0.04,-1.382, 0.658,-1.307,-0.854, PHS=-0.440, 1.559,-0.456, RAW= 330.4, -6.7, CAL= 333.0, -9.2, ROT= 177.0, 9.2  Ygot valid direction response: 14:23:30.2830 LVL= 31200, 32017, 25554, 32755, AGC= 66, IDX= 506, 0.04,-1.382, 0.658,-1.307,-0.854, PHS=-0.440, 1.559,-0.456, RAW= 330.4, -6.7, CAL= 333.0, -9.2, ROT= 177.0, 9.2  Z#Rx 37: Read direction message, but no range. `direction in FSK: [-0.985783,0.051663,-0.159881]ڙ yڝ ׭Ns?ČsvĿYڙ ۝ y)۝ }I۝ ciۙ ۙ ۝ G۝ P?ۙ ܝ @)ܝ |Iܝ w@iܝ l$ܝ E@ܝ l$> ݙ ݝ y>Tj%/࿇o]iݝ 'ݝ ,=ݝ E@ݝ l$> checking for new query: numPingsReceived=37, elapsed TxPingTime=19.673174 6G }T<~G A A N >:,AjAl9s@}@Yjy=y_<H@X?`Mh??Iڿ$?6 ? ? s@K;)CMzBMSII}I}2A >=yQ >٥ H)Fn >%k5ܜ?%k59T I"By!%JҾ%@QeEi::Wk5QUd6AU2EDNOT Ignoring new targets: 62.55 m.bZrjRJB ~I~Q}Y||||r?%DDAT read: Rx Time:14:23:30.7833 5TRx dataTimestamp_ set to:1749133411.879633MPDAT read: Bearing 177.7, 8.6 (Local) U~Local bearing/azimuth received: Bearing 177.7, 8.6 (Local) uDAT read: Range 10 to 50 : 63.5 m (trip time 42.3 ms) speed -0.5 -Z#Rx 38: Read range message, but no direction.)-~BY) zBq ݹ ݽ iɜAV4߿>iݽ 'ݽ 4=ݽ (~F@ݽ `> checking for new query: numPingsReceived=39, elapsed TxPingTime=20.179520~G ԑ A A N >9yB,_ jA9ja@jZk@Yjy=yj٥ H*F- ->1=k558ܜ?=k595Y I5ByEn?Ec:EоE@5XeEi5=:5:5k5MEBM6AM/EZbKjA1|B1|B +@ʁt4%O @\.^%"m ]34Q?S&r#ÿ(~F@`>ҁ6ш(L50+a<@nw& C"WYoY?șz A`jVqɜ?r¦m dBɜ?px  zBin+@HMƼ>HMCHMkIHM{BHM =HIHM+DHM$<HM,Eu addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 0.502523 s, deltaX: 0.500000 m, approachRate: 0.994979 m/s, rangeRepo size: 4  Added new target pos. range: 63.048767 m, bearing: 153.135280 deg, lat: 36.906456 deg, lon: -122.115965 deg, deltaT: 0.502523 s, deltaX: 0.496449 m, approachRate: 0.987912 m/s, posRepo size: 4 DNOT Ignoring new targets: 63.05 m.bZrjRJ B!~~zB}DDAT read: Rx Time:14:23:31.2834 TRx dataTimestamp_ set to:1749133412.383124PDAT read: Bearing 177.6, 8.3 (Local) ~Local bearing/azimuth received: Bearing 177.6, 8.3 (Local)  DAT read: Range 10 to 50 : 63.8 m (trip time 42.5 ms) speed -0.6 --Z#Rx 40: Read range message, but no direction.3BYEchecking for new query: numPingsReceived=40, elapsed TxPingTime=20.438887K]P"K] 9*KY2K]:K]&1Gp \G9wFsV*)#*3w`M=R l{>t|q|y|}`fO@|}T? zB QU7C~뿮:߿`кiU'U{=UaF@UV>checking for new query: numPingsReceived=41, elapsed TxPingTime=20.688934~GAANU?&J,*jA$9MT@ML^@YMzy=yM^G? `1F?,? MT@MZ;)IzB<IIIT3 ;=yϸQ >٥ H+F 4q  >k5Wܜ?k59] IBy=Ѿ=@_eEi;.; k5AM6AM,EZbjAc}Bc}Bc*@ʁ}POPm@{j>J"ov֞<7?'ЌCz¿aF@V>ҁ.MNgL?Q<@DYid?-'UzJA`jMɜ?rej eB T|Bs+@ addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 0.503491 s, deltaX: 0.299999 m, approachRate: 0.595838 m/s, rangeRepo size: 4   Added new target pos. range: 63.347340 m, bearing: 152.997595 deg, lat: 36.906456 deg, lon: -122.115965 deg, deltaT: 0.503491 s, deltaX: 0.298573 m, approachRate: 0.593005 m/s, posRepo size: 4  DNOT Ignoring new targets: 63.35 m.b Z rjRJB~Y~Y}Y|Y|a|a|m/.?y .Q,?DjA9>BM@>V@Y>z=y>18;>H@O ??2}?ڿ4?Ro S`=s?`? >BM@>`;)>CVzBZ(I:Je\BJeRJJe@RJaZJe=:bJeS29JeJ4Jam@m@m@m@q=DAT read: 14:23:31.7839 LVL= 24256, 20625, 21682, 32755, AGC= 69, IDX= 4,-0.14,-0.838, 1.173,-0.715,-0.296, PHS=-0.454, 1.516,-0.422, RAW= 329.2, -6.6, CAL= 331.9, -9.1, ROT= 178.1, 9.1 EYgot valid direction response: 14:23:31.7839 LVL= 24256, 20625, 21682, 32755, AGC= 69, IDX= 4,-0.14,-0.838, 1.173,-0.715,-0.296, PHS=-0.454, 1.516,-0.422, RAW= 329.2, -6.6, CAL= 331.9, -9.1, ROT= 178.1, 9.1 EZ#Rx 43: Read direction message, but no range.M`direction in FSK: [-0.986871,0.032738,-0.158158]yarH  ?@\~>ĿY ^)PITiErJ ?bؾ 'ܷ@)I0^@i"F@"> : c~b?߿HTqiu(=F@">uchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.185831Mb@Mb@Mb@ )YtV?l?y&1|yr?=`A A)\AI+@yfAIIb2 ==y:Q >٥ H >-k5wܜ?5k59a 5tIIBy5r?5_:5Ǿ5@eeEi; ;s$k59E7AE)EZb8jABBv+@ʁ̙OZ@4R{A$arH  ?@\~>ĿF@">ҁ\k}Lmo<@RWUxH>#N*k?긿zA+djԷɜ?r ut aBԷɜ? ut  eB~Bv+@ addTargetRange:: Added new target pos. range: 64.500000 m, deltaT: 0.505967 s, deltaX: 0.700001 m, approachRate: 1.383491 m/s, rangeRepo size: 4  Added new target pos. range: 64.042374 m, bearing: 153.502498 deg, lat: 36.906454 deg, lon: -122.115964 deg, deltaT: 0.505967 s, deltaX: 0.695034 m, approachRate: 1.373675 m/s, posRepo size: 4 -DNOT Ignoring new targets: 64.04 m.b)Z)r1j1R1J1B1~9~={B}9|9|9|E P@|E=?ԉ 靝yH]CH]XIH]zBH] =HYH],DH]/<H]IE DDAT read: Rx Time:14:23:32.2841  TRx dataTimestamp_ set to:1749133413.391975 PDAT read: Bearing 177.8, 8.4 (Local) % ~Local bearing/azimuth received: Bearing 177.8, 8.4 (Local) E DAT read: Range 10 to 50 : 64.8 m (trip time 43.2 ms) speed -0.9 -U Z#Rx 44: Read range message, but no direction. BY m checking for new query: numPingsReceived=44, elapsed TxPingTime=21.4460286Gu <K ?P"K 9*K 2K :K ugqchPlY>)aIrY=0Dgbibl(hTjG p?bG W? ~Gy A A N >-W,^jA9-O@-UY@Y-DFv=y-"W-H ?$??@ыڿ?Ƃ Įj@'? -O@-`;)-CzBIԹ) I IV2/} M=y6Q >٥ H,FX>: >k5ܜ?k59e IByfǾ@keEi;;'k5FB7A&E addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 0.502884 s, deltaX: 0.300003 m, approachRate: 0.596565 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 64.04 m.bZrjRJB~~}|||-@33P@|-`? 靭 !%[`"4Go߿U Qi%'%A=%F@%Q >checking for new query: numPingsReceived=45, elapsed TxPingTime=21.691059E}?EyEyE}0E6G 喇c^,z{jA)۽UI۽bi۹۽D۽۹۽A ܽr@)ܽkݽIܽ0^@iܽ`ܽF@ܽ`> ݹ)ݹݽ?zR߿h)_iݽ^(ݽR=ݽF@ݽ`> ޹)޹L^checking for new query: numPingsReceived=46, elapsed TxPingTime=21.9860945zB5IMb@Mb@Mb@ )Y5^I ??{Gztyx?L=ףA A)IyIIV83  #=yQ >٥ H-F= E>AMk5Eܜ?Uk59Eqj IE؊ByUex?UZ:UU@EseEiE:E:EL,k5y&8A#EZbjyjAEBEB+@ʁP]@z#.jpcȠ?S&r#ÿ`>ҁ'f MQ-Y<@]Qr 3&Z?pѠ zAghjUɜ?r,4r cB,4r  dBꁽGBH CH EIH zB) T> H  =H H -D G %Y!y-u B~G9AH W<H EDDAT read: Rx Time:14:23:33.2848 TRx dataTimestamp_ set to:1749133414.399546PDAT read: Bearing 177.3, 9.7 (Local) ~Local bearing/azimuth received: Bearing 177.3, 9.7 (Local) DAT read: Range 10 to 50 : 65.9 m (trip time 43.9 ms) speed -0.8 -Z#Rx 47: Read range message, but no direction.ډڍ̃BYډchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.452637A!A1N=>tf,jAK>P"K> 9*K<2K>:K>bjr;%d:?4>:\T<9[@De@Y(k=yfW;H`?1? 7?'wڿ@?{@wTj?``? [@E;)C15ezBUIIeIe2]C ]8=ymQ >٥ H.FlQ; >k5ܜ?-k59n IʊBy1545@zeEi;;J0k5AE8Am E addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 0.502412 s, deltaX: 0.300003 m, approachRate: 0.597126 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 65.14 m.bZrjRJ B ~ ~ }|||yP@|`?a zB靽rj ml=}i|߿L;=checking for new query: numPingsReceived=48, elapsed TxPingTime=22.698900ԉ6G 喇< ~G A A N >ѝl,jAI()(9r]@r~g@Yrc=yr;rH@??`tC?sڿn?؞ x?? r]@ԙrĉ;)rCGzB%ImDDAT read: Rx Time:14:23:33.7853 }TRx dataTimestamp_ set to:1749133414.906637PDAT read: Bearing 177.6, 8.7 (Local) ~Local bearing/azimuth received: Bearing 177.6, 8.7 (Local) DAT read: Range 10 to 50 : 66.6 m (trip time 44.4 ms) speed -0.8 DAT read: 14:23:33.7853 LVL= 23152, 21825, 21106, 32755, AGC= 66, IDX= 498,-0.14,-1.741, 0.269,-1.643,-1.200, PHS=-0.453, 1.517,-0.445, RAW= 329.8, -6.4, CAL= 332.4, -8.7, ROT= 177.6, 8.7 Ygot valid direction response: 14:23:33.7853 LVL= 23152, 21825, 21106, 32755, AGC= 66, IDX= 498,-0.14,-1.741, 0.269,-1.643,-1.200, PHS=-0.453, 1.517,-0.445, RAW= 329.8, -6.4, CAL= 332.4, -8.7, ROT= 177.6, 8.7 T#Rx 49: Read range and direction messages.`direction in FSK: [-0.987627,0.041394,-0.151261]Fpublishing direction and range infoqyupTyMO1?ni\ÿu3BYq upZ)uAUIurRiquBuu-?u u1@)uIu@iu|uaF@u|> q)quN.;뿉*o߿Py tRiu'u =uaF@u|> q)qEchecking for new query: numPingsReceived=49, elapsed TxPingTime=22.997410 Mb@Mb@Mb@    ) Y V-?&1? rhy |? P= C A zA) AI X@ y A@AIIT3j =yvQ >٥ H/F : >k5Vݜ?k59{s IByM}?V:@eEi.<<4k5GB!9AEZqbuWjAuBBuBBu-+@ʁu ^8SP+(@%_|$upTyMO1?ni\ÿuaF@u|>ҁu*nYM =@uoUug޻j=?wڄzuLAujjuɜɜ?rub u`Buɜɜ?u¦m  ucBuDBu?a+@ addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 0.507091 s, deltaX: 0.699997 m, approachRate: 1.380417 m/s, rangeRepo size: 4  Added new target pos. range: 66.130165 m, bearing: 153.094777 deg, lat: 36.906454 deg, lon: -122.115961 deg, deltaT: 1.009503 s, deltaX: 0.994072 m, approachRate: 0.984714 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.13 m.bZr j R JB~~zB}|||`fP@|%? zB靕kMH.CH.,IH.zBH. =H,H.,DH.<H.3EHCHHH =I I(Y69 a@ [k@Y E[=y ylT< H??KB?mڿ?@f`v?? a@ ;) C$zBI-DDAT read: Rx Time:14:23:34.2855 5TRx dataTimestamp_ set to:1749133415.406980UPDAT read: Bearing 177.4, 8.5 (Local) ]~Local bearing/azimuth received: Bearing 177.4, 8.5 (Local) mDAT read: Range 10 to 50 : 66.9 m (trip time 44.6 ms) speed -0.8 DAT read: 14:23:34.2855 LVL= 32752, 32753, 27474, 32755, AGC= 70, IDX= 484, 0.31,-2.250,-0.184,-2.160,-1.695, PHS=-0.467, 1.558,-0.468, RAW= 330.0, -6.2, CAL= 332.6, -8.5, ROT= 177.4, 8.5 Ygot valid direction response: 14:23:34.2855 LVL= 32752, 32753, 27474, 32755, AGC= 70, IDX= 484, 0.31,-2.250,-0.184,-2.160,-1.695, PHS=-0.467, 1.558,-0.468, RAW= 330.0, -6.2, CAL= 332.6, -8.5, ROT= 177.4, 8.5 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.987998,0.044865,-0.147809]Fpublishing direction and range info)y-ok@?%)k¿-̅BY) -)-I-Rki)-F--l?- -N@)-kݽI-F¹@i--_(F@-> )))- (뿷f߿%i-5'-=-_(F@-> )))checking for new query: numPingsReceived=50, elapsed TxPingTime=23.464916I%I)3-פ -B=y5Q 5>٥11 5H=0F=}: =>amk5eV%ݜ?mk59ew IeByquu@eeEie1:e:ec8k5KP"K*K2K:K[|`i% }ts'A<E*D85#J`c40Ry.OJ ?J?}HB9AEZ)b- jA-ڄB-ڄB-*@ʁ-~xShP= @B[L#-ok@?%)k¿-_(F@->ҁ-4lYnML-׭%>@9j-JX:Q[쿳WDV ?rz--A-rkj-w&ɜ?r-C] -)aB)-ej  -aB-6B-O+@m addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 0.500343 s, deltaX: 0.300003 m, approachRate: 0.599595 m/s, rangeRepo size: 4  Added new target pos. range: 66.427376 m, bearing: 152.880012 deg, lat: 36.906454 deg, lon: -122.115960 deg, deltaT: 0.500343 s, deltaX: 0.297211 m, approachRate: 0.594014 m/s, posRepo size: 4 DNOT Ignoring new targets: 66.43 m.bZrjRJB~~}||9|=P@|=@? P~3h|, jA9>ub@>(l@Y>i6S=y><>H@%?F?ݤ?lڿQ?@[[`cAV?@? >ub@>v;)>CFzBJIIjIjV83nRG rL=yrQ r>٥tt zHz1F~R~9 ~> k57Dݜ? k59T{ IBy@eEi ;h:;k5:AE DDAT read: Rx Time:14:23:34.7859 %TRx dataTimestamp_ set to:1749133415.913421AMPDAT read: Bearing 178.3, 8.5 (Local) U~Local bearing/azimuth received: Bearing 178.3, 8.5 (Local) eDAT read: Range 10 to 50 : 67.5 m (trip time 45.0 ms) speed 0.0 DNOT Ignoring new targets: 66.43 m.bZrjRJB~~DAT read: 14:23:34.7859 LVL= 32752, 28833, 30898, 32755, AGC= 70, IDX= 488,-0.00, 2.008,-2.213, 2.137, 2.577, PHS=-0.482, 1.539,-0.443, RAW= 329.0, -6.2, CAL= 331.7, -8.5, ROT= 178.3, 8.5 Ygot valid direction response: 14:23:34.7859 LVL= 32752, 28833, 30898, 32755, AGC= 70, IDX= 488,-0.00, 2.008,-2.213, 2.137, 2.577, PHS=-0.482, 1.539,-0.443, RAW= 329.0, -6.2, CAL= 331.7, -8.5, ROT= 178.3, 8.5 }|||| 2?T#Rx 51: Read range and direction messages.=`direction in FSK: [-0.988581,0.029340,-0.147809]=Fpublishing direction and range infoyOs"j ?%)k¿BY )pIxi? @)IA@i)G@ )Q뿹޿Ji(:=)G@ )}checking for new query: numPingsReceived=51, elapsed TxPingTime=23.998589 zB靝VTE, jA@vyBzI|~AMb@Mb@Mb@ )YQ?S㥫?Qy(|?/]=uA )I@yQAII<2 :=y Q  >٥   H2F >!%k5%fݜ?-k59%r I%By-|?-W:--@%eEi%b:%:%?k59=:A=EZYb]}ujA] B] B]+@ʁ]=P d=v?Z4#]Os"j ?%)k¿])G@Yҁ]$V\yM? =@t@Pp]Qwl\+?r wz]A]Voj]Qjɜ?r] *v ]'`BY],4r  ])aB]B]M+@ addTargetRange:: Added new target pos. range: 67.500000 m, deltaT: 0.506441 s, deltaX: 0.599998 m, approachRate: 1.184735 m/s, rangeRepo size: 4  Added new target pos. range: 67.023132 m, bearing: 153.753743 deg, lat: 36.906454 deg, lon: -122.115963 deg, deltaT: 0.506441 s, deltaX: 0.595757 m, approachRate: 1.176359 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.02 m.bZԩrjRJB~~zB}|HMż>HMCHMIHMvzBHM =HIHM+DHMC<HM[E||P@|l?DDAT read: Rx Time:14:23:35.2862 TRx dataTimestamp_ set to:1749133416.413400%PDAT read: Bearing 177.8, 9.6 (Local) -~Local bearing/azimuth received: Bearing 177.8, 9.6 (Local) =DAT read: Range 10 to 50 : 68.0 m (trip time 45.3 ms) speed -0.8 ]DAT read: 14:23:35.2862 LVL= 29664, 24305, 22258, 32755, AGC= 69, IDX= 507,-0.40,-0.383, 1.666,-0.273, 0.148, PHS=-0.444, 1.564,-0.424, RAW= 329.5, -7.0, CAL= 332.2, -9.6, ROT= 177.8, 9.6 eYgot valid direction response: 14:23:35.2862 LVL= 29664, 24305, 22258, 32755, AGC= 69, IDX= 507,-0.40,-0.383, 1.666,-0.273, 0.148, PHS=-0.444, 1.564,-0.424, RAW= 329.5, -7.0, CAL= 332.2, -9.6, ROT= 177.8, 9.6 mT#Rx 52: Read range and direction messages.u`direction in FSK: [-0.985269,0.037850,-0.166769]uFpublishing direction and range infoyOmSqCa?8_XſBY s)^IViES'1?پ  @)5I@i+F@+> )%%5B"1H߿xPJi=(?=F@+> )checking for new query: numPingsReceived=52, elapsed TxPingTime=24.469805 %zB%;I!)%i!I-I < ))-s+P<5"ؾ5 8,4,jA9ne@noo@YnI?=yn;nHG?`t? O?hڿ`&#? -+槿%-|?? ne@nK։;)nCyBII%I%25, 53=y5.Q 5>٥99 =H=3F=Of: >k5ݜ?k59σ I~By὾@eEiP::Ck5ԡIB;AEZb%ujABB;K+@ʁ wPMh~q@_@&OmSqCa?8_XſF@+>ҁqՏMOo^>@პ? Odrݽh?Q];zAojݿɜ?rjk RYBQjɜ?jk  `BBq+@U addTargetRange:: Added new target pos. range: 68.000000 m, deltaT: 0.499979 s, deltaX: 0.500000 m, approachRate: 1.000042 m/s, rangeRepo size: 4  Added new target pos. range: 67.517479 m, bearing: 153.350252 deg, lat: 36.906455 deg, lon: -122.115960 deg, deltaT: 0.499979 s, deltaX: 0.494347 m, approachRate: 0.988735 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.52 m.bZrjRJB~~}|||Q@|? -zB-}#;I))-l8)I5%< 115CR<]y"ؾ]<]; )E{R߿6t#iw'=DF@ A> )checking for new query: numPingsReceived=53, elapsed TxPingTime=25.0166666GU Ɏ<~G A! A1 NE >) ,4MFjA9>t@>}@Y>z7=y>M+<>H"? [??Oڿ(?QY d@?k? >t@>{;)>C^yBbIEchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.211693Mb@Mb@Mb@ )Yl?v/?٥99 EHAEyt; E>IUk5Mެݜ?Uk59M IMpBy]x?][:]غ]@MeEiM:M|:MGk5;AEZ9b=N+;jA=9B=9B=8+@ʁ=_P'E@1!=+ I%?OZ_|=DF@= A>ҁ=FNv3k>@(^"=r i??Ayz=KA=5rj=:ɜ?r=&` =bB=:ɜ?=b  9=B=$+@] addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 0.511118 s, deltaX: 0.599998 m, approachRate: 1.173894 m/s, rangeRepo size: 4  Added new target pos. range: 68.113220 m, bearing: 153.143872 deg, lat: 36.906456 deg, lon: -122.115956 deg, deltaT: 0.511118 s, deltaX: 0.595741 m, approachRate: 1.165565 m/s, posRepo size: 4 DNOT Ignoring new targets: 68.11 m.bZrjRJB~~zB}|||`f&Q@|H1? zB:AII)M4lIIM|~< IIMTHCHIH9zBH =HH*DHo<HEy DDAT read: Rx Time:14:23:36.2869  TRx dataTimestamp_ set to:1749133417.424150 PDAT read: Bearing 177.5, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 177.5, 8.9 (Local)  DAT read: Range 10 to 50 : 68.9 m (trip time 45.9 ms) speed -0.6 E DAT read: 14:23:36.2869 LVL= 32752, 27585, 32754, 32755, AGC= 68, IDX= 497, 0.37, 2.899,-1.426, 2.993,-2.861, PHS=-0.435, 1.482,-0.432, RAW= 329.9, -6.5, CAL= 332.5, -8.9, ROT= 177.5, 8.9 M Ygot valid direction response: 14:23:36.2869 LVL= 32752, 27585, 32754, 32755, AGC= 68, IDX= 497, 0.37, 2.899,-1.426, 2.993,-2.861, PHS=-0.435, 1.482,-0.432, RAW= 329.9, -6.5, CAL= 332.5, -8.9, ROT= 177.5, 8.9 M T#Rx 54: Read range and direction messages.U `direction in FSK: [-0.987020,0.043094,-0.154710]] Fpublishing direction and range info y .R[n?jÿ ̉BY ) kI i D R޾ -? /ݾ <@@) VI i  > ) +ٿ4~Ǻ߿m|c߼i o' |= > ) } checking for new query: numPingsReceived=54, elapsed TxPingTime=25.4805156G= j<ZGA RGA ԡ K O"K *K 2K :K },75l,,Eq/~`d%E  GX`%s ~G A A N% >W,&`jA9j@j@Yj9.=yjuN٥ H4Fמ; >k5ݜ?k59* IeBy@eEi::Jk59=:b#fP@jw*%%.R[n?jÿ!%>ҁ%VNIF>@%%xt2b {?z%2A%rj%aɜ?r%yc %ZB%w&ɜ?%yc  %'`B%'B%m,+@- addTargetRange:: Added new target pos. range: 68.900002 m, deltaT: 0.499632 s, deltaX: 0.300003 m, approachRate: 0.600448 m/s, rangeRepo size: 4  Added new target pos. range: 68.409882 m, bearing: 153.201122 deg, lat: 36.906456 deg, lon: -122.115957 deg, deltaT: 0.499632 s, deltaX: 0.296661 m, approachRate: 0.593760 m/s, posRepo size: 4 DNOT Ignoring new targets: 68.41 m.b Z r j R J B~~}|||9Q@|@ 4?J#J+4J+L/:JUYBJUMJJU=RJQZJU9bJU9JUg4JQzJUc:ejJUh:eJU+:erJU-:e zB靍XSI)僾Il{< \:W<}"ؾd <vl,}jAکyڭ篵ɮ￈d_? /ڭ3BYک ۩)ۭWIۭzi۩ۭCۭDۭ1?ۭQ ܭR@)ܭIܭw@iܭ ܭE@ܭ > ݩ)ݩݭS:Cl,5TD6iݭ7&ݭa=ݭE@ݭ > ީ)ީbchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.0266659@q@Y_%=yw\<H1?!??`ڿ55?@w͌?? @ O;)5ayB5]IeMb@Mb@Mb@aaa a)aYe +??/$yev?eL=eeA eA)e AIedAayeGAII2B %=yQ >٥ H5F=; > k5ݜ?k59 IVBy,w?[:]@eEi;G;1Ok5JBHM CHM IHM yBHI HI HM )DHI HM E~G A A) N >F,SjA RDDAT read: Rx Time:14:23:37.2875 VTRx dataTimestamp_ set to:1749133418.432181ZPDAT read: Bearing 176.3, 8.1 (Local) Z~Local bearing/azimuth received: Bearing 176.3, 8.1 (Local) bDAT read: Range 10 to 50 : 69.9 m (trip time 46.6 ms) speed -0.4 vDAT read: 14:23:37.2875 LVL= 21936, 20177, 18498, 32339, AGC= 69, IDX= 504, 0.03,-2.160,-0.089,-2.122,-1.611, PHS=-0.461, 1.568,-0.514, RAW= 331.3, -5.8, CAL= 333.7, -8.1, ROT= 176.3, 8.1 zYgot valid direction response: 14:23:37.2875 LVL= 21936, 20177, 18498, 32339, AGC= 69, IDX= 504, 0.03,-2.160,-0.089,-2.122,-1.611, PHS=-0.461, 1.568,-0.514, RAW= 331.3, -5.8, CAL= 333.7, -8.1, ROT= 176.3, 8.1 ~T#Rx 56: Read range and direction messages. `direction in FSK: [-0.987960,0.063888,-0.140901] Fpublishing direction and range infoPyR1t^eZ?:N ¿R̋BYP RU)RNIRBHiRS~RER1R9?R Rg@)R4QϽIR_@iRRD@R> P)PRo &5BO/j࿦*hiRk&R=RD@R> P)P%checking for new query: numPingsReceived=56, elapsed TxPingTime=26.4880549}ɢ@}|@Y}J*=y}Qk<}H`7?.?w\?zٿ:? 䣿p?? }ɢ@}k;)y>yBHII!Ii3 >=yQ %>٥!! %H%6F-; m>qk5uiޜ?k59u IuIByz@ueEiu;uU;uRk5KB_=A EK+PP"K*K2K:K1ZnYrU`;4'3= ' J   Id)2  C-_|YB+,fQZPbRڨjAR͊BR͊BR *@ʁRu +;$Q`@ #R1t^eZ?:N ¿RD@R>ҁR5N_@@g+RX+p}NM?E_zRBR]tjRy`ɜ?rR!D R]BRaɜ?R&`  R]BRމBR+@u addTargetRange:: Added new target pos. range: 69.900002 m, deltaT: 0.497968 s, deltaX: 0.300003 m, approachRate: 0.602454 m/s, rangeRepo size: 4  Added new target pos. range: 69.401703 m, bearing: 152.229913 deg, lat: 36.906457 deg, lon: -122.115955 deg, deltaT: 0.497968 s, deltaX: 0.296806 m, approachRate: 0.596035 m/s, posRepo size: 4 DNOT Ignoring new targets: 69.40 m.bZrjRJB~~}|||yQ@|? uzB靵hdI)򨾉Ixq< \<"ؾ#<kjE>q:J]XBJ]TJJ]?RJYZJ]{9bJ]:9J]ـ4JYzJ]:jJ]:J]TJ:rJ]VJ:Eu?EqEqEqEqF}=F}p=echecking for new query: numPingsReceived=56, elapsed TxPingTime=26.724806ԡ 6G <jG bG ?~G A A N >O,VbjA9:@:@Y:[=y:<:Hg=?@?{? ٿ??͑ 2j .S?`? :@:;):CJyBN4I)X XIjIj 3x  S=yQ >٥!) -H-7F53; =>k5,ޜ?%k59Q I>By)--@eEi-<(<Vk5=A=DDAT read: Rx Time:14:23:37.7879 MTRx dataTimestamp_ set to:1749133418.940510mPDAT read: Bearing 175.4, 11.5 (Local) u~Local bearing/azimuth received: Bearing 175.4, 11.5 (Local) ԑDAT read: Range 10 to 50 : 70.5 m (trip time 47.0 ms) speed -0.5 EDNOT Ignoring new targets: 69.40 m.bZrDAT read: 14:23:37.7879 LVL= 26320, 21169, 21650, 32307, AGC= 69, IDX= 508, 0.26, 0.155, 2.148, 0.169, 0.589, PHS=-0.346, 1.606,-0.424, RAW= 331.9, -8.4, CAL= 334.6, -11.5, ROT= 175.4, 11.5 Ygot valid direction response: 14:23:37.7879 LVL= 26320, 21169, 21650, 32307, AGC= 69, IDX= 508, 0.26, 0.155, 2.148, 0.169, 0.589, PHS=-0.346, 1.606,-0.424, RAW= 331.9, -8.4, CAL= 334.6, -11.5, ROT= 175.4, 11.5 T#Rx 57: Read range and direction messages.jRJ B ~ ~ }||||U.?-`direction in FSK: [-0.976768,0.078589,-0.199368]-Fpublishing direction and range infoAyERyAXh?iɿEBYA Ef)ERIETiE3~AE&Eh?Eپ E0^@)EQ IE;@iEMEvC@EM> A)AE4=#W1FߑB¿iEa%E>EvC@EM> A)Achecking for new query: numPingsReceived=57, elapsed TxPingTime=27.054632 zB靥&I)Il< cy_<{"ؾ6<7&,ijA9>@>@Y>$=y>2<>H>??` ?@Oٿ #@?࠿;f?? >@>;)>CFxBF!IuMb@Mb@Mb@qqq q)qYui|?5?/$?Zd;Oyuq?u,=uju\A uA)u AIuzAqyuAII(1n 3=yIKQ >٥ H8FM: >k5/Mޜ?k59= I1Byq?`:)@eEi;N;MZk5a>AEZibmQ1jAmBmBm )@ʁm/5 Qс @y|h+mRyAXh?iɿmvC@mM>ҁmPNҏ@@O$&mO{.;){I?s«Ŀzm~Bmrjm\Xʜ?rm@2 mKBim;T  imBm*@= addTargetRange:: Added new target pos. range: 70.500000 m, deltaT: 0.508329 s, deltaX: 0.599998 m, approachRate: 1.180335 m/s, rangeRepo size: 4 M Added new target pos. range: 69.997421 m, bearing: 151.349565 deg, lat: 36.906457 deg, lon: -122.115950 deg, deltaT: 0.508329 s, deltaX: 0.595718 m, approachRate: 1.171915 m/s, posRepo size: 4 UDNOT Ignoring new targets: 70.00 m.bQZQrQjQRQJYBY~Y~]HCHIHyBH =HH(DH@<H 1)1517єZ!dލֿi5%5y]=5 D@5%/> 1)1checking for new query: numPingsReceived=58, elapsed TxPingTime=27.497099 zB @I1)5ɾ1I5f< 19=jbBuo>cS,BG 3^h"3;54~&:^N>4Uj +Em?EiEiEmy0Eiԁ I I @A:J BJ RJJ >RJ ZJ bJ S29J t4J zJ :jJ :J <:rJ <:Ա 6G g< checking for new query: numPingsReceived=58, elapsed TxPingTime=27.736958~G A A N >N ,VjA9VB@V@YV"=yV8?@?#?ٿ"??Ƣ@nۗ?`? VB@V';)TrxBrIIz(Iz̍3u ==ylk:Q >٥    HM9FUn8 U>Yek5]mޜ?ek59]2 I]$Byaee@]eEi]:]::]#^k5LB>AE ZbBjABB)@ʁu)RQ] a@+8't`"t./٘?rlſ D@%/>ҁ(Y0N`o@@ T||"둾ϖ.?^zBvj^!ʜ?rj= SBy`ɜ?!D  ZB~Bh+*@ addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 0.501068 s, deltaX: 0.500000 m, approachRate: 0.997869 m/s, rangeRepo size: 4  Added new target pos. range: 70.492401 m, bearing: 151.939033 deg, lat: 36.906461 deg, lon: -122.115943 deg, deltaT: 0.501068 s, deltaX: 0.494980 m, approachRate: 0.987850 m/s, posRepo size: 4 DNOT Ignoring new targets: 70.49 m.bZrjRJB~~!}!|)|)|5Q@|5v? zB靥GWI<)<ξIb< e<"ؾ^<iizE9DDAT read: Rx Time:14:23:38.7885 TRx dataTimestamp_ set to:1749133419.952630-PDAT read: Bearing 176.7, 12.0 (Local) 5~Local bearing/azimuth received: Bearing 176.7, 12.0 (Local) DAT read: Range 10 to 50 : 71.4 m (trip time 47.6 ms) speed -1.0 E?EEE0E%DAT read: 14:23:38.7885 LVL= 30000, 20737, 22002, 32755, AGC= 70, IDX= 498,-0.17,-2.297,-0.382,-2.225,-1.865, PHS=-0.343, 1.530,-0.363, RAW= 330.5, -8.8, CAL= 333.3, -12.0, ROT= 176.7, 12.0 -Ygot valid direction response: 14:23:38.7885 LVL= 30000, 20737, 22002, 32755, AGC= 70, IDX= 498,-0.17,-2.297,-0.382,-2.225,-1.865, PHS=-0.343, 1.530,-0.363, RAW= 330.5, -8.8, CAL= 333.3, -12.0, ROT= 176.7, 12.0 5T#Rx 59: Read range and direction messages.au`direction in FSK: [-0.976526,0.056306,-0.207912]uFpublishing direction and range infoy2??#A5(Ԭ?hٜʿ̎BY 0u)QIUi ?#۹ @)nFI[&@iPwV4`E@PwV> )?=#5)4\Uÿi&,>4`E@PwV> )checking for new query: numPingsReceived=59, elapsed TxPingTime=28.048931ԑ 6G Vv<ZG RG ~G A A N >H†,h jAI4)49 @ b@Y X=y U< H 9??+? ٿ!:?@SΣఱ?{? @ ;) CExBEIchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.238813Թ%Mb@Mb@Mb@!!! !)!Y%K7A`?:v?{Gzy%k?%T=%#%A %A)% AI%A!y%AIEIE[3}C !=y:Q >٥ H:F9 >k5kޜ?k59 IByufk?uf:uƸ}@eEiO<<bk5K?AEZbjAǍBǍB6W*@ʁmNQU@I:R?z-2??#A5(Ԭ?hٜʿ4`E@PwV>ҁj9N2HR"@@]N'b8뿡!?'VſzBwju+ʜ?r`Q HB^!ʜ? SBꁅpB)@= addTargetRange:: Added new target pos. range: 71.400002 m, deltaT: 0.511052 s, deltaX: 0.400002 m, approachRate: 0.782702 m/s, rangeRepo size: 4 e Added new target pos. range: 70.889542 m, bearing: 152.496902 deg, lat: 36.906466 deg, lon: -122.115943 deg, deltaT: 0.511052 s, deltaX: 0.397141 m, approachRate: 0.777104 m/s, posRepo size: 4 DNOT Ignoring new targets: 70.89 m.bZrjRJB~~7zB}|||Q@|c?H>HCH^IHcyBH =HH&DH<HEHƓCHƓCHH =I = Ia6 !-PlI1)5澉1Ie"bZ< aamΘh<y"ؾr<Q,ETH5Q\jlcq6Ge~<~GQAYAiNu?ʆ,)jAI*R=I*a=:J.[BJ.SJJ.CRJ,ZJ.:bJ.y69J.4J,zJ.:jJ.:J.*C:rJ.-C:9w@4@Ya#=y}<H %?W?5?`&Jڿ(?`1>j@ɱ?? w@ ;checking for new query: numPingsReceived=60, elapsed TxPingTime=28.744255)CxBI)IEIE2Ua U.=y]&;Q ]>٥YY ]He;FM >k5ޜ?k59 I Byӻ@eEi::fk5MB?AEZYb]x jA]^B]^B]I+@ʁ]x$݅Qi :@CVG]ᅯ=$ǡ?hܸm]F@]%=ҁ]DO ?@`˅=]W2٬# +\? 9z]_A]~j]Kɜ?r]%ih ]gBYY Y]IB]e*@ addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 0.501134 s, deltaX: 0.299995 m, approachRate: 0.598633 m/s, rangeRepo size: 4  Added new target pos. range: 71.184540 m, bearing: 153.644183 deg, lat: 36.906466 deg, lon: -122.115943 deg, deltaT: 0.501134 s, deltaX: 0.294998 m, approachRate: 0.588661 m/s, posRepo size: 4 DNOT Ignoring new targets: 71.18 m.bZrjRJB~~}|||Q@|ฌ? uzBuI)IeS< Zl<s"ؾpm<H U a)U kIU QiQ U BU ?5޾U "?U ff U @)U IU @iU q=U eE@U q=> Q )Q U #}q[OʉU eE@U q=> Q )Q  checking for new query: numPingsReceived=61, elapsed TxPingTime=29.088617,І,CjA~xB~IuMb@Mb@Mb@qqq q)qYuuV?~jt?{Gzyurh?u٥y H >k5Bޜ?k59 IByh?i:0˾@eEi:(:jk5Z@AEchecking for new query: numPingsReceived=61, elapsed TxPingTime=29.246721Zb=jABBR*@ʁQ=@]{h*&u`lhL@4B7? =ηǿeE@q=>ҁbFKOh@@Npȝ$+C? h¿zGB{j6וʜ?rLJ 9OBLJ  9OBꁕٍBE*@U addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 0.507593 s, deltaX: 0.600006 m, approachRate: 1.182061 m/s, rangeRepo size: 4  Added new target pos. range: 71.780228 m, bearing: 152.481948 deg, lat: 36.906466 deg, lon: -122.115946 deg, deltaT: 0.507593 s, deltaX: 0.595688 m, approachRate: 1.173554 m/s, posRepo size: 4 DNOT Ignoring new targets: 71.78 m.bZrjRJB~~ zB}|||@3R@| k? tI)IK< 9=گoH CH ,IH yBH  =H H 'DH <H E>E < M DDAT read: Rx Time:14:23:40.2893 U TRx dataTimestamp_ set to:1749133421.461214] PDAT read: Bearing 178.0, 10.6 (Local) ] ~Local bearing/azimuth received: Bearing 178.0, 10.6 (Local) m DAT read: Range 10 to 50 : 72.6 m (trip time 48.4 ms) speed -0.4 E ?E E E Q0E  DAT read: 14:23:40.2893 LVL= 29856, 22689, 26962, 32755, AGC= 69, IDX= 490, 0.09,-2.940,-0.908,-2.817,-2.433, PHS=-0.420-0.388, RAW= 329.2, -7.8, CAL= 332.0, -10.6, ROT= 178.0, 10.6  !unknown deviceResponse_: 14:23:40.2893 LVL= 29856, 22689, 26962, 32755, AGC= 69, IDX= 490, 0.09,-2.940,-0.908,-2.817,-2.433, PHS=-0.420-0.388, RAW= 329.2, -7.8, CAL= 332.0, -10.6, ROT= 178.0, 10.6 - Z#Rx 62: Read range message, but no direction.I M 3BYI  checking for new query: numPingsReceived=62, elapsed TxPingTime=29.543631KpP"Kͼ9*K2K:K1xg\:SVh;oK;g842\@e3LMM3A6G}%<jGn?bGs?~GAAN?ن,3ijA96/O@6X@Y6!=y6G:6H?? ?`)?ڿ?I<NR? ? 6/O@6ň;)6CBixBBILIZ IZb3rDV r#=yr:Q v>٥t H:JWBJKJJERJZJ;9bJK9J4JzJ˛:jJЛ:J :rJ :k5eޜ?k59w IBy;@eEi;;nk5NB@AEchecking for new query: numPingsReceived=62, elapsed TxPingTime=29.750595 addTargetRange:: Added new target pos. range: 72.599998 m, deltaT: 0.499857 s, deltaX: 0.299995 m, approachRate: 0.600163 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 71.78 m.bZrjRJB~~ } |||`f&R@|- nN? I) IzB< )s<w"ؾL<j/EE< DDAT read: Rx Time:14:23:40.7897  TRx dataTimestamp_ set to:1749133421.967798 PDAT read: Bearing 178.2, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 178.2, 8.4 (Local) M DAT read: Range 10 to 50 : 73.2 m (trip time 48.8 ms) speed -0.3 Y E E E E O0E e DAT read: 14:23:40.7897 LVL= 32752, 24257, 28930, 32755, AGC= 67, IDX= 510, 0.05,-1.457, 0.567,-1.337,-0.896, PHS=-0.474, 1.509,-0.444, RAW= 329.3, -6.1, CAL= 331.8, -8.4, ROT= 178.2, 8.4  Ygot valid direction response: 14:23:40.7897 LVL= 32752, 24257, 28930, 32755, AGC= 67, IDX= 510, 0.05,-1.457, 0.567,-1.337,-0.896, PHS=-0.474, 1.509,-0.444, RAW= 329.3, -6.1, CAL= 331.8, -8.4, ROT= 178.2, 8.4  T#Rx 63: Read range and direction messages. `direction in FSK: [-0.988784,0.031074,-0.146083] Fpublishing direction and range info y lgǹ¦^dџ?/8ٲ¿ fBY ) ^I qi C ! &? S r@) ^ ڽI O@i Q  " G@ Q > ) S뿱A߿|y1i e( = " G@ Q > ) U checking for new query: numPingsReceived=63, elapsed TxPingTime=30.081451ԉ 6G}Sݮ<~GQAYAqN} ?,ۋjA9Z69@ZB@YZr=yZHZH ???ڿt?`Kp#mRs ? Z69@vchecking for new query: numPingsReceived=63, elapsed TxPingTime=30.254520Zﰈ;)ZC=WxB=IMb@Mb@Mb@ )Y+?~jt? rhy_?CA EA) AIAy3AII?13  =y 3Q  >٥   H>F۝ >%k5ߜ?%k59 IBy-_?-r:-ξ-@eEis::sk515AA5EZbg}jAYBYBt+@ʁQP@ (;%lgǹ¦^dџ?/8ٲ¿" G@Q >ҁm&_L+P ]@@|HF$uzFoY?CͻzBZjNɜ?rKde XB6וʜ?`Q  SBB”*@Y] addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 0.506584 s, deltaX: 0.599998 m, approachRate: 1.184401 m/s, rangeRepo size: 4 m Added new target pos. range: 72.674461 m, bearing: 153.539863 deg, lat: 36.906465 deg, lon: -122.115949 deg, deltaT: 1.006441 s, deltaX: 0.894234 m, approachRate: 0.888511 m/s, posRepo size: 4 uDNOT Ignoring new targets: 72.67 m.bqZrjRJB~~yB}|||LR@|`? aeؠIa)eiIm4t8< iimE%x<"ؾ <xHCHIHxBH =HH(DHa<HjEԁDDAT read: Rx Time:14:23:41.2899 TRx dataTimestamp_ set to:1749133422.468002DAT read: Range 10 to 50 : 73.5 m (trip time 49.0 ms) speed -0.2 -Z#Rx 64: Read range message, but no direction.ڡڥBYڡchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.510689Ա Eq Ey Ey E} 5Ey K P"K 9*K 2K :K s7eE45awdhS,.HN@.NIueHa}_N8%UH- 6Gup<~GIAYAqN}?:,RjAHjchecking for new query: numPingsReceived=64, elapsed TxPingTime=30.7586529z2@z<@YzjN=yzRHzH`- ? ?U?@ڿX?@>`袿GIh? z2@z[;)x]٥ H?Fl˺ >k5?ߜ? k59 I׉By#Ͼ@eEi,;1;>xk5AAE addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 0.500204 s, deltaX: 0.300003 m, approachRate: 0.599761 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 72.67 m.bZrjRJB~~}|||`R@|d? ezBeۼIa)miIu2H/< qy}#|<{"ؾ<Kp Ygot valid direction response: 14:23:41.7903 LVL= 29664, 22513, 29346, 30579, AGC= 68, IDX= 4,-0.07,-2.947,-0.892,-2.834,-2.420, PHS=-0.439, 1.575,-0.417, RAW= 329.5, -7.2, CAL= 332.2, -9.9, ROT= 177.8, 9.9  T#Rx 65: Read range and direction messages. `direction in FSK: [-0.984383,0.037816,-0.171929] Fpublishing direction and range infoڹyڽ'<\?!ƿڽ3BYڹ ۽s)۽WI۽ri۽sw۽D۽۽?۽վ ܽ @)ܽIܽ@iܽ;0ܽF@ܽ;0> ݹ)ݹݽ#\< 8߿R aiݽ )(ݽB>ݽF@ݽ;0> ޹)޹5 checking for new query: numPingsReceived=65, elapsed TxPingTime=31.131426r,jAI)@9r.@r78@Yr6=yr6;rH`??`?ڿ ?`$[Ѿf?? r.@rY;)rC%&xB%IMb@Mb@Mb@ )YX9v?:v?~jtxy]?<ĻA A)+ AIAy A:J[BJNJJBRJZJ:bJ!9J-4J%@%@%@%@AAI-I- 3=E =4=yEQ E>٥Ai mHim䘺 m>q}k5ua]ߜ?k59u IuΉBy^?t:ξ@ueEiuO;u;u1|k5OBAAEchecking for new query: numPingsReceived=65, elapsed TxPingTime=31.262684AZbAjA#B#B*@ʁ,R0mA@Fɪ}+L)'<\?!ƿF@;0>ҁ:l V?ȫ6?vzYBj+ɜ?r2WV PB+ɜ?2WV  PBÑB *@ addTargetRange:: Added new target pos. range: 74.099998 m, deltaT: 0.510468 s, deltaX: 0.599998 m, approachRate: 1.175389 m/s, rangeRepo size: 4  Added new target pos. range: 73.569687 m, bearing: 153.000058 deg, lat: 36.906462 deg, lon: -122.115951 deg, deltaT: 1.010672 s, deltaX: 0.895226 m, approachRate: 0.885773 m/s, posRepo size: 4 DNOT Ignoring new targets: 73.57 m.bZrjRJB~~yB}| ||`fR@|? 靅I)-ID%< <u"ؾϹ<iHHIHxBH =HHH<HEԡ  DDAT read: Rx Time:14:23:42.2905  TRx dataTimestamp_ set to:1749133423.479070 PDAT read: Bearing 178.8, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 178.8, 7.8 (Local)  DAT read: Range 10 to 50 : 74.4 m (trip time 49.6 ms) speed -0.6  DAT read: 14:23:42.2905 LVL= 28544, 27585, 25266, 30067, AGC= 70, IDX= 502,-0.29, 2.342,-1.871, 2.487, 2.937, PHS=-0.507, 1.522,-0.453, RAW= 328.7, -5.7, CAL= 331.2, -7.8, ROT= 178.8, 7.8  Ygot valid direction response: 14:23:42.2905 LVL= 28544, 27585, 25266, 30067, AGC= 70, IDX= 502,-0.29, 2.342,-1.871, 2.487, 2.937, PHS=-0.507, 1.522,-0.453, RAW= 328.7, -5.7, CAL= 331.2, -7.8, ROT= 178.8, 7.8  T#Rx 66: Read range and direction messages.% `direction in FSK: [-0.990531,0.020749,-0.135716]- Fpublishing direction and range infoڹ 6G= mo ݹ )ݹ ݽ 2뿅޿xRFiݽ )ݽ I=ݽ G@ݽ 'g > ޹ )޹ } checking for new query: numPingsReceived=66, elapsed TxPingTime=31.543203~Gi A A N >],vjAKzAP"KzH9*Kx2Kz:KzL$bs"7ycxFodKU }I"EYD}+9f!@fR+@Yf. =yf/;fH? ?Ϟ?ڿ ?@PAe?? f!@fm;)d !xB II Ib3u$ u?=yuA]Q u>٥yy }H}@F}s >k5zߜ?k59 IljByξ@fEi::k5AAE!ZibmjAmBmBm+@ʁm88JRa|9?^Q $m{U#mᅦJ?? M _mG@m'g >ҁm[^bZP鎹(@@Am0X9hB7g?B܈zmFBmjmʖɜ?rmpn m$ZBmNɜ?mKde  mXBmBm+@ addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 0.500600 s, deltaX: 0.300003 m, approachRate: 0.599287 m/s, rangeRepo size: 4  Added new target pos. range: 73.866852 m, bearing: 153.909156 deg, lat: 36.906458 deg, lon: -122.115957 deg, deltaT: 0.500600 s, deltaX: 0.297165 m, approachRate: 0.593617 m/s, posRepo size: 4 %DNOT Ignoring new targets: 73.87 m.b!Z!r!j!R!J)B)~)~)}1|1|1|5R@|] X? zB^I)IU< H<"ؾb<R,jA2DAT read: 14:23:42.7908 LVL= 26928, 22257, 22338, 29683, AGC= 70, IDX= 505,-0.41, 1.935,-2.280, 2.071, 2.491, PHS=-0.468, 1.559,-0.423, RAW= 328.9, -6.7, CAL= 331.6, -9.2, ROT= 178.4, 9.2 6Ygot valid direction response: 14:23:42.7908 LVL= 26928, 22257, 22338, 29683, AGC= 70, IDX= 505,-0.41, 1.935,-2.280, 2.071, 2.491, PHS=-0.468, 1.559,-0.423, RAW= 328.9, -6.7, CAL= 331.6, -9.2, ROT= 178.4, 9.2 6T#Rx 67: Read range and direction messages.:`direction in FSK: [-0.986751,0.027563,-0.159881]lnFpublishing direction and range infoAyE(cw■:^9?ČsvĿE̕BYA E0i)EVIEBWiEsAEEP?Euؾ EB@)E|IEL3@iEl$ESFG@El$> A)AEnԀ%K޿ߌiE(E%=ESFG@El$> A)A=checking for new query: numPingsReceived=67, elapsed TxPingTime=32.1186569e@e@Ye c=ye(# eH@???ڿ@"? Au? e@e͉;)eC xBI) Mb@Mb@Mb@ )Y?Mb?MbPy`?<A A)IAy(AIIM2 U=yUY Q U>٥QY ]H]AF]2 ]>ak5eߜ?k59e IeBy `?r:վ@e fEieH:e{:elk5!-TBA-EZAbEjAEBEBETh+@ʁEࣀ2XRe@= P'E(cw■:^9?ČsvĿESFG@El$>ҁEZlV~Px{@@Yz;"EkhHd3c_?7T?zEBEjEAeɜ?rES%b EHRBEAeɜ?ES%b  EHRBEBEEh+@:J^BJRJJ?RJZJ} :bJS29Jـ4JE addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 0.518112 s, deltaX: 0.500000 m, approachRate: 0.965042 m/s, rangeRepo size: 4 U Added new target pos. range: 74.363266 m, bearing: 153.452000 deg, lat: 36.906460 deg, lon: -122.115956 deg, deltaT: 0.518112 s, deltaX: 0.496414 m, approachRate: 0.958121 m/s, posRepo size: 4 UDNOT Ignoring new targets: 74.36 m.bQZQrYjYRyJB~~yB}|||R@|?checking for new query: numPingsReceived=67, elapsed TxPingTime=32.270729 -zB-I))-!)I57< 115!<]y"ؾ]h<]v@H CH IH oxBH  =H H H *<H E >Y y B6G 8P,jAFDDAT read: Rx Time:14:23:43.2909 FTRx dataTimestamp_ set to:1749133424.483959NPDAT read: Bearing 179.2, 7.2 (Local) N~Local bearing/azimuth received: Bearing 179.2, 7.2 (Local) VDAT read: Range 10 to 50 : 75.0 m (trip time 50.0 ms) speed -0.5 fDAT read: 14:23:43.2909 LVL= 31648, 24625, 25554, 32755, AGDX= 490, 0.48, 1.462,-2.747, 1.624, 2.079, PHS=-0.529, 1.504,-0.458, RAW= 328.2, -5.2, CAL= 330., ROT= 179.2, 7.2 nunknown deviceResponse_: 14:23:43.2909 LVL= 31648, 24625, 25554, 32755, AGDX= 490, 0.48, 1.462,-2.747, 1.624, 2.079, PHS=-0.529, 1.504,-0.458, RAW= 328.2, -5.2, CAL= 330., ROT= 179.2, 7.2 -rZ#Rx 68: Read range message, but no direction.DFBYDvchecking for new query: numPingsReceived=68, elapsed TxPingTime=32.535187txBIIIM3PW< S=y=Q U>٥aa eHeBFm m>yk5}ߜ?k59}p I}By@}fEi}z:}.:}k5PBBBAE] addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 0.486777 s, deltaX: 0.099998 m, approachRate: 0.205430 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 74.36 m.baZarijRJB~~}|||R@|v?KO"Kͼ9*K2K:K >lz!2f[2Ww`G$07GbWlxx!z}JJ  }zB靅\I)I < ؅<s"ؾ><2BRJ ,^7jAA9]@]@Y]_٥ HCF<3 >k5ߜ?k59 IBy׾@fEia];^;0k5*BAݪEDNOT Ignoring new targets: 74.36 m.bZrjRJB~~}||||`? EzBE "IA)EAIM< IIMU[ ݩ)ݩݭB޿@J6Qiݭ=k)ݭX>ݭG@ݭJ4> ީ)ީchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.130558ԑ6GY=<~G A A N >:Jm ZBJm SJJm @RJi ZJm 9bJm y69Jm J4Ji Թ E checking for new query: numPingsReceived=69, elapsed TxPingTime=33.278851M0,QjA9>@>J@Y>+ >H ?~F?ڝ?!Gۿ@?`|6upD`h? >@>];)>C^ xB^Iib=Ib=Mb@Mb@Mb@ԙ )Yx&1? rh?{Gzt?ya?C<ף; rA) AIAyAI#I%x3 G=yQ >٥ HDF >k5ߜ?k59 IBya?p:׾@fEi:1:ǎk5QBcBAߪEZbIe?jABB+@ʁBqRT K? eJ*H5?:ujrƿG@J4>ҁ4p5ۛP uVt@@C&BO2z\*?A3J¿zBބj5`ʜ?r n KBKde  }BP+@U addTargetRange:: Added new target pos. range: 75.500000 m, deltaT: 0.506598 s, deltaX: 0.500000 m, approachRate: 0.986976 m/s, rangeRepo size: 4 H>HCHIHQxBH =HHH8<H1EH]ÒCH]ÑCH]ÓCH] =IY I]y6 Added new target pos. range: 74.958931 m, bearing: 153.645612 deg, lat: 36.906460 deg, lon: -122.115957 deg, deltaT: 0.993375 s, deltaX: 0.595665 m, approachRate: 0.599638 m/s, posRepo size: 4 5DNOT Ignoring new targets: 74.96 m.b9Z9r9j9R9J9BA~A~e zB}i|i|i|mR@|muo? zBI) I ;   6N<w"ؾ¸<ۉ;iiDDAT read: Rx Time:14:23:44.2916 TRx dataTimestamp_ set to:1749133425.491933PDAT read: Bearing 178.7, 10.0 (Local) ~Local bearing/azimuth received: Bearing 178.7, 10.0 (Local) DAT read: Range 10 to 50 : 75.9 m (trip time 50.6 ms) speed -1.1 DAT read: 14:23:44.2916 LVL= 32752, 23201, 30098, 32755, AGC= 70, IDX= 496, 0.38, 0.903, 2.992, 1.058, 1.450, PHS=-0.460, 1.589,-0.395, RAW= 328.4, -7.3, CAL= 331.3, -10.0, ROT= 178.7, 10.0 Ygot valid direction response: 14:23:44.2916 LVL= 32752, 23201, 30098, 32755, AGC= 70, IDX= 496, 0.38, 0.903, 2.992, 1.058, 1.450, PHS=-0.460, 1.589,-0.395, RAW= 328.4, -7.3, CAL= 331.3, -10.0, ROT= 178.7, 10.0 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.984554,0.022343,-0.173648] Fpublishing direction and range infoڡyڥmwEp?ٖNs:ƿڥ̗BYڡ ۥ)ۥZIۥuiۥۥFۥۥZd?ۥq=ʾ ܥi@)ܥwIܥg@iܥ¸2ܥG@ܥ¸2> ݡ)ݡݥ'Քbs.1޿ĵTiݥvV)ݥ>ݥG@ݥ¸2> ޡ)ޡ%checking for new query: numPingsReceived=70, elapsed TxPingTime=33.547749E=?E9E9E=^0E9K %P"K 9*K 2K :K ;MHNX]-0*CJ1&7Kb8HBpa/[T! 6G] 1X<~G A! A9 NE >S,٥ HEF > checking for new query: numPingsReceived=70, elapsed TxPingTime=33.783062k5?k59 IByؾ@ fEin<<Gk5IMBAMܪEZb{_jABBy+@ʁ4zJXR`%GP?: +*mwEp?ٖNs:ƿG@¸2>ҁt9GsPGL;@@m=s6&? |To;?\<&¿zBkj%Sʜ?ri KB+ɜ?i  PBB+@ addTargetRange:: Added new target pos. range: 75.900002 m, deltaT: 0.501376 s, deltaX: 0.400002 m, approachRate: 0.797808 m/s, rangeRepo size: 4 - Added new target pos. range: 75.356827 m, bearing: 153.512502 deg, lat: 36.906462 deg, lon: -122.115959 deg, deltaT: 0.501376 s, deltaX: 0.397896 m, approachRate: 0.793608 m/s, posRepo size: 4 -DNOT Ignoring new targets: 75.36 m.b1Z1r1j1R1J1B1~Y~a}|||R@|? }zB}?!Iy)}&yIR/; P<"ؾ<;ii1E1E1E1E=_0E9Y DDAT read: Rx Time:14:23:44.7920  TRx dataTimestamp_ set to:1749133425.996157 PDAT read: Bearing 178.3, 11.1 (Local)  ~Local bearing/azimuth received: Bearing 178.3, 11.1 (Local)  DAT read: Range 10 to 50 : 76.7 m (trip time 51.1 ms) speed -0.8 M DAT read: 14:23:44.7920 LVL= 25072, 23089, 19890, 32755, AGC= 69, IDX= 500, 0.44, 2.797,-1.427, 2.935,-2.979, PHS=-0.420, 1.598,-0.373, RAW= 328.8, -8.1, CAL= 331.7, -11.1, ROT= 178.3, 11.1 m Ygot valid direction response: 14:23:44.7920 LVL= 25072, 23089, 19890, 32755, AGC= 69, IDX= 500, 0.44, 2.797,-1.427, 2.935,-2.979, PHS=-0.420, 1.598,-0.373, RAW= 328.8, -8.1, CAL= 331.7, -11.1, ROT= 178.3, 11.1 } T#Rx 71: Read range and direction messages.6G5 U;u `direction in FSK: [-0.980861,0.029111,-0.192522]} Fpublishing direction and range info y ?6ci0Zϝ?Mȿԑ fBY a) 1ZI Mi ~G A A) NA p3!,} jAE= ׾D? @)IA@iaF)G@aF> ) 뻢$#9޿R¿i(>)G@aF> )*checking for new query: numPingsReceived=71, elapsed TxPingTime=34.12854495@5V@Y5RJQZJU9bJUS29JUt4JQII= "=y@Q >٥ HFFiڹ >k5*?k59i IBy e?l:Ѿ@(fEi3;;k5-checking for new query: numPingsReceived=71, elapsed TxPingTime=34.286846BA=٪EZb jAMBMB+@ʁQE]dR'}@piOR-?6ci0Zϝ?Mȿԡ)G@aF>ҁIJ9P%@@.)/!쿚'J?i޷KſzBj9!ʜ?r>[ DB5`ʜ? KB BW+@ addTargetRange:: Added new target pos. range: 76.699997 m, deltaT: 0.504224 s, deltaX: 0.799995 m, approachRate: 1.586587 m/s, rangeRepo size: 4 - Added new target pos. range: 76.151100 m, bearing: 153.106907 deg, lat: 36.906464 deg, lon: -122.115959 deg, deltaT: 0.504224 s, deltaX: 0.794273 m, approachRate: 1.575239 m/s, posRepo size: 4 5DNOT Ignoring new targets: 76.15 m.b1Z1r1j1R1JQBY~Y~]zB}a|a|a|e,S@|e٬? zB I)!IP;  ׌<{"ؾB6<4;iirEi>jEEU ?EQ EY E] ^0EY Fu =Fu =H >H CH IH GxBH  =H H )DH =<H EE  DDAT read: Rx Time:14:23:45.2922  TRx dataTimestamp_ set to:1749133426.500122 PDAT read: Bearing 179.3, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 179.3, 9.0 (Local)  DAT read: Range 10 to 50 : 77.0 m (trip time 51.3 ms) speed -0.9 6G5 w; DAT read: 14:23:45.2922 LVL= 32752, 24897, 32754, 32755, AGC= 70, IDX= 487,-0.38, 0.392, 2.499, 0.566, 0.977, PHS=-0.497, 1.569,-0.414, RAW= 328.0, -6.6, CAL= 330.7, -9.0, ROT= 179.3, 9.0  Ygot valid direction response: 14:23:45.2922 LVL= 32752, 24897, 32754, 32755, AGC= 70, IDX= 487,-0.38, 0.392, 2.499, 0.566, 0.977, PHS=-0.497, 1.569,-0.414, RAW= 328.0, -6.6, CAL= 330.7, -9.0, ROT= 179.3, 9.0  T#Rx 72: Read range and direction messages. `direction in FSK: [-0.987615,0.012066,-0.156434] Fpublishing direction and range info y ᅱO?p Ŀ BY ~G AAANM>X(,jA )AaIiFv?Ӿ 0@)I@i| GH@| > ).[xL5ݿڠ$4i)!*=GH@| > )Rchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.606743lwB5I)9 9AEAIMIM2{ѻ _=yQ >٥ H >k5@D?k59 IBy@-fEi ;7<k5=RB=BA=֪EZbjABB,@ʁ{i@RQ?\"vZI'ᅱO?p ĿGH@| >ҁ٣; Qg*@@:/$kϘ3i?$Tz}BQjBɜ?rE:u OB B!+@Kz?P"K9*K2K:K+kMA3!YEB9&5e; cQ$oY@70p?)ga addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 0.503965 s, deltaX: 0.300003 m, approachRate: 0.595285 m/s, rangeRepo size: 4 m Added new target pos. range: 76.450821 m, bearing: 154.082425 deg, lat: 36.906464 deg, lon: -122.115959 deg, deltaT: 0.503965 s, deltaX: 0.299721 m, approachRate: 0.594725 m/s, posRepo size: 4 mDNOT Ignoring new targets: 76.45 m.bqZqrqjqRqJqBq~y~y}y|y||@S@|? zB,"I)!I֩; o<u"ؾEY;a ~G A A N >.,ѼjA9B@Bg@YB'&= bX=yb܋Q b>٥dd jHjGFn-; n>pvk5r^?vk59r` IrByxzѾz@r2fEirz:r:r$k5|~OBA~ӪE-DNOT Ignoring new targets: 76.45 m.b)Z)r)j)R)J)B)~1~1}1|19|9|A|E?k? }zB靅j-I) I6; f<"ؾHǷ<gP;iDDAT read: Rx Time:14:23:45.7926 TRx dataTimestamp_ set to:1749133427.003920PDAT read: Bearing 179.3, 9.6 (Local) ~Local bearing/azimuth received: Bearing 179.3, 9.6 (Local) DAT read: Range 10 to 50 : 77.6 m (trip time 51.7 ms) speed -0.9 DAT read: 14:23:45.7926 LVL= 27872, 22465, 22914, 32755, AGC= 70, IDX= 491,-0.13, 1.228,-2.938, 1.407, 1.801, PHS=-0.485, 1.591,-0.397, RAW= 327.8, -7.0, CAL= 330.7, -9.6, ROT= 179.3, 9.6 iYgot valid direction response: 14:23:45.7926 LVL= 27872, 22465, 22914, 32755, AGC= 70, IDX= 491,-0.13, 1.228,-2.938, 1.407, 1.801, PHS=-0.485, 1.591,-0.397, RAW= 327.8, -7.0, CAL= 330.7, -9.6, ROT= 179.3, 9.6 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.985922,0.012046,-0.166769]Fpublishing direction and range infoڡyڥ_=￘$x?8_Xſڥ3BqYڡ ۥl)ۥWIۥYiۡۡۥQۥ?ۥC˾ ܥ@)ܥ5Iܡiܥ+ܡܥ+> ݡ)ݡݥI*durݿV4Riݥh)ݥ2=ݡݥ+> ޡ)ޡchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.151848E?E E E 1E ԙ6G- ;] checking for new query: numPingsReceived=73, elapsed TxPingTime=35.296207~G A A N > m5, jAGyG}?AԑH>HCHwBIHHHH*DH0<H9EuMb@Mb@Mb@qqq q)qYush|??Q?Mb`?yui?u\=u;u A u A)u AIuAqyuf AII[3 /=yQ >٥ HHFU U>Y]k5]z?ek59] I]Bye'j?eh:e;e@]9fEi];];]ck5quBAuЪEZb:@jABB{ ,@ʁcR ?X)_=￘$x?8_Xſ+>ҁxQ_ ɯ@@΃&pXrvRĸ?‹Ak4ÿz~BjAɜ?romv 1JB n  KBBI+@ addTargetRange:: Added new target pos. range: 77.599998 m, deltaT: 0.503798 s, deltaX: 0.599998 m, approachRate: 1.190951 m/s, rangeRepo size: 4  Added new target pos. range: 77.047531 m, bearing: 154.022552 deg, lat: 36.906464 deg, lon: -122.115961 deg, deltaT: 0.503798 s, deltaX: 0.596710 m, approachRate: 1.184424 m/s, posRepo size: 4 DNOT Ignoring new targets: 77.05 m.bZrjRJB~~fzB}|||`ffS@|? 5zBDDAT read: Rx Time:14:23:46.2928 TRx dataTimestamp_ set to:1749133427.507889PDAT read: Bearing 178.6, 9.3 (Local) ~Local bearing/azimuth received: Bearing 178.6, 9.3 (Local) DAT read: Range 10 to 50 : 77.9 m (trip time 51.9 ms) speed -0.9 DAT read: 14:23:46.2928 LVL= 29344, 26225, 26578, 32755, AGC= 69, IDX= 493, 0.06, 1.837,-2.323, 1.982, 2.408, PHS=-0.483, 1.599,-0.429, RAW= 328.7, -6.7, CAL= 331.4, -9.3, ROT= 178.6, 9.3 -Ygot valid direction response: 14:23:46.2928 LVL= 29344, 26225, 26578, 32755, AGC= 69, IDX= 493, 0.06, 1.837,-2.323, 1.982, 2.408, PHS=-0.483, 1.599,-0.429, RAW= 328.7, -6.7, CAL= 331.4, -9.3, ROT= 178.6, 9.3 -T#Rx 74: Read range and direction messages.M`direction in FSK: [-0.986561,0.024111,-0.161604]MFpublishing direction and range infoکyڭ>q?oĿڭ̛BYک ۭr)ۭqfIۭgi۩ۭEۭKۭ?ۭ۾ ܭ@)ܭ|Iܭ@iܭ6&ܭG@ܭ6&> ݩ)ݩݭi/(A޿])= iݭ)ݭX=ݭG@ݭ6&> ީ)ީ=Iy)} yI}#a; o<y"ؾ=t<checking for new query: numPingsReceived=74, elapsed TxPingTime=35.573143;iizE EEEE0EFFK P"K ý9*K 2K :K 4T  W/}P`c fc HPI]= ~PH\m[1^2"yG/9 :J ZBJ OJJ =RJ ZJ 9bJ %9J g4J zJ /: jJ 4: J &: rJ &: 6G 2<ZG RG U checking for new query: numPingsReceived=74, elapsed TxPingTime=35.798672~G A A N >;,jAMxBMIiUp٥AA MHMIFQ ]>k5j?k59 IBy@?fEiU#< *<Ԥk5SB-BA5ͪEZQbUAjAUBUBU-D+@ʁUT۔SZ? ¥(U>q?oĿUG@U6&>ҁUэQ˥Qw.A@!/&U]zLGo?0[¿zUs BÜjUʜ?rUqT` UKBU%Sʜ?Ui  QUBU+@ addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 0.503969 s, deltaX: 0.300003 m, approachRate: 0.595281 m/s, rangeRepo size: 4 Ա Added new target pos. range: 77.345398 m, bearing: 153.325570 deg, lat: 36.906465 deg, lon: -122.115959 deg, deltaT: 0.503969 s, deltaX: 0.297867 m, approachRate: 0.591042 m/s, posRepo size: 4 DNOT Ignoring new targets: 77.35 m.bZrjRJB~~}|||yS@|? EzBE2IA)EAIMԋ; IIM<s"ؾ1<;ii=DDAT read: Rx Time:14:23:46.7932 MTRx dataTimestamp_ set to:1749133428.014281mPDAT read: Bearing 178.9, 8.0 (Local) m~Local bearing/azimuth received: Bearing 178.9, 8.0 (Local) }DAT read: Range 10 to 50 : 78.5 m (trip time 52.3 ms) speed -0.4 E?EEE0Em DAT read: 14:23:46.7932 LVL= 25136, 25537, 21890, 32755, AGC= 70, IDX= 496, 0.41, 1.772,-2.433, 1.923, 2.367, PHS=-0.507, 1.531,-0.447, RAW= 328.5, -5.8, CAL= 331.1, -8.0, ROT= 178.9, 8.0 - Ygot valid direction response: 14:23:46.7932 LVL= 25136, 25537, 21890, 32755, AGC= 70, IDX= 496, 0.41, 1.772,-2.433, 1.923, 2.367, PHS=-0.507, 1.531,-0.447, RAW= 328.5, -5.8, CAL= 331.1, -8.0, ROT= 178.9, 8.0  T#Rx 75: Read range and direction messages. `direction in FSK: [-0.990086,0.019011,-0.139173] Fpublishing direction and range infoAyEqǮ￰@ w?H@lEBYA E0b )EcIEUiAEFEE?E/ Ex@)E4QϽIE@iE5EMG@E5> A)AE:^-f޿wݹiE5)EH=EMG@E5> A)A checking for new query: numPingsReceived=75, elapsed TxPingTime=36.1942216G 1X<~G A A N >OC,jA4 checking for new query: numPingsReceived=75, elapsed TxPingTime=36.3027809e@@Y"L٥)1 UHUJFU=< ]>Yek5]?mk59]) I]Bymo?mb:mƾm@]FfEԑi]:]&<]k5BAʪEZbjABBX+@ʁtJS<#?HdKұ%qǮ￰@ w?H@lMG@5>ҁ-Y(?YQl A@9#O}쿳,?4zWBɊjɜ?rl PBAɜ?l  KBZB+@ addTargetRange:: Added new target pos. range: 78.500000 m, deltaT: 0.506392 s, deltaX: 0.599998 m, approachRate: 1.184850 m/s, rangeRepo size: 4  Added new target pos. range: 77.941124 m, bearing: 153.840237 deg, lat: 36.906462 deg, lon: -122.115960 deg, deltaT: 0.506392 s, deltaX: 0.595726 m, approachRate: 1.176413 m/s, posRepo size: 4 DNOT Ignoring new targets: 77.94 m.bZr j R J B~~szB}|||S@|={?Hʼ>HCHIHQxBH =HH+DH<HE -|zB-L I1)5W1I5m; 115娔<=}"ؾ=@)I6ϸ@i|H@|> )Dl z޿B7=3[i)U=H@|> ) checking for new query: numPingsReceived=76, elapsed TxPingTime=36.596901 6G5 &;K] &P"K] =9*KY 2K] :K] RskVZlV.m2 3Cs7g9@[A&Vf UDg~G AAN>$J,I,jA96*@64@Y6{&٥tt vHtz; z>|~k5~?k59~ I~Byž@~LfEi~:~:~ak5TBBA%ɪEJ;4J;4J;?z0:J}[BJ}PJJ}@RJyZJ}:bJ}*9J}J4JyzJ}:jJ}:J}-:rJ}-:Z1b5!jA5"C5"C54?,@ʁ5>Žlb4G{1@Ǔlݎ65$v1N\̏?ni\ÿ5H@5|>ҁ5#Ȇ` P P@EC55[K"?Iz ¿z5B5j5?r5(T 5#B5ɜ?1 15XB5+@1Uchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.806847-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 150.199997 m, deltaT: 0.502610 s, deltaX: 71.699997 m, approachRate: 142.655334 m/s, rangeRepo size: 4DNOT Ignoring new targets: 77.94 m.bZrjRJB~~}|||`fb@|Y? =zzBeq9Ia)e!iIu4R; qq}ߕ<w"ؾض<Bqeԁ DDAT read: Rx Time:14:23:47.8416  TRx dataTimestamp_ set to:1749133429.019885 PDAT read: Bearing 179.0, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 179.0, 9.9 (Local) % DAT read: Range 10 to 50 : 150.9 m (trip time 100.6 ms) speed -0.2 U DAT read: 14:23:47.8416 LVL= 29744, 23601, 24306, 32755, AGC= 65, IDX= 23, 0.37, 1.492,-2.712, 1.657, 2.044, PHS=-0.464, 1.575,-0.390, RAW= 328.2, -7.3, CAL= 331.0, -9.9, ROT= 179.0, 9.9 ] Ygot valid direction response: 14:23:47.8416 LVL= 29744, 23601, 24306, 32755, AGC= 65, IDX= 23, 0.37, 1.492,-2.712, 1.657, 2.044, PHS=-0.464, 1.575,-0.390, RAW= 328.2, -7.3, CAL= 331.0, -9.9, ROT= 179.0, 9.9 ] T#Rx 77: Read range and direction messages.e `direction in FSK: [-0.984959,0.017193,-0.171929]m Fpublishing direction and range info y u WɄᅮk~?!ƿ CY  0t) 1\I ^i  A h ? Ǿ  -M@) wI ݸ@i ;0 G@ ;0>  )  ]x^uݿh(i ) > G@ ;0>  )  checking for new query: numPingsReceived=77, elapsed TxPingTime=37.075630Ա uQ,FjA9nB@"L@Y),٥ HKF ;  >k5i?Ek595 IByE=s?E_:EE@TfEi;p;̰k5IMBAUƪEZ9b=EAjA=C=C=H,@ʁ=)Kgrbچ@uA9=u WɄᅮk~?!ƿ=G@=;0>ҁ=Gщ`PP@xKȍ8=Y;0mZ1q?Ŀz=|B=j='v0?r=_Y =B9=qT`  =1JB=B=+@-=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 150.899994 m, deltaT: 1.005604 s, deltaX: 72.399994 m, approachRate: 71.996529 m/s, rangeRepo size: 4EDNOT Ignoring new targets: 77.94 m.bAZArAjARAJABI~I~MzB}I|Q|Q|Ub@echecking for new query: numPingsReceived=77, elapsed TxPingTime=37.310863|uC?Թ xzB I1)5-1I5zc*; 99=M<="ؾEH CH H H H H ,DH <H E 9 = YA yE  B 6Gm (< DDAT read: Rx Time:14:23:48.2941 - TRx dataTimestamp_ set to:1749133429.525751= PDAT read: Bearing 177.5, 10.7 (Local) = ~Local bearing/azimuth received: Bearing 177.5, 10.7 (Local) ] DAT read: Range 10 to 50 : 79.8 m (trip time 53.2 ms) speed -0.8 ~Gi Ay A N >SXDAT read: 14:23:48.2941 LVL= 32752, 25137, 32754, 32755, AGC= 70, IDX= 26,-0.03,-1.671, 0.437,-1.568,-1.158, PHS=-0.425, 1.642,-0.414, RAW= 329.7, -7.8, CAL= 332.5, -10.7, ROT= 177.5, 10.7 Ygot valid direction response: 14:23:48.2941 LVL= 32752, 25137, 32754, 32755, AGC= 70, IDX= 26,-0.03,-1.671, 0.437,-1.568,-1.158, PHS=-0.425, 1.642,-0.414, RAW= 329.7, -7.8, CAL= 332.5, -10.7, ROT= 177.5, 10.7 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.981678,0.042861,-0.185667]Fpublishing direction and range infoyi￈uF? &K{ǿBY )1bIiFپ,bjAԁ-?Ӿ #@)'g I@it;?DF@t;?> )Rh҆+8@]r߿25wvi'# >DF@t;?> )checking for new query: numPingsReceived=78, elapsed TxPingTime=37.6367499X@b@Y۵;y߆<H?`?W@ڿ?@7w`?? X@̈;)=wBEqIIU IUV2P{ @=y%Q %>٥!! %H-LF-|; ->Q]k5UL!?]k59U IUByaeUe@UZfEiU>:U`:Uk5im$CAmêEZbajAxBxBn*@ʁW |+rSx^1M<+ @k?l-i￈uF? &K{ǿK-W.P"K-H9*K)2K-:K-LdA}uP3X#-\_yw.oFUVv?*da\y4DF@t;?>ҁlEVQx8A@Xqh,-ުfw?‚ƿzTBjn4Lʜ?rxP ?BԩxP  ?B B*+@ addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 1.511470 s, deltaX: 1.300003 m, approachRate: 0.860092 m/s, rangeRepo size: 4 5 Added new target pos. range: 79.235695 m, bearing: 152.840371 deg, lat: 36.906460 deg, lon: -122.115948 deg, deltaT: 1.511470 s, deltaX: 1.294571 m, approachRate: 0.856498 m/s, posRepo size: 4 =DNOT Ignoring new targets: 79.24 m.b9Z9r9j9R9JABA~I~I}I|I|I|U@3S@|U ? vzB靵D'I)_%I; ꩘<{"ؾ<ݖ[|^,|jA9Zn@Zw@YZ6{;yZ !se,ۖjAwBgIHļ>HCHHH =HH+DH<HEHCHCHCH =I = Io6!UMb@Mb@Mb@QQQ Q)QYU +?Q?MbPyUv?Uu=UQ U A)U AIQQyU3 AImIm<2}j }9=yQ >٥ HNF >k5\?k59 IyBw?[:@ffEiu;s;ck5iCAEZbjABBށ,@ʁuS+;u?++ 3↑쨏?hܸmMG@%=ҁ>=}Qhg}20A@g~maQ}?ֲY<:J- ^BJ- ZJJ- =RJ) ZJ- } :bJ- S9J- g4J) zJ- b:jJ- g:J- Su:rJ- Uu:Wk,jA b٥ HOFf; >k5y?k59^ Iy@lfEie:q:k5CAE- addTargetRange:: Added new target pos. range: 80.900002 m, deltaT: 0.502983 s, deltaX: 0.300003 m, approachRate: 0.596448 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 80.03 m.b)Z1r1j1R1J1B9~9~9}9|A|A|E9T@|E@0? qzB`MI)*Ij: wE<y"ؾ%h<%_vr,SjA9%x@%@Y%;oy%=<%HK,? J?Mڿ`4*? S? GҘ?@? %x@%<];)!=wB=PIMb@Mb@Mb@ )Yl?&1?Mb`yw?P=nA A) AIy\ AAI} I}(2checking for new query: numPingsReceived=81, elapsed TxPingTime=39.326817Kb ,=ybQ >٥ HPF5Ⱥ 5>9Ek5=?Ek59= I9yEw?E[:MսM@=tfEi=:=:=k5uVBuDAuEZbHCHIHGxBH =HH)DH <HEԑ  DDAT read: Rx Time:14:23:50.3419  TRx dataTimestamp_ set to:1749133431.540769 DAT read: Range 10 to 50 : 151.5 m (trip time 101.0 ms) speed -0.4 - Z#Rx 82: Read range message, but no direction.ڙ ڝ CYڙ  checking for new query: numPingsReceived=82, elapsed TxPingTime=39.5860256G 5<jG q?bG S?~G A A Թ N >#x,jA9 x@@YPy<H@+?NL?@\{Nڿ*? 㐿 j??e?  x@;)CwBDII%I)3W f=yJQ >٥ H ?k5?k59 Iy㽾@yfEi::k5RDAE-=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.500000 m, deltaT: 1.008433 s, deltaX: 70.599998 m, approachRate: 70.009605 m/s, rangeRepo size: 4MDNOT Ignoring new targets: 80.03 m.bIZIrIjIRIJIBQ~Q~Q}Q|Y|Y|b@|? mzB`_I!)%35!I%m! 1Y]>͞a,(ajA9Vr@V|@YVmѩyV#F٥pp vHvQFv޺ v>x~k5z?~k59z{ IzBy7@zfEiz;:z:z1k5  DA EEDNOT Ignoring new targets: 80.03 m.bAZArAjARAJIBI~I~I}Q|Q|Q|Q|U? kzB靅_I)7Ii <w"ؾ<DDAT read: Rx Time:14:23:50.8418 TRx dataTimestamp_ set to:1749133432.045396PDAT read: Bearing 179.0, 6.0 (Local) ~Local bearing/azimuth received: Bearing 179.0, 6.0 (Local) DAT read: Range 10 to 50 : 151.4 m (trip time 100.9 ms) speed 0.1 =DAT read: 14:23:50.8418 LVL= 32752, 24209, 26770, 31715, AGC= 65, IDX= 28,-0.42,-0.080, 1.933, 0.064, 0.544, PHS=-0.537, 1.436,-0.483, RAW= 328.6, -4.3, CAL= 331.0, -6.0, ROT= 179.0, 6.0 EYgot valid direction response: 14:23:50.8418 LVL= 32752, 24209, 26770, 31715, AGC= 65, IDX= 28,-0.42,-0.080, 1.933, 0.064, 0.544, PHS=-0.537, 1.436,-0.483, RAW= 328.6, -4.3, CAL= 331.0, -6.0, ROT= 179.0, 6.0 MT#Rx 83: Read range and direction messages.,LjADHv>HtHvIHv(xBHv =HtHtHv<HvEwB8I-Mb@Mb@Mb@))) )))Y-䥛 ?/$?y&1|y-u?-,=-`- A - A)-+ AI- A)y- AI=I=3Mz U(=yUQ U>٥QY ]H]RF] ]>imk5mp?uk59m  ImByuu?u]:u¾u@mfEim/;m;mok5WBDAEԩZbjARCRCP,@ʁG[r-b^ik@bAql/6ᅯ]ő?4ޮ`ºG@Pw=ҁ -`7P@ѩyZt0K߼+QD?b'`zBj̴?r=ɷ| 5B 5BtBs/@DDAT read: Rx Time:14:23:51.3422 TRx dataTimestamp_ set to:1749133432.548060PDAT read: Bearing 180.7, 50.4 (Local) ~Local bearing/azimuth received: Bearing 180.7, 50.4 (Local) DAT read: Range 10 to 50 : 152.0 m (trip time 101.3 ms) speed -0.4 DAT read: 14:23:51.3422 LVL= 29616, 21553, 21474, 32755, AGC= 67, IDX= 501, 0.22,-1.667,-0.136,-1.519,-2.086, PHS= 0.507, 1.998, 0.564, RAW= 328.1, -36.6, CAL= 329.3, -50.4, ROT= 180.7, 50.4 Ygot valid direction response: 14:23:51.3422 LVL= 29616, 21553, 21474, 32755, AGC= 67, IDX= 501, 0.22,-1.667,-0.136,-1.519,-2.086, PHS= 0.507, 1.998, 0.564, RAW= 328.1, -36.6, CAL= 329.3, -50.4, ROT= 180.7, 50.4 T#Rx 84: Read range and direction messages. bdirection in FSK: [-0.637376,-0.007787,-0.770513]Fpublishing direction and range infoکyڭ i:ce\Cd/c 迹ڭCYک ۭs)ۭ1TIۭSiۭۭCۭ?ۭw?ۭNb? ܭ>@)ܭƇ#Iܭr@iܭz0aܭI@ܭz0a? ݩ)ݩݭ7u#n-v#0ؿZiMOiݭ)ݭXV#?ݭGHݭz0a? ީ)ީ5checking for new query: numPingsReceived=84, elapsed TxPingTime=40.605087-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.399994 m, deltaT: 1.513060 s, deltaX: 70.499992 m, approachRate: 46.594315 m/s, rangeRepo size: 4eDNOT Ignoring new targets: 80.03 m.baZarijiRiJiBi~q~uzB}q|q|q|}c@| $? gzBb18I!)%8!I% !!%a<-"ؾ-w<-U󓌇,r4jAMmwBM*II]I]m?3}D{ ]=yQ >٥ HSF >k5c?k59 Iy@fEiC::k5 EAEZbj#jACC-@ʁa-1 XR('] i:ce\Cd/c GHz0a?ҁg8)UTB*C@KDH2]иscGV?=Tz9B jɮpŜ?r ^ [ɮpŜ? BӃ/@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 152.000000 m, deltaT: 2.015724 s, deltaX: 71.099998 m, approachRate: 35.272686 m/s, rangeRepo size: 4DNOT Ignoring new targets: 80.03 m.bZrjRJB~!~!}!|)|)|)|-6? ]ezB]j{I)>I  !!-_v,wNjA9C@L@Y-byA<HU?@Ϭ?@ڿ@+?=bgE?'?? C@ʩ;)CM]wBM I:J}XBJ}YJJ}=RJyZJ}{9bJ}[O9J}g4Jychecking for new query: numPingsReceived=85, elapsed TxPingTime=41.351810Mb@Mb@Mb@ )YʡE?:v?I +y-r?T=94A A  A) AI+ Ay3 AII#3 7=yQ >٥ HTFV >k5J6?k59 IByr?`:@fEi;;k5XBLEAEZQbUCjAUCUCU+@ʁU\bQUG@Q9y(Ug.Eᅣ~?USFG@U=ҁUÎ`x.P@L,U|e$6?{PnzUBUPjUD?rUs: U}=BU\5Ŝ?U ^  QUGBU-@-]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 152.699997 m, deltaT: 2.523861 s, deltaX: 71.799995 m, approachRate: 28.448475 m/s, rangeRepo size: 4]eaddTargetRange::Reached target pos rejection count limit. Clearing pos repo.eDNOT Ignoring new targets: 80.03 m.baZarajiRiJiBi~q~uyB}q|q|y|}`fc@|}e3? bzB YI)NAAAIM~hH IIMH9H=IH= xBH= =H9H=(DH=h<H=~EqM DDAT read: Rx Time:14:23:52.3419 M TRx dataTimestamp_ set to:1749133433.563981] PDAT read: Bearing 181.9, 47.0 (Local) ] ~Local bearing/azimuth received: Bearing 181.9, 47.0 (Local) u DAT read: Range 10 to 50 : 151.5 m (trip time 101.0 ms) speed -0.6 ԙ 6G Hv< DAT read: 14:23:52.3419 LVL= 22224, 16721, 19362, 32755, AGC= 65, IDX= 499,-0.07, 2.377,-2.159, 2.578, 2.047, PHS= 0.419, 2.125, 0.528, RAW= 326.7, -33.3, CAL= 328.1, -47.0, ROT= 181.9, 47.0  Ygot valid direction response: 14:23:52.3419 LVL= 22224, 16721, 19362, 32755, AGC= 65, IDX= 499,-0.07, 2.377,-2.159, 2.578, 2.047, PHS= 0.419, 2.125, 0.528, RAW= 326.7, -33.3, CAL= 328.1, -47.0, ROT= 181.9, 47.0  T#Rx 86: Read range and direction messages. bdirection in FSK: [-0.681623,-0.022612,-0.731354] Fpublishing direction and range infoI yM l )s'?g翹M CYI M V)M QA~G A A N >IM KiM M AM +>M @M +? M v@)M ,IM >@iM ~QM +/K@M ~Q? I )I M tƭ$tؿȤu/iM 4+M ?M FM ~Q? I )I  checking for new query: numPingsReceived=86, elapsed TxPingTime=41.657234,ehjAq9Q2@<@YHdty$F7<H3?}?ڿ#?`p>?@?? Q2@骽D;)C-EwB5II=I=2M{ MS=yU;Q U>٥QY ]HY]' ]>k5sS?k591 Iy@fEi\::k5EAEZyb}DdjA}jC}jC}.@ʁ}&HxʡY5 [}l )s'?g}F}~Q?ҁ}N ' WuH#D@p,[}Aa%G"?jez}!B}j}%`Ü?r}x }F}%`Ü?}x  }F}B}.@= addTargetRange:: Added new target pos. range: 151.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 -uaddTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 150.417343 m, bearing: nan deg, deltaT: 3.534628 s, deltaX: 70.389305 m, approachRate: 19.914204 m/s, posRepo size: 4}DNOT Ignoring new targets: 80.03 m.}Completed rollout at range: 151.50 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE?b .@K*#P"K 9*K2K:K?(SQG~zx_5OX?][1=(5_  UlOgDRY9v/H>}ZrjRL?JB~~}|||b@|}? %_zB%jI!)-F)I-.ir ))-Ѥ<5d;15,i5 .@i=Aԡchecking for new query: numPingsReceived=86, elapsed TxPingTime=41.856548E=?E9E9E=1E9FAFEa=6GӔ<jG%t?bG%h?~GAAN> ,n4jADDAT read: Rx Time:14:23:52.8423 %TRx dataTimestamp_ set to:1749133434.070946=PDAT read: Bearing 179.1, 5.4 (Local) =~Local bearing/azimuth received: Bearing 179.1, 5.4 (Local) eDAT read: Range 10 to 50 : 152.1 m (trip time 101.4 ms) speed -0.5 DAT read: 14:23:52.8423 LVL= 26080, 16513, 21362, 30035, AGC= 65, IDX= 41,-0.17, 1.380,-2.912, 1.525, 2.016, PHS=-0.547, 1.403,-0.493, RAW= 328.6, -3.8, CAL= 330.9, -5.4, ROT= 179.1, 5.4 Ygot valid direction response: 14:23:52.8423 LVL= 26080, 16513, 21362, 30035, AGC= 65, IDX= 41,-0.17, 1.380,-2.912, 1.525, 2.016, PHS=-0.547, 1.403,-0.493, RAW= 328.6, -3.8, CAL= 330.9, -5.4, ROT= 179.1, 5.4 T#Rx 87: Read range and direction messages.`direction in FSK: [-0.995439,0.015638,-0.094108]Fpublishing direction and range info!y%2aH?|ӄ{%CY! %e)%@I%rSi%Su!%1 %?%jIwBI) I I 3 %^@)%ԇI%6ϸ@i%%H@%= !)!%.Y$ 7޿1W i%)%p=%H@%= !)!Uchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.149792e< eI=ymQ m>٥ii mHuUF= E>yk5}s?k59}.# I}By!QU@}fEi}<}U<}k5EAE!-C@-Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal-g@=Entering Terminal tracking update period 2.000000 s sec at 151.500000 m (mode 1.000000 count ).=1=Z!b%ajA%C%C%U,@ʁ%4v}`bNAJ@%Tl,%2aH?|ӄ{%H@%=ҁ%/5Dt`%peIP@5l0%nݠ6 %q ?bf@ػz%KB%>j%n?r%cn %5B%n?%=ɷ|  %5B%C%,@ addTargetRange:: Added new target pos. range: 152.100006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1  Added new target pos. range: 151.013062 m, bearing: 154.280022 deg, lat: 36.905914 deg, lon: -122.115639 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 FNOT Ignoring new targets: 151.01 m.  ProNav pure pursuit: ac range: 151.013062 m, nav range: 149.888657 m, bearing: 154.461760 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 155.813272 deg, new cmd heading: 154.461760 deg. HeadingCmd: 2.695866 target range: 151.013062 and range: 152.10 m.b,@ZrjRJB~~}|||@3c@|``?:JZBJ\JJBRJZJ9bJ[9J-4J [zBRI)DI% ,<"ri,@iQchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.359657E E E E o0E ) ԉ pGH= >H= CH= wIH= wBH=  =H9 H= 'DH= [<H= _E Y y 5 B6G y<ԩA1AINU?3,gjA DDAT read: Rx Time:14:23:53.3428 TRx dataTimestamp_ set to:1749133434.571883PDAT read: Bearing 179.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 179.6, 7.5 (Local) 5DAT read: Range 10 to 50 : 152.9 m (trip time 101.9 ms) speed -0.4 eDAT read: 14:23:53.3428 LVL= 25744, 16321, 23330, 31411, AGC= 68, IDX= 43,-0.09, 1.391,-2.993, 1.563, 1.963, PHS=-0.484, 1.374,-0.403, RAW= 327.8, -5.4, CAL= 330.4, -7.5, ROT= 179.6, 7.5 mYgot valid direction response: 14:23:53.3428 LVL= 25744, 16321, 23330, 31411, AGC= 68, IDX= 43,-0.09, 1.391,-2.993, 1.563, 1.963, PHS=-0.484, 1.374,-0.403, RAW= 327.8, -5.4, CAL= 330.4, -7.5, ROT= 179.6, 7.5 mT#Rx 88: Read range and direction messages.u`direction in FSK: [-0.991421,0.006922,-0.130526]uFpublishing direction and range infoyk緹"GY|? /CY d)?I"[izD;߯?Vξ @)I@i yH@ > ).ʭݿvN iA*K=yH@ > )checking for new query: numPingsReceived=88, elapsed TxPingTime=42.6278389M @@Y3y{ H3?{?@Yۿ` ?;?`E?.a ? M @(;)CM=wBM IyMb@Mb@Mb@ )YQ?y&1?:vy\o?`<T  A) AIy AII2e =yQ >٥! %H%VF% %>)Uk5-?Uk59-O( I-By]}o?]b:]mо]@-fEi-:-:-^k5eYBeEAeE@1qZbjACC ,@ʁϼVb*?zZ8|}3k緹"GY|? /yH@ >ҁ` P@v2B6Fnc S-?WJ:2¿zBjG'?r 2BG'?  2B)C,@ addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 0.500937 s, deltaX: 0.799988 m, approachRate: 1.596983 m/s, rangeRepo size: 2 m Added new target pos. range: 151.804123 m, bearing: 154.577072 deg, lat: 36.905915 deg, lon: -122.115643 deg, deltaT: 0.500937 s, deltaX: 0.791061 m, approachRate: 1.579163 m/s, posRepo size: 2 iuFNOT Ignoring new targets: 151.80 m.uqԩ ProNav: ac range: 151.804123 m, nav range: 150.163269 m, bearing: 154.576679 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 154.461764 deg, new cmd heading: 154.461764 deg. HeadingCmd: 2.695866 target range: 151.804123 and range: 152.90 m.bZrjRJB~~yB}|||c@|t? =WzB=deI){FI XC<Ѐ iiK%dQ"K%H9*K!2K%:K%%R -Xfr%YVxgC7?MSnydz 2wJ1J1IC=I%=EyEyEEg0Echecking for new query: numPingsReceived=88, elapsed TxPingTime=42.8658986Gu p:~GM AAQ Ai N > re,ajA9@@Yӌy/ H )?5?`T2ۿ P?ّ?`=?@@e? @骵A;)C-wBII5I5<2E8 El=yEB0Q M?٥L?L? HWF: >k5?k59+ IyѾ@fEi?;;k5FAEiqmmuB*** querying acoustic contact ***JqRqyFNOT Ignoring new targets: 151.80 m. c9 c9 ProNav: ac range: 151.804123 m, nav range: 150.498474 m, bearing: 154.581086 deg, approach rate: 0.945670 m/s, LOS rate: 0.012407 deg/s, cmd heading: 154.461764 deg, new cmd heading: 154.474957 deg. ;:-DDAT read: Rx Time:14:23:53.8433 5TRx dataTimestamp_ set to:1749133435.080239=PDAT read: Bearing 179.8, 7.4 (Local) =~Local bearing/azimuth received: Bearing 179.8, 7.4 (Local) MDAT read: Range 10 to 50 : 153.6 m (trip time 102.4 ms) speed -0.8 uDAT read: 14:23:53.8433 LVL= 29520, 22497, 26258, 32755, AGC= 64, IDX= 47,-0.01, 2.866,-1.276, 3.056,-2.779, PHS=-0.550, 1.549,-0.452, RAW= 327.6, -5.4, CAL= 330.2, -7.4, ROT= 179.8, 7.4 }Ygot valid direction response: 14:23:53.8433 LVL= 29520, 22497, 26258, 32755, AGC= 64, IDX= 47,-0.01, 2.866,-1.276, 3.056,-2.779, PHS=-0.550, 1.549,-0.452, RAW= 327.6, -5.4, CAL= 330.2, -7.4, ROT= 179.8, 7.4 }T#Rx 89: Read range and direction messages.`direction in FSK: [-0.991665,0.003462,-0.128796]Fpublishing direction and range info1y5w5}* U[l?OZ_|5CY1 5Ps)5WI5fi55@5 5E?5l 5c@)1I5!k@i5 A5H@5 A> 1)15s9K$ݿi5 3*5x=5H@5 A> 1)1checking for new query: numPingsReceived=89, elapsed TxPingTime=43.136398HeadingCmd: 2.696097 target range: 151.804123 and range: 152.90 m.bٌ,@ZrjRJB~~}|||@33c@|`/? MTzBMII)UIQIUx QQU b<}4y}MKiٌ,@iEU?EYEYE]_1Ea6G!! ~Ga Ai Ay N >:J YBJ TJJ >RJ ZJ 9bJ :9J t4J  checking for new query: numPingsReceived=89, elapsed TxPingTime=43.370842I,-jAI)@~4wB~IGG@AH>HCH^IHwBH =HH*DH?<HPEH“CH“CH“CH =I = I6QMb@Mb@Mb@ )Y/$?S㥛?٥II MHMXFU U>Yek5]/?k59]?0 I]By$l?f:Ѿ@]fEi]K;]7;]}k5ZBEAE‚G@rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalC@Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalZibm"jAmCmCm,@ʁmCfibTؔ?@b3mw5}* U[l?OZ_|mH@m A>ҁm2 a^qP@ 5@>6mpJ쿩]` ?~>¿zmۀBmmjm뵜?rmĎ m;Bmn?i m;BmCm4,@ addTargetRange:: Added new target pos. range: 153.600006 m, deltaT: 0.508356 s, deltaX: 0.700012 m, approachRate: 1.377012 m/s, rangeRepo size: 3  Added new target pos. range: 152.506149 m, bearing: 154.720568 deg, lat: 36.905914 deg, lon: -122.115643 deg, deltaT: 0.508356 s, deltaX: 0.702026 m, approachRate: 1.380974 m/s, posRepo size: 3 FNOT Ignoring new targets: 152.51 m.- ProNav: ac range: 152.506149 m, nav range: 150.986359 m, bearing: 154.598606 deg, approach rate: 0.000000 m/s, LOS rate: 0.012407 deg/s, cmd heading: 154.474960 deg, new cmd heading: 154.492214 deg. )5HeadingCmd: 2.696398 target range: 152.506149 and range: 153.60 m.b5ȑ,@Z1rYjYRYJYBa~a~eyB}a|i|i|i|m}?y PzBlI)FI=Ի <N iȑ,@iUDDAT read: Rx Time:14:23:54.3434 UTRx dataTimestamp_ set to:1749133435.585984]PDAT read: Bearing 178.0, 48.6 (Local) e~Local bearing/azimuth received: Bearing 178.0, 48.6 (Local) uDAT read: Range 10 to 50 : 153.8 m (trip time 102.5 ms) speed -0.4 DAT read: 14:23:54.3434 LVL= 29904, 26689, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.456, 2.108, 0.552, 0.026, PHS= 0.519, 2.129, 0.524, RAW= 329.8, -34.9, CAL= 332.0, -48.6, ROT= 178.0, 48.6 Ygot valid direction response: 14:23:54.3434 LVL= 29904, 26689, 26930, 32755, AGC= 66, IDX= 498,-0.13, 0.456, 2.108, 0.552, 0.026, PHS= 0.519, 2.129, 0.524, RAW= 329.8, -34.9, CAL= 332.0, -48.6, ROT= 178.0, 48.6 T#Rx 90: Read range and direction messages.=`direction in FSK: [-0.660909,0.023079,-0.750111]EFpublishing direction and range infoQyU~*&忻G!?迹UCYQ Ut)UAhIU2iiQUBU/?UA@U$? U1@)UIIU}l@iU%YUF@U%Y? Q)QU9z4E2ڿ/OiUX'U?UF@U%Y? Q)Q}checking for new query: numPingsReceived=90, elapsed TxPingTime=43.663250EEEE1Eԩ 6G w~G A A N >rs,_jA<9>@> @Y>_3y>#;;>H`+?&?@A'ۿ ?ij?f? y?@ ? >@>;)>CZ"wBZIK~eP"K~9*K|2K~:K~@ n#iL4mn8Ns3CXk/ .[KlOE% II3IYI]?Amg m=yu~CQ u?٥qq Hv;  ?k5?k59J3 IBy^Ѿ@fEi_::>k5GFAZbÀjACCB*@ʁ!!;Ym1 @ʒ\~*&忻G!?F@%Y?ҁI U3eF@i&]CRPv ?8hoz6B̮jpz%Ɯ?rp̀ I[G'?Ď  2BꁅC,@m addTargetRange:: Added new target pos. range: 153.800003 m, deltaT: 0.505745 s, deltaX: 0.199997 m, approachRate: 0.395450 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=90, elapsed TxPingTime=43.874664 Added new target pos. range: 152.704727 m, bearing: 152.426070 deg, lat: 36.905915 deg, lon: -122.115647 deg, deltaT: 0.505745 s, deltaX: 0.198578 m, approachRate: 0.392644 m/s, posRepo size: 4 FNOT Ignoring new targets: 152.70 m.= ProNav: ac range: 152.704727 m, nav range: 151.065384 m, bearing: 154.705701 deg, approach rate: 0.000000 m/s, LOS rate: 0.012407 deg/s, cmd heading: 154.492213 deg, new cmd heading: 154.503644 deg. 9EHeadingCmd: 2.696597 target range: 152.704727 and range: 153.80 m.bE ,@ZArAjARAJABIԩ~~}|||9c@|@O? UMzBUEIQ)UJQI] YY] _‡, jAl9?@yI@YDy<H??g#ڿ|?4??? ?@܈;)C-wBIMb@Mb@Mb@ )Y'1Z?{Gz?Mb`yb?#<+ A  A)AI Ay= AII2e< e=ymQ m>checking for new query: numPingsReceived=91, elapsed TxPingTime=44.384056٥q HYFjh< > =k5 ?=k59 8 I ByMb?Mo:M־M@ fEi f< <  k5[B#FAE1ZbKjACCK-@ʁvj:Xs  <}.}]!~AxǖOLFb?ҁ70[U(C@co.^ s L?V;zOBHƼ>HCHQIHwBH =HH+DH<H-EܪjUƜ?r% k ꁝC,@  addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 0.506136 s, deltaX: 0.399994 m, approachRate: 0.790289 m/s, rangeRepo size: 4 E  Added new target pos. range: 153.101868 m, bearing: 155.143101 deg, lat: 36.905915 deg, lon: -122.115647 deg, deltaT: 0.506136 s, deltaX: 0.397141 m, approachRate: 0.784652 m/s, posRepo size: 4 A M FNOT Ignoring new targets: 153.10 m.I Q a   ProNav: ac range: 153.101868 m, nav range: 151.551910 m, bearing: 154.709812 deg, approach rate: 0.000000 m/s, LOS rate: 0.012407 deg/s, cmd heading: 154.503646 deg, new cmd heading: 154.527599 deg.   HeadingCmd: 2.697015 target range: 153.101868 and range: 154.20 m.b ,@Z r j R J B ~ ~ yB} | | | `fFc@| o? = GzB= RIA )E IFA IE % A A E ݁ )݁ ݅ 쟡cMZ޿܎ !i݅ (݅ `=݅ G@݅ 'g > ށ )ށ Uchecking for new query: numPingsReceived=92, elapsed TxPingTime=44.663322~GAAN>ɇ,J)jA9^@^Ǩ@Y^˼y^s=^H9?`N?7ڿ@3?*{?u?`? ^@^D;)^C=wB  IIIM3E+= Mf=yMQ M>٥IQ UHUZFU = U?Yk5]('?k59]; I]Byо@]fEi][<]|<]k5EAZb=&jA*,@ʁeb*x: @yBvY4Iȱ￷Buɘ? M _G@'g >ҁ=ͽa }P@}I8NqmH ?g0fWNĿzBj#a?r q B#a? BC,@ addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 0.505387 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 153.104828 m, bearing: 154.131480 deg, lat: 36.905927 deg, lon: -122.115647 deg, deltaT: 0.505387 s, deltaX: 0.002960 m, approachRate: 0.005857 m/s, posRepo size: 4 )-FNOT Ignoring new targets: 153.10 m.11 ProNav: ac range: 153.104828 m, nav range: 150.691879 m, bearing: 154.505513 deg, approach rate: 0.000000 m/s, LOS rate: 0.012407 deg/s, cmd heading: 154.527593 deg, new cmd heading: 154.537596 deg. HeadingCmd: 2.697190 target range: 153.104828 and range: 154.20 m.bž,@ZrjRJB~~}||||`m? DzBKA,P"Kػ9*K2K:KjF(wfK hj<v:=t+6~oJ WZTN ]h:J`BJNJJ?RJZJ:bJ!9Jـ4JzJ:jJ:JU:rJW: I )AI YYi]ž,@iY5checking for new query: numPingsReceived=92, elapsed TxPingTime=44.887569E!E!E)E-D5E)6G!~G AA Aa N >I JЇ,bBjA9:6@:@Y:Cݼy:=:H`vf? o?Y5ٿS?<䱿˲?gj?? :6@:+;):CFDwBFIIb)IbW3f< jT=yjʷQ j>٥ll nH|= > k5 B?k59 ? I Byɾ@ fEi ; z; dk5AEEAEEB*** querying acoustic contact ***JRDDAT read: Rx Time:14:23:55.8433 TRx dataTimestamp_ set to:1749133437.100067PDAT read: Bearing 182.9, 48.6 (Local) ~Local bearing/azimuth received: Bearing 182.9, 48.6 (Local) DAT read: Range 10 to 50 : 153.6 m (trip time 102.4 ms) speed -0.6 DAT read: 14:23:55.8433 LVL= 32752, 18209, 25074, 32755, AGC= 65, IDX= 496, 0.43, 2.583,-1.945, 2.800, 2.199, PHS= 0.473, 2.187, 0.598, RAW= 326.2, -34.8, CAL= 327.1, -48.6, ROT= 182.9, 48.6 Ygot valid direction response: 14:23:55.8433 LVL= 32752, 18209, 25074, 32755, AGC= 65, IDX= 496, 0.43, 2.583,-1.945, 2.800, 2.199, PHS= 0.473, 2.187, 0.598, RAW= 326.2, -34.8, CAL= 327.1, -48.6, ROT= 182.9, 48.6 T#Rx 93: Read range and direction messages. bdirection in FSK: [-0.660465,-0.033458,-0.750111] Fpublishing direction and range infoڡyڥp"{ 8\!迹ڥC1Yڡ ۥ)ۥ!GIۥaiۡۥAۥ->ۥ @ۥ? ܥ8/@)ܥ|Iܥ毶@iܥ%YܥML@ܥ%Y? ݡ)ݡݥVrmA;׿ϤGiݥ+ݥ_?ݥEݥ%Y? ޡ)ޡMchecking for new query: numPingsReceived=93, elapsed TxPingTime=45.160728UFNOT Ignoring new targets: 153.10 m.U}9]}9e ProNav: ac range: 153.104828 m, nav range: 151.037460 m, bearing: 154.512254 deg, approach rate: 0.968524 m/s, LOS rate: 0.018850 deg/s, cmd heading: 154.537593 deg, new cmd heading: 154.557770 deg. mN:HeadingCmd: 2.697542 target range: 153.104828 and range: 154.20 m.b,@ZrjRJB~~}|||@33c@|v? @zB \I ) >I {<|P>!i%,@iqqE]?EYEYE]F3EY6G5*ԑ~GAA N- >U checking for new query: numPingsReceived=93, elapsed TxPingTime=45.390579  H) H- <և,?\jAHm>HmCHmKIHmwBHm =HiHm*DHmI<Hm`E9@ҡ@Y{y:=Ho? ? (T@:ؿ s?M@S.? .? ? @骕˷;)CWwBIԉMb@Mb@Mb@ )YCl?٥9a eHe[Fm= m>qk5ud?k59ukC IuByg[?w:@ufEiua;u`;uk5\BEAEDDAT read: Rx Time:14:23:56.3435 TRx dataTimestamp_ set to:1749133437.603848PDAT read: Bearing 180.9, 47.8 (Local) ~Local bearing/azimuth received: Bearing 180.9, 47.8 (Local) DAT read: Range 10 to 50 : 153.9 m (trip time 102.6 ms) speed -0.4 DAT read: 14:23:56.3435 LVL= 16560, 12001, 14514, 15523, AGC= 66, IDX= 12,-0.10,-3.080,-1.244,-2.904, 2.801, PHS= 0.491, 2.286, 0.576, RAW= 327.6, -34.1, CAL= 329.1, -47.8, ROT= 180.9, 47.8 Ygot valid direction response: 14:23:56.3435 LVL= 16560, 12001, 14514, 15523, AGC= 66, IDX= 12,-0.10,-3.080,-1.244,-2.904, 2.801, PHS= 0.491, 2.286, 0.576, RAW= 327.6, -34.1, CAL= 329.1, -47.8, ROT= 180.9, 47.8 T#Rx 94: Read range and direction messages. bdirection in FSK: [-0.671638,-0.010551,-0.740805] Fpublishing direction and range infoکyڭp[f~忠8;ի翹ڭCYک ۭ@)ۭ.Iۭ8iۭ<ۭBۭZd>ۭM@ۭt? ܭc@)ܭ:\Iܭͷ@iܭUܭ6J@ܭU? ݩ)ݩݭm/gpؿ?WwD%iݭ=*ݭ &?ݭHݭU? ީ)ީ-checking for new query: numPingsReceived=94, elapsed TxPingTime=45.659313ZbrfjACCL(@ʁ d_CYmt )wL\p[f~忠8;իHU?ҁՂUGv6H@iJ,@iE- ?E) E) E- 5E) F1 F1 6G bZG RG ~G A A N >:J [BJ VJJ >RJ ZJ :bJ B9J t4J zJ :jJ :J X:rJ X:KU WP"KU ]9*KQ 2KU :KU ST;/"0-$(8h* h!kg_[Fq'P ] checking for new query: numPingsReceived=94, elapsed TxPingTime=45.894764݇,vjA96^G@6Q@Y6 y6l>6H5?h?@󝵿?ֿ͕?@v}@l?@B?:? 6^G@6V;)4~hwB~'II I 3b= =y%{IIiM,@iqE ?E E E P0E DDAT read: Rx Time:14:23:56.8436 TRx dataTimestamp_ set to:1749133438.109083PDAT read: Bearing 187.5, 49.7 (Local) ~Local bearing/azimuth received: Bearing 187.5, 49.7 (Local) DAT read: Range 10 to 50 : 154.1 m (trip time 102.7 ms) speed -0.3 6G.:5DAT read: 14:23:56.8436 LVL= 32752, 21745, 28098, 31859, AGC= 66, IDX= 499, 0.19, 0.912, 2.547, 1.215, 0.581, PHS= 0.419, 2.014, 0.632, RAW= 322.9, -35.9, CAL= 322.5, -49.7, ROT= 187.5, 49.7 =Ygot valid direction response: 14:23:56.8436 LVL= 32752, 21745, 28098, 31859, AGC= 66, IDX= 499, 0.19, 0.912, 2.547, 1.215, 0.581, PHS= 0.419, 2.014, 0.632, RAW= 322.9, -35.9, CAL= 322.5, -49.7, ROT= 187.5, 49.7 =T#Rx 95: Read range and direction messages.mbdirection in FSK: [-0.641256,-0.084423,-0.762668]mFpublishing direction and range infoڹyڽ2I,Y3hqg迹ڽCYڹ ۽)۽TI۽mi۽s|۹۽+>۽`@۽!? ܽeW@)ܽg Iܽ4@iܽ^ܽpQ@ܽ^? ݹ)ݹݽ!N'5_7Կ_yiݽPq/ݽ* ?ݽ1@ݽ^? ޹)޹checking for new query: numPingsReceived=95, elapsed TxPingTime=46.180450~GAA N >9 `,jA 9B@B8'@YBkyBTB>BH6#??aտ? (ſ` ??@g? B@BV;)BCVrwBZ-IMb@Mb@Mb@ )YQ?Mb?{Gz?yU?<#<A dA) AI Ay AI-#I-%x3=< =:=y="Q E>٥AA EHAM@{= M>q}l5u)?}l59uH IuBy}U?}~:} @ufEiu,:u:uYl5EAEZb7jACC,@ʁLXģ|)RGF0,]2I,Y3hqg1@^?ҁqKU"<\ D@ɳ(D['^ %checking for new query: numPingsReceived=95, elapsed TxPingTime=46.399380piޗO?e 9zR B[jyRǜ?r( klƜ?p̀  I[B)@q addTargetRange:: Added new target pos. range: 154.100006 m, deltaT: 0.505235 s, deltaX: 0.200012 m, approachRate: 0.395880 m/s, rangeRepo size: 4  Added new target pos. range: 153.002869 m, bearing: 154.800644 deg, lat: 36.906370 deg, lon: -122.115860 deg, deltaT: 0.505235 s, deltaX: 0.198593 m, approachRate: 0.393071 m/s, posRepo size: 4 FNOT Ignoring new targets: 153.00 m. ProNav: ac range: 153.002869 m, nav range: 99.534164 m, bearing: 152.174698 deg, approach rate: 0.000000 m/s, LOS rate: 0.062287 deg/s, cmd heading: 154.652094 deg, new cmd heading: 154.724000 deg. HeadingCmd: 2.700443 target range: 153.002869 and range: 154.10 m.b,@Zrj!R!J1B1~1~=?zB}9|9|9|=@3Cc@|Ep? 1zBqI)5/1I=/ <H>HCHQIHwBHHH)DHG<HVEԙv?i,@iEAEIEIEIEI  DDAT read: Rx Time:14:23:57.3438  TRx dataTimestamp_ set to:1749133438.613213 PDAT read: Bearing 168.0, 4.1 (Local)  ~Local bearing/azimuth received: Bearing 168.0, 4.1 (Local)  DAT read: Range 10 to 50 : 154.4 m (trip time 102.9 ms) speed -0.3  DAT read: 14:23:57.3438 LVL= 20208, 19393, 17810, 26835, AGC= 68, IDX= 49, 0.21,-1.249, 0.487,-1.567,-0.819, PHS=-0.342, 1.353,-0.751, RAW= 340.6, -2.7, CAL= 342.0, -4.1, ROT= 168.0, 4.1 % Ygot valid direction response: 14:23:57.3438 LVL= 20208, 19393, 17810, 26835, AGC= 68, IDX= 49, 0.21,-1.249, 0.487,-1.567,-0.819, PHS=-0.342, 1.353,-0.751, RAW= 340.6, -2.7, CAL= 342.0, -4.1, ROT= 168.0, 4.1 - T#Rx 96: Read range and direction messages.5 `direction in FSK: [-0.975644,0.207380,-0.071497]5 Fpublishing direction and range info y (@rz8Oi? M fCY N) KI Ei h D  /? A@ :@) AI C@i C f;@ C= ) |}$aH6俔`Ti  B= f;@ C= ) e checking for new query: numPingsReceived=96, elapsed TxPingTime=46.6693956G} ~G1 A9 AY Ne >ʢ,4jAwB5III3< ?