*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="LcmPublisher" *n code=002D name="BPC1" *n code=002E name="DAT" *n code=002F name="DAT ThreadHandler" *n code=0030 name="DataOverHttps" *n code=0031 name="DataOverHttps ThreadHandler" *n code=0032 name="Depth_Keller" *n code=0033 name="DropWeight" *n code=0034 name="NAL9602" *n code=0035 name="Onboard" *n code=0036 name="Onboard ThreadHandler" *n code=0037 name="Power24vConverter" *n code=0038 name="Radio_Surface" *n code=0039 name="Radio_Surface ThreadHandler" *n code=003A name="RDI_Pathfinder" *n code=003B name="Sonardyne_Nano" *n code=003C name="DeadReckonUsingMultipleVelocitySources" *n code=003D name="NavChart" *n code=003E name="UniversalFixResidualReporter" *n code=003F name="SBIT" *n code=0040 name="IBIT" *n code=0041 name="CBIT" *n code=0042 name="GFScanner" *n code=0043 name="BuoyancyServo" *n code=0044 name="ElevatorServo" *n code=0045 name="DockingStepper" *n code=0046 name="MassServo" *n code=0047 name="RudderServo" *n code=0048 name="ThrusterServo" *n code=0049 name="CTD_Seabird" *n code=004A name="CTD_Seabird ThreadHandler" *n code=004B name="PAR_Licor" *n code=004C name="WetLabsBB2FL" *n code=004D name="WetLabsBB2FL ThreadHandler" *n code=004E name="WetLabsUBAT" *n code=004F name="WetLabsUBAT ThreadHandler" *n code=0050 name="MissionManager" *n code=0051 name="Reporter" *n code=0052 name="NavChartDb" *n code=0053 name="NavChartDb ThreadHandler" *n code=0054 name="DefaultWithUndock" *n code=0055 name="DefaultWithUndock:A.Wait" *n code=0056 name="DefaultWithUndock:LeaveDock" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0058 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0059 name="DefaultWithUndock:LeaveDock:A." *n code=005A name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005B name="DefaultWithUndock:SurfaceDefault" *n code=005C name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0066 name="DefaultWithUndock:D" *n code=0067 name="DefaultWithUndock:E.Execute" *n code=0068 name="keepstation" *n code=0069 name="keepstation:NeedComms" *n code=006A name="keepstation:NeedComms:A" *n code=006B name="keepstation:NeedComms:B.GoToSurface" *n code=006C name="keepstation:NeedComms:C" *n code=006D name="keepstation:NeedComms:C:A_Timeout" *n code=006E name="keepstation:NeedComms:C:A_Timeout:A" *n code=006F name="keepstation:NeedComms:D" *n code=0070 name="keepstation:NeedComms:D:A_Timeout" *n code=0071 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0072 name="keepstation:NeedComms:E" *n code=0073 name="keepstation:NeedComms:E:A_Timeout" *n code=0074 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0075 name="keepstation:B" *n code=0076 name="keepstation:StandardEnvelopes" *n code=0077 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0078 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0079 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=007A name="keepstation:D" *n code=007B name="keepstation:E" *n code=007C name="keepstation:BackseatDriver" *n code=007D name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007E name="keepstation:PowerOnly" *n code=007F name="keepstation:PowerOnly:A" *n code=0080 name="keepstation:PowerOnly:B" *n code=0081 name="keepstation:PowerOnly:C" *n code=0082 name="keepstation:PowerOnly:D" *n code=0083 name="keepstation:PowerOnly:E.Wait" *n code=0084 name="keepstation:H.Pitch" *n code=0085 name="keepstation:SurfaceComms" *n code=0086 name="keepstation:SurfaceComms:A" *n code=0087 name="keepstation:SurfaceComms:B" *n code=0088 name="keepstation:SurfaceComms:HandleNan" *n code=0089 name="keepstation:SurfaceComms:HandleNan:SetOnStation" *n code=008A name="keepstation:SurfaceComms:HandleNan:SetOnStation:A" *n code=008B name="keepstation:SurfaceComms:HandleNan:SetLat" *n code=008C name="keepstation:SurfaceComms:HandleNan:SetLat:A" *n code=008D name="keepstation:SurfaceComms:HandleNan:SetLon" *n code=008E name="keepstation:SurfaceComms:HandleNan:SetLon:A" *n code=008F name="keepstation:SurfaceComms:setTransit" *n code=0090 name="keepstation:SurfaceComms:setTransit:A" *n code=0091 name="keepstation:SurfaceComms:setStation" *n code=0092 name="keepstation:SurfaceComms:setStation:A" *n code=0093 name="keepstation:SurfaceComms:setSink" *n code=0094 name="keepstation:SurfaceComms:setSink:A" *n code=0095 name="keepstation:StartingMission" *n code=0096 name="keepstation:DiveCmd" *n code=0097 name="keepstation:DiveCmd:SurfaceSink" *n code=0098 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=009A name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=009B name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=009C name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=009D name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=009E name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=009F name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=00A0 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=00A1 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=00A2 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=00A3 name="keepstation:DiveCmd:TransitToStation" *n code=00A4 name="keepstation:DiveCmd:TransitToStation:dive" *n code=00A5 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=00A6 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=00A7 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=00A8 name="keepstation:DiveCmd:StationKeep" *n code=00A9 name="keepstation:DiveCmd:StationKeep:A" *n code=00AA name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=00AB name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=00AC name="keepstation:TransitToStation" *n code=00AD name="keepstation:TransitToStation:Dive" *n code=00AE name="keepstation:TransitToStation:Dive:A" *n code=00AF name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=00B0 name="keepstation:TransitToStation:C" *n code=00B1 name="keepstation:TransitToStation:D" *n code=00B2 name="keepstation:OnStation" *n code=00B3 name="keepstation:KeepStation" *n code=00B4 name="keepstation:KeepStation:Dive" *n code=00B5 name="keepstation:KeepStation:Dive:A" *n code=00B6 name="keepstation:KeepStation:B.Wait" *n code=00B7 name="lineCaptureHoming" *n code=00B8 name="lineCaptureHoming:Science" *n code=00B9 name="lineCaptureHoming:Science:A" *n code=00BA name="lineCaptureHoming:Science:B" *n code=00BB name="lineCaptureHoming:Science:C" *n code=00BC name="lineCaptureHoming:Science:D" *n code=00BD name="lineCaptureHoming:Science:E" *n code=00BE name="lineCaptureHoming:Science:F" *n code=00BF name="lineCaptureHoming:Science:Read_Oil" *n code=00C0 name="lineCaptureHoming:Science:OceanCurrent" *n code=00C1 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=00C2 name="lineCaptureHoming:Science:PeakDetectChl" *n code=00C3 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=00C4 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=00C5 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=00C6 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=00C7 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=00C8 name="lineCaptureHoming:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=00C9 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=00CA name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=00CB name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=00CC name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=00CD name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=00CE name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=00CF name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00D0 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl" *n code=00D1 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:A" *n code=00D2 name="lineCaptureHoming:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=00D3 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=00D4 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=00D5 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=00D6 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=00D7 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00D8 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=00D9 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=00DA name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=00DB name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00DC name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00DD name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00DE name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=00DF name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=00E0 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=00E1 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00E2 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=00E3 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=00E4 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=00E5 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00E6 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00E7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00E8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=00E9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=00EA name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=00EB name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=00EC name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00ED name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00EE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00EF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00F0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00F1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00F2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00F3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00F4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00F5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00F6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00F7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00F8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00F9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00FA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00FB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00FC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00FD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00FE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00FF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=0100 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0101 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0102 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0103 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0104 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0105 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0106 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0107 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0108 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0109 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=010A name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=010B name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=010C name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=010D name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=010E name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=010F name="lineCaptureHoming:StandardEnvelopes" *n code=0110 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=0111 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=0112 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=0113 name="lineCaptureHoming:C" *n code=0114 name="lineCaptureHoming:D" *n code=0115 name="lineCaptureHoming:E" *n code=0116 name="lineCaptureHoming:NeedComms" *n code=0117 name="lineCaptureHoming:NeedComms:A" *n code=0118 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=0119 name="lineCaptureHoming:NeedComms:C" *n code=011A name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=011B name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=011C name="lineCaptureHoming:NeedComms:D" *n code=011D name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=011E name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=011F name="lineCaptureHoming:NeedComms:E" *n code=0120 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=0121 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=0122 name="lineCaptureHoming:G" *n code=0123 name="lineCaptureHoming:H" *n code=0124 name="lineCaptureHoming:MicromodemComms" *n code=0125 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=0126 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=0127 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=0128 name="lineCaptureHoming:J" *n code=0129 name="lineCaptureHoming:LineCapture" *n code=012A name="lineCaptureHoming:LineCapture:A" *n code=012B name="lineCaptureHoming:LineCapture:B" *n code=012C name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=012D name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=012E name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=012F name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=0130 name="lineCaptureHoming:LineCapture:D" *n code=0131 name="lineCaptureHoming:LineCapture:E" *n code=0132 name="lineCaptureHoming:LineCapture:F" *n code=0133 name="lineCaptureHoming:LineCapture:G" *n code=0134 name="lineCaptureHoming:LineCapture:H" *n code=0135 name="lineCaptureHoming:LineCapture:HoldMass" *n code=0136 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=0137 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=0138 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=0139 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=013A name="lineCaptureHoming:LineCapture:HomingSequence" *n code=013B name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=013C name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=013D name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=013E name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=013F name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=0140 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=0141 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=0142 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=0143 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=0144 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=0145 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=0146 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=0147 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=0148 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=0149 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=014A name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=014B name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=014C name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=014D name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=014E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=014F name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0150 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0151 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0152 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0153 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0154 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0155 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0156 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0157 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0158 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0159 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=015A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=015B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=015C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=015D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=015E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=015F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0160 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0161 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0162 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0163 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0164 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0165 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0166 name="lineCaptureHoming:LineCapture:M" *n code=0167 name="lineCaptureHoming:L" *n code=0168 name="lineCaptureHoming:M" *n code=0169 name="lineCaptureHoming:N" *n code=016A name="lineCaptureHoming:O" *n code=016B name="lineCaptureHoming:P" *n code=016C name="lineCaptureHoming:Q" *n code=016D name="lineCaptureHoming:U" *n code=016E name="lineCaptureHoming:TrackAC." *n code=016F name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0170 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0171 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0172 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0173 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0174 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0175 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0176 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0177 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0178 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0179 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=017A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=017B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=017C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=017D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=017E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=017F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0180 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0181 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0182 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0183 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0184 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0185 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0186 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0187 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0188 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0189 name="lineCaptureHoming:restartDHCP" *n code=018A name="lineCaptureHoming:restartDHCP:A" *n code=018B name="lineCaptureHoming:restartDHCP:B.Execute" *n code=018C name="lineCaptureHoming:StartingMission" *n code=018D name="lineCaptureHoming:Z" *n code=018E name="lineCaptureHoming:BA.Execute" *n code=018F name="lineCaptureHoming:InitialDive" *n code=0190 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0191 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0192 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0193 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0194 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0195 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0196 name="lineCaptureHoming:RepeatHack" *n code=0197 name="lineCaptureHoming:RepeatHack:A" *n code=0198 name="lineCaptureHoming:Lap" *n code=0199 name="lineCaptureHoming:Lap:A" *n code=019A name="lineCaptureHoming:Lap:B" *n code=019B name="lineCaptureHoming:Lap:C" *n code=019C name="lineCaptureHoming:Lap:D" *n code=019D name="lineCaptureHoming:Lap:E" *n code=019E name="lineCaptureHoming:Lap:Docked" *n code=019F name="lineCaptureHoming:Lap:Docked:A" *n code=01A0 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=01A1 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=01A2 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=01A3 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=01A4 name="lineCaptureHoming:Lap:Docked:C" *n code=01A5 name="lineCaptureHoming:Lap:Docked:D" *n code=01A6 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=01A7 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=01A8 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=01A9 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=01AA name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=01AB name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=01AC name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=01AD name="lineCaptureHoming:Lap:Docked:Detach" *n code=01AE name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=01AF name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=01B0 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=01B1 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=01B2 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=01B3 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=01B4 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=01B5 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=01B6 name="lineCaptureHoming:Lap:Docked:Drift" *n code=01B7 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=01B8 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=01B9 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=01BA name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=01BB name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=01BC name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=01BD name="OnDock" *n code=01BE name="OnDock:StandardEnvelopes" *n code=01BF name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=01C0 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=01C1 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=01C2 name="OnDock:B" *n code=01C3 name="OnDock:C" *n code=01C4 name="OnDock:D" *n code=01C5 name="OnDock:E" *n code=01C6 name="OnDock:BackseatDriver" *n code=01C7 name="OnDock:BackseatDriver:A.BackseatDriver" *n code=01C8 name="OnDock:PowerOnly" *n code=01C9 name="OnDock:PowerOnly:A" *n code=01CA name="OnDock:PowerOnly:B" *n code=01CB name="OnDock:PowerOnly:C" *n code=01CC name="OnDock:PowerOnly:D" *n code=01CD name="OnDock:PowerOnly:E.Wait" *n code=01CE name="OnDock:dataRead" *n code=01CF name="OnDock:dataRead:A" *n code=01D0 name="OnDock:dataRead:B.Wait" *n code=01D1 name="OnDock:science" *n code=01D2 name="OnDock:science:Science" *n code=01D3 name="OnDock:science:Science:A" *n code=01D4 name="OnDock:science:Science:B" *n code=01D5 name="OnDock:science:Science:C" *n code=01D6 name="OnDock:science:Science:D" *n code=01D7 name="OnDock:science:Science:E" *n code=01D8 name="OnDock:science:Science:F" *n code=01D9 name="OnDock:science:Science:Read_Oil" *n code=01DA name="OnDock:science:Science:OceanCurrent" *n code=01DB name="OnDock:science:Science:OceanCurrent:A." *n code=01DC name="OnDock:science:Science:PeakDetectChl" *n code=01DD name="OnDock:science:Science:PeakDetectChl:A" *n code=01DE name="OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=01DF name="OnDock:science:Science:PeakDetectChl:C" *n code=01E0 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=01E1 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=01E2 name="OnDock:science:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=01E3 name="OnDock:science:Science:EdgeDetectChl" *n code=01E4 name="OnDock:science:Science:EdgeDetectChl:A" *n code=01E5 name="OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=01E6 name="OnDock:science:Science:EdgeDetectChl:C" *n code=01E7 name="OnDock:science:Science:EdgeDetectChl:D" *n code=01E8 name="OnDock:science:Science:HighestChlPeakReport" *n code=01E9 name="OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=01EA name="OnDock:science:Science:PeakDepthAvgProfilesChl" *n code=01EB name="OnDock:science:Science:PeakDepthAvgProfilesChl:A" *n code=01EC name="OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=01ED name="OnDock:science:Science:PeakDetectNO3" *n code=01EE name="OnDock:science:Science:PeakDetectNO3:A" *n code=01EF name="OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=01F0 name="OnDock:science:Science:PeakDetectNO3:C" *n code=01F1 name="OnDock:science:Science:PeakDetectOil" *n code=01F2 name="OnDock:science:Science:PeakDetectOil:A" *n code=01F3 name="OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=01F4 name="OnDock:science:Science:PeakDetectOil:C" *n code=01F5 name="OnDock:science:Science:HighestOilPeakReport" *n code=01F6 name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=01F7 name="OnDock:science:Science:PeakDetectFDOM" *n code=01F8 name="OnDock:science:Science:PeakDetectFDOM:A" *n code=01F9 name="OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=01FA name="OnDock:science:Science:PeakDetectFDOM:C" *n code=01FB name="OnDock:science:Science:PeakDetectSalinity" *n code=01FC name="OnDock:science:Science:PeakDetectSalinity:A" *n code=01FD name="OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=01FE name="OnDock:science:Science:PeakDetectSalinity:C" *n code=01FF name="OnDock:science:Science:HighestSaltPeakReport" *n code=0200 name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0201 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=0202 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0203 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0204 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0205 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0206 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0207 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=0208 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0209 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=020A name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI" *n code=020B name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=020C name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=020D name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=020E name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI" *n code=020F name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0210 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0211 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0212 name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0213 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=0214 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0215 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=0216 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:C" *n code=0217 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms" *n code=0218 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=0219 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=021A name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=021B name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=021C name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=021D name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=021E name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=021F name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0220 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0221 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0222 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0223 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0224 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0225 name="OnDock:science:Science:ChlThreshTrigger" *n code=0226 name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" *n code=0227 name="OnDock:science:Science:ChlThreshTrigger:B" *n code=0228 name="OnDock:science:Science:ChlThreshTrigger:C" *n code=0229 name="OnDock:J." *n code=022A name="OnDock:K" *n code=022B name="OnDock:L.Execute" *n code=022C name="OnDock:PeriodicCheck" *n code=022D name="OnDock:PeriodicCheck:CheckIP" *n code=022E name="OnDock:PeriodicCheck:CheckIP:A.Execute" *n code=022F name="OnDock:PeriodicCheck:CheckIP:B.Wait" *n code=0230 name="OnDock:N.Docked" *n code=0231 name="OnDock:Detach" *n code=0232 name="OnDock:Detach:A" *n code=0233 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 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Ұ?-?ɫF8@Fe;DVKAVGJ%gJ%LJ%`J!J%%:J%q9J%*5J!m~jt?gfffffֿ㥛 ?m[?m39m=Iiiim"~?V-q= ףp?mS?mm>)mȁBImxBimH;Bm B imaBI}I}F٥ם> >=9?;Q > F٦+Ey > C4Y(?C4yiAf?k:@? 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D4yN>A ӆ? 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?ɫ %@;CSBBH 2Acoustic response timeoutMb@Mb@Mb@ )Ii+?B`"۹? 9=9k=Q > F٦Eyq > Q4Y^f?Q4y*ّBA?:<@?B;[;Q4{B)HAלE*r qrqq=ý 9EIE+9 AɝAiAIE=JJ)JJJ%;J:JJi ) D" 9 EEEEGa 2By :B  O >  2Acoustic response timeout JH BH AAH >H H HI CBI I I &I <*I E2IuʌC:IuʌCBIuʓCJIuI =RIuI =ZIu4@ď,$1?A6]%@Y63@6Ë96=NAHRS rotation from veh to nav: [[-0.910434,-0.295616,0.289346],[0.313727,-0.949357,0.017222],[0.269601,0.106455,0.957070]]y6HF"@^ҿ@?`?!a?%A?@?P?ɫ6]%@6sW;4VBBZHIbIb٥j> jp=9jg=Q j?plp rF٦rEyvL v? x~Q4Yz@R?~Q4yzꡳzB|~z<@?zBz;z;zhQ4 ) ?A *r!q!r!q)q)]XȽ Y]I]9 aɝaiaIer=ii)i"DqDq -2Acoustic response timeoutDc 9Gy2B:B O^>jKUNrK9zKKKnYS]en$~lcbcf{od_pm]lsgXI1a <)Gď,$ 1?A6f%@Y63@6*$96 = F2Acoustic response timeoutFAHRS rotation from veh to nav: [[-0.913333,-0.295886,0.279775],[0.314225,-0.949092,0.022051],[0.259008,0.108052,0.959812]]y6H: ҿ@?D?^??P?`ȶ?ɫ6f%@6%_;6CN?CBN$HR=Rp<IVIV<٥b<> bK=9bdd fF٦fEyj: j> lrQ4Ynm:?rQ4ynnn5Bprx<@r?nBnp:n:nqQ4z~B)zyAx1*rqrqqܥ I9 ɝiI=i)aD9G2BIԙ:B O> E2Acoustic response timeoutJ J &J ;J J ;J 0:J (N4J Թ `QMď,71?A 6N%@Y63@6+π96%=FAHRS rotation from veh to nav: [[-0.916121,-0.295618,0.270801],[0.314252,-0.948950,0.027202],[0.248935,0.110020,0.962251]]y6HPgҿT??]ڛ??G*??ɫ6N%@6;6CJCBJH-Mb@Mb@Mb@) )))I)i)-Mb?V-?T㥛 ?-@?-m=-=)-7AI-$Ai-+A-A )-AIEIEb٥U~> UA=ԙ9 F٦Ey; >  Q4Y ? Q4yNoBA?:r8@?KB;;Q4%B)%A%֜E*r9q9r9q9q9e2= imIm9 iɝqiqI}=iy)Du 9 2Acoustic response timeoutHU>HUCHUHIUCBIQIQIQ&IU<*IU0EG2B:B O>! 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BǼ?@(??ɫV*@Vɉ;VCrJHBvWHI I (1٥-= -M=95G99 EF٦EޒEyMI < M> Q]R4YU?]R4yUPfUuBYe0@e?UBU;U4:UR4mڋB)m՞AmEBrXqff ͕ZAggregate::initialize lineCaptureHoming:Lap:BI ɝiIi)E=E=jK-ߗOrK)zK)K-K-;h3}I r`PF>>UK(RckkZ9pH' }A)eG q)I{AE5 L=GEGEGEGE }2Acoustic response timeoutiG 2B :B  O >ԡ Mď,h2?AF*@YFa8@Fٗ۽9F>NAHRS rotation from veh to nav: [[-0.962021,-0.237625,0.134351],[0.251123,-0.963350,0.094304],[0.107018,0.124461,0.986436]]yFH@@{jοh2? f?@`U$? e?ܿ??ɫF*@Fx;FC^VHBbfHny F٦y; > R4Y^j?R4ybzB1@?B);;ܶR4݋B)ʞAJ5J5J5:J1J55;J5|:J5FA4J1!E@!E@!E@!E@qJ]]fAggregate::initialize lineCaptureHoming:LineCapture1K] ]Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesqK]]JInitialize AltitudeEnvelopeComponent.K] ]DInitialize DepthEnvelopeComponent.K]eJInitialize OffshoreEnvelopeComponent.Le1MeqMeexAggregate::initialize lineCaptureHoming:LineCapture:HoldMassMeMeeInitialize.1Nm mAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyqNH1 H1 H5 7HI5 IBI5 F =I1 I1 &I5 <*I5 E  2Acoustic response timeout 6Œď,ZI 3?A @|HBHMb@Mb@Mb@ )Iigfffff?Zd;L7A`尿3S?y+)AI$Ai$ACA AII٥= F=9Q > F٦y > R4Y EQ?R4y _ }BsT?:4@? KB ` ; X ; R4!)%}A)1aE EAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqaEUEntering Terminal tracking update period 2.000000 s sec at 23.299999 m (mode 0.000000 count ).qaUa]lYkakakake}@im Q@Ju1Lu bsT?bsT?b>@"bͯ4@I ɝiIi)2B:B O= 2Acoustic response timeoutjK-oOrK)zK)K-K-oc[SD8,+$<ti\VNE@73<[{xrg`bgfc_UKE<8329939NUZcglvI &bȌď,)#3?A "2Acoustic response timeout8F[1+@YF&9@Fʽ9F$>RAHRS rotation from veh to nav: [[-0.964512,-0.230182,0.129359],[0.244839,-0.963096,0.111802],[0.098850,0.139506,0.985275]]yFH`GvͿҎ?`V?` ? ;N?V?@_?ɫF[1+@F\;DVHBVHI^I^(٥f*= f_=9jll nF٦lyn< r> t~R4Yv8?R4yv]v~B 45@ ?vBv~;v0;vR4B)%oA%EqM@aMaMUB*** querying acoustic contact ***:pYBpYlakakikiku`7~@zku@1L}qL} bbb"bn45@I ɝiIi)"DD2D*D2By:B O=ԉԹ 2Acoustic response timeoutJa Je Ja Ja Ja Je =h:Ja Ja MΌď,=3?A2J+@Y29@9@292>:AHRS rotation from veh to nav: [[-0.965312,-0.228609,0.126137],[0.243451,-0.962660,0.118395],[0.094361,0.144997,0.984922]]y2H@@ CͿD%?i)? %O?` (???{?ɫ2J+@21Ê;0NHBNHIP)Rp=\Mb@Mb@Mb@ )IiS㥛?{Gzp= ף$F?#)AIăAi AA A) AAII 2٥= ==9* F٦yzj; > R4Yc?R4yY[BF?:79@?B;1;R4B)BAq@a1bl k kkk ~@kQ@qLL b5F?b5F?b5@"b5;79@IA IɝIiIIIiQ)Q2Bi:BH>HHHI=IBIII&IҖ<*IE M2Acoustic response timeout OU=A  2Acoustic response timeout JQ JU BAtՌď,CV3?AI)<6w+@Y6m9@696>BAHRS rotation from veh to nav: [[-0.966407,-0.226187,0.122053],[0.240916,-0.962643,0.123606],[0.089535,0.148859,0.984797]]y6H ̿>?X???` ?`t?ɫ6w+@6m ;6CFHBFHIPIP٥V = Z\=9ZU\\ ^F٦\ybJ; b> djR4Yf?jR4yfYdhni9@n?f&Bf;f.;fR4vB)v6AvEq1brCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1a Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminall k kkk@kLN %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceN%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1O% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideqO%%Initialize.%dInitializing internal variables to default values.P- -Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceP--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1R- -Initialize.qR--Initialize.1Q5U5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceU==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1W= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqW==Initialize.W= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlW=EInitialize.1XEqXE1VE bbb"bki9@jKNrK 9zKKK{vsj\Q=88JzB5wi`rt_O@70**T'_I>70-/4GI<I  ɝ i I i)2B1:BA OU=A e2Acoustic response timeoutqԙ یď,p3?A6G+@Y6Ņ9@696O>ZAHRS rotation from veh to nav: [[-0.967222,-0.225089,0.117540],[0.239571,-0.962334,0.128531],[0.084182,0.152477,0.984715]]y6H`|̿@?B?os??\?ɂ?ɫ6G+@6=;6CbHBfHInIn(1٥v,< vG=9z=Vxx zF٦xyGp;  > !ER4Y%j?MR4y%yW!Y]9@e?%B%<%<%R4ԁB)0AE 2Acoustic response timeoutJ%J% J%9J!J%;J%un:J%c44J!U5 =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceU==Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1V=1W= =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqW==Uninitialize.W= =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlW=1X=qX=PE EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidancePEEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1QE1RE EUninitialize.qRENEEInitialize.EdInitializing internal variables to default values.uPDetached from dock at depth 50.184246 m.lulqlqlulqkqkykyk}~@ bbb"b9@I  ɝiIi)2By:B O>ԩH>HHHI\IBIG =II&I<*I[E2IȉC:IȉCBIJIF =RIF =ZI=4 } 2Acoustic response timeout ݃ď,3?A6į+@Y6B9@6=96,>>AHRS rotation from veh to nav: [[-0.968131,-0.223804,0.112403],[0.237822,-0.962230,0.132490],[0.078506,0.155000,0.984790]]y6H̿ yƼ?p?`r?? ?f?ɫ6į+@6;6CRHBR HuMb@Mb@Mb@q q)qIqiqu"~?S㥛?ˡEu3?u/ F٦y; > S4Y?S4yUBh4?:<@?dB::L S4)ϝAllllllkkk k @ b5h4?b5h4?b5<="b5<@IA A AɝIiIIIiI)Q2B:B O= 2Acoustic response timeout1jKNrK9zKKK40aRD=4.F^ (KA*c;,    PmdM;0$Y ď,If3?A :2Acoustic response timeoutB+@YBy9@B씽9B0">RAHRS rotation from veh to nav: [[-0.968724,-0.223786,0.107206],[0.237265,-0.961860,0.136129],[0.072653,0.157308,0.984873]]yBH@̿q?`^? @l?`k?@"?@?ɫB+@B;BCVIBV@HIbuIb_v٥fˋ= jX=9j~ll nF٦lyr: r> pvS4Yrϼ?zS4yrTrBxz<@z?rBrN:r:ruS4B)AB*** querying acoustic contact ***:pBpl!l!l!l)l)l)k)k)k1k5@:@ bQbQbQ"bU&<@Iq  ɝiIi)9aD] 9"e4Initializing EZServoServo. -2Acoustic response timeoutԡJE JE JE ;JA JE M;JE ~o:JE (N4JA "M 8Initializing DockingStepper.2BY :Bi  O} >Թ ď,cB3?A>+@Y>9@>[9>%>FAHRS rotation from veh to nav: [[-0.969559,-0.222673,0.101841],[0.235645,-0.961558,0.140990],[0.066531,0.160697,0.984759]]y>H` ̿8?)? ?)?? %?ɫ>+@>x;>CNIBNXH-Mb@Mb@Mb@) )))I)i)-E?Zd;O?:v-&?-j<=-T)-AI-ZAi-ЅA-A )-AIE[IE:٥UE:= UB=9]nYa eF٦aye7; m> q}S4Yu?S4yumSuB'?:x>@?uyBu;u:u6&S4B)AEllllllkkkk`@H>HHHIIBIF =II&Iז<*IEԙ b'?b'?bx="bx>@I  ɝiIi) }2Acoustic response timeoutD "9ԹEJM=2B!:B1 OM> % 2Acoustic response timeout! ď,3?A6+@Y6#9@6bJv96>(>BAHRS rotation from veh to nav: [[-0.970251,-0.222230,0.096054],[0.234524,-0.961227,0.145057],[0.060093,0.163268,0.984750]]y6H`L @ r̿?@?_8?Į?? ?ɫ6+@6gQ;6CF6IBFzHIrlIr)٥z= zQ=9z|| ~F٦|yHR; > S4Y ͐?S4y VR B>@? 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Q}W4YUL ?W4yUM,U.B2?UCU;Uf:UWW4)QAB*** querying acoustic contact ***:pBplllllkkkk[@ b!b!b!"b%=C_@IQ Y YɝYiYIYia)aԑDQF "F*F2F0:F2B:B O$>  2Acoustic response timeoutjKQPrK۵9zKKK  M]E/ "% $JuyobTG:1+%%8`rcS2K*KrA 9 ;ď,Z,;?A 22Acoustic response timeout6@@Y6 N@6z9?>96mO>JAHRS rotation from veh to nav: [[-0.978688,0.050281,-0.199104],[-0.087756,-0.978975,0.184136],[-0.185659,0.197684,0.962524]]y6HhQr?@<|ɿ`5w S ő?`ǿ`M?@?ɫ6@@6/ҋ;4nKBnHIveIv]٥~5= F=9YQ >   F٦ y :W  > W4Y ?%W4y,B!%2%?C+;;dW4))-+A1lQlQlQlQlQkQkkk ß@ b)b)b)"b-fB_@Ia a iɝiiiIiii)Dm9ZHRH=H>HHDHIJBIA =II&I<*IEF"F*F2Fr3:F 2B:B) O5.>a 2Acoustic response timeoutԉ jď,L;?A2y@@Y2N@22g<>92˓Q>HNAHRS rotation from veh to nav: [[-0.979263,0.049629,-0.196419],[-0.087019,-0.978577,0.186586],[-0.182951,0.199809,0.962603]]y2HV`h?B$ɿFP ?@jǿ@Y??ɫ2y@@2>;2CZ$LBZHiE5(>IE{C)gG )I꿙:AMb@Mb@Mb@ )IiMb?Zd;@>y)I{AiEA  AIeRIe4٥u= u4=9}KǻQ }>yy }F٦yy( > W4Y ?W4yI-BdJ>;>?C::tW4B)˙Alllllkkkk 3@ bdJ>bdJ>b/3"bJS@I  ɝiIi!)! m2Acoustic response timeoutD9Je JeFJe:JaJe9;Jeǔ:JeFA4JaJei<Jei<Je;Je;F5 "F1*F12F55:F12BA:BY OeV>  2Acoustic response timeoutď,3;?A2@@Y2N@29>92JQ>>AHRS rotation from veh to nav: [[-0.979767,0.049499,-0.193923],[-0.086495,-0.978499,0.187238],[-0.180485,0.200223,0.962983]]y2H@Z W?xȿ`$`Om?%ǿ? ?ɫ2@@2Hp;2CFBLBF8HiHIJAIJ=)Jp=IRgIR٥V= Zm=9ZKQ Z?\\ ^F٦\yb,ۺ b? dfW4Yf ?jW4yf-fBhj>j?fCfB:f:fӀW49)=AAlllllkkkk@@ bbb"b@S@I  ɝiIi ) jKNrK9zKKKJB900:LLD90(#!.:;3050+%  !  +;5'  DM9IF"F*F2Fp5:F2B:B O )> }2Acoustic response timeoutqJqJup=ԡ H >H H HI KBI I I &I <*I NE$xď,;?APExceeded connect timeout, disconnecting. r@@Y N@ l7>9  pP>yAHRS rotation from veh to nav: [[-0.980207,0.050032,-0.191551],[-0.086318,-0.978739,0.186064],[-0.178169,0.198915,0.963685]] 2Acoustic response timeouty H@]՝?`ȿQ?@ƿ v??ɫ r@@ #(; ubLBu`HeMb@Mb@Mb@a a)aIaiaebX9?v/eE6>eLexi)eAIe{AieAeMxA aeAI}mI}F٥= $=9뚻Q > F٦y > W4Y ?W4y=-ۋBF>;D@@?%C ; ;7W4)OAlllllkkkk @ bF>bF>bL@"b+D@@I! i iɝiiiIiiq)qԡDȄ9F"F*F2F1:F2B):B9 OMs>  2Acoustic response timeout J J GJ J J t4;J K:J J J <J <J ;J ;ď,l;?A>n@@Y>N@>!5>9>|N>bAHRS rotation from veh to nav: [[-0.980664,0.050067,-0.189183],[-0.085633,-0.979039,0.184795],[-0.175966,0.197423,0.964396]]y>Ha]?)7ȿ쵿IT`? ƿ%E?U?ɫ>n@@>M;>CfLBfHIr[Ir:٥v#> v=9zQ z ?x| ~F٦|y  ? 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Y4y+B  C@ ?LC9::[}Y4!)%A! E2Acoustic response timeoutlQlQlQlQlQlQkQkYkYk]@ bybyby"b}C@I  ɝiIi)YD)G 5`wAF}6"Fy*F2F0:F2B)I9`wA3B:B O )>ԁԩ 2Acoustic response timeout ܏ď, u??AI)<2>@Y21L@2-l >92N>>AHRS rotation from veh to nav: [[-0.989282,0.031125,-0.142664],[-0.058477,-0.979699,0.191755],[-0.133799,0.198042,0.971019]]y2H 2Wߟ?B¿`@Yj?U oY??ɫ2>@2DI;2CFOBFJHmM@U qU@U uU@U iU@U I]MI]٥m= mB=9m Q m>qq uF٦qy}q: }> Y4YU ?Y4y*wB+:r;C@?]C;>HY4)FA4Docking module at standby.lllllkkkk@@I  ɝ i I i)ԱD9 U2Acoustic response timeoutF"F*F2F0:F2B:B O >  2Acoustic response timeoutjK x*OrK 9zK K K , ~kVE=7631168:cW91Mv9 ď,i??A2>@Y2L@2F>92TN>:AHRS rotation from veh to nav: [[-0.989414,0.030582,-0.141862],[-0.057900,-0.979557,0.192657],[-0.133070,0.198831,0.970958]]y2HGP?(¿@ X`?o@Js??ɫ2>@2̋;2CBOBBrHIJ[IJ:٥R.= RX=9RQ V>TT VF٦TyZ̺ Z> \bY4Y^P ?bY4y^*^eBb :`bD;fC@f?^kC^ ;^ M?^Y4h)jAhvB*** querying acoustic contact ***:ptBpt~8Undocking sequence complete.qO~JmJmJiJiJm7;Jm:JiJi1Plkkkk꯲@ZH<RHpHHHI OBI> =II&IE<*IEDU9F6"F*F2F0:F2B:B9 OU2>9YY e2Acoustic response timeouti ď,D??A :>@Y:#L@:\>9:N>BAHRS rotation from veh to nav: [[-0.989487,0.031688,-0.141107],[-0.058849,-0.979489,0.192711],[-0.132106,0.198989,0.971057]]y:H\9?¿ }!W ª?zx??ɫ:>@:-ߋ;8NOBRHV4=Vp; TTm=m= q=qE uEuE iEiE EMb@Mb@Mb@A A)AIAiAE{Gz?K+ηE#>E^Ev)AIEXmAiE9AEpqA AEzAIUI٥= 6=9  Q  >   F٦y ; > %Y4Y>K ?%Y4y*GB-T:--S>-;-/@-?~Cb;T:Y4=B)=A=EeHTransitioning to midcourse guidance.1PeqPmlikikikiku X@ b-S>b-S>b@"b/@I ɝiIi) 2Acoustic response timeoutiD9EEEEԙ2Bi:By O|> m 2Acoustic response timeout%ď,!??A>}>@Y>L@>>9>O>FAHRS rotation from veh to nav: [[-0.989606,0.032041,-0.140187],[-0.059089,-0.979363,0.193280],[-0.131101,0.199555,0.971077]]y>H@۪g?`@Vi?`??ɫ>}>@>#;>CPVPBVHI^QI^٥f = fa=9j6Q j>hh jF٦lyn(: n> pvY4YrF ?vY4yrx)r/Bxz/@z?rCrB:r|:r`Y4|)~rAl-@qP--Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1O- -Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockl)k1k1k1k5`@ bQbQbQ"bU/@Ia iɝiiiIiii)qD5ҟ92BI:BY O= 2Acoustic response timeoutjK=OrK=`9zK9K=K=x~qhbZezt }j^TIESuBKM>:KM?J}J}RJyJyJ}0;J}:JyJyH>HCHHIdOBIB =IID&I;<*IE) ď,???A2>@Y2L@2׍>92]P>:AHRS rotation from veh to nav: [[-0.989726,0.032484,-0.139241],[-0.059406,-0.979239,0.193809],[-0.130054,0.200089,0.971108]]y2H իౡ?mjU ? ?`P?ɫ2>@2(;2CvPBvH|II<٥= F= %2Acoustic response timeout9%&Q %>)) -F٦)y-.E: 5> 9=Y4Y=A ?EY4y=(=BAE/@E?=C=:=:=޼Y4I)U=AQPu uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidancePuuAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1Ru uInitialize.qR}}Initialize.1Q}P}qR"ml1RlNavigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1QR :Initialize WaypointComponent.=ZNavigating to waypoint: 36.779130,-121.859630lkkkk` @ bbb"b/@ɞHBc > @I ɝiIVi)AD2BY:B O>)Y 2Acoustic response timeoutԉ ď,Q??A2>@Y2L@2q>92ǞP>>AHRS rotation from veh to nav: [[-0.989829,0.033225,-0.138327],[-0.060019,-0.979103,0.194308],[-0.128980,0.200634,0.971138]]y2H@?`ϺT@? l`b??ɫ2>@2o;0^;PB^ Ii`I`If=)fp=ԙUMb@Mb@Mb@Q Q)QIQiQU/$?:v&1U>UԽUн)UAIUkAiQQ QU(AII٥= ?=9&Q > F٦yڻ: > Y4Yq< ?Y4y'BSX>{;*@?C\(;';Y4 ) A 5ZNavigating to waypoint: 36.779130,-121.859630Zm1Rm5~bm=SW?jm=2"m9l9l9l9kAkAkAkE @ bmSX>bmSX>bm?@"bmق*@ɞZ> 靅[@I 3:ɝiI?RP,W:ɣIZ?ii >)8m 飝8m )Du92B:B O= -2Acoustic response timeout  2Acoustic response timeoutjKU OrKU 9zKQ KU KU xlifc`YQI@600F^b_YdhSE:34@E>F;5Jkď,@?A2K:sA*K:sAB>@YBL@BO>9BQ>bAHRS rotation from veh to nav: [[-0.989968,0.033385,-0.137294],[-0.060086,-0.978917,0.195221],[-0.127882,0.201512,0.971102]]yBH`Э?ے`îIS?r^`(?@D?ɫB>@B;BCjUPBjIIzIzb٥?= W=9 ?Q  > F٦y%a#9 %> J1J5AA )EY4Y-7 ?EY4y-A'-ڇBIM*@M?-C-U;-5L;-Y4Y)]ΑAaB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk@H>HHxHIOBIIID&I<*IfE2I :I ˆCBI JI B =RI A =ZI 5 bbb"b*@ɞHB> @I Fb;ɝiIe,+ɣxI?ii)g g )D92B1:Bi Ou>! -2Acoustic response timeoutQq $ ď,*@?AF4?@YFM@Fs>9F֯Q>NAHRS rotation from veh to nav: [[-0.990077,0.035086,-0.136076],[-0.061526,-0.978816,0.195280],[-0.126342,0.201715,0.971262]]yFH൮?jO@uR?`+`? ?ɫF4?@Fw;FCZiPBZ*IMb@Mb@Mb@ )Ii7A`?S㥻)\(>/ݽG)IjAiݍA AIIF٥8= @=9oQ > F٦y;_; > Y4Y#3 ?Y4yk&BZ>y;i(@?C ;` ;Y4)AZm Rm bm jm "m lllkkkkZ@ bEZ>bEZ>bE"ɴ@"bE4i(@ 2Acoustic response timeoutԙɞ(> U@I n;ɝiI_,!ɣuI 3?i i ) h h )1D Jm*Jm?JiJiJmA;Jm&:JiJiJm( M 2Acoustic response timeout ď,>xD@?A2-?@Y2#M@2,T>92Q>>AHRS rotation from veh to nav: [[-0.990147,0.036952,-0.135068],[-0.063131,-0.978764,0.195029],[-0.124993,0.201634,0.971453]]y2HH[?`I`) R@?$?$?ɫ2-?@2o;2CFjPBHN`` bF٦`yb; f> dnY4Yf. ?nY4yf%fBln(@n?fCf;f;fY4vB)vAtZmYRmYbmYjmY"mYlYlalakakakakm`@ bbb"bˍ(@ɞHBX > o@I U;ɝiIt,#ɣ'IlD?ii)i i ))D E9 2Acoustic response timeoutjKuOrKuU9zKqKuKu_DH_L*sbWQNS_aa_\\RHGHLOMQZagioulZNDG-"5;JQJU=G  A2BH->H)H-HI-OB:BQ Ou>I-A =I)I-D&I-<*I-iEA 6ď,B^@?A 6[?@Y6RQM@6=96FP>BAHRS rotation from veh to nav: [[-0.990147,0.040116,-0.134160],[-0.065938,-0.978790,0.193967],[-0.123533,0.200902,0.971791]]y6HI&?%,M᰿>R?ٟ+??ɫ6[?@6 ;6CFPBJ=IIRIR(1٥Z:= ZK=9ZoQ Z>^L?^L? ^F٦^Eyb; b> dnZ4YfR* ?rZ4yf$fBtv(@v?fCfސ;f;fZ4  2Acoustic response timeout)zAZmYRmabmajma"milililqkqkqkk@(@ɞEHBE> AE`@IA M~i <ɝIiIIMz׹u,u"ɣuCI}'?ii) i 飍 i )qD{9G/C<G2B:B O J>ԙ 2Acoustic response timeout J;G4J;P4J;k0Jm Jm 9Jm ;Ji Jm 6;Jm :Jm (N4Ji Jm <Jm <Jm m;Jm m;`ď,ex@?A2 ?@Y2yM@2z=92O>>AHRS rotation from veh to nav: [[-0.990172,0.042969,-0.133093],[-0.068380,-0.978871,0.192704],[-0.122000,0.199911,0.972189]]y2H|?- _@R?h;஖? 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P?ɫFjw@F=;DbNBb:HIjIjV٥r_ rS=9vx;Q v>tt vF٦vEyz= z> |]4Y~?]4y~Z~~B  ?~cC~R:~:~]4)#A-B*** querying acoustic contact ***:p)Bp)Zm9Rm9bm9jm9"mAlAlAlAkAkIkIkM`qв@ɞqu> y}x?Iy E>ɝiIȲ^Aɣ>Iii)飭)"DDԑD9 2Acoustic response timeoutG7JG2B!:BAJJJJJ;J]:JJ O> ď,G?AnNBnHipIpuMb@Mb@Mb@q q)qIqiquB`"?w/ĿCl绿u?u&u;߽)uAIqiquE|A quAII ٥: >=9Q > F٦Ey > ]4Yߤ?]4y_~Bi?:p?C::]4(B)AEZmRmbmjm"mll l kkkkв@ =2Acoustic response timeoutɞt> Q?I ޶>ɝiIXG:B Aɣ>ILii)LL) D9!H>HHHIfNBIB =II&IC<*IEG?OG2B:B  O >I  2Acoustic response timeoutJ} C=J} %=uď,G?A:z@Y:z@:}=9:=y>BAHRS rotation from veh to nav: [[-0.538005,0.782702,-0.312934],[-0.834896,-0.545960,0.069837],[-0.116188,0.298840,0.947204]]y:HV7 ?Կwx?y0 ?~O?ɫ:z@:0;8nTNBnHIMIM0٥` K=9 F٦Ey> > ^4Y_?^4y%c3~B?C1:: ^4)AZmYRmYbmYjmY"mYlalalakakakikKѲ@IɞY]{r> Ye?Ia ej">ɝaiaIe<)i B; AɣO>IPwii)Pw飵Pw)D&9 E2Acoustic response timeoutyjKNrKh9zKKK.,#  #q|pf[TYeuviYnX:v /BK?:K ?G/EG 2B :B ԡ  O >(ď,G?AI"<)"<< R2Acoustic response timeout]!NBeHJMJM JM:JIJMm;JMun:JMFA4JIII٥J :=9Q > F٦Ey > I]^4YMa?]^4yMgM}BYae?MCM]?;M6;M^4m-B)msAiZmRmbmjm"mlllkkkk`Ѳ@ԩɞr> 7?I "s>ɝiIty;Aɣw3>IJii)JJ)D89 U2Acoustic response timeoutG% 7JG 2B :B!  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B? p'@U??ɫ:@:٥;:tCn=BnHIvIvb٥SW t=9Q ?    F٦ &Ey Ҁ ? %f4YVK?%f4y%dB!%]>%?+9C;;+Mf4))5#A1ZmaRmabmajma"malalalikikikikm @yɞ޽ 靥!I =ɝiI Ԥ<>od@ɣ6>I}=ii)}=飽}=)ԡ 2Acoustic response timeoutG6=G2B:B Og>i} u&>I} qC) G ) IU Q U A @ A JH! BH% AAH- >H- CH- HI- >BI- ; =I) I) &I- /<*I- E˕ď,a.W?A6@Y6 0P>6ջ<96*=BAHRS rotation from veh to nav: [[0.979077,-0.199592,0.039645],[0.201843,0.977283,-0.064637],[-0.025844,0.071287,0.997121]]y6HT? :ɿ^L?`?@E? v??@j?ɫ6@6l;6sCJ=BJHIRIR?1٥^Ή< ^O=9b5Q b>`` fF٦f)Eyfcλ f> h r2Acoustic response timeoutvf4YjD_?vf4yj$j:dBxz#>z?jm9CjӅ;j7;jZf4}wB)}A}EZmRmbmjm"mlllkkk k `j@ɞ9Ez AED!IA MG=ɝIiIIM-֡U>UW@ɣU ,>I]`&U=iYiY)]`&U=]`&U=)aGmR= Gm=jK  OrK S9zK K %K ~ul\VPIB@=<Qjih B#%%#G{2!{bM2BK%>:K%>GM=GA2BQ:Ba Om> 9 2Acoustic response timeoutJ J 3J 9J J T1;J :J c44J J <J <J ;J ;a ҕď,|HW?A%=B%~HMb@Mb@Mb@ )IiMbX9?kt?Zd;O?!? 0>j<)AIAiA&A AIIF٥) 8=9Q > F٦+Ey >  f4Yu? f4yCdB'?:n>?9C&;i%;yjf4-sB)-A)9MB*** querying acoustic contact ***:pIBpIZmQRmYbmYjmY"mYlYlYlakakakake@ɞ2 靕q"I =ɝiIĞ>G@ɣ;>I&=ii=)&=飵&=) 2Acoustic response timeoutaG=:_=GAGAG2B:B1 OE>ԑ  2Acoustic response timeoutԹ 1ؕď,^bW?A "@FX@YF tH>F~<9F4=NAHRS rotation from veh to nav: [[0.980698,-0.192737,0.032911],[0.194467,0.978965,-0.061722],[-0.020323,0.066931,0.997551]]yFHa?@ȿ٠?`O?S?tϔg"?@?ɫFX@F;FtCV=BVfHIbIb1٥fSU j^=9j vQ j>hl nF٦n.EyrM r> pzf4YrQ?zf4yrrKdB|>?r9Cr+Z;rz[;rSwf4 ) BA Zm1Rm1bm1jm1"m1l9l9l9k9k9kAkE2@ɞimϽ qu#Iy =ɝiI֛5>;@ɣ>Ig=ii)g=飕g=)Guw=ԡGI2BY:Bi Ou=HHHHI >BI: =II&I<*IEԹ 2Acoustic response timeoutjKe OrKe ػ9zKa Ke &Ke |fNZX%{h_N<,w^]c]SF951-'$##"%$&%"&7BFNWYWTOGB2Kq *Ku tA E^ޕď,C|W?A=BXH 2Acoustic response timeout5Mb@Mb@Mb@1 1)1I1i15)\(?MbX9?y&1|5G!?5!>5`)5ȫAI1i11 15fAIMIMb1٥eȽ e'=9mQ m>ii uF٦u1Eyu u> yf4Y}?f4y}W}GdBH&?:">?}F:C} ;}i ;}jf4B)AEZmRmbmjm"mlllkkkk@ɞyJJ4JJJl-;Jr:JJJ<J<J;J;락 靥d$I Ω=ɝiI-|>*@ɣdr>I % 2Acoustic response timeout#Cď,MW?A:9@Y:=>:Xz<9:z=BAHRS rotation from veh to nav: [[0.982786,-0.182874,0.026258],[0.184116,0.981231,-0.057337],[-0.015279,0.061184,0.998010]]y:Hr?`ghǿ@E??=f?B[J S??ɫ:9@:|9;:qCJ=BJ3HIVIV٥b b=9bYQ f ?dd fF٦f3Eyjy j ? lrf4YnF?rf4yn nDdBpv>v?n{:Cn:np:n~f4x)zAxZmRmbmjm"mlllkkkk@ɞ@ K&I o=ɝiI T> @ɣ :=I 8ԡ H H H HI >BI I I &I =<*I Emď,,W?A6@Y6 T6>6K<96(m=@FAHRS rotation from veh to nav: [[0.984114,-0.176111,0.022461],[0.177102,0.982668,-0.054755],[-0.012429,0.057863,0.998247]]y6H}?Њƿ?I?`r?@ Rt`B??ɫ6@6NI;6tCN=BNHIZIZ#٥b] bJ=9fQ f>dd jF٦j6Eyj j> r2Acoustic response timeout pvf4Yr?zf4yr: rBdBxz>z?r:CrW:r:rf4~B)AEZm)Rm)bm)jm1"m1l1l1l1k9k9k9k=h@ɞimg=ڽ im'Ii u@=ɝqiqIuz>k@ɣE=I:ii)::)G2B:BjK--OrK-9zK)K-'K-AIWZYWKMPPJB>B_mK-!'1;Vnuod]VTPNMLKF>7541/)$!RBK=>:K=> OE=ԩ 2Acoustic response timeout "Vď,W?AN@YN@.>N$<9Nh^=VAHRS rotation from veh to nav: [[0.985392,-0.169222,0.019138],[0.170004,0.984076,-0.051889],[-0.010053,0.054385,0.998469]]yNHU? ſ@??}? 1Kث? v?ɫN@N3;NoC^o=B^HlUMb@Mb@Mb@Q Q)QIQiQU%C?L7A`?X9vUZ$?U+>U)U+AIUAiUAU+A QUAImIm(*2٥} J ?=9絻Q > F٦8Ey > f4Yt?f4y5dB'?:z>?;C:M:f4B)!AB*** querying acoustic contact ***:pBpZmQRmQbmYjmY"mYlYlYlYkakakake@ɞ:ɽ  )I m=ɝiI.9>@ɣ)=I ii)  ) G!G! 2Acoustic response timeoutG2B :B O5 >1a  2Acoustic response timeout~ď,W?A6I@Y6&>6;96 T=>AHRS rotation from veh to nav: [[0.986770,-0.161344,0.015931],[0.161947,0.985541,-0.049822],[-0.007662,0.051743,0.998631]]y6H?`ĿP? ? ?>@b~?@?ɫ6I@6s;6qCFX=BFHJ! %F٦%;Ey% %> )5f4Y-?5f4y--)dB9AE;>E?-H;C->;-L?;-7f4I)MMAIJeJe.Je:JaJet4;JeV:JeFA4Ja!u@!u@!u@!u@ZmRmbmjm"mlllkkkk:@ɞ^ q*I W=ɝiIug> ?ɣ=I 옼ii) 옼 옼)G2B:B O=iH}>HyH}HI}=BIyIyIy&I}&<*I}E2I5ċC:I5ċCBI1JI1RI1ZI584 2Acoustic response timeoutԑjK YNrK S9zK K (K vS9':ow_K@4*&" E$_oRG@72/*(%LwB'2K *K ď,YW?A DF@ԙx@Y+> g;9zNJ=AHRS rotation from veh to nav: [[0.988079,-0.153392,0.013059],[0.153847,0.986931,-0.047933],[-0.005536,0.049370,0.998765]]yH@X?`Vÿ?B? ?٬v G?`?ɫx@$;髽sC%0=B-H U2Acoustic response timeoutMb@Mb@Mb@ )IiE?kt? ףp= &? =Q8)ZAIiAA AII(1٥ %=9Q > F٦>Ey > f4Y?f4ydB(?:>?;C;6;lf4|B)AEZmRmbmjm"mll!l!kikikikm@ɞƽ 靽,I Γ=ɝiIn>?ɣw=IP ii)P P )G2B!:B1 OEQ>  2Acoustic response timeout ď,WX?A6#@Y6>6\;96==BAHRS rotation from veh to nav: [[0.989479,-0.144326,0.010029],[0.144635,0.988445,-0.045356],[-0.003367,0.046329,0.998921]]y6HЩ?Gy¿?f?W?8ؔkj?@(?ɫ6#@64;6qCR=BRHIZIZV٥b/ f=9fQ f?dh jF٦j@Eyj j? lrf4Yn?vf4yn:ndBtv>v?n;CnS:n:nf4zxB)zijA|Zm!Rm!bm!jm!"m)l)l)l)k1k1k1k5 @ɞb C< /I  F=ɝ i I 5 >=j?ɣ==I=h#i9i9)=h#=h#)AG12B9:BQ O]=! m2Acoustic response timeoutJ}J}>J}9JyJ}4.;J}:J}c44JyQJHa BHe ?AHi Hi Hm @HIm =BIi Ii Ii &Im !<*Im Ey ׼ ď,6;1X?ABp@YBs >B=:9BxE7=JAHRS rotation from veh to nav: [[0.990741,-0.135568,0.007366],[0.135762,0.989758,-0.044138],[-0.001306,0.044729,0.998998]]yBH%?NZa+~?@`??8 gU?`?ɫBp@B;@R=BRzHiTIT\^A b2Acoustic response timeoutIZIZ(٥jC jI=9n'Q n>ll rF٦rCEyr r> tzf4Yv-?zf4yvZvcB|~w>?v}?ɣʆ=IX`;ii)X`;飝X`;)QG2B:B O=jKNrKH9zKK)KrjdZawF- )p+#Q#;I>&|zxsmoy 2Acoustic response timeoutԹ ď,KX?AI<)<66)@Y6@>6֮3964=>AHRS rotation from veh to nav: [[0.991889,-0.127015,0.004924],[0.127109,0.990921,-0.043812],[0.000685,0.044082,0.999028]]y6H? B8+t?E?`?|nuF?@??ɫ66)@6ؠ;6rCN)) -F٦-EEy59 5> 9Ef4Y=`F?Ef4y==cBE;+?E:MH'>M?=^]Ґ?ɣe_g=Ie`ii)`飍`)Gy2B:B O=> } 2Acoustic response timeout9 ď,dX?A6@Y6=60696%5=BAHRS rotation from veh to nav: [[0.993082,-0.117400,0.002448],[0.117392,0.992091,-0.044432],[0.002788,0.044412,0.999009]]y6H@S? @J d?`h ?5? տf?4??ɫ6@6@;6nCJ`` bF٦bHEyf߼ f> hng4YjFZ?rg4yjjcBprF>r?j*|?ɣI=I \}ii) \} \})H>HHHIs=BIII&I<*IcEA 2Acoustic response timeoutEh%<G2B:B O>i jKE OrKE S9zKA KE *KE xl_PB:1) B*|IvgorbW[d`Q>3'@ď,m~X?A %C@Y%I=%9%)8=uAHRS rotation from veh to nav: [[0.994105,-0.108421,0.000353],[0.108325,0.993079,-0.045379],[0.004569,0.045149,0.998970]]y%H`?v'7?/?@N?;r? ??ɫ%C@%<;%qC F٦KEyR > g4Y/w?g4yacB -? : = ?YK?ɣ4"=IՑii)Ց飝Ց)Eh<GY2Ba:Bq OZ>Թ  2Acoustic response timeout %ď,X?A 2=@Y26=292}9=>AHRS rotation from veh to nav: [[0.995106,-0.098784,-0.002364],[0.098573,0.994078,-0.045745],[0.006869,0.045288,0.998950]]y2H?I^c>-?ɣ#1 =I\ii)\飽\) EEEE M2Acoustic response timeoutG2B):B9 OMR>J] J]EJYJYJ]+;J]B:JYJYZH <RH 4<H >H H HI @=BI I I &I T<*I EA 5 ,ď,{X?A6@Y6@]=696?=BAHRS rotation from veh to nav: [[0.995955,-0.089730,-0.004701],[0.089410,0.994875,-0.047224],[0.008915,0.046613,0.998873]]y6H?`As@??- A?ݧ??ɫ6@6@;4F`` bF٦bOEyfᄐ f> hng4Yj]?ng4yjjcBpr=r?jn=Cj!.;jA;j.g4ziB)zVAxZmRmbmjm"mlllkkkkv@ɞ!%b )-5I) -@h=ɝ)i)I5Jc=M>= ?ɣ=^ F٦REy > g4Y?g4yzcB .? : < ?=C]:f:7>g4eB)gAE5B*** querying acoustic contact ***:p1Bp1ZmARmAbmAjmA"mAlAlIlIkQkYkYk]@ɞ 靍6I e)_=ɝiI7\z>ɣȞԩ e 2Acoustic response timeout9ď,a4X?ABU@YB!=BFi9BB=JAHRS rotation from veh to nav: [[0.997423,-0.070916,-0.010891],[0.070312,0.996352,-0.048365],[0.014282,0.047475,0.998770]]yBH@?@'AN@?`?Mè??@N?@?ɫBU@B;;@Vll nF٦nUEyrϼ r> tzg4Yv?zg4yv{vcBxz#z?v=Cv:v;vKg4)A JJZm9Rm9bm9jm9"m9lAlAlAkAkAkIkM@B@ɞq}j y}7Iy }V=ɝiITU^>L>ɣjZARbcc2K *K sAY @ď,Y?AZ@YZw=Z!9ZC=]AHRS rotation from veh to nav: [[0.998018,-0.061235,-0.014478],[0.060464,0.996978,-0.048786],[0.017422,0.047813,0.998704]]yZH@?7Z¦`?`=?@j ב?{?b?ɫZ@Z$;ZoC -2Acoustic response timeout9ai F٦XEyˬ > g4Y?g4ycB+?M>C%:2:v[g4bB)qAZmYRmYbmYjmY"malalalkkkk @J5 J55J1J1J5(;J5:J1J1J5}=ɣ}Cu;I}Пֽiq}"=i)Пֽ飥Пֽ)aG2B:B OB>ԉ  2Acoustic response timeoutԹ -Fď,Y?A~ F٦ZEy > g4Y?%g4ycB%C.?%:%%?>CZ;;hg4-^B)5WA5EZmQRmQbmQjmY"mYlYlYlYkakakake`@ԑɞ) 靭6I B=ɝiIi#Ggb>ɣ׸IPiw"=i)P飽P)G2B:B O> -2Acoustic response timeoutJ5R=J5a=H >H H xHI =BI I I &I $<*I E2Iq:IqBIqJIqRIqZIuY4 YLď,>3Y?A6g@Y6@)=6aļ96<= B2Acoustic response timeoutVAHRS rotation from veh to nav: [[0.998859,-0.042370,-0.022019],[0.041298,0.998038,-0.047057],[0.023970,0.046094,0.998650]]y6H?`B@$??@`???ɫ6g@6;6pC^xx zF٦z\Ey~Q ~>  g4Y|? g4ycB  B?>C:::ug4[B)WɣyI)iU"=i))飭))G2B:B O=jKPrK]9zKK-K{1~{wmd^VLD<AL[#]  v$o^`st?zNBK ?:K? =2Acoustic response timeoutI JU JU :JU 8JQ JU ';JU :JU '4JQ JU <JU <JU S;JU S;1?Sď,EMY?A6@Y6=6}9޼96<=>AHRS rotation from veh to nav: [[0.999131,-0.032886,-0.025624],[0.031660,0.998400,-0.046848],[0.027124,0.045996,0.998573]]y6H?h֠@2=@5??e`Pƛ?@? P?ɫ6@6T;4@^ F٦_Ey< %> )=g4Y-O,?=g4y-[-cB=+?E:E E?-?C-[;-n;-g4Q)UAQ}B*** querying acoustic contact ***:pyBpyZmRmbmjm"mlllkkkk@@ɞimza quL5Iq u:\/=ɝqiqIu9}X>}}ɣQKIiC#=i)飅) 2Acoustic response timeoutԱG2B:B O )> E 2Acoustic response timeoutikYď,0gY?A6~@Y6b<6Y96==>AHRS rotation from veh to nav: [[0.999276,-0.024137,-0.029415],[0.022739,0.998638,-0.046950],[0.030508,0.046247,0.998464]]y6H@?IH??` `=??j?ɫ6~@6%;4^xx zF٦zbEy~}Ǽ ~> %g4Y@?-g4ycB9E7E?Y?C;;];֑g4MXB)MAMEZmiRmqbmqjmq"mlllkk!k!k%N@ɞK' 靕 5I &=ɝiIT2DO>ԶɣwCI^i#=i)^飭^)HYHYH]HI]=BIYIYIY&I]<*I]EG2B:B O= 2Acoustic response timeout1Y jK LOrK ػ9zK K .K 2% "@NMIGA=CIWedYF5& 4LY[TNT{%  iV^k_J:/&(2K! *K% rA/Q`ď,TY?A:w@Y:^<:L 9:Q@=AHRS rotation from veh to nav: [[0.999338,-0.015163,-0.033080],[0.013586,0.998784,-0.047390],[0.033758,0.046909,0.998329]]y:H? `ҋ? ?@wC@H?`r?N?ɫ:w@:Y;:oCAM=9Q > F٦dEyk 2Acoustic response timeout > g4YZ?g4ycB _] ??C6}<w<ݡg45TB)=A=EZmyRmybmyjmy"mlllkkkk@JJ5J:JJ/;J:JFA4JJ<J<J;J;iɞQm qu4Iq uQ=ɝqiqIu0,V@>Uɣ_ɼI i #=i) 飍 )Ga2Bi:B O:>ԑ  2Acoustic response timeout {fď,/2Y?A6\B@Y6;6w96^B=BAHRS rotation from veh to nav: [[0.999307,-0.007264,-0.036500],[0.005520,0.998849,-0.047638],[0.036804,0.047404,0.998198]]y6H@S?@}@v??dע?JE?  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F٦ Ey  > j4Y?%j4y7iB%?%:%%?ZMCQ:Z:j45̊B)5A5E U2Acoustic response timeoutZmYRmabmajma"malalalikikikiku@#-@ɞw = 靝I MɝiIc;5z>5ɣ5I=˾i='+=i9)=˾iE˾)iG2B:B O>ԑԹ  2Acoustic response timeoutH} >Hy H} HI} ABIy Iy Iy &I} <*I} E J J @AJ J J J J $;J z:J J J `~!! %F٦%Ey- -> 15j4Y5%?ej4y585iB?5MC5 <51<5j4ˊB)PAB*** querying acoustic contact ***:pBpZm Rmbmjm"m1l1l1l9k9k9k9kE-@ɞ6.A 靍DI 4ɝiID;>ɣPI̾i,1+=i)̾飽̾)G2B:B O> m2Acoustic response timeoutA ļ×ď,_?A:7@Y:@:9:=FAHRS rotation from veh to nav: [[0.923706,0.361213,-0.127644],[-0.367101,0.929838,-0.025260],[0.109564,0.070191,0.991498]]y:H`??V~׿`;?ݙ` ? ?Z?ɫ:7@:,;8N@BNVHIVIV f2Acoustic response timeout٥f< jM=9jpպQ j>ll nF٦nEyr r> tzj4Yv?zj4yv:v8iBxziz?vMCvf:vL ;v~j4);AZm)Rm1bm1jm1"m9l9lAlAkAkAkIkM@-@ɞF 靕I ߇ɝiI;$~>ɣdI|mξi:+=i)|mξ飵|mξ)G2B:B O=jKOrK 9zKKDK^RGAA\zx|x<VtpB+}Iy u2Acoustic response timeoutԡ Nɗď,)_?A6G޵@Y6ټ@6/96툎=>AHRS rotation from veh to nav: [[0.922381,0.364477,-0.127942],[-0.370222,0.928644,-0.023581],[0.110218,0.069117,0.991501]]y6H%?S?g`׿ s?@~%?7??`?ɫ6G޵@6M;6iCRABRwHVC=V F٦Eyb > j4Y?j4y=NiB?:n?NC<::j4ɊB)AEZmRmbmjm"mll l k k k kV.@ɞAE$e= IMݿII M銽ɝIiIIMN;>;ɣi/IDоiF+=i)DоDо) 2Acoustic response timeoutG2B:B) O= >ԩH1H1H5HHI5ABI1I1I1&I5 <*I5wEJJJJJ;J :JJJ{k<J{k<J>;J>;  2Acoustic response timeoutЗď,$cC_?A2@Y2V@2|92I=>AHRS rotation from veh to nav: [[0.920859,0.368030,-0.128734],[-0.373754,0.927251,-0.022671],[0.111025,0.068992,0.991420]]y2H w? ύ? ]z׿ ?@7`'l? r?@?ɫ2@2:};2fCR ABRHIZIZ(*٥bO= bZ=9b#Q f>dd fF٦fEyj`) j> lrj4Yn?rj4yn>naiBpriv?nRNCn:nB:nj4zNJB)zܨAZm!Rm!bm!jm!"m)l)l)l)k)k1k1k5@.@ɞaeF aeۿIa e[ɝiiiIm_;um>uɣu>Iu5ѾiO+=i)5Ѿ5Ѿ)G)2B9:BI O]= 2Acoustic response timeout1jKe $OrKe 9zKa Ke EKe \ U2  " #YtbK8,  yplmkBK ?:K ?a ֗ď,M]_?Av!@Yv᛼@vS)9vI=~AHRS rotation from veh to nav: [[0.919443,0.371385,-0.129221],[-0.377036,0.925949,-0.021514],[0.111662,0.068502,0.991382]]yvHl??P[!ؿ@_?`ߕ?[?g?ɫv!@vV+;vhC :AB HMb@Mb@Mb@ )Ii~jt?{Gz?X9v$?ף<)AIiA ̜AIIb =2Acoustic response timeoutA٥_= 0=9Q > F٦Ey > j4Y0)?j4yAtIuiB$?:?NCM;b;j4)AZmRmbmjm"mlllkkkk,/@ɞ159 9=ؿI9 EɝAiIIMv^<]Y͵>]ɣ]eI]oӾiY[+=i)oӾoӾ)G2B:B O5.