*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="keepstation" *n code=0068 name="keepstation:NeedComms" *n code=0069 name="keepstation:NeedComms:A" *n code=006A name="keepstation:NeedComms:B.GoToSurface" *n code=006B name="keepstation:NeedComms:C" *n code=006C name="keepstation:NeedComms:C:A_Timeout" *n code=006D name="keepstation:NeedComms:C:A_Timeout:A" *n code=006E name="keepstation:NeedComms:D" *n code=006F name="keepstation:NeedComms:D:A_Timeout" *n code=0070 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0071 name="keepstation:NeedComms:E" *n code=0072 name="keepstation:NeedComms:E:A_Timeout" *n code=0073 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0074 name="keepstation:B" *n code=0075 name="keepstation:StandardEnvelopes" *n code=0076 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0077 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0078 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0079 name="keepstation:D" *n code=007A name="keepstation:E" *n code=007B name="keepstation:BackseatDriver" *n code=007C name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007D name="keepstation:PowerOnly" *n code=007E name="keepstation:PowerOnly:A" *n code=007F name="keepstation:PowerOnly:B" *n code=0080 name="keepstation:PowerOnly:C" *n code=0081 name="keepstation:PowerOnly:D" *n code=0082 name="keepstation:PowerOnly:E.Wait" *n code=0083 name="keepstation:H.Pitch" *n code=0084 name="keepstation:SurfaceComms" *n code=0085 name="keepstation:SurfaceComms:A" *n code=0086 name="keepstation:SurfaceComms:B" *n code=0087 name="keepstation:SurfaceComms:setTransit" *n code=0088 name="keepstation:SurfaceComms:setTransit:A" *n code=0089 name="keepstation:SurfaceComms:setStation" *n code=008A name="keepstation:SurfaceComms:setStation:A" *n code=008B name="keepstation:SurfaceComms:setSink" *n code=008C name="keepstation:SurfaceComms:setSink:A" *n code=008D name="keepstation:StartingMission" *n code=008E name="keepstation:DiveCmd" *n code=008F name="keepstation:DiveCmd:SurfaceSink" *n code=0090 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0091 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=0092 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=0093 name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=0094 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=0095 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=0096 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=0097 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=0098 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=009A name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=009B name="keepstation:DiveCmd:TransitToStation" *n code=009C name="keepstation:DiveCmd:TransitToStation:dive" *n code=009D name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=009E name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=009F name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=00A0 name="keepstation:DiveCmd:StationKeep" *n code=00A1 name="keepstation:DiveCmd:StationKeep:A" *n code=00A2 name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=00A3 name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=00A4 name="keepstation:TransitToStation" *n code=00A5 name="keepstation:TransitToStation:Dive" *n code=00A6 name="keepstation:TransitToStation:Dive:A" *n code=00A7 name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=00A8 name="keepstation:TransitToStation:C" *n code=00A9 name="keepstation:TransitToStation:D" *n code=00AA name="keepstation:OnStation" *n code=00AB name="keepstation:KeepStation" *n code=00AC name="keepstation:KeepStation:Dive" *n code=00AD name="keepstation:KeepStation:Dive:A" *n code=00AE name="keepstation:KeepStation:B.Wait" *n code=00AF name="lineCaptureHoming" *n code=00B0 name="lineCaptureHoming:Science" *n code=00B1 name="lineCaptureHoming:Science:A" *n code=00B2 name="lineCaptureHoming:Science:B" *n code=00B3 name="lineCaptureHoming:Science:C" *n code=00B4 name="lineCaptureHoming:Science:D" *n code=00B5 name="lineCaptureHoming:Science:E" *n code=00B6 name="lineCaptureHoming:Science:F" *n code=00B7 name="lineCaptureHoming:Science:Read_Oil" *n code=00B8 name="lineCaptureHoming:Science:OceanCurrent" *n code=00B9 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=00BA name="lineCaptureHoming:Science:PeakDetectChl" *n code=00BB name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=00BC name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=00BD name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=00BE name="lineCaptureHoming:Science:EdgeDetectChl" *n code=00BF name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=00C0 name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=00C1 name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=00C2 name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=00C3 name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=00C4 name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00C5 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=00C6 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=00C7 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=00C8 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=00C9 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00CA name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=00CB name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=00CC name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=00CD name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00CE name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00CF name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00D0 name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=00D1 name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=00D2 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=00D3 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00D4 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=00D5 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=00D6 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=00D7 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00D8 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00D9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00DA name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=00DB name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=00DC name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=00DD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=00DE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00DF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00E0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00E1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00E2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00E3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00E4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00E5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00E6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00E7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00E8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00E9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00EA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00EB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00EC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00ED name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00EE name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00EF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00F0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00F1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00F2 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00F3 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00F4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00F5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00F6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00F7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00F8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00F9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00FA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00FB name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00FC name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00FD name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00FE name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00FF name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=0100 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=0101 name="lineCaptureHoming:StandardEnvelopes" *n code=0102 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=0103 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=0104 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=0105 name="lineCaptureHoming:C" *n code=0106 name="lineCaptureHoming:D" *n code=0107 name="lineCaptureHoming:E" *n code=0108 name="lineCaptureHoming:NeedComms" *n code=0109 name="lineCaptureHoming:NeedComms:A" *n code=010A name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=010B name="lineCaptureHoming:NeedComms:C" *n code=010C name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=010D name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=010E name="lineCaptureHoming:NeedComms:D" *n code=010F name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=0110 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=0111 name="lineCaptureHoming:NeedComms:E" *n code=0112 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=0113 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=0114 name="lineCaptureHoming:G" *n code=0115 name="lineCaptureHoming:H" *n code=0116 name="lineCaptureHoming:MicromodemComms" *n code=0117 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=0118 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=0119 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=011A name="lineCaptureHoming:J" *n code=011B name="lineCaptureHoming:LineCapture" *n code=011C name="lineCaptureHoming:LineCapture:A" *n code=011D name="lineCaptureHoming:LineCapture:B" *n code=011E name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=011F name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=0120 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=0121 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=0122 name="lineCaptureHoming:LineCapture:D" *n code=0123 name="lineCaptureHoming:LineCapture:E" *n code=0124 name="lineCaptureHoming:LineCapture:F" *n code=0125 name="lineCaptureHoming:LineCapture:G" *n code=0126 name="lineCaptureHoming:LineCapture:H" *n code=0127 name="lineCaptureHoming:LineCapture:HoldMass" *n code=0128 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=0129 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=012A name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=012B name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=012C name="lineCaptureHoming:LineCapture:HomingSequence" *n code=012D name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=012E name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=012F name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=0130 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=0131 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=0132 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=0133 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=0134 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=0135 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=0136 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=0137 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=0138 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=0139 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=013A name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=013B name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=013C name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=013D name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=013E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=013F name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=0140 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=0141 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0142 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0143 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0144 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0145 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0146 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0147 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0148 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0149 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=014A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=014B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=014C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=014D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=014E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=014F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0150 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0151 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0152 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0153 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0154 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0155 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0156 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0157 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0158 name="lineCaptureHoming:LineCapture:M" *n code=0159 name="lineCaptureHoming:L" *n code=015A name="lineCaptureHoming:M" *n code=015B name="lineCaptureHoming:N" *n code=015C name="lineCaptureHoming:O" *n code=015D name="lineCaptureHoming:P" *n code=015E name="lineCaptureHoming:Q" *n code=015F name="lineCaptureHoming:U" *n code=0160 name="lineCaptureHoming:TrackAC." *n code=0161 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0162 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0163 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0164 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0165 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0166 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0167 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0168 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0169 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=016A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=016B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=016C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=016D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=016E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=016F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0170 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0171 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0172 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0173 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0174 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0175 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0176 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0177 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0178 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0179 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=017A name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=017B name="lineCaptureHoming:restartDHCP" *n code=017C name="lineCaptureHoming:restartDHCP:A" *n code=017D name="lineCaptureHoming:restartDHCP:B.Execute" *n code=017E name="lineCaptureHoming:StartingMission" *n code=017F name="lineCaptureHoming:Z" *n code=0180 name="lineCaptureHoming:BA.Execute" *n code=0181 name="lineCaptureHoming:InitialDive" *n code=0182 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0183 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0184 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0185 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0186 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0187 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0188 name="lineCaptureHoming:RepeatHack" *n code=0189 name="lineCaptureHoming:RepeatHack:A" *n code=018A name="lineCaptureHoming:Lap" *n code=018B name="lineCaptureHoming:Lap:A" *n code=018C name="lineCaptureHoming:Lap:B" *n code=018D name="lineCaptureHoming:Lap:C" *n code=018E name="lineCaptureHoming:Lap:D" *n code=018F name="lineCaptureHoming:Lap:E" *n code=0190 name="lineCaptureHoming:Lap:Docked" *n code=0191 name="lineCaptureHoming:Lap:Docked:A" *n code=0192 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0193 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0194 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0195 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0196 name="lineCaptureHoming:Lap:Docked:C" *n code=0197 name="lineCaptureHoming:Lap:Docked:D" *n code=0198 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0199 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=019A name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=019B name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=019C name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=019D name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=019E name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=019F name="lineCaptureHoming:Lap:Docked:Detach" *n code=01A0 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=01A1 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=01A2 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=01A3 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=01A4 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=01A5 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=01A6 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=01A7 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=01A8 name="lineCaptureHoming:Lap:Docked:Drift" *n code=01A9 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=01AA name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=01AB name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=01AC name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=01AD name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=01AE name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=01AF name="OnDock" *n code=01B0 name="OnDock:StandardEnvelopes" *n code=01B1 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=01B2 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=01B3 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=01B4 name="OnDock:B" *n code=01B5 name="OnDock:C" *n code=01B6 name="OnDock:D" *n code=01B7 name="OnDock:E" *n code=01B8 name="OnDock:BackseatDriver" *n code=01B9 name="OnDock:BackseatDriver:A.BackseatDriver" *n code=01BA name="OnDock:PowerOnly" *n code=01BB name="OnDock:PowerOnly:A" *n code=01BC name="OnDock:PowerOnly:B" *n code=01BD name="OnDock:PowerOnly:C" *n code=01BE name="OnDock:PowerOnly:D" *n code=01BF name="OnDock:PowerOnly:E.Wait" *n code=01C0 name="OnDock:dataRead" *n code=01C1 name="OnDock:dataRead:A" *n code=01C2 name="OnDock:dataRead:B.Wait" *n code=01C3 name="OnDock:science" *n code=01C4 name="OnDock:science:Science" *n code=01C5 name="OnDock:science:Science:A" *n code=01C6 name="OnDock:science:Science:B" *n code=01C7 name="OnDock:science:Science:C" *n code=01C8 name="OnDock:science:Science:D" *n code=01C9 name="OnDock:science:Science:E" *n code=01CA name="OnDock:science:Science:F" *n code=01CB name="OnDock:science:Science:Read_Oil" *n code=01CC name="OnDock:science:Science:OceanCurrent" *n code=01CD name="OnDock:science:Science:OceanCurrent:A." *n code=01CE name="OnDock:science:Science:PeakDetectChl" *n code=01CF name="OnDock:science:Science:PeakDetectChl:A" *n code=01D0 name="OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=01D1 name="OnDock:science:Science:PeakDetectChl:C" *n code=01D2 name="OnDock:science:Science:EdgeDetectChl" *n code=01D3 name="OnDock:science:Science:EdgeDetectChl:A" *n code=01D4 name="OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=01D5 name="OnDock:science:Science:EdgeDetectChl:C" *n code=01D6 name="OnDock:science:Science:EdgeDetectChl:D" *n code=01D7 name="OnDock:science:Science:HighestChlPeakReport" *n code=01D8 name="OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=01D9 name="OnDock:science:Science:PeakDetectNO3" *n code=01DA name="OnDock:science:Science:PeakDetectNO3:A" *n code=01DB name="OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=01DC name="OnDock:science:Science:PeakDetectNO3:C" *n code=01DD name="OnDock:science:Science:PeakDetectOil" *n code=01DE name="OnDock:science:Science:PeakDetectOil:A" *n code=01DF name="OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=01E0 name="OnDock:science:Science:PeakDetectOil:C" *n code=01E1 name="OnDock:science:Science:HighestOilPeakReport" *n code=01E2 name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=01E3 name="OnDock:science:Science:PeakDetectFDOM" *n code=01E4 name="OnDock:science:Science:PeakDetectFDOM:A" *n code=01E5 name="OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=01E6 name="OnDock:science:Science:PeakDetectFDOM:C" *n code=01E7 name="OnDock:science:Science:PeakDetectSalinity" *n code=01E8 name="OnDock:science:Science:PeakDetectSalinity:A" *n code=01E9 name="OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=01EA name="OnDock:science:Science:PeakDetectSalinity:C" *n code=01EB name="OnDock:science:Science:HighestSaltPeakReport" *n code=01EC name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=01ED name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=01EE name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=01EF name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=01F0 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=01F1 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI" *n code=01F2 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=01F3 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=01F4 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=01F5 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=01F6 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI" *n code=01F7 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=01F8 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=01F9 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=01FA name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI" *n code=01FB name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=01FC name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=01FD name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=01FE name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=01FF name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=0200 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0201 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=0202 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:C" *n code=0203 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms" *n code=0204 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=0205 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=0206 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0207 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0208 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0209 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=020A name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=020B name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=020C name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=020D name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=020E name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=020F name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0210 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0211 name="OnDock:science:Science:ChlThreshTrigger" *n code=0212 name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" *n code=0213 name="OnDock:science:Science:ChlThreshTrigger:B" *n code=0214 name="OnDock:science:Science:ChlThreshTrigger:C" *n code=0215 name="OnDock:J." *n code=0216 name="OnDock:K" *n code=0217 name="OnDock:L.Execute" *n code=0218 name="OnDock:PeriodicCheck" *n code=0219 name="OnDock:PeriodicCheck:CheckIP" *n code=021A name="OnDock:PeriodicCheck:CheckIP:A.Execute" *n code=021B name="OnDock:PeriodicCheck:CheckIP:B.Wait" *n code=021C name="OnDock:N.Docked" *n code=021D name="OnDock:Detach" *n code=021E name="OnDock:Detach:A" *n code=021F name="OnDock:Detach:B.Undock" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 elementURI="latitude" type=04 *e code=0018 elementURI="latitude_fix" type=04 *e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002 *e code=001A elementURI="longitude" type=04 *e code=001B elementURI="longitude_fix" type=04 *e code=001C elementURI="mission_started" type=04 *e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04 *e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0021 elementURI="platform_average_current" type=04 *e code=0022 elementURI="platform_average_power" type=04 *e code=0023 elementURI="platform_battery_charge" type=04 *e code=0024 elementURI="platform_battery_charge_usage" type=04 *e code=0025 elementURI="platform_battery_energy_usage" type=04 *e code=0026 elementURI="platform_battery_voltage" type=04 *e code=0027 elementURI="platform_battery_fully_charged" type=04 *e code=0028 elementURI="platform_battery_discharging" type=04 *e code=0029 elementURI="platform_buoyancy_position" type=04 *e code=002A elementURI="platform_communications" type=04 *e code=002B elementURI="platform_conversation" type=04 *e code=002C elementURI="platform_course" type=04 *e code=002D elementURI="platform_distance_wrt_ground" type=04 *e code=002E elementURI="platform_distance_wrt_sea_water" type=04 *e code=002F elementURI="platform_elevator_angle" type=04 *e code=0030 elementURI="platform_fault" type=04 *e code=0031 elementURI="platform_fault_leak" type=04 *e code=0032 elementURI="platform_magnetic_orientation" type=04 *e code=0033 elementURI="platform_mass_position" type=04 *e code=0034 elementURI="platform_orientation" type=04 *e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003 *e code=0036 elementURI="platform_pitch_angle" type=04 *e code=0037 elementURI="platform_pitch_rate" type=04 *e code=0038 elementURI="platform_pressure" type=04 *e code=0039 elementURI="platform_propeller_rotation_rate" type=04 *e code=003A elementURI="platform_relative_humidity" type=04 *e code=003B elementURI="platform_roll_angle" type=04 *e code=003C elementURI="platform_roll_rate" type=04 *e code=003D elementURI="platform_rudder_angle" type=04 *e code=003E elementURI="platform_speed_wrt_ground" type=04 *e code=003F elementURI="platform_speed_wrt_sea_water" type=04 *e code=0040 elementURI="platform_temperature" type=04 *e code=0041 elementURI="platform_vehicle_power" type=04 *e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0044 elementURI="platform_x_sea_water_velocity" type=04 *e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0047 elementURI="platform_x_velocity_current" type=04 *e code=0048 elementURI="platform_y_sea_water_velocity" type=04 *e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=004B elementURI="platform_y_velocity_current" type=04 *e code=004C elementURI="platform_yaw_angle" type=04 *e code=004D elementURI="platform_yaw_rate" type=04 *e code=004E elementURI="platform_z_sea_water_velocity" type=04 *e code=004F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0051 elementURI="platform_z_velocity_current" type=04 *e code=0052 elementURI="projection_x_coordinate" type=04 *e code=0053 elementURI="projection_y_coordinate" type=04 *e code=0054 elementURI="projection_zone" type=04 *e code=0055 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0056 elementURI="sea_water_density" type=04 *e code=0057 elementURI="sea_water_electrical_conductivity" type=04 *e code=0058 elementURI="sea_water_potential_density" type=04 *e code=0059 elementURI="sea_water_potential_temperature" type=04 *e code=005A elementURI="sea_water_pressure" type=04 *e code=005B elementURI="sea_water_rhodamine" type=04 *e code=005C elementURI="sea_water_salinity" type=04 *e code=005D elementURI="sea_water_sigma_t" type=04 *e code=005E elementURI="sea_water_sigma_theta" type=04 *e code=005F elementURI="sea_water_speed" type=04 *e code=0060 elementURI="sea_water_temperature" type=04 *e code=0061 elementURI="speed_of_sound_in_sea_water" type=04 *e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0063 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0064 elementURI="time" type=04 *e code=0065 elementURI="time_fix" type=04 *e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 *e code=0068 elementURI="controlThread.enableBroadcast" type=02 *e code=0069 elementURI="CycleStarter.enableBroadcast" type=02 *e code=006A elementURI="CycleStarter.time" type=00 *e code=006B elementURI="CommandExec.enableBroadcast" type=02 *e code=006C elementURI="NAL9602.strobeMode" type=02 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *e code=006E elementURI="Dock.docking_state" type=02 *e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02 *e code=0070 elementURI="IBIT.IBITRunning" type=02 *e code=0071 elementURI="GFScanner.GFActive" type=02 *e code=0072 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owner=020E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1075 owner=020E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1076 owner=0213 element=09A4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1077 owner=0215 element=07D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1078 owner=0215 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1079 owner=0215 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107A owner=0215 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107B owner=0215 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107C owner=0215 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107D owner=0215 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107E owner=0215 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=107F owner=0215 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1080 owner=0215 element=06A9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=1081 owner=0215 element=06AA universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=1082 owner=0215 element=07D5 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1083 owner=0215 element=07D6 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=1084 owner=0215 element=07D7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1085 owner=0215 element=07D8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1086 owner=0215 element=07D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1087 owner=0215 element=07DA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1088 owner=0215 element=07DB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1089 owner=0215 element=07DC universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=108A owner=0215 element=07DD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=108B owner=0215 element=07DE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=108C owner=0215 element=07DF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=108D owner=0215 element=07E0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=108E owner=0215 element=07E1 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=108F owner=0215 element=07E2 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=1090 owner=0215 element=07E3 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=1091 owner=0215 element=07E4 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=1092 owner=0215 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1093 owner=0215 element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1094 owner=0215 element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1095 owner=0215 element=07E8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1096 owner=0215 element=07E9 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1097 owner=0215 element=07EA universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1098 owner=0215 element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1099 owner=021C element=017B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=109A owner=021C element=017D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=109B owner=021C element=017E universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=109C owner=021C element=017F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=109D owner=021C element=0180 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=109E owner=021C element=0178 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=109F owner=021C element=0181 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10A0 owner=021C element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10A1 owner=021C element=03E2 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10A2 owner=021C element=048F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=10A3 owner=021C element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=10A4 owner=021C element=04AF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=10A5 owner=021C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A6 owner=021C element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A7 owner=021C element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A8 owner=021C element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A9 owner=021C element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=10AA owner=021C element=076E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10AB owner=021C element=056C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10AC owner=021C element=06C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10AD owner=021C element=06CD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10AE owner=021C element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10AF owner=021C element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=10B0 owner=021C element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B1 owner=021C element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10B2 owner=021C element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B3 owner=021C element=050B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B4 owner=021C element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B5 owner=021C element=051F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10B6 owner=021C element=0524 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B7 owner=021C element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10B8 owner=021E element=07DC universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10B9 owner=021F element=019F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=10BA owner=021F element=019E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10BB owner=021F element=01A0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=10BC owner=021F element=01A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10BD owner=021F element=018B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=10BE owner=021F element=04C5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10BF owner=021F element=04AF universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=10C0 owner=021F element=0490 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=10C1 owner=021F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10C2 owner=021F element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10C3 owner=021F element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10C4 owner=021F element=07ED universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10C5 owner=021F element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=10C6 owner=021F element=076E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10C7 owner=021F element=06C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10C8 owner=021F element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10C9 owner=021F element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10CA owner=021F element=050E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10CB owner=021F element=050D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=10CC owner=021F element=0511 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10CD owner=021F element=0508 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10CE owner=01C1 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10CF owner=021C element=09A6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10D0 owner=0058 element=07E1 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10D1 owner=0058 element=07E2 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10D2 owner=0058 element=07E3 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10D3 owner=0058 element=07E4 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10D4 owner=0160 element=07E1 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10D5 owner=0160 element=07E2 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10D6 owner=0160 element=07E3 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10D7 owner=0160 element=07E4 universal=3FFF unitName="meter" type=00 size=0018 fl=05 -&A9Y?@y-~BE)-@nnnnmzmm"mJk"k kj!j%?)UBUYɝ]Z})Y]9bYIY)]5=)eIe\9Imo7ʼ m>@ iDqDqDqDqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.945374EF FF`0FfGYGyBBN=>HO>HHIHwBHHHDIӘ< IeEԡ} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199998Ա E,ؼu+Ay]*B]IIUMb@Mb@Mb@iQQQQQUS㥛? ףp= I +9U$?YUQyU94UAU@UA QQ9QIeBIe3}q= 5=Q >ԑy G FY >5蒊?5  EA9}&?:Y=@yBE);I;iԊ5Y8!AnimFNOT Ignoring new targets: 122.99 m.nuY:nuY: ProNav: ac range: 122.992477 m, nav range: 119.540703 m, bearing: 326.222985 deg, approach rate: -0.650113 m/s, LOS rate: 0.047591 deg/s, cmd heading: 327.074427 deg, new cmd heading: 327.138564 deg. n;HeadingCmd: 5.709645 target range: 122.992477 and range: 123.60 m.nj@nnnnmzmm"m؀BJk"k kjj@EBe遏aɝmd)imȠciIi)m5=)uIu>I9IuBҼ uj@ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.450239E=?F9 F9F9F9fG üG B B N > ȶ#E,ޓ+A٪f[Ю@9f|͵@ffG_ >YfH@VG?a?`¿ @{Y?`{?`[? ?f[Ю@f&H;ɫdyv7BvI~p<><%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701605~<I-VI-n4e= e_=m:Q m>yqq uGu FY}S.< }>5{?5 ]A9Y<@yBE)`:I:i֊5JKLRK59ZKbKQjK 4y&'{woha]XQLIFCDD?>:;;98P YGB AEnFNOT Ignoring new targets: 122.99 m.n [S:n [S:= ProNav: ac range: 122.992477 m, nav range: 119.307457 m, bearing: 326.239662 deg, approach rate: -0.644865 m/s, LOS rate: 0.046196 deg/s, cmd heading: 327.138577 deg, new cmd heading: 327.188703 deg. n=:EHeadingCmd: 5.710520 target range: 122.992477 and range: 123.60 m.nE@nAnAnAnAmAzmImI"mIJkI"kQ kqjqju +@BȑɝL)j5dI)L5=)+Id9Ie @ E EF FF0FfGwҼchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.954843I Gi By B N >a)E,p+A٪<ޮ@9]۵@5#>YH+O?ݛ?@ͧ¿U}a?s@?(? ?:H12H54<HEK>HAHE'IHEBHE^ =HAHAIE< IEE<ޮ@;ɫQyBBIEBDAT read: Rx Time:20:02:24.0872 UTRx dataTimestamp_ set to:1756324946.788154echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.211524I%Mb@Mb@Mb@i!!!!!%y&1?ktQ9%`%?Y% y%u%A%@! %A!9% AI]WI]44m= m=m28Q u>yqqy G FYA; >5?5= A9&?:Yt:@yBE)%;I;iي5Y( AB*** querying acoustic contact ***o!o!n)5FNOT Ignoring new targets: 122.99 m.jJerJezJeCJaJel:Je!:Je4JaJe;mJe;mJejy;}Jeky;}n}EG:n}EG: ProNav: ac range: 122.992477 m, nav range: 118.938179 m, bearing: 326.264567 deg, approach rate: -0.643795 m/s, LOS rate: 0.043554 deg/s, cmd heading: 327.188710 deg, new cmd heading: 327.263658 deg. n :HeadingCmd: 5.711828 target range: 122.992477 and range: 123.60 m.nLǶ@nnnnmzmm"m̀BJk"k kjj % @=B=49ɝ=:)9=eAIA)E,5=)ExDIM/ޯ8IMû mLǶ@ qԩ E F  F F `0F  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457384 fG-G5wAG1GBBN>C-2E,S!+At٪t@9@cG >YH`(Z?? ¿`k?@f?@ ? g?t@Dv;ɫuCyeSBeII}OI} 4= ^=%k:Q >y G FY; >5?5l A9Y9@yBE)>:I;iڊ5YCBAEnAMFNOT Ignoring new targets: 122.99 m.nM_E:nM_E: ProNav: ac range: 122.992477 m, nav range: 118.700783 m, bearing: 326.280383 deg, approach rate: -0.646201 m/s, LOS rate: 0.043139 deg/s, cmd heading: 327.263651 deg, new cmd heading: 327.311195 deg. n:HeadingCmd: 5.712658 target range: 122.992477 and range: 123.60 m.nζ@nnnnmzmm"mJk"k kjj @-B51ɝ5)15e1I9)=4=)=IE98IEvŰ Eζ@ ADAT read: 20:02:24.0872 LVL= 23424, 32753, 21346, 32755, AGC= 70, IDX= 404,-0.04,-0.944,-2.321,-0.990,-1.490, PHS= 0.634,-0.784, 0.497, RAW= 145.0, -5.2, CAL= 150.3, -14.1, ROT= 359.7, 14.1 Ygot valid direction response: 20:02:24.0872 LVL= 23424, 32753, 21346, 32755, AGC= 70, IDX= 404,-0.04,-0.944,-2.321,-0.990,-1.490, PHS= 0.634,-0.784, 0.497, RAW= 145.0, -5.2, CAL= 150.3, -14.1, ROT= 359.7, 14.1 PDAT read: Bearing 184.2, 14.1 (Local) ~Local bearing/azimuth received: Bearing 184.2, 14.1 (Local) DAT read: Range 10 to 50 : 121.2 m (Round-trip 161.7 ms) speed 0.4 m/s ,DAT read: user:1997> BDAT read: Tx time:20:02:25.1713 $Ping request sent.up!@u޹ u'@)ud{Iu@iud{>qquȞ?~I?gË)u/>Iu=iuud{>qqm:publishing transmit ping timemFpublishing direction and range infoq9u5' ?1mQt .Ͽyqqqq q)qIqiqqqqq q)qIqiqqquȞ?~I?gË)qIqiqqqqE?F FFo0FAi fG 0G B B N >% JDAT read: TxSync time:20:02:25.1706 J8E,+Ay~`B~I  AAI RI W4Mِ= Md=a}Q }>yy G FY >5,?5 A9Y@yBE)ܾ,Y@aPBBt3JĚ?| |2ĿooBo>X.?oo4B2p:pBp"pB*p<@ addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 3.778943 s, deltaX: -2.400002 m, approachRate: -0.635099 m/s, rangeRepo size: 4  Added new target pos. range: 120.602844 m, bearing: 327.345437 deg, lat: 36.779957 deg, lon: -121.858976 deg, deltaT: 3.778943 s, deltaX: -2.389633 m, approachRate: -0.632355 m/s, posRepo size: 4 nFNOT Ignoring new targets: 120.60 m.nn- ProNav: ac range: 120.602844 m, nav range: 118.466476 m, bearing: 326.296057 deg, approach rate: 0.000000 m/s, LOS rate: 0.043139 deg/s, cmd heading: 327.311189 deg, new cmd heading: 327.360495 deg. nQ]HeadingCmd: 5.713519 target range: 120.602844 and range: 121.20 m.n]%ն@nanananamizmm"mJk"k kjL^@j?UBUpYɝ])Y]eYIY)e4=)mIm̵IuT u%ն@ qEvAEwAԉ G!9m%i9u\BEF FF0FHML>HIHMFIHMBHIHIHIIM< IMEԹjJ rJ zJ FJ J :J :J 4J J ;J ;J R;J R; fG G B B N >t>E,ע+Ay~cB~I)p< 4<IMb@Mb@Mb@i'1Z?kt{Gz9"?Yy#An@ v A9(AI%@I%35\< =<=AQ E>yII MGM FYQ u>y5}Y>?5}h$ }A9Q$?:Y:@y}BE)}:I}:i}ފ5Y?BAEn)5FNOT Ignoring new targets: 120.60 m.n5O:n5O:u ProNav: ac range: 120.602844 m, nav range: 118.192238 m, bearing: 326.314901 deg, approach rate: -0.658513 m/s, LOS rate: 0.045355 deg/s, cmd heading: 327.360503 deg, new cmd heading: 327.417168 deg. nu:}HeadingCmd: 5.714508 target range: 120.602844 and range: 121.20 m.n}?ݶ@nynynynymzmm"m΀BJk"k kjj@?Biɝ)-^f)I))-f4=)5ߔI5#HI5W 5?ݶ@ 9E?F FFh5FfG% ȼG- ?G- ?G! B) 9 BA NM >JK} 19ORK} h9ZKy bK} SjK} IwiW=.($"  (./("  &&''%" "K ?K ?Q\EE,{+A٪6@966@666>Y6HEn?g?ÿy?ﱿyy G FY;7< >5uM?5( A9Y}9@yBE)H$ԡ *H "H H H H fIH ȀBH _ =H H I ˘< I UEKE,l0+A٪R@9R@R𴬽R>>YRH`t?`ma?¿`(??@?`?R@R;ɫRwCywBII"Iq3qh*= 1=:Q >y G FY.:; >5_?5- A9Y.9@yBE):I:i5Y%:B-A)niuFNOT Ignoring new targets: 120.60 m.nuD:n}D: ProNav: ac range: 120.602844 m, nav range: 117.669609 m, bearing: 326.349722 deg, approach rate: -0.645206 m/s, LOS rate: 0.043004 deg/s, cmd heading: 327.464786 deg, new cmd heading: 327.521853 deg. n:HeadingCmd: 5.716335 target range: 120.602844 and range: 121.20 m.n7@nnnnmzmm"mJk"k kjj@?=B]Yɝe½)ae3gaIa)e43=)mImX Im m7@ qjJrJzJAJJ|:J :J4JJ;J;JU;JU;Ee>EԙEQFQ FQFU_0FQfG 格G B B N > nRE,@4J+A٪:JC@9:k@@:: >Y:H ?`G?@p¿@OF?+?s? +?:JC@:Ί;ɫ:yCyrBrIttIMb@Mb@Mb@iy&1?MbQ9`%?YyuAA  A9I-PI- 4er= eR=e-;Q m>yii mGm FYu<< }>y5}o?5} 2 }A9)'?:YT:@y}BE)}:I}h;i}d5Y5BAEB*** querying acoustic contact ***oon FNOT Ignoring new targets: 120.60 m.n-L:n-L:= ProNav: ac range: 120.602844 m, nav range: 117.417854 m, bearing: 326.367101 deg, approach rate: -0.646837 m/s, LOS rate: 0.044748 deg/s, cmd heading: 327.521859 deg, new cmd heading: 327.574108 deg. n=:EHeadingCmd: 5.717247 target range: 120.602844 and range: 121.20 m.nE@nAnInInImizmimq"muBJkq"kq kyjyj}@?BS}ɝ)KgI)3=)^IU-I_ @ u?u?uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.JK}1xNRK}9ZKybK}TjK}   3 >?'xS6[?8+   EF FFF9 fG MG B B N % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255085Q XE,d+A٪6^@96[@6Q6 >Y6H+?2?;¿@?a-? ??@]?6^@6 ;ɫ6wCyRBRIIZSIZ4v$; ve=v:Q v>yxx G FYI< >!-5%w~?-5%#6 %&A9)Y-{9-@y%BE)%:I%:i%5Y]1B]lA]EnFNOT Ignoring new targets: 120.60 m.nI:nI: ProNav: ac range: 120.602844 m, nav range: 117.185303 m, bearing: 326.382839 deg, approach rate: -0.648074 m/s, LOS rate: 0.043945 deg/s, cmd heading: 327.574097 deg, new cmd heading: 327.621404 deg. nE:HeadingCmd: 5.718072 target range: 120.602844 and range: 121.20 m.ns@nnnnmzmm"mJk"k kjj@eBev~iɝm؞)i靕>gI)U3=);IHJIz s@ )E?F FFh0FHMO>HIHMIHM܀BHM^ =HIHIIMp< IMEIIC"I*I^ =2I^ =:I5Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510104fGu.vGi Bq ԁ B N >I AAI jJ rJ zJ J J ܫ:J :J J J ;J ;J I;J I;^E,}+A0٪>a@9>@>W> >Y>H@?T ?OE¿bu $?@?z??>a@>M;ɫ{= ==h:Q >y G FY-D< > 55 W?55 ,; :A9=(?=:Y=;=@y BE) ;I u;i 5YE-BEAAnFNOT Ignoring new targets: 120.60 m.nxY:nxY: ProNav: ac range: 120.602844 m, nav range: 116.902702 m, bearing: 326.403401 deg, approach rate: -0.651686 m/s, LOS rate: 0.047532 deg/s, cmd heading: 327.621416 deg, new cmd heading: 327.683252 deg. n{;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759055HeadingCmd: 5.719151 target range: 120.602844 and range: 121.20 m.nJ@nnnnmzmm"mހBJk"k kjj `8@}B}vyɝ}b)靅5gI)3=ԉ)dIBfI zC J@ Ee?Fa FaFeo0FafG p GI BQ Ba Nm > BDAT read: Rx Time:20:02:27.7340  TRx dataTimestamp_ set to:1756324950.312481 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012154JK NRK +9ZK bK UjK  !  êeE,ė+Aɩ@٪6@96ݫ@66J=>Y6H ??l¿V?ϩ/?Z??6@6Vʊ;ɫ6uCyNBR+I\IVTIV4d=  X= :Q  >y G FYG< >!%5%ӟ?-5%~? %KA9)Y-:-@y%BE)%:I%-:i%}5Y5,B]AYnFNOT Ignoring new targets: 120.60 m.nUO:nUO: ProNav: ac range: 120.602844 m, nav range: 116.658775 m, bearing: 326.420658 deg, approach rate: -0.639188 m/s, LOS rate: 0.045316 deg/s, cmd heading: 327.683243 deg, new cmd heading: 327.735123 deg. n:UHeadingCmd: 5.720057 target range: 120.602844 and range: 121.20 m.nU @nQnQnYnYmYzmYmY"maJka"ka kajajmJ @B1uɝ@9)gI)-2=)-)IxIՒ  @ EF FF0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262962fGZ>G ?G>G B B N >A :HE <2HE <HM S>HM CHM IHM BHM ] =HI HM DIM ~< IM EkE,䠱+A!U=U=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520106yB1II[IK!4u< 3=Q >y  G FY >%5B?%5D `A9)Y)-@yBE):I*;i5YU'BUPAUEnFNOT Ignoring new targets: 120.60 m.nbX:nbX: ProNav: ac range: 120.602844 m, nav range: 116.352623 m, bearing: 326.442421 deg, approach rate: -0.663571 m/s, LOS rate: 0.047294 deg/s, cmd heading: 327.735125 deg, new cmd heading: 327.800586 deg. n;HeadingCmd: 5.721200 target range: 120.602844 and range: 121.20 m.n@nnnnmzmm "m Jk "k kjj @IeB%r鞉ɝh")靍NhI)4h2=)JI$I - @ E=?F9 F9F=0FAq- DAT read: 20:02:27.7340 LVL= 22368, 32753, 19506, 32755, AGC= 68, IDX= 403, 0.46, 2.819, 1.401, 2.833, 2.267, PHS= 0.639,-0.820, 0.563, RAW= 147.3, -5.4, CAL= 152.5, -14.2, ROT= 357.5, 14.2 5 Ygot valid direction response: 20:02:27.7340 LVL= 22368, 32753, 19506, 32755, AGC= 68, IDX= 403, 0.46, 2.819, 1.401, 2.833, 2.267, PHS= 0.639,-0.820, 0.563, RAW= 147.3, -5.4, CAL= 152.5, -14.2, ROT= 357.5, 14.2 = PDAT read: Bearing 182.1, 14.5 (Local) = ~Local bearing/azimuth received: Bearing 182.1, 14.5 (Local) M DAT read: Range 10 to 50 : 118.8 m (Round-trip 158.5 ms) speed 0.7 m/s U ,DAT read: user:1998> ] BDAT read: Tx time:20:02:28.8213 ] $Ping request sent.] K?nE?ݚE2)zb>IA=iѸ2}> :publishing transmit ping timeY  Fpublishing direction and range info96#?܁ /;fϿy )Ii )IiK?nE?ݚE2)IifG ˫ ԩ GY Bi By N >rE,z+A٪:Y@9:{@:+: >Y:H?`!?<¿ '@?g ??6? ?:Y@: ;ɫ:wCyrBr?IyIMb@Mb@Mb@iJ +?EԸ{Gz9(?Yƽyף+@A 9A;p;I%II%d45i= UQ=]-Q ]>yYY ]Ge FYeP< e>i5mÓ?5mBI mpA9*?:YV5@ymBE)m;Im$;im45YAooR+AooBooBoũ@ 2 \@I_/<6#?܁ /;fϿoѸ2o}>sX@߇OO<ϙ3!,řy?''fcգsſo}oBoj?oK>o2B2pj?:pK>Bp2B"pB*pҩ@] addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.779086 s, deltaX: -2.399994 m, approachRate: -0.635073 m/s, rangeRepo size: 4 m Added new target pos. range: 118.216949 m, bearing: 327.057133 deg, lat: 36.779966 deg, lon: -121.858967 deg, deltaT: 3.779086 s, deltaX: -2.385895 m, approachRate: -0.631342 m/s, posRepo size: 4 nFNOT Ignoring new targets: 118.22 m.nn ProNav: ac range: 118.216949 m, nav range: 116.544746 m, bearing: 327.057496 deg, approach rate: 0.000000 m/s, LOS rate: 0.047294 deg/s, cmd heading: 327.800586 deg, new cmd heading: 327.856511 deg. nHeadingCmd: 5.722176 target range: 118.216949 and range: 118.80 m.n@nnnnmzmm"mBJk"k kj@3]@j 0?eBWn鞉ɝ)靍hI)2=)WIޡIx @ ԡJKzLRK9ZKbKVjKKwA KE9F9 F9F=p5FAjJyrJ}zJyJyJyJ}h:JyJy@@@@fGe  G! B) BQ Nm >xE,T+A٪:@9:@:쫽:=>Y:H"?|?`¿l!` ? *w?F??:@:ӊ;ɫ:uCyVBVFIIrCIr3v< za=zQ z>y|| G FY"; %>)55-ғ?55-dM -A91Y]5]@y-BE)-m;I-;i-5Ye#BeAeEB*** querying acoustic contact ***oonFNOT Ignoring new targets: 118.22 m.njM:njM: ProNav: ac range: 118.216949 m, nav range: 116.305077 m, bearing: 327.073229 deg, approach rate: -0.682554 m/s, LOS rate: 0.044897 deg/s, cmd heading: 327.856511 deg, new cmd heading: 327.903807 deg. n:%HeadingCmd: 5.723001 target range: 118.216949 and range: 118.80 m.n-"@n)n)n)n)m1zmQmY"mYJka"ka kajijm?B/l!ɝ%0)!%!h!I!)%1=)5]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.9Y KE, ;+A٪6@96@6"6>Y6H2?`N?*ÿr`?@Z6? ӿ?`É?6@6N;ɫ6vCyNBNHIIeMb@Mb@Mb@iaaaaaey&1?&1/$9e`%?Yeнyeae@eA e Aa9efAI@I3d$< ?=Q >y G FYnf: >5䓊?5Ա JKU iJRKU +9ZKQ bKU WjKU "K] ?K] ?E,v2+A٪6@96@6F6C>Y6H@??Yÿc'?@U)?IR?E?6@6~;ɫ6wCyfˀBfiIlnBAIn?InT3  > T=Q >y G FYf >jJ5rJ5zJ5@J1J5l:J5 :J5J4J1!M5%?M5%V %A9QYU7U@y%BE)%:I%I:i%S5Y]B]wAeEnFNOT Ignoring new targets: 118.22 m.nR:nR: ProNav: ac range: 118.216949 m, nav range: 115.780922 m, bearing: 327.110548 deg, approach rate: -0.640653 m/s, LOS rate: 0.046085 deg/s, cmd heading: 327.962789 deg, new cmd heading: 328.016030 deg. n:EHeadingCmd: 5.724960 target range: 118.216949 and range: 118.80 m.nE2@nAnInInImIzmImQ"mQJkQ"kQ kQjYj]q?ԁB|2_ɝP<)lhI) 1=)I}Ih 2@ EF FFFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498623ԹfGȻG B B N > *H "H @AH R>H H IH BH H H I t< I E % ! 9% B ,#E,l2+A٪B@9B@Bg B'>YBH ? E?/¿? ??@?B@B{t;ɫ@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753100yeӀBesIIOI 4El = M9=]2;Q ]>yai G FY%n; U>Ye5]Q?e5][ ]A9iYm7m@y]BE)];I];i]f5Yqu9AyPExceeded connect timeout, disconnecting.nFNOT Ignoring new targets: 118.22 m.noT:noT:- ProNav: ac range: 118.216949 m, nav range: 115.473862 m, bearing: 327.132451 deg, approach rate: -0.649208 m/s, LOS rate: 0.046431 deg/s, cmd heading: 328.016037 deg, new cmd heading: 328.081920 deg. n-:5HeadingCmd: 5.726110 target range: 118.216949 and range: 118.80 m.n5J<@n1n1n1n9m9zm9m9"m9JkA"kA kijijm@b?BV]鞹ɝ #=)靽gI)|0=)I{I) J<@ !EYFa FaFaFaichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947I fG G ?G >GA BI Ba Nm > E,L+A٪>J@9>l@>h>>Y>H '?2?|¿{8?c貿F?I?{?>J@>S;ɫy G FYmF:  >5?5k` A9'?:Y9%@yBE)/:I:i5Y-B-AY-EnFNOT Ignoring new targets: 118.22 m.n]:n]: ProNav: ac range: 118.216949 m, nav range: 115.218452 m, bearing: 327.151831 deg, approach rate: -0.637994 m/s, LOS rate: 0.048518 deg/s, cmd heading: 328.081908 deg, new cmd heading: 328.140178 deg. n0;HeadingCmd: 5.727127 target range: 118.216949 and range: 118.80 m.nD@nnnnmzm!m!"m%݀B5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254628JkI"kI kIjIjU@\.@BZ鞡ɝX8=)gI){&0=)YII< D@ JK}>`JRK}59ZKybK}XjK} =JJ7KvA KuAE?F FF`0FԙjJ]rJ]zJ]AJYJ]ܫ:J] :J]4JY fG #G B  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508048B N% >6E,wf+AL٪-@9-@-/- >Y-H ? ?. ¿` v?Ᏺ?>|??-@-ň;ɫ-vCyEBEIQQI]`I](*4ua= ug=}1;Q }>y G FY C; >5'?5d A9Yc9@yBE);;E,z+A٪:@9:@:夽::R >Y:H?4?@?@M, ?.? ?:@:;ɫ8yrBrI|BDAT read: Rx Time:20:02:31.3809 TRx dataTimestamp_ set to:1756324954.092522checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011709I-Mb@Mb@Mb@i)))))-S㥛?)\({Gz9-$?Y-Gy-ף-A-@-@ -A)9-(AIeZIe4}O= }.=;Q >y G FY >5:?5i A9T'?:Y:@yBE)<:I:i5YBAE)nimFNOT Ignoring new targets: 118.22 m.nuw:nuw: ProNav: ac range: 118.216949 m, nav range: 114.682549 m, bearing: 327.193277 deg, approach rate: -0.687306 m/s, LOS rate: 0.054145 deg/s, cmd heading: 328.193513 deg, new cmd heading: 328.264828 deg. n;HeadingCmd: 5.729302 target range: 118.216949 and range: 118.80 m.nqV@nnnnmzmm"mڀBJk"k kjj@=ƀB=JQ9ɝ==)AEQgAIA)EZ/=)eJ ImƹIm" mqV@ iE?F FF0FQM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262584ԉ fG] Ge vAGe wAG B) B9 NE >O>E,/+AJK:8MRK:+9ZK8bK:YjK: |qaA-;V_[NC:3-)'',('''&&$$"  "KLKN?٪Z@9Z@ZZ8>YZH@?P? `?=?S??Z@ZN;ɫZwCyfBfIInPIn 4v= v=;Q  ?y G FYQ: % ?jJ5rJ5zJ5BJ1J5:J5U:J5-4J1q!5%G?5%m %A9Y:@y%BE)% BDAT read: Tx time:20:02:32.4713 $Ping request sent.ݹݹ޽ ?.B?`*)޽>I޽=i޽Qk޽>޹޹-:publishing transmit ping timeہ-Fpublishing direction and range info۹9۽ey?󋬿lϿy۹۹۹۹ ܹ)ܹIܹiܹܹܹܹܹ ݹ)ݹIݹiݹݹݹ޽ ?.B?`*)޹I޹i޹޹޹޹fGU :3:H 2H <H P>H H IH LBH H H I i< I EIeCIa"Ia*Ie] =2Ie] =:Ieʣ4 G B B1 N= >!bE,|+A-JDAT read: TxSync time:20:02:32.4706 y5B]IIeMIe{4r; B=Q >y)1 =G= FYM >5dZ?%5r A9YYae@yBE)1=IV =i5YB JA Eoo1+AoBoBo@@ _\@Ih<ey?󋬿lϿoQko>.-W@5Owz4( Y5??6S:wῢTƿo}oBot%?o !o0B2p:pBp"p_B*p¶@u addTargetRange:: Added new target pos. range: 116.500000 m, deltaT: 3.529223 s, deltaX: -2.300003 m, approachRate: -0.651702 m/s, rangeRepo size: 4  Added new target pos. range: 115.927826 m, bearing: 326.322002 deg, lat: 36.779966 deg, lon: -121.858967 deg, deltaT: 3.529223 s, deltaX: -2.289124 m, approachRate: -0.648620 m/s, posRepo size: 4 nFNOT Ignoring new targets: 115.93 m.nn ProNav: ac range: 115.927826 m, nav range: 114.185577 m, bearing: 327.232555 deg, approach rate: 0.000000 m/s, LOS rate: 0.044790 deg/s, cmd heading: 328.313451 deg, new cmd heading: 328.372950 deg. nHeadingCmd: 5.731189 target range: 115.927826 and range: 116.50 m.ne@nnnnmzmAmA"mAJkA"kI kIjM ]@jM`^?ʀB@Kɝ=)fI).=)O IܹIo7 e@ EEEqFq FqFqFy9a fG >4GY Ba Bq N >!bE,0+AyMBMI)Up= QIMb@Mb@Mb@i r?y&1I +9#?Y`y9A@@ A9 AI5;I5&3eX< e-=aQ e>yii mGm FYq u>y5}$l?5}w }A9,&?:Y;@y}BE)}A6;I}J4;i}5Y1AC==n5FNOT Ignoring new targets: 115.93 m.n=U:n=U:M ProNav: ac range: 115.927826 m, nav range: 113.905899 m, bearing: 327.255363 deg, approach rate: -0.702267 m/s, LOS rate: 0.057410 deg/s, cmd heading: 328.372956 deg, new cmd heading: 328.441546 deg. nM;UHeadingCmd: 5.732387 target range: 115.927826 and range: 116.50 m.nuo@nqnqnqnymyzmymy"mɀBJk"k kjj@?̀BH5=ɝt=)RKfI)c*.=1)M! IUDIU,H Uo@ QJKEYNRK9ZKbKZjK  EF FF4FafG @5ԉ G B B N= >ӃE,+A٪%@9%@%`%/=Y%H??K `! ?i ???%@%1;ɫ%uCymBmII7I3> g=;Q >y G FY% %>)-5-z?U5-{ - A9QYU<U@y-BE)-;I-C;i-5YeBeTAay%B*** querying acoustic contact ***o!o!nQUFNOT Ignoring new targets: 115.93 m.n]g:n]g:m ProNav: ac range: 115.927826 m, nav range: 113.676231 m, bearing: 327.274430 deg, approach rate: -0.608915 m/s, LOS rate: 0.050654 deg/s, cmd heading: 328.441558 deg, new cmd heading: 328.498875 deg. n ;HeadingCmd: 5.733387 target range: 115.927826 and range: 116.50 m.nw@nnnnmzmm"mJk"k kjjU?H5E>H5CH5'IH5fBH1H1H5DI5}< I5EU΀BU:Qɝ]>)Y]eYIY)]-=) I  %I k w@ ԡEF FF_0FT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.JJ-4J0jJ] rJ] zJ] AJY J] :J] ^:J] 4JY J] 0!<u J] 0!<u J] g;} J] g;} fG x IG B B N > jE,+Ay~"BI}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453414IMb@Mb@Mb@i{Gz?!rhMb9#?Yly A@X@ vA9fAI8I3= :=Q >y  G  FY  U>a5e?5e耾 eA9l&?:Y<@yeBE)e%;Ie2;ie5YAn-FNOT Ignoring new targets: 115.93 m.n5:n5:= ProNav: ac range: 115.927826 m, nav range: 113.391411 m, bearing: 327.298550 deg, approach rate: -0.666843 m/s, LOS rate: 0.056613 deg/s, cmd heading: 328.498877 deg, new cmd heading: 328.571419 deg. nEi;mHeadingCmd: 5.734653 target range: 115.927826 and range: 116.50 m.nmG@ninqnqnqmqzmqmy"m}ՀBJky"ky kyjj>?рBiF:鞩ɝn">)靵AeI)P-=)l IݢIy G@ EEi>EE>EF FFFF=F=) - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705325fG ioY G B B N >E,+AJK:DLRK+9ZKbK[jK <UY-t MkKF %@irmQ2tT3~`A٪@9 @^>YH N?B?~?@B>'?`H?@?@؊;ɫwCyU/BUIYY==ITI4t= V=;Q >y G!FYW; >5?5A ,A9!Y%(<-@yBE)x;I3;i-5YEBMAMEynFNOT Ignoring new targets: 115.93 m.nr:nr: ProNav: ac range: 115.927826 m, nav range: 113.148201 m, bearing: 327.318961 deg, approach rate: -0.631281 m/s, LOS rate: 0.053094 deg/s, cmd heading: 328.571414 deg, new cmd heading: 328.632779 deg. n;HeadingCmd: 5.735724 target range: 115.927826 and range: 116.50 m.n @nnnnm zm m "m Jk"k kjj%b[?ҀB-鞑ɝv9>)靽 dI),=)p& IV I~m  @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957952ԩnE·3=EQ FQ  FQ FQ FY H <>H CH GIH BH _ =H H DI < I   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214484fG] ӀG9BiBN>jE,x<+AIXIXjJ^rJ^zJ\J\J^:J^$:J\J\J^<J^<J^~;J^~;٪@9@e >YHm?I?D?v ?@4i? .?@U;ɫy3BII Mb@Mb@Mb@i      RQ?S㥻Mb9 "?Y /ݽy   A @ n@ `A 9 AIEVIEn4]ERy G!FY: >%5Z?%5p ?A9%$?%:Y%U:-@yBE)Nn)QUcQIQ)]c,=)e ImsԙI/| )@ Թ nE #=E EI FI  FI FM a5FQ F] vAFY  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717928JK5oPRK59ZK1bK5\jK5|tkb[WTQD<953--,(###!   fG̛fGQBYBqN}?E, a+A٪F@9F@F╽FG>YFHW?`? X4? 9' ?`?@?F@F;ɫDy~HB~I)= p<I=GI=3}I=  =|:Q >y G!FYY9 >5Ɣ?5' OA9YE:@yBE)\)靝bI)+=)k I) I$ h@ DDDDCEF FF0FAiH%>HCHfIHBHf =HHDI< IE.9_B! checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221334Y fG zG B B9 Nm >.E,:X}+AIF@AIF@AjJVrJVzJV@JTJV|:JVq:JVJ4JTJV}<JV~<JVk;JVk; ٪ @9@H  >YH?ժ? S ?Z³Sm?th?o? @;ɫyZBIAIMb@Mb@Mb@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.476068?A`" rh9f&?YٽyC A`@X@ A9GAIVIn4mfl= m=u:Q u>yqy }G}!FY|: >5ߔ?5 bA9(?:YU8@yCE)/:I:ih 5YBAE-B*** querying acoustic contact ***o)o)n1YeFNOT Ignoring new targets: 115.93 m.net:net:u ProNav: ac range: 115.927826 m, nav range: 112.086403 m, bearing: 327.403515 deg, approach rate: -0.686549 m/s, LOS rate: 0.053441 deg/s, cmd heading: 328.796127 deg, new cmd heading: 328.887227 deg. nu;HeadingCmd: 5.740165 target range: 115.927826 and range: 116.50 m.nn@nnnnmzmm"mBJk"k kjj` @ـB%W$!ɝ%]>)!%a!I))-9F+=)-g I5A,I5" 5n@ 9E ?F  F F o5F F =F a=ԑ  DAT read: 20:02:35.0278 LVL= 30032, 32753, 25170, 32755, AGC= 65, IDX= 403, 0.31, 3.094, 1.669, 3.122, 2.542, PHS= 0.640,-0.826, 0.577, RAW= 147.8, -5.5, CAL= 153.0, -14.2, ROT= 357.0, 14.2 % Ygot valid direction response: 20:02:35.0278 LVL= 30032, 32753, 25170, 32755, AGC= 65, IDX= 403, 0.31, 3.094, 1.669, 3.122, 2.542, PHS= 0.640,-0.826, 0.577, RAW= 147.8, -5.5, CAL= 153.0, -14.2, ROT= 357.0, 14.2 - PDAT read: Bearing 181.6, 14.6 (Local) 5 ~Local bearing/azimuth received: Bearing 181.6, 14.6 (Local) = DAT read: Range 10 to 50 : 114.1 m (Round-trip 152.2 ms) speed 0.5 m/s E ,DAT read: user:2000> M BDAT read: Tx time:20:02:36.1214 M $Ping request sent.M +?Z?I =i QwV }>  :publishing transmit ping timeI  Fpublishing direction and range info 9 q ?]V./;fϿy  ) I i ) I i +?Z?YbH`T?G?1y L?@Ѷ`E?u?W?b@b.;ɫ`y~mB~0IJK K7NRK 59ZK bK ]jK      I-DI-3=e= =s=E=+}`mzWW@N:7 4-+Q?Y`˪<-mǿotoBo?oLZo/B2p?:pLZBp0B"p8B*p@u addTargetRange:: Added new target pos. range: 114.099998 m, deltaT: 3.782941 s, deltaX: -2.400002 m, approachRate: -0.634427 m/s, rangeRepo size: 4  Added new target pos. range: 113.528587 m, bearing: 326.776261 deg, lat: 36.779958 deg, lon: -121.858978 deg, deltaT: 3.782941 s, deltaX: -2.399239 m, approachRate: -0.634226 m/s, posRepo size: 4 nFNOT Ignoring new targets: 113.53 m.nn ProNav: ac range: 113.528587 m, nav range: 111.610901 m, bearing: 326.776610 deg, approach rate: 0.000000 m/s, LOS rate: 0.053441 deg/s, cmd heading: 328.887214 deg, new cmd heading: 328.943306 deg. n!%HeadingCmd: 5.741144 target range: 113.528587 and range: 114.10 m.n-s@n)n)n)n)m)zm)m1"m1Jk1"k1 k9je`f\@jer?ۀB 鞱ɝ>)靵`I)*=)< Iy3I|q s@ ԙE=?F9 F9F=_0F9fG% /He 2>He CHe IHe BHe d =Ha He DIe < Ie EG B B N > }YzH*?? A&# J?@N? ʦ?@{?z@zo;ɫzxCy}zB}@IIRIW4z{= C=;Q >y)) UG!FY: >5? 5 xA99YE7E@y CE))QU_QIQ)]^*=){ I-~=IL h@ EU?FQ FYFYFYAa fG} G9 BA BY Ne >E+E,t|+A٪Z1@9Z.@ZᇽZ+ >YZH@??@AQ ^ ? z?UK??Z1@ZE;ɫXybBbJI)I-Mb@Mb@Mb@i)))))-?:v9- ?Y-̽y-T- A-v@-n@ -A)9-AAEDAIeJIe)4};= }>=J;Q >y G !FY; >5?5Z A9"?:Y6@yCE)6;I;i5YB5AEn9eFNOT Ignoring new targets: 113.53 m.neW:neW:u ProNav: ac range: 113.528587 m, nav range: 111.067421 m, bearing: 326.814989 deg, approach rate: -0.678598 m/s, LOS rate: 0.047149 deg/s, cmd heading: 329.005950 deg, new cmd heading: 329.058717 deg. nun;HeadingCmd: 5.743158 target range: 113.528587 and range: 114.10 m.nǷ@nnnnmzmm"mBJk"k kjj;?MހBMIɝMj>)IM^QIQ)Uj)=)>? IDIr`} Ƿ@ YE-?F1 F1F1F1JKeLRKe9ZKabKe^jKe  Kq KurAԁfG ƌG G sAG B B N >Ա :OE,=+A٪:B@9\?@|8>YHC?)?_]?M] |?ݮ? ?:B@$;ɫwCy}B}VII:I35";= 5P==C;Q =>y99 EGE !FYE; E>Iԑ5M ?5M MA9Y6@yMCE)M/HCHIHЁBHe =HHDI< IEICIC"I•C*Id =2Ib =:I}n6ny}FNOT Ignoring new targets: 113.53 m.n::n:: ProNav: ac range: 113.528587 m, nav range: 110.823494 m, bearing: 326.831700 deg, approach rate: -0.594339 m/s, LOS rate: 0.040808 deg/s, cmd heading: 329.058707 deg, new cmd heading: 329.108952 deg. n :HeadingCmd: 5.744035 target range: 113.528587 and range: 114.10 m.n"Ϸ@nnnnmzmm"mJk)"k) k)j)j- /?B 鞙ɝɪ>)靝]I)z)=) IaLIQp "Ϸ@ EF FF`0FfG ]{jJ rJ zJ @J J \:J :J J4J J <J <J `W;J aW;G B B N > ]:F,&+AyBdI)i> >AiIMb@Mb@Mb@iT㥛 ?~jtQ9!?YĽyuv AI@@ 3A94<IYI4 "=  =Q >y G !FY >  5 8?5  A9"?:Y4@y CE) 3:I :i 5YB%fA!B*** querying acoustic contact ***oon  FNOT Ignoring new targets: 113.53 m.n =>:n =>:  ProNav: ac range: 113.528587 m, nav range: 110.449188 m, bearing: 326.855995 deg, approach rate: -0.638450 m/s, LOS rate: 0.041580 deg/s, cmd heading: 329.108950 deg, new cmd heading: 329.182082 deg. n J:A M HeadingCmd: 5.745311 target range: 113.528587 and range: 114.10 m.nM ٷ@nI nI nI nI mQ zmQ mQ "mU BJkY "kY  k j j u@ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. B  ɝ >) E\ I ) (=) I WI= E ٷ@ I E ?F  F F _0F q JK KRK 9ZK bK _jK CLf5k+uV9CgxucK1"#+4EWl"K >K >fGULqGBA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254594BiN}?) F,)+A٪Mxq@9Mn@MN9wMs>YMH*7? Y? 3"?]඿@\?h??Mxq@M;iɫMvCyBuIII5R= 5T=5 My99 =G= !FYer< e>iu5mH?u5m- mA9qYu2u@ymCE)m:Im:im5YBAʢEnFNOT Ignoring new targets: 113.53 m.n;:n;:  ProNav: ac range: 113.528587 m, nav range: 110.203316 m, bearing: 326.871276 deg, approach rate: -0.658279 m/s, LOS rate: 0.041003 deg/s, cmd heading: 329.182087 deg, new cmd heading: 329.228032 deg. n :%HeadingCmd: 5.746113 target range: 113.528587 and range: 114.10 m.n%)@n!n!n!n!m!zm)m)"m)Jk)"k1 k1j1j5 @B"ռ鞁ɝ>)靍ZI)zv(=)} I]Ig29 )@ *H"HH,>HCHIHBHb =HHI< I]EԙE%?F) F)F-`0F)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506214fGM ,GY B I I 4= B Nm >F,C+Ay%B%IIMb@Mb@Mb@ip= ף?Ky19 =GE!FYE E>Qe5UY?e5U UA9m&?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758087 :Y/@yU!CE)UR)靭DYI)o'=)K IcI^O j@ EF FF_0F) BDAT read: Rx Time:20:02:38.6747  TRx dataTimestamp_ set to:1756324961.405614 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012809fG @5Y G B B N >GF,e]+A٪F@9F@F;gF>YFHgD?C?y_%?/?q?,?F@Fur;ɫFuCyRBRIIVUIV4nm5= rb=r(ytt vGv!FYz; z>|5~:i? 5~c ~A9 Y . @y~%CE)~_/;I~/;i~5YAn9EFNOT Ignoring new targets: 113.53 m.nEk/:nMk/:U ProNav: ac range: 113.528587 m, nav range: 109.712021 m, bearing: 326.898578 deg, approach rate: -0.697568 m/s, LOS rate: 0.038341 deg/s, cmd heading: 329.271781 deg, new cmd heading: 329.310141 deg. jJmrJmzJmCJiJm:JmB:Jm4Jiu@u@u@u@n}:}HeadingCmd: 5.747546 target range: 113.528587 and range: 114.10 m.n@nnnnmzmm"mJk"k kjj @1]Be%iɝm>)imfXiIiJKuORKu59ZKqbKu`jKusl\E+-Ogpnwq_PD;31+"$,-*$yI(   )u'=) IHhIl. @ Em?Fq FqF}0FyFwAFxAa%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264318fGmSGqGuvAԑGI Bq B N >H .>H H IH BH d =H H I < I jEԹ ),F,?w+A٪:@9:8@:`:b >Y:H@G?`B?`ZrA@3(?丿E??ך?:@:1;ɫ:xCyzBzIIEPIE 4U= UC=DAT read: 20:02:38.6747 LVL= 23856, 30241, 22226, 32755, AGC= 69, IDX= 403, 0.25, 0.046,-1.412, 0.070,-0.485, PHS= 0.619,-0.880, 0.552, RAW= 147.7, -4.0, CAL= 152.5, -12.8, ROT= 357.5, 12.8 Ygot valid direction response: 20:02:38.6747 LVL= 23856, 30241, 22226, 32755, AGC= 69, IDX= 403, 0.25, 0.046,-1.412, 0.070,-0.485, PHS= 0.619,-0.880, 0.552, RAW= 147.7, -4.0, CAL= 152.5, -12.8, ROT= 357.5, 12.8 PDAT read: Bearing 181.9, 13.1 (Local) ~Local bearing/azimuth received: Bearing 181.9, 13.1 (Local) DAT read: Range 10 to 50 : 111.8 m (Round-trip 149.1 ms) speed 0.5 m/s ,DAT read: user:2001> BDAT read: Tx time:20:02:39.7714 $Ping request sent.y G!FY˜: >5{?5 A9Y.@y*CE);I7 ;i5Y]0]]!v ]V)YI]Ei]v?]Ga]O ?]$@]5 ]X*@)]dI]i@i]d>YY]j8L2A??X걿)]M>I]-n=i]Ѹ2]d>YY:publishing transmit ping timeYBA5Fpublishing direction and range infoY9] d9,?5ǥ@|[̿yYYYY Y)YIYiYYYYY Y)YIYiYYY]j8L2A??X걿)YIYiYYYoYYo] z+Ao]|Bo]|Bo]":@]OE[@[O6E8] d9,?5ǥ@|[̿o]Ѹ2o]d>]el@W@JVLϏG3]P[{?ӨD%GJſo]go]Bo] I>?o]R濵o]!7B2p]j?:p]K>Bp]2B"p]_B*p].@9ImAAIi- addTargetRange:: Added new target pos. range: 111.800003 m, deltaT: 3.527938 s, deltaX: -2.299995 m, approachRate: -0.651938 m/s, rangeRepo size: 4  Added new target pos. range: 111.242401 m, bearing: 328.066815 deg, lat: 36.779966 deg, lon: -121.858967 deg, deltaT: 3.527938 s, deltaX: -2.286186 m, approachRate: -0.648023 m/s, posRepo size: 4 nFNOT Ignoring new targets: 111.24 m.nn  ProNav: ac range: 111.242401 m, nav range: 109.687119 m, bearing: 327.570569 deg, approach rate: 0.000000 m/s, LOS rate: 0.038341 deg/s, cmd heading: 329.310140 deg, new cmd heading: 329.370365 deg. n  HeadingCmd: 5.748597 target range: 111.242401 and range: 111.80 m.n@nnnnmzmYm"mJk"k kj@3[@jv0?=B=AɝE>)AEVAIA)E'=)MIM%oIMOB; U@ YE ?F  F F f0F 1 i5 A= JDAT read: TxSync time:20:02:39.7707 ԉ Թ fG5 ,.G BBN>`$F,ܔ+AyeɁBeIIMb@Mb@Mb@iS㥛?ktQ9$?Y yu A@A@ A9@  <I 1I 3=# = ==EQ E>yAA MGM!FYM M>Q}5U?}5Uƾ UA9_&?:Y,@yU/CE)U$;IU9;iU5YB?A̢EB*** querying acoustic contact ***oonFNOT Ignoring new targets: 111.24 m.nH:nH:5 ProNav: ac range: 111.242401 m, nav range: 109.358337 m, bearing: 327.589514 deg, approach rate: -0.760117 m/s, LOS rate: 0.043930 deg/s, cmd heading: 329.370355 deg, new cmd heading: 329.427359 deg. n50:=HeadingCmd: 5.749592 target range: 111.242401 and range: 111.80 m.n=@n9n9nAnAmAzmAmI"mMBJkI"kI kIjIju [?B*ɝ>)>(UI)v&=)IuIy.J @ jJrJzJ@JJ,:J :JJ4JEF FF0FJK%:ORK%9ZK!bK%ajK%  "K=?K=>u T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.fG Z>a G B B N >h+F,+A^GnzAtzA9BH,>HHIHBHc =HHI< I_E1y=ӁB=IAiEAIMVIMn4e;V= e[=aQ m>yii mGm!FYq u>y5}|?5}ʾ }A9Y@y}3CE)}:I}6:i}5YAn1=FNOT Ignoring new targets: 111.24 m.n=A*:nEA*:u ProNav: ac range: 111.242401 m, nav range: 109.116997 m, bearing: 327.603493 deg, approach rate: -0.641028 m/s, LOS rate: 0.037212 deg/s, cmd heading: 329.427346 deg, new cmd heading: 329.469375 deg. nuN:}HeadingCmd: 5.750325 target range: 111.242401 and range: 111.80 m.n}@nynynynymyzmm"mJk"k kjjJ?B%!ɝ%s>)!SI)@&=)iI{IΆS @ Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000970EF FF?1FԙfG {RG ?G ?Թ G B) B9 NE >#1F,F+A٪JT}@9Jvz@JZXJ?>YJHI@?@T?@Ǥ E!"?]M?U]??JT}@J;ɫJwCyRցBRII5Mb@Mb@Mb@i111115 r?MbX rhUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.25230695#?Y5ʽy5C5 A5@5X@ 5@191Im5Im3y G!FY >5:?5ξ A9%?:Y2@y7CE)`F;IE;iN 5YBA͢EnԡFNOT Ignoring new targets: 111.24 m.nOV:nOV: ProNav: ac range: 111.242401 m, nav range: 108.875351 m, bearing: 327.620414 deg, approach rate: -0.667430 m/s, LOS rate: 0.046841 deg/s, cmd heading: 329.469365 deg, new cmd heading: 329.520242 deg. n;HeadingCmd: 5.751213 target range: 111.242401 and range: 111.80 m.n @nnnnmzmm"mBJk"k kjj ?eBelsiɝm>)im3gRiIi)u%=)uS/Iu)I}}{ } @ E5?F1 F1F55F9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503585 fG] ,]G1 BA BQ N] >jJ rJ zJ ?J J \:J &:J ـ4J ) 8F,+A٪>u}@9>z@>W>/l>Y>Hu@?V?m@9"?`$?7?&?>u}@>;ɫ>uCyFBJILNAAIR\IR#4^ߑ= ^[=%L=:Q %>y)) 5G5!FYE *8 M>JK]GLRK]+9ZKYbK]bjK]!=SQ?/    *6?LY`_[SH?983,' Ki KmuAq}5u?}5uҾ uA9yY2@yu;CE)u{;Iu;iu"5YB A֢EnFNOT Ignoring new targets: 111.24 m.nyO:nyO: ProNav: ac range: 111.242401 m, nav range: 108.623367 m, bearing: 327.638145 deg, approach rate: -0.642940 m/s, LOS rate: 0.045347 deg/s, cmd heading: 329.520236 deg, new cmd heading: 329.573554 deg. n:HeadingCmd: 5.752144 target range: 111.242401 and range: 111.80 m.n@nnnnmzmm"mJk"k kjj=?BFɝ<>)A QI)%Lj%=)%XI%I- -@ )E?F FF`0F}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7568249H+>HCH IH'BHHHI< I}EfG]{G) B1 BI NU >i % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007606E>F,+A ٪>^@9>@>P>>Y>H`H?`0O?@v`,?z??Φ?>^@>0;ɫyyy }G}!FY; >5ҕ?5b׾ A9Y62@y?CE);I;i#5YBAעEnFNOT Ignoring new targets: 111.24 m.n%<:n5<:q ProNav: ac range: 111.242401 m, nav range: 108.362221 m, bearing: 327.656383 deg, approach rate: -0.589779 m/s, LOS rate: 0.041287 deg/s, cmd heading: 329.573566 deg, new cmd heading: 329.628410 deg. n:HeadingCmd: 5.753101 target range: 111.242401 and range: 111.80 m.ng@nnnn mzmmQ"mQJkY"ka kjj``h@BJܭɝ>)Q%OI)$=) I 8I /Yu g@ ԡE?F FF_0FFFvAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260523 fG fG G wAG B B N >u-EF,_+A٪>@9>Ӓ@>QK> >Y>H&N?@=L? :3?Qֶg?2,?«?>@>y;ɫ>vCTybBfIIMb@Mb@Mb@i~jt?Cl绿{Gz9$?Y;߽yף A@A@ zA9z@IWI44< C=XW;Q >y G!FY3; >5䕊?5ܾ A9'?:Yi5@yCCE):I:i%5YAn)5FNOT Ignoring new targets: 111.24 m.n5ax:n=ax:E ProNav: ac range: 111.242401 m, nav range: 108.094017 m, bearing: 327.677017 deg, approach rate: -0.703895 m/s, LOS rate: 0.054288 deg/s, cmd heading: 329.628399 deg, new cmd heading: 329.690455 deg. nM;MHeadingCmd: 5.754184 target range: 111.242401 and range: 111.80 m.nMF"@nQnQnQnQmYzmYmY"m]BJka"ka kajaje @><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511766BXqɝ%>)!%yM!I!)%$=)-lI5H^I5iw 5F"@ 1E?F FF`0FjJrJzJBJJJ$:J-4JJK0MRKs9ZKbKcjK    0%nC\+(=JMG@85.(%fG]{G B ) BI N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764500fWKF,/+A٪R@9R@RCRI5>YRHWY?!9?謁U9?R^??`?R@R(;ɫRyCynBnI  4<INI@ 4-ަ; -U=-߬;Q 5>y11 5G5!FH->HH( IH6BHe =HHIԘ< I4EIaIeC"IeC*Iec =2Ied =:IeD5Y ; >5? 5 A9 Y 4 @yGCE):I:ie'5YޓBAآEUB*** querying acoustic contact ***oQoQniuFNOT Ignoring new targets: 111.24 m.n:^:n:^: ProNav: ac range: 111.242401 m, nav range: 107.830772 m, bearing: 327.696986 deg, approach rate: -0.638749 m/s, LOS rate: 0.048572 deg/s, cmd heading: 329.690445 deg, new cmd heading: 329.750497 deg. nV;HeadingCmd: 5.755232 target range: 111.242401 and range: 111.80 m.n*@nnnnmzmm"mJk"k kjjhh@Bx}ɝk>)%?L!I!)%!$=)-'I-ŏI- a =*@ I1EF FFo0FBDAT read: Rx Time:20:02:42.3216 TRx dataTimestamp_ set to:1756324964.936603checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017826QIa=Ip=fG pG B9 ԉ Ba N >"@RF,zpI+A٪Jȱ@9Jꮷ@J>J0>YJH]?`0?@Ἷ9?G?1?@?Jȱ@Jω;ɫJtCyfBfIhihEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268164YIuMb@Mb@Mb@iqqqqquw/?"~j{Gz9u&?YuSyqu/ Au@u@ u@q9u@ILI4a7= C=?;Q >y G!FYk; >5?5 A9d)?:Y4@yLCE)V;I;i)5Y6AnFNOT Ignoring new targets: 111.24 m.n f:n f: ProNav: ac range: 111.242401 m, nav range: 107.572342 m, bearing: 327.716629 deg, approach rate: -0.662148 m/s, LOS rate: 0.050450 deg/s, cmd heading: 329.750496 deg, new cmd heading: 329.809567 deg. n~ ;%HeadingCmd: 5.756263 target range: 111.242401 and range: 111.80 m.n%N3@n!n!n!n!m!zm)m)"m-BJk)"k kjj @B%!ɝ%>)!%@J!I))- #=)5dI54I5Uf 5N3@ 1ԉEF FF0FԹfGM  BDAT read: Tx time:20:02:43.4214  $Ping request sent.  \?yo~?rnl)%V?I=iik]> :publishing transmit ping timeۡ  Fpublishing direction and range info9ͱ6Rl,?h9 \^౿h`r|˿y )Ii )G B B! N5 >Ii \?yo~?rnl)Ii DjXF,Kc+A٪:@9:@: 6:z>Y:He? E"?yy!! %G%!FY-%; ->1Թ55G?55_ 5A9Y 4@y5PCE)5-9kV@ԛd\Ma}3--W?09 >ΈFi8ƿo-jo-]Bo-R?o-r?o-5B2p-?:p-LZBp)"p-B*p-誶@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.533321 s, deltaX: -2.300003 m, approachRate: -0.650947 m/s, rangeRepo size: 4 UJDAT read: TxSync time:20:02:43.4207  Added new target pos. range: 108.953804 m, bearing: 326.785448 deg, lat: 36.779958 deg, lon: -121.858978 deg, deltaT: 3.533321 s, deltaX: -2.288597 m, approachRate: -0.647718 m/s, posRepo size: 4 nFNOT Ignoring new targets: 108.95 m.nn ProNav: ac range: 108.953804 m, nav range: 107.058197 m, bearing: 327.065081 deg, approach rate: 0.000000 m/s, LOS rate: 0.050450 deg/s, cmd heading: 329.809563 deg, new cmd heading: 329.877598 deg. nHeadingCmd: 5.757450 target range: 108.953804 and range: 109.50 m.n=@nnnnm zm m "m Jk"k kj`[@j?B鞉ɝ>)靕bHI)N#=)I(I^ =@ EqFy FyF}o0FH0>HCH: IHEBHa =HHDIĘ< I#EA fG] Lq %= <G B! B9 NE >Ϗ^F,}+A٪ze@9z@z٧2zF>YzH"d?&? W|:?@I +S??@?ze@zF;ɫzxCy-B-II=)I=W3m<; mE=m';Q u>yqq uGu!FY}舺 }>5(?5 A9Y=4@yTCE):I-:i,5YA!naeFNOT Ignoring new targets: 108.95 m.nml:nml:} ProNav: ac range: 108.953804 m, nav range: 106.784325 m, bearing: 327.084178 deg, approach rate: -0.740790 m/s, LOS rate: 0.051788 deg/s, cmd heading: 329.877592 deg, new cmd heading: 329.935031 deg. jJrJzJ?JJ̶:J:Jـ4JJ;J;Jn;Jn;n*;%HeadingCmd: 5.758452 target range: 108.953804 and range: 109.50 m.n%>E@n)n)n)n1mazmim"mJk"k kjj? B (hɝ>)8G!I!)%/"=I)MTIUFIUu U>E@ QE)F) F)F-1F)yfGE ,]ԩ G! B) BA Ne >feF,@+A٪>@9>ı@>+>>Y>H`?=?-Q B?@X㶿 ^? ??>@>@;ɫ>wCyFBJIN=N=I-Mb@Mb@Mb@i)))))-~jt?1Zd{Gz9-$?Y-"۽y)- A-@-A@ -@)9-(@IE>IE3U< UK=];Q ]>yaa eGe !FYm m>59?5 A9&?:Y3@yYCE):I8:ix.5Y%ГB-zAMEinFNOT Ignoring new targets: 108.95 m.nP:nP: ProNav: ac range: 108.953804 m, nav range: 106.512566 m, bearing: 327.102941 deg, approach rate: -0.656884 m/s, LOS rate: 0.045467 deg/s, cmd heading: 329.935020 deg, new cmd heading: 329.991450 deg. n: HeadingCmd: 5.759437 target range: 108.953804 and range: 109.50 m.n OM@n n n n m zmm"m)BJk"k kjjNV?B)靝?EI)"=)[I-Ij OM@ EF FF@5FJKE/sMRKE9ZKAbKEejKE *GMD, F,,'%gB+ "KU?KU?fG ]{G wAG G9 Ba B N >kF,*+A٪r°@9rֿ@rh$rǷ>YrH@gh?0?&wF?*??`?r°@r};ɫrvCy~ B~II!Ii3:H92H9HU*>HUCHUA IHUJBHUd =HQHUDIQ IUE~^= G=;Q >y G!!FYĉ; >5I?5 A9YE3@y]CE):Id:i*05YAB*** querying acoustic contact ***oonFNOT Ignoring new targets: 108.95 m.n7O:n7O:} ProNav: ac range: 108.953804 m, nav range: 106.261345 m, bearing: 327.120115 deg, approach rate: -0.660928 m/s, LOS rate: 0.045291 deg/s, cmd heading: 329.991437 deg, new cmd heading: 330.043083 deg. n}:HeadingCmd: 5.760338 target range: 108.953804 and range: 109.50 m.nT@nnnnmzmm"mJk"k kjj•? BMTAIɝM?)IU,DQIQ)UV;"=)]PI]I]k ]T@ YEF FF_0FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJ4J4JϚ/jJrJzJJJ,:J":JJfG !) J<J<J4{;J5{;G B B N >Q rF,Y+A٪:3װ@9:UԷ@::* >Y:Hqs?`?@ @KfM?L@?A?.?:3װ@:;ɫ:yCyF BFI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741729IeMb@Mb@Mb@iaaaaaeS㥛?Zd;/$9e$?Yeyee/ Aae@ e@a9e@I}UI}4:> J=̗;Q >y G"!FY; >5Z?5 A9'?:Y48@yaCE) ;I? ;i15Y˓B AnFNOT Ignoring new targets: 108.95 m.nl:nl: ProNav: ac range: 108.953804 m, nav range: 105.998085 m, bearing: 327.140994 deg, approach rate: -0.650636 m/s, LOS rate: 0.051730 deg/s, cmd heading: 330.043074 deg, new cmd heading: 330.105867 deg. n; HeadingCmd: 5.761434 target range: 108.953804 and range: 109.50 m.n ]@nnnnmzmm"m% BJk!"k! k!j)j- ?] B]r>Yɝ]$?)YeBaIa)e"!