=yQ >٥ H]F- ->1=l55#?]l595K I5ˉByaae@5fEi5q;5;5%l5quDA}EԹZb>jALCLC"4%@ʁDbɃ?@x%(@rz8Oi? Mf;@C=ҁ>]2`'BDRT@{v$VE +u߄?~saJzBj ?rX k NBG  VB(@- addTargetRange:: Added new target pos. range: 154.399994 m, deltaT: 0.504130 s, deltaX: 0.299988 m, approachRate: 0.595060 m/s, rangeRepo size: 4 ] Added new target pos. range: 153.298996 m, bearing: 147.897987 deg, lat: 36.906370 deg, lon: -122.115835 deg, deltaT: 0.504130 s, deltaX: 0.296127 m, approachRate: 0.587403 m/s, posRepo size: 4 YeFNOT Ignoring new targets: 153.30 m.aa ProNav: ac range: 153.298996 m, nav range: 100.923302 m, bearing: 151.117129 deg, approach rate: 0.000000 m/s, LOS rate: 0.062287 deg/s, cmd heading: 154.724002 deg, new cmd heading: 154.805110 deg. HeadingCmd: 2.701859 target range: 153.298996 and range: 154.40 m.bA,@ZrjRJB~~}:JBJYJJRJZJbJ[O9JJzJ:jJJ(n:rJ*n:|||Lc@|?KEP"K 9*K2K:K"  [z [ a&,0T495430&- )$!}%DA G  NC?o0J!J%A ]-zB]BjIY)]_+YIe8 aae|,LjAFDDAT read: Rx Time:14:23:57.8438 FTRx dataTimestamp_ set to:1749133439.115867NPDAT read: Bearing 165.2, 3.8 (Local) N~Local bearing/azimuth received: Bearing 165.2, 3.8 (Local) VDAT read: Range 10 to 50 : 154.4 m (trip time 102.9 ms) speed -0.8 fDAT read: 14:23:57.8438 LVL= 32752, 18225, 24482, 31283, AGC= 66, IDX= 52, 0.00,-2.382,-0.743,-2.810,-2.013, PHS=-0.281, 1.317,-0.800, RAW= 343.6, -2.5, CAL= 344.8, -3.8, ROT= 165.2, 3.8 jYgot valid direction response: 14:23:57.8438 LVL= 32752, 18225, 24482, 31283, AGC= 66, IDX= 52, 0.00,-2.382,-0.743,-2.810,-2.013, PHS=-0.281, 1.317,-0.800, RAW= 343.6, -2.5, CAL= 344.8, -3.8, ROT= 165.2, 3.8 nT#Rx 97: Read range and direction messages.v`direction in FSK: [-0.964698,0.254884,-0.066274]vFpublishing direction and range infoDyFOR4P?{SDYD F)F1GIF_iF3zFBF;ߏFu?FL F@)F¸2IF@iFԇF8@Fԇ= D)DF9w&翂B R#UiFy[F2=F8@Fԇ= D)D checking for new query: numPingsReceived=97, elapsed TxPingTime=47.1713989>1@>i;@Y>,My>X>>H8?@?h@#jѿ@?Ͽ@â? ?? >1@>3Ԉ;)>CMwBMGIIe Ie(2= N=yQ >٥ H^F+> >%l51?-l59)N I׉By)-n-@fEih:2:l59=oDA9ZDbF]jjADDFT&@ʁFPTc|bVhC@/6Q$FOR4P?{SF8@Fԇ=ҁF,kd`\wS@:/JMF"`di?̶˦zF.BF$jF󢸜?rFh* FP\BF ?F q  FBFCF *@ addTargetRange:: Added new target pos. range: 154.399994 m, deltaT: 0.502654 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 IU Added new target pos. range: 153.298996 m, bearing: 148.906793 deg, lat: 36.906000 deg, lon: -122.115635 deg, deltaT: 0.502654 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 Q]FNOT Ignoring new targets: 153.30 m.YY ProNav: ac range: 153.298996 m, nav range: 145.991241 m, bearing: 152.832055 deg, approach rate: 0.000000 m/s, LOS rate: 0.062287 deg/s, cmd heading: 154.805104 deg, new cmd heading: 154.879823 deg. %HeadingCmd: 2.703163 target range: 153.298996 and range: 154.40 m.b-@ZrjRJB~~}||||? %(zB%ZI!)-")I-eeB ))-?4<5U2?11i5-@iYԁEEEE^0E=checking for new query: numPingsReceived=97, elapsed TxPingTime=47.406876 GԱ A M YM AyU AG G H >H CH ^IH wBH =H H (DH "<H E6G ~G A A N >,FjA9@f@Ycy&>H@E?`?aɿ`?^ӿO??٥aa mHim> m>ql5ur?l59uP IuBy O?:`3@ufEiuh;u;u l5]B)DAEQZbjAICIC'@ʁ/aBPbe;G@\w9!5#b%o ?ᢔ4@d=ҁS=`Pn;!S@G‡tG(n8v?xSNz BjG׷?ro AnBo  NBC'@ addTargetRange:: Added new target pos. range: 155.399994 m, deltaT: 0.504293 s, deltaX: 1.000000 m, approachRate: 1.982974 m/s, rangeRepo size: 4 M Added new target pos. range: 154.288330 m, bearing: 150.263771 deg, lat: 36.906000 deg, lon: -122.115525 deg, deltaT: 0.504293 s, deltaX: 0.989334 m, approachRate: 1.961824 m/s, posRepo size: 4 IUFNOT Ignoring new targets: 154.29 m.Ya ProNav: ac range: 154.288330 m, nav range: 151.089264 m, bearing: 149.571779 deg, approach rate: 0.000000 m/s, LOS rate: 0.062287 deg/s, cmd heading: 154.879826 deg, new cmd heading: 154.982240 deg. HeadingCmd: 2.704950 target range: 154.288330 and range: 155.40 m.b-@ZrjRJB~~J{B}|||lc@| z? M#zBUPIUD<)UQI]`L U<AN?i-@iIe @AIe @AJA{4J͋4J1:Ju Zy BJu OJJu @RJq ZJu 9bJu %9Ju J4Jq zJu 2:jJu 7:Ju &:rJu &:K mQ"K *K 2K :K E p.rTjd ;(L+9 P ]G'Ju!q>f>WHp6t2O!4J- >J- > DDAT read: Rx Time:14:23:58.8005  TRx dataTimestamp_ set to:1749133439.875321 PDAT read: Bearing 163.2, 3.0 (Local)  ~Local bearing/azimuth received: Bearing 163.2, 3.0 (Local)  checking for new query: numPingsReceived=98, elapsed TxPingTime=47.920040E ?E E E% P0E! ԩ 6GY~G1A9AQN] ?9, jA9Nu@N*@YNyN >NHw?'?XZſ?cԿtQ?[? ? Nu@N;)NC~wB~`II I EC= E<=yE3}Q E>٥II MHM_Fm= u>q}l5u ?l59uKQ IuByU@ufEiu:u:ul5^BCAEDAT read: Range 10 to 50 : 89.4 m (trip time 59.6 ms) speed -0.8 MDAT read: 14:23:58.8005 LVL= 24656, 17361, 20978, 26707, AGC= 67, IDX= 41, 0.25,-0.255, 1.283,-0.747, 0.081, PHS=-0.248, 1.249,-0.831, RAW= 345.8, -1.9, CAL= 346.8, -3.0, ROT= 163.2, 3.0 UYgot valid direction response: 14:23:58.8005 LVL= 24656, 17361, 20978, 26707, AGC= 67, IDX= 41, 0.25,-0.255, 1.283,-0.747, 0.081, PHS=-0.248, 1.249,-0.831, RAW= 345.8, -1.9, CAL= 346.8, -3.0, ROT= 163.2, 3.0 ]T#Rx 99: Read range and direction messages.e`direction in FSK: [-0.956007,0.288636,-0.052336]eFpublishing direction and range info y 25O{|Ey?yoU˪ ̲BY  P`) CI Qi Sh C } ;ߟ? jT !@) I @i PwV K6@ PwV= )  OӐSO濋?6匠i R m= K6@ PwV= ) }checking for new query: numPingsReceived=99, elapsed TxPingTime=48.176315ԱZ b 4 jA B B +@ʁ Fi6Uw{3A9@Rdڔ 25O{|Ey?yoU˪ K6@ PwV=ҁ  bS7Z/fC@6 b^˵ɞ?$ɕz +B j Kɜ?r z~?  8pB   P\B jC J!'@--addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 89.400002 m, deltaT: 0.502472 s, deltaX: -65.999992 m, approachRate: -131.350586 m/s, rangeRepo size: 41=FNOT Ignoring new targets: 154.29 m.E;E;u ProNav: ac range: 154.288330 m, nav range: 151.414917 m, bearing: 149.622582 deg, approach rate: 0.800959 m/s, LOS rate: 0.124683 deg/s, cmd heading: 154.982238 deg, new cmd heading: 155.134318 deg. u#;}HeadingCmd: 2.707605 target range: 154.288330 and range: 155.40 m.b}eI-@ZyryjyRyJB~~}|||YV@| ? -zB]XIa)etiIubT :<,Be?ieI-@iE?EEEE  DDAT read: Rx Time:14:23:59.3007  TRx dataTimestamp_ set to:1749133440.381585 PDAT read: Bearing 160.1, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 160.1, 1.5 (Local) = DAT read: Range 10 to 50 : 89.7 m (trip time 59.8 ms) speed -0.8 -M \#Rx 100: Read range message, but no direction. fBY  checking for new query: numPingsReceived=100, elapsed TxPingTime=48.438553H5 >H5 CH5 qIH5 wBH5  =H1 H5 'DH5 ?<H5 2EHHH̔CH =I = I̺06a 6Gi ~GAAYAqN>~, " jAx9㳽@@Y<Ɵy3q>H`?¹?M@/.3?`Կ@?8?`? 㳽@骅RN;)wBkI DAT read: 14:23:59.3007 LVL= 28208, 24753, 28786, 32755, AGC= 68, IDX= 491,-0.04,-2.683,-1.225, 2.982,-2.382, PHS=-0.214, 1.204,-0.923, RAW= 349.1, -0.7, CAL= 349.9, -1.5, ROT= 160.1, 1.5 Ygot valid direction response: 14:23:59.3007 LVL= 28208, 24753, 28786, 32755, AGC= 68, IDX= 491,-0.04,-2.683,-1.225, 2.982,-2.382, PHS=-0.214, 1.204,-0.923, RAW= 349.1, -0.7, CAL= 349.9, -1.5, ROT= 160.1, 1.5 \#Rx 101: Read direction message, but no range.%`direction in FSK: [-0.939966,0.340263,-0.026177]yn3 ?P!ΚY 0n)`IrpiD"[?Il g@)+HIk@iPwּ[2@Pw< 4~俓l0迖?E.܉i5N<[2@Pw<=checking for new query: numPingsReceived=101, elapsed TxPingTime=48.676846Mb@Mb@Mb@ )Y^I +?{Gz?Mb?yX9?#=@=h3A @)@I Ay=AI I2J< =y9Q >٥99 EHE`FEm= E>IUl5M/?Ul59MkR IMBy:?:mֽ@MfEiM @$WًZn3 ?P!Κ[2@Pw<ҁY1ySxًQ.D@>A?.dwI?ʄ3p/?zr!Bjwʜ?r<+ }B AnBC|3'@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 89.699997 m, deltaT: 0.761425 s, deltaX: -65.699997 m, approachRate: -86.285576 m/s, rangeRepo size: 4FNOT Ignoring new targets: 154.29 m.+;+;- ProNav: ac range: 154.288330 m, nav range: 151.787064 m, bearing: 149.686225 deg, approach rate: 0.656844 m/s, LOS rate: 0.112055 deg/s, cmd heading: 155.134319 deg, new cmd heading: 155.324779 deg. 5Ι;EHeadingCmd: 2.710929 target range: 154.288330 and range: 155.40 m.bE-@ZIrijiRqJqBy~~4{B}|||lV@| N? -zB-}BI))-)I5^ 115#<= À?99i=-@i9IE E E E E :J% [BJ% WJJ% =RJ! ZJ% :bJ% G9J% g4J! zJ% :jJ% :K] Q"KY *KY 2K] :K] t0j-Jx^g`cQ\c}<&6*E[#_1hy  DDAT read: Rx Time:14:23:59.8010  TRx dataTimestamp_ set to:1749133440.882319 PDAT read: Bearing 157.9, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 157.9, 2.3 (Local)  checking for new query: numPingsReceived=101, elapsed TxPingTime=48.932590J% _:rJ% _:J J 6GA ԩ ~G!A)A9NE>A,? jA9r@r@Yr<¬yrm>rH?`?@|<y!?`Կ?k?? r@r p;)rCwB%wII-I-2=p:= =F=y=|Q =>٥AA EHEaFmڠ= m>q}l5uG?}l59uR Iu7By@ԉufEiu;u ;uWl5HCA}EB*** querying acoustic contact ***JR%FNOT Ignoring new targets: 154.29 m.-;-;= ProNav: ac range: 154.288330 m, nav range: 152.049347 m, bearing: 149.734813 deg, approach rate: 0.694498 m/s, LOS rate: 0.128436 deg/s, cmd heading: 155.324786 deg, new cmd heading: 155.470300 deg. =I;eHeadingCmd: 2.713469 target range: 154.288330 and range: 155.40 m.bex-@ZirijiRiJiBi~q~q}q|q|q|y|}@Yj? zB\I). Ie j<U?5DAT read: Range 10 to 50 : 90.2 m (trip time 60.1 ms) speed -0.8 UDAT read: 14:23:59.8010 LVL= 23648, 22289, 22770, 32755, AGC= 65, IDX= 495,-0.30,-2.169,-0.757,-2.880,-1.930, PHS=-0.151, 1.220,-0.953, RAW= 351.4, -1.2, CAL= 352.1, -2.3, ROT= 157.9, 2.3 mYgot valid direction response: 14:23:59.8010 LVL= 23648, 22289, 22770, 32755, AGC= 65, IDX= 495,-0.30,-2.169,-0.757,-2.880,-1.930, PHS=-0.151, 1.220,-0.953, RAW= 351.4, -1.2, CAL= 352.1, -2.3, ROT= 157.9, 2.3 mV#Rx 102: Read range and direction messages.u`direction in FSK: [-0.925782,0.375921,-0.040132]yi}x-@iyFpublishing direction and range infoy;?.='fBY `\)WIXiA(?s ?B@)IU@il$A`0@l$= )PG㿵ޓ@UaziV<A`0@l$= )Echecking for new query: numPingsReceived=102, elapsed TxPingTime=49.211384Թ>E<ԑ rE N>jE >E ?E! E! E- `5E) FE =FE = < DDAT read: Rx Time:14:24:00.3012  TRx dataTimestamp_ set to:1749133441.389056 PDAT read: Bearing 158.2, 2.6 (Local) % ~Local bearing/azimuth received: Bearing 158.2, 2.6 (Local) E DAT read: Range 10 to 50 : 90.5 m (trip time 60.3 ms) speed -0.7 - \#Rx 103: Read range message, but no direction. BY Ա  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.459324H >H CH IH xBH  =H H (DH 9<H 6E6G]ȹ~GQAiAN ?K,Ob jA9f@fH@YfŽyf]>fH`?@ ?`꺿, o?`pӿD??(H? f@f`;)fC~ xB~I)  15AieMb@Mb@Mb@aaa a)aYen?{Gzt{Gzt?yeVN?eףeף;e37A ev@)eX AIeAayeAI!DAT read: 14:24:00.3012 LVL= 30640, 24657, 27122, 32755, AGC= 67, IDX= 496, 0.30,-1.442, 0.065,-2.192,-1.194, PHS=-0.160, 1.306,-1.001, RAW= 351.1, -1.5, CAL= 351.8, -2.6, ROT= 158.2, 2.6 Ygot valid direction response: 14:24:00.3012 LVL= 30640, 24657, 27122, 32755, AGC= 67, IDX= 496, 0.30,-1.442, 0.065,-2.192,-1.194, PHS=-0.160, 1.306,-1.001, RAW= 351.1, -1.5, CAL= 351.8, -2.6, ROT= 158.2, 2.6 \#Rx 104: Read direction message, but no range.`direction in FSK: [-0.927530,0.370986,-0.045363]yZS=~:?99Y w)Q`IiiC #+? [@)PwּIp{@i9 0@9= =9:{]=Ze~i< 0@9=%checking for new query: numPingsReceived=104, elapsed TxPingTime=49.685715Ii3M h= U =yUQ U>٥QY ]H]bF]#= ]>l5n?l59S IOByXN?:{R@gEi<n<el5BAzEZbKX jABB<.@ʁ7=Tê@@NMZS=~:?99 0@9=ҁiTtGB@?5Jy9?J ?ɢ0dz>Bjr%ykɜ?rW qBr%ykɜ?<+  8pBBi+@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 90.500000 m, deltaT: 1.768896 s, deltaX: -64.899994 m, approachRate: -36.689548 m/s, rangeRepo size: 4FNOT Ignoring new targets: 154.29 m.;;;; ProNav: ac range: 154.288330 m, nav range: 152.461823 m, bearing: 149.814864 deg, approach rate: 0.696679 m/s, LOS rate: 0.134841 deg/s, cmd heading: 155.470296 deg, new cmd heading: 155.709795 deg. ;HeadingCmd: 2.717649 target range: 154.288330 and range: 155.40 m.b%-@Z!r!j!R!J)B)~)~-T}B}1|1|1|UV@|]@j?ԙ zBV1I*;)I)o L<E<EE?EIEIEMb5EII% AAI% AAKe rO"Ke 9 DDAT read: Rx Time:14:24:00.8015  TRx dataTimestamp_ set to:1749133441.890702 PDAT read: Bearing 157.4, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 157.4, 0.3 (Local)  DAT read: Range 10 to 50 : 90.9 m (trip time 60.6 ms) speed -0.8 - \#Rx 105: Read range message, but no direction.ڙ ڝ ̵BYڙ  checking for new query: numPingsReceived=105, elapsed TxPingTime=49.943546*Ka 2Ke :Ke |,>jyy93Povk2>OJ;U]_ 6G ~GI AY Ay N >9,K jAM#xBMII]I]2ԁf= R=yQ >٥ H >l5?l59T I_By@ gEi:m: l5e_BelBAewE-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 90.900002 m, deltaT: 2.270542 s, deltaX: -64.499992 m, approachRate: -28.407310 m/s, rangeRepo size: 4FNOT Ignoring new targets: 154.29 m.;; ProNav: ac range: 154.288330 m, nav range: 152.738846 m, bearing: 149.868351 deg, approach rate: 0.665036 m/s, LOS rate: 0.128171 deg/s, cmd heading: 155.709790 deg, new cmd heading: 155.869959 deg. ;HeadingCmd: 2.720444 target range: 154.288330 and range: 155.40 m.b.@ZrjRJB~~}|||V@|%? zBԱDAT read: 14:24:00.8015 LVL= 23440, 16369, 20258, 32499, AGC= 66, IDX= 4, 0.07,-1.856,-0.406,-2.617,-1.573, PHS=-0.195, 1.214,-1.047, RAW= 351.9, 0.3, CAL= 352.6, -0.3, ROT= 157.4, 0.3 Ygot valid direction response: 14:24:00.8015 LVL= 23440, 16369, 20258, 32499, AGC= 66, IDX= 4, 0.07,-1.856,-0.406,-2.617,-1.573, PHS=-0.195, 1.214,-1.047, RAW= 351.9, 0.3, CAL= 352.6, -0.3, ROT= 157.4, 0.3 \#Rx 106: Read direction message, but no range.`direction in FSK: [-0.923197,0.384290,-0.005236]ڑyڕN)rՊBdO6?sNruYڑ ە[)ە?Iە"Oiە~ەBەGەZd?ە ܕ@)ܕ;Iܕ@iܕܕF/@ܕ; ݑݕ:\.2ڍgt?iݕ[ݕkݕF/@ݕ;checking for new query: numPingsReceived=106, elapsed TxPingTime=50.190418 (FI)uIu F<?i.@i!>E oM<zE) E E E E b1E F :J YBJ NJJ ?RJ ZJ 9bJ !9J ـ4J  @ @ @ @F  m DDAT read: Rx Time:14:24:01.3017 u TRx dataTimestamp_ set to:1749133442.395762 PDAT read: Bearing 155.2, 0.8 (Local)  ~Local bearing/azimuth received: Bearing 155.2, 0.8 (Local)  checking for new query: numPingsReceived=106, elapsed TxPingTime=50.4432879H>HCHIH[xBHHH)DH<HE6Gȹ~GAAN ?w',G jA9A@6vH?C 明? B?@"ӿj}?`?_? A@r;)C2xBIi٥   HcF= >el5?ml59S IvByu^?ut:uOA@ P?sҋCȫ?\M?z Bj+Cɜ?r㔯 }Bz~?  qBB,@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 91.199997 m, deltaT: 3.023144 s, deltaX: -64.199997 m, approachRate: -21.236170 m/s, rangeRepo size: 4]addTargetRange::Reached target pos rejection count limit. Clearing pos repo.FNOT Ignoring new targets: 154.29 m.%>;%>;5 ProNav: ac range: 154.288330 m, nav range: 153.163147 m, bearing: 149.963095 deg, approach rate: 0.749000 m/s, LOS rate: 0.166785 deg/s, cmd heading: 155.869958 deg, new cmd heading: 156.153401 deg. 5;=~HeadingCmd: 2.725391 target range: 154.288330 and range: nan m.b=l.@Z9r9jARAJABA~A~MQ|B}I|I|I|MV@|U 噧?  zB靥\/I)쾉I~ v<?qyi}l.@iԩI= %=I= =>E [R; ء ץ <K =P"K 9*K 2K :K 'p{Fp,x_I;B.88bQYDU DDAT read: Rx Time:14:24:01.8019 ] TRx dataTimestamp_ set to:1749133442.919710} PDAT read: Bearing 152.4, 1.8 (Local)  ~Local bearing/azimuth received: Bearing 152.4, 1.8 (Local) E E E E _0E = DAT read: Range 10 to 50 : 91.5 m (trip time 61.0 ms) speed -0.7  DAT read: 14:24:01.8019 LVL= 32752, 26833, 32754, 32755, AGC= 66, IDX= 504, 0.21,-1.368,-0.051,-2.352,-1.234, PHS=-0.046, 1.230,-1.122, RAW= 357.2, -0.6, CAL= 357.6, -1.8, ROT= 152.4, 1.8 Ygot valid direction response: 14:24:01.8019 LVL= 32752, 26833, 32754, 32755, AGC= 66, IDX= 504, 0.21,-1.368,-0.051,-2.352,-1.234, PHS=-0.046, 1.230,-1.122, RAW= 357.2, -0.6, CAL= 357.6, -1.8, ROT= 152.4, 1.8 V#Rx 108: Read range and direction messages.E`direction in FSK: [-0.885766,0.463068,-0.031411]EFpublishing direction and range infoY y] `[]2X9B?Iz] BYY ] )] hIY iY Y ] j<] p?] ] @)] +I] @i] ] ;*@] = Y )Y ] 4UVῬXl꿔;i] I. ] 0<] ;*@] = Y )Y checking for new query: numPingsReceived=108, elapsed TxPingTime=51.0299036G1~GqAAN?/1,h jAuchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.1866959eY@eה=YeȆyeԕ>eHg?"@ Ow? U{?ҿ>`?4W?o? eY@eA;)aFxBIII2 = =ye]Q >٥ HdF;= >ԁl5v?l59R IBy9=@gEi.<\:*l5`BAAnEZbܺ jABBC/@ʁT,#E@@J`[]2X9B?Iz;*@=ҁ%eZT[1 BA@ڊ? HE CHE IHE xBHE  =HA HA HE <HE EEq Eq Eq Eu P0Eq 96GQjG]>bG]?~GA)A9NE?ê9, jAVDAT read: 14:24:02.3021 LVL= 29008, 24433, 29986, 32755, AGC= 67, IDX= 506,-0.26,-2.619,-1.317, 2.690,-2.431, PHS=-0.100, 1.161,-1.165, RAW= 357.2, 1.0, CAL= 357.6, 0.5, ROT= 152.4, -0.5 ZYgot valid direction response: 14:24:02.3021 LVL= 29008, 24433, 29986, 32755, AGC= 67, IDX= 506,-0.26,-2.619,-1.317, 2.690,-2.431, PHS=-0.100, 1.161,-1.165, RAW= 357.2, 1.0, CAL= 357.6, 0.5, ROT= 152.4, -0.5 Z\#Rx 110: Read direction message, but no range.^^direction in FSK: [-0.886170,0.463279,0.008727]DyFDڨ[M '[?B7߁?YD FPq)Fq_IF"uiDFCF̽F?F D)F5H ?ũi%?re?Tҿ?t0?{s? C@骍;)ixBI-Mb@Mb@Mb@))) )))Y-uV?~jtx?~jth?y-rH?-;-D;-,A )))I))y-AIIM3]= =ylQ >٥ HeF%=:= ->1=l55?=l595Q I5By=tH?=:=J==@5!gEi51:5:5!0l5I]AAkEZb jAIBIBC2@ʁVq81Te~E@Jps?Dڨ[M '[?B7߁?5ҁ4!lWU]|_?@HQHU IHUxBHU =HQHU(DHUF<HUGEMb@Mb@Mb@ )YNbX9?I +~jtxyE?94Ļ)A 3@)AIAy AII2c= %٥)1 5H5fF5 5|>9l5=0?l59=QP I=ʊByE?:޷=@=*gEi={;<=;<=:6l5A I M @AU eEZb!jAzBzB,@ʁ\"P!=lS})^H@Oc_CތrqQ?{J4%@+<ҁ4T>[5C@?Zv@w}0ؤQ?&OqU?zBץjhQOɜ?rmH B ꁝB/@E  addTargetRange:: Added new target pos. range: 92.400002 m, deltaT: 1.011731 s, deltaX: 0.599998 m, approachRate: 0.593041 m/s, rangeRepo size: 3 -U !addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 91.739380 m, bearing: nan deg, deltaT: 4.794985 s, deltaX: -62.548950 m, approachRate: -13.044661 m/s, posRepo size: 4Q U FNOT Ignoring new targets: 154.29 m.} M4;} M4;  ProNav: ac range: 154.288330 m, nav range: 154.397018 m, bearing: 150.284953 deg, approach rate: 0.609403 m/s, LOS rate: 0.157632 deg/s, cmd heading: 156.775408 deg, new cmd heading: 157.116372 deg.  \; HeadingCmd: 2.742198 target range: 154.288330 and range: 92.40 m.b ,/@Z r j R J B ~ ~ |B} | | | W@| `mp? M zBM PIq )u :q Iu [} y y } 7<} ? i ,/@i rE V>jE >q - checking for new query: numPingsReceived=113, elapsed TxPingTime=52.700890E E E E f0E ԡ6G~GIAQAiNu?YL,5!jA(9b@by?>Ybiyb>bH7?˿??@:ӿ? ?7v? b@b(;)`xBII]I]V83N= G=y%zuDDAT read: Rx Time:14:24:03.8029 }TRx dataTimestamp_ set to:1749133444.916072PDAT read: Bearing 147.3, 2.4 (Local) ~Local bearing/azimuth received: Bearing 147.3, 2.4 (Local) DAT read: Range 10 to 50 : 93.0 m (trip time 62.0 ms) speed -0.5 -\#Rx 114: Read range message, but no direction.quBYqK|sP"K9*K2K:KicZ6(H,zr@p%O@K|@m(qT!j8.Q >٥ HgFH> >%checking for new query: numPingsReceived=114, elapsed TxPingTime=52.973324aml5eSM?ml59eN Ie݊Byqu3>u@e/gEie:e:e:l5y}h@AԁcEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 0.500927 s, deltaX: 0.599998 m, approachRate: 1.197776 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 154.29 m.~f;~f;M ProNav: ac range: 154.288330 m, nav range: 154.660110 m, bearing: 150.366021 deg, approach rate: 0.655085 m/s, LOS rate: 0.201512 deg/s, cmd heading: 157.116371 deg, new cmd heading: 157.359161 deg. MK <UHeadingCmd: 2.746435 target range: 154.288330 and range: 93.00 m.bU/@ZQrQjYRJB~~}|||@W@|? yB%I)Iˍ .<z?i/@iԱEEEE0E  DAT read: 14:24:03.8029 LVL= 31440, 21377, 26162, 32755, AGC= 68, IDX= 2,-0.17, 0.741, 1.895,-0.467, 0.735, PHS= 0.094, 1.206,-1.205, RAW= 2.6, -0.9, CAL= 2.7, -2.4, ROT= 147.3, 2.4 % Ygot valid direction response: 14:24:03.8029 LVL= 31440, 21377, 26162, 32755, AGC= 68, IDX= 2,-0.17, 0.741, 1.895,-0.467, 0.735, PHS= 0.094, 1.206,-1.205, RAW= 2.6, -0.9, CAL= 2.7, -2.4, ROT= 147.3, 2.4 - \#Rx 115: Read direction message, but no range.5 `direction in FSK: [-0.840773,0.539766,-0.041876] y !ſNXaE? ۷pY z) SI 2fi D = 5^? q= 9=) I A=i + "$@ += BF|ݿGeL ti b- S< "$@ +=M checking for new query: numPingsReceived=115, elapsed TxPingTime=53.2121736G ~G A A N >SS, P!jA(9^@^W[>Y^}y^=>^HF ? Bοྪ 7??@ҿc]?`?? ^@^U;)\xBII]I]3ԁ:JZBJLJJERJZJ9bJq9J4J%= -)=y5:Q m>٥q HhFrn=DDAT read: Rx Time:14:24:04.3031 -TRx dataTimestamp_ set to:1749133445.419741UPDAT read: Bearing 147.2, 1.5 (Local) e~Local bearing/azimuth received: Bearing 147.2, 1.5 (Local) }DAT read: Range 10 to 50 : 93.3 m (trip time 62.2 ms) speed -0.4 >l5Il?l59L IByxO>@5gEiq::d>l5DAT read: 14:24:04.3031 LVL= 21168, 22641, 23522, 32755, AGC= 66, IDX= 499, 0.02, 1.390, 2.550, 0.169, 1.404, PHS= 0.074, 1.193,-1.238, RAW= 2.6, -0.3, CAL= 2.8, -1.5, ROT= 147.2, 1.5 Ygot valid direction response: 14:24:04.3031 LVL= 21168, 22641, 23522, 32755, AGC= 66, IDX= 499, 0.02, 1.390, 2.550, 0.169, 1.404, PHS= 0.074, 1.193,-1.238, RAW= 2.6, -0.3, CAL= 2.8, -1.5, ROT= 147.2, 1.5 V#Rx 116: Read range and direction messages.?A`E`direction in FSK: [-0.840279,0.541523,-0.026177]Fpublishing direction and range info!y%2-'T?P!Κ%BY! %R)%qXI%[i!%B%P=%9?%v !)%I%+H=i%Pwּ%l$@%Pw< !)!%ZD Ѡmݿۿjv?si%Z!b% Z!jA%DB%DB%>33@ʁ%;MuSgqSI@%f%2-'T?P!Κ%l$@%Pw<ҁ%u@U|Vh?@Sj@%/O$n?y?r?z%+A%j%Ȝ?r%t %%j;%l$@%Pw< !)!checking for new query: numPingsReceived=116, elapsed TxPingTime=53.506424ԩ H<H<H>HH9IH&yBHHHH%<HEHƒCHƒCHƓCHI = IF5%B%+Cɜ?%N  %B%¸B%PI0@ addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 0.503669 s, deltaX: 0.300003 m, approachRate: 0.595635 m/s, rangeRepo size: 4 -!addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 92.632950 m, bearing: nan deg, deltaT: 5.799581 s, deltaX: -61.655380 m, approachRate: -10.631006 m/s, posRepo size: 4FNOT Ignoring new targets: 154.29 m.iE;iE; ProNav: ac range: 154.288330 m, nav range: 154.942352 m, bearing: 150.457463 deg, approach rate: 0.533683 m/s, LOS rate: 0.172591 deg/s, cmd heading: 157.359157 deg, new cmd heading: 157.632983 deg. %;5HeadingCmd: 2.751215 target range: 154.288330 and range: 93.30 m.b50@Z1r1j1R9J9B9~i~i}q|q|y|}@3SW@|}? - yB- *YI) )- ՚) I5 o 1 1 5 ܘ<= @Y Y i] 0@ia  checking for new query: numPingsReceived=116, elapsed TxPingTime=53.706554 >E ;EYEYEYE]P0EYFaFa1a6GjG>bG>DDAT read: Rx Time:14:24:04.8034 TRx dataTimestamp_ set to:1749133445.924008~GAAN/?H^,{!jAUPDAT read: Bearing 145.7, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 145.7, 1.6 (Local) DAT read: Range 10 to 50 : 93.8 m (trip time 62.5 ms) speed -0.4 6DAT read: 14:24:04.8034 LVL= 23280, 25185, 28194, 31987, AGC= 65, IDX= 502, 0.19,-2.718,-1.610, 2.280,-2.744, PHS= 0.114, 1.181,-1.262, RAW= 4.2, -0.3, CAL= 4.3, -1.6, ROT= 145.7, 1.6 KJ^9P"KJ59*KH2KJ:KJ]vlkccVuP S<xrJ =CFclZYgot valid direction response: 14:24:04.8034 LVL= 23280, 25185, 28194, 31987, AGC= 65, IDX= 502, 0.19,-2.718,-1.610, 2.280,-2.744, PHS= 0.114, 1.181,-1.262, RAW= 4.2, -0.3, CAL= 4.3, -1.6, ROT= 145.7, 1.6 ZV#Rx 117: Read range and direction messages.^`direction in FSK: [-0.825776,0.563306,-0.027922]^Fpublishing direction and range info)y-'],l:w?|p}-BY) -Z)-abI-"ni-|-A-x=-+?-7 -Q =))I-`=i-伉-"@-< )))-dցۿXn^S vi-=`-8;-"@-< )))=checking for new query: numPingsReceived=117, elapsed TxPingTime=54.0150959]B=[>YyIu>H?8ҿe?Uq?sҿ?8?? ]B=骝;)CԩxB IMb@Mb@Mb@ )YMb?S㥛I +yC?/ݼ94(A @)zAIjAyG AII[3Ea= M٥IQ UHUiFU6= U>yl5}?l59}I I} By6C?:r>@}=gEi}$:}:} Dl5aB?AZEZ)b-"{!jA-AB-AB-4@ʁ-DY9S+A:J@`n-'],l:w?|p}-"@-<ҁ-b V<@H@-_HiMw?X3?z-A-j-qȜ?r-hR -B-[Ȝ?-  -B-/B-2@ addTargetRange:: Added new target pos. range: 93.800003 m, deltaT: 0.504267 s, deltaX: 0.500000 m, approachRate: 0.991538 m/s, rangeRepo size: 4 -addTargetPos::Rejecting new target pos. Approach rate out of bounds. range: 93.128822 m, bearing: nan deg, deltaT: 6.303848 s, deltaX: -61.159508 m, approachRate: -9.701933 m/s, posRepo size: 4]addTargetPos::Reached target pos rejection count limit. Clearing pos repo.bZ rYjYRYJYBa~~{B}|||@3sW@|@? yB 5checking for new query: numPingsReceived=117, elapsed TxPingTime=54.210716I1)5k1I=; 99=E5 ?BIa EQ EQ EY E] 2EY ԁDDAT read: Rx Time:14:24:05.3035 %TRx dataTimestamp_ set to:1749133446.431174-PDAT read: Bearing 145.4, 3.7 (Local) -~Local bearing/azimuth received: Bearing 145.4, 3.7 (Local) =DAT read: Range 10 to 50 : 93.8 m (trip time 62.5 ms) speed -0.8 -E\#Rx 118: Read range message, but no direction.YMchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.476387H>HH^IHcyBH =HHHG<H>E6G~GAAN?kh,iQ!jA9Vų=VC>YV|yVS>VH m? ӿ̚٥ HjFR>= >-l5?-l59F IBy->?-:->5@DgEiV;k;Il5im>AmWE addTargetRange:: Added new target pos. range: 93.800003 m, deltaT: 0.507166 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 AADAT read: 14:24:05.3035 LVL= 23744, 27377, 24882, 31315, AGC= 65, IDX= 503, 0.21, 2.484,-2.685, 1.160, 2.391, PHS= 0.181, 1.254,-1.234, RAW= 4.5, -1.9, CAL= 4.6, -3.7, ROT= 145.4, 3.7 Ygot valid direction response: 14:24:05.3035 LVL= 23744, 27377, 24882, 31315, AGC= 65, IDX= 503, 0.21, 2.484,-2.685, 1.160, 2.391, PHS= 0.181, 1.254,-1.234, RAW= 4.5, -1.9, CAL= 4.6, -3.7, ROT= 145.4, 3.7 \#Rx 119: Read direction message, but no range. `direction in FSK: [-0.821421,0.566660,-0.064532]yg;Ik"?P0Y \)jI2aiSzX9>? |٠=)Il=i Ai"@ A= l$SۿPmLa1ӠiŞ=i"@ A=%checking for new query: numPingsReceived=119, elapsed TxPingTime=54.726147b9Z9r9j9R9JABA~A~E{B}I|I|I|Q|}? yBI) nIL 9=iIԑI IV2L= =y Q  >٥  H >%l5?-l59?D I.By))-@JgEiG ;2 ;Ml515S>A5TEDAT read: 14:24:05.8037 LVL= 20720, 24177, 23442, 28563, AGC= 65, IDX= 489, 0.11,-2.801,-1.766, 2.083,-2.948, PHS= 0.235, 1.230,-1.255, RAW= 6.6, -2.0, CAL= 6.5, -3.9, ROT= 143.5, 3.9 Ygot valid direction response: 14:24:05.8037 LVL= 20720, 24177, 23442, 28563, AGC= 65, IDX= 489, 0.11,-2.801,-1.766, 2.083,-2.948, PHS= 0.235, 1.230,-1.255, RAW= 6.6, -2.0, CAL= 6.5, -3.9, ROT= 143.5, 3.9 X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.801995,0.593445,-0.068015]ayed@&I?,::siYa eP)eq^Ie[ieoaeףp>ep?eף e=)e5IeV=ie'geJ @e'g= aeyN3iqٿdN0Wȷie meT =eJ @e'g=@,6?]nX4:$?{zl?z]A]\j]uBȜ?r]C ]zzB]uBȜ?]C  Y]ٺB]{3@ addTargetRange:: Added new target pos. range: 94.099998 m, deltaT: 0.500085 s, deltaX: 0.299995 m, approachRate: 0.599889 m/s, rangeRepo size: 4 r ?ur ? Added new target pos. range: 93.425858 m, bearing: 160.709123 deg, lat: 36.906430 deg, lon: -122.116033 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 DNOT Ignoring new targets: 93.43 m.Ա ProNav pure pursuit: ac range: 93.425858 m, nav range: 93.425346 m, bearing: 160.708925 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 157.632980 deg, new cmd heading: 160.708925 deg. HeadingCmd: 2.804900 target range: 93.425858 and range: 94.10 m.b{3@ZrjRJB~~}|||`fW@|`LO? uyBurIq)u~JqIuL" yy}|<@i{3@iE?EEEE DDAT read: Rx Time:14:24:06.3038 % TRx dataTimestamp_ set to:1749133447.432301- PDAT read: Bearing 141.5, 3.5 (Local) - ~Local bearing/azimuth received: Bearing 141.5, 3.5 (Local) = DAT read: Range 10 to 50 : 94.2 m (trip time 62.8 ms) speed -0.5 -E X#Rx 1: Read range message, but no direction.! % fBY! M 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode. G G AAH >H H }IH yBH  =H H H d<H jE6Ge ȹ~G9AAAQYNe>#x,;!jA9N6!>N6>YN սyN>NHj?@_ؿz?`t?P?@lҿ? Z0?`? N6!>NU;)NCUdyBU_IMb@Mb@Mb@ )YS?Zd;O~jty:?jD @)IAy= AI #I %x3= =!=yE#٥AA MHMkFM&> M>Q}DAT read: 14:24:06.3038 LVL= 16848, 22513, 18354, 25731, AGC= 64, IDX= 506,-0.07, 1.918, 2.855, 0.471, 1.736, PHS= 0.270, 1.166,-1.268, RAW= 8.7, -1.6, CAL= 8.5, -3.5, ROT= 141.5, 3.5 Ygot valid direction response: 14:24:06.3038 LVL= 16848, 22513, 18354, 25731, AGC= 64, IDX= 506,-0.07, 1.918, 2.855, 0.471, 1.736, PHS= 0.270, 1.166,-1.268, RAW= 8.7, -1.6, CAL= 8.5, -3.5, ROT= 141.5, 3.5 X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.781148,0.621353,-0.061049]Yy]+ ?.xAYY ]A)]WI]Gi]d]@]q=>]}??]M ]|>)]I]>i]5z]@]5z= Y]2H׿ WNlF踃i]&]T%<]@]5z=@UPgEiUP 鿅&?0L3 fBY  C) VI Wi cb  d;> v?   V>) +HI C>i ޹ bd@K O"K *K 2K :K @>9$*OC''}& D y7}`{+zQeE}Wj~G A A N >=$,!jA޹= )k׿=gxyziK=bd@޹= ) >2Acoustic response timeout>Querying Benthos address 50 with one ping in standard two-way mode.}yBnII%I%V83= [=yQ >٥ HlF >Ml5 ?Ml59d> IIByIIU@TgEi%<%<MUl5Y]=AYZb!jA B B6@ʁ>ZeRv]EL@oH !> 鿅&?0L3bd@޹=ҁ~cBOVCʷ:@oϿԷ@%1a/?`rezAJj( \Ȝ?rmv~ }xBqȜ?hR  BBJy5@  addTargetRange:: Added new target pos. range: 94.699997 m, deltaT: 0.503669 s, deltaX: 0.500000 m, approachRate: 0.992715 m/s, rangeRepo size: 4  Added new target pos. range: 94.021881 m, bearing: 163.490869 deg, lat: 36.906420 deg, lon: -122.116058 deg, deltaT: 0.503669 s, deltaX: 0.496414 m, approachRate: 0.985596 m/s, posRepo size: 3 DNOT Ignoring new targets: 94.02 m.AQQ ProNav: ac range: 94.021881 m, nav range: 94.274353 m, bearing: 162.463782 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 160.708928 deg, new cmd heading: 160.708928 deg. HeadingCmd: 2.804900 target range: 94.021881 and range: 94.70 m.bZrjRJB~~}|||̬W@|R? ]yB]6IY)]YIe aaeE,K"jA6DDAT read: Rx Time:14:24:07.3041 6TRx dataTimestamp_ set to:1749133448.439902>PDAT read: Bearing 138.4, 4.8 (Local) >~Local bearing/azimuth received: Bearing 138.4, 4.8 (Local) NDAT read: Range 10 to 50 : 94.7 m (trip time 63.1 ms) speed -0.4 bDAT read: 14:24:07.3041 LVL= 15248, 21169, 17906, 25059, AGC= 63, IDX= 509, 0.10,-2.178,-1.378, 2.575,-2.465, PHS= 0.375, 1.134,-1.246, RAW= 11.8, -2.5, CAL= 11.6, -4.8, ROT= 138.4, 4.8 fYgot valid direction response: 14:24:07.3041 LVL= 15248, 21169, 17906, 25059, AGC= 63, IDX= 509, 0.10,-2.178,-1.378, 2.575,-2.465, PHS= 0.375, 1.134,-1.246, RAW= 11.8, -2.5, CAL= 11.6, -4.8, ROT= 138.4, 4.8 fR#Rx 1: Read range and direction messages.j`direction in FSK: [-0.745175,0.661598,-0.083678]jFpublishing direction and range info4y6.r4z+?U]k4Y4 6;)6RI6Ei6a6?6>6&?6| 6BR>)6¸2I64QO>i66#@6= 4)46./bӿq_1?i6o64=6#@6= 4)4 v2Acoustic response timeoutzQuerying Benthos address 50 with one ping in standard two-way mode.9ҴZ>>Y6Ľy>H@?@ccۿ"i???)ҿ ?3?`d? ҴZ>骝 ;)yBIH>HHIHyBH =HH)DHR<HZE-Mb@Mb@Mb@))) )))Y- +?X9v{Gzty-6?--ף-GA -~@)-X@I-A)y-AI I̍2.= #=y٥ HmF= > l5$? l59: IWBy 6?:z>@ZgEi;;Yl5=bB= ,y9"jAIBR=IBa=:JF]BJFRJJF>RJDZJF]:bJFS29JFt4JDzJF:jJF:JF;:rJF<:9~w>!~`>Y~E2y~<4>~H i?`ܿn?sc???Tѿ}?I?ʱ? ~w>~;)~C5yB5I aauDDAT read: Rx Time:14:24:07.8043 }TRx dataTimestamp_ set to:1749133448.945756DAT read: Range 10 to 50 : 95.1 m (trip time 63.4 ms) speed -0.4 -X#Rx 1: Read range message, but no direction.y}3BYy 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.II2-= -C=y5٥99 =H9== E>AMl5E;?Ml59E7 IEbByQU>U@E_gEiE;E;EK]l5;AKEB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 0.505854 s, deltaX: 0.400002 m, approachRate: 0.790745 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 94.02 m. :; :;KOP"Kŷ9*K2K:Kr&J1JF ~xU`qi yC$0<:HRY[\[yXSOVKE.@n;t72-($2!] ProNav: ac range: 94.023758 m, nav range: 94.290215 m, bearing: 163.681511 deg, approach rate: 0.576828 m/s, LOS rate: 0.299400 deg/s, cmd heading: 160.708928 deg, new cmd heading: 161.062390 deg. ]yM<eHeadingCmd: 2.811069 target range: 94.023758 and range: 95.10 m.be3@ZarajaRiJiBi~~}|||`fW@| ݱ? RI)xBI % <%z-@!IIiU3@iQE?EEE0Ey Ӝ,XS"jA9>`n>> >Y>y>̀>>H`!?@W޿t?? y? ѿi?e?ܪ? >`n>>~;)>CjyBjIIrIr#3vt= za=yz>٥|| ~H~nFV= >  l5 -O?l59 4 I kBy>@ cgEi : P: x`l5!%;A!iuDNOT Ignoring new targets: 94.02 m.u;y}; ProNav: ac range: 94.023758 m, nav range: 94.482574 m, bearing: 163.786912 deg, approach rate: 0.536207 m/s, LOS rate: 0.293210 deg/s, cmd heading: 161.062390 deg, new cmd heading: 161.377947 deg. :I<HeadingCmd: 2.816576 target range: 94.023758 and range: 95.10 m.bB4@ZrjRJB~~}||||H? yB靭@ZI)pHG=ZAYuDDAT read: Rx Time:14:24:08.3043 uTRx dataTimestamp_ set to:1749133449.447446}DAT read: Range 10 to 50 : 95.1 m (trip time 63.4 ms) speed -0.4 -X#Rx 1: Read range message, but no direction.qqYq 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԡI' Ԕ</3@iB4@i %hY%ZAy%A H<HH>HHIHzBH =HH(DH+<HEEEEE?1E6G  ~G A A N > ٥ HoF >l5e?l590 IwByx3?:>@hgEi:Q;?dl5:AHE addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 0.501690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 94.02 m.;; ProNav: ac range: 94.023758 m, nav range: 94.699303 m, bearing: 163.914504 deg, approach rate: 0.488473 m/s, LOS rate: 0.286915 deg/s, cmd heading: 161.377945 deg, new cmd heading: 161.759839 deg. D<HeadingCmd: 2.823242 target range: 94.023758 and range: 95.10 m.b4@ZrjRJB~!~%{B}!|)|Y|a|? yB=I!)%)܅I܅MQ>i܅5܅ @܅5> ݁)݁݅j60JoɿSEy !i݅$T⿉݅P:=݅ @݅5> ށ)ށ 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.1Km kQ"Km 9*Ki 2Km :Km q}/ I Q > Y ?_4?V'<ES0|9s236GE ~G! A) AA NU >a i,w"jA96>6 ?Y6y6>6H=?`P???@ѿm?`y?? 6>68;)6C~ zB~II )I W3]= V=y%٥!) -H)-> ->1el55x?ml595<- I5Byqu ?@5lgEi5Q<5,R<5gl5:ADEZb|"jAԽBԽB5@ʁ8j#O˞sWQ@Sck*[#?H@l @5>ҁImNV&mW<@(g?:`J? ?zA$jWȜ?rCB =BݡExȜ? =BꁵB{67@A] addTargetRange:: Added new target pos. range: 95.599998 m, deltaT: 0.504623 s, deltaX: 0.500000 m, approachRate: 0.990839 m/s, rangeRepo size: 4  Added new target pos. range: 94.915916 m, bearing: 162.623859 deg, lat: 36.906421 deg, lon: -122.116077 deg, deltaT: 1.512167 s, deltaX: 0.892159 m, approachRate: 0.589987 m/s, posRepo size: 4 )܉ I܍ >i܍ ܍ 5@܍ > ݉ )݉ ݍ  ó A<%Euiݍ ڿݍ $L=ݍ 5@ݍ > މ )މ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.H >H CH IH MzBH =H H 'DH d<H dEHHHH =I = I06 6G)~G A9AQN]?[,@"jAt9%K;>%Ok?Y%◽y%>%HG?`?c??ѿ?$v?ʱ? %K;>%1o;)%C==zB=IMMb@Mb@Mb@III I)IYMʡE?~jthMbpyM-2?IMMA M$@)MX@IM AIyMAII 3nN= =y' 5l5 ?=l59 h' I By=.2?=:=?=@ rgEi O; ; ll5AM :AMAEZb+"jAQq5@ʁƚL)*9 R@#SMG*/\.#?:N ¿5@>ҁԔЗFV{{<@@}M#M?c٨?zAj*Ȝ?r,5 KB BꁽBuj7@5 addTargetRange:: Added new target pos. range: 95.599998 m, deltaT: 0.503729 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 94.914658 m, bearing: 162.435894 deg, lat: 36.906421 deg, lon: -122.116077 deg, deltaT: 0.503729 s, deltaX: -0.001259 m, approachRate: -0.002499 m/s, posRepo size: 4 AMDNOT Ignoring new targets: 94.91 m.II ProNav: ac range: 94.914658 m, nav range: 95.058311 m, bearing: 164.202401 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 162.094200 deg, new cmd heading: 162.579692 deg. HeadingCmd: 2.837551 target range: 94.914658 and range: 95.60 m.bo5@ZrjRJB~~{B}||||@y? yB#voI)ʉ=!I%h& !!%@6,"jA6`direction in FSK: [-0.561310,0.813665,-0.151261]6Fpublishing direction and range infoy_Z@\Ë ?ni\ÿfBY >)BISiU<|??`p?+ =>)¸I>i|- @|> )2K`+ iӿ"=- @|> ) V2Acoustic response timeoutZQuerying Benthos address 50 with one ping in standard two-way mode.Kb6P"Kb9*K`2Kb:Kb} 1[jB jFuKsU#I !  /vOnlY[ tb9v/>v›!?YvXyv>vH;?@A]ٺ?`b?%~?ݤп N?fZ?@T? v/>v:݊;)t=\zB=IIMIM[3Y/= d=y;Q >٥ HqF= >l5?l59# IBy ?@vgEi:K:ol59AZbj"jABBh3@ʁflJЅSS@E5g,_Z@\Ë ?ni\ÿ- @|>ҁ LdV^݃?@L? @<*92ڴe:?2i4?zA%j(ɜ?r? BWȜ?CB  B!5@ addTargetRange:: Added new target pos. range: 95.699997 m, deltaT: 0.507484 s, deltaX: 0.099998 m, approachRate: 0.197048 m/s, rangeRepo size: 4  Added new target pos. range: 95.013939 m, bearing: 160.616105 deg, lat: 36.906426 deg, lon: -122.116052 deg, deltaT: 0.507484 s, deltaX: 0.099281 m, approachRate: 0.195634 m/s, posRepo size: 4 DNOT Ignoring new targets: 95.01 m.5 ProNav: ac range: 95.013939 m, nav range: 95.294037 m, bearing: 162.928324 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 162.579689 deg, new cmd heading: 162.915446 deg. 9=HeadingCmd: 2.843411 target range: 95.013939 and range: 95.70 m.bEr5@ZArAjARAJABA~i~i}i|q|q|uW@|u`"?ԉ yB5@I)=I򇘼 83|<2;@!!i%r5@i) WJ4J(4JϚ0:J^BJYJJRJjDDAT read: Rx Time:14:24:10.3048 jTRx dataTimestamp_ set to:1749133451.464033rPDAT read: Bearing 120.3, 10.6 (Local) v~Local bearing/azimuth received: Bearing 120.3, 10.6 (Local) ~DAT read: Range 10 to 50 : 95.9 m (trip time 63.9 ms) speed -0.4 DAT read: 14:24:10.3048 LVL= 19952, 16369, 17762, 25635, AGC= 61, IDX= 501,-0.40, 0.088, 0.163,-1.838,-0.694, PHS= 0.870, 0.904,-1.147, RAW= 29.2, -6.2, CAL= 29.7, -10.6, ROT= 120.3, 10.6 )5Ygot valid direction response: 14:24:10.3048 LVL= 19952, 16369, 17762, 25635, AGC= 61, IDX= 501,-0.40, 0.088, 0.163,-1.838,-0.694, PHS= 0.870, 0.904,-1.147, RAW= 29.2, -6.2, CAL= 29.7, -10.6, ROT= 120.3, 10.6 5R#Rx 1: Read range and direction messages.M`direction in FSK: [-0.495918,0.848662,-0.183951]MFpublishing direction and range infohyj߿od>=(? =ηǿj̿BYh jM)j?IjbEij#dj=jR^?jlg?jВ jw?)jkݽIjm?ijq=j[`@jq=> h)hj,ܻ!Oxڈ￈ìij.ʿjM=ZJ} :bJ[O9JJe@e@m@m@j[`@jq=> h)h u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.,L"jAGG?AH >H H IH zBH  =H H (DH <H E=wzB=IQMb@Mb@Mb@ )Y&1?٥ H >!Ml5%D?Ul59% I%By]0?]:]?]@%|gEi%-;% ;%Ltl5ae89A>EZhbj"jAjlBjlBjoV.@ʁj ߛGGCl3T@,k=1j߿od>=(? =ηǿj[`@jq=>ҁj #U9MC@ \?j3>j??`H?zjlBj jjuʜ?rjw$ jBj*Ȝ?j,5  hjwBj5@e addTargetRange:: Added new target pos. range: 95.900002 m, deltaT: 0.500751 s, deltaX: 0.200005 m, approachRate: 0.399409 m/s, rangeRepo size: 4 u Added new target pos. range: 95.212837 m, bearing: 156.075161 deg, lat: 36.906430 deg, lon: -122.116046 deg, deltaT: 0.500751 s, deltaX: 0.198898 m, approachRate: 0.397200 m/s, posRepo size: 4 q}DNOT Ignoring new targets: 95.21 m.yy ProNav: ac range: 95.212837 m, nav range: 95.233894 m, bearing: 162.733881 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 162.915448 deg, new cmd heading: 163.347368 deg. HeadingCmd: 2.850949 target range: 95.212837 and range: 95.90 m.bu6@ZrjRJB~~{B}|||W@| ? myBmR2Iq)u=qIu qquY#x",I"jA9jS>j/?Yj&yj>jH??AB? k?!п_?!s?? jS>jZ;)jCMDDAT read: Rx Time:14:24:10.8050 MTRx dataTimestamp_ set to:1749133451.968197UPDAT read: Bearing 112.3, 10.2 (Local) ]~Local bearing/azimuth received: Bearing 112.3, 10.2 (Local) mDAT read: Range 10 to 50 : 96.2 m (trip time 64.1 ms) speed -0.3 DAT read: 14:24:10.8050 LVL= 20032, 18673, 18290, 27315, AGC= 62, IDX= 503,-0.10, 1.009, 0.786,-1.066, 0.093, PHS= 1.005, 0.740,-1.161, RAW= 36.4, -5.8, CAL= 37.7, -10.2, ROT= 112.3, 10.2 Ygot valid direction response: 14:24:10.8050 LVL= 20032, 18673, 18290, 27315, AGC= 62, IDX= 503,-0.10, 1.009, 0.786,-1.066, 0.093, PHS= 1.005, 0.740,-1.161, RAW= 36.4, -5.8, CAL= 37.7, -10.2, ROT= 112.3, 10.2 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.373459,0.910587,-0.177085]Fpublishing direction and range infoIyMM͏'׿(#?kiƿMfBYI M@N)MHIMrGiMjM>Mף?Mp=?M M"?)M4QϽIMq(?iMK6Mp?MK6> I)IM=,9z?O3c}𲹿iMNMQ=Mp?MK6> I)I 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.zBIi=I=II?13Ee= EN=yE@٥II MHMrFM> U>l5?l594 IBy-?@gEi~:%:wl5cB8A;EZIbM"jAMBMBM\)@ʁMZK1ҬA5!U@mC 0MM͏'׿(#?kiƿMp?MK6>ҁMCKbMTf3F@̬4 a@MM:ʴ`?O?zMW5BMҧjM1˜?rM)n MwBM(ɜ?M?  MKBMBMM3@KP"K@9*K2K:K85x lmC`?~ aL)%!_6!8 s addTargetRange:: Added new target pos. range: 96.199997 m, deltaT: 0.504164 s, deltaX: 0.299995 m, approachRate: 0.595035 m/s, rangeRepo size: 4 5 Added new target pos. range: 95.510681 m, bearing: 151.618639 deg, lat: 36.906440 deg, lon: -122.116012 deg, deltaT: 0.504164 s, deltaX: 0.297844 m, approachRate: 0.590768 m/s, posRepo size: 4 1=DNOT Ignoring new targets: 95.51 m.99 ProNav: ac range: 95.510681 m, nav range: 95.316399 m, bearing: 160.942609 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 163.347362 deg, new cmd heading: 163.699331 deg. HeadingCmd: 2.857092 target range: 95.510681 and range: 96.20 m.b6@ZrjRJB~~}||| X@| Vc? yBd I)>IA aevtň,&#jA9zE>zM7?Yz;Eyze>zHn?`? :?p?Ͽ@?!j?&? zE>z2;)xzB(I!II:JZBJLJJ?RJZJ9bJq9Jـ4JII2]DDAT read: Rx Time:14:24:11.3051 ]TRx dataTimestamp_ set to:1749133452.471819ePDAT read: Bearing 108.4, 12.5 (Local) m~Local bearing/azimuth received: Bearing 108.4, 12.5 (Local) DAT read: Range 10 to 50 : 96.3 m (trip time 64.2 ms) speed -0.4 DAT read: 14:24:11.3051 LVL= 21808, 20337, 20594, 24915, AGC= 62, IDX= 503, 0.03, 2.069, 1.734,-0.048, 1.051, PHS= 1.105, 0.729,-1.102, RAW= 39.2, -7.2, CAL= 41.6, -12.5, ROT= 108.4, 12.5 Ygot valid direction response: 14:24:11.3051 LVL= 21808, 20337, 20594, 24915, AGC= 62, IDX= 503, 0.03, 2.069, 1.734,-0.048, 1.051, PHS= 1.105, 0.729,-1.102, RAW= 39.2, -7.2, CAL= 41.6, -12.5, ROT= 108.4, 12.5 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.308167,0.926384,-0.216440]Fpublishing direction and range infoYy]H\ӿi:?K˿]BYY ]0U)]qOI]rPi]SaY]p?]:?]V ]%/?)]I]9?i]f_]*?]f_> Y)Y]$8?aW￞Qi]"]F>]*?]f_> Y)Y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Hm>HmCHm9IHmzBHm =HiHm)DHm<HmEe= =yf;Q >٥ HsF\= >l5&?l59= IBy 5?@gEi<<J|l5IIUi8AQZYb]H2#jA]9B]9B]$&@ʁ]v=Ә$V@yñ4]H\ӿi:?K˿]*?]f_>ҁ]EvtTH@@̜@]/7p뿋^jq?ayɧ?z]DB]j]y˜?r] ]B]uʜ?]w$  Y]B].@ addTargetRange:: Added new target pos. range: 96.300003 m, deltaT: 0.503622 s, deltaX: 0.100006 m, approachRate: 0.198574 m/s, rangeRepo size: 4  Added new target pos. range: 95.612778 m, bearing: 149.069538 deg, lat: 36.906465 deg, lon: -122.115930 deg, deltaT: 0.503622 s, deltaX: 0.102097 m, approachRate: 0.202725 m/s, posRepo size: 4 !%DNOT Ignoring new targets: 95.61 m.))] ProNav: ac range: 95.612778 m, nav range: 95.478607 m, bearing: 156.414695 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 163.699335 deg, new cmd heading: 164.161846 deg. YeHeadingCmd: 2.865165 target range: 95.612778 and range: 96.30 m.be^7@ZarajaRaJaBi~i~i}i|q||@3X@|>?  yB% ڝI! )% .>! I- ) ) - q a)ae~* M?o.#هח'¿ie:Ʊe.>ey?e}> a)a 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.EzBEFIԱK R1P"K 9*K 2K :K &0=Rz  QR._OWk3pR=Mb@Mb@Mb@999 9)9Y=7A`?I +I +y=6?=99=A =@)=@I= A9y=QAIIIUIUm?3eH= e=yeQ e>٥ HtF >l5F?l59 IBy6?:0?@gEi=;=;7l5bB7A6EZabe>#jAeҿBeҿBei#@ʁe⭝{:EOV@7ec7iѿe{?/;fϿey?e}>ҁeGT"hAJ@"?enA?0?ze RBejeɸ ̜?re ezBe1˜?e)n  eBeNBe)@] addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 0.507430 s, deltaX: 0.299995 m, approachRate: 0.591206 m/s, rangeRepo size: 4  Added new target pos. range: 95.910629 m, bearing: 146.804390 deg, lat: 36.906495 deg, lon: -122.115852 deg, deltaT: 0.507430 s, deltaX: 0.297852 m, approachRate: 0.586981 m/s, posRepo size: 4 DNOT Ignoring new targets: 95.91 m. ProNav: ac range: 95.910629 m, nav range: 95.654106 m, bearing: 152.036278 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 164.161848 deg, new cmd heading: 164.613643 deg. -HeadingCmd: 2.873050 target range: 95.910629 and range: 96.60 m.b- 7@Z)r1j1R1J9Ba~a~e{B}a|i|i|u`f&X@|}@;? yBEI)E]>I% Vl< 7@! ! i% 7@i! E E E E _0E  ݉)݉ݍz ?aw4sĿiݍIݍ8!>ݍ?ݍ> މ)މ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9/?M?Ypy:x>H@٥ HuF> >l5?l59 IByo6?:\D?@gEi=:F:4l5cBw7A3EZbn_#jA)#@ʁ@k14V@s>x9TKƿr^S?<п?>ҁfSJ@-#+ȡ9꿰/<?%T 늿zVB%jDw̜?r` uBy˜?  BꁍB'@} addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 0.506556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 95.910820 m, bearing: 146.071092 deg, lat: 36.906515 deg, lon: -122.115807 deg, deltaT: 0.506556 s, deltaX: 0.000191 m, approachRate: 0.000377 m/s, posRepo size: 4 DNOT Ignoring new targets: 95.91 m. ProNav: ac range: 95.910820 m, nav range: 95.828140 m, bearing: 149.530390 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 164.613638 deg, new cmd heading: 165.106007 deg. HeadingCmd: 2.881644 target range: 95.910820 and range: 96.60 m.bl8@ZrjRJB ~! ~% {B}) |) |) |) |- 3?A zB靍 jI ) f> I  h< l8@ i l8@i  nDDAT read: Rx Time:14:24:12.8056 nTRx dataTimestamp_ set to:1749133453.984080vPDAT read: Bearing 99.2, 15.2 (Local) v~Local bearing/azimuth received: Bearing 99.2, 15.2 (Local) ~DAT read: Range 10 to 50 : 97.1 m (trip time 64.7 ms) speed -0.3 %DAT read: 14:24:12.8056 LVL= 18256, 21025, 20018, 26611, AGC= 62, IDX= 508,-0.49,-2.976, 2.707, 1.125, 2.126, PHS= 1.269, 0.628,-1.004, RAW= 45.9, -8.8, CAL= 50.8, -15.2, ROT= 99.2, 15.2 =Ygot valid direction response: 14:24:12.8056 LVL= 18256, 21025, 20018, 26611, AGC= 62, IDX= 508,-0.49,-2.976, 2.707, 1.125, 2.126, PHS= 1.269, 0.628,-1.004, RAW= 45.9, -8.8, CAL= 50.8, -15.2, ROT= 99.2, 15.2 =R#Rx 1: Read range and direction messages.E`direction in FSK: [-0.154288,0.952603,-0.262189]EFpublishing direction and range infolynYÿ0ڸ{?;f$пn3BYl nPG)n!RIlingn>nn?n ?n nKM?)nnFInb?inԇnk?nԇ> l)lnjRɧbK?uajÿinn1>nk?nԇ> l)l ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.BH,? iT?(?{?@4̿H?`?? B?B:;)@{BkII I <2> [=y%;Q E>٥II MHIMI= U>Q]l5U)?]l59U IUËByK?@UgEiU;U;Ul56AZlbn+~#jAnBnBn{#@ʁnﯫ-f`5ΞV@]uF9nYÿ0ڸ{?;f$пnk?nԇ>ҁn.y\TU0J@+SInj9꿾F?@$;ERɀznUBnjni׾̜?rnݢ̀ nwBnɸ ̜?n  nzBnBnk$@ addTargetRange:: Added new target pos. range: 97.099998 m, deltaT: 0.498275 s, deltaX: 0.500000 m, approachRate: 1.003462 m/s, rangeRepo size: 4 K-P"K@9*K2K:KexIOS {$k  [e[cR}_iE Added new target pos. range: 96.407249 m, bearing: 146.355661 deg, lat: 36.906533 deg, lon: -122.115766 deg, deltaT: 0.498275 s, deltaX: 0.496429 m, approachRate: 0.996296 m/s, posRepo size: 4 AEDNOT Ignoring new targets: 96.41 m.II ProNav: ac range: 96.407249 m, nav range: 96.055984 m, bearing: 147.197920 deg, approach rate: 0.000000 m/s, LOS rate: 0.286915 deg/s, cmd heading: 165.106013 deg, new cmd heading: 165.441451 deg. HeadingCmd: 2.887498 target range: 96.407249 and range: 97.10 m.b8@ZrjRJB~~}|||`fFX@|@1@? zB %:I ) > IL 155e<=8@99i=8@iAEEEEW0EAw},#jA9])"?]G[?Y]sEdy]>]H? `bj? =$?u?˿愬?B?0? ])"?] ;)]C{BmII*I3; P=yJy;) IQ ]>}~GA:JE[BJETJJEARJAZJE:bJE:9JE4JA }#ݿYA٥ HvFyA5,DAT read: user:2084> =FDAT read: Command 'r50' not found =dunknown deviceResponse_: Command 'r50' not found E"DAT read: Error E@unknown deviceResponse_: Error E,DAT read: user:2085> MBDAT read: Tx time:14:24:13.6812 M$Ping request sent.Ml51=?l59z IȋByR?@gEi-<K<l56A0EyB*** querying acoustic contact ***JRDNOT Ignoring new targets: 96.41 m.;;Hɼ>HCHIHj{BH =HH+DH<H$E ProNav: ac range: 96.407249 m, nav range: 96.115570 m, bearing: 147.396337 deg, approach rate: 0.124816 m/s, LOS rate: 0.415371 deg/s, cmd heading: 165.441457 deg, new cmd heading: 166.036316 deg. <-HeadingCmd: 2.897880 target range: 96.407249 and range: 97.10 m.b-v9@Z)rjRJB~~}||||E? =zBE5%9IA)EŊ>AIE/ AimDbt,#jA89R[*?Rb?YRl`yRnM>RH9?@C#P?@??J˿?i?`5? R[*?R;)RCzD{B~Imonly read 0 of 1 data item for BIT error. Device response is::TS65.0, +10.8, 0., 0 aIm@am aMm@am aQm@am aEm@am IuIu3= .=y;Q >٥ HwFg= >l5IL?l59 I̋B+:yq:Z?@gEil;>Zl5 6A%DNOT Ignoring new targets: 96.41 m.-;-;= ProNav: ac range: 96.407249 m, nav range: 96.156578 m, bearing: 147.556569 deg, approach rate: 0.114440 m/s, LOS rate: 0.446966 deg/s, cmd heading: 166.036312 deg, new cmd heading: 166.516793 deg. M_<UHeadingCmd: 2.906266 target range: 96.407249 and range: 97.10 m.bUD:@ZQrQjQRQJQBQ~Y~Y}Y|Y|||r? zBԙ靽;I)>IHv _<D:@iD:@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.491840EEEE_0EFF=K=kP"K=9*K92K=:K=E 2.Qb"'SNSaHygAb.J$>R[Jc3UcGU6G jG >bG ? ~G A A N >,,3N#jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7426739F71?FEj?YF cyF">FHz? ̢?IS?z`?ʿq?@٥`` fHdf= f>lhrl5jZ?rl59j IjЋBr :yprC:ra?r@jgEijt:jB?jl5|5A+E%DNOT Ignoring new targets: 96.41 m.%a;%a;] ProNav: ac range: 96.407249 m, nav range: 96.189888 m, bearing: 147.715271 deg, approach rate: 0.082743 m/s, LOS rate: 0.394084 deg/s, cmd heading: 166.516788 deg, new cmd heading: 166.992716 deg. ]:<eHeadingCmd: 2.914573 target range: 96.407249 and range: 97.10 m.be\:@ZarajaRaJiBi~~}||||? e zBe;I)>IZ G\<\:@i\:@iE?EEEm0EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997410He ¼>He CHe IHe {BHa Ha Ha He <He EH]ȓCH]ȓCH]ȔCH] =I] = I]LJ56G] ȹq ~Gq A A N >,\#jA9:U9?:Bq?Y:by:>:H \? T5g?@!? H?ʿ.U?ഁ?? :U9?:];):CFU{BFI)H HaI-aI- aM-aM- aQ-aQ- aE-aE- -Mb@Mb@Mb@))) )))Y-|?5^?v/X9vy--?-xi--A -x@)-@I-A)y-AAE@AIAIAU< U@=y]:Q ]>٥Ya eHexFe= e>ql5uej?l59u IuϋBT:y.?:<`?%@ugEiuIE. JX<;@i;@iIEaEaEaEe0Eaq6G :J BJ OJJ @RJ ZJ bJ %9J J4J zJ :- jJ :- J &:5 rJ &:5 ~G ԩ A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498681A N >_,$jA9:ܸ@?:y?Y: by:>:HE? vu??g?`?jɿ=? ?? :ܸ@?:;)8Fm{BJIIRIR2Z̀= ZX=yZ9Q Z>٥\\ ^H^yFv= >!-l5%?x?-l59%8 I%͋By)5g?5@%gEi%:%`:%l59=d5A=(EamDNOT Ignoring new targets: 96.41 m.u;u; ProNav: ac range: 96.407249 m, nav range: 96.256874 m, bearing: 148.044745 deg, approach rate: 0.077785 m/s, LOS rate: 0.431548 deg/s, cmd heading: 167.508532 deg, new cmd heading: 167.980772 deg. <HeadingCmd: 2.931818 target range: 96.407249 and range: 97.10 m.b;@ZrjRJԙB~~}||||@ zB%IC V<;@i;@iKqP"K9*K2K:K 5|Z_8p- Vjw$<|cls,J=?J=>EEEEp5EFFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7504126GȹZG RG A~GI AY Ai Nu >! ,$jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004673H̼>HCHIH{BH =HHH<HE{B IMb@Mb@Mb@ )Y&1?V-Qy0?hA 5@)@I+@y@II 3%$= %=y%Q %>٥)) -H)5 5>9El5=?El59= I=ʋByE1?E:Mb?M@=gEi=;=;=l5QU5AQ}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 96.41 m.x;x; ProNav: ac range: 96.407249 m, nav range: 96.301903 m, bearing: 148.252034 deg, approach rate: 0.088721 m/s, LOS rate: 0.408232 deg/s, cmd heading: 167.980771 deg, new cmd heading: 168.602322 deg. <HeadingCmd: 2.942666 target range: 96.407249 and range: 97.10 m.bT<@ZrjRJB~~&{B}||||`A@ zB)5C;I9)=·>I F Q<T<@iUT<@iQEEEE0EQU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254698ԑ 6GU ~G1 A9 AQ Nm > ,8$jA9:PN?:O?Y:.Wy:̉>:H@? ?S? 7?93ǿ?}?@!? :PN?:;):CF{BFIiJ>IJ< R=PIVIV3^8= bx=yb;Q b?٥dd fHfzFf=%> f?hrl5jX?vl59j0 IjȋBy Rp? @jgEij;j;jl54A%E9QUDNOT Ignoring new targets: 96.41 m.]5;]5;m ProNav: ac range: 96.407249 m, nav range: 96.319984 m, bearing: 148.387688 deg, approach rate: 0.054131 m/s, LOS rate: 0.406027 deg/s, cmd heading: 168.602318 deg, new cmd heading: 169.009195 deg. mS<uHeadingCmd: 2.949767 target range: 96.407249 and range: 97.10 m.bu<@ZqrqjRJB~~}||||@ }zB}qEyI}:" +N<<@i<@i:J`BJRJJBRJZJ:bJS29J-4JzJ:jJ:J;:rJ<:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507763iEm?EiEqEu&5EqKPP"K}9*K2K:KN?PEcF^_>.`GHo6`T^6=mFDzdVg|~KZKԡJAJ6G~G A A N > E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758529},R$jA95bd\?5Y?Y5Ny5M>5H C? h@G? 3?.B?{ſ Gԩ?`7? ? 5bd\?53;)5CM{BMII] I]<2mD4= m@=yu;Q u>٥qq }H}{F> >ԙl5?l59 IƋBym~?@gEiK;K;l54AYeDNOT Ignoring new targets: 96.41 m.e;e;u ProNav: ac range: 96.407249 m, nav range: 96.327942 m, bearing: 148.564608 deg, approach rate: 0.018155 m/s, LOS rate: 0.403600 deg/s, cmd heading: 169.009192 deg, new cmd heading: 169.539891 deg. }~<}HeadingCmd: 2.959029 target range: 96.407249 and range: 97.10 m.b}`=@ZrjRJB~~}|||| 2 @ uzBu 1yI}{z yy}K<`=@i`=@iE?EEE4EBDAT read: Rx Time:14:24:16.2162 TRx dataTimestamp_ set to:1749133457.515408checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017288 HaHe<Hμ>HHIH{BHHH,DHF<HdE6G ȹjG ?bG >~Ga Ai A N > ,l$jA9Jc?J?YJFIyJ^>JH@????Ŀ:?X"? ? Jc?J;)JCR{BVI=Mb@Mb@Mb@999 9)9Y=HzG?333333~jty==*?==ļ=A 9)=@I=MA9y=@IeIe2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263018E; M==yM1;Q M>٥qy }Hy}߂= }>l5?l59 IËBym+?:P?@gEi;};|l5{4A!E!-DNOT Ignoring new targets: 96.41 m.M;U;] ProNav: ac range: 96.407249 m, nav range: 96.331841 m, bearing: 148.738024 deg, approach rate: 0.009067 m/s, LOS rate: 0.403294 deg/s, cmd heading: 169.539884 deg, new cmd heading: 170.060099 deg. ec<HeadingCmd: 2.968109 target range: 96.407249 and range: 97.10 m.b~=@ZrjRJB~~ {B}||||y@ zB-a2Iau !-#H<-~=@)1i5~=@i1!EEEEP0EQ:J [BJ QJJ RJ ZJ :bJ -.9J J zJ :jJ :J 4:rJ 4: ر ׵ < DAT read: 14:24:16.2162 LVL= 20640, 32753, 25138, 30899, AGC= 65, IDX= 72, 0.36,-1.361,-2.183, 2.768,-2.582, PHS= 1.309, 0.445,-0.936, RAW= 52.4, -8.4, CAL= 58.9, -14.8, ROT= 91.1, 14.8 E Ygot valid direction response: 14:24:16.2162 LVL= 20640, 32753, 25138, 30899, AGC= 65, IDX= 72, 0.36,-1.361,-2.183, 2.768,-2.582, PHS= 1.309, 0.445,-0.936, RAW= 52.4, -8.4, CAL= 58.9, -14.8, ROT= 91.1, 14.8 E X#Rx 1: Read direction message, but no range.M `direction in FSK: [-0.018560,0.966645,-0.255446]ڱ yڵ ;ՅC00?l39YпYڱ ۵ P)۵ I۵ 2bi۵ x۵ A۵ P?۵ >۵ o ܵ  j?)ܵ Q Iܵ x?iܵ Aܵ ?ܵ A>6Ge ݱ ݵ &2ř'?{GnCt ¿iݵ ݵ >ݵ ?ݵ A> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse~GA AI AY Nm >y !,Ę$jA9ne k?n?YnpFyn/U>nH?(n?`L?h?ÿ`pѨ?`.? A? ne k?nQ(;)lv{BzIKUO"KU 9*KQ2KU:KUTc3~^@R w9)b:4..#1W5}%~& s}p>#'98NPAf)i iII<2+= U=y^ ;Q >٥ H|F= >l5 ?l59H IBy?@gEi :;իl54AQaeDNOT Ignoring new targets: 96.41 m.;; ProNav: ac range: 96.407249 m, nav range: 96.328461 m, bearing: 148.890606 deg, approach rate: -0.008902 m/s, LOS rate: 0.401895 deg/s, cmd heading: 170.060099 deg, new cmd heading: 170.517851 deg. <HeadingCmd: 2.976098 target range: 96.407249 and range: 97.10 m.bcx>@ZrjRJB~~}||||`d@  zB dq I d>p uD<cx>@icx>@iPDAT read: Bearing 91.1, 14.8 (Local) %~Local bearing/azimuth received: Bearing 91.1, 14.8 (Local) 5DAT read: Range 10 to 50 : 98.1 m (Round-trip 130.8 ms) speed 0.2 m/s =,DAT read: user:2086> MBDAT read: Tx time:14:24:17.3312 M$Ping request sent.M ',Sy$jAHu>HuCHuIHu|BHu =HqHu+DHu<HuE{BIԩ5Mb@Mb@Mb@111 1)1Y5rh|?Qy&1y5?5u5`5SA 5@)5`@I5X@1y5=@IM"IMq3]; ]1=yeQ e>٥ii mHm}Fm m>q}l5u?}l59u߽ IuBy?:)?@ugEiu;IPti @<?@i?@iMT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E?EEEO0E 9 6G ZG RG A~G!A)A9NM>8.,y$jA9:%z?:g?Y:Ey:C>:Hk2? n?? ?#@??%? :%z?:L;):CJ{BNIIRIRT3:J^\BJ^]JJ^@RJ\ZJ^=:bJ^_9J^J4J\zJ^:jJ^:J^h:rJ^j:j= nT=yn:Q n>٥lp rHpr"> r>)Iml5M?ul59M IMByqu?u@MgEiMq;M;MLl5y}e3AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741DNOT Ignoring new targets: 96.41 m.;; ProNav: ac range: 96.407249 m, nav range: 96.300323 m, bearing: 149.201280 deg, approach rate: -0.053809 m/s, LOS rate: 0.375916 deg/s, cmd heading: 171.016503 deg, new cmd heading: 171.449978 deg. <%HeadingCmd: 2.992367 target range: 96.407249 and range: 98.10 m.b%?@Z!r!j!R1J1B9~9~9}9|A|A||F? )zB I t_d    =<?@i?@iYEU?EQEQEUP0EQKO"Kж9*K2K:Kj)vz~ e|E,mh\;eC:M]F3D>;ԉm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0080836G} ȹ~G A A N >y5,E$jA962?6Y?Y6aAy6Q>6Hh? 3`v?N?@{?@{9??@? 62?6;)4F{BFIiJ=IJ3?IR5IR3Vט< ZM=yZ(;Q Z>٥\\ ^H^~Fby= b>dfl5f?jl59fk IfByhj͒?j@fgEif;f';fl5prG3ApDNOT Ignoring new targets: 96.41 m.%;%;5 ProNav: ac range: 96.407249 m, nav range: 96.273781 m, bearing: 149.341130 deg, approach rate: -0.069924 m/s, LOS rate: 0.368523 deg/s, cmd heading: 171.449974 deg, new cmd heading: 171.869634 deg. 5|<=HeadingCmd: 2.999691 target range: 96.407249 and range: 98.10 m.b=?@Z9rAjARAJABA~I~I}I|I|I|I|] w?ԙ G%AI zYAyB -zB靽}I<^ ~:<?@i?@i |?R?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262780H%>H!H% IH%?|BH% =H!H%*DH%<H%EEEyEE^0E 6G} 9 ~GQ Aa Aq N >;,k$jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5106649B;ڄ?B?YB۝BHî?@zވ? i?lA?5`??`? B;ڄ?B;)BCN|BNIIVIV2^P= ^J=ybO;Q b>٥`` fHfFf= f>hrl5j?rl59jf IjBytvs?v@jgEijS;jS;j4l5zbBz3AzEDNOT Ignoring new targets: 96.41 m.;; ProNav: ac range: 96.407249 m, nav range: 96.239609 m, bearing: 149.487150 deg, approach rate: -0.079654 m/s, LOS rate: 0.340487 deg/s, cmd heading: 171.869635 deg, new cmd heading: 172.307841 deg. i< HeadingCmd: 3.007339 target range: 96.407249 and range: 98.10 m.b ?x@@Z r j R JB~~}!|!|!|!|% W? U1zBUYIe`X iim)79J-4JzJ:jJ:J~Q:rJQ:6Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768104q~GAAN>ԙ B,S %jAK.P"K.9*K,2K.:K.U }> *2JZ%7}rvE@5x ip J6>J6>9>E?>fl?Y>5y>淈>>Hb ?FG? ? ֵ?ft?`?@? >E?>W;)>C~|B~ II I <2K= D=y%;Q %>٥!! -H)-g= ->1=l55?=l595" I5ByAEۙ?E@5gEi5;5M;5ؽl5IM2AIq}DNOT Ignoring new targets: 96.41 m..;.; ProNav: ac range: 96.407249 m, nav range: 96.198364 m, bearing: 149.636974 deg, approach rate: -0.105939 m/s, LOS rate: 0.384996 deg/s, cmd heading: 172.307846 deg, new cmd heading: 172.757499 deg. <HeadingCmd: 3.015187 target range: 96.407249 and range: 98.10 m.b@@ZrjRJB~~}||||B? 5zB:s!I%ȨR !!%;3<-@@))i5@@i1qechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020380EEEE0Eԡ6G1~G A A) N5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273087HI HI HM 3IHM ]|BHM  =HI HI HM <HM EH=˔CH=˕CH=˓CH= =I= = I=5 I,0%%jA9 ?? է?Y ]/y > H`i?9m@?B?]M?@r?^?`? ?? ;) C-|B5 I)9 9aIe@ae aMe@ae aQe@ae aEe@ae ImImT3}r< }6=y}7s;Q }>٥ HFr= >l5h?l59K IB+:y:C?@gEi;X>l5cB2AEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 96.41 m.;; ProNav: ac range: 96.407249 m, nav range: 96.147324 m, bearing: 149.798256 deg, approach rate: -0.112648 m/s, LOS rate: 0.356142 deg/s, cmd heading: 172.757505 deg, new cmd heading: 173.241597 deg. jt< HeadingCmd: 3.023636 target range: 96.407249 and range: 98.10 m.b BA@ZrjRJB~~}!|)|)|)|5`Gj@ ]:zB]NaI°K 00.O,?%jA9>?-?>T?Y>*y>->>Hq?`I@??`?\@@??? >?-?>4;)= ^l=y^h;Q b?٥`` bHbFf}= f?hnl5j?nl59j IjBn :yprc:rǠ?r@jgEij;jXL?jl5tv62At!%DNOT Ignoring new targets: 96.41 m.-;-;= ProNav: ac range: 96.407249 m, nav range: 96.102867 m, bearing: 149.921768 deg, approach rate: -0.128963 m/s, LOS rate: 0.358457 deg/s, cmd heading: 173.241601 deg, new cmd heading: 173.612302 deg. =v<EHeadingCmd: 3.030106 target range: 96.407249 and range: 98.10 m.bECA@ZArAjARIJIBI~I~I}Q|Q|Q|Y|]3)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774472 ?zBI\E e-<%CA@!!i%CA@i)QE?EEE5EFFKus-P"Ku 9*Kq2Ku:Ku+DDO|ZtQoWqOm;] ZA:e&ԁ6G1~Ga u BDAT read: Rx Time:14:24:19.8667 u TRx dataTimestamp_ set to:1749133461.303968} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028285ԡ A A N >V,g~Y%jA@9F?F?YF$yF>FH Z#?/C@;/? L??@n杤?` ?x? F?FV:;)FCN<|BRIIVIV2^C.< ^K=ybI;Q b>٥`` fHdfI= f>hnl5j?rl59j IjBv9ytv8:v,?v@jgEijZ;j?jl5xz%2A|!%DNOT Ignoring new targets: 96.41 m.-N;-N;5 ProNav: ac range: 96.407249 m, nav range: 96.045174 m, bearing: 150.065131 deg, approach rate: -0.142972 m/s, LOS rate: 0.355485 deg/s, cmd heading: 173.612303 deg, new cmd heading: 174.042643 deg. =s<EHeadingCmd: 3.037617 target range: 96.407249 and range: 98.10 m.bERhB@ZArAjARAJABI~I~I}I|Q|Q|Q|U`b @ CzB靕< I? )<RhB@iRhB@iE?EEE4EԱ:JBJOJJ?RJZJbJ%9Jـ4J@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282224H>HHLIH|BH =HHH<HE6G]ȹ~G1AQAyN> =\,Xs%jA2DAT read: 14:24:19.8667 LVL= 26416, 31521, 31986, 30691, AGC= 64, IDX= 446,-0.14,-0.190,-0.973,-2.206,-1.387, PHS= 1.285, 0.461,-0.822, RAW= 52.8, -10.1, CAL= 60.6, -17.3, ROT= 89.4, 17.3 6Ygot valid direction response: 14:24:19.8667 LVL= 26416, 31521, 31986, 30691, AGC= 64, IDX= 446,-0.14,-0.190,-0.973,-2.206,-1.387, PHS= 1.285, 0.461,-0.822, RAW= 52.8, -10.1, CAL= 60.6, -17.3, ROT= 89.4, 17.3 :PDAT read: Bearing 89.4, 17.3 (Local) :~Local bearing/azimuth received: Bearing 89.4, 17.3 (Local) >DAT read: Range 10 to 50 : 98.5 m (Round-trip 131.4 ms) speed -0.1 m/s B,DAT read: user:2087> FBDAT read: Tx time:14:24:20.9812 F$Ping request sent.FnR k?)J4Ia?i#?#> )m-EWs?Şm bƿi_4>?#> )Z:publishing transmit ping timeDZFpublishing direction and range infoy,sEy?sA?+0ӿY )Ii )Ii )m-EWs?Şm bƿi )p}V|B}/Ii=I= == aIuaIu aMuaMu aQuaQu aEuaEu uMb@Mb@Mb@qqq q)qYu/$?Q뱿X9vyu1(?u\uuA q)u3@IuA@qyuG@II@= =yQ >٥ HF >Ml5?Ml59̊ IBUT:yUT)?U:Uҁk}W!y5@;ᅨC?5yKzsAjŘȜ?r}` oB wBB'@E addTargetRange:: Added new target pos. range: 98.500000 m, deltaT: 3.538142 s, deltaX: 0.400002 m, approachRate: 0.113054 m/s, rangeRepo size: 4 U Added new target pos. range: 97.799393 m, bearing: 167.560267 deg, lat: 36.906533 deg, lon: -122.115766 deg, deltaT: 7.822538 s, deltaX: 1.392143 m, approachRate: 0.177966 m/s, posRepo size: 4 yDNOT Ignoring new targets: 97.80 m. ProNav: ac range: 97.799393 m, nav range: 95.965950 m, bearing: 150.271573 deg, approach rate: 0.000000 m/s, LOS rate: 0.355485 deg/s, cmd heading: 174.042646 deg, new cmd heading: 174.647291 deg. HeadingCmd: 3.048170 target range: 97.799393 and range: 98.50 m.b9C@ZrjRJB~~L{B}|||X@|e?9 MKzBMٕ|Ud,-%jA9Zٌ?Z?YZ yZ>ZH`E?N'y?J?xF?˳@C?`?? Zٌ?ZjԌ;)ZCfa|Bf6IIrIr3z< zb=yzX;Q ~>٥|| ~H~FP> > l5 K ?l59 DŽ I By7?@ gEi '; ; l5!%1A!IMDNOT Ignoring new targets: 97.80 m.U;U; ProNav: ac range: 97.799393 m, nav range: 95.901695 m, bearing: 150.406696 deg, approach rate: -0.198337 m/s, LOS rate: 0.417368 deg/s, cmd heading: 174.647295 deg, new cmd heading: 175.052929 deg. 7<HeadingCmd: 3.055250 target range: 97.799393 and range: 98.50 m.b7C@ZrjRJB~~}||||`u? OzB0RJyZJ};9bJ}y69J}t4Jy6GaH¼>HH_IH|BH =HH+DH-<H2E >(?! ~G AA AY Ne >) xj,%jA9Fo?FB?YFz&yFU>FH ? :?? ³?@`ͤ? ?? Fo?F݌;)FCNs|BN@I5Mb@Mb@Mb@111 1)1Y5q= ףp?ʡEX9vy5+?515A 5@)5`@I5@1y5 @QUBAIUIU#3e(= mD=ymwuQ m>٥qq uHqu'= >l5q?l59} IBy,?:6?@gEi;;Yl5F1AuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 97.80 m.<;<; ProNav: ac range: 97.799393 m, nav range: 95.818741 m, bearing: 150.568398 deg, approach rate: -0.187526 m/s, LOS rate: 0.365859 deg/s, cmd heading: 175.052926 deg, new cmd heading: 175.538440 deg. {<HeadingCmd: 3.063724 target range: 97.799393 and range: 98.50 m.b D@ZrjRJB~~!{B}||||@]O? }UzB靅 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259342Tbq,)%jA9>?>?Y>i'y>y>>Hڷ?y?|? I?U? ?? >?>[F;)>CJ|BJJIIV2IV?3^= ^V=yb(Q b>٥`` fHfFf}= f>h-l5j?-l59jv IjBy15?5@jgEijGw,%jA9: ?:ߩ?Y:F%y:7H>:H@bŰ?`s? ? ?@;Ĭ g?` ? ? : ?:;):CLJ|BRKII^I^3j$; nI=yn:Q r>٥pt vHvFz-= ~> l5 ^?l59 o I By!%?%@ gEi P; Q; Dl5150A:J]BJQJJ<RJZJ]:bJ-.9J [4JE!G=?AG9HM>HIHMqIHM|BHM =HIHM*DHM<HMEuDNOT Ignoring new targets: 97.80 m.u;u;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765535 ProNav: ac range: 97.799393 m, nav range: 95.643616 m, bearing: 150.870459 deg, approach rate: -0.224947 m/s, LOS rate: 0.373836 deg/s, cmd heading: 175.976026 deg, new cmd heading: 176.445438 deg.  G<MHeadingCmd: 3.079554 target range: 97.799393 and range: 98.50 m.bMiE@ZirijqRqJyB~~}||||M /@? MbzBUѾ5},~%jA||BMIMb@Mb@Mb@ )YzG?~jtI +y ?94A )@I@y(@II3{< :=yQ >٥ H > l5 `?l59 h I ByP?:|?@ hEi ; ; l5!%0A)IUDNOT Ignoring new targets: 97.80 m.];];} ProNav: ac range: 97.799393 m, nav range: 95.561218 m, bearing: 151.018015 deg, approach rate: -0.201497 m/s, LOS rate: 0.361147 deg/s, cmd heading: 176.445438 deg, new cmd heading: 176.888476 deg. }w<HeadingCmd: 3.087286 target range: 97.799393 and range: 98.50 m.bE@ZrjRJB~~xB}||||i@ fzBv=I)F?I <E@iE@i)E!E!E!E-P0E)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267855Q6GI ~G! A1 AA NM >ԁ K GP"K 9*K 2K :K soCfrY7hGD/  ^>Y.>skRu]),54wFМ,X&jA9Vj?Vl?YV!yV0>VH?"-? ?٥99 =H=FE> E>IUl5M?Ul59Mc IMByQUd?U@YMhEiM(;M%);Mdl5am0AiDNOT Ignoring new targets: 97.80 m.ؼ;ؼ; ProNav: ac range: 97.799393 m, nav range: 95.478737 m, bearing: 151.143898 deg, approach rate: -0.216168 m/s, LOS rate: 0.330201 deg/s, cmd heading: 176.888471 deg, new cmd heading: 177.266442 deg. b<HeadingCmd: 3.093883 target range: 97.799393 and range: 98.50 m.b.F@ZrjRJB~~}||||@s@ %lzB%DH=CH=IH=|BH= =H9H9H=<H=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7737786G ~G AA A N >͊,P-&jA9>?>?Y>j y>o>>H Q??n-?`??? >?>-;)>CJ|BNdIMMb@Mb@Mb@III I)IYMZd;O?MbX9lyM~*?MʡMI M@)M@IM@IyMz@IeIe#3}< E=y :Q >٥ԩ -H-F-= ->1=l55?=l595Z[ I5ByE+?E:Ed?E@5hEi5;5;52l5QU_0AQuB*** querying acoustic contact ***JqRqyDNOT Ignoring new targets: 97.80 m.i;i; ProNav: ac range: 97.799393 m, nav range: 95.359810 m, bearing: 151.304286 deg, approach rate: -0.273762 m/s, LOS rate: 0.369662 deg/s, cmd heading: 177.266440 deg, new cmd heading: 177.748193 deg. }<HeadingCmd: 3.102291 target range: 97.799393 and range: 98.50 m.bF@ZrjRJB~~{B}||||`@ rzB1  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275843,TG&jA9F?F]?YF yF2߉>FHwg@??@4 ?i?? F?Fw;)DR|BReIIZIZ?13b6; bX=yb 8Q f>٥dd fHdj;= j>lrl5n ?rl59nU InBypv?v@n hEinC:n:nUl5xzT0Ax)-DNOT Ignoring new targets: 97.80 m.5@;5@;E ProNav: ac range: 97.799393 m, nav range: 95.256241 m, bearing: 151.434965 deg, approach rate: -0.288281 m/s, LOS rate: 0.364135 deg/s, cmd heading: 177.748187 deg, new cmd heading: 178.140643 deg. Ey<MHeadingCmd: 3.109141 target range: 97.799393 and range: 98.50 m.bM)F@ZIrIjQRQJQBQ~Y~Y}Y|Y|a|a|ea @ UxzBU=IQ)] ?YI]E YY]E9}DAT read: 14:24:23.5167 LVL= 18512, 27233, 20338, 19907, AGC= 62, IDX= 428, 0.38, 1.087,-0.427,-1.062,-0.466, PHS= 1.641, 0.086,-0.599, RAW= 72.6, -11.3, CAL= 84.1, -20.6, ROT= 65.9, 20.6 Ygot valid direction response: 14:24:23.5167 LVL= 18512, 27233, 20338, 19907, AGC= 62, IDX= 428, 0.38, 1.087,-0.427,-1.062,-0.466, PHS= 1.641, 0.086,-0.599, RAW= 72.6, -11.3, CAL= 84.1, -20.6, ROT= 65.9, 20.6 PDAT read: Bearing 65.9, 20.6 (Local) ~Local bearing/azimuth received: Bearing 65.9, 20.6 (Local) DAT read: Range 10 to 50 : 98.4 m (Round-trip 131.3 ms) speed 0.0 m/s ,DAT read: user:2088> BDAT read: Tx time:14:24:24.6313 $Ping request sent.=J ?= ==X =0?)=II=?i=X=8?=X> 9)9=Y=@?"T翚1,ɿi=S=pJ>=8?=X> 9)9:publishing transmit ping timeFpublishing direction and range info9y=Qv?6 wW?\]㒄ֿ9Y9 9)9I9i99999 9)9I9i999 9)9=Y=@?"T翚1,ɿi9999 9)9ԉE E E E Z0E Թ 6G  H)H)H5>H1H5IH5}BH5 =H1H5)DH5<H5EHH͔CHH =I Iu5JDAT read: TxSync time:14:24:24.6305 ~GAQAyN?ć,g&jA9]̹?]V?Y]bay]>]H޶ ϰ@?@b?@k@3Fף??@H? ]̹?]܍;)]C|BnIAeMb@Mb@Mb@aaa a)aYeˡE?KˡEye'?e^e'a a)e@Iev@aye@I}I}V83ֳ< =yY:Q >٥ HF= >l5 ?l59nJ ItBy)?:?@hEi;;l5aB0AEZb7V&jAeBeB5@ʁcF'٫B@ϔT@_/AQv?6 wW?\]㒄ֿ8?X>ҁi:W5!`<@+l~&#9n}״?pzsAԹjъɜ?roZ tUB uB$Bd)@% addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 3.540493 s, deltaX: -0.099998 m, approachRate: -0.028244 m/s, rangeRepo size: 4 E Added new target pos. range: 97.698792 m, bearing: 162.915862 deg, lat: 36.906533 deg, lon: -122.115766 deg, deltaT: 3.540493 s, deltaX: -0.100601 m, approachRate: -0.028414 m/s, posRepo size: 4 AMDNOT Ignoring new targets: 97.70 m.MI ProNav: ac range: 97.698792 m, nav range: 95.070343 m, bearing: 151.649541 deg, approach rate: 0.000000 m/s, LOS rate: 0.364135 deg/s, cmd heading: 178.140636 deg, new cmd heading: 178.806151 deg. HeadingCmd: 3.120756 target range: 97.698792 and range: 98.40 m.bxG@ZrjRJB~~zB}|||X@|@en?ԉ zB靝 E uE E E E 5E :J ZBJ MJJ BRJ ZJ 9bJ 9J -4J zJ 0: jJ 4: J *: rJ -: 6Gy~GIAaAyN ?],=&jA9>?>]:?Y>)6'y>(>>H B??[BqH??? >?>$;)٥tt vHvFvU= z>x~l5z ?l59zB IzkByI? @zhEiz>;z;zl5/A9=DNOT Ignoring new targets: 97.70 m.Ej;Ej;U ProNav: ac range: 97.698792 m, nav range: 94.924133 m, bearing: 151.806895 deg, approach rate: -0.326734 m/s, LOS rate: 0.352180 deg/s, cmd heading: 178.806156 deg, new cmd heading: 179.278934 deg. Uq<mHeadingCmd: 3.129008 target range: 97.698792 and range: 98.40 m.bmAH@ZirijqRqJqBq~q~y}y|y|||? zB靵=I)?Iֻ D;ԹAH@iAH@iDDDDKP"K9*K2K:K t2dBkoEUcA>EOy  5 ;yT=J>J>E1E1E1E=3E9A 6G] ȹH ļ>H CH IH }BH  =H H +DH <H E~G9 AA AY N >o,&jAP9?`?Y"yoh>H cĿ@v?@?-/ſvn?`"A?y?H? ?&;)C|B}IMb@Mb@Mb@ )Y r?(\µ/$y#?,X A @)Iy@I I M3MN< =y;Q >٥!! %H%F%(V= ->15l55?=l5959 I5aBy=_%?=:=?=@5hEi5V:5=:5+l5AM/AIyDNOT Ignoring new targets: 97.70 m.;; ProNav: ac range: 97.698792 m, nav range: 94.749489 m, bearing: 151.982393 deg, approach rate: -0.331543 m/s, LOS rate: 0.333778 deg/s, cmd heading: 179.278928 deg, new cmd heading: 179.806378 deg. e<HeadingCmd: 3.138213 target range: 97.698792 and range: 98.40 m.b}H@ZrjRJB~~zB}||||`GG? zB7G,)&jA9F?3?FZ?YFN yF$>FH: ȿN?@f?ȿG?@?}q?? F?3?F\;)FCR|BRIiV=ITIZ#IZ%x3j+,= j{=yj*:Q n ?٥ll nHprF= r ?tzl5vD?zl59v4 Iv[Byxz)?~@v hEive:vP:vl5/A-B*** querying acoustic contact ***J)R)1=DNOT Ignoring new targets: 97.70 m.=;E;e ProNav: ac range: 97.698792 m, nav range: 94.636772 m, bearing: 152.089510 deg, approach rate: -0.346626 m/s, LOS rate: 0.329799 deg/s, cmd heading: 179.806383 deg, new cmd heading: 180.128114 deg. eVb<mHeadingCmd: 3.143829 target range: 97.698792 and range: 98.40 m.bm}4I@ZirijiRqJqBq~q~q}y|y|y||ބ? zB靭 =I)?I :J^BJWJJARJZJ} :bJG9J4JzJ`:jJd:J_:rJ_:Y]y;e8Haaie}4I@ii C??T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EEEE_0EIԁ6GȹKP"K@9*K2K:K[L0EhA&[fOJ.MBa<acbI!{p~GAA N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998713ԩ q,&jA96?6`?Y6)y6Z݅>6H`k˿ @å?`٥x| ~H~F~= > l5? l59<- ISBy?@$hEi::l5h/A%EAMDNOT Ignoring new targets: 97.70 m.M`;M`;e ProNav: ac range: 97.698792 m, nav range: 94.490257 m, bearing: 152.221724 deg, approach rate: -0.360576 m/s, LOS rate: 0.325885 deg/s, cmd heading: 180.128112 deg, new cmd heading: 180.525362 deg. e_<mHeadingCmd: 3.150762 target range: 97.698792 and range: 98.40 m.buI@ZqyrqjRJB~~}||||X@ zB靽ߐ =I)?I6 R;yHiI@iԩH>HHIH3}BH =HHH<HEIIEU?EQEQEQEQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2501496G ~G A A N > ,&jA96?65?Y6=By6%>6H@qο(? ?ο?`]ǡ?9?? 6?6q;)4J|BJI%Mb@Mb@Mb@!5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501420!! !)!Y%RQ?Zd;O{Gzy%"?%j%#% A %@)%@I%`@!y%\@IEIEM3]Y= ]B=y];Q e>٥aa eHmFm= m>qMl5u4?Ml59u/& IuJByM$?U:U?U@u(hEiu?I ݃É,M'jA9:4?:?Y:ey:qJ>:Hm#ѿ`ਥ?@٥dd jHhj= j>lrm5n#?vm59n InBByxz?z@n,hEin4X;nX;nm5`B.A)5DNOT Ignoring new targets: 97.70 m.5;5;E ProNav: ac range: 97.698792 m, nav range: 94.192467 m, bearing: 152.476849 deg, approach rate: -0.420775 m/s, LOS rate: 0.351154 deg/s, cmd heading: 180.929949 deg, new cmd heading: 181.291929 deg. Ep<MHeadingCmd: 3.164141 target range: 97.698792 and range: 98.40 m.bMJJ@ZIrQjQRQJQBQ~Y~a}a|a|a|i|up@ zB靥,*=I)?Ij ;kGiJJ@i1K8P"Kŷ9*K2K:Ko} {K.]VOCxW3. ;0[NEQEQEQEU2EQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006129a6G1~GA9AQNu>ԑH >H H IH G}BH  =H H *DH <H EԹ ?> = BDAT read: Rx Time:14:24:27.1659 % TRx dataTimestamp_ set to:1749133468.626054- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263192ɉ,Ӿ)'jA 9uJ?uq?Yu+yuv>uHcҿn? ͎?8ҿ ,"? %D?`s?A? uJ?u;)uC}BIMb@Mb@Mb@ )Y㥛 ?{GzV-y?ףA A @)~@II@yI5I5[34x; =ys;Q >٥ HFCc= >m5?m59 I:By?:I?@1hEi;:m5.AYeDNOT Ignoring new targets: 97.70 m.e;e; ProNav: ac range: 97.698792 m, nav range: 94.006035 m, bearing: 152.622956 deg, approach rate: -0.354074 m/s, LOS rate: 0.278039 deg/s, cmd heading: 181.291935 deg, new cmd heading: 181.731117 deg. ><HeadingCmd: 3.171806 target range: 97.698792 and range: 98.40 m.bJ@ZrjRJB~~zB}|||| @1 ezBe=Ii)m]?iImd iIM_ ;U GYYi]J@iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509524EEEE_0Eaԑ 6GI jGM ?bGM ?~G! A1 AA NM >0Yщ,ҧE'jA:J.ZBJ.SJJ.>RJ,ZJ.9bJ.y69J.t4J,9J?J7?YJMyJc>JH԰Կ@* H?@D?pԿ?(??@5? J?J*;)HR }BRII^I^ 3fB; jn=yjY;Q j?٥ll nHnFn= n?pzm5r ?zm59r Ir4Byxz ?z@r4hEir;r;rm5.AEB*** querying acoustic contact ***JRiDAT read: 14:24:27.1659 LVL= 16032, 32753, 23666, 32755, AGC= 63, IDX= 436, 0.29, 1.986, 0.337, 0.397, 0.918, PHS= 1.156,-0.534,-0.523, RAW= 90.3, -1.2, CAL= 98.2, -6.3, ROT= 51.8, 6.3 Ygot valid direction response: 14:24:27.1659 LVL= 16032, 32753, 23666, 32755, AGC= 63, IDX= 436, 0.29, 1.986, 0.337, 0.397, 0.918, PHS= 1.156,-0.534,-0.523, RAW= 90.3, -1.2, CAL= 98.2, -6.3, ROT= 51.8, 6.3 PDAT read: Bearing 51.8, 6.3 (Local) ~Local bearing/azimuth received: Bearing 51.8, 6.3 (Local) DAT read: Range 10 to 50 : 97.8 m (Round-trip 130.4 ms) speed 0.2 m/s ,DAT read: user:2089> BDAT read: Tx time:14:24:28.2813 $Ping request sent.)5I5r\i55?5?595T 5n?)5I5a?i5z0Ὁ5qg?5z0= 1)15j>?^!߿1f%YEi5551<5qg?5z0=HeadingCmd: 3.176809 target range: 97.698792 and range: 98.40 m.bPK@ZrjRJB~~} 1)1:publishing transmit ping timeFpublishing direction and range info1y5uh?Lɪ?,=1Y1 1)1I1i11111 1)1I1i111 1)15j>?^!߿1f%YEi11|||@3sX@|k|?11 1)1 zB靅"=I)?IH i;FiPK@iԙEEEE0EKBO"K9*K2K:K9F YRl$p9MR>Nsw1A#WQyJDAT read: TxSync time:14:24:28.2805 6G ~Gq A A N >  G1 I } Yy y} qB:{׉, a_'jA9R?R?YR;)ּyR7>RH1pֿ6?`?`ֿc?_Ě?`N?G? R?Rz;)RC }B=IIUIU#3bN= @=ye;Q >٥ H= >m5?m592 I-By?@9hEi;; m5 _B }.A EZqbu*H'jAu5Bu5Bu;5@ʁur13 M@PObR@׻O%uuh?Lɪ?,=uqg?uz0=ҁuXՐWD=R<@6^i#&@ubsRF??I/?zuAujuɜ?ru l uBuɜ?u l  quBu.5@ addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.780454 s, deltaX: -0.599998 m, approachRate: -0.158711 m/s, rangeRepo size: 4   Added new target pos. range: 97.105003 m, bearing: 162.512540 deg, lat: 36.906456 deg, lon: -122.115921 deg, deltaT: 3.780454 s, deltaX: -0.593788 m, approachRate: -0.157068 m/s, posRepo size: 4  HH<H>HCHIH[}BH =HHH<HEIUDNOT Ignoring new targets: 97.11 m.UQe ProNav: ac range: 97.105003 m, nav range: 96.472000 m, bearing: 162.512354 deg, approach rate: 0.000000 m/s, LOS rate: 0.264298 deg/s, cmd heading: 182.017725 deg, new cmd heading: 182.358886 deg. aHeadingCmd: 3.182763 target range: 97.105003 and range: 97.80 m.bcK@ZrjRJB~~}||||? zB =I) ?IH& 2;%RmFQQiUcK@iQEEEE'2E!16Ge ȹ~G9 AQ Y Ai Nu >~݉,(Ey'jA9J?J=?YJ(ӼyJ>JHqؿ+p]٥ii mHmFu= u>m5?m59 I%By?:?@;FiL@iaaE?EEE5Eԉ6G ~G A A N >Թ ,@'jA9>?>]B?Y>Ƽy>Z>>H`IڿB s]?@`*?ٿ@5?Ϙ?@E?? >?>!;)>CJ8}BJIIRIR 3Z= ZU=yZ;Q Z>٥\\ ^H\^ͧ= b>djm5f?nm59fD IfBypr?r@f@hEif>;f?;fm5tz.AxDNOT Ignoring new targets: 97.11 m.%h;%h;] ProNav: ac range: 97.105003 m, nav range: 96.201111 m, bearing: 162.744194 deg, approach rate: -0.381999 m/s, LOS rate: 0.317199 deg/s, cmd heading: 182.717505 deg, new cmd heading: 183.055363 deg. eY<mHeadingCmd: 3.194919 target range: 97.105003 and range: 97.80 m.bmyL@ZirijiRiJqBq~q~q}y|y|y|y|}t?KEP"Kŷ9*K2K:K O;n\[v8b' :{P4!)Zq}gCMUMNxMrJ ?J? -zB-u.4=I))-8?)I5JԺ 115;=(E99i=yL@ԁiE!E!E!E%P0E!Թ6G}H ż>H CH IH f}BH  =H H +DH <H EHHHH =I Ig6~GQ Aa :J [BJ NJJ HRJ ZJ :bJ !9J Ժ4J zJ : jJ : J T: rJ W: A N > ,`'jA-3}B5I)1 1Mb@Mb@Mb@ )YA`"?y&1L7A`堿y?`e+ )@I@y\@1II2M7 M(=yUQ U>٥QQ ]H]F] ]>amm5ev?mm59e IeByu?u:u?u@eEhEie*:e:em5y}0.AyDNOT Ignoring new targets: 97.11 m.;; ProNav: ac range: 97.105003 m, nav range: 96.024284 m, bearing: 162.883331 deg, approach rate: -0.358630 m/s, LOS rate: 0.282709 deg/s, cmd heading: 183.055367 deg, new cmd heading: 183.473538 deg. B<HeadingCmd: 3.202217 target range: 97.105003 and range: 97.80 m.b!L@ZrjRJ B ~ ~ zB}||||X? UzB]G=IY)]?YI]7 aae ?;m.Eiiim!L@iiE?EEEO0EYԑ 6G= ȹ~G A! A1 N= >M,'jA0~D}BII I (*3=Q= =s=yAQ E?