>Yԉ  2Acoustic response timeoutH >H H HI ABI I I &I *I tE2I:IBIJI< =RI; =ZIr4Ա JJ A84J .J J J J J ;J |:J J J w<J w<J ;J ;:"ݗď,3w_?A~TABHi I II(٥Eѐ= Ed=9EQ M>II MF٦MEyU U> Yej4Y]t;?ej4y]C]iBiim?]NC]p:]$:]|j4uŊB)unAuEB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk/@ɞfcG iտI h9ɝiIJ<Q>ɣ{II#Ծiae+=i)#Ծ#Ծ)ԑG2B:B O= E2Acoustic response timeout ď,_?A6B[@Y6V@6X96=>AHRS rotation from veh to nav: [[0.916033,0.378937,-0.131495],[-0.384797,0.922752,-0.021455],[0.113207,0.070253,0.991085]]y6H#P? @? ؿ@/?Z(?? ?ɫ6B[@6~;6iC R2Acoustic response timeoutVhABVHIfIf(*٥rL= rP=9vQ v>tx zF٦zEy~豼 ]> auj4YeO?uj4ye?FeiBq?eOCec;eCd;ej4)FAZmRmbmjm"mlllkkkk`/@ɞY]a> YeҿIa enɝaiaIeC mKɣmjK)OrKͼ9zKKFKe[SKHG>940-*(($!!*?T]]aec_ZUOIBACA>5,!5WszeOB8512BNS^XM2K*K! U2Acoustic response timeoutI z5ď,Ѫ_?A06j?@Y6*:@696ZB=BAHRS rotation from veh to nav: [[0.914651,0.382007,-0.132229],[-0.387879,0.921473,-0.020902],[0.113861,0.070407,0.990999]]y6HD?r?ؿ|?Zg%?1?C?ɫ6j?@6y;6gCJ}ABJH%Mb@Mb@Mb@! !)!I!i!%x&?QQ F٦Eym > %j4Yye?%j4y-IiB%d)?-:-Ҿ-?dOCI;4;dj4]ĊB)]AaZmRmbmjm"mlllkkkk`b0@ɞQU4< QUOпIY ]iɝYiYI]>e!ɣe爾Ie׾ԉimw+=i)׾飕׾) 2Acoustic response timeoutG2BZHRH4<H>HHHI,BBIII&I<*IE:B O%>JJJJJ;Jt:JJJ{k<J{k<Jd;Jd;Թ Y Y e 2Acoustic response timeoutYď,_?AF2@YF@FɎ9FՎ=NAHRS rotation from veh to nav: [[0.912592,0.386738,-0.132703],[-0.392435,0.919588,-0.018791],[0.114765,0.069225,0.990978]]`yFH3?O? iٿ`Cm?=@=a???ɫF2@Fx0;FhCfABjHn=n<IvIv ٥~B= O=9QQ >    F٦ Ey Z  > %k4Yx?%k4yKiB!%Tվ%?OC;; k45ŠB)5A5EZmQRmQbmQjmQ"mYlYlalakikikikm@0@ɞH 靥ͿI @ɝiIm<>֫ɣxIؾiI~+=i)ؾ飵ؾ)G2B:B O= 2Acoustic response timeoutA jK qNrK ػ9zK K GK D<>@;:}sbQB<74424:DKUdklnpmljieekzBK >:K >)Iď, _?A `b@-$@Y-@-Uv9-i8=EAHRS rotation from veh to nav: [[0.910903,0.390361,-0.133697],[-0.396071,0.918042,-0.018061],[0.115689,0.069406,0.990858]]y-H&? ?@:Yٿ`?~Ɲ?ı?@?ɫ-$@-?c;)UABUBHMb@Mb@Mb@ )Iiq= ףp?~jt F٦Ey > k4Y?k4ypOiB+?:?OC;b;k4)AZmARmAbmAjmA"mAlAlilikikikiku51@ɞQ6 ȿI %Oɝ)i)I-<=>==Aɣ=ʉIeپie+=ii)mپmپ)iG92BI:Bi Ou6>) .G !)1I}1y}ZAq  2Acoustic response timeoutԙ H >H H HI iBBI I I &I <*I }Erď,h_?A:2Ҵ@Y:̻@:<9:"=JAHRS rotation from veh to nav: [[0.909113,0.394158,-0.134735],[-0.399913,0.916385,-0.017555],[0.116550,0.069842,0.990726]]y:Hs?@9?>`+ٿS?`1ֽ?$?`?ɫ:2Ҵ@:;:jCJNJNJLJLJN;JN :JLJLJNf<JNf<JN>;JN>;^AB^bHIfIf ٥nu= nb=9rQ r>pp vF٦v EyvJ v? x]k4Yz?]k4yz/RziBY]>e?z-PCz6eɣI{ھi+=i){ھ飽{ھ)G2B:B O>ԡ %2Acoustic response timeout yYď,>>`?A F2Acoustic response timeoutR@YRn@R9R?=^AHRS rotation from veh to nav: [[0.907349,0.397759,-0.136034],[-0.403576,0.914787,-0.017051],[0.117660,0.070371,0.990557]]yRH ?`t?i.ٿ`E?@u???ɫR@R|;RhCjABjyHipIpIzIz٥ 3=  H=9 2Q > F٦ Eyt# > !-k4Y%?-k4y%yU%jB15U5?%sPC%>:%:%5k4=B)=ȦAE EZmRmbmjm"m l l lk1k1k1k5@1@ɞd> 靕hÿI j!ɝiI<>ˬɣ_ڐ@Y>@>v9>7=JAHRS rotation from veh to nav: [[0.905673,0.401184,-0.137143],[-0.407052,0.913255,-0.016570],[0.118599,0.070831,0.990413]]y>HE??" ڿ@b9?@\?@"?u?ɫ>ڐ@>P; F٦Ey. > k4Y?k4yX#jB-?:w?PC :3:Dk4)AZmRmbmjm"mlllkkkk _2@1ɞZX= 靽I UɝiI!<d>ɣ_bI۾i֑+=i?6=)۾۾) 2Acoustic response timeoutG 2B:B) O5 >JHiBHmAAHu>HuCHugHIuBBIu= =IqIq&IuЕ<*IuEaԉ E 2Acoustic response timeoutԹ Pjď,E`?A6m@Y6xh@6!&96]=>AHRS rotation from veh to nav: [[0.903829,0.404943,-0.138252],[-0.410892,0.911538,-0.016313],[0.119416,0.071551,0.990263]]y6H+?`?<@ LڿQ+?^ ?&Q?`;?ɫ6m@6ȴ;6jCF&BBFHININ٥V"= VY=9V2Q Z>XX ZF٦ZEy^: ^> djk4Yf?jk4yf\f?jBl?fPCf =f% =fQk4B)>AZm)Rm)bm)jm)"m)l)l1lQkYkYkYk]@2@ԑɞ; (I ]ɝiIW$<Ұ>ɣ}Iܾͧi +=i ) ܾͧ ܾͧ)G2B:B O> 2Acoustic response timeoutJJJ;JJt;Jw:J(N4J!@!@!@!@jK} NrK} 9zKy K} IK} NJJbq^C,#"!/:AJ}yr! ď,6``?A]*P@Y]J@]9]f=mAHRS rotation from veh to nav: [[0.902252,0.407947,-0.139715],[-0.414109,0.910069,-0.016967],[0.120228,0.073166,0.990046]]y]H???*`Àڿ@I?@_ EǾ??u?ɫ]*P@]֨;]gCBBBH=< AA 2Acoustic response timeoutMb@Mb@Mb@ )IiJ +?Zd;OMbP?(?j<:)AI?Ai3AA AII ٥i= *=9!ߺQ > F٦Ey > k4Y ?k4y`ejB)?:?NQC/<<bk4B)A!EZm Rmbmjm"mllAlAkIkIkQkUC3@ɞY3 I /ઽɝiI_(<K*>+ɣሊIZݾi+=i)ZݾZݾ)G2B:B O-O>!  2Acoustic response timeoutHE >HA HE HIE BBIE > =IA IE D&IE 3<*IE E Jq Jq ď, y`?A @5}BB55HIEIE<٥]'> ]h=9]Q ]>aa eF٦eEym m? q}k4Yu?}k4yubujB?uQCu7;uz@;unk4)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk3@ɞy}8DD y}NIy KɝiI%b+<ַ>5ɣ䐊IJݾi+=i)Jݾ飥Jݾ)I 2Acoustic response timeoutqG(a=G2B:B O>ԡ n$ď,8`?A 62Acoustic response timeoutxI UF٦UEyU* ]> auk4YeW?}k4yeWfejBy}4}?eQCeI;eE;e|k4B)-AZmRmbmjm"mlllkkkk`3@ɞ8 I ̮ɝiIT.</>/ɣ+I X޾i +=i ) X޾ X޾)J]J]J]8JYJ];J]z:J]'4JYG&t@=ԩG2B:B O>jKENrKAzKAKEJKEY+{_nS7 I e;zaB,L_\WV}^ 2Acoustic response timeout *ď,]`?A6@Y6@6Ȗ96=>AHRS rotation from veh to nav: [[0.896712,0.419246,-0.141914],[-0.425314,0.904937,-0.014039],[0.122537,0.072947,0.989779]]y6Hݱ? ?>*¿`W8ۿ>?^??E?ɫ6@6/;4NBBRHiTITl=Mb@Mb@Mb@9 9)9I9i9=L7A`?+Mb?=+'?==<)=AI9i9=?A 9=AIIb2٥'= ;=9ߺQ > F٦Eyb( > k4Y-? k4yijB z'? :  ?RC::k4)AZm9Rm9bm9jmA"mAlAlAlAkAkIkIkUg4@ɞ2 靍I  ɝiIo51<̙>3ɣϏI?޾i+=i)?޾飝?޾) u2Acoustic response timeout ZHRHp<H>HCHa % 2Acoustic response timeoutX1ď,6`?AB̳@YBJǺ@B9Bk?=JAHRS rotation from veh to nav: [[0.895159,0.422310,-0.142630],[-0.428397,0.903489,-0.013540],[0.123147,0.073223,0.989683]]yBH`%?"?A¿ jۿa???|?ɫB̳@Bo;BgCRCBVHIbIb1٥j$ > j^=9jtںQ j>ll nF٦nEyr r> tzk4Yv0ɣoIr߾iی+=i)r߾飍r߾)GFG GiG2B):BA O]T> }2Acoustic response timeoutԑJJJJJ;Jv:JJ jK G0PrK ػ9zK K KK 7~Z-C'/9,?9aG4#y{BK :K ? 7ď,h!`?Aԙ6@Y@#9=AHRS rotation from veh to nav: [[0.893655,0.425221,-0.143413],[-0.431347,0.902090,-0.013165],[0.123773,0.073626,0.989575]]yH@Ә?6? [[¿`0ۿ?8 ?!ٲ??ɫ6@;髱 2Acoustic response timeout%CBHMb@Mb@Mb@ )IiE?QMb?&?)AI3AiA 3AII<٥= ,=9sQ > F٦!Ey >  k4Y U?k4y p kB&?:o? RC U: : k4%B)%A%,EZmARmAbmAjmI"mIlIlIlIkQkQkQkU ?5@ɞy* 靅ZI BGɝiI8~6<so>GɣLI,i+=i),飝,)G2BԹ:B O >  2Acoustic response timeoutH >H H HI CBI ? =I I &I &<*I E . >ď,`?A2@Y2O@2N92kk=>AHRS rotation from veh to nav: [[0.892448,0.427261,-0.144858],[-0.433677,0.900953,-0.014442],[0.124339,0.075710,0.989347]]y2H?@X? ¿@]ۿ?响Կ?a?`?ɫ2@2;2fCNTCBR=HTV=IZIZV٥f> fv=9fQ j?hh jF٦j#Eyn n? pvk4Yre?zk4yrpsr-kBxzz?rRCr=;rLC;rk4)`A}B*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk5@ɞ  I*4 UfIQ UɝQiYI]8eRɣeIeieہ+=ia)ee)iGi2By:B O= 2Acoustic response timeout!Qy Dď,a?A "2Acoustic response timeout>@Y>X|@>a9>k=FAHRS rotation from veh to nav: [[0.890990,0.429984,-0.145777],[-0.436464,0.899610,-0.014180],[0.125045,0.076260,0.989216]]y>H?݄?Ѩ¿ۿ?$ |?ʅ? ?ɫ>@>;>iCN|CBNnHIVIVF٥bB= bJ=9fQ f>hh jF٦n&Eyn) n> pvk4Yr&y?vk4yrvrQkBtvz?rSCr;r;rk4~B)~ A~-EZm!Rm!bm!jm!"m!l!l)l)k)k)k)k5 5@ɞ|. 15I9 =Ÿɝ9iAIE-;QJeJeJaJaJe;Je~o:JaJaXɣ=IIiT{+=i=)I飕I)G2B:B O>ԁjK5XOrK59zK1K5LK5|qaVM9=JX[Y`YTx}m_WQHAI]uwN;748::;?P{] 5 (m M 2Acoustic response timeoutԡim &>Im C) XG ) I= A E ׶A Kď,Q.a?AB2n@YBh@B<9Bi=JAHRS rotation from veh to nav: [[0.889895,0.431802,-0.147085],[-0.438544,0.898580,-0.015290],[0.125565,0.078110,0.989006]]yBHz??@¿@ܿ*?P??@?ɫB2n@B<;BfCnCBnHuMb@Mb@Mb@q q)qIqiqu)\(?=9Q > F٦)Ey > k4YG?k4yyvkBN!?:=?\SC; ;k4)AZmqRmybmyjmy"mylylylkkkk`n6@Աɞi& I źɝ i I "X=<5ǫ>5ɣ5抾I5i=t+=i9)=E)A U2Acoustic response timeoutJHBHHHHBHI(DBIII&I<*IwEGi2Bq:B O>  2Acoustic response timeout9 rRď,Ha?A6Z@Y6T@6~96~e=>AHRS rotation from veh to nav: [[0.888737,0.433887,-0.147946],[-0.440687,0.897534,-0.015055],[0.126255,0.078578,0.988881]]y6Hp?@?`¿ 94ܿ?;Վ)??@?ɫ6Z@6;4JCBJHIVIVb1٥Z= ^Z=9^Q b>`` bF٦b+Eyfֻ f> hjk4Yjў?nk4yj|jkBprr?jSCj;jJ;jk4vB)v]AtZmRmbmjm"mlllkkkk6@ɞ%P+ !%I! %Zɝ!i)I-Y?<-jA>Uڭɣ]I]i]3m+=iY)ee)aGyG}?GI2BY:Bi Ou=9 e2Acoustic response timeouti 15Xď, mba?AjK>OrK>ػ9zK<K>MK>~ ~}_ % UP%0X:# PBK^?:K^? 2Acoustic response timeoutaC@Y">@*9=eAHRS rotation from veh to nav: [[0.887474,0.436515,-0.147799],[-0.443131,0.896356,-0.013494],[0.126590,0.077470,0.988925]]yH0f?`?@¿ @\ܿ?`4?ճ?F?ɫaC@;uCBuHeMb@Mb@Mb@a a)aIaiae1Zd?y&1|?Mbp?e"?e`;e;)aIe3Aie(AeA aeAI}I}٥׮= $=ԩ91Q > F٦.Ey > k4Y?k4y@kB&?:l?SC3::k4B)A.EZmRmbmjm"m l l l k kkkJ7@ɞAE̶ IM2II URɝQiQIUm_ɣmSImim2d+=ii)uu)qG6G= e 2Acoustic response timeoutGy 2B H H H HI DBI I I &I 8<*I E:B  O > J} J} J} 9Jy J} 5;J} q:J} c44Jy J} ac Uy=9eQ e?aa eF٦m1Eym m? q}k4Yu?k4yuukB[?uTCu;u;uk4)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk`7@ɞQuF( q}pIy }ɝyiyI}B<p>ɣ%‹Ii]+=i)飽)G8= Gi2By:B O> 2Acoustic response timeout9a Ceď,a?A "2Acoustic response timeout:@Y:@:s9:s=FAHRS rotation from veh to nav: [[0.885334,0.440863,-0.147726],[-0.447260,0.894330,-0.011490],[0.127051,0.076244,0.988962]]y:HT? 7?¿`ܿ Z?1C? „??ɫ:@:oË;:fCaDBH 5A5AAI]I]٥e۰= mI=9mtLQ m>qq uF٦u3Ey} }> l4Y?l4yWkB?VTC::' l4~B)8AZmRmbmjm"mlllkkkk8@ɞ!  gI  ɝ i ID<␩>ɣI{iU+=i){%{)!iG]=GGjKwOrKͼ9zKKNK~xjagv}~ysjab|(ԙ 2Acoustic response timeoutG2B:B) O=> okď,a?A:? @Y:@:9:D=BAHRS rotation from veh to nav: [[0.884390,0.442403,-0.148775],[-0.449052,0.893416,-0.012682],[0.127307,0.078023,0.988790]]y:H L?UP?@ ÿ@Cܿܖ? K?Q?*?ɫ:? @: ;:eC^xDB^HMb@Mb@Mb@ )IizG?V-?ԙ ?<)ԞAIAixA חAII٥[= E=9A#Q > F٦6EyK > l4Y?l4ylB8?:D׾?TCs:{:l4) AZm9Rm9bm9jm9"mAlAlAlAkAkAkIkMq8@ɞqu  y}aIy }Q½ɝyiyI}<F<6>ɣYI_iM+=i)_飕_) M2Acoustic response timeoutZHU<RHQH]>HYH]UHI]EBI]> =IYIY&I]/<*I]EGqFqGq GqJEJE JAJAJE;JEOj:JAJAJEd<JEd<JEo;JEo;G 2B:B) O=>  2Acoustic response timeout Trď,a?A2 @Y2@2[92JD=BAHRS rotation from veh to nav: [[0.883424,0.444121,-0.149395],[-0.450898,0.892479,-0.013158],[0.127488,0.078986,0.988690]]y2HE?yl?`]ÿ`ܿ@/?Q?j8?`Y?ɫ2 @2i;0FDBFHIRIR<٥V> Z]=9ZnQ Z>X\ ^F٦^8Ey^g b> `fl4YbE?jl4ybHb]Qɣ]3I]ieE+=ia)ee)aG2B:B O=! e2Acoustic response timeoutQy 6~xď,Ma?AjKBOrKBS9zK@KBOKB?fz{o/ r]C@brQ1zphcXMGOYUTg|plhb\UTSMA:51@YC@ 2Acoustic response timeout%91=QmAHRS rotation from veh to nav: [[0.882264,0.445978,-0.150710],[-0.453097,0.891338,-0.014821],[0.127723,0.081362,0.988467]]yH@;??sJÿׅܿ?`Z`=Y?@!Դ??ɫ@Nj;髭cCDBHiII=)p=UMb@Mb@Mb@Q Q)QIQiQUI +?l?~jtxU9?U=UĻ)UAIQiQUA QQIeIe<٥=  =9QQ > F٦;Eyݠ > %l4Y?-l4y^blB-?-:-Ѿ-?UC:G;E;s7l49)=xA9ZmYRmYbmajma"malalalikikikiku`R9@ɞX 靥PI ŽɝiI9H<'>9ɣǍI i,;+=i)  )ԁG2B:B OD>ԱHQ HQ HU HIU nEBIQ IQ IQ &IU <*IU CE2IɇC:IɇCBI m 2Acoustic response timeoutJI? =RI? =ZIN4Jm Jm Ji Ji Jm ;Jm x:Ji Ji Jm {k<Jm {k<Jm ;Jm ; ~ď,}a?AnDBn-HIvIvԲ٥}9> |=9Q  ? F٦=Ey  ? l4Yi?l4yPylB?GUC;-:Bl4)$AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk9@ɞ!%! !%FI! -Eƽɝ)i)I-VI<5F>5̱ɣ5ٲ@Y>Թ@>I9>Ө=FAHRS rotation from veh to nav: [[0.881550,0.447293,-0.150991],[-0.454446,0.890651,-0.014802],[0.127859,0.081666,0.988424]]y>H`5?@t?Sÿݿ6?P]?? ,?ɫ>ٲ@>oR;>fCrEBrPHI I b٥G= %Q=9%3Q ->)) -F٦-@Ey5 5> 9El4Y=0?El4y==lBAEsҾM?=UC=):=:=nPl4U`B)U{AU9EZmRmbmjm"mlllkkkk :@ɞIU( Q]>IY ](ǽɝYiYI]yK<}ů>}{ɣ}+ɎI}i}-+=iy)}飅)1G2B:B O=ajKUiNOrKU9zKQKUPKU10-1#3C3bV($MFx9EG*X&.G.mJ5& 2Acoustic response timeoutԉ ؼď,:;1b?A8n,@Yn@n@9n=vAHRS rotation from veh to nav: [[0.880107,0.449847,-0.151817],[-0.457070,0.889311,-0.014599],[0.128445,0.082240,0.988301]]ynH)?L?`nÿ`@ݿ  F٦CEyY > l4YC?l4yDlB?:rҾ?UC;Ĕ<K_l4q)}?AyZmRmbmjm"mJHBHHHHCHIEBIII&I<*I?Elllkkkk%}:@ U2Acoustic response timeoutԉɞ B z7I d,ɽɝiILM9ɣMwaIMlViU%+=iQ)UlVUlV)YGGJJ34J.J5J5J1J1J5;J5p:J1J1J5l<J5l<J5;J5;Gy2B:B O=>  2Acoustic response timeoutď,8Kb?AFy@YF:@F9Fa=NAHRS rotation from veh to nav: [[0.879936,0.450070,-0.152149],[-0.457486,0.889076,-0.015852],[0.128137,0.083555,0.988230]]yFHp(??yÿrGݿNs?@; f?c??ɫFy@Fa&;FdCV?EBVHxI~I~̍٥ =  W=9U:Q > F٦EEy %> !-l4Y%T?-l4y%%lB15Ҿ5?%UC%:%:%ll49)EAE:EZmiRmibmijmi"mqlqlqlqkykykyk}:@ɞfD 靭-0I _ʽɝiIM<>ɣ菾IuUi+ +=i)uUuU)G2B:B O=  e2Acoustic response timeout1a |Ҙď,eb?Anů@Yn@ny9n%G=jKzOrKzS9zKxKzQKzztjdbypbWqa^`^_fd`\VTLVlPEC<+,1BKE>:KE ? 2Acoustic response timeoutAHRS rotation from veh to nav: [[0.879181,0.451747,-0.151546],[-0.458963,0.888336,-0.014571],[0.128042,0.082364,0.988343]]ynH`?"?`k?@eÿ_ݿ?m?2׍c?`??ɫnů@nY;lUJEB]H)M G a)qI˾ظA5Mb@Mb@Mb@1 1)1I1i155^I ?L7A`?:v5?5+=5Լ)5&AI5(Ai11 15A)A EBAIMIM(a٥m< u=9uC9Q }> F٦HEyS > l4Y_l?l4yᙴlBq?:ؾ?FVC ; ;~l4)AZmRmbmjm"mll9l9k9k9k9kE^;@ɞ 靵F-I ˽ɝiIyM<Ȥ>ɣ-Ii+=i))G?G>G2B:B Ok>ԉHHCHHIFBIIID&I*I>E m 2Acoustic response timeoutԱ ď,~b?A6@Y6ܛ@696B=>AHRS rotation from veh to nav: [[0.878325,0.453342,-0.151742],[-0.460519,0.887539,-0.014011],[0.128325,0.082186,0.988321]]y6H=??`Flÿ#yݿf?l?$ ? S?ɫ6@6;6eCZpEBZHi`I`Ib=)b=IjIjF2٥z> ~=9Q ?   F٦JEyʻ ? )5l4Y-y?5l4y--lBquؾu?-rVC-*<-(<-шl4_B)A;Eԙ}B*** querying acoustic contact ***:pyBpyZmRmbmjm"mlllkkkk;@ɞ' #I k̽ɝ i I NU)ɣU퐾I]!i]+=iY)]!]!)aGI2BQ:Bi Ou> 2Acoustic response timeout 3ᥘď,Cb?A 2Acoustic response timeoutI)<zEBHI-I-b٥=< =F=9=Q =>AA EF٦EMEyM M> Q]l4YUG?]l4yU_U mBYae?UVCU;U;U"l4i)mAiZmRmbmjm"mlllkkkk@<@ɞD F!I ]ͽɝiIHO<ˣ>̵ɣ1pIi +=i)JJJJJ5;Jr:JJ!@!@!@!@)G)2B9:BI OU=jK`YOrK9zKKRKAK Qrg>$ wmfc`_[Xa^^u|spjo 2Acoustic response timeoutQԁ ď,:zb?AJ'@YJ聹@J9JR=bAHRS rotation from veh to nav: [[0.876836,0.456031,-0.152297],[-0.463285,0.886098,-0.014035],[0.128550,0.082863,0.988235]]yJH ?/?x~ÿwݿ@Z?<Rt?6?@?ɫJ'@Ji;JdCrEBrHMb@Mb@Mb@ )IiZd;?~jt?Q롿?<\)ʜAIʍAinAA AII٥< A=9 Q > F٦PEy > l4YQ? l4yfmB M? :  ?VCf::l4^B)jAZm9Rm9bm9jm9"mAlAlAlAkAkIkIkM{<@Qɞ 靍I qνɝiZHRH<HHCHHIWFBIII&IЕ<*IEI\P<'+>CɣFϑI[i+=i)[[) 52Acoustic response timeoutGyGyGI2BQ:Ba O}>PExceeded connect timeout, disconnecting.ԁԩ A  2Acoustic response timeout ď,Ub?A>Rx@Y>s@>L69>)=FAHRS rotation from veh to nav: [[0.875972,0.457490,-0.152891],[-0.464860,0.885267,-0.014414],[0.128755,0.083699,0.988138]]y>H@? G? ÿ CݿT?ׄ {?@Dm?Ӟ?ɫ>Rx@>i;hh jF٦jREyn_ n> pvl4Yr?vl4yrr1mBxzz?r.WCry:r:r޲l4~]B)~+A}ɣ}I}wi}+=i)w飅w)GQ2Ba:Bq O=Ա E2Acoustic response timeoutJJJ8JJ;J=h:J'4J 9 \ď,n2b?AFh@YFb@Ft9F=NAHRS rotation from veh to nav: [[0.875018,0.459181,-0.153283],[-0.466588,0.884359,-0.014300],[0.128991,0.084033,0.988079]]yFH%?@:c?ʞÿݿ`L?%Iʂ? +?`W?ɫFh@Fߋ;DjKEOrKE9zKAKESKEyrjcanJ66Qj^O<)<}oUC4-)WkO  +I@kBK*BKu?:Ku>%EB.H 2Acoustic response timeoutII٥u#= }2=9Q > F٦UEy > l4Y?l4yoHmB%%?zWCp::}l4))UAQZmRmbmjm"mlllkkkkW=@ɞIM IMII UzнɝQiQIU"Q<]o>]"ɣ]߁I]i]*=iY)ee)Ga2Bi:B O>>9HHH0HIFBIII&I<*IUE U 2Acoustic response timeouti  nManaging dock network, ignoring radio surface power offhď,{c?A6X@Y6@S@696=BAHRS rotation from veh to nav: [[0.874097,0.460774,-0.153761],[-0.468225,0.883495,-0.014197],[0.129306,0.084404,0.988006]]y6H?Q}?oÿgݿ`E??}??ɫ6X@6;4JEBJEH}Mb@Mb@Mb@y y)yIyiy}?~jth{Gz}f&?}D}#)}lAI}nAi}A}ԞA y}fA) @AII#٥F= X=9H\Q > F٦WEyy > l4Yg?l4yXXmB&?:u?WC;(;l4)ޝAB*** querying acoustic contact ***:pBpZm Rm bmjm"mlllkkk!k%=@ɞIU> QU IQ UAѽɝYiYI]BRe>ɣeuIe+iek*=ia)e+m+)iG)2B9:BQ O]=i 2Acoustic response timeoutԙ ] 2Acoustic response timeout1Ƙď,c?A6A@Y6g<@6>96wM=>AHRS rotation from veh to nav: [[0.872736,0.463445,-0.153463],[-0.470634,0.882245,-0.012163],[0.129755,0.082840,0.988079]]y6Hs??ÿ޿Y;?舿ԛ?`5?X?ɫ6A@6+;4LNEBN[HiPIPIVIV<٥b7= bZ=9bQ b>dd fF٦fZEyf j> lrl4Yn{?vl4yncnimBtvv?nWCn;nr;n9l4|)~A|Zm!Rm!bm!jm!"m!l!l!l)k)k)k)k5>@ɞY]F aeIa mҽɝiiiImR<JJ J9JJ;JOj:Jc44JԠ>VɣXIi*=i))G!2B1:BA OM= 2Acoustic response timeoutjKPrKH9zKKTKtof\WNFA:62,**.JglcZSNHB==71+**&&'-DO>+"2KY*K]sA! 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M0^?p&%@)d?`?ɫ6M(@6Q;6AC)vG 11)EA}HB"HIAiIII(٥ @=9 :Q > F٦Ey; > x4YL'?x4y9jB?C;Z;ܻx4щB)hAeEB*** querying acoustic contact ***:pBpZm)Rm)bm)jm)"m)l1l1l1k1k9k9k=k@ɞquc= quo>Iy }KR=ɝyiyI} _F=(ɣyI3i$=i!=)3飍3)G2B:B  O>A 2Acoustic response timeoutԁԡ Bď,'y?A  2Acoustic response timeoutJf4@YJ+/@JA=9J=RAHRS rotation from veh to nav: [[0.862136,0.506641,0.006011],[-0.502166,0.855981,-0.122989],[-0.067457,0.103015,0.992390]]yJH ?@f6?x?2d?;|@D3_?@?ɫJf4@J&;J@CvHBv&HjK gOrK 9zK K K {hQ=611+\\^vhZ2K*KԩMb@Mb@Mb@ )Ii㥛 ?I +?~jth?94<D)ҞAIiƜA AII(1٥; B=9d:Q > %F٦%Ey% g; %> )5x4Y-D'?5x4y--(jB=?=:==?-ІC-E:-,:-x4A)MaAIZmiRmibmijmi"milqlqlqkqkqkyk}֕@ɞI}= He>HaHeiHIe)IBIe; =IaIa&Ie/<*IeEGr>I SR=ɝiIT"_=(ɣ}rI_Xi$=i)_X_X)ԱG12BA:BY Oe6> 2Acoustic response timeout "Hď,"y?A2>@@Y2;@2-=92=:AHRS rotation from veh to nav: [[0.862835,0.505443,0.006547],[-0.500903,0.856682,-0.123253],[-0.067906,0.103068,0.992354]]y2HX?,?z?fi?@ Gb@b?\?ɫ2>@@2jڈ;0nHBnHIvIv0٥~ ~b=9~:Q >   F٦ Ey; > %x4Y'?%x4yrjB!--?C::2x45ىB)5AUfEZmqRmqbmyjmy"mylylylykkkk3@ɞ.= 靽ET>I @~S=ɝiI_e*= (ɣ(pIti$=i)tt)GGGԱ2B:B O= U2Acoustic response timeoutJJJ8JJ;J=h:J'4JJf19 =F٦=Ey=LZ; => AMx4YE}'?Mx4yEҡEjBU?U:U1U?ECE;E?;Ex4Y)]ҕAaZmRmbmjm"mlllkkkkଖ@ɞ= xI>I @T=ɝiIG^!=t(ɣI]i$=i)]])9 e2Acoustic response timeoutjKE^OrKAzKAKEKEH0stxzupjbXROPKB:4.++(0TsYD3' Cylc]TNFCA=8G-G<G1 i H >H H DHI IBI I I &I <*I \E2B :B  O >3Uď,Uy?A V(_@YVY@VR=9Vb=bAHRS rotation from veh to nav: [[0.864646,0.502322,0.007718],[-0.497602,0.858433,-0.124437],[-0.069133,0.103754,0.992198]]yVH.?@??߿Ix?ۿ``??ɫV(_@V[;V>CjHBnHIvIvb1٥~۽ ~w=9~;Q ~? 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C f; ; y4A)EAAZmqRmqbmqjmq"mqlqylylkkkk:@ɞm= 靽=I \U=ɝiI~]=)ɣmIpiP$=i)pp)G2B:B O= 2Acoustic response timeoutJJJ7JJ;Js:J4JJd<Jd<J;J;ԡ  2Acoustic response timeout nď,|y?Anj@Yn/@n>=9n#=}AHRS rotation from veh to nav: [[0.867238,0.497809,0.009237],[-0.492875,0.860975,-0.125680],[-0.070518,0.104442,0.992028]]ynH`i???D߿?Jq ർ? ?ɫnj@n6;n?C/HB6HII(*2٥5  =8=9E9Q M>Ya eF٦eEym: m> q}y4Yu?(?}y4yuKuiBy?uCuB:u:u-y4B)&AqEZm Rmbmjm"mlllkkkk%@ɞim%db= 靍==I V=ɝiI&\o=)ɣIi$=i)飥)GGsAG2B:B O!> %2Acoustic response timeoutjKNrK9zKKKSatj^RTk{qbWRUgv}ukaYYWTNC7-'#! (/,'"  1ZH RH <H >H H HI HBI : =I I &I "<*I E2IȉC:IȉCBIJI; =RI; =ZIq=5a uď,Xy?A:@Y:օ@:cΐ=9:K=JAHRS rotation from veh to nav: [[0.867209,0.497852,0.009621],[-0.492908,0.861017,-0.125265],[-0.070647,0.103889,0.992077]]y:H,?`?#? ̋߿ t?@@ u??ɫ:@:;:>CZ HBZ$Hb F٦Ey > y4YAQ(? y4yg`iB  ? :  ?ÇC;;,;y4B)%eA!1ZmIRmIbmIjmI"mIlIlQlQkQkYkYk]@ɞ_= 靍=I V=ɝiIMO[m=)ɣ Ii$=i)飥)G2B:B O=aԑ = 2Acoustic response timeoutJ C=J p=J J J :J J ;J w:J FA4J J `<J `<J ;J ;Թ ջ{ď,6y?A2@Y2ӆ@2X=92d=NAHRS rotation from veh to nav: [[0.867282,0.497724,0.009609],[-0.492811,0.861131,-0.124867],[-0.070424,0.103559,0.992127]]y2H ?`?խ?6߿a?G L߂??ɫ2@2Hw;2ACVHBVHI^I^ ٥fǞ f^=9fQ j>hh jF٦jEyn 9 n> pvy4Yra(?vy4yrXr@iBtv z?rCr@;rQ:;rHy4)AZm)Rm)bm)jm)"m)l1l1l1k1k9k9k=m@ɞae>W= im[;Ii mV=ɝiiiImqZ}n=a)ɣIiT$=i)飅)ԑG2B:B O= 2Acoustic response timeoutԹ = 2Acoustic response timeout墂ď, z?A6@Y6׀@6Cw=96=BAHRS rotation from veh to nav: [[0.866918,0.498350,0.010025],[-0.493442,0.860878,-0.124111],[-0.070481,0.102647,0.992218]]y6H@˽??:?߿`P?@ſ  G?@??ɫ6@6;6@CbGBbHjK}NrK}9zKyK}K} XtzoZJ=0'"  9C>81) "8YgjivMb@Mb@Mb@ )Ii(\?V-/$'?,)AIAiAvA pAIIb٥ꬽ :=9 9Q > F٦Eyٺ > y4Y2v(?y4yOiB0(?:  ?C::dWy4B) ArE-B*** querying acoustic contact ***:p)Bp)Zm9Rm9bm9jm9"mAlAlAlAkAkIkIkM ޙ@H>HHoHI^HBIII&I0<*IEɞL= P I U=ɝiI`CY v4= z(ɣ BI i$=i))1GAGE?G)2B9:BI O]>-PExceeded connect timeout, disconnecting. 2Acoustic response timeoutI ͈ď,%$z?A6@Y6J@6=96p=>AHRS rotation from veh to nav: [[0.866902,0.498380,0.009946],[-0.493510,0.860900,-0.123692],[-0.070208,0.102320,0.992271]]y6H?@t?^?߿`}?G .@1??ɫ6@6T;6?C@bGBbHidIdIjIjԲ٥rb= v\=9vAQ v>tx zF٦zEyz= z> |y4Y~(? y4y~~hB  $ ?~#C~:~:~bdy4B)>AZmARmAbmIjmI"mIlIlIlIkQkQkQkU=@ɞAE)G= IMPII M7U=ɝIiIIM #X]Y.=]'ɣ]+I]4i]$=ia)e4e4)a 2Acoustic response timeoutGi2By:B O=ԩ JiJmBAi1I1)%gG Q)I   A  2Acoustic response timeout}ď,4>z?AFᄱ@YF@F=9F=pvAHRS rotation from veh to nav: [[0.866862,0.498445,0.010114],[-0.493577,0.860901,-0.123412],[-0.070222,0.101989,0.992304]]yFH V??ζ?@Ŗ߿?` `? ?ɫFᄱ@FAF;F=C%GB%HIeIeb٥; ?=98Q > F٦Ey= > y4Y(?y4yhB+?HC<<sy4B)AsEZmRmbmjm!"m!lAlIlIkIkIkQkU൚@ɞB= ^I U=ɝiIV i= &ɣrIgi%=i)gg)G2B):BI O]3> 2Acoustic response timeout1JuJu Ju9JqJu;Juun:Juc44Jq!}@!}@!}@!}@jK_NrK 9zKKKx' p2,Xa@0')Lckjhd``dlnkecfhgb]alnf[byBK ?:K?JHBHAAHHHHIHBIII&I<*IEY  nManaging dock network, ignoring radio surface power offď,Xz?A2ꄱ@Y2@29=92=:AHRS rotation from veh to nav: [[0.866886,0.498410,0.009822],[-0.493585,0.860922,-0.123235],[-0.069877,0.101983,0.992329]]y2H@?`?d? ߿?Nw㱿?(?ɫ2ꄱ@2;2>CBGBBHA e2Acoustic response timeoutMb@Mb@Mb@ )Iiv/?&1 F٦EyfC7 > y4Y (?y4y ŷ hB9*?:? jC K ; . ; ցy4!)-A)ZmIRmIbmIjmI"mQlQlQlQkQkYkYk]@ɞ8#9= ½I FU=ɝiIJU=c%ɣOIli%=i)ll)GGG2B:B  O>aԑ  2Acoustic response timeout ď,tzrz?A6~@Y6x@6Ǝ=96 =>AHRS rotation from veh to nav: [[0.866488,0.499099,0.009940],[-0.494314,0.860619,-0.122425],[-0.069657,0.101166,0.992428]]y6H@E?;?[?֢߿1?CW ձ` ?@?ɫ6~@6V;6\\ ^F٦^Eyb b> djy4YfW(?jy4yfɷfhBhjj?fCf>:f1;f~y4vB)vAtZm Rm bmjm"mlllkkk!k%r@ɞIM/= IUIQ U T=ɝQiQIUQTԙ=$ɣHIoi%=i)oo)G2B:B O= u2Acoustic response timeout  2Acoustic response timeoutď,Uz?A>x@Y>r@>M=9>=JAHRS rotation from veh to nav: [[0.866139,0.499698,0.010199],[-0.494957,0.860398,-0.121379],[-0.069428,0.100083,0.992554]]y>H j??V?^߿a?@Ʊ? ?ɫ>x@>F ;>>CRuGBRQHJMJMJM8JIJMm;JMr:JM'4JI=Mb@Mb@Mb@9 9)9I9i9=Zd;O?T㥛 S㥛=~*?==/ݼ)=/AI9i9=vA 9=(AImIm٥}׼ }>=9} Q > F٦Eyߺ > y4Y(?y4yOͷehBe+?:?C* ;;y4B)PAtEEB*** querying acoustic contact ***:pABpAZmIRmQbmQH]>HYH]HI]GBIYIYIY&I]&<*I]EjKuG2OrKu+9zKqKuKuxqzL4' "&" $! 2K}tA*Kyjm"mlllkkkk曳@ɞAEe0= AE II MdT=ɝiiiIm/R} =}6"ɣ}3I}4iZ%=i)4飅4)G2B:B O )>! 2Acoustic response timeoutQy ď,1z?A6tm@Y6:h@6=96=>AHRS rotation from veh to nav: [[0.865512,0.500783,0.010267],[-0.496091,0.859872,-0.120474],[-0.069160,0.099178,0.992663]]y6H@F?j??߿? _׾r`c? ?ɫ6tm@6y;4nlGBnFH)t tIzIz(1٥ R=95Q >    F٦ Ey 6[ > %y4Y(?%y4y4ѷEhB)-_-?ΈCN3;J4;y45B)5%A=}EZmYRmYbmYjmY"malalalakakakikm@C@ɞ'= 靝fI bS=ɝiIgQ;=z ɣ4bIi%=i)飵)G ?G?QG2B:B 2Acoustic response timeout O=  2Acoustic response timeout !ď,z?A=XGBE.HiaIaIIF٥9 >=9Q > F٦Ey  > )My4Y-(?Uy4y-շ-"hBaam?-C-<-k<-uy4B)oA~EZmYRmYbmYjmY"mYlYlalakakakk༜@ɞ(= g'I WS=ɝ!i!I-\O-=5ɣ5ؠI5i5%=i1)55)9G92BI:BY Oe5> 2Acoustic response timeoutJ]J]J]9JYJ];J]~o:J]c44JYHU>HQHUHIUGBIQIQIQ&IU<*IUEjKXMrK 9zKKK  %2XoaYNKPI2BK?:K?A ,ď,qz?A4UGB*H M2Acoustic response timeoutUMb@Mb@Mb@Q Q)QIQiQUuV?i|?5y&1Ur(?UqU`e)QIUAiQU$A QUzAI}I}T٥ ?=9Q > F٦Ey > y4Y )?y4yٷhB))?:?Cv:?;y4)uAZmRmbmjm"mlllkkqkqk}`#@ԉɞ#= *I ?R=ɝiIoN/=ɣJIi%=i)))G2B:B! O-->Թ 2Acoustic response timeout Wď,z?A>ld@Y>2_@>#N=9>L=FAHRS rotation from veh to nav: [[0.864978,0.501709,0.010104],[-0.497052,0.859368,-0.120108],[-0.068942,0.098868,0.992710]]y>H?` ?E?`߿?b .qO?F?ɫ>ld@>;<`fKGBfHInIn(٥vvڼ vh=9z"Q z>xx zF٦zEy~M ~>  y4Y)? y4y9ݷgB?4C:F:]y4B)%A!ZmIRmIbmIjmQ"mQlQlQlYkYkYkYk]@y@ɞQ= s靍54I PR=ɝiIL=4ɣSIKi %=i)K飥K)G9G=tAG2B:B O= M2Acoustic response timeoutA  2Acoustic response timeout>Þď, {?A6i@Y6nd@6Nn=96&=VAHRS rotation from veh to nav: [[0.865291,0.501169,0.010025],[-0.496497,0.859635,-0.120489],[-0.069003,0.099281,0.992664]]y6Hw? ?㇄?߿"?bؾ 1{j?`?ɫ6i@67;6=C^DGB^Hb%=b4=J-J-J)J)J-T;J-s:J)J)9mMb@Mb@Mb@i i)iIiiimE?~jth?m&?mLmD;)mݠAImƍAim"AmҏA imAII٥ ?=9g9Q > F٦Ey: > y4Y/)?y4y`gB&'?: ?XC::gy4)AH>HHPHItGBIII&I9<*IE2IC:ICBIJI: =RI: =ZI+94jKu1NrKu]9zKqKuKu 7_m_RVmwphd[U: B*** querying acoustic contact ***:pBpZmRmbmjm"m l l1l1k1k9k9k=@@ɞg$!= i;I Q=ɝiIJ=ɣxIi$=i))QGA2BI:Ba Om4> ]2Acoustic response timeoutqԡ kɞď,E'{?A2i@Y2d@2=92=>AHRS rotation from veh to nav: [[0.865297,0.501157,0.010166],[-0.496468,0.859647,-0.120529],[-0.069144,0.099246,0.992658]]y2H ?y ?҄?`!߿9?@۾d`6h??ɫ2i@2Q;0^4GB^HIfIfV٥n- nX=9nz9Q r>pp rF٦rEyv8 v> x~y4Yz@)?~y4yzzgB  ?zxCz[;ze\;zy4qB)AEZmRmbmjm"mlllkk k)k5 O@ɞ#= 靝KI Q=ɝiIVI 2Acoustic response timeout=ɣcIi$=i))G2B:B O>ԡ  2Acoustic response timeout QОď,SA{?A66n@Y6h@6 =96 =BAHRS rotation from veh to nav: [[0.865564,0.500700,0.009929],[-0.496014,0.859860,-0.120872],[-0.069058,0.099698,0.992618]]y6Hಲ??jU?߿?y`ƭ`˅??ɫ66n@6vɈ;4Fll nF٦nĘEyrū: r> xzy4YzR)?~y4yzzgB  ?zCz<;zp;zy4E!B)EAMEZmRmbmjm"mll!lQkQkQkYk] @ɞd8= CI KQP=ɝiI G =ɣxI)i$=i)))) 2Acoustic response timeoutJHBH@AE5lX9GQGU,?jKOrK9zKKKtibZWm0ckX4 n[NPm[WituyG) 2B9 :BI  OU >H >H H HI AGBI ; =I I &I <*I rEY {֞ď,0[{?A2q@Y2Kl@2c=92m=:AHRS rotation from veh to nav: [[0.865765,0.500358,0.009623],[-0.495665,0.859980,-0.121457],[-0.069047,0.100383,0.992550]]y2HX?? ?߿???ɫ2q@2Ֆ;0z.GBzHi|I|AA E2Acoustic response timeoutMb@Mb@Mb@ )IiMb?Q롿~jt? ?\D<);AIvAiA AIIm?٥ :=9wͷQ > F٦ǘEy o:9 > z4YAg)?z4ygB ?:?C::z4)*AZmRm!bm!jm!"m!l!l!l)k)k)kQkU`'@ɞN= iQI O=ɝiI^Ec=Dɣ3Iiy$=i)) E*iG2B:B OG>ԉ  2Acoustic response timeoutJM R=JI JU JU JQ JQ JU ;JU p:JQ JQ JQ !] JQ !] JU ;!e JU ;!e ) G ) I A ťܞď,1 u{?Avv@Yvq@vd=9v=AHRS rotation from veh to nav: [[0.866093,0.499792,0.009580],[-0.495088,0.860275,-0.121711],[-0.069072,0.100670,0.992519]]yvH??? ߿@`?@{( Ź??ɫvv@vgj;v;C0GBHI=I=٥M; MU=9M8Q M>QQ UF٦UɘEy]: ]> amz4Yedw)?mz4yeIegBimu?eۉCey:e-:e`z4}B)}A}EZmRmbmjm"mlllkkkk@ɞ}= iOI O=ɝiIED=:ɣ5*Iiy$=i))ԑ m2Acoustic response timeoutE=mG2BI:B O>!  2Acoustic response timeout9 ď,H{?ANw@YNq@Ns>=9Ndq=VAHRS rotation from veh to nav: [[0.866109,0.499768,0.009340],[-0.495083,0.860265,-0.121811],[-0.068912,0.100877,0.992509]]yNH)?4? ?@o߿I?.`9 ӹ??ɫNw@N;N>C^%GB^HMb@Mb@Mb@ )IiS?~jtxy&1??Ļ`e<)AIi/A QAII(٥Ҽ @=9ĹQ > F٦̘Ey 7  > %z4Y-)?%z4ygB-?5:55?CY;X;Y+z4A)E'AAuB*** querying acoustic contact ***:pqBpqZmRmbmjm"mlllkkkk@jK( OrK]9zKKKOy1Pg`:o p p\qɞ =  靅ZI MN=ɝiIcB0=ɣ|I[i$=i)[飕[) EEEE9 u2Acoustic response timeoutGGGI2Ba:By O>a ď,Ҩ{?A>M|@Y>w@>Q>=9>4=FAHRS rotation from veh to nav: [[0.866454,0.499178,0.008927],[-0.494547,0.860591,-0.121685],[-0.068425,0.101020,0.992529]]y>H??H?দ߿`?&Htܹ?@?ɫ>M|@>ڊ;>:CN"GBNHR`d fF٦fΘEyf : f> hrz4Yj)?rz4yjjgBtvv?jCjLC;j6D;j8z4~%B)~PA|ZmRmbm!jm!"m!l!l!l!k)k)k)k-K@ɞY] = Y]]IY ehM=ɝaiaIe@u> =usɣu;I}i}I$=iy)}})GI2BY:Bq O}= 2Acoustic response timeoutaJcJkAHRS rotation from veh to nav: [[0.866739,0.498692,0.008344],[-0.494181,0.860921,-0.120834],[-0.067442,0.100608,0.992638]]y6HS???`߿?Ck? ?ɫ6@6;6Ya eF٦eјEyeƎ: e> iuz4Ym)?uz4ym mtgB?m9Cm;m;mFz4)gAZmRmbmjm"mlllk!k)kQk] Š@ɞ  = iI NL=ɝiIA>= ɣGI%i%F$=i!)%%)IGA2BQ:Bq O:> 2Acoustic response timeoutH>HHHI#GBI: =II&I0<*IEjKE sPrKE ػ9zKA KE KE girrk`MFAJU`~ "2'  +@;,WK te_WPNLIKUBKU ?:KU ?A 0ď,Kv{?A>_@Y>%@> =9>P.=FAHRS rotation from veh to nav: [[0.867207,0.497901,0.006812],[-0.493564,0.861302,-0.120637],[-0.065933,0.101255,0.992673]]y>H(??{?@߿ɏ? ⾿ ి??ɫ>_@>x;>9CNGBRH! 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S߿ا?>{?`v?ɫ2@2wO;2 F٦EyN ; > z4Y*? z4y! 9 2Acoustic response timeouta J] J] J] 9JY J] 5;J] un:J] c44JY J] bc<J] bc<J] ;J] ;Aď,xw|?A@R@YRc@R~l=9RO>=ZAHRS rotation from veh to nav: [[0.870722,0.491774,0.001374],[-0.488379,0.865031,-0.114925],[-0.057706,0.099397,0.993373]]yRH?;y?V?`A߿U?k@r??ɫR@R],;R=CbFBbFHIjIjV8٥r6\ r]=9vqQ v>tt vF٦vEy~e; > !-z4Y%$&*?-z4y%m %3gB15۾5?%C%K:% :%Hz4Y)]AYZmRmbmjm"mlllkkkk`@ɞ  Ԋ<  뱾I  6F=ɝiI52=X==ɣ=3IEiE{$=iE7=)EE)IG?G?GI2BY:Bi O}=Թ -2Acoustic response timeout  2Acoustic response timeout($ď,?r|?A>羱@Y>@>j,f=9>n=JAHRS rotation from veh to nav: [[0.871113,0.491082,0.000305],[-0.487860,0.865468,-0.113833],[-0.056165,0.099012,0.993500]]y>H@)?`m?3? 9߿`?#$`X?`?ɫ>羱@>F;>;CVFBZ:Hi\I\!H>HH{HIFBI; =II&I <*IwE2I:IBIJIRIZI4 Mb@Mb@Mb@  ) I i  V-?J +?y&1| h? 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&?!1Kw? }ҵ@ʷ? ?ɫ6@69;61CF^EBFHJ=J4=IbIb٥jg jY=9ngQ 5>11 =F٦=KEy=A9 E> AM|4YEs-?M|4yEE1eBQU& U?ECE>:EW:E/|4]B)eAeʞEZmRmbmjm"mlllkkkk@@ԙɞ y(I <ɝiI^׻= ɣx+Ii%=i))G2B:B O= 2Acoustic response timeoutHm >Hm CHm *HIm EBIm ; =Ii Im D&Im c<*Im E) U 2Acoustic response timeout &ď,~ś?ASEBHMb@Mb@Mb@ )Iix&1?{Gz{GzA ?##)IAitA II٥ļ :=9Q > F٦MEy > |4Y-?|4yD)eBL ?: ?7C}0;-;3|4%B)%HA!ZmIRmIbmIjmI"mQlQlQlQkQkYkYk]!@ɞ_D 靕-+I 0<ɝiIԻN=n ɣp߽I"i%=i)"飭")G2B:B O= 2Acoustic response timeoutjKOrKػ9zKKKeHA"z_e  *  >}<22K*KtAAq k,ď,!?AV@YVn@V<9V 4=^AHRS rotation from veh to nav: [[0.862304,0.504807,-0.040031],[-0.506323,0.858184,-0.084603],[-0.008355,0.093222,0.995610]]yVH?`'?~3>v?Q hݷ? ?ɫV@V;TfREBd)l nBAIrIr٥z̈ ~[=9~Q ~> F٦PEy~ > |4Y *-?|4y p #eB ? TC ; ; 0|4!)))EB*** querying acoustic contact ***:pABpAZmIRmIbmQjmQ"mQlQlQlYkYkYkYk]@ɞ 靝F+I <ɝiIbһc= ɣ7&޽IXii)X飭X)G ?G? 2Acoustic response timeoutQGq2B:B O=J5J5J59J1J5;J5d:J5c44J1ԁԩ  2Acoustic response timeout C3ď,gπ?A6@Y6 @6e;96?=>AHRS rotation from veh to nav: [[0.861953,0.505340,-0.040835],[-0.506933,0.857881,-0.084021],[-0.007428,0.093123,0.995627]]y6H@?+?`J褿8@s?dl~ַ?-?ɫ6@6E;62CbIEBbHidIfAII(1٥-l -G=9-'Q 5>11 5F٦5REy= => AU}4YE=-?U}4yEEeBYe e?EuCE`;Ee;E}4mB)uAu˞EZmRmbmjm"mlllkkkk 봳@ɞ  ) -I v<ɝiI0ϻ%Ω=%. ɣ-ݽI-,i-h%=i))5,5,)9ԱGI2Ba:By O=ZH<RH<HHHHIEBI< =II&I<*IE 2Acoustic response timeout 9 g9ď,$G?A 22Acoustic response timeout:p@Y:7 @:L;9:|=BAHRS rotation from veh to nav: [[0.861928,0.505340,-0.041367],[-0.506982,0.857855,-0.083983],[-0.006953,0.093360,0.995608]]y:H?+?.29@s?Zz|@p??ɫ:p@:;:1C^;EB^HjKn`PrKn]9zKlKnKnsBum`TLC>D.q`UKA:2+))*0>\|uoje`VPIFB>:861*&#!Mb@Mb@Mb@ )Iijt?{Gzt~jt ?ףD)I;Ai"A^A AII<٥v @=9(Q > F٦UEy > }4YpP-?}4yeB ?: ?CG ; ;i}4B)ˡA Zm)Rm)bm)jm)"m)l)l1l1k1k9k9k=V@ɞam짼 im1Ii m<ɝqiqIu1̻}=} ɣ}6ܽI}ei}%=iy)e飅e)GQ2Ba:Bq O=A 2Acoustic response timeoutJu C=Ju a=J} J} J} 8Jy J} ;J} 3g:J} '4Jy ԉ @ď,;?A >;@Y> @>@;9>H=JAHRS rotation from veh to nav: [[0.861796,0.505501,-0.042152],[-0.507217,0.857718,-0.083974],[-0.006294,0.093749,0.995576]]y>Hԓ?-?`@;`lr?Ry? ?ɫ>;@>É;>0Cz4EBzHIIb٥۟ %W=9%Q %>)) -F٦-WEy-9 -> 1=}4Y5a-?E}4y5Ţ5eBAE E?5C5;5;5$}4I)MڡAQZmqRmqbmqjmq"mylylylykkkk෵@ɞUY¼ 靽2I W`<ɝiIQ1ɻ=$ ɣl۽Ii%=i))GGtAG2B:B O= u2Acoustic response timeoutyԙ H >H H HI EBI I I &I <*I sE 5 2Acoustic response timeoutFď,9(?ADFX @YF@Fjt;9F =RAHRS rotation from veh to nav: [[0.861620,0.505736,-0.042915],[-0.507522,0.857538,-0.083959],[-0.005660,0.094121,0.995545]]yFH`d?.? =p?V~ .w@T?`?ɫFX @Fm;F4C%8EB%H-=-p< 5A1Mb@Mb@Mb@ )IiPn? F٦ZEy]U >  }4Yu-? }4yeB&$?:S ?ڐC:E:3}4B)%A%̞EZmRmbmjm"mlllkkkk*@ɞY  1I  B<ɝ i I 9)ƻo=uɣ=UڽI=Si=%=i9)=SES)AԱG12B9:BQ O]> m2Acoustic response timeoutjKNrK 9zKKK%/*$!)*" 2@]@-!$,-*"!!+@S][T2K *K sA Mď,6?A Z@YZ@Z߮;9ZE=fAHRS rotation from veh to nav: [[0.861352,0.506176,-0.043103],[-0.507980,0.857307,-0.083547],[-0.005337,0.093859,0.995571]]yZH`2?2?_Ao?`Qc@u ? ?ɫZ@Z5;Z3C|1EBHII1٥%衼 %Z=9%maQ ->)) -F٦-]Ey57 5> }4Y-?}4ydBv ?C;;sA}4) A 2Acoustic response timeoutB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkk k k  @ɞ1=м 9=3I9 =d<ɝAiAIE!ûMB=MɣMVٽIMiM!%=iI)MM)YG12B9:BI O]=)Q  2Acoustic response timeoutԁ Sď,|P?A6@Y6@6D;96*ο=>AHRS rotation from veh to nav: [[0.860989,0.506778,-0.043293],[-0.508600,0.856989,-0.083042],[-0.004983,0.093517,0.995605]]y6H@8?7?`v*rFtl?>B ht??ɫ6@6Ɉ;61Cb0EB`InIn(1٥z  zM=9~hQ ~> F٦_Ey   > %}4Y-?%}4yUdB)- 5?CXD;,q;N}4E%B)E4AM͞EYZmRmbmjm"mlllk9k9k9kE`@ɞ; 靥3I m,<ɝiI26[=5ɣTؽIVi%=i)VV)G ?G>JHBHH>HHHIEBIII&I<*IEG2B:B O>ԁ 2Acoustic response timeoutJ'4J^+4JA.JJ JJJ ;JOj:JJJ/S  F٦bEy > %}4Y{-?-}4y;dB-{#?-:-n-?=C<::;^}45B)=IA=֞EZmYRmYbmYjmY"malalalakakikikm ]@ɞټ 靝:I U<ɝiI^ ~=<ɣֽI2i%=i)-252)9GI2BQ:Ba Ou>  2Acoustic response timeoutJ) J) A aď,4g?A2@Y2@2;92-=>AHRS rotation from veh to nav: [[0.860096,0.508338,-0.042754],[-0.510108,0.856203,-0.081887],[-0.005020,0.092240,0.995724]]y2H ?ND?@㥿R@f?`ݏt`??ɫ2@2;22CFEBFpHININ(٥V< Vc=9Z8Q Z>XX ZF٦^dEy^ퟻ ^> `f}4Ybֽ-?f}4ybrbdBhjj?bZCb:b:bj}4r'B)vbAvמEZm)Rm1bm1jm1"mAlAlAlAkIkIkQkU`@ɞ)53 QUa8IQ U<ɝYiYI]WeQ=ehɣe}tսIeief%=ia)em)i ]2Acoustic response timeoutGi2By:B O=AqH >H CH HI EBI I I &I <*I }E2ImɉC:ImɉCBIiJIiRIm< =ZIm5  2Acoustic response timeoutԡ FAgď,m?AJJJ9JJ-;J~o:Jc44JJc?#ô@"up^??ɫ&@m ;1C%EB-gHMb@Mb@Mb@ )Iiw/? F٦gEy` > }4Y -?}4y  dB'?:l? C @: : yz}4%2B)%A)aZmRmbmjm"mlllkkkk@1@ɞAEuѼ IMG:II Uut<ɝQiQI}{ǵص=dɣwӽIҡiw%=i)ҡ飍ҡ)GGGq2By:B O>ԉ M2Acoustic response timeoutjK4NrK9zKKK>?=aaD1&!2Mma&ry^C'k\GԹi% &>I% WC) ) I !A `mď, ?A24@Y2@2A&;92=:AHRS rotation from veh to nav: [[0.859249,0.509777,-0.042658],[-0.511529,0.855310,-0.082356],[-0.005498,0.092585,0.995690]]y2H~?P?:ץ@q^^?`Kv?`?ɫ24@2a;0FEBJTHRxx zF٦zjEy > }4Y-?}4y绸dB?C <]<_}4 2Acoustic response timeout)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk@ɞ)-c )-.>I) 5@<ɝ1i1I5].E=EɣEvҽIMiM}%=iI)MM)Q JJG12BQ:Ba Ou=) m 2Acoustic response timeoutY "Mtď,| ҁ?AFY@YF ݷ@F;9F4=VAHRS rotation from veh to nav: [[0.859010,0.510122,-0.043336],[-0.511934,0.855041,-0.082630],[-0.005097,0.093166,0.995638]]yFH}?`R?)0a\?E't ٷ?`C?ɫFY@F;F2CbEBbQHIrIr(٥z ~H=9~Q ~> F٦ lEy   > !-}4Y%-?-}4y%%dB)--?%C%:%;%}4==B)=A=؞EZmYRmYbmajma"malalalakikikikm@ɞ% !%>I! %<ɝ!i)I-sU=UɣU}нIUQyiU z%=iQ)UQy]Qy)YZH-<RH)H5>H1H5HI5nEBI5; =I1I1&I5 <*I5zEIGI2BY:Bi Ou= 2Acoustic response timeoutPExceeded connect timeout, disconnecting.J5J5J1J1J5;J5c:J1J1J5Y<J5Y<J5*;J5*;yԡ Oszď,?A 2Acoustic response timeout6=հ@Y6з@6+ ;96=BAHRS rotation from veh to nav: [[0.858190,0.511489,-0.043454],[-0.513309,0.854276,-0.082011],[-0.004826,0.092687,0.995684]]y6HKv?^??m;V?``sP??ɫ6=հ@6;61CLv EBvYHMb@Mb@Mb@ )Iiw/?{Gz#̼)EAIAi"A^A AII<jK+OrK9zKKK|vqlhdb_]f2F1upnM>631+ ٥m< >=9%Q > F٦oEys > }4YQ .?}4yødBY'?:?C ; ;}4)ݢAZm!Rm!bm!jm!"m)l)l)l)k)k)k1kd@ɞ =I oݬ<ɝiIL ^8= ɣ-[νI-Bi5Xu%=i5i=)5B5B)1GM?GM?ԱG)2B9:BI O]> 2Acoustic response timeout Zď,`?A6+ϰ@Y6ɷ@6%;96=BAHRS rotation from veh to nav: [[0.857810,0.512050,-0.044347],[-0.513945,0.853780,-0.083187],[-0.004733,0.094150,0.995547]]y6H.s? b?`@\\ ^F٦^qEyb  b> dj}4Yf .?j}4yfMǸfdBhnpr?fCf l;fl;fi}4vGB)zAzٞEZmRmbmjm"mlllkkkk@ù@ɞ| a;I %=k<ɝ!i!I%-nt=-$ɣ-v̽I-?i-p%=i))5?5?)Q=BDAT read: Rx Time:03:54:47.2168 ETRx dataTimestamp_ set to:1761364488.194665 E2Acoustic response timeoutGQ2BY:Bq O= 1H5 >H1 H5 HI5 cEBI1 I1 I1 &I5 <*I5 Ea  2Acoustic response timeout  nManaging dock network, ignoring radio surface power off/ď,c?AJ}JyJ}8JyJ};JyJ}'4JyJ}X<J}X<JyJyIv<)v<9eİ@Ye@ee;9e*=}AHRS rotation from veh to nav: [[0.857170,0.513060,-0.045051],[-0.515017,0.853138,-0.083144],[-0.004224,0.094471,0.995519]]yeHm?j?{`L?H@Lq8/?J?ɫeİ@ez;e.CEBSH%Mb@Mb@Mb@! !)!I!i!%S㥛?:v/$%$&?%T%)%AI%Ai%tA! !%›AI=I=<٥UxѼ U2=9UQ ]>YY ]F٦]tEye2 e> iu}4Ym/.?u}4ym˸mdBu&?u:}}?m)Cm ;m:mk}4HB)AZmRmbmjm"mlllkkkk4@ɞimfF qua>Iq u<ɝqiqIu}=}ɣȽIii%=i)飥)iG2B:B! OK>mDAT read: 03:54:47.2168 LVL= 24176, 23409, 22962, 32755, AGC= 59, IDX= 218, 0.27, 1.095,-0.402, 1.080, 0.307, PHS= 0.876,-0.662, 0.770, RAW= 146.5, -13.2, CAL= 153.3, -21.4, ROT= 356.7, 21.4 uYgot valid direction response: 03:54:47.2168 LVL= 24176, 23409, 22962, 32755, AGC= 59, IDX= 218, 0.27, 1.095,-0.402, 1.080, 0.307, PHS= 0.876,-0.662, 0.770, RAW= 146.5, -13.2, CAL= 153.3, -21.4, ROT= 356.7, 21.4 }DAT read: }DDAT read: $Packet for address 11 8^.$Z׿Y9 =p^)=q[I=Yi9=;=A`?=x)=E? =_#@)=kI=<+@i=t;=8@=t;> 9=[?:-?c$Ϳi=x>=6k>=Qk=t;> 2Acoustic response timeoutԑjKSCOrK]9zKKKyqu~ui^SPYdhfb[UQNGCAFWhihaXLE=61,27>RԹ ď,o9?A:ܾ@Y:@:.w;9:=BAHRS rotation from veh to nav: [[0.856789,0.513633,-0.045765],[-0.515654,0.852736,-0.083322],[-0.003772,0.094988,0.995471]]y:Hj?o?~n<@I?Tn*Q??ɫ:ܾ@:3;:2C^ EB^WHIfIf٥n"< nf=9r_Q r>tx zF٦zvEy~ > %}4Y ?.?%}4y iϸ dB)-J5? GC Ӡ; ; }4MRB)M7AQB*** querying acoustic contact ***ԩ:p 2Acoustic response timeoutBpZmRmbmjm"mlllkkkk@ɞ z=I T<ɝiI1V˝=ɣƽIOi&c%=i)OO)G<1=GG G 2B:B) O=> M 2Acoustic response timeout xď,xFS?A=DB=GHIMIM٥] ]B=9]Q e>aa eF٦eyEym m> q}}4Yu0R.?}4yuӸudB?ujCufX;uY;u}4aB)AEZmRmbmjm"mlllkkkk@ɞ  @I  ޝ<ɝ i I o=ɣ½I<9i4\%=i!)%<9%<9)!JHBH?AH>HHIIIID&I<*IEG=GA2BQ:Ba Ou> 2Acoustic response timeout!JJJ9JJ;Jd:Jc44JJY<JY<J;J;Iy ] 2Acoustic response timeout-ƚď,0m?A @6@Y6F@63;96n =BAHRS rotation from veh to nav: [[0.855634,0.515454,-0.046886],[-0.517575,0.851625,-0.082778],[-0.002739,0.095094,0.995465]]y6HYa?@~?@l @?0`of`X?`?ɫ6@68;6-CZ EBZWHMb@Mb@Mb@ )Ii%C?S㥫QZ$?/]u)AIi AII<٥< C=9!Q > F٦|Ey > }4Yd.?}4y׸ydB$?: ?C ; ;4}4)rAjK NrK 9zK K K |=MFFE:-5^sqaSH=0wn}vi]Zm1Rm1bm9jm9"m9l9l9l9kAkAkAkEf@Iɞy}Ni y}z=Iy q<ɝiIA A=ɣIQiS%=i)Q飕Q)yG= 2Acoustic response timeoutG2B:B O>ԡ ď,Q?A6@Y6o@6|;96q=>AHRS rotation from veh to nav: [[0.855203,0.516096,-0.047676],[-0.518290,0.851214,-0.082527],[-0.002009,0.095287,0.995448]]y6H ]? ܃?h@ԕ%=?v u``d?`?ɫ6@6';60CbEBbKHIjIjb2٥r%ͼ rZ=9vbQ v>tt zF٦z~Eyz= z> |}4Y~u.?}4y~h۸~pdB  M  ?~C~:~ :~=}4lB)AEZm9Rm9bm9jm9"mAlAlIlIkIkQkQkUŻ@ɞM ?I ~<ɝiIƓ M= ɣrI#iI%=i1)5#5#)9GqFqGy GyԱ 2Acoustic response timeoutG2B!:B9 OEs>H>HHII: =II&I <*I{E  2Acoustic response timeoutI اď,d蠂?A=地@Y=@=p:9==MAHRS rotation from veh to nav: [[0.854649,0.516923,-0.048642],[-0.519205,0.850649,-0.082600],[-0.001321,0.095849,0.995395]]y=HHY?ࡊ?稿 S@8?C%ͣU?F?ɫ=地@=v<;9]EB]NHiaIa5Mb@Mb@Mb@1 1)1I1i15V-?~jtMbp5|?5D5)1I1i5"A1 15›AIMIM٥]; ]4=9eƺQ e>ii mF٦mEyu\ u> y}~4Y}}.?~4y}߸}ldB?:1?}ВC}S*;}6);}~4)AZmRmbmjm"mlllkkkk :@ ɞ15& 9=a?I9 MP<ɝIiIIMďUY=Uɣ]II] Qi]=%=i) Q Q)G2B:B O%,> 2Acoustic response timeout1jK/4OrK9zKKKVOFE@E;8AOsmWH<==:\ &u(tjhyumlnkcZNY 7ď,?A>@Y>`@>m:9>!o=JAHRS rotation from veh to nav: [[0.854377,0.517315,-0.049247],[-0.519653,0.850365,-0.082707],[-0.000907,0.096254,0.995356]]y>H W?؍? 6@06?`C,|M??ɫ>@>;>.CL~EB~gHI I Ʋ٥a= b=9%ΕQ %>!) -F٦-Ey-Y -> 1=~4Y5.?=~4y565idBAESE?5C5;5;5~4UwB)UAQ 2Acoustic response timeoutB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk @ɞ G:I l<ɝ!i!I%?#-=-@ɣ-I-ai-3%=i))-a5a JJ@AJJJ8JJ;J_:J'4J!@!@!@!@)ԩG2B:B  O > 5 2Acoustic response timeout 崠ď,Ԃ?A:@Y:䐷@:U99:q=BAHRS rotation from veh to nav: [[0.854219,0.517501,-0.050015],[-0.519912,0.850196,-0.082814],[-0.000334,0.096745,0.995309]]y:H U?_?@`4? T3 5`Fĸ??ɫ:@:x;:/C^ EB^ZHIfIf<l٥v|Ѽ vN=9v伺Q z>xx zF٦zEyUwB U> Ye~4Y]o.?m~4y]"]edBimgu?] C]1;]2;]#~4y)}ƣAyZmRmbmjm"mlllkkkk@ɞ HHHInEBI; =IID&I<*IE2IEŠC:IEŠCBIAJIE; =RIE; =ZIEQ5G2B:B) O5= 2Acoustic response timeout9a 9 9 = 2Acoustic response timeout4ď,b?A>T@Y>@>o9>=VAHRS rotation from veh to nav: [[0.853789,0.518223,-0.049895],[-0.520620,0.849901,-0.081388],[0.000229,0.095464,0.995433]]y>HT@>i;>,CbEBbbHj=j=A)uG )1Im¿imvAjKuOrKu 9zKqKuKu?7>MWXPKD?82.*%!$4?B9.(',11347a#[C82*!   Mb@Mb@Mb@ )IiGz?ˡEMb`?p?';)AI;AiƜA A AI I2٥-fV< -+=9-Q 5>11 5F٦5Ey= => AM~4YE9.?m~4yE}EddBm?u:u8u?E2CEq;E;EP3~4}B)}A}EZmRmbmjm"mlllkkk)k- {@iɞ( 靵G;I v<ɝiI]q=vܿɣk^I{in%=i){{)G2B):BA OMR> 2Acoustic response timeoutԙJ J 4=J J J J J -;J 3g:J J ď,<?A:@Y:M@:ߓ͹9:=BAHRS rotation from veh to nav: [[0.853674,0.518390,-0.050127],[-0.520808,0.849783,-0.081415],[0.000392,0.095608,0.995419]]y:HKQ??2 uk1?`״{9? y?y?ɫ:@:#h;:0CJ EBJrHIVIV٥^#= ^|=9^'Q b ?`` bF٦bEyf>2 f ? hn~4Yj.?n~4yjhlrGr?jKCjU;jr;j>~4t)vˣAtZm Rmbmjm"mlllkkkk%ɽ@ɞIUZ2 QU7IQ Uyo<ɝQiYI]0e=eٿɣeY'Ie4Eie%=ia)m4Em4E)iԡGQ2Ba:B O= 2Acoustic response timeoutH}>HyH}HI}xEBIyIyIy&I} <*I}wE  2Acoustic response timeout! &Ƞď,/"?Ae6@Ye@e]׹9eŽ=}AHRS rotation from veh to nav: [[0.853400,0.518845,-0.050093],[-0.521257,0.849525,-0.081228],[0.000411,0.095431,0.995436]]yeH O?``? ҥ#`O/?Z˴:?@0n??ɫe6@e;e.CEBiHeMb@Mb@Mb@a a)aIaiae333333?Q롿e?e\e)eAIaietAe^A ae›AIuIu٥w /=9B(Q > F٦EyG > ~4YZ.?~4ybdB?:8?oC::N~4B)AEZmRmbmjm"mlllkkkk@@@ɞQU QU9IQ ]Dd<ɝYiYI]Kye =eֿɣe9GImim$=im<)mm)qGy2B:B O> 2Acoustic response timeoutAjK CTNrK ]9zK K K $.(! #-1A=,',@fzth\O?6-q "MΠď,;?A:b@Y:)@:9:G=BAHRS rotation from veh to nav: [[0.853665,0.518397,-0.050205],[-0.520822,0.849745,-0.081710],[0.000303,0.095901,0.995391]]y:H 9Q??``1? 괿 3?@?=?ɫ:b@:w;:-CJEBJoHIRIR(٥^_< bn=9f9Q f?hh jF٦jEyn6: n? pz~4Yr.?z~4yrradB1==?rCr3ԁԩ  2Acoustic response timeout 2ՠď,U?A:厰@Y:@:eN89:)=BAHRS rotation from veh to nav: [[0.853761,0.518267,-0.049917],[-0.520665,0.849822,-0.081919],[-0.000036,0.095930,0.995388]]y:HR??I1?̩`֎?@8?ɫ:厰@:x;:.CR"EBRvHIZIZ٥bM< bJ=9f[:Q f>hh nF٦nEyn9 n> pv~4Yr.?v~4yrsr`dBxz z?rCrS:r:ri~4B)AEZm!Rm!bm!jm!"m)l)l)l)k)k1k1k5@ɞ3y G7I `R<ɝiIBjJHBHAAH%>H!H%HI%EBI!I!I!&I%<*I%pE5dٕ==Yпɣ=6I=i=A$=i9)==)AԹGI2Ba:Bq O= m2Acoustic response timeout  2Acoustic response timeout9 ^۠ď,o?ABo@YB6@B99B&x=JAHRS rotation from veh to nav: [[0.853986,0.517891,-0.049967],[-0.520296,0.850012,-0.082289],[-0.000145,0.096271,0.995355]]yBH@S??@:D`L3?  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J?ɫ>h@>Ř;<\b=EBbHIjJHr?ABHpHz>HxHxIxIxIxIx&Iz<*IzcE2I:IBIJIRIZI)4Ij0٥= [=9$Q %>!! %F٦%ǙEy-k -> 1=4Y5U0?=4y5@5 dB9=@E?5C5;5#;5̓4MB)MAIZmyRmybmjm"mlllkkkkdz@ɞ3L 靽0I 3:ɝiIҋK=ɣ}Ii#=i))Gy2B:B O=  2Acoustic response timeoutA ) =G )  2Acoustic response timeoutI C¿ 4Ad\ď,t?A6R@Y6z@6s96=BAHRS rotation from veh to nav: [[0.852737,0.518810,-0.060626],[-0.522267,0.848802,-0.082299],[0.008762,0.101842,0.994762]]y6HI?@?e h@b)?`?W??ɫ6R@6D;6,CF4EBJHMb@Mb@Mb@ )Ii-?J +~jt5?Hļ)QAI;AijA fAII٥ A=95Q > F٦əEyc+ > 4Yg0?4yDdB?:?>C::4)AZmRmbmjm"mlllkkkkdz@ɞQ]8 Y]2IY ]Me:ɝaiaIe(umZ=ɣawIΑi~#=i)Α飕Α)IGjK MrK9zKKK #bL5Duvmtslb^*uleca\hvsjmf^lqZONh2B:B O> 2Acoustic response timeoutqJiJm=JuJuJu8JqJu ;Jut:Ju'4Jqԡ }cď,?A6,|@Y6v@6׉96@=>AHRS rotation from veh to nav: [[0.852529,0.519047,-0.061511],[-0.522590,0.848639,-0.081928],[0.009676,0.101992,0.994738]]y6H`G? ? m~ (?A&у??@?ɫ6,|@6V;6*CN5EBRHI\I\٥f ; f[=9fL Q j>hh jF٦j̙Eynㆺ n> pv4Yrw0?v4yrBHrcBtvz?r\CrK:r:r4y}B)}A EZmRmbmjm"mlllkkkkdz@ɞi }2Acoustic response timeoutuN.M 靅2I ڸ9ɝiI[U=ɣ qIi j#=i))G2B:B O>ԡH>HHIIII&I<*IE - 2Acoustic response timeout iď,?AFs@YFQn@F١;9F?l=RAHRS rotation from veh to nav: [[0.851962,0.519844,-0.062638],[-0.523479,0.848258,-0.080181],[0.011452,0.101101,0.994810]]yFH`EC?`? `V@$?t? ?`|?ɫFs@F6;F(CXZHIfIf<٥~+x: G=9 ߌQ >!) 5F٦5ΙEy=U% E>  4Y40?54yrLcB9=1 E?~CJ/<>-<4)AZm)Rm)bm)jm)"m1l1l1l1k1k9k9k=\ȳ@ɞ> 靭2I QɝiIę4`=ɣkIGiQ#=iPJ<)GG)G2B:B O$> }2Acoustic response timeout1jK & OrK 9zK K K vmplijx('$  (EM`z4wtqwWLv~ZB47Q pď,}Z…?A r2Acoustic response timeoutr%k@Yre@rP9rw+= AHRS rotation from veh to nav: [[0.851412,0.520610,-0.063743],[-0.524343,0.847803,-0.079343],[0.012735,0.100977,0.994807]]yrH`>?ը?pQj3!?O?ٹ?@v?ɫr%k@rJ;r*C!Mb@Mb@Mb@ )IiCl?v/{Gz;?xiף)IAiA AIIV89wDQ >1 J9J=AAJEJE JE9JAJE;JEun:JEc44JAqq uF٦uљEy}i }> 4Y 0?4yPcB?:#?C ; ;ǽ4B)AEB*** querying acoustic contact ***:pBpZmRmbm jm"mlllkkkk ȳ@ɞae K iiI  XɝiIh=oɣ cI}iM9#=i)}飥})G2B:B O )>aBDAT read: Rx Time:03:55:02.3505 TRx dataTimestamp_ set to:1761364503.318515 2Acoustic response timeoutԡԹ ĺvď,9܅?A6da@Y6,\@6`qi96T=ZH@RHB<HB>H@HBHIBEBIB: =I@I@&IB?<*IBERAHRS rotation from veh to nav: [[0.850770,0.521498,-0.065041],[-0.525346,0.847274,-0.078351],[0.014248,0.100828,0.994802]]y6H`9??@@?@-?`Ϲ?j?ɫ6da@6;6+C5ZEB5HIMIM٥ex1= e<9e}Q m>ii mF٦mԙEyuR u> y4Y}0?4y};T}cB$?}C}:}:}4)AZmRmbmjm"mlllkkkkɳ@ɞM y)I 1ɝiI $3 =rɣ]Ii>##=i))G)G)ԑG2B!:B1 O== 2Acoustic response timeoutԹ DAT read: 03:55:02.3505 LVL= 25552, 30049, 25282, 32755, AGC= 60, IDX= 412,-0.10,-0.805,-2.116,-0.805,-1.486, PHS= 0.769,-0.583, 0.678, RAW= 146.6, -13.1, CAL= 153.4, -21.4, ROT= 356.6, 21.4  Ygot valid direction response: 03:55:02.3505 LVL= 25552, 30049, 25282, 32755, AGC= 60, IDX= 412,-0.10,-0.805,-2.116,-0.805,-1.486, PHS= 0.769,-0.583, 0.678, RAW= 146.6, -13.1, CAL= 153.4, -21.4, ROT= 356.6, 21.4  6DAT read: bearing request  Dreceived a bearing request message BDAT read: Tx time:03:55:03.9534  $Ping request sent. 8^.$Z׿Yۙ ܝ c)ܝ auIܝ biܙ ܝ <ܝ /D?ܝ }?ܝ h-? ݝ #@)ݝ  jIݝ uY+@iݙ ݝ )@ݙ ޙ ޝ FOt?<,?zcͿiޝ l<>ޝ Qj>ޝ sޙ  :publishing transmit ping time  :publishing range request flagݙ ۙ ۙ y۝ tȽ? h;{E>8^.$Z׿Yۙ ܙ a|ďI,?ARY@YRT@R9R@|=)Ii )Ii FOt?<,?zcͿi%AHRS rotation from veh to nav: [[0.850259,0.522114,-0.066753],[-0.526121,0.846859,-0.077629],[0.015999,0.101125,0.994745]]yRHS5?(?``x?߳`b?T??ɫRY@Rq؈;P]HEB]He F٦יEy >  4Y 0?4yYcB!?:v$?C*<*<v4&B)%A%EZmaRmbmjm"mlllkkkk`ɳ@ɞU{6  -I  6ɝ i I v=*ɣUIir#=i)jK% .OrK!zK!K%K%=80)" ! 0]meZRUWQPWv{y})AJMR=JMʃď,W?A>T@Y>N@>ː9>(=NAHRS rotation from veh to nav: [[0.849870,0.522536,-0.068396],[-0.526697,0.846560,-0.076984],[0.017674,0.101450,0.994684]]y>H!2? ?^?@23??r?ɫ>T@>‰;>'CV\EBVHI^I^(٥f}= f=9j6Q j ?hh nF٦nٙEyn n? pv4YrT0?v4yr\ztIrcBxz$z?rCr:rU:rH4)AZmARmIbmIjmI"mIlIlQlQkQkYkYkeɳ@ɞe 靭(I ɝiIщܰ=ɣ%OIBi"=i)BB)G5yHHH*HIEBI; =II&I2<*IEԩ Je Je Je 8Ja Je ;Je X:Je '4Ja Je Y+??ɫ2Q@2#;0T~gEB~HII(*٥=^< =)=9=^Q E>AA EF٦EܙEyMH m> q4Yu$0?4yu`ucB$?u%Cu{;u;uU42B)AZmRmbmjm"mlll!k!k!k)k-hʳ@ɞQU3 Q]&IY ] EɝYiYI]-e3=exɣmFIm2Lim"=ii)m2Lm2L)qG]<GG ?G 2B :B  O >! jK} NrKy zKy K} K} pa-taw*wjb\VUhpf]RF<821.*wݐď,C?A>@@Y>;@>M9>=JAHRS rotation from veh to nav: [[0.848569,0.523991,-0.073239],[-0.528648,0.845330,-0.077130],[0.021495,0.104168,0.994327]]y>Hy'??ƿ ?@о???ɫ>@@>;>)CNtEBRHiTITMb@Mb@Mb@ )Ii/$?Zd;O~jtx??j<;)AIߑAiA II٥F = g=9ɻQ > F٦ޙEy > 4Y0?4yLdcB?:U!U?ACr<W<4]=B)eAeEB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk`ʳ@ɞq~L 靕"I FcɝiI)a օ=qɣXAIͱi"=i)ͱ飥ͱ)GC= Ga=)QGmԁ ď,]?AH>HHOHIEBIII&I"<*IEF0@YF+@F/ȼ9F$_=rAHRS rotation from veh to nav: [[0.847483,0.525463,-0.075239],[-0.530260,0.844559,-0.074454],[0.024421,0.102995,0.994382]]yFH? ?B@?o?]?`?ɫF0@F^;F'CzfEBzHYIeIe(٥l <=9ܻQ > F٦Ey > 4Y1?4y{hcB~"?cCv;?;g 4)*AZmRmbmjm"m l l lkkkk.˳@ɞIMP5I QU`&IQ U(ɝQiQIU]w=]hɣ]8I:Ie{ie"=ia)e{e{)iGyFyG} G}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉJ-J-J-9J)J- ;J-_:J-c44J)J-/S<J-0S<J-z;J-z;ԱG2B!:BA Ou>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse1ď,Ww?A62@Y6-@6Nּ96D=BAHRS rotation from veh to nav: [[0.847560,0.525050,-0.077227],[-0.530051,0.844704,-0.074303],[0.026221,0.103911,0.994241]]y6H7? 5?,ų, ?ٚ?`ꙺ? ?ɫ62@6܊;6(CJxEBJHeMb@Mb@Mb@a a)aIaiae/$?Q rh?aeeC<)eAIaiejAeƜA aefAI}I}(*2٥G= ^=9Q > F٦Ey: >Թ 4Yw1?4ykcB?:J?C;;;;4IB)4AZmRmbmjm"mlllkkk k  ˳@ɞ9EN AE!IA E{ɝAiIIM8M!=UbɣUHu5IUmbi]!v"=iY)]mb]mb)YGmsAGmrAGI2BY:Bq O}=-'TFailed to parse incomplete device message.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA ď,3?A24?@Y29@2*"92ϫ=BAHRS rotation from veh to nav: [[0.848336,0.523564,-0.078790],[-0.528745,0.845482,-0.074751],[0.027479,0.105074,0.994085]]y2H%??@+{ 1?" ]#?@ ??ɫ24?@2N-;0^wEBbHf%>f> jAjAIrIr٥z H ~T=9UQ >   F٦ Ey ; > -4Y"1?-4ymocB)55?C=3;.;4A)E6AAZmRmbm!jm!"m!l!l!l!k)k)k)k-˳@=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseɞxG 靝"I ㋣ɝiI}9Ą=\ɣ;|0Ii5V"=i))G2B:B  O% >AH%>H!H%uHI%EBI!I!I!&I%<*I%iE2I:IBIJIRIZIͶ4i T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJE JE JA JA JE M;JE Oj:JA JA JE \<JE \<JE o;JE o;ԡ Cď,A?A>O@Y>J@>*_9>8g=FAHRS rotation from veh to nav: [[0.849381,0.521512,-0.081104],[-0.526985,0.846462,-0.076085],[0.028972,0.107366,0.993797]]y>H .?@9?:ô7?Uz ժ?@W|? 0?ɫ>O@>S;>)C^EBbHIjIj<٥E= J=9 eqQ  > F٦Ey; > !-4Y%31?-4y%$s% dB)-f5?%C%B:%:%4=QB)=0A=!EZmiRmibmijmi"mqlllkkkkX̳@yɞAmA q}Iy ;ɝiIiIvlS9) G=c= !%3Vɣ-d\+)9IENImequlAiE4"=iq)uN}N)yeT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseGq2B:Bԡ O=>jK pNrK ػ9zK K K ~ynf^UNKJKTl~og_\[[XQKNTzWsw{nV?4222>;0' +ď,Ć?A2Z@Y2lU@292c=:AHRS rotation from veh to nav: [[0.850038,0.520227,-0.082461],[-0.525861,0.847130,-0.076422],[0.030099,0.108325,0.993660]]y2H3?`?.`?g &Ҟ?.??ɫ2Z@2;2(CRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseVEBVH-Mb@Mb@Mb@) )))I)i)-`"?y&1|Q?-?-`-u<)-AI-;Ai)-tA )-̜AIAIA٥(< 4=9"Q > F٦Ey;; > 4YF1?4yvdB?:?C[;;%4RB)'AB*** querying acoustic contact ***:pBpZm Rm bm jm "mlllkkkk`̳@ɞAED IMII MĻɝQiQIUp9]=]Qɣ]'I]i]"=iY)]])aGu ?Gu>G)2B9:BI O>]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse) ZH RH 4<H! H! H% HI% FBI! I! I! &I% <*I% EWď,ކ?A6"g@Y6a@6\96=<BAHRS rotation from veh to nav: [[0.850806,0.518719,-0.084019],[-0.524545,0.847900,-0.076933],[0.031333,0.109527,0.993490]]y6H9? Y?B!?鱳 ?@ ?`?ɫ6"g@6;6)C^EB^Hi`I`If If<2٥r< rj=9rgQ r>tt vF٦vEyv; z> |4Y~U1?4y~y~&dB'?~C~U:~:~+4]B)HAZm9Rm9bm9jm9"mAlAlAlIkIkIkqk}.ͳ@ɞI I EԻɝiIѥ9=NɣR%Idi!=i)dd)9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG2B:B O >J{c44J{04J{.JJJ8JJ-;J\:J'4JJ F٦Ey; > 4Yh1?4yg}0dB?:{ ?C ; ;X34)QAZm9Rm9bm9jm9"m9lAlAlAkAkAkIkM ͳ@ɞyYJ 靅FI ɝiIHi9Nj=OLɣpr#Ii!=i)飝)G2BԱ:B O=jK+OrKzKKKm_UQJB><6/,*)'" !+.(!&3DTdq}viT?.(##=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJJp= Ziġď,؀?AN=@YN|@N[ 9Nn=ZAHRS rotation from veh to nav: [[0.852386,0.515898,-0.085368],[-0.521777,0.849878,-0.073868],[0.034444,0.107507,0.993608]]yNH F?;?`ڵ`f22?鲿???ɫN=@Nی;N'CddIvIvb1|9!~Q > F٦ Ey i;  > 4Y~x1?4yc8dB!%# %?8C<;;94-iB)-A-"EZmIRmQbmQjmQ"malalalikikikikmͳ@ɞR 静I  ɝiI99=fJɣs!I\ri!=i)\r飵\r)GtAGtA}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseG2B:B O=)H>HHHIFBIII&I@<*IEQ% T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseԁ Sʡď,W[,?A2@Y2K@292R=>AHRS rotation from veh to nav: [[0.853008,0.514665,-0.086587],[-0.520688,0.850527,-0.074077],[0.035520,0.108274,0.993486]]y2HK?#x? *z7?/?`ѷ??ɫ2@2;2)CNEBNHRhh jF٦jEyjN; > !-4Y%1?54y%%BdBAM M?%WC% ;Y%;%@4y)AZm Rm bm1jmQ"mYlalalikykkkfγ@ɞnC ,I %S ɝ!i!I%((9-}=-dHɣ-@P I-Wi5g!=i1)5W5W)1ԉG92BQ:Ba Om5>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ yѡď,0F?AjK"wNrK"9zK K"K"*xd\]]TJA;52/-*'&&-TupZF7-("#*36:;FXaq:q@Y:9@:9:}=FAHRS rotation from veh to nav: [[0.853346,0.513927,-0.087634],[-0.520047,0.850963,-0.073566],[0.036765,0.108351,0.993433]]y:HN?r? +o :;??ղ@Ң?`鼻? 3?ɫ:q@:};8JEBJHrT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapse-Mb@Mb@Mb@) )))I)i)-1Zd?Mb`?-"?-;-̼)-\AI)i- A-"A )-̜AIEIE(1٥U; UB=9UAQ U>YY ]F٦]Eye: e> iu4Ym1?u4ymmAdBuD?Թ JJJJJ:JJ;Jd:JFA4J!@!@!@!@U:U! U?mwCmT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA JH @ABH H H CH HI FBI I I &I <*I tEסď,x`?AB@YB}@B9Bj=JAHRS rotation from veh to nav: [[0.853893,0.512911,-0.088258],[-0.519057,0.851669,-0.072391],[0.038037,0.107626,0.993464]]yBHS?i?@`@?= y?Y?@t?ɫB@BXx;B&CI-I-(٥5~: =L=9=OQ =>AA EF٦EEyM8; M> I]4YM1?]4yMLIY] ]?MCM;M;M(O4i)mæAiZmRmbmjm"mlllkkkk,ϳ@ɞr^ I DɝiI:m%=1Dɣ<Ihin!=i)hh)G ?G ?G2B:B O=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAi T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԩ 6ݡď,y?A63@Y6@6-!96=>AHRS rotation from veh to nav: [[0.854004,0.512576,-0.089126],[-0.518769,0.851946,-0.071180],[0.039445,0.107024,0.993474]]y6H`T?g?ж@$C?@8 .2?e?@?ɫ63@6;6'CNEBNHiPIP}Mb@Mb@Mb@y y)yIyiy}Gz?y&1}p?}`}L)}AIyi}^Ay y}fAII٥  D=9G]Q > F٦Ey?: > 4Y1?4y4dB?:?C3::uV4B)A#EZmRmbmjm"m l l l k kkkϳ@ɞAE(`S AEIA MɝIiIIM':UӁ=U&?ɣUIUˤiUQ!=iY)]ˤ]ˤ)aqGi2By:B O=ԙjK]NrK]S9zKYK]K]+OLuhb[QD:62-,*'%#%+:C?=90+.59510/4CZs{uk`\tl\M>61T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJC=JJJJ9JJ;J]:Jc44J lď,Kȓ?A> @Y>蛷@>z&9>=FAHRS rotation from veh to nav: [[0.854212,0.512069,-0.090040],[-0.518335,0.852266,-0.070508],[0.040633,0.106900,0.993439]]y>HU?b? 3E? ͤ? ]?A?ɫ> @>^;>%CNEBNHIVIVԲ٥j< jY=9jnNQ n>ll nF٦rEyrC: r> tz4Yv'1?z4yvev*dBx~~?v՘Cv#;v;v]4B)A-EZm)Rm)bm)jm)"m)l)l)l1k1k1k1k=ϳ@ɞGW I O"ɝiI':=:ɣLICi%6!=i!)%C%C)!UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseGQ2BY:Bi Ou=HiHiHiIiIm: =IiIi&Imؕ<*Im/E)  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ ď,֫?A>@Y>]@>*9>9=FAHRS rotation from veh to nav: [[0.854519,0.511593,-0.089832],[-0.517743,0.852812,-0.068221],[0.041708,0.104806,0.993618]]y>H`8X?`^? 6`Y`@>;>(CnEBnHIvIv(*٥~ ~H=9~%,Q ~> F٦Eye:  > 4Y 1?4y   dB!%-? C S; 4T; 4d41)5A9ZmYRmYbmYjmY"mYlalalakakakikm aг@ɞZ ,I pT*ɝiIg1:G>=5ɣ%dI/i!=i)//)GGsA1G2B:B O- >eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseYԁ ď,||LJ?A0bT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsejKbNrKb9zK`KbKb4AWu1oitd 6$~}{}zyJJJJJ ;J~o:JJUEB]Hu=u F٦Ey >ԉ 4Y1?4y癹 dB0'?:V?C[;$;l4B)HA.EB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk@г@ɞ)5M 15I1 54ɝ1i9I=::==EL,ɣE IEi =i))G2B:B O5O>ԹuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse ZH] <RHY Ha He CHa Ia Ie ; =Ia Ia &Ie Ǖ<*Ie E2I!:I!BI!JI!RI!ZI%4Qď,T?AF<@YF@FY69F=NAHRS rotation from veh to nav: [[0.854268,0.511698,-0.091609],[-0.517925,0.852898,-0.065719],[0.044505,0.103588,0.993624]]yFH@)V?_?s֒J?Ұ`Pɦ???ɫF<@F3 ;F%ClEBHI)I)٥mG= ms=9uQ u?yy }F٦}EyI^ ? 4Y2?4yEdBp?:C+?;@;r4)'AZmRmbmjm"mlll1k1k9k9k=6ѳ@ɞ'f 靍yI :ɝiI B:⬀=%ɣIdi =i)dd)GBDAT read: Rx Time:03:55:10.5584 TRx dataTimestamp_ set to:1761364511.646727T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse2B:B  O>)G )% AI} y AI  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseFď,.?A6m@Y66@6:96˴=BAHRS rotation from veh to nav: [[0.854245,0.511598,-0.092376],[-0.517883,0.852960,-0.065235],[0.045419,0.103567,0.993585]]y6HU?@_?@@sK?=1A?`[?r?ɫ6m@6a;4=EB=HMb@Mb@Mb@ )IiK7?bX9ȶ~jt)?ED)AAIۑAiAœA AII(٥f< 2=9Q >!! %F٦% Ey%U8 -> 1=4Y52?=4y5I5cB=+?=:=+=?5aC5:5:5z4MB)MCAIZmyRmybmjm"mlllkkkk`ѳ@IɞPM 靭I DɝiImAG:tc=ɣI_-i =i)_-飽_-)G ?G>G2B:B OI>jKt OrKػ9zKKK #tq[0Z g5J|ru~DAT read: 03:55:10.5584 LVL= 24960, 32753, 24434, 32755, AGC= 60, IDX= 434,-0.20,-2.170, 2.548,-2.149,-2.790, PHS= 0.708,-0.898, 0.637, RAW= 147.8, -5.7, CAL= 153.0, -14.4, ROT= 357.0, 14.4  Ygot valid direction response: 03:55:10.5584 LVL= 24960, 32753, 24434, 32755, AGC= 60, IDX= 434,-0.20,-2.170, 2.548,-2.149,-2.790, PHS= 0.708,-0.898, 0.637, RAW= 147.8, -5.7, CAL= 153.0, -14.4, ROT= 357.0, 14.4  DAT read: DDAT read: $Packet for address 11  IX,?›X?.Vi >==QwV>JJJ8JJe ;J^:J'4JT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse! ď,?A:]@Y:&@:?9:=BAHRS rotation from veh to nav: [[0.854193,0.511449,-0.093670],[-0.517861,0.852986,-0.065071],[0.046619,0.104091,0.993475]]y:HU?@]?QK?@~@bާ?෥? ?ɫ:]@:B[;:$CNEBN.HiTITIVp=)Va=I^I^Բ٥!|= s=9iQ  ?    F٦  EyF ? -4Y)2?-4ycB)-+5?~CJ0;4;w4)AZmRmbmjm"m!l!l!l)=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapsekIkQkQkUҳ@ɞ^b 靥I njJɝiI M:0=uɣIHi =i)HH)G2B:B O>H>HCHHI/FBI: =II&I0<*IEI T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsey / ď,).?AI):@Y:~@:I]C9:s=FAHRS rotation from veh to nav: [[0.853983,0.511600,-0.094755],[-0.518112,0.852857,-0.064766],[0.047678,0.104403,0.993392]]y:HS?_? A@`J?@`Ji?@#?@?ɫ:@:#A;:%C^EB^(HIfIf٥ncP rM=9r+.Q r>tt vF٦vEyvT v> x~4Yz};2? 4yzVzcB+%?zCzG;z;zo4=B)=SA=/EZmYRmabmajma"malalalikikikikm`fҳ@ɞB_ 靥I iQɝiIR:=CɣӼIQ6iۂ =i) <)Q6飽Q6)YGq2B:B O>ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseyԩ Sď,H?A6Ǟ@Y6@6G96QY ]F٦]Ey]0B ]> a4Ye+Q2?4yeecB1?:C2?e˙Ceu;e;e⏀4B)=AB*** querying acoustic contact ***:pBpZm Rm bm jm"mlllk!k!kIkMҳ@ɞ@ E I FZɝiIQ:x=ɣ IiX =i)) GiGmtAG92BI:B O^>UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse JH BH AAH H H HI WFBI ; =I I &I ҕ<*I &E9 D@ď,|b?ARo@YR7@R3P9R=^AHRS rotation from veh to nav: [[0.853447,0.511670,-0.099104],[-0.518683,0.852451,-0.065534],[0.050949,0.107333,0.992917]]yRHqO?@_?@^` @HG?ư?@5z?`?ɫRo@R;PfEBfHn%=np= xzAII٥ "= t=9 ڻQ ?! %F٦%Ey-2 -? 1U4Y5 `2?4y5᳹1U2?5C54T<5U<54B)A9EZmRmbmjm"mlllkkkk8ӳ@ɞ̧T 靍DI _ɝiIQ:f?=ѾɣI؏i< =i)؏飥؏)G2B:B O>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9y   F٦Ey: > 4Ys2?4y%cB.?:d4?Cm ;:4ČB)A:EZmRmbmjm"mlllkkkkӳ@ɞ9=8> Eq~9EUIA EstfɝAiAIEL:Ur~=U`ɣU𳎼IUM iU =iQ)UM ]M )YԑԹDAT read: BDAT read: Tx time:03:55:13.6193 $Ping request sent.FNrK9zKKK4/*$ %-1-)$!! +Xqj]OC9.&"%,*+),A^e^PG>:?BA?EKLHGLTVYWVRNGCG5%<G ?G?Gq2By:B O> rY%ď,o?AF@YF@F+Y9F =XbAHRS rotation from veh to nav: [[0.853513,0.510835,-0.102780],[-0.518361,0.852487,-0.067590],[0.053091,0.110965,0.992405]]yFHO?`X? OiG?M`.?;h??ɫF@FBw;Dn9FBrHIzIzV٥= g=9UUQ U>QQ ]F٦]Ey]V9 ]> am4Yeă2?m4ye[edBqu`4u?e0Ce;e;e4)AZmRmbmjm"mlllkkkkԳ@ɞv@ !I kɝiI1H:~=fɣpuIi =i)) MJDAT read: TxSync time:03:55:13.6185 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249085GNJN<G2B:B O>H>HHIHIFBI: =II&I4<*IE  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5001501 J J J 9J J ;J _:J c44J J /S@2J`92=BAHRS rotation from veh to nav: [[0.854352,0.508820,-0.105754],[-0.516804,0.853255,-0.069778],[0.054731,0.114269,0.991941]]y2HV? AH? M?ܱ`?@? ?ɫ2v@2 ;2%C^sFB^HIb=)b=IfIfM٥r> rM=9rRQ v>xx zF٦zEy~~; ~>  4Y2? 4ydB3?RC: :Ī4%ьB)%\A!ZmIRmIbmIjmI"mIlIlQlQkQkQkYk]jԳ@ɞ* )- ƾI1 EpɝAiAIE<:U͂~=]s}ɣ]JI]i]=iY)]])aIechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752084Gԡ =d2ď,ʈ?AI)B笰@YB@Bw7h9Bq=JAHRS rotation from veh to nav: [[0.854288,0.508429,-0.108129],[-0.516702,0.853297,-0.070025],[0.056663,0.115692,0.991668]]yBHTV? E?U@҈`5N?@.?@??ɫB笰@BĪ;B"CR|FBRHbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004165MMb@Mb@Mb@I I)IIIiIMPn?~jtZd;O?M$?MMj<=)MAIMҏAiMQAMtA IMAImImԳyjK}WNrK}9zKyK}K}@GID=?GD>944.('%%#(Iy٥Y< ?=9pQ > F٦Ey9 > 4Y2?4yYƹ.dB%?:+?uC ;r;34)JAZmRmbmjm"mlllkkkkԳ@ɞ%  I  Jvɝ i Ie.:5T~=5Oɣ5"&I5bi==i9)=b=b)9ԩEuh%<GFG Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257614ZH RH <H >H H HI FBI ; =I I &I ,<*I E G 2B :B!  O- >:8ď,z?A6h@Y61@6Vm96!=>AHRS rotation from veh to nav: [[0.855455,0.506021,-0.110181],[-0.514629,0.854418,-0.071595],[0.057912,0.117949,0.991330]]y6H_?`S1?4@weW?T`?1??ɫ6h@6ˋ;6(CFFBF]HININ٥>  T=9 TQ  >  F٦!Ey; > %4YW2?-4ybʹLdB)-*5?CH%;C&;4E݌B)EAM;EeB*** querying acoustic contact ***:paBpaZmiRmibmijmq"mqlqlqlqkkkk;ճ@ɞ_! I 9zɝiI :5~=&ɣfI`i=i)``)Eyb];G2Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512054:B O>JJJJJE ;JJJJ|P<J|P<JJ1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764385ܸ>ď,?A6>հ@Y6з@6tn96p=>AHRS rotation from veh to nav: [[0.856747,0.503760,-0.110498],[-0.512444,0.855681,-0.072193],[0.058184,0.118475,0.991251]]y6H@yj?`?Iea?6{@ʭ?aT?S?ɫ6>հ@6;6$C^FB^Hb!>b>Mb@Mb@Mb@ )Ii1Zd?QX9v?"?}=)AI/AiA"A AII٥= ?=9&Q > F٦$Ey[; > 4YM2?4y9ιtdB"?:?C:#:m4)٥AZm)Rm)bm)jm)"m)l)l)1l1k9k9k9k=ճ@ɞimr imQIq ub~ɝqiqIu# :}L~=} ɣ}+Ii\=i)飅)aEΒ{checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016154Gq2BJR=J:B O>jK-8NrK-9zK)K-K-}gPEDCED?<7;M`)=y K %."ԉԹ Eď,a?A2@Y2@2n92=:AHRS rotation from veh to nav: [[0.858655,0.500428,-0.110831],[-0.509226,0.857497,-0.073396],[0.058308,0.119460,0.991125]]y2H`z??n_ Kp?`ʲڭ?@?`L?ɫ2@2%;2%CBFBBHIJIJb٥Rv= R^=9RYQ V>TT VF٦V&Ey^&< ^> dr4Yf2?r4yfѹfdBtvv?fҚCf;f;fƀ4B) A EEZmaRmabmajma"mililqlqkykykyk} ֳ@ɞ!%S )Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268189-OIq uۀɝyiyI})9.}=ɣqI=Bԉic8=i)=B飭=B) EEEEHM>HIHMHIMKGBIIIIII&IM<*IMYE2I ċC:I ċCBI JI RI : =ZI 3ԹGI2BY:Bi Ouz> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520101J J J 8J J ;J [:J '4J J Q<J Q<J ;J ; [Kď,x1?A>@Y> @>~n9>M=FAHRS rotation from veh to nav: [[0.860467,0.497312,-0.110801],[-0.506171,0.859216,-0.074419],[0.058193,0.120119,0.991052]]y>H??w]`2~? r˭?