=)m}Im6Imm m]@ )E?F FFFYfGzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.994437G ԉ B B N >ƷxF,+Aɩ@0٪:@9:@:`[: >Y:H`m?@?(P{V?@b? ??:@:;ɫ:uCyRBRIIZNIZ@ 4-W< -Q=5;Q =>yAA EGE#!FYE@< M>q5u[k?5u uA9YR7@yueCE)uQ>;Iu>;iu35Y AnFNOT Ignoring new targets: 108.95 m.nf:nf: ProNav: ac range: 108.953804 m, nav range: 105.740692 m, bearing: 327.161018 deg, approach rate: -0.646807 m/s, LOS rate: 0.050439 deg/s, cmd heading: 330.105857 deg, new cmd heading: 330.166072 deg. nv ;HeadingCmd: 5.762485 target range: 108.953804 and range: 109.50 m.nGf@nnnnmzmm"mJk"k kjj@:@JKNRK9ZKbKfjKK! K%vAE BEhAAɝE:?)AM3@III)M !=)LIGI4O Gf@ ԑEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247468EU?FY FYFe`0Fa19G/{A { /{A9 BԹH=>H=CH=M IH=TBH9H9H=DI=< I=EfGMpGU?GU>G) B1 BI NU >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497167~F,k+A٪: @9:@:( :>Y:H6? r? 9`n`?ֺ/?!?z?: @:D;ɫ:wC\yzBzIIUI4%; K=;Q >y!! %G%%!FY%V< %>)55-{?55- -A99Y=v6=@y-iCE)-;I-;i-f55YEƓBM AMEnq}FNOT Ignoring new targets: 108.95 m.nc:nc: ProNav: ac range: 108.953804 m, nav range: 105.484238 m, bearing: 327.180591 deg, approach rate: -0.650091 m/s, LOS rate: 0.049737 deg/s, cmd heading: 330.166072 deg, new cmd heading: 330.224934 deg. n;HeadingCmd: 5.763512 target range: 108.953804 and range: 109.50 m.nn@nnnnmzmm"mJk"k kjj`u@Bd6ɝ?)BX?I)G!=)O I{ժIs3 n@ jJrJzJ@JJl:J/:JJ4JJ <J <J^;J^;EF FF}0F!IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752394fG{RGBB N% >I ɅF,E+A٪:@9:@::a>Y:H@??u+`g?`@?$?`>?:@:0;ɫ:vCyFBFII%Mb@Mb@Mb@i!!!!!%NbX9?X9v:v9%%?Y%y%Լ%A%@%A@ %@!9%@15BAI=MI={4M; MG=U\;Q U>yQQ UGU&!FY]آ; e>am5e(?m5e;  erA9u(?u:Yu66u@yemCE)e#:Ie,:ie175Y AnIMFNOT Ignoring new targets: 108.95 m.nuY:nuY: ProNav: ac range: 108.953804 m, nav range: 105.215912 m, bearing: 327.201026 deg, approach rate: -0.622680 m/s, LOS rate: 0.047543 deg/s, cmd heading: 330.224920 deg, new cmd heading: 330.286382 deg. n;HeadingCmd: 5.764585 target range: 108.953804 and range: 109.50 m.n{w@nnnchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.001359nmzmm"m!BJk"k kjj:O@Baɝ0?)o=I) =)-I-I5o) 5{w@ 1QEF FFo0FqJKmBoHRKm+9ZKibKmgjKm  "K ?K?fGE =K4U BDAT read: Rx Time:20:02:45.9685 U TRx dataTimestamp_ set to:1756324968.716947] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254842ԡ G! B) BA NM >F,!2+A٪JB"@9Jd@JzJ>YJH &? 0?@=a&`i?F`n?+?Ǩ?JB"@J|;ɫJzCyVBZ I^=^a=IbGIb3j= jR=jA:Q n>HpHpHrS IHrYBHrf =HpHpIr̘< IrEyl| ~G~'!FY: >  5 ?5   `A9Y6@y rCE) :I :i 85Y%B%E A%EnIMFNOT Ignoring new targets: 108.95 m.nUp:nUp:e ProNav: ac range: 108.953804 m, nav range: 104.960121 m, bearing: 327.220501 deg, approach rate: -0.688900 m/s, LOS rate: 0.052578 deg/s, cmd heading: 330.286392 deg, new cmd heading: 330.344959 deg. neU;mHeadingCmd: 5.765607 target range: 108.953804 and range: 109.50 m.nm@ninqnqynmzmm"mJk"k kjj`, @Bw鞹ɝy?);I)' =)I鯺I21 @ EF FF1FԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505172jJrJzJGJJ:J:Jc4JJ;J;Jn;Jn;fG% ;*G} vAGy Gi B B  N >ޒF,L+A5DAT read: 20:02:45.9685 LVL= 23920, 32753, 21634, 32755, AGC= 70, IDX= 403, 0.38,-0.662,-2.100,-0.567,-1.132, PHS= 0.558,-0.921, 0.562, RAW= 150.1, -2.7, CAL= 154.2, -11.4, ROT= 355.8, 11.4 =Ygot valid direction response: 20:02:45.9685 LVL= 23920, 32753, 21634, 32755, AGC= 70, IDX= 403, 0.38,-0.662,-2.100,-0.567,-1.132, PHS= 0.558,-0.921, 0.562, RAW= 150.1, -2.7, CAL= 154.2, -11.4, ROT= 355.8, 11.4 EPDAT read: Bearing 179.9, 12.1 (Local) E~Local bearing/azimuth received: Bearing 179.9, 12.1 (Local) UDAT read: Range 10 to 50 : 107.1 m (Round-trip 142.9 ms) speed 0.8 m/s U,DAT read: user:2003> ]BDAT read: Tx time:20:02:47.0714 ]$Ping request sent.],@)~%KI~Y@i~%K>||~}.?rD5 ?: 6~K)~ܣ?I~pB=i~i ~%K>||:publishing transmit ping timeYFpublishing direction and range info|9~H?Tmag4Lɿy|||| |)|I|i||||| |)|I|i|||~}.?rD5 ?: 6~K)|I|i||||yB I5only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V aa=@a= ae=@a= ai=@a= a]=@a= IAIA0< !=Q >y G)!FY >IU5M+?U5Mt MHAU+:9Q]:YY]@yMwCE)M:IMn?iM:5YeBe AeEo|o~Z N+Ao~ Bo~ Bo~@~h  Z@3=|Ӽ5~H?Tmag4Lɿo~i o~%K>~@ V@pp# rL݁9”2~EMzy?Z~U#K.Qƿo~co~VBAo~J?o~E1o~9B2p|:p~E1Bp~5B"p~B*p~@} addTargetRange:: Added new target pos. range: 107.099998 m, deltaT: 3.778587 s, deltaX: -2.400002 m, approachRate: -0.635158 m/s, rangeRepo size: 4  Added new target pos. range: 106.562508 m, bearing: 327.167833 deg, lat: 36.779958 deg, lon: -121.858981 deg, deltaT: 3.778587 s, deltaX: -2.391296 m, approachRate: -0.632855 m/s, posRepo size: 4 nFNOT Ignoring new targets: 106.56 m.nn ProNav: ac range: 106.562508 m, nav range: 104.780319 m, bearing: 327.115379 deg, approach rate: 0.000000 m/s, LOS rate: 0.052578 deg/s, cmd heading: 330.344968 deg, new cmd heading: 330.429703 deg. nHeadingCmd: 5.767086 target range: 106.562508 and range: 107.10 m.n@nnnnmzmm"mJk"k k j `fZ@j  A?}B}pg鞁ɝ?)靅9I)%f =)IIEwF @ E F FF0FiJDAT read: TxSync time:20:02:47.0707 ԩ fG= =K4G B B) N= >P{F,g+A٪n'@9n%@nvWnz?>YnH@??V!Yl?e:J?5?|?n'@n ;ɫnvCy]p<]JKeLRK9ZKbKhjKK KwAԩIe=Ie=3Ռ: b=_F:Q >y G*!FY: >-5B–?-5 7A- :9)-S:Y555@y{CE);IK`?i;5Y9= A9]B*** querying acoustic contact ***oYoYnFNOT Ignoring new targets: 106.56 m.nl:nl: ProNav: ac range: 106.562508 m, nav range: 104.546341 m, bearing: 327.132974 deg, approach rate: -0.684637 m/s, LOS rate: 0.051601 deg/s, cmd heading: 330.429690 deg, new cmd heading: 330.482595 deg. n ;HeadingCmd: 5.768009 target range: 106.562508 and range: 107.10 m.n@nnnnmzmm"mJk"k kjj@?%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.B鞉ɝ?)靕Q8I): =)I IGH @ ԹEF FFp5FH>HCHZ IH^BHHEDHDIј< IEICIC"IŔC*Id =2I:Iť 6fG vkHG B  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743745B N > F[F,~+A٪:M"@9:p@:68: >Y:H?@ ?@@& m? SBƠ?@? ?:M"@:~Ί;ɫ:wCyF#BF IINLIN4V!= V_=Z+Q Z>yXX ZGZ+!FY^ ^>`f5buі?f5b b'Af99dj+:Yj6j@ybCE)b:Ibڝ?ib<5YnBn ArEnFNOT Ignoring new targets: 106.56 m.nGh:nGh:- ProNav: ac range: 106.562508 m, nav range: 104.310493 m, bearing: 327.150918 deg, approach rate: -0.665769 m/s, LOS rate: 0.050769 deg/s, cmd heading: 330.482583 deg, new cmd heading: 330.536537 deg. n-^ ;5HeadingCmd: 5.768951 target range: 106.562508 and range: 107.10 m.n5?@n1n1n1n9mzmm"mJk"k k!j!j%?BPɝ?)%6!I))-_=)I 2I` ?@ !E9F9 F9F=65FAFE=FE=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000713QfGa Gm ?Gm ?G9 BI BY Ne >y F,X+A٪>/@9>,@>G > >Y>H?թ?" `u?`%62? 5?`'?>/@>:;ɫy G-!FYs; >5㖊?5  AT:9a'?:Y:@yCE);I[;i>5YF An!-FNOT Ignoring new targets: 106.56 m.n- :n5 :E ProNav: ac range: 106.562508 m, nav range: 104.025932 m, bearing: 327.175634 deg, approach rate: -0.647718 m/s, LOS rate: 0.056412 deg/s, cmd heading: 330.536541 deg, new cmd heading: 330.610891 deg. nE;MHeadingCmd: 5.770248 target range: 106.562508 and range: 107.10 m.nMॸ@nInInInImQYzmQma"me%BJki"ki kijijm 2?B鞡ɝ?)靥V4I)s=)OII4X ॸ@ EIFI FIFM_0FQjJrJzJ@JJ̶:J:JJ4J@@@@ԁJK>BKRK9ZKbKijK'*&"-[qkgbWM?51<Zv}wtlbZTLFD@==:660fGYeԱu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503632Gq B B N > H >H H ` IH dBH H H I ɘ< I EF,x+A٪N_9@9N6@N|N` >YNH ?5?p븿`z?/?`??N_9@N;ɫLyV BZ I\^AAIbJIb)4jc jX=j:Q j>ypp vGv.!FYz0K; ~> %5 1?-5 % A91Y5:=@y CE) ;I d;i ,@5YUB]v AeEnFNOT Ignoring new targets: 106.56 m.nas:nas:  ProNav: ac range: 106.562508 m, nav range: 103.780197 m, bearing: 327.196931 deg, approach rate: -0.612340 m/s, LOS rate: 0.053195 deg/s, cmd heading: 330.610881 deg, new cmd heading: 330.674923 deg. n ;5HeadingCmd: 5.771366 target range: 106.562508 and range: 107.10 m.n5@n1n1n9n9m9zm9m9"mAJkA"kA kAjAjMV ?ԑB 鞹ɝ?)靽J@3I) =)I3ImX @ EaFi FiFm`0Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756032ԹIuC=Iu=fG,]G B9 BQ Ne > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007575߫F,f+A٪RH@9RF@RzR{ >YRH?`?`>?uUq???RH@RVD;ɫRvCyf'Bf Irp=rp=IMb@Mb@Mb@iK7A?DlZd;O9 "?YO yjA n@9@I]PI] 4mt= m3=u ;Q u>yqq }G}/!FY}{; }>5?5)* A9%?:Yp;@yCE)3";I;i&B5Y; AnFNOT Ignoring new targets: 106.56 m.n:n: ProNav: ac range: 106.562508 m, nav range: 103.490425 m, bearing: 327.222765 deg, approach rate: -0.669431 m/s, LOS rate: 0.059850 deg/s, cmd heading: 330.674921 deg, new cmd heading: 330.752641 deg. nL$;HeadingCmd: 5.772723 target range: 106.562508 and range: 107.10 m.n%@nnnnmzmm"mBJk "k  k j j `B@=B=`9ɝ=?)9E q1AIA)Ew=)MIMWºIUIQ U%@ QE?F FFFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259971fG% Q`G) G- vAI G B B N% >jJ rJ zJ >J J :J !:J t4J йF,c++A٪VP@9V3M@V=VJ >YVHB?v?4߿ ߃?ຑ@4?N??VP@Vމ;ɫVwCyf.Bf IIvDIv3  !=  e=W:Q >yy }G}0!FY; >5?5g. A9Y6;@yCE):I:iC5YB AB*** querying acoustic contact ***oonFNOT Ignoring new targets: 106.56 m.n;:n;: ProNav: ac range: 106.562508 m, nav range: 103.251892 m, bearing: 327.244022 deg, approach rate: -0.637351 m/s, LOS rate: 0.056929 deg/s, cmd heading: 330.752648 deg, new cmd heading: 330.816566 deg. nG; HeadingCmd: 5.773839 target range: 106.562508 and range: 107.10 m.n Iø@n nnnJKXNRK9ZKbKjjK#)(   mzm)m)"m)Jk)"k1 k1j1j5K@eBe,aɝe?)am/iIi)mu=)udIu),źIuV uIø@ ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512617QEF FF~0FH>HHl IHnBHg =HHI IyfGx IG B B! N5 >ԩ > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763838F,+A٪:RZ@9:uW@:M:7>@Y:Hf?c?v߿r?)???:RZ@:f;ɫ8yJ1BJ" IInKIn4v< vL=z\9Q z>yxx zG~2!FY~.U; ~> 5d$? 52 A9Y:@yCE):I:ivE5YB A%EnQUFNOT Ignoring new targets: 106.56 m.n]q:n]q:m ProNav: ac range: 106.562508 m, nav range: 103.005760 m, bearing: 327.265881 deg, approach rate: -0.640556 m/s, LOS rate: 0.057022 deg/s, cmd heading: 330.816579 deg, new cmd heading: 330.882310 deg. nm;uHeadingCmd: 5.774986 target range: 106.562508 and range: 107.10 m.nu̸@nqnqnqnqmyzmymy"mJk"k kjj @ B 鞹ɝ?)%.I)5=)aI ȺIZT ̸@ E]?FY FaFe1FiԱ-BDAT read: Rx Time:20:02:49.6154 -TRx dataTimestamp_ set to:1756324972.2486935checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017031fGYeGBBN> F,+A٪:^@9:[@:@:>Y:H?\?@.:߿`!?Һ@9 ?`??:^@:;ɫ8yF8BF+ IHiJAlI-Mb@Mb@Mb@i)))))-{Gz?M¿Zd;O9-#?Y-ny)-vA-@) -X@)9-@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267491ITI4< 9=9Q %>y!! %G%3!FY-\: ->1=556?=557 5A9E'?E:YE<E@y5CE)5L:I5]:i5dG5YMBMC AMEnq}FNOT Ignoring new targets: 106.56 m.n}ʈ:n}ʈ: ProNav: ac range: 106.562508 m, nav range: 102.719391 m, bearing: 327.292208 deg, approach rate: -0.648609 m/s, LOS rate: 0.059795 deg/s, cmd heading: 330.882313 deg, new cmd heading: 330.961514 deg. n%$;HeadingCmd: 5.776368 target range: 106.562508 and range: 107.10 m.nظ@nnnnmzmm"mBJk"k kjj @e"Be@OԻaɝe8 ?)amK,iIi)޽=)ƾIA˺I a ظ@  jJUrJUzJU?JQJUl:JU/:JUـ4JQEAFA FAFEo1FIAJKLRKh9ZKbKkjK]BT hJ0"!u DAT read: 20:02:49.6154 LVL= 26608, 32753, 22482, 32755, AGC= 68, IDX= 403,-0.32,-3.107, 1.801,-2.999, 2.754, PHS= 0.511,-0.906, 0.528, RAW= 150.6, -1.9, CAL= 154.3, -10.7, ROT= 355.7, 10.7  Ygot valid direction response: 20:02:49.6154 LVL= 26608, 32753, 22482, 32755, AGC= 68, IDX= 403,-0.32,-3.107, 1.801,-2.999, 2.754, PHS= 0.511,-0.906, 0.528, RAW= 150.6, -1.9, CAL= 154.3, -10.7, ROT= 355.7, 10.7  PDAT read: Bearing 179.6, 11.4 (Local)  ~Local bearing/azimuth received: Bearing 179.6, 11.4 (Local)  DAT read: Range 10 to 50 : 104.7 m (Round-trip 139.7 ms) speed 0.4 m/s  ,DAT read: user:2004>  BDAT read: Tx time:20:02:50.7215  $Ping request sent. ! U `direction in FSK: [0.979847,-0.073675,-0.185667]] :publishing transmit ping time۹ ] Fpublishing direction and range info1 95 p Z?^Wܲ &K{ǿy5 fB1 5 ga m  9 BG B! B1 NE >1 5 W)1 I5 Di5 ?*H "H H >H H y IH xBH f =H H I < I E5 g5 +?5 8(@5  5 Z,@)5 t;?I5 @i5 t;?>1 1 5 zq?Y\F?Gᠿ)5 e?I5 =i5 )5 t;?>1 1 % :publishing transmit ping time۹ - Fpublishing direction and range info1 95 p Z?^Wܲ &K{ǿy1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 HF,6+AIYiYYY]zq?Y\F?Gᠿ)YIYiYYYY9٪f@9c@>YH?@M?`F߿ ?`M"?@? %?f@̢;ɫxCy=B1 IIUPIU 4m< D=hQ >y G4!FY; > 5G? 5< A9Y;@yCE)7%I5Y AoYo]&0+Ao]XBo]XBo]uܶ@][ ǵY@&8iW3]p Z?^Wܲ &K{ǿo])o]t;?>]S(U@KVRU0]5*ܦʙ?0$Ώ[?Ŀo]l]o]1Bo]q3ɳ?o]@o]@B2p]J?:pYBp]!7B"p]0B*p]ֶ@ addTargetRange:: Added new target pos. range: 104.699997 m, deltaT: 3.532792 s, deltaX: -2.400002 m, approachRate: -0.679350 m/s, rangeRepo size: 4  Added new target pos. range: 104.173004 m, bearing: 327.411643 deg, lat: 36.779960 deg, lon: -121.858981 deg, deltaT: 3.532792 s, deltaX: -2.389503 m, approachRate: -0.676378 m/s, posRepo size: 4 n FNOT Ignoring new targets: 104.17 m.n n  ProNav: ac range: 104.173004 m, nav range: 102.595367 m, bearing: 327.371057 deg, approach rate: 0.000000 m/s, LOS rate: 0.059795 deg/s, cmd heading: 330.961515 deg, new cmd heading: 331.041843 deg. nEHeadingCmd: 5.777770 target range: 104.173004 and range: 104.70 m.nE~@nInInInImIzmImQ"mQJkQ"kQ kYj],Z@j]t?iJDAT read: TxSync time:20:02:50.7208 #B/ɝ / ?)  *I)Y=)bIqϺI g =~@ AEF FF1FԑԹ fG dG B B N% >yF,P+A٪ZYZHh?J>?ȸ` ߿?d?`?D?Zy G6!FY; >5X?5KA A9'?:Y5@yCE):IQ:iJ5YB An15FNOT Ignoring new targets: 104.17 m.n=u:n=u:m ProNav: ac range: 104.173004 m, nav range: 102.334747 m, bearing: 327.391659 deg, approach rate: -0.677308 m/s, LOS rate: 0.053677 deg/s, cmd heading: 331.041838 deg, new cmd heading: 331.103802 deg. nmZ;uHeadingCmd: 5.778852 target range: 104.173004 and range: 104.70 m.nuZ@nqnqnynymyzmym"m0BJk"k kjj ?$Buɝ?)DT(I)z=)-I-ҺI-i -Z@ 1E?F FF05FfG ̛fjJm rJm zJi Ji Jm \:Jm U:Ji Ji G B B N > g!F,}j+A٪VRp@9Vum@VV) >YVH 8?B?=.-߿@ݖ?sֹ:t?`5?Z?VRp@V%5;ɫTyfFBf; IInIInd4v< vh=vx9Q v>yxx zGM7!FYU'7: U>Ye5]g?e5]XE ]A9aYm5m@y]CE)]y:I]B:i]L5Yqu AyB*** querying acoustic contact ***oonFNOT Ignoring new targets: 104.17 m.nq:nq: ProNav: ac range: 104.173004 m, nav range: 102.100700 m, bearing: 327.410268 deg, approach rate: -0.663541 m/s, LOS rate: 0.052881 deg/s, cmd heading: 331.103802 deg, new cmd heading: 331.159759 deg. n*;HeadingCmd: 5.779828 target range: 104.173004 and range: 104.70 m.nZ@nnnnmzmm"mJk"k kjj $?%B@:ɝ-?)&I!)%=)%I-qqպI-Mt -Z@ 1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JK =NRK s9ZK bK ljK #Qc\M>0$  (-) E?F FF_0FFFHE>HAHE IHEBHEg =HAHAIEԘ< IEEyfG  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241750 F,N+A٪: @9:-}@:1: >Y:H ?@"?P`߿?@* e?`?`?: @:;ɫ:uCyfQBjI IIr1Ir3vY= zJ=zđ9Q z>yx| ~G~8!FY~; > 5Sx?5I vA9Y/5@yCE)R:I:iIN5Y-B-3 A-EnQUFNOT Ignoring new targets: 104.17 m.n]i:n]i:m ProNav: ac range: 104.173004 m, nav range: 101.845840 m, bearing: 327.430321 deg, approach rate: -0.648080 m/s, LOS rate: 0.051118 deg/s, cmd heading: 331.159755 deg, new cmd heading: 331.220062 deg. nmT ;uHeadingCmd: 5.780880 target range: 104.173004 and range: 104.70 m.nu@nqnqnynymyzmym"mJk"k kjj@t?'Bn:ɝ?)$I)l+=) IzغIe @ ԹE]?FY FaFe`0Fachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493846fGuGB B N >9 1F,-+AyWBQ Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.745898only read 0 of 1 data item for altitude. Device response is::BD, +0.01, +753.9-10.51, 7.74, 0.00 aa@a ae@a ai@a a]@a 4<ICI3:< ==Q >y G:!FY >u5?u5N eAu+:9qu:Yq}@yCE)$iO5Y AnFNOT Ignoring new targets: 104.17 m.n;a:n;a: ProNav: ac range: 104.173004 m, nav range: 101.564293 m, bearing: 327.452590 deg, approach rate: -0.620652 m/s, LOS rate: 0.049228 deg/s, cmd heading: 331.220052 deg, new cmd heading: 331.287046 deg. n#;HeadingCmd: 5.782050 target range: 104.173004 and range: 104.70 m.n@nnnnmzm!m!"m!Jk!"k) kIjIjUH) H- IH- BH- e =H) H) I- < I- EICIC"IʓC*If =2If =:I>5Gq B B N >ZF,G+A ٪>컱@9>@>St>,>Y>H??C߿ ? S8N-? S?ǧ?>컱@>[;ɫ>xCyR`BV\ IIZTIZ4b+G= f]=f%;Q f>yhh jGj;!FYj5< j>Ym5]Κ?u5]R ]UAu :9quT:Yu;3u@y]CE)]};I]R?i]P5YBq AEnFNOT Ignoring new targets: 104.17 m.nk:nk: ProNav: ac range: 104.173004 m, nav range: 101.313934 m, bearing: 327.471399 deg, approach rate: -0.683982 m/s, LOS rate: 0.051511 deg/s, cmd heading: 331.287042 deg, new cmd heading: 331.343606 deg. nh ;HeadingCmd: 5.783037 target range: 104.173004 and range: 104.70 m.n@nnnnmzmm"mJk"k kjjy@ )BPe;ɝ?) I)~G=)% I%޺I%? %@ !qEF FF0FF=F=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253773ԙjJ=rJ=zJ=AJ9J=|:J=!:J=4J9J=}<MJ=~<MJ=jy;MJ=jy;MfGzG?G> G B B9 Nm >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505831!CF,+AP٪Rʱ@9RBǸ@R R>YRH ? ?@c *߿@x?@ ?e?k?Rʱ@R%;ɫRvCyZhB^f IaaMaaM aeMaeU aiUaiU a]Ua]U IUMb@Mb@Mb@iQQQQQURQ?K7A{Gz9U"?YU yUףUAUv@U@ UA@Q9U@ImRImW4}= }?=B;Q >y G5?5fW DAT:9%?:Y3@yCE)u;Iy;iR5Y1 AnFNOT Ignoring new targets: 104.17 m.n]:n]:u ProNav: ac range: 104.173004 m, nav range: 101.049934 m, bearing: 327.491260 deg, approach rate: -0.643157 m/s, LOS rate: 0.048513 deg/s, cmd heading: 331.343596 deg, new cmd heading: 331.403336 deg. n},;}HeadingCmd: 5.784080 target range: 104.173004 and range: 104.70 m.n}.@nnnnmzmm"mOBJk"k kjj @*BK;ɝ?)I)=)ŠII- .@ EF FF0FfGGABIBaNmW>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757940! nF,+A٪:eܱ@9:ٸ@::>Y:H?X?pF@ ߿??@$?B?:eܱ@:;ɫ:xCyFgBFd IHHIRCIR3V˻ ZX=Z;Q Z>|yX   G =!FY; >-5@?-5[ 4A9)Y-25@yCE);I;ikT5Y=B= A=E]B*** querying acoustic contact ***oYoYnimFNOT Ignoring new targets: 104.17 m.nuZ:nuZ: ProNav: ac range: 104.173004 m, nav range: 100.800079 m, bearing: 327.509823 deg, approach rate: -0.642108 m/s, LOS rate: 0.047823 deg/s, cmd heading: 331.403347 deg, new cmd heading: 331.459173 deg. nH;HeadingCmd: 5.785054 target range: 104.173004 and range: 104.70 m.n)@nnnnmzmm"mJk"k kjjC@,B;ɝ?)0I)f=) I\Iq4 )@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011617JK&~JRKh9ZKbKnjKK KvAEF FFo5F!H>HCH IHBHd =HDDHDIӘ< I EYfG  GB B N >ԁ  BDAT read: Rx Time:20:02:53.2622  TRx dataTimestamp_ set to:1756324976.032420 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262921WG,+A٪R@9R߸@RtR>YRHyll rGr?!FYr : r>tz5v̗?z5v`jJrJzJ?JJJ :Jـ4JJJJw;Jw; v#A9YM2@yvCE)v;Iv;iv(V5Y!% A!QnFNOT Ignoring new targets: 104.17 m.nP:nP: ProNav: ac range: 104.173004 m, nav range: 100.544594 m, bearing: 327.528773 deg, approach rate: -0.613280 m/s, LOS rate: 0.045604 deg/s, cmd heading: 331.459163 deg, new cmd heading: 331.516157 deg. n a:-HeadingCmd: 5.786048 target range: 104.173004 and range: 104.70 m.n5O'@n1n1n1n1m1zm1m9"m9Jk9"k9 kAjAjEF @-Bg;ɝ?)NI)i=)IӎI`s O'@ ԉE?F FFp5FFvAFwA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514991ԱfG G vAG wAG B B N% >G,)u+Ay%{B-| I]=]4=DAT read: 20:02:53.2622 LVL= 21968, 32753, 21106, 32755, AGC= 69, IDX= 402, 0.31,-2.468, 2.394,-2.347,-2.891, PHS= 0.511,-0.952, 0.541, RAW= 151.0, -1.4, CAL= 154.6, -10.2, ROT= 355.4, 10.2 Ygot valid direction response: 20:02:53.2622 LVL= 21968, 32753, 21106, 32755, AGC= 69, IDX= 402, 0.31,-2.468, 2.394,-2.347,-2.891, PHS= 0.511,-0.952, 0.541, RAW= 151.0, -1.4, CAL= 154.6, -10.2, ROT= 355.4, 10.2 PDAT read: Bearing 179.3, 10.9 (Local) ~Local bearing/azimuth received: Bearing 179.3, 10.9 (Local) ԹDAT read: Range 10 to 50 : 102.3 m (Round-trip 136.5 ms) speed 0.5 m/s ,DAT read: user:2005> BDAT read: Tx time:20:02:54.3715 $Ping request sent.YY]+Pck?+!z?$|)]w ?I]YY%:publishing transmit ping time-Fpublishing direction and range infoY9]tUd?`f4kiƿyYYYY Y)YIYiYYYYY Y)YIYiYYY]+Pck?+!z?$|)YIYiYYYYIMb@Mb@Mb@iMbX9?i|?5/$9!?YyA`@@ n@9Q@IEI3eƎ= e(=eQ m>y G@!FY >5ᗊ?5Le A9$?:Y .@yCE)7]'MU@rc_kJ5#@0]c`W?VZR3ư~pĿo] Uo]hBo]Ʀ?o]M3o]CB2p]q3ɳ?:pYBp]9B"p]B*p]@] addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.783541 s, deltaX: -2.399994 m, approachRate: -0.634325 m/s, rangeRepo size: 4  Added new target pos. range: 101.786827 m, bearing: 327.990311 deg, lat: 36.779962 deg, lon: -121.858981 deg, deltaT: 3.783541 s, deltaX: -2.386177 m, approachRate: -0.630673 m/s, posRepo size: 4 nFNOT Ignoring new targets: 101.79 m.nn ProNav: ac range: 101.786827 m, nav range: 100.390686 m, bearing: 327.609005 deg, approach rate: 0.000000 m/s, LOS rate: 0.045604 deg/s, cmd heading: 331.516154 deg, new cmd heading: 331.587054 deg. n!%HeadingCmd: 5.787286 target range: 101.786827 and range: 102.30 m.n%r1@n)n)n)n)m)zm)m1"m5fBJk1"k1 kYj]@3Y@j]`?/BЫ;鞩ɝ%?)靵I)p=)IaI! r1@ !E?F FFe1F JDAT read: TxSync time:20:02:54.3708 JK RK 9ZK bK ojK %((+F24&wocYP"K >K >H >H H IH BH H H I < I E9 fG ˫ G B B N >[G,v8<+AX٪%E@9%h@%Ӽ%M>Y%H?@EZ?@طf޿@?ޱy??֤?%E@%;ɫ%xCyyB{ I4<<I2I?3z˻ :=w;Q >yaa eGeB!FYe; m>q}5u>?}5ui uA9Yy.@yuCE)u$4a G B B N >G,6Y+A٪ZD@9Zg@Z-UۼZ>YZH k?LY?`޿@?i?b? ?ZD@Z;ɫZwCy B  II=Mb@Mb@Mb@i99999=}?5^I?!rh rh9=M"?Y=ly=C=A=@9 =A@99=@ԹIUEIU3,= 8=?Q >y GC!FY: > 5 ?5 n A9-$?-:Y-,-@y CE) ;I };i +\5Y9=A9nimFNOT Ignoring new targets: 101.79 m.nuc>:nuc>: ProNav: ac range: 101.786827 m, nav range: 99.827934 m, bearing: 327.645519 deg, approach rate: -0.659051 m/s, LOS rate: 0.041612 deg/s, cmd heading: 331.643551 deg, new cmd heading: 331.696916 deg. nv:HeadingCmd: 5.789203 target range: 101.786827 and range: 102.30 m.n'A@nnnnmzmm"mhBJk"k kjjB?3B$ <ɝD'?)߁I)=)4I|@I/ 'A@ E)F) F)F-5F)F5=F5= fGM ˫ GQ GU *? ] UGu zAG B B N >  zA9 BN"G,r+A(YB@yBB٪n1@9nT@nm ׼nf>YnH`?N?@r޿?@S0@?@z?`U?n1@n;ɫnxCyzBz IJK~]NRK~]9ZK|bK~pjK~NNJE>1 I*I3%@]< -l=-:Q -?y11 5G5D!FY5 ; 5?9E5=l?M5=Br =A9IYMk,M@y=CE)=W:I=-:i=]5YUxB]A]EuB*** querying acoustic contact ***oqoqnFNOT Ignoring new targets: 101.79 m.n5::n5::H>HCH IHBHe =HEDHDIޘ< I&E ProNav: ac range: 101.786827 m, nav range: 99.608810 m, bearing: 327.659289 deg, approach rate: -0.646234 m/s, LOS rate: 0.040699 deg/s, cmd heading: 331.696908 deg, new cmd heading: 331.738309 deg. ns:%HeadingCmd: 5.789926 target range: 101.786827 and range: 102.30 m.n%G@n!n!n!n!m)zm)m)"m)Jk1"k1 kQjQj]^?4B{N<鞱ɝ'?)靽I) =)II G@ yEU?FQ FQF]_0FYԡ)?z?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fG1GBB N > Ia Ie AAJ;4J;4J;0jJu rJu zJu >Jq Ju <:Ju ^:Ju t4Jq Ju /;Ju 0;Ju g;Ju g;n #G,\Ɍ+A٪F @9F @F BͼF>YFH@?@3?]B޿ y?@dw? ?"?F @LF;ɫFwCynBr Iim@AIUI4< 5=+;Q >y GF!FY9; >5(?5w A9Y+@yCE)k:I:i_5Y!%A!=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754019nFNOT Ignoring new targets: 101.79 m.n`1:n`1: ProNav: ac range: 101.786827 m, nav range: 99.314880 m, bearing: 327.677501 deg, approach rate: -0.623855 m/s, LOS rate: 0.038768 deg/s, cmd heading: 331.738299 deg, new cmd heading: 331.793096 deg. n:HeadingCmd: 5.790882 target range: 101.786827 and range: 102.30 m.nN@nnnnmzmm"mJk"k kjj `?u7BuL4 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006058Ga By B N >r6)G, +A٪N{@9N@NCN>YNHz? )? ~Ŷߧ޿?='?H??N{@N;ɫNxCyVBZ I|IMMb@Mb@Mb@iIIIIIMMb?i|?5{Gz9M#?YMyMףMAII M@I9M@I@I3< [=F;Q >y GG!FYO; >58?5{ A9%?:Y,-@yCE)c;IJO;iGa5YsB>AEnFNOT Ignoring new targets: 101.79 m.n7:n 7:= ProNav: ac range: 101.786827 m, nav range: 99.077995 m, bearing: 327.692952 deg, approach rate: -0.613606 m/s, LOS rate: 0.040120 deg/s, cmd heading: 331.793105 deg, new cmd heading: 331.839571 deg. n=F:EHeadingCmd: 5.791693 target range: 101.786827 and range: 102.30 m.nEU@nAnAnAnAmAzmImi"mmlBJkq"kq kqjqj}r@8BT<ɝ;)?)^ I)=)ҤIIU U@ )EF FFFMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258282QJKuKLRKu 9ZKqbKuqjKuEgR>,! f391!zm]K7:H2HH>HCH IHĂBHh =HHDI< IEfG= YGA GA ԉ G! B1 BA NM >0G,Wx+A٪j@9j @j jq>YjH@??g?޿~?``@? #?6?j@j;ɫjuCytv IIRIW4 x; T=.;Q >y GH!FY%/; %>)-5-H?55- -A91Y5,5@y-CE)-:I-;i-b5YAE;AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509368ԡn!-FNOT Ignoring new targets: 101.79 m.n-C:n-C: ProNav: ac range: 101.786827 m, nav range: 98.832039 m, bearing: 327.708937 deg, approach rate: -0.654493 m/s, LOS rate: 0.042640 deg/s, cmd heading: 331.839577 deg, new cmd heading: 331.887650 deg. n:HeadingCmd: 5.792532 target range: 101.786827 and range: 102.30 m.nm\@nnnnmzmm"mJk"k kjj}@:Bp]<ɝy(?)( I)=)6IjzIp m\@ EF FFn0F] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762481fG G B B N >! F6G,R+A٪F'@9F$@F$FƱ>YFHd??@*`޿`g?E D?h%?N?F'@F`;ɫFwCyNBR IIEMb@Mb@Mb@iAAAAAET㥛 ?v//$9E!?YExyEAEv@E@ En@A9E@m;mp<IuNIu@ 4a= C=$;Q >y GI!FY7; >5Z?5v A9#?:Y+@yCE):I:id5YnBAinFNOT Ignoring new targets: 101.79 m.n3:n3: ProNav: ac range: 101.786827 m, nav range: 98.565926 m, bearing: 327.725494 deg, approach rate: -0.629756 m/s, LOS rate: 0.039287 deg/s, cmd heading: 331.887662 deg, new cmd heading: 331.937466 deg. n:HeadingCmd: 5.793402 target range: 101.786827 and range: 102.30 m.nc@nnnnmzmm"m}BJk"k  k j j5@}=B}iQ<鞁ɝA-?)靅I))=)II c@ BDAT read: Rx Time:20:02:56.9090 TRx dataTimestamp_ set to:1756324979.565848checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016454!EAFA FAFE0FIjJErJEzJECJAJE:JEU:JE4JAU@U@U@U@QfG Ga By B N ԁ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265315v/@9>,@>|ٯ>1>Y>HK!?,? `dz޿?7???>/@>~;ɫy`` bGfJ!FYf*; f>hn5jj?n5jm jA9pYrT+r@yjCE)j:Ij:ijof5YtvAH=>H=CH= IH=΂BH=f =H9H=DI=< I=%EII"I*Ie =2Ie =:Ip5JK]ďNRKYZKYbK]rjK]+# -j3,-v"rV "|^B+&otB*** querying acoustic contact ***oonFNOT Ignoring new targets: 101.79 m.nl6:nl6:  ProNav: ac range: 101.786827 m, nav range: 98.324387 m, bearing: 327.740463 deg, approach rate: -0.641777 m/s, LOS rate: 0.039872 deg/s, cmd heading: 331.937467 deg, new cmd heading: 331.982486 deg. n :HeadingCmd: 5.794188 target range: 101.786827 and range: 102.30 m.ni@nnnnmzmm"m!Jk!"k!ԉ k!jj @?Bk<ɝK)?)ˉI)T=)]I>IA i@ EF FFp5FԱDAT read: 20:02:56.9090 LVL= 23072, 29041, 18994, 32371, AGC= 70, IDX= 402, 0.18,-3.052, 1.776,-2.894, 2.798, PHS= 0.522,-0.975, 0.589, RAW= 152.2, -1.8, CAL= 155.7, -10.5, ROT= 354.3, 10.5 Ygot valid direction response: 20:02:56.9090 LVL= 23072, 29041, 18994, 32371, AGC= 70, IDX= 402, 0.18,-3.052, 1.776,-2.894, 2.798, PHS= 0.522,-0.975, 0.589, RAW= 152.2, -1.8, CAL= 155.7, -10.5, ROT= 354.3, 10.5 PDAT read: Bearing 178.2, 11.5 (Local) ~Local bearing/azimuth received: Bearing 178.2, 11.5 (Local) DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.8 m/s ,DAT read: user:2006> BDAT read: Tx time:20:02:58.0231 $Ping request sent.ۑ Fpublishing direction and range info۩9ۭ߱fN?,m~SǿyۭB۩ۭ Zۭqq ܭ2J)ܭs~IܭFiܭˡ?ܭyܭ?ܭP*@ܭ ݭ'-@)ݭf;Iݭ@iݭf;>ݩݩޭfQ?acŃ? = )ޭ?IޭW=iޭ)˽ޭf;>ީީ5 :publishing transmit ping timeۑ5 Fpublishing direction and range info۩9ۭ߱fN?,m~Sǿy۩۩۩۩ ܩ)ܩIܩiܩܩܩܩܩ ݩ)ݩIݩiݩݩݩޭfQ?acŃ? = )ީIީiީީީީG B B N > OYCG, +A٪F31@9FV.@FF>YFH!"?@?w޿?뼿@U?6?`ܭ?F31@F;ɫFxCy~B~ Ii-JDAT read: TxSync time:20:02:58.0223 ImQIm4} ; }&=x:Q >y GL!FY9 >5?5 qA9YM+@yCE):I :ih5YiBAEooU+AoBoBoAݶ@fOX@i#z2߱fN?,m~Sǿo)˽of;>]T@[J࠰>1t@?Sgpp5ƿoRoBoJ>?oNu&o*@B2pJ?:p@Bp*@B"pB*p@} addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.531794 s, deltaX: -2.400002 m, approachRate: -0.679542 m/s, rangeRepo size: 4  Added new target pos. range: 99.396698 m, bearing: 327.417211 deg, lat: 36.779960 deg, lon: -121.858981 deg, deltaT: 3.531794 s, deltaX: -2.390129 m, approachRate: -0.676746 m/s, posRepo size: 4 nDNOT Ignoring new targets: 99.40 m.nn  ProNav: ac range: 99.396698 m, nav range: 97.864960 m, bearing: 327.682031 deg, approach rate: 0.000000 m/s, LOS rate: 0.039872 deg/s, cmd heading: 331.982492 deg, new cmd heading: 332.040967 deg. n HeadingCmd: 5.795208 target range: 99.396698 and range: 99.90 m.nXr@nnnnmzmmA"mAJkA"kI kIjMX@jM ?AB@<鞹ɝ(?)I)8=)*I I Xr@ !EqFq FqF}b1FyI fG y G B B N >[IG,)+AjJ:rJ:zJ:?J8J:|:J:-.:J:ـ4J8٪bB1@9be.@b%b ?>YbH "?@C?`ڵew޿@;?¼Q?@? ?bB1@b\;ɫbvCyvBv IԹIMb@Mb@Mb@iT㥛 ?v/y GM!FY7 >5ґ?5 _A9 #? :Y y+ @yCE)a:IH:i~j5YaBOA En9EDNOT Ignoring new targets: 99.40 m.nE<:nE<: ProNav: ac range: 99.396698 m, nav range: 97.590561 m, bearing: 327.699133 deg, approach rate: -0.660235 m/s, LOS rate: 0.041265 deg/s, cmd heading: 332.040958 deg, new cmd heading: 332.092409 deg. n:HeadingCmd: 5.796106 target range: 99.396698 and range: 99.90 m.ny@nnnnmzmm"mnBJk "k kjj`_?eDBebHH IH؂BHHHI< IEJKE-PRKE9ZKAbKEsjKEdG0zupja[WWWSNJGJPU[eiibXTMHB<62,(%"#"!"KM?KM?EQFQ FQFUo5FQ) fG &YI Ga B B N >4PG,JC+A٪N!@9N(@NN%>YNH*?H? 涿˓޿?2V ?Q??N!@N*;ɫNwCyVBZ II^>I^3n< n=nl!Q n ?ypp rGrN!FYrNʻ v ?x~5zH?~5zt zRA9|Y~+~@yzCE)zl:Iz:izk5Y 9A nDNOT Ignoring new targets: 99.40 m.n0:n0: ProNav: ac range: 99.396698 m, nav range: 97.387688 m, bearing: 327.712035 deg, approach rate: -0.605451 m/s, LOS rate: 0.038586 deg/s, cmd heading: 332.092403 deg, new cmd heading: 332.131192 deg. n:HeadingCmd: 5.796783 target range: 99.396698 and range: 99.90 m.n?@nnnnmzmm"mJk"k kjj?uFBu) WG,Φ]+A٪Fv@9F@FF>YFH?!? q㶿@޿?ҽ`? ?/?Fv@FZ;ɫFyCyRBR II5Mb@Mb@Mb@i111115ףp= ?rh|~jt95?Y5y5ļ5A5v@5@ 1195\@I'I@3]iF< ]5=]WQ e>yaa eGeP!FYm m>y}5}۱?5}7 }9A9!?:Y/@y}CE)}:I}:i}m5Y,BxA!EnDNOT Ignoring new targets: 99.40 m.nZ:nZ: ProNav: ac range: 99.396698 m, nav range: 97.104713 m, bearing: 327.732836 deg, approach rate: -0.648494 m/s, LOS rate: 0.047807 deg/s, cmd heading: 332.131199 deg, new cmd heading: 332.193782 deg. n=;HeadingCmd: 5.797875 target range: 99.396698 and range: 99.90 m.n2@nnnnmzmm"myBJk"k kjjA?5IB5`#k<1ɝ=)?)9=9I9)=l=)MzIUIU$3[ U2@ QEF FFFjJ)rJ-zJ-AJ)J)J-^:J-4J)AfG Z>i G B B N >A iA HA HA HE IHE ݂BHA HA HA IE < IA <]G,ǂw+A ٪>"@9>@>i>ڨ>Y>H?^?Q޿_?@Y使X]?H? ?>"@>Ot;ɫ>wCyJBJ IIZ>IZ3b; bh=bO;Q f>ydd fGfQ!FYjBd; j>lr5nY?r5n윿 n$A9pYr/v@ynCE)na;In9:ineo5YxzpAxJK~(NRK~h9ZK|bK~tjK~ Sa% L  I@#:o9zR9./f@G%%B*** querying acoustic contact ***o!o!n)5DNOT Ignoring new targets: 99.40 m.n5vQ:n5vQ:M ProNav: ac range: 99.396698 m, nav range: 96.884056 m, bearing: 327.748982 deg, approach rate: -0.624227 m/s, LOS rate: 0.045782 deg/s, cmd heading: 332.193791 deg, new cmd heading: 332.242341 deg. nM[:MHeadingCmd: 5.798723 target range: 99.396698 and range: 99.90 m.nU#@nQnQnQnQmQzmQmq"mqJky"ky kyjyj} v?KBZ<ɝ :)?)I)D=)r I<I~Q #@ !iEF FF`0FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fG\I) I- BAG B B N > &dG,h+A`٪n3@9n10@nn>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247590YnH#?@?@R st޿@_?T?@G??n3@nL;ɫlyMBM IQiQIMb@Mb@Mb@iMbX9?ʡE{Gz9!?YyףA@@ @9 @IDI3j< =d!;Q >y GS!FY%r; %>)55-zט?55- - A95$?5:Y5,,=@y-CE)-:I-;i-q5Ye(Be&Ae"EnDNOT Ignoring new targets: 99.40 m.n=:n=: ProNav: ac range: 99.396698 m, nav range: 96.535294 m, bearing: 327.771776 deg, approach rate: -0.632092 m/s, LOS rate: 0.041459 deg/s, cmd heading: 332.242340 deg, new cmd heading: 332.310966 deg. n:HeadingCmd: 5.799921 target range: 99.396698 and range: 99.90 m.n@nnnnmzmm"mzBJk"k kjj#Bԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750964fGsMG?G>H9H9H9H9H9H9H9I=< I=EGiBqBN?mG,F$+AJKZB3PRKZ59ZKXbKZujKZe g 4 1Uw;~yrfYNE@:3.))("!h٪L@9BI@~(>YH,/?T?VH޿?? ??L@6;ɫuCyeBe IIuQIu4\ =*;Q >y GT!FYB; >5-혊?5 A9Yc+@yDE):I6:it5YGAnDNOT Ignoring new targets: 99.40 m.n>:n>:- ProNav: ac range: 99.396698 m, nav range: 96.208794 m, bearing: 327.792659 deg, approach rate: -0.648861 m/s, LOS rate: 0.041644 deg/s, cmd heading: 332.310970 deg, new cmd heading: 332.373833 deg. n5:5HeadingCmd: 5.801018 target range: 99.396698 and range: 99.90 m.n5@n9n9n9n9m9zm9mA"mAJkA"kA kIjIjM.3@RB\<鞹ɝ&?)靽뼩I)6=)II+ @ nE<EF FF^0F]BDAT read: Rx Time:20:03:00.5576 ]TRx dataTimestamp_ set to:1756324983.100688echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004325)Y fGu SGQ By B N >tG,=+A9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257086yUB] IIMb@Mb@Mb@ix&1?X9v{Gz9!?YyAv@+@ @9IGI3 Ie;  7=Q >y GV!FY >!-5%?55% %A95v$?5:Y5<,5@y% DE)%;I%h;i%u5Y=%B=%AE#EnimDNOT Ignoring new targets: 99.40 m.nu&B:nu&B: ProNav: ac range: 99.396698 m, nav range: 95.923744 m, bearing: 327.811578 deg, approach rate: -0.637471 m/s, LOS rate: 0.042435 deg/s, cmd heading: 332.373835 deg, new cmd heading: 332.430760 deg. n:HeadingCmd: 5.802011 target range: 99.396698 and range: 99.90 m.n@nnnnmzmm"mwBJk"k kjj%@ @auUBub @ DDDDE1F9 F9F=`0F9ԉm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507374fGe "* Gi B B N >zG,+AjJ"rJ"zJ"AJ J"|:J"":J"4J ٪r|g@9rd@rԫrz>YrH@8 -BDAT read: Tx time:20:03:01.6716 -$Ping request sent.-HIHIHIHIHIHIIM< IMEYe`direction in FSK: [0.982815,-0.103298,-0.152986]e:publishing transmit ping time)mFpublishing direction and range info9BP7s? wѿq8C ÿyfBPf} 2U)IDi?5>uff?D +@ @.@)nFI@inF>N,0? }?)a ?IiiwֽnF>:publishing transmit ping time)Fpublishing direction and range info9BP7s? wѿq8C ÿy )Ii )IiN,0? }?)IiJK/PRK9ZKbKvjK 8IA2% ifGuQG}vAG}wAGI Bi By N > PExceeded connect timeout, disconnecting.ԙ  JDAT read: TxSync time:20:03:01.6708 [G,+A٪: t@9:0q@:p$:8>Y:HB?!??޿?`oJ??~?: t@:;ɫ8yRBR IIZDIZ3b< bL=bQ f>ydd jGjX!FYj{; j>lr5n?r5n{ nA9tYv*v@ynDE)n:In:in3y5YzBzAz-Eoo +AojBojBoܶ@tW@_|'C@$H!/A-BP7s? wѿq8C ÿoiwֽonF>*@?T@o>$I6,i"Э?lL& 'VÿoOoBoȳ?o&Io{KB2pȳ?:pBp@B"p8B*p"@E addTargetRange:: Added new target pos. range: 97.699997 m, deltaT: 3.788451 s, deltaX: -2.200005 m, approachRate: -0.580714 m/s, rangeRepo size: 4  Added new target pos. range: 97.208939 m, bearing: 327.412240 deg, lat: 36.779962 deg, lon: -121.858981 deg, deltaT: 3.788451 s, deltaX: -2.187759 m, approachRate: -0.577481 m/s, posRepo size: 4 nDNOT Ignoring new targets: 97.21 m.nn ProNav: ac range: 97.208939 m, nav range: 95.610779 m, bearing: 327.902132 deg, approach rate: 0.000000 m/s, LOS rate: 0.041467 deg/s, cmd heading: 332.473118 deg, new cmd heading: 332.523269 deg. nHeadingCmd: 5.803626 target range: 97.208939 and range: 97.70 m.nN@n n n n m zm m"mAJkA"kA kAjMlX@jM ?ZB:<鞹ɝ#?)߼I)=)ĈI.I{ N@ EF FFp0FiԉfG G) B1 BA NU > ֽG,lx +A٪:po@9:l@:3l:>Y:H??+?@ŵT ޿?!꾿`> ?r?@%?:po@:ۇ;ɫ:xCyFBF IIMb@Mb@Mb@i}?5^I?9M"?Yy̼A`@ +@9@I5:I53 ;=PpQ >y   G Z!FY   >9=5=:2?E5=) =A9E%?E:YE,E@y=DE)=:I=:i= {5YUBUAqB*** querying acoustic contact ***oonDNOT Ignoring new targets: 97.21 m.nJ:nJ: ProNav: ac range: 97.208939 m, nav range: 95.328102 m, bearing: 327.921809 deg, approach rate: -0.634291 m/s, LOS rate: 0.044285 deg/s, cmd heading: 332.523279 deg, new cmd heading: 332.582487 deg. n#: HeadingCmd: 5.804659 target range: 97.208939 and range: 97.70 m.n ſ@n n n 5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.n mIzmimq"m}BJky"ky kjj@6?-\B5n<1ɝ5C?)15hڼ9I9)=S=)=^IE+]IE](* Eſ@ E%?F! F!F%o0F!) fGe  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995379*HA "HE AAHE >HE CHA HA HE e =HA HE DIE < IE EI I "I *I f =2I f =:I ˻4Ga Bi B N >Q G,:\:+A٪:@9:}@:Ő:>Y:H H?` u?*ݿ`?x?q?@6?:@:pR;ɫ:wCyBBF IIJ4IJV3R/k= Vc=V);Q V>yXX ZGZ[!FYZ=; ^>`j5bcA?j5b b~A9hYjf,n@ybDE)b4X;Ib>;ib|5YrBrApJK~ջLRK~h9ZK|bK~wjK~  ny}DNOT Ignoring new targets: 97.21 m.nF:nF: ProNav: ac range: 97.208939 m, nav range: 95.099426 m, bearing: 327.937522 deg, approach rate: -0.629978 m/s, LOS rate: 0.043392 deg/s, cmd heading: 332.582483 deg, new cmd heading: 332.629736 deg. n<:HeadingCmd: 5.805484 target range: 97.208939 and range: 97.70 m.nƹ@nnnnmzmm"mJk"k kjj?]^B]NJJ<:J:Jt4JJJJZ;JZ;fGe qGu ?Gu >ԉ GY Bi By N >ҔG,K;T+A0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502413٪팲@9@>YH`M?c?\ ݿ ?e?^?q?팲@Ć;ɫxCy-B- II Mb@Mb@Mb@i      #~j?X9v:v9 %?Y y Լ A  @ @ 9 @IJI)45޼ ='==6;Q =>y9A EGE\!FYE>J; M>IU5MV?]5M,¿ M]A9])?]:Y]*]@yMDE)M:IM:iM~5YmBmAm.EԉnDNOT Ignoring new targets: 97.21 m.nI:nI: ProNav: ac range: 97.208939 m, nav range: 94.779388 m, bearing: 327.958256 deg, approach rate: -0.676090 m/s, LOS rate: 0.043947 deg/s, cmd heading: 332.629748 deg, new cmd heading: 332.692158 deg. nI:HeadingCmd: 5.806573 target range: 97.208939 and range: 97.70 m.nsϹ@nnnAnAmAzmAmI"mMoBJkI"kI kIjQjU@ ?aBd<鞡ɝ?)靭#ҼI)yh=)I: I sϹ@ Eu?Fq FyF}M2FyԱM ?M F?U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752049 fG ˫ G B B N >G, n+A\y=B= IIMRIMW4] < ]o=eQ e?yaa eGe]!FYm m?q}5ue?}5uſ uFA9Y@yu!DE)u ;Iu ;iuO5YAnDNOT Ignoring new targets: 97.21 m.nC:nC: ProNav: ac range: 97.208939 m, nav range: 94.555069 m, bearing: 327.972872 deg, approach rate: -0.654659 m/s, LOS rate: 0.042758 deg/s, cmd heading: 332.692149 deg, new cmd heading: 332.736102 deg. n:HeadingCmd: 5.807341 target range: 97.208939 and range: 97.70 m.nչ@nnnnmzmm"mJk"k kjj ?cBB<ɝq?)  μ I ) =)I IÏ չ@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003783H>HHHHd =HDDHIϘ< IEEF FF5FJK5 LRK59ZK1bK5xjK5KQ KQfG L A G B B N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254932XG,+A٪V@9V@VkQVþ>YVH@`?&?` ݿ?F^D-?? ?V@Vט;ɫVvCybBb Ifa=dI5UI54E.= EK=EyII mGm_!FYuC< u>y5}yw?5},ʿ }(A9Y_)@y}&DE)}:I}:i}5YBeA/EnDNOT Ignoring new targets: 97.21 m.nF9:nF9:5 ProNav: ac range: 97.208939 m, nav range: 94.288475 m, bearing: 327.989557 deg, approach rate: -0.645192 m/s, LOS rate: 0.040495 deg/s, cmd heading: 332.736108 deg, new cmd heading: 332.786305 deg. n5T:=HeadingCmd: 5.808217 target range: 97.208939 and range: 97.70 m.n=ܹ@n9n9n9n9mAzmAjJUrJUzJUAJQJU:JU^:JU4JQJU <JU <JUg;JUg;mi"miJki"kq kqjqju@eBG<鞡ɝ) ?)靥uʼI)=)/I I ܹ@ AE1F9 F9F=_0F9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509177ԡfG @5Gy B B Ա N >b G,+A٪>@9>@><>{>Y>H`_f??ݡ {ݿ` ?o| ? p~?@~?>@>fO;ɫ>wCyJBJ II%Mb@Mb@Mb@i!!!!!%}?5^I?Q~jt9%M"?Y%y%ļ%A%v@%+@ %@!9%f@I=QI=4M: UJ=]sK;Q ]>yYY eGe`!FYeSn; e>iu5m?}5mUο m A9}L%?}:Y}(}@ym*DE)mo;Im;imփ5YAԙnDNOT Ignoring new targets: 97.21 m.n6:n6: ProNav: ac range: 97.208939 m, nav range: 94.031258 m, bearing: 328.005255 deg, approach rate: -0.652576 m/s, LOS rate: 0.039935 deg/s, cmd heading: 332.786296 deg, new cmd heading: 332.833519 deg. nB:HeadingCmd: 5.809041 target range: 97.208939 and range: 97.70 m.n@nnnnmzmm"miBJk"k kjju@gB<ɝm?)ƼI)-=) I# IV @ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761713EF FF`0FfGzG B B N > BDAT read: Rx Time:20:03:04.2029  TRx dataTimestamp_ set to:1756324986.880463 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012199:H <2H H !>H H IH ؂BH H H I < I E 5G,+A٪:mղ@9:ҹ@:M#:>Y:H@p??:Vݿ@C)?Zÿ`q?`n?`?:mղ@:5e;ɫ:vCyFBF IINYIN4V$= VU=Z;Q Z>y\\ ^G^a!FYbf; b>dj5f1?j5fKҿ fA9hYj'j@yf.DE)f:Ifp:JK]BHRK]9ZKYbK]yjK]    "KaKe ?if5Yu BuAAu9EB*** querying acoustic contact ***oonDNOT Ignoring new targets: 97.21 m.n$:n$: ProNav: ac range: 97.208939 m, nav range: 93.785492 m, bearing: 328.019948 deg, approach rate: -0.601173 m/s, LOS rate: 0.036034 deg/s, cmd heading: 332.833506 deg, new cmd heading: 332.877700 deg. n:=HeadingCmd: 5.809812 target range: 97.208939 and range: 97.70 m.n=@n9n9n9n9m9zmAmA"mAJkA"kI kIjIjM3 @iB~<鞡ɝ?)靥҂¼I)\ =)]Io Ie @ A)EaFa FaFe_0Fa-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263463QjJurJuzJuSJqJu:Ju:Ju5JqJu&<Ju&<Ju?r;Ju@r;fG wG B B N5 >ԁ !G,k+A٪E@QeDAT read: 20:03:04.2029 LVL= 29120, 32753, 23314, 32755, AGC= 68, IDX= 402, 0.20, 0.617,-0.770, 0.829, 0.272, PHS= 0.433,-0.996, 0.554, RAW= 154.0, 0.1, CAL= 156.8, -8.7, ROT= 353.2, 8.7 uYgot valid direction response: 20:03:04.2029 LVL= 29120, 32753, 23314, 32755, AGC= 68, IDX= 402, 0.20, 0.617,-0.770, 0.829, 0.272, PHS= 0.433,-0.996, 0.554, RAW= 154.0, 0.1, CAL= 156.8, -8.7, ROT= 353.2, 8.7 }PDAT read: Bearing 176.8, 9.8 (Local) }~Local bearing/azimuth received: Bearing 176.8, 9.8 (Local) DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.6 m/s ,DAT read: user:2008> BDAT read: Tx time:20:03:05.3216 $Ping request sent.YEH@u?o?Cݿ@H/? ߁@?@:@?`?E@E=;ɫEyCyB IFpublishing direction and range infoہ9ۅ|Rh?uo:;mni\ÿyۅBہۅqۅ ܅[)܁I܁i܅->܅~܅ ?܅,@܅: ݅%/@)݅|I݅C@i݅|>݁݁ޅ?Ij?)t, ua?)ޅ?IޅP iޅޅ|>ށށ:publishing transmit ping timeۙFpublishing direction and range infoہ9ۅ|Rh?uo:;mni\ÿyہہہہ ܁)܁I܁i܁܁܁܁܁ ݁)݁I݁i݁݁݁ޅ?Ij?)t, ua?)ށIށiށށށށIMb@Mb@Mb@i r?PnZd;O9#?YyjvA @9 @IWI44y =S;Q >y Gc!FY; >5}?5ؿ A9&?:Y*@y3DE)'u VS@lNHI[O.Jek?{|zsuICĿoFJoBo|?oxj o,IB2p:pNu&BpCB"pJB*p@- addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.528945 s, deltaX: -2.399994 m, approachRate: -0.680088 m/s, rangeRepo size: 4  Added new target pos. range: 94.822830 m, bearing: 327.309056 deg, lat: 36.779962 deg, lon: -121.858986 deg, deltaT: 3.528945 s, deltaX: -2.386108 m, approachRate: -0.676153 m/s, posRepo size: 4 nDNOT Ignoring new targets: 94.82 m.nn ProNav: ac range: 94.822830 m, nav range: 93.644936 m, bearing: 327.838775 deg, approach rate: 0.000000 m/s, LOS rate: 0.036034 deg/s, cmd heading: 332.877711 deg, new cmd heading: 332.935886 deg. nHeadingCmd: 5.810827 target range: 94.822830 and range: 95.30 m.nL@nnnnm zm m "m]rBJkY"ka kaje@3W@je?lB2G<<ɝ?)i꼼I)k =)I  I  L@ ԩ= JDAT read: TxSync time:20:03:05.3208 E F  F F F F =F = } G zA  zA9 BfG'nG  ?G ?GBBN>G,+A٪ @9 @ p P>Y HP{??@-%+ݿ25?ᒿm|?/? ? @ =ψ;ɫ yeBm II}.I}3D< Q=_[;Q >y Gd!FY; >iAHHHHHHHI< IEE5&?M5ܿ A9IYM_*M@y7DE):I:i5YQUOAYnDNOT Ignoring new targets: 94.82 m.n>:n>: ProNav: ac range: 94.822830 m, nav range: 93.394974 m, bearing: 327.854811 deg, approach rate: -0.648235 m/s, LOS rate: 0.041697 deg/s, cmd heading: 332.935877 deg, new cmd heading: 332.984113 deg. n:HeadingCmd: 5.811669 target range: 94.822830 and range: 95.30 m.n2@nnnnm zm m "m Jk"k kjjT?9nBq<鞉ɝ?)靕I) =)jI Ic 2@ JKMLRK9ZKbKzjK6?;6+%!3a:QqutEQFQ FQFU`0FQifGu vԱ G B B9 NU >I I jJ rJ zJ ?J J :J :J ـ4J J $<J %<J R;J R;wG,+Ay Ge!FY >5Hҙ?5M A9Y@y;DE)l:I:iJ5YB=A;EnDNOT Ignoring new targets: 94.82 m.nK:nK: ProNav: ac range: 94.822830 m, nav range: 93.137878 m, bearing: 327.871394 deg, approach rate: -0.688299 m/s, LOS rate: 0.044521 deg/s, cmd heading: 332.984126 deg, new cmd heading: 333.034014 deg. nn:HeadingCmd: 5.812540 target range: 94.822830 and range: 95.30 m.nT@nnnnmzmmQ"mQJkQ"kQ kYjYje|?ԩ-oB-<)ɝ-?))5^1I1)5- =)=hI=G I=H =T@ A-"Elonly read 2 of 4 ADC values. Response is: /099,16319 ]"MOverload Error1M-"MHardware Fault]"MDDocking arm not reporting position1U-"U(Communications Fault fG 'nG B - bCommunications Fault in component: DockingStepperB N >G,g(+Apyae Ionly read 0 of 4 data items for water velocity. Device response is::WS,I, -125, +632, -27, +8,A aa@a ae@a ai@a a]@a I;I&3E2; E?=AQ M>yII MGMg!FYQ U>Ye5]䙊?e5] ]oAe+:9am:Yim@y]@DE)]#:I]P>i]Ό5Yq}8AynDNOT Ignoring new targets: 94.82 m.nNA:nNA: ProNav: ac range: 94.822830 m, nav range: 92.860390 m, bearing: 327.889397 deg, approach rate: -0.649303 m/s, LOS rate: 0.042250 deg/s, cmd heading: 333.034013 deg, new cmd heading: 333.088182 deg. n:HeadingCmd: 5.813486 target range: 94.822830 and range: 95.30 m.n@nnnnmzmm"mJk"k kjjt?qBS<ɝ$?)뱼I)h =)%r|I%n I% %@ ) "5:Uninitialize Docking Stepper."=Powering downE=E=E=E= fG-0ٻG5wAG1GBB N*>9*H"H?AH>HH IHӂBHc =HHI< IEi JK} {NRK} h9ZKy bK} {jK} iR7%R^tVimD$ ma]UPOHA>>860.,*)+*$  *G,(CB+A٪6Z @96~@6=6j>Y6H`~?`է?`ܿ`D?`s????6Z @6)-;ɫ6wCyBBB IIJ7IJ3f= ff=fN;Q f>yhh jGjh!FYn!< n>pv5r2?v5r rSAz :9xzU:Yz)z@yrDDE)r:Ir^I?irӍ5Y~BA5B*** querying acoustic contact ***yo1o1nDNOT Ignoring new targets: 94.82 m.n0:n0: ProNav: ac range: 94.822830 m, nav range: 92.629601 m, bearing: 327.903983 deg, approach rate: -0.609605 m/s, LOS rate: 0.038624 deg/s, cmd heading: 333.088190 deg, new cmd heading: 333.132058 deg. n:HeadingCmd: 5.814251 target range: 94.822830 and range: 95.30 m.nY@nnnnmzmm!"m!Jk!"k! k)j)j-?rBy<鞙ɝ?)靝*I) =)I; T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IL Y@ iIa=Ip=ԙfG5EGa Bq B N > = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981407ķG,8-\+A٪Fs&@9F#@F+F\>YFH@:?y?ܿ|O?pe??]?Fs&@F];ɫDyRBR Iaa=aa= ae=ae= ai=ai= a]=a]= I=Mb@Mb@Mb@i99999=X9v?V-/$9=?Y=y=9=I@9 =@99=p@IUOIU 4eȖ< eA=ej;Q e>yiq uGui!FY}< }>5?5 5AT:9 ?ԑ:YS%@yHDE)jW;I V;i5YAnDNOT Ignoring new targets: 94.82 m.n :n : ProNav: ac range: 94.822830 m, nav range: 92.364204 m, bearing: 327.918113 deg, approach rate: -0.657629 m/s, LOS rate: 0.035114 deg/s, cmd heading: 333.132068 deg, new cmd heading: 333.174580 deg. n:HeadingCmd: 5.814993 target range: 94.822830 and range: 95.30 m.nm@nnnnmzmm"meBJk"k k j j`@tBe3<ɝ?)WI) =) ֶI  I ޿ m@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234340fG* G)B1BANU>J4J24J1jJrJzJAJJ,:J:J4J@@@@ G,/u+A٪:x3@9:0@:'+(:i>Y:H?f?Qܿ|T?dE? ??:x3@:q;ɫ8yFBF I)Je> Jy\\ ^G^k!FYbS; b>df5f&?j5f fA9lYn$n@yfLDE)fq';If(;ifV5YrBrgAvFEnDNOT Ignoring new targets: 94.82 m.n:n:H>HH IH؂BHd =HHIݘ< I.EIuCIuC"Iq*Iud =2Iud =:Iuw4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483577 ProNav: ac range: 94.822830 m, nav range: 92.127167 m, bearing: 327.930572 deg, approach rate: -0.600830 m/s, LOS rate: 0.031661 deg/s, cmd heading: 333.174579 deg, new cmd heading: 333.212051 deg. nӭ:HeadingCmd: 5.815648 target range: 94.822830 and range: 95.30 m.n@n1n1n1n9m9zm9m9"mAJkA"kA kAjAjMwB@}uB"<鞁ɝ ?)靅V%I)v =) aI9 IQ9 @ !JKORK9ZKbK|jK$ T] N .V!}8fGRn.:GBB)N=>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735018y I I AAG,ӏ+A٪:?@9:<@:!k::a>Y:H{?T?N̙ܿLY?׿`7dM`? ?:?@:H;ɫ8yBBB IIJEIJ3Rڞ; VK=VAz;Q V>yXX ZGZl!FY^n; ^>`f5b6'?f5b bA9dYj$j@ybPDE)bK:Ib:ib5Yln_Aln DNOT Ignoring new targets: 94.82 m.n O:n O: ProNav: ac range: 94.822830 m, nav range: 91.875069 m, bearing: 327.943665 deg, approach rate: -0.651799 m/s, LOS rate: 0.033946 deg/s, cmd heading: 333.212063 deg, new cmd heading: 333.251450 deg. n_:%HeadingCmd: 5.816335 target range: 94.822830 and range: 95.30 m.n%k@n!n)n)n)m)zm)m1"m1Jk1"k9 k9jAjEG9@mwBm0 FG,u+A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239598y}B} IIMb@Mb@Mb@iCl?p= ףZd;O9;?YyjA`@A@ 9@I=[I=K!4Mm< M2=UQ U>yYY ]G]m!FY] ]>am5e:?m5e> eA9u"?u:Yu)u@yeTDE)e ;Iez ;ie5Y}B(AjJrJԱzJ>JJ:J^:Jt4JnDNOT Ignoring new targets: 94.82 m.n.:n.: ProNav: ac range: 94.822830 m, nav range: 91.586334 m, bearing: 327.962334 deg, approach rate: -0.588622 m/s, LOS rate: 0.038178 deg/s, cmd heading: 333.251459 deg, new cmd heading: 333.307641 deg. n:HeadingCmd: 5.817316 target range: 94.822830 and range: 95.30 m.ns'@nnnnmzmm"mtBJk"k kjj@C* @-xB5.<1ɝ5?)1=69I9)= =)EtIE/ IE.H; Es'@ AFUwAFQ:H<2H4<HHHHHHHI˜< IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.491044) fGi GI BQ Bi Nu >JK X5PRK ZK bK }jK &5x  / `J]q_'}l_WKEI \G,z+A٪6I@96G@6HH;6φ >Y6H ?`I? ܿ@_?ty`&ic??6I@6E;ɫ6xCyBBB IDDIJVIJn4Rr; Vj=V;Q V>yTX ZGZn!FYZn; Z>\b5^CI?f5^ ^A9dYfR)f@y^XDE)^:I^:i^5Yhj"AlzB*** querying acoustic contact ***oxoxnDNOT Ignoring new targets: 94.82 m.n `M:n `M: ProNav: ac range: 94.822830 m, nav range: 91.365479 m, bearing: 327.976544 deg, approach rate: -0.695983 m/s, LOS rate: 0.044888 deg/s, cmd heading: 333.307631 deg, new cmd heading: 333.350364 deg. ns:%HeadingCmd: 5.818061 target range: 94.822830 and range: 95.30 m.n%-@n!n!n!n!m)zm)m)"m)Jk1"k1 k1j1j5 a @eyBe BDAT read: Tx time:20:03:08.9716 $Ping request sent.U UB`?U3,@U޹< U^/@)U IU'@iU >QQUYO?NX2?:vӗ?)UE?IUiU5U >QQ=:publishing transmit ping time۱=Fpublishing direction and range infoQ9U<;n`}?5e /yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUYO?NX2?:vӗ?)QIQiQQQQAfGYGB!B9NEs>i % JDAT read: TxSync time:20:03:08.9708 G, y+A٪Z#J@9ZGG@Z}B;Z? >YZH`*?L? ̬@ܿm`?wR@LHq |:?a?Z#J@Z݈;ɫZwCyfBf IIMb@Mb@Mb@i+?X9vI +9?Yy9vA@X@ @9 @I \I #4b< 4=?';Q %>y!! %G%p!FY5 n8 5>9E5=\?E5=m =A9E"?E:YE&E@y=]DE)=K;I=;i=5Y]B]A]GEoyo}z+Ao}Bo}Bo}V@}e2CV@p\&9'(}<;n`}?5e /o}5o} >}4OS@uH~ٶ+}0M?&f wYo+ÿo}Do}~Bo} ʳ?o}w o}MB2py:p}&IBp},IB"p}ŶB*p}@ addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 3.778650 s, deltaX: -2.300003 m, approachRate: -0.608684 m/s, rangeRepo size: 4  Added new target pos. range: 92.533653 m, bearing: 327.599638 deg, lat: 36.779962 deg, lon: -121.858992 deg, deltaT: 3.778650 s, deltaX: -2.289177 m, approachRate: -0.605819 m/s, posRepo size: 4 nDNOT Ignoring new targets: 92.53 m.nn ProNav: ac range: 92.533653 m, nav range: 91.384918 m, bearing: 327.687430 deg, approach rate: 0.000000 m/s, LOS rate: 0.044888 deg/s, cmd heading: 333.350360 deg, new cmd heading: 333.412099 deg. nHeadingCmd: 5.819139 target range: 92.533653 and range: 93.00 m.nc6@nnnnmzmm"mBJk"k kj@W@j7?i{B#J<ɝ%?)!5Up1I9)evW =)exIm~ Im mc6@ iԙfGRn.:jJrJzJBJJ\:JK:J-4JGa Bi B N >Թ 7,G,@+APyB II-.I-3HM >HIHM IHM݂BHIHIHIIM< IMBEe< eX=eQ e>yii mGmq!FYu u>y5}l?5}D }nA9Y@y}`DE)} :I}:i}C5YAnDNOT Ignoring new targets: 92.53 m.n":n": ProNav: ac range: 92.533653 m, nav range: 91.145401 m, bearing: 327.700702 deg, approach rate: -0.637336 m/s, LOS rate: 0.035408 deg/s, cmd heading: 333.412105 deg, new cmd heading: 333.452025 deg. nf:HeadingCmd: 5.819836 target range: 92.533653 and range: 93.00 m.n<@nnnnmzmm"mJk"k kj j  ?5|B=5<9ɝ=?)9EIII)M =)"! H,:! +A٪:9@9:6@:u;:]>Y:Hȝ?Zj?@0ӬXܿ Z?`쾿}n`_ ??:9@:ӈ;ɫ8y^B^ IddIf>If3n< nS=rBQ r>ypp vGvr!FYv v>x|5z}?5z2  zNA9Yk'@yzdDE)z/;IzJ0;iz5YBAHEnAEDNOT Ignoring new targets: 92.53 m.nM%:nM%:] ProNav: ac range: 92.533653 m, nav range: 90.900597 m, bearing: 327.714665 deg, approach rate: -0.633937 m/s, LOS rate: 0.036256 deg/s, cmd heading: 333.452021 deg, new cmd heading: 333.494024 deg. n]:eHeadingCmd: 5.820569 target range: 92.533653 and range: 93.00 m.neB@nanananamizmimi"miJkq"kq kqjyj}Um?-}B-(<)ɝU ?)QUэQIQ)Uv =)]I] I]uk eB@ a)fGSQGIBYBiNu>ԁ y@ H,* +A٪fdA@9f>@f;f >YfH>?]?u`Uܿ\? A-s1)??fdA@fLj;ɫfuCyzB~ IYI%Mb@Mb@Mb@i!!!!!%rh|?q= ףp rh9%?Y%y%C!!%@ %@!9%@I=4I=V3E  M5=MF ;Q M>yQQ UGUt!FY] ; ]>Ye5]鏚?m5]  ]-A9m?m:jJyrJ}zJ}KJyJyJ}:J}(4JyY$@y]iDE)];I];i]읋5YAGG/{AA/{A9Bn)-DNOT Ignoring new targets: 92.53 m.n5%:n5%:e ProNav: ac range: 92.533653 m, nav range: 90.622437 m, bearing: 327.728938 deg, approach rate: -0.556915 m/s, LOS rate: 0.028664 deg/s, cmd heading: 333.494013 deg, new cmd heading: 333.536963 deg. ne`:mHeadingCmd: 5.821318 target range: 92.533653 and range: 93.00 m.nm=H@ninininimqzmqmq"muBJky"ky kyjyԁjz?BFM<ɝ%?)ԈI)} =)yI%1 I%iH %=H@ !*H1"H5@AH=">H9H9H9H9H9H9I=ʘ< I=EԱfG4G B B N > JK= ORK= 9ZK9 bK= jK= \= zmbVMG>4/+($ 6D   zr/\}fI"2&H,D +A٪:K@9:H@:i;:, >Y:H୥?1P?aܿ``?@` {@^? k?:K@:#;ɫ:wCyB‚BB IIJPIJ 4RD= Rj=VX;Q V>yTT ZGZu!FYZg; Z>\b5^?b5^ ^A9dYf$f@y^lDE)^:I^:i^s5YjBjBAjREzB*** querying acoustic contact ***oxoxnDNOT Ignoring new targets: 92.53 m.n ':n ': ProNav: ac range: 92.533653 m, nav range: 90.406731 m, bearing: 327.739903 deg, approach rate: -0.719593 m/s, LOS rate: 0.036667 deg/s, cmd heading: 333.536961 deg, new cmd heading: 333.569935 deg. nO:%HeadingCmd: 5.821894 target range: 92.533653 and range: 93.00 m.n%L@n!n!n!n!m!zm)m)"m)Jk)"k1 k1j1j55?eBe=aɝe ?)amWiIi)mC8 =)up.Iu; Iu" uL@Թ FIFI5??5==T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.fG=EGQBaBqN|>! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257132a qSH,,^ +A٪X@92U@<H>YH %?=?>]mܿe?SӁr?@?X@h};ɫuCyB I%=%p=IMb@Mb@Mb@i-?q= ףpy Gv!FYxa; >5c?5g A9 ?:Y#@yqDE):I:id5Y B1KASEn)-DNOT Ignoring new targets: 92.53 m.n5:n5:m ProNav: ac range: 92.533653 m, nav range: 90.128288 m, bearing: 327.753371 deg, approach rate: -0.585177 m/s, LOS rate: 0.028392 deg/s, cmd heading: 333.569937 deg, new cmd heading: 333.610466 deg. nm:uHeadingCmd: 5.822601 target range: 92.533653 and range: 93.00 m.nuR@nqnqnqnqmqzmymy"m}BJky"k kjj @Bf¼<ɝ?)值I!)=)I1 IT R@ iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508272ԉfGG B B N >Ա NzH,x +A٪:A_@9:e\@:>&<:s>Y:H@=?]4?≩`ܿ h?+@҄`V??:A_@:_!;ɫ:wCyFBF IINVINn4Z < ^`=^#;Q ^>y`` bGbx!FYfa; f>dj5f?n5f fAHpHpHr IHrBHpHpHpIr< IrRE9|Y~]#~@yftDE)f!;If};if5Y B A nAEDNOT Ignoring new targets: 92.53 m.nMe:nMe:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759331 ProNav: ac range: 92.533653 m, nav range: 89.899422 m, bearing: 327.764381 deg, approach rate: -0.672514 m/s, LOS rate: 0.032434 deg/s, cmd heading: 333.610454 deg, new cmd heading: 333.643567 deg. n:HeadingCmd: 5.823179 target range: 92.533653 and range: 93.00 m.n{W@nnnnmzmm "m Jk "k  k jjK@ԙB" <ɝ?)'zI)=)I# IԺ {W@ JK}ORK}+9ZKybK}jK} B~'2$- 2 fGhGBBN>e BDAT read: Rx Time:20:03:11.4963 e TRx dataTimestamp_ set to:1756324994.190320m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015112jJ rJ zJ ?J J ̶:J B:J ـ4J J ; J ; J b; J !b; ! c$H,h +AyEłBE IIMGIM3]< e@=eQ e>yai mGmy!FYm m>q}5uӚ?5u/ uA9Y@yuyDE)u:b;IuGc;iu٤5YBATEnDNOT Ignoring new targets: 92.53 m.nb :nb : ProNav: ac range: 92.533653 m, nav range: 89.632996 m, bearing: 327.777268 deg, approach rate: -0.632468 m/s, LOS rate: 0.030684 deg/s, cmd heading: 333.643567 deg, new cmd heading: 333.682343 deg. nv:HeadingCmd: 5.823855 target range: 92.533653 and range: 93.00 m.n]@nnnnmzmm"mJk"k kjj  @B<鞙ɝ?)靥7orI)̀=)N-I% I ]@ F=F= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275384!fGGBBN>Q *H,> +ANDAT read: 20:03:11.4963 LVL= 27216, 32753, 22578, 32755, AGC= 69, IDX= 403, 0.04,-1.140,-2.535,-0.907,-1.440, PHS= 0.388,-1.048, 0.530, RAW= 154.7, 1.7, CAL= 156.9, -7.1, ROT= 353.1, 7.1 RYgot valid direction response: 20:03:11.4963 LVL= 27216, 32753, 22578, 32755, AGC= 69, IDX= 403, 0.04,-1.140,-2.535,-0.907,-1.440, PHS= 0.388,-1.048, 0.530, RAW= 154.7, 1.7, CAL= 156.9, -7.1, ROT= 353.1, 7.1 VPDAT read: Bearing 176.5, 8.4 (Local) V~Local bearing/azimuth received: Bearing 176.5, 8.4 (Local) ^DAT read: Range 10 to 50 : 90.6 m (Round-trip 120.9 ms) speed 0.7 m/s ^,DAT read: user:2010> bBDAT read: Tx time:20:03:12.6217 b$Ping request sent.f6$6?46< 6LB/@)6I6P5@i6=446&N?J1?*8?)6?I6qi66=44~:publishing transmit ping time`~Fpublishing direction and range info496k@~N?C儾A7Xy4444 4)4I4i44444 4)4I4i4446&N?J1?*8?)4I4i4444٪q@9n@jnQ<f>YH??2?ܿpo?- ?@Ķ?q@0;ɫyB I%Ai%AIMb@Mb@Mb@irh|?A`" rh9?YٽyCA@@ 9@IRIW4м &=;Q >y Gz!FY%W; %>)IU5M皊?U5M! MA9UN?]:Y]]@yM~DE)M;IM_3;iM5YAo4o6@ +Ao6KBo6KBo6"@6T{3V@-e~%EJ7sH&6k@~N?C儾A7Xo6o6=6#KR@VrĭGc5+6W?. _Qÿo6n=o6Bo6 B?o6?o6OB2p6 B?:p4Bp6{KB"p6B*p6@ addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.540623 s, deltaX: -2.400002 m, approachRate: -0.677847 m/s, rangeRepo size: 4   Added new target pos. range: 90.146667 m, bearing: 327.898146 deg, lat: 36.779961 deg, lon: -121.858992 deg, deltaT: 3.540623 s, deltaX: -2.386986 m, approachRate: -0.674171 m/s, posRepo size: 4 n DNOT Ignoring new targets: 90.15 m.nnM ProNav: ac range: 90.146667 m, nav range: 89.250877 m, bearing: 327.758628 deg, approach rate: 0.000000 m/s, LOS rate: 0.030684 deg/s, cmd heading: 333.682335 deg, new cmd heading: 333.730944 deg. nIMHeadingCmd: 5.824704 target range: 90.146667 and range: 90.60 m.nUc@nQnQnQnQmQzmQmy"mBJk"k kj`fV@j ?:H<2H<H#>HCH!IHBHHHI5< IEII"I*I2I:IƬ4B*<ɝ%$?)!%g!I!)%U=)-I-k I-Sw -c@ 1Q%JDAT read: TxSync time:20:03:12.6209 ԁ fG G ?G >G B B N >1H, +AJK_]ORKZKbKjK>  ) vCnS>}qi`SG@7-)"eq_RJ٪R@9R(|@Re<Ru >YRH?@?@Ƨ='ܿs?* !?@?R@R;ɫRyCyjBj ItIrEIr3 < =t;Q  ?y!9 G{!FY; ?5?5% nA9Yr@yDE):IW:iu5YBA=B*** querying acoustic contact ***o9o9nDNOT Ignoring new targets: 90.15 m.n9n9 ProNav: ac range: 90.146667 m, nav range: 89.048241 m, bearing: 327.766476 deg, approach rate: -0.627829 m/s, LOS rate: 0.024370 deg/s, cmd heading: 333.730939 deg, new cmd heading: 333.754536 deg. nͅ:HeadingCmd: 5.825116 target range: 90.146667 and range: 90.60 m.nYg@nnnnmzmm"mJk"k kjj?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.eBm J=iɝm?)iuV|aqIy) =)"I I8e8 Yg@ jJrJzJ>JJJ^:Jt4JJJJg;Jg;AfGb;GBBN>i ة iح A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743792n7H, +A٪5@95@5^<5>Y5H"? 9?H`rܿ`y?డË@u??5@5/;ɫ5wCQy]B] IIMb@Mb@Mb@i+?|?5^I +9v?Yҽy9A@@ 9I.I3 ;=}Q >y!! %G%}!FY% : ->5?5%) GA9 ?:Y0@yDE)]:I#:i[5YAnDNOT Ignoring new targets: 90.15 m.n9n%9] ProNav: ac range: 90.146667 m, nav range: 88.776024 m, bearing: 327.775521 deg, approach rate: -0.652304 m/s, LOS rate: 0.021739 deg/s, cmd heading: 333.754544 deg, new cmd heading: 333.781760 deg. n]n:HeadingCmd: 5.825591 target range: 90.146667 and range: 90.60 m.n=k@nnnnmzmm"mBJk"k kjj@j?UB]D"<ԁ鞩ɝ?)靵YI)=)eIIeo Ie 7 e=k@ iFF-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997048ԩfG V8G B B N > O=H, +AHHHHHc =HHI< IUEy‚B I-p=-=154<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247438I=:I=3< T=Q >y G~!FY >Թ5?5, &A9Y@yDE).;I/;i5YB^AUEnDNOT Ignoring new targets: 90.15 m.n9n9 ProNav: ac range: 90.146667 m, nav range: 88.541763 m, bearing: 327.783348 deg, approach rate: -0.639230 m/s, LOS rate: 0.021416 deg/s, cmd heading: 333.781755 deg, new cmd heading: 333.805300 deg. n)k:HeadingCmd: 5.826002 target range: 90.146667 and range: 90.60 m.nn@nnnn!m!zm!m!"m!Jk)"k) k1j9j=?eBe=iɝm<?)im@ORiIi)mǸ=)uI}A I}˹ }n@ yJK}ORK}s9ZKybK}jK}FBAFRf}{vnib][WQSROJC>1 fGK KGBBN>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499690jJ% rJ! zJ% DJ! J% l:J! J% 4J! J% <J% <J! J! 9 DH,n!+A٪r@9r$@r_Cw<ri>YrH ?`?^9ۿR?п莿g??r@r*;ɫryCyzBz II6Im3$ R=%q;Q %>y!! -G-!FY- < ->1=55)?=55]0 5A9AYEiE@y5DE)52 ;I5 ;i55YM BM]AU_Enq}DNOT Ignoring new targets: 90.15 m.n}9n9 ProNav: ac range: 90.146667 m, nav range: 88.299080 m, bearing: 327.791022 deg, approach rate: -0.627298 m/s, LOS rate: 0.019890 deg/s, cmd heading: 333.805306 deg, new cmd heading: 333.828390 deg. nfZ:HeadingCmd: 5.826405 target range: 90.146667 and range: 90.60 m.nq@nnnnmzmm"mJk"k kjj X?=BEqԙ E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004333 KH,HO.!+A٪N@9Nި@N變<N>YNH&??;ۿ`{? U!??N@NL;ɫNwCyV‚BZ IIMb@Mb@Mb@iMb?B`"۹~jt9 ?YνyA@ @9G@I\I#4< @=;Q >y G!FY; >5HH!H!H!H!H!H!I%< I%AEfGu\$;ؙi؝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257038GIBYBiNu> fQH,>&H!+A٪B@9B@B)<B>YBH`?@;?@/Ҥ"ۿ ?&Ē`? ?B@B%;ɫBvCyNBJKNMRKN9ZKLbKNjKNN I)Z> Z4<\i\IbWIb44f j[=j7v;Q j>yll nGn!FYr#; r>tz5vL?z5v7 vA9xYzz@yvDE)v:Iv:iv-5YTAn)-DNOT Ignoring new targets: 90.15 m.n5d9n5d9E ProNav: ac range: 90.146667 m, nav range: 87.793373 m, bearing: 327.804944 deg, approach rate: -0.635617 m/s, LOS rate: 0.017419 deg/s, cmd heading: 333.850904 deg, new cmd heading: 333.870292 deg. nEE?:MHeadingCmd: 5.827136 target range: 90.146667 and range: 90.60 m.nMw@nInInInImQzmQmQ"mQJkY"kY kYjYje@BU<鞉ɝ?)靕=t;I)K9=)DI)e I u_; w@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509807jJrJzJ@JJL:J:JJ4JJ= <J> <Jn;Jn;fGh!O;GBBNc>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762079'XH,g b!+A0٪E˾@9Eﻺ@E <E>YEH ??@d ׳ۿ?Nᓿ?൶?E˾@Eq;ɫEwCy]B] IIMb@Mb@Mb@iMb?S㥻I +9Y/ݽy9@ 9@IPI 4Q; 7=;Q >y! %G%!FY%h\; %>1=552`?=557< 5A9E"?E:YEE@y5DE)5;I5;i5 5YMBU(AU`E-B*** querying acoustic contact ***o)o)nAEDNOT Ignoring new targets: 90.15 m.inmG9nmG9} ProNav: ac range: 90.146667 m, nav range: 87.510269 m, bearing: 327.814339 deg, approach rate: -0.598317 m/s, LOS rate: 0.019920 deg/s, cmd heading: 333.870302 deg, new cmd heading: 333.898578 deg. nZ:HeadingCmd: 5.827630 target range: 90.146667 and range: 90.60 m.n{@nnnnmzmm"mBJk"k kjjk@}B}v<鞁ɝ?)靅R1I)#=)>I]MI⟌; {@ FFxABDAT read: Rx Time:20:03:15.1438 TRx dataTimestamp_ set to:1756324997.728530 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013065ԑAAÉG9`BfG #M; G B B N >H !>H CH IH BH d =H H I < I EE^H,{!+A٪:@9:@:<:G>Y:HO?ݘ? @8ۿ ?W圔??:@:ʇ;ɫ:uCyBBB ILINXIN4C ^=`:Q >y    G !FY: >!-5%Vp?-5%? %kA9)Y--@y%DE)%>:I%l:i%5Y5B=LA=aEechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263699niuDNOT Ignoring new targets: 90.15 m.n}9n}9 ProNav: ac range: 90.146667 m, nav range: 87.276558 m, bearing: 327.822085 deg, approach rate: -0.679695 m/s, LOS rate: 0.022588 deg/s, cmd heading: 333.898579 deg, new cmd heading: 333.921880 deg. n x:HeadingCmd: 5.828036 target range: 90.146667 and range: 90.60 m.nF@nnnnmzmm"mJk"k kjj@H @Bu =ɝ ?)D,I)=)H I̸I_; F@ fGYm;JKRIRK9ZKbKjK #01,%  AKBG1BABQN]v>- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518089) 0eH,ĕ!+A٪r0ij@9rT@r\<rV>YrH`.?ࡖ?ۿ?`H]P??|r0ij@r/;ɫrwCy B  I=IMIIMd4] ]D=e;Q e>yai mGm!FYu3: u>5?5C AA9Y@yDE);IK;i5YlAnDNOT Ignoring new targets: 90.15 m.n9n9 ProNav: ac range: 90.146667 m, nav range: 87.012199 m, bearing: 327.830852 deg, approach rate: -0.636251 m/s, LOS rate: 0.021164 deg/s, cmd heading: 333.921883 deg, new cmd heading: 333.948264 deg. ndh:HeadingCmd: 5.828497 target range: 90.146667 and range: 90.60 m.n @nnnnmzmm"mJk"k kjj` @5B5̉<1ɝ5U ?)9==$9I9)=0=)EIEIE|); E @ I!DAT read: 20:03:15.1438 LVL= 21488, 27937, 16050, 30483, AGC= 68, IDX= 404,-0.07,-1.500,-2.885,-1.239,-1.752, PHS= 0.340,-1.086, 0.510, RAW= 155.6, 3.2, CAL= 157.2, -5.8, ROT= 352.8, 5.8 Ygot valid direction response: 20:03:15.1438 LVL= 21488, 27937, 16050, 30483, AGC= 68, IDX= 404,-0.07,-1.500,-2.885,-1.239,-1.752, PHS= 0.340,-1.086, 0.510, RAW= 155.6, 3.2, CAL= 157.2, -5.8, ROT= 352.8, 5.8 PDAT read: Bearing 175.9, 7.1 (Local) ~Local bearing/azimuth received: Bearing 175.9, 7.1 (Local) DAT read: Range 10 to 50 : 88.4 m (Round-trip 117.9 ms) speed 0.6 m/s ,DAT read: user:2011> BDAT read: Tx time:20:03:16.2717 $Ping request sent.)mwImDim{>m m\?m-@md= m/@)m4QϽImj @im4Q=iim?݁?%?)m?ImZ`imm4Q=iie:publishing transmit ping timeeFpublishing direction and range infoi9mI˕?F뿿+hg޹yiiii i)iIiiiiiii i)iIiiiiim?݁?%?)iIiiiiiifG]K;G9QBqBN>ԁ WkH,⓯!+A٪:>@9:b@:j<:>Y:H?`?@ ?ۿ |?` ML3? 3?:>@:Ŷ;ɫ8yRBR IYjJrJzJBJJ\:JJ-4J@@@@IMb@Mb@Mb@ix&1?1ZdZd;O9!?Y"۽yjA@@ @9@ILI4 {  @= Q  >y11 5G5!FY=q =>AM5Eu?M5EG EA9M#?M:YM[U@yEDE)E%o49oBo_ೊ?o o&UB2pȳ?:p BpMB"pŭB*p@U addTargetRange:: Added new target pos. range: 88.400002 m, deltaT: 3.779759 s, deltaX: -2.199997 m, approachRate: -0.582047 m/s, rangeRepo size: 4  Added new target pos. range: 87.957420 m, bearing: 327.898358 deg, lat: 36.779962 deg, lon: -121.858994 deg, deltaT: 3.779759 s, deltaX: -2.189247 m, approachRate: -0.579203 m/s, posRepo size: 4 nDNOT Ignoring new targets: 87.96 m.nn ProNav: ac range: 87.957420 m, nav range: 86.885117 m, bearing: 327.798469 deg, approach rate: 0.000000 m/s, LOS rate: 0.021164 deg/s, cmd heading: 333.948275 deg, new cmd heading: 333.976802 deg. nHeadingCmd: 5.828995 target range: 87.957420 and range: 88.40 m.n @nnnnmzmm"m΁BJk"k k j V@j @?]B]2<ԉɝF?)I)=)I0I ;  @ F=F=:H2H<H">HH IH؂BHHHI< IEԱfG 8:G B B N >>rH,Hj!+A٪:@9:@:ئ<:>Y:H`m?p?533ۿ`?@࿿ڔp?@o?:@:Q;ɫ8yFBF IIN?INT3VvD Vd=V:Q Z>y`` bGb!FYf: f>hn5j+?n5jOK jA9lYnXr@yjDE)j;Ij;ij5YtvcAtJK~(NRK~h9ZK|bK~jK~ ;v;~uga]VRNJEC?<=;765211/-,*++/1650+*%%"n!-DNOT Ignoring new targets: 87.96 m.n-9n59Թ ProNav: ac range: 87.957420 m, nav range: 86.657822 m, bearing: 327.805793 deg, approach rate: -0.672916 m/s, LOS rate: 0.021741 deg/s, cmd heading: 333.976798 deg, new cmd heading: 333.998829 deg. nn:HeadingCmd: 5.829379 target range: 87.957420 and range: 88.40 m.nF@nnnnmzmm"mJk"k kjjK?mBmnԩ lxH,U!+A٪u@9u@u<u"W>YuH?q?gۿÐ?`?@?u@u};ɫuuCyB I)R= i>iAI%Mb@Mb@Mb@i!!!!!%Mb?V-:v9%#?Y%y%Լ!%@! !!9%@9=@AI==I==3Uw U2=UQ U>yYY ]G]!FY][: e>au5eb?u5eO eA9u%?}:Y}}@yeDE)e);IeK(;ie5YBԩB*** querying acoustic contact ***oonDNOT Ignoring new targets: 87.96 m.nm9nm9 ProNav: ac range: 87.957420 m, nav range: 86.363281 m, bearing: 327.817449 deg, approach rate: -0.643595 m/s, LOS rate: 0.025554 deg/s, cmd heading: 333.998819 deg, new cmd heading: 334.033903 deg. nM:HeadingCmd: 5.829991 target range: 87.957420 and range: 88.40 m.nJ@nnnnmzmm"mBJk"k kjj@I,?uBugH !>H H IH ΂BH c =H H I < I HEIyIy"Iy*I}c =2I}c =:I}4~H,9(!+A٪6³@96#@6!*<6d>Y6H?m?`ۿ$?/?д??6³@67n;ɫ6vCy^B^ IIfIIfd4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495309EB: E]=Mo;Q M>yIQ UGU!FYU: }>5ɛ?5S A9Y@yDE)i%)I ) =)ZI~I e@ F-vAF-vAyJKuORKus9ZKqbKujKu ?WmK ( f F5Yi/}naWMfGchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747276Gi By B N >Ա |H,"+A@٪nɳ@9nƺ@nI<nc_>YnHP?`E?=tۿ`(?@{?h ?}?nɳ@n;ɫnwCyzBz IILI4b N=_;Q >y G!FY%& ; %>)55-Vۛ?55-gW -iA91Y==@y-DE)-r;I-n;i-U5YEBEAEmEnq}DNOT Ignoring new targets: 87.96 m.n}9n}9 ProNav: ac range: 87.957420 m, nav range: 85.868858 m, bearing: 327.836893 deg, approach rate: -0.663907 m/s, LOS rate: 0.026093 deg/s, cmd heading: 334.062613 deg, new cmd heading: 334.092402 deg. nA:HeadingCmd: 5.831012 target range: 87.957420 and range: 88.40 m.n@nnnnmzmm"mJk!"k! k!j!j%!?B <鞡ɝ4>)靥4&I)/=)m4ImIu,; u@ qԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999331fG\$;GBBq N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251337ZH,0"+A٪Bdz@9B'ĺ@B<B>YBH?ј?Oۿ?vB@?Ϗ?`?Bdz@B;ɫBvCyNBN Il = p=J4J4JR1jJrJzJDJJ:J9:J4JIMb@Mb@Mb@iMbX9?T㥛 :v9!?YyA@A 9(@;p;II ==;5;Q >y G!FYO > 5? 5[ 6A9 %? :Y #@yDE)M:I4:i75YA!nDNOT Ignoring new targets: 87.96 m.n:n: ProNav: ac range: 87.957420 m, nav range: 85.592621 m, bearing: 327.850932 deg, approach rate: -0.612674 m/s, LOS rate: 0.031238 deg/s, cmd heading: 334.092392 deg, new cmd heading: 334.134646 deg. n:%HeadingCmd: 5.831750 target range: 87.957420 and range: 88.40 m.n%@n!n!n)n)m)zm)mQ"mmBJkq"kq kqjqju #@Bc<鞩ɝ6>)]I)h=)"IhIS: @  *Ha"HaHiHiHm IHmĂBHmd =HiHiIm< Im_E9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504162fG A:GvAGG B B N >i H,J"+AyB I9I5QI54M  MU=MQ M>yQQ UGU!FY] ]>am5e?m5e_ e A9iYim@yeDE)e2:IeK:ie‹5JK"PRKZKbKjKE=95/,"#"  ,Lj$ } I o*w=laWLD=66<<8530YBAn9EDNOT Ignoring new targets: 87.96 m.nE:nM:] ProNav: ac range: 87.957420 m, nav range: 85.346748 m, bearing: 327.863505 deg, approach rate: -0.641400 m/s, LOS rate: 0.032894 deg/s, cmd heading: 334.134657 deg, new cmd heading: 334.172485 deg. n]:eHeadingCmd: 5.832410 target range: 87.957420 and range: 88.40 m.ne@nanananamazmimi"miJkq"kq kqjqju7@B<鞡ɝ>)靭I)G=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755333)II): @ F=FafG0:ԑG BB)N=>a ie Am BDAT read: Rx Time:20:03:18.7907 m TRx dataTimestamp_ set to:1756325001.508651u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008617Թ H,d"+Aԑ٪@9@|`<ã>YHp? ?@ ۿY?`K Z뙿@A?Ÿ?@݆;ɫwCyB IIMb@Mb@Mb@ijt?X9v:v9 ?Yy@A 9@IPI 4 1= 2;Q  >y G!FYd >)=5-?=5-6d -A9=$?E:YE"M@y-DE)-+;I-Ά;i-ċ5Y]B]AenE%B*** querying acoustic contact ***o!o!n15DNOT Ignoring new targets: 87.96 m.n=:n=: ProNav: ac range: 87.957420 m, nav range: 85.052124 m, bearing: 327.878484 deg, approach rate: -0.628976 m/s, LOS rate: 0.032088 deg/s, cmd heading: 334.172497 deg, new cmd heading: 334.217588 deg. n,:HeadingCmd: 5.833197 target range: 87.957420 and range: 88.40 m.n@nnnnmzmm"mBJk"k kjj`v/ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259405Bi< =ɝ>)%t໩!I!)%ǰ=)-dI-!I- -@ 1jJrJzJ@JJ:J:JJ4JfG !; He ">He CHe IHe BHe c =Ha Ha Ie Ș< Ie EGy B B N >H,'k~"+AMDAT read: 20:03:18.7907 LVL= 25536, 32753, 19506, 32755, AGC= 70, IDX= 404,-0.31, 1.484, 0.107, 1.704, 1.238, PHS= 0.334,-1.084, 0.463, RAW= 154.3, 3.9, CAL= 155.9, -5.1, ROT= 354.1, 5.1 UYgot valid direction response: 20:03:18.7907 LVL= 25536, 32753, 19506, 32755, AGC= 70, IDX= 404,-0.31, 1.484, 0.107, 1.704, 1.238, PHS= 0.334,-1.084, 0.463, RAW= 154.3, 3.9, CAL= 155.9, -5.1, ROT= 354.1, 5.1 ePDAT read: Bearing 177.1, 6.2 (Local) m~Local bearing/azimuth received: Bearing 177.1, 6.2 (Local) uDAT read: Range 10 to 50 : 86.1 m (Round-trip 114.8 ms) speed 0.8 m/s },DAT read: user:2012> BDAT read: Tx time:20:03:19.8717 $Ping request sent.V>Z,@'g= X$.@)KIJ@iK=S^?Ԓ!?кan?)K?Ii)ҽK=:publishing transmit ping timeہFpublishing direction and range info96bX? 5y )Ii )IiS^?Ԓ!?кan?)IiyUBU IYi]AimBAIuhIuV84 M=Q >y)1 5G5!FY5 =>9E5=_$?E5=Ah =A9IYIM@y=DE)=i)靽ջI)=) IӈIrE !@ JKPRK}9ZKbKjK+-17:>;9911[~ojc\O- K KQJDAT read: TxSync time:20:03:19.8709 fG 6G B B N >y rʥH,I"+A٪:@9:غ@:[<:=[>Y:H`?Ŭ? ´ۿ`?Uh`@??:@:-i;ɫ:zCyFBJ IInBIn3K l=%:Q %?y!! %G%!FY-. -?1]552?]55k 5zA9YY]"e@y5DE)5;I5y;i5)ȋ5YmBmAmoEnDNOT Ignoring new targets: 85.67 m.n:n: ProNav: ac range: 85.669136 m, nav range: 84.591606 m, bearing: 327.907821 deg, approach rate: -0.670247 m/s, LOS rate: 0.034699 deg/s, cmd heading: 334.256590 deg, new cmd heading: 334.289893 deg. n:HeadingCmd: 5.834459 target range: 85.669136 and range: 86.10 m.n䳺@nnnnmzmm"mJk!"k! k!j!j-I ?QB<鞙ɝa>)靥-ͻI)=)fIwI 䳺@ FwAFxAԁfGQG!BQBqN>ԩ ] G[H,I"+AyA*ZABByA9BuBymBm IԡIMb@Mb@Mb@iV-?v/~jt9|?Yxyļ+@ @9@IOI 4M\ 0=Q >y G!FY >5G?5p FA9@"? :Y r @yDE):I:i0ʋ5Y AxEnAMDNOT Ignoring new targets: 85.67 m.nMv9nUv9 ProNav: ac range: 85.669136 m, nav range: 84.298813 m, bearing: 327.920320 deg, approach rate: -0.638952 m/s, LOS rate: 0.027371 deg/s, cmd heading: 334.289894 deg, new cmd heading: 334.327522 deg. nG:HeadingCmd: 5.835116 target range: 85.669136 and range: 86.10 m.nE@nnnnmzmm"mÁBJk"k kjj-?MBMl)IUbqIq)u=)}`iI}qI}8 }E@ :H2H4<HHH IHBHHHI< IEnEU <) fG 2ֺG wAG vAJK NRK 9ZK bK jK  W`zgF) zjZQNLIHC<<:;942//3GyBBN> H,+"+A٪:dz@9:5ĺ@: <: >Y:H?'?rۿs? `%?@?:dz@:;ɫ:wCyFrBFq IHHJa=Ja=IN&IN3XZo ZI=Z6Q ^>y\\ ^G^!FYb7; b>dj5fX?j5ft fA9hYj7n@yfDE)f;If:ifˋ5YrޒBr`AryEn  DNOT Ignoring new targets: 85.67 m.n9n9% ProNav: ac range: 85.669136 m, nav range: 84.041733 m, bearing: 327.931206 deg, approach rate: -0.632943 m/s, LOS rate: 0.026885 deg/s, cmd heading: 334.327515 deg, new cmd heading: 334.360274 deg. n%:-HeadingCmd: 5.835688 target range: 85.669136 and range: 86.10 m.n5@n1n1n9n9m9zmAm"mJk"k kjju?Bȡ)aeƽaIa)eO=)mjIms\Iu|` u@ qnEeG= fGhGyBBN>9 /H,и"+A٪ZԳ@9ZѺ@Z<Z$>YZH h?? K ۿ`?(@umU?`E?ZԳ@Z;ɫXyftBft IIeMb@Mb@Mb@iaaaaaeMb?K7A:v9e ?Ye yeԼaaeA aa9ep@I}MI}{4< >= ;Q >y G!FYy; >5Jk?5bx A9#?:Y}#@yDE)~ ;I ;i͋5YPAB*** querying acoustic contact ***oonDNOT Ignoring new targets: 85.67 m.n5:n5: ProNav: ac range: 85.669136 m, nav range: 83.767365 m, bearing: 327.946049 deg, approach rate: -0.600860 m/s, LOS rate: 0.032612 deg/s, cmd heading: 334.360272 deg, new cmd heading: 334.404947 deg. n :HeadingCmd: 5.836467 target range: 85.669136 and range: 86.10 m.nWĺ@nnnnmzmm"mBJk1"k1 k1j1j5`,?UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.BK8<鞩ɝ>)靵UI)==)4I+I Wĺ@ IynEu#=F}=FyHHCH IHBHHHI< I[Eԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003764fG Gi By B N >H,=#+A٪B@9B ޺@B+<Bh>YBHv?@np?d uۿ?n濛U?@/?B@B;ɫByCyNqBNp IIVRIVW4bs fC=f{D;Q f>yhh jGj!FYnk; n>lr5nb}?v5n| nA9tYv#v@ynDE)n;In;inϋ5Y~ْB~FA~zEn!%DNOT Ignoring new targets: 85.67 m.n-g%:ng%: ProNav: ac range: 85.669136 m, nav range: 83.501068 m, bearing: 327.960256 deg, approach rate: -0.675478 m/s, LOS rate: 0.036152 deg/s, cmd heading: 334.404942 deg, new cmd heading: 334.447698 deg. n|:HeadingCmd: 5.837214 target range: 85.669136 and range: 86.10 m.ntʺ@nnnnmzmm"mJk"k kjjS@mB❢<鞁ɝ>)靍|I)=)nVI`I7 tʺ@ DDDDaJK.NRK9ZKbKjK76/-,&'IZ[ZWPH@;62-&$  ;X?( 5dwLO;{checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255804ԑjJrJzJJJ:JB:JJJ$<J%<J b;J!b;fG%6GB B1NE>Թ H,+ #+ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507725٪J@9J@J;<Ji>YJH t?g_?`Ycۿɝ? :@3?@N?J@Jl;;ɫJwCPyZjB^h I)b> b;`ibAIf[IfK!4n nJ=r;Q r>ypp rGv!FYv@; v>x~5zގ?~5z zA9Y"@yzDE)z;Iz;iztы5Y  yA nAEDNOT Ignoring new targets: 85.67 m.nM=:nM=:] ProNav: ac range: 85.669136 m, nav range: 83.243927 m, bearing: 327.973824 deg, approach rate: -0.632821 m/s, LOS rate: 0.033493 deg/s, cmd heading: 334.447699 deg, new cmd heading: 334.488527 deg. n]:eHeadingCmd: 5.837926 target range: 85.669136 and range: 86.10 m.neJк@nanananimizmimi"miJkq"kq kqjqjjm@]BeN)i靕lI)/=)II9 Jк@ fGuַGBBN>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759950! H,|:#+A|ydBa I*H!"H!H%&>H%CH% IH%BH!H!H%DI%Ř< I%EICIC"I*I2I:Iv4Monly read 0 of 1 data item for BIT error. Device response is::TS,25082712043714,35.0, +11.7, 0.0,1495.9,A, 0.00, 84.72, 73.84, 81.66, 76.90 aa@a ae@a ai@a a]@a IYI4Ѽ 8=Q %>y!! %G%!FY- ->1=55?=55 5KA=+:99=:YAE@y5DE)5;I5>i5Ӌ5YMՒBMAM{Enq}DNOT Ignoring new targets: 85.67 m.n}:n}: ProNav: ac range: 85.669136 m, nav range: 82.961243 m, bearing: 327.988837 deg, approach rate: -0.637807 m/s, LOS rate: 0.033989 deg/s, cmd heading: 334.488516 deg, new cmd heading: 334.533708 deg. n:HeadingCmd: 5.838715 target range: 85.669136 and range: 86.10 m.nֺ@nnnnmzmm"mJk"k kjj@}B@<鞁ɝ>)靅&I)V=BDAT read: Rx Time:20:03:22.3875 TRx dataTimestamp_ set to:1756325005.037676checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014543)I+_IzPӹ ֺ@ )qfGRn.:GvAGxAG) B9 Bi Nu >ԁ JK NRK s9ZK bK jK gF#wY8kV@, yph^YYSPKE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263762H,[T#+AjJrrJrzJrCJpJr̶:Jrq:Jr4JpJr;Jr;Jrk;Jrk;٪M@9r@)v< >YH ?HW? ֠\ۿH?`N p?@K?M@:;ɫy5gB5d IIEKIE4Uz9< UW=Uǔ:Q U>Yyaa eGe!FYe : m>iu5m|?5mɈ mA :9Y:Y"@ymDE)m9;ImT?imԋ5YВBNAnDNOT Ignoring new targets: 85.67 m.n::n::] ProNav: ac range: 85.669136 m, nav range: 82.720306 m, bearing: 328.001590 deg, approach rate: -0.630857 m/s, LOS rate: 0.033491 deg/s, cmd heading: 334.533704 deg, new cmd heading: 334.572076 deg. ne߷:eHeadingCmd: 5.839385 target range: 85.669136 and range: 86.10 m.ne=ܺ@ninininimizmim"mJk"k kjj, @%B-͝<)ɝ->))MyaIa)eju=)m9Imt.Iv= =ܺ@ ԙDAT read: 20:03:22.3875 LVL= 29264, 32753, 20946, 32755, AGC= 69, IDX= 404, 0.33,-1.108,-2.499,-0.855,-1.377, PHS= 0.357,-1.074, 0.520, RAW= 155.3, 2.6, CAL= 157.2, -6.3, ROT= 352.8, 6.3 Ygot valid direction response: 20:03:22.3875 LVL= 29264, 32753, 20946, 32755, AGC= 69, IDX= 404, 0.33,-1.108,-2.499,-0.855,-1.377, PHS= 0.357,-1.074, 0.520, RAW= 155.3, 2.6, CAL= 157.2, -6.3, ROT= 352.8, 6.3 PDAT read: Bearing 176.0, 7.6 (Local) ~Local bearing/azimuth received: Bearing 176.0, 7.6 (Local) DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.8 m/s ,DAT read: user:2013> BDAT read: Tx time:20:03:23.4717 $Ping request sent.ܝxܝ?ܝx-@ܝ9= ݝ/@)ݝz0Iݝj @iݝz0=ݙݙޝ㒖0$?ۑ|?scs?)ޝf?Iޝ;iޝޝz0=ޙޙ5:publishing transmit ping time=Fpublishing direction and range infoۙ9۝)$OR?xB俿,=yۙۙۙۙ ܙ)ܙIܙiܙܙܙܙܙ ݙ)ݙIݙiݙݙݙޝ㒖0$?ۑ|?scs?)ޙIޙiޙޙޙޙԹfG5xCGB! Ba N >1 H,n#+A٪bs@9b@b<b >YbH@?Z?:栿_ۿ`ǘ? a9 ??bs@b;ɫbxCy^BZ I  ==JDAT read: TxSync time:20:03:23.4710 aaaa aeae aiai a]a] IMb@Mb@Mb@i+?q= ףp~jt9?YyļE AI@3A A@9A<ITI4-(  M0=Ut9Q ]>yaa eGe!FY >5ǜ?5\ AT:9"?:Y6@yDE) :I:i0֋5YAooƊb#+AoBoBo.e@𖩙T@Uv$ NuG")$OR?xB俿,=ooz0=4'#Q@d@Eo)[jJ?}1@20ÿo,o!Bo`M׳?oo}QB2p`M׳?:p?Bp}QB"pB*p[@ addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.528338 s, deltaX: -2.400002 m, approachRate: -0.680207 m/s, rangeRepo size: 4  Added new target pos. range: 83.281754 m, bearing: 328.367889 deg, lat: 36.779963 deg, lon: -121.858989 deg, deltaT: 3.528338 s, deltaX: -2.387383 m, approachRate: -0.676631 m/s, posRepo size: 4 nDNOT Ignoring new targets: 83.28 m.!n-n)= ProNav: ac range: 83.281754 m, nav range: 82.349884 m, bearing: 328.300777 deg, approach rate: 0.000000 m/s, LOS rate: 0.033491 deg/s, cmd heading: 334.572090 deg, new cmd heading: 334.622392 deg. n9eHeadingCmd: 5.840262 target range: 83.281754 and range: 83.70 m.nmn@ninininqmqzmqmq"muŁBJky"ky kjT@j@?B@<ɝ%>)!%|!I!)%'=)-I-|I- º -n@ 1H%(>H!H% IH%BH!H!H!I%ܘ< I%:EQfG SGY Ba ԁ B N ><H,>u#+A٪>@9>@><>X >Y>H@m?a? zܠ@fۿʖ?j|@?T?>@>F;;ɫ>uCyF`BF\ IINKIN4^0< ^{=bEN:Q b ?y`` fGf!FYfº f ?hn5jԜ?n5jd jA9pYrUr@yjDE)j:IjN:ij׋5Yv͒BviAvE B*** querying acoustic contact ***o o n%DNOT Ignoring new targets: 83.28 m.n%:n-:E ProNav: ac range: 83.281754 m, nav range: 82.151413 m, bearing: 328.309818 deg, approach rate: -0.693019 m/s, LOS rate: 0.031647 deg/s, cmd heading: 334.622388 deg, new cmd heading: 334.649577 deg. nE:MHeadingCmd: 5.840737 target range: 83.281754 and range: 83.70 m.nMQ@nInInInImIzmQmQ"mQJkY"kY kYjYjea?Q]B]`)Y]xPqaIa)e=)eImIWg Q@ JK׫ORKh9ZKbKjKHJHFDCX2+sw[8Ge#y> gF' }pjfeijhd^VNLJHK KT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.yfGucG}?G}>jJ rJ zJ AJ J J :J 4J J J J n;J n;GYBqBN}>ԡ *H,A#+A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996122y=XB=R IIMAIMk3]5 ]A=]Q e>yaa eGe!FYm m>q}5u!眊?}5uy uA9yYy@yuDE)u;Iu;iuiً5YAnDNOT Ignoring new targets: 83.28 m.num:num: ProNav: ac range: 83.281754 m, nav range: 81.884354 m, bearing: 328.322053 deg, approach rate: -0.629729 m/s, LOS rate: 0.028944 deg/s, cmd heading: 334.649572 deg, new cmd heading: 334.686396 deg. n:HeadingCmd: 5.841380 target range: 83.281754 and range: 83.70 m.n@nnnnmzmm"mJkԹ"k kjjk?B&~<ɝ>)!=\`9I9)E=)Z4I3IUB1 @ >p=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248411) fGE G B) BA NU >TH,e#+A٪B@9B @BO<Bv >YBH`?]?S@fۿ?`ۚ' ??B@B;ɫBwCyJVBJO I)N= N5?PiRAHb5>HbCHby IHbxBHba =H`HbDIb< IbEIMMb@Mb@Mb@iIIIIIM/$?X9v{Gz9M?YMyMףMv AIMA Mn@I9MAIe0Ie(3%, %I=-ûQ ->y)1 5G5!FY58 =>9E5=F?M5= =_A9M?M:YM #M@y=DE)=Z:I=b:i=Jۋ5Y]ɒB]AYnDNOT Ignoring new targets: 83.28 m.ns':ns': ProNav: ac range: 83.281754 m, nav range: 81.617455 m, bearing: 328.337833 deg, approach rate: -0.617021 m/s, LOS rate: 0.036599 deg/s, cmd heading: 334.686400 deg, new cmd heading: 334.733894 deg. n:HeadingCmd: 5.842208 target range: 83.281754 and range: 83.70 m.n_@nnnnmzmm"m ہBJk"k kjj?QmBm <uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500211鞉ɝ>)靕PI)c=)I#\Ic] _@ yfG @GBBN>ԩ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753381JK5 ORK5 +9ZK1 bK5 jK5 FC@Jj H^T?%ueHoRE@A>;93110/.,))'YVH?1L?7͡Vۿy?@r7 }G?M?V@V;IbC=Ib4=ɫTjJrJzJEJJ:J:J4JJ|;J};JZ;JZ;yUBN IIFI%3%Sһ -?