٥AA EHEFI M?Q]m5U?]m59U IUByaae@UHhEiU;U;Um5im-AmEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 97.11 m.S;S; ProNav: ac range: 97.105003 m, nav range: 95.902977 m, bearing: 162.979334 deg, approach rate: -0.369219 m/s, LOS rate: 0.292573 deg/s, cmd heading: 183.473539 deg, new cmd heading: 183.761912 deg. H<HeadingCmd: 3.207250 target range: 97.105003 and range: 97.80 m.bCM@ZrjRJB~~}||||Q@ zB B=I)5 ?I% ;D!!i%CM@i1ԙEEEET0EKP"K*K2K:KiB>scltzsp-``b}',8.9c76GJ%AJ!~GT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A A! N5 > ,ȳ'jA\9zf2?z,@YzSJFyz>zH@|`*i@6? Yl?@^߿?"Ɉ?&? ? zf2?zBN;)zC-Q}B-III?13d< @=y#٥ HG> >m5?m59 IByT@@LhEiS::m5%^B--A-EQUDNOT Ignoring new targets: 97.11 m.];];m ProNav: ac range: 97.105003 m, nav range: 95.725243 m, bearing: 163.090772 deg, approach rate: -0.414831 m/s, LOS rate: 0.260577 deg/s, cmd heading: 183.761909 deg, new cmd heading: 184.096838 deg. m2<uHeadingCmd: 3.213096 target range: 97.105003 and range: 97.80 m.bu]M@ZqrqjqRqJyBy~y~y}||||Ƽ@G@AGH˼>HCHIHz}BH =HH,DHF<H]E =zB='o,=I9)E^"?AIEt AAE;:JU]BJUPJJUCRJQZJU]:bJU*9JU4JQzJU:jJU:JU-:rJU-:mW|Diiiu]M@iqUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502980EEEEX0E!6G ~G A A N >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754479,'jA9N/?N @YNr2yNŇ>NHIT? ?(?`<?@?N? N/?N;)NCZU}BZIMb@Mb@Mb@ )YA`"?V-QymA S@)@I@y(@II 3r< L=yz;Q >٥ HFT= >m5_?m59_ IBy?:@ @PhEi::!m5-A9EDNOT Ignoring new targets: 97.11 m.E;E;U ProNav: ac range: 97.105003 m, nav range: 95.555214 m, bearing: 163.192762 deg, approach rate: -0.423848 m/s, LOS rate: 0.254694 deg/s, cmd heading: 184.096834 deg, new cmd heading: 184.403347 deg. ].<]HeadingCmd: 3.218446 target range: 97.105003 and range: 97.80 m.beM@ZarajaRaJiB~~zB}||||M@ UzBU L7=IQ)Uw"?QIUFn9 YY];]$DaaieM@iaIEAEAEAEE_0EA]BDAT read: Rx Time:14:24:30.8144 ]TRx dataTimestamp_ set to:1749133472.155227echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006813q6G ~Ga Ai Ay N >ԡ ,c(jA9>?> @Y>Py>">>H@@vr=?Dh?J| J?J|?`?? >?>:F;)>CF_}BFIIRIR<2Z6< Z_=yZ;Q ^>٥\` bHfFj= j>lrm5n'?rm59nV InBypr@r@nThEinl:nK:nM$m5xzz-AxqDNOT Ignoring new targets: 97.11 m.;;KWP"KK9*K2K:KRLaHI!qW:erYcPYN=<2e ProNav: ac range: 97.105003 m, nav range: 95.395355 m, bearing: 163.283630 deg, approach rate: -0.413213 m/s, LOS rate: 0.235275 deg/s, cmd heading: 184.403346 deg, new cmd heading: 184.676405 deg. w!<HeadingCmd: 3.223211 target range: 97.105003 and range: 97.80 m.bIN@Zrj R J B ~ ~}1|1|9|9|=` @ױ׵Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259196 zBX==I )m$?iImw: iquސ;uCyyi}IN@iyrEx>jE>ԩE?EEEEHؼ>HCHIH}BH =HHH<HEIi Im AA:J ^BJ UJJ =RJ ZJ } :bJ >9J g4J zJ ^:jJ c:J |Q:rJ Q:6Ga  DAT read: 14:24:30.8144 LVL= 25552, 32753, 32754, 32755, AGC= 64, IDX= 421, 0.30,-1.248,-2.886,-2.369,-2.011, PHS= 0.852,-0.828,-0.361, RAW= 105.6, 4.5, CAL= 116.4, 2.2, ROT= 33.6, -2.2  Ygot valid direction response: 14:24:30.8144 LVL= 25552, 32753, 32754, 32755, AGC= 64, IDX= 421, 0.30,-1.248,-2.886,-2.369,-2.011, PHS= 0.852,-0.828,-0.361, RAW= 105.6, 4.5, CAL= 116.4, 2.2, ROT= 33.6, -2.2  PDAT read: Bearing 33.6, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 33.6, -2.2 (Local)   DAT read: Range 10 to 50 : 96.7 m (Round-trip 129.0 ms) speed 0.4 m/s ~G! AI Aa Nm >} ,DAT read: user:2090>  BDAT read: Tx time:14:24:31.9313  $Ping request sent. ?iݭ~ݭeݭQ ?ݭnF ީ)ީu:publishing transmit ping timeک}Fpublishing direction and range infoکyڭoSB? ?.?کYک ۩)۩I۩i۩۩۩۩۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭjƄ?4WϿJY>?iݩݩݩݩ ީ)ީg}BI Mb@Mb@Mb@    ) Y ^I +?X9vy&1y X? } `  A =@) @I  y p@IMIMm?3}Uo< }=yQ >٥ HF >JDAT read: TxSync time:14:24:31.9305 m5:?m59 IByT?:Z@@YhEi_<^<1)m5W-A EZbc*(jABB.@ʁS@אCJ@?| @oSB? ?.?Q ?nFҁFiU05B@\=M2@RZzmG{?:GP?zBjErF˜?rf ҢB wBꁭNB6@ addTargetRange:: Added new target pos. range: 96.699997 m, deltaT: 3.534787 s, deltaX: -1.100006 m, approachRate: -0.311194 m/s, rangeRepo size: 4  Added new target pos. range: 96.016968 m, bearing: 156.593220 deg, lat: 36.906456 deg, lon: -122.115921 deg, deltaT: 3.534787 s, deltaX: -1.088036 m, approachRate: -0.307808 m/s, posRepo size: 4  DNOT Ignoring new targets: 96.02 m.% ProNav: ac range: 96.016968 m, nav range: 95.153000 m, bearing: 163.424230 deg, approach rate: 0.000000 m/s, LOS rate: 0.235275 deg/s, cmd heading: 184.676403 deg, new cmd heading: 185.076916 deg. !-HeadingCmd: 3.230201 target range: 96.016968 and range: 96.70 m.b-N@Z)rIjIRQJQBQ~Q~]zB}Y|Y|Y|],X@|eY? zB5"=I)$?Iv: Ю;dCiN@i IE E E E S0E q 6Gi ~GAAQAiNu> ,L(jA9^@^@Y^ꋻy^u>^HT L&?A?`s?`M}q?`T?? ^@^;)^C~j}B~II-I-F3=< Et=yE! ?m5?m59 IByD @@\hEi :[:5,m5J-A5B*** querying acoustic contact ***J1R19eDNOT Ignoring new targets: 96.02 m.eI;eI; ProNav: ac range: 96.016968 m, nav range: 94.995224 m, bearing: 163.505661 deg, approach rate: -0.481250 m/s, LOS rate: 0.248793 deg/s, cmd heading: 185.076912 deg, new cmd heading: 185.321608 deg. *<HeadingCmd: 3.234472 target range: 96.016968 and range: 96.70 m.bO@ZrjRJB~~}|||| @?Y =zB=DL=I9)=%?9IEp ; AAEL;MCIIiMO@iIE?EEE`0EKm%LP"Kmŷ9*Ki2Km:Km/Q!a\Cd@M$cU4c<! a<K- {s)tqԉT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ 6G1 ~G A A) N5 >",TRf(jA H H"4<H&>H&CH&IH&}BH& =H$H&.DH&<H&EL9fg@f@Yf)Ityf >fH=n@F?`? ? n?r?? fg@f;)fC k}B II%=J4J4J31:J%fBJ%TJJ%ERJ!ZJ%|":bJ%:9J%4J!zJ%;jJ%;J%RJ:rJ%UJ:IEIE(*3M: UJ=yU:Q U>٥YY eHeFm̠= m>q}m5uS?}m59u Iu݊ByP @@u`hEiu:uh:u/m5F-AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.971581amDNOT Ignoring new targets: 96.02 m.};}; ProNav: ac range: 96.016968 m, nav range: 94.810196 m, bearing: 163.595573 deg, approach rate: -0.455608 m/s, LOS rate: 0.221830 deg/s, cmd heading: 185.321610 deg, new cmd heading: 185.591872 deg. =<HeadingCmd: 3.239189 target range: 96.016968 and range: 96.70 m.bNO@ZrjRJB~~}||||? uzB}I=Iy)}$?I*; s;BiNO@izEEEEE0E6G ȹjG ?bG > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225023! ~Gy A A N > ,Z)(jA9B@B@YBT5yBE>BH-@@̌??a@?f? Y?? B@B;)BCJu}BJI|-Mb@Mb@Mb@))) )))Y-V-?x&V-y-?-7-- A -S@)-@I-@)y-@IU IUb3e< eI=ye;Q m>٥ii mHiu,= u>ym5}?m59} I}ӊBy ?: @@}dhEi}:}:}23m5]B-AEy}DNOT Ignoring new targets: 96.02 m.-;-; ProNav: ac range: 96.016968 m, nav range: 94.612312 m, bearing: 163.687338 deg, approach rate: -0.486063 m/s, LOS rate: 0.225873 deg/s, cmd heading: 185.591867 deg, new cmd heading: 185.867734 deg. <HeadingCmd: 3.244004 target range: 96.016968 and range: 96.70 m.bÝO@ZrjRJB~~zB}||||? mzBuME=Iq)uq&?qIuQ~M; qq}R~;}BiÝO@i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476744EAEAEAEM1EIQ6G ~Ga Ay A ԑ N >/3&,!(jAK&ZiP"K&@9*K$2K&:K&D%^kc, ,Oi|51DBa+#QZ %qJ.?J.>Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7274309Rͅ@R6@YRYyRVҍ>RHK$}6?d?@Q? j\?y?? Rͅ@RC*;)RC^}B^IIfIfm?3n< nT=yno);Q r>٥pp rHrFv= v>x~m5z?~m59z IzʊBy)  C @ @zhhEiz;z;z6m5impGyA,A } Y}AyBDNOT Ignoring new targets: 96.02 m.Ml;Ml; ProNav: ac range: 96.016968 m, nav range: 94.420013 m, bearing: 163.771921 deg, approach rate: -0.468729 m/s, LOS rate: 0.206591 deg/s, cmd heading: 185.867739 deg, new cmd heading: 186.122002 deg.  <HeadingCmd: 3.248442 target range: 96.016968 and range: 96.70 m.bxO@ZrjRJB~!~!}!|)|)|Q|]? zB+rF=I)(?I% r; !!%r;M<9BIIiUxO@iQԉE%?E!E!E%5E)HUݼ>HQHUIHU}BHU =HQHU-DHU<HUEԹEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9799066G ~G A A! N- >i^,,(jA9N9C@NV@YNδqyNw>NHw}?? |?6N?,?z? N9C@N;;)NCV}BXԱMb@Mb@Mb@ )Y$C?#~jL7A`堿y?㥽++ A =@)I@I~@y@II2 - 8=y:Q >٥ HF%z= %>)5m5-?5m59- I-By=?=:=@=@-lhEi- ;-;-s:m5AE,AEEiuDNOT Ignoring new targets: 96.02 m.uG;uG;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232811 ProNav: ac range: 96.016968 m, nav range: 94.201653 m, bearing: 163.867544 deg, approach rate: -0.550857 m/s, LOS rate: 0.241786 deg/s, cmd heading: 186.121999 deg, new cmd heading: 186.409530 deg. %<HeadingCmd: 3.253460 target range: 96.016968 and range: 96.70 m.b8P@ZrjRJB~~{B}||| |>@ zBG=I)'?IC; 2g;Ai8P@i!bE1ZE5AE?EEEE:Je ^BJe PJJe BRJa ZJe } :bJe *9Je -4Ja m @m @m @m @6G ZG RG E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483363I ~G A A N >V3,(jA9N @NY@YNayNv>NH`x^`kk?`(?FGL@?9L?L?? N @N[N;)NCZ}BZIIjIj(*3rm= r]=yr@,9Q v>٥tt vHtz= z>|m5~{?m59~{ I~By@ @~phEi~:~:~=m5,A9EDNOT Ignoring new targets: 96.02 m.U~n;U~n;e ProNav: ac range: 96.016968 m, nav range: 94.016632 m, bearing: 163.944401 deg, approach rate: -0.500958 m/s, LOS rate: 0.208507 deg/s, cmd heading: 186.409536 deg, new cmd heading: 186.640561 deg. e<mHeadingCmd: 3.257492 target range: 96.016968 and range: 96.70 m.bmzP@ZirijiRiJqBq~~}|||| @ ]zB]69g=IY)]q,?YIe; aae];mAiiimzP@iE!E)E)E-O0E)!KuPIP"Kuŷ9*Kq2Ku:Ku&wW5 m$B-e753"BlZ:0g(ed}kׁׁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.737254I6Gi~GA AY Ai N >y H- ׼>H- CH- IH- }BH-  =H) H) a9,U(jAHU<HUEHCHCHCH =I = I 69v @v@Yvcayv>vHp?`~?x`?p,L?:?'? v @vS%;)t}BII Ib3%< -F=y5~6Q 5>٥19 =H=F=0= =>AMm5Em?Mm59E IEByQU@U@EthEiE;E;EJAm5Y]l,A]E}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 96.02 m.Ye;Ye; ProNav: ac range: 96.016968 m, nav range: 93.805847 m, bearing: 164.027187 deg, approach rate: -0.509386 m/s, LOS rate: 0.200512 deg/s, cmd heading: 186.640561 deg, new cmd heading: 186.889476 deg.  <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988046Q]HeadingCmd: 3.261837 target range: 96.016968 and range: 96.70 m.b]P@ZYrYjYRYJYBa~a~a}a|i|i|i|Y@ zB9R=I)!.?I; %R; ]AiP@iEEEEEԉԩ6Gȹ BDAT read: Rx Time:14:24:34.4624  TRx dataTimestamp_ set to:1749133475.935752 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240875~G A A N > k@,)jA9:+ @:@Y:[y:a>:H`hMn?o?Su@e?tK?@?? :+ @:դ;)8J}BJI%Mb@Mb@Mb@!!! !)!Y%A`"?ˡEly%?%什%% A !)%@I!!y%(@I=I=(*3M< MG=yU`8Q U>٥YY ]H]F]= e>amm5ԩe_?m59e³ IeBy?:T@@exhEieM=e M=eDm5@,ADNOT Ignoring new targets: 96.02 m.P;;P;;:J]BJJJ=RJZJ]:bJJg4J ProNav: ac range: 96.016968 m, nav range: 93.595535 m, bearing: 164.105299 deg, approach rate: -0.439930 m/s, LOS rate: 0.163761 deg/s, cmd heading: 186.889480 deg, new cmd heading: 187.124341 deg. %;-HeadingCmd: 3.265936 target range: 96.016968 and range: 96.70 m.b-Q@Z)r)j)R)J)B1~1~5zB}1|9|9|9|= @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491373 EzBEdK=II)M0?IIM; IIMUE;UAQiQ@i EEEEEFF= 6G jG ?bG '?9  DAT read: Range 10 to 50 : 95.1 m (Round-trip 126.8 ms) speed 0.0 m/s  ,DAT read: user:2091>  BDAT read: Tx time:14:24:35.5814  $Ping request sent. ;#G,)jA9@@Ywy>H@td`z?? ?.B? ?v? @骵6;)}BIiU=IU<Ie.Ie3< )=y:Q >٥ H5y= >m5\N?m59@ IBy4@@|hEi::Im5-\B-,A-E} addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 3.776341 s, deltaX: -1.599998 m, approachRate: -0.423690 m/s, rangeRepo size: 4 yDNOT Ignoring new targets: 96.02 m.ym;ym; ProNav: ac range: 96.016968 m, nav range: 93.341064 m, bearing: 164.194198 deg, approach rate: -0.592677 m/s, LOS rate: 0.207615 deg/s, cmd heading: 187.124343 deg, new cmd heading: 187.391764 deg. {<HeadingCmd: 3.270603 target range: 96.016968 and range: 95.10 m.bQQ@ZrjRJ!B!~!~!})|)|)|-`fW@|-q6?Hռ>HHIH}BH =HH,DH<HE zB^]=I)`1?I; !%p9;U%@YaieQQ@iiJDAT read: TxSync time:14:24:35.5806 E?EEEP0EAq 6G ~G A A N >qM,UM9)jAI)9j:r@j@Yjiyj棈>jH*~ }?`W?N=??M?@? ? j:r@j;)h}BIԑMb@Mb@Mb@ )Y +?J +ly?Ƚ A )@Iyp@I]!I]i3u uA=yufQQ u>٥y HFn= >m5??m59 IBy&?:_@@hEi: :Lm5X,ADNOT Ignoring new targets: 96.02 m.fU;fU; ProNav: ac range: 96.016968 m, nav range: 93.123665 m, bearing: 164.270127 deg, approach rate: -0.532945 m/s, LOS rate: 0.186570 deg/s, cmd heading: 187.391759 deg, new cmd heading: 187.620075 deg.  <HeadingCmd: 3.274588 target range: 96.016968 and range: 95.10 m.bڒQ@Zrj R J B ~~{B}||||? MzBM a=IQ)U,?QIU; QQU.;]ڌ@YaieڒQ@iaE?EEE]0E:J5aBJ5UJJ5CRJ1ZJ5:bJ5>9J54J16GA ~GY Aa Aq N > eT,,S)jA9>j@>h~!@Y>5 y>>>Ht?+?-,?ea? &?? >j@>I׋;)>CF}BFIININ?13Vdb= Vl=yV-tQ Z?٥X\ ^H^F^= ^?`fm5b 3?fm59bԥ IbxByhjU@n@bhEib3";b #;bOm5pv ,AtDNOT Ignoring new targets: 96.02 m.1D;1D;- ProNav: ac range: 96.016968 m, nav range: 92.942291 m, bearing: 164.329326 deg, approach rate: -0.524494 m/s, LOS rate: 0.171525 deg/s, cmd heading: 187.620078 deg, new cmd heading: 187.798022 deg. -n;5HeadingCmd: 3.277694 target range: 96.016968 and range: 95.10 m.b=Q@Z9r9j9R9J9B9~A~A}A|A|I|I|M ? zB靍s=I))5 1?1I5i; 115";=Y@99i=Q@iAE!E!E!E%`0E!F)F)KMP"K9*K2K:K?%Q|;szUAY?/b<uzd#)A6GaZGiRGm|A~GA Aa Aq N > H H <H >H CH IH }BH  =H H -DH <H /Eq Z,ol)jA9:3N@:a#@Y:8y:Ј>:H` `^'?`??ȫ+?g?X?/? :3N@:ോ;):Cb}BbIIjIjV83v< vG=yvȺQ v>٥xx zHxzG= ~>Ymm5]C#?mm59]g I]kByim?@m@]hEi]:]f:]}Sm5y}+A}!EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 96.02 m.:;:; ProNav: ac range: 96.016968 m, nav range: 92.716751 m, bearing: 164.398049 deg, approach rate: -0.534742 m/s, LOS rate: 0.163336 deg/s, cmd heading: 187.798018 deg, new cmd heading: 188.004690 deg. 1;HeadingCmd: 3.281301 target range: 96.016968 and range: 95.10 m.bR@ZrjRJB~~}||||5? zBe=I)P3?I?< X;%@))i5R@iAYE5?E9E9EE0EIԁT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6Guԩ~Gy A A N > }a,Ά)jA~}B~IMb@Mb@Mb@ )Y5^I ?bX9ȶ rhy?EC + A S@)IyII3= <=yQ >٥ HF >:J]BJOJJDRJZJ]:bJ%9J4J m5 ?m59  I _By?:'@@ hEi ); ; 6Wm5)-+A1Y]DNOT Ignoring new targets: 96.02 m.e6;e6;} ProNav: ac range: 96.016968 m, nav range: 92.486473 m, bearing: 164.466100 deg, approach rate: -0.538619 m/s, LOS rate: 0.159567 deg/s, cmd heading: 188.004686 deg, new cmd heading: 188.209346 deg. };HeadingCmd: 3.284873 target range: 96.016968 and range: 95.10 m.b[;R@ZrjRJB~~L{B}|||| ?Թ zBfh=I)6?I< y{;Y?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757802i[;R@iE%?E!E!E-0E) 6GM ȹ~G! A1 AA N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009596K m)P"K }9*K 2K :K 7MZ 1;9^ ( ` 6 )|<ghh>o0J >J ?I g,:)jA9R=@R'@YR?8yR>RH`X@\9߿ູ?:?@! ?@G?f?Y? R=@R;)RC%}B-II]I]?13m mR=yu0;Q u>٥qy }H}F}k> }>m5?m59= ISBy@@hEi;;Zm5+A$EDNOT Ignoring new targets: 96.02 m. ; ; ProNav: ac range: 96.016968 m, nav range: 92.271988 m, bearing: 164.520651 deg, approach rate: -0.551425 m/s, LOS rate: 0.140570 deg/s, cmd heading: 188.209346 deg, new cmd heading: 188.373376 deg. ;HeadingCmd: 3.287736 target range: 96.016968 and range: 95.10 m.bCjR@Zr j R J B ~~}||||@ EzBM&r=II)M3?IIM< :r?iCjR@iH߼>HH'IH}BH =HHH <HEE?EEE2EFFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.26193196G jG- >bG- >i ~G) AY A N >m,)jA 9>T@>(@Y>Ey>>>H ڼݿ@!? =?@#f?z(?\?? >T@>h;)>CJ}BJIiNt>IN=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513719}Mb@Mb@Mb@yyy y)yY}d;O?A`"/$y}?}ٽ},}A A }@)}@I}@yy}@I!Ii3B= G=y:Q >٥ H͋= >m5?m59X IEBy?:@@hEi:A:/^m5l+A  DNOT Ignoring new targets: 96.02 m.;;% ProNav: ac range: 96.016968 m, nav range: 92.048363 m, bearing: 164.577623 deg, approach rate: -0.547114 m/s, LOS rate: 0.139726 deg/s, cmd heading: 188.373380 deg, new cmd heading: 188.544713 deg. -ɿ;-HeadingCmd: 3.290726 target range: 96.016968 and range: 95.10 m.b-AR@Z1r1j1R1J1B9~9~=M{B}9|A|A|A|E`ye@ ={B=r=I9)=$7?9I=P!< AAE0:Es?yIyi}AR@iE%?E!E!E%5E)ԙ:J\BJRJJJRJZJ=:bJS29J4J  > % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7675616G ~G A A N >t,_)jA9FӖ@F<*@YFyF>FHCu2ܿW?VD?uk`w?@u>!?`? FӖ@F;)FCPV}BV II^I^ 3j}; jY=yjq9Q n>٥!! %H%F-= ->1=m55?=m595ґ I57By9= @E@5hEi5;58;5am5U[BUd+A]'EDNOT Ignoring new targets: 96.02 m.j;j; ProNav: ac range: 96.016968 m, nav range: 91.836006 m, bearing: 164.627647 deg, approach rate: -0.549549 m/s, LOS rate: 0.129754 deg/s, cmd heading: 188.544708 deg, new cmd heading: 188.695126 deg. ;HeadingCmd: 3.293351 target range: 96.016968 and range: 95.10 m.bDR@ZrjRJB~~}||||k|@ {B|z=I)6?I]*< 7Y:pY? i DR@i EEE!E%O0EGE9eZAuBDAT read: Rx Time:14:24:38.1099 uTRx dataTimestamp_ set to:1749133479.463465uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018807  YZAy2BK%P"K9*K2K:K%\?pOPMUD@e>RX/s]6G H ؼ>H CH 3IH }BH  =H H H <H E! ~GA AI AY N >I! I% a= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269600{,;)jA9>n@>z,@Y>Cqy>,>>H `ڿ y? 7?\gV?@w(.?_?? >n@>;)٥`` fHfFfC= f>hnm5j ?nm59ja Ij*Bypr"@r@jhEij+;j;jdm5tv+Av%E| B*** querying acoustic contact ***J R %DNOT Ignoring new targets: 96.02 m.-i ;-i ; ProNav: ac range: 96.016968 m, nav range: 91.618210 m, bearing: 164.674863 deg, approach rate: -0.556862 m/s, LOS rate: 0.121009 deg/s, cmd heading: 188.695123 deg, new cmd heading: 188.837108 deg. ;HeadingCmd: 3.295829 target range: 96.016968 and range: 95.10 m.bR@ZrjRJB~~}||||% @ E{BMH$l=Iq)}2?Ifi4< ױ:10?AIiMR@iQYEqEqEqE}5EyDAT read: 14:24:38.1099 LVL= 29152, 30273, 27890, 32755, AGC= 68, IDX= 422, 0.15,-0.883,-2.418,-1.395,-1.508, PHS= 0.713,-0.863, 0.110, RAW= 127.7, 0.6, CAL= 134.2, -7.5, ROT= 15.8, 7.5  Ygot valid direction response: 14:24:38.1099 LVL= 29152, 30273, 27890, 32755, AGC= 68, IDX= 422, 0.15,-0.883,-2.418,-1.395,-1.508, PHS= 0.713,-0.863, 0.110, RAW= 127.7, 0.6, CAL= 134.2, -7.5, ROT= 15.8, 7.5 PDAT read: Bearing 15.8, 7.5 (Local) ~Local bearing/azimuth received: Bearing 15.8, 7.5 (Local) =DAT read: Range 10 to 50 : 93.3 m (Round-trip 124.4 ms) speed 0.5 m/s =,DAT read: user:2092> MBDAT read: Tx time:14:24:39.2314 U$Ping request sent.Uܝ > ݙ)ݙݝ-V?B1?k?iݝ/ >ݝ8(ݝ0>ݝ > ޙ)ޙ}:publishing transmit ping timeQ}Fpublishing direction and range infoڙyڝHd ?BEF? /ڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝ-V?B1?k?iݙݙݙݙ ޙ)ޙԁ 6Ga ZGi RGm A~G9 AA AY N >,*jA9f_? @fR.@YfYyfL>fH c? ٿf$??+=u?@6 8?8?"? f_? @fv;)fCv}Bv"I!Mb@Mb@Mb@ )YGz?&1/$y?н @)@I@yII3JDAT read: TxSync time:14:24:39.2306 .< '=y%Q %>٥!! -H)-m= ->1mm55=?mm595f I5Bym^?m:m|$@u@5hEi5T`;5[;5@im5R+A(EZbQ/)jAHBHB~A@ʁNoDV@?9@,5/(Hd ?BEF? /0> >ҁV"%@@t8=To!8n'?l{Vz.AjȜ?r j _iBъɜ?oZ  oBꁝ~B:@Q] addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 3.532945 s, deltaX: -1.799995 m, approachRate: -0.509489 m/s, rangeRepo size: 4  Added new target pos. range: 92.641998 m, bearing: 173.225042 deg, lat: 36.906450 deg, lon: -122.115952 deg, deltaT: 7.309286 s, deltaX: -3.374969 m, approachRate: -0.461737 m/s, posRepo size: 4 DNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 91.247025 m, bearing: 166.521645 deg, approach rate: 0.000000 m/s, LOS rate: 0.121009 deg/s, cmd heading: 188.837109 deg, new cmd heading: 189.022772 deg. 1EHeadingCmd: 3.299070 target range: 92.641998 and range: 93.30 m.bE#S@ZArAjARJB~~R{B}|||@3SW@|`? E{BEZb=Ia)e4?iIu^@< qq}s:}>yi#S@iԁEYEYEYE]p5EYԩ K P"K ŷ9*K 2K :K ! ]kfxd2/Q' Z1rl97( "DZg:*6G ~GY Aa Aq N >Ȉ,f$*jA,95?#@5 2@Y5& y5v>5H @տ ??}?`d??? 5?#@50;)5CAAIUIU3ye4Q e>٥ii HF> >HHH9IH~BH =HHH<HEHHHCH =I Iڡ5m5߯?m59 I By"(@@hEiT<U<lm5 ZB-P+A-+EDNOT Ignoring new targets: 92.64 m.2:2: ProNav: ac range: 92.641998 m, nav range: 91.032600 m, bearing: 166.560349 deg, approach rate: -0.546503 m/s, LOS rate: 0.098878 deg/s, cmd heading: 189.022767 deg, new cmd heading: 189.139154 deg. ; HeadingCmd: 3.301101 target range: 92.641998 and range: 93.30 m.b =ES@Z r j R J B ~~}|||| ?ԁ:JYBJTJJERJZJ9bJ:9J4JzJb:jJg:JSJ:rJ {B\=I)3?I"oH< !%fi:5y>19i]=ES@iaEEEEP0EԱ 6G= ȹ~G A AI N] >,)>*jA\x|only read 0 of 1 data item for altitude. Device response is::BD, , +1916.86, -20.82, 7.39, 0.00 aI@a aM@a aQ@a aE@a I"Iq3yQ >٥ HF >m5?m59u IB+:y:@hEi:a>om5!-DNOT Ignoring new targets: 92.64 m.5:5:E ProNav: ac range: 92.641998 m, nav range: 90.806656 m, bearing: 166.601339 deg, approach rate: -0.583580 m/s, LOS rate: 0.106135 deg/s, cmd heading: 189.139153 deg, new cmd heading: 189.262430 deg. E;EHeadingCmd: 3.303252 target range: 92.641998 and range: 93.30 m.bM}hS@ZIrIjIRIJIBQ~Q~Q}Q|Y|Y|Y|]@[? {B靝j=I)2?I Q< 5:8>i}hS@izEEAEAEAEEW0EA6G~Ga Ai Ay N >I Օ,vX*jAA}B*III3%< %٥)) 5H11 5>9Em5=Nj?Em59= I=BM :yIMr:IM@=hEi=a;=\?=$rm5QU+A].EDNOT Ignoring new targets: 92.64 m.t:t: ProNav: ac range: 92.641998 m, nav range: 90.559799 m, bearing: 166.646367 deg, approach rate: -0.550778 m/s, LOS rate: 0.100739 deg/s, cmd heading: 189.262425 deg, new cmd heading: 189.397876 deg. E;HeadingCmd: 3.305617 target range: 92.641998 and range: 93.30 m.b9S@ZrjRJB~~}||||` ? {B nu=I)4?Io[< 39%}>))i-9S@i1qK P"K@9*K2K:KzJ.RED"N H8^2WDu +xf 8JJAE?EEEP0EԑHӼ>HH@IH~BHHH,DH<HE:J ^BJ VJJ JRJ ZJ } :bJ B9J 4J zJ `:jJ e:J X:rJ X: 6G ~G A A N >E,br*jA9F(@Fo6@YFyFB(>FH@`_Pѿ2߲??$?>?? F(@FQ;)FCR}BRII^ I^2f8 fy=yj;Q j?٥)) -H-F-d> 5?AMm5E|?Mm59E~ IEBU9yQUD:U -@U@EhEiE ;E?Esm5ae+AaԑB*** querying acoustic contact ***JRDNOT Ignoring new targets: 92.64 m.:: ProNav: ac range: 92.641998 m, nav range: 90.369095 m, bearing: 166.671455 deg, approach rate: -0.552131 m/s, LOS rate: 0.072789 deg/s, cmd heading: 189.397881 deg, new cmd heading: 189.473304 deg. G;HeadingCmd: 3.306933 target range: 92.641998 and range: 93.30 m.bʤS@ZrjRJB~~}|||| (? {B靽*}=I)V,?Ic< Ñ9%z>))i-ʤS@i)E?EEE^0E%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.6G ȹ~G A A N > ,x^*jA9>Zy*@>Œ8@Y>^:y>>>H@?Ͽְ? ZT? 0F?`U??a? >Zy*@>$;)>CR}BRIaI5aI5 aM5aM5 aQ=aQ= aE=aE= =Mb@Mb@Mb@999 9)9Y=v/?DlMby=x ?=O== A =S@)9I=@9y=@IU!IUi3mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.244093m< m@=yu Q;Q u>٥qq }H}F}= }>!-m5%pj?5m59%| I%ىB5T:y5 ?5:51@5@%hEi%:%X:%wm5\+A1EDNOT Ignoring new targets: 92.64 m.M:M:E ProNav: ac range: 92.641998 m, nav range: 90.136414 m, bearing: 166.691289 deg, approach rate: -0.525826 m/s, LOS rate: 0.044936 deg/s, cmd heading: 189.473300 deg, new cmd heading: 189.532953 deg. M:MHeadingCmd: 3.307974 target range: 92.641998 and range: 93.30 m.bMٵS@ZQrQjQRQJqBy~y~}D{B}y||||@ =#{B=/z=I9)=.?9IEPRm< AAE08Mi>IIiMٵS@iQbEYZE]AEEEE_0EFF95 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4993336G K O"K s9*K 2K :K MWF~Iz$|2 U,)zQ7c 4!/<}EJmM(NM`KG@C=8@3-(#x~G A AI i Nm >a,*jA96tK,@6^:@Y69;y6!*>6H) \5̿ ? ?_ >M?0g /?)? 6tK,@6A;)6CR}BRI)\ \I5I5b2E» EO=yM~x;Q M>٥II MHIU== U>Yem5]VZ?em59]z I]ωByams3@m@]hEi]:]:]zm5quf+AqHռ>HH9IH~BHHH-DH<HEDNOT Ignoring new targets: 92.64 m.*:*: ProNav: ac range: 92.641998 m, nav range: 89.935020 m, bearing: 166.704859 deg, approach rate: -0.551898 m/s, LOS rate: 0.037270 deg/s, cmd heading: 189.532955 deg, new cmd heading: 189.573756 deg. :HeadingCmd: 3.308686 target range: 92.641998 and range: 93.30 m.bS@ZrjRJB~~}|||| |@ 5&{B5a=I9)E*-?AIEt< IIMiʸM0^>QQYi]S@iYIqIu@A:JjBJNJJ?RJZJ.:bJ!9Jـ4JzJz4;jJ|4;JT:rJW:E?EEE/1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750031ԁ6GQԱ~GI Ay A N > E BDAT read: Rx Time:14:24:41.7576 M TRx dataTimestamp_ set to:1749133482.996213M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0019884;,q*jA9>.@>0<@Y>)o;y> >>HZ -ȿ?"? ?0? 9mb?`s? >.@>Ň;)٥)) -H-F5= 5>9Em5=G?Em59=cy I=ƉByE?E:E7@M@=hEi=<:=:=~m5QU+AU4EԱDNOT Ignoring new targets: 92.64 m.JZ9JZ9 ProNav: ac range: 92.641998 m, nav range: 89.708206 m, bearing: 166.710080 deg, approach rate: -0.516845 m/s, LOS rate: 0.011928 deg/s, cmd heading: 189.573758 deg, new cmd heading: 189.589461 deg. :HeadingCmd: 3.308960 target range: 92.641998 and range: 93.30 m.bS@ZrjRJ!B!~!~%{B})|)|)|I|U  @ *{B靥p=I)T(?I9~< aY>iS@iEEEE1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.252360 6G ~G A A N >9 #,*jA9>0@>a>@Y>ji;y>ˇ>>H@<ſ@?]?@k@ ?(r ?`x? >0@>g;)>CJ}BJIIR IRV2Z< Ze=yZ,;Q Z>٥\\ ^H`f= f>hrm5jz8?rm59j7x IjBypr9@r@jhEij ;j7 ;jm5tz+AxDNOT Ignoring new targets: 92.64 m.%%8%%85 ProNav: ac range: 92.641998 m, nav range: 89.519958 m, bearing: 166.710867 deg, approach rate: -0.539512 m/s, LOS rate: 0.002262 deg/s, cmd heading: 189.589468 deg, new cmd heading: 189.591835 deg. 58=HeadingCmd: 3.309002 target range: 92.641998 and range: 93.30 m.bES@ZArAjIRIJQBQ~Q~}|||| @ --{B-u=I1)5$?QI]!< YY]󹉢eY>eD^HCH-IH}BH =HHHך<HE6GjG ?bG?q :J ZBJ QJJ @RJ ZJ 9bJ -.9J J4J zJ -:jJ 2:J 4:rJ 4:~G A A N >5 DAT read: 14:24:41.7576 LVL= 23136, 32753, 19442, 30355, AGC= 68, IDX= 414,-0.40, 2.817, 1.346, 2.769, 2.344, PHS= 0.561,-0.951, 0.422, RAW= 145.2, -0.5, CAL= 149.1, -9.5, ROT= 0.9, 9.5 e Ygot valid direction response: 14:24:41.7576 LVL= 23136, 32753, 19442, 30355, AGC= 68, IDX= 414,-0.40, 2.817, 1.346, 2.769, 2.344, PHS= 0.561,-0.951, 0.422, RAW= 145.2, -0.5, CAL= 149.1, -9.5, ROT= 0.9, 9.5 e 8DAT read: $Error in header m *Received a bad header X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.986164,0.015492,-0.165048]ک yڭ jU?A77?G ſYک ۭ `Z)ۭ Iۭ Kiۭ v۩ ۭ ?ۭ tsۭ b> ܭ 0"@)ܭ 5Iܭ ۋ&@iܭ )ܭ <ܭ )> ݩ ݭ Q O?H$oG?Oiݭ bt>ݭ <ݭ <ݭ )> T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse6N,*jA9>1@>#?@Y>W{;y>>H׭5L?@?? du?@? >1@> ;)>C=}B= Ii]=I]<IeIe2 7=y:Q >٥ HF= > 5m5 D%?5m59 v I By9=;@=@ hEi q; ; m5EYBE+AE7E=B*** querying acoustic contact ***J9R9qQ]DNOT Ignoring new targets: 92.64 m.;; ProNav: ac range: 92.641998 m, nav range: 89.286987 m, bearing: 166.707385 deg, approach rate: -0.457949 m/s, LOS rate: -0.006864 deg/s, cmd heading: 189.591831 deg, new cmd heading: 189.581355 deg. HeadingCmd: 3.308819 target range: 92.641998 and range: 93.30 m.bS@ZrjRJB~~}||||@ e2{BmZf=I)!?IT< n/\>):<ciS@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙEEEE3E6G]v~GAAN> J:Ê, +jA963@6eA@Y6;y6q>6H@I4@E?D?ׯ@4?'wƻ?? 63@6UO;)6CHN}BNIUT****** received valid address query ******UR****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsemMb@Mb@Mb@iii i)iYm!rh?V-~jtyml?mmļm A i)iIm@iym@IIV83 = O=yk:Q >٥ HF= >m5?m59v IBy?:??@@hEi:4:m5+ADNOT Ignoring new targets: 92.64 m.% ProNav: ac range: 92.641998 m, nav range: 89.078842 m, bearing: 166.696828 deg, approach rate: -0.631875 m/s, LOS rate: -0.032121 deg/s, cmd heading: 189.581353 deg, new cmd heading: 189.549610 deg. %[-HeadingCmd: 3.308265 target range: 92.641998 and range: 93.30 m.b5S@Z1r1j1R1J1B1~9~=7{B}9|9|A|A|E@/A@ 4{BN=I)$?I%< !AEZMe>M3! Ku ;P"Ku 9*Kq 2Ku :Ku :rN<Z&!B*`*XH`ZLBVk(_J} ?J} ?_Ɋ,P'+jA965@6NC@Y6;y6/>6H 6f"?@?t)?/{@̔?? 65@6;)6CB}BBIHJAAIJIJF3R R]=yV ;Q V>٥TT ZHXZŦ= Z>\bm5^?bm59^xu I^Bydf+A@f@^hEi^:^:^Dm5hj,Aj:EH5>H1H5'IH5}BH5 =H1H5.DH5Ӛ<H5EDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 88.884117 m, bearing: 166.683108 deg, approach rate: -0.488731 m/s, LOS rate: -0.034511 deg/s, cmd heading: 189.549607 deg, new cmd heading: 189.508356 deg. yHeadingCmd: 3.307545 target range: 92.641998 and range: 93.30 m.bЮS@ZrjRJB~ ~ } | | ||@ ]7{Be|=Ia)e8?aIeT< aammp>m(Qԁ % T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseGЊ,+A+jA=}B=I)A AYMb@Mb@Mb@ )YL7A`?Mb`?I +y+?;9rA )@Ih@y@II%v -4=y-Q ->٥11 5H5F= =>9Em5=[?Mm59= u I=ByI?:D@@=hEi=Yv<=u<=;m5D,A=E 5DNOT Ignoring new targets: 92.64 m.55E ProNav: ac range: 92.641998 m, nav range: 88.647820 m, bearing: 166.657715 deg, approach rate: -0.533690 m/s, LOS rate: -0.057504 deg/s, cmd heading: 189.508352 deg, new cmd heading: 189.431970 deg. EmHeadingCmd: 3.306212 target range: 92.641998 and range: 93.30 m.bmS@ZqrqjqRqJqBq~y~}zB}y|y|||$@ :{BOk=I)?I"0< A>w r֊,9 [+jA9:h9@:{G@Y:r;y:ྉ>:HCq)N >?@?``?? :h9@:;)8^}B^IIfIf2n = nb=yrhO;Q r>٥pt vHvFv"> v>x~m5zC?~m59zt IzBymH@@zhEiz;z;zdm5 XB  ,A ԹDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 88.461548 m, bearing: 166.630362 deg, approach rate: -0.506677 m/s, LOS rate: -0.074560 deg/s, cmd heading: 189.431977 deg, new cmd heading: 189.349744 deg. L HeadingCmd: 3.304776 target range: 92.641998 and range: 93.30 m.b uS@Z rjRJB~~}||!|!|%@@ e={Be#%=Ia)e9?aIeﵗ< iim uA>uL,-[8# &S:$XJUAJUA H<HH>HHIH}BH =HHH<HEHƗCHƗCHHI = I66GmLK~GI AQ Ai N} > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseY ܊,t+jA96 ;@6:I@Y6:6HşXhJV?ցJ?a? 6 ;@6^;)6CN}BNIIR IR̍2r良 rJ=yr;Q r>٥tt vHtvĀ= z>| m5~;? m59~u I~ByH@~hEi~g;~g;~m5WB(,A@EAMDNOT Ignoring new targets: 92.64 m.M̺M̺] ProNav: ac range: 92.641998 m, nav range: 88.254189 m, bearing: 166.596161 deg, approach rate: -0.540842 m/s, LOS rate: -0.089415 deg/s, cmd heading: 189.349742 deg, new cmd heading: 189.246897 deg. euueHeadingCmd: 3.302981 target range: 92.641998 and range: 93.30 m.bm dS@ZirijiRiJiBi~~}||||` @ U?{B]x=IY)]}?YI]< YYeƺe>e=-~GAANf>ԁԹ ҃,+jA:JBJYJJBRJZJbJ[O9J-4J9Z<@ZJ@YZwZH ` ?߀( -? @ 3? ? Z<@Z;)ZC}BIET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Y rh?MbP?y&1yC ?:`e )@Iy@II2 <=y;Q >٥ HFo= > m54? m59Ku IByO ?:Fԑ@hEi<<m5`,AB*** querying acoustic contact ***JR!-DNOT Ignoring new targets: 92.64 m.MʺUʺ] ProNav: ac range: 92.641998 m, nav range: 88.024902 m, bearing: 166.555071 deg, approach rate: -0.493513 m/s, LOS rate: -0.088672 deg/s, cmd heading: 189.246893 deg, new cmd heading: 189.123302 deg. ekseHeadingCmd: 3.300824 target range: 92.641998 and range: 93.30 m.be@S@ZirijiRJB~~}||||@@ B{B l=I)S?Il< ݺ>-<٫i%@S@i!EEEE_0E6G9S~GAAN> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse! K P"K 9*K 2K :K  OCtg@g!oGk2z>LFib#)mhkS$^9 ;,B+jA9:+>@:/?L@Y:q-:Heq[?wP?``bj? ? :+>@:;):CHb>HbCHbIHb}BHb =H`H`HbԚ<HbEn}BnIIvIvV83~ ~Z=yo;Q >٥  H F =  >m5$?m59u IBy!%[E%@hEiA;M;m5)-,A-CE!-DNOT Ignoring new targets: 92.64 m.-5e ProNav: ac range: 92.641998 m, nav range: 87.830734 m, bearing: 166.516920 deg, approach rate: -0.523188 m/s, LOS rate: -0.103026 deg/s, cmd heading: 189.123307 deg, new cmd heading: 189.008601 deg. eimHeadingCmd: 3.298822 target range: 92.641998 and range: 93.30 m.bmS@ZirijiRiJiBi~~}||||@ D{Bj|=I)?!I%Ҁ< !!%𺉢->-ݛ<I1I1-&iUS@iYUT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseE?EEE0E6G]A~GAAN_>q  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse,s+jA0}BI]Mb@Mb@Mb@YYY Y)YY]X9v?:v~jty]?]T]]A ]=@)YI];@Yy]=@IuIuM3JS< 4=yQ >٥ H >m5?m59u IBy?:F@hEi:1:m5UBX,ADNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 87.578133 m, bearing: 166.470942 deg, approach rate: -0.588421 m/s, LOS rate: -0.107410 deg/s, cmd heading: 189.008601 deg, new cmd heading: 188.870272 deg.  mHeadingCmd: 3.296408 target range: 92.641998 and range: 93.30 m.bZR@ZrjRJB~~zB}|!|!|!|%H@ eF{BeO*u=Ii)m?iImy< iquCu['?}p<}脽i}ZR@iyԉE?EE E ?1E :JM^BJMSJJM?RJIZJM} :bJMy69JMـ4JIԹeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse6G) ZG1 RG1 ~G A A! N5 >,N+jA9B5@@BN@YBXBH +闵?@1V?l`? (!? B5@@B~;)BCR}BVIIZ`IZ3f/!= fk=yj?;Q j?٥hh jHjFn= n?pvm5r8?vm59r@v IrBytz8Dz@rhEir:r~:rm5@Bx+AFE1=DNOT Ignoring new targets: 92.64 m.EEU ProNav: ac range: 92.641998 m, nav range: 87.387405 m, bearing: 166.430636 deg, approach rate: -0.548010 m/s, LOS rate: -0.116063 deg/s, cmd heading: 188.870276 deg, new cmd heading: 188.749094 deg. UN]HeadingCmd: 3.294293 target range: 92.641998 and range: 93.30 m.b]R@ZYrYjYRaJaBa~a~a}i|i|i|i|u@ H{B靭Oa=I)?IҪ< ٴ UJ?][<]ϼi]R@ia׹׽AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE ?E E Ep5E6GM~GAANC>KEHP"K@9*K2K:KahP$Cp)},A Qg9qiDX>v:7Y`O|NgF!!Hۼ>HCHIH}BH =HH-DH͚<HEA m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse,,+jA9:A@:O@Y:q:HWl ?ģle@P?[6@b?!,? :A@:;)8f}BfIInIn3zz ~H=y~Pu;Q >٥ HF 4=  >m5bm?%m59v IBy!%C%@hEi(;);m5)-|+A5IEQ]DNOT Ignoring new targets: 92.64 m.] e } ProNav: ac range: 92.641998 m, nav range: 87.163818 m, bearing: 166.380230 deg, approach rate: -0.547707 m/s, LOS rate: -0.123794 deg/s, cmd heading: 188.749095 deg, new cmd heading: 188.597488 deg. }ꩻHeadingCmd: 3.291647 target range: 92.641998 and range: 93.30 m.bYR@ZrjRJB~~}||||@ I{B#}=I)?I켮< [u?*<JiYR@iE?EEEP0EI6G~GAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseANqԡ :J] ]BJ] MJJ] ARJY ZJ] ]:bJ] 9J] 4JY ,v3,jA9NEB@NP@YN*NHZl?ۥ%!?e3?`5? NEB@N;)NCv}BvI T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseaMb@Mb@Mb@ )Y ףp= ?Q롿Zd;OyQ?\jA S@)@IyQ@II?13T; ==y>;Q >٥ H= >m5V?m59]w IuBy?:ED@hEi:k:m5q+AB*** querying acoustic contact ***JR=DNOT Ignoring new targets: 92.64 m.=j=j} ProNav: ac range: 92.641998 m, nav range: 86.906975 m, bearing: 166.325505 deg, approach rate: -0.554002 m/s, LOS rate: -0.118389 deg/s, cmd heading: 188.597492 deg, new cmd heading: 188.432831 deg. }HeadingCmd: 3.288773 target range: 92.641998 and range: 93.30 m.bC{R@ZrjRJB~~{zB}|||| @ԑ K{Bq=I)1?Ip< I!r? Ƙ<w;iC{R@iE?EEEf5EF=F=ԹT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G  jG ?bG ? ~G A A N >K% P"K% ж9*K! 2K% :K% (  ,K0BGVj2jZ , 98b'9j.o  ,),jAH2Ѽ>H2CH0H0H2 =H0H2,DH2<H2E9FC@FQ@YFaFHཱX?ಧ@Z 9?.+T?A? FC@F.;)DN}BNIiR=IRC=IV IV<2^$= ^]=yb֑;Q b>٥`d fHfFf= f>hnm5jdE?nm59jw IjnByprnCr@jhEij:j0;jm5tv3+AvLEDNOT Ignoring new targets: 92.64 m.6%6- ProNav: ac range: 92.641998 m, nav range: 86.711716 m, bearing: 166.281788 deg, approach rate: -0.581345 m/s, LOS rate: -0.130450 deg/s, cmd heading: 188.432830 deg, new cmd heading: 188.301385 deg. 5 5HeadingCmd: 3.286479 target range: 92.641998 and range: 93.30 m.b5UR@Z9r9j9R9J9BA~A~A}A|I|I|I|Ms!@ 5L{BU&=IY)]?YIe뵶< aam*m?m<yp1y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse$,C,jA9:D@:R@Y:A:H `?`B¿ ?3@*?lQ? :D@:#;):C=}B=IMb@Mb@Mb@ )YʡE?v/y&1y?xi`A )I$@y@II?13.H1 7=ymg;Q m>٥qq uHuF}~< }>m5-?m59Yx IbBy?:D@hEi;;m5G+AOEDNOT Ignoring new targets: 92.64 m.M M  ProNav: ac range: 92.641998 m, nav range: 86.441818 m, bearing: 166.225024 deg, approach rate: -0.585547 m/s, LOS rate: -0.123535 deg/s, cmd heading: 188.301390 deg, new cmd heading: 188.130567 deg. HeadingCmd: 3.283498 target range: 92.641998 and range: 93.30 m.b$R@ZrjRJB~~zzB}|||| _"@ EN{BER=IA)M?IIMy< QQU&4U?]s˘<]lET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseԑԹ K,V],jA9F+E@FU?S@YFFH*]?~ GĿ|`:??`? F+E@Fы;)FCJGRA`f}Bf I r#YrAyrAI~I~2 0B=  \=y :;Q >٥ H< >!-m5%?-m59%x I%YBy15D5@%hEi%:%:%m59=*AADNOT Ignoring new targets: 92.64 m.77E ProNav: ac range: 92.641998 m, nav range: 86.230896 m, bearing: 166.178927 deg, approach rate: -0.567520 m/s, LOS rate: -0.124335 deg/s, cmd heading: 188.130567 deg, new cmd heading: 187.991937 deg. EMHeadingCmd: 3.281078 target range: 92.641998 and range: 93.30 m.bM0Q@ZqrqjqRyJyB~~}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙ|||| (#@ MO{BM=IQ)U;?QIUR< QQU=]"@]A<]f=ie0Q@iaE E E E[0EFF6G:ZGRG He<He4<K}\P"K}9*Ky2K}:K}b(;R"y^jMO%M`[N'3}h\HuԼ>HqHuIHu}BHu =HqHqHu<HuE~GA!A1N=r>:J- aBJ- iJJ- BRJ) ZJ- :bJ- ڈ9J- -4J) zJ- ;= jJ- ;= J- f:= rJ- h:= E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse |8,sw,jA9BzE@BS@YBY#BH ?`Q?i`G9ſ# `?c@~? rr? BzE@BK|;)BC^}B^ I)` `IdIdv+ vM=yv;Q v>٥xx zHzFz< ~> m5?? m59Xy INBy  C @hEiS::;m5?B +AREAEDNOT Ignoring new targets: 92.64 m.MMe ProNav: ac range: 92.641998 m, nav range: 85.997604 m, bearing: 166.126499 deg, approach rate: -0.605509 m/s, LOS rate: -0.136446 deg/s, cmd heading: 187.991941 deg, new cmd heading: 187.834231 deg. eHmHeadingCmd: 3.278326 target range: 92.641998 and range: 93.30 m.bmQ@ZirqjqRqJqBq~y~y}y|y|||K#@ 靵7=I)<?I< xEFO@[f<4=iQ@iEEEEn0EI $,L,jA 9BQE@BT@YB?BHwV? rſ@+?ߚr?@N? BQE@BRH;)BCJ}BJI٥ H%c)< %>)-m5-?5m59-y I-@ByUt!?]:]E]@-hEi-;-E;-m5ae*AeUEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 92.64 m.) )  ProNav: ac range: 92.641998 m, nav range: 85.732506 m, bearing: 166.072259 deg, approach rate: -0.588543 m/s, LOS rate: -0.120789 deg/s, cmd heading: 187.834232 deg, new cmd heading: 187.671011 deg. ʥHeadingCmd: 3.275477 target range: 92.641998 and range: 93.30 m.bjQ@ZrjRJB~~bzB}|!|!|!|%s$@Q P{B靝%=I) ?IQ< OK~@2<J=ijQ@iEIEQEQEU_0EY6G%5[HY H] IH] }BH]  =HY H] -DH] <H] EH%̖CH%̖CH%̔CH% =I% = I%5K &-P"K ŷ9*K 2K :K S_4!mN6hGHiZLW~~+\zRZi*,d,jA96N5F@6HT@Y6N6H~R?`Qƿ.?@ ?[? 6N5F@6Π;)6CLV}BVIIZIZV83b< fQ=yf;Q f>٥dh jHjFj7< j>lrm5n^?vm59nz In5Bytv]Ev@nhEin:n`:nSm5xz*A|DNOT Ignoring new targets: 92.64 m.   ProNav: ac range: 92.641998 m, nav range: 85.510612 m, bearing: 166.026124 deg, approach rate: -0.581861 m/s, LOS rate: -0.121293 deg/s, cmd heading: 187.671004 deg, new cmd heading: 187.532239 deg. |HeadingCmd: 3.273055 target range: 92.641998 and range: 93.30 m.b5yQ@Z9r9j9R9J9B9~A~A}A|A|A|I|M@%@:JZBJRJJ@RJZJ9bJS29JJ4JzJ.:jJ3:J;:rJ<: Q{Bݎ=I ) "? I-j< ))5%X5@=<=ڛ`=i=yQ@i9~GyAAN_>I  BDAT read: Response Not Received  *response not received ,DAT read: user:2094>  BDAT read: Tx time:14:24:50.1815  $Ping request sent. ^F@>yqT@Y>=y>Ջ>>Hz?lī ƿS> pտ?c5? D? >^F@>ڱ;)>C}B!Ii٥ HF;  > m5 ?m59 bz tII (By4?:F@ iEi : : tm5)-x*A-XEy}DNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 85.230972 m, bearing: 165.971840 deg, approach rate: -0.610771 m/s, LOS rate: -0.118953 deg/s, cmd heading: 187.532242 deg, new cmd heading: 187.368856 deg. EHeadingCmd: 3.270203 target range: 92.641998 and range: 93.30 m.bKQ@ZrjRJB~~QzB}||||m{&@a qu!?=Iq)}#?yI < `@C<Rq=iKQ@iEQEQEYE]0EY <JDAT read: TxSync time:14:24:50.1807 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250317ԉ6G 4= ~Gq A A N >k7, ,jA9>qvF@>؉T@Y>g =y>,)=>H w(? 'ƿ IH? QN? ? >qvF@>0:;)>CJ}BJ$II I m?3%Z< %i=y-;Q ->٥11 5H1M; M>Qem5U?em59Uz IUByimFm@UiEiUxP;Ue`;Uzm5y}e*AԡDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 85.026505 m, bearing: 165.931803 deg, approach rate: -0.585933 m/s, LOS rate: -0.115007 deg/s, cmd heading: 187.368850 deg, new cmd heading: 187.248451 deg. ۝HeadingCmd: 3.268102 target range: 92.641998 and range: 93.30 m.b(Q@ZrjRJB~~}|| | | )'@echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500667 n=I)$?I< Zg5 @5ޛ<5B}=i=(Q@iAEM?EIEIEM5EQHӼ>HH-IH}BH =HH,DHHE6G%cR=KvO"K*K2K:K""8Ft &=^C;Roh-}jXG \`Q~GA!A1N=r>IC=IR=:J `BJ YJJ FRJ ZJ :bJ [O9J 4J zJ :jJ :J 'n:rJ )n: checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752942 =, ,jA=}BE-IIMIMT3}= }D=yQ >٥ HF >m5v?m59z IBy@ iEilK;L;m5(*A[EDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 84.781830 m, bearing: 165.883627 deg, approach rate: -0.601441 m/s, LOS rate: -0.118764 deg/s, cmd heading: 187.248448 deg, new cmd heading: 187.103504 deg.  HeadingCmd: 3.265572 target range: 92.641998 and range: 93.30 m.b "P@Z r j R JB~~}|!|)|1|5@t'@ Y] G=Ia)e(?aIe< aamom Auvq D,-jA9F-)F@F٥ HF. >m5݄?m59){ IBy,?:EF@iEi;6;m5>B*A^EEB*** querying acoustic contact ***JARADNOT Ignoring new targets: 92.64 m.- ProNav: ac range: 92.641998 m, nav range: 84.524635 m, bearing: 165.831600 deg, approach rate: -0.551355 m/s, LOS rate: -0.111871 deg/s, cmd heading: 187.103497 deg, new cmd heading: 186.946942 deg. -5HeadingCmd: 3.262840 target range: 92.641998 and range: 93.30 m.b5]P@Z1r1j1R1J1B1~9~=*zB}9|A|A|a|m (@ o=I)i)?I>C< !%w-XMA- n<-҂|=i-]P@i1ԁE?EEEp5Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507465ԩ6G q؃= ~G H ټ>H H 9IH ~BH  =H H -DH <H EA A! NM >GJ,k,-jAKRP"KR9*KP2KR:KR Sk=RY`=>s7"%<ApfmAR3An0I9rk F@r T@Yr.=yrX=rH`~ :?ƿoA?ץ ?`? rk F@r|;)rCz~Bz6IIuIuT3< ]=y;٥ H >m5*r?m59g{ IByjF@iEi::&m5)ADNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 84.311783 m, bearing: 165.788648 deg, approach rate: -0.626217 m/s, LOS rate: -0.126687 deg/s, cmd heading: 186.946936 deg, new cmd heading: 186.817753 deg. 㭻HeadingCmd: 3.260585 target range: 92.641998 and range: 93.30 m.blP@ZrjRJB~~} | | | |)@ 9=J=IA)E,?AIE&< AAE }MIrAMU!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011644'Q,+F-jA 9>E@>S@Y>e@=y>06=>H@E? 䭿 ſ`x@? =?? >E@>m;)٥ HF >m5^?m59{ IByq?:gD@iEi1;(;m5 *AaEDNOT Ignoring new targets: 92.64 m.  - ProNav: ac range: 92.641998 m, nav range: 84.090111 m, bearing: 165.738453 deg, approach rate: -0.539611 m/s, LOS rate: -0.122508 deg/s, cmd heading: 186.817750 deg, new cmd heading: 186.666771 deg. -'5HeadingCmd: 3.257950 target range: 92.641998 and range: 93.30 m.b=@P@Z9r9j9R9J9B9~A~EBzB}I|Q|Q|Y|]j*@ P{B|=I ) *? I t<    فvAZ<Z=i@P@iqEEEEEԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2654226G{=jG ?bG?~G A A N >ӹW,g`-jA\9j#E@jS@Yj-R=yj!}=jHB`7?+Gſ~ ?@S?@q?@? j#E@j];)jCz}Bz(III35F =R=y=1٥AA EHEFE M>IUm5MK?]m59MD| IMByY]yD]@MiEiM;Mj;Mm5amD*AmdEDNOT Ignoring new targets: 92.64 m.   ProNav: ac range: 92.641998 m, nav range: 83.880066 m, bearing: 165.690805 deg, approach rate: -0.542079 m/s, LOS rate: -0.123277 deg/s, cmd heading: 186.666775 deg, new cmd heading: 186.523473 deg. 5HeadingCmd: 3.255449 target range: 92.641998 and range: 93.30 m.bFYP@ZrjRJB~~}||||0+@  G=I ) &? I l< =oAIm<ea=iFYP@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516193EiEiEiEm^0Ei HH<H>HCH@IH~BHHHH<HEKWP"K9*K2K:KfL[iX:`P4} 49yZ(J9uY07TK16GiT=~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768666) ],Sz-jA9nE@nS@Yn&tb=yngj=nH?Tb}ſz $?Je=?? nE@n)u;)nCv~Bv6IxI I 2Z= %K=y%#٥)) -H)-b- ->1=m558?Em595| I5߈ByAEDE@5iEi5:5:5m5IM)AQDNOT Ignoring new targets: 92.64 m.= ProNav: ac range: 92.641998 m, nav range: 83.662613 m, bearing: 165.641414 deg, approach rate: -0.520465 m/s, LOS rate: -0.118524 deg/s, cmd heading: 186.523478 deg, new cmd heading: 186.374918 deg. =UHeadingCmd: 3.252856 target range: 92.641998 and range: 93.30 m.bU.P@ZQrQjQRQJYBY~Y~Y}a|a|a|a|e# ,@ O{B靽=I),?I&'< %jMAUD:J BJ ]JJ RJ ZJ bJ _9J J  @ @ @ @Ud,-jARchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2716219NE@N~S@YNX=s=yN"k=NH~@?Hh SſlJ?cR?? NE@N,ω;)NC^}B^$IUMb@Mb@Mb@QQQ Q)QYU/$?X9vI +YyU1?UU94Q U@)U@IQQyU@qqIIF3 <  ==y٥AA EHMFM; M>Q]m5U%?]m59U_} IUՈByes?e:eAe@U!iEiUZ:UV:Uym5q}Z*A}gEDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 83.444313 m, bearing: 165.584778 deg, approach rate: -0.513892 m/s, LOS rate: -0.133673 deg/s, cmd heading: 186.374921 deg, new cmd heading: 186.204570 deg. zHeadingCmd: 3.249883 target range: 92.641998 and range: 93.30 m.bO@ZrjRJB~~VzB}||||,@ N{B靅=I)%?I < !B<] =iO@i)yԉ UGmZA rYZAyBEM?EIEIEIEIԱDAT read: 14:24:52.6993 LVL= 22640, 29473, 14882, 32755, AGC= 67, IDX= 360,-0.48,-2.594, 2.773,-1.629,-2.451, PHS=-0.056,-1.013, 0.818, RAW= 178.5, 3.2, CAL= 178.7, -5.4, ROT= 3314 !unknown deviceResponse_: 14:24:52.6993 LVL= 22640, 29473, 14882, 32755, AGC= 67, IDX= 360,-0.48,-2.594, 2.773,-1.629,-2.451, PHS=-0.056,-1.013, 0.818, RAW= 178.5, 3.2, CAL= 178.7, -5.4, ROT= 3314 PDAT read: Bearing 331.3, 5.4 (Local) ~Local bearing/azimuth received: Bearing 331.3, 5.4 (Local) U DAT read: Range 10 to 50 : 85.2 m (Round-trip 113.6 ms) speed 0.4 m/s U ,DAT read: user:2095> ] BDAT read: Tx time:14:24:53.7815 ] $Ping request sent.] H H H 9IH ~BH  =H H .DH <H EOj,-jAKnN;P"Kl*Kl2Kn:KnK WYf`2*ii802jB!lM)*Slt9n(E@nS@Yn{=ynp=nH ;? ſц 2?@N>?T? n(E@n ;)nC~}B~#II I 3P %[=y%5?٥!) -H-F-L ->1=m55?=m595} I5̈ByAEBE@5$iEi5;5j;5m5IMb*AImB*** querying acoustic contact ***JiRi addTargetRange:: Added new target pos. range: 85.199997 m, deltaT: 14.615127 s, deltaX: -8.100006 m, approachRate: -0.554221 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 92.64 m.Թ ProNav: ac range: 92.641998 m, nav range: 83.261856 m, bearing: 165.537468 deg, approach rate: -0.497853 m/s, LOS rate: -0.129375 deg/s, cmd heading: 186.204576 deg, new cmd heading: 186.062334 deg. HeadingCmd: 3.247400 target range: 92.641998 and range: 85.20 m.bhO@ZrjRJ B ~ ~ }|||LU@|? eM{Be=Ii)m%?iIm< iim?JuLJB}ʡ<}=i}hO@iyJDAT read: TxSync time:14:24:53.7807 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EIEIEIEM0EI6Gd=)~GA A! N5 >A i i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.473953q,-jA9ZvmE@Z݀S@YZ,=yZ5n=ZHA?`Ŀ ͊Һ?_ܰ? K? ZvmE@Z[;)ZCf}BfI}Mb@Mb@Mb@yyy y)yY}Mb? rh{Gzty}?}C}ף}@ }@)}v@I}@yy}@IIm?3 B=yc"٥ Hλ >m5?m59~ IÈByU&?U:U@]@'iEi<<`m5e=Be*AejEDNOT Ignoring new targets: 92.64 m.    ProNav: ac range: 92.641998 m, nav range: 83.061508 m, bearing: 165.481793 deg, approach rate: -0.444837 m/s, LOS rate: -0.123913 deg/s, cmd heading: 186.062331 deg, new cmd heading: 185.894906 deg. %%HeadingCmd: 3.244478 target range: 92.641998 and range: 85.20 m.b%O@Z!r)j)R)J)BI~Q~UbzB}Q|Y|Y|Y|],? MK{BM=II)M!?QIU-U< QQUMɉ]-zB][<]hh=i]O@iaI:J]BJSJJARJZJ]:bJy69J4JEAEAEAEE0EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.728140q6G gP=~Ga Ai A ԙ N >u x,-jA9VIE@Vw\S@YV5Ŏ=yV=VH?!g`uĿ V?Ա`e?p? VIE@V;)TxxI I [3y;Q %>٥!! %H%F- ->1=m55J?=m595U I5ByAE@E@5*iEi5N:5:5m5IIIq}DNOT Ignoring new targets: 92.64 m.}V"}V" ProNav: ac range: 92.641998 m, nav range: 82.878983 m, bearing: 165.431124 deg, approach rate: -0.510140 m/s, LOS rate: -0.141927 deg/s, cmd heading: 185.894909 deg, new cmd heading: 185.742567 deg. »HeadingCmd: 3.241819 target range: 92.641998 and range: 85.20 m.byO@ZrjRJB~~}||||!? J{B=I)&"?IH< B\<g=iyO@iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.981193EEEEa5EG!G%AAH->H)H-'IH-}BH)H)H)H-ך<H-EHėCHHēCH =I = IAG5ԙK5@P"K5@9*K12K5:K5, Tr[d&J$#6s_!)wH,+ uR~A6GjG?bG?~GAAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230428 1~,-jA9v=E@vPS@YvK=yv:2=vH Oz?=]Ŀӌ1"?"Ų@D8?`r? v=E@v w;)vC}BII-(I-̍3=] =٥AA EHAM M>Q]m5U?]m59U IUByY]@e@U.iEiU;U';UMm5iuP+AumEDNOT Ignoring new targets: 92.64 m. ProNav: ac range: 92.641998 m, nav range: 82.686134 m, bearing: 165.377449 deg, approach rate: -0.472089 m/s, LOS rate: -0.131701 deg/s, cmd heading: 185.742569 deg, new cmd heading: 185.581170 deg. ŴHeadingCmd: 3.239002 target range: 92.641998 and range: 85.20 m.bKO@ZrjRJB~~}||||Ur? H{B靥3=I)?I%z= vB7@<v=iKO@iEEEE05Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.486074 6G- I~=1 ~G A A) N5 >J4J4J0:J ZBJ JJ RJ ZJ 9bJ J J Q ,n.jA9>6)E@>+ޝ=y>ϊt=>H ?@Nٵ24Ŀ<?Ŷzu? ? >6)E@>);)<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734104R}BVIMb@Mb@Mb@ )Y{Gz?Q?{Gzty?u<@ @)Iy @I#I%x3{ ?=yy ٥ HF= > m5 ?m59  I By?:<@ 1iEi e; Y;  m5!%k+A%pEQ]DNOT Ignoring new targets: 92.64 m.]/e/u ProNav: ac range: 92.641998 m, nav range: 82.487671 m, bearing: 165.311867 deg, approach rate: -0.463961 m/s, LOS rate: -0.153685 deg/s, cmd heading: 185.581171 deg, new cmd heading: 185.383951 deg. uһ}HeadingCmd: 3.235560 target range: 92.641998 and range: 85.20 m.b}lO@ZyryjyRyJyB~~NzB}||||@IO? G{BP=I)<?Ikp= 7)MH CU %H% >H! H% IH% }BH! H! H! H% <H% ED,,D/.jA0x}BII5I53Mͽ MV=yUQ U>٥QK1.P"K59*K2K:K~!Z#5aQ4OAB."\}?c||(Fab- -& HF >m5?m59 IBy@4iEi::~m5,A=B*** querying acoustic contact ***J9R9AMDNOT Ignoring new targets: 92.64 m.ME-ME- ProNav: ac range: 92.641998 m, nav range: 82.304817 m, bearing: 165.251132 deg, approach rate: -0.455065 m/s, LOS rate: -0.151486 deg/s, cmd heading: 185.383956 deg, new cmd heading: 185.201347 deg. ϻHeadingCmd: 3.232373 target range: 92.641998 and range: 85.20 m.b4N@ZrjRJB~~}||||@e@ -E{BU4E=IY)] ?aIeM= iquGchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238582ԉ@C<@ =i4N@i!E?EEEP0EԹ6G `=ZG ARG ~G A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492569N >+,I.jA9BD@B^R@YBx=yBMtn=BH@@?u`ÿ1U?ﭭ?? BD@B;)BC\b`}BbI}Mb@Mb@Mb@yyy y)yY}L7A`?Q?Mbpy}+?y}y }$@)}@Iyyy}@IIm?3X 5=y٥ HJ >m5ƪ?m599 IBy9?:b=@8iEi,:4:Um5h,AsEiDNOT Ignoring new targets: 92.64 m.22 ProNav: ac range: 92.641998 m, nav range: 82.095520 m, bearing: 165.182369 deg, approach rate: -0.474709 m/s, LOS rate: -0.156359 deg/s, cmd heading: 185.201344 deg, new cmd heading: 184.994530 deg. ֻHeadingCmd: 3.228764 target range: 92.641998 and range: 85.20 m.bN@ZrjRJB~~AzB}||)|)|->@ }B{B}n=I}b:)}q?IA= -{C5<5=i5N@i1:J]BJWJJDRJZJ]:bJG9J4J ؽ>׽=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743190E=?E9E9E9E9I 6G h=~G A A! N5 >I,b.jA9>}D@>R@Y>?l=y>n=>H`] >?и ¿`_Læ?嶿e?`H? >}D@>;)>CRB}BRIIZIZ3b bs=yb%:nK:nBm51qu,AqDNOT Ignoring new targets: 92.64 m.** ProNav: ac range: 92.641998 m, nav range: 81.936005 m, bearing: 165.130383 deg, approach rate: -0.455165 m/s, LOS rate: -0.148627 deg/s, cmd heading: 184.994526 deg, new cmd heading: 184.838265 deg. %̻%HeadingCmd: 3.226036 target range: 92.641998 and range: 85.20 m.b-awN@Z)r)j)R)5BDAT read: Rx Time:14:24:56.2972 =TRx dataTimestamp_ set to:1749133497.615510=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995495JIBQ~Q~Q}Q|Y|Y|Y|](D@ @{Bm=I)W?I= oSCݾ<3=iawN@iq HHH߼>HHIHp}BHHH-DH<HEE?EEE\0EԉKO"K9*K2K:KKCA&[bdzc6(|be]6?7f6G% }ܒ= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247457~G A A! N5 >Թ p,|.jA9: D@:(R@Y:0s=y:/l=:H b -Z? u ]દ?gx?U? : D@:{n;)8F&}BFIIN!INi3Z ^L=yf;Q j>٥pp rHvFz z> %n5 N?%n59  I By)5&>5@ >iEi ;  ; n5Q]L-A]vEԙDNOT Ignoring new targets: 92.64 m.3U3e ProNav: ac range: 92.641998 m, nav range: 81.740479 m, bearing: 165.067508 deg, approach rate: -0.487821 m/s, LOS rate: -0.157242 deg/s, cmd heading: 184.838265 deg, new cmd heading: 184.649191 deg. e׻mHeadingCmd: 3.222736 target range: 92.641998 and range: 85.20 m.bmPAN@ZirijiRiJqBy~~}||||Ҋ @ >{B =I))5T>1I=G = AAEg]dCe BDAT read: Tx time:14:24:57.3816 $Ping request sent.~G A  JDAT read: TxSync time:14:24:57.3808 :J ZBJ OJJ ARJ ZJ 9bJ %9J 4J A N% >[ƥ,8.jA9~C@~y1Q@Y~Fh=y~E.==~H`G?@ɹ$ ;>?g҇?@? ~C@~t;)~C5 }B5Ii==I=4U "=y;Q >٥ Hq >n5r?n59 IpBy{?:@@CiEi::1n5)--A)ZbӤ.jABB3@ʁaζxR@EB0}p@{{?яTLaܿ]1|`=ҁMV 8Smy;@8~4I-+Ը .? uǿzAƙj#ʜ?r1 !ABɜ? l  _iBꁥTB(6@ addTargetRange:: Added new target pos. range: 83.599998 m, deltaT: 3.532670 s, deltaX: -1.599998 m, approachRate: -0.452915 m/s, rangeRepo size: 4  Added new target pos. range: 83.011047 m, bearing: 160.336487 deg, lat: 36.906456 deg, lon: -122.115921 deg, deltaT: 18.147797 s, deltaX: -9.630951 m, approachRate: -0.530695 m/s, posRepo size: 4 DNOT Ignoring new targets: 83.01 m.%!] ProNav: ac range: 83.011047 m, nav range: 81.665955 m, bearing: 162.984378 deg, approach rate: 0.000000 m/s, LOS rate: -0.157242 deg/s, cmd heading: 184.649192 deg, new cmd heading: 184.413976 deg. YԉHeadingCmd: 3.218631 target range: 83.011047 and range: 83.60 m.b M@ZrjRJB~~*zB}|||`fT@|G? :{B靅v=I)>Ic- = Nl|!Df<DBt=i M@iԱ>E H ռ>H CH IH }BH  =H H H <H E E ?E E E 5E K t;P"K @9*K 2K :K omP-7s8w#.9#NC]+HjYW_{+$)J ?J >I I ?A 6GF<=~GAAN?T,.jA9:%B@:P@Y:=y:=:Hr?* A@恛? 0 H?`Y? :%B@:۟;):CR|BRII~I~ 2 `  #=y %Q  >٥ HFm >!-n5% [?-n59% I%_By)-@5@%GiEi%:%;% n5=IY = )s hD ^,< Lk=i ͶM@i>E0::T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yE?EEEP0E6G*t=~GAAN>ԡ r9,.jA@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203794-|B-kIMb@Mb@Mb@ )YQ?Mbp~jty(?v@ @)I@y@I!Ii31 ==yQ >٥ HF >n5>D?n59؇ IMBy=?:A@LiEihH;W;x n5/A|EDNOT Ignoring new targets: 83.01 m.mCmC ProNav: ac range: 83.011047 m, nav range: 81.159409 m, bearing: 162.824563 deg, approach rate: -0.551904 m/s, LOS rate: -0.170856 deg/s, cmd heading: 184.164808 deg, new cmd heading: 183.933032 deg.  HeadingCmd: 3.210237 target range: 83.011047 and range: 83.60 m.b tM@Z r j R JB~~%zB})|)|)|)|5;? ]4{Be@z=Ia)e>aIe/'= aim!lu/D}dΪ<||=itM@ԩmGAiY YAyBDDDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.455451 E! E! E) E- P5E) F1 F5 }AGI GM @AHU ޼>HQ HU ~IHU |BHU  =HQ HQ HU <HU "E1 6GMghs=ZG]ARG]}AK%!P"K%9*K!2K%:K%'V[Mv)(~?Mts9 = ! h y  JU%?UX:JIBJMUJJM?RJIZJIbJM>9JMـ4JIzJM-:]jJM2:]JM|Q:]rJMQ:]~GAAN?z,].jA96&A@6O@Y6T>=y6~ =6H ҬsN?@2$$W?T^Z?? 6&A@6;)6C>|BBYI)@ @Xnchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.707499IJ IJb3` =y?:Q >٥ HF7Ӽ >n5!+?n59 I:By  B @QiEi;;n5u/AEyDNOT Ignoring new targets: 83.01 m.==- ProNav: ac range: 83.011047 m, nav range: 80.883690 m, bearing: 162.741849 deg, approach rate: -0.551301 m/s, LOS rate: -0.165949 deg/s, cmd heading: 183.933033 deg, new cmd heading: 183.684049 deg. -5HeadingCmd: 3.205891 target range: 83.011047 and range: 83.60 m.b5S-M@Z1r1j1R1J9B9~9~9}A|a|a|a|m َ? /{B2ti=I)>I= 3bbD<[=iS-M@iEEEEO0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.961981A 6G Š}=~Gq Ay A N >KË,H/jA9>rA@>YO@Y>0=y>.2=>H "?@ӯ@@c?1@e/?`z? >rA@>W;)>Cv|BvMI!Mb@Mb@Mb@ )Y!rh?٥ HY >n5z?n59 I(By5'?=:=F=@UiEiNk<k<@n5AE/AAY]DNOT Ignoring new targets: 83.01 m.e%e% ProNav: ac range: 83.011047 m, nav range: 80.641914 m, bearing: 162.679523 deg, approach rate: -0.561191 m/s, LOS rate: -0.145101 deg/s, cmd heading: 183.684045 deg, new cmd heading: 183.496505 deg. )ǻHeadingCmd: 3.202618 target range: 83.011047 and range: 83.60 m.bL@Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.211528rj)R)J)B1~1~5+zB}9|9|9|9|E8@I 5,{B5>n=I9)=>9I=C= 99= 0Y(E)!<ؼW=iL@iEU?EQEQE]P0EYy6G5g\=~G A A) N= >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463441\ʋ,,d*/jA96A@6"0O@Y6=y6 =6H o`ρ?GҹY ??2F?? 6A@6y;)4Fm|BJ=IIR IR̍2V Z\=yZyK;Q Z>٥X\ ^H^F*c > n5 ?n59 9 I ByfF=@ YiEi ; $; n5AE+0AMEyHؼ>HHRIH|BH =HHH<HEHeCHeCHaHaIe = Ie6DNOT Ignoring new targets: 83.01 m.F?F? ProNav: ac range: 83.011047 m, nav range: 80.409798 m, bearing: 162.620280 deg, approach rate: -0.653318 m/s, LOS rate: -0.167226 deg/s, cmd heading: 183.496502 deg, new cmd heading: 183.318262 deg. UHeadingCmd: 3.199507 target range: 83.011047 and range: 83.60 m.bUL@ZQrYjYRYJYBY~a~a}a|a|a|i|m@ ){B"w=I)>I= 9RZE< OQ=iL@ibEZEԩE?EEE_0EKP"K9*K2K:KRM!,7P@8wmtT8$, ~@III@A:J[BJSJJDRJZJ:bJy69J4JzJ:jJ:J(C:rJ+C:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7154306GX=~G A A N > ы,DD/jAI)9>@@@>N@Y>=y>1 !=>H` J?㹿6.`V?@?@@@@>A;)>CNM|BR)IIVIV#3bZ bI=ybM/:Q b>٥dd fHfFj[= n>pvn5r?vn59rz IrByxzFz@r]iEir`:r:rn5~;B~0AE-B*** querying acoustic contact ***J)R)Q]DNOT Ignoring new targets: 83.01 m.e7e7u ProNav: ac range: 83.011047 m, nav range: 80.165344 m, bearing: 162.558393 deg, approach rate: -0.632629 m/s, LOS rate: -0.160649 deg/s, cmd heading: 183.318261 deg, new cmd heading: 183.132033 deg. uܻ}HeadingCmd: 3.196257 target range: 83.011047 and range: 83.60 m.byL@ZrjRJB~~}||||@mBDAT read: Rx Time:14:24:59.8944 }TRx dataTimestamp_ set to:1749133501.146741checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973532 U%{BUGh=IY)eʓ>Iv= eJ=E < M=iyL@iE?EEEE)6G Y -׋,e^/jAD|B$IaIu@au aMu@au aQu@a} aE}@a} IIF33 ;=yQ >٥ H >n5?n59 IB+:y:@aiEi];>&n590ADNOT Ignoring new targets: 83.01 m.**5 ProNav: ac range: 83.011047 m, nav range: 79.897919 m, bearing: 162.490228 deg, approach rate: -0.584024 m/s, LOS rate: -0.149361 deg/s, cmd heading: 183.132029 deg, new cmd heading: 182.926852 deg. 5ͻ=HeadingCmd: 3.192676 target range: 83.011047 and range: 83.60 m.b=TL@Z9r9j9RAJIBi~q~q}q|q|y|y|}@ @  {B靥^=I)Ñ>I= I?E <Ϊ[=iTL@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.473681ԑEqEqEyEyE HH<H׼>HH&IHI|BH =HH,DH<HEԩ6G M= ~G :J _BJ YJJ BRJ ZJ :bJ [O9J -4J zJ +:jJ 0:J &n:rJ )n:K P"K ŷ9*K 2K :K ,QlB(; oCuN{S/H2U]9yEzrA! A1 N= > L݋,w/jA9Jgc@@JvN@YJ=yJ&=JH>?@qz`~?.`е?`? Jgc@@Jrs;)JCR0|BVII^I^ 3bh] b^=yf%l:Q f>٥dh jH DAT read: 14:24:59.8944 LVL= 23088, 31057, 15218, 22451, AGC= 67, IDX= 405, 0.30,-1.433,-2.468,-0.601,-1.308, PHS=-0.036,-1.112, 0.704, RAW= 173.9, 5.7, CAL= 173.8, -3.6, ROT= 336.2, 3.6 Ygot valid direction response: 14:24:59.8944 LVL= 23088, 31057, 15218, 22451, AGC= 67, IDX= 405, 0.30,-1.433,-2.468,-0.601,-1.308, PHS=-0.036,-1.112, 0.704, RAW= 173.9, 5.7, CAL= 173.8, -3.6, ROT= 336.2, 3.6 %PDAT read: Bearing 336.2, 3.6 (Local) -~Local bearing/azimuth received: Bearing 336.2, 3.6 (Local) 5DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.5 m/s =,DAT read: user:2097> EBDAT read: Tx time:14:25:00.9816 E$Ping request sent.En5?n59 IB :yT:G@eiEik:nT?d!n5`direction in FSK: [0.913154,-0.402749,-0.062791]:publishing transmit ping time1AEA-Fpublishing direction and range infolynE8?[$ٿ֏ n̢BYl n0Z)nQyInr;inWnCntnVnX94? n?B@)n%=In"B@innĻ@n= l)ln O]?{?XH?inp?ncʽnԾn= l)lu:publishing transmit ping timeAuFpublishing direction and range infolynE8?[$ٿ֏ lYl l)lIlilllll l)lIlilll l)ln O]?{?XH?illZlbny/jAnBnBn3@ʁn?sR@ G-F@,LnE8?[$ٿ֏ nԾn=ҁn1R4A:@4Y?+n#|lO?N ſznAnjnɜ?rnq> nEBnɜ?nq>  lnVBn3@ll l)l addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.779239 s, deltaX: -2.199997 m, approachRate: -0.582127 m/s, rangeRepo size: 4 - Added new target pos. range: 80.824936 m, bearing: 160.903307 deg, lat: 36.906462 deg, lon: -122.115898 deg, deltaT: 3.779239 s, deltaX: -2.186111 m, approachRate: -0.578453 m/s, posRepo size: 4 )5DNOT Ignoring new targets: 80.82 m.51m ProNav: ac range: 80.824936 m, nav range: 79.668617 m, bearing: 160.903140 deg, approach rate: 0.000000 m/s, LOS rate: -0.149361 deg/s, cmd heading: 182.926850 deg, new cmd heading: 182.747506 deg. i}HeadingCmd: 3.189546 target range: 80.824936 and range: 81.40 m.b}!L@ZyryjyRyJB~~}|||YT@|ٷ? {Ba=I)>I= 51E<L=i!L@irEi>jE>EqEqEqE}o0Ey) 6G ]X=~G A A N >/,/jA,9V%:@@VMN@YV\=yV0=VHճ?ִ??]E?d? V%:@@VՊ;)VC|BI) AiaI}aI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y9v?i|?5Zd;Oy4?qj@ @)dAI@y=@I$I<3 _ #=y 6:Q >٥ HF > n5A?n59 IɇBT:y5?:I@@kiEi;;%n51A%EZbȓ3@ʁ?sR@ G-F@,LE8?[$ٿ֏ ҁ5R;N3=:@f!\u+NR|qI}= yy}w+zBF֟<=U=i, /jA(9F/@@FN@YFG=yFu?=FHݿ`{?ɹ)`u?@Yϧ?? F/@@F;)FCf|BfIIn%In)3v% v=yvQ v ?٥xx zHx~C, ~ ?n5W? n59 HEܼ>HECHEIHE|BHE =HAHE-DHE<HEEIByH@@niEi <#<Z(n51AE-DNOT Ignoring new targets: 80.82 m.-858M ProNav: ac range: 80.824936 m, nav range: 79.138725 m, bearing: 160.771071 deg, approach rate: -0.647172 m/s, LOS rate: -0.161408 deg/s, cmd heading: 182.508720 deg, new cmd heading: 182.349917 deg. MݻUHeadingCmd: 3.182606 target range: 80.824936 and range: 81.40 m.bUӯK@ZQrYjYRYJYBY~a~a}a||||?ԁ {B*^=I)r>ILC= g# oF !<Q=iӯK@iIyI}BA:J\BJOJJ=RJZJ=:bJ%9Jg4JzJ:jJ:J~&:rJ&:E?EEEg5EK$P"K}9*K2K:Ku-7LD q?.`O0M G$#u{B'kt*Ա6G TV= ~Gq A A N >`,\/jA`9b?@b'M@Yb==ybQU=bHcɰ?ঋ@F`,?. 㚪?`? b?@b;)bCn{BnIIv(Iv̍3zZ ~J=y~L"Q ~>٥ HF   >n5bv?n59؉ IBy!-UH@-@siEit;Hv;+n5151A9mB*** querying acoustic contact ***JiRiDNOT Ignoring new targets: 80.82 m.[E[E ProNav: ac range: 80.824936 m, nav range: 78.869255 m, bearing: 160.705262 deg, approach rate: -0.704120 m/s, LOS rate: -0.172543 deg/s, cmd heading: 182.349918 deg, new cmd heading: 182.151820 deg. HeadingCmd: 3.179149 target range: 80.824936 and range: 81.40 m.b-wK@ZrjRJB~~}||||6?mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. {B靝c]=I)f>I:=  F は< cB=i-wK@iE?EEEp5E6G 0P= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507573I ~G A A N >/,U/jA9RAE?@RXM@YRG=yR|P=RH?c 3 @?޸*?? RAE?@R];)Pf{BfI)Mb@Mb@Mb@ )Y@5^I ?v/Zd;Oyb0?xi@ @)Ih@y@II[3c 9=y:Q >٥ %H%F%Y %>)5n5-\?5n59- I-By=1?=:="H@=@-xiEi-:-:-/n5M:BM`2AMEq}DNOT Ignoring new targets: 80.82 m.%n8%n85 ProNav: ac range: 80.824936 m, nav range: 78.581650 m, bearing: 160.635227 deg, approach rate: -0.659736 m/s, LOS rate: -0.161242 deg/s, cmd heading: 182.151815 deg, new cmd heading: 181.940941 deg. 5Qݻ=HeadingCmd: 3.175468 target range: 80.824936 and range: 81.40 m.b=:K@Z9r9j9RYJaBa~a~ezB}i|i|i|i|m`BZ?  {BO=I)R>I= F<3jD=i:K@iYechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759709E?EEEp4E6GA=G1G1H=Ƽ>H=CH=IH={BH= =H9H=+DH=<H=E~GiAqԁAN>Ա I I %=KM AP"KM 9*KI 2KM :KM 3?sC  &?a; TAf al<):,/jA9:?@:S$M@Y:8=y:F=:H`R+?1;@C`?`h?Y? :?@:͊;):CB{BBIIJIJ 3R Re=yV:Q V>٥T^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010512T bH`b b>djn5f H?nn59f IfBylnG@n@f|iEif& ;f ;f2n5pr2ArE DNOT Ignoring new targets: 80.82 m.+5+5% ProNav: ac range: 80.824936 m, nav range: 78.348473 m, bearing: 160.578670 deg, approach rate: -0.651087 m/s, LOS rate: -0.158391 deg/s, cmd heading: 181.940940 deg, new cmd heading: 181.770765 deg. -gٻ5HeadingCmd: 3.172498 target range: 80.824936 and range: 81.40 m.b56 K@Z1r1j1R1J1B1~9~9}9|9|A|A|EDV@ԉ ={B=2W=IA)mJ>iIu4= qq}1~GU<C=i6 K@iԹEEEEP0Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2626886G @A=~G A A N > ,X0jA9J>@JUL@YJ)=yJTN<=JH@p?7{q?j?? J>@JTx;)HV{BVIMMb@Mb@Mb@III I)IYMK7?:vyMI,?MLMTMA@ M3@)M3AIM~@IyM @II?13Mi :=y\:Q >٥ HF_߻ >n5\/?n59 InBy,?:;H@@iEi!I;GH;6n5 2A E)5DNOT Ignoring new targets: 80.82 m.=d4=d4:Je[BJeQJJe?RJaZJe:bJe-.9Jeـ4Jam@m@m@m@m ProNav: ac range: 80.824936 m, nav range: 78.070084 m, bearing: 160.509584 deg, approach rate: -0.633251 m/s, LOS rate: -0.157711 deg/s, cmd heading: 181.770759 deg, new cmd heading: 181.562762 deg. uxػ}HeadingCmd: 3.168868 target range: 80.824936 and range: 81.40 m.b}J@ZyryjyRyJyB~~yzB}||||`@ {B靽FO=I)I>I= *UPG]uͰ<]uF=i]J@iachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515942E ?E E E E FFA))A AGZA =Y=ZAy=lBQ6G- `C=~G A A! N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769295ԩ ,D4-0jA9>>@>(L@Y>9=y>2=>H`@?`ӹ ] `T?<4:?U? >>@>;)>CJ{BJI)L NAHv>HvCHvIHv{BHtHtHv*DHv*<Hv+EIEIE<2U~ UR=yUj:Q }>٥yy }H}Fޙ >n57?n59i I^ByH@@iEii;;$:n53A DNOT Ignoring new targets: 80.82 m.51=1E ProNav: ac range: 80.824936 m, nav range: 77.821083 m, bearing: 160.447737 deg, approach rate: -0.623154 m/s, LOS rate: -0.155274 deg/s, cmd heading: 181.562766 deg, new cmd heading: 181.376633 deg. M ջMHeadingCmd: 3.165619 target range: 80.824936 and range: 81.40 m.bMJ@ZQqrQjyRyJyBy~y~}||||@ zB%âL=I%;I,<)%6>!I%= !!-溉U2GUC>CNb`CLsZ9*/bX'NuY* 0><BDAT read: Rx Time:14:25:03.4910 TRx dataTimestamp_ set to:1749133504.931525checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0197036GF=~G A A N > ,yG0jA9bK>@bL@Yb=yb-=bH`?޹@@H`Ţ?#P֕? ? bK>@b;)bCn{BnIIv!Ivi3 O=y E:Q  >٥ H >!-n5%?-n59%K I%MBy)5G@5@%iEi%;%;%=n59=3A=E]B*** querying acoustic contact ***JYRYimDNOT Ignoring new targets: 80.82 m.m8u8 ProNav: ac range: 80.824936 m, nav range: 77.572334 m, bearing: 160.385919 deg, approach rate: -0.648139 m/s, LOS rate: -0.161590 deg/s, cmd heading: 181.376630 deg, new cmd heading: 181.190581 deg. ݻHeadingCmd: 3.162372 target range: 80.824936 and range: 81.40 m.bNdJ@ZrjRJB~~}|Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272529|||Ca @ ]zB靅L=I)9>I.= LкgG}α<EP=iNdJ@iE?EEES0E:Ju\BJuJJJuARJqZJu=:bJu&9Ju4JqA  DAT read: 14:25:03.4910 LVL= 24144, 26513, 16882, 29619, AGC= 69, IDX= 402, 0.10, 2.806, 1.750,-2.626, 2.913, PHS=-0.020,-1.117, 0.740, RAW= 174.0, 5.0, CAL= 174.0, -4.1, ROT= 336.0, 4.1  Ygot valid direction response: 14:25:03.4910 LVL= 24144, 26513, 16882, 29619, AGC= 69, IDX= 402, 0.10, 2.806, 1.750,-2.626, 2.913, PHS=-0.020,-1.117, 0.740, RAW= 174.0, 5.0, CAL= 174.0, -4.1, ROT= 336.0, 4.1 % PDAT read: Bearing 336.0, 4.1 (Local) - ~Local bearing/azimuth received: Bearing 336.0, 4.1 (Local) = DAT read: Range 10 to 50 : 78.9 m (Round-trip 105.2 ms) speed 0.8 m/s E ,DAT read: user:2098> M BDAT read: Tx time:14:25:04.5816 M $Ping request sent.M ,a0jA9 >@ oL@Y  =y ,= H@3j?m r ?v`x?!? >@ ω;) CU{BUIEMb@Mb@Mb@AAA A)AYEMb?&1y&1|yE ?EPE`A E@)AIE@AyEQ@I&I3 !=yc:Q >٥ HF̹ > n5K? n59 I;By !?:G@@iEiu;;Bn59B\3AEZbh[0jABB1@ʁQ@d"D#?vg;EÜ(?)ٿ MJw־C=ҁy`Ru"x;@,jۆ+p?;`ԟƿzAj3ʜ?r* _ CB )EBꁝB.2@JDAT read: TxSync time:14:25:04.5808  addTargetRange:: Added new target pos. range: 78.900002 m, deltaT: 3.535799 s, deltaX: -2.500000 m, approachRate: -0.707054 m/s, rangeRepo size: 4  Added new target pos. range: 78.339005 m, bearing: 159.121668 deg, lat: 36.906462 deg, lon: -122.115896 deg, deltaT: 3.535799 s, deltaX: -2.485931 m, approachRate: -0.703075 m/s, posRepo size: 4 DNOT Ignoring new targets: 78.34 m.M ProNav: ac range: 78.339005 m, nav range: 77.329201 m, bearing: 160.190318 deg, approach rate: 0.000000 m/s, LOS rate: -0.161590 deg/s, cmd heading: 181.190575 deg, new cmd heading: 180.932933 deg. QUHeadingCmd: 3.157875 target range: 78.339005 and range: 78.90 m.bUJ@ZYrYjYRYJYBY~~szB}|||S@|9? zBg/H=I)2->Iq= HZi<`=iJ@i He<He4<Hm>HmCHmIHm{BHm =HiHm)DHm<HmEH5ƕCH5ƕCH5ƔCH5 =I5 = I5Ʌ6E?EEE^0EF=Fa=) 6G O=K] jP"K] 9*KY 2K] :K] \t,pqg )2OC*RUyb]k]jRkK5>ԁ ~G A A N >w,|0jA9Z>@ZL@YZ:d=yZ/+=ZHR7?@v2"P?MlT?? Z>@ZΉ;)Xb{BbIiv=Iv=I)IW3]1 ]o=y]eQ ]?٥aa HF ?n5?n59 I.By iG@-@iEiy<<En5153A1Y]DNOT Ignoring new targets: 78.34 m.e+e+ ProNav: ac range: 78.339005 m, nav range: 77.124382 m, bearing: 160.139889 deg, approach rate: -0.608943 m/s, LOS rate: -0.150329 deg/s, cmd heading: 180.932927 deg, new cmd heading: 180.781237 deg. VλHeadingCmd: 3.155228 target range: 78.339005 and range: 78.90 m.bAI@ZrjRJB~~}||||}c? UzB].N=IY)]">YIG= u0H<eb=iAI@i>E;Y E ?E E E P0E i :J ZBJ ZJJ @RJ ZJ 9bJ S9J J4J 6G va=~GAAN>R&,Z+0jAHM{BMIMb@Mb@Mb@ )Y٥ H >n5?n59 IBy?:H@iEi];j[;In53AE9=DNOT Ignoring new targets: 78.34 m.Er)Er)U ProNav: ac range: 78.339005 m, nav range: 76.840424 m, bearing: 160.063061 deg, approach rate: -0.545528 m/s, LOS rate: -0.148143 deg/s, cmd heading: 180.781242 deg, new cmd heading: 180.549909 deg. UV˻]HeadingCmd: 3.151190 target range: 78.339005 and range: 78.90 m.b]I@ZYrajaRaJaBa~i~mzB}i|i|q|q|uM?Թ ]zB]C=Ia)e>aIe= aaemrHmE0<HU ּ>HU CHU IHU ~{BHU  =HQ HU ,DHU <HU E E1 E1 E9 E9 E9 FA FE AA 6G]9c=ZGiRGm|A~G1AAAQNm?t.,0jAK(P"K *K 2K:KZdW) 6 }8Xk3 YN kth&z9>]=@>L@Y>=y>Y=>H)@W?3{秿iCը?縿H?? >]=@>>;)>CJl{BJIIR!IRi3Z$ Z7=yZdmQ ^>٥\\ ^H^FbR b>djn5f0?jn59f IfByhjH@n@fiEif;f;fMn5pr4ArEx DNOT Ignoring new targets: 78.34 m.''- ProNav: ac range: 78.339005 m, nav range: 76.600365 m, bearing: 159.999343 deg, approach rate: -0.550132 m/s, LOS rate: -0.146478 deg/s, cmd heading: 180.549904 deg, new cmd heading: 180.358151 deg. - ɻHeadingCmd: 3.147844 target range: 78.339005 and range: 78.90 m.bEvI@ZrjRJB~~}|||| ? zBZXB=I)%>I~s= >yeoHK<\=iEvI@iDDDD!Iױ׵AE E E E O0E y 6Gm ghs=ԩ JSJ[r4J[?0:J [BJ RJJ ARJ ZJ :bJ S29J 4J ~GAAIAaNm>0h6,r0jA9>=@>FK@Y>=y>f=>H5?@1l?!1G?@`? >=@>;)>CF\{BFI)H HMb@Mb@Mb@ )YZd;O?y&1~jtx?y~ ?`弹;A @)\AI@y@II#3 =y;Q >٥ H F  >n5ď?n59׈ IBy% ?%:%vH@%@iEib:;Rn5)5U4A5EiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.34 m.E!M! ProNav: ac range: 78.339005 m, nav range: 76.338364 m, bearing: 159.929827 deg, approach rate: -0.486432 m/s, LOS rate: -0.129507 deg/s, cmd heading: 180.358153 deg, new cmd heading: 180.148889 deg. ±HeadingCmd: 3.144191 target range: 78.339005 and range: 78.90 m.bn:I@ZrjRJB~~zB}||||@ mzBm>=Ii)uo>qIu= qquZ+=HH=D<=,_=i=n:I@iAԑEEEEP0E6Gva=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.~GAAN>G G H ż>H CH IH K{BH  =H H +DH <H E 3<,0jA9Z-=@ZUAK@YZ{=yZZZ=ZH? չt` ? k@q*?`? Z-=@ZC;)ZCf;{BfIIlIlv v^=yzU;Q z>٥xx zH|~9ż ~> n5? n59 IByG@@iEi::7Un5%4A!Y]DNOT Ignoring new targets: 78.34 m.e !e !u ProNav: ac range: 78.339005 m, nav range: 76.150970 m, bearing: 159.881192 deg, approach rate: -0.541187 m/s, LOS rate: -0.140803 deg/s, cmd heading: 180.148889 deg, new cmd heading: 180.002625 deg. uCHeadingCmd: 3.141639 target range: 78.339005 and range: 78.90 m.bI@ZrjRJB!~!~!}!|)|)|1|U@ zB靭>=I)<=IO= MI\<{G=iI@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507547KP"K*K2K:K^HO}e!%O+#/Df?$ ~mEE E E _0E F=F=6Gnp_=jG?bG>) ~G AQ Aq N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758735Y C,K1jA9e<@eJ@Ye4=yeF=eH `?`@₞O?@[?? e<@ek+;)eC'{BtIIIF3-2 -7=y=rQ E>٥II UHUFeR m>n5i?n59 IByG@@iEi::KYn58B)5AEAEDNOT Ignoring new targets: 78.34 m.MM] ProNav: ac range: 78.339005 m, nav range: 75.912758 m, bearing: 159.819860 deg, approach rate: -0.507534 m/s, LOS rate: -0.131083 deg/s, cmd heading: 180.002628 deg, new cmd heading: 179.818056 deg. ]볻eHeadingCmd: 3.138417 target range: 78.339005 and range: 78.90 m.beH@ZarajiRiJiBi~i~q}q|q|y|y|}@D@ zB靵׺6=I)Ҵ=Ic= AH@Ե<G=iH@iEIEIEIEM`0EQABDAT read: Rx Time:14:25:07.0884 TRx dataTimestamp_ set to:1749133508.459817checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0128846Gu C=ԑ ~G A A N >&I,c_(1jA,9J<@JJ@YJ=yJ`4=JH WŖ? @ (8?@L`bv?? J<@J;)HR{BR`IiV>IVp<=Mb@Mb@Mb@999 9)9Y='1Z?X9v{Gzt?y=?==ף;=A =@)=AI=@9y=\@IUIUV83e eY=ym"Q u>٥yy }H}F}q >n5vZ?n59n IBy?:F@@iEi8;<;l\n55ADNOT Ignoring new targets: 78.34 m.  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264082 ProNav: ac range: 78.339005 m, nav range: 75.739143 m, bearing: 159.776680 deg, approach rate: -0.490664 m/s, LOS rate: -0.122314 deg/s, cmd heading: 179.818062 deg, new cmd heading: 179.688225 deg. ⧻HeadingCmd: 3.136151 target range: 78.339005 and range: 78.90 m.bH@ZrjRJB~~zB}|||| dY @ UzBU<0=IQ)UHHqIH"{BH =HHH<HEE%?E!E!E%{0E!ԹII:JaBJVJJ?RJZJ:bJB9Jـ4JzJ;jJ;JX:rJX:6Ge 'HF= U DAT read: 14:25:07.0884 LVL= 32752, 32753, 25906, 32195, AGC= 67, IDX= 407,-0.17, 2.755, 1.729,-2.778, 2.880, PHS=-0.037,-1.105, 0.622, RAW= 172.2, 6.9, CAL= 171.8, -2.6, ROT= 338.2, 2.6 } Ygot valid direction response: 14:25:07.0884 LVL= 32752, 32753, 25906, 32195, AGC= 67, IDX= 407,-0.17, 2.755, 1.729,-2.778, 2.880, PHS=-0.037,-1.105, 0.622, RAW= 172.2, 6.9, CAL= 171.8, -2.6, ROT= 338.2, 2.6  8DAT read: $Error in header  *Received a bad header~G A A N > X#Rx 1: Read direction message, but no range. `direction in FSK: [0.927530,-0.370985,-0.045363]! y% zS?99׿99Y! % )% I% 2ei% }% C% P% p% d;? % hY@@)% Ϣ=I% ?@i% 9% @% 9= ! % v?[AN˲?YQ?i% ~Ki?% T4% z¾% 9= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseK BP"K 9*K 2K :K D`z ,RkV5*b]XL_) nZl&krop-J >J >|P,4B1jA\9n|<@nJ@Yn =yn,=nH@?ȉZ㗿 SM?P` d?? n|<@nU;)nC-zB-TII]#I]%x3m= mJ=yu9Q u>٥ Hh >n5H?n599 I݆ByF@@iEi~:-f<_n55AEamDNOT Ignoring new targets: 78.34 m.mm ProNav: ac range: 78.339005 m, nav range: 75.541626 m, bearing: 159.727823 deg, approach rate: -0.467091 m/s, LOS rate: -0.115839 deg/s, cmd heading: 179.688221 deg, new cmd heading: 179.541268 deg. HeadingCmd: 3.133586 target range: 78.339005 and range: 78.90 m.bH@ZrjRJB~~}|||| @ ezBe&+=Ia)e:=aIm= \78H@<B=iH@iEiEiEiEm0EiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G C=A ~G A A N >V,\1jA9>aB<@>UJ@Y>]=y>. -=>H`?g@E ?7`o?? >aB<@>Ay;)>CFzBFCI%T****** received valid address query ******=R****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseiuG Yy+BMb@Mb@Mb@ )YRQ?QMbp?y?;3A +@)rAI`@yAII3-k 51=y=WQ E>٥AA EHEFMa M>Q]n5UI5?]n59U IU҆Bye?e:eF@e@UiEiU4:U:Udn5g6AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.34 m.Y Y au ProNav: ac range: 78.339005 m, nav range: 75.319427 m, bearing: 159.672845 deg, approach rate: -0.487412 m/s, LOS rate: -0.120956 deg/s, cmd heading: 179.541262 deg, new cmd heading: 179.375841 deg. u}HeadingCmd: 3.130699 target range: 78.339005 and range: 78.90 m.b}_]H@ZyryjRJB~~zB}||||@ mzBu5g%=Iy)X<I>= ꧈9_]H@K%<@=i_]H@iԑEEEE0ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse H H <H ̼>H H LIH zBH H H H <H E 6G @A=~G A A N >#],Sv1jA9><@>4(J@Y>D=y>J9=>H@[? &Co J? ?5? ><@>χ;)>CFzBF%I)H HIRIR2b br=ybQ b?٥dd fHfFj j?lnn5n&?rn59nʇ InʆBypr\F@r@niEin:n:nfn5xz+7AzEDNOT Ignoring new targets: 78.34 m.- Q  ProNav: ac range: 78.339005 m, nav range: 75.156807 m, bearing: 159.632775 deg, approach rate: -0.502680 m/s, LOS rate: -0.124129 deg/s, cmd heading: 179.375835 deg, new cmd heading: 179.255365 deg. `HeadingCmd: 3.128596 target range: 78.339005 and range: 78.90 m.b:H@ZrjRJB~~}||||@@:J_BJ^JJRJZJ :bJd9JJzJ,:jJ1:J:rJ: zBL9=I)I= W9:H@u<5 >=i:H@iyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseK}OBP"K}}9*Ky2K}:K}0 ;,-$Cdik{=*G[O v(s{ԑE?EEE5Eԡ6G9 ~G A9 Aq N} > ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseec,|1jAԱ9;@gI@YJ=yzG=H ?!P`A?D߸Ψ?? ;@k ;)CzBIIU$IU<3^ 1=yQ >٥ HP >n5?n59 IByF@@iEi\:%:jn57ADNOT Ignoring new targets: 78.34 m.yy ProNav: ac range: 78.339005 m, nav range: 74.932335 m, bearing: 159.577871 deg, approach rate: -0.464968 m/s, LOS rate: -0.114069 deg/s, cmd heading: 179.255364 deg, new cmd heading: 179.090158 deg. HeadingCmd: 3.125713 target range: 78.339005 and range: 78.90 m.b H@ZrjRJB~~}||||@ zB=I)+I= nA(:  H@ < ;=i  H@iE?EEEV5ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 6G Г>=~G A A N >9 j,a1jA9Jr;@JصI@YJJ=yJW$T=JH@ u?`4@  ? b?@? Jr;@J8;)HRUzBRI5Mb@Mb@Mb@111 1)1Y5K7A`?/$~jtxy5 ?5,5Ļ5A 5@)5 AI5v@1y5AIMIM#3e e`=ye/Q m>٥ii mHmFuP u>n5y?n59( IByn ?:D@@iEin;:*nn5k8AEDNOT Ignoring new targets: 78.34 m.KK ProNav: ac range: 78.339005 m, nav range: 74.743370 m, bearing: 159.534706 deg, approach rate: -0.547053 m/s, LOS rate: -0.125277 deg/s, cmd heading: 179.090156 deg, new cmd heading: 178.960335 deg. HeadingCmd: 3.123447 target range: 78.339005 and range: 78.90 m.bG@ZrjRJB~%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse1~zB}||||E@H ռ>H CH IH zBH  =H H ,DH &<H ԙ q,=1jA9Nd;@NxI@YNY=yNh!X=NHV?Z@y?`IM`?? Nd;@Nߓ;)L^#zB^Iib٥II MHMFU5 U>aen5eG?mn59e IeByimD@m@eiEieh:eu:eqn5q}19AyDNOT Ignoring new targets: 78.34 m.66 ProNav: ac range: 78.339005 m, nav range: 74.535721 m, bearing: 159.487660 deg, approach rate: -0.520308 m/s, LOS rate: -0.118212 deg/s, cmd heading: 178.960341 deg, new cmd heading: 178.818810 deg. AHeadingCmd: 3.120977 target range: 78.339005 and range: 78.90 m.bG@ZrjRJB~~}||||Q@ %zB% ,w,e1jABT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapse9h(;@;I@Y=yU=H i b!eە?`?? h(;@|;)%zB-IMb@Mb@Mb@ )Y +?Zd;OQy?j<uEA n@) AI@yAII2(  ,=y 8>Q  >٥ H >%n5?-n59: IBy-J?-:-MD@-@iEi>;;un5=7B=9A=EeB*** querying acoustic contact ***JaRaDNOT Ignoring new targets: 78.34 m.    ProNav: ac range: 78.339005 m, nav range: 74.276093 m, bearing: 159.429274 deg, approach rate: -0.541285 m/s, LOS rate: -0.122151 deg/s, cmd heading: 178.818806 deg, new cmd heading: 178.643037 deg. -5HeadingCmd: 3.117909 target range: 78.339005 and range: 78.90 m.b5ӋG@Z1r1j1R1J1B9~9~=zB}9|A|A|Q|Um@ -zB-\}HHIH9zBH =HHH<H,E) 6G 4=ZG RG A~G A A N5 >Y `},i1jA9f:@f<I@Yf)=yf\L=fHe ux*A?`H?͙?? f:@f‡;)dryBrIIz-Iz3~g p=y {Q  ?٥ HF ?!-n5%?-n59%х I%By15D@5@%iEi%;%;%xn59=H:A=EimDNOT Ignoring new targets: 78.34 m.uIuI ProNav: ac range: 78.339005 m, nav range: 74.083763 m, bearing: 159.386273 deg, approach rate: -0.593937 m/s, LOS rate: -0.133138 deg/s, cmd heading: 178.643038 deg, new cmd heading: 178.513700 deg. HeadingCmd: 3.115652 target range: 78.339005 and range: 78.90 m.bfG@ZrjRJB~~}|||| @:J[BJQJJ@RJZJ:bJ-.9JJ4JzJ:jJ:J4:rJ4: }zB}`5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse?,,2jA09]e:@]H@Y]؎=y]SA=]H V)o?^? )V?`J? ]e:@]!;)]CyBI) ]Mb@Mb@Mb@YYY Y)YY]%C?+I +y]Z$?]]9Y ]MAԑ)]+ AI]@Yy]\AII3T $=ysbQ >٥ HFt߻ > n5 ?n59 I I uBy$?:E@@ iEi ; : }n5)-:A-EQUDNOT Ignoring new targets: 78.34 m.]q&]q&m ProNav: ac range: 78.339005 m, nav range: 73.780136 m, bearing: 159.314242 deg, approach rate: -0.610875 m/s, LOS rate: -0.145517 deg/s, cmd heading: 178.513701 deg, new cmd heading: 178.296720 deg. mǻuHeadingCmd: 3.111865 target range: 78.339005 and range: 78.90 m.bu(G@ZqrqjqRyJyBy~y~}ZzB}|||| n@ zB+߽Ii,+2jA9>W:@>H@Y>=y>Z8=>H U `8x?YqP? Aɶ@?8? >W:@>{ڇ;)>CFyBFpIIRIR(*3V6 Z=yZâQ Z?