%??ɫ>@>i:;>$Cif&>IfGCbGBrH)5ɊG I)aImImԲI忙A٥ξ< ;=99Q > F٦)Ey< > 4Y2?4y^չdB?C::w΀4)AZmRmbmjm"mlllkkkk ~ֳ@ɞQ]\ 靕9|I ɝiIY9N}=½ɣ 㛻Ii=i))uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773180G2B :B! O-N>I TRď,rOK?A :14@Y:.@:m9:t=BAHRS rotation from veh to nav: [[0.862640,0.493510,-0.110904],[-0.502486,0.861231,-0.076087],[0.057964,0.121363,0.990914]]y:H?૕?3d]4?kz ???ɫ:14@:;:%CJ GBJHiLILfchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024468 JYJYMb@Mb@Mb@ )Iioʡ? rh?)\(? ?C<Ga=)hAIAiAҞA fAII0٥Y< G=9:Q > F٦,Ey*< >jKgOrK9zKKKsg_YYa~xh\Uk(Fkz~rW=$ ~q^ROP  4Y2?4yDعdB ?:B?C ; ;Հ4%B)%A!ZmARmIbmIjmI"mIlIlIlIkQkQkQk]ֳ@ɞD 靅vI  ɝiIa9}=}ɣgʚI[i`=i))qG2B :B! O5 >ԙuBDAT read: Rx Time:03:55:16.5414 }TRx dataTimestamp_ set to:1761364517.453838}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277260 HM >HI HM uHIM GBIM : =II IM D&IM <*IM UEXď,*e?A6=R@Y6M@6$l96(=>AHRS rotation from veh to nav: [[0.864494,0.490408,-0.110225],[-0.499329,0.863030,-0.076482],[0.057620,0.121157,0.990960]]y6H?b?7߿`?Te?$??ɫ6=R@6t;6&CPR&GBRHI^I^٥fc= f^=9f?u:Q f>hh jF٦j.Eyj#< n> pv4Yr 3?v4yrڹreBtvPv?r*CrW:rp:r܀4x)~A|B*** querying acoustic contact ***:pBpZm)Rm)bm)jm)"m)l1l1l1k1k1k9k==׳@ɞaeP imYIi mhɝiiiImFa9u}=ɣIid=i!)%%))G12BI:Ba O}=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528446JmJmJm:JiJm ;Jmb:JmFA4JiJm/S<Jm0S<JmD;JmE;)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783195 _ď,j?AMBv@YM q@Mi9M=eAHRS rotation from veh to nav: [[0.866709,0.486647,-0.109504],[-0.495539,0.865132,-0.077383],[0.057077,0.121332,0.990970]]yMH?9%?m߿`)?`dϳ (9?`??ɫMBv@MY;M#Cm>GBuHEMb@Mb@Mb@A A)AIAiAEq= ףp?v/?I +?E ?Exi=E9<)E AIAiAEA AE=AI]I]٥mT= m2=9u:Q u>yy F٦1Ey< > 4Y3?4yݹ$eBd ?:7׾?KCQ::!4B)FEZmRmbmjm"mlllkkkk׳@ɞ0 iAI ԆɝiIQ8%}=%ɣ%I-?i-ʹ=i))-?-?)1!GA2BI:Ba Om>DAT read: 03:55:16.5414 LVL= 25840, 31569, 20850, 32755, AGC= 58, IDX= 447,-0.12, 1.490,-0.036, 1.564, 0.838, PHS= 0.739,-0.827, 0.723, RAW= 149.5, -8.2, CAL= 155.4, -16.4, ROT= 354.6, 16.4 Ygot valid direction response: 03:55:16.5414 LVL= 25840, 31569, 20850, 32755, AGC= 58, IDX= 447,-0.12, 1.490,-0.036, 1.564, 0.838, PHS= 0.739,-0.827, 0.723, RAW= 149.5, -8.2, CAL= 155.4, -16.4, ROT= 354.6, 16.4 PDAT read: Bearing 354.6, 16.4 (Local) ~Local bearing/azimuth received: Bearing 354.6, 16.4 (Local) -DAT read: Range 10 to 50 : 388.3 m (Round-trip 517.8 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5`direction in FSK: [0.955057,-0.090279,-0.282341]=Fpublishing direction and range infoy4*sҏ?ϳ%Ixҿ&CY d)Q{IrQi:/=?FS9? <&@)CI^-@iC @C> )VWϻ?$ҡ /?HbA¿Qi?>C> )]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.jKuOrKu9zKqKuKuC=*eyH{oE*"sj_YPGDB>964/-y eď,ᘉ?A>;@Y>@>pxg9>=FAHRS rotation from veh to nav: [[0.868485,0.483724,-0.108372],[-0.492487,0.866867,-0.077447],[0.056481,0.120633,0.991089]]y>H?U?D߿ `?ӳ?@?`?ɫ>;@>ˋ;<^LGBbHIjIj(٥= e=9V:Q >    F٦ 3Ey #< > %4Y,3?%4y߹:eB)-cվ-?cCz@;C;V4A)EhAAaJp Rp _?Ap Cp Cp ù@v Fѭdw@6 *zA4T[v 4*sҏ?ϳ%Ixҿp p C>v Qs@}vc0~isVv O-?rѢ'Nοjp Krp CZp Z|T8?bp Czp d'ZmRmbmjm"mlllkkkDx@k1?ɞc 3I %P懼ɝ!i!I%7-Ӎ}=-hɣ-@ڻI-i-f=i))-5}*DAT read: user:185> BDAT read: Tx time:03:55:17.9194 $Ping request sent. F٦6Eyi; > 4Ya>3?4ySeBӾ?C|;F;4 B)AGEԹZmRmbmjm"mllqQAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeQrTransitioning to terminal guidance at range 388.299988 m QQlkkkk?ɞ!-xn )-58I) -ɝ1i1I5Xq=l}=EɣEIEAiMf=iI)MAMA)IG)2B9:BQ O]=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504751 9 sď,̉?A6/ű@Y6@67f96G =BAHRS rotation from veh to nav: [[0.871487,0.479736,-0.101801],[-0.487190,0.870671,-0.067660],[0.056176,0.108561,0.992501]]y6H9??.߿?,Rì?`ʻ??ɫ6/ű@6;4^>GB^Hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755030JJc44J.JEJEJE8JAJE ;JE]:JE'4JA!U@!U@!U@!U@ Mb@Mb@Mb@  ) I i  K7?T㥛 ?/$  ? = ) I i  "A  AI5I5 ٥Eܤ E7=9MQ M>IjKUGhOrKUS9zKQKUKU=_l`RUxumn{~uos|tt|wqkacq~lQ7I eF٦e9Eye; m> q}4YuP3?}4yuTuZeB} ?}:}Ǿ}?uCu:u:u;4B)AZmRmbmjm"mlll@QCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeqQAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangelkkkk M?ɞ 靥iAI 1~ɝiI!1A}=9ɣIZif=i)ZZ)G2B:B O )>Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010119H >H H HI GBI : =I I &I <*I }Eԙ +yď,Bw?A nManaging dock network, ignoring radio surface power offJ@YJS޸@JZc9J=RAHRS rotation from veh to nav: [[0.873316,0.476474,-0.101446],[-0.483974,0.872350,-0.069097],[0.055574,0.109440,0.992439]]yJH4?`~?^`l޿`K?Q*t?`I??ɫJ@J;Hn8GBnHIvIv٥P a=9 :Q  >   F٦;Ey_(< > %4Y_3?%4yC`eB)-ž-?C::41)5A91]M M~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1]MUB*** querying acoustic contact ***:pQBpQU] eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceUeeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1We eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqWeeInitialize.We eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlWemInitialize.1XmqXm1VmUmqXm:nuh71Xu2nuh7Wu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlWu1WuqWumymfB$Terminal guidance.1VX Initialize. dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZEDroDRollout timeout set to 300.00 sec.VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCEro?P Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidancePAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1R Uninitialize.qRR >Uninitialize WaypointComponent.lkkkk`!?ɞ8GBZc I <~ɝiżIi)qGsAGqAG2B:B O>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512963 tď,-^?A>@Y>@>zp_9>]=FAHRS rotation from veh to nav: [[0.875450,0.472721,-0.100608],[-0.480223,0.874290,-0.070733],[0.054524,0.110237,0.992409]]y>H`?`A?@o޿.?? 8??ɫ>@>=9 ;Q > F٦>Ey$< > 4Ys3?4yTeBZ?:ݾ?؛C2;X;4$B)>AHE5 addTargetRange:: Added new target pos. range: 388.299988 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 o9o=E Added new target pos. range: 387.175598 m, bearing: 327.168996 deg, lat: 36.779542 deg, lon: -121.859864 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 oIFNOT Ignoring new targets: 387.18 m.oo ProNav pure pursuit: ac range: 387.175598 m, nav range: 390.228333 m, bearing: 331.570836 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 331.005693 deg, new cmd heading: 331.570836 deg. HeadingCmd: 5.787003 target range: 387.175598 and range: 388.30 m.Ro /@JoboZoBo:n2nmmlkkkkN?ɞiu uuPqIq u3ɝqiuI}I}i L?(kpHeading = 0.800000);(kiHeading = 0.004000i|<) /@)AGEGEGMGMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763781JM4=JM%=JUJUJU9JQJU;JU3g:JUc44JQjKXOrKػ9zKKKC|DnNXqA$.9?STj~aAcKrlaKQydLG2B:B !  O- >I ?ď,"3?A:$@Y:@:eZ9:T=FAHRS rotation from veh to nav: [[0.877261,0.469539,-0.099734],[-0.477040,0.875894,-0.072411],[0.053356,0.111101,0.992376]]y:H? ?$҇޿Q? zQ?`q??ɫ:$@:FH;8V%GBVHIfIf٥n+ n[=9n&M;Q n>rr rF٦pyr < v> tz4Yv3?~4yvdvIeB|~!۾~?vCv;vI;v 4) FA o)5FNOT Ignoring new targets: 387.18 m.o=ոo9E ProNav pure pursuit: ac range: 387.175598 m, nav range: 390.012085 m, bearing: 331.568666 deg, approach rate: -0.582146 m/s, LOS rate: nan deg/s, cmd heading: 331.570823 deg, new cmd heading: 331.568666 deg. MHeadingCmd: 5.786965 target range: 387.175598 and range: 388.30 m.RoM.@JoIboIZoQBoQ:nQ2nQmYmYlYkYkakakey@ bZ?bZ?b?p="b]@ɞ9GBfV 靽8I ɝiIɹUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014620I]Ui]U=ie?=)e.@)a)HHHHIGBIII&Iו<*I/E2B:B O>Yԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266761gď,4?A,6'@Y6f"@6]96&=BAHRS rotation from veh to nav: [[0.877380,0.468574,-0.103165],[-0.476739,0.875632,-0.077388],[0.054072,0.117082,0.991649]]y6H??i@޿,?@ϳ[? ??ɫ6'@6Q!;6$C^GB^Hb0>bp;IjQIj٥5 5E=9=Q =>9A EF٦AyEK: E> IU4YMK3?U4yMM>eBY]ھ]?MCM;M;M4e0B)eAioFNOT Ignoring new targets: 387.18 m.oظo ProNav pure pursuit: ac range: 387.175598 m, nav range: 389.770599 m, bearing: 331.566206 deg, approach rate: -0.580915 m/s, LOS rate: nan deg/s, cmd heading: 331.568665 deg, new cmd heading: 331.566206 deg. HeadingCmd: 5.786922 target range: 387.175598 and range: 388.30 m.Row.@JoboZoBo:n2nmmlkkkk L@ bbb"b[e@ɞ%A  I ɝ i I ALI?iirP=)w.@)ԉ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520992Em""}4Initializing EZServoServo. " 8Initializing DockingStepper. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770585  Jy J} @AJ J J 8J J ;J W:J '4J GLM<2B:B O>Cď,vS?AjKJ PrKJh9zKHKJKJ>2)Zq/ -Yt \C1*1DUef[N>/! 1EF@90n.@Yn)@n^9n9>vAHRS rotation from veh to nav: [[0.877791,0.466990,-0.106787],[-0.475970,0.875424,-0.084170],[0.054177,0.124711,0.990713]]ynH ?`)?`V@Lv޿y?`"$???ɫn.@n:;n C~GB~HiMb@Mb@Mb@ )Iix&1?~jtʡEA ?D-)EAIҏAitA יAIVI٥r #=9[Q > F٦y: > 4Y3?4y"eB!?:=?;C]::4)AREoFNOT Ignoring new targets: 387.18 m.oh6o ProNav pure pursuit: ac range: 387.175598 m, nav range: 389.454163 m, bearing: 331.566310 deg, approach rate: -0.604732 m/s, LOS rate: nan deg/s, cmd heading: 331.566206 deg, new cmd heading: 331.566310 deg. HeadingCmd: 5.786924 target range: 387.175598 and range: 388.30 m.Ro{.@JoboZoBo:n!2n!m)m)l)k)k)k1k5+ @ b!?b!?br@"b@ɞ :GB 5 @/I TɝiIn+Ii-T=i%=)%{.@)!ԡE5Xchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024376G<2B:B1 O=Q>JH BH H>HHHIGBIII&I<*ISE2I:IBIJI: =RIZInv4 dď,l?A24@Y2.@2H]92%>BAHRS rotation from veh to nav: [[0.878109,0.465709,-0.109726],[-0.475403,0.875127,-0.090241],[0.053998,0.131406,0.989857]]y2Hx? +?@m޿@ ?@??`?ɫ24@2;2!CZFBZHIbT]BDAT read: Rx Time:03:55:20.8380 eTRx dataTimestamp_ set to:1761364521.745819echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275848Ibn٥uw uO=9}O9Q > F٦yJ: > 4Y23?4y" eBl?[C::$4%+ď,r?A65@Y60@6 PY96P >VAHRS rotation from veh to nav: [[0.878248,0.465093,-0.111212],[-0.475255,0.874690,-0.095134],[0.053030,0.136405,0.989233]]y6H`??exj޿ u?Z &?u?`˧?ɫ65@6';6"CZFB^HidId]Mb@Mb@Mb@Y Y)YIYiY]Mb?DlI +]#?]O]9)]QAI]vAi]GA]A Y]AIu`Iu̍٥8J 8=9;Q > F٦y9 > 4YY3?4yJdB%?:i?Cm;U;K,4HB)AAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779780oyJJJ9JJ;JU:Jc44JFNOT Ignoring new targets: 387.18 m.9o9oA ProNav pure pursuit: ac range: 387.175598 m, nav range: 388.919159 m, bearing: 331.570017 deg, approach rate: -0.579769 m/s, LOS rate: nan deg/s, cmd heading: 331.566342 deg, new cmd heading: 331.570017 deg. HeadingCmd: 5.786988 target range: 387.175598 and range: 388.30 m.Ro/@JoboZoBo:n2nmml k k kk/e@jKWNrKzKKK+%#  $.K W #U#3lE0"!9dsmcVLB8/(#  b%?b%?b@"bb@ɞ==GBU QUZIQ ]ndɝYiYI]^gIe ieT=ie=)e/@)iqԙ  DAT read: Range 10 to 50 : 385.8 m (Round-trip 514.5 ms) speed 0.4 m/s -% X#Rx 1: Read range message, but no direction.  CY = T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.H >H H HI GBI I I D&I <*I REGE ;= G% A2B):BA OM>Qď,v?AI)>o3@Y>8.@>#S9>W>FAHRS rotation from veh to nav: [[0.878186,0.465160,-0.111431],[-0.475537,0.874148,-0.098637],[0.051525,0.139611,0.988865]]y>H?`,?െ@2o޿?`K@ra?? Ȥ?ɫ>o3@>,;> CNFBNHI1I1٥E(* M1=9M@V;Q M>UL?UL? UF٦UAEy] ]> ae4Ye3?m4yeedBim\m?eCe;e;eF44}IB)}iAy addTargetRange:: Added new target pos. range: 385.799988 m, deltaT: 4.293426 s, deltaX: -2.500000 m, approachRate: -0.582286 m/s, rangeRepo size: 2 oFNOT Ignoring new targets: 387.18 m.o)9o ProNav pure pursuit: ac range: 387.175598 m, nav range: 388.626373 m, bearing: 331.573791 deg, approach rate: -0.718450 m/s, LOS rate: nan deg/s, cmd heading: 331.570003 deg, new cmd heading: 331.573791 deg. HeadingCmd: 5.787055 target range: 387.175598 and range: 385.80 m.Ro/@JoboZoBo:n2nmmlkkkx@k?ɞ>GBRǼ I i팼ɝiI{I%i-tT=i-~=)-/@))ԡe*DAT read: user:186> eBDAT read: Tx time:03:55:22.2194 m$Ping request sent.m - JDAT read: TxSync time:03:55:22.2186 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2565514ď,?A FB HIMb@Mb@Mb@ )IiS㥛?i|?5x&$?7)AIjAijA zAInId٥jE< (=9Q > F٦DEy > 4YB3?4ydB{(?:*)?ΜC::<4UB)ATEoFNOT Ignoring new targets: 387.18 m.o9o ProNav pure pursuit: ac range: 387.175598 m, nav range: 388.311432 m, bearing: 331.581512 deg, approach rate: -0.621619 m/s, LOS rate: nan deg/s, cmd heading: 331.573801 deg, new cmd heading: 331.581512 deg.  HeadingCmd: 5.787189 target range: 387.175598 and range: 385.80 m.Ro 0@Jo bo Zo Bo:n2nmmlk9kAkAkE?ɞ@GBC 9=I9 =AɝAiAIE11IEAiMS=iMM=)M0@)IyGtAFtAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502539ԩ jK= |OrK= 9zK9 K= K= Vg`3Y;mQfO9*! _%fO>1*(D<EGe ;=G9 2BA :BQ  Oe >^ď,ڊ?ArAHRS rotation from veh to nav: [[0.878702,0.465210,-0.107064],[-0.475127,0.874011,-0.101779],[0.046227,0.140302,0.989029]]yjHS??h}h޿?,?n? ?ɫjg8@j=;hzFBzH~=~<IYI٥%J= -=95$HHhHIGBIII&I <*IEG 2B:B) O=>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006570J J J :J J J \:J FA4J J XeAHRS rotation from veh to nav: [[0.879059,0.464565,-0.106929],[-0.474589,0.873992,-0.104421],[0.044945,0.142539,0.988768]]yMH@!?p?@__޿?N ?>? ?ɫM=@M;M"CuFBuHI(Im٥U C=9H;Q > F٦IEym: > 4Y\4?4yx dB(? C6::I4aB)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 387.18 m.oˏ9o ProNav pure pursuit: ac range: 387.175598 m, nav range: 387.835785 m, bearing: 331.593115 deg, approach rate: -0.645040 m/s, LOS rate: nan deg/s, cmd heading: 331.586532 deg, new cmd heading: 331.593115 deg. HeadingCmd: 5.787392 target range: 387.175598 and range: 385.80 m.RoP2@JoboZoBo:n!2n!m!m!l)k)k1k1k5 B?ɞCGB  I  Qɝ i I ܝIi^U=i !=)P2@)1G2B:B O-->checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260992Qy -nâď,Vc?AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510477ԩGBH=Mb@Mb@Mb@9 9)9I9i9=Mb?SÿS㥛= ?==/ݼ)=AI9i9=A 9= AIe,IeỴ٥-= .=9Q > F٦LEy > 4Y14?4ydB>%?:9 ?3C;l;Q4nB)AUEjK- =OrK-s9zK)K-K-jP?a[0wnrri^XQE:62,)<r|bD2(! 'oIUFNOT Ignoring new targets: 387.18 m.oUE9oQe ProNav pure pursuit: ac range: 387.175598 m, nav range: 387.538177 m, bearing: 331.603271 deg, approach rate: -0.621616 m/s, LOS rate: nan deg/s, cmd heading: 331.593117 deg, new cmd heading: 331.603271 deg. mHeadingCmd: 5.787569 target range: 387.175598 and range: 385.80 m.Rom3@JoiboiZoiBoq:nq2nqmqmylykykykyk >?ԡɞ-EGB- L )-I) 5y(ɝ1i1I5, I=oi=V=i=8$ =)=3@)AG92BI:BY O}Y>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762537H >H H \HI ~GBI I I &I *I ɢď,?(?AfA@YfH<@fS$9f >rAHRS rotation from veh to nav: [[0.879460,0.465232,-0.100546],[-0.474276,0.874370,-0.102664],[0.040152,0.137975,0.989622]]yfH $?\?[Z޿?@)H ?`)??ɫfA@fS;fC~GB~HiII =) I^I٥%Y= -}=95r4?M4yE`EdBQU8U?EMCE9:E:EzW4)A_EoFNOT Ignoring new targets: 387.18 m.o 9o = ProNav pure pursuit: ac range: 387.175598 m, nav range: 387.337128 m, bearing: 331.610139 deg, approach rate: -0.610993 m/s, LOS rate: nan deg/s, cmd heading: 331.603280 deg, new cmd heading: 331.610139 deg. EHeadingCmd: 5.787689 target range: 387.175598 and range: 385.80 m.RoE4@JoAboAZoABoI:nI2nImImQlqkqkqkyk}@T@ɞGGB 1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266478DТď,*B?Az?@YC:@9D >AHRS rotation from veh to nav: [[0.879409,0.466118,-0.096819],[-0.474529,0.874584,-0.099624],[0.038240,0.133553,0.990304]]yH@$??ɸ ^޿?򀹿$?F? ?ɫz?@=;C%!GB%H)Mb@Mb@Mb@ )IiQ?SÿMb??<)IAiA^A AIeI]٥5= 5-=95;Q 5>99 =F٦=QEyE= E> IU4YMNP4?U4yMvMdBU?U:U8?]?MrCM:M:M_4ezB)eAioFNOT Ignoring new targets: 387.18 m.o!9o ProNav pure pursuit: ac range: 387.175598 m, nav range: 387.061462 m, bearing: 331.620621 deg, approach rate: -0.603501 m/s, LOS rate: nan deg/s, cmd heading: 331.610137 deg, new cmd heading: 331.620621 deg. HeadingCmd: 5.787872 target range: 387.175598 and range: 385.80 m.Ro?6@JoboZoBo:n2nmmlkkkk@?@ɞIGB P I ɝiI-IiX=i-=)?6@)YF"F*F2FP5:FUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518588ԉG =G jK 6cNrK 59zK K K 38<<:4)&#')# %:iSphP9& */{ti_VPNU\2K rA*K 2B :B  O >Ա ٫֢ď,;[?A8@YQ3@9>AHRS rotation from veh to nav: [[0.879053,0.467346,-0.094091],[-0.475300,0.874432,-0.097257],[0.036824,0.130215,0.990802]]yH3!??`aNk޿ Y?帿 ڢ?`??ɫ8@>D;%NGB%!HI5ZI5٥E> Ep=9E{;Q M?II MF٦MSEyU`# U? Ye4Y]]4?e4y]"]dBamt?m?]C]:]d:]e4q)}NAyoFNOT Ignoring new targets: 387.18 m.oH9oU ProNav pure pursuit: ac range: 387.175598 m, nav range: 386.862549 m, bearing: 331.628224 deg, approach rate: -0.580948 m/s, LOS rate: nan deg/s, cmd heading: 331.620629 deg, new cmd heading: 331.628224 deg. ]HeadingCmd: 5.788004 target range: 387.175598 and range: 385.80 m.Ro]U7@JoYboaZoaBoa:na2namimiԑlikkkk(@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770630ɞLGBD @;I 鸏ɝ i I pI]iW=i'=)U7@)JHaBHe?AHu>HqHuHIuGBIqIqIq&Iu<*IuDEԹF6"F*F2F5:FG ȿ=m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022852J J J 8J J -;J =h:J '4J J  ܢď,_u?A>2@Y>-@>^9> >FAHRS rotation from veh to nav: [[0.878758,0.468309,-0.092037],[-0.475910,0.874345,-0.095025],[0.035971,0.127306,0.991211]]y>H??ď Pu޿?@S j? K? ?ɫ>2@>8;> CriGBrBHIzeIz]٥= O=9 r ;Q  >    F٦ UEy > %4Yk4?%4yj dB)-?-?C::l41)5A1eB*** querying acoustic contact ***:paBpaoimFNOT Ignoring new targets: 387.18 m.ou9oq ProNav pure pursuit: ac range: 387.175598 m, nav range: 386.631165 m, bearing: 331.637103 deg, approach rate: -0.588233 m/s, LOS rate: nan deg/s, cmd heading: 331.628224 deg, new cmd heading: 331.637103 deg. HeadingCmd: 5.788159 target range: 387.175598 and range: 385.80 m.Ro8@JoboZoBo:n2nmmlkkkk ! @ɞNGB/ Hi Ƽď,?AHn,@Yn'@nr9n=vAHRS rotation from veh to nav: [[0.878434,0.469316,-0.089975],[-0.476578,0.874200,-0.092991],[0.035014,0.124567,0.991593]]ynH"?E ?@B޿`r?@Gηb? ?!?ɫn,@n>Q;l~GB~cH%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527029eMb@Mb@Mb@a a)aIaiaeGz?Cl绿Q?e?e;߽e\=)eQAIeAiaeA ae AI}jI}٥k= 4=9 ;Q > F٦XEyպ > 4Y|4?4y$dB?:1?̝Cp;p;t4B)A`EoFNOT Ignoring new targets: 387.18 m.o19o ProNav pure pursuit: ac range: 387.175598 m, nav range: 386.375000 m, bearing: 331.644763 deg, approach rate: -0.563156 m/s, LOS rate: nan deg/s, cmd heading: 331.637103 deg, new cmd heading: 331.644763 deg. HeadingCmd: 5.788293 target range: 387.175598 and range: 385.80 m.Ro9@JoboZoBo:n2nm!m!l!k!k)k)k5@ɞeQGBe-ci im0J=ԩI 1ɝiIU|ѺIbiQ=i=)9@)jKMOrKMh9zKIKMKMOGGFLk f[ &ej;"WFVlv&*\m*BK]>:K]?F5"F*F2F/1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779605HU >HQ HU HIU GBIQ IQ IU D&IU <*IU E2I!:I!BI!JI!RI!ZI%gZ4 G% =G 2B) :B9  OE >ď,Ҋ?A>-@Y>'@>. 9>=JAHRS rotation from veh to nav: [[0.878466,0.469537,-0.088499],[-0.476569,0.874343,-0.091683],[0.034330,0.122716,0.991848]]y>He? ?姶޿?x`Ó? Vj?7?ɫ>-@>;>!CVGBVHI^lI^)٥f= fl=9f;Q j?hh jF٦jZElyr;8 r? tv4Yv4?z4yv*(vdBxz1z?vCvl:v;vz4)Ao1=FNOT Ignoring new targets: 387.18 m.o=Ě9o9M ProNav pure pursuit: ac range: 387.175598 m, nav range: 386.179413 m, bearing: 331.650616 deg, approach rate: -0.564946 m/s, LOS rate: nan deg/s, cmd heading: 331.644753 deg, new cmd heading: 331.650616 deg. UHeadingCmd: 5.788395 target range: 387.175598 and range: 385.80 m.RoU:@JoQboQZoQBoY:nY2nYmYmalakakakakm`@ɞETGBM"D qu=Iq }ֿɝyiyI}ںIUi$N=i=):@) 5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031009F1"F1*F92F=0:F9JJJ9JJ ;J*f:Jc44JJ/S<J0S<Jڷ;Jڷ;iI4C)MG a)yI- B1G==G 2B :B!  O= >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2825869ď,`Ë?AA)@Ym$@? 9G=AHRS rotation from veh to nav: [[0.878286,0.470123,-0.087165],[-0.476950,0.874256,-0.090525],[0.033647,0.121080,0.992072]]yH?~?@yP`Y޿ ?,2:??`?ɫ)@&{;髵CGBHeMb@Mb@Mb@a a)aIaiaev/?MbJ +?ex ?eeH=)eAIaieAe A aeAIrI{٥a= %=9Ĵ:Q > F٦^Ey_ > 4Yۛ4?4yJ,dB ?:d ?CC:n:94B)ܦAoiFNOT Ignoring new targets: 387.18 m.o@9o ProNav pure pursuit: ac range: 387.175598 m, nav range: 385.914429 m, bearing: 331.655828 deg, approach rate: -0.534937 m/s, LOS rate: nan deg/s, cmd heading: 331.650627 deg, new cmd heading: 331.655828 deg. HeadingCmd: 5.788486 target range: 387.175598 and range: 385.80 m.RoG;@JoboZoBo:n2nmmlkkkk@ɞXGB 8 =I ɝiII5Ii'H=i=)G;@)E>E>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535411F}6"Fy*Fy2F}5:FyGtAԙFtA jK OrK 9zK K K ~smvj35pw``SG {0=G 2B :B  O >Wď,2ދ?A>a-@Y>*(@>T9>=FAHRS rotation from veh to nav: [[0.878527,0.470010,-0.085329],[-0.476562,0.874634,-0.088905],[0.032846,0.118770,0.992378]]y>H?@? ص޿`?@w¶@$Ѡ?@g?`?ɫ>a-@>C;>CNGBNHIVkIV ٥^'> bt=9b;Q b?`d fF٦f`Eyf: f?l hr4Yj04?r4yj/jdBtv: v?jCj4;j5;j4x)zuAxo%FNOT Ignoring new targets: 387.18 m.o-g@9o1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786490 ProNav pure pursuit: ac range: 387.175598 m, nav range: 385.735382 m, bearing: 331.659336 deg, approach rate: -0.536321 m/s, LOS rate: nan deg/s, cmd heading: 331.655818 deg, new cmd heading: 331.659336 deg. HeadingCmd: 5.788548 target range: 387.175598 and range: 385.80 m.Ro;@JoboZoBo:n2nm!m!l)k)k)k)H9H9H=0HI=+HBI9I9I9&I=B<*I=EkUb7@ɞ[GB˻ 靥>I )"ɝiIlI/AiD=iө=);@)Fy"Fy*F2F5:F1 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039260G = J J AAa G 2B :B  O >ď,e?A24@Y2/@2\92P=BAHRS rotation from veh to nav: [[0.878974,0.469409,-0.084018],[-0.475768,0.875193,-0.087646],[0.032390,0.117011,0.992602]]y2H ? ?/r޿`?@o`m?s?e?ɫ24@23;2 CFHBFHIR^IR٥Z/= ZK=9Z:Q Z>\\ ^F٦^bEyb; b> df4Yf 4?j4yfj2fdBhjj?f;Cf:fm ;f4rB)rjArjE B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 387.18 m.o%$>9o!- ProNav pure pursuit: ac range: 387.175598 m, nav range: 385.520020 m, bearing: 331.663526 deg, approach rate: -0.533656 m/s, LOS rate: nan deg/s, cmd heading: 331.659342 deg, new cmd heading: 331.663526 deg. 9=HeadingCmd: 5.788620 target range: 387.175598 and range: 385.80 m.Ro=a<@Jo9bo9ZoABoA:nA2nAmAmIlIkIkIkIkU@ɞ^GBf 靍2>I ɝiI8I7i|B=iЕ=)a<@)F"F*F2F:Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.292083ԑG=G2B:B  O >Թ Diď,|?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542900JVJVJV8JTJVe ;JVb:JV'4JT!Z@!Z@!^@!^@f{@@YfD;@f=9fB=vAHRS rotation from veh to nav: [[0.879671,0.468329,-0.082747],[-0.474531,0.875904,-0.087251],[0.031616,0.116018,0.992744]]yfHC&??`.^޿g? V/?_??ɫf{@@fۈ;fCz+HB~1H ԑ%Mb@Mb@Mb@! !)!I!i!%%C? rh~jt?%Z?%C%=)!I%ƍAi%QA%A !%\AI=YI=٥En= E3=9M:Q M>IQ UF٦UeEyU L; ]> iu4Ym4?u4ym5meBu?u:u5 }?mYCm* ;mq ;m4)3AoFNOT Ignoring new targets: 387.18 m.oi8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 385.284332 m, bearing: 331.664978 deg, approach rate: -0.517694 m/s, LOS rate: nan deg/s, cmd heading: 331.663522 deg, new cmd heading: 331.664978 deg. HeadingCmd: 5.788646 target range: 387.175598 and range: 385.80 m.Ro<@JoboZoIBoI:nI2nImQmQlQkQkYkYke~@ɞbGBښ 靽H>I bɝiIyIC4i *B=i 5[=) <@)EjK-qLOrK-ػ9zK)K-K-0 zppssuiWNKIJNJGC?9;GJKIFC><9:432103@RXQDCjoO6" F5"F*F2F/1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794465H]>HYH]HI]|HBIYIYIY&I]<*I]EG ]=G 2B :B  O >  ď,U,?A6EK@Y6F@6996=>AHRS rotation from veh to nav: [[0.880318,0.467319,-0.081563],[-0.473385,0.876534,-0.087154],[0.030764,0.115334,0.992850]]y6H+?@?`HᴿK޿@ ?O`??n?ɫ6EK@6;4F9HBFCHIRgIR٥V#= Vi=9Z;Q Z>\\ bF٦bgEybu; b> dj4YfB4?j4yf8f#eBlnn?fpCfI IbɝiIG I1iC=i Ⱦ"=) <@) echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047479F6"F*F2FJ1:FJC=Jp=!G=QG2B:B O> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298566y {~ď,=DF?A \@YV@j9}=AHRS rotation from veh to nav: [[0.881318,0.465734,-0.079819],[-0.471597,0.877525,-0.086864],[0.029587,0.114197,0.993017]]yH 3??o@.޿ ?@<`.L? T<u<)IvAiA^A IjI٥<= +=9!;Q >a eF٦ekEymu; m> q}4Yu4?}4yu:u2eB}'>}:?uCuR;u;uЦ4)AoFNOT Ignoring new targets: 387.18 m.o%Q o)= ProNav pure pursuit: ac range: 387.175598 m, nav range: 384.859680 m, bearing: 331.665120 deg, approach rate: -0.501873 m/s, LOS rate: nan deg/s, cmd heading: 331.666063 deg, new cmd heading: 331.665120 deg. EHeadingCmd: 5.788648 target range: 387.175598 and range: 385.80 m.RoE<@JoAboAZoABoA:nI2nImImIlQkQkQkQk] @ɞjGB e>I  ╇ɝ i I DI3iJ=if)=y)<@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551065JJJJJJ]:JJF9"F9*F92F=35:F9GAFEsAԡjKu oNrKq zKq Ku Ku     'g|qj]QE2"GU "= GQ 2Bi :B  O >{ď,_`?A>nh@Y>7c@>9>4=FAHRS rotation from veh to nav: [[0.882056,0.464599,-0.078263],[-0.470279,0.878270,-0.086489],[0.028553,0.113093,0.993174]]y>H9?`?@ ޿? $=???ɫ>nh@> Ɗ;:n6:n4zB)z AzlEoFNOT Ignoring new targets: 387.18 m.ogo!E ProNav pure pursuit: ac range: 387.175598 m, nav range: 384.695648 m, bearing: 331.664451 deg, approach rate: -0.510137 m/s, LOS rate: nan deg/s, cmd heading: 331.665107 deg, new cmd heading: 331.664451 deg. ]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803308]HeadingCmd: 5.788637 target range: 387.175598 and range: 385.80 m.Roe<@JoaboaZoaBoa:na2naJHBH@AH>HHHIHBIII&I.<*IEm m l kkkk`Q@IɞnGBX+; 靕>I <$ɝiII5iBQ=i.=)<@)F=5"F9*FA2FE$2:FAqGe+,=ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055046G9 2BI :B  O > qď,ٱz?A:v@Y:p@: 9:=JAHRS rotation from veh to nav: [[0.882858,0.463328,-0.076741],[-0.468829,0.879087,-0.086054],[0.027590,0.111952,0.993331]]y:H^@?+?EL޿z!?`@?ݨ? ]?ɫ:v@:;8NHBRHIZnIZd٥b= bK=9b;Q b>dd fF٦foEyf܆; j> hr4Yj5?r4yj4?jIeBprSv?jCjB:jB:j4x)zAxB*** querying acoustic contact ***:pBpo!-FNOT Ignoring new targets: 387.18 m.o-uo)E ProNav pure pursuit: ac range: 387.175598 m, nav range: 384.496277 m, bearing: 331.663587 deg, approach rate: -0.492775 m/s, LOS rate: nan deg/s, cmd heading: 331.664451 deg, new cmd heading: 331.663587 deg. EHeadingCmd: 5.788621 target range: 387.175598 and range: 385.80 m.RoEc<@JoIboIZoIBoI:nI2nImQmQlQkYkYkYk]@ɞrGB8|9; 靝p>I [ɝiII{7i5[=iD+4=)c<@)ԱFM6"FQ*FQ2FU5:FQmchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306597G.=G2B:B O> % checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5590689 "$ď,?AJJ04JA.JJJ9JJ;J_:Jc44JF|@YFw@F׼9F]=RAHRS rotation from veh to nav: [[0.883275,0.462833,-0.074903],[-0.468114,0.879532,-0.085397],[0.026355,0.110492,0.993528]]yFH@C?`?,ݿ!%?ܵ?2I?@?ɫF|@Fॊ;DZyHBZHm5@5 q5@ u@ i@ I\IW٥ ]:  7=9a5;Q > F٦rEy: %> !-4Y%5?-4y%A%VeB5+:15:5=?%ڞC%;%>%4EǍB)E)AAoq}FNOT Ignoring new targets: 387.18 m.o}/"oy ProNav pure pursuit: ac range: 387.175598 m, nav range: 384.275055 m, bearing: 331.662598 deg, approach rate: -0.495284 m/s, LOS rate: nan deg/s, cmd heading: 331.663577 deg, new cmd heading: 331.662598 deg. HeadingCmd: 5.788604 target range: 387.175598 and range: 385.80 m.Ro?<@JoboZoBo:n2nmmlkkkk@@ɞUwGB] )Q: Y]]>IY ]ɯɝYiaIe:F"Ie9i9i=iS6=)?<@)jK nNrK +9zK K K  pd&pdSbNH>=;<UwtT<6.('0699<RfaWI6'"4@MUXXWeFA"FA*FA2FE5:FAGM= GM=A}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810563H>HCH+HIHBIIID&I2<*IEq G 3=G sAG sAGa 2Bi :B  O >+ď,a?A :@Y:V@:{ͼ9:2=BAHRS rotation from veh to nav: [[0.883918,0.461873,-0.073221],[-0.466968,0.880157,-0.085230],[0.025081,0.109529,0.993667]]y:H I?T? ݿ ?*?ѵ Ȯ?` ??ɫ:@:Y;:CJHBJHLN;IvfIv{٥~= ~^=9b;Q > F٦uEy i;  > 4Yd!5?4yCaeB% :!%:%1%?C;Q?/4))-A)oYeFNOT Ignoring new targets: 387.18 m.oe)oau ProNav pure pursuit: ac range: 387.175598 m, nav range: 384.092499 m, bearing: 331.661744 deg, approach rate: -0.495954 m/s, LOS rate: nan deg/s, cmd heading: 331.662593 deg, new cmd heading: 331.661744 deg. }HeadingCmd: 5.788589 target range: 387.175598 and range: 385.80 m.Ro} <@JoyboZoBo:n2nmmlkkkk @ɞ{GB; >I ɝiI'I;iu=iH;=) <@)checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063178qFq"Fq*Fq2F}5:FyԙGп8=Gi2By:B O> ؁ ؅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314868}1ď,^LȌ?APb@Y+@ü91=AHRS rotation from veh to nav: [[0.884107,0.461819,-0.071257],[-0.466677,0.880403,-0.084278],[0.023814,0.107765,0.993891]]yH J?q? = ݿ`C,?`?b?z??ɫb@;髽CHBHmm qq uu ii Mb@Mb@Mb@ )IiuV?{Gz?X9vr?ף<)AIiQA AIMI٥  0=92;Q > F٦xEyA: > 4Yo45?4yFZeBT:?:d?C< <]Ɓ4ӍB)'AmEoFNOT Ignoring new targets: 387.18 m.oE쐸oAU ProNav pure pursuit: ac range: 387.175598 m, nav range: 383.842804 m, bearing: 331.659788 deg, approach rate: -0.505076 m/s, LOS rate: nan deg/s, cmd heading: 331.661746 deg, new cmd heading: 331.659788 deg. UHeadingCmd: 5.788555 target range: 387.175598 and range: 385.80 m.Ro];@JoYboYZoYBoY:nY2nmmlkkkkH!@ɞ GB 84: >I o}ɝiI=.IE)@iEN=iE <=)M;@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.570493JUJUJU8JQJU;JU3g:JU'4JQF"F*F2F0:F jK +OrK 9zK K K wU6ti`WK=9Jagc^YTKECCHIFC?;8510/.*)$#$,:CDMW^c`XPJO2K sA*K rAG C;=G 2B :B  O= >~8ď,F?Af҇@Yf@fV9f)!=rAHRS rotation from veh to nav: [[0.883982,0.462294,-0.069715],[-0.466964,0.880334,-0.083401],[0.022817,0.106280,0.994074]]yfHI?@;?`رݿ+?YE]? $5?@u?ɫf҇@f;fCvHBvHIfI{٥ ޻ m=9>;Q ? %F٦%zEy%p %? )54Y-FB5?54y-H-TeB9==?-)C-;-;-Ṕ4A)E,AA]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818599ZHRH<H>HHPHIIBI; =II&I<*IE2I9:I9BI9JI9RI9ZI=c4oFNOT Ignoring new targets: 387.18 m.oҚoM ProNav pure pursuit: ac range: 387.175598 m, nav range: 383.661285 m, bearing: 331.658375 deg, approach rate: -0.543101 m/s, LOS rate: nan deg/s, cmd heading: 331.659779 deg, new cmd heading: 331.658375 deg. UHeadingCmd: 5.788531 target range: 387.175598 and range: 385.80 m.RoU;@JoQboQZoQBoQ:nY2nYmYmYlakakakak 8"@ɞGB$; >I zɝiI{3I-SCi-\=i-(:=)-;@)1AF"F*F2F:FiG)=G checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070570 ! )9 Im $i u AG 2B :B  O- >Ա A>>ď,?A6a@Y6*{@6P96O=BAHRS rotation from veh to nav: [[0.883573,0.463298,-0.068218],[-0.467776,0.880028,-0.082073],[0.022009,0.104428,0.994289]]y6H@;F?`?@v ݿ`1)? `? ѻ?6?ɫ6a@6S;4JHBJHiPIPIVPIV٥~*; L=9 ;Q  > F٦|Ey > !-4Y%R5?-4y%>K%MeB)--?%DC%E:%:%VӁ4=ߍB)=XA9]B*** querying acoustic contact ***:pYBpYoamFNOT Ignoring new targets: 387.18 m.omkoiq ProNav pure pursuit: ac range: 387.175598 m, nav range: 383.446899 m, bearing: 331.656736 deg, approach rate: -0.562427 m/s, LOS rate: nan deg/s, cmd heading: 331.658386 deg, new cmd heading: 331.656736 deg. HeadingCmd: 5.788502 target range: 387.175598 and range: 385.80 m.Roi;@JoboZoBo:n2nmmlkkkk@"@ɞGBZ|; ʄ>I wɝiIt8IGi2=it7=)i;@)F"F*F2F:Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.323101ԡGl;=G2B:B O>  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574544$Eď,?ARx@YRs@RCm9Ru=bAHRS rotation from veh to nav: [[0.883163,0.464338,-0.066437],[-0.468595,0.879734,-0.080544],[0.021047,0.102266,0.994534]]yRH@B??sݿ&? @?.?9?ɫRx@RU;PlrH Mb@Mb@Mb@  ) I i  M?{Gzt/$ n? ף ,) AI $Ai A A  QAI%hI%٥5 =8=9=;Q =>9A EF٦EEyE E> IU4YMte5?]4yM_NM?eB]?]:]^]?MeCM ;MQ:Mہ4i)mYAqoFNOT Ignoring new targets: 387.18 m.oo ProNav pure pursuit: ac range: 387.175598 m, nav range: 383.193695 m, bearing: 331.656521 deg, approach rate: -0.571389 m/s, LOS rate: nan deg/s, cmd heading: 331.656747 deg, new cmd heading: 331.656521 deg. HeadingCmd: 5.788498 target range: 387.175598 and range: 385.80 m.Roa;@JoboZoBo:n2nmmlkkikqku #@ɞEGBm0l: im4>Ii ubsɝqiqI}>IGiG=i4=)a;@)jK9NrK9zKKKNIB83-,./.)&'($ 0p ugZZYWSWipleZM]qrhBK ?:K?F6"F*F2F5:F!}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826535HHH]HIIBIII&I<*IE1G ;6=G 2B :B  O >Y iMKď,g/?A6n@Y6i@6Am96I=BAHRS rotation from veh to nav: [[0.882611,0.465518,-0.065500],[-0.469670,0.879180,-0.080328],[0.020192,0.101662,0.994614]]y6HY>? ?İ޿ >"?`L???ɫ6n@6C;4FHBJHIRqIRv}٥V; Zg=9Zd;Q Z>\\ ^F٦^Eyb_ b> hn4Yjt5?n4yjPj4eBprr?jCj;jD;jC4vB)vAvxEoFNOT Ignoring new targets: 387.18 m.oo- ProNav pure pursuit: ac range: 387.175598 m, nav range: 382.990387 m, bearing: 331.656385 deg, approach rate: -0.575144 m/s, LOS rate: nan deg/s, cmd heading: 331.656528 deg, new cmd heading: 331.656385 deg. 5HeadingCmd: 5.788496 target range: 387.175598 and range: 385.80 m.Ro5\;@Jo1bo1Zo1Bo1:n92nmmlkkkk`x$@1ɞ=GBEVۑ; AE>IA E pɝAiIIMRcBIGi+=iѓ0=)\;@);!UJ5>;!UF-5"F)*F)2F-5:F)iGB4=ԙG2B :B  O >  2Acoustic response timeout S5Rď,$CI?AmNc@Ym^@mUL9mI=AHRS rotation from veh to nav: [[0.881956,0.466914,-0.064374],[-0.470935,0.878556,-0.079744],[0.019322,0.100647,0.994735]]ymH8??z`#޿`"?j9ɓ?`ù??ɫmNc@mO͋;mCHBHR=Mb@Mb@Mb@ )IiS?I + rh?9C )/AIvAiQAA AI`I̍٥%= -(=9-::Q 5>99 =F٦=EyE? E> IU4YM5?U4yMTM(eB]?]:]_]?MCM,;M:M4a)enAioFNOT Ignoring new targets: 387.18 m.o .8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 382.697083 m, bearing: 331.657539 deg, approach rate: -0.604127 m/s, LOS rate: nan deg/s, cmd heading: 331.656392 deg, new cmd heading: 331.657539 deg. HeadingCmd: 5.788516 target range: 387.175598 and range: 385.80 m.Ro;@JoboZoBo:n2nmmlkkkkz%@ɞGB; |>I BlɝiIGI KEi O=i -+=) ;@)F6"F*F2F1:F 2Acoustic response timeout G 90=G 2B :B  O >jK NrK 9zK K K ZRWkwwmij}wkdatt}}vqokfb\TJFB@>:7520/,+'(&%5EPV9 u_Xď,Oc?A2]@Y2OX@2䖼92w=:AHRS rotation from veh to nav: [[0.881639,0.467641,-0.063440],[-0.471565,0.878217,-0.079753],[0.018419,0.100229,0.994794]]y2Hb6??`= .޿`[?`jPܒ?ࣨ?Y?ɫ2]@2B;2CBHBBHHe>HaHaIaIaIaIa&Ie/<*IeEBDAT read: Response Not Received *response not receivedIDI*DAT read: user:187> BDAT read: Tx time:03:55:33.1695 $Ping request sent. F٦Ey+ >  4Yk5? 4yWeB1  ?ßC==4}B)}AyoFNOT Ignoring new targets: 387.18 m.oe8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 382.458893 m, bearing: 331.658503 deg, approach rate: -0.537401 m/s, LOS rate: nan deg/s, cmd heading: 331.657539 deg, new cmd heading: 331.658503 deg. HeadingCmd: 5.788533 target range: 387.175598 and range: 385.80 m.Ro;@JoAboAZoABoA:nA2nImImIlIkQkQkQkUp&@ɞGB: U|>I 5iɝiILICi/=i.)=) ;@) YF5"F*F2F0:FJDAT read: TxSync time:03:55:33.1687 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.204594 JM @AJM ?AJU JU JU 8JQ JU ;JU X:JU '4JQ JU Q<JU Q<JU 5;JU 5;ԉ G )=G ?G )?G Թ 2B :B  O >[^ď,3~?AFER@YFM@F`9Fd=RAHRS rotation from veh to nav: [[0.881003,0.468960,-0.062526],[-0.472783,0.877583,-0.079521],[0.017580,0.099619,0.994870]]yFH@.1?o?`@B޿)?@v[@o??@?ɫFER@FJ9;DZHBZHIb\IbW٥j jd=9nP;Q n>pp rF٦vEyvz v> x~4Yz(5?~4yzZzeB|?zޟCz;z$;z4 ) A-B*** querying acoustic contact ***:p)Bp)o9=FNOT Ignoring new targets: 387.18 m.oE=[8oAU ProNav pure pursuit: ac range: 387.175598 m, nav range: 382.243378 m, bearing: 331.659423 deg, approach rate: -0.701681 m/s, LOS rate: nan deg/s, cmd heading: 331.658495 deg, new cmd heading: 331.659423 deg. UHeadingCmd: 5.788549 target range: 387.175598 and range: 385.80 m.Ro];@JoYboaZoaBoa:ni2nimimilqkqkqkqku'@ɞGB8-; 靥r>I *fɝiI PI@i=i$=);@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.456387F"F*F2F0:FGFG G)Gq2B:B O>Q m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.707565oeď,ؗ?A :L@Y:F@:ٔ9:=BAHRS rotation from veh to nav: [[0.880648,0.469620,-0.062582],[-0.473460,0.877143,-0.080349],[0.017160,0.100390,0.994800]]y:HD.? @? e@-M޿?Ƒb?$?@g?ɫ:L@: ;:CJHBJHiLILuMb@Mb@Mb@q q)qIqiquCl?QZd;Ou;?uuj)uݠAIqiuAuQA qu\AII٥L% @=9':Q > F٦Ey > 4YS5?4yA^eB?: ?C5;[;H4B)AyEoFNOT Ignoring new targets: 387.18 m.oZ8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 381.978790 m, bearing: 331.661125 deg, approach rate: -0.621221 m/s, LOS rate: nan deg/s, cmd heading: 331.659424 deg, new cmd heading: 331.661125 deg. HeadingCmd: 5.788579 target range: 387.175598 and range: 385.80 m.Ro <@Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k1k50'@ɞeGBm6: img>Ii m.cɝiiqIu0TI}=i}=i}"=)} <@)qF)"F)*F)2F50:F1-'TFailed to parse incomplete device message.G2B:B! O-->ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.960365HHHPHIIBIII&I<*IpE bkď, ?A6;@Y6H6@6%96)=>AHRS rotation from veh to nav: [[0.879697,0.471528,-0.061601],[-0.475236,0.876328,-0.078735],[0.016857,0.098538,0.994990]]y6Hy&?-? 2Dj޿ ?`(B?9?@?ɫ6;@6D;4PRHBRHI^-I^٥%w %R=9%L:Q %>)) -F٦-Ey-橻 5> AM4YE5?M4yEaEeBIM# M?ECEy:E:E4Y)]AYoFNOT Ignoring new targets: 387.18 m.o8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 381.736206 m, bearing: 331.662764 deg, approach rate: -0.624761 m/s, LOS rate: nan deg/s, cmd heading: 331.661118 deg, new cmd heading: 331.662764 deg. HeadingCmd: 5.788607 target range: 387.175598 and range: 385.80 m.RoE<@JoboZoBo:n2nmmlkkkkb(@ɞGBXC:  [>I aɝiICWIS9i=iP=)E<@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.212297JR=Ja=JJ JJJ} ;Jun:JJJ"O<J#O<J;J;Fq"Fq*Fq2Fu0:FqG2B:B  O*> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463912! rď,ˍ?Ax9)@Y$@49g= AHRS rotation from veh to nav: [[0.878633,0.473402,-0.062413],[-0.477196,0.875194,-0.079492],[0.016992,0.099628,0.994880]]yH? 8L?@a޿@?Yaf?1??ɫ9)@+Z;HB%HMb@Mb@Mb@ )IiK7A?l:v "?T)IiA AI=+I=ļ٥U+ U+=9e-Q e>ii mF٦mEyu= u> 4Y5?4yeeB["?: ?FC;;z 4B)4AoFNOT Ignoring new targets: 387.18 m.o 8o% ProNav pure pursuit: ac range: 387.175598 m, nav range: 381.432404 m, bearing: 331.665458 deg, approach rate: -0.624929 m/s, LOS rate: nan deg/s, cmd heading: 331.662757 deg, new cmd heading: 331.665458 deg. -HeadingCmd: 5.788654 target range: 387.175598 and range: 385.80 m.Ro-<@Jo)bo)Zo)Bo):n12n1m9m9l9k9k9kAkEણ)@ɞ GB Xr=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715836 =P>I9 =E]ɝAiAIE5\IM-3iMV=iM=)M<@)qF6"F *F 2F 5:F AG2B:B O >q jK XNrK 9zK K K caZTRNH@:5254'$$! ,?_< -"l{GxrfM/"xď, l?A2)@Y2X$@2ӂ921=ZHF<RHDVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.968415HZ>HXHXIXIXIXIX&IZܕ<*IZ-E%AHRS rotation from veh to nav: [[0.878667,0.473385,-0.062060],[-0.477168,0.875072,-0.080985],[0.015969,0.100772,0.994781]]y2H ?@K?`HƯ`޿?`uKZ?2̹???ɫ2)@2y;2CYeHBeHm=m?>IueIu]٥f= l=9A;Q ? F٦Ey8 ? 4YT5?4yheB ?bC::|4B)=AzEoAEFNOT Ignoring new targets: 387.18 m.oM8oI ProNav pure pursuit: ac range: 387.175598 m, nav range: 381.214752 m, bearing: 331.667389 deg, approach rate: -0.627635 m/s, LOS rate: nan deg/s, cmd heading: 331.665462 deg, new cmd heading: 331.667389 deg. HeadingCmd: 5.788688 target range: 387.175598 and range: 385.80 m.Ro<@JoboZoBo:n2nmmlkkkk d[*@ɞEGBEDE; IMZ^>II 9>[ɝiIϡ_I.i=i=)<@)ԑF"F*F2F5:FԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.219609JJJJJJY:JJJJJ;J;G jb+=G 2B :B  O >Aď,xG?A>C)@Y> $@>Rju9>t=VAHRS rotation from veh to nav: [[0.878663,0.473539,-0.060924],[-0.477207,0.875055,-0.080952],[0.014978,0.100203,0.994854]]y>H?uN?~1޿`r? B ?榹??ɫ>C)@>e;>C^HB^HIfSIfQ٥r [ rW=9v +;Q v>tx zF٦zEyz|Ÿ z> %4Y6?%4yleB)- -?C)::041)5HA1B*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 387.18 m.o 8oԹ ProNav pure pursuit: ac range: 387.175598 m, nav range: 380.971832 m, bearing: 331.669548 deg, approach rate: -0.632917 m/s, LOS rate: nan deg/s, cmd heading: 331.667402 deg, new cmd heading: 331.669548 deg. HeadingCmd: 5.788726 target range: 387.175598 and range: 385.80 m.Ro>=@JoboZoBo:n2nmmlkkkk&+@ɞ GB : IMsR>II UؒXɝQiQIUScI])i]޹=i]=)]>=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471623)iF)"F)*F)2F-2:F)G =G!2BI:B O>9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723646%ď,&?A6*@Y6u%@6g96=>AHRS rotation from veh to nav: [[0.878756,0.473425,-0.060473],[-0.477062,0.875044,-0.081913],[0.014137,0.100831,0.994803]]y6H?L?Z.޿`\? @? й?`m?ɫ6*@67;6CjHBjHmMb@Mb@Mb@i i)iIiiimT㥛 ?L7A`堿~jthm!?m+mD)m;AIiimQAmA imAITIn٥Ȼ @=9O;Q > F٦Ey9 > 4Y6?4yoeB?!?: ?CP;P;!4+B)A{Eo!%FNOT Ignoring new targets: 387.18 m.o-R8o) ProNav pure pursuit: ac range: 387.175598 m, nav range: 380.706299 m, bearing: 331.671730 deg, approach rate: -0.632323 m/s, LOS rate: nan deg/s, cmd heading: 331.669560 deg, new cmd heading: 331.671730 deg. HeadingCmd: 5.788764 target range: 387.175598 and range: 385.80 m.Ro=@JoboZoBo:n2nmmlk kkk M+@ɞGB- 靅,A>I Uɝ i I fI$i=i"=)=@)jK%@OrK%9zK!K%K%  '24-+,.0/-+&  -1;qfQ@90'"'1AF5"F*F2F0:FG%= Gp=H>HHIIII&I<*IYE2IeƊC:IeƊCBIaJIe; =RIe; =ZIe|4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975661qG =G 2B :B  O >ԙ ,ď,{3?A6L,@Y6'@6\96.=i@IB*C^AHRS rotation from veh to nav: [[0.878859,0.473300,-0.059952],[-0.476892,0.875094,-0.082368],[0.013479,0.100980,0.994797]]y6H?J?d޿?`?ٹ?`?ɫ6L,@6Dv;6C)veG ~`wA)%HB%HIE7E`wAMBI][I]:٥e?$= mM=9m%:Q m>qq uF٦}E%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229293y: -> 9E4qY= -6?4y=ns=eB ?=ƠC=w<=*z<=(4-B)vAEJ%J%J%9J!J%;J%c:J%c44J!J%M<J%M<J%*;J%*;oIUFNOT Ignoring new targets: 387.18 m.oUW8oQ ProNav pure pursuit: ac range: 387.175598 m, nav range: 380.440125 m, bearing: 331.673913 deg, approach rate: -0.600480 m/s, LOS rate: nan deg/s, cmd heading: 331.671718 deg, new cmd heading: 331.673913 deg. HeadingCmd: 5.788802 target range: 387.175598 and range: 385.80 m.Ro=@JoboZoBo:n2nmmlkkkk`,@ɞ GB@g : J>I >SɝiI.iI%i-֯=i-8=)-=@))ԙF6"F*F2F0:F BDAT read: Rx Time:03:55:36.0777  TRx dataTimestamp_ set to:1761364537.118145 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481440G +=G 2B :B  O > Uď,L?A I1@Y ,@ pT9 I=mAHRS rotation from veh to nav: [[0.879155,0.472780,-0.059709],[-0.476360,0.875313,-0.083121],[0.012966,0.101520,0.994749]]y H "?B?@1|޿?@rG@半?0??ɫ I1@ \2; CHBH]Mb@Mb@Mb@Y Y)YIYiY]V-?y&1{Gzt]|?]`]ף)]ݠAI]ƍAi]A]A Y]AIKIh٥!= ,=9:Q > F٦Ey˨: > 4YdA6?4y=w?:X ?C:Q:04:B)AEoFNOT Ignoring new targets: 387.18 m.oX8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 380.158936 m, bearing: 331.675864 deg, approach rate: -0.662263 m/s, LOS rate: nan deg/s, cmd heading: 331.673904 deg, new cmd heading: 331.675864 deg. HeadingCmd: 5.788836 target range: 387.175598 and range: 385.80 m.Ro%%>@Jo!bo!Zo!Bo!:n!2n)m)m1l1k1k1k1k=%-@ɞeGBe: imU>Ii mbjPɝiiiImBZlIu_iu=iu=)}%>@)yE>E>-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731964F"F*F 2F 0:F ) GE (=G 2B1 jKu NrKu ػ9zKq Ku Ku 0'#)CTF<60' $  4Fq:B  O >2K *K sAQ d<ď,f?AJH?ABH?AH>HHIIII&I-<*IEVDAT read: 03:55:36.0777 LVL= 28320, 30161, 24050, 32755, AGC= 58, IDX= 424, 0.01,-0.814,-2.079,-0.731,-1.320, PHS= 0.594,-0.712, 0.586, RAW= 149.7, -7.2, CAL= 155.2, -15.5, ROT= 354.8, 15.5 ZYgot valid direction response: 03:55:36.0777 LVL= 28320, 30161, 24050, 32755, AGC= 58, IDX= 424, 0.01,-0.814,-2.079,-0.731,-1.320, PHS= 0.594,-0.712, 0.586, RAW= 149.7, -7.2, CAL= 155.2, -15.5, ROT= 354.8, 15.5 ^PDAT read: Bearing 354.8, 15.5 (Local) ^~Local bearing/azimuth received: Bearing 354.8, 15.5 (Local) fDAT read: Range 10 to 50 : 378.0 m (Round-trip 504.0 ms) speed 0.7 m/s fR#Rx 1: Read range and direction messages.n`direction in FSK: [0.959665,-0.087336,-0.267238]nFpublishing direction and range info 0d?{Ih[֚nѿ>CY< >n)>uI>]i<<>b?>E6>? >m7'@)>I>-\-@i>c>_(@>c> <)<>l6:f??s?j"i>ح?>$p>>޹>c> <)<}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.6@Yk1@{@9=AHRS rotation from veh to nav: [[0.879479,0.472190,-0.059611],[-0.475793,0.875379,-0.085630],[0.011748,0.103672,0.994542]]yH$?]8?Dds޿?뵿Z? C?J?ɫ6@!;髥CHBHIcI#٥ : X=9R;Q > F٦Ey: > 4YqR6?4ymz, ?C:1:u74FB)էAJp<Rp>Ǽg?A1p>sCp>sCp>:@v>,v@N?eu@(;.Yv> 0d?{Ih[֚nѿp>޹p>c>v>Is@/C` h Xv>2?"QSj*пjp>H@rp>HCZp>YM䛊?bp>F;;zp>D addTargetRange:: Added new target pos. range: 378.000000 m, deltaT: 15.118493 s, deltaX: -7.799988 m, approachRate: -0.515924 m/s, rangeRepo size: 3 oFNOT Ignoring new targets: 387.18 m.o8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 379.923279 m, bearing: 331.677477 deg, approach rate: -0.592999 m/s, LOS rate: nan deg/s, cmd heading: 331.675871 deg, new cmd heading: 331.677477 deg. HeadingCmd: 5.788864 target range: 387.175598 and range: 378.00 m.Ro`>@JoboZoBo:n2nm!mAlIkQkQk]w@k]??ɞGBk 靍;>I MɝiI;nIi=il=)`>@)YFQ"FQ*FQ2FUD5:FQG]tAF]sA5*DAT read: user:188> =BDAT read: Tx time:03:55:37.3696 =$Ping request sent.=#ď,)?A08@YJ3@z99=-AHRS rotation from veh to nav: [[0.879592,0.472020,-0.059290],[-0.475595,0.875453,-0.085981],[0.011321,0.103826,0.994531]]yH%? 5?:[$p޿?@7/?Z?2?ɫ8@ ;CAAIgI9o:Q > F٦Ey#: > 4Yc6?4y} ?%C::=41)19B*** querying acoustic contact ***:pBpo5FNOT Ignoring new targets: 387.18 m.o58o1m ProNav pure pursuit: ac range: 387.175598 m, nav range: 379.692871 m, bearing: 331.679049 deg, approach rate: -0.624867 m/s, LOS rate: nan deg/s, cmd heading: 331.677483 deg, new cmd heading: 331.679049 deg. uHeadingCmd: 5.788891 target range: 387.175598 and range: 378.00 m.Rou>@JDAT read: TxSync time:03:55:37.3688 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251716ԙJoqboZoBo:n2nmmlkkkk K?ɞGB8A: )-)5>IA MʹKɝIiQIU;qI]i]=i]==)]>@)aF)"F1*F12F=05:F9 G} r =E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502934GY 2Bi :B  O >J J J J J e ;J Z:J J ! @! @! @! @Kď,h?ApnG@YnOB@nd<9n=zAHRS rotation from veh to nav: [[0.880460,0.470761,-0.056335],[-0.473980,0.876854,-0.080438],[0.011531,0.097524,0.995166]]ynH,?@ ?جU޿0? @?X? g?ɫnG@n݌;nCHBHMb@Mb@Mb@ )IiGz?~jt    F٦Eyf; > 54Yu6?54yπeB5|?=:==?FCl;Pa;E4ERB)EAEEoiuFNOT Ignoring new targets: 387.18 m.ouL7oq ProNav pure pursuit: ac range: 387.175598 m, nav range: 379.439514 m, bearing: 331.679719 deg, approach rate: -0.640802 m/s, LOS rate: nan deg/s, cmd heading: 331.679040 deg, new cmd heading: 331.679719 deg. HeadingCmd: 5.788903 target range: 387.175598 and range: 378.00 m.Ro>@JoboZoBo:n2nmmlkkkk@+?ɞGB A: w6>I IɝiIsIi=i =)>@) F5"F*F2F4:FjKE2NrKE9zKAKEKE$`_9MXdd^VNLK</"  BKU ?:KU?H%>H!H%]HI%IBI!I!I!&I%ݕ<*I%*Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547559G=G?G#?G 2B :B  O >a wď,#K?AJT@YJZO@J A9JX=RAHRS rotation from veh to nav: [[0.881211,0.469208,-0.057544],[-0.472576,0.877421,-0.082485],[0.011787,0.099881,0.994930]]yJH`2??@[v>޿?#? Ǒ?v?ɫJT@J+;JCZHBZHIb$Ib´٥j j`=9j7Q j>ll nF٦nEyr; r> tz4Yv@6?z4yvvdBxz~?vbCv-/;v6;vK4 )  A YoFNOT Ignoring new targets: 387.18 m.o7o ProNav pure pursuit: ac range: 387.175598 m, nav range: 379.214966 m, bearing: 331.680258 deg, approach rate: -0.590415 m/s, LOS rate: nan deg/s, cmd heading: 331.679723 deg, new cmd heading: 331.680258 deg. HeadingCmd: 5.788913 target range: 387.175598 and range: 378.00 m.Ro>@JoboZoBo:n2nmmlkkkk |!?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035ɞGBAD 靕j$>I GɝiI#uIGi=ir/&=)>@)ԉF"F*F2F5:FG= G=ԱG I = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260204G 2B :BA  OM > Dcď,5Ύ?ABi@YBId@B>H9B4=EAHRS rotation from veh to nav: [[0.882411,0.466847,-0.058357],[-0.470320,0.878532,-0.083555],[0.012261,0.101176,0.994793]]yBH F٦Ey; >  4Y6? 4ycdB?C::S4^B)AoFNOT Ignoring new targets: 387.18 m.o,7o ProNav pure pursuit: ac range: 387.175598 m, nav range: 378.926086 m, bearing: 331.680840 deg, approach rate: -0.620397 m/s, LOS rate: nan deg/s, cmd heading: 331.680270 deg, new cmd heading: 331.680840 deg. HeadingCmd: 5.788923 target range: 387.175598 and range: 378.00 m.Ro>@JoboZoBo:n2nmmlkkkk ?ɞ5HB50 15)>I9 =IEɝ9i9I=ׂxIEiEdz=iE.=)M>@)I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511679JeJeJaJaJe ;Je^:JaJaF6"F*F2F2:F G #'=G 2B :B  O >jK VOH H H iHI )IBI I I &I •<*I E1 ;ď,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762659rKAzKAKEKEeIJ]q^SIHOKC<3-)((+*&%%(%&(+/-%7@==@EGC71+%%)Fyby@Ybt@b389bϠ=jAHRS rotation from veh to nav: [[0.883359,0.465234,-0.056875],[-0.468562,0.879495,-0.083296],[0.011269,0.100229,0.994901]]ybHyD?d?ݿ$?`R`&?@?9?ɫby@bǚ;bCHBHMb@Mb@Mb@ )IiZd;O? rh11 5F٦5Ey5; => 9E4Y=!6?M4y==dBM?M:M-M?=C=u ;= ;=Z4Y)]AYoFNOT Ignoring new targets: 387.18 m.o7o ProNav pure pursuit: ac range: 387.175598 m, nav range: 378.672791 m, bearing: 331.681535 deg, approach rate: -0.631050 m/s, LOS rate: nan deg/s, cmd heading: 331.680844 deg, new cmd heading: 331.681535 deg. HeadingCmd: 5.788935 target range: 387.175598 and range: 378.00 m.Ro>@JoboZoBo:n2nmmlkkkk& @ɞ HB P)  #>I  BɝiIzIki=i35=)>@)!E-sAE-sAF"F*F2F?1:F!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014823 JuAAJuBAI G 31=G 2B :B  O >qď,?A:@Y:{@:?N29:u=ZAHRS rotation from veh to nav: [[0.883763,0.464574,-0.055971],[-0.467807,0.879963,-0.082592],[0.010883,0.099175,0.995010]]y:H@G? ?Dݿ@(?`$I?c? ?ɫ:@:;:CvHBvHIUI٥}< s=9:Q ? %F٦%Ey-&; -? 1=4Y5K6?E4y5O5dBAEE?5¡C5:5-:5`4MkB)M;AUEoy}FNOT Ignoring new targets: 387.18 m.o7o ProNav pure pursuit: ac range: 387.175598 m, nav range: 378.466492 m, bearing: 331.682076 deg, approach rate: -0.610715 m/s, LOS rate: nan deg/s, cmd heading: 331.681527 deg, new cmd heading: 331.682076 deg. HeadingCmd: 5.788944 target range: 387.175598 and range: 378.00 m.Ro?@JoboZoBo:n2nmmlkkkk@ɞHBc9 !$>I X)AɝiI|I% i=iK7=)?@)Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267031F"F*F2F2:FGrAFԁG·3=G2B:B O>ԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518913J J J J J } ;J S:J J Cƣď,@?A6}@Y6G@6F596==<FAHRS rotation from veh to nav: [[0.884367,0.463401,-0.056168],[-0.466661,0.880547,-0.082854],[0.011064,0.099485,0.994978]]y6H L?[? ¬ ݿp-?5౨?w?@?ɫ6}@6ӌ;6C^HB^HMb@Mb@Mb@ )IiZd;?Zd;O~jt?j)IiQAA AI^I٥ڼ @=9M߹Q > F٦Ey$H; > 4Y6?4ydB ?:<?Cv";j!;?h4nB)^AE B*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 387.18 m.o%.8o!5 ProNav pure pursuit: ac range: 387.175598 m, nav range: 378.211609 m, bearing: 331.683088 deg, approach rate: -0.598859 m/s, LOS rate: nan deg/s, cmd heading: 331.682073 deg, new cmd heading: 331.683088 deg. =HeadingCmd: 5.788962 target range: 387.175598 and range: 378.00 m.Ro=-?@Jo9bo9ZoABoA:nA2nAmImIlIkIkQkQkU @ɞ}HB}` 靍n>I 6?ɝiI~I i=i;=)-?@)ԩFA"FA*FA2FE0:FAH>HHIIII&I<*I?EjKKHNrK9zKKKw~tl||wywh`_YRNYjqsogk{}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770834G-п8=G 2B :B!  O- > ̣ď,ڍ5?A6h@Y62@6 296Z=>AHRS rotation from veh to nav: [[0.884933,0.462340,-0.056000],[-0.465591,0.881090,-0.083100],[0.010920,0.099611,0.994967]]y6H^Q??@=ݿ1?F`d]?`??ɫ6h@6:;6C^HB^HIfCIfl٥vq= vY=9zO9Q z>|| MF٦MEyM]L; U> Qe4YU6?e4yUUdBamm?UCU=;UN;Uo4}zB)}bAyoFNOT Ignoring new targets: 387.18 m.o&'8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 377.978119 m, bearing: 331.683972 deg, approach rate: -0.602196 m/s, LOS rate: nan deg/s, cmd heading: 331.683084 deg, new cmd heading: 331.683972 deg. HeadingCmd: 5.788978 target range: 387.175598 and range: 378.00 m.RoN?@JoboZoBo:n2nmmlchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022877kkkku8 @ɞ&HBо' !%>I! %U>=ɝ!i!I%fI-i-=i5c?=)5N?@J5C=J5%=)9EEl>EE>F"F*F2F0:F 1Gl;=G2B:B!  O)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275410a Nӣď,lO?AJ@YJ@JB,9J=fAHRS rotation from veh to nav: [[0.885365,0.461636,-0.054974],[-0.464779,0.881602,-0.082211],[0.010514,0.098338,0.995098]]yJHT?@p?@%ݿ6? B?,??ɫJ@Ji;JCvHBzHAI]It٥  0=9a:Q > F٦Ey(; > !-4Y%i6?m4y%S%dBquu?%$C%'<%;(<% w4}B)}A}EoAiFNOT Ignoring new targets: 387.18 m.o8oBDAT read: Rx Time:03:55:40.2740 TRx dataTimestamp_ set to:1761364541.403276checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529366  ProNav pure pursuit: ac range: 387.175598 m, nav range: 377.699615 m, bearing: 331.684992 deg, approach rate: -0.568998 m/s, LOS rate: nan deg/s, cmd heading: 331.683985 deg, new cmd heading: 331.684992 deg. HeadingCmd: 5.788995 target range: 387.175598 and range: 378.00 m.Ros?@JoboZoBo:n2nmmJK-4JK-4JK/.JMJMJM8JIJM ;JM*f:JM'4JIlykkkkpg@ɞ1HBDA  >I :ɝiIqI si =i ζB=)s?@)ԑF"F*F2FA5:FG= G= JH @ABH AAH H H I I I I &I *I 2I:IBIJIRIZI{4G @>=jKU NrKU 9zKQ KU KU ztnfbezqnggt\ P 7N`y"xl}~ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779447G 2B :B  OU >Xڣď,fk?AL@YP@G)9=mAHRS rotation from veh to nav: [[0.885626,0.461183,-0.054563],[-0.464284,0.881888,-0.081934],[0.010332,0.097896,0.995143]]yH` W? ?﫿նݿm8?@(?@?@6?ɫ@̊;CHBHiIAMb@Mb@Mb@ )IiZd;?y&1/$`)/AIi ̖AI%bI%٥5; =5=9E89Q E>AI MF٦MEyMI: M> Q]4YU7?]4yUٚUdBe?e:ee?UGCU ;U ;U~4i)uAqoFNOT Ignoring new targets: 387.18 m.o>a8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 377.432831 m, bearing: 331.686270 deg, approach rate: -0.641905 m/s, LOS rate: nan deg/s, cmd heading: 331.684996 deg, new cmd heading: 331.686270 deg. HeadingCmd: 5.789018 target range: 387.175598 and range: 378.00 m.Ro?@JoboZoBo:n2nmmlkkkk3@ɞ:HBܺ  >I  F59ɝiILI%i%u=i-dD=)-?@)1);G xA)IUUxAUBA-DAT read: 03:55:40.2740 LVL= 24368, 31521, 19618, 32755, AGC= 62, IDX= 398, 0.47, 2.628, 1.114, 2.656, 1.951, PHS= 0.765,-0.789, 0.703, RAW= 148.0, -9.0, CAL= 154.2, -17.3, ROT= 355.8, 17.3 5Ygot valid direction response: 03:55:40.2740 LVL= 24368, 31521, 19618, 32755, AGC= 62, IDX= 398, 0.47, 2.628, 1.114, 2.656, 1.951, PHS= 0.765,-0.789, 0.703, RAW= 148.0, -9.0, CAL= 154.2, -17.3, ROT= 355.8, 17.3 =PDAT read: Bearing 355.8, 17.3 (Local) =~Local bearing/azimuth received: Bearing 355.8, 17.3 (Local) UDAT read: Range 10 to 50 : 375.1 m (Round-trip 500.2 ms) speed 0.5 m/s ]R#Rx 1: Read range and direction messages.e`direction in FSK: [0.952197,-0.069925,-0.297375]eFpublishing direction and range infoym\zTex?KX汿+0ӿCY 0_)!{ILi> C?I3? MQ%@)| I9>,@i#Y@#> )\yD?VZ?{!ÿi >2>i #> )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑF"F*F2F5:FԹ G -B=Gq 2By :B  O >Faď,Ʌ?Aj@Yje@j$9j=rAHRS rotation from veh to nav: [[0.885803,0.460904,-0.054030],[-0.463952,0.882087,-0.081672],[0.010017,0.097413,0.995194]]yjHX?@u?੫eݿ:?@q贿? ?`?ɫj@j;jCzHBzHIeI]٥} n=9tq:Q ?!! %F٦%Ey%P: %? 1=4Y57?=4y55dB9==?5aC5:5d:5ڄ4QUB)UըAQJpRpy?ApCpCp5C@v{5NBv@γ':^#[vm\zTex?KX汿+0ӿpi p#>vGVs@-YffhASj[vkr8y?B޿Hҿjp63rpCZp?bp=c&zpm addTargetRange:: Added new target pos. range: 375.100006 m, deltaT: 4.285236 s, deltaX: -2.899994 m, approachRate: -0.676741 m/s, rangeRepo size: 4 oFNOT Ignoring new targets: 387.18 m.o)N8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 377.227051 m, bearing: 331.687246 deg, approach rate: -0.593573 m/s, LOS rate: nan deg/s, cmd heading: 331.686280 deg, new cmd heading: 331.687246 deg. HeadingCmd: 5.789034 target range: 387.175598 and range: 375.10 m.Ro?@JoboZoBo:n2nmmlkkkqw@kR?U*DAT read: user:189> ]BDAT read: Tx time:03:55:41.6196 e$Ping request sent.e JDAT read: TxSync time:03:55:41.6188  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250823 ď,ލ?AR@YRz@RK&9R"=jAHRS rotation from veh to nav: [[0.885807,0.460902,-0.053991],[-0.463943,0.882125,-0.081312],[0.010150,0.097076,0.995225]]yRHX?l?=ݿ _:?дYɄ?ٸ??ɫR@Rl;RCzHBzHԹMb@Mb@Mb@ )IiS?+ rh?C)AIiAA AI3I٥ (k  <=9 ƠQ > F٦Eyk7 > !-4Y%*7?-4y%#%dB5?5:5= 5?%C%(;%&%;%o4I)M֨AImB*** querying acoustic contact ***:piBpioy}FNOT Ignoring new targets: 387.18 m.o\8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 376.964752 m, bearing: 331.689230 deg, approach rate: -0.607606 m/s, LOS rate: nan deg/s, cmd heading: 331.687237 deg, new cmd heading: 331.689230 deg. HeadingCmd: 5.789069 target range: 387.175598 and range: 375.10 m.Ro@@JoboZoBo:n2nmmlkkkkY?ɞLHBj~ =I GY6ɝiIIiq8=i`E=)@@)H=>H9H=vHI=3IBI9I9I9&I=<*I=iEjK%+PrK%]9zK!K%K%mR0{mdc_XPI@=??87[D7/7/F1"F1*F12F55:F9GEtAFEtAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501861 Gm wEF=GA 2Bi :B  O >9 ď,cc?A6@Y6ޘ@6 y296=BAHRS rotation from veh to nav: [[0.885425,0.461841,-0.052195],[-0.464654,0.882215,-0.076118],[0.010893,0.091649,0.995732]]y6HgU?@ώ?S`ݿ;?`w| O?Vv??ɫ6@6c;6CFHBFHIVYIV٥Z(= Zc=9^Fbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753657Q f>dd jF٦jšEyjH j>JrJrJr9JpJrE ;Jrq:Jrc44JpJr|Pԙ tď,Rӏ?AY@Y#@009 =AHRS rotation from veh to nav: [[0.886630,0.459405,-0.053236],[-0.462354,0.883175,-0.078935],[0.010754,0.094600,0.995457]]yH@F_?f? A5ݿ B?5?@7?@?ɫY@z;C%HB%HiMb@Mb@Mb@ )IiK?:vy&1^?T`e)/AIiQAA ̖AI3I٥! +=9'9Q > F٦ŚEy; >  4YO7?4y+dB?:i?âC::4)%A!oAMFNOT Ignoring new targets: 387.18 m.oM8oQ] ProNav pure pursuit: ac range: 387.175598 m, nav range: 376.458893 m, bearing: 331.693978 deg, approach rate: -0.605347 m/s, LOS rate: nan deg/s, cmd heading: 331.690925 deg, new cmd heading: 331.693978 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257385HeadingCmd: 5.789152 target range: 387.175598 and range: 375.10 m.Ro @@Jo bo Zo Bo :n 2n mmlkkkk {?ɞmaHBm im=Ii uai3ɝqiqIuAI}i}Qd=iQ?L=)@@)EEpAԙF1"F1*F12F50:F1ZH! RH! H5 >H1 H1 I1 I5 : =I1 I1 &I5 <*I1 Ge &t@=G1 2BA :BQ jKU OrKU ػ9zKQ KU KU ucJ-/A_s S\I:,ve`WL1 %Gtxtt2Ka *Ke rA} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509401 O} > ď,i?AHB HI5\I5W٥E< Mj=9MQ M>IQ UF٦UȚEyU U> au4Ye$^7?u4ye$edByy?eߢCeo;e;e+4B)AEoFNOT Ignoring new targets: 387.18 m.oU8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 376.248108 m, bearing: 331.696231 deg, approach rate: -0.598794 m/s, LOS rate: nan deg/s, cmd heading: 331.693985 deg, new cmd heading: 331.696231 deg. HeadingCmd: 5.789191 target range: 387.175598 and range: 375.10 m.RoA@JoboZoBo:n2nmmlkkkk@?ɞiHBN |=I %W2ɝ!i!I%煻I-i-v=i-K=)-A@)1F"F*F2F1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761372J J J 8J J ;J `:J '4J J H[<J I[<J _;J _;G\J=G2B:B  O >) Q ď,?A6̲@Y6ǹ@6, 96nO=BAHRS rotation from veh to nav: [[0.888082,0.456754,-0.051830],[-0.459605,0.884377,-0.081489],[0.008617,0.096190,0.995326]]y6H`*k?v;?q@*jݿ@L?zܴ??@?ɫ6̲@6;6CJHBJHIRUIR٥~; ~O=9;Q >    F٦ ʚEy <  > 4Y6o7?%4y}dB!%%?C)::4))-A1oamFNOT Ignoring new targets: 387.18 m.om8oi} ProNav pure pursuit: ac range: 387.175598 m, nav range: 376.009430 m, bearing: 331.698669 deg, approach rate: -0.606350 m/s, LOS rate: nan deg/s, cmd heading: 331.696225 deg, new cmd heading: 331.698669 deg. HeadingCmd: 5.789234 target range: 387.175598 and range: 375.10 m.RogA@JoboZoBo:n2nmmlkkkk @ɞsHBS 2=I #1ɝiI [I9i‘=iV=)gA@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013455)Fi"Fi*Fq2Fu1:FqaGJ=G2B:B O>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266681lď,( ?A,~HB~HMb@Mb@Mb@ )IiQ?Zd;O:v(?j<T)IiA zAISIQ٥< ==9Q > F٦͚Ey > 4Y57?4y dB?: ?C::4 B) .AE=B*** querying acoustic contact ***:p9Bp9oAMFNOT Ignoring new targets: 387.18 m.oM8oQ] ProNav pure pursuit: ac range: 387.175598 m, nav range: 375.745392 m, bearing: 331.700945 deg, approach rate: -0.610361 m/s, LOS rate: nan deg/s, cmd heading: 331.698657 deg, new cmd heading: 331.700945 deg. eHeadingCmd: 5.789274 target range: 387.175598 and range: 375.10 m.RoeA@JoaboaZoiBoi:ni2nimqmqlqkykykyk}@ɞ~HBҎ 靽=I k/ɝiIjֆIik=i7U=)A@)Et>E>ԉH>HCHHI=IBI; =IID&I<*I0EFE5"FI*FI2FM0:FIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517774jK}NrK}h9zKyK}K}ommt jxW, |pje`g%aky8.HOB,BK?:K?