=-]ʺQ ->y11 5G5!FY=/; =>AE5EV ?M5E E3A9IYM"M@yEDE)E:IEH:iE݋5YAnDNOT Ignoring new targets: 83.28 m.nN%:nN%: ProNav: ac range: 83.281754 m, nav range: 81.366684 m, bearing: 328.352548 deg, approach rate: -0.613848 m/s, LOS rate: 0.036130 deg/s, cmd heading: 334.733884 deg, new cmd heading: 334.778163 deg. n]:HeadingCmd: 5.842981 target range: 83.281754 and range: 83.70 m.n@nnn n m zm m1"m1Jk9"kA kIjiju@?ԩāBHM<ɝ>)gAI) (=)nbIԀI7C @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004501fGupGGvAG B ) BI N} >gH,5#+A|}GySBL I{AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257149-{A9BIMb@Mb@Mb@i\(\?)\(~jt9?YGy A`@IA @9pAIMI{4v <=Q >y G!FY% %>)55-?55- -A95~?=:Y==@y-EE)-1;I-8;i-ދ5YUŒBUAUEny}DNOT Ignoring new targets: 83.28 m.nJ:nJ: ProNav: ac range: 83.281754 m, nav range: 81.101097 m, bearing: 328.364496 deg, approach rate: -0.621246 m/s, LOS rate: 0.028040 deg/s, cmd heading: 334.778170 deg, new cmd heading: 334.814132 deg. n:HeadingCmd: 5.843609 target range: 83.281754 and range: 83.70 m.n@nnnnmzmm"mBJk"k kjj @ŁB<ɝ->)y2I)vG=)(IĵQIcl @ H:>HCHs IHsBH_ =HHDI< IEqfG!kH checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507983G B B N >ԡ NI,G $+AyRBK I   = R=II- -o=1Q 5?y11 5G=!FY9 =?AM5E+?M5Eӣ EA9QYQU@yEEE)EG:IE:iEr5YY]AayB*** querying acoustic contact ***oonDNOT Ignoring new targets: 83.28 m.n9n9 ProNav: ac range: 83.281754 m, nav range: 80.891838 m, bearing: 328.373965 deg, approach rate: -0.614012 m/s, LOS rate: 0.027857 deg/s, cmd heading: 334.814125 deg, new cmd heading: 334.842606 deg. n:HeadingCmd: 5.844106 target range: 83.281754 and range: 83.70 m.n@nnnnmzmm"mJk"k kjj]@ƁB`<鞡ɝ,>)靭d%I){_=)II. @ ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760278JK}UORK}59ZKybK}jK}#""# !2] z+q&uDzj\L8IIfGGBBN> OyI,#$+A&BDAT read: Rx Time:20:03:25.9845 &TRx dataTimestamp_ set to:1756325008.564402*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013174٪Z@9Z+@Z<Z >YZH5?@L?@9>`FTۿ X?`=2כ!b? ?Z@Z%>;ɫXybUBbO IIjBIj3r< rO=vփ;Q v>ytx zGz!FY~19 ~> 5;? 5 A9Y@y EE)=:I:i-5YBWA%EnAMDNOT Ignoring new targets: 83.28 m.nM9nM9- ProNav: ac range: 83.281754 m, nav range: 80.649567 m, bearing: 328.384960 deg, approach rate: -0.613512 m/s, LOS rate: 0.027926 deg/s, cmd heading: 334.842593 deg, new cmd heading: 334.875676 deg. n-R:5HeadingCmd: 5.844683 target range: 83.281754 and range: 83.70 m.n5@nQnQnQnQmQzmYmY"mYJkY"ka kajaje@ȁBΊ<ɝ>)nI)s=)\I?I%덻 -@ Q!fGvG?G?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2642631GiByBN>jJ rJ zJ J J :J :J J  @ @ @ @Y >I,e=$+A*H0"H2?AH4H4H6l IH6nBH4H4H4I6< I6 E٪f@9f@f̔<f >YfH;?L?5tTۿ9? @K??f@f0;ɫftCyrNBvE IIuMb@Mb@Mb@iqqqqqu/$?"~jy G!FYV >5M?5 A9K?:Y@y EE){;I;i 5Y1AnDNOT Ignoring new targets: 83.28 m.n9n9 ProNav: ac range: 83.281754 m, nav range: 80.385139 m, bearing: 328.397010 deg, approach rate: -0.585499 m/s, LOS rate: 0.026770 deg/s, cmd heading: 334.875678 deg, new cmd heading: 334.911949 deg. n :EHeadingCmd: 5.845316 target range: 83.281754 and range: 83.70 m.nE @nIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519242nInnmzmm "mBJk"k k!jYjev @ ɁB ]m< ɝR>)=I)=)V0II@  @ !aԑfGm 4GA BI Ba Nm >= DAT read: 20:03:25.9845 LVL= 25328, 32753, 17506, 32755, AGC= 69, IDX= 404, 0.27,-3.118, 1.749,-2.844, 2.912, PHS= 0.341,-1.116, 0.524, RAW= 155.8, 3.3, CAL= 157.4, -5.7, ROT= 352.6, 5.7 E Ygot valid direction response: 20:03:25.9845 LVL= 25328, 32753, 17506, 32755, AGC= 69, IDX= 404, 0.27,-3.118, 1.749,-2.844, 2.912, PHS= 0.341,-1.116, 0.524, RAW= 155.8, 3.3, CAL= 157.4, -5.7, ROT= 352.6, 5.7 M PDAT read: Bearing 175.7, 7.1 (Local) U ~Local bearing/azimuth received: Bearing 175.7, 7.1 (Local) ] DAT read: Range 10 to 50 : 81.3 m (Round-trip 108.5 ms) speed 0.7 m/s e ,DAT read: user:2014> m BDAT read: Tx time:20:03:27.0718 m $Ping request sent.m َ $? .@ k= F/@) %˽I @i %= E?ďA?E]$?) & ?I 2Cii @ %=  :publishing transmit ping timei  Fpublishing direction and range info 9 ld?5~ghܸmy  ) I i JK oORK 9ZK bK jK   ,Trzvpje]WPIC;61.*%!!$&$!!%.0.)$#! (' ) I i E?ďA?E]$?) I i I,NBW$+A111٪:;@9:`@:a<:7 >Y:H?@uV?N^ۿ? $l+7?ࡲ?:;@:₈;ɫ:xCynLBnC I) R=)i-AI]JI])4% %B=-GsQ ->y)) -G5!FYuhպ u>y5}I`?5} }fA9Y@y}EE)}:I}:i}5ԑYBAEo1o59T$+Ao5ˡBo5ˡBo5;@5]:S@B$u=Ev 5ld?5~ghܸmo5@o5%=5 P@W;+Eh{k&5 P?W࿟̛&¿o5])o5Bo5S?o5]F o5VB2p1:p1Bp5&UB"p5=B*p5k@ addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.780606 s, deltaX: -2.399994 m, approachRate: -0.634817 m/s, rangeRepo size: 4  Added new target pos. range: 80.897476 m, bearing: 328.079587 deg, lat: 36.779963 deg, lon: -121.858989 deg, deltaT: 3.780606 s, deltaX: -2.384277 m, approachRate: -0.630660 m/s, posRepo size: 4 nDNOT Ignoring new targets: 80.90 m.nnM ProNav: ac range: 80.897476 m, nav range: 80.119637 m, bearing: 328.409328 deg, approach rate: 0.000000 m/s, LOS rate: 0.026770 deg/s, cmd heading: 334.911960 deg, new cmd heading: 334.947332 deg. nIUHeadingCmd: 5.845934 target range: 80.897476 and range: 81.30 m.nU@nQnQnQnQmYzmYmY"mYJka"ka kj@3ST@j@?=ˁBe9})aec񺩝aIi)m=)mp߾Iu+6Iu (Ż u@ q fGm 9TGy B   dClearing failed state for component DockingStepper1 B N5 > rI,2q$+AyIMb@Mb@Mb@i1Zd?S㥻y&19"?Y/ݽy`e A@ @9AI=WI=44UQ U>yQQ UG]!FY] ]>am5er?5e e?A9?:Y7@yeEE)e;Ie;ie5YBuAEjJrJzJDJJ:J :J4Jn  DNOT Ignoring new targets: 80.90 m.n^:n^:% ProNav: ac range: 80.897476 m, nav range: 79.854012 m, bearing: 328.421305 deg, approach rate: -0.654028 m/s, LOS rate: 0.029587 deg/s, cmd heading: 334.947341 deg, new cmd heading: 334.983390 deg. n%q:MHeadingCmd: 5.846563 target range: 80.897476 and range: 81.30 m.nM @nInQnQnQmQzmQmY"m]BJkY"kY kYjaje@?́Bł<ɝr~>)rغI)>=)߾ILI|ӻ  @  "4Initializing EZServoServo.He9>HaHaHaHe^ =HaHaIe< IeEI%CI%C"I%ƔC*I%_ =2I%` =:I%*6 "8Initializing DockingStepper.F F I ԁ fG5 ǻG5 wAG5 wAGIBYByN>#I,qˏ$+A٪>xdz@9>ĺ@><>>Y>H?@?Pۿ A?i ]?@?>xdz@>];ɫ>yCyDHINSIN4VQ Z>yX\ bGb!FYf*? f>dj5fF?n5fQ fA9lYnTn@yfEE)f:If;if5Yttt B*** querying acoustic contact ***o o nDNOT Ignoring new targets: 80.90 m.n%, :n%, :5 ProNav: ac range: 80.897476 m, nav range: 79.611931 m, bearing: 328.433050 deg, approach rate: -0.625047 m/s, LOS rate: 0.030419 deg/s, cmd heading: 334.983377 deg, new cmd heading: 335.018720 deg. n5:EHeadingCmd: 5.847180 target range: 80.897476 and range: 81.30 m.nE@nAnAnAnAmIzmImI"mIJkQ"kQ kQjQjU _ ?M΁BM"^)IUHQIQ)U =)]<߾IeIe_8 e@ a}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JKUjNRKU+9ZKQbKUjKU    )fG}ۻGYaBiByN|>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246646ԁ )I,s$+A٪f @9f0@fU<f >YfH??Bs` ۿ3?`+٘:??f @f;ɫfvCyvEBz; Ip==I-yI3' <ܺQ >y G!FYyȻ >5D?5V A9Y@yEE);I};ig5YBAEnDNOT Ignoring new targets: 80.90 m.n5:n=: ProNav: ac range: 80.897476 m, nav range: 79.350021 m, bearing: 328.446356 deg, approach rate: -0.581374 m/s, LOS rate: 0.029633 deg/s, cmd heading: 335.018730 deg, new cmd heading: 335.058778 deg. n:HeadingCmd: 5.847879 target range: 80.897476 and range: 81.30 m.n!@nnnnmzmm"m Jk "k  k j jL\?]сB]@\)靅I)RF =)~޾IIJ_ !@ ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499289jJrJzJCJJ:JJ1:J4JfG Y[>G B B N >:H% <2H% <H- 5>H- CH) H) H- _ =H) H- DI- < I- E E0I,G$+A٪rੳ@9r@r#]<r >YrH?n?`ۿ@?` I?`V?rੳ@r;ɫrwCyzCBz8 Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750781IMb@Mb@Mb@iZd;O?zGếy&19j?Y ׽y A@A 9AI[IK!4+ 6=I:Q >y G%!FY% ->QU5Uʨ?]5U UA9]?]:Y]]@yU"EE)Uj:IU:iUh5YimAinquDNOT Ignoring new targets: 80.90 m.n}N:n}N: ProNav: ac range: 80.897476 m, nav range: 79.066727 m, bearing: 328.459814 deg, approach rate: -0.611132 m/s, LOS rate: 0.029136 deg/s, cmd heading: 335.058782 deg, new cmd heading: 335.099301 deg. n:HeadingCmd: 5.848586 target range: 80.897476 and range: 81.30 m.n'@nnnnmzmm"mBJk"k! k)j)j- g?ӁB:]<鞙ɝD`>)XwI)fq =) ȃ޾I xI r '@ ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007614F =F JK ѭLRK 59ZK bK jK y fGu 28I,sc$+A٪Z@9Z@Z<Z >YZHC??[@Uۿ?`A D?c?Z@Z։;ɫZuCyddInVInn4vͳ:Q v>ytx zGz!FYzJ9 z>| 5~:? 5~ ~A9 Y@y~&EE)~ ;I~;i~25YBzAnAEDNOT Ignoring new targets: 80.90 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254806nO:nO: ProNav: ac range: 80.897476 m, nav range: 78.813721 m, bearing: 328.471902 deg, approach rate: -0.662585 m/s, LOS rate: 0.031760 deg/s, cmd heading: 335.099299 deg, new cmd heading: 335.135681 deg. n^:HeadingCmd: 5.849221 target range: 80.897476 and range: 81.30 m.n,@nnnnm zm m "m Jk"k kjj@G@ՁB|n<鞉ɝh\>)靍"gI)Ԕ =)0޾I Iex ,@ 1fG)GB B!N5>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506648Y Jk-4JcJk_0jJ9 rJ= zJ= @J9 J9 J= :J= J4J9 T>I,$+A0٪>>@9>c@>x<>v{ >Y>H@_??pۿ(? @c`7`??>>@>É;ɫ>wCybFBb< I)f4> f%=difAHe1>HeCHef IHeiBHea =HaHaIeޘ< IeKEIMb@Mb@Mb@iV-?J +:v9?YȽyTA @9IYI4< <(@Q >y G!FY: > 5̝? 5 A9?:Y@y+EE). ;I ;i5Y]A!nIMDNOT Ignoring new targets: 80.90 m.nUs9nUs9e ProNav: ac range: 80.897476 m, nav range: 78.544197 m, bearing: 328.482501 deg, approach rate: -0.618860 m/s, LOS rate: 0.024419 deg/s, cmd heading: 335.135690 deg, new cmd heading: 335.167595 deg. ne:mHeadingCmd: 5.849778 target range: 80.897476 and range: 81.30 m.nmb1@ninininimizmqmy"m}BJky"ky kjj\@MׁBUe)QUX6YIY)] =)]ݾIe IeWw eb1@ aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758867ԡfG {GBBN> ] BDAT read: Rx Time:20:03:29.5816 e TRx dataTimestamp_ set to:1756325012.344352e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011793GEI,&%+AT٪n޹@9n@n@<nS >YnH?e?Ǣɻۿ?`Q%Sۙ{??n޹@n:;ɫlyUABU5 IIeIIed4u uQ=uBQ }>yyy }G}!FJKBIRK9ZKbKjK4>A<85-&#&.E]f`YiY; >5ݝ?5, aA9YP@y.EE);I;i5YBjAEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 80.90 m.n39n39 ProNav: ac range: 80.897476 m, nav range: 78.300888 m, bearing: 328.491894 deg, approach rate: -0.618602 m/s, LOS rate: 0.023955 deg/s, cmd heading: 335.167601 deg, new cmd heading: 335.195866 deg. n=:EHeadingCmd: 5.850272 target range: 80.897476 and range: 81.30 m.nEm5@nAnAnInImIzmImI"mQJkQ"kQ kQjQj]5@فBc<鞩ɝ2O>)靭H I) =)֦ݾIo I?k m5@ FvAFwAfG]{GvAGchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263530GBBN >1 jKI,/%+AGGI/{AZA-5-/{A9-B٪Uȳ@9Uź@UCz<U >YUH e?@?Ң*ۿ?`F:@Ι@?߯?Uȳ@Uʈ;ɫUvCym uBDAT read: Tx time:20:03:30.6718 u$Ping request sent.uNbG?X$.@5= /@)KI@iK=6$?'rVr?"?) ?ImitwK=:publishing transmit ping timeqFpublishing direction and range info9:Hn?k|)3y )Ii )Ii6$?'rVr?"?)IiICI3 )=ҸQ >y G!FYYt; > 5 ?5 tI 8A+:9:Y@y 3EE) ;I >i 5IYEBElAMEoo$D6%+AoBoBo@Ldm}vS@u!ǘ#ˠՍ:Hn?k|)3otwoK=TP@_=VD"$*~$ڢ?O࿏boB&oRBoe乳?oog[B2p:p]F BpVB"pdB*pcW@ addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.527583 s, deltaX: -2.100006 m, approachRate: -0.595310 m/s, rangeRepo size: 4  Added new target pos. range: 78.806229 m, bearing: 327.861395 deg, lat: 36.779963 deg, lon: -121.858994 deg, deltaT: 3.527583 s, deltaX: -2.091248 m, approachRate: -0.592827 m/s, posRepo size: 4 nDNOT Ignoring new targets: 78.81 m.nn  ProNav: ac range: 78.806229 m, nav range: 78.197151 m, bearing: 328.271437 deg, approach rate: 0.000000 m/s, LOS rate: 0.023955 deg/s, cmd heading: 335.195878 deg, new cmd heading: 335.235901 deg. n 5HeadingCmd: 5.850970 target range: 78.806229 and range: 79.20 m.n5&;@n9n9n9n9m9zm9mA"mAJkA"kA kIHYHYH]` IH]dBHYHYHYqI]s< I]EjS@j I?܁BK*<ɝ?>)\ҦI), =)PKݾI I ] &;@ ԡ  JDAT read: TxSync time:20:03:30.6710 fG ajGBBN>@SI,9O%+A٪Fɳ@9FDƺ@FN<FP >YFH?S?@@kۿ)?` /@?@?Fɳ@F*;ɫFxCyR;BR. Iv=v=xzIz:Iz3  O=Q >y G!FY~9 %>Am5E?m5EJ EAm :9im`:Yuu@yE7EE)E;IEb?iE5Y}B}AEnDNOT Ignoring new targets: 78.81 m.n9n9 5 ProNav: ac range: 78.806229 m, nav range: 77.950043 m, bearing: 328.280004 deg, approach rate: -0.741985 m/s, LOS rate: 0.025803 deg/s, cmd heading: 335.235902 deg, new cmd heading: 335.261683 deg. n5:=HeadingCmd: 5.851420 target range: 78.806229 and range: 79.20 m.nE>@nAnAnInImIzmImI"mQJkQ"kQ kQjQj]?ށB j<ɝ9>)0ZI)F =)JݾI~I?f >@ JK-MRK-9ZK)bK-jK-VI>92-(# "     9ImR=Ima=jJurJuzJu?JqJu:Ju/:Juـ4JqJu;Ju;Ju^;Ju^;fG,]GBBN>Yԁ aYI,h%+A٪Fϳ@9F̺@FI <F >YFH?U?2`,ۿ ? xa0??Fϳ@FV;ɫFuCyZ6BZ' IIfYIf4vѼ vN=zpQ z>y|| G!FYX;  >%5?-5 A-99)55:Y55@y;EE)k;IУ?i5YBAEn5DNOT Ignoring new targets: 78.81 m.n=-9n=-9q ProNav: ac range: 78.806229 m, nav range: 77.705704 m, bearing: 328.288406 deg, approach rate: -0.596176 m/s, LOS rate: 0.020565 deg/s, cmd heading: 335.261693 deg, new cmd heading: 335.286978 deg. na:HeadingCmd: 5.851861 target range: 78.806229 and range: 79.20 m.nsB@nnnnmzmm"mJk"k kjj1?B 6<ɝl)>)%I)cp =)]tܾI]IH` sB@ԡ "&Changing to mode: 1EqFq FqF}05FyF=F=H 0>H H Z IH ^BH ` =H H I < I EfG ]G G 4? G B B N >#`I,!%+A٪:޳@9:ۺ@:t<: >Y:H?[d?Qlyۿ?F+'N`?@d?:޳@:'(;ɫ8yF4BF& Iaaaa aeae aiai a]a] IMb@Mb@Mb@iʡE?EԸQ9?Yƽyu/A@ zA9AIMI{4Ż 4=Q >y G!FY?; >5(?5 AT:9?%:Y%n%@1y@EE);I;i5YAEAQnDNOT Ignoring new targets: 78.81 m.n%9n%95 ProNav: ac range: 78.806229 m, nav range: 77.421875 m, bearing: 328.297225 deg, approach rate: -0.618664 m/s, LOS rate: 0.019293 deg/s, cmd heading: 335.286965 deg, new cmd heading: 335.313519 deg. n5S:=HeadingCmd: 5.852325 target range: 78.806229 and range: 79.20 m.n=?F@nAnAnAnAmIzmImI"mMBJkQ"kQ kQjQjU5?BI1.<ɝ!>)68I) =)ܾI%I%L %?F@ !aE?F FFP5Fԁ ? Y?fG ,]G B jJ rJ zJ @J J <:J B:J J4J J /;J 1;J b;J !b;B JK /MRK 9ZK bK jK N5 >Ա 1gI,9*%+Ay}#B} I)= x>iIVIn4Ϭ K=Q >y G!FY >59?5 A9Y@yDEE)y:IN:iP5YBAEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 78.81 m.n?9n?9- ProNav: ac range: 78.806229 m, nav range: 77.175026 m, bearing: 328.304948 deg, approach rate: -0.665909 m/s, LOS rate: 0.020900 deg/s, cmd heading: 335.313521 deg, new cmd heading: 335.336763 deg. n-e:EHeadingCmd: 5.852731 target range: 78.806229 and range: 79.20 m.nEI@nAnAnAnAmAzmImI"mIJkI"kQ kQjQj]1?qB<鞉ɝ=)靍"9I) =)dܾI[7IjU I@ UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.EaFi FiFm#5FiԡfGvkHGQ By B N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002922 [mI,%+A٪J@9J@JȮ<J>YJH??Pڤ@"ۿܦ?@sؕM??J@J3;ɫJwCyVBV IIMb@Mb@Mb@i+?:v rh9v?YԽyCEA@A 9zAIQI4˼ G=pQ >y G!FYs< >5K?5 A9 ?:YU@yHEE):I:i5YCAn9=DNOT Ignoring new targets: 78.81 m.nE9nE9U ProNav: ac range: 78.806229 m, nav range: 76.917313 m, bearing: 328.313742 deg, approach rate: -0.625802 m/s, LOS rate: 0.021428 deg/s, cmd heading: 335.336771 deg, new cmd heading: 335.363243 deg. nUJk:]HeadingCmd: 5.853193 target range: 78.806229 and range: 79.20 m.n][M@nYnananimizmm"mBJk"k kjjx@B ;鞑ɝx=)靝9I) =)'ܾIXI^ [M@:H2Hp<H/>HHM IHTBHa =HHI< IEI}CIy"I}ÓC*I}a =2Iy:I}|~5 EF FF5F ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254999PExceeded connect timeout, disconnecting.) fG SG G xAG B B N >Y OtI,#%+A٪:@9:@:Y<:>Y:H n??'|ۿ?zʊ ?W?:@:Ă;ɫ8yF BF IINHIN<3v )< zX=zMQ z>y|| ~G~!FY~t9 ~> 5<\?5 eA9YN@yLEE):IB:i5YB%A%EnQ]DNOT Ignoring new targets: 78.81 m.n] 9n] 9m ProNav: ac range: 78.806229 m, nav range: 76.681778 m, bearing: 328.321813 deg, approach rate: -0.623611 m/s, LOS rate: 0.021433 deg/s, cmd heading: 335.363244 deg, new cmd heading: 335.387530 deg. nmZk:uHeadingCmd: 5.853617 target range: 78.806229 and range: 79.20 m.nuP@nqnynynymyzmym"mJk"k kjj@Bs<ɝ =)d9I)a =)l۾II P@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507669E?F FFo5FfGm7jJrJzJ>JJ:J^:Jt4JJ;J;Jg;Jg;JKĂKRKs9ZKbKjK Y7fk_Q>'|slbWPH?;83<GNPPMG)B9BINU2>Ai e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761115mzI,4%+A٪:@9: @@:<:?G>Y:H??錄`ۿ`? Ƈ הL??:@:;ɫ:vCyRBRITTZ=Z=I^_I^b(4r  vL=v8Q v>yxx zGz!FYz("; z>|5~m? 5~ ~@A9 Y   @y~PEE)~ :I~:i~5YBAnIMDNOT Ignoring new targets: 78.81 m.nU9nU9e ProNav: ac range: 78.806229 m, nav range: 76.431580 m, bearing: 328.330251 deg, approach rate: -0.626066 m/s, LOS rate: 0.021183 deg/s, cmd heading: 335.387533 deg, new cmd heading: 335.412930 deg. neh:mHeadingCmd: 5.854060 target range: 78.806229 and range: 79.20 m.nmvT@ninininqmqzmqm"mJk"k kj j  '7@B;鞹ɝ,=)9I)jS =)-F۾I=I= EvT@ QԹE ?F  FF1FBDAT read: Rx Time:20:03:33.1788 TRx dataTimestamp_ set to:1756325015.873872checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013600fG- #G- ?G- ?H H H : IH EBH H H I < I EG B B) N5 >3YI,ߧ&+A٪Br@9B@Bͪ<B>YBH`8??P`ۿ@?n@4@!m??Br@B&;ɫByCy^B^Ihchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263170IeMb@Mb@Mb@iaaaaaeK7A?Cl绿~jt9e "?Ye;߽yee\Ae@eA eAa9eAI}FI}%3b, ?=`Q >y G!FY: >5?5 A9$?:Y@yTEE) ;I:i^5YBA nManaging dock network, ignoring radio surface power offnDNOT Ignoring new targets: 78.81 m.nt9nt9 ProNav: ac range: 78.806229 m, nav range: 76.158348 m, bearing: 328.340124 deg, approach rate: -0.610101 m/s, LOS rate: 0.022125 deg/s, cmd heading: 335.412941 deg, new cmd heading: 335.442667 deg. nr:HeadingCmd: 5.854579 target range: 78.806229 and range: 79.20 m.nX@nnnnmzmm "m  BJk "k kjjh @eBU;鞉ɝ/=)靕9I) =)Pr۾I I  X@ E5?FA FIFM0FI1U DAT read: 20:03:33.1788 LVL= 26224, 32753, 17650, 32755, AGC= 66, IDX= 408, 0.48,-1.072,-2.346,-0.812,-1.308, PHS= 0.324,-0.991, 0.492, RAW= 156.0, 2.5, CAL= 157.8, -6.4, ROT= 352.2, 6.4 fGe D Ygot valid direction response: 20:03:33.1788 LVL= 26224, 32753, 17650, 32755, AGC= 66, IDX= 408, 0.48,-1.072,-2.346,-0.812,-1.308, PHS= 0.324,-0.991, 0.492, RAW= 156.0, 2.5, CAL= 157.8, -6.4, ROT= 352.2, 6.4  PDAT read: Bearing 175.4, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 175.4, 7.8 (Local)  DAT read: Range 10 to 50 : 77.1 m (Round-trip 102.8 ms) speed 0.6 m/s  ,DAT read: user:2016>  BDAT read: Tx time:20:03:34.2718  $Ping request sent. u `direction in FSK: [0.984573,-0.134870,-0.111469]jJ rJ zJ AJ J :J :J 4J J c;J d;J `W;J aW;JK= ANRK= h9ZK9 bK= jK= QW_b_ZTMIC;8313J=   w]13d\Uumu*U :publishing transmit ping time ] Fpublishing direction and range info9G 2?ngC -V:y3Bpf D)IBiT>-}m>@.@¸2= C0@)I@i=kqS?~;?r?) ?I4ig = :publishing transmit ping time  Fpublishing direction and range info9G 2?ngC -V:y )Ii )IikqS?~;?r?)IiI, s&+A٪6&@96A#@6٨<6>Y6H ?` ?@ڿE?`?1?6&@6;ɫ6vCy>BBIIFXIF4f fY=fQ f>yhh jGj!FYnh ; ~>95ő?5 A9Y@yXEE)I, P9&+AyBI)%= %R=!i!ԙI=Mb@Mb@Mb@i99999='1Z?i|?59="?Y=y=̼=A=@=A 999=QA}BA}@AI;I&3u /=Q >y G!FY >5~?5  A9%?:Y@y]EE):I#:i5Y  ,A EB*** querying acoustic contact ***oAoAH].>HYH]! IH]1BH]b =HYH]DI]< I]EnDNOT Ignoring new targets: 76.72 m.n" :n" : ProNav: ac range: 76.716133 m, nav range: 75.508965 m, bearing: 328.313535 deg, approach rate: -0.680253 m/s, LOS rate: 0.030191 deg/s, cmd heading: 335.469112 deg, new cmd heading: 335.509033 deg. n¥:HeadingCmd: 5.855737 target range: 76.716133 and range: 77.10 m.n3b@nnnnm zm m "m BJk"k kjj ?BGA:鞹ɝ@;)69I)^ =)tھI&I 3b@ E?F FF0F=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.fG ! G B B N% >쐔I,&S&+A٪J,@9J)@J<Jq >YJH? ?`#ڿ8? *5@[?@?J,@J;ɫJwCynBnIIvSIv40 k=hQ ?y    G !FY ; ?5ŵ?%5` A9)Y-l5@y`EE)p;Iq;i5Y=B=qAEEnimDNOT Ignoring new targets: 76.72 m.nu:nu: ProNav: ac range: 76.716133 m, nav range: 75.287994 m, bearing: 328.323299 deg, approach rate: -0.664694 m/s, LOS rate: 0.029454 deg/s, cmd heading: 335.509028 deg, new cmd heading: 335.538403 deg. n:HeadingCmd: 5.856250 target range: 76.716133 and range: 77.10 m.nff@nnnnmzmm"mJk"k kjj j"?Bިɝ )c9I)P =)NھIXI ff@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.966118 EM?FI FIFM0FIIC=Ip=JK*PRK+9ZKbKjKeI=3)! #.50/346FOOLD=7."'SM"K?K?ԡfGmGI BQ Bi Nu >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218076 ƽI,c m&+A٪68@965@6se<6>Y6H@B ?@l?@ڿm?J!o,?خ?68@6;ɫ6uCyJBJIIRHIR<3Zw ZO=Z'Q Z>y\\ ^G^!FYbq; b>dj5f_Ǟ?j5f6 fmA9hYjn@yfdEE)f;If;ifM5YprApnDNOT Ignoring new targets: 76.72 m.n@:n@:- ProNav: ac range: 76.716133 m, nav range: 75.033699 m, bearing: 328.334305 deg, approach rate: -0.645451 m/s, LOS rate: 0.028032 deg/s, cmd heading: 335.538398 deg, new cmd heading: 335.571530 deg. n-:=HeadingCmd: 5.856828 target range: 76.716133 and range: 77.10 m.n=#k@n9n9n9n9m9zm9mA"mAJkA"kA kIjIjM s?B,@ ɝ)%9I) =) xKھI5pI5J =#k@ A C}G=yAY%yA9BE?F FF0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.470643jJrJzJ?JJl:J^:Jـ4J@@@@fG ! HM 0>HI HM  IHM BHM ` =HI HM DIM < IM EGa Bq B N >עI,܆&+A ٪>B@9>?@>σ<>]>Y>H`P?? | ڿ?@M:4В@W?-?>B@>r;ɫyxx zGz!FY~@; ~>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.722382 5 ٞ?5 6 AA+:9:Y%@y iEE) e ;I .>i  5Y-B-A-EnQUDNOT Ignoring new targets: 76.72 m.n]9n]9u ProNav: ac range: 76.716133 m, nav range: 74.768112 m, bearing: 328.345629 deg, approach rate: -0.645791 m/s, LOS rate: 0.027633 deg/s, cmd heading: 335.571538 deg, new cmd heading: 335.605631 deg. n:HeadingCmd: 5.857423 target range: 76.716133 and range: 77.10 m.np@n!n!n!n!m!zm!m)"m)Jk)"k) k)j1j5 ?Baq鞉ɝ`v)靍|9I)% =)پII< p@ yEm?Fi FiFm0FiԙfGUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.974079G) B1 BI NU > I I @AJK A,ORK 9ZK bK jK iU< b}wpmjbYI:6741/*&$ +751,'$(.18:ͧI,x&+A٪6N@96K@6;y<6f>Y6HA??6ڿ@?X\`َ?4?6N@6oш;ɫ6wCLyr؁BrIIzNIz@ 4˼ H=q:Q >y    G !FYYm; >%5랊?%5! A% :9!%W:Y%S-@ymEE); ;IQ?i 5Y15A1nyDNOT Ignoring new targets: 76.72 m.n9n9 ProNav: ac range: 76.716133 m, nav range: 74.507156 m, bearing: 328.356531 deg, approach rate: -0.637597 m/s, LOS rate: 0.026729 deg/s, cmd heading: 335.605634 deg, new cmd heading: 335.638454 deg. n:HeadingCmd: 5.857996 target range: 76.716133 and range: 77.10 m.nt@nnnnmzmm"mJk"k kjj@Baɝ) ;9I!)%1 =)%lپI-dI-bͻ -t@ )checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226935EM?FI FIFQFQfGqGI BQ Bi N >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477980RI,&+A|yсBIjJerJezJeFJaJe:Je!:Je4Jaaaaa aeae aiai a]a] IMb@Mb@Mb@ix&1?PnV-9!?YyA@/ A A9AIOI 4   ;= Q >y G!FY >!-5%?-5%t  %A=T:9= %?=:Y==@y%qEE)%Mu;I%ws;i% 5YMBMAMEnquDNOT Ignoring new targets: 76.72 m.n}$:n}$: ProNav: ac range: 76.716133 m, nav range: 74.226540 m, bearing: 328.372088 deg, approach rate: -0.644531 m/s, LOS rate: 0.035867 deg/s, cmd heading: 335.638446 deg, new cmd heading: 335.685294 deg. n:HeadingCmd: 5.858814 target range: 76.716133 and range: 77.10 m.ng{@nnnnmzmm"mBJk"k kjj@B&JŻɝ)U9I)H =)6GپIAI(:H2H<H,>HHIHBHb =HHDI< IE g{@ )EaFa FaFe0Fa%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730241QfG ǻG ԉ B B N >)I,&+A٪6Q@96O@6>ǟ<6Y>Y6H?ۏ?`vڿ ?@` ?2?6Q@6 ;ɫ6xCyŔBRI)V8> Vydd jGj!FYjj: j>lr5n?r5n  nA9tYvv@ynuEE)nW:In-:inl5Yx~7A|B*** querying acoustic contact ***oon)-DNOT Ignoring new targets: 76.72 m.qn_#:n_#: ProNav: ac range: 76.716133 m, nav range: 73.993706 m, bearing: 328.385015 deg, approach rate: -0.641131 m/s, LOS rate: 0.035707 deg/s, cmd heading: 335.685302 deg, new cmd heading: 335.724204 deg. n :HeadingCmd: 5.859493 target range: 76.716133 and range: 77.10 m.n@nnnnmzmm"mJk"k kjj@ @uBDAT read: Rx Time:20:03:36.7755 uTRx dataTimestamp_ set to:1756325019.400458}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983200Btɝֽ)Y9I)r =)@ؾI<I @ Ee?Fa FaFm0FiԙJK5ORK59ZK1bK5jK5BKRZafxvtqh]VME<4-'# fG#Gy B B N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234860 V I,R&+A٪: W@9:/T@:<:5>Y:H?:?`/ڿ?@w`o@`?]?: W@:;ɫ:wCyFǁBFIIN[INK!4V  VL=Z*8Q Z>yXX ZGZ!FY^ : ^>`f5b ?f5b bA9hYjwj@ybyEE)b>:Ibl:ib+5YnBnuAnEn DNOT Ignoring new targets: 76.72 m.n":n":E ProNav: ac range: 76.716133 m, nav range: 73.737549 m, bearing: 328.399196 deg, approach rate: -0.640857 m/s, LOS rate: 0.035602 deg/s, cmd heading: 335.724206 deg, new cmd heading: 335.766897 deg. nEv:]HeadingCmd: 5.860238 target range: 76.716133 and range: 77.10 m.n]@nanananamazmimq"myJky"ky kyjj% @]B];aɝeP)ae7aIa)eyA=)ؾIЈI\ @ 1EM?FI FQFU0FQFuwAFqDAT read: 20:03:36.7755 LVL= 24736, 31073, 17394, 32755, AGC= 69, IDX= 407, 0.39,-1.786,-3.137,-1.467,-2.013, PHS= 0.315,-1.077, 0.543, RAW= 157.5, 2.9, CAL= 159.0, -6.1, ROT= 351.0, 6.1 Ygot valid direction response: 20:03:36.7755 LVL= 24736, 31073, 17394, 32755, AGC= 69, IDX= 407, 0.39,-1.786,-3.137,-1.467,-2.013, PHS= 0.315,-1.077, 0.543, RAW= 157.5, 2.9, CAL= 159.0, -6.1, ROT= 351.0, 6.1 PDAT read: Bearing 174.2, 7.7 (Local) ~Local bearing/azimuth received: Bearing 174.2, 7.7 (Local) DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.6 m/s ,DAT read: user:2017> BDAT read: Tx time:20:03:37.8719 $Ping request sent.܍#ۉ܍  ?܍/@܍4QO= ݍΚ1@)ݍ^ ڽIݍ @iݍ^ =݉݉ލ^]?Ԏ q? '[?)ލZj'?IލPiލt ލ^ =މމ:publishing transmit ping timeFpublishing direction and range infoۉ9ۍ "Tm?`!\ÿO4yۉۉۉۉ ܉)܉I܉i܉܉܉܉܉ ݉)݉I݉i݉݉݉ލ^]?Ԏ q? '[?)މIމiމމމމjJ}rJ}zJ}IJyJ}:J}9:J}F4JyQH H H IH BH H H I ֘< I :EIIC"I*Ib =2Ia =:Iu5fG% ܻG B B N >y I,+'+A٪:R@9:P@:/m<:>Y:H??@ڿ ?eU͓? ?:R@:;ɫ:xCyNˁBNIrJDAT read: TxSync time:20:03:37.8711 IMb@Mb@Mb@ix&1?`"~jt9A ?YyļrA@A 9I DI 3=< =4==1ϹQ =>yAA EGE!FYM M>Qq}5u4?}5ug uQA9V#?:Y!@yu~EE)uY;Iu;iu-5YB9AEoo&+AotBotBo̶@|n܊9R@_4"' "Tm?`!\ÿO4ot o^ =^cN@sCĨ2%?2}"|-H¿oo.wBod?o[(o9XB2pS?:p4 Bp"pB*p[@= addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.525846 s, deltaX: -2.500000 m, approachRate: -0.709050 m/s, rangeRepo size: 4 u Added new target pos. range: 74.228081 m, bearing: 327.302376 deg, lat: 36.779961 deg, lon: -121.858994 deg, deltaT: 3.525846 s, deltaX: -2.488052 m, approachRate: -0.705661 m/s, posRepo size: 4 nquDNOT Ignoring new targets: 74.23 m.n}ny ProNav: ac range: 74.228081 m, nav range: 73.353912 m, bearing: 328.301703 deg, approach rate: 0.000000 m/s, LOS rate: 0.035602 deg/s, cmd heading: 335.766909 deg, new cmd heading: 335.817599 deg. nHeadingCmd: 5.861123 target range: 74.228081 and range: 74.60 m.nQ@nnnnmzmm"mBJk"k kj`fR@ju?=BEIɝM)IMˢIII)M=)UؾIUvIU ]Q@ YԁE?F FF0Fؕ=ؕ=ԱfGE *G B! B9 NE > EI,P"'+AJK"TMRK ZK bK"jK"s)]! Hijw o8٪F@K@9FeH@FsS<F>YFH?`?!ϵڿ`;?=`-j 1??F@K@F];ɫFyCyRBRITTV=V=IZFIZ%3f\ fe=f6yQ f>yhh jGj!FYj?, n>pv5r(D?v5r r,A9tYv`v@yrEE)r:Ir:ir5Y|~A|n!%DNOT Ignoring new targets: 74.23 m.n-R:n-R:= ProNav: ac range: 74.228081 m, nav range: 73.130470 m, bearing: 328.312484 deg, approach rate: -0.665303 m/s, LOS rate: 0.032200 deg/s, cmd heading: 335.817589 deg, new cmd heading: 335.850031 deg. n=ɰ:EHeadingCmd: 5.861689 target range: 74.228081 and range: 74.60 m.nE@nAnInInImIzmImQ"mQJkQ"kQ kQjj@?%B%S+!ɝ% ))-p0)I))-=)Un׾I]wB I]" ]@ iԹE-?F) F1F5_1F1fGU GQ By B N >9 EI,;'+A٪N$?@9NI<@N<NTT>YNH??8U ڿ \? ??N$?@N;ɫLybƁBbIjJErJEzJE@JAJE:JE$:JEJ4JAImMb@Mb@Mb@iiiiiimT㥛 ?x&{Gz9m!?Ym7 ymףmAm+@mA m3Ai9m AI6Im3͔< >=Q >y G!FY` >5V?5 A9$?:Y"@yEE) ;I ;i5YBNAEnquDNOT Ignoring new targets: 74.23 m.n} 8:n} 8: ProNav: ac range: 74.228081 m, nav range: 72.855026 m, bearing: 328.330399 deg, approach rate: -0.616171 m/s, LOS rate: 0.040227 deg/s, cmd heading: 335.850018 deg, new cmd heading: 335.903966 deg. n:*H"HH->HHIHBHa =HHIl< IEHeadingCmd: 5.862630 target range: 74.228081 and range: 74.60 m.n@nnnnmzmm"m BJk"k kjj&?eBeiɝm)i靍@I)2\=)R׾I!IMC @ EE?FA FAFM0FIFU=FU=9fGm i GA BQ Ba Nm >..I,gU'+A ٪>a(@9>%@>D<>wz>Y>H@? ?mMڿ?@6@eȐa^??>a(@>$;ɫ>vCyzāBzIIVIn4ƻ S=@5Q >y G%!FY%_ %>)55-g?55-! -A91Y=t#=@y-EE)-;I-;i-I5YAEXAIeB*** querying acoustic contact ***oaoany}DNOT Ignoring new targets: 74.23 m.n?O:n?O: ProNav: ac range: 74.228081 m, nav range: 72.607780 m, bearing: 328.347172 deg, approach rate: -0.665468 m/s, LOS rate: 0.045298 deg/s, cmd heading: 335.903977 deg, new cmd heading: 335.954466 deg. n:HeadingCmd: 5.863512 target range: 74.228081 and range: 74.60 m.n㡻@nnnnmzmm"mJk"k kjj@? Bc*ɝ )ƹI)֫=)־I#IJw 㡻@ }T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iEu?Fq FqFuq5FyԙJKORKs9ZKbKjKm[OKT[YTMFDG?80*$    fGY[>GBBN> E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757169cXI,o'+A٪:!$@9:F!@: <:B>Y:H?@?ɦ ڿ?@OA??:!$@:;ɫ:xCLyVɁBVI)Z> Z>XiXI^PI^ 4f< jO=jW:Q n>ypp rGr!FYvz v>xz5zx?~5z$ zA9|Y~#~@yzEE)zU;Iz;iz5Y B A n15DNOT Ignoring new targets: 74.23 m.n=J:n=J:M ProNav: ac range: 74.228081 m, nav range: 72.354340 m, bearing: 328.364615 deg, approach rate: -0.641033 m/s, LOS rate: 0.044275 deg/s, cmd heading: 335.954466 deg, new cmd heading: 336.006980 deg. nM:]HeadingCmd: 5.864428 target range: 74.228081 and range: 74.60 m.n]e@nYnYnYnYmazmama"maJki"ki kijijm(? BP鞡ɝ2)靥K>I)p=)\g־I$I e@ E]?FY FaFep5Fachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007070 fG]{GqH.>HHHHHHI< IEBBN >! R?I,m'+A٪:Q,@9:v)@:>C<:>Y:H??Eڿm? Y5`)(`?@?:Q,@:a;ɫ:wCyRȁBPrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259047IMMb@Mb@Mb@iIIIIIM+?p= ףy&19M?YMyM`eMAM@M/ A II9MAImSIm4u @= ;Q >y G!FY; > 55 募?=5 ]) A9E6#?E:YE"E@y EE) ;I ;i 5YIM AInDNOT Ignoring new targets: 74.23 m.n::n:: ProNav: ac range: 74.228081 m, nav range: 72.075294 m, bearing: 328.383035 deg, approach rate: -0.615119 m/s, LOS rate: 0.040762 deg/s, cmd heading: 336.006976 deg, new cmd heading: 336.062450 deg. n:HeadingCmd: 5.865396 target range: 74.228081 and range: 74.60 m.nS@nnnnmzmm!"m%BJk!"k! k!j)j-q@} B}*鞁ɝ)靅~I)l=))UvվIUb&IUu US@ YEF FF%,1F!F-vAF-vAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510806fGE fjJu rJu zJu ?Jq Ju :Ju :Ju ـ4Jq Ju |; Ju ~; Ju u; Ju u; ԉ G B) By N >kiI,H'+AJK^^MRK^}9ZK\bK^jK^Lll\J8& y%ʁB%II-BI-3=; EN=EQ E>yAI MGM!FYM M>QYe5UP?e5U#- UhA9aYim@yUEE)U>/;IU[0;iU5YuBuAuEnDNOT Ignoring new targets: 74.23 m.n H:n H: ProNav: ac range: 74.228081 m, nav range: 71.834152 m, bearing: 328.399069 deg, approach rate: -0.655647 m/s, LOS rate: 0.043741 deg/s, cmd heading: 336.062437 deg, new cmd heading: 336.110700 deg. n&:HeadingCmd: 5.866239 target range: 74.228081 and range: 74.60 m.n:@nnnnmzmm"mJk"k kjjd@ B,ɝ) 7I)=) zվI `(I: :@ iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764626EiFi FiFmp5FiԙGԱ/{AA%%/{A9-BfGG B B N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017527I,t)'+A٪6C@96@@6<6=>Y6H?@V?8`Yڿ@?G~`?@?6C@6+;ɫ4yFԁBFIHHN=N=ԱIMb@Mb@Mb@iCl?S㥻{Gz9;?Y/ݽy#AX@ A9Ap;IEI3;= @=K:Q >y G!FY ;  >5 ?5'1 HA9%!?%:Y%%@yEE):I:iz5Y-B-AH=3>H=CH9H9H9H9H=DI=< I=EMţEnDNOT Ignoring new targets: 74.23 m.nO9nO9 ProNav: ac range: 74.228081 m, nav range: 71.564018 m, bearing: 328.409494 deg, approach rate: -0.613034 m/s, LOS rate: 0.023748 deg/s, cmd heading: 336.110713 deg, new cmd heading: 336.142107 deg. nb:HeadingCmd: 5.866786 target range: 74.228081 and range: 74.60 m.n@nnnn m)zm)m1"m5BJk1"k1 k9j9j=`? @Bj鞱ɝ)靵ċRI)%=):2վI3*Ipl @ Ee?Fa FaFaFaBDAT read: Rx Time:20:03:40.3724 TRx dataTimestamp_ set to:1756325023.184452checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267985fGM !GU ?GU ?Gy B B N >9 k{I,]'+A٪B[@9BY@Bs<B@N>YBH`?x?<|ڿ p? \m\X??B[@B;ɫByCyLLIV^IV&4^ ; b`=bCQ b>y`d fGf!FYf < f>lv5n?v5n4 n-A9tYvv@ynEE)n6;In~(;in 5Y~B~A~ƣEB*** querying acoustic contact ***oon)-DNOT Ignoring new targets: 74.23 m.n59n59E ProNav: ac range: 74.228081 m, nav range: 71.335365 m, bearing: 328.417816 deg, approach rate: -0.648516 m/s, LOS rate: 0.023679 deg/s, cmd heading: 336.142105 deg, new cmd heading: 336.167151 deg. nE:MHeadingCmd: 5.867224 target range: 74.228081 and range: 74.60 m.nML@nInInInImIzmQmQ"mQJki"ki kijijm@ @B21鞡ɝL)靥JgI)t=)ԾIN+I~eJ L@ }checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521565EU?FY FYF]1FaF=F=JJ4JO4J0jJMrJMzJMCJIJMl:JM!:JM4JIJM;JM;JMjy;JMky;AJKU4MRKU59ZKQbKUjKU3<<95/,*-9LU8O m3@QzS$ribZUOIEFFIfGlqGBBN>M DAT read: 20:03:40.3724 LVL= 24880, 32753, 15570, 32755, AGC= 67, IDX= 407, 0.17, 1.716, 0.335, 2.060, 1.492, PHS= 0.312,-1.110, 0.566, RAW= 158.1, 3.0, CAL= 159.5, -6.0, ROT= 350.5, 6.0 U Ygot valid direction response: 20:03:40.3724 LVL= 24880, 32753, 15570, 32755, AGC= 67, IDX= 407, 0.17, 1.716, 0.335, 2.060, 1.492, PHS= 0.312,-1.110, 0.566, RAW= 158.1, 3.0, CAL= 159.5, -6.0, ROT= 350.5, 6.0 ] PDAT read: Bearing 173.7, 7.7 (Local) ] ~Local bearing/azimuth received: Bearing 173.7, 7.7 (Local) m DAT read: Range 10 to 50 : 72.2 m (Round-trip 96.3 ms) speed 0.4 m/s u ,DAT read: user:2018> } BDAT read: Tx time:20:03:41.4719 } $Ping request sent.}  { `? r0@ PwV=  )2@) PwֽI @i Pw=   9#hG'?ٵ?MΪ?) e'*?I Vi ) Pw=   :publishing transmit ping timey  Fpublishing direction and range info 9 dc?yoͥſ4ޮ`ºy     ) I i      ) I i    9#hG'?ٵ?MΪ?) I i    I,'+A٪2n@9Xk@<>YH!?V?` y G!FY;; >5ӟ?58  A9Y'@yEE)o:I:i"5YBAǣEo9o=j'+Ao=Bo=Bo=@=u"޺Q@lW'GQm =dc?yoͥſ4ޮ`ºo=)o=Pw== M@>=YC'o$='X]?;lNz<ῤI‹¿o=o=nBo=fs?o=m2o= ZB2p=e乳?:p=Bp=9XB"p=YB*p=OE@ addTargetRange:: Added new target pos. range: 72.199997 m, deltaT: 3.783804 s, deltaX: -2.400002 m, approachRate: -0.634283 m/s, rangeRepo size: 4  Added new target pos. range: 71.840981 m, bearing: 327.014111 deg, lat: 36.779960 deg, lon: -121.858999 deg, deltaT: 3.783804 s, deltaX: -2.387100 m, approachRate: -0.630873 m/s, posRepo size: 4 nDNOT Ignoring new targets: 71.84 m.nMnIԡ ProNav: ac range: 71.840981 m, nav range: 71.174576 m, bearing: 328.144979 deg, approach rate: 0.000000 m/s, LOS rate: 0.023679 deg/s, cmd heading: 336.167158 deg, new cmd heading: 336.201889 deg. nHeadingCmd: 5.867830 target range: 71.840981 and range: 72.20 m.nCŻ@nnnnm zmm9"m9Jk9"k9 kAjE R@jE[?B鞩ɝ()[I)/=)~ԾI,IR 8 CŻ@ HE8>HAHEIHEBHE_ =HAHEDIEΘ< IE>EE?F FF1F fG x IG B B N >^DJ, (+A ɩ"@٪bz@9b x@b<bQ>YbH&?@Ey99 EGE!FYEg; M>Ym5]柊?u5]< ]A9u?u:Yuu@y]EE)]-;I] u;i]$5YAnAMDNOT Ignoring new targets: 71.84 m.nM 9nM 9 ProNav: ac range: 71.840981 m, nav range: 70.902527 m, bearing: 328.152231 deg, approach rate: -0.625145 m/s, LOS rate: 0.016726 deg/s, cmd heading: 336.201882 deg, new cmd heading: 336.223719 deg. n7:HeadingCmd: 5.868211 target range: 71.840981 and range: 72.20 m.nbȻ@nnnnmzmm"m@BJk"k kjj?5B=@D"9ɝ= )9E]zIII)MB=)wԾI-I) bȻ@ ԑE?F FFp5FԹjJrJzJFJJ:J:J4JJ;J;J@;J@;fG U= Gi Bq B N >JK ,ORK 9ZK bK jK  [J:N(,yL)mK;1,%"%('! #*-)$ #=c J,^'(+A٪B@9B @Bl<B$t>YBH2?} ? މ,ڿP?i}]? %?B@BS;ɫ@yNفBNIIVNIV@ 4^< ^f=bJQ b>y`` bGb!FYf3< f>hn5j?n5j? jA9pYrr@yjEE)j/;Ij;ij%5YvBv}AvȣEn)5DNOT Ignoring new targets: 71.84 m.n=9n=9U ProNav: ac range: 71.840981 m, nav range: 70.685333 m, bearing: 328.157474 deg, approach rate: -0.653924 m/s, LOS rate: 0.015834 deg/s, cmd heading: 336.223712 deg, new cmd heading: 336.239489 deg. n]-:eHeadingCmd: 5.868486 target range: 71.840981 and range: 72.20 m.nmʻ@ninininimqzmqm"mJk"k! k!j!j%?B鞙ɝ)靝bךI)=)rSԾI.I ʻ@ Em?Fi FiFm3FiFuwAFuwA 1fG"*G B B! Nm >a LJ,)BA(+AHF7>HDHFIHFBHDHDHFDIF< IFEIECIEC"IA*IEa =2IE` =:IE5٪^G@9^m@^83<^>Y^H >??𞦿ٿ`?@9揿ya??^G@^;ɫ\yfہBjIIeMb@Mb@Mb@iaaaaaeCl?ʡEy&1|9ed?Ye-ye`廩eAAeA@a eAa9eAIu4IuV3&#< >=I˺Q >y G!FY< >5?5C A9?:Y@yEE)X ;I ;in'5YlAn1uDNOT Ignoring new targets: 71.84 m.nuK7nuK7 ProNav: ac range: 71.840981 m, nav range: 70.420807 m, bearing: 328.157770 deg, approach rate: -0.615920 m/s, LOS rate: 0.000694 deg/s, cmd heading: 336.239476 deg, new cmd heading: 336.240370 deg. n7HeadingCmd: 5.868502 target range: 71.840981 and range: 72.20 m.nʻ@nnnnmzmm"m[BJk"k kjj?5B51ɝ5l)9=5M9I9)==)ElQԾIE.IE^ Eʻ@ IE?F FF0FaԙfG% G B B! N5 > gwJ,C[(+A٪J̴@9Jɻ@Ĵ<J>YJH YH??s ٿ?[@dY'?`Ǩ?J̴@J:;ɫHyVׁBVIXX^=^p=bpyxx zGz!FY~; ~> 5? 5F A9 Y @yEE):I:i)5YBvAɣE=B*** querying acoustic contact ***o9o9nAMDNOT Ignoring new targets: 71.84 m.nM1onU1o ProNav: ac range: 71.840981 m, nav range: 70.186142 m, bearing: 328.157459 deg, approach rate: -0.613057 m/s, LOS rate: -0.000817 deg/s, cmd heading: 336.240377 deg, new cmd heading: 336.239439 deg. n HeadingCmd: 5.868485 target range: 71.840981 and range: 72.20 m.n ʻ@n n n n m zm1m1"m1Jk9"k9 k9j9j=@?ԑjJrJzJBJJ:J:J-4JJ|;J~;JwE;JwE;Byw$ɝ)F޳I);=)SԾI*.I+T ʻ@ E?F FFo0FԹJK=ߠORK=h9ZK9bK=jK=qVK?'~aK<0)!   T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fG% 'nG B B! N)  J,t(+A٪B@9B@B<B>YBH uQ??ϟٿ r?@ Q ?`?B@B%E;ɫBuCyJ܁BJIIRJIR)4Z|< ZM=^;Q ^>y\` bGb!FYb; b>hr5j +?r5jCJ jA9pYr" r@yjEE)jr#;Ij$;ij*5YxzMAxnDNOT Ignoring new targets: 71.84 m.n%W$n%W$5 ProNav: ac range: 71.840981 m, nav range: 69.942719 m, bearing: 328.156569 deg, approach rate: -0.612420 m/s, LOS rate: -0.002245 deg/s, cmd heading: 336.239448 deg, new cmd heading: 336.236771 deg. n55Ÿ=HeadingCmd: 5.868439 target range: 71.840981 and range: 72.20 m.n=@ʻ@n9n9n9n9mAzmAmA"mAJkI"kI kQjQjUMt@B!鞁ɝL)靍޾I)=)YԾI|.I\Ը @ʻ@ E]?Fa FaFiFqF=F=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257591H5>HHIHBHHHI< IEfGcCGBBN>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505744S#J,ю(+A0y]ށB]IIMb@Mb@Mb@iCl?Dly)) -G-!FY- 5>AE5E&??M5EM EuA9Mh?M:YMM@yEEE)E:IE" ;iE,5Y]B])AYnDNOT Ignoring new targets: 71.84 m.n)n) ProNav: ac range: 71.840981 m, nav range: 69.667740 m, bearing: 328.148911 deg, approach rate: -0.610362 m/s, LOS rate: -0.017066 deg/s, cmd heading: 336.236771 deg, new cmd heading: 336.213706 deg. ne;HeadingCmd: 5.868036 target range: 71.840981 and range: 72.20 m.nƻ@nnnnmzmm"mhBJk"k kjj`@Bdɝ)Ek̺I)x=)jԾI%~;.I! %ƻ@ )ԉE?F FFFԹ><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758073fG6^$: G B B! N- >)J,&(+AJKNRK}9ZKbKjKs'AkV6\y}ӁB}I)8> C=iA@AIAIk3b S=Q >y G!FY >5cP?5P ^A9Y@yEE)l:I:i.5YBAӣEnDNOT Ignoring new targets: 71.84 m.n1n1 ProNav: ac range: 71.840981 m, nav range: 69.431854 m, bearing: 328.142293 deg, approach rate: -0.610225 m/s, LOS rate: -0.017179 deg/s, cmd heading: 336.213712 deg, new cmd heading: 336.193791 deg. n<-HeadingCmd: 5.867689 target range: 71.840981 and range: 72.20 m.n-Ļ@n)n)n1n9mAzmAeBDAT read: Rx Time:20:03:43.9696 uTRx dataTimestamp_ set to:1756325026.713938}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013543my"myJk"k kjj:@]B]l 8Yɝe)ae.ۺaIa)e3R=)mԾI-I^1I9 Ļ@ E!F! F!F)F)fGI % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264093G1 Q B B N >jJ rJ zJ AJ J :J :J 4J  @ @ @ @~0J,`(+A:H2H<H":>H"CH H H H H"DI"< I !٪5 @95@5<5N>Y5H `?=?@gT`Wٿ ?x5 ?̬?5 @5ɇ;ɫ5vCyEՁBEII%Mb@Mb@Mb@i!!!!!%^I +?v/yQY ]G]!FY]_*< ]>am5ed?u5eqT eDA9u ?}:Y}}@yeEE)e6;Ie6;ie05YAnDNOT Ignoring new targets: 71.84 m.nn ProNav: ac range: 71.840981 m, nav range: 69.156250 m, bearing: 328.129282 deg, approach rate: -0.598071 m/s, LOS rate: -0.028348 deg/s, cmd heading: 336.193795 deg, new cmd heading: 336.154605 deg. nHeadingCmd: 5.867005 target range: 71.840981 and range: 72.20 m.n@nnnnmzmm"mdBJk"k kjj@ @B82=ɝ%)!%7뺩!I!)-=)-վI-T,I5FA; 5@ 1ADAT read: 20:03:43.9696 LVL= 24656, 32753, 19794, 32755, AGC= 69, IDX= 409, 0.42, 2.772, 1.463, 3.133, 2.559, PHS= 0.301,-1.049, 0.571, RAW= 159.0, 2.4, CAL= 160.5, -6.5, ROT= 349.5, 6.5 Ygot valid direction response: 20:03:43.9696 LVL= 24656, 32753, 19794, 32755, AGC= 69, IDX= 409, 0.42, 2.772, 1.463, 3.133, 2.559, PHS= 0.301,-1.049, 0.571, RAW= 159.0, 2.4, CAL= 160.5, -6.5, ROT= 349.5, 6.5 PDAT read: Bearing 172.8, 8.4 (Local) ~Local bearing/azimuth received: Bearing 172.8, 8.4 (Local) DAT read: Range 10 to 50 : 70.1 m (Round-trip 93.5 ms) speed 0.4 m/s ,DAT read: user:2019> BDAT read: Tx time:20:03:45.0719 $Ping request sent.eEe-?eΚ1@e+= eG3@)eVIe2@ieV=aae? /?NK*K?)e.?Ieh*iet;eV=aa-:publishing transmit ping time-Fpublishing direction and range infoa9ef C?Уs-ǿ5yaaaa a)aIaiaaaaa a)aIaiaaae? /?NK*K?)aIaiaaaaEQFQ FQFQFQF]vAFYqfG= Qԡ G B B! N- >6J,`(+A٪:@9:@:Ǔ<:+>Y:Hd?-?@uǣEٿj?J x?`?:@:X;ɫ:xCyF́BFIbJDAT read: TxSync time:20:03:45.0711 IN]IN$4vI v|=vxP:Q v ?yxx zGz!FY~p;  ?!-5%xs?-5%V %1A9)Y-5@y%EE)%[:I%:i%15Y]B]AeԣEyoo(+AoBoBo@=2 Q@kNhB)yf C?Уs-ǿ5ot;oV=L@Bp#% 9|?s$ZÿoGogBoB?o,o_XB2pd?:p[(Bp_XB"pΉB*p3Ӷ@ addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.527664 s, deltaX: -2.099998 m, approachRate: -0.595294 m/s, rangeRepo size: 4 ] Added new target pos. range: 69.752579 m, bearing: 327.209302 deg, lat: 36.779955 deg, lon: -121.859007 deg, deltaT: 3.527664 s, deltaX: -2.088402 m, approachRate: -0.592007 m/s, posRepo size: 4 nYeDNOT Ignoring new targets: 69.75 m.neni ProNav: ac range: 69.752579 m, nav range: 68.903252 m, bearing: 327.346899 deg, approach rate: 0.000000 m/s, LOS rate: -0.028348 deg/s, cmd heading: 336.154618 deg, new cmd heading: 336.125281 deg. nHeadingCmd: 5.866493 target range: 69.752579 and range: 70.10 m.nO@nnnnmzmm"mJk"k kj`fQ@j`?UBUd ]QɝU#)Ye#)aIa)e=)XվI)+IM; O@ ԩE?F FFp0FJK9RORK 9ZKbKjK"$% "037:9::73-+# fGέ;GBBN >  ! = yAU ZA  yA9 B@9>8@><>R>Y>Hf?@$?裿@=ٿ@+?0@ґ$?@?>@>c+;ɫ>vCyNāBNIPPRp=R=Z4ytt zGz!FYz: z>9E5=?E5=Z =A9IYMM@y=EE)=:I=y:i=35YQAB*** querying acoustic contact ***oonQeDNOT Ignoring new targets: 69.75 m.n$&n$& ProNav: ac range: 69.752579 m, nav range: 68.658760 m, bearing: 327.332085 deg, approach rate: -0.597185 m/s, LOS rate: -0.036313 deg/s, cmd heading: 336.125275 deg, new cmd heading: 336.080674 deg. n_ǺHeadingCmd: 5.865715 target range: 69.752579 and range: 70.10 m.nuﳻ@nynynT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.nmjJrJzJ?JJ:J:Jـ4JH%=>H!H%IH%BH%^ =H!H!I%|< I%Ezmmq"myJky"ky kyjj?E!BETIɝ8)靕K I)Ϧ=)¾վI2*I ; ﳻ@ )Em ?Fi  Fi Fm o0Fi Fu Fu Fu Fu Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991157G BB)N5>DJ,9 )+A(٪R@9R@R;G<Rjt>YRHY?\?&}ٿ ?@O}?@?R@RpA;ɫRwCybȁBfIIeMb@Mb@Mb@iaaaaaeS?DlI +9e?YeOye94eAe@e A eAa9ep AI}QI}4dR< (=7)Q >y G!FY >M5ݚ?M5] A9U?U:YU U@yEE)JJ,-)+A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495049٪>@9>@>/w<>>Y>H@R?|?i ٿ`?J@n??>@>@;ɫ>vCyJBJIIRFIR%3= =Z=eπ:Q e>yaa eGm!FYm m>q5uo?5u` uA9Y@yuEE)u;Iuu;iu75Y_AnDNOT Ignoring new targets: 69.75 m.n%wn-w ProNav: ac range: 69.752579 m, nav range: 68.128502 m, bearing: 327.309987 deg, approach rate: -0.634917 m/s, LOS rate: -0.026060 deg/s, cmd heading: 336.043723 deg, new cmd heading: 336.014142 deg. nHeadingCmd: 5.864553 target range: 69.752579 and range: 70.10 m.nk@nnnnmzmm"mJk"k kjj% ?%B5ɝU) _I)Ft=)V־I(I<; k@1 QnEMS,=E?F FFo0FaG5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749668BBN >jJ rJ zJ J J J :J J *HA "HE @AHM B>HM CHM IHM BHI HI HM DIM < IM Eԁ QJ,G)+A٪:@9:(@:=<:E >Y:HQ?`?c֣ ?ٿ`S?!c'j?`|?:@:H;ɫ:wCy^B^IQIeMb@Mb@Mb@iaaaaaeS?㥛 Q9e/?YeyeueAAe@ev A aa9e AI}TI}4= ===;Q >y G!FY >5?5Nd A9V?:Y@yEE) ;I;iX95YBA֣EnDNOT Ignoring new targets: 69.75 m.nڹnڹ  ProNav: ac range: 69.752579 m, nav range: 67.874626 m, bearing: 327.300402 deg, approach rate: -0.629014 m/s, LOS rate: -0.023837 deg/s, cmd heading: 336.014134 deg, new cmd heading: 335.985271 deg. n ߂HeadingCmd: 5.864049 target range: 69.752579 and range: 70.10 m.nK@nnnnmzmm"m%IBJk!"k! k!j!j-͔?'B%!ɝ%m)!%)AIAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999268)E=)-־I-'I-YY; -K@ )ԁԱnE·3=EE= ?F9  F9 FE m0FA G % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251926BA Ba Nm >WJ,a)+A٪R޴@9R ܻ@R]<Rޜ >YRHlO?,?@3@nٿ ?vK@%?״?R޴@Rk';ɫPyZBZIIfJIf)4j; nW=n9Q n>ypp vGv!FYvm v>x~5zР?~5zjg zA9Y@yzEE)z;Izr;iz;5Y B AףEn1=DNOT Ignoring new targets: 69.75 m.nEOӹnEOӹM ProNav: ac range: 69.752579 m, nav range: 67.639709 m, bearing: 327.291641 deg, approach rate: -0.617086 m/s, LOS rate: -0.023092 deg/s, cmd heading: 335.985283 deg, new cmd heading: 335.958910 deg. nU}]HeadingCmd: 5.863589 target range: 69.752579 and range: 70.10 m.n]@nYnYnYnYmYzmama"maJki"kqԱ kjj@e)Beiɝmn)i靕4I)b=)J־I'IF; @ DDDDJKEy1PRKE59ZKAbKEjKE (;~hE?F FF0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503469 fG 0:Ga B B N >9 (^J,`{)+A٪VIܴ@9Voٻ@Vč<VnB>YVHsN? ɗ? DТFٿ@? 5b]?y?VIܴ@V;ɫVyCy B vIITI4-2k -E=5YQ 5>y19 =G=!FY=I =>AU5E⠊?]5Ej EA9iYmu@yEEE)EY;IEB;iE<5YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757345B*** querying acoustic contact ***oonDNOT Ignoring new targets: 69.75 m.nn ProNav: ac range: 69.752579 m, nav range: 67.384071 m, bearing: 327.282135 deg, approach rate: -0.531809 m/s, LOS rate: -0.019850 deg/s, cmd heading: 335.958919 deg, new cmd heading: 335.930293 deg. nYjJrJzJAJJܫ:JB:J4JHeadingCmd: 5.863090 target range: 69.752579 and range: 70.10 m.nn@nnnnmzmm"mHHHIHځBH] =HHI~< IEICIC"I*I^ =2I^ =:IZ5Jk!"k! k)j)j- @}+B})yɝ}l)y靭qDI)?=)׾I;&IRT; n@a E?F FF{0Fԉ BDAT read: Rx Time:20:03:47.5666  TRx dataTimestamp_ set to:1756325030.240486 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008218Թ fG &;G B B N >ieJ,t)+A٪6ش@96ջ@6<6Y>Y6H%M?? ^ٿ@ ?`}%pT? ?6ش@6;ɫ4yFBJcIIeMb@Mb@Mb@iaaaaae+?ʡE~jt9ev?Ye-yeeAe@e A eAa9ef AI}LI}4K :=| Q >y G!FY >5x?5n hA9 ?:YQ @yEE);I;i>5YBPAnDNOT Ignoring new targets: 69.75 m.n؃n؃ ProNav: ac range: 69.752579 m, nav range: 67.109558 m, bearing: 327.276762 deg, approach rate: -0.733173 m/s, LOS rate: -0.014409 deg/s, cmd heading: 335.930287 deg, new cmd heading: 335.914102 deg. n7%HeadingCmd: 5.862807 target range: 69.752579 and range: 70.10 m.n%@n!n!n)n)m)zm)m)"m1Jk1"k1 k1j9j= ޯ @e-Bmͼiɝm)imRqIq)ur=);׾I%I8K; @ EwAEwAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261221E?F FF2F AfG-;GI BY Bi Nu >JK g.NRK +9ZK bK jK L*}~~umcXPJE>71.+*$!$167542.,+&"a  DAT read: 20:03:47.5666 LVL= 26896, 32753, 15842, 32755, AGC= 66, IDX= 412,-0.49, 2.410, 1.087, 2.799, 2.239, PHS= 0.259,-1.105, 0.557, RAW= 159.7, 3.8, CAL= 160.7, -5.3, ROT= 349.3, 5.3  Ygot valid direction response: 20:03:47.5666 LVL= 26896, 32753, 15842, 32755, AGC= 66, IDX= 412,-0.49, 2.410, 1.087, 2.799, 2.239, PHS= 0.259,-1.105, 0.557, RAW= 159.7, 3.8, CAL= 160.7, -5.3, ROT= 349.3, 5.3 % PDAT read: Bearing 172.4, 7.2 (Local) % ~Local bearing/azimuth received: Bearing 172.4, 7.2 (Local) 5 DAT read: Range 10 to 50 : 67.9 m (Round-trip 90.6 ms) speed 0.8 m/s 5 ,DAT read: user:2020> kJ,W)+A2BDAT read: Tx time:20:03:48.6719 2$Ping request sent.2Fpublishing direction and range info)9-R&O?c#3ǿ{]Uy-̇B)-i) -=))I-Bi->-p-?-b2@-ԇ= -3@)-qI-@i-q=))-}DՒ?]UYc?[S,?)-J1?I- #i-t;?-q=)):publishing transmit ping time0Fpublishing direction and range info)9-R&O?c#3ǿ{]Uy)))) )))I)i)))))Q )))I)i)))-}DՒ?]UYc?[S,?))I)i))))yB^IICI3n )=MQ M>yQY ]G]!FYm m>qu5u ?}5ur u@A9yYy}@yuEE)u:IuB:iu@5YBAEo)o-)+Ao-!Bo-!Bo-D@-l̆P@zW(~-R&O?c#3ǿ{]Uo-t;?o-q=-r%52K@CB,;o!-ؖ5h?+/!ῳo-uo- _Bo-#?Ag?o-GBo-_B2p-B?:p-,Bp)"p-B*p- @ԁ addTargetRange:: Added new target pos. range: 67.900002 m, deltaT: 3.527066 s, deltaX: -2.199997 m, approachRate: -0.623747 m/s, rangeRepo size: 4  Added new target pos. range: 67.564827 m, bearing: 326.351535 deg, lat: 36.779955 deg, lon: -121.859009 deg, deltaT: 3.527066 s, deltaX: -2.187752 m, approachRate: -0.620275 m/s, posRepo size: 4 nDNOT Ignoring new targets: 67.56 m.nn ProNav: ac range: 67.564827 m, nav range: 66.810165 m, bearing: 327.129015 deg, approach rate: 0.000000 m/s, LOS rate: -0.014409 deg/s, cmd heading: 335.914113 deg, new cmd heading: 335.891954 deg. n HeadingCmd: 5.862421 target range: 67.564827 and range: 67.90 m.n @nnnnmzmmy"myJk"k kjP@j? 0B5=9]JDAT read: TxSync time:20:03:48.6711 ɝ=#)ae iaIi)m8"=)mxn׾Iu|$Iu'rc; u@ yԹE5 ?F9  F9 F= 0FA :HY 2H] <Hu C>Hq Hu IHu ƁBHu ^ =Hq Hq Iu < Iu EjJ rJ zJ DJ J :J :J 4J J ; J ; J AG; J BG; fG aL;G wAG wAGBBN>RsJ, )+AyBKIIMb@Mb@Mb@iMb?A`"~jt9 ?YٽyA@ A A9 AIDI3 Օ B=iQ m>yii uGu!FYq u>y5}?5}v }A9"?:Yk@y}EE)}';I}&;i}B5YB2AEnDNOT Ignoring new targets: 67.56 m.nc7nc7 ProNav: ac range: 67.564827 m, nav range: 66.540833 m, bearing: 327.129513 deg, approach rate: -0.668368 m/s, LOS rate: 0.001239 deg/s, cmd heading: 335.891956 deg, new cmd heading: 335.893454 deg. nY8HeadingCmd: 5.862447 target range: 67.564827 and range: 67.90 m.n*@nnnnmzmm"m&BJk"k kjj'?52B5-s1ɝ=ԯ)9=%y9I9)==)Ek׾IE#IELB`; E*@I QE?F FFm1FyfG[J;ԩ G B B N >yJ,t)+A<٪fɿ@9f[@f!9<f >YfHC? ?/ٿ? |$@5?@?fɿ@fƫ;ɫfvCyv{BvBI)~p= ~;INI@ 4% -Z=-4^Q ->y G!FY >5Z0?5 z A9Y@yEE):I|:i`D5YB`AnDNOT Ignoring new targets: 67.56 m.n:8n:8 ProNav: ac range: 67.564827 m, nav range: 66.302940 m, bearing: 327.130467 deg, approach rate: -0.633649 m/s, LOS rate: 0.002553 deg/s, cmd heading: 335.893458 deg, new cmd heading: 335.896333 deg. n<8HeadingCmd: 5.862497 target range: 67.564827 and range: 67.90 m.n@nnnnm zm m "m Jk"k kjj`?U4BU_Qɝ])Y]DYIY)]70=)e|d׾Iea#Ie*: e@ iE}R>E}>JKTNRKh9ZKbKjK!#+/2223.+(#"!,2232///21-(1JTKC?HKG;68B1i1ԩE ?F  F F j5F fGoQ;G B B! N- > ̀J,W*+AH>E>H<H>IH>BH>] =H<H<I>< I>(El٪=@9=䩻@=%<=| >Y=H`;?!?iKڿ?=Ȱ3?B?=@=k-;ɫ=zCyMrBM7IIMb@Mb@Mb@i'1Z?y&1Zd;O9"?Y`yj A9 AI@I3 ==N5Q >y    G!FY/ >!-5%wC?-5%~ %A95m%?5:Y5;5@y%EE)% ;I% ;i%9F5Y9=AAB*** querying acoustic contact ***oon-DNOT Ignoring new targets: 67.56 m.n-f9n-f9= ProNav: ac range: 67.564827 m, nav range: 66.030571 m, bearing: 327.133578 deg, approach rate: -0.616561 m/s, LOS rate: 0.007071 deg/s, cmd heading: 335.896327 deg, new cmd heading: 335.905697 deg. n=G9eHeadingCmd: 5.862660 target range: 67.564827 and range: 67.90 m.nmꚻ@ninininimizmimq"muBJky"k kjj@B?6B鞱ɝþ)靵2I)6=)O׾I&#I䬺 ꚻ@ ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Em?Fi FiFmc2FqF}p=F}=1a fG uַG ?G >Gq B B N >J,$*+A٪6@96*@6b<6J>Y6H A3??@`,ڿ?@i`??_?6@6;ɫ6uCyFsBF8IINSIN4V; Vd=VܣQ V>yXX ZGZ!FY^ ^>`f5bS?f5bc bA9dYff@ybEE)b:Ib:ibG5YnB9nA]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.740345nDNOT Ignoring new targets: 67.56 m.n$9n$9 ProNav: ac range: 67.564827 m, nav range: 65.799889 m, bearing: 327.136804 deg, approach rate: -0.642101 m/s, LOS rate: 0.009010 deg/s, cmd heading: 335.905698 deg, new cmd heading: 335.915409 deg. n9HeadingCmd: 5.862830 target range: 67.564827 and range: 67.90 m.nM@nnnnmzmm"mJk!"k! k!j!j%?8B) ɝž)ejI)F=)8׾I<#I7q M@ !jJrJzJ@JJ :JK:JJ4J @@@@iE?F FF 5FfGSGBBN%o>ԑJKNRKZKbKjKB8-(&*/+%',.*$=v}dPA5*%!#$"U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992249 G /{A! e e /{A9e BJ,q7*+A٪:ˀ@9:}@:;:>Y:H,*?G-?)>@AUڿr?{v@$H?@6?:ˀ@:E;ɫ:vCyzgBz)I||=R=ICI3Ti C=úQ >y!! %G%!FY%fԻ ->)=5-zf?=5-Z -A99Y==@y-EE)-;I-;i-I5YAMAInquDNOT Ignoring new targets: 67.56 m.n}O9n}O9 ProNav: ac range: 67.564827 m, nav range: 65.530235 m, bearing: 327.141289 deg, approach rate: -0.680340 m/s, LOS rate: 0.011364 deg/s, cmd heading: 335.915397 deg, new cmd heading: 335.928909 deg. n9HeadingCmd: 5.863066 target range: 67.564827 and range: 67.90 m.n<@nԙnnnmzmm"mJk"k kjjf@-:B-L )ɝ-Ҿ))5¤1I1)5&=)=׾I=١#I=Ļ =<@ AEm?Fi FiFmn0Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.244490H}B>HyH}rIH}BH}\ =HyHyI}< I}EfG[G B B N > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4961619 J,P*+Ay5dB5%II=Mb@Mb@Mb@i99999=x&1?Pn{Gz9=!?Y=y=ף=A=A= A =A99= AIUTIU4eH e7=eQ m>yii uGu!FYu u>y5}7z?5} }mA9$?:Y@y}FE)}F;I};i}K5YB AEnDNOT Ignoring new targets: 67.56 m.n9n9 ProNav: ac range: 67.564827 m, nav range: 65.242683 m, bearing: 327.153127 deg, approach rate: -0.639526 m/s, LOS rate: 0.026444 deg/s, cmd heading: 335.928921 deg, new cmd heading: 335.964591 deg. n/:HeadingCmd: 5.863688 target range: 67.564827 and range: 67.90 m.nV@nnnnmzmm"mBJk"k kjj@-;B5] 1ɝ=׾)9E۰AIA)Ee=)MD־IM($IM̻ MV@ QE?F FFm0FFvAFwAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748517AfGȻG B B N >jJ rJ zJ PJ J l:J :J ^4J q .J,j*+A٪'o@9Ml@;+=YH@"?`L?`p@uuڿ`Q?@Pyt??'o@;ɫuCyZBIQI ]I $4< I=0XQ >y G!FY >5?JKNRK9ZKbKjK'HnrX@/"    5Í KA9Yd@yFE)Y;I;iXM5BDAT read: Rx Time:20:03:51.1636 TRx dataTimestamp_ set to:1756325033.768222checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001158YMBmV AinDNOT Ignoring new targets: 67.56 m.n9n9 ProNav: ac range: 67.564827 m, nav range: 64.981621 m, bearing: 327.164492 deg, approach rate: -0.609643 m/s, LOS rate: 0.026645 deg/s, cmd heading: 335.964602 deg, new cmd heading: 335.998832 deg. nJ:HeadingCmd: 5.864286 target range: 67.564827 and range: 67.90 m.n;@nnnnmzmm"mJk"k kjj@@ԁ=B 鞡ɝ)靭<[I)a=)y־I%I ;@ Eu?Fq FqF} 4Fyԩ ?> = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253079fG ܻ H >>H CH YIH BH ^ =H H DI < I EG B1 BI N] >J,*+A٪^p@9^"n@^;^& >Y^H@#?*G?`< *rڿi?O nu??^p@^Zߋ;ɫ^zCyfVBjI)ji> ja=lilI]Mb@Mb@Mb@iYYYYY]Mb?x&Mb9] ?Y]7 y]]+A]A]v A ]AY9] AI}YI}4Z I=/Q >y G!FYN: >ԩ%5ȝ?-5͑ .A9-0$?-:Y-!-@y FE)%%&?%Κ1@%4QO= %3@)%^ ڽI%0O@i%^ =!%79?SRCE?Bl?)%,'.?I%Oi%T8%^ =T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI)=)־I&I @ !E?F FF4F 1 fG G B B N >J PDAT read: Bearing 172.9, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 172.9, 7.9 (Local) DAT read: Range 10 to 50 : 65.6 m (Round-trip 87.5 ms) speed 0.6 m/s ,DAT read: user:2021> BDAT read: Tx time:20:03:52.2720 $Ping request sent.YbH@[&?9?@fڿ?@wv]r`2?@ ?b,w@b̊;ɫbvCyjXBjIIr;Ir&3o< L= -Q  >y  G!FY!: >%5=?%5ȕ A9)Y-!-@y FE);I:iP5Y15 A9ԙoo*+AoBoBo+@/TVO@x8~5''n4YN?ĿƿO4oT8o^ =CJ@+B lE!xY?hթr ooWBo`?oIo%`B2pfs?:pm2Bp ZB"p؀B*p@I]AAIYJ4J4J 1jJerJezJeAJaJe:Je:Je4Ja addTargetRange:: Added new target pos. range: 65.599998 m, deltaT: 3.780068 s, deltaX: -2.300003 m, approachRate: -0.608455 m/s, rangeRepo size: 4  Added new target pos. range: 65.275375 m, bearing: 326.175899 deg, lat: 36.779953 deg, lon: -121.859011 deg, deltaT: 3.780068 s, deltaX: -2.289452 m, approachRate: -0.605664 m/s, posRepo size: 4 n DNOT Ignoring new targets: 65.28 m.n=n9M ProNav: ac range: 65.275375 m, nav range: 64.423820 m, bearing: 326.916698 deg, approach rate: 0.000000 m/s, LOS rate: 0.033304 deg/s, cmd heading: 336.039624 deg, new cmd heading: 336.081123 deg. nIUHeadingCmd: 5.865722 target range: 65.275375 and range: 65.60 m.n@nnnnmzmm"mJk"k kj`ffP@j`?@B?ɝD):׻I ) 4.=)վI&I @ E?F FFk0FJKMRKh9ZKbKjK  )rK KvAfG ! G B B N >KJ,*+AyMUBUIIe7Ie3}V D=Q >y G!FY >5c?5 A9Y@yFE):I:iR5YB AEnDNOT Ignoring new targets: 65.28 m.nC:nC: ProNav: ac range: 65.275375 m, nav range: 64.157455 m, bearing: 326.929479 deg, approach rate: -0.708804 m/s, LOS rate: 0.034154 deg/s, cmd heading: 336.081125 deg, new cmd heading: 336.119629 deg. n:HeadingCmd: 5.866394 target range: 65.275375 and range: 65.60 m.n@nnnn m zm m "m Jk"k kjj?MABM .IɝM")IU)ứQIQ)U=)]eվI]z'I] R ]@ aE-?F) F)F-o0F)H=>HHSIHBHIHHIߘ< I_EICIC"I*I2I:IĽ5qfG˫ GGG B B N >ԡ TJ,*+AyRBI!!IMb@Mb@Mb@ix&1?`"Mb9A ?YyAA A9IGI3t C=Q >y  G !FY   >5ӡ?5 A9%F#?%:Y%%@yFE):I/:iT5Y-B- A-EnYeDNOT Ignoring new targets: 65.28 m.ne9ne9y ProNav: ac range: 65.275375 m, nav range: 63.890102 m, bearing: 326.937730 deg, approach rate: -0.634674 m/s, LOS rate: 0.019669 deg/s, cmd heading: 336.119620 deg, new cmd heading: 336.144476 deg. nW:HeadingCmd: 5.866828 target range: 65.275375 and range: 65.60 m.n@nnnnmzmm"mBJk"k kjjປ?BBJ ɝ)6LI)K=) ,վI x(I T @ Et>E>EE?FA FAFAFAԙ====jJrJzJ?JJܫ:J:Jـ4JfGe + GA BY By N > _)J,*+A٪>F@9>l@>:>B=Y>H6??ڿ`?1˼ӒU`c?`-?>F@>;ɫ>xCyvQBvII~UI~4   [= % Q  >y G!FYV< >!-5%J䡊?55% %A99Y=[E@y%FE)%I;I%;i%'V5YIM AInquDNOT Ignoring new targets: 65.28 m.n}9n}9 ProNav: ac range: 65.275375 m, nav range: 63.652618 m, bearing: 326.944104 deg, approach rate: -0.635409 m/s, LOS rate: 0.017118 deg/s, cmd heading: 336.144482 deg, new cmd heading: 336.163675 deg. n;:HeadingCmd: 5.867163 target range: 65.275375 and range: 65.60 m.nͿ@nnnnmzmm"mJk"k kjj@t:?CBP,ɝ)JKX'NRK59ZKbKjKe@-*<@GQUWWTNHC?:62++CkxseSB2& l?Q:qI)i=) վI (I  Ϳ@ EF FF0FfGGBBN>) H ?>H H MIH BH _ =H H I < I EQ J,W++A٪B@9B@Bf+BG>YBH@iD?2?ٿ ?Xzl? ?̾?B@Bf;ɫBwCyjSBnIImMb@Mb@Mb@iiiiiim}?5^I?T㥛 y G!FY:< >59?5 A9%?:Y@yFE)/:I:iX5YB AB*** querying acoustic contact ***oonDNOT Ignoring new targets: 65.28 m.n 9n 9% ProNav: ac range: 65.275375 m, nav range: 63.379116 m, bearing: 326.951661 deg, approach rate: -0.605485 m/s, LOS rate: 0.016802 deg/s, cmd heading: 336.163688 deg, new cmd heading: 336.186456 deg. )n%~8:UHeadingCmd: 5.867560 target range: 65.275375 and range: 65.60 m.nUû@nQnQnQnQmQzmQmY"m]5BJkY"kY kajajeˑ?EBɝM)    I ) i =)ԾI[(I%(n. û@ T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E?F FF0FYԑ fG] wGe ?Ge "?G9 BQ Ba Nm >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011509AJ,à"++Aɩ(٪B*@9BP޻@B9Bݱ>YBH Q?@n? -q@Rٿ?R#[?P?B*@B2;ɫByCyNPBN I)R> Re>IVOIV 4^` ^Y=^:Q b>y`` bGb"FYfz-< f>hn5j?n5jA jA9pYrtv@yj"FE)j3dJ,5^<++A٪V@9V@VmVʷ>YVHX? H?Mٿ)?c92? ??V@VS;ɫVvC`ybNBb IIjPIj 4r:< vH=v Q v>ytx zGz"FYzߴ; z>|5~\? 5~+ ~hA9 Y  @y~&FE)~:I~:i~m[5YB AEnDNOT Ignoring new targets: 65.28 m.n9n9 ProNav: ac range: 65.275375 m, nav range: 62.873348 m, bearing: 326.963304 deg, approach rate: -0.671708 m/s, LOS rate: 0.014865 deg/s, cmd heading: 336.204041 deg, new cmd heading: 336.221516 deg. n:#:HeadingCmd: 5.868173 target range: 65.275375 and range: 65.60 m.nȻ@nnnnmzmm "m Jk "k  k jje@/鞹ɝ)?LI)W!=)|ԾI@-(I:><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515847 Ȼ@ !*HQ"HUAAHaHaHeGIHeBHaHaHaIe< Ie EE ?F  FFs5FjJrJzJAJJ|:J :J4JJ;J;J6P;J7P;fG V8Q Ga Bi B N > BDAT read: Rx Time:20:03:54.7605  TRx dataTimestamp_ set to:1756325037.296397 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768563MJ,y G"FY > 5 -?5 B MA9"?:Y@y +FE)  ;I ;i W]5Y%B% A-EnDNOT Ignoring new targets: 65.28 m.n$9n$9 ProNav: ac range: 65.275375 m, nav range: 62.594990 m, bearing: 326.967284 deg, approach rate: -0.627196 m/s, LOS rate: 0.009007 deg/s, cmd heading: 336.221526 deg, new cmd heading: 336.233519 deg. n9HeadingCmd: 5.868382 target range: 65.275375 and range: 65.60 m.nɻ@n!n!n!n!m!zm!m)"m-;BJkI"kI kQjQjUu@GB0%ɝ)!I)v"=)aԾI+'Iba: ɻ@ IE?F FFq5F-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020396qfG ,;G vAG ԡ G B B N >"wJ,p++A٪:z@9:@:3: >Y:Hf`?5!?\`ٿ?@ @|fR?@Č?@?:z@:罈;ɫ:wCyfXBfIttIzAIzk3 [= "Q  >y  G"FYu; u>yiychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271735ԉCUGJK57PRK59ZK1bK5jK54# q`X6=e:b'G cE+zm^TPKIFCA:6)1-Q9U B}55tA?}55[ 52AY=>@9Ymm@y5/FE)5"=I5"=i5E_5Yy` Bԡ An DNOT Ignoring new targets: 65.28 m.n:9n:9M ProNav: ac range: 65.275375 m, nav range: 62.314716 m, bearing: 326.970682 deg, approach rate: -0.588834 m/s, LOS rate: 0.007170 deg/s, cmd heading: 336.233520 deg, new cmd heading: 336.243759 deg. nMx9MHeadingCmd: 5.868561 target range: 65.275375 and range: 65.60 m.nU@˻@nQnQnQnQmQzmQmY"mYJkY"ka kajijm`< @HB`"!ɝ%c)!%2L!I!)-Ƭ"=)-IԾI-i&I5 eT; 5@˻@ 1EaEaE?F FF1Fm DAT read: 20:03:54.7605 LVL= 25408, 32753, 17186, 32755, AGC= 67, IDX= 412, 0.20, 2.987, 1.692,-2.931, 2.783, PHS= 0.292,-1.044, 0.566, RAW= 159.2, 2.5, CAL= 160.6, -6.4, ROT= 349.4, 6.4 u Ygot valid direction response: 20:03:54.7605 LVL= 25408, 32753, 17186, 32755, AGC= 67, IDX= 412, 0.20, 2.987, 1.692,-2.931, 2.783, PHS= 0.292,-1.044, 0.566, RAW= 159.2, 2.5, CAL= 160.6, -6.4, ROT= 349.4, 6.4 } PDAT read: Bearing 172.6, 8.3 (Local) } ~Local bearing/azimuth received: Bearing 172.6, 8.3 (Local)  DAT read: Range 10 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.7 m/s  ,DAT read: user:2022>  BDAT read: Tx time:20:03:55.8736  $Ping request sent. HU CHU MIHU BHU ^ =HQ HQ IU < IU EI jJ rJ zJ @J J \:J /:J J4J J <J <J ^;J ^;fG :G B B N >r2J,h++A8٪^?@9^e@^Ǻ^/ >Y^H_?)?@ fٿ?ZX?@)??^?@^䠈;ɫ^vCyz]B~IIMb@Mb@Mb@i+?)\({Gz9v?YGy# A  A9 AJDAT read: TxSync time:20:03:55.8728 I%<I%35< 5==CQ =>yii mGm"FYmE u>ԙq5uV?5u uA9 ?:Y@yu4FE)uG;Iu;iuOa5YB AEooO++Ao{Bo{Bo@<}N@oKB&9 cH F2B?'fǿ -V:oq=o=[oO>J@.tZ{@ct7 G:?&fJR8:ooPBo!ۈ?o`\7o&aB2p:p`\7Bp_B"pwxB*p2@ addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.528133 s, deltaX: -2.399998 m, approachRate: -0.680246 m/s, rangeRepo size: 4  Added new target pos. range: 62.887852 m, bearing: 326.960866 deg, lat: 36.779953 deg, lon: -121.859013 deg, deltaT: 3.528133 s, deltaX: -2.387524 m, approachRate: -0.676710 m/s, posRepo size: 4 nDNOT Ignoring new targets: 62.89 m.nn ProNav: ac range: 62.887852 m, nav range: 62.117149 m, bearing: 326.836310 deg, approach rate: 0.000000 m/s, LOS rate: 0.007170 deg/s, cmd heading: 336.243765 deg, new cmd heading: 336.253308 deg. n%HeadingCmd: 5.868727 target range: 62.887852 and range: 63.20 m.n%̻@n!n!n)n)m)zm)mQ"mUDBJkQ"kQ kYj]O@j]L?IB%ɝ)%I)X?#=)3ԾIZ&I!; ̻@ E?F FF1FFF ؕ =ؕ <fG !;G B B ! N5 >J,++A٪ @93ݻ@/20 >YHQ?`c? `@Vٿ x ?'߿ Df?"?? @;ɫwCy5WB5IIEGIE3U UJ=U=Q U>yaa mGm"FYm0 m>q}5ug?5u; uA9Y@yu8FE)u7;Iu;iuc5Y AEB*** querying acoustic contact ***oAoAnQUDNOT Ignoring new targets: 62.89 m.n]uy8n]uy8u ProNav: ac range: 62.887852 m, nav range: 61.865993 m, bearing: 326.837634 deg, approach rate: -0.643870 m/s, LOS rate: 0.003408 deg/s, cmd heading: 336.253300 deg, new cmd heading: 336.257288 deg. nu9HeadingCmd: 5.868797 target range: 62.887852 and range: 63.20 m.n/ͻ@nnnnmzmm"mJk"k kjj?7ɝ)*I)#=)*ԾI%Itaƺ /ͻ@ T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.E?F FFT5FFFFFJKORK+9ZKbKjK347;<@=90),03688876659<><82-'%  Ay G) B9 BI Ne >J,++Aɩ@0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994632٪J@9J羻@Je6^Jt>YJHD? ? ٿ?`Ҿ k? + ?@ ?J@J.;ɫHyRhBR*IXZAAIZLIZ4bN= fi=fFQ f>yhh jGj"FYnd- n>pv5r+w?v5rp rA9tYzz@yr;FE)r):Ir:ird5Y|~o A~En!%DNOT Ignoring new targets: 62.89 m.n-8n-8= ProNav: ac range: 62.887852 m, nav range: 61.646263 m, bearing: 326.839587 deg, approach rate: -0.666253 m/s, LOS rate: 0.005943 deg/s, cmd heading: 336.257289 deg, new cmd heading: 336.263169 deg. n=9EHeadingCmd: 5.868899 target range: 62.887852 and range: 63.20 m.nEλ@nAnInInImIzmImQ"mQJkY"kY kYjaje?HF>HHSIHBH] =HHDI< IEJB7鞩ɝ)靵D/I)a5$=)PԾI%I9 λ@ jJrJzJ?JJL:J&:Jـ4JJJ;JK;J\;J\;E}?Fy FFi0FGBBN%>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246590 J,++A٪:@9:@:.:>Y:H 8?@R?Aڿ?\ r?~?@?:@:c;ɫ:uCy^fB^(IlIUMb@Mb@Mb@iQQQQQUS?S㥻{Gz9U/?YU/ݽyQUnAQU A U AQ9UQ AIm5Im32 8=3Q >y G "FY -  >5z?5z A9?%:Y%#%@y@FE);I$;if5Y)-{ A)nYeDNOT Ignoring new targets: 62.89 m.ne8ne8} ProNav: ac range: 62.887852 m, nav range: 61.370506 m, bearing: 326.842578 deg, approach rate: -0.620646 m/s, LOS rate: 0.006762 deg/s, cmd heading: 336.263163 deg, new cmd heading: 336.272177 deg. n}9HeadingCmd: 5.869057 target range: 62.887852 and range: 63.20 m.nPϻ@nnnnmzmm"mWBJk"k kjj?'ɝ')B6I);$=)ԾI&Ią Pϻ@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499572E?F FFk0FGBBN>>II4=9a E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750568J,|++A٪:@9:ѡ@:p:Z>Y:H 9? ? p ڿ@? ԓ Sn?@f?h?:@:;ɫ:wCJKBMRKB9ZK@bKBjKB,b}obTJ=4,(" y^hB^*IIfDIf3%; %_=-g:Q ->y)) 5G5 "FY5+9 5>9AM5E򚢊?M5E EA9IYM M@yEDFE)E:IEd:iE*h5Y]B]m A]EnDNOT Ignoring new targets: 62.89 m.n8n8 ProNav: ac range: 62.887852 m, nav range: 61.135254 m, bearing: 326.845143 deg, approach rate: -0.625963 m/s, LOS rate: 0.006850 deg/s, cmd heading: 336.272179 deg, new cmd heading: 336.279902 deg. no9HeadingCmd: 5.869192 target range: 62.887852 and range: 63.20 m.nkл@nnnnmzmm"mJk"k kjjd?KB2ɝV)";I)q9%=)ӾI05'Io kл@ EF FFo0FiGBBN>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004651H}D>HyH}`IH}BH}\ =HyHyI}]< I}EIAIAԑ"IA*IA2IA:IE5jJ% rJ% zJ% >J! J% ܫ:J% :J% t4J! J% ;J% ;J% Z;J% Z; K,X,+AyqB6IIMb@Mb@Mb@iԙ-? ףp= MbP95?YQyA A 9 AIXI44= ==Q >y G "FY >5?5 A9?:Y@yHFE)I;Ie:ij5Y Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255611n)5DNOT Ignoring new targets: 62.89 m.n(n( ProNav: ac range: 62.887852 m, nav range: 60.871342 m, bearing: 326.841228 deg, approach rate: -0.619786 m/s, LOS rate: -0.009233 deg/s, cmd heading: 336.279911 deg, new cmd heading: 336.268116 deg. nʹHeadingCmd: 5.868986 target range: 62.887852 and range: 63.20 m.nλ@nnnnmzmm"mqBJk"k  k j j5-v@LBL"鞩ɝ]ھ)靵YAI)%=)ԾI'I λ@ EEAFA FAFAFAfG (: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507147G B B N >! I I  K, 7*,+AyMvBM<IIeGIe3< L=Q >y G "FY >5?5$ A9Y@yLFE):I:ik5YAn  DNOT Ignoring new targets: 62.89 m.n#,n#,% ProNav: ac range: 62.887852 m, nav range: 60.620869 m, bearing: 326.837481 deg, approach rate: -0.626208 m/s, LOS rate: -0.009406 deg/s, cmd heading: 336.268108 deg, new cmd heading: 336.256821 deg. n-ι-HeadingCmd: 5.868789 target range: 62.887852 and range: 63.20 m.n-ͻ@n)n1n1n1m1zm1m9"m9Jk9"k9 kAjAjE s@}MB}W.yɝ}־)靅FI)<&=)+ԾI`(I^ݻ ͻ@ E F  F F F fG9Tchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761281!GBBNF>JKMRK+9ZKbKjKRvvdG&|xpf`XQKGA>6.+)'!"(-5:??<;=88=ERYZYK KIy K,D,+A2BDAT read: Rx Time:20:03:58.3589 2TRx dataTimestamp_ set to:1756325041.0763956checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011700٪F(@9FN@FFr>YFH8??.+ ڿ?6㼿q?G?0?F(@FL;ɫF{CyRtBR9IIbHIb<3f) jY=j\պQ j>HC>HHlIHBH^ =HHI< IEyqq }G}"FY}$ }>5IѢ?5 A9Y"@yPFE)z@;IvA;im5YBg A EB*** querying acoustic contact ***oon 5DNOT Ignoring new targets: 62.89 m.nE(nE(Qu ProNav: ac range: 62.887852 m, nav range: 60.372852 m, bearing: 326.833768 deg, approach rate: -0.613425 m/s, LOS rate: -0.009223 deg/s, cmd heading: 336.256824 deg, new cmd heading: 336.245638 deg. n}ʹ}HeadingCmd: 5.868594 target range: 62.887852 and range: 63.20 m.n}˻@nnnnmzmm"mJk"k kjj @NB &#ɝپ)MI)s&=) REԾI )I 6ۻ ˻@ yEF FFF-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264788ԩfG} GY B B N >4$K, ],+A٪bQ@9bw@b_b>YbHy G"FY0; >5]㢊?5( A9?:Y'@yTFE)V;I;iQo5Y{ An15DNOT Ignoring new targets: 62.89 m.n= Un= UM ProNav: ac range: 62.887852 m, nav range: 60.119774 m, bearing: 326.829024 deg, approach rate: -0.618468 m/s, LOS rate: -0.011641 deg/s, cmd heading: 336.245650 deg, new cmd heading: 336.231359 deg. nMUHeadingCmd: 5.868344 target range: 62.887852 and range: 63.20 m.nUzɻ@nYnYnYnYmYzmYma"merBJka"ka kijijm@ @ԩ1579ɝ=ܾ)9=R9I9)=[C'=)E fԾIE`)IeVDAT read: 20:03:58.3589 LVL= 22176, 32753, 15938, 31475, AGC= 66, IDX= 412,-0.13,-1.277,-2.578,-0.936,-1.483, PHS= 0.294,-1.048, 0.544, RAW= 158.4, 2.9, CAL= 159.8, -6.1, ROT= 350.2, 6.1 Ygot valid direction response: 20:03:58.3589 LVL= 22176, 32753, 15938, 31475, AGC= 66, IDX= 412,-0.13,-1.277,-2.578,-0.936,-1.483, PHS= 0.294,-1.048, 0.544, RAW= 158.4, 2.9, CAL= 159.8, -6.1, ROT= 350.2, 6.1 PDAT read: Bearing 173.4, 7.9 (Local) ~Local bearing/azimuth received: Bearing 173.4, 7.9 (Local) DAT read: Range 10 to 50 : 60.9 m (Round-trip 81.2 ms) speed 0.5 m/s ,DAT read: user:2023> BDAT read: Tx time:20:03:59.4720 $Ping request sent.)mzImBim+>m$mC ?m;0@m4QO= m2@)m^ ڽIm@im^ =iimvse ?#ܲ?'`?)mX+?ImLim%/m^ =ii5:publishing transmit ping time5Fpublishing direction and range infoi9mu8Z?_ةſO4yiiii i)iIiiiiiii i)iIiiiiimvse ?#ܲ?'`?)iIiiiiii ezɻ@ qEvAExAjJrJzJFJJ̶:J :J4J@@@@E?F FFy0F fG% ܻG B B N >% JDAT read: TxSync time:20:03:59.4712 1 KK,w,+A٪6t@96@6 6 >Y6H@??@}ٿ?.lt?(?`X?6t@6f0;ɫ6xCJKNNRKN9ZKLbKNjKNWTPOMIHHIIGCBBCHLNLJLIIEBDKnzrljc_YURNIC@<91,+/1112.)'''"KV ?KV>ynsBn8IIvSIv4]< ]R=epͺQ e>yaa eGe"FYmP; m>q5uE?5us uA9Y@yuXFE)u;Iu;iuq5Yl Aooe,+AoerBoerBoq@&>@M@JUJ*$ :u8Z?_ةſO4o%/o^ =K-^BI@jaIR@KA͎ d?c(<Ῠ-w?/ooJBos?o 4o`eB2pB?:pBp%`B"p6pB*p@] addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.527919 s, deltaX: -2.299999 m, approachRate: -0.651942 m/s, rangeRepo size: 4 m Added new target pos. range: 60.599342 m, bearing: 327.131764 deg, lat: 36.779955 deg, lon: -121.859013 deg, deltaT: 3.527919 s, deltaX: -2.288509 m, approachRate: -0.648685 m/s, posRepo size: 4 nimDNOT Ignoring new targets: 60.60 m.nn ProNav: ac range: 60.599342 m, nav range: 60.053696 m, bearing: 326.930453 deg, approach rate: 0.000000 m/s, LOS rate: -0.011641 deg/s, cmd heading: 336.231362 deg, new cmd heading: 336.217290 deg. nHeadingCmd: 5.868099 target range: 60.599342 and range: 60.90 m.nwǻ@nnnnmzm!mI"mIJkQ"kQ kQjU@3sN@j]?PB.鞱ɝ$ܾ)靽XI){'=)6ԾI)I wǻ@ E%?F! F!F-0F)9H%:>H%CH%yIH%BH%_ =H!H%DI%ј< I%FEq fGM Gy B B N >53$K,,+A$٪B޹@9B@BVjλB=YBHA? Z?@tٿ??y?S? ?B޹@Bj^;ɫ@y^vB^;IIMb@Mb@Mb@iGz?+Mbp9p?YyAAA \ A9 AII=#< ===Ei:Q E>yII MGM"FYMY2: U>Ye5]?e5] ]A9m?m:Ym m@y]\FE)]n;;I]G;i]r5Yy}Z Ayn9EDNOT Ignoring new targets: 60.60 m.nEѽnMѽq} ProNav: ac range: 60.599342 m, nav range: 59.785221 m, bearing: 326.921397 deg, approach rate: -0.612186 m/s, LOS rate: -0.020744 deg/s, cmd heading: 336.217291 deg, new cmd heading: 336.190000 deg. n}cHeadingCmd: 5.867622 target range: 60.599342 and range: 60.90 m.nû@nnnnmzmm"mBJk"k kjj`I?QBw/ɝ"۾)l^I)G(=)ԾI)IQt û@ ԙE?F FF0F fG 6G wAG G B B N >jJ rJ zJ GJ J :J :J c4J &_*K,,+AL٪b@9bֱ@b߈ջb;=YbHp?? ?mٿ? z?Ft??b@bjB;ɫbzCyhn<IppIvNIv@ 4~S; ~a=Q >y G"FY e  >5?5& A9Y% %@y`FE);I;it5Y)-V A- EnYeDNOT Ignoring new targets: 60.60 m.neɹneɹu ProNav: ac range: 60.599342 m, nav range: 59.560581 m, bearing: 326.913875 deg, approach rate: -0.655208 m/s, LOS rate: -0.022022 deg/s, cmd heading: 336.189998 deg, new cmd heading: 336.167347 deg. n}q}HeadingCmd: 5.867227 target range: 60.599342 and range: 60.90 m.n}S@nnnnmzmm"mJk"k kjjj?RBAɝ۾)obI)ж(=)zԾI!)Ia S@ Ep>E>E?F FF4FUÉGezAyizA9RBJKNRK59ZKbKjK4Ue_SE83,($  fGuG) B9 BI N] >! G1K,[,+A"'?"z?Hb;>H`HbIHbBHb` =H`H`Ibɘ< Ib9E٪n&@9nM@n@nKs=YnH@?f?NJٿU?#lY||?@?c?n&@n;ɫnwCyvuBv:I|IAIk3, I=܌Q %>y!! %G%"FY-9 ->1=55%*?=55 5A99YE E@y5dFE)5r;I5+;i5Gv5YIM_ AImB*** querying acoustic contact ***oioinq}DNOT Ignoring new targets: 60.60 m.n}n ProNav: ac range: 60.599342 m, nav range: 59.307770 m, bearing: 326.905277 deg, approach rate: -0.620657 m/s, LOS rate: -0.021197 deg/s, cmd heading: 336.167349 deg, new cmd heading: 336.141447 deg. nhHeadingCmd: 5.866775 target range: 60.599342 and range: 60.90 m.n@nnnnmzmm"mJk"k kjj?SBY5ɝ޾)hI)u6)=)3վI.*I` @ y9EM?FQ FQF]2FYQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.fGm'nGI BQ Ba N >ԁ q7K,6,+A٪>@9>:@>Қ>fm=Y>HA?`?Wٿ?J|??8?>@>;ɫyQQ UGU"FYY]: ]>am5e  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252647=K, ,+A٪:7ô@9:^@:7&:Ŋ=Y:HGE?`?Gٿ?~乿@~? ?@?:7ô@:;ɫ:yCyfxBf>I)f= f=InWIn44z < zP=z,.Q z>y|| ~G~"FY:; > 5 ;N?5 x A9YP @y lFE) >:JKRMRK9ZKbKjK,/*#  I :i y5Y15J A1nY]DNOT Ignoring new targets: 60.60 m.neOneOu ProNav: ac range: 60.599342 m, nav range: 58.806042 m, bearing: 326.891155 deg, approach rate: -0.622928 m/s, LOS rate: -0.018066 deg/s, cmd heading: 336.120221 deg, new cmd heading: 336.098902 deg. nu_F}HeadingCmd: 5.866033 target range: 60.599342 and range: 60.90 m.n}@nynynynmzmm"mJk"k kjj @ԹVBW>ɝ޾)GtI)6*=)վIb)IUۼ @ EEu?Fy FyF}o0Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505956H:>HHHH_ =HHIŘ< I4EfGU[>G9 Bi B N >9 DK,%-+A٪:Ѵ@9:λ@:[E: l=Y:H(K?Ն?@`;ٿ@?@`~??c?:Ѵ@:L;ɫ8yBuBB:II]Mb@Mb@Mb@iYYYYY]S?I +y&19]/?Y]9y]`e]A]AY ]v AY9] AIu^Iu&4q A=Q >y G"FY;; >5 a?5 pA9?:Y @ypFE):IZ:i{5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756736Ye A EnDNOT Ignoring new targets: 60.60 m.n/n/  ProNav: ac range: 60.599342 m, nav range: 58.543766 m, bearing: 326.884747 deg, approach rate: -0.619747 m/s, LOS rate: -0.015211 deg/s, cmd heading: 336.098910 deg, new cmd heading: 336.079599 deg. n 'HeadingCmd: 5.865695 target range: 60.599342 and range: 60.90 m.ndz@nnnn!m!zm!m!"m-BJk)"k) k)j)j5K@eXBeD9aɝm)imvziIi)mɽ*=)u2վIu)Iu᭦9 }dz@ yE)F) F)F)F)AfGU;yG B) BA N] >} BDAT read: Rx Time:20:04:01.9545 } TRx dataTimestamp_ set to:1756325044.605308 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010706ԙ jJ rJ zJ >J J :J :J t4J JK,,-+AysB8II5EI53MA» MN=MQ M>yQQ UGU"FYu }>5r?5 `A9Y@ytFE)y:IN:ia}5YB AEnYeDNOT Ignoring new targets: 60.60 m.nepnepq ProNav: ac range: 60.599342 m, nav range: 58.295662 m, bearing: 326.878632 deg, approach rate: -0.593558 m/s, LOS rate: -0.014692 deg/s, cmd heading: 336.079595 deg, new cmd heading: 336.061171 deg. nT!HeadingCmd: 5.865374 target range: 60.599342 and range: 60.90 m.n%@nnnnmzmm"mJk "k kjjG @YB7鞉ɝ)靕%I)O+=)\վI*)I9 %@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260770ԩEyFy FyF}k0FyFwAFwAJKuLRKu+9ZKqbKujKu fG 6^$: G! B1 BA NU >GQK,xF-+AH>7>H>CH>yIH>BH>` =H<H>DI>< I>EI-CI-C"I)*I-_ =2I-_ =:I-k5bDAT read: 20:04:01.9545 LVL= 26608, 32753, 17266, 32755, AGC= 67, IDX= 414,-0.07,-0.715,-2.025,-0.349,-0.919, PHS= 0.291,-1.060, 0.566, RAW= 159.1, 2.7, CAL= 160.5, -6.2, ROT= 349.5, 6.2 fYgot valid direction response: 20:04:01.9545 LVL= 26608, 32753, 17266, 32755, AGC= 67, IDX= 414,-0.07,-0.715,-2.025,-0.349,-0.919, PHS= 0.291,-1.060, 0.566, RAW= 159.1, 2.7, CAL= 160.5, -6.2, ROT= 349.5, 6.2 jPDAT read: Bearing 172.7, 8.1 (Local) n~Local bearing/azimuth received: Bearing 172.7, 8.1 (Local) rDAT read: Range 10 to 50 : 58.7 m (Round-trip 78.3 ms) speed 0.8 m/s v,DAT read: user:2024> zBDAT read: Tx time:20:04:03.0721 z$Ping request sent.z`?g1@A= G3@)kݽI2@ik=Jf?]'?ʧ~Y?).?IBit;k=%:publishing transmit ping timex%Fpublishing direction and range info9fG?ބܼ0ǿNiإy )Ii )IiJf?]'?ʧ~Y?)Ii٪@9@!\=YH ]?y1?+`nٿ@c*?Qx?`??@;ɫykB.II II d4=) =/==쮺Q E>yAA EGE"FYMA@< u>5懣?5 NA9Y @yxFE):=I=:=iq5Y AooF-+AoiBoiBo“@L@=)% ]|;fG?ބܼ0ǿNiإot;ok=eEIH@-?d$BI'r?pX"5r}oGoJBBo$?oKpE6ofB2p$?:pBp&aB"phB*p䎶@M addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 3.527868 s, deltaX: -2.200001 m, approachRate: -0.623606 m/s, rangeRepo size: 4  Added new target pos. range: 58.408607 m, bearing: 326.903188 deg, lat: 36.779954 deg, lon: -121.859013 deg, deltaT: 3.527868 s, deltaX: -2.190735 m, approachRate: -0.620980 m/s, posRepo size: 4 nDNOT Ignoring new targets: 58.41 m.nPowering the camera and arming the capture device at range: 58.70 m.nnnE ProNav: ac range: 58.408607 m, nav range: 58.002254 m, bearing: 326.869133 deg, approach rate: 0.000000 m/s, LOS rate: -0.014692 deg/s, cmd heading: 336.061181 deg, new cmd heading: 336.037738 deg. nAMHeadingCmd: 5.864965 target range: 58.408607 and range: 58.70 m.nM˭@nInInQnQnQmzmm"mJk"k kjYM@jࠄ?JDAT read: TxSync time:20:04:03.0713 -\B-L7QɝU)QU[QIQ)]+=)] ־I]Q'Ie; e˭@ a"&Changing to mode: 21 E] ?Fa  Fa Fe `0Fa Y fG!W7ԑGBBN?ZK,Lj-+AIj4=Ij%=٪~@9~@~-~=Y~Hh??3@7ٿ6?8z?ľ?'?~@~z;ɫ~wCydB%IԱIMb@Mb@Mb@i+?J +Q9v?YȽyuAA A  A9I?IT3ϼ =Q >y G"FYL; >5?5* 8A9{ ?:Y@y~FE)4;I3;iÁ5YBO AEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 58.41 m.nPowering the camera and arming the capture device at range: 58.70 m.nnn%5 ProNav: ac range: 58.408607 m, nav range: 57.669281 m, bearing: 326.862439 deg, approach rate: -0.735507 m/s, LOS rate: -0.014872 deg/s, cmd heading: 336.037739 deg, new cmd heading: 336.017542 deg. n5L#=HeadingCmd: 5.864613 target range: 58.408607 and range: 58.70 m.n=誻@n9n9n9n9nAmAzmAmI"mM}BJkI"kI kQjQj]@e5?^BN鞉ɝ)靕I)z,=)0O־IDl&IJI< 誻@ 9E=F FFF5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.fGk;GiByBN~>JKLRKh9ZKbKjK 1 p`K, -+A٪Zk.@9Z+@Zu;Zd=YZHo?? ٿy!! %G%"FY-H; ->1=55m?=556 5*A99Y=HE@y5FE)5;I5;i5K5YIMJ AInquDNOT Ignoring new targets: 58.41 m.nq}Powering the camera and arming the capture device at range: 58.70 m.nyn n checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983865H6>HHHHa =HHI< I#E ProNav: ac range: 58.408607 m, nav range: 57.449730 m, bearing: 326.857498 deg, approach rate: -0.629038 m/s, LOS rate: -0.014211 deg/s, cmd heading: 336.017549 deg, new cmd heading: 336.002669 deg. n HeadingCmd: 5.864353 target range: 58.408607 and range: 58.70 m.nǨ@nnnnnmzmm"mJk"k kjj\W?5_B5Y=3W=ɝ=)9=ኼ9I9)=w,=)E:q־IE$IEn-< MǨ@ IJKJ4JK4JK~0jJrJzJAJJ:J :J4JJ0;-J2;-JU;5JU;5E=;F9 F9F=o0F9I=PExceeded connect timeout, disconnecting.fGUέ;GYG]$?yG) B1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234170BQ Ne >ԙ !gK,-+A٪B7@9B5@B,KB=YBH`Ms?H?uٿ>?_b???B7@BV;ɫBwCyb`Bb!IIMMb@Mb@Mb@iIIIIIMx&1?Cl绿Mb9MA ?YM;߽yMMAM3AMA M AI9MAIe;Ie&3uV uE=}qQ }>yy G "FY7; >5+£?5 A9"?:Y@yFE)B;IB;i5Yq Aqnq}DNOT Ignoring new targets: 58.41 m.ny}Powering the camera and arming the capture device at range: 58.70 m.nn͸n͸ ProNav: ac range: 58.408607 m, nav range: 57.185646 m, bearing: 326.855164 deg, approach rate: -0.633714 m/s, LOS rate: -0.005626 deg/s, cmd heading: 336.002659 deg, new cmd heading: 335.995625 deg. n wHeadingCmd: 5.864230 target range: 58.408607 and range: 58.70 m.nƧ@nnnnnmzmm"mBJk"k kjj T?bBVP鞑ɝ)靝I)-=)D־I["I;< Ƨ@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487113E:F FFFԩfG W5<G B B N > Y iY ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738304vRmK,-+A٪>A@9>?@>n$I>i-=Y>H`6w??܌@ؿ+B?@`d$?`Ͽ?`?>A@>;ɫ>zCyF^BFIIRRIRW4[C O=9Q >y!! %G%!"FY-J; ->1=55ӣ?=55 5A99Y==@y5FE)5:I5:i5Ն5YMBM AMEny}DNOT Ignoring new targets: 58.41 m.nyPowering the camera and arming the capture device at range: 58.70 m.nnn ProNav: ac range: 58.408607 m, nav range: 56.935364 m, bearing: 326.852623 deg, approach rate: -0.635165 m/s, LOS rate: -0.006478 deg/s, cmd heading: 335.995638 deg, new cmd heading: 335.987980 deg. nDHeadingCmd: 5.864097 target range: 58.408607 and range: 58.70 m.n@nnnnnmzmm"mJk"k kjj`$?cB`Ydɝ)넑I)" .=)Β־I-!I*cN< @ JKrKRKZKbKjK    KuA KuAE6F FF0FfGߡ;<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991398H:>HCHlIHBH` =HHDIט< INEGaBiBN>! jJ rJ zJ J J ܫ:J :J J J ;J ;J C;J C;6tK,\-+A4 rnManaging dock network, ignoring radio surface power offyUB%IIMb@Mb@Mb@i+?i|?5Mb9?YyA A  A9 AITI4} 2=Q >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242071y19 =G=#"FY= =>AM5E裊?U5E EA9U"?U:YU1U@yEFE)E3:IEE:iE䈌5Yim AiԉnDNOT Ignoring new targets: 58.41 m.nPowering the camera and arming the capture device at range: 58.70 m.nnH8nH8 ProNav: ac range: 58.408607 m, nav range: 56.636135 m, bearing: 326.853912 deg, approach rate: -0.633196 m/s, LOS rate: 0.002742 deg/s, cmd heading: 335.987988 deg, new cmd heading: 335.991875 deg. n8HeadingCmd: 5.864164 target range: 58.408607 and range: 58.70 m.n<@nnnnnmzmm"mtBJk "k  k j j @ȫ@fB$OɝF)%I).