٥\\ ^H\`bX f?djn5f ?rn59f IfiBypvD@v@fiEif^;f`;fn5xz;AxDNOT Ignoring new targets: 78.34 m. ProNav: ac range: 78.339005 m, nav range: 73.598373 m, bearing: 159.271176 deg, approach rate: -0.577213 m/s, LOS rate: -0.137102 deg/s, cmd heading: 178.296720 deg, new cmd heading: 178.167201 deg. /HeadingCmd: 3.109604 target range: 78.339005 and range: 78.90 m.bG@ZrjRJBT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse~1~1}9|9|9|9|EH@Hü>HCHIHyBH =HH+DHN<HjE zB  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI ~GQ AY Ai N >K= /P"K= 59*K9 2K= :K= >E&"v1Wzql\1r$=0-/~2g`r!Q,{E2jA96f:@67zH@Y6=y6g4=6H4@`I?m`?it?? 6f:@6V;)6CBWyBBWIIFIF2N?˽ NL=yR0oQ R>٥PT VHVFVB V>Xbn5Z?bn59Z IZXBydjD@j@ZiEiZX;Z;Zn5u6BuZԱ :J YBJ JJ <RJ ZJ 9bJ J [4J  @ @ @ @z,R__2jABT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseEFyBEMIiU=IU;yMb@Mb@Mb@ )Ykt?lS㥛y 0?/ݼA A) AI@yAI I(2p  ,=yQ >٥ HF >n53m?n59 ICBy0?: E@@iEi7 ;?;En5HCHdIHmyBHHH*DH<HE6G  ~G A A N >$,Gy2jA96 +:@6p>H@Y6}I=y6[0=6HՐ@@?Mժ?tµ?? 6 +:@6~;)6CZ$yBZ8IIbIb2jǽ jp=ynQ n?٥ll rHpr/ r?tzn5vY?~n59v Iv3ByD@ @viEivt;vu;v>n5#=A9EDNOT Ignoring new targets: 78.34 m.E>E>] ProNav: ac range: 78.339005 m, nav range: 72.820686 m, bearing: 159.083811 deg, approach rate: -0.682809 m/s, LOS rate: -0.166115 deg/s, cmd heading: 177.765454 deg, new cmd heading: 177.603072 deg. eeHeadingCmd: 3.099758 target range: 78.339005 and range: 78.90 m.bmqbF@ZirijiRiJiBi~q~q}q|y|||b!@ zB靽 Ex/<EEEE0E1U T****** received valid address query ******Y ] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse6G >=~G A A) NE >=,2jAI9%:@k8H@Yū=yE1=H@`,:GՊ?.Ǧ?`Er@ $? ? %:@];)C=xB=IMb@Mb@Mb@ )Y^I +?:vS㥛yX9?Լ\A dA)+ AI@yQAII#3Z "=yQ >٥qq uHuFc9 >n5 :?n59 IBy9?:F@@iEi::͎n5=AĪEDNOT Ignoring new targets: 78.34 m.LL ProNav: ac range: 78.339005 m, nav range: 72.464325 m, bearing: 158.991215 deg, approach rate: -0.685990 m/s, LOS rate: -0.179121 deg/s, cmd heading: 177.603073 deg, new cmd heading: 177.323923 deg. HeadingCmd: 3.094886 target range: 78.339005 and range: 78.90 m.bF@ZrjRJB ~~yB}|||| "@ mzBm#N;F@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseب<4mM=iF@iD AD Aԡ>EM R5< E ?E E E _0E ] T****** received valid address query ******] R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseH >H H 2IH yBH  =H H H <H E 6G J`<=~GAAN ?,gָ2jAMxBUI)Q QIeIe2u u =yuQ }>٥yy }H}F >n5B?n59 IBy@iEi:< ;n5>AǪEq}DNOT Ignoring new targets: 78.34 m.}EE ProNav: ac range: 78.339005 m, nav range: 72.128494 m, bearing: 158.903072 deg, approach rate: -0.653489 m/s, LOS rate: -0.172316 deg/s, cmd heading: 177.323923 deg, new cmd heading: 177.058263 deg. HeadingCmd: 3.090250 target range: 78.339005 and range: 78.90 m.bE@ZrjRJB~~}||||#@ zB7,2jAԑ99@ H@Y{=y4l4=H@g0ֳ? 1?M y?? 9@骽;)-xB-I:J\BJQJJ@RJZJ=:bJ-.9JJ4JMb@Mb@Mb@ )YZd;?L7A`堿:vy9?+TA A) AIA@yAI I #3%PB -=y- Q ->٥11 5H5F5 5>9Mn5=0ߜ?Mn59= I=ByM:?M:M'E@U@=iEi=Z:=4:=n5]5B]m>A]ʪEHCH IHxBH =HH+DH9<HPEHHH͔CH =I = IT 66GM]=I~GiAqAN?Gż,X2jA9> 9@>G@Y>'=y>\3=>H HI?@s?@#`? Y? > 9@>K;)>CJxBJIIRIR3VjW Za=y^xQ ^>٥`` fHdf f>hnn5jߜ?nn59j IjByprE@r@jiEijG:j:j/n5tz>AzͪE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 78.34 m.%_%_5 ProNav: ac range: 78.339005 m, nav range: 71.490257 m, bearing: 158.740962 deg, approach rate: -0.764329 m/s, LOS rate: -0.195566 deg/s, cmd heading: 176.763274 deg, new cmd heading: 176.569671 deg. =7MHeadingCmd: 3.081722 target range: 78.339005 and range: 78.90 m.bU:E@ZQrQjQRQJQBQ~Y~Y}Y|Y|a|a|n$@ -zB-`@:I1)5Fᾉ1I5q= 11=t;e:E@eL Ì,M3jA 9J9@JG@YJ =yJ8=JHi??bٲ?y? J9@Jχ;)JCRxBVIiV٥hh jHjFnr$ n>prn5r[ߜ?vn59r IrօBytzE@z@riEirY;r-i;rn5>AЪE=A=AUBDAT read: Response Not Received ]*response not receivede,DAT read: user:2100> uBDAT read: Tx time:14:25:15.5318 }$Ping request sent.}Ɍ,)3jA@=xB=IMb@Mb@Mb@ )Y5^I ?Q~jtxy8?Ļ A A)nAIMAyAIIF3MU; U4=yUQ ]>٥YY ]H]Fe e>iun5mߜ?un59m ImȅByu;8?u:u?E@}@miEim ;mT;mn5>ADNOT Ignoring new targets: 78.34 m.7_7_ ProNav: ac range: 78.339005 m, nav range: 70.902626 m, bearing: 158.588864 deg, approach rate: -0.743590 m/s, LOS rate: -0.195149 deg/s, cmd heading: 176.355006 deg, new cmd heading: 176.111474 deg. HeadingCmd: 3.073725 target range: 78.339005 and range: 78.90 m.bD@ZrjRJB~~3zB}||||L&@ -tzB-~;I1)56㾉1I5 _= 115XH;=D@=P̾<=j,=iED@iAԩH]ͼ>HYH]IH]xBH] =HYHYH]$<H]8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502574E?EEE82E6G- v=ZG1 RG1 ~Ga Ai A N >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757630CЌ,DB3jA9>9@>G@Y>=y>/0=>H@@z 8`p?NǦ?@{ ?O? >9@> ;)>CFxBFIIR&IR3VK Zi=yZyQ Z>٥X\ ^H\^0 b>`fn5bٚߜ?jn59b) IbByhjE@j@biEib :b::bn5lpr ?ArӪE%DNOT Ignoring new targets: 78.34 m.%;K-;K5 ProNav: ac range: 78.339005 m, nav range: 70.663116 m, bearing: 158.526581 deg, approach rate: -0.680963 m/s, LOS rate: -0.177679 deg/s, cmd heading: 176.111469 deg, new cmd heading: 175.923989 deg. =EHeadingCmd: 3.070453 target range: 78.339005 and range: 78.90 m.bEMD@ZArAjARAJABA~I~I}I|I|Q|Q|UWO'@K P"K+9*K2K:Kr;0lN|m(Z=lP,[}'2[B`J |P pzB5:I1)=侉9I=4 = 99=;EMD@Eea ֌,g\3jA9BTJ9@B]G@YB,=yBUJ<=BH@:|?@k?gy? C? BTJ9@B졈;)BCNxBNI)P PPP5Mb@Mb@Mb@1191 1)1Y5/$?:vy5&1?5Լ55 A 53A)1I5A1y5AIU#IU%x3"< ==yDQ >٥ HF:J]YBJ]UJJ]@RJYZJ]9bJ]>9J]J4JY* >n5ߜ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259786n59 IByF1?:D@@jEi3<<ԩn5 4B >A ֪EQUDNOT Ignoring new targets: 78.34 m.elBmlB ProNav: ac range: 78.339005 m, nav range: 70.355042 m, bearing: 158.446009 deg, approach rate: -0.647090 m/s, LOS rate: -0.169978 deg/s, cmd heading: 175.923994 deg, new cmd heading: 175.681219 deg. OHeadingCmd: 3.066216 target range: 78.339005 and range: 78.90 m.bHQ HU IHU xBHU  =HQ HQ HU <HU E6G = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513694 ~GY Ai A N > ݌,v3jA9>8@>F@Y>=y>rj>=>HV`,诿͠?@#ۨ?_?@f? >8@>;)>C^xBbIIf%If)3nj{ rV=yrW׻Q r>٥tt vHvFv v>x~n5zkߜ?n59z+ IzByD@@zjEiz;z:z٬n5  ?A٪E5B*** querying acoustic contact ***J1R1AMDNOT Ignoring new targets: 78.34 m.MGMGe ProNav: ac range: 78.339005 m, nav range: 70.127243 m, bearing: 158.387259 deg, approach rate: -0.675703 m/s, LOS rate: -0.174831 deg/s, cmd heading: 175.681222 deg, new cmd heading: 175.504401 deg. eeHeadingCmd: 3.063130 target range: 78.339005 and range: 78.90 m.bmQ D@ZirijiRiJiBi~q~q}y|y|y|y|} (@ԑ gzB靽PI)ᾉI!* = ;Q D@9<=8t=iQ D@iEEEEP0EFFFFI4=I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763941~GAA)N=>Km"P"Km9*Ki2Km:KmYo#dF>5pl* ;~UJo (|bJyJy ,a3jA9B}8@BIF@YB=yBt5=BH @Z`g-3? ?`?@? B}8@B;)BCRxBRIIZIZ3b = bL=ybDHQ b>٥dd fHdfyy j>hrn5jVTߜ?rn59j~ IjBypr)D@r@j jEijf;j;jXn5tz>AxDNOT Ignoring new targets: 78.34 m.%A%A5 ProNav: ac range: 78.339005 m, nav range: 69.863419 m, bearing: 158.320166 deg, approach rate: -0.663279 m/s, LOS rate: -0.169315 deg/s, cmd heading: 175.504402 deg, new cmd heading: 175.302363 deg. 5f=HeadingCmd: 3.059603 target range: 78.339005 and range: 78.90 m.b=C@Z9r9j9R9JABA~A~A}I|I|I|I|M )@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017216 ubzBuT};Iq)}eؾyI}߱= yy}';C@`<<i#l=iC@iEQEYEYEaEa)~GiAAN]U>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267842ԑ 3,g3jA9:0'8@::F@Y:z=y:y3/=:H@Q`f?`B?`X5ڥ?@'? :0'8@:F^;):CFxBJIiJ=IJ<]Mb@Mb@Mb@YYY Y)YY]T㥛 ?L7A`堿{Gzt?y]!?]+]ף;]A A Y)]AI]AYy]AI}I} 3>P< >=yeQ >٥ HFUI >n5=ߜ?n59} IBy@!?:B@@jEi ;;n5>AܪEDNOT Ignoring new targets: 78.34 m.$$  ProNav: ac range: 78.339005 m, nav range: 69.603249 m, bearing: 158.258264 deg, approach rate: -0.603638 m/s, LOS rate: -0.144160 deg/s, cmd heading: 175.302365 deg, new cmd heading: 175.115965 deg.  ŻHeadingCmd: 3.056350 target range: 78.339005 and range: 78.90 m.b>C@ZrjRJB~!~%zB}!|!|!|)|-ܘ*@ԑ ^zB;I)ӾIR=  4;>C@<>f=i >C@iHټ>HCHHH =HH,DH<H9Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520842EEEET0E~GAANK>JJ4JJ0:J [BJ WJJ ERJ ZJ :bJ G9J 4J zJ : jJ : J _: rJ _:  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771672) H,?3jA=xB=IIMIM2e0 mM=ymQ m>٥iq uHqu }>yn5}(ߜ?n59}H} I}By@}jEi}G:}`:}n5?AߪEDNOT Ignoring new targets: 78.34 m.7&7& ProNav: ac range: 78.339005 m, nav range: 69.362381 m, bearing: 158.200523 deg, approach rate: -0.604098 m/s, LOS rate: -0.145318 deg/s, cmd heading: 175.115969 deg, new cmd heading: 174.942144 deg. vǻHeadingCmd: 3.053316 target range: 78.339005 and range: 78.90 m.biC@ZrjRJB~~}||||!e+@ 5ZzB5pV7;I1)5Tھ9I=w= 99=P;EiC@EX)}BDAT read: Rx Time:14:25:18.0292 }TRx dataTimestamp_ set to:1749133519.311283checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024739I o-,3jAHVGdl O Y y B97@E@YWn=y8$=H@g?) ?ҭꉤ?@|? 7@骅2;)CxBIMb@Mb@Mb@ )Y7A`?I +y&1?y?94`e< A A)AIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275852yG AIIV83`( 3=y7ֻQ >٥ HF   >n5 ߜ?n59a| IBy%?%:%@@%@jEi::n5)- ?A)amDNOT Ignoring new targets: 78.34 m.m u } ProNav: ac range: 78.339005 m, nav range: 69.102242 m, bearing: 158.144867 deg, approach rate: -0.568311 m/s, LOS rate: -0.122044 deg/s, cmd heading: 174.942141 deg, new cmd heading: 174.774547 deg. HeadingCmd: 3.050391 target range: 78.339005 and range: 78.90 m.b9C@ZrjRJB~~zB}||||N,@) VzB靕d;I)ؾIB= 5;9C@<cW^=i9C@iEEEE^0EaG G ?AH ۼ>H CH IH xBH  =H H -DH <H E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529559ԩ 6G f=~G A A N >:W,3jA9Bi[7@BnE@YBtqh=yB"=BH@%@ѫ@t?@R ?0 R?Y? Bi[7@BÈ;)@RxBRIIZIZ3vx vs=yvQ v?٥xx zHzFzS ~? n5ߜ? n59{ IBy  @@@jEi::n53B%?A%EEB*** querying acoustic contact ***JARAQUDNOT Ignoring new targets: 78.34 m.] ] m ProNav: ac range: 78.339005 m, nav range: 68.910263 m, bearing: 158.104254 deg, approach rate: -0.571763 m/s, LOS rate: -0.121293 deg/s, cmd heading: 174.774541 deg, new cmd heading: 174.652363 deg. m|uHeadingCmd: 3.048259 target range: 78.339005 and range: 78.90 m.buC@ZqrqyjqRyJB~~}|||| ,@ SzB 붺I)<ؾI-= rƺ;C@V<qX=iC@iE?EEE0E6Gms=:JBJ[JJ?RJZJbJW9Jـ4JzJ:jJ:ԩJ||:rJ~|:~G)A9AQNU2>=DAT read: 14:25:18.0292 LVL= 23824, 28529, 17762, 32755, AGC= 66, IDX= 344, 0.15, 1.451, 0.202, 2.116, 1.427, PHS= 0.113,-1.178, 0.687, RAW= 167.5, 4.6, CAL= 167.7, -4.5, ROT= 342.3, 4.5 EYgot valid direction response: 14:25:18.0292 LVL= 23824, 28529, 17762, 32755, AGC= 66, IDX= 344, 0.15, 1.451, 0.202, 2.116, 1.427, PHS= 0.113,-1.178, 0.687, RAW= 167.5, 4.6, CAL= 167.7, -4.5, ROT= 342.3, 4.5 MPDAT read: Bearing 342.3, 4.5 (Local) M~Local bearing/azimuth received: Bearing 342.3, 4.5 (Local) }DAT read: Range 10 to 50 : 69.9 m (Round-trip 93.3 ms) speed 0.4 m/s ,DAT read: user:2101> BDAT read: Tx time:14:25:19.1318 $Ping request sent.=FH @N㪿?@?" S?? F7@F6;)D\\I*I3y-Q 5>٥99 EHAERG E>IUn5M3ޜ?Un59Mz IMByY]F@@]@MjEiM;M;M!n5ae?AeEZ b C4jA ЊB ЊB h1@ʁ zP@(l 5A p$d?eӿ5; :+ |٠=ҁ d5Pտ"N8@Vd}R#  6Ѧ7!?x$¿z A !j <ɜ?r i  JQB    XB 0@ addTargetRange:: Added new target pos. range: 69.900002 m, deltaT: 14.632167 s, deltaX: -9.000000 m, approachRate: -0.615083 m/s, rangeRepo size: 4  Added new target pos. range: 69.406395 m, bearing: 158.822439 deg, lat: 36.906462 deg, lon: -122.115896 deg, deltaT: 14.632167 s, deltaX: -8.932610 m, approachRate: -0.610478 m/s, posRepo size: 4 DNOT Ignoring new targets: 69.41 m.5 ProNav: ac range: 69.406395 m, nav range: 68.673462 m, bearing: 158.054881 deg, approach rate: 0.000000 m/s, LOS rate: -0.121293 deg/s, cmd heading: 174.652363 deg, new cmd heading: 174.500852 deg. 9MHeadingCmd: 3.045614 target range: 69.406395 and range: 69.90 m.bUYB@ZQrQjQRQJYBY~i~}|||yQ@|`? mOzBmt;Ii)mF־iIux= qqu;}YB@}<}eP=iYB@irEY>jE>!E=?EaEaEm0Ei)6G% '\=~GY Y Ai Ay N >ui ,+4jA=xB=IMb@Mb@Mb@ )YS?T㥛 {Gz?y?#< A)AIAy= A1I='I=@3M һ M٥QQ ]H]F] ]>q}n5uޜ?}n59uy IuBy?:=@@u#jEiu:u:un5'?ADNOT Ignoring new targets: 69.41 m.KK ProNav: ac range: 69.406395 m, nav range: 68.430794 m, bearing: 158.011917 deg, approach rate: -0.554291 m/s, LOS rate: -0.098484 deg/s, cmd heading: 174.500856 deg, new cmd heading: 174.371507 deg. -HeadingCmd: 3.043357 target range: 69.406395 and range: 69.90 m.b\B@ZrjRJB~~zB}||||@S? 5LzB5!:I1)=n׾9I=+>= 99=e;E\B@ERHCHIHxBH =HH*DH9<HFEHaHaHaHe =Ie = IeË6E?EEE1EFAFAiԑ6GM=~G A A N >:J YBJ UJJ RJ ZJ 9bJ >9J J zJ f:jJ j:J Q:rJ Q:Թ 3Q,QE4jA9>|6@> D@Y>4H=y>8 =>H``f`S@?@>]?`V?R? >|6@>;)٥\` bHfFffƼ j>hrn5jBޜ?rn59jx Ij}ByprW=@r@j&jEij;j;j n5tz?AzEDNOT Ignoring new targets: 69.41 m.%غ%غ5 ProNav: ac range: 69.406395 m, nav range: 68.237373 m, bearing: 157.978886 deg, approach rate: -0.551357 m/s, LOS rate: -0.094424 deg/s, cmd heading: 174.371506 deg, new cmd heading: 174.272131 deg. 5EHeadingCmd: 3.041622 target range: 69.406395 and range: 69.90 m.bEB@ZArAjIRIJIBI~Q~Q}Q|Q|Q||?W? eIzBe袺Ii)m侉iIm< iim];ԑB@Ѱ<?=iB@iK,P"K9*K2K:Kl W<IzUIMfgVSsp<EoPdyym{eEM?EIEIEM`5EI6G}g\=~G A A N >! 1},Ii_4jA9B.6@ByAD@YB!>=yB =BH`7e@/?@x?`Χ ?`:? B.6@Bg;)BCRkxBRIMb@Mb@Mb@ )YˡE?㥛 {Gzt?y?ף; \A)I3Ayf AI'I@33 7=yQ >٥ H1 >  n5 ޜ?n59 iw I xBy8 ?:};@@ *jEi ; ; n5)-?A1Q]DNOT Ignoring new targets: 69.41 m.]] ص?׵? ProNav: ac range: 69.406395 m, nav range: 68.003349 m, bearing: 157.944578 deg, approach rate: -0.525812 m/s, LOS rate: -0.077350 deg/s, cmd heading: 174.272126 deg, new cmd heading: 174.168848 deg. VTHeadingCmd: 3.039820 target range: 69.406395 and range: 69.90 m.biB@ZrjRJB~~zB} | |)|1|5ht? }EzB}ŸI)RIm_< ;iB@< 8=iiB@izE E?EEEk5EI 6G 9=H >H CH IH xBH  =H H (DH D<H ~G A A N >C,bHy4jA 9>v5@>C@Y><=y>ם=>H@?@Ȣ?`W?? >v5@> k;)>CJXxBJIIPIPZN Za=y^Q ^>٥\` bHbFbn b>djn5fޜ?jn59fMv IftByln&;@n@f-jEifQ;f ;fn5r2Br5@ArEB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 69.41 m.%嬺-嬺= ProNav: ac range: 69.406395 m, nav range: 67.811218 m, bearing: 157.917113 deg, approach rate: -0.527211 m/s, LOS rate: -0.075578 deg/s, cmd heading: 174.168854 deg, new cmd heading: 174.086226 deg. =yOEHeadingCmd: 3.038378 target range: 69.406395 and range: 69.90 m.bEtB@ZArAjARAJABI~I~I}I|Q|Q||D? MCzBmdIq)uqqIu< qq};tB@YZ<S+=itB@iI:JQBJUSJJU@RJQZJQbJUy69JUJ4JQzJUd:jJUi:JU*C:rJU,C:E?EEEP0EFa=F=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q6G Ke LP"Ke 9*Ka 2Ke :Ke csn[IzO  3X Q _ 9NqR% %Uv:NiD+ ~G A A N >8$,H4jAP%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246341%GxB-II]!I]i3u ! u?=yuQ u>٥yy }H}F >n5ёޜ?n59u IoBy@1jEi3;;n5z@ADNOT Ignoring new targets: 69.41 m.PP ProNav: ac range: 69.406395 m, nav range: 67.585518 m, bearing: 157.884648 deg, approach rate: -0.530996 m/s, LOS rate: -0.076635 deg/s, cmd heading: 174.086222 deg, new cmd heading: 173.988501 deg. `RHeadingCmd: 3.036672 target range: 69.406395 and range: 69.90 m.bXB@ZrjRJB~~}|||| _@ @zB-nI1)51I5)< 11=z6;=XB@=dj*,4jA9Fw85@FKC@YF1=yF=FH3` +r?@ zo?N5k}?@ ? Fw85@Fnq;)DN)xBRI|5Mb@Mb@Mb@111 1)1Y5uV?sh|?{Gzty5r?55ף5A A 5 A)5AI5EA1y5 AI]I]3m mK=ymֻQ u>٥qq uHq}&ż }>n5ޜ?n59s IhBy ?:k9@@4jEi8::]n5@AEDNOT Ignoring new targets: 69.41 m. ProNav: ac range: 69.406395 m, nav range: 67.370514 m, bearing: 157.858589 deg, approach rate: -0.530698 m/s, LOS rate: -0.064526 deg/s, cmd heading: 173.988496 deg, new cmd heading: 173.910071 deg. "1uHeadingCmd: 3.035303 target range: 69.406395 and range: 69.90 m.buiBB@ZqrqjqRqJyBy~y~}zB}||||@ =zB I)I< h~;iBB@<U=iiBB@ibE!ZE!H>HCHIHxBH =HH)DHHPEMBDAT read: Rx Time:14:25:21.6268 UTRx dataTimestamp_ set to:1749133522.842951]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756357aE?EEEV0Eq6G 4=jG ?bG *?~G A A N >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007254H1,4jA9:4@:C@Y:M:,=y:><:HC|v@ ?/?੅?? :4@:jL;)8FwBFIIN!INi3^ ^V=ybfQ b>٥dh jHjFr: v>n5oޜ?n59Cr IcByy#9@@8jEi6< <n5AAEDNOT Ignoring new targets: 69.41 m.PP] ProNav: ac range: 69.406395 m, nav range: 67.163666 m, bearing: 157.834152 deg, approach rate: -0.506524 m/s, LOS rate: -0.060025 deg/s, cmd heading: 173.910072 deg, new cmd heading: 173.836535 deg. ]$]HeadingCmd: 3.034020 target range: 69.406395 and range: 69.90 m.beb-B@ZarajaRaJaBa~i~i}i|i|q||@ ;zB Y)I)I.< ~;b-B@<JH =i%b-B@i!K*P"K9*K2K:K?lP77),Pwu008WDlz$ .lV vm0KfX%ԩE?EEE_0EFF6G=~GAANj>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258536 b7,ӽ4jA9  4@:J[BJPJJCRJZJ:bJ*9J4J%@%@%@%@ oB@Y '=y dq< H` ]kcθ? x ן?4᤿W?$?  4@ ;) 5wB=qIMb@Mb@Mb@ )Y@5^I ?ˡEMbyb?什 A A)AIAy AIIT3u.L }1=y}2Q }>٥ HFDAT read: 14:25:21.6268 LVL= 24096, 28721, 19746, 29427, AGC= 70, IDX= 415, 0.14,-2.773, 2.176,-2.344,-2.976, PHS= 0.291,-1.085, 0.629, RAW= 160.7, 2.1, CAL= 162.1, -6.7, ROT= 347.9, 6.7 Ygot valid direction response: 14:25:21.6268 LVL= 24096, 28721, 19746, 29427, AGC= 70, IDX= 415, 0.14,-2.773, 2.176,-2.344,-2.976, PHS= 0.291,-1.085, 0.629, RAW= 160.7, 2.1, CAL= 162.1, -6.7, ROT= 347.9, 6.7 PDAT read: Bearing 347.9, 6.7 (Local) ~Local bearing/azimuth received: Bearing 347.9, 6.7 (Local) DAT read: Range 10 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.4 m/s ,DAT read: user:2102> BDAT read: Tx time:14:25:22.7318 $Ping request sent.)5n5-Xޜ?=n59-p I-XBy=?=:=9@=@-ۭH኿ۭ%!? ܭ3@)ܭQ =ZbP4jA:B:B u5@ʁIHjP@jQ!',KL?]ޥʿmu"޽@X|=ҁvJ@nO}4@[z%= ?Yܐ ĿzAIܭD5@iܭ|iܭM@ܭ|= ݩ)ݩݭ@Q;?Nob]?]p0?iݭ5?ݭlݭ@Xݭ|= ީ)ީ:publishing transmit ping timeFpublishing direction and range infoکyڭKL?]ޥʿmu"޽کYک ۩)۩x~jwgɜ?r:3t^ LBɜ?q>  EBꁭ"B0@I۩i۩۩۩۩۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭ@Q;?Nob]?]p0?iݩݩݩݩ ީ)ީ] addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.532000 s, deltaX: -1.800003 m, approachRate: -0.509627 m/s, rangeRepo size: 4  Added new target pos. range: 67.614365 m, bearing: 162.449214 deg, lat: 36.906459 deg, lon: -122.115898 deg, deltaT: 3.532000 s, deltaX: -1.792030 m, approachRate: -0.507370 m/s, posRepo size: 4 DNOT Ignoring new targets: 67.61 m.%!5 ProNav: ac range: 67.614365 m, nav range: 67.067467 m, bearing: 158.021275 deg, approach rate: 0.000000 m/s, LOS rate: -0.060025 deg/s, cmd heading: 173.836538 deg, new cmd heading: 173.749602 deg. 1}HeadingCmd: 3.032503 target range: 67.614365 and range: 68.10 m.b}B@ZyrjRJB~~zB}|||`fQ@|@? }8zB}rDIy)}yI< ^;B@H< =iB@irEjE>)Ee?EaEiEmP0EiH >H CH IH QxBH  =H H *DH 8<H CEY Y e JDAT read: TxSync time:14:25:22.7310 Q 6GM =~G A A1 NE >p>,y4jA9wBYII'I@3K 9=yQ >٥ H >=n53Eޜ?=n59 o IPBy99=@@jEiQr<r<n5E1BMBAMEZbʁd/CRjP@Cq 2',QKL?]ޥʿmu"޽ҁRO**4@j%= ?Yܐ ĿzAj5?Tɜ?rޮ\ KB<ɜ?i  KB_BK1@%DNOT Ignoring new targets: 67.61 m.i ProNav: ac range: 67.614365 m, nav range: 66.829933 m, bearing: 157.992037 deg, approach rate: -0.554686 m/s, LOS rate: -0.068520 deg/s, cmd heading: 173.749603 deg, new cmd heading: 173.661576 deg. <HeadingCmd: 3.030966 target range: 67.614365 and range: 68.10 m.bZA@Zr j R J B~~}||||y? 6zB靕>uI)I< ;ZA@Nw<m7=iZA@iEYEYEYE]_0EYԙKO"K*K2K:K:((k8*mMIO(?$[0|';1mK]JJA 6G} 3;=~GY Ai A N >fxE,5jA9V4@VEB@YVe=yVD٥tt vHvFvN" z>xn5z4ޜ?n59zm IzHByk9@@zCjEiz;z:zn5 6CA-B*** querying acoustic contact ***J)R)9=DNOT Ignoring new targets: 67.61 m.ECECU ProNav: ac range: 67.614365 m, nav range: 66.631577 m, bearing: 157.968056 deg, approach rate: -0.624617 m/s, LOS rate: -0.075739 deg/s, cmd heading: 173.661576 deg, new cmd heading: 173.589420 deg. UOa}HeadingCmd: 3.029707 target range: 67.614365 and range: 68.10 m.b}A@ZyrjRJB~~}||||? 5zB靵>ȼI)(IPg< J;A@<=iA@i)> ԙևG ezYaymBEEEE0E:J ZBJ XJJ ?RJ ZJ 9bJ 5K9J ـ4J T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա6G sc=~G A A N >K,05jA9:aW4@:jB@Y:<=y:(<:HY ˺k5|?w ?@ߢ ? ? :aW4@:;)8JlwBJ)I^only read 0 of 1 data item for BIT error. Device response is::TS,25060506264082,35.0, +10.8, 2.9, 0 aI^@a^ aM^@a^ aQ^@a^ aE^@ab IbIbF3jʽ jK=yn*Q n>٥pp rHrFrS r>tn5v"ޜ?n59vKl Iv@B +:y  : 79@ @vGjEivς;v,>vn5CAEAEDNOT Ignoring new targets: 67.61 m.M M ] ProNav: ac range: 67.614365 m, nav range: 66.404602 m, bearing: 157.941069 deg, approach rate: -0.560780 m/s, LOS rate: -0.066904 deg/s, cmd heading: 173.589422 deg, new cmd heading: 173.508184 deg. ]7eHeadingCmd: 3.028289 target range: 67.614365 and range: 68.10 m.be}A@ZarijiRqԱH>HHIHxBH =HHHt<HEJ1B1~9~9}9|9|A|A|E? 3zBI)1I< B;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246883}A@ $< =i-}A@i1zE9E?E E E 0E6G- 3;=jG5 ?bG5 >~G A A) N5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499830I R,J5jA9F034@FFB@YF>-=yF/ =FHc1p?:&>?`d`:b?? F034@F;)FCNSwBNIIV$IV<3^ ^L=ybQ b>٥`d fHdf f>lrn5nqޜ?vn59nj In8Bv :ytvt:v9@v@nJjEinE:nsN?nn5z0B~:DA~E9MDNOT Ignoring new targets: 67.61 m.U@U@m ProNav: ac range: 67.614365 m, nav range: 66.178185 m, bearing: 157.914373 deg, approach rate: -0.562539 m/s, LOS rate: -0.066554 deg/s, cmd heading: 173.508183 deg, new cmd heading: 173.427822 deg. u6uHeadingCmd: 3.026886 target range: 67.614365 and range: 68.10 m.b}A@ZyryjyRyJB~~}|||| D? 2zB靽HԼI)7I`< <A@<ԡ :J% XBJ% OJJ% CRJ! ZJ% {9bJ% %9J% 4J! YX,,~d5jA9B4@BB@YBg=yBR/!=BH`1$@}AoȻ?@ ?B 1!?F? B4@Bȡ;)BCJ;wBN IaIUaIU aMUaMU aQUaQU aEUaE] echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002819]Mb@Mb@Mb@YYY Y)YY]K7A?V-Zd;Oy] "?]m]j]A ] A)]AI]AYy]( AIIm?3 O  7=y H:Q >٥1 5H5F=ʻ E>Iq}n5Mݜ?}n59MQi IM-BT:y"?:U<@@MOjEiM&;M~;Mn5DA!%DNOT Ignoring new targets: 67.61 m.----] ProNav: ac range: 67.614365 m, nav range: 65.897011 m, bearing: 157.868218 deg, approach rate: -0.602395 m/s, LOS rate: -0.099306 deg/s, cmd heading: 173.427819 deg, new cmd heading: 173.288764 deg. eNeHeadingCmd: 3.024459 target range: 67.614365 and range: 68.10 m.beA@ZirijiRiJB~~zB}||||@ 0zB靕yI)%=I< <A@<HCHKIHwBH =HH)DH#<H$EHǓCHǓCHǓCH =I = IǷ6 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2546456G <~G A A N > ^,[~5jA9=3@=k B@Y=K=y='U==H`Tp ?&@1?m@r?`? =3@=׊;)9}wB}III3Ͻ Q=y4Q >٥ HF >n5ݜ?n59 h I$ByP<@@SjEi::#n57EAEyDNOT Ignoring new targets: 67.61 m. ProNav: ac range: 67.614365 m, nav range: 65.656883 m, bearing: 157.828541 deg, approach rate: -0.627027 m/s, LOS rate: -0.103984 deg/s, cmd heading: 173.288757 deg, new cmd heading: 173.169292 deg. HeadingCmd: 3.022374 target range: 67.614365 and range: 68.10 m.bnA@ZrjRJB~~}|||| @ M.zBMdIi)uFqIu&< qqu<}nA@}f<}=i}nA@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506982EEEEU5EKP"K9*K2K:K|WD?&(S)E .-r[{ZGZ7[f-s7I~{YA 6G ZG RG ~G A A N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758710Q e,ׅ5jA9v3@vB@Yvq=yv&u=vH@^ Y@P?@"=?' ?? v3@v';)vCvBIIIm?3%Ͻ %P=y%{;:Q %>٥)) -H)- 5>9En5=ݜ?En59=f I=ByAER<@E@=WjEi=B:= :=n5IUEAUEmB*** querying acoustic contact ***JiRiDNOT Ignoring new targets: 67.61 m.-lMl ProNav: ac range: 67.614365 m, nav range: 65.412750 m, bearing: 157.787874 deg, approach rate: -0.618108 m/s, LOS rate: -0.103348 deg/s, cmd heading: 173.169297 deg, new cmd heading: 173.046840 deg. ڍHeadingCmd: 3.020237 target range: 67.614365 and range: 68.10 m.bKA@ZrjRJB~~}||||@  ,zB靭0I)PI6<  <KA@8<n =iKA@i:J\BJQJJ>RJZJ=:bJ-.9Jt4JEEEE4EAUBDAT read: Rx Time:14:25:25.2243 ]TRx dataTimestamp_ set to:1749133526.623346]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011749q 6G e[=~G A A! N5 >+l,0b5jA9B3@BA@YB=yB~=BHD׼#!@H?`ߺ@a]?٢@j?? B3@BTʼn;)BCNvBNI5Mb@Mb@Mb@111 1)1Y5K7A`?Q롿HHIHSwBH =HHH9<H>EI"Iq35 5:=y="K:Q =>٥II MHUFU U>Yen5]ݜ?en59]e I]ByeM+?m:m>@m@][jEi];];]kn5q}FAyDNOT Ignoring new targets: 67.61 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262772 ProNav: ac range: 67.614365 m, nav range: 65.125648 m, bearing: 157.729713 deg, approach rate: -0.679015 m/s, LOS rate: -0.138160 deg/s, cmd heading: 173.046845 deg, new cmd heading: 172.871595 deg. HeadingCmd: 3.017179 target range: 67.614365 and range: 68.10 m.btA@ZrjRJBI~Q~UyB}Q|Q|Y|Y|]`b @i *zB@& I)SI< w<tA@g<v=itA@iEEEEQ0EF=F=ԙ6G k =  DAT read: 14:25:25.2243 LVL= 21536, 24433, 17858, 28147, AGC= 68, IDX= 420, 0.13, 2.653, 1.352, 2.985, 2.469, PHS= 0.271,-1.071, 0.513, RAW= 158.1, 3.9, CAL= 159.3, -5.2, ROT= 350.7, 5.2  Ygot valid direction response: 14:25:25.2243 LVL= 21536, 24433, 17858, 28147, AGC= 68, IDX= 420, 0.13, 2.653, 1.352, 2.985, 2.469, PHS= 0.271,-1.071, 0.513, RAW= 158.1, 3.9, CAL= 159.3, -5.2, ROT= 350.7, 5.2  PDAT read: Bearing 350.7, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 350.7, 5.2 (Local)  DAT read: Range 10 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.5 m/s  ,DAT read: user:2103>  BDAT read: Tx time:14:25:26.3319  $Ping request sent. m m S? m r0@)m 'g=Im 1@im ޹m +@m ޹= i )i m _?X?o爱?im Pw*?m _cm 5&m ޹= i )i  :publishing transmit ping time  Fpublishing direction and range infoi ym D s?!BZĿ0L3i Yi i )i Ii ii i i i i i ~G A! A1 NE >)i Ii ii i i i )i m _?X?o爱?ii i i i i )i r,/5jAX9ej3@eA@Ye =yeӎ=eH`j  ?a?@aࢿ@l?? ej3@e22;)eCvBIIIM3   M=y 9Q  >٥yy }H}F} >n5ݜ?n59Vd IBy>@@`jEi%<"&<n5OFAEK O"K *K 2K :K wKy"~ njAG]ji42,Z$d X G,WZbI-5jAABAB7@ʁP@և%X%D s?!BZĿ0L35&޹=ҁ 9/VO@1@[u!/ڏ h?ڪ4QzAzj?5Ȝ?r ̝ RBwgɜ?ޮ\  LBꁝBf/5@ addTargetRange:: Added new target pos. range: 66.099998 m, deltaT: 3.529124 s, deltaX: -2.000000 m, approachRate: -0.566713 m/s, rangeRepo size: 4  Added new target pos. range: 65.627937 m, bearing: 164.610305 deg, lat: 36.906446 deg, lon: -122.115954 deg, deltaT: 3.529124 s, deltaX: -1.986427 m, approachRate: -0.562867 m/s, posRepo size: 4 DNOT Ignoring new targets: 65.63 m.- ProNav: ac range: 65.627937 m, nav range: 64.508804 m, bearing: 162.205381 deg, approach rate: 0.000000 m/s, LOS rate: -0.138160 deg/s, cmd heading: 172.871596 deg, new cmd heading: 172.693190 deg. )5HeadingCmd: 3.014065 target range: 65.627937 and range: 66.10 m.b5p@@Z1r1j9R9J9B9~9~A}A|A|a|m`fP@|mg{? 'zB~I)%V!I%< !!-~<-p@@-̢<5ݩ=i5p@@i9JDAT read: TxSync time:14:25:26.3311 EEEEP0E1ԁ 6G s=~GY Ai Ay N >(y,k5jA9N3@NKA@YNg=yNX*=NH _ "i&?̺@ݰ?kگ?? N3@N8>;)NCzvB~I Mb@Mb@Mb@ )YM?I +yn2?̼94=A A)AIAy AI-!I-i3=@ =6=y=Q m>٥ii mHiuG u>yo5}Gݜ?o59}'c I}By2?:?@@}ejEi}:} :}o5/BFAE)-DNOT Ignoring new targets: 65.63 m.5c5c9m ProNav: ac range: 65.627937 m, nav range: 64.205750 m, bearing: 162.160709 deg, approach rate: -0.700674 m/s, LOS rate: -0.103770 deg/s, cmd heading: 172.693192 deg, new cmd heading: 172.558544 deg. unHeadingCmd: 3.011715 target range: 65.627937 and range: 66.10 m.b@@ZrjRJB~~yB}|||| ? M%zBM II)M[ IA< &<@@<)[=i@@i!iGyG}AAH>HHIH wBH =HHH-<H/EE!E!E!E!E!ԑ 6Gm e=~GA AI Aa Nm >,76jA(9>3@>3A@Y>=y>l=>HT jڼ?`S`?[? 3@>;)٥    HF1 >-o5Eqݜ?5o59,b IBy15?@5@ijEit;+u;o5AEFAA:JU]BJQJJUCRJQZJU]:bJQJU4JQzJU:ejJU:eJU4:erJU4:eDNOT Ignoring new targets: 65.63 m. ProNav: ac range: 65.627937 m, nav range: 63.957062 m, bearing: 162.123974 deg, approach rate: -0.703231 m/s, LOS rate: -0.104283 deg/s, cmd heading: 172.558541 deg, new cmd heading: 172.447907 deg. "HeadingCmd: 3.009784 target range: 65.627937 and range: 66.10 m.bL@@ZrjRJB~~}||||`? #zB>5Is<)[I< < L@@ <Z"=iL@@iԁEEEE_0EFFԩ6G=KP"K*K2K:Kj[`^o+X0jM`_TF2r_|hS%@K,\~GAAN> ,wN6jA9N3@NA@YN=yNNj=NH@V+t?@? `9?S? N3@N;)LZvBZIiZ=IZ-?`If#If%x3jQ nN=ynQ n>٥pp rHpv v>tzo5v=Zݜ?~o59va IvByf?@@vmjEivY!;vv";vxo5  FA E-B*** querying acoustic contact ***J)R)1=DNOT Ignoring new targets: 65.63 m.EEU ProNav: ac range: 65.627937 m, nav range: 63.684177 m, bearing: 162.084089 deg, approach rate: -0.696404 m/s, LOS rate: -0.102223 deg/s, cmd heading: 172.447906 deg, new cmd heading: 172.327739 deg. UOuHeadingCmd: 3.007686 target range: 65.627937 and range: 66.10 m.b}}@@ZyrjRJB~~}||||?  zB I)`IVݪ< <}@@U< 9=i}@@iEAEAEAEIEI T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.6Gm "=~GI Y Aq A N >H] >HY H] IH] vBH]  =HY HY H] ,<HY ,i66jA9>U3@>?iA@Y>W=y>c=>Hj fԃ? 76?HJdv?-? >U3@>L;)>CJvBJI|Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749824Mb@Mb@Mb@ )Y٥ HF >o5@ݜ?o59_ IBy~3?:$@@@rjEi;::N o5FA E)-DNOT Ignoring new targets: 65.63 m.5050E ProNav: ac range: 65.627937 m, nav range: 63.381340 m, bearing: 162.036147 deg, approach rate: -0.690289 m/s, LOS rate: -0.109802 deg/s, cmd heading: 172.327735 deg, new cmd heading: 172.183221 deg. EMHeadingCmd: 3.005164 target range: 65.627937 and range: 66.10 m.bMT@@ZIrIjIRIJIBQ~Q~UyB}a|a|i|i|m? UzB]?IY)e[aImBޤ< iim!#<T@@<+=iT@@i1E ?E E E o0EIQIU@A:JeYBJeRJJe@RJaZJe9bJeS29JeJ4JazJed:jJei:Je;:rJe<:ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0021336G s=~G) AA AQ Ne >ԡ Aѓ,P6jA9>3@>63A@Y>_*]=>Hd@񾿿y`Z?ô`V?`?-? >3@>;)>CJvBJIIRIR?13Z= Z`=yZ)Q Z>٥\\ ^H^Fb b>djo5fH+ݜ?no59f^ IfBypr?@r@fvjEif[j;f$k;f}o5v.BzFAz EԙDNOT Ignoring new targets: 65.63 m.gg ProNav: ac range: 65.627937 m, nav range: 63.129765 m, bearing: 161.996742 deg, approach rate: -0.651583 m/s, LOS rate: -0.102465 deg/s, cmd heading: 172.183222 deg, new cmd heading: 172.064538 deg. HeadingCmd: 3.003093 target range: 65.627937 and range: 66.10 m.b2@@ZrjRJB~~}||||@ -zB-.,I))5W1I5П< 115(S'<=2@@=PJ?}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255188>E]5%<pGE?EEE_0EA1 YAy B! % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5062346GE =jGM ?bGM ?~Gq Ay A N >W,l6jAP%vB%IMb@Mb@Mb@ )Y|?5^?MbMbp?y2?;A  A)=AI AyfAII%ռ %%=y%Q ->٥)) -H-F5 5>9Eo5=|ݜ?Eo59=] I=ByE2?E:M?@M@=|jEi=:= :=o5QUFAUEDNOT Ignoring new targets: 65.63 m. ProNav: ac range: 65.627937 m, nav range: 62.789265 m, bearing: 161.943977 deg, approach rate: -0.718639 m/s, LOS rate: -0.111968 deg/s, cmd heading: 172.064541 deg, new cmd heading: 171.905387 deg. HeadingCmd: 3.000315 target range: 65.627937 and range: 66.10 m.b)@@ZrjRJB~~zB}||||G@ zB:I ) E< HH<H>HCHIHvBH =HH(DH<HEE?EEE0E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759929 6G {=) ~G A A N >,H6jAJcJk4Jk0:JXBJQJJARJZJ{9bJ-.9J4JzJ:jJ:J4:rJ4:9N2@N@@YN[٥lp rHpr_ v>x9}o5zܜ?}o59z\ BDAT read: Rx Time:14:25:28.8206 TRx dataTimestamp_ set to:1749133530.151439checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010987IzބByg?@@zjEizEm<rEue>jEu>KEP"K59*K2K:K18 j+ iM?n K " 8 ,'vkXs1GbJJU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262123E% ?E! E! E- _0E) 6Ge#=~GIAAN]?_,6jAjDAT read: 14:25:28.8206 LVL= 25584, 32625, 18418, 32755, AGC= 69, IDX= 398,-0.05, 0.321,-0.993, 0.660, 0.136, PHS= 0.273,-1.083, 0.521, RAW= 158.3, 3.9, CAL= 159.4, -5.2, ROT= 350.6, 5.2 nYgot valid direction response: 14:25:28.8206 LVL= 25584, 32625, 18418, 32755, AGC= 69, IDX= 398,-0.05, 0.321,-0.993, 0.660, 0.136, PHS= 0.273,-1.083, 0.521, RAW= 158.3, 3.9, CAL= 159.4, -5.2, ROT= 350.6, 5.2 rPDAT read: Bearing 350.6, 5.2 (Local) r~Local bearing/azimuth received: Bearing 350.6, 5.2 (Local) zDAT read: Range 10 to 50 : 63.3 m (Round-trip 84.5 ms) speed 0.6 m/s z,DAT read: user:2104> ~BDAT read: Tx time:14:25:29.9334 ~$Ping request sent.~JJB`? J0@)HIJ/ 2@iHJ@H H)HJwD?ɥl?.`0s?iJ*?J?J'H H)H=:publishing transmit ping time|EFpublishing direction and range infoH92@@@YZ>٥ HFv2 >!-o5%ܜ?-o59%Z I%܄By-,?5:5%>@5@%jEi%:%Q:%o5ae0FAeEZHbJy6jAJc{BJc{BJG6@ʁJ9rN@jsq$4KzJ0p?SĿ0L3J'HҁJ5 MƗ>1@;5osJ}[\mIZ ?)&5zJiAJojJ7(ɜ?rJg J\WBJ5?Tɜ?J:3t^  JJQBJ.yBJ4@u addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 3.526867 s, deltaX: -2.799999 m, approachRate: -0.793906 m/s, rangeRepo size: 4  Added new target pos. range: 62.847298 m, bearing: 163.411442 deg, lat: 36.906444 deg, lon: -122.115954 deg, deltaT: 3.526867 s, deltaX: -2.780640 m, approachRate: -0.788416 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.85 m.H>HCHIHvBH =HH)DHQ<H`EHyHyHyH} =I} = I}5 ProNav: ac range: 62.847298 m, nav range: 62.295498 m, bearing: 161.962752 deg, approach rate: 0.000000 m/s, LOS rate: -0.096388 deg/s, cmd heading: 171.792057 deg, new cmd heading: 171.598583 deg. HeadingCmd: 2.994960 target range: 62.847298 and range: 63.30 m.bn?@ZrjRJ!B!~!~%@zB}I|I|I|U`fO@|U 8?i zB׼I)OIvp< 3<n?@%c<%a&=i%n?@MJDAT read: TxSync time:14:25:29.9327 iQDYDYDDԙ E ?E E E 25E IIAA:J\BJNJJCRJZJ=:bJ!9J4JzJ:jJ:JU:rJW:6GV=~GAAN?׳,6jA9Bf2@B.z@@YB;"٥`d fHfF5  5>9Eo5=rܜ?Mo5Q9="Y I=ۄByY]=@]@=jEi=;=P;= o5e-BeEAeEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.85 m.1Ӻ1Ӻ ProNav: ac range: 62.847298 m, nav range: 61.969376 m, bearing: 161.920345 deg, approach rate: -0.706236 m/s, LOS rate: -0.092319 deg/s, cmd heading: 171.598585 deg, new cmd heading: 171.470694 deg. n}HeadingCmd: 2.992728 target range: 62.847298 and range: 63.30 m.b܈?@ZrjRJB~~}||||@?  zB UI ) K I.< eW7<܈?@<\=i܈?@i!E?EEE[0EyKP"K@9*K2K:Kj$a.-xL^Z 9 ,yTkVS+C6J?J>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ6G /=~Ga Ai Ay N > ,6jA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9954509J72@JJ@@YJf٥yy }HF+ >o59ܜ?o59W Iyo'?:W;@@jEi& ;] ;#o5EAE9iuDNOT Ignoring new targets: 62.85 m.== ProNav: ac range: 62.847298 m, nav range: 61.700890 m, bearing: 161.895029 deg, approach rate: -0.624250 m/s, LOS rate: -0.059118 deg/s, cmd heading: 171.470697 deg, new cmd heading: 171.394418 deg. J"HeadingCmd: 2.991397 target range: 62.847298 and range: 63.30 m.b s?@ZrjRJB~~zB}|||| ? m zBuIq)u9EqIu0~< qy}(:<} s?@<\=i s?@izEEIEIEIEUZ0EQF]=aF]p=GAGAHM>HMCHMIHM wBHM =HIHM(DHM <HMEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249882ԑ6G- ~=~G A A! N- >Թ ,7jA9>g2@>,@@Y>k?7=>Hg`ٶ?@\?@?`? >g2@>m܈;)>CJvBJIInInm?3vF vS=yzQ z>٥xx ~H|~ ~> o5dܜ? o590V Iy9;@@jEi^;X_;'o5)-EA-EQ]DNOT Ignoring new targets: 62.85 m.eeu ProNav: ac range: 62.847298 m, nav range: 61.449055 m, bearing: 161.871518 deg, approach rate: -0.683439 m/s, LOS rate: -0.064067 deg/s, cmd heading: 171.394417 deg, new cmd heading: 171.323595 deg. u/}HeadingCmd: 2.990161 target range: 62.847298 and range: 63.30 m.b}^?@ZyryjyRyJyB~~}|||| C? zB+I)EI u< T=<^?@-< =i^?@iԑ U>U~?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500292EyEyEyEn0E6GH=~GiAyAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751081K P"K 9*K 2K :K BLRU+UgSzLGB=88 3-($H2 Y  w K  L'%E$\f7< Ǎ,%7jA=wB=IIIII]x= ]C=yeQ e>٥aa mHmFm m>yo5}vܜ?o59}T Iyy@}jEi} B;}C;}*o50EADNOT Ignoring new targets: 62.85 m.   ProNav: ac range: 62.847298 m, nav range: 61.176411 m, bearing: 161.845845 deg, approach rate: -0.614875 m/s, LOS rate: -0.058156 deg/s, cmd heading: 171.323588 deg, new cmd heading: 171.246227 deg. HeadingCmd: 2.988811 target range: 62.847298 and range: 63.30 m.bH?@ZrjRJ B)~1~1}1|1|9|9|=`G? zB靭I I) >I_j< [p@<:JZBJUJJNRJZJ9bJ>9J|4J-@-@-@5@UH?@]i<^=iH?@i!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003925EEEE\0EI 6G9 HE >HA HE IHE 4wBHE  =HA HA HE <HE EZGy RGy ԁ ~GQ AY Aq N} >@͍,#97jANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2551719V1@V?@YVY٥ HFGX >o5#`ܜ?o59R IڄBy`?:8@@jEi.;t.;.o5,B8EAEDNOT Ignoring new targets: 62.85 m.99) ProNav: ac range: 62.847298 m, nav range: 60.898846 m, bearing: 161.828756 deg, approach rate: -0.657077 m/s, LOS rate: -0.040639 deg/s, cmd heading: 171.246230 deg, new cmd heading: 171.194729 deg. ߺHeadingCmd: 2.987912 target range: 62.847298 and range: 63.30 m.b9?@ZrjRJB~~zB}|||||@ =zBeIa)e4>aIe_< iim=iu9?@iqEEEEn0EYMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507266ԙ6G} =~GQ Ai A N >Ա ԍ,S7jA9B1@Bt?@YB>6`?HԆ k?`? B1@B%;)BC^wB^Iib=Ib=IfIf<2M MO=yM Q M>٥qq uHq}ƻ }>o5Kܜ?o59,Q IلBy8@@jEi;y;#2o5BEA"EB*** querying acoustic contact ***JR DNOT Ignoring new targets: 62.85 m.''5 ProNav: ac range: 62.847298 m, nav range: 60.650944 m, bearing: 161.813928 deg, approach rate: -0.610618 m/s, LOS rate: -0.036673 deg/s, cmd heading: 171.194730 deg, new cmd heading: 171.150064 deg. 5Xɺ=HeadingCmd: 2.987132 target range: 62.847298 and range: 63.30 m.b=,-?@Z9r9jARAJABA~A~I}I|Q|Q|Q|U@ zB靅%I)>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761138KvQ"K9*K2K:Kq n `j_77F1]?m2"|oza8Xb)FdIAV< ME<,-?@ן<ڍ,m7jA 9:r1@?@Y٥ii mHuFu u>yo5}6ܜ?o59}@O I}ׄBy?:6@@}jEi}e\;}[;}5o59I=dLL< 9AEaHHHIHIwBH =HHHf<HtEE?EEE1Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2632736G N<jG ?bG ?ԩ ~G A A N >,[7jA<9B_1@Bs?@YB;yB ?=BH *ÿR?@'?$?@Rx h?? B_1@Bk;)BCJwBJIIVIV3ZP ^j=y^ֻQ b>٥`` bHbFfT f>hro5j%ܜ?ro59jM IjքBytz6@z@jjEij-;js;j8o5~+B~BEA$E)-DNOT Ignoring new targets: 62.85 m.55E ProNav: ac range: 62.847298 m, nav range: 60.179192 m, bearing: 161.798403 deg, approach rate: -0.597744 m/s, LOS rate: -0.019462 deg/s, cmd heading: 171.123805 deg, new cmd heading: 171.103301 deg. EUMHeadingCmd: 2.986316 target range: 62.847298 and range: 63.30 m.bM?@ZIrIjQRQJQBQ~Y~Y}Y|Y|a|i|m@ @%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516687 zB靵+I)n>I7,C< J<?@<-' M BDAT read: Tx time:14:25:33.5319 M $Ping request sent.M ) T> C `direction in FSK: [0.984279,-0.120854,-0.128796] G ZA) ,D7jA:publishing transmit ping timeq"Fpublishing direction and range infoyoz7?pZPOZ_|tBY c)lIIiCJ >w? 3,@)+ );'M?s9 4? H.?i? ϼ5 A> )v:publishing transmit ping timeqvFpublishing direction and range infoyoz7?pZPOZ_|h 6zYzZAyz"BY )Ii )Ii );'M?s9 4? H.?i )9?1@R?@Ys;ytG=HLfÿfn?`f??lxn ?7? ?1@骝i;)CmvBmI)q qI}I}b2E .=y-Q >٥ H㈻ >Uo5ܜ?]o5:JXBJLJJ=RJZJ{9bJq9Jg4J9K IՄByAE6@M@jEiP===o5EA'EZb07jA@rB@rB7@ʁCr6M@9F^xx3oz7?pZPOZ_|5 A>ҁH CH IH SwBH =H H 'DH ><H 6E6G ԙ ~GAAN>S,xD7jA vBIMb@Mb@Mb@ )YI +?ʡE~jty9?-DA X A)&AI AyAI!Ii3]< 1=yQ >٥  HF ->AMo5Eۜ?Uo59EzI IEЄByU?U:U5@U@EjEiE ;E:E.Ao5Y]EAaDNOT Ignoring new targets: 60.56 m. 8 8 ProNav: ac range: 60.563126 m, nav range: 59.677738 m, bearing: 163.298708 deg, approach rate: -0.749439 m/s, LOS rate: 0.006233 deg/s, cmd heading: 171.070093 deg, new cmd heading: 171.076927 deg. 9HeadingCmd: 2.985856 target range: 60.563126 and range: 61.00 m.bB?@ZrjRJB~~zB}||||? yB&*AI)"BId,< O<B?@< 7q 3,7jA9>0@>l ?@Y>oW79y>Hۛ6ÿ`kx??@?&:&?`? >0@>O;)>CJvBJIIV#IV%x3^1 bb=yb Q b>٥dd fHfFfF f>hro5jۜ?ro59jG Ij̈́Bypr5@r@jjEijh;j;jIDo5xz FAz*E B*** querying acoustic contact ***J R %T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.DNOT Ignoring new targets: 60.56 m.99K .P"K+9*K2K:K@j3O.b~$U^?;+sd!=9(J?J?  ProNav: ac range: 60.563126 m, nav range: 59.469639 m, bearing: 163.301367 deg, approach rate: -0.554069 m/s, LOS rate: 0.007105 deg/s, cmd heading: 171.076923 deg, new cmd heading: 171.084929 deg.  9=HeadingCmd: 2.985995 target range: 60.563126 and range: 61.00 m.b=?@Z9r9j9R9J9BA~A~A}A|I|I|I|M`S?Q WG ^,.7jAI)@9:F0@:>@Y:Q[y:d/=:HfWĿ`dƀ?^?AY?iV?@?`s? :F0@:3;):CJvBNIeMb@Mb@Mb@aaa a)aYe7A`?Zd;O~jtye?ejeeA eA A)eAIeAaye(AI}*I}398 <=yjQ >٥ H >o5Yۜ?o59E IȄByo?:4@@jEi] ;a;Ho5ZFAG!G!H->H-CH-IH-IwBH- =H)H-&DH-<H-EHCHCHH =I = IU5DNOT Ignoring new targets: 60.56 m.g9g9 ProNav: ac range: 60.563126 m, nav range: 59.210651 m, bearing: 163.306897 deg, approach rate: -0.590811 m/s, LOS rate: 0.012669 deg/s, cmd heading: 171.084928 deg, new cmd heading: 171.101589 deg.  :5HeadingCmd: 2.986286 target range: 60.563126 and range: 61.00 m.b5P?@Z1r1j1R1J1B9~9~=zB}9|A|A|A|EN? yB靽@8I)uOI&< T<P?@<~GAAN-p>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746808^F,^ 8jA49>v0@>Z>@Y>y>r7=>H@`7Ŀ2p?`?@@4n?a? ^?? >v0@>ᡌ;)>C^vB^IIfIf3nsq nX=yv Q v>٥xx zHzF~F ~> o5Pۜ? o59C IĄBy  4@@jEi::fKo5*BFA-EDNOT Ignoring new targets: 60.56 m.a9a9 ProNav: ac range: 60.563126 m, nav range: 58.985390 m, bearing: 163.312735 deg, approach rate: -0.602249 m/s, LOS rate: 0.015669 deg/s, cmd heading: 171.101594 deg, new cmd heading: 171.119176 deg. ,: HeadingCmd: 2.986593 target range: 60.563126 and range: 61.00 m.b W$?@Z r j R J1B1~1~9}9|9|9|9|E? 靵faVI)UI < 6W<W$?@M<Ƈ%o ,ڑ'8jAevBmIII2`A :=y Q  >٥! -H-F= E>achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253127o5eۜ?%o59eA IeByQQ]@ejEieQ=e=eQOo5GA0E)IMDNOT Ignoring new targets: 60.56 m.Uօ9Uօ9 ProNav: ac range: 60.563126 m, nav range: 58.718601 m, bearing: 163.319708 deg, approach rate: -0.557087 m/s, LOS rate: 0.014626 deg/s, cmd heading: 171.119174 deg, new cmd heading: 171.140188 deg.  :HeadingCmd: 2.986960 target range: 60.563126 and range: 61.00 m.bY*?@ZrjRJB~~}||||g@ 靥#H!H%IH%*wBH% =H!H!H%Q<H%GEM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502732ԁ 6G] Ӕ<~G9 AA AY Ne > ^,ʊA8jA-~vB-IIMb@Mb@Mb@ )Yn?+{Gzy?ףA )&AIAyQAI I<2 P H=yQ >٥    H   >%o5ۜ?-o59? IBy-l?-:--6@-@jEi[;Y;Ro59=WGA9amDNOT Ignoring new targets: 60.56 m.m?8m?8} ProNav: ac range: 60.563126 m, nav range: 58.484375 m, bearing: 163.320616 deg, approach rate: -0.673633 m/s, LOS rate: 0.002623 deg/s, cmd heading: 171.140184 deg, new cmd heading: 171.142920 deg. }c8HeadingCmd: 2.987007 target range: 60.563126 and range: 61.00 m.b!+?@ZrjRJB~~_zB}||||<`@ HyI)_I@; "i\<!+?@}l< Ƀ,3S[8jA9V/@V~=@YVwbyV=`=VHy`)ƿ/Ɍ?`9?w@6?Jr? ?? V/@V;)VC^rvB^IIfIfm?3nm r_=yrػQ r>٥pt vHvFv v>~A|BDAT read: Rx Time:14:25:36.0150  TRx dataTimestamp_ set to:1749133537.460431checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009630x%o5zۜ?%o59z+> IzBy!%5@-@zjEiz:z-:zUo55)B5GA53EUB*** querying acoustic contact ***JQRQYeDNOT Ignoring new targets: 60.56 m.e9e9Ա ProNav: ac range: 60.563126 m, nav range: 58.268169 m, bearing: 163.323526 deg, approach rate: -0.584810 m/s, LOS rate: 0.007899 deg/s, cmd heading: 171.142916 deg, new cmd heading: 171.151677 deg. w9HeadingCmd: 2.987160 target range: 60.563126 and range: 61.00 m.b-?@ZrjRJB~~}||!|!|%Cz@KmP"Km9*Ki2Km:Km[^ j 11:Gd>I93A&dVMb !E_I)bI; k_<-?@|#<;i-?@iE?EEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2612276G 喇<~G A a A N >~,1$u8jA9b/@b=@Yb ybj=bHc&ƿ?`:?v`df?xpw?Z? d? b/@bԓ;)`navBnImMb@Mb@Mb@iii i)iYmK?#~j{Gzym^?m㥽imSA m A)mAImAiymAI'I@3Q ?=y(Q >٥ HF >H>HCHIHvBH =HH'DHI<H>Eo5rۜ?o59< IBy?:z5@@jEi*;;Yo5GA1DNOT Ignoring new targets: 60.56 m.99 ProNav: ac range: 60.563126 m, nav range: 58.007866 m, bearing: 163.327359 deg, approach rate: -0.574995 m/s, LOS rate: 0.008505 deg/s, cmd heading: 171.151673 deg, new cmd heading: 171.163224 deg. ɺ9%HeadingCmd: 2.987362 target range: 60.563126 and range: 61.00 m.b%0?@Z!r!j!R!J!B)~)~UWzB}Q|Q|Q|Q|]@K @ 靥eI)gI5; a<0?@< mBDAT read: Tx time:14:25:37.1320 m$Ping request sent.m\\? {*@) )yD?\?{d?iG?F > ):publishing transmit ping timeiFpublishing direction and range infoyb?2߷L`u&Y )Ii )Ii )yD?\?{d?i )aE}?EyEyE}`0E6GUMh <~G1A9AQN]>ԑ:JI BJM OJJM ?RJI ZJI bJM %9JM ـ4JI zJM :jJM :JM &:rJM &: JDAT read: TxSync time:14:25:37.1312 #,x8jA9>/@>P=@Y>jy>pp=>H ƿC?0*?v`?>}?@V?? >/@> );)٥)) -H)5v: 5>Yeo5]_ۜ?eo59]5: I]Byim5@m@]jEi]:]:]&]o52HA6EZ9b=}8jA=jB=jB=si8@ʁ=[$L@x]K՜"\r=b?2߷L`u&== >ҁ=, LA-@#n$LL=);Q?z=_oA=`j=bȜ?r=a =AWB=Iɜ?= ̝  =uUB=gB=׋7@- addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.526055 s, deltaX: -1.900002 m, approachRate: -0.538846 m/s, rangeRepo size: 4 e Added new target pos. range: 58.675301 m, bearing: 165.094131 deg, lat: 36.906436 deg, lon: -122.115981 deg, deltaT: 3.526055 s, deltaX: -1.887825 m, approachRate: -0.535393 m/s, posRepo size: 4 amDNOT Ignoring new targets: 58.68 m.iԉPowering the camera and arming the capture device at range: 59.10 m.z ProNav: ac range: 58.675301 m, nav range: 57.915901 m, bearing: 164.319149 deg, approach rate: 0.000000 m/s, LOS rate: 0.008505 deg/s, cmd heading: 171.163229 deg, new cmd heading: 171.172930 deg. HeadingCmd: 2.987531 target range: 58.675301 and range: 59.10 m.b3?@ZrjRzJB~~I}I|I|Q|]̌M@|eOr? yB .pI)m!I%c; iimd ~G1 AA AY Ne >),8jA9V/@V0>@YV yVV=VH݆ſ ? e?|?V?`۪?@m? V/@V;;)VCb6vBbjIIjIj?13r! rN=yrZQ r>٥tx zHzFz'; z>|o5~ELۜ?o59~R8 I~By!%5@@~jEi~<~<~`o5oHA-9EDNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.zb9b9 ProNav: ac range: 58.675301 m, nav range: 57.676529 m, bearing: 164.326259 deg, approach rate: -0.521635 m/s, LOS rate: 0.015560 deg/s, cmd heading: 171.172928 deg, new cmd heading: 171.194349 deg. *:HeadingCmd: 2.987905 target range: 58.675301 and range: 59.10 m.b9?@Zrj R z J B ~~}Q|Q|Y|Y|]@>? yB靭PvI)*rI_; ږg<9?@W<y|&HCHIHvBH =HH&DHR<HFE9  A 6G aS<~Gi Aq A N >)0,8jA9Rc/@R>@YRtyRh=RH օ#ſ@c??@?y۫?@΂?@?@j? Rc/@R;)PZ8vBZkI}Mb@Mb@Mb@yyy y)yY}rh|? rh/$y}?}C}}A } A)}&AIyyy}QAII3o; ?=yۺQ >٥ Hպ >o57ۜ?o59g6 IBy?:7@@jEi{::Qdo5iHA DNOT Ignoring new targets: 58.68 m.  Powering the camera and arming the capture device at range: 59.10 m.z u<8u<8 ProNav: ac range: 58.675301 m, nav range: 57.414932 m, bearing: 164.328391 deg, approach rate: -0.758504 m/s, LOS rate: 0.006208 deg/s, cmd heading: 171.194348 deg, new cmd heading: 171.200771 deg. W9HeadingCmd: 2.988017 target range: 58.675301 and range: 59.10 m.b;?@ZrjRzJB~~zB}|||| &? 5zB54I1)=q9I=va; 99=@jq6,8jA<9BN/@B>@YBIK&yB=BH@ſ.??w?QɄ??? BN/@B;)BC^2vB^hIdfAIfIfV83zk zW=y~%Q ~>٥ HF =9  >pGo5fA-$ۜ?o5A94 IBy)5 7@E@ MYMfAyMTBjEi'='=go5](B]|HA]9eHeadingCmd: 2.988114 target range: 58.675301 and range: 59.10 m.beB=?@ZarajRzJB~~}||||-? uzBuvIq)}syI}=[); y4m<B=?@<Դ=,8jA9J/@J=@YJm5yJ=JH`@ſ ?@? s`I`?@??(? J/@J&w;)JCX^$vB^_IH=>H9H=IH=vBH9H9H9H=<H=EmMb@Mb@Mb@iii i)iYmˡE?V-y&1|ym'?mhm`i i)mAImAiymzAII#3 >=y Q >٥ HF >o5, ۜ?o592 IBy(?:7@@jEio; ;iko5HA?EDNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.z88 ProNav: ac range: 58.675301 m, nav range: 56.897163 m, bearing: 164.332197 deg, approach rate: -0.733175 m/s, LOS rate: 0.005101 deg/s, cmd heading: 171.206314 deg, new cmd heading: 171.212243 deg. `9HeadingCmd: 2.988217 target range: 58.675301 and range: 59.10 m.b>?@ZrjRzJB~~zB}||||?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004427 %zB-I))-w)I5V: 1quTp<}>?@}<)6?@iE6EEEO0E I C=I 4=:J WBJ XJJ ARJ ZJ ;9bJ 5K9J 4J zJ ͛:jJ қ:J f:rJ g:6G] jxC,a9jA9>V/@>=@Y>Ky>J=>H`"ſԘ? ?` s@'?5q?`(?S? >V/@>;)٥dd fHdf: f>hno5j3ڜ?ro59j0 IjBypr%7@r@jjEijb;j;jno5tvHAx9DNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.z88- ProNav: ac range: 58.675301 m, nav range: 56.650566 m, bearing: 164.333805 deg, approach rate: -0.625750 m/s, LOS rate: 0.004098 deg/s, cmd heading: 171.212243 deg, new cmd heading: 171.217088 deg. -495HeadingCmd: 2.988302 target range: 58.675301 and range: 59.10 m.bUW@?@ZQrQjQRQzYJYBY~Y~a}a|a|a|a|m@ zBI I)u!I%6 : ))-r|cWD$AF lS;-VJJA6G 2<~G A A N- > J,r*9jA9F/@F>@YF_hyF=FHxſ@!?? r *ӱ? ??@٥!! %H%F-b: ->1=o55ڜ?Eo595. I1yIU/7@]@5jEi5;5;5Qro5m'BmHAm@EԑDNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.zc8c8 ProNav: ac range: 58.675301 m, nav range: 56.375771 m, bearing: 164.335456 deg, approach rate: -0.685351 m/s, LOS rate: 0.004136 deg/s, cmd heading: 171.217092 deg, new cmd heading: 171.222067 deg. 59HeadingCmd: 2.988389 target range: 58.675301 and range: 59.10 m.bA?@ZrjRzJ B~!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763482~)}|||| |e@ -zB-pI1)5w1I5`9 11=u<=A?@e ~G) A1 AA NU > Q,y>D9jA9>0@>S#>@Y> y>x=>Hχſ'(?8?`Ct?,? ?`?? >0@>˓;)>CR:vBRmI=Mb@Mb@Mb@999 9)9Y=J +?i|?5Mb`y=(?=q== A 9)9I=A9y=(AIUIU2m<= uA=yu/Q u>٥ HFJ; > o5 ڜ?o59 , I By5a)?=:=t8@=@ jEi ; >; vo5AEPHAECEDNOT Ignoring new targets: 58.68 m.Powering the camera and arming the capture device at range: 59.10 m.z++ ProNav: ac range: 58.675301 m, nav range: 56.090645 m, bearing: 164.331410 deg, approach rate: -0.657170 m/s, LOS rate: -0.009372 deg/s, cmd heading: 171.222064 deg, new cmd heading: 171.209865 deg. ͹HeadingCmd: 2.988176 target range: 58.675301 and range: 59.10 m.bF>?@ZrjRzJB~~zB}|| | |  ߞ @J-4JC4J 1:JIBJMLJJMDRJIZJIbJMq9JM4JIzJM̛:jJMћ:JM:rJM: EzBm{/Iq)u!sqIu yy}_x<F>?@<|Z1?@i! E%=E%=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264430E}/EEEEQ6Ge ]<~GY Ai y A N >,W,/^9jAnDAT read: 14:25:39.6120 LVL= 19264, 26417, 16914, 30195, AGC= 64, IDX= 404, 0.27, 1.825, 0.501, 2.082, 1.530, PHS= 0.383,-0.982, 0.549, RAW= 155.7, 0.7, CAL= 158.1, -8.1, ROT= 351.9, 8.1 rYgot valid direction response: 14:25:39.6120 LVL= 19264, 26417, 16914, 30195, AGC= 64, IDX= 404, 0.27, 1.825, 0.501, 2.082, 1.530, PHS= 0.383,-0.982, 0.549, RAW= 155.7, 0.7, CAL= 158.1, -8.1, ROT= 351.9, 8.1 vPDAT read: Bearing 351.9, 8.1 (Local) v~Local bearing/azimuth received: Bearing 351.9, 8.1 (Local) ~DAT read: Range 10 to 50 : 56.8 m (Round-trip 75.8 ms) speed 0.6 m/s ,DAT read: user:2107>  BDAT read: Tx time:14:25:40.7320  $Ping request sent. RZd{RD ? R'-@)R+H P)PR/X?gD,?KϕK?iR_?RsGRR> P)PM:publishing transmit ping time MFpublishing direction and range infoPyR&:\]?:N ¿PYP P)PIPiPPPPP P)PIPiPPP P)PR/X?gD,?KϕK?iPPPP P)PQ;vBIKO"K*K2K:K:sP+ h[eKXwDLGmbdL!3NQ4DJE>JE?I2: ,=yQ >٥ H >o5Ҳڜ?o59* IBy@jEip::zo5LHAZPbRf_9jARaBRaBR[5@ʁRņbK@P~w$K3R&:\]?:N ¿RR>ҁR=-J2 [0@ZArnwRzMHa:?WSIzRwARtUjRF!ɜ?rRG'v RWBPP RAWBR#_BR7@ addTargetRange:: Added new target pos. range: 56.799999 m, deltaT: 3.527680 s, deltaX: -2.299999 m, approachRate: -0.651986 m/s, rangeRepo size: 4 } Added new target pos. range: 56.390629 m, bearing: 162.761267 deg, lat: 36.906436 deg, lon: -122.115981 deg, deltaT: 3.527680 s, deltaX: -2.284672 m, approachRate: -0.647641 m/s, posRepo size: 4 ԁDNOT Ignoring new targets: 56.39 m.Powering the camera and arming the capture device at range: 56.80 m.z ProNav: ac range: 56.390629 m, nav range: 55.785034 m, bearing: 164.327027 deg, approach rate: 0.000000 m/s, LOS rate: -0.009372 deg/s, cmd heading: 171.209866 deg, new cmd heading: 171.196381 deg. HeadingCmd: 2.987941 target range: 56.390629 and range: 56.80 m.bk:?@ZrjRzJB~~}||!|%`ffL@|%j?  zB~I)sI㮻 DF{<k:?@<?0BJ^,{9jAdFvBtIMb@Mb@Mb@ )YZd;O?QMbP?y~*?u:A  A)IAyI I [3< 5=y!Q %>٥!! -H-F) ->1=o55ڜ?=o595( I5ByE/+?E:Ee8@M@5jEi5X;5X;5~o5]&B]HA]FE}B*** querying acoustic contact ***JyRyDNOT Ignoring new targets: 56.39 m.Powering the camera and arming the capture device at range: 56.80 m.z=0=0  ProNav: ac range: 56.390629 m, nav range: 55.486588 m, bearing: 164.322977 deg, approach rate: -0.705815 m/s, LOS rate: -0.009630 deg/s, cmd heading: 171.196383 deg, new cmd heading: 171.184167 deg.  }ӹHeadingCmd: 2.987727 target range: 56.390629 and range: 56.80 m.b6?@ZrjR1z9J9B9~9~EzB}A|A|A|I|U@X?  zBOI);qI T~<6?@8V<<2Ue,x_9jA9>0@>h>@Y>}y>=>HYĿ`[??go?@'?8?@? >0@>;)>C^XvB^IIfIfV83pvR= vo=yzܐQ z?٥xx ~H~F~< ~? o5ڜ? o59Q' IBy8@@jEi>::o5GAIEYeDNOT Ignoring new targets: 56.39 m.amPowering the camera and arming the capture device at range: 56.80 m.zimu ProNav: ac range: 56.390629 m, nav range: 55.258244 m, bearing: 164.317738 deg, approach rate: -0.668969 m/s, LOS rate: -0.015413 deg/s, cmd heading: 171.184171 deg, new cmd heading: 171.168388 deg. =)HeadingCmd: 2.987452 target range: 56.390629 and range: 56.80 m.bj2?@ZrjRzJB~~}||||.?  zB/I)+mIqZ6 ^<j2?@z*Q0lK1"qJ)J-zAA~GA!A1N=>i :J YBJ ZJJ =RJ ZJ 9bJ S9J g4J  @ @ @ @Urk,9jA&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254111q90@?@YkQȼy=Hÿ:$? &?]`e? ??@? 0@骕s@;)CjvBI=Mb@Mb@Mb@999 9)9Y=x&?DlMbp?y=7)?=O=;=A =+ A)9I=&A9y9IU%IU)3m= m*=yu!Q u>٥qq uHy}(< }>o5mڜ? o59#% IBy #*? : [8@@kEi-<<7o5GALEԉDNOT Ignoring new targets: 56.39 m.Powering the camera and arming the capture device at range: 56.80 m.z88H>HHIHvBH =HHH<HE ProNav: ac range: 56.390629 m, nav range: 54.937908 m, bearing: 164.313500 deg, approach rate: -0.633280 m/s, LOS rate: -0.008427 deg/s, cmd heading: 171.168393 deg, new cmd heading: 171.155605 deg. HeadingCmd: 2.987229 target range: 56.390629 and range: 56.80 m.b.?@ZrjRzJ!B!~)~-AzB})|)|1|1|5@#? zBksI)iIJEu S<.?@S7<~| Zr,9jA9:"1@:06?@Y:ۼy:8=:H? Uÿ`??xٿ?y? ?? :"1@:9;):CF~vBFIININ 3Vy~= V=yZqQ Z?٥`` bHbFb< f ?djo5f\ڜ?no59f# IfByln8@n@fkEifj;fD;fo5pv9GAtDNOT Ignoring new targets: 56.39 m.Powering the camera and arming the capture device at range: 56.80 m.zNN ProNav: ac range: 56.390629 m, nav range: 54.728241 m, bearing: 164.310062 deg, approach rate: -0.685920 m/s, LOS rate: -0.011289 deg/s, cmd heading: 171.155607 deg, new cmd heading: 171.145254 deg. HeadingCmd: 2.987048 target range: 56.390629 and range: 56.80 m.b+?@ZrjRz J B ~ ~}|1|9|A|E`? zB靽,ۛI) eIhy N<=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754954+?@9<a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008638A ,x,9jA9>]1@>!q?@Y>y>I=>H@)¿?)?1`&??d?? >]1@>;)>CFvBFIIVIV^%= ^I=ybĺQ b>٥`` bHfFf< f>hno5jFڜ?no59j! IjBypr8@r@jkEij;hjo5v%BvFAvOE!%DNOT Ignoring new targets: 56.39 m.!-Powering the camera and arming the capture device at range: 56.80 m.z)55U ProNav: ac range: 56.390629 m, nav range: 54.459545 m, bearing: 164.304602 deg, approach rate: -0.688769 m/s, LOS rate: -0.014065 deg/s, cmd heading: 171.145252 deg, new cmd heading: 171.128791 deg. UqK]$P"K]ŷ9*KY2K]:K]E%pW qov"L6(1" e Z/RBjHeadingCmd: 2.986761 target range: 56.390629 and range: 56.80 m.b'?@ZrjRzJB~~}|||| @ }zB}&`I)aI, U<'?@"G<z]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261242ԉH >H H IH vBH  =H H H <H EԹ ~, 9jA96ä1@6&?@Y6=y6ζ=6H qT¿v? ?T 5?@&?q?? 6ä1@6 ;)6CNvBNI-Mb@Mb@Mb@))) )))Y-NbX9?T㥛 Mbp?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510886y-%?-)-A - A)-AI-A)y-AII2 <  6=yCQ >٥ H< >!-o5%.ڜ?5o59% I%By5k&?5:5~9@=@% kEi%;%(;%ko5AEFAEREimDNOT Ignoring new targets: 56.39 m.iuPowering the camera and arming the capture device at range: 56.80 m.zq}g¹g¹ԑ ProNav: ac range: 56.390629 m, nav range: 54.168644 m, bearing: 164.295166 deg, approach rate: -0.651408 m/s, LOS rate: -0.021245 deg/s, cmd heading: 171.128791 deg, new cmd heading: 171.100329 deg. HiHeadingCmd: 2.986264 target range: 56.390629 and range: 56.80 m.b?@ZrjRzJB~~izB}||||`}@ zB靍5I)_I1l Z<?@i<\=i?@iE]EaEaEaEeM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7627056G ZG RG ~G A A N > ,6u:jA9>J1@>?@Y>y>¸=>HY@?0?S? ם?䐲?? >J1@>Ͻ;)٥XX ZH^F^ < ^>`fo5bڜ?fo59b IbByhn9@n@bkEibU;bV;bo5tvpFAt B*** querying acoustic contact ***J R DNOT Ignoring new targets: 56.39 m.Powering the camera and arming the capture device at range: 56.80 m.lFinal approach. Armed for intercept at range: 56.80 m.\Transitioning guidance mode to: FINAL_APPROACH@׹׹ ProNav: ac range: 56.390629 m, nav range: 53.935699 m, bearing: 164.286710 deg, approach rate: -0.646314 m/s, LOS rate: -0.023560 deg/s, cmd heading: 171.100323 deg, new cmd heading: 171.074849 deg. ZHeadingCmd: 2.985819 target range: 56.390629 and range: 56.80 m.b?@ZrjRJB~!~!}!|!|)|)|-@ zB靭I)[Iѻ aQ<?@L<I=i?@iQ)! !BDAT read: Rx Time:14:25:43.2084 TRx dataTimestamp_ set to:1749133544.520767checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017714GZAAE E EEE =[YEZAyE_B  @ ZB!6GEFթ<~GA!A1NEr>KP"K59*K2K:K?ef>#jT|<ifq3B5-kQTGJ7I :J YBJ PJJ RJ ZJ 9bJ *9J J ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266694Nj,f1:jAL9v*2@v>@@Yvfyvu=vH >{?/?ǝL? ?aL?? v*2@v;)vCvBI-Mb@Mb@Mb@))) )))Y-x&1?Mby-A ?---A - A)-nAI-A)y-AIU IU(2et; e%=yeQ e>٥ii mHmFm < u>qo5u~ڜ?o59u IuBy!?:9@@ukEiuT;u7;uݖo5cFAUEDNOT Ignoring new targets: 56.39 m._׹_׹ ProNav: ac range: 56.390629 m, nav range: 53.625397 m, bearing: 164.275159 deg, approach rate: -0.628594 m/s, LOS rate: -0.023537 deg/s, cmd heading: 171.074847 deg, new cmd heading: 171.039990 deg. 9HeadingCmd: 2.985211 target range: 56.390629 and range: 56.80 m.b ?@ZrjRJB~~_zB}||||`K @He>HaHeIHewBHe =HaHaHe<HeE zB靭I)b[IZ' Q< ?@%<I#=i ?@iEuEyEyEyEDAT read: 14:25:43.2084 LVL= 23152, 27233, 15138, 28707, AGC= 66, IDX= 401, 0.01,-0.508,-1.781,-0.176,-0.806, PHS= 0.385,-0.928, 0.626, RAW= 158.3, -1.2, CAL= 161.0, -9.7, ROT= 349.0, 9.7 Ygot valid direction response: 14:25:43.2084 LVL= 23152, 27233, 15138, 28707, AGC= 66, IDX= 401, 0.01,-0.508,-1.781,-0.176,-0.806, PHS= 0.385,-0.928, 0.626, RAW= 158.3, -1.2, CAL= 161.0, -9.7, ROT= 349.0, 9.7 PDAT read: Bearing 349.0, 9.7 (Local) ~Local bearing/azimuth received: Bearing 349.0, 9.7 (Local) DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.6 m/s ,DAT read: user:2108> R#Rx 1: Read range and direction messages.M`direction in FSK: [0.967593,-0.188081,-0.168489]UFpublishing direction and range infoکyڭrbg3?=4 ȿRVſڭXBYک ۭpZ)ۭajIۭ";iۭ#pۭBۭ>ۭhmۭA ? ܭ0@)ܭIܭ3@iܭ-\-ܭ@ܭ-\-> ݩ)ݩݭ6O8?JZ7`?#9iݭ +?ݭ<ݭDݭ-\-> ީ)ީmT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.! 6G sc=jG ?bG >~G A A N >%,(K:jA9>k2@>>@@Y>Hy>}P=>H@Ԥ??̲?GZ?k?? >k2@> ;)<|vBII&I3Eg= ]u=y]bQ e?٥aa eHamA< m?qo5u(ٜ?o59uf IuBy9@@ukEiu;u;u͙o5EAZbtA:jA=WB=WB%5@ʁ-NgyJ@<_=$2*""rbg3?=4 ȿRVſD-\->ҁOIo`G0@DAnv ^}C$]?_8ÿz>A~JjAgAGɜ?rPwun UBF!ɜ?g  YUBP6@ addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.532076 s, deltaX: -2.599998 m, approachRate: -0.736111 m/s, rangeRepo size: 4  Added new target pos. range: 53.810009 m, bearing: 162.171832 deg, lat: 36.906439 deg, lon: -122.115971 deg, deltaT: 3.532076 s, deltaX: -2.580620 m, approachRate: -0.730624 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.81 m.BDAT read: Tx time:14:25:44.3320 $Ping request sent.ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252807Ԙ, e:jA96f2@6ɿ@@Y6cny6=6H4`7? ?*t? ?2?@?? 6f2@6;)4^vB^IIf*If3n; nQ=yrqQ r>٥pp rHrFvR&< v>xo5z#ٜ?o59z IzBy  ?:@ @zkEizRQ;z#;z1o5$BEAYXEK(P"K9*K2K:K4trD(`x$UU4 + e-vX'fDNOT Ignoring new targets: 53.81 m.CC ProNav: ac range: 53.810009 m, nav range: 53.094028 m, bearing: 163.200607 deg, approach rate: -0.641695 m/s, LOS rate: -0.042808 deg/s, cmd heading: 171.014276 deg, new cmd heading: 170.965513 deg. HeadingCmd: 2.983911 target range: 53.810009 and range: 54.20 m.bf>@Zrj!R!J!B!~!~)})|)|)|Q|U`6? %zB靥DmI)UIG `'<f>@>y<A=if>@iEeEaEiEm0Ei:J]BJJJDRJZJ]:bJJ4J =%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.50397316GC`#=~G A A N >He >He CHe IHe 4wBHe  =Ha He 'DHe <He EH)H)H)H- =I- = I-59 1,Y~:jA9>2@>@@Y>}y>䒪=>H `vm qʥ? ?s@?@P? .I?@M? >2@>;)>C^vB^IUMb@Mb@Mb@QQQ Q)QYUv?i|?5{GztyU?UqUףUA U A)UAIU&AQyUAIu'checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755509Iu@3]9= ]5=y] Q ]>٥ii mHu Fu< u>yo5}ٜ?o59}U I}„By?::@@}!kEi}Z:}:})o5nEA[EDNOT Ignoring new targets: 53.81 m.YY ProNav: ac range: 53.810009 m, nav range: 52.822281 m, bearing: 163.180084 deg, approach rate: -0.627451 m/s, LOS rate: -0.047630 deg/s, cmd heading: 170.965509 deg, new cmd heading: 170.903624 deg. HeadingCmd: 2.982831 target range: 53.810009 and range: 54.20 m.b>@ZrjRJB~~zB}|||| `? )zB靽@I)OI  <>@<GQ=i>@iIEEEEE6GC=~GyAIIa=AN>i5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007334ԙ 奎,:jA-vB-II1I1UӒ U]=yUQ ]>٥YY ]Hae e>iuo5mٜ?uo59m  ImĄByqq}@m$kEim;m;mbo5EAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 53.81 m.QQ ProNav: ac range: 53.810009 m, nav range: 52.601532 m, bearing: 163.163256 deg, approach rate: -0.598364 m/s, LOS rate: -0.045805 deg/s, cmd heading: 170.903627 deg, new cmd heading: 170.852932 deg. |HeadingCmd: 2.981946 target range: 53.810009 and range: 54.20 m.b5>@ZrjRJB~~}|||| t? 5,zB56ȐI1)=Q9I=9l 99=_@MT@iQԁE5E9E9E=5E9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260169ԡKO"K}9*K2K:Kt`"cY.Umk@Om#}L<mb#ss"6GmYB=~GI AQ Ai Nu > U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513201,c:jA9md3@wA@Y< y=H=ڥ?I?@At?@&? m?? md3@骝R};)CMvBUI)i iII3< 5=yJQ >٥ H F}< >o5)ٜ?o59 IƄBy9;@@)kEi::Yo5LEA^E1=DNOT Ignoring new targets: 53.81 m.9=*jE*jU ProNav: ac range: 53.810009 m, nav range: 52.330090 m, bearing: 163.140124 deg, approach rate: -0.597460 m/s, LOS rate: -0.051180 deg/s, cmd heading: 170.852934 deg, new cmd heading: 170.783176 deg. U ]HeadingCmd: 2.980729 target range: 53.810009 and range: 54.20 m.b]B>@ZYrYjYRYJYBa~a~a}a||||V?H>HCHIHSwBH =HH(DH%<HE e1zBe?Ii)m)OiIm+ iimӊ@u1@iyEEEAEAEE73EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763286) 6G} R`U=~GY Ai Ay N >~,u:jA9Ry3@RvA@YRyRo=RH B 5t?@?@P$?@m?@HŴ?? Ry3@R;)RCZvBZIMMb@Mb@Mb@III IIYIY:JeYBJeRJJe?RJaZJe9bJeS29Jeـ4JazJed:mjJeh:mJe;:urJe<:u)IYM/$?y&1MbyM&?M`eMMA M A)MnAIMAIyIIIm?3 _=y ;Q >٥ H FZb; >o5ٜ?o59T IDŽBy?:W;@@,kEi;z;o5#BPEAaEDNOT Ignoring new targets: 53.81 m.$Y$Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396 ProNav: ac range: 53.810009 m, nav range: 52.121689 m, bearing: 163.121782 deg, approach rate: -0.537093 m/s, LOS rate: -0.047460 deg/s, cmd heading: 170.783170 deg, new cmd heading: 170.727924 deg. I5HeadingCmd: 2.979764 target range: 53.810009 and range: 54.20 m.b5v>@Z1r1j1R1J1B9~9~=zB}9|A|A|A|E:@I 5zB,UI)PI/Q6 <v>@<x=iv>@iEEEE`5Ey6G,l=~GAAN>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269048[",O:jA<9>3@>A@Y>g?y>=>Hg켿`Ť?i?#b? 9G??? >3@>Lj;)>CJvBJIIRIRF3Z< Z[=yZ$;Q Z>٥\\ ^H`bg; b>djo5f{ٜ?jo59f& IfȄByhjl;@r@f/kEifn;f;f̮o5xz3EAx!%DNOT Ignoring new targets: 53.81 m.!-0x-0x ProNav: ac range: 53.810009 m, nav range: 51.910999 m, bearing: 163.102794 deg, approach rate: -0.599473 m/s, LOS rate: -0.054245 deg/s, cmd heading: 170.727928 deg, new cmd heading: 170.670733 deg. HeadingCmd: 2.978766 target range: 53.810009 and range: 54.20 m.b>@ZrjRJB~~}||!|!|%)@K5P"K1*K12K5:K5Dw"E &71>Sq)$,D{hyYO7S>t4GQqa'J=>J=> m9zB靕I)OIB? į<>@<=i>@iԱEEEEO0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5214116Ge ghs= G! G% ?AH- >H- CH- ,IH- qwBH-  =H) H- )DH- (<H- $E~GQ Aq A N >,%;jA9:3@:zA@Y::y:*=:H zL?ࣰ?=?? mI?? :3@:.;):CFwBFIleBDAT read: Rx Time:14:25:46.8056 eTRx dataTimestamp_ set to:1749133548.047391mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772460Mb@Mb@Mb@ )Y> ףp=?:v:vy?TT A  A) AIyAII%d< %5=y%:Q %>٥)) -H- F5 5>amo5eeٜ?uo59e IeɄBy5?5:5;@5@e4kEie{@ZrjRJB~~zB}||||`@  u?zBuIڄIq)uNqI}.L yy}<>@<R=i>@iE9E9EAEAEA9:J}ZBJ}KJJ}IRJyZJ}9bJ}K9J}F4JyzJ}.:jJ}3:J} :rJ} : checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023355a 6G =~GY Ai A N >3Ǝ,;jA9>3@>A@Y>Wy>=>Hܼޣ?e?@~ 5?@)?9?@? >3@>[;)>CnwBnIIvIv2~i.< _=y;Q >٥   H  k:  >-o5Tٜ?-o59 Iy15;@5@7kEi;9v;o5AEDAAeB*** querying acoustic contact ***JaRaiuDNOT Ignoring new targets: 53.81 m.q}㎺}㎺ ProNav: ac range: 53.810009 m, nav range: 51.445019 m, bearing: 163.055986 deg, approach rate: -0.613596 m/s, LOS rate: -0.062462 deg/s, cmd heading: 170.592485 deg, new cmd heading: 170.529670 deg. w+HeadingCmd: 2.976304 target range: 53.810009 and range: 54.20 m.b{>@ZrjRJB~~}||||ڇ @ CzB靥gI)NIAU w<{>@g<=i{>@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275700qEEEEEFAFAԑKm P"Km9*Ki2Km:KmLiq0(grIT\dCffP9*.gv_ v*U%l?6G}m=J}AJ}A~G A A N > M DAT read: 14:25:46.8056 LVL= 20896, 26545, 16610, 29795, AGC= 66, IDX= 420, 0.03, 0.600,-0.673, 0.938, 0.348, PHS= 0.340,-0.974, 0.587, RAW= 158.5, 0.6, CAL= 160.6, -8.1, ROT= 349.4, 8.1 \̎,3;jAYgot valid direction response: 14:25:46.8056 LVL= 20896, 26545, 16610, 29795, AGC= 66, IDX= 420, 0.03, 0.600,-0.673, 0.938, 0.348, PHS= 0.340,-0.974, 0.587, RAW= 158.5, 0.6, CAL= 160.6, -8.1, ROT= 349.4, 8.1 PDAT read: Bearing 349.4, 8.1 (Local) ~Local bearing/azimuth received: Bearing 349.4, 8.1 (Local) DAT read: Range 10 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.6 m/s ",DAT read: user:2109> "BDAT read: Tx time:14:25:47.8820 &$Ping request sent.&MXyME? M 1@)M+ I)IMf ?TB?HB1j?iM+?MR;Mq=M> I)I}:publishing transmit ping time$}Fpublishing direction and range infoIyMw#?HCH2IH|wBHHH*DH<HEmHg`~-?<?d?\͞?j?? mp3@m=;)mC5vB5IAMb@Mb@Mb@ )Y@5^I ?/$:vyb?,A  A)X AI&Ay\AIIE E=yMH :Q M>٥II MHM FUv U>Yeo5]9ٜ?eo59] IYym?m:m<@m@]ҁM#E{He-@KM9.iIB?0:v8ҿzM$lAMDjM MS ɜ?rMY"+ M>]BM MS ɜ?MY"+  IMOMBMAe6@ addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 3.779890 s, deltaX: -2.100002 m, approachRate: -0.555572 m/s, rangeRepo size: 4  Added new target pos. range: 51.728897 m, bearing: 163.289059 deg, lat: 36.906437 deg, lon: -122.115973 deg, deltaT: 3.779890 s, deltaX: -2.081112 m, approachRate: -0.550575 m/s, posRepo size: 4 DNOT Ignoring new targets: 51.73 m.%)e ProNav: ac range: 51.728897 m, nav range: 51.327724 m, bearing: 163.288963 deg, approach rate: 0.000000 m/s, LOS rate: -0.062462 deg/s, cmd heading: 170.529675 deg, new cmd heading: 170.416238 deg. iԡHeadingCmd: 2.974324 target range: 51.728897 and range: 52.10 m.bU[>@ZrjRJB~~zB}||| J@| Or? JzB靝 svI ) T I ܩf < U[>@ m< i=i U[>@i zE E} Ey E E `5E :J \BJ PJJ ARJ ZJ =:bJ *9J 4J zJ :jJ :J -:rJ -:6Gq؃=~GaAiAN ?m`Վ,&V;jA9J_3@JrA@YJNJyJ|=JH`ؽ@?@]?w~?`?h?? J_3@J ;)JCRvBVII^ I^b3j" j`=ynQ!Q n>٥ll nHrFr5 r>tzo5v(ٜ?~o59v Ity|~<@~@v?kEiv:v:v(o5oEAhE)5DNOT Ignoring new targets: 51.73 m.1=X=XU ProNav: ac range: 51.728897 m, nav range: 51.122646 m, bearing: 163.265911 deg, approach rate: -0.617192 m/s, LOS rate: -0.069655 deg/s, cmd heading: 170.416239 deg, new cmd heading: 170.346804 deg. U7?]HeadingCmd: 2.973113 target range: 51.728897 and range: 52.10 m.b]zG>@ZYrajaRaJaBa~i~i}i|i|q|q|u`=?ԉ NzB靭#I)YI$~n ,<zG>@/<IȄ=izG>@iE}EEEP0EԹ%GEAmA YAy B6G~GAAN>K 7P"K 9*K 2K :K ]"U|T$1op$qPF *7[iG81v'd{RQ?$J >J ? ێ,,Dp;jA9^ 3@^o$A@Y^>y^=y=^H`x ?`? ? ?(?`#? ^ 3@^;)\rvBrIIz'Iz@3U< H=y 'o:Q  >٥    H F@ >%o5ٜ?%o59 IʄBy!-|<@-@CkEiW::o515IEA1Y]DNOT Ignoring new targets: 51.73 m.aeeu ProNav: ac range: 51.728897 m, nav range: 50.893250 m, bearing: 163.241159 deg, approach rate: -0.562832 m/s, LOS rate: -0.061003 deg/s, cmd heading: 170.346803 deg, new cmd heading: 170.272213 deg. uv'}HeadingCmd: 2.971811 target range: 51.728897 and range: 52.10 m.b}&2>@ZrjRJB~~}|||| a ? ]SzB]Ia)ehXaIey aae#@mS@iqEEE!E!E!! HH<Hļ>HHHHHHH1<HCE6GU.=a~G A A N >ԁ ^j,!;jA9>2@>@@Y>y>ak=>H`8`#@?`>X?=:=? ˸?m?? >2@>(;)٥ H%" %>)Qo5-ٜ?o59-m I)yr?:;@@-GkEi-<-<-o5!BXEAkEDNOT Ignoring new targets: 51.73 m.ww ProNav: ac range: 51.728897 m, nav range: 50.641136 m, bearing: 163.216631 deg, approach rate: -0.554094 m/s, LOS rate: -0.054176 deg/s, cmd heading: 170.272217 deg, new cmd heading: 170.198266 deg.  HeadingCmd: 2.970520 target range: 51.728897 and range: 52.10 m.b>@ZrjRJB~~%zB}!:J=[BJ=TJJ=DRJ9ZJ=:bJ=:9J=4J9zJ=:jJ=:J=SJ:rJ=UJ:|)|I|Q|Ul? }XzB靅풽I)ZIR &g<>@x#<r=i>@ibEZE}AE-E)E1E1E1ԁԱ6GM {=~G1 AI Aa Nm > ,;jA9B٥`` bHbFf f>djo5f؜?no59fE If˄Bylnk;@n@fJkEif;f ;fo5tv}EAvnEB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 51.73 m.!-x-x= ProNav: ac range: 51.728897 m, nav range: 50.434860 m, bearing: 163.197900 deg, approach rate: -0.596611 m/s, LOS rate: -0.054399 deg/s, cmd heading: 170.198260 deg, new cmd heading: 170.141836 deg. =UEHeadingCmd: 2.969535 target range: 51.728897 and range: 52.10 m.bE >@ZArAjARIJIBI~I~I}Q|Q|Q|Q|0.? M]zBU}ԱI)i^IP < >@<_=i >@iK8P"Ks9*K2K :KU3mO.Qn,?i ! \ $ T~fb%HvfyJAJAEEEE_0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 6GE s=~G A A N >H >H H ,IH qwBH  =H H )DH <H EHe˔CHe˓CHe˔CHe =Ie = IeM+69 Ѿ,ؽ;jA9:2@:i@@Y:y:xQ=:H`@@6i??Φ@3?ܟ? (?@T? :2@:a;)8FvBFIMb@Mb@Mb@ )Yx?I +~jtyK?94SA  A) AIyfA11I5I5V83u; ;=y޺Q >٥ HFW >o5؜?o59 ĪBy?:g;@@OkEiu;t;o5uEA!%DNOT Ignoring new targets: 51.73 m.!-vx-vx= ProNav: ac range: 51.728897 m, nav range: 50.176826 m, bearing: 163.174318 deg, approach rate: -0.591189 m/s, LOS rate: -0.054306 deg/s, cmd heading: 170.141829 deg, new cmd heading: 170.070722 deg. =EHeadingCmd: 2.968294 target range: 51.728897 and range: 52.10 m.bE=@ZArAjARAJIBI~I~MKzB}Q|Q|Q|Q|]@ azB靕ҘI) _Ih ٕ<=@ <qUR=i=@i }checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260381EiEqEqEu0Eq6GE.H_=ZGMARGI~GA AN%M>9i - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512995U,[;jA09B1@B?@YByBI=BH@ҥ`E¿ ?`~|?}?h|? ,?? B1@Bs<;)BCLLIn In̍2yz٥xx ~H|~O > o5 %؜?o59  I ̈́By;@@ RkEi : K: o5#BEAqE)-DNOT Ignoring new targets: 51.73 m.)5\5\U ProNav: ac range: 51.728897 m, nav range: 49.953033 m, bearing: 163.154916 deg, approach rate: -0.552218 m/s, LOS rate: -0.048091 deg/s, cmd heading: 170.070727 deg, new cmd heading: 170.012258 deg. U]HeadingCmd: 2.967274 target range: 51.728897 and range: 52.10 m.b]=@ZYrYjYRaJaBa~a~i}i|i|i|i|u`.-@ ezB靥I)`IT; jE>ԑEEEE0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765440Թ6Ga`=~G A A N > K $P"K K9*K 2K :K .qU|XB3Mo]|Z@|8S ,G9rH63, ;jA:J"\BJ"OJJ"FRJ ZJ"=:bJ"%9J"4J &@*@*@*@9V w1@Vn?@YV\ `yV,B=VH ¿঑?'?F`?*?X? ? V w1@VO،;)VCzvBzIII2ӻ ٥!! -H-F5 =>IUo5M؜?Uo59M! IM΄ByY]:@]@MVkEiM;M;Mlo5aeEAiDNOT Ignoring new targets: 51.73 m.rr ProNav: ac range: 51.728897 m, nav range: 49.709286 m, bearing: 163.134657 deg, approach rate: -0.634996 m/s, LOS rate: -0.053035 deg/s, cmd heading: 170.012260 deg, new cmd heading: 169.951187 deg. HeadingCmd: 2.966208 target range: 51.728897 and range: 52.10 m.bY=@ZrjR ><BDAT read: Rx Time:14:25:50.3531 TRx dataTimestamp_ set to:1749133551.835528checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017034JQBY~a~a}a|a|i|i|u Ph@ jzBwI)xbIA5  X<%Y=@m=iuY=@iHU>HUCHQHQHU =HQHQHU><HUCEE}EyEyE}1Ey6GEC=~G!A)AANMt> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267790I @,p ٥ H >o5]؜?o59 IτByt?:9@@ZkEi:M:o5oEAtE DNOT Ignoring new targets: 51.73 m. 55% ProNav: ac range: 51.728897 m, nav range: 49.457031 m, bearing: 163.118133 deg, approach rate: -0.600925 m/s, LOS rate: -0.039565 deg/s, cmd heading: 169.951185 deg, new cmd heading: 169.901359 deg. %:ٺ-HeadingCmd: 2.965338 target range: 51.728897 and range: 52.10 m.b-=@Z1r1j1R1J1B1~9~=ezB}9|9|A|A|E@f @ nzBI)`I <I-R=I-4= =@5y<5H5=i5=@i9IE%E!E!E%p5E!EDAT read: 14:25:50.3531 LVL= 27168, 26417, 17730, 31571, AGC= 67, IDX= 410,-0.12,-1.409,-2.695,-1.095,-1.712, PHS= 0.392,-0.935, 0.615, RAW= 157.6, -1.0, CAL= 160.4, -9.6, ROT= 349.6, 9.6 UYgot valid direction response: 14:25:50.3531 LVL= 27168, 26417, 17730, 31571, AGC= 67, IDX= 410,-0.12,-1.409,-2.695,-1.095,-1.712, PHS= 0.392,-0.935, 0.615, RAW= 157.6, -1.0, CAL= 160.4, -9.6, ROT= 349.6, 9.6 ]PDAT read: Bearing 349.6, 9.6 (Local) ]~Local bearing/azimuth received: Bearing 349.6, 9.6 (Local) mDAT read: Range 10 to 50 : 50.1 m (Round-trip 66.9 ms) speed 0.5 m/s m,DAT read: user:2110> uBDAT read: Tx time:14:25:51.4820 u$Ping request sent.u)\op? x 0@)5I$+3@i+@@+> )cEbU?B&s̊?KDi4(?<9+> ):publishing transmit ping timeq=Fpublishing direction and range infoyY.?] hƿ8_XſY )Ii )Ii )cEbU?B&s̊?KDi )q6GE F=jGM ?bGM >~G A A) N= >ԡ ,AI%٥  HF >9Eo5=5؜?Eo59= I=фByIM9@M@=^kEi=:=:=xo5Qy}yEA}wEZbBҁ@,-PG/@_3]5Mg?DCvz}A:ji3ɜ?r5@a ZBF!ɜ?G'v  WBDB8)5@  addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 3.536403 s, deltaX: -2.000000 m, approachRate: -0.565546 m/s, rangeRepo size: 4 ] Added new target pos. range: 49.742069 m, bearing: 161.214735 deg, lat: 36.906439 deg, lon: -122.115965 deg, deltaT: 3.536403 s, deltaX: -1.986828 m, approachRate: -0.561822 m/s, posRepo size: 4 aDNOT Ignoring new targets: 49.74 m. ProNav: ac range: 49.742069 m, nav range: 49.188770 m, bearing: 162.183777 deg, approach rate: 0.000000 m/s, LOS rate: -0.039565 deg/s, cmd heading: 169.901365 deg, new cmd heading: 169.853426 deg. HeadingCmd: 2.964502 target range: 49.742069 and range: 50.10 m.be=@ZrjRJB~~}||| I@|  ? ]rzBu[Iq)}byI} yy}7Ԛ<e=@i<w1=ie=@izEԩK%3O"K%9*K!2K% :K%!CKIL/wPBGD}EH#~2oM0%5XfEEEAEAEE 5EAJ4J-4J 1:JEWBJEIJJE>RJAZJE;9bJE 9JEt4JA6G 4=~G A H] >H] CHY HY H] =HY H] 'DH] g<H] jEA N > ,`?٥ii mHmFm u>qo5uw؜?o59u IuԄBy?:9@@ubkEiu:u:uo5;EAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 49.74 m.zz ProNav: ac range: 49.742069 m, nav range: 48.937527 m, bearing: 162.162323 deg, approach rate: -0.636724 m/s, LOS rate: -0.054648 deg/s, cmd heading: 169.853431 deg, new cmd heading: 169.788741 deg. HeadingCmd: 2.963372 target range: 49.742069 and range: 50.10 m.b=@ZrjRqJqBy~y~}SzB}y||||W? uzB7rI)_I; < =@ ȳ<- 3=i5=@i1eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.EEEEO0E16Gf/=~Gi Ay A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989648Y ,hY|41@>G?@Y>y>Mv8=>HAÿ`o4?y?a?y?`?? >|41@>;)٥`` bHdf; f>hno5jPd؜?no59j IjׄBypr9@r@jfkEij;j;jio5v"Bv1EAvzEqDNOT Ignoring new targets: 49.74 m.ss ProNav: ac range: 49.742069 m, nav range: 48.703094 m, bearing: 162.141398 deg, approach rate: -0.593827 m/s, LOS rate: -0.053259 deg/s, cmd heading: 169.788736 deg, new cmd heading: 169.725659 deg. 4HeadingCmd: 2.962271 target range: 49.742069 and range: 50.10 m.bە=@ZrjRJB~~}1|1|9|9|=? xzB靽OI)_Ic 9<-ە=@5 <5A=i5ە=@i1EEEEP0Eamchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243360ԉ6G4=ZGRG}A~G A A N >K uP"K @9*K 2K :K c! #,w$(@8"NQ81I'B"((Ա $,Rr٥\\ ^H^FEP; E>Yeo5]&O؜?mo59] I]ڄByim:@m@]jkEi]N:]:]o5qu.EA}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493710DNOT Ignoring new targets: 49.74 m.ہہ- ProNav: ac range: 49.742069 m, nav range: 48.445675 m, bearing: 162.117693 deg, approach rate: -0.613153 m/s, LOS rate: -0.056765 deg/s, cmd heading: 169.725652 deg, new cmd heading: 169.654158 deg. -5HeadingCmd: 2.961024 target range: 49.742069 and range: 50.10 m.bUi=@ZQrQjYRYJYBY~Y~a}a|a|a|a|m t?ԙ %|zB%^AI!)%`!I-_ ))-\i<]i=@e{rHIHM2IHM|wBHM =HIHIHM,<HMEEEEEEi i u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7457936GE Г>=~G A A N > #,ıN1@>`b?@Y>i!y>D8=>H 7` ÿjj?@D?`?`u3??Z? >N1@>2;)>CVwBZIEMb@Mb@Mb@AAA A)AYEV-?X9v~jthyE?E}EDE=A E A)E AIEAAyEAI]I]F3}-< }٥ HF >o5:؜?o59 IބBy?:8@@nkEi* ;/;o5DADNOT Ignoring new targets: 49.74 m.DPDP ProNav: ac range: 49.742069 m, nav range: 48.193134 m, bearing: 162.099545 deg, approach rate: -0.630162 m/s, LOS rate: -0.045520 deg/s, cmd heading: 169.654154 deg, new cmd heading: 169.599426 deg.  HeadingCmd: 2.960068 target range: 49.742069 and range: 50.10 m.b q=@Z r j R J B ~~ZzB}||||,? =zB=I9)=]9I= AAEڒ0),.٥hh jHhjع n>iuo5mn&؜?}o59m; ImByy}8@}@mrkEim;m;m+o5DAEDNOT Ignoring new targets: 49.74 m.LL ProNav: ac range: 49.742069 m, nav range: 47.947670 m, bearing: 162.081762 deg, approach rate: -0.615057 m/s, LOS rate: -0.044789 deg/s, cmd heading: 169.599430 deg, new cmd heading: 169.545805 deg. HeadingCmd: 2.959132 target range: 49.742069 and range: 50.10 m.bmb=@ZrjRJB~~}||||@@ -zB-I))-Y)I5L¼ 115<=mb=@=f:<=%O=i=mb=@iAYEEEEk0EKO"K}9*K2K :KDdx~bFCI'77U6asqsa`?J J A:Je[BJaJJe?RJaZJe:bJaJeـ4Jaychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5022466G5O=jG= ?bG=>~Gi Aq ԩ A N >H >H H ?IH wBH  =H H H !<H EY0,n'?,W?@i? ?`٩?? :EE1@:;):C\\MMb@Mb@Mb@III I)IYM/$?V-MbpyM?MmMMA M A)M+ AIIIyMG AIeIe2u: u?=yu2Q }>٥yy }H}F >o5؜?o59 IBy`?:S9@@vkEi;<$<o5!