ԹGm@W=GA 2BQ :Ba  Om > e ď,ٵ:?A2Ҳ@Y2͹@2B92]=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769533JAHRS rotation from veh to nav: [[0.888426,0.456299,-0.049897],[-0.458968,0.884689,-0.081691],[0.006867,0.095478,0.995408]]y2Hm?4?` _ݿ_O?鴿 |?9q?a?ɫ2Ҳ@2 ;0XZHJbJbJb9J`Jb;Jb*f:Jbc44J`Jbd<Jbd<Jbڷ;Jbڷ;hIrUIr٥z: zZ=9~˜;Q >    F٦ ϚEy W: > %4Y7?%4yIdB!% %?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021476A ď,ۇT?A!-!в@Y-ʹ@-8̻9-)=AHRS rotation from veh to nav: [[0.888283,0.456668,-0.049061],[-0.459254,0.884569,-0.081385],[0.006232,0.094825,0.995474]]y-Hl? :? jdݿcN?մy?@lF?@?ɫ-!в@-;-CHBuH}0>}<Mb@Mb@Mb@ )IiS?Mbp/?L)AIvAiGA AI%dI%@٥5< 5+=95:Q 5>99 =F٦=ҚEy=N0 E> ABDAT read: Rx Time:03:55:44.5199 TRx dataTimestamp_ set to:1761364545.441720checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2744424YE7?4yE[EdB?:?EbCEQď,n?AKUKUJI9( wmjb]XVSMIGC@@FS]xzm6Ͳ@Y6ȹ@6C96n!=>AHRS rotation from veh to nav: [[0.888161,0.457019,-0.047990],[-0.459498,0.884510,-0.080642],[0.005593,0.093675,0.995587]]y6H@k???+ihݿM?nv???ɫ6Ͳ@6z;6CFHBF3HIRfIR{٥VJ= Z}=9Zm;Q Z ?\\ ^F٦^ԚEy^\ b ? `f4Yb7?j4yb"bdBhjj?b{CbI;bU;b'Ă4nӎB)rTArEo  FNOT Ignoring new targets: 387.18 m.og8o% ProNav pure pursuit: ac range: 387.175598 m, nav range: 375.024780 m, bearing: 331.707683 deg, approach rate: -0.663459 m/s, LOS rate: nan deg/s, cmd heading: 331.705733 deg, new cmd heading: 331.707683 deg. %HeadingCmd: 5.789391 target range: 387.175598 and range: 375.10 m.Ro-B@Jo)ibo)ZoBo:n2nmmlkkkk@ɞ-HB5!H 15=I1 5g,ɝ1i9I=\cI=iE9 =iE-jU=)EB@)aF"F*F2F0:F!ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779343 JJ@AJJJJJe ;Jd:JJJU<JU<J;J;GGY 2Bi :By  O > !ď,)=?AB;ò@YB@B#9Bؼ=JAHRS rotation from veh to nav: [[0.887565,0.458284,-0.046952],[-0.460655,0.884023,-0.079374],[0.005131,0.092078,0.995739]]yBHf?@T? ^{ݿ I?Qku?l? ?ɫB;ò@B^;BCVIBV@HIbiIb҅٥f< fI=9j:Q j>hl nF٦nךEyrQ r> tz4Yv7?z4yvvdBxz~?vCv;v;vB˂4)?Ao1=FNOT Ignoring new targets: 387.18 m.oE8oAU ProNav pure pursuit: ac range: 387.175598 m, nav range: 374.774841 m, bearing: 331.710179 deg, approach rate: -0.612644 m/s, LOS rate: nan deg/s, cmd heading: 331.707673 deg, new cmd heading: 331.710179 deg. ]HeadingCmd: 5.789435 target range: 387.175598 and range: 375.10 m.Ro] C@JoYboYZoYBoY:na2namamalikikikikm s@UDAT read: 03:55:44.5199 LVL= 18352, 24305, 17138, 30035, AGC= 68, IDX= 405, 0.18,-2.340, 2.548,-2.312,-2.714, PHS= 0.462,-0.974, 0.399, RAW= 147.8, 1.6, CAL= 150.8, -7.2, ROT= 359.2, 7.2 ]Ygot valid direction response: 03:55:44.5199 LVL= 18352, 24305, 17138, 30035, AGC= 68, IDX= 405, 0.18,-2.340, 2.548,-2.312,-2.714, PHS= 0.462,-0.974, 0.399, RAW= 147.8, 1.6, CAL= 150.8, -7.2, ROT= 359.2, 7.2 ePDAT read: Bearing 359.2, 7.2 (Local) e~Local bearing/azimuth received: Bearing 359.2, 7.2 (Local) mDAT read: Range 10 to 50 : 372.0 m (Round-trip 496.1 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.992018,-0.013852,-0.125333]Fpublishing direction and range infoyo+?؃r^cK CY G)^IBiSuDD>XyI> %@) )3M?Q~?5(?i 4>G輩Dd> )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞHB08 =I /+ɝiIIi =iP=) C@)F5"F*F2F4:FG G=)aG zS=G 2B :B  O >% *DAT read: user:190> - BDAT read: Tx time:03:55:45.9196 - $Ping request sent.- ;6Cz IB~FHi I AMb@Mb@Mb@ )IiCl?ˡEMb`?;?';)/AIiA AIcI#٥-*< -6=I9}r:Q }>yy F٦ښEy^ > 4Yu7?4yúdB?:k ?CH:s:Jӂ4ߎB)fAEJpARpE?ApEtCpEtCpE@vEu@v@%@H7q>GvEo+?؃r^cK pEDdpE>vE0et@cKepFvE/N(?zeݿ*ܡjpE^*rpE/CZpEf"cK?bpEDzpEs@ addTargetRange:: Added new target pos. range: 372.000000 m, deltaT: 4.291008 s, deltaX: -3.100006 m, approachRate: -0.722442 m/s, rangeRepo size: 4 oFNOT Ignoring new targets: 387.18 m.o8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 374.488617 m, bearing: 331.712407 deg, approach rate: -0.620437 m/s, LOS rate: nan deg/s, cmd heading: 331.710186 deg, new cmd heading: 331.712407 deg. %HeadingCmd: 5.789474 target range: 387.175598 and range: 372.00 m.Ro%^C@Jo!bo!Zo)Bo):n)2n)m1m1l1k1k9k=@w@k=`E?Hu>HqHuHIu\IBIqIqIq&Iu#<*Iq2I5ÉC:I5ÉCBI1JI1RI1ZI5}05ɞHB8K 靝R=I d)ɝiI|Ii8 =i_!Q=)^C@)EEtAmJDAT read: TxSync time:03:55:45.9188 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249615yF6"F*F2F5:FjK\OrKػ9zKKKc\]k|uaf_[XMGB:-"!&'&#!%0?khUHBLq{vs|qf^hԩi'>I%C)e tG } `wA) G XR=I O `wA BG 2B :B  O > {N.ď,?A6@Y6д@696nѺ=BAHRS rotation from veh to nav: [[0.887048,0.459363,-0.046166],[-0.461653,0.883566,-0.078665],[0.004655,0.091092,0.995832]]y6H@b?2f? @ݿ`+F?d#s?Q? ?ɫ6@6GF;6CFIBFVHJNR=JN4=IVVIV^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499482٥b= bd=9bިQ f>dd fF٦fܚEyjM j? lv4Yn7?v4yn}ƺlxz z?nܣCnxL;n^7;n\ق4|)KAB*** querying acoustic contact ***:pBpo)-FNOT Ignoring new targets: 387.18 m.o5J8o1E ProNav pure pursuit: ac range: 387.175598 m, nav range: 374.272430 m, bearing: 331.714129 deg, approach rate: -0.625006 m/s, LOS rate: nan deg/s, cmd heading: 331.712399 deg, new cmd heading: 331.714129 deg. MHeadingCmd: 5.789504 target range: 387.175598 and range: 372.00 m.RoMC@JoIboIZoIBoI:nI2nQmYmYlakakikikm`}.?ɞEHBEn Iu&=Iq }H(ɝyiyI}IԩiN =iL=)C@)Fa"Fa*Fa2Fa:Fauchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752112GQO= Ga 2Bi :B  O >1 95ď,6Ր?A^V@Y^ @^9^~= AHRS rotation from veh to nav: [[0.886611,0.460225,-0.045971],[-0.462483,0.883331,-0.076389],[0.005451,0.088988,0.996018]]y^H`_?Tt? Tݿ?D?<@NTv?`Ƕ?`?ɫ^V@^;^CM"IBUaHII٥Y< 9=9Q > F٦ߚEy > 4Y8?4yuʺdB ?C7[;"\;4B)kAo15FNOT Ignoring new targets: 387.18 m.o=8o9m ProNav pure pursuit: ac range: 387.175598 m, nav range: 373.982574 m, bearing: 331.716482 deg, approach rate: -0.615085 m/s, LOS rate: nan deg/s, cmd heading: 331.714120 deg, new cmd heading: 331.716482 deg. uHeadingCmd: 5.789545 target range: 387.175598 and range: 372.00 m.RouC@JoqboqZoqBoq:nq2nymymyJJJJJJX:JJ!@!@!@!@lkkchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004841kkW?ɞMHBUtۣ QU̩=IQ ]'ɝiII=yi=ch =i= J=)=C@)A1F"F*F2F1:FGFsAa ZHm <RHm 4<Hu >Hq Hu HIu pIBIq Iq Iq &Iu <*Iu KEG JM=} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255660G 2B :B  O >jK NrK 9zK K K {l_\cv~unf]SPMF?50,('%""!\;ď,?A :@Y:骹@:}9:·=FAHRS rotation from veh to nav: [[0.886487,0.460453,-0.046085],[-0.462724,0.883150,-0.077024],[0.005233,0.089605,0.995964]]y:H@^?x?`dCݿB?ݷ@ou?b??ɫ:@:q;:CJ.IBJoH%Mb@Mb@Mb@! !)!I!i!%ףp= ?~jty&1|?%?%ļ%`;)!I!i!%A !%AI5,I5Ỵ٥< O=9:Q > F٦Ey; > %4YL8?%4yͺdB%?-:-G-?C::.4]B)]A]EoFNOT Ignoring new targets: 387.18 m.o:8o ProNav pure pursuit: ac range: 387.175598 m, nav range: 373.745361 m, bearing: 331.717462 deg, approach rate: -0.617508 m/s, LOS rate: nan deg/s, cmd heading: 331.716470 deg, new cmd heading: 331.717462 deg. HeadingCmd: 5.789562 target range: 387.175598 and range: 372.00 m.RoD@JoboZoBo:n2nmmlkkkk _?qɞEHBm= im=Ii u&ɝqiqIu I}3i}| =i}#uI=)}D@)E>E>F"F*F2F%0:F!ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508150 GE ~H=G 2B) :B9  OM >GBď, ?APf$@Yf@f:9f(=rAHRS rotation from veh to nav: [[0.886491,0.460522,-0.045305],[-0.462723,0.883144,-0.077101],[0.004504,0.089314,0.995993]]yfH #^?1y?E2Aݿ`B?鼳 #sr?@ݶ?-?ɫf$@f ;fCv2IBvuHIVI٥ 6< S=9:Q >!! %F٦%Ey-6 -> 1=4Y5J#8?=4y5к5dB9=FE?5=C5 ;5 ;54MB)MAMEoquFNOT Ignoring new targets: 387.18 m.o}@8oy ProNav pure pursuit: ac range: 387.175598 m, nav range: 373.512970 m, bearing: 331.718424 deg, approach rate: -0.635811 m/s, LOS rate: nan deg/s, cmd heading: 331.717453 deg, new cmd heading: 331.718424 deg. HeadingCmd: 5.789579 target range: 387.175598 and range: 372.00 m.Ro;D@JoboZoBo:n2nmmlkkkkd@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759625ɞ}HB}m y}=I ~%ɝiI\Ii} =iǠI=);D@)FE6"FI*FI2FM~1:FIG-3J=G! 2B1 :BI  OU >J J J 8J J ;J U:J '4J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011466! MoHď,`#?A6V@Y6 @6s]96ص=BAHRS rotation from veh to nav: [[0.886450,0.460726,-0.044024],[-0.462812,0.883101,-0.077050],[0.003379,0.088676,0.996055]]y6H ]? |?Yݿ^B? |k? r?@?ɫ6V@6+;4F9IBF}H|]Mb@Mb@Mb@Y Y)YIYiY]Zd;? F٦Eyd > 4Y.88?4yԺdB?:?aC ;2 ;4B)AEoFNOT Ignoring new targets: 387.18 m.ooH>HHHIIBIII&I9<*IE ProNav pure pursuit: ac range: 387.175598 m, nav range: 373.233154 m, bearing: 331.717944 deg, approach rate: -0.620814 m/s, LOS rate: nan deg/s, cmd heading: 331.718437 deg, new cmd heading: 331.717944 deg. HeadingCmd: 5.789570 target range: 387.175598 and range: 372.00 m.Ro)D@JoboZoBo:n2nmml k kkk`@1ɞHB 靕=I $ɝiIIi =ieI=))D@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263591jK]NrK]9zKYK] K] ,*"*-'$ &/AQSQKLLB7.)%" ,:GNIF>83+F6"F*F2F0:FG= GYԁ G G 2B :B  O >Nď,i:=?AB@YBz@B9B=NAHRS rotation from veh to nav: [[0.886246,0.461214,-0.043008],[-0.463208,0.882888,-0.077116],[0.002404,0.088265,0.996094]]yBH \?`?(4ݿ@@?۽c? ??ɫB@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515585BԈ;BCnNIBnHIv=)tIz`Iz̍٥o= g=9r4;Q >    F٦ Ey ( > %4YH8?%4yֺdB!%=-?}C ;;41)5A1YeB*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 387.18 m.ouoq ProNav pure pursuit: ac range: 387.175598 m, nav range: 373.013702 m, bearing: 331.717582 deg, approach rate: -0.616145 m/s, LOS rate: nan deg/s, cmd heading: 331.717945 deg, new cmd heading: 331.717582 deg. HeadingCmd: 5.789564 target range: 387.175598 and range: 372.00 m.RoD@JoboZoBo:n2nmmlkkkk@0@ɞHBh qu=Iq }#ɝyiyI}fIi =iG=)D@)EF-5"F1*F12F50:F1ԉԹGUjI=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768234G) 2B1 :BI  OU > Uď,7W?AN@YN@N9N܉=VAHRS rotation from veh to nav: [[0.886364,0.461032,-0.042519],[-0.462985,0.882957,-0.077666],[0.001736,0.088526,0.996072]]yNH]? ? ťݿ.A?᳿ q\??@?ɫN@N|;LbKIBbHIhIh٥ (  J=9:Q %>11 EF٦EEyUR : ]> q4Yu[8?4yuٺudB?uCu9H H HI IBI I I D&I <*I SEG <H=% PExceeded connect timeout, disconnecting.A e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271856G) 2B1 :BI  OU >[ď,(p?AjK. NrK.9zK,K. K.&""6`pdP<0$(13125!  %'#  :xtU:+ >]@Y>'@>IJ9>'=FAHRS rotation from veh to nav: [[0.886003,0.461760,-0.042143],[-0.463677,0.882600,-0.077598],[0.001364,0.088293,0.996094]]y>H#Z?y?œ`ݿA>? rݳXV? X??ɫ>]@>ng;>CNUIBNH}Mb@Mb@Mb@y y)yIyiy}K?~jt?Mb?}^?}D<}<)}AIyiy}A y}AI[I:٥< A=9f:Q > F٦Ey > 4Yn8?4yܺdBi?:N?CU::C 4)AoFNOT Ignoring new targets: 387.18 m.oio% ProNav pure pursuit: ac range: 387.175598 m, nav range: 372.506348 m, bearing: 331.715989 deg, approach rate: -0.687396 m/s, LOS rate: nan deg/s, cmd heading: 331.717153 deg, new cmd heading: 331.715989 deg. EHeadingCmd: 5.789536 target range: 387.175598 and range: 372.00 m.RoEC@JoIboIZoIBoQ:nY2nYmamilikqkqkqku5/ @ɞ-IB5 15H=I1 5!ɝ1i9I=I=iE =iE7F=)EC@)AF5"F*F2F:F G sAF tAABDAT read: Rx Time:03:55:48.8170 TRx dataTimestamp_ set to:1761364549.985824checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524576yGE xH=G) 2B9 :BQ  Oe >ԙ Lbď,K͊?AB@YB㟹@B뚖9B_=NAHRS rotation from veh to nav: [[0.885875,0.461979,-0.042432],[-0.463922,0.882386,-0.078558],[0.001149,0.089277,0.996006]]yBHY??ݿhh jF٦jEyj@ n> pv4Yr8?z4yrsߺrdBx}t}?rۤCr ) m.? h?i ,? z= i %> ) e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.Gu 4|E=GY 2Bi :By  O > hď,ʩ?AiIBHH>HHHIIBIIID&I<*IEMMb@Mb@Mb@I I)IIIiIMl?I +?Mbp?M?M94 F٦Ey > 4Y8?4ydB?:?C;y;4,B)AEJpRpQ?ApiCpiCp@v*-8v@{9UhWvJ?Fhtпpip%>v2s@ l~fJ:Xv5?|Zw:߿t?пjp3rpCZpU۳?bpbA`zp7} addTargetRange:: Added new target pos. range: 369.899994 m, deltaT: 4.292218 s, deltaX: -2.100006 m, approachRate: -0.489259 m/s, rangeRepo size: 4 oy}FNOT Ignoring new targets: 387.18 m.oDo ProNav pure pursuit: ac range: 387.175598 m, nav range: 371.985443 m, bearing: 331.713624 deg, approach rate: -0.595258 m/s, LOS rate: nan deg/s, cmd heading: 331.714940 deg, new cmd heading: 331.713624 deg. HeadingCmd: 5.789495 target range: 387.175598 and range: 369.90 m.RoC@ nManaging dock network, ignoring radio surface power offJoboZoBo:n2nmmlkkk`fw@k}?-*DAT read: user:191> 5BDAT read: Tx time:03:55:50.2197 5$Ping request sent.5pp rF٦rEyz ~> 4YS8?%4y~dBI?Cue<e< 4)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 387.18 m.oK<o  ProNav pure pursuit: ac range: 387.175598 m, nav range: 371.767303 m, bearing: 331.712672 deg, approach rate: -0.589153 m/s, LOS rate: nan deg/s, cmd heading: 331.713629 deg, new cmd heading: 331.712672 deg. HeadingCmd: 5.789478 target range: 387.175598 and range: 369.90 m.RohC@JoboYZoYBoa:na2namamilikikikiku ?ɞ%I ލvď,|}ۑ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7546941UjIBUHiYIYMb@Mb@Mb@ )IibX9?{Gz?{GztE?ף<ף)I$AiA INI٥; #=9Q >    F٦ Ey  > 4Y8?E4ydBE]?E:MM?BC(;V;)4U9B)UAQoFNOT Ignoring new targets: 387.18 m.oHo ProNav pure pursuit: ac range: 387.175598 m, nav range: 371.473755 m, bearing: 331.710628 deg, approach rate: -0.597176 m/s, LOS rate: nan deg/s, cmd heading: 331.712672 deg, new cmd heading: 331.710628 deg. HeadingCmd: 5.789443 target range: 387.175598 and range: 369.90 m.RoC@JoboZoBo:n2nmml k k k k ?YɞLIBk 靍E >HE>HAHE1HIEIBIAIAIA&IE<*IE}E2I:IBIJI< =RI< =Fq"Fq*Fq2Fu?1:FyZI4ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008206jK ) OrK 9zK K K zwG B=Թ G 2B ) G vA:B )  OE >-}ď,NG?AI22vA:*Bjiv@Yj3q@jo9j(=vAHRS rotation from veh to nav: [[0.883217,0.466781,-0.045195],[-0.468963,0.879292,-0.083182],[0.000912,0.094662,0.995509]]yjHPC?? #@޿(#?gKWM?`;?5?ɫjiv@jĉ;jC~dIB~HI 0I V٥֋ n=9uQ ?!! %F٦%Ey-_h -? 1=4Y58?=4y5$19=$=?5\C5:5f;5/4I)MAIԡoFNOT Ignoring new targets: 387.18 m.oo- ProNav pure pursuit: ac range: 387.175598 m, nav range: 371.274658 m, bearing: 331.709388 deg, approach rate: -0.573979 m/s, LOS rate: nan deg/s, cmd heading: 331.710623 deg, new cmd heading: 331.709388 deg. -HeadingCmd: 5.789421 target range: 387.175598 and range: 369.90 m.Ro-B@Jo1bo1Zo1Bo1:n12n1m9mYlYkYkakakm`>?ɞXIB B)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749 ď,?A:p@Y:k@:ԕ89:=FAHRS rotation from veh to nav: [[0.882892,0.467543,-0.043651],[-0.469576,0.879055,-0.082224],[-0.000071,0.093092,0.995658]]y:H@?9?@qY ޿7!?@ Է? m?ɫ:p@:]f;:CV]IBVHI%"I%Ĵ٥} }F=9;Q > F٦EyZۺ > 4Y:8?4ydB?{C:_;64B)KAEoFNOT Ignoring new targets: 387.18 m.oo ProNav pure pursuit: ac range: 387.175598 m, nav range: 371.030579 m, bearing: 331.707891 deg, approach rate: -0.609950 m/s, LOS rate: nan deg/s, cmd heading: 331.709394 deg, new cmd heading: 331.707891 deg.  HeadingCmd: 5.789395 target range: 387.175598 and range: 369.90 m.Ro B@Jo bo Zo Bo :n 2n!m)m)l)k)k)k1k5!?ɞeIBA( I ZɝiI遻I!iA!=i>1=)B@)Fm6"Fi*Fi2Fm.2:FiGqFqGM31=ԁGa2B:B Of>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762685ԉ Hi Hi Hi Ii Ii Ii Ii &Im <*Im RESď,s@Y>n@>&:9>=JAHRS rotation from veh to nav: [[0.883070,0.467382,-0.041737],[-0.469238,0.879241,-0.082167],[-0.001706,0.092144,0.995744]]y>HB??^`޿"?[ ?#?ɫ>s@>W;>C[IBH%8>%Y>-Mb@Mb@Mb@) )))I)i)-I +?~jt?y&1|-9?-<-`)-ݠAI-ҏAi-^A) )-חA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014652IUdIU@٥û 2=9j;Q > F٦Ey [: > 4Y88?4ydB P? :  ?C;;>4ӏB)AEoIUFNOT Ignoring new targets: 387.18 m.oUoQe ProNav pure pursuit: ac range: 387.175598 m, nav range: 370.766724 m, bearing: 331.706294 deg, approach rate: -0.576843 m/s, LOS rate: nan deg/s, cmd heading: 331.707891 deg, new cmd heading: 331.706294 deg. mHeadingCmd: 5.789367 target range: 387.175598 and range: 369.90 m.RomB@JoiboiZoiBoq:nq2nqmqmylykykykyk i@ɞtIBw&; 靵0μI HɝiI5cIiK!=i#3=)B@)EjKmJ!OrKizKiKm KmGX4{~}cwK5Gy}iX= FM6"FI*FI2FM0:FIGUFUGU GU Jkc44Jk14= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268125Jk.-J J J J J -;J W:J J J -+ď,D?A~QIB~HI LI ٥ %o=9%Q %?)) -F٦-Ey- -? AM4YEF9?M4yENEdBIIM?ECE:E:ED4Y)]AYuB*** querying acoustic contact ***:pqBpqoFNOT Ignoring new targets: 387.18 m.oo ProNav pure pursuit: ac range: 387.175598 m, nav range: 370.568024 m, bearing: 331.705089 deg, approach rate: -0.581404 m/s, LOS rate: nan deg/s, cmd heading: 331.706307 deg, new cmd heading: 331.705089 deg. HeadingCmd: 5.789346 target range: 387.175598 and range: 369.90 m.RoRB@JoboZoBo:n2nmmlkkkk(@ɞIB5HY checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518622Թԩ *[ď,^?APchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773763]Gu@Y]p@]ml;9]>u=mAHRS rotation from veh to nav: [[0.883147,0.467394,-0.039932],[-0.469083,0.879261,-0.082839],[-0.003608,0.091890,0.995763]]y]H@B? ?qs޿"?`4 m?I?ɫ]Gu@]߉;]C}IIB}HeMb@Mb@Mb@a a)aIaiaeʡE?Mbp?Mbe-?e;e)e/AIe$Aie Aa aeAI}^I}٥ 5=9;Q > F٦Ey9 > 4Y9?4yqdB1?:?ץC::L4ߏB)AEoFNOT Ignoring new targets: 387.18 m.owoE ProNav pure pursuit: ac range: 387.175598 m, nav range: 370.309906 m, bearing: 331.704536 deg, approach rate: -0.570865 m/s, LOS rate: nan deg/s, cmd heading: 331.705077 deg, new cmd heading: 331.704536 deg. MHeadingCmd: 5.789336 target range: 387.175598 and range: 369.90 m.RoM>B@JoIboIZoQBoQ:nQ2nQmYmYlYkYkYkake@ɞIBk 靕HI =H!ɝ9iAIEyIEiM^!=iMC3=)M>B@)IJHBH@AH>HH%HIIBI= =II&I<*IOEF"F*F2F0:FG2B:B1 O=s>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976 jK KOrK zK K K }shYHCH>-"&8RwfWLIHJID?;7/-*,,/-,*-21:k=os<<ď,x?A2 w@Y2q@21;92=:AHRS rotation from veh to nav: [[0.883246,0.467228,-0.039684],[-0.468891,0.879287,-0.083643],[-0.004187,0.092485,0.995705]]y2HC?@?vQP޿#?i 4&q`?`?ɫ2 w@2(;2CRGIBRHIjdIj@٥-ֻ -d=95:Q 5>11 5F٦5 Ey=E: => AM4YE#9?M4yEEdBQUU?ECE:E:ER4)Ao)5FNOT Ignoring new targets: 387.18 m.o=o9M ProNav pure pursuit: ac range: 387.175598 m, nav range: 370.106384 m, bearing: 331.704091 deg, approach rate: -0.540209 m/s, LOS rate: nan deg/s, cmd heading: 331.704531 deg, new cmd heading: 331.704091 deg. UHeadingCmd: 5.789329 target range: 387.175598 and range: 369.90 m.RoU.B@JoQboQZoQBoQ:nY2nYmYmYlakakakake` @ɞIB 靕(I N"ɝiI"uIig!=i4=).B@)JJJ8JJE ;JwR:J'4JJ|P<J|P<Jզ;Jզ;)MBDAT read: Rx Time:03:55:53.1136 UTRx dataTimestamp_ set to:1761364554.025219]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284069EEEsAYFI"FQ*FQ2FU_3:FQG]rAG]tAG) 2B1 :BI  OU >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530894hď,}?ARz@YRt@R;9Rz=bAHRS rotation from veh to nav: [[0.883420,0.466921,-0.039418],[-0.468558,0.879409,-0.084222],[-0.004660,0.092873,0.995667]]yRHD?`?`.ݿ$? sƷ?@?ɫRz@R;RC-=IB5HIEcIE#٥Ui mH=9u~:Q u>qy }F٦} Ey}n: }> 4Yc59?4ydBr?CK:Y;2Z4B)7AoFNOT Ignoring new targets: 387.18 m.oŷo ProNav pure pursuit: ac range: 387.175598 m, nav range: 369.870941 m, bearing: 331.703563 deg, approach rate: -0.601019 m/s, LOS rate: nan deg/s, cmd heading: 331.704094 deg, new cmd heading: 331.703563 deg. HeadingCmd: 5.789320 target range: 387.175598 and range: 369.90 m.RoB@JoboZoBo:n2nmmlkkkk @ɞ5IB5-& 9=FܽI9 =5#ɝ9i9I=:AqIEiEEq!=iM_5=)MB@)IEM ԉF"F*F2F0:F=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782772ԱG5 &t@=G! 2B) :BA  OM > H >H H HI IBI I I &I <*I \E0ď,?A>u@Y>p@>C;9>=FAHRS rotation from veh to nav: [[0.883166,0.467466,-0.038645],[-0.469030,0.879167,-0.084123],[-0.005349,0.092420,0.995706]]y>H B??`Wɣ`޿ ""?@@muר?@?ɫ>u@>[ ;>CR,IBRmH5Mb@Mb@Mb@1 1)1I1i15&1?~jthQ5?5D5u)1I1i5^A1 15AIMmIMF٥]'$ eH=9e:Q e>ii mF٦mEym u>ԙ 4YF9?4ydB?:h?.C';;a4)XAo1=FNOT Ignoring new targets: 387.18 m.o=roAM ProNav pure pursuit: ac range: 387.175598 m, nav range: 369.634247 m, bearing: 331.703458 deg, approach rate: -0.560307 m/s, LOS rate: nan deg/s, cmd heading: 331.703574 deg, new cmd heading: 331.703458 deg. DAT read: 03:55:53.1136 LVL= 22160, 25585, 21746, 32755, AGC= 68, IDX= 404, 0.26,-1.919, 3.061,-1.888,-2.327, PHS= 0.496,-0.849, 0.436, RAW= 147.7, -1.3, CAL= 151.6, -10.3, ROT= 358.4, 10.3 Ygot valid direction response: 03:55:53.1136 LVL= 22160, 25585, 21746, 32755, AGC= 68, IDX= 404, 0.26,-1.919, 3.061,-1.888,-2.327, PHS= 0.496,-0.849, 0.436, RAW= 147.7, -1.3, CAL= 151.6, -10.3, ROT= 358.4, 10.3 PDAT read: Bearing 358.4, 10.3 (Local) ~Local bearing/azimuth received: Bearing 358.4, 10.3 (Local) DAT read: Range 10 to 50 : 367.3 m (Round-trip 489.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.983501,-0.027472,-0.178802]Fpublishing direction and range infoyy}a@}x?!ƿ}CYy }V)}cI}Ti}}D}>}XY}d;> }$@)}޹I}V)@i}X8}+@}X8> y)y}0P?`i*|?òӖi}>}բ<}}X8> y)yT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 5.789318 target range: 387.175598 and range: 369.90 m.RoB@JoboZoBo:n2nm!m!l!k)kIkMv@kU@y?ɞIB4 靥VI %ɝiIakI=i/|!=i3=)B@)jK!OrK9zKKKpE%z|wtqoidcb^ZUQO[fULHD@=:530272,.E8F "F *F 2F 5:F J C=J a=J J J 9J J } ;J X:J c44J J "O<J #O<J 5;J 5;= *DAT read: user:192> M BDAT read: Tx time:03:55:54.4697 U $Ping request sent.U ď,g˒?AF!q@YFk@Ft;9F!=NAHRS rotation from veh to nav: [[0.882904,0.467945,-0.038841],[-0.469527,0.878944,-0.083681],[-0.005019,0.092119,0.995735]]yFH@? ?⣿@ ޿`N ?@l@t?`?ɫF!q@F`;FCZ IBZ_H `bAIf`If̍٥nμ n0=9n`:Q n>pp rF٦rEyr v> xz4YzY9?~4yzzdB|~~?zOCz:z:zfi4B) A EJpIRpM۾?ApMCpMCpM/@vM_A;v@"#$%^PvMa@}x?!ƿpMpMX8>vM xs@2QeȷPvM~=?G$޿YʫǿjpMz,rpMCZpMcoMQ?bpMYzpM=pMU۳?pM=c&pM7pMۯCpM[@e addTargetRange:: Added new target pos. range: 367.299988 m, deltaT: 4.287915 s, deltaX: -2.600006 m, approachRate: -0.606357 m/s, rangeRepo size: 4 u Added new target pos. range: 366.224457 m, bearing: 331.361404 deg, lat: 36.779358 deg, lon: -121.859867 deg, deltaT: 36.568296 s, deltaX: -20.951141 m, approachRate: -0.572932 m/s, posRepo size: 2 oquFNOT Ignoring new targets: 366.22 m.o}oy-ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 331.361404 deg.HeadingCmd: 5.783348 target range: 366.224457 and range: 367.30 m.Ro/@JoboZoBo:n2nmmlkkkk?ɞIB5 *I (ɝiI${eIi!=iӈH=)/@) EEEE=JDAT read: TxSync time:03:55:54.4689 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249638F6"F*F2Fh2:F  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502285G 3=I G 2B :B  O >Aď,k?AF>`@YF[@FO;9F༻=NAHRS rotation from veh to nav: [[0.881941,0.469628,-0.040374],[-0.471350,0.878106,-0.082216],[-0.003159,0.091540,0.995796]]yFH8?`b?`ګ*޿q?! mi@+o?@?ɫF>`@FA;FCVIBVVHEMb@Mb@Mb@A A)AIAiAEgfffff?~jt/$E3?EE)AIAiEAA AE\AIeEIe٥}T }6=9}Q }> F٦Eyn > 4Yl9?4yBdB`?:7?pC:f:@q4)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 366.22 m.o=o= ProNav: ac range: 366.224457 m, nav range: 351.455872 m, bearing: 330.087333 deg, approach rate: -0.579229 m/s, LOS rate: -0.000162 deg/s, cmd heading: 331.361409 deg, new cmd heading: 331.361193 deg. zoHeadingCmd: 5.783344 target range: 366.224457 and range: 367.30 m.ZHM<RHMp<HU>HQHUHIUIBIQIQIQ&IUݕ<*IU EiRo'@JoboZoBo:n2nmmlkkkk?ɞMIBM ٹ IUCIQ U7+ɝYiYI}A_I-iʡ!=i37>=)'@)F6"F*F2F5:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751989ԑGK@=G2B:B Oe>jK=NrK= 9zK9K=K=?iyugK7.)##!2JI>7Wojie]UQ^r{vk`SNUe{+)Թ )#ď,y?AB+]@YBW@B:9B,=JAHRS rotation from veh to nav: [[0.881767,0.469848,-0.041583],[-0.471682,0.878042,-0.080981],[-0.001538,0.091021,0.995848]]yBHo7??`NJ 0޿?`31Y M?@?ɫB+]@BA;BC JLJN@Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003814~HB~'HI-7I-"٥M UN=9bQ > F٦Eym > 4YA~9?4y_dBQ?C;;zx4%B)%0A!oimFNOT Ignoring new targets: 366.22 m.o2o2 ProNav: ac range: 366.224457 m, nav range: 351.217957 m, bearing: 330.087282 deg, approach rate: -0.566794 m/s, LOS rate: -0.000122 deg/s, cmd heading: 331.361191 deg, new cmd heading: 331.361037 deg. zo֫HeadingCmd: 5.783341 target range: 366.224457 and range: 367.30 m.Ro!@JoboZoBo:n2nm m lkkkk`Q?ɞeIBe߇ ixI K.ɝiIXIiа!=i/==)!@)F"F*F2F2:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2552731 G BJ=G sAG G 2B :B  O >Q yNƤď,s?A>1X@Y>R@>K99>A=FAHRS rotation from veh to nav: [[0.881481,0.470249,-0.043086],[-0.472218,0.877747,-0.081053],[-0.000296,0.091793,0.995778]]y>H5?`?n8޿@?鿴wi3?i?ɫ>1X@>D&;>CRHBV/HIZ%IZ´٥b< fS=9f[Q f>hh jF٦jEyj0׺ n> lr4Ynҍ9?v4yn) ndBtvwv?nCn:n:n~4|)~"A|o)5FNOT Ignoring new targets: 366.22 m.o5bo=bE ProNav: ac range: 366.224457 m, nav range: 351.004974 m, bearing: 330.087256 deg, approach rate: -0.585753 m/s, LOS rate: -0.000071 deg/s, cmd heading: 331.361027 deg, new cmd heading: 331.360949 deg. zoMHMHeadingCmd: 5.783340 target range: 366.224457 and range: 367.30 m.RoM@JoQboQZoQBoQ:nY2nYmYmYlakakakake ?ɞIBT >I (1ɝiI[_SIi'!=iU;=)]@)i9JJJ8JJ;J^:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509402J'4J!%@!%@!%@!%@F6"F*F2F5:FGe==G92BAY:Ba OmV>HU>HQHUHIUpIBIQIQIQ&IU8<*IUE2I:IBIJI= =RI= =ZIq4ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758847z̤ď,W4?Ai0I2C\)d r`wA)|I--`wA-_Bg@BY@YS@p:9Wܻ=AHRS rotation from veh to nav: [[0.881534,0.470209,-0.042441],[-0.472119,0.877789,-0.081180],[-0.000918,0.091600,0.995795]]yH5??@ĺ27޿?;ȴ`uNs?`?ɫY@"+;髍CHBHjK-կNrK-9zK)K-K- ug\YVTQWi~~z~`Gyrmd_\WWgMb@Mb@Mb@ )Iix?)) -F٦-Ey5t9 5> 9E4Y=Q9?E4y==vdBE?E:MZ M?=ΦC= ;= ;=\4UB)UAUEoy}FNOT Ignoring new targets: 366.22 m.o98o98 ProNav: ac range: 366.224457 m, nav range: 350.720062 m, bearing: 330.088474 deg, approach rate: -0.593652 m/s, LOS rate: 0.002540 deg/s, cmd heading: 331.360945 deg, new cmd heading: 331.364602 deg. zo'8HeadingCmd: 5.783403 target range: 366.224457 and range: 367.30 m.Ro@JoboZoBoԡ:n2nmmlkkkkXK@ɞE JBE IM甾II Uݭ5ɝQiYI]KIki%!=i%T<=)%@)!JJF6"F*F2F0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013383 G ==G 2B :B  O >R^Ӥď, N?A6P@Y6|K@6tm:963=BAHRS rotation from veh to nav: [[0.881049,0.471188,-0.041659],[-0.473025,0.877455,-0.079503],[-0.000907,0.089752,0.995964]]y6H 1?'?GT@ F޿ ?RZ@M?`?ɫ6P@6;6CFHBFHINaIN錴٥Vg; V}=9ZSQ Z ?XX ^F٦^Ey^P ^ ? `f4Yb 9?f4ybbldBhj j?bCb:b:b4pv,B)vAvşEoFNOT Ignoring new targets: 366.22 m.o@8o@8- ProNav: ac range: 366.224457 m, nav range: 350.529175 m, bearing: 330.089326 deg, approach rate: -0.589239 m/s, LOS rate: 0.002632 deg/s, cmd heading: 331.364606 deg, new cmd heading: 331.367164 deg. zo-185HeadingCmd: 5.783448 target range: 366.224457 and range: 367.30 m.Ro5@Jo1bo1Zo1Bo1:n12nmmlkkkk@ɞmJBmb checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267617 靕I 9ɝiI`kEIi!=i%8=)@)F"F*F2F1:F1Gl;=G J J J 9J J J mQ:J c44J E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521089i 2B :B  OE >d٤ď,Sh?A6C@Y6>@6Z{:963=BAHRS rotation from veh to nav: [[0.880312,0.472614,-0.041078],[-0.474395,0.876828,-0.078239],[-0.000959,0.088362,0.996088]]y6H@+?`O??`%|\޿?} QkO@垶??ɫ6C@6;4FHBFH%Mb@Mb@Mb@! !)!I!i!%Cl?:vS㥛%d?%T%/ݼ)%/AI!i%A! !%A1IEdIE@٥U$8 U@=9]*8Q ]>Ya eF٦e!Eye$o e> iu4Ymb9?u4ymhm^dB}?}:}T}?mCmm ;m;mq4)B)AJHBHAAH>HHHI\IBIII&I*<*IE]B*** querying acoustic contact ***:paBpaoquFNOT Ignoring new targets: 366.22 m.ou8o}8 ProNav: ac range: 366.224457 m, nav range: 350.270050 m, bearing: 330.091593 deg, approach rate: -0.576883 m/s, LOS rate: 0.005052 deg/s, cmd heading: 331.367174 deg, new cmd heading: 331.373981 deg. zo]9HeadingCmd: 5.783567 target range: 366.224457 and range: 367.30 m.Ro@JoboZoBo:n2nmmlkkkk@y@ɞ*JB 嬾I =ɝiI\=I%i%w!=iMX2=)M@)IFa"Fa*Fa2Fe0:Fachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773155IjK OrK9zKKK{smhfcH=3/00/)(''($$"&3?EJLHFED<4/,)(#  *PwG п8=GY 2Bq :B  O >q @pď,ց?A29@Y2z4@2R:92=JAHRS rotation from veh to nav: [[0.879717,0.473746,-0.040783],[-0.475497,0.876274,-0.077753],[-0.001099,0.087793,0.996138]]y2H@&?@Q?`t᤿n޿p ? 糿Q y? ]?ɫ29@2͈;2CRHBRHI^UI^٥f96 fT=9j9Q j>hh nF٦n#EynT n> pv4Yr9?v4yrrRdBxzz?r&Cr:r:r04checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027077 6B) AA ƟEo15FNOT Ignoring new targets: 366.22 m.o=8o=8M ProNav: ac range: 366.224457 m, nav range: 350.035370 m, bearing: 330.093699 deg, approach rate: -0.646646 m/s, LOS rate: 0.005806 deg/s, cmd heading: 331.373977 deg, new cmd heading: 331.380299 deg. zoM9UHeadingCmd: 5.783677 target range: 366.224457 and range: 367.30 m.RoU@JoQboQZoQBoQ:nY2nYmYmalakakakakm`_` @ɞM8JBM IUQIQ u#UBɝqiqI}.5I}i!=i?7.=)@)FM5"FI*FI2FM0:FIԁG[1=BDAT read: Rx Time:03:55:57.3601 TRx dataTimestamp_ set to:1761364558.317543checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284472 Gi 2Bq :B  O >9 dď,?A2&-@Y2'@2&:92=:AHRS rotation from veh to nav: [[0.878988,0.475105,-0.040688],[-0.476843,0.875584,-0.077283],[-0.001092,0.087333,0.996179]]y2H ?` h?@դ@޿@?`ȳ`Q`r[??ɫ2&-@2;2CFHBFHIN^IN٥Vч VL=9Z+Q Z>X   F٦ &Eys > %4Y9?%4ybDdB)--?FC':v:b41)5NA9oYeFNOT Ignoring new targets: 366.22 m.oeb8oeb8} ProNav: ac range: 366.224457 m, nav range: 349.784973 m, bearing: 330.096013 deg, approach rate: -0.609745 m/s, LOS rate: 0.005639 deg/s, cmd heading: 331.380288 deg, new cmd heading: 331.387235 deg. zo}w9HeadingCmd: 5.783798 target range: 366.224457 and range: 367.30 m.Ro@JoboZoBo:n2nmmlkkkk @ɞHJB< I -GɝiIÁ-Ii!=i (=) @)JJJ8JF6"F*F2F0J ;J`:J'4J-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533867:F9H>HCHHI=IBI< =IID&IZ<*IEG.=a G 2B :B  O >ď,B?ABDAT read: 03:55:57.3601 LVL= 30704, 32753, 30418, 32755, AGC= 69, IDX= 399, 0.08,-2.024, 2.715,-2.013,-2.740, PHS= 0.804,-0.781, 0.724, RAW= 147.4, -9.7, CAL= 154.0, -18.1, ROT= 356.0, 18.1 FYgot valid direction response: 03:55:57.3601 LVL= 30704, 32753, 30418, 32755, AGC= 69, IDX= 399, 0.08,-2.024, 2.715,-2.013,-2.740, PHS= 0.804,-0.781, 0.724, RAW= 147.4, -9.7, CAL= 154.0, -18.1, ROT= 356.0, 18.1 J8DAT read: $Error in header J*Received a bad header~X#Rx 1: Read direction message, but no range.`direction in FSK: [0.948200,-0.066305,-0.310676]y8W?U\ӿY w)IviEM?GX9? $@)-\-I,@i?@?> N?X䢮n? ſir#>2->)?>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse=HB=HjKNrK9zKKKjI@4-)$8\`QBMp{se]fje\UQIFDA?>Pcgjkd\WWbsp^J:3@XbpxMb@Mb@Mb@ )IiZd;?X9v~jt?}ļ)AIҏAi I]It٥- M(=9MQ U>QQ UF٦U)Ey] ]> ai4Ye9?4ye e5dB?:?elCeC^ď,TГ?AI)<:@Y: @:̤89:=BAHRS rotation from veh to nav: [[0.877341,0.478062,-0.041589],[-0.479868,0.874023,-0.076229],[-0.000092,0.086836,0.996223]]y:H@-??*K&޿?4:?@?ɫ:@:T;8jHBnHI~MI~٥ j=9=Q ?! %F٦%+Ey-" -? 9E4Y=:?E4y=#=+dBIMU?=C=M;=N;=Ͱ4a)mAioFNOT Ignoring new targets: 366.22 m.oW9oW9 ProNav: ac range: 366.224457 m, nav range: 349.271545 m, bearing: 330.102119 deg, approach rate: -0.639907 m/s, LOS rate: 0.007832 deg/s, cmd heading: 331.397637 deg, new cmd heading: 331.405569 deg. zo9HeadingCmd: 5.784118 target range: 366.224457 and range: 367.30 m.Ro@JoboZoBo:n2nmmlkkkk +@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseɞ-kJB5z: 5_V<5۾I1 5 Sɝ1i9aILIiD!=i=)@)F"F*F2F0:FԉJm Ji Ji Ji Jm -;Ji Ji Ji  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse G t'=G 2B :B  O >[ď,?A>@Y>U@>99>#=FAHRS rotation from veh to nav: [[0.876496,0.479556,-0.042191],[-0.481408,0.873182,-0.076154],[0.000321,0.087060,0.996203]]y>HB ?` ?e޿ ?~55?I?@?ɫ>@>7;>CNHBNH`ZH9RH=<HE>HAHEiHIE)IBIE; =IAIA&IE<*IE\E=Mb@Mb@Mb@9 9)9I9i9=RQ?㥛 {Gz="?==ף)=/AI=$Ai9=A 9=\AI}YI}٥8; D=9ぺQ > F٦.Ey\ > 4Y:?4y' dB#?:?Cs:{:4=NB)=ίA=ǟEeB*** querying acoustic contact ***:paBpaoqFNOT Ignoring new targets: 366.22 m.o +9o +9 ProNav: ac range: 366.224457 m, nav range: 349.007263 m, bearing: 330.106110 deg, approach rate: -0.618443 m/s, LOS rate: 0.009347 deg/s, cmd heading: 331.405560 deg, new cmd heading: 331.417542 deg. zoC9HeadingCmd: 5.784328 target range: 366.224457 and range: 367.30 m.Ro6@JoboZoBo:n2nm!m!l!k!k!k)k-@K@ɞ|JBC`2 I &YɝiI-IQjio!=i=)6@)-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseFy"Fy*Fy2F}j3:FG= G=GUy=G2B!:B1 O=>jKmNrK9zKKK];-261(.7=[k]]xzrqqjea_]\zbxT+z{T:1A Hď,?A2q@Y2;@27,]92Aq=FT****** received valid address query ******FR****** received valid ping request ******Jreceived new query, but waiting for acoustic response period to elapseNAHRS rotation from veh to nav: [[0.875784,0.480744,-0.043445],[-0.482703,0.872385,-0.077083],[0.000844,0.088479,0.996078]]y2Hl??o>޿?K??@?ɫ2q@2zP;2CVHBVHIbOIbݜ٥j jW=9n糺Q n>ll rF٦r0Eyr~ r> tz4Yv+:?z4yv+vdB|~p~?vɧCv;v;v4PB)ܯAo15FNOT Ignoring new targets: 366.22 m.o=;9o=;9M ProNav: ac range: 366.224457 m, nav range: 348.764893 m, bearing: 330.109833 deg, approach rate: -0.666655 m/s, LOS rate: 0.010247 deg/s, cmd heading: 331.417553 deg, new cmd heading: 331.428730 deg. zoM 9UHeadingCmd: 5.784523 target range: 366.224457 and range: 367.30 m.RoU@JoQboQZoBo:n2nm m l9k9k9kAkE^n@ɞJBA lI ^ɝiI])IPi!=i@W=)@)IF"F*F2F0:FqET****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseG=G 2B :B  O >ԙ Wď,?A6@Y6@6F˺96@=BAHRS rotation from veh to nav: [[0.875112,0.481855,-0.044668],[-0.483919,0.871667,-0.077584],[0.001551,0.089511,0.995985]]y6H?`? ަ޿@?`ܳhY?)?@?ɫ6@6#;4NHBNHIVJIVK٥^< ^L=9b:Q b>`d fF٦f3Eyf]c f> hE4YjC=:?E4yj/j dBIMM?jCj/yHAHE]HIEIBIAIAIA&IE'<*IEEE 9F "F *F 2F 0:F   T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse1G]=jK%_OrK%]9zK!K%K%(  xwlXLLouh[PE?9,#  BK5 ?:K5>G2B:B O? ď,??A6ر@Y6Ҹ@6SL96`=>AHRS rotation from veh to nav: [[0.873981,0.483648,-0.047349],[-0.485950,0.870430,-0.078768],[0.003118,0.091851,0.995768]]y6H??>߿?**ni??T?ɫ6ر@6Uw;4FHBFHqMb@Mb@Mb@ )IiS㥛?p= ףMb`$?)AIi AIlI)٥< =96Q > F٦6Ey > 4Y kV:?4y 5 dB%?:z? C : : σ4%nB)-,A-ҟEoIUFNOT Ignoring new targets: 366.22 m.oUO+9oUO+9m ProNav: ac range: 366.224457 m, nav range: 348.147919 m, bearing: 330.118929 deg, approach rate: -0.661401 m/s, LOS rate: 0.009361 deg/s, cmd heading: 331.440667 deg, new cmd heading: 331.456046 deg. zom9mHeadingCmd: 5.784999 target range: 366.224457 and range: 367.30 m.Rou@JoqboqZoqBoq:nq2nqmymlkkkk /@UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseɞJBc/ 靥|I CmɝiIWI?i!=in=)@)ԙE<F55"F1*F12F51:F1G] l = T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse G1 2B9 :BI  O] >Hď,"X?A6ر@Y6Ӹ@6OC96=BAHRS rotation from veh to nav: [[0.874028,0.483372,-0.049262],[-0.485858,0.870360,-0.080098],[0.004158,0.093942,0.995569]]y6H ??@8@J߿? Efq? ??ɫ6ر@6b;6CFHBFHIZLIZ٥fR< fa=9fb;Q f>hl %F٦%9Ey=9 => AM4YEKg:?M4yE8EdBQUqU?E7CE5;E>;Eփ4i)m#AioFNOT Ignoring new targets: 366.22 m.oJ&9oJ&9 ProNav: ac range: 366.224457 m, nav range: 347.904968 m, bearing: 330.122365 deg, approach rate: -0.642035 m/s, LOS rate: 0.009086 deg/s, cmd heading: 331.456048 deg, new cmd heading: 331.466363 deg. zo9HeadingCmd: 5.785180 target range: 366.224457 and range: 367.30 m.Ro1 @JoboZoBo:n2nmmlkkkk@ɞJB~R  I  Esɝ i I IԺIiG!=i7=)1 @) E!E!E!E! }T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseF6"F*F2F0:F1JH BH ?AH >H H iHI )IBI I I &I <*I ZE2IuɊC:IuɊCBIqJIu; =RIu; =ZIuɫ5a G r=Gq 2B :B  O >C@ď,obs?AI)>ֱ@Y>Ѹ@>>簻9>B=JAHRS rotation from veh to nav: [[0.873895,0.483451,-0.050816],[-0.486084,0.870215,-0.080302],[0.005399,0.094876,0.995474]]y>H@?@?`߿?@v?@I?@?ɫ>ֱ@>/;>CNHBRH}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse) )Iy鿙AMb@Mb@Mb@ )IiMbX9?Mby&1|?!?`;)/AIi^A AInId٥_< (=9%%Q %>!! %F٦- 1=4Y5A|:?]4y5?=5dBe"?e:ee?5^C5;5;5tރ4m{B)mFAqB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 366.22 m.o#9o#9 ProNav: ac range: 366.224457 m, nav range: 347.602875 m, bearing: 330.126740 deg, approach rate: -0.617148 m/s, LOS rate: 0.008946 deg/s, cmd heading: 331.466376 deg, new cmd heading: 331.479513 deg. zo%v9%HeadingCmd: 5.785409 target range: 366.224457 and range: 367.30 m.Ro-"@Jo)bo)Zo)Bo):n)2n)m1m1lQkYkYkYk]`B@ɞJBv@ 靭I z{ɝiIt쾺IiH!=i!-=) "@) jK53NrK59zK1K5K5 1=9/+! :d.xLQ|g,r]PD<:;BQ\\UF"F*F2F0:FG= G=AJeJeJe8JaJe} ;Je`:Je'4JaJa!uJa!uJe_;!uJe_;!u= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseG =G ?G +?Gi q 2By :B  O >#ď,?ARԱ@YRθ@R9R:=ZAHRS rotation from veh to nav: [[0.873730,0.483496,-0.053180],[-0.486357,0.870033,-0.080616],[0.007291,0.096301,0.995326]]yRH? ?@j:y ߿O?`@ }?`0??ɫRԱ@Rr;RCbHBbHIj\IjW٥v t= vt=9zϻQ z?xx zF٦z>Ey~\} ~?  4YŠ:? 4yh@ dB?yCy::;4)%A!oAMFNOT Ignoring new targets: 366.22 m.oM09oM09e ProNav: ac range: 366.224457 m, nav range: 347.393738 m, bearing: 330.129785 deg, approach rate: -0.660557 m/s, LOS rate: 0.009622 deg/s, cmd heading: 331.479517 deg, new cmd heading: 331.488656 deg. zoeN9mHeadingCmd: 5.785569 target range: 366.224457 and range: 367.30 m.Roma#@JoiboqZoqBoq:nq2nqmymylykkkk@$@ɞJB$Ad 靵I FɝiIVxIix!=ip<)a#@)YFu5"Fq*Fq2Fu1:FqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁG2g=Gi2By:B O>Ա u T****** received valid address query ******u R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapsee)ď,Yk?A~ұ@Y~X͸@~M"9~b=AHRS rotation from veh to nav: [[0.873623,0.483459,-0.055237],[-0.486513,0.870008,-0.079942],[0.009407,0.096713,0.995268]]y~H?`?G #߿`?`w7D?`*¸? F٦AEy5ӹ > 4YϞ:?4yDdBD?:?C:/:e4BH>HCHHI=IBI< =II&I+<*IE)UJAUӟEoyFNOT Ignoring new targets: 366.22 m.o9o9 ProNav: ac range: 366.224457 m, nav range: 347.107483 m, bearing: 330.133195 deg, approach rate: -0.591746 m/s, LOS rate: 0.007055 deg/s, cmd heading: 331.488669 deg, new cmd heading: 331.498908 deg. zo9HeadingCmd: 5.785748 target range: 366.224457 and range: 367.30 m.Ro$@JoboZoBo:n2nmmlkkkk@ɞEJBEڶG AMII M|ɝIiqIu|Iu'i}y!=i}ء<)}$@)yԱF-6"F)*F)2F-0:F)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG <G 2B :B  O >jK NrK 9zK K K U_gdUFJbni`ULE>=A=85.1AT} ;VZQD2BK >:K > HA0ď,?A @Z0Ա@YZθ@Z`?9Z=jAHRS rotation from veh to nav: [[0.873699,0.482973,-0.058203],[-0.486327,0.870046,-0.080665],[0.011681,0.098782,0.995041]]yZH@W??̭߿i?n@?I?@_?ɫZ0Ա@Z;ZCnHBn6H)t vAAIzhIz٥ #}=  k=9ջQ ?!! %F٦-CEy5: 5> I]4YM:?]4yMGMdBaee?MCM%H;M:G;M4i)mAqoFNOT Ignoring new targets: 366.22 m.o? 9o? 9 ProNav: ac range: 366.224457 m, nav range: 346.891052 m, bearing: 330.135771 deg, approach rate: -0.634157 m/s, LOS rate: 0.007554 deg/s, cmd heading: 331.498915 deg, new cmd heading: 331.506649 deg. zo9HeadingCmd: 5.785882 target range: 366.224457 and range: 367.30 m.Ro%@JoboZoBo:n2nmmlkkkkL @J=J= J=9J9J=;J=Oj:J=c44J9J=M<J=M<J=o;J=o;ɞ KBļa 靽I aɝiI&NIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseii!=i;S<)%@)F5"F*F2F0:F!G Wg T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsek6ď,Nڔ?AJԱ@YJϸ@JI]c9J,=VAHRS rotation from veh to nav: [[0.873721,0.482655,-0.060464],[-0.486230,0.870138,-0.080255],[0.013877,0.099520,0.994939]]yJH ??@(`d߿+?@`mk?z??ɫJԱ@Ja";HX\IjPIj٥rȀ vL=9vFQ v>xx zF٦zFEyz#|9 z> 4Y:? 4ybK dB   ?بCl::w4B)OAԟEoAEFNOT Ignoring new targets: 366.22 m.oM9oM9e ProNav: ac range: 366.224457 m, nav range: 346.649353 m, bearing: 330.138649 deg, approach rate: -0.618893 m/s, LOS rate: 0.007374 deg/s, cmd heading: 331.506646 deg, new cmd heading: 331.515285 deg. zoe9mHeadingCmd: 5.786033 target range: 366.224457 and range: 367.30 m.Rom/'@JoiboqZoqBoq:nq2nqmymylykkkkb!@ɞKBa 靵XI ɡɝiI!vIiY!=i<)/'@)QFU6"FQ*FQ2F]0:FYT****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseԁGV<GY2Ba:Bq O>ZH <RH H H CH HI \IBI ; =I I &I '<*I Eԩ <ď,?A:۱@Y:fָ@<:>9:3\=FAHRS rotation from veh to nav: [[0.874087,0.481795,-0.062007],[-0.485507,0.870660,-0.078958],[0.015945,0.099121,0.994948]]y:H??c߿r?6`S?`?`?ɫ:۱@:Wlj;8RIBRYHEMb@Mb@Mb@A A)AIAiAEK?~jt/$?E^?EE<)EAIEvAeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseiEAEQA AEAIm`Im̍٥]~{= ]5=9]%Q e>aa eF٦eIEym-: m> 4Y:?4yO-dB?: ?C::m4B)GAoFNOT Ignoring new targets: 366.22 m.o%8o%8e ProNav: ac range: 366.224457 m, nav range: 346.374756 m, bearing: 330.139586 deg, approach rate: -0.590952 m/s, LOS rate: 0.002018 deg/s, cmd heading: 331.515280 deg, new cmd heading: 331.518093 deg. zomM8HeadingCmd: 5.786082 target range: 366.224457 and range: 367.30 m.Ro'@JoboZoBo:nԱ2nmmlkkkk- ^"@ɞ3KBM 靥jKeOrKeS9zKaKeKep]TKDFEC@<848?Ig~xomg_\XSSQUlaQIyojcIq uꎼɝqiqIu6RI}Ei5C!=i"=)'@)EtAEF1"F1*F92F=0:F9GE= GEp=J-4JsCď,){?A>v@Y>Aܸ@>W9>=FAHRS rotation from veh to nav: [[0.874404,0.480949,-0.064078],[-0.484865,0.871045,-0.078657],[0.017985,0.099847,0.994840]]y>H??jg߿?"`j? ?@?ɫ>v@>;> CN&IBNfHIVbIV٥^< bj=9bQ b?dd fF٦fKEyfF; M? Y]4Y]w:?e4y]R]8dBae e?]C]:]:]4B)IAޟEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 366.22 m.oZ8oZ8- ProNav: ac range: 366.224457 m, nav range: 346.156982 m, bearing: 330.140306 deg, approach rate: -0.559334 m/s, LOS rate: 0.001849 deg/s, cmd heading: 331.518094 deg, new cmd heading: 331.520254 deg. zo-l85HeadingCmd: 5.786120 target range: 366.224457 and range: 367.30 m.Ro5'@Jo1bo1Zo9Bo9:n92n9mamalikikikikm@0#@ɞDKBdf ~I ,%ɝiIY4I_i5!=iZ=)'@)9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseF"F*F2F:FiGU =ԑ G1 2B9 :BI  Oe > Jy J} AAE T****** received valid address query ******E R****** received valid ping request ******ߛIď,rM(?Areceived new query, but waiting for acoustic response period to elapseqL@Y@)96=AHRS rotation from veh to nav: [[0.874886,0.479788,-0.066167],[-0.483900,0.871666,-0.077720],[0.020386,0.100014,0.994777]]yH?ش?N6޿ ?q峿`&??6?ɫL@>#;C2IBtH !!H>HHHIIBIII&IC<*IEMb@Mb@Mb@ )Ii9v?Mb`I +??9<);AI$AiAA QAIhI٥< *=9-YQ ->11 5F٦5NEy=k; => AM4YE^:?M4yEUEHdBU?U:U.U?E:CE;ER;E4]B)]cAaoFNOT Ignoring new targets: 366.22 m.o؅o؅ ProNav: ac range: 366.224457 m, nav range: 345.885986 m, bearing: 330.139913 deg, approach rate: -0.630738 m/s, LOS rate: -0.000914 deg/s, cmd heading: 331.520252 deg, new cmd heading: 331.519074 deg. zo HeadingCmd: 5.786099 target range: 366.224457 and range: 367.30 m.Ro'@JoboZoBo:n2nmmlkkkk#@ɞWKBb Y I •ɝiԙI8I i'!=i>=)'@)Fq"Fq*Fq2Fq:FyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG t0= Gq 2B :B  O >jK- OrK- 9zK) K- K- ]]`ahw|qe[OG@?<853.+($ +:IG;<fP=38\#!BK= >:K= ?Pď,B?A6@Y6@6\96=^AHRS rotation from veh to nav: [[0.875112,0.479102,-0.068117],[-0.483387,0.872050,-0.076593],[0.022705,0.099954,0.994733]]y6H?`? p`޿?@?`?@?ɫ6@6;6Cr@IBrHIeI]٥-)= -q=95^Q 5?AA EF٦EPEyM: M? Ym4Y];?u4y]X]UdBq} }?]TC]w;]rx;]4)FAoFNOT Ignoring new targets: 366.22 m.oo ProNav: ac range: 366.224457 m, nav range: 345.687592 m, bearing: 330.139607 deg, approach rate: -0.565300 m/s, LOS rate: -0.000873 deg/s, cmd heading: 331.519077 deg, new cmd heading: 331.518159 deg. JEJEJAJAJE;JE3g:JAJAJEM<JEM<JE;JE;zoQHeadingCmd: 5.786083 target range: 366.224457 and range: 367.30 m.Ro'@JoboZoBo:n2nmmlkkkk$@E F!"F!*F!2F!:F!1GE = DAT read:  2Acoustic response timeoutG9 2BI Y :Ba  Om >ԩVď,[?A R@YR@R˼9R=ZAHRS rotation from veh to nav: [[0.875492,0.478048,-0.070599],[-0.482592,0.872474,-0.076775],[0.024894,0.101286,0.994546]]yRH ?W?޿N?}?`?Q?ɫR@R;RCbRIBbHIjYIj٥v5= vN=9z>Q z>x| ~F٦~SEy ; > 4Y ;?4y  [ cdB? qC : 3; 4%B)%RA%ߟEoIUFNOT Ignoring new targets: 366.22 m.oU,oU,m ProNav: ac range: 366.224457 m, nav range: 345.459076 m, bearing: 330.139223 deg, approach rate: -0.597152 m/s, LOS rate: -0.001005 deg/s, cmd heading: 331.518148 deg, new cmd heading: 331.516994 deg. zou0uHeadingCmd: 5.786063 target range: 366.224457 and range: 367.30 m.Ro}n'@JoyboyZoyBoy:ny2nmmlkkkk`sk%@1ɞ=zKB=s AE IA Eh>ɝAiAIE(¹IM͆iM1!=iM =)Un'@)qF "F *F 2F :Fi 2Acoustic response timeoutG5G=ԑJHBHAAH>HH HIIBI< =II&I <*IpEG 2B! :BA  OU >Թ \ď,u?A~NIBHi I eBDAT read: Response Not Received e*response not receivedmTDAT read: user:194>Tx time:03:56:05.4213 -m %F٦%VEy% %> )54Y-9*;?=4y-%^-tdB=?=:==?-C-:-:-%4A)MZAIoy}FNOT Ignoring new targets: 366.22 m.oo ProNav: ac range: 366.224457 m, nav range: 345.189697 m, bearing: 330.136072 deg, approach rate: -0.566094 m/s, LOS rate: -0.006625 deg/s, cmd heading: 331.517001 deg, new cmd heading: 331.507543 deg. zoHeadingCmd: 5.785898 target range: 366.224457 and range: 367.30 m.Ro&@JoboZoBo:n2nmmlkkkk`^&@ɞKB d I ^ɝiIBRIgi!=i  =) &@) F6"F*F2Fw3:FjKNrKػ9zKKKrmh^YUQMIFEC><34G[d_XRLC?;:@KRPj  DAT read:  JDAT read: TxSync time:03:56:05.4206  2Acoustic response timeoutG =G 2B :B  O > cď,X?A:l@Y:7@:9:wm=FAHRS rotation from veh to nav: [[0.875950,0.476758,-0.073580],[-0.481542,0.873261,-0.074377],[0.028794,0.100582,0.994512]]y:H?`3?@ֲ޿`?@b E|?Ŀ? ?ɫ:l@:<^;: C\`IjIj~δ9rAQ r?pt vF٦vXEyva; v? x}4Yz8;?4yzK`zdB:?zCzJe Je Je 8Ja Je ];Je Fi:Je '4Ja !m @!u @!u @!u @iď,h?A 2Acoustic response timeout Im<)m<Hu>HqHu1HIuIBIu; =IqIq&Iu,<*IuE2I1:I1BI1JI1RI5< =ZI5߃4aIBHauMb@Mb@Mb@q q)qIqiquV-?L7A`?Mb?u ?u+=u<)u;AIqiuQAuA quQAIHI٥,< <9Q > F٦[Ey > 4Y`M;?4yfcdB ?:?ϩC ; ;s34)fAB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 366.22 m.o o% ProNav: ac range: 366.224457 m, nav range: 344.728485 m, bearing: 330.130351 deg, approach rate: -0.586654 m/s, LOS rate: -0.007485 deg/s, cmd heading: 331.500854 deg, new cmd heading: 331.490384 deg. zo%`-HeadingCmd: 5.785599 target range: 366.224457 and range: 367.30 m.Ro-#@Jo1bo1Zo1Bo1:n12n1m9m9l9k9kAkAkE (@ɞuKBu"'x quIq }ɝyiyI}1Ii =iZy=)#@)iE'>IC).Gԑ vAF6"F*F2F5:F)IvAOA 2Acoustic response timeout G d=G 2B :B  O >pď,p`Õ?AjKGNrKS9zKKKxeG=857BLgxojd]VVOKJQX^_`YOH@:5/,+,5755_UnHP=gIBEHMC=MV> IIIU+IUļ٥< u=9Q ? F٦]Ey ? 4Ym[;?4y}edB?C::H94֐B)AoFNOT Ignoring new targets: 366.22 m.o&o& ProNav: ac range: 366.224457 m, nav range: 344.544312 m, bearing: 330.128000 deg, approach rate: -0.552603 m/s, LOS rate: -0.007057 deg/s, cmd heading: 331.490391 deg, new cmd heading: 331.483335 deg. zoHeadingCmd: 5.785476 target range: 366.224457 and range: 367.30 m.Ro"@JoboZoBo:n2nmmlkkkk (@ 2Acoustic response timeoutɞ-KB- IMIQ URɝQiQIU8I]i]K =i]=)]"@)aFe6"Fa*Fi2FmL5:FiGM S=G! ) 2B1 :BA  OU >  2Acoustic response timeoutvď,;ݕ?A=dIBEHIU2IU٥m߻ mL=9iQ m>qq uF٦u`Eyy }> 4YIl;?4ygdB?Ch::H@4)AoFNOT Ignoring new targets: 366.22 m.oo ProNav: ac range: 366.224457 m, nav range: 344.323303 m, bearing: 330.125176 deg, approach rate: -0.551671 m/s, LOS rate: -0.007054 deg/s, cmd heading: 331.483342 deg, new cmd heading: 331.474864 deg. zo욹HeadingCmd: 5.785328 target range: 366.224457 and range: 367.30 m.Roh!@JoboZoBo:n2nmmlkkkk‡)@ɞKB ?I  ɝiIB89I/i~ =ikJ=)h!@))FQ"FQ*FY2F]5:FYJ)J-J-9J)J)J-\:J-c44J) 2Acoustic response timeoutYGMd=GQGUsAZH}<RHyH>HCHWHIIBI< =IID&I*IEG) 2B1 :BI  OU >ԁ 7"}ď,'?A @_IBH e2Acoustic response timeoutam@ q@ u@ i@ IUI٥qF C=9Q > F٦bEy > 4Y};?4yjdB+::? C/:>7F4B)˰AEoFNOT Ignoring new targets: 366.22 m.osos ProNav: ac range: 366.224457 m, nav range: 344.092010 m, bearing: 330.122216 deg, approach rate: -0.525793 m/s, LOS rate: -0.006733 deg/s, cmd heading: 331.474872 deg, new cmd heading: 331.465987 deg. zoޓHeadingCmd: 5.785173 target range: 366.224457 and range: 367.30 m.Ro# @JoboZoBo:n2nm m lkkkkG^*@ɞEKBM) IU$IQ U/{ɝQiQIUa9I]yi]Y =i]=)]# @)aԉF5"F*F2Fp5:FjK}NrKyzKyK}K}rg_WHJGHN\k|n_TOKGE?62.*('#! I3tfP8'Ա  2Acoustic response timeoutG- i=G 2B :B)  O= > ď, ?A:%@Y:@:9:!=JAHRS rotation from veh to nav: [[0.877361,0.473230,-0.079314],[-0.478459,0.875308,-0.070091],[0.036255,0.099444,0.994383]]y:HW?fI?M@޿?`?#u?@?ɫ:%@:.;:CnYIBrHitItIZI٥)\ X=9Q > F٦eEyU < > Թ4Y;?4ymdB :{:?A  JI JI JU JU JQ JQ JU ;JU Oj:JQ JQ 5 2Acoustic response timeouth8ď,*?AH>HHII> =II&IG<*IE) JIB Hmm qq uu ii Mb@Mb@Mb@ )IiK7A`?I +?:v ?94<T)AIvAiA^A חAIQI٥ %=9Q > F٦hEy > 4Y ;?4y7pdBT: ?:  ?]CA;1;S4B)Ա ď,D?AI<)jK~NrK~9zK|K~K~ Z_JN^fs80yponjda]WQd oe^UBK ?:K ?e/@Ye@e$ 9ew=AHRS rotation from veh to nav: [[0.876167,0.475018,-0.081790],[-0.480442,0.874322,-0.068823],[0.038819,0.099596,0.994270]]yeH@ ?f?7޿r?@[ ??@?ɫe/@e;eC=IBHIPI٥%  %k=9%,Q -?)) -F٦-jEyUڻ ]?ԑ i4Ymc;?4ymrmdB 2Acoustic response timeoutD?mvCmxxď,`?A3IBvH=;IfI{٥L¼ F=9Q > F٦mEy > 4Y#;?4yAudB   ?CC`;qa;{`4)A9oFNOT Ignoring new targets: 366.22 m.oo ProNav: ac range: 366.224457 m, nav range: 343.199127 m, bearing: 330.114407 deg, approach rate: -0.555597 m/s, LOS rate: -0.003953 deg/s, cmd heading: 331.447333 deg, new cmd heading: 331.442557 deg. zo-HeadingCmd: 5.784764 target range: 366.224457 and range: 367.30 m.Ro@JoboZoBo:n2nmmlkkkk-@ɞEELBE9 AEcDIA M-ǼɝIiIIMI:I!1i1 =i=)@)JQJUJU:JQJQJUX:JUFA4JQ =2Acoustic response timeoutFQ"FY*FY2F]O1:FYaJHyBH}?AH>HCHIIII&I%<*IEԙG5 l=G 2B :B  O > ξď,y?A2@Y2@2)92v=BAHRS rotation from veh to nav: [[0.874406,0.478057,-0.082917],[-0.483426,0.872981,-0.064842],[0.041387,0.096783,0.994445]]y2H@#?z?:r޿t?@0?Ƹ?}?ɫ2@2rى;2 CJ0IBJrHjDAT read: 03:56:08.2916 LVL= 21232, 26401, 18322, 32755, AGC= 69, IDX= 374, 0.05, 2.452, 0.795, 2.505, 1.724, PHS= 0.816,-0.882, 0.778, RAW= 148.9, -8.5, CAL= 154.9, -16.8, ROT= 355.1, 16.8 nYgot valid direction response: 03:56:08.2916 LVL= 21232, 26401, 18322, 32755, AGC= 69, IDX= 374, 0.05, 2.452, 0.795, 2.505, 1.724, PHS= 0.816,-0.882, 0.778, RAW= 148.9, -8.5, CAL= 154.9, -16.8, ROT= 355.1, 16.8 rPDAT read: Bearing 355.1, 16.8 (Local) r~Local bearing/azimuth received: Bearing 355.1, 16.8 (Local) zDAT read: Range 10 to 50 : 349.5 m (Round-trip 466.1 ms) speed 0.5 m/s TDAT read: user:195>Tx time:03:56:09.3698  R#Rx 1: Read range and direction messages.%`direction in FSK: [0.953821,-0.081771,-0.289032]%Fpublishing direction and range infoPyR'v,?D~Y#\.ҿRCYP RR)R!gIRGiPPR`P?RaR+G? RR&@)RIRc-@iRQ RDS@RQ > P)PR͹4 ?r~?H¿iR5?R\>R%RQ > P)P U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.ԱMb@Mb@Mb@ )Iioʡ?~jthX9v ?D)/AI$AiGA AIujIu٥-ϻ %=9!Q > F٦pEy > 4Y";? 4yxdB G ?:H?CiB<XB<i4E B)EѱAAJpPRpRZz?ApRvRn?`q@X)`f:hJVvR*>,q4?*ξp࿔^`пjpR3rpRCZpR-vę?bpRO/ozpRvpPpPpRvpRvCpR^@ addTargetRange:: Added new target pos. range: 349.500000 m, deltaT: 15.143707 s, deltaX: -17.799988 m, approachRate: -1.175405 m/s, rangeRepo size: 4 jK=*NrK9zK9K=K=OT_c_d}aL=4/)%&%&'$ +^|x}q2KI*KMtAU Added new target pos. range: 348.475983 m, bearing: 327.897553 deg, lat: 36.779358 deg, lon: -121.859867 deg, deltaT: 15.143707 s, deltaX: -17.748474 m, approachRate: -1.172003 m/s, posRepo size: 3 oQ}FNOT Ignoring new targets: 348.48 m.o}o ProNav: ac range: 348.475983 m, nav range: 342.928009 m, bearing: 330.113654 deg, approach rate: 0.000000 m/s, LOS rate: -0.003953 deg/s, cmd heading: 331.442552 deg, new cmd heading: 331.436464 deg. zoHeadingCmd: 5.784657 target range: 348.475983 and range: 349.50 m.Ro@JoboZoBo:n2nmmlkkku@k?ɞ]`LB]I Y]KIY eμɝaiaIe[m:Im ?im =ims =)m@)quJDAT read: TxSync time:03:56:09.3690 }DAT read: }2Acoustic response timeout FI "FI *FI 2FU 0:FQ 9 G 3=G 2B :B  O>݆ď,^.?A B,@YBܸ@B1/9B~=NAHRS rotation from veh to nav: [[0.873788,0.478973,-0.084142],[-0.484424,0.872489,-0.063998],[0.042759,0.096681,0.994397]]yBH@??N ߿@n?3b? ??ɫB,@B;@ZIBZ[H)\ ^@AIbNIb٥j\ jp=9nQ n?ll nF٦nrEyrd r? tz4Yv;?z4yv{vdBx~~?vͪCv;v;vn4)AQoY]FNOT Ignoring new targets: 348.48 m.oeoeu ProNav: ac range: 348.475983 m, nav range: 342.742371 m, bearing: 330.113175 deg, approach rate: -0.599046 m/s, LOS rate: -0.001548 deg/s, cmd heading: 331.436459 deg, new cmd heading: 331.435020 deg. zou}HeadingCmd: 5.784632 target range: 348.475983 and range: 349.50 m.Ro}@JoyboyZoyBo:n2nmmlkkkk@?ɞoLB 2Acoustic response timeout eoTIi mҼɝiiiIm.:IuUBiu =iuV=)u@)yFA"FA*FA2FE0:FAԑGG=G2B:B OH>ԩ  2Acoustic response timeout H H H >HI IBI ? =I I &I b<*I E7ď,J?A6DZ@Y6¸@6]<96=>AHRS rotation from veh to nav: [[0.872099,0.482094,-0.083835],[-0.487171,0.871488,-0.056329],[0.045906,0.089966,0.994886]]y6H F٦uEy >  4Yp;? 4y~dB?:?CjW;V;v4%B)-1A-EEB*** querying acoustic contact ***:pABpAoQUFNOT Ignoring new targets: 348.48 m.o]8o]8m ProNav: ac range: 348.475983 m, nav range: 342.494995 m, bearing: 330.114990 deg, approach rate: -0.569735 m/s, LOS rate: 0.004183 deg/s, cmd heading: 331.435011 deg, new cmd heading: 331.440460 deg. zom79uHeadingCmd: 5.784727 target range: 348.475983 and range: 349.50 m.Rou|@JoqboyZoyBoy:ny2nymmlkkkk.?ɞLB$ [I ܨؼɝiIߌ:I5i =i6<)|@)F6"F*F2F0:F 2Acoustic response timeout!G =G 2B :B  O >jK JNrK zK K K cVHA:52H\[SG>70/,,*%$&+0,+)'%%+4xhZND<4-'$!BK ?:K ?9 J J J 8J J J _:J '4J J /S F٦wEy : > 4Yԡ 2ď,z?AI))) -F٦-zEy5 5> 9E4Y=HCHHIIBIII&IY<*IE2ImʼnC:ImʼnCBIiJIm> =RIm> =ZIm{5G<G2B)G  `wA:B )) I] ] `wA] J B Oe > % 2Acoustic response timeout 7辥ď,]?AF@YFƸ@FrcD9F=NAHRS rotation from veh to nav: [[0.871434,0.482766,-0.086829],[-0.488165,0.870865,-0.057354],[0.047928,0.092367,0.994571]]yFH?? o:>߿?`t]?[?`?ɫF@F;F CVHBV*HMb@Mb@Mb@ )Iil?MbS㥫?/])IiAA AILI٥% B=9+ȸQ > F٦}Ey21 > 4YU%Q ťď,g?AB@YBݦ@BG9BQ0=RAHRS rotation from veh to nav: [[0.870331,0.484581,-0.087781],[-0.490050,0.869829,-0.056995],[0.048736,0.092622,0.994508]]yBH?`?x@\߿`?z.??@?ɫB@Bo;@ZIBZ;HIbeIb]٥j` = jY=9jE Q n>ll nF٦nEyr r> tz4Yv4  2Acoustic response timeoutԉ Hy H} CH} HI} IBIy Iy Iy &I} <*I} E(˥ď,H2?A, ,,UHBU*HMb@Mb@Mb@ )IiV-?B`"۹|?νL)AIvAi;A zAITIn٥% %6=9-Q ->)1 5F٦5Ey5 5> 9E4Y=G jK] KOrK] 9zKY K] !K] k(mijpptuib&zfXNGD?>::GV[_b]WQYpvsu~~{xwy}zyztJ J J 8J J E ;J T:J '4J J |P<J |P<J ;J ;~ҥď,DL?A&BDAT read: Rx Time:03:56:12.2370 &TRx dataTimestamp_ set to:1761364573.197878 &2Acoustic response timeout:@Y:へ@:R9:Ϳ=FAHRS rotation from veh to nav: [[0.868000,0.488227,-0.090608],[-0.493911,0.867705,-0.056040],[0.051260,0.093395,0.994309]]y:H ???2@=߿??`?ɫ:@:;: C\5HB5/HiyIyIQI٥&6< S=9-ֻQ > F٦Ey[? > 4YW ٥ď,e?A p@Y k@ W9 W=%AHRS rotation from veh to nav: [[0.866593,0.490403,-0.092315],[-0.496233,0.866397,-0.055764],[0.052634,0.094135,0.994167]]y H ?@b?򡷿 F߿ ?$?@4?7?ɫ p@ ;  C5IB5@HIM^IM٥= K=9_Q > F٦Eyܻ > 4YhTx time:03:56:13.3199 -mX#Rx 1: Read range message, but no direction.QUCYQ u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.i<)1)@)YJHBHFQ"FQ*FYH=>H=CH=HI=IBI=> =I9I9&I={<*I=E2F]5:Fyԡ G U<% DAT read: - JDAT read: TxSync time:03:56:13.3191 5 2Acoustic response timeoutG 2B :B  O >i5ߥď,%?A%IB%XHyMb@Mb@Mb@ )Iiw/?q= ףp/$&?,)"AIƍAiAA AI`I̍٥A= F=9Q > F٦Ey > 4YdzDď,I?A66@Y6]1@6`96=>AHRS rotation from veh to nav: [[0.862938,0.494606,-0.103456],[-0.502323,0.861894,-0.069360],[0.054862,0.111822,0.992213]]y6H 0??|``? ?V?5?ɫ66@6t;6 CF'IBFgHJR=J< LNAIRGIR٥^= ^Y=9b}»Q b>`` bF٦bEyf f> hn4YjH H HI IBI I I &I <*I lE1 2BQ :B  O >iď,?A  @Y @ !a9 h=EAHRS rotation from veh to nav: [[0.861595,0.496860,-0.103847],[-0.504603,0.860584,-0.069074],[0.055049,0.111915,0.992192]]y H@/??@%?ͮ]/?q? ?ɫ  @ Kp;  CU;IBuHMb@Mb@Mb@ )IiK7?i|?5 F٦EyL %> )54Y-q jK NrK 9zK K #K p\OCEqMxi]TOKD?=92.))-APSROONNKICB>=;3-//-*'"*+(#"BK :K ? E 2Acoustic response timeoutPď,͗?A $$Z@YZ@Zd9ZB=jAHRS rotation from veh to nav: [[0.859530,0.500357,-0.104169],[-0.508034,0.858702,-0.067323],[0.055764,0.110788,0.992278]]yZHD? ?ʪA@|z?<? \??ɫZ@ZB;Z CrYIBrHIz4Izʴ٥S= h=9Q > F٦Eyl5 > 4Y\dB 4?SC;(;i);VĄ4)AoAMFNOT Ignoring new targets: 348.48 m.Qo]9o]9} ProNav: ac range: 348.475983 m, nav range: 339.723419 m, bearing: 330.176784 deg, approach rate: -0.680468 m/s, LOS rate: 0.021208 deg/s, cmd heading: 331.603307 deg, new cmd heading: 331.625992 deg. zo}h:HeadingCmd: 5.787965 target range: 348.475983 and range: 347.10 m.Ro7@JoboZoBo:n2nmmlkkkkw?ɞ={MBEޫ AE?IA E,ɝAiQIUr*>;Iu}iu=i}&;)}7@)yFY"Fa*Fa2FeQ5:Faԁ 2Acoustic response timeoutԩG Gy 2B :B  O > xď, ?AvIBvHIKIh٥ m= R=9Q > F٦Ey% %> )-4Y->HyH}JHI}IBI}= =IyIy&I} <*I}iEG ?G?Gq2B:B  O]T>  2Acoustic response timeout9 5dď,L?AIBHMb@Mb@Mb@ )Iish|??V-{Gz?)?#<)AIjAiߑA AIXI㔴٥Y= <=9Q > F٦Ey > 4Y @JoyboZoBo:n2nmmlkkkkD@ɞMBkֽ OI I8ɝiIvS;Ii̒=iY;)_>@)E>E>Fe6"Fa*Fa2Fe5:FajK$NrKػ9zKK$K    $AOQKGFCADLUYYUSViRpF 2Acoustic response timeout1GmΒ;GA 2BI a :Bi  Ou >ď,ap?AI)< :U@Y:!@:1km9:=FAHRS rotation from veh to nav: [[0.855073,0.507899,-0.104350],[-0.515262,0.854819,-0.061566],[0.057931,0.106411,0.992633]]y:H@\?`@?}Z?@@%?=??ɫ:U@:Aw;: C^IBb=HIfbIf٥n> r^=9rlQ r>pt vF٦vEyvs v> x~4Yz@=i륬)A@)qF6"F*F2F-3:FԙJ=J=J9J9J=} ;J=Z:J9J9G0; 5 2Acoustic response timeoutG 2B :B  O >Hm >Hi Hm HIm 1JBIi Ii Ii &Im ?<*Im E2II:IIBIIJIIRIIZIMʧI5 ď,_5?Ai@IB CL)veG xA)1Iu- uxAuB)@Y@~o9=AHRS rotation from veh to nav: [[0.855034,0.507902,-0.104655],[-0.515263,0.854860,-0.060975],[0.058496,0.106060,0.992638]]yHo\?@?@ʺ`}@[?8.?&??ɫ)@hֈ;髽CJBvHMb@Mb@Mb@ )IiMb?l~jt?#?=)/AIiA AIaI錴٥= .=9Q > F٦Ey|; > 4Y jK 1OrK 9zK K %K Sk<zl^SMFACJLHA<70+*()%! !$/,"  &5 BDAT read: Rx Time:03:56:16.1840 = TRx dataTimestamp_ set to:1761364577.233694 = 2Acoustic response timeout&ď,[(O?A2Mð@Y2@2 q92=:AHRS rotation from veh to nav: [[0.855592,0.506656,-0.106123],[-0.514299,0.855290,-0.063060],[0.058816,0.108532,0.992351]]y2H@a?6?*"u`^?$!? Ȼ?W?ɫ2Mð@2;2 C^'JB^H|IjZIj٥EL= Mh=9MnQ M>IQ UF٦UEy}O; > 4Y=?4ydB)?C{;D;4) ̱A oamFNOT Ignoring new targets: 348.48 m.oR9oR9 ProNav: ac range: 348.475983 m, nav range: 338.412415 m, bearing: 330.214948 deg, approach rate: -0.609968 m/s, LOS rate: 0.014898 deg/s, cmd heading: 331.723792 deg, new cmd heading: 331.740573 deg. zo#:HeadingCmd: 5.789965 target range: 348.475983 and range: 347.10 m.RoeG@JoboZoBo:n2nmmlkkkk` @ɞ]MB]fٽ Y]rIa ec ɝaiaIeЬq;I_i=i4F9)eG@)E1F6"F*F2F 1:FG5sAF5tAY 2Acoustic response timeoutGM NJκG! 2B) :Bq ԁ  O >ď, i?A hh԰@YϷ@Nzr90=%AHRS rotation from veh to nav: [[0.856679,0.504463,-0.107784],[-0.512445,0.856206,-0.065657],[0.059164,0.111480,0.992004]]yHi? $?e` f? ΰJ???ɫ԰@U;5iJB5HYIlI)٥ > E=9\Q > F٦Ey; > 4Y-=?4yŻdB?)?C(;n?;4B)uAJJJ@JJu;JT:JJ4JoFNOT Ignoring new targets: 348.48 m.o`9o%`9- ProNav: ac range: 348.475983 m, nav range: 338.156219 m, bearing: 330.221121 deg, approach rate: -0.649783 m/s, LOS rate: 0.015669 deg/s, cmd heading: 331.740567 deg, new cmd heading: 331.759100 deg. zo5 ,:=HeadingCmd: 5.790288 target range: 348.475983 and range: 347.10 m.Ro= J@Jo9bo9Zo9Bo9:n92nAmAmAlIkIkQkQk]@ɞNB׽ 靍gI #ɝiIz;I\iP=i,:) J@)%DAT read: 03:56:16.1840 LVL= 20560, 28049, 20162, 32755, AGC= 67, IDX= 419,-0.01, 1.967, 0.556, 1.792, 1.377, PHS= 0.678,-0.774, 0.412, RAW= 140.1, -4.8, CAL= 145.7, -14.3, ROT= 4.3, 14.3 5Ygot valid direction response: 03:56:16.1840 LVL= 20560, 28049, 20162, 32755, AGC= 67, IDX= 419,-0.01, 1.967, 0.556, 1.792, 1.377, PHS= 0.678,-0.774, 0.412, RAW= 140.1, -4.8, CAL= 145.7, -14.3, ROT= 4.3, 14.3 EPDAT read: Bearing 4.3, 14.3 (Local) E~Local bearing/azimuth received: Bearing 4.3, 14.3 (Local) }DAT read: Range 10 to 50 : 345.0 m (Round-trip 460.0 ms) speed 0.5 m/s TDAT read: user:197>Tx time:03:56:17.2699 R#Rx 1: Read range and direction messages.