=)=־I=I=0K< =<@ AԹ nE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494672EU 2FQ  FQ F] _0FY  9IM CfG%)T<GvAGvAUG/{A UU/{A9UBGBBN-?L}K,-+A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746236y_B%I!!I-WI-449E4= E=IQ M>yII UGU$"FYQ U>Ye5]?e5]  ]A9iYim@y]FE)]y:I]p:i]85Yq AE-B*** querying acoustic contact ***o1o1nYeDNOT Ignoring new targets: 58.41 m.naePowering the camera and arming the capture device at range: 58.70 m.nanmzC8nmzC8 ProNav: ac range: 58.408607 m, nav range: 56.297863 m, bearing: 326.855385 deg, approach rate: -0.609370 m/s, LOS rate: 0.002670 deg/s, cmd heading: 335.991868 deg, new cmd heading: 335.996315 deg. n8HeadingCmd: 5.864242 target range: 58.408607 and range: 58.70 m.nߧ@nnnnnm!zm!mQ"mQJkQ"kY kYjaje V@hBjNɝ)I),^/=)-־I-I-&J< -ߧ@ 1JKeRLRKe9ZKabKejKe D9}|oM$ eXND902462.*#!&'++*(#yԑHHH`IHBH_ =HBDAT read: Rx Time:20:04:05.5516 TRx dataTimestamp_ set to:1756325048.132359checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999176HI< IEnE- hW=jJU rJU zJU CJQ JU :JU :JU 4JQ JU };JU ;JU U;JU U; E >/F  F F %5F fG xI<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251064GBBN ?K,+i.+A٪>@9> @>uS>=Y>HFf?`?M7-Bٿ5?`kۺp? ?o?>@>U(;ɫ>wC y=QBEIIMb@Mb@Mb@i?~jt9 ?YyAA  A9AINI@ 4?  = Q  >y G&"FYM >!5%6?5% %A9=#?:Y@y%FE)%1;K,O3.+A٪>9@9>`@>O~Z>=Y>H^? ? Ma@odٿ Q/?֘O?.p?'?>9@>Ǎ;ɫ>xCyFEBJIIVMIV{4^ ^b=^Q ^>y`` bGb'"FYbλ j>x~5zn)?5zc zA9Y@yzFE)z:Iz;iz85Y AnIMDNOT Ignoring new targets: 58.41 m.nIUPowering the camera and arming the capture device at range: 58.70 m.nQnU9nU9im ProNav: ac range: 58.408607 m, nav range: 55.714138 m, bearing: 326.867736 deg, approach rate: -0.678909 m/s, LOS rate: 0.015488 deg/s, cmd heading: 336.017604 deg, new cmd heading: 336.033561 deg. nm*:uHeadingCmd: 5.864892 target range: 58.408607 and range: 58.70 m.nu2@nqnqnynynymyzmym"mJk!"k) k)j)j-@@DAT read: 20:04:05.5516 LVL= 23152, 26401, 18834, 30531, AGC= 64, IDX= 416,-0.11, 1.915, 0.664, 2.483, 1.763, PHS= 0.241,-1.052, 0.717, RAW= 165.1, 1.2, CAL= 166.4, -7.4, ROT= 343.6, 7.4 Ygot valid direction response: 20:04:05.5516 LVL= 23152, 26401, 18834, 30531, AGC= 64, IDX= 416,-0.11, 1.915, 0.664, 2.483, 1.763, PHS= 0.241,-1.052, 0.717, RAW= 165.1, 1.2, CAL= 166.4, -7.4, ROT= 343.6, 7.4 PDAT read: Bearing 167.1, 10.3 (Local) ~Local bearing/azimuth received: Bearing 167.1, 10.3 (Local) DAT read: Range 10 to 50 : 56.4 m (Round-trip 75.3 ms) speed 0.6 m/s ,DAT read: user:2025>  BDAT read: Tx time:20:04:06.6721  $Ping request sent. ܥ𧆿ܥP7?ܥ!k8@ܥ< ݥ9@)ݥ AIݥ@iݥ A>ݡݡޥ"K?['d?ȏu?)ޥ_I?Iޥiޥ:ޥ A>ޡޡM:publishing transmit ping time MFpublishing direction and range infoۡ9ۥ2?q?FYѿOZ_|yۡۡۡۡ ܡ)ܡIܡiܡܡܡܡܡ ݡ)ݡIݡiݡݡݡޥ"K?['d?ȏu?)ޡIޡiޡޡޡޡlBx鞉ɝy)靍I)0=)*־I1IA; 2@ EEwAԙEUb*FQ FQFUa0FQfGMZ;G BB!N5p>JK5ORK59ZK1bK5jK5 Kd.% $6  ?'_ .  khUwH#vj`VMF@8H 9>H CH SIH BH H H DI < I E K,M.+AjJ2rJ2zJ2@J0J2l:J2:J2J4J0J2;J2;J2L;J2L;٪J@9J@JruJ=YJH@2T? L?P ٿ%?i`C?n? ?J@J ;ɫJvCyfIBjII%3I%ʴ3M-< UB=}}Q }>yy G)"FY >5T2E@rtA .| Ys?QXɉ¿o o,Bo$q?oՕoaB2p:pBpaB"p]B*p@ addTargetRange:: Added new target pos. range: 56.400002 m, deltaT: 3.780654 s, deltaX: -2.299999 m, approachRate: -0.608360 m/s, rangeRepo size: 4 E Added new target pos. range: 56.120258 m, bearing: 321.037466 deg, lat: 36.779954 deg, lon: -121.859013 deg, deltaT: 3.780654 s, deltaX: -2.288349 m, approachRate: -0.605279 m/s, posRepo size: 4 nAmDNOT Ignoring new targets: 56.12 m.nimPowering the camera and arming the capture device at range: 56.40 m.ninunq ProNav: ac range: 56.120258 m, nav range: 55.441769 m, bearing: 326.874881 deg, approach rate: 0.000000 m/s, LOS rate: 0.015488 deg/s, cmd heading: 336.033559 deg, new cmd heading: 336.055938 deg. nHeadingCmd: 5.865283 target range: 56.120258 and range: 56.40 m.ne@nnnnnmzmm"mJk"k kj@33L@jm? nBmɝ[)[1I1)5UN1=)E`վIEKeIE.2*; Me@ IE'F FF`0F1fGE ?@K,Bf.+AyFBIAIMb@Mb@Mb@iMb?L7A` rh9 ?Y+yCAIA A 9G AI?IT3T 5=Q >y G*"FY >5O?5 |A9$?:Y3@yFE)@:I:i5Ys An)-DNOT Ignoring new targets: 56.12 m.n)5Powering the camera and arming the capture device at range: 56.40 m.n1n=z9n=z9M ProNav: ac range: 56.120258 m, nav range: 55.160004 m, bearing: 326.885400 deg, approach rate: -0.732411 m/s, LOS rate: 0.027482 deg/s, cmd heading: 336.055935 deg, new cmd heading: 336.087653 deg. nM:UHeadingCmd: 5.865836 target range: 56.120258 and range: 56.40 m.nU@nQnQnQnYnYmYzmYma"meVBJka"ka kajijm ?IC=I<]pB]%"Yɝ])YeGaIa)e1=)mʮվIm8IS$; @ qEP%F FFo0FfG4 ;GBBN>ԙi K,w.+A٪N@9N@NrN]=YNH@8? ?@ ڿ ?` 3???N@NӉ;ɫNyCyVBBVII^GI^3ff fs=jQ j?yhh jGj+"FYn"ļ n?tz5v^?z5v " vpA9xYz=z@yvFE)v:Iv:iv{5Y A%EB*** querying acoustic contact ***oonDNOT Ignoring new targets: 56.12 m.nPowering the camera and arming the capture device at range: 56.40 m.nJKPRKs9ZKbKjK20+)&! *kRKCcjXG9/'  n9n9- ProNav: ac range: 56.120258 m, nav range: 54.944408 m, bearing: 326.895315 deg, approach rate: -0.605875 m/s, LOS rate: 0.027974 deg/s, cmd heading: 336.087654 deg, new cmd heading: 336.117517 deg. n-:-HeadingCmd: 5.866357 target range: 56.120258 and range: 56.40 m.n53@n1ԱnqnInInImQzmQmQ"mQJkY"kY kYjYjeӪ?H:>HCHMIHBHHHDI< I-EIIC"I*I2I` =UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.:Ib5qBT鞑ɝ)EAIA)Eh2=)MtjվIMIM? M3@ QE?E?ԡE5~"Fq FyF}p0FyjJrJzJJJ:J9JJJ;J;J<;J<; fG 0: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500276G B B N >{~K,<.+A٪v@9vʟ@vżv=YvH@6?:?Z ڿ` ?t?@V??v@vu;ɫty=BI p= p=IUMb@Mb@Mb@iQQQQQU?L7A`{Gz9U ?YQyUףUAUAUA Uv AQ9U AIJI)43 )=lIQ >y G-"FY >5s?5& [A9#?:Yj @yFE)l;I;i5Y AYny}DNOT Ignoring new targets: 56.12 m.nPowering the camera and arming the capture device at range: 56.40 m.nn:n: ProNav: ac range: 56.120258 m, nav range: 54.637089 m, bearing: 326.909805 deg, approach rate: -0.654925 m/s, LOS rate: 0.031053 deg/s, cmd heading: 336.117516 deg, new cmd heading: 336.161230 deg. n}:HeadingCmd: 5.867120 target range: 56.120258 and range: 56.40 m.ns@nnnnnmzmm"mJk"k kjjx?MrBU~QɝU)靝,I)H2=)~վIxI~綻 s@ EmFi FqFu0Fqԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752491fGmmG9BIBYNe>Ա K,4.+APy-;B-II=DI=3Uo4 ]f=]Q ]>yaa eGe."FYe m>iu5m ?}5m=* mLA9yYy}@ymFE)mY;Im;im#5Y AnDNOT Ignoring new targets: 56.12 m.nPowering the camera and arming the capture device at range: 56.40 m.nn:n: ProNav: ac range: 56.120258 m, nav range: 54.410305 m, bearing: 326.920603 deg, approach rate: -0.652767 m/s, LOS rate: 0.031210 deg/s, cmd heading: 336.161229 deg, new cmd heading: 336.193758 deg. nZ:HeadingCmd: 5.867688 target range: 56.120258 and range: 56.40 m.nĻ@nnnnnmzmm"mJk"k kjj @-sB-!)ɝ-G))5M1I1)5r3=)=ԾI=I=%û =Ļ@ Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005906EF FF4FfG5»JK5/jORK5+9ZK1bK5jK5  T4# 1txQ)KA KEvAG B! B1 N= >H 7>H CH @IH zBH H H DI < I E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256106) sK,.+Ay :B II5LI54P C=Q >y G/"FY >5?5]. ;A9Y@yFE) ;IT ;i5YB  A &EnauDNOT Ignoring new targets: 56.12 m.nq}Powering the camera and arming the capture device at range: 56.40 m.nn :n :m ProNav: ac range: 56.120258 m, nav range: 54.141815 m, bearing: 326.933504 deg, approach rate: -0.628312 m/s, LOS rate: 0.030340 deg/s, cmd heading: 336.193768 deg, new cmd heading: 336.232662 deg. nu:HeadingCmd: 5.868367 target range: 56.120258 and range: 56.40 m.nɻ@nnnnnm1zmmQ"mQJkY"kY kYjYjeP@uBF6|ɝ)fMI),4=)cԾIقIԻ ɻ@ echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506912EF FFo5FQfG ǻԁ GY Bi By N > K,v.+A٪N=@9Nd@N.hN=YNH3??ڿ@ ?#ٹ +?`w? ?N=@N-Ɖ;ɫNxCy^7Bfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759759^IiI-Mb@Mb@Mb@i)))))-jt?S㥛{Gz9- ?Y-$y)-A-A-v A - A)9)IEUIE4Mc UB=UtQ ]>yYY ]G]0"FYe6 e>i5m?5mz2 m,A9N$?:Y@ymFE)mWfK,@/+A٪:@9:@::R>Y:H<8?ȓ?ڿN?Qչ`ڠ??[?:@:;ɫ8yF1BFIINPIN 4V} Vi=ZQ Z>yXX ^G^2"FY^~; b>`f5bg?f5b5 b!A9hYjdj@ybFE)b`:Ib:ibW5Ylnr ApB*** querying acoustic contact ***oonDNOT Ignoring new targets: 56.12 m.nԹn:n: ProNav: ac range: 56.120258 m, nav range: 53.648426 m, bearing: 326.955885 deg, approach rate: -0.642792 m/s, LOS rate: 0.028840 deg/s, cmd heading: 336.269911 deg, new cmd heading: 336.300135 deg. nW:HeadingCmd: 5.869545 target range: 56.120258 and range: 56.40 m.nOӻ@nnnnmzmm"mJk"k kjjI @JKJORKs9ZKbKjKj{z,8 "<`@KE751%vneXNH@<60)$"K%>K%?=wB=R9ɝ=")9=K¼AIA)E4=)EӾIMIM λ MOӻ@ IHE3>HAHAHAHE` =HAHAIE˜< IE(E=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263310EF FF_0FfGAGI Bq B N >Y  DAT read: 20:04:09.1484 LVL= 24880, 32753, 16274, 32755, AGC= 64, IDX= 415, 0.29, 1.675, 0.321, 2.030, 1.390, PHS= 0.373,-1.022, 0.636, RAW= 158.5, 0.2, CAL= 160.8, -8.5, ROT= 349.2, 8.5  Ygot valid direction response: 20:04:09.1484 LVL= 24880, 32753, 16274, 32755, AGC= 64, IDX= 415, 0.29, 1.675, 0.321, 2.030, 1.390, PHS= 0.373,-1.022, 0.636, RAW= 158.5, 0.2, CAL= 160.8, -8.5, ROT= 349.2, 8.5  PDAT read: Bearing 172.9, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 172.9, 10.4 (Local)  DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.8 m/s  ,DAT read: user:2026>  BDAT read: Tx time:20:04:10.2721  $Ping request sent. } Ђ} "?} 1@} d; } 3@)} I} @i} >y y } *^P ?3#w?MC;:eh?)} f+?I} )Ci} A} >y y  :publishing transmit ping time  Fpublishing direction and range infoy 9} kT?5ǿ%)k¿yy y y y y )y Iy iy y y y y y )y Iy iy y y } *^P ?3#w?MC;:eh?)y Iy iy y y y K,^/+A٪5@95@52 5h>Y5Ho:?`?@nXٿ`? 빿 ?:*?;?5@57;ɫ5yCy/BI1IMb@Mb@Mb@iX9v?L7A`{Gz9?Y+yAA A A9p AITI4  =Q >y G3"FYs: >5iͤ?-5: A9-!?-:Y-n-@yFE)-;I;i5Y9=~ A9oo/+AoVBoVBoT@sJ@ET#nkT?5ǿ%)k¿oAo>eB2p:pBp>eB"pOUB*p@  addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.527442 s, deltaX: -2.400002 m, approachRate: -0.680380 m/s, rangeRepo size: 4  Added new target pos. range: 53.731480 m, bearing: 326.462082 deg, lat: 36.779954 deg, lon: -121.859013 deg, deltaT: 3.527442 s, deltaX: -2.388779 m, approachRate: -0.677199 m/s, posRepo size: 4 namDNOT Ignoring new targets: 53.73 m.ninmnq ProNav: ac range: 53.731480 m, nav range: 53.327225 m, bearing: 326.971785 deg, approach rate: 0.000000 m/s, LOS rate: 0.028840 deg/s, cmd heading: 336.300128 deg, new cmd heading: 336.344149 deg. nHeadingCmd: 5.870313 target range: 53.731480 and range: 54.00 m.nٻ@nnnnmzmm"mDBJk"k kjK@jO?xB  ɝ 9$)  EȼI)Zr5=)dӾI@BI5л Eٻ@ AJDAT read: TxSync time:20:04:10.2713 EF FFFԑjJ rJ zJ CJ J :J :J 4J }GfG ܻG G wA {A = RE {A9E ~OBG B B N >"EK,7/+A٪jþ@9j껻@jAj>YjH@)>?c?/2 iٿ?-?g?X?jþ@j?;ɫjwCy  E A9qYu u@yEFE)E.;IE:iE 5Y}B}! A}1En DNOT Ignoring new targets: 53.73 m.nn :n :E ProNav: ac range: 53.731480 m, nav range: 53.114796 m, bearing: 326.982063 deg, approach rate: -0.638322 m/s, LOS rate: 0.031008 deg/s, cmd heading: 336.344142 deg, new cmd heading: 336.375099 deg. nE>:MHeadingCmd: 5.870853 target range: 53.731480 and range: 54.00 m.nM޻@nInQnQnQmQzmQmY"mYJkY"kY kjj&?yBbᕽɝu)T˼I)%5=):ӾI>I ޻@ EF FFg0FJKbORK9ZKbKjK"" A*Hy"HyHHHHHa =HHI͘< I7EfGG B B! N- >i H%K,VcQ/+A٪6Ҵ@96+ϻ@6^|(6*>Y6H@E?:?Ѷ{ٿ?? v??6Ҵ@63';ɫ6yCy\`IvNIv@ 4 -: M=ٻQ >y G6"FY; >5?5B A9Yo@yFE):I/;i٢5Y An9MDNOT Ignoring new targets: 53.73 m.YnInm:nu:- ProNav: ac range: 53.731480 m, nav range: 52.853573 m, bearing: 326.994138 deg, approach rate: -0.638948 m/s, LOS rate: 0.029680 deg/s, cmd heading: 336.375096 deg, new cmd heading: 336.411499 deg. n5:uHeadingCmd: 5.871488 target range: 53.731480 and range: 54.00 m.nu;@nynynynmzmm"mJk"k kjj@ ?Jۇ鞑ɝ)靝мI)F/6=)ҾII(' ;@ ԁE]FY FYF]_0FYԩfG% wG B B N- > aK,k/+A٪Jٴ@9J(ֻ@JVO5Jk>YJH F?|'?`ѭٿF"???@~?Jٴ@J;ɫHyR@BVII5Mb@Mb@Mb@i111115Q?MbMb95(?Y5y5153A5 A 5A195G AIM@AIU1IU3e < eC=ewQ e>yii mGm7"FYm ; >5?5 F A9?:Yl@yFE);I;i5YB A2EnY]DNOT Ignoring new targets: 53.73 m.nYne9ne9ԉ ProNav: ac range: 53.731480 m, nav range: 52.592377 m, bearing: 327.005202 deg, approach rate: -0.632799 m/s, LOS rate: 0.026940 deg/s, cmd heading: 336.411487 deg, new cmd heading: 336.444847 deg. n:HeadingCmd: 5.872070 target range: 53.731480 and range: 54.00 m.n@nnnnjJrJzJBJJܫ:JB:J-4Jmzmm"mOBJk"k kjjO?%zBeZiɝm.)imJӼiIi)m6=)u}ҾIuI}B }@ yEu?E>EiFi FiFmp0FiԹfG vG B B N > DEK,CT/+A٪:@9:@:<:@m>Y:H@tQ?? `uzٿW,?iࠀ?@ʼ??:@:=;ɫ:wCyZDBZI\i\IbUIb4jM< jT=jیQ n>yll rGr8"FYr1< r>tz5v?z5vI vA9|Y~~@yvFE)v;Iv;ivJ5Y A -B*** querying acoustic contact ***o)o)n1=DNOT Ignoring new targets: 53.73 m.n9nE9nE9U ProNav: ac range: 53.731480 m, nav range: 52.362495 m, bearing: 327.014153 deg, approach rate: -0.628825 m/s, LOS rate: 0.024591 deg/s, cmd heading: 336.444846 deg, new cmd heading: 336.471815 deg. nU:]HeadingCmd: 5.872541 target range: 53.731480 and range: 54.00 m.n]@nYnYnanamazmama"miJki"ki kijijum?䇒鞩ɝq)靭W׼I)6=)?ҾI Ix @ JKKLRK9ZKbKjKH5>HHMIHBH` =HHI< IET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E%F! F!F%1F!1!fGqGYBBN >Q ء iء  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0037779pK,2/+Ay-CB-IIMb@Mb@Mb@iOn?q= ףp:v9?YyTAA 9 AIWI44  :=Q >y G:"FY >5S"?5rM A9m?:Y@yFE) ;I ;i45Y)- A-3EnQUDNOT Ignoring new targets: 53.73 m.nQn]%w9n]%w9m ProNav: ac range: 53.731480 m, nav range: 52.096794 m, bearing: 327.020068 deg, approach rate: -0.603489 m/s, LOS rate: 0.013504 deg/s, cmd heading: 336.471811 deg, new cmd heading: 336.489648 deg. nmI:uHeadingCmd: 5.872852 target range: 53.731480 and range: 54.00 m.nuh@nqnynynymyzmym"mMBJk"k kjj@?@Ie{BeZaɝe;)i靍ۼI)7=)"ҾIiI˚ h@ EeFi FiFm0Fi checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256258yIIAAjJrJzJ@JJ|:J :JJ4Jԩ fG xCG B B) NE >OK, /+A<٪N@9N@N xJNT>YNHh^?@?@Wʸ`7ٿ`V;?3^L?@??N@NK;ɫLyVQBVI^p<^4<IbVIbn4jw= j]=jQ j>ylp rGr;"FYz@< z>|5~"2?5~P ~A9Yp @y~FE)~F:I~:i~ԩ5YɒB A=En9EDNOT Ignoring new targets: 53.73 m.nAnEQF9nEQF9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508817U ProNav: ac range: 53.731480 m, nav range: 51.870823 m, bearing: 327.024048 deg, approach rate: -0.612680 m/s, LOS rate: 0.010836 deg/s, cmd heading: 336.489652 deg, new cmd heading: 336.501642 deg. nu9}HeadingCmd: 5.873062 target range: 53.731480 and range: 54.00 m.n}@nnnnmzmm"mJk"k kjj'7@ >ɝk)Q߼I)\7=)ѾIÔIa: @ qEԱE-F) F)F-`5F)JK- KRK-9ZK)bK-jK-9N$a 5G< k / (TwL(fGMQHHHYIHBHHHI< IEICI"I*I` =2I:I35 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759887G) B1 B N > @K,G/+A٪NS$@9Nz!@NRNu>YNHJb?N?`iU@!ٿY??)@H??? ?NS$@Nm;ɫLyV[BVII^HI^<3fDN= fJ=jQ j>yhh nGln<"FYrg; r>tz5v9C?z5vUT vA9xYz~@yvFE)v{;Iv;iv5Yn AnDNOT Ignoring new targets: 53.73 m.nn?.9n?.9e ProNav: ac range: 53.731480 m, nav range: 51.626793 m, bearing: 327.027980 deg, approach rate: -0.588098 m/s, LOS rate: 0.009521 deg/s, cmd heading: 336.501646 deg, new cmd heading: 336.513498 deg. nm9HeadingCmd: 5.873269 target range: 53.731480 and range: 54.00 m.n@nnnnmzmm"mJk!"k! kQjYje @mBDAT read: Rx Time:20:04:12.7455 uTRx dataTimestamp_ set to:1756325055.440527uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012788|BV鞉ɝj)靍+㼩I)'7=)ѾIIf ; @ E}Fy FyF}p5Fy9a fG 8:G B B N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263556K,/+A٪>4@9>1@>KZ>$ >Y>Hg?e? 鹿`ٿ E?ye%F?0? ?>4@>Ɉ;ɫ>uCydB&I9IMb@Mb@Mb@il?S㥻{Gz9?Y/ݽy#A EA9 AIIId4$= :=Q >y G="FY; >5U?5!X A9?:Y @yFE)<:I:i5Y + A>EnAEDNOT Ignoring new targets: 53.73 m.nInM8nM8IR=I4= ProNav: ac range: 53.731480 m, nav range: 51.363003 m, bearing: 327.028906 deg, approach rate: -0.618514 m/s, LOS rate: 0.002181 deg/s, cmd heading: 336.513503 deg, new cmd heading: 336.516294 deg. n8HeadingCmd: 5.873317 target range: 53.731480 and range: 54.00 m.n7@nnnnm zm m1"m5~BJk1"k1 k9j9j= @iEIɝU )QUQx缩QIQ)U7=)m@ѾIm`Im; u7@ EF FFo5FԱDAT read: 20:04:12.7455 LVL= 21952, 27745, 15858, 30115, AGC= 63, IDX= 416,-0.31,-3.116, 1.892,-2.749, 2.933, PHS= 0.322,-0.994, 0.598, RAW= 159.3, 1.0, CAL= 161.2, -7.7, ROT= 348.8, 7.7 Ygot valid direction response: 20:04:12.7455 LVL= 21952, 27745, 15858, 30115, AGC= 63, IDX= 416,-0.31,-3.116, 1.892,-2.749, 2.933, PHS= 0.322,-0.994, 0.598, RAW= 159.3, 1.0, CAL= 161.2, -7.7, ROT= 348.8, 7.7 PDAT read: Bearing 172.2, 9.7 (Local) ~Local bearing/azimuth received: Bearing 172.2, 9.7 (Local) DAT read: Range 10 to 50 : 51.8 m (Round-trip 69.1 ms) speed 0.5 m/s ,DAT read: user:2027> BDAT read: Tx time:20:04:13.8722 $Ping request sent.}v~}?}1@}5< }4@)} I}@i} >yy}o{$?xꦿG?r{2-?)}/?I}oi}4+H} >yy%:publishing transmit ping time%Fpublishing direction and range infoy9}}6qk? KȿL`u&yyyyy y)yIyiyyyyy y)yIyiyyy}o{$?xꦿG?r{2-?)yIyiyyyyfG !; G B B N > L,0+A٪6+9@96R6@6qAc6GZ >Y6Hh? X? l`ؿG?= sd? 7?ڨ?6+9@6 Ɉ;ɫ6xCyRmBR1IZBAZDAIZJIZ)4rE= r\=vQ v>ytt zGz?"FYz: z>9E5=e?E5=j[ =A9IYMM@y=FE)=g:I=:i=)5YQU AQԹoofk/+Ao+NBo+NBo@v I@8#}6qk? KȿL`u&o4+Ho >劈`~E@FV;FYJK^PRK}9ZKbKjKve^WSOJHC?>:9622/+'&+57630)&%""K%>K%>H54>H1H5rIH5BH1H1H1I5< I5E+=?*~V3úobo+BoIn?oy 9oMmB2p:py 9Bp`eB"pLB*p@e addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 3.528434 s, deltaX: -2.200001 m, approachRate: -0.623506 m/s, rangeRepo size: 4  Added new target pos. range: 51.542690 m, bearing: 326.993525 deg, lat: 36.779954 deg, lon: -121.859014 deg, deltaT: 3.528434 s, deltaX: -2.188789 m, approachRate: -0.620329 m/s, posRepo size: 4 nDNOT Ignoring new targets: 51.54 m.nnn ProNav: ac range: 51.542690 m, nav range: 51.186268 m, bearing: 326.939890 deg, approach rate: 0.000000 m/s, LOS rate: 0.002181 deg/s, cmd heading: 336.516290 deg, new cmd heading: 336.518952 deg. JDAT read: TxSync time:20:04:13.8714 nHeadingCmd: 5.873363 target range: 51.542690 and range: 51.80 m.n@nnnnmzm m"mJk"k kj`fI@j :?e}Bmˀ鞉ɝ)靍꼩I)7=)*ѾI4IM[; @ EEFA FAFE_0FIjJrJzJAJJl:J:J4JJ;J;JlN;JlN;fG Ym;G ?G !?G B B N >9 L,y 0+A٪:;@9:<8@:Fm: >Y:H`vh?3O? kؿH?n$?BI??:;@:vw;ɫ8yNvBR<II]Mb@Mb@Mb@iYYYYY]bX9?RQy G@"FYN: >5w?5^ A9>?:Y@yFE):I:i5YʒB AB*** querying acoustic contact ***oonDNOT Ignoring new targets: 51.54 m.nntwntw ProNav: ac range: 51.542690 m, nav range: 50.938755 m, bearing: 326.934659 deg, approach rate: -0.636714 m/s, LOS rate: -0.013521 deg/s, cmd heading: 336.518940 deg, new cmd heading: 336.503171 deg. ny HeadingCmd: 5.873088 target range: 51.542690 and range: 51.80 m.n W@n n n n m zm)m)"m5BJk1"k1 k1j9j=`X?aeۇ ɝg)~I)7=)4ѾIyOIP; W@ !EF FF`0FIT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.qfG &;G B B N >ԙ b L,TU:0+A٪:F@@9:m=@:Bw:\>Y:Hfi?A'?ؿ`v?? 7?V??:F@@:K;ɫ8yFBFNIINFIN%3Vj= VY=VԻQ V>yXX ZGZA"FYZ: ^>`j5b?j5ba bA9hYjj@ybFE)b:Ib:ib5Ypr( Apn  DNOT Ignoring new targets: 51.54 m.n nwnwechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995087 ProNav: ac range: 51.542690 m, nav range: 50.714996 m, bearing: 326.929591 deg, approach rate: -0.594583 m/s, LOS rate: -0.013528 deg/s, cmd heading: 336.503176 deg, new cmd heading: 336.487902 deg. nHeadingCmd: 5.872822 target range: 51.542690 and range: 51.80 m.n(@nnnnmzmm"mJk"k kjj h?y~BQɝ)j*񼩝I)"8=).ҾI%HI%T޵; %(@ !EF FFFԡH-0>H-CH-IH-BH-a =H)H)I-< I-EJKNRKZKbKjK!!  `KvA KsAfG\; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247099G B B N >J4J4J/jJ rJ zJ CJ J L:J &:J 4J J J;J K;J \;J \; L,4.T0+A٪Vz6@9V3@VV>YVHd?>? ؿ`A?lm?Y?@9?Vz6@Vڊ;ɫVyCyBYI)-I-8I-3e$= e?=eQ e>yii mGmC"FYu17 }>5왥?5e 'A9Y@yFE)|;IK;i5Y˒B A?En)DNOT Ignoring new targets: 51.54 m.nnRnR5 ProNav: ac range: 51.542690 m, nav range: 50.459793 m, bearing: 326.924168 deg, approach rate: -0.539398 m/s, LOS rate: -0.011519 deg/s, cmd heading: 336.487903 deg, new cmd heading: 336.471553 deg. n=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500729HeadingCmd: 5.872537 target range: 51.542690 and range: 51.80 m.n@nnnnmzmm"mJk"k kjj j?-B-2u1ɝ5)151I9)=7=)@ҾI,I; @ 1EF FF_0FQ fGE ;GE wAGE xA% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751126G! B1 BA NM >L,m0+A٪j%@9j"@jfj=>YjH`=]?c? Ἷ9ٿ`@? G4i??f?j%@jNJ;ɫjzCyrBrfIIuMb@Mb@Mb@iqqqqqu-?bX9ȶy&1|9u??YuEyu`廩uAuAq uAq9qILI4I= F=Q >y GD"FY >5C?5h 6A9?:Yf @yFE):I#:iJ5Y AnDNOT Ignoring new targets: 51.54 m.nn?n? ProNav: ac range: 51.542690 m, nav range: 50.218182 m, bearing: 326.917292 deg, approach rate: -0.631497 m/s, LOS rate: -0.018059 deg/s, cmd heading: 336.471566 deg, new cmd heading: 336.450838 deg. nKFHeadingCmd: 5.872175 target range: 51.542690 and range: 51.80 m.n@nnnnmzmm "mBJk9"kAYuSG kyjjG?9ZB5B=l}9ɝ=T)9=9I9)E 7=)EoҾIMIMP; M@ IEF FFo0Fԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003242Թ fG A:G B B N >!L,\0+ALyuB}oIIMI{4= L=Q >y GE"FY >H)>HHIHՁBHHHDI< IE9E5=缥?E5=Cl =FA9IYIM@y=FE)=:I=:i=5YQ]] A]@EnyDNOT Ignoring new targets: 51.54 m.nn6n6 ProNav: ac range: 51.542690 m, nav range: 49.972355 m, bearing: 326.910227 deg, approach rate: -0.613844 m/s, LOS rate: -0.017727 deg/s, cmd heading: 336.450829 deg, new cmd heading: 336.429532 deg. nBHeadingCmd: 5.871803 target range: 51.542690 and range: 51.80 m.n@nJK:MRK59ZKbKjKmdgl`RKEHTTND?941-'$$$"%.0,&!  nnnmzmm"mJk"k kjj#@?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255432  / ɝ)7I)57=)ҾI1IYu; @ !EF FF0FjJrJzJ?JJl:J :Jـ4JJ;J;J`W;JaW;fG- 0:) Gi By B N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507151'L,+0+A٪:q@9:@:̉:>Y:HV?DŽ?53ٿwB?(D6???:q@: =;ɫ:wCyFBF}I|IMMb@Mb@Mb@iIIIIIMʡE?ˡEMb9M-?YM什yMMAMAMA II9M AeAAeAAIm\Im#4}d\= }M=}0Q >y GF"FY >5̥?5Do UA9?:Y @yFE) ;I ;iǹ5Y AB*** querying acoustic contact ***oonDNOT Ignoring new targets: 51.54 m.nnpĹnpĹ ProNav: ac range: 51.542690 m, nav range: 49.752312 m, bearing: 326.902055 deg, approach rate: -0.575476 m/s, LOS rate: -0.021468 deg/s, cmd heading: 336.429519 deg, new cmd heading: 336.404894 deg. nkHeadingCmd: 5.871373 target range: 51.542690 and range: 51.80 m.nJ@nnnnmzmm "m BJk "k  k jj`-@=BEhyE/=ɝEw־)AEIII)MV7=)UҾIU}/IU,#; UJ@ YEF FFp5F)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759746afG8:GBBN>y -&.L,X0+A٪B@9B @B󈍽B>YBH@V??$-ٿ@E?u?|? ?B@B&;ɫBvCy^BbIIjXIj4rK= rU=vkQ v>ytt zGzH"FYzK: z>|5~ܥ?5~Kr ~eA9 Y   @y~GE)~B:I~ :i~v5YђBAJEn9EDNOT Ignoring new targets: 51.54 m.nAnMȹnMȹeBDAT read: Rx Time:20:04:16.3426 eTRx dataTimestamp_ set to:1756325058.972525mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012311q} ProNav: ac range: 51.542690 m, nav range: 49.530594 m, bearing: 326.893691 deg, approach rate: -0.577139 m/s, LOS rate: -0.021868 deg/s, cmd heading: 336.404903 deg, new cmd heading: 336.379700 deg. n}pHeadingCmd: 5.870934 target range: 51.542690 and range: 51.80 m.n޻@nnnnmzmm"mJk"k kjj`F@EBElrAɝE;)AMFxIII)M7=)uӾIu"uI}X[; }޻@ yEF FF]5FԉԱ:H2H4<H+>HHIHBHb =HHIӘ< I4EfGe);GB  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263235B! N- >JKM vNRKI ZKI bKM jKM )3/-)%"! jJ rJ zJ BJ J ,:J :J -4J J ;J ;J I;J I;5L,v30+A٪F],@9F)@FqFm8>YFH \?\?3e? ٿM?L ?`p??F],@F';ɫFwCyB%II5VI5n4eJ'< eC=ebQ m>yii mGmI"FYu; u>y5}7?5}u }xA9Y @y}GE)}R:I}:i}K5YAԹnDNOT Ignoring new targets: 51.54 m.nn=׹n=׹ ProNav: ac range: 51.542690 m, nav range: 49.288662 m, bearing: 326.883850 deg, approach rate: -0.575428 m/s, LOS rate: -0.023522 deg/s, cmd heading: 336.379713 deg, new cmd heading: 336.350045 deg. n$HeadingCmd: 5.870416 target range: 51.542690 and range: 51.80 m.nrڻ@nnnnmzmm"mJk"k kjj` @Bnɝ̾) *II)M7=DAT read: 20:04:16.3426 LVL= 23584, 29425, 15858, 30291, AGC= 64, IDX= 419, 0.25, 0.537,-0.771, 0.882, 0.251, PHS= 0.374,-0.975, 0.629, RAW= 158.5, -0.4, CAL= 160.9, -9.0, ROT= 349.1, 9.0 Ygot valid direction response: 20:04:16.3426 LVL= 23584, 29425, 15858, 30291, AGC= 64, IDX= 419, 0.25, 0.537,-0.771, 0.882, 0.251, PHS= 0.374,-0.975, 0.629, RAW= 158.5, -0.4, CAL= 160.9, -9.0, ROT= 349.1, 9.0 )eVӾI%DI%~; %rڻ@ )UPDAT read: Bearing 172.8, 10.9 (Local) ]~Local bearing/azimuth received: Bearing 172.8, 10.9 (Local) DAT read: Range 10 to 50 : 49.7 m (Round-trip 66.3 ms) speed 0.5 m/s ,DAT read: user:2028> BDAT read: Tx time:20:04:17.4222 $Ping request sent.}y}%!?} 1@} }3@)}| I}g@i}| >yy}yyM:publishing transmit ping timeۑUFpublishing direction and range infoy9}Va&+ ?S ǿp ĿyyyEF FFo5Fyy y)yIyiyyyyy y)yIyiyyy}% JDAT read: TxSync time:20:04:17.4214 p8;L,0+Ay~ŁB~II5Mb@Mb@Mb@i111115gfffff?{GzMb953?Y5ףy15XA5A5A 1195( AAE<IMDIM3= 8=Q >y GJ"FY >5?5y A9?:Y @y GE):I:iA5YaAKEooT0+AoEBoEBoҶ@/u#G@x"!aVa&+ ?S ǿp ĿotBo| >jϧD@@ޘ:D=U?g(})/|4@o,o%Bo?o!2omB2p:pBpfB"pDB*pG@ addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 3.533443 s, deltaX: -2.099998 m, approachRate: -0.594321 m/s, rangeRepo size: 4  Added new target pos. range: 49.452049 m, bearing: 327.342870 deg, lat: 36.779954 deg, lon: -121.859014 deg, deltaT: 3.533443 s, deltaX: -2.090641 m, approachRate: -0.591672 m/s, posRepo size: 4 nDNOT Ignoring new targets: 49.45 m.nn n % ProNav: ac range: 49.452049 m, nav range: 49.028389 m, bearing: 326.871833 deg, approach rate: 0.000000 m/s, LOS rate: -0.023522 deg/s, cmd heading: 336.350043 deg, new cmd heading: 336.317157 deg. n!MHeadingCmd: 5.869842 target range: 49.452049 and range: 49.70 m.nMջ@nInInInImQzmQmQ"mUBJkY"kY kYj]H@je@H?Bgɝ)I)V7=)ġӾI I X; ջ@ AqnEM -tY=EU wAEU xAE F  F F 0F F xAF xAԙ H 0>H H IH BH a =H H DI < I EICIC"I*Ia =2Ia =:IXd5fG϶;JKHLRK9ZKbKjK     GB BN%? DL,1+A٪NA@9N ?@NZNNX>YNHb?@#?g뾿 ؿgU?n@e???NA@Nʇ;ɫNxCyV΁BVII~EI~3 =  +=4Q >y!! %G%L"FY-N; ->9U5=?U5=| =A9YY]( ]@y= GE)=d;I=;i=V5Y}ҒB}ALEnDNOT Ignoring new targets: 49.45 m.nnnnn ProNav: ac range: 49.452049 m, nav range: 48.752365 m, bearing: 326.858061 deg, approach rate: -0.589935 m/s, LOS rate: -0.029601 deg/s, cmd heading: 336.317149 deg, new cmd heading: 336.275599 deg. nHeadingCmd: 5.869116 target range: 49.452049 and range: 49.70 m.nϻ@nnnnmzmm "m Jk "k  kjjY?EBEHeAɝE)!-t)I1)5: 7=)eԾImqImr< uϻ@ q)nE].=iEF FF21FAfG5 ;q G1 BA Bi N >;RJL,QJ+1+A٪Fi<@9F9@Fb͟F>YFH`^? *?m<ؿ`T?p@|?@?@[?Fi<@F֞;ɫDyRՁBRIIMb@Mb@Mb@id;O?+y&1|9?Yy`廩zAA A9 AI/I3= ==JQ >y GM"FYκ >5U'?5( A9?:Y/@yGE)s;Ir;i6Ì5YA B*** querying acoustic contact ***oon!%DNOT Ignoring new targets: 49.45 m.n!n-n-= ProNav: ac range: 49.452049 m, nav range: 48.501274 m, bearing: 326.844270 deg, approach rate: -0.592642 m/s, LOS rate: -0.032717 deg/s, cmd heading: 336.275594 deg, new cmd heading: 336.234009 deg. n=EHeadingCmd: 5.868391 target range: 49.452049 and range: 49.70 m.nEɻ@nAnAnAnAmIzmImQ"mUBJkQ"kY kYjYj]j? B wf ɝ )I)`6=)_ԾI Ig< ɻ@ !D)D)D)D)II@AjJrJzJ?JJ:J :Jـ4J@@@@EF FF5F9fGv'<GqBBN]>a T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԑ 5QL,E1+A٪:B@9:?@:4:31>Y:H`?@?mؿ W?@_= ,?-? t?:B@:l;ɫ:wCyb߁BbIhhIj3Ijʴ3P= U=Q >y!! %G%O"FY%; %>)55-7?55-' -A99YEE@y-GE)-*;I-*;i-Č5YIMAMMEnDNOT Ignoring new targets: 49.45 m.nnn- ProNav: ac range: 49.452049 m, nav range: 48.276844 m, bearing: 326.831622 deg, approach rate: -0.565817 m/s, LOS rate: -0.032037 deg/s, cmd heading: 336.234012 deg, new cmd heading: 336.195890 deg. n-䯺5HeadingCmd: 5.867725 target range: 49.452049 and range: 49.70 m.n5hĻ@nQnQnYnYmYzmYmY"maJka"ka kajajm ?qB~dɝ)0I)Nq6=)"ԾIl I%< hĻ@ H}5>H}CH} IH},BHyHyHyI}̘< I}5EEF FF_0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.728076JKMRK9ZKbKjKaoaUE5-&# K KtAԱfG<G B B N > gcWL,^1+A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981417ɩ@y B IIMb@Mb@Mb@i +?#~jy&1|9?Y㥽yAAAvA /A93 AIUTIU49= =Q >y GP"FY >5bN?5Z A96?%:Y%%@yGE);IP^L, |1+A٪VJW@9VrT@VɡV>YVHh?`?waؿ_?. 3?`κ?@?VJW@V ;ɫVyCybBbIIjEIj3rz< r|=vQ v ?ytt vGvQ"FYz; z ?| 5~h\? 5~ ~A9 Y - @y~GE)~d;I~ ;i~Ȍ5YӒBAnAEDNOT Ignoring new targets: 49.45 m.nAnM4nM4] ProNav: ac range: 49.452049 m, nav range: 47.770882 m, bearing: 326.804043 deg, approach rate: -0.691280 m/s, LOS rate: -0.039357 deg/s, cmd heading: 336.145656 deg, new cmd heading: 336.112708 deg. n]غeHeadingCmd: 5.866273 target range: 49.452049 and range: 49.70 m.ne@nanininimizmimq"mqJkq"kq kyjyj6@ԡB_,t鞹ɝٝ)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.482650PLI)"5=)vuվIZIb_< @ yEF FF_0FH:>HCH: IHEBH_ =HHDI< I#EfG*<GQ BY Bi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736694N >JK MRK 9ZK bK jK I5@r[<   %/51,&<"K >K ?! /eL,f1+A٪Z1^@9ZY[@Z<Zz>YZH6k? g?@Yؿc?2???Z1^@Z3;ɫZuCyjBjIn4y|| ~G~S"FY; > 5 m?5  A9Y@y !GE) h;I B;i `ʌ5Y!%A!nIMDNOT Ignoring new targets: 49.45 m.nInn ProNav: ac range: 49.452049 m, nav range: 47.531765 m, bearing: 326.790126 deg, approach rate: -0.593431 m/s, LOS rate: -0.034714 deg/s, cmd heading: 336.112707 deg, new cmd heading: 336.070745 deg. nHeadingCmd: 5.865541 target range: 49.452049 and range: 49.70 m.n@nnnnmzmm"mJk"k k!j!j% t@BW鞡ɝ)靥WM I)g5=)վIqI#o< @ ) BDAT read: Rx Time:20:04:19.8898 %TRx dataTimestamp_ set to:1756325062.506069-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994698AEMFQ FQFQFQifG ^Ih<G B B! N- >ԙ jWkL,͑1+A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238374yBIIMb@Mb@Mb@iA`"?ktI +9?Y y94@A 9 AIOI 4e< ;=Q >y GT"FY   > 5 耦?5  5A9%?%:Y%N %@y %GE) );I K(;i Ȟ5Y-ՒB-A-XEMB*** querying acoustic contact ***oIoIqnDNOT Ignoring new targets: 49.45 m.GjJrJzJJJ|:J :JJynY9Bnn ProNav: ac range: 49.452049 m, nav range: 47.268242 m, bearing: 326.776294 deg, approach rate: -0.590254 m/s, LOS rate: -0.031155 deg/s, cmd heading: 336.070743 deg, new cmd heading: 336.029015 deg. n HeadingCmd: 5.864813 target range: 49.452049 and range: 49.70 m.n@nnnnmzm)m1"m5ĂBJk1"k1 k1j9j=`: @BTɝ) b I)^4=)4־I~I1w< @ ԩEF FF`0FDAT read: 20:04:19.8898 LVL= 23024, 29073, 16114, 31379, AGC= 63, IDX= 406, 0.43, 1.097,-0.170, 1.454, 0.828, PHS= 0.357,-0.951, 0.623, RAW= 159.1, -0.4, CAL= 161.5, -9.0, ROT= 348.5, 9.0 Ygot valid direction response: 20:04:19.8898 LVL= 23024, 29073, 16114, 31379, AGC= 63, IDX= 406, 0.43, 1.097,-0.170, 1.454, 0.828, PHS= 0.357,-0.951, 0.623, RAW= 159.1, -0.4, CAL= 161.5, -9.0, ROT= 348.5, 9.0 PDAT read: Bearing 172.3, 11.0 (Local) ~Local bearing/azimuth received: Bearing 172.3, 11.0 (Local) DAT read: Range 10 to 50 : 47.5 m (Round-trip 63.4 ms) speed 0.6 m/s ,DAT read: user:2029> BDAT read: Tx time:20:04:20.9722 $Ping request sent.BYq >)zI?iȶ>ts|?g1@ e4@)I@iu?4p,?)h!|)t.?I9;iM:publishing transmit ping time۱Fpublishing direction and range info9k??q'v4ɿp Ŀy )Ii )Iiu?4p,?)h!|)IifG {Yr<G B B N > ?rL,]o1+A٪>e@9>b@>>^ =Y>H5n?`J?` lؿ>k? w,`E?4? b?>e@>9;ɫ>xCyJ BJIIVWIV44rK= r^=vV:Q v>yxY eGeU"FYex; e>iu5m?H7>HCHS IHYBH^ =HHI< I E5mœ mJA9Y' @ym)GE)m?DFW|n[M6)! j>VVG1mO1=^EK KvAE=F9 F9F9FA) fG {<G B B NM >Y lxL,GU1+A٪:Ye@9:b@::=Y:Hm?@A?'Nؿ m?`@.??`֫?:Ye@:Pk;ɫ:zCybBbIIMb@Mb@Mb@in?RQy&19?Y½y`e+A@`A A9 AIIF35 57==Q =>y99 EGEW"FYEg/ E>Q]5U$?]5US U\A9]?]:Y] e@yU-GE)U':IUf:iUό5YimAqnDNOT Ignoring new targets: 47.26 m.nn n )M ProNav: ac range: 47.264545 m, nav range: 46.853447 m, bearing: 326.814438 deg, approach rate: -0.642478 m/s, LOS rate: -0.020659 deg/s, cmd heading: 335.990147 deg, new cmd heading: 335.965317 deg. nMbUHeadingCmd: 5.863701 target range: 47.264545 and range: 47.50 m.nUp@nYnYnYnYmazmam"mBJk"k kjj X?MBMJ!]IɝMn)IU/+ QIQ)U T4=)]־I]I]+g< ]p@ EEYEeFa FaFeo0FiF=F=jJ rJ zJ J J :J :J J ԁ fG] L<G9 BI BY Nm >~L,1+A@y~ BI)= = Ai AIIId4EG= M^=MQ M>yIQ UGUX"FYU U>am5eҳ?m5eX elA9iYim@ye0GE)eK:IeB:ievь5Yy}FA}YEnDNOT Ignoring new targets: 47.26 m.nn;n; ProNav: ac range: 47.264545 m, nav range: 46.634876 m, bearing: 326.807377 deg, approach rate: -0.606858 m/s, LOS rate: -0.019697 deg/s, cmd heading: 335.965312 deg, new cmd heading: 335.944030 deg. nGXHeadingCmd: 5.863329 target range: 47.264545 and range: 47.50 m.ne@nnnnmzmmQ"mYJkY"kY kYjYje S?BV<_ɝ)S I) 4=)X־IDI< e@ QԱEF FF0FH+>HCHf IHiBH_ =HHDI֘< I:EfG- D<G B B! N5 >JK ORK }9ZK bK jK w^PM?:3/,)&#   "K ?K ?kL,^2+A٪:o@9:l@:ϡ:dt=Y:Hq? ?:ؿy?m4?+??:o@:;ɫ:yCyb BfIlIr%Ir)3zC zP=~jQ ~>y   GY"FYuM; u>y5}-Ŧ?5} }A9Y] @y}4GE)}:I}:i}>ӌ5YKAnDNOT Ignoring new targets: 47.26 m.nn6n6 ProNav: ac range: 47.264545 m, nav range: 46.393085 m, bearing: 326.799276 deg, approach rate: -0.594511 m/s, LOS rate: -0.020022 deg/s, cmd heading: 335.944029 deg, new cmd heading: 335.919600 deg. n[HeadingCmd: 5.862903 target range: 47.264545 and range: 47.50 m.n眻@nnnnmzmm"mJk"k kjjY?EBE.]IɝMZ)IM III)Ml3=)UB/׾I]#yI]< ]眻@ Y1EMFI FIFUm5FQQfGmL<GI Ba By N >ԁ L,:02+A٪N@9N灼@NՠN=YNH@z??? @dؿ0?m.g?ٻ? ?N@N;ɫNwCyZB^IIEMb@Mb@Mb@iAAAAAEzG?A`" rh9E ?YEٽyECEAE@EA E AA9E AYIeMIe{4u*< uB=}:Q }>yyy GZ"FY; >5z֦?5 A9?:Y@y8GE)q ;I ;iՌ5Y֒BAZEnDNOT Ignoring new targets: 47.26 m.nnU9n]9m ProNav: ac range: 47.264545 m, nav range: 46.149868 m, bearing: 326.795175 deg, approach rate: -0.598913 m/s, LOS rate: -0.010152 deg/s, cmd heading: 335.919604 deg, new cmd heading: 335.907237 deg. nm޹HeadingCmd: 5.862687 target range: 47.264545 and range: 47.50 m.n"@nnnnmzmm"mJk"k kjjUg?B% X!ɝ%)!%)I))-\3=)uK׾IuIu< u"@ yE]>E >ԑEaFa FiFmh5FiFuwAFuvAiAfG- #e<G B B! Nu > }L,urJ2+A٪j@9j9@jSjw=YjH M?@?Bk{4ؿ@?6@e?ؼ?@y?j@j9n;ɫhyvBvIxx~=~a=IMHIM<3U۟; ]L=He!>HeCHes IHesBHec =HaHeDIeɘ< IeEI%CI!"I%C*I%_ =2I%` =:I%6l9Q >y G\"FY< >Թ5禊?5 A9Y@ypL,bed2+A٪jݱ@9j@jjgf=YjH?m?Žؿ?~&?#??jݱ@j;ɫjyCyrBr IIuMb@Mb@Mb@iqqqqqu$C?MbZd;O9u?YuyujurAu@uIA uv Aq9uzAIVIn4[< E=[:Q >y G]"FY; >5t?56 A9?:Y@y@GE):I:i،5YA[EnDNOT Ignoring new targets: 47.26 m.nn9n9  ProNav: ac range: 47.264545 m, nav range: 45.654797 m, bearing: 326.793285 deg, approach rate: -0.628364 m/s, LOS rate: 0.008390 deg/s, cmd heading: 335.891491 deg, new cmd heading: 335.901516 deg. nB9HeadingCmd: 5.862587 target range: 47.264545 and range: 47.50 m.nQ@nnnnmzmm"mBJk"k kjjz:@BV$\鞑ɝ )靕I)42=)X׾IhߺIC< Q@ 9EF FF_0Fu>u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752299aI 4=I R=fG} U<GY Ba Bq N >ԑ ўL,'~2+A٪Z@9Z6@ZoZD=YZH@?i?`j㽿ؿn?~ ۳??ܫ?Z@Z;ɫZwCyfBf Ihj@AInIInd4z< W= b:Q  >y G^"FYMt8 >BDAT read: Rx Time:20:04:23.4371 TRx dataTimestamp_ set to:1756325066.033757checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0065495. ? 5 A9 Y   @yDGE),;I!;i_ڌ5Y9=A9qnDNOT Ignoring new targets: 47.26 m.nn)9n)9 ProNav: ac range: 47.264545 m, nav range: 45.401646 m, bearing: 326.796627 deg, approach rate: -0.597378 m/s, LOS rate: 0.007932 deg/s, cmd heading: 335.901518 deg, new cmd heading: 335.911602 deg. n29%HeadingCmd: 5.862763 target range: 47.264545 and range: 47.50 m.n%›@n!n!n!n!m!zm)m)"m)Jkq"kq kqjyj}}@BZɝ)hI)^2=)A׾IhغI;< ›@ ԡEF FFFH]%>H]CH] IH]}BHYHYH]DI]< I]E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256012fG <G B B N >JK= KRK= 9ZK9 bK= jK= "}BJr ) "KM ?KM ? <˥L,#M2+AjJ"rJ"zJ">J J"\:J":J"t4J J"<J"<J"kN;J"lN;4ɩ4٪@9"@_=YHƉ?wq?@1 &ؿ?} #ͳ????@dv;ɫyCy-#B5 IIEKIE4m"= mA=mz :Q u>yq G`"FY >5P?5 A9Y4@yHGE)S;I;i܌5YAn!%DNOT Ignoring new targets: 47.26 m.n)n-"9n-"9 ProNav: ac range: 47.264545 m, nav range: 45.156845 m, bearing: 326.800086 deg, approach rate: -0.623597 m/s, LOS rate: 0.008858 deg/s, cmd heading: 335.911599 deg, new cmd heading: 335.922031 deg. n9HeadingCmd: 5.862946 target range: 47.264545 and range: 47.50 m.n@@nnnnmzmm"mJk"k kԱjj @UBUuYQɝ]{)Y]1YIY)]2=)e)׾IeҺIe=< e@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544161EF F9F=`0F9 fG} 9<GY Bi By N >0L,*2+A٪@9ݚ@==]DAT read: 20:04:23.4371 LVL= 24720, 31393, 17778, 32755, AGC= 64, IDX= 409, 0.35, 2.058, 0.761, 2.406, 1.771, PHS= 0.375,-0.963, 0.632, RAW= 158.6, -0.6, CAL= 161.1, -9.2, ROT= 348.9, 9.2 eYgot valid direction response: 20:04:23.4371 LVL= 24720, 31393, 17778, 32755, AGC= 64, IDX= 409, 0.35, 2.058, 0.761, 2.406, 1.771, PHS= 0.375,-0.963, 0.632, RAW= 158.6, -0.6, CAL= 161.1, -9.2, ROT= 348.9, 9.2 mPDAT read: Bearing 172.6, 11.1 (Local) m~Local bearing/azimuth received: Bearing 172.6, 11.1 (Local) }DAT read: Range 10 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.6 m/s ,DAT read: user:2030> BDAT read: Tx time:20:04:24.5223 $Ping request sent.%+v%!?%m(1@%+ %P3@)%l$I%@i%l$>!!%S3??"Gz)%,?YHÄ? %?` 7ؿ?@??`?@;ɫxCy"B II%+!!:publishing transmit ping timeۉFpublishing direction and range info!9%OW?hSȿČsvĿy!!!! !)!I!i!!!!! !)!I!i!!!%S3??"Gz)!I!i!!!!QIuMb@Mb@Mb@iqqqqqu`"?@5^I ¿9u?Yubyu̼uAqu3A qq9u(A;I6Im3 !=:Q >y Ga"FY^ >51?5@ A9+?:YE@yMGE)~'%C@6\i7$+E%|l? x!oPSMo%o%(Bo%r`Y?o%N"j(o%pB2p%؏?:p%3Bp%mB"p%2B*p%ů@y addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.812037 s, deltaX: -2.099998 m, approachRate: -0.550886 m/s, rangeRepo size: 4  Added new target pos. range: 45.173046 m, bearing: 327.878637 deg, lat: 36.779956 deg, lon: -121.859012 deg, deltaT: 3.812037 s, deltaX: -2.091499 m, approachRate: -0.548657 m/s, posRepo size: 4 nDNOT Ignoring new targets: 45.17 m.nnn ProNav: ac range: 45.173046 m, nav range: 44.748291 m, bearing: 327.099092 deg, approach rate: 0.000000 m/s, LOS rate: 0.008858 deg/s, cmd heading: 335.922036 deg, new cmd heading: 335.936654 deg. n9EHeadingCmd: 5.863201 target range: 45.173046 and range: 45.40 m.nEW@nAnAnAnAmIzmImI"mMBJkQ"kQ kQj}@3F@j}q?B/Pɝ݀)VI)T1=)>׾I]ɺI< W@ E F  F F _0F :HE <2HE p<H] >H] CH] IH] BH] e =H] EDH] DI] < I] AEfG <GBBN>L,/2+A٪^΂@9^@^m^=Y^H z?`? Atiؿ 6z?O ?[??^΂@^<;ɫ^vCyf%Bj II~&I~31UO~< UX=]]9Q ]>yYY eGeb"FYe e>i5mGA?5m mA9Y@ymQGE)m51 g>L,'2+A٪Jb@9J_@J mJol=YJHun? ? i( ؿ`t?*È?m?7?Jb@J>;ɫJzCyV,BV IXXI=Mb@Mb@Mb@i99999=A`"?jtĿS㥛9=?Y= y=/ݼ9=@=A = A99=\AIU2IU?3eB= eJ=m*:Q m>yii uGud"FYu u>ԙ%5R?%5ݻ A9%m?%:Y%%-@yUGE):IE:i5Y1UHAQnDNOT Ignoring new targets: 45.17 m.nn҆:n҆: ProNav: ac range: 45.173046 m, nav range: 44.260658 m, bearing: 327.137000 deg, approach rate: -0.619648 m/s, LOS rate: 0.058935 deg/s, cmd heading: 335.976158 deg, new cmd heading: 336.051019 deg. n!;HeadingCmd: 5.865197 target range: 45.173046 and range: 45.40 m.n@nnnnmzmm"m~BJk"k kjjAr?BV鞑ɝq)靕I)1=)־IοI,\w< @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996955EF FFg0FeGzAzA9tBfGM ]<GA BQ Ba Nu >9 )L,3+Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246812٪B2[@9BZX@B>BY=YBHk?@%?z ؿ%p?`Ź?tI?]?B2[@Bu;ɫByCyJ1BJ" IPPIV.IV3^< ^V=^q9Q ^>y`` bGbe"FYbM f>dn5f b?r5fl fA9pYr%r@yfYGE)f-;If1:iff5YtzAxnDNOT Ignoring new targets: 45.17 m.nn%:n%:5 ProNav: ac range: 45.173046 m, nav range: 44.037018 m, bearing: 327.158575 deg, approach rate: -0.629223 m/s, LOS rate: 0.061008 deg/s, cmd heading: 336.051017 deg, new cmd heading: 336.116069 deg. n5z';=HeadingCmd: 5.866332 target range: 45.173046 and range: 45.40 m.n=@n9n9n9nAmAzmAmA"mIJkI"kI kIjIjU@?Bn[鞉ɝh)靍3sI)0=)5mվI5 (I5b< 5@ 9EF FF0FHu>HqHu IHuBHug =HqHqIu< IuEfG{checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498870iJK =eORK 59ZK bK jK "K ?K ?J+J4J+4J+/jJ rJ zJ J J \:J z:J J J <J <J l;J l;ԙ SL,3+A٪F[T@9FQ@FFM=YFH`#i? @*?޼<ؿj?`}˲q?p? }?F[T@FH;ɫDyj8Bn+ IIrTIr4z = zF=~):Q ~>y   Gf"FY >)55-Us?55- -A9AYE%E@y-]GE)-V;I-W;i-75YQ]AegEn9qDNOT Ignoring new targets: 45.17 m.nn:n:Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753661 ProNav: ac range: 45.173046 m, nav range: 43.780338 m, bearing: 327.183778 deg, approach rate: -0.582177 m/s, LOS rate: 0.057500 deg/s, cmd heading: 336.116068 deg, new cmd heading: 336.192123 deg. n;HeadingCmd: 5.867660 target range: 45.173046 and range: 45.40 m.nû@nnnnmzmm "m Jk "k  kjj i?BM鞉ɝl])靍UI)|[0=)ƿԾI ɷI¿G< û@ ԙEF F!F%o0F!fG Dy< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003261G B B N > EzL,{83+Ay%>B%2 I)-)> ->IMb@Mb@Mb@i5^I ?/$ÿ~jt9?YyļAn@A 9fAIVIn4k< <=Q >y Gh"FY > 5"? 5 A9 %? :Y $ @yaGE)7:I:i5YAnDNOT Ignoring new targets: 45.17 m.nne:ne:5 ProNav: ac range: 45.173046 m, nav range: 43.516846 m, bearing: 327.208553 deg, approach rate: -0.616443 m/s, LOS rate: 0.058312 deg/s, cmd heading: 336.192129 deg, new cmd heading: 336.266903 deg. n5 ;=HeadingCmd: 5.868965 target range: 45.173046 and range: 45.40 m.n=λ@n9n9nAnAmAzmAmI"mMqBJkI"ki kqjqjug@BkS ɝ 2S)   I) 0=)ԾIÊI28< λ@ EF FF0FMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255895) fG% g?<*Ha "Ha Hm >Hm CHm IHm BHi Hi Hm DIm Ϙ< Im EG B B N- >Y }gL,yR3+A٪6=4@96e1@64ޘ6-=Y6H@r]?Oa?ؿ@\?靳<?UM?2?6=4@6;ɫ4yFHBF? INpy\\ bGbi"FYb0/ b>dj5f8?j5f> fA9lYn%n@yfdGE)f];If7;if5YrԒBr_ArhEnDNOT Ignoring new targets: 45.17 m.nn%:n%:5 ProNav: ac range: 45.173046 m, nav range: 43.292969 m, bearing: 327.230938 deg, approach rate: -0.650414 m/s, LOS rate: 0.065370 deg/s, cmd heading: 336.266906 deg, new cmd heading: 336.334408 deg. n5s3;=HeadingCmd: 5.870143 target range: 45.173046 and range: 45.40 m.n=6ػ@n9n9n9nAmAzmAmA"mIJkI"kIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506709 kjj ?@eBeLP鞩ɝV@)靭I)KL,=l3+A٪:@9:@:ʽ:^Q=Y:HT?@?@񹼿|(ٿ@fS?5@H???:@:G;ɫ:xCyFUBFN IpIMb@Mb@Mb@in?Qſ9?Y(y̼A@ / A9AI5RI5W4Ek= EB=MQ:Q M>yII MGMj"FYU U>Ym5]!?m5]s Y9u?u:Yu:,u@y]iGE)]K;I]8;i]5YAUB*** querying acoustic contact ***oYoYniDNOT Ignoring new targets: 45.17 m.nn:n: ProNav: ac range: 45.173046 m, nav range: 43.037697 m, bearing: 327.265326 deg, approach rate: -0.572590 m/s, LOS rate: 0.077591 deg/s, cmd heading: 336.334415 deg, new cmd heading: 336.438191 deg. nU;HeadingCmd: 5.871954 target range: 45.173046 and range: 45.40 m.n @nnnnmzmm"mtBJk"k kjj@y}hgEyɝ}2))靅< I)f/=)ҾII0?;  @  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012146EAFA FAFEP5FAfGs;G1BABQNew>aԁ L,3+ADAT read: 20:04:26.9842 LVL= 23472, 30017, 16994, 30771, AGC= 65, IDX= 412, 0.00,-2.164, 2.821,-1.857,-2.465, PHS= 0.390,-0.950, 0.606, RAW= 157.4, -0.6, CAL= 160.0, -9.2, ROT= 350.0, 9.2 Ygot valid direction response: 20:04:26.9842 LVL= 23472, 30017, 16994, 30771, AGC= 65, IDX= 412, 0.00,-2.164, 2.821,-1.857,-2.465, PHS= 0.390,-0.950, 0.606, RAW= 157.4, -0.6, CAL= 160.0, -9.2, ROT= 350.0, 9.2 X#Rx 1: Read direction message, but no range.`direction in FSK: [0.972139,-0.171414,-0.159881]195wB?ſČsvĿ15[5Au 5bB)53xI5Ai5>533s5"?5F/@1 5¸2@)1I5z@i115? oUn?ͦj?"PKφ)5G&?I5~6yII MGMl"FYU' U>Y]5]j?e5]J ]A9aYj-@y]mGE)];I];i]5YђBArEH>HCH IHBHn =HHDI< I EI}CI}C"I}ÖC*I}g =2I}g =:I}ށ6nDNOT Ignoring new targets: 45.17 m.n!nEc:nEc:U ProNav: ac range: 45.173046 m, nav range: 42.745655 m, bearing: 327.307006 deg, approach rate: -0.618733 m/s, LOS rate: 0.088907 deg/s, cmd heading: 336.438180 deg, new cmd heading: 336.564072 deg. nUt;]HeadingCmd: 5.874151 target range: 45.173046 and range: 45.40 m.n] @nYnYnnmzmm"mJk"k kjj@ @B?ɝ) I) i.=) lѾI tbI2B  @ EF FFS5FU=U4=ePDAT read: Bearing 173.8, 11.0 (Local) m~Local bearing/azimuth received: Bearing 173.8, 11.0 (Local) DAT read: Range 10 to 50 : 43.3 m (Round-trip 57.8 ms) speed 0.6 m/s ,DAT read: user:2031> BDAT read: Tx time:20:04:28.0723 $Ping request sent.L,Ġ3+A٪5]۴@95ػ@5ϕ5=Y5H$;??@.@Yٿ6?N@?4;??5]۴@5V;ɫ5yCyejBmh Iy}DAIEI3Z^= h=Q >y Gm"FY  ?5RƧ?5Ա A9Y".@yqGE)-;I.;i)5Y4AU addTargetRange:: Added new target pos. range: 43.299999 m, deltaT: 3.528789 s, deltaX: -2.100002 m, approachRate: -0.595106 m/s, rangeRepo size: 4 nQeDNOT Ignoring new targets: 45.17 m.nn.:n.:  ProNav: ac range: 45.173046 m, nav range: 42.534702 m, bearing: 327.338279 deg, approach rate: -0.604957 m/s, LOS rate: 0.090129 deg/s, cmd heading: 336.564074 deg, new cmd heading: 336.658359 deg. n%kw;5HeadingCmd: 5.875797 target range: 45.173046 and range: 43.30 m.n5@n1n1n1n9m9zm9mA"mAJkI"kQ kQjU`fE@j] M?-B-<1ɝ5$)1=9I9)Ƣ.=)8оIIӻ @ EuFq FqFu15Fq fGMhGi Bq B N >9 gL,3+AjJrJzJBJJ:J/:J-4J@@@@٪ʴ@9ǻ@W&8=YH@X4?~/?Nٿ g6?@Ʋ?`Ż? u?ʴ@dg;ɫyUtBUt I IUMb@Mb@Mb@iQQQQQUbX9?+ÿ rh9UE?YUyUCUAUX@UA UAQ9UGAIm9Im3}0= }<=}Q }>y Gn"FY昻 >5ק?5 A9?:Y+@yuGE)f:I:i5YВBAsEnDNOT Ignoring new targets: 45.17 m.nn:n: ProNav: ac range: 45.173046 m, nav range: 42.272190 m, bearing: 327.373955 deg, approach rate: -0.626923 m/s, LOS rate: 0.085729 deg/s, cmd heading: 336.658358 deg, new cmd heading: 336.766049 deg. nVk;HeadingCmd: 5.877676 target range: 45.173046 and range: 43.30 m.n@nnnnmzm m "m BJk "k kjj _?Z}9ɝݽ)BmI)HJ.=)ϾII0M @ 9EF FF_0Fi:H <2H 4<H >H CH IH BH o =H H DI < I EfG !kHԑ G B B N >L,V}3+A٪^(Ҵ@9^Pϻ@^D^)=Y^HT7???ٿ6?@ 0IJ?R?]?^(Ҵ@^$;ɫ^wCyjBj I)n= n9?Ir"Irq3z٫= zg=~m8Q ~>y|  G o"FY &;  >!-5%槊?-5% %A9)Y-7+-@y%xGE)%:I%N:i%5Y9=iA9naeDNOT Ignoring new targets: 45.17 m.nanmi:nmi:} ProNav: ac range: 45.173046 m, nav range: 42.056511 m, bearing: 327.403254 deg, approach rate: -0.606391 m/s, LOS rate: 0.082799 deg/s, cmd heading: 336.766056 deg, new cmd heading: 336.854405 deg. nKc;HeadingCmd: 5.879219 target range: 45.173046 and range: 43.30 m.n"@nnnnmzmm"mJk"k kjj@Je?BW2ɝh)I)=-=)ξI%I "@ qJK-MRK-9ZK)bK-jK-  3<?;3-'!(06/)$ EQFQ FQFUn0FQfG%zGB B)NE0>ԡ L,\3+A٪F@9F@FvFW=YFH`>?`?`1&eٿ9?j?L? u?F@F;ɫFyCyZB^ IIEMb@Mb@Mb@iAAAAAEI +?/${Gz9E9?YE1yE#E+AE"@EvA AA9EA]4yyy }G}q"FY^; >5?5 A9?:YY"@y|GE). ;IC ;iq5YAtEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 45.17 m.nns:ns: ProNav: ac range: 45.173046 m, nav range: 41.808968 m, bearing: 327.425421 deg, approach rate: -0.591912 m/s, LOS rate: 0.053319 deg/s, cmd heading: 336.854411 deg, new cmd heading: 336.921307 deg. n^;HeadingCmd: 5.880386 target range: 45.173046 and range: 43.30 m.n ,@nnnnmzmm"mBJk "k  kjjf?%ɝ=x1)9=.9I9)EY-=)E;ξIMQIMP M ,@ I5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.EF FFm0FIUC=IQjJ]rJ]zJ]>JYJ]:J]B:J]t4JYfG+ A G B B N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7554125M,p%4+A٪:@9:@:ਓ:#=Y:H G?`?(:@jٿ??@]@q?@E'? ?:@:y;ɫ:wCyFBF IIN0IN(3V= ZX=Z;Q Z>yX\ ^G^r"FY^; b>`j5b/?j5b bA9lYn!n@ybGE)b;Ib~ ;ib5YpvJAtniuDNOT Ignoring new targets: 45.17 m.nqnve:nve: ProNav: ac range: 45.173046 m, nav range: 41.584938 m, bearing: 327.444898 deg, approach rate: -0.573799 m/s, LOS rate: 0.050153 deg/s, cmd heading: 336.921320 deg, new cmd heading: 336.980064 deg. n ;HeadingCmd: 5.881412 target range: 45.173046 and range: 43.30 m.n4@nnnnmzmm"mJk"k kjj`p?1UQ]? =ɝ]@A)Y]~YIY)e-=)eP;ImֹIm) m4@ iQHm>HmCHm IHm݂BHmp =HiHmDIm< Im#EEF FF0Fy=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007353fGM G) BI BY Nu >ԩ JK LMRK ZK bK jK  QM,"4+A٪6 @96! @6Oא6>Y6H-P?`?I DٿC? ?@$?@?6 @6`;ɫ6yC@yBBB IDDIJ<IJ3R5r= VK=V_;Q V>yXX ZGZs"FYZ; Z>hv5j?z5j jA9xYz z@yjGE)ji;Ij;ij5YϒBAn)-DNOT Ignoring new targets: 45.17 m.n)n5Ik:n5Ik:E ProNav: ac range: 45.173046 m, nav range: 41.344563 m, bearing: 327.465093 deg, approach rate: -0.608567 m/s, LOS rate: 0.051426 deg/s, cmd heading: 336.980060 deg, new cmd heading: 337.040997 deg. nE, ;MHeadingCmd: 5.882475 target range: 45.173046 and range: 43.30 m.nM<=@nInInInImQzmQmQ"mQJkY"kY kYjYje@  q ɝ @?<)I9)=+,=)u);I4&I2%̻ <=@ةiةchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267178 ԱEF FF0FfGM ﻩ G {A  - 5 {A95 BM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511605G B B N >EM, ;4+AIIBAjJrJzJJJJ%:JJ٪J@9J@J EJ}L>YJHnT?@?2.3ٿ`C?`?`j? ?J@J;ɫJxCyVBV IlIEMb@Mb@Mb@iAAAAAEbX9?V-y&19EE?YEyE`eEAAA AA9EAY]AAIe:Ie3mb= u>=u':Q u>y Gu"FYA/; > 5)? 5 A958?5:Y5=@yGE);I;i5YAEsAAnDNOT Ignoring new targets: 45.17 m.nnK9nK9 ProNav: ac range: 45.173046 m, nav range: 41.079453 m, bearing: 327.475500 deg, approach rate: -0.589989 m/s, LOS rate: 0.023310 deg/s, cmd heading: 337.040985 deg, new cmd heading: 337.072407 deg. n:HeadingCmd: 5.883023 target range: 45.173046 and range: 43.30 m.nA@nnnnmzmm"m˂BJk"k kjjy@uBu8qɝuP=)q}קyIy)}d ,=)̾ITsIym A@  EF FF1FBDAT read: Rx Time:20:04:30.5313 TRx dataTimestamp_ set to:1756325073.121680checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7657729fG ʻHU >HU CHU !IHU BHU s =HQ HQ IU < IU EG B B9 NM >a z-M,tU4+A٪:&@9: $@:i: >Y:H2[?M[?Tӽٿ]E?*`.?`c?@A?:&@:O;ɫ8yFɂBF IINAINk3V9= VX=Z;Q Z>yXX ^G^v"FY^޲; ^>`f5bF8?f5b b A9hYjj@ybGE)b:Ib:ibc5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0154199Y]ɒB]@]EnDNOT Ignoring new targets: 45.17 m.nn9n9  ProNav: ac range: 45.173046 m, nav range: 40.862190 m, bearing: 327.483455 deg, approach rate: -0.578457 m/s, LOS rate: 0.021294 deg/s, cmd heading: 337.072404 deg, new cmd heading: 337.096397 deg. n i:HeadingCmd: 5.883442 target range: 45.173046 and range: 43.30 m.n(E@nnQnQnQmQzmYmY"mYJkY"ka kajaje @| ɝ`=)-{I)q+=).̾IEIv֑ (E@ JKKRKZKbKjK ""!      K KiԑnE d6=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274110E F  F F t0F! fG wGGwAGB B!N5>M,u4+Aɩy ނB  I)> <eDAT read: 20:04:30.5313 LVL= 22800, 27585, 16306, 32467, AGC= 62, IDX= 414,-0.33, 2.314, 0.993, 2.617, 2.012, PHS= 0.390,-0.971, 0.603, RAW= 157.2, -0.3, CAL= 159.7, -9.0, ROT= 350.3, 9.0 mYgot valid direction response: 20:04:30.5313 LVL= 22800, 27585, 16306, 32467, AGC= 62, IDX= 414,-0.33, 2.314, 0.993, 2.617, 2.012, PHS= 0.390,-0.971, 0.603, RAW= 157.2, -0.3, CAL= 159.7, -9.0, ROT= 350.3, 9.0 uPDAT read: Bearing 174.0, 10.7 (Local) }~Local bearing/azimuth received: Bearing 174.0, 10.7 (Local) DAT read: Range 10 to 50 : 41.1 m (Round-trip 54.8 ms) speed 0.5 m/s ,DAT read: user:2032> BDAT read: Tx time:20:04:31.6223 $Ping request sent.i15ux55^?5/@5 5b2@)5| I5@i5| >115e'?T?WIu)5h &?I5R;i54\-5| >11:publishing transmit ping timeۙFpublishing direction and range info195{w'?Mſp Ŀy1111 1)1I1i11111 1)1I1i1115e'?T?WIu)1I1i1111jJmrJmzJiJiJm\:Jm:JiJiIMb@Mb@Mb@i/$?)\(y Gx"FY >5Q?5+ A9?:Y@yGE):I:i%5YȒB@1o1o5p x4+Ao5#Bo5#Bo5@5rh;C@ 37ke5{w'?Mſp Ŀo54\-o5| >54VA@N25#5P#?a|!o5o5 Bo5?o5ق$o5sB2p5?:p5!2Bp5pB"p5"B*p5@ addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 3.526635 s, deltaX: -2.200001 m, approachRate: -0.623824 m/s, rangeRepo size: 4 ] Added new target pos. range: 40.887253 m, bearing: 328.560726 deg, lat: 36.779957 deg, lon: -121.859011 deg, deltaT: 7.055424 s, deltaX: -4.285793 m, approachRate: -0.607447 m/s, posRepo size: 4 naeDNOT Ignoring new targets: 40.89 m.nanmn ProNav: ac range: 40.887253 m, nav range: 40.641815 m, bearing: 327.680901 deg, approach rate: 0.000000 m/s, LOS rate: 0.021294 deg/s, cmd heading: 337.096391 deg, new cmd heading: 337.137185 deg. n HeadingCmd: 5.884154 target range: 40.887253 and range: 41.10 m.nJ@nnnnmzmm!"m%قBJk!"kI kIjM̌D@jMa?}B}yɝ}=)y靅I)*=)M̾I/㾺I߭ J@ Aԑ nE  =Hu >Hu CHu G!IHu BHu p =Hq Hu DIu < Iu 4EE F  F F `0F ؑiؕAfGGBBN?&M,`X4+AJK2dMRK29ZK0bK2jK2  "K: ?K:?٪J9@9J6@JJ>YJH`b?@2?@eؿ I?@2?i? ,?J9@J;ɫJyCyRBV!II^6I^m3j7= n$=v:Q z>yx| ~G~y"FY~; ~>am5eof?m5er eA9iYu/u@yeGE)e :Ie:ie]5Yy}@B*** querying acoustic contact ***oonDNOT Ignoring new targets: 40.89 m.nn9n9% ProNav: ac range: 40.887253 m, nav range: 40.348335 m, bearing: 327.690315 deg, approach rate: -0.601598 m/s, LOS rate: 0.019440 deg/s, cmd heading: 337.137181 deg, new cmd heading: 337.165631 deg. n%vU:-HeadingCmd: 5.884650 target range: 40.887253 and range: 41.10 m.n-O@n)n)n)n1m1zm1m1"m1JkY"kY kajajm,?EBMbIɝMd=)IM_IIQ)U\E*=) ̾II4n O@ IDQDQDYDYeT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ԉE F FFF!ԑfG ǻG B B N > -M,+4+Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994986٪z:@9z#8@zDz>YzHdc?+?KB`Tؿ@F? 꺿? A?ؘ?z:@zƺ;ɫxy B "!IIMb@Mb@Mb@iyaa eGm{"FYm9 m>q}5ux?5u  u!A9?:YT@yuGE)u:Iu:iuE5YǒBV@EԱnDNOT Ignoring new targets: 40.89 m.nnm8nm8 ProNav: ac range: 40.887253 m, nav range: 40.093521 m, bearing: 327.691694 deg, approach rate: -0.595024 m/s, LOS rate: 0.003239 deg/s, cmd heading: 337.165622 deg, new cmd heading: 337.169783 deg. nB9HeadingCmd: 5.884723 target range: 40.887253 and range: 41.10 m.nO@nnnIInmzmm"mBJk"k kjj *Q?1=Լ9ɝ=#>)9=9IA)E)=)EL̾IMO:IMK(v MO@ EMFI FIFMo0FIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247833 fGm 6OGA BI BY Nm >:H <2H <H H H m!IH >BH o =H H I < I #EICIC"I˓C*Ip =2Ip =:I59 4M,84+A٪-5E@9-]B@-8-I>Y-H`h? ?> dؿ K? ?`.? f?-5E@-h;ɫ)y} B}/!II3Iʴ3gZ= W=;Q >y G|"FYW; >5J?5- (A9Y @yGE)!;Ie";i5Y@nDNOT Ignoring new targets: 40.89 m.nn$8n$8 ProNav: ac range: 40.887253 m, nav range: 39.872017 m, bearing: 327.692542 deg, approach rate: -0.584481 m/s, LOS rate: 0.002249 deg/s, cmd heading: 337.169775 deg, new cmd heading: 337.172332 deg. n8HeadingCmd: 5.884768 target range: 40.887253 and range: 41.10 m.nP@nnnnm!zm!m!"m!Jk)"k) k)j)j- V?eBe2Jżaɝm>7>)imtiIi)m0)=)f˾IIF- P@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499247EF FF0FjJrJzJ?JJ :Jq:Jـ4JJ<J<Jk;Jk;YJKLRK}9ZKbKjK%;D]fXF70/-)!   fGpG ԑ B B N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750368y3:M,O4+A@yB@!IIUMb@Mb@Mb@iQQQQQUd;O?Zd;O rh9U?YUjyUCQU@Q QQ9UAԡIPI 4r= ,=Q >y G~"FY >5X?5 1A9?:Y' @yGE)C ;I~ ;i5YƒB@EnDNOT Ignoring new targets: 40.89 m.nn%YDn%YD5 ProNav: ac range: 40.887253 m, nav range: 39.592648 m, bearing: 327.687492 deg, approach rate: -0.589413 m/s, LOS rate: -0.010729 deg/s, cmd heading: 337.172343 deg, new cmd heading: 337.157087 deg. n5=HeadingCmd: 5.884501 target range: 40.887253 and range: 41.10 m.n=M@n9n9nAnAmAzmAmA"mMBJkI"kI kIjIjU@?}B}A鞁ɝR>)靅5I)(=)P ̾II( M@ E5F1 F1F=0F9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003635I R=I p= fG] [>G1 BA BQ Ne >AM,?5+A٪6Km@96sj@6ۀ6}>Y6Hy??@lؿW?$?6?@E?6Km@6V;ɫ4yFBFC!IINGIN3Z"S< Z=ZA)EI)z(=)@̾III; K@ =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254386EF FF?5F)H>HH!IH\BHHHIS< IEYfGu* GIBYBiN}> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506264ԁ jJ= rJ9 zJ= =J9 J= \:J9 J= g4J9 J= <J= <J= k;J9 @GM,k5+A٪Zw@9Zt@ZB{Z>YZH^~?@.?|ؿ@\?m-Ic?`L?֟?Zw@ZI;ɫXyv BzG!IICI3-E< -C=-jv;Q ->y11 5G5"FJK=yMRK=9ZK9bK=jK= TcTwY=|L; M>QYe5U?e5U  U:A9aYe e@yUGE)UO+;IU,;iU*5YmŒBuP@uEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 40.89 m.nnn ProNav: ac range: 40.887253 m, nav range: 39.166042 m, bearing: 327.676120 deg, approach rate: -0.586760 m/s, LOS rate: -0.016242 deg/s, cmd heading: 337.142837 deg, new cmd heading: 337.122784 deg. nX2HeadingCmd: 5.883903 target range: 40.887253 and range: 41.10 m.nH@nnnnmzmm"mJk"k kjjaE@}B}ZyɝY>)靅aI)'=)n̾II9F; H@ EEF FF4FFvAFxAԉ]BDAT read: Rx Time:20:04:34.0787 eTRx dataTimestamp_ set to:1756325076.650782mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762682ԹfG\$;GBBN> nMM,TV85+A٪:t@9:@:Iv:^`>Y:H ?? iؿ _? ỿxĮ?3?˝?:t@:;ɫ:wCNchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010274yR+BVV!IIUMb@Mb@Mb@iQQQQQUn?+η~jt9U?YUvyUUAU@U@ UvAQ9UAIm;Im&3}^c= }E=}?;Q >y G"FYǍ; >ԱIU5Mͨ?]5Ma M=A9]?]:Y] ]@yMGE)M:IMQ:iM 5Yam@IIAAnDNOT Ignoring new targets: 40.89 m.nnn ProNav: ac range: 40.887253 m, nav range: 38.906483 m, bearing: 327.668106 deg, approach rate: -0.582819 m/s, LOS rate: -0.018113 deg/s, cmd heading: 337.122783 deg, new cmd heading: 337.098583 deg. nFHeadingCmd: 5.883480 target range: 40.887253 and range: 41.10 m.nxE@nnnnmzm!m!"meBJki"ki kijijm`@B몼ɝn>)%!I!)%&=)-.̾I-[DI-#; -xE@ 1EF FF 5F mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264721fG [J;GI a Bq *Hy "H} @AH} >H} CH} !IH} vBH} m =Hy Hy I} L< I} }EB N >uTTM,5)R5+A٪=Ȏ@9=@=q=?>Y=H`7? ?1ֻZؿ`a?I6?Y??=Ȏ@=&;ɫ=xCyM5BMa!II]@I]3m#;= mK=ud0;Q u>yyy }G}"FY}%; }>5ݨ?5l ?A9Y @yGE);I;i 5YBm@EnDNOT Ignoring new targets: 40.89 m.nnn ProNav: ac range: 40.887253 m, nav range: 38.682297 m, bearing: 327.660740 deg, approach rate: -0.607024 m/s, LOS rate: -0.020063 deg/s, cmd heading: 337.098577 deg, new cmd heading: 337.076348 deg. nM\HeadingCmd: 5.883092 target range: 40.887253 and range: 41.10 m.nJB@nnnnmzmm"mJk"k kjj@ @QB<鞙ɝ>)靝I)qx&=)̾IIQ; JB@ DAT read: 20:04:34.0787 LVL= 23280, 28705, 16994, 32755, AGC= 62, IDX= 418,-0.29, 2.298, 0.995, 2.642, 2.026, PHS= 0.361,-0.984, 0.613, RAW= 158.4, 0.1, CAL= 160.7, -8.5, ROT= 349.3, 8.5 Ygot valid direction response: 20:04:34.0787 LVL= 23280, 28705, 16994, 32755, AGC= 62, IDX= 418,-0.29, 2.298, 0.995, 2.642, 2.026, PHS= 0.361,-0.984, 0.613, RAW= 158.4, 0.1, CAL= 160.7, -8.5, ROT= 349.3, 8.5 PDAT read: Bearing 172.9, 10.4 (Local) %~Local bearing/azimuth received: Bearing 172.9, 10.4 (Local) =DAT read: Range 10 to 50 : 39.0 m (Round-trip 52.1 ms) speed 0.5 m/s E,DAT read: user:2033> MBDAT read: Tx time:20:04:35.1724 M$Ping request sent.Mܵm{ܵ?ܵ;0@ܵ: ݵ3@)ݵIݵ@iݵ>ݱݱ޵۹Z^?r?yc?)޵+?I޵6i޵t;?޵>ޱޱM:publishing transmit ping timeIMFpublishing direction and range info۱9۵%?ǿ%)k¿y۱۱۱۱ ܱ)ܱIܱiܱܱܱܱܱ ݱ)ݱIݱiݱݱݱ޵۹Z^?r?yc?)ޱIޱiޱޱޱޱyjJrJzJ>JJ:J(:Jt4JJ$<J$<J;J;JKuv%ORKu59ZKqbKujKue]K>6*  fGMYm;GQGU>ԩG B B) N5 > D}ZM,k5+Ayu=Bul!IԱIMb@Mb@Mb@i(\?q= ףp/$9z?Yy@ A9AI-(I-̍3== =0=EQ E>yAI MGM"FYM U>Q]5UP?]5U_ Ud@@ƎA4 Ah ?bh4jppo o'Bo`?o)+otB2pr`Y?:p)+BppB"pB*pS@ addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 3.528597 s, deltaX: -2.099998 m, approachRate: -0.595137 m/s, rangeRepo size: 4  Added new target pos. range: 38.798683 m, bearing: 328.293483 deg, lat: 36.779960 deg, lon: -121.859008 deg, deltaT: 3.528597 s, deltaX: -2.088570 m, approachRate: -0.591898 m/s, posRepo size: 4 nDNOT Ignoring new targets: 38.80 m.nnn ProNav: ac range: 38.798683 m, nav range: 38.490509 m, bearing: 328.246911 deg, approach rate: 0.000000 m/s, LOS rate: -0.020063 deg/s, cmd heading: 337.076338 deg, new cmd heading: 337.048218 deg. nHeadingCmd: 5.882601 target range: 38.798683 and range: 39.00 m.nE>@nnnnmzmm"m BJk"k kjC@jٮ?quCGyA5a5yA9=B]B]AyɝȆ>)靅I)-%=)R;II; E>@ EEwAE=F9 F9F9F9FE=FEp= fG} ;9 Gq B B N >aM,@5+A٪^@9^@^'o^>Y^H? >?~Y Aؿq?1??@?^@^;ɫ^wCyfGBfx!II~GI~3-K`= 5j=5U:Q 5>y99 =G="FY=ޛ; E>Au5E?u5Ea E;A9qYu"u@yEGE)EB;IE;iEK5Yy2@ؕ>ؕ=?Y==Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1Z=EEntering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ).ԉ1ZqZnDNOT Ignoring new targets: 38.80 m.nn_9n_9 ProNav: ac range: 38.798683 m, nav range: 38.281277 m, bearing: 328.254568 deg, approach rate: -0.544611 m/s, LOS rate: 0.020039 deg/s, cmd heading: 337.048225 deg, new cmd heading: 337.071322 deg. n \:HeadingCmd: 5.883004 target range: 38.798683 and range: 39.00 m.nA@nnananimizmimi"miJkq"kq kqjqj}*?-B-D)ɝ5L>)15 1I1)5H%=)}̾I}Ie; A@ H>HH!IHBHq =HHDI< IEԹE5F1 F1F5`0F1  nManaging dock network, ignoring radio surface power offfGu έ;G9 BA BQ N] >jJ} rJ} zJ} =Jy J} :J} #:J} g4Jy J} {;J} |;J} |;J} |; gM,<5+A٪Vب@9V@VnV>YVHq??@h~*ؿ{t? bƹ+Э?x?(?Vب@V&;ɫTJKnLRKn9ZKlbKnjKn    "Kv>Kv?yMNBM!IIU'IU@3e = eE=m)9Q m>yiq uGu"FYuo; }>y5}5?5} }9A9Y@y}GE)}:I}:i}5YB@Erp^@qZZB*** querying acoustic contact ***ooxnDNOT Ignoring new targets: 38.80 m.nn9n9= ProNav: ac range: 38.798683 m, nav range: 38.038803 m, bearing: 328.262949 deg, approach rate: -0.646300 m/s, LOS rate: 0.022481 deg/s, cmd heading: 337.071311 deg, new cmd heading: 337.096614 deg. n=v:EHeadingCmd: 5.883446 target range: 38.798683 and range: 39.00 m.nE0E@nAnAnAnAmIzmImI"mIJkq"kq kqjyj}`a?5B5"f1ɝ52>)9=9I9)=N$=)E̾IEtIET< E0E@ IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E%F) F)F-l0F1!I fG ?<G G xAG B B N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492023?mM,֬5+A ɩ ٪>Ƶ@9>@ü@>ڋk>w>Y>H Ɲ?@S?Q&׿@~?`/Sm? ?@e?>Ƶ@>;ɫ>vCyFOBJ!IIMb@Mb@Mb@i9v?1ZdS㥛9?Y"۽y/ݼAv@ 9fAI.I3; C=:Q >y G"FY < >5"?5O  3A9?:Y@yGE) ;I;i5Y@zpZZn15DNOT Ignoring new targets: 38.80 m.n1n=i8n=i8M ProNav: ac range: 38.798683 m, nav range: 37.791187 m, bearing: 328.264547 deg, approach rate: -0.590306 m/s, LOS rate: 0.003836 deg/s, cmd heading: 337.096610 deg, new cmd heading: 337.101437 deg. nM~(9UHeadingCmd: 5.883530 target range: 38.798683 and range: 39.00 m.nUE@nQnQnYnYmYzmYma"meBJka"ka kijijmv?BP8o鞙ɝ>)靥I)4$=)̾IOIA69< E@ AEF FFz0FFwAFvAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744227fG=<ԡ G B B N >:H 2H <H >H CH !IH BH p =H H I < I EtM,v5+A٪:]۵@9:ؼ@:f:CM >Y:H`2?,?&׿3?ة`8ڬ? 45??<:]۵@:r;ɫ:zCyJ\BJ!IIRPIR 4Z0= Z_=ZH;Q ^>y\` bGb"FYb}; b>dj5f~2?j5fT# f,A9QYU4U@yfGE)fo)I)1#=) ̾I I;Z< F@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997020EF FFG2FԱJKuY_LRKu@9ZKqbKujKuK KfG@<GBBN> H? %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250420; {M,Z5+Al٪@9<@cX >YH`??9 ׿@?]`o?@V?@?@;ɫwCy%XB%!IIMb@Mb@Mb@i"~? rhV-9?YC y An@|@ EA9GAI2I?3֍ ,=*:Q >y G"FYg; >5F?5' A90?:Y@yGE):I:i5Y  @ n15DNOT Ignoring new targets: 38.80 m.n1n=Q:n=Q:M ProNav: ac range: 38.798683 m, nav range: 37.291904 m, bearing: 328.285915 deg, approach rate: -0.614997 m/s, LOS rate: 0.045848 deg/s, cmd heading: 337.103058 deg, new cmd heading: 337.166037 deg. nM:UHeadingCmd: 5.884657 target range: 38.798683 and range: 39.00 m.nUO@nQnQnQnYmYzmYmY"meBJka"k kjjr@=B=[}9ɝ=j>)9e aIa)e1#=)m ̾ImXImŦ]< uO@ q%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500428E5F1 F9F=0F91IMC=IM=Jt4Jcw4J/jJUrJUzJU<JQJU\:JUK:JU [4JQe@e@e@e@fG= \g0M,[%6+A٪>@9>@>]_> >Y>H@?\ ?D` ׿9?? A??>@>Y;ɫ>uCyF[BF!IJ=HtvBAIz;Iz&3E< n=<;Q ?y    G "FY  ?%54T?%5* A9!Y%J%@yGE);I;i5Y-B5@5E9nimDNOT Ignoring new targets: 38.80 m.nqnu@N:nu@N:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752195 ProNav: ac range: 38.798683 m, nav range: 37.088566 m, bearing: 328.301377 deg, approach rate: -0.589604 m/s, LOS rate: 0.045079 deg/s, cmd heading: 337.166032 deg, new cmd heading: 337.212672 deg. n:HeadingCmd: 5.885471 target range: 38.798683 and range: 39.00 m.nU@nnnnmzmm"mJk"k kjjD@ B 6ɝ+>) I)9"=).˾I%wlI%bF< %U@ !E-F) F)F-@5F)He>HeCHe!IHeBHeo =HaHeDIe< IeEI-CI)"I-ĔC*I-o =2I-o =:I->5yԑfGuC9^<= BDAT read: Rx Time:20:04:37.6259 E TRx dataTimestamp_ set to:1756325080.429608E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006437G B B N > M,"6+A٪B@9Bݼ@B!N[B@1 >YBHW?'?ЀU׿@1?@<'if?R?ͨ?B@Bˆ;ɫBwCyJbBJ!IIV>IV3^k = ^O=b+;Q b>y`d fGf"FYf f>hn5jd?n5j. jA9pYrar@yjGE)j;Ijw;ij5YtvR@xnDNOT Ignoring new targets: 38.80 m.nn%'U:n%'U:= ProNav: ac range: 38.798683 m, nav range: 36.853691 m, bearing: 328.319580 deg, approach rate: -0.597325 m/s, LOS rate: 0.046588 deg/s, cmd heading: 337.212668 deg, new cmd heading: 337.267625 deg. n=:EHeadingCmd: 5.886431 target range: 38.798683 and range: 39.00 m.nE]@nAnAnInImIzmImQ"mQJkQ"kQ kQjYj]^ @JK}JRK}9ZKybK}jK}   "K?K?ԙBD鞡ɝ0>)靭 I)"=)h#˾I:9I=5< ]@ EiFq FqFu_0Fychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258076fGxI<GBBN>9 EM,';6+ABDAT read: 20:04:37.6259 LVL= 24528, 32753, 15890, 31443, AGC= 63, IDX= 406, 0.05, 1.546, 0.249, 1.896, 1.259, PHS= 0.375,-0.964, 0.634, RAW= 158.7, -0.6, CAL= 161.2, -9.2, ROT= 348.8, 9.2 JYgot valid direction response: 20:04:37.6259 LVL= 24528, 32753, 15890, 31443, AGC= 63, IDX= 406, 0.05, 1.546, 0.249, 1.896, 1.259, PHS= 0.375,-0.964, 0.634, RAW= 158.7, -0.6, CAL= 161.2, -9.2, ROT= 348.8, 9.2 ٪Z@9Z޼@ZXZ] >YZH ? i&?\ T׿6?A@? W??Z@Z+W;ɫXbPDAT read: Bearing 172.6, 11.2 (Local) b~Local bearing/azimuth received: Bearing 172.6, 11.2 (Local) jDAT read: Range 10 to 50 : 37.0 m (Round-trip 49.4 ms) speed 0.5 m/s j,DAT read: user:2034> nBDAT read: Tx time:20:04:38.7224 r$Ping request sent.r)uzIu?iu>uvuM"?uE1@u+ u4@)ul$Iu@iul$>qquKIR? ?Q)u,?Iuv/qq:publishing transmit ping timepFpublishing direction and range infoq9u u?ЯϊȿČsvĿyqqqq q)qIqjJrJzJ=JJl:J:Jg4J)iqqqqq q)qIqiqqquKIR? ?Q)qIqiqqqqEchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.045599IEMb@Mb@Mb@iAAAAAEtV?QMb9E?YE\yEAEX@Ef@ E/AA9EAI6Im3^f< #=:Q >y G"FY9 >5x?52 A99?:YN@yGE);IB;i5YBd@Eoqouݳ;6+Aou=Bou=Bouei@uKؾȂA@3xs:;ۙu u?ЯϊȿČsvĿou4+Houl$>unv#?@wmy@3jӓuN3?dPh!ĿcououAou_?ou@;c)ou7sB2pq:pu@;c)Bpu7sB"puB*pun@} addTargetRange:: Added new target pos. range: 37.000000 m, deltaT: 3.528619 s, deltaX: -2.000000 m, approachRate: -0.566794 m/s, rangeRepo size: 4  Added new target pos. range: 36.810162 m, bearing: 328.397372 deg, lat: 36.779960 deg, lon: -121.859007 deg, deltaT: 3.528619 s, deltaX: -1.988522 m, approachRate: -0.563541 m/s, posRepo size: 4 nDNOT Ignoring new targets: 36.81 m.nnn ProNav: ac range: 36.810162 m, nav range: 36.523491 m, bearing: 328.436259 deg, approach rate: 0.000000 m/s, LOS rate: 0.046588 deg/s, cmd heading: 337.267638 deg, new cmd heading: 337.339423 deg. nHeadingCmd: 5.887684 target range: 36.810162 and range: 37.00 m.ng@nnnnmzmm"mBJk"k kj%B@j-`m?AuĂBu qqɝ}:>)y}y yIy)}\!=)2ʾI"!I(< g@ E=F9 F9F=@5F9checking for new query: numPingsReceived=1, elapsed TxPingTime=0.220570q*HI "HM AAHU >HU CHU !IHU BHU j =HQ HU DIU < IU EfG] G+<Ga Ge wAԙ G B) B9 NM >(M,U6+A٪zP׵@9zyԼ@zUz9A >YzHi?>?@I ׿?ͺ@|? ?u?zP׵@z;ɫzyCymB!I)= =I.I3 7=  j= ;Q  ?y G"FY+q ?AM5EM?M5E5 EA9IYMU@yEGE)E:IE:iE5YY]@aԁB*** querying acoustic contact ***oonDNOT Ignoring new targets: 36.81 m.nnu:nu: checking for new query: numPingsReceived=1, elapsed TxPingTime=0.473593E ProNav: ac range: 36.810162 m, nav range: 36.315384 m, bearing: 328.456359 deg, approach rate: -0.596082 m/s, LOS rate: 0.057903 deg/s, cmd heading: 337.339437 deg, new cmd heading: 337.400083 deg. nE;MHeadingCmd: 5.888742 target range: 36.810162 and range: 37.00 m.nMp@nInInInImIzmImQ"mQJkq"ky kyjyj}`?ƂBOɝz>). I) =)lɾI윺I< p@ ԩEF FF_0FJKLRK}9ZKbKjKfG  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.724724G B B! N5 >RGM,MNo6+A٪@9뾼@oT >YHv?eb?O ׿w?g ~?m?`?@;ɫy=sBE!II-Mb@Mb@Mb@i)))))-yaa eGe"FYm$» m>q5u ?5u9 uA9&?:YN$@yuGE)uJ;Iu'[;iuw5YBx@EnDNOT Ignoring new targets: 36.81 m.nn!:n!: ProNav: ac range: 36.810162 m, nav range: 36.053566 m, bearing: 328.494443 deg, approach rate: -0.606052 m/s, LOS rate: 0.088795 deg/s, cmd heading: 337.400089 deg, new cmd heading: 337.515169 deg. ns;HeadingCmd: 5.890751 target range: 36.810162 and range: 37.00 m.n@nnnnmzmm"mBJk"k kjj?-ȂB-?*1ɝ5>)15A1I1)=N =)=&ȾI=NIEs; E@ A5checking for new query: numPingsReceived=1, elapsed TxPingTime=0.977370yEF FF`0FIUR=IUa=jJ]rJ]zJ]?JYJ]:J]:J]ـ4JY fG ?<G B B N >/M, ,6+A<٪⦵@9 @3Q>YH?%? 1ؿnr?C z#?ʬ?@j?⦵@:;ɫwCyxB!IAAIM!IMi3checking for new query: numPingsReceived=1, elapsed TxPingTime=1.228527= m=W%;Q ?y G"FY >5?5= A9YI%@yGE);Ij;i 5Y@n DNOT Ignoring new targets: 36.81 m.n n%:n%:5 ProNav: ac range: 36.810162 m, nav range: 35.845680 m, bearing: 328.526366 deg, approach rate: -0.545961 m/s, LOS rate: 0.084323 deg/s, cmd heading: 337.515164 deg, new cmd heading: 337.611487 deg. n5{g;=HeadingCmd: 5.892432 target range: 36.810162 and range: 37.00 m.n=Ύ@n9n9nAnAmAzmAmA"mIJkI"kI kQjQjU?ʂBzx鞉ɝ=>)靕̏I)=)ȾIȚIV9 Ύ@ H>HCH "IHBHv =HFDHDI< IEE=F9 F9FAFA5 checking for new query: numPingsReceived=1, elapsed TxPingTime=1.480345! fG Yr;G ?G ?GY Bi B N >YM,y6+AlyyB!II-5I-3E_; EO=EQ E>yII MGM"FYM U>Qe5Uȶ?e5U@ UA9aYae@yUGE)U};IU:iU"5YuBu@uEnDNOT Ignoring new targets: 36.81 m.nnF:nF:JKk3IRK@9ZKbKjK 'IQQKF?961+%!  ProNav: ac range: 36.810162 m, nav range: 35.613846 m, bearing: 328.562407 deg, approach rate: -0.648889 m/s, LOS rate: 0.101535 deg/s, cmd heading: 337.611497 deg, new cmd heading: 337.720325 deg. n];HeadingCmd: 5.894331 target range: 36.810162 and range: 37.00 m.n]@nnnnmzmm"mJk"k kjj`?̂Bɝq>)u!I!)%E=)%ǾI-I-i -]@ )EF FF0Fchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.733281fG8:GBBNG>AA e {Aq  {A9 0Ba M checking for new query: numPingsReceived=1, elapsed TxPingTime=1.985163~M,߼6+A٪:\@9:@:9:=Y:H??y$ؿ`y?@2?`A?;?:\@:3M;ɫ:xC9yExBE!II Mb@Mb@Mb@i     jJ%rJ%zJ!J!J%,:J%q:J!J! |?5^?jtĿ rh9 ?Y  y  \ A +@ n@ A 9 AI=/I=3M2 M:=UVyQY ]G]"FY]d; ]>am5e^ȩ?m5eD eA9u?:Y%@yeGE)e&)~UI)=)žInȚI 鯼@ iEF FF0Fchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.236356ԡfG !W7H H CH "IH ǃBH x =H H I < I EG B B N >lM,6+A٪>@9>ܺ@>m.>=Y>HF?0?ྍB ؿ ]?Nӥ?I? Ž?>@>Ր;ɫ>wCyRBR!IV;TIZHIZ<3bÐ= bg=b;Q b>ydd fGf"FYj; j>lr5n֩?r5nAH nyA9pYr$r@ynGE)nr;In<;in'&5YzB~1@~En!%DNOT Ignoring new targets: 36.81 m.n)n-1:n-1:= ProNav: ac range: 36.810162 m, nav range: 35.144531 m, bearing: 328.635616 deg, approach rate: -0.611811 m/s, LOS rate: 0.095816 deg/s, cmd heading: 337.843040 deg, new cmd heading: 337.941423 deg. nE;EHeadingCmd: 5.898190 target range: 36.810162 and range: 37.00 m.nE@nInInInImIzmImQ"mQJkQ"kQԙ kQjj@EЂBE˻AɝM#>)IMNIII)MT=)užI}ښI} @ checking for new query: numPingsReceived=1, elapsed TxPingTime=2.488947E F  F F p5FfGMhJKUMRKUK9ZKQbKUjKUKa KaGI Ba Bq N > checking for new query: numPingsReceived=1, elapsed TxPingTime=2.742699 ʕM,l6+A٪-Nĵ@9-w@-%-X=Y-H`l?`?׿@X?D^?[Ѿ?@?-Nĵ@-QȈ;ɫ-zCyI7I3U .=;Q >y G"FY: > 5驊? 5L ]A9 Y o$@yGE);I+;i:(5Y4@=B*** querying acoustic contact ***o9o9nAMDNOT Ignoring new targets: 36.81 m.nInUB:nUB:e ProNav: ac range: 36.810162 m, nav range: 34.863224 m, bearing: 328.679631 deg, approach rate: -0.593805 m/s, LOS rate: 0.093660 deg/s, cmd heading: 337.941422 deg, new cmd heading: 338.074532 deg. nm;HeadingCmd: 5.900514 target range: 36.810162 and range: 37.00 m.nѼ@nnnnmzmm"mJk"k kjj-@}ӂB}x6yɝ}>)y}(I)=)þIUIG; Ѽ@ !BDAT read: Rx Time:20:04:41.1730 -TRx dataTimestamp_ set to:1756325083.9592905checking for new query: numPingsReceived=1, elapsed TxPingTime=2.998689E=FA FAFE2FAafG ?ۺGY Bi By ԉ N >}M,.r 7+A٪ݵ@9ڼ@tv>YH?~Y? ׿+?[Y@\? ? ?ݵ@;;ɫyCy5Be=aechecking for new query: numPingsReceived=1, elapsed TxPingTime=3.244948=!IYH>HH"IH̃BHw =HHI < IEIuMb@Mb@Mb@iqqqqqu7A`?ktƿMb9u?Yu 0yuu/ Aqu9@ uAq9u@IEI3= .=(;Q >y G"FY; >5?5PQ ?A9 ?:Y%(@yGE)w;Iv;iE*5YB@EԁnDNOT Ignoring new targets: 36.81 m.nn:n: ProNav: ac range: 36.810162 m, nav range: 34.578251 m, bearing: 328.731873 deg, approach rate: -0.584395 m/s, LOS rate: 0.108017 deg/s, cmd heading: 338.074529 deg, new cmd heading: 338.232548 deg. nC;=HeadingCmd: 5.903272 target range: 36.810162 and range: 37.00 m.n=@nAnAnAnAmAzmAmI"mUՂBJkQ"kQ kQjYj} @MՂBM^gIɝMB>)Qu}yIy)}x_=)}¾IjI @ ԱE F  F F 0F u DAT read: 20:04:41.1730 LVL= 20720, 27633, 13842, 28291, AGC= 61, IDX= 408,-0.28, 0.039,-1.278, 0.407,-0.196, PHS= 0.323,-1.035, 0.600, RAW= 159.1, 1.5, CAL= 160.9, -7.3, ROT= 349.1, 7.3 } Ygot valid direction response: 20:04:41.1730 LVL= 20720, 27633, 13842, 28291, AGC= 61, IDX= 408,-0.28, 0.039,-1.278, 0.407,-0.196, PHS= 0.323,-1.035, 0.600, RAW= 159.1, 1.5, CAL= 160.9, -7.3, ROT= 349.1, 7.3  PDAT read: Bearing 172.5, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 172.5, 9.3 (Local)  DAT read: Range 10 to 50 : 34.8 m (Round-trip 46.4 ms) speed 0.5 m/s  ,DAT read: user:2035>  BDAT read: Tx time:20:04:42.2724  $Ping request sent. = z= ?= g1@= Pw< = 3@)= wI= g@i= w>9 9 = }(磑?A-?ӟO?)= `.?I= ռi= tB= w>9 9 U :publishing transmit ping time ] Fpublishing direction and range info9 9= R+?v ȿJM,K(7+AJKFJRKFŷ9ZKDbKFjKF"KR ?KR?d٪ @95@->YH?@A?@׿?ٺ|?E?#? @`;ɫyUBU!IAAI-I34 ]=ø;Q >y G"FYP; > 5 ? 5T 'A9 Y '@yGE)F:I:i+5Y@checking for new query: numPingsReceived=2, elapsed TxPingTime=0.225500oo7+Aow Bow Bosi@{P@@٦ϋ$R+?v ȿ]I=@v832W,tԾ\/?0ˌhwj|Xo)oOAoٯ?og.o:wB2p:pBpsB"pl B*p @- addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 3.532288 s, deltaX: -2.200001 m, approachRate: -0.622826 m/s, rangeRepo size: 4 e Added new target pos. range: 34.616852 m, bearing: 328.397770 deg, lat: 36.779960 deg, lon: -121.859007 deg, deltaT: 3.532288 s, deltaX: -2.193310 m, approachRate: -0.620932 m/s, posRepo size: 4 naeDNOT Ignoring new targets: 34.62 m.nanmni ProNav: ac range: 34.616852 m, nav range: 34.355610 m, bearing: 328.772615 deg, approach rate: 0.000000 m/s, LOS rate: 0.108017 deg/s, cmd heading: 338.232552 deg, new cmd heading: 338.355254 deg. nHeadingCmd: 5.905413 target range: 34.616852 and range: 34.80 m.n%@n!n!n)n)mQzmQmY"mYJkY"ka kaje`ffA@je?ׂBһɝ>)nUI)_=)\kIM*IU(5 ]%@ !EaFa FaFe0Fa] checking for new query: numPingsReceived=2, elapsed TxPingTime=0.477650a fGE G! B) B9 NM >M,9%D7+A٪^@@9^i@^^=Y^H?S-? `Ϛ׿@?%b Iѡ?? =?^@@^M;ɫ^vCyB!IIMb@Mb@Mb@iy G"FY9; >%5X?-5IY A95?5:Y5E,=@yGE)[;I[;i-5YEBET@EEnDNOT Ignoring new targets: 34.62 m.nn;n; ProNav: ac range: 34.616852 m, nav range: 34.090363 m, bearing: 328.829957 deg, approach rate: -0.636341 m/s, LOS rate: 0.138637 deg/s, cmd heading: 338.355250 deg, new cmd heading: 338.528614 deg. nJ;HeadingCmd: 5.908439 target range: 34.616852 and range: 34.80 m.n@nnnnmzmm"mBJk"k kjj+? ؂B |% ɝ ƻ>) zI)Þ=)޿IIXX @ !aEF FF4Fchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.730828ԑ*H"H?AH>HH("IHփBHHHDI>< I&EICIC"IƕC*Iw =2It =:I6fG G B B N >G!M,]7+Achecking for new query: numPingsReceived=2, elapsed TxPingTime=0.981428P٪b@9b@b= b&;=YbH?p+?ką׿˞?Af?4?]?b@b;ɫbzCyln!IIv+Ivn3~P ~^=;Q >y  G "FY w;  >%5+?%5\ A9)Y-?,-@yGE) ;I|:ii/5Y15]@1nYeDNOT Ignoring new targets: 34.62 m.nanmY;nmY;} ProNav: ac range: 34.616852 m, nav range: 33.869888 m, bearing: 328.878271 deg, approach rate: -0.607841 m/s, LOS rate: 0.134068 deg/s, cmd heading: 338.528627 deg, new cmd heading: 338.674513 deg. n};HeadingCmd: 5.910985 target range: 34.616852 and range: 34.80 m.n&@nnnnmzmm"mJk"k kjj ?ڂBɝ>)WTI)D=)I$I~Ο &@ jJIrJMzJMCJIJIJMB:JM4JIJIJIJMb;JM b;EQFQ FQFU_0FQJKRKs9ZKbKjK :mP{obXQHA:40* KU- K KfGGxAGchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.234968GBBN>) YNM,Bw7+A٪R)@9R#'@R$R[=YRH%??F zB׿*?L???R)@R`;ɫRwCy^B^!I|IMb@Mb@Mb@igfffff?ʡEƿS㥛93?Y-2y/ݼA@@ @9@IIM3O= ?=AL;Q >y G"FY8*< >5=?5a A9?:Y(@yHE)4;I;iF15YB@%B*** querying acoustic contact ***o!o!n15DNOT Ignoring new targets: 34.62 m.n1n=;n=;M ProNav: ac range: 34.616852 m, nav range: 33.615303 m, bearing: 328.928656 deg, approach rate: -0.589983 m/s, LOS rate: 0.117648 deg/s, cmd heading: 338.674520 deg, new cmd heading: 338.826820 deg. nM{;UHeadingCmd: 5.913643 target range: 34.616852 and range: 34.80 m.nU<@nQnQnQnQmYzmYmY"m]ԂBJka"ka kajaje3?5checking for new query: numPingsReceived=2, elapsed TxPingTime=1.485535E܂BEAɝEm>)imiIi)mN=)u4Iu~2IuCI u<@ y!EAFA FAFAFAQfG mGY Bi y B N > checking for new query: numPingsReceived=2, elapsed TxPingTime=1.737375K3M,7+A٪:tW@9:T@::=Y:H?`a?ֿr?`2?J??:tW@HF>HDHF5"IHFBHDHDHDIF< IFE:ފ;ɫ:zCyVBV!II^RI^W4a1= J=ۯ;Q >y G"FY^< >5M?5d A9Y '@yHE);I;i35YO@nimDNOT Ignoring new targets: 34.62 m.ninu;n; ProNav: ac range: 34.616852 m, nav range: 33.370750 m, bearing: 328.975264 deg, approach rate: -0.596000 m/s, LOS rate: 0.114421 deg/s, cmd heading: 338.826806 deg, new cmd heading: 338.967655 deg. n ;HeadingCmd: 5.916101 target range: 34.616852 and range: 34.80 m.nP@nnnnmzmm"mJk"k kjj??%ނB%L!ɝ->))-)II)M=)UdIUI]`y ]P@ YԉE%F! F!F%`0F!=Ai=AEchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.989621ԱjJmrJmzJmBJiJm,:Jm:Jm-4JiJm<Jm<Jm t;Jm t;fG* G B B N > JK5 [NRK5 9ZK1 bK5 jK5   2^M,|7+A٪J@9J:@JJ(L=YJH F?`5:? F|ֿh?Ӻ`a?FR?H?J@J ;ɫJuCyVBV!II^.I^3fFs= fZ=fO;Q j>yhh jGj"FYn^|< r>pv5r~\?v5rh rA9xYz%z@yr HE)rW:IrB:ir45Y~B@En!-DNOT Ignoring new targets: 34.62 m.n)n5;n5;e ProNav: ac range: 34.616852 m, nav range: 33.149754 m, bearing: 329.015671 deg, approach rate: -0.608465 m/s, LOS rate: 0.111993 deg/s, cmd heading: 338.967645 deg, new cmd heading: 339.089673 deg. ne;mHeadingCmd: 5.918231 target range: 34.616852 and range: 34.80 m.nm'b@nqnqnqnqmqzmymy"myJky"k kjj@@checking for new query: numPingsReceived=2, elapsed TxPingTime=2.241566ԹU߂B]9aɝe>)imҦiIi).=)>ۺIJI%%; 'b@ EF F!F%o0F)U checking for new query: numPingsReceived=2, elapsed TxPingTime=2.493515fGm QG B B N >9 IY IY ^EM,T7+A٪F@9F@FҼF}_=YFH`?c?:@\ֿ`?@??Կ??F@FD;ɫFxCyRBR!II]Mb@Mb@Mb@iYYYYY]M?/$ſS㥛9]n?Y],yY]A]+@]n@ ]@Y9YiiIu9Iu3$< ?=ɟ;Q >y G"FY9< >5m?5|l A9?:Y"@yHE)*:Ij:i65Yc@nDNOT Ignoring new targets: 34.62 m.nn:n: ProNav: ac range: 34.616852 m, nav range: 32.896210 m, bearing: 329.057292 deg, approach rate: -0.565743 m/s, LOS rate: 0.093587 deg/s, cmd heading: 339.089686 deg, new cmd heading: 339.215512 deg. nt;HeadingCmd: 5.920427 target range: 34.616852 and range: 34.80 m.n$t@nnnnmzmm"mBJk"k kjj@EBMh6Iɝ+>)靕񼩝I)=)hIIbh; $t@ Eichecking for new query: numPingsReceived=2, elapsed TxPingTime=2.746559AEF  F F j0F :H<2HHHHA"IHBHHHI< IEqfG% \$;G B! BA N] >ԡ ] BDAT read: Rx Time:20:04:44.7203 e TRx dataTimestamp_ set to:1756325087.488433e checking for new query: numPingsReceived=2, elapsed TxPingTime=2.998577zM,^7+A٪:@9:E@:Bü:>Y:H`??ڰ`?ֿ?u?O ??:@:n;ɫ8yBBF"IIRAIRk3A;= G=y;Q >y G"FY; >5_~?5Ip kA9Y!@yHE);I;iW85YB@EjJ rJ zJ <J J :J U:J  [4J J I<J J<J e;J e;nDNOT Ignoring new targets: 34.62 m.nn%:n%:5 ProNav: ac range: 34.616852 m, nav range: 32.652988 m, bearing: 329.096985 deg, approach rate: -0.623969 m/s, LOS rate: 0.102589 deg/s, cmd heading: 339.215498 deg, new cmd heading: 339.335465 deg. n5ό;YHeadingCmd: 5.922521 target range: 34.616852 and range: 34.80 m.nK@nnnnmzmm"mJk"k kjjv@B:ɝg>)  K I ) u=)򨸾IޚIO; 5K@ 9EF FF0FԉJKKRKZKbKjK  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.249457ԹfG&;G B BA N} > C G  AMM,i7+A>%@9BByB"Ionly read 1 of 4 data items for beam range. Device response is::RA, 0.08, 78.94 aa@a ae@a ai@a a]@a I2I?3} < E= Q  >y   G"FY >%5,?%5!t NA%+:9!