%DA!MB*** querying acoustic contact ***JIRIy}DNOT Ignoring new targets: 49.74 m.yWW ProNav: ac range: 49.742069 m, nav range: 47.697552 m, bearing: 162.061647 deg, approach rate: -0.581501 m/s, LOS rate: -0.047009 deg/s, cmd heading: 169.545799 deg, new cmd heading: 169.485140 deg.  HeadingCmd: 2.958074 target range: 49.742069 and range: 50.10 m.bQ=@ZrjRJB~~:zB}||||@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754929 ezBe$ԱIa)MZI‚ȼ Vۡ<Q=@ j< OR=i Q=@i rEY>jE>EEEE_0E 6G% O= BDAT read: Rx Time:14:25:53.9501  TRx dataTimestamp_ set to:1749133555.363626 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006972~G A A N% >F6,S٥tt vHvFz: z>o5}ל?o59 IByZ9@@zkEiF;qF;o5%!B%5DA%EIUDNOT Ignoring new targets: 49.74 m.Q]s]sm ProNav: ac range: 49.742069 m, nav range: 47.460140 m, bearing: 162.042237 deg, approach rate: -0.648366 m/s, LOS rate: -0.053273 deg/s, cmd heading: 169.485134 deg, new cmd heading: 169.426612 deg. m>uHeadingCmd: 2.957052 target range: 49.742069 and range: 50.10 m.buX@=@ZqrqjqRqJyBy~~}||||@ zB<2I)_TIIͼ <X@=@><XW=iX@=@iEMEQEQEUG3EQ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257649)6Gm US=~GAAQAaNu>y 5m<,٥ H >,DAT read: user:2111> BDAT read: Tx time:14:25:55.0321 $Ping request sent.HHQIHwBHHHH&<HEHđCHđCHēCH =I = Iİ5 ۝N)۝mI۝;i۝~ۙ۝b>۝+v۝-? ܝ.@)ܙIܝ1@iܙܝ+@ܙ ݙ)ݙݝI$X?:Q?m)Y3iݝ"?ݝI<ݝ5&ݙ addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 3.527635 s, deltaX: -2.199997 m, approachRate: -0.623646 m/s, rangeRepo size: 4 !%DNOT Ignoring new targets: 49.74 m.!-7S-7S ޙ)ޙ}:publishing transmit ping timeFpublishing direction and range infoڙyڝ[*#?uBiCeĿ8_XſڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ ProNav: ac range: 49.742069 m, nav range: 47.177383 m, bearing: 162.018942 deg, approach rate: -0.557008 m/s, LOS rate: -0.046165 deg/s, cmd heading: 169.426613 deg, new cmd heading: 169.356308 deg. uHeadingCmd: 2.955825 target range: 49.742069 and range: 47.90 m.b=,=@ZrjRJB~~}|||@3G@)ݙݝI$X?:Q?m)Y3|7i?iݙݙݙݙ ޙ)ޙԱ zBQ.I)QITռ 9<=,=@w<NEZ=i=,=@iU JDAT read: TxSync time:14:25:55.0313 E E E E _0E 6G ؓW=ZG RG A ~GAAN>D,=jAM\wBMIonly read 0 of 1 data item for altitude. Device response is::BD, -40.+1962.40, -21.69, 8.84, 0.00 aI@a aM@a aQ@a aE@a II?13P= 1=yQ >٥    H F >%o56ל?%o59y IB%+:y!-:)-@kEi;>go515CA1ԁZabewBe9>Beѭ5@ʁe]Vf#G@laO:!Ae[*#?uBiCeĿ8_Xſe5&aҁe]T@}Fw,@V_ˎel_D3Gg?0K)ze`Ae3jegɜ?re?( e]Baa eZBe;Be\4@DNOT Ignoring new targets: 49.74 m.*p*p ProNav: ac range: 49.742069 m, nav range: 46.895264 m, bearing: 161.995418 deg, approach rate: -0.625777 m/s, LOS rate: -0.052492 deg/s, cmd heading: 169.356303 deg, new cmd heading: 169.285307 deg. HeadingCmd: 2.954586 target range: 49.742069 and range: 47.90 m.b=@ZrjRJB~~}|| | | `? }zB}FI)LI*ڼ  <=@..<^=i=@iԱEEEIEIEMu0EI6Gm Y=~GA AQ Aa Nu > J,,=jAqwB,II-I-3=Y= =Y=yAQ E>٥AA MHMFI M>Q]o5USל?]o59U IUBe :yamb:im@UkEiU^q;UW?Uo5} B}BCA}EDNOT Ignoring new targets: 49.74 m.yy ProNav: ac range: 49.742069 m, nav range: 46.664757 m, bearing: 161.975987 deg, approach rate: -0.678408 m/s, LOS rate: -0.057472 deg/s, cmd heading: 169.285310 deg, new cmd heading: 169.226727 deg. HeadingCmd: 2.953564 target range: 49.742069 and range: 47.90 m.b0=@ZrjRJB~~}|||| x? }zB}gI)jGI޼ <0=@ݜ<eb=i0=@iK-%P"K-9*K)2K-:K-c0n~{3wN1,j^lP1%LS.9y=f(n'JEAJAEEE E H4E !Hu>HqHujIHuwBHu =HqHu(DHu<HuEQ 6Gm .H_=~Ga Ai A N >Q,yF=jA 9>161@>I?@Y>i=/M=>H` :(ÿ ?s?@SΥ?`?? ? >161@>?;)٥ii mHimD# m>y}p5}ל?p59}} I}BT:yT?:9@@}kEi}X:}@:}"p5CAE-B*** querying acoustic contact ***J)R)amDNOT Ignoring new targets: 49.74 m.imm ProNav: ac range: 49.742069 m, nav range: 46.425396 m, bearing: 161.953784 deg, approach rate: -0.557867 m/s, LOS rate: -0.052014 deg/s, cmd heading: 169.226734 deg, new cmd heading: 169.159782 deg. HeadingCmd: 2.952395 target range: 49.742069 and range: 47.90 m.b <@ZrjRJB~~zB}||||H?I ]zB]Ia)eEaIe aN< <@<b=i <@iE!E!E!E%p5E!F-=F-=y:J}]BJ}UJJ}=RJyZJ}]:bJ}>9J}g4JyzJ}:jJ}:J}~Q:rJ}Q:uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.6Gm va=jGq bGu ?ԡ ~G A A N >IW,Ve`=jA@9^21@^.?@Y^Ȏ@y^DX=^H࢕VÿC?? _?? !? |? ^21@^u;)^CnwBnBII~"I~q3Q= P=yt/Q m>٥qq uHuF}q }>p5@ל?p59 IBy9@@kEiN::p5BBAEDNOT Ignoring new targets: 49.74 m.ׁׁ ProNav: ac range: 49.742069 m, nav range: 46.188648 m, bearing: 161.932079 deg, approach rate: -0.615940 m/s, LOS rate: -0.056758 deg/s, cmd heading: 169.159784 deg, new cmd heading: 169.094336 deg. HeadingCmd: 2.951253 target range: 49.742069 and range: 47.90 m.bT<@Zrj!R!J!B!~)~)}1|9|9|9|=f? mzBmaIi)mf?qI}ю yy}<T<@<f`=iT<@iԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.720432E5E9E9E=P0E96Gxb=~G) A1 AI N] > Ke VO"Ke 9*Ka 2Ke :Ke [g?N=(j)}N,#kDg>X$T5F&x ؅ G?ׅ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971965],Nz=jAl9|0@>@YM?y/_=H ߶ÿ ? ?@8ͧ??ګ?`? |0@J;)5wB5KIIEIE3U+= UF=y]^:Q ]>٥Ya eHeFe e>iup5mל?up59m~ ImByy}n9@}@mkEimM;m;m.p5nBAEH>HCHIHxBH =HHHۚ<HEyDNOT Ignoring new targets: 49.74 m.QQ - ProNav: ac range: 49.742069 m, nav range: 45.953316 m, bearing: 161.911174 deg, approach rate: -0.512948 m/s, LOS rate: -0.045801 deg/s, cmd heading: 169.094338 deg, new cmd heading: 169.031300 deg. -u5HeadingCmd: 2.950153 target range: 49.742069 and range: 47.90 m.b5M<@Z1r1j1R1J1B9~9~9}9|a|a|a|e.@ zB靵ћI)(<IU ]Ҩ<M<@<Y=iM<@i EEEE4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2240861ԁ 6G va=~G A A N >d,!=jA-wB-PI9I=4=I9:JMYBJMHJJM?RJIZJM9bJM9JMـ4JIzJMc:jJMh:JM9rJM9Mb@Mb@Mb@ )Y9v?I +MbPy?94A rA) AIAyG AI$I<3%< ->=y-Q ->=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475832٥19 =HAE E>IUp5MLnל?Up59M IM By]j?]:]*:@]@MkEiM;M;M p5aeIBAeEDNOT Ignoring new targets: 49.74 m.TTU ProNav: ac range: 49.742069 m, nav range: 45.702225 m, bearing: 161.884990 deg, approach rate: -0.668430 m/s, LOS rate: -0.070086 deg/s, cmd heading: 169.031295 deg, new cmd heading: 168.952313 deg. Ue@]HeadingCmd: 2.948774 target range: 49.742069 and range: 47.90 m.b]<@ZYrYjYRaJaBa~a~ezB}||||]@ -zB-I))5u:1I5 115<=<@=4<=S`=i=<@iAiE%E!E!E%O0E!F1F1ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7278456GE @Z=ZGI RGI ~G1 AA AQ N] >j,+=jA9V20@V>@YV9yVn=VHu g-Ŀ?K? ?K8?@(ƭ?? V20@Vx;)VC^wBbaIInInM3v= va=yv)i;Q z>٥xx zHzF~6, ~> p5]ל? p59 IBy%9@-@kEi ;;p5AMAAIyDNOT Ignoring new targets: 49.74 m.ԙ ProNav: ac range: 49.742069 m, nav range: 45.491749 m, bearing: 161.863827 deg, approach rate: -0.573404 m/s, LOS rate: -0.057924 deg/s, cmd heading: 168.952311 deg, new cmd heading: 168.888525 deg. HeadingCmd: 2.947661 target range: 49.742069 and range: 47.90 m.bz<@ZrjRJB~~}||1|Y|]`qm@ zB靍רI))4I <z<@}<HHIH2xBH =HHH<HE6G_=~G A A) Nm > q, =jA9:0@:>@Y:6y:r=:HĿO?q?`6?`Ϧ?6?? :0@:ɻ;)8FwBFdIVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.232219]Mb@Mb@Mb@YYY Y)YY]kt?{GzMbPy] ?]#Y]&A ]A)YI]AYy]z AIiIi#i< :=y:Q >٥    H F q: >9]p5=tHל?]p59=% I=By]}?]:]A:@]@=kEi=e;=;=p5mBmAAmEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 49.74 m.M ProNav: ac range: 49.742069 m, nav range: 45.242180 m, bearing: 161.836830 deg, approach rate: -0.558966 m/s, LOS rate: -0.060798 deg/s, cmd heading: 168.888530 deg, new cmd heading: 168.807094 deg. m&HeadingCmd: 2.946240 target range: 49.742069 and range: 47.90 m.b1<@ZrjRJB~~zB}||||` @) UzB]I).3I• X<1<@y<_=i1<@i IYI]@A:JaBJePJJeERJaZJabJe*9Je4JazJed:jJei:Je-:rJe-:EEEEEDAT read: 14:25:57.4972 LVL= 23984, 28401, 19858, 32755, AGC= 65, IDX= 413,-0.45,-2.694, 2.203,-2.375,-3.006, PHS= 0.399,-1.027, 0.628, RAW= 157.3, 0.0, CAL= 159.8, -8.7, ROT= 350.2, 8.7 Ygot valid direction response: 14:25:57.4972 LVL= 23984, 28401, 19858, 32755, AGC= 65, IDX= 413,-0.45,-2.694, 2.203,-2.375,-3.006, PHS= 0.399,-1.027, 0.628, RAW= 157.3, 0.0, CAL= 159.8, -8.7, ROT= 350.2, 8.7 PDAT read: Bearing 350.2, 8.7 (Local) ~Local bearing/azimuth received: Bearing 350.2, 8.7 (Local) DAT read: Range 10 to 50 : 45.7 m (Round-trip 61.0 ms) speed 0.5 m/s ,DAT read: user:2112> BDAT read: Tx time:14:25:58.5821 $Ping request sent.UtU ? U/@)UIU2@iU|U@U|> Q)QUՉqdkq?Rh?߈$בiUY&?U켎$U%/U|> Q)Q:publishing transmit ping timeڱFpublishing direction and range infoQyU4*/+?h@ſni\ÿQYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QUՉqdkq?Rh?߈$בiQQQQ Q)Q! 6G= JR=jGE ?bGE ? ZA ~G A! A1 N= >N|x,N=jA YZAyB9v|0@vݯ>@Yv2yv͋=vH<<Ŀ@鞫?? `ޮ?@T? q?@%? v|0@vڌ;)vCwBkII=I=F3E< MG=yM;Q U>٥QQ UHQ]t ]>ap5e5ל?p59e IeBy):@@ekEie ;e];ep5AA ZbH=jA~5B~5B|4@ʁX'F@':Hs4*/+?h@ſni\ÿ%/|>ҁ ^E,A03w,@(2{Uimk$Օf?to$ zcA*jh-$ɜ?rVq bBh-$ɜ?Vq  >]Bꁝ/4B|4@] addTargetRange:: Added new target pos. range: 45.700001 m, deltaT: 3.528440 s, deltaX: -2.200001 m, approachRate: -0.623505 m/s, rangeRepo size: 4  Added new target pos. range: 45.373070 m, bearing: 161.581354 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 7.056075 s, deltaX: -4.368999 m, approachRate: -0.619183 m/s, posRepo size: 4 DNOT Ignoring new targets: 45.37 m.JDAT read: TxSync time:14:25:58.5813  ProNav: ac range: 45.373070 m, nav range: 45.046570 m, bearing: 161.581261 deg, approach rate: 0.000000 m/s, LOS rate: -0.060798 deg/s, cmd heading: 168.807101 deg, new cmd heading: 168.730826 deg. HeadingCmd: 2.944908 target range: 45.373070 and range: 45.70 m.bay<@Zrj!R!J!B!~)~)})|1|9|]F@|e[? zB靵;I)51I{ x{<ay<@<O]=iay<@i9EEEEZ0Ea6G np_=K O"K 9*K 2K :K UW z)wf#':?-O!h~G A A N >ԉ ~,U=jA9V0@V>@YVv5yVV=VH@_ Ŀ`@??`%@??ǰ?`[?1? V0@V‹;)VCG`Gb?AHf>HdHfIHf[xBHf =HdHdHfK<HfPEnwBnzIir=IrC=IvIv[3n= B=yغQ %>٥1Y ]HeFymE; >p5!ל?p59< IBy!-::@-@kEi6< <np5a2AAEDNOT Ignoring new targets: 45.37 m.ݏݏU ProNav: ac range: 45.373070 m, nav range: 44.796665 m, bearing: 161.552517 deg, approach rate: -0.543720 m/s, LOS rate: -0.062889 deg/s, cmd heading: 168.730821 deg, new cmd heading: 168.644107 deg. U,]HeadingCmd: 2.943395 target range: 45.373070 and range: 45.70 m.b]`<@ZYrYjYRaJaBa~~}||||d? zB%~I))-+1I5 11=Ok<=`<@=n<Иg=i`<@iԩEEEEE6G= g\= ~G A1 AQ Nm >ʒ:J_BJTJJCRJZJ :bJ:9J4JzJ-:jJ2:JSJ:rJVJ:,c`>jA9~ak0@~~>@Y~O6y~N=~HĿ@?O?a3?Ȧ??@? ~ak0@~R;)~C wBIMb@Mb@Mb@ )Y?ˡEMb`y ?'A \A)InAyQ AIIM3 <  F=y?Q >٥ H F%' %>)-p5-ל?5p59- I- By51 ?5:59@5@-kEi-8:-A:-p5AEAAEEq}DNOT Ignoring new targets: 45.37 m.y ProNav: ac range: 45.373070 m, nav range: 44.582645 m, bearing: 161.529690 deg, approach rate: -0.603951 m/s, LOS rate: -0.064725 deg/s, cmd heading: 168.644105 deg, new cmd heading: 168.575297 deg. 1HeadingCmd: 2.942194 target range: 45.373070 and range: 45.70 m.bL<@ZrjRJB~~zB}||||@?Թ zBzI)2)I& D<L<@<[=iL<@i EEEE0E6GCf= ~G A A N >ް,1>jA9>80@>|K>@Y>wW7y>U=>HAſ@.?Fi? ~h?`?ְ? ? >80@>Nj;)>CR xBRIIXIXb2= bd=yb#8Q b>٥dd fHdj j>pvp5rV֜?vp59r Ir#Bytz9@z@rkEirW:r:rp5|~@A!-DNOT Ignoring new targets: 45.37 m.)-D5DE ProNav: ac range: 45.373070 m, nav range: 44.385208 m, bearing: 161.509237 deg, approach rate: -0.551462 m/s, LOS rate: -0.057382 deg/s, cmd heading: 168.575298 deg, new cmd heading: 168.513665 deg. EMHeadingCmd: 2.941118 target range: 45.373070 and range: 45.70 m.bMH;<@ZIrIjIRIJIBQ~Q~Q}Y|a|i|i|m ]? zB靝kI)%Iߨ <H;<@-/<U=iH;<@iE5E1E1E5w5E9a6G g\=KU( P"KQ*KQ2KU:KU0k~Iq:qZ~|s/jJ% cXI.JYJY~GAAN%>yH>HCHIHzxBHHH)DHN<HZEHƒCHƒCHH =I = IԪ5Ա ,J>jA9:3/@:>@Y:44y:*=:H~aſ? ?`?y`'?@G?`?{? :3/@:x;):CLRxBRI)T VATVA=Mb@Mb@Mb@999 9)9Y=m? ףp= ~jtxy=?=Q8=Ļ=&A =A)= AI= A9y=( AI]I]3e<< m@=ym :Q m>٥qq uHu!F}! }>p5֜?p59 I'By?:8@@kEio:A:#p5B@AEUB*** querying acoustic contact ***JQRQaeDNOT Ignoring new targets: 45.37 m.amK`mK` ProNav: ac range: 45.373070 m, nav range: 44.148590 m, bearing: 161.487546 deg, approach rate: -0.531922 m/s, LOS rate: -0.049024 deg/s, cmd heading: 168.513662 deg, new cmd heading: 168.448240 deg. HeadingCmd: 2.939976 target range: 45.373070 and range: 45.70 m.b(<@ZrjRJB~~zB}||||? %zB%I!)-$IIU QQU<](<@]<]yfK=i](<@iYEEEE5EeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.6G @Z=~G A ! A1 N= >UØ,7d>jA9>/@>=@Y>UF4y>x=>H{ſ?B?`w@i?톦?? ?? >/@>;)٥dd fHdfٻ f>hnp5j֜?rp59j Ij*Bypr8@r@jkEij;j^;j'p5tv@At!DNOT Ignoring new targets: 45.37 m.-g-g ProNav: ac range: 45.373070 m, nav range: 43.935879 m, bearing: 161.468574 deg, approach rate: -0.563795 m/s, LOS rate: -0.050528 deg/s, cmd heading: 168.448243 deg, new cmd heading: 168.391053 deg.  HeadingCmd: 2.938978 target range: 45.373070 and range: 45.70 m.b8<@ZrjRJB~~}|| | | h@ }zB}$8I)'I -<8<@ <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2559899G=i8<@iIEmEiEiEm4Eiq6G.H=~Gi :Ju ^BJu KJJu @RJq ZJu } :bJu K9Ju J4Jq  @ @ @ @A A N >} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509708ԡ K} UP"K} ŷ9*Ky 2K} :K} =<X%YY`<  +enNh=!eGdRf4`W",'J ?J ?a,j~>jA H2<H24<H2>H0H2IH2xBH2 =H0H0H2<H2E9zy/@zں=@Yz6yz]=zHw@5ƿ=? ? w??/? +?? zy/@z;)x xB IyII1-r< U5=yezQ m>٥qy H"F >p55֜?p59 I.By%8@%@kEi%,<Pz<+p5@AEIUDNOT Ignoring new targets: 45.37 m.Q]T]T ProNav: ac range: 45.373070 m, nav range: 43.674076 m, bearing: 161.445726 deg, approach rate: -0.529960 m/s, LOS rate: -0.046528 deg/s, cmd heading: 168.391047 deg, new cmd heading: 168.322091 deg. tԡHeadingCmd: 2.937775 target range: 45.373070 and range: 45.70 m.b<@ZrjRJB~~}|||| @ -zB-GŚI))-3&1I5 115"<=<@=e<}D=i}<@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760027EEEE5E 6G C=~G A A N >b,>jA Fa>F%=JBDAT read: Rx Time:14:26:01.0447 NTRx dataTimestamp_ set to:1749133562.419622Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013184AMxBUIieN>Iey٥ H#F >p5P֜?p59E I1By?:9@@kEiS;>;T/p5B|@AEDNOT Ignoring new targets: 45.37 m.RR ProNav: ac range: 45.373070 m, nav range: 43.407909 m, bearing: 161.414648 deg, approach rate: -0.574229 m/s, LOS rate: -0.067459 deg/s, cmd heading: 168.322089 deg, new cmd heading: 168.228283 deg. /9MHeadingCmd: 2.936137 target range: 45.373070 and range: 45.70 m.bM;@ZIrIjQRQJQBY~a~ezB}|||| @ԡ %zB%GI))-%)I-n ))5<5;@5V<=۞K=i=;@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264084iaE E E E ?1E 6G5aD=:J[BJUJJRJZJ:bJ>9JJ~G!A1AANM?Rŭ,D¹>jA9>/@>"=@Y>M)C=>H@kujkƿ`l?`T?w'ң?~?`Y?? >/@>;) $' iy 8gOJtJtzDAT read: 14:26:01.0447 LVL= 26736, 27121, 18530, 32755, AGC= 65, IDX= 418, 0.49,-0.139,-1.497, 0.112,-0.528, PHS= 0.477,-0.921, 0.637, RAW= 155.4, -2.6, CAL= 158.8, -11.1, ROT= 351.2, 11.1 ~Ygot valid direction response: 14:26:01.0447 LVL= 26736, 27121, 18530, 32755, AGC= 65, IDX= 418, 0.49,-0.139,-1.497, 0.112,-0.528, PHS= 0.477,-0.921, 0.637, RAW= 155.4, -2.6, CAL= 158.8, -11.1, ROT= 351.2, 11.1 PDAT read: Bearing 351.2, 11.1 (Local) ~Local bearing/azimuth received: Bearing 351.2, 11.1 (Local) DAT read: Range 10 to 50 : 43.8 m (Round-trip 58.4 ms) speed 0.4 m/s ,DAT read: user:2113> BDAT read: Tx time:14:26:02.1321 $Ping request sent.RkRo#? R^-@)R9IRa1@iRaFR%@RaF> P)PR,!?K"T? ЇiR?R %<=RTFRaF> P)PII2:publishing transmit ping timeڡFpublishing direction and range infoPyR?1SM?7ÿMȿPYP P)PIPiPPPPP P)PIP U@=yU[Q ]>٥YY ]H]$FeS e>iH>HCHIHxBH =HH(DH1<H"Ep5mԛ֜?%p59m Im5By)E9@M@mkEiPPP P)PR,!?K"T? ЇiPPPP P)PimR=m3p5@AZPbRF >jAR-BR-BR\}4@ʁRӻE@R79~ R?1SM?7ÿMȿRTFRaF>ҁR!aDn%+@VVR,@>jAUxB]IԑMb@Mb@Mb@ )YQ?/$٥ H%F > p5 ֜?p59  I 9By)?:9@@ kEi  ; ,: 7p5!%@A%E=B*** querying acoustic contact ***J9R9QUDNOT Ignoring new targets: 43.49 m.Q] ] } ProNav: ac range: 43.486240 m, nav range: 42.803654 m, bearing: 161.617335 deg, approach rate: -0.775176 m/s, LOS rate: -0.074328 deg/s, cmd heading: 168.120216 deg, new cmd heading: 168.033307 deg.  LHeadingCmd: 2.932734 target range: 43.486240 and range: 43.80 m.b;@ZrjRJB~~zB}||||? zB靕I)](I; <;@ռ< >,Y>jA9:݌/@:>=@Y:Ey:d7=:H@.ttƿ@Z?U?x *? 貨? ?@C? :݌/@:0;)8FxBFIIN'IN@3Vϙ Vv=yZ)Q Z?٥XX ^H\^= b?hnp5j>s֜?np59j Ij <;@'<[U=i;@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.975745K}P"K9*K2K:K x m N i"(=vs_P C<zolYiMP.i|R(E2zJ>J?GG@AH >H CH IH xBH  =H H H /<H EE)E)E)E-d5E)I 6Ge 8U=~G9 AI AY Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227710y ;Ï, ?jA96Mw/@6=@Y6 Jy6YH=6H@q@hƿ\?``? u(?N?@>?'? 6Mw/@6.7;)6CZxBZIUMb@Mb@Mb@QQQ Q)QYUZd;?&1MbyU?UPUUnA U\A)QIU AQyQIe#Ie%x3< 6=y].Q >٥ H&F\@ >p5S]֜?p59 I>By v?:68@@kEi ;;b>p59=m@A=EamDNOT Ignoring new targets: 43.49 m.imeue ProNav: ac range: 43.486240 m, nav range: 42.341095 m, bearing: 161.577658 deg, approach rate: -0.635966 m/s, LOS rate: -0.050221 deg/s, cmd heading: 167.977342 deg, new cmd heading: 167.913630 deg.  HeadingCmd: 2.930646 target range: 43.486240 and range: 43.80 m.b;@ZrjRJB~~zB}||||I? zBۛI)(IV Ŷ<;@<%T=i;@i!EEEEP0EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4795956G ZG) RG- ~A)U 4> ] Cԡ G~G A1 AA I a N} > PY y B_ɏ,~Q'?jA09>}^/@>q=@Y>Ny>PY=>H+o`ƿ`A?`?q.? Ω?@)?@ ? >}^/@>`;)>CfxBfIij=Ijp>InIn#3\<  Z=y *Q  >٥ HH >%p5J֜?-p59( I@By)- 8@-@kEi::Ap55B5]@A=EaeDNOT Ignoring new targets: 43.49 m.iuQZuQZ ProNav: ac range: 43.486240 m, nav range: 42.115025 m, bearing: 161.560138 deg, approach rate: -0.612421 m/s, LOS rate: -0.047717 deg/s, cmd heading: 167.913630 deg, new cmd heading: 167.860787 deg. HeadingCmd: 2.929724 target range: 43.486240 and range: 43.80 m.b;@ZrjRJB~~}|||| ? zBv᯽I)(IT < ;@ < R=i;@i׹׽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749194ԑEEEEEԹ6G R=~G:JXBJOJJ?RJZJ{9bJ%9Jـ4JA A) NU > m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000340K #kP"K 9*K 2K :K Z 8HY-yqdW/#E+ fne'  )U=LJ AJ ~AH >H CH H H H H H V<H `E_WЏ,vnA?jAP9VX6/@VI=@YVŴQyVqd=VH 6kǿ?@vb?@mF?@3?@݀?`? VX6/@V⢍;)TxBIIIM3% %G=y%Q ->٥)) -H-'F5û 5>9Ep5=6֜?Mp59=n I=CByQ]7@e@=kEi=;=;=BEp5z@ADNOT Ignoring new targets: 43.49 m.33= ProNav: ac range: 43.486240 m, nav range: 41.867130 m, bearing: 161.541515 deg, approach rate: -0.519233 m/s, LOS rate: -0.039238 deg/s, cmd heading: 167.860792 deg, new cmd heading: 167.804592 deg. =n׺mHeadingCmd: 2.928743 target range: 43.486240 and range: 43.80 m.bmp;@ZirijqRqJqBq~q~y}y|y|y|y|@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251734 zBFӡI)P+IH ݜ<p;@Hb<L=i p;@i EEEEE! 6G ~G A) A9 NM >֏,I]?jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5036739fa/@f/=@YfcYyfri=fHg1ǿ`b ?ϔ?j ?9?`0?? fa/@fH|;)fCn-xBrIMb@Mb@Mb@ )YʡE?S㥫I +y?/]94 A)\AIA Ay= AI5I5 3M,= M-=yMOQ U>٥QY eHe(FeZ m>qp5u֜?p59uZ IuHByS?:7@@ukEiuV;ujW;uiIp5%@AE1eB*** querying acoustic contact ***JaRaDNOT Ignoring new targets: 43.49 m.XX ProNav: ac range: 43.486240 m, nav range: 41.573620 m, bearing: 161.521149 deg, approach rate: -0.677245 m/s, LOS rate: -0.047325 deg/s, cmd heading: 167.804593 deg, new cmd heading: 167.743063 deg. HeadingCmd: 2.927669 target range: 43.486240 and range: 43.80 m.b^;@ZrjRJB~~zB}|1|1|9|=fb@ zB靅tI))-&1I5a 99=o]2ݏ,Yw?jA$9>&$/@>7=@Y>OZy>yi=>H h`d"ǿ??kʦ?`wQ? ? ? >&$/@>$;)>CJ)xBJI)L NAIPIPZ ^f=y^ Q ^>٥\` bH`b: b>djp5f$ ֜?np59f IfKByln7@n@fkEif:f@:fLp5zBz/@AzE%DNOT Ignoring new targets: 43.49 m.!%V-V5 ProNav: ac range: 43.486240 m, nav range: 41.355522 m, bearing: 161.505685 deg, approach rate: -0.658991 m/s, LOS rate: -0.046971 deg/s, cmd heading: 167.743067 deg, new cmd heading: 167.696431 deg. ==HeadingCmd: 2.926855 target range: 43.486240 and range: 43.80 m.b=Q;@ZArAjARAJB~~}|||| @ zBIA)E*(AIE&" IIMa;H]CHYHYH] =HYH])DH]"<H]EH!H!H!H!I! I%2#6ԩ6GY~G A A N >ױ ׵ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259910], ?jA9B*/@B9>=@YBQ1\yBYmi=BHi ǿQ-? ٥ii mHm)Fu}: u>yp5}՜?p59} I}OBy ?:7@@}kEi}:}:}2Pp5@AEDNOT Ignoring new targets: 43.49 m.JJ ProNav: ac range: 43.486240 m, nav range: 41.089832 m, bearing: 161.487104 deg, approach rate: -0.629348 m/s, LOS rate: -0.044297 deg/s, cmd heading: 167.696430 deg, new cmd heading: 167.640328 deg. 4HeadingCmd: 2.925876 target range: 43.486240 and range: 43.80 m.bA;@ZrjRJBq~~uzB}||||x @ MzBMfII)M'QIUΗ$ QQU7<]A;@]@<]"V=i]A;@iaIR=Ip=:JZBJ\JJARJZJ9bJ[9J4JzJ/:jJ4:JӁ:rJԁ:UDAT read: 14:26:04.5919 LVL= 22048, 29681, 17474, 31203, AGC= 65, IDX= 406, 0.40,-0.751,-2.076,-0.502,-1.112, PHS= 0.449,-0.917, 0.607, RAW= 155.4, -1.9, CAL= 158.7, -10.5, ROT= 351.3, 10.5 ]Ygot valid direction response: 14:26:04.5919 LVL= 22048, 29681, 17474, 31203, AGC= 65, IDX= 406, 0.40,-0.751,-2.076,-0.502,-1.112, PHS= 0.449,-0.917, 0.607, RAW= 155.4, -1.9, CAL= 158.7, -10.5, ROT= 351.3, 10.5 ePDAT read: Bearing 351.3, 10.5 (Local) m~Local bearing/azimuth received: Bearing 351.3, 10.5 (Local) DAT read: Range 10 to 50 : 41.7 m (Round-trip 55.6 ms) speed 0.6 m/s ,DAT read: user:2114> BDAT read: Tx time:14:26:05.6822 $Ping request sent.%j%Zd? !)%I%E1@i%f;%3@%f;> !)!%,>?*Vه?QSi%5?%O =%|%f;> !)!e:publishing transmit ping timeڑmFpublishing direction and range info!y%`$?x ÿm~Sǿ!Y! !)!I!i!!!!! !)!I!i!!! !)!%,>?*Vه?QSi!!!! !)!a 6G JR=~G A A N >:,h?jA9r8/@rK=@Yr'\yri=rH`LjhƿQ0?F]?wm ?`?#?@? r8/@rƊ;)rC~3xBII-I-2AMn< MK=yMENQ U>٥QQ UHJDAT read: TxSync time:14:26:05.6814 *F; >p5՜?p59 ISBy7@@kEiW::Sp5B@AEZQbUޝ?jAU%BU%BU X4@ʁU 4D@8.U`$?x ÿm~SǿU|Uf;>ҁUyMpC.0^*@gMU ] ژ)?pR;zUPAUjUE-ɜ?rU݅ou U`aBQU݅ou  U]BUj#BUjC4@ addTargetRange:: Added new target pos. range: 41.700001 m, deltaT: 3.544142 s, deltaX: -2.099998 m, approachRate: -0.592527 m/s, rangeRepo size: 4  Added new target pos. range: 41.402512 m, bearing: 161.452283 deg, lat: 36.906439 deg, lon: -122.115964 deg, deltaT: 3.544142 s, deltaX: -2.083729 m, approachRate: -0.587936 m/s, posRepo size: 4 DNOT Ignoring new targets: 41.40 m. ProNav: ac range: 41.402512 m, nav range: 40.854183 m, bearing: 161.380126 deg, approach rate: 0.000000 m/s, LOS rate: -0.044297 deg/s, cmd heading: 167.640327 deg, new cmd heading: 167.582889 deg. HeadingCmd: 2.924873 target range: 41.402512 and range: 41.70 m.b1;@ZrjR!J!B!~!~)})|I|Q|UD@|U`? zB靥 ưI)&I& O<1;@2<\=i1;@iiEEEEl0Eԑ6G R`U=K% P"K% 9*K! 2K% :K% ;R1  O2 U,'zbe2gH >H H IH xBH H H H <H E~G A A N >!,?jA9FTb/@Fu=@YF_yF$h=FHmPƿX? ?Sq듧?? ?? FTb/@FZ;)FCR5xBVIib=Ib=IrIr#3 u; N=yQ >٥! %H!ԙ=; >=p5z՜?]p59F IWByam7@m@kEip<|m<gWp5?AEDNOT Ignoring new targets: 41.40 m.oUoU ProNav: ac range: 41.402512 m, nav range: 40.593609 m, bearing: 161.359625 deg, approach rate: -0.589160 m/s, LOS rate: -0.046650 deg/s, cmd heading: 167.582885 deg, new cmd heading: 167.520988 deg.  HeadingCmd: 2.923793 target range: 41.402512 and range: 41.70 m.b-l;@Z)r)j1R1J1B9~9~9}9|A|A|A|E? zB~íI)&I) ռ<l;@{<ؽi=il;@iEeEaEaEep0Ea6G g\=I I BA:J BJ PJJ DRJ ZJ bJ *9J 4J zJ jJ J -:rJ -:) ~G A A N >N,f?jA9j]/@jq=@Yj_`yjo=jH @m@ƿIu?(?XpxP?K?LЭ?? j]/@jƼ;)hBxBIMb@Mb@Mb@ )YX9v?Mby&1|y?@` )I Ay AI- I-b3< 3=yQ >٥ H+F$ >p5ѷ՜?p59~ I\Byk?:8@@kEi;;([p5$B@AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 41.40 m.%%5 ProNav: ac range: 41.402512 m, nav range: 40.328476 m, bearing: 161.333791 deg, approach rate: -0.693753 m/s, LOS rate: -0.068043 deg/s, cmd heading: 167.520990 deg, new cmd heading: 167.442977 deg. 5:=HeadingCmd: 2.922431 target range: 41.402512 and range: 41.70 m.b= ;@Z9r9jARAJABA~I~I}I|I|Q|Q|U? }zB靍ӵI)3$I7* < ;@<Hl=i ;@i!EEEAEAEE3EAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I6G- l=~G A A) N= >y v,u?jA9Ji/@J|=@YJ_yJ y=JH`jnƿু??fp@G?f??@? Ji/@JDV;)JCVZxBVII^I^M3f= fo=yf#:Q f?٥hh jHj,Fn ; n?xzp5z}՜?~p59z Iz`By|~8@~@zkEiz;ze;z)^p5  ?A E15DNOT Ignoring new targets: 41.40 m.1==M ProNav: ac range: 41.402512 m, nav range: 40.116451 m, bearing: 161.312651 deg, approach rate: -0.621562 m/s, LOS rate: -0.062299 deg/s, cmd heading: 167.442975 deg, new cmd heading: 167.379222 deg. M+UHeadingCmd: 2.921319 target range: 41.402512 and range: 41.70 m.bU:@ZQrQjYRYJaBa~q~q}q|q|q|y|m? zB靵 I)uIԼ, +k<:@_<r=i:@iYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498850E5E1E1E50E1G)G)H5>H1H5IH5xBH5 =H1H5*DH5<H5EKMVP"KI*KI2KM:KM{X*>&okZ\cc=LyVLs-^6n-h  U   +ԁ6G}Rk=~GAA N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751476 ^,aS@jA9FS/@F g=@YFkZyF==FH@lDƿg?`(? lrͫ?@*J?? ? FS/@FyW;)FCNdxBNI)P RA-Mb@Mb@Mb@))) )))Y-V-?I +Mbpy-?-94-- A -3A)-AI-A A)y-AIUIU2e̼< eA=ye?;Q m>٥ii mHiuM u>yp5}[՜?p59}] I}fByU?:8@@}kEi}:}4:}ap5?ADNOT Ignoring new targets: 41.40 m.ߓߓe ProNav: ac range: 41.402512 m, nav range: 39.858078 m, bearing: 161.285549 deg, approach rate: -0.612266 m/s, LOS rate: -0.064640 deg/s, cmd heading: 167.379222 deg, new cmd heading: 167.297389 deg. er1mHeadingCmd: 2.919890 target range: 41.402512 and range: 41.70 m.bm{:@ZirijiRiJiBi~~dzB}||||z?Ա zBI)^Iz. J<{:@<r=i%{:@i!:JBJRJJRJZJbJS29JJzJ.:jJ3:J;:rJ<:E%E!E!E%3E) P?a= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002376 6GM ghs=~G! A1 AQ Nu >9 ,Z.,@jA9>8>/@>Q=@Y>8Xy>Tډ=>H7k@ƿ@Kk? zR?@ib??1?? >8>/@>;)>CFfxBFIInInm?3v; vR=yz:Q z>٥xx ~H~-F~.] > p5}՜?p59 IkBy8@@kEi::?ep5!-?A-EQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253632eDNOT Ignoring new targets: 41.40 m.amqmq} ProNav: ac range: 41.402512 m, nav range: 39.619705 m, bearing: 161.260677 deg, approach rate: -0.609847 m/s, LOS rate: -0.064016 deg/s, cmd heading: 167.297383 deg, new cmd heading: 167.222317 deg. }/HeadingCmd: 2.918580 target range: 41.402512 and range: 41.70 m.b:@ZrjRJB~~}||||95@ zBI),I0 r!<:@m<Sr=i:@iEEEEP0EA6Gs=~GAAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505663i H5 >H5 CH5 IH5 xBH5  =H1 H1 H5 <H5 EK [pP"K 9*K 2K :K zKF=oVv</Sj, LoP#wQr/^LYxJ J APr,4F@jA 9fG%/@f8=@YfWyf׋=fH`i ǿo?`?`f`c??Lq?? fG%/@fp;)dzxB~II I2%:= %G=y-:Q ->٥)) 5H5.F5r 5>9Ep5=Di՜?Ep59= MtII=pByIM8@M@=kEi= :=:=hp5U#BU?A]EAuDNOT Ignoring new targets: 41.40 m.y ProNav: ac range: 41.402512 m, nav range: 39.367672 m, bearing: 161.234607 deg, approach rate: -0.579975 m/s, LOS rate: -0.060375 deg/s, cmd heading: 167.222319 deg, new cmd heading: 167.143610 deg.  %MHeadingCmd: 2.917206 target range: 41.402512 and range: 41.70 m.bU:@ZQrYjYRaqJB~~}||||]@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757540 zB靅VI)I$3 <:@<_r=i:@iEYEYEYEYEYԙ :J \BJ NJJ ARJ ZJ =:bJ !9J 4J zJ :jJ :J U:rJ W:6G ghs=~G A  BDAT read: Rx Time:14:26:08.1389 % TRx dataTimestamp_ set to:1749133569.491477% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010697A NM >,_@jAX5GQq %YyBxBIi)>I;MMb@Mb@Mb@III I)IYMv?Zd;OyM?Mj٥ H >p5Q՜?p59 IwByH?:N8@@lEi::mp5>AB*** querying acoustic contact ***JR DNOT Ignoring new targets: 41.40 m. % ProNav: ac range: 41.402512 m, nav range: 39.079258 m, bearing: 161.206785 deg, approach rate: -0.625178 m/s, LOS rate: -0.060754 deg/s, cmd heading: 167.143608 deg, new cmd heading: 167.059526 deg. %&-HeadingCmd: 2.915739 target range: 41.402512 and range: 41.70 m.b-w:@Z)r)j1R1J1B1~9~=zB}9|9|9|A|E`\ @ zBܩI)IP4 9<w:@r<I`x=iw:@iEEEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2629491 6G q=~G A A N >,y@jA9.@<@YTy-=Hb@"ǿ@?{ ? pb1?`?]?`(? .@܆;)CxBIIEIE 3UQ6= Uc=y];Q ]>٥Ya eHe/Fu= u>yp5}&@՜?p59} I}}By 8@@}lEi};};}9pp5\>A«EDNOT Ignoring new targets: 41.40 m.Q}Q} ProNav: ac range: 41.402512 m, nav range: 38.863319 m, bearing: 161.187030 deg, approach rate: -0.601846 m/s, LOS rate: -0.055367 deg/s, cmd heading: 167.059529 deg, new cmd heading: 166.999933 deg. HeadingCmd: 2.914699 target range: 41.402512 and range: 41.70 m.bl:@Z%DAT read: 14:26:08.1389 LVL= 22048, 29377, 17042, 32755, AGC= 65, IDX= 407,-0.00,-0.643,-1.950,-0.369,-1.006, PHS= 0.451,-0.897, 0.634, RAW= 156.3, -2.6, CAL= 159.7, -11.0, ROT= 350.3, 11.0 5Ygot valid direction response: 14:26:08.1389 LVL= 22048, 29377, 17042, 32755, AGC= 65, IDX= 407,-0.00,-0.643,-1.950,-0.369,-1.006, PHS= 0.451,-0.897, 0.634, RAW= 156.3, -2.6, CAL= 159.7, -11.0, ROT= 350.3, 11.0 5PDAT read: Bearing 350.3, 11.0 (Local) =~Local bearing/azimuth received: Bearing 350.3, 11.0 (Local) EDAT read: Range 10 to 50 : 39.4 m (Round-trip 52.6 ms) speed 0.8 m/s M,DAT read: user:2115> UBDAT read: Tx time:14:26:09.2322 U$Ping request sent.UˡeM"? .@)9Ib2@i D@ D> )D?r#?~yi"?;=4\- D> ):publishing transmit ping timeQFpublishing direction and range infoyý:?p<+ſP@mlȿH>HCH&IHyBH =HH)DH<HEAY )Ii )Ii )D?r#?~yi )K P"K*K2K:K#dsIQR&$c\0&K6.FKQ;j3+J>J ? EzBEJIA)E IIM6 IIMףv$,h[@jA9z.@zc<@Yz;Ryz v=zH )` ǿ!?`H?`a.@?[? Į?O? z.@zΆ;)zC-xB-IԙuMb@Mb@Mb@qqq q)qYuʡE?Q롿Mb`yu-?u\uu A uA)qIu+ Aqyu(AII(*3= D=y:Q >٥ H0F{ >p5,՜?p59 IBys?:8@@lEi:o:sp5)5>A5ūEZ)b-@jA-zB-zB-Q2@ʁ-B@Y4xEn-ý:?p<+ſP@mlȿ-4\-- D>ҁ-- /B %"ŝP*@l <-J˿'?AD>ÿz-RA-xj-3ɜ?r-fc -:aB)) -:aB-B-t4@ addTargetRange:: Added new target pos. range: 39.400002 m, deltaT: 3.528761 s, deltaX: -2.299999 m, approachRate: -0.651787 m/s, rangeRepo size: 4  Added new target pos. range: 39.119160 m, bearing: 160.110359 deg, lat: 36.906439 deg, lon: -122.115964 deg, deltaT: 3.528761 s, deltaX: -2.283352 m, approachRate: -0.647069 m/s, posRepo size: 4 DNOT Ignoring new targets: 39.12 m. ProNav: ac range: 39.119160 m, nav range: 38.624477 m, bearing: 161.159957 deg, approach rate: 0.000000 m/s, LOS rate: -0.055367 deg/s, cmd heading: 166.999928 deg, new cmd heading: 166.927916 deg. HeadingCmd: 2.913442 target range: 39.119160 and range: 39.40 m.b-u:@Z)r)j)R)J)B)~1~5zB}1|1|9|=@3C@|= V? zB靭񷧽I)I8 o<u:@<Qk=iu:@i EEEE\0E6GuRk=~G1A9AQN]>9 *,B@@jA~xB~I) AI 'I @3En!= Ee=yEQ M>٥II MHIY]AU ]>amp5e!՜?mp59e IeByqqu@e lEie;e;evp5y}=Ay|Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1}Entering USBL mode with 120.000000 count pings at 39.400002 m (mode 2.000000 count ).1}q}DNOT Ignoring new targets: 39.12 m.UUe ProNav: ac range: 39.119160 m, nav range: 38.423237 m, bearing: 161.136885 deg, approach rate: -0.586456 m/s, LOS rate: -0.067589 deg/s, cmd heading: 166.927911 deg, new cmd heading: 166.858332 deg. e9eHeadingCmd: 2.912227 target range: 39.119160 and range: 39.40 m.bma:@ZirijiRiJqBq~q~q}y|y|y|y|}_? 9I):I: -<a:@<-߉p=i5a:@i9EEEE0EA:J[BJJJBRJZJ:bJJ-4J@@@@i6GA H >H H EIH ;yBH  =H H *DH <H EHɓCHɓCHH =I = I~k5~G A) AA N] >K eP"K ŷ9*K 2K :K  yR0'9 kG[!$hY<HE%`F8 fFJ AJ ԑ 1, @jA96.@6<@Y6xWy6ҟd=6Hj`ǿBί?@|9?c?@?`?`? 6.@6 ;)6C~xBIIIM3=J= =K=yEz3Q E>٥AA EHM1FMΕ: M>Qup5Uh ՜?}p59U8 IUBy8@@UlEiU;Uȓ;Uzzp5"B=AȫE:^@q}}DNOT Ignoring new targets: 39.12 m. ProNav: ac range: 39.119160 m, nav range: 38.194511 m, bearing: 161.110219 deg, approach rate: -0.570001 m/s, LOS rate: -0.066852 deg/s, cmd heading: 166.858339 deg, new cmd heading: 166.777861 deg. 7HeadingCmd: 2.910823 target range: 39.119160 and range: 39.40 m.bJ:@ZrjRJB~~} ||!|)|5`?y -zB-UI1)=l9I=V; AA}0<J:@7<%w=iJ:@iԡEyEyEyE}0Ey6G ap=~G A A N > 7,@jA9}.@}y<@Y} 5Yy}Y=}H@>]fȿί?w? a₥?_#?@)?`? }.@}͆;)}CxBIMb@Mb@Mb@ )YS?L7A`堿y?+ A A)3AI AyAI=I=(*3}!< +=y*hQ >٥ H2F >yp5}EԜ?p59}\ I}ByZ?:8@@}lEi};}o;}~p5P=AB}}%B*** querying acoustic contact ***J!R%x)5DNOT Ignoring new targets: 39.12 m.1=۔=۔ ProNav: ac range: 39.119160 m, nav range: 37.911892 m, bearing: 161.076774 deg, approach rate: -0.545784 m/s, LOS rate: -0.065070 deg/s, cmd heading: 166.777865 deg, new cmd heading: 166.676782 deg. 2HeadingCmd: 2.909059 target range: 39.119160 and range: 39.40 m.b.:@ZrjRJB~~zB}|!|!|!|%@+? qu&לIq)}I= s<.:@><Yu=i.:@iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E=E9E9E=o0EA) Q 6Gu v=~GI AY Ai N} >>,1@jA:JZBJMJJARJZJ9bJ9J4J9n<.@n<@YnFTyn(W=nHZ]ȿ >?ӵ?@^R? :?`? ? n<.@n?f;)nCzyBz'Ii~;>I~a>IIm?3.= a=ygH;Q >٥! %H!53 5>9Ep5=Ԝ?Ep59= I=ByAM8@M@=lEi=;=7;=ցp5QUHmCHmdIHmmyBHiHiHiHm<HmE 靥lI)龉IM> Q<,:@<>s=i,:@iK_P"K9*K2K:Kl%^4?-I({Bh@I/N\ 2G v)=1zA>E}EyEyE}p5Ey1i6Gi m A} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258243~G A A N% >ԉ wE,AjA%yB%3IMb@Mb@Mb@ )YV-?+Mb`?y ?; A)I AyAIIM3B= ?=yQ >٥ H3F >p5Ԝ?p59~ IBy ?:8@@lEiy;` ;p5 !B  AK,0AjAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7602409f7.@fZK<@YfQPyfR=fH-S Jɿ?@\U?$W?M?VL?? f7.@fJx;)dr/yBr>IIzIz2 9= X=yD;Q >٥ H%wV %>)-p5-ɾԜ?5p59- I-By157@5@-lEi-;-;-݈p5AEQH}CH}IH}yBH} =HyHyH}<H}E~G A ) A1 N= >K= P"K= 9*K9 2K= :K= a CEC+^<U_{- dY R,JAjA9b.@b'<@YbeMyb1P=bH`OHɿsZ?? SX?H?`?? b.@b;)bCn7yBnDI)p pIvIvM3~< ~K=yD:Q >٥ H4F-߭ 5>Amp5E`Ԝ?}p59Ej IEBy7@@E lEiEb U BDAT read: Tx time:14:26:12.7822 U $Ping request sent.U J ? o 7!? ,@) AI '0@i +H6G i= @ +H> ) \ |? R?#Qi ? QB= +H> )  :publishing transmit ping timeQ  Fpublishing direction and range info ~G A A! N5 >+Y,vfAjAy%2?tmwmVѫȿ!Y! !)!I!i!!!!! !)!I!i!!! !)!%\ |? R?#Qi!!!! !)!jchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.0881349s-@<@YLyX=H`L`߃ɿ/??O@M^?@ޗ? ?K? s-@MS;)CKyBOIԹMb@Mb@Mb@ )Ykt?V-MbPy ? A )AIyAI I 35= 5=y=T9Q =>٥99 =HE5FEb E>UJDAT read: TxSync time:14:26:12.7814 ]checking for new query: numPingsReceived=1, elapsed TxPingTime=0.236641iup5mAԜ?}p59mI ImBy}Q?}:}8@}@m%lEim:m:mip5;AZ!b%paAjA%#B%#B%w-4@ʁ%4,B@ ,hx ɰ%2?tmwmVѫȿ% %+H>ҁ%,ZVAueHw'@2%orÌNF?p+%*wÿz%;A% j% ͆(ɜ?r%_+&| %bB% ͆(ɜ?! %`aB%B%3@E addTargetRange:: Added new target pos. range: 37.299999 m, deltaT: 3.527027 s, deltaX: -2.100002 m, approachRate: -0.595403 m/s, rangeRepo size: 4 } Added new target pos. range: 37.034248 m, bearing: 161.303379 deg, lat: 36.906440 deg, lon: -122.115964 deg, deltaT: 3.527027 s, deltaX: -2.084911 m, approachRate: -0.591124 m/s, posRepo size: 4 DNOT Ignoring new targets: 37.03 m. ProNav: ac range: 37.034248 m, nav range: 36.685989 m, bearing: 160.926334 deg, approach rate: 0.000000 m/s, LOS rate: -0.043279 deg/s, cmd heading: 166.417914 deg, new cmd heading: 166.351199 deg. %HeadingCmd: 2.903376 target range: 37.034248 and range: 37.30 m.b%9@Z!r!j!R)J)B)~)~5{B}1|1|1|5`fB@|="? EzBMJÒII)UɾQI}E .<9@<Ne=i9@i EQ EQ EQ EU Q4EQ :J [BJ OJJ ERJ ZJ :bJ %9J 4J A  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.489018 H <H =H >H H IH yBH  =H H H <H E6G5g=~GA!A1NE>|a,erAjA9N-@N;@YN:KyN8`=NHIɿ?)?L:?{?? ? N-@Nֆ;)NCKVwO"KVK9*KT2KV :KVQY5 s%ra$ zH\A b4/ZSwdR@>GdbWyBbWIIj#Ij%x3n$= rd=yr:Q r>٥tt vHv6Fz z>|~p5~Ԝ?p59~ I~By8@@~)lEi~;~;~p5 B;AҫE-B*** querying acoustic contact ***J1R19=DNOT Ignoring new targets: 37.03 m.AE_E_U ProNav: ac range: 37.034248 m, nav range: 36.487526 m, bearing: 160.902604 deg, approach rate: -0.590424 m/s, LOS rate: -0.070979 deg/s, cmd heading: 166.351197 deg, new cmd heading: 166.279621 deg. ]B]HeadingCmd: 2.902127 target range: 37.034248 and range: 37.30 m.b]r9@ZarajaRaJaBi~y~}|||| \,? I)þI1E g<r9@z(<i{c=ir9@iaEEEEO0Euchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.739937ԉ6G$g=~GaAqAN>Ա g,x%AjA9JI-@J;@P)X XYJS r>r$@vchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.992575yJk.=GJH Fnɿ\?`C?`M˟?`;x?@Kĥ?? JI-@AJz&;)JC XYAyIB}kyB}cIi=I==Mb@Mb@Mb@999 9)9Y=/$?L7A`堿~jtxy=&?=+=Ļ9 =A)9I= A9y=3AIeIe 3u$= u(=yu$Q u>٥yy }Hy}7 >p5kԜ?p59 IByg?: 8@@-lEi ;;p5S;AիEDNOT Ignoring new targets: 37.03 m.qq ProNav: ac range: 37.034248 m, nav range: 36.212662 m, bearing: 160.872671 deg, approach rate: -0.563490 m/s, LOS rate: -0.061830 deg/s, cmd heading: 166.279617 deg, new cmd heading: 166.189137 deg. )HeadingCmd: 2.900548 target range: 37.034248 and range: 37.30 m.b9@ZrjR J B ~~{B}||||? zBqI)xIqG 4g<9@ ɷ< ud=i 9@i EEEEP0Echecking for new query: numPingsReceived=1, elapsed TxPingTime=1.243830! 6G 'd=~G A A N >/m,AjAmyBeII5I5[3E; Mu=yMQ M?٥QQ UHU7FU U?Yep5]<\Ԝ?mp59] I]Byiim@]0lEi]:]:]p5quI;AyDNOT Ignoring new targets: 37.03 m. ProNav: ac range: 37.034248 m, nav range: 36.023914 m, bearing: 160.851852 deg, approach rate: -0.570556 m/s, LOS rate: -0.063264 deg/s, cmd heading: 166.189130 deg, new cmd heading: 166.126344 deg. -HeadingCmd: 2.899452 target range: 37.034248 and range: 37.30 m.b9@ZrjRJB~~}||||` $? zBI)!I%ZbH !!%<9@<)i=i9@ichecking for new query: numPingsReceived=1, elapsed TxPingTime=1.497015)H]>H]CH]IH]yBHYHYHYH]<H]EEEEEEKO"K}9*K2K!:Kij n{ i,i9i`j!AAGz)J%AJ%AQ6G  checking for new query: numPingsReceived=1, elapsed TxPingTime=1.749708t,AjA95 -@5_ ;@Y5Wy5Y< E;=yEQ E>٥AI MHM8FM+˼ U>Q]p5U1HԜ?ep59U IU…Bye3?e:e<7@e@U4lEiU#:U :Uwp5mBu1;AuثEDNOT Ignoring new targets: 37.03 m.gg ProNav: ac range: 37.034248 m, nav range: 35.776936 m, bearing: 160.829807 deg, approach rate: -0.564099 m/s, LOS rate: -0.050698 deg/s, cmd heading: 166.126347 deg, new cmd heading: 166.059756 deg. , HeadingCmd: 2.898289 target range: 37.034248 and range: 37.30 m.b}9@ZrjRJB~~ {B}||||T? zB#I)᷾I%٪I !!%9<-}9@-r<-rD=i-}9@i1ԉEEEE^0EJ[4J[>4J[0:JZBJMJJ@RJZJ9bJ9JJ4JzJ.:jJ3:J*:rJ,:checking for new query: numPingsReceived=1, elapsed TxPingTime=2.000631Ա6G}xd=~G A A N > [z,AjAyBqI) ԹIIb= S=yQ >٥ H >p5Z6Ԝ?p59] IƅBy@8lEiT;;ܢp5  :A 9=DNOT Ignoring new targets: 37.03 m.9EkEkU ProNav: ac range: 37.034248 m, nav range: 35.557110 m, bearing: 160.809928 deg, approach rate: -0.564563 m/s, LOS rate: -0.051370 deg/s, cmd heading: 166.059753 deg, new cmd heading: 165.999747 deg. ]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.251825] eHeadingCmd: 2.897242 target range: 37.034248 and range: 37.30 m.bejl9@ZarijiRiJqBy~y~y}||||1@ zB靽I)lIJ <jl9@<p"M=ijl9@irE]>jE>EMEIEIEM`0EI6G%}M=~GAA NK> ? %= checking for new query: numPingsReceived=1, elapsed TxPingTime=2.504490HM >HM CHM IHM zBHM  =HI HI HM <HM EH9H=ʔCH9H= =I9 I=eh5A Ё,BjAKnJP"Knŷ9*Kl2Kn":Kn*MJQc\G6xbjN-\0u3JxJz ?9=΢,@=-:@Y=3Sy=U==HP(~̿@?Bl?-/?{c?? ? =΢,@=";)=CMyBUoIIeIe3m uP=yu;Q u>٥yy }H}9F} >p5T$Ԝ?p59 IɅBy6@@;lEi;r;Kp5:A۫EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 37.03 m.TT ProNav: ac range: 37.034248 m, nav range: 35.334511 m, bearing: 160.791856 deg, approach rate: -0.569568 m/s, LOS rate: -0.046533 deg/s, cmd heading: 165.999743 deg, new cmd heading: 165.945185 deg. zHeadingCmd: 2.896290 target range: 37.034248 and range: 37.30 m.b\9@ZrjRJB~~}||||L@ =zB=ؘI9)==AIEQK AAEFԙ :J BJ LJJ ARJ ZJ bJ q9J 4J zJ /:jJ 4:J :rJ :,yy!BjAbBDAT read: Rx Time:14:26:15.2336 bTRx dataTimestamp_ set to:1749133576.547316bchecking for new query: numPingsReceived=1, elapsed TxPingTime=3.0087909f,@f}:@YfɩSyf!GT=fH`(@,̿`ݤ? g?`U-?5r?`|?? f,@f;)fC9=pIq-Mb@Mb@Mb@))) )))Y-٥ H9 >p5OԜ?p59 I΅By?:U6@-@?lEiN;;=p5=BE:AEޫEDNOT Ignoring new targets: 37.03 m. 5 5 ProNav: ac range: 37.034248 m, nav range: 35.074219 m, bearing: 160.773728 deg, approach rate: -0.563974 m/s, LOS rate: -0.039570 deg/s, cmd heading: 165.945183 deg, new cmd heading: 165.890395 deg. ?ٺHeadingCmd: 2.895334 target range: 37.034248 and range: 37.30 m.b%M9@ZrjRJB~~zB}||||` @ UzBUaIQ)U볾QI]AM YY]KS<%M9@{f<>=i%M9@iԙEEEE}0EmAmAuchecking for new query: numPingsReceived=1, elapsed TxPingTime=3.2599156G 7=~G A A N > :$,UP;BjA9J,@J:@YJ~SyJHa=JH'g̿@R?~v?`s+?`iz??? J,@J;)HVyBVwIiZ>IZ<IbIb<2f= jp=yj@AQ j?٥ll nHn:Fr r?pvp5rӜ?zp59rB IrхByxzN6@z@rBlEir:rY;r,p5:A9EDNOT Ignoring new targets: 37.03 m.AE=E=U ProNav: ac range: 37.034248 m, nav range: 34.880539 m, bearing: 160.760193 deg, approach rate: -0.590675 m/s, LOS rate: -0.041506 deg/s, cmd heading: 165.890391 deg, new cmd heading: 165.849562 deg. ]]HeadingCmd: 2.894621 target range: 37.034248 and range: 37.30 m.b]xA9@ZarajaRaJaBa~i~i}i|i|i|q|u @ zB靵dԝI)BI=$N ><xA9@<x?=ixA9@izE!H>HHIHzBHHH)DH<HEUDAT read: 14:26:15.2336 LVL= 22208, 27281, 16242, 28099, AGC= 65, IDX= 415, 0.36, 2.508, 1.088, 2.708, 2.085, PHS= 0.512,-0.949, 0.620, RAW= 153.5, -2.4, CAL= 157.2, -11.0, ROT= 352.8, 11.0 Ygot valid direction response: 14:26:15.2336 LVL= 22208, 27281, 16242, 28099, AGC= 65, IDX= 415, 0.36, 2.508, 1.088, 2.708, 2.085, PHS= 0.512,-0.949, 0.620, RAW= 153.5, -2.4, CAL= 157.2, -11.0, ROT= 352.8, 11.0 PDAT read: Bearing 352.8, 11.0 (Local) ~Local bearing/azimuth received: Bearing 352.8, 11.0 (Local) EEEE5EDAT read: Range 10 to 50 : 35.4 m (Round-trip 47.2 ms) speed 0.6 m/s ,DAT read: user:2117> BDAT read: Tx time:14:26:16.3323 $Ping request sent. )_i?^tND?Eͥig?|.= D> )]:publishing transmit ping timeFpublishing direction and range infoyhy*?F2~P@mlȿY )Ii )Ii )_i?^tND?Eͥi )checking for new query: numPingsReceived=2, elapsed TxPingTime=0.024205Ku%P"Kq*Kq2Ku#:Ku1 \%B@hK ,3'e<m<H4gb1)J}AJ}A6GT?=) ~G A A N > JDAT read: TxSync time:14:26:16.3315  checking for new query: numPingsReceived=2, elapsed TxPingTime=0.225313Y ,DUBjA%yB%yI!uMb@Mb@Mb@qqq q)qYuv?A`"٥ H;F =>AEp5EӜ?Mp59E¡ IEօByMs?M:M5@M@EGlEiE:E:Ep5y}:A}EZbDCBjA B Bg3@ʁ9:kA@&['L}tOqhy*?F2~P@mlȿ D>ҁՉte@$'@^eK1Y!?I¿z8A/jN Bɜ?rxq dB I B3@M addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 3.528587 s, deltaX: -1.899998 m, approachRate: -0.538459 m/s, rangeRepo size: 4 :J]YBJ]KJJ]>RJYZJ]9bJ]K9J]t4JYzJ]b:jJ]g:J] :rJ] : Added new target pos. range: 35.147655 m, bearing: 160.612511 deg, lat: 36.906440 deg, lon: -122.115964 deg, deltaT: 3.528587 s, deltaX: -1.886593 m, approachRate: -0.534660 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.15 m. ProNav: ac range: 35.147655 m, nav range: 34.572002 m, bearing: 160.748106 deg, approach rate: 0.000000 m/s, LOS rate: -0.041506 deg/s, cmd heading: 165.849561 deg, new cmd heading: 165.782615 deg. %HeadingCmd: 2.893452 target range: 35.147655 and range: 35.40 m.b%S.9@Z!r)j)QR)JQBY~a~ezB}a|i||@3A@|w?checking for new query: numPingsReceived=2, elapsed TxPingTime=0.469382 zB dI )  I O <S.9@<C=iS.9@iEEEE0EFFFFy ԩ ~G! A1 AA NM >V,R(qBjA9:,@:X:@Y:\y:@V=:H)˿_? E>?/@?j?? ? :,@:z;):CFyBF{IIN%IN)3Vw < V{=yZbӻQ Z ?٥XX ZHX^; ^ ?`jp5bxӜ?np59b6 IbمByln05@n@bJlEib^;bG_;b{p5pr:AtDNOT Ignoring new targets: 35.15 m.5checking for new query: numPingsReceived=2, elapsed TxPingTime=0.721518= ProNav: ac range: 35.147655 m, nav range: 34.379524 m, bearing: 160.739917 deg, approach rate: -0.645222 m/s, LOS rate: -0.027603 deg/s, cmd heading: 165.782611 deg, new cmd heading: 165.757908 deg. =EHeadingCmd: 2.893021 target range: 35.147655 and range: 35.40 m.bEC'9@ZArAjARAJAB~~}||||#? BI)IXP <%C'9@%"P<%K=iEC'9@iIԉEEEEf4E~GAAN>Աchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.973260 H<H<H>HHIH$zBH =HH*DHP<HaE ) ,BjA9>O,@>:@Y>M^y>q\=>H@$9̿>??+*@n?<ƫ?9?` ? >O,@>[;)>CKN$P"KN9*KL2KN$:KNr 51 lXWosz0h6`Ih[\nyBn|I)p pIvIvT3; %D=y%mQ %>٥)) -H-1]p55qӜ?ep595. I5ޅByae5@e@5NlEi5;5;5 p5mBm:AmEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 35.15 m.kйkй ProNav: ac range: 35.147655 m, nav range: 34.129753 m, bearing: 160.730310 deg, approach rate: -0.587839 m/s, LOS rate: -0.022777 deg/s, cmd heading: 165.757913 deg, new cmd heading: 165.728880 deg. zHeadingCmd: 2.892515 target range: 35.147655 and range: 35.40 m.b9@ZrjRJB~~}||||/? zB靽I)ګIQ O< 9@5<=Y#B=i=9@iIbEZE|Aechecking for new query: numPingsReceived=2, elapsed TxPingTime=1.227822EEEE4EI~GAAN k>i I 4=I :J ZBJ LJJ @RJ ZJ 9bJ q9J J4J zJ .:jJ 3:J :rJ : checking for new query: numPingsReceived=2, elapsed TxPingTime=1.477441è,¤BjA09>f,@>y:@Y>`y>^=>H/ `V̿ʰ?@8?%Ť?"?ǫ?? >f,@>3;)>CRyBRIMb@Mb@Mb@ )YK?&1٥AA EHE=FMb M>Q]p5UӜ?]p59U IUBy]?e:e"5@e@USlEiU:U:Up5im:AmEDNOT Ignoring new targets: 35.15 m.5 ProNav: ac range: 35.147655 m, nav range: 33.863365 m, bearing: 160.719069 deg, approach rate: -0.600433 m/s, LOS rate: -0.025537 deg/s, cmd heading: 165.728885 deg, new cmd heading: 165.694896 deg. =4=HeadingCmd: 2.891922 target range: 35.147655 and range: 35.40 m.b=>9@ZArAjARAJABA~I~MzB}i|i|q|q|u,?ԉ zB 1ݖI ) Щ IR <>9@X<*==i>9@i!EEEEO0E~GA!AI]checking for new query: numPingsReceived=2, elapsed TxPingTime=1.729407New> ,7BjA96B,@6[V:@Y6]y6`=6H t̿5?%?!?䴫?@?`? 6B,@6{u;)6CFyBFIIN#IN%x3VT= Vg=yZ9;Q Z>٥X\\ ^H\bȻ b>djp5fӜ?jp59fJ IfByln4@n@fVlEifw;f;fp5pr=:Ap!%DNOT Ignoring new targets: 35.15 m.!-^-^ ProNav: ac range: 35.147655 m, nav range: 33.649002 m, bearing: 160.710682 deg, approach rate: -0.622797 m/s, LOS rate: -0.024520 deg/s, cmd heading: 165.694898 deg, new cmd heading: 165.669579 deg. HeadingCmd: 2.891480 target range: 35.147655 and range: 35.40 m.b9@ZrjRJB~~}||||?H>HHIH/zBH =HH)DH2<H/Echecking for new query: numPingsReceived=2, elapsed TxPingTime=1.981350 tGI)IS <9@m>36G@A=I ~G9 } checking for new query: numPingsReceived=2, elapsed TxPingTime=2.235869A A N > ׵,~BjA]yB]Iim4>Im>Mb@Mb@Mb@ )YA`"?~jty&1|y?D` A )AIyII#3% %5=y%Q %>٥)) -H->F5 5>9Ep5=1Ӝ?Ep59= I=ByE?E:EA5@M@=ZlEi=s:=b:=p5QUF:AUEDNOT Ignoring new targets: 35.15 m.)5W5WE ProNav: ac range: 35.147655 m, nav range: 33.378918 m, bearing: 160.698067 deg, approach rate: -0.600397 m/s, LOS rate: -0.028270 deg/s, cmd heading: 165.669585 deg, new cmd heading: 165.631434 deg. E6MHeadingCmd: 2.890814 target range: 35.147655 and range: 35.40 m.bM9@ZirijiRqJqBq~y~}zB}y|y|||@@Y:J]BJNJJBRJZJ]:bJ!9J-4JzJ:jJ:JU:rJW:G-ZAA uYuZAyupB zB靭ڒI)nIU 0<checking for new query: numPingsReceived=2, elapsed TxPingTime=2.4854169@<p:=i9@irEl>jE>yEEEEEԙ 6G /7=u checking for new query: numPingsReceived=2, elapsed TxPingTime=2.737645~G A A N >ȼ,BjA9Vj5,@VH:@YVQ[yVve=VH`)`̿Ι?V@?U? f??d? Vj5,@V;)VCjyBjIIrIr1z = zD=yz:Q z>٥|| ~H~?F > p5 ,sӜ?p59  I By45@@ ^lEi K: y: p5!%:A!DNOT Ignoring new targets: 35.15 m. ProNav: ac range: 35.147655 m, nav range: 33.129539 m, bearing: 160.686585 deg, approach rate: -0.576477 m/s, LOS rate: -0.026743 deg/s, cmd heading: 165.631432 deg, new cmd heading: 165.596725 deg. ԒHeadingCmd: 2.890208 target range: 35.147655 and range: 35.40 m.b%+8@Z!r!j!R!J!B!~)~)})|)|1|1|5@ y}BI)IV Բ<+8@<W9=i+8@iEeEiEiEmP0EiAGGAAH%>EBDAT read: Rx Time:14:26:18.7808 ETRx dataTimestamp_ set to:1749133580.075530Mchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.990610H!H%IH%CzBH!H!H!H!H%,E6GM ‹9=q ~G) A1 AA NU >K} P"K} }9*Ky 2K} &:K} o" G@xJ8zA"sMX&Q'_^xPU!% Jo+ u΢Ð,@CjA09:2C,@:V:@Y:[y:&g=:H@,̿嘰?`%?! ?_? Ԭ?@D? :2C,@:`·;):CFyBFIIJIJ#3v< vL=yz$ 9Q z>٥xx ~H|~ ; > p5_Ӝ?p590 IByB5@%@blEi y;;$p5EBM9AMEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 35.15 m.- ProNav: ac range: 35.147655 m, nav range: 32.889717 m, bearing: 160.675024 deg, approach rate: -0.607070 m/s, LOS rate: -0.029478 deg/s, cmd heading: 165.596721 deg, new cmd heading: 165.561785 deg. checking for new query: numPingsReceived=2, elapsed TxPingTime=3.2436745ءHeadingCmd: 2.889598 target range: 35.147655 and range: 35.40 m.b%.8@Z!r)j)RQJQBY~iԙ~}||||t @ !%xI!)%!Im+W iim@9 ~G A ] BDAT read: Tx time:14:26:19.8823 e $Ping request sent.m x_ɿ Nu >=^ʐ,|+CjAڍ3BYډ ۍM)ۍ[Iۍ;iۍcwۍ?ۍ?ۍ+gۍX? ܍D +@)܍+HI܍^/@i܍I܍'@܍I> ݉)݉ݍ#0?Un?N މ)މ:publishing transmit ping timeqFpublishing direction and range infoډyڍ%Q%?@>x_ɿډYډ ۉ)ۉIۉiۉۉۉۉۉ ܉)܉I܉i܉܉܉ ݉)݉ݍ#0?Un?N٥qq uHu@F}u }>p5~FӜ?p59 IBy'?:4@@glEi/:8:p59AEZb9%CjA?B?BM3@ʁ@@U@%Q%?@>x_ɿ5I>ҁz>%@R\[j^? ##©7ÿze.Aj!ɜ?r%nr eB!ɜ?%nr  bBꁍBM3@JDAT read: TxSync time:14:26:19.8815 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.187927 addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 3.530557 s, deltaX: -2.100002 m, approachRate: -0.594808 m/s, rangeRepo size: 4  Added new target pos. range: 33.062309 m, bearing: 160.521506 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 3.530557 s, deltaX: -2.085346 m, approachRate: -0.590656 m/s, posRepo size: 4  DNOT Ignoring new targets: 33.06 m. =9M ProNav: ac range: 33.062309 m, nav range: 32.687561 m, bearing: 160.521437 deg, approach rate: 0.000000 m/s, LOS rate: -0.029478 deg/s, cmd heading: 165.561791 deg, new cmd heading: 165.513818 deg. IUHeadingCmd: 2.888761 target range: 33.062309 and range: 33.30 m.bUv8@ZQrjRJB~~zB}|||`f@@|@Z? AE-II)MIIMDX IIM[H H IH WzBH  =H H H I<H MEHH˓CHH =I Iˣ56G= ?=e checking for new query: numPingsReceived=3, elapsed TxPingTime=0.441159i ~G A A9 NM >Ϳѐ,6VGCjA9FQ7,@FJ:@YF[yFmr=FHV̿7ϰ?٥ H=AF= =>AMp5EN5Ӝ?Mp59Eُ IEByIU4@U@EklEiE`:E:Ep5B9AEDNOT Ignoring new targets: 33.06 m.FF- ProNav: ac range: 33.062309 m, nav range: 32.473080 m, bearing: 160.512068 deg, approach rate: -0.629515 m/s, LOS rate: -0.027679 deg/s, cmd heading: 165.513816 deg, new cmd heading: 165.485525 deg. -1UHeadingCmd: 2.888267 target range: 33.062309 and range: 33.30 m.bU_8@ZQrQjQRQJYBY~Y~Y}a|a|a|a|eb? zB靽@l676*$Pm2H]|blqLl"JJAEEEE_0Eachecking for new query: numPingsReceived=3, elapsed TxPingTime=0.693500ԉ6G @A=~GI AQ Ai Nu >Թ Cא,2aCjA9^;,@^N:@Y^lby^c=^H@̿=?3? @DB?I?@l?? ^;,@^;)^CnyBnIMb@Mb@Mb@ )Y7A`?~jty&1|y?D` )AIAy(AI Ib3< ?=y{Q >٥ H^: >p54!Ӝ?p59Ӎ IBy ?:$5@@olEi ; ;p5P9AEchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.9430329=DNOT Ignoring new targets: 33.06 m.9EE] ProNav: ac range: 33.062309 m, nav range: 32.222633 m, bearing: 160.499203 deg, approach rate: -0.603599 m/s, LOS rate: -0.031247 deg/s, cmd heading: 165.485525 deg, new cmd heading: 165.446630 deg. ]eHeadingCmd: 2.887589 target range: 33.062309 and range: 33.30 m.be@8@ZarijiRiJiBi~q~uzB}q|y|y|y|}I?ԑ IU^IY)]脾YI]Y aae checking for new query: numPingsReceived=3, elapsed TxPingTime=1.194862~G A A N > ސ,S${CjA9B},@B*:@YBȫdyBm=BH@MͿM?y? `^X? ?? q? B},@B};)BCJyBJII^!I^i3b@'= f[=yfQ f>٥hh jHjBFj n>lrp5nӜ?vp59n In Bytv5@v@nrlEin;n;np5~B~9A~E1=DNOT Ignoring new targets: 33.06 m.9=EU ProNav: ac range: 33.062309 m, nav range: 32.003654 m, bearing: 160.488637 deg, approach rate: -0.588177 m/s, LOS rate: -0.028576 deg/s, cmd heading: 165.446634 deg, new cmd heading: 165.414718 deg. U㜺]HeadingCmd: 2.887032 target range: 33.062309 and range: 33.30 m.b] 8@ZYrYjYRYJaBa~a~a}i|i|i|i|u:? zBؐI)%y1I5Z 115D<= 8@=J=iE 8@iabEqZEu}A:JZBJLJJRJZJ9bJq9JJEEEE1E HH4<H>HCHIHkzBH =HHH <HEchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.4470716G.H=~GAAN>A K5 \QP"K5 9*K1 2K5 (:K5 0 {c2,i --o5q Eu )z,^CjAJchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.700797yBIi-Mb@Mb@Mb@))) )))Y-On?QMbpy-?-u--A )))I))y-QAIEIE(*3Ur< U=y]Q ]>٥Ya eHeCFe e>iup5mҜ?up59m^ ImBy}Y?}:}3@}@mwlEim%;m$;m]p58AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 33.06 m. ProNav: ac range: 33.062309 m, nav range: 31.692556 m, bearing: 160.484168 deg, approach rate: -0.598801 m/s, LOS rate: -0.008686 deg/s, cmd heading: 165.414723 deg, new cmd heading: 165.401186 deg. HeadingCmd: 2.886795 target range: 33.062309 and range: 33.30 m.bA8@ZrjRJB~~zB}||||? 5zB5I9)=gj9I=[ 99E>k@=iMA8@iIԡIC=I4=EEEEo0E5checking for new query: numPingsReceived=3, elapsed TxPingTime=1.951931Թ 6GU >=ZGY RGY ~GI AY Ai N} >T;,CjA89B%+@B9@YBbyBql=BH`@Ϳ 5??@"?N??? B%+@B ;)BCjzBjIInInF35B= 5=y=:Q =?٥9A EHAU] U?Yep5]4Ҝ?ep59]ć I]Byae3@m@]zlEi];];]p5qu8AuEDNOT Ignoring new targets: 33.06 m. ProNav: ac range: 33.062309 m, nav range: 31.508219 m, bearing: 160.482877 deg, approach rate: -0.603460 m/s, LOS rate: -0.004250 deg/s, cmd heading: 165.401186 deg, new cmd heading: 165.397291 deg. :HeadingCmd: 2.886727 target range: 33.062309 and range: 33.30 m.b$8@ZrjRJB~~}||||W@ zB,I)6[I \ <%$8@%<%|0=i%$8@i)uchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.203719ԡEEEE 5E6G@A=~GAA N >:J BJ KJJ @RJ ZJ bJ K9J J4J H >H H IH zBH H H H <H E checking for new query: numPingsReceived=3, elapsed TxPingTime=2.454983,CjA9>M+@>9@Y>ay>i=>H@`*Ϳ*? ??`o6?8%??? >M+@>;)>Clv/zBvII~I~<2 y=  I=y 9Q >٥ HDF >!-p5%cҜ?5p59% I%By9=~3@E@%~lEi%z;%{;%p5IM8AIq}DNOT Ignoring new targets: 33.06 m.y}} ProNav: ac range: 33.062309 m, nav range: 31.271618 m, bearing: 160.481304 deg, approach rate: -0.595676 m/s, LOS rate: -0.003991 deg/s, cmd heading: 165.397293 deg, new cmd heading: 165.392537 deg. J/HeadingCmd: 2.886644 target range: 33.062309 and range: 33.30 m.bȾ8@ZrjRJB~~}||||@ zBZI)99IЮ\ _<Ⱦ8@j<WU2=iȾ8@irE V>jE >EEEEP0EKUP"K9*K2K):K] <V<=He!s,`  4_&[lpQ)!#dU+`P checking for new query: numPingsReceived=3, elapsed TxPingTime=2.706898A6G{/=~G A A1 NM >a G,wCjAI.@AI.?A9B+@B?9@YBX!byBhe=BH;Ϳ`? ?`dc Y><BDAT read: Rx Time:14:26:22.3278 TRx dataTimestamp_ set to:1749133583.603643checking for new query: numPingsReceived=3, elapsed TxPingTime=2.960271٥ HEFsi9 >p5zҜ?p59 IByp? : 3@ @lEi:o:Hp5B48A%EIMDNOT Ignoring new targets: 33.06 m.IUAUA ProNav: ac range: 33.062309 m, nav range: 31.021444 m, bearing: 160.478611 deg, approach rate: -0.579794 m/s, LOS rate: -0.006291 deg/s, cmd heading: 165.392539 deg, new cmd heading: 165.384396 deg. '-HeadingCmd: 2.886502 target range: 33.062309 and range: 33.30 m.b-t8@Z1r1j1R1J1B1~9~=zB}9|9|A|A|E !@ zB靵]͇I) @I8c] \<t8@zW<p3=it8@i)iEEEE3Eԑ checking for new query: numPingsReceived=3, elapsed TxPingTime=3.2108896G '2= ~G A A N% >p,CjAr2zBrIII3< W=yQ >٥ %H!% %>)5p5-Ҝ?5p59- I-$By11=@-lEi-;-;-p5AE8AAi}DNOT Ignoring new targets: 33.06 m.yAAԙ ProNav: ac range: 33.062309 m, nav range: 30.802969 m, bearing: 160.476224 deg, approach rate: -0.581587 m/s, LOS rate: -0.006400 deg/s, cmd heading: 165.384397 deg, new cmd heading: 165.377185 deg. HeadingCmd: 2.886376 target range: 33.062309 and range: 33.30 m.bd8@ZrjRJB~~}||||`^ @ zBTI)2I+] `<d8@y<-n3=i5d8@i1:Ju]BJu]JJuDRJqZJu]:bJu_9Ju4JqG1G5@AHM>HIHM&IHMzBHM =HIHIHM<HMEEEEEP0Echecking for new query: numPingsReceived=3, elapsed TxPingTime=3.46456516G ~G A A N >Ke [P"Ke @9*Ka 2Ke *:Ke z&2~BL;S-yR^SV0^dp4oc*92Kukk5Y [,}yDjAzDAT read: 14:26:22.3278 LVL= 22064, 32289, 16626, 32755, AGC= 62, IDX= 404,-0.01,-1.086,-2.453,-0.905,-1.537, PHS= 0.539,-0.868, 0.629, RAW= 153.1, -4.2, CAL= 157.3, -12.5, ROT= 352.7, 12.5 uYgot valid direction response: 14:26:22.3278 LVL= 22064, 32289, 16626, 32755, AGC= 62, IDX= 404,-0.01,-1.086,-2.453,-0.905,-1.537, PHS= 0.539,-0.868, 0.629, RAW= 153.1, -4.2, CAL= 157.3, -12.5, ROT= 352.7, 12.5 PDAT read: Bearing 352.7, 12.5 (Local) ~Local bearing/azimuth received: Bearing 352.7, 12.5 (Local) -DAT read: Range 10 to 50 : 31.0 m (Round-trip 41.4 ms) speed 0.5 m/s 1u,DAT read: user:2119> }BDAT read: Tx time:14:26:23.4323 }$Ping request sent.}" ?"?5^"%!? "+@)"Q I"/@i"f_"@"f_> ) "'d?x_v|j?X;$i"?"="tw"f_> ) :publishing transmit ping timeyFpublishing direction and range info y"U ?S~K˿ Y ) I i ) I i ) "'d?x_v|j?X;$i ) checking for new query: numPingsReceived=4, elapsed TxPingTime=0.052684>zBIa) G1I GYyBMMb@Mb@Mb@III I)IYM|?5^?{GztyM?MLMףMA Mn@)IIMEAIyMAI%I)3-< =yQ >٥ HFF >checking for new query: numPingsReceived=4, elapsed TxPingTime=0.180627p5 Ҝ?p59~ I+By%?%:%]4@%@lEi::p5IM7AMEԉZ b".DjA":A":A"2@ʁ"j7p==@עy"U ?S~K˿"tw"f_>ҁ"񖍫}٥ HGF; >!-p5%Ҝ?-p59%| I%0By)-4@5@%lEi%:%:%3p59=`7A=EmB*** querying acoustic contact ***JiRiy}DNOT Ignoring new targets: 30.78 m.y ProNav: ac range: 30.778769 m, nav range: 30.167294 m, bearing: 160.354321 deg, approach rate: -0.625553 m/s, LOS rate: -0.025857 deg/s, cmd heading: 165.364467 deg, new cmd heading: 165.339089 deg. HeadingCmd: 2.885711 target range: 30.778769 and range: 31.00 m.b8@ZrjRJB~~}||||@c&? zBkI)I_ I <8@@+<f>=i8@i qEEEEO0EH>HCH9IHzBH =HHH<HEchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.683236ԡ6GM334=~G) A1 AI NU > Ke ;NP"Ke 9*Ka 2Ke +:Ke 7dm}-cS?)4 7SS #$$1$"  ap ) / g h \c),LUDjA96",@6:@Y6ry6!z=6H@`K'Ϳ\??`o?Z?@?@J? 6",@6M;)4BazBBIIFIF2zchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.937385 < R=yRQ >٥!! %H%HF-%; ->1ep55pҜ?mp595z I55Byq4@@5lEi5n<5w<5p5A7A1EDNOT Ignoring new targets: 30.78 m.A͹͹ ProNav: ac range: 30.778769 m, nav range: 29.933836 m, bearing: 160.344151 deg, approach rate: -0.512734 m/s, LOS rate: -0.022511 deg/s, cmd heading: 165.339086 deg, new cmd heading: 165.308337 deg. /wHeadingCmd: 2.885175 target range: 30.778769 and range: 31.00 m.b8@ZrjRJB~~}||||?1 zB靭GI)IJ_ 8<8@<}wC=i8@iEEEE5E:J%\BJ%YJJ%IRJ!ZJ%=:bJ%[O9J%F4J!zJ%:=jJ%:=J%'n:=rJ%*n:EYchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.187093ԁ 6G Г>=~G A A N >%T,oDjA=tzB=IYMb@Mb@Mb@ )Y/$?~jt{Gzy&?D#EA )n@I3AyfAII3U= U1=y]Q ]>٥Ya eHae e>iup5m[Ҝ?up59mx Im:By}?}:}4@}@mlEim ;m ;mp5B6AEDNOT Ignoring new targets: 30.78 m.22 ProNav: ac range: 30.778769 m, nav range: 29.681059 m, bearing: 160.331485 deg, approach rate: -0.640977 m/s, LOS rate: -0.032391 deg/s, cmd heading: 165.308336 deg, new cmd heading: 165.270016 deg. ձHeadingCmd: 2.884506 target range: 30.778769 and range: 31.00 m.b8@ZrjRJB~~zB}||||@? 5zB5~I9)=*ѽ9I=_ 99=7J H <H <H >H H RIH zBH  =H H H <H EHʒCHHH =I Iʒk5  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.691322;",]DjA9^{,@^:@Y^sy^v=^H X*Ϳ e]?ܜ?M?x?@Į? ? ^{,@^;)^CjzBjIIrIrb2H$= c=yS'Q >٥    H IF >%p5YKҜ?%p594w I>By!%4@%@lEi;:p5156A5EԹDNOT Ignoring new targets: 30.78 m. ProNav: ac range: 30.778769 m, nav range: 29.476177 m, bearing: 160.321085 deg, approach rate: -0.547332 m/s, LOS rate: -0.027977 deg/s, cmd heading: 165.270019 deg, new cmd heading: 165.238601 deg. HeadingCmd: 2.883958 target range: 30.778769 and range: 31.00 m.bÒ8@Zrj!R!J!B!~!~)})|)|)|)|5୺? zB\yI1)51I5l-` 115R<=Ò8@=L<="G=iEÒ8@iAE E EEP0EKe8Q"Ke}9*Ka2Ke,:KeY/0+#O%06]`Yk~dHVMHPX_6QJm?Jm?checking for new query: numPingsReceived=4, elapsed TxPingTime=1.943013!6G5 G=~Ga A A N >A e(,v8DjAJSJ[-4J[0:Jv[BJtJJvDRJtZJv:bJtJv4JtzJv:jJv:JtrJtzBIechecking for new query: numPingsReceived=4, elapsed TxPingTime=2.196670Mb@Mb@Mb@ )Y> ףp=?J +Mby?HA +@)Iy=AII[3< 1=yQ >٥ HJF >q5(6Ҝ?q59u ICByx?:4@@lEi. ; ;q56ADNOT Ignoring new targets: 30.78 m. ProNav: ac range: 30.778769 m, nav range: 29.211424 m, bearing: 160.308224 deg, approach rate: -0.566469 m/s, LOS rate: -0.027766 deg/s, cmd heading: 165.238600 deg, new cmd heading: 165.199669 deg. q-HeadingCmd: 2.883278 target range: 30.778769 and range: 31.00 m.b-8@Z)r)j1R1J1B1~9~=zB}9|9|9|A|EY@ zB靵sI)It` ZR<8@5{<I=i8@iAEyEyEEEq% checking for new query: numPingsReceived=4, elapsed TxPingTime=2.4501906G {H=~Gy A ԙ A N >.,DjA9J+@J:@YJryJq=JH1VͿ c;?P?Y'M?`,Q?h!?@g? J+@J;)JCRzBR&IiV>IVp<IbIbV83j%= jp=ynd:Q n?٥pp rHprs v?tzq5v&Ҝ?zq59vhs IvGBy|~4@~@vlEiv;v@;vq5B 6A  E%B*** querying acoustic contact ***J)R)AEDNOT Ignoring new targets: 30.78 m.AM M ] ProNav: ac range: 30.778769 m, nav range: 29.017313 m, bearing: 160.299141 deg, approach rate: -0.603363 m/s, LOS rate: -0.028423 deg/s, cmd heading: 165.199668 deg, new cmd heading: 165.172236 deg. ] eHeadingCmd: 2.882799 target range: 30.778769 and range: 31.00 m.be8@ZarijiRiJiBi~q~q}q|q|y|y|}`%@ zB靭oI)?Ia` N<8@<&aF=i8@iqrEyjE}>EEEEj0EHU>HUCHUkIHU{BHU =HQHU(DHU<HUEmBDAT read: Rx Time:14:26:25.8752 mTRx dataTimestamp_ set to:1749133587.131388mchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.700241ԡ6G-H=~G A A! N5 >K} 5P"K} @9*Ky 2K} -:K} iN/ Pv0eR6QP0J AJ A x5,0DjA9F+@FH:@YFqyF8l=FH t\Ϳ@? ?2?5?\?? F+@Fd;)FCbchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.950958fzBf+IInIn3ף< G=y :Q  >٥ %H-KF=ȋ E>Yuq5]Ҝ?uq59]mq I]LByy}4@@]lEi];]ʠ;]rq55ADNOT Ignoring new targets: 30.78 m.jչjչ  ProNav: ac range: 30.778769 m, nav range: 28.778301 m, bearing: 160.287851 deg, approach rate: -0.489693 m/s, LOS rate: -0.023323 deg/s, cmd heading: 165.172238 deg, new cmd heading: 165.138088 deg.   HeadingCmd: 2.882203 target range: 30.778769 and range: 31.00 m.bv8@ZrjRJB~!~!}!|!|I|I|M @ zB 'jI)IE0` QQ]?<v8@"<H=iv8@i:JZBJ_JJCRJZJ9bJ=h9J4JzJ0:jJ5:J:rJ:E=EAEAEEX0EAchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.2053861 6G ߛC=~G A! A1 N= >;,"DjA 9Z+@Z9@YZoyZ f=ZH }Ϳ@2?@?c??ர?? Z+@Z;)ZCbzBb1I]Mb@Mb@Mb@YYY Y)YY]V-?J +y&1|y]h?Y]`]A ]A@)]A@I]AYy]AIuIu3}< D=y:Q >٥ H >q5Ҝ?q59{o IQBy?:}4@@lEi ; ; q5B5A EamDNOT Ignoring new targets: 30.78 m.im$ m$ } ProNav: ac range: 30.778769 m, nav range: 28.544580 m, bearing: 160.277244 deg, approach rate: -0.659857 m/s, LOS rate: -0.030194 deg/s, cmd heading: 165.138087 deg, new cmd heading: 165.106003 deg. }ťHeadingCmd: 2.881643 target range: 30.778769 and range: 31.00 m.bl8@ZrjRJB~~zB}|||| @A MzBUصhIQ)UռQIU` YY]4<l8@d<uG=il8@i5DAT read: 14:26:25.8752 LVL= 19424, 24689, 16818, 28147, AGC= 61, IDX= 409,-0.05, 0.866,-0.543, 1.000, 0.393, PHS= 0.561,-0.889, 0.604, RAW= 151.4, -3.8, CAL= 155.7, -12.3, ROT= 354.3, 12.3 =Ygot valid direction response: 14:26:25.8752 LVL= 19424, 24689, 16818, 28147, AGC= 61, IDX= 409,-0.05, 0.866,-0.543, 1.000, 0.393, PHS= 0.561,-0.889, 0.604, RAW= 151.4, -3.8, CAL= 155.7, -12.3, ROT= 354.3, 12.3 EPDAT read: Bearing 354.3, 12.3 (Local) M~Local bearing/azimuth received: Bearing 354.3, 12.3 (Local) ]DAT read: Range 10 to 50 : 29.0 m (Round-trip 38.7 ms) speed 0.6 m/s m,DAT read: user:2120> uBDAT read: Tx time:14:26:26.9824 u$Ping request sent.} )8 G=?MϨ? ﰿi ?=)˽[>E-E)E)E-0E) )m:publishing transmit ping timeqFpublishing direction and range infoywRa?ܪ!׸AzUmD˿Y )Ii )Ii i)8 G=?MϨ? ﰿi )checking for new query: numPingsReceived=5, elapsed TxPingTime=0.0696236G= H=Ա ~G A! A9 NM >GY G] ?AHe >Ha He IHe A{BHe  =Ha He )DHe <He E ص %=׵ < checking for new query: numPingsReceived=5, elapsed TxPingTime=0.238528{B,wi EjA96+@6:@Y6/*l@y6:b=6H[Ϳs?@0? ? ?@7?? 6+@6-;)6CNzBN@I)P PIVIVV83 wo=  S=y ;Q  >٥ HLF]~B; ]>amq5eќ?mq59em IeVByim4@m@elEie:e :eyq5k5AEZ)b-KDjA-WA-WA-~4@ʁ-Sds';@ ;.8Z`-wRa?ܪ!׸AzUmD˿-)˽-[>ҁ- T:!@n9*Ӟ-G[h?ʭ+˱Ŀz-A-j-Kɜ?r-2- -2hB-!ɜ?-%nr  -geB-A-&$3@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 3.529609 s, deltaX: -2.000000 m, approachRate: -0.566635 m/s, rangeRepo size: 4  Added new target pos. range: 28.792816 m, bearing: 161.588294 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 3.529609 s, deltaX: -1.985952 m, approachRate: -0.562655 m/s, posRepo size: 4 DNOT Ignoring new targets: 28.79 m. ProNav: ac range: 28.792816 m, nav range: 28.387600 m, bearing: 160.375548 deg, approach rate: 0.000000 m/s, LOS rate: -0.030194 deg/s, cmd heading: 165.105999 deg, new cmd heading: 165.069355 deg. HeadingCmd: 2.881004 target range: 28.792816 and range: 29.00 m.b]b8@Zrj R)J)B)~1~1}1|1|9|==@|= B?ԩ zB靽eaI)I` #<]b8@C<|N=i]b8@izEEeEaEaEe1EaK"P"K9*K2K.:KotxR{8#hn7<y}(\ @Rhpu=checking for new query: numPingsReceived=5, elapsed TxPingTime=0.4921946Gm .H= ~GA AI Aa Nm >H,)>$EjA9:,@:3$:@Y:voy:\2\=:H``&#Ϳ`?`U?ۣ?M?`v?(? :,@:f;;)8pzzBzFII|I|:J `BJ WJJ ARJ ZJ :bJ G9J 4J zJ :jJ :J _:rJ _:Mb@Mb@Mb@ )Ygfffff?Zd;O~jthy3?j<D @)X@IAyGAI I2׺< ?=yQ >٥ HMF; >q5]ќ?q59k I\By?: 5@@lEi ; ;)q5  C5A 15DNOT Ignoring new targets: 28.79 m.1=E,=E,M ProNav: ac range: 28.792816 m, nav range: 28.144754 m, bearing: 160.360787 deg, approach rate: -0.614160 m/s, LOS rate: -0.037653 deg/s, cmd heading: 165.069348 deg, new cmd heading: 165.024683 deg. Mκ}checking for new query: numPingsReceived=5, elapsed TxPingTime=0.741332HeadingCmd: 2.880224 target range: 28.792816 and range: 29.00 m.bU8@Zrj RJB~~zB}||||%? uzBup^Iy)}TN,>EjA9: ,@:; :@Y:rky:p=:H !Ϳ?? d?j?@?l? : ,@:Ç;):CFzBFPIIN'IN@3V6= V^=yV:;Q Z>٥\\ bH`bH, f>djq5fbќ?nq59fi IfaBylr 5@r@flEif;f;f_q5vBv4AvE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 28.79 m.%"%"5 ProNav: ac range: 28.792816 m, nav range: 27.933077 m, bearing: 160.347793 deg, approach rate: -0.575069 m/s, LOS rate: -0.035567 deg/s, cmd heading: 165.024679 deg, new cmd heading: 164.985403 deg. 5FúYHeadingCmd: 2.879539 target range: 28.792816 and range: 29.00 m.b\J8@ZrjRJB~~}||||`\U? ezBeAYIi)mH!H%IH%j{BH% =H!H!H%&<H%EEUEQEQEUO0EQԁchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.246321Թ6G]X=~Gi Aq A N > K EnP"K @9*K 2K /:K }?ey`'k@"!MN@(^yrR* Fj?,1q2Pf{Z53J AJ AU,WEjA963,@6+:@Y6/hy6{=6H]`~̿|?`w?e颩?@?ӕ?? 63,@6݇;)6CN{BR`IIV#IV%x3^8|= ^I=ybP:Q b>٥`d fHfNFfU: f>hrchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.497399vq5jќ?vq59j h IjgBytv5@v@jlEij\;j];jq5x~4A|!%DNOT Ignoring new targets: 28.79 m.!-)-)Թ ProNav: ac range: 28.792816 m, nav range: 27.700188 m, bearing: 160.332901 deg, approach rate: -0.574693 m/s, LOS rate: -0.037057 deg/s, cmd heading: 164.985405 deg, new cmd heading: 164.940354 deg. t˺HeadingCmd: 2.878752 target range: 28.792816 and range: 29.00 m.bz=8@ZrjRJB~ ~ } | ||y|? 9=RIA)EO=aIm` iim4Y [,^qEjA9B,@Bm/:@YBq_yBy=BH` ̿?4q?罬?@@? 2 ?@f? B,@BѨ;)BCr{BrgIuMb@Mb@Mb@qqq q)qYu9v?S㥫Mb`yu?u/]uuA uA@)qIuzAqyuAII2< <=y/;Q >٥ HOF : >q5lќ?q59e IlBy?:I4@@lEi:1:q5Q]c4A]EDNOT Ignoring new targets: 28.79 m.ɹɹ ProNav: ac range: 28.792816 m, nav range: 27.446373 m, bearing: 160.323007 deg, approach rate: -0.559844 m/s, LOS rate: -0.022025 deg/s, cmd heading: 164.940353 deg, new cmd heading: 164.910396 deg. qHeadingCmd: 2.878229 target range: 28.792816 and range: 29.00 m.b48@ZrjRJB ~~{B}||||`? zB靕XNI)d=IDQ` h<checking for new query: numPingsReceived=5, elapsed TxPingTime=2.00164548@KM<:Y`=i48@iaE9E9E9E=P0E9ԉ H <H p<H >H CH IH {BH  =H H H 2<H ,E:J5 ^BJ5 NJJ5 ?RJ1 ZJ5 } :bJ5 !9J5 ـ4J1 zJ5 `:jJ5 e:J5 T:rJ5 W:6Ge ~^=~G9 AA AY Ne > checking for new query: numPingsReceived=5, elapsed TxPingTime=2.253351Թ ab,頋EjA9>5,@>I:@Y> Xy>_=>H`v̿@c?`9@?`v fQ??`յ? ? >5,@>?;)٥XX ZH\~܉; ~>!%q5%ќ?-q59% d I%qBy)-d4@-@%lEi%:%:% !q51=`4AYDNOT Ignoring new targets: 28.79 m.== ProNav: ac range: 28.792816 m, nav range: 27.222734 m, bearing: 160.313385 deg, approach rate: -0.600179 m/s, LOS rate: -0.026036 deg/s, cmd heading: 164.910396 deg, new cmd heading: 164.881292 deg.  HeadingCmd: 2.877721 target range: 28.792816 and range: 29.00 m.b ,8@Z r jRJBQ~Y~Y}Y|Y|Y|a|mL@ԑ AE)MII)ML=I` <,8@<h=i,8@iEEEAEAEAEAK P"K*K2K0:K>NadBE1- t^.qF42QxJ-?J-?checking for new query: numPingsReceived=5, elapsed TxPingTime=2.505382 6Gm /_=~G A A N > Fh,EjA9BD,@BYX:@YBGCSyB=BH̿?"?@o?ie?`ʲ?? BD,@B!;)BCN-{BNxI)P P5Mb@Mb@Mb@111 1)1Y5Q?Mb`y5?5L153A 5+@)5+@I5A1y5AIUIUm?3ez= e?=ym2;Q m>٥iq uH}PF; >q5}ќ?q59 b IvByN?:4@@lEi::$q5B3AEDNOT Ignoring new targets: 28.79 m.((]BDAT read: Rx Time:14:26:29.4224 eTRx dataTimestamp_ set to:1749133590.663451echecking for new query: numPingsReceived=5, elapsed TxPingTime=2.758511 ProNav: ac range: 28.792816 m, nav range: 26.976749 m, bearing: 160.298339 deg, approach rate: -0.598089 m/s, LOS rate: -0.036917 deg/s, cmd heading: 164.881286 deg, new cmd heading: 164.835736 deg. ʺHeadingCmd: 2.876926 target range: 28.792816 and range: 29.00 m.b8@ZrjRJB~~-{B}||||S@ )-FIQ)U=YI]_ YY]"jEu>E!E!E!E%^0E)Y6GM g=q  checking for new query: numPingsReceived=5, elapsed TxPingTime=3.009438~G! A1 AA NM >oo,caEjA 9Fh,@FH|:@YFOyF=FH`,"@Z̿?D? ?? ?` ? Fh,@F9;)DV<{BVII^I^T3f7= fU=yj;Q j>٥hh jHjQFn; n>pvq5rkќ?vq59r9` Ir{Byxz5@z@rlEir%:r2:r (q5|~3AE%B*** querying acoustic contact ***J!R!9=DNOT Ignoring new targets: 28.79 m.9E4E4U ProNav: ac range: 28.792816 m, nav range: 26.753458 m, bearing: 160.283388 deg, approach rate: -0.585162 m/s, LOS rate: -0.039508 deg/s, cmd heading: 164.835742 deg, new cmd heading: 164.790514 deg. Uغ]HeadingCmd: 2.876137 target range: 28.792816 and range: 29.00 m.b]8@ZarajaRaJaBa~i~i}i|i|i|q|u@S/ @ 靥?I)=I2_ h<8@ <yx=i8@iE=E9E9E=0E9qH>HCHIH{BHHH*DH<HEHHH:J [BJ YJJ ARJ ZJ :bJ [O9J 4J zJ :jJ :J 'n:rJ )n:H =I = I6 m=m=mchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.261979ԡ6GEY`n=~G1A9AQN]> v,VEjAK P"K*K2K1:KdEl  ! (Z X*W$ &^$.=UB:'m39>,k,@>~:@Y>Ny>s=>H" P̿R??H@I@?cЩ?"?i? >,k,@>;)>CHFB{BJIIRIR<2rDAT read: 14:26:29.4224 LVL= 18832, 26993, 14290, 27843, AGC= 59, IDX= 412, 0.20, 0.792,-0.593, 0.932, 0.307, PHS= 0.573,-0.854, 0.621, RAW= 151.7, -4.7, CAL= 156.2, -13.1, ROT= 353.8, 13.1 vYgot valid direction response: 14:26:29.4224 LVL= 18832, 26993, 14290, 27843, AGC= 59, IDX= 412, 0.20, 0.792,-0.593, 0.932, 0.307, PHS= 0.573,-0.854, 0.621, RAW= 151.7, -4.7, CAL= 156.2, -13.1, ROT= 353.8, 13.1 zPDAT read: Bearing 353.8, 13.1 (Local) ~~Local bearing/azimuth received: Bearing 353.8, 13.1 (Local) DAT read: Range 10 to 50 : 26.9 m (Round-trip 35.9 ms) speed 0.5 m/s  ,DAT read: user:2121> BDAT read: Tx time:14:26:30.5324 $Ping request sent. X)XZ:z{&?}WҺ?Ĥ iZ_ ?Z6=ZiݽZ j> X)Xe:publishing transmit ping timeeFpublishing direction and range infoXyZ$?2l+#ͿXYX XQ m>٥qq uHqu9 }>yq5}Wќ?q59}4^ )XIXiXXXXX X)XIXiXXX X)XZ:z{&?}WҺ?Ĥ iXXXX X)Xchecking for new query: numPingsReceived=6, elapsed TxPingTime=0.024880I}By5@@}lEi}s<}s<}+q53AZXbZ6EjAZAZAZY4@ʁZ N9@qfy6Z$?2l+#ͿZiݽZ j>ҁZ 58?*Y @%,Z63i!?k:CǿzZAZjZ5F"ɜ?rZ1]φ ZgBXX ZeBZAZ3@5 addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 3.529536 s, deltaX: -2.100000 m, approachRate: -0.594979 m/s, rangeRepo size: 4  Added new target pos. range: 26.708681 m, bearing: 161.851999 deg, lat: 36.906439 deg, lon: -122.115963 deg, deltaT: 3.529536 s, deltaX: -2.084135 m, approachRate: -0.590484 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.71 m.51M ProNav: ac range: 26.708681 m, nav range: 26.504061 m, bearing: 160.266300 deg, approach rate: 0.000000 m/s, LOS rate: -0.039508 deg/s, cmd heading: 164.790512 deg, new cmd heading: 164.727142 deg. IuHeadingCmd: 2.875031 target range: 26.708681 and range: 26.90 m.bu8@ZqrqjqRqJyBy~y~y}|||`f:@|Qi? mzBm{DEIi)m=qIu^ qquQ<}8@}`<}{=i}8@iuJDAT read: TxSync time:14:26:30.5316 }checking for new query: numPingsReceived=6, elapsed TxPingTime=0.242296E E E E P0E  I 6G nu=~GAAN>`},zEjA}checking for new query: numPingsReceived=6, elapsed TxPingTime=0.493805<{BI5Mb@Mb@Mb@111 1)1Y5v?)\(Mbpy5?5Ga51 5@)1I5zA1y5zAImImV837 =yQ >٥ HRF >q5Q=ќ?q59v[ IBy{?:4@@lEi::0q53AEAEDNOT Ignoring new targets: 26.71 m.AM?M? ProNav: ac range: 26.708681 m, nav range: 26.171900 m, bearing: 160.247638 deg, approach rate: -0.735946 m/s, LOS rate: -0.041872 deg/s, cmd heading: 164.727142 deg, new cmd heading: 164.670446 deg. HeadingCmd: 2.874042 target range: 26.708681 and range: 26.90 m.bL7@ZrjRJB~~'{B}||||@? zB靅AI)=Iy^  <<L7@<7K=iL7@iGIGMAAHQHQHUIHU{BHU =HQHQHU<HUE:J_BJXJJFRJZJ :bJ5K9J4JzJ,:jJ1:Jf:rJf:EEEEE checking for new query: numPingsReceived=6, elapsed TxPingTime=0.744311Q 6G {=~G A A N >3,<FjA9^#,@^:@Y^JSy^rÛ=^H%@ ̿6?@p?` ?y?l?c? ^#,@^*&;)\jZ{BjIIvIvm?3~= ~s=y{Q ?٥ H SF y;  ?q5,-ќ?q59Y IBy!%4@%@lEiW::3q55B533A5 EimDNOT Ignoring new targets: 26.71 m.iuV.uV. ProNav: ac range: 26.708681 m, nav range: 25.970360 m, bearing: 160.235140 deg, approach rate: -0.609709 m/s, LOS rate: -0.038104 deg/s, cmd heading: 164.670451 deg, new cmd heading: 164.632665 deg. 4ѺԉHeadingCmd: 2.873382 target range: 26.708681 and range: 26.90 m.b~7@ZrjRJB~~}||||? J2I)>IL^ '<~7@wZ<q=i~7@iK}1P"K}}9*Ky2K}2:K}*y!ToI.?H+0}ZE He >> N$U 8r,H4afJ>J>checking for new query: numPingsReceived=6, elapsed TxPingTime=0.997280EUEYEYE]0EYԹ6G]K=~G9 AQ Aq N >  checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248663Ӻ,-FjA9R,@R:@YRSyR'E=RH'˿I? v?x$ ?`r? L^?? R,@RE;)RCZR{BZIUMb@Mb@Mb@QQQ Q)QYUA`"?~jt{GzyU?UU#Q U@)QIUAQyU\@ImIm3c ==yV9Q >٥ H ; > q5 nќ?q59 qW I ByW?:2@@ lEi : : W7q5!%Q3A)YeDNOT Ignoring new targets: 26.71 m.ae8m8} ProNav: ac range: 26.708681 m, nav range: 25.708403 m, bearing: 160.237763 deg, approach rate: -0.603734 m/s, LOS rate: 0.006107 deg/s, cmd heading: 164.632667 deg, new cmd heading: 164.640616 deg. }9HeadingCmd: 2.873521 target range: 26.708681 and range: 26.90 m.b7@ZrjRJB~~ {B}||||@? zBS;I)=I] <7@:<=i7@ibEZEAEEEE1EFAFA!checking for new query: numPingsReceived=6, elapsed TxPingTime=1.500336I6G٘=~G A A N >y ퟑ,FFjAH6ü>H4H6IH6{BH6 =H4H6+DH6<H49N},@Nn:@YNZOyN=NH`|$`cA̿@{??"?`?J?? N},@N;)NC:Jr\BJrZJJr@RJpZJr=:bJrS9JrJ4JpzJr:jJr:JrQu:rJrTu:~Q{B~I) I I 2V P=y0;Q >٥ HTFx >q5~ќ?q59EU IBy2@@lEi:::q5T3A#E]checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752310YmB*** querying acoustic contact ***JRDNOT Ignoring new targets: 26.71 m.1 91 9 ProNav: ac range: 26.708681 m, nav range: 25.469030 m, bearing: 160.241331 deg, approach rate: -0.581794 m/s, LOS rate: 0.008753 deg/s, cmd heading: 164.640617 deg, new cmd heading: 164.651421 deg. :9HeadingCmd: 2.873709 target range: 26.708681 and range: 26.90 m.b7@ZrjRJB~~}||||% ? zB靽7;I)P=Iq] <7@<ƕ=i7@iԁEEEE1Eԩ6G q؃= checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004198K% #P"K% @9*K! 2K% 3:K% }kyz]"iHxU2Dkmdw!mT1:r(y=~G A A N > Η,Q`FjA9We,@x:@YRKyw=H6"z̿??!7ǩ?g?'?? We,@Ʊ;)C^{BIԩMb@Mb@Mb@ )Y ףp= ?v/٥II MHMUFUN ]>iq5mМ?q59mR ImBy?:n4@@mlEim;mK;m>q5B3A&EDNOT Ignoring new targets: 26.71 m.I%AAI%BA ProNav: ac range: 26.708681 m, nav range: 25.196617 m, bearing: 160.227397 deg, approach rate: -0.612724 m/s, LOS rate: -0.031680 deg/s, cmd heading: 164.651422 deg, new cmd heading: 164.609168 deg. ﭺHeadingCmd: 2.872972 target range: 26.708681 and range: 26.90 m.b7@ZrjRJB~~{B}|||| B@]checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256331 zB9I)j>I*\ <7@0<8=i7@iEEEE0E 6G f=9 ~G A A N >98,3{FjAchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.5081879^:,@^^N:@Y^[Jy^ew=^Hq4̿@?7?@HM?Z?ޮ?? ^:,@^Ӈ;)\f\{BjIIrIr3~p j=yf9Q ?٥   H  @ ?%q5MМ?%q59EQ IBy!%B4@%@lEi:-:Aq515#3A1Y]DNOT Ignoring new targets: 26.71 m.Y ProNav: ac range: 26.708681 m, nav range: 24.991114 m, bearing: 160.217930 deg, approach rate: -0.605473 m/s, LOS rate: -0.028120 deg/s, cmd heading: 164.609171 deg, new cmd heading: 164.580538 deg. cHeadingCmd: 2.872472 target range: 26.708681 and range: 26.90 m.b 7@Z r j R J B~~}||||@@ԉ zB靭j3I)O>Il\ Y<7@<%qz=i7@iEYEYEYEe{4EaԱ HH<HƼ>HHIH{BHHHH<HE BDAT read: Rx Time:14:26:32.9696 TRx dataTimestamp_ set to:1749133594.195373checking for new query: numPingsReceived=6, elapsed TxPingTime=2.7653296G),=ZGRG~Gy A A N > ,hFjA9> ,@>D4:@Y>Iy>Wk=>H` ͿF? i?[??6?@Vq?`}? > ,@>;)٥XX ^H^VF^ b>`nq5bМ?rq59bIO IbBypr'4@r@blEib.|;b8r;b9Eq5vBv3Az(EDNOT Ignoring new targets: 26.71 m.