^direction in FSK: [0.966288,0.072656,-0.246999]Fpublishing direction and range infoy?N 0?⩝ϿCY PP)mINiCh-?$F> C~@)I"@ir`=r> )]H?CX6?WH+^Ii>V}=`=r> JH BH H>HHHIJBI> =II&IN<*IEF)"F)*F)2F-1:F)) M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.ԁԱG-9G2B:B  O > DAT read:  JDAT read: TxSync time:03:56:17.2691  2Acoustic response timeout  ď,?ₘ?A6G@Y6@6t96K=>AHRS rotation from veh to nav: [[0.858234,0.501330,-0.110012],[-0.509777,0.857526,-0.069120],[0.059686,0.115402,0.991524]]y6Hv? ? )@Pp?ұ.???ɫ6G@6?;6 CNzJBNHiTITMb@Mb@Mb@ )Ii +?~jt:v??T=)ݠAIiߑA^A (AI\IWԱ٥;%= I=9&Q > F٦Ey; > 4Y'=?4yRɻdB?:R?=C;;4)SAJp!Rp%V-o?Ap%Cp%Cp%21@v%9,Xt@^._68@Dv=Uv%?N 0?⩝Ͽp%`=p%r>v%l-j2s@-aۙNv%S?Grڿ 8sƿjp%$rp%CZp% B?bp%|Uczp%o.p%coMQ?p%Yp%=p% Cp%+@E addTargetRange:: Added new target pos. range: 345.000000 m, deltaT: 4.036035 s, deltaX: -2.100006 m, approachRate: -0.520314 m/s, rangeRepo size: 4 U Added new target pos. range: 343.993164 m, bearing: 335.166287 deg, lat: 36.779457 deg, lon: -121.859834 deg, deltaT: 7.816161 s, deltaX: -4.482819 m, approachRate: -0.573532 m/s, posRepo size: 4 oQ]FNOT Ignoring new targets: 343.99 m.o]oYm ProNav: ac range: 343.993164 m, nav range: 346.092590 m, bearing: 331.547367 deg, approach rate: 0.000000 m/s, LOS rate: 0.015669 deg/s, cmd heading: 331.759090 deg, new cmd heading: 331.778293 deg. zoiuHeadingCmd: 5.790624 target range: 343.993164 and range: 345.00 m.RouL@JoyboyZoyBoy:ny2nymmlkkku@k`?ɞU"NB]ѽ Y]iIY ]&ɝYiYIe#3;Ie1im=i;)L@)F!"F!*F!2F%0:F!  2Acoustic response timeoutjKNrK9zKK&K ~rj`WPI?/ *=9.# GE 0::G! 2BY :Bq  O} >A ]&ď,Ɯ?A:O@Y:@:y9:?=FAHRS rotation from veh to nav: [[0.858982,0.501190,-0.104687],[-0.508374,0.859181,-0.057996],[0.060878,0.103037,0.992813]]y:H@|? ?@̺D`i~?c+?`?@?ɫ:O@:yj;:CjJBn:HIvLIv٥~7= ~W=9~NQ >    F٦ Ey Ո; > %4Y$7=?%4y̻eB!%%?ZCp::_45B)51A5E ]2Acoustic response timeoutoaeFNOT Ignoring new targets: 343.99 m.omH9omH9} ProNav: ac range: 343.993164 m, nav range: 345.870361 m, bearing: 331.551487 deg, approach rate: -0.589387 m/s, LOS rate: 0.010932 deg/s, cmd heading: 331.778297 deg, new cmd heading: 331.790663 deg. zo}9HeadingCmd: 5.790840 target range: 343.993164 and range: 345.00 m.RoN@JoboZoBo:n2nmmlkkkk 2?ɞ7NBl#ݽ 2eI )ɝiIL;Ii#=i;)N@)F6"F*F 2F /1:F AJJJ8JJJJ'4JGMr;q  2Acoustic response timeoutGA 2BQ :Ba  Om >H >H H HI JBI I I D&I 6<*I Eԑ -ď,<?AIT)VQQ UF٦UEy] ]> am4Ye@J=?u4ye'лe;eBu ?}:}}?e{CeP;eJO;e4B)AEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 343.99 m.oI8oI8 ProNav: ac range: 343.993164 m, nav range: 345.608154 m, bearing: 331.552807 deg, approach rate: -0.546878 m/s, LOS rate: 0.002757 deg/s, cmd heading: 331.790673 deg, new cmd heading: 331.794638 deg. zo'8HeadingCmd: 5.790909 target range: 343.993164 and range: 345.00 m.Ro O@JoboZoBo:n2nmmlkkkka?ɞTNBTʽ !%cI! %D-ɝ)i)I-Z;I- i5en=i5$;)5 O@)1 m2Acoustic response timeoutF"F*F2F0:FG ፨;G 2B :B  O > % 2Acoustic response timeout) 3ď,rnИ?AjK*#NrK*ػ9zK(K*'K*&9>>ARpwgS@7-'$")<Pckmkqsrrngc\USMMX`oiUJ>:?FF6@YF1@Fx9F8=RAHRS rotation from veh to nav: [[0.862626,0.494519,-0.106431],[-0.502182,0.862479,-0.062787],[0.060746,0.107609,0.992336]]yFH?4??n? ?E?6?ɫFF6@Fi;FCVJBVH^=^%=If&If3٥rb= r|=9v9Q v ?xx zF٦zEy~9< ~ ? 4Y UW=?4y }һ VeB&%? C N; [O; p 4-B)5A5EoiuFNOT Ignoring new targets: 343.99 m.o}8o}8 ProNav: ac range: 343.993164 m, nav range: 345.429291 m, bearing: 331.553508 deg, approach rate: -0.543640 m/s, LOS rate: 0.002129 deg/s, cmd heading: 331.794635 deg, new cmd heading: 331.796736 deg. zo 8HeadingCmd: 5.790946 target range: 343.993164 and range: 345.00 m.RomO@JoboZoBo:n2nmmlkkkk:ď,L?A=KB=HIUcIU#٥eF= eB=9eQ e>ii mF٦mEym u> y}4Y}h=?4y}|ջ}yeB?}C}:} :}4)AoFNOT Ignoring new targets: 343.99 m.o8o8E ProNav: ac range: 343.993164 m, nav range: 345.200104 m, bearing: 331.554406 deg, approach rate: -0.552398 m/s, LOS rate: 0.002166 deg/s, cmd heading: 331.796738 deg, new cmd heading: 331.799435 deg. zoEO8uHeadingCmd: 5.790993 target range: 343.993164 and range: 345.00 m.RouO@JoqboyZoyBoy:n2nmmlkkkk{@ 2Acoustic response timeoutJJJJJ];J_:JJIɞNB`$ӽ 靕-`I Ü2ɝiIGk;Ii=in %<)O@)ZHRH<H>HHHIXKBI= =II&I7<*IEF6"F*F2F0:FԉG0:D<G2B:B O >ԡ  2Acoustic response timeout5@ď,j.?A <~ KB~HMb@Mb@Mb@ )IiNbX9?l?S㥛??=/<);AIi;A A ̖AIII.٥< D=9Q > F٦Ey > 4Yxx=?4yػeB%?:?˭C:: 4B)ҰAEo!-FNOT Ignoring new targets: 343.99 m.o- Zo- ZE ProNav: ac range: 343.993164 m, nav range: 344.983185 m, bearing: 331.553164 deg, approach rate: -0.520123 m/s, LOS rate: -0.002979 deg/s, cmd heading: 331.799443 deg, new cmd heading: 331.795716 deg. zoEMHeadingCmd: 5.790928 target range: 343.993164 and range: 345.00 m.RoMHO@JoIboIZoIBoI:n2nmmlkkkk_@ɞmNBuJڽ qucIq u5ɝqiyI}:;I}% i=i)HO@ԩ)F]5"FY*Fa2Fe0:Fa 2Acoustic response timeoutjK=wNrK=9zK9K=(K=OZQC72Ufv+XV; =qvW?zne^UPKGA>D]libYSKGB<83Ge :< GA 2BY :Bi  O >(Gď,[?A:ı@Y:Ҿ@:Wz9:=FAHRS rotation from veh to nav: [[0.871164,0.478467,-0.110194],[-0.487169,0.870283,-0.072623],[0.061153,0.116950,0.991253]]y:H?4?5@-߿ [?eiO?h?X?ɫ:ı@:ԍ;8J(KBJHiLILIVaIV錴٥^= ^]=9^^Q b>`` bF٦bEyfc?= f> hln4Yj=?r4yj6ڻjeBprr?jCj';j:;j4|)~A|o%FNOT Ignoring new targets: 343.99 m.o%ġo-ġ =2Acoustic response timeoutE ProNav: ac range: 343.993164 m, nav range: 344.791077 m, bearing: 331.551528 deg, approach rate: -0.518547 m/s, LOS rate: -0.004420 deg/s, cmd heading: 331.795727 deg, new cmd heading: 331.790815 deg. zoEBMHeadingCmd: 5.790842 target range: 343.993164 and range: 345.00 m.RoMN@JoIboIZoIBoI:nQ2nQmQmYlYkYkYkYke6@ɞNBz 靝bI 8ɝiIҝ;Ioi=i<)N@)F"F*F2F0:F 9G ܪ&<G 2Acoustic response timeout2B:B  O- >H >H H }HI KBI I I &I F<*I Ea  PExceeded connect timeout, disconnecting.iQMď,7?AAE@YE@E^{9E=eAHRS rotation from veh to nav: [[0.873680,0.473762,-0.110601],[-0.482612,0.872690,-0.074150],[0.061391,0.118160,0.991095]]yEH/?R?@TP`޿ ?{n??? ?ɫE@Eӑ;E C}?KB}HEMb@Mb@Mb@A A)AIAiAE'1Z?S㥫?Mb`E?E/]=E)AIEAiEAA AEzAIe^Ie٥u9= u&=9uQ u>yy }F٦}Ey}-< > 4Y=?4yܻeB?:̾?Cz%;$;(4ǑB)B*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 343.99 m.oo ProNav: ac range: 343.993164 m, nav range: 344.539856 m, bearing: 331.547457 deg, approach rate: -0.510914 m/s, LOS rate: -0.008284 deg/s, cmd heading: 331.790810 deg, new cmd heading: 331.778589 deg. zoﵹHeadingCmd: 5.790629 target range: 343.993164 and range: 345.00 m.RoL@JoboZoBo:n2nm m l k kkk`/& @ M2Acoustic response timeoutiɞNBTgϽ  eI F;ɝiI(;ImY0im=iu+<)uL@)qF6"F*F2F0:FԙG<G2B:B O> JE JE JE 9JA JE ;JE [O:JE c44JA JE I@S@Y @T{9=-AHRS rotation from veh to nav: [[0.875589,0.470199,-0.110712],[-0.479132,0.874515,-0.075210],[0.061455,0.118898,0.991003]]yH??W ޿ ?@@w?p?`K?ɫS@R;Cm6KBmHԙImIF٥%˼ %b=9%6)) -F٦-Ey5k4< 5> a4YeJ=?4ye޻eeBwʾ?eCe-ɝiIK;I%Fi%=ik=)zK@)FY"FY*FY2Fe0:Fa ]2Acoustic response timeoutGM qcZď,%k?A6,@Y6'@6{96z=BAHRS rotation from veh to nav: [[0.877309,0.467282,-0.109433],[-0.475986,0.876342,-0.073909],[0.061364,0.116930,0.991243]]y6H?? v޿ ? 벿 %k??`B?ɫ6,@6;6CJCKBJHIzcIz#٥- =  ^=9 9Q  > F٦Ey%M< %> )54Y-׷=?54y-5tI-eB1=Ⱦ=?-4C- ;- ;-44EґB)EðAEEoimFNOT Ignoring new targets: 343.99 m.ouS+ouS+ ProNav: ac range: 343.993164 m, nav range: 344.167328 m, bearing: 331.541049 deg, approach rate: -0.534220 m/s, LOS rate: -0.009362 deg/s, cmd heading: 331.769117 deg, new cmd heading: 331.759350 deg. zo͹HeadingCmd: 5.790293 target range: 343.993164 and range: 345.00 m.RoJ@JoboZoBo:n2nmmlkkkk@ɞOB ]oI ;AɝiIwM;Im\iy=iY=)J@)DAT read: 03:56:20.1308 LVL= 25456, 27569, 22514, 32755, AGC= 67, IDX= 401, 0.38,-1.069,-2.462,-1.206,-1.722, PHS= 0.742,-0.693, 0.513, RAW= 141.5, -8.5, CAL= 148.0, -18.0, ROT= 2.0, 18.0 Ygot valid direction response: 03:56:20.1308 LVL= 25456, 27569, 22514, 32755, AGC= 67, IDX= 401, 0.38,-1.069,-2.462,-1.206,-1.722, PHS= 0.742,-0.693, 0.513, RAW= 141.5, -8.5, CAL= 148.0, -18.0, ROT= 2.0, 18.0 PDAT read: Bearing 2.0, 18.0 (Local) %~Local bearing/azimuth received: Bearing 2.0, 18.0 (Local) =DAT read: Range 10 to 50 : 342.6 m (Round-trip 456.8 ms) speed 0.3 m/s JHYBHYHm>HmCHmHImKBIm< =IiIi&Im=<*ImE2I!:I!BI!JI%= =RI%= =ZI%05TDAT read: user:198>Tx time:03:56:21.2199 JDAT read: TxSync time:03:56:21.2191 R#Rx 1: Read range and direction messages.^direction in FSK: [0.950477,0.033191,-0.309017]Fpublishing direction and range info۱y۵~fOj?xYZv?;[@ӿ۵LCY۱ ܵpc)ܵkIܵWiܱܱܵ=?ܵsh1ܵS? ݵ@)ݵIݵMQ%@iݵ|٠ݵ5=ݵ|٠> ޱ)ޱ޵ծu?5:(?D¿i޵¿>޵yC>޵5=޵|٠> ߱F"F*F2F0:F)߱ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G<GsAGtAI nManaging dock network, ignoring radio surface power offG)G `wA)I]]`wAeqB2B:BY O{>qm DAT read: m 2Acoustic response timeoutԙ Laď,s?A2H=@Y28@2l{92,W=BAHRS rotation from veh to nav: [[0.878274,0.465640,-0.108693],[-0.474219,0.877353,-0.073271],[0.061244,0.115897,0.991371]]y2H? ?QӻY޿F?f[?@h?`P?ɫ2H=@2Eُ;2CN5KBNH-fonly read 0 of 1 data item for BIT error. Device response is::TS,25102419574539,35.0, +120,1499.5, 0 mf@f qf@f uf@f if@f Ij,IjỴ٥e eD=9e9Q m>ii uF٦Eyx; > 4Y=?4yeB+::Ǿ?PCl;>:4)ްAJpRp;q?ApͪCpͪCp2~@vw@Kt@;J?&@&cZv~fOj?xYZv?;[@ӿp5=p|٠>qvWor@8O a Tv}FH?ۧHؿٿDnDϿjpJrpCZp*?bpgzpp*?pppƫCp%@ addTargetRange:: Added new target pos. range: 342.600006 m, deltaT: 4.032086 s, deltaX: -2.399994 m, approachRate: -0.595224 m/s, rangeRepo size: 4  Added new target pos. range: 341.605835 m, bearing: 335.704837 deg, lat: 36.779453 deg, lon: -121.859834 deg, deltaT: 4.032086 s, deltaX: -2.387329 m, approachRate: -0.592083 m/s, posRepo size: 4 oFNOT Ignoring new targets: 341.61 m.oo5 ProNav: ac range: 341.605835 m, nav range: 343.550751 m, bearing: 331.500818 deg, approach rate: 0.000000 m/s, LOS rate: -0.009362 deg/s, cmd heading: 331.759336 deg, new cmd heading: 331.746794 deg. zo1=HeadingCmd: 5.790074 target range: 341.605835 and range: 342.60 m.Ro=IH@Jo9bo9Zo9Bo9:nA2nAmAmAlikikikuiu@ku3i?ɞ-OB-Z )-DzI1 5Dɝ1i1I5q;I=yi=u=i= =)=IH@)AEIEMtAJJJ8JJ=;J]:J'4JJVD<JVD<J;J;ԡF5"F*F2F0:F 2Acoustic response timeoutGtAFsAjKyNrK9zKK*K@CC?83*$  )+)&)/8>72*  /diR9`#G {=G 2B :B  O > RAHRS rotation from veh to nav: [[0.878216,0.464205,-0.115113],[-0.474173,0.876522,-0.082878],[0.062427,0.127368,0.989889]]yFHW??x@X޿@x ? }7@j?M?+?ɫFb=@Fέ;FCZ-KBZHI HI  2Acoustic response timeout٥%p %N=9%CQ ->)) -F٦-Ey58 5> 9E4Y=?=?E4y==eBE :AM:MǾM?=jC=M;=P?=L?4]ݑB)]AaoFNOT Ignoring new targets: 341.61 m.o3o3 ProNav: ac range: 341.605835 m, nav range: 343.351379 m, bearing: 331.497227 deg, approach rate: -0.544998 m/s, LOS rate: -0.009824 deg/s, cmd heading: 331.746796 deg, new cmd heading: 331.736015 deg. zo׹HeadingCmd: 5.789886 target range: 341.605835 and range: 342.60 m.RoF@JoboZoBo:n2nmmlkkkk?ɞ4OB[ ۀI `GɝiIa;Iёis=i=)F@)EFu6"Fq*Fq2Fu0:Fq 2Acoustic response timeout! HM >HI HM HIM KBII II II &IM <*IM EG y=a Gi 2By :B  O >qmď,ƹ?AG(@Y#@9s =AHRS rotation from veh to nav: [[0.877001,0.467256,-0.111985],[-0.476440,0.875855,-0.076706],[0.062241,0.120625,0.990745]]yHe??@ }޿`?`ޯ?I?.?ɫG(@=m;髥C%#KB-Hmm qq uu ii% %Mb@Mb@Mb@! !)!I!i!%K7?Mb?Q%I ?%<%u)%ݠAI!i%/A! !%•AI51I5s٥EF E)=9M9Q M>II UF٦UÛEyUخ U> ae4Yee=?m4yeeeBmT:m/ ?m:mKu?eCeo7;e!I;eG4)/AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 341.61 m.oьoь ProNav: ac range: 341.605835 m, nav range: 343.085327 m, bearing: 331.495367 deg, approach rate: -0.550050 m/s, LOS rate: -0.003847 deg/s, cmd heading: 331.736004 deg, new cmd heading: 331.730422 deg. zo(HeadingCmd: 5.789788 target range: 341.605835 and range: 342.60 m.RoE@JoboZoBo:n 2Acoustic response timeout2nmmlkkk k`D?ɞUOB CI )LɝiI ;Iizj=i%j =)E@) E<E >E >9 F 6"F *F 2F y5:F J J J :J J ;J Fi:J FA4J J bH<J cH<J ;J ;  2Acoustic response timeouti jK YNrK 9zK K +K kZLC:4.-(%"#;IB71>B8*"$3761*$#%)#!#1dhcG0B=G?G>Gq2Byԑ:B O?TTvď,&ڙ?AJ@YJ @J{9Jh=bAHRS rotation from veh to nav: [[0.875797,0.470886,-0.106050],[-0.478753,0.875416,-0.066656],[0.061450,0.109149,0.992124]]yJH?"?&޿g?``gv?-?@{?ɫJ@J6;HjKBnHIvGIv٥~-! ~;=9~:Q ~> F٦ƛEyĻ  > 4Y=?4yeBA?C:`:]O4%B)eAEoFNOT Ignoring new targets: 341.61 m.o4vo4v- ProNav: ac range: 341.605835 m, nav range: 342.845093 m, bearing: 331.493839 deg, approach rate: -0.528437 m/s, LOS rate: -0.003363 deg/s, cmd heading: 331.730431 deg, new cmd heading: 331.725844 deg. zo--HeadingCmd: 5.789708 target range: 341.605835 and range: 342.60 m.Ro5JE@Jo1bo1Zo1Bo1:n12n1m9m9l9k9kAkakm?!ɞtOB6V 靍I EPɝiIU; 2Acoustic response timeoutIi ]=i=)JE@) EEEEIF6"F*F2F2:Fy U 2Acoustic response timeoutZH RH <H >H H HI KBI I I &I <*I AEԩ GE Nw =G2B!:B9 OU>|}ď,?AJ @YJ@JF{9J=RAHRS rotation from veh to nav: [[0.875398,0.471973,-0.104499],[-0.479499,0.875214,-0.063882],[0.061308,0.106029,0.992471]]yJHB?`4?@p޿?Zc?$?S?ɫJ @J[;HZKBZHIrYIrԉ٥ ,=99Q > F٦ɛEyܺ E> Y4Y]>?4y]]eB?]ϮC]sW<]kO<]OX4B)AEo1=FNOT Ignoring new targets: 341.61 m.oEyoEyU ProNav: ac range: 341.605835 m, nav range: 342.563232 m, bearing: 331.492100 deg, approach rate: -0.551936 m/s, LOS rate: -0.003409 deg/s, cmd heading: 331.725841 deg, new cmd heading: 331.720618 deg. zoHeadingCmd: 5.789617 target range: 341.605835 and range: 342.60 m.RoD@JoboZoBo:n2nmmlkkkk@ɞOB` 돿I Tɝi I MG;I5i5M=i=&E=)=D@)9 2Acoustic response timeoutԱF"F*F2F5:FGWg<GA2BI:Ba Omx> J J J 9J J u;J c:J c44J J B<J B<J *;J *;FYď,h=?A 2Acoustic response timeoutd@Y0@/}9=-AHRS rotation from veh to nav: [[0.874985,0.472769,-0.104361],[-0.480181,0.874956,-0.062277],[0.061868,0.104604,0.992588]]yH?@A?eJ޿ ? ⯿@7?PǺ?@G?ɫd@d;C= KB=HE0>E<jKNrK 9zKK,KD7WT- pbWPX|uq&'EMb@Mb@Mb@A A)AIAiAEx?Qp= ףEK?EE)EҞAIAiEҏAEA AEAI]AI]E٥mVؼ m8=9mPQ u>qq uF٦}̛Ey}] }> 4YE%>?4y-eBf?:g ?Cu ; ;f_4B)ڱAEoFNOT Ignoring new targets: 341.61 m.o8o8 ProNav: ac range: 341.605835 m, nav range: 342.322266 m, bearing: 331.493838 deg, approach rate: -0.622777 m/s, LOS rate: 0.004495 deg/s, cmd heading: 331.720623 deg, new cmd heading: 331.725841 deg. zosE9HeadingCmd: 5.789708 target range: 341.605835 and range: 342.60 m.RoJE@JoboZoBo:n2nmmlkkkk@@ɞ%OB% )-I) -\Xɝ1i1I5G;I5 i=@=i=tU<)=JE@)9EIF6"F*F2F5:F) 2Acoustic response timeoutQG% r=G 2B) :B9  OM >y Bď,,?A6@Y6@6h96=BAHRS rotation from veh to nav: [[0.874147,0.474210,-0.104847],[-0.481603,0.874253,-0.061162],[0.062659,0.103959,0.992606]]y6H?@sY?:׺@޿?@Pj ?@ ?`m?ɫ6@6;6CFJBFHIrJIrK٥z%s zf=9z Q z>|| ~F٦~ΛEyY > 4Y 4>?4y   eB ? C : f; e4%B)%2A%EoIMFNOT Ignoring new targets: 341.61 m.o]d8o]d8u ProNav: ac range: 341.605835 m, nav range: 342.111115 m, bearing: 331.495424 deg, approach rate: -0.593884 m/s, LOS rate: 0.004464 deg/s, cmd heading: 331.725841 deg, new cmd heading: 331.730602 deg. zouD9}HeadingCmd: 5.789791 target range: 341.605835 and range: 342.60 m.Ro}E@JoyboyZoyBoy:n2nmmlkkkk@ɞOBqa 3I [ɝiI!;I#i1=i<)E@)Q JqJuAA =2Acoustic response timeoutH}>HyH}HI}KBI}; =IyI}D&I}<*I}YEF6"F*F2FG5:FԁGV<G2B:B1  O > BDAT read: Rx Time:03:56:24.0778  TRx dataTimestamp_ set to:1761364585.046624  2Acoustic response timeout &jď,E?Ar@Yr@r9r=~AHRS rotation from veh to nav: [[0.873393,0.475830,-0.103783],[-0.482821,0.873891,-0.056549],[0.063787,0.099498,0.992991]]yrH?`s? ޿ ?@^T?@x? ?ɫr@r&;rC JB HMb@Mb@Mb@ )Ii'1Z?333333Q"?u)tAI^Ai$AQA AI%fI%{٥=< =7=9M%Q M>II MF٦MћEyUR U> Ye4Y]ZH>?e4y]c]eBm$?m:mm?]-C]#:]M:]mm4y)}"AyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 341.61 m.oa9oa9Ա ProNav: ac range: 341.605835 m, nav range: 341.825531 m, bearing: 331.500929 deg, approach rate: -0.637608 m/s, LOS rate: 0.012300 deg/s, cmd heading: 331.730595 deg, new cmd heading: 331.747123 deg. zo:HeadingCmd: 5.790080 target range: 341.605835 and range: 342.60 m.RoUH@JoboZoBo:n2nmmlkkkk Y @ɞOB 윿I % e`ɝ!i!I%ؙ;I-]xi-=i-=<)-UH@)1F 6"F*F2F5:F E2Acoustic response timeoutjK51OrK59zK1K5-K5kXI.%&)/Jfv4^4 waOFB?<=c9DL` y^BKU>:KU ? G )<G 2B :B!  O= >9 ď,_?ADAT read: 03:56:24.0778 LVL= 18672, 28945, 17634, 30083, AGC= 67, IDX= 402, 0.48, 0.475,-0.860, 0.410,-0.164, PHS= 0.727,-0.649, 0.572, RAW= 144.1, -10.0, CAL= 151.0, -19.0, ROT= 359.0, 19.0 Ygot valid direction response: 03:56:24.0778 LVL= 18672, 28945, 17634, 30083, AGC= 67, IDX= 402, 0.48, 0.475,-0.860, 0.410,-0.164, PHS= 0.727,-0.649, 0.572, RAW= 144.1, -10.0, CAL= 151.0, -19.0, ROT= 359.0, 19.0 cڱ@Y /ո@ 9 =-PDAT read: Bearing 359.0, 19.0 (Local) 5~Local bearing/azimuth received: Bearing 359.0, 19.0 (Local) =DAT read: Range 10 to 50 : 340.3 m (Round-trip 453.8 ms) speed 0.5 m/s ETDAT read: user:199>Tx time:03:56:25.1699 MR#Rx 1: Read range and direction messages.-AHRS rotation from veh to nav: [[0.872281,0.477907,-0.103587],[-0.484673,0.873067,-0.053354],[0.064941,0.096745,0.993188]]y H??`߿)?`*Q?Nĸ?2?ɫ cڱ@ j; ]JB]Hu`direction in FSK: [0.945375,-0.016502,-0.325568]uFpublishing direction and range infoۡyۥ#)@?a吿`FIԿۥ&CYۡ ܥH)ܥqIܥDiܥuܡܥ:?ܥ$&ܥn? ݥ @)ݥ¸2Iݥ+(@iݥɩݥ@ݥɩ> ޡ)ޡޥ~?&=?Ct51ƿiޥaW>I`I̍ޥ~p2>ޥޥɩ> ߡ)ߡ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.٥p C=93Q > F٦ӛEyE > 4YZ>?4y~ eBM?PC<<t4B)AJpRpoGc?ApCpCpU@v>x t@v%eI Ơ[v#)@?a吿`FIԿppɩ>vjk< r@UGNc^[Vv:7?7V "ݿRXпjpwrpICZpX?bpilBzpppilBpp˨Cpڹ@ addTargetRange:: Added new target pos. range: 340.299988 m, deltaT: 3.782007 s, deltaX: -2.300018 m, approachRate: -0.608148 m/s, rangeRepo size: 4 = Added new target pos. range: 339.314728 m, bearing: 331.841040 deg, lat: 36.779453 deg, lon: -121.859739 deg, deltaT: 3.782007 s, deltaX: -2.291107 m, approachRate: -0.605791 m/s, posRepo size: 4 o9EFNOT Ignoring new targets: 339.31 m.oEoI] ProNav: ac range: 339.314728 m, nav range: 337.592468 m, bearing: 332.771464 deg, approach rate: 0.000000 m/s, LOS rate: 0.012300 deg/s, cmd heading: 331.747124 deg, new cmd heading: 331.764147 deg. zoYeHeadingCmd: 5.790377 target range: 339.314728 and range: 340.30 m.RoeJ@JoaboaZoaBoa:ni2nimimilqkqkqkDu@k ?ɞPBH OI  Ҩeɝ i I ;1I=gQi==i=<)=J@)AF6"F*F2F0:FJJJJJ];JT:JJ!@!@!@!@E DAT read: M JDAT read: TxSync time:03:56:25.1691 U 2Acoustic response timeoutJHa BHa Hm >Hi Hm HIm KBIm < =Ii Ii &Im ;<*Im Eԁ G <G ?G >Ա G 2B :B  O >"ď,I{?AI<)<Fɱ@Yĸ@z9~=AHRS rotation from veh to nav: [[0.871172,0.479526,-0.105426],[-0.486441,0.872112,-0.052870],[0.066591,0.097342,0.993021]]yH??@1!߿W?` ? o?`?ɫFɱ@ F٦כEy >  4Y q>?4y  eBQ.?U:]c)]? {C .+<  +< }4eB)eAeEoFNOT Ignoring new targets: 339.31 m.oJ9oJ9- ProNav: ac range: 339.314728 m, nav range: 337.258057 m, bearing: 332.782181 deg, approach rate: -0.689136 m/s, LOS rate: 0.022107 deg/s, cmd heading: 331.764145 deg, new cmd heading: 331.796327 deg. zour:uHeadingCmd: 5.790938 target range: 339.314728 and range: 340.30 m.Rou^O@JoyboyZoyBoy:ny2nymmlkkkk'?ɞE%PBEޡ AEBIA ΦjɝiI%;Ii=i=<)^O@)! F "F *F 2F 0:F  2Acoustic response timeoutI G T<jK DOrK 9zK K .K fi<' $odag|raPDDD<5/,+)&# ,RgsrdULE;2/1G\]TSSJ2K *K rAGA2BI:BY Oe>ď,A}?AjҾ@Yj@jo9jd=rAHRS rotation from veh to nav: [[0.870432,0.481478,-0.102604],[-0.487486,0.872053,-0.043362],[0.068598,0.087762,0.993777]]yjH??=D2߿?3`?w??ɫjҾ@j+0;jC%JB%HIu@Iu(٥}n; }^=9`Q > F٦ٛEye > 4Y>?4yeB)?C;&;情4)Ao!-FNOT Ignoring new targets: 339.31 m.o5c9o5c9} ProNav: ac range: 339.314728 m, nav range: 337.014038 m, bearing: 332.790101 deg, approach rate: -0.657427 m/s, LOS rate: 0.021352 deg/s, cmd heading: 331.796328 deg, new cmd heading: 331.820105 deg. 9zovj: 2Acoustic response timeout=HeadingCmd: 5.791353 target range: 339.314728 and range: 340.30 m.Ro=R@Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkIkM@S?ɞAPB 1<I s/oɝiIXď,&?AHZhα@YZ4ɸ@Z9Z8=fAHRS rotation from veh to nav: [[0.871288,0.479191,-0.105991],[-0.485790,0.872785,-0.047478],[0.069756,0.092857,0.993233]]yZH??`3".߿ ? O۱?rŷ??ɫZhα@Z;inU'>InCX)A ]vAU KBmH)qI?vAB=G?I)I٥[= 5=9%(Q E>II MF٦MܛEyU; U> Ye4Y]>?e4y] ]eBQ)?]ïC];]!;]ɋ4'B)A Eo FNOT Ignoring new targets: 339.31 m.o p9o p9- ProNav: ac range: 339.314728 m, nav range: 336.712036 m, bearing: 332.799795 deg, approach rate: -0.705549 m/s, LOS rate: 0.022669 deg/s, cmd heading: 331.820098 deg, new cmd heading: 331.849208 deg. zo5x:5HeadingCmd: 5.791861 target range: 339.314728 and range: 340.30 m.Ro5V@Jo9bo9Zo9Bo9:n92n9mAmAlIkIkIkIkM1?ɞ}ZPB}S  yI sɝiIE%>F5"F*F2F:F 2Acoustic response timeout G  <G 2B :B  O >pď, Κ?A| KB HMb@Mb@Mb@ )IiʡE?Zd;:v/?T)ƜAIiƍA AITIn٥; L=9 Q > F٦ޛEy% %> 1=4Y5>?E4y55eBEg2?M:M.M?5C }2Acoustic response timeout5K;5 <54)A%B*** querying acoustic contact ***:p!Bp!oIUFNOT Ignoring new targets: 339.31 m.oU9oU9 ProNav: ac range: 339.314728 m, nav range: 336.441254 m, bearing: 332.809500 deg, approach rate: -0.649215 m/s, LOS rate: 0.023286 deg/s, cmd heading: 331.849194 deg, new cmd heading: 331.878331 deg. zo:HeadingCmd: 5.792369 target range: 339.314728 and range: 340.30 m.Ro[@JoboZoBo:n2nmmlkkkk?!jK[NrK9zKK/K@,>ILC6)!A|oWG:4@^ybE)BK?:K?ɞE{PBMA^ IMaII MAxɝQiQIUi ѹď,.?A>XԱ@Y>$ϸ@>+"9>T=JAHRS rotation from veh to nav: [[0.871483,0.477375,-0.112384],[-0.485071,0.872800,-0.054089],[0.072268,0.101652,0.992192]]y>H1?O?+żh ߿?#?`??ɫ>XԱ@>";>CN:KBRHI^ZI^٥f= j\=9j߻Q j>hl nF٦nEyn; n>! Ye4Y]">?m4y]]eBim].m?]C];]3;]n4u:B)}sA}*EoFNOT Ignoring new targets: 339.31 m.o/9o/9 ProNav: ac range: 339.314728 m, nav range: 336.179810 m, bearing: 332.818835 deg, approach rate: -0.737563 m/s, LOS rate: 0.026357 deg/s, cmd heading: 331.878318 deg, new cmd heading: 331.906347 deg. zo:HeadingCmd: 5.792859 target range: 339.314728 and range: 340.30 m.Ro_@JoboZoBo:n2nmmlkkkk:@ɞ PB ~, I {ɝiI ď,Ͼ?A *2Acoustic response timeoutWKBHiIA)Mb@Mb@Mb@ )IiʡE?X9vMb?-2?<)AIAi AInId٥= 5=9Q > F٦Ey > 4YD>?4yeB 4? : - ?/C ; ; 4)9AoAMFNOT Ignoring new targets: 339.31 m.oU>9oU>9e ProNav: ac range: 339.314728 m, nav range: 335.879425 m, bearing: 332.829407 deg, approach rate: -0.689488 m/s, LOS rate: 0.024288 deg/s, cmd heading: 331.906349 deg, new cmd heading: 331.938093 deg. zoeX:mHeadingCmd: 5.793413 target range: 339.314728 and range: 340.30 m.Romc@JoiboiZoiBoq:nq2nqmqmylykykykyk@ɞPB8% 靕(I TɝiINo<)c@)YEq<EF)"F1*F12F50:F1ԉ  2Acoustic response timeoutGU <Ա jK OrK S9zK K 0K "ypsY0Q}tS)o `C oL4~ric^UNJO\eie2K rA*K G) 2B9 :BQ  O] >Ǧď,|?AN@YN̷@Ne9N=ZAHRS rotation from veh to nav: [[0.869942,0.479200,-0.116477],[-0.487466,0.871347,-0.055952],[0.074680,0.105454,0.991616]]yNH?8?wѽ 2߿ ? =??Q?ɫN@N;LnkKBn0HIvdIv@٥~R= =\=9=лQ =>AA EF٦EEyE M> IU4YM>?]4yM}MeBY]C.]?MRCM;M;M4mEB)m>AioFNOT Ignoring new targets: 339.31 m.ԙo9o9 ProNav: ac range: 339.314728 m, nav range: 335.617340 m, bearing: 332.838779 deg, approach rate: -0.690197 m/s, LOS rate: 0.024701 deg/s, cmd heading: 331.938096 deg, new cmd heading: 331.966234 deg. zo:HeadingCmd: 5.793904 target range: 339.314728 and range: 340.30 m.Rog@JoboZoBo:n2nmmlkkkk@ɞPBeZ' ֫I %Gɝ!i!I%BH H HI KBI < =I I &I I<*I E % 2Acoustic response timeout) G1 G 2B! :B1  OE >zͦď,II9?A:ٲ@Y:@:H9:)=BAHRS rotation from veh to nav: [[0.869213,0.480056,-0.118390],[-0.488473,0.870828,-0.055253],[0.076572,0.105857,0.991429]]y:H?@;?@N%C߿? ,J@>?@t?ȹ?ɫ:ٲ@:׻;:CJKBJVHIv\IvW٥Y= ;= 9Q > F٦Ey}= > )54Y->?54y-"-eB9=.=?-yC-:-;-14]PB)e,Ae+EoFNOT Ignoring new targets: 339.31 m.o9o9 ProNav: ac range: 339.314728 m, nav range: 335.320923 m, bearing: 332.849464 deg, approach rate: -0.683074 m/s, LOS rate: 0.024645 deg/s, cmd heading: 331.966236 deg, new cmd heading: 331.998320 deg. zoN:HeadingCmd: 5.794464 target range: 339.314728 and range: 340.30 m.Ro?l@JoboZoBo:n2nmmlkkkkC @ɞ5PB5p 15۫I1 =:ɝ9i9I=&9զď,hU?AHN@YN}@N8ᦽ9N:^=VAHRS rotation from veh to nav: [[0.867675,0.481780,-0.122587],[-0.490423,0.869908,-0.052400],[0.081394,0.105586,0.991073]]yNH@?`z?a@c߿@I?:Ԫ>ִ??߶?ɫN@N n;NCbKBbHj=jp=Mb@Mb@Mb@ )Ii?MbS㥛?,?/<)ƜAISAiA =AIII.٥%к= %)=9-#Q ->)1 5F٦5Ey5̦ 5> IU4YM| ??U4yM'MfBU.?U:U.(]?MCM:M:M4a)eұAjKmOrKizKiKm1KmaYSONJ?841,(%"!);]mr~ti_TH:0-+,)#!+1321/qB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 339.31 m.o9o9 ProNav: ac range: 339.314728 m, nav range: 334.998779 m, bearing: 332.859665 deg, approach rate: -0.667647 m/s, LOS rate: 0.021161 deg/s, cmd heading: 331.998311 deg, new cmd heading: 332.028941 deg. zo[h:HeadingCmd: 5.794998 target range: 339.314728 and range: 340.30 m.Rop@JoboZoBo:n2nmmlkkkku@IɞM QBU"` 靅ƪI wɝiITx time:03:56:29.1200 R#Rx 1: Read range and direction messages.`direction in FSK: [0.948207,-0.014895,-0.317305]Fpublishing direction and range infoIyM yW?M낁Hs%NԿMCYI Mh)MQgIM2]iMMAM'?MM? M!@)M'IM(@iMMQM-@MMQ> I)IM??,3?vBĿiME>M (>MMMQ> I)I 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E <E E sAԱ F5 6"F1 *F1 2F5 1:F1 JEa=JEp=H>HCH,HI7LBI; =II&I%<*IEDAT read: %JDAT read: TxSync time:03:56:29.1192 %2Acoustic response timeoutGu<Gq2B:B O ?ݦď,By?AJ@YJY@Jf9J=RAHRS rotation from veh to nav: [[0.867293,0.481837,-0.125042],[-0.490645,0.869852,-0.051234],[0.084081,0.105786,0.990828]]yJH?`k?]f߿?c;W?`?`ܴ?ɫJ@Jn;JC^KB^HIjNIj٥nU= n =9rQ r>pt vF٦vEyzD z> |4Y~ ??4y~T-~5fBJ(?~ϰC~):~:~4[B)A,EJpRp"3e?ApiCpiCp{5@v˦s@csZv yW?M낁Hs%NԿppMQ>v׏xq@Z rcYpSvzF*[?iOݿŖ;=οjprpCZp0蝊?bpO)zpp0蝊?pppCpw@AU addTargetRange:: Added new target pos. range: 337.799988 m, deltaT: 4.030011 s, deltaX: -2.500000 m, approachRate: -0.620346 m/s, rangeRepo size: 4 e Added new target pos. range: 336.825165 m, bearing: 331.615283 deg, lat: 36.779364 deg, lon: -121.859739 deg, deltaT: 4.030011 s, deltaX: -2.489563 m, approachRate: -0.617756 m/s, posRepo size: 4 oFNOT Ignoring new targets: 336.83 m.oo ProNav: ac range: 336.825165 m, nav range: 325.883759 m, bearing: 332.077095 deg, approach rate: 0.000000 m/s, LOS rate: 0.021161 deg/s, cmd heading: 332.028937 deg, new cmd heading: 332.063231 deg. zoHeadingCmd: 5.795597 target range: 336.825165 and range: 337.80 m.Rou@JoboZoBo:n2nmmlkkku@k b?ɞ5QBڥ AMqIq }ɝyiyI} $}=ig<)u@) 2Acoustic response timeout E)E)E5E5ԙFm 6"Fq *Fq 2Fu 0:Fq J J J 8J J :J V:J '4J J : F٦Ey > 4Yi9??4y2hfB'?:?C ;i ;Dʅ4mB)xA6EoFNOT Ignoring new targets: 336.83 m.o9o9 ProNav: ac range: 336.825165 m, nav range: 325.524994 m, bearing: 332.085323 deg, approach rate: -0.684895 m/s, LOS rate: 0.015725 deg/s, cmd heading: 332.063225 deg, new cmd heading: 332.087937 deg. zo,:HeadingCmd: 5.796028 target range: 336.825165 and range: 337.80 m.Roy@JoboZoBo:n2nmmlkkkkx?ɞ YQB W  _I  #ɝiI)(Q  J J @AH H H HI LBI : =I I &I <*I `E ď,X?A "2Acoustic response timeoutJ@YJy@J9J,s=VAHRS rotation from veh to nav: [[0.865735,0.482689,-0.132342],[-0.491981,0.869293,-0.047803],[0.091970,0.106495,0.990051]]yJH ?a?@`|߿?? y[?BC?~?ɫJ@J;JC^KLB^DHIf&If3٥n= nV=9n/Q r>pp rF٦rEyv9: v> x~4YzmJ??4yz6zfB   ?zCz`;zb;zЅ4)AoFNOT Ignoring new targets: 336.83 m.oh9oh9 ProNav: ac range: 336.825165 m, nav range: 325.279541 m, bearing: 332.090954 deg, approach rate: -0.615947 m/s, LOS rate: 0.014142 deg/s, cmd heading: 332.087950 deg, new cmd heading: 332.104857 deg. zoJ:HeadingCmd: 5.796323 target range: 336.825165 and range: 337.80 m.Ro{{@JoboZoBo:n2nmmlkkkk` ?1ɞeuQBe % aeKIa m-ɝiiIl+Թ ď,'ϛ?AI) F٦Eyǁ > 4Y\??4y6:fBP?:M?>Ca;u`;^؅4xB)AoFNOT Ignoring new targets: 336.83 m.JJJJJ;JmQ:JJJoL<JpL<J;J;oL 9oL 9  ProNav: ac range: 336.825165 m, nav range: 325.021576 m, bearing: 332.094264 deg, approach rate: -0.601299 m/s, LOS rate: 0.007721 deg/s, cmd heading: 332.104862 deg, new cmd heading: 332.114799 deg. zo 95HeadingCmd: 5.796497 target range: 336.825165 and range: 337.80 m.Ro5|@Jo1bo1Zo9Bo9:n92n9mAmAlAkAkAkAkM3? U2Acoustic response timeoutɞQB 4I ɝiIW=/Y ď,-$?AB@YBf@Bǽ9B=JAHRS rotation from veh to nav: [[0.866473,0.479714,-0.138199],[-0.489616,0.870636,-0.047634],[0.097470,0.108938,0.989258]]yBH%??@U߿ @?lc?T? ?ɫB@B);@RLBRHV%>V>I^NI^٥fZ= jT=9jQ j>ll nF٦nEyn; n> pv4Yr~m??z4yrp=rfBxzz?r[CrY;r;r ߅4|)~AB*** querying acoustic contact ***:pBpo)-FNOT Ignoring new targets: 336.83 m.o539o539M ProNav: ac range: 336.825165 m, nav range: 324.790100 m, bearing: 332.097125 deg, approach rate: -0.641317 m/s, LOS rate: 0.007934 deg/s, cmd heading: 332.114807 deg, new cmd heading: 332.123397 deg. zoM=9UHeadingCmd: 5.796647 target range: 336.825165 and range: 337.80 m.RoU!~@JoQboQZoQBoQ:nY2nYmYmYlakakakakm@@ɞQB, 靝sI EɝiI_2HH2HI MBI; =II&I6<*IE2I}ŋC:I}ŋCBIyJI}; =RI}; =ZI}5QQ ]2Acoustic response timeoutY)=;G U`wA)iGuLMy ď,?A4 2Acoustic response timeout@Y覸@<̽9;E=AHRS rotation from veh to nav: [[0.867026,0.477988,-0.140688],[-0.488183,0.871427,-0.047877],[0.099715,0.110192,0.988896]]yH@?`\?@¿`e>߿?Z憹?5??ɫ@(;髥C-LB5HMb@Mb@Mb@ )Ii-?~jt?X9v???<<)tAIiA AI-aI-錴٥E3S= M(=9U2Q U>yQ F٦Ey=G; > 4Y??4yAgB?:?C::4B)A7Eo1=FNOT Ignoring new targets: 336.83 m.o=o=M ProNav: ac range: 336.825165 m, nav range: 324.500275 m, bearing: 332.097075 deg, approach rate: -0.575383 m/s, LOS rate: -0.000100 deg/s, cmd heading: 332.123385 deg, new cmd heading: 332.123234 deg. zoMpUHeadingCmd: 5.796644 target range: 336.825165 and range: 337.80 m.Ro]~@JoYboYZoYBoY:nY2nYmamalakikikikm@s@ɞQBb 靥죿I 镽ɝiI5ď,?A 6@Y6x@6[н96?q=BAHRS rotation from veh to nav: [[0.868133,0.475281,-0.143013],[-0.485802,0.872715,-0.048639],[0.101692,0.111701,0.988525]]y6H`?k?@@N¿@`߿@G?=稿?u??ɫ6@6č;6CNLBN H)P PIVjIV\٥^-> b=9b̻Q b ?dd fF٦fEyf< f?jKj{"OrKj 9zKhKj4KjME70/-%##$$$$#$#   *8OdijlXH;0*)*2BLt2Kp*KrtA tz4Yv8??z4yv'Cv%gB|~~?vCvU;v;v'4B)\A8Eo)-FNOT Ignoring new targets: 336.83 m.o5bԶo5bԶE ProNav: ac range: 336.825165 m, nav range: 324.324280 m, bearing: 332.096965 deg, approach rate: -0.580230 m/s, LOS rate: -0.000363 deg/s, cmd heading: 332.123221 deg, new cmd heading: 332.122891 deg. zoE~MHeadingCmd: 5.796638 target range: 336.825165 and range: 337.80 m.RoM~@JoIboIZoIBoI:nQ2nmmlkkkk {@ɞ]QB]. Y] IY ]ɝaiaIe89 H >H H HI rMBI : =I I &I <*I E0 ď,6?A 2Acoustic response timeoutVͱ@YVȸ@VKս9V=^AHRS rotation from veh to nav: [[0.868630,0.473771,-0.144991],[-0.484382,0.873570,-0.047430],[0.104189,0.111430,0.988295]]yVH ?@BR?`¿`߿@I?@H@???ɫVͱ@V#;VCf MBf-HihIh!IMI٥5߇= 5C=95ĻQ =>99 EF٦EEyEmi; E> IU4YM??U4yMFMMgBY]]?MCM;M;Mj4i)m#Aio9EFNOT Ignoring new targets: 336.83 m.oE%oE%} ProNav: ac range: 336.825165 m, nav range: 324.084595 m, bearing: 332.096751 deg, approach rate: -0.546869 m/s, LOS rate: -0.000489 deg/s, cmd heading: 332.122893 deg, new cmd heading: 332.122251 deg. zo}ƫHeadingCmd: 5.796627 target range: 336.825165 and range: 337.80 m.Ro}@JoboZoBo:n2nmmlkkkk @ɞ5 RB5# 15I9 =əɝ9i9I=F;Ա ď,yP?Ab @Ybڸ@bڽ9b =vAHRS rotation from veh to nav: [[0.869483,0.471479,-0.147330],[-0.482334,0.874707,-0.047341],[0.106550,0.112224,0.987954]]ybH? ,?¿޿?`=F?@?`Q?ɫb @b;k;bC "MB LHy=Mb@Mb@Mb@9 9)9I9i9=n?~jt?Q?=V?===u<)9I9i9= A 9=AIeQIe٥ut^= }7=9}nQ }>y F٦Ey; >JJJ9JJu;J[O:Jc44J!@!@!@!@ 4Y??4yHqgB?:?ֱC ;e ;B4B)AoFNOT Ignoring new targets: 336.83 m.oeoe ProNav: ac range: 336.825165 m, nav range: 323.837158 m, bearing: 332.094739 deg, approach rate: -0.578737 m/s, LOS rate: -0.004710 deg/s, cmd heading: 332.122238 deg, new cmd heading: 332.116197 deg. -2Acoustic response timeoutzoNHeadingCmd: 5.796521 target range: 336.825165 and range: 337.80 m.Ro}@JoboZoBo:n2nmmlkkkk`c@ԩɞ0RBaV" AEơII U/ɝQiI?Tx time:03:56:33.0700 m R#Rx 1: Read range and direction messages.} `direction in FSK: [0.907711,-0.038044,-0.417867]} Fpublishing direction and range info y ~ ?`zwUڿ CY T) hI rFi @ j\? j D? Ƈ#@) 闾I ;*@i ܾ @ > ) =X2h?hG4?@ҿi 5> *> Q+ > )  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.G ԅ<G 2B :B  O% >ď,1 l?A!IA)AA@Y @9=AHRS rotation from veh to nav: [[0.870528,0.468415,-0.150893],[-0.479415,0.876426,-0.045146],[0.111100,0.111642,0.987519]]yH\?@?yPÿ޿` ?pq???ɫA@;}9MB}hHIqIv}٥SS= :=9*Q > F٦Ey; > 4Y[??4yKgB:?Cd;;4 ) A JpIRpM/Qg?ApMCpMCpMB@vM}5r@5sgn)#hKuavM~ ?`zwUڿpMQ+pM>vM)sq@D4b#JMhZvM7Ļ?5abܿ/3:ԿjpMIrpMCZpMp~)?bpMW\zpMQYpIpMW\pIpMCpM@ addTargetRange:: Added new target pos. range: 335.200012 m, deltaT: 4.033084 s, deltaX: -2.599976 m, approachRate: -0.644662 m/s, rangeRepo size: 4  Added new target pos. range: 334.234161 m, bearing: 331.709560 deg, lat: 36.779364 deg, lon: -121.859726 deg, deltaT: 4.033084 s, deltaX: -2.591003 m, approachRate: -0.642437 m/s, posRepo size: 4 oFNOT Ignoring new targets: 334.23 m.oo ProNav: ac range: 334.234161 m, nav range: 323.048645 m, bearing: 332.276752 deg, approach rate: 0.000000 m/s, LOS rate: -0.004710 deg/s, cmd heading: 332.116200 deg, new cmd heading: 332.109826 deg. zo HeadingCmd: 5.796410 target range: 334.234161 and range: 335.20 m.Ro 1|@Jo bo ZoBo:n2nmml!k!k!k%@3t@k%?IJHBHAAHHH,HIMBI; =II&I<*I}EɞMQRBMV&& QUIQ U}ɝQiQIU B 5 2Acoustic response timeoutX!ď,-??A0-JMB-~H5p<5=Mb@Mb@Mb@ )IiHzG? F٦ Ey >  4Ye?? 4yNgB ?:;߾?Cu ; ; 4B)A%9EEB*** querying acoustic contact ***:pABpAoQ]FNOT Ignoring new targets: 334.23 m.o]jo]jm ProNav: ac range: 334.234161 m, nav range: 322.825867 m, bearing: 332.274858 deg, approach rate: -0.556754 m/s, LOS rate: -0.004738 deg/s, cmd heading: 332.109834 deg, new cmd heading: 332.104147 deg. zomPuHeadingCmd: 5.796311 target range: 334.234161 and range: 335.20 m.Roua{@JoqboyZoyBoy:ny2nymmlkkkk@?ԉɞ pRB - I KɝiI" EjK NrK ͼ9zK K 6K ,)))Ce1$&xwY?0+9VxweRGA;73.-*#"""!*q2K sA*K rA'ď,v8?A2ٱ@Y2Ը@292C=:AHRS rotation from veh to nav: [[0.868111,0.470714,-0.157519],[-0.482433,0.874796,-0.044607],[0.116800,0.114716,0.986508]]y2H?. ?`)Ŀ`/޿T?֦? ^? y?ɫ2ٱ@2 2;0BXMBBHIJ3IJ٥R*%= Rj=9VQ V?XX ZF٦Z EyZ^4 ^? \b4Y^??b4y^P^gBdf,f?^)C^I;^f;^74jB)nAnBEo|FNOT Ignoring new targets: 334.23 m.oo ProNav: ac range: 334.234161 m, nav range: 322.638763 m, bearing: 332.273391 deg, approach rate: -0.539585 m/s, LOS rate: -0.004233 deg/s, cmd heading: 332.104151 deg, new cmd heading: 332.099748 deg. zo9HeadingCmd: 5.796234 target range: 334.234161 and range: 335.20 m.Roz@Jo!bo!Zo!Bo!:n!12n!mmlkkkk`i?ɞ5RB5e6 9=(I9 =w_ɝ9i9IeGH >H H HI NBI I I &I /<*I EJu Ju Ju :Jq Ju ;Ju Y:Ju FA4Jq Ju !jxx zF٦zEy~޻ ~>  4Yw?? 4yRgB ?ECK: :c4B)ACEoAMFNOT Ignoring new targets: 334.23 m.oMoMe ProNav: ac range: 334.234161 m, nav range: 322.418427 m, bearing: 332.271770 deg, approach rate: -0.536516 m/s, LOS rate: -0.003950 deg/s, cmd heading: 332.099753 deg, new cmd heading: 332.094886 deg. zom}-uHeadingCmd: 5.796149 target range: 334.234161 and range: 335.20 m.Rouz@JoqboqZoqBoq:ny2nymmlkkkkE?ԙɞRB2 TI vɝiIJ! h4ď,Ԝ?A:E˱@Y:Ƹ@:'9:i=FAHRS rotation from veh to nav: [[0.866799,0.473032,-0.157797],[-0.483722,0.874495,-0.035649],[0.121130,0.107230,0.986828]]y:H`Ѽ?(F?2ĿM޿?@@Z?`ts??ɫ:E˱@:{;:CNhMBNHiPIP}Mb@Mb@Mb@y y)yIyiy}oʡ?L7A`?Zd;O} ?}+=}j)}AI}Ai}Ay y}AI_ 2Acoustic response timeoutI٥< >=9NQ > F٦Ey ; > 4Y @?4yHUgBn ?:?cC::4)Ao%FNOT Ignoring new targets: 334.23 m.o%o%5 ProNav: ac range: 334.234161 m, nav range: 322.181427 m, bearing: 332.270120 deg, approach rate: -0.548837 m/s, LOS rate: -0.003823 deg/s, cmd heading: 332.094890 deg, new cmd heading: 332.089937 deg. zo='=HeadingCmd: 5.796063 target range: 334.234161 and range: 335.20 m.Ro=Yy@JoAboAZoABoI:nI2nQmYmYlYkYkakakeǛ?ɞ RB F. )58I1 57ɝ1i1I5bMԁ ;ď,#?A6ֱ@Y6и@696e=>AHRS rotation from veh to nav: [[0.867262,0.472063,-0.158156],[-0.482488,0.875271,-0.033256],[0.122730,0.105150,0.986854]]y6H?I6?p>Ŀ ޿8?=k?`?O?ɫ6ֱ@6n;6CF~MBFHIRlIR)٥Zd= Z\=9^Q ^>`` bF٦bEybg; b> dj4Yf@?j4yfWfhBlnU?f~CfHHHIRNBI: =II&I <*IsEF"F*F2F0:FJ]J]J]9JYJ]%;J],J:J]c44JYJ]K<J]K<J];J]; 2Acoustic response timeoutԁG}<Gi2By:B O>Ա u 2Acoustic response timeout/Bď,4, ?AIH)J F٦Ey ;  > 4Y,@?4yZhB?:%%?C;P;[.4))-A)UB*** querying acoustic contact ***:pQBpQaoimFNOT Ignoring new targets: 334.23 m.oumoum ProNav: ac range: 334.234161 m, nav range: 321.715271 m, bearing: 332.268539 deg, approach rate: -0.591981 m/s, LOS rate: -0.000264 deg/s, cmd heading: 332.085546 deg, new cmd heading: 332.085195 deg. zoP9HeadingCmd: 5.795980 target range: 334.234161 and range: 335.20 m.Rox@JoboZoBo:n2nmmlkkkkW@ɞ SB3 I UyɝiIG%S jK% ?OrK% S9zK! K% 8K% }pd[OIB@>=:430.+')8CFD?82(@miO9-$ -;COHď,D"?A2*@Y2@2J92=:AHRS rotation from veh to nav: [[0.868039,0.469841,-0.160491],[-0.480130,0.876671,-0.030380],[0.126424,0.103428,0.986570]]y2H@?`?Ŀr޿ ?.?;z??ɫ2*@21;2CBMBBHF8>F4<IJoIJ٥R Vd=9VŻQ V>XX ZF٦ZEyZ-y; Z> \b4Y^<@?f4y^I]^)hBdff?^C^:^-:^44jʒB)j%Aloy}FNOT Ignoring new targets: 334.23 m.o۶o۶ ProNav: ac range: 334.234161 m, nav range: 321.509125 m, bearing: 332.268400 deg, approach rate: -0.555598 m/s, LOS rate: -0.000374 deg/s, cmd heading: 332.085191 deg, new cmd heading: 332.084774 deg. zopHeadingCmd: 5.795973 target range: 334.234161 and range: 335.20 m.Rox@JoboZoBo:n2nmml k k k k@ɞ)SB 2Acoustic response timeout!!=  մI  uɝiIV)] G q  BDAT read: Rx Time:03:56:35.9182  TRx dataTimestamp_ set to:1761364596.889812  2Acoustic response timeout) I ? Ba ܂Nď,@<?A2@Y2@292=BAHRS rotation from veh to nav: [[0.868225,0.469190,-0.161389],[-0.479310,0.877186,-0.028392],[0.128247,0.102007,0.986482]]y2H?@4?hĿ`޿? gj??`C?ɫ2@2C;2CVMBZHIbWIbƕ٥j.= jG=9jXQ j>ll nF٦nEyn; r> pv4YrM@?z4yr(`r;hB|~?rزCr~b;r4T;r;4 )Ao1=FNOT Ignoring new targets: 334.23 m.o= o= M ProNav: ac range: 334.234161 m, nav range: 321.272461 m, bearing: 332.268209 deg, approach rate: -0.595733 m/s, LOS rate: -0.000480 deg/s, cmd heading: 332.084781 deg, new cmd heading: 332.084209 deg. zoUĨUHeadingCmd: 5.795963 target range: 334.234161 and range: 335.20 m.RoUx@JoYboYZoYBoY:nY2nYmamalakikikikm@ @ɞEHSBEV*? IMyII ML ɝIiIIMYy cUď,RV?A0 V@V@DAT read: 03:56:35.9182 LVL= 25072, 28865, 23314, 32755, AGC= 68, IDX= 416,-0.20, 0.163,-1.228, 0.112,-0.597, PHS= 0.847,-0.585, 0.706, RAW= 144.9, -14.1, CAL= 151.5, -22.4, ROT= 358.5, 22.4 Ygot valid direction response: 03:56:35.9182 LVL= 25072, 28865, 23314, 32755, AGC= 68, IDX= 416,-0.20, 0.163,-1.228, 0.112,-0.597, PHS= 0.847,-0.585, 0.706, RAW= 144.9, -14.1, CAL= 151.5, -22.4, ROT= 358.5, 22.4 PDAT read: Bearing 358.5, 22.4 (Local) ~Local bearing/azimuth received: Bearing 358.5, 22.4 (Local) DAT read: Range 10 to 50 : 333.0 m (Round-trip 444.1 ms) speed 0.4 m/s TDAT read: user:202>Tx time:03:56:37.0200 R#Rx 1: Read range and direction messages.`direction in FSK: [0.924229,-0.024202,-0.381070]Fpublishing direction and range infoIyM$I?glkdȘtcؿMCYI Ma)MpIM[iIMDMX?MMj4? M!@)Md{IM%:)@iM+ȾMc9@M+> I)IMʙ*})?Ajk?PϿiMH>M5{>MwּM+> I)I  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.=@Y=@=9=H=MAHRS rotation from veh to nav: [[0.868504,0.468116,-0.163001],[-0.478201,0.877838,-0.026928],[0.130482,0.101334,0.986258]]y=H?`?`4Ŀך޿??`? ?m?ɫ=@=;=C]MB]HԉMb@Mb@Mb@ )Ii~jt? rhˡE?C')AIiA^A QA) AAIdI@٥< =9Q > F٦ Ey ; > 4Y@e@?4ygdOhB?:2?CQ::E4EՒB)E AMEEJpIRpMFDY?ApMCpMCpMr@vMȈ$.s@y ;N_vM$I?glkdȘtcؿpMwּpM+>vM3Hq@DxbdUvMO?U8%ܿ~пjpMfrpMCZpM *?bpM)8)zpMpM *?pM)8)pMpMiCpMs@ addTargetRange:: Added new target pos. range: 333.000000 m, deltaT: 3.780462 s, deltaX: -2.200012 m, approachRate: -0.581943 m/s, rangeRepo size: 4  Added new target pos. range: 332.043091 m, bearing: 332.044679 deg, lat: 36.779358 deg, lon: -121.859738 deg, deltaT: 3.780462 s, deltaX: -2.191071 m, approachRate: -0.579577 m/s, posRepo size: 4 jK=I0NrK=H9zK9K=9K=IKJGB@?=;;:620/7g/j}]*K`QB0#! oIMFNOT Ignoring new targets: 332.04 m.oUoQ ProNav: ac range: 332.043091 m, nav range: 320.828003 m, bearing: 332.045578 deg, approach rate: 0.000000 m/s, LOS rate: -0.000480 deg/s, cmd heading: 332.084207 deg, new cmd heading: 332.083410 deg. zoHeadingCmd: 5.795949 target range: 332.043091 and range: 333.00 m.Rojx@JoboZoBo:n2nԹmmlkkkt@k`Ot?ɞ]uSB]51 Y]@Ia elɝaiaIeA\)\ď,Ǡt?A6a@Y6.@6\96=BAHRS rotation from veh to nav: [[0.868082,0.468575,-0.163924],[-0.478603,0.877654,-0.025745],[0.131805,0.100804,0.986137]]y6H`T?` ? wĿn޿?\?`Cι? o?ɫ6a@6iɉ;6CFMBFHilIlIvJIvKH~>H|H~HI~NBI|I|I|&I~<*I~E٥: i=9 yQ >!! %F٦%"Ey%yѺ %> )54Y-t@?=4y-7g-]hB9=Z=?-C-B:-:-0K4EߒB)EEAIoyFNOT Ignoring new targets: 332.04 m.oj8oj8 ProNav: ac range: 332.043091 m, nav range: 320.614746 m, bearing: 332.046985 deg, approach rate: -0.651550 m/s, LOS rate: 0.004301 deg/s, cmd heading: 332.083415 deg, new cmd heading: 332.087638 deg. zo<9HeadingCmd: 5.796023 target range: 332.043091 and range: 333.00 m.Roy@JoboZoBo:n2nmmlkkkk@)?ɞSBJ-4J  2Acoustic response timeoutԑ mcď,a?A:@Y:@:1 9:t =BAHRS rotation from veh to nav: [[0.867334,0.469876,-0.164159],[-0.479492,0.877261,-0.022392],[0.133489,0.098134,0.986180]]y:H3?@s?-ſ޿?햿-?S?Ȏ?ɫ:@:;:CJMBJH%Mb@Mb@Mb@! !)!I!i!%Mb?S㥫ˡE%#?%/]!)%AI%Ai%A! !%AII٥q= @=9҂Q > F٦%Ey0 > 4Y @?4y,knhB #? : 1 ??CE5;0;R41)5%A9eB*** querying acoustic contact ***:paBpaqoFNOT Ignoring new targets: 332.04 m.ovB9ovB9 ProNav: ac range: 332.043091 m, nav range: 320.342621 m, bearing: 332.051617 deg, approach rate: -0.623710 m/s, LOS rate: 0.010626 deg/s, cmd heading: 332.087650 deg, new cmd heading: 332.101558 deg. zo[9HeadingCmd: 5.796266 target range: 332.043091 and range: 333.00 m.Ro{@JoboZoBo:n2nm1m1l1k1k1k9k=@L?ɞSB@ I ɝiIb ߗiď,<?AI )"< f2Acoustic response timeoutn@Yn@nq 9n=vAHRS rotation from veh to nav: [[0.866708,0.470185,-0.166562],[-0.479987,0.877001,-0.021954],[0.135753,0.098975,0.985786]]ynH@??Qſ޿d?{[`?@pV? ?ɫn@nЊ;nC~MB~HI +I ļ٥= V=9%JĻQ %>!! %F٦-'Ey- -> 1=4Y5@?=4y5n5~hBAE^E?5^C5;5;5IY4MB)MAMFEoquFNOT Ignoring new targets: 332.04 m.oM9oM9 ProNav: ac range: 332.043091 m, nav range: 320.101257 m, bearing: 332.055762 deg, approach rate: -0.654526 m/s, LOS rate: 0.011251 deg/s, cmd heading: 332.101556 deg, new cmd heading: 332.114003 deg. zo9HeadingCmd: 5.796483 target range: 332.043091 and range: 333.00 m.Ro|@JoboZoBo:n2nmmlkkkk`K?ɞSBlP I  6ɝiI"eHH3HINBIIID&I2<*IE }2Acoustic response timeoutG<1 Gi 2Bq :B  O >Y pď,Q.?A:ױ@Y:vҸ@:*9:2$=JAHRS rotation from veh to nav: [[0.865556,0.471293,-0.169400],[-0.481313,0.876289,-0.021333],[0.138389,0.099999,0.985317]]y:Hࡲ?@)?@ſ޿ ?jؕ???ɫ:ױ@:Њ;:CRMBRHV=V> TVAI^,I^Ỵ٥bZ» fO=9fܻQ f>hh jF٦j*Eyn n> pr4YrӪ@?v4yrZrrhBtvv?rCr:r:r/`4B)ԁ J J J 9J J ;J dP:J c44J !- @!- @!- @!5 @ u 2Acoustic response timeoutwvď,=۝?A4JIԱ@YJϸ@J9JDN=VAHRS rotation from veh to nav: [[0.865193,0.471522,-0.170610],[-0.481578,0.876159,-0.020686],[0.139728,0.100059,0.985121]]yJH@?`k-?@ſ+޿ ?.?~?`?ɫJIԱ@J ;H^MB^EHUMb@Mb@Mb@Q Q)QIQiQUsh|??sh|?X9vU)?UU)UQAIUGAiUAUA QU̎AIcI#٥y= <=9bKQ > F٦,Eyu >  4Yܾ@? 4yvhB }+?: ?C::g4=B)=A9oFNOT Ignoring new targets: 332.04 m.o9o9 ProNav: ac range: 332.043091 m, nav range: 319.559296 m, bearing: 332.067480 deg, approach rate: -0.650119 m/s, LOS rate: 0.016383 deg/s, cmd heading: 332.127210 deg, new cmd heading: 332.149195 deg. zo3:HeadingCmd: 5.797097 target range: 332.043091 and range: 333.00 m.Roҁ@JoboZoBo:n2nmmlkkkk@ɞuTB}%F y}ĿIy (ɝiIlk||dm nFA"FA*FA2FI:FI 2Acoustic response timeoutGm }<Gu rAGu rA GA 2Ba :By  O >|ď,-?A6̱@Y6`Ǹ@6El96>=BAHRS rotation from veh to nav: [[0.864515,0.472192,-0.172188],[-0.482267,0.875805,-0.019622],[0.141538,0.100004,0.984869]]y6H?@e8?@A ƿ@u޿?@?ܙ?` ?ɫ6̱@6.;6CF NBFkHZHR<RHPHV>HVCHVeHIVNBITITIT&IV<*IVYE`I-kI- ٥5ם= =T=9=TQ E>II MF٦M/EyUE! U> Ye4Y]H@?e4y]z]hBam m?]ųC] :]p:]n4uB)uAuQEoFNOT Ignoring new targets: 332.04 m.o9o9 ProNav: ac range: 332.043091 m, nav range: 319.306305 m, bearing: 332.073905 deg, approach rate: -0.675608 m/s, LOS rate: 0.017171 deg/s, cmd heading: 332.149203 deg, new cmd heading: 332.168493 deg. zo<:HeadingCmd: 5.797434 target range: 332.043091 and range: 333.00 m.Ro@JoboZoBo:n2nmmlkkkk>@ɞ 2TBT ĿI ɝiIm0o  2Acoustic response timeoutI ?ď,?A- NB-Hi1I1I=p=)=a==Mb@Mb@Mb@9 9)9I9i9=V-?zGếMb=-?= ׽=)=AI=Ai=A9 9=AIeSIeQ٥u>= u8=9}Q }>yy }F٦}2Ey > 4Yk@?4yhB/?:(?CV;;Lv4)֯AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 332.04 m.o 9o 9 ProNav: ac range: 332.043091 m, nav range: 319.008362 m, bearing: 332.083237 deg, approach rate: -0.669428 m/s, LOS rate: 0.020987 deg/s, cmd heading: 332.168492 deg, new cmd heading: 332.196514 deg. zosf:HeadingCmd: 5.797923 target range: 332.043091 and range: 333.00 m.Ro@JoboZoBo:n2n m m lkkkk כ@ɞXTB3J ƿI ĽɝiIrjK ;`OrK 9zK K <K V?* ticZPE;2,.;FE?7.+01)" (/)   %4U^XK=/&2K rA*K 剧ď,{)?A2@Y2Ķ@292&=:AHRS rotation from veh to nav: [[0.863110,0.473848,-0.174670],[-0.483780,0.875030,-0.016738],[0.144910,0.098949,0.984485]]y2H? S?[ƿ?޿@>?#l?T? ?ɫ2@2X;2CBINBFH V2Acoustic response timeoutIf^If٥r]= vh=9vKQ v>xx zF٦z4Eyz[ z>  4Yr@? 4yhB)%? Ci;;y|4=B)=A9oaeFNOT Ignoring new targets: 332.04 m.om9om9ԡ ProNav: ac range: 332.043091 m, nav range: 318.770844 m, bearing: 332.090781 deg, approach rate: -0.669398 m/s, LOS rate: 0.021279 deg/s, cmd heading: 332.196523 deg, new cmd heading: 332.219174 deg. zoi:%HeadingCmd: 5.798318 target range: 332.043091 and range: 333.00 m.Ro-Ӌ@Jo)bo)Zo1Bo1:na2namimilikikikqku̪ @ɞwTBLV ſI! %.,ǽɝ!i!I%uHHHIOBIII&I<*IpEuBDAT read: Rx Time:03:56:39.8651 uTRx dataTimestamp_ set to:1761364600.924808 u2Acoustic response timeoutG<G?G ?G 2B :B  O >! ΐď,k`C?AI)<6ŷ@Y6@6d96я=BAHRS rotation from veh to nav: [[0.862605,0.474001,-0.176737],[-0.484078,0.874874,-0.016279],[0.146906,0.099597,0.984124]]y6Hu?V?@Oƿ!޿?@?.?}?ɫ6ŷ@6A;4JxNBJHIRcIR#٥Z= ZN=9ZZQ Z>\\ ^F٦^7EybҨ b> dj4YfpA?j4yffiBhj)j?f-Cf>:f:fi4p)vPAtoFNOT Ignoring new targets: 332.04 m.o%9o%95 ProNav: ac range: 332.043091 m, nav range: 318.504150 m, bearing: 332.099292 deg, approach rate: -0.676177 m/s, LOS rate: 0.021596 deg/s, cmd heading: 332.219172 deg, new cmd heading: 332.244725 deg. zo5#m:=HeadingCmd: 5.798764 target range: 332.043091 and range: 333.00 m.Ro=z@Jo9boAZoABoA:nA2nAmImIlIkIkIkQkU @ɞ TB U  ÿI  ~ɽɝiIxJ J J 8J J :J >L:J '4J  DAT read: 03:56:39.8651 LVL= 19648, 23137, 17010, 30707, AGC= 65, IDX= 415,-0.27, 0.768,-0.664, 0.718,-0.016, PHS= 0.871,-0.601, 0.731, RAW= 145.0, -14.1, CAL= 151.6, -22.4, ROT= 358.4, 22.4 ԙ  Ygot valid direction response: 03:56:39.8651 LVL= 19648, 23137, 17010, 30707, AGC= 65, IDX= 415,-0.27, 0.768,-0.664, 0.718,-0.016, PHS= 0.871,-0.601, 0.731, RAW= 145.0, -14.1, CAL= 151.6, -22.4, ROT= 358.4, 22.4  PDAT read: Bearing 358.4, 22.4 (Local)  ~Local bearing/azimuth received: Bearing 358.4, 22.4 (Local)  DAT read: Range 10 to 50 : 330.6 m (Round-trip 440.9 ms) speed 0.4 m/s  BDAT read: Tx time:03:56:40.9216  $Ping request sent. ] K|>] Y Y )Y  :publishing transmit ping time  Fpublishing direction and range infoY y] c+?ם7otcؿY YY Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y Y )Y ] G-?K6ǀI?D8ϿiY Y Y Y Y )Y 2ď,u;]?A=NB=HE=EAA mF٦m:Eym m> q}4YuA?}4yuuCiB/?:1?u[CuO;ul;u4B)8AREJpRp2[?ApҤCpҤCp@vs s@IYE!g_jK%:NrK%9zK!K%=K%!'=Ob}xh]Zjxzp_RE:42/.:KTWQE;0*!'3;BN9rKAVrBK5>:K5>vc+?ם7otcؿppvfhq@M(cVșSv\p4F?i:ݿοjprp{CZp?bphBzpp?pilBppCpv@ addTargetRange:: Added new target pos. range: 330.600006 m, deltaT: 4.030166 s, deltaX: -2.399994 m, approachRate: -0.595507 m/s, rangeRepo size: 4  Added new target pos. range: 329.645111 m, bearing: 331.448783 deg, lat: 36.779356 deg, lon: -121.859739 deg, deltaT: 4.030166 s, deltaX: -2.397980 m, approachRate: -0.595008 m/s, posRepo size: 4 oFNOT Ignoring new targets: 329.65 m.ԡoo ProNav: ac range: 329.645111 m, nav range: 317.995850 m, bearing: 332.073291 deg, approach rate: 0.000000 m/s, LOS rate: 0.021596 deg/s, cmd heading: 332.244717 deg, new cmd heading: 332.279947 deg. zoHeadingCmd: 5.799379 target range: 329.645111 and range: 330.60 m.Ro@JoboZoBo:n2nmmlkkkt@k`?ɞ=TB=aE 9EmſIA E̽ɝAiAIEk{TxSync time:03:56:40.9208 F 6"F*F2FS5:F G u<) GG! 5 vA)I Iu r} vA} BH H H HI nOBI ; =I I &I )<*I E2Ie̊C:IaBIaJIaRIaZIe̐42Bi :B  O >ޝď,b-z?AZ@YZ렸@Z9Z/=AHRS rotation from veh to nav: [[0.861067,0.475540,-0.180067],[-0.485658,0.874035,-0.014134],[0.150664,0.099621,0.983553]]yZH ݍ?`Ao?q ǿ߿?@H?`Ȁ?Cy?ɫZ@Zތ;ZC%NB%xHIEIIE.٥U_Y> Ue=Y9}V,Q }>yy }F٦ 4YD-A?4ydiB#2?zC;;Β4!B)A\EoIuFNOT Ignoring new targets: 329.65 m.o}9o}9 ProNav: ac range: 329.645111 m, nav range: 317.758331 m, bearing: 332.082349 deg, approach rate: -0.674906 m/s, LOS rate: 0.025756 deg/s, cmd heading: 332.279960 deg, new cmd heading: 332.307153 deg. zoh:HeadingCmd: 5.799854 target range: 329.645111 and range: 330.60 m.Rog@JoboZoBo:n2nmmlkkkkO?ɞ=TB=hX AEII m|ϽɝiiiImP~Ƥď, ?A "@F囱@YF@F9F=ZAHRS rotation from veh to nav: [[0.860216,0.475774,-0.183488],[-0.486593,0.873476,-0.016339],[0.152498,0.103339,0.982886]]yFH`?`s?|ǿ`X$߿?I?pt?s?ɫF囱@FF;FCb OBbHMe@e eMb@Mb@Mb@a a)aIaiaev/?v/~jt?ex)?exeD<)aIe=Aie1AeA ae)y }@AI}+I}ļ٥= G=9VQ > F٦?EyG >Ա 4Y>A?4yiB+?:00?C3;{:4+B)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 329.65 m.o>9o>9 ProNav: ac range: 329.645111 m, nav range: 317.492188 m, bearing: 332.092133 deg, approach rate: -0.630384 m/s, LOS rate: 0.023195 deg/s, cmd heading: 332.307145 deg, new cmd heading: 332.336522 deg. zo~:HeadingCmd: 5.800366 target range: 329.645111 and range: 330.60 m.Ro@JoboZoBo!:n!JUJUJQJQJU:JUmQ:JQJQ2n)mamalakikkk`?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞUBVRP MI -¾ѽɝ)i1I5ʀK ')(0|m0r*qQH N = s7-zU7_K_2K *K oAGE 2D<G 2B! 9 :B9  OM >e DAT read: e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247276ď,뭞?AV@YV݄@V9Vo=^AHRS rotation from veh to nav: [[0.858854,0.477252,-0.186013],[-0.488293,0.872535,-0.015876],[0.154726,0.104464,0.982419]]yVH`{?M?Dǿ 3@߿?A`?@ ? o?ɫV@Vc;VCfCOBfHI%*I%٥u > uL=9}Q }>yy F٦AEy > 4Y.PA?4yiB0?C;;45B)PA]EoFNOT Ignoring new targets: 329.65 m.o%9o%95 ProNav: ac range: 329.645111 m, nav range: 317.232361 m, bearing: 332.101810 deg, approach rate: -0.682840 m/s, LOS rate: 0.025454 deg/s, cmd heading: 332.336514 deg, new cmd heading: 332.365571 deg. zo5:=HeadingCmd: 5.800874 target range: 329.645111 and range: 330.60 m.Ro= @Jo9bo9ZoABoA:nA2nAmImIlIkIkQkQkUw?ɞ}$UB}Y 靅"I 2ӽɝiIe ԑ رď,MǞ?A:}@Y:zx@:i!9:=FAHRS rotation from veh to nav: [[0.857806,0.478352,-0.188011],[-0.489415,0.871929,-0.014540],[0.156977,0.104488,0.982059]]y:H%s?S? ȿ`R߿?VǍ ?`?`m?ɫ:}@:Ҍ;:C^OB^AHIfdIf@٥V'> D=9Q > F٦DE%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751171yQm 5> Ye4Y]bA?e4y]ܟ]iBqi)1?]C];]A;]q4)ĭAoFNOT Ignoring new targets: 329.65 m.o 9o 95 ProNav: ac range: 329.645111 m, nav range: 316.953033 m, bearing: 332.112315 deg, approach rate: -0.563403 m/s, LOS rate: 0.021206 deg/s, cmd heading: 332.365584 deg, new cmd heading: 332.397124 deg. zo=h:ԡHeadingCmd: 5.801424 target range: 329.645111 and range: 330.60 m.RoD@JoboZoBo:n2nmmlkkkk `J?ɞRUBUE 靽&I  ׽ɝiI%ZƸď,?AI)< k@Y 8@ |#9 =AHRS rotation from veh to nav: [[0.859286,0.474730,-0.190417],[-0.486134,0.873749,-0.015405],[0.159064,0.105805,0.981582]]y HF?a?`_ȿ߿?3\??`i?ɫ k@ K; IUOBU|HMM Mb@Mb@Mb@ )IiK7A?J +:v? "?Ƚ<)AIAi AI]It٥-= -0=9-Q ->11 5F٦5GEy5< => AU4YEmuA?U4yEEjB]$?]:],]?ECE-;E%;EU4e?B)mAijKKPrKzKK?KNhC#BK?:K>o  FNOT Ignoring new targets: 329.65 m.oV9oV9E ProNav: ac range: 329.645111 m, nav range: 316.673370 m, bearing: 332.121926 deg, approach rate: -0.712704 m/s, LOS rate: 0.024516 deg/s, cmd heading: 332.397112 deg, new cmd heading: 332.425972 deg. zoE:MHeadingCmd: 5.801928 target range: 329.645111 and range: 330.60 m.RoMd@JoIboIZoIBoQ:nQ2nQmYmYlykykykk@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254833ɞrUB7W I 1ٽɝiI;HA HE &IIE bPBIA IA IA &IE V<*IE EG u ;Gq 2By :B  O > U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506743J羧ď,{?AN@YNȧ@N$9N =ZAHRS rotation from veh to nav: [[0.860172,0.472551,-0.191832],[-0.484203,0.874806,-0.016201],[0.160160,0.106822,0.981294]]yNH?`F>?ȿ/޿ h??@X?f?ɫN@NX;NCbOBbHIjlIj)٥rl0> vc=9vIQ v>tx zF٦zIEyz; z> |4Y~cA? 4y~@~FjB  !, ?~%C~:~:~4) AoIMFNOT Ignoring new targets: 329.65 m.oU9oU9e ProNav: ac range: 329.645111 m, nav range: 316.450378 m, bearing: 332.129516 deg, approach rate: -0.648099 m/s, LOS rate: 0.022073 deg/s, cmd heading: 332.425963 deg, new cmd heading: 332.448747 deg. zoear:mHeadingCmd: 5.802325 target range: 329.645111 and range: 330.60 m.Rom@JoiboiZoiBoi:nq2nqmqmylykykykk"@ɞUBi[ 靽I ۽ɝiIɼԙ $ŧď,a?A6=ñ@Y6 @6%96b=BAHRS rotation from veh to nav: [[0.861340,0.469700,-0.193585],[-0.481784,0.876107,-0.017940],[0.161174,0.108719,0.980919]]y6H??@cȿ`޿ ?^]?Ի?@c?ɫ6=ñ@6H;6CN9PBN I5Mb@Mb@Mb@1 1)1I1i15x?Dl~jt?5K?5O5<)1I5߂Ai5ԀA5A 15AIhI٥> ?=9}Q > F٦LEy; > 4YmA?4y%wjBr?:!?ECY;^;4IB)A^EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 329.65 m.o 9o 9%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0117215 ProNav: ac range: 329.645111 m, nav range: 316.202423 m, bearing: 332.136104 deg, approach rate: -0.579219 m/s, LOS rate: 0.015402 deg/s, cmd heading: 332.448748 deg, new cmd heading: 332.468528 deg. zo5):=HeadingCmd: 5.802670 target range: 329.645111 and range: 330.60 m.Ro=z@Jo9bo9ZoABoA:nA2nAmImIlIkIkIkQkUA@qɞUBQM 靅nI [ݽɝiIԆ1$!!.7.{rkmw|zri\PGC<873--*)(2K*KtAG 2B :B  O > BDAT read: Rx Time:03:56:43.7764  TRx dataTimestamp_ set to:1761364604.701708 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263774 ˧ď,VH2?A &@$B۱@YBո@B&9B>W=NAHRS rotation from veh to nav: [[0.862621,0.466568,-0.195446],[-0.479210,0.877464,-0.020369],[0.161993,0.111230,0.980503]]yBH? >?_ɿb޿.?۔`1?y?G`?ɫB۱@B4;BCRPBR;IIbVIb٥rH> rW=9rQ r>tt vF٦vNEy~; ~>  4YA? 4yjB  !?aCL:;Ć4)AoAEFNOT Ignoring new targets: 329.65 m.oM9oM9] ProNav: ac range: 329.645111 m, nav range: 315.981873 m, bearing: 332.141857 deg, approach rate: -0.580314 m/s, LOS rate: 0.015147 deg/s, cmd heading: 332.468528 deg, new cmd heading: 332.485799 deg. zo]S&:eHeadingCmd: 5.802972 target range: 329.645111 and range: 330.60 m.Roe@JoaboaZoaBoi:ni2nimimqlqkqkykyk}D @ɞUBsQ 靭I [߽ɝiI߇! ҧď,bL?ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769416M@YMe@MH'9M9=AHRS rotation from veh to nav: [[0.864250,0.462967,-0.196810],[-0.476048,0.879133,-0.022432],[0.162637,0.113078,0.980185]]yMH@?@>?1ɿ w޿ !?I? ?]?ɫM@M@;IPBXII=LYI=٥ּ= &=9eQ > F٦REy; > E4YQA?E4y jBAE, E?C5<]<b͆4U[B)UAUhEoFNOT Ignoring new targets: 329.65 m.o9o9 ProNav: ac range: 329.645111 m, nav range: 315.696075 m, bearing: 332.149136 deg, approach rate: -0.559628 m/s, LOS rate: 0.014268 deg/s, cmd heading: 332.485795 deg, new cmd heading: 332.507655 deg. zo:HeadingCmd: 5.803353 target range: 329.645111 and range: 330.60 m.Ro@JoboZoBo:n2nmmlkkkkOZ@ɞVBV3E ϩI YɝiIڈE>yF6"F*F2Fq5:FG= GR=eDAT read: 03:56:43.7764 LVL= 23392, 22929, 19090, 32755, AGC= 64, IDX= 291,-0.33,-1.269,-2.590,-1.207,-2.043, PHS= 0.862,-0.499, 0.833, RAW= 149.0, -17.4, CAL= 154.9, -24.8, ROT= 355.1, 24.8 uYgot valid direction response: 03:56:43.7764 LVL= 23392, 22929, 19090, 32755, AGC= 64, IDX= 291,-0.33,-1.269,-2.590,-1.207,-2.043, PHS= 0.862,-0.499, 0.833, RAW= 149.0, -17.4, CAL= 154.9, -24.8, ROT= 355.1, 24.8 PDAT read: Bearing 355.1, 24.8 (Local) ~Local bearing/azimuth received: Bearing 355.1, 24.8 (Local) DAT read: Range 10 to 50 : 337.9 m (Round-trip 450.6 ms) speed 0.2 m/s TDAT read: user:204>Tx time:03:56:44.8701 JDAT read: TxSync time:03:56:44.8693 R#Rx 1: Read range and direction messages.`direction in FSK: [0.904460,-0.077539,-0.419452]Fpublishing direction and range info1y55U?cٳKsMڿ5CY1 5`[)5YI5Ji55@5\?5|5}?U? 5Bo&@)5|I5c-@i5kݾ5DS@5k> 1)15Keˮ`?8j?DΉ,ӿi5XD?5ě>5%5k> 1)1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩ G u<G 2B :B  O > ٧ď,e?A6@Y6 @6'96[=<FAHRS rotation from veh to nav: [[0.865515,0.460295,-0.197515],[-0.473540,0.880467,-0.023196],[0.163228,0.113608,0.980025]]y6HL?yu?)HɿzN޿,?`?@c?`^\?ɫ6@60;6CJPBJyIMb@Mb@Mb@ )IiB`"?{Gz~jt??#<)AIiA I-YI-٥U[> ]a=9evغQ e>qq uF٦uTEyu6< }> 4YqA?4y鶼kBL?:?C;x;ӆ4)AjK )OrK9zKKAK$##" #"#=o_XTqd ' O%{ {]&.l(4&lYJpYRp]y>]?Ap]vCp]vCp]"@v]z s@] :q`av]5U?cٳKsMڿp]%p]k>v]w&Fzq@Nadx.TVv]m3?_(߿LϿڈlѿjp]$rp]ҋCZp]YMӝ?bp]&zp]p] *?p]O)pYp]Cp]&A@DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271375ԩ addTargetRange:: Added new target pos. range: 337.899994 m, deltaT: 4.031980 s, deltaX: 7.299988 m, approachRate: 1.810522 m/s, rangeRepo size: 4  Added new target pos. range: 336.926056 m, bearing: 329.605522 deg, lat: 36.779358 deg, lon: -121.859772 deg, deltaT: 4.031980 s, deltaX: 7.280945 m, approachRate: 1.805799 m/s, posRepo size: 4 oFNOT Ignoring new targets: 336.93 m.o o!5 ProNav: ac range: 336.926056 m, nav range: 317.113129 m, bearing: 331.696882 deg, approach rate: 0.000000 m/s, LOS rate: 0.014268 deg/s, cmd heading: 332.507652 deg, new cmd heading: 332.523899 deg. zo1=HeadingCmd: 5.803637 target range: 336.926056 and range: 337.90 m.Ro=e@Jo9bo9Zo9Bo9:nA2nAmAmIlIkIkIkM`fu@kU@n?ɞ%VBpP {I yɝiI=i%@<)%e@))F6"F*F2Fp5:FHHHIIQBIII&I<*IYE G e<J C=J J J J J J :J [O:J J J =<J =<J %;J %;E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522781G 2B :B!  O- >L5ߧď,?Aj@Yjj@jɦ)9jT{=lAHRS rotation from veh to nav: [[0.866117,0.457945,-0.200318],[-0.471850,0.881313,-0.025384],[0.164918,0.116505,0.979402]]yjH;?N?ɿ 2޿3?5 ?Lӽ?CW?ɫj@j܌;hQBII-AI-E٥== =_=9=/Q E>AA EF٦EVEyMI; M> Q]4YUA?]4yUƹU*kBY]De?UCU8;UU;Uچ4meB)mxAmiEoFNOT Ignoring new targets: 336.93 m.o"9o"9 ProNav: ac range: 336.926056 m, nav range: 316.913666 m, bearing: 331.699819 deg, approach rate: -0.603166 m/s, LOS rate: 0.008885 deg/s, cmd heading: 332.523908 deg, new cmd heading: 332.532722 deg. zo!9HeadingCmd: 5.803791 target range: 336.926056 and range: 337.90 m.Ro%@Jo!bo!Zo!Bo!:n)2n)m)m)l1k1kQkQk]G?ɞBVB"Y 靭I AɝiI^a ď,?A:/@Y:*@:p*9:'=JAHRS rotation from veh to nav: [[0.866970,0.456324,-0.200330],[-0.469957,0.882365,-0.023934],[0.165843,0.114897,0.979436]]y:H`7?