-:Y)-@yHE);I>i95Y15@9UB*** querying acoustic contact ***oQoQniuDNOT Ignoring new targets: 34.62 m.nqn}:n}: ProNav: ac range: 34.616852 m, nav range: 32.406841 m, bearing: 329.137766 deg, approach rate: -0.590666 m/s, LOS rate: 0.098602 deg/s, cmd heading: 339.335464 deg, new cmd heading: 339.458734 deg.  Ai =DAT read: 20:04:44.7203 LVL= 23264, 30193, 16178, 29411, AGC= 61, IDX= 411,-0.07, 0.384,-0.909, 0.792, 0.177, PHS= 0.295,-1.038, 0.612, RAW= 160.4, 1.7, CAL= 162.0, -7.1, ROT= 348.0, 7.1 EYgot valid direction response: 20:04:44.7203 LVL= 23264, 30193, 16178, 29411, AGC= 61, IDX= 411,-0.07, 0.384,-0.909, 0.792, 0.177, PHS= 0.295,-1.038, 0.612, RAW= 160.4, 1.7, CAL= 162.0, -7.1, ROT= 348.0, 7.1 MPDAT read: Bearing 171.4, 9.2 (Local) U~Local bearing/azimuth received: Bearing 171.4, 9.2 (Local) ]DAT read: Range 10 to 50 : 32.7 m (Round-trip 43.6 ms) speed 0.5 m/s m,DAT read: user:2036> uBDAT read: Tx time:20:04:45.8225 u$Ping request sent.u /݄ ? $+3@ < 4@) I  \@i =   wJX?nc?og!B?) Σ4?I i TwV =  :publishing transmit ping timeqFpublishing direction and range info 9 \|?_5shʿA7Xy     ) I i      ) I i    wJX?nc?og!B?) I i    checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008353nV;HeadingCmd: 5.924673 target range: 34.616852 and range: 34.80 m.n떽@nnnnmzmm"mJk"k kjY@@j f?]B].Yɝ]>)靅뼩I)/=)I IJ: 떽@ E5F9 F9F9F9! fG] TG; JDAT read: TxSync time:20:04:45.8217  checking for new query: numPingsReceived=3, elapsed TxPingTime=0.240483G9 BA BY Ne >Q FN,8+AH">H H"G"IH"BH H H I"+< I" E٪Zض@9Zֽ@ZɫZ&>YZHc ?M?c"*տ?gx?2?`X?Zض@Z!;ɫXy~B~ "I 4< <I 4I V3M< MW=M;Q U>yqq uGu"FY}l:< }>5Ş?5w 1A :9i:Y @yHE)l;I$N?i:5YB|@Eo9o=x7+Ao=Bo=Bo=!@=?@xOfO|Zz=\|?_5shʿA7Xo=TwVo===85;@(0jp= 3:-?wtb w2mo=@o=Ao=ٽ?o=-o=vB2p=ٽ?:p=)+Bp=tB"p=B*p=ȷ@] addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 3.526590 s, deltaX: -2.099998 m, approachRate: -0.595476 m/s, rangeRepo size: 4  Added new target pos. range: 32.527596 m, bearing: 328.913095 deg, lat: 36.779960 deg, lon: -121.859008 deg, deltaT: 3.526590 s, deltaX: -2.089256 m, approachRate: -0.592430 m/s, posRepo size: 4 nDNOT Ignoring new targets: 32.53 m.nnn ProNav: ac range: 32.527596 m, nav range: 32.207371 m, bearing: 329.064726 deg, approach rate: 0.000000 m/s, LOS rate: 0.098602 deg/s, cmd heading: 339.458735 deg, new cmd heading: 339.577170 deg. nHeadingCmd: 5.926740 target range: 32.527596 and range: 32.70 m.nڧ@nnnnmzmm"mJk"k kjj A?)]Be/;aɝe>)a靍+(鼩I)=)II8n; ڧ@ EaFa FaFe`5Fa%checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491999YjJ rJ zJ J J J ":J J J J J 4{;J 4{;ԁ fG 8:Ga Bq B N >+ N,,8+A0JK2ozLRK2}9ZK0bK2jK22JXYWRKHPWF7CCvs_G1 {v٪N3ٶ@9N\ֽ@NN=YNH ?@f?&Dտ;?`=i4?o??N3ٶ@NÀ;ɫNzCyZăBZ"IIb=Ib=3j΃< jS=j/:Q j>yll nGn"FYr8 r>tz5vZ?z5v4{ vAz99xz=:Yz ~@yvHE)v;Iv?iv;5YI@n)-DNOT Ignoring new targets: 32.53 m.n1n5:n5:E ProNav: ac range: 32.527596 m, nav range: 31.979671 m, bearing: 329.101058 deg, approach rate: -0.623094 m/s, LOS rate: 0.100128 deg/s, cmd heading: 339.577171 deg, new cmd heading: 339.686941 deg. nEo;MHeadingCmd: 5.928656 target range: 32.527596 and range: 32.70 m.nM@nInQnQnQmQzmQmY"mYJkY"kY kajaje`J?checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743197BdE;鞡ɝF>)靥漩I)=)INIЎ: @ EF FF`0FԑfG5Yr;GiByBN>5 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.995075 lN,vF8+A٪F@9F@F]֥F!V=YFH?=|?``=տ`,? wn?T??F@Fi;ɫFxCyR҃BR""Ilaamaam aemaem aiuaiu a]ua]u IuMb@Mb@Mb@iqqqqquCl?Onÿ{Gz9u?Yuyuףu/ Au@u@ u@q9u@I&I3= ==:Q >y G"FY; >5Ϳ?5~ AT:9?:Y@y"HE):I;i=5YB[@En DNOT Ignoring new targets: 32.53 m.nnw:nw:- ProNav: ac range: 32.527596 m, nav range: 31.729153 m, bearing: 329.128779 deg, approach rate: -0.577985 m/s, LOS rate: 0.064462 deg/s, cmd heading: 339.686945 deg, new cmd heading: 339.770765 deg. n-0;5HeadingCmd: 5.930119 target range: 32.527596 and range: 32.70 m.n5ý@n1n1n1n1m9zm9m9"m=BJkA"kA kAjAjM?5B5(;9ɝ=>)9=D㼩9I9)=RF=)E*ŴIEiIEec; Uý@ ichecking for new query: numPingsReceived=3, elapsed TxPingTime=1.248929EF FF_0F*H!"H%@AH)H)H-Z"IH-BH-v =H)H-DI-< I-E1fG- 0:G! B1 BA NU >a = checking for new query: numPingsReceived=3, elapsed TxPingTime=1.499276̽N,Bx`8+A٪:@9:@:Ӛ:=Y:H??`e?Sgղտ@|?Z?!?A?:@: ;ɫ8ybӃBb$"IhhIjIj(*3<  U= f;Q  >y  G"FYo; >!-5%MϪ?-5%< %A9)Y-O-@y%%HE)%:I%:i%\?59Y1EA@AniuDNOT Ignoring new targets: 32.53 m.nqn}/:n}/: ProNav: ac range: 32.527596 m, nav range: 31.506884 m, bearing: 329.153086 deg, approach rate: -0.580243 m/s, LOS rate: 0.063902 deg/s, cmd heading: 339.770766 deg, new cmd heading: 339.844201 deg. nl/;HeadingCmd: 5.931400 target range: 32.527596 and range: 32.70 m.nν@nnnnmzmm"mJk"k kjj?B;ɝ>)༩I)=)$I╺I^h; ν@ EF FFFFFiJKORK@9ZKbKjKuvwog_MGA>94.+&$$(*-//,+)))('%  checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751992ԩfG ;GBi By N > N,dz8+AԑyԃB%"II%Mb@Mb@Mb@i!!!!!%Gz?@5^I ¿Zd;O9%?Y%by%j!!%@ %@!9%p@I=9I=3Uc; U6=]Q ]>yYY ]Ge"FYe e>iu5m᪊?u5m mA9}1?}:Y}p}@ym)HE)m:Im:imQA5YB$@EB*** querying acoustic contact ***oonDNOT Ignoring new targets: 32.53 m.nn_:n_: ProNav: ac range: 32.527596 m, nav range: 31.246687 m, bearing: 329.174743 deg, approach rate: -0.582988 m/s, LOS rate: 0.048928 deg/s, cmd heading: 339.844204 deg, new cmd heading: 339.909716 deg. nP;HeadingCmd: 5.932544 target range: 32.527596 and range: 32.70 m.nf׽@nnnnmzmchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.003211ma"meBJki"ki kijijm`B@B`.;鞹ɝG>) ݼI)]=)NIһI{#; f׽@ jJ rJ zJ >J J :J q:J t4J @@@@EF FFFfG Yr;؝ ?ؙ  checking for new query: numPingsReceived=3, elapsed TxPingTime=2.256144G1 1 BY Bq N} >H >H H f"IH BH H H I < I EIIC"I˓C*I2Iw =:Im5$N,#.8+A٪b"@9b @b˄bw=YbH)%?)?rտ?=I? -ɿ? ?b"@b;ɫbwCyn܃Bn/"IIv7Iv3~x2= ~d=;Q >y G"FY ><  >5T?5 A9!Y%[%@y-HE),;I-;iB5Y15@1nY]DNOT Ignoring new targets: 32.53 m.nYne=M:ne=M:u ProNav: ac range: 32.527596 m, nav range: 31.038183 m, bearing: 329.190730 deg, approach rate: -0.581130 m/s, LOS rate: 0.044858 deg/s, cmd heading: 339.909719 deg, new cmd heading: 339.958003 deg. nuI:}HeadingCmd: 5.933386 target range: 32.527596 and range: 32.70 m.n}M޽@nynnnmzmm"mJk"k kjj@EBE\Q)IMJUڼIII)MQ\=)uIuMBIu^; }M޽@ yE F  F F o0F !checking for new query: numPingsReceived=3, elapsed TxPingTime=2.507224fG5 A:YG) BA BY Ne >y *N,8+A٪6X+@96(@6 {6=Y6H (??{`bտ`?v`0a?&???6X+@6ʼn;ɫ6zCyFۃBF."IJ;HINCIN3V» VO=V;Q Z>yXX ZGZ"FY^R,; ^>`f5b?f5bQ bA9dYfj@yb0HE)b:Ib:ibD5Yln@ln DNOT Ignoring new targets: 32.53 m.n]checking for new query: numPingsReceived=3, elapsed TxPingTime=2.758956JKeMRKe9ZKabKejKe  "Km ?Km>nRK:nRK: ProNav: ac range: 32.527596 m, nav range: 30.808924 m, bearing: 329.208139 deg, approach rate: -0.580918 m/s, LOS rate: 0.044439 deg/s, cmd heading: 339.957995 deg, new cmd heading: 340.010608 deg. n:HeadingCmd: 5.934305 target range: 32.527596 and range: 32.70 m.n@nnnnmzmm"mJk"k kjjH@5B=@;9ɝ=;>)9= K׼9IA)E=)EIMIM; M@Q iEF FF0FԉfG϶;GBԩBN> BDAT read: Rx Time:20:04:48.2675  TRx dataTimestamp_ set to:1756325091.016365 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012167JA{4J}4J#e0jJ% rJ% zJ% =J! J% :J% h:J% g4J! 1N,8+Aɩ٪:`9@9:6@:r:=Y:H`,??@=Hտ?}Y?`??:`9@: ;ɫ:wCyzBz9"IIMb@Mb@Mb@i(\?HzG rh9?Y= yC+@@ |@9@I;I&3.= :=ӕ:Q >y G"FY; >5O?5tI A9I?:Yw@y4HE)P;IO;iF5YB@En)-DNOT Ignoring new targets: 32.53 m.n)n=R+:n=R+:M ProNav: ac range: 32.527596 m, nav range: 30.557941 m, bearing: 329.224484 deg, approach rate: -0.570269 m/s, LOS rate: 0.037445 deg/s, cmd heading: 340.010614 deg, new cmd heading: 340.060055 deg. nM:UHeadingCmd: 5.935168 target range: 32.527596 and range: 32.70 m.Աn@nnnnmzmm"m'BJk"k kjj @Bd;鞑ɝ>)靝GӼI) =)\/I]mIZ; @ }checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264662EaFa FaFaFa:H<2H4<H>HHy"IHBHu =HHI< IE fGm ;GI Ba Bq N >U DAT read: 20:04:48.2675 LVL= 21616, 29297, 15346, 30931, AGC= 59, IDX= 415,-0.39, 2.343, 1.050, 2.781, 2.149, PHS= 0.282,-1.052, 0.629, RAW= 161.3, 1.9, CAL= 162.7, -7.0, ROT= 347.3, 7.0 c 8N,8+AYgot valid direction response: 20:04:48.2675 LVL= 21616, 29297, 15346, 30931, AGC= 59, IDX= 415,-0.39, 2.343, 1.050, 2.781, 2.149, PHS= 0.282,-1.052, 0.629, RAW= 161.3, 1.9, CAL= 162.7, -7.0, ROT= 347.3, 7.0 PDAT read: Bearing 170.7, 9.2 (Local) ~Local bearing/azimuth received: Bearing 170.7, 9.2 (Local) &DAT read: Range 10 to 50 : 30.6 m (Round-trip 40.9 ms) speed 0.4 m/s *,DAT read: user:2037> .BDAT read: Tx time:20:04:49.3725 .$Ping request sent..U𧆿U%!?U,4@U= Uּ5@)U5IU @iU5=QQU - ?,9?9?)Ui8?IUiUbU5=QQe:publishing transmit ping time,eFpublishing direction and range infoQ9U~?(;˿UM7P2yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU - ?,9?9?)QIQiQQQQchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.045859٪?@9<@jpZ=YH.?`m?@f֫<տ`?S&?NV???@s;ɫyB@"II%AI%k3< ?=N9Q >y G"FYn: >5#?5g pA9YI@y8HE):I-:ijH5YxB@EoQoUfL8+AoUAoUAoU>@U;uy=@u픒bik* U~?(;˿UM7P2oUbQoU5=U8,9@q./]|q%?UH4}*D&?׊(dr^xoUvyoUAoU?oU:-oUwB2pU_?:pU:-BpUvB"pUA*pUǷ@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 3.528557 s, deltaX: -2.100000 m, approachRate: -0.595144 m/s, rangeRepo size: 4  Added new target pos. range: 30.438776 m, bearing: 328.878909 deg, lat: 36.779959 deg, lon: -121.859009 deg, deltaT: 3.528557 s, deltaX: -2.088820 m, approachRate: -0.591976 m/s, posRepo size: 4 n%DNOT Ignoring new targets: 30.44 m.n!nMnI ProNav: ac range: 30.438776 m, nav range: 30.322859 m, bearing: 329.057141 deg, approach rate: 0.000000 m/s, LOS rate: 0.037445 deg/s, cmd heading: 340.060065 deg, new cmd heading: 340.110504 deg. nHeadingCmd: 5.936048 target range: 30.438776 and range: 30.60 m.n@nnnnmzmm"mJk"k kj>@j ?MBMX;IɝU1>)QUмQIQ)Ut=)]III; @ yEF FFF}JDAT read: TxSync time:20:04:49.3717 checking for new query: numPingsReceived=4, elapsed TxPingTime=0.234912JK>LRKZKbKjKԩ fG= );GE ?GE >?G B1 BY N >O>N,8+A8٪>I@9gF@~cE=YH2??t.?*տ?`B؏?S?o?>I@#;ɫxCy%B%M"Ichecking for new query: numPingsReceived=4, elapsed TxPingTime=0.485885yIMb@Mb@Mb@iS? rh rh9?YC yA@@ @9z@I)IW3:= 4=Q >y G"FY (;  >=5T6?=5 YA9=W?=:Y=E@yH H "IH #BH v =H H DI O< I >EG B B N >ZeEN,ϡ9+A$٪ZI@9ZF@ZwZ =YZH 2?`? 1)տ ?.?l ??ZI@Z;ɫZyCyfBfO"Ij=j=IlIlv < v=z~Q z ?yxx zGz"FY~J9 ~ ? 5 AC?5  JA9Y*@y ?HE) :I :i K5Y!%@)nIUDNOT Ignoring new targets: 30.44 m.nQn]":n]":m ProNav: ac range: 30.438776 m, nav range: 29.879408 m, bearing: 329.083108 deg, approach rate: -0.591350 m/s, LOS rate: 0.035578 deg/s, cmd heading: 340.156097 deg, new cmd heading: 340.188989 deg. nmU:uHeadingCmd: 5.937418 target range: 30.438776 and range: 30.60 m.nuT@nqnqnqnqmyzmymy"mJk"k kjjuG?BV<鞹ɝ?)靽4ʼI)=)ejIeՉIm; mT@ iԁEF F!F%4F!]checking for new query: numPingsReceived=4, elapsed TxPingTime=0.989755ԩfG=k;G B) BQ Ne > KN,OW09+A٪:pf@9:c@:ߝ:=Y:H`;?@Ҳ?!Z Կ`?ڹ?@d?`]?:pf@:\;ɫ:vCyRBRS"IIZ"IZq3bchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.241800dj< jM=jQ j>yll nGn"FYr< r>tJK~JRK~s9ZK|bK~jK~ 5v}S? 5v v8A9Y8@yvCHE)vd;Iv;ivM5Y@EnDNOT Ignoring new targets: 30.44 m.nn:n: ProNav: ac range: 30.438776 m, nav range: 29.651060 m, bearing: 329.095321 deg, approach rate: -0.542848 m/s, LOS rate: 0.029255 deg/s, cmd heading: 340.188992 deg, new cmd heading: 340.225910 deg. n:%HeadingCmd: 5.938062 target range: 30.438776 and range: 30.60 m.n%@n!n!n)n)m)zm)m1"m1JkQ"kQ kYjYj]?B0"<鞩ɝ?)靭$ƼI)5g=EUG)U]zAuZAzA9dBImZII < @ EQFQ FYFe4Fauchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.493598fG έ;A I I jJ rJ zJ @J J :J :J J4J G B B N >nRN,H1J9+A٪6@96ڇ@6"6=Y6H!G? k? `[Կ@?d%??5??6@6;ɫ6wCyBBB\"IImMb@Mb@Mb@iiiiiimm?QQ9m?YmymumAm+@m@ mX@i9ip;I8I3a= >=%0Q >y G"FY(< >52e?59 'A9?:Yj @yGHE)~ ;I;ieO5Yb@nDNOT Ignoring new targets: 30.44 m.nnana ProNav: ac range: 30.438776 m, nav range: 29.406553 m, bearing: 329.094076 deg, approach rate: -0.601207 m/s, LOS rate: -0.003086 deg/s, cmd heading: 340.225902 deg, new cmd heading: 340.222137 deg. nHeadingCmd: 5.937996 target range: 30.438776 and range: 30.60 m.n@nnnnm!zm!m!"m%/BJk)"k) k)j)j5\?eBeMԡ  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.999980HXN, d9+A٪:ٱ@9:@:6:=Y:HS?@}?ӫ@dԿ"?@U`?^?`?:ٱ@:q;ɫ:zCyFBFW"IINPIN 4V= V[=Z:Q >y! %G%"FY%=J< %>)E5-7u?E5-* -A9AYM$M@y-JHE)-=m;I-m;i-Q5YUvBU@U¤EynDNOT Ignoring new targets: 30.44 m.nn6n6 ProNav: ac range: 30.438776 m, nav range: 29.185970 m, bearing: 329.090781 deg, approach rate: -0.567167 m/s, LOS rate: -0.008536 deg/s, cmd heading: 340.222132 deg, new cmd heading: 340.212173 deg. ntHeadingCmd: 5.937822 target range: 30.438776 and range: 30.60 m.n@nnnnmzmm"mJk"k kjj@BTIJ<ɝ;?) I)͡=)hӰIFnI%< @ EuFy FyFyFyfGM@<ԩG BB)N5.>checking for new query: numPingsReceived=4, elapsed TxPingTime=2.253813JKmRKm9ZKibKmjKm MjX=$  +B:' ^N,}9+A٪-Է@9-Ѿ@-?׋-==Y-H^?v?ޫ`"Կ@K+?`@@z?2? ?-Է@-;ɫ-wCyEBEa"IIMb@Mb@Mb@iHzG?X9vy19 =G="FY=$< =>IiIUchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.506036A]5E?]5Ek EA9e ?e:Yee@yENHE)E~;IE8:iES5Yim@qnDNOT Ignoring new targets: 30.44 m.nn#n# ProNav: ac range: 30.438776 m, nav range: 28.942064 m, bearing: 329.086868 deg, approach rate: -0.552754 m/s, LOS rate: -0.008943 deg/s, cmd heading: 340.212160 deg, new cmd heading: 340.200321 deg. nfĹHeadingCmd: 5.937616 target range: 30.438776 and range: 30.60 m.n@nnnnmzmm"m7BJk"k kjj T@BP0<鞡ɝ?)靭b2I)$7=)rIsI2< @ EuFy FyF}`0Fy!fG} xI< checking for new query: numPingsReceived=4, elapsed TxPingTime=2.758399Gy B B N >H H H "IH 7BH u =H H I $< I EQ _eN,L×9+A٪6@96 @6YP6 =Y6H@c?G?(v`iԿ52?8Ȼ҉? ?@?6@6J;ɫ6zCybBbb"IdfDAIj+Ijn3rw; rc=r*(Q v>ytt vGv"FYzݵ; z> 5u? 5 A9 Y  @yRHE):I-:iT5Y@%äE=B*** querying acoustic contact ***o9o9nIMDNOT Ignoring new targets: 30.44 m.nInU-MnU-M ProNav: ac range: 30.438776 m, nav range: 28.742397 m, bearing: 329.082866 deg, approach rate: -0.555564 m/s, LOS rate: -0.011211 deg/s, cmd heading: 340.200330 deg, new cmd heading: 340.188242 deg. n6HeadingCmd: 5.937405 target range: 30.438776 and range: 30.60 m.n9@nnnnmzmm"mJk"k kjj #U@1uBu`vjJerJezJe<JaJe,:Je^:Je [4JaJe<}Je<Jeg;Jeg;ԉԹ kN,9+A٪:@9:@:8Ώ:>=Y:Hqi? ?wu9ӿ[8?!? ?@y99 EGE"FYEU; E>IU5M?U5M M߿A9aYee@yMUHE)MRQ;IMR;iMfV5Yim@qnDNOT Ignoring new targets: 30.44 m.nnu{nu{ ProNav: ac range: 30.438776 m, nav range: 28.513781 m, bearing: 329.077221 deg, approach rate: -0.551976 m/s, LOS rate: -0.013740 deg/s, cmd heading: 340.188254 deg, new cmd heading: 340.171181 deg. nJKR&MRK@9ZKbKjK  HeadingCmd: 5.937107 target range: 30.438776 and range: 30.60 m.n@nnnnmzmm"mJk"k kjj @ B Ff<ɝ?)ԑ靵͵I)l=)&1I[I'e< @ EF FF0FDAT read: 20:04:51.8148 LVL= 24704, 31729, 18594, 32419, AGC= 59, IDX= 419, 0.30,-0.413,-1.756, 0.084,-0.600, PHS= 0.275,-1.109, 0.681, RAW= 162.5, 1.9, CAL= 163.8, -6.9, ROT= 346.2, 6.9 Ygot valid direction response: 20:04:51.8148 LVL= 24704, 31729, 18594, 32419, AGC= 59, IDX= 419, 0.30,-0.413,-1.756, 0.084,-0.600, PHS= 0.275,-1.109, 0.681, RAW= 162.5, 1.9, CAL= 163.8, -6.9, ROT= 346.2, 6.9  PDAT read: Bearing 169.6, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 169.6, 9.4 (Local)  DAT read: Range 10 to 50 : 28.5 m (Round-trip 38.1 ms) speed 0.5 m/s  ,DAT read: user:2038>  BDAT read: Tx time:20:04:52.9225  $Ping request sent.fG < u󍿩uV.?u5@q uc6@)uϢIuZ@iuϢ=qqu{,?~ `?|{dw?)u=?Iu.BiuvuϢ=qq :publishing transmit ping timeۡ  Fpublishing direction and range infoq9u?N.OοrjƹIyqqqq q)qIqiqqqqq q)qIqiqG B B N% >qqu{,?~ `?|{dw?)qIqiqqqqU checking for new query: numPingsReceived=5, elapsed TxPingTime=0.055221 ۼrN,{9+A٪:~@9:@:h:l=Y:H uj? ?@̤@ӿ:?=O̒?>?`y G"FYh: >5ᶫ?5$ ̿A+:9:Y@yYHE)&iW5Y@ ĤEooQM9+AoAoAoƷ@KPU;@&`6k/? ?N.OοrjƹIovoϢ=cE8@#|;,[ua #,m6?!ER|QC)(oOgoAos?o1e+o`yB2pٯ?:pBp:wB"pA*p÷@ addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 3.531306 s, deltaX: -2.100000 m, approachRate: -0.594681 m/s, rangeRepo size: 4  Added new target pos. range: 28.349768 m, bearing: 329.050591 deg, lat: 36.779959 deg, lon: -121.859009 deg, deltaT: 3.531306 s, deltaX: -2.089008 m, approachRate: -0.591568 m/s, posRepo size: 4 nDNOT Ignoring new targets: 28.35 m.nnn] ProNav: ac range: 28.349768 m, nav range: 28.247683 m, bearing: 329.027671 deg, approach rate: 0.000000 m/s, LOS rate: -0.013740 deg/s, cmd heading: 340.171179 deg, new cmd heading: 340.153024 deg. nYeHeadingCmd: 5.936790 target range: 28.349768 and range: 28.50 m.ne/@nanananamazmim"mJk"k kj<@jW?JDAT read: TxSync time:20:04:52.9217 checking for new query: numPingsReceived=5, elapsed TxPingTime=0.214831BX5<ɝ/?)%౼!I!)%=)}ZI#L:H<2H<HHH"IHABHv =HHID< I-EIaIa"Ia*Iev =2Iev =:Ie4I< /@ !EF FFp0FI fG < checking for new query: numPingsReceived=5, elapsed TxPingTime=0.465398G B B N% >xN,V9+A٪>@jJ%rJ%zJ%=J!J%:J%h:J%g4J!J%I<J%J<J%Ji;J%Ji;9>@>Gv>=Y>HTi?@ۙ?@w%ӿ;?EֺqN?߽?g?>@> ;ɫ>wCyBb"I4<I5I3T A=-hQ 5>y99 EGE"FYM] M>5ȫ?5` A :9-{:Y-5@y]HE)Y;)TI)=)jI?>I< T@ aԁEF FF0FFFFFchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.717340JKolLRK59ZKbKjKԡ G9 BI BY Nu >7N,9+A٪E<@9Ee@EaE=YEH h?e?$ӿ yQQ UGU"FYU ]>Ye5]*٫?m5]y ]AmT:9m?m:Ym m@y]`HE)];I];i]Z5Yy}P@}ΤEnDNOT Ignoring new targets: 28.35 m.nn؞7n؞7 ProNav: ac range: 28.349768 m, nav range: 27.774977 m, bearing: 329.021478 deg, approach rate: -0.599180 m/s, LOS rate: 0.001085 deg/s, cmd heading: 340.133039 deg, new cmd heading: 340.134279 deg. n>8HeadingCmd: 5.936463 target range: 28.349768 and range: 28.50 m.n@nnnnmzmm"mBBJkY"ka kajaje }? Br<鞱ɝ>)]I)=)I12I"< @ EF FFi5FGBBԩNa>؝ >؝ > checking for new query: numPingsReceived=5, elapsed TxPingTime=1.221553 H= >H9 H= "IH= FBH9 H9 H9 I= )< I= E N,P:+A٪:@9:@:m:=Y:H!g?`Ѣ?`6ӿ<=?<ٹ???:@:;ɫ:zC\ybBbY"IIj,Ij3rN re=r*@Q v>ytt vGv"FYz8T z>|5~竊?5~> ~A9 Y   @y~dHE)~B:I~:i~o\5Y@EB*** querying acoustic contact ***oAoAnIUDNOT Ignoring new targets: 28.35 m.nQnU7nU7m ProNav: ac range: 28.349768 m, nav range: 27.570757 m, bearing: 329.022017 deg, approach rate: -0.569643 m/s, LOS rate: 0.001515 deg/s, cmd heading: 340.134268 deg, new cmd heading: 340.135897 deg. nm8uHeadingCmd: 5.936491 target range: 28.349768 and range: 28.50 m.nu@nqnqnqnqmyzmymy"myJk"k kjj_[? By<ɝ>)I)l=)ށI ^(I7< @ EF FF_0Fchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.475708GBBNG>jJrJzJJJJ":JJJJJ4{;J4{;A BN,nm3:+A٪6@96@66$=Y6H h? Ҟ?ӿ`>?䞹?P˼??6@6;ɫ6yCFchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.729717y^B^d"IddIfGIf3M = MD=U2:Q U>yYY ]G]"FYep]: e>am5e8?u5e~ eA9qYu u@yehHE)e;Ie;ieC^5Y'@ϤEnJKm$JRK9ZKbKjKK3T3s2\=[xi[LA<81+%   "K>K?DNOT Ignoring new targets: 28.35 m.nn7n7 ProNav: ac range: 28.349768 m, nav range: 27.331017 m, bearing: 329.022514 deg, approach rate: -0.574925 m/s, LOS rate: 0.001202 deg/s, cmd heading: 340.135907 deg, new cmd heading: 340.137411 deg. n!S8HeadingCmd: 5.936518 target range: 28.349768 and range: 28.50 m.n@nnnnmzmm"mJk"k kjj@?%B-$X<)ɝ-R>))-(k1I1)5+=)=h~I=DI=@u< =@ AEF FFFQGBBYN9>q5checking for new query: numPingsReceived=5, elapsed TxPingTime=1.981339ԙ *N,xGM:+AyBX"IyIMb@Mb@Mb@i/$?x&:v9 ?Y7 yԼA+@@ |@9@I<I35 A=Q >y G"FY > 5` ? 5ƾ oA9S?:Y @ykHE))QUYIY)]j=)]R_IeI Ie< e@ achecking for new query: numPingsReceived=5, elapsed TxPingTime=2.235064*H"H@AH>HCHHHHHI < IEԩEF FFFfG- 1m<G5 vAG5 xAG B B! N5 > E checking for new query: numPingsReceived=5, elapsed TxPingTime=2.485467'WN,8-g:+A٪:@9:@:L0:=Y:H`h??˫ӿ??`%???:@:;ɫ8yRBR^"IjJbrJbzJb;J`JbL:Jbq:Jb(N4J`Jb< <Jb= <Jbk;Jbk;IZ=IZ=3r< r\=v;Q v>ytt vGz"FYz3: ~>|5~d? 5~ ~XA9 Y  @y~oHE)~;I~TA;i~a5Y!%m@)n15DNOT Ignoring new targets: 28.35 m.n1n=<9n=<9u ProNav: ac range: 28.349768 m, nav range: 26.883358 m, bearing: 329.030912 deg, approach rate: -0.546856 m/s, LOS rate: 0.010308 deg/s, cmd heading: 340.150989 deg, new cmd heading: 340.162802 deg. nu]9}HeadingCmd: 5.936961 target range: 28.349768 and range: 28.50 m.n}@nynynynymzmm"mJk"k kjj`@/@B[<ɝ>))I))-@=)5\DI5<6I5< 5@ 9EF FFF ؝>؝<checking for new query: numPingsReceived=5, elapsed TxPingTime=2.7377299=CÉG{A {A9B1JK% ORK%@9ZK!bK%jK%Y|#@ys BK KwAfG<G B) BA NU >Q @N, :+A٪@9@x[=YH.e?@?Vȫӿfy G"FYyS >5,?5d ;A9l?:Yd@ysHE)]:I:ic5YD@nDNOT Ignoring new targets: 28.35 m.nn9n9 ProNav: ac range: 28.349768 m, nav range: 26.615128 m, bearing: 329.042242 deg, approach rate: -0.624281 m/s, LOS rate: 0.026637 deg/s, cmd heading: 340.162791 deg, new cmd heading: 340.197126 deg. n>:HeadingCmd: 5.937560 target range: 28.349768 and range: 28.50 m.n~@nnnnmzm!m)"m-3BJk)"k) k1j1j5@]Be S<ɝ%>)!%囼!I!)%,=)5I5I5< 5~@ 1EaYEF FF`0Fԙ checking for new query: numPingsReceived=5, elapsed TxPingTime=3.241448H >H CH H H H H I U< I DEfG- F<GQ Ba By N >Ա ihN,a:+A٪-@9-@-n-W=Y-Hc?@C?_ӿ;? =vM?}N??-@-;;ɫ)yBY"IԑAiAI;I&3 H=xQ >y G"FY >5=?5 !A9Y@ywHE);I;ie5YjB@ФE%B*** querying acoustic contact ***o!o!n1=DNOT Ignoring new targets: 28.35 m.n9nEl9nEl9U ProNav: ac range: 28.349768 m, nav range: 26.376432 m, bearing: 329.052787 deg, approach rate: -0.579603 m/s, LOS rate: 0.025837 deg/s, cmd heading: 340.197133 deg, new cmd heading: 340.229054 deg. nUڍ:]HeadingCmd: 5.938117 target range: 28.349768 and range: 28.50 m.n]@nYnYnYnYmYzmama"maJki"ki kijijm @B&xG<鞩ɝ(>)靵nޘI)X=)ЬI`bйII < @ EDAT read: 20:04:55.3621 LVL= 21296, 31201, 13586, 29075, AGC= 58, IDX= 407, 0.32,-0.116,-1.405, 0.378,-0.294, PHS= 0.266,-1.064, 0.668, RAW= 162.8, 1.7, CAL= 164.2, -7.0, ROT= 345.8, 7.0 MYgot valid direction response: 20:04:55.3621 LVL= 21296, 31201, 13586, 29075, AGC= 58, IDX= 407, 0.32,-0.116,-1.405, 0.378,-0.294, PHS= 0.266,-1.064, 0.668, RAW= 162.8, 1.7, CAL= 164.2, -7.0, ROT= 345.8, 7.0 UPDAT read: Bearing 169.2, 9.6 (Local) ]~Local bearing/azimuth received: Bearing 169.2, 9.6 (Local) mDAT read: Range 10 to 50 : 26.5 m (Round-trip 35.4 ms) speed 0.5 m/s m,DAT read: user:2039> uBDAT read: Tx time:20:04:56.4725 u$Ping request sent.up-R*ϿUM7P2y A  0S y 5) qI :i '1> '1  +? o5@ < i7@) 5I !@EF FFp0Fi 5=    Vw?pR?Zg?) G??I i } 5=  :publishing transmit ping timeqFpublishing direction and range info 9 ?>p-R*ϿUM7P2y     ) I i      ) I i     Vw?pR?Zg?) I i    ]checking for new query: numPingsReceived=6, elapsed TxPingTime=0.020306fG ⸲<G ?G >G B B N > N,1:+A6JDAT read: TxSync time:20:04:56.4717 :checking for new query: numPingsReceived=6, elapsed TxPingTime=0.238963٪Bٷ@9B ׾@BB=YBH@_?@?۫Կ`8? `ʑ? %?@?Bٷ@Bk;ɫ@yNBNS"IIV.IV3^ ^r=bJQ b?y`d fGf"FYf f?h~5jK?~5jz j A9Y@yjzHE)j;Ij;ijg5Y  @ o9o=m:+Ao=Ao=Ao=e@=EC]9@BCy2l佺4 =?>p-R*ϿUM7P2o=}o=5==ܶ`B6@(μk+c =e>=?fأaUo=][o=Ao={?o=4o=zB2p=s?:p=-Bp=wB"p=A*p=@ addTargetRange:: Added new target pos. range: 26.500000 m, deltaT: 3.533225 s, deltaX: -2.000000 m, approachRate: -0.566055 m/s, rangeRepo size: 4  Added new target pos. range: 26.360222 m, bearing: 328.372218 deg, lat: 36.779958 deg, lon: -121.859009 deg, deltaT: 3.533225 s, deltaX: -1.989546 m, approachRate: -0.563096 m/s, posRepo size: 4 nDNOT Ignoring new targets: 26.36 m.nnnJKKRK}9ZKbKjK 2@Mn{]G3& 5 ProNav: ac range: 26.360222 m, nav range: 26.090300 m, bearing: 328.916889 deg, approach rate: 0.000000 m/s, LOS rate: 0.025837 deg/s, cmd heading: 340.229044 deg, new cmd heading: 340.256529 deg. n9=HeadingCmd: 5.938597 target range: 26.360222 and range: 26.50 m.n=@nAnAnAnAmAzmAmI"mIJkI"kI kqju:@juf?BEV<ɝ#>)6I)=)mIIt< @ EF FF0F!Echecking for new query: numPingsReceived=6, elapsed TxPingTime=0.494126fGGjJ rJ zJ =J J ,:J S2:J g4J  @ @ @ @%xN,&:+AyB["IIMb@Mb@Mb@i@5^I ?{GzĿy&19b?Y#y`弩rA+@|@ |@9@AAI;I&3< :=Q >y G"FY > 5]? 5> A9@?:Y@y~HE)W)Y])YIY)ezx=)edIeIm< mt@uchecking for new query: numPingsReceived=6, elapsed TxPingTime=0.741695 yEEvAHaHaHaHaHeu =HaHaIe< IeEEF  F F m3F yfG- 1m<ԡ G B B! N- >% checking for new query: numPingsReceived=6, elapsed TxPingTime=0.993580N,o:+A<٪FDٷ@9Fm־@FFB=YFH`_?`?CԿ:?> mW?hs?`?FDٷ@F;ɫFyCy^BbY"IIn0In(3z ~Z=˖Q >y    G "FYT >!55%'m?55%| %վA99Y=E@y%HE)%dh;I%S;i%j5YM^BU@UڤEn  DNOT Ignoring new targets: 26.36 m.n n:n:% ProNav: ac range: 26.360222 m, nav range: 25.611288 m, bearing: 328.966689 deg, approach rate: -0.588841 m/s, LOS rate: 0.062547 deg/s, cmd heading: 340.336742 deg, new cmd heading: 340.407334 deg. n%+;UHeadingCmd: 5.941229 target range: 26.360222 and range: 26.50 m.nU@nQnQnQnQmQzmYmY"mYJkY"ka kajajeA? B8-Z<ɝ>) nI)=)IUIKc< @ 1ԩEF FFP5Fchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.246264JKmMRKm9ZKibKmjKm  fG <GwAGG B B N > N,O;+Al٪ٷ@9 ׾@ü=YH@__??@ Կ@9?;zt???ٷ@;ɫchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.497820yBU"IIMb@Mb@Mb@i@5^I ?ˡEĿ:v9Y'yԼ\A 93@I*I3g .=OQ >y G"FY'(9 >59?5 A9?:Y@yHE)A;I7@;il5Y%`B%W@%ۤEnq}DNOT Ignoring new targets: 26.36 m.nyn}:n}:jJrJzJ;JJ:Jz:J(N4J- ProNav: ac range: 26.360222 m, nav range: 25.338251 m, bearing: 329.000140 deg, approach rate: -0.605471 m/s, LOS rate: 0.074977 deg/s, cmd heading: 340.407339 deg, new cmd heading: 340.508772 deg. n-M;5HeadingCmd: 5.942999 target range: 26.360222 and range: 26.50 m.n5 -@n1n1n1n9m9zm9ma"meBJka"ka kajijm߆?"B$<鞹ɝ>)g-I)0~=),IwI@<  -@ EF FF`5F1 checking for new query: numPingsReceived=6, elapsed TxPingTime=1.749601Y HY HY HY HY HY HY HY I] < I] EIyIy"Iy*Iy2I}u =:I}4fG L<G1 BA BY Ne >N,K;+A٪:۷@9:!پ@:J:g~=Y:H `?/? Կ.:?@?`o??:۷@::E;ɫ:xCyDFT"INp;NIN6INm3VX Zv=Z|:Q Z?yX\ ^G^"FY^I: ^?!)55-_?55- -A91Y5q5@y-HE)-B:I-:i-n5YAE^@anDNOT Ignoring new targets: 26.36 m.nn:n: ProNav: ac range: 26.360222 m, nav range: 25.135788 m, bearing: 329.025284 deg, approach rate: -0.582693 m/s, LOS rate: 0.072948 deg/s, cmd heading: 340.508781 deg, new cmd heading: 340.584821 deg. nAH;HeadingCmd: 5.944326 target range: 26.360222 and range: 26.50 m.n7@nnnnmzmm"mJk!"k! k!j!j%h?}$Bʴw<`<ɝ>)%劼!I!)%>=)-~I-dI-{< -7@ 1EyE}>Qchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.002467E F  F F^0FyfGU h<G) B9 BI Nm >ԩ 3N,5;+A&checking for new query: numPingsReceived=6, elapsed TxPingTime=2.253475٪BUݷ@9B~ھ@B囻BYM=YBH``? X? @,Կ@:?Eܸ@r???X?BUݷ@B^;ɫ@yJBJ_"IIR8IR3Z!/= ZK=^:Q ^>y|| ~G~"FY9 > 5 ?5  A9Ye@y HE) D;I H;i o5ԙYaB@ܤEB*** querying acoustic contact ***oon  DNOT Ignoring new targets: 26.36 m.n n:n:E ProNav: ac range: 26.360222 m, nav range: 24.902870 m, bearing: 329.054616 deg, approach rate: -0.563780 m/s, LOS rate: 0.071664 deg/s, cmd heading: 340.584815 deg, new cmd heading: 340.673636 deg. nED;MHeadingCmd: 5.945877 target range: 26.360222 and range: 26.50 m.nMD@nInInInImqzmqmy"myJky"ky kyjjస@JKiLRKػ9ZKbKjK   &B R)QUQIQ)UJ =)]I]yEI]i< eD@ aE%F! F!F%`0F)checking for new query: numPingsReceived=6, elapsed TxPingTime=2.5079961fGM i|<GU ?GU ?jJ rJ zJ <J J l:J :J [4J G! B1 BA NM >Y N,O;+A٪:޷@9:۾@:M:^=Y:H`a??`׬Կ9? /?`oH??:޷@:Qχ;ɫ:yCybBfT"IIUMb@Mb@Mb@iQQQQQU@5^I ?ktƿ:v9QYU 0yQQQUf@ U@Q9QIm0Im(3}# }>=}OQ >y G"FY9 >5Я?5 mA9?:Y@yHE)* ;Ia;iq5Yk@nDNOT Ignoring new targets: 26.36 m.nnD:nD: ProNav: ac range: 26.360222 m, nav range: 24.655260 m, bearing: 329.093771 deg, approach rate: -0.622011 m/s, LOS rate: 0.099345 deg/s, cmd heading: 340.673635 deg, new cmd heading: 340.792277 deg. n\;HeadingCmd: 5.947948 target range: 26.360222 and range: 26.50 m.nU@nnnnmzmm "m Jk "k k9jj@(B|9J< ɝ  >)  F9 I )- =)5FI==*I=KP< EU@ AUchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.757569H>HHHHHHI< IEEF FFFiԑfG- F{_<G B B! N5 > i A BDAT read: Rx Time:20:04:58.9093  TRx dataTimestamp_ set to:1756325101.608660 checking for new query: numPingsReceived=6, elapsed TxPingTime=3.010951 N,i;+A٪ݷ@9+ھ@yii mGm"FYu u>y5}/?5}= }SA9Y@y}HE)}-:I}|:i}ts5YbB@ݤEnDNOT Ignoring new targets: 26.36 m.nn:n: ProNav: ac range: 26.360222 m, nav range: 24.419081 m, bearing: 329.131972 deg, approach rate: -0.587995 m/s, LOS rate: 0.096026 deg/s, cmd heading: 340.792289 deg, new cmd heading: 340.908000 deg. n̓;HeadingCmd: 5.949967 target range: 26.360222 and range: 26.50 m.n!f@nnnnmzmm"mJk"k kjj@ @U*BUDn)Y]YIY)]k =)eIe;Ie2< e!f@ iԑԹechecking for new query: numPingsReceived=6, elapsed TxPingTime=3.261699nEV =EEmFq FqFu_0FqJK/LRK9ZKbKjK K K fG] H<GQ B B DAT read: 20:04:58.9094 LVL= 25440, 29969, 14290, 29987, AGC= 59, IDX= 411, 0.27,-2.625, 2.381,-2.149,-2.800, PHS= 0.263,-1.055, 0.648, RAW= 162.4, 1.9, CAL= 163.8, -6.9, ROT= 346.2, 6.9 Ygot valid direction response: 20:04:58.9094 LVL= 25440, 29969, 14290, 29987, AGC= 59, IDX= 411, 0.27,-2.625, 2.381,-2.149,-2.800, PHS= 0.263,-1.055, 0.648, RAW= 162.4, 1.9, CAL= 163.8, -6.9, ROT= 346.2, 6.9 PDAT read: Bearing 169.6, 9.4 (Local) ~Local bearing/azimuth received: Bearing 169.6, 9.4 (Local) AUDAT read: Range 10 to 50 : 24.5 m (Round-trip 32.7 ms) speed 0.6 m/s ],DAT read: user:2040> Ne?bN,;+A.BDAT read: Tx time:20:05:00.0226 2$Ping request sent.2J@JB:JB*:JBt4J@,nFpublishing direction and range info99=?N.OοrjƹIy=A9=`c=u =7)=#uI=;i=>== =T%?= g5@== =c6@)=ϢI=Z@i=Ϣ=99= #?%y?b נ?)=U=?I=:i=v=Ϣ=99:publishing transmit ping time,%Fpublishing direction and range info99=?N.OοrjƹIy9999 9)9I9i99999 9)9I9i999= #?%y?b נ?)9I9i9999checking for new query: numPingsReceived=7, elapsed TxPingTime=0.044010yBb"I== IMb@Mb@Mb@i> ףp=?/$ſZd;O9?Y,yjrA@|@ f@9I%3I%ʴ3; =Q >y G"FY >5|٬?5 0A9=?:Yz@yHE):IE:i v5YcB@o9o=C;+Ao=Ao=Ao=Z@=qm~7@8 3F/l=?N.OοrjƹIo=vo=Ϣ==6U24@+})_ =(?4ztfh~ o=Ho=yAo=t?o=F3o=|B2p9:p9Bp=`yB"p=rA*p=ٷ@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 3.528650 s, deltaX: -2.000000 m, approachRate: -0.566789 m/s, rangeRepo size: 4   Added new target pos. range: 24.370747 m, bearing: 328.788763 deg, lat: 36.779958 deg, lon: -121.859009 deg, deltaT: 3.528650 s, deltaX: -1.989475 m, approachRate: -0.563806 m/s, posRepo size: 4 n  DNOT Ignoring new targets: 24.37 m.n 1n=n9M ProNav: ac range: 24.370747 m, nav range: 24.056110 m, bearing: 329.184574 deg, approach rate: 0.000000 m/s, LOS rate: 0.096026 deg/s, cmd heading: 340.907992 deg, new cmd heading: 341.089080 deg. nI]JDAT read: TxSync time:20:05:00.0218 echecking for new query: numPingsReceived=7, elapsed TxPingTime=0.196841uHeadingCmd: 5.953127 target range: 24.370747 and range: 24.50 m.nu@nqnqnqnymyzmym"mBJk"k kj8@jiq?H>HCHHHHHI< IE-Bv;ɝ>)M{!I!)% =)%ZI-UI-1} < -@ Qa nEu <ԑ E F  F F 2F  checking for new query: numPingsReceived=7, elapsed TxPingTime=0.447924ԹfG+<GBB N?lN,;+A٪>y@9>@>nLǼ>X=Y>Hb??@譿Կ:? ֣???>y@>;ɫ>yCyFBFc"IIR,IR3Z; ^/=^7.Q ^>y`` bGb"FYb; b>hdn5f쬊?n5f fA9lYr(r@yfHE)f`+;Ifp:if&x5Ytv@tnDNOT Ignoring new targets: 24.37 m.nn:n: ProNav: ac range: 24.370747 m, nav range: 23.781805 m, bearing: 329.224568 deg, approach rate: -0.585503 m/s, LOS rate: 0.086351 deg/s, cmd heading: 341.089074 deg, new cmd heading: 341.210439 deg. n m;=HeadingCmd: 5.955245 target range: 24.370747 and range: 24.50 m.n=_@nAnAnAnAmAzmAmI"mIJkQ"kQ kQjQjU@?.B{U<鞁ɝ>UGchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.699922)zAzA9B靽u9I9)=Go =)E秾IE.IM; M_@ IDQDQDQDQEF FF5FJKKRK}9ZKbKjK "K?K?)fG W &_N,;+Ay B ^"IIMb@Mb@Mb@i(\?#~jĿ9?Y%y̼A+@O@ |@9@;I%I)3 8=Q >y G"FY   >!=5%?=5% %A9E%?E:YE[M@y%HE)%/;I%|;i%z5YeYBei@mEB*** querying acoustic contact ***oonDNOT Ignoring new targets: 24.37 m.nn:n: ProNav: ac range: 24.370747 m, nav range: 23.521786 m, bearing: 329.261354 deg, approach rate: -0.593199 m/s, LOS rate: 0.084849 deg/s, cmd heading: 341.210433 deg, new cmd heading: 341.322010 deg. nh;HeadingCmd: 5.957193 target range: 24.370747 and range: 24.50 m.n S@n n n n mzmm"mBJk"k kjj?0B_K< ɝ >)  o I) =)~覾IbIDn; S@ IEF FF`0Fchecking for new query: numPingsReceived=7, elapsed TxPingTime=1.204698:H<2HH>HH"IHKBHHHIH< I.EqfG ?;ԩ GY Ba B N >N,);+Ay= B=f"IIMIMF3e< eR=iQ m>yii mGm"FYq u>y5<?5 A9Y@yHE)):I:i{5Y@nDNOT Ignoring new targets: 24.37 m.nn :n :checking for new query: numPingsReceived=7, elapsed TxPingTime=1.455951 ProNav: ac range: 24.370747 m, nav range: 23.300919 m, bearing: 329.293246 deg, approach rate: -0.593925 m/s, LOS rate: 0.086574 deg/s, cmd heading: 341.322011 deg, new cmd heading: 341.418596 deg. nm;HeadingCmd: 5.958879 target range: 24.370747 and range: 24.50 m.n"@nnnnmzmm"mJk"k kjj?1BjJrJzJ=JJ,:J&:Jg4JJ<J<J/;J/;}<ɝ^>)\bjI)Ra =) IG@I~; "@ ԩEF FF^0Fح >ح ? checking for new query: numPingsReceived=7, elapsed TxPingTime=1.709088fG έ;G B B N > ײN,;+AJK"LRK"59ZK bK"jK"U[/vaMA4&! yBu"II-+I-n3e\u= eJ=iQ m>yii uGu"FYq u>y5}?5}@ }ʽA9Y@y}HE)}:I}:i}}5Y[BX@nDNOT Ignoring new targets: 24.37 m.nnl:nl: ProNav: ac range: 24.370747 m, nav range: 23.068079 m, bearing: 329.327531 deg, approach rate: -0.577306 m/s, LOS rate: 0.085863 deg/s, cmd heading: 341.418590 deg, new cmd heading: 341.522480 deg. nk;HeadingCmd: 5.960692 target range: 24.370747 and range: 24.50 m.n@nnnnmzmm"mJk"k kjjš?-3B-Ә<)ɝ->))-C)e1I1)5q =)eIepIm1mU; m@ yEF FF`0F%checking for new query: numPingsReceived=7, elapsed TxPingTime=1.9622721QfGm t;GA BI Ba Nu >y PO,<+A2checking for new query: numPingsReceived=7, elapsed TxPingTime=2.211946HPHPHR"IHRPBHPHPHPIR< IREyQYIMb@Mb@Mb@i|?5^?/$ÿS㥛9 ?Yy/ݼA@9@ 9AAIEI3Q >y G%"FY! %>)M5Q-/?U5- -A9]K?]:Y]]@y-HE)-x;I-;i-k5Yaaan  DNOT Ignoring new targets: 24.37 m.n n:n:- ProNav: ac range: 24.370747 m, nav range: 22.823116 m, bearing: 329.355177 deg, approach rate: -0.547862 m/s, LOS rate: 0.062495 deg/s, cmd heading: 341.522491 deg, new cmd heading: 341.606319 deg. n-+;5HeadingCmd: 5.962155 target range: 24.370747 and range: 24.50 m.n5ɾ@n1n9n9n9m9zm9mA"mE*BJkA"kA kijijm`@4Bx<ɝ'>)R^I)G =)^IqI; ɾ@ ԁE}Fy FF_0FDDAT read: Rx Time:20:05:02.1817 TRx dataTimestamp_ set to:1756325104.632898%PDAT read: Bearing 169.2, 8.6 (Local) -~Local bearing/azimuth received: Bearing 169.2, 8.6 (Local) =DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 eDAT read: 20:05:02.1817 LVL= 23984, 24289, 15218, 32755, AGC= 60, IDX= 159,-0.01, 1.333, 0.050, 1.831, 1.188, PHS= 0.233,-1.092, 0.640, RAW= 163.0, 2.8, CAL= 164.0, -6.1, ROT= 346.0, 6.1 uYgot valid direction response: 20:05:02.1817 LVL= 23984, 24289, 15218, 32755, AGC= 60, IDX= 159,-0.01, 1.333, 0.050, 1.831, 1.188, PHS= 0.233,-1.092, 0.640, RAW= 163.0, 2.8, CAL= 164.0, -6.1, ROT= 346.0, 6.1 uR#Rx 8: Read range and direction messages.}`direction in FSK: [0.964802,-0.240552,-0.106264]}Fpublishing direction and range info9"5?@VfhοO4yA]^ r;)I<in>Ƌ #?6@+H= 07@)^ ڽI,>@i^ =fEba?:?p =?)@?ԩIJi5z^ =checking for new query: numPingsReceived=8, elapsed TxPingTime=2.485917jJ rJ zJ ?J J L:J $:J ـ4J J < <J = <J ~;J ~;fG} aL;G vAG wAGY Ba Bq N > O,=a1<+A٪>\%@9>"@>V>f=Y>HEw?eB?(qӿ J? SQ?9?@B?>\%@>l;ɫ>wCyVBVx"II~"I~q3 ;  <y9 =G="FY=< E>AM5E??M5E EA9QYUU@yEHE)E:IE{;iE 5Y\BS@EoIoMg(<+AoM AoM AoM5ŷ@M5@CcXQVM"5?@VfhοO4oM5zoM^ =Mڥ3@R7&YGM$;C?'c:[*}"moM 7oMAoM셳?oM+oM ~B2pM?:pM:-BpMzB"pMA*pM@M addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 2.519429 s, deltaX: -2.000000 m, approachRate: -0.793831 m/s, rangeRepo size: 4  Added new target pos. range: 22.381254 m, bearing: 329.039529 deg, lat: 36.779958 deg, lon: -121.859009 deg, deltaT: 2.519429 s, deltaX: -1.989492 m, approachRate: -0.789660 m/s, posRepo size: 4 nDNOT Ignoring new targets: 22.38 m.nnnԱ ProNav: ac range: 22.381254 m, nav range: 22.577934 m, bearing: 329.360605 deg, approach rate: 0.000000 m/s, LOS rate: 0.062495 deg/s, cmd heading: 341.606311 deg, new cmd heading: 341.675984 deg. nHeadingCmd: 5.963371 target range: 22.381254 and range: 22.50 m.nӾ@nnnnmzmm"mJk"k kj6@j R?uchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.7160505B<<鞹ɝ>)靽rXI)9=)I-1I} < Ӿ@ EF FFv0FJKNRKZKbKjK  fGE 8:M DDAT read: Rx Time:20:05:02.6815 U TRx dataTimestamp_ set to:1756325105.141162u PDAT read: Bearing 169.3, 9.2 (Local) G 9  ~Local bearing/azimuth received: Bearing 169.3, 9.2 (Local) B B  DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4  DAT read: 20:05:02.6815 LVL= 20320, 32753, 13346, 31539, AGC= 57, IDX= 509, 0.10, 1.940, 0.658, 2.432, 1.776, PHS= 0.252,-1.072, 0.653, RAW= 162.8, 2.2, CAL= 164.0, -6.346.0, 6.6  !unknown deviceResponse_: 20:05:02.6815 LVL= 20320, 32753, 13346, 31539, AGC= 57, IDX= 509, 0.10, 1.940, 0.658, 2.432, 1.776, PHS= 0.252,-1.072, 0.653, RAW= 162.8, 2.2, CAL= 164.0, -6.346.0, 6.6 - X#Rx 9: Read range message, but no direction.I yM AI N >O,OL<+Achecking for new query: numPingsReceived=9, elapsed TxPingTime=3.063098٪]c7@9]4@] ]R=Y]H}?!?`?v`Efӿ@VN?`RS?J?+?]c7@]%;ɫ]xCyB{"IqIMb@Mb@Mb@iq= ףp?㥛 ¿Q9 ?YyO@ O@9@I-4I-V35A< =%=EY;Q e>yii mGm"FYu; u>y5}S?5} }qA9?:Y@y}HE)}u;I};i}95Y^B@@EB*** querying acoustic contact ***oo- addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.508264 s, deltaX: -0.299999 m, approachRate: -0.590243 m/s, rangeRepo size: 4 n)-DNOT Ignoring new targets: 22.38 m.n)n5-6:n5-6:e ProNav: ac range: 22.381254 m, nav range: 22.297777 m, bearing: 329.379975 deg, approach rate: -0.568744 m/s, LOS rate: 0.039818 deg/s, cmd heading: 341.675979 deg, new cmd heading: 341.734820 deg. ne:mHeadingCmd: 5.964398 target range: 22.381254 and range: 22.20 m.nmYܾ@ninininqmqzmqmq"m})BJk"k kj@336@jw?6BK<ɝ>)QI)<=)% 8I%ظI%< %Yܾ@ !ԙchecking for new query: numPingsReceived=9, elapsed TxPingTime=3.221050*H!"H!H1H1H5"IH5UBH1H1H1I5< I5EICIC"I*Iu =2I:Iy4EF FFp0FfG \ < G1 BQ By N >VO,8,g<+ArDDAT read: Rx Time:20:05:03.1812 vTRx dataTimestamp_ set to:1756325105.640995zPDAT read: Bearing 169.6, 8.3 (Local) z~Local bearing/azimuth received: Bearing 169.6, 8.3 (Local) DAT read: Range 10 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5 UDAT read: 20:05:03.1812 LVL= 23696, 23633, 15394, 32755, AGC= 58, IDX= 506, 0.22, 0.940,-0.379, 1.434, 0.792, PHS= 0.236,-1.124, 0.639, RAW= 162.6, 3.1, CAL= 163.5, -5.8, ROT= 346.5, 5.8 eYgot valid direction response: 20:05:03.1812 LVL= 23696, 23633, 15394, 32755, AGC= 58, IDX= 506, 0.22, 0.940,-0.379, 1.434, 0.792, PHS= 0.236,-1.124, 0.639, RAW= 162.6, 3.1, CAL= 163.5, -5.8, ROT= 346.5, 5.8 eT#Rx 10: Read range and direction messages.`direction in FSK: [0.967392,-0.232250,-0.101056]Fpublishing direction and range infop9rC\C?T_Ϳ+hg޹yrfApr\rQ\ r"<)pIr:irq>r;ߏr#?r>5@rk]=iy}$B}"IjJrJzJ<JJ:J:J [4JJV<JV<J t;J t; r6@)r4QϽIr@ir4Q=ppr(!E?Y7d[}?5 ?)rU>?Ir^#air4Fqr4Q=ppchecking for new query: numPingsReceived=10, elapsed TxPingTime=3.544671IIe{6= eB=Q >y G"FY >5c?5 RA9Y@yHE))P5KI)=)âII; @ !E)EF FFr0Fchecking for new query: numPingsReceived=10, elapsed TxPingTime=3.724787fG Z <G G ? JK IKRK 9ZK bK jK *\oj[I:,"  <34# }i[PI=3-G) B1 BA NU > O,<+A٪-Z@9-W@-t- =Y-H1? ? $`#ӿ`U? @윎? ?@?-Z@-;ɫ)DDAT read: Rx Time:20:05:03.6811 -TRx dataTimestamp_ set to:1756325106.150691MPDAT read: Bearing 168.9, 8.9 (Local) U~Local bearing/azimuth received: Bearing 168.9, 8.9 (Local) y},B"IDAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.6 DAT read: 20:05:03.6811 LVL= 21920, 32337, 13522, 31555, AGC= 58, IDX= 505, 0.43, 1.842, 0.561, 2.353, 1.696, PHS= 0.234,-1.088, 0.654, RAW= 163.3, 2.6, CAL= 164.4, -6.3, ROT= 345.6, 6.3 Ygot valid direction response: 20:05:03.6811 LVL= 21920, 32337, 13522, 31555, AGC= 58, IDX= 505, 0.43, 1.842, 0.561, 2.353, 1.696, PHS= 0.234,-1.088, 0.654, RAW= 163.3, 2.6, CAL= 164.4, -6.3, ROT= 345.6, 6.3 T#Rx 11: Read range and direction messages.=`direction in FSK: [0.962734,-0.247188,-0.109734]EFpublishing direction and range info!9%Z>?`kڣϿ,=y%̬A!%U%Q~ %4)%C{I!i%o>%C%l'?%ih6@%9= %7@)%z0I%@i%z0=!!%דl>?hb?l.?)%iA?I%A7i%%z0=!!]checking for new query: numPingsReceived=11, elapsed TxPingTime=4.055626I Mb@Mb@Mb@i      q= ףp?y G"FY< >5y?5V  1A9f?:YR@yHE)j:I:im5Y`B:@Eo!o%줉<+Ao%Ao%Ao%Ƿ@%\p4@y>]%Z>?`kڣϿ,=o%o%z0=%/4I2@_%ҜR%1O;?gaS#o%d/o%IAo%F~?o%hƫ*o%}B2p%셳?:p!Bp%}B"p%QA*p%@˷@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.509696 s, deltaX: -0.199999 m, approachRate: -0.392389 m/s, rangeRepo size: 4 )E Added new target pos. range: 21.486015 m, bearing: 329.057981 deg, lat: 36.779955 deg, lon: -121.859008 deg, deltaT: 0.509696 s, deltaX: -0.198944 m, approachRate: -0.390319 m/s, posRepo size: 4 nIMDNOT Ignoring new targets: 21.49 m.nInQnQe ProNav: ac range: 21.486015 m, nav range: 21.414843 m, bearing: 329.081791 deg, approach rate: 0.000000 m/s, LOS rate: 0.039818 deg/s, cmd heading: 341.785644 deg, new cmd heading: 341.850276 deg. nHeadingCmd: 5.966413 target range: 21.486015 and range: 21.60 m.n@nnnnmzmm"m7BJk"k kj5@j ? 9B < ɝ >)  B9 IA )E =)E /IM VJ7IU &k0< U @ Q  checking for new query: numPingsReceived=11, elapsed TxPingTime=4.228846H H CH "IH `BH H H I  I E F  F F _0F Y ԁfGT <GB BiN ?)O, <+A DDAT read: Rx Time:20:05:04.1809 TRx dataTimestamp_ set to:1756325106.650099PDAT read: Bearing 168.3, 8.5 (Local) ~Local bearing/azimuth received: Bearing 168.3, 8.5 (Local) DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 MDAT read: 20:05:04.1809 LVL= 21584, 31441, 14194, 31571, AGC= 58, IDX= 503,-0.31,-1.475,-2.714,-0.953,-1.591, PHS= 0.204,-1.076, 0.636, RAW= 164.0, 3.1, CAL= 164.9, -5.8, ROT= 345.1, 5.8 UYgot valid direction response: 20:05:04.1809 LVL= 21584, 31441, 14194, 31571, AGC= 58, IDX= 503,-0.31,-1.475,-2.714,-0.953,-1.591, PHS= 0.204,-1.076, 0.636, RAW= 164.0, 3.1, CAL= 164.9, -5.8, ROT= 345.1, 5.8 ye3Be"IT#Rx 12: Read range and direction messages.`direction in FSK: [0.961429,-0.255816,-0.101056]Fpublishing direction and range info۱9۵?X}K_п+hg޹y۵fA۱jJrJzJ:JJ:J$-:JFA4JJ0<J0<J;J;I3Iʴ3%q< %.=-Q ->y)1۵PT۵z ܵr7)ܵS{Iܱiܵ`P>ܵ^ܵ"?ܵ07@ܵk]= ݵ18@)ݵ4QϽIݵ~@iݵ4Q=ݱݱ޵T0?.`6?oDij?)޵D?I޵8i]i޵%޵4Q=ޱޱMchecking for new query: numPingsReceived=12, elapsed TxPingTime=4.566084) UGU"FY] ]>am5e?m5e  eA9Y@yeHE)e+>)靕Oc;I)=)nIjA8ID,< @ aE]FY FYFYFY] checking for new query: numPingsReceived=12, elapsed TxPingTime=4.732015ԉ fG} 5<JK= lNRK= +9ZK9 bK= jK= *  "KM ?KM >GY Ba Bq N >ŏ0O,[<+A٪67u@96ar@6ND6=Y6Hh?@ڶ?(ҿZ?`ٲ?@d?-?67u@6;ɫ4yB8BB"IV@AV@AIbCIb3uv< ug=y G"FYK< >1m55?u55 5A9Yy @y5HE)5ܵܵJ "?ܵc6@ܵ A= ݵ7@)ݵqn9nU9e ProNav: ac range: 21.187622 m, nav range: 20.916122 m, bearing: 329.055067 deg, approach rate: -0.498137 m/s, LOS rate: 0.017111 deg/s, cmd heading: 341.906921 deg, new cmd heading: 341.928419 deg. ne;:mHeadingCmd: 5.967777 target range: 21.187622 and range: 21.30 m.nm@ninininqIݵ@iݵq=ݱݱ޵֣U??Ēy?)޵rC?I޵f惽i޵޵q=ޱޱchecking for new query: numPingsReceived=13, elapsed TxPingTime=5.048964mqzmm"mJk"k kj5@jH?:B<ɝ>)4I!)%=)%8}I-88I-qK< -@ԑ EIFI FIFM`0FIԹ = checking for new query: numPingsReceived=13, elapsed TxPingTime=5.236114:HE <2HE <HI HI HM "IHM jBHI HI HI IM < IM EfGm 7!<Gu wAGq GA BQ Ba Nm >G7O,<+A٪:{@9:!y@: n/::=Y:H`?`Ĭ?n@ҿ\?M?`??:{@:R;ɫ:wCyB7BB"IIMb@Mb@Mb@i/$?Onÿ~jt9 ?YyļrA@|@ O@9@I7I3 6=x:;Q >y G"FY|: >5׬?5= ߼A9C?:Y@yHE)<:I#:i5Y@oo<+AoAoAoʷ@Q,#4@݆Yvdo e{(?Tb^Ͽ{]Uooq=mdb1@nV%.uگ( G?[X;Ւo*ovAot?ov>,oB2p:pBp~B"pcA*p6ɷ@E addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.507479 s, deltaX: -0.299999 m, approachRate: -0.591156 m/s, rangeRepo size: 4 e Added new target pos. range: 20.889223 m, bearing: 329.073082 deg, lat: 36.779954 deg, lon: -121.859008 deg, deltaT: 0.507479 s, deltaX: -0.298399 m, approachRate: -0.588003 m/s, posRepo size: 4 niuDNOT Ignoring new targets: 20.89 m.nqnnԩ} ProNav: ac range: 20.889223 m, nav range: 20.673481 m, bearing: 329.067522 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 341.928422 deg, new cmd heading: 341.946868 deg. nHeadingCmd: 5.968099 target range: 20.889223 and range: 21.00 m.n@nnnnm!zm)m1"m5FBJkY"ka kajajeʡ?;Bҗ<鞱ɝ->)靽.I)/=)SI8IL< @ DDAT read: Rx Time:20:05:05.1804 TRx dataTimestamp_ set to:1756325107.658422PDAT read: Bearing 168.4, 8.4 (Local) ~Local bearing/azimuth received: Bearing 168.4, 8.4 (Local) DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 ]DAT read: 20:05:05.1804 LVL= 25680, 30385, 15826, 32755, AGC= 58, IDX= 498, 0.00,-0.974,-2.257,-0.441,-1.096, PHS= 0.210,-1.114, 0.652, RAW= 163.9, 3.2, CAL= 164.8, -5.7, ROT= 345.2, 5.7 mYgot valid direction response: 20:05:05.1804 LVL= 25680, 30385, 15826, 32755, AGC= 58, IDX= 498, 0.00,-0.974,-2.257,-0.441,-1.096, PHS= 0.210,-1.114, 0.652, RAW= 163.9, 3.2, CAL= 164.8, -5.7, ROT= 345.2, 5.7 EuFq FqFuo0FqT#Rx 14: Read range and direction messages.`direction in FSK: [0.962043,-0.254183,-0.099320]Fpublishing direction and range infoۉ9ۍh?HόDпhܸmyۍ̤AۉۍPdۍv ܍=)܉I܉i܍= W>܍܍y&?܍7@܍d= ݍX8@)ݍ%˽Iݍ@iݍ%=݉݉ލY? )?4@a ÉG% {A) 9 zk=O,oI<+A2P2{A92Brchecking for new query: numPingsReceived=14, elapsed TxPingTime=5.740058yBB"II>I3= N= =C=EQ E>yII MGM"FYM M>Y]5]ν?e5] ]A9aYae@y]HE)]W:I]:i]Ȏ5Ym[B@Eoo#<+AoAoAoA@mڪ3@1=0Hh?HόDпhܸmo Ao%=k?Hh1@0%r7M/?FCݿr͉Rso(oBAogx?o{,o~B2pF~?:p{,Bp~B"pAA*p@% addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.500844 s, deltaX: -0.400000 m, approachRate: -0.798651 m/s, rangeRepo size: 4 ] Added new target pos. range: 20.491335 m, bearing: 328.823043 deg, lat: 36.779954 deg, lon: -121.859009 deg, deltaT: 0.500844 s, deltaX: -0.397888 m, approachRate: -0.794435 m/s, posRepo size: 4 nYeDNOT Ignoring new targets: 20.49 m.nanana ProNav: ac range: 20.491335 m, nav range: 20.406828 m, bearing: 328.926650 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 341.946864 deg, new cmd heading: 341.969003 deg. nHeadingCmd: 5.968485 target range: 20.491335 and range: 20.60 m.n@nnnnmzmm"mJk"k kj4@j}?me DAT read: 20:05:05.6803 LVL= 22288, 32225, 13250, 29763, AGC= 57, IDX= 497, 0.13, 0.945,-0.332, 1.491, 0.817, PHS= 0.216,-1.102, 0.671, RAW= 164.3, 2.7, CAL= 165.3, -6.1, ROT= 344.7, 6.1 m Ygot valid direction response: 20:05:05.6803 LVL= 22288, 32225, 13250, 29763, AGC= 57, IDX= 497, 0.13, 0.945,-0.332, 1.491, 0.817, PHS= 0.216,-1.102, 0.671, RAW= 164.3, 2.7, CAL= 165.3, -6.1, ROT= 344.7, 6.1 u T#Rx 15: Read range and direction messages. `direction in FSK: [0.959096,-0.262379,-0.106264] Fpublishing direction and range info9r$7?пO4y3AW} 3)CtI9i/]>V+?^7@A= R8@)^ ڽIM@i^ =l-I$?5s%HS? J_?)E?ICiڸ^ = checking for new query: numPingsReceived=15, elapsed TxPingTime=6.098642SDO,%=+A y~JB~"II-Mb@Mb@Mb@i)))))-/$?K7 rh9)Y-I y-C-A-@-@ ))9-@e4y!! %G-"FY) ->1=55kϭ?=55 5A9El?E:YE' E@y5HE)5:I5:i55iYqu@qoo =+AoVAoVAo f@I\v3@|LNd5@r$7?пO4H>HCH"IHtBHHHI(< IEoڸo^ =_#1@90%ymR-t" ?!࿏]=o(oAo&s?o:lv0oI~B2pgx?:pv>,Bp~B"pܠA*p)@checking for new query: numPingsReceived=15, elapsed TxPingTime=6.247997- addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.509594 s, deltaX: -0.200001 m, approachRate: -0.392471 m/s, rangeRepo size: 4 = Added new target pos. range: 20.292389 m, bearing: 328.373969 deg, lat: 36.779953 deg, lon: -121.859009 deg, deltaT: 0.509594 s, deltaX: -0.198946 m, approachRate: -0.390401 m/s, posRepo size: 4 nAEDNOT Ignoring new targets: 20.29 m.nanini ProNav: ac range: 20.292389 m, nav range: 20.107622 m, bearing: 328.794393 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 341.968994 deg, new cmd heading: 341.991233 deg. nHeadingCmd: 5.968873 target range: 20.292389 and range: 20.40 m.n@nnnnmzmm"m_BJk"k kj`ff4@j~?=B\<ɝ?)I)A=)I:9IdA< @ ԙEF FF0F=PExceeded connect timeout, disconnecting.  DDAT read: Rx Time:20:05:06.1800  TRx dataTimestamp_ set to:1756325108.671468 PDAT read: Bearing 168.1, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 168.1, 8.8 (Local) fG J<G ?G >E DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4  DAT read: 20:05:06.1800 LVL= 23184, 32753, 13794, 29363, AGC= 57, IDX= 510, 0.28, 0.413,-0.871, 0.957, 0.284, PHS= 0.217,-1.107, 0.670, RAW= 164.2, 2.8, CAL= 165.1, -6.1, ROT= 344.9, 6.1 G B B N >3JO,rk-=+AZYgot valid direction response: 20:05:06.1800 LVL= 23184, 32753, 13794, 29363, AGC= 57, IDX= 510, 0.28, 0.413,-0.871, 0.957, 0.284, PHS= 0.217,-1.107, 0.670, RAW= 164.2, 2.8, CAL= 165.1, -6.1, ROT= 344.9, 6.1 ZT#Rx 16: Read range and direction messages.^`direction in FSK: [0.960006,-0.259030,-0.106264]^Fpublishing direction and range infoY9]:˞^?]vпO4y]AY]Z] ]5)]rIY٪@9@i<=YHʝ? l?NLҿf?r|?(Ծ?.?@Yy;ɫzCy-VB-"II=AI=k3U= U^=]#'yYa eGe"Fi]?5^>]-]+?]i7@]+H= ]!k8@)YI]@iYYY]ђ?bVH?ðTި?)]{E?I]@ Gi]ZYYY}checking for new query: numPingsReceived=16, elapsed TxPingTime=6.589101Y}{L< }>5ޭ?5 A9Y@yHE):I:iO5Y^B|@EoYo]U*=+Ao]'Ao]'Ao]⦷@]GK3@FS]:˞^?]vпO4o]ZoY],0@0-,k$N]y%?ATl71So]]#o]Ao]1l?o]S<*o]T~B2p]%kt?:pYBpY"p]՞A*p]@M addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503452 s, deltaX: -0.400000 m, approachRate: -0.794514 m/s, rangeRepo size: 4  Added new target pos. range: 19.894472 m, bearing: 328.827441 deg, lat: 36.779953 deg, lon: -121.859009 deg, deltaT: 0.503452 s, deltaX: -0.397917 m, approachRate: -0.790377 m/s, posRepo size: 4 nDNOT Ignoring new targets: 19.89 m.nnn ProNav: ac range: 19.894472 m, nav range: 19.854008 m, bearing: 328.714538 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 341.991233 deg, new cmd heading: 342.010139 deg. nHeadingCmd: 5.969203 target range: 19.894472 and range: 20.00 m.n@nnnnmzmm"mJk"k kj4@j?!U>BU_e=Qɝ ?)靽I)a9=)P I[^59Ih)< @ EuFq FyF}`5FyIuchecking for new query: numPingsReceived=16, elapsed TxPingTime=6.752848y fG xI<GQ Ba Bq N >JK RK ŷ9ZK bK jK 4:1&   QO,6:G=+A,i DDAT read: Rx Time:20:05:06.6801 TRx dataTimestamp_ set to:1756325109.180256UPDAT read: Bearing 168.0, 8.4 (Local) ]~Local bearing/azimuth received: Bearing 168.0, 8.4 (Local) ٪Ԩ@9@ހŻD=YH?7`?J⤿@lҿ@Ih?/x???Ԩ@;ɫwCyYB"I%DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5 ԁjJrJzJJJJ*:JJDAT read: 20:05:06.6801 LVL= 23472, 30449, 14322, 31283, AGC= 57, IDX= 509, 0.47, 1.378, 0.099, 1.929, 1.268, PHS= 0.198,-1.122, 0.659, RAW= 164.4, 3.4, CAL= 165.2, -5.6, ROT= 344.8, 5.6  Ygot valid direction response: 20:05:06.6801 LVL= 23472, 30449, 14322, 31283, AGC= 57, IDX= 509, 0.47, 1.378, 0.099, 1.929, 1.268, PHS= 0.198,-1.122, 0.659, RAW= 164.4, 3.4, CAL= 165.2, -5.6, ROT= 344.8, 5.6  T#Rx 17: Read range and direction messages.`direction in FSK: [0.960411,-0.260938,-0.097583]Fpublishing direction and range info9?Q4пA_1y̠A[v 7)3zIiJ>9(?7@s= 8@)+ȽI@i+=?]?^?)F?Ijoiԇ+=Uchecking for new query: numPingsReceived=17, elapsed TxPingTime=7.086310IMb@Mb@Mb@i rh?L7A`~jt9 ?Y+yA|@ 9@9@ AA DAIIT3$< =:Q >y G"FY": >5?5! oA9?:Y@@yHE)":I:i5Y `B {@ ooPK=+AoAoAo@933@pcV|T17?Q4пA_1oԇo+=+)Ms0@6f$amN:l$?vC}f&do$oAo ډ?oϤ0o~B2pgx?:pBp~B"pA*pĞ@ԩ addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.508788 s, deltaX: 0.100000 m, approachRate: 0.196546 m/s, rangeRepo size: 4 M Added new target pos. range: 19.993946 m, bearing: 328.720742 deg, lat: 36.779953 deg, lon: -121.859009 deg, deltaT: 0.508788 s, deltaX: 0.099474 m, approachRate: 0.195512 m/s, posRepo size: 4 nIUDNOT Ignoring new targets: 19.99 m.nQnYnY ProNav: ac range: 19.993946 m, nav range: 19.594349 m, bearing: 328.770656 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 342.010139 deg, new cmd heading: 342.038946 deg. nHeadingCmd: 5.969706 target range: 19.993946 and range: 20.10 m.n@nnnnmzmm"mhBJk"k kj4@j?]?B]<鞹ɝ ?)TI)=)jIr[c9I|< @ H% >H! H% "IH% ~BH! H! H! I% &< I% E checking for new query: numPingsReceived=17, elapsed TxPingTime=7.256049 E F  F F 0F   nManaging dock network, ignoring radio surface power offfGh<GGGBBN?YO,Gh=+A8}DDAT read: Rx Time:20:05:07.1798 TRx dataTimestamp_ set to:1756325109.678120PDAT read: Bearing 167.0, 9.1 (Local) ~Local bearing/azimuth received: Bearing 167.0, 9.1 (Local) DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 DAT read: 20:05:07.1798 LVL= 20720, 32753, 13810, 30579, AGC= 56, IDX= 507,-0.33,-0.910,-2.122,-0.345,-1.013, PHS= 0.191,-1.062, 0.664, RAW= 165.4, 2.7, CAL= 166.3, -6.1, ROT= 343.7, 6.1 yaB"IYgot valid direction response: 20:05:07.1798 LVL= 20720, 32753, 13810, 30579, AGC= 56, IDX= 507,-0.33,-0.910,-2.122,-0.345,-1.013, PHS= 0.191,-1.062, 0.664, RAW= 165.4, 2.7, CAL= 166.3, -6.1, ROT= 343.7, 6.1  T#Rx 18: Read range and direction messages.`direction in FSK: [0.954371,-0.279077,-0.106264]Fpublishing direction and range infoہ9ۅ4?ougѿO4yۅAہۅPۅ ܅5)܅swI܅8i܅C>܅܅)?܅8@܅A= ݅F9@)݅^ ڽI݅S@I-7I-3=p%= EI=i݅^ =݁݁ޅfs?ES;?.)s:?)ޅJ?IޅAiޅzޅ^ =ށށUchecking for new query: numPingsReceived=18, elapsed TxPingTime=7.536503Q >y G"FY >5?5$ TA9Y@yHE)Sfzz`O,=+A٪>Ҹ@9>Ͽ@>>ʓ=Y>H$?@?>ҿ@t?``c?`? ?>Ҹ@>QS;ɫ>vCtyzhB"IJK=LRK=@9ZK9bK=jK=I+In3}= G=y G"FY$N< >5?5' 8A9Y@yHE)u;I;i>5YcB@EuB*** querying acoustic contact ***oqoqnDNOT Ignoring new targets: 19.60 m.nn出n出 ProNav: ac range: 19.596054 m, nav range: 19.151440 m, bearing: 328.296807 deg, approach rate: -0.585854 m/s, LOS rate: -0.059405 deg/s, cmd heading: 342.060327 deg, new cmd heading: 341.990450 deg. n# %HeadingCmd: 5.968859 target range: 19.596054 and range: 19.70 m.n%@n!n!n!n!mizmqmyDDAT read: Rx Time:20:05:07.6797 TRx dataTimestamp_ set to:1756325110.189076 PDAT read: Bearing 167.1, 8.5 (Local) ~Local bearing/azimuth received: Bearing 167.1, 8.5 (Local) "mJkI"kQ kQjYj3?DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.5 jJmrJmzJm;JiJm:Jm7/:Jm(N4JiDAT read: 20:05:07.6797 LVL= 21936, 32753, 14482, 30115, AGC= 57, IDX= 506,-0.20, 0.401,-0.843, 0.976, 0.311, PHS= 0.178,-1.107, 0.662, RAW= 165.3, 3.4, CAL= 166.0, -5.5, ROT= 344.0, 5.5  Ygot valid direction response: 20:05:07.6797 LVL= 21936, 32753, 14482, 30115, AGC= 57, IDX= 506,-0.20, 0.401,-0.843, 0.976, 0.311, PHS= 0.178,-1.107, 0.662, RAW= 165.3, 3.4, CAL= 166.0, -5.5, ROT= 344.0, 5.5  T#Rx 19: Read range and direction messages.1=BB=<9ɝE?)AMgIII)M=`direction in FSK: [0.956836,-0.274369,-0.095846]UFpublishing direction and range info)U^I][9I]T< ]@9Tbf?Я@ѿaVXyAU 8)uI9iE6>-x)?R8@s= }l9@) ĽI7 @i =r? ?"_w? )J?Isi: =checking for new query: numPingsReceived=19, elapsed TxPingTime=8.123842EM FI  FI FU :1FQ a H >H H #IH BH H H I /< I EII"I*I2I:I! 4= checking for new query: numPingsReceived=19, elapsed TxPingTime=8.263943fGu i|<ԙ G1B9BYNm>gO,5A=+A٪Fܸ@9Fڿ@FF=YFH`? ?P*ҿw?@# b`?E?{?Fܸ@F;ɫFwCybgBb"IQIMb@Mb@Mb@i(\?q= ףp~jt9?Yy@@ 9(@99ImIm[3 =X:Q >y G"FY; >5,?5H+ A9-?:Y9@yHE);I;iw5Y@oo=+Ao-Ao-Ao_U@3#WR2@̭kITbf?Я@ѿaVXo:o =/?]0@PI?$bG"?: 僳Mj o!oAoL?o+Ϗ5o B2p:pϤ0Bp"pA*p'P@U addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.510956 s, deltaX: -0.200001 m, approachRate: -0.391425 m/s, rangeRepo size: 4  Added new target pos. range: 19.397102 m, bearing: 328.257339 deg, lat: 36.779953 deg, lon: -121.859010 deg, deltaT: 0.510956 s, deltaX: -0.198952 m, approachRate: -0.389372 m/s, posRepo size: 4 nDNOT Ignoring new targets: 19.40 m.nnnE ProNav: ac range: 19.397102 m, nav range: 18.867706 m, bearing: 328.220836 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.990440 deg, new cmd heading: 341.902881 deg. nAMHeadingCmd: 5.967331 target range: 19.397102 and range: 19.50 m.nU`@nQnQnQnQDDAT read: Rx Time:20:05:08.1794 TRx dataTimestamp_ set to:1756325110.685026PDAT read: Bearing 166.9, 8.5 (Local) ~Local bearing/azimuth received: Bearing 166.9, 8.5 (Local) DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.5 DAT read: 20:05:08.1794 LVL= 24048, 32017, 15010, 30963, AGC= 57, IDX= 503,-0.10,-0.764,-2.002,-0.182,-0.849, PHS= 0.173,-1.106, 0.664, RAW= 165.6, 3.4, CAL= 166.3, -5.5, ROT= 343.7, 5.5 Ygot valid direction response: 20:05:08.1794 LVL= 24048, 32017, 15010, 30963, AGC= 57, IDX= 503,-0.10,-0.764,-2.002,-0.182,-0.849, PHS= 0.173,-1.106, 0.664, RAW= 165.6, 3.4, CAL= 166.3, -5.5, ROT= 343.7, 5.5 T#Rx 20: Read range and direction messages.`direction in FSK: [0.955387,-0.279374,-0.095846]Fpublishing direction and range infomۉ9ۍw!㆒?r܍h܍)?܍8@܉ ݍF9@)݉IݍS@i݉݉݉ލKZ?r|r??8?)ލK?Iލuiލzމމމchecking for new query: numPingsReceived=20, elapsed TxPingTime=8.534991zm1m9"m=BJk9"k9 kAjE3@jEO?DBxD<鞱ɝ?)靽컩I)T6=)IE9IG< `@ EmFi FiFmu1Fq 1 fG ⸲<G ?G E checking for new query: numPingsReceived=20, elapsed TxPingTime=8.769538GQ BY Bq N} >mnO,{=+A٪^n@9^@^>^~=Y^H?? ҿb{?`Q?]?)?^n@^;ɫ^yCyjvBj"IIr9Ir3|= g=H2;Q >y! %G%"FY%3; %>IU5M8;?U5M- MA9YY]w]@yMHE)M:IM:iM5YfB@Eoow׫=+AoAoAo"6@Pf0&2@r;H;"w!㆒?rܝ팿ܝ.?ܝ9@ܝPwV= ݝw9@fG y<)ݝBҽIݝؿ@iݝB=ݙݙޝDvR?,~?7qj?G) B9 BI NU >q )ޝ)L?IޝuoSiޝ rޝB=ޙޙ} checking for new query: numPingsReceived=21, elapsed TxPingTime=9.152997MuO,%<=+AyyB"I)%4= %=H=>H9H=#IH=BH9H9H9I=:< I=EQIMb@Mb@Mb@i<<checking for new query: numPingsReceived=21, elapsed TxPingTime=9.272302uV?y&1y&19r?Y`y`eA@@ "@9@I2I?3\< 0=Q >y   G "FY- 5>9E5=N?E5=0 =A9My ?:Y\@y=HE)=zܕ ܕ sh1?ܕ L39@ܕ d= ݑ )ݕ %˽Iݑ iݕ %=ݑ ݑ ޕ L~E?f?,MeQ?)ޕ oL?Iޕ ƨbiޑ ޕ %=ޑ ޑ  checking for new query: numPingsReceived=22, elapsed TxPingTime=9.572031G9 BA Ba Nm >a{O,V=+Ay}{B}"I@AI%I)3; _=Q >y G"FY >5\?5\3 һA9Y @yHE)$:I:i5YbBq@5Eooy]=+Ao8Ao8Ao@؞(1@ANY>`hsЇ?@Mҿhܸmoo%=bhm.@T%$gh#uNkj?lN[4oFo+wAolr?oI2oOB2px?ԑ:pBp B"pA*p@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.498811 s, deltaX: -0.299999 m, approachRate: -0.601429 m/s, rangeRepo size: 4  Added new target pos. range: 18.402403 m, bearing: 327.862631 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 0.498811 s, deltaX: -0.298418 m, approachRate: -0.598259 m/s, posRepo size: 4 nDNOT Ignoring new targets: 18.40 m.nn n = ProNav: ac range: 18.402403 m, nav range: 18.334581 m, bearing: 327.827386 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.752121 deg, new cmd heading: 341.688854 deg. n9EHeadingCmd: 5.963595 target range: 18.402403 and range: 18.50 m.nEվ@nAnAnAnImIzmImq"mqJkq"kq kqj}2@j} e?HBz=ɝP?)`I)=)FI-˨:I-< -վ@ 1checking for new query: numPingsReceived=22, elapsed TxPingTime=9.776028EF FF_0FfG L<JK KG B RK 9ZK bK jK K wA K  B N% >^O,9 >+A٪%2@9%\ @%:%Q=Y%H߼?@?@eѿ y?`X!@W8?@?%2@%;ɫ%vCEDDAT read: Rx Time:20:05:09.6789 MTRx dataTimestamp_ set to:1756325112.196916UPDAT read: Bearing 166.6, 8.9 (Local) U~Local bearing/azimuth received: Bearing 166.6, 8.9 (Local) DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 y=sB="II}4I}V3DAT read: 20:05:09.6789 LVL= 20528, 32337, 13330, 30803, AGC= 56, IDX= 497, 0.18, 0.791,-0.466, 1.389, 0.694, PHS= 0.185,-1.113, 0.691, RAW= 165.8, 3.0, CAL= 166.6, -5.9, ROT= 343.4, 5.9 )Ygot valid direction response: 20:05:09.6789 LVL= 20528, 32337, 13330, 30803, AGC= 56, IDX= 497, 0.18, 0.791,-0.466, 1.389, 0.694, PHS= 0.185,-1.113, 0.691, RAW= 165.8, 3.0, CAL= 166.6, -5.9, ROT= 343.4, 5.9 . 9=b;Q >y GjJrJzJ=JJ:J":Jg4JT#Rx 23: Read range and direction messages.-"FY5< =>9`direction in FSK: [0.953246,-0.284175,-0.102793]Fpublishing direction and range infoI9M?el/ҿzBPyMfAIM0PMQ~ M4)MSxIIiMp=>MvM`0?IMPwV= M:@)MBҽIMnʿ@iMB=IIM"I? ?C*?)MOL?IMTiMVMB=IIE5=!p?5=6 =A9Y@y=HE)=+AoMAoMAoMb5@M#Z5Z1@}Ҋ!ZM?el/ҿzBPoMVoMB=Mc@I.@7#{ξM6ݻ7?? AxoMoMtAoM*6y?oM{1oM~B2pM*6y?:pM74BpI"pMA*pM@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503711 s, deltaX: -0.200001 m, approachRate: -0.397055 m/s, rangeRepo size: 4 9e Added new target pos. range: 18.203459 m, bearing: 328.033596 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 0.503711 s, deltaX: -0.198944 m, approachRate: -0.394957 m/s, posRepo size: 4 naeDNOT Ignoring new targets: 18.20 m.nanini ProNav: ac range: 18.203459 m, nav range: 18.080015 m, bearing: 327.789615 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.688847 deg, new cmd heading: 341.598567 deg. nHeadingCmd: 5.962020 target range: 18.203459 and range: 18.30 m.nȾ@nnnnmzm!m!"m!Jk!"k) k)j-L2@j-E?JBb~<ɝ?)I)L=)oH=>H9H=(#IH=BH9H9H9I=C< I=%EIMes:IM = mȾ@ checking for new query: numPingsReceived=23, elapsed TxPingTime=10.279948i E% F!  F) F- 4F) Ա fGMk<G BB1NE?`O,)>+A<eDDAT read: Rx Time:20:05:10.1787 eTRx dataTimestamp_ set to:1756325112.701050uPDAT read: Bearing 166.1, 9.1 (Local) u~Local bearing/azimuth received: Bearing 166.1, 9.1 (Local) DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.5 DAT read: 20:05:10.1787 LVL= 20864, 31777, 12786, 29667, AGC= 55, IDX= 510, 0.31,-1.311,-2.538,-0.705,-1.402, PHS= 0.179,-1.089, 0.694, RAW= 166.3, 2.8, CAL= 167.1, -6.0, ROT= 342.9, 6.0 Ygot valid direction response: 20:05:10.1787 LVL= 20864, 31777, 12786, 29667, AGC= 55, IDX= 510, 0.31,-1.311,-2.538,-0.705,-1.402, PHS= 0.179,-1.089, 0.694, RAW= 166.3, 2.8, CAL= 167.1, -6.0, ROT= 342.9, 6.0 T#Rx 24: Read range and direction messages.`direction in FSK: [0.950557,-0.292429,-0.104528]Fpublishing direction and range infoa9e'j?.*ҿ4ޮ`ºyeAaeQe!| e1)esIe7ieK7>eZde1?eF9@e+H= e :@)ePwֽIe@iePw=aaek{|?5Yo?4?)e{N?IeDieΘePw=aachecking for new query: numPingsReceived=24, elapsed TxPingTime=10.548697٪@9C@;g(=YH p? ?URѿ`݈?`/p3c@2?@?@Q;ɫzCy ~B "I=a=ԩIMb@Mb@Mb@iV-?y&1/$9 ?YyA O@9<I7I3GA 9A5 = 5=5:Q 5>y99 =G="FYE+; E>I5M~?5M: MA9?:Y@yMHE)M*+Aoe=Aoe=Aoe9@e3D1@Ԟ*e'j?.*ҿ4ޮ`ºoeΘoePw=eU-@oi7"# e=v?Dct࿤ joeoeoAoeCw?oe0K34oe~B2pex?:paBpe~B"peA*pe5@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504134 s, deltaX: -0.299999 m, approachRate: -0.595078 m/s, rangeRepo size: 4  checking for new query: numPingsReceived=24, elapsed TxPingTime=10.784630%  Added new target pos. range: 17.905025 m, bearing: 327.633810 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 0.504134 s, deltaX: -0.298433 m, approachRate: -0.591972 m/s, posRepo size: 4 n! - DNOT Ignoring new targets: 17.91 m.n) n) n1 =  ProNav: ac range: 17.905025 m, nav range: 17.737513 m, bearing: 327.682672 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.598579 deg, new cmd heading: 341.492994 deg. na m HeadingCmd: 5.960177 target range: 17.905025 and range: 18.00 m.nm Ź@ni ni nq nq mq zmq my "m} BJky "ky  k j 2@j ? MB K<  ɝ ?)I U Q IQ )U <)] ZaIe 1:Ie =(= e Ź@ a E F  F F 1F 1 JKRIRK}9ZKbKjKfG5=QDDAT read: Rx Time:20:05:10.6786 TRx dataTimestamp_ set to:1756325113.212154GBPDAT read: Bearing 166.0, 9.1 (Local) ~Local bearing/azimuth received: Bearing 166.0, 9.1 (Local) BNU?O, ~P>+AI@AI@A6DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5 jDAT read: 20:05:10.6786 LVL= 20256, 32753, 13922, 30323, AGC= 56, IDX= 509, 0.48,-0.437,-1.667, 0.175,-0.524, PHS= 0.175,-1.095, 0.697, RAW= 166.4, 2.8, CAL= 167.2, -6.0, ROT= 342.8, 6.0 nYgot valid direction response: 20:05:10.6786 LVL= 20256, 32753, 13922, 30323, AGC= 56, IDX= 509, 0.48,-0.437,-1.667, 0.175,-0.524, PHS= 0.175,-1.095, 0.697, RAW= 166.4, 2.8, CAL= 167.2, -6.0, ROT= 342.8, 6.0 nT#Rx 25: Read range and direction messages.r`direction in FSK: [0.950045,-0.294088,-0.104528])rFpublishing direction and range info!9%$f?&'JXҿ4ޮ`ºy%3A!% O% %b6)%svI%8i%333>%(%n2?%9@! %:@)!I%t@i!!!%B?|**?U) A?)%O?I%Y"Ji%j!!!checking for new query: numPingsReceived=25, elapsed TxPingTime=11.151772٪$@9!@̄;=YH ?๊?@&`Šѿ`܎?@?Np'&??$@q;ɫyyB"IIEMb@Mb@Mb@iAAAAAEoʡ?q= ףpZd;O9E ?YEyEjAE+@E@ E9@A9E(@IIT3 #=Jf;Q >y G"FY; >5??=5= eA9E7?E:YM>M@yHE)b +Ao%qAo%qAo%@%3'0@1g!l%$f?&'JXҿ4ޮ`ºo%jo!%U܎*I-@6p"X{]:b%ܼ? ̛EQ¿o%Co% nAo%񃳊?o%F6o%~B2p!:p!Bp%~B"p%A*p%&@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.511104 s, deltaX: -0.100000 m, approachRate: -0.195656 m/s, rangeRepo size: 4 H9H9H=.#IH=BH9H9H9I=5< I=EM Added new target pos. range: 17.805553 m, bearing: 327.565887 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 0.511104 s, deltaX: -0.099472 m, approachRate: -0.194622 m/s, posRepo size: 4 ni}DNOT Ignoring new targets: 17.81 m.nynyny ProNav: ac range: 17.805553 m, nav range: 17.461021 m, bearing: 327.605319 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.492984 deg, new cmd heading: 341.408170 deg. nHeadingCmd: 5.958697 target range: 17.805553 and range: 17.90 m.n@nnnnmzmm"mBJk"k kj`f1@j?checking for new query: numPingsReceived=25, elapsed TxPingTime=11.287996=OB=T@=9ɝE?)AEhAIA)E<)T#I4H:I(= @ ԁE=F9 FAFE0FAԹ fGe L=GA BI BY Nm >zO,l>+A.DDAT read: Rx Time:20:05:11.1783 2TRx dataTimestamp_ set to:1756325113.7090006PDAT read: Bearing 165.9, 8.5 (Local) 8:~Local bearing/azimuth received: Bearing 165.9, 8.5 (Local) BDAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5 ZDAT read: 20:05:11.1783 LVL= 25248, 32753, 18354, 32755, AGC= 57, IDX= 507,-0.35, 3.074, 1.850,-2.590, 3.011, PHS= 0.151,-1.114, 0.680, RAW= 166.7, 3.6, CAL= 167.2, -5.4, ROT= 342.8, 5.4 ^Ygot valid direction response: 20:05:11.1783 LVL= 25248, 32753, 18354, 32755, AGC= 57, IDX= 507,-0.35, 3.074, 1.850,-2.590, 3.011, PHS= 0.151,-1.114, 0.680, RAW= 166.7, 3.6, CAL= 167.2, -5.4, ROT= 342.8, 5.4 ^T#Rx 26: Read range and direction messages.b`direction in FSK: [0.951039,-0.294396,-0.094108]fFpublishing direction and range info092dn?4Gbҿ|ӄ{y23A02b0 2G)2I29i2>22{.?24:@2= 0)2I0i2=002 ?꺼;?W?)2P?I2],i02=00rchecking for new query: numPingsReceived=26, elapsed TxPingTime=11.557786JJd4Jd/jJ-rJ-zJ-?J)J-:J-:J-ـ4J)J-<EJ-<EJ- t;MJ- t;MyMqBU"II]"I]q3 E=Q >y G"FY >%5W?-5@ EA9)Y)-@yIE)w:I:iJ5Yyx@ԙo0o2B`m>+Ao2wAo2wAo2@2'u0@ea$2dn?4Gbҿ|ӄ{o0o2=2C,@()Rxp"Zk2Xr? Ts_o2o2gAo2zr?o2193o2B2p2Cw?:p2193Bp2~B"p2A*p2u@u addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.496846 s, deltaX: -0.500000 m, approachRate: -1.006348 m/s, rangeRepo size: 4  Added new target pos. range: 17.308187 m, bearing: 327.500126 deg, lat: 36.779953 deg, lon: -121.859011 deg, deltaT: 0.496846 s, deltaX: -0.497366 m, approachRate: -1.001047 m/s, posRepo size: 4 nDNOT Ignoring new targets: 17.31 m.nnn ProNav: ac range: 17.308187 m, nav range: 17.203321 m, bearing: 327.593484 deg, approach rate: 0.000000 m/s, LOS rate: -0.059405 deg/s, cmd heading: 341.408180 deg, new cmd heading: 341.333702 deg. nHeadingCmd: 5.957397 target range: 17.308187 and range: 17.40 m.n@nnnnmzmm"mJk"k kj`ff1@j "?QB=鞙ɝ?)靝fI)<)ͦIJ\:I@= @ EF FFp5Fchecking for new query: numPingsReceived=26, elapsed TxPingTime=11.793279 fG5 2=G B9 Ba N >a֡O,괇>+AJKZRKZ9ZKXbKZjKZ٪-%@9->"@-;-W=Y-H ??ѿ ?`֊ Vwy    G"FY88 >%5鿮?%5iC &A9!Y-Y-@yIE)%CO-? :@s= R;@) ĽI'-@i =S!?6%d?H?)`R?IWui:+Jk9"k9 k9jEL1@jMͻ? =]checking for new query: numPingsReceived=27, elapsed TxPingTime=12.159908ԙTBb=鞩ɝG?)靭EI)|<)8It:I)= @ ExAExAEF FFN3FH >H H H H H H I 7< I E  checking for new query: numPingsReceived=27, elapsed TxPingTime=12.296022fG 0= G B B NU>A O,>+AԱ٪!@9 @;-;=YH,?? 2ѿK? ܺ:zy??!@;ɫy5fB5"IIMb@Mb@Mb@in?V-9V?YyA@@ "@93@DDAT read: Rx Time:20:05:12.1779 TRx dataTimestamp_ set to:1756325114.716960PDAT read: Bearing 165.7, 8.8 (Local) ~Local bearing/azimuth received: Bearing 165.7, 8.8 (Local) DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5 %DAT read: 20:05:12.1779 LVL= 21408, 32753, 12834, 32755, AGC= 56, IDX= 503,-0.09, 2.734, 1.535,-2.934, 2.668, PHS= 0.154,-1.086, 0.679, RAW= 166.8, 3.3, CAL= 167.5, -5.6, ROT= 342.5, 5.6 -Ygot valid direction response: 20:05:12.1779 LVL= 21408, 32753, 12834, 32755, AGC= 56, IDX= 503,-0.09, 2.734, 1.535,-2.934, 2.668, PHS= 0.154,-1.086, 0.679, RAW= 166.8, 3.3, CAL= 167.5, -5.6, ROT= 342.5, 5.6 -T#Rx 28: Read range and direction messages.5`direction in FSK: [0.949165,-0.299271,-0.097583]5Fpublishing direction and range info9Qȏ_?G@'ӿA_1yfAS "2)I8i-> -?AQ:@k= k;@)+ȽII@i+=M^ʥ?VŏM?5_ٛ ?)CQ?I%iia+=Uchecking for new query: numPingsReceived=28, elapsed TxPingTime=12.565415I}+I}n3  =:Q >y G"FY3  >=5׮?=5rG A9=?E:YEE@y IE)d;I;i5YMqBM@MEjJrJzJ;JJ|:J!:J(N4JJ}<J}<Jiy;Jjy;oo>+AoAoAo@\I@/@?=rO*Qȏ_?G@'ӿA_1oao+=l+@\A!$}9 _v٢?V=202Noo^Ao&l?o43oB2p:p43Bp"pZA*p`ڶ@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 1.007960 s, deltaX: -0.600000 m, approachRate: -0.595262 m/s, rangeRepo size: 4 5 Added new target pos. range: 16.711332 m, bearing: 327.150067 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 1.007960 s, deltaX: -0.596855 m, approachRate: -0.592142 m/s, posRepo size: 4 n9=DNOT Ignoring new targets: 16.71 m.n9nEnA} ProNav: ac range: 16.711332 m, nav range: 16.669292 m, bearing: 327.397088 deg, approach rate: 0.000000 m/s, LOS rate: -0.151526 deg/s, cmd heading: 341.137650 deg, new cmd heading: 340.901778 deg. nyHeadingCmd: 5.949859 target range: 16.711332 and range: 16.80 m.n>e@nnnnmzmm"mBJk"k kj0@jn?WB.<鞱ɝ?)靵s"I)(<)©I&:I6= >e@  E F  F F 0F 1 } checking for new query: numPingsReceived=28, elapsed TxPingTime=12.799984fG [+=qGBBN?O,3>+A٪@9@@9<N=YH ?U?@̕@ѿ@/?rހ?L?@;ɫzCJKRK9ZKbKjK$XaG0  tE2"K>K?yaB"IԱI&I3¼  ?=M;Q M>yQQ UGU"FY]l ]>a5eꮊ?5eJ eȺA9Y@yeIE)e%uhu{.?u:@u5z= u:@)u ĽIut@iu =)u<^I}f:I;= I@ EV>EqquPP٭?c6?̮?)u@IP?Iuviuju =qqchecking for new query: numPingsReceived=29, elapsed TxPingTime=13.197720 E% F!  F! F% y0F! H H H "#IH BH H H I .< I EII"I*I2I:I3 checking for new query: numPingsReceived=29, elapsed TxPingTime=13.3041271 fG 7=G iByBN>?O,>+A٪=@9=@=<=h=Y=H??zGѿ@? (ι|4??=@=T{;ɫ=yCyuWBu"IyDDAT read: Rx Time:20:05:13.1774 TRx dataTimestamp_ set to:1756325115.725090PDAT read: Bearing 166.1, 8.4 (Local) ~Local bearing/azimuth received: Bearing 166.1, 8.4 (Local) DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 DAT read: 20:05:13.1774 LVL= 19296, 26321, 14146, 29123, AGC= 56, IDX= 498, 0.07, 2.513, 1.275, 3.130, 2.447, PHS= 0.154,-1.125, 0.680, RAW= 166.5, 3.7, CAL= 167.0, -5.3, ROT= 343.0, 5.3 Ygot valid direction response: 20:05:13.1774 LVL= 19296, 26321, 14146, 29123, AGC= 56, IDX= 498, 0.07, 2.513, 1.275, 3.130, 2.447, PHS= 0.154,-1.125, 0.680, RAW= 166.5, 3.7, CAL= 167.0, -5.3, ROT= 343.0, 5.3 T#Rx 30: Read range and direction messages.`direction in FSK: [0.952216,-0.291122,-0.092371] Fpublishing direction and range infoۡ9ۥ$ 6x?_;ҿ{]Uyۥ̀Aۡۥ`Kۥf ܥB7)ܥqIܥ8iܥ->ܥܡܥw9@ܥ A=I%Mb@Mb@Mb@i!!!!!%V-?HzGMb9% ?Y%= y%%A%A@! !!9!IENIE@ 4u  }=:Q >y G"F ݥq:@)ݥqIݥ=@iݥq=ݡݡޥ z??&?[lX?)ޥqO?Iޥ1ނiޥ闾ޥq=ޡޡchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.589231YF >5?5N A9?:Y"@yIE):I{:i఍5YuB@Eoog>+AoAoAo!Զ@q.@)@7FEGjJurJuzJu<JqJu:Ju':Ju [4JqJu0<Ju0<Ju;Ju;$ 6x?_;ҿ{]Uo闾oq=Auh*@!!6NJ;?D֎&ؙo oUAo;܃h?o50o+B2pzr?:pBpB"puA*p%@ԩ addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 1.008130 s, deltaX: -0.699999 m, approachRate: -0.694354 m/s, rangeRepo size: 4  Added new target pos. range: 16.015017 m, bearing: 327.353401 deg, lat: 36.779953 deg, lon: -121.859012 deg, deltaT: 1.008130 s, deltaX: -0.696316 m, approachRate: -0.690700 m/s, posRepo size: 4 n%DNOT Ignoring new targets: 16.02 m.n!n-n)= ProNav: ac range: 16.015017 m, nav range: 16.057184 m, bearing: 327.171668 deg, approach rate: 0.000000 m/s, LOS rate: -0.150517 deg/s, cmd heading: 340.711009 deg, new cmd heading: 340.449254 deg. n9eHeadingCmd: 5.941960 target range: 16.015017 and range: 16.10 m.ne$@nanininimizmimq"muqBJkq"kq kqj}0@j}ȷ?M\BMz)QU濺QIQ)U<)}I/N:IjC= $@ EU FQ  FQ F] l0FY U checking for new query: numPingsReceived=30, elapsed TxPingTime=13.808081 fG=<=GU?GU?9GaBBN?O,F?+A٪D@9n@&<=YH? ?`)ѿ?@Kӄ??D@ӈ;ɫwCyuOBu"II@I3JKqORK9ZKbKjKZ-akXH=5,$ a >=.;Q >y G"FY >5?5Q `A9 Y d @yIE)W:I:i5Y5sB=6@=EԑnDNOT Ignoring new targets: 16.02 m.nnn ProNav: ac range: 16.015017 m, nav range: 15.814181 m, bearing: 327.122479 deg, approach rate: -0.578992 m/s, LOS rate: -0.119003 deg/s, cmd heading: 340.449249 deg, new cmd heading: 340.299413 deg. nWHeadingCmd: 5.939345 target range: 16.015017 and range: 16.10 m.n@nnnnm zm m"mJk"k kjj`?=DDAT read: Rx Time:20:05:13.6774 =TRx dataTimestamp_ set to:1756325116.229081EPDAT read: Bearing 166.2, 8.8 (Local) M~Local bearing/azimuth received: Bearing 166.2, 8.8 (Local) ]DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.6 DAT read: 20:05:13.6774 LVL= 20080, 32753, 13538, 29251, AGC= 56, IDX= 497, 0.12,-1.538,-2.787,-0.922,-1.620, PHS= 0.170,-1.120, 0.696, RAW= 166.3, 3.2, CAL= 167.0, -5.7, ROT= 343.0, 5.7 Ygot valid direction response: 20:05:13.6774 LVL= 20080, 32753, 13538, 29251, AGC= 56, IDX= 497, 0.12,-1.538,-2.787,-0.922,-1.620, PHS= 0.170,-1.120, 0.696, RAW= 166.3, 3.2, CAL= 167.0, -5.7, ROT= 343.0, 5.7 T#Rx 31: Read range and direction messages.`direction in FSK: [0.951576,-0.290926,-0.099320]Fpublishing direction and range info99=CPs?K!2ҿhܸmy99=pN= =4)=CrI9i={.>=)\=-2?=F9@=d= 9)=%˽I9i=%=_BEZ=QɝU>)Q] #aIa)m@4<99)} Iꁳ:II= @ =\`?LR@$?&R]?)=?O?I=5 ci9=%=99uchecking for new query: numPingsReceived=31, elapsed TxPingTime=14.133511EF FFn0FH H H #IH BH H H I B< I #E checking for new query: numPingsReceived=31, elapsed TxPingTime=14.311995fG= F=G B  B! N- > O,Y!?+Ay%NB%"IAiAIMb@Mb@Mb@in?333333ÿL7A`堿9V?Yy+\AX@@  @9BAICI3ڻ =Q >y G#FY >5T)?5U &A9 ? :Y   @yIE)oM7Mף0?M9@M5z= MAQ:@)M ĽIM֭@iM =IIMO ?Yr' ?BJ(?)MJN?IMlyiMJ M =IIoIoM.?+AoMHxAoMHxAoM@M}-@*Q"MA~?s?checking for new query: numPingsReceived=32, elapsed TxPingTime=14.608592M:y?>lB;+oM'oMOAoMYYn?oMש3/oM$B2pMYYn?:pM193BpMB"pM\wA*pMU@jJrJzJJJ:Jq:JJJ <J <Jk;Jk;] addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 1.007926 s, deltaX: -0.500000 m, approachRate: -0.496068 m/s, rangeRepo size: 4  Added new target pos. range: 15.517649 m, bearing: 327.511308 deg, lat: 36.779952 deg, lon: -121.859011 deg, deltaT: 1.007926 s, deltaX: -0.497368 m, approachRate: -0.493457 m/s, posRepo size: 4 nDNOT Ignoring new targets: 15.52 m.nnn ProNav: ac range: 15.517649 m, nav range: 15.460099 m, bearing: 327.033102 deg, approach rate: 0.000000 m/s, LOS rate: -0.119003 deg/s, cmd heading: 340.299422 deg, new cmd heading: 340.090579 deg. nHeadingCmd: 5.935700 target range: 15.517649 and range: 15.60 m.nB@nnnnmzm m "m gBJk "k)  k) j5 @33/@j5 c]?I bB 9<鞩 ɝ >) 靵 u I ) <) 鱾I :I V= B@ E E F  F F `0F ԁ  checking for new query: numPingsReceived=32, elapsed TxPingTime=14.816221fGK=GGԹGaBBN ?{:O,'E?+AyMEBM"II]>I]3= 3=Q >y G#FY >5G:y?>lB;+oooL?oEo2oB2p:pEo2BpBJKNRKZKbKjK$5C@852/.15@KOWY\\WRNGB<84.)'" "psA*p󒩶@nDNOT Ignoring new targets: 15.52 m.nn xún xú ProNav: ac range: 15.517649 m, nav range: 15.197932 m, bearing: 326.999175 deg, approach rate: -0.649081 m/s, LOS rate: -0.085447 deg/s, cmd heading: 340.090582 deg, new cmd heading: 339.987045 deg. nj}HeadingCmd: 5.933893 target range: 15.517649 and range: 15.60 m.nt@nnnnmzmm"mJk"k kjj5?DDAT read: Rx Time:20:05:14.6771 TRx dataTimestamp_ set to:1756325117.237028PDAT read: Bearing 166.5, 8.4 (Local) ~Local bearing/azimuth received: Bearing 166.5, 8.4 (Local) DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.7 5DAT read: 20:05:14.6771 LVL= 23792, 32657, 14370, 30643, AGC= 56, IDX= 509, 0.23,-0.851,-2.127,-0.238,-0.932, PHS= 0.169,-1.148, 0.690, RAW= 166.0, 3.6, CAL= 166.6, -5.4, ROT= 343.4, 5.4 =Ygot valid direction response: 20:05:14.6771 LVL= 23792, 32657, 14370, 30643, AGC= 56, IDX= 509, 0.23,-0.851,-2.127,-0.238,-0.932, PHS= 0.169,-1.148, 0.690, RAW= 166.0, 3.6, CAL= 166.6, -5.4, ROT= 343.4, 5.4 ET#Rx 33: Read range and direction messages.IAAIBA`direction in FSK: [0.954070,-0.284420,-0.094108]Fpublishing direction and range info9?ż?;3ҿ|ӄ{y\ "8)wIiV->񒿩dB<ɝU>)\縩I)[<}l9@= :@)Inʿ@i=BF3?Qh?E܁ү?)[M?I ~iV=checking for new query: numPingsReceived=33, elapsed TxPingTime=15.172916I)dֲIXp:I\= t@ E F  F F _0F *H "H AAH >H H #IH BH H H I < I Eq u checking for new query: numPingsReceived=33, elapsed TxPingTime=15.320161fG_S=ԡGBB1N] ?gO,*sg?+Aq٪ ɸ@97ƿ@|q<h+=YH`?SQ?``IPҿ?X@9/?-? ɸ@i;ɫ{CyDB"IIMb@Mb@Mb@i|?5^?(\ſX9v9 ?Y.yAA@ 9@DDAT read: Rx Time:20:05:15.1768 TRx dataTimestamp_ set to:1756325117.741007PDAT read: Bearing 166.5, 8.5 (Local) ~Local bearing/azimuth received: Bearing 166.5, 8.5 (Local) DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 DAT read: 20:05:15.1768 LVL= 20720, 32753, 13554, 32499, AGC= 55, IDX= 506, 0.28,-1.873, 3.138,-1.262,-1.956, PHS= 0.172,-1.142, 0.691, RAW= 166.0, 3.5, CAL= 166.6, -5.5, ROT= 343.4, 5.5 Ygot valid direction response: 20:05:15.1768 LVL= 20720, 32753, 13554, 32499, AGC= 55, IDX= 506, 0.28,-1.873, 3.138,-1.262,-1.956, PHS= 0.172,-1.142, 0.691, RAW= 166.0, 3.5, CAL= 166.6, -5.5, ROT= 343.4, 5.5 %T#Rx 34: Read range and direction messages.-`direction in FSK: [0.953911,-0.284373,-0.095846]-Fpublishing direction and range info9ۀ՟o? G+3ҿaVXy3sAP 4)~I7i 0>-`0?5z= ) ĽIi =p8VK6?c?-*wή?)4EM?Iߙvi =Mchecking for new query: numPingsReceived=34, elapsed TxPingTime=15.588362IU*IU3ԙ =c;Q >y G#FYj! >5U?5^ A9?:Y@y'IE) ;I ;i5Y|B@Eoolo?+AoqAoqAo϶@ n,@ba#2j!/ۀ՟o? G+3ҿaVXoVoϼf6)@PP, #%uel?