%%5 ProNav: ac range: 26.708681 m, nav range: 24.756834 m, bearing: 160.207842 deg, approach rate: -0.594600 m/s, LOS rate: -0.025846 deg/s, cmd heading: 164.580539 deg, new cmd heading: 164.549987 deg. 5獺HeadingCmd: 2.871939 target range: 26.708681 and range: 26.90 m.b7@ZrjRJB~~}|||| @ zB35I)* >I %\ e<7@<=w=i7@imchecking for new query: numPingsReceived=6, elapsed TxPingTime=3.014574K.P"K9*K2K4:KYN:*@.P0m7/gKz#C2>3FNC\ZuEEEEO0E!)Q QMGay %YyB6Gvpx=I ~G A A I 4=I a=:J ZBJ ]JJ ?RJ ZJ 9bJ _9J ـ4J  @ @% @% @N > checking for new query: numPingsReceived=6, elapsed TxPingTime=3.265421sG,NFjA\{BIEonly read 1 of 4 data items for bottom velocity. Device response is::BS, -8,A aIE@aE aME@aE aQM@aM aEM@aM IUIUF3]l e2=yeQ e>٥ii HWF >q5М?q59L IB+:y:@lEiA:>Hq5  3A AIMDNOT Ignoring new targets: 26.71 m.IUKUKe ProNav: ac range: 26.708681 m, nav range: 24.472448 m, bearing: 160.195337 deg, approach rate: -0.597696 m/s, LOS rate: -0.026588 deg/s, cmd heading: 164.549994 deg, new cmd heading: 164.512042 deg. emHeadingCmd: 2.871277 target range: 26.708681 and range: 26.90 m.bm7@ZirijiRiJqBq~q~q}y|y|y|y|})z @ zB9I)t>I[ H<7@Q</{=i7@iE1E9E9E=P0E9ԑDAT read: 14:26:32.9696 LVL= 18512, 23969, 14370, 26227, AGC= 60, IDX= 415, 0.18, 2.388, 0.994, 2.533, 1.912, PHS= 0.563,-0.872, 0.618, RAW= 151.8, -4.3, CAL= 156.2, -12.7, ROT= 353.8, 12.7 Ygot valid direction response: 14:26:32.9696 LVL= 18512, 23969, 14370, 26227, AGC= 60, IDX= 415, 0.18, 2.388, 0.994, 2.533, 1.912, PHS= 0.563,-0.872, 0.618, RAW= 151.8, -4.3, CAL= 156.2, -12.7, ROT= 353.8, 12.7 PDAT read: Bearing 353.8, 12.7 (Local) ~Local bearing/azimuth received: Bearing 353.8, 12.7 (Local) DAT read: Range 10 to 50 : 24.8 m (Round-trip 33.1 ms) speed 0.5 m/s ,DAT read: user:2122> BDAT read: Tx time:14:26:34.0824 $Ping request sent. i)im??L\Tim9`?m͞=imb> i)ie:publishing transmit ping timeeFpublishing direction and range infoiymZ?x'uF#̿iYi i)iIiiiiiii i)iIiiiii i)im??L\Tiiiii i)ichecking for new query: numPingsReceived=7, elapsed TxPingTime=0.019952 6G ~G A A N >H ȼ>H CH IH {BH H H H <H E,, FjA9B+@BY9@YB'JIyBj=BH`*Ϳ@P?,?`?@&?`uD?? B+@BRN;L)BCbf{BbIIjIj2< d=y 9Q  >٥ =H9=t =?AMq5ESМ?Mq59EK IEBU :yQUi:U3@U@ElEiEI:EoS?EJq5y}2A+EJDAT read: TxSync time:14:26:34.0816 checking for new query: numPingsReceived=7, elapsed TxPingTime=0.228736ZbḼFjAAA\3@ʁq|7@6+ԍ*oZ?x'uF#̿b>ҁ6=D@6D@~FIc^?9?ܻƿz@>j ɜ?ro3z iBo3z  gBꁝGAD3@ addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 3.530131 s, deltaX: -2.100000 m, approachRate: -0.594879 m/s, rangeRepo size: 4  Added new target pos. range: 24.624084 m, bearing: 160.949804 deg, lat: 36.906439 deg, lon: -122.115966 deg, deltaT: 3.530131 s, deltaX: -2.084597 m, approachRate: -0.590515 m/s, posRepo size: 4 DNOT Ignoring new targets: 24.62 m. ProNav: ac range: 24.624084 m, nav range: 24.159691 m, bearing: 160.890019 deg, approach rate: 0.000000 m/s, LOS rate: -0.026588 deg/s, cmd heading: 164.512046 deg, new cmd heading: 164.482074 deg. %HeadingCmd: 2.870754 target range: 24.624084 and range: 24.80 m.b%n7@Z!r!j)R)JIBI~Q~Q}Q|Q|Y|]8@|]&j? zBV~5I)>IS=[ &<n7@S<-0e=i-n7@i)EEEEEm checking for new query: numPingsReceived=7, elapsed TxPingTime=0.4797906G {=jG ?bG ?I KM *P"KM 9*KI 2KM 5:KM Rn^@V^b\I0=oR$ 6R< F;[y we!Rp[O1~G A A N% >Z, FjA9+@X9@YgPyQ =H @Ϳ^?٥ HXF% >q5ŏМ?q59H IBT:y?:>4@@lEi::Nq5B3A .E%B*** querying acoustic contact ***J!R!15DNOT Ignoring new targets: 24.62 m.1E-eE-eu ProNav: ac range: 24.624084 m, nav range: 23.889774 m, bearing: 160.884688 deg, approach rate: -0.626991 m/s, LOS rate: -0.012523 deg/s, cmd heading: 164.482075 deg, new cmd heading: 164.465902 deg. } :JaBJQJJ@RJZJ:bJ-.9JJ4J9EHeadingCmd: 2.870471 target range: 24.624084 and range: 24.80 m.bEε7@ZArIjIRIJIBI~Q~UzB}Q|Q|Q|Y|]?checking for new query: numPingsReceived=7, elapsed TxPingTime=0.731834 zB%8I)= I `Z   <ε7@N<1e=iε7@i9EEEEEqԙ 6G va=~G A A N- >ar, FjA"checking for new query: numPingsReceived=7, elapsed TxPingTime=0.9838959Bm+@B˶9@YBqRyBD}=BH Ϳ?@\? @w?4V?J?? Bm+@BV;)@N{BNIIVIV(*3bB= bw=ybrQ b?٥dd fHdfE j?hnq5j>М?rq59j.G IjBypr64@r@jlEijI:jd:j~Qq5|~2A)-DNOT Ignoring new targets: 24.62 m.)5M5ME ProNav: ac range: 24.624084 m, nav range: 23.695261 m, bearing: 160.880991 deg, approach rate: -0.584807 m/s, LOS rate: -0.011208 deg/s, cmd heading: 164.465901 deg, new cmd heading: 164.454717 deg. E"MHeadingCmd: 2.870276 target range: 24.624084 and range: 24.80 m.bM7@ZIrIjIRQJQBQԙ~~}||||? -zB-*'I))=q>9IEgZ AAE<]7@]8<]"e=i]7@iaE E E Ed0EGAAGHʼ>HHIH|BHHHH<HEHmŔCHmŔCHiHm =Im = Im~K5checking for new query: numPingsReceived=7, elapsed TxPingTime=1.2362986G-Mi=~G A A1 N= >! iXő,kGjA9FG+@F9@YFtVyFj=FH)ο[?`$? ?ܪ? B? P? FG+@Fp;)DNm{BRIIV&IV3^: ^K=yb&Q b>٥`` fHfYFfo f>pvq5r9mМ?vq59r)E IrByxz4@z@rlEir:rK:rUq5|2A1E)-DNOT Ignoring new targets: 24.62 m.)5)5)E ProNav: ac range: 24.624084 m, nav range: 23.456942 m, bearing: 160.877282 deg, approach rate: -0.590540 m/s, LOS rate: -0.009282 deg/s, cmd heading: 164.454713 deg, new cmd heading: 164.443476 deg. E˹MHeadingCmd: 2.870080 target range: 24.624084 and range: 24.80 m.bMd7@ZIrIjIRQJQBa~i~i}i|i|q|q|u -? zB靥}C2I)C >IY <d7@:<Xa=id7@iUchecking for new query: numPingsReceived=7, elapsed TxPingTime=1.487999EqEqEqEu0EqF}=F}R=K]2P"K59*K2K6:KFH\>Ax30mYXoxjyvd CX)6G}:J ]BJ SJJ ARJ ZJ ]:bJ y69J 4J  checking for new query: numPingsReceived=7, elapsed TxPingTime=1.741143y }ˑ,xF0GjA9:K+@:_9@Y:Uy:\=:H;`PοG?m?N?ò? ?? :K+@:5A;):CFt{BFIUMb@Mb@Mb@QQQ Q)QYU٥ HZFB >q5YМ?q59&C IBy?:4@@lEi ;;Xq52ADNOT Ignoring new targets: 24.62 m.rr ProNav: ac range: 24.624084 m, nav range: 23.210913 m, bearing: 160.866199 deg, approach rate: -0.574755 m/s, LOS rate: -0.026168 deg/s, cmd heading: 164.443471 deg, new cmd heading: 164.409867 deg.  HeadingCmd: 2.869493 target range: 24.624084 and range: 24.80 m.b ȥ7@Z r j R J B~~zB}||||?Q ]zB],2Ia)e">aIezY aamMH Ǽ>H H H H  =H H H 2<H >E ijґ,!JGjA9>} +@>9@Y>QVy>XO=>H@&_1Ͽ,?? DTw? Dժ?`^֩?@J? >} +@>;)>Cf{{BfIIrIr(*3v< vT=yz)3Q z>٥x| ~H|( > q5 GМ?q59 NA I By%4@%@ mEi j; xk; "\q5-B-2A54EQ]DNOT Ignoring new targets: 24.62 m.Yeeu ProNav: ac range: 24.624084 m, nav range: 22.988026 m, bearing: 160.858196 deg, approach rate: -0.577850 m/s, LOS rate: -0.020947 deg/s, cmd heading: 164.409866 deg, new cmd heading: 164.385627 deg. uf}HeadingCmd: 2.869071 target range: 24.624084 and range: 24.80 m.b}ڞ7@ZyryjyRJB~~}||||@ ؽ7?׽<checking for new query: numPingsReceived=7, elapsed TxPingTime=2.244181 }zB}.Iy)}>yIY = <ڞ7@<ݨI=iڞ7@ԱiEIEIEIEM5EI6G-JR=~GA A)NEQ> u checking for new query: numPingsReceived=7, elapsed TxPingTime=2.496051K H P"K }9*K 2K 7:K 9/E0x'Hwx'1-I;"!3n''`J AJ A9 ؑ,0dGjA9*@8@YYyA=H@O"Ͽ/??? 4?,-?`G? *@);)C5{B5IMb@Mb@Mb@ )Y9v?l{Gzy?# )@IyII2  += ,=yǺQ >٥ H[F >!-q5%1М?-q59% ? I%By5P?5:54@5@%mEi%:%A:%G`q59=@2AA]B*** querying acoustic contact ***JYRYJ4J͋4Jm0:J\BJOJJ=RJZJ=:bJ%9Jg4JEDNOT Ignoring new targets: 24.62 m.IUA]Achecking for new query: numPingsReceived=7, elapsed TxPingTime=2.747857 ProNav: ac range: 24.624084 m, nav range: 22.711575 m, bearing: 160.845562 deg, approach rate: -0.558130 m/s, LOS rate: -0.025819 deg/s, cmd heading: 164.385632 deg, new cmd heading: 164.347267 deg. HeadingCmd: 2.868401 target range: 24.624084 and range: 24.80 m.b7@ZrjRJB~~ zB} ||||=}?@ zB靵7.I)!*>IIX /<7@@<>=i7@i9EEEE0EFFa 6G YW=jG ?bG 2?} BDAT read: Rx Time:14:26:36.5169  TRx dataTimestamp_ set to:1749133597.972427 checking for new query: numPingsReceived=7, elapsed TxPingTime=3.002339ԑ ~G A A N >ߑ,GjA9~*@~8@Y~t7[y~n7=~H8`пx#?22?4z?@c?f?? ~*@~;)~C={B=II]I] 3m< m^=yumQ u>٥qq }H}\F}3 }>q5a М?q59E= IBy4@@ mEi::}cq52A7EDNOT Ignoring new targets: 24.62 m. ProNav: ac range: 24.624084 m, nav range: 22.497265 m, bearing: 160.837153 deg, approach rate: -0.620294 m/s, LOS rate: -0.024570 deg/s, cmd heading: 164.347260 deg, new cmd heading: 164.321794 deg. 冺HeadingCmd: 2.867956 target range: 24.624084 and range: 24.80 m.b7@ZrjRJB~A~A}A|I|I|I|M @ zB靍 I)1>IW c<7@Mn<86=i7@iE]EYEYE]4Ea HH4=H>HCHIH|BH =HH*DH<HE6G5)F= ~GIAQAN_>Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=3.2517599 o,ԶGjA$9Bo*@BX8@YB]yBv4=BH@ 3п C?QW?`u?H?Y?` ? Bo*@B;)BCJ{BJIIV IV2Z< ^X=y^PغQ b>٥dd jHhj˻ j>lrq5nМ?rq59nm; InĆBytv4@v@n mEin:nK:nfq5xz1Az9E!%DNOT Ignoring new targets: 24.62 m.!--E ProNav: ac range: 24.624084 m, nav range: 22.275583 m, bearing: 160.829637 deg, approach rate: -0.583170 m/s, LOS rate: -0.019969 deg/s, cmd heading: 164.321798 deg, new cmd heading: 164.299025 deg. MF[UHeadingCmd: 2.867559 target range: 24.624084 and range: 24.80 m.b]7@ZYrYjYRYJaBa~a~a}i|i|i|i|m @ 9=0!I9)=b;>9IETAW AAM$<}7@}#<}0=i}7@iyDAT read: 14:26:36.5169 LVL= 18160, 25121, 18322, 28403, AGC= 58, IDX= 419,-0.24,-2.027, 2.843,-2.005,-2.548, PHS= 0.609,-0.844, 0.541, RAW= 147.6, -4.4, CAL= 152.4, -13.1, ROT= 357.6, 13.1 Ygot valid direction response: 14:26:36.5169 LVL= 18160, 25121, 18322, 28403, AGC= 58, IDX= 419,-0.24,-2.027, 2.843,-2.005,-2.548, PHS= 0.609,-0.844, 0.541, RAW= 147.6, -4.4, CAL= 152.4, -13.1, ROT= 357.6, 13.1 PDAT read: Bearing 357.6, 13.1 (Local)  ~Local bearing/azimuth received: Bearing 357.6, 13.1 (Local) DAT read: Range 10 to 50 : 22.7 m (Round-trip 30.3 ms) speed 0.6 m/s %,DAT read: user:2123> -BDAT read: Tx time:14:26:37.6325 5$Ping request sent.5 ݹ)ݹݽ|@E? K?$^8qiݽ>ݽa=ݽQ+ݽ j> ޹)޹:publishing transmit ping time1Fpublishing direction and range infoڹyڽ#? ᤿+#ͿڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽ|@E? K?$^8qiݹݹݹݹ ޹EEEEP0EKm*P"Km9*Ki2Km8:KmHR{`2o i y Y g O0z:OuYZ*ilD;J}>J}>)޹checking for new query: numPingsReceived=8, elapsed TxPingTime=0.045307ԩ6GU>=ZGYRGY~G A! AI Ne >:J ]BJ UJJ DRJ ZJ ]:bJ >9J 4J } JDAT read: TxSync time:14:26:37.6317  checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240823,}GjA9:U*@:9i8@Y::`y:R@=:HrfIп@? dp?`-? ?`?? :U*@:u;):CP~{B~IMb@Mb@Mb@ )Y +?V-~jthy?DMA @)@IMAy@I=$I=<3M M3=yU`Q u>٥qq }H}]F}c }>q5Ϝ?q59C9 IʆBy?:G5@@mEi;;jq51AZbfGjAOAOA>t6@ʁO;[$5@nj77o#? ᤿+#ͿQ+ j>ҁŋ,B5Sdkr@qOwr/)?=}]ƿz@j fȜ?r7 kB ɜ?2-  2hBAt`4@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 3.526222 s, deltaX: -2.099998 m, approachRate: -0.595538 m/s, rangeRepo size: 4   Added new target pos. range: 22.538666 m, bearing: 163.341380 deg, lat: 36.906438 deg, lon: -122.115969 deg, deltaT: 3.526222 s, deltaX: -2.085419 m, approachRate: -0.591403 m/s, posRepo size: 4   DNOT Ignoring new targets: 22.54 m. % ProNav: ac range: 22.538666 m, nav range: 21.999350 m, bearing: 161.481685 deg, approach rate: 0.000000 m/s, LOS rate: -0.019969 deg/s, cmd heading: 164.299026 deg, new cmd heading: 164.269539 deg. !MHeadingCmd: 2.867044 target range: 22.538666 and range: 22.70 m.bM}7@ZIrQjQRQJQBQ~Y~]zB}Y|Y|Y|e@36@|e`X? zB'I)8>IV <}7@<9 .=i}7@izEchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.489564EEEE|3EF=F=A 6Ge /=H >H CH IH +|BH H H H &<H E~G! A) A9 NU >Q,1yGjA96x<*@6O8@Y6sHgy6-I=6HlO^п-0?y?_`tˠ?? ?? 6x<*@6;)6CF{BFIIdIdnŊ= ne=yr͝Q r>٥pp vHv^Fv v>xq5zJϜ? q59z7 IzφBy  -5@ @zmEizdh;z-i;zmq5checking for new query: numPingsReceived=8, elapsed TxPingTime=0.740634!-B-1A-I<)!Q>IV (<w7@<*=iw7@iEmEqEqEuS0EqAq6G~GAchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.992947AN> K P G"K }9- A*K A 2K 9:K ^vt)sG.b7&"`UCNS9 4 m PYm Aym B:&,`GjAy9U[$*@U78@YU lyUBZ=UH`oп`yñ?q? 7@y?}?z9?@? U[$*@U҇;)UCe{BeIII@AaI@a aM@a aQ@a aE@a I&I3VV< +=y`Q >٥ H!%I %>)5q5-Ϝ?5q59-O5 I-׆B=+:y9=:=5@=@-mEi-:-y>-Hqq5x1A5checking for new query: numPingsReceived=8, elapsed TxPingTime=1.246128B*** querying acoustic contact ***JRԙDNOT Ignoring new targets: 22.54 m.nn ProNav: ac range: 22.538666 m, nav range: 21.510075 m, bearing: 161.466422 deg, approach rate: -0.550283 m/s, LOS rate: -0.016658 deg/s, cmd heading: 164.248755 deg, new cmd heading: 164.223211 deg. 6HeadingCmd: 2.866236 target range: 22.538666 and range: 22.70 m.bhp7@ZrjRJB~ ~ } | |||l? 靭 I)zW>IU 7<hp7@ 5<53'=i=hp7@iIEEEEO0E  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.4968026GM @(=~G! Aa Aq N} > ,HjA9>*@>"8@Y>3my>c=>H`п?J??+?h?? >*@>~;)>CN{BPRIIZIZ?13b= b_=yfP*Q f>٥dh jHj_Fjm j>lrq5nsϜ?vq59n3 In܆Bv :ytvl:v5@v@nmEinF;nX?nasq5x~0A~?E)5DNOT Ignoring new targets: 22.54 m.1=k=k ProNav: ac range: 22.538666 m, nav range: 21.294514 m, bearing: 161.460588 deg, approach rate: -0.653282 m/s, LOS rate: -0.017859 deg/s, cmd heading: 164.223211 deg, new cmd heading: 164.205532 deg. DHeadingCmd: 2.865927 target range: 22.538666 and range: 22.70 m.bZk7@ZrjRJB~~}||||[? aeNKIa)e*w>iIm`rT iimHIHM-IHMS|BHM =HIHIHM-<HM(EEQEQEQEU_0EQ:J[BJJJBRJZJ:bJJ-4JzJ:jJ:J}Q:rJQ:  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.7486186GQ~G1 AI AY Nu >) ,NHjA9F)@FY8@YFlyFkq=FHu п6??FBQ?`Z?`?? F)@F8;)FCV{BVII^I^T3fm= fK=yj/9Q j>٥hh jHj`Fn n>pvq5r|Ϝ?vq59r1 IrBv9yxz?:z4@z@r mEir:r?r?uq5 B0ABE9EDNOT Ignoring new targets: 22.54 m.AEpEpU ProNav: ac range: 22.538666 m, nav range: 21.057806 m, bearing: 161.455351 deg, approach rate: -0.587965 m/s, LOS rate: -0.013154 deg/s, cmd heading: 164.205534 deg, new cmd heading: 164.189647 deg. UqeHeadingCmd: 2.865650 target range: 22.538666 and range: 22.70 m.bef7@ZarajaRaJaBi~i~i}i|q|q|q|u@checking for new query: numPingsReceived=8, elapsed TxPingTime=2.000795 靽I)>InS M`<f7@Fq<=if7@iK/P"K9*K2K::K]N Q;XHLz!Z` 3 AvuGicQ9 I>E<rE]>jE>qEEEEQ0EIR=Ip== checking for new query: numPingsReceived=8, elapsed TxPingTime=2.253876ԡ 6G "=~Gq A A N >3 ,6HjAj|BjI1aImaIm aMmaMm aQmaQm aEmaEm mMb@Mb@Mb@iii i)iYm^I +?/$Mb`?ymX?m,m;i mv@)iImn@iymG@II3O= :=yQ >٥ H >q5vϜ?q59R/ IBT:y?:3@@$mEi;-;yq5]0AAEDNOT Ignoring new targets: 22.54 m. 9 9 ProNav: ac range: 22.538666 m, nav range: 20.793472 m, bearing: 161.464891 deg, approach rate: -0.603222 m/s, LOS rate: 0.022048 deg/s, cmd heading: 164.189647 deg, new cmd heading: 164.218632 deg. r:HeadingCmd: 2.866156 target range: 22.538666 and range: 22.70 m.bo7@ZrjRJB~~ zB} | | | |`@Echecking for new query: numPingsReceived=8, elapsed TxPingTime=2.505227Y }zB}O I)>I׋R  <o7@ʖ<=io7@iԁ>ER5<H >H CH FIH ||BH  =H H H 1<H 2EHHHH =I = Ip5Eq Eq Eq Eu P0Eq Ա :J XBJ OJJ RJ ZJ {9bJ %9J J zJ :jJ :J &:rJ &: checking for new query: numPingsReceived=8, elapsed TxPingTime=2.756732 6G=~GAAN?,AXHjA9Z)@Z=7@YZTtyZZ=ZH `xпvN??` v??_?? Z)@Zo;)ZCb|Bf IInIn3r]= v$=yvStQ v>٥xx zHzaFz< ~>|q5~ՀϜ?q59~, I~By  X3@@~)mEi~B;~T;~o}q5% B%/A%DE))-DNOT Ignoring new targets: 22.54 m.15,95,9 ProNav: ac range: 22.538666 m, nav range: 20.496145 m, bearing: 161.478049 deg, approach rate: -0.565165 m/s, LOS rate: 0.025373 deg/s, cmd heading: 164.218634 deg, new cmd heading: 164.258679 deg. N:HeadingCmd: 2.866855 target range: 22.538666 and range: 22.70 m.bz7@ZrjRJB~~}||||*@ zBJI)>IUQ ҹ<z7@ܭ<4=iz7@iBDAT read: Rx Time:14:26:40.0641 TRx dataTimestamp_ set to:1749133601.499402checking for new query: numPingsReceived=8, elapsed TxPingTime=3.009780D)D)D1D1aK=P"K9*K2K;:K1vk^6[#i"9yk]#]-pM lb*>E(ԉE E E E E Ա u >u %=} checking for new query: numPingsReceived=8, elapsed TxPingTime=3.2608856G 0u= ~GAAN><,wHjA9n)@n}7@Ynwyn=nH п@S? ? @5??=?? n)@n ;)nCz<|BzIMb@Mb@Mb@ )YZd;?Mb~jthy?@DA I@)v@Iy@II 3xk= =ykغQ >٥ HbF: >q5.hϜ?q59) IByS?:2@@.mEiQ;_;q5n/AGE B*** querying acoustic contact ***J R  DNOT Ignoring new targets: 22.54 m.!%@:%@: ProNav: ac range: 22.538666 m, nav range: 20.185246 m, bearing: 161.498366 deg, approach rate: -0.635457 m/s, LOS rate: 0.042167 deg/s, cmd heading: 164.258673 deg, new cmd heading: 164.320564 deg. :HeadingCmd: 2.867935 target range: 22.538666 and range: 22.70 m.b?7@ZrjRJB~~{B}|||| @ quIq)u>qIuhO yy}D<}?7@G<==i?7@ieDAT read: 14:26:40.0641 LVL= 17680, 25121, 17826, 27091, AGC= 58, IDX= 406, 0.01, 0.895,-0.532, 0.907, 0.345, PHS= 0.639,-0.830, 0.559, RAW= 147.2, -5.2, CAL= 152.4, -13.9, ROT= 357.6, 13.9 uYgot valid direction response: 14:26:40.0641 LVL= 17680, 25121, 17826, 27091, AGC= 58, IDX= 406, 0.01, 0.895,-0.532, 0.907, 0.345, PHS= 0.639,-0.830, 0.559, RAW= 147.2, -5.2, CAL= 152.4, -13.9, ROT= 357.6, 13.9 PDAT read: Bearing 357.6, 13.9 (Local) ~Local bearing/azimuth received: Bearing 357.6, 13.9 (Local) DAT read: Range 10 to 50 : 20.6 m (Round-trip 27.5 ms) speed 0.7 m/s ,DAT read: user:2124> BDAT read: Tx time:14:26:41.1825 $Ping request sent. !)!%%>V?Խ֡x(?s+n/i%]G>%=!%Ulx> !)!-:publishing transmit ping timeڱ-Fpublishing direction and range info!y%饠Z" ?'Ϥؼʿο!Y! !)!I!i!!!!! !)!I!i!!! !)!%%>V?Խ֡x(?s+n/i!!!! !)!checking for new query: numPingsReceived=9, elapsed TxPingTime=0.070943i H<H<H>HCHeIH|BH =HHH<HE6G =~G A A N >:J [BJ YJJ RJ ZJ :bJ [O9J J zJ :jJ :J 'n:rJ *n:Ա  JDAT read: TxSync time:14:26:41.1817  checking for new query: numPingsReceived=9, elapsed TxPingTime=0.234985 $,LPHjA9>)@>f7@Y>zy>l|=>H@]п@=? ?@@b"?aN?ay?`&? >)@>);)>CbH|Bb&IIj$Ij<3]< P=yߺQ >٥ HcF: >q5TϜ?q59' IBy2@@2mEi::~q5>/AZYb].HjA]A]A];6@ʁ];jJB3@׮a|a]饠Z" ?'ϤؼʿοY]Ulx>ҁ]R>3͹S@odv ]32Y??ܙ\ǿz]@]j]7Ȝ?r]- ]ZmB]Kɜ?]1]φ  ]iB]A]'55@q addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 3.527807 s, deltaX: -2.100000 m, approachRate: -0.595271 m/s, rangeRepo size: 4  Added new target pos. range: 20.453310 m, bearing: 163.144026 deg, lat: 36.906437 deg, lon: -122.115972 deg, deltaT: 3.527807 s, deltaX: -2.085356 m, approachRate: -0.591120 m/s, posRepo size: 4 DNOT Ignoring new targets: 20.45 m.] ProNav: ac range: 20.453310 m, nav range: 20.010958 m, bearing: 162.225500 deg, approach rate: 0.000000 m/s, LOS rate: 0.042167 deg/s, cmd heading: 164.320568 deg, new cmd heading: 164.373653 deg. YeHeadingCmd: 2.868861 target range: 20.453310 and range: 20.60 m.bem7@ZarajaRaJiB~~}|||4@|? zB ŝݼI)]>IAN <m7@-<f=i%m7@i!ԡEEEEZ0E!=checking for new query: numPingsReceived=9, elapsed TxPingTime=0.486151K P"K s9*K 2K <:K FD|uCX  { wjA&FJsE<iQS6GM =~GA Ai A N > L*,2HjA9r*@r$8@Yr)yrW=rH`oп@,³? O?RM?? ?`? r*@ro;)rCze|B~8I)| |AMb@Mb@Mb@ )Y\(\?Q{Gzty?uף@ @)`@I@y@II?13%K= %>=y-FQ ->٥11 5H1= < =>AEq5E@Ϝ?Mq59Eb% IEByM?M:M1@U@E6mEiEm ;E;E$q5] B].A]JEDNOT Ignoring new targets: 20.45 m.checking for new query: numPingsReceived=9, elapsed TxPingTime=0.738239=:=: ProNav: ac range: 20.453310 m, nav range: 19.757631 m, bearing: 162.263974 deg, approach rate: -0.631562 m/s, LOS rate: 0.097148 deg/s, cmd heading: 164.373652 deg, new cmd heading: 164.490554 deg. X;HeadingCmd: 2.870902 target range: 20.453310 and range: 20.60 m.bۼ7@ZrjRJB~~'{B}||||`g? ƼI) 9> I M   <ۼ7@<z=iۼ7@iEEEE_0EI 6G @=U checking for new query: numPingsReceived=9, elapsed TxPingTime=0.991322~G A A N >651,HjA9V4`*@Vs8@YVyVxu=VH)п'??d?h@R?.;??@? V4`*@V$;)Tn~|BnHIIvIv3= \=y%,Q %>٥!) -H-dF-T< ->Q]q5U.Ϝ?]q59UI# IU Byae)2@e@U9mEiU:U:Uiq5im^.AmMEDNOT Ignoring new targets: 20.45 m.::Hu>HuCHuIHu|BHqHqHu)DHu8<Hu/E ProNav: ac range: 20.453310 m, nav range: 19.530697 m, bearing: 162.296142 deg, approach rate: -0.597581 m/s, LOS rate: 0.085690 deg/s, cmd heading: 164.490558 deg, new cmd heading: 164.588182 deg. ;k;HeadingCmd: 2.872606 target range: 20.453310 and range: 20.60 m.b7@ZrjRJB~~}||||Ѹ?I EzBE8II)M>IIMn5L IIUg1 GQ,KFIjA9:+@:*9@Y:'uy:\=:Heο? g?`9?@??? :+@:뎈;):CF|BFtI)H HININT3Z:h= Zm=yZ(;Q ^?٥\\ bH`b b?djq5fΜ?jq59f If)Byhln@fLmEifcH%CH%IH%=}BH% =H!H%+DH%<H%E UzBU`HwIQ)UJ>QI]>E YY] qԡ W,Z)`IjA9J+@J1+9@YJ@-pyJ =JH ο`?h? m?M?@??`? J+@Ji=;)JC^|BbuIIrIr 3z:;eDAT read: 14:26:43.6113 LVL= 16608, 29377, 16914, 29683, AGC= 59, IDX= 409,-0.23,-1.661,-3.049,-1.660,-2.191, PHS= 0.619,-0.810, 0.528, RAW= 146.7, -4.9, CAL= 151.8, -13.7, ROT= 358.2, 13.7 mYgot valid direction response: 14:26:43.6113 LVL= 16608, 29377, 16914, 29683, AGC= 59, IDX= 409,-0.23,-1.661,-3.049,-1.660,-2.191, PHS= 0.619,-0.810, 0.528, RAW= 146.7, -4.9, CAL= 151.8, -13.7, ROT= 358.2, 13.7 uPDAT read: Bearing 358.2, 13.7 (Local) }~Local bearing/azimuth received: Bearing 358.2, 13.7 (Local) DAT read: Range 10 to 50 : 18.5 m (Round-trip 24.7 ms) speed 0.5 m/s ,DAT read: user:2125> BDAT read: Tx time:14:26:44.7325 $Ping request sent.٥ HhF'8 >qq5dΜ?q59 I.By@QmEi::q5 B.-AVE`direction in FSK: [0.971070,-0.030517,-0.236838]:publishing transmit ping timeڑFpublishing direction and range infoyD? ?4ӋHPοAY @)rIBis;v?)\O+? #@)%I)@iGt@Gt> )( y?*e茴?o"i>1=ѭGt> ):publishing transmit ping timeڑFpublishing direction and range infoZbDbIjAAAn8@ʁ:qW1@r5 ovfD? ?4ӋHPοѭGt>ҁ 9@u1WA@PvZ `+iSrKP,?1ǿyD? ?4ӋHPοY )Ii )Ii )( y?*e茴?o"i )checking for new query: numPingsReceived=10, elapsed TxPingTime=0.079421z@j~=Ȝ?r.B woB7Ȝ?-  kB?Aư6@% addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 3.532625 s, deltaX: -2.100000 m, approachRate: -0.594459 m/s, rangeRepo size: 4 } Added new target pos. range: 18.368683 m, bearing: 165.110322 deg, lat: 36.906435 deg, lon: -122.115975 deg, deltaT: 3.532625 s, deltaX: -2.084627 m, approachRate: -0.590107 m/s, posRepo size: 4 y}DNOT Ignoring new targets: 18.37 m.yKP"K9*K2K?:K1GOXu(c b{hV?h3pX+ AR`JAJ ProNav: ac range: 18.368683 m, nav range: 18.156208 m, bearing: 163.553058 deg, approach rate: 0.000000 m/s, LOS rate: 0.087928 deg/s, cmd heading: 165.188712 deg, new cmd heading: 165.317492 deg. =HeadingCmd: 2.885334 target range: 18.368683 and range: 18.50 m.b=R8@ZyrjRJBԡ~~}| ||=2@|E`??:J^BJJJ?RJZJ} :bJJـ4J 5zB5I1)=>9I=OC 99=_96_,IjAMchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.485509|BIMb@Mb@Mb@ )Y"~?X9vI +y?}94n@ @)3@I+@yp@I Ib3#= =yQ >٥  H iF   >q5Μ?%q59 I3By%?%:%r2@%@VmEi,;;gq5)-,A5YE9Zqbqqqqʁu:qW1@r5 ovfuD? ?4ӋHPοqqҁu 9@u1WA@PvZ u`+iSrKP,?1ǿzqqju94Ȝ?ru& uoBu~=Ȝ?u7  uZmBuAuD7@DNOT Ignoring new targets: 18.37 m.;; ProNav: ac range: 18.368683 m, nav range: 17.862579 m, bearing: 163.615584 deg, approach rate: -0.616995 m/s, LOS rate: 0.133545 deg/s, cmd heading: 165.317489 deg, new cmd heading: 165.508151 deg. M;HeadingCmd: 2.888662 target range: 18.368683 and range: 18.50 m.b8@ZrjRQJQBY~Y~]Y{B}Y|a|a|a|e\? zBVI)>I\A w<8@m=$ =i8@i HU<HUp<HUƼ>HQHUIHU[}BHU =HQHQHU<HUEHœCHœCHH =I = IQ&6EMEQEQEU4EQy 4=a= checking for new query: numPingsReceived=10, elapsed TxPingTime=0.737766ԙ 6Gm =~GI AQ Aa Nu >kf,{IjA9>$ +@@>9@Y>>{ly>Ú=>H4ο` ?@%?fl3?3?K?? >$ +@>kЈ;)aIe L@ aae u<=9@p==i=9@iԱE1E1E1E5P0E1checking for new query: numPingsReceived=10, elapsed TxPingTime=0.991401K5O"K59*K12K5@:K5A~w <>( ;S<~X9+J<  =8C&fze1b 6GU=~G1 A A N= >I 4=I a=:J eBJ WJJ BRJ ZJ \:bJ G9J -4J % checking for new query: numPingsReceived=10, elapsed TxPingTime=1.241514>l,YIjA9^+@^Z9@Y^lXjy^==^HDaϿ@ϲ?)? (8e?`F?`m۲? N? ^+@^;)^Cf|BjIlMb@Mb@Mb@ )Y٥ii mHmjFu. u>yq5}Μ?q59} I}:By?:n3@@}]mEi}{:}:}Dq5B,AZEDNOT Ignoring new targets: 18.37 m.:: ProNav: ac range: 18.368683 m, nav range: 17.408113 m, bearing: 163.703587 deg, approach rate: -0.580259 m/s, LOS rate: 0.102316 deg/s, cmd heading: 165.635434 deg, new cmd heading: 165.775601 deg. o;HeadingCmd: 2.893330 target range: 18.368683 and range: 18.50 m.bR,9@ZrjRJB~~[{B}||||@? -zB-$dI1)5>1I5> 99E9He ż>Ha He IHe z}BHe  =Ha Ha He '<He (E%s,4IjA|BI9IU"IUq3e< m\=ymQ m>٥iq uHukFu u>q5mΜ?q59 I=By@`mEi`::q5Bg,A]EDNOT Ignoring new targets: 18.37 m.X:X: ProNav: ac range: 18.368683 m, nav range: 17.193323 m, bearing: 163.741935 deg, approach rate: -0.573953 m/s, LOS rate: 0.103752 deg/s, cmd heading: 165.775603 deg, new cmd heading: 165.892084 deg. h;HeadingCmd: 2.895363 target range: 18.368683 and range: 18.50 m.bM9@ZrjRJB~~}| | | |  ? MzBM*II)M+>IIU = QQ]|<]M9@]h=eԑ  checking for new query: numPingsReceived=10, elapsed TxPingTime=2.014142{Ty,"IjA9:*@:8@Y:=`y:h1=:HXϿ@v???@po?!??? :*@:͇;):Cj|BnIIrIr2%#R< %N=y% ;Q %>٥)) -H)- 5>9Eq5=[Μ?Eq59= I=AByAEG3@E@=dmEi=:=`:=q5IUR,AQyDNOT Ignoring new targets: 18.37 m.ԑ;; ProNav: ac range: 18.368683 m, nav range: 16.964773 m, bearing: 163.785659 deg, approach rate: -0.580436 m/s, LOS rate: 0.112540 deg/s, cmd heading: 165.892085 deg, new cmd heading: 166.025025 deg. x;HeadingCmd: 2.897683 target range: 18.368683 and range: 18.50 m.bs9@ZrjRJB~~}||||@ zBԠ/I)s>Ip; M<KMfKP"KM9*KI2KMA:KMv @92 r|2w44#G+G}s9@Z=+9 8,JjA}B IMb@Mb@Mb@ )Y/$? rh٥ HlF >q5eHΜ?q59 IEByn?:05@@hmEir;p;q5+,A `E9=DNOT Ignoring new targets: 18.37 m.9Ev:Ev:U ProNav: ac range: 18.368683 m, nav range: 16.723898 m, bearing: 163.808366 deg, approach rate: -0.564045 m/s, LOS rate: 0.053938 deg/s, cmd heading: 166.025028 deg, new cmd heading: 166.094131 deg. U;]HeadingCmd: 2.898890 target range: 18.368683 and range: 18.50 m.beh9@ZarijiR)J1B1~1~5-{B}9|9|9|9|=७@ {B靽TMI)?I69 ਻<h9@J=`HHIH}BH =HHH<HEIEEEEEiu checking for new query: numPingsReceived=10, elapsed TxPingTime=2.7695676G N<~G A A N= >ԡ b,JjA9B>*@B8@YB]\yBl=BHy™Ͽ? ?!?T??`? B>*@BE;)BC^ }BbIIlIlv< vY=yz$;Q z>٥xx zHx~ ~> q5H7Μ? q59B IIBy 5@@kmEi::q5,A!=B*** querying acoustic contact ***J9R9Y]DNOT Ignoring new targets: 18.37 m.Ye:e:u ProNav: ac range: 18.368683 m, nav range: 16.510593 m, bearing: 163.830393 deg, approach rate: -0.568673 m/s, LOS rate: 0.059482 deg/s, cmd heading: 166.094136 deg, new cmd heading: 166.161070 deg. uI#;}HeadingCmd: 2.900058 target range: 18.368683 and range: 18.50 m.b}9@ZyryjRJB~~}||||jx@ {BPͻIlj4<)B?I!8 qu<}9@}7=} ,4JjAchecking for new query: numPingsReceived=10, elapsed TxPingTime=3.2740959 *@ v8@Y %_[y /= H Ͽ@y?`?@?h?K?? *@ ;) C}BIMb@Mb@Mb@ )YGz?:v{Gzty?Լף@ @)@I@y@II2T= -=y :Q  >٥ %H%mF5 5>Yuq5]e!Μ?}q59]% I]OBy?:5@@]pmEi]R;];],q5B+AcEDNOT Ignoring new targets: 18.37 m.T:T: ProNav: ac range: 18.368683 m, nav range: 16.238789 m, bearing: 163.847366 deg, approach rate: -0.531286 m/s, LOS rate: 0.033732 deg/s, cmd heading: 166.161072 deg, new cmd heading: 166.212843 deg. 2:HeadingCmd: 2.900961 target range: 18.368683 and range: 18.50 m.b Z9@Z r j RJB~~{B}|A|I|I|M @ {BdOQI)<?I<5 c/< Z9@ *= " UBDAT read: Tx time:14:26:48.2826 ]$Ping request sent.]#=; ):publishing transmit ping timeYFpublishing direction and range infoyä}A?_#(8t?4ӋHPοY )Ii )Ii )8 1 ?o_?y{i )checking for new query: numPingsReceived=11, elapsed TxPingTime=0.008489EEEEo0E1 H ȼ>H H IH }BH  =H H H 9<H EEa 6G Fթ<jG ?bG >~G J-4J4J<0:JZBJPJJ<RJZJ9bJ*9J [4JzJ.:jJ3:J-:rJ-:A!A1N=>i,RJjA9*@x8@YZyf=H@xϿ ݜ?٥ HnF; >q5mΜ?q59R ITBy5@@smEiC;;q5 +AfEZ!b%EJjA%EA%EA%lH:@ʁ%*/@4?>T%ä}A?_#(8t?4ӋHPο%;!ҁ%su)/^pN @h#lt%7 )ɞYd?Rj谄ǿz%vj@%Nyj%peȜ?r%͢ %+qB% fȜ?%&  %woB%dA%8@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 3.544492 s, deltaX: -2.100000 m, approachRate: -0.592469 m/s, rangeRepo size: 4  Added new target pos. range: 16.283726 m, bearing: 166.769120 deg, lat: 36.906435 deg, lon: -122.115979 deg, deltaT: 3.544492 s, deltaX: -2.084957 m, approachRate: -0.588225 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.28 m.  ] ProNav: ac range: 16.283726 m, nav range: 15.961957 m, bearing: 165.295785 deg, approach rate: 0.000000 m/s, LOS rate: 0.033732 deg/s, cmd heading: 166.212845 deg, new cmd heading: 166.253906 deg. YeHeadingCmd: 2.901678 target range: 16.283726 and range: 16.40 m.be9@ZarajaRaJiBi~i~i}q|q|q|`ff0@| ?  {BАI)?I4 #<9@=iIp,-lJjA9>; +@>9@Y>V^y>S=>H6Ͽ@ߑ?V?'?Wǫ??`X? >; +@>;)٥dd fHdf'< f>hnq5j͜?rq59j IjXBypr56@r@jwmEij;j;jq5tv+AxK~RO"K~59*K|2K~C:K~rt;!%Lem`HOL.L;g#3IszrgDNOT Ignoring new targets: 16.28 m.::m ProNav: ac range: 16.283726 m, nav range: 15.754054 m, bearing: 165.324480 deg, approach rate: -0.569123 m/s, LOS rate: 0.079587 deg/s, cmd heading: 166.253908 deg, new cmd heading: 166.341128 deg. zZ;HeadingCmd: 2.903200 target range: 16.283726 and range: 16.40 m.b 9@ZrjR J1B9~i~q}y||||h? - {B-OI))-#?1I5`2 115<= 9@=Q<=?EU֣<Ea Ea Ea Ee _0Ea A % checking for new query: numPingsReceived=11, elapsed TxPingTime=0.990985i6G-<ZGRG~A H-<H-<H5>H1H5IH5}BH5 =H1H1H5(<H5%E~GAAN?,,OJjA9Z +@Z9@YZ^yZ%ώ=ZH^Ͽֱ? o?o?pΫ?sϱ?? Z +@Z;)ZCf=}BfI]Mb@Mb@Mb@YYY Y)YY]/$?S㥛{Gzty]&?]/ݼY]@ ]@)YI]@Yy]@II[3I= =y̸Q >٥ HoFy+9 >q5A͜? q59O I_By R? : 6@@|mEi#;#;q5)59+A5iE:Ju\BJuNJJuIRJqZJu=:bJu!9JuF4JqzJu:jJu:JuT:rJuW:DNOT Ignoring new targets: 16.28 m.:: ProNav: ac range: 16.283726 m, nav range: 15.439258 m, bearing: 165.371104 deg, approach rate: -0.569435 m/s, LOS rate: 0.086059 deg/s, cmd heading: 166.341129 deg, new cmd heading: 166.483855 deg. ?l;HeadingCmd: 2.905691 target range: 16.283726 and range: 16.40 m.b9@Zrj!R!J)B1~1~=){B}9|9|9|a|e ? {BLI)I ?I0 e4<checking for new query: numPingsReceived=11, elapsed TxPingTime=1.243168 9@ -< &EMp*<E E E E ]0E Y  checking for new query: numPingsReceived=11, elapsed TxPingTime=1.4959796G]E<ԁ~GYAiAyN?],JjA9J2+@J_E9@YJ!\yJ=JH`pο@ű?7?@`ά??`H?:? J2+@J;)HKjgRP"Kj9*Kh2KjD:Kj#N\=?|aUbwWyOX|i` t  TbTJOLF}BIi8>Ip>!II(*3< =y:Q >٥ HpF; >!-q5%6͜?-q59% I%fBy15E6@5@%mEi%~;%;%q5]B]+AelEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 16.28 m.checking for new query: numPingsReceived=11, elapsed TxPingTime=1.747075:: ProNav: ac range: 16.283726 m, nav range: 15.129030 m, bearing: 165.416102 deg, approach rate: -0.574601 m/s, LOS rate: 0.085053 deg/s, cmd heading: 166.483853 deg, new cmd heading: 166.621614 deg. |i;%HeadingCmd: 2.908096 target range: 16.283726 and range: 16.40 m.b%>:@Z)r)j)R)J)BQ~Y~a}a|a|a|a|m? {BI) ?I-   -<>:@-m<:@iD!D!D!ID!yE E E E P0E  checking for new query: numPingsReceived=11, elapsed TxPingTime=2.000447ԩ H}>H}CH}IH}}BH} =HyH}*DH}8<H}9EH=ΔCH=ΔCH9H9I= = I=ν56G9n<~GIAqAN ?,JjA9Fd+@Fw9@YFOyFb=FHIοj?@ ?@o?G?`X ?@? Fd+@Fx;)FCN\}BNI:J]BJXJJCRJZJ]:bJ5K9J4JzJ:jJ:Jf:rJf:QMMb@Mb@Mb@III I)IYMl?Zd;OMbP?yM?MjM:M@ I)IIM@IyMQ@ImIm2E"= E=yE;Q E>٥II MHMqFUF; U>Yeq5]R͜?eq59] I]mBye?e:e6@e@]mEi];]B;]5q5q}*Aychecking for new query: numPingsReceived=11, elapsed TxPingTime=2.252093DNOT Ignoring new targets: 16.28 m.:: ProNav: ac range: 16.283726 m, nav range: 14.821570 m, bearing: 165.449398 deg, approach rate: -0.563754 m/s, LOS rate: 0.062318 deg/s, cmd heading: 166.621618 deg, new cmd heading: 166.723578 deg. +;ԁHeadingCmd: 2.909875 target range: 16.283726 and range: 16.40 m.bf;:@ZrjRJB~~3{B}||||@ m{Bmx Ii)m?iIu^ + qqu<}f;:@}:5<}2,CJjA9J_+@J9@YJd JyJT=JH@l@ο@P?? 6?lA?D?? J_+@Jh;)HVc}BVII^I^<2j< jd=yny;Q n>٥pp rHrrFr; r>x~q5z͜?~q59z" IzrBy|~7@~@zmEiz:z:zWq5 *A oE15DNOT Ignoring new targets: 16.28 m.1=ǝ:=ǝ:] ProNav: ac range: 16.283726 m, nav range: 14.609255 m, bearing: 165.471479 deg, approach rate: -0.653691 m/s, LOS rate: 0.068971 deg/s, cmd heading: 166.723579 deg, new cmd heading: 166.790783 deg. ]V=;eHeadingCmd: 2.911048 target range: 16.283726 and range: 16.40 m.beN:@ZarajaRaJiBi~i~i}q|q|q|q|}@ {B靥;II)M?IIe) aim q ,KjAI@)@9>+@>u9@Y>QEy>ӱ=>HF [Ϳ 8?`?:?@ɧ?,?? >+@>;)>CF}BFIHJABDAT read: Rx Time:14:26:50.7060  TRx dataTimestamp_ set to:1749133612.103342 checking for new query: numPingsReceived=11, elapsed TxPingTime=3.0080775Mb@Mb@Mb@111 1)1Y5$C?MbMb`y5?551 5~@)5@I11y5\@I%I%#3-I= 57=y5_,;Q 5>٥99 =HAM: M>QYeq5]X͜?eq59] I]xByeT?e:mF6@m@]mEi],:]k:]Bq5uBu*AurEDNOT Ignoring new targets: 16.28 m.:: ProNav: ac range: 16.283726 m, nav range: 14.339499 m, bearing: 165.514572 deg, approach rate: -0.601787 m/s, LOS rate: 0.097944 deg/s, cmd heading: 166.790788 deg, new cmd heading: 166.922501 deg. o;UHeadingCmd: 2.913347 target range: 16.283726 and range: 16.40 m.bUHt:@ZYrYjYRYJYBY~a~e9{B}a|a|a|i|m}@GGH˼>HCH'IH}BH =HH+DH <HE ]{B] +BIa)e?aIV\' ؙ<Ht:@<oժ Fǒ,{KjA9u+@u9@Yu>Ayu=uH Ϳ?`N?@j? %?*?^? u+@ul;)q}BIII2Q< N=y#;Q >٥ HsF; >%q5w͜?-q59B I}By)-`6@-@mEi;;q515)A1ԙDNOT Ignoring new targets: 16.28 m.:: ProNav: ac range: 16.283726 m, nav range: 14.099791 m, bearing: 165.552735 deg, approach rate: -0.601512 m/s, LOS rate: 0.097391 deg/s, cmd heading: 166.922501 deg, new cmd heading: 167.038935 deg. ;HeadingCmd: 2.915379 target range: 16.283726 and range: 16.40 m.b:@ZrjRJB~ ~ } ||9|9|= S @ !{B5DAT read: 14:26:50.7060 LVL= 18800, 29057, 18642, 31827, AGC= 55, IDX= 417, 0.37,-0.271,-1.709,-0.280,-0.808, PHS= 0.625,-0.854, 0.526, RAW= 146.6, -4.2, CAL= 151.4, -13.1, ROT= 358.6, 13.1 EYgot valid direction response: 14:26:50.7060 LVL= 18800, 29057, 18642, 31827, AGC= 55, IDX= 417, 0.37,-0.271,-1.709,-0.280,-0.808, PHS= 0.625,-0.854, 0.526, RAW= 146.6, -4.2, CAL= 151.4, -13.1, ROT= 358.6, 13.1 EPDAT read: Bearing 358.6, 13.1 (Local) M~Local bearing/azimuth received: Bearing 358.6, 13.1 (Local) UDAT read: Range 10 to 50 : 14.4 m (Round-trip 19.3 ms) speed 0.5 m/s ],DAT read: user:2127> eBDAT read: Tx time:14:26:51.8326 e$Ping request sent.e )P9\?5?N낸iKi>X=*ȼ j> ):publishing transmit ping timeaFpublishing direction and range infoyzm(?5^+#ͿY )Ii )Ii )P9\?5?N낸i )checking for new query: numPingsReceived=12, elapsed TxPingTime=0.010927靵`J;I)C?IEn% qU! (g͒,P78KjA}BI]Mb@Mb@Mb@YYY Y)YY]rh|?ˡEMbPy]?]']]A@ ]h@)]@IYYy]@II3 .=yQ >٥ HtF ->)5q5-`͜?=q59- I-By=A?=:=w5@=@-mEi-:-b:-q5am)AmuEZ9b=V&KjA=dA=dA=y9@ʁ=H.+@&]iտ8 =zm(?5^+#Ϳ=*ȼ= j>ҁ=L|PEJ+4˱t @W[=ndQZ?pktAǿz=X@=RZj=Ȝ?r= =$sB=peȜ?=  =oB=_A=2W9@ addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 3.526780 s, deltaX: -2.000000 m, approachRate: -0.567089 m/s, rangeRepo size: 4 - Added new target pos. range: 14.297915 m, bearing: 166.046406 deg, lat: 36.906433 deg, lon: -122.115980 deg, deltaT: 3.526780 s, deltaX: -1.985811 m, approachRate: -0.563066 m/s, posRepo size: 4 )5DNOT Ignoring new targets: 14.30 m.151e ProNav: ac range: 14.297915 m, nav range: 13.941644 m, bearing: 165.925545 deg, approach rate: 0.000000 m/s, LOS rate: 0.097391 deg/s, cmd heading: 167.038929 deg, new cmd heading: 167.179718 deg. imHeadingCmd: 2.917836 target range: 14.297915 and range: 14.40 m.buս:@ZqrqjqRqJqBq~y~}i{B}y|||,@|8? %%{B%κI!)-?)I-# ))-<5ս:@5Q<5:H H 3IH }BH  =H H H <H E6G Fթ<ԑ ~G A A N >%Ԓ,[SKjA9B+@B9@YB>yB@=BH #@2jͿ S?`?` ?#֧?`/S?? B+@B;)BCb}BfIIr Ir̍2checking for new query: numPingsReceived=12, elapsed TxPingTime=0.742835#= g=y:Q >٥ H< >q5O͜?q59K IBy5@@mEi>:l:q5B)AxEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 14.30 m.%w/;-w/;= ProNav: ac range: 14.297915 m, nav range: 13.727584 m, bearing: 165.976880 deg, approach rate: -0.629856 m/s, LOS rate: 0.153404 deg/s, cmd heading: 167.179713 deg, new cmd heading: 167.336118 deg. =;EHeadingCmd: 2.920566 target range: 14.297915 and range: 14.40 m.bE:@ZArIjIRIJIBI~Q~Q}Q|Q|Q|Y|]@G?ԩ 5({B5  e checking for new query: numPingsReceived=12, elapsed TxPingTime=0.994964) ڒ,mKjA96+@6N9@Y6٥!) -H-uF-ф: ->1=q55<͜?Eq595t I5ByAE5@E@5mEi5:5:5Eq5IU})AUwEyDNOT Ignoring new targets: 14.30 m..;.; ProNav: ac range: 14.297915 m, nav range: 13.493624 m, bearing: 166.034485 deg, approach rate: -0.609489 m/s, LOS rate: 0.152668 deg/s, cmd heading: 167.336124 deg, new cmd heading: 167.511935 deg. ;HeadingCmd: 2.923635 target range: 14.297915 and range: 14.40 m.b;@ZrjRJB~~}||||ו? +{B;I)?I y<;@c<6چ=checking for new query: numPingsReceived=12, elapsed TxPingTime=1.25025316GI~G! AQ a Ai Nu >,QKjAchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.498814 9F+@F:@YFg٥ HvF>{: >q5'͜?q59k IByB?:%5@%@mEi ;n:q5-B-N)A-zEH¼>HHFIH~BH =HHH <HE  DNOT Ignoring new targets: 14.30 m. 5(;5(;E ProNav: ac range: 14.297915 m, nav range: 13.234221 m, bearing: 166.099886 deg, approach rate: -0.571684 m/s, LOS rate: 0.146959 deg/s, cmd heading: 167.511933 deg, new cmd heading: 167.711981 deg. E;iMHeadingCmd: 2.927126 target range: 14.297915 and range: 14.40 m.b V;@ZrjRJB~~K{B}||||? /{B靕 :I)x ?I < V;@<[eb,D3KjAP9r+@rr:@Yr5yrČ=rH @GͿd:? +? a??@?`? r+@r6r;)p~}B|I I #3 W=y҇;Q %>٥!! %H!-; ->1=q5)M> I5H͜?eq595 I5Byy5@@5mEi5aZ<5'[<5Qq5pGZA5AA }Y}ZAy}dBQ)A DNOT Ignoring new targets: 14.30 m.+;+;% ProNav: ac range: 14.297915 m, nav range: 13.002567 m, bearing: 166.159615 deg, approach rate: -0.572744 m/s, LOS rate: 0.150307 deg/s, cmd heading: 167.711976 deg, new cmd heading: 167.894355 deg. %O;5checking for new query: numPingsReceived=12, elapsed TxPingTime=2.002829=HeadingCmd: 2.930309 target range: 14.297915 and range: 14.40 m.b=0;@Z9r9j9R9JABA~A~A}I|I|Q|Y|]`,@ 2{B<;I)?I^+ z<%0;@%~RJq ZJu ]:bJu *9Ju t4Jq 6G Qd,KjA|}B IMb@Mb@Mb@ )YV-?)\(y&1|y?Ga`@ h@)Iy@IIT3= = =9=yMQ M>٥QQ ]H]wF] e>amq5e{̜?uq59eS IeByu?u:ue4@u@emEie ;e ;e1q5)A}EDNOT Ignoring new targets: 14.30 m.5;=;m ProNav: ac range: 14.297915 m, nav range: 12.730666 m, bearing: 166.259396 deg, approach rate: -0.694673 m/s, LOS rate: 0.260372 deg/s, cmd heading: 167.894355 deg, new cmd heading: 168.200088 deg. u2<uHeadingCmd: 2.935645 target range: 14.297915 and range: 14.40 m.bu;@ZyryjyRyJyBy~~O{B}||||@) }6{B}0ˮ;Iy)}"?I CH<;@+<{;i;@iUchecking for new query: numPingsReceived=12, elapsed TxPingTime=2.508389EyEyEyEyEyYHż>HHRIH1~BHHHH<HE6Ge D<ԑ ~G9 AI Ai Nu >,mKjA9:N,@:Sb:@Y:3y:O=:H`!̿ >?`-?!?w? B?@? :N,@:;):CJ}BJIIRIR 3v= va=yz^:Q z>٥xx zH|~f< >q5̜?q59~ IBy4@@mEiB:p:Zq5%B-(A-EIY]DNOT Ignoring new targets: 14.30 m.Ye ;e ;u ProNav: ac range: 14.297915 m, nav range: 12.508630 m, bearing: 166.338859 deg, approach rate: -0.612188 m/s, LOS rate: 0.222980 deg/s, cmd heading: 168.200088 deg, new cmd heading: 168.442706 deg. u<}HeadingCmd: 2.939880 target range: 14.297915 and range: 14.40 m.b}&<@Zyrj ؕ>וR=checking for new query: numPingsReceived=12, elapsed TxPingTime=2.759671RJB~~}|||| 5@ 8{Bk`E BDAT read: Rx Time:14:26:54.2531 E TRx dataTimestamp_ set to:1749133615.631406M checking for new query: numPingsReceived=12, elapsed TxPingTime=3.011865 H%,KjA9:r,@: :@Y:3y:=:H%Q̿j??I?@]|?@?@? :r,@:O†;):C^}B^"IIf&If3n;= nL=yrQ r>٥pp vHvxFz; ~> q5̜? q59z IBy  4@@mEi:B:q5(A=B*** querying acoustic contact ***J9R9IMDNOT Ignoring new targets: 14.30 m.IU9;U9;e ProNav: ac range: 14.297915 m, nav range: 12.263011 m, bearing: 166.427506 deg, approach rate: -0.613762 m/s, LOS rate: 0.225952 deg/s, cmd heading: 168.442710 deg, new cmd heading: 168.713977 deg. e<mHeadingCmd: 2.944614 target range: 14.297915 and range: 14.40 m.bmt<@ZirqjRJB~~}!|!|!|!|%͌ @KmP"K+9*K2KI:KHe{Q"{A iih4~J^j5A<pr8Cx ndJAJ:J[BJRJJARJZJ:bJS29J4J ;{B靝H<checking for new query: numPingsReceived=12, elapsed TxPingTime=3.265961AIa)e)?aIe aae DAT read: 14:26:54.2531 LVL= 17008, 25697, 15170, 27971, AGC= 54, IDX= 404,-0.07, 1.757, 0.346, 1.802, 1.282, PHS= 0.563,-0.889, 0.517, RAW= 148.4, -2.7, CAL= 152.6, -11.5, ROT= 357.4, 11.5  Ygot valid direction response: 14:26:54.2531 LVL= 17008, 25697, 15170, 27971, AGC= 54, IDX= 404,-0.07, 1.757, 0.346, 1.802, 1.282, PHS= 0.563,-0.889, 0.517, RAW= 148.4, -2.7, CAL= 152.6, -11.5, ROT= 357.4, 11.5  PDAT read: Bearing 357.4, 11.5 (Local)  ~Local bearing/azimuth received: Bearing 357.4, 11.5 (Local)  DAT read: Range 10 to 50 : 12.3 m (Round-trip 16.4 ms) speed 0.6 m/s  ,DAT read: user:2128>  BDAT read: Tx time:14:26:55.3326  $Ping request sent. Y )Y ] 9vb?h?(i] >] aWA=] 9] M> Y )Y  :publishing transmit ping timeڹ  Fpublishing direction and range infoY y]  nGS?=Tvsr¦iɿY YY Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y Y )Y ] 9vb?h?(iY Y Y Y Y )Y  checking for new query: numPingsReceived=13, elapsed TxPingTime=0.008386e, LjA9],@] :@Y] 4GG?AH>HCHeIHO~BH =HH*DH<HEHiHiHiHm =Ii Im%86y]=]HN,˿c?[? @z?ŀ?+u?? ],@];)Y}B-ImMb@Mb@Mb@iii i)iYm333333?&1٥ HyF ;  > Eq5 p̜?Eq59  I ByM+?M:Mj5@M@ mEi ,; C: tq5uBu8(A}EZbLjAfCAfCAN8@ʁ9i'@r::_PDqz nGS?=Tvsr¦iɿ9M>ҁvMׯY'6a@b6XwL?,^%LjA9^$,@^:@Y^i5y^2=^H 3_˿ ? ?@E' 誱?X?j? [? ^$,@^f);)\5~B55IIE!IEi3iua= um=y}wQ }?٥yy HzFb5< ?checking for new query: numPingsReceived=13, elapsed TxPingTime=0.491386r5~̜?r59L IBy5@@mEi::r5'AE9=DNOT Ignoring new targets: 12.21 m.9E=x;E=x;u ProNav: ac range: 12.212533 m, nav range: 11.791838 m, bearing: 166.668104 deg, approach rate: -0.633013 m/s, LOS rate: 0.217028 deg/s, cmd heading: 169.088327 deg, new cmd heading: 169.304535 deg. u<}HeadingCmd: 2.954921 target range: 12.212533 and range: 12.30 m.b}o=@ZyryjyRJB~~}||||Q? MA{BMcJ>:J\BJdJJRJZJ=:bJ|9JJ6G% !j;} checking for new query: numPingsReceived=13, elapsed TxPingTime=0.745629~G A1 AA NM > , ?LjA96b2-@6E;@Y6!;y6q=6H<: ʿ"?hV?`S1˚? "b?T?? 6b2-@6V;)6Cn~Br:IMb@Mb@Mb@ )Y(\?MbMbyz?@ ;@)I3@y@II#3< C=yZQ >٥ HE*< > r5 B̜?r59 G I Bye?:S4@@ mEi 7< < r5'ADNOT Ignoring new targets: 12.21 m. ;;% ProNav: ac range: 12.212533 m, nav range: 11.552077 m, bearing: 166.777011 deg, approach rate: -0.564239 m/s, LOS rate: 0.261614 deg/s, cmd heading: 169.304530 deg, new cmd heading: 169.638027 deg. %3<-HeadingCmd: 2.960742 target range: 12.212533 and range: 12.30 m.b-|=@ZirijiRqJqBq~q~uO{B}y|y|y|y|`? 5D{B=?HCHxIHn~BHHH)DH<HE16GE ;ZGI RGM |A~G A) A9 NE >Y ,XLjAchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.2486099jR-@jf;@Yj!:yjH=jH=Օʿ@I?I?Y3A?rV?(?@? jR-@j+;)jCv~BvFII~I~3 U=  Z=yy9Q >٥ H{F; >15r55̜?=r595r I5By9=t4@E@5mEi53;5;5g r5MBM'AMEq}DNOT Ignoring new targets: 12.21 m.y}i;i; ProNav: ac range: 12.212533 m, nav range: 11.333481 m, bearing: 166.878074 deg, approach rate: -0.613747 m/s, LOS rate: 0.289225 deg/s, cmd heading: 169.638021 deg, new cmd heading: 169.947055 deg. ~F<HeadingCmd: 2.966136 target range: 12.212533 and range: 12.30 m.b+=@ZrjRJB~~}||||`?9 G{B靍eԹ 0!,rLjA96-@6;@Y6;y6H\=6HC ʿ ?4?f7@>?@z?@?j? 6-@6>;)6CF*~BFOIININ(*3V= VP=yVo9Q Z>٥XX ZHX^< ^>`fr5bwx̜?fr59b IbBydf4@j@bmEib:bS:b r5lnT'AlB*** querying acoustic contact ***JRDNOT Ignoring new targets: 12.21 m.%;%;= ProNav: ac range: 12.212533 m, nav range: 11.106457 m, bearing: 166.982844 deg, approach rate: -0.577780 m/s, LOS rate: 0.272091 deg/s, cmd heading: 169.947059 deg, new cmd heading: 170.267790 deg. =:<MHeadingCmd: 2.971734 target range: 12.212533 and range: 12.30 m.bM0>@KP"K9*K2KK:K`fjdpye`G0ml0\r6 JJ~AZQr!j!R!JQBQ~a~iԑ:JbBJTJJ@RJZJ:bJ:9JJ4J}|| ||`j/?Uchecking for new query: numPingsReceived=13, elapsed TxPingTime=1.754742 mJ{Bm3Y@}T<}Ӻi0>@iE=E9E9E=2E96G} 'H checking for new query: numPingsReceived=13, elapsed TxPingTime=2.003304~GY Aa Aq N > #,ձLjA9:]-@:;@Y:2y:=:HKgɿ䞮??< `?!P?`?`? :]-@:c;):CF0~BFRI HPHR<HV>HTHVIHV~BHV =HTHTHV<HVEMb@Mb@Mb@ )Yi|?5?Q٥ H|F @<  >r5c̜?r59 IBy%}?%:%J5@%@mEiX:,:r5)-;'A-EY]DNOT Ignoring new targets: 12.21 m.Ye;e; ProNav: ac range: 12.212533 m, nav range: 10.852014 m, bearing: 167.092891 deg, approach rate: -0.572719 m/s, LOS rate: 0.253511 deg/s, cmd heading: 170.267791 deg, new cmd heading: 170.605671 deg.  -<HeadingCmd: 2.977631 target range: 12.212533 and range: 12.30 m.b>@ZrjRJB~~m{B}!|!|!|!|%bU@ L{B靝@f<Ni>@iEeEaEaEeB5EaFiFi!Echecking for new query: numPingsReceived=13, elapsed TxPingTime=2.255823I 6G ݻjG ?bG >~G A A N >1),LjA9>N".@>5<@Y>~,y>B=>H@8Tȿ?j?C@}j?뛥?]? h? >N".@>rʇ;)٥\\ bHb}Fj^V< j>lrr5n:S̜?rr59n InBypr5@v@nmEin#;nd:nr5xz&'Ax%DNOT Ignoring new targets: 12.21 m.!%x;-x;5 ProNav: ac range: 12.212533 m, nav range: 10.644458 m, bearing: 167.181181 deg, approach rate: -0.570401 m/s, LOS rate: 0.247368 deg/s, cmd heading: 170.605667 deg, new cmd heading: 170.875700 deg. checking for new query: numPingsReceived=13, elapsed TxPingTime=2.507366)<HeadingCmd: 2.982344 target range: 12.212533 and range: 12.30 m.b>@ZrjRJB~~}||||@@ }O{B靅@<I@;i>@iQEMEIEIEMP0EIyII%=KO"K@9*K2KL:KUEv}*\8HDmbGifbi2oyP6G5_vm checking for new query: numPingsReceived=13, elapsed TxPingTime=2.761844~Gy ԩ A A N >]0,vLjA<~6~B~VIMb@Mb@Mb@ )YV-?~jt~jtxy ?DĻ @)I@y@I=#I=%x3M_; M3=yMQ U>٥QQ UHQ] ]>amr5e>̜?mr59e IeBym?m:u6@u@emEie& ;e ;er5}B}'A}E-DNOT Ignoring new targets: 12.21 m.1=_;=_;m ProNav: ac range: 12.212533 m, nav range: 10.392388 m, bearing: 167.268066 deg, approach rate: -0.554429 m/s, LOS rate: 0.195737 deg/s, cmd heading: 170.875706 deg, new cmd heading: 171.142678 deg. mU<uHeadingCmd: 2.987003 target range: 12.212533 and range: 12.30 m.bu+?@ZqrqjqRqJqBy~y~}U{B}y|ԩ|||@BDAT read: Rx Time:14:26:57.7501 TRx dataTimestamp_ set to:1749133619.159478checking for new query: numPingsReceived=13, elapsed TxPingTime=3.013431 R{BO}HCHIH~BH =HH*DHۚ<HEEEEEE :J \BJ UJJ DRJ ZJ =:bJ >9J 4J zJ : jJ : J }Q: rJ Q: 6G *~G A A N >e checking for new query: numPingsReceived=13, elapsed TxPingTime=3.264741gN6,KsLjA9:.@: <@Y:| y:b=:Hogǿ[o??Qt??~V?@? :.@:uZ;):Cdv[~BzmII I <2@= _=y٥!! -H-~F-+= ->1=r55D.̜?=r595 I5By9E}7@E@5mEi5#;5/;5r5IM&AMEDNOT Ignoring new targets: 12.21 m.:=;:=; ProNav: ac range: 12.212533 m, nav range: 10.188742 m, bearing: 167.328072 deg, approach rate: -0.550443 m/s, LOS rate: 0.165436 deg/s, cmd heading: 171.142684 deg, new cmd heading: 171.326302 deg. ;HeadingCmd: 2.990208 target range: 12.212533 and range: 12.30 m.b_?@ZrjRJB~~}|||| @ T{Bt!DAT read: 14:26:57.7501 LVL= 18416, 28321, 16306, 30707, AGC= 53, IDX= 406,-0.27, 1.911, 0.530, 1.981, 1.485, PHS= 0.514,-0.909, 0.493, RAW= 149.2, -1.4, CAL= 153.0, -10.3, ROT= 357.0, 10.3 Ygot valid direction response: 14:26:57.7501 LVL= 18416, 28321, 16306, 30707, AGC= 53, IDX= 406,-0.27, 1.911, 0.530, 1.981, 1.485, PHS= 0.514,-0.909, 0.493, RAW= 149.2, -1.4, CAL= 153.0, -10.3, ROT= 357.0, 10.3 PDAT read: Bearing 357.0, 10.3 (Local) ~Local bearing/azimuth received: Bearing 357.0, 10.3 (Local) DAT read: Range 10 to 50 : 10.0 m (Round-trip 13.4 ms) speed 0.4 m/s ,DAT read: user:2129> BDAT read: Tx time:14:26:58.8326 $Ping request sent. ܥr&@)ܥ+ȼIܥ*@iܥX8ܥb@ܥX8> ݡ)ݡݥ z?ӾI=F?piݥо?ݥ<ݥQwVݥX8> ޡ)ޡm:publishing transmit ping timemFpublishing direction and range infoڡyڥ?p?{;]ƿڡYڡ ۡ)ۡIۡiۡۡۡۡۡ ܡ)ܡIܡiܡܡܡ ݡ)ݡݥ z?ӾI=F?piݡݡݡݡ ޡ)ޡchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.025724I m<, LjAr]~BvnIII3; L=yQ >٥ HF% %>)5r5-C̜?5r59- I-By119=@-mEi-8;-9;-r5IM~&AIZbhLjAAA:@ʁdς#@kjyE\-@g?p?{;]ƿQwVX8>ҁF."(##L@4 s#S7 7?=Cp¿z @Aj(Ȝ?rHJ xBHJ  $sBA^:@% addTargetRange:: Added new target pos. range: 10.000000 m, deltaT: 3.528140 s, deltaX: -2.300000 m, approachRate: -0.651902 m/s, rangeRepo size: 4 KUQ*P"KQ*KQ2KUM:KUm5be;SS>xh%urN`yo4f3~4@ Added new target pos. range: 9.928881 m, bearing: 167.127874 deg, lat: 36.906433 deg, lon: -122.115979 deg, deltaT: 3.528140 s, deltaX: -2.283652 m, approachRate: -0.647268 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.93 m.8Short final. Range: 10.00 m.VTransitioning guidance mode to: SHORT_FINAL@@ ==5JDAT read: TxSync time:14:26:58.8318 Mchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.246363ea ProNav: ac range: 9.928881 m, nav range: 9.970118 m, bearing: 167.317970 deg, approach rate: 0.000000 m/s, LOS rate: 0.165436 deg/s, cmd heading: 171.326307 deg, new cmd heading: 171.534789 deg. ]~HeadingCmd: 2.993847 target range: 9.928881 and range: 10.00 m.b]0?@iZarjRJB~~}|||$@|? ]W{B]H CH IH ~BH  =H H +DH <H E~G A A N% >C,иMjA`%q~B%zIMb@Mb@Mb@ )Y rh?A`"MbpyC ?Y @)@I3@y@II3/= 0=yQ >٥ H! %>)5r5-̜?5r59- I-By5 ?5:56@5@-mEi- ;- ;-"r5EBE(&AEEeB*** querying acoustic contact ***JaRaqquzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.};}; ProNav: ac range: 9.928881 m, nav range: 9.717216 m, bearing: 167.413606 deg, approach rate: -0.572315 m/s, LOS rate: 0.222056 deg/s, cmd heading: 171.534791 deg, new cmd heading: 171.829163 deg. e<~HeadingCmd: 2.998985 target range: 9.928881 and range: 10.00 m.b]?@ZrjRJB~~{B}|||q|u`kD?J4J4J0:JaBJPJJARJZJ:bJ*9J4JzJ;jJ;J-:rJ-: Y{BkIi nI,:\)MjA9Bd/@B=@YBy>yBG=BH}iſ?`@?`._]? Ƣ?෺?? Bd/@B";)BCRx~BRIIZ'IZ@3bchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.996114fz< fd=yj;Q j>٥hh jHjFn;= r>tvr5v˜?~r59v IvBy7@@vmEivj;vj;v%r5   &A E11=zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.E;;E;;U ProNav: ac range: 9.928881 m, nav range: 9.521002 m, bearing: 167.471534 deg, approach rate: -0.544518 m/s, LOS rate: 0.164070 deg/s, cmd heading: 171.829159 deg, new cmd heading: 172.006523 deg. U3;Ye~HeadingCmd: 3.002080 target range: 9.928881 and range: 10.00 m.be"@@ZarajaRaJaBa~i~i}i|i|q|y|}@? [{B靭E*A<EEEE\0EYchecking for new query: numPingsReceived=14, elapsed TxPingTime=1.250515KP"Ks9*K2KN:Kb@~b7>cRC:U"ag oZFA FA y 6Gu V'SjGu ?bGu ?~GQAԩAN>3R,|}HMjA9Fo0@F>@YF yF=FH)@MmĿ9,??@hD???;? Fo0@F-;)FCR~BRIUchecking for new query: numPingsReceived=14, elapsed TxPingTime=1.500309Mb@Mb@Mb@ )Ysh|??J +{Gzty ?Hף@ @)I@y@IIM3w< =yԎ;Q >٥ HF~< >r5˜?r59 IBy ?:8@@mEiٕ;t;H*r5%AE))-zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.5l ;5l ;E ProNav: ac range: 9.928881 m, nav range: 9.241795 m, bearing: 167.532760 deg, approach rate: -0.539555 m/s, LOS rate: 0.121893 deg/s, cmd heading: 172.006525 deg, new cmd heading: 172.195755 deg. EN;M~HeadingCmd: 3.005383 target range: 9.928881 and range: 10.00 m.bM1X@@ZIrIjIRQJQBQ~Q~U{B}Y|Y|YH>HHIH~BH =HHH<HEH“CH“CHH =I = I“5||@_? _{BE?B:1EEEEX0E6Ge 1;:JbBJJJ>RJZJ:bJJt4JzJH ;jJK ;JrJ-:~G9AIAYNm> checking for new query: numPingsReceived=14, elapsed TxPingTime=1.753441q e(X,]7bMjA49R0@R>@YRyR=RH`ˑ`ÿݨ?@H? l_?;t?'?? R0@Rd;)PZ~B^IIfIf(1v< vZ=yvw;Q z>٥xx zHx~$< ~> r5m˜? r59 IBy   9@@mEi>::-r5%AAAMzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.e;e;u ProNav: ac range: 9.928881 m, nav range: 9.038673 m, bearing: 167.574799 deg, approach rate: -0.544578 m/s, LOS rate: 0.115240 deg/s, cmd heading: 172.195749 deg, new cmd heading: 172.324698 deg. u-;}~HeadingCmd: 3.007633 target range: 9.928881 and range: 10.00 m.b}}@@ZrjRJB~~}||||`? b{BUt=I)H?Ib  <}@@Q<D 0_,MjA9j-0@j>@Yjpyj~=jH] Nÿ ?z8?'pi?ܞ??? j-0@j\;)hv~BvI)x xxzAMb@Mb@Mb@ )Y?+Mby ?@ @)@I@y@II(*3 = '=y;Q >٥ HF; >r5S˜?r59 I‡By+ ?::@@mEi2:P:1r5B%AE1AAzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m. 4: 4: ProNav: ac range: 9.928881 m, nav range: 8.769461 m, bearing: 167.593637 deg, approach rate: -0.545589 m/s, LOS rate: 0.039350 deg/s, cmd heading: 172.324703 deg, new cmd heading: 172.382953 deg. % :-~HeadingCmd: 3.008650 target range: 9.928881 and range: 10.00 m.b-@@Z)r)j1R1J1B1~9~={B}9|9|9|A|E@ f{B靍%HUCHUIHU~BHU =HQHU*DHU<HUEԁ6G O <~GY Aa Ay N >Թ :J [BJ TJJ ARJ ZJ :bJ :9J 4J zJ :jJ :J SJ:rJ VJ:f,MjA9J1@JR*?@YJgyJ=JH Bÿ?? xJF??#?`? J1@Jm;)JCf~BfIIn$In<3zK< ~Y=y~N;Q ~>٥ HF 0<  > r5%checking for new query: numPingsReceived=14, elapsed TxPingTime=2.760620 :˜?-r59  I ÇBy)-:@-@ mEi u; Hv;  5r51=y%A=EUB*** querying acoustic contact ***JQRQii}zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.}9}9 ProNav: ac range: 9.928881 m, nav range: 8.561384 m, bearing: 167.603485 deg, approach rate: -0.554637 m/s, LOS rate: 0.026887 deg/s, cmd heading: 172.382951 deg, new cmd heading: 172.413211 deg. :~HeadingCmd: 3.009178 target range: 9.928881 and range: 10.00 m.b`@@ZrjRJB~~}||||R@ԑ i{B靭)=I)L?I͹ؼ ۉ<`@@<yMF1@>pY?@Y>Ӽy>=>H@%¿@y?@X? 1 zh?@qr??? >F1@>;)>CF~BJIININ2VB; VO=yZ;Q Z>٥XX ^H\^?; >!-r5%̖˜?-r59%k I!y15:@5@%mEi%:%:%8r59=t%AAqq}zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.99 ProNav: ac range: 9.928881 m, nav range: 8.337238 m, bearing: 167.610340 deg, approach rate: -0.553335 m/s, LOS rate: 0.017377 deg/s, cmd heading: 172.413208 deg, new cmd heading: 172.434326 deg. >:~HeadingCmd: 3.009547 target range: 9.928881 and range: 10.00 m.bj@@ZrjRJB~~}|||| @ l{BV~GqAAN>I  DAT read: 14:27:01.2477 LVL= 20768, 27505, 18306, 32627, AGC= 51, IDX= 412, 0.02, 0.908,-0.513, 1.078, 0.533, PHS= 0.463,-0.998, 0.543, RAW= 152.6, -0.1, CAL= 155.6, -8.9, ROT= 354.4, 8.9 % Ygot valid direction response: 14:27:01.2477 LVL= 20768, 27505, 18306, 32627, AGC= 51, IDX= 412, 0.02, 0.908,-0.513, 1.078, 0.533, PHS= 0.463,-0.998, 0.543, RAW= 152.6, -0.1, CAL= 155.6, -8.9, ROT= 354.4, 8.9 - PDAT read: Bearing 354.4, 8.9 (Local) - ~Local bearing/azimuth received: Bearing 354.4, 8.9 (Local) 5 DAT read: Range 10 to 50 : 8.1 m (Round-trip 10.9 ms) speed 0.4 m/s E ,DAT read: user:2130> E BDAT read: Tx time:14:27:02.3327 M $Ping request sent.M |  ? t*@) I -@i  .@ > ) +E?x{ҿB?zᤥ*^i c? _: )+Ƚ > ) *:publishing transmit ping timey*Fpublishing direction and range info y `-v?3jÿ Y ) I i ) I i ) +E?x{ҿB?zᤥ*^i ) 6checking for new query: numPingsReceived=15, elapsed TxPingTime=0.015117H>HHIHBHHHH4<H(E9Uql1@U?@YUSżyUE=UHa`n¿S? ?= ?.?@/?? Uql1@U㮆;)UC~BIi=I=QMb@Mb@Mb@ )YGz? rh~jty?C D@ @)I@y=@I I(2_Ӽ =ykb;Q >٥ HF; %>!Ur5%W˜?Ur59% I!yU?U:U;@U@%mEi%:%:%=r5eBe%AeEZ b {1MjA A A 5<:@ʁ >.=[@]ʡ迴#bg_ `-v?3jÿ )+Ƚ >ҁ e*H,~A?)ǙR: JqBH? z ? j { .Ȝ?r I^  zB peȜ?  .vB @ ;@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 3.527877 s, deltaX: -1.900000 m, approachRate: -0.538567 m/s, rangeRepo size: 4 - Added new target pos. range: 8.042328 m, bearing: 166.726406 deg, lat: 36.906433 deg, lon: -122.115979 deg, deltaT: 3.527877 s, deltaX: -1.886553 m, approachRate: -0.534756 m/s, posRepo size: 4 11=zIgnoring new targets. Set target to previous: 8.04 m. 9.93 m.:=; ProNav: ac range: 9.928881 m, nav range: 8.052808 m, bearing: 167.592110 deg, approach rate: 0.000000 m/s, LOS rate: 0.165436 deg/s, cmd heading: 172.434327 deg, new cmd heading: 172.691744 deg. ;|HeadingCmd: 3.014040 target range: 9.928881 and range: 8.10 m.b@@ZrjRJB~~{B}|||@33 @|? ]q{B]ey,"QMjAchecking for new query: numPingsReceived=15, elapsed TxPingTime=0.491525~BIIIm?3< a=yQ >٥ HF > r5\n˜? r59 I‡By  @mEiA;;>@r59=w%A=EԙzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.66 ProNav: ac range: 9.928881 m, nav range: 7.846891 m, bearing: 167.578088 deg, approach rate: -0.570888 m/s, LOS rate: -0.039895 deg/s, cmd heading: 172.691744 deg, new cmd heading: 172.648574 deg.  ۺ|HeadingCmd: 3.013286 target range: 9.928881 and range: 8.10 m.b@@ZrjRJB~ ~ }|1|1|9|=? t{Bx =I)H?I Uȼ w<%@@%l<%lT9JJ4J@@@@E checking for new query: numPingsReceived=15, elapsed TxPingTime=0.7440906G iG<Km 1P"Km +9*Ki 2Km Q:Km q+]TzYIZ.&cPh'3 g-*j,f[M~G A AQ N > ,NjA9Vk1@V?@YV0yV>=VH`2zfߡ?@G%?#.?`?@;8? -? Vk1@V d;)VCj~BjIMb@Mb@Mb@ )YQ?Q~jty?@ @)I@y@I#I%x3Ž J=y;Q >٥ H< >r5Z˜?r59 Iy?:<@@mEi;;Cr5%A))5zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.5 5 e ProNav: ac range: 9.928881 m, nav range: 7.610491 m, bearing: 167.532925 deg, approach rate: -0.608346 m/s, LOS rate: -0.119833 deg/s, cmd heading: 172.648577 deg, new cmd heading: 172.508878 deg. ezm|HeadingCmd: 3.010848 target range: 9.928881 and range: 8.10 m.bu@@ZqrqjqRqJqBy~~{B}| | | |ज़? x{B%&IH CH IH BH  =H H )DH $<H  EE!E!E!E%`5E!Aa 6G= zQ<ZGA RGE }A~G9 AA AQ Ne >] checking for new query: numPingsReceived=15, elapsed TxPingTime=1.246636䆓,NjAI@)@9B*2@B;>@@YB7OyB.=BH`Fܠ??x0?~??`? B*2@Bņ;)BCJ~BJIIR&IR3fA < j\=yj j;Q n>٥ll nHnFrzE< r>tzr5vH˜?zr59v Ity|~=@~@vnEiv;vt;vGr5B%AE%B*** querying acoustic contact ***J!R!zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.JJ ProNav: ac range: 9.928881 m, nav range: 7.392663 m, bearing: 167.481262 deg, approach rate: -0.548900 m/s, LOS rate: -0.134018 deg/s, cmd heading: 172.508872 deg, new cmd heading: 172.349319 deg. 5|HeadingCmd: 3.008063 target range: 9.928881 and range: 8.10 m.b5@@Z1r1j1R1J1B9~9~9}9|A|A|A|E\? |{Br =I)F?I] !i)4> < G%A9 uYuAyu-B@@4<`Թ ,6NjA9BN2@B&b@@YBNyBf*=BHQ@?`L?@??`?z? BN2@B$;)@J~BNIPIVIV2j=< nJ=yn;Q n>٥pp rHrFr; v>tzr5v-5˜?~r59v] IvBy|~;=@@vnEiv;v;vJr5  p%A 11EzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.EFMFU ProNav: ac range: 9.928881 m, nav range: 7.156511 m, bearing: 167.417568 deg, approach rate: -0.623695 m/s, LOS rate: -0.173774 deg/s, cmd heading: 172.349319 deg, new cmd heading: 172.151930 deg. ]e|HeadingCmd: 3.004618 target range: 9.928881 and range: 8.10 m.beK@@ZarajaRiJiBi~i~i}q|q|q|q|}`b?IIa=:J\BJ]JJBRJZJ=:bJ_9J-4J {B`3 =I)tF?I #z checking for new query: numPingsReceived=15, elapsed TxPingTime=2.002868H >H CH H H  =H H *DH <H E, PNjA9Zw2@Z@@YZyZ˲=ZH@n`?K?+ 퐵? ސ?qQ?? Zw2@Z;)ZCn~BnI|mMb@Mb@Mb@iii i)iYm ףp= ?S㥛 rhymQ?m/ݼmCmv@ m@)m@Im@iymQ@I I2?̼ :=y;Q >٥ H; >r5}˜? r59) IBy ? : =@ @nEi:w:`Nr5B%A%EIIUzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.]N]Nm ProNav: ac range: 9.928881 m, nav range: 6.895345 m, bearing: 167.322402 deg, approach rate: -0.593213 m/s, LOS rate: -0.224348 deg/s, cmd heading: 172.151926 deg, new cmd heading: 171.855617 deg. mu|HeadingCmd: 2.999446 target range: 9.928881 and range: 8.10 m.bu?@ZqrqjqRqJyBy~y~}d{B}||||93@ {B'Qԁ E,gjNjA9612@6@@Y6SCny6;=6H m @?`?=`?%ȍ??? 612@6;)6Cf~BfIII3%WJ< %W=y-Ӧ;Q ->٥)) 5H5F5; 5>9Er5= ˜?Er59= I=ByIM=@M@= nEi=:=6:=Qr5QYU%A]Echecking for new query: numPingsReceived=15, elapsed TxPingTime=2.507976zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.nn ProNav: ac range: 9.928881 m, nav range: 6.669460 m, bearing: 167.231063 deg, approach rate: -0.591550 m/s, LOS rate: -0.247300 deg/s, cmd heading: 171.855619 deg, new cmd heading: 171.572325 deg. )|HeadingCmd: 2.994502 target range: 9.928881 and range: 8.10 m.b?@ZrjRJB~~}||||A@ ={B=L=I9)E@C?AIE| IIM}- <= checking for new query: numPingsReceived=15, elapsed TxPingTime=2.759566~G A A N >K O"K 9*K 2K S:K *=)`e\^}JqS3d|?!:RZQ'fD<%#SS jO ,=NjA9Z2@Z@@YZPOyZ)=ZH>@?m?z@4?@?ʴ?F? Z2@Z1;)ZCn~BnI}Mb@Mb@Mb@yyy y)yY}v?Mb~jty}?}}Dy }@)}h@Iyyy}@II2< C=y;Q >٥ HF; >Թr5ʜ?r59 IBy?:8?@@nEi::]Ur5N%AzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.һһ ProNav: ac range: 9.928881 m, nav range: 6.419067 m, bearing: 167.076409 deg, approach rate: -0.574289 m/s, LOS rate: -0.368544 deg/s, cmd heading: 171.572330 deg, new cmd heading: 171.090281 deg. ||HeadingCmd: 2.986089 target range: 9.928881 and range: 8.10 m.b?@ZrjRJB~~l{B}||||@ e{BBDAT read: Rx Time:14:27:04.7451 TRx dataTimestamp_ set to:1749133626.215737checking for new query: numPingsReceived=15, elapsed TxPingTime=3.012185靥KlHHIHBH =HHH<HEHqHqHqHu =Iu = Iuş6EYEYEaEe]0Ea6G=eS/=~GQAYAiN}>A = checking for new query: numPingsReceived=15, elapsed TxPingTime=3.262723U.,NjA9B2@Bj@@YB]5yBqp=BH β?w3?!?-?@?@? B2@B ;)@~BII"Iq3u ' }>=yao;Q >٥ Hm; >r5ʜ?r59 IByU?@@nEi:W:6Yr5 B%AEUB*** querying acoustic contact ***JQRQaaezIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.pp ProNav: ac range: 9.928881 m, nav range: 6.156912 m, bearing: 166.896609 deg, approach rate: -0.609958 m/s, LOS rate: -0.436151 deg/s, cmd heading: 171.090283 deg, new cmd heading: 170.527937 deg. |HeadingCmd: 2.976274 target range: 9.928881 and range: 8.10 m.bF{>@ZrjRJB~~}||||@ @ ]{B]2@y}=iF{>@iIEEEE_0EDAT read: 14:27:04.7451 LVL= 22096, 26705, 14162, 29539, AGC= 50, IDX= 417, 0.15, 0.255,-1.144, 0.560,-0.011, PHS= 0.353,-1.086, 0.568, RAW= 156.8, 2.1, CAL= 158.7, -6.8, ROT= 351.3, 6.8 Ygot valid direction response: 14:27:04.7451 LVL= 22096, 26705, 14162, 29539, AGC= 50, IDX= 417, 0.15, 0.255,-1.144, 0.560,-0.011, PHS= 0.353,-1.086, 0.568, RAW= 156.8, 2.1, CAL= 158.7, -6.8, ROT= 351.3, 6.8  PDAT read: Bearing 351.3, 6.8 (Local) ~Local bearing/azimuth received: Bearing 351.3, 6.8 (Local) DAT read: Range 10 to 50 : 6.2 m (Round-trip 8.3 ms) speed 0.6 m/s %,DAT read: user:2131> -BDAT read: Tx time:14:27:05.8327 -$Ping request sent.-۝ ۝sh? ܝ%/@)ܝQ =IܝE1@iܝܝ3@ܝ= ݙ)ݙݝ=h?n9/?'X)?iݝ,$?ݝSݝ|ݝ= ޙq)ޙu:publishing transmit ping time)uFpublishing direction and range infoڙyڝ5h?mbے9ÿEOڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝ=h?n9/?'X)?iݙݙݙݙ ޙ)ޙchecking for new query: numPingsReceived=16, elapsed TxPingTime=0.0123606G f/=ZG! RG% Aԙ ~G A A! N= >L,uȷNjA:JbBJPJJ@RJZJ:bJ*9JJ4J9u2@A@YEyk=H`#M?y?|c?H? ?4? u2@fh;)C~BI)  II[3%4= %Q=yM;Q M>٥IQ UHUFU; U>Yer5]ʜ?er5ԉ9]( I]Bys?@@]nEi];];]\r5V%AE checking for new query: numPingsReceived=16, elapsed TxPingTime=0.232993ZbNjA@@7@ʁƏ@+@4EyOR5h?mbے9ÿEO|=ҁobW.#?d'}գJh*`?2z1?j Ȝ?r跒 {BfȜ?I^  xBl@39@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 3.528574 s, deltaX: -1.900001 m, approachRate: -0.538461 m/s, rangeRepo size: 4 u Added new target pos. range: 6.155875 m, bearing: 164.714562 deg, lat: 36.906433 deg, lon: -122.115978 deg, deltaT: 7.056451 s, deltaX: -3.773005 m, approachRate: -0.534689 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.16 m. 9.93 m. :=;KP"Kŷ9*K2KT:K.e_" b@P>H%c X4|x5)M\#g ProNav: ac range: 9.928881 m, nav range: 5.927435 m, bearing: 166.722006 deg, approach rate: 0.000000 m/s, LOS rate: 0.165436 deg/s, cmd heading: 170.527940 deg, new cmd heading: 170.733962 deg. ;Ա|HeadingCmd: 2.979870 target range: 9.928881 and range: 6.20 m.b0>@ZrjRJB~~}|||@|? ]{B]!@mh<q=i0>@iE-E)E)E1E1F9F==6G 6a=~G A A N > checking for new query: numPingsReceived=16, elapsed TxPingTime=0.486679H >H CH H H  =H H )DH B<H 6E 4/,NjA~~B~IMb@Mb@Mb@ )YK?QMby^?uI@ )@I~@y@I I̍2}Cv E=yQ >٥ HF >r5ʜ?r591 Iym?:?@@nEiI<I<)`r5\%AzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.@@ ProNav: ac range: 9.928881 m, nav range: 5.680954 m, bearing: 166.515274 deg, approach rate: -0.624396 m/s, LOS rate: -0.546425 deg/s, cmd heading: 170.733965 deg, new cmd heading: 170.086888 deg. |HeadingCmd: 2.968576 target range: 9.928881 and range: 6.20 m.b'=@ZrjRJB~~\{B} | | | |1? ]{B]=Ia)eQB?aIey t<'=@ =i'=@i %>%9?-checking for new query: numPingsReceived=16, elapsed TxPingTime=0.7371151EAEAEAEE0EAQ 6Ge =~Gy A A N >[,PrNjA 9N3@NZ,A@YN<<лyN-=NH@Lɭ?`hy?@- '?|z? P?`? N3@N ;)LV~BVII^)I^W3f)= fj=yj;Q j?٥hh vHtv; z>| r5~kʜ? r59~_ I~By  ?@@~nEi~n$;~;~=cr5B%AEAAMzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.U0U0e ProNav: ac range: 9.928881 m, nav range: 5.469428 m, bearing: 166.319377 deg, approach rate: -0.642220 m/s, LOS rate: -0.617766 deg/s, cmd heading: 170.086887 deg, new cmd heading: 169.476493 deg. eӼm|HeadingCmd: 2.957923 target range: 9.928881 and range: 6.20 m.bmN=@ZirijiRiJiBqchecking for new query: numPingsReceived=16, elapsed TxPingTime=0.990401~~}||||0? {BZ0,=I)E?I'm r<N=@=iN=@iIEUEQEQEUU4EY6G-=jG5?bG5?~GAA)N5.>q5 checking for new query: numPingsReceived=16, elapsed TxPingTime=1.241499ԩ K= YP"K= @9*K9 2K= U:K= >bM-kBi=)UBFOswm@\8&hFD,ROjA963@6A@Y67y6ϐ=6H>&?ٿ?@elɱ?@t??m? 63@6̲;<)6CN~BNIiR=IR;Mb@Mb@Mb@ )YCl?/$Mbyd? @)@Iy@IIM3< 8=yAG;Q >٥    H F[ >%r5#ʜ?%r59B IBy%?%:%>@-@#nEi::gr515 %A1YYezIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.e!e! ProNav: ac range: 9.928881 m, nav range: 5.202610 m, bearing: 166.082383 deg, approach rate: -0.606641 m/s, LOS rate: -0.566467 deg/s, cmd heading: 169.476487 deg, new cmd heading: 168.729085 deg. a¼|HeadingCmd: 2.944878 target range: 9.928881 and range: 6.20 m.bx<@ZrjRJB~~y{B}||||>? u{Bu=Iy)}F?yI} yy}Ap<ԡx<@Җ=ix<@ibEZEבבchecking for new query: numPingsReceived=16, elapsed TxPingTime=1.497038E%E!E!E%5E!He>HeCHeIHe~BHe =HaHe*DHe@<HeAE6GE q= ~G A) A9 NE >:J ^BJ JJ >RJ ZJ } :bJ J t4J zJ ^: jJ c: J -: rJ -: SkǓ,XOjA6checking for new query: numPingsReceived=16, elapsed TxPingTime=1.7609249J2@Jp@@YJciyJǔ=JHOVC?Bc?lO?@H>m?ດ?@W? J2@JY;)JCV~BVIIbIb2pg< `=y };Q  >٥ HF %>)5r5-Sʜ?Er59-L I-ByIU>@U@-&nEi-;-K;-Xjr5ae$AeEzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.]%]%m ProNav: ac range: 9.928881 m, nav range: 4.977170 m, bearing: 165.871701 deg, approach rate: -0.593098 m/s, LOS rate: -0.579375 deg/s, cmd heading: 168.729086 deg, new cmd heading: 168.068443 deg. mƼu|HeadingCmd: 2.933348 target range: 9.928881 and range: 6.20 m.b;@ZrjRJB~~}||||ŧ? {B靥=I)G?I~f n<;@=i;@iEaEiEiEmP0Ei6G=J=~GA!9A9NEs>checking for new query: numPingsReceived=16, elapsed TxPingTime=2.012875a a͓,a8OjA9>2@>T@@Y>y>h=>H@8@؇?? Q0? b?5l?? >2@>;)>Cb~BbIIjIj2v1= vI=yz];Q z>٥x| ~H|~ > r5'kʜ?r59? IByz>@@*nEi::mr5%B-$A-E9UB*** querying acoustic contact ***JQRQaamzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.m/5m/5 ProNav: ac range: 9.928881 m, nav range: 4.735300 m, bearing: 165.633400 deg, approach rate: -0.611855 m/s, LOS rate: -0.633614 deg/s, cmd heading: 168.068443 deg, new cmd heading: 167.317071 deg. lټ|HeadingCmd: 2.920234 target range: 9.928881 and range: 6.20 m.b:@ZrjRJB~~}||||:@ ={B=|(1=IA)E@K?AIE䆼 AAE[l 5 checking for new query: numPingsReceived=16, elapsed TxPingTime=2.518736Hm ż>Hm CHm IHm BHi Hi Hm +DHm D<Hm NE~ԓ,ROjA9Zc2@Z٥QQ ]H]F]ܶ ]>ar5eTʜ?r59e IeBy?:=@@e/nEie;e;eqr5$A zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.&&M ProNav: ac range: 9.928881 m, nav range: 4.464774 m, bearing: 165.380855 deg, approach rate: -0.588841 m/s, LOS rate: -0.583010 deg/s, cmd heading: 167.317068 deg, new cmd heading: 166.513580 deg. UȼU|HeadingCmd: 2.906210 target range: 9.928881 and range: 6.20 m.bUY9@ZQrYjYRYJYBY~~o{B}||||@ {BgX=I)L?I {i<Y9@==i%Y9@i!rE5e>jE5>:J\BJVJJARJZJ=:bJB9J4JzJ:jJ:JX:rJX:EEE!E!E!}BDAT read: Rx Time:14:27:08.2422 }TRx dataTimestamp_ set to:1749133629.507486checking for new query: numPingsReceived=16, elapsed TxPingTime=2.7703516GB=~GAAN>GZA E YE ZAyE _B [ړ,lOjA5~B5IIEIE3u < uQ=y}Q }>٥yy }Hy >r5Aʜ?r59 IBy@2nEi;; ur5j$AEzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.checking for new query: numPingsReceived=16, elapsed TxPingTime=3.020877CC  ProNav: ac range: 9.928881 m, nav range: 4.238894 m, bearing: 165.145217 deg, approach rate: -0.623596 m/s, LOS rate: -0.685199 deg/s, cmd heading: 166.513578 deg, new cmd heading: 165.769039 deg.  |HeadingCmd: 2.893215 target range: 9.928881 and range: 6.20 m.bq*9@ZrjRJB~~!}!|!|!|!|- e@ U{B]\7=IY)]M?YI]*x aaegԁ K #P"K 9*K 2K W:K pL2Go^h.a>'\qq^!#-! jے,OjA9NW2@N$@@YN8:yNy<|=NH |? ?`P?Yr?@v? NW2@N;)NC5~B5IMb@Mb@Mb@ )Y`"?ktMb`y? 03@ @)@Ih@y\@I%I%<25>< =>=y=ڿ;Q =>٥9A EHEFE%@ E>IQ]r5U,ʜ?]r59U IUBy]5?e:e;@e@U6nEiU:U:Uxr5mB 9$A E11=zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.=Eu ProNav: ac range: 9.928881 m, nav range: 3.983332 m, bearing: 164.969107 deg, approach rate: -0.567084 m/s, LOS rate: -0.415854 deg/s, cmd heading: 165.769033 deg, new cmd heading: 165.206824 deg. u|HeadingCmd: 2.883403 target range: 9.928881 and range: 6.20 m.b8@ZrjRJB~~{B}||||` @ {B靭 =I)?P?H1H1H5IH5BH5 =H1H1H5<H5EԁDAT read: 14:27:08.2422 LVL= 20256, 31105, 14642, 30387, AGC= 48, IDX= 420,-0.47, 2.671, 1.350,-3.009, 2.635, PHS= 0.125,-1.238, 0.637, RAW= 165.3, 5.7, CAL= 165.4, -3.6, ROT= 344.6, 3.6 Ygot valid direction response: 14:27:08.2422 LVL= 20256, 31105, 14642, 30387, AGC= 48, IDX= 420,-0.47, 2.671, 1.350,-3.009, 2.635, PHS= 0.125,-1.238, 0.637, RAW= 165.3, 5.7, CAL= 165.4, -3.6, ROT= 344.6, 3.6 PDAT read: Bearing 344.6, 3.6 (Local) ~Local bearing/azimuth received: Bearing 344.6, 3.6 (Local) DAT read: Range 10 to 50 : 4.0 m (Round-trip 5.4 ms) speed 0.5 m/s ,DAT read: user:2132> BDAT read: Tx time:14:27:09.3327 $Ping request sent.vo#? R8@)%=I8@iv@= )^*8c?#u?KV?iyJ?գ̽Ielk aim_ei8@izE )Ii )^*8c?#u?KV?i )Uchecking for new query: numPingsReceived=17, elapsed TxPingTime=0.046244ԩEEEEP0E6G 3=jG ?bG >~GA AI AY Nm >:J ZBJ NJJ RJ ZJ 9bJ !9J J zJ .:jJ 3:J T:rJ W: ,/lOjA "="<&checking for new query: numPingsReceived=17, elapsed TxPingTime=0.219501~BIi=I=IU'IU@3e = eH=yeQ m>٥ii mHmF >r5Uʜ?r59" IBy @:nEiK,<,<r|r5$AZbېOjA/~@/~@5/@ʁ_e@5#~Ͽ5aI?Hп֏ =ҁ> ,!G?uԿK 4bBT|!?ϙDjz*?hj Ȝ?r%U$ }BQ㣓  zB s@4@ addTargetRange:: Added new target pos. range: 4.000000 m, deltaT: 3.544279 s, deltaX: -2.200000 m, approachRate: -0.620719 m/s, rangeRepo size: 4  Added new target pos. range: 3.971638 m, bearing: 156.855770 deg, lat: 36.906433 deg, lon: -122.115977 deg, deltaT: 10.600730 s, deltaX: -5.957243 m, approachRate: -0.561965 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 3.97 m. 9.93 m.:=; ProNav: ac range: 9.928881 m, nav range: 3.735508 m, bearing: 164.775284 deg, approach rate: 0.000000 m/s, LOS rate: 0.165436 deg/s, cmd heading: 165.206826 deg, new cmd heading: 165.414011 deg. ; |HeadingCmd: 2.887019 target range: 9.928881 and range: 4.00 m.b 8@Z r j R JB~~}|||@|@+? {B靭v\5=I)S?I` 0%c<8@a<a*=i8@iEEEE_0Echecking for new query: numPingsReceived=17, elapsed TxPingTime=0.470789) 6Ge ʙ=~G! A) A9 NM >*,LOjA 9>1@>?@Y>r<;y>~9=>H`@¿n?? (%? g-? ? >1@>W;)٥`` bHdfm f?hIU4=IU=r5jʜ?r59j IjBy;@@j>nEijyԡ 6G =~G A A N > checking for new query: numPingsReceived=17, elapsed TxPingTime=0.976365H5 >H5 CH5 IH5 /BH5  =H1 H5 )DH5 <H5 EHHHʔCH =I = I!6L,OjA9:U$1@:7?@Y:k;y:Ȓ=@:H:tÿ_^?r?"?cm[?@? :U$1@:I;):Cv~BzIMMb@Mb@Mb@III I)IYMOn?&1y&1|yM?MPM`M@ I)M@IM;@IyMf@I'I@32 /=yF:Q >٥ HF} >r5ɜ?r59= IBy$?:9@@BnEi:w:r5#A  zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.a̻a̻% ProNav: ac range: 9.928881 m, nav range: 3.254271 m, bearing: 164.475160 deg, approach rate: -0.629436 m/s, LOS rate: -0.357367 deg/s, cmd heading: 164.924302 deg, new cmd heading: 164.449677 deg. %Au-|HeadingCmd: 2.870188 target range: 9.928881 and range: 4.00 m.b-*7@Z1r1j1R1J1B1~9~={B}9|9|9|A|E? q}3r1=I)U?I;jK ^<*7@c=i*7@iԱJ3J;4J;/:JuYBJuWJJqRJqZJu9bJuG9JqJqzJub:jJug:Ju_:rJu_:E E E E 3E mchecking for new query: numPingsReceived=17, elapsed TxPingTime=1.2277276G ʙ=ZG RG ~G A  A N >,OjAI)@9>0@>>@Y>>';y>=>H ĿTM?/?@*b?`dq>?@? >0@>a;)>CJ~BJIlIzIz 3 < h=y/:Q >٥ HF%ϥ %>)-r5-ɜ?5r59- I-By15R9@5@-EnEi-:-:-r5EBE#AEŬEyy}zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.cc ProNav: ac range: 9.928881 m, nav range: 3.043644 m, bearing: 164.375794 deg, approach rate: -0.597590 m/s, LOS rate: -0.301429 deg/s, cmd heading: 164.449672 deg, new cmd heading: 164.130951 deg. N|HeadingCmd: 2.864625 target range: 9.928881 and range: 4.00 m.bV7@ZrjRJB~~}|||checking for new query: numPingsReceived=17, elapsed TxPingTime=1.482183|6)? {B-M=I)1W?IxA ʔ\<%V7@%d<%ja=i%V7@i) E)E)E)E-$5E)16Gu>~GI AQ m \?m `?} checking for new query: numPingsReceived=17, elapsed TxPingTime=1.732258A N >i K rP"K ŷ9*K 2K Y:K +~:EMdm@(sxZ>Q|mU,%PjA970@uJ>@YG;yv<H2tſX@p?Z?@Hy?? 70@\;)-~B-I]Mb@Mb@Mb@YYY Y)YY]㥛 ?MbMby]?]]Y ];@)YIYYy]\@Iu Iu<2ID 3=yZ;Q >٥ Hʃ >r5ɜ?r59 IByi?:T7@@JnEi~ ;;r5B#AȬEzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.$:$: ProNav: ac range: 9.928881 m, nav range: 2.775309 m, bearing: 164.399950 deg, approach rate: -0.589516 m/s, LOS rate: 0.058200 deg/s, cmd heading: 164.130948 deg, new cmd heading: 164.210423 deg. ;|HeadingCmd: 2.866013 target range: 9.928881 and range: 4.00 m.bl7@ZrjRJB~~{B}|||| _? {B /=I )U?I4 RZHCHIHCBH =HH*DHH EEUEQEYE]p5EYi6G W=ԡ ~Gy A A N >] checking for new query: numPingsReceived=17, elapsed TxPingTime=2.235116!,."PjAiu~BuII}I}2< X=yQ >٥ HF >r5׷ɜ?r59Z IBy@MnEi::r5#AzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.E:E: ProNav: ac range: 9.928881 m, nav range: 2.553113 m, bearing: 164.423796 deg, approach rate: -0.585569 m/s, LOS rate: 0.068311 deg/s, cmd heading: 164.210424 deg, new cmd heading: 164.288187 deg. ;;|HeadingCmd: 2.867370 target range: 9.928881 and range: 4.00 m.b7@ZrjRJB~~}|||| @ 5{B5~K=I9)=W?9I=g)* AAEN#Xchecking for new query: numPingsReceived=17, elapsed TxPingTime=2.486645Թ A,;PjA9>g/@>z=@Y>M *<>Hy`Fǿ uy` ?x@?0AS?@? >g/@>;)>CFBJIIR IR(2Z < Z^=yZ:٥\` fHfF:J%[BJ%MJJ%CRJ!ZJ%:bJ%9J%4J!-@-@-@-@]M e>qr5uQɜ?r59u IuBy6@@uQnEiuJ;u;uIr5#AˬEB*** querying acoustic contact ***JR!!-zIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.-:;-:;m ProNav: ac range: 9.928881 m, nav range: 2.323772 m, bearing: 164.525402 deg, approach rate: -0.568383 m/s, LOS rate: 0.276664 deg/s, cmd heading: 164.288193 deg, new cmd heading: 164.623089 deg. m=<|HeadingCmd: 2.873215 target range: 9.928881 and range: 4.00 m.b7@ZrjRJB~~}||||Y@BDAT read: Rx Time:14:27:11.7397 TRx dataTimestamp_ set to:1749133633.035666%checking for new query: numPingsReceived=17, elapsed TxPingTime=2.740014 5{B5 J=I9)=W?9I=H3 99=VH >H H IH WBH  =H H H *<H E checking for new query: numPingsReceived=17, elapsed TxPingTime=2.990641ԁ ),UPjA9.@X<@YqQ٥ HԼ >r5ɜ?r59 IBy|?:6@@UnEip;p;)r5#AzIgnoring new targets. Set target to previous: 9.93 m. 9.93 m.a< a< ProNav: ac range: 9.928881 m, nav range: 2.070235 m, bearing: 164.719582 deg, approach rate: -0.587314 m/s, LOS rate: 0.504903 deg/s, cmd heading: 164.623091 deg, new cmd heading: 165.276946 deg. A<|HeadingCmd: 2.884627 target range: 9.928881 and range: 4.00 m.b%8@Z!r!j!R!J!B!~)~-{B})|1|1|1|5@o @ u{Bud=G=Iq)uV?qIu yy}BT<}8@+=i8@iE EEEEԑ6GJ=DAT read: 14:27:11.7397 LVL= 23120, 32753, 23586, 32755, AGC= 41, IDX= 408,-0.45,-0.843,-1.651, 0.529,-0.227, PHS=-0.528,-1.377, 0.753, RAW= 186.7, 12.4, CAL= 186.2, 6.3, ROT= 323.8, -6.3 Ygot valid direction response: 14:27:11.7397 LVL= 23120, 32753, 23586, 32755, AGC= 41, IDX= 408,-0.45,-0.843,-1.651, 0.529,-0.227, PHS=-0.528,-1.377, 0.753, RAW= 186.7, 12.4, CAL= 186.2, 6.3, ROT= 323.8, -6.3 PDAT read: Bearing 323.8, -6.3 (Local) ~Local bearing/azimuth received: Bearing 323.8, -6.3 (Local)  DAT read: Range 10 to 50 : 2.1 m (Round-trip 2.9 ms) speed 0.4 m/s ,DAT read: user:2133> BDAT read: Tx time:14:27:12.8327 $Ping request sent.I-O@i-z0=-ش@-z0 )))-rr?ە?v8=k?~GAAN>i-1?-}]-E!-z0 ))):publishing transmit ping timeFpublishing direction and range info)y-s?=Ŋ,=?)Y) )))I)i))))) )))I)i))) )))-rr?ە?v8=k?i)))) )))Uchecking for new query: numPingsReceived=18, elapsed TxPingTime=0.034724Թ 9T,joPjA9VUS.@Vf<@YVs٥II MHMFU\ U>JDAT read: TxSync time:14:27:12.8319 checking for new query: numPingsReceived=18, elapsed TxPingTime=0.221222r5ɜ?r59 IBy5@@XnEip<l<`r5 B #A άEZYb]BbPjA]q@]q@]}@ʁ]B9u#?G+eI?]s?=Ŋ,=?]E!]z0ҁ]jm ʼn?%?]ӂ ׃?L'̗?z]N?]hj]X ɜ?r]|} ]B]{ .Ȝ?]跒  ]{B]?]E.@Ա addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 3.276865 s, deltaX: -1.900000 m, approachRate: -0.579823 m/s, rangeRepo size: 4  Added new target pos. range: 2.085057 m, bearing: 132.424753 deg, lat: 36.906434 deg, lon: -122.115977 deg, deltaT: 13.877595 s, deltaX: -7.843823 m, approachRate: -0.565215 m/s, posRepo size: 4 -BIntercept lockout. Range: 2.10 m.-bTransitioning guidance mode to: INTERCEPT_LOCKOUT-@b)ZIrIjQRQJQBQ~Q~Y}Y|Y|Y|]@|ey? {BG=I)V?I. ΄RRJAZJE]:bJEp9JEt4JA 5 checking for new query: numPingsReceived=18, elapsed TxPingTime=0.4719316Ge 4=~GA Aq A N >A D>",hPjAK.