@h4?jɿ޿T F٦YEyG; > 4YA?4yQkB?:*?ֵC:] ;k4)-A checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028307B*** querying acoustic contact ***:pBpo!-FNOT Ignoring new targets: 336.93 m.o-O8o-O8= ProNav: ac range: 336.926056 m, nav range: 316.693695 m, bearing: 331.701018 deg, approach rate: -0.520204 m/s, LOS rate: 0.002839 deg/s, cmd heading: 332.532732 deg, new cmd heading: 332.536334 deg. zoEh8EHeadingCmd: 5.803854 target range: 336.926056 and range: 337.90 m.RoE,@JoAboIZoIBoI:nI2nImQmQlQkYkYkYk]`/T?ɞfVB.Q 靝gI  Gď,~?AnH@YnNC@n*9nC=zAHRS rotation from veh to nav: [[0.868334,0.454009,-0.199682],[-0.467316,0.883799,-0.022704],[0.166171,0.113029,0.979598]]ynHc?@z?@/ɿݿH??E?t?@X?ɫnH@n-ɋ;nChQBII(Im٥% > -S=95?aQ 5>AA EF٦M[EyMv; M>ԙ Q4YUA?4yUYUukBd?UCU.I-Cm ProNav: ac range: 336.926056 m, nav range: 316.489075 m, bearing: 331.702024 deg, approach rate: -0.512223 m/s, LOS rate: 0.002519 deg/s, cmd heading: 332.536338 deg, new cmd heading: 332.539357 deg. H>HH,II RBIII&I<*I}E2Ii:ImŠCBIiJIm; =RIm; =ZImF3)EG ]vA)qzouH8I vABHeadingCmd: 5.803906 target range: 336.926056 and range: 337.90 m.Ro@JoboZoBo:n2nmmlkkkk>?ɞUVB]fTK Y]줿IY ]ɝYiaIexٌ.ď,Y͟?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782769z^@YzY@zf*9zX_=%AHRS rotation from veh to nav: [[0.869686,0.452023,-0.198296],[-0.464983,0.885051,-0.021816],[0.165641,0.111177,0.979899]]yzHx??aɿ@HݿUR?V3?v?U[?ɫz^@zً;zC5QB5II%dI%@٥[= 5=9:Q > F٦^Ey; >  4YB?-4y¼kB)--?C`;;49)=A9oFNOT Ignoring new targets: 336.93 m.o$,8o$,8  ProNav: ac range: 336.926056 m, nav range: 316.230927 m, bearing: 331.703166 deg, approach rate: -0.531137 m/s, LOS rate: 0.002352 deg/s, cmd heading: 332.539344 deg, new cmd heading: 332.542772 deg. zo 8HeadingCmd: 5.803966 target range: 336.926056 and range: 337.90 m.Ro@JoboZoBo:n2nmmlk!!kAkAkER?ɞVBUO 靍ΦI 3ɝiI_ď,?R?A6p@Y6k@6^*96 =BAHRS rotation from veh to nav: [[0.870714,0.450395,-0.197487],[-0.463067,0.886079,-0.020829],[0.165608,0.109586,0.980084]]y6H`?C? EGɿݿZ?QT2? ?`\?ɫ6p@6RY;4NQBRIIV=)TMb@Mb@Mb@ )IiuV? F٦aEy+; ? 4YB?4yļkB?:?(C::4yB)AjEoFNOT Ignoring new targets: 336.93 m.o%_9o%_95 ProNav: ac range: 336.926056 m, nav range: 316.054413 m, bearing: 331.702340 deg, approach rate: -0.540660 m/s, LOS rate: -0.002532 deg/s, cmd heading: 332.542759 deg, new cmd heading: 332.540279 deg. zo5r޸=HeadingCmd: 5.803923 target range: 336.926056 and range: 337.90 m.Ro=@Jo9bo9ZoABoA:nAI2nAmImQlQkQkQkQk]@@ɞVB_  %I  (ɝ i I HHqII}RBIII&I<*IiEBKe ?:Ke ?G |<G ?G @?G J J J 8J J ;J Y:J '4J J A<J A<J ;J ;2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538795 Bď,3?AV@YV|@Vm*9V&=^AHRS rotation from veh to nav: [[0.871629,0.448956,-0.196729],[-0.461267,0.887050,-0.019352],[0.165820,0.107613,0.980267]]yVHa??h.ɿeݿ`b?ѓ9?`~?X^?ɫV@Vʗ;VCfQBfIInaIn錴٥v= vY=9zQ z>x| ~F٦cEy B;  > 4Y"B?4y+ǼkB%?AC;/;B4))-RA)oQ]FNOT Ignoring new targets: 336.93 m.o]Co]Cm ProNav: ac range: 336.926056 m, nav range: 315.854767 m, bearing: 331.701332 deg, approach rate: -0.528887 m/s, LOS rate: -0.002671 deg/s, cmd heading: 332.540273 deg, new cmd heading: 332.537248 deg. zomuHeadingCmd: 5.803870 target range: 336.926056 and range: 337.90 m.RouM@JoqboyZoyBoy:n2nmmlkkkk @ɞVB(Y I 4ɝiI(kď,y?A ID)FII MF٦MfEyM U> Ym4Y]4B?m4y]ɼ]kBu ?u:u,u?]`C]m;]k;] 4B)YAkEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 336.93 m.ovov ProNav: ac range: 336.926056 m, nav range: 315.614777 m, bearing: 331.699824 deg, approach rate: -0.536129 m/s, LOS rate: -0.003371 deg/s, cmd heading: 332.537240 deg, new cmd heading: 332.532713 deg. zoHeadingCmd: 5.803791 target range: 336.926056 and range: 337.90 m.Ro@JoboZoBo:n2nmmlkkkk_w@qɞ WB-Q ݨI ^ɝiI?" ď,i4?APj@Yjݑ@j<+9j= AHRS rotation from veh to nav: [[0.872734,0.447282,-0.195638],[-0.458946,0.888313,-0.016413],[0.166446,0.104111,0.980539]]yjHo?`E?@ ɿ]_ݿm?ΐN? ? `?ɫj@jC;jC=QB=IIMfIM{٥]$= ]Z=9e ޺Q e>aa mF٦mhEym; m> q4Yu3DB?4yuO̼ulB?uzCH=>H=CH=II=RBI9I9I9&I=<*I=DEuTLď,TtP?AC$f?(-R? S$@)ϢvI9>,@i¾Y@> )f^??v9NοiX>qMw>i > )*:publishing transmit ping timeI.Fpublishing direction and range infoy-R? $Eh% ~}׿Y )Ii )Ii )f^??v9Nοi )Q@Y@Qb+9.=AHRS rotation from veh to nav: [[0.873175,0.446745,-0.194898],[-0.458055,0.888800,-0.014855],[0.166589,0.102245,0.980711]]yH ?w?hȿPݿ q?lR?`,?@a?ɫQ@X;CQB$IMb@Mb@Mb@ )IiQ?!) -F٦-lEy-z: -> 1m4Y5\B?m4y5dм5 lBu?u:uu?yJc44JJ(.JJJ9JJ:J,J:Jc44J!@!@!@!@5C5<5ǘ<54B)QAuE%\DAT read: user:205>TxSync time:03:56:48.7708 JpRp+O?ApzCpzCp@v\̊r@B6~6~u+^v-R? $Eh% ~}׿pi p>vm\6NFq@I ;uc=Qvdk7?phE6޿3PJ˿jprp2CZp0W?bp zpݏp?phBppCpb(@ addTargetRange:: Added new target pos. range: 325.899994 m, deltaT: 3.780119 s, deltaX: -12.000000 m, approachRate: -3.174503 m/s, rangeRepo size: 4  Added new target pos. range: 324.958282 m, bearing: 330.609407 deg, lat: 36.779356 deg, lon: -121.859783 deg, deltaT: 3.780119 s, deltaX: -11.967773 m, approachRate: -3.165978 m/s, posRepo size: 4 oFNOT Ignoring new targets: 324.96 m.oo ProNav: ac range: 324.958282 m, nav range: 315.327057 m, bearing: 331.523676 deg, approach rate: 0.000000 m/s, LOS rate: -0.003239 deg/s, cmd heading: 332.528634 deg, new cmd heading: 332.523040 deg. zoHeadingCmd: 5.803622 target range: 324.958282 and range: 325.90 m.RoE@JoboZoBo:n2nmmlk k k-`f^t@k5Gn?ɞ{WB+Q 靅I ɝiIgǓ#  @2K8*K8:@Y:y@:,9:=FAHRS rotation from veh to nav: [[0.873269,0.446684,-0.194613],[-0.457648,0.889038,-0.013004],[0.167209,0.100420,0.980794]]y:H?@z?ȿJݿs?ߡg?#?b?ɫ:@:;:CHN%RBR;IIV2IV٥^= bx=9bQ b?dd fF٦fnEyf,: f? hn4YjtjB?r4yjҼj/lBprr?jCj:j:j4t)zAxoFNOT Ignoring new targets: 324.96 m.o5jo5j ProNav: ac range: 324.958282 m, nav range: 315.142456 m, bearing: 331.523427 deg, approach rate: -0.592260 m/s, LOS rate: -0.000800 deg/s, cmd heading: 332.523033 deg, new cmd heading: 332.522285 deg. zo HeadingCmd: 5.803609 target range: 324.958282 and range: 325.90 m.Ro*@JoboZoBo:n2nmm)l)k1k9k9kE%?ɞWB9l 靵hI ɝiI HIHMIIMSBIM: =IIIMD&IM<*IM4EF}6"F*F2Fp5:FG@o=G 2B :B  O > "ď,2?Ar@Yr@r*K-9r*m=AHRS rotation from veh to nav: [[0.872542,0.447681,-0.195582],[-0.458588,0.888568,-0.011979],[0.168425,0.100144,0.980614]]yrH@?̦?ɿYݿ&o?`??0a?ɫr@rt;rC=5RB=EII]_I]٥mM= m@=9ma>Q m>qq uF٦}qEy}6 }> 4Y'|B?4yռBlBK?ڶCS;U; #4B) AoFNOT Ignoring new targets: 324.96 m.oz@oz@ ProNav: ac range: 324.958282 m, nav range: 314.904297 m, bearing: 331.523158 deg, approach rate: -0.580632 m/s, LOS rate: -0.000657 deg/s, cmd heading: 332.522296 deg, new cmd heading: 332.521487 deg. zoHeadingCmd: 5.803595 target range: 324.958282 and range: 325.90 m.Ro @JoqboyZoyBoy:ny2nymmlkkkk ^,?ɞWB'` I >ɝiIZeJ J J 8J J ;J =:J '4J Ga 2Bi :B ԁ  O >(ď,^g?A6@Y6g@6/96S#=BAHRS rotation from veh to nav: [[0.872214,0.447993,-0.196327],[-0.458599,0.888590,-0.009751],[0.170086,0.098541,0.980490]]y6H-? ?@>!ɿ YݿSo?z]?9?,`?ɫ6@6f;4JMRBJSIYuMb@Mb@Mb@q q)qIqiqul?I +)\(u?u94uGa)uAIu~AiuxAuA quzAI%I´٥a= G=9\Q > F٦tEy3ҹ > 4YB?4yؼTlB?:i ?C:E:9*4)ܩAB*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 324.96 m.o 8o8% ProNav: ac range: 324.958282 m, nav range: 314.660492 m, bearing: 331.525444 deg, approach rate: -0.593078 m/s, LOS rate: 0.005565 deg/s, cmd heading: 332.521476 deg, new cmd heading: 332.528339 deg. zo%ot9-HeadingCmd: 5.803714 target range: 324.958282 and range: 325.90 m.Ro-@Jo)bo)Zo)Bo):n)2n1m1m9l9k9k9k9kE@L{?ɞmWBmBe q}Iy }3ɝyiyI}HM >HM CHM IIM \SBIM = =II IM D&IM <*IM :E F.ď,C?A J@JBBA>@Y>@>/9>l=JAHRS rotation from veh to nav: [[0.871999,0.448269,-0.196653],[-0.458713,0.888543,-0.008601],[0.170879,0.097707,0.980435]]y>H@k?n?+ɿ[ݿn?2 ^?Q? _?ɫ>@>zI;>CR]RBR]IIZYIZ٥b`*= bY=9fX Q f>hh jF٦nvErDAT read: vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752888yv v> x~4YzB?~4yzܼzelB| ?zCzj;zU;z04 B) AvEo1=FNOT Ignoring new targets: 324.96 m.o=i8o=i8U ProNav: ac range: 324.958282 m, nav range: 314.435455 m, bearing: 331.527569 deg, approach rate: -0.596756 m/s, LOS rate: 0.005639 deg/s, cmd heading: 332.528333 deg, new cmd heading: 332.534713 deg. zo]w9eHeadingCmd: 5.803826 target range: 324.958282 and range: 325.90 m.Roe@JoaboaZoaBoa:na2namimilikqkqkqku`?ɞXB%i 靥)I ZɝiIg I X5ď,n4ؠ?Avl@Yv9@vD 09v=~AHRS rotation from veh to nav: [[0.872278,0.447891,-0.196278],[-0.458113,0.888861,-0.007588],[0.171065,0.096537,0.980519]]yvH`?>?@ɿ@Qݿ@q?t??`i`?ɫvl@vU;vC mRB hIMb@Mb@Mb@ )IiGz?{GzJ +p?ףH)ƍAI}AiduAA ̆AI^I٥n= 9=9AQ > F٦yEy: > 4YB?4y {lBB?:?9Ce;;84 B)AwEoI]FNOT Ignoring new targets: 324.96 m.o]9o]9 ProNav: ac range: 324.958282 m, nav range: 314.165558 m, bearing: 331.532884 deg, approach rate: -0.612809 m/s, LOS rate: 0.012080 deg/s, cmd heading: 332.534727 deg, new cmd heading: 332.550687 deg. zo:HeadingCmd: 5.804104 target range: 324.958282 and range: 325.90 m.Ro9@Jobo!ZoABoA:nA2nAmImIlIkIkQkQkUT@JJJJJ:J::JJɞ3XB` checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256664I ɝiI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508264ԙ 6;ď,?AJ@YJҘ@Jw09JJ=jK^NrK^ͼ9zK\K^GK^}iWI=5%" \'%M yD =jAHRS rotation from veh to nav: [[0.872315,0.447615,-0.196743],[-0.457780,0.889038,-0.007022],[0.171768,0.096190,0.980430]]yJH??.ɿ`DLݿ`r?B|?`?_?ɫJ@J;HnRBrIIzOIzݜ٥= Z=9Q >    F٦ {Ey ]: > %4YB?%4ylB!%%?WCT ;: ?41)5A1oY]FNOT Ignoring new targets: 324.96 m.oe_9oe_9u ProNav: ac range: 324.958282 m, nav range: 313.934601 m, bearing: 331.537429 deg, approach rate: -0.620777 m/s, LOS rate: 0.012223 deg/s, cmd heading: 332.550682 deg, new cmd heading: 332.564325 deg. zou7:}HeadingCmd: 5.804342 target range: 324.958282 and range: 325.90 m.Ro},@JoyboyZoyBoy:n2nmmlkkkk@ɞRXBDs 靽뷿I  ɝiI_ HCHIISBI@ =I6DID&IP<*I}E2IÉC:IÇCBIÖCJIRI< =ZI$6F1"F1*F12F5^1:F1IE?M`wAMc Bԡ-PExceeded connect timeout, disconnecting.JR=JR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760325Ge;=GI 2BQ :Ba  Ou > Bď, ?A2@Y2d@2192=BAHRS rotation from veh to nav: [[0.872344,0.447322,-0.197278],[-0.457446,0.889213,-0.006518],[0.172507,0.095930,0.980326]]y2H >??j@ɿFݿot?z ?⎸?`^?ɫ2@2Ϫ;0FRBFIIRMIR٥V߮= ZP=9ZQ Z>X\ ^F٦^~EyEH: E> IU4YM|B?U4yMeMlBQUU?MwCM ;M ;M6F4eB)e}AaoFNOT Ignoring new targets: 324.96 m.o]9o]9 ProNav: ac range: 324.958282 m, nav range: 313.681671 m, bearing: 331.542400 deg, approach rate: -0.614210 m/s, LOS rate: 0.012081 deg/s, cmd heading: 332.564315 deg, new cmd heading: 332.579240 deg. zo:HeadingCmd: 5.804603 target range: 324.958282 and range: 325.90 m.RoN@JoboZoBo:n2nmmlkkkk@ɞ-zXB5Qi 15I1 =Sɝ9i9I=e F٦Ey > 4Y,B?4ylB!?:'?Cs:o7;M4)KA B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 324.96 m.o9o9 ProNav: ac range: 324.958282 m, nav range: 313.420715 m, bearing: 331.549902 deg, approach rate: -0.592496 m/s, LOS rate: 0.017049 deg/s, cmd heading: 332.579232 deg, new cmd heading: 332.601759 deg. zo6;:HeadingCmd: 5.804996 target range: 324.958282 and range: 325.90 m.Ro¹@JoboZoBo:n2nmmlkkk k  @QɞXBL)i 靝I ɝiIH }CH ?II SBI H =I I D&I F<*I 8EG 2B :B  O > % nManaging dock network, ignoring radio surface power off(Oď,??AGݿct?utB?c?T]?ɫFD@F;FC\^Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768958-RB-IImfIm{٥= I=9Q > F٦Eyp: >  4Y}B?4ylB%&%?CA;;T4MÓB)UA]xEoq}FNOT Ignoring new targets: 324.96 m.o}k9o}k9ԩ ProNav: ac range: 324.958282 m, nav range: 313.165222 m, bearing: 331.557241 deg, approach rate: -0.594668 m/s, LOS rate: 0.017094 deg/s, cmd heading: 332.601772 deg, new cmd heading: 332.623804 deg. zo;:HeadingCmd: 5.805380 target range: 324.958282 and range: 325.90 m.RoŹ@JoboZoBo:n2nmmlkkkk@ɞXB lk  I  oɝ i I Tx time:03:56:52.7202 R#Rx 1: Read range and direction messages.`direction in FSK: [0.888264,-0.109065,-0.446198] Fpublishing direction and range infoiyml?#i뻿Hܿm CYi m A)mQIm:imsgmDmG?mm? mV)@)m@Im^/@imh쾉m'@mh> i)im#}2?YY?'eZiտim2 ?m>m5mh> i)iE T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.! G V<G 2B :B  Om >:&Vď,Y?AtI)< @Yؙ@449=AHRS rotation from veh to nav: [[0.871792,0.447343,-0.199656],[-0.457367,0.889266,-0.004615],[0.175483,0.095340,0.979855]]yH`?E?Tɿ@Eݿ@t?br8v?`,h?@Z?ɫ @<;髍CE+SBEIMb@Mb@Mb@ )IJDAT read: TxSync time:03:56:52.7194 DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273898i}?5^I?K7M"?I ̼)IirA;A …AIeI]٥= )=9)ZQ > F٦Eyn > 4Yk C?4ylB ,&? : >1 ?C]:: ]4˓B)5֨A=EJpqRpuP7Q?ApuCpuCpui@vu}r@ 늭)BSc(疓bvul?#i뻿Hܿpu5puh>vuh+mp@z4!dÅJXvu?k hҿjpu&rpuCZpuܗZ?bpuhzpu~1pqpu pqpuCpu @% addTargetRange:: Added new target pos. range: 334.100006 m, deltaT: 4.031944 s, deltaX: 8.200012 m, approachRate: 2.033762 m/s, rangeRepo size: 4 e Added new target pos. range: 333.063416 m, bearing: 328.400110 deg, lat: 36.779356 deg, lon: -121.859843 deg, deltaT: 4.031944 s, deltaX: 8.105133 m, approachRate: 2.010230 m/s, posRepo size: 4 oamFNOT Ignoring new targets: 333.06 m.oo ProNav: ac range: 333.063416 m, nav range: 315.435822 m, bearing: 330.717007 deg, approach rate: 0.000000 m/s, LOS rate: 0.017094 deg/s, cmd heading: 332.623792 deg, new cmd heading: 332.647225 deg. zoHeadingCmd: 5.805789 target range: 333.063416 and range: 334.10 m.Roɹ@JoboZoBo:n2nmmlk k kt@k@ZG?ɞXB6cg  8I  bɝiI9 (]ď,.w?A2Ӛ@Y2@2692=:AHRS rotation from veh to nav: [[0.871335,0.446079,-0.204422],[-0.457699,0.889041,-0.010891],[0.176881,0.103053,0.978822]]y2H??*ʿ Jݿ@s?M ? a?R?ɫ2Ӛ@2[;2CBqSBBIIJ@IJ(٥ZE> Ze=9bjQ b>dh jF٦nEyrj r> 9M4Y=C?m4y==mBqu?1u?=C==;=1;=|c4}ԓB)}nA}EJHBH@AH">HxCHqIITBIIID&Iv<*IREoFNOT Ignoring new targets: 333.06 m.o 9o 9 ProNav: ac range: 333.063416 m, nav range: 315.202026 m, bearing: 330.724796 deg, approach rate: -0.648559 m/s, LOS rate: 0.021624 deg/s, cmd heading: 332.647233 deg, new cmd heading: 332.670618 deg. zoqm:%HeadingCmd: 5.806198 target range: 333.063416 and range: 334.10 m.Ro%_̹@Jo!bo!ZoIBoI:nI2nQmYmYlakakkk@?ɞYB w I a ɝiIا dď,?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028348Jሲ@YJ@J69JΪ=ZAHRS rotation from veh to nav: [[0.870226,0.448281,-0.204329],[-0.459551,0.888108,-0.008768],[0.177536,0.101530,0.978863]]yJH??@u'ʿJiݿ@ak?4|? ?R?ɫJሲ@J;JCfSBfIIv,IvỴ٥= F=9 tӺQ  > F٦Ey %> )54Y-)C?=4y-?-6mBAE1E?-!C-};-~;-}j4Q)U*AYoFNOT Ignoring new targets: 333.06 m.o9o9] ProNav: ac range: 333.063416 m, nav range: 314.947968 m, bearing: 330.733385 deg, approach rate: -0.645099 m/s, LOS rate: 0.021826 deg/s, cmd heading: 332.670620 deg, new cmd heading: 332.696407 deg. zoeo:HeadingCmd: 5.806648 target range: 333.063416 and range: 334.10 m.Roй@JoboZoBo:n2nmmlkkkk*j?YɞIYB1k 靭ɶI ² ɝiIy*Jjď,+?A @(Ny@YNs@NJ79NP)=bAHRS rotation from veh to nav: [[0.869260,0.450292,-0.204020],[-0.461182,0.887281,-0.006620],[0.178042,0.099845,0.978944]]yNH?@? Wʿݿ d?{?u?S?ɫNy@Ni;NCnSBr?IMb@Mb@Mb@ )Ii\(\?Dl~jtx?O Ļ)jAIxAiKqA/A AI%I´٥-= 56=95Q 5>99 =F٦=Ey= => IU4YM;C?]4yMM_mB]?]:]P6]?MDCM ;MO;MKr4mݓB)mߧAmEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 333.06 m.oV9oV9- ProNav: ac range: 333.063416 m, nav range: 314.679077 m, bearing: 330.743377 deg, approach rate: -0.609189 m/s, LOS rate: 0.022658 deg/s, cmd heading: 332.696411 deg, new cmd heading: 332.726414 deg. zo-x:5HeadingCmd: 5.807171 target range: 333.063416 and range: 334.10 m.Ro5YԹ@Jo1bo1Zo1Bo9:n92n9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.533136mamalakakikikmE?ԁɞoYBBr 靽rI ~ ɝiI#H>HrCHIITBIO =I7DID&I<*IOE  J J ?AJ J J 8J J J :J '4J J <J J p;J p; checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785444+qď,-ġ?A:߂@Y:}@::79:0=FAHRS rotation from veh to nav: [[0.869851,0.449313,-0.203659],[-0.460169,0.887805,-0.006758],[0.177773,0.099596,0.979019]]y:H??ʿjsݿh?{F?@?T?ɫ:߂@:;:C\bTBbrIIf=)dIjfIj{٥r;h> rc=9vG:Q v>tt zF٦zEyzX; z> |4Y~0IC? 4y~~mB  6 ?~`C~:~6:~x4)8AoIMFNOT Ignoring new targets: 333.06 m.oU9oU9e ProNav: ac range: 333.063416 m, nav range: 314.462402 m, bearing: 330.751393 deg, approach rate: -0.602152 m/s, LOS rate: 0.022291 deg/s, cmd heading: 332.726409 deg, new cmd heading: 332.750472 deg. zoet:mHeadingCmd: 5.807591 target range: 333.063416 and range: 334.10 m.Rom׹@JoiboiZoqBoq:nq2nqmymylykykkk x?ɞYB.w 靽I ؿ ɝiIQ Uwď,ޡ?A=TBI!-Monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 174.67, 155.11, 182.34 mU@U qU@U uU@U iU@U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288373ILI٥ =  9=9 Q  > F٦Ey% %> )54Y-ZC?54y-l -mB=+:9=:9=?-C-%;->-~4EB)E!AIoiuFNOT Ignoring new targets: 333.06 m.o}9o}9 ProNav: ac range: 333.063416 m, nav range: 314.196106 m, bearing: 330.761261 deg, approach rate: -0.603494 m/s, LOS rate: 0.022381 deg/s, cmd heading: 332.750479 deg, new cmd heading: 332.780106 deg. zou:HeadingCmd: 5.808108 target range: 333.063416 and range: 334.10 m.Roܹ@JoboZoBo:n2nmmlkkkk/f@ɞYBk ˯I  ɝiIFԩ jK NrK ]9zK K KK m`e&$xrmie^XQNOWmvrei!&yt}ď,˞?AI<)<2i@Y27@2_692Ƌ=:AHRS rotation from veh to nav: [[0.871432,0.446455,-0.203185],[-0.457263,0.889303,-0.007084],[0.177530,0.099082,0.979115]]y2H@??ʿCݿ,u?} L?`v]?T?ɫ2i@2ĉ;0BTBBIIJ`IJ̍٥R%h> Rd=9V4:Q V>TT ZF٦ZEyZ[< Z> \54Y^hC?54y^+^mB5 :9=`:=&5=?^C^;^P?^4A)M{AIHe>HenCHeIIeUBIeT =IaIeߺD&IeӖ<*Ie}EԉoFNOT Ignoring new targets: 333.06 m.oO9oO9 ProNav: ac range: 333.063416 m, nav range: 313.981201 m, bearing: 330.769100 deg, approach rate: -0.560767 m/s, LOS rate: 0.020470 deg/s, cmd heading: 332.780094 deg, new cmd heading: 332.803629 deg. zo`:HeadingCmd: 5.808519 target range: 333.063416 and range: 334.10 m.Roc߹@JoboZoBo:n2nmml kkkk%`z@ɞMYBMp Q&I  ɝiIy $iď,?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.045048V @YVת@V69V`=fAHRS rotation from veh to nav: [[0.872427,0.444533,-0.203128],[-0.455394,0.890257,-0.007630],[0.177444,0.099160,0.979123]]yVH?:s?ʿ@.%ݿ|?@}?b?T?ɫV @Vm;VCrTBvIIz[Iz:٥ H=  D=9 Z9Q  > F٦Eyڨ; > !-4Y%yC?-4y%%mB-9)-5:-45?%C%#:%?%І4=B)=TA=EoFNOT Ignoring new targets: 333.06 m.o&9o&9  ProNav: ac range: 333.063416 m, nav range: 313.729553 m, bearing: 330.778190 deg, approach rate: -0.614110 m/s, LOS rate: 0.022201 deg/s, cmd heading: 332.803617 deg, new cmd heading: 332.830910 deg. zo s:=HeadingCmd: 5.808995 target range: 333.063416 and range: 334.10 m.Ro=J@Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkIkM @ɞ ZBzkl ۨI J.ɝiI\Y 摊ď,\U,?A UBImm qq uu ii Mb@Mb@Mb@ )Ii&1?EԸ~jt??ƽD<)AItAinAA 3AIbI٥"> ==9Q >9q uF٦uEy} }> 4YC?4ynBT: ?:'?C;;4)ȥAB*** querying acoustic contact ***:pBp5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548407oAMFNOT Ignoring new targets: 333.06 m.ouB9ouB9 ProNav: ac range: 333.063416 m, nav range: 313.478699 m, bearing: 330.784877 deg, approach rate: -0.562308 m/s, LOS rate: 0.015000 deg/s, cmd heading: 332.830911 deg, new cmd heading: 332.850986 deg. zo$:HeadingCmd: 5.809346 target range: 333.063416 and range: 334.10 m.Ro)@JoboZoBo:n2nmmlkkkk n @ɞ:ZBe|g 靵ڥI jɝiI9ѭICjKWOrKS9zKKLK}yr ixZ;$E~t\C2%F6"F*F2F0:F)ɊG )IBHe>HeiCHe_IIeUBIeS =IaIeںD&Ieɖ<*Ie7E2I=rC:I=sCBI=ǛCJI=O =RI=N =ZI= 6@ BԑG < J J AA% DAT read: 03:56:55.5665 LVL= 18928, 24465, 15586, 30115, AGC= 65, IDX= 411, 0.36, 1.084,-0.025, 1.192, 0.386, PHS= 0.786,-0.365, 0.803, RAW= 150.7, -20.5, CAL= 155.9, -27.4, ROT= 354.1, 27.4 = Ygot valid direction response: 03:56:55.5665 LVL= 18928, 24465, 15586, 30115, AGC= 65, IDX= 411, 0.36, 1.084,-0.025, 1.192, 0.386, PHS= 0.786,-0.365, 0.803, RAW= 150.7, -20.5, CAL= 155.9, -27.4, ROT= 354.1, 27.4 M PDAT read: Bearing 354.1, 27.4 (Local) U ~Local bearing/azimuth received: Bearing 354.1, 27.4 (Local) m DAT read: Range 10 to 50 : 331.5 m (Round-trip 442.1 ms) speed 0.4 m/s  TDAT read: user:207>Tx time:03:56:56.6702  R#Rx 1: Read range and direction messages.J J J J J L:J 9J J J c;J d;J Y>;J Y>; `direction in FSK: [0.883112,-0.091261,-0.460200] Fpublishing direction and range info y Sr uB?W\^θsݿ CY I) _I <i u A L7I? HẾ hM? aU(@) 0I X$.@i G J@ G> ) m u? @? +Zr`ֿi J ? > )ҽ G> ) % T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.G1 2BA :BQ  O} >ď,zF?Afٲ@YfsԹ@f59ft=AHRS rotation from veh to nav: [[0.874865,0.439662,-0.203247],[-0.451027,0.892444,-0.010893],[0.176598,0.101200,0.979067]]yfH?k#?ʿ@ܿ`?N?9?T?ɫfٲ@fx;fCMDUBM&II]kI] i٥> >=9;Q > F٦Ey%I< > 4YC?4ySGnBU&?C;;ᕇ4B)zAEJpRp7C?Ap-Cp-Cp^@v;r@oR &>\ؾcvSr uB?W\^θsݿp)ҽpG>vh>8q@wc6/Yvan?3 |"b޿hR7rӿjprppCZpOl?bpS7zp><pOl?pS7pp^Cp^@ addTargetRange:: Added new target pos. range: 331.500000 m, deltaT: 3.781262 s, deltaX: -2.600006 m, approachRate: -0.687603 m/s, rangeRepo size: 4  Added new target pos. range: 330.357513 m, bearing: 330.112494 deg, lat: 36.779351 deg, lon: -121.859887 deg, deltaT: 3.781262 s, deltaX: -2.705902 m, approachRate: -0.715608 m/s, posRepo size: 4 oFNOT Ignoring new targets: 330.36 m.oo5 ProNav: ac range: 330.357513 m, nav range: 314.737335 m, bearing: 330.113419 deg, approach rate: 0.000000 m/s, LOS rate: 0.015000 deg/s, cmd heading: 332.850992 deg, new cmd heading: 332.870011 deg. zoYeHeadingCmd: 5.809678 target range: 330.357513 and range: 331.50 m.Roe@JoaboaZoaBoa:ni2nimimilqkqkqk}t@k?ɞ%dZB%ȸk !-I) -ɝ)i)I-H𬗨ď,1`?AB@YB@BF59B_=nAHRS rotation from veh to nav: [[0.875540,0.438347,-0.203177],[-0.449742,0.893088,-0.011242],[0.176527,0.101220,0.979078]]yBHm?@ ?ʿܿ`-?p?`?`T?ɫB@B;BC-UB-PIchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.304404}Mb@Mb@Mb@y y)yIyiy}V-?p= ףMb?} ?}}<)}AI}duAi}7mA}$A y} AI7I"٥&> H=9R89Q > F٦Eym; > 4YDC?4ypnB?:#?C;Е;4)A o)5FNOT Ignoring new targets: 330.36 m.o5 9o5 9M ProNav: ac range: 330.357513 m, nav range: 314.514435 m, bearing: 330.116374 deg, approach rate: -0.579221 m/s, LOS rate: 0.007685 deg/s, cmd heading: 332.870007 deg, new cmd heading: 332.878879 deg. zoMŨ9MHeadingCmd: 5.809833 target range: 330.357513 and range: 331.50 m.RoU&@JoQboQZoQBoQ:nQ2nQmYmYlakakakake ?ɞZBs ܭ=靥響I mɝiIG!2B1:BA OMt>= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556259A Νď,y?A0jK2LOrK29zK0K2MK2~ysqkb^YUY[\[WQSRRUYftljd]WTPNFCC@<64524J@YJM@J69J4=VAHRS rotation from veh to nav: [[0.875907,0.437939,-0.202476],[-0.448881,0.893544,-0.009183],[0.176900,0.098931,0.979244]]yJHm?`3?@ɿvܿ?΂`?@S?U?ɫJ@J/;JCZUBZsIIf8If?٥n $> nq=9nBQ n?pp rF٦rEyv 7; v? xz4YzAC?~4H]>H`CHII8VBI^ =I8DIӺD&IE<*IEyzY znB?z3Cz;z;z4- B)-A-EoIUFNOT Ignoring new targets: 330.36 m.oU9o]9m ProNav: ac range: 330.357513 m, nav range: 314.329041 m, bearing: 330.118804 deg, approach rate: -0.544306 m/s, LOS rate: 0.007138 deg/s, cmd heading: 332.878886 deg, new cmd heading: 332.886179 deg. zom9uHeadingCmd: 5.809960 target range: 330.357513 and range: 331.50 m.Rou1@JoqboqZoqBoq:nq2nymymylkkkk?ɞZBs 靵9I GɝiI e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060699ď,蓢?AJ@YJ@Jb69J =RAHRS rotation from veh to nav: [[0.876754,0.435557,-0.203941],[-0.447116,0.894395,-0.012016],[0.177171,0.101720,0.978909]]XyJH^?@,?@ʿ ܿ?`?U ?9S?ɫJ@JJӉ;HbUBbIIj,IjỴ٥r= rH=9r1Q U>QQ UF٦UEy]њ; ]> 4YC?4y#nBd?QC::_4)QAoFNOT Ignoring new targets: 330.36 m.o8oM8] ProNav: ac range: 330.357513 m, nav range: 314.096313 m, bearing: 330.121773 deg, approach rate: -0.538806 m/s, LOS rate: 0.006879 deg/s, cmd heading: 332.886181 deg, new cmd heading: 332.895094 deg. zo]9HeadingCmd: 5.810115 target range: 330.357513 and range: 331.50 m.Row@JoboZoBo:n2nmmlk k k k ?ɞZBxe I! %0ɝ)iIxď,l>?A6@Y6 @6H696S=BAHRS rotation from veh to nav: [[0.877922,0.432860,-0.204657],[-0.444856,0.895488,-0.014311],[0.177073,0.103607,0.978729]]y6H? ?42ʿ@xܿէ?NX??Q?ɫ6@6̅;4F%VBJIN8>N>h}Mb@Mb@Mb@y y)yIyiy}HzG?L7A`堿~jtx?}= ?}+};)}^AI}KqAi}kA}vA y}ׁAI)I٥> ;=94m9Q > F٦Ey?; > 4YC?4y&nB ?:+?mCj<;!I;4B)Ao FNOT Ignoring new targets: 330.36 m.o 7o 7 ProNav: ac range: 330.357513 m, nav range: 313.873871 m, bearing: 330.122196 deg, approach rate: -0.543794 m/s, LOS rate: 0.001035 deg/s, cmd heading: 332.895087 deg, new cmd heading: 332.896357 deg. zo58-HeadingCmd: 5.810137 target range: 330.357513 and range: 331.50 m.Ro-@Jo)bo)Zo)Bo):n)2n1m1m1l1k9k9k9k=;?ɞuZBu"Or qu@Iq }dɝyiyI}شEohWH<3,,>YYJ:0(   H->HZCHIIVBIg =I9DIκD&IX<*I}EE1FM6"FI*FI2FM0:FIa q u A checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817333Gm 3=GA 2BI :Ba  Om >yď,aʢ?A 6(@Y6#@6u5969=BAHRS rotation from veh to nav: [[0.879242,0.430303,-0.204383],[-0.442558,0.896594,-0.016191],[0.176282,0.104687,0.978757]]y6H"? ?;)ʿ Rܿ?Xf?`̺?@Q?ɫ6(@6x!;6CFSVBFIIz]Izt٥~= C=9:Q >   F٦ Ey ; > %4YC?-4y)oB15z=?C;;;4Q)UAYB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 330.36 m.oV7oV7 ProNav: ac range: 330.357513 m, nav range: 313.651093 m, bearing: 330.122511 deg, approach rate: -0.518815 m/s, LOS rate: 0.000733 deg/s, cmd heading: 332.896344 deg, new cmd heading: 332.897289 deg. zo8HeadingCmd: 5.810154 target range: 330.357513 and range: 331.50 m.Ro@JoboZoBo:n 2n mmlk!k!k!k ¦@ɞ=.[B= =hA A靅pI +ɝiI\J] J] J] 6JY J] L:J] *9J] 4JY m 2Acoustic response timeoutMď,y?A (VJ?@YV:@Vb49V=nAHRS rotation from veh to nav: [[0.880545,0.427837,-0.203950],[-0.440213,0.897725,-0.017395],[0.175649,0.105098,0.978827]]yVHm-?a?@ʿt,ܿ )?ϑ{?`?R?ɫVJ?@Vt;VCvVBzIMb@Mb@Mb@ )IiHzG?y&1|y&1|``)AIqAikAƍA AI`I̍٥= ;=9:Q > F٦Ey; >  4YkC? 4y,9oBC ?:T?C;j;4B)fA%EoAMFNOT Ignoring new targets: 330.36 m.oM_oU_] ProNav: ac range: 330.357513 m, nav range: 313.417999 m, bearing: 330.120539 deg, approach rate: -0.546786 m/s, LOS rate: -0.004627 deg/s, cmd heading: 332.897300 deg, new cmd heading: 332.891382 deg. zo]?KmHeadingCmd: 5.810050 target range: 330.357513 and range: 331.50 m.Rom@JoiboqZoqBoq:nq2nqmymylykykkk@ɞV[Bj @靵.I ɝiI_i"=i2=)@) EEEEԁԱ 2Acoustic response timeoutF"F*F2F%0:F! ZHu <RHu 4=H} >H} WCH} lII} UWBI} j =Iy I} ̺D&I} )<*I} EjK MrK ػ9zK K OK >NNG?/)2B]v\G?7' 6Vgu   GM )=GU ?GU > G) 2BA :Ba  O} >-ď,?AVJ@YVRE@V49V=^AHRS rotation from veh to nav: [[0.881135,0.426647,-0.203897],[-0.439000,0.898318,-0.017429],[0.175728,0.104868,0.978837]]yVHA2? .N? Hʿܿ?ؑA~? غ?R?ɫVJ@V{;VCfVBfIIn_In٥%= %D=9-JQ ->)) -F٦-Ey=nW; => Qe4YU) D?e4yU//U^oBimm?UĹCU'[;U6=)M@)IԹF=6"F9*F92F=12:F9G 3=G2B:B OH>  2Acoustic response timeout[Lƨď,j?A:;T@Y: O@:59:=NAHRS rotation from veh to nav: [[0.881548,0.425710,-0.204069],[-0.437901,0.898871,-0.016525],[0.176397,0.103930,0.978817]]y:H5?>?ʿܿ`?쐿*?@(? xR?ɫ:;T@:;:CprVBr!IIz[Iz:٥MH= UI=9e0ںQ m>qy F٦Ey<; > U4YD?]4y1oBamm?C<<4χ4,B)AEoq}FNOT Ignoring new targets: 330.36 m.o}o} ProNav: ac range: 330.357513 m, nav range: 312.974335 m, bearing: 330.116621 deg, approach rate: -0.478186 m/s, LOS rate: -0.004281 deg/s, cmd heading: 332.885525 deg, new cmd heading: 332.879598 deg. zo< HeadingCmd: 5.809845 target range: 330.357513 and range: 331.50 m.Ro@@JoboZoBo:n2nmmlkJ;-4J;w4J;$Z/JJJ5JJJ=9J4Jkk BDAT read: Rx Time:03:56:59.5137  TRx dataTimestamp_ set to:1761364620.577848 2Acoustic response timeoutk`4 @ɞu[Bun] y}yIy yɝyiIk̨ď,K5?AI)<6^Y@Y6,T@6696=BAHRS rotation from veh to nav: [[0.881657,0.425445,-0.204149],[-0.437267,0.899215,-0.014465],[0.177420,0.102020,0.978833]]y6H6?}:?@!ʿ .ۿ`_???R?ɫ6^Y@6;4HJVBJ7IMb@Mb@Mb@ )IiV-?{Gz? F٦Ey>: > 4Y+D?4yr4oB ?:?CI;H;և4)AoFNOT Ignoring new targets: 330.36 m.o*o*5 ProNav: ac range: 330.357513 m, nav range: 312.740906 m, bearing: 330.113074 deg, approach rate: -0.612829 m/s, LOS rate: -0.009319 deg/s, cmd heading: 332.879596 deg, new cmd heading: 332.868948 deg. zo5̹=HeadingCmd: 5.809659 target range: 330.357513 and range: 331.50 m.Ro=@Jo9bo9Zo9Bo9:nA2nAmAmIlIkIkIkIkU+@Hu>HuUCHuIIuWBIuk =IqIuʺD&IuA<*Iu+EjKgNrK]9zKKPKzvrgXNDALdid`ZSQ[ehd^VMHD>7851-:sG(,LQD7*$"ɞ[Bf 靭4I ɝiI) BDAT read: Tx time:03:57:00.5702 $Ping request sent.ѫӨď,eO?A|(WBPIIWIƕ٥%= %U=9-Q ->)) 5F٦5Ey5 5> AU4YE;D?U4yE6EoBQQ]?ECEVk;Ej;Ei݇4m5B)mAmEB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 329.500000 m, deltaT: 4.030709 s, deltaX: -2.000000 m, approachRate: -0.496191 m/s, rangeRepo size: 4 oFNOT Ignoring new targets: 330.36 m.ococ ProNav: ac range: 330.357513 m, nav range: 312.530914 m, bearing: 330.109878 deg, approach rate: -0.539639 m/s, LOS rate: -0.008217 deg/s, cmd heading: 332.868941 deg, new cmd heading: 332.859348 deg. zowHeadingCmd: 5.809492 target range: 330.357513 and range: 329.50 m.Ro[@JoboZoBo:n 2n mmlkkkt@k?JDAT read: TxSync time:03:57:00.5694 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞ-\B-y )UIQ QɝQiYI]ڨď,n3m?ANA@YN<@N;9N|==ZAHRS rotation from veh to nav: [[0.879570,0.430108,-0.203380],[-0.439375,0.898304,-0.000461],[0.182499,0.089765,0.979100]]yNHp%?@?[ʿ`ܿ?1> \??T?ɫNA@NJ#;LbBWBb`IMb@Mb@Mb@ )IiʡE?Mbp?V--?;)AInAiMhA$A 3AIRI4٥(O= %=9 *Q  > F٦Ey > %4YPD?-4y:oB-^?-:-4-?=Cz ;& ; 4=>B)=sA9oimFNOT Ignoring new targets: 330.36 m.ouou ProNav: ac range: 330.357513 m, nav range: 312.251862 m, bearing: 330.106282 deg, approach rate: -0.570837 m/s, LOS rate: -0.007364 deg/s, cmd heading: 332.859352 deg, new cmd heading: 332.848553 deg. zo HeadingCmd: 5.809303 target range: 330.357513 and range: 329.50 m.Ro @Jo bo Zo Bo :n 2nmmlkkkk@aB?ɞ7\Ba 靕I ɝiI#>HTCHII>XBIj =IIɺD&I*IE2IUWC:IUYCBIUǘCJIUj =RIUg =ZIU6jKENrKE9zKAKEQKE$311OuO9-"$6DE>3,$ &Q^VJ6  2KUsA*KUsA G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006167lď,?A 02@uWBIIEI٥A= M=9Q > F٦Ey > 4YaD?4y< pB?ZC :[:4 ) AoFNOT Ignoring new targets: 330.36 m.oo ProNav: ac range: 330.357513 m, nav range: 312.026978 m, bearing: 330.103378 deg, approach rate: -0.547764 m/s, LOS rate: -0.007077 deg/s, cmd heading: 332.848560 deg, new cmd heading: 332.839844 deg. zojHeadingCmd: 5.809151 target range: 330.357513 and range: 329.50 m.Ro@JoboZoBo:n2nmmlkkkk>?ɞ `\B i XI ɝiIѣԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257145 Dď,ޠ?ATMn?@YM<:@ML=9MLq=mAHRS rotation from veh to nav: [[0.879219,0.430750,-0.203541],[-0.439531,0.898224,0.002289],[0.183811,0.087450,0.979064]]yMH`"?h?` ʿH!ܿ@?$b?!?c?}T?ɫMn?@MkՈ;MCWBI%Mb@Mb@Mb@! !)!I!i!%l?~jt F٦Ey) > 4YvD? 4y?/pB ? :  ?}C;t;$4GB)AEoFNOT Ignoring new targets: 330.36 m.oo ProNav: ac range: 330.357513 m, nav range: 311.752563 m, bearing: 330.101190 deg, approach rate: -0.588868 m/s, LOS rate: -0.004701 deg/s, cmd heading: 332.839845 deg, new cmd heading: 332.833273 deg. zoyNHeadingCmd: 5.809036 target range: 330.357513 and range: 329.50 m.Ro@JoboZoBo:n2nmmlkkkkCu?ɞu\Bu93 quIq ɝiI|E >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7614161 F 6"F *F 2F 0:F G 2B :B)  O= >ď,?AJ<@YJ7@J-;9J&=RAHRS rotation from veh to nav: [[0.879424,0.431325,-0.201425],[-0.439968,0.898011,0.002065],[0.181773,0.086805,0.979502]]yJH >$?Қ?@Nɿ`o(ܿ?`?`TD?8?X?ɫJ<@Jw;JCZWBZIIbjIb٥jG= n=9n ;Q n?lp rF٦rœEyry r? tz4YvD?~4yvBvFpB|~"~?vCv:v:vy4)ġAo9EFNOT Ignoring new targets: 330.36 m.HU>HUSCHU-IIUXBIQIQIQ&IUv<*IUeEoe$o$jK%kMrK!zK!K%RK%*BKMHE?<;:301--,*!+;44?FBAAK?T]cckwz_[-!e ProNav: ac range: 330.357513 m, nav range: 311.572906 m, bearing: 330.099766 deg, approach rate: -0.610349 m/s, LOS rate: -0.004840 deg/s, cmd heading: 332.833260 deg, new cmd heading: 332.828987 deg. zoeTmHeadingCmd: 5.808962 target range: 330.357513 and range: 329.50 m.Rom@JoiboiZoiBoi:nq2nqmqmqlykykykyk?ɞ \B ɽ  #I  ɝiIyԑ ď,Gԣ?AI<)<22@Y2-@2u892=>AHRS rotation from veh to nav: [[0.879377,0.432687,-0.198691],[-0.441280,0.897369,0.001147],[0.178795,0.086670,0.980062]]y2H#?`#?nɿ=ܿ>?R?`?/?\?ɫ22@29j;2CJWBJIIV_IV٥Z= ^M=9^T;Q ^>`` bF٦bŜEybG f> dj4YfD?n4yfDfbpBlnn?fCf;f;fm4rOB)vAvEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265655B*** querying acoustic contact ***:pBpo!-FNOT Ignoring new targets: 330.36 m.o-ۥo-ۥE ProNav: ac range: 330.357513 m, nav range: 311.338715 m, bearing: 330.097960 deg, approach rate: -0.587268 m/s, LOS rate: -0.004531 deg/s, cmd heading: 332.828998 deg, new cmd heading: 332.823577 deg. zoEGEHeadingCmd: 5.808867 target range: 330.357513 and range: 329.50 m.RoE>@JoIboIZoIBoI:nI2nImQmQlQkQkYkYk]@=@ɞ}\B}< 靅ǡI ɝiI|@)F6"F*F2F1:F!QGm3=Gu ?Gu?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517189G) 2B1 :BI  OU >ԁ 9ď,0?AZ)@YZW$@Zn49Z =bAHRS rotation from veh to nav: [[0.879357,0.434020,-0.195852],[-0.442542,0.896748,0.000277],[0.175750,0.086430,0.980633]]yZH#?? ɿ`Rܿ`(?"2?~?? ? Ya?ɫZ)@ZLj;ZC WB IIeMb@Mb@Mb@a a)aIaiae$C?Q롿S㥛e?e\e/ݼ)eAIaiebAa ae|AIgI٥~*= .=9;Q > F٦ȜEyY! > 4YD?4yHpB?:B?ֺC;A; 4)yAoIMFNOT Ignoring new targets: 330.36 m.oU8.oU8. ProNav: ac range: 330.357513 m, nav range: 311.057831 m, bearing: 330.097890 deg, approach rate: -0.591683 m/s, LOS rate: -0.000149 deg/s, cmd heading: 332.823589 deg, new cmd heading: 332.823377 deg. zoѶHeadingCmd: 5.808864 target range: 330.357513 and range: 329.50 m.Ro6@JoboZoBo:n2nmmlkkkk@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.781902ɞ]BW ¥I ɝiIx|HaHefIIeXBIeh =IaIeȺD&Ie<*IewEjKjOrKzKKSK   &282-'#,?9,! ԹGu t(/=J J J J J :J 9J J J b;! J d;! J ;! J ;! % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034020GQ 2BY :Bi  O} >Vď,OX?AV@YV@Vt19Vn= AHRS rotation from veh to nav: [[0.879039,0.436028,-0.192793],[-0.444474,0.895791,-0.000623],[0.172430,0.086239,0.981239]]yVH@!?`?nȿDrܿR?piD2??Pf?ɫV@V;VC XBII-oI-٥=*> =b=9=AA EF٦EʜEyM# > 4YUD?4yKpB?C.<<#4XB)!AoimFNOT Ignoring new targets: 330.36 m.ou}5ou}5 ProNav: ac range: 330.357513 m, nav range: 310.834595 m, bearing: 330.097911 deg, approach rate: -0.587448 m/s, LOS rate: 0.000057 deg/s, cmd heading: 332.823370 deg, new cmd heading: 332.823435 deg. zo6ԁHeadingCmd: 5.808865 target range: 330.357513 and range: 329.50 m.Ro8@JoboZoBo:n2nmmlkkkk  @ɞM7]BM½ IMIQ QɝQiQIU 3ď,g"?A PPUT@YU" @U -9Uٴ=AHRS rotation from veh to nav: [[0.879039,0.437100,-0.190353],[-0.445912,0.895068,-0.003886],[0.168681,0.088297,0.981708]]yUH !?q?~]ȿ@҉ܿf?$oS?@?&j?ɫUT@U ҇;Q CXB Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.537219Mb@Mb@Mb@ )IiCl?A`" F٦͜EyS8 > 4YD?4yUOpB ?: ?C<<4)ܠAo15FNOT Ignoring new targets: 330.36 m.o=8o=8 ProNav: ac range: 330.357513 m, nav range: 310.561981 m, bearing: 330.099537 deg, approach rate: -0.585298 m/s, LOS rate: 0.003495 deg/s, cmd heading: 332.823425 deg, new cmd heading: 332.828308 deg. zo9HeadingCmd: 5.808950 target range: 330.357513 and range: 329.50 m.Ro@JoboZoBo:n2nmmlkkkky @ɞek]Be䧽 imIi qɝqiqI U R#Rx 1: Read range and direction messages.] `direction in FSK: [0.924665,-0.084151,-0.371368]e :publishing transmit ping timeA e Fpublishing direction and range infoY y] Faږ?K튵% ~}׿] ٣CYY ] R)] AiI] Fi] o] C] J?] ] @? ] H%@)] 5zI] -\-@i] ¾] _(@] > Y )Y ] 00F?=?Z8{Ͽi] >] z>] ޹] > Y )Y  :publishing transmit ping timeA  Fpublishing direction and range infoG $=G G tAY y] Faږ?K튵% ~}׿Y YY Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y Y )Y ] 00F?=?Z8{ϿiY Y Y Y Y )Y GQ Y 2Ba :Bq  O >htď,<?AHR>HRRCHRIIR F٦МEy]c > 4YD?4yRpB@?7C;\;4hB)AEJpYRp]8?Ap]8Cp]8Cp]W@v],<:r@Ss~x;N^v]Faږ?K튵% ~}׿p]޹p]>v];P,?q@EVclFQv]- p ??yj(߿GK̿jp]rp]CZp]_ ?bp]bzp]rpYp]&pYp]Cp]E@JJJ5JJ:J"9J4JJ};J~;J;J;5 addTargetRange:: Added new target pos. range: 327.700012 m, deltaT: 3.795039 s, deltaX: -1.799988 m, approachRate: -0.474300 m/s, rangeRepo size: 4 E Added new target pos. range: 326.444550 m, bearing: 330.065078 deg, lat: 36.779351 deg, lon: -121.859926 deg, deltaT: 7.825748 s, deltaX: -3.912964 m, approachRate: -0.500012 m/s, posRepo size: 4 oAMFNOT Ignoring new targets: 326.44 m.qquJDAT read: TxSync time:03:57:04.4710 o}o ProNav: ac range: 326.444550 m, nav range: 312.015747 m, bearing: 329.557534 deg, approach rate: 0.000000 m/s, LOS rate: 0.003495 deg/s, cmd heading: 332.828315 deg, new cmd heading: 332.832821 deg. zoHeadingCmd: 5.809029 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmmlkkk@3{t@k?)ɞm]Bmu quIq yɝyiyI3ď, F٦ӜEy%} %> iu4YmUD?u4ymVm qBqu}?mXCmd:m:m&'4qB)AE-B*** querying acoustic contact ***:p)Bp)o1=FNOT Ignoring new targets: 326.44 m.o}V8oV8M ProNav: ac range: 326.444550 m, nav range: 311.755188 m, bearing: 329.558774 deg, approach rate: -0.615429 m/s, LOS rate: 0.002932 deg/s, cmd heading: 332.832823 deg, new cmd heading: 332.836547 deg. zoM9aHeadingCmd: 5.809093 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmqmylkkkkw? JJɞ]B%t !%I! !ɝ)UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.i)I]51Lď,w?AI).checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975791f\@Yf*@f^#9fl6=vAHRS rotation from veh to nav: [[0.879173,0.440310,-0.182159],[-0.449084,0.893455,-0.007819],[0.159308,0.088679,0.983238]]yfH/"? .?Pǿ@ɽܿ/?5d??v?ɫf\@fG;fC~XB~QIMb@Mb@Mb@ )Iix?p= ף~jtK?D)ȁAIMhAi$A fvAIZI٥= ;=9;Q > F٦֜EyL: > 4Y.E?4yAZ.qB=?:?yCKG;:;.4)1AoFNOT Ignoring new targets: 326.44 m.H>HQCHIIYBIg =IIǺD&Ix<*IOEaoe8om8 ProNav: ac range: 326.444550 m, nav range: 311.502197 m, bearing: 329.561060 deg, approach rate: -0.576980 m/s, LOS rate: 0.005218 deg/s, cmd heading: 332.836539 deg, new cmd heading: 332.843403 deg. zo.e9HeadingCmd: 5.809213 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmmlkk k k J ?ɞ}]B} 靅ڥI ɝiIs { Z 4  K 1 KVl7Zx2K9*K=oAFa"Fa*Fa2Fm0:FiԉJJJ6JJ<:J9J 4JJ;J;J;J;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226907Թ GM [=G] ?G] ?G) 2B1 :BI  OU >)$ď,v?A>@Y>@>?!9>=NAHRS rotation from veh to nav: [[0.879499,0.440240,-0.180750],[-0.449322,0.893307,-0.010559],[0.156817,0.090502,0.983472]]Py>H$?`,?"ǿ`ܿ??` +?x?ɫ>@>F;>C^XB^kIIn;In٥zP= zZ=9~R;Q ~> F٦؜Ey 4  > -4YE?-4yw]KqB)55?C ;;v&;>54EyB)EAEEoFNOT Ignoring new targets: 326.44 m.o8o8- ProNav: ac range: 326.444550 m, nav range: 311.280029 m, bearing: 329.563070 deg, approach rate: -0.627326 m/s, LOS rate: 0.005679 deg/s, cmd heading: 332.843396 deg, new cmd heading: 332.849430 deg. zo-oy95HeadingCmd: 5.809319 target range: 326.444550 and range: 327.70 m.Ro5@Jo9bo9Zo9Bo9:n92n9mAmAlAkAkIkIkM`>?ɞ^ByȽ 靅I ɝiIԙ ! ! % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731128S*ď,O?AR@YRu@Rȡ9R6=^AHRS rotation from veh to nav: [[0.880579,0.439146,-0.178131],[-0.448408,0.893729,-0.013369],[0.153330,0.091647,0.983916]]yRH-??ƿ`ܿm?`S?4v?`=|?ɫR@R؈;RCf(YBfIYmMb@Mb@Mb@i i)iIiiim7A`?L7A`尿Mbpm?m+m)m=AImfAim`AmA imtAIfI{٥2= A=9C F٦ۜEyuL; > 4YR&E?4yanqBz?:+?C*;n ;<4)Aoy}FNOT Ignoring new targets: 326.44 m.o'8o'8 ProNav: ac range: 326.444550 m, nav range: 311.032135 m, bearing: 329.565421 deg, approach rate: -0.567465 m/s, LOS rate: 0.005386 deg/s, cmd heading: 332.849434 deg, new cmd heading: 332.856493 deg. zol9HeadingCmd: 5.809442 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmmlkkkk]?ɞuL^BuS quIy yɝyiyI}7H OCH II YBI h =I I źD&I t<*I 4E2IRC:IRCBIȔCJIh =RIh =ZI.5GM =G! 2B1 :BA  OM > jK PrK ػ9zK K VK piXNC7\`Q?+sh^SICCHP]djokc][VNHC=8/*"  BK ?:K >Q;1ď,*Ť?A2@Y2@2s92R=vAHRS rotation from veh to nav: [[0.881200,0.439331,-0.174572],[-0.448551,0.893627,-0.015265],[0.149296,0.091756,0.984526]]y2H2?`?@_Xƿ`ܿ?|C ?V}? UN=9uh'yy }F٦}ݜEy9 > 4Y6E?4yqdqB?ӻC';<;C4BԹ)IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235018JJwJ5JJ:J9J4JJ~;J;J:J:o  FNOT Ignoring new targets: 326.44 m.o8o8 ProNav: ac range: 326.444550 m, nav range: 310.798462 m, bearing: 329.567632 deg, approach rate: -0.599738 m/s, LOS rate: 0.005678 deg/s, cmd heading: 332.856483 deg, new cmd heading: 332.863120 deg. zoby9HeadingCmd: 5.809557 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmmlkkkkl@ɞy^Bf 靕.I ɝiIA e7ď,ߤ?ArwYBvIITIn٥n= O=9Q >! %F٦%Ey% %> )54Y-FE?54y-g-qB99=?-C-w;-;-xJ4A)EAIeB*** querying acoustic contact ***:paBpaoy}FNOT Ignoring new targets: 326.44 m.o8o8 ProNav: ac range: 326.444550 m, nav range: 310.568573 m, bearing: 329.569810 deg, approach rate: -0.595655 m/s, LOS rate: 0.005648 deg/s, cmd heading: 332.863122 deg, new cmd heading: 332.869661 deg. zo x9HeadingCmd: 5.809671 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nmmlkkkkO@ɞ^Bý *I ɝiI{Uԡ a=ď,6?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990938BZ@YB(@B9BBu=JAHRS rotation from veh to nav: [[0.882265,0.439085,-0.169745],[-0.448629,0.893481,-0.020591],[0.142623,0.094320,0.985273]]yBH;??`5ſ Vܿ e?@vA?R%?[?ɫBZ@BG;BCRYBVI=Mb@Mb@Mb@9 9)9I9i9=kt?)\({Gzt= ?=Ga=ף)=$AI=bAi=aA=A 9=3sAIYIY٥m>= mE=9mqq }F٦}Ey}ǃ: }> 4YWE?4ykqB?:7?CG ; ;Q4B)ޞAEqoFNOT Ignoring new targets: 326.44 m.H>HMCH@IIOZBIj =IIúD&IL<*IEo8o8 ProNav: ac range: 326.444550 m, nav range: 310.335480 m, bearing: 329.571365 deg, approach rate: -0.531480 m/s, LOS rate: 0.003550 deg/s, cmd heading: 332.869652 deg, new cmd heading: 332.874322 deg. zo 9HeadingCmd: 5.809753 target range: 326.444550 and range: 327.70 m.Ro@JoboZoBo:n2nm!m!l!k!k)k)kM@@ɞ^Bt 靥I ɝiI84/-+%012KrA*KrAF=6"F9*F92F=0:F9GE= GE=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243889GE $=Gq 2B :B  O > xDď,?AJ@YJk@J^29J=nAHRS rotation from veh to nav: [[0.882690,0.439210,-0.167192],[-0.448810,0.893339,-0.022708],[0.139385,0.095081,0.985663]]yJH>??fſ`Lܿ@;?@@`?=W??ɫJ@J;JCvYBvII~^I~٥ >  P=9 F٦Ey 8 > !-4Y%2gE?54y%-n%qB9=2E?%+C%h;%j;%X4I)MkAIoquFNOT Ignoring new targets: 326.44 m.o}8o}8 ProNav: ac range: 326.444550 m, nav range: 310.115662 m, bearing: 329.572831 deg, approach rate: -0.596418 m/s, LOS rate: 0.003980 deg/s, cmd heading: 332.874324 deg, new cmd heading: 332.878724 deg. zo.9HeadingCmd: 5.809830 target range: 326.444550 and range: 327.70 m.Ro @JoboZoBo:n2nmmlkkkk` @ɞ^BhĽ 2I ɝiI?J }J J J J [j:J H9J J ! @! @! @! @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746746Q ԣJď,,?A>&@Y>@># 9>Թ=NAHRS rotation from veh to nav: [[0.883104,0.439354,-0.164607],[-0.448947,0.893223,-0.024455],[0.136286,0.095497,0.986056]]y>HbB?@b?ſ@ܿ@I? `q?ur?`ō?ɫ>&@>R;>CVZBVIMb@Mb@Mb@ )IiK7A`? ףp= :v ?Q8T)Ii`ASA rAIII.)٥5= 5-=95;Q =>99 =F٦=EyEg9 E> IU4YMyE?U4yMqMrBU ?U:U ]?MLCM:ME:M`4eB)eZAeEo%FNOT Ignoring new targets: 326.44 m.o-c 8o-c 8= ProNav: ac range: 326.444550 m, nav range: 309.858490 m, bearing: 329.573766 deg, approach rate: -0.527056 m/s, LOS rate: 0.001918 deg/s, cmd heading: 332.878722 deg, new cmd heading: 332.881529 deg. zo=w8eHeadingCmd: 5.809879 target range: 326.444550 and range: 327.70 m.Roe@JoaboaZoaBoi:ni2nimimqlqkqkqkqk}@ɞ3_B$ fI ɝiI R#Rx 1: Read range and direction messages.`direction in FSK: [0.910827,-0.060497,-0.408330] :publishing transmit ping time Fpublishing direction and range infoYy]3YN%?(m5nb7"ڿ]̢CYYF6"F*F2F0:F ]0P)]QI]Bi]ci]@]$f?] ]T? ]$@)]rI]+@i]\׾]@]\> Y)Y]Ly8-?ax?nq2ҿi] >]ޜ>]Ӈ]\> Y)Y:publishing transmit ping timeFpublishing direction and range infoYy]3YN%?(m5nb7"ڿYYY Y)YIYiYYYYY Y)YIYiYYY Y)Y]Ly8-?ax?nq2ҿiYYYY Y)YH>HKCHIIZBIm =I:DIºD&Iu<*I E G $=G 2B :B  O >jK *OrK 9zK K XK ueaO/ID\fd\WSMKGDHj [w hfIT"v^Gq@}9]bIF;pNWv4?qܿLZeҿjprp׈CZpE띟?bpSzpppS7ppCp`@ addTargetRange:: Added new target pos. range: 325.600006 m, deltaT: 4.029504 s, deltaX: -2.100006 m, approachRate: -0.521157 m/s, rangeRepo size: 4  Added new target pos. range: 324.313538 m, bearing: 331.773436 deg, lat: 36.779351 deg, lon: -121.859887 deg, deltaT: 4.029504 s, deltaX: -2.131012 m, approachRate: -0.528852 m/s, posRepo size: 4 oFNOT Ignoring new targets: 324.31 m.oo ProNav: ac range: 324.313538 m, nav range: 307.959381 m, bearing: 330.122316 deg, approach rate: 0.000000 m/s, LOS rate: 0.001918 deg/s, cmd heading: 332.881536 deg, new cmd heading: 332.883598 deg. zoMHeadingCmd: 5.809915 target range: 324.313538 and range: 325.60 m.RoM@JoQboQZoQBoQ:nQ2nQmYmYlYkYkakeYt@ke >? ɞ%]_B% AEsII IɝIiIIM .Wď,T`?A 68@Y6@696_=BAHRS rotation from veh to nav: [[0.883397,0.440806,-0.159059],[-0.450173,0.892543,-0.026678],[0.130207,0.095172,0.986909]]y6HD?*6? \Ŀ`ܿ?Q`?*]?`?ɫ68@6Z;6CFKZBF>IIrFIrפ٥z'|= zL=9z;Q ~>|| F٦Ey > 4Y AE?4y 4w *rB9 ? ~C ; ; m4%B)%A%E9MB*** querying acoustic contact ***:pIBpIoYeFNOT Ignoring new targets: 324.31 m.oes8oes8u ProNav: ac range: 324.313538 m, nav range: 307.744965 m, bearing: 330.123522 deg, approach rate: -0.590417 m/s, LOS rate: 0.003321 deg/s, cmd heading: 332.883585 deg, new cmd heading: 332.887203 deg. zo}9}HeadingCmd: 5.809978 target range: 324.313538 and range: 325.60 m.RoV@JoboZoBo:n2nmmlkkkk?ɞ_Bν <䦿I ɝiIxԹ ]ď,(z?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.988177qZBUIԙMb@Mb@Mb@ )IiDl? rhMbO ?C )~AIbAi`A"A zpAI<I٥= <=9Q > F٦Ey > 4YE?4yczErB  ? :  ?CU::Ju4)AJHYBHYHe>HeJCHeIIe[BIen =IaIeD&Iep<*IeEo FNOT Ignoring new targets: 324.31 m.o5X7o5X7m ProNav: ac range: 324.313538 m, nav range: 307.506104 m, bearing: 330.123968 deg, approach rate: -0.523451 m/s, LOS rate: 0.000979 deg/s, cmd heading: 332.887192 deg, new cmd heading: 332.888532 deg. zom,8uHeadingCmd: 5.810001 target range: 324.313538 and range: 325.60 m.Rou@JoqboyZoyBoy:ny2nymmlkkkk@!?ɞ_BT3 㨿I ɝi)I-:zdď,p?A:z@Y:H@:T9:nY=BAHRS rotation from veh to nav: [[0.883252,0.446226,-0.144046],[-0.452375,0.891755,-0.011367],[0.123381,0.075202,0.989506]]y:HC??p¿ ܿB?jG?`w@??ɫ:z@:V[;8JZBNuIIZ%IZ´٥b> b^=9fgdd fF٦fEyj@ j> lr4YnBE?r4yn}n[rBtvv?nCn>:n:n{4zB)zbAxoFNOT Ignoring new targets: 324.31 m.or7or7 ProNav: ac range: 324.313538 m, nav range: 307.304138 m, bearing: 330.124437 deg, approach rate: -0.560063 m/s, LOS rate: 0.001301 deg/s, cmd heading: 332.888530 deg, new cmd heading: 332.889938 deg. zod8HeadingCmd: 5.810026 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkk!k% ע?ɞm_Byǽ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492402XII IɝIiQIUn=)]@)YF-6"F)*F12F5r5:F19QG5 =G) J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744202J }J wJ J J [j:J 9J J 2BY :B  O >y jď,⭥?A6@@Y6@6b96 =NAHRS rotation from veh to nav: [[0.883619,0.446473,-0.140998],[-0.452730,0.891535,-0.014148],[0.119388,0.076336,0.989909]]y6H`F??@: ¿ܿu? 7?༊? U?ɫ6@@6%;6CVZBVIEMb@Mb@Mb@A A)AIAiAES?/$ rhE?E,EC)E|AIE`AiAE~A AE oAI]fI]{٥mG= m@=9m qq uF٦uEy0 > 4YnE?4yZprB?: ?ռC* ; ;)4)8AoFNOT Ignoring new targets: 324.31 m.oD8oD8 ProNav: ac range: 324.313538 m, nav range: 307.065735 m, bearing: 330.125535 deg, approach rate: -0.582059 m/s, LOS rate: 0.002685 deg/s, cmd heading: 332.889951 deg, new cmd heading: 332.893250 deg. zo8HeadingCmd: 5.810083 target range: 324.313538 and range: 325.60 m.Ro4@JoboZoBo:n2nm m l k Qkkk d?ɞ`B  I) 1ɝ1i1I5u~HaHeIIek[BIaIaIa&Iex<*IeEԱF 6"F *F 2F 0:F jK MrK 9zK K ZK zr`YRLGB<;81.+# $/7?avuX6 0O3CC:" ~uBK ?:K ?GM =GU ?GU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248722GQ2Bq:B O>sď,̥?A(b@Yb @b9b$=jAHRS rotation from veh to nav: [[0.886301,0.442190,-0.137617],[-0.449270,0.893078,-0.023821],[0.112369,0.082940,0.990199]]ybH\?L?p`ܿ?d>ļ?@;??ɫb@b;bCrZBrIIEKIEh٥]\= ]*=9]qaa eF٦eEymf< m> q}4YuE?}4yuurBy} ?uCu`:u:u4B)AEoFNOT Ignoring new targets: 324.31 m.o8o8 ProNav: ac range: 324.313538 m, nav range: 306.798676 m, bearing: 330.126538 deg, approach rate: -0.559603 m/s, LOS rate: 0.002103 deg/s, cmd heading: 332.893257 deg, new cmd heading: 332.896267 deg. zo8HeadingCmd: 5.810136 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkkk@ɞ=D`B=\ 9=I9 AɝAiAIE`|2+yď,t?A`%*@Y%`%@%9%A=uAHRS rotation from veh to nav: [[0.887936,0.438811,-0.137895],[-0.446719,0.894130,-0.031203],[0.109604,0.089306,0.989955]]y%Hi?|? ܿ?@?ܶ??ɫ%*@% ;%C[BII^I JJmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754376J4J4J(.J{JxJJJd:J9JJ٥,r= ,=9;Q > F٦Ey; > 4Y"E?4yrB ?Cg:R:䓈4)̜A%B*** querying acoustic contact ***:p!Bp!o1=FNOT Ignoring new targets: 324.31 m.o=7o=7 ProNav: ac range: 324.313538 m, nav range: 306.530396 m, bearing: 330.127382 deg, approach rate: -0.553125 m/s, LOS rate: 0.001742 deg/s, cmd heading: 332.896262 deg, new cmd heading: 332.898796 deg. zo8HeadingCmd: 5.810180 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n 2n mmlkkkk @ɞM`BMf IMII QɝQiQIU{H H !II [BI m =I I &I Y<*I E2IJC:IKCBIJIm =RIm =ZI?5q Gl"=ԙjKOrKzKK[KkaVF93N{s_`]G;82+*Iu>E}yuonnklkjhgedfm2K*KsAG2B:B! O-?ď,px ?A 6@?@Y6:@6sܽ96w=>AHRS rotation from veh to nav: [[0.889272,0.436112,-0.137847],[-0.444582,0.894993,-0.036542],[0.107435,0.093780,0.989779]]y6Ht?@? tܿǣ?ހ?@?E?ɫ6@?@6̎;6CJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256201b[BfI Mb@Mb@Mb@  ) I i  ʡE?lZd;O ?  j) yAI i _A yA  lAI%eI%]٥5<= 5=95 ;Q =>99 =F٦EEyE; E> IU4YM)F?U4yMeMrBU ?]:]}]?M?CM;M ;Mݜ4eB)eAaoFNOT Ignoring new targets: 324.31 m.o6o6ԡ ProNav: ac range: 324.313538 m, nav range: 306.241943 m, bearing: 330.127596 deg, approach rate: -0.567416 m/s, LOS rate: 0.000421 deg/s, cmd heading: 332.898803 deg, new cmd heading: 332.899445 deg. zo7HeadingCmd: 5.810192 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBoy:ny2nmmlkkkkM @ɞE`BM* Iu.Iy yɝiIZy! ď,+$?A6+B@Y6<@6Cؽ96=BAHRS rotation from veh to nav: [[0.889598,0.435701,-0.137038],[-0.444349,0.895007,-0.038941],[0.105684,0.095535,0.989800]]y6H w??x@5pܿ@?` ?t?@q?ɫ6+B@6;4NL[BNIIViIV҅٥^> ^g=9^Q;Q b>`` bF٦bEyf.: f> h]4YjF?e4yjjrBim`u?jXCje checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012196ގď,]>?A :H?@Y::@:tս9:u=BAHRS rotation from veh to nav: [[0.889597,0.435999,-0.136097],[-0.444740,0.894736,-0.040674],[0.104038,0.096711,0.989860]]y:H w?`f?k`vܿ ?)Ӥ 4? ¸? ?ɫ:H?@:!;:CJ[[BJIH^>H\H^MII^\BI^n =I\I\&I^<*I^FEMMb@Mb@Mb@I I)IIIiIMtV?~jtZd;OM?MDI)MzAIM`]AiMv^AMrvA IM3kAIe[Ie:٥%= -3=9-m;Q ->)1 5F٦5Ey5J 5> 9M4Y=$F?M4y==rBUQ?U:U U?=zC=<;=;;=4]ʔB)]tA]EoFNOT Ignoring new targets: 324.31 m.o18o18 ProNav: ac range: 324.313538 m, nav range: 305.781677 m, bearing: 330.128784 deg, approach rate: -0.600469 m/s, LOS rate: 0.002426 deg/s, cmd heading: 332.899841 deg, new cmd heading: 332.903016 deg. zo!8HeadingCmd: 5.810254 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkkkФ@ɞaBQNսA 靥#I ɝiIxypxcG3( "  *fBK?:K>JUJUvJQJQJU}:JUϣ9JQJQJU;!eJU;!eJU :!eJU :!eichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.268230G9 ԙ G1 2BA :BY  Om >ď,X?AI)<:1@Y:O,@:u|ҽ9: F٦Ey%- %> )=4Y-3F?=4y-q-rBAEp E?-C-1;-!;-j4MӔB)MaAIoquFNOT Ignoring new targets: 324.31 m.o}h88o}h88 ProNav: ac range: 324.313538 m, nav range: 305.570862 m, bearing: 330.129706 deg, approach rate: -0.575792 m/s, LOS rate: 0.002519 deg/s, cmd heading: 332.903010 deg, new cmd heading: 332.905777 deg. zoI8HeadingCmd: 5.810302 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkkk @ɞ?aBٽ 6I ɝiILy checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774719 ꛩď,q?A:$@Y:@:lϽ9:j=BAHRS rotation from veh to nav: [[0.888431,0.439386,-0.132782],[-0.447736,0.893278,-0.039833],[0.101109,0.094840,0.990345]]y:Hn? ?`ܿ໕?dF?iG?@?ɫ:$@:n;:CR[BRIlEMb@Mb@Mb@A A)AIAiAE7A`? ףp= ~jtE?EQ8Eļ)ExAIE3[AiE_AE\uA AE=jAIUZIU٥et= eC=9mk;Q m>iq uF٦uEyur  > !-4Y%MFF?-4y%闽%rB-?-:- -?%C%3:%;%49)=.A9]B*** querying acoustic contact ***:pYBpYoamFNOT Ignoring new targets: 324.31 m.ou8o}8 ProNav: ac range: 324.313538 m, nav range: 305.314056 m, bearing: 330.130556 deg, approach rate: -0.589587 m/s, LOS rate: 0.001954 deg/s, cmd heading: 332.905770 deg, new cmd heading: 332.908323 deg. zo8HeadingCmd: 5.810346 target range: 324.313538 and range: 325.60 m.Ro[@JoboZoBo:n2nmmlkkkk@ɞuaB:qĽ ʼI ɝiILyHHsIIA\BIk =II&I`<*IE9G +,=q G 2B :B  O >jK5 cNrK5 9zK1 K5 ]K5 rQF?6/-+%""+'?k}waAQG 'CE}Z2KE sA*KE rAѢď,Ӌ?AJzJkJ6JJ`:J9J 4JJ~;J;J:J:Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.276117>@Y>@>Cͽ9>=NAHRS rotation from veh to nav: [[0.887605,0.441349,-0.131787],[-0.449606,0.892343,-0.039743],[0.100059,0.094528,0.990481]]y>HCg? ??fVܿ?%Yu?2?`?ɫ>@>5;>CV[BVII^QI^٥f6e= fU=9j4;Q j>hh jF٦j Eyn n> pv4YrUF?v4yrϚrrBtz z?rѽCr:r:ra4~۔B)~"A Eo!-FNOT Ignoring new targets: 324.31 m.o-: 8o-: 8ԁ ProNav: ac range: 324.313538 m, nav range: 305.099976 m, bearing: 330.131349 deg, approach rate: -0.590450 m/s, LOS rate: 0.002189 deg/s, cmd heading: 332.908311 deg, new cmd heading: 332.910691 deg. zoF8HeadingCmd: 5.810388 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkkk]@ɞaB ߽ <靽mI ɝiIۼy ď, ?A :p@Y:>@:*˽9:=BAHRS rotation from veh to nav: [[0.886811,0.443111,-0.131220],[-0.451338,0.891461,-0.039897],[0.099299,0.094606,0.990550]]y:H`?@[? ܿ؆?`em@k?8? ?ɫ:p@:u;:CJ[BJ(IIVeIV]٥^d= ^L=9^c:Q ^>`` bF٦b Eyf f> lr4YnfF?r4yn nrBtv v?nCn;n;niƈ4x)zܛAxo%FNOT Ignoring new targets: 324.31 m.o%o/8o%o/85 ProNav: ac range: 324.313538 m, nav range: 304.862762 m, bearing: 330.132314 deg, approach rate: -0.588602 m/s, LOS rate: 0.002397 deg/s, cmd heading: 332.910687 deg, new cmd heading: 332.913585 deg. zo58EHeadingCmd: 5.810438 target range: 324.313538 and range: 325.60 m.RoE@JoAboAZoABoA:nA2nImImIlIkQkYkYk]`@ɞeaBmWڽ 靭I ɝiIzE checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032129Y }'ď,?AH6>H6ICH6II6~\BI6m =I4I6D&I6<*I6OEz@Yz@zYɽ9zql= AHRS rotation from veh to nav: [[0.885830,0.445528,-0.129657],[-0.453477,0.890437,-0.038477],[0.098308,0.092880,0.990812]]yzH X??ݿu~?B*?Ƿ??ɫz@zz;zC[B3IMb@Mb@Mb@ )IiZd;?Zd;O~jt?j<)wAII\Ai`]AEtA piAI\IW٥-n= -5=9-f;Q ->99A EF٦EEyE䪻 E> IU4YM{zF?]4yMMsB]a?]:] ]?MCM ;M:MOΈ4eB)m؛AioFNOT Ignoring new targets: 324.31 m.o!O8o!O8 ProNav: ac range: 324.313538 m, nav range: 304.590729 m, bearing: 330.133595 deg, approach rate: -0.600215 m/s, LOS rate: 0.002829 deg/s, cmd heading: 332.913583 deg, new cmd heading: 332.917431 deg. zo8HeadingCmd: 5.810505 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmimilqkqkqkqku@}@ɞbBͽ )-\ſI) )ɝ)i)I-:zJeJeqJe7JaJep:Jeq9Je4JaJe;Je;Je :Je!:checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284795ԉG% y=G 2B :B  O- >Թ ď,c٦?A6@Y6۹@6;ǽ96\û=>AHRS rotation from veh to nav: [[0.885035,0.447614,-0.127888],[-0.455280,0.889572,-0.037168],[0.097129,0.091120,0.991092]]y6H3R?`? ^ O#ݿ_w?@kݸ?@S?`?ɫ6@6ъ;6CF[BFCIIRlIR)٥Z= Zf=9^JZ;Q ^>`` bF٦bEyb b> dj4YfԉF?j4yffsBlnb ]?f.Cfټď,>?AI):ֲ@Y:Xѹ@:SĽ9:ֺ=BAHRS rotation from veh to nav: [[0.884559,0.448889,-0.126703],[-0.456449,0.888974,-0.037136],[0.095966,0.090683,0.991245]]y:HNN??7`w6ݿyr?~8? 6?H?ɫ:ֲ@:;:CJ&\BJbIMb@Mb@Mb@ )IiOn?Zd;Oy&1?`e)\uAI3[Ai/sA QhAIIԩ٥= +=9;Q > F٦Ey, > 4YbF?4y(sB?: ?RCt;ws;܈4B)aAàEB*** querying acoustic contact ***:p!Bp!o)5FNOT Ignoring new targets: 324.31 m.o5|8o5|8U ProNav: ac range: 324.313538 m, nav range: 304.091187 m, bearing: 330.136292 deg, approach rate: -0.613728 m/s, LOS rate: 0.003453 deg/s, cmd heading: 332.920714 deg, new cmd heading: 332.925544 deg. zoU9]HeadingCmd: 5.810647 target range: 324.313538 and range: 325.60 m.Ro]@JoYboYZoYBoY:na2namimilikikqkqku@ @ɞ%ebB-ҽ )-ǿI) )ɝ)i1I5{{J= {J= nJ= 6J9 J= d:J= 99J= 4J9 J= 1;J= 3;J= `:J= b:I jKU MrKU 9zKQ KU _KU   *8@CDI<Phqbai]KV 2KY *K] tAu checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292137ٻéď,?AN^̲@YN,ǹ@N½9NK=jAHRS rotation from veh to nav: [[0.884084,0.449952,-0.126247],[-0.457595,0.888331,-0.038391],[0.094876,0.091711,0.991256]]yNH kJ? ? (@>Iݿ6m?`I?Zz?]?ɫN^̲@NӉ;NC-\BgII[I:٥5< 5T=9E:;Q E>IQ UF٦UEySR > 4Y`F?4y䫽7sBc ?qC;-;49Y)]RAaoFNOT Ignoring new targets: 324.31 m.o9p8o9p8E ProNav: ac range: 324.313538 m, nav range: 303.854462 m, bearing: 330.137679 deg, approach rate: -0.559744 m/s, LOS rate: 0.003282 deg/s, cmd heading: 332.925550 deg, new cmd heading: 332.929713 deg. zoE"9MHeadingCmd: 5.810719 target range: 324.313538 and range: 325.60 m.RoMj@JoIboIZo)Bo1:n12n9mAmilikqkqkyk}`@ɞbB%ѽ !%)οI) )ɝ)i)I-{ F٦Ey)\  > 4Y F?4y  SsB?: ? C {:  :i9I=ґC 74B))(A !-͠E)AIu5쿙qu@AԙoFNOT Ignoring new targets: 324.31 m.oa?8oa?8 ProNav: ac range: 324.313538 m, nav range: 303.497955 m, bearing: 330.139290 deg, approach rate: -0.578026 m/s, LOS rate: 0.002614 deg/s, cmd heading: 332.929703 deg, new cmd heading: 332.934540 deg. zo8EHeadingCmd: 5.810804 target range: 324.313538 and range: 325.60 m.RoE@JoAboAZoABoA:nI2nImImIlQchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.052157kQkkk' @H>HHII\BIl =II&Iė<*IiE2I}IC:I}ICBI}ƓCJIyRIyZI}҆5ɞ-bB5s 15пI1 1ɝ1i9I=j{=i4=)@)F 6"F *F 2F 4:F jK% RNrK! zK! K% `K% |w}vne]XQNLIF@=;951.,,-))&%.23/,)++,)#BK= >Q Q ] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306313:K= ?G%r=IG2B9:BQ Oe?ԩď,%S?ANβ@YN|ɹ@N}½9N5=VAHRS rotation from veh to nav: [[0.884210,0.449247,-0.127862],[-0.457344,0.888318,-0.041563],[0.094911,0.095227,0.990921]]yNHsK? w?] Eݿm?G@L?`? ?ɫNβ@Ni#;NC^\B^IIfWIfƕ٥nȡ= n:=9r hQ r>pt vF٦vEyvh: z> x~4YzF?~4yzQzhsBY ?zCz:z:z4B)A%ΠEoFNOT Ignoring new targets: 324.31 m.oyL8oyL85 ProNav: ac range: 324.313538 m, nav range: 303.236450 m, bearing: 330.140433 deg, approach rate: -0.638045 m/s, LOS rate: 0.002793 deg/s, cmd heading: 332.934538 deg, new cmd heading: 332.937973 deg. zo5^85HeadingCmd: 5.810864 target range: 324.313538 and range: 325.60 m.Ro=@Jo9bo9Zo9Bo9:n92n9mamalakikikikm @ɞcB*x 靽>ҿI ɝiIL}i کď,l?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.810712-\BJUxJU~JU5JQJUZ:JUf9JU4JQ!@!@!@!@Q5IeMb@Mb@Mb@a a)aIaiaeX9v?Q롿Mb`e?e\e)e/sAIaieI\AeoA aefAIdI@٥Y= &=9Q > F٦"Ey > 4YlF?4y!sB?: ?C;;n4 B)ǚAoFNOT Ignoring new targets: 324.31 m.ob 8ob 8 ProNav: ac range: 324.313538 m, nav range: 302.953308 m, bearing: 330.141310 deg, approach rate: -0.605610 m/s, LOS rate: 0.001877 deg/s, cmd heading: 332.937981 deg, new cmd heading: 332.940613 deg. zoܤ8HeadingCmd: 5.810910 target range: 324.313538 and range: 325.60 m.Ro@JoboZo!Bo!:n!2n!m)m)l)k)k1k1k5!@ɞeLcBeݽ aeӿIa iɝiiiIm}H H II ?]BI I I D&I З<*I }EG} 2g=G ?G >G1 2BA :BY  Oe > ď,?A6ڲ@Y6Թ@66Ž963=BAHRS rotation from veh to nav: [[0.884709,0.447148,-0.131716],[-0.456046,0.888768,-0.045984],[0.096503,0.100751,0.990220]]y6HO??@/ݿp?8 k?ʹ??