Ѿ[Ό@oboIAo4o{?o5K3o!B2p:pBp!B"p`mA*p@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 1.007991 s, deltaX: -0.400001 m, approachRate: -0.396830 m/s, rangeRepo size: 4  Added new target pos. range: 15.119744 m, bearing: 327.322598 deg, lat: 36.779952 deg, lon: -121.859011 deg, deltaT: 1.007991 s, deltaX: -0.397904 m, approachRate: -0.394750 m/s, posRepo size: 4 nDNOT Ignoring new targets: 15.12 m.nnn ProNav: ac range: 15.119744 m, nav range: 14.836056 m, bearing: 327.065445 deg, approach rate: 0.000000 m/s, LOS rate: -0.085447 deg/s, cmd heading: 339.987037 deg, new cmd heading: 339.833417 deg. n HeadingCmd: 5.931212 target range: 15.119744 and range: 15.20 m.n }̽@n n nnm1zm9m9"m=SBJk9"kA kAjE`ff.@jE?fBz<鞹ɝp>)kҪ9I).<)5I:IYP= }̽@ 1 C=GiZAEF FF`0F  9 A } checking for new query: numPingsReceived=34, elapsed TxPingTime=15.824107fG- _=G B)BNE>O,mo?+A٪ [@9 @ < :=Y H?v?0tҿ|?HPf?? [@ V;ɫ yCyM9BM"II]!I]i3m?O mO=E;Q >y G#FY >5e?5a A9Y@y*IE):I:ih5Y&@UB*** querying acoustic contact ***oQoQnaeDNOT Ignoring new targets: 15.12 m.nanm9nm9} ProNav: ac range: 15.119744 m, nav range: 14.608551 m, bearing: 327.074088 deg, approach rate: -0.575271 m/s, LOS rate: 0.022196 deg/s, cmd heading: 339.833412 deg, new cmd heading: 339.859746 deg. n}s:HeadingCmd: 5.931672 target range: 15.119744 and range: 15.20 m.nAн@nnnnJK/MRK9ZKbKjKmzmm"mJk"k kj j x[?UhBU)Y]p):YIY)]nC<)I:I}G= Aн@ DDAT read: Rx Time:20:05:15.6767 TRx dataTimestamp_ set to:1756325118.244951PDAT read: Bearing 166.8, 8.3 (Local) ~Local bearing/azimuth received: Bearing 166.8, 8.3 (Local) DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5 UDAT read: 20:05:15.6767 LVL= 18864, 32753, 12178, 29171, AGC= 54, IDX= 505, 0.34,-0.497,-1.778, 0.106,-0.580, PHS= 0.171,-1.151, 0.682, RAW= 165.7, 3.7, CAL= 166.3, -5.3, ROT= 343.7, 5.3 Ygot valid direction response: 20:05:15.6767 LVL= 18864, 32753, 12178, 29171, AGC= 54, IDX= 505, 0.34,-0.497,-1.778, 0.106,-0.580, PHS= 0.171,-1.151, 0.682, RAW= 165.7, 3.7, CAL= 166.3, -5.3, ROT= 343.7, 5.3 T#Rx 35: Read range and direction messages.EF FF_0F`direction in FSK: [0.955702,-0.279467,-0.092371]AEFpublishing direction and range info9m:?`ѿ{]UypAI /)qI6i/>jJrJzJJJ:J":JJ @ @ @ @S.?9@ A= F9@)qIS@iq=P?{d?em?)L?Iizq=checking for new query: numPingsReceived=35, elapsed TxPingTime=16.166075ԉfG TQ=G ?G ?G B B N >H! H! H% "IH% yBH! H! H! I% l< I% bE checking for new query: numPingsReceived=35, elapsed TxPingTime=16.328051Ա %O, C?+Aɩy~;B~"IԙIuMb@Mb@Mb@iqqqqqun?/$ƿV-9uV?Yu&1yuu\Aqq qq9u@I$I<36; )=Q  >y G#FY >)=5-x?=5-f -LA9e@?m:Ymm@y-/IE)-):I)q<)¬I;I'CG= ս@ DDAT read: Rx Time:20:05:16.1764 TRx dataTimestamp_ set to:1756325118.749137PDAT read: Bearing 167.2, 7.8 (Local) ~Local bearing/azimuth received: Bearing 167.2, 7.8 (Local) -DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5 MDAT read: 20:05:16.1764 LVL= 22704, 32225, 13810, 31843, AGC= 55, IDX= 502, 0.39,-1.676,-2.969,-1.084,-1.754, PHS= 0.166,-1.168, 0.667, RAW= 165.3, 4.1, CAL= 165.8, -4.9, ROT= 344.2, 4.9 ]Ygot valid direction response: 20:05:16.1764 LVL= 22704, 32225, 13810, 31843, AGC= 55, IDX= 502, 0.39,-1.676,-2.969,-1.084,-1.754, PHS= 0.166,-1.168, 0.667, RAW= 165.3, 4.1, CAL= 165.8, -4.9, ROT= 344.2, 4.9 ]T#Rx 36: Read range and direction messages.e`direction in FSK: [0.958701,-0.271285,-0.085417]eFpublishing direction and range info9F?\ѿb$ݵyiAX} 5)c|I7i)>*?R8@C= L39@)%I<@i%=>q?w,?,h?)vJ?Inei0%=checking for new query: numPingsReceived=36, elapsed TxPingTime=16.597031Ee Fi  Fi Fi Fi  fGM 'E=G BB)N5>ZO,?+A8:=>checking for new query: numPingsReceived=36, elapsed TxPingTime=16.832106٪f>@9fh@f<fF=YfH`??؂@ҿ s?s-Ⓙ@}_?b?f>@f[;ɫf{Cy9B"I)= I.I3EQ  F=;Q >y G#FYW2 > 5m? 5i A9 Y  @y3IE):IF:i59Y]z@aoQoU?+AoU]hAoU]hAoUq@U+@ \΄OθUF?\ѿb$ݵoU0oU%=U&?ŒnT(@Z U>w?,fㄭQoUoUBAoU?oU 4oUB2pUL?:pU5K3BpQ"pU*dA*pU@M addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504186 s, deltaX: -0.400000 m, approachRate: -0.793357 m/s, rangeRepo size: 4 } Added new target pos. range: 14.522907 m, bearing: 327.621356 deg, lat: 36.779954 deg, lon: -121.859011 deg, deltaT: 0.504186 s, deltaX: -0.397887 m, approachRate: -0.789168 m/s, posRepo size: 4 ny}DNOT Ignoring new targets: 14.52 m.nnn ProNav: ac range: 14.522907 m, nav range: 14.260482 m, bearing: 327.532791 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 339.893326 deg, new cmd heading: 339.923888 deg. nHeadingCmd: 5.932791 target range: 14.522907 and range: 14.60 m.nmٽ@nnnnmzmm"mJk"k kj@33-@j?elBe])am=:iIi)mf<)fI;Iv3= mٽ@ JKu:KRKu}9ZKqbKujKu!zsk`ZWԑ5DDAT read: Rx Time:20:05:16.6762 5TRx dataTimestamp_ set to:1756325119.253176=PDAT read: Bearing 167.6, 7.7 (Local) E~Local bearing/azimuth received: Bearing 167.6, 7.7 (Local) UDAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.5 EeFa FaFaFaDAT read: 20:05:16.6762 LVL= 20576, 32753, 13922, 32723, AGC= 55, IDX= 500, 0.48,-1.696,-2.983,-1.122,-1.776, PHS= 0.168,-1.160, 0.651, RAW= 164.9, 4.2, CAL= 165.4, -4.9, ROT= 344.6, 4.9 Ygot valid direction response: 20:05:16.6762 LVL= 20576, 32753, 13922, 32723, AGC= 55, IDX= 500, 0.48,-1.696,-2.983,-1.122,-1.776, PHS= 0.168,-1.160, 0.651, RAW= 164.9, 4.2, CAL= 165.4, -4.9, ROT= 344.6, 4.9 T#Rx 37: Read range and direction messages. `direction in FSK: [0.960572,-0.264585,-0.085417] Fpublishing direction and range info195 k?fпb$ݵy5dA15`P5 5b6)5I1i51,>5z5&?518@5Q = 58@)1I5v@i1115ex?b?Y ?)5H?I5ϻi511I I AAjJ rJ zJ =J J l:J 7/:J g4J 1e checking for new query: numPingsReceived=37, elapsed TxPingTime=17.156113Թ fGM F=G B) BQ N] >4uO, ?+A@Hz>HxHz"IHzjBHxHxHxIz4< IzEy]6B]"Ichecking for new query: numPingsReceived=37, elapsed TxPingTime=17.336409I]Mb@Mb@Mb@iYYYYY]V-?-ƿV-9] ?Y]?5yYY]n@]A YY9]z@I&I3F )=Q >yԩ G #FY >5Ԝ?5m A9?:Y#@y7IE):I:im5YB%@IoYo] 4?+Ao]cAo]cAo]3@] G1rS+@}!xp] k?fпb$ݵo]oY]@WY'@H(s]:J?h` >o]o]~?Ao]O`?o]72o]B2p]?:pYBp]=B"p]aA*p]t@- addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504039 s, deltaX: -0.300000 m, approachRate: -0.595192 m/s, rangeRepo size: 4 } Added new target pos. range: 14.224490 m, bearing: 328.021753 deg, lat: 36.779955 deg, lon: -121.859011 deg, deltaT: 0.504039 s, deltaX: -0.298417 m, approachRate: -0.592052 m/s, posRepo size: 4 nyDNOT Ignoring new targets: 14.22 m.nnn ProNav: ac range: 14.224490 m, nav range: 14.122794 m, bearing: 327.859247 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 339.923898 deg, new cmd heading: 339.955021 deg. nHeadingCmd: 5.933334 target range: 14.224490 and range: 14.30 m.nݽ@n1n1n1n1m1zm1m9"m=dBJk9"k9 kAjE,@jE`.?nBh<鞹ɝr>)靽 :I)a<)I;I74= ݽ@  = DDAT read: Rx Time:20:05:17.1759 E TRx dataTimestamp_ set to:1756325119.758934U PDAT read: Bearing 168.0, 7.0 (Local) U ~Local bearing/azimuth received: Bearing 168.0, 7.0 (Local) Ee Fa  Fi Fm 4Fi  DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5  DAT read: 20:05:17.1759 LVL= 20704, 32753, 14162, 32755, AGC= 55, IDX= 498,-0.43, 2.156, 0.873, 2.715, 2.091, PHS= 0.153,-1.171, 0.621, RAW= 164.6, 5.0, CAL= 164.9, -4.2, ROT= 345.1, 4.2  Ygot valid direction response: 20:05:17.1759 LVL= 20704, 32753, 14162, 32755, AGC= 55, IDX= 498,-0.43, 2.156, 0.873, 2.715, 2.091, PHS= 0.153,-1.171, 0.621, RAW= 164.6, 5.0, CAL= 164.9, -4.2, ROT= 345.1, 4.2  T#Rx 38: Read range and direction messages.% `direction in FSK: [0.963781,-0.256442,-0.073238]- Fpublishing direction and range infoA 9E νK?JiпyE \AA E PA E R7)E IA iE >E T㕿E ?E '7@E ¸= E 18@)E Q IE ~@iE Q =A A E _?*s`?y3byyy }G} #FY > 5)?5uq A9Y_@y;IE)ד) ;I)f0<) PⲾIk;I= @ 1EF FF_0FJK} )NRK} 9ZKy bK} jK} _mvgYLE:5/*'   = DDAT read: Rx Time:20:05:17.6758  TRx dataTimestamp_ set to:1756325120.260956 PDAT read: Bearing 169.5, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 169.5, 6.4 (Local) % DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.6 M DAT read: 20:05:17.6758 LVL= 21472, 32753, 14002, 32547, AGC= 55, IDX= 497,-0.37,-3.107, 1.910,-2.610, 3.102, PHS= 0.162,-1.145, 0.568, RAW= 163.1, 5.4, CAL= 163.3, -3.9, ROT= 346.7, 3.9 Y } Ygot valid direction response: 20:05:17.6758 LVL= 21472, 32753, 14002, 32547, AGC= 55, IDX= 497,-0.37,-3.107, 1.910,-2.610, 3.102, PHS= 0.162,-1.145, 0.568, RAW= 163.1, 5.4, CAL= 163.3, -3.9, ROT= 346.7, 3.9  T#Rx 39: Read range and direction messages. `direction in FSK: [0.970925,-0.229517,-0.068015] Fpublishing direction and range info 9 X?a`Ϳ,::siy 3[A  S  6) #I i T%> \ sh? 8/6@ =  ih6@) 'gI B@i 'g=   K>B?8 L?&/?) @?I =i m 'g=   checking for new query: numPingsReceived=39, elapsed TxPingTime=18.113298fG 2=jJ rJ zJ >J J L:J :J t4J Gq B B N >SuP,@+AH٪}7@9}5@}<}]=Y}H||?`r?rw@dӿX?@v滗@Mg?@|?}7@}*;ɫyye4Bm"IHHH"IHeBHHHIS< I>EII"I*I2I:I3ԹIMb@Mb@Mb@i?gfffffƿZd;O9 ?Y33yjAX@A @9(@5;5I=;I=&3M'w M=M;Q M>checking for new query: numPingsReceived=39, elapsed TxPingTime=18.343824yQ G #FYOo > 5ï? 5$v |A9 ?U:YUU@y@IE)-!:Q=ma?ܘw,Sc1wono:Aos"?o T+o-B2pO`?:p72BpB"pXA*pE@U addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502022 s, deltaX: -0.100000 m, approachRate: -0.199195 m/s, rangeRepo size: 4  Added new target pos. range: 13.627670 m, bearing: 329.427082 deg, lat: 36.779955 deg, lon: -121.859011 deg, deltaT: 0.502022 s, deltaX: -0.099460 m, approachRate: -0.198118 m/s, posRepo size: 4 nDNOT Ignoring new targets: 13.63 m.nnn ProNav: ac range: 13.627670 m, nav range: 13.549328 m, bearing: 328.148120 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 339.981846 deg, new cmd heading: 340.019345 deg. n %HeadingCmd: 5.934457 target range: 13.627670 and range: 13.70 m.n%@n!n!n!n!m)zm)m)"m-]BJk1"k1 k1j5`ff+@j=`e?qB(<鞙ɝ>)靥c';I)B<)zI,O;I$= @  EU FQ  FQ FU 5FQ u DDAT read: Rx Time:20:05:18.1755 u TRx dataTimestamp_ set to:1756325120.765042} PDAT read: Bearing 170.5, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 170.5, 5.5 (Local)  DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4  DAT read: 20:05:18.1755 LVL= 18864, 32753, 14818, 32755, AGC= 56, IDX= 510,-0.33, 2.421, 1.110, 2.899, 2.351, PHS= 0.158,-1.194, 0.545, RAW= 162.2, 6.3, CAL= 162.2, -3.2, ROT= 347.8, 3.2  Ygot valid direction response: 20:05:18.1755 LVL= 18864, 32753, 14818, 32755, AGC= 56, IDX= 510,-0.33, 2.421, 1.110, 2.899, 2.351, PHS= 0.158,-1.194, 0.545, RAW= 162.2, 6.3, CAL= 162.2, -3.2, ROT= 347.8, 3.2  T#Rx 40: Read range and direction messages. `direction in FSK: [0.975892,-0.210996,-0.055822] Fpublishing direction and range infoq 9u ։q:?g˿ᢔyu 3SAq u Iq u 9)u Iu 8iu !>u Ԙu  ?u -5@u z0= u -5@)u dIu ?@iu d=q q u 5 ?ޝa?w?)u ɵ߽iu t Zu d=q q - checking for new query: numPingsReceived=40, elapsed TxPingTime=18.620325A fG}{=G}?G} ?G9BABYNe?W' P,+7@+A٪b/!@9bY@bx<b=YbHqu??ZWu ӿ Q?'Ԑ`Zf?V?b/!@b!;ɫ`y~5B~"I I=I=3~; %L=M;Q M>yII UGU#FYUe U>Y5]ү?5]y ]SA9YZ@y]DIE)])靭(C:;checking for new query: numPingsReceived=40, elapsed TxPingTime=18.847956I)<)WI ;ImL= i@ EF FF`0Fyԑ fG E =G B B N >JK %NRK @9ZK bK jK VXWcg[;,#  (BQRMMZ{m`RIEB@72N*u= jP,P@+AiJDDAT read: Rx Time:20:05:18.6754 NTRx dataTimestamp_ set to:1756325121.282347VPDAT read: Bearing 171.4, 5.0 (Local) Z~Local bearing/azimuth received: Bearing 171.4, 5.0 (Local) fDAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 yjJrJzJ=JJl:Jq:Jg4J DAT read: 20:05:18.6754 LVL= 19744, 32753, 14514, 32755, AGC= 56, IDX= 509,-0.27,-2.848, 2.118,-2.405,-2.925, PHS= 0.165,-1.193, 0.518, RAW= 161.3, 6.6, CAL= 161.2, -2.9, ROT= 348.8, 2.9 y-=B5"ImYgot valid direction response: 20:05:18.6754 LVL= 19744, 32753, 14514, 32755, AGC= 56, IDX= 509,-0.27,-2.848, 2.118,-2.405,-2.925, PHS= 0.165,-1.193, 0.518, RAW= 161.3, 6.6, CAL= 161.2, -2.9, ROT= 348.8, 2.9 mT#Rx 41: Read range and direction messages.u`direction in FSK: [0.979699,-0.193986,-0.050593]uFpublishing direction and range infoH9JUY?SLjȿ|rQ穿yJQAHJ MH J8)HIHiJ(>J9J?J,4@J= J4@ԡ)J4QOIJ@iJ4QO=HHJgr?,S?PN?)Jb8?IJ iJ4+HJ4QO=HHechecking for new query: numPingsReceived=41, elapsed TxPingTime=19.262238H >H H "IH `BH t =H H I < I EI Mb@Mb@Mb@i      oʡ?/$ſ~jt9  ?Y ,y ļ \A  A  9 Ie+Ien3u< =Q >y G#FY >checking for new query: numPingsReceived=41, elapsed TxPingTime=19.3529515믊?5~ A9?:Y7@yIIE)_) 靍 Y; I ) <) ~I #;I C= c@ Eu Fq  Fq Fu 1Fq )DDAT read: Rx Time:20:05:19.1751 TRx dataTimestamp_ set to:1756325121.773058PDAT read: Bearing 172.9, 4.2 (Local) ~Local bearing/azimuth received: Bearing 172.9, 4.2 (Local) DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 DAT read: 20:05:19.1751 LVL= 20416, 32753, 14546, 32755, AGC= 55, IDX= 506,-0.15, 1.606, 0.287, 1.994, 1.521, PHS= 0.172,-1.187, 0.470, RAW= 159.7, 7.2, CAL= 159.6, -2.3, ROT= 350.4, 2.3 Ygot valid direction response: 20:05:19.1751 LVL= 20416, 32753, 14546, 32755, AGC= 55, IDX= 506,-0.15, 1.606, 0.287, 1.994, 1.521, PHS= 0.172,-1.187, 0.470, RAW= 159.7, 7.2, CAL= 159.6, -2.3, ROT= 350.4, 2.3 T#Rx 42: Read range and direction messages.`direction in FSK: [0.985202,-0.166635,-0.040132]Fpublishing direction and range infoۑ9ەNņ?aHTſ.='yەIAۑەOۑ ܕ8)ܑIܕ7iܕ 0>ܕܕף>ܕb2@ܕ> ݕaF2@)ݕl$IݕE@iݕl$=ݑݑޕ`u|l?h9I?t s@?)ޕn1?IޕJiޕ+ޕl$=ޑޑchecking for new query: numPingsReceived=42, elapsed TxPingTime=19.621677afG=GxAGxAGQBaBqN?!IP,^w@+A٪m@9m@m<m N=YmHNj?@? q ӿqB?l`}??m@m^Ј;ɫiy?B"II3Iʴ3 %< ?==T;Q =>yAA EGE#FYE- M>IU5M,?}5Mj MA9yY};}@yMMIE)M;IM;iMˍ5YB#@ Eooyq@+AoHAoHAoi¹@8O]0(@|- G-{Nņ?aHTſ.='o+ol$=-&@_ k+%cOP?FZݿBYvooo1Ao𭢳?oho.B2ps"?:p5#BpB"pXIA*pNŸ@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.490711 s, deltaX: -0.500000 m, approachRate: -1.018930 m/s, rangeRepo size: 4  Added new target pos. range: 12.533498 m, bearing: 332.600957 deg, lat: 36.779957 deg, lon: -121.859005 deg, deltaT: 0.490711 s, deltaX: -0.497361 m, approachRate: -1.013552 m/s, posRepo size: 4 nDNOT Ignoring new targets: 12.53 m.nn n = ProNav: ac range: 12.533498 m, nav range: 12.584183 m, bearing: 330.830698 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.084490 deg, new cmd heading: 340.112207 deg. n9EHeadingCmd: 5.936078 target range: 12.533498 and range: 12.60 m.nEY@nAnAnAnAmIzmImQ"mQJkQ"kQ kQj]@33)@j]5?ةةchecking for new query: numPingsReceived=42, elapsed TxPingTime=19.856234tBl<ɝ>)pn;I)#<)I#]&;)I]:< EY@ IEF FFb5FQfG =ԙ G B B N >$$P,^@+ADDAT read: Rx Time:20:05:19.6751 TRx dataTimestamp_ set to:1756325122.277037PDAT read: Bearing 173.9, 3.5 (Local) "~Local bearing/azimuth received: Bearing 173.9, 3.5 (Local) *DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 :DAT read: 20:05:19.6751 LVL= 21360, 32753, 16418, 32755, AGC= 55, IDX= 505,-0.06, 2.205, 0.856, 2.560, 2.113, PHS= 0.179,-1.210, 0.444, RAW= 158.6, 7.7, CAL= 158.4, -1.8, ROT= 351.6, 1.8 BYgot valid direction response: 20:05:19.6751 LVL= 21360, 32753, 16418, 32755, AGC= 55, IDX= 505,-0.06, 2.205, 0.856, 2.560, 2.113, PHS= 0.179,-1.210, 0.444, RAW= 158.6, 7.7, CAL= 158.4, -1.8, ROT= 351.6, 1.8 BT#Rx 43: Read range and direction messages.F`direction in FSK: [0.988784,-0.146011,-0.031411]FFpublishing direction and range info9.?Ҽ|¿IzypS "@)IiK7>HᚿS>m(1@ > ;0@)I^@i=?n]z?Ҩ?)],?IH iT =Vchecking for new query: numPingsReceived=43, elapsed TxPingTime=20.124462JKVORKV9ZKTbKVjKVkH)zlhhy{|tgTC4*%# K\ K^vAIR=Ia=y٪u@9uB@u<u=YuHg?&?ZTqӿ>?鹿G7c?@?u@u;ɫuzCyKB"IԡH>HH"IHeBHu =HHIC< I%EIMb@Mb@Mb@ioʡ?MbX9Ŀ/$9Y!yA@/A "@9@I/I3'=  = :Q >y99 =G=#FY=ۺ E>AM5E?U5E" EA9u?u:YuKu@yERIE)E;IE;iE\΍5YB@!Echecking for new query: numPingsReceived=43, elapsed TxPingTime=20.359941oo@+Aooo_@b)(@JG /%2ٿ.?Ҽ|¿IzoT o=6!i&@L'|+s?.Gܿ'no8oM3AoQ{ ó?o8ioxB2p𭢳?:pBU"BpځB"pTEA*p@  addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m  Added new target pos. range: 12.533468 m, bearing: 333.702050 deg, lat: 36.779958 deg, lon: -121.859004 deg, deltaT: 0.503979 s, deltaX: -0.000030 m, approachRate: -0.000059 m/s, posRepo size: 4 ni u DNOT Ignoring new targets: 12.53 m.nq nq nq   ProNav: ac range: 12.533468 m, nav range: 12.333035 m, bearing: 331.343395 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.112193 deg, new cmd heading: 340.151243 deg. n  HeadingCmd: 5.936759 target range: 12.533468 and range: 12.60 m.n @n n n n m zm m "m BJk "k  k j j '? vB t<鞩 ɝ >) 靭 )6; I ) B<) ^I ^+;I < @ E F  F F o0F !DDAT read: Rx Time:20:05:20.1749 TRx dataTimestamp_ set to:1756325122.780970PDAT read: Bearing 174.7, 3.4 (Local) ~Local bearing/azimuth received: Bearing 174.7, 3.4 (Local) DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 DAT read: 20:05:20.1749 LVL= 22512, 32753, 16194, 32755, AGC= 54, IDX= 502, 0.02, 1.806, 0.418, 2.137, 1.693, PHS= 0.201,-1.229, 0.441, RAW= 157.6, 7.6, CAL= 157.6, -1.9, ROT= 352.4, 1.9 Ygot valid direction response: 20:05:20.1749 LVL= 22512, 32753, 16194, 32755, AGC= 54, IDX= 502, 0.02, 1.806, 0.418, 2.137, 1.693, PHS= 0.201,-1.229, 0.441, RAW= 157.6, 7.6, CAL= 157.6, -1.9, ROT= 352.4, 1.9 T#Rx 44: Read range and direction messages.`direction in FSK: [0.990671,-0.132184,-0.033155]Fpublishing direction and range infoۑ9ەFђ?G~dB3yەDAۑەWۑ ܕB?)ܑIܕ6iܕM>ܕOܕ>ܕx 0@ܕ> ݕx 0@)ݕIݕ:@iݕ=ݑݑޕC`?j*/_?8?)ޕu*(?Iޕiޕޕ=ޑޑUchecking for new query: numPingsReceived=44, elapsed TxPingTime=20.637238jJrJzJ?JJ:J:Jـ4JJ*<J*<J?r;J?r;fG\}<G?G?QGBBN?-P,@+AG$4RP9RA٪u@9u@uf<u=YuHc?  ?pӿ+:?$ל&??u@u;ɫqyHB"II!Ii31b 5=_:Q >y G#FYW >!-5%$?-5% %uA91Y55@y%WIE)% :I%9:i%TЍ5YYe@aԙo1o5j@+Ao5CAo5CAo5bǺ@5O]pf=(@Y]Aٿ5Fђ?G~dB3o5o5=51&@f8;-xF5UN>?Ѵ3ۿ\>鲿o5o50Ao540ij?o5uo5yB2p5?:p5hBp5.B"p5?A*p5{ @E addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503933 s, deltaX: -0.300000 m, approachRate: -0.595318 m/s, rangeRepo size: 4 U Added new target pos. range: 12.235052 m, bearing: 334.426234 deg, lat: 36.779958 deg, lon: -121.859001 deg, deltaT: 0.503933 s, deltaX: -0.298416 m, approachRate: -0.592174 m/s, posRepo size: 4 nquDNOT Ignoring new targets: 12.24 m.nynyny ProNav: ac range: 12.235052 m, nav range: 11.992393 m, bearing: 333.105029 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.151234 deg, new cmd heading: 340.179540 deg. nHeadingCmd: 5.937253 target range: 12.235052 and range: 12.30 m.n@nnnnmzmm"mJk"k kj(@jN\?]checking for new query: numPingsReceived=44, elapsed TxPingTime=20.864048wBn=ɝv>)%f;)I))5<)m IuL.;I}LQ< @ E=F9 F9F9F9 DDAT read: Rx Time:20:05:20.6747  TRx dataTimestamp_ set to:1756325123.284984% PDAT read: Bearing 175.4, 2.7 (Local) - ~Local bearing/azimuth received: Bearing 175.4, 2.7 (Local) A M DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 u DAT read: 20:05:20.6747 LVL= 23824, 32753, 19474, 32755, AGC= 55, IDX= 500, 0.11, 2.059, 0.637, 2.370, 1.946, PHS= 0.201,-1.261, 0.421, RAW= 156.9, 8.1, CAL= 156.8, -1.3, ROT= 353.2, 1.3 } Ygot valid direction response: 20:05:20.6747 LVL= 23824, 32753, 19474, 32755, AGC= 55, IDX= 500, 0.11, 2.059, 0.637, 2.370, 1.946, PHS= 0.201,-1.261, 0.421, RAW= 156.9, 8.1, CAL= 156.8, -1.3, ROT= 353.2, 1.3  T#Rx 45: Read range and direction messages. `direction in FSK: [0.992710,-0.118373,-0.022687] Fpublishing direction and range info 9 ֧G?&MNGY;y @A ] L) I 7i sh P> LB/@JK ?NRK ZK bK jK "K ?K ?fG < > %/@) ޹I C@i ޹< #^sT?/?EOC0?) $?I i  ޹<  checking for new query: numPingsReceived=45, elapsed TxPingTime=21.145916Gy B B N >N=5P,@+Aԡ٪e@9e?@eBd<eՇ=YeH`d? ?mbӿ`:? L~kC?@?e@ej;ɫeyCyKB"I:H2H<H>HH"IHjBHt =HHI7< IEIEMb@Mb@Mb@iAAAAAEDl?ny G#FY9 >5;?5checking for new query: numPingsReceived=45, elapsed TxPingTime=21.370022H @A9%?%:Y%h-@y\IE)Ao>Ao2@uM'@sTu[Tѿ֧G?&MNGY;oo޹<?s%@߬dT9Ȅl?uqڿLo o,AoN%ʳ?oT4ôB2pQ{ ó?:p8iBpxB"p>A*p @ addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504014 s, deltaX: -0.300000 m, approachRate: -0.595222 m/s, rangeRepo size: 4  Added new target pos. range: 11.936647 m, bearing: 335.176231 deg, lat: 36.779961 deg, lon: -121.859000 deg, deltaT: 0.504014 s, deltaX: -0.298405 m, approachRate: -0.592056 m/s, posRepo size: 4 nDNOT Ignoring new targets: 11.94 m.nnn ProNav: ac range: 11.936647 m, nav range: 11.934341 m, bearing: 334.018195 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.179539 deg, new cmd heading: 340.220964 deg. n  HeadingCmd: 5.937976 target range: 11.936647 and range: 12.00 m.n- @n) n) n) n) m) zm) m1 "m5 BJk1 "k9  k9 j= (@jE ? yB è< ɝ T>) z; I ) <)- FI5 2;I5 n< 5 @ 9 EQ A E F  F F _0F  DDAT read: Rx Time:20:05:21.1745  TRx dataTimestamp_ set to:1756325123.789074 PDAT read: Bearing 176.2, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 176.2, 2.6 (Local)  DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5  DAT read: 20:05:21.1745 LVL= 22656, 31713, 18258, 32755, AGC= 54, IDX= 497, 0.25, 0.793,-0.647, 1.076, 0.660, PHS= 0.221,-1.260, 0.413, RAW= 156.0, 7.9, CAL= 156.1, -1.4, ROT= 353.9, 1.4  Ygot valid direction response: 20:05:21.1745 LVL= 22656, 31713, 18258, 32755, AGC= 54, IDX= 497, 0.25, 0.793,-0.647, 1.076, 0.660, PHS= 0.221,-1.260, 0.413, RAW= 156.0, 7.9, CAL= 156.1, -1.4, ROT= 353.9, 1.4  T#Rx 46: Read range and direction messages. `direction in FSK: [0.994041,-0.106232,-0.024432] Fpublishing direction and range infoۙ 9۝ EP/?\ILn 2{Jy۝ 3;Aۙ ۝ X۝ { ܝ RG)ܙ Iܝ 6iܝ Mb>ܝ Gܝ t>ܝ @.@ܝ 0 > ݝ ].@)ݝ +ȼIݝ @iݝ +<ݙ ݙ ޝ OC?8p??)ޝ * ?Iޝ iޝ i ڽޝ +<ޙ ޙ checking for new query: numPingsReceived=46, elapsed TxPingTime=21.637072ijJrJzJ;JJL:J^:J(N4JJ< <J= <J;J;fG<GBBN ?r=P,s@+AX٪bV@9b@bK<bc=YbH`Dd??vlӿ)8?Q9޹?u?bV@bs׈;ɫbzCyLB"I)%p< %p;%Ai%AIM4IMV3]l; ]<=e;Q e>y G#FY9 >5L?5’ A9YW@y_IE)i%)1echecking for new query: numPingsReceived=46, elapsed TxPingTime=21.872290eo;aIa)e<)mPIm5;Im< mv@ qEF FFo0F1 fG] #]<G) B9 BI N] > DDAT read: Rx Time:20:05:21.6744  TRx dataTimestamp_ set to:1756325124.293074% PDAT read: Bearing 177.4, 1.0 (Local) % ~Local bearing/azimuth received: Bearing 177.4, 1.0 (Local) 5 DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 ÐDP,$&A+ADAT read: 20:05:21.6744 LVL= 25744, 32753, 20354, 32755, AGC= 56, IDX= 496, 0.46, 0.715,-0.735, 0.959, 0.600, PHS= 0.203,-1.288, 0.356, RAW= 154.8, 9.3, CAL= 154.6, -0.1, ROT= 355.4, 0.1 "Ygot valid direction response: 20:05:21.6744 LVL= 25744, 32753, 20354, 32755, AGC= 56, IDX= 496, 0.46, 0.715,-0.735, 0.959, 0.600, PHS= 0.203,-1.288, 0.356, RAW= 154.8, 9.3, CAL= 154.6, -0.1, ROT= 355.4, 0.1 "T#Rx 47: Read range and direction messages.&`direction in FSK: [0.996777,-0.080199,-0.001745]&Fpublishing direction and range infoY9]?ws쇴n p\y]9AY]d] ]O)YI]8i];O>]/ݤ]E>],@]6&> ],@)]I](~@JK2KRK2s9ZK0bK2jK2K4 K6wAi]:YY]&?nr ?0G-?)]<?I]ML&i]l]:YYFchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.148197٪@9@@<a=YHd?`?kӿ`58?@!Т??@I;ɫyMRBM"IIII3Iʴ3< D=m::Q m>yyy G#FY: >q5u_?5um uA9YH@yudIE)uHIHM"IHMoBHIHIHIIM< IMEo]%V o]hB2p]"#ʳ?:p]T4Bp]̂B"p]~6A*p]`@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504000 s, deltaX: -0.099999 m, approachRate: -0.198412 m/s, rangeRepo size: 4  Added new target pos. range: 11.538759 m, bearing: 337.276467 deg, lat: 36.779962 deg, lon: -121.858998 deg, deltaT: 0.504000 s, deltaX: -0.099472 m, approachRate: -0.197365 m/s, posRepo size: 4 nDNOT Ignoring new targets: 11.54 m.nnAnAU ProNav: ac range: 11.538759 m, nav range: 11.405950 m, bearing: 335.500164 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.245874 deg, new cmd heading: 340.278987 deg. nQUHeadingCmd: 5.938989 target range: 11.538759 and range: 11.60 m.n]2 @nYnynynymyzmm"mJk"k kj@33'@j@3?|B=ɝ>) غ;I)o<) :I T 9;I < 2 @ }checking for new query: numPingsReceived=47, elapsed TxPingTime=22.376041ԁEF FF`0Fԩ fG <G B B N>ΐKP,0A+A٪d@9@э<=YHh?@?-l`,ӿ:?k?@~?d@m;ɫwC5DDAT read: Rx Time:20:05:22.1741 5TRx dataTimestamp_ set to:1756325124.797060EPDAT read: Bearing 178.5, -0.7 (Local) E~Local bearing/azimuth received: Bearing 178.5, -0.7 (Local) UDAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5 }DAT read: 20:05:22.1741 LVL= 26976, 32753, 21106, 32755, AGC= 56, IDX= 510,-0.26,-2.047, 2.797,-1.864,-2.161, PHS= 0.202,-1.278, 0.294, RAW= 153.0, 10.3, CAL= 153.2, 1.4, ROT= 356.8, -1.4 Ygot valid direction response: 20:05:22.1741 LVL= 26976, 32753, 21106, 32755, AGC= 56, IDX= 510,-0.26,-2.047, 2.797,-1.864,-2.161, PHS= 0.202,-1.278, 0.294, RAW= 153.0, 10.3, CAL= 153.2, 1.4, ROT= 356.8, -1.4 T#Rx 48: Read range and direction messages.^direction in FSK: [0.998143,-0.055805,0.024432]Fpublishing direction and range info1957?20|{J?y51A15`i1 5rR)1I1i5N>55+>5*@5X8> 5D +@)5+J!J%:J%!:J%t4J!J% <J% <J%iy;J%jy;9; ]#=]m:Q ]>yaa mGm#FYmzZ; m>q5ugr?5u uA9?:Y@yuhIE)u:Iu:iu؍5YB@-Eo1o53A+Ao50Ao50Ao5@5 &@#ZaUC?57?20|{J?o5do5+ȼ5k$@n5# S?V׿ֆ~e Їo5׀o5|$Ao5Գ?o5o5B2p5N%ʳ?:p5EBp1"p51A*p5Vʻ@} addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503986 s, deltaX: -0.500000 m, approachRate: -0.992091 m/s, rangeRepo size: 4  Added new target pos. range: 11.041393 m, bearing: 338.612161 deg, lat: 36.779962 deg, lon: -121.858996 deg, deltaT: 0.503986 s, deltaX: -0.497366 m, approachRate: -0.986865 m/s, posRepo size: 4 nDNOT Ignoring new targets: 11.04 m.nnn% ProNav: ac range: 11.041393 m, nav range: 11.095691 m, bearing: 336.237381 deg, approach rate: 0.000000 m/s, LOS rate: 0.022196 deg/s, cmd heading: 340.278986 deg, new cmd heading: 340.306392 deg. n!MHeadingCmd: 5.939467 target range: 11.041393 and range: 11.10 m.nM@nQnQnQnQmQzmQmY"m]BJkY"kY kaje@33&@je`L?a~BE =ɝQ>)#;I)T<)Iv<;I>< @ )E1E1EF FF_0FF =F =5 DDAT read: Rx Time:20:05:22.6740 E TRx dataTimestamp_ set to:1756325125.060026U checking for new query: numPingsReceived=48, elapsed TxPingTime=22.893902ԙ fG} <G ?G ?G9BIBYNe>;SP,NA+A٪^@9^@^Ę<^=Y^Huj??jӿ`}y! %G%#FY%: %>1=55?E55 5A9AYEE@y5kIE)5+;ԉI5:,;i5iڍ5Y@B*** querying acoustic contact ***oonDNOT Ignoring new targets: 11.04 m.nne;ne; ProNav: ac range: 11.041393 m, nav range: 10.872015 m, bearing: 336.378159 deg, approach rate: -0.572734 m/s, LOS rate: 0.367885 deg/s, cmd heading: 340.306389 deg, new cmd heading: 340.737402 deg. ny|<-HeadingCmd: 5.946990 target range: 11.041393 and range: 11.10 m.n-M@n)n)n)n)m1zm1m1"m1Jk1"k9 k9uPDAT read: Bearing 178.5, -1.7 (Local) u~Local bearing/azimuth received: Bearing 178.5, -1.7 (Local) DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 DAT read: 20:05:22.6740 LVL= 28480, 32753, 22962, 32755, AGC= 57, IDX= 509,-0.07,-0.845,-2.303,-0.670,-0.948, PHS= 0.191,-1.309, 0.275, RAW= 152.7, 10.9, CAL= 153.1, 2.4, ROT= 356.9, -2.4 Ygot valid direction response: 20:05:22.6740 LVL= 28480, 32753, 22962, 32755, AGC= 57, IDX= 509,-0.07,-0.845,-2.303,-0.670,-0.948, PHS= 0.191,-1.309, 0.275, RAW= 152.7, 10.9, CAL= 153.1, 2.4, ROT= 356.9, -2.4 T#Rx 49: Read range and direction messages.^direction in FSK: [0.997661,-0.054031,0.041876]Fpublishing direction and range infoa9eQ?@M ۷p?ye0Aae@oa eY)aIe9ieC>ePě>eJ*@eB> e+@)e+=IeT@ie+aae3pHp??|C?)e ?Ie MCieQ]e+ajAj ,?JKa3JRK9ZKbKjK achecking for new query: numPingsReceived=49, elapsed TxPingTime=23.161421-B-M=)ɝ5>)15;1I1)5 *<)=!IYI]7< eM@ aԹEF FF 0F!HHH"IHtBHHHI< IEIiIi"Ii*Imt =2Imt =:Im'4fG <5 DDAT read: Rx Time:20:05:23.1737 E TRx dataTimestamp_ set to:1756325125.564332GQ By B  PDAT read: Bearing 178.6, -0.5 (Local)  ~Local bearing/azimuth received: Bearing 178.6, -0.5 (Local) N > U DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 - Z#Rx 50: Read range message, but no direction.9 y= (A9  checking for new query: numPingsReceived=50, elapsed TxPingTime=23.439833@YP,flhA+AyVB"IImMb@Mb@Mb@iiiiiim/$?)\(~jt9m&?YmGymmAmn@mA ii9iI2I?3 2=Q >y G#FY >!M5%?M5%S %bA9U?U:YUU@y%pIE)%;I%;i%r܍5Y]B]c@].Eoyo}dA+Ao}'Ao}'Ao} #@}T$@0+u⿦U?}Q?@M ۷p?o}Q]o}+}"ί{t#@*ck@W'c?}?2O*M׿15'w?o}_so}Ao}Jʳ?o}hXo}uB2p}Jʳ?:p}%V Bp}hB"p}(A*p}Y\@M addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.767272 s, deltaX: -0.600000 m, approachRate: -0.781992 m/s, rangeRepo size: 4  Added new target pos. range: 10.444542 m, bearing: 338.648359 deg, lat: 36.779962 deg, lon: -121.858995 deg, deltaT: 0.767272 s, deltaX: -0.596851 m, approachRate: -0.777888 m/s, posRepo size: 4 nDNOT Ignoring new targets: 10.44 m.nnn9M ProNav: ac range: 10.444542 m, nav range: 10.547474 m, bearing: 337.258602 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 340.737401 deg, new cmd heading: 341.253074 deg. nIDAT read: 20:05:23.1737 LVL= 28592, 32753, 23074, 32755, AGC= 57, IDX= 506, 0.12,-1.017,-2.504,-0.834,-1.144, PHS= 0.215,-1.313, 0.307, RAW= 152.9, 10.1, CAL= 153.1, 1.2, ROT= 356.9, -1.2 Ygot valid direction response: 20:05:23.1737 LVL= 28592, 32753, 23074, 32755, AGC= 57, IDX= 506, 0.12,-1.017,-2.504,-0.834,-1.144, PHS= 0.215,-1.313, 0.307, RAW= 152.9, 10.1, CAL= 153.1, 1.2, ROT= 356.9, -1.2 Z#Rx 51: Read direction message, but no range.^direction in FSK: [0.998318,-0.054067,0.020942]ہ9ۅ`7?uf_2q?ہۅoہ ܅"Z)܁I܁i܅(\>܅b܅/>܅{*@܅J4> ݁)݅)IU;QIQ)Uw<)}(IyI}A$F< }x@ jJErJEzJE<JAJE:JE:JE [4JAJE#<JE$<JEtp;JEup;E-F1 F1F5o0F1Qy fGU <U DDAT read: Rx Time:20:05:23.6736 e TRx dataTimestamp_ set to:1756325126.068689} PDAT read: Bearing 178.9, -1.1 (Local)  ~Local bearing/azimuth received: Bearing 178.9, -1.1 (Local)  DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 - Z#Rx 52: Read range message, but no direction.Y y] f&AY G B checking for new query: numPingsReceived=52, elapsed TxPingTime=23.913998B9Ne>WaP,{A+A٪h@9@F<,=YHp??Jh`ӿA?2㻿º?@6?h@p;ɫxCy5]B="IAAIM+IMn3]< ]@=]:Q ]>yaa eGe#FYmn; m>y5}u?5}_ }9A9Y@y}tIE)};I}*;i}Gލ5Y@oiomgeA+Aom%Aom%AomH@m{ç$@5Haʲ6?m`7?uf_2q?oiomma_M#@z d]Ŀm){? ,t׿(I䏿om.nomkAomlӼճ?omBom B2pmԳ?:pmBBpm B"pmQ%A*pm[E@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504357 s, deltaX: -0.100000 m, approachRate: -0.198273 m/s, rangeRepo size: 4 Ye Added new target pos. range: 10.345070 m, bearing: 338.912688 deg, lat: 36.779963 deg, lon: -121.858992 deg, deltaT: 0.504357 s, deltaX: -0.099472 m, approachRate: -0.197225 m/s, posRepo size: 4 namDNOT Ignoring new targets: 10.35 m.nininq ProNav: ac range: 10.345070 m, nav range: 10.332392 m, bearing: 338.888285 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 341.253081 deg, new cmd heading: 341.734564 deg. nHeadingCmd: 5.964393 target range: 10.345070 and range: 10.40 m.nOܾ@nnnnmzmm"mJk)"k) k1j5$@j5)Χ;I)<)8II; Oܾ@ ԉDAT read: 20:05:23.6736 LVL= 28144, 32753, 21298, 32755, AGC= 57, IDX= 504, 0.33,-1.314,-2.811,-1.145,-1.439, PHS= 0.213,-1.325, 0.291, RAW= 152.5, 10.4, CAL= 152.8, 1.7, ROT= 357.2, -1.7 Ygot valid direction response: 20:05:23.6736 LVL= 28144, 32753, 21298, 32755, AGC= 57, IDX= 504, 0.33,-1.314,-2.811,-1.145,-1.439, PHS= 0.213,-1.325, 0.291, RAW= 152.5, 10.4, CAL= 152.8, 1.7, ROT= 357.2, -1.7 Z#Rx 53: Read direction message, but no range.^direction in FSK: [0.998367,-0.048828,0.029666]q9u`?] `?qumq u2S)qIqiuZ>uu>uX*@u9> u*@)u H >H H "IH yBH u =H H I "< I EgP,wA+AP٪Zn@9Z@Zf<Z>=YZHks?@?Ih`lӿC?o ?z?Zn@Z߆;ɫZ{CyfVBf"I)j= j4<5DDAT read: Rx Time:20:05:24.1733 =TRx dataTimestamp_ set to:1756325126.579634]PDAT read: Bearing 179.1, -2.4 (Local) ]~Local bearing/azimuth received: Bearing 179.1, -2.4 (Local) DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 -Z#Rx 54: Read range message, but no direction.9y=fA9checking for new query: numPingsReceived=54, elapsed TxPingTime=24.440287IMb@Mb@Mb@iS?ʡEyYa eGe #FY; >5?5 A9G?:Yh@yxIE).|;I{;i{5YB@o9o=A+Ao=Ao=Ao=u@= Ʃ#@Y- ޿SSހ{?=`?] `?o=*Ho==i"@L $rx==)?E<-ֿ szo=_o=OAo=lLbų?o=*o=5B2p9:p=hXBp=B"p= A*p=@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.510945 s, deltaX: -0.500000 m, approachRate: -0.978579 m/s, rangeRepo size: 4  Added new target pos. range: 9.847681 m, bearing: 339.221590 deg, lat: 36.779963 deg, lon: -121.858991 deg, deltaT: 0.510945 s, deltaX: -0.497389 m, approachRate: -0.973468 m/s, posRepo size: 4 n  BNOT Ignoring new targets: 9.85 m.n 6Short final. Range: 9.90 m.VTransitioning guidance mode to: SHORT_FINALn@@nne ProNav: ac range: 9.847681 m, nav range: 10.036089 m, bearing: 339.309856 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 341.734554 deg, new cmd heading: 342.288556 deg. nam|HeadingCmd: 5.974062 target range: 9.847681 and range: 9.90 m.nm+@ninqnqnqmqzmqm"mǃBJk"k kj#@j[?B ? =ɝ<>)<;I),<)%\EI!I%: %+@ )E F  F F o0F  DAT read: 20:05:24.1733 LVL= 29168, 32753, 22578, 32755, AGC= 57, IDX= 502,-0.36, 2.316, 0.815, 2.460, 2.203, PHS= 0.201,-1.341, 0.254, RAW= 151.7, 11.3, CAL= 152.2, 3.0, ROT= 357.8, -3.0  Ygot valid direction response: 20:05:24.1733 LVL= 29168, 32753, 22578, 32755, AGC= 57, IDX= 502,-0.36, 2.316, 0.815, 2.460, 2.203, PHS= 0.201,-1.341, 0.254, RAW= 151.7, 11.3, CAL= 152.2, 3.0, ROT= 357.8, -3.0  Z#Rx 55: Read direction message, but no range. ^direction in FSK: [0.997893,-0.038336,0.052336]ۑ 9ە `7ܕ 㥫ܕ J >ܕ Us)@ܕ I> ݕ P*@)ݕ PwV=Iݕ M@iݕ PwVݑ ޕ ^?z?p?)ޕ ч ?Iޕ Iiޕ Fޕ PwV checking for new query: numPingsReceived=55, elapsed TxPingTime=24.665371! fG -C<G ?G %?Q G B B N >nP,PǽA+A٪L/@9v,@$<=YH9x?ލ?~i1tӿF?uϟi?`?L/@m;ɫy-RB5"II=(I=̍3 W=a9Q >y G!#FY٩; >55 Ͱ?=5ϩ A99Y==@y|IE);I;i5Yam@iԑeDDAT read: Rx Time:20:05:24.6732 uTRx dataTimestamp_ set to:1756325127.076744PDAT read: Bearing 178.7, -2.9 (Local) ~Local bearing/azimuth received: Bearing 178.7, -2.9 (Local) DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.6 -Z#Rx 56: Read range message, but no direction.iymAn9nzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.iEchecking for new query: numPingsReceived=56, elapsed TxPingTime=24.936220n}<n}< ProNav: ac range: 9.847681 m, nav range: 9.826327 m, bearing: 339.494985 deg, approach rate: -0.561408 m/s, LOS rate: 0.506057 deg/s, cmd heading: 342.288565 deg, new cmd heading: 342.855788 deg. n<|HeadingCmd: 5.983963 target range: 9.847681 and range: 9.90 m.n|@nnnnmzmm"mJk"k kj#@j F?B~=!ɝ%>)!%; DAT read: 20:05:24.6732 LVL= 30704, 32753, 21842, 32755, AGC= 56, IDX= 501,-0.14,-2.245, 2.527,-2.088,-2.341, PHS= 0.185,-1.368, 0.251, RAW= 152.1, 11.7, CAL= 152.6, 3.5, ROT= 357.4, -3.5 % Ygot valid direction response: 20:05:24.6732 LVL= 30704, 32753, 21842, 32755, AGC= 56, IDX= 501,-0.14,-2.245, 2.527,-2.088,-2.341, PHS= 0.185,-1.368, 0.251, RAW= 152.1, 11.7, CAL= 152.6, 3.5, ROT= 357.4, -3.5 % Z#Rx 57: Read direction message, but no range.- ^direction in FSK: [0.997107,-0.045278,0.061049] 9 rM?)F..xA? w RU) I 8i p=>  > )@ Q> t*@) 5z=I @i 5z 9jbc? ?D){?) dC?I Qi 9 5zE checking for new query: numPingsReceived=57, elapsed TxPingTime=25.165745 JK- MRK- }9ZK) bK- jK- }uP,A+AjJ>rJ>zJ>;J<J>:J>?:J>(N4J<B@B@B@B@٪Z8@9Z6@Z<Z=YZH@{?{?jaӿH?ü`? ?Z8@Z;ɫZyCy]TBe"IIe$Ie<3H>HHHHHHI< IEN; 2=9Q >y G##FY'; >5^ఊ?5+ A9Y@yIE)U"@_ m ʌ ~?͟ ?,IWnֿblRA?oh[oAo᳊?oXoτB2p:pBp5B"pA*p@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.497110 s, deltaX: -0.099999 m, approachRate: -0.201162 m/s, rangeRepo size: 4  Added new target pos. range: 9.748221 m, bearing: 339.403408 deg, lat: 36.779963 deg, lon: -121.858991 deg, deltaT: 0.497110 s, deltaX: -0.099460 m, approachRate: -0.200076 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 9.75 m. 9.85 m.n n e;] ProNav: ac range: 9.847681 m, nav range: 9.567764 m, bearing: 339.732554 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 342.855798 deg, new cmd heading: 343.349820 deg. n]y|<|HeadingCmd: 5.992585 target range: 9.847681 and range: 9.80 m.nAÿ@nnnnmzmm"mJk "k  k!j9jE,?}DDAT read: Rx Time:20:05:25.1729 TRx dataTimestamp_ set to:1756325127.580365PDAT read: Bearing 178.1, -2.0 (Local) ~Local bearing/azimuth received: Bearing 178.1, -2.0 (Local) DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.5 - Z#Rx 58: Read range message, but no direction.ہyۅAہ]checking for new query: numPingsReceived=58, elapsed TxPingTime=25.439474}B}=yɝ>)靅N<I)<)ɔIIX? Aÿ@ EM FQ  FQ FU 0FQ Fe =Fe =i ԑ fG 6^$:UDAT read: 20:05:25.1729 LVL= 31888, 32753, 22626, 32755, AGC= 57, IDX= 498, 0.02,-2.369, 2.395,-2.180,-2.467, PHS= 0.185,-1.375, 0.284, RAW= 153.0, 11.2, CAL= 153.4, 2.8, ROT= 356.6, -2.8 ]Ygot valid direction response: 20:05:25.1729 LVL= 31888, 32753, 22626, 32755, AGC= 57, IDX= 498, 0.02,-2.369, 2.395,-2.180,-2.467, PHS= 0.185,-1.375, 0.284, RAW= 153.0, 11.2, CAL= 153.4, 2.8, ROT= 356.6, -2.8 ]Z#Rx 59: Read direction message, but no range.e^direction in FSK: [0.997048,-0.059236,0.048850]9o"V?!Ts!D?| bX)I9ish>*@+H> uY+@)+H=I)@i+Hu N?zp?.E?)P?IlHis+H}checking for new query: numPingsReceived=59, elapsed TxPingTime=25.673597GBBN>H}P,aA+ANU'>NCt G!9}9A٪>@9;@=<X=YH@|?`p?m@'WӿI?_`tٻ?q?>@1c;ɫzCy%KB%"I))-=-=I5Mb@Mb@Mb@i111115kt?Cl绿Zd;O95 ?Y5;߽y5j5 A5@5A 5|@195AIm5Im3}  }*=}Q }>y G$#FYں: >5?5 A9?:Y@yIE)]:If:i<5YB:@9Eo)o-$A+Ao-Ao-Ao-e-@-"\ur"@@/Ὲw?-o"V?!Ts!D?o-so-+H-Vi==!@C lX׮?-L?0О9׿dsc?o-Vo- Ao-\)O˳?o-6Ko-B2p-\)O˳?:p-BBp-uB"p-5A*p- @ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503621 s, deltaX: -0.500000 m, approachRate: -0.992810 m/s, rangeRepo size: 4  Added new target pos. range: 9.250863 m, bearing: 338.720679 deg, lat: 36.779962 deg, lon: -121.858992 deg, deltaT: 1.000731 s, deltaX: -0.596818 m, approachRate: -0.596382 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 9.25 m. 9.85 m.nn ProNav: ac range: 9.847681 m, nav range: 9.293201 m, bearing: 339.970629 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 343.349812 deg, new cmd heading: 343.886142 deg. n|HeadingCmd: 6.001945 target range: 9.847681 and range: 9.30 m.n@nnnnm!zm!m!"m%BJk)"kI kIjM"@jU ?UB]Ok =鞉ɝ>)靝I <I)ϗ<)DDAT read: Rx Time:20:05:25.6729 TRx dataTimestamp_ set to:1756325128.084270-PDAT read: Bearing 177.1, -1.9 (Local) 5~Local bearing/azimuth received: Bearing 177.1, -1.9 (Local) AmDAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.6 -Z#Rx 60: Read range message, but no direction. y  checking for new query: numPingsReceived=60, elapsed TxPingTime=25.934614IIg陼 @ EU FQ  FQ F] {0FY fG= >4i G B B1 N= >P,WB+A٪JfQ@9JN@J.+<J:I=YJH@?L?fsH3ӿL?d@'D4?`x?JfQ@JxN;ɫJxCyVGBV"IIr4IrV3~bҼ  = Q  ?y!! %G%&#FY%; - ?)55-y?Y]5- -`A9aYeXe@y-IE)-;I-r;i-5Yim}@B*** querying acoustic contact ***oo addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503905 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 nnzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.nD<nD<- ProNav: ac range: 9.847681 m, nav range: 9.113119 m, bearing: 340.131755 deg, approach rate: -0.575934 m/s, LOS rate: 0.525489 deg/s, cmd heading: 343.886146 deg, new cmd heading: 344.379062 deg. n-Q<DAT read: 20:05:25.6729 LVL= 31392, 32753, 24562, 32755, AGC= 56, IDX= 497, 0.16,-0.132,-1.662, 0.095,-0.211, PHS= 0.167,-1.404, 0.303, RAW= 154.1, 11.4, CAL= 154.3, 2.8, ROT= 355.7, -2.8 Ygot valid direction response: 20:05:25.6729 LVL= 31392, 32753, 24562, 32755, AGC= 56, IDX= 497, 0.16,-0.132,-1.662, 0.095,-0.211, PHS= 0.167,-1.404, 0.303, RAW= 154.1, 11.4, CAL= 154.3, 2.8, ROT= 355.7, -2.8 Z#Rx 61: Read direction message, but no range.^direction in FSK: [0.995995,-0.074889,0.048850]Y9]20?4+s!D?Y]zY ]_)YI]8i] +>]F]">]!,@]%K> ]Z,@)YI]@iYY]Y8 ?O?al7?)]g?I]eKi])Ychecking for new query: numPingsReceived=61, elapsed TxPingTime=26.174519|HeadingCmd: 6.010549 target range: 9.847681 and range: 9.30 m.njV@nnnnmzmm"mJk"k kjj%?}B=鞁ɝ>)JKLRKŷ9ZKbKjK  靍9<I) u<)IIdļ jV@ EEjJrJzJJJ :JB:JJԉEEFA FAFM4FIHAHAHE"IHEtBHAHAHAIE:< IEEԹfG vkH5 DDAT read: Rx Time:20:05:26.1726 = TRx dataTimestamp_ set to:1756325128.589334} PDAT read: Bearing 176.1, -1.6 (Local)  ~Local bearing/azimuth received: Bearing 176.1, -1.6 (Local) G  DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 B B  DAT read: 20:05:26.1726 LVL= 32752, 32753, 21058, 32755, AGC= 55, IDX= 494, 0.33,-1.133,-2.637,-0.865,-1.190, PHS= 0.145,-1.400, 0.322, RAW= 155.4, 11.4, CAL= 155.4, 2.7, ROT= 354.6, -2.7  Ygot valid direction response: 20:05:26.1726 LVL= 32752, 32753, 21058, 32755, AGC= 55, IDX= 494, 0.33,-1.133,-2.637,-0.865,-1.190, PHS= 0.145,-1.400, 0.322, RAW= 155.4, 11.4, CAL= 155.4, 2.7, ROT= 354.6, -2.7 NA M T#Rx 62: Read range and direction messages.U ^direction in FSK: [0.994457,-0.094004,0.047106]U Fpublishing direction and range info1 95 3?hTyP7V?y5 fA1 5 1 5 BR)1 I5 7i5 z>5 335 /ݤ>5 ^-@1 5 ^-@)5 A=I5 @i5 A1 1 5 R?X"'?+F:?)5 w?I5 +Ki5 5 A1 1 u checking for new query: numPingsReceived=62, elapsed TxPingTime=26.461805P,;*B+A٪%h@9%e@%A&<%G=Y%Hʼn?^?hy ӿO?@`[??%h@%5;ɫ%{Cy]CB]"IԱIMb@Mb@Mb@iQ?V-:v9\?YyԼ A@\A ^@9@A@AI>I3ϐ 0=Q >y G'#FYH; > 5?-57 +A9-?-:Y- 5@yIE)u;I!;i5Y=ƒB=,@=:Eoaoe%B+Aoe Aoe Aoe:@er|!@e~꿧0\?e3?hTyP7V?oeoeAe4tM @  ?eCu?5g 2ؿ7^Ux?oe(]oehAoeij?oeIKoe_B2pa:peXBpe_B"pe A*pe@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.505064 s, deltaX: -0.400001 m, approachRate: -0.791980 m/s, rangeRepo size: 4  Added new target pos. range: 8.852987 m, bearing: 337.024406 deg, lat: 36.779962 deg, lon: -121.858993 deg, deltaT: 2.009700 s, deltaX: -0.994694 m, approachRate: -0.494946 m/s, posRepo size: 4 nnEzIgnoring new targets. Set target to previous: 8.85 m. 9.85 m.nMnMe;U ProNav: ac range: 9.847681 m, nav range: 8.851889 m, bearing: 340.393355 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 344.379067 deg, new cmd heading: 344.893022 deg. n]y|<e|HeadingCmd: 6.019519 target range: 9.847681 and range: 8.90 m.ne@ninininimizmimq"mu݃BJkq"kq kyj}!@j}`?EBE=IɝM̱>)IMZ9 P,(DB+AjDDAT read: Rx Time:20:05:26.6726 nTRx dataTimestamp_ set to:1756325129.092108zPDAT read: Bearing 175.4, -1.3 (Local) ~~Local bearing/azimuth received: Bearing 175.4, -1.3 (Local) DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 --Z#Rx 63: Read range message, but no direction.hyhhEchecking for new query: numPingsReceived=63, elapsed TxPingTime=26.937517٪~@9{@ h<=YHw?? X~`ҿ S?U띿}? ,?~@^;ɫxCyy G(#FY; >5&?5 A9Y@yIE),;I;i]5Y@ addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.502774 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 nnzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.n)<n)< ProNav: ac range: 9.847681 m, nav range: 8.631707 m, bearing: 340.621954 deg, approach rate: -0.557276 m/s, LOS rate: 0.593337 deg/s, cmd heading: 344.893025 deg, new cmd heading: 345.596277 deg. n<|HeadingCmd: 6.031793 target range: 9.847681 and range: 8.90 m.ns@nn!n!n!m!zm!m)"m)Jk)"k) k)j1j5o(?B=鞩ɝv>)靭<I)O<)xIIU s@ 9EmFq FqFu_0FqDAT read: 20:05:26.6726 LVL= 32752, 32753, 24626, 32755, AGC= 54, IDX= 510,-0.43,-1.412,-2.916,-1.114,-1.455, PHS= 0.131,-1.414, 0.338, RAW= 156.2, 11.4, CAL= 156.1, 2.6, ROT= 353.9, -2.6 Ygot valid direction response: 20:05:26.6726 LVL= 32752, 32753, 24626, 32755, AGC= 54, IDX= 510,-0.43,-1.412,-2.916,-1.114,-1.455, PHS= 0.131,-1.414, 0.338, RAW= 156.2, 11.4, CAL= 156.1, 2.6, ROT= 353.9, -2.6 Z#Rx 64: Read direction message, but no range.^direction in FSK: [0.993314,-0.106155,0.045363]a9e+}$;?U,99?aaa e2`)aIe6ie$>eeV>e!z.@a e].@)e9=Ie@ie9aeƓbO?}梇?2r(:H?)en!?IeKiei ڽe9checking for new query: numPingsReceived=64, elapsed TxPingTime=27.187309JK ,~LRK 9ZK bK jK  jJ rJ zJ =J J :J :J g4J fG MļGq B B N > R$P,]B+A*Hd"HdHpHpHr"IHroBHrt =HpHpIrD< Ir&E٪8@9c@9<=YH ??ꢁ@ҿ@CY?`"`\?V?8@/ڇ;ɫzCy]8B]"II<DDAT read: Rx Time:20:05:27.1724 TRx dataTimestamp_ set to:1756325129.597640PDAT read: Bearing 173.4, -1.8 (Local) %~Local bearing/azimuth received: Bearing 173.4, -1.8 (Local) DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 DAT read: 20:05:27.1724 LVL= 32752, 32753, 23138, 32755, AGC= 52, IDX= 507,-0.26,-2.323, 2.526,-1.962,-2.307, PHS= 0.073,-1.403, 0.342, RAW= 158.2, 12.1, CAL= 158.0, 3.4, ROT= 352.0, -3.4 -Ygot valid direction response: 20:05:27.1724 LVL= 32752, 32753, 23138, 32755, AGC= 52, IDX= 507,-0.26,-2.323, 2.526,-1.962,-2.307, PHS= 0.073,-1.403, 0.342, RAW= 158.2, 12.1, CAL= 158.0, 3.4, ROT= 352.0, -3.4 5T#Rx 65: Read range and direction messages.=^direction in FSK: [0.988525,-0.138928,0.059306]eFpublishing direction and range info9zb=?QeCg]?y A bZ)I4i=> 0@@X> |0@)s=I @isuzﯓ?#\?ABv]?)"*?IXi4schecking for new query: numPingsReceived=65, elapsed TxPingTime=27.492506IMb@Mb@Mb@iV-?Mb:v9 ?Yy@ t@9GAIM0IM(3YU =Q >y G*#FY; >5R")C<I)5P<) vԁ I I u( Y@ E ]>E >E= F9  FA FE ]5FA  checking for new query: numPingsReceived=65, elapsed TxPingTime=27.676121fG Ա G B B N >P,%yB+A٪^EǸ@9^pĿ@^a<^>Y^Hӥ?Ie?vbRҿ@^?* }? ?^EǸ@^χ;ɫ^yCyj.Bj"IIpIp= ==Ek]Q E1?yAA EGE+#FYmA< m4?q}5uWG?}5u; uA9Y@yuIE)u`:Iu:iu5Y@nnzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.neS<neS<] ProNav: ac range: 9.847681 m, nav range: 8.191839 m, bearing: 341.170405 deg, approach rate: -0.573889 m/s, LOS rate: 0.739270 deg/s, cmd heading: 346.187756 deg, new cmd heading: 346.727459 deg. n]<e|HeadingCmd: 6.051536 target range: 9.847681 and range: 8.60 m.ne.@nnnnmzmm"mJk"k kjjJ?B=ɝ`>)!<I)K/<)5mII.k8 .@ EF FF`0FeDDAT read: Rx Time:20:05:27.6722 }TRx dataTimestamp_ set to:1756325130.104022PDAT read: Bearing 172.9, 0.3 (Local) ~Local bearing/azimuth received: Bearing 172.9, 0.3 (Local) DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 -Z#Rx 66: Read range message, but no direction.qyuAqchecking for new query: numPingsReceived=66, elapsed TxPingTime=27.9478879 fG G B B N >pP,B+A٪5@95@5x<5Q >Y5H 4??@Gҿd?O4$;?o?5@5];ɫ1DAT read: 20:05:27.6722 LVL= 32752, 29873, 24946, 32755, AGC= 52, IDX= 505,-0.13,-2.119, 2.714,-1.703,-2.115, PHS= 0.085,-1.406, 0.409, RAW= 159.6, 10.9, CAL= 158.9, 1.5, ROT= 351.1, -1.5 Ygot valid direction response: 20:05:27.6722 LVL= 32752, 29873, 24946, 32755, AGC= 52, IDX= 505,-0.13,-2.119, 2.714,-1.703,-2.115, PHS= 0.085,-1.406, 0.409, RAW= 159.6, 10.9, CAL= 158.9, 1.5, ROT= 351.1, -1.5 Z#Rx 67: Read direction message, but no range.^direction in FSK: [0.987621,-0.154657,0.026177]ۙ9۝h?V^)ÿP!Κ?ۙۙ۝t ܝra)ܙIܙiܝ{=ܝܝsh>ܝaF2@ܝB> ݝ5~1@)ݝPwy) -G-,#FY5Q)< 5>9QjJ]rJ]zJYJYJ]:J]B:JYJYJKm؞KRKm}9ZKibKmjKm+DXadb]YSJC?}5=Z?5=  =kA9Yo@y=IE)=r)) = ‰&<9 IA )E 7<u DDAT read: Rx Time:20:05:28.1719 } TRx dataTimestamp_ set to:1756325130.604941 PDAT read: Bearing 171.7, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 171.7, 2.3 (Local)  DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.5 ԡ m DAT read: 20:05:28.1719 LVL= 27504, 25521, 20962, 32755, AGC= 51, IDX= 502,-0.05, 2.851, 1.416,-2.947, 2.853, PHS= 0.085,-1.391, 0.480, RAW= 161.5, 9.7, CAL= 160.4, -0.3, ROT= 349.6, 0.3 u Ygot valid direction response: 20:05:28.1719 LVL= 27504, 25521, 20962, 32755, AGC= 51, IDX= 502,-0.05, 2.851, 1.416,-2.947, 2.853, PHS= 0.085,-1.391, 0.480, RAW= 161.5, 9.7, CAL= 160.4, -0.3, ROT= 349.6, 0.3 u T#Rx 68: Read range and direction messages.) zcI 1;I E @ = `direction in FSK: [0.983558,-0.180517,-0.005236]E Fpublishing direction and range infoq 9u MNy?Q*ǿsNruyu @q u pku c u Q)q Iu 3iq u J u >u e4@u -\-> u $+3@Ei )u Iu @@iu ;q q u mC?Ś??F89?)u 9?Iu e-iu 9u ;q q  checking for new query: numPingsReceived=68, elapsed TxPingTime=28.513756 E F  F F %5F  checking for new query: numPingsReceived=68, elapsed TxPingTime=28.685070fG:GBBN?׆P,4B+A!ym Bm"IIEMb@Mb@Mb@iAAAAAEGz?M¿V-9E?YEnyEEAAEA E@A9EA5AA5AAI=8I=3E M=MQQ >y G.#FY >5u?5 A9}b?}:Y}@yIE)6=I=i5YMےBU@YDDAT read: Rx Time:20:05:28.6718 TRx dataTimestamp_ set to:1756325131.108365PDAT read: Bearing 169.6, 2.7 (Local) ~Local bearing/azimuth received: Bearing 169.6, 2.7 (Local) DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4  DAT read: 20:05:28.6718 LVL= 28144, 26833, 20690, 32755, AGC= 51, IDX= 501, 0.04,-1.166,-2.550,-0.612,-1.125, PHS= 0.047,-1.378, 0.510, RAW= 163.6, 9.7, CAL= 162.5, -0.4, ROT= 347.5, 0.4 Ygot valid direction response: 20:05:28.6718 LVL= 28144, 26833, 20690, 32755, AGC= 51, IDX= 501, 0.04,-1.166,-2.550,-0.612,-1.125, PHS= 0.047,-1.378, 0.510, RAW= 163.6, 9.7, CAL= 162.5, -0.4, ROT= 347.5, 0.4 %T#Rx 69: Read range and direction messages.-`direction in FSK: [0.976272,-0.216434,-0.006981]-Fpublishing direction and range info9Q\8=?¹˿a|yf@mh P)Ii@=Nb\?36@ 5@)I@i;vdW?y?!w]}?)B?I,if_;Mchecking for new query: numPingsReceived=69, elapsed TxPingTime=28.956282ԁootB+Ao@o@o@Xc @ʜXV5`Q\8=?¹˿a|of_o;@>6Rb s'޿e@?)̜޿P 믿oko@o??oP'o,B2pAȳ?:pBp_B"p@*p/@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 1.004343 s, deltaX: -0.600000 m, approachRate: -0.597406 m/s, rangeRepo size: 4  Added new target pos. range: 7.659316 m, bearing: 331.280287 deg, lat: 36.779962 deg, lon: -121.859002 deg, deltaT: 4.528731 s, deltaX: -2.188365 m, approachRate: -0.483218 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 7.66 m. 9.85 m.nn  ProNav: ac range: 9.847681 m, nav range: 7.571871 m, bearing: 342.067379 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 347.271843 deg, new cmd heading: 348.052731 deg. n U |HeadingCmd: 6.074666 target range: 9.847681 and range: 7.70 m.nU c@nY nY nY nY mY zmY ma "me ؃BJka "ka  ki jm @jm ? B .y< ɝ }>)  +HH"IHPBHu =HHI< IE٪@9@ )<J>YH? ?`-* п@}?@ÿ䗿K?͝?@ME;ɫyBr"IDDAT read: Rx Time:20:05:29.1715 TRx dataTimestamp_ set to:1756325131.610729 PDAT read: Bearing 167.1, 2.9 (Local)  ~Local bearing/azimuth received: Bearing 167.1, 2.9 (Local) DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 EDAT read: 20:05:29.1715 LVL= 26096, 25377, 21010, 32755, AGC= 49, IDX= 498, 0.13,-2.760, 2.242,-2.135,-2.658, PHS=-0.014,-1.337, 0.520, RAW= 166.2, 10.1, CAL= 165.1, -0.1, ROT= 344.9, 0.1 MYgot valid direction response: 20:05:29.1715 LVL= 26096, 25377, 21010, 32755, AGC= 49, IDX= 498, 0.13,-2.760, 2.242,-2.135,-2.658, PHS=-0.014,-1.337, 0.520, RAW= 166.2, 10.1, CAL= 165.1, -0.1, ROT= 344.9, 0.1 UT#Rx 70: Read range and direction messages.]`direction in FSK: [0.965471,-0.260504,-0.001745]}Fpublishing direction and range info9k/#?пn p\yf@e!c R)I1iB`e"?9@J4> !k8@)I@i:?%:\j?Ev\?)2N?I3iZ:checking for new query: numPingsReceived=70, elapsed TxPingTime=29.462313IIMb@Mb@Mb@ioʡ?/$ÿQ롿9 ?Yy\A @9IM2IM?39 <⬻Q >y G0#FY|< > u5 b?u5   A9}?}:Y}J}@y IE) C:I :i 5YB@=Eoo/B+Ao.@o.@o<@'旨@@UT)k/#?пn p\oZo: WT@@+ GVݿK ?6bEboeo@o׹S?o8b*o(B2pij?:p5Bp̃B"p@*p!@]  addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.502364 s, deltaX: -0.500000 m, approachRate: -0.995294 m/s, rangeRepo size: 4 a   Added new target pos. range: 7.161935 m, bearing: 329.876157 deg, lat: 36.779961 deg, lon: -121.859003 deg, deltaT: 5.031095 s, deltaX: -2.685746 m, approachRate: -0.533829 m/s, posRepo size: 4 n n  zIgnoring new targets. Set target to previous: 7.16 m. 9.85 m.n n   ProNav: ac range: 9.847681 m, nav range: 7.200359 m, bearing: 342.703162 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 348.052725 deg, new cmd heading: 348.709810 deg. n  |HeadingCmd: 6.086134 target range: 9.847681 and range: 7.20 m.n @n n n n m zm m "m ˃BJk "k  k j @j kG?} B ƾ<鞁 ɝ n[>) 靅 /< I ) !U<) II I XQ @ EQ FQ  FY F] m0FY Fe =Fe = checking for new query: numPingsReceived=70, elapsed TxPingTime=29.692083ԡ ԹfG}VyG9BABQN]?FBP,C+A٪Rй@9R%@R<R >YRH?V?@SпT?| Ŀ0`?[?Rй@R%;ɫPyE Bԙi"II?IT3DDAT read: Rx Time:20:05:29.6715 TRx dataTimestamp_ set to:1756325132.117785-PDAT read: Bearing 164.7, 2.9 (Local) -~Local bearing/azimuth received: Bearing 164.7, 2.9 (Local) =DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 eDAT read: 20:05:29.6715 LVL= 25776, 26497, 21234, 32755, AGC= 50, IDX= 497, 0.22,-1.279,-2.503,-0.580,-1.125, PHS=-0.066,-1.331, 0.542, RAW= 168.6, 10.4, CAL= 167.4, 0.3, ROT= 342.6, -0.3 mYgot valid direction response: 20:05:29.6715 LVL= 25776, 26497, 21234, 32755, AGC= 50, IDX= 497, 0.22,-1.279,-2.503,-0.580,-1.125, PHS=-0.066,-1.331, 0.542, RAW= 168.6, 10.4, CAL= 167.4, 0.3, ROT= 342.6, -0.3 uT#Rx 71: Read range and direction messages.}^direction in FSK: [0.954227,-0.299037,0.005236]}Fpublishing direction and range info9瘃?ϴ:k#ӿsNru?ydg R)I2i+5^ ?S<@9> :@);I X@ib}n?- u_??)X?I8i|checking for new query: numPingsReceived=71, elapsed TxPingTime=29.965845 ;=MzQ >y G2#FY< >9E5=壱?E5=R =wA9IYM^M@y=IE)=k:I=:i=5YQUl@QԹooʉC+Aooo)@%!V@dO*"t'3?瘃?ϴ:k#ӿsNru?o|ol֑=<@eB&W*#2ܿϰ%=?-V].F_7ޯoro@o=v?ok3o'B2p??:pP'Bp,B"p]@*p@] addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.507056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 7.161935 m, bearing: 327.953763 deg, lat: 36.779959 deg, lon: -121.859007 deg, deltaT: 5.538151 s, deltaX: -2.685746 m, approachRate: -0.484953 m/s, posRepo size: 4 ninimzIgnoring new targets. Set target to previous: 7.16 m. 9.85 m.nn ProNav: ac range: 9.847681 m, nav range: 6.953692 m, bearing: 343.147767 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 348.709817 deg, new cmd heading: 349.187858 deg. n|HeadingCmd: 6.094478 target range: 9.847681 and range: 7.20 m.n@nnnnmzmm"mJk"k kjj@ǜ?uBuS)y}|2 checking for new query: numPingsReceived=71, elapsed TxPingTime=30.195889 2gP,IC+AIa=Ip=٪J @JKNLRKN59ZKLbKNjKN9J@J<J3%>YJH? ?픿Ͽ?@ĿД?`?J @JQ;ɫHy-B-a"II4IV3' u=Q ?y   G 3#FYe^< e>iu5m@?}5m mEA9H>HH"IHABHHHI< IEYi%@ymIE)mkB@V> B@)ȭT>I}@iȭT)Z9? ? [,R?)ks?Ii%پnnnnm!zm!m!"m)Jk)"k)ȭTMchecking for new query: numPingsReceived=72, elapsed TxPingTime=30.489019 kaje@33@jm ~?B<ɝ 3>) $ 5<I)3<)5-I1I5 5@ 9QE F  F F p0F y  checking for new query: numPingsReceived=72, elapsed TxPingTime=30.700712fG-PG%!9%AGIBQBaNm?8P,2;C+AjJrJzJ;JJ:J:J(N4JJ<&J<&J?r;&J?r;&٪z@9z+@zb<zy,>YzH??AͿ?>^ſq`Vt??z@z}A;ɫxyI-Mb@Mb@Mb@i)))))-Zd;O?'1ZĿl9-~ ?Y-"y--A-n@) -@)9-\AIE:IE3ULλQ ]>yYaa G5#FY-< >5QDZ?5z A9?:Y@yIE)Q:I;i95Yo1o5&'C+Ao5r@o5r@o5&@5q !@q‚P?5 U‰?yZٿFa5d?o5%پo5ȭT5F0 v@qቐ?5r2ۚ?3_ݾ?o5o5m@o5 F}?o5_R0Eo5B2p5=v?:p58b*Bp1"p5@*p5`l@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.501914 s, deltaX: -0.400000 m, approachRate: -0.796948 m/s, rangeRepo size: 4  Added new target pos. range: 6.764021 m, bearing: 320.764626 deg, lat: 36.779958 deg, lon: -121.859008 deg, deltaT: 6.040065 s, deltaX: -3.083660 m, approachRate: -0.510534 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 6.76 m. 9.85 m.nne; ProNav: ac range: 9.847681 m, nav range: 6.484345 m, bearing: 344.050085 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 350.276935 deg, new cmd heading: 350.738822 deg. ny|<|HeadingCmd: 6.121547 target range: 9.847681 and range: 6.80 m.n@nnnnm zm m9"mEփBJkI"kI kjj$?ԑDDAT read: Rx Time:20:05:30.6711 TRx dataTimestamp_ set to:1756325133.121405 PDAT read: Bearing 150.7, -7.0 (Local) ~Local bearing/azimuth received: Bearing 150.7, -7.0 (Local) %DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 MDAT read: 20:05:30.6711 LVL= 30960, 32753, 25714, 32755, AGC= 47, IDX= 510,-0.36, 1.578, 0.876, 2.420, 2.023, PHS=-0.357,-1.100, 0.394, RAW= 180.2, 16.2, CAL= 179.6, 12.4, ROT= 330.4, -12.4 UYgot valid direction response: 20:05:30.6711 LVL= 30960, 32753, 25714, 32755, AGC= 47, IDX= 510,-0.36, 1.578, 0.876, 2.420, 2.023, PHS=-0.357,-1.100, 0.394, RAW= 180.2, 16.2, CAL= 179.6, 12.4, ROT= 330.4, -12.4 UT#Rx 73: Read range and direction messages.]^direction in FSK: [0.849212,-0.482419,0.214735]]Fpublishing direction and range info9a9z,?޿h`r|?y3@x rd)I/iȶ̌^> II@Ð> yH@)k]>B,<鞁ɝ->)靅7<I) =P,TC+A٪>Ժ@9>@>|<>S.>Y>H3.??8— ̿? ſ@@??>Ժ@>oڈ;ɫ>zCyRBRY"IIZ1IZ3b`T b<fcQ j>yhh jGj6#FY*< ?!-5%ֱ?-5% %ŲA9)Y55@y%IE)%:I%F:i%5YiYechecking for new query: numPingsReceived=73, elapsed TxPingTime=31.204275YB=@HEo9o=GC+Ao=@o=@o=~@= L@hQ5DV :Z?=a9z,?޿h`r|?o= Ao=k]=#@`-n?=E?xS~@P͘r?o=o=@o=ea?o=Oo=B2p=׹S?:p=k3Bp9"p=e@*p=@M addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.501706 s, deltaX: -0.200000 m, approachRate: -0.398640 m/s, rangeRepo size: 4  Added new target pos. range: 6.565079 m, bearing: 316.013557 deg, lat: 36.779957 deg, lon: -121.859011 deg, deltaT: 6.541771 s, deltaX: -3.282602 m, approachRate: -0.501791 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 6.57 m. 9.85 m.nn ProNav: ac range: 9.847681 m, nav range: 6.289987 m, bearing: 344.445588 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 350.738820 deg, new cmd heading: 351.147410 deg. n|HeadingCmd: 6.128678 target range: 9.847681 and range: 6.60 m.n"@nnnnmzmm"mJk!"k! k!j%`ff@j%?Bo<鞡ɝ|>)59<I)<)7IIb_ "@ JK RIRK s9ZK bK  jK   *H"HEF FFo5FH>HCH"IH2BHHHDI< IE DDAT read: Rx Time:20:05:31.1709  TRx dataTimestamp_ set to:1756325133.625076% PDAT read: Bearing 144.9, -6.6 (Local) ) - ~Local bearing/azimuth received: Bearing 144.9, -6.6 (Local) U DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4  DAT read: 20:05:31.1709 LVL= 31200, 32689, 26098, 32755, AGC= 47, IDX= 507,-0.13,-0.278,-0.810, 0.667, 0.228, PHS=-0.418,-0.991, 0.437, RAW= 186.5, 15.4, CAL= 185.6, 13.0, ROT= 324.4, -13.0 = Ygot valid direction response: 20:05:31.1709 LVL= 31200, 32689, 26098, 32755, AGC= 47, IDX= 507,-0.13,-0.278,-0.810, 0.667, 0.228, PHS=-0.418,-0.991, 0.437, RAW= 186.5, 15.4, CAL= 185.6, 13.0, ROT= 324.4, -13.0 e T#Rx 74: Read range and direction messages.} ^direction in FSK: [0.792261,-0.567203,0.224951]fG ʂ Fpublishing direction and range info 9 i3Z?o0\&⿃:/2?y @  y   e) I i ־ -} w> RP@ >  4QO@) Vh>I -@i Vh   -O\?ct)I?d?) ?I 쉾i  Vh  U checking for new query: numPingsReceived=74, elapsed TxPingTime=31.528795Ga By B N >(P,nC+A٪:@9:&@:`<:<.>Y:H;?@Ұ?@?@˿@?`^ſf?@=?:@:t;ɫ:xCy BX"IIMb@Mb@Mb@i/$?/$ſ/$9 ?Y,y,A A9zABAI?IT3 *=egQ >y G7#FY%{< %>)QU5-鱊?U5-\ -{A9]?]:Y]Y]@y-IE)-;I-e;i-5YaeS@ioIoM?hC+AoM@oM@oM"k@M9 @ro 0?Mi3Z?o0\&⿃:/2?oMoMVhM˩Ї,@%G?MBMΥ?:+&3M?oMyoMd@oMH>?oMzWoMlB2pM F}?:pM_R0EBpMlB"pM6@*pMѵ@uchecking for new query: numPingsReceived=74, elapsed TxPingTime=31.708002} addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503671 s, deltaX: -0.300000 m, approachRate: -0.595626 m/s, rangeRepo size: 4  Added new target pos. range: 6.266639 m, bearing: 310.504615 deg, lat: 36.779954 deg, lon: -121.859019 deg, deltaT: 7.045442 s, deltaX: -3.581042 m, approachRate: -0.508278 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 6.27 m. 9.85 m.nn- ProNav: ac range: 9.847681 m, nav range: 6.030119 m, bearing: 345.024137 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 351.147402 deg, new cmd heading: 351.672780 deg. n)5|HeadingCmd: 6.137848 target range: 9.847681 and range: 6.30 m.n5@i@n1n1n1n1m9zm9m"mBJk"k kj@33@jg?B:<jJerJezJaJaJeL:Je!:JaJaJe< <Je= <Jeiy;Jejy;qyɝuF>)靝};<I)<)XII`f @i@ EQFQ FQFU1FQfG- _Gq B ԩ B N >% DDAT read: Rx Time:20:05:31.6708 - TRx dataTimestamp_ set to:1756325134.1291305 PDAT read: Bearing 138.9, -5.0 (Local) = ~Local bearing/azimuth received: Bearing 138.9, -5.0 (Local) M DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 u DAT read: 20:05:31.6708 LVL= 28064, 32321, 23954, 32755, AGC= 47, IDX= 505, 0.05, 0.126,-0.268, 1.217, 0.705, PHS=-0.491,-0.926, 0.510, RAW= 192.8, 14.1, CAL= 191.8, 12.2, ROT= 318.2, -12.2 } Ygot valid direction response: 20:05:31.6708 LVL= 28064, 32321, 23954, 32755, AGC= 47, IDX= 505, 0.05, 0.126,-0.268, 1.217, 0.705, PHS=-0.491,-0.926, 0.510, RAW= 192.8, 14.1, CAL= 191.8, 12.2, ROT= 318.2, -12.2 } T#Rx 75: Read range and direction messages. ^direction in FSK: [0.728640,-0.651479,0.211325] Fpublishing direction and range info! 9% ˪CoQ?J;俵\ ?y% f@! % m% A~ % ])! I! i% Zd/P,+C+AVm\?\W@d{> >V@)^ Z>Ig@i^ ZFRU?u@?wA6?)}?I;|i:^ Zchecking for new query: numPingsReceived=75, elapsed TxPingTime=31.980947AyBL"II.I35? =U==Q =>yAA EGE8#FYE M>Q5U?5U U>A9Y@yUIE)U:IU:iU5YBa@IEooCC+AoY@oY@o@Α~@U5 h7?˪CoQ?J;俵\ ?o:o^ Zc. @{QLa<j.&I?S)#h?>?꿾;:jm?oo_@o[?o].coB2pea?:pOBp"p@*pѯ@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504054 s, deltaX: -0.100000 m, approachRate: -0.198392 m/s, rangeRepo size: 4  Added new target pos. range: 6.167168 m, bearing: 304.570273 deg, lat: 36.779951 deg, lon: -121.859023 deg, deltaT: 7.549496 s, deltaX: -3.680513 m, approachRate: -0.487518 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 6.17 m. 9.85 m.nn- ProNav: ac range: 9.847681 m, nav range: 5.818104 m, bearing: 345.535621 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 351.672780 deg, new cmd heading: 352.100320 deg. n)5|HeadingCmd: 6.145310 target range: 9.847681 and range: 6.20 m.n5a@n1n9n9n9m9zm9mA"mAJkA"kAi kijm@ju \?B)<鞹ɝ=)<<I)<),/ IIuo a@ EF FF4FF=F=Mchecking for new query: numPingsReceived=75, elapsed TxPingTime=32.213326ԑJK- ŵLRK- 9ZK) bK- jK-     fG Ha Ha He "IHe (BHe v =Ha Ha Ie < Ie EG B B N >թP,CVC+A٪/@9Z@r(<M1>YHX?%?*KZɿ?,ſ*h?_?/@BE;ɫwCyBU"IDDAT read: Rx Time:20:05:32.1706 TRx dataTimestamp_ set to:1756325134.633033 PDAT read: Bearing 129.8, -6.1 (Local) ~Local bearing/azimuth received: Bearing 129.8, -6.1 (Local) %DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 EDAT read: 20:05:32.1706 LVL= 27488, 32753, 24146, 32755, AGC= 47, IDX= 502, 0.27,-1.489,-1.674,-0.222,-0.780, PHS=-0.621,-0.847, 0.554, RAW= 201.4, 13.9, CAL= 200.9, 14.4, ROT= 309.1, -14.4 MYgot valid direction response: 20:05:32.1706 LVL= 27488, 32753, 24146, 32755, AGC= 47, IDX= 502, 0.27,-1.489,-1.674,-0.222,-0.780, PHS=-0.621,-0.847, 0.554, RAW= 201.4, 13.9, CAL= 200.9, 14.4, ROT= 309.1, -14.4 UT#Rx 76: Read range and direction messages.]^direction in FSK: [0.610862,-0.751665,0.248690]]Fpublishing direction and range info97.? 9V l?y̼@`k R^)IiX ?I`@Ulx> Nh`@)>IO@i ?HCbд?]܏?)Mµ?Ixi]lcchecking for new query: numPingsReceived=76, elapsed TxPingTime=32.493198)IMMb@Mb@Mb@iIIIIIMJ +?sh|?ſ~jt9M?YM)yMMAMf@MrA MAI9MA]p<]<I0I(3< #=MQ >y G:#FY|= >5?5 A9|?:YK@yIE)6?:pzWBp"pb@*p^j@= addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503903 s, deltaX: -0.300000 m, approachRate: -0.595352 m/s, rangeRepo size: 4 M Added new target pos. range: 5.868753 m, bearing: 296.396839 deg, lat: 36.779947 deg, lon: -121.859027 deg, deltaT: 8.053399 s, deltaX: -3.978928 m, approachRate: -0.494068 m/s, posRepo size: 4 nInQUzIgnoring new targets. Set target to previous: 5.87 m. 9.85 m.nyny ProNav: ac range: 9.847681 m, nav range: 5.544864 m, bearing: 346.216810 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 352.100323 deg, new cmd heading: 352.645695 deg. n|HeadingCmd: 6.154829 target range: 9.847681 and range: 5.90 m.n[@nnnnmzmm"mBJk"k kj@j?YB?<ɝ>)&?<I)b/<)pI I )e [@ 1 i A checking for new query: numPingsReceived=76, elapsed TxPingTime=32.721233E F  F F o5F ԁ fG jJ rJ zJ J J :J :J J J #<J $<J Z;J Z;G B B N >P,C+Ay٪zڻ@9@P <o1>YHte? ډ?`ȿ@ ?ſ`@`?@?zڻ@$;ɫzCyBT"II5I3 = ֫Q   ?y   G;#FYU< U ?Ye5].?e5] ]űA9iYm m@y]IE)]$;I];i]5YB%w@%JEB*** querying acoustic contact ***ooninzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.n-<n-< ProNav: ac range: 9.847681 m, nav range: 5.372488 m, bearing: 346.667084 deg, approach rate: -0.488185 m/s, LOS rate: 1.316126 deg/s, cmd heading: 352.645699 deg, new cmd heading: 354.039573 deg. na=ԩ|HeadingCmd: 6.179156 target range: 9.847681 and range: 5.90 m.n@nnnnmzmm"mJk"k kjj ?=B=S<9ɝ==UDDAT read: Rx Time:20:05:32.6706 UTRx dataTimestamp_ set to:1756325135.141109]PDAT read: Bearing 115.7, -7.1 (Local) m~Local bearing/azimuth received: Bearing 115.7, -7.1 (Local) }DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 DAT read: 20:05:32.6706 LVL= 23712, 32753, 22754, 32755, AGC= 47, IDX= 502,-0.44,-1.800,-1.742,-0.312,-0.895, PHS=-0.818,-0.800, 0.580, RAW= 210.6, 14.8, CAL= 215.2, 16.8, ROT= 294.8, -16.8 Ygot valid direction response: 20:05:32.6706 LVL= 23712, 32753, 22754, 32755, AGC= 47, IDX= 502,-0.44,-1.800,-1.742,-0.312,-0.895, PHS=-0.818,-0.800, 0.580, RAW= 210.6, 14.8, CAL= 215.2, 16.8, ROT= 294.8, -16.8 T#Rx 77: Read range and direction messages.^direction in FSK: [0.401549,-0.869033,0.289032]Fpublishing direction and range infoQ9Un?\.?yQQU\Q UX)QIQiUshQULUz?U>k@U A> Uvap@)UQ >IU@iUQ QQUk8On8?YX?)U?IU>iUUQ QQchecking for new query: numPingsReceived=77, elapsed TxPingTime=32.989964)Ps@<I)<)oݽIIC` @ EUFY FYF]_0FY fG} FG9 BI Ba Nm >ZP,ZC+AJchecking for new query: numPingsReceived=77, elapsed TxPingTime=33.223911٪V@9V @V};V3>YVHyr?[x?`= ǿ? ƿޯ}B??V@V;ɫVxCybBbN"Idf=Ij1Ij3 ݼ  Z= pQ >y G<#FY< >!M5%x+?M5%2 %A9IYMU@y%IE)%:I%:i%5YY]@YoiomC+Aoioiom8@mM@C:ifLXw#?mn?\.?omomQ m3W5h?;x0=H?ml(.?Ӽ!a2q?om3omE?om9?om #{om}B2pm[?:pm].cBpi"pm@*pmR@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.508076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 5.868753 m, bearing: 283.295007 deg, lat: 36.779944 deg, lon: -121.859032 deg, deltaT: 8.561475 s, deltaX: -3.978928 m, approachRate: -0.464748 m/s, posRepo size: 4 nAnAMzIgnoring new targets. Set target to previous: 5.87 m. 9.85 m.nMnUe; ProNav: ac range: 9.847681 m, nav range: 5.174794 m, bearing: 347.201663 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 354.039577 deg, new cmd heading: 354.402426 deg. ny|<|HeadingCmd: 6.185489 target range: 9.847681 and range: 5.90 m.n@nnnnmzmm"mJk"k k9j9j=?Bv<鞉ɝ=)靕A<IJKLRK@9ZKbK jK<*8~aF6*  )s<) ѽIw*;I, @ :Ha2He<HiHmCHm"IHm#BHmu =HiHiIm< ImEIQIQ"IQ*IQ2IQ:IUĿ4EF FF`0FEDDAT read: Rx Time:20:05:33.1703 MTRx dataTimestamp_ set to:1756325135.645222]PDAT read: Bearing 129.4, -8.4 (Local) e~Local bearing/azimuth received: Bearing 129.4, -8.4 (Local) }DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 DAT read: 20:05:33.1703 LVL= 17472, 24801, 23026, 27987, AGC= 48, IDX= 499,-0.20,-1.502,-1.701,-0.091,-0.691, PHS=-0.723,-0.963, 0.597, RAW= 201.8, 14.8, CAL= 201.1, 16.7, ROT= 308.9, -16.7 Ygot valid direction response: 20:05:33.1703 LVL= 17472, 24801, 23026, 27987, AGC= 48, IDX= 499,-0.20,-1.502,-1.701,-0.091,-0.691, PHS=-0.723,-0.963, 0.597, RAW= 201.8, 14.8, CAL= 201.1, 16.7, ROT= 308.9, -16.7 T#Rx 78: Read range and direction messages. ^direction in FSK: [0.601477,-0.745419,0.287361] Fpublishing direction and range infoI9MX4M??n`jxgd?yM̬@IM@DM` MY)MSmIM0iM9M+vM?Mia@I M`@)M;>IM@iM;IIM^?*?(t_?)M?IMtiM%QdM;II checking for new query: numPingsReceived=78, elapsed TxPingTime=33.524147fG- ƌQ G B B N >P,؟C+A٪:i@9:f@:v;:5>Y:H?K?ƿ ?fƿ w u?~?:i@:;ɫ:yCyTTIMb@Mb@Mb@iQ?MbX9Ŀy G>#FYv< >5>?5 SA9?:Y@yIE)i&?m jm D>m ,@m 5 m Ƈ#@)m +Im =im +>i i m Ȉ?I1?7gG)m bu>Im 4=i i  checking for new query: numPingsReceived=79, elapsed TxPingTime=33.997665fG-ʂGBB  N>!Q,TD+Ay}BR"II7I39< *=Q >y G?#FY >5<"@r=ZcֻڿHLI߿z?bx6pVĿoվo@oT?oodB2p:pBpDB"py@*p@} addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.503863 s, deltaX: -0.400000 m, approachRate: -0.793867 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=79, elapsed TxPingTime=34.232220 Added new target pos. range: 4.973526 m, bearing: 355.120048 deg, lat: 36.779942 deg, lon: -121.859033 deg, deltaT: 9.569451 s, deltaX: -4.874155 m, approachRate: -0.509345 m/s, posRepo size: 4 nnUzIgnoring new targets. Set target to previous: 4.97 m. 9.85 m.nYnYm ProNav: ac range: 9.847681 m, nav range: 4.678513 m, bearing: 348.600377 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 354.958729 deg, new cmd heading: 355.433545 deg. nqu|HeadingCmd: 6.203485 target range: 9.847681 and range: 5.00 m.nu@nqnynynymyzmym"mJk"k kj@j?ŃBn<ɝ=)D<I!)%<)-9I)I5 ӛ 5@ 1AEF FF`0FJK=NRK=9ZK9bK= jK= Twi[PE<:75/$HHHHHHHI4< I EfGG?G&?GBBY N > DDAT read: Rx Time:20:05:34.1698  TRx dataTimestamp_ set to:1756325136.654586 PDAT read: Bearing 191.7, 0.7 (Local)  ~Local bearing/azimuth received: Bearing 191.7, 0.7 (Local)  DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 % DAT read: 20:05:34.1698 LVL= 14992, 23521, 14802, 21795, AGC= 46, IDX= 495, 0.01, 0.136,-1.923,-0.320,-0.504, PHS= 0.728,-1.372, 0.182, RAW= 135.5, 5.0, CAL= 140.4, -2.4, ROT= 9.6, 2.4 5 Ygot valid direction response: 20:05:34.1698 LVL= 14992, 23521, 14802, 21795, AGC= 46, IDX= 495, 0.01, 0.136,-1.923,-0.320,-0.504, PHS= 0.728,-1.372, 0.182, RAW= 135.5, 5.0, CAL= 140.4, -2.4, ROT= 9.6, 2.4 5 T#Rx 80: Read range and direction messages.> Q,{*D+AF^direction in FSK: [0.985131,0.166622,-0.041876]JFpublishing direction and range info9(21?BS? ۷pyf@:[ 9)#UI.i5^:?5^:>Z@¸=  @)+I+>i+=X?`A?,?){j>IѰi+>+=9=checking for new query: numPingsReceived=80, elapsed TxPingTime=34.534012٪@99@e;J9>YH?`?,Ŀ^?ƿӡl?@y?@:;ɫyyyIMb@Mb@Mb@i!rh?+ÿ rh9l?YyC  A A9AI'I@33Q >y  G A#FYL,= >%5d?%5 ڰA9%u ?-:Y-'ܾ-@yIE)E:I o+=#ؼV@øʰ?f+{g`Q?9=二?)B덿ioP=o@ot3?ooՃB2p:pBp"p@*p@  addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.505501 s, deltaX: -0.300000 m, approachRate: -0.593471 m/s, rangeRepo size: 4  Added new target pos. range: 4.675118 m, bearing: 0.803877 deg, lat: 36.779942 deg, lon: -121.859033 deg, deltaT: 10.074952 s, deltaX: -5.172563 m, approachRate: -0.513408 m/s, posRepo size: 4 nnAEzIgnoring new targets. Set target to previous: 4.68 m. 9.85 m.nInI] ProNav: ac range: 9.847681 m, nav range: 4.442643 m, bearing: 349.317014 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 355.433537 deg, new cmd heading: 355.931418 deg. nY|HeadingCmd: 6.212175 target range: 9.847681 and range: 4.70 m.n$@nnnnmzmm"mBJk"k kj@j?%checking for new query: numPingsReceived=80, elapsed TxPingTime=34.736443MȃBMUE>E F  F F _0F fGu  GIBQBiNu>R5Q, CID+A.=.<2DDAT read: Rx Time:20:05:34.6698 6TRx dataTimestamp_ set to:1756325137.157293:PDAT read: Bearing 193.9, -8.8 (Local) :~Local bearing/azimuth received: Bearing 193.9, -8.8 (Local) BDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 VDAT read: 20:05:34.6698 LVL= 19632, 19857, 15442, 18979, AGC= 43, IDX= 510, 0.40, 1.906,-0.122, 1.317, 1.443, PHS= 0.551,-1.517,-0.128, RAW= 131.2, 12.0, CAL= 136.5, 6.6, ROT= 13.5, -6.6 ZYgot valid direction response: 20:05:34.6698 LVL= 19632, 19857, 15442, 18979, AGC= 43, IDX= 510, 0.40, 1.906,-0.122, 1.317, 1.443, PHS= 0.551,-1.517,-0.128, RAW= 131.2, 12.0, CAL= 136.5, 6.6, ROT= 13.5, -6.6 ZT#Rx 81: Read range and direction messages.b\direction in FSK: [0.965926,0.231898,0.114937]bFpublishing direction and range info092JJ6?ل׮?NZl?y002L2M 2R<)2#JI2+i2V ?2-¿2o2C@2PwV> 2x@)2=I2:Fq>i2002p0?fX??)25aH>I2YUi2:Fq>200%checking for new query: numPingsReceived=81, elapsed TxPingTime=35.013123٪5N@95/K@5 ;5v:>Y5H@4??Z ÿ?@ƿra`-?x?5N@5;ɫ1yMBQ"II$I<3 <]BQ >y GB#FY\< > 5 Xw?5 E A9YV׾@y IE) -:I |:i 5Y%*B%#@%VEo0o2JD+Ao0o0o2L=2R?qR2@,X?uA1?2JJ6?ل׮?NZl?o2:Fq>o22kq@*g?r?2*+?"|k}?7e?o29>o2@o2/?o2F7o2fB2p2T?:p2Bp2fB"p2@*p2~@ԩ addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.502707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 4.675118 m, bearing: 3.568271 deg, lat: 36.779966 deg, lon: -121.858986 deg, deltaT: 10.577659 s, deltaX: -5.172563 m, approachRate: -0.489008 m/s, posRepo size: 4 n9n9=zIgnoring new targets. Set target to previous: 4.68 m. 9.85 m.nanau ProNav: ac range: 9.847681 m, nav range: 4.208795 m, bearing: 350.077502 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 355.931430 deg, new cmd heading: 356.388842 deg. nq}|HeadingCmd: 6.220159 target range: 9.847681 and range: 4.70 m.n} @nynynynymzmm"mJk"k kjj?˃Bu\<鞙ɝ\=)靝MG<I)<)*IIk  @ EQFQ FQF]`0FYchecking for new query: numPingsReceived=81, elapsed TxPingTime=35.240265 jJ rJ zJ J J L:J ":J J  @ @ @ @fG} ҇G1 BA BY Ne >JK} MRK} h9ZKy bK} jK} '& H >H H H H H H I < I E1 OaQ,&cD+AuDDAT read: Rx Time:20:05:35.1695 }TRx dataTimestamp_ set to:1756325137.662093PDAT read: Bearing 196.5, -18.9 (Local) ~Local bearing/azimuth received: Bearing 196.5, -18.9 (Local) DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 20:05:35.1695 LVL= 20464, 21873, 14898, 21859, AGC= 43, IDX= 508, 0.17,-2.474, 1.794, 3.118,-2.708, PHS= 0.321,-1.735,-0.460, RAW= 127.9, 20.2, CAL= 132.2, 16.0, ROT= 17.8, -16.0 ٪N@9y@}<>YH@?G?E1?Gǿ5?{?`t?N@_;ɫ|Cy9=P"IAAE=ER=-Ygot valid direction response: 20:05:35.1695 LVL= 20464, 21873, 14898, 21859, AGC= 43, IDX= 508, 0.17,-2.474, 1.794, 3.118,-2.708, PHS= 0.321,-1.735,-0.460, RAW= 127.9, 20.2, CAL= 132.2, 16.0, ROT= 17.8, -16.0 5T#Rx 82: Read range and direction messages.=\direction in FSK: [0.915246,0.293853,0.275637]EFpublishing direction and range infoq9uKI?}? ?yuf@quOuqU u2:)ucUIqiuZ>u{޿uu@uJ> u7@)u5>Iu>iu5qqu1WL??/c0"?)u[& >Iuʹiu>u5qqchecking for new query: numPingsReceived=82, elapsed TxPingTime=35.564259IMb@Mb@Mb@i#~j?/$V-9?Y1y"ArA +A9pAI/I3e =Q >y  G D#F)Y5x= 5>9E5=H?E5= =gA9MY ?U:YUU@y=IE)=F;I=E;i=5Yiu-@qoqou_jD+Aou@ou@ouZ=u @,t?$l?uKI?}? ?ou>ou5uƑ;\@ij(?-a s?u+eYk?hݝV*?餑 ?ou >ouz@ouس?oudouB2pq:puBpq"pu@*pu=% addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504800 s, deltaX: -0.500000 m, approachRate: -0.990491 m/s, rangeRepo size: 4 = Added new target pos. range: 4.177769 m, bearing: 7.157967 deg, lat: 36.779966 deg, lon: -121.858981 deg, deltaT: 11.082459 s, deltaX: -5.669912 m, approachRate: -0.511611 m/s, posRepo size: 4 nAnAzIgnoring new targets. Set target to previous: 4.18 m. 9.85 m.nn ProNav: ac range: 9.847681 m, nav range: 3.923115 m, bearing: 350.889654 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 356.388834 deg, new cmd heading: 356.982013 deg. n|HeadingCmd: 6.230512 target range: 9.847681 and range: 4.20 m.nZ`@n n n n m zmm"m BJk"k kj@j`?σBo,<鞱ɝ=)靵H<I)]<)%WIIn Z`@ Y - '>) G E F  F F _0F # 9 fA checking for new query: numPingsReceived=82, elapsed TxPingTime=35.743919ԉ fG=GIGIG1BYB9NM?t!Q,eD+A٪n6@9n3@nļºnx>>YnH`~?)2?PG`.̾ X8?`}ǿWX?(?r?n6@n;ɫnxCy]B]W"IIm.Im3DDAT read: Rx Time:20:05:35.6695 TRx dataTimestamp_ set to:1756325138.164958PDAT read: Bearing 198.6, -53.4 (Local) ~Local bearing/azimuth received: Bearing 198.6, -53.4 (Local) DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 DAT read: 20:05:35.6695 LVL= 17744, 17313, 13490, 21779, AGC= 42, IDX= 508, 0.15,-0.856,-2.100,-1.532,-0.590, PHS=-0.178,-1.462,-0.945, RAW= 113.6, 39.2, CAL= 121.0, 49.4, ROT= 29.0, -49.4 Ygot valid direction response: 20:05:35.6695 LVL= 17744, 17313, 13490, 21779, AGC= 42, IDX= 508, 0.15,-0.856,-2.100,-1.532,-0.590, PHS=-0.178,-1.462,-0.945, RAW= 113.6, 39.2, CAL= 121.0, 49.4, ROT= 29.0, -49.4 T#Rx 83: Read range and direction messages.\direction in FSK: [0.569180,0.315502,0.759271]Fpublishing direction and range infoہ9ۅvԸ6?3a-1?g)eK?yہہۅPEۅC ܅4)܅UI܅*i܅E6܅"܅q܅?܅%/? ݅(@)݅\?I݅?i݅\݁݁ޅ:yP8?+ 7&u>?)ޅBIޅT/iޅ?ޅ\ށށEchecking for new query: numPingsReceived=83, elapsed TxPingTime=36.021236< /=W!Q >y GE#FY J< 5>9E5='?E5=P =5A9AYE(M@y=IE)=>:I=a';i=5Yu3Bua@qooD+Aooo->F@K?My`` @vԸ6?3a-1?g)eK?o?o\P[@H? @ `=??{{?o>o7@oko?oRoB2p:pRBp"p}@*pe =E addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.502865 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 4.177769 m, bearing: 9.712617 deg, lat: 36.779966 deg, lon: -121.858981 deg, deltaT: 11.585324 s, deltaX: -5.669912 m, approachRate: -0.489405 m/s, posRepo size: 4 nYnY]zIgnoring new targets. Set target to previous: 4.18 m. 9.85 m.nan ProNav: ac range: 9.847681 m, nav range: 3.676763 m, bearing: 351.655998 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 356.982023 deg, new cmd heading: 357.503037 deg. n|HeadingCmd: 6.239605 target range: 9.847681 and range: 4.20 m.nت@nnnnmzmm"mJk"k kjj;?E҃BE5 checking for new query: numPingsReceived=83, elapsed TxPingTime=36.247963jJ rJ zJ >J J :J :J t4J Y 'Q,{JD+AH H H H H H H I"#< I"EJKn8aLRKn9ZKlbKnjKn *^|l]XWUOB:2,+)# y5B5^"IAEAAIE!IEi3]< eh=eQ e>yii mGmF#FYm u>5?5  A9Y@yIE)C\.Q,>Y-H??;ࡥ@J?@Րǿ Am?? q?-ܾ@-m;ɫ-|CyB["I IMb@Mb@Mb@i?QQ9f?YyAO@A A9GAI1I31=# ===yQ E>yAA EGEH#FYM}= M>Q]5UzȲ?]5Ud UدA9] ?e:YeJe@yUIE)Uf:IU:iU5Yim@ addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504550 s, deltaX: -0.400000 m, approachRate: -0.792785 m/s, rangeRepo size: 4 nnzIgnoring new targets. Set target to previous: 9.85 m. 9.85 m.n# =n# =% ProNav: ac range: 9.847681 m, nav range: 3.205462 m, bearing: 353.219543 deg, approach rate: -0.566728 m/s, LOS rate: 1.974272 deg/s, cmd heading: 359.544136 deg, new cmd heading: 2.538505 deg. n%]=-|HeadingCmd: 0.044305 target range: 9.847681 and range: 3.80 m.n-ry5=nInInInImQzmQmQ"mUBJkY"kY kYjYj]^?كBS<ɝ=)DL<I).