@O"K.9*K,2K.[:K.mgP.2v~gMK3sk  {&\=MXDF~ Kd ~BIAMb@Mb@Mb@ )AY(\?&1٥ HF > r5kɜ?r59 IBy?:%6@%@\nEi::Ur5)5#A5ѬEbZrjRJB~~{B}|| | |  H?H]>H]CH]IH]bBHYHYH])DH] <H]Echecking for new query: numPingsReceived=18, elapsed TxPingTime=0.724926 {B靵E=I)S?I' P<%v<%=i!i!9EEEE\0E6G=~GiAqAN>a = checking for new query: numPingsReceived=18, elapsed TxPingTime=0.976106e(,C9PjA 9V-@V;@YV? V-@Vv ;)VC)f> db~BjIևG Aa aYAyBI#I%x3 M=yE٥ H >r5Yɜ? r59] IBy  5@5@`nEi;;ٟr59=#A9ib!Z)r)j)R)J)B)~1~1}1|1|9|9|=._? {BcL=I)O?I% GBO<<ʼn=iiEeEaEaEm`0Eiԡchecking for new query: numPingsReceived=18, elapsed TxPingTime=1.228015 6G =~Gy A A N >.,PjA9:5-@:SI;@Y:ͻ! HM >HM CHM IHM MBHM  =HI HM *DHM !<HM E checking for new query: numPingsReceived=18, elapsed TxPingTime=1.740745P{5,PjA9B,@B;@YBL٥ HF >r5E7ɜ?r59o IBy ? : 9@ @gnEi;?;r5!%#A!bZrjRJB~~{B}|||||? {B fG=I ) N? IN ٗLy ;,PjA~BI]checking for new query: numPingsReceived=18, elapsed TxPingTime=2.235827aI-I-3uk  }J=y}Q >٥ H >r5-&ɜ?r59% IBy@jnEi:K: r53$A֬EqybZrjRJB~~}||||`n~@ {BXL=I)J?Iih RK< z< $z=i iԁEEEEP5E6Gw=~GqAANa>IqIuAA:J}`BJ}SJJ}>RJyZJ}:bJ}y69J}t4JyԱ  checking for new query: numPingsReceived=18, elapsed TxPingTime=2.488318 B, QjAKNO"KNŷ9*KL2KN]:KNA^j9!?|G" 3 " `Z9\_9y7r8^JJJAԱ~BIMb@Mb@Mb@ )YK7A`?+y&1|y ?`@ ~@)I@I;@yG@II<2-Ʀ; -1=y1Q 5>٥11 5H5F9 =>AMr5Eɜ?Mr59EC IEByU` ?U:Ut6@U@EnnEiE ;E ;E r5Y])$AYbZrjRJB~~{B}||||@ {BNG=I)AJ?IW hJ<<\{=imchecking for new query: numPingsReceived=18, elapsed TxPingTime=2.739970Huȼ>HuCHuIHu9BHu =HqHu+DHu><HuFEHHHÓCH =I I^E6iEaEaEaEmp5Ei 6G v=jG ?bG ?9 ~G A A  BDAT read: Rx Time:14:27:15.2381  TRx dataTimestamp_ set to:1749133636.563370% checking for new query: numPingsReceived=18, elapsed TxPingTime=2.993107N- >H,s$QjA9>,@>N:@Y>~=y>NK=>H@<0@̿]@\?@'S?d?? >,@>;)>CF~BFIIN#IN%x3V V=yZ}%=}checking for new query: numPingsReceived=18, elapsed TxPingTime=3.244216q6GŠ}=~G A A N >ԙ N,j>QjA9>,@>:@Y>=y>[K=>H+@̿Y?-# ׁ? ~@s?@? >,@>;)>CJ~BNIInIn[3I=C=I=%=Vϼ ==:J ^BJ VJJ CRJ ZJ } :bJ B9J 4J yU:Q ]>٥aaq HF= >r5Ȝ?r59 IuBy6@@unEi};p;r5DAT read: 14:27:15.2381 LVL= 18864, 17457, 13890, 22003, AGC= 38, IDX= 426,-0.22,-3.067,-1.995,-0.917,-1.100, PHS=-1.879,-0.848, 0.180, RAW= 240.0, 26.8, CAL= 252.4, 32.6, ROT= 257.6, -32.6 Ygot valid direction response: 14:27:15.2381 LVL= 18864, 17457, 13890, 22003, AGC= 38, IDX= 426,-0.22,-3.067,-1.995,-0.917,-1.100, PHS=-1.879,-0.848, 0.180, RAW= 240.0, 26.8, CAL= 252.4, 32.6, ROT= 257.6, -32.6  PDAT read: Bearing 257.6, -32.6 (Local) ~Local bearing/azimuth received: Bearing 257.6, -32.6 (Local) %DAT read: Range 10 to 50 : 0.9 m (Round-trip 1.2 ms) speed -0.4 m/s 5,DAT read: user:2134> 5BDAT read: Tx time:14:27:16.3328 =$Ping request sent.=  @)|>I}@i?ޏ@ )i&ܿFW?5?iZ@oᄅ ):publishing transmit ping timeZb_DDQjAd?d??ʁ6?Ŀ:R )?9Fpublishing direction and range infoy"u'ǿdU`T꿳(=?Y )Ii )Ii )i&ܿFW?5?i )checking for new query: numPingsReceived=19, elapsed TxPingTime=0.021095"u'ǿdU`T꿳(=?ҁ\tP] ?r.?=B&?ўyp?SHH?v?z4?j>j ɜ?r` AB%U$  }B_?7?] addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 3.526435 s, deltaX: -1.200000 m, approachRate: -0.340287 m/s, rangeRepo size: 4  Added new target pos. range: 0.893618 m, bearing: 66.071142 deg, lat: 36.906434 deg, lon: -122.115973 deg, deltaT: 3.526435 s, deltaX: -1.191439 m, approachRate: -0.337859 m/s, posRepo size: 4 bZrjRJB~~}|||?|?ԡ -{B5v4=Iy)@?I$J K}zP"K9*K2K^:Ko_l}CoKj%|S"^0,WPRA U 2 : uCHHu CHu IHu BHq Hq Hu ,DHu <Hu E 6GM f=~G!A1AAN]>V,#\QjA9JX,@J_k:@YJߞ=yJ-9=JH8&@/Ϳ{8 ? De?`Ӡ,?,? JX,@J2;)JCR~BRI`Mb@Mb@Mb@ )YˡE?٥aa eHeFm» m>q}r5uȜ?}r59u IumBy}?:u7@@uynEiuH;uT;uFr5$Achecking for new query: numPingsReceived=19, elapsed TxPingTime=0.490602Zbd?d?;:?ʁ"VĿymdqL?"u'ǿdU`T꿳(=?ҁt!?\?Vo?A 8h?MxU/?PL6?z 4?>j&Ȝ?r񳍄 CB&Ȝ?`  B95?8?iibiZirqjqRqJqBq~y~}{B}y|y|y||f? %{B%B=II)M@?IIM IIMhG],- wQjA9b;,@b5O:@YbC=yb9Nchecking for new query: numPingsReceived=19, elapsed TxPingTime=0.9945011a K xP"K ŷ9*K 2K _:K >khKGx#.\Yqma^3cOLLQR]yNfd,ȐQjA9:L+@::@Y:%=y:Ӣ=:H` 8Ϳ?*?`.Z aѠ?e? :L+@:Z;):Cn~BnI9Mb@Mb@Mb@ )YuV?{Gz{Gztyr?ףףI@ h@)`@Iy@I&I3Hϼ>HHIH~BH =HHH<HE 2< ==y9Q >٥ H$ > \?&@checking for new query: numPingsReceived=19, elapsed TxPingTime=1.246867 r5Ȝ? r59+ IdBy%?%:%7@-@nEi;;r56%AYYbYZYrYjYRYJYBa~a~e|B}a|i|i||+? {B39=I!)% 6?!IU<# QQ]cE+j,3QjA9>@+@>9@Y>/=y>3<>H3 {ο?g? `ڢ?` s1?? >@+@>;)>CF~BFILNAAIRIR3VJ; Z`=yZ:Q Z>٥\\ ^H^Fbe b>`jr5b-Ȝ?jr59bÒ Ib`ByhnR7@n@bnEib)K;bK;b-r5tv(%AvEԙbZrjRJB~~}||||? {B X=I ) G6? I&Z `D<=p5=i!i!EEEEn0E6GM= checking for new query: numPingsReceived=19, elapsed TxPingTime=1.750525~GAAN=>! q,QjA6checking for new query: numPingsReceived=19, elapsed TxPingTime=2.002477~BII-I-2E EA=yMQ M>٥QQ UHQU U>r5XȜ?r59 I[By@nEi7; ;r5h%AbZrjRJB~~}!|!|!|!|-@@ }{B靅ogA=I)1?I`@ DC<=8=iiE5E1E9E=~0EAKH7P"K9*K2K`:KoA#z\7;{:M|:P#ca6y'OX f\U)Hμ>HHIH~BH =HHH0<H:Echecking for new query: numPingsReceived=19, elapsed TxPingTime=2.254589Q6G'HF=~G A A N >y vDw,W{QjA9B3(@BF6@YB ==yBF٥ HF:J%^BJ%RJJ%@RJ!ZJ%} :bJ%S29J%J4J!zJ%^:jJ%c:J%;:ArJ%<: >r5DȜ?r59- IVBy1?:04@@nEi:b:r5Bf%AE  b Z rjRJB}DDAT read: Rx Time:14:27:18.4646 }TRx dataTimestamp_ set to:1749133639.589639DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed -0.4 -Z#Rx 20: Read range message, but no direction.y}@Yychecking for new query: numPingsReceived=20, elapsed TxPingTime=2.512264~Y~{BZA} GYZAy%B| |)|-@|5? {B靭8=I)0?I9 3]C<8=iiyEEEEk0EFFԙ6G 7= checking for new query: numPingsReceived=20, elapsed TxPingTime=2.758549~G A A N > "h},i;QjA96@&@64@Y6'=y6<6HE|ԿqɝH?hE\?@X`Mמ?`e? 6@&@6d;)6CF~BFIININ2V; VZ=yZeh٥XX ^H^F^u b>`fr5bQvȜ?fr59b IbRByhj2@j@bnEib:b:br5ln_%Ap B*** querying acoustic contact ***J R % addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 2.522966 s, deltaX: 1.100000 m, approachRate: 0.435995 m/s, rangeRepo size: 4 !!b!Z!r!j!R!J)B)~)~)}1|1|1|1|= S? {B5v`=I1)50?1I=|&]: 99=BDDAT read: Rx Time:14:27:18.9647 TRx dataTimestamp_ set to:1749133640.096228DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.3 -Z#Rx 21: Read range message, but no direction.کڭf@Yکchecking for new query: numPingsReceived=21, elapsed TxPingTime=3.018714 K] P"K] 9*KY 2K] a:K] }tfUdJXL}WGz9yx(`vcJ J 1 :O,ERjA96d$@6x2@Y6l0=y6Ϩd=6H@<ֿ#?@ `p6??@? 6d$@6ñ;)4Nx~BR~IiR>IR=HeѼ>HaHeIHe~BHaHaHaHe<He"EMb@Mb@Mb@ )Ym?x&Mb`y>7@ @)IQ@y@II2checking for new query: numPingsReceived=21, elapsed TxPingTime=3.266576ݼ 7=y;Q  >٥    H Qh u>r5jȜ?r59X IMBy>;&@@nEi.<)<r5B%AE addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506589 s, deltaX: 0.100000 m, approachRate: 0.197398 m/s, rangeRepo size: 4 bZrjR J B~~{B}|||@| ˂? 5{B5P2=I5 D<)5#-?1I5@: 99=B<<(Fii9EQEQEYE]0EY:J9BJ=PJJ=ERJ9ZJ9bJ=*9J=4J9zJ9jJ9J=-:rJ=-:6Gmp9~GI AQ i Ai Nu > DDAT read: Rx Time:14:27:19.4648  TRx dataTimestamp_ set to:1749133640.599503 DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 - Z#Rx 22: Read range message, but no direction.ڱ ڵ 3@Yڱ  checking for new query: numPingsReceived=22, elapsed TxPingTime=3.521995y,0+RjA 9>/#@>4C1@Y>W3=y>Ѱ=>Hd׿9w;?e?@2v` ?? >/#@>m?;)>CNp~BRyIIVIV2bB ba=yf;Q f>٥hh jHjFj(T n>pvr5r(bȜ?vr59r IrIBytv$@v@rnEir:r:rr5x~%A|- addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503275 s, deltaX: 0.200000 m, approachRate: 0.397397 m/s, rangeRepo size: 4 -5TStarting intercept timer at range: 2.30 m.1b1Z1r1j1R1J9B9~A~I}I|Q|Q|U`ff@|U? {B%&c=I!)%*?!I%J: !)-JB<)57<5i1i9qEEEEh1E checking for new query: numPingsReceived=22, elapsed TxPingTime=3.770541ԙ6G~GAAN> IE R=IE a=a,2ERjA6DDAT read: Rx Time:14:27:19.9649 6TRx dataTimestamp_ set to:1749133641.103854>PDAT read: Bearing 332.0, -47.6 (Local) >~Local bearing/azimuth received: Bearing 332.0, -47.6 (Local) FDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.4 ZDAT read: 14:27:19.9649 LVL= 17344, 15105, 12626, 20515, AGC= 49, IDX= 509,-0.35, 2.324, 1.378, 3.109,-2.780, PHS=-1.091,-2.078,-0.397, RAW= 174.3, 40.8, CAL= 178.0, 47.6, ROT= 332.0, -47.6 bYgot valid direction response: 14:27:19.9649 LVL= 17344, 15105, 12626, 20515, AGC= 49, IDX= 509,-0.35, 2.324, 1.378, 3.109,-2.780, PHS=-1.091,-2.078,-0.397, RAW= 174.3, 40.8, CAL= 178.0, 47.6, ROT= 332.0, -47.6 bT#Rx 23: Read range and direction messages.f^direction in FSK: [0.595374,-0.316566,0.738455]fFpublishing direction and range info4y6u.M ?BԿvQl m?6@Y4 6C)6;I6R1i6#P616㥋66C˾ 6B@)6K6?I6F@i6ȭT?6}l@6ȭT 4)46oXR??? Y?i63hr?66656ȭT 4)4vchecking for new query: numPingsReceived=23, elapsed TxPingTime=4.039250t9]="@]P0@Y]<1=y]=]H@ Eؿja?q?@ex?/?@S? ]="@]]B;)]Cz~BIII(*3< ,=yQ >٥ HF > r5 VȜ?r59 @ I CBy%#@%@ nEi _; < r5a%AKeDP"Ka*Ka2Keb:KeETrbbl7?G~-$L,mA<gV]"% B$/Jm>Jm?Z4b6FRjA6@6@6W @ʁ6 ]?#迾^Z'?6u.M ?BԿvQl m?656ȭTҁ6k^𿢋+?N${?6IyۿFz@N?ē#?z6?6j6TȜ?r6;!`a 6qB46񳍄  6AB6x?6T_= addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504351 s, deltaX: 0.100000 m, approachRate: 0.198275 m/s, rangeRepo size: 4  Added new target pos. range: 2.383024 m, bearing: 125.433629 deg, lat: 36.906434 deg, lon: -122.115971 deg, deltaT: 4.037181 s, deltaX: 1.489406 m, approachRate: 0.368922 m/s, posRepo size: 4  RStopped intercept timer at range: 2.40 m. b Z r j R J B~~}||I|M@33@|U? {B/=I)-?I|0; SB<x<˘ii1HqHqHuIHu~BHqHqHqHu<HuEH-ǕCH-ǕCH)H- =I- = I->5%checking for new query: numPingsReceived=23, elapsed TxPingTime=4.275393EEEE5E6Gm μ~G) A1 AA NU >a ,a_RjA96!@6^/@Y6b+=y6>6H{@ؿ(?`C?4`:?jx/? ? 6!@6u;)6CVk~BZwIA:JaBJTJJBRJZJ:bJ:9J-4JzJ;jJ;JRJ:rJTJ:Mb@Mb@Mb@ )Yn?p= ףt@ h@)@I~@yp@I%I%#3UD UE=yUbmQ U>٥YY ]HY]Wμ e>uDDAT read: Rx Time:14:27:20.4652 uTRx dataTimestamp_ set to:1749133641.607602DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 -Z#Rx 24: Read range message, but no direction.qu9@Yqchecking for new query: numPingsReceived=24, elapsed TxPingTime=4.531765ar5ejJȜ?r59e Ie;%@@enEie:e:er5%AE5 addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503748 s, deltaX: 0.500000 m, approachRate: 0.992560 m/s, rangeRepo size: 4 11b1Z1r1j1R9J9B9~9~={Ba}A|i|i|m@33@|mI? {BY=I)(?IDM; A<<ii!ԑ>EE ] ; E E E E J1E % checking for new query: numPingsReceived=24, elapsed TxPingTime=4.7785456G wZG RG ~G A A N >S,zzRjA9V!@Vo2/@YV#=yVf>VH@f@]Bٿ? {%? ~I? i}I? ? V!@VO;)T^f~B^tIIf Ifb3n.c nr=ynqQ r?٥pp vHvFz0 ~? r5@Ȝ? r59 I6By 4%@@nEi::r5%AAB*** querying acoustic contact ***JRbZrjRJB~~}||||? m{BuaY=I)`'?Igj; <Er;yE-E1E1E5P0E9DDAT read: Rx Time:14:27:20.9652 TRx dataTimestamp_ set to:1749133642.113229%PDAT read: Bearing 177.7, 4.4 (Local) -~Local bearing/azimuth received: Bearing 177.7, 4.4 (Local) =DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 eDAT read: 14:27:20.9652 LVL= 18384, 11569, 8898, 20787, AGC= 48, IDX= 511,-0.02,-1.880, 0.401,-1.796,-1.161, PHS=-0.631, 1.609,-0.638, RAW= 330.2, -3.1, CAL= 332.3, -4.4, ROT= 177.7, 4.4 mYgot valid direction response: 14:27:20.9652 LVL= 18384, 11569, 8898, 20787, AGC= 48, IDX= 511,-0.02,-1.880, 0.401,-1.796,-1.161, PHS=-0.631, 1.609,-0.638, RAW= 330.2, -3.1, CAL= 332.3, -4.4, ROT= 177.7, 4.4 mT#Rx 25: Read range and direction messages.u`direction in FSK: [-0.996250,0.040014,-0.076719]uFpublishing direction and range infoySүFJY|?.0ۣY G)1-I"i3Q07!?S# !k@)k]Ia@inF(~F@nF= )&=뿈sB 3qdi`'}A[=(~F@nF= )checking for new query: numPingsReceived=25, elapsed TxPingTime=5.048974ԙ6G5 ~G AI Ai N >Ku P"Ku 9*Kq 2Ku c:Ku b_#a;,PkgX2tfWA9f+j1,7# DI1>Ih;ˤ, RjAHZҼ>HXHZIHZ~BHXHXHXHZ <HZE~a~BqIchecking for new query: numPingsReceived=25, elapsed TxPingTime=5.283670Mb@Mb@Mb@ )Y%C?/$MbyZ>,MA @)@I@y@II2s= :=y Q  >٥   HF >%r5 2Ȝ?%r59 I-By->-:-)@-@nEi8::mr5%AZabe%?RjAeI8@eI8@e @ʁe1^=X4~?EȕF̿eSүFJY|?.0ۣe(~F@enF=ҁe<@/%YC0r;϶ei؇A?gyJg ܿDzee%@jeo ɜ?reȡ e~BeX ɜ?a ae/$@e&)@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.505627 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.879495 m, bearing: 333.997781 deg, lat: 36.906436 deg, lon: -122.115971 deg, deltaT: 1.009375 s, deltaX: 0.496470 m, approachRate: 0.491859 m/s, posRepo size: 4 bZrjRJB~~ $|B} | | ||^? {B靭1<=I)%?I1; X@<d<ii!D-=D-=95 DDAT read: Rx Time:14:27:21.4654 = TRx dataTimestamp_ set to:1749133642.615895E PDAT read: Bearing 162.5, -25.8 (Local) E ~Local bearing/azimuth received: Bearing 162.5, -25.8 (Local) U DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4 } DAT read: 14:27:21.4654 LVL= 19904, 13089, 11762, 25907, AGC= 51, IDX= 512, 0.43,-1.339,-0.097,-1.793,-0.470, PHS=-0.781, 0.420,-1.326, RAW= 347.8, 21.1, CAL= 347.5, 25.8, ROT= 162.5, -25.8  Ygot valid direction response: 14:27:21.4654 LVL= 19904, 13089, 11762, 25907, AGC= 51, IDX= 512, 0.43,-1.339,-0.097,-1.793,-0.470, PHS=-0.781, 0.420,-1.326, RAW= 347.8, 21.1, CAL= 347.5, 25.8, ROT= 162.5, -25.8  T#Rx 26: Read range and direction messages. ^direction in FSK: [-0.858649,0.270731,0.435231] Fpublishing direction and range info1 y5 s zèS?2T?5 L@Y1 5 M)5 !3I5 -i5 3e5 35 G5 = >5 ^ 5 ?@)5 )>I5 @i5 >5 5@5  1 )1 5 ('M#/snE!?i5 \5 a5 5@5  1 )1  checking for new query: numPingsReceived=26, elapsed TxPingTime=5.551724>E 0:D<rE ]>jE >E] Ea Ea Ee }5Ea y 6G= Э~G A A N% >F`,RjA9J @J,.@YJ=yJ&=JHOX@5ٿ? l?Ϳ?M?@? J @J<;)Hv\~BvmIiz=Iz<I I #3O L=y&BQ >a٥ H4 > r5$Ȝ? r59*~ I%By 1)@@nEi;;r5]B]%A]EZbjRjAZK@ZK@'@ʁ#fgtK}߆?a0S ?s zèS?2T?5@ҁY"|"r@;UQ;%?Nl?7 5,ק?zؿ @jhȜ?r>ͪ RB&Ȝ?`  CBꁕ@ @ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.502666 s, deltaX: 0.300000 m, approachRate: 0.596818 m/s, rangeRepo size: 4 ؽ<׽<checking for new query: numPingsReceived=26, elapsed TxPingTime=5.787086 Added new target pos. range: 3.177373 m, bearing: 322.156949 deg, lat: 36.906434 deg, lon: -122.115971 deg, deltaT: 0.502666 s, deltaX: 0.297879 m, approachRate: 0.592598 m/s, posRepo size: 4 !!b!Z!r!j!R!J!B)~)~I}Q|Q|Q|U @|U^?ԑ {BŠB=I)#?I*; )@<<ii DDDDԹI I J4J4Jb0:J \BJ UJJ ARJ ZJ =:bJ >9J 4J  @ @ @ @Em Ei Ei Em 4Ei m DDAT read: Rx Time:14:27:21.9655 m TRx dataTimestamp_ set to:1749133643.119510} DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.5 -} Z#Rx 27: Read range message, but no direction.i m 3S@Yi  checking for new query: numPingsReceived=27, elapsed TxPingTime=6.0420226GU ]~GAAN?+,}RjAK^pP"K\*K\2K^d:K^Vww/v`[PI&={e?1zwar}yQk==:Jb?Jb?!9-;!@-xN/@Y-R`弹9@ @)@IyII3 =y;Q >٥ HFC< >Hȼ>HCHIH~BH =HH+DH<HEr5Ȝ?r59{ IBy>:+@@nEi;;r5#&A checking for new query: numPingsReceived=27, elapsed TxPingTime=6.291690m addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503615 s, deltaX: 0.100000 m, approachRate: 0.198564 m/s, rangeRepo size: 4 iibiZirijqRqJqB~~|B}|||`ff @|o? {BC5=I)?I.; $?<%{m<%'i!i!YEEEEP0Ey6G &+ DDAT read: Rx Time:14:27:22.4660  TRx dataTimestamp_ set to:1749133643.624843 PDAT read: Bearing 189.6, -5.3 (Local)  ~Local bearing/azimuth received: Bearing 189.6, -5.3 (Local)  DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.5  DAT read: 14:27:22.4660 LVL= 14192, 13489, 9618, 18019, AGC= 57, IDX= 5,-0.25, 0.644, 2.691, 1.185, 1.663, PHS=-0.930, 1.075,-0.481, RAW= 317.7, 3.7, CAL= 320.4, 5.3, ROT= 189.6, -5.3  Ygot valid direction response: 14:27:22.4660 LVL= 14192, 13489, 9618, 18019, AGC= 57, IDX= 5,-0.25, 0.644, 2.691, 1.185, 1.663, PHS=-0.930, 1.075,-0.481, RAW= 317.7, 3.7, CAL= 320.4, 5.3, ROT= 189.6, -5.3  T#Rx 28: Read range and direction messages.% `direction in FSK: [-0.981781,-0.166056,0.092371]% Fpublishing direction and range infoڹ yڽ о)jL?PAſ{]U?ڽ 3@Yڹ ۽ p7)۽ 4I۽ %i۽ cF۽ 9۽ {n۽ ?۽ E ܽ o@)ܽ A=Iܽ @iܽ q=ܽ S@ܽ q ݹ )ݹ ݽ lQpeӿSʦ?iݽ P5ݽ oNݽ V>ݽ q ޹ )޹ E checking for new query: numPingsReceived=28, elapsed TxPingTime=6.560884A ~Gq A A NE >2N,e9RjA9U!@/@Y٥QQ UHUF]`< ]>amr5eȜ?r59ex IeByI,@@enEie;eO;eer5[&AEZbmRjAE@E@ @ʁŷLvb ѡc?о)jL?PAſ{]U?V>qҁ?D˿-̸?zza}@jOɜ?ru}) Bu})  @@6@] addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505333 s, deltaX: 0.800000 m, approachRate: 1.583114 m/s, rangeRepo size: 4 m Added new target pos. range: 4.070940 m, bearing: 347.444914 deg, lat: 36.906434 deg, lon: -122.115976 deg, deltaT: 1.008948 s, deltaX: 0.893567 m, approachRate: 0.885642 m/s, posRepo size: 4 qqbqZqrqjqRqJqBy~~}|||`ff@|$? %{B%O>=I))-?1I5=; 11=?=v,$SjA9^c+"@^>0@Y^Cqӿ.='? f@Y  q) aI ?i  8 Qx ? v 澬@)  伩 tJ5 l$ ) aM J=yQ >٥ HFW< > %checking for new query: numPingsReceived=29, elapsed TxPingTime=7.065244Mr5lǜ?Ur59v I ByQU,@U@nEif<w<r5Yep&AaZ b FSjA r@ r@ 4@ʁ swF^p9E5l? ceuh>Cqӿ.='? tJ5 l$ҁ Ơ@S@qSԿkܤ? ϻA?)Th͜?z  @j Qɜ?r e2  ~B o ɜ?  B ]@ 3@ addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504483 s, deltaX: 0.100000 m, approachRate: 0.198223 m/s, rangeRepo size: 4 m Added new target pos. range: 4.170231 m, bearing: 355.631124 deg, lat: 36.906437 deg, lon: -122.115976 deg, deltaT: 0.504483 s, deltaX: 0.099291 m, approachRate: 0.196817 m/s, posRepo size: 4 qqbqZqrqjqRqJyBy~y~}|||@| H? ]{Be{KG=Ia)e?iImM; iim<HHIH~BH =HHH<H Eachecking for new query: numPingsReceived=29, elapsed TxPingTime=7.2999176G C~Gq Ay ԑ A N >6ǔ,dSjA9]I"@]0@Y]]H@n.׿m? ?v?`~?O?@? ]I"@]7;)]C&~BLIy)4> wC!9Y Yy[ADDAT read: Rx Time:14:27:23.4664 TRx dataTimestamp_ set to:1749133644.631991%PDAT read: Bearing 192.8, -1.8 (Local) %~Local bearing/azimuth received: Bearing 192.8, -1.8 (Local) 5DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.6 UDAT read: 14:27:23.4664 LVL= 25648, 19953, 16498, 32755, AGC= 56, IDX= 505,-0.06, 1.786,-2.406, 2.444, 2.787, PHS=-0.913, 1.137,-0.346, RAW= 314.5, 1.4, CAL= 317.2, 1.8, ROT= 192.8, -1.8 ]Ygot valid direction response: 14:27:23.4664 LVL= 25648, 19953, 16498, 32755, AGC= 56, IDX= 505,-0.06, 1.786,-2.406, 2.444, 2.787, PHS=-0.913, 1.137,-0.346, RAW= 314.5, 1.4, CAL= 317.2, 1.8, ROT= 192.8, -1.8 eT#Rx 30: Read range and direction messages.m`direction in FSK: [-0.974668,-0.221439,0.031411]uFpublishing direction and range infoynqU{0f-X̿Iz?f@Y 0d)MIr@i^i7?& b@)+%̼%%MA %@)%@I%@!y% @I=I=3 =yQ >ԩ٥ H <  >=r5nǜ?Er59s IByE?E:E-@E@nEi;7;r5MBM&AUEZbr(SjAU@U@)@ʁ1;㺈9>?nqU{0f-X̿Iz?:ҁ}Mq@S;%CNH`6ֿ/?T ?@zx?`f?? Nh#@Nو;)NCZ~BZFIIrIr2 d=y%YQ %>٥19 EHEFUs< U>qr5uǜ?r59ur IuBy.@@unEiu;uc;ur5&A:J_BJYJJDRJZJ :bJ[O9J4JB*** querying acoustic contact ***JRAAbAZArAjIRIJQBQ~Q~Q}Y|Y|Y|Y|@ ? {B DDAT read: Rx Time:14:27:23.9665  TRx dataTimestamp_ set to:1749133645.136251PDAT read: Bearing 186.9, -0.1 (Local) ~Local bearing/azimuth received: Bearing 186.9, -0.1 (Local) -DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.6 ]DAT read: 14:27:23.9665 LVL= 20240, 16673, 14834, 32755, AGC= 54, IDX= 506, 0.21,-0.078, 2.062, 0.374, 0.836, PHS=-0.827, 1.273,-0.465, RAW= 320.7, 0.2, CAL= 323.1, 0.1, ROT= 186.9, -0.1 eYgot valid direction response: 14:27:23.9665 LVL= 20240, 16673, 14834, 32755, AGC= 54, IDX= 506, 0.21,-0.078, 2.062, 0.374, 0.836, PHS=-0.827, 1.273,-0.465, RAW= 320.7, 0.2, CAL= 323.1, 0.1, ROT= 186.9, -0.1 eT#Rx 31: Read range and direction messages.m`direction in FSK: [-0.992756,-0.120137,0.001745]uFpublishing direction and range info y 1:�E@Fn p\? @Y }J=I}0;)}e?yI}; $69<7<qii O) !AI 9i  6 FS ? { @) d;I s@i : P@  )  'dnkAֿz Ml?i a1 hb ZA  ) checking for new query: numPingsReceived=31, elapsed TxPingTime=8.087595EEEEE6Gm~G1AYAN>I K5 ,1P"K5 9*K1 2K5 f:K5 acsl%M3QI7  \_shd[:zP6:ku9;H} ɼ>Hy H} xIH} n~BH}  =Hy Hy H} <H} E checking for new query: numPingsReceived=31, elapsed TxPingTime=8.3065593֔,2ZSjA9F%$@F82@YF<FHZ}=ֿ%?@[?E?୕ܝ?~? F%$@F;)D-~B-DIi-pףA @)v@Iy\@II<2 >=y޻Q >٥  H F% < %>)=r5-:ǜ?=r59-o I-By=P>=:=0@=@-nEi-<;-;;-ur5EBM&AMEZIbMVHSjAM@M@Myw@ʁMYƛxRUi ?M1:�E@Fn p\?MZAQMҁMD@#gxvMH?k;ZfοR~EkzMpM;@jM̕Fɜ?rMQr M~BIMQr  IM@M@] addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504260 s, deltaX: 0.100000 m, approachRate: 0.198311 m/s, rangeRepo size: 4  Added new target pos. range: 4.765967 m, bearing: 346.400782 deg, lat: 36.906444 deg, lon: -122.115974 deg, deltaT: 0.504260 s, deltaX: 0.099307 m, approachRate: 0.196935 m/s, posRepo size: 4 bZrjR J B~~E{B}I|Q|Q|]@33@| ? {B 3=I ) ?I< g37<9E:Eܔ,+uSjA9F$@Fi2@YFKFHJ :տ¤?*? 7?@gi`{?@ϩ? F$@F;)FCb~BbEIIjIj3%@; %M=y-?лQ ->٥)) -H)5< 5>Yes5]ǜ?es59]n I]ByamG1@m@]nEi],;]-;]s5&Achecking for new query: numPingsReceived=32, elapsed TxPingTime=8.810667ZbiSjAe@e@ٿ@ʁ ,cӿɳ7?sM￟($xsNru?4`EҁD.@lT4w}?V̮?jV+ҿDF0w?z:w@jyYɜ?r]c :~BQɜ? ~B@~@ addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.505274 s, deltaX: 0.500000 m, approachRate: 0.989562 m/s, rangeRepo size: 4  Added new target pos. range: 5.262422 m, bearing: 343.506887 deg, lat: 36.906444 deg, lon: -122.115974 deg, deltaT: 0.505274 s, deltaX: 0.496455 m, approachRate: 0.982546 m/s, posRepo size: 4 bZrjRJB~~}|||@33@|@Yj?  u{B}P=Iy)?I#< [5<Z<$(iiEEEAEAEE_0EA6G%}9~G9AaAN>:J^BJVJJBRJZJ} :bJB9J-4Ja  DDAT read: Rx Time:14:27:24.9668  TRx dataTimestamp_ set to:1749133646.145461 PDAT read: Bearing 179.1, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 179.1, 1.0 (Local)  DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.5  DAT read: 14:27:24.9668 LVL= 22512, 23937, 19746, 32755, AGC= 53, IDX= 510, 0.19, 2.628,-1.651, 2.756,-2.917, PHS=-0.651, 1.313,-0.614, RAW= 329.1, -0.5, CAL= 330.9, -1.0, ROT= 179.1, 1.0  Ygot valid direction response: 14:27:24.9668 LVL= 22512, 23937, 19746, 32755, AGC= 53, IDX= 510, 0.19, 2.628,-1.651, 2.756,-2.917, PHS=-0.651, 1.313,-0.614, RAW= 329.1, -0.5, CAL= 330.9, -1.0, ROT= 179.1, 1.0  T#Rx 33: Read range and direction messages. `direction in FSK: [-0.999724,0.015705,-0.017452] Fpublishing direction and range infoڙ yڝ (L]=?W7) ߑڝ ̬@Yڙ ۝ W)۝ ]I۝ "Miۙ ۝ 5۝ &۝ b?۝ / ܝ ͷ@)ܝ 5Iܝ 6ϸ@iܝ 5ܝ H@ܝ 5< ݙ )ݙ ݝ 뿖 ߿܁iݝ (ݝ <ݝ H@ݝ 5< ޙ )ޙ % checking for new query: numPingsReceived=33, elapsed TxPingTime=9.081755,SjAI)@ 9B%@BU3@YBBH;`Կ{?`i?`il?j} /?B? B%@Bx6;)BCN~BR@IIVIV3u uF=yQ >٥Hμ>HCHrIHd~BHHH,DH<HEHeÔCHeÔCHaHaIe = Ier5ԹK P"K*K2Kg:KMp7W[(+U:;3xfo=]*p)|D.6H -HF< >s5Yǜ?s59k IBy 2@@checking for new query: numPingsReceived=33, elapsed TxPingTime=9.314391nEi<K=ts5ae'AeEԙZbIܥ p@iܥ Q >ܥ @@ܥ Q ݡ )ݡ ݥ $鿋xz5NF?iݥ %`!ݥ F9Qݥ @@ݥ Q ޡ )ޡ - checking for new query: numPingsReceived=34, elapsed TxPingTime=9.584723>Ee+WBBHvt`Crӿ`ea??|?*p?? B'@B;)BCR$~BRKI)P PMb@Mb@Mb@ )Y\(\?{Gz rhy>ףCzA @)@I@y@IIb2J< ٥ HF^ = >s5փǜ?s59h tIIBy=>:2@@nEiG:: s5B&AEZb5~SjA@@z@ʁZ}E] ;DDAT read: Rx Time:14:27:25.9671 TRx dataTimestamp_ set to:1749133647.154388DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 -Z#Rx 35: Read range message, but no direction.̼@Ychecking for new query: numPingsReceived=35, elapsed TxPingTime=10.082172ԑEEEE5E6Gw*~GaAiAyN> H H H kIH Y~BH H H H <H Eڗ,uSjA96'@6P5@Y6[D;y6>6Ho@[ҿ@??/`k?ih?`1? 6'@6;)6CK>P"K> 9*K<2K>h:K>erAjUSP s CyzTO K (Z=Z>suXW^2kdkJB?JB ?L%checking for new query: numPingsReceived=35, elapsed TxPingTime=10.322636] ~B]IIMb@Mb@Mb@ )Ym?tTA @)@IyII3M 9=y Q >٥ HFt< > 5s5 ksǜ?5s59 g I ߆By5>5:53@=@ nEi ; h; s5AE&AAB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.506060 s, deltaX: 0.200000 m, approachRate: 0.395211 m/s, rangeRepo size: 4 bZrjRJB~~ |B}|||@|@? e{Bm B=I})?I%< Og-٥ HF= =>AMs5E_ǜ?Ms59Ed IEۆByIIM@EnEiE::E2:Ems5y&AEZbSjA@@4@ʁ]5Q,S y,PqTjAlG9G=?AH]ϼ>HYHYHYHYHYHYH]<H]EJJ&TFailed to parse incomplete device message.checking for new query: numPingsReceived=37, elapsed TxPingTime=11.3306456~BVIMb@Mb@Mb@ )Y!rh?~jtyl> @)`@I3@yI I V83< =yQ >٥ HF >s5GMǜ?s59b IچBy>:3@@nEiK;k;s5Bi&AEZbVG TjA,@,@R@ʁ _޲\w?s,x ?9{ │r{?{J?@@+ȼҁ=@ p`jP?IK<?_ʌڿd@?zt&͵@j7,ɜ?rKgc eBe9ɜ?].8  eBꁭ@@m addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504612 s, deltaX: 0.100000 m, approachRate: 0.198173 m/s, rangeRepo size: 4 } Added new target pos. range: 6.255406 m, bearing: 335.402310 deg, lat: 36.906442 deg, lon: -122.115982 deg, deltaT: 0.504612 s, deltaX: 0.099303 m, approachRate: 0.196791 m/s, posRepo size: 4 bZrjRJB~~"|B}|||@33@|`j?:J BJ VJJ DRJ ZJ bJ B9J 4J zJ jJ J X:rJ X: - {B5 q)==I1 )5 ?1 I5 4R9< 1 1 = g'<9 e [nxKf;8|?iݕ 4[ݕ ݕ X?@ݕ Q  ޑ )ޑ = checking for new query: numPingsReceived=38, elapsed TxPingTime=11.606471EA EA EA EE `0EA ԉ 6G%~ԻjG%?bG% ?~GAAN ? ,!6TjAP9^F)@^7@Y^cy;y^ >^H5xп ?4??`';op?`y? ^F)@^q;)^CH~BaII-I-T3=7B= =X=yE ;Q E>٥AA MHIMf= M>Q]s5U?ǜ?s59U|a IUنBy.5@@UnEiUy;U;UDs5 &AZ b E*TjA @ @ .ϻ@ʁ ĭ<_hT?E>? NM5v/Y?(א¢? X?@ Q ҁ ÂP@vƱ6 ? -=?Rnٿ}椯?z - j@j SkGɜ?r  B  G  B y@ yY@%checking for new query: numPingsReceived=38, elapsed TxPingTime=11.8346115 addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505184 s, deltaX: 0.500000 m, approachRate: 0.989738 m/s, rangeRepo size: 4 e Added new target pos. range: 6.751867 m, bearing: 336.271255 deg, lat: 36.906442 deg, lon: -122.115984 deg, deltaT: 0.505184 s, deltaX: 0.496461 m, approachRate: 0.982733 m/s, posRepo size: 4 iibiZirijiRiJiBq~q~}|||@33@|@? {B+l=I)?Iu?< p#%<< DDAT read: Rx Time:14:27:27.9679  TRx dataTimestamp_ set to:1749133649.168188 PDAT read: Bearing 170.8, -2.7 (Local)  ~Local bearing/azimuth received: Bearing 170.8, -2.7 (Local)  DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 ) = DAT read: 14:27:27.9679 LVL= 32752, 26993, 32754, 32755, AGC= 62, IDX= 504, 0.36, 2.380,-2.189, 2.180, 2.995, PHS=-0.527, 1.146,-0.818, RAW= 337.9, 2.2, CAL= 339.2, 2.7, ROT= 170.8, -2.7 E Ygot valid direction response: 14:27:27.9679 LVL= 32752, 26993, 32754, 32755, AGC= 62, IDX= 504, 0.36, 2.380,-2.189, 2.180, 2.995, PHS=-0.527, 1.146,-0.818, RAW= 337.9, 2.2, CAL= 339.2, 2.7, ROT= 170.8, -2.7 E T#Rx 39: Read range and direction messages.M ^direction in FSK: [-0.986040,0.159704,0.047106]M Fpublishing direction and range info y ]++q?P7V? @Y ) qiI i > y !? shQ @) nF=I q@i A= >@ A ) P<鿧]gep?i  U >@ A ) m checking for new query: numPingsReceived=39, elapsed TxPingTime=12.105887,POTjA96=*@6.8@Y6;y6!<>6H`ɏп`Z?J?`a? r ?@? 6=*@6;)6CZd~BZsIprAIvIv2=  O=y ;Q  >٥  HF\< >!-s5%31ǜ?-s59%` I%؆By155@5@%nEi%h:%:%s59=%A9Z!b%JTjA%<@%<@%M@ʁ%5V !?i?%]++q?P7V?%>@%Aҁ%\V@R"uM?%qSd0?cR8ٿ\/β?z%0%@j%W?ɜ?r%Xߨ %4B!%Kgc  %4B%@%ػ@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.502400 s, deltaX: 0.100000 m, approachRate: 0.199044 m/s, rangeRepo size: 4 u Added new target pos. range: 6.851159 m, bearing: 336.146210 deg, lat: 36.906442 deg, lon: -122.115985 deg, deltaT: 0.502400 s, deltaX: 0.099292 m, approachRate: 0.197635 m/s, posRepo size: 4 yHͼ>HHrIHd~BH =HHH<HEbZ!r)j)R)J)B)~1~1}1|1|1|=@|=?I {B靝NV=I)?IH< H"<KAP"Kж9*K2Kj:Kq0a.RZiw@<j 2 wa    < }ɻEm ?B:ԡ pGE5 E1 E1 E5 ^0E1 I i :J BJ RJJ ARJ ZJ bJ S29J 4J zJ :jJ :J ;:rJ <: Y y A6G Ӕ<~G A A N >0,jTjADDAT read: Rx Time:14:27:28.4682 TRx dataTimestamp_ set to:1749133649.671767PDAT read: Bearing 169.9, 0.6 (Local) ~Local bearing/azimuth received: Bearing 169.9, 0.6 (Local) "DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 6DAT read: 14:27:28.4682 LVL= 32608, 27633, 30978, 32755, AGC= 62, IDX= 507, 0.09, 1.710,-2.888, 1.476, 2.236, PHS=-0.437, 1.206,-0.763, RAW= 338.9, -0.1, CAL= 340.1, -0.6, ROT= 169.9, 0.6 :Ygot valid direction response: 14:27:28.4682 LVL= 32608, 27633, 30978, 32755, AGC= 62, IDX= 507, 0.09, 1.710,-2.888, 1.476, 2.236, PHS=-0.437, 1.206,-0.763, RAW= 338.9, -0.1, CAL= 340.1, -0.6, ROT= 169.9, 0.6 >T#Rx 40: Read range and direction messages.B`direction in FSK: [-0.984449,0.175357,-0.010472]BFpublishing direction and range infoyGrG &r?/;r@Y `)kIyiw߾5^?SC G@)I@i+=@+< )3ǖx7~Si:=@+< )Nchecking for new query: numPingsReceived=40, elapsed TxPingTime=12.607111x-c~B-rIMb@Mb@Mb@ )Y? rhyf>C zA @)v@I@y@II2= =yQ >٥ HF   >s5ǜ?s59^ IֆBy>:f3@@nEi <Ɣ<<$s5BEZb;jTjA@@@ʁY;3?s~GrG &r?/;r=@+<ҁ^ɖ@&w= : n?.}K*? K>ۿm?z,H@jNɜ?ro ~BW?ɜ?Xߨ  B@\һ@} addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503579 s, deltaX: 0.500000 m, approachRate: 0.992893 m/s, rangeRepo size: 4  Added new target pos. range: 7.347601 m, bearing: 334.801793 deg, lat: 36.906442 deg, lon: -122.115986 deg, deltaT: 0.503579 s, deltaX: 0.496443 m, approachRate: 0.985829 m/s, posRepo size: 4 bZrjRJB~~E|B}|||@|ި? 5{B5DAU=I9)=?9I=GR< 99=m[E 8E E E E _0E ԡ DDAT read: Rx Time:14:27:28.9683 TRx dataTimestamp_ set to:1749133650.176127PDAT read: Bearing 168.9, 2.5 (Local) ~Local bearing/azimuth received: Bearing 168.9, 2.5 (Local) DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 -DAT read: 14:27:28.9683 LVL= 27920, 30401, 28050, 32755, AGC= 63, IDX= 507, 0.42, 2.916,-1.668, 2.641,-2.894, PHS=-0.385, 1.273,-0.751, RAW= 339.8, -1.5, CAL= 341.1, -2.5, ROT= 168.9, 2.5 =Ygot valid direction response: 14:27:28.9683 LVL= 27920, 30401, 28050, 32755, AGC= 63, IDX= 507, 0.42, 2.916,-1.668, 2.641,-2.894, PHS=-0.385, 1.273,-0.751, RAW= 339.8, -1.5, CAL= 341.1, -2.5, ROT= 168.9, 2.5 =T#Rx 41: Read range and direction messages.E`direction in FSK: [-0.980359,0.192339,-0.043619]MFpublishing direction and range infoځyڅt _zXn?GUڅ@Yځ ۅm)ۅvIۅmiہۅ?ۅžۅ?ۅA@ ܅ǽ@)܅PwּI܅@i܅¸2܅<@܅¸2= ݁)݁݅IYP迤c|v*i݅ã݅[<݅<@݅¸2= ށ)ށmchecking for new query: numPingsReceived=41, elapsed TxPingTime=13.1247586Gq<~GAAN?ry$,YĒTjAp HQHQHmɼ>HmCHmIHm~BHm =HiHm+DHm<HmEr~B{Ii==I==ImImm?3Kn]P"K@9*K2Kk:K} rou8rad5 z1~ebpl 'RNTq< =yQ >٥ HF >s5Qǜ?s59[ IԆBy  @nEi::)s5 <<checking for new query: numPingsReceived=41, elapsed TxPingTime=13.346775!15r%A5EZbETjAL@L@|J@ʁX 3t?!&{Կt _zXn?GU<@¸2=ҁ?L} @n0 hFٚӓ:%?ѬܿtHz@TX@jS4":ɜ?r ~B  eB@@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504360 s, deltaX: 0.100000 m, approachRate: 0.198271 m/s, rangeRepo size: 4  Added new target pos. range: 7.446853 m, bearing: 333.552680 deg, lat: 36.906442 deg, lon: -122.115986 deg, deltaT: 0.504360 s, deltaX: 0.099252 m, approachRate: 0.196788 m/s, posRepo size: 4 bZrjRJB~~}||| @|%6? {B lF=I )  ? I a^< <z<iiDIDIDQDQԉ:JU ZBJU SJJU >RJQ ZJU 9bJU y69JU t4JQ zJU -:jJU 2:JU (C:rJU *C:Ա Ee Ei Ei Em P0Ei  DDAT read: Rx Time:14:27:29.4684  TRx dataTimestamp_ set to:1749133650.680944 PDAT read: Bearing 167.7, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 167.7, 1.7 (Local)  DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 5 DAT read: 14:27:29.4684 LVL= 30288, 29265, 27810, 32755, AGC= 59, IDX= 509,-0.13,-2.839,-1.182, 3.121,-2.377, PHS=-0.374, 1.242,-0.787, RAW= 341.1, -0.9, CAL= 342.3, -1.7, ROT= 167.7, 1.7 M Ygot valid direction response: 14:27:29.4684 LVL= 30288, 29265, 27810, 32755, AGC= 59, IDX= 509,-0.13,-2.839,-1.182, 3.121,-2.377, PHS=-0.374, 1.242,-0.787, RAW= 341.1, -0.9, CAL= 342.3, -1.7, ROT= 167.7, 1.7 U T#Rx 42: Read range and direction messages.] `direction in FSK: [-0.976616,0.212937,-0.029666]] Fpublishing direction and range info y N1o@ނA? ` f@Y Pv) QrI li ; | ? xI @) I '-@i  R;@ < ) ~&{T&>zJC$8i -& U|< R;@ < ) } checking for new query: numPingsReceived=42, elapsed TxPingTime=13.620760ԑ6G1~GA A!N-?-,TjAH9 +@ 9@Y-/]--A ))-@I-@)y-@ImIm(*3}*= }=y;Q >٥ Hk< >s5Ɯ?s592Y IІBy>:1@@nEi;T;.s5%AZ1b5TjA5@5@5+)@ʁ5qF; AC ? t'Ϳ5N1o@ނA? `5R;@5<ҁ5a0ES@|6v 8h +?5 ®?*MܿaP/r?z5[5@j5.04ɜ?r5k 5~B15o  5~B5@5J޺@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504817 s, deltaX: 0.200000 m, approachRate: 0.396183 m/s, rangeRepo size: 4  Added new target pos. range: 7.645436 m, bearing: 333.319650 deg, lat: 36.906442 deg, lon: -122.115989 deg, deltaT: 0.504817 s, deltaX: 0.198583 m, approachRate: 0.393376 m/s, posRepo size: 4 bZrjRJB~~|B}|||@| N? {B8U=I)"?Ij< <1]34,yTjA9V&+@V*:9@YV2٥ HFS; >H-ż>H)H-IH-~BH)H)H)H-<H-EHCHCHH =Is5Ɯ?s59W  I5IΆBy1@U@nEiXD=aC=1s5B$A EZbTjA@@@ʁǤ8.v?Tɿx&t7?P!Κ:@Pw<ҁu(Yv@ im?iб?4ܿ0s?z_@ja,ɜ?rF ~BS4":ɜ?  ~B@ u@ addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503114 s, deltaX: 0.100000 m, approachRate: 0.198763 m/s, rangeRepo size: 4 K@P"Kŷ9*K2Kl:Kj cv(@kvK@g(%{ :0Rx w$<**."checking for new query: numPingsReceived=43, elapsed TxPingTime=14.356777% Added new target pos. range: 7.744672 m, bearing: 333.136191 deg, lat: 36.906442 deg, lon: -122.115990 deg, deltaT: 0.503114 s, deltaX: 0.099236 m, approachRate: 0.197245 m/s, posRepo size: 4 ))b)Z)r)j9R9J9B9~A~A}A|A|A|M@33@|Mq? |B靝r=I)q$?I r< <(<̓=iiE)E1E1E5P0E16G<~GQAqAN>  DDAT read: Rx Time:14:27:30.4687  TRx dataTimestamp_ set to:1749133651.691885 PDAT read: Bearing 166.9, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 166.9, -6.7 (Local)  DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 = DAT read: 14:27:30.4687 LVL= 32096, 29217, 26690, 32755, AGC= 59, IDX= 512, 0.18, 0.207, 1.841,-0.142, 0.828, PHS=-0.533, 1.059,-0.973, RAW= 341.9, 4.9, CAL= 343.1, 6.7, ROT= 166.9, -6.7 E Ygot valid direction response: 14:27:30.4687 LVL= 32096, 29217, 26690, 32755, AGC= 59, IDX= 512, 0.18, 0.207, 1.841,-0.142, 0.828, PHS=-0.533, 1.059,-0.973, RAW= 341.9, 4.9, CAL= 343.1, 6.7, ROT= 166.9, -6.7 :,]3TjAI ) nT#Rx 44: Read range and direction messages.r^direction in FSK: [-0.967324,0.225104,0.116671]vFpublishing direction and range infoyR*4/1?mu"޽?AY `})!rIBhirP?y @)%=I@i|=m:@| )9NJ+@]9@Y~l0 O  @ $@) v@I  y @ImIm2= '=y;Q >٥ HF; >)=s5-Ɯ?Es59-AU I-ʆByE>m:m40@m@-nEi-<-;-6s5qu$AqZbGTjAAAT@ʁ)*gv l?a@?R*4/1?mu"޽?m:@|ҁP}@QB G0j?XV?Umܿ%,[P?zb@j-ɜ?r S B.04ɜ? A-e@U addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.507827 s, deltaX: 0.300000 m, approachRate: 0.590753 m/s, rangeRepo size: 4  Added new target pos. range: 8.042544 m, bearing: 333.620009 deg, lat: 36.906441 deg, lon: -122.115990 deg, deltaT: 0.507827 s, deltaX: 0.297872 m, approachRate: 0.586562 m/s, posRepo size: 4 bZrjRJB~~|B}|||@33 @|UH? M|BU4o=IQ)U'?QIU"|< QY]%:TB, UjA9>]+@>q9@Y>zCA=>H` uο@ L??F?`/o `Q?`? >]+@>;)HHIH~BHHHH<HEKP"K*K2Km:KGrU DtlopOjBUy!*hmF#z(:L5J J 6G e== checking for new query: numPingsReceived=45, elapsed TxPingTime=15.373770~G A A N > yH,#UjA9]+@]T9@Y]<Y٥ HF ; >s5Ɯ?s59Q IByv?:.@ @nEi;\ ;&=s5$AZbY UjAAA@ʁZ> L$#?&{}?oONI]N?rjƹI?N=@Ϣҁ8Ŏ@nb  c??jؿѾ0?z4M@j,ɜ?r+c B-ɜ? ꁝAV@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.505585 s, deltaX: 0.200000 m, approachRate: 0.395581 m/s, rangeRepo size: 4  Added new target pos. range: 8.241099 m, bearing: 336.830112 deg, lat: 36.906440 deg, lon: -122.115990 deg, deltaT: 0.505585 s, deltaX: 0.198555 m, approachRate: 0.392723 m/s, posRepo size: 4 !AbIZIrQjQRYJaBa~i~m|B}i|i|q|q|u ?DDAT read: Rx Time:14:27:31.4691 TRx dataTimestamp_ set to:1749133652.704033PDAT read: Bearing 168.5, 2.0 (Local) ~Local bearing/azimuth received: Bearing 168.5, 2.0 (Local) DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 DAT read: 14:27:31.4691 LVL= 17216, 20385, 16242, 26019, AGC= 63, IDX= 4,-0.37, 0.698, 2.415, 0.400, 1.179, PHS=-0.393, 1.283,-0.782, RAW= 340.2, -1.1, CAL= 341.5, -2.0, ROT= 168.5, 2.0 Ygot valid direction response: 14:27:31.4691 LVL= 17216, 20385, 16242, 26019, AGC= 63, IDX= 4,-0.37, 0.698, 2.415, 0.400, 1.179, PHS=-0.393, 1.283,-0.782, RAW= 340.2, -1.1, CAL= 341.5, -2.0, ROT= 168.5, 2.0 T#Rx 46: Read range and direction messages.`direction in FSK: [-0.979328,0.199246,-0.034899]Fpublishing direction and range infoډyڍ/V-Ad?Xޡڍ3 AYډ ۍ@C)ۍOIۍr?iۍeۍ?ۍL7ɾۍX9?ۍ'1H ܍@)܍nFI܍ƺ@i܍5܍`7<@܍5= ݉)݉ݍ5_rn俲:Ӆiݍ%ݍ<ݍ`7<@ݍ5= މ)މ%checking for new query: numPingsReceived=46, elapsed TxPingTime=15.642465 m|Bm4h=Ii)u!?qIu-< qq<O<]$=iiEUEYEYE]\0EY! 6GU s== checking for new query: numPingsReceived=46, elapsed TxPingTime=15.874944~G9 AI Q Aa N} >N,[=UjA9NQ+@N9@YNY;k٥!! %H%F-:; ->s5Ɯ?s59*O IBy.@@nEi:[:Q@s5B%AEZb-UjA6 A6 Aߺ@ʁ-n9\ ; ̉?cLKӿ/V-Ad?Xޡ`7<@5=ҁ /jQ6@ (H _Ru& Z@?fiZtۿkdz(m@j8ɜ?r˰ s~B S  ꁝAt@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.506563 s, deltaX: 0.400000 m, approachRate: 0.789634 m/s, rangeRepo size: 4 5 Added new target pos. range: 8.638260 m, bearing: 334.597276 deg, lat: 36.906440 deg, lon: -122.115990 deg, deltaT: 0.506563 s, deltaX: 0.397161 m, approachRate: 0.784030 m/s, posRepo size: 4 99baZarijiRiJqBy~~}|||`ff!@|? e|Be{=Ii)m?iIma< iimP 9JJ1E5E9E9E=g0E9FAFAuDDAT read: Rx Time:14:27:31.9692 uTRx dataTimestamp_ set to:1749133653.207986PDAT read: Bearing 168.2, 1.9 (Local) ~Local bearing/azimuth received: Bearing 168.2, 1.9 (Local) DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 DAT read: 14:27:31.9692 LVL= 32752, 24817, 32146, 32755, AGC= 59, IDX= 500, 0.25, 1.770,-2.781, 1.453, 2.252, PHS=-0.394, 1.297,-0.802, RAW= 340.6, -1.1, CAL= 341.8, -1.9, ROT= 168.2, 1.9 Ygot valid direction response: 14:27:31.9692 LVL= 32752, 24817, 32146, 32755, AGC= 59, IDX= 500, 0.25, 1.770,-2.781, 1.453, 2.252, PHS=-0.394, 1.297,-0.802, RAW= 340.6, -1.1, CAL= 341.8, -1.9, ROT= 168.2, 1.9 T#Rx 47: Read range and direction messages.`direction in FSK: [-0.978329,0.204384,-0.033155]Fpublishing direction and range infoqyuDyNX'?)?B3ufAYq u)u`Iu}iuu;u^ɾu?uOM u:@)qIu@iuu;@u= q)qu>U,sWUjA HBȼ>H@HBIHB~BHB =H@H@HB<HBE <checking for new query: numPingsReceived=47, elapsed TxPingTime=16.378708K  O"K *K 2K n:K M0c9>A`s\]wIau.`/|$w7*m="=i~BIMb@Mb@Mb@ )YJ +?ktQy? u+@ h@)@IyQ@I-I-3 =yQ >٥ HF% ->AUs5ԡEŏƜ?s59EL IEBy ?:/@@EnEiE ٥ H|< >s59|Ɯ?s59I IByAM0@M@nEi<1<;Is5)%AqMUAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse]Entering Midcourse tracking update period 60.000000 s sec at 8.900000 m (mode 5.000000 count ).1~ Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRq~Resuming normal ranging with 1.000000 count pings 8.900000 m (mode 5.000000 count ).q~~ZbAmUjA(A(A@ʁT3壺! ʳ@ HNai ¬?b$ݵm:@%=ҁAI @0twN f,VUjA H H<H>HCH H H =H H*DH*<HE\Mchecking for new query: numPingsReceived=49, elapsed TxPingTime=17.3893859O,@hb:@YT٥)1 5H5F5; 5>9Es5=aƜ?Es59=jF I=ByM?M:M12@U@=nEi=&;=%;=sNs5im%AmEN@1b?~~Z b ӍUjA A A U@ʁ Bx!޷ES@y &1Yja7_?&k۱ 9@ 5=ҁ lr @SW4ҿ G~?;.r ݿHd?Bz  Aj Fɜ?r ʏִ  :}B ,ɜ?  s~B A wպ@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.501550 s, deltaX: 0.100000 m, approachRate: 0.199383 m/s, rangeRepo size: 4  Added new target pos. range: 9.233870 m, bearing: 332.992081 deg, lat: 36.906440 deg, lon: -122.115990 deg, deltaT: 0.501550 s, deltaX: 0.099098 m, approachRate: 0.197584 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.23 m.bZrjRzJB~~|B}|||% "@|% ? u %|Bu p9U=Iq )u o?y I < < ܳ< 2N=i i  DDAT read: Rx Time:14:27:33.4697  TRx dataTimestamp_ set to:1749133654.721556 PDAT read: Bearing 166.1, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 166.1, 4.4 (Local)  DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 9 M DAT read: 14:27:33.4697 LVL= 27584, 29937, 23890, 32755, AGC= 57, IDX= 506,-0.24,-0.832, 0.924,-1.251,-0.442, PHS=-0.302, 1.413,-0.812, RAW= 342.6, -3.0, CAL= 343.9, -4.4, ROT= 166.1, 4.4 ] Ygot valid direction response: 14:27:33.4697 LVL= 27584, 29937, 23890, 32755, AGC= 57, IDX= 506,-0.24,-0.832, 0.924,-1.251,-0.442, PHS=-0.302, 1.413,-0.812, RAW= 342.6, -3.0, CAL= 343.9, -4.4, ROT= 166.1, 4.4 e T#Rx 50: Read range and direction messages.m `direction in FSK: [-0.967856,0.239520,-0.076719]m Fpublishing direction and range info y :zD^;?.0ۣ AY k) tI R]i 9 /ݴ? ;O X@) PwVI @i nF 9@ nF= ) NN翡`=+Ūi o FV= 9@ nF= )  checking for new query: numPingsReceived=50, elapsed TxPingTime=17.672022Eu #Eq Eq Eu O4Eq F} =F} =a 6G'HF=ZGRG~GIAAAN ?mn,„UjA9Z~,@Zݑ:@YZ'٥?? HF; >s5OƜ?s59kD IBy_2@@nEi;h;Qs5B%AE1qj~1 9Zb-UjAAA@ʁ+SP`s"tC@ f:zD^;?.0ۣ9@nF=ҁ! @ceֿ's?scx3ݿd>z+Ajɜ?r& |B`z*ɜ?ʏִ  :}BꁵAm@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.505513 s, deltaX: 0.300000 m, approachRate: 0.593457 m/s, rangeRepo size: 4  Added new target pos. range: 9.531736 m, bearing: 332.832760 deg, lat: 36.906440 deg, lon: -122.115991 deg, deltaT: 0.505513 s, deltaX: 0.297867 m, approachRate: 0.589237 m/s, posRepo size: 4 BNOT Ignoring new targets: 9.53 m.bZrjRzJB~~}|||@33#@|? )|B靥d=I) ?Iǝ< <4 <w-X=iia:J[BJZJJBRJZJ:bJS9J-4JEe&EaEaEeP0EaDDAT read: Rx Time:14:27:33.9698 TRx dataTimestamp_ set to:1749133655.224218PDAT read: Bearing 165.2, 4.5 (Local) ~Local bearing/azimuth received: Bearing 165.2, 4.5 (Local) DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed -0.7 DAT read: 14:27:33.9698 LVL= 25072, 26801, 20850, 32755, AGC= 58, IDX= 507,-0.27,-1.329, 0.339,-1.764,-0.971, PHS=-0.270, 1.357,-0.796, RAW= 343.6, -3.0, CAL= 344.8, -4.5, ROT= 165.2, 4.5 Ygot valid direction response: 14:27:33.9698 LVL= 25072, 26801, 20850, 32755, AGC= 58, IDX= 507,-0.27,-1.329, 0.339,-1.764,-0.971, PHS=-0.270, 1.357,-0.796, RAW= 343.6, -3.0, CAL= 344.8, -4.5, ROT= 165.2, 4.5 T#Rx 51: Read range and direction messages.`direction in FSK: [-0.963843,0.254658,-0.078459]Fpublishing direction and range infoځyڅEe9E RL?5;څAYځ ۅa)ۅhIۅrQiہۅ:ۅq=ۅ-?ۅK ܅@)܁I܅@i܅|٠܅8@܅|٠= ݁)݁݅2?(,4g濩u-i݅;j݅X=݅8@݅|٠= ށ)ށ checking for new query: numPingsReceived=51, elapsed TxPingTime=18.160448ԉ 6GE P=~G A A! N= >`Ju,0UjA@=.~BEQIiQIU4=II N=yQ >٥ HF >H>HHIH~BHHHHJ<HIEAs5E=Ɯ?s59EBB IEBy@EoEiEJi|,UjAe~BmGIMb@Mb@Mb@ )Y$C?y&1Qy?`e h@)@I@y@I5 I5(2E E=yAQ M>٥II MHMFq u>s5~$Ɯ?s59? IBy?:4@@oEi;;Ys5&AEZbUjA7%A7%AN@ʁ#-y${@ Kp9./?{]UF9@q=ҁ=g^"@:/At@R $Tv?*pR ݿI>vczAjq*ɜ?rh= {B&  |B!A!"@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505133 s, deltaX: 0.599999 m, approachRate: 1.187805 m/s, rangeRepo size: 4  Added new target pos. range: 10.325970 m, bearing: 332.963900 deg, lat: 36.906438 deg, lon: -122.115992 deg, deltaT: 0.505133 s, deltaX: 0.595728 m, approachRate: 1.179349 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.33 m.bZrjRzJB~~{B}|||$@|@l?checking for new query: numPingsReceived=52, elapsed TxPingTime=18.899042I m2|Bu,T=Iq)u>qIu< qq};y}<W=iiE,EEEP0Eyԩ :J `BJ QJJ CRJ ZJ :bJ -.9J 4J 6G= YW=jGE *?bGE ? DDAT read: Rx Time:14:27:34.9704  TRx dataTimestamp_ set to:1749133656.233229 PDAT read: Bearing 177.5, 19.8 (Local)  ~Local bearing/azimuth received: Bearing 177.5, 19.8 (Local)  DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 % DAT read: 14:27:34.9704 LVL= 28464, 28097, 28146, 32755, AGC= 60, IDX= 512,-0.40, 1.985,-2.356, 2.121, 2.257, PHS=-0.184, 1.717,-0.139, RAW= 328.8, -14.7, CAL= 332.5, -19.8, ROT= 177.5, 19.8 E Ygot valid direction response: 14:27:34.9704 LVL= 28464, 28097, 28146, 32755, AGC= 60, IDX= 512,-0.40, 1.985,-2.356, 2.121, 2.257, PHS=-0.184, 1.717,-0.139, RAW= 328.8, -14.7, CAL= 332.5, -19.8, ROT= 177.5, 19.8 M T#Rx 53: Read range and direction messages.e `direction in FSK: [-0.939985,0.041041,-0.338738]m Fpublishing direction and range info y V[CGamD?<տ 3+AY 0o) mI mi < j< ? V @) G\I @i ;ﰾ DF@ ;> ) bXYݿe=пi ( W> DF@ ;> )  checking for new query: numPingsReceived=53, elapsed TxPingTime=19.175274~G AAqN}>f,uVjA(9,@:@Y٥QQ UHUF]7; ]>ams5e Ɯ?ms59es= IevByqu5@u@e oEie:e`:e]s5ԉBS'AEGG@AH>HHIH~BH =HHH<HEHeÓCHeÓCHaHe =Ie = Ie(5Zb9VjA)A)A]߿@ʁ뀳#o%,?6v V[CGamD?<տDF@;>ҁզ^#@ 6c"m ce+?':ͅ:ѿ~[Tӿz7Aj[=ɜ?r̈ pB |B}%AgD@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503878 s, deltaX: 0.300000 m, approachRate: 0.595383 m/s, rangeRepo size: 4  checking for new query: numPingsReceived=53, elapsed TxPingTime=19.404736ԩ Added new target pos. range: 10.623788 m, bearing: 343.546421 deg, lat: 36.906438 deg, lon: -122.115992 deg, deltaT: 0.503878 s, deltaX: 0.297818 m, approachRate: 0.591052 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.62 m.bZrjRzJB~~}|||`ff%@|`?KP"K9*K2Kq:K g']LKH   o F%K4$EJ 7|B6<=I)Ey>AIM < IQU;<ob=ii E /E E E @5E   DDAT read: Rx Time:14:27:35.4707  TRx dataTimestamp_ set to:1749133656.735895 PDAT read: Bearing 165.5, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 165.5, 4.2 (Local)  DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4  DAT read: 14:27:35.4707 LVL= 18064, 19937, 20162, 29795, AGC= 63, IDX= 3,-0.16, 1.389, 2.975, 0.993, 1.745, PHS=-0.268, 1.276,-0.756, RAW= 343.3, -2.8, CAL= 344.5, -4.2, ROT= 165.5, 4.2 Ygot valid direction response: 14:27:35.4707 LVL= 18064, 19937, 20162, 29795, AGC= 63, IDX= 3,-0.16, 1.389, 2.975, 0.993, 1.745, PHS=-0.268, 1.276,-0.756, RAW= 343.3, -2.8, CAL= 344.5, -4.2, ROT= 165.5, 4.2 T#Rx 54: Read range and direction messages. `direction in FSK: [-0.965548,0.249708,-0.073238]Fpublishing direction and range infoک yڭ +?[vj?ڭ 1AYک ۭ F)ۭ MIۭ Niۭ ctۭ ?ۭ L7ۭ S?ۭ 7A ܭ !@)ܭ +HIܭ g@iܭ Q ܭ 8@ܭ Q = ݩ )ݩ ݭ + C|^^̨iݭ gݭ FyF=ݭ 8@ݭ Q = ީ )ީ -checking for new query: numPingsReceived=54, elapsed TxPingTime=19.6718586G1~GA AN%?Wy,Q4VjA9J`,@J:@YJ٥ HFi% >s5#Ŝ?s59<; IjBy%&?:f8@@oEi;V;Lbs5'A9Z b /VjA U0A U0A @ʁ  SPH%f@E3 +?[vj? 8@ Q =ҁ l{~ʊ#@VVV(!׿ H!#^?ճ6ݿD0Vz  VAj c*ɜ?r 2.  a|B q*ɜ? nͺ  a|B w.A V@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.502666 s, deltaX: 0.400001 m, approachRate: 0.795758 m/s, rangeRepo size: 4 - Added new target pos. range: 11.020939 m, bearing: 332.511152 deg, lat: 36.906440 deg, lon: -122.115994 deg, deltaT: 0.502666 s, deltaX: 0.397151 m, approachRate: 0.790089 m/s, posRepo size: 4 MDNOT Ignoring new targets: 11.02 m.bQZQrQjQRQzQJQBY~Y~]{B}a|||@33&@|@? ;|B4G=I ) ]> I B< C;6<4`=ii5checking for new query: numPingsReceived=54, elapsed TxPingTime=19.906452iE2EEEO0Eԑ 6G va=~G A A N >T,MVjA9>ӓ,@>,:@@7=>H-̿`y?&;?Ɲ`!?@J? >ӓ,@>؇;)>CJ}BJ IVDDAT read: Rx Time:14:27:35.9708 VTRx dataTimestamp_ set to:1749133657.239976^PDAT read: Bearing 166.1, 4.5 (Local) ^~Local bearing/azimuth received: Bearing 166.1, 4.5 (Local) jDAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed -0.7 ~DAT read: 14:27:35.9708 LVL= 28992, 19793, 31458, 32755, AGC= 59, IDX= 500, 0.05, 3.028,-1.581, 2.638,-2.880, PHS=-0.287, 1.346,-0.769, RAW= 342.6, -3.1, CAL= 343.9, -4.5, ROT= 166.1, 4.5 Ygot valid direction response: 14:27:35.9708 LVL= 28992, 19793, 31458, 32755, AGC= 59, IDX= 500, 0.05, 3.028,-1.581, 2.638,-2.880, PHS=-0.287, 1.346,-0.769, RAW= 342.6, -3.1, CAL= 343.9, -4.5, ROT= 166.1, 4.5  T#Rx 55: Read range and direction messages. `direction in FSK: [-0.967724,0.239487,-0.078459]Fpublishing direction and range infoTyV=`zW?5;V4AYT V@q)VQMIVziVV;VVI?V/D V X@)Vk]IV@iV|٠V9@V|٠= T)TV33F忩ѝMiVaVNZ=V9@V|٠= T)T-checking for new query: numPingsReceived=55, elapsed TxPingTime=20.175920I I<2%i½ %S=y%q;Q ->٥)) -H-F5Ri 5>s5Ŝ?s59s9 IaByL8@%@oEiF<D<es5QU'(AU EԱZTbV[OVjAV3AV3AV@ʁVq%z~@i$;2+V=`zW?5;V9@V|٠=ҁV ۤ(#@# TeVKVܿVy?3RXܿW4zVVAjV'ɜ?rV4c\ V{BTVh=  V{BV2AVq@% addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504081 s, deltaX: 0.200000 m, approachRate: 0.396761 m/s, rangeRepo size: 4 u Added new target pos. range: 11.219514 m, bearing: 333.039423 deg, lat: 36.906440 deg, lon: -122.115994 deg, deltaT: 0.504081 s, deltaX: 0.198575 m, approachRate: 0.393935 m/s, posRepo size: 4 }DNOT Ignoring new targets: 11.22 m.byZyryjyRyzJB~~}|||&@|? >|B靥?=I)ҽ>I< X;<P[=iiH>HCHkIHY~BHHHH<HErE5?jE5?E!5EEEEFE=FE=uchecking for new query: numPingsReceived=55, elapsed TxPingTime=20.412617K O"K K9*K 2K r:K s5v|[Dh-E5RX^4?"u uOy~u!.Ec 6Gu '\=~G1 AA AY Ne >f,A jVjA9jm,@j:@Yj:(RJxZJz:bJzW9Jzt4JxzJz:~jJz:~Jz{|:~rJz~|: }B IMb@Mb@Mb@ )Y rh?{GztZd;OyC+?ףj @)@I@y@DDAT read: Rx Time:14:27:36.4711 TRx dataTimestamp_ set to:1749133657.744996PDAT read: Bearing 166.4, 4.6 (Local) ~Local bearing/azimuth received: Bearing 166.4, 4.6 (Local) DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.7 DAT read: 14:27:36.4711 LVL= 27360, 23937, 27314, 32755, AGC= 58, IDX= 503, 0.46,-2.263,-0.583,-2.641,-1.883, PHS=-0.292, 1.347,-0.761, RAW= 342.2, -3.1, CAL= 343.6, -4.6, ROT= 166.4, 4.6 Ygot valid direction response: 14:27:36.4711 LVL= 27360, 23937, 27314, 32755, AGC= 58, IDX= 503, 0.46,-2.263,-0.583,-2.641,-1.883, PHS=-0.292, 1.347,-0.761, RAW= 342.2, -3.1, CAL= 343.6, -4.6, ROT= 166.4, 4.6 T#Rx 56: Read range and direction messages. `direction in FSK: [-0.968830,0.234385,-0.080199] Fpublishing direction and range infoڱyڵF` K0sR?zꇴڵf>AYڱ ۵j)۵]I۵ji۱۵:۵۵j?۵B ܵ@)ܱIܵ@iܵlܵ9@ܵl= ݱ)ݱݵMժqz{Bբiݵ^ݵ;]=ݵ9@ݵl= ޱ)ޱ-checking for new query: numPingsReceived=56, elapsed TxPingTime=20.6794839I]I]3m m*=ym;Q m>٥qq uHuF >s5@Ŝ?s597 IWBy^+?::@@oEiW;;is5BP(A#EZboVjA =A =A@ʁk&'@mzyRF` K0sR?zꇴ9@l=ҁO8(%@Ϸ~Ep"r߿e?kҕܿ(.A|z((Aja<ɜ?r {Bc*ɜ?4c\  {Bꁵ8A9?@e addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.505020 s, deltaX: 0.599999 m, approachRate: 1.188071 m/s, rangeRepo size: 4  Added new target pos. range: 11.815220 m, bearing: 333.227741 deg, lat: 36.906440 deg, lon: -122.115996 deg, deltaT: 0.505020 s, deltaX: 0.595706 m, approachRate: 1.179569 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.82 m.bZrjRzJB~~{B}|||'@|N? B|BO:=I))MK>IIU=< QQUv;Y]7<]S=iYiaiE7EE E P0E ԑ u checking for new query: numPingsReceived=56, elapsed TxPingTime=20.9179806G @Z=~G A A N > ,kVjA9R?,@R:@YD٥ H > s5 ®Ŝ?s59 5 I NBy9@@ oEi ; ; Wms59=(A=&EYDNOT Ignoring new targets: 11.82 m.bZrjII@ARzJB~~}||||)? =E|B=V7=IA)Ep>AIE[< AAM5;IM?2,-VjALzchecking for new query: numPingsReceived=57, elapsed TxPingTime=21.420807KmP"Kms9*Ki2Kms:Km*}d(-0D   XpaVP*u@|@w!4Z9E ,@E?:@YE"=yE٥11 5H5F]ڻ ]>ams5eŜ?ms59e4 IeDBym/?m:m;@m@e$oEie:e:eqs5(AZbRVjA>A>ASr@ʁU"'%@#76mEpᅵ$?A_1;:@+=ҁX%@u?*k_0}?,ܿz %czӧ*AjNɜ?r I zB {BꁽAAV@ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503925 s, deltaX: 0.100000 m, approachRate: 0.198443 m/s, rangeRepo size: 4  Added new target pos. range: 11.914494 m, bearing: 333.831325 deg, lat: 36.906440 deg, lon: -122.115996 deg, deltaT: 0.503925 s, deltaX: 0.099274 m, approachRate: 0.197001 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.91 m.bZrjRzJB:J_BJiJJJRJZJ :bJڈ9J4JzJ,:jJ1:Jf:rJh:~ ~ ~{B}|||(@|?? eH|Bew,=Ia)m >I@< ;IMV٥ HF >s5 zŜ?s59U2 I;By ;@@)oEi ;X;~us5B(A)E Zyb}VjA}eCA}eCA}u`@ʁ}߿'$@`}Su(N \?aVX}6;@} =ҁ}g?F%@`u(ۄu)}*:?OkFTMܿLsҭz}Ѭ}.Aj}s2ɜ?r}; }zB}'ɜ?};  y}FA}8@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503027 s, deltaX: 0.300000 m, approachRate: 0.596390 m/s, rangeRepo size: 4  Added new target pos. range: 12.212356 m, bearing: 333.706349 deg, lat: 36.906440 deg, lon: -122.115996 deg, deltaT: 0.503027 s, deltaX: 0.297862 m, approachRate: 0.592139 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.21 m.bZrjRzJB~~}|||(@|? MK|BMx/=II)M1>IIUL~< QQU;Y] <~/$=ii1E=?E9E9E=P0EA]DDAT read: Rx Time:14:27:37.9716 ]TRx dataTimestamp_ set to:1749133659.256076ePDAT read: Bearing 168.5, 6.2 (Local) m~Local bearing/azimuth received: Bearing 168.5, 6.2 (Local) }DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.5 DAT read: 14:27:37.9716 LVL= 24688, 21713, 25666, 32755, AGC= 59, IDX= 493, 0.01, 1.180, 2.933, 0.885, 1.572, PHS=-0.304, 1.408,-0.690, RAW= 340.0, -4.3, CAL= 341.5, -6.2, ROT= 168.5, 6.2 Ygot valid direction response: 14:27:37.9716 LVL= 24688, 21713, 25666, 32755, AGC= 59, IDX= 493, 0.01, 1.180, 2.933, 0.885, 1.572, PHS=-0.304, 1.408,-0.690, RAW= 340.0, -4.3, CAL= 341.5, -6.2, ROT= 168.5, 6.2 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.974193,0.198202,-0.107999]Fpublishing direction and range infoYy]\T,ᅢq%^?Niإ]HAYY ]p`)]TI]BdiY];]㥛]X9?]ף0 ]N@)]`I]ƺ@i]kݽ]`7<@]k= Y)Y] `u追u}俉ϢQi](o] =]`7<@]k= Y)Ychecking for new query: numPingsReceived=59, elapsed TxPingTime=22.192394i 6G @A=~G A A N >a,VjA H6>H4H6 IH6}BH4H4H4H6G<H6CE9N?+@NS9@YNI=yNp٥    H F U  >%s5NfŜ?%s590 I4By!%:@%@-oEi;;xs55ߓB5(A5,Echecking for new query: numPingsReceived=59, elapsed TxPingTime=22.429211ZbcVjAFAFA@ʁ^We.(xM̭@W'r\T,ᅢq%^?Niإ`7<@qk=ҁWZUR&@Jqm_ U?AۿS(zn2Aj'ɜ?rT zBNɜ?4c\  zBꁕ(GA/@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504128 s, deltaX: 0.200000 m, approachRate: 0.396724 m/s, rangeRepo size: 4 KzeP"K9*K2Kt:KzF`]P 7r7`.t XLt 7 ybKja\"WJ?J ? Added new target pos. range: 12.410904 m, bearing: 334.358755 deg, lat: 36.906438 deg, lon: -122.115996 deg, deltaT: 0.504128 s, deltaX: 0.198548 m, approachRate: 0.393845 m/s, posRepo size: 4 ևG =)I-T< ))- ;1U! <]#=iYiY:J\BJPJJ>RJZJ=:bJ*9Jt4JzJ:jJ:J-:rJ-:E?EEEE  DDAT read: Rx Time:14:27:38.4721  TRx dataTimestamp_ set to:1749133659.763370 PDAT read: Bearing 169.1, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 169.1, 5.3 (Local)  DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.6  DAT read: 14:27:38.4721 LVL= 20432, 16737, 19746, 28659, AGC= 65, IDX= 2,-0.36, 1.932,-2.576, 1.656, 2.357, PHS=-0.338, 1.397,-0.704, RAW= 339.4, -3.7, CAL= 340.9, -5.3, ROT= 169.1, 5.3  Ygot valid direction response: 14:27:38.4721 LVL= 20432, 16737, 19746, 28659, AGC= 65, IDX= 2,-0.36, 1.932,-2.576, 1.656, 2.357, PHS=-0.338, 1.397,-0.704, RAW= 339.4, -3.7, CAL= 340.9, -5.3, ROT= 169.1, 5.3  T#Rx 60: Read range and direction messages. `direction in FSK: [-0.977761,0.188287,-0.092371] Fpublishing direction and range infoډ yڍ +I*i?{]Uڍ 3SAYډ ۍ O)ۍ aAIۍ "Miۍ oۍ Aۍ Vۍ в?ۍ X94 ܍ @)܍ AI܍ d@i܍ q܍ <@܍ q= ݉ )݉ ݍ ώ` C俖߃ri~iݍ ݍ =ݍ <@ݍ q= މ )މ } checking for new query: numPingsReceived=60, elapsed TxPingTime=22.7458156G #= ~G A A N >(@,VjA}BIԁeMb@Mb@Mb@aaa a)aYeQ?Mb?Mbpye\/?e٥ HF >s5GŜ?s59. I,Byi/?%:%:@%@3oEi;f;Q}s5)-(A--Emchecking for new query: numPingsReceived=60, elapsed TxPingTime=22.931313ZQbUVjAUQAUQAU;@ʁUeo)fʽ@_. 1^U+I*i?{]UU<@Uq=ҁUąA'@! /&H } U6?c ۿ_#zU6U=AjU.ɜ?rUvo UzBQU;  UzBUJMAU,ɺ@Ա addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507294 s, deltaX: 0.700000 m, approachRate: 1.379870 m/s, rangeRepo size: 4 - Added new target pos. range: 13.105914 m, bearing: 334.963710 deg, lat: 36.906438 deg, lon: -122.115996 deg, deltaT: 0.507294 s, deltaX: 0.695010 m, approachRate: 1.370034 m/s, posRepo size: 4 =DNOT Ignoring new targets: 13.11 m.b9ZArAjARAJqBq~~b{B}|||`ff*@|@I/< e3;7<=iiE] ?EY EY EY EY  DDAT read: Rx Time:14:27:38.9722  TRx dataTimestamp_ set to:1749133660.263966% PDAT read: Bearing 169.4, 7.0 (Local) % ~Local bearing/azimuth received: Bearing 169.4, 7.0 (Local) 5 DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed -0.6 ] DAT read: 14:27:38.9722 LVL= 25456, 21425, 22610, 32755, AGC= 63, IDX= 499, 0.18, 1.579,-2.906, 1.321, 1.976, PHS=-0.310, 1.448,-0.658, RAW= 338.9, -5.0, CAL= 340.6, -7.0, ROT= 169.4, 7.0 ] Ygot valid direction response: 14:27:38.9722 LVL= 25456, 21425, 22610, 32755, AGC= 63, IDX= 499, 0.18, 1.579,-2.906, 1.321, 1.976, PHS=-0.310, 1.448,-0.658, RAW= 338.9, -5.0, CAL= 340.6, -7.0, ROT= 169.4, 7.0 e T#Rx 61: Read range and direction messages.m `direction in FSK: [-0.975609,0.182580,-0.121869]m Fpublishing direction and range info y Yܧ/8Fg^?UM7P2 fVAY  pc) SI RXi  ? R X? r(  G@) ¸I :@i 5 8=@ 5=  )  ]寂?C{F&"i ޥ M= 8=@ 5=  )  checking for new query: numPingsReceived=61, elapsed TxPingTime=23.199768ԙ 6G V=ZG ARG A~GyAAN>PUŕ,^WjA9W*@8@Y3=y;H%п[ Y?`M?OŢ^y?@U? W*@4;)C5}B5IIE"IEq3U= UJ=yUR;Q ]>٥ HF >s51Ŝ?s59- I&By@:@@7oEi2;;؀s5ޓB(AZbWjATATAJ@ʁ2) Zn@4JYܧ/8Fg^?UM7P28=@5=ҁN('@)lʙ€s]? d'ۿJu%z?Aj#ɜ?r yBGG?AH>HHIH}BHHHH-<HE zBQA@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.500596 s, deltaX: 0.200000 m, approachRate: 0.399523 m/s, rangeRepo size: 4  Added new target pos. range: 13.304488 m, bearing: 334.796252 deg, lat: 36.906438 deg, lon: -122.115996 deg, deltaT: 0.500596 s, deltaX: 0.198574 m, approachRate: 0.396675 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.30 m.bZr j R J B ~~}9|9|9|=*@|E`"? S|B靕W@=I)>I< f;;p=<&-r˕,0WjARDDAT read: Rx Time:14:27:39.4726 VTRx dataTimestamp_ set to:1749133660.770948bPDAT read: Bearing 170.5, 6.5 (Local) f~Local bearing/azimuth received: Bearing 170.5, 6.5 (Local) vDAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.6 5DAT read: 14:27:39.4726 LVL= 27264, 22513, 26066, 32755, AGC= 63, IDX= 503,-0.17,-0.044, 1.747,-0.251, 0.382, PHS=-0.338, 1.412,-0.636, RAW= 337.7, -4.6, CAL= 339.5, -6.5, ROT= 170.5, 6.5 yYgot valid direction response: 14:27:39.4726 LVL= 27264, 22513, 26066, 32755, AGC= 63, IDX= 503,-0.17,-0.044, 1.747,-0.251, 0.382, PHS=-0.338, 1.412,-0.636, RAW= 337.7, -4.6, CAL= 339.5, -6.5, ROT= 170.5, 6.5 T#Rx 62: Read range and direction messages.`direction in FSK: [-0.979946,0.163987,-0.113203]Fpublishing direction and range infoPyR[ᅵG-?5R`AYP Rj)RWIReiPPRVRj?R" Rv@)RlIRќ@iRV轉RIs>@RV= P)PR|<91$ąUiR,Rx =RIs>@RV= P)Pchecking for new query: numPingsReceived=62, elapsed TxPingTime=23.763582}BIԩMb@Mb@Mb@ )YQ?{Gz?y#< `@)@I@y@II?13< %=y%Q ->٥)) -H-F5 5>9es5=Ŝ?es59=* I=Bym`/?m:m9@u@==oEi=;=;=ds5yL(A0EZPbR6W1WjARg^ARg^AR@ʁR'>+څJ<@U:-R[ᅵG-?5RIs>@RV=ҁRAM)@d]]ZR h?յڿ6g5zR'RjJAjR5=ɜ?rRB RmyBR#ɜ?P RzBRcYAR?@] addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.506982 s, deltaX: 0.600000 m, approachRate: 1.183475 m/s, rangeRepo size: 4 } Added new target pos. range: 13.900155 m, bearing: 335.892075 deg, lat: 36.906439 deg, lon: -122.115996 deg, deltaT: 0.506982 s, deltaX: 0.595667 m, approachRate: 1.174927 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.90 m.bZrjRJB~~{B}|||,@|@Ab? ]U|B].3=Ia)e>aIe< aae >;iF<Bרӕ,dYOWjA9R .*@RcA8@YRdU=yR$~DDAT read: Rx Time:14:27:39.9727 TRx dataTimestamp_ set to:1749133661.272033 PDAT read: Bearing 171.3, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 171.3, 6.8 (Local) DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.7 MDAT read: 14:27:39.9727 LVL= 27296, 21393, 25970, 32755, AGC= 63, IDX= 504, 0.06, 1.769,-2.670, 1.589, 2.211, PHS=-0.354, 1.449,-0.625, RAW= 336.9, -4.9, CAL= 338.7, -6.8, ROT= 171.3, 6.8 UYgot valid direction response: 14:27:39.9727 LVL= 27296, 21393, 25970, 32755, AGC= 63, IDX= 504, 0.06, 1.769,-2.670, 1.589, 2.211, PHS=-0.354, 1.449,-0.625, RAW= 336.9, -4.9, CAL= 338.7, -6.8, ROT= 171.3, 6.8 ]T#Rx 63: Read range and direction messages.e`direction in FSK: [-0.981540,0.150197,-0.118404]eFpublishing direction and range info|y~BhmT9?EO~aAY| ~j)~SI~rei||~}?~x?~ ~)@)~%I~p*@i~~ X?@~= |)|~8g4'鿛tI%㿞)(i~8~oݭ=~ X?@~= |)|}checking for new query: numPingsReceived=63, elapsed TxPingTime=24.207567٥ HFާ >s5Ĝ?s59-) IBy09@ @AoEid;;s5ݓB(A3EZ|b~hQWjA~_A~_A~ǻ@iʁ~f{+"E@|~BhmT9?EO~ X?@~=ҁ~lCfG)@Q-i|*~ЙV0?dCٿ_e@z~~TLAj~'i2ɜ?r~fp ~HyB~.ɜ?~B  ~myB~;_A~0@ addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.501085 s, deltaX: 0.100000 m, approachRate: 0.199568 m/s, rangeRepo size: 4  Added new target pos. range: 13.999443 m, bearing: 336.219513 deg, lat: 36.906440 deg, lon: -122.115996 deg, deltaT: 0.501085 s, deltaX: 0.099288 m, approachRate: 0.198146 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.00 m.bZr!j!R!J!B)~)~1}9|9|9|}@33,@|-?ԑ W|Bx?=I)>H>HHIH}BH =HHHR<HPEHŒCHŒCHHI I%,5I/c< QQUG;Y]K1<]ܻoڕ, kWjAԉ}BIADDAT read: Rx Time:14:27:40.4730 -TRx dataTimestamp_ set to:1749133661.786610MPDAT read: Bearing 171.6, 6.8 (Local) M~Local bearing/azimuth received: Bearing 171.6, 6.8 (Local) uDAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.5 %Mb@Mb@Mb@!!! !)!Y%Gz?y&1{Gz?y%0?%`e%#<%@ %v@]DAT read: 14:27:40.4730 LVL= 29296, 24129, 29522, 32755, AGC= 65, IDX= 507, 0.20, 0.255, 2.164, 0.079, 0.717, PHS=-0.374, 1.495,-0.641, RAW= 336.6, -4.8, CAL= 338.4, -6.8, ROT= 171.6, 6.8 mYgot valid direction response: 14:27:40.4730 LVL= 29296, 24129, 29522, 32755, AGC= 65, IDX= 507, 0.20, 0.255, 2.164, 0.079, 0.717, PHS=-0.374, 1.495,-0.641, RAW= 336.6, -4.8, CAL= 338.4, -6.8, ROT= 171.6, 6.8 uT#Rx 64: Read range and direction messages.)%+@I%@!y%@IIT3Թ`direction in FSK: [-0.982313,0.145055,-0.118404]Fpublishing direction and range info!y%Wo,?EO%iAY! %pr)%A^I%Rsi!%A%|%)\?%$ %/@)%I%@i!k< =yQ >٥ HF >!-s5%֭?@! !)!% rN㿌!y%Ĝ?5s59%`& I%By=0?=:=6@=@%GoEi% ;;%8;%s5AE'AE6Ei%1 %=%֭?@! !)!}checking for new query: numPingsReceived=64, elapsed TxPingTime=24.782795Z!b%WrWjA%gA%gA%@ʁ%!z,^3T@ T1I4< Q4;%<%+a,WjA 9u)@07@Y*4=yMbH 3NѿT˥J?``צ?|BL? u)@骅rE;)C}BIII:JBJXJJFRJZJbJ5K9J4J@@@@=Y< =T=yEl٥ai mHmFm m>q}s5uĜ?}s59uZ$ IuBy<6@@uKoEiu;u;us5ܓB'A9E-DNOT Ignoring new targets: 14.50 m.b)Z)r)j)R)J)B)~9~9I}a|a|a|i|mX? DDAT read: Rx Time:14:27:40.9732  TRx dataTimestamp_ set to:1749133662.287941PDAT read: Bearing 173.7, 5.1 (Local) ~Local bearing/azimuth received: Bearing 173.7, 5.1 (Local) -DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.7 ]DAT read: 14:27:40.9732 LVL= 32224, 29937, 27010, 32755, AGC= 62, IDX= 509,-0.30,-2.526,-0.588,-2.613,-1.982, PHS=-0.457, 1.441,-0.634, RAW= 334.4, -3.6, CAL= 336.3, -5.1, ROT= 173.7, 5.1 eYgot valid direction response: 14:27:40.9732 LVL= 32224, 29937, 27010, 32755, AGC= 62, IDX= 509,-0.30,-2.526,-0.588,-2.613,-1.982, PHS=-0.457, 1.441,-0.634, RAW= 334.4, -3.6, CAL= 336.3, -5.1, ROT= 173.7, 5.1 eT#Rx 65: Read range and direction messages.m`direction in FSK: [-0.990026,0.109300,-0.088894]mFpublishing direction and range info y 8aJt? fnAY  }) tI ii  >  Z|B}VP=Iy)}>In< ;C<r\HHIH}BHHHHF<H,KWjA-}B-#IMb@Mb@Mb@ )YQ?J +:v?y\/?HT<@ @)X@I@yp@IIV83,= 0=yQ >٥! %H!% %>)AUs5EgĜ?]s59E! IE By]/?]:]2@]@EPoEiE h;E R;Es5amU'AiZIbMmWjAMlAMlAM ˼@ʁM zJ-?h M8aJt?MWB@MK=ҁM_\3i+@0ZB{vEzMpl?,׿_:zMMI[AjMOU4ɜ?rM8- M4{BMOU4ɜ?M3  IMoAM@ addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.501331 s, deltaX: 0.299999 m, approachRate: 0.598406 m/s, rangeRepo size: 4  Added new target pos. range: 14.793639 m, bearing: 338.032854 deg, lat: 36.906441 deg, lon: -122.115995 deg, deltaT: 0.501331 s, deltaX: 0.297791 m, approachRate: 0.594000 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.79 m.bZrjRJB~~^|B}|||-@|v? U\|BUI=IY)]>yI}v< @;<tԱ >g,WjA9j))@j=7@YjhE=yjeDDAT read: Rx Time:14:27:41.9737 eTRx dataTimestamp_ set to:1749133663.103959mPDAT read: Bearing 173.8, -2.6 (Local) u~Local bearing/azimuth received: Bearing 173.8, -2.6 (Local) DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.6 ԑDAT read: 14:27:41.9737 LVL= 31504, 30561, 26450, 32755, AGC= 60, IDX= 513,-0.34,-2.349,-0.821,-2.405,-1.761, PHS=-0.500, 0.988,-0.647, RAW= 334.7, 2.1, CAL= 336.2, 2.6, ROT= 173.8, -2.6 Ygot valid direction response: 14:27:41.9737 LVL= 31504, 30561, 26450, 32755, AGC= 60, IDX= 513,-0.34,-2.349,-0.821,-2.405,-1.761, PHS=-0.500, 0.988,-0.647, RAW= 334.7, 2.1, CAL= 336.2, 2.6, ROT= 173.8, -2.6 T#Rx 67: Read range and direction messages.^direction in FSK: [-0.993128,0.107888,0.045363]Fpublishing direction and range infoayel○N?99?eyAYa e{)eawIeRgiae<ee|?eˡ% e@)eQ =IeĻ@ie9=e"B@e9 a)aerM꿛č/ԁ \?iehX"ene"B@e9 a)achecking for new query: numPingsReceived=67, elapsed TxPingTime=26.040752٥ HF!1 >s51Ĝ? s59 I By  2@5@UoEi;p;s59='A=AIM8< IIMp;QUT9JMJ4JIE9E9E9E9E9 checking for new query: numPingsReceived=67, elapsed TxPingTime=26.2761846G 5[<~G A A N > Z,WjAHB>HBCHB3IHB}BHB =H@HB(DHB&<HBE9ND)@N-7@YN̮O=yNC٥II MHMF@0 >s5@Ĝ?s59 IBy2@@YoEi::ٛs55ۓB5&A=?EuDNOT Ignoring new targets: 15.49 m.byZrjRJB~~})|9|a|i|u5@? QU Y=mDDAT read: Rx Time:14:27:42.4740 mTRx dataTimestamp_ set to:1749133663.608023uPDAT read: Bearing 174.3, 7.1 (Local) }~Local bearing/azimuth received: Bearing 174.3, 7.1 (Local) DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed -0.7 DAT read: 14:27:42.4740 LVL= 30624, 28657, 23538, 32755, AGC= 62, IDX= 4, 0.05,-1.409, 0.562,-1.463,-0.895, PHS=-0.426, 1.504,-0.571, RAW= 333.6, -5.1, CAL= 335.7, -7.1, ROT= 174.3, 7.1 Ygot valid direction response: 14:27:42.4740 LVL= 30624, 28657, 23538, 32755, AGC= 62, IDX= 4, 0.05,-1.409, 0.562,-1.463,-0.895, PHS=-0.426, 1.504,-0.571, RAW= 333.6, -5.1, CAL= 335.7, -7.1, ROT= 174.3, 7.1 T#Rx 68: Read range and direction messages.`direction in FSK: [-0.987425,0.098558,-0.123601]Fpublishing direction and range infoiym9p;?A7Xm̀AYi mw)moIm[iim>mھm?m- mAQ@)mKIm}@immB@m= i)imc&N:KǶim$#m {=mB@m= i)ichecking for new query: numPingsReceived=68, elapsed TxPingTime=26.544605I)y>I<  K*;5<5 U'EEEEO0EFAFAI 6G f1,,BWjA9Z)@Z)7@YZV=yZIs٥ H F .  >s5`nĜ?s59a IBy%3?%:%/@%@^oEi:w:s5IM&AUBEiZbWjAAA@ʁJa'^/'5?!ܶ9p;?A7XB@=ҁL-@aJڡ> s?uXiD׿p z|lAj6Mɜ?r c {yBIs  {yBꁽ|A@ addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504064 s, deltaX: 0.500000 m, approachRate: 0.991938 m/s, rangeRepo size: 4  Added new target pos. range: 15.984925 m, bearing: 338.200844 deg, lat: 36.906442 deg, lon: -122.115993 deg, deltaT: 0.504064 s, deltaX: 0.496282 m, approachRate: 0.984561 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.98 m.bZrjRJB~!~%|B}a|a|i|m0@|m}? ^|B_=I)>Io< ;p<%RJ ZJ } :bJ B9J t4J 6G (<~GQ AY Ai N} >4',fkXjA9R4)@R+7@YRAg[=yRQ٥19 =H=FEĎ9 E>Ius5MYĜ?us59M IMByqu/@u@MboEiM4:M_:M s5&AZb>YXjACACA ռ@ʁ1f0.5'?t?0 QsVﲹ?NZlQB@=ҁ* I).@2?gz^\+n0?);׿]ӮzJqAjnPɜ?r(G zBťMɜ?(G  zBꁽǁAμ@m addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.506799 s, deltaX: 0.299999 m, approachRate: 0.591949 m/s, rangeRepo size: 4  Added new target pos. range: 16.282780 m, bearing: 338.102703 deg, lat: 36.906444 deg, lon: -122.115992 deg, deltaT: 0.506799 s, deltaX: 0.297854 m, approachRate: 0.587717 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.28 m.bZrjRJB~~}|||`ff0@|R?checking for new query: numPingsReceived=69, elapsed TxPingTime=27.283035 %_|B%h_=I))->)I-< ))-`;1A=uHH@IH~BHHHH,<HEy6G= 9)<ԡ )  ~GA  DDAT read: Rx Time:14:27:43.4745  TRx dataTimestamp_ set to:1749133664.619970 PDAT read: Bearing 173.9, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 173.9, 7.5 (Local)  DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.6 A A K O"K S9*K 2K y:K ZcmfgM_pMNa489`I Z0YYJ J A ZA DAT read: 14:27:43.4745 LVL= 27888, 28017, 23506, 32755, AGC= 60, IDX= 505, 0.16,-2.657,-0.678,-2.727,-2.158, PHS=-0.411, 1.527,-0.573, RAW= 334.0, -5.4, CAL= 336.1, -7.5, ROT= 173.9, 7.5  Ygot valid direction response: 14:27:43.4745 LVL= 27888, 28017, 23506, 32755, AGC= 60, IDX= 505, 0.16,-2.657,-0.678,-2.727,-2.158, PHS=-0.411, 1.527,-0.573, RAW= 334.0, -5.4, CAL= 336.1, -7.5, ROT= 173.9, 7.5  T#Rx 70: Read range and direction messages. N > % Y% ZAy% BkM ,"6+XjA`direction in FSK: [-0.985831,0.105355,-0.130526]Fpublishing direction and range infoy Rҍ? /fAY l)qmI[i<nҾt?! q@)I@i ?B@ > ),kF{g7,i#b=<>@>XB?B@ > )mchecking for new query: numPingsReceived=70, elapsed TxPingTime=27.639805}B/Iԩonly read 2 of 4 data items for bottom velocity. Device response is::BS, +719, +3,A aI@a aM@a aQ@a aE@a I%I% 35 5!=y=Q =>٥99 EHEFe >s5=Ĝ?s59 IB+:yu:@hoEiL$<s?s5%ړB%&A%EEchecking for new query: numPingsReceived=70, elapsed TxPingTime=27.786602Zb'XjApApA@ʁ^Mxq0⓼ ?Ǥlj Rҍ? /?B@ >ҁAV.@s~$}>1;lp?M4%ؿxaAhz#_vAj'wOɜ?rrq xB6Mɜ? AJ˼@- addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.505148 s, deltaX: 0.400000 m, approachRate: 0.791846 m/s, rangeRepo size: 4 e Added new target pos. range: 16.679852 m, bearing: 337.794608 deg, lat: 36.906444 deg, lon: -122.115992 deg, deltaT: 0.505148 s, deltaX: 0.397072 m, approachRate: 0.786050 m/s, posRepo size: 4 eDNOT Ignoring new targets: 16.68 m.baZarajaRiJiBi~i~q}|||0@|Ѭ? 5a|B= N=IA)E[>AIEt< AAMQH;iuJ,IXjA2Ygot valid direction response: 14:27:43.9747 LVL= 25968, 22081, 22354, 32755, AGC= 61, IDX= 507,-0.14, 0.701, 2.663, 0.628, 1.212, PHS=-0.424, 1.497,-0.587, RAW= 334.0, -4.9, CAL= 336.1, -6.9, ROT= 173.9, 6.9 6T#Rx 71: Read range and direction messages.:`direction in FSK: [-0.987136,0.105495,-0.120137]:Fpublishing direction and range infoڙyڝZў٥ HF >JK4JK4JK&1:JYBJPJJ?RJZJ9bJ*9Jـ4J-s5J'Ĝ?5s59 IB5 :y15F:5.@5@moEi`<o? s5EٓBE1'AEGEZbڬGXjA҇A҇AL@ʁq9b07q*?b3QZўIIMP< IIU;g<HQ HU FIHU ~BHU  =HQ HQ HU <HU E6G] (@,}L7ɾ}?} }@)}I}@i} }\wA@} > y)y}Q4 v/ %⿵ALi}G"}3=}\wA@} > y)ychecking for new query: numPingsReceived=72, elapsed TxPingTime=28.5967819)@"7@Yybe=ya<H@Msѿdf?` Т?y`?'? )@‡;)}BIi=IC=ԹaI]aI] aM]aM] aQ]aQe aEeaEe eMb@Mb@Mb@aaa a)aYeQ?Pn{Gzye(٥ HF9 > s5Y Ĝ? s598 IޅBT:y ??:,@@soEi4;4;s5!-b'A-JEZyb}{gXjA}ʋA}ʋA}:@ʁ}Ȯ=;31گRi@?}7XȀᅧrX ? /}\wA@} >ҁ}z 0@W.6iƛK}8b?/z"ؿbTz}}\Aj}uQɜ?r}s }xB}nPɜ?}rq  }{yB}A}қ@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504677 s, deltaX: 0.500000 m, approachRate: 0.990733 m/s, rangeRepo size: 4 % Added new target pos. range: 17.474033 m, bearing: 337.024018 deg, lat: 36.906444 deg, lon: -122.115993 deg, deltaT: 0.504677 s, deltaX: 0.496326 m, approachRate: 0.983454 m/s, posRepo size: 4 %DNOT Ignoring new targets: 17.47 m.b!ZIrIjIRIJIBI~Q~U|B}Q|Q|Y|]1@|] ? e|B]K=I!<)۹>I< g;\<<٥yy }Hy#; >s5^Ü?s59k IхBy,@@xoEiW:d:s5)-y(A1Z)b-xEXjA-,A-,A-f@ʁ-O.1كg@?6%-8'ᅡ!?zꇴ-?BD@-l=ҁ-|t$A0@:l4&'ؿ-3?5CֿYBzz--BAj- lɜ?r-N -|B-lkPɜ?) -yB-EA-H@e addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504638 s, deltaX: 0.299999 m, approachRate: 0.594484 m/s, rangeRepo size: 4 u Added new target pos. range: 17.771885 m, bearing: 339.636936 deg, lat: 36.906444 deg, lon: -122.115993 deg, deltaT: 0.504638 s, deltaX: 0.297852 m, approachRate: 0.590228 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.77 m.bZrjRJB~~}|||`f1@|@)? -g|B->=I))U>QIULF< YY] ;Ye*H9 H= @IH= ~BH=  =H9 H9 H= Q<H= (,XjADDAT read: Rx Time:14:27:45.4754 TRx dataTimestamp_ set to:1749133666.636812PDAT read: Bearing 172.7, 7.4 (Local) ~Local bearing/azimuth received: Bearing 172.7, 7.4 (Local) UDAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed -0.7 ԑKO"K 9*K2K{:K8Ka#(\wf@ &JS8L*h$F34xI+erDAT read: 14:27:45.4754 LVL= 21552, 20049, 19874, 31731, AGC= 66, IDX= 3,-0.07, 0.141, 2.055, 0.018, 0.609, PHS=-0.380, 1.493,-0.594, RAW= 335.3, -5.3, CAL= 337.3, -7.4, ROT= 172.7, 7.4 Ygot valid direction response: 14:27:45.4754 LVL= 21552, 20049, 19874, 31731, AGC= 66, IDX= 3,-0.07, 0.141, 2.055, 0.018, 0.609, PHS=-0.380, 1.493,-0.594, RAW= 335.3, -5.3, CAL= 337.3, -7.4, ROT= 172.7, 7.4 T#Rx 74: Read range and direction messages.`direction in FSK: [-0.983633,0.126006,-0.128796]9,)@4@7@Yn=y><Hqѿ@Nq@b?=?ϭ ?`? ,)@K;)C|}BI Fpublishing direction and range infoډyڍ㎑ yR ?OZ_|ڍfAYډ ۍ0T)ۍQNIۍMiۍ{ۍBۍ\¾ۍ?ۍb ܍PD@)܍qI܍Db@i܍ A܍b@@܍ A> ݉)݉ݍ>鿼;+Io⿵q{viݍ!ݍo=ݍb@@ݍ A> މ)މ%checking for new query: numPingsReceived=74, elapsed TxPingTime=29.641020:JMZBJMOJJM>RJIZJM9bJM%9JMt4JIzJM0:]jJM4:mJM&:urJM&:uԹMMb@Mb@Mb@III I)IYMMb?QMbyMC?MMMn@ I)MzAIMv@IyM@IIM3 checking for new query: numPingsReceived=74, elapsed TxPingTime=29.802574-  - ٥1 1 5 H= F= : = >A u s5E Ü?u s59E  IE Byu E?u :} >-@} @E oEiE ;E C;E ps5 דB (A PEZbXjAYAYA @ʁz)Q1QP@Ofw㎑ yR ?OZ_|b@@ A>ҁ'` 0@Z=5kz%^7P?BEٿn;7нz(Aj^Cɜ?rl sxB R  xBꁍ{A~@]  addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.507572 s, deltaX: 0.400000 m, approachRate: 0.788065 m/s, rangeRepo size: 4   Added new target pos. range: 18.168884 m, bearing: 336.681476 deg, lat: 36.906444 deg, lon: -122.115993 deg, deltaT: 0.507572 s, deltaX: 0.396999 m, approachRate: 0.782154 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.17 m.b Z r j R J B ~ ~ |B} | | | L2@| yZ?  k|B -=I ) > I= E%< 9 9 E Ud;A E ݐ￵Qp(?NZl̔AY Pb)[IYi>˾j? )Ii뽉= )12|Qt&hiΑ!7== )checking for new query: numPingsReceived=75, elapsed TxPingTime=30.083122~GAAN%?2,XjAD9-iO)@-b7@Y-Ar=y-6<-H }ѿ  k?|?C ʆ?+? -iO)@-WT;)-C>}BII+In39 (=y:Q >٥ HF%; >s5'Ü?s59 IBy_-@ @oEizD;dE;s5)ASEZ9b=ZXjA=A=A=g @Uchecking for new query: numPingsReceived=75, elapsed TxPingTime=30.306673ʁ=W22D13@AHz=>￵Qp(?NZl9==ҁ={~0@W0M;ijF=ė~!V`?;G8"ٿ2({3z==Aj=@ɜ?r= =-yB9=  =-yB=A=@@} addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.501210 s, deltaX: 0.300001 m, approachRate: 0.598554 m/s, rangeRepo size: 4  Added new target pos. range: 18.466736 m, bearing: 336.839343 deg, lat: 36.906444 deg, lon: -122.115994 deg, deltaT: 0.501210 s, deltaX: 0.297852 m, approachRate: 0.594265 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.47 m.bZrjRJB~~}|||2@|`? n|B)=I)P>I< 1;G<"RHCH IH}BH =HH&DHy<HgE >E 9E ?E E E 0E A %DDAT read: Rx Time:14:27:46.4759 5TRx dataTimestamp_ set to:1749133667.644265]PDAT read: Bearing 172.4, 6.7 (Local) e~Local bearing/azimuth received: Bearing 172.4, 6.7 (Local) DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.7 DAT read: 14:27:46.4759 LVL= 25776, 22209, 22722, 32755, AGC= 62, IDX= 488, 0.25, 1.559,-2.822, 1.421, 2.035, PHS=-0.388, 1.474,-0.617, RAW= 335.7, -4.8, CAL= 337.6, -6.7, ROT= 172.4, 6.7 Ygot valid direction response: 14:27:46.4759 LVL= 25776, 22209, 22722, 32755, AGC= 62, IDX= 488, 0.25, 1.559,-2.822, 1.421, 2.035, PHS=-0.388, 1.474,-0.617, RAW= 335.7, -4.8, CAL= 337.6, -6.7, ROT= 172.4, 6.7 T#Rx 76: Read range and direction messages.`direction in FSK: [-0.984446,0.131353,-0.116671]Fpublishing direction and range info)y-R2]F¢_.?mu"޽-3AY) -d)-VI-Xi))-ƾ-?- -}@)-I-)@i-|i-@@-|= )))-"? 鿔%)@#8Ki-&!-=-@@-|= )))echecking for new query: numPingsReceived=76, elapsed TxPingTime=30.603857K O"K ػ9*K 2K |:K Z;dG]#BaR[;m'iEXgochKD7i=Ji6GE+<:JBJLJJCRJZJbJq9J4JzJ2:jJ7:J:rJ:~G!A)AAN? <,fjXjA9)@I7@Yb=y;<H4 7ѿ : t#?@v?@`l?w? )@(;)Ci99)9 9I9 9)AAAAAAiAIIIIIimA iq)qq u"Au qyy}&AI})}Fiy)ȉIȭbAǩǩ ȱȱȱȱiȱȱٯ}BImMonly read 0 of 1 data item for BIT error. Device response is::TS,25060506290392,35.0, +10.8, 0.0,1492.9,A, 0.00, 79.17, 78.49, 82.23, 75.77 aIm@am aMm@am aQm@am aEm@am Iu&Iu3 $=ym;Q >٥ HF <  >=checking for new query: numPingsReceived=76, elapsed TxPingTime=30.812004AUs5EÜ?]s59E- IEB+:y^:-@@EoEiEYIe< aae;imREe <ԙ  DDAT read: Rx Time:14:27:46.9761  TRx dataTimestamp_ set to:1749133668.145525 PDAT read: Bearing 172.1, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 172.1, 6.3 (Local)  DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed -0.6 5 DAT read: 14:27:46.9761 LVL= 29664, 27169, 25026, 32755, AGC= 61, IDX= 506, 0.04, 0.727, 2.608, 0.577, 1.203, PHS=-0.388, 1.452,-0.629, RAW= 336.1, -4.5, CAL= 337.9, -6.3, ROT= 172.1, 6.3 = Ygot valid direction response: 14:27:46.9761 LVL= 29664, 27169, 25026, 32755, AGC= 61, IDX= 506, 0.04, 0.727, 2.608, 0.577, 1.203, PHS=-0.388, 1.452,-0.629, RAW= 336.1, -4.5, CAL= 337.9, -6.3, ROT= 172.1, 6.3 = T#Rx 77: Read range and direction messages.E `direction in FSK: [-0.984528,0.136614,-0.109734]E Fpublishing direction and range info y AQ@O!