ɫ6ڲ@6v;4J\BJIN%=Np;IR]IRt٥Z0= Z=9^Q ^?`` bF٦b$Eyb!; f? dr4YfNF?r4yffsBpr= r?fCfV;fW;f4x)zAx B*** querying acoustic contact ***:pBpo%FNOT Ignoring new targets: 324.31 m.o%/7o%/75 ProNav: ac range: 324.313538 m, nav range: 302.775513 m, bearing: 330.141813 deg, approach rate: -0.572219 m/s, LOS rate: 0.001620 deg/s, cmd heading: 332.940604 deg, new cmd heading: 332.942114 deg. zo5O8HeadingCmd: 5.810936 target range: 324.313538 and range: 325.60 m.Ro0@JoboZoBo:n2nmmlkkkk2"@ɞucB 靍տI ɝԱiI>??B?==Fizuojgge_[VUZ]XF"F*F2F:F G) G 2B) :B9  OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5641289 Kď,P?A6۲@Y6ֹ@6ǽ96X=BAHRS rotation from veh to nav: [[0.884731,0.446693,-0.133108],[-0.455807,0.888850,-0.046757],[0.097427,0.102039,0.989998]]y6HO?@? +ݿuq??5??ɫ6۲@6.;6CF\BFIIR^IR٥Z= ZK=9^~Q b>`` bF٦b&Eyf: f> hn4Yj.G?n4yjjsBY]. ]?jCj]Oď,i?A >ݲ@Y>xع@>+ɽ9>}=FAHRS rotation from veh to nav: [[0.884773,0.446397,-0.133812],[-0.455586,0.888962,-0.046784],[0.098070,0.102356,0.989902]]y>HP?ő? R(ݿ_r? ?4?F?ɫ>ݲ@>oc;>CR\BVI=Mb@Mb@Mb@9 9)9I9i9=@5^I ?{Gz~jth?=b?=ף=D;)=EtAI=WAi99 99IUWIUƕ٥eU= e?=9mƺQ m>ii mF٦u)Eyu: u> y4Y}G?4y}}sBz?:?}7C}:}:}W4B)HAϠEoFNOT Ignoring new targets: 324.31 m.oUoU}HYH];II]]BI]k =IYIY&I]<*I]:EiM 靕ۿI ɝiI"714@HMF7$ **(# 4CC>:0*06;t2B :B  O >ď,Pԧ?ALVڲ@YVnչ@VRʽ9VT=bAHRS rotation from veh to nav: [[0.884537,0.446636,-0.134575],[-0.455880,0.888825,-0.046523],[0.098834,0.102501,0.989811]]yVH N?? 9@!-ݿ@q?@ѧ2M?=??ɫVڲ@Vx;VCj4]BjI)p rAAIrPIr٥zl > zQ=9~Q ~>| F٦+Eyx > 4Y /G?4y ý sB ? SC ; ; (4!)%ݙA)oIMFNOT Ignoring new targets: 324.31 m.oo ProNav: ac range: 324.313538 m, nav range: 302.084320 m, bearing: 330.141641 deg, approach rate: -0.563021 m/s, LOS rate: -0.000990 deg/s, cmd heading: 332.942735 deg, new cmd heading: 332.941579 deg. zo.HeadingCmd: 5.810927 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkkkk=$@ɞu dBu/ q}ڿIy yɝyiyI2! \ď,y ?AFֲ@YFѹ@Fa̽9FG=NAHRS rotation from veh to nav: [[0.884260,0.446980,-0.135252],[-0.456244,0.888665,-0.046006],[0.099630,0.102389,0.989743]]yFH`K?S?O3ݿ o? Y? &6??ɫFֲ@F ;FCVB]BVIIbRIb4٥fp= fM=9jQ n>BDAT read: Response Not Received  *response not received*DAT read: user:211> J5J5J56J1J5p:J559J5 4J1iBDAT read: Tx time:03:57:19.3204 $Ping request sent.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.019953 i4YmZBG?4ymƽmsB'?msCmkHU JCHU mIIU ]BIQ IQ IQ &IU <*IU UE Ge =G1 2BA :BQ  Oe >Aď, ?A6Ҳ@Y6͹@6yν96=>AHRS rotation from veh to nav: [[0.883946,0.447472,-0.135677],[-0.456628,0.888545,-0.044489],[0.100648,0.101280,0.989754]]y6HII?_? ]d9ݿn?RǦ Ĺ???ɫ6Ҳ@6[;4Fn]BF,ImMb@Mb@Mb@i i)iIiiimx&?I +~jtx?m7 ?m94m;)m+sAImVAim+[AmpA imeAILI٥= ==9pQ > F٦1Ey >ԩ 4YuQG?4y]ɽtB@ ?:;?C;;'4!B)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 324.31 m.o 2o 2 ProNav: ac range: 324.313538 m, nav range: 301.628479 m, bearing: 330.140341 deg, approach rate: -0.567060 m/s, LOS rate: -0.002441 deg/s, cmd heading: 332.940330 deg, new cmd heading: 332.937695 deg. zovָ%HeadingCmd: 5.810859 target range: 324.313538 and range: 325.60 m.Ro%@Jo!bo!Zo)Bo):n)2n)m1m1l9k9k9kAkEϖ&@ɞodB# I ɝiIFE5>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.468821jK]NrK]]9zKYK]cK]&M!EGQ]F zjVD81+),8863+",GF6"F*F2F0:FGtAFtAG@o=G 2B :B  O >1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.719938[ď,!?A6ʲ@Y6[Ź@6ҽ96=>AHRS rotation from veh to nav: [[0.883283,0.449181,-0.134341],[-0.457429,0.888482,-0.036846],[0.102809,0.093997,0.990250]]y6HC?a?2Fݿrn?zݢ@Q?*? ?ɫ6ʲ@6;4 |]B 5I<C= I-WI-ƕ٥=P= =Q=9E$Q E>AA EF٦E3EyMF+ M> Q]4YU`G?]4yU˽UtBYee?UCU;U;Uz.4i)mAioFNOT Ignoring new targets: 324.31 m.oP!oP! ProNav: ac range: 324.313538 m, nav range: 301.421387 m, bearing: 330.139487 deg, approach rate: -0.533772 m/s, LOS rate: -0.002204 deg/s, cmd heading: 332.937708 deg, new cmd heading: 332.935143 deg. zoHeadingCmd: 5.810814 target range: 324.313538 and range: 325.60 m.Ro1@JoboZoBo:n2nmmlkkkk`]'@ɞdB  I ɝi I zԙ @ď,7;?A>Բ@Y>Ϲ@>ӽ9>c=FAHRS rotation from veh to nav: [[0.883807,0.448384,-0.133555],[-0.456301,0.889159,-0.034423],[0.103317,0.091365,0.990443]]y>H%H?@R?S@ 4ݿ`s?`蟡 r? c??ɫ>Բ@>0Š;>CN]BNAI5Mb@Mb@Mb@1 1)1I1i15p= ף?MbpMbP?5?55:)1I5UAi5ZA5nA 15zdAIMIMJȴ٥]?= ]H=9eQ e>aa eF٦m6EymH; m> y4Y}pG?4y}ν}5tB?: ?}ÿC};};}54)B)AѠEoFNOT Ignoring new targets: 324.31 m.oo ProNav: ac range: 324.313538 m, nav range: 301.209259 m, bearing: 330.138005 deg, approach rate: -0.515868 m/s, LOS rate: -0.003606 deg/s, cmd heading: 332.935140 deg, new cmd heading: 332.930691 deg. zofHeadingCmd: 5.810737 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:nUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.223937i2nmmlkkkk9(@H>HHII(^BIj =IIºD&I<*IEɞdB. nI ɝiIqjK OrK 9zK K dK VS@337!)mm]QD90+09:<>=881(".wZJ>40Joyn`RE:1)!BK ?:K ? $ď,U?A2ݲ@Y2׹@2QԽ92b=:AHRS rotation from veh to nav: [[0.884253,0.447184,-0.134620],[-0.455398,0.889545,-0.036370],[0.103486,0.093466,0.990230]]y2H K?@?9;<%ݿ'w?~?b? ?ɫ2ݲ@2F;2CE]BE\IIU&IU3٥e= eJ=9m ݹQ u>yy }F٦}9EyI#; > 4YGG?4y$ѽKtB?޿C:y:<4/B)BAڠEoFNOT Ignoring new targets: 324.31 m.o4o4 ProNav: ac range: 324.313538 m, nav range: 300.999390 m, bearing: 330.136496 deg, approach rate: -0.517343 m/s, LOS rate: -0.003721 deg/s, cmd heading: 332.930686 deg, new cmd heading: 332.926158 deg. zoq#HeadingCmd: 5.810658 target range: 324.313538 and range: 325.60 m.Ro@JoboZoBo:n2nmmlkk k k (@ɞ5eB= 9=I9 9ɝ9iAIELď,eo?A @jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.981128>@Y>{@>ҽ9>=J|JJJJ;g:J9JJAHRS rotation from veh to nav: [[0.885127,0.445398,-0.134802],[-0.453854,0.890238,-0.038636],[0.102797,0.095379,0.990119]]y>HR?f?@0A ݿ@|?'ȣ@P?j? ?ɫ>@>,;>C]B]IY=Mb@Mb@Mb@9 9)9I9i9=~jt?y&1|=?==`)9I=TAi=VA=oA 9=cAI]WI]ƕ٥ul: u"=9ur:Q u>yy }F٦} 4YG?4y<ԽctB?:?C::E47B)_A۠EoFNOT Ignoring new targets: 324.31 m.oyoy) ) ProNav: ac range: 324.313538 m, nav range: 300.741272 m, bearing: 330.134098 deg, approach rate: -0.515511 m/s, LOS rate: -0.004794 deg/s, cmd heading: 332.926151 deg, new cmd heading: 332.918950 deg. I 3BzoRHeadingCmd: 5.810532 target range: 324.313538 and range: 325.60 m.Ro%@Jo!bo!Zo!Bo!:n!2n!m)m)l)k1k1k1k5h*@ԁɞGeBf 靕-I ɝiI^wHKCHIIz^BIi =II&I<*IJE2IJC:IJCBIJIk =RIj =ZIX5ԩ G = G 2B :B  O >"ď,n?A6@Y6@6mѽ96ː=BAHRS rotation from veh to nav: [[0.885381,0.445096,-0.134127],[-0.453519,0.890394,-0.038969],[0.102082,0.095331,0.990198]]y6H U?s|? +uݿ~?"? g??ɫ6@6;;6CJ]BJtIIZ_IZ٥b= bv=9b ;Q b?dd fF٦f>Eyj: j? lr4YnG?r4ynJֽnstBprv?nCn:n :nPK4x)zAxB*** querying acoustic contact ***:pBpo%FNOT Ignoring new targets: 324.31 m.o-o5E ProNav: ac range: 324.313538 m, nav range: 300.569733 m, bearing: 330.132488 deg, approach rate: -0.515033 m/s, LOS rate: -0.004836 deg/s, cmd heading: 332.918938 deg, new cmd heading: 332.914106 deg. zoEeTMHeadingCmd: 5.810447 target range: 324.313538 and range: 325.60 m.RoM/@JoIboIZoBo:n2nmmlkkkk Ͳ*@ɞ%neB)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.484015U ]<]`IY YɝYiYI]o checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735934ԩ )ď,0?A>9@Y>@>eѽ9>"=JAHRS rotation from veh to nav: [[0.885129,0.445668,-0.133887],[-0.454053,0.890130,-0.038788],[0.101890,0.095124,0.990237]]y>HR?Յ?1#6ݿ`{?` ܣq?Z??ɫ>9@>;>CV]BVII^UI^٥fՆ= fK=9f9Q f>hh jF٦j@Eyj n> pv4Yr+G?v4yrؽrtBtvv?r0Cr:r:r\R4z>B)~A~ܠEo)-FNOT Ignoring new targets: 324.31 m.o5᮸o5᮸M ProNav: ac range: 324.313538 m, nav range: 300.361908 m, bearing: 330.130559 deg, approach rate: -0.514373 m/s, LOS rate: -0.004778 deg/s, cmd heading: 332.914103 deg, new cmd heading: 332.908311 deg. zoMQuHeadingCmd: 5.810346 target range: 324.313538 and range: 325.60 m.Rou[@JoqboqZoqBoq:ny2nymmlkkkk@e{+@ɞeB I ɝiILI x0ď,?A2@Y2޹@2ѽ92Lu=BAHRS rotation from veh to nav: [[0.884771,0.446415,-0.133769],[-0.454752,0.889790,-0.038390],[0.101889,0.094798,0.990269]]y2H P??Y@ݿ@)y?@̧`c?D?G?ɫ2@2;0J^BJIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239895H5>H1H5II5^BI5h =I1I1&I5<*I5/EMb@Mb@Mb@ )Iip= ף?{GzAI MF٦MCEyM M> Ye4Y]G?e4y]۽]tBe9?e:e4e?]NC]H:]:]CZ4)AoFNOT Ignoring new targets: 324.31 m.on[on[ ProNav: ac range: 324.313538 m, nav range: 300.127167 m, bearing: 330.129183 deg, approach rate: -0.510820 m/s, LOS rate: -0.002998 deg/s, cmd heading: 332.908311 deg, new cmd heading: 332.904178 deg. zoHeadingCmd: 5.810274 target range: 324.313538 and range: 325.60 m.Ro@Jobo!Zo!Bo!:n!2n!m)m)5PExceeded connect timeout, disconnecting.lIkikqkqkuj,@ɞeB 2I ɝiIm .6ď,٨?Argײ@Yr6ҹ@rѽ9rb=~AHRS rotation from veh to nav: [[0.884051,0.447702,-0.134225],[-0.456069,0.889125,-0.038177],[0.102251,0.094966,0.990215]]yrH %J?`(? K.:0ݿs?`!-?`O?ׯ?ɫrgײ@r=B;p $^B IIkI ٥-= -]=9-\Q 5>11 5F٦=FEy=Ʌ => AM4YEG?M4yE޽EtBIMU?EfCE:E:E`4)AoFNOT Ignoring new targets: 324.31 m.o Oo OM ProNav: ac range: 324.313538 m, nav range: 299.935730 m, bearing: 330.128114 deg, approach rate: -0.508484 m/s, LOS rate: -0.002841 deg/s, cmd heading: 332.904185 deg, new cmd heading: 332.900976 deg. zoMuHeadingCmd: 5.810218 target range: 324.313538 and range: 325.60 m.RouO@JoqboqZoqBoq:nq2nymymylkkkk)-@ɞ= fB=% AQ靍I ɝiIa<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745043I(iv=i%>=)%O@))ԁE m<F 6"F *F 2F 0:F ԩ  DAT read: 03:57:22.1630 LVL= 18704, 25585, 16050, 26659, AGC= 69, IDX= 199,-0.32,-0.362,-1.898,-0.308,-1.160, PHS= 0.886,-0.692, 0.849, RAW= 148.8, -13.3, CAL= 155.7, -21.1, ROT= 354.3, 21.1  Ygot valid direction response: 03:57:22.1630 LVL= 18704, 25585, 16050, 26659, AGC= 69, IDX= 199,-0.32,-0.362,-1.898,-0.308,-1.160, PHS= 0.886,-0.692, 0.849, RAW= 148.8, -13.3, CAL= 155.7, -21.1, ROT= 354.3, 21.1  PDAT read: Bearing 354.3, 21.1 (Local)  ~Local bearing/azimuth received: Bearing 354.3, 21.1 (Local)  DAT read: Range 10 to 50 : 328.8 m (Round-trip 438.5 ms) speed 0.4 m/s  *DAT read: user:212>  BDAT read: Tx time:03:57:23.2704  $Ping request sent. i} #h} E} b?} &1} XY? } 6&@)} ,mI} '-@i} )} @} )> y )y } A?H?W?%rͿi} 2?} m>} )˽} )> y )y E :publishing transmit ping time M Fpublishing direction and range infoy 1 y} ^ ^?(z0 ׿y Yy y )y Iy iy y y y y G O =GGsA y )y Iy iy y y y )y } A?H?W?%rͿiy y y y y )y G2B:B O >(=ď,q?AV5˲@YVƹ@V\ҽ9V=^AHRS rotation from veh to nav: [[0.883345,0.449079,-0.134276],[-0.457371,0.888492,-0.037337],[0.102535,0.094395,0.990240]]yVH\D??`/@Eݿn?@??J*? ?ɫV5˲@V ۉ;T!^BIMb@Mb@Mb@ )Iiv/?~jt:vx ?ļԼ)oAITAiVA =bAI-VI-٥=* E=9E)Q E>II MF٦MIEyMz- U>%JDAT read: TxSync time:03:57:23.2696 QZH]<RH]4<Hu>HqHu IIu^BIug =IqIq&Iu<*IuE 4YG?4yJtB ?:?C::?k4FB)ܘAJpRpv?ApCpCp׷@vQs@hX>p5y]v^ ^?(z0 ׿p)˽p)>vE+Jp@#03dSVvc[Ht?( 9߿#jJX_Hѿjp!rpbCZp:?bp$}zppE띟?pbppCpW@e addTargetRange:: Added new target pos. range: 328.799988 m, deltaT: 14.875458 s, deltaX: 3.199982 m, approachRate: 0.215118 m/s, rangeRepo size: 4  Added new target pos. range: 327.500397 m, bearing: 329.167899 deg, lat: 36.779411 deg, lon: -121.859935 deg, deltaT: 14.875458 s, deltaX: 3.186859 m, approachRate: 0.214236 m/s, posRepo size: 4 o FNOT Ignoring new targets: 327.50 m.o o E ProNav: ac range: 327.500397 m, nav range: 307.502075 m, bearing: 330.059785 deg, approach rate: 0.000000 m/s, LOS rate: -0.002841 deg/s, cmd heading: 332.900989 deg, new cmd heading: 332.895835 deg. zoAMHeadingCmd: 5.810128 target range: 327.500397 and range: 328.80 m.RoM@JoIboQZoQBoQ:nQ2nQmYmYlYkYkY enManaging dock network, ignoring radio surface power offkět@k   F٦ MEy-" 5> AU4YEG?]4yEEtBae9e?ECEG~;El;Es4uNB)uƘA}ݠEB*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 327.50 m.o-~o-~= ProNav: ac range: 327.500397 m, nav range: 307.236816 m, bearing: 330.059678 deg, approach rate: -0.538395 m/s, LOS rate: -0.000217 deg/s, cmd heading: 332.895825 deg, new cmd heading: 332.895504 deg. zo=EHeadingCmd: 5.810122 target range: 327.500397 and range: 328.80 m.RoE@JoAboAZoBo:n2nmmlkkkk?ɞfB  I  ɝ i I;{Nď,z=?AF@YFS@Fٽ9F4h=NAHRS rotation from veh to nav: [[0.880081,0.454658,-0.136909],[-0.462883,0.885768,-0.033986],[0.105818,0.093284,0.990000]]yFH)???ݿ`5X?@f?`t?@?ɫF@F<;FCVU^BVIdEMb@Mb@Mb@A A)AIAiAE(\?MbX9vE?E@E)EkAIESAiEUAEkA AE`AIe2Ie٥uq= u.=9}+yQ }>yy F٦PEyv > 4YY H?4y`tB?:E!E?C<<{4MMB)MAQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.240318oFNOT Ignoring new targets: 327.50 m.o8o8H>HICH5 II_BIh =IID&I<*IE ProNav: ac range: 327.500397 m, nav range: 306.979370 m, bearing: 330.061622 deg, approach rate: -0.542524 m/s, LOS rate: 0.004100 deg/s, cmd heading: 332.895497 deg, new cmd heading: 332.901334 deg. zo 49 HeadingCmd: 5.810225 target range: 327.500397 and range: 328.80 m.Ro\@JoboZoBo:n2nmml9kAkAkAkE}?ɞfB 靽I ɝiIjqUď,V?A6@Y6Q@6Y޽96=jK>4NrK>9zK<K>hK>vym[K5=A;648o4*wpbQB3)%"'))''# JAHRS rotation from veh to nav: [[0.878812,0.456478,-0.138990],[-0.464685,0.884902,-0.031890],[0.108435,0.092611,0.989780]]y6H9?6?idݿQ?@Sk»?_?G?ɫ6@6v;4NZ^BRI TVAIZUIZ٥bJ< bX=9bQ b>dd fF٦fREyj j> lr4Yn^H?r4ynYntBprr?nCn/;n ;n4zUB)zAzޠEo9FNOT Ignoring new targets: 327.50 m.oI8oI8 ProNav: ac range: 327.500397 m, nav range: 306.768524 m, bearing: 330.063306 deg, approach rate: -0.602772 m/s, LOS rate: 0.004816 deg/s, cmd heading: 332.901344 deg, new cmd heading: 332.906398 deg. zoS9HeadingCmd: 5.810313 target range: 327.500397 and range: 328.80 m.Ro@JoboZoBo:n2nmmlkkkk +??ɞMgBM1$ q} Iy yɝyiyIIԙ [ď,p?AI)6}@Y6x@6=96=NAHRS rotation from veh to nav: [[0.878297,0.457204,-0.139852],[-0.465346,0.884602,-0.030521],[0.109759,0.091886,0.989702]]y6H ?@B?<ݿ`N?@0?Ӆ?`?ɫ6}@6;4Zv^BZIIbMIb٥j= jI=9nSVQ n>ll rF٦rUEyr r> tz4Yv,H?~4yvvtB|~~?v Cv ;v-;v4) iA =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999904oamFNOT Ignoring new targets: 327.50 m.omN8ouN8 ProNav: ac range: 327.500397 m, nav range: 306.541748 m, bearing: 330.065156 deg, approach rate: -0.546359 m/s, LOS rate: 0.004462 deg/s, cmd heading: 332.906398 deg, new cmd heading: 332.911954 deg. zoC9HeadingCmd: 5.810410 target range: 327.500397 and range: 328.80 m.Ro@JoboZoBo:n2n mmlkkkk e@ɞ]9gB]U 靍4 I ɝiIvHHCHN IIE_BIk =IID&I<*I-EG= c<GE rAGA G 2B! :BQ Y  Oe >bď,?Ab^BbI}Mb@Mb@Mb@y y)yIyiy}(\?Zd;V-}z?}y})}lAIyi}rRA}lA y}_AIII.٥< ==9Q > F٦WEy > 4Y*>H?4y8tB{?:A?+C1;;:4bB)AEo 1FNOT Ignoring new targets: 327.50 m.o9o9 ProNav: ac range: 327.500397 m, nav range: 306.290649 m, bearing: 330.068189 deg, approach rate: -0.592237 m/s, LOS rate: 0.007158 deg/s, cmd heading: 332.911944 deg, new cmd heading: 332.921048 deg. zo19HeadingCmd: 5.810568 target range: 327.500397 and range: 328.80 m.Ro-@JoboZoBo:n2nmmlkkkk@@ɞpgBr 靽 I ɝ i I $ݍԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7521850hď,p?A:s@Y:n@:=9:=VAHRS rotation from veh to nav: [[0.877344,0.457794,-0.143845],[-0.466211,0.884179,-0.029587],[0.113640,0.093020,0.989158]]y:H4?L?@i¿fݿ 1K?K?"з?`.?ɫ:s@:È;:C^^BbIi`I`IjdIj@٥r> vX=9v(Q v>xx zF٦zZEy~R ~> 4YMH? 4yqtB   ?GC>:6:ٗ4)&AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 327.50 m.o|8o|8 ProNav: ac range: 327.500397 m, nav range: 306.070160 m, bearing: 330.070904 deg, approach rate: -0.553161 m/s, LOS rate: 0.006816 deg/s, cmd heading: 332.921042 deg, new cmd heading: 332.929193 deg. zo9HeadingCmd: 5.810710 target range: 327.500397 and range: 328.80 m.RoW@JoboZoBo:n 2n m mlkkkk`a@ɞEgBE4D) AEII IɝIiIIMFiU '>IU ÑC) ) I% ! - ! B {nď,v?A ,.@E^BEIMb@Mb@Mb@ )Ii~jt?Mb{Gz?ף)XiAI\QAikA \AIOIݜ٥;= 7=9Q >! %F٦%]Ey% %> )54Y-`H?=4y-j-uBE?E:EE?-jC-?;-=;-4MjB)M#AIHe>HaHeg IIen_BIel =IaIa&Ie<*IaBDAT read: Rx Time:03:57:26.0955 TRx dataTimestamp_ set to:1761364647.057886checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2573872I-IC:I-ICBI-”CJI-h =RI-i =ZI-J6oFNOT Ignoring new targets: 327.50 m.o9o9 ProNav: ac range: 327.500397 m, nav range: 305.799194 m, bearing: 330.074341 deg, approach rate: -0.623440 m/s, LOS rate: 0.007915 deg/s, cmd heading: 332.929184 deg, new cmd heading: 332.939504 deg. zoѭ9HeadingCmd: 5.810891 target range: 327.500397 and range: 328.80 m.Ro@JoboZoBo:n2nmmlkkkk@V @ɞgB* I ɝiI= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508996G 2B :B  O >uď,$)ة?ABki@YB:d@B<9Bn=rAHRS rotation from veh to nav: [[0.875894,0.457974,-0.151884],[-0.466855,0.883921,-0.027014],[0.121882,0.094570,0.988029]]yBHS?pO?`pÿݿ I?@3?@5??ɫBki@B;BC^B  II-^I-jK=URNrK=ͼ9zK9K=jK=  ")*/7DIHHGEEEBB<70(#! ٥eW= eX=9m.Q u>yy }F٦}_Ey}X > 4YpH?4y!uBZ?CW:B:M4qB)AEoFNOT Ignoring new targets: 327.50 m.o9o9 ProNav: ac range: 327.500397 m, nav range: 305.566742 m, bearing: 330.077349 deg, approach rate: -0.623483 m/s, LOS rate: 0.008075 deg/s, cmd heading: 332.939511 deg, new cmd heading: 332.948542 deg. zoT9HeadingCmd: 5.811049 target range: 327.500397 and range: 328.80 m.Ro@JoboZoBo:n2nmmlkk k k `M @ɞhB/ I ɝiIB BDAT read: Tx time:03:57:27.2205 $Ping request sent. ީ)ީޭ'a M$? ?|K2Yпiޭ'?ޭF>ޭ޹ޭ> ߩ)ߩe:publishing transmit ping timeeFpublishing direction and range info۩yۭEq?k骗oAՅ}ؿ۩Y۩ ܩ)ܩIܩiܩܩܩܩܩ ݩ)ݩIݩiݩݩݩ ީ)ީޭ'a M$? ?|K2Yпiީީީީ ߩ)ߩԡ G ]<Gy 2B :B  O >{ď,m?A:n@Y:i@:R<9:=JAHRS rotation from veh to nav: [[0.875860,0.457046,-0.154846],[-0.466097,0.884347,-0.026144],[0.124989,0.095072,0.987593]]y:H ??@?ÿ`ݿL?pŚC?V?[?ɫ:n@:K;:CR_BR# IV=V<IZkIZ ٥r= rS=9vQ v>tt vF٦zbEyzc:JDAT read: TxSync time:03:57:27.2197 >JUqJUeJU5JQJUD:JU9JU4JQ!]@!]@!]@!e@ e4YH?m4yM5uBim/m?C`)<)<4y)}ŗAyJpRp?Ap+Cp+Cp8ܷ@vGmr@ R:"^vEq?k骗oAՅ}ؿp޹p>v]>p@lYD]cvIUv?{u?^[q߿Gd'_VѿjprpCZp {?bpTzp8ppppCpZ@ addTargetRange:: Added new target pos. range: 315.600006 m, deltaT: 3.781694 s, deltaX: -13.199982 m, approachRate: -3.490494 m/s, rangeRepo size: 4   Added new target pos. range: 314.336853 m, bearing: 329.200469 deg, lat: 36.779411 deg, lon: -121.859935 deg, deltaT: 3.781694 s, deltaX: -13.163544 m, approachRate: -3.480859 m/s, posRepo size: 4 o%FNOT Ignoring new targets: 314.34 m.oUoYԩ ProNav: ac range: 314.336853 m, nav range: 305.330414 m, bearing: 330.080383 deg, approach rate: 0.000000 m/s, LOS rate: 0.008075 deg/s, cmd heading: 332.948554 deg, new cmd heading: 332.958698 deg. zoMHeadingCmd: 5.811225 target range: 314.336853 and range: 315.60 m.RoM@JoQboQZoYBoY:n2nmmlkkks@ke?ɞEJhBE AEIA IɝIiIIMHuGCHu IIu_BIqIqIq&Iu<*Iu:E GU oE<G1 2BI :BY  Oe >݂ď, ?AF;u@YF p@F09F=NAHRS rotation from veh to nav: [[0.875802,0.454924,-0.161290],[-0.465185,0.884682,-0.030677],[0.128735,0.101897,0.986430]]yFH?`x?@*Ŀ`ݿOO?i@bz? ?Ր?ɫF;u@F&;FCV_BV2 I`MMb@Mb@Mb@I I)IIIiIMZd;O?333333MbpMj?MM)IIIiMEPAMnjA IMG]AImImʴ٥}l= @=9/Q > F٦dEy: > 4YbH?4y0RuB?:?C;?;v4xB)AEoFNOT Ignoring new targets: 314.34 m.o>:9o>:9 ProNav: ac range: 314.336853 m, nav range: 305.073364 m, bearing: 330.084622 deg, approach rate: -0.616523 m/s, LOS rate: 0.010177 deg/s, cmd heading: 332.958690 deg, new cmd heading: 332.971419 deg. zo}9HeadingCmd: 5.811448 target range: 314.336853 and range: 315.60 m.Roa@JoboZoBo:n2nm9m9lAkAkIkIkMpt?ɞU{hB]O- Y]*IY YɝYiaIe6,2Ki*KiG- .<G5 sAG5 tAQ G 2B! :B9  O >ď,%?Ab>u@Yb p@b9b=rAHRS rotation from veh to nav: [[0.875478,0.453937,-0.165768],[-0.465012,0.884678,-0.033295],[0.131538,0.106233,0.985602]]ybH?`N ?`7ſ@ݿHO?  ;?2?@?ɫb>u@b;bCzK_BzQ IIaI錴٥6> S=9Q > F٦gEy%x6 %> )54Y-H?54y--muB155?-C9-:-+;-94A)MLAImB*** querying acoustic contact ***:piBpioy}FNOT Ignoring new targets: 314.34 m.oC9oC9 ProNav: ac range: 314.336853 m, nav range: 304.837463 m, bearing: 330.088516 deg, approach rate: -0.648078 m/s, LOS rate: 0.010706 deg/s, cmd heading: 332.971422 deg, new cmd heading: 332.983112 deg. zo9HeadingCmd: 5.811652 target range: 314.336853 and range: 315.60 m.Ro @JoboZoBo:n2nmmlkkkk K?ɞhBU: I ɝiI4 &ď,ҋ??A:{f@Y:Ja@:$I 9:=BAHRS rotation from veh to nav: [[0.874272,0.455222,-0.168587],[-0.466393,0.884012,-0.031629],[0.134635,0.106280,0.985179]]y:H ? \"?@?ſaݿI?1`;?@%5??ɫ:{f@:;:CJv_BJl IiLILIRa=)Rp=-Mb@Mb@Mb@) )))I)i)-On? rh{Gzt?-?-C-ף;)-njAI-EPAi-NA-lA ))IM5IM糴٥] = ]F=9]Q ]>aa eF٦eiEymᎻ m> q}4YuǴH?}4yun uuB}?:?uCu;uA;ur‰4B)AԙoFNOT Ignoring new targets: 314.34 m.o)9o)9 ProNav: ac range: 314.336853 m, nav range: 304.592499 m, bearing: 330.092340 deg, approach rate: -0.593445 m/s, LOS rate: 0.009272 deg/s, cmd heading: 332.983115 deg, new cmd heading: 332.994596 deg. zo9HeadingCmd: 5.811852 target range: 314.336853 and range: 315.60 m.Ro@JoboZoBo:n2nmmlHs>HFCH II_BIk =IID&Iۗ<*IfE}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470270kkykk j0?ɞhB ! I ɝiI֠- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722396 zď,,gY?A6`@Y6Z@6e 96[=>AHRS rotation from veh to nav: [[0.873586,0.455525,-0.171303],[-0.466902,0.883768,-0.030944],[0.137296,0.107014,0.984732]]y6Hj?R'?Aſ ݿG?ү@?Ee??ɫ6`@6!;4F_BJ IIV_IV٥Z^= ^U=9^~Q b>`` bF٦blEyf- f> hn4YjH?n4yjjuBlrr?j"Cj;j ;j&ɉ4t)vȖAtjKuOrKuS9zKqKulKu3|U9&  "&##  ),% 'VhokbXM@75*BK?:K?oFNOT Ignoring new targets: 314.34 m.o+9o+9 ProNav: ac range: 314.336853 m, nav range: 304.365173 m, bearing: 330.095930 deg, approach rate: -0.594184 m/s, LOS rate: 0.009389 deg/s, cmd heading: 332.994590 deg, new cmd heading: 333.005366 deg. zo39HeadingCmd: 5.812040 target range: 314.336853 and range: 315.60 m.Ro;@JoboZoBo:n2nmmlkkkkX?ɞ}iB}I - y}xIy ɝiIjy 8ď,%@s?A2|f@Y2Ka@292==>AHRS rotation from veh to nav: [[0.873607,0.454779,-0.173168],[-0.466038,0.884299,-0.028721],[0.140071,0.105794,0.984473]]y2H??a*ƿݿ,L?h?`I?`΀?ɫ2|f@2~;2CF_BF IIN^IN٥V= VK=9ZCQ Z>XX ^F٦^oEy^&: ^> `f4Yb)H?f4ybmbuBhjj?bACb:by:b.Љ4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.226457vB)vAvEJ%pJ%lJ!J!J%A:J%9J!J!o)5FNOT Ignoring new targets: 314.34 m.o5U)9oU)9 ProNav: ac range: 314.336853 m, nav range: 304.126831 m, bearing: 330.099666 deg, approach rate: -0.589756 m/s, LOS rate: 0.009253 deg/s, cmd heading: 333.005354 deg, new cmd heading: 333.016572 deg. zo39HeadingCmd: 5.812236 target range: 314.336853 and range: 315.60 m.Ro@JoboZoBo:n2nmmlk k k k Sp@QɞKiB8' 靭I ɝiIc H%DCH% II%W`BI%q =I!I%D&I%<*I%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479467ԱG D-<GY 2Ba :By  O > ď,.?A6m@Y6g@6p96=BAHRS rotation from veh to nav: [[0.873673,0.453794,-0.175405],[-0.465170,0.884781,-0.027928],[0.142521,0.105993,0.984100]]y6H ? ?@sƿYݿ`P?5">?_"?}?ɫ6m@6Wr;6CJ_BJ IN,>Np=-Mb@Mb@Mb@) )))I)i)-"~?Zd;OI +?-?-j<-94<)-kAI-/OAi)-kA )-]AII٥j= :=9Q > F٦qEy: > 4YH?4yuBv?:9?aC<::׉4)gAo!%FNOT Ignoring new targets: 314.34 m.o-;8o-;8E ProNav: ac range: 314.336853 m, nav range: 303.874695 m, bearing: 330.102012 deg, approach rate: -0.575613 m/s, LOS rate: 0.005361 deg/s, cmd heading: 333.016583 deg, new cmd heading: 333.023628 deg. zoE{k9MHeadingCmd: 5.812359 target range: 314.336853 and range: 315.60 m.RoM@JoIboIZoIBoI:nQ2nYmamalakakikikm@s@ԱɞiB4+ I ɝiI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9825189 Iď,?A2{@Y2v@292=:AHRS rotation from veh to nav: [[0.874235,0.451885,-0.177519],[-0.463446,0.885690,-0.027773],[0.144676,0.106550,0.983725]]y2H?? ƿݿ`W?qp?@F?z?ɫ2{@2;0J`BJ IIbPIb٥v;> vZ=9zQ z>  F٦ tEy; > !-4Y%~H?-4y%%vB)55?%}C%:% ;%މ4B)AEB*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 314.34 m.o 8o 8% ProNav: ac range: 314.336853 m, nav range: 303.657471 m, bearing: 330.103964 deg, approach rate: -0.542786 m/s, LOS rate: 0.004881 deg/s, cmd heading: 333.023631 deg, new cmd heading: 333.029492 deg. zo%aV9%HeadingCmd: 5.812461 target range: 314.336853 and range: 315.60 m.Ro%@Jo)bo)Zo)Bo):n)2n)m1m1l1k9kAkAkE @ɞuiBu1- q}Iy yɝyiyI}P1ď,c?A %>`B% IHa>HCCH; II`BIr =II&I<*IEMb@Mb@Mb@ )Ii|?5^?/$I +? ?)njAILAiKAmA Q\AIWIƕ٥5F= 57=9=Q =>99 EF٦EwEyE E> I]BDAT read: Rx Time:03:57:30.0428 eTRx dataTimestamp_ set to:1761364651.090116echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.487833m4YMI?m4yMMMBvBm ?m:uu?MCM;Mʦ;M;4y)}ҕAyoFNOT Ignoring new targets: 314.34 m.o;7o;7 ProNav: ac range: 314.336853 m, nav range: 303.415619 m, bearing: 330.104237 deg, approach rate: -0.568336 m/s, LOS rate: 0.000641 deg/s, cmd heading: 333.029478 deg, new cmd heading: 333.030296 deg. zo7HeadingCmd: 5.812475 target range: 314.336853 and range: 315.60 m.Ro@JoboZoBo:n2nmmlkkkk[ @ɞiB( I ɝ!i!I%nۗ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738643ԡ (\ď,ڪ?A2@Y2o@292=JAHRS rotation from veh to nav: [[0.875419,0.448128,-0.181171],[-0.460007,0.887488,-0.027548],[0.148442,0.107456,0.983066]]y2Hn?` ?0ǿpݿLf?5%?B? Fu?ɫ2@2D;2CR}`BR IiTITI^XI^㔴٥f/> fd=9f.Q f>hh jF٦jyEyj&< n> pv4Yr_I?v4yrrcvBtv0v?rCr`:r:r{4B)rAEo)-FNOT Ignoring new targets: 314.34 m.o5_6o5_6E ProNav: ac range: 314.336853 m, nav range: 303.219971 m, bearing: 330.104325 deg, approach rate: -0.552370 m/s, LOS rate: 0.000248 deg/s, cmd heading: 333.030298 deg, new cmd heading: 333.030562 deg. zoEs.7MHeadingCmd: 5.812480 target range: 314.336853 and range: 315.60 m.RoM@JoIboIZoIBoI:nQ2nQmQmQlYkYkakake?1@ԉjKMrKS9zKKnK "AXQ?67GkxmcWNHB<6:PYULS{~wog`aumR>830-+%ɞ$jB. wI !ɝ!i)I-j BDAT read: Tx time:03:57:31.1705 $Ping request sent. i)im B?>H?*ֿim'Z?m+>m)+Ƚm> i)i-:publishing transmit ping time-Fpublishing direction and range infoiym=SS?-7RAݿiYi i)iIiiiiiii i)iIiiiii i)im B?>H?*ֿiiiii i)iG Ga 2Bi :B  O > ď, ?A6@Y6뢹@6*O96<1=>AHRS rotation from veh to nav: [[0.876006,0.446288,-0.182868],[-0.458341,0.888347,-0.027621],[0.150123,0.108012,0.982749]]y6H>??5hǿuUݿ Wm?H`:7??r?ɫ6@60;6CbJDAT read: TxSync time:03:57:31.1697 f`Bf$ I J|J~@AI ^I ٥= E=9%PQ %>!! %F٦%|Ey-; -> 1}4Y5&I?}4y5"5vBy?5C5%<5&<54)*AJpRpm?Ap)Cp)Cph@vm0QGq@^;IG[av=SS?-7RAݿp)+Ƚp>v=p@8-)[bܜQnYvfNѦ??P޿|PԿjprpCZpuJ{?bp~=9zpC6ppppCpt]@] addTargetRange:: Added new target pos. range: 313.600006 m, deltaT: 4.031048 s, deltaX: -2.000000 m, approachRate: -0.496149 m/s, rangeRepo size: 4  Added new target pos. range: 312.320618 m, bearing: 330.178285 deg, lat: 36.779411 deg, lon: -121.859935 deg, deltaT: 4.031048 s, deltaX: -2.016235 m, approachRate: -0.500176 m/s, posRepo size: 4 oFNOT Ignoring new targets: 312.32 m.oo)a )IEAMB ProNav: ac range: 312.320618 m, nav range: 302.993286 m, bearing: 330.104352 deg, approach rate: 0.000000 m/s, LOS rate: 0.000248 deg/s, cmd heading: 333.030571 deg, new cmd heading: 333.030897 deg. zoHeadingCmd: 5.812486 target range: 312.320618 and range: 313.60 m.Ro@Jobo)ZoBoA:nI2nQmymlkkks@k?ɞijBb r<I yɝyiyIvHBCH II7aBIt =IID&I<*IJE2IDC:IDCBIǕCJIq =RIp =ZI6QF6"F*F2F0:Fy G Vo<G ?G ?G 2B :B  O >?Īď,|?ARL@YR@Rxm9R*I=XfAHRS rotation from veh to nav: [[0.875607,0.447758,-0.181175],[-0.458107,0.888723,-0.017601],[0.153133,0.098409,0.983293]]yRH?`?@0ǿ Qݿkp? ܙ? V1?#w?ɫRL@R&;RC=`B=; IMb@Mb@Mb@ )IiuV?~jth?Mbp?r?D;;)jjAILAiJAkA \[AIQI٥ U=  '=9 e̻Q > F٦EyD8 > 1=4Y5+:I?=4y5%5vB=t?=:=GE?5C5:58:5C4MB)MAIJuJJ6JJ[Q:JJ 4JJo;!Jo;!J:!J!oFNOT Ignoring new targets: 312.32 m.oo5 ProNav: ac range: 312.320618 m, nav range: 302.736511 m, bearing: 330.102179 deg, approach rate: -0.532095 m/s, LOS rate: -0.004507 deg/s, cmd heading: 333.030899 deg, new cmd heading: 333.024374 deg. zo=E=HeadingCmd: 5.812372 target range: 312.320618 and range: 313.60 m.Ro]@JoaboaZoyBoy:n2nmmlkkkk`?ɞjBy1 zI ɝiI*dʪď,+?A:@Y:˝@:<9:=JAHRS rotation from veh to nav: [[0.875069,0.451124,-0.175331],[-0.458548,0.888667,-0.002067],[0.154878,0.082206,0.984507]]y:H@?7?hh jF٦jEyjE n> pv4YraHI?v4yrA(rvBtvv?r CrB:r:r4|)~A|-B*** querying acoustic contact ***:p)Bp)o1FNOT Ignoring new targets: 312.32 m.onon ProNav: ac range: 312.320618 m, nav range: 302.546753 m, bearing: 330.100589 deg, approach rate: -0.548996 m/s, LOS rate: -0.004602 deg/s, cmd heading: 333.024369 deg, new cmd heading: 333.019597 deg. zoJHeadingCmd: 5.812288 target range: 312.320618 and range: 313.60 m.RoD@JoboZoBo:n2nmmlkkkk t?ɞ}jB}= y}}Iy ɝiI ԡ H V>H H II aBI I I &I <*I EOKѪď,mE?AJK@YJ@J 9J-=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495811ZAHRS rotation from veh to nav: [[0.875298,0.449972,-0.177141],[-0.457537,0.889188,-0.002098],[0.156568,0.082885,0.984183]]yJHp?V?ƿIHݿ:t?40aj ?7?m~?ɫJK@J;JCbaBbi I]Mb@Mb@Mb@Y Y)YIYiY]y&1?{Gz?=9ZQ > F٦Ey; > 4YGYI?U4y*vBU~?U:U]?(CZ<I< 4eB)eAeEoFNOT Ignoring new targets: 312.32 m.oo ProNav: ac range: 312.320618 m, nav range: 302.325684 m, bearing: 330.097218 deg, approach rate: -0.489531 m/s, LOS rate: -0.007470 deg/s, cmd heading: 333.019588 deg, new cmd heading: 333.009467 deg. zoHeadingCmd: 5.812112 target range: 312.320618 and range: 313.60 m.Ro@JoboZoBo:n2nmmlk!k!k!k%c?ɞ kBly* 靽I ɝiIf F٦Ey %> )54Y-flI?54y---wB115?-HC-:-:-4A)ELAAoimFNOT Ignoring new targets: 312.32 m.ouou ProNav: ac range: 312.320618 m, nav range: 302.075531 m, bearing: 330.093398 deg, approach rate: -0.541715 m/s, LOS rate: -0.008280 deg/s, cmd heading: 333.009479 deg, new cmd heading: 332.998009 deg. zoյHeadingCmd: 5.811912 target range: 312.320618 and range: 313.60 m.Ro.@JoboZoBo:n2nmmlkkkk`a@ɞIkB-* !I ɝiI .ԉ yߪď,)Y?ANaB IiMb@Mb@Mb@ )IiS㥛?Mb??<̼) fAIinFA XAITIn٥Ɠ= 1=JHBHAAHI>H@CH II bBII;DID&I~<*IE9Q >!! %F٦%Ey) -> 154Y5~I?=4y5h056wB=?=:==?5gC5@:5:54MB)M8AMEoy}FNOT Ignoring new targets: 312.32 m.o ָo ָ ProNav: ac range: 312.320618 m, nav range: 301.833984 m, bearing: 330.090651 deg, approach rate: -0.513949 m/s, LOS rate: -0.005848 deg/s, cmd heading: 332.998005 deg, new cmd heading: 332.989759 deg. zonHeadingCmd: 5.811768 target range: 312.320618 and range: 313.60 m.Ro@JoboZoBo:n2nmmlkkkk"@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503890ɞkB( #I ɝiIj)1 5F٦5Ey5< 5> 9E4Y=?I?M4y=3=RwBIMiM?=C=;=;="4UB)UA]EoyFNOT Ignoring new targets: 312.32 m.o2o2 ProNav: ac range: 312.320618 m, nav range: 301.602173 m, bearing: 330.087648 deg, approach rate: -0.516653 m/s, LOS rate: -0.006699 deg/s, cmd heading: 332.989754 deg, new cmd heading: 332.980737 deg. zoHeadingCmd: 5.811610 target range: 312.320618 and range: 313.60 m.Ro@JoboZoBo:n2nmmlkkkk)@ɞkBH0 %I ɝiIď,Ժ?A  @Y k@ @'9 =AHRS rotation from veh to nav: [[0.879644,0.437485,-0.186638],[-0.446720,0.894634,-0.008390],[0.163302,0.090755,0.982393]]y H &??ǿܿנ?.@?@;?`o?ɫ  @ :; C5aB= II_I٥Fs= <=9Q > F٦Ey <  > !4Y%I?4y%5%nwBg?%C%<%=%h*4Y)]AYB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 312.32 m.olol ProNav: ac range: 312.320618 m, nav range: 301.373047 m, bearing: 330.084503 deg, approach rate: -0.470199 m/s, LOS rate: -0.006459 deg/s, cmd heading: 332.980738 deg, new cmd heading: 332.971295 deg. zoڍHeadingCmd: 5.811445 target range: 312.320618 and range: 313.60 m.Ro\@JoboZo1Bo1:n12n9m9m9lAkAkAkAkEi @ɞ lB~( 靝(I ɝiIEH>CH; IIhbBIy =IID&I<*IE5BDAT read: Rx Time:03:57:34.0053 5TRx dataTimestamp_ set to:1761364655.122088=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513149Fm6"Fi*Fi2Fi:FiGEG=G2B:B) O5> ď,ԫ?A0F#@YF@Fw(9Fx=NAHRS rotation from veh to nav: [[0.880862,0.434341,-0.188229],[-0.444067,0.895929,-0.010745],[0.163973,0.093051,0.982066]]yFH0???@ȿ kܿs?@? 6ҷ?m?ɫF#@F;FCVaBV IMb@Mb@Mb@ )IiNbX9?~jtx~jt?Ļ)dAIIAiADAjjA \WAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763803IjI٥h= L=9޺Q > F٦Ey&; > 4YI?4y%8wB?:l?CQ;AQ;;14ÕB)AJpJZJ4JJA:JS9J3JJT;JT;Jou:Jqu:o1=FNOT Ignoring new targets: 312.32 m.o=ʸo=ʸM ProNav: ac range: 312.320618 m, nav range: 301.169769 m, bearing: 330.082544 deg, approach rate: -0.574875 m/s, LOS rate: -0.005544 deg/s, cmd heading: 332.971285 deg, new cmd heading: 332.965403 deg. zosHeadingCmd: 5.811343 target range: 312.320618 and range: 313.60 m.Ro@JoboZoBo:n2nmmlkkkkї@ԑɞBlB-yUA 15(I1 9ɝAiIIM$S  BDAT read: Tx time:03:57:35.1205  $Ping request sent. M )M 0? I )I  :publishing transmit ping time۩  Fpublishing direction and range infoI yM 1ƚ?Y]uޫ9߿I YI I )I II iI I I I I I )I II iI I I I )I M ? 7͋t?ӹ'ٿiI I I I I )I G} Nw =G9 2BA :BY  Om > ď,6?AIB<)@Lv/@Yv*@vh)9vN=AHRS rotation from veh to nav: [[0.881368,0.432488,-0.190115],[-0.442693,0.896583,-0.012698],[0.164962,0.095354,0.981680]]yvH@+4? ?UȿUܿ ϰ?9z?@i?i?ɫv/@v`;t-aB- IIeWIeƕ٥m=X= uM=9u$Q u>yy }F٦}Eyq; > 4YI?4y:wB?Cf<f<684)}AJpYRp]?Ap]ԠCp]ԠCp]Y@v]HM5dq@|B1 dv]1ƚ?Y]uޫ9߿p])p]0?v]) p@' a]J\v]+J?:TE+;ۿ@Cֿjp]rp]CZp]"lh?bp]OJzp]bpYp]~=9p]p]sCp]2@M addTargetRange:: Added new target pos. range: 323.000000 m, deltaT: 4.031272 s, deltaX: 9.399994 m, approachRate: 2.331769 m/s, rangeRepo size: 4 ] Added new target pos. range: 321.657104 m, bearing: 332.964200 deg, lat: 36.779411 deg, lon: -121.859888 deg, deltaT: 4.031272 s, deltaX: 9.336487 m, approachRate: 2.316015 m/s, posRepo size: 4 oYeFNOT Ignoring new targets: 321.66 m.oeoau ProNav: ac range: 321.657104 m, nav range: 298.901642 m, bearing: 330.773993 deg, approach rate: 0.000000 m/s, LOS rate: -0.005544 deg/s, cmd heading: 332.965411 deg, new cmd heading: 332.958180 deg. zoy}HeadingCmd: 5.811216 target range: 321.657104 and range: 323.00 m.Ro}|@JoboZoBo:n2nmmlkkk0t@k`?ɞ{lBE< AE1+II IɝIiIIMYԛ) ZH <RH p<H 5>H =CH m II bBI { =I I D&I <*I #Eď,?AV!@YV@V>*+9V"a=bAHRS rotation from veh to nav: [[0.880398,0.433891,-0.191408],[-0.444092,0.895904,-0.011771],[0.166376,0.095366,0.981440]]yVH@9,??ȿlܿ>?0@K?@i?g?ɫV!@V5;TnaBn IipIp| Mb@Mb@Mb@  ) I i  MbX?V-ˡE  ?  ') bAI HAi BA SiA  UAIE-IE٥u < u;=9}WQ }>y F٦Ey > 4Y4I?4y=wBX ?:[?C::?4ʕB)Eo9EFNOT Ignoring new targets: 321.66 m.oE6oE6} ProNav: ac range: 321.657104 m, nav range: 298.661865 m, bearing: 330.774132 deg, approach rate: -0.583415 m/s, LOS rate: 0.000336 deg/s, cmd heading: 332.958171 deg, new cmd heading: 332.958586 deg. zo}hl7HeadingCmd: 5.811224 target range: 321.657104 and range: 323.00 m.Ro@JoboZoBo:n2nmmlkkkk`yI?)ɞUlBUi? Y]-IY YɝYiYI]]0ď,SZ"?Ab@Yb @b>,9b=jAHRS rotation from veh to nav: [[0.879321,0.435887,-0.191827],[-0.445832,0.895063,-0.009820],[0.167417,0.094157,0.981380]]ybH`e#?`?Ǎȿܿ Z?Om??@vg?ɫb@b\;bCjKOrKS9zKKsK " #Ck >='2K-sA*K-rAEaBE IIU,YIUỴ٥= [=99Q > F٦Ey] > 4YI?4yU@wB?C::nF4)9Ao9=FNOT Ignoring new targets: 321.66 m.oEo7oEo7U ProNav: ac range: 321.657104 m, nav range: 298.460358 m, bearing: 330.774332 deg, approach rate: -0.544136 m/s, LOS rate: 0.000541 deg/s, cmd heading: 332.958581 deg, new cmd heading: 332.959182 deg. zoU7]HeadingCmd: 5.811234 target range: 321.657104 and range: 323.00 m.Ro]@JoYboaZoaBoa:na2namimilikikikqk?ɞ}lB}K 靅.I  ɝ i I ) J- lJ- aJ- 6J) J- <5:J- p9J- 4J) !5 @!5 @!5 @!5 @i I C)  vA)! 3Zď,2<?AIvAbB 驉&@Y@4-9 = AHRS rotation from veh to nav: [[0.877497,0.439442,-0.192067],[-0.449066,0.893467,-0.007434],[0.168339,0.092774,0.981354]]yHu??`ȿ ܿI?Ls~@?` ??g?ɫ&@,; bB IH1>HH IIcBIII&I<*I2Iu>C:Iu?CBIqJIuy =RIux =ZIua6mMb@Mb@Mb@i i)iIiiimGz?i|?5l񢿹m?mqm)m_AImnFAim?Am"gA im3SAI9I\٥= =9OQ > F٦Ey{ > 4YhI?4yDwB?:?6C: :O4ѕB)+AEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 321.66 m.T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.or8o%r8- ProNav: ac range: 321.657104 m, nav range: 298.158783 m, bearing: 330.777845 deg, approach rate: -0.572660 m/s, LOS rate: 0.006679 deg/s, cmd heading: 332.959182 deg, new cmd heading: 332.969733 deg. zo595HeadingCmd: 5.811418 target range: 321.657104 and range: 323.00 m.Ro5#@Jo9bo9Zo9Bo9:n92nAEDReached init depth of 56.513107 m.mAmIlIkIkIkIkUFZ?ɞ0mB1. ,2I  ɝ i I $'ď, Y?A$Z@YZ@Z`,9Zʷ=fAHRS rotation from veh to nav: [[0.877368,0.440037,-0.191292],[-0.449437,0.893288,-0.006489],[0.168024,0.091667,0.981512]]yZHe?)?E|ȿ ܿѕ?z@΁?w?h?ɫZ@ZЉ;ZCjTbBn/ Iv=vi> zAxI~gI~٥ ta>  =9 <:Q  ? F٦EyϤ ? -4YJ?-4y'GwB)-5-?MCO;[;:U49)=A9oimFNOT Ignoring new targets: 321.66 m.ou8ou8 ProNav: ac range: 321.657104 m, nav range: 297.981384 m, bearing: 330.779932 deg, approach rate: -0.566253 m/s, LOS rate: 0.006664 deg/s, cmd heading: 332.969728 deg, new cmd heading: 332.975990 deg. zoW9HeadingCmd: 5.811527 target range: 321.657104 and range: 323.00 m.Ro@JoboZoBo:n2nmmlkkkkK?ɞXmBg - =?0I ɝiI;jKcNrK9zKKtK~l^OK"[tH-?PTTPSWOLIFEDDA@><9?Z@(  "ԡ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006434 EGď,s?A6|@Y6K@6 -96g)=JAHRS rotation from veh to nav: [[0.876936,0.441073,-0.190885],[-0.450221,0.892902,-0.005131],[0.168179,0.090440,0.981599]]y6H`?:?nȿjܿ@?u ?'? Bi?ɫ6|@6|;6C\b]bBb4 IIr^Ir٥zȰ< zM=9znϹQ z>|| ~F٦~Ey6 > 4Y J?4y ^J xBw? iC 6: p: 1\4%•B)%PA!oIMFNOT Ignoring new targets: 321.66 m.oU8oU8m ProNav: ac range: 321.657104 m, nav range: 297.755920 m, bearing: 330.782631 deg, approach rate: -0.567557 m/s, LOS rate: 0.006800 deg/s, cmd heading: 332.975984 deg, new cmd heading: 332.984088 deg. zomS9uHeadingCmd: 5.811669 target range: 321.657104 and range: 323.00 m.Rou1@JoqboqZoqBoq:ny2nymmlkkkk @ɞmBI 靽3I ɝiIJHBHH.>HAcA GQAIgI٥= <=9Q > F٦Ey > 4Y$J?4yMxB<?: ?C::c4)AoI]FNOT Ignoring new targets: 321.66 m.o]9oe9} ProNav: ac range: 321.657104 m, nav range: 297.506348 m, bearing: 330.786075 deg, approach rate: -0.570019 m/s, LOS rate: 0.007874 deg/s, cmd heading: 332.984098 deg, new cmd heading: 332.994441 deg. zo9HeadingCmd: 5.811850 target range: 321.657104 and range: 323.00 m.Ro@JoboZoBo:n2nmmuBlkkkk a@ɞbB J_ W靍PI >ɝiI ԡ jK NrK 9zK K uK /CQ7~maVGKyl`Y^p{1<tY)ď,7?AnbBnm IipIpIv=)tIzOIzݜ٥J= Y=9%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011927yQ > F٦Ey > 4Y4J?4yDQ9xB?Cy;,;j4͕B)ÑAEoamFNOT Ignoring new targets: 321.66 m.o}2 9o}2 9 ProNav: ac range: 321.657104 m, nav range: 297.279724 m, bearing: 330.789208 deg, approach rate: -0.557685 m/s, LOS rate: 0.007715 deg/s, cmd heading: 332.994453 deg, new cmd heading: 333.003858 deg. zoo9HeadingCmd: 5.812014 target range: 321.657104 and range: 323.00 m.Ro@JoiboiZoqBoq:nq2nqmymylykykykyk @ԩɞ:=; 靵8/=I S8ɝiIHH IIcBIIID&I<*IEG%=G2B):B9 OM?;2ď,S^ɬ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515789 "@>ز@Y>ҹ@>s,9>v=FAHRS rotation from veh to nav: [[0.876142,0.442841,-0.190440],[-0.451892,0.892061,-0.004624],[0.167836,0.090110,0.981688]]y>H[ ?W?T`ȿܿ Ë?r@{?j?i?ɫ>ز@>c;>CRbBR I Mb@Mb@Mb@ )Ii7A`?+Q?u)ZAIADAi F٦Ey%R %> 154Y5XLJ?=4y5fV5gxB=?=:=2=?5C5* ;5\ ;5t4I)MqAIeB*** querying acoustic contact ***:piBpioquFNOT Ignoring new targets: 321.66 m.o}L9o}L9 ProNav: ac range: 321.657104 m, nav range: 296.938873 m, bearing: 330.795568 deg, approach rate: -0.599490 m/s, LOS rate: 0.011199 deg/s, cmd heading: 333.003851 deg, new cmd heading: 333.022954 deg. zo9HeadingCmd: 5.812347 target range: 321.657104 and range: 323.00 m.Ro@JoboZoBo:n2nmmuBlkkkk@# @ɞbB; =I 9ɝiIR BDAT read: Tx time:03:57:39.0206 $Ping request sent.& ?""? ):publishing transmit ping time۩Fpublishing direction and range infoyZ_ ?OWsŠI⿹Y )Ii )Ii )H<k?@O?Nzi )ԑ G ;=GQ 2BY :Bq  O} >x8ď,?AVز@YVӹ@V(X,9V=vAHRS rotation from veh to nav: [[0.876236,0.442574,-0.190629],[-0.451831,0.892085,-0.005751],[0.167512,0.091171,0.981645]]yVH` ?"S?fȿ ܿ@?wq?W?i?ɫVز@V;VC~6cB~ II5nI5d٥=r> Ej=9Ev:IQ > F٦Ey9 > 4YZJ?4yYtIxB-'TFailed to parse incomplete device message.)?C._<q_<{4 ӕB) A EJpRp ڬ?ApCpCp@v+kan@aۿfvZ_ ?OWsŠIp"p"?v>_s|o@O6X:F[81=avEo9+?{#׿hǜ8/ܿjprp{CZpLD?bp2zpAp {?ppC6pNCpA@ addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 3.781858 s, deltaX: -13.700012 m, approachRate: -3.622561 m/s, rangeRepo size: 4  Added new target pos. range: 308.003479 m, bearing: 336.151152 deg, lat: 36.779368 deg, lon: -121.859888 deg, deltaT: 3.781858 s, deltaX: -13.653625 m, approachRate: -3.610296 m/s, posRepo size: 4 oFNOT Ignoring new targets: 308.00 m.oo%JDAT read: TxSync time:03:57:39.0198 5 ProNav: ac range: 308.003479 m, nav range: 292.611694 m, bearing: 330.347766 deg, approach rate: 0.000000 m/s, LOS rate: 0.011199 deg/s, cmd heading: 333.022948 deg, new cmd heading: 333.035712 deg. zo1]HeadingCmd: 5.812570 target range: 308.003479 and range: 309.30 m.Ro]@JoYboaZoaBoa:na2namimilikikikuTs@ku?ɞbBμ?< P(>I P9ɝiIG>ď,#?ARӲ@YRqι@Rg+9R=ZAHRS rotation from veh to nav: [[0.876080,0.442926,-0.190527],[-0.452467,0.891750,-0.007440],[0.166607,0.092725,0.981654]]yRH@?X?2cȿ 8ܿ7?y~dS?Լ?i?ɫRӲ@R@;RCbacBb Ij=j4=IrIrԴ٥z;= zQ=9~;Q ~>|| ~F٦~Eyݺ > 4Y ujJ?4y \ xBN?  C : : ȁ4!)-A)oQ]FNOT Ignoring new targets: 308.00 m.oe\H9om\H9u ProNav: ac range: 308.003479 m, nav range: 292.387573 m, bearing: 330.351690 deg, approach rate: -0.624851 m/s, LOS rate: 0.010948 deg/s, cmd heading: 333.035707 deg, new cmd heading: 333.047488 deg. zo}o9}HeadingCmd: 5.812775 target range: 308.003479 and range: 309.30 m.Ro}A@JoboZoBo:n2nmmlkkkk `;?ɞbB< \R>I }[9ɝiIz*H;CH< IIdBI{ =II&Iڗ<*IEE)E-sAF6"F*F2F:FQ G <G 2B :B  O >zEď,.9?AI)6=̲@Y6 ǹ@6_)96H=BAHRS rotation from veh to nav: [[0.875938,0.444851,-0.186654],[-0.453395,0.891303,-0.003476],[0.164819,0.087673,0.982419]]y6H ?@rx?Iǿmݿ`?Pzl@?q?o?ɫ6=̲@6~{;6CncBr IԉMb@Mb@Mb@ )IiI +? rh~jth9?CD)"[AI BAi;AaA NAIcI#٥Z= 3=9;Q > F٦Ey >  4Y|J?4y`xB>?:L?,C:Q:4ڕB)%3AEoFNOT Ignoring new targets: 308.00 m.of9of9 ProNav: ac range: 308.003479 m, nav range: 292.126221 m, bearing: 330.355668 deg, approach rate: -0.553824 m/s, LOS rate: 0.008437 deg/s, cmd heading: 333.047482 deg, new cmd heading: 333.059426 deg. zoG9 HeadingCmd: 5.812984 target range: 308.003479 and range: 309.30 m.Ro @Jo bo!Zo!Bo!:n)2n)m1m5 vBl1k1k9k9k= ;?ɞbBu:< 靍%>I ^(:ɝiIzFQaipspohbN@C/]LB=9730-*&&#  G :W<G 2B :B  O > Kď,1?A6 ڲ@Y6Թ@6%%96 v=^AHRS rotation from veh to nav: [[0.877323,0.442859,-0.184880],[-0.452238,0.891844,-0.009722],[0.160579,0.092139,0.982713]]y6H ?W?`%ǿ@xܿ?F郿@֍?q?br?ɫ6 ڲ@63;6CfcBf" IIv=IvЬ٥ Y8> [=99<!) -F٦-Ey=; => Qe4YU J?m4yUcUxBimm?UHCUh;UW;UZ4q)}AyoFNOT Ignoring new targets: 308.00 m.o"9o"9 ProNav: ac range: 308.003479 m, nav range: 291.908112 m, bearing: 330.358914 deg, approach rate: -0.597283 m/s, LOS rate: 0.008895 deg/s, cmd heading: 333.059422 deg, new cmd heading: 333.069167 deg. zoZ9HeadingCmd: 5.813154 target range: 308.003479 and range: 309.30 m.Ro[@JoboZoBo:n2nmmlkkkk`?ɞbB< 靝>I >ce:ɝiI6OxH- :CH- II- dBI- | =I) I- D&I- <*I- "E2B :B  O > Rď,K?AN@YN@Ny9N[=VAHRS rotation from veh to nav: [[0.880404,0.440317,-0.176096],[-0.450719,0.892394,-0.022024],[0.147450,0.098760,0.984127]]yNH E,?&.?Qƿܿ`~??XH?}?ɫN@Nw;L^dB^I IMb@Mb@Mb@ )Ii-?kt~jtx??? 0;)XAI?Ai`A GMAIaI錴٥> @=9 =Q > F٦Ey; > 4YJ?4ySgyB?:\ ?gC;;4B)HAoFNOT Ignoring new targets: 308.00 m.o%'8o%'85 ProNav: ac range: 308.003479 m, nav range: 291.665436 m, bearing: 330.360389 deg, approach rate: -0.579994 m/s, LOS rate: 0.003529 deg/s, cmd heading: 333.069175 deg, new cmd heading: 333.073604 deg. zo59=HeadingCmd: 5.813231 target range: 308.003479 and range: 309.30 m.Ro=@Jo9bo9Zo9BoA:nA2nAmAmM=vBlIkIkIkIkU??ɞbBH< 靅>I [ :ɝiIjn 9 Yď,e?A n[dBnn IIvSIvQ٥/> V=9Q >    F٦ Ey  > %4YaJ?%4yZj2yB!!%?C:K:^4))5ΎA1]B*** querying acoustic contact ***:pYBpYoamFNOT Ignoring new targets: 308.00 m.où8où8 ProNav: ac range: 308.003479 m, nav range: 291.444733 m, bearing: 330.361733 deg, approach rate: -0.577518 m/s, LOS rate: 0.003519 deg/s, cmd heading: 333.073601 deg, new cmd heading: 333.077636 deg. zo9HeadingCmd: 5.813302 target range: 308.003479 and range: 309.30 m.Ro@JoboZoBo:n2nmmlkkkk@ɞbB~= Y>I z:ɝiIea E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495145)q `wA) I  `wA _B%_ď,?A 6# @Y6@6ʠ96|=NAHRS rotation from veh to nav: [[0.883833,0.437870,-0.164650],[-0.448776,0.892990,-0.034185],[0.132062,0.104105,0.985759]]y6H@[H? ?@ſ@ܿ`?@k??W?ɫ6# @6l4;6CVdBV IIb`Ib̍٥j> jN=9jy =Q j>ll nF٦nEyr < r> tz4YvJ?z4yv|mvQyBxzx z?vCvh:v:vL4B)AEo)-FNOT Ignoring new targets: 308.00 m.o5f8o5f8E ProNav: ac range: 308.003479 m, nav range: 291.214996 m, bearing: 330.362976 deg, approach rate: -0.581853 m/s, LOS rate: 0.003152 deg/s, cmd heading: 333.077645 deg, new cmd heading: 333.081378 deg. zoMn 9MHeadingCmd: 5.813367 target range: 308.003479 and range: 309.30 m.RoM@JoQboQZoQBoQ:nQ2nQmYmYlakakakake @ɞbB= 靕>I }:ɝiI\H8CH IIeBI =IID&I<*I E2I;C:I;CBIJI| =RI} =ZI6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747023ԙG5?=G) 2B9 :Bi  O} > fď,c?A:@Y:W@:a9:V =FAHRS rotation from veh to nav: [[0.885209,0.437580,-0.157888],[-0.448199,0.893145,-0.037540],[0.124590,0.103996,0.986743]]y:HS?O?5ĿJܿ@?`{8@&??`f?ɫ:@:1;:CPRdBR IV >V= XZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.999079MMb@Mb@Mb@I I)IIIiIMCl?:vMb?M?MԼM<)MWAIM>AiIM9\A IMKAIe\IeW٥u> u@=JhJZJ5JJ(:JS9J4JJ);!J);!Jmu:!Jpu:!9 F٦Ey.; > 4YJ?4ypsyB ?:>?C; ;Ϭ4B) AEoFNOT Ignoring new targets: 308.00 m.oo ProNav: ac range: 308.003479 m, nav range: 290.975372 m, bearing: 330.362943 deg, approach rate: -0.526995 m/s, LOS rate: -0.000072 deg/s, cmd heading: 333.081388 deg, new cmd heading: 333.081289 deg. zosKHeadingCmd: 5.813365 target range: 308.003479 and range: 309.30 m.Ro@JoboZoBo:n2nmmvBlkkkk @ɞubBu7S= y}N?Iy };ɝyiyI}/R7lď,p>?AB}!@YBM@B;9B=NAHRS rotation from veh to nav: [[0.886669,0.436694,-0.152041],[-0.447313,0.893357,-0.042718],[0.117172,0.105887,0.987451]]yBH_? ?@vÿ Ơܿa?`2ߥ ?h? 2?ɫB}!@Bٜ;BCV eBV II^gI^٥f> fV=9f>hh jF٦jEyn}; n> pv4YrJ?v4yrTsryBtvz?rCrl:rB:rg4|~B)AEoFNOT Ignoring new targets: 308.00 m.oo ProNav: ac range: 308.003479 m, nav range: 290.764679 m, bearing: 330.362852 deg, approach rate: -0.560142 m/s, LOS rate: -0.000242 deg/s, cmd heading: 333.081278 deg, new cmd heading: 333.081006 deg. zo)%HeadingCmd: 5.813360 target range: 308.003479 and range: 309.30 m.Ro% @Jo!bo)Zo)Bo):n)2n)m1m1lQkQkYkYk] @ɞbB'?= 靭Q?I n>;ɝiIJH 6CH ) II eBI =I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756386~"sď,%ͭ?A5>eB= IY]Mb@Mb@Mb@Y Y)YIYiY]V-?y&1|?y&1|?] ?]`;]`;)]VAI] F٦ŝEy > 4YJ?4y{vyB ?:k?C::4B)aAEo FNOT Ignoring new targets: 308.00 m.o o ProNav: ac range: 308.003479 m, nav range: 290.492889 m, bearing: 330.359558 deg, approach rate: -0.570970 m/s, LOS rate: -0.006927 deg/s, cmd heading: 333.081005 deg, new cmd heading: 333.071112 deg. zo%"-HeadingCmd: 5.813188 target range: 308.003479 and range: 309.30 m.Ro-@Jo)bo)Zo)Bo):n)2n1m1m5vBl1k9k9k9k=~@ɞubB}== y}w(?Iyԁ 8xf;ɝiI @ BDAT read: Tx time:03:57:42.9206 $Ping request sent. )VeaL?,YF??Dʿi'?U>iӱ> ):publishing transmit ping timeہFpublishing direction and range infoy£?H2պ"TտY )Ii )Ii )VeaL?,YF??Dʿi )GE y= G 2B :B)  O5 >Kyď, ?A:4@Y:.@:ҽ9:V=BAHRS rotation from veh to nav: [[0.889099,0.435762,-0.140050],[-0.446017,0.893557,-0.051230],[0.102818,0.108013,0.988818]]y:Hs?? 'ܿ?:LR?æ? f?ɫ:4@:t;:CN~eBN! IIR=)PIZGIZ٥rxI> v=9vX;=Q v ?xx zF٦zǝEyz$;  ? !-4Y%K?-4y%x%yB)-I-?%C%l:%0;%4Y)]AaJpIRpMܭ?ApMCpMCpMI@vMox0q@c[ڶ@|MiZvM£?H2պ"TտpMipMӱ>vMgŔo@67{b؛ASvMC?w"߿пjpMԹrpM~CZpMe۞?bpMrzpM9pIpIpIpM(CpM@ addTargetRange:: Added new target pos. range: 307.200012 m, deltaT: 4.030764 s, deltaX: -2.099976 m, approachRate: -0.520987 m/s, rangeRepo size: 4 % Added new target pos. range: 305.881531 m, bearing: 329.375793 deg, lat: 36.779368 deg, lon: -121.859888 deg, deltaT: 4.030764 s, deltaX: -2.121948 m, approachRate: -0.526438 m/s, posRepo size: 4 o!%FNOT Ignoring new targets: 305.88 m.o-o)] ProNav: ac range: 305.881531 m, nav range: 290.317474 m, bearing: 330.357351 deg, approach rate: 0.000000 m/s, LOS rate: -0.006927 deg/s, cmd heading: 333.071115 deg, new cmd heading: 333.064171 deg. zoYeHeadingCmd: 5.813066 target range: 305.881531 and range: 307.20 m.Roe@JoaboaZoaBoa:ni2ni}JDAT read: TxSync time:03:57:42.9198 jK_MrK]9zKKzK&/Uxk`XQKGGJGEBJ8I|$ R ` a _ H -  s&n?{@2KsA*KsAmmlkkk@33s@k?ɞbBi= 7?I ;ɝiI%6>99 1ď,?A:6@Y:~1@:sȽ9:ov=BAHRS rotation from veh to nav: [[0.889699,0.436580,-0.133541],[-0.445958,0.893687,-0.049443],[0.097758,0.103543,0.989809]]y:Hjx??`ܿ? P?ȁ?@?ɫ:6@:ڇ;:CJeBJ4 IIrSIrQ٥z(= zJ=9~M| F٦ʝEy#Q: > 4Y K?4y  { yB%? 0C U9; 6D; Ȋ4-B)5A1MB*** querying acoustic contact ***:pIBpIoY]FNOT Ignoring new targets: 305.88 m.oefoefu ProNav: ac range: 305.881531 m, nav range: 290.097717 m, bearing: 330.354566 deg, approach rate: -0.570475 m/s, LOS rate: -0.007235 deg/s, cmd heading: 333.064175 deg, new cmd heading: 333.055815 deg. zouឹ}HeadingCmd: 5.812921 target range: 305.881531 and range: 307.20 m.Ro}r@JoyboyZoyBo:n2nmmlkkkk?ɞbBs= >?I ;ɝiI1H}5CH}t II}fBI} =IyIy&I}ؗ<*I}E:FAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GUZ%=yG) 2BI :Bi  O >ԙ Z[ď,?A>hB@Y>8=@>*9>l=JAHRS rotation from veh to nav: [[0.890872,0.435680,-0.128571],[-0.444951,0.893934,-0.053862],[0.091467,0.105192,0.990237]]y>H@?/?@uzܿ?`ʓ`aj???ɫ>hB@>;>CReBRO IrApvchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994213MMb@Mb@Mb@I I)IIIiIMK7A`?~jt?Mb`?M ?M F٦̝Ey\; > 4Y'#K?4y}yB ?:x۾?MC ;r;Њ4)fAoqFNOT Ignoring new targets: 305.88 m.o.o. ProNav: ac range: 305.881531 m, nav range: 289.868958 m, bearing: 330.350541 deg, approach rate: -0.539979 m/s, LOS rate: -0.009508 deg/s, cmd heading: 333.055815 deg, new cmd heading: 333.043731 deg. zoйHeadingCmd: 5.812710 target range: 305.881531 and range: 307.20 m.Ro@JoboZoBo:n2nmmvBlkkkk@z.?ɞubBu~h= q}I?Iy }4$;ɝyiyI}(5<70"ygJ8\Dv~gBX4~twthYPWBKe ?:Ke ?G "=G 2B :B  O > ޅď,b4?A6B@Y6r=@6ٮ96=NAHRS rotation from veh to nav: [[0.891376,0.436115,-0.123505],[-0.445172,0.893595,-0.057532],[0.085273,0.106264,0.990675]]y6H&?N?}ܿ`T? tqԵ?4??ɫ6B@6m;4VeBVc I XZAI^;I^٥fS= fX=9fچhh jF٦jϝEyn8 n> pv4Yr2K?v4yrr zBttz?rgCr:r:r֊4~B)~?A~EoFNOT Ignoring new targets: 305.88 m.o&o& ProNav: ac range: 305.881531 m, nav range: 289.665253 m, bearing: 330.346952 deg, approach rate: -0.517547 m/s, LOS rate: -0.009125 deg/s, cmd heading: 333.043740 deg, new cmd heading: 333.032965 deg. zodȹHeadingCmd: 5.812522 target range: 305.881531 and range: 307.20 m.Ro.@JoboZoBo:n2nmmlkkkk7?ɞbBR= hP?I >;ɝiIu!H H II tfBI I I &I <*I EG9 2BI :BY  Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749939Q pď,fkN?AI)-eB-q IMb@Mb@Mb@ )IiMbX?Q?!) -F٦-ҝEy5 5> AU4YEEK?]4yEREzB] ?]:]оe?ECEY;E'W;Eފ4q)uAq)oQUFNOT Ignoring new targets: 305.88 m.o]Uo]U ProNav: ac range: 305.881531 m, nav range: 289.423187 m, bearing: 330.341598 deg, approach rate: -0.526062 m/s, LOS rate: -0.011645 deg/s, cmd heading: 333.032975 deg, new cmd heading: 333.016900 deg. zoHeadingCmd: 5.812242 target range: 305.881531 and range: 307.20 m.Ro@JoboZoBo:n2nmmvBlkkkkP?ɞbBď, F٦ԝEy< %> )54Y-UK?54y-`-+zB9==ξ=?-C--;-K;-4E B)M؋AMEoiuFNOT Ignoring new targets: 305.88 m.ourour ProNav: ac range: 305.881531 m, nav range: 289.225372 m, bearing: 330.337078 deg, approach rate: -0.579475 m/s, LOS rate: -0.013251 deg/s, cmd heading: 333.016911 deg, new cmd heading: 333.003340 deg. zoHeadingCmd: 5.812005 target range: 305.881531 and range: 307.20 m.Ro@JoboZoBo:n2nmmlkkkk`%@ɞbB|k= ^?I ;ɝiITmi=i8=)@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253933jKU_OrKUS9zKQKU|KUvlN/- PH 8T%W!sO1zulhfd`^2KerA*KaFm6"Fi*Fq2Fu0:FqԙԹGG2B:B O>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505903ď,D?A`r1fBr IIzXIz㔴٥%< -H=9-Q ->)1 5F٦5֝Ey5 5> 9E4Y=2fK?E4y==9zBIIM?=C=:=):=4Q)UNjAYuB*** querying acoustic contact ***:pqBpqo FNOT Ignoring new targets: 305.88 m.o Xo XE ProNav: ac range: 305.881531 m, nav range: 289.006561 m, bearing: 330.332071 deg, approach rate: -0.517281 m/s, LOS rate: -0.011846 deg/s, cmd heading: 333.003332 deg, new cmd heading: 332.988299 deg. zoEEHeadingCmd: 5.811742 target range: 305.881531 and range: 307.20 m.RoM@JoIboIZoIBoI:nI2nImqmqlqkykykyk} i@JHaBHe@AH>HH IIfBIII&I<*IEmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758038ɞbBR}= 靍_?I `<ɝiIW eď,iQ?A6p@Y6k@6{Fu96 g=>AHRS rotation from veh to nav: [[0.895529,0.433723,-0.099558],[-0.440960,0.894988,-0.067456],[0.059846,0.104310,0.992743]]y6H,??@|8ܿལ?@D?? ?ɫ6p@6;6CFQfBF INchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009970Mb@Mb@Mb@ )Iiv/?~jt? rhx ?<C)SAI9Ai NA FAII٥= <=9 F٦ٝEy; > 4Y9xK?4yAzB  ? : Ѿ ?C ; ;4B)AoIMFNOT Ignoring new targets: 305.88 m.oUZoUZe ProNav: ac range: 305.881531 m, nav range: 288.774658 m, bearing: 330.327082 deg, approach rate: -0.553617 m/s, LOS rate: -0.011919 deg/s, cmd heading: 332.988306 deg, new cmd heading: 332.973328 deg. zoemHeadingCmd: 5.811481 target range: 305.881531 and range: 307.20 m.Rom@JoiboiZoiBoi:nq2nqmqmuvBlykykykyk}@v@ɞMbBM= QUg?IQ UY<ɝQiQIUC㬫ď,?A2hr@Y28m@21^92=:AHRS rotation from veh to nav: [[0.895905,0.434250,-0.093712],[-0.440925,0.894943,-0.068274],[0.054219,0.102487,0.993256]]y2H@??8ܿ``? bz«?  %F٦%ܝEy%% : %> )54Y-ԇK?54y-5-GzB9=Ѿ=?-C- ;- ;-;4A)EAIoqyFNOT Ignoring new targets: 305.88 m.oSoS ProNav: ac range: 305.881531 m, nav range: 288.573944 m, bearing: 330.322753 deg, approach rate: -0.535545 m/s, LOS rate: -0.011560 deg/s, cmd heading: 332.973334 deg, new cmd heading: 332.960336 deg. zoHeadingCmd: 5.811254 target range: 305.881531 and range: 307.20 m.Ro@JoboZoBo:n2nmmlkkkk @ɞbB(= yf?I =<ɝiI*;I i =i @=) @)iaIa);G )!IUY]Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514489F6"F*F2F0:FJ1J5_J55J1J1J5=h9J54J1!E@!E@!E@!E@ԩG&t@=G2B HU >HQ HU IIU fBIU =IQ IQ &IU ֗<*IU E2I55C:I55CBI5ɓCJI5Ʌ =RI5Ʌ =ZI5 5:B )  O5 > DAT read: 03:57:45.7319 LVL= 20672, 27041, 17794, 30195, AGC= 63, IDX= 421, 0.44, 2.156, 0.690, 2.282, 1.453, PHS= 0.791,-0.716, 0.825, RAW= 151.1, -11.8, CAL= 158.0, -19.3, ROT= 352.0, 19.3  Ygot valid direction response: 03:57:45.7319 LVL= 20672, 27041, 17794, 30195, AGC= 63, IDX= 421, 0.44, 2.156, 0.690, 2.282, 1.453, PHS= 0.791,-0.716, 0.825, RAW= 151.1, -11.8, CAL= 158.0, -19.3, ROT= 352.0, 19.3  PDAT read: Bearing 352.0, 19.3 (Local)  ~Local bearing/azimuth received: Bearing 352.0, 19.3 (Local)  DAT read: Range 10 to 50 : 305.4 m (Round-trip 407.2 ms) speed 0.4 m/s  *DAT read: user:218>  BDAT read: Tx time:03:57:46.8206  $Ping request sent. a )a e h?c%.?vP(ʿie ?e sR>e 4e iw> a )a  :publishing transmit ping time  Fpublishing direction and range infoa ye +,_?! 3%'տa Ya a )a Ia ia a a a a a )a Ia ia a a a )a e h?c%.?vP(ʿia a a a a )a y̳ď,Ϯ?A2t@Y2o@2FI92$=:AHRS rotation from veh to nav: [[0.896270,0.434639,-0.088256],[-0.440774,0.894995,-0.068577],[0.049182,0.100364,0.993734]]y2H >? ?`5ܿ@̣??n.?@w? ?ɫ2t@2ֈ;2CRffBV IV=V< XZA]Mb@Mb@Mb@Y Y)YIYiY]J +?)) -F٦-ߝEym": u> q}4YulK?4yu uFzB?:޾?uCu:u5vP-nn@V:CcdyVv;Fs?n;8塰iҿjprp;vCZp-娜?bpczp9puJ{?pppeCp4c@ addTargetRange:: Added new target pos. range: 305.399994 m, deltaT: 3.779462 s, deltaX: -1.800018 m, approachRate: -0.476263 m/s, rangeRepo size: 4  Added new target pos. range: 304.085205 m, bearing: 327.956197 deg, lat: 36.779352 deg, lon: -121.859888 deg, deltaT: 3.779462 s, deltaX: -1.796326 m, approachRate: -0.475286 m/s, posRepo size: 4 o FNOT Ignoring new targets: 304.09 m.o o !E ProNav: ac range: 304.085205 m, nav range: 286.791962 m, bearing: 330.144559 deg, approach rate: 0.000000 m/s, LOS rate: -0.011560 deg/s, cmd heading: 332.960329 deg, new cmd heading: 332.942522 deg. zoIMHeadingCmd: 5.810943 target range: 304.085205 and range: 305.40 m.RoM?@JoQboQZoQBoQ:nQ2nQmYm]\vBlYkakakm`fs@km8?ɞbB = Ej?I )<ɝiIR#;Ii =i C=) ?@) E9E=tAJDAT read: TxSync time:03:57:46.8198 F6"F*F2F0:FQy G G 2B :B  O >/ď,ض?ARUp@YR%k@R59R4G=ZAHRS rotation from veh to nav: [[0.896228,0.435722,-0.083194],[-0.441366,0.894674,-0.068946],[0.044390,0.098511,0.994145]]yRH ??8LX?ܿ ,?@yT?8? ?ɫRUp@RY;RCbjfBb IIM*IM٥?< _=9[V F٦EyǺ > 4YJK?4y5EzB߾?-Cc;4T;4B)A(Eo!%FNOT Ignoring new targets: 304.09 m.o-87o-87= ProNav: ac range: 304.085205 m, nav range: 286.598083 m, bearing: 330.141241 deg, approach rate: -0.584594 m/s, LOS rate: -0.010011 deg/s, cmd heading: 332.942516 deg, new cmd heading: 332.932555 deg. zo=۹EHeadingCmd: 5.810769 target range: 304.085205 and range: 305.40 m.RoE@JoAboAZoIBoI:nI2nImQmQlQkQkQkYk]z?ɞbB ɩ=  j?I 3<ɝiIS;Ii=iOhA=)@)!jK}MrK} 9zKyK}~K}      2KsA*KF6"F*F2F0:F9G}B=GQ 2Ba :By  O >J gJ \J 4J J %:J [9J 3J i ď,f?A20e@Y2`@2g[)92V=>AHRS rotation from veh to nav: [[0.895745,0.436968,-0.081856],[-0.442643,0.893736,-0.072825],[0.041335,0.101466,0.993980]]y2H?I? DTܿ{?)? ??ɫ20e@2Q6;2CFifBF IINHIN٥VM V[=9ZVXX ZF٦^Ey^q ^> `f4YbLK?f4ybebCzBhj߾j?bGCb:b:bd4n B)nAr)E B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 304.09 m.o0%o0%- ProNav: ac range: 304.085205 m, nav range: 286.402191 m, bearing: 330.137932 deg, approach rate: -0.533985 m/s, LOS rate: -0.009026 deg/s, cmd heading: 332.932544 deg, new cmd heading: 332.922610 deg. zo-9ƹ5HeadingCmd: 5.810596 target range: 304.085205 and range: 305.40 m.Ro5f@Jo1bo1Zo9Bo9:n92n9mAmAlAkAkIkIkMm?ɞbB䯞= !%Gi?I! %̾><ɝ!i!I%w;I-Ci-)=i-#==)5f@Q)YZHRH4<H>H4CHIIgBIII&I<*IEF6"F*F2F 1:F T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԁGMB=ԩG) 2B1 :BY  Oe > 6ǫď,A?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247855VG@YVB@V9V=^AHRS rotation from veh to nav: [[0.894297,0.440727,-0.077418],[-0.445911,0.892184,-0.071917],[0.037375,0.098836,0.994402]]yVH@? 4?ѳ͉ܿČ? %i"?@XM? #?ɫVG@Vv0;VCnlfBn IipIp}Mb@Mb@Mb@y y)yIyiy}sh|?? F٦Ey > 1=4Y5K?=4y5P5=zBEB ?E:E7E?5fC5:5:5E4I)]AYoFNOT Ignoring new targets: 304.09 m.oټoټԱ ProNav: ac range: 304.085205 m, nav range: 286.159027 m, bearing: 330.135588 deg, approach rate: -0.534604 m/s, LOS rate: -0.005160 deg/s, cmd heading: 332.922599 deg, new cmd heading: 332.915559 deg. zobHeadingCmd: 5.810472 target range: 304.085205 and range: 305.40 m.Rod@JoboZoBo:n2nmm9vBlk!k!k!k%s?ɞbB,b= 靥h?I xeL<ɝiI;I mi<=i0=)d@)E%i>E!F6"F*F2F0:FGFoAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499908! G ==jK MrK 9zK K K  /FSTRKIE?>??