<)ry5=II0 ry5= DDAT read: Rx Time:20:05:36.6691 TRx dataTimestamp_ set to:1756325139.173007%PDAT read: Bearing 0.2, -43.8 (Local) %~Local bearing/azimuth received: Bearing 0.2, -43.8 (Local) 5DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4 ]DAT read: 20:05:36.6691 LVL= 11824, 22001, 16210, 19667, AGC= 41, IDX= 505,-0.29, 3.005,-2.295, 2.790,-2.012, PHS=-1.178,-0.236,-1.484, RAW= 343.6, 42.3, CAL= 341.5, 42.5, ROT= 168.5, -42.5 mYgot valid direction response: 20:05:36.6691 LVL= 11824, 22001, 16210, 19667, AGC= 41, IDX= 505,-0.29, 3.005,-2.295, 2.790,-2.012, PHS=-1.178,-0.236,-1.484, RAW= 343.6, 42.3, CAL= 341.5, 42.5, ROT= 168.5, -42.5 mT#Rx 85: Read range and direction messages.u^direction in FSK: [-0.722476,0.146989,0.675590]}Fpublishing direction and range info9rGQuˌ?iOo?yff@0.U R?)LI)iȖq@ԑ >5Q,D+A٪:&(@9:Q%@:{:x>>Y:H??ᕿK &Q?Õǿmr?^? q?:&(@:3;ɫ:yCyNBN]"IIV5IV3^ea< b=b܂Q b.?ydh jGjI#FYj6= j.?|5~Ӳ?5~| ~A9 Y  @y~IE)~6:I~B:i~ 5YEBU@@]XEoQoUD+AoU.e@oU.e@oUFA@Uu{6W5??Z@UrGQuˌ?iOo?oU`7<@oUN=Ucզ/JӁ?06@UYP翾wC<7ʵ?d.p?oU>oU6%oUA4?oUYxoUB2pUس?:pQBpUB"pUI@*pUƧH>- addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503499 s, deltaX: -0.200000 m, approachRate: -0.397220 m/s, rangeRepo size: 4 qiuA}checking for new query: numPingsReceived=85, elapsed TxPingTime=37.256199y Added new target pos. range: 3.580948 m, bearing: 173.266138 deg, lat: 36.779963 deg, lon: -121.858981 deg, deltaT: 12.593373 s, deltaX: -6.266733 m, approachRate: -0.497622 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 3.58 m. 9.85 m.nne;- ProNav: ac range: 9.847681 m, nav range: 3.067956 m, bearing: 353.696583 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 2.538505 deg, new cmd heading: 2.848186 deg. n5y|<5|HeadingCmd: 0.049710 target range: 9.847681 and range: 3.60 m.n5K=n9n9n9n9m9zm9mA"mAJkA"kA kIjm @jm`?ۃB<ɝ=) M< I ) (<)=II K= jJMrJMzJM<JIJM,:JMz:JM [4JIԡHHH"IH(BHHHI< IEEF FF0FJKNRK@9ZKbKjK  fGGBB9Ne>= DDAT read: Rx Time:20:05:37.1689 E TRx dataTimestamp_ set to:1756325139.679283U PDAT read: Bearing 12.0, -33.4 (Local) U ~Local bearing/azimuth received: Bearing 12.0, -33.4 (Local) m DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4  PExceeded connect timeout, disconnecting. DAT read: 20:05:37.1689 LVL= 17680, 28721, 17714, 23011, AGC= 41, IDX= 502, 0.36, 1.178, 2.967, 1.467, 2.936, PHS=-1.670, 0.078,-1.472, RAW= 324.0, 33.2, CAL= 327.0, 34.5, ROT= 183.0, -34.5  Ygot valid direction response: 20:05:37.1689 LVL= 17680, 28721, 17714, 23011, AGC= 41, IDX= 502, 0.36, 1.178, 2.967, 1.467, 2.936, PHS=-1.670, 0.078,-1.472, RAW= 324.0, 33.2, CAL= 327.0, 34.5, ROT= 183.0, -34.5  T#Rx 86: Read range and direction messages. `direction in FSK: [-0.822997,-0.043131,0.566406] Fpublishing direction and range infoA 9E FLU꿟GS?5?yE 3S@A E EE 1p E 2E)E YIA iE տE w=E jE @E V? E @)E %?IE iL@iE %A A E 1`uΠfտэ+?)E ..IE Q*iE EE %A A  checking for new query: numPingsReceived=86, elapsed TxPingTime=37.532360 g;Q,sD+Ay~B~Y"IIeMb@Mb@Mb@iaaaaaeNbX9?Cl绿y&19e?Ye;߽ye`弩eAef@a eEAa9eA;<I#I%x3X -=Q >y GJ#FY >5貊?5U A9?:YW%@yIE);I;i5Y)-s@Ioqou_yD+AouR@ouR@ouN@u:;O¿N{?uFLU꿟GS?5?ouEou%uc\Td(οʥ?u@c"e\azJY6n?oupou/ouշ?ou^3ouB2puko?:pqBpuB"pu"?*pu> addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.506276 s, deltaX: -0.300000 m, approachRate: -0.592562 m/s, rangeRepo size: 4   Added new target pos. range: 3.282536 m, bearing: 184.903611 deg, lat: 36.779952 deg, lon: -121.858981 deg, deltaT: 13.099649 s, deltaX: -6.565145 m, approachRate: -0.501170 m/s, posRepo size: 4 n n zIgnoring new targets. Set target to previous: 3.28 m. 9.85 m.nn% ProNav: ac range: 9.847681 m, nav range: 2.821191 m, bearing: 354.577987 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 2.848187 deg, new cmd heading: 3.354435 deg. nAM|HeadingCmd: 0.058546 target range: 9.847681 and range: 3.30 m.nMo=nInQnQnQmQzmQmY"m]BJkY"kY kYje`ff @je ?߃B8<ɝ{=)LM<I)L<)=II%( Eo= Achecking for new query: numPingsReceived=86, elapsed TxPingTime=37.760040EF FF0F1 fG IٳG G G B B N >Y SBQ,D E+A٪fĿ@9f @rDDAT read: Rx Time:20:05:37.6689 rTRx dataTimestamp_ set to:1756325140.181017vPDAT read: Bearing 0.2, -24.1 (Local) z~Local bearing/azimuth received: Bearing 0.2, -24.1 (Local)  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 5DAT read: 20:05:37.6689 LVL= 16368, 15217, 9010, 13491, AGC= 40, IDX= 503,-0.25,-1.663, 0.052,-1.733,-0.529, PHS=-1.046, 0.627,-1.207, RAW= 334.5, 18.1, CAL= 336.4, 23.3, ROT= 173.6, -23.3 =Ygot valid direction response: 20:05:37.6689 LVL= 16368, 15217, 9010, 13491, AGC= 40, IDX= 503,-0.25,-1.663, 0.052,-1.733,-0.529, PHS=-1.046, 0.627,-1.207, RAW= 334.5, 18.1, CAL= 336.4, 23.3, ROT= 173.6, -23.3 =T#Rx 87: Read range and direction messages.E^direction in FSK: [-0.912723,0.102378,0.395545]MFpublishing direction and range infop9r`5B&ǎs5?EFTP?yppr?rq; r2#)r4Ir(irTㅿr ?r~rѺ@r?> r@)r5>IrA@ir5оpprG@^ ʹ~?g⮝?)r+y"IrirA@r5оppechecking for new query: numPingsReceived=87, elapsed TxPingTime=38.029469fU޻fn>>YfH?Ʊ?qEj^?`Wǿ{?@? r?fĿ@fe;ɫfzCy}B_"IIIM3< _=ŻQ >y GL#FY%\N= %>IU5Mz?U5M MpA9YY]]@yMIE)M:IM:iM5YeOBe@eYEoporȕ E+AopoporB@rG`W&?{I7?r`5B&ǎs5?EFTP?orA@or5оrhv'僩?Z{?rbN'Xzv߷?35?or>ori?orr?)ororB2prշ?:prYxBpp"pr=@*pr?@ addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.501734 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.282536 m, bearing: 174.155681 deg, lat: 36.779913 deg, lon: -121.858984 deg, deltaT: 13.601383 s, deltaX: -6.565145 m, approachRate: -0.482682 m/s, posRepo size: 4 nnzIgnoring new targets. Set target to previous: 3.28 m. 9.85 m.n!n!5 ProNav: ac range: 9.847681 m, nav range: 2.622159 m, bearing: 355.325910 deg, approach rate: 0.000000 m/s, LOS rate: 0.367885 deg/s, cmd heading: 3.354435 deg, new cmd heading: 3.794189 deg. n1=|HeadingCmd: 0.066221 target range: 9.847681 and range: 3.30 m.n=잇=n9n9nAnAmAzmAmI"mIJkI"kI kIjQjUҼ?B<<ɝ =)NN<I)<) '=I I ܽ 잇= EEY>EE>YEF FF3FFFfGýGBBchecking for new query: numPingsReceived=87, elapsed TxPingTime=38.272034N>ԁ jJa rJe zJe =Ja Ja Je :Je g4Ja H >H H "IH -BH t =H H DI < I EIyIy"Iy*Iy2Iy:I}˾&4}HQ,#E+A,JKNLRKN+9ZKLbKNjKN /ZQ#_ԉ=DDAT read: Rx Time:20:05:38.1686 ETRx dataTimestamp_ set to:1756325140.695423MPDAT read: Bearing 1.2, -32.1 (Local) M~Local bearing/azimuth received: Bearing 1.2, -32.1 (Local) eDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 DAT read: 20:05:38.1686 LVL= 15280, 13105, 9010, 15571, AGC= 40, IDX= 500,-0.00, 2.101,-2.811, 1.998,-2.978, PHS=-1.117, 0.214,-1.310, RAW= 336.7, 28.6, CAL= 337.2, 31.2, ROT= 172.8, -31.2 Ygot valid direction response: 20:05:38.1686 LVL= 15280, 13105, 9010, 15571, AGC= 40, IDX= 500,-0.00, 2.101,-2.811, 1.998,-2.978, PHS=-1.117, 0.214,-1.310, RAW= 336.7, 28.6, CAL= 337.2, 31.2, ROT= 172.8, -31.2 T#Rx 88: Read range and direction messages.^direction in FSK: [-0.848619,0.107206,0.518027]Fpublishing direction and range infoA9EIF'}Pvq?4xrb?yE9@AE;E13 A)E<IAiEE"[>EE| @Er> ES@)E'g ?IEA@iE'g AAESa濭T4࿠2XԜ?)E IE=iEA@E'g AAchecking for new query: numPingsReceived=88, elapsed TxPingTime=38.542061 nManaging dock network, ignoring radio surface power offyBa"IԱIMb@Mb@Mb@iS㥛?S㥛9$?Y̽y/ݼ9A\A 9I-I3M; =Q >y GN#FY >m5-?m5 =A9m?m:Ym~m@yIE)m@}ZEoAoEρ,E+AoE8@oE8@oE.C@E4=ya?o?EIF'}Pvq?4xrb?oEA@oE'g Ej|aT)?g<*%?E9t-뿨n f#?sW뇽?oEJQ>oEoE1ٹC?oEboE B2pA:pEBpA"pEP@*pEA@E  addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.514406 s, deltaX: -0.400000 m, approachRate: -0.777596 m/s, rangeRepo size: 4 U  Added new target pos. range: 2.884668 m, bearing: 175.231150 deg, lat: 36.779913 deg, lon: -121.858986 deg, deltaT: 14.115789 s, deltaX: -6.963014 m, approachRate: -0.493278 m/s, posRepo size: 4 nQ nY ] BIntercept lockout. Range: 2.90 m.] bTransitioning guidance mode to: INTERCEPT_LOCKOUTn @n n n n n m zm m "m #BJk "k  k j @33@j ? E BE *!$PQ,@E+A٪Nq@9Nn@N^N8iC>YNH ?D? "8 a?`/ȿ@ ?F? j?Nq@N;ɫN{Cy B d"II,I3eۭ< =&Q 5?y G!YUR= ]&?ԉy5}?5} }'A9Yg @y}IE)}GVQ,zTZE+A ٪>@9>>@>N6>/H>Y>Hs?-?`Β=^?ȿɆ?? uc?>@>e;ɫ>yCyz Bzg"I%checking for new query: numPingsReceived=89, elapsed TxPingTime=39.279991I54I5V3t-< I= Q >y GP#FY= >5.?5 A9YZ@yIE);I;i-!5Y@ooLE+Aooo'B@)FG6m?S ?̣r=Y"K?y8#?o6;@oq_5")7?G?dgy鿎5$}?1 wT)?o>oom?o=o~B2p:pbBp~B"pe@*p,D@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.502189 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.884668 m, bearing: 173.702839 deg, lat: 36.779913 deg, lon: -121.858988 deg, deltaT: 0.502189 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 nnnnnnnmzmm"mJk"k kjj |?UBUԡfGGBBNM><<DDAT read: Rx Time:20:05:39.1684 TRx dataTimestamp_ set to:1756325141.701305PDAT read: Bearing 352.0, -40.5 (Local) ~Local bearing/azimuth received: Bearing 352.0, -40.5 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 = DAT read: 20:05:39.1684 LVL= 15136, 13393, 6946, 14051, AGC= 43, IDX= 497, 0.40,-2.947,-1.712, 2.689,-1.540, PHS=-1.319,-0.125,-2.057, RAW= 352.3, 36.2, CAL= 348.3, 37.8, ROT= 161.7, -37.8 M Ygot valid direction response: 20:05:39.1684 LVL= 15136, 13393, 6946, 14051, AGC= 43, IDX= 497, 0.40,-2.947,-1.712, 2.689,-1.540, PHS=-1.319,-0.125,-2.057, RAW= 352.3, 36.2, CAL= 348.3, 37.8, ROT= 161.7, -37.8 U T#Rx 90: Read range and direction messages.] ^direction in FSK: [-0.750193,0.248103,0.612907]] Fpublishing direction and range info93;o˸7?o m4?yf&@ ;Q4 ")6I+iԨ@?!? @)[(?I4@i[(Qz߿5zqg>u?)IY!i4@[(u checking for new query: numPingsReceived=90, elapsed TxPingTime=39.552692 q\Q,0tE+APy||I-Mb@Mb@Mb@i)))))-y&1?ˡE:v9-`?Y-什y-Լ-A-O@) -A)9-Ap<<I+In3Q >y GQ#FY > 5 A?5  A9.?:Y[:@y JE) 3:I :i #5Y%bB%@Io o .lE+Ao %@o %@o 1<@ e q?j\? 3;o˸7?o m4?o 4@o [( e k `?e=?  nu?pXrd?o >o o Z`靲?o ho ZB2p 1ٹC?:p Bp ZB"p B@*p CB@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503693 s, deltaX: -0.300000 m, approachRate: -0.595601 m/s, rangeRepo size: 4  Added new target pos. range: 2.586251 m, bearing: 168.477963 deg, lat: 36.779920 deg, lon: -121.858988 deg, deltaT: 0.503693 s, deltaX: -0.298417 m, approachRate: -0.592458 m/s, posRepo size: 4 nnnnnnnmzmm"m-BJk!"k!5checking for new query: numPingsReceived=90, elapsed TxPingTime=39.784527 kAjM@jME?B<鞙ɝhQ=)靝Q<I)<)Ik:I  jJrJzJJJ|:Jo5:JJJ}<J}< J; J; E}Fy FyFyFyfGuýGQBYBiN}>!  DDAT read: Rx Time:20:05:39.6684  TRx dataTimestamp_ set to:1756325142.205110 DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 - Z#Rx 91: Read range message, but no direction. y   checking for new query: numPingsReceived=91, elapsed TxPingTime=40.039902\cQ,E+A٪6@96@6 v6>W>Y6H`?`{?`+5`7˄K?ʿ1?`b?J?6@66;ɫ4yNBNe"IIV4IVV3^C ^<^;Q ^?y`` bGbR#FYfa= f?hn5jP?n5j jЮA9lYn2n@yjJE)ja;Ij;ij$5YvlBv>@v[E9 addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503805 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 nnnnnnnmzmm"mJk"k kjj`qq?BqC<鞙ɝx2=)靥LR<I) i<)I:I3b  !EmFi FiFiFi=checking for new query: numPingsReceived=91, elapsed TxPingTime=40.287926ifGfGa Bi By N >H H H "IH 7BH t =H H I < I EԱ JK +ORK 9ZK bK jK   ""()*++'+**(')(&'$###!iQ,E+A٪F> @9Fj @FFcW>YFH? gYI`xK?>ʿב?? EJ?F> @Fއ;ɫDyR BRk"IIZ0IZ(3j1< jI=n~Q r>yx| GS#FYB< >1U5ԡ5c?55` 5A9Y@y5JE)5  9 8AM checking for new query: numPingsReceived=92, elapsed TxPingTime=40.791801! jJ rJ zJ ;J J :J !:J (N4J J <J <J iy;J jy;jpQ,E+A٪V@9V@V1V\L>YVHl?}r?`+ \?,kɿ0?o?`T[?V@V#;ɫVzCy=B=r"IIMb@Mb@Mb@i'1Z?RQ~jt9?Y½yļAA \A9A  I2I?3%v< %7=-!Q ->y)) -G5U#FY5ꋼ 5>9E5=u?M5=p =A9M3?U:Y]7]@y= JE)=|n;I=m;i=O(5YevBe4@e\Ennnnnnnmzmm"mPBJk"k kjj ?B^S<ɝ U=)S<I)Ĝ<)I:Iq  EUFY FYF]0FYfG%Qy vQ,E+A٪B+@9B(@BzBB>YBH??Aq*ݜj? ȿ yR?@?`>l?B+@BpD;ɫByCyJ BJf"IIVGIV3^T[ ^e=b;Q b>y`` fGfV#FYfHc f>hn5j/?n5ji j}A9pYrLr@yj JE)j;Ij;ij)5Ytv@xchecking for new query: numPingsReceived=93, elapsed TxPingTime=41.295994B*** querying acoustic contact ***oo5 addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.499626 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 n1n9n9n9n9n9n9mAzmAmA"mAJkI"kI kIjIjMΧ?}B}\t<鞁ɝ`<)靅!S<I)?<)I_#:I0  QEF FFd5F:H<2H<HHH"IHEԁJKaMRK9ZKbKjK(:/(   fGdGBABqN>DDAT read: Rx Time:20:05:41.1681 TRx dataTimestamp_ set to:1756325143.721171PDAT read: Bearing 204.4, -56.6 (Local) ~Local bearing/azimuth received: Bearing 204.4, -56.6 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1 % DAT read: 20:05:41.1681 LVL= 14784, 24257, 10210, 28019, AGC= 47, IDX= 511, 0.01,-2.863, 1.900, 2.479,-2.467, PHS=-0.309,-1.870,-1.340, RAW= 109.5, 42.1, CAL= 114.6, 51.5, ROT= 35.4, -51.5 - Ygot valid direction response: 20:05:41.1681 LVL= 14784, 24257, 10210, 28019, AGC= 47, IDX= 511, 0.01,-2.863, 1.900, 2.479,-2.467, PHS=-0.309,-1.870,-1.340, RAW= 109.5, 42.1, CAL= 114.6, 51.5, ROT= 35.4, -51.5 5 T#Rx 94: Read range and direction messages.= \direction in FSK: [0.507429,0.360611,0.782608]= Fpublishing direction and range info9U`Y)y\fA9@ EA9AI.I3bG< 5=%Q %>y!! %G-W#FY- ->5?5y  EA9>:Y_о@yJE));I;i+5YBF@]Eio o 'E+Ao @o @o ;ϼ> c?R?P(? U`o `?o S쳊?o jo B2p m?:p Bp "p b@*p [?@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.507855 s, deltaX: -0.200000 m, approachRate: -0.393813 m/s, rangeRepo size: 4  Added new target pos. range: 2.088897 m, bearing: 21.128882 deg, lat: 36.779925 deg, lon: -121.858988 deg, deltaT: 2.019866 s, deltaX: -0.497354 m, approachRate: -0.246231 m/s, posRepo size: 4 nnnnnnn checking for new query: numPingsReceived=94, elapsed TxPingTime=41.799976m!zm!m)"m-0BJk)"k) k1j5@j5 y ?Bn<鞩ɝ<)靭}VT<I)<)IS:IjJrJzJJJ:J$-:JJJ0<J0<J;J;ԱEF FF?1FFF=fGGQBYBqN}>  DDAT read: Rx Time:20:05:41.6684  TRx dataTimestamp_ set to:1756325144.221129 DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - Z#Rx 95: Read range message, but no direction. y f&@  checking for new query: numPingsReceived=95, elapsed TxPingTime=42.0559509Q,RF+AL٪v@9v'@ve<v|.>YvH@?`z ?=ʰx?ſJ???v@v;ɫv{Cy%B%p"I54<5I]5I]3m< uW=ugy GY#FYŽ >5c?5@  A9Y@yJE)d:I:i-5Y@  addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.499958 s, deltaX: 0.500000 m, approachRate: 1.000084 m/s, rangeRepo size: 4 n  TStarting intercept timer at range: 2.60 m.n nnnnnmzmm"mJk!"k! k!j%@j%@?UBUzH >H H "IH ABH H H I < I E) JKU uMRKU 9ZKQ bKU jKU />B=7/)" ׉Q,E)F+AK>vA K>vAx٪tֿ@9@1k3'#>YH .?H?љݱ@х?!Ŀ e?MN?h?tֿ@Z҈;ɫyeBmx"II6Im3DDAT read: Rx Time:20:05:42.1684 TRx dataTimestamp_ set to:1756325144.732686PDAT read: Bearing 45.2, -37.6 (Local) ~Local bearing/azimuth received: Bearing 45.2, -37.6 (Local) B< 2=E(ʻQ E>yAI MGMZ#FYM M>QuDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 5U?5U|  UA9Y@yUJE)UO-- checking for new query: numPingsReceived=96, elapsed TxPingTime=42.809242q jJ rJ zJ =J J :J %:J g4J J <J <J J;J J;Q,CF+AQyB{"Ionly read 0 of 1 data item for altitude. Device response is::BD, -21. +854.85, -14.04, 8.30, 0.00 aa@a ae@a ai@a a]@a Ie#Ie%x3}(< }5=ԁQ >y G\#FY >DDAT read: Rx Time:20:05:42.6689 TRx dataTimestamp_ set to:1756325145.228548DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 -Z#Rx 97: Read range message, but no direction.ہyۅ3S@ہchecking for new query: numPingsReceived=97, elapsed TxPingTime=43.063496ԩ5w?5 A+:9:Y@yJE)=Ia ?i:15YB@^EooNF+AoR@oR@os@ w#U883ʩA3W@p9,{4Kc ۿyjY?oK o.E.epTHCTv̝j @Xl%iv߿1"?o+̿oo8u?oJ79o"B2pZ`靲?:p=Bp~B"p\`@*p>;@ addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 1.007419 s, deltaX: 0.700000 m, approachRate: 0.694845 m/s, rangeRepo size: 4  Added new target pos. range: 3.282543 m, bearing: 218.005227 deg, lat: 36.779930 deg, lon: -121.858988 deg, deltaT: 1.507377 s, deltaX: 1.193646 m, approachRate: 0.791870 m/s, posRepo size: 4 nRStopped intercept timer at range: 3.30 m.nnnnnnmzmm"mJk"k k! j% `ff @j% @b? B 'w<鞑 ɝ =) 靝 zU< I ) 6<)y I 9I ޽ E F  F F /F ) i- A5 checking for new query: numPingsReceived=97, elapsed TxPingTime=43.312256*H"H@AH>HH"IHFBHu =HHI< IEIqIq"Iq*Iut =2Iut =:IuϤ 4fGH01GBB N?oʙQ,iF+AJKVAMRKV9ZKTbKVjKV٪zj@9z+=znۼz=YzH?ি@FP |q?`?  l?F?K?zj@z:S;ɫzyCyB~"I)-BAI=)I=W3<  =tǼQ ->y19I =Ge]#FYuZ> }>DDAT read: Rx Time:20:05:43.1682 TRx dataTimestamp_ set to:1756325145.738616-PDAT read: Bearing 45.6, -77.9 (Local) 5~Local bearing/azimuth received: Bearing 45.6, -77.9 (Local) eDAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 20:05:43.1682 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 494, 0.07, 1.526, 1.731, 1.563, 2.799, PHS=-1.185,-1.021,-1.240, RAW= 343.9, 80.8, CAL= 343.3, 80.9, ROT= 166.7, -80.9 Ygot valid direction response: 20:05:43.1682 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 494, 0.07, 1.526, 1.731, 1.563, 2.799, PHS=-1.185,-1.021,-1.240, RAW= 343.9, 80.8, CAL= 343.3, 80.9, ROT= 166.7, -80.9 T#Rx 98: Read range and direction messages.^direction in FSK: [-0.153916,0.036384,0.987414]Fpublishing direction and range info9ÿB &?G +?y3@ )I,i!R@J? !@){?I4:@i{wuE|jS5?)I"i4:@{checking for new query: numPingsReceived=98, elapsed TxPingTime=43.5945175Xг?5 A :9:Y_@yJE)]:I?i25YB@hEoo|EoF+Aok@ok@o?e@P[ֿ{.4FO?$@ÿB &?G +?o4:@o{9Kڭٿ 0ȿ-IG@\!ƿ9Hl ۔X`M8a?oEo-Ͼo>?o oB2p8u?:pjBpB"pi@*p@5@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.510068 s, deltaX: -1.000000 m, approachRate: -1.960523 m/s, rangeRepo size: 4  Added new target pos. range: 2.287830 m, bearing: 205.484429 deg, lat: 36.779942 deg, lon: -121.858989 deg, deltaT: 0.510068 s, deltaX: -0.994713 m, approachRate: -1.950157 m/s, posRepo size: 4 n%TStarting intercept timer at range: 2.30 m.n!n!n!n!n!n!m)zm)mQ"mQJkY"kY kYj]`ff@j]?q B|=x<<ɝ=)XV<I)B<)I9I%  )EF FF Fԙ} checking for new query: numPingsReceived=98, elapsed TxPingTime=43.816010fG Gݽ GI Bq B N >#Q,F+A٪| @9@=ɳ >YH"?`4EN˷??`knu?@%??| @J;ɫxCy'B"I)aaaa aeae aiai a]a] IMb@Mb@Mb@ip= ף?MbpI +9>Yy94A@EA /A9AI0I(3:= 7=RQ >y G_#FY= >5س?5 |AT:9A>K;Y=@yJE)%;I;iu45Y(@B*** querying acoustic contact ***oon--XStarting latch delay timer at range: 2.30 m.5"Cable is present.n1n1n1n1n1n5?m1zm9m9"m= BJk9"k kjja?-B5A<1ɝ50B=)15[V<9I9)=B<)aIe9Ie< i mS{AEyEyuDDAT read: Rx Time:20:05:43.6683 }TRx dataTimestamp_ set to:1756325146.238787PDAT read: Bearing 250.3, -30.2 (Local) ~Local bearing/azimuth received: Bearing 250.3, -30.2 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 20:05:43.6683 LVL= 15584, 27185, 25698, 29347, AGC= 45, IDX= 506, 0.09,-0.856,-2.632, 3.115,-1.720, PHS= 0.951,-0.865,-1.451, RAW= 76.5, 12.5, CAL= 79.8, 20.4, ROT= 70.2, -20.4 Ygot valid direction response: 20:05:43.6683 LVL= 15584, 27185, 25698, 29347, AGC= 45, IDX= 506, 0.09,-0.856,-2.632, 3.115,-1.720, PHS= 0.951,-0.865,-1.451, RAW= 76.5, 12.5, CAL= 79.8, 20.4, ROT= 70.2, -20.4 T#Rx 99: Read range and direction messages.\direction in FSK: [0.317493,0.881871,0.348572]Fpublishing direction and range infoq9ubRQ?`%H8?<O?yu@qu<u1j ubd)urIu-iuts?up]u^u?uf_> uaF?)uK>Iu Ԝ?iuKqqur$?rr0?)uX~BIu*`iu Ԝ?uKqq%checking for new query: numPingsReceived=99, elapsed TxPingTime=44.092724E)F) F)F-? F)fGѽGBBN>! Q,F+A٪:vd@9:8 >:]^: >Y:H>?ےz`7?L? TĿ?\?җ?:vd@:T;ɫ:vC@bchecking for new query: numPingsReceived=99, elapsed TxPingTime=44.319843yB"II-I-M3=sP Eh=E:Q E>yII MGM`#FYM= M>Qe5Uೊ?e5UO UyA9aYes>e@yUJE)Uk;IUE;iU55Yqu@qooIHF+Ao@o@o?ȩ#A?h¢@f?bRQ?`%H8?<O?o Ԝ?oKv_@ 3?ئQ;@ ?sXv?_2?[ݪm?o@o>o?o^ovB2p>?:pBp"pk?*pZ@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.500171 s, deltaX: 0.100000 m, approachRate: 0.199932 m/s, rangeRepo size: 4  Added new target pos. range: 2.387301 m, bearing: 77.327038 deg, lat: 36.779959 deg, lon: -121.858989 deg, deltaT: 0.500171 s, deltaX: 0.099471 m, approachRate: 0.198874 m/s, posRepo size: 4 nnnnnnnnnmzmm"mJk"k kj@33@j@s?%B%vHH"IHUBHt =HHIP< I4EԹEF FFa FfGVJK}RK}u9ZKybK}jK}  BaBqN}z>DDAT read: Rx Time:20:05:44.1688  TRx dataTimestamp_ set to:1756325146.7583745 PDAT read: Bearing 11.8, -19.0 (Local) = ~Local bearing/azimuth received: Bearing 11.8, -19.0 (Local) m DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0  DAT read: 20:05:44.1688 LVL= 7952, 19121, 14290, 20211, AGC= 49, IDX= 4, 0.32,-1.176, 0.591,-0.778,-0.032, PHS=-1.056, 0.670,-0.749, RAW= 320.4, 14.1, CAL= 323.8, 20.4, ROT= 186.2, -20.4  Ygot valid direction response: 20:05:44.1688 LVL= 7952, 19121, 14290, 20211, AGC= 49, IDX= 4, 0.32,-1.176, 0.591,-0.778,-0.032, PHS=-1.056, 0.670,-0.749, RAW= 320.4, 14.1, CAL= 323.8, 20.4, ROT= 186.2, -20.4  V#Rx 100: Read range and direction messages. - `direction in FSK: [-0.931800,-0.101226,0.348572]- Fpublishing direction and range info 9 ΂Mq鹿<O?y L@   J  7) NI 1i + +? w? @ d{>  ش@) I O@i    rUNtHտ;?) aE2I xj|i "B   m checking for new query: numPingsReceived=100, elapsed TxPingTime=44.635540=Q,†F+A٪:V@9:(>:P˼:U5>Y:Hَ?@/1ſTs??`p ?@ƿri??}?:V@:i-;ɫ:wCy^"Bb"IlIMb@Mb@Mb@i~jt?~jtx?Mbp?9=Y;y;=A@+A A9E;E<IM4IMV3P< 0={;Q >y!! %G%a#FY-'= M>Q]5U@䳊?]5U  UA9])=e e@yU JE)U:IU:iU 85Yk@o1o53F+Ao5K@o5K@o5s^@5WjԿ!2 ?5΂Mq鹿<O? checking for new query: numPingsReceived=100, elapsed TxPingTime=44.831875o5"Bo157w)D^!?5y[}ւsԿ?jU?o5~o5s7o5Z?o5q;+o5B2p1:p5 Bp1"p5-?*p5v^@] addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.519587 s, deltaX: 0.800000 m, approachRate: 1.539684 m/s, rangeRepo size: 4  Added new target pos. range: 3.183074 m, bearing: 199.149748 deg, lat: 36.779959 deg, lon: -121.858999 deg, deltaT: 0.519587 s, deltaX: 0.795772 m, approachRate: 1.531548 m/s, posRepo size: 4 nnnnnnnnnmzmm"m BJk"k kj @jE ?BaVu<ɝM@<)IM5W8^.$Z?y  c l Z) ~I 0i i? h uY? s> aF?) t;>G I{AB B1 N= >Q,LF+A(٪>@9>:>>b譼>=>Y>H`Jv?QPǿ2/? o6?Y?ǿ@?O?r?>@I= Ԝ?i=t;99=}Y?YY}F?)=AI=~ri= Ԝ?=t;99Nchecking for new query: numPingsReceived=101, elapsed TxPingTime=45.152451><;ɫ>yCy^(B^"IIfIfM3< ]=%2y>> Gb#FY|?= >58糊?5 A9Yq>@y!JE)g;I;i95Y@o9o=tF+Ao9o9o=h?=\ ?ڸN@`W7?=Y@/?^@RK?>8^.$Z?o= Ԝ?o=t;=y?sR/J@aP6?=LR?R$??o=V*@o=>o=~?o=(o=B2p9:p9Bp=B"p=6?*p=t%^@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.500809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 3.183074 m, bearing: 79.485313 deg, lat: 36.779959 deg, lon: -121.858999 deg, deltaT: 0.500809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 nAnAnAnAnAnAnAnAnImIzmImI"mQJkQ"kQ kQjQj]wc?yB<ɝ =)X<I)<)Iߴc:I=  nE5%<E- #F) F)F-F)mchecking for new query: numPingsReceived=101, elapsed TxPingTime=45.343258ԱJ|a4J2`4J$Z/jJrJzJ>JJ\:J&:Jt4J:H 2H =H)H)H-"IH-[BH)H)H)I-< I-E fG G B B N >JK ŵLRK 9ZK bK jK  uQ,F+A`٪=k@9=`'K>=7='>Y=Hf]? Vɿ ?8??`ſT?j?`5?DDAT read: Rx Time:20:05:45.1675 TRx dataTimestamp_ set to:1756325147.766289%PDAT read: Bearing 182.8, -69.2 (Local) -~Local bearing/azimuth received: Bearing 182.8, -69.2 (Local) eDAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 20:05:45.1675 LVL= 22384, 25233, 27970, 32755, AGC= 48, IDX= 493, 0.07,-3.038, 2.032, 2.685,-1.735, PHS=-1.215,-2.470,-1.866, RAW= 118.7, 61.0, CAL= 123.4, 66.8, ROT= 26.6, -66.8 Ygot valid direction response: 20:05:45.1675 LVL= 22384, 25233, 27970, 32755, AGC= 48, IDX= 493, 0.07,-3.038, 2.032, 2.685,-1.735, PHS=-1.215,-2.470,-1.866, RAW= 118.7, 61.0, CAL= 123.4, 66.8, ROT= 26.6, -66.8 V#Rx 102: Read range and direction messages.\direction in FSK: [0.352245,0.176391,0.919135]Fpublishing direction and range info9$-?6Dҁ?i?y?pWb Bm)Ii{Ԗ@{F?  @);?I,>i;K5 ?_;msRx?)OI&Pi,>;checking for new query: numPingsReceived=102, elapsed TxPingTime=45.630398=k@=Ӧ;ɫ={Cy5&B="IIIU'> CSG5/{AIuGu/{A9}AIMb@Mb@Mb@iQ?Ky Gc#FY< > U5 鳊?U5   kA9]=](n?2K?qL$׍?$-?6Dҁ?i?o,>o;W\|?*^+?Pqr?Hh?Z3¶?Y-?oZ=o>o|. ?oG@ofB2p?:pG@BpvB"p>*p> addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.507106 s, deltaX: -2.000000 m, approachRate: -3.943949 m/s, rangeRepo size: 4 M Added new target pos. range: 1.193653 m, bearing: 15.504000 deg, lat: 36.779968 deg, lon: -121.858996 deg, deltaT: 0.507106 s, deltaX: -1.989420 m, approachRate: -3.923086 m/s, posRepo size: 4 nUnQnQnQnQnQnQnYnYmYzmYma"me5BJka"ka kajm@33?jm)?BNp<ɝ<) X< I ) C<)) I- 9X:I- W= ) 1 u checking for new query: numPingsReceived=102, elapsed TxPingTime=45.844021I nE RR?)Rb>IRg?iRbʾPPRʢ.? ^=?|kf-b -u=Y-H ?п@oT??1???-B=-z;ɫ-yCyM%BU"IIe Ieb3u uN=u{Q u>yyy }G}d#FY}/> >5볊?%5 _A9)Y-Nn5@y)*]  DDDDUchecking for new query: numPingsReceived=103, elapsed TxPingTime=46.348907E)F FF( FfGm @"=I C=I %=jJ rJ zJ <J J |:J !:J [4J Թ H H H H H H H I ј< I wEGy B B N >Q,{)G+ALyu.Bu"II$I<3 @= U=Q >y Ge#FY >JKLRKC9ZKbKjK !"! K KuA55?55 TA91Y15@y#JE)"  E+F FF%> F!9fG =GBBN>Y ] checking for new query: numPingsReceived=104, elapsed TxPingTime=46.851963]Q,[]CG+A٪Fn=9F:.>FF/=YFH>V?XԿ9 zH?O?Wq?fޥ?;?Fn=FI;;ɫFzCyR)BR"I1I]Mb@Mb@Mb@iYYYYY]y&1Zd;O?9]`Y]jy Gf#FY#> >5r쳊?5| @A9Q4=  aEu-Fy FyF}! FyFvAFDDAT read: Rx Time:20:05:46.6683 TRx dataTimestamp_ set to:1756325149.272636DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -\#Rx 105: Read range message, but no direction.۹y۽@۹checking for new query: numPingsReceived=105, elapsed TxPingTime=47.107460ԉfG} =G9 BI BY Nm >Թ Q,']G+Aԑy-B"II'I@3f< E=Q >y GY >5F볊?5T +A9 Y  @y)d:I:i)C5checking for new query: numPingsReceived=105, elapsed TxPingTime=47.356018Y!%@!U addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.498408 s, deltaX: 0.100000 m, approachRate: 0.200639 m/s, rangeRepo size: 4 nYnYnYnYnYnYnYnYnYmazmama"maJki"ki kijm@33@juQ?!B[rt<ɝP<)IqIq*H"H?AH>HH"IH`BHHHI< IEjJrJzJJJ:Jq:JJJ<-J<-Jk;5Jk;=e+Y q yE0F  F F F fGF=GBJKLRK9ZKbKjK  "K%>K% ?B9N]> DDAT read: Rx Time:20:05:47.1682  TRx dataTimestamp_ set to:1756325149.780985] PDAT read: Bearing 252.3, -22.9 (Local) m ~Local bearing/azimuth received: Bearing 252.3, -22.9 (Local)  ] DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 20:05:47.1682 LVL= 24112, 24497, 23874, 27491, AGC= 46, IDX= 504, 0.33, 3.095, 1.351, 0.759, 2.100, PHS= 1.083,-0.702,-1.344, RAW= 75.2, 8.9, CAL= 78.4, 12.9, ROT= 71.6, -12.9  Ygot valid direction response: 20:05:47.1682 LVL= 24112, 24497, 23874, 27491, AGC= 46, IDX= 504, 0.33, 3.095, 1.351, 0.759, 2.100, PHS= 1.083,-0.702,-1.344, RAW= 75.2, 8.9, CAL= 78.4, 12.9, ROT= 71.6, -12.9  V#Rx 106: Read range and direction messages. \direction in FSK: [0.307682,0.924928,0.223250] Fpublishing direction and range info 9 ??Nu?y 3@ 0^ _ B]) ckI .i ? F3 1 ? > %?) f>I ?i f ]o.p?YEQ~OS?) DHI Zi ? f = checking for new query: numPingsReceived=106, elapsed TxPingTime=47.687824Q,wG+A٪-*>9->-+-!>Y-H J?@ݿ`?G?`?¿ՠ?|%?͘?-*>-֌;ɫ)y0B"IIMb@Mb@Mb@ish|? ףp= ?Mb`9YQ=yAG@A A9AI=-I=3/U< 5=y Gg#FY> >5泊?5 5A9=;Y3@@y$JE);I;i)E5Y@o!o%qG+Ao%k@o%k@o%?%c0?(L@8h&X?%??Nu?o%?o%f%ԿD@ x)?%K{Y¿q\??o%W@o%o%0˳?o%Co%B2p%^?:p%CBp%LB"p%@*p%pH?u addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.508349 s, deltaX: -0.100000 m, approachRate: -0.196716 m/s, rangeRepo size: 4  Added new target pos. range: 2.287841 m, bearing: 98.880960 deg, lat: 36.779966 deg, lon: -121.858974 deg, deltaT: 1.516068 s, deltaX: -0.099466 m, approachRate: -0.065608 m/s, posRepo size: 4 nnnnnnnnnmzmm"mʃBJk"k kj`ff@j?-checking for new query: numPingsReceived=106, elapsed TxPingTime=47.859871)=#Bes q yE]`3FY FaFev FaYfGe*>G) B1 BA NU >ԁ Q,/ܐG+AFDDAT read: Rx Time:20:05:47.6689 FTRx dataTimestamp_ set to:1756325150.280881NPDAT read: Bearing 23.2, -41.0 (Local) N~Local bearing/azimuth received: Bearing 23.2, -41.0 (Local) VDAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 nDAT read: 20:05:47.6689 LVL= 17136, 21153, 21026, 32755, AGC= 51, IDX= 4,-0.07, 0.120, 1.173, 0.531, 1.476, PHS=-1.267,-0.256,-0.947, RAW= 312.0, 44.3, CAL= 318.0, 43.9, ROT= 192.0, -43.9 rYgot valid direction response: 20:05:47.6689 LVL= 17136, 21153, 21026, 32755, AGC= 51, IDX= 4,-0.07, 0.120, 1.173, 0.531, 1.476, PHS=-1.267,-0.256,-0.947, RAW= 312.0, 44.3, CAL= 318.0, 43.9, ROT= 192.0, -43.9 rV#Rx 107: Read range and direction messages.v`direction in FSK: [-0.704805,-0.149811,0.693402]vFpublishing direction and range infoD9FzÍ:?-ÿ )+Y0?yF3S@DFBFR F"R)FIF3iF-FoFnrF@@F.E? FΚ@)F%D?IFPwV@iF%DDDF-G2g濬 ¿OYY?)F8;IFHEiFe;F%DDD checking for new query: numPingsReceived=107, elapsed TxPingTime=48.128544٪%>9%?%G%>Y%HԘ?fs?`1?`+Z? @?@1??%>%ƌ;ɫ%yCy}/B}"IIAIk3$ h=@ ?5Y㳊?5 ;A9!Y%a6@%@y%JE):I:iF5Y)-@)QoDoFG+AoFR@oFR@oF3@Fű,d y߿a/05@FzÍ:?-ÿ )+Y0?oFe;oF%DFܨ3V@F P߿_PC ?oF?oFпoF[Z?oF>FCoFB2pD:pDBpFfB"pF+@*pF?M addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.499896 s, deltaX: 1.000000 m, approachRate: 2.000416 m/s, rangeRepo size: 4  Added new target pos. range: 3.282554 m, bearing: 228.746683 deg, lat: 36.779966 deg, lon: -121.858974 deg, deltaT: 0.499896 s, deltaX: 0.994713 m, approachRate: 1.989841 m/s, posRepo size: 4 nnnnnnnnnmzmm"mJk"k kj`ff @j?%Bޟq<鞡ɝ<)靭dZ<I)&=<)II  ԁE5F FFFF=F=fGEI>Echecking for new query: numPingsReceived=107, elapsed TxPingTime=48.364647GqBԱBN>H H H "IH oBH H H I < I FEIYIY"IY*IY2IY:I]3 l4Q,KͪG+A٪Nb>9N ?NiN+=YNH ?5Χ?E??@P=?@y??Nb>Nܑ;ɫNwCyZ.BZ"IIb+Ibn3Ʉ U=[y!! %G%i#FY%= %>)55-߳?=5-7 -@A99Y=8@=@y-&JE)-p:I-[:i-XH5YAE@Inqnqnqnqnqnqnynynymyzmym"mJk"k kjj@?'Bn<ɝ~<) Z<I)M<)II  JKmLRKm9ZKibKmjKm  ԩE7F FF Fرص=DDAT read: Rx Time:20:05:48.1688 TRx dataTimestamp_ set to:1756325150.793682 DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 -%\#Rx 108: Read range message, but no direction.yL@]checking for new query: numPingsReceived=108, elapsed TxPingTime=48.642853fG=Z>GBB1N=Q> m checking for new query: numPingsReceived=108, elapsed TxPingTime=48.873955) Q,hG+AjJ&rJ&zJ&>J$J&l:J&(:J&t4J$J& <J& <J&;J&;٪FM>9FU?FUF.=YFH@Q7?-N m?`bY? !?vϰjt?Ҡ??FM>F;ɫFxCy~,B~"IIMb@Mb@Mb@i,Dsh|?Mb?Mbp?9Y=y;AO@+A A9AI3Iʴ3# >=y Gj#FY =  > 5 -۳?5  JA9y>;Y :@%@y )  ;I C ;i :J5Y)-@)MB*** querying acoustic contact ***oIoI addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.512801 s, deltaX: -0.100000 m, approachRate: -0.195007 m/s, rangeRepo size: 4 nnnnnnnnnmzmm"mBJk"k kj @jd8?e(BebG vAG wAGa Bi B N >UAQ,7nG+A ٪:>9:NA(?:X:^=Y:H`kU?`?Ќ?K?`MIK?``ӫ??:>:;ɫ:yCy^1B^"IIf>If3r< r]=v8ytt vGxYzd> z>|5~[׳?5~ ~QA9 Y =@ @y~'JE)~N:I~:i~K5Y@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.498723 s, deltaX: -0.900000 m, approachRate: -1.804609 m/s, rangeRepo size: 4 nnnnnnnn n =checking for new query: numPingsReceived=109, elapsed TxPingTime=49.378418mAzmImY"maJki"kq kqj}`ff@j}d?*BZj<鞩ɝ@[<)Z<I)<)II  :H5<2H5<H=>H9H="IH=jBH9H9H9I=+< I=EEYqE<F FF9 FFwAFfGc>GԙBBNc>JKLRK9ZKbKjK  DDAT read: Rx Time:20:05:49.1681  TRx dataTimestamp_ set to:1756325151.803491- DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -= \#Rx 110: Read range message, but no direction. y f@ e checking for new query: numPingsReceived=110, elapsed TxPingTime=49.645962q XkQ,HG+Aɩ٪6>964?6 G;6p =Y6HX?uN?B?U?dᘿ1h.? ?6>6;ɫ4yR)BR"I9I Mb@Mb@Mb@i     A #~j?Mb`?9 㥽Y >y ; + A @ A A 9 AIMAIMk3}\  }3=} y Gk#FY= >5ѳ?5& WA9>;Y6@@y(JE)s6;I5;iM5Y@% addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.511086 s, deltaX: -0.200000 m, approachRate: -0.391324 m/s, rangeRepo size: 4 n!n!n)n)n)n)n1n1n1m1zm1m9"m=ƒBJk9"kA kAjE@jE3g?+BT<ɝ)RZ<I)<)II  iEDDAT read: Rx Time:20:05:49.6682 UTRx dataTimestamp_ set to:1756325152.052624uchecking for new query: numPingsReceived=110, elapsed TxPingTime=49.888508Ee?F FF FjJ}rJ}zJ}IJyJ}{:J}$-:J}F4fG>>Jy@@@@GqBԑBN> RR,"H+AFPDAT read: Bearing 49.2, -51.1 (Local) J~Local bearing/azimuth received: Bearing 49.2, -51.1 (Local) VDAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 jDAT read: 20:05:49.6682 LVL= 12240, 14897, 16354, 15795, AGC= 44, IDX= 509,-0.03,-2.255,-1.097,-1.361,-0.108, PHS=-2.059,-0.943,-1.256, RAW= 285.8, 56.5, CAL= 293.9, 58.1, ROT= 216.1, -58.1 nYgot valid direction response: 20:05:49.6682 LVL= 12240, 14897, 16354, 15795, AGC= 44, IDX= 509,-0.03,-2.255,-1.097,-1.361,-0.108, PHS=-2.059,-0.943,-1.256, RAW= 285.8, 56.5, CAL= 293.9, 58.1, ROT= 216.1, -58.1 nV#Rx 111: Read range and direction messages.r`direction in FSK: [-0.426973,-0.311354,0.848972]vFpublishing direction and range info@9BoCօSۿpM 9ӿ*?yB3@@B/B1: B?)B=IB,iBBshqBĠB@Bq|? B %@)Bˁ?IBbq@iBˁ@@BD"& \^?Ot߭?)BB,9@IB^|iB Bˁ@@checking for new query: numPingsReceived=111, elapsed TxPingTime=50.147903٪2 ?9A?;T< }\=}2;Q >y Gl#FY> >ԡ5[ͳ?5 ZA9Y9@@y)JE);I;isO5YB?@gEo@oBf-H+AoBl@oBl@oBKa@B- \VBdgFֺ?BoCօSۿpM 9ӿ*?oB oBˁBRa aʿh].}0Q ?Br,Iֶf"Xa,%?oBژoBPoB)?oBp70oB B2pB0˳?:pBG@Bp@"pB=*pBY? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.496155 s, deltaX: 0.200000 m, approachRate: 0.403100 m/s, rangeRepo size: 4 U Added new target pos. range: 2.287845 m, bearing: 260.301983 deg, lat: 36.779962 deg, lon: -121.858996 deg, deltaT: 2.018765 s, deltaX: -0.994709 m, approachRate: -0.492731 m/s, posRepo size: 4 n]nYnYnYnYnYnYnYnamazmama"maJki"k kj`ff@j`?-BgmV<)ɝ-y)15Z<1I1)5Q<)9I9I9 A AE?F FF FuDDAT read: Rx Time:20:05:50.1680 }TRx dataTimestamp_ set to:1756325152.560148PDAT read: Bearing 258.4, -30.6 (Local) ~Local bearing/azimuth received: Bearing 258.4, -30.6 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -\#Rx 112: Read range message, but no direction.qyu@qH} >Hy H} "IH} eBHy Hy Hy I} < I} Echecking for new query: numPingsReceived=112, elapsed TxPingTime=50.405830fG H>G x>G G>G B B ! N- >~ R,W,H+A٪6?96/K?6<6*In3vg vT=vS9yxx =G=m#FY== =>AM5Eȳ?M5E E]A9QYU@<@U@yE*JE)E:IE%{14?۹۽@2۽5 ܽ?)ܽ?Iܽ+iܽ ݽ??)ݽ g>Iݽ-\?iݽ gݹ޽_'i?慌s_4{?)޽=YI޽]i޽-\?޽ gchecking for new query: numPingsReceived=113, elapsed TxPingTime=50.709812҉G{AA%4%{A9%1BQfG =>G B B N >e DDAT read: Rx Time:20:05:50.6682 e TRx dataTimestamp_ set to:1756325153.060602u DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -u \#Rx 114: Read range message, but no direction.y a ye 3@a  checking for new query: numPingsReceived=114, elapsed TxPingTime=50.896111WeR,EH+AjJ"rJ"zJ"<J J":J"(:J" [4J J"U-<*J"U-<.J 2J 2٪J&;?9J$T?Jt<J0yDA@rA rA9AI-&I-3Qe)< m5=m;yqq uGun#FY}= }>5³?5 _A9A>;Y.@@y+JE);I[;iS5YB@^EooCH+Aooo6 @|v9}? @-^Jf?Mh? yO?Fv>{14?o-\?o g7t+ZZy??l)?p"7/̻~?OU-'z?o)?oњoq\?onoׅB2p)?:pnBpLB"pW?*p$?BDocked. Homing sequence complete.qUUmzmm"mBJk"k kj`ff@j? 0Bi t< ɝT)\XZ<I+O<)I EMEMEMEMԁchecking for new query: numPingsReceived=114, elapsed TxPingTime=51.144096ԩfG- :z>G- G- G5 G5 G5 B9 BI NU > R,_H+A٪:"?9:lZ?:<:[aMA>aM(?aMj&0@ 1B=DDAT read: Rx Time:20:05:51.1681 ETRx dataTimestamp_ set to:1756325153.568308]PDAT read: Bearing 259.5, -28.3 (Local) e~Local bearing/azimuth received: Bearing 259.5, -28.3 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -\#Rx 115: Read range message, but no direction.Թ9y=f@9checking for new query: numPingsReceived=115, elapsed TxPingTime=51.420113i<*H"H@AH>HH"IHjBHHHI< IEEɝU)Q]Q ZByBN>JKORK-9ZKbKjK(~yncXD, -kUB2$  DAT read: 20:05:51.1681 LVL= 12112, 13489, 16450, 16787, AGC= 42, IDX= 504, 0.03,-1.635,-2.857, 2.828,-2.292, PHS= 0.746,-0.518,-1.166, RAW= 70.5, 11.1, CAL= 71.4, 18.0, ROT= 78.6, -18.0 - Ygot valid direction response: 20:05:51.1681 LVL= 12112, 13489, 16450, 16787, AGC= 42, IDX= 504, 0.03,-1.635,-2.857, 2.828,-2.292, PHS= 0.746,-0.518,-1.166, RAW= 70.5, 11.1, CAL= 71.4, 18.0, ROT= 78.6, -18.0 = \#Rx 116: Read direction message, but no range.9 = \direction in FSK: [0.187983,0.932293,0.309017] 9 f94?˺X?;[@? P/ 4 B@) AI *i >?  }? ? aF> W?) |٠>I ?i |٠ ٣h?%翼OZ̓?) ]I Gi ? |٠R,zyH+A٪F]&?9F~^?F5Z<FnyUף;UAU@UA U@Q9QI+In3< #=Q >y GY= >5?5  gA9m>;Y @@y-JE):I:iV5Y 7@Y5 5Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqX55Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalX5qX5=No longer in Terminal. Resuming normal ranging with 1.000000 count pings.X=X=oiom)_dH+Aom@om@omx@mr=!?M(?V5?mf94?˺X?;[@?om?om|٠m$~󿵏 # ?/4Xd?mDC?]am>a1 ?a7 @)靽I)I 9jJmrJmzJm?JiJml:Jm:Jmـ4Ji}@}@}@}@i nE% ]<fG $>B B N- >$R,lH+A ٪:i)?9:`?Fchecking for new query: numPingsReceived=117, elapsed TxPingTime=52.152313:.fN<:ԙ=DDAT read: Rx Time:20:05:52.1682 =TRx dataTimestamp_ set to:1756325154.572548EDAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -M\#Rx 118: Read range message, but no direction.9y=3@9Uchecking for new query: numPingsReceived=118, elapsed TxPingTime=52.407387HHH"IHeBHHHIǘ< IjE d*R,FH+A٪6oP+?969c?66:<6\jyx| ~G|Y~< > 5D?5  rA9YJ!@@y/JE)k:I:iY5Y%@!qX5=Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal1Y=JkA"kA kAjM`ff@jM@ܜ?aqaqaqauJ!@)I)I  D=D=JK-߅NRK)ZK)bK-jK- checking for new query: numPingsReceived=118, elapsed TxPingTime=52.655910nE=fGsB=B!B1NEs>) E DDAT read: Rx Time:20:05:52.6681 M TRx dataTimestamp_ set to:1756325155.076480U DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -U \#Rx 119: Read range message, but no direction.A yE f@A ] checking for new query: numPingsReceived=119, elapsed TxPingTime=52.9112931R,0H+AjJjrJjzJj;JhJj<:Jj :Jj(N4Jhx٪j,?9j9d?jI<j {y GYF< >5񯳊?5  uA9ձ=checking for new query: numPingsReceived=119, elapsed TxPingTime=53.159866Iy &7R,H+A٪:a-?9:e?:;:F=Y:H ?p?? T? ???:a-?:;ɫ:wCyFBF"IINFIN%3Vfp Vq=Z0Q Z?yX` bGdYj$< n?tY}5v;?}5v0  vwA9Y@@yt)vAԉԱJKU 2KRKU ȱ9ZKQ bKU jKU   "Km >Km > R,H+A٪: @-?9:~)e?:j9;:!l*=Y:H '??A?@?@8)qK??: @-?:;ɫ:zCyPTI=Mb@Mb@Mb@i99999=/$?Q?{Gzt?9==Q >y GY_ >5?5  }A9=59 DR,I+AFDAT read: 20:05:53.6682 LVL= 12560, 13233, 16370, 15027, AGC= 43, IDX= 504, 0.13,-0.977,-2.172,-2.830,-1.680, PHS= 0.791,-0.445,-1.153, RAW= 68.9, 9.5, CAL= 69.7, 14.6, ROT= 80.3, -14.6 JYgot valid direction response: 20:05:53.6682 LVL= 12560, 13233, 16370, 15027, AGC= 43, IDX= 504, 0.13,-0.977,-2.172,-2.830,-1.680, PHS= 0.791,-0.445,-1.153, RAW= 68.9, 9.5, CAL= 69.7, 14.6, ROT= 80.3, -14.6 NX#Rx 1: Read direction message, but no range.R\direction in FSK: [0.163049,0.953874,0.252069]496?\#?!?46163 6?)6:I6+i6~J?6 㾩66?6)> 6?)6w>I6Ud?i6w46i?2ǎ违.j"?)6`CdI6)i6Ud?6wZy! %G!Y% %>)U5-L?]5-  -A9YY] @]@y))-;I-;i-0a5Yim@qoYo]+I+Ao]l@o]l@o]GP@]r?%cu@QKt?]?\#?!?o]Ud?o]w]jV{|Ji?K͇?]f.L]?.X[T?o]H?o]o]p2?o]4no]pB2p][Z?:pYBp]ׅB"p]?*p] @Jk)"k1 k1j5`ff@j5߾?aaaa @)靱I)I FFFFABBEDDAT read: Rx Time:20:05:54.1681 uTRx dataTimestamp_ set to:1756325156.594227}PDAT read: Bearing 261.5, -26.1 (Local) }~Local bearing/azimuth received: Bearing 261.5, -26.1 (Local) H>HH"IH[BHHHI IDAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 20:05:54.1681 LVL= 10608, 12993, 20562, 17827, AGC= 44, IDX= 503, 0.20,-2.397, 2.618, 1.925,-3.129, PHS= 0.820,-0.489,-1.232, RAW= 69.1, 10.0, CAL= 69.7, 15.7, ROT= 80.3, -15.7 Ygot valid direction response: 20:05:54.1681 LVL= 10608, 12993, 20562, 17827, AGC= 44, IDX= 503, 0.20,-2.397, 2.618, 1.925,-3.129, PHS= 0.820,-0.489,-1.232, RAW= 69.1, 10.0, CAL= 69.7, 15.7, ROT= 80.3, -15.7 R#Rx 1: Read range and direction messages. \direction in FSK: [0.162203,0.948929,0.270600] Fpublishing direction and range infoI9M0?w䁟]?RlyQ?yMf@IMp)M2 MRP)MEIM,iMQ?M5^M-M^?M¸2> I)MK>IIiMKIIM.}?8uxVO?)MvcIMj3iIIM 4=IM 4=jJU rJU zJU ?JQ JU {:JU z:JU ـ4JQ JU <] JU <e JU l;e JU l;e i N >MKII 5 2Acoustic response timeout5 Querying Benthos address 50 with one ping in standard two-way mode.Y KR,.I+A٪:&?9:^?:0:a4=Y:H? rߘ?w?`p?B`r????:&?:މ;ɫ:xCyf$Bf"II~3I~ʴ3 =  W=eCQ >y GY4 >!-5% ?-5%@  %A91Y5 @5@y!)%;I%F;i%b5YYe@aoqou&I+Aou@ou@ou2Y@u^GcT?Yq&(? Ε?u0?w䁟]?RlyQ?oqouKu-t$F?:cr]?uN4yݥ=??>]?ou1?ouou>P>?ou"YousB2puQ?:punBpu}B"puK?*pue @Jk"k kj@j?a!a!a!a% @)YYYIY)YIa aBBN=)my GY ; >5?5 90N=a?)I)I BB1NE>DAT read: 20:05:54.6682 LVL= 11472, 13489, 16242, 14835, AGC= 44, IDX= 504, 0.18,-0.206,-1.501,-2.156,-0.931, PHS= 0.813,-0.523,-1.228, RAW= 70.1, 10.5, CAL= 71.0, 16.6, ROT= 79.0, -16.6 Ygot valid direction response: 20:05:54.6682 LVL= 11472, 13489, 16242, 14835, AGC= 44, IDX= 504, 0.18,-0.206,-1.501,-2.156,-0.931, PHS= 0.813,-0.523,-1.228, RAW= 70.1, 10.5, CAL= 71.0, 16.6, ROT= 79.0, -16.6 X#Rx 1: Read direction message, but no range.\direction in FSK: [0.182857,0.940716,0.285688]y9}9zJg?eW?WԷH?y},}4 }r?)}9Iyi} P?}T}/}ۚ?}f;> }?)}V>I}|?i}Vy}G?(Ҭ??)}6^I}(;i}|?}VQZ(?u2=?ψ.?yf@-5 ?);IiO?Aq=y(?K6> ?)q>Im(?iq06/? /.迓!0?) `Iz5im(?q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.٪:?9R?{P=YH઻?`{#?{?̵?@:?`5?[??:?F;ɫwCjJrJzJ=JJ:J$:Jg4JJI<JJ<J~;J~;yB|"IA!I58I53mW u2=uQ }>yy GY%W %>)55-}?55- )9Y[?@y))-ۂQZ(?u2=?ψ.?om(?oqi SQ?^fO?z'%ʅ#j?%&͝?o?oouPG?o+ofB2puPG?:p"YBpsB"p?*p?@}Done Waiting.U}}8Uninitialize Wait Component.1V}Jk"k kj@j`?aaaa[?)I)I IBqBN}> i=h5Yqu@qB*** querying acoustic contact ***oo8GuidanceMode 0.000000 count 1VJk"k kj)j-`Me?uNCompleted lineCaptureHoming:LineCaptureFuujAggregate::uninitialize lineCaptureHoming:LineCaptureG} }Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesG}}NUninitialize AltitudeEnvelopeComponent.1H Uninitialize.qHNUninitialize OffshoreEnvelopeComponent.qIII|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass1JqJUninitialize.J Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyJ@Uninitialize Buoyancy Component.ԁDDAT read: Rx Time:20:05:55.6681 TRx dataTimestamp_ set to:1756325158.101489PDAT read: Bearing 258.7, -26.4 (Local) ~Local bearing/azimuth received: Bearing 258.7, -26.4 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.y %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.)1YYIY)YIa aBBN=>II@AԱ E=eR,I+A$&<6DAT read: 20:05:55.6681 LVL= 10704, 13681, 20706, 18339, AGC= 43, IDX= 503, 0.31,-2.599, 2.337, 1.696, 2.929, PHS= 0.843,-0.545,-1.236, RAW= 71.0, 10.2, CAL= 72.3, 16.1, ROT= 77.7, -16.1 :Ygot valid direction response: 20:05:55.6681 LVL= 10704, 13681, 20706, 18339, AGC= 43, IDX= 503, 0.31,-2.599, 2.337, 1.696, 2.929, PHS= 0.843,-0.545,-1.236, RAW= 71.0, 10.2, CAL= 72.3, 16.1, ROT= 77.7, -16.1 >X#Rx 1: Read direction message, but no range.B\direction in FSK: [0.204675,0.938725,0.277315]$9&2? ?/?$&)&q5 &P)&GI&+i&W?& &?5&?$ &?)&ޏ>I&^?i&ޏ$&+٣? ) ?)&"[I&V27i&^?&ޏNQ %>y)) -G)Y5 5>Ye5]?e5]: Ym :9im,?o%u?o%"o%TS?o%2o%kB2p!:p%4nBp%pB"p%?*p%2@)es:aaIa)aI BBN >DDAT read: Rx Time:20:05:56.1680 TRx dataTimestamp_ set to:1756325158.604543DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.y@ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.H9H9H9H9H9H9H9I=٘< I=EJJv4J#1jJ rJ zJ <J J L:J 7:J [4J J < <J = <J ;J ;9 YgkR,ԯI+A٪:?9:^>?:ą:nytt vGtYzѕ z>x5zg?5z zA99 yAA EGAYE M>QQ]5Uh?]5U QeT:9e`=er9: 1?:Nz::s;ɫ:zCy^1B^"IIf0If(3ne= nf=rB;Q r>ypp rGtYz> z>|5~󰳊?5~( |9Y @y~4JE)~:I~u:i~m5YB@^E^--fAggregate::initialize lineCaptureHoming:restartDHCP1_-5$Restarting DHCP...1_5q_5aIaIaIaM@)aaaIa)aIi qBBDDAT read: Rx Time:20:05:57.1680 :H<2HHHH"IHeBHHHIט< IE5TRx dataTimestamp_ set to:1756325159.614448EDAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -UX#Rx 1: Read range message, but no direction.y@ ]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.N=jJyrJ}zJ}>JyJyJ}H:J}t4JyJyJyJ}؝;J}ٝ;) m =m %=m 9J4)?JlJJu;ɫJxC\y^/B^"I``f=f=IMb@Mb@Mb@i?L7A`尿9y GYŃ >5)?5 A9=<DDAT read: Rx Time:20:05:57.6681 TRx dataTimestamp_ set to:1756325160.152612PDAT read: Bearing 257.1, -25.9 (Local) ~Local bearing/azimuth received: Bearing 257.1, -25.9 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -DAT read: 20:05:57.6681 LVL= 11984, 14065, 16530, 15251, AGC= 43, IDX= 503, 0.49,-2.238, 2.710, 2.123,-2.981, PHS= 0.831,-0.545,-1.182, RAW= 72.0, 10.1, CAL= 73.7, 15.7, ROT= 76.3, -15.7 5Ygot valid direction response: 20:05:57.6681 LVL= 11984, 14065, 16530, 15251, AGC= 43, IDX= 503, 0.49,-2.238, 2.710, 2.123,-2.981, PHS= 0.831,-0.545,-1.182, RAW= 72.0, 10.1, CAL= 73.7, 15.7, ROT= 76.3, -15.7 =R#Rx 1: Read range and direction messages.E\direction in FSK: [0.228002,0.935302,0.270600]EFpublishing direction and range info9|.,/?T'?RlyQ?yf@.6 @);IijT?K|٠?J4> ?)K>It?iKMr?L<&Gl3g?)%VID&4it?K 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ϋR,CJ+A9J #?J.cJJc;ɫJzCyn7Bn"IIz3Izʴ3E!= ET=M:Q M>yQQ UGQY] ]>am5e?u5e eA9qYuO@ye5JE)e(4iDDAT read: Rx Time:20:05:58.1680 TRx dataTimestamp_ set to:1756325160.621621PDAT read: Bearing 258.1, -25.6 (Local) ~Local bearing/azimuth received: Bearing 258.1, -25.6 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 =DAT read: 20:05:58.1680 LVL= 9536, 12449, 18610, 17507, AGC= 43, IDX= 503,-0.44, 2.138, 0.775, 0.145, 1.367, PHS= 0.859,-0.545,-1.225, RAW= 71.3, 9.9, CAL= 72.9, 15.4, ROT= 77.1, -15.4 EYgot valid direction response: 20:05:58.1680 LVL= 9536, 12449, 18610, 17507, AGC= 43, IDX= 503,-0.44, 2.138, 0.775, 0.145, 1.367, PHS= 0.859,-0.545,-1.225, RAW= 71.3, 9.9, CAL= 72.9, 15.4, ROT= 77.1, -15.4 ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.215234,0.939763,0.265556]He>HaHe"IHejBHaHaHaIe< IeEII"I*I2I:ILS4Fpublishing direction and range info9̌?Fk?<?y@@%0 H)cDIim[?̜&I?;0> 4ܢ?)>I9>?iJjق:?!_&?)KhYIaa1i9>? 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ܽR,}?1J+A٪66>96?6pU6K06Ru;ɫ4yJ4BJ"IIN.IN3*P M=[ ;Q >y GY%ӂ %>iu5m?u5mc mA9yY}}@yi)m+;Im;imr5Ye]@iȽFWaiting on dock for 15.000000 min qdeoo'J+Ao?o?o?vs͵g?H+?]dx?̌?Fk?<?o9>?oI =翩5?#UP?9;׿SEO\? qi?%z?ooZB2pTS?:p2BpkB"p@*pm @aaaa@JKUKRKU9ZKQbKU$jKU  )靉I)I) 9BBN l> DDAT read: Rx Time:20:05:58.6681  TRx dataTimestamp_ set to:1756325161.125221 PDAT read: Bearing 258.3, -24.3 (Local)  ~Local bearing/azimuth received: Bearing 258.3, -24.3 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 % DAT read: 20:05:58.6681 LVL= 9456, 12481, 18594, 16595, AGC= 42, IDX= 504,-0.35, 2.677, 1.324, 0.688, 1.890, PHS= 0.875,-0.519,-1.205, RAW= 71.1, 9.3, CAL= 72.7, 14.0, ROT= 77.3, -14.0 5 Ygot valid direction response: 20:05:58.6681 LVL= 9456, 12481, 18594, 16595, AGC= 42, IDX= 504,-0.35, 2.677, 1.324, 0.688, 1.890, PHS= 0.875,-0.519,-1.205, RAW= 71.1, 9.3, CAL= 72.7, 14.0, ROT= 77.3, -14.0 = R#Rx 1: Read range and direction messages.E \direction in FSK: [0.213316,0.946557,0.241922]E Fpublishing direction and range info 9 @mM?"1J?79K?y f@ $ 0 H) @I *i `? / q= ֞? 6&> i?) 5z>I ?i 5z E鋒?9U'䡂(?) gZI %i ? 5z e 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.== T/mnt/mmc/started/2025-08-27UTC200601_sh A cR,JJ+AjJ&rJ&zJ&=J$J& :J&-.:J&g4J$*@*@*@*@٪J>9J9?J@JBYJ;ɫHyb:Bb"IhijAIMb@Mb@Mb@iMb?ʡE9y GY/ >M5?M5#  A9M=U(Z@am4@)靹I)I ԡ B9 BQ N] >͘R,dJ+A8DDAT read: Rx Time:20:05:59.1680 TRx dataTimestamp_ set to:1756325161.629152PDAT read: Bearing 258.9, -25.2 (Local) ~Local bearing/azimuth received: Bearing 258.9, -25.2 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 *H"H?AHHH"IHtBHHHI,< IE DAT read: 20:05:59.1680 LVL= 9984, 13537, 20882, 19251, AGC= 43, IDX= 503,-0.28, 1.241,-0.077,-0.713, 0.484, PHS= 0.845,-0.514,-1.200, RAW= 70.8, 9.7, CAL= 72.1, 14.9, ROT= 77.9, -14.9 Ygot valid direction response: 20:05:59.1680 LVL= 9984, 13537, 20882, 19251, AGC= 43, IDX= 503,-0.28, 1.241,-0.077,-0.713, 0.484, PHS= 0.845,-0.514,-1.200, RAW= 70.8, 9.7, CAL= 72.1, 14.9, ROT= 77.9, -14.9 R#Rx 1: Read range and direction messages.-\direction in FSK: [0.202570,0.944906,0.257133]-Fpublishing direction and range infoۙ9۝.2?l7 ݝ?)ݝ%>Iݝ?iݝ%ݙݙޝdD?,sbP?)ޝ\Iޝc,iޝ?ޝ%ޙޙ ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.٪P%>9|?#(ȌZ;ɫ{CyqqI!Ii3: _=0;Q >ԡy %G!Y%\ %>)55-M?5-  -A9Y$L@y))-@B=I-QB=i-v5Y@2re1f Initialize. dInitializing internal variables to default values.rXooDhJ+Ao?o?o??X? ۔^?.2?l7z?:pBpZB"p=?*p?a!a!a!a%H@)qyyIy)yI BB1NE>M :63,*(# JiS@2'"K >K ?R,~J+Ah٪ny>9n ?n n{nX;ɫnyCyz@Bz"IDDAT read: Rx Time:20:05:59.6681 TRx dataTimestamp_ set to:1756325162.133055PDAT read: Bearing 257.6, -24.7 (Local) ~Local bearing/azimuth received: Bearing 257.6, -24.7 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 20:05:59.6681 LVL= 8752, 13585, 20834, 18595, AGC= 42, IDX= 503,-0.23, 0.974,-0.409,-1.034, 0.180, PHS= 0.882,-0.542,-1.217, RAW= 71.7, 9.5, CAL= 73.4, 14.4, ROT= 76.6, -14.4 Ygot valid direction response: 20:05:59.6681 LVL= 8752, 13585, 20834, 18595, AGC= 42, IDX= 503,-0.23, 0.974,-0.409,-1.034, 0.180, PHS= 0.882,-0.542,-1.217, RAW= 71.7, 9.5, CAL= 73.4, 14.4, ROT= 76.6, -14.4 R#Rx 1: Read range and direction messages. \direction in FSK: [0.224467,0.942214,0.248690] Fpublishing direction and range infoۡ9ۥQV?&?l?yۥf@ۡۥ0"ۥ5 ܥbQ)ܥHIܥ*iܥa?ܥ ܥƛܥ-?ܥ)> ݥ(?)ݥ>IݥD ?iݥݡݡޥlyc?t]!9?)ޥXIޥK)iޥD ?IeMb@Mb@Mb@iaaaaaey  G Y >%5q?%5~  A9%=%<JQJU+:JU$-:JUt4JQYae@irrrrooJ+Ao@o@o?R"B?X}?x&?QV?&?l?oD ?oY\(5M?z q?~EjLӿN?gH?o?o@!oR]?o>,o\B2pc9|?:p>,Bp"p@*pp?)a5=a5=a5a@a5S@)m99iiIq)qIq yBBN>Y M 96m?66VfREOgC?D?C?8Ӎ=|?`rL?@!?6!@>6#7;ɫ4yR8BR"ITTZa=Zp=I^-I^3v =r;Q  5?y    GY8 8?!-5?-5  A9)Y5&5@y)>;In?;iy5Y9=*@Yryrrraaaa6ƣ@)I)I BBN=IyDDAT read: Rx Time:20:06:00.1680 TRx dataTimestamp_ set to:1756325162.637887PDAT read: Bearing 258.5, -26.8 (Local) ~Local bearing/azimuth received: Bearing 258.5, -26.8 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 HHH"IHyBHHHI< IE]DAT read: 20:06:00.1680 LVL= 11648, 13809, 16754, 15827, AGC= 44, IDX= 502,-0.22, 0.192,-1.033,-1.606,-0.482, PHS= 0.762,-0.505,-1.128, RAW= 71.1, 10.5, CAL= 72.4, 16.5, ROT= 77.6, -16.5 eYgot valid direction response: 20:06:00.1680 LVL= 11648, 13809, 16754, 15827, AGC= 44, IDX= 502,-0.22, 0.192,-1.033,-1.606,-0.482, PHS= 0.762,-0.505,-1.128, RAW= 71.1, 10.5, CAL= 72.4, 16.5, ROT= 77.6, -16.5 mR#Rx 1: Read range and direction messages.\direction in FSK: [0.205892,0.936453,0.284015]Fpublishing direction and range info۩9ۭGrZZ?Kk?HN-?yۭ@۩ۭ-ۭ5 ܭrA)ܭ=Iܭ,iܭoC?ܭGܭNbܭ֞?ܭf;> ݭ??)ݭr>Iݭ-\?iݭrݩݩޭ]Cݲ?={|BW96?6>6I3(61;ɫ6zCyN=BN"IIVIVT3f< fN=f&;Q f>yhh jGhY~ >  5 齳?5   9Y#@y 8JE)  DDAT read: Rx Time:20:06:00.6681  TRx dataTimestamp_ set to:1756325163.141438 PDAT read: Bearing 258.5, -28.0 (Local)  ~Local bearing/azimuth received: Bearing 258.5, -28.0 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 20:06:00.6681 LVL= 9568, 13409, 18930, 17987, AGC= 44, IDX= 503,-0.16, 1.335, 0.060,-0.534, 0.649, PHS= 0.775,-0.541,-1.186, RAW= 71.2, 11.0, CAL= 72.4, 17.7, ROT= 77.6, -17.7  % Ygot valid direction response: 20:06:00.6681 LVL= 9568, 13409, 18930, 17987, AGC= 44, IDX= 503,-0.16, 1.335, 0.060,-0.534, 0.649, PHS= 0.775,-0.541,-1.186, RAW= 71.2, 11.0, CAL= 72.4, 17.7, ROT= 77.6, -17.7 - R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.204570,0.930438,0.304033]5 Fpublishing direction and range info 9 uJZ/?AN&?z0Gu?y f@ `% a4 I) CFI i ffF? ~ Η ? D> ) 2+>I i 2+ _(?N9Ǥ'yn?) &ZI `Di 2+ U 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode.jJ} rJ} zJy Jy J} [:J} 9:Jy Jy cR,ҫJ+Ay6B"II%Mb@Mb@Mb@i!!!!!%{Gz~jt~jth9%ףY%y%D%A!%A !!9%AI]2I]?3ms m$=uQ u>y GY >5¾?5  A9=(I 9%R,[J+Ay%AB%"I)) )I50I5(3E= Ew=IQ M?yII UGQYQ U?Yi]AeDDAT read: Rx Time:20:06:01.1680 mTRx dataTimestamp_ set to:1756325163.645003:Hy2H}<DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.iym@i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.5V?5A  ~A9Y@y9JE)B2;I.';iO5Y@QrrrrHHH"IHBHHHI< IEaaaa)!))IQ)QIa BBN=ԁԩ 9~G>~fA~"7;Y~H`R^?ݿ 'm@\?X^?t%v? f?@?~Yt>~I;ɫ~yCy:B"IԡIMMb@Mb@Mb@iIIIIIMV-㥛 ~jth9MYMyIIM@MrA II9IIe-Ie3u  u+=u8:Q u>yyy }GyY+ >5?56 {A9=(DR,zK+AyM7BM"II]2I]?3 _=Q >y GY >5翳?5 xA9Y@y:JE):I:i5Y7@r rrra)a)a)a))IIQIQ)QIQ YaBBN=ԑU,DAT read: user:2041> ],DAT read: user:2041> eBDAT read: Tx time:20:06:02.5735 m$Ping request sent.mHHHHHHIO< I4EԹ eR,85K+A٪BH>9B>BǻBR;YBHu?BݿwQrCB? u? Jrx?4`??BH>Bcۇ;ɫ@ybytx zGxYzV z>|5~$? 5~ ~vA9 Y  @y|)~R:I~:i~5Y@rYrarariaaaa@)靡I)I BBN~=JDAT read: TxSync time:20:06:02.5727 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250160&TFailed to parse incomplete device message.K KxA) m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500344Y zR,)OK+A٪Bө>9B|>BһBz;YBHk?`iݿ ,svi?k?;tTz?@Ob?`?Bө>Bˇ;ɫB{Cyz8B~"IIEMb@Mb@Mb@iAAAAAE{Gz:vMb`9E#YETyEAErAEA ErAA9EAI} I}<2 0=y GY3; >5?5 sA9k=J9Ncj>N NM:YNHU?ݿ7zy?U?@wv"?]? ?N>N+;ɫN}Cyr7BpI~I~m?3ב j=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004665H>HHHHu =HHI < IEIyIy"Iy*Iy2Iy:I}4Q >y GY3}< >5V?5( rA9Y߿@y);I;i:5Yu@rArArArIjJ]rJ]zJ]=JYJ]l:J]z:J]g4JYJ] <eJ] <eJ]l;mJ]l;uaaaaH@)靹I)I BBN=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256134 JK (DORK 89ZK bK )jK yi[K?51-'&  R,тK+Al٪~kT>9~?~@~MY~H ? 1޿ 3ز?`?@vr??~kT>~-;ɫ~xCy2B"I)= >IMb@Mb@Mb@ilS㥛Mb`9Y/ݼyA@A A9I#I%x3zټ ?=y GIYUS%= U>Ye5]?e5] ]pA9e;=e1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760302R,䢜K+A٪Js>9JX#?JJ?YJH:? ^߿#~I^?{?`ofo@?g1?Js>J;ɫJzCyr4Br"IIz4IzV3>:< X=mW;Q >y    G Y ;= >%5?%5 nA9!Y%%@yH1H5"IH5~BH5t =H1H1I5< I5EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015589ԩjJurJuzJu<JqJu:Ju-.:Ju [4JqJuI<JuJ<Jut;Jut; R,׆K+A٪: S>9:?::*Y:H ­?@(z??`3j g}?G@`?: S>:a ;ɫ:yCyN.BN"IIV-IV3^g ^N=b);Q b>y`d fGdYf = f>hn5js?n5js jlA9pYrr@yh)jo:Ij:ijc5Ytv @xririririԑaaaaO@)I)I "&Changing to mode: 1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264942E?F FF FBBN>JKMRK-9ZKbK*jK  U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517848 R,XK+A٪6Z>96 ?6=hʻ6{:Y6HBf?ĕt`? af?`m Ly?@??6Z>6;ɫ4yN7BR"II-Mb@Mb@Mb@i)))))-/$Mb`?Mb`9-Y-;y)-A-@-rA ))9-AIE5IE3U"= UA=);Q >y GY+ = >5?5 jA9<=Yg,@y)U\;I7[;iN5Y  @ r)r)r)r)aM<aM<aM*B@aM2e@)YaaIa)aIi iEF FF FBBN >!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768241Qԑ R,6K+A:H<2H<٪fկ>9f$?f1f1 ;YfH?@< @Ng! ??q!5s? %Fa?`?fկ>f;ɫfwCyr.Bv"IH|H|H|H|H|H|H|I~< I~EBDAT read: Rx Time:20:06:04.9800 TRx dataTimestamp_ set to:1756325167.695123%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024043I%&I%354 5L==s;Q =>y99 EGAYEJ= E>I]5M#?]5M MhA9YY]2+e@yI)M;IM";iM5Yim@irrrraaaa9d?SS;YH?a 8?`? 7u`zj?+_q? ?X>;ɫzCy=0BE"IIMb@Mb@Mb@i=^;Q >y GYC= > 5 0?5 c iA9= mBDAT read: Tx time:20:06:06.0735 m$Ping request sent.m  JDAT read: TxSync time:20:06:06.0727  XRequesting device enable set for address 50.I !S,L+A٪:k>9:8?:Һ:h;Y:H V?x,d?,?lV? ڨz@_XZ?|{??:k>:Y;ɫ8y^1Bb"I)f= fp=difAIj4IjV3r; r^=vs;Q v>ytt zGxYzp= z>|5~\?5~* |9 Y @ @y~=JE)~b:I|i~x5Y!%@!rrrraaaa@)I)I! !E?F FF FBBN>9HHH"IHyBHu =HHIT< I:E=XRequesting device enable set for address 50.jJUrJUzJU?JQJU:JU$:JUـ4JQJU|<JU|<JU~;JU~;i GK S,a7L+A ٪F>9F2v?FFgF$a;ɫDyb-Bb"IIj(Ij̍3r rK=rI:Q r>ytt vGtYz?= z>5o? 5 tI 9 Y @ @y)';I;i<5Y@rArArArAaaaaaaae @)q靁I)I E5?F1 F1F5 F1BABQNe=iJK%RK%9ZK!bK%,jK%'s-KMwA KMwAԡ >3S,QL+A٪:Sx>9:#?:48:s:;ɫ:xCPyR)BR"IIuMb@Mb@Mb@iqqqqqu~jth?T㥛 ?Mb`?9uD;Yu=yu;qu@q uAq9uAI!Ii3 ?=C:Q >y GY= >5+?5W lA9<=R! *H "H AA^S,{kL+AH">H H""IH"tBH"t =H H I"< I"E٪JR>9J6(?JDh9JBpJY;ɫJyCyR'BR"ITTIbIb2j jX=j"j;Q j>yll nGlYr@= r>tz5v?z5v vnA9xYz @z@yv>JE|i|)vv;Ivx;iv5Yx@rrrra1a1a1a5 @)IIqIy)yI )EaFi FiFiFiByBN>Qԉ JK} qMRK} 9ZKy bK} -jK} Tfoh^O$tj\PIA;4+# 5oWH:-   H!S,cL+A٪%3>9%E,?%;%{u%Ԉ;ɫ%zCyIYII5Mb@Mb@Mb@i111115I +?V-?Mb`?959yaa eGaYe= m>q}5u?}5u uqA9}H=}2I@AIAAJt4Jo4J..jJ-rJ-zJ->J)J-:J-q:J-t4J)=@=@=@=@Ա o'S,1L+A٪6S>96ߒ0?6͒-;66;ɫ6yCyf"Bf"IIj(Ij̍3 S  < 4:Q >y GY>= >!-5% ?-5%X %sA9)Y-?5@y%?JE)%>:I%:i%P5Y9=@9rYrYrYraaaaa&?)靑I)I E)F1 F1F5 F1BABQN]=H9H9H="IH=jBH=u =H9H9I=< I=EI9I9"I9*I92I9:I=49 -S,L+A"PExceeded connect timeout, disconnecting.٪b>9bK4?bb6;b bR;ɫbvCyr$Bv"I)v;> v=z4yqq uGqY}= }>5?5 vA9Y?@y):I:i"5Y]@rrrraaaa?)I)I EF FF FBBN>9JKNRK9ZKbK.jK&230*,pnB-$i- BDAT read: Rx Time:20:06:08.4801 - TRx dataTimestamp_ set to:1756325171.224694I= R=I9 jJU rJU zJU ;JQ JU :JU ":JU (N4JQ ԙ 4S,L+A٪:u>9:7?:;::؇;ɫ:xCyNBN"IIMb@Mb@Mb@iMb?㥛 ?MbP?9=Y=y:A rA9AI&I3XǼ D=Q >y GY[= >5C?5  xA9@=&ԙ:H 2H 4<H >H H "IH eBH t =H H I < I E :S,L+ADAT read: 20:06:08.4801 LVL= 11888, 14465, 20978, 18291, AGC= 43, IDX= 432, 0.13,-1.163,-2.468,-3.061,-1.889, PHS= 0.815,-0.532,-1.175, RAW= 71.5, 10.2, CAL= 73.1, 15.9, ROT= 76.9, -15.9 Ygot valid direction response: 20:06:08.4801 LVL= 11888, 14465, 20978, 18291, AGC= 43, IDX= 432, 0.13,-1.163,-2.468,-3.061,-1.889, PHS= 0.815,-0.532,-1.175, RAW= 71.5, 10.2, CAL= 73.1, 15.9, ROT= 76.9, -15.9 %PDAT read: Bearing 257.8, -26.1 (Local) -~Local bearing/azimuth received: Bearing 257.8, -26.1 (Local) 5DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s ],DAT read: user:2043> eBDAT read: Tx time:20:06:09.5736 e$Ping request sent.e rN?)rq>Ir˫?irqprr+ڙ?j5R6$Ֆ?)rXIr:5ir˫?rqpp:publishing transmit ping timeaFpublishing direction and range infop9r'?c?ψ.?yppppy}B~"I p)pIpippppp p)pIpipppr+ڙ?j5R6$Ֆ?)pIpippppI3Iʴ3C} J=Q >y GY > 5s? 5  zA9Y@y)=I=i5Y@rYrararaoporiL+Aor.?or.?or7@r>\?,!o?z d?r'?c?ψ.?or˫?orqr҉Zޏ'76?O ؿ?rȣܿ wg ?ȗ\?or?orMorn?orX)'or(B2pp:prtBpp"pr?*prD?aaaa)999I9)9Ia i EnManaging dock network, ignoring radio surface power offEF FF FB)BANMs>JDAT read: TxSync time:20:06:09.5728 ) JK mMRK -9ZK bK /jK     :umf]UNJGCKoY AS,SM+A٪=w?9=ӄyQQ UGQY]36= ]>am5e񱳊?m5e/  e|A9u=u;>Aq GS,dw M+A0٪>?9>=?>K >|}Ho?Ɨ`q#?9??zFba?`x? ?>?>U;ɫ>xCyJBJz"IIRIRF3ZE< Zj=Z޻Q Z?y\\ ^G\YbK< b>dj5f?j5f  f~A9hYj?j@yd)f>:If:if5Ytv@tr r r r a)a)a)a-I?)AAAIA)AII IEQEF FFFBB1N==ԉHiHiHm"IHm[BHiHiHiIm$< ImEԹ MS,?R:M+AZUGj/{AlvZAw̿/{A9A٪%?9% >?%[%Wyii mGiYu< u>y5}?5}  }A9Y?@y}BJE)}:I}:i}5Y @rrrraaaaaaae@?)靑I)I EIFI FIFM FIBaBqN>JKq(NRKk9ZKbK0jKysf]QI>9:=;852.+'#""(,&/:_rbSE8/'"!!/<9!I jJ rJ zJ =J J :J J g4J TS,.TM+A٪:?9:>?:#!ϻ:zy GY!; >5簳?5;  A9K=ԑԡ *HY "H] @AHa Ha Ha Ha Ha Ha Ha Ie < Ie EZS,nM+A٪6T^?96G>?66y`` fGdYfP f>hr5jְ?r5j  jA9tYv?v@yh)jK;Ij:ijd5YQU@Qqryryrraaaa?)I)I E?F FF FBBN=ԡ aS,xM+AJKNRK9ZKbK1jK41-$!.LZYSMLGB>989988FNE:3,&(% G{=!y5B5s"IIMb@Mb@Mb@iS㥛?~jt?9/yAA EGAYM M>Q]5UQ?]5Uf  Q9] <]a_?)IiA)I jJrJzJ<JJJ^:J [4JEF FF FBBND>)Q hS,M+A٪Vҽ?9V.:?VHV967?6j6S<6;ɫ6zCyfBf|"IIr6Irm3v== zJ=z;Q z>y|| ~G|Y >  5 ?5  9Yk?@y ) :I ;i 5Y!%@)rIrIrIrIaiaiaiamk?)yyyI)I ԑE?F FFFBBN%=JK]W%NRK]9ZKYbK]2jK]&046:@:% = DAT read: 20:06:11.9800 LVL= 10224, 13297, 19890, 17827, AGC= 44, IDX= 432,-0.25,-2.460, 2.539, 1.893, 3.086, PHS= 0.825,-0.500,-1.197, RAW= 70.2, 9.8, CAL= 71.3, 15.2, ROT= 78.7, -15.2 M Ygot valid direction response: 20:06:11.9800 LVL= 10224, 13297, 19890, 17827, AGC= 44, IDX= 432,-0.25,-2.460, 2.539, 1.893, 3.086, PHS= 0.825,-0.500,-1.197, RAW= 70.2, 9.8, CAL= 71.3, 15.2, ROT= 78.7, -15.2 M PDAT read: Bearing 259.8, -25.6 (Local) U ~Local bearing/azimuth received: Bearing 259.8, -25.6 (Local) ] DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s e ,DAT read: user:2044> m BDAT read: Tx time:20:06:13.0736 m $Ping request sent.m &I?) ԇ>I Fѯ?i ԇ FV?7q8_+'?) ^I /i Fѯ? ԇ  :publishing transmit ping timei  Fpublishing direction and range info 9 G%4?pSp*H?;f$?y  ) I i ) I i FV?7q8_+'?) I i   uS,JM+A٪6>96[4?6%6r6މ;ɫ6xCyNBN{"IIMb@Mb@Mb@iy GY ->1=55?=55 5A9=<==Y=t=E@y1)5]:I5:i5ʲ5Y@rrrro9o=M+Ao=s?o=s?o=5@=Q~v?*?N`?=G%4?pSp*H?;f$?o=Fѯ?o=ԇ=#KLǓ?vQ?={<7ݿVR?,G?o=?o=XJo=[p?o=o=B2p9:p=62Bp9"p=?*p=ݦ?aU<aU<aU @aUt=)靉I)I mJDAT read: TxSync time:20:06:13.0728 E=?F9 F9F= F9BIBYNeV>A :H <2H <H H H "IH `BH H H I < I EII"I*I2I:I3bH{S,RM+A0٪:o>9:0?:::3Z;ɫ:wCyjBj"I)n= n٪>9V--?v摸J;ɫzCy$B"IIMb@Mb@Mb@iMb?Q9y! %G!Y%c ->)55-ִ?=5-  -A9=C ==9 } >} =[S,^#N+A٪Fa>9F W)?F겼F? ( l? Fщ;ɫFxCyR)BR"IIZIZT3by< bz=f"Q f?ydd fGdYjy; j?lr5n?r5n"  l9tYv־v@yl)n:In:in5Yxz@xrrrraaaa@)  I ) I  1E?F FF FBBN >AHHH"IHjBHHHI< IEyjJurJuzJqJqJu:Ju&:JqJqJu<Ju<Ju/;Ju/;ԡ 탎S,U~>9>(%?>뫼>z~H ? ?nU~>>L;ɫ>{Cyb*Bb"If=fR=hhIj+Ijn3r; vH=v4 ;Q v>ytx zGxYz$ z>5? 5I  9Y޾@yDJE)4;Ix5;i5Y!%@!rArArArAaaaaaaae!@)qqyqIy)yI E-?F1 F1F5 F1BABQN]=ԡJK9R9 ?RGR6dRd;ɫRyCyZ3B^"IIEMb@Mb@Mb@iAAAAAE~jt?I +9EDy GYC& >5?5  A9:=)*H "H ?AH H H "IH tBH H H I < I EY ꕛS,pN+A٪>>9>;?>~>@;H`-?Rg+me?`+?@ M???`?>>>@;ɫ>zCyV/BV"IIXIXbԎ fW=fq;Q j>yll nGlYrv% r>tz5v'?z5v  t9xYz1~@yt)v2:Iv;iv 5Y@r!r!r)r)aaaa@)I)I jJ=rJ=zJ=?J9J=:J=*:J=ـ4J9J=<J=<J=߃;J=߃;QE?F FF FBBN > CÉG=v|AUAiҿv|A9A]>]R=ԉ JS,N+AJKR=MRKRC9ZKPbKR5jKR9845@PZSHn_g{^M?YyZl $p_<xw|]٪>9.?\<˓W';ɫy 9B "I)%> ;iAqIMb@Mb@Mb@iMb?Mb9y GY >BDAT read: Rx Time:20:06:15.4801 TRx dataTimestamp_ set to:1756325178.2843095|?5T  A9GC=;I;i#5Y@rIrQrQrQaGC=aGC=a 1@aQR@)I)I 1ԡEF FFFBBNi> ܧS,MN+A٪N >9N7o?NiN;LJNՈ;ɫNyCyZ:BZ"IIb/Ib3j; jx=j;Q j?yl| ~G|YP) ? 5 f?5   A9YwQ@y ) 1;I 2;i 5Y!%@)rArIrIrIaiaiaiam@)yyyIy)yI E5?F1 F1F1F1BQBiN}=HQHQHU"IHUBHQHQHQIUҘ< IU{EiADAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s ,DAT read: user:2045> BDAT read: Tx time:20:06:16.5736 $Ping request sent.9:P?:QJ:fx:0;ɫ:zCy^ABb"IIf$If<3n= nI=rߛ;Q r>ypp vGtYvr z>|5~~?5~  |9 Y T @y|)~:I~:i~ZŽ5Y@rrrraaaa|@)  I ) IJDAT read: TxSync time:20:06:16.5728 !ԑE?F FFFBBN >JKORKZKbK6jK/>9643'13#k/  ߹S,ON+A\yDB"I%a=%p=IMb@Mb@Mb@i ףp= 9YQ8yrA A9DAI'I@3+< :=Q >y GY > 5 d?5 q  A9Q8=:HA 2HE <HM >HI HM #IHM BHI HI HI IM < IM Ea S,N+A٪:p>9:ɡ ?:^=:ua;Y:H9? Dr`V?~9? 煿 G?Ы{?@s?:p>:;ɫ:yCy\^"IIfIf2nP r]=r[ytt vGtYv2K v>x~5z ?5z  x9Y<@yzFJE)z;Iz;izŎ5Y g@r9r9r9rAaYaYaYa]@)iiqIq)qIy yE?F FF FB BN-=Iԁԡ TS, O+AJKNRK9ZKbK7jK"KE?KE?y٪m>9m-9 ?m mc;YmHAQ? p@0j@?Q?JX??x?m>m`;ɫmxCy@B"III<2% -7=5 ;Q =>yAA MGIYUH ]>Ye5]?m5]E  Y9iYm @yY)] FS,%O+A٪6D%>96 ?6˻6 h68;ɫ6zCyBGBF"I)F= F>IMb@Mb@Mb@i~jtx ףp= 9ĻYyA@ rA9zAI-$I-<3= P=;Q >y GY'K > 5? 5  A99=1Y + S, q?O+A٪B=>9B ?BxBf#;YBH@O{?d-:E?d?{?io? JD??B=>BU;ɫ@yNHBR"IIV+IVn3^; b]=b;Q b>ydd fGdYfa f>lv5n*?v5n  l9tYv-z@ynGJE)n;In;in(ˎ5Y|~$@rr!r!r!aAaAaAaE\ģ@)QQQIQ)QIa i9EF FF FBB N=aJKRK9ZKbK8jK"y~hUA+ԑJg4Jm4J7/jJ rJ zJ =J J :J J g4J Թ `S,MYO+A٪6}\>96 ?66;Y6H@&?@=Tb??T? ?~A_?;~??6}\>6;ɫ6wCyn@Br"IIMb@Mb@Mb@iMbyqq uGyY} }>5X?5  ԑ9]!=*H "H AAH >H H #IH BH t =H H I ט< I E 2S,)sO+A0i0٪B>9B ?Bґ?BN;YBH?pNh?`N?`?` 0z :G?ũ|? ?B>BÈ;ɫBzCyR;BR"ITTIZ0IZ(3U˼ UY=!J;Q >y GY >5}?5  9Y'@y)J;I;iΎ5Y@rArArArAaaaa@)111I1)1I9 9EM>EM>EF FF FBBN&>I S,<O+A,٪Zp>9Z! ?ZCuz8Z-;YZH`?AU~k?@XU?^?v`Nz??Zp>ZG;ɫXy~:B"II=-I=3JK=NRKu9ZKbK9jKvid^ZWTVZ]eqztnjgaR5  "K>K ?@ 8=:Q >y GY; >5?5i 9Y@y);I;iЎ5Y@r)r1r1r1ԉDAT read: 20:06:18.9801 LVL= 9680, 13265, 18274, 15923, AGC= 44, IDX= 432,-0.04, 2.476, 1.183, 0.584, 1.777, PHS= 0.787,-0.547,-1.197, RAW= 71.3, 10.9, CAL= 72.5, 17.5, ROT= 77.5, -17.5 Ygot valid direction response: 20:06:18.9801 LVL= 9680, 13265, 18274, 15923, AGC= 44, IDX= 432,-0.04, 2.476, 1.183, 0.584, 1.777, PHS= 0.787,-0.547,-1.197, RAW= 71.3, 10.9, CAL= 72.5, 17.5, ROT= 77.5, -17.5 PDAT read: Bearing 258.3, -27.8 (Local) ~Local bearing/azimuth received: Bearing 258.3, -27.8 (Local) DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s ,DAT read: user:2046> aaaa@)111I9)9I9 AmBDAT read: Tx time:20:06:20.0736 u$Ping request sent.u?yiim%m3 mbG)m3>IiimxI?m1 im&I?mB> mp?)ma>Im"?imaiim]һ"?ø79jE?)mYIm]Cim"?maii:publishing transmit ping timeqFpublishing direction and range infoijJmrJmzJm?JiJm :Jmh:Jmـ4Ji9mʑ l?J?->?yiiii i)iIiiiiiii i)iIiiiiiE?F FFFBBNC>m]һ"?ø79jE?)iIiiiiiiԱ  = <tDS,ަO+A٪6$>96 ?6 8E960g;Y6Hv?l@ k?l?ov?Ju`( یy?@?6$>6y;ɫ6wC\yb/Bb"IaaU@aU ae]@a] ai]@a] a]]@a] IeIeM3}i ]=V9Q >y GY < >5?5 ~A+:9iҎ5Y@rr!r!r!oo<3O+Ao.?o.?o?*>v?<]֚?hئ:?ʑ l?J?->?o"?oa')ۮx,? *0?ﬓ.ӿ(z?=51?o?oc o p?o!>oHB2pS?:pBpHB"p?*p?)QQQIQ)QIY YH>HH"IH~BHHHI < IEEE?FA FAFE FABYBN:> UG zA ZA- 3ӿ- zA9- AA ,S,O+A٪:Ц>9:Q ?:ǁ:D;Y:H`?]B`?b?@^`?w8T?x??:Ц>:c;ɫ:yCyF+BF"I^4<^Ib2Ib?3j" jV=jxQ n>yll nGpYr&`< r>tz5v?z5v. tz :9x~]IJKENRK#9ZKbK:jK K9 K=tAԡ jJ rJ zJ >J J l:J :J t4J JWS,O+A٪Rgݭ>9R?R7iRs8;YRH m%?@3:?`s?9%?m;~b1m? z??Rgݭ>RN;ɫRxCyn*Bn"Iyaaaa aeae aiai a]a] IMb@Mb@Mb@iMbI +Mb`9Y94y@A rA9AIIm?3y 8=8Q >y    G Y < >%5+?%5| |A-T:9- =-ԡ:H <2H p<H H H "IH tBH H H I < I E aS,O+A٪NI>9N\?N_tNs;YNHx?5T*G?`5?8?5xn?S}??NI>Nw;ɫNzCyVBV"II^1I^3fsp j_=jQ j>yll nGlYn< n>pv5r?z5r r{A9xY~~@yp)rp/;Ir}0;ir֎5Y@r!r!r)r)aAaAaAaE I@)YYYIY)YIa a1EF FF  F BB)N5=QԁԱ 6hT,QJP+A٪F#>9Fn?FF;YFHn? q{fA?`M{?%?@\q?]??F#>F8;ɫDyfBj"IttI'I@3M( MC=UJºQ ]>yiq uGyY< >5ƾ?5  yA9Y@yIJE);I;i؎5YB@gEJK=vKRK=89ZK9bK=;jK= ԑrrrra9a9a9a=@)iqqIq)qIq yEEvAE%?F! F!F% F)B9BQN]3> T,'(P+A٪:>9:8-?:D :q:o;ɫ8yFBF"IIMb@Mb@Mb@ilMbp?MbP9Y;yArAA A9GAI$I<3c7; C=)Q >y GY< >5?5: xA9}=jJUrJQzJQJQJU:JQJQJQJU<eJU<mJU t;mJU t;mI ^}T, BP+A٪F>9F,?FɻF5F;ɫFyCyRBRp"IIZ=IZ=3b b\=b26Q b>ydd fGdYfk= j>lr5n?r5nf nwA9pYrm)r@yl)n :In[:inێ5Ytz@xrrrra9a9a9a=1h@)IIIII)IIQ YBDAT read: Rx Time:20:06:22.4802 TRx dataTimestamp_ set to:1756325185.088473E?F FF FBBN=iԑJK}\KRK-9ZKbK<jK T,[P+A٪Fs>9F?FNlFEx6|? ?ӊzm|?Ά?K?Fs>F;ɫDLynBnq"IIMb@Mb@Mb@i rhZd;O?MbP9C YjI31; 8=Q >y GY%<  >5?5i vA9%/(=% N8>BDAT read: Tx time:20:06:23.5737 $Ping request sent. 6?)r>I[?ir+`e]G?—o.ŬD?)TI2/;i[?r:publishing transmit ping time۩Fpublishing direction and range info9 й}?N?HN-?y )Ii )Ii+`e]G?—o.ŬD?)IiH9 H9 H= "IH= `BH9 H9 H9 I= < I= EII"I*I2I:I 3! T,uP+AJDAT read: TxSync time:20:06:23.5729 ٪B>9B ?BBaFBz;ɫ@|y Bg"II-+I-n35[5 =W==Q =>yAA EGAYM= M>IU5Mù?]5Ml MuA9YY]Fe@yMJJE)M2 ;IM. ;iMߎ5YiuX@qrrrrooseP+Aooou?7aR?b?E? й}?N?HN-?o[?orr'2俚8l?NϮ|?ֿe?Ȝ7A?oa?o!o96?oMoB2p96?:p!>Bp(B"p?*p?aaaao-K@)I)I jJ-rJ-zJ)J)J-[:J-^:J)J)J-b<J-c<J-g;J-g;EU?FQ FQF] FYBiByN=)Qԁ +#T,}P+A٪:DR>9:~$?:ß:^:!;ɫ:xCyVBZe"IIf Ifb3nû nP=rlQ r>ypp vGtYv= v>x~5zh?~5zq x9Y#F@yx)z;Izf;iz=5Y  l@ Yr!r!r)r)JKu>`JRKu9ZKqbKu=jKu"K>K?aIaIaIaMyK@)yyyIy)yI ԑE%?F! F)F- F)B9BQN]3> )T,rP+A٪V/>9V'?VLV|=YVH m? nln?l?4i?`a???V/>V;ɫVwCyf Bfj"Ihhrp=ra=IMb@Mb@Mb@iy&1l?9`Y=y@A A9AIM)IMW3]}< ]4=eJQ e>yaa mGiYm< m>q}5u?}5uK q9>==a >=a  @a f7@)I)!I! )E9EF FF FBB!N5->jJ5rJ5zJ5=J1J5K:J5':J5g4J1J5<J5<J5;J5;Qy 0T,MP+A٪6ڷ>96IE)?66[96E;ɫ6zCyvBvn"II~&I~3 <  c=?:Q >y GY%< %>)55-U?55-. -vA91Y5T8@=@y))-Z;I-U;i-5YAE@ArarararaaaaaT8@)革I)I ԹE?F FF FB)B9NM=JKBoIRK9ZKbK>jK1+vh[SMD8238DVbgfdb_[XPKF7 1 6T,,P+A٪>W;>9>*?>$ܻ>hH(?)??%? @{???>W;>>;ɫ>yCy^ B^k"IIMb@Mb@Mb@i{GzI +?9#Y94=yA@@ 9AI%I)3' @=:;Q >y GY;< >5?5 wA9 8= 9HHHHHHHI,< IEa =T,P+Ai$٪BIq>9B+?BBtݾBэ;ɫ@yJBJr"I)L N>IV&IV3Z< ^\=^;Q b>y`` fGdYfe?< j>lr5n?r5n nxA9pYr@r@yl)n:Ing:inI5Ytzz@xrrrra1a1a1a5z@)AIIIQ)QIQ YEaEewACjJrJzJAJJ;:J-.:J4JJ<J<Jt;Jt;}ÉG{AA!ο{A9AE ?F  F F FB!B1N==iԙ DT,#Q+A٪64>96v,?6#M6Ҡ6s;ɫ4Lyhjs"IIv0Iv(3nu: E=l;Q >y!! %G!Y%AM< %>)=5-?E5-H -yA9AYE@E@y))-U9;I-9;i-5YIMw@Qrqrqryryaaaa@))1I)JKNRKu9ZKbK?jK'   "K ?K?I 1E F  F F FB1BAN]3>! > < BDAT read: Rx Time:20:06:25.9802  TRx dataTimestamp_ set to:1756325188.6166180JT,Ϻ*Q+A٪Fݧ>9FK=.?FFFF;ɫDyRBRv"I)ImMb@Mb@Mb@iiiiiim~jtx?kt?MbP?9m;Ym 0=ym:m+Am@mrA mrAi9mAI.I3E< B=B;Q >y GYKB< >5򰳊?5 zA91=AjJ! rJ% zJ% <J! J! J% d:J% [4J! J! J! J% ;J% ; eQT,ޓDQ+A٪B/>9Bt=/?BBFB7;ɫBxCy^B^"IdfAAIf5If3n(= rV=r;Q r>ytt vGtYz3(< z>|5~8?5~ ~|A9 Y v@ @y|)~:I~:i~5Y@r1r1r9r9DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s ,DAT read: user:2048> BDAT read: Tx time:20:06:27.0737 $Ping request sent.E JDAT read: TxSync time:20:06:27.0729 JKm FKRKm 9ZKi bKm @jKm K  K xAA @WT,j^Q+A٪:k>9:S/?:=x:Y:k;ɫ:yCy^%Bb"IIeMb@Mb@Mb@iaaaaaey&1? rh?Mb`?9e`y GYe; >5:?5 ~A94=Ai*H"H?AHHH"IH[BHHHI< IEԙ j]T,GxQ+A٪:>9:/?:d1:^1Y:H? oL`^@oL? ? E`+^? I9F?:>:wB;ɫ:{CyF'BF"IIJIJ#3RL< VZ=VQ V>yXX ZG\Y^B; b>`f5b:?j5b  bA9hYj?j@y`)b:Ibl:ib5Y%4@!rararariaaaaI?)I)I yE?F FF FBBN=ԩؕ>ؕ;? QdT,Q+A٪:ݙ>9:K.?:hk:9Y:H@ ? .*T@.?!?@Z`l `?U>??:ݙ>:Mr;ɫ:yCyF,BF"I)J4= Je>NAiNAIR$IR<3fQ< fH=jcQ j>ytt vGtYzZ: ~> 5=? 5  A9 Y >? @yMJE):Iy:i5Y%@!rrrraaaa0>?JKURKQZKQbKUAjKU $?MURJA=<::940+))%")I)I EjJrJzJ=JJ:Jh:Jg4J@@@@E?F FFFBBNA>) /|jT,HQ+A٪B#}>9B-?BEV.BB ;YBH``?@G ?Z?`eSke?Xa??B#}>B;ɫB{CyN-BN"II-Mb@Mb@Mb@i)))))- ףp= ?{Gz?9-Q8=Y-ףyYY ]GYYe! e>im5m?u5m  i9uI=uac\?)I)I H!H!H%"IH%eBH!H!H!I%< I%EII"I*I2I:I-4QEIFI FIFIFIBYBqN}>iyԩ 4eqT,8Q+A٪:>9:j],?:W:;Y:H@5?SR,?@??`vj?Rr??:>:r;@ɫ:yCyF0BF"IIN3INʴ3VJ7< VU=V׺Q Z>yXX ZGXY^W ^>`f5bñ?f5b,  `9dYj?j@y`)b:Ib ;ibd5Yim@irrrraaaa?)I)I EQFQ FQFU FQBqBN=ԱJK MRK -9ZK bK BjK    3B jJ rJ zJ ;J J :J ":J (N4J wT,Q+A٪6m_>96+?64)6e$;Y6Hc?U?z??I@#%q?h~?`?6m_>6^;ɫ6zCyN2BR"IV=V=pIMb@Mb@Mb@iJ +?{Gzt?9H=Yף;yA@A A9AI7I3L < :=nQ >y GY7 >5?5  9I=1HHH"IHoBHHHI< IEa }T,Q+A٪6>96)?6ū6y7xu?`?@`?6>6_;ɫ4y^5B^"IIf.If3no< rZ=r8Q r>ytt vGtYv{S v>x9m5z1?m5zp  x9iYmC?m@yx)zG9Br(?BԻBCzBی;ɫ@yny!) -G)Y-B 5>AM5Ep?U5E ԙ EA9YB?@yA)EJJ :J&:Jt4JEF FFFBB9NY> DAT read: 20:06:29.4801 LVL= 11408, 13361, 19794, 18867, AGC= 44, IDX= 432,-0.16,-0.288,-1.585,-2.204,-1.032, PHS= 0.832,-0.507,-1.175, RAW= 70.9, 9.6, CAL= 72.3, 14.8, ROT= 77.7, -14.8  Ygot valid direction response: 20:06:29.4801 LVL= 11408, 13361, 19794, 18867, AGC= 44, IDX= 432,-0.16,-0.288,-1.585,-2.204,-1.032, PHS= 0.832,-0.507,-1.175, RAW= 70.9, 9.6, CAL= 72.3, 14.8, ROT= 77.7, -14.8  PDAT read: Bearing 258.7, -25.1 (Local)  ~Local bearing/azimuth received: Bearing 258.7, -25.1 (Local)  DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s !  ,DAT read: user:2049>  BDAT read: Tx time:20:06:30.5737  $Ping request sent. ݍ ?)ݍ A>Iݍ ^?iݍ A݉ ݉ ލ  ?UUHP*c%ql?)ލ D[Iލ 3,iލ ^?ˊT,H-R+A޵ AޱޱN:publishing transmit ping timeRFpublishing direction and range info۱9۵v\?O'fi:?l39Y?y۱۱۱۱ ܱ)ܱIܱiܱܱܱܱܱ ݱ)ݱIݱiݱݱݱ޵ ?UUHP*c%ql?)ޱIޱiޱޱޱޱ٪f>9f&?f_f|fy;ɫf{Cy%:B%"I)-,> -a=H>HH"IHyBHHHI< IEI%Mb@Mb@Mb@i!!!!!%:v?Mb9%T=Y%y!%+A%@%A %A!9!I]I][3E (=$\Q >y GYi > 5? 5  9 ^= s@yOJE)f!)IIIII)QIQ QE>EJDAT read: TxSync time:20:06:30.5729 GE=?F9 F9F9F9BIBYNmx>i"ѿ9AQy T,#GR+A٪:>9:B$?:U%:6:;ɫ:zCy^u@ya)e;Ie;ieO5Yy@rrrraaaau>)I)I QEF FFFBBN=ԁԩJKE }NRKE C9ZKA bKE DjKE !'~#24:<9865.#ug`WOGA:31/)%# jJ] rJ] zJ] @JY J] :J] :J] J4JY WܗT,]`R+A٪No>9NT!?N4^NNFT;ɫLyVBBV"II5Mb@Mb@Mb@i111115?:v95L=Y5Լy1115rA 1195AIeIeM3u< uB=oQ >y GY^ > 5 ﺳ?5   9%f=%k%@y ) %);I ;i *5Y15@9rQrQrYrYauf=auf=au@auZ>)靉I)I ԹE ?F FF FB)BAN]>HHH"IHBHHHI(< IE i 9 FT,zR+A٪B7>9BW?BB0BH;ɫByCy^HB^"I``IfIfm?3n1< rT=rQ r>ytt vGtYvż v>x5z?5z  zA9 Y j> @yzPJE)z+;Iz;iz5Y$@r9r9r9r9aYaYaYa]Zj>)iiiIi)iIq yE E?F FFFB)B9NE=9a IT,hR+A ٪>o>9>?>J>>]H+? j@q h?)?y{I?J?b?>o>>*!;ɫ>{CyFGBF"IIR(IR̍3Z ZN=ZguQ Z>y\\ ^G\Y% %>)55-?55-k  )99Y=>=@y))-;I-;i-5YIM:@Irqrqrqrqaaaa >)革I)I EQFY FYFYFayBBN>JK-3NRK-9ZK)bK-EjK- +CLG:-%"KfaSC2$ "KU>KU ?ԡ m o?m K?T,~R+A٪:+>9:?:K:&]:g׉;ɫ:zCyBCBB"IPIMb@Mb@Mb@iyII MGIYUT U>H>HH#IHBHHHI< IE5F?5w  9?=jJrJzJ;JJ:Jz:J(N4JJV<JV<Jl;Jl;! T,fR+A٪BC>9B!?B~B ?BY;ɫBwCyJ>BJ"IRAiRAIZ3IZʴ3bż bR=ffQ f>ydd fGdYjUʼ j>lr5n?r5n  l9pYv=ҽv@ynQJE)nh:In:in 5Yxz@xr!r!r)r)aIaIaIaM@)aaaIa)aIi iEF FFFB!B9NE=1QJK MRK 9ZK bK Fԡ jK r LgL0mO75LXPC>M[P?K  K .T,QR+A٪^1e>9^?^Xi^|^;ɫ^zCyz9Bz"IQIMb@Mb@Mb@iI +?y GY >5³?5  9/=:H2H<HHH #IHBHԩHHIH< I*EII"I*I2I:IǤo4 UT,R+A٪6B5>96?6⥼6u6n;ɫ6xCyPR"IIZ'IZ@3bN b]=bRQ b>ydd fGdYj j>hr5jó?r5j  h9tYv 3v@yh)jJ0;IjW1;ij 5Yxz@|jJrJzJ=JJ:J$:Jg4JJ <J <J~;J~;rrrrԹaaaa«@)I)I! !E?F FF FBByNmDAT read: 20:06:32.9803 LVL= 10384, 14257, 18642, 16483, AGC= 44, IDX= 432, 0.30, 2.213, 0.840, 0.146, 1.413, PHS= 0.888,-0.526,-1.270, RAW= 70.2, 9.6, CAL= 71.3, 14.7, ROT= 78.7, -14.7 Ygot valid direction response: 20:06:32.9803 LVL= 10384, 14257, 18642, 16483, AGC= 44, IDX= 432, 0.30, 2.213, 0.840, 0.146, 1.413, PHS= 0.888,-0.526,-1.270, RAW= 70.2, 9.6, CAL= 71.3, 14.7, ROT= 78.7, -14.7 %PDAT read: Bearing 259.8, -25.1 (Local) -~Local bearing/azimuth received: Bearing 259.8, -25.1 (Local) 5DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s =,DAT read: user:2050> EBDAT read: Tx time:20:06:34.0738 E$Ping request sent.EI=Fѯ?i=G\99=ZHrY?ݧ׿aV?)=)^I=+i=Fѯ?=G\99m:publishing transmit ping timeAmFpublishing direction and range info99=LB??'@Z?N=?y9999 9)9I9i99999 9)9I9i999=ZHrY?ݧ׿aV?)9I9i99999 %>T,]S+A٪:>9:)D?:H*:3i:Lj;ɫ:yCyN8BPPPIZ IZb3b bJ=fKʹQ f>ydh jGhYj@ j>pv5rij?v5rI  rA9tYv4v@yp)r:Irf:irZ 5Yx~ @|rrrroaoe< S+Aoe.?oe.?oe?el̖?]E,?r%?eLB??'@Z?N=?oeFѯ?oeG\eO4??f?eSD9ֿ9? xY?oeC?oe!oe0lz?oeoe1B2pe96?:peBpa"pe?*peϾ@aaaaaaaes@)qqqI)I E>EJDAT read: TxSync time:20:06:34.0730 EqFq FyFyFBBN>JKe;!ORKe89ZKabKeGjKe,     Aiԙ \gT,/S+Ay~9B|HE>HAHE#IHEBHAHAHAIE#< IEEIMb@Mb@Mb@iI +QMb`994YyAA 9AII3M: M4=UQ U>yQQ ]GYY] ]>ay5eij?5e  eA9"=jJrJzJ>JJ:JU:Jt4JJ<J<Je;Je; PT,5IS+A٪:>9:ظ?::#:&1;ɫ:|CyF1BF"IIhIhrE. rd=r;;Q v>ytt vGtYz z> 5 $ų?5   A9Y@y ) e";I ";i 5Y!-@)rIrIrIrIaiaiaiamm@)yyyI)I E?F FF FBBN-=) JK LRK ZK bK HjK  '-37;8745:962.+*("  )+F@2! Q C{T,cS+A٪:A>9: ?::*۠???:A>:O;ɫ:zCyLPIMb@Mb@Mb@i rhI +9C Y9y@ A9;4<II3q >=E:Q >y GY 0 >5ij?5]  ~A9%=YH=>H9H="IH=BH9H9H9I=< I=Eԁ a a UG T,;p}S+A9n ?n@^nC=nƒ;ɫlyv/Bz"II'I@3 U=^q;Q >y G!Y%" %>)55-ó?55-  -}A99Y=(=@y))-/;I-<;i-t5YAE@AjJ]rJ]zJYJYJ]|:J](:JYJYJ]}<J]}<J];J];rrrraAaAaAaE{@)yyyIy)yI ԩEAFA FAFAFABYBiN}> gT,hAS+A٪:>9: ?:Ǐ:o:H;ɫ:{Cy^&B^"IlIf2If?3v~8 zM=z;Q z>y|| GYӻ %>!55%Yó?55%  %|A9IYMSM@y%SJE)%M;I%˞;i%75YQUG@Yrqryryryaaaa8f@)革I)I EU?FY FYFe FaBBN= >JK4NRK9ZKbKIjKrB ATYNC6+(7=EIC6-'$ 1i T,S+A٪:;>9:z ?:4o:ڥ`:D;ɫ:zCyN*BN"IPPHpHpHr"IHryBHpHpHpIr< IrEYIMb@Mb@Mb@iS㥫QMbP9/]Yuy+AA A9GAI%I)3< :=J;Q >y GY 19  >%5?%5  zA9%e=%l9:K0 ?:z>:qL:g7;ɫ8yF#BF"IININF3V Vb=ZyXX ^G\Y^b>; ^>`f5b?f5b  byA9hYjj@y`)b:IbB:ib5rBDAT read: Rx Time:20:06:36.4803 vTRx dataTimestamp_ set to:1756325199.200435Yxzm@xrrrra1a1a1a5p}@)iqqԹIq)I E?F FF FBBN>jJ rJ zJ ?J J L:J :J ـ4J  @ @ @ @JKE {MRKE 9ZKA bKE JjKE  y :T,TS+A٪U>9U` ?U"+λUu9U͈;ɫU{Cy}B}w"IIMb@Mb@Mb@i p= ףy GYFU< > 5þ?5 xA9g=J BDAT read: Tx time:20:06:37.5738 $Ping request sent. ϸ?)>Ia?i`Ы?6ܻSÕк?)7aI!(ia?%:publishing transmit ping timeہ%Fpublishing direction and range info9;X? \E;w?l?y )Ii )Ii`Ы?6ܻSÕк?)Ii9Eu?Fq FqFu FyBBN^>HHH"IHjBHHHI < IEiؑ iؑ  JDAT read: TxSync time:20:06:37.5730 ԡ T,S+Ay B x"I)= I1I3-Z; -h=-Q 5>y9A EGAYE E>IU5MD?U5M MvA9YYae@yI)MB2;IM3;iMK5Yim4@irrrrooS+Aooolh?goj?AB8F? i?;X? \E;w?l?oa?oG?oM?oo`?o~oB2p`?:p!>Bp"pf?*p'?aaaa)I)I E>EqEU?FQ FQF] FYBiByN=ԡ U,]T+A٪%>9%X?%a%KE%祈;ɫ%xCyBy"IIIm?3&; ?=@;Q >y GY< >!-5%r?-5%] %uA9)Y- -@y%UJE)%|:I%:i%-5Yae @arrrrjJmrJmzJm=JiJm:Jm&:Jmg4Jiaaaa4v@JKms$LRKmC9ZKibKmKjKm !*('$ "Ku?Ku?)靁I)I EYFY FYFYFaBBN>) > "@ U,`2T+AHDHDHF"IHF`BHDHDHDID IDIIII"II*II2II:IM\4٪f>9ff*?fDfEIf;ɫfzCyrBrt"IImMb@Mb@Mb@iiiiiim rhI +~jth9mCYm94ymDiimA mAi9iII?13 O=P;Q >y GYIQ< >5Ĺ?5 sA95=@yԩ U,HLT+A٪:s>9:s?:ʺ<:I:Ĉ;ɫ:yCyFBFp"IhhIr Irb3zw zU=zx;Q z>y|| ~G|YBV< >  5 ?5 M pA9Y@y VJE) ;I ;i "5Y%B%@%gErArArArAaiaiaiam'x@)yyyIy)I E)F) F)F)F)B9BQN]=ԩ jJ} rJ} zJ} <Jy J} :J} &:J} [4Jy JK LRK 9ZK bK LjK K vA K vA7U,fT+A٪6lM>96?6ev86ѾJ6;ɫ4yZBZm"IlImMb@Mb@Mb@iiiiiimA`"Mb`?MbP9mYYm;ymmAm@mrA m@i9iI+In3wQ ?=u;Q >y GY%< >5w?5 oA9GY=z*Hy"HyHHH"IHUBHHHI.< IE1a !?U,T+A٪:+>9:?:7*::gQ:ة;ɫ:{CyF BFk"IIR4IRV3Vv Z\=Z 4;Q Z>y\\ ^G\YbS< b>`f5b?j5b bnA9hYj &j@y`)bp:Ib:ib &5Ypr@pr r r r a1a1a1a5<l@9)IIIII)IIQ QEm?Fq FqFu FqBBN=iԱ '&U,FЙT+A٪>޽>9>?>+:>ϳTH? ?@??E xeZF?L?>޽>>;ɫ>zCyb Bbi"I)b4> bytt vGxYzw%< z> 5~? 5. 9 Y % @yWJE) :I:i'5Y<@r9r9r9rAaYaYaYa]#Xl@)iiqIq)qIq EEԹEF FF% F!B9BIN]=jJErJEzJE=JAJE :JE,:JEg4JAJKRK89ZKbKMjK/BLNOE4 BDAT read: Rx Time:20:06:39.9803  TRx dataTimestamp_ set to:1756325202.733411A Q,U,~T+AHHH"IHPBHHHI=< IE(ɩ(٪Jpu>9J$?J :J_Jv;ɫJxCyrBrv"II Mb@Mb@Mb@i      X9v{Gzt?9 Y ף;y  +A  A A 9 GAI%1I%35D= 57==8Q =>y99 EGAYE99< E>IU5Ml?U5MV I9]=]@a-d@)YYYIY)aIi M}G]v|AyͿv|A9'AE?F FF FBBN+>Aqԙ :3U,T+A٪6b>96?68:6$ c6H;ɫ6{CyRBRr"IIV+IVn3fDAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s j,DAT read: user:2052> nBDAT read: Tx time:20:06:41.0738 n$Ping request sent.ny GY)< > 5 ?5 v 9Y-@y ) <;I ;i a+5Y!-@)rIrIrIrQaqaqaqaue@q)靑I)I EM?FI FIFM FIBYBqN}>ԡuJDAT read: TxSync time:20:06:41.0730  JK= &LRK= k9ZK9 Xf9U,lT+AbKeNjKe,(),(٪^>9^=k?^۴^YNl^;ɫ^}CyjBhnp=na=IMb@Mb@Mb@i{Gz?MbP9Y#yii uGqYue:< u>y5}V?5}] }mA9$<=Y" @@yy)}";I}!;i}Z-5Y@rr r r a-$<a-$<a-?a-A" @)iiiIi)iIq qE%?F! F!F% F!BqBN:>HHHHHs =HHI < IE! J@U,:U+A٪:>9:?:2L:#??:>:;ɫ:{CyFBFx"IIN1IN3bA< f^=fQ f>ydh jGhYjW; j>Jg4Jm4J١/jJ rJ zJ J J :J 7:J J J <J <J ;%J ;%Ye5])?e5]I Y9aYm? @m@yY)]|:I]:i].5Yquu@qrrrraaaaQ? @)1I9)9I9 AQE?F FF FBB1N=>yԩ uFU,U+A٪:>9:`?:Mg:@:;ɫ:zCyFBF{"IIRIR(*3V/< VL=ZfnQ Z>yX\ ^G\Y^7; b>`f5b?f5b4 blA9hYjn @j@y`)b:IbN:ib05YprR@prrrra1a1a1a5n @)I)I 9i9E?F FFFBԩBN=JK=8LRK=9ZK9bK=OjK=]v'}rnh H! H! H% "IH% UBH% t =H! H! I% < I% ELU,25U+A`yB"I i IMb@Mb@Mb@iI +?Q?MbP?99y GY >5U?5 mA9H<jJrJzJJJ{:J#:JJJ<J<J|;J|;A SU,NU+A٪:!>9:?:7::D;ɫ8R;?R=yVBZ"II~*I~39E0(< MV=M1Q M>yQQ UGQYU?< ]>am5e?m5e enA9iYm?u@yeXJE)e:Ie:ie@45Yy}@yrrrraaaa?)I)I E?F FF FBBN=iԑI- C=I- a= YU,rhU+AJK*|$NRK*9ZK(bK*PjK*^SIA61K`aVECUha\`eaUE6*'%  !!CbbJ- %?LE1 ٪vK>9v?vvwv;ɫvyCy%B "IԉIMb@Mb@Mb@iMb? rh?Mb`?9@=YCyYY eGaYe; e>iu5m?u5m0 mpA9}L=}auAv?)I)I ԹEu?Fy FyF} FyBHHH"IH`BHHHI< IEIyIy"Iy*Iy2Iy:I}&4BN%M> =`U,U+A٪F >9Fb?FFF)ډ;ɫFzCyN*BR"IIV'IV@3^8< bh=bRQ b>y`d fGdYf; f>jJrrJrzJrDJpJrK:JrS2:Jr4JpJr<Jr<Jr ;Jr ;|~5~?5~ ~rA9Yv?@y|)~:I~g:i~75Y B@^Er1r1r1r1aQaQaQaUGv?)iiiIi)iIy yEEE?F FF FBBN%=!BDAT read: Rx Time:20:06:43.4804 TRx dataTimestamp_ set to:1756325206.260575Iq fU,^U+A٪B˫>9BB?BuBgyB ;ɫ@y^-Bb"IIj-Ij3vj[< vH=v,Q v>yxx zGxY~; ~> 5? 5] tA9 Y rw?@y):I:i}95Y@r9r9r9rAaaaaaaaerw?)qyyIy)yI QEF F!F% F!BYByN=ԉJK6/NRK9ZKbKQjK    ')*-.