|?,= AY s) !jI ai = #۹? %! @) |٠I @i z0Ὁ <@@ z0= ) (}7f⿇gT|賿i +o= <@@ z0= ) m checking for new query: numPingsReceived=77, elapsed TxPingTime=31.079575Eq Ey Ey E} \0Ey 6G+eX<jGx?bGz?~GAAN ?!E, YjA|B}II checking for new query: numPingsReceived=77, elapsed TxPingTime=31.315485I<2@ =yQ >٥ HF >s5oÜ?s59 IB  :y  4:  @oEik;?Bs5]+AYEZbHP YjA~A~A[@ʁ,qeR2@Ɖw<@J9߻AQ@O!|?,=<@@z0=ҁ^5^v1@nF]``ΚVjP?">1}ٿ|RTɧzAj(@/ɜ?r JyB@ɜ? -yBꁵЙAd@} addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.501260 s, deltaX: 0.300001 m, approachRate: 0.598494 m/s, rangeRepo size: 4  Added new target pos. range: 19.061813 m, bearing: 336.503275 deg, lat: 36.906442 deg, lon: -122.115994 deg, deltaT: 0.501260 s, deltaX: 0.297842 m, approachRate: 0.594187 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.06 m.bZrjRJB~~}|||@333@| ? u|BP =I)=I< m;<HCHIH}BH =HH%DHT<H$EԡEaEaEiEmT0Eq ؍ =׍ 4= DDAT read: Rx Time:14:27:47.4766 Թ  TRx dataTimestamp_ set to:1749133668.653757 PDAT read: Bearing 172.9, 4.0 (Local) % ~Local bearing/azimuth received: Bearing 172.9, 4.0 (Local)  DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed -0.6  DAT read: 14:27:47.4766 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.12, 0.604, 2.526, 0.478, 1.156, PHS=-0.465, 1.417,-0.681, RAW= 335.4, -2.7, CAL= 337.1, -4.0, ROT= 172.9, 4.0  Ygot valid direction response: 14:27:47.4766 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510,-0.12, 0.604, 2.526, 0.478, 1.156, PHS=-0.465, 1.417,-0.681, RAW= 335.4, -2.7, CAL= 337.1, -4.0, ROT= 172.9, 4.0  T#Rx 78: Read range and direction messages. `direction in FSK: [-0.989915,0.123300,-0.069756] Fpublishing direction and range infoڱ yڵ a`k?&k۱ڵ AYڱ ۵ )۵ I۵ i۱ ۵ ?۵ {۵ B`?۵ V. ܵ R@)ܵ AIܵ E@iܵ 5ܵ !A@ܵ 5= ݱ )ݱ ݵ W_ܜ$كiݵ !ݵ 1D=ݵ !A@ݵ 5= ޱ )ޱ U checking for new query: numPingsReceived=78, elapsed TxPingTime=31.626242K 5P"K ͼ9*K 2K }:K t)=R f8!'F9Z]-+< CMetbUX6u6Ge 喇< ~G! A1 AA NM >K,h1YjA:JXBJNJJ>RJ ZJ{9bJ!9Jt4J zJ:jJ:JV:rJX:9%)@%k7@Y%P>=y% P<%H@ѿ @??`ل@?`C? %)@%m#;)! |B ]IaIaI aMaM aQaQ aEaE checking for new query: numPingsReceived=78, elapsed TxPingTime=31.819906Mb@Mb@Mb@ )YK7?ˡEyI?什̼ A@)AI@y@II#3ƽ =y;Q >٥ HFD; >s5NÜ?s59 IuBT:yJ?:B1@@oEi!;!;s5ՓB),A\EZb()YjA؞A؞A~@ʁ%U4ç3Q@.)a`k?&k۱!A@5=ҁ3+X2@0 eWJ%`[@L?IG~ؿ" qz(AjsXɜ?r1 L|B *A5@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.508232 s, deltaX: 0.799999 m, approachRate: 1.574083 m/s, rangeRepo size: 4  Added new target pos. range: 19.855570 m, bearing: 337.498943 deg, lat: 36.906442 deg, lon: -122.115994 deg, deltaT: 0.508232 s, deltaX: 0.793756 m, approachRate: 1.561800 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.86 m.bZrj R J B ~1~5%|B}1|1|9|=4@|=@? x|B靵N" 9l޿݈?iݝ *.)ݝ ݝ +H@ݝ +Ƚ ޙ )ޙ 6Gm c<} checking for new query: numPingsReceived=79, elapsed TxPingTime=32.097225~G) A1 AA NM >r,S,OMYjA9n )@nw7@Yn=ynmH y>H CH IH )}BH  =H H $DH s<H NEԁ YY,H7gYjAQDDAT read: Rx Time:14:27:48.4771 TRx dataTimestamp_ set to:1749133669.665108PDAT read: Bearing 170.8, 6.0 (Local) ~Local bearing/azimuth received: Bearing 170.8, 6.0 (Local) ! e YayeTBuDAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed -0.5 ԉ-DAT read: 14:27:48.4771 LVL= 19184, 19489, 16498, 30083, AGC= 68, IDX= 3,-0.10, 2.243,-2.272, 2.049, 2.681, PHS=-0.350, 1.377,-0.635, RAW= 337.5, -4.2, CAL= 339.2, -6.0, ROT= 170.8, 6.0 mYgot valid direction response: 14:27:48.4771 LVL= 19184, 19489, 16498, 30083, AGC= 68, IDX= 3,-0.10, 2.243,-2.272, 2.049, 2.681, PHS=-0.350, 1.377,-0.635, RAW= 337.5, -4.2, CAL= 339.2, -6.0, ROT= 170.8, 6.0 mT#Rx 80: Read range and direction messages.K'O"K9*K2K~:K( n(` Z'3h1+d I1gI2'L6y`direction in FSK: [-0.981729,0.159005,-0.104528]Fpublishing direction and range infoڙyڝN(Rj׈΄IZ?4ޮ`ºڝAYڙ ۝J)۝!LI۝r@i۝u۝D۝33۝A?۝\" ܝ~@)ܝQ Iܝq@iܝPwֽܝ>@ܝPw= ݙ)ݙݝ!O^o=Pòiݝ&ݝ?=ݝ>@ݝPw= ޙ)ޙchecking for new query: numPingsReceived=80, elapsed TxPingTime=32.6603095G|B=%Ionly read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,V aI@a aM@a aQ@a aE@a I I 3 %=y%Q %>٥!) -H-F:J=YBJ=OJJ=?RJ9ZJ=9bJ=%9J=ـ4J9zJ=e:jJ=j:J=&:rJ=&:M U>Q]s5UÜ?]s59Ux IUSBe+:yaeX:ae@UoEiU:U?U{s5ԓB-A]EԱZb!jYjAgAgA#]@ʁiC,4v$ @C=@L/N(Rj׈΄IZ?4ޮ`º>@Pw=ҁu-hȮ2@Q !'j2ʫ?9SBXڿ2nUzdvAj%0@ɜ?rln ,yB%0@ɜ? ꁝeA4@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.513194 s, deltaX: 0.400002 m, approachRate: 0.779435 m/s, rangeRepo size: 4   Added new target pos. range: 20.550331 m, bearing: 335.473626 deg, lat: 36.906442 deg, lon: -122.115994 deg, deltaT: 0.513194 s, deltaX: 0.396929 m, approachRate: 0.773448 m/s, posRepo size: 4  DNOT Ignoring new targets: 20.55 m.b Z r jRJB~~}|||e@34@|e@h=? }|B靵٥AA EHAM M>mDDAT read: Rx Time:14:27:48.9773 uTRx dataTimestamp_ set to:1749133670.164232}PDAT read: Bearing 171.3, 6.1 (Local) }~Local bearing/azimuth received: Bearing 171.3, 6.1 (Local) DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed -0.5 DAT read: 14:27:48.9773 LVL= 24848, 20897, 25970, 32755, AGC= 64, IDX= 501,-0.31, 0.357, 2.136, 0.187, 0.803, PHS=-0.358, 1.379,-0.619, RAW= 336.9, -4.3, CAL= 338.7, -6.1, ROT= 171.3, 6.1 Ygot valid direction response: 14:27:48.9773 LVL= 24848, 20897, 25970, 32755, AGC= 64, IDX= 501,-0.31, 0.357, 2.136, 0.187, 0.803, PHS=-0.358, 1.379,-0.619, RAW= 336.9, -4.3, CAL= 338.7, -6.1, ROT= 171.3, 6.1 T#Rx 81: Read range and direction messages.`direction in FSK: [-0.982897,0.150404,-0.106264]Fpublishing direction and range infoiym9)Ys\s@?O4mAYi ma)mQImreimm@mKm?mv m)@)m`Imp*@im^ ڽm X?@m^ = i)im؄1K=V(+;}Iimmdq=m X?@m^ = i)ichecking for new query: numPingsReceived=81, elapsed TxPingTime=33.100029Y=s5]Ü?Es59] I]DBE :yAE/:EB1@E@]oEi]<]p?]s5IU.AU`EZibmǂYjAmɦAmɦAm@ʁmT-}4⫷ @Sb1)m9)Ys\s@?O4m X?@m^ =ҁmK3@̞k!m7/?0s!ڿQ(zm3mAjmEɜ?rm myBmEɜ?m  imUAm.@  addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.499124 s, deltaX: 0.299999 m, approachRate: 0.601052 m/s, rangeRepo size: 4 = Added new target pos. range: 20.848162 m, bearing: 335.883237 deg, lat: 36.906443 deg, lon: -122.115995 deg, deltaT: 0.499124 s, deltaX: 0.297831 m, approachRate: 0.596707 m/s, posRepo size: 4 =DNOT Ignoring new targets: 20.85 m.b9Z9rAjARAJABA~I~I}I|I|I|u5@|u? |Bng,v3YjA,9~J)@~7@Y~F=y~xj<~Hiѿ $?I?~\ N?L? ~J)@~hQ;)~C]{B]III?13eJ m8=yD:Q >٥ HFP >s5œ?s59< I2B 9y  : >1@ @oEiǶ;?s5ӓB.AcEmDNOT Ignoring new targets: 20.85 m.biZirijqRqJqBq~q~y}y|y|y|y| ?ԉ |B靵` )x )echecking for new query: numPingsReceived=82, elapsed TxPingTime=33.6802796G ;<jG r?bG a? ~G A A N >= checking for new query: numPingsReceived=82, elapsed TxPingTime=33.838490n,]YjAd{BIi٥    H F  >s5œ?s59 I#B%T:y%8O?%:%'6@%@oEi; ;Ps5=ғB=9/A=fEZ1b5hYjA5A5A5Tk@ʁ5[Z4Ԃ,^ @If5c:W[¥֗?cK 5C?@5>ҁ5\*g3@)zө!UA)?5f?\WlڿlmAڬz5 59Aj5q /ɜ?r5G 5wB15  5,yB5%A5@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.518471 s, deltaX: 0.500000 m, approachRate: 0.964374 m/s, rangeRepo size: 4  Added new target pos. range: 21.344467 m, bearing: 335.572881 deg, lat: 36.906443 deg, lon: -122.115999 deg, deltaT: 0.518471 s, deltaX: 0.496305 m, approachRate: 0.957248 m/s, posRepo size: 4 DNOT Ignoring new targets: 21.34 m.bZrjRJB~~{B}|| |5@|`? |B靥 @ܝ+= ݙ)ݙݝץ)GS~@Ɋ3@ݝ+= ޙ)ޙchecking for new query: numPingsReceived=83, elapsed TxPingTime=34.108162>E HHH-IHS|BHHHHQ<HEHUCHUCHQHU =IU = IU59~)@~f7@Y~ =y~9"<~Hvп0?_;O?`|:?v? ~)@~Ү;)~C5{B5II] I]̍2us }"=y:Q >٥ HFy: >s5œ?s59 IBy*6@@oEiX;Y;s5)-m/A5iEZ1b5:YjA5#A5#A5UG@ʁ5ąA5l @>5859mX[*?A_15y>@5+=ҁ5giR3@xo"X|51?} ڿŏr[z55BAj53s#ɜ?r5r 5MyB5%0@ɜ?5G  158A5؞@  addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.489491 s, deltaX: 0.299999 m, approachRate: 0.612880 m/s, rangeRepo size: 4 ] Added new target pos. range: 21.642353 m, bearing: 335.321107 deg, lat: 36.906442 deg, lon: -122.116000 deg, deltaT: 0.489491 s, deltaX: 0.297886 m, approachRate: 0.608563 m/s, posRepo size: 4 eDNOT Ignoring new targets: 21.64 m.baZarajaRaJaBa~~}|||5@|ϛ? |B&@5= 1)15{$SQYGf Wi5b75@=5>@5= 1)1checking for new query: numPingsReceived=84, elapsed TxPingTime=34.683334KP"KS9*K2K:K=nS-m,. _.s5>]XY? !<J?J ? >E '< E E E! E% O0E!  checking for new query: numPingsReceived=84, elapsed TxPingTime=34.847511!6G9ZGARGA~GAAAiN?RW,ZjAX9 c*@ *8@Y ^̎=y - < H$п Y? ? ձ?? c*@ %;) C%{B%IMb@Mb@Mb@ )YB`"?~jt٥ HF%; %>AUs5Eœ?Us59E IEByUN?U:]D6@]@EoEiEg5;E':E@s5eѓBe/AelEZbYjAAASy@ʁ"W5Mh)D @,a'jlK9d￘fMVV? -V:>@=ҁ9>4@iN"(AY"?*qy} XڿjvBzuAj >!,ɜ?r;N xBq /ɜ?DDAT read: Rx Time:14:27:50.9783 TRx dataTimestamp_ set to:1749133672.180365PDAT read: Bearing 171.1, 6.6 (Local) ~Local bearing/azimuth received: Bearing 171.1, 6.6 (Local) DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed -0.5 =DAT read: 14:27:50.9783 LVL= 25264, 23281, 25970, 32755, AGC= 66, IDX= 511, 0.31,-1.076, 0.747,-1.262,-0.635, PHS=-0.353, 1.428,-0.630, RAW= 337.1, -4.7, CAL= 338.9, -6.6, ROT= 171.1, 6.6 MYgot valid direction response: 14:27:50.9783 LVL= 25264, 23281, 25970, 32755, AGC= 66, IDX= 511, 0.31,-1.076, 0.747,-1.262,-0.635, PHS=-0.353, 1.428,-0.630, RAW= 337.1, -4.7, CAL= 338.9, -6.6, ROT= 171.1, 6.6 UT#Rx 85: Read range and direction messages.]`direction in FSK: [-0.981412,0.153685,-0.114937]]Fpublishing direction and range infoy1Lg[_?NZlAYln  yBA򟈻@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 1.008171 s, deltaX: 0.700001 m, approachRate: 0.694327 m/s, rangeRepo size: 4  Added new target pos. range: 22.238016 m, bearing: 335.670763 deg, lat: 36.906440 deg, lon: -122.116001 deg, deltaT: 0.508453 s, deltaX: 0.595663 m, approachRate: 1.171520 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.24 m.bZrjRJB b)ZIreiBjȶ? E@)IG@i뽉?@= )ZFnH4?. i03=?@= )5checking for new query: numPingsReceived=85, elapsed TxPingTime=35.144211~1~5{B}Y|y|y|}6@|? |B靵 H= CH= IH= |BH=  =H9 H= %DH= !<H= Ea 6Gr<~GAA1N=?u,'ZjA(9N3*@NG8@YN܏=yN-٥xx zHzF~e; ~> s5"bœ?s59 IBy!%`6@-@oEip;;s5AE!0AMoEZb ZjAAA/@ʁmmYQ5iEv @r# 1Lg[_?NZl?@=ҁ0e4@i K"8_7?BٿfQz(Ajɜ?r~lO wB >!,ɜ?G  xBA%@DNOT Ignoring new targets: 22.24 m. DDAT read: Rx Time:14:27:51.4787 TRx dataTimestamp_ set to:1749133672.687753=PDAT read: Bearing 171.0, 4.1 (Local) E~Local bearing/azimuth received: Bearing 171.0, 4.1 (Local) DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed -0.7 bZrjRJB~Q~Qԁ}Y|||DAT read: 14:27:51.4787 LVL= 26336, 29585, 24290, 32755, AGC= 66, IDX= 3, 0.06,-0.177, 1.648,-0.375, 0.322, PHS=-0.411, 1.373,-0.699, RAW= 337.4, -2.7, CAL= 339.0, -4.1, ROT= 171.0, 4.1 |?%Ygot valid direction response: 14:27:51.4787 LVL= 26336, 29585, 24290, 32755, AGC= 66, IDX= 3, 0.06,-0.177, 1.648,-0.375, 0.322, PHS=-0.411, 1.373,-0.699, RAW= 337.4, -2.7, CAL= 339.0, -4.1, ROT= 171.0, 4.1 %T#Rx 86: Read range and direction messages.-`direction in FSK: [-0.985161,0.156034,-0.071497]5Fpublishing direction and range infoyؘo@? M̸AY f)sI^ m|BmUW,/mAZjA9:%T*@:|g8@Y:]=y:x<:H п`m?"?3`?R? :%T*@:bp;):CJ{BJIMb@Mb@Mb@ )YB`"? rh~jth?yCD;A A) AI@yAIIm?3˼ -=y :Q  >٥   HF`; >%s5^Cœ?%s59 I݄By-N?-:- 7@-@oEi:4:s5=ГB=L0AErEZQbU%,ZjAUwAUwAUX@ʁUOe6dt @ <Uؘo@? MUC?@UC=ҁU}vT4@D}"@|?Uw>?4Fٿ3#R?zUUAjU {)ɜ?rU=0 U{BU {)ɜ?U=0  QUvAUZ@ addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.507388 s, deltaX: 0.600000 m, approachRate: 1.182528 m/s, rangeRepo size: 4  Added new target pos. range: 22.933109 m, bearing: 336.048580 deg, lat: 36.906440 deg, lon: -122.116000 deg, deltaT: 1.007106 s, deltaX: 0.695093 m, approachRate: 0.690189 m/s, posRepo size: 4 DNOT Ignoring new targets: 22.93 m.bZrjRJB~~|B}|||7@|]? |Ba@= ) h8鿑@n=x.r뤿iti'=>@= )checking for new query: numPingsReceived=87, elapsed TxPingTime=36.185265:JbBJQJJ>RJZJ:bJ-.9Jt4J6Gm <jGu w?bGu l?~G) A1 AA NM >ԁ ,+N[ZjA2checking for new query: numPingsReceived=87, elapsed TxPingTime=36.3584639VIq*@V8@YV=yVW@M=ҁM,lVV-5@*c#,ԍ?MṬ/+?CvLڿ +q2?zMMjAjMz%ɜ?rM?h M|BMz%ɜ?M;N  MMyBMAM@e addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.501626 s, deltaX: 0.299999 m, approachRate: 0.598054 m/s, rangeRepo size: 4  Added new target pos. range: 23.230942 m, bearing: 335.734185 deg, lat: 36.906439 deg, lon: -122.116001 deg, deltaT: 0.501626 s, deltaX: 0.297832 m, approachRate: 0.593734 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.23 m.bZrjRJB~~}|)|1|5`ff7@|=? |B>@E^ = A)AEղD8锅}㿫;iEE=6G @E^ = A)A checking for new query: numPingsReceived=88, elapsed TxPingTime=36.695854 ~GA AQ Aa Nm >K} P"Ky *Ky 2K} :K} $K;]znt+1f{yz>JNz~cUJ >J ?𫜖,&uZjA96*@6T8@Y6=y6;<6HhaпC `~8?@Y?@|`!ʜ?\? 6*@6;)6CB{BDԹ-Mb@Mb@Mb@))) )))Y- rh?ˡE{Gz?y-CK?-'-#<-A ))-+ AI-+@)y-AI&I3: 0=y:Q >٥    H-F5[; 5>9Es5=œ?uchecking for new query: numPingsReceived=88, elapsed TxPingTime=36.862705}s59= I=ȄBy}K?:J5@@=oEi=#<=pi<=s5ϓBB0AwEZqbulZjAuѽAuѽAu@ʁujH7 )r@l+u[MGf򘁔t?O4uy>@u^ =ҁuG>aM5@)vf# e4uj/?Z. *ڿ_Kzu3u"Aju.ɜ?ru׹y uxBu {)ɜ?q uxBuҼAu@m addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.507806 s, deltaX: 0.500000 m, approachRate: 0.984628 m/s, rangeRepo size: 4  Added new target pos. range: 23.727327 m, bearing: 335.857502 deg, lat: 36.906440 deg, lon: -122.116001 deg, deltaT: 0.507806 s, deltaX: 0.496386 m, approachRate: 0.977510 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.73 m.bZrjRJB~!~%P|B}1|1|1|5`f7@|5n? 靽.@5 4QO= 1 )1 5 Vc=@Zw-ٟ\i5 5 e=5 >@5 4QO= 1 )1 e checking for new query: numPingsReceived=89, elapsed TxPingTime=37.1549646G %<~G A A N >X,٥ HF~9 >AMs5E&?Ms59E9 IEByQUL5@]@EoEiEG;E;Ers50AZb|ZjAAAЌ@ʁFOz7@[iItn60?|rQ穿>@4QO=ҁ R5@С#\w?D-?8ڿ?z-ЭAjwɜ?re }Bz%ɜ?e  {BtAB@= addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.499622 s, deltaX: 0.100000 m, approachRate: 0.200152 m/s, rangeRepo size: 4 M Added new target pos. range: 23.826605 m, bearing: 335.807064 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.499622 s, deltaX: 0.099277 m, approachRate: 0.198705 m/s, posRepo size: 4 UDNOT Ignoring new targets: 23.83 m.bQZQrQjyRyJyBy~~}|||8@|? %|B%!;I!)%퍾)I-}< ))-0#H}CH}IH}{BH} =HyH}&DH}C<H}"E ) > wC9 6G] ,ZjA.DDAT read: Rx Time:14:27:53.4796 .TRx dataTimestamp_ set to:1749133674.6997702PDAT read: Bearing 170.8, 6.0 (Local) :~Local bearing/azimuth received: Bearing 170.8, 6.0 (Local) RDAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed -0.7 %DAT read: 14:27:53.4796 LVL= 27824, 22449, 28066, 32755, AGC= 65, IDX= 509, 0.34,-2.894,-1.133,-3.085,-2.457, PHS=-0.348, 1.371,-0.631, RAW= 337.5, -4.2, CAL= 339.2, -6.0, ROT= 170.8, 6.0 Ygot valid direction response: 14:27:53.4796 LVL= 27824, 22449, 28066, 32755, AGC= 65, IDX= 509, 0.34,-2.894,-1.133,-3.085,-2.457, PHS=-0.348, 1.371,-0.631, RAW= 337.5, -4.2, CAL= 339.2, -6.0, ROT= 170.8, 6.0 T#Rx 90: Read range and direction messages.`direction in FSK: [-0.981729,0.159005,-0.104528]Fpublishing direction and range info,y.N(Rj׈΄IZ?4ޮ`º.AY, .l).WI.mi,,.-.|?.7! .~@).Q I.q@i.Pwֽ.>@9Р*@'8@Y=y=H,`Qп?p#?@^?W|@? V?.Pw= ,),.U|QOhmhqڲi.J+.=.>@.Pw= ,),checking for new query: numPingsReceived=90, elapsed TxPingTime=37.702999 Р*@骵Չ;)s{BI)! !K\~P"K9*K2K:K/dJ>EA1t]?'lde\1$Ngs7<Vx}(~9 &`W9Mb@Mb@Mb@ )Y rh?T㥛 ~jt?yL?D<\A ) AIn@ypAI I<2{ <  "=y C9Q  >٥ HF; >s5r?s59 IBy3M?:3@ @oEiq<wt<s5%ΓB-0AMzEZ,b.ɬZjA.bA.bA.@ʁ.`7H4@3A[l.N(Rj׈΄IZ?4ޮ`º.>@.Pw=ҁ.GM6@#0.&wn9? dvڿGۜz..oAj.+ɜ?r.|+ .xB. {)ɜ?.?h  ,.A.\@- addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502963 s, deltaX: 0.600000 m, approachRate: 1.192931 m/s, rangeRepo size: 4 = Added new target pos. range: 24.423090 m, bearing: 336.010969 deg, lat: 36.906440 deg, lon: -122.116002 deg, deltaT: 0.502963 s, deltaX: 0.596485 m, approachRate: 1.185942 m/s, posRepo size: 4 iuDNOT Ignoring new targets: 24.42 m.byZyryjRJB~~|B}|||8@|@t? checking for new query: numPingsReceived=90, elapsed TxPingTime=37.870609 )5W,BZjAnDDAT read: Rx Time:14:27:53.9798 rTRx dataTimestamp_ set to:1749133675.203930vPDAT read: Bearing 170.9, 3.6 (Local) v~Local bearing/azimuth received: Bearing 170.9, 3.6 (Local) ~DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed -0.5 -DAT read: 14:27:53.9798 LVL= 31440, 29665, 32754, 32755, AGC= 67, IDX= 511, 0.16, 2.890,-1.609, 2.689,-2.897, PHS=-0.408, 1.335,-0.700, RAW= 337.6, -2.4, CAL= 339.1, -3.6, ROT= 170.9, 3.6 5Ygot valid direction response: 14:27:53.9798 LVL= 31440, 29665, 32754, 32755, AGC= 67, IDX= 511, 0.16, 2.890,-1.609, 2.689,-2.897, PHS=-0.408, 1.335,-0.700, RAW= 337.6, -2.4, CAL= 339.1, -3.6, ROT= 170.9, 3.6 5T#Rx 91: Read range and direction messages.=`direction in FSK: [-0.985465,0.157846,-0.062791]EFpublishing direction and range infolynYHfnL4?֏ n3AYl nz)nsInilnCn`оnH?n333 n)@)n+Inc@inn>@n= l)ln3R67㿦~inn#b,=n>@n= l)l}checking for new query: numPingsReceived=91, elapsed TxPingTime=38.1435629m(*@m8@Ym=ymX٥99 =H=FEv; E>IUs5MQ?Us59M IMByQ]3@]@MoEiM:M`:M>s5e͓Be0Am}EZlbn0 ZjAnAnAnQл@ʁn+;\8j7@!nYHfnL4?֏ n>@n=ҁn<<6@6bc#>6?n@mqK?<; Hٿ#݆?znn Ajnb.ɜ?rnk n|Bn+ɜ?l n|BnAnM@m addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504160 s, deltaX: 0.299999 m, approachRate: 0.595048 m/s, rangeRepo size: 4 } Added new target pos. range: 24.720932 m, bearing: 336.279199 deg, lat: 36.906440 deg, lon: -122.116002 deg, deltaT: 0.504160 s, deltaX: 0.297842 m, approachRate: 0.590769 m/s, posRepo size: 4 }DNOT Ignoring new targets: 24.72 m.bZrjRJB~~}|||`f8@|ø? m|BmH˱;Iu5<)u;qIuf< qq}(+H CH IH {BH H H 'DH F<H /E6Gu ><~GY A ԑ A N >ָ,ZjAQ{BIIIV835҄ 5J=y=Q =>٥9A EHAE E>IUs5M?Us59MF IMByYY]@MoEiM:M:Ms5ae&1AeEiDNOT Ignoring new targets: 24.72 m.bZrjRJB~~}|||||? |Bi2;I)I< UX.<}n<J@= )B< pqa5>_aiB=>@= )}checking for new query: numPingsReceived=92, elapsed TxPingTime=38.710987:J^BJ]JJ<RJZJ} :bJ_9J [4JzJa:jJf:Jh:rJj:KP"K9*K2K:KyR;{RY4>h7Eq4fr0P3{3P6G <<jG s?bG a?~G A A N > checking for new query: numPingsReceived=92, elapsed TxPingTime=38.878571 ,ZjA9F#*@Fz8@YFmՏ=yFR٥ HFMR; M>t5?t59. IByGK?:X3@@oEi;;t5̓B 1AEZAbEZjAEAEAER@ʁE>!8 5i@÷ʮ E+ıT3Ѿ?A7XE>@E=ҁE|(+7@oz$~m`E7=8?)D@uٿB#zE#EAjE!ɜ?rE EvBAE  ExBEAEƻ@ addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.508712 s, deltaX: 0.600000 m, approachRate: 1.179450 m/s, rangeRepo size: 4  Added new target pos. range: 25.316999 m, bearing: 336.111360 deg, lat: 36.906440 deg, lon: -122.116002 deg, deltaT: 0.508712 s, deltaX: 0.596067 m, approachRate: 1.171719 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.32 m.bZrjRJB~~|B}|||9@|#e? =|B=J;IA)EAIE=< AAE\2@ d= )  Pfk )M/㿰Ui | = V>@ d= ) checking for new query: numPingsReceived=93, elapsed TxPingTime=39.152279! 6G FƖ,.q[jA9^*@^]8@Y^=y^D<^H CϿ@W?@b* ?̽? ? ^*@^F;)^C-?{B-II= I=b3}Z} [=yi+Q >٥ HF2; >t5_o?t59 IByd3@@oEi::t5c1AEchecking for new query: numPingsReceived=93, elapsed TxPingTime=39.383942Zbd [jAAA@ʁ]F}79 Usu@r !`(P?ᢔV>@d=ҁ+$d7@-$JW?{8?Qڿ Wt?z&!Aj2"ɜ?r |B2"ɜ? |BA@5 addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.501371 s, deltaX: 0.299999 m, approachRate: 0.598358 m/s, rangeRepo size: 4 H]>HYH]IH]t{BH] =HYHYH]<H]EH ÏCH ÏCH ÔCH  =I  = I Ç6 Added new target pos. range: 25.614845 m, bearing: 335.966381 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.501371 s, deltaX: 0.297846 m, approachRate: 0.594063 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.61 m.bZrjRJ B ~1~9}9|9|A|E9@|E`G? |Bpa4;I))Iu< qqu6@ %= ) >E m< [ES鿭)wxyfX.i y p= >@ %= ) M checking for new query: numPingsReceived=94, elapsed TxPingTime=39.709412a Ey Ey Ey E} O0Ey J[t4J[4J[1:J _BJ XJJ >RJ ZJ :bJ 5K9J t4J zJ /:jJ 4:J f:rJ g:K O P"K *K 2K :K SoQ}Z%E%] s ()ve6Cx813E> 6J AJ Aԉuchecking for new query: numPingsReceived=94, elapsed TxPingTime=39.8880776G3;=ZGRG~G1AQAN%?Ж,C[jA9*@[8@Y!=yi<H@п&d?@ ?iI?? *@骝)^;)C{BmI}Mb@Mb@Mb@yyy y)yY}Fx?~jtMbp?y}K?}Ľ};}A }\A)}nAI}Ayy}AII[3S ٥ HF >t5^D?t59| IyByMAM?M:M<1@M@pEil<N< t5U˓BU1AUEZb.[jAAAֻ@ʁRS9&;@T޴ hyd}c?b$ݵ>@%=ҁs 7@&boB$Bd2twֿ6lwM?ճٿXAcz'HAjEj=#ɜ?r8. yBEj=#ɜ? yBꁍA[ɻ@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.505943 s, deltaX: 0.500000 m, approachRate: 0.988254 m/s, rangeRepo size: 4 M Added new target pos. range: 26.111050 m, bearing: 336.319408 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.505943 s, deltaX: 0.496204 m, approachRate: 0.980752 m/s, posRepo size: 4 UDNOT Ignoring new targets: 26.11 m.bQZQrQjQRQJQBY~Y~]|B}|||L:@| }? |B ;I)vI+< ;<MDDAT read: Rx Time:14:27:55.9810 MTRx dataTimestamp_ set to:1749133677.220062UPDAT read: Bearing 171.0, 6.2 (Local) ]~Local bearing/azimuth received: Bearing 171.0, 6.2 (Local) mDAT read: Range 10 to 50 : 26.6 m (trip time 17.7 ms) speed -0.6 DAT read: 14:27:55.9810 LVL= 26096, 22673, 26418, 32755, AGC= 67, IDX= 507,-0.13, 1.030, 2.826, 0.841, 1.472, PHS=-0.354, 1.401,-0.634, RAW= 337.3, -4.4, CAL= 339.0, -6.2, ROT= 171.0, 6.2 Ygot valid direction response: 14:27:55.9810 LVL= 26096, 22673, 26418, 32755, AGC= 67, IDX= 507,-0.13, 1.030, 2.826, 0.841, 1.472, PHS=-0.354, 1.401,-0.634, RAW= 337.3, -4.4, CAL= 339.0, -6.2, ROT= 171.0, 6.2 T#Rx 95: Read range and direction messages.`direction in FSK: [-0.981911,0.155519,-0.107999]Fpublishing direction and range infoIyMIk?NiإԹMAYI Me)MXIM2giIMCM}?MS?MM" MDb@)MnFIMTU@iMkݽMC?@Mk= I)IM[AbёT㿲%hiMhM:=MC?@Mk= I)Ichecking for new query: numPingsReceived=95, elapsed TxPingTime=40.156963<,=ii>E <E E E E 3E   checking for new query: numPingsReceived=95, elapsed TxPingTime=40.390495IHmμ>HmCHm~IHm7{BHm =HiHm+DHm,<Hm:E6G%e[=~GA)AqN?xٖ,g[jAtU{BU]IIeIe#3u< u=yuQ u>٥yy }H}F >t5"?t59d IjBy@ pEi::bt5P2AEZIbMN[jAMJAMJAM@ʁM P9kzn@*lMIk?NiإMC?@Mk=ҁMTf̳ 58@( %G-MqJ~VT?TA}ٿrOzMO(MAjM8ɜ?rM䧊 M0wBM2"ɜ?M8.  IM8AMeڻ@  addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.500106 s, deltaX: 0.300001 m, approachRate: 0.599875 m/s, rangeRepo size: 4  Added new target pos. range: 26.411400 m, bearing: 336.512118 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.500106 s, deltaX: 0.300350 m, approachRate: 0.600573 m/s, posRepo size: 4 DNOT Ignoring new targets: 26.41 m.bZrjR!J!B!~)~)})|)|)|5:@|5`z4?-DDAT read: Rx Time:14:27:56.4814 -TRx dataTimestamp_ set to:1749133677.724008=PDAT read: Bearing 171.0, 7.2 (Local) =~Local bearing/azimuth received: Bearing 171.0, 7.2 (Local) UDAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed -0.5 DAT read: 14:27:56.4814 LVL= 23408, 28689, 25266, 32755, AGC= 66, IDX= 510,-0.24, 0.588, 2.400, 0.402, 1.010, PHS=-0.334, 1.437,-0.611, RAW= 337.2, -5.2, CAL= 339.0, -7.2, ROT= 171.0, 7.2 |B!MYgot valid direction response: 14:27:56.4814 LVL= 23408, 28689, 25266, 32755, AGC= 66, IDX= 510,-0.24, 0.588, 2.400, 0.402, 1.010, PHS=-0.334, 1.437,-0.611, RAW= 337.2, -5.2, CAL= 339.0, -7.2, ROT= 171.0, 7.2 U@9Ia)e4ɾiT#Rx 96: Read range and direction messages.Iu< {@<`direction in FSK: [-0.979900,0.155201,-0.125333]Fpublishing direction and range info)y-c:W[¥֗?cK -AY) -p[%<%uk=i))-pI-bi)-B- -?-j -S@)-޹I)i-iyDDDD)-> )))->oUf鿿#I@㿅_x i--=)-> )))checking for new query: numPingsReceived=96, elapsed TxPingTime=40.728565:J[BJPJJRJZJ:bJ*9JJzJ:jJ:J-:rJ-:AKmɔP"Kmͼ9*Ki2Km:Km,IR%h4ZV Fk}tic:?`ZbEY ZEY y  checking for new query: numPingsReceived=96, elapsed TxPingTime=40.894878E E E E e0E ԡ 6GU$3=~G)A9AINe ?i,[jA09B_*@B8@YB=yB٥ii mHuFu޻ u>5DDAT read: Rx Time:14:27:56.9816 5TRx dataTimestamp_ set to:1749133678.229561EPDAT read: Bearing 178.3, -0.0 (Local) E~Local bearing/azimuth received: Bearing 178.3, -0.0 (Local) UDAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed -0.5 uDAT read: 14:27:56.9816 LVL= 25584, 22881, 23650, 32755, AGC= 67, IDX= 512,-0.40, 1.914,-2.116, 2.007, 2.751, PHS=-0.748, 1.463,-0.746, RAW= 330.0, 0.3, CAL= 331.7, 0.0, ROT= 178.3, -0.0 }Ygot valid direction response: 14:27:56.9816 LVL= 25584, 22881, 23650, 32755, AGC= 67, IDX= 512,-0.40, 1.914,-2.116, 2.007, 2.751, PHS=-0.748, 1.463,-0.746, RAW= 330.0, 0.3, CAL= 331.7, 0.0, ROT= 178.3, -0.0 T#Rx 97: Read range and direction messages.^direction in FSK: [-0.999560,0.029666,0.000000]Fpublishing direction and range info1y56dKx`?5AY1 5c)5aYI5b\i15C5|?5C?5> 5N@)5;I5A@i55)G@5 1)15.G+ϙ뿑/߿Eg`/Pt?i5 '55)G@5 1)1checking for new query: numPingsReceived=97, elapsed TxPingTime=41.165703t57?t59 IYBywN?:61@@pEiZ::st5͓BK3AEԑZ1b5![jA5pA5pA5@ʁ5>n5 K;E)?56dKx`?5)G@5ҁ5H H RIH zBH  =H H H <H E~G ) A A N >%`,R[jAzBIII?13̽ +=yQ  >٥    H F >%t5?%t59 ILBy!!-@pEi::;t55̓B54A5EQeDNOT Ignoring new targets: 27.31 m.baZirijiRiJiB~~}|||| `?DDAT read: Rx Time:14:27:57.4819 TRx dataTimestamp_ set to:1749133678.733536PDAT read: Bearing 170.9, 6.2 (Local) ~Local bearing/azimuth received: Bearing 170.9, 6.2 (Local) DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed -0.6 }DAT read: 14:27:57.4819 LVL= 15792, 19825, 14706, 24099, AGC= 68, IDX= 3, 0.35,-3.065,-1.275, 3.028,-2.625, PHS=-0.351, 1.397,-0.633, RAW= 337.4, -4.4, CAL= 339.1, -6.2, ROT= 170.9, 6.2 Ygot valid direction response: 14:27:57.4819 LVL= 15792, 19825, 14706, 24099, AGC= 68, IDX= 3, 0.35,-3.065,-1.275, 3.028,-2.625, PHS=-0.351, 1.397,-0.633, RAW= 337.4, -4.4, CAL= 339.1, -6.2, ROT= 170.9, 6.2 T#Rx 98: Read range and direction messages. |Bv0I)|IE߾< AIM&J<ԉ=`direction in FSK: [-0.981638,0.157233,-0.107999]Fpublishing direction and range infoڡY<7@ܥk= ݡ)ݡݥ u[sH]($3XiݥRݥ汜=ݥ>@ݥk=:J]_BJ]QJJ]ARJYZJ] :bJ]-.9J]4JYzJ],:jJ]1:J]4:rJ]4:EqEqEqE}p0Ey ޡ)ޡchecking for new query: numPingsReceived=98, elapsed TxPingTime=41.783733KUbP"KQ*KQ2KU:KU`Y}~ +<AewXJ6VWWx=+|M BԩE checking for new query: numPingsReceived=98, elapsed TxPingTime=41.9026496G 5< ~Gy A A N >,)y[jA%WzB%IMb@Mb@Mb@ )Y?Ky&1yL?^`e A A)AIAy AI Ib3  4=yQ >٥ HF >t5Q? t59 I@=k=ҁ=C{U9@Z%M&e=C?|ٿ_Ȥz=i2=Aj='ɜ?r=y =uB99 9=A=@ addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.503975 s, deltaX: 0.400000 m, approachRate: 0.793689 m/s, rangeRepo size: 4 - Added new target pos. range: 27.702156 m, bearing: 336.243397 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.503975 s, deltaX: 0.397139 m, approachRate: 0.788013 m/s, posRepo size: 4 -DNOT Ignoring new targets: 27.70 m.b)Z1r1j1R1J1B1~9~=|B}A|a|i|m`f;@|m? |B靽ĤwI)Iκ< N<q<iirE]>jE>ADDAT read: Rx Time:14:27:57.9821 TRx dataTimestamp_ set to:1749133679.237392-PDAT read: Bearing 171.0, 6.3 (Local) -~Local bearing/azimuth received: Bearing 171.0, 6.3 (Local) EDAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed -0.4 DAT read: 14:27:57.9821 LVL= 28080, 23281, 26866, 32755, AGC= 68, IDX= 501, 0.18, 2.620,-1.832, 2.429, 3.066, PHS=-0.359, 1.432,-0.641, RAW= 337.2, -4.5, CAL= 339.0, -6.3, ROT= 171.0, 6.3 Ygot valid direction response: 14:27:57.9821 LVL= 28080, 23281, 26866, 32755, AGC= 68, IDX= 501, 0.18, 2.620,-1.832, 2.429, 3.066, PHS=-0.359, 1.432,-0.641, RAW= 337.2, -4.5, CAL= 339.0, -6.3, ROT= 171.0, 6.3 T#Rx 99: Read range and direction messages.`direction in FSK: [-0.981724,0.155490,-0.109734]Fpublishing direction and range infoy;h~Gj^?,=AY m)ZIhiηK?$ S@)|٠ITU@iz0ὉC?@z0= )]h鿫@6J&iUiL=C?@z0=EEEE0EF=F= )checking for new query: numPingsReceived=99, elapsed TxPingTime=42.183624i6G ԡ ~G A A N >-,P[jA9R#*@R68@YR*p=yR׹RH5`п)#?{?D? R#*@R;)RC=;zB=I)A AIMIM2echecking for new query: numPingsReceived=99, elapsed TxPingTime=42.406628> a=y Q >٥ HF% >t51?t59B I0By0@@!pEi:0<gt5M˓BMp5AMEyHuȼ>HuCHu IHuzBHqHqHqHu<HuEZAbEn1[jAEAEAE@ʁEt|;NH -j@2RE;h~Gj^?,=EC?@Ez0=ҁE}﷋9@DR-&A1GPEԟ2?abٿ[SzE5E]AjEIɜ?rE E@tBE'ɜ?A E0wBEAEH@ԡ6G  Y y.B addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503856 s, deltaX: 0.300001 m, approachRate: 0.595410 m/s, rangeRepo size: 4 e Added new target pos. range: 27.999840 m, bearing: 336.015669 deg, lat: 36.906439 deg, lon: -122.116002 deg, deltaT: 0.503856 s, deltaX: 0.297684 m, approachRate: 0.590811 m/s, posRepo size: 4 mDNOT Ignoring new targets: 28.00 m.biZirijiRiJiBq~q~q}q|||@33<@|n? %|B%/ I!)%)I-< )1UqS,̚[jAX9)@+7@YX=y嫼H@cп?@NyTt? )@Ɋ;)CUzBUIUchecking for new query: numPingsReceived=100, elapsed TxPingTime=42.911186-Mb@Mb@Mb@))) )))Y-M? ףp= rhy-nR?-Q-C- A - A)-AI-3A)y- AI9I9) =y^,Q >٥ %H%F5f# 5>It5M?t59MӢ IM ByS?:0@@M(pEiMl,^\jA9b)@b7@YbM=ybټbH`ѿe$?@s鈿@2? b)@be;)bC-yB-II=I=m?3M MS=yMFQ M>٥QQ UHUFU ]>Yt5]s?t59]֟ I]By0@@]-pEi]kp<]p<]t't57AaZibm\jAm%Am%Am@ʁma`BgHHIHCzBHHH*DHH<H]EI]< YYe \<ԑTa<Ӏ 9 )9 = zG(= 㿣sj i=  = == t?@= 'g > 9 )9 ] checking for new query: numPingsReceived=102, elapsed TxPingTime=43.7043806G p<jG m?bG m?~GA Aq A N > ,*6\jAp9e})@eG7@YemC=ye5r㼹eH^0ѿe A?TRIzez? e})@e,;)eCKRP"K*K2K:KBA<>OA D"\kvpI[[?:6~F"/{ checking for new query: numPingsReceived=102, elapsed TxPingTime=43.9200299yB Ii٥ HF [&  y>  t5 E? t59 I By% O?% :% 2@% @ 7pEi ҁ~:@>'mT{e 1?nqoHٿ}/z ?AjEF ɜ?r: nB'ɜ?  qBꁍAŻ@  addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502331 s, deltaX: 0.600000 m, approachRate: 1.194432 m/s, rangeRepo size: 4   Added new target pos. range: 29.488918 m, bearing: 336.003630 deg, lat: 36.906439 deg, lon: -122.116004 deg, deltaT: 0.502331 s, deltaX: 0.595467 m, approachRate: 1.185407 m/s, posRepo size: 4  DNOT Ignoring new targets: 29.49 m.b Z r j R J! BA ~I ~M A|B}I |I |I |U @3=@|U @?a |B .I ) > I < ^a< < X;mRJIZJM9bJM%9JMt4JIU@U@U@U@6G{<~GAAN?,[\jA9:P)@:d7@Y:8=y:yȼ:H@_ѿ@ҡ@n?`@" 5? :P)@:{Ɗ;):CiDH)H HIH H)HLLLLNAi\I``I`i` ``)dd df1fUFdjCj$AIj )hih)nCIlll lȹȽ߃AiٯgyBaI=checking for new query: numPingsReceived=103, elapsed TxPingTime=44.422497II 3p$ Q=yQ %>٥!) -H-F5 =>Aut5ER,?ut59E IEByy}2@}@EHCHIHyBH =HH)DH'<HEHÔCHÔCHH =I = I}6E*1t5!%8A5EI addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504460 s, deltaX: 0.299999 m, approachRate: 0.594694 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 29.49 m.bZrjRJB~~}||| >@| ` ? e|BeZ] Ia)mNiImО< iimf ) %L8("8vnDjV Oi  9= ?@ w> ) u checking for new query: numPingsReceived=104, elapsed TxPingTime=44.691772Թ 6G mo<~G A A N >,x\jAl9vf )@v7@Yv}t#=yv{vHॹmѿ祿? Zr@,msk? vf )@v);)vCK] P"K]9*KY2K]:K]a*0v~OOtP 0Sl="8u4dW+Ec&34 5UyB5VIEMb@Mb@Mb@AAA A)AYECl?Zd;OI +yEO?Ej٥AA MHMFM M>Q]t5U ?]t59UD IUBy9P?:x3@@UBpEiU\'ҁX;@I{(ABK?ʌ ڿq8 zCAj ɜ?r(f nBEF ɜ?  @qBꁍA;@] addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503416 s, deltaX: 0.299999 m, approachRate: 0.595927 m/s, rangeRepo size: 4 9} Added new target pos. range: 30.083668 m, bearing: 335.883913 deg, lat: 36.906438 deg, lon: -122.116005 deg, deltaT: 1.007876 s, deltaX: 0.594749 m, approachRate: 0.590102 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.08 m.bZrjRJB~~"|B}|||L>@|? |B I)SIח< Ptk<)5 ]<5~ i )i m J.WSy,l`im m!m =m 2@@m V> i )i = checking for new query: numPingsReceived=105, elapsed TxPingTime=45.206940ԉ 6G D<~GAAN><%,Oϗ\jA:J<BJ<JJ>;RJ<ZJ<bJ<J>(N4J<9b^(@b7@Yb"=ybgbHj`Ϻѿc? Xr:8? b^(@b;)bC0yB?I) II2챽 A=yvQ >٥ HF% %>IUt5M?Ut59ML IMByQ]k3@]@MHpEiM6:M :M9t5ae9AZ!b%\jA% A% A%@ʁ%w.]=qd@%d$JG?'ЌCz¿%2@@%V>ҁ%LA(S;@Ĉ ([~U %R$.? Qٿ\Cz%M@%Aj%mZ%ɜ?r%I %kB!! %nB%AA%^Ż@= addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.504694 s, deltaX: 0.300001 m, approachRate: 0.594422 m/s, rangeRepo size: 4 m Added new target pos. range: 30.381527 m, bearing: 336.547413 deg, lat: 36.906438 deg, lon: -122.116005 deg, deltaT: 0.504694 s, deltaX: 0.297859 m, approachRate: 0.590178 m/s, posRepo size: 4 uDNOT Ignoring new targets: 30.38 m.bqZqrqjqRqJqBy~y~y}|||>@|? |B>I!)%:]!I%ے< !!%Uo<)-<5?HCH}IHyBHHH'DH<HEE?EEEP0E!6G O <~GAAN>Aq  DDAT read: Rx Time:14:28:01.4840  TRx dataTimestamp_ set to:1749133682.764397 PDAT read: Bearing 171.9, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 171.9, 8.0 (Local)  DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed -0.6 E DAT read: 14:28:01.4840 LVL= 29600, 32753, 23394, 32755, AGC= 68, IDX= 505, 0.02, 1.779,-2.694, 1.635, 2.198, PHS=-0.331, 1.438,-0.565, RAW= 336.1, -5.8, CAL= 338.1, -8.0, ROT= 171.9, 8.0 +,\jA9>&(@>|7@Y>s=y>Q{>HRѿ㣿`?o@s xm v? >&(@>:s;)>CRyBR-I^Ygot valid direction response: 14:28:01.4840 LVL= 29600, 32753, 23394, 32755, AGC= 68, IDX= 505, 0.02, 1.779,-2.694, 1.635, 2.198, PHS=-0.331, 1.438,-0.565, RAW= 336.1, -5.8, CAL= 338.1, -8.0, ROT= 171.9, 8.0 bV#Rx 106: Read range and direction messages.f`direction in FSK: [-0.980389,0.139530,-0.139173]fFpublishing direction and range info9y=MX__ ?H@l=AY9 =s)=I=b[i9=D=x=b?=ף =@)=4QϽI=Լ@i=5=@@=5> 9)9=Mƶ 1eJi=| =2==@@I^"I^q3-8 -J==5> 9)9YyUuQ >Uchecking for new query: numPingsReceived=106, elapsed TxPingTime=45.768391٥ HFf  >IIt5Կ?t59 IڃBye3@@MpEi`:0< =t5ǓB9AEZ9b=\jA=A=A=͜@ʁ=~Y^>I@[~~>=MX__ ?H@l=@@=5>ҁ=s<@=hτ")Jλ? =u ?Ə1ٿ Jyz=I=Aj=M?ɜ?r=_9 =kB=M?ɜ?=:  =nB=A=@% addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503797 s, deltaX: 0.600000 m, approachRate: 1.190957 m/s, rangeRepo size: 4 Kg%P"KH9ԉ Added new target pos. range: 30.976038 m, bearing: 335.918896 deg, lat: 36.906438 deg, lon: -122.116005 deg, deltaT: 0.503797 s, deltaX: 0.594511 m, approachRate: 1.180061 m/s, posRepo size: 4 DNOT Ignoring new targets: 30.98 m.*K2K:KE5g|v)bBvSH 9uMx(I7j7lJJAbZrjRJB~~}|||@33?@|? "I)dI=ċ< L%t<  ܭ< n;i i uchecking for new query: numPingsReceived=106, elapsed TxPingTime=45.936813ԱE?EEEE 6G Mh <jG x?bG ?~G)AAAYNu>3,<\jAJDDAT read: Rx Time:14:28:01.9842 JTRx dataTimestamp_ set to:1749133683.267997RPDAT read: Bearing 171.3, 7.4 (Local) R~Local bearing/azimuth received: Bearing 171.3, 7.4 (Local) ZDAT read: Range 10 to 50 : 31.4 m (trip time 20.9 ms) speed -0.5 nDAT read: 14:28:01.9842 LVL= 27808, 31537, 23794, 32755, AGC= 69, IDX= 507,-0.19,-0.230, 1.589,-0.402, 0.195, PHS=-0.336, 1.442,-0.600, RAW= 336.8, -5.3, CAL= 338.7, -7.4, ROT= 171.3, 7.4 vYgot valid direction response: 14:28:01.9842 LVL= 27808, 31537, 23794, 32755, AGC= 69, IDX= 507,-0.19,-0.230, 1.589,-0.402, 0.195, PHS=-0.336, 1.442,-0.600, RAW= 336.8, -5.3, CAL= 338.7, -7.4, ROT= 171.3, 7.4 vV#Rx 107: Read range and direction messages.z`direction in FSK: [-0.980261,0.150001,-0.128796]~Fpublishing direction and range infoHyJ" L^o~;3?OZ_|J3AYH Jl)J1{IJ\iHJEJ1Ju?J J@)JqIJp*@iJ AJ X?@J A> H)HJ,c1.xq[iJMJ=J X?@J A> H)Hchecking for new query: numPingsReceived=107, elapsed TxPingTime=46.204330 yB(I1:JZBJQJJ@RJZJ9bJ-.9JJ4JMb@Mb@Mb@ )YʡE?Q롿MbpyO?\+ A  A)AIrAyz AI%#I%%x3Z  =yQ >٥ HF >t5?t59i IуByO?:D4@@TpEi;;At5  :A EZHbJ&\jAJeAJeAJE@ʁJ9r*>d@s@5<݃J" L^o~;3?OZ_|J X?@J A>ҁJ\w1<@_)RJ}u?ȼڿUX!zJfOJAjJ9"bȜ?rJD JmBJmZ%ɜ?J(f  JmBJAJ/@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503600 s, deltaX: 0.199999 m, approachRate: 0.397138 m/s, rangeRepo size: 4  Added new target pos. range: 31.174601 m, bearing: 335.308997 deg, lat: 36.906437 deg, lon: -122.116006 deg, deltaT: 0.503600 s, deltaX: 0.198563 m, approachRate: 0.394286 m/s, posRepo size: 4 %DNOT Ignoring new targets: 31.17 m.b!Z)r)j1R1iJiBq~q~u{B}|||`ff?@|^? Echecking for new query: numPingsReceived=107, elapsed TxPingTime=46.439392I!)MfIIU < QY](JyjE>HE >HE CHE XIHE YyBHE  =HA HA HE N<HE =>4=BDDAT read: Rx Time:14:28:02.4847 BTRx dataTimestamp_ set to:1749133683.772310JPDAT read: Bearing 172.5, 8.2 (Local) J~Local bearing/azimuth received: Bearing 172.5, 8.2 (Local) RDAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed -0.7 vDAT read: 14:28:02.4847 LVL= 24624, 25073, 25970, 32755, AGC= 69, IDX= 510, 0.46, 2.129,-2.330, 2.012, 2.558, PHS=-0.341, 1.442,-0.549, RAW= 335.5, -5.9, CAL= 337.5, -8.2, ROT= 172.5, 8.2 zYgot valid direction response: 14:28:02.4847 LVL= 24624, 25073, 25970, 32755, AGC= 69, IDX= 510, 0.46, 2.129,-2.330, 2.012, 2.558, PHS=-0.341, 1.442,-0.549, RAW= 335.5, -5.9, CAL= 337.5, -8.2, ROT= 172.5, 8.2 ~V#Rx 108: Read range and direction messages.`direction in FSK: [-0.981309,0.129192,-0.142629]Fpublishing direction and range info@yB @)@BG5 Cimv77iBu!B)=B2@@BC> @)@xBIII(*3 R=yQ >٥ HF:< > checking for new query: numPingsReceived=108, elapsed TxPingTime=46.733257Ut5?]t59Ї I˃Byx4@@YpEi“<8= Et5UƓB]B:AEZ@ԙbBm\jABABAB@ʁBD)T F?`mx@.B ҁB(=@os )ޜO BQ%谞2?90ٿeQ0zBHBAjBq*ɜ?rBeD BjB@@ BkBBAB@} addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504313 s, deltaX: 0.699999 m, approachRate: 1.388025 m/s, rangeRepo size: 4  Added new target pos. range: 31.869308 m, bearing: 336.667463 deg, lat: 36.906437 deg, lon: -122.116006 deg, deltaT: 0.504313 s, deltaX: 0.694708 m, approachRate: 1.377533 m/s, posRepo size: 4 DNOT Ignoring new targets: 31.87 m.bZrjRJB~~}||| @@|?KP"Ký9*K2K:KU+7u])'>}?/+s4RMt4e~+Zg+f%-` 靵65I)fjI&;z< }<<4.=AC,ۦ ]jA%xB%IMb@Mb@Mb@ )YS? rhMbp?yO?C ;DDAT read: Rx Time:14:28:02.9848 TRx dataTimestamp_ set to:1749133684.276586 DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed -0.6 - \#Rx 109: Read range message, but no direction.3BYchecking for new query: numPingsReceived=109, elapsed TxPingTime=47.200428 A A)AI Ay AI%I%m?35q 5/=y5Q 5>Y٥YY ]H]Fe e>iut5mw?ut59mo ImŃByJO?:4@@m`pEim;m;mIt5œBh:AE addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504276 s, deltaX: 0.200001 m, approachRate: 0.396610 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 31.87 m.bZ!r!j!R!J!B!~)~-{B})|)|Q|U`f&@@|]1? 9EIIEH=)E mAIEɭm< QQU0Hu CHu EIHu ;yBHu  =Hq Hq Hu A<Hu /E6Gm 9)<ZGy RGy )U > U C~Ga Ai Ay N >I,)(]jA$>GDX n Ylyn` B9)@n7@Y8٥11 5H1=sp< =>AMt5E_?Mt59E IEƒByIM4@M@EepEiE:E-:ELt5Y]:AmEDNOT Ignoring new targets: 31.87 m.bZrjRJB~~}||||`Ks? imXfIi)mpqIu(bK dP"K S9*K 2K :K #  ?W ~Jrmz9w\r$!n]7jx*fo$I XgP,A]jAchecking for new query: numPingsReceived=110, elapsed TxPingTime=47.950424xxBIMb@Mb@Mb@ )YQ?~jt:v?y\O?T<X A  A)AI Ay AI5I5 3Eն< E;=yEQ M>٥II MHUFU U>Yet5]_C?et59] I]ByeO?e:m4@m@]jpEi]f:];]Pt5uēBuw:AuEZb2]jABBJ_@ʁgI@'@ M2&mZ}an?A7Xt;?@=ҁz$A==@B*-\ *R?ζmڿf zWAjEɜ?rLf alB_9  +B»@ addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.505612 s, deltaX: 0.600002 m, approachRate: 1.186685 m/s, rangeRepo size: 4  Added new target pos. range: 32.663860 m, bearing: 335.488685 deg, lat: 36.906437 deg, lon: -122.116007 deg, deltaT: 1.009888 s, deltaX: 0.794552 m, approachRate: 0.786772 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.66 m.bZrjRJB~~|B}|||%@3s@@|%d? }|B}ĆAIy)}SnIT< ZW<6<CmjV,][]jA9}xBII#I%x3%X -_=y)Q ->٥QY ]H]Fa e>t5*?t59{| IBy@opEi\<\<St5 Echecking for new query: numPingsReceived=111, elapsed TxPingTime=48.456097H>HH9IH&yBH =HHHp<HtE :AEqZb#/R]jABBט@ʁS/V1@\FI !@0 ZpIw'?mu"޽֭?@|=ҁ4Ҡ=@8<<*Mm\$~a ?6'K ڿ CζzVAjɜ?r $mBɜ?  alBRBژ@ addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.501929 s, deltaX: 0.299999 m, approachRate: 0.597693 m/s, rangeRepo size: 4  Added new target pos. range: 32.961758 m, bearing: 335.891201 deg, lat: 36.906436 deg, lon: -122.116009 deg, deltaT: 0.501929 s, deltaX: 0.297897 m, approachRate: 0.593505 m/s, posRepo size: 4 DNOT Ignoring new targets: 32.96 m.bZrjRJB~~}|||}@@|} N? LMI)!pI.F< <<7RmE u<bE ZE E] ?Ea Ea Em 3Ei :J ]BJ QJJ BRJ ZJ ]:bJ -.9J -4J zJ :jJ :J 4:rJ 4:!K]X5P"K]9*KY2K]:K]mc<[$ tk$(z(`Td9X2AA-Ju{ny?[6GRe<jGp?bGY?~GqAבוAchecking for new query: numPingsReceived=112, elapsed TxPingTime=48.958889AN?&`,]jAԡxBIiI=5Mb@Mb@Mb@111 1)1Y5S?S㥫Mb?y5O?5/]5<5A 5X A)5AI5 A1y5AIEIE?13U; ]٥aa eHeFa e>iut5m?}t59mw ImBy}O?}:}P3@}@mxpEim:m:mYt5ÓB:AEZbqr]jAoBoB @ʁE^@ֽ2a@|&*~_ "g IG?A7X=?@=ҁ<|}H>@^\X<+kc p ?rR ڿ$t&zYEAjȜ?r! lBEɜ?!  B@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.504052 s, deltaX: 0.399998 m, approachRate: 0.793564 m/s, rangeRepo size: 4  Added new target pos. range: 33.358887 m, bearing: 335.787749 deg, lat: 36.906435 deg, lon: -122.116009 deg, deltaT: 0.504052 s, deltaX: 0.397129 m, approachRate: 0.787873 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.36 m.bZrjRJB~~k|B}|||@@|? U|BU3IQ)UoQI]K5< YY]G(<<lE d=! E! E! E! E- 4E) Q6GEjhn< Hu<Hu<H>HCH?IH0yBH =HH&DH=<HEHϑCHϐCHϓCH =I = I+5checking for new query: numPingsReceived=113, elapsed TxPingTime=49.464733~GA1AQyN?#gi,Cp]jA9})@}آ7@Y}l٥ HF̾: >t5ྜ?t598t IBy]3@@~pEi0;Pa;^t5“Bh:AEZb􅲒]jA:B:BRu@ʁx~z@f9,@ Nyc!;m¬[ʴ@Rd<+6+A! ؀h?g Eڿ"IN긿za\eAjȜ?r kB lBꁥB@ addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.503967 s, deltaX: 0.200001 m, approachRate: 0.396853 m/s, rangeRepo size: 4  Added new target pos. range: 33.556717 m, bearing: 335.642761 deg, lat: 36.906435 deg, lon: -122.116009 deg, deltaT: 0.503967 s, deltaX: 0.197830 m, approachRate: 0.392546 m/s, posRepo size: 4 DNOT Ignoring new targets: 33.56 m.bZrjRJB~~}||!|M`f@@|MP? |B靽]@@I)mmI%< =<k<DTwjE >:J ZBJ WJJ @RJ ZJ 9bJ G9J J4J zJ 0:jJ 5:J _:rJ _: E) E) E1 E5 0E9 KE $O"KE 9*KA 2KE :KE p{V<hxV'9ejf<f6bHAzWOH08/tGD0) M checking for new query: numPingsReceived=114, elapsed TxPingTime=49.9703716Gl o<~GAA)N=?&Ar,t]jA 9Jh)@J7@YJK٥iq uHuF}A; >t5󻾜?t59p IByP?:2@@pEi:]:bt5v:AEZb&]jABB޻@ʁi @۱?'@E" 'B,^:?hܸm@@%=ҁN~,?@LD+,A15?JV3ٿb"z ZcAjȜ?r'KB mBȜ? alBB󆠻@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504616 s, deltaX: 0.600002 m, approachRate: 1.189027 m/s, rangeRepo size: 4  Added new target pos. range: 34.152397 m, bearing: 336.379123 deg, lat: 36.906435 deg, lon: -122.116009 deg, deltaT: 0.504616 s, deltaX: 0.595680 m, approachRate: 1.180462 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.15 m.bZrjRJB~~W|B}|||@33A@|k? E|BE=Ia)e&naIe< aim^I M AU checking for new query: numPingsReceived=115, elapsed TxPingTime=50.470833lx,GV]jAH*>8H(H*EIH*;yBH* =H(H(H*C<H*(E9-)@-7@Y-٥   HF: >-t5堾?-t59l Iy)-2@-@pEi";P#;ft5=B=r:A=íEZbe6]jA B B@ʁF#v@/rBՄ@ﱕKP'=z|￵;y?NZl<@@=ҁ!r?@-1^;1+y, t5?8:BXBٿxcuѺzYAjȜ?r1 vjBȜ?  lB B@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.503433 s, deltaX: 0.299999 m, approachRate: 0.595907 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 34.450356 m, bearing: 336.619038 deg, lat: 36.906435 deg, lon: -122.116009 deg, deltaT: 0.503433 s, deltaX: 0.297958 m, approachRate: 0.591853 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.45 m.bZrjRJB~~}|||YA@| ? |BiI ) m I <   C<4<g~,Zf]jA\9E )@Ea7@YE;yE;EH` ѿr ??}{`t}?? E )@E/;)EC}xB}IKmP"KmH9*Ki2Km:Km/co ~"^:S(ZNoQ10'zf\YJ}>J}>Mb@Mb@Mb@ )YʡE?+y&1|?yO?`; A)AIX A checking for new query: numPingsReceived=116, elapsed TxPingTime=50.976871yAII2j ;=yAQ >٥!) -H5Fe: m>t5?t59xi IByP?:1@@pEi;;jt5Bw:AƭEZb%t]jA B Bջ@ʁ\lzMA<@2!+ \Kx=(?zBP?@B=ҁ"1@@uo,U|  #,?Öٿ(j\z`(Bjvɜ?rzx kBzx  kB B徻@ addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.503769 s, deltaX: 0.700001 m, approachRate: 1.389527 m/s, rangeRepo size: 4  Added new target pos. range: 35.145321 m, bearing: 336.318667 deg, lat: 36.906435 deg, lon: -122.116008 deg, deltaT: 0.503769 s, deltaX: 0.694965 m, approachRate: 1.379532 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.15 m.bZrjRJB~~|B}|||@3A@|>? e|BeSIa)m niIm,; iim6<<pA@ܥ = ݡ )ݡ ݥ Mu4j꿗$%j⿤=نiݥ !ݥ \Xl=ݥ ,>A@ݥ = ޡ )ޡ % checking for new query: numPingsReceived=117, elapsed TxPingTime=51.2436646G 喇.,y^jAI8)89~[)@~7@Y~[b;y~<~H` " ѿ) I ?7?'Ql? ? ~[)@~;)|xB IIIT3W% S=y. Q >٥ HFf >AMt5Ek?Ut59Ef IAyQU1@U@EpEiE? ;E-:Emt5y:AɭEZbF^jA` B` B@ʁzAU=+@99`kcn?U]k,>A@=ҁ_*XF@@&J*8Sw\Qy?zhؿWn>zW5Bjd#ɜ?r mBȜ?'KB  ꁕ& B@U addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.503914 s, deltaX: 0.199997 m, approachRate: 0.396887 m/s, rangeRepo size: 4  Added new target pos. range: 35.343880 m, bearing: 337.505718 deg, lat: 36.906435 deg, lon: -122.116006 deg, deltaT: 0.503914 s, deltaX: 0.198559 m, approachRate: 0.394033 m/s, posRepo size: 4 DNOT Ignoring new targets: 35.34 m.bZrjRJB~~}| | | A@|Yh?GGH>HHKIHEyBH =HH'DH<HE5checking for new query: numPingsReceived=117, elapsed TxPingTime=51.481026 E|Bm>tIq)}nyI; <<M~Ҍ,5^jA ݹ)ݹݽ[3l鿞 Xw/uiݽ ݽ{=ݽhY@@ݽK= ޹)޹checking for new query: numPingsReceived=118, elapsed TxPingTime=51.767326qIaIeAA:JVBJQJJ=RJZJ9bJ-.9Jg4JzJ:jJ:J4:rJ4:xBIԑKm;P"Km9*Ki2Km:KmR YmZ~xtG-(<v(WA_6LO`?XJyJ}AMb@Mb@Mb@ )YDl?K~jthyOM?DDAT read: Rx Time:14:28:07.9875 TRx dataTimestamp_ set to:1749133689.066193checking for new query: numPingsReceived=118, elapsed TxPingTime=51.987728^DA A)=AInAyAIU IUb3  =yQ >٥  H F >1mt55ED?mt595a I5ByuN?u:u0@}@5pEi5|k<5d<5Pst5B:A̭EԹZbU4^jABB @ʁ3ȷA1.n@k' Xhs!￟M?hY@@K=ҁ^Br@@\1V%S,z3+=eI?7jj8ٿ]KzbBj ɜ?r lBvɜ?  lBꁽB@}  addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.505802 s, deltaX: 0.600002 m, approachRate: 1.186239 m/s, rangeRepo size: 4   Added new target pos. range: 35.940037 m, bearing: 336.703309 deg, lat: 36.906437 deg, lon: -122.116006 deg, deltaT: 0.505802 s, deltaX: 0.596157 m, approachRate: 1.178637 m/s, posRepo size: 4  DNOT Ignoring new targets: 35.94 m.b Z r j R J B ~ ~ |B} | | | B@| `)? E |BE HCIA )M YsI IM ص; I I M < b< i i E E E E _0E F =F =PDAT read: Bearing 172.5, 4.3 (Local) ~Local bearing/azimuth received: Bearing 172.5, 4.3 (Local) DAT read: Range 10 to 50 : 36.5 m (trip time 24.3 ms) speed -0.6 DAT read: 14:28:07.9875 LVL= 26240, 26657, 22162, 32755, AGC= 66, IDX= 492, 0.47,-1.692, 0.042,-1.809,-1.197, PHS=-0.407, 1.286,-0.615, RAW= 335.7, -3.0, CAL= 337.5, -4.3, ROT= 172.5, 4.3 Ygot valid direction response: 14:28:07.9875 LVL= 26240, 26657, 22162, 32755, AGC= 66, IDX= 492, 0.47,-1.692, 0.042,-1.809,-1.197, PHS=-0.407, 1.286,-0.615, RAW= 335.7, -3.0, CAL= 337.5, -4.3, ROT= 172.5, 4.3 V#Rx 119: Read range and direction messages.`direction in FSK: [-0.988654,0.130159,-0.074979]Fpublishing direction and range infoyy}Wv }z ?]1}BYy }f)}!hI}Viy}By}?}p }}@)}PwVI}~@i}`}2@@}`= y)y}β鿚ϨU mi}T(!}dS=}2@@}`= y)y=checking for new query: numPingsReceived=119, elapsed TxPingTime=52.2587246G<ZGRG~GAAN?E,,[^jA$95%o)@5{7@Y5 y5l;5H Tѿ?U?`qS?2?@m?@? 5%o)@5 ;)5CmxBIII2 M=ytQ >٥ HFXC >t5+,?t59^ IByG0@@pEi::vt5B:AϭEZb$T^jABB@ʁc[ILA@,:hWv }z ?]12@@`=ҁ5@@ F~,qE_M?)ٿĻ2zcBjfɜ?r lB ɜ?  nBf@ addTargetRange:: Added new target pos. range: 36.500000 m, deltaT: 0.501049 s, deltaX: 0.299999 m, approachRate: 0.598742 m/s, rangeRepo size: 4 5 Added new target pos. range: 36.237881 m, bearing: 336.766061 deg, lat: 36.906438 deg, lon: -122.116005 deg, deltaT: 0.501049 s, deltaX: 0.297844 m, approachRate: 0.594441 m/s, posRepo size: 4 eDNOT Ignoring new targets: 36.24 m.baZarajiRiJiBiy~~}|||@B@| ?EDDAT read: Rx Time:14:28:08.4879 UTRx dataTimestamp_ set to:1749133689.570354ePDAT read: Bearing 173.4, 4.3 (Local) m~Local bearing/azimuth received: Bearing 173.4, 4.3 (Local) }checking for new query: numPingsReceived=119, elapsed TxPingTime=52.494915H>HHHH =HH&DHh<HaE -|B5zXxI9)=sAIm; iiuK<{%<ON朗,v^jA$ _)1jI[iG?5޾r? @)I/@iA@ )<z?$Wi+"JR=A@ ).T****** received valid address query ******.R****** received valid ping request ******2Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9jW)@jj7@YjHyjjH JlѿO?k? `s? W`? jW)@j;)jCxBII%I%35' 5N=y=Q =>٥99 eHeFek e>iut5m?ut59mY[ ImByy}/0@}@mpEim;m?;m)zt5:AZbt^jAUBUB@ʁ@<>B~y@t)BsͲvcSW?]1A@ҁM=f@@>D +f˶ C+y?5Jؿ5IBVz_Bj=ɜ?r kBfɜ? B*@ԁU addTargetRange:: Added new target pos. range: 37.099998 m, deltaT: 0.505703 s, deltaX: 0.599998 m, approachRate: 1.186464 m/s, rangeRepo size: 4  Added new target pos. range: 36.833328 m, bearing: 337.603372 deg, lat: 36.906438 deg, lon: -122.116005 deg, deltaT: 0.505703 s, deltaX: 0.595448 m, approachRate: 1.177465 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.83 m.bZrjRJB~~}||)|5̌B@|5? |B .uI ) OuI*; %rU:q(6MQ1"wK" v^8^PE @-X#Rx 1: Read range message, but no direction.BY 2Acoustic response timeoutE?EEEo0E!=Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 6G 'F<~G A A N >(,r^jA9^*?)@^R7@Y^^Oy^ƪ滹^H =@%ѿ@Ȗ? Ђ?`W`?`G|? ^*?)@^;)^C~xB~IDAT read: 14:28:08.9880 LVL= 28704, 27425, 27826, 32755, AGC= 69, IDX= 498,-0.49, 1.176, 2.883, 1.136, 1.761, PHS=-0.496, 1.169,-0.628, RAW= 333.8, -0.5, CAL= 335.4, -1.1, ROT= 174.6, 1. Ugot valid direction response: 14:28:08.9880 LVL= 28704, 27425, 27826, 32755, AGC= 69, IDX= 498,-0.49, 1.176, 2.883, 1.136, 1.761, PHS=-0.496, 1.169,-0.628, RAW= 333.8, -0.5, CAL= 335.4, -1.1, ROT= 174.6, 1. X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.995410,0.094094,-0.017452]ډyڍq7f{5?W7) ߑYډ ۍ p)ۍ!kIۍliۉۍEۍۍˡ?ۍ ܍m@)܍5I܍R@i܍nF܍C@܍5< ݉ݍܘ @h}#ȂiݍT#ݍA<ݍC@ݍ5<٥ HF$@ >t5?t593W IByN? : 0@ @pEi::~t5RB7A=ҭEZb^jABB-@ʁWaBT @ wnBq7f{5?W7) ߑC@5<ҁ02A@Mڄ*vjqr?ډ*5׿HMⰡzLV Bj$Eɜ?r sBd#ɜ?  lBꁕABr@ addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 0.256751 s, deltaX: 0.100002 m, approachRate: 0.389491 m/s, rangeRepo size: 4  Added new target pos. range: 36.932610 m, bearing: 338.723428 deg, lat: 36.906439 deg, lon: -122.116001 deg, deltaT: 0.256751 s, deltaX: 0.099281 m, approachRate: 0.386683 m/s, posRepo size: 4 DNOT Ignoring new targets: 36.93 m.bZ r j R J B ~1~5|B}1|1|9|=B@|E|~?:JXBJPJJ?RJZJ{9bJ*9Jـ4J@@@@ |B7{I)vI4 I; qH} CH} EIH} ;yBH} =Hy H} $DH} q<H} VE6G F<~G A ԡ A N >,^jAI)91)@PE7@Y[yIH ʓѿ`?"? Wk푿 K? ? 1)@E4;)CMxBMII]I]2c m=yKQ ?٥ HF| ?t5gݽ?t59pT IBy/@@pEi\;];t5QB 7A խEDNOT Ignoring new targets: 36.93 m.bZrjRJB~~}||||V? m|Bm:VIi)mi{iIm; qquޚ<i^<I%U,iٿ.&ۢ?\ZXUCYQ UZ)UqjIUBiUdUFǓ?UT@US? UB@)UwIUPD@iUUK$C@U? Q)QUQԷS޿|D& Կ*:XoRiU##UnEw?UK$C@U? Q)Q e2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Qy 6G 0<~Gq Ay A N > ٥ H9 >t5?t59P IByT?:1@@pEi:]:nt5&8AحEZb ^jACC0@ʁZd^J|Q@w*(t^>U,iٿ.&ۢ?\ZXK$C@?ҁѬwG@6[0YY^ 0!? XRԾ=z;Bj3͜?r t=ɜ?  lBꁕB8A@-=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 133.800003 m, deltaT: 0.752898 s, deltaX: 96.600006 m, approachRate: 128.304245 m/s, rangeRepo size: 4EDNOT Ignoring new targets: 36.93 m.bIZIrQjQRQJQBY~a~ep|B}q|q|q|u`@|u`K? m|BmIi)m~iIuږ: qqu:J VBJ SJJ @RJ ZJ 9bJ y69J J4J ,?^jAzxBzII%I%2==F =f=yEQ E>٥II MHUF >t5⨽?t59M IÃBy@pEi;;t5PB/8A٭E5DNOT Ignoring new targets: 36.93 m.b1Z1r1j1R9J9B9~9~A}A|A|A|A|M?HCH?IH0yBH =HHH@<H EHCHCH”CHI = I6 =|B=-I9)=~AIEQ%Z: AAEn$,^jA9-ni)@-|7@Y-نy-(&-H_ѿ ?oX?@?`܄I? -ni)@-~;)-CԙxBII!Ii3Jȼ *=y{Q >٥ HF ; >t5 ?t59;J IȃByN1@@pEi;W;Ìt5OB\8AܭEZb}^jA C C@ʁ*58N[ U]Z``+ݿ}IF+ AHL?ҁGXgK@NC&,$mFJ ^QEY?>+*ڣR6+z2a:[BjrϜ?rq {i$Eɜ?  kBꁝB@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 134.100006 m, deltaT: 1.758607 s, deltaX: 96.900009 m, approachRate: 55.100433 m/s, rangeRepo size: 4DNOT Ignoring new targets: 36.93 m.bZrjRJB~~}|||@3`@|{? =|B=@IE%<)EAIE AIM&ė,I_jA9JA)@J7@YJŧyJ޻JH @J5ѿ֠?.? `ᝐs? m{ }? JA)@J:;)Hԁe٥QY ]H]FeB; e>q}t5uo?}t59uG Iu̓ByR?:1@@upEiu ;u;uUt5v8A߭EUDNOT Ignoring new targets: 36.93 m.bQZQrQjYRYJYBY~Y~eN|B}a|i|||.?Ա |B:JZBJLJJ<RJZJ9bJq9J [4JI!)%^!I-5u ))-BHIHM2IHMyBHIHIHM#DHM5<HMEvJ˗,y[/_jA9J)@J/7@YJ:!yJޯ@JH``п`??@2`&?2h`? J)@Jw;)JCblxBbIIjIj3rr rn=yrQ r?٥tt vHvFz< z?|t5~Y?t59~xD I~уBy1@@~pEi~`:~):~Rt58AMDNOT Ignoring new targets: 36.93 m.bIZIIrIjYRaJaBa~a~i}i|i|q|q|uQq? |B靥OI)˃IEϺ <f9< u DDAT read: Rx Time:14:28:11.9898 } TRx dataTimestamp_ set to:1749133693.115110 PDAT read: Bearing 173.9, -2.3 (Local)  ~Local bearing/azimuth received: Bearing 173.9, -2.3 (Local) & TFailed to parse incomplete device message. DAT read: Range 10 to 50 : 39.8 m (trip time 26.5 ms) speed -0.4  DAT read: 14:28:11.9898 LVL= 24112, 29505, 21794, 32115, AGC= 71, IDX= 370, 0.39,-2.828,-1.192,-2.892,-2.208, PHS=-0.531, 1.063,-0.687, RAW= 334.6, 1.9, CAL= 336.1, 2.3, ROT= 173.9, -2.3  Ygot valid direction response: 14:28:11.9898 LVL= 24112, 29505, 21794, 32115, AGC= 71, IDX= 370, 0.39,-2.828,-1.192,-2.892,-2.208, PHS=-0.531, 1.063,-0.687, RAW= 334.6, 1.9, CAL= 336.1, 2.3, ROT= 173.9, -2.3  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.993537,0.106179,0.040132] Fpublishing direction and range infoq yu \ ԅ.?.='?u 3BYq u 0^)u AsIu "Uiu s}u Gu u b?u ;/ u ;@)u =Iu @iu l$=u ?B@u l$ q )q u 8Qꂽ+⿼?iu ;d"u u ?B@u l$ q )q = 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode./җ,+I_jA5yxB5IԱMb@Mb@Mb@ )YX9v?Q뱿٥ HF >et58?mt59@ I׃Byu{T?u:}u2@@pEiy<E<t58AEZb]G_jA B B@ʁ Cu@Yx^?\ ԅ.?.='??B@l$ҁ &aB@,٤?+A?u[s׿aRYF?zg Bj lRɜ?r" xB lRɜ?"  ꁭ B@ addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 3.037927 s, deltaX: 2.599998 m, approachRate: 0.855846 m/s, rangeRepo size: 4  Added new target pos. range: 39.511318 m, bearing: 338.505257 deg, lat: 36.906444 deg, lon: -122.115995 deg, deltaT: 3.037927 s, deltaX: 2.578709 m, approachRate: 0.848838 m/s, posRepo size: 4 DNOT Ignoring new targets: 39.51 m.bZrjRJB~a~e|B}i5 Ӡ<<`9J g4J 9 >E5 =mDDAT read: Rx Time:14:28:12.4901 uTRx dataTimestamp_ set to:1749133693.615892}PDAT read: Bearing 172.1, -0.6 (Local) }~Local bearing/azimuth received: Bearing 172.1, -0.6 (Local) ԁDAT read: Range 10 to 50 : 40.2 m (trip time 26.8 ms) speed -0.4 -X#Rx 1: Read range message, but no direction.qu BYq 2Acoustic response timeoutH>HCH,IHyBH =HH%DHN<H,EQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.EEEE5EԱ6G%p<~GA AN-)?Cܗ,qs_jAXwxBIi ٥11 5H5F9 =>t5K?t59A< IރBy@pEi::Ϝt5DAT read: 14:28:12.4901 LVL= 19856, 24721, 19266, 29683, AGC= 70, IDX= 501, 0.09,-1.918,-0.308,-2.048,-1.360, PHS=-0.469, 1.099,-0.691, RAW= 336.5, 0.7, CAL= 337.9, 0.6, ROT= 172.1, -0.6 Ygot valid direction response: 14:28:12.4901 LVL= 19856, 24721, 19266, 29683, AGC= 70, IDX= 501, 0.09,-1.918,-0.308,-2.048,-1.360, PHS=-0.469, 1.099,-0.691, RAW= 336.5, 0.7, CAL= 337.9, 0.6, ROT= 172.1, -0.6 X#Rx 1: Read direction message, but no range.^direction in FSK: [-0.990455,0.137437,0.010472]yϱDv?/;r?Y M)`IBKisF ?`0 @)+HEc<I4=I%=E?EEEq5E DDAT read: Rx Time:14:28:12.9903  TRx dataTimestamp_ set to:1749133694.117569 PDAT read: Bearing 172.2, -2.0 (Local)  ~Local bearing/azimuth received: Bearing 172.2, -2.0 (Local)  DAT read: Range 10 to 50 : 40.5 m (trip time 27.0 ms) speed -0.7  DAT read: 14:28:12.9903 LVL= 26064, 29857, 27682, 32755, AGC= 70, IDX= 503,-0.09, 1.966,-2.729, 1.844, 2.545, PHS=-0.492, 1.056,-0.705, RAW= 336.4, 1.7, CAL= 337.8, 2.0, ROT= 172.2, -2.0  Ygot valid direction response: 14:28:12.9903 LVL= 26064, 29857, 27682, 32755, AGC= 70, IDX= 503,-0.09, 1.966,-2.729, 1.844, 2.545, PHS=-0.492, 1.056,-0.705, RAW= 336.4, 1.7, CAL= 337.8, 2.0, ROT= 172.2, -2.0  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.990144,0.135633,0.034899] Fpublishing direction and range infoڑ yڕ CUk\?Xޡ?ڕ "BYڑ ە e)ە tIە "liە ۑ ە mە +?ە z4 ܕ @)ܕ ),D_jAeqxBeIMb@Mb@Mb@ )Y㥛 ?p= ףMbp?yU?;A nA)X AI&Ay AII3D '=yQ >٥ HF >%t5?%t598 IBy-'V?-}:-2@-@pEi`;;t5A8AEH} CH} &IH} yBH}  =Hy Hy H} -<H} E DDAT read: Rx Time:14:28:13.4906  TRx dataTimestamp_ set to:1749133694.619912 PDAT read: Bearing 170.8, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 170.8, -0.1 (Local)  DAT read: Range 10 to 50 : 41.0 m (trip time 27.3 ms) speed -0.8 ) 4> wC5 DAT read: 14:28:13.4906 LVL= 22704, 25585, 25266, 32755, AGC= 72, IDX= 507,-0.43,-2.336,-0.715,-2.519,-1.800, PHS=-0.447, 1.133,-0.721, RAW= 337.9, 0.4, CAL= 339.2, 0.1, ROT= 170.8, -0.1 = Ygot valid direction response: 14:28:13.4906 LVL= 22704, 25585, 25266, 32755, AGC= 72, IDX= 507,-0.43,-2.336,-0.715,-2.519,-1.800, PHS=-0.447, 1.133,-0.721, RAW= 337.9, 0.4, CAL= 339.2, 0.1, ROT= 170.8, -0.1 E R#Rx 1: Read range and direction messages.e Gu ^direction in FSK: [-0.987135,0.159881,0.001745]u Fpublishing direction and range infoڙ yڝ AUv?n p\?ڝ $BYڙ ۝ X)۝ cI۝ biۙ ۝ H۝ /۝ %?۝ u8 ܝ @)ܝ ;Iܝ q@iܝ :ܝ >@ܝ ݙ )ݙ ݝ 9+aB'niCf"=}?iݝ . ݝ ;黩ݝ >@ݝ ޙ X Y y BE ?E E E a0E )ޙ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.6G ZGRG~GAAN% ?",e_jA%N*@>b8@Y>-by>qt<>HBKbп4?w?@pf?`U??? >N*@>;)>CInxBI) IIm?3 g ٥ HFG< > t5Ƽ? t593 IBy  c3@@pEi ;t;Ŧt5MB8AEZb_jA"B"B@ʁ97#DٍF @`/?AUv?n p\?>@ҁ5*B@Iݟ0R\kv )+?9#ڿ#VeTziBjHȜ?r(a pB!ɜ? ?#B'@y= addTargetRange:: Added new target pos. range: 41.000000 m, deltaT: 0.502343 s, deltaX: 0.500000 m, approachRate: 0.995336 m/s, rangeRepo size: 4  Added new target pos. range: 40.704433 m, bearing: 335.864530 deg, lat: 36.906439 deg, lon: -122.116007 deg, deltaT: 0.502343 s, deltaX: 0.496811 m, approachRate: 0.988987 m/s, posRepo size: 4 DNOT Ignoring new targets: 40.70 m.bZrjRJB~~}|||D@| ?DDAT read: Rx Time:14:28:13.9908 TRx dataTimestamp_ set to:1749133695.124177PDAT read: Bearing 171.4, -1.6 (Local) ~Local bearing/azimuth received: Bearing 171.4, -1.6 (Local)  DAT read: Range 10 to 50 : 41.3 m (trip time 27.5 ms) speed -0.8 - DAT read: 14:28:13.9908 LVL= 29136, 27441, 21730, 32755, AGC= 69, IDX= 492, 0.22,-1.264, 0.452,-1.437,-0.662, PHS=-0.514, 1.161,-0.778, RAW= 337.2, 1.5, CAL= 338.6, 1.6, ROT= 171.4, -1.6 5 Ygot valid direction response: 14:28:13.9908 LVL= 29136, 27441, 21730, 32755, AGC= 69, IDX= 492, 0.22,-1.264, 0.452,-1.437,-0.662, PHS=-0.514, 1.161,-0.778, RAW= 337.2, 1.5, CAL= 338.6, 1.6, ROT= 171.4, -1.6 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [-0.988371,0.149477,0.027922]E Fpublishing direction and range infoy껠D"?|p}?3%BY q)1kITiE?+G S@)Pw٥ HFYع >t5?t590 IByS?:3@@pEi; ;_t5=x8A=EZb_jA$B$B@ʁ4"ACDv@NNQ?껠D"?|p}?t?@ҁB@I5W02HH2IHyBH =HHH;<HEDNOT Ignoring new targets: 41.00 m.bZrjR DDAT read: Rx Time:14:28:14.4912 TRx dataTimestamp_ set to:1749133695.631863-PDAT read: Bearing 171.3, -1.4 (Local) 5~Local bearing/azimuth received: Bearing 171.3, -1.4 (Local) ]DAT read: Range 10 to 50 : 41.9 m (trip time 27.9 ms) speed -0.5 JaBi~q~u{B}y|||`fD@|L>? 5y|B5⍽I1)5K9EDAT read: 14:28:14.4912 LVL= 23856, 25969, 23346, 32755, AGC= 70, IDX= 496, 0.06,-0.517, 1.141,-0.685, 0.062, PHS=-0.491, 1.126,-0.750, RAW= 337.3, 1.3, CAL= 338.7, 1.4, ROT= 171.3, -1.4 MYgot valid direction response: 14:28:14.4912 LVL= 23856, 25969, 23346, 32755, AGC= 70, IDX= 496, 0.06,-0.517, 1.141,-0.685, 0.062, PHS=-0.491, 1.126,-0.750, RAW= 337.3, 1.3, CAL= 338.7, 1.4, ROT= 171.3, -1.4 MR#Rx 1: Read range and direction messages.U^direction in FSK: [-0.988199,0.151216,0.024432]UFpublishing direction and range infoyxSQg [?{J?'BI=k y8<q<;)CxBIII#3-G= -2=y-Q ->٥11 5H5 F= =>Q]t5UC?]t59U, IUByY]3@]@UpEiU`:U:UYt5mLBm-8AmEZ9b=rp_jA=d&B=d&B=$ػ@ʁ=D1)@B?FB?=xSQg [?{J?= X?@=+ȼҁ=nP3 C@m[vV~0C=2ƥI?RٿToz={=IBj=ɜ?r=Vs =;rB=ɜ?=U  =sB=%B=@ addTargetRange:: Added new target pos. range: 41.900002 m, deltaT: 0.507686 s, deltaX: 0.600002 m, approachRate: 1.181837 m/s, rangeRepo size: 4  Added new target pos. range: 41.597698 m, bearing: 336.333911 deg, lat: 36.906437 deg, lon: -122.116009 deg, deltaT: 0.507686 s, deltaX: 0.595428 m, approachRate: 1.172828 m/s, posRepo size: 4  DNOT Ignoring new targets: 41.60 m.bZrjR!J!B)~9~A}I|Qi|Y:JXBJJJ>RJZJ{9bJJt4JzJ:%jJ:%J&:-rJ&:5|5@3D@|=a? u|B靅S`I)9zԉIi H<_< k{, `jAn٥11 5H5 F==̺ =>AMt5Ef?Mt59EA) IE"ByMrS?U:U2@U@EpEiE ;E ;Et5]KB]7A]E5 addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 0.504089 s, deltaX: 0.299999 m, approachRate: 0.595132 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 41.60 m.b1Z1r1j1R1J9B9~a~e |B}a|a|a|mE@|m?Y r|BW6I)AvIN hi<L<HCHEIH;yBHHHH9<H EHǎCHǎCHH =I = I 6DDAT read: Rx Time:14:28:15.4918 TRx dataTimestamp_ set to:1749133696.641151PDAT read: Bearing 171.9, -1.3 (Local) ~Local bearing/azimuth received: Bearing 171.9, -1.3 (Local) E?EEEEԙ DAT read: Range 10 to 50 : 42.9 m (trip time 28.6 ms) speed -0.5 U DAT read: 14:28:15.4918 LVL= 19088, 20257, 17714, 30451, AGC= 70, IDX= 486,-0.18, 3.088,-1.456, 2.932,-2.586, PHS=-0.521, 1.177,-0.768, RAW= 336.7, 1.2, CAL= 338.1, 1.3, ROT= 171.9, -1.3  Ygot valid direction response: 14:28:15.4918 LVL= 19088, 20257, 17714, 30451, AGC= 70, IDX= 486,-0.18, 3.088,-1.456, 2.932,-2.586, PHS=-0.521, 1.177,-0.768, RAW= 336.7, 1.2, CAL= 338.1, 1.3, ROT= 171.9, -1.3  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.989769,0.140865,0.022687] Fpublishing direction and range infoڙyڝCG/￝ִ?NGY;?ڝ+BYڙ ۝J)۝!OI۝2Ei۝vۙ۝B`۝?۝D ܝ| @)ܝy ,;T4`jA9b*@b$8@Ybcyb Q٥ H F >)5t5-"M?5t59-\& I-.By152@5@-qEi-:-:-t5AE7AEEZ!b%)`jA%\*B%\*B%@ʁ%f/rE<4u@ ̦ ?%CG/￝ִ?NGY;?%@@%޹ҁ%1}mC@>-u6S0LSRE%v8^?x8ٿy=쨿z%B%[Bj%a+ɜ?r%ń %`pB!%ń  %;rB%(B%@ addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 0.505199 s, deltaX: 0.700001 m, approachRate: 1.385594 m/s, rangeRepo size: 4  Added new target pos. range: 42.590179 m, bearing: 336.764305 deg, lat: 36.906437 deg, lon: -122.116010 deg, deltaT: 1.009288 s, deltaX: 0.992481 m, approachRate: 0.983348 m/s, posRepo size: 4 DNOT Ignoring new targets: 42.59 m.bZrj=KE P"KE 9*KA 2KE :KE AADd.G @1hl= %Gzj.K0~w  pG) YI Oi  G o I? <  @) =I @i nF= <@@ nF  )  e7鿒j6$ ?i M  s <@@ nF  ) } 2Acoustic response timeout} Querying Benthos address 50 with 120 pings in terminal homing one-way mode.T,M`jA9F9)@F 8@YFyFhg٥Ya eHe FmL m>t5-?t59" Ins׎9EǾ@AZW?UEs%v?.?U<@@UnFҁUѱC@N0̳iU_1Nzi?? ٿKΗzUԉUBjU9'ɜ?rU UXrBQQ QU*BU@% addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 0.504656 s, deltaX: 0.299999 m, approachRate: 0.594463 m/s, rangeRepo size: 4 5 Added new target pos. range: 42.888012 m, bearing: 336.890555 deg, lat: 36.906437 deg, lon: -122.116010 deg, deltaT: 0.504656 s, deltaX: 0.297832 m, approachRate: 0.590169 m/s, posRepo size: 4 =DNOT Ignoring new targets: 42.89 m.b9Z9r9j9R9J9mH] CH] dIH] myBHY HY HY H] W<H] 8E  < % DDAT read: Rx Time:14:28:16.4922 % TRx dataTimestamp_ set to:1749133697.648230- PDAT read: Bearing 172.3, 0.6 (Local) 5 ~Local bearing/azimuth received: Bearing 172.3, 0.6 (Local) E DAT read: Range 10 to 50 : 43.5 m (trip time 29.0 ms) speed -0.6 e DAT read: 14:28:16.4922 LVL= 26704, 26785, 24562, 32755, AGC= 70, IDX= 490, 0.49,-2.379,-0.541,-2.534,-1.777, PHS=-0.514, 1.283,-0.761, RAW= 336.3, -0.1, CAL= 337.7, -0.6, ROT= 172.3, 0.6 m Ygot valid direction response: 14:28:16.4922 LVL= 26704, 26785, 24562, 32755, AGC= 70, IDX= 490, 0.49,-2.379,-0.541,-2.534,-1.777, PHS=-0.514, 1.283,-0.761, RAW= 336.3, -0.1, CAL= 337.7, -0.6, ROT= 172.3, 0.6 u R#Rx 1: Read range and direction messages.} `direction in FSK: [-0.990929,0.133979,-0.010472]} Fpublishing direction and range info! y%  x9X?7&?/;r% .BY! % Ph)% hI% _i! % F% % X9?% B % Jӻ@)% I% v@i% +% v@@% +< ! )! % Lt (W;6Wi% s % ٿ:% v@@% +< ! )!  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.~GA!A9NE>w,k`jA9)@U7@Y~ߩy7H| ѿq??@<5?>? )@骕܈;)CxB II#I%x3-= ->=y-!RQ 5>٥11 5H5 F] ]>amt5ej?mt59eq IeJByqu1@u@eqEie:e%;et56AZabe|i`jAe,Be,Be@ʁe6:eE^$@r|jܿe x9X?7&?/;rev@@e+<ҁe_% RC@"0ce޹I?P:6ٿ%V4zeyeBje/ɜ?res ehBe/ɜ?eU  ae,Be@ addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 0.502423 s, deltaX: 0.299999 m, approachRate: 0.597105 m/s, rangeRepo size: 4  Added new target pos. range: 43.186035 m, bearing: 336.808223 deg, lat: 36.906438 deg, lon: -122.116009 deg, deltaT: 0.502423 s, deltaX: 0.298023 m, approachRate: 0.593172 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.19 m.bZrjRJB~~}|| | E@|-wE? }f|B})Iy)}`yI; <<9J- J4J) zJ- 0:jJ- 5:J- ~Q:rJ- Q:~G AA Aq ԁ N >}!,暴`jADDAT read: Rx Time:14:28:16.9924 TRx dataTimestamp_ set to:1749133698.155713PDAT read: Bearing 173.4, -0.5 (Local) ~Local bearing/azimuth received: Bearing 173.4, -0.5 (Local) DAT read: Range 10 to 50 : 43.7 m (trip time 29.1 ms) speed -0.6 DAT read: 14:28:16.9924 LVL= 19136, 25233, 18530, 32035, AGC= 70, IDX= 508, 0.40, 2.375,-2.117, 2.275, 3.002, PHS=-0.539, 1.211,-0.730, RAW= 335.1, 0.6, CAL= 336.6, 0.5, ROT= 173.4, -0.5 Ygot valid direction response: 14:28:16.9924 LVL= 19136, 25233, 18530, 32035, AGC= 70, IDX= 508, 0.40, 2.375,-2.117, 2.275, 3.002, PHS=-0.539, 1.211,-0.730, RAW= 335.1, 0.6, CAL= 336.6, 0.5, ROT= 173.4, -0.5 R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.993335,0.114933,0.008727]Fpublishing direction and range infoڑyڕdTf_=l?B7߁?ڕ.BYڑ ەJ)ەbIەbHiە#}ۑە ە ?ەH: ܕ'@)ܕ+٥ HF >)5t5->?Ut59- I-[By]N?]:e1@e@-qEi-j<-7<-bt5V6AEZb4`jA-B-Bg@ʁ 7E@Y@N:?dTf_=l?B7߁?A@5ҁ)4 D@(B0cv  ʒ?/Ƌ{'׿̃ oײz` Bj}$ɜ?r 9lB}$ɜ?  `pBꁕW.B*@- addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 0.507483 s, deltaX: 0.200001 m, approachRate: 0.394103 m/s, rangeRepo size: 4 ] Added new target pos. range: 43.384590 m, bearing: 337.923411 deg, lat: 36.906439 deg, lon: -122.116009 deg, deltaT: 0.507483 s, deltaX: 0.198555 m, approachRate: 0.391254 m/s, posRepo size: 4 eDNOT Ignoring new targets: 43.38 m.baZarijRJB~~|B}|||E@|["? a|BąI)~XII Sx(,`jAI<)<)9}\)@}7@Y} y})}Hô@NBѿ@᧴?@'?`C"%?~}? }\)@ H<HH>HCHIHyBH =HHH*<HE} Z;)}CyB1IIIT3DDAT read: Rx Time:14:28:17.4928 TRx dataTimestamp_ set to:1749133698.659379DAT read: Range 10 to 50 : 44.3 m (trip time 29.5 ms) speed -0.8 -X#Rx 1: Read range message, but no direction.ډڍ31BYډ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.}= A=yQ >٥    H  ɻ >t5׻?t59X IjByT1@@qEi;w; t55AE= addTargetRange:: Added new target pos. range: 44.299999 m, deltaT: 0.503666 s, deltaX: 0.599998 m, approachRate: 1.191263 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 43.38 m.b9ZArAjARAJABA~I~I}I|I|I|U`f&F@Q|U? \|BEI)PI@LT <-z<zeE <= ٥ HF8 >KO"K*K2K:K]x,'iPwhe/d > #];X2MWmH &^"JJAt5Y?t59G I}B+:yU:@#qEih-<Q ?t5IB[5AE)Ztbv`jAv1Bv1Bv(&@ʁv骳F䑮2@ v/F8pOf?99vB@v9=ҁv|lpD@\/څv[`A?gٮ׿>:zvgv#Bjv(+ɜ?rv ָ vaBv9'ɜ?vs  v9lBv~1Bvo3@% addTargetRange:: Added new target pos. range: 44.599998 m, deltaT: 0.504961 s, deltaX: 0.299999 m, approachRate: 0.594104 m/s, rangeRepo size: 4  Added new target pos. range: 44.277576 m, bearing: 338.670079 deg, lat: 36.906440 deg, lon: -122.116009 deg, deltaT: 1.008627 s, deltaX: 0.892986 m, approachRate: 0.885348 m/s, posRepo size: 4 DNOT Ignoring new targets: 44.28 m.bZrjRJB~~}|||LF@|@`? V|BapI)FI3c ̠<-<ՌjEE <E ?E E E 0E Ա H-{>H)H-IH-yBH- =H)H-$DH-n<H-NEGU,DAT read: user:2135> ]BDAT read: Tx time:14:28:18.8836 ]$Ping request sent.]٥ HF   >t5`?t59 IB :y%,:!%@*qEi;?t5Y]4AeEDNOT Ignoring new targets: 44.28 m.bZrjRJB~~}||||@e? MQ|BMBxIQ)U;QIU'o QQU@YB, ajA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5003789F)@F7@YF͹yFFH`ƯPѿ@?/2?+SР`1?ȁ? F)@Fh%;)FCRyBR}IaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y rh?p= ף~jth?yL?D; A X A)AIAy AII?13\= 1=y}Q >٥ H] >t5}v?t59 IB T:y 8M? : \2@ @0qEi;* ;t5HB3A EK%O"K%9*K!2K%:K%KF6RUbrPVbbRN-,|X9>=MUDNOT Ignoring new targets: 44.28 m.bQZQrQjQRQJYBY~~X|B}||||`? L|BuI)-I=8y 99=P:J) BJ- MJJ- =RJ) ZJ) bJ- 9J- g4J) 5 @5 @5 @5 @H,$ajA9>Z])@>p7@Y>+y>D>Hfυѿ3?@S? ڧ@h?`@? >Z])@>BV;)>CJyBJIPIVIVV83^= ba=yfQ f>٥dd jHjFj j>lrt5n_?rt59n InBytv:2@v@n4qEin:n:n(t5zGBzQ3Az E%DNOT Ignoring new targets: 44.28 m.b!Z!r!j!R!J!B)~)~)})|1|1|1|5`?GGAAHz>HHIHMzBH =HHHX<H,E H|B靵{I)a#I @<ot<9=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256690N,OZ>ajA9V@-)@V@7@YVDyV-4VH`> ѿ*?@t? ~v?`? V@-)@Vm;)TfyBfIIn$In<3vf= vH=yvQ v>٥xx zHzFz ~> t5E?t59 IBy 2@@:qEi::t5!-2A-EUDNOT Ignoring new targets: 44.28 m.bQZYrYjYRYJaBa~a~a}i|i|i|i|m F? E|B靝wI)I] .v<u2</ԉ 9U,3XajA9N)@N7@YNyNNH``ѿ0ŵ??`qzNW?̂@? N)@N;)LZzBZI=Mb@Mb@Mb@999 9)9Y=n?S㥫Mb`?y=VN?=/]=;= A 9)=AI=A9y= AaIuIu2ץAסchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762716= @=y(;Q >٥ HFEͻ > t5 )?t59  I ҄ByN?:2@@ ?qEi < ×< t5FB2AEEDNOT Ignoring new targets: 44.28 m.bAZArAjARAJABI~I~M|B}i|q|q|q|u4@ @|BVI)I² @<'<;iiԉE?EEEO0E:JZBJNJJ>RJZJ9bJ!9Jt4JԱH}>HH IHzBH =HHH<HEHHHǓCH =I = IǞ5U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0127896G jx<~G A A N > [,rajA9>5(@>6@Y>By>-->H6ѿ v??Z?5e? >5(@>[;)>CJzBJIIRIR3Zn= ZZ=y^U;Q ^>٥\` bHbFb̻ b>djt5f?jt59f, IfByln2@n@fDqEifdA ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516142Gb,ajA9>6(@>6@Y>y> f>H '@dѿ@_?`?$ܶ?,F? >6(@>倆;)>CJ.zBNI-Mb@Mb@Mb@))) )))Y-> ףp=?Q뱿Mb`?y-Q?-\)) -A A)-AI-A)y- AII3= 9=y{:Q >٥ HF; > t5N?t59 IByR?:1@@JqEi::t5!Km+P"Km9*Ki2Km:Km6oQ8 ' z  >;y.|!rf~Mz1A}EDNOT Ignoring new targets: 44.28 m.bZrjRJB~~|B}||||@@ e:|BeUIi)miImRn iimgԑ :J \BJ MJJ ARJ ZJ =:bJ 9J 4J hi,ťajA9^0)@^'7@Y^$ȵy^ƛ\;^H@iѿX ??` Va?wk?`? ^0)@^Ć;)^Cn\zBnIIv IvV2~= ~Z=y~ :Q ~>٥ H ;  >t5 ޺?t59 IBy1@@OqEi;;t51=0A=EeDNOT Ignoring new targets: 44.28 m.baZarajiRiJiBi~i~q}q|q|q|q|}T @ H<H<HHHRIHzBHHHH<HE %7|B%,cSI))-Y1IU= QY] DDAT read: Rx Time:14:28:21.6957  TRx dataTimestamp_ set to:1749133702.944596 PDAT read: Bearing 174.2, 56.6 (Local)  ~Local bearing/azimuth received: Bearing 174.2, 56.6 (Local)  DAT read: Range 10 to 50 : 512.3 m (trip time 341.5 ms) speed -0.2 % DAT read: 14:28:21.6957 LVL= 28128, 20145, 22130, 32755, AGC= 70, IDX= 239, 0.04, 0.165, 1.734, 0.155,-0.637, PHS= 0.890, 2.418, 0.789, RAW= 333.2, -42.5, CAL= 335.8, -56.6, ROT= 174.2, 56.6 - Ygot valid direction response: 14:28:21.6957 LVL= 28128, 20145, 22130, 32755, AGC= 70, IDX= 239, 0.04, 0.165, 1.734, 0.155,-0.637, PHS= 0.890, 2.418, 0.789, RAW= 333.2, -42.5, CAL= 335.8, -56.6, ROT= 174.2, 56.6 - R#Rx 1: Read range and direction messages.5 `direction in FSK: [-0.547663,0.055630,-0.834848]5 Fpublishing direction and range info y sῼy{?&j꿹 DY m) NI rVi  F c? @ I? @) N=I ͋@i '| QB@ '|? ) j㿓Mٿj3%i C$ *=? QB@ '|? )  checking for new query: numPingsReceived=1, elapsed TxPingTime=3.298339 -o,֩ajA9:aM)@:`7@Y:Ly:;:Hlѿ@;'?bd?al?kz?? :aM)@:s;):CjzBjIIpIpvG= zK=yz :Q z>٥|| ~H~F <  >amt5eNú?mt59e IeByiu1@u@eTqEie:e:e}t5}EB}0A}EZbCtajALCLC5@ʁ(phq戗kJ<@J!\fzsῼy{?&jQB@'|?ҁRdk@ WdE({pg2?^*ȿ㳄$zо|^CjFn?rP T hB=BI@-MaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 512.299988 m, deltaT: 3.780256 s, deltaX: 467.699982 m, approachRate: 123.721771 m/s, rangeRepo size: 4MDNOT Ignoring new targets: 44.28 m.bIZIrIjRJB~~}|||`f@|k{? %4|B%V>I%<)%[׾!I-N? )IMnOv,ajA9B)@Bg7@YBayBN<IR4<DDAT read: Rx Time:14:28:22.1959 TRx dataTimestamp_ set to:1749133703.447904PDAT read: Bearing 179.4, 59.1 (Local) ~Local bearing/azimuth received: Bearing 179.4, 59.1 (Local) DAT read: Range 10 to 50 : 512.6 m (trip time 341.7 ms) speed -0.2 DAT read: 14:28:22.1959 LVL= 21200, 20881, 19874, 24147, AGC= 67, IDX= 511,-0.13,-2.796,-1.192,-2.704, 2.625, PHS= 0.950, 2.513, 0.951, RAW= 330.0, -45.0, CAL= 330.6, -59.1, ROT= 179.4, 59.1 %Ygot valid direction response: 14:28:22.1959 LVL= 21200, 20881, 19874, 24147, AGC= 67, IDX= 511,-0.13,-2.796,-1.192,-2.704, 2.625, PHS= 0.950, 2.513, 0.951, RAW= 330.0, -45.0, CAL= 330.6, -59.1, ROT= 179.4, 59.1 %R#Rx 2: Read range and direction messages.=Mb@Mb@Mb@999 9)9`direction in FSK: [-0.513513,0.005378,-0.858065]Fpublishing direction and range infoځyڅnHɜv?QŽDu뿹څ&DYځ ۅR)ۅQIۅMiۅS^ۅCۅ33s?ۅ @ۅts? ܅N@)܅II܅R@i܅܅HdH@܅? ݁)݁݅<㿠ֿoOzi݅K'݅H?݅HdH@݅? ށIY=|?5^?v/y=R?=xi==rA =A)=zAI=A9y=A)ށchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.844125II3U= =y):Q >٥ HFO; >t5ʡ?=t59 I"ByErS?E:E33@E@[qEi<c<t5IM/AUEZbvajArCrC;@ʁu',UpKCcE@ >J{:J[BJTJJ?RJZJ:bJ:9Jـ4JnHɜv?QŽDuHdH@?ҁ t{j@?hPo|m9d?L1 _5XzeSCjV4^?rx` (+ɜ? aBꁅ?BP@ԁ-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 512.599976 m, deltaT: 4.283564 s, deltaX: 467.999969 m, approachRate: 109.254807 m/s, rangeRepo size: 4DNOT Ignoring new targets: 44.28 m.bZrjRJB~~|B}|||@|:? M0|BM}q,II)MǾQIUa QY]HHIHA{BH =HH%DH+<HE 5 =1 = checking for new query: numPingsReceived=2, elapsed TxPingTime=4.030058E E E E P0E ԩ 6G Y=<~GAAN>r},hajA9J)@J7@YJyJ٥ll nHnFnH< r>x~t5z@?~t59z_ Iz/By{3@@z`qEiz;zo;zt5DBF/A!E=DNOT Ignoring new targets: 44.28 m.b9Z9r9Aj9RAJIBI~I~I}Q|Q|Q|Q|U@Q? .|B靕jGGI)aIMy <9<zI4=I=ԩ checking for new query: numPingsReceived=3, elapsed TxPingTime=4.532241 yS,%bjAKNP"KL*KL2KN:KNfWiRCY4/emQ8^mi&#f_+^gD 9}A*@}(8@Y}Py}<}H п?L?` Fb? ?@~?? }A*@}Q;)yzB>IԱ%Mb@Mb@Mb@!!! !)!Y%7A`?x&{Gzty%V?%7%ף%A %A)%AI% A!y%A9=AAIEIE3UM= U5=yU':Q U>٥YY ]H]Fev< e>t5%k?t59 I?By7W?|: 3@@fqEiz;a;3t5%CB%.A%#EZibmajAmCmCm%@ʁmF sQ"C@1IWg xm㿿:? 2ImZA@m5e?ҁmy-)p@*%^iczmg=?>‚,ο*CMzm7mLCjm?rmGLJ mųmV4^?mx`  mųm^Cm:@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 513.200012 m, deltaT: 4.787660 s, deltaX: 468.600006 m, approachRate: 97.876625 m/s, rangeRepo size: 4DNOT Ignoring new targets: 44.28 m.bZrjRJ!B!~)~-|B})|)|1|5 @|5`? +|B靥(&I)NI? x<p<2E '<E ?E E E O0E ) > GI GI H] >H] CH] IH] {BH]  =HY H] 'DH] !<H] Eԉ G ) M {YI yM [B checking for new query: numPingsReceived=4, elapsed TxPingTime=5.036371ԡ6Gl o<~GAAN5?r,64bjAzBOII5!I5i3=W= E$=yEQ E>٥AI MHMFU U>Yet5]GK?mt59]Q I]OByqqu@]lqEi]t;]EE<}DDAT read: Rx Time:14:28:23.6962 TRx dataTimestamp_ set to:1749133704.962334PDAT read: Bearing 182.6, 52.0 (Local) ~Local bearing/azimuth received: Bearing 182.6, 52.0 (Local) DAT read: Range 10 to 50 : 513.0 m (trip time 342.0 ms) speed -0.1 ԹEEEE`0E%DAT read: 14:28:23.6962 LVL= 25392, 22513, 19442, 32755, AGC= 69, IDX= 498,-0.43,-1.732,-0.037,-1.540,-2.249, PHS= 0.605, 2.258, 0.705, RAW= 326.9, -38.2, CAL= 327.4, -52.0, ROT= 182.6, 52.0 -Ygot valid direction response: 14:28:23.6962 LVL= 25392, 22513, 19442, 32755, AGC= 69, IDX= 498,-0.43,-1.732,-0.037,-1.540,-2.249, PHS= 0.605, 2.258, 0.705, RAW= 326.9, -38.2, CAL= 327.4, -52.0, ROT= 182.6, 52.0 5R#Rx 5: Read range and direction messages.}bdirection in FSK: [-0.615028,-0.027928,-0.788011]Fpublishing direction and range infoyy}Q[N.[A&+Ob7鿹}@DYy }0c)}WI}Ki}}E}H?}@}z4?6G%< }M@)}*I}ڶ@i}Vh}WK@}Vh? y)y}490oV(Pֿt