-*&&%$ "K?K?Ա = < DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s  ,DAT read: user:2053>  BDAT read: Tx time:20:06:44.5739  $Ping request sent. 9:&?:$S:: ;ɫ:yCyN2BN"IIMMb@Mb@Mb@iIIIIIMy&1?y GYr; >5ŵ?5 wA9q=aamgn?)静I)I ԱEF FF' FBBN">-JDAT read: TxSync time:20:06:44.5731 jJrJzJ<JJ\:Jz:J [4JJ<J<Jl;Jl;) sU,U+A ٪: >9:?:b%:?: >:2;ɫ:xCyN5BN"IPiRATTIV$IV<3bK< bY=bQ b>ydd fGdYfS< j>hn5jඳ?r5j^ jyA9pYrlo?r@yh)jY;Ij3;ij<5YtzZ@xrrrra1a1a1a5lo?)IIIII)IIQ QEF FF FBBN=iԙ zU, U+ALJKZ;MRKXZKXbKZRjKZ  ٪-u>9-:?-O A-p-;ɫ-zCy9="IIMb@Mb@Mb@ii|?5?/$?Mb`?9q=Yy)) 5G1Y5?' 5>9E5=5YQUT@YrrrraR=aR=a >aw?)I)I EYFa FaFe( FaBqBN>:HY2H]<H]>HYH]"IH]yBHYHYHYI]ݘ< I]ECG /{A% ZAM ѿM /{A9M A U,V+A٪:2>9:?:Y:p:|;ɫ8yr=Br"I|IzIzV83 %=  _=Q >y GY >!-5%V?-5%C  %~A91Y5v?5@y!)%:I%:i%@5Y9=@Arqrqryryaaaav?)I)I EF FF# FBBN>)Qԁ lU,vV+A٪:>9:,?:t[:ح:n;ɫ:yCyDDDDJ=HIN3INʴ3ZpQ Z>yXX ^G\YbW[ b>df5f?j5f  fA9hYjv?j@yd)f:If:ifHB5YpppYrarararaaaaav?)I)I EEF FF FBBN=jJrJzJ;JJl:J :J(N4J@@@@ԉJKYKRKZKbKSjKԱ Hm >Hi Hm "IHm BHi Hi Hi Im < Im E9F?FYFRF;ɫDyREBR"II-Mb@Mb@Mb@i)))))-A`"?Q?9-Y=Y-uy GYi >5˻?5;  A9a=paMe?)aaaIa)aIi iEF FF" FBBN>A #U,]QV+A٪F>9F?F݄^FFA;ɫFzCyRydd fGdYf f>hn5jݼ?r5j  jA9pYrbe?r@yh)j;Ij;ijE5Yxz@xrrrra1a1a1a5 be?)IIIII)IIQ QEF FF' FBBN=AijJ rJ zJ =J J :J :J g4J ԩ uUU,WkV+AJKjRKhZKhbKjTjKj ٪=>9=6j?=Y=f=խ=c;ɫ9yUCBU"I)UC> U4y    G Y 'Q  >5ͽ?5z  9%=%a~[?)靱I)I EE*H?A"HAAHHH#IHBHHHI< IEEF FFFBBNA> :U,9%V+A٪ >9-?nsq ;ɫyBB"II,I3&k ;=Q >y   G Y   >5?5&  A9!Y%[?%@y\JE);I!;iI5Y15@9rYrYrYraayayaya}[?)靑I)I EF FF! FBB)N5.>DAT read: 20:06:46.9803 LVL= 10896, 13617, 21474, 18099, AGC= 44, IDX= 432,-0.13, 3.012, 1.715, 1.077, 2.247, PHS= 0.853,-0.485,-1.173, RAW= 70.5, 9.1, CAL= 71.9, 13.6, ROT= 78.1, -13.6 Ygot valid direction response: 20:06:46.9803 LVL= 10896, 13617, 21474, 18099, AGC= 44, IDX= 432,-0.13, 3.012, 1.715, 1.077, 2.247, PHS= 0.853,-0.485,-1.173, RAW= 70.5, 9.1, CAL= 71.9, 13.6, ROT= 78.1, -13.6 PDAT read: Bearing 259.2, -23.9 (Local) ~Local bearing/azimuth received: Bearing 259.2, -23.9 (Local) DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s ,DAT read: user:2054> BDAT read: Tx time:20:06:48.0739 $Ping request sent. ݕK?)ݕs>Iݕ!z?iݕsݑݑޕ&Y9?JVv =1)?)ޕ1]Iޕ7!iޕ!z?ޕsޑޑ-:publishing transmit ping time5Fpublishing direction and range infoۑ9ە{Qq?J/o?#?yۑۑۑۑ ܑ)ܑIܑiܑܑܑܑܑ ݑ)ݑIݑiݑݑݑޕ&Y9?JVv =1)?)ޑIޑiޑޑޑޑA `U,V+A٪>>9>?X?>N>>GH#?uB@as?!?ښ u??@.?>>>;ɫԁJKuKRKu9ZKqbKuUjKu    "K} ?K}?ԩ H >H H H H H H I &< I EII"I*I2I:Id4뉭U,ɸV+A@٪Z >9Z?Z7Z̑Z;ɫXyddIMb@Mb@Mb@iy GYq >1=55?=55  19Et<E8=YE?E@y1)5s:I58:i5M5YIIQririrqrqat<at<a/3a?)I)I1 1ԩEF FF/ FBBN&> sU,aV+A2?2?٪>>9>?>%u>LkHD.?f@)~ c?-?qSΓ?]w??>>>;ɫ>yCxyzCBz"III?13ø< <8XQ >y!! %G!Y% ->)55-o?=5-  )99Y=?=@y))-;I-;i-N5YAMm@Irqrqrqrqaaaa?)靡I)I E?F FF0 FB)B9NE= 1I a=I jJ rJ zJ =J J ;:J <:J g4J i U,V+AA٪mV>9m_?mUm-m/;ɫiy}5B"IJKRMRK9ZKbKVjK  +`z|yqKwA KIMb@Mb@Mb@iMbpI +MbP9Y94yEArA A9I-I-m?3= =8=EԺQ E>yAA MGIYMѺ M>Q]5U?]5U  UA9ew@<e=Ye:e@yQ)U:IU:iUP5YiuT@qrrrra-w@<a-w@<a-¢@a- A@)qyyI)I a:H<2Hp<HHHHHs =HHI< IEE9F9 F9F=/ F9BQBaNm5>ԉԹ ܃U,ZW+A٪:>>9:k?:ա:]>:;ɫ8yE=BE"IIU,IU3eR3= eZ=enU:Q m>yii mGiYu2 u>Թ5?5  A9Y§ @y):I[:iVR5Y@r9r9rArAaYaYaYa]6@)iqqIq)qIy yE F  F F F BB1N= >9 (U,6 W+A٪BK>9Be?BBhBʌ;ɫBxCyJ5BJ"IIV%IV)3Z+ ^V=^l:Q ^>y`` bG`Yf4> f>dj5f?n5f  fA9lYnUn@yd)fa;If;ifS5YtvP@trrrra1a1a1a5~@)AAAIA)AII IEF FF0 FB BN-=jJrJzJJJl:Jz:JJQJKNRKZKbKWjK\@-%"   "K?K>iH H H H H t =H H I < I Eԙ U, :W+A٪63>96?6v696;ɫ4yB9BB"IuGv|AADοv|A9jAIEMb@Mb@Mb@iAAAAAE{Gz/$Mb`9EףYEyEE+AqE@EA EAA9EGAI?IT3< /=69Q >y GY= >5?5a  A9!<MBDAT read: Rx Time:20:06:50.4804 MTRx dataTimestamp_ set to:1756325213.080370ԡIIAA DU,cSW+A٪: >9:b?:< :!?g!? I?: >:;ɫ:zCyR7BV"ITTZ=Z=Ib)IbW3j: jn=j:Q j?yll nGlYrn r?tz5vi?z5v  v}A9xYz޿z@yt)v2:Iv`:iv{W5Y-@rarararaaaaaVk@)I)I EEE?F FF/ FBBN=DAT read: 20:06:50.4804 LVL= 10272, 12641, 18418, 16371, AGC= 44, IDX= 432, 0.43,-1.996, 2.992, 2.314,-2.733, PHS= 0.825,-0.511,-1.239, RAW= 69.6, 10.2, CAL= 70.4, 16.1, ROT= 79.6, -16.1 Ygot valid direction response: 20:06:50.4804 LVL= 10272, 12641, 18418, 16371, AGC= 44, IDX= 432, 0.43,-1.996, 2.992, 2.314,-2.733, PHS= 0.825,-0.511,-1.239, RAW= 69.6, 10.2, CAL= 70.4, 16.1, ROT= 79.6, -16.1 PDAT read: Bearing 260.7, -26.5 (Local) ~Local bearing/azimuth received: Bearing 260.7, -26.5 (Local) Y  DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s  ,DAT read: user:2055>  BDAT read: Tx time:20:06:51.5739  $Ping request sent. enF?)eޏ>Ieӱ?ieޏaaeb8'?"?迟ъ?)e`Ie6ieӱ?eޏaa :publishing transmit ping time  Fpublishing direction and range infoa9e&?3?:f=?/?yaaaa a)aIaiaaaaa a)aIaiaaaeb8'?"?迟ъ?)aIaiaaaaY U,omW+AJK4MRK9ZKbKXjK       K KxA٪5>95r?5;5&5;ɫ1!y52B5"IJDAT read: TxSync time:20:06:51.5731 HAHAHE"IHEBHAHAHAIEؘ< IEEIMb@Mb@Mb@iy!! %G!Y-N =>Ye5]?e5]>  ]zA9e6=eq U,ۢW+AjJ2rJ2zJ0J0J2:J2q:J0J0J2<:J2<:J2k;:J2k;:@٪J>9J/?JJKJSȉ;ɫJwCyR1BR"IIZ.IZ3bt b=f~;Q f,?ydd fGhYj j,?lr5nZ?r5n  nxA9tYvyv@yl)n>:InK:in[5Yxz@xrrrraaaah1@)I)I ԉE?F FFFBBN> U,䄡W+A٪:>9:f?:ΐ:jF:!;ɫ8yN+BN"I)R= R=\IV IVb3f fJ=jQ j>yhh jG|Y~j ~> 5ξ? 5  vA9 Y@y^JE) :I9:i\5Y9=@Araraririaaaa@)   I ) I1 9EAEE>EF FFFBB N >JKMVLRKIZKIbKMYjKM"K]?K]?HU >HQ HU "IHU ~BHQ HQ HQ IU < IU Eq &U,KXW+A٪J;>9Jz?J/JV/UJq;ɫJyCyV*BV"IAIeMb@Mb@Mb@iaaaaaeI +:vMb`9e94Yayae+Ae@eA eAa9eAIIT3ñ ==f|;Q >y GYSл >5?5{  sA9Q=@)I)I iE?F FF. FBBN#>JcJk9:A?:jg::U:W;ɫ8yF-BF"IININM3Z< Z[=ZA;Q Z>y\\ bG`Yb6 b>dj5fF?j5f  fqA9hYnn@yd)f6:Ife! ;U,:W+AJK-fLRK-9ZK)bK-ZjK-)42  y=+B="IAAIMb@Mb@Mb@iZd;OS㥛Mb`9jy %G!Y% %>)55-M?55- -nA9=Z==x؍=aZ=aZ=a k@ad@)靡I)I EHHH"IHyBHHHI< IEII"I*I2I:IQ4E%?F! F!F%5 F!B1BANU2>Iq #V,X+AIC=IjJ rJ"zJ"=J J J"^:J"g4J J J J"g;J"g;٪FI>9FD?F5)FT9EFq0;ɫDyj-Bj"IIvIvM3~< ~t=yԡ 4JV,*"X+A٪B@E>9B ?B[߄BPx8B;ɫ@yR%BR"IIV.IV3^! bO=b$;Q f>ydd jGhYj} j>lr5nκ?r5nr njA9tYvv@yl)nl:In :ine5YxzZ@xrrrraaaaaaae@)qqqIy)yIy 9i9EBDAT read: Rx Time:20:06:53.9805 ETRx dataTimestamp_ set to:1756325216.617223ԱEF FF3 FB1BAN]=JKWLRKu9ZKbK[jK H H H "IH oBH H H I /< I E9 ctV,96/?6+6256k;ɫ4yPR"IIMb@Mb@Mb@i/$MbP9,Y̼y A9AI6Im3: 9=@;Q >y GY >5?5 iA9>H=H=a]>H=a]lk@a]ч@)iiiIi)iIq yEF FF@ FBBN >UDAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s U,DAT read: user:2056> ]BDAT read: Tx time:20:06:55.0740 e$Ping request sent.e96?66*6;ɫ6zC<^JDAT read: TxSync time:20:06:55.0732 y~"B~"II Ib3%̎ %W=%];Q ->y)) -G)Y5 5>9E5=G?E5=c =hA9AYEM@y9)=:I=|:i=-i5YUBU@]gErrrra9a9a9a=vŇ@)IIIII)IIq qԩE?F FF ? F BB)N= > /V,)ZpX+AtyUBU~"IJKJRK9ZKbK\jK KxA KIMb@Mb@Mb@iV- rh9YCy@A rA9AI I  3 /=Q >y!! %G!Y% ->1=55?=55 19= ==Y}Y?y}$Aa Cr"V,BX+A٪F9>9F?FZ˺9F:YFH@?]`T?]?@?uU@kY76R]??F9>FT[;ɫDyrBv}"IttI~&I~3 ҽ  r= p:Q  ?y GY:< ?!-5%>?-5% !9)Y-i-@y!1)%>:I%+;i%l5Y9E<@Arararariaaaaڇ@)静I)I E>E>EM?FI FIFU? FQBiBN=aԑԹ V(V, X+A٪:'@>9:p?:җ:U;Y:HM?]c?? 9? p@1?`Js??:'@>:;ɫ:{CybBb{"IIj%Ij)3rؠ rM=r.˺Q r>ytt vGtYv< z>x5z?5zV x9Y@yzaJE)z;Izn;iznn5YL@ԙrrrra a a a @)!!!I!))I) 1jJErJEzJE>JAJE;:JE':JEt4JAM@M@M@U@EF FFFBBN >JK- KRK- u9ZK) bK- ]jK- %%"  "K5 >K5 ?HI HI HM "IHM `BHI HI HI IM < IM E9 .V,X+A٪Be>9B?B9B;YBH7?Ԫ Bo?`??@ŧu4 wz??Be>B,;ɫ@y^!B^"IIeMb@Mb@Mb@iaaaaaeQy&1|9euYe`yaae@a e@a9eAI<I3:<  9= z:Q >y!! -G)Y5,< =>IU5Mj?U5M I9U<]H=Y]]@yI)M;IM ;iMbp5Yae@arrrra<a<ae@a78@)靹I)I EIFI FIFIFIBYBiN}>Aqԡ v5V,X+A٪^h>9^?^cj9^̎^%;ɫ^yCynBn"Iz4y11 5G1Y=m< E>I]5M&?]5M I9aYeVe@yI)M2;IM ;iMr5Yim"@qrrrraaaa`d@)I)I qEm?Fi FiFqFqBBN=ԡjJU rJU zJU =JQ JU :JU ":JU g4JQ ;V,:X+A٪J +>9J~?Jr*JoLJ ;ɫJ|CyB{"II3Iʴ3M <=$Q %>y11 =G9YMEI< U>a5eն?5e a9Y@ya)ed;Iew;ies5YJK7LRKk9ZKbK^jK !-02331120,KvA KwAO@rrrra9a9a9a=@)IIIIQ)QIQ Y:H<2H<HHH"IH[BHHHI< IEE?F FF= FBBN(>! = BDAT read: Rx Time:20:06:57.4804 E TRx dataTimestamp_ set to:1756325220.144336;BV,^ Y+A,٪>#>9>9?>>`s3H]?!@r?"?N]?̄ ^]`?Kn? ~?>#>>B*;ɫ>yCyHJ|"II%Mb@Mb@Mb@i!!!!!%y&1|?9%Y%`;y!!%@! !!9%AI}=I}=3F; S=dQ >y GY < >5?5 9`;=Y @@y);Iq:iu5Y  E@ rqrqrqrqa`;a`;a?a @)   I ) I ԉE?F FF@ FBBN">Ա HV,%Y+AL٪n3>9nv?nonWBn';ɫlyvBvs"I||~=~=I#I%x3q P=Q >y!! %G!Y-< ->1=55?=55 199Y=| @=@y1)5I;I5#;i5Nw5YIM@IDAT read: 20:06:57.4804 LVL= 10768, 14465, 20466, 19283, AGC= 43, IDX= 432,-0.30,-0.137,-1.476,-2.047,-0.883, PHS= 0.835,-0.546,-1.167, RAW= 72.4, 9.9, CAL= 74.3, 15.3, ROT= 75.7, -15.3 %Ygot valid direction response: 20:06:57.4804 LVL= 10768, 14465, 20466, 19283, AGC= 43, IDX= 432,-0.30,-0.137,-1.476,-2.047,-0.883, PHS= 0.835,-0.546,-1.167, RAW= 72.4, 9.9, CAL= 74.3, 15.3, ROT= 75.7, -15.3 5PDAT read: Bearing 256.5, -25.5 (Local) 5~Local bearing/azimuth received: Bearing 256.5, -25.5 (Local) EDAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s rrrr,DAT read: user:2057> BDAT read: Tx time:20:06:58.5740 $Ping request sent.JJ:J\3:Jt4J-\direction in FSK: [0.238245,0.934671,0.263873]-:publishing transmit ping time-Fpublishing direction and range info9l9~?ږ?&K?y?*8 O)SKI+iU? B`??;0> ?)ܸ>I?iܸ]^=?uUJ#! ?)TI|K1i?ܸaYaYaYa]| @E:publishing transmit ping timeFpublishing direction and range info9l9~?ږ?&K?y )Ii )Ii]^=?uUJ#! ?)Ii)革I)I EEE}?Fy FyFFBBNB>JKe MRKe 89ZKa bKe _jKe ,+)()(#1Wf@4T.xpcXOGC>9544/)(%"%)(&!"Ku ?Ku ? JDAT read: TxSync time:20:06:58.5732 H H H H H H H I (< I EII"I*I2I:I?l4! OV,0?Y+A٪6q>96?66:W64;ɫ4yBBBv"II%Mb@Mb@Mb@i!!!!!% rh?~jt?9%Cy GY< >5?5h 9< =Y |? @y):I,:i*y5Y15@1rrrro)o-hv)Y+Ao-s?o-s?o-^ ?-uő)?I?% vQŎ?-l9~?ږ?&K?o-?o-ܸ-xE5)6]KC?-?-jdֿ p8?Z6?o-?o-Ao-E&?o-/o-B2p):p)Bp-B"p-/?*p-?aM<aM<aMEW?aM|?)yyyI)I IEE?FA FAFE? FABQBiNu7>qԩ xUV,rYY+A٪>>9>0?>>\fH ?@T>B???V \?`ʌ??>>>;ɫ>{CyNBNs"IITIT^ ^]=^3Q ^>y`` bG`Yf!< f>hn5j¶?r5j) h9pYr?r@yh)j:Ij:ijz5Ytv@xrrrra1a1a1a5"?)AAAIA)AII IyEF FF> FBBN=ԡjJ- rJ- zJ- =J) J- :J- #:J- g4J)  E#\V,rY+A٪N >9N!?N+7NBN;ɫNyCyZBZy"I)bR= be>IvIv[3< E=-Q ->y9A EGIYUe< ]>q5uٶ?5u uiA9Y?@yq)u;Iu';iu|5Ye@Ar r rrJKM2#ORKM-9aQaQZKIbKM`jKM aQaUC?*H"HAAHHHHHHHI*< IE)靱I)I EEEE?FA FAFE? FAaByBN=>ԉԹ I= R=I= = cV,Y+A٪:>9:Դ#?:A:&:t;ɫ8yFBFw"IIUMb@Mb@Mb@iQQQQQU~jt?y GY < >5Ŷ?5j kA9h1=96B%?68qB66;ɫ4ybBb"IIfIf[3nI= rU=rb Q r>ypt vGtYv< v>x5z?5z zmA9Y p? @yx)z*;Iz;iz5YB@^ErrrraYaYaYa]Bp?)靑I)I EM?FI FIFME FIBYBN>!I H H H "IH `BH H H I Ø< I fEJK qLRK 9ZK bK ajK ! 5 v|AM A} ο} v|A9} Aj)pV,Y+A٪:>9:YS&?:SC:c?p[?x?_@t???:>:n;ɫ:zCyFBF"IJ=J=I-Mb@Mb@Mb@i)))))-l?{Gz?9-=Y-#=y-)-@) ))9-A9=BAIEIEF3U< UB=U6Q U>yYY ]GYYeU!< e>iu5mᶳ?u5m` moA9u/_=usIAAIjJrJzJ<JJ:J*:J [4JJ<J<J߃;J߃;ԁԩ FvV,RY+A٪B+>9B)'?B>DB= B͎;ɫ@yNBN"IPIZ5IZ3f fU=fȸQ j>yhh jGhYnC< n>pv5r ?v5r rpA9tYvE?z@yrcJE)r:Ir):ir5Y|~@|rrrr!aAaAaAaEE?)QQQIQ)QIY aE?F FFC FB!B1N==BDAT read: Rx Time:20:07:00.9805 TRx dataTimestamp_ set to:1756325223.673244! p|V,-Y+A٪:K>9:P(?:D:i:M;ɫ:yCyvBv"I|I~+I~n3   F=}oQ %>y)1 5G9YM; M>a5e6?5e; eqA9Y?@ya)eHIHM"IHMeBHIHIHIIM< IMGEaaaa?JKJRKu9ZKbKbjK)I)I  1E?F FFF FBBNF>Yԁ 5 DAT read: 20:07:00.9805 LVL= 10128, 13297, 20514, 17315, AGC= 44, IDX= 432, 0.17, 2.168, 0.798, 0.133, 1.393, PHS= 0.864,-0.548,-1.263, RAW= 70.7, 10.1, CAL= 71.9, 15.8, ROT= 78.1, -15.8 E Ygot valid direction response: 20:07:00.9805 LVL= 10128, 13297, 20514, 17315, AGC= 44, IDX= 432, 0.17, 2.168, 0.798, 0.133, 1.393, PHS= 0.864,-0.548,-1.263, RAW= 70.7, 10.1, CAL= 71.9, 15.8, ROT= 78.1, -15.8 M PDAT read: Bearing 259.1, -26.1 (Local) M ~Local bearing/azimuth received: Bearing 259.1, -26.1 (Local) e DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s e ,DAT read: user:2058> m BDAT read: Tx time:20:07:02.0740 m $Ping request sent.m e?hD!? ^ m?y f?  ' 3  "P) CI ,i /]? I   ? J4>  K?) 0>I !z?i 0   Th93?Ac翣ȠP?) 7\I ?4i !z? 0   :publishing transmit ping timei  Fpublishing direction and range info 9 > e?hD!? ^ m?y     ) I i      ) I i    Th93?Ac翣ȠP?) I i    jJ rJ zJ J J ;:J >:J J J <J <J ɕ;J ɕ;XV, Z+A٪N>9N@(?NBNO'Nw;ɫNxCyn"Bn"I)r> rR=YI=Mb@Mb@Mb@i99999= rh?~jt?MbP?9=C =Y==y=:=A99 =A99=AI]1I]3թ< -=%9Q %>y!! %G)Y-]; M>Q]5UZ?]5U  UsA9eP=e Z+Ao5.?o5.?o5@5Ta+?ڢۘ?+s3?5> e?hD!? ^ m?o5!z?o505y:t-翄@?K^$?5ڿ$w?\. ?o5?o5?o5x@)x?o53/o52B2p5'?:p5~Bp1"p5?*p5X?ԉaP=aP=aEW?a ?)I)I EEeJDAT read: TxSync time:20:07:02.0732 E?F FFO FBBNc>Ա уV,'Z+A٪6B>96 )?6jE6g6.;ɫ6yCy^!Bb"IIn%In)3z zu=z+Q ~?y GY ;  ?%5s?%5)  tA9)Y-%?-@ydJE)b6;Ik4;i숏5YAE@IrrrraQaQaQaU%?)iiiI)I E-?F) F)F-N F)B9BIN]>H1 H1 H5 "IH5 jBH1 H1 H1 I5 < I5 EJK] :IRK] 9ZKY bK] cjK]  *$ 9 mV,AZ+A٪j>9jP)?j-djJ`?jݎ;ɫhyr%Br"IIMb@Mb@Mb@iQ?:v?9y GYf#; >u5?5  uA9"=JJ:J^:Jt4JJI<JJ<Jg;Jg;EF FFK FBBN k>iԙ V,[Z+A٪>I>9>7)?>m>jHA?~e?@?@1̾?@Z?@K?>I>>9͏;ɫy GY >!55%?55%U  %vA91Y=?=@y!)%9;I%.;i%u5YAE'@Arararariaaaa ?)靡I)I qEF FFG FB)BANM=ԡ V,SzuZ+A٪67C>96 )?6n6S16_;ɫ4yN,BR"IIVIV[3^9< bO=bQ b>ydd fGhYn r>x5z) JCJKf4JK.jJ rJ zJ <J J ;:J z:J [4J J <J <J l;J l;YV,NZ+A٪Rv>9R$(?R`RR ;ɫR{CyZ+BZ"IIEMb@Mb@Mb@iAAAAAEI +?{Gz?MbP?9E9y GYh > 5 ?5   xA95#<5 =Y5?=@y ) S;I ;i 5YAE@Arrrra#<a#<an>a?)I)I YE?F FFH FBBN&>ԁԩ өV,+5Z+A<٪^>9^Hj&?^JR^߬^;ɫ^zCyn0Bn"I)r8> ry!! %G!Y- ->1=55?=55x  5yA9AYE?M@y1)5;I54;i5Ñ5YQ]@Yryryryryaaaa˽?)革I)I EQԩEF FFK FBB N >HHHHHt =HHI< I,E JK 9N$?NQNCN=;ɫN{Cyn2Bn"IlIeMb@Mb@Mb@iaaaaae~jt?{Gzt9eDy GYw >5v?5o  9T<~=Y>@y)o:I:i5Y@rrrraT<aT<am@a>))11I1)1I Em?Fi FiFmM FiByBN>BDAT read: Rx Time:20:07:04.4804 TRx dataTimestamp_ set to:1756325227.2043169a V,hZ+A٪:G>9:B"?:X:Ƌ: ;ɫ:|Cy^/B^"IIf+Ifn3nG{ nV=r돺Q r>ypp rGpYv^ v>x9e5z޹?e5zg  x9iYm v>m@yx)z )I)I EQFY FYF]O FaBBN>qԑDAT read: 20:07:04.4804 LVL= 9616, 13105, 20018, 18659, AGC= 44, IDX= 432,-0.18,-0.678,-2.005,-2.620,-1.450, PHS= 0.861,-0.507,-1.173, RAW= 71.3, 9.2, CAL= 73.0, 13.8, ROT= 77.0, -13.8  Ygot valid direction response: 20:07:04.4804 LVL= 9616, 13105, 20018, 18659, AGC= 44, IDX= 432,-0.18,-0.678,-2.005,-2.620,-1.450, PHS= 0.861,-0.507,-1.173, RAW= 71.3, 9.2, CAL= 73.0, 13.8, ROT= 77.0, -13.8 PDAT read: Bearing 258.0, -24.0 (Local) ~Local bearing/azimuth received: Bearing 258.0, -24.0 (Local) %DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s 5,DAT read: user:2059> =BDAT read: Tx time:20:07:05.5740 =$Ping request sent.= e?)Ϣv>I?iϢvHӣ? Diľ翬lŤP_?)YI#i?Ϣve:publishing transmit ping time9eFpublishing direction and range info9*k?WܡG?iC?y )Ii )IiHӣ? Diľ翬lŤP_?)IijJrJzJ=JJ:J&:Jg4J@@@@ V,Z+A٪:>9:"Z ?:La:g:^;ɫ:zCyN0BN"IPPIVIVF3; H= Q  >y   GY =>IU5MP?u5M^  I9yY}=m>}@yI)M;IM;iM5Y@ԙr9rArArI:H<2H<H>HH"IHtBHHHIҘ< I{EUJDAT read: TxSync time:20:07:05.5732 {AoM˿M{A9MhAoHZ+Aos?os?o~?n:?w-???*k?WܡG?iC?o?oϢv=DWl3?_?H'ؿ$kCk?CAs?o=?ob#o~?ooB2pE&?:pBp"pG?*p?JKMRKu9ZKbKfjK 3vd;{dVH=740+)'$aaaa=m>)I)I! !E1E1E?F FFFBBNm> I C=I %=V,[+A٪:>9: G?:k::2;ɫ:wCy^.Bb"IIMb@Mb@Mb@i{Gzt?:v9ף;YԼy@rA A9GAI#I%x3 @=(Q >y GY. >5?5  9<!Qy 2%V,m*[+Ay-2B5"II=I=T3M< UP=UQ U>yYY ]GYY] ]>am5e?m5e  exA9qYqu@ya)e;Ie;ie5Yy}@r!r!r!r)IaIaIaIaI)YaaIa)aIi ijJrJzJ>JJ:J :Jt4JE?F FFP FBBN>qHHԩH"IHyBHHHIŘ< IgEJK zNRK 9ZK bK gjK    ,/2-*&$  V,MD[+A٪6P>96?6}6\6;ɫ6zCyR;BV"I\i^AIMb@Mb@Mb@iMbP?V-9:YyA A9<II2!= E=Z Q >y GYH >59?5  9<II 9 1V,-^[+A٪>D>9>a?>'>Hq?@rZ?`[??@? ?>D>>;ɫ>yCy^:B\If*If3%  %T=%! Q %>y)) -G)Y-O߼ 5>1=55Ƽ?E55A  5wA9AYErE@y1)5:I5|:i55YIU@Qryryryryaaaa嵪@)革I)I EIFI FQFQFQBaBqN}=9jJrJzJJJJ@0:JJa e[V,x[+A٪6q>96!?6B6Ķ6H;ɫ4@yF=BF"IININT3rLb< rN=r :Q v>ytt vGtYzյ z>|5~T?5~  |9Y u @y|)~:I~:i~ٟ5Y@r1r1r1r1aYaYaYa]dm@)I ) *H!"H%@AH9H9H="IH=BH9H9H9I=Ϙ< I=wEI ԱE-?F) F)F-P F1BABQNm>JK%q]MRK%k9ZK!bK%hjK%   K-wA K-zA BV,ߑ[+ApyBB"I!!IMb@Mb@Mb@i~jthL7A`堿9DY+y+ArA 9AIIF3,< <=Q >y GY >5潳?u5  vA9u=}9a mV,[+A٪Fֱ>9F?FMF~F/;ɫDyTTI^*I^3~ ~Y=~M~;Q >y GY n  >%5a?%5!  9!Y%7-@y)\:I9:ie5Y15@19rYrYrYrYayayaya}@)靉I)I BDAT read: Rx Time:20:07:07.9805 TRx dataTimestamp_ set to:1756325230.743238jJrJzJ<JJl:J!:J [4JEF FFP FB)BAN}=aH5>H1H5#IH5BH1H1H1I5ܘ< I5EII"I*I2I:Ilj'4} =} 4= JK} gLRK} 9ZKy bK} ijK}  ! ^YV,[+A٪bp>9bǡ?b†bihb ;ɫ`yu>Bu"IԑIMb@Mb@Mb@i~jth:vMbP9YԼy@ A9pAI-&I-3= E*=mX:Q m>yii uGqYu u>5ؾ?5n  tA9< -BDAT read: Tx time:20:07:09.0741 5$Ping request sent.5 K?)}>I!z?i}`/?X迯J^?)2]I&i!z?}]:publishing transmit ping time1]Fpublishing direction and range info9G7r?Me[?/;f?y )Ii )Ii`/?X迯J^?)Ii)I)I E?F FFFBBN>Iq 7V,q[+AJDAT read: TxSync time:20:07:09.0733 y~FB~"I ; p;I #I %x3-C= -t=-Q -?y11 5G1Y} }?5*?5  sA9Y@y):I:i5Y@@rrrroo[+Ao.?o.?oA?՚T;?Lw,?y(?G7r?Me[?/;f?o!z?o}wR~%{?Kn?+^iʔտЩz?f?o;?oo4I?oo6B2p:pBp2B"pR?*p?Qaiaiaiai)靡I)I E?F FFV FBBN%>ԁԱ V,^K[+A٪>9y>9>?>Rz>KRH'?,>Ny?\'?gm I?iH?^?>9y>>xT;ɫ>xCyb=Bb"IIjIjT3v: vO=v.B;Q v>yxx zGxYz+ ~>5? 5  rA9 Y Y @y)IW:i5Y@r:H<2H<H>HHHHHHI< IErrraAaAaAaEz@Թ)I ) Iy Ee?Fa FaFe] FaJKm*MRKm9ZKibKmjjKm  $>awvjaXOH=61*'"5`< dF - @ G H EJOaP` O#BBN>>) jJ rJ zJ @J J :J z:J J4J J < J < J  J l; W,%\+A٪Re>9R?R!tR;߻YRH(?@I ?)?'ay?{?Re>Rˍ;ɫRyCy^FB^"IIMMb@Mb@Mb@iIIIIIM~jtx~jtMbP9MĻYMyIIMt@I MAI9MAI]"I]q3m += mB=u$[:Q u>yqq GY- >5?5 qA9n<&=YШ@y):I:i5Y!-D@1rqrqrran<an<a"@a۞@)I)I E%>E!QEF FFZ FBBN&>yԩ k W,-\+A@٪B>9B?BkgB|YBH`"?uϔ?#?l5?`s?B>B;ɫB{CyNBBN"IPPTVa=IVIV[3b bV=bp ;Q b>ydd fGdYja{; j>lr5n޿?r5nI l9pYrr@yl)n;In8;in/5Yxz}@xrrrra9a9a9a=@)IIQIQ)QIQ YE?F FFT FBBN=ԩH>HCHHHu =HHDIĘ< I_Eq% "ѿ) 95 A JK PRK ZK bK kjK |rmha[RMGB;642,&""#!  "K ?K >W,CF\+A٪6}>96/?6LP6Y6H?Z`,??'uc ?^R?6}>6;ɫ6zCyN=BN"IlIMb@Mb@Mb@i~jty&1|9DY`y@A rA9AIIF3ü 9=Q;Q >y GY q;  >5?5n 9%c<%n=Y%Y%@y):I/:i 5Y)-@1rIrIrIrQac<ac<aj@a+c@)111I1)1I9 9EF FFP FBB)N5.>jJarJezJeDJaJaJe&:Je4JaJaJaJe\;Je\;9a W,`\+A٪>K>9>1?>E2>̠:Y>H? @z?0?`J|@H?`BT?@?>K>>B;ɫBb"IIf#If%x3rN; r]=rk;Q r>ytt vGtYv< z>x~5zm?5z zpA9Y@yx)z;Iz;iz5Y @r1r1r1r1yaaaa @) I ) I  EAEF FF[ FBBN>ԡ W,z\+A٪:ݳ>9:Y?::;Y:H?Br B?@?`?r?`?:ݳ>:;ɫ:wCyB9BB"I)F?> F=IR8IR3VҰ ZM=Z;Q Z>y\\ ^G\YbeN< b>`f5b7?j5b `9hYjj@y`)bw;Ibr;iby5Ypr@p*Ha"HaHm>HmCHm"IHmBHiHiHmDIm֘< Im~Er)r1r1r1aqaqaqau@)靁I)I 5>5=EF FF_ FBB N*>JK 0NRK89ZKbKljK:k) BDAT read: Rx Time:20:07:11.4806  TRx dataTimestamp_ set to:1756325234.272392I} R=I} =jJ rJ zJ <J J :J z:J [4J J <J <J l;J l; $W,u\+Ay 6B "IIMb@Mb@Mb@iMbMb`?9Y;yA @9AI#I%x3ki :=Q >y GY >5?5 9<M=Y,@yhJE):I:ic5YD@rrrr!a=<a=<a=lA@a=xe@)IQQIQ)QIY YE F  F F F B!B9N]>I +W,Q\+A٪V8h>9Vx?V/V}9Vc;ɫVzCyb0Bb"IIdIdr; rY=v tytt zGxYzn = z>|5~8?5~ |9 Y + @y|)~:I~4:i~5Y@r9r9r9r9DAT read: 20:07:11.4806 LVL= 11120, 14177, 20626, 17731, AGC= 43, IDX= 432, 0.01,-1.360,-2.740, 2.953,-2.135, PHS= 0.862,-0.558,-1.198, RAW= 72.3, 9.8, CAL= 74.3, 15.1, ROT= 75.7, -15.1 Ygot valid direction response: 20:07:11.4806 LVL= 11120, 14177, 20626, 17731, AGC= 43, IDX= 432, 0.01,-1.360,-2.740, 2.953,-2.135, PHS= 0.862,-0.558,-1.198, RAW= 72.3, 9.8, CAL= 74.3, 15.1, ROT= 75.7, -15.1 PDAT read: Bearing 256.6, -25.3 (Local) ~Local bearing/azimuth received: Bearing 256.6, -25.3 (Local)  DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s  ,DAT read: user:2061> aQaQaQaUf@)iiuBDAT read: Tx time:20:07:12.5741 }$Ping request sent.} ݝ?)ݝV>Iݝ?iݝVݙݙޝR<;?YPOk TI?)ޝQTIޝ/iޝ?ޝVޙޙ:publishing transmit ping timeq Fpublishing direction and range infoۙ9۝9uI6?$| ?QfJ0?yۙۙۙۙ ܙ)ܙIܙiܙܙܙܙܙ ݙ)ݙIݙiݙݙݙޝR<;?YPOk TI?)ޙIޙiޙޙޙޙIEF FFFBBN>yH]>HYH]"IH]yBH]t =HYHYI]͘< I]uEԩ D1W,%\+ADJKJMRKJ9ZKHbKJmjKJ!($ <6~rdVLEA<:9510/+*(%%&"" +Il٪nq%>9n?nS登np>ng;ɫnyCy=%B="IAAI]Mb@Mb@Mb@iYYYYY]{GzMbp?9]ףY];yYYY]A YY9]AIIm?35 2=Q >y GY:< >5z?5 9 < "=Y / @y):I&;i5YP@r1r9r9r9oo󐡱\+Aooo?gywS?–???9uI6?$| ?QfJ0?o?oV}蜢k⿕[s?`Wl9?"JkԿ?];_p?o?o]o(?o8oB2p:p8BpB"p?*p?a<a<am<@a,b@)ԩ靱I)I jJUrJQzJU=JQJU;:JQJUg4JQJU<JU<JQJQEyFy FF\ FBBND> S#8W,"\+A٪:+>9:?:[:ͣ:9;ɫ:zCyZ$BZ"IdI`I`n. ni=rQQ r?ypt vGtYv"< z?x~5z𼳊?5z x9Y/@yx)zk:IzA:iz5Yj@r9r9r9r9aYaYaYa]]^b@)iqqIq)qIy yEyFy FyF] FBBN=!Q iG>W,\+A٪:>9:7E?:T:!~:ِ;ɫ:yCyJ#BHIRIR<2Z ZN=Z\HQ ^>y\` bG`Ybɧ; b>dj5fN?j5f d9lYn/n@yd)f;If;ifL5Yprm@t:H|2H~<H H H "IH oBH s =H H I < I EII"I*I2I:I&!59r9r9r9r9aYaYaYa]b@)iiqIq)qIq yE>E!>EF FF_ FBQBN>iJKu+ORKu9ZKqbKunjKurfZRK@860)#    ԑ i jJ= rJ= zJ= ?J9 J= :J= :J= ـ4J9 J= I<J= J<J= w;J= w;.EW,]+A٪6>96N?666Z;ɫ6{CyRBRx"I)V= VC>TiVAԙIMb@Mb@Mb@i~jt~jt?9ļYDy GYI; >5Q?5 9< hWKW,ő/]+Aɩ٪:,B>9:r?:<:%: ;ɫ:yCyDFw"IIN.IN3V_  V_=ZQ Z>yXX ZGXY^v; b>dj5f?j5f( d9lYnX@n@yd)fa;If] ;ifӽ5Ypr:@tr r r r a)a)a)a-IQ@)靹I)I EU?FQ FQFQFQBiByN=!HHH"IHeBHHHI< IEQ5 #?5 4=y ?RW,nI]+AJK.DMRK.9ZK,bK.ojK.  ٪J|>9J'?J'J\Jk;ɫJxCyrBvp"II%Mb@Mb@Mb@i!!!!!%{Gz?9%̼Y%#y GY; >5x?5: 9<ԁԱ = BDAT read: Rx Time:20:07:14.9805 E TRx dataTimestamp_ set to:1756325237.548325kXW, Rc]+A٪B>9BU?Bz#BBRm;ɫByCyNBNt"IR=R=IV+IVn3^< ^l=^S[Q b?y`` bG`Yf < f?h%5j?%5jH h9)Y-:-@yh)j9Jt4Jx4JW\0jJ5rJ5zJ5>J1J5;:J5:J5t4J1E@E@E@E@ 9 ޓ^W,$}]+A$&C*HP"HRAAHTHTHV"IHV[BHVt =HTHTIV< IVMEhvv|A5Ͽ5v|A95A٪SU>9?6ȉѐ;ɫzCy Bk"II)IW3 9=F/Q >y GY%; %>)-5-?55-Z )9QYU:U@y))-T;I-;i-PÏ5Yae@arrrraaaaW@) I)Ia aEqEqAJKKRKk9ZKbKpjK &Dm}qgE?F FF^ FB)B9NMs>i  DAT read: 20:07:14.9805 LVL= 10080, 14241, 20434, 17715, AGC= 43, IDX= 432,-0.41,-2.754, 2.131, 1.568, 2.757, PHS= 0.860,-0.579,-1.192, RAW= 73.1, 10.0, CAL= 75.3, 15.5, ROT= 74.7, -15.5  Ygot valid direction response: 20:07:14.9805 LVL= 10080, 14241, 20434, 17715, AGC= 43, IDX= 432,-0.41,-2.754, 2.131, 1.568, 2.757, PHS= 0.860,-0.579,-1.192, RAW= 73.1, 10.0, CAL= 75.3, 15.5, ROT= 74.7, -15.5  PDAT read: Bearing 255.5, -25.6 (Local)  ~Local bearing/azimuth received: Bearing 255.5, -25.6 (Local)  DAT read: Range 10 to 50 : 1.7 m (Round-trip 2.3 ms) speed 0.0 m/s  ,DAT read: user:2062>  BDAT read: Tx time:20:07:16.0731  $Ping request sent. ݥ 8?)ݥ c>Iݥ ?iݥ cݡ }eW,p]+A N q? @?)QI2i?c2:publishing transmit ping timeA2Fpublishing direction and range info92}F?M QF?֚n?y )Ii )IiN q? @?)IiyBn"II%Mb@Mb@Mb@i!!!!!%Mb~jt?9%Y%Dy GY >5򶳊?5X 9ף<%=YF@@y)/>;I<;iPŏ5Y@r)r)r)r)ooUm]+Aos?os?o?o`?|o%?<2?2}F?M QF?֚n?o?oc僛k῔3bl?R⮙8?сӚԿ;Hec?$H?o`?o_ oC?oo2oB2pC?:pBp"p$?*p?aף<aף<a@axF@)靹I)I E}?Fy FyF}_ FBBNi> kW,ڰ]+A٪: >9:y?:r{:<;Y:H!?wBCv?"? `n?yg?@?: >:Ȑ;ɫ:yC\yj Bjj"I)j= jG@@y ) ;I ;i Ə5Y!-@)rQrQrQrQaaaa>G@)靑I)I jJrJzJ=JJ:J':Jg4JE?F FF` FB!B9NE=HHH"IHUBHHHI< IEI rW,]+A٪:+s>9:"?:':];Y:H@&?@@??牿 }?Pk??:+s>:;ɫ8JK^ƖMRK^9ZK\bK^qjK^aXQKEG~r^M>3,$  ,20(# zT   yf Bfl"IIMb@Mb@Mb@iMb`{Gz?MbP9Y#y GY*; >5&?5C oA9'<=Y@@y);I ;iȏ5Y@rrr!r!a='<a='<a=T?a=I@)IQQIQ)QIY YE ?F  F F b F BB1INU>qԡ TxW,B]+A٪6>96?6^6!;Y6H?U2`C? 9?"ˑ? z??6>6?;ɫ4yBBBn"IIJ-IJ3R.< R_=RTQ V>yTT VGTYZ<< Z>dj5f뵳?n5f1 fnA9lYn@n@yd)fT;If;if.ʏ5Ytv@xr rrra)a)a)a-0@)AAAIA)AII IyEF FF^ FBBN=ԡjJrJzJJJ:JdP:JJ ~W,'k]+A:H 2H"<H$H$H$H$H&s =H$H$I&< I&E٪b>9bl?bYbHbT;ɫbxCyn,Bn"IppIv%Iv)3~ > ~E=;Q >y  G Y K<  >5?%5 mA9!Y%@%@y)!;I ;iˏ5Y)-@1rIrQrQrQaqaqaqau@)靉I)I >?7?EF FF _ F B)B9NE= JKNRK9ZKbKrjK1I %=I a Y˅W,M^+A٪JZW>9J ?J@YJHJF;ɫJzCyV-BZ"IImMb@Mb@Mb@iiiiiimMb`?~jtx?~jth?9m;Ym;ymD;iimrA ii9mAII(*3; A=v;Q >y GY; >5?5  pA9`;=Y?@y)94;I_3;i͏5Y@rrrra `;a `;a ?a W?)!!!I!)!I) )1EAEF FFFBB N>YBDAT read: Rx Time:20:07:17.9677 TRx dataTimestamp_ set to:1756325240.572401ԑԹ W,"2^+Ay4B"IAiAI5'I5@3~< J=Q >y GY >jJrJzJ?JJ:JU:Jـ4J5?5 sA9Y@y);IX;iϏ5Yg@r)r)r)r)aIaIaIaI)YaaIa)aIa iԙE F  F F ^ F BB1N=>HAHAHE"IHE[BHEt =HAHAIE< IEEII"I*I2I:ILM4DAT read: OK :unknown deviceResponse_: OK  ,DAT read: user:2063>  ޒW, L^+A٪6">96z!?6#@6W6r;ɫ4yN;BN"IJKJRKk9ZKbKsjK  E  N8IuMb@Mb@Mb@iqqqqquI +?Mb`?Mb`?9u9y GY< >5?5 uA9<=YW8?@yjJE):Ib:i_я5Y@rrrra <a <a ԫ=a W8?)!!I!)!I! )E?F FF` FBBN=MBDAT read: Tx time:20:07:19.0732 M$Ping request sent.M9:G"?: :C:;ɫ8@y^ytt vGtYz; z>|5~?5~ ~vA9Y8? @y|)~G:I~:i~ӏ5Y@rrrraIaIaIaM8?)靁I)I ԱEm?Fi FiFiFiByBN> *H9 "H= ?AHE >HA HE "IHE eBHA HA HA IE \< IE KE0W,1^+A٪R{>9R"?RMRR;ɫR{CybABb"IIfIf<2lr< rJ=vgQ v>ytt vGtYz˻; z>|5~-?5~ ~xA9Y m9? @y|)~:I~:i~ԏ5Y@r9r9r9r9aYaYaYa] m9?)iqqIq)qIy yE)F) F)F-a F1BYBN=1JKuNRKu9ZKqbKutjKub)jZK<1($!    (Qp~ywa ia i jJ rJ zJ J J J @0:J J J <% J <% J ?;% J ?;- W,^+A٪>5o>9> "?>>SZH?eM0o???Ӏ?@ ?s?>5o>>֭;ɫy GYd >5 ? 5V yA9 < ԙ BW,l^+A٪6f>96\"?6:6P6;ɫ6yCyFJBF"IIN+INn3Vȫ< V<Z4M;Q Z>yXX ZGXY^_"; ^>`f5b?f5b, bzA9hYj6"?j@y`)bS:IbK:ibK؏5Ylr@prrrrԙaaaaW6"?)  I ) I  EF FF` FBBN>i}AAտ}AHHH"IHjBHHHI< IE9A?J?! )W,pD^+A٪::%>9:{"?:Zƻ:e:\;ɫ:zCybIBb"IIMMb@Mb@Mb@iIIIIIMy&1?{Gzt9M`y GY%: %>)55-?55- )95<==@y))-;I-;i-Bڏ5YAE@Ararararaa<a<aAh@a5>)静I)I E ?F FFg FB)B9NE>jJrJzJJJ:J":JJJ <J <J4{;J4{;!Qy  BDAT read: Rx Time:20:07:20.9678  TRx dataTimestamp_ set to:1756325243.600334SW,^+A٪F6>9Fw"?FFqހF\;ɫDy)i-A54<5<I=I=[3Uϯ:Q U>yYY ]GYYeP; e>q}5u?5u  q9YJ>@yukJE)u?;IuzD;iuۏ5YrrrrQaaaa-J>)静I)I E)F) F)F-d F)B9BQN]>ԁԩ:H 2H 4<H >H H "IH tBH s =H H I < I E ;W,_+A٪U>9UP9#?U@UItUn;ɫQyMB"IIIT3y< <BQ >y GY?R; >5r?5  9 Y > @y):I:iݏ5Y!%@)ririrqrDAT read: 20:07:20.9678 LVL= 11408, 13969, 20754, 17251, AGC= 44, IDX= 445,-0.22,-2.039, 3.002, 2.390,-2.752, PHS= 0.801,-0.481,-1.143, RAW= 70.4, 9.7, CAL= 71.7, 14.8, ROT= 78.3, -14.8 Ygot valid direction response: 20:07:20.9678 LVL= 11408, 13969, 20754, 17251, AGC= 44, IDX= 445,-0.22,-2.039, 3.002, 2.390,-2.752, PHS= 0.801,-0.481,-1.143, RAW= 70.4, 9.7, CAL= 71.7, 14.8, ROT= 78.3, -14.8 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:2064> BDAT read: Tx time:20:07:22.0732 $Ping request sent. ݵ-?)ݵ A>Iݵ?iݵ Aݱ޵au?;D迈2s?)޵cw]I޵Yh,i޵?޵ A-:publishing transmit ping time۱9۵s/Ay?}z OK?l39Y?۱۱۱ ܱ)ܱIܱiܱܱܱܱܱ ݱ)ݱIݱiݱݱ޵au?;D迈2s?)ޱIޱiޱޱaQaQaQaU>)aiiIi)I EEIFQ FUFUi FQB1BN^>JKeNRK9ZKbKvjK   7O\`aaWLE@<70,)KxA KyAI I R=I 4=jJ rJ zJ <J J :J !:J [4J J |<J |<J iy;J jy;|hW,_+A yTB"IIMb@Mb@Mb@i?~jth9y GY > 5 1?5   9D<=Y?@y ) G ;I P;i ߏ5Y!%j@!rrrraD<aD<a~=@a;?)999IA)AIAI iE?F FFo FBB)N5.>qԡ W,p4_+A٪:9>9:D%?:O:U{@:;ɫ:yCyFQBF"IHHLN=IR#IR%x3Ze Za=Z<Q Z>y\\ bG`Yb< b>dj5fܼ?j5f  f{A9hYnt?n@yd)fH!;Ifd*;if5Ytv@trrrraaaat?)I)I E?F FFn FԱBBN>HHH"IHyBHHHI< IE wW,N_+A٪:->9:&?:Z5:)2:;ɫ:zCyFTBF"IlIMb@Mb@Mb@iMb?~jtx9yQQ UGQY< >5w?5r  9<B=YP>@y):I:i 5JKMRK9ZKbKwjK&#   $M|=6 "KK?Y  g@ rIrIrIrIa<a<aΔ@aP>)靹I)I  EM?FI FIFMo FIByjJrJzJJJ:J#:JJJ<J<J|;J|;BN!>9a W,jh_+A٪FǮ>9F(?FQ&LFSZFC;ɫFyCyVUBV"IIbIbM3j]; jR=nfQ n>ypp rGtYv< v>|5~? 5~e  |9 Y ә> @y|)~3;I~b;i~5Y!%T@!9rYrYraraaaaaә>)靡I)I EIFQ FQFUj FQBaBN=aԑ *Hy "H} @AH H H "IH ~BH t =H H I < I EIAIA"IA*IA2IA:IEp4W,I_+A٪6>96_+*?6V6n6%;ɫ6zCyBWBB"I)F= F>IJ2IJ?3%< %E=%ϺQ %>y)) -G)Y-[< 5>9E5=?E5=W  99AYE>E@y9)=:I=:i={5YQU4@Qrqrqrqrqԙaaaa>)靱I)I ص>ص%=E5?F1 F1F5i F1BABQN]=JKmH@NRKm9ZKibKmxjKm.\wuj]MC8/$  I C=I R= W,_+A٪V>9V$Z+?V3YdVȱtV/;ɫV{CyfMBf"IIMb@Mb@Mb@iMbp?~jth9;YDyArA 9AI *I 33 ;=%Q %>y!) -G)Y--< ->1=55?E55V EtI 19Eף;E$>YE`<E@y5lJE)5;I5;i5b5YIU@Qryryryryaף;aף;aKx@aQ`<))))I)))I1 1E?F FFl FBBN&>!BDAT read: Rx Time:20:07:23.9679 TRx dataTimestamp_ set to:1756325246.632399Iy $W,_+A٪:n^>9:,?:j+q:5}:6;ɫ:yCyRRBR"IIV1IV3^< bd=fQ f>ydd jGhYjU]< j>lr5nᾳ?r5nV  l9tYv9<v@yl)nZ:In:in5Yxz@xrrrra1a1a1a5Q9<jJrJzJBJJ:J:J-4J@@@@)QI)I QE?F FFj FBBN=H)H)H)H)H)H)H)I-< I-Eԁԩ DAT read: 20:07:23.9679 LVL= 11328, 13729, 20210, 18275, AGC= 44, IDX= 445, 0.19,-0.006,-1.378,-2.022,-0.800, PHS= 0.882,-0.531,-1.225, RAW= 71.1, 9.4, CAL= 72.7, 14.3, ROT= 77.3, -14.3  Ygot valid direction response: 20:07:23.9679 LVL= 11328, 13729, 20210, 18275, AGC= 44, IDX= 445, 0.19,-0.006,-1.378,-2.022,-0.800, PHS= 0.882,-0.531,-1.225, RAW= 71.1, 9.4, CAL= 72.7, 14.3, ROT= 77.3, -14.3 % DAT read: OK % :unknown deviceResponse_: OK % Z#Rx 23: Read direction message, but no range.5 \direction in FSK: [0.213034,0.945308,0.246999]9c۵D?}B??⩝?@,5 N)cGIia?̜֞?'> i?)r>I?ir*$v9?L|+?)HZI(i?r W,m_+A٪>>9>`-?>>HQ?NM>>';ɫ>}CyJTBN"IPPIMb@Mb@Mb@i{GztMb`?9ףY;y A9AI;I&3; 6=Q >y!I MGIYM%< U>Qe5U?e5U[  Q9ev;e>Ye5e@JKmxMRKm9ZKibKmyjKmyQ)U;IU ;iU5Yj@ԩrrrrav;av;a0@a'\@)!11I1)1IA IEF FFm FBBN )> ) W,0_+AyEWBE"IIU#IU%x3e{< eW=mQ m>yii mGqYu u>y5}?5}_  y9Y@yy)}3;I}Z8;i}5Y0@rrrraaaa)I)I  E?F FFFBBN=9jJrJzJ?JJ:J;:Jـ4Ja 5 GM ^~Aa  ^~A9 )A:H <2H <H! 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Y,jg+A٪>n?9> XI?>s>^H? 4~??@?͕d?,?`?>n?>$;ɫ>{C`yffBf"IImMb@Mb@Mb@iiiiiim/$?~jt?Mb`?9m,=YmD=ym;mAm@i mAi9mAI"Iq37< ==Q >y GY< >5N?5  |A9=OH>HCH#IHBHt =HHDI!< IE 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I Z,Eh+A٪:?9:J?:*(: yX\ ^G\Yb(h< b>df5f)?j5f  fA9hYja?j@yf|JE)f:Ifl:ifq|5Ypr@p9rArArIrIaaaaa?)I),DAT read: user:2065> BDAT read: Tx time:20:07:58.2246 $Ping request sent.yԙI 4=I R=jJ% rJ% zJ% =J! J% :J% :J% g4J! - @- @- @5 @ JDAT read: TxSync time:20:07:58.2238  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257003 Z,=*2h+A٪:?9:K?:V1:yaa eGaYe< e>iu5m?}5mh  mA9}H=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502246 9 H H H H H u =H H I )< I EIAIA"IA*IA2IA:IEˁ4nZ,Lh+A"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754353٪^Х?9^,L?^_^yYY ]GYY]< e>am5eƺ?u5e  eA9yY}?}@ya)e[0;IeF1;ie5Y@rrrraaaa?)I)I EEE?F FF FBBN% >Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006307iԙ Z,eh+A٪:wt?9:]L?: f:yXX ^G\Y >!-5%?-5%c  %A9)Y-?-@y%}JE)%:I%:i%ʁ5Y9=@9rararariaaaaL?)静I)I yIIjJrJzJ>JJ,:J:Jt4JE?F! F!F% F)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260481BBNE>ԡJK MRK ZK bK jK "K >K ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510307 a0Z, h+A٪6%?96L?6ptm6y GY, >53?5  A9<*H!"H%AAH->H)H-#IH-BH-t =H)H)I- < I-E9E]?FY FYF] FYBiBN[>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769355i &Z,Fh+A,٪:G?9:J?:1@b: b>If#If%x3n} ng=r:Q r>ypp vGtYvF v?x~5z򹳊?~5z  zA9YZ?@yx)zr;Iz;izK5Y  t@r1r1r1r9aQaQaQaU'Z?)aiiIi)iIq qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022692E?F FF FBB N-=ԉԱIa=Ia=JcJk^n4JkS)0jJrJzJ@JJ:J&:JJ4J checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280940 B,Z,jh+A٪6?96zI?6CW6g^y GY. >5?5  9 <=Y-@@y):I:i'5Y@rrrra <a <a ?ar-@)I)I !EF FF FBJKBJRKZKbKjKKxA KBN= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526230uGB9A9a HE >HA HE #IHE BHA HA HA IE < IE E)3Z,NEh+A2BDAT read: Rx Time:20:08:00.6311 6TRx dataTimestamp_ set to:1756325283.2202376checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779241٪B]?9B GH?BrWB ytt vGtYz z>|5~k?5~  |9Y-@@y|)~;I~E:i~ӈ5Y@9rrrra a a a ϕ-@)9AAIA)AIA IEE ?F  F F  F BB1N= >iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030334 S9Z,h+A٪:?9:vF?:+W: y`` fGdYf f>hn5j(?n5j  h9pYr)-@r@yh)j;Ija;ij5Ytv@trrrr!aQaQaQaU,)-@)iiqIq)qԹI jJrJzJ>JJ:JU:Jt4Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286192EF FF FB1BQN>JKE RKE 9ZKA bKE jKE OJei_I0kYMGAEJOUYckptttf^WM"KM ?KM ?M DAT read: 20:08:00.6311 LVL= 10464, 8689, 11474, 12467, AGC= 46, IDX= 32, 0.35, 2.681, 1.295, 0.564, 1.834, PHS= 0.935,-0.492,-1.273, RAW= 69.6, 8.6, CAL= 70.8, 12.7, ROT= 79.2, -12.7 U Ygot valid direction response: 20:08:00.6311 LVL= 10464, 8689, 11474, 12467, AGC= 46, IDX= 32, 0.35, 2.681, 1.295, 0.564, 1.834, PHS= 0.935,-0.492,-1.273, RAW= 69.6, 8.6, CAL= 70.8, 12.7, ROT= 79.2, -12.7 ] DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s e R#Rx 1: Read range and direction messages.m \direction in FSK: [0.182797,0.958255,0.219846]m Fpublishing direction and range info! 9% .e?},?F#?y% f?! % (% ! % ,)% 0I% .i% )\o?% m% % |?% `> % 2+?)% b>I% ;?i% b! ! % Vީ)?E[b7&?)% >aI% i% ;?% b! ! ԉ 6<@Z,i+A٪R5\ ?9RED?R _R<B}"IQIMb@Mb@Mb@i{GzI +MbP9ףY94y A9AI!Ii3% -)=UrQ U>yYa eGaYŖ >5ำ?5  A9*<=Y@y)a;I;i5Y@rrrroQoUnh+AoU.?oU.?oUP @Uzg?O^s?8 i@a{"@HHH"IH~BHs =HHI< IE)I)I  ԁE?F FF FBBN k>ԩ bgFZ,i+A٪6 ?96A?6`6y GYҼ >5d?5  A92=JK%NRK%9ZK!bK%jK%A6/**,<GZ|gR{^NGCCGDA?A?=;6:BLQTVVSNi9i H H H "IH tBH t =H H I < I EjJ rJ zJ =J J :J f4:J g4J J I< J J< J Ԍ; J Ԍ; .?9>gxd>BH?at@Mp?@Is?`?֙2?@H?S?> .?>;ɫ>zCyn(Br"II- I-b3]꼼 ]R=]6Q e>yaa eGaYm) m>q5u?5u  uA9YW@yq)u;Iuf;iu5Y*@rrrraIaIaIaMy@)aaaIa)aIi iԑE F  F F  F B9BIN]> 9YZ,thi+Al٪e>9e15?eS1[e!#a?@???0~e?4?`?e>e {;ɫay"B"II/I3&ܼ B=ʸ:Q >y GYn >IU5M÷?U5M  M}A9YY]r]@yI)M:IM :iM5Yae@arrrraaaaJ@)I)I im=EF FF FBBN)>1JK] NRKY ZKY bK] jK] HFBA=6*()*,/67  i `Z,Ii+A٪bC>9b2?bDXMbab;ɫ`y~#B"I9IMb@Mb@Mb@i/$lMb`9,YyA@ A9AI#I%x3; K= ;Q >y GY >5}?5  zA9ie=ljJrJzJ<JJL:J:J [4JJ< <J= <J?r;J?r;ԑԹ yfZ,hi+A٪N>9Nk/?N?N NI;ɫN{CyVBV"IIb)IbW3ff j\=j,;Q j>yll nGpYr v>xz5z5?~5z  zxA9|Y~ݿ@yx)ze;Iz?;iz5Y  @ r)r)r)r)aIaIaIaM@ԙiA)I)I EF FF FBBN=! lZ, i+A٪r>9r3T-?r b+rwqrWȈ;ɫryCyz B~"IIMb@Mb@Mb@iˡEZd;OMb`9'Yj;Q >y GY¼ > am5e?u5eb  euA9u|=uW9aHm >Hi Hm "IHm [BHm s =Hi Hi Im < Im Eԑ jJ rJ zJ =J J :J (:J g4J J I<J J<J ;J ;sZ,i+A٪>S>9>*?>@>jCXH"? }P??"?@!a ן???>S>>;ɫy GY%Ӽ %>1]55?]55  5sA9YYeпe@y5JE)5;I5;i55Yim@irrrraaaaٔ@)IIIII)IIQ YyEF FF FBBN >ԡ yZ,1i+A٪>9j(?ӝ%E5;ɫzCyEBE"II}I}F3 A=d;Q >y GY >5Ҷ?5 pA9Yѿ@y);I!;iV5Y@rrr!r!aYaYaYa]_@II@A)靑I)I EiEiEF  F F  FBIBiN=>) u'> CJK LRK 9ZK bK jK &,0?G@6*  = GQ u A  9 ĈA׀Z,߉j+A٪b<>9b'?bjȻbj5b;ɫbyCyln"IIMb@Mb@Mb@i rh{GzMbP9C Y#y@ A9AI3Iʴ39 F=n;Q >y GY >5?57 oA9W=|jJrJzJ;JJ :Jq:J(N4JJo<Jp<Jk;Jk;yԩ eZ,(>9>p%?>s>#H ?K c? 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(59  -8Y @y):IZAiYC@r1Թr9rr)AAAIA)AII IE F  F F  F B!B1N=>jJErJEzJE<JAJE :JE&:JE [4JAJE<JE<JE\;JE\;9 a,+A٪:?9:3L?:OG˻:UTyXX ^G\Y^ < ^>`b٢?bg  `f59df 8Yj1 @j@y`)b::IbaAi`Ylrs@prrrr B*** querying acoustic contact ***o o )111I1)1I9 9EF FF FBBN= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Ii:H2H<H >H H "IH yBH H H I < I E} ,DAT read: user:2066>  BDAT read: Tx time:20:09:58.5760  $Ping request sent. ?؆??,yaa eGaYe>; m>JKqRKu9ZKqbKujKuԁi5ma?5mK  miA497Y] @yi)m:ImghAimP5Y,@rrrr)靑I)I EE>EYFa FaFe FaBqBN:>ԡJDAT read: TxSync time:20:09:58.5752 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252377 a,BxK+AjJ&rJ&zJ&@J$J&:J&:J&J4J$J&<J&<J&tp;J&up;٪J?9JsM?JJd yhh jGhYn; n>pr?r6  pv49tz7Yzx @yp)r{:IrmAipY|}@yrrrr)I)I  Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503161E?F FF FBBN >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756803Y 6a,t}e+A٪B?9BM?B"By9A EGAYM M>Qe5U?e5U QmT:9m<mHH"IH~BHHHI< IEII"I*Iu =2I:Ir84a<a<ac?a?)I)I =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007898E?F FF FBBN@>IJKRKZKbKjK%*# q a,`9+A,٪F?9FKmM?FCFy    G Y ` >5?%5 jA9!Y%?%@y):I :icT5Y)5@1rIrQrQrQaiaiaiam?)靁I)I EF FF FBB)N]=ԉjJerJezJe=JaJe:Je^:Jeg4Jam@m@m@m@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511144 #a, +A٪:#?9:L?:OU:y)) 5G1Y5ˣ 5>9E5==?E5=N =kA9IYM[?M@y=JE)=;I=e";i=,V5YY]@Yryrrraaaa[?)靱I)I EM?FQ FQFU FQBaByN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909*H1"H5?AH >H H #IH BH H H I L< I &EA e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014719"a,粆+A٪:]?9:GGK?:wU:8Ǯ?|B??:]?:=;ɫ:uCy^KBb"IfAifAIMb@Mb@Mb@i~jth?y&1|?9D;Y`;yEAt@A 9IIV83@< A=x8Q >y GY v >5"?5: 9;=Y?@y)R;Iw;iX5YP@r r r r a-;a-;a-\Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801q SG ^~A Ϳ ^~A9 IAԡ a,̆+A٪N_?9NII?N׺UNyiq uGqyY} >5 ?5' 9Y?@y);IJ;iY5Y @rrrr%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519281aaaa1?)I)I EEzAEF FFFԱBBN"> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770843 9a,B+AyuRBu"I)}!> }=He>HaHe #IHeBHaHaHaIe< IeEIMb@Mb@Mb@iy&1|I +9`Y94y+A@@ 9zAI"Iq32< 6=Q >y GY >5&?5N 9U<~=Y@y):I:i[5Y@rrrrjJ-rJ-zJ)J)J-;:J-:J)J)J-H)<=J-I)<=J- t;=J- t;=aUU<aUU<aU?@aUoӝ@)aiiIi)iIq y0><%BDAT read: Rx Time:20:10:00.9826 -TRx dataTimestamp_ set to:1756325403.772769-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024281E5?F9 F9F= F9BABYNe4>)JK= RK= 89ZK9 bK= jK= a,:x+AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276037٪>y ?9>cD?>S>LH@?6@}?g5??@˚Mv?kw? ?>y ?>0܇;ɫ>zCyllr=r=IzIzF3ά9Q >y!) -GQYewI e>Թ5eDAT read: 20:10:00.9826 LVL= 10096, 13393, 20066, 16483, AGC= 44, IDX= 432, 0.09,-2.296, 2.669, 1.984,-3.065, PHS= 0.857,-0.502,-1.237, RAW= 69.8, 9.6, CAL= 70.7, 14.8, ROT= 79.3, -14.8 mYgot valid direction response: 20:10:00.9826 LVL= 10096, 13393, 20066, 16483, AGC= 44, IDX= 432, 0.09,-2.296, 2.669, 1.984,-3.065, PHS= 0.857,-0.502,-1.237, RAW= 69.8, 9.6, CAL= 70.7, 14.8, ROT= 79.3, -14.8 uPDAT read: Bearing 260.4, -25.2 (Local) }~Local bearing/azimuth received: Bearing 260.4, -25.2 (Local) DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.179507,0.950013,0.255446]Fpublishing direction and range info195?1āf?l39Y?y115p'5Q4 5bN)5c@I5,i5Zd[?55V5I?5+> 5?)5 A>I5m(?i5 A115-?7`@迅}Rb?)5-w`I5X+i5m(?5 A11 9 Ga,eT+A٪> ?9>czA?>HL>4H 1I? z??F?`툉?` ?>;ɫ>xCyJLBJ"IPPIRIR?13^ ^<b:Q b>y`` fGdYf f>hn5jN?n5j h9pYrٰr@yh)j;Ij;ij^5YtvF@tr r rroaoen+Aoe-?oe-?oe @ei86]ӑ?VO '7?q~E?e?1āf?l39Y?oem(?oe Ae*Vl~#?NL ?el6ex?:k?oe?oenoe<:R?oeBoeLB2pa:peBpa"pe?*pe?aQaQaQaUٜ@)aaaIa)aIi iE ?F  F F  F BB1N= >A:H<2H<HU>HUCHQHQHUt =HQHQIU< IUEjJU rJU zJU <JQ JU :JU :JU [4JQ JU <JU <JU U;JU U;i qa,/4+A0٪:?9:>?:WA:|@y GYƼ >5?5 hA9'=Թ UXa,N+A٪:?9:*;?:2:u 95/5?5 545,܆;ɫ1yUGBU"IH>HCHHHHHI < IEIUMb@Mb@Mb@iQQQQQU{GzktMbP9UףYU 0yUQQUA QQ9UAmpy GY L >5p?5  dA9JB=iJK RK 9ZK bK jK  ԑ ja,+Ay9="IIMIM[3]z ]`=]Q e>yaa eGaYm m>qy}5uբ?5u4  ubA9Y@yq)u|j;Iuk;iuf5Y@rrrraaaa)y靁I)I E?F FFFBԩBN> a,+Ay=yaa mGiYi m>q}5uE?}5u  uaA9Y@yq)uY;Iu;iug5Y9@rrrraaaa)I)I E?F FF FBBN= *H"HAAHHH"IHBHu =HHI/< IEII"I*I2It =:I041Jg4Jg4JT/jJu rJu zJu >Jq Ju :Ju :Ju t4Jq Ju &<Ju &<Ju n;Ju n;% =% =ԩ a,K+A٪:͉>9:D.?::?:P;ɫ:yCyJ=BJ"II]Mb@Mb@Mb@iYYYYY]Zd;OJ +Mb`9]jY]Hy]]A]@Y ]AY9YimAAI} I}b3w; G=+y GY >5?5A  _A9]=tԙ a,Uχ+A٪>_%>9> ,?>y>I*H?il?@?O?e~[?o?H??>_%>>R;ɫ>wCy^9B^"IIdIdr rV=r!,;Q r>ytt vGtYvŽ z>x5z!?5z  z]A9Y@yx)z :Iz:izPk5Y l@r1r1r1r1aQaQaQaU`@)iiiIi)iIq qE?F FF FBBN=) ؉ i؉ Y a,^+AH >H H "IH ~BH t =H H I 4< I E٪]+>>9]s+?]RP] >]?;ɫ]zCyu5Bu"IiI]Mb@Mb@Mb@iYYYYY]I +Mb`9]9Y]LyYY]@Y ]rAY9]AI'I@3{ 0=:Q >y GYF >5?5o  ZA9_=rAq JK ORK 9ZK bK jK 1!   b,t+A0y=3BE"I]4yyy GY >5?5  XA9Y@yJE)!;I;in5Y҉G@!>9`Ar9r9r9r9aiaiaiai)y靁I)Iԉ E%?F! 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RK% 9ZK! bK% jK%  #-26:<>>?>=:520)&"  "K- >K- ? Ei,nm~+A٪JA?9Jyhh nGlYns n>pv5r/?v5r  rfA9xYzGz@yp)r>:Ir:ir^5Y|~@r1r9r9r9aaaaaaae>@)qqqIq)yIy E?F FF FB!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258883BANU=H>HH"IHBHHHI< IEICIC"I*Iv =2Iv =:Io4I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513140[%i,3o+A(٪jX?9jB9Q >y GY >5k?56  9<)i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763235ԩ +i,g&+A٪F½?9F ;?FM^8F#_yll nGlYr л r>tv5v?z5v}  veA9xYzz@yt)v:Iv ;ivMb5Y @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840rrrraaaa@))))I)))IQ QJK-TMRK-89ZK)bK-jK->fqn_^XPOLFCD?:5/*&! EF  F F  F BB)N= >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266761A H H H H H u =H H DI (< I E2i,ˤ+AJEGT`zx9~A٪]R?9]4<;?]k"]Oy GYCv >5٠?5  9YƬ@y) ;I ;i3d5Y9@rrrrjJ9rJ=zJ==J9J9J=::J=g4J9J=<MJ=<MJ=4;MJ=4;MaYaYaYa],ޝ@)qyyIy)yIy EF FF FB1IBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521326N&>qԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770818 9i,k+Ayn4Bn"IprAiI}Mb@Mb@Mb@iyyyyy}Mby GY >5ڠ?5  dA9J< =Yrȿ@y)[;IY;ie5Y@rrrraJ<aJ<ay@a6@)AIIII)IIQ QEE>ԙE?F FF FB)BANU1>BDAT read: Rx Time:20:12:01.0340 TRx dataTimestamp_ set to:1756325523.844262checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023735JK ѴMRK 9ZK bK jK %[zwkaQID=<8662.*&)&##"#&!"&:Tcg /?i,+A٪6܌?96:v;?6l6JEyAA EGAYM; M>Q]5U۠?]5UO  Q9YY]Vȿe@yQ)Uo;IUY;iUg5Yim@irrrraaaaG@)I)I 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277566E]?Fa FaFe FiBB NE>HHH"IH~BHHHDIC< IE1jJ]rJ]zJ]<JYJ]\:J] :J] [4JYJ]<J]<J]R;J]R;U DAT read: 20:12:01.0341 LVL= 10512, 14753, 20930, 16979, AGC= 44, IDX= 432, 0.11, 0.363,-0.954,-1.559,-0.386, PHS= 0.838,-0.521,-1.176, RAW= 71.4, 9.7, CAL= 73.0, 14.9, ROT= 77.0, -14.9 a  Ygot valid direction response: 20:12:01.0341 LVL= 10512, 14753, 20930, 16979, AGC= 44, IDX= 432, 0.11, 0.363,-0.954,-1.559,-0.386, PHS= 0.838,-0.521,-1.176, RAW= 71.4, 9.7, CAL= 73.0, 14.9, ROT= 77.0, -14.9  PDAT read: Bearing 257.9, -25.1 (Local) % ~Local bearing/azimuth received: Bearing 257.9, -25.1 (Local) Fi,s+A5DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s =R#Rx 1: Read range and direction messages.E\direction in FSK: [0.217387,0.941608,0.257133]EFpublishing direction and range info9X?Q!?Fht?y)9 Q)SBIi+V?B`+W?٪f?9f;?f@fE e?)%>)I?i%zG?hdba2?)QYI\-i?%IMMb@Mb@Mb@iIIIIIM{GzI +Mb`9MףYM94yMIII MAI9MAI!Ii3 &=:Q >y GY(; >5?5  bA9<=Y%%@y)O;I;ii5Y)-v@)riririrqoo=G+Aooo@^?vg?2v?X?Q!?Fht?o?o%$ 1.I?[?tݿ`}?u XG?o?oVoY?oǿo B2p\h?:pǿBp"p?*p#?a<a<ap>i@a(@)!!I!)!I! )YE?F FF FBBN%o>ԁIU R=IU %=Ա BLi,jl3+A٪:C?9:8-:H <2H <H H H "IH tBH H H I < I E )Si,CM+A٪JQ?9J?@Bo???@`dKu?R? 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F)B9BQN]>A xp,+A٪B >9B0p4?BYNBg)BϞ;ɫBuCyN)BR"IIV$IV<3b  f_=fm;Q f>yhh jGhYjr5< j>|5~? 5~T  |9 Y 4. @y|)~>:I~K:i~]5Yl@9rQryryryaaaaGI@)I)1Iq q*H"HAAH>HH"IHtBHw =HHI< IEE F  F F 2 F BB)N= >aԑJKe MRKe 9ZKa bKe jKe   ~p,z+A٪6>96V5?6;6#68;ɫ6wCyN&BR"IIbIbT3僼  F= -2;Q  >y GY < >5x?5q  9YN-@y KE) 2;I;i_5Y@rrrraaaae@)   I )I EyFy FF3 FBB1Ne>!I- R=I) jJ5 rJ5 zJ5 J1 J5 <:J5 /:J5 H5J1 y ꚅp,w+A ٪B>9B6?Bpc&B)BI;ɫBuCBPC1B failed to parse battery data due to unrecognized msg size.y#B"II-Mb@Mb@Mb@i)))))-MbMbp9-Y-y)-+A)) -A)9-GA9=AAIEIE3U; ]*=]4;Q ]>yaa eGaYeG< e>M5T?M5  9U<U=YU[U@y);I;ia5YY]@YrrrrB*** querying acoustic contact ***ooa-<a-<a-Bf@a-8@)99QIY)YIY aEiEi 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E F FF7 FB1BANMt>H H H H H H H I < I EA ċp,:]1+A٪>?9>8?>(>)*H ? eQ? ? Q4?A?7?>?>m;ɫ<y-"B-"II=#I=%x3M Mr=U F;Q U?yQQ ]GYYem< e?iu5m=?}5m  i9yY}@yi)mj!;Ime";imc5Y@rrrraaaa_n@) I ) I  ],DAT read: user:2068> mBDAT read: Tx time:20:13:58.6290 m$Ping request sent.mIq% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252140 p,K;K+A٪VP?9V:?VVs0yII UGQYUQ< U>Ye5]?e5]  Y9m<m4=Yml3m@yY)]]:I]#:i]d5Yq}@yrrrra<a<a&0@a^@)I)I IIIM@AjJUrJUzJU<JQJU|:JU :JU [4JQEIFI FIFU/ FQBaBqN>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501907 oטp,e+A٪B?9Byll rGpYrQ< r>tz5v?z5v  t9xYz2~@yt)v ;Iv ;ivwf5Y@r)r)r)r)aIaIaIaMG_@)aaaIa)aIi i:H}<2H}<EF FF- FB B!N==HQHQHU"IHUjBHQHQHQIU< IUE!Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005950JK mSNRK ZK bK jK B?9/&&#!     #$ ԑ p,a~+A٪>z?9>أ??><>x H q?ZT`N? 5q?@5g@'? ?]?>z?>|Њ;ɫy|| ~GY<  >-5|?55  91Y=&2=@y)f;Ig;iCh5YAE@Ararararaaaaa<_@)静I)I ԹEF FF. FBachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259837BN> } Ai} A} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5102371 Ep,˘+Ay"B"IIMb@Mb@Mb@iS㥛Q?9/ݼYuy GY > 5d? 5  WA9 <9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761856H) H) H- "IH- eBH- v =H) H) I- < I- EII"I*Iw =2I:I4ԁ p,ۤ+AjJrJzJ:JJL:Jq:JFA4JJ< <J= <Jk;Jk;"`٪n] ?9nGD?nPnEyqq uGqYu$= u>y5}A?5}  y9Yq8@y}!KE)};I};i}!l5YS@JK-đMRK--9ZK)bK-jK-K1 K5zArqrqrqrqaaaaY@)I)I EyF FF- FBBN`> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267927ԁ Yp,+A٪:j?9:TF?:A3:laJFHHɽJ}AiNn2?INؐFLIPiRE~A PRF)PV@C V^~AV?VԏFɾTXZ}AIZ5?)Z2FiX)XI\\ɿ\ \y\ybBf{"IYI Mb@Mb@Mb@i      y&1{Gz?9 `Y ףy GYT< >5(?5  9 =Թ 6&p,_+A٪6?96\H?66"iqy GY< > *H"H55 ?=5  XA99Y=>=@y ) ;I a;i so5YIM @YH>HHHHHHI%< IErrrraaaa`S@))11I1)1I9 9EF FF2 FBB N+>jJErJEzJAJAJE|:JEK:JAJAJE}<JE}<JEc;JEc; QiUAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022146JK} LRK} u9ZKy bK} jK} 9 p,=+A٪N?9NoI?NN\y GY"< >5󚳊?5) 9YA>@y):I[:i,q5Y@rrrraaaaS@))11I1)9IA IEYE]{Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277649E?F FF1 FBIBN>Ii DAT read: 20:14:01.0355 LVL= 10224, 14065, 20114, 16931, AGC= 43, IDX= 432, 0.10, 2.259, 0.827, 0.173, 1.426, PHS= 0.921,-0.552,-1.255, RAW= 71.5, 9.2, CAL= 73.3, 13.9, ROT= 76.7, -13.9  Ygot valid direction response: 20:14:01.0355 LVL= 10224, 14065, 20114, 16931, AGC= 43, IDX= 432, 0.10, 2.259, 0.827, 0.173, 1.426, PHS= 0.921,-0.552,-1.255, RAW= 71.5, 9.2, CAL= 73.3, 13.9, ROT= 76.7, -13.9  PDAT read: Bearing 257.7, -24.2 (Local)  ~Local bearing/azimuth received: Bearing 257.7, -24.2 (Local)  DAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.223313,0.944681,0.240228] Fpublishing direction and range infoY 9] /{/?):?ؼʿ?yY Y ] '] 6 ] N)] #BI] +i] k?] O ] ף] ?] l$> ] ?)] Ulx>I] uY?i] UlxY Y ] mˇ?JC?)] }XI] Q%i] uY?] UlxY Y 7p,E+A٪n,?9nK?ncnhy GY\< > 55 ?55 ( WA9=8==ؽ<ؽ<Hm>HiHiHiHiHiHiIm< ImE 9 `p,h3+AJJY4J3jJ6rJ6zJ6;J4J6:J67/:J6(N4J4J6/!<J6/!<J6Y;J6Y;٪J4?9JM?JnJ y GY3< >5?5' VA9YH@@y"KE)[:I:it5Y@r rrraAaAaAaEͪH@)QQQIQ)YIY YE ?F  F F ! 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FBBN>ԁjJrJzJJJ:J^:JJԱ = 4=JK NRK ZK bK q jK ؓw,}$+A٪Vf?9VI?V>ĻVdy GY >5?5@  GA9X=z*H9"H=?AHAHAHE"IHEoBHEw =HAHAIE< IEE9 i{x,T+A٪:?9:G?:LTǻ:y GY   >5㓳?5  EA9Y%K%@y)f;I;ii5Y)-@1rqrqrqrqaaaa<@)I)I E!E?F FFA FBBN>A5Ai5Aqԡ G x,b0+AjJbrJ`zJb<J`Jb,:J`Jb [4J`yAE"IIUIU2u2; }?=Q >y GY >59?5M AA9Y@y):I:ik5Y @rrrrB*** querying acoustic contact ***ooaIaIaIaIy)靡I)IY a 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.JKRKZKbKr jKKwA KzAEm?Fi FiFmJ FqBBԡN<>U ,DAT read: user:2069> m BDAT read: Tx time:20:15:58.9304 m $Ping request sent.m yIQ UGQYQ ]>Ye5]?e5] ]?A9m)=mJDAT read: TxSync time:20:15:58.9296 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247631) x,ލd+A٪F.* ?9FC?F/`Fdjydd fGdYjCV n>pv5r蒳?v5r% r=A9xYzMٿz@yp)rW:Ir:ir7o5Y|~@rr!r!r!aAaAaAaE@)QQYIY)YIa aEqEq}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.513764E?F FFB FBB N=YyԱ % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764770JK9 RK= 9ZK9 bK= s jK=  *Y}m\OC=81($):NZXQMJFC@@=86/)&##(3"KM ?KM ?x,j~+A٪6# ?962 B?6z6!t;Y6H y GYG >5?5b mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.014711:H<2H<HHH"IHeBHHHI< IEjJ rJ zJ ;J J :J U:J (N4J J #< J $< J e; J e;  %x,|G+A٪:; ?9:A?:"M:-;Y:H`E? uE?t?E?@H is? jzx??:; ?:B;ɫ:uCyR*BR"Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266668IVIVⱹj= j]=lnypp rGtYv v>x~5zM?~5z z;A9Y=@yx)z& ;Iz ;izr5Y  \@ rrrra!a!a!a%@)QYYIY)YIa aE?F FFA FB BN% >1}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519463a +x,B"+A٪6 ?96A?6]6y\\ ^G`Yb': b>dj5f?j5f f:A9hYj+n@yd)f:If;ift5YprY@pr r r r a)a)a)a-@9)AAAII)III QEYE]>E?F FF@ FB B9N]=T?c?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773515iJKe6NRKe9ZKabKet jKe7:741-#  %'$"!!  ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022705H H H "IH jBH H H I < I EIAIA"IA*IEw =2IEw =:IEd42x,+Ay~(B~"IԑIMb@Mb@Mb@iI +?~jt994y GY > 5? 5 9 [< K=Y Ӓ@y).;ItM;iov5Y9E@Arrrra%[<a%[<a%쉮@a%@)QYYIY)YIi I@AI@AjJrJzJJJ:J:JJJz;J{;J?r;J?r;E?F FFC FBBN+>G^~Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274931%%^~A9%TA 9x,+A٪:H ?9:~A?:M?:0ytt vGtYvd z>x5z?5z x9Yv@yx)z/;Iz;iz x5YY@r r r r9i9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528214ayayaya}@)革I)I EQFQ FQFU2 FQBaByN>!Q BDAT read: Rx Time:20:16:01.3370  TRx dataTimestamp_ set to:1756325763.919284 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784166ԁ JK MRK u9ZK bK u jK   -g|m[F6) "$$!/?x,+Ay~1B~"IIMb@Mb@Mb@i~jt?Mb`9y)) -G)Y5 5>9E5=Q?E5= 99MJ<M =YM6,?M@y=WKE)=:I=]:i=y5QYY]@YryryryryaJ<aJ<af@a36,?)靱I)I EF FFD FBBN#>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030688ԁH>HHHHHHI< IEԩjJ rJ zJ 9J J |:J /:J c44J J }<J }<J ^;J ^; Fx,+A٪Fn ?9FƥA?F3:FM/2y GY: >5򕳊?5 9 Y ],? @y):IJ;i{5Y9=V@9ryryryrԩaaaa[],?)I)I EF FF> FBBN!> 1 ALx,i3+A٪: ?9:A?:],::6y\\ ^G\Yb;; b>df5f?j5fZ d9hYj,?j@yd)fK:Ifn;ifQ}5Ypr @trrrraaaa,?))11I9)9IQ YEF FFC FB9BN>JKYMRK9ZKbKv jK  'KzA K9i H >H H "IH oBH x =H H I (< I E5)Sx,BM+A$٪>l ?9>@VB?>9>&~9H6??w?@j6?L;8 /?y?>l ?>^;ɫ>tCyV0BZ"IIMb@Mb@Mb@iX9v?y&1|?Mb`?9y %G!Y%n; %>)55-1?55-  -a{?)靡I)I EyAEzAqjJrJzJ:JJ,:JU:JFA4JJ<J<Je;Je;E)F) F)F-H F1BABQNe>ԙ LTYx,>!g+AX٪ ?9nC?BújLy GYk< >5Ɨ?5 >A9Yo|?@y)8S;IS;i5Y @rrrraaaao|?)I)I E?F FFB FBBN"> = ) JK LRK 9ZK bK w jK iw*o\L>5.'   !(.211268:;=7410/.+;`x,++A٪F ?9FHD?FNFYy GY}; >5`?5] 9=aS?HQHQHQHQHQHQHQIU< IUE)yyyIy)yI EQFY FYF]= FYYBiBN|>ԁ ffx,{ٚ+A٪: ?9:E?:䚻:lIR$FPIVCiVG}A Vf&?VF)TX ZX}AZ$?Z~FXZC^3}AI^ʡ>)^Fi\y\yf3Bf"IInIn(*3v)r< z=zkQ z ?yx| ~G|Y~,u<  ? 5ɘ?5 9Y?@y)):YI:ij5Yy@rrrraaaa!?)11I1)1I9 9E?F FFC FBBN% >ԁԱ1i1 lx,!+AjJ6rJ6zJ4J4J6l:J69:J4J4:@:@:@:@٪F?9FF?FֻFvy GY; >!-5%y?-5%  %?A9)Y5%?5@y!)%:I%:i%Ć5Y9=@9rarararaaaaa%?)靑I)I JKЎNRKZKbKx jK(($  %,+!K-yA K)E?F FF> FBB!N-p>H% >H! 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I% < I% EԹ _,V0+A٪B~ ?9B׺C?B Bڅyaa mGiYm< m>q}5ul?}5u7 q9=JKMnLRK89ZKbK jK   3KKA93( K K /n,1J+A٪:b?9:F?::-1??:b?:_;ɫ:rCyB/BB"IIJ#IJ%x3V#4= VV=VyXX ZGXY^= ^> 5I? 5- 9 Y B@ @y):I1:iw5Y-T@1rQrQrQry}B*** querying acoustic contact ***oyoyaaaahB@)I)I Em?Fi FiFuB FqBBN= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I `,d+A٪:d?9:0NJ?:::~NyXX ZG\Y^= ^>`f5b ?f5b$ `9hYjB@j@y`)b:Ib :iby5Yln@pr|rrraaaaB@)I)I QHqHqHu"IHutBHqHqHqIu< IuEE?F FFL FB-,DAT read: user:2070> 5BDAT read: Tx time:20:17:59.5320 5$Ping request sent.5qJ;'4J;>4J;50jJ}rJ}zJ}8JyJ},:J}:J}'4JyJyJyJ}uE;J}vE;ԡ i A JDAT read: TxSync time:20:17:59.5312  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251712PҞ,*~+AJKB@MRKB9ZK@bKB jKB <RuQO+Py~>B~"I)<  a= p=IMb@Mb@Mb@i~jthZd;O?Mb`?9DYj<=y;A@rA A9AI"Iq3< 8=Q >y GY >5ҕ?5 A9<=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502781 Ia Ia M,×+A٪6?96ZO?6;6ryxx ~G|Y g= > 5 ?5  A9Y@@y ) a;I ;i }5Y!%@!rArIrIrIaiaiaiam@)y靁I)I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755247E5?F1 F1F5U F1BABYNe=)Y:H<2H<Hm |>Hi Hm "IHm ~BHm  =Hi Hi Im < Im EM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006582ԁ ԫ,+A٪6?96qQ?6<6Dv 9Y6H#?di{?`d? i?F|?b n!? ?6?6= ;Q >y GY< >5Г?5 A9]=uԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258560JK@NRKu9ZKbK jK 9dt/LԱ ,+A٪J4?9JPT?JC<J3?;YJH@? ?@?`M?{? zxg?`a?J4?Jđ;ɫHynXBn"IpppipIvIvF2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510719 =  U=p;Q >y GY< %>!-5%?55%z %!AԱ91Y@@y%zKE)%ô checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763199 bG ~A 5 a5 ~A95 ͑A9 ,g+A٪: %?9:bV?:rv]<:;Y:Hr? }ߋ??s?=?x?Py??: %?:Ȓ;ɫ:oCyBZBB"IIJIJ 3R3< RQ=Vi;Q V>yTT ZGXY^< ^>`b5b$?f5b b#A9dYfJ@f@y`)b:Ib:ib[5YlnY@lrrrra!a!a!a%J@)111I9)9I9 AE?F FFFH {>H H  #IH BH ~ =H H I Ԙ< I PEII"I*I2I:I5BB%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016720N]>9jJUrJUzJQJQJU,:JU:JQJQJU<JU<JUJ;JUJ;aԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266606^,2+A٪:Q?9:W?:Aa<:2!y GY< >5?5Y $A9m=dԙ><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855 v, +A٪:x!?9:vaY?:M<:1i]ytt vGtYz2|< z>|5~ ?5~  ~%A9Y ~? @y~{KE)~2 ;I~@:i~酚5Y@r9rqrqrqa)a)a)a-u~?)aaaIa)aIi i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770670E-?F) F)F-F F)B9BQN]>Hz>HH#IHBHHHI< IE) = BDAT read: Rx Time:20:18:01.9385 = TRx dataTimestamp_ set to:1756325884.725997E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025298Y +, 3+A٪fO"?9f9Z?fy GY; >am5e?u5e'  a9uU]=uu FBBN(>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274547QJK%sLRK%u9ZK!bK% jK%y ,@L+A0٪Vv"?vDAT read: Range 10 to 50 : 1.8 m (Round-trip 2.4 ms) speed 0.0 m/s -zX#Rx 1: Read range message, but no direction.pypp9V0`Z?V0 <Vy GY: >5.?5  9YG?@y):IK:i5YC@rrrraaaalG?)))1I1)1I9 9EAEE>ԑE?F FFN FBB)N= >Թ 4,f+A٪Ru+!?9RY?R*T;R)ytx zGxYzZ z> 5A? 5  9 Y?@y|KE);I;i65Y!%@!rrrrHAHAHAHAHAHAHAIA IAaaaa?)9AIII)iIy E?F FFI FBB NK>Q ,y+A٪N ?9NtW?NG9NsKe> II9IIuIu?13\ A=f޻Q >y GY4% >5֑?5  99#=a/#?)I)I IE?F FFE FBBN>qjJM rJM zJM 8JI JM ̝:JM :JM '4JI U @U @U @U @ԡ F,R+Ay=PB="IIMIMM3m uL=uQ u>yyyy GY >5c?5H  &A9Y@y);Im;iҎ5Y@rrrraaaa)  I ) I1 1E9ԩE?F FFO FBBN&>H=}>H9H9H9H= =H9H9I=< I=E Xq,M0+A٪6n?96ƔT?6"6Mly GY >5r?5  9)=JKRK89ZKbK jK4Vfjkjga]YWRMHC@>81--'!!% 1a X,9 +A٪6X?968BR?646FBB"IIFIFm?3Rx R_=VQ V>yXX ^G\YbAɼ b>hz5je?~5j  h9Y ? @yj}KE)j;Ij;ij?5Y@r1r9r9r9aaaa ?)I)I 9E?F FF> FBBN>I C=I jJrJzJJJ:J 9JJaԙԹ ,+A٪F?9FvO?F(Fyytt vGtYzڼ z> 5t?5  9Y@?@y);IQ>;i 5Y!-@)rYrYraraaaaa@?)靡I)I E{AE{AHu{>HqHu#IHuBHu~ =HqHqIuL< IuEԑE?F FF%1 F!BiBN >ؙ iؙ  j,+A٪:?9: L?:(xL:V=Q >y GYǼ >5ɖ?5  %A9o=!I I! 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V,+A٪=k+ ?9=C?=-$=y GY%u %>)55-?55-c  )95e<5l=Y5Ba=@y))-/;I-D;i-5YAE@Arrrrae<ae<a@a@)999I9)9IA AEqEuwA)E?F FFM FBB!N5.>Qy FA ,f3+A٪:X ?9: B?:$:qBF"I)H J4=ININ2V  Vd=Z Q Z>yXX ^G\Y^: ^>`j5bF?j5b}  bA9hYnMbn@y`)b!;IbD";ib5Ypr@tr r r r Yaaaa0Ƭ@)靹I)I EiFq FqFuQ FqBBN=ԉJK=BoHRK=9ZK9bK=^!jK=Ա Hq Hq Hu #IHu BHu =Hq Hq Iu )< Iu E4), BM+Ay;B"II-!I-i3E  EA=EQ M>yII MGIYU U>Ye5]?e5]  Y9aYae@y]KE)]:I]:i]Y5YquV@qԹrrrr%B*** querying acoustic contact ***o!o!aaaa)靡I)I I1I5AAjJ=rJ=zJ=7J9J=<:J=:J=4J9J=;J=;J=uE;J=vE;Em?Fi FiFmN FiByBN> 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9 S,Tg+A٪BU?9BR?@?B;B!}q C=(\Q >y GYE >5ٛ?5  9R<E=Y@y):I =BDAT read: Tx time:20:19:59.5334 =$Ping request sent.EE>E ?F  F F Z F BB1N=/>Ai i A JDAT read: TxSync time:20:19:59.5327  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252020ԙ G< ,+AJK.RK.9ZK,bK._!jK.Ytj_VLB>6-'٪>f?9>??>O<>lH'o?mW??m?ے'??@?>f?>;ɫ>mCyN:BR"IPPTiVAIZ IZV2bR= b[=fQ f>ydd fGdYj j>lr5n?r5n  l9pYvv@yl)n:InN:inφ5YxzY@xrrrraaaa@)I)I yE?F FFH FBB N >H H H #IH BH H H I < I EԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838IM C=IM =jJU rJU zJU 8JQ JU :JU 9JU '4JQ JU ;JU ;JU :;JU :; h&,+Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829y5,B="IIMb@Mb@Mb@i{Gzy&1MbP9#Y`ey@ A9I]I]2mc u&=uQ u>yyy }GyY} }>5+?5% A9-<@=Y@y):Ij:i5Y9@rrrra-<a-<a@a@)I)I  E?F FFL FBBNB>! M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006757z,,+Ay3B%"II- I-<2E(= Ev=IQ M?yII MGQYQ U?Ye5]:?e5]K ]A9aYim@yY)]:I]:i]i5Yqu@qrrrra1a1a1a1)IIIIQ)QIY YEaQEF FFN FBBN >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258829JK}ɞNRK}9ZKybK}`!jK}$   <b~hTG;/&"Hh;wbVNOTKD;3ԉԩ :H 2H <H H H "IH BH H H I .< I Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511312ۃ3,D+AH٪zx ?9zB?zzmq:YzH~=? !2Cz@?=?6~Kރ? ;N?`?zx ?z>`;ɫzqCy,B"I)= >I%I%F35R 5J=5-;Q 5>y99 =G9YE< E>IU5MO?U5My I9QYUb]@yI)M:IM|:iM.5Yae<@arrrraaaa%7@)靹I)I jJ=rJ=zJ9J9J=l:J=b9J9J9J=;J=;J=+.;J=,.;EU?FY FYF]T FYBiByN=Աةiةchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765524 U Gm ^~A} fA  ^~A9 ȅA9,Qk+A٪Z ?9ZހC?Z Zۛ;YZH?! -gH!??j!}?G{s??Z ?Z;ɫZoCyj2Bj"I|IMb@Mb@Mb@iy&1{Gz9`eY#yA@rA 9AIIV836< @=d2;Q >y GY ^<  >52?5 A9<%@=Y%%@y):I{:i 5Y)-@)rIrIrQrQam<am<amp@amTѐ@)I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015133I )E?F FFY FBBN!>Qԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827Z@,JD+AJK.9NRK.9ZK,bK.a!jK.-&"   y8B"II-I-M3Ym= uW=uQ u>yyy }GyY} >5?5 9Y@y):I#;i5Yy@rrrraaaa)I)I E E zAE?F FFL FBBN>ԉHHH"IH~BHHHI< IEIiIi"Ii*Ii2Ii:Im4%>%<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519508ԱjJ rJ zJ J J :J 9J J J ;J ;J 8;J 8; F,G+ABDAT read: Rx Time:20:20:01.9400 ԡTRx dataTimestamp_ set to:1756326004.496535checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780061٪U36?9UF?UZֻU&y GYְ< >5͛?5 9QG<=Y @y);I;iґ5Y@r1r9r9r9a}QG<a}QG<a}S@a}@)靉I)I EM?FI FIFM` FIBiBN\> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892) L,5+A٪B)?9BF?BBB7AJK-LRK9ZKbKb!jK#$  )<A;4.(""  KyA KzAi*H "H AAH H H "IH yBH H H I =< I Eԙ S,nO+A٪B?9BG?BrB"H mN?)mnF>Im˫?imnFiimc?Znr 5[?)m=WIm Dim˫?mnFiii/\; /=;Q >y GY%< %>)=5-T?=5-* )99Y= =@y-KE)-:I-:i-C5YimI@irrrroiomO+Aom)?om)?om3@mw:Y?+8Q*?VqܣR?mHbB?b T?-JZ?om˫?omnFmw(%gؐ%?!-_?moZ~߿$h?VM"?om,?omGdompl/P?omj#omLB2pm<:R?:piBpm B"pm>?*pm]@aIaIaIaM˂@)YYI)I ԙE5?F9 F9F=V F9BIBiN\> dY,i+A٪V?9VRH?VEJVNQy GY< >5󚳊?54 9[<v=Y4@y):I/:i͖5Y@rQrQrYrYa[<a[<atc+@a+]@)I)I E?F FFU FBBN>JcJk*4JkS}.jJArJEzJAJAJAJE9JAJAU@U@U@U@) r`,+A٪:?9: I?:Q :I_?Ȇ=Ja?@l?8?:?:;ɫ8yF#BDJKjnMRKj9ZKhbKjc!jKj   .nr`M>6-" "Kr>Kr ?ININ(*3zU: ~T=~T';Q ~>y GY<  > 5 ?5 ? 9YS4@y )  ;I  ;i |5Y)-@)rIrIrIrIaiaiaiam]@)y靁I)I E?F FFT FB1BAQNM=HQHQHU"IHUoBHU =HQHQIU< IU%Eԁԩ Jg,`r+A@٪?9FkJ?ocy GY; >-5ՙ?-54 95<57=Y5<@5@y);I';i5Y9=@ArYrYraraa<a<a) @a<@)靑I)I ԩE?F FFY F BB1N=/> G,m,[@+AjJ&rJ&zJ$J$J&l:J&:J$J$py$B"I!!)i-A-p;-I5 I5b3E Em=EQ M?yII MGIYU U?Ye5]Q?e5], Y9aYam@yY)]:I]:i]5Yqu@qr)r1r1r1aiaiaiai)靡I)I  EM?FI FIFIFIBYByN>1JKUέMRKU9ZKQbKUd!jKUHI HI HM "IHM jBHM =HI HI IM < IM Ea t,a+A٪Z}?9Z0gL?ZZWyxx zGxY~< ~> 5? 5# A9 Y D=@@y)p:I:iƝ5Y @9rArArArAaaaaaaaeD=@)qyyIy)yI EF FFI FBBN%=IIIIi Az,}+A٪>]?9>HGM?>C>rمHm@?}`\n?]?>-;ɫ>oCyFBFy"IԱIMb@Mb@Mb@i:v{Gz?9TYףyaa eGaYm޵; m>q}5u?}5u q9h< =Y<@@yq)u3:Iu<:iuw5Y@rrrrah<ah<aBk @a)<@)I)I EzAE!E F  F F P F B B N >y i} A1 _&,+A٪:=?9:M?:0-:?Aiԙ Q,:+A٪~ñ?9~N?~"~Py GY; >%5?-5y}ϏC 9<GH=Y!4@@y)?< 5O195pAIr H{,8+AjJrJzJJJ|:J:JJ٪Z?7?9Z O?ZRZOy    G Yo; >)55-?=5- )9AYE[4@E@y))-v;I-ʅ;i-5YYeC@arrrraaaa[4@)I)I 1EQFQ FQFUG FQBaBqN=Yaiaԉ `,2>l+A0٪:?9:JO?:7x:=x-Q >y GY;: >5#?5 9W<{=Y;"@@y)` ;I ;i~5Y @r!r!r)r)aMW<aMW<aMޙ?aMG;"@)YaaIa)aIa iEyԉE F  F F B F BB1N=>Թ u,C +A٪>?9>O?> >$H ? 2@V݄?c3?v?6`}s?@F?~?>?>ؐ;ɫ>oCyHHPRBAIPIPZ燺 Z^=\^+Q b>y`` bG`Yf1 f>hn5j͔?n5j h9pYr7"@r@yh)j;Ij;ij5Ytv#@trrrra1a1a1a5z7"@)AIIII)III QJK5KRK59ZK1bK5g!jK5"KE?KE>E?F FFS FBBN=HHH"IH`BH =HHI< IEjJM rJM zJI JI JM |:JM 9JI JI JM ;] JM ;] JM V5;] JM V5;] A u,+A٪Fu?9F_O?F~F'y GY >5a?5 9Y&"@@y);I%;i!5Y@rrrraYaYaYa]&"@)qyyIy)yI AE=?F9 F9FE_ FABQBaNu6>q ǭ,>͹+A٪:?9:8N?:ٻ:!Q >y GYĻ >5I?5 9;=Y?@y):I:iȭ5Y@rrrra=;a=;a=\JK:IRK-9ZKbKh!jK :H <2H H t>H H "IH jBH =H H I *< I E! ,#+A٪6z-?96N?6J60ydd fGdYf f>lr5n1?r5n| nA9pYrI?v@yl)n:InR:ing5Yxz6@xrrrra1a1a1a5I?)AAAII)III QE?F FFO FBBN=jJ5rJ5zJ1J1J5<:J5 9J1J1J5,;J5.;J5K>;J5K>;Qq ۺ,'+A٪6*i?96RM?6366y GY >5?5m 9 +<=Y?@y)&:I.:iF5Y@rrrra +<a +<a=@a?)  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S܊,s++A٪:l ?9:UC?:S;:,5yXX ^G\YbO= b>df5f?j5f! f۬A9hYj8@j@yd)fU;If;if5Ypr@p| JTimed out from 2025-08-27T20:06:01.8Z1f qf  Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionf a9a9a9a=8@)Ms:IIII)IIQ QEaEezAE?F FFR FBBN%=!JKaORK`9ZKbK!jK,($   Qԙ K;,덍++A٪J ?9JE?JO;J4Hytt vGtYvd< z>|~5~#?5~ ~ܬA9YG9@@y|)~ ;I~";i~ʍ5Y@qf5=Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionf=g==rAggregate::initialize lineCaptureHoming:Lap:Docked:Detach1h=YaYaYaYa]G9@)iiqIq)qIq yEEEEI)I-@AJJ(4J/jJMrJMzJM8JIJM|:JMU:JM'4JI}@}@}@ԁ@B B!N5.>Heq>HaHe"IHeeBHaHaHaIe< IaԱ Td,|d++A٪6&?96H?6@Q;6HXy GY< >5?5 9<ydd fGdYjC< j>lr5nR?v5n l9tYvr@v@yl)nl:In6:inN5Yxz@|JK~MRK~9ZK|bK~!jK~"K >K >h--rAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt11i-qi-i5 5Uninitialize.1j5 5pAggregate::initialize lineCaptureHoming:Lap:Docked:Driftj5 5BN"I)R< R<:H^<2H\H`H`Hb"IHbjBH`H`H`Ib< IbYEImMb@Mb@Mb@iiiiiimZd;O?l?9mjy GY%< %>)U5-퓳?U5-  -ݬA9Ur2=UCompleted lineCaptureHoming:Lapb ZAggregate::uninitialize lineCaptureHoming:Lapa r2=a r2=a e߁?a -?W6Completed lineCaptureHoming'>lineCaptureHoming is completed.'PUninitializing Mission lineCaptureHoming+WRAggregate::uninitialize lineCaptureHoming1, XbAggregate::uninitialize lineCaptureHoming:Science,,q--1. \|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrentq.q@vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes@ NUninitialize AltitudeEnvelopeComponent.@%Uninitialize.1A% %NUninitialize OffshoreEnvelopeComponent.E% %rAggregate::uninitialize lineCaptureHoming:MicromodemCommsE%%Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn1F%1XM MHUninitializing TrackAcousticContact.!k]aeaeaed%$d!$Ed$Ed$E!U$]!U$]!U $]!U $]!U$]!U$]!U#]!U#]!U]!Ue!O-!O-N1 G1N%Euy9}AANAG#UG#UG#UG#U=`got command run ./Missions/Engineering/OnDock.tlF#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F#F}#Fy#Fu#Fq#Fm#Fi#Ee#Ea#!B]#% !BY#% !BU#% !BQ#% !BM#% !BI#% !BE#% !BA#% !A5 a@=#e a@9#e a@5#e a@1#e a.-# a.)# a.%# a.!# a.# a.# !,#- !,#- !, #- !, #- !,#- !,#- !,"- !,"- !,"- !,"5 !,"5 !,"5 !,"5 !,"5 !,"5 !,"5 !,"5 !,"5 !,"5 !,"= !,"= !,"= !,"= !,"= !,"= !,"= !,"= !,"= !,"= !,"= !,"E !,"E !,"E !,"E !,"E !,"E !,"E !,"E !,}"E !,y"E %M Powering downIM IM IM IM !,u"U !,q"U !,m"U !,i"U !,e"U !,a"U !,]"U !,Y"] !,U"] !,Q"] !,M"] !,I"] !,E"] !,A"] !,="] !,9"e !,5"e !,1"e !,-"e !,)"e !,%"e !,!" !," !," !," !," !, " !, " !," !," !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,! !,}! !,y! !,u! !,q! !,m! !,i! !,e! !,a! !,]! !,Y! !,U! !,Q! !,M! !,I! !,E! !,A! !,=! !,9! !,5! !,1! !,-! !,)! !,%! !,!! !,! !,! !,! !,! !, ! !, ! !,! +! + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +} +y +u +q e+m e+i m+e m+a m+] m+Y m'mvLoading Mission from file: ./Missions/Engineering/OnDock.tl'ujTethyslAPI: loading: ./Missions/Engineering/OnDock.tl'TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl)  I ) I yi}A},DAT read: user:2072> BDAT read: Tx time:20:21:01.7832 $Ping request sent.5+&  &&Powering downK* K*"K*K*٪Z38?9Z!P?ZZt#??W`c? d?Y?Z38?Z;ɫZoCy ;B "IIIM3-D> -=-ӻQ ->y11 5G1Y= < =>5[?5[ ެA9Y?@yKE):I:i5Y@)I)I D9B!B9NE=H,ߨ,+Ay~?B~"IIMb@Mb@Mb@iy    GY >5@?5 A9V=}= ,D7,+A٪6?96ئU?6i6`?ydh jGhYjF~= j?Ye5]!?e5]A ]A9iYm?m@yY)]:I]p:i]s5Y|@)革I)I D{AC{AD9BBN=#,]Q,+A٪64p ?96YX?66ny`d fGdYf< f>hn5j?n5j jA9pYr?r@yjKE)j:Ij:ij"5Ytv@t)|||I)I D9BB N=!E@!=@!9@!A@!5@!1@!I@!M@*H"H:H2HO,d@k,+A٪6h6!?96Y?6&6y)) -GQYU; U>Ye5]A?e5] ]A9m5c=moI6!,n,+A٪6?C ?96,X?616> f>IjIj3a ; _= ZQ  >y    G Y' >9E5=|?E5=  =A9AYM?M@y9)=:I=:i=5YQU&@Q)靡I)I D]> D?D9BBN=?R= BDAT read: Rx Time:20:21:03.6409  TRx dataTimestamp_ set to:1756326066.244502`',,+A٪>eb?9>KW?>=>%HcU?Beb?>!;ɫy GY   >=5?=5  A9=f==k;IU:i5YIM@I)I)I D 9B!B1NE>=DAT read: 20:21:03.6410 LVL= 10912, 13473, 20050, 16723, AGC= 44, IDX= 450, 0.08,-0.175,-1.563,-2.187,-0.940, PHS= 0.853,-0.576,-1.249, RAW= 71.7, 10.5, CAL= 73.3, 16.5, ROT= 76.7, -16.5 EYgot valid direction response: 20:21:03.6410 LVL= 10912, 13473, 20050, 16723, AGC= 44, IDX= 450, 0.08,-0.175,-1.563,-2.187,-0.940, PHS= 0.853,-0.576,-1.249, RAW= 71.7, 10.5, CAL= 73.3, 16.5, ROT= 76.7, -16.5 EDAT read: OK M:unknown deviceResponse_: OK M,DAT read: user:2073> UBDAT read: Tx time:20:21:04.7333 U$Ping request sent.U ?)r>IuY?ir8B?hʔ{習XC?)`WIf);iuY?r}:publishing transmit ping timeQ9s;?D?HN-? )Ii )Ii8B?hʔ{習XC?)Ii-,˸,+A٪6?964U?6)2J6yxx zGxYzƌ ~>!%5%?-5%e  %A9)Y-!?-@y!)%[:I%:i%=5Yq} @y)靉I)I D9BBN=xr4,,+A٪>?9>pS?>V>,H|??1?@Z?`Eۚ@?a$??>?>=8;ɫyhh jGhYn n> 5'? 5  A9 Y K? @y)W:I:i5Y9=@9)IIIII)IIQ yDyACyAD]89BBN]=0:,,+A٪6?96kR?6@G]67=Y6H? Go?o?n?@న?}??6?6;ɫ6pCyN^BR"II%Mb@Mb@Mb@i!!!!!%Zd;O?6?=_= =5==Q =>yAA EGAYM_ M>Q}5U?}5U\  UA9}?=}^A,\-+A٪>[?9>O?>`>=Y>H ?7@隍?.7?@?`˯@?ڠ??>[?>:t;ɫ>qCyNVBR"IIV IV<2f7 fe=fQ f>yhh jGhYnD n> 5ٖ? 5  A9 Y ? @y)l:I:i5Y=@9)IIIII)IIQ yDUU9BiByN=G,8 -+A i"A٪> ?9>.L?>Vd>:HG?? ?B?@瞿 ??@?> ?>ui;ɫ>mCyfWBf"I)j= j>IMb@Mb@Mb@iX9v?y&1|9y GYƼ >5?5  9,=1Gv|AAݿv|A9ABBN+>M,:-+A٪67??96(J?6`6v=yaa eGaYm m>i5m?5m  i9YR?@yi)m;ImP;im5Y9@)I)I '-)OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . k)$MuM @']PDefineArg OnDock.DockedTime = 8.000000 hk-$mui'\DefineArg OnDock.DetachedTimeout = 30.000000 sD9BBN=k1$ v'%XDefineArg OnDock.RangeTimeout = 600.000000 sk5$UvQ']hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 mink9$m*vi'^DefineArg OnDock.NumberOfPings = 1.000000 countk=$Bv'VDefineArg OnDock.TransponderCode = 50 countkA$Zv'-PDefineArg OnDock.MaxDepth = 215.000000 mkE$=jv9'=RDefineArg OnDock.MinAltitude = 5.000000 mkI$zv'TDefineArg OnDock.MinOffshore = 2.000000 kmkM$v'HDefineArg OnDock.StayOnDock = 0 boolkQ$v'\DefineArg OnDock.IfconfigInterval = 2.000000 hkU$v'EHDefineArg OnDock.RunScience = 0 boolkY$MvM @'UXDefineArg OnDock.MissionTimeout = 8.000000 h'U~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl']rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl'TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 !l]$ v ' vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m!la$ v '% |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m!le$- v- i@'5 tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m!li$= v9 'E |DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 6Construct AltitudeEnvelope.  0Construct DepthEnvelope.E 6Construct OffshoreEnvelope.l] ' xInserting Stack from file: Missions/Insert/BackseatDriver.tl' lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl' TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl ? < BDAT read: Rx Time:20:21:06.5910  TRx dataTimestamp_ set to:1756326069.268670'% TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: !nm$5 zx1 '= nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 boolU 2Construct BackseatDriver.T,S-+A٪>4?9>G?>K^>H@?@|?T?@?`QЋ?6?@?>4?>0c;ɫ>pCyNKBN"IIVIVT3'-nInserting Stack from file: Missions/Insert/PowerOnly.tl'-bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'5zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl]ڻ H=٩9Q >y GY >5?5n  A9Y?@yKE)+;I;i쬝5YP@))))I1)qI D9BqBN!>'qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 nq$x'ZDefineArg OnDock:PowerOnly.SampleAll = 0 boolnu$ x '^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 boolny$x'^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 booln}$-x)'-^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 booln$=x9'EhDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool}Construct Wait. Construct Wait.' jInserting Stack from file: Missions/Insert/Science.tl' ^TethyslAPI: loading: Missions/Insert/Science.tl' vTethyslAPI: mission file loaded: Missions/Insert/Science.tlZ,m-+A٪6[g ?96PE?6d~]6 BDAT read: Tx time:20:21:07.6833 $Ping request sent. e?hD!? ^ m?۹۽0+۽15 ܽP)ܽ3DIܹiܽN?ܽ\ܽ= ܽ?ܽJ4> ݽK?)ݽ0>Iݽ!z?iݽ0ݹ޽ÚAӆ?* d_pnn?)޽uv\I޽a4i޽!z?޽0:publishing transmit ping time۹9۽> e?hD!? ^ m?۹۹۹ ܹ)ܹIܹiܹܹܹܹܹ ݹ)ݹIݹiݹݹ޽ÚAӆ?* d_pnn?)޹I޹i޹޹I]Mb@Mb@Mb@iYYYYY]{Gz?~jt9]#y GYA >5?5  A9<i ii a,֨-+A٪6 ?96B?6g^6 y GY}> }>5?5  A9h=&n,K[-+A٪6}z?96c??6o6a6?f? ?6}z?6zi;ɫ6nCyr9Bv"I)v= ve>I~I~b1e eS=m'Q m>yii uGqYu u>5?5M  A9Y@y)B:Ip:i5Yp@)I)I Dn? DU?D9BBN=Zu,4-+A٪:?9:@s=?::xytt vGtYzU z>|u5~d?5~  ~A9Y@y~KE)~6;I~;i~5Y@)I)I D5 9BB9Ne>8{,-+A٪6JB?96+;?6 64zy GY >5k?5?  A9Y=y ,.+A٪6!?96F 9?6{6jyAA MGIYM M>Q}5Um?}5U  UA9Yȿ@yQ)U;IU`;iU55Yy@)靹I)I DCxAD;9BB1NE=ح?ح4=BDAT read: Rx Time:20:21:09.5411 TRx dataTimestamp_ set to:1756326072.292716N,0".+A٪6>96#37?6t6OXZ6tPi;ɫ4yLLIMb@Mb@Mb@iI +Mb`9LY94y@rA 9IuIu2X:Q >y GYey e>qu5u?}5u  u߬A9}w=}GDAT read: 20:21:09.5411 LVL= 10464, 12273, 17778, 15763, AGC= 44, IDX= 435, 0.27,-0.296,-1.622,-2.263,-1.031, PHS= 0.822,-0.545,-1.235, RAW= 70.7, 10.6, CAL= 71.9, 16.8, ROT= 78.1, -16.8 Ygot valid direction response: 20:21:09.5411 LVL= 10464, 12273, 17778, 15763, AGC= 44, IDX= 435, 0.27,-0.296,-1.622,-2.263,-1.031, PHS= 0.822,-0.545,-1.235, RAW= 70.7, 10.6, CAL= 71.9, 16.8, ROT= 78.1, -16.8 DAT read: OK :unknown deviceResponse_: OK X#Rx 4: Read direction message, but no range.\direction in FSK: [0.197403,0.936746,0.289032]۱9۵"SD?(?\.?۱۵(۵/ ܵrE)ܵ=IܱiܵnR?ܵ ܵ{ܱܵq=> ݱ)ݵQ >IݱiݵQ ݱ޵q?t<-0?)޵\I޵=iޱ޵Q t,<.+A٪>P>9>5?>m>)JHC? hq?B?`O`켍?@^??>P>>/h;ɫ>nCyN%BR"IIVIV#3f  f<fͤ:Q f?yhh jGhYn{ n ? 5қ? 5" ݬA9 Y ڿ @y):IB:i5Y9=@9)IIIII)IIQ qDU\9BiByN=i\,}V.+A٪:f>9:4?:Ob:;c=:=g;ɫ:pCynBn|"Itv@AIvIvF3U  F= D:Q  >y GY+ >9E5=}?M5= =ڬA9IYMhۿM@y=KE)=:I=:i=~5YQ}Y@y)靉I)I D|9BB)Nu=U Gi  9 A,XWp.+A٪6@>96x3?6 7S606".f;ɫ6nCyNBR"IIuMb@Mb@Mb@}%=}R=iqqqqquy&1Q롿Mbp9u`eYu\yuqu@q qq9upAI-I3ak< <= ;Q >y GY   >=5Ú?E5 ֬A9E~=EHn,3.+A٪6#>961{3?6&>6X%6de;ɫ6pCyLPIVIV2: \=]\;Q >y    G Y  >=5 ?E5, ҬA9AYEE@y)u;I:i5YMBUk@UfE)I)I !D 9B!B1N=='=TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , 96Ph3?6"66ޱd;ɫ4yJBHLL'vDefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool!q$%z!'%tDefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool!q$uzq'}xDefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool!q$zIMb@Mb@Mb@i&1:vMbP9PYԼyA@@ A'pDefineArg OnDock:science:Science.EnabledSeabird = 1 bool!q$z'zDefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool9AIIF3 ;=};Q >y    G Y>, >%5N?%5 ѬA9%j=%g'DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %!q%%z{!'-DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %!q%5{1'=|DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l!q%E{A'MDefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count!q!%U{Q'}DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool!q%%{'tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l!q)%{']tDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l!q-%e{a'mDefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count!q1%{'DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s!q5%{'DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s!q9% |'DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml!q=% | 'DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml!qA%"|'%fDefineOutput OnDock:science:Science.GoDown = 1 bool!qE%-2|)'lDefineOutput OnDock:science:Science.PeakChl = nan ug/l!qI%B|'pDefineOutput OnDock:science:Science.PeakChlDepth = nan m!qM%R|'DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC!qQ%b|'DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg!qU%ur|q'}DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg!qY%|'lDefineOutput OnDock:science:Science.EdgeChl = nan ug/l!q]%|'pDefineOutput OnDock:science:Science.EdgeChlDepth = nan m!qa%|' DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC!qe%|'DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg!qi%=|9'DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg!qm%|'pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l!qq% | ' pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m!qu% | '= DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg!qy%E }A 'U DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg!q}%] }Y 'e nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3!q%m "}i 'u pDefineOutput OnDock:science:Science.PeakOilDepth = nan m!q% 2} ' DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg!q% B} ' DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg!q% R} ' lDefineOutput OnDock:science:Science.PeakFDOM = nan ppb!q%= b}9 'E rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan m!q%M r}I 'u DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC!q% } ' DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg!q% } ' DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg!q% } ' lDefineOutput OnDock:science:Science.PeakSalt = nan psu!q% } ' rDefineOutput OnDock:science:Science.PeakSaltDepth = nan m!q% } 'u DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC!q%} }y ' DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg!q% } ' DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg!q% } ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s'Ů,M.+A٪60>963?66U 68~d;ɫ4ynBn}"I!q%~~|'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m!q% ~ IvIvM3'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC!q%="~9'EDefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg!q%U2~Q'eDefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg!q%mB~q'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s!q%R~'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m <=a;Q >y GY(; >!q%-b~)'=DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC!q%Er~Au5?}5a ϬA'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg!q%~'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg9Y%%@y)H=IX=iŝ5Y)5@1!q%}~y'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s!q%~)静I)I 'uDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m!q%~'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC!q%D9B~'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg!q%%~!'-DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg!q%}BqN|>~y'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s!q%~'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m!q%'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC!q%'5DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg!q&="9'EDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg!q&m2i'uDefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml!q &B'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m!q &R'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC!q& b ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg!q& r '5 DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg!q&= A ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml!q&  ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m!q!&  ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC!q%&  '% DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg!q)&5 1 '= DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg!q-&  ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml!q1&  ؽ =ؽ <' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m!q5&  ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC!q9&  '% DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg!q=&- 1 '] DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg!qA&e "a 'm DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml!qE&} 2y ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m!qI& B ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC!qM& R '% DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg!qQ&- b) ͪ,.+A٪:є>9:34?:lλ: :Ad;ɫ:nCyNBRv"IIVIVV83'%DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg!qU&-r)'5nDefineOutput OnDock:science:Science.PatchChl = nan ug/l] eh=e;Q e>yii mGiYm; m>!qY&}'rDefineOutput OnDock:science:Science.PatchChlDepth = nan m!q]&q5uؗ?5u uάA9Y@yuKE)u=:Iu$:iuYǝ5Y@)I)I  'DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg!qa&%!'-DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg!qe&mq'xDefineOutput OnDock:science:Science.PatchChlDistance = nan m!qi&€'nDefineOutput OnDock:science:Science.PatchSalt = nan psu!qm&ҀD=9BQBaN}='tDefineOutput OnDock:science:Science.PatchSaltDepth = nan m!qq&']DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg!qu&'DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg!qy&%!'5zDefineOutput OnDock:science:Science.PatchSaltDistance = nan m!q}&}y'lDefineOutput OnDock:science:Science.PatchOil = nan psu!q&"'rDefineOutput OnDock:science:Science.PatchOilDepth = nan m!q&2'DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg!q&B'=DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg!q&ERA'UxDefineOutput OnDock:science:Science.PatchOilDistance = nan m!q&b'vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool!q&r'xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/las#] as#] as!#e as%#e as)# as-#%  = 8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth.;ջ,.+A٪6k>9645?6?]626c;ɫ6qCy^B^"IIMb@Mb@Mb@ilMbMb`9YyA@rA rA9AI5I5M3E)= E<=M;Q M>yII >Construct PeakDetectHorizontal. GY< >5/?5K ̬A9Q%=8Construct PeakDetectVsDepth.8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.] 8Construct PeakDetectVsDepth.= 8Construct EdgeDetectVsDepth.‹,pz /+A٪:,>9:6?::: :c;ɫ:oCyLPIZ"IZq3C;Q >y    G Y Uj<  >]5?]5 ʬA9aYeVe@y)$y GY]< >5$?5 9<.=Y@y):I%yxx zGxYz< z>| 5? 5 9 Y@y)2:I:iXΝ5Y@!'%,Started mission OnDockK!k--8Aggregate::initialize OnDock1l- -\Aggregate::initialize OnDock:StandardEnvelopesql--JInitialize AltitudeEnvelopeComponent.l- -DInitialize DepthEnvelopeComponent.l-5JInitialize OffshoreEnvelopeComponent.1n5 5VAggregate::initialize OnDock:BackseatDriverqn5n5 5LAggregate::initialize OnDock:PowerOnlyn51o5qo5o5o554Initialize Wait Component.1p= =JAggregate::initialize OnDock:dataReadqp=p==HAggregate::initialize OnDock:science1q= =XAggregate::initialize OnDock:science:Scienceqq=qEqE1rEqrErErEsE EtAggregate::initialize OnDock:science:Science:PeakDetectChlsEtE EtAggregate::initialize OnDock:science:Science:EdgeDetectChltEuEMAggregate::initialize OnDock:science:Science:HighestChlPeakReport1vMMInitialize.qvMMtAggregate::initialize OnDock:science:Science:PeakDetectNO3vMqwMUtAggregate::initialize OnDock:science:Science:PeakDetectOilwUqxUUAggregate::initialize OnDock:science:Science:HighestOilPeakReportxUUInitialize.x]]vAggregate::initialize OnDock:science:Science:PeakDetectFDOM1y]y]]~Aggregate::initialize OnDock:science:Science:PeakDetectSalinity1z]z]]Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport1{]eInitialize.q{eeAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI{eq|eeAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI|e}m mAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI}m~m mAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI~mmmAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms1mmc@uAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms1u1uAuAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellatesq}1}A}Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellatesq}q}#B}zAggregate::initialize OnDock:science:Science:ChlThreshTrigger}GB}Initialize.1s rAggregate::initialize OnDock:science:Science:OceanCurrentqsy GYV< |> 5 C?5  ˬA9Y~<U=YX@E@y ) &;I ;i tѝ5YIM^@IZxj@qmmԹ)I)I D;9BBN&> , C/+A٪6f?96P@?68673BB"I)B%= B=IJIJ3Rp< RM=R Q V>yTT VGXYZt< Z>\b5^Δ?b5^` \9dYf@f@y\)^:I^:i^ԝ5Yhj@hjxvk@mvv)|I)I  D^? D?YDm9B B!N5=ԉm(>iG.9 AԱ ,/+A٪B>D ?9B-E?BlӺB4WD ?B c;ɫBpCy^9Bb"IIEMb@Mb@Mb@iAAAAAE?:v?Mb`?9E=uQ u>yqq }GyY}< }>5͔?5 ͬA9=