>=<974320<S5ohOW>y uva)G 2B :B  O >9 `ͫď,8?A2:@Y2`5@2H92h=:AHRS rotation from veh to nav: [[0.893695,0.442657,-0.073247],[-0.447431,0.891412,-0.072046],[0.033401,0.097160,0.994708]]y2H`%?`|T?`Kഢܿr?@q? {߸? ?ɫ2:@2׊;2CBnfBB IIJLIJ٥~; S=9[(!! %F٦%Ey- -> 1=4Y5K?E4y557zBAEE?5C5);5*;54M&B)MAU*EoyFNOT Ignoring new targets: 304.09 m.oo ProNav: ac range: 304.085205 m, nav range: 285.959015 m, bearing: 330.133726 deg, approach rate: -0.547304 m/s, LOS rate: -0.005098 deg/s, cmd heading: 332.915551 deg, new cmd heading: 332.909961 deg. zo_HeadingCmd: 5.810375 target range: 304.085205 and range: 305.40 m.Ro@JoboZoBo:n2nmmlkkkk~?ɞbB= Sh?I V<ɝiIv4;I 7i ;I=i ,=) @)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753050JR=JJmJdJJJ\8:J|9JJF6"F*F2Fp5:FAG[1=H>HH#II!gBI =II&Iӗ<*IEG2B:B O>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006501Kԫď,R?A,Z@9@YZ4@Z9Z=fAHRS rotation from veh to nav: [[0.893754,0.443300,-0.068468],[-0.447640,0.891230,-0.072988],[0.028665,0.095882,0.994980]]yZH࢙?_?!ܿ@?WSZ? ??ɫZ@9@Zt;ZCvsfBv IMb@Mb@Mb@ )IiDl?V-+O ?) NAI8AiEA 3CAIeI]٥3< ?=95 F٦EyĹ > 4YK?4y,zB ?:~?CG<8<7%4)AoFNOT Ignoring new targets: 304.09 m.oo ProNav: ac range: 304.085205 m, nav range: 285.722595 m, bearing: 330.133178 deg, approach rate: -0.523190 m/s, LOS rate: -0.001212 deg/s, cmd heading: 332.909950 deg, new cmd heading: 332.908306 deg. zoU%HeadingCmd: 5.810346 target range: 304.085205 and range: 305.40 m.Ro%[@Jo)bo)Zo)Bo):n)2n)m1m5 vBl1k1k9k9k=[@ɞmbBm5= im1h?Ii u8d<ɝqiqIu;I}i}ZY=i}1+-=)}[@)ԩF"F*F2F2:FMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257077 G H*=G 2B :B  O% >Tsګď,$k?A2W<@Y2'7@2]ʼ92b=BAHRS rotation from veh to nav: [[0.894016,0.443358,-0.064563],[-0.447349,0.891298,-0.073936],[0.024765,0.094982,0.995171]]y2H ț?`_?@5_ܿ`?q\?`P?p?ɫ2W<@2j;2CFmfBF IJ,>J;IRlIR)٥V Z^=9Z-\\| F٦Ey%&: %> )-4Y-lK?54y-t-!zB15j5?-C-K:-;-+4e,B)eՋAachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507798oFNOT Ignoring new targets: 304.09 m.o.ķo.ķ ProNav: ac range: 304.085205 m, nav range: 285.512360 m, bearing: 330.132678 deg, approach rate: -0.562833 m/s, LOS rate: -0.001340 deg/s, cmd heading: 332.908311 deg, new cmd heading: 332.906809 deg. zokkHeadingCmd: 5.810320 target range: 304.085205 and range: 305.40 m.Ro$@Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k)k1k5@yQ@ɞ=bB=֞= 9Eze?IA Eo<ɝAiAIEj;Iki6h=iA.=)$@)jKiOrK9zKKK}iZJb;a72* LO,re^SIECLOG=92.*'%$#"!!*332KrA*K)F!"F!*F!2F%p5:F!QGM )= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766263J gJ zJ 5J J %:J 9J 4J G! 2B) ԁ :B  O >Zď,ڭ?AI<)<6>@Y68@6\_96 =>AHRS rotation from veh to nav: [[0.894193,0.443507,-0.061005],[-0.447199,0.891225,-0.075699],[0.020796,0.094971,0.995263]]y6H9?@ib?<ܿ?@aK?P?`1?ɫ6>@6 ;6CRqfBR IIZ\IZW٥b< bI=9b dh jF٦jEyn : n> pv4Yr L?v4yrArzBxz]z?rCr:r:r24|)~͋A|B*** querying acoustic contact ***Y:pBpoFNOT Ignoring new targets: 304.09 m.o÷o÷ ProNav: ac range: 304.085205 m, nav range: 285.293762 m, bearing: 330.132148 deg, approach rate: -0.551159 m/s, LOS rate: -0.001337 deg/s, cmd heading: 332.906808 deg, new cmd heading: 332.905218 deg. zo j HeadingCmd: 5.810292 target range: 304.085205 and range: 305.40 m.Ro @Jo boZoBoJHBHAAH%>H%5CH%II%gBI% =I!I!&I%<*I%E:nQ2nYmYmYlakakakakm@ɞ5bB5 = 15Ce?I1 =>{<ɝ9i9I=TL;IEiEw=iE/=)E@)Iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019725F"F*F!2F-P5:F)ԱG 4/=Ga 2Bi :B  O ď,Έ?AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268775>0<@Y>7@><9>=FAHRS rotation from veh to nav: [[0.894150,0.444018,-0.057821],[-0.447437,0.890965,-0.077341],[0.017175,0.095026,0.995327]]y>H`?j?@ϢܿȂ?̳n?`S? ?ɫ>0<@>v;>CNofBR IUMb@Mb@Mb@Q Q)QIQiQU(\?)\( F٦Ey >  > 4Y,L?4yzB?%:%\%?C ;;|:4-2B)-A-+EoY]FNOT Ignoring new targets: 304.09 m.oeF8oeF8u ProNav: ac range: 304.085205 m, nav range: 285.047089 m, bearing: 330.133874 deg, approach rate: -0.582622 m/s, LOS rate: 0.004078 deg/s, cmd heading: 332.905223 deg, new cmd heading: 332.910403 deg. zou!39}HeadingCmd: 5.810383 target range: 304.085205 and range: 305.40 m.Ro}@JoyboZoBo:n2nmmuBlkkkk` @ɞbB@= Vc?I <ɝiI1;I/i%=iN.=)@)F"F *F 2F 5:F BDAT read: Rx Time:03:57:49.6291 TRx dataTimestamp_ set to:1761364670.750294checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521336GM .=G! 2B) :BA jKE OrKE ]9zKA KE KE 3/+++*'"" 361/*#!! & (7QcZLA60)'#!BKQ :KU > O] >9 ď,d?AB6@YB1@Bљ]9B¥=JAHRS rotation from veh to nav: [[0.893911,0.444885,-0.054777],[-0.448041,0.890494,-0.079241],[0.013525,0.095377,0.995349]]yBH?`y?@ @ܿ~?@+I? j??ɫB6@B;@R{fBR IIZ=)XI^XI^㔴٥f= f`=9f#hh jF٦jEyjf n> pr4Yr+L?v4yrryBtvv?rCr:r:r@4x)~ҋA|o!-FNOT Ignoring new targets: 304.09 m.o5?8o=?8] ProNav: ac range: 304.085205 m, nav range: 284.843475 m, bearing: 330.135326 deg, approach rate: -0.559669 m/s, LOS rate: 0.003996 deg/s, cmd heading: 332.910414 deg, new cmd heading: 332.914775 deg. zo]~/9eHeadingCmd: 5.810459 target range: 304.085205 and range: 305.40 m.RoeH@JoaboaZoaBoa:na2nimimilikqkqkqku @ɞbB0= 靥e?I <ɝiI;I) i=i+=)H@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773230Fu 6"Fq*Fy2F}}0:FyIG5.=GH!H!H%II% gBI% =I!I!&I%<*I!2BAi:By O>m DAT read: 03:57:49.6291 LVL= 25376, 32753, 21698, 32755, AGC= 66, IDX= 408, 0.20, 0.073,-1.337, 0.184,-0.579, PHS= 0.741,-0.710, 0.760, RAW= 150.7, -10.8, CAL= 157.3, -18.6, ROT= 352.7, 18.6 u Ygot valid direction response: 03:57:49.6291 LVL= 25376, 32753, 21698, 32755, AGC= 66, IDX= 408, 0.20, 0.073,-1.337, 0.184,-0.579, PHS= 0.741,-0.710, 0.760, RAW= 150.7, -10.8, CAL= 157.3, -18.6, ROT= 352.7, 18.6 ԙ  PDAT read: Bearing 352.7, 18.6 (Local)  ~Local bearing/azimuth received: Bearing 352.7, 18.6 (Local) ď,Dӯ?A $$6DAT read: Range 10 to 50 : 303.2 m (Round-trip 404.3 ms) speed 0.4 m/s :*DAT read: user:219> nBDAT read: Tx time:03:57:50.7207 r$Ping request sent.r )%>$ ?t)?\d,ȿi?A>tw6> ):publishing transmit ping timepFpublishing direction and range infoy6/?bvWԾˬQiԿY )Ii )Ii )%>$ ?t)?\d,ȿi )vfB IqMb@Mb@Mb@ )IiX9v?Q뱿V-?\)bLAIiAA I-NI-٥=O ==9=Q E>Aa mF٦mEym m> q}4YuAL?4yu⪾uyB?:z?u5Cuv"Yn@dbZKWv-zf?<@?#e=ԿjprprCZp--8-?bp} /FzpmpLD?prԡpmpяCp)@M addTargetRange:: Added new target pos. range: 303.200012 m, deltaT: 4.037494 s, deltaX: -2.199982 m, approachRate: -0.544888 m/s, rangeRepo size: 4 } Added new target pos. range: 301.894592 m, bearing: 327.968646 deg, lat: 36.779347 deg, lon: -121.859969 deg, deltaT: 4.037494 s, deltaX: -2.190613 m, approachRate: -0.542567 m/s, posRepo size: 4 oy}FNOT Ignoring new targets: 301.89 m.ooJJUJ4JJJ>9J3JJc$;!Jf$;!JQ:!JQ:! ProNav: ac range: 301.894592 m, nav range: 287.635132 m, bearing: 328.829376 deg, approach rate: 0.000000 m/s, LOS rate: 0.003996 deg/s, cmd heading: 332.914786 deg, new cmd heading: 332.921576 deg. zoHeadingCmd: 5.810578 target range: 301.894592 and range: 303.20 m.RoA@Jo bo Zo Bo1:n12n1m9m=uBl9k9kAkE@3r@kE.?ɞbBɋ= 靽a?I B<ɝiIPv;IiЦ=i)A@)F 6"F *F 2F 13:F G +,=G2B:B O>ď,g?A$:/@Y:~*@:ϻ9:~=BAHRS rotation from veh to nav: [[0.893580,0.446189,-0.049294],[-0.448859,0.889639,-0.084074],[0.006341,0.097253,0.995239]]y:H@5?\?=`ܿw?慵 y???ɫ:/@: *;8JfBN IIVEIV٥Z== ^\=9^p`` bF٦bEyf f> hn4Yj&PL?r4yjjyBtvv?jPCj q;jIr;jeP4z>B)zA~,Eo%FNOT Ignoring new targets: 301.89 m.o%8o%85 ProNav: ac range: 301.894592 m, nav range: 287.421906 m, bearing: 328.830938 deg, approach rate: -0.658468 m/s, LOS rate: 0.004829 deg/s, cmd heading: 332.921588 deg, new cmd heading: 332.926280 deg. zo5T9=HeadingCmd: 5.810660 target range: 301.894592 and range: 303.20 m.Ro=@Jo9boAZoAjKQNrK9zKKK &IPA2% KEvDPBX2KsA*KBo:n2nmm!l!k!k!k)k-O?ɞubBu;= q}*e?Iy ?<ɝiI5rf;Ii3=i,(=)@)yF 6"F*F2FV4:F)tG vA)IvABԡG)=G 2B :B  O > ZH RH <H H H I I I I &I <*I nE2IQ:IQBIQJIU˄ =RIU˄ =ZIU:55ď, ?Ad-fB- IMb@Mb@Mb@ )Ii㥛 ?l~jt?)NAIidCA@A fBAIIʴ٥ <  =9Q > F٦Ey > !-4Y%fL?-4y%%yB5?5:5z5?%yC%:%:%Y4=@B)=܋A=6E]B*** querying acoustic contact ***:pYBpYoquFNOT Ignoring new targets: 301.89 m.o}L8o}L8 ProNav: ac range: 301.894592 m, nav range: 287.102600 m, bearing: 328.833730 deg, approach rate: -0.587810 m/s, LOS rate: 0.005144 deg/s, cmd heading: 332.926288 deg, new cmd heading: 332.934671 deg. zoa9HeadingCmd: 5.810806 target range: 301.894592 and range: 303.20 m.Ro @JoboZoBo:n2nmmuBlkkkk ?ɞbBO= f?I ɝ<ɝiIP;Ii=i) @)F6"F*F2F2:FG= Gp= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A Jm fJm ]Ji Ji Jm |":Jm _9Ji Ji Jm ;Jm ;Jm v:Jm w:G #'=G ?G ?q G 2B :B  O > ď, )?AV @YVf@V,;9V0=fAHRS rotation from veh to nav: [[0.891492,0.450873,-0.044223],[-0.453014,0.886205,-0.097056],[-0.004570,0.106558,0.994296]]yVH??\-ܿ[?ظ@rjG?E?ɫV @VWY;TnfBn IIv+Ivļ٥~Na= ~=9 =Q  ?   F٦ Ey Kn   ? 4YsL?4ybyB!%%?C;N:w_4-FB)-ϋA1oaeFNOT Ignoring new targets: 301.89 m.om8om8} ProNav: ac range: 301.894592 m, nav range: 286.914978 m, bearing: 328.835534 deg, approach rate: -0.587270 m/s, LOS rate: 0.005651 deg/s, cmd heading: 332.934675 deg, new cmd heading: 332.940092 deg. zo}7x9HeadingCmd: 5.810901 target range: 301.894592 and range: 303.20 m.Ro@JoboZoBo:n2nmmlkkkk$?ɞcBƺ= 靕Yi?I <ɝiIB;IQi=i6=)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437617Fa"Fa*Fi2Fm3:FijKOrK9zKKKJj\C:0)%:tzbUJ>3-),Jn}ri`_j|Ar8yb=m;GK'=) G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687982J C=J 4=ǯď,CB?Ab@Yb@bX<9b_=jAHRS rotation from veh to nav: [[0.890771,0.452721,-0.039632],[-0.454368,0.885534,-0.096847],[-0.008749,0.104276,0.994510]]ybH@2?`a?J`^ݿ KV?ʸ ꁿ`ֱ??ɫb@b4,;bޑCrfBr IIzpIz<٥<=; J=9a)    F٦ Eyx > -4YOL?-4y⸾yB)--?Cw9;$;f49)=͋A9oaeFNOT Ignoring new targets: 301.89 m.om8om8} ProNav: ac range: 301.894592 m, nav range: 286.677429 m, bearing: 328.837901 deg, approach rate: -0.588582 m/s, LOS rate: 0.005870 deg/s, cmd heading: 332.940085 deg, new cmd heading: 332.947191 deg. zo}9HeadingCmd: 5.811025 target range: 301.894592 and range: 303.20 m.Ro@JoboZoBo:n2nmmlkkkkz?ɞcBv= h?I Đ<ɝiI =2;I i=i}=)@)QHHHII =II&I<*IEFe6"Fi*Fi2Fm|0:Fiԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.942595Gm=GI 2Ba :By  O >ԩ ď,\?A2@Y2@2N<92,z=:AHRS rotation from veh to nav: [[0.890059,0.454489,-0.035136],[-0.455670,0.884938,-0.096175],[-0.012618,0.101612,0.994744]]y2H`]{?`X? K)ݿ iQ?@ힸH׉9??@ɫ2@2;0JfBJ IiPIP5Mb@Mb@Mb@1 1)1I1i15㥛 ?x&y&11575`e)5OAI1i15O?A 11IAIA٥]n= ]E=9]aa eF٦eEyej m> i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192055JhJ[JJJ(:JW9JJJ);J);J|:J|:4YmsL? 4ymlmyB ?:?mCm[=m[=mm4LB)A7EoaeFNOT Ignoring new targets: 301.89 m.ԩoA8oA8 ProNav: ac range: 301.894592 m, nav range: 286.433746 m, bearing: 328.839879 deg, approach rate: -0.518695 m/s, LOS rate: 0.004214 deg/s, cmd heading: 332.947188 deg, new cmd heading: 332.953128 deg. zo99HeadingCmd: 5.811128 target range: 301.894592 and range: 303.20 m.Ro@Jo!bo!Zo!Bo!:n2nmm&vBlkkkk@?S@ɞcB = N-k?I) 5偱<ɝ1i1I5;I=ui= =i=XY =)=@)AF 6"F *F 2F 1:F  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445215G F tA jK OrK 9zK K K Tl]VQJ<'  ,DPNF9-%   ) G%=G2B:B) OU?ď,]|?A 6@Y6@6S<968=>AHRS rotation from veh to nav: [[0.889780,0.455350,-0.030783],[-0.456090,0.884731,-0.096088],[-0.016519,0.099538,0.994897]]y6Hy?r$?@0ݿO?@@Iꐿ@L{?1?ɫ6@6*;6ߑCFfBF IINfIN{٥V< V*=9ZXX ZF٦Z Ey^X ^> `f4YbQL?f4ybbyBdjj?bCb:bd:b4v4l)nApo)5FNOT Ignoring new targets: 301.89 m.o5,8o5,8E ProNav: ac range: 301.894592 m, nav range: 286.151184 m, bearing: 328.842211 deg, approach rate: -0.655518 m/s, LOS rate: 0.005414 deg/s, cmd heading: 332.953117 deg, new cmd heading: 332.960118 deg. zoMm9MHeadingCmd: 5.811250 target range: 301.894592 and range: 303.20 m.RoM@JoIboQZoQBoQ:nQ2nQmYmYlYkYkakake@&@ɞ cB== %l?I! %k<ɝ!i!I-o;=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696025IEiEͽ=iEM =)E@)IF "F *F 2F 4:F1JHBHH>HHIIgBI =II&I<*IEQGMZ==PExceeded connect timeout, disconnecting.GI 2Bi :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950619ԉ r%ď,ٖ?A6@Y6@6><96^=BAHRS rotation from veh to nav: [[0.890078,0.454969,-0.027641],[-0.455379,0.884974,-0.097219],[-0.019770,0.099119,0.994879]]y6H@{?6?M$ݿQ?R㸿@>`_? ?ɫ6@6B;6ޑCJfBJ IY}Mb@Mb@Mb@y y)yIyiy}-?A`"~jth}??}Y}D)}NAI}Q6Ai}EAy y}BAIaI錴٥c= <=9;Q > F٦ EyX: > 4YzL?4yľyB?: ?Cs;4s;}4RB)A8EB*** querying acoustic contact ***:pBpo  FNOT Ignoring new targets: 301.89 m.o"8o"8% ProNav: ac range: 301.894592 m, nav range: 285.896454 m, bearing: 328.843172 deg, approach rate: -0.588680 m/s, LOS rate: 0.002223 deg/s, cmd heading: 332.960111 deg, new cmd heading: 332.962997 deg. zo-P8-HeadingCmd: 5.811301 target range: 301.894592 and range: 303.20 m.Ro--@Jo1bo1Zo1Bo1:n12n9mImMRvBlYkYkakakeUq @ɞcB= 靕Yq?I <ɝiI;;Iٚi=iT=)-@)ԉF"F*F2F4:F]BDAT read: Rx Time:03:57:53.5431 eTRx dataTimestamp_ set to:1761364674.532252mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.204180JiJaJ5JJ+:Jp9J4JJ0/;J2/;J˓:J̓:ԱG- Nw =G 2B :B!  O- > +ď,?A6@Y6@6p<96=BAHRS rotation from veh to nav: [[0.890604,0.454113,-0.024601],[-0.454191,0.885400,-0.098884],[-0.023123,0.099240,0.994795]]y6H`?1?`0`wݿ1U?uPg?[?ɫ6@6;6ߑCFfBF IVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.453166IZeIZ]٥ba= fY=9fdh jF٦jEyja; n> lr4Yn4L?v4yn1ǾnyBtvv?n0Cn:n:nf4|)~[A|o)-FNOT Ignoring new targets: 301.89 m.o5R8o5R8E ProNav: ac range: 301.894592 m, nav range: 285.676025 m, bearing: 328.843948 deg, approach rate: -0.586642 m/s, LOS rate: 0.002067 deg/s, cmd heading: 332.963007 deg, new cmd heading: 332.965337 deg. zoE8MHeadingCmd: 5.811341 target range: 301.894592 and range: 303.20 m.RoM@JoIboIZoIBoQ:nQ2nQmYmYlYkYkYkakej @ɞ#cBԱ= 15 u?I1 5<ɝ9i9I=Y:I=iEn=iE7=)E@)AjKfaNrK9zKKK  &3BQ[am~|k_TKEA<<BPYVOHA;5/+)3EEE FQ"FQ*FQ2FUp5:FYaeADAT read: 03:57:53.5431 LVL= 20976, 24225, 17506, 24563, AGC= 68, IDX= 72,-0.10,-1.731, 2.973,-1.574,-2.386, PHS= 0.743,-0.877, 0.808, RAW= 152.0, -8.2, CAL= 157.6, -16.1, ROT= 352.4, 16.1 Ygot valid direction response: 03:57:53.5431 LVL= 20976, 24225, 17506, 24563, AGC= 68, IDX= 72,-0.10,-1.731, 2.973,-1.574,-2.386, PHS= 0.743,-0.877, 0.808, RAW= 152.0, -8.2, CAL= 157.6, -16.1, ROT= 352.4, 16.1 PDAT read: Bearing 352.4, 16.1 (Local) ~Local bearing/azimuth received: Bearing 352.4, 16.1 (Local) DAT read: Range 10 to 50 : 313.7 m (Round-trip 418.3 ms) speed 0.6 m/s *DAT read: user:220> G= G= BDAT read: Tx time:03:57:54.6707  $Ping request sent. ?e`eN? e)@)eCIex 0@ieޏe:@eޏ> a)ae ??3B¿ie)?e>eeޏ> a)a :publishing transmit ping time  Fpublishing direction and range infoaye y?zC/ѿaYa a)aIaiaaaaa a)aIaiaaa a)ae ??3B¿iaaaa a)a9 H >H 6CH 0II 5gBI =I I D&I <*I 4EG- V =G 2B :B O >\c3ď,5ΰ?A, >nManaging dock network, ignoring radio surface power offJDAT read: TxSync time:03:57:54.6699 gBIԁMb@Mb@Mb@ )IiM?A  CAI-bI-٥Mm< M=9MQ M>QQ UF٦}Ey} > 4YL?4y˾yB?:?]C::84XB)RAJpRpI°?Ap-Cp-Cp@v^~r@yiCASUv y?zC/ѿppޏ>v7!o@qf(5do),?XvL[H?j࿏'6ZEӿjp!rpyCZpwޞ?bp hzppp} /FpprCpT_@ addTargetRange:: Added new target pos. range: 313.700012 m, deltaT: 3.781198 s, deltaX: 10.500000 m, approachRate: 2.776898 m/s, rangeRepo size: 4 Ա Added new target pos. range: 312.355438 m, bearing: 327.006468 deg, lat: 36.779347 deg, lon: -121.860003 deg, deltaT: 3.781198 s, deltaX: 10.460846 m, approachRate: 2.766543 m/s, posRepo size: 4 oFNOT Ignoring new targets: 312.36 m.oo ProNav: ac range: 312.355438 m, nav range: 286.895874 m, bearing: 328.326982 deg, approach rate: 0.000000 m/s, LOS rate: 0.002067 deg/s, cmd heading: 332.965329 deg, new cmd heading: 332.969266 deg. zoHeadingCmd: 5.811410 target range: 312.355438 and range: 313.70 m.Ro @Jo bo)Zo)Bo):n)2n1m1m5vBl1k9k9k=@3s@k=H?ɞ/cBce= 靽 v?I +<ɝiIx:Ii=iBJ=)@) E JM F 6"F *F 2F 0:F 1G+=G2B:B O?&<ď,?A>/@Y>)@>^:<9>}=FAHRS rotation from veh to nav: [[0.893144,0.449479,-0.016226],[-0.448725,0.888026,-0.100276],[-0.030663,0.096841,0.994827]]y>Hࡔ?B?ܿj? f`ʸ?@?ɫ>/@>;H>CRgBRIIZBIZb٥bƱ< b/=9b dd jF٦jEyjT< j> lr4YnL?r4ynjϾn|yBtvAv?nCnu:nH 7CH <II JgBI I ;DI D&I <*I EG d=G 2B :B  O >Cď,@?A F٦Eyu; > 4Y M?4yRӾqyB+::?C;?4`B)>ABEoFNOT Ignoring new targets: 312.36 m.omom ProNav: ac range: 312.355438 m, nav range: 286.338348 m, bearing: 328.324094 deg, approach rate: -0.596884 m/s, LOS rate: -0.003246 deg/s, cmd heading: 332.965411 deg, new cmd heading: 332.960587 deg. zoHeadingCmd: 5.811258 target range: 312.355438 and range: 313.70 m.Ro@JoboZoBo:n2nmmlkkkk?ɞE@cBE8= AEx?IA MN<ɝIiQIU&:Iqi=ib0=)@)Fm6"Fi*Fi2Fi:FiGe)=GiGmpAG9 2BI :Ba  Ou > Jď,(I*?Ap)gB(II=DI=٥M< M}=9MQ M ?QQ UF٦UEy] ] ? am4YeM?m4yeվejyBm :ims:im?eCe:eIW?e84}eB)}DA}CEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 312.36 m.ococ ProNav: ac range: 312.355438 m, nav range: 286.153595 m, bearing: 328.323089 deg, approach rate: -0.571353 m/s, LOS rate: -0.003111 deg/s, cmd heading: 332.960575 deg, new cmd heading: 332.957557 deg. zoHeadingCmd: 5.811206 target range: 312.355438 and range: 313.70 m.Rof@JoboZoBo:n2nmmlkkkk?ɞuGcBu= qux?Iq ur<ɝyiyI}kg:I}Ki=i,/=)f@) 5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.F%6"F!*F!2F-0:F)9jK@LNrK9zKKK )49=Jly_H=4*#  i='>IEC)G `wA)I% % `wA%  BGm )= d@ ] BGA 2BI i :By  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990955JJ3J.Je fJe YJa Ja Je |":Je [O9Ja Ja I Qď,wiD?A2k@Y2e@24=92=>AHRS rotation from veh to nav: [[0.896192,0.443516,-0.011557],[-0.442060,0.890428,-0.108267],[-0.037727,0.102137,0.994055]]y2H?b?G`Jܿb~?]P%?K?ɫ2k@2|;2ߑCB4gBF/IJ=J?>IN`IN̍٥V < VS=9Z ]`` fF٦fEyjD< j>! 4Yo,M?4yؾ`yB9D:`?C':ߠ?4).Ao!-FNOT Ignoring new targets: 312.36 m.o-^o-^] ProNav: ac range: 312.355438 m, nav range: 285.915649 m, bearing: 328.321569 deg, approach rate: -0.561174 m/s, LOS rate: -0.003589 deg/s, cmd heading: 332.957570 deg, new cmd heading: 332.953004 deg. zo]eHeadingCmd: 5.811126 target range: 312.355438 and range: 313.70 m.Roe@JoaboiZoiBoi:ny2nymmlkkkk@ɞ}OcB}0= 靅Ny?I a6<ɝiIyC5:$bFailed to parse device response: 58.28,11.3078,2 Ii=iyA=)@)IFA"FA*FA2FE1:FA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246449yGm r.=Ga 2Bi :B  O ԡ *6Wď,`?^?Ay}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495036ov@Y?q@,$=9q=AHRS rotation from veh to nav: [[0.896721,0.442494,-0.009494],[-0.440780,0.890895,-0.109631],[-0.040053,0.102493,0.993927]]yH?@Q?\q@5ܿ6?݁QQ ]F٦]!Ey; > 4YBM?4y2ܾTyBT:? ?:@?CuE;D;4kB)JADEo!-FNOT Ignoring new targets: 312.36 m.o-Wo-W= ProNav: ac range: 312.355438 m, nav range: 285.624573 m, bearing: 328.315291 deg, approach rate: -0.544393 m/s, LOS rate: -0.011753 deg/s, cmd heading: 332.953007 deg, new cmd heading: 332.934155 deg. zo= EHeadingCmd: 5.810797 target range: 312.355438 and range: 313.70 m.RoE @JoAboIZoIBoI:nI2nImQmUwBlQkQkQkYk]@(@ɞYcB= 靕u?I =<ɝiI :Ii!=iE=) @)FU6"FQ*FQ2FU0:FQ- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746965 G] B=Ge ?Ge 1?G1 2B9 :BQ  O] >]ď,cEz?AI*<)*73/-)%"  (% b4gBf/IhInjIn٥v< z=9z;Q z?x| ~F٦~"Ey~(a; ~?  4Y,NM?4yݾNyB?Cj;;s4)FA!oIMFNOT Ignoring new targets: 312.36 m.oUVoUVe ProNav: ac range: 312.355438 m, nav range: 285.474548 m, bearing: 328.312020 deg, approach rate: -0.538397 m/s, LOS rate: -0.011743 deg/s, cmd heading: 332.934156 deg, new cmd heading: 332.924340 deg. zoemHeadingCmd: 5.810626 target range: 312.355438 and range: 313.70 m.Rom@JoiboiZoiBoi:nq2nqmqmqlykykykyk b@ɞE`cBM^= IMt?II M<ɝQiQIU&9IUIi]N6=i]I=)]@)YF6"F*F2F%p5:F!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999141JgJ\JJJ%:J[9JJ)GEE=JHBH@AH>H;CHUIIrgBIx =IID&I<*IE2I-6C:I-7CBI-CJI- =RI- =ZI-6G9 2BI :BY  Om >a 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251712dď, ?AAe@Yey@e#2=9e=AHRS rotation from veh to nav: [[0.897053,0.441898,-0.004791],[-0.439765,0.891548,-0.108395],[-0.043628,0.099343,0.994096]]yeH? H?bs%ܿ ?@ÿsVn? ?ɫe@ej;eۑC-gB+IiIeMb@Mb@Mb@a a)aIaiae%C?y&1|?eZ?e`;a)eKQAIe8AieKAe=A aeDAI}cI}#٥Q '=9l;Q > F٦&EylN9 > 4YoaM?4yCyB]?:w?4C::4bB)/AoFNOT Ignoring new targets: 312.36 m.o!Ro!R  ProNav: ac range: 312.355438 m, nav range: 285.223175 m, bearing: 328.306405 deg, approach rate: -0.513512 m/s, LOS rate: -0.011482 deg/s, cmd heading: 332.924348 deg, new cmd heading: 332.907486 deg. zo ( HeadingCmd: 5.810332 target range: 312.355438 and range: 313.70 m.Ro=@JoboZoBo:n2nmm-wBl!k!k)k)k-nO @ɞ]jcB]*h= Y]p?IY ](jď,߭?A2@Y2y@2=9=92=>AHRS rotation from veh to nav: [[0.896987,0.442044,-0.003273],[-0.439738,0.891502,-0.108875],[-0.045209,0.099099,0.994050]]y2H? sJ?8j $ܿ 0?5߻% ^?@B?ɫ2@2;2ݑCF1gBF-IIRoIR٥V:< Z=9Z;Q Z?\\ ^F٦^(EyRy  ? !-4Y% nM?-4y%%;yB)5x5?%IC%:% :%‹49)='A9]B*** querying acoustic contact ***:pYBpYoimFNOT Ignoring new targets: 312.36 m.ou1Rou1R ProNav: ac range: 312.355438 m, nav range: 285.058533 m, bearing: 328.302722 deg, approach rate: -0.513167 m/s, LOS rate: -0.011485 deg/s, cmd heading: 332.907491 deg, new cmd heading: 332.896436 deg. zo;HeadingCmd: 5.810139 target range: 312.355438 and range: 313.70 m.Ro@JoboZoBo:nԹ2nmmlkkkk @ɞpcBh= p?I =ɝiI@M6I -3i o=i x K=) @)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755980F}6"Fy*Fy2F} 5:FG]\J=jKu/ DAT read: 03:57:57.4738 LVL= 21328, 29345, 17906, 32755, AGC= 68, IDX= 414, 0.06,-0.278,-1.871,-0.291,-0.963, PHS= 0.773,-0.861, 0.670, RAW= 146.8, -7.4, CAL= 152.6, -16.1, ROT= 357.4, 16.1  Ygot valid direction response: 03:57:57.4738 LVL= 21328, 29345, 17906, 32755, AGC= 68, IDX= 414, 0.06,-0.278,-1.871,-0.291,-0.963, PHS= 0.773,-0.861, 0.670, RAW= 146.8, -7.4, CAL= 152.6, -16.1, ROT= 357.4, 16.1  PDAT read: Bearing 357.4, 16.1 (Local)  ~Local bearing/azimuth received: Bearing 357.4, 16.1 (Local)  DAT read: Range 10 to 50 : 299.2 m (Round-trip 399.0 ms) speed 0.8 m/s  *DAT read: user:221> J% kJ% [J% 5J! J% 2:J% W9J% 4J! 9 E BDAT read: Tx time:03:57:58.5707 E $Ping request sent.E ?FyP/ѿۥ CYۡ ܥ PS)ܥ rIܥ Eiܥ ܡ ܥ TE?ܥ j\ܥ +? ݥ (#@)ݥ AIݥ t*@iݡ ݥ @ݡ ޡ )ޡ ޥ pT? {?y1ziޥ @>ޥ 2>ޥ 9ޡ ߡ )ߡ  :publishing transmit ping timeA  Fpublishing direction and range infoۡ yۥ >?FyP/ѿۡ Yۡ ܡ )ܡ Iܡ qď,DZ?A "@i )Ii )pT? {?y1zi )E{@YEQv@EW@=9E1=eAHRS rotation from veh to nav: [[0.896725,0.442587,-0.001353],[-0.440092,0.891339,-0.108784],[-0.046941,0.098145,0.994064]]yEH@?`VS?`)Vx*ܿ؅?`Iٻ@ ?@`?ɫE{@Ef;Au*gBu(IIYI٥ 8=9f;Q > F٦*Ey% %> )H= >H9H=[II=|gBI9I9I9&I=<*I=vEU4Y-BM?U4y-*-1yBQ]]?-fC- ;-;-Aʋ4mhB)mLAmEEJpRp(ı?ApCpCp@vOB7mq@")lYTv>?FyP/ѿp9pvc\vYo@E) `)E<5Xvh>?–ۿ8ԿjporpzCZpJ ?bpyJzp)pe۞?pppzCp@ addTargetRange:: Added new target pos. range: 299.200012 m, deltaT: 4.029225 s, deltaX: -14.500000 m, approachRate: -3.598707 m/s, rangeRepo size: 4 - Added new target pos. range: 297.944489 m, bearing: 332.882212 deg, lat: 36.779390 deg, lon: -121.860003 deg, deltaT: 4.029225 s, deltaX: -14.410950 m, approachRate: -3.576606 m/s, posRepo size: 4 o15FNOT Ignoring new targets: 297.94 m.o5o9m ProNav: ac range: 297.944489 m, nav range: 288.953125 m, bearing: 328.800879 deg, approach rate: 0.000000 m/s, LOS rate: -0.011485 deg/s, cmd heading: 332.896426 deg, new cmd heading: 332.879633 deg. zoiuHeadingCmd: 5.809845 target range: 297.944489 and range: 299.20 m.RouA@JoqboqZoyBoy:ny2nymymlkkk@3r@k@?Aɞ|cBM亷= IUk?IQ U_=ɝQiYI]2IYiR=ipJ=)A@)%JDAT read: TxSync time:03:57:58.5699 F=6"FA*FA2FM2:FIqG BJ=Ա GY 2Ba :By  O >xď,R?AzgB~ I~R=~4<11Mb@Mb@Mb@ )Ii'1Z? rh??C<)If:AibLA~>A EAI/I9٥ H=9Q > F٦-Ey >  4Y#M? 4ye(yB?:ؾ?CR;P;Sы4!)-hA)IoFNOT Ignoring new targets: 297.94 m.oSwoSw ProNav: ac range: 297.944489 m, nav range: 288.748016 m, bearing: 328.795912 deg, approach rate: -0.557700 m/s, LOS rate: -0.013514 deg/s, cmd heading: 332.879624 deg, new cmd heading: 332.864713 deg. zoeHeadingCmd: 5.809585 target range: 297.944489 and range: 299.20 m.Ro@JoboZoBo:n2nmmOwBlkk!kAkEcN?ɞmcBu= quf?Iq u=ɝqiyI}꧹I{i=i޵K=)@)F9"F9*F92F=05:F9GEFEGE GEqԡG 2B :B  O > ;~ď,1?A2}@Y2w@2]H=92s=BAHRS rotation from veh to nav: [[0.896716,0.442534,0.007969],[-0.439884,0.893050,-0.094676],[-0.049014,0.081392,0.995476]]y2H?{R?R?`'ܿ ޓ?<`Xִ??ɫ2}@2;0JgBJIInLIn٥v  v]=9z;Q z>xx ~F٦~/Ey:  > 4YM?4yqyBؾ%?C3;/;׋4-mB)-A)jK=LrK=9zK9K=K= +@<0%MibSC61)#+LWRKKYu~vjZMC;0*$!;jQ>1395*""),5oamFNOT Ignoring new targets: 297.94 m.omhouh ProNav: ac range: 297.944489 m, nav range: 288.559784 m, bearing: 328.791339 deg, approach rate: -0.521769 m/s, LOS rate: -0.012683 deg/s, cmd heading: 332.864707 deg, new cmd heading: 332.850981 deg. zoC HeadingCmd: 5.809346 target range: 297.944489 and range: 299.20 m.Ro)@JoboZoBo:n2nmmlkkkkՁ?ɞcB[= `?I r =ɝiIԲIi=iKIM=))@)ԱFe 6"Fa*Fa2Fe{0:FaG)2B1:BQ O]> JJAAH">HHUIIrgBIII&I<*I}E I #ď,X?AI)aa eF٦e2Eyua: u> y4Y})M?4y})}yB?:?}C}:}%;}@4sB)AFEoFNOT Ignoring new targets: 297.94 m.o%9o%9U ProNav: ac range: 297.944489 m, nav range: 288.319000 m, bearing: 328.786346 deg, approach rate: -0.489142 m/s, LOS rate: -0.010153 deg/s, cmd heading: 332.850992 deg, new cmd heading: 332.835998 deg. zoU޹]HeadingCmd: 5.809084 target range: 297.944489 and range: 299.20 m.Ro]@JoYboYZoYBoY:na2namm0wBlkkkk`?ɞecBe\A= amV?Ii m) =ɝiiqIuI}ei=iP=)@)9Fu6"Fq*Fy2F}P5:FyJfJJ4JJ|":JJ3JJ;!J;!J|:!J|:!GQ2Ba:Bq O>i Oď,"q/?A60@Y6@6W=96pҰ=BAHRS rotation from veh to nav: [[0.897683,0.440541,0.009387],[-0.437483,0.893593,-0.100502],[-0.052663,0.086112,0.994893]]y6Hҹ?1?x9?ۿ@P?x@o ? )?ɫ60@6a;6ܑCJfBJIiLILIVYIV٥^  b=9b;Q b ?`d fF٦f5Eyf; f ? hn4YjPM?r4yjjyBprr?jCj;j:j4t)zAx B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 297.94 m.o%Ho%H5 ProNav: ac range: 297.944489 m, nav range: 288.160553 m, bearing: 328.782996 deg, approach rate: -0.516873 m/s, LOS rate: -0.010933 deg/s, cmd heading: 332.835993 deg, new cmd heading: 332.825938 deg. zo5EHeadingCmd: 5.808908 target range: 297.944489 and range: 299.20 m.RoE@JoAboIZoIBoI:nI2nImQmQlYkYkYkYke ?ɞcB&o= !%AR?I! %=ɝ!i!I%=I-oiU =iUdX=)U@)QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qF"F*F2F}0:FG2B:B O%>ԙjKneNrKػ9zKKK66:UmZOB4,$&+)(&" `y]C0!  e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9955765ď,DI?A2#@Y2@2.a=92=FAHRS rotation from veh to nav: [[0.899056,0.437711,0.010377],[-0.434362,0.894655,-0.104506],[-0.055027,0.089450,0.994470]]y2H ?@s?_@?ۿ@? ,,??ɫ2#@2'6;2ۑCprfBr IIz`Iz̍٥-옼 -C=95;Q 5>11 =F٦]7EyeR< e> iu4Ym}M?u4ymJmxBqu޾?mCm;mX;m04uB)APEH$>Ha Taď,)&c?A @28@Y2@2.i=92<=RAHRS rotation from veh to nav: [[0.899495,0.436781,0.011435],[-0.433210,0.894938,-0.106839],[-0.056899,0.091148,0.994211]]y2H?`6?k?ۿV? Y !`yU??ɫ28@2 ;2ݑCZfBZ I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4996759Me@e eMb@Mb@Mb@a a)aIaiae+?~jthev>eDe)eRAIe3;AieNAa aeJJWJ5JJJG9J4JJJ;J_:J_:I]It٥ A=9.;Q > F٦:Ey@; > 4Y6M?4yxBw>:?C:Q:4zB)aAoFNOT Ignoring new targets: 297.94 m.oToT ProNav: ac range: 297.944489 m, nav range: 287.743286 m, bearing: 328.774676 deg, approach rate: -0.483702 m/s, LOS rate: -0.008706 deg/s, cmd heading: 332.812141 deg, new cmd heading: 332.800974 deg. zo1HeadingCmd: 5.808473 target range: 297.944489 and range: 299.20 m.Ro߹@JoboZoBo:n2nmmlkkkk @ɞmcBm5(= quWD?Iq uČ=ɝqiqI}yI} id=ih=)߹@)iFQ"FQ*FQ2FU}0:FQGc=G2B:B Oj>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751527Թ )- G I ď,'|?A)0IJ HJBR@YR@Rn=9R=^AHRS rotation from veh to nav: [[0.899418,0.436921,0.012135],[-0.433187,0.894745,-0.108536],[-0.058279,0.092363,0.994018]]yRH??و?@Tۿ? ɻ֭??ɫR@R;;RܑCffBf Ij?>hIrcIr#٥~  ~X=9~o;Q ~> F٦ 4YhM?4yxB!%%?C-/;0;4))-A1jKqNrKzKKK  *3H#teXND=86?LWaipqu~ԙo5FNOT Ignoring new targets: 297.94 m.o= o= M ProNav: ac range: 297.944489 m, nav range: 287.556519 m, bearing: 328.771312 deg, approach rate: -0.485469 m/s, LOS rate: -0.008749 deg/s, cmd heading: 332.800967 deg, new cmd heading: 332.790869 deg. zoM$UHeadingCmd: 5.808296 target range: 297.944489 and range: 299.20 m.Rouݹ@JoqboqZoqBoq:ny2nymymylkkkk@ɞUcBUq= QU#>?IQ U=ɝYiYI]AGIe$ie1=ie$h=)eݹ@)a5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003819F 6"F*F2F0:FHHH0II5gBIw =II&I<*IEG Qf=G 2B :B  O >!  BDAT read: Rx Time:03:58:01.3716  TRx dataTimestamp_ set to:1761364682.341806 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256710gtď,?A-|@Y-L@-.\q=9-:=AHRS rotation from veh to nav: [[0.899405,0.436934,0.012587],[-0.433130,0.894715,-0.109008],[-0.058892,0.092591,0.993961]]y-H?`?qlj?hۿ?绿 '??ɫ-|@-;-ۑCfB IMM Mb@Mb@Mb@ )IiV-?I +>94)IQQ UF٦U@Ey]8 ]> iu4YmuM?u4ymmxBu>u:u'u?m:Cm:m{:m4B)AQEo)-FNOT Ignoring new targets: 297.94 m.o5mo5m9e ProNav: ac range: 297.944489 m, nav range: 287.303497 m, bearing: 328.767569 deg, approach rate: -0.499775 m/s, LOS rate: -0.007400 deg/s, cmd heading: 332.790859 deg, new cmd heading: 332.779620 deg. zoemHeadingCmd: 5.808100 target range: 297.944489 and range: 299.20 m.Rom۹@JoiboqZoqBoq:nq2nqmm/wBlkkkkd @ɞcB+= 5?I %=ɝ!i!I%J\I-W>i-=i-j=)-۹@)1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508674JJYJ4JJJ[O9J3JJJJDn:JGn:F 6"F*F2Fp0:FGsAFtAqԑ G h=G 2B :B  O >ď,d?AIB<)B<ԩ-DAT read: 03:58:01.3716 LVL= 28848, 32753, 23762, 32755, AGC= 64, IDX= 411,-0.15, 0.056,-1.196, 0.095,-0.122, PHS= 0.266,-1.026, 0.215, RAW= 148.0, 8.7, CAL= 149.0, 0.0, ROT= 1.0, -0.0 5Ygot valid direction response: 03:58:01.3716 LVL= 28848, 32753, 23762, 32755, AGC= 64, IDX= 411,-0.15, 0.056,-1.196, 0.095,-0.122, PHS= 0.266,-1.026, 0.215, RAW= 148.0, 8.7, CAL= 149.0, 0.0, ROT= 1.0, -0.0 =PDAT read: Bearing 1.0, -0.0 (Local) =~Local bearing/azimuth received: Bearing 1.0, -0.0 (Local) DAT read: Range 10 to 50 : 297.5 m (Round-trip 396.7 ms) speed 0.3 m/s *DAT read: user:222> BDAT read: Tx time:03:58:02.4708 @Yz@!u=9]=]$Ping request sent.]S(\> MQ%@)|>IBo&@i5< )"@?a4?(=?i <>5< ):publishing transmit ping timeۙFpublishing direction and range infoy?W7) ߑ?Y )Ii <=9;Q > F٦BEye: >  )Ii )"@?a4?(=?i )E4Y N?E4y{xBAEE?VCe<< 4Y)]AYJpRp,?Ap Cp CpE@vqޫWr@ʥo@v?W7) ߑ?p5<pv64rFp@} e^=1vQs4g5?T̅VڿʭjprpZCZp%?bpUzp!Bpwޞ?pppCpw@E addTargetRange:: Added new target pos. range: 297.500000 m, deltaT: 3.781482 s, deltaX: -1.700012 m, approachRate: -0.449562 m/s, rangeRepo size: 4  Added new target pos. range: 296.254028 m, bearing: 335.305374 deg, lat: 36.779390 deg, lon: -121.860003 deg, deltaT: 3.781482 s, deltaX: -1.690460 m, approachRate: -0.447036 m/s, posRepo size: 4 oFNOT Ignoring new targets: 296.25 m.oo ProNav: ac range: 296.254028 m, nav range: 287.121185 m, bearing: 328.768569 deg, approach rate: 0.000000 m/s, LOS rate: -0.007400 deg/s, cmd heading: 332.779630 deg, new cmd heading: 332.769317 deg. zoHeadingCmd: 5.807920 target range: 296.254028 and range: 297.50 m.Ro|ڹ@JoboZoBojK%yNrK%s9zK!K%K%vlkx|wrme\W]z*}Evjd_]VLCM5U/a:n2nAmAmAlIkIkIkMr@kM?ɞcBf= *?I =ɝiIn쟺IUi=iX>l=)|ڹ@)} JDAT read: TxSync time:03:58:02.4700 F 6"F *F 2F :F ) H- #>H) H- II- gBI) I) I) &I- <*I- |E2Iyď,Ѳ?A^@Y^c@^xy=9^=5AHRS rotation from veh to nav: [[0.899509,0.436652,0.014758],[-0.432627,0.894915,-0.109365],[-0.060962,0.091990,0.993892]]y^H??9?`*ۿ%?@PY6??ɫ^@^;\EjfB IiIIdI@٥[j R=9xF;Q > F٦EEy9 > 4YN?4yxB?nC;6;w4B)%@A%RE=B*** querying acoustic contact ***:p9Bp9oQUFNOT Ignoring new targets: 296.25 m.oUlo]lT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 296.254028 m, nav range: 286.934052 m, bearing: 328.765776 deg, approach rate: -0.532130 m/s, LOS rate: -0.007946 deg/s, cmd heading: 332.769330 deg, new cmd heading: 332.760947 deg. zoHeadingCmd: 5.807774 target range: 296.254028 and range: 297.50 m.RoIٹ@JoboZoBo:n2nmmlkk!k!k%t?ɞcBe= "?I %T=ɝ!i)I-g.Ieiim'=im"m=)uIٹ@)F- 6"F)*F)2F):F)9 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729099J gJ UJ 5J J %:J >9J 4J J e$;J h$;J Q:J Q:Gm 8k=GA 2BQ a :Bi  Ou >Lď,2?Ab@Ybf@bw=9b=nAHRS rotation from veh to nav: [[0.897893,0.440098,0.010090],[-0.436040,0.892294,-0.116967],[-0.060480,0.100624,0.993085]]ybH?`*??ۿ્?8{¹?`Y?ɫb@bk;bڑCrLfBr I}Mb@Mb@Mb@y y)yIyiy}Gz?y&1~jth}p>}`}D)yIyiy}K?A y}GAIVI٥] I=9-Q > F٦GEy > AM4YEh+N?U4yEiExBU>U:UU?ECEa:Ej:E4)|AoFNOT Ignoring new targets: 296.25 m.oqoq!- ProNav: ac range: 296.254028 m, nav range: 286.723877 m, bearing: 328.764208 deg, approach rate: -0.495522 m/s, LOS rate: -0.003700 deg/s, cmd heading: 332.760942 deg, new cmd heading: 332.756234 deg. zo-"5HeadingCmd: 5.807692 target range: 296.254028 and range: 297.50 m.Ro5ع@Jo1bo1Zo1Bo1:n92n9mAmEvBlIkIkIkQkU`t?ɞ]cB]= Y]{?IY eh =ɝaiaIeImsimMO=im)_=)mع@)q}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981486F  6"F *F 2F 0:FIy GU Cm=G) 2B1 :BI jKM {OrKM 9zKI KM KM {T+kV@3-&! [vU</2L]`^ZTKGEA=;65Eck O >}+ď,%?A @4Fy@YFt@FRx=9F&=RAHRS rotation from veh to nav: [[0.895966,0.443974,0.011467],[-0.439950,0.890784,-0.113791],[-0.060735,0.096908,0.993438]]yFH ?j?{?@$(ܿL?k!@θ???ɫFy@F.{;FݑCzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.234689/fB IIe6Ie٥ώ K=9"&:Q > F٦JEy[1 > 4Yk9N?4yxB"?C;; 4B)ˍAo  FNOT Ignoring new targets: 296.25 m.o]to]t% ProNav: ac range: 296.254028 m, nav range: 286.533264 m, bearing: 328.762952 deg, approach rate: -0.506238 m/s, LOS rate: -0.003338 deg/s, cmd heading: 332.756243 deg, new cmd heading: 332.752473 deg. zo%-HeadingCmd: 5.807626 target range: 296.254028 and range: 297.50 m.Ro-ع@Jo)bo)Zo)Bo):n12n1m9m9l9kAkAkIkM?ɞcBg/= ?I C"=ɝiI;I|iBk=i1P=)ع@)ԑZHQRHUp<Hm!>Hm;CHm IImfBImx =IiIi&Im<*ImEF6"F*F 2F :F Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.487888G- Jc= G 2B :B1  O] >XǬď,J?ANa@YNi\@N&|=9N=VAHRS rotation from veh to nav: [[0.894610,0.446649,0.013327],[-0.442570,0.889769,-0.111549],[-0.061681,0.093895,0.993670]]yNH?@?J?Sܿx?{ ` ? $?ɫNa@N,;NڑC\bfBb If=f= dfA]Mb@Mb@Mb@Y Y)YIYiY]Mb?+~jtx]?]]Ļ)YI]=Ai]GQAY Y]QHAIu#Iuô٥l M=9;Q > F٦MEy > 4YIHN?4yxBu?:?CM;;'4)AoFNOT Ignoring new targets: 296.25 m.oo ProNav: ac range: 296.254028 m, nav range: 286.328247 m, bearing: 328.762501 deg, approach rate: -0.511437 m/s, LOS rate: -0.001124 deg/s, cmd heading: 332.752473 deg, new cmd heading: 332.751121 deg. zo EHeadingCmd: 5.807603 target range: 296.254028 and range: 297.50 m.Ro׹@JoboZoBo:n2nmmvBlkkkk&?ɞ5cB5w= 15)?I9 =#=ɝ9i9I=rIEiE‡=ie H=)m׹@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.737769F6"F*F2F0:FJYJ]]J]4JYJYJ]_9J]3JYJYJYJ]w:J]x:G% QO=G 2B :B1 9  OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989048Bͬď,8?A2$W@Y2Q@2=92{2=BAHRS rotation from veh to nav: [[0.893959,0.447877,0.015576],[-0.443669,0.889393,-0.110174],[-0.063198,0.091580,0.993790]]y2HP?`?r?@eܿ`u?@^4-q?@!?ɫ2$W@2m;;2ؑCF fBFx IIRhIR٥Z ZY=9Z;Q Z>\\ ^F٦^OEyb*_ b> dj4Yf/VN?j4yf0fyxBhj j?fCfg:f:f/.4rB)r(ArSE!oFNOT Ignoring new targets: 296.25 m.oWoW ProNav: ac range: 296.254028 m, nav range: 286.136475 m, bearing: 328.762130 deg, approach rate: -0.484582 m/s, LOS rate: -0.000938 deg/s, cmd heading: 332.751134 deg, new cmd heading: 332.750021 deg. zo$HeadingCmd: 5.807583 target range: 296.254028 and range: 297.50 m.Ro׹@JoboZoBo:n2nm!m!l!k!k!k)k-`@ɞ5 dB5= 9=P?I9 =n%=ɝ9i9I=ĺIEiE=iED=)E׹@)iQF 6"F *F 2F 0:F jK5>NrK59zK1K5K5g`TMGA867qr2%#%'5MSPXelqtuy{tbJ5& (*&$#!!BK=?:K=?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241160yG<H=G 2B :B  O >HI HI HM IIM fBII II II &IM <*IM Eԡ ?iԬď,gR?AI<)    F٦REy] > %4YeN?%4y gxB)-: -?C::o541)5cA1oimFNOT Ignoring new targets: 296.25 m.ououy ProNav: ac range: 296.254028 m, nav range: 285.924164 m, bearing: 328.761740 deg, approach rate: -0.537445 m/s, LOS rate: -0.000988 deg/s, cmd heading: 332.750014 deg, new cmd heading: 332.748843 deg. zo-HeadingCmd: 5.807563 target range: 296.254028 and range: 297.50 m.Ro׹@JoboZoBo:n2nmmlkkkk`@ɞdB@= H*~>I &=ɝiITzȺḮiݶ=iC=)׹@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.494023F56"F9*F92F=c1:FAԩGm C=G 2B :B  O >  A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745483 ڬď,Ul?A6N@Y6zI@6<=96;=>AHRS rotation from veh to nav: [[0.893395,0.448908,0.018064],[-0.444543,0.889096,-0.109042],[-0.065011,0.089388,0.993873]]y6H?@?v?@csܿ@ys?3껿` ??ɫ6N@6;6ّCFeBFV IiHIH%Mb@Mb@Mb@! !)!I!i!%?Mbp%f?%L%)%SAI%z>Ai!%@A !%HAIAIA٥U UF=9U:Q e>ii uF٦uTEy > )]4Y-vN?e4y-= -TxBe?e:eOe?- C-;-Y;-=4uB)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 296.25 m.o-7o-75 ProNav: ac range: 296.254028 m, nav range: 285.693787 m, bearing: 328.762234 deg, approach rate: -0.510328 m/s, LOS rate: 0.001094 deg/s, cmd heading: 332.748839 deg, new cmd heading: 332.750321 deg. zo56@8EHeadingCmd: 5.807589 target range: 296.254028 and range: 297.50 m.RoE׹@JoAboAZoABoA:nI2nImimmvBlqkqkqkqk}@ɞ"dBo3= >I w(=ɝiIh'ʺIgi'=iZB=)׹@) uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998189F6"F*F2F0:F1G% -B=G 2Ba :Bq y  O >jK nDNrK zK K K ;lVC6,$"%Nyzk`XNF<3.*' "%{yď,^0?A2iM@Y2:H@2=92=:AHRS rotation from veh to nav: [[0.893309,0.449073,0.018245],[-0.444670,0.888993,-0.109359],[-0.065329,0.089578,0.993835]]y2H???xuܿ`r?k?~?ɫ2iM@2;0BeBBJ IIJjIJ٥RqM RV=9V[:Q V>TT ZF٦ZWEyZ8߹ Z>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.249134 \f4Y^|N?j4y^^DxBhjYj?^%C^B:^ :^TC4 JAJAJUfJUXJQJQJU|":JU5K9JQJQ!m@!m@!m@!m@)ՎA1o=FNOT Ignoring new targets: 296.25 m.oE#7oE#7U ProNav: ac range: 296.254028 m, nav range: 285.506226 m, bearing: 328.762642 deg, approach rate: -0.496150 m/s, LOS rate: 0.001080 deg/s, cmd heading: 332.750315 deg, new cmd heading: 332.751540 deg. zou=8}HeadingCmd: 5.807610 target range: 296.254028 and range: 297.50 m.Ro}׹@JoyboyZoyBoy:n2nmmlkkkk`\ @ɞ5-dB5lɎ= 15`>I9 =')=ɝ9i9I="˺IE~iE-=iEA=)E׹@)IH>HH IILfBIII&I<*IEF 6"F *F2F2:FauBDAT read: Rx Time:03:58:05.2874 }TRx dataTimestamp_ set to:1761364686.373695}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502068ԙGi Gi 2B :B  O >Hď,.7?A @B@)N@YH@wO=9=5AHRS rotation from veh to nav: [[0.893338,0.449013,0.018300],[-0.444582,0.888993,-0.109721],[-0.065534,0.089882,0.993794]]yH8?`?@#?tܿ r?`ư? )?ɫ)N@.;ؑCmeBmB IԁMb@Mb@Mb@ )IiQ?)\(y&1|?Ga`)IK?AiSA@A IAImIF٥ /Ӽ  (=9 9Q  > F٦ZEyE9 => AE4YE)N?M4yEE-xBM ?M:M!M?EGCE]:E:EK4}B)} A}^Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.753189oY]FNOT Ignoring new targets: 296.25 m.oe8oe8 ProNav: ac range: 296.254028 m, nav range: 285.244141 m, bearing: 328.763578 deg, approach rate: -0.544270 m/s, LOS rate: 0.001947 deg/s, cmd heading: 332.751544 deg, new cmd heading: 332.754357 deg. zo8HeadingCmd: 5.807659 target range: 296.254028 and range: 297.50 m.RoXع@JoboZoBo:n2nmm vBlkkkk`@ԩɞI j'+=ɝiI˺I+xi=iB=)Xع@)E- jZX DAT read: 03:58:05.2874 LVL= 12080, 15681, 11698, 17187, AGC= 67, IDX= 91, 0.24,-0.889,-2.062,-0.829,-1.489, PHS= 0.688,-0.527, 0.656, RAW= 148.7, -13.6, CAL= 155.5, -21.4, ROT= 354.5, 21.4 5 Ygot valid direction response: 03:58:05.2874 LVL= 12080, 15681, 11698, 17187, AGC= 67, IDX= 91, 0.24,-0.889,-2.062,-0.829,-1.489, PHS= 0.688,-0.527, 0.656, RAW= 148.7, -13.6, CAL= 155.5, -21.4, ROT= 354.5, 21.4 = PDAT read: Bearing 354.5, 21.4 (Local) e ~Local bearing/azimuth received: Bearing 354.5, 21.4 (Local) u DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed 0.4 m/s  *DAT read: user:223>  BDAT read: Tx time:03:58:06.3708  $Ping request sent. 8^.$Z׿u CYq F 6"F *F 2F p0:F u 0/)u A=Iu -iu #Cu Cu 0?u yu '? u x&@)u sIu -@iu t;u z@u t;> q )q u mK?Wb?QٯͿi '>I C) G ))AIuquBiu  ?u r>u )Ľu t;> q )q :publishing transmit ping time۩ Fpublishing direction and range infoq yu gVJ?ϟLض>8^.$Z׿q Yq q )q Iq iq q q q q q )q Iq iq q q q )q u mK?Wb?QٯͿiq q q q q )q 1G*A=G2B:B O?nWď,sų?AjK6PNrK69zK4K6K6qw^: Ri  ? %5a w@{vzcM4 =jDReJ@YR6E@R?i=9R=^AHRS rotation from veh to nav: [[0.893130,0.449424,0.018339],[-0.444991,0.888796,-0.109659],[-0.065583,0.089779,0.993800]]yRH?]?}ǒ?zܿq?ʰ ?5?ɫReJ@Rlj;RّC%eB%, I-=-4<I=YI=MJDAT read: TxSync time:03:58:06.3700 ٥U ]=9]8Q ]> F٦]Ey'` > 4YN?4yxBJiJ\JJJ+:J[9JJ??kC<<2U4)RA Jp!Rp%<1?Ap%Cp%Cp%G@v%ߍ q@c?|;w\v%gVJ?ϟLض>8^.$Z׿p%)Ľp%t;>v%,n@'>udaɘ_`v%E^?Hܿż+ۿjp% rp%pCZp%H0ם?bp%5bzp%p!p%5bp%)p%ICp%u@ addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 4.031535 s, deltaX: 11.799988 m, approachRate: 2.926922 m/s, rangeRepo size: 4  Added new target pos. range: 308.000580 m, bearing: 329.953970 deg, lat: 36.779390 deg, lon: -121.859906 deg, deltaT: 4.031535 s, deltaX: 11.746552 m, approachRate: 2.913667 m/s, posRepo size: 4 oFNOT Ignoring new targets: 308.00 m.ooU ProNav: ac range: 308.000580 m, nav range: 280.572876 m, bearing: 330.274241 deg, approach rate: 0.000000 m/s, LOS rate: 0.001947 deg/s, cmd heading: 332.754358 deg, new cmd heading: 332.757467 deg. zoY]HeadingCmd: 5.807714 target range: 308.000580 and range: 309.30 m.Ro]ع@JoaboaZoaBoa:na2namimiԱlkkkTs@k`-w?ɞ%LdB%z= !%{>I! -W,=HaHaHez IIefBIaIaIa&IeЗ<*IeEɝyiyI}>ɺIqi"=iN@=)ع@)E_F6"F!*F!2F%~0:F! G B=G! 2BQ :Bq  O >ݭď,n5?ADb=@Yb{8@b숃=9bȹ=jAHRS rotation from veh to nav: [[0.892519,0.450702,0.016642],[-0.446419,0.888085,-0.109613],[-0.064182,0.090402,0.993835]]ybH`?`N?@} ? "ܿ 1k?8n $? ?ɫb=@baΉ;b֑CzqeBz IMb@Mb@Mb@ )Ii rh?Zd;{GztC ?yף)-VAIi\UA JAICI٥ ?=9kWQ > F٦`Eyr > 4YN?4yxB$ ?:?C););\4B)AoFNOT Ignoring new targets: 308.00 m.o8o8 ProNav: ac range: 308.000580 m, nav range: 280.344452 m, bearing: 330.276844 deg, approach rate: -0.557597 m/s, LOS rate: 0.006361 deg/s, cmd heading: 332.757473 deg, new cmd heading: 332.765290 deg. zo9HeadingCmd: 5.807850 target range: 308.000580 and range: 309.30 m.Roٹ@JoboZoBo:n2nmmvBlkkkkA?ɞmXdBuD/}= 靝>I Xm-=ɝiIȺI/_iG5=i5:=)ٹ@)Թ EEEEF 6"F *F 2F p0:F ) G K@=Q G 2B:B O->ď,?AI<)<2v>@Y2G9@2|=92=BAHRS rotation from veh to nav: [[0.892640,0.450360,0.019234],[-0.446371,0.889070,-0.101527],[-0.062824,0.082042,0.994647]]y2H?`?? Xܿ`Bs?8?%?ɫ2v>@2y;2ّCJheBJ IIR/IR9٥= e6=9m'DQ u>yy }F٦}cEyp]9 > 4YN?4yhwB?C;I;d4)AaB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 308.00 m.o+8o+8 ProNav: ac range: 308.000580 m, nav range: 280.093079 m, bearing: 330.279716 deg, approach rate: -0.540320 m/s, LOS rate: 0.006179 deg/s, cmd heading: 332.765286 deg, new cmd heading: 332.773911 deg. zo9HeadingCmd: 5.808001 target range: 308.000580 and range: 309.30 m.Ro$۹@JoboZoBo:n2nmmlkkkk3?ɞ fdB qr= P>I ].=ɝiI WƺI%iKi%J=i%:=)%$۹@))jKIPrK9zKKKJ|zaM6ER?ws]A%fL625)iUE4( F"F*F2F0:F5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ԉJJJJcJTJJJ:J:9JJZH)RH-<H=>H9H=U II=eBI=y =I9I9&I=<*I=eE2I;C:IBIJIRIZIt4ԱGl;=GGsAG 2B :B  O > ď,?A6V@Y6Q@6by=96=>AHRS rotation from veh to nav: [[0.894068,0.447652,0.015802],[-0.443779,0.890022,-0.104507],[-0.060847,0.086423,0.994399]]y6H 5?S?~.?fܿ {? @U'?@?ɫ6V@6h;4FCeBF IiHIHRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471746IV)IV٥^ ^U=9b-Q b>`` fF٦feEyf@< f> hn4YjN?n4yjK!jwBprOr?jCj3;j5;jk4zB)zAz_EoFNOT Ignoring new targets: 308.00 m.o8o8 ProNav: ac range: 308.000580 m, nav range: 279.890411 m, bearing: 330.281908 deg, approach rate: -0.544797 m/s, LOS rate: 0.005897 deg/s, cmd heading: 332.773920 deg, new cmd heading: 332.780501 deg. zo9HeadingCmd: 5.808115 target range: 308.000580 and range: 309.30 m.Ro ܹ@Jo bo Zo Bo :n 2n mm1l1k9k9k9k=?ɞrdB WZj= y}5Q>I /=ɝiI ĺISd=iME=)%ܹ@)1F6"F*F2F0:F QQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723883) GE C;=G! 2B) :B9  OM >Q ď,~1?AFOi@YF d@F56w=9F=NAHRS rotation from veh to nav: [[0.895101,0.445631,0.014406],[-0.441765,0.890780,-0.106556],[-0.060318,0.089014,0.994202]]yFHત?6?%?EܿF?@GG`ᮿɶ?@?ɫFOi@F܉;DVAeBV IMMb@Mb@Mb@I I)IIIiIMoʡ?㥛 Mb`M ?MM)MVAIM@AiMXUAMAA IMKAIe_Ie٥uK }?=9}6Q }> F٦hEyr; > 4Y.N?4y$wBJ?:?C::r4))-A)oFNOT Ignoring new targets: 308.00 m.o9o9 ProNav: ac range: 308.000580 m, nav range: 279.644287 m, bearing: 330.285495 deg, approach rate: -0.568250 m/s, LOS rate: 0.008288 deg/s, cmd heading: 332.780504 deg, new cmd heading: 332.791273 deg. zo9HeadingCmd: 5.808303 target range: 308.000580 and range: 309.30 m.Roݹ@JoboZoBo:n)2n)mQmUvBlYkYkYkake` @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975799ɞmdBmc= iuUA>Iq u/=ɝqiqIuºI}#i}=i}ML=)}ݹ@)F=6"F9*F92F=0:F9aԁ G] 4|E=jK uOrK zK K K vfb[UNIDDEKLEGa  * ~wuxsi`G9 2BI e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228472:B  O >J fJ \J 5J J |":J [9J 4J Nď,YOK?A 0Ro@YR{j@R8r=9Rפ=zAHRS rotation from veh to nav: [[0.895509,0.444866,0.012584],[-0.441102,0.890977,-0.107649],[-0.059102,0.090850,0.994109]]yRH? x?ʼn?`;ܿ?`B@A?`?ɫRo@R#;P~,eB II kI  ٥[X P=9%KQ %>!) -F٦-kEy-; -> 1=4Y5N?=4y5'5wBAMM?5C5;5Ҥ;5ky4uB)uVAqoFNOT Ignoring new targets: 308.00 m.o9o9 ProNav: ac range: 308.000580 m, nav range: 279.436859 m, bearing: 330.288488 deg, approach rate: -0.559283 m/s, LOS rate: 0.008076 deg/s, cmd heading: 332.791268 deg, new cmd heading: 332.800254 deg. zo\9HeadingCmd: 5.808460 target range: 308.000580 and range: 309.30 m.Ro޹@JoboZoBo:n2nH>HH6 IIeBIII&Ir<*IREmm l k k kkt@ɞ=dB=T_= AE >IA E&0=ɝAiAIEpIM'iMj=iUM=)U޹@)ԑF6"F*F2FA1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479583GQO=G 2B :B  OM >oď,*e?A6k@Y6f@6Ȱk=96j=RAHRS rotation from veh to nav: [[0.895384,0.445160,0.010944],[-0.441566,0.890791,-0.107290],[-0.057510,0.091233,0.994168]]y6H?}?i?Bܿ\?Swq [?8?ɫ6k@6L^;4VeBZ I^G>\`mMb@Mb@Mb@i i)iIiiimDl?DlMb`mO ?mOi)mVAIm@AimpSAmBA im3KAI}TI}n٥] C=9yQ > F٦mEyL > 4Y$ O?4yN+wBi?:?CA;;4)AoFNOT Ignoring new targets: 308.00 m.o9o9  ProNav: ac range: 308.000580 m, nav range: 279.204468 m, bearing: 330.291515 deg, approach rate: -0.560137 m/s, LOS rate: 0.007303 deg/s, cmd heading: 332.800257 deg, new cmd heading: 332.809347 deg. zo a9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749244HeadingCmd: 5.808619 target range: 308.000580 and range: 309.30 m.Ro5@JoboZoBo:n2nmmvBlkkkka@ɞ5dB=rQ= 9==I9 =O0=ɝAiAIEIEaiMm=iM3-K=)M5@)F6"F*F2F1:FGm 0M=M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999619GI Q 2Ba :Bq  O} >ď,?A:Xd@Y:)_@:d=9:;=FAHRS rotation from veh to nav: [[0.895075,0.445819,0.009239],[-0.442427,0.890470,-0.106406],[-0.055665,0.091154,0.994280]]y:H@u?L?? Pܿ`~?t=-U?$?ɫ:Xd@:+`;:בCJ eBN IIVnIVd٥r rV=9r Q r>tx zF٦zpEy~K ~>  4YO? 4ya.wB 7?6C:B:n4%B)%A%`EoIMFNOT Ignoring new targets: 308.00 m.oU9oU9e ProNav: ac range: 308.000580 m, nav range: 278.992798 m, bearing: 330.294317 deg, approach rate: -0.553348 m/s, LOS rate: 0.007328 deg/s, cmd heading: 332.809355 deg, new cmd heading: 332.817764 deg. zoe9mHeadingCmd: 5.808766 target range: 308.000580 and range: 309.30 m.Roui@JoqboqZoqBoy:ny2nymmlkkkk@ @ɞdBߟO= QU=IY ]0=ɝYiYI] 8Ieie=ieG=)ei@)iIF6"F*F2Fp5:FjK OrK9zKKKXQJFEEIC@=:72-+(%   4Rstgm|yuo`K:+$2KrA*KBDAT read: Rx Time:03:58:09.1826 TRx dataTimestamp_ set to:1761364690.169739checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252715ԑJHBHAAHHH IIveBIIID&I<*IEG JM=G 2B :B9  OU > c%ď,?AI<)NO@YNpJ@NT=9N/=VAHRS rotation from veh to nav: [[0.894131,0.447760,0.006347],[-0.444778,0.889644,-0.103470],[-0.051976,0.089692,0.994612]]yNH`?`?y?@>wܿw? |ড়?@?ɫNO@NЈ;N֑C^dB^ IIjfIj{checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503825٥]+ ]C=9]MQ e>aa eF٦erEymƻ m> q}4Yu[*O?}4yu1uwBy}?uTCu;u;u4B)ҐAjEԙB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 308.00 m.o 9o 9 ProNav: ac range: 308.000580 m, nav range: 278.761383 m, bearing: 330.297504 deg, approach rate: -0.552998 m/s, LOS rate: 0.007623 deg/s, cmd heading: 332.817770 deg, new cmd heading: 332.827340 deg. zok9HeadingCmd: 5.808933 target range: 308.000580 and range: 309.30 m.Ro@JoboZoBo:n2nmmlkkkkઙ @ɞ%dB%`D= )-=I) -c1=ɝ)i)I-|I55i==i=:>=)=@)9F"F*F2F@5:FGu<H=GyG}tAJjJVJJJ.:JB9JJJ4;!J4;!JX:!JX:! DAT read: 03:58:09.1826 LVL= 23280, 22689, 21362, 32755, AGC= 65, IDX= 394, 0.49, 0.608,-0.786, 0.728, 0.065, PHS= 0.631,-0.804, 0.659, RAW= 151.0, -6.8, CAL= 156.2, -14.9, ROT= 353.8, 14.9 % Ygot valid direction response: 03:58:09.1826 LVL= 23280, 22689, 21362, 32755, AGC= 65, IDX= 394, 0.49, 0.608,-0.786, 0.728, 0.065, PHS= 0.631,-0.804, 0.659, RAW= 151.0, -6.8, CAL= 156.2, -14.9, ROT= 353.8, 14.9 5 PDAT read: Bearing 353.8, 14.9 (Local) 5 ~Local bearing/azimuth received: Bearing 353.8, 14.9 (Local) E DAT read: Range 10 to 50 : 305.7 m (Round-trip 407.7 ms) speed 0.3 m/s GI 2BQ :Bi  O} > *DAT read: user:224>  BDAT read: Tx time:03:58:10.2708  $Ping request sent. )A@?L~tX?y%vS$i3S ?$=iݽ%> ) :publishing transmit ping timeۑ  Fpublishing direction and range infoy$??s!۷FhtпY )Ii )Ii )A@?L~tX?y%vS$i )! ?,ď,²?AFFD@YF?@FM=9F¶=NAHRS rotation from veh to nav: [[0.893602,0.448834,0.004802],[-0.446060,0.889171,-0.102003],[-0.050053,0.089008,0.994772]]yFHd?`?s??ܿt?<ɶ? -?ɫFFD@F;D^dB^ IMb@Mb@Mb@ )Ii/$?L7A`尿 ?+)WAIAAi(VA-DA LAIekIe ٥L 8=9 Q > F٦uEycL > 4Y;O?4yI5xwB ?:2?sC;>;~4B)AJpRpP?Ap4Cp4Cp9@vǀOGr@^?vbn@߄bc7Wv@\?Ј߿| ԿjprpvCZpp?bpxzpfpJ ?pppҌCpR@ addTargetRange:: Added new target pos. range: 305.700012 m, deltaT: 3.798753 s, deltaX: -3.599976 m, approachRate: -0.947673 m/s, rangeRepo size: 4  Added new target pos. range: 304.413116 m, bearing: 328.578021 deg, lat: 36.779423 deg, lon: -121.859906 deg, deltaT: 3.798753 s, deltaX: -3.587463 m, approachRate: -0.944379 m/s, posRepo size: 4 oFNOT Ignoring new targets: 304.41 m.oo ProNav: ac range: 304.413116 m, nav range: 281.644775 m, bearing: 330.662950 deg, approach rate: 0.000000 m/s, LOS rate: 0.007623 deg/s, cmd heading: 332.827332 deg, new cmd heading: 332.837949 deg. zoHeadingCmd: 5.809118 target range: 304.413116 and range: 305.70 m.RoL@JoboZoBo:n2n!5JDAT read: TxSync time:03:58:10.2700 mamevBlikikikm@3s@kmZ?ɞdB<;= "=I F1=ɝiIJIi=i֕9=)L@)!F"F*F2Fa5:FQG ==jK% ~NrK% 9zK! K% K% 3@?=JZZSJD<61,('#  UMduwmj~^@!ԁ G 2B :B J R=J = O >3ď,/̴?A23@Y2r.@2 ?=92=:AHRS rotation from veh to nav: [[0.892842,0.450367,0.001494],[-0.447949,0.888383,-0.100581],[-0.046626,0.089134,0.994928]]y2H@*??T|X?2ܿm?_ߧvѶ?r?ɫ23@2wˈ;2ؑCndBn IIz*Iz٥5: =c=9=Q =>AA EF٦ExEyEѸ E> IH}>HyH} II}NeBI}x =IyIy&I}Η<*I}E4YMwIO?4yM)8MmwB?MCM$E>ԁFQ"FQ*FQ2F]`5:FYԩG ;6=Gi 2By :B  O > )9ď,o?A @26A@Y2<@2 5=92x=BAHRS rotation from veh to nav: [[0.893678,0.448706,0.001463],[-0.446515,0.889627,-0.095849],[-0.044309,0.085005,0.995395]]y2H??W?ܿw?@µ?@F?ɫ26A@2uF;0JdBJ IMb@Mb@Mb@ )IiHzG?A`"= ?Y)I?AiTACEA QLAIfI{٥< C=9Q > F٦zEy; > 4YYO?4yV;`wB ?:?C ;" ;4B)1AkEoFNOT Ignoring new targets: 304.41 m.o8o%8- ProNav: ac range: 304.413116 m, nav range: 281.220520 m, bearing: 330.668146 deg, approach rate: -0.555191 m/s, LOS rate: 0.005549 deg/s, cmd heading: 332.846757 deg, new cmd heading: 332.853552 deg. zo5s9JcJYJJJ:J[O9JJJ;J;JDn:JGn:ԱHeadingCmd: 5.809391 target range: 304.413116 and range: 305.70 m.Ro@JoboZoBo:n2nmmvBlkkkk L?ɞ]dB]1= Ye:Ia eO1=ɝaiaIe涺Im3i`=i 9=)@)F%6"F!*F)2F-o0:F) G- 31=G5 ?G5 ?G 2B :B)  OM >)5 G M vA)a I ? vA B9 &@ď,T?A6|B@Y6M=@64-=96q=BAHRS rotation from veh to nav: [[0.893822,0.448421,-0.000460],[-0.446414,0.889722,-0.095441],[-0.042389,0.085512,0.995435]]y6H0??> ܿx?n@$?`?ɫ6|B@6;;6֑CNdBN IIV)IV٥^ b[=9bQ b>dd fF٦f}Eyj9 n> pv4Yr)hO?v4yr.>rVwBtzz?rCr):r :r4y)}eAyoFNOT Ignoring new targets: 304.41 m.o:8o:8 ProNav: ac range: 304.413116 m, nav range: 281.017456 m, bearing: 330.670170 deg, approach rate: -0.515574 m/s, LOS rate: 0.005143 deg/s, cmd heading: 332.853560 deg, new cmd heading: 332.859636 deg. zoa9HeadingCmd: 5.809496 target range: 304.413116 and range: 305.70 m.Roe@JoboZoBo:n2nmmlkkkkM?ɞ-dB5i&= 15I1 =41=ɝ9i9I=7IE]iE~*=iE8=)Ee@)IF"F*F2Fp0:FjK=OrK=+9zK9K=K=|riQG=1.))%'Jn{hS=, -VdcSK>2,2R9ZH<RHp<H>HH II9eBIIID&I<*IEG- d6=G2B:B  O= >i g>Fď,/0?A:>@Y:9@:T**=9:꼯=BAHRS rotation from veh to nav: [[0.893655,0.448752,-0.001317],[-0.446828,0.889544,-0.095162],[-0.041532,0.085630,0.995461]]y:H@Ә?Y?UӘܿ%w?\C??ɫ:>@:;8NdBN IIZPIZ٥r  rH=9vh Q v>tt zF٦zEyz z> |4Y~wO?4y~EA~KwB   ?~C~:~W:~DZ4ÖB)A%lEEB*** querying acoustic contact ***:pIBpIoQ]FNOT Ignoring new targets: 304.41 m.o]8o]8m ProNav: ac range: 304.413116 m, nav range: 280.796936 m, bearing: 330.672391 deg, approach rate: -0.565226 m/s, LOS rate: 0.005697 deg/s, cmd heading: 332.859625 deg, new cmd heading: 332.866293 deg. zom:z9uHeadingCmd: 5.809613 target range: 304.413116 and range: 305.70 m.RouY@JoyboyZoyBoy:ny2nymmlkkkk`ք?ɞUdBU= Y]rIY ] 0=ɝYiYI]O Iexie;=iex6=)mY@)iEyqF6"F*F2F:FԑG 8=JfJXJ4JJ|":J5K9J3JT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G2BJ;J;Jg:Jg::B  O% > PiLď,4?AI) F٦Ey  > %4YO?%4yD=wB%F ?%:- -?CbU;K;t41)5A1oYeFNOT Ignoring new targets: 304.41 m.oe8oe8u ProNav: ac range: 304.413116 m, nav range: 280.558472 m, bearing: 330.674215 deg, approach rate: -0.544178 m/s, LOS rate: 0.004167 deg/s, cmd heading: 332.866291 deg, new cmd heading: 332.871769 deg. zo}79}HeadingCmd: 5.809709 target range: 304.413116 and range: 305.70 m.Ro}"@JoboZoBo:n2nmmvBlkkkk@ɞeBc= I  0=ɝiI_IkiL=i)"@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248521FM6"FQ*FQ2FU|0:FQGп8=GGGa 2Bi :B  O >! jK UOrK 9zK K K tpph]R<(/1) 4tP2 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499663NSď,M?A24@Y2/@27#=92`=>AHRS rotation from veh to nav: [[0.893178,0.449681,-0.004399],[-0.447935,0.888758,-0.097285],[-0.039838,0.088864,0.995247]]y2H??rܿp?縿eſ??ɫ24@2Kl;2ؑCBdBF IIJiIJ҅٥VG Vc=9V=Q V>XX ZF٦ZEyZ[ ^> `b4Yb O?f4yb>Gb2wBdf f?bCb:b :b4jȖB)nɑAlH5>H1H5 II5eBI1I1I1&I5<*I5E2I:IBIJIRIy =ZI4aoFNOT Ignoring new targets: 304.41 m.oZ8oZ8% ProNav: ac range: 304.413116 m, nav range: 280.362854 m, bearing: 330.675760 deg, approach rate: -0.505830 m/s, LOS rate: 0.003999 deg/s, cmd heading: 332.871783 deg, new cmd heading: 332.876422 deg. zo%/9-HeadingCmd: 5.809790 target range: 304.413116 and range: 305.70 m.Ro-@Jo)bo1Zo1Bo1:nQ2nYmYmalakakikikmA@ɞ%eB%G= !-׽I) -a0=ɝ)i)I5˱IU`i][=i]O1=)e@)iԑF%6"F)*F)2F-}0:F)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751602ԱG ;6=G 2B :BI  O >yYď,g?AEdBE IԱMb@Mb@Mb@ )IiuV? ףp= Mb`r?Q8)YAICAiUAZFA =NAI I ٥*; 5=9Q >!! %F٦%Ey% -> )54Y-sO?=4y-J-%wB=?=:=k =?-6C- ;-T ;-nj4I)MƑAIJ}mJ}UJ}5JyJ}\8:J}>9J}4JyJ}D;J}D;J}Q:J}Q:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020102oy}FNOT Ignoring new targets: 304.41 m.o8o8 ProNav: ac range: 304.413116 m, nav range: 280.122040 m, bearing: 330.677569 deg, approach rate: -0.526824 m/s, LOS rate: 0.003959 deg/s, cmd heading: 332.876427 deg, new cmd heading: 332.881857 deg. zo-9HeadingCmd: 5.809885 target range: 304.413116 and range: 305.70 m.Ro@JoboZoBo:n2n m m  wBlkkkk=@ɞ-)eB5= 15 I1 5/=ɝ9i9I=wIeuTieZl=ie2=)e@)iF"F*F2Fp0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274629A G] 31=GA 2BQ :Ba  Om >m`ď,Sˁ?A @6H%@Y6 @6=96=BAHRS rotation from veh to nav: [[0.892408,0.451176,-0.006997],[-0.449689,0.887973,-0.096350],[-0.037258,0.089130,0.995323]]y6H??|ܿFj?kt?Ѷ?@?ɫ6H%@6X;6֑CJdBJ IIVbIV٥^Tn ^a=9bMQ b>`d fF٦fEyf謻 f> hn4Yj`O?n4yj7MjwBpr r?jOCjS;j;j͌4z͖B)zAzmEoFNOT Ignoring new targets: 304.41 m.o-8o-8= ProNav: ac range: 304.413116 m, nav range: 279.928284 m, bearing: 330.679101 deg, approach rate: -0.588883 m/s, LOS rate: 0.004662 deg/s, cmd heading: 332.881864 deg, new cmd heading: 332.886466 deg. zo=L9HeadingCmd: 5.809965 target range: 304.413116 and range: 305.70 m.Ro;@JoboZoBo:n2nmmlkkkkQ @ɞe4eBmR< im[Ii m/=ɝqiqIuNIIit=ix*=);@)F6"F*F2F0:F)jKXOrKzKKKwmc\XTNLKHGD@@@EBA<=:;Qo="$'&#$"!"#)..-+ BDAT read: Rx Time:03:58:13.0806  TRx dataTimestamp_ set to:1761364694.225885checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524698JHBH?AH H H  II eBI I I &I <*I EQG[1=G?G ?G 2B :B  O >ԁ fď, p?A6@Y6@6O=96G=>AHRS rotation from veh to nav: [[0.891942,0.452074,-0.008283],[-0.450712,0.887498,-0.095948],[-0.036024,0.089314,0.995352]]y6H ʊ?? xܿbf? @q@ݶ?@?ɫ6@6!;4FdBF IN=N<IVaIV錴٥^ϼ ^L=9 7EQ  > F٦Ey3 > )54Y-*O?54y-?P-wB151 =?-kC-;-;-+Ռ4EΖB)EAEvEeB*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 304.41 m.ouT8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775586ouT8 ProNav: ac range: 304.413116 m, nav range: 279.708527 m, bearing: 330.680893 deg, approach rate: -0.533546 m/s, LOS rate: 0.004353 deg/s, cmd heading: 332.886454 deg, new cmd heading: 332.891833 deg. zo2?9HeadingCmd: 5.810059 target range: 304.413116 and range: 305.70 m.Ro@JoboZoBo:n2nmmlkkkkw@ɞCeBJ< ,6I .=ɝiI᪺I=iX}=i'=)@)yF6"F*F2F0:FG+,=Gq2By:B O>)  DAT read: 03:58:13.0806 LVL= 22576, 27697, 21586, 32755, AGC= 66, IDX= 421, 0.32,-2.179, 2.704,-2.156,-2.815, PHS= 0.724,-0.718, 0.656, RAW= 147.6, -9.4, CAL= 154.0, -17.8, ROT= 356.0, 17.8  Ygot valid direction response: 03:58:13.0806 LVL= 22576, 27697, 21586, 32755, AGC= 66, IDX= 421, 0.32,-2.179, 2.704,-2.156,-2.815, PHS= 0.724,-0.718, 0.656, RAW= 147.6, -9.4, CAL= 154.0, -17.8, ROT= 356.0, 17.8  PDAT read: Bearing 356.0, 17.8 (Local)  ~Local bearing/azimuth received: Bearing 356.0, 17.8 (Local)  DAT read: Range 10 to 50 : 304.2 m (Round-trip 405.6 ms) speed 0.6 m/s  *DAT read: user:225>  BDAT read: Tx time:03:58:14.1708  $Ping request sent. 1 )1 5 m(Y?#!QA?RĿi5 <>5 g(>5 )5 > 1 )1 = :publishing transmit ping time = Fpublishing direction and range info1 y5 v(d?4 ќӿ1 Y1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 )1 5 m(Y?#!QA?RĿi1 1 1 1 1 )1 Y Qlď,Y?A2H@Y2@2xN=92=BAHRS rotation from veh to nav: [[0.891546,0.452823,-0.009833],[-0.451577,0.886997,-0.096510],[-0.034980,0.090484,0.995283]]y2H??@#ܿGb?`ᴸ衿)?\?ɫ2H@2;2ԑCndBn IMb@Mb@Mb@ )IiˡE?/$~jth??,D;)IiTApGA IeFIeפ٥$ /=9WQ > F٦Ey > 4YO?4ySwB\?:J ?C:j:,݌4ҖB);AwE)JpYRp]?Ap]uCp]uCp]x@v]V)wq@bM{4Iz&Wv]v(d?4 ќӿp])p]>v]}fh o@nZa8SKT&Zv]:;?`?S%Uݿտjp] rp]PxCZp]e?bp]4zp];p]p?pYpYp]?Cp]@ addTargetRange:: Added new target pos. range: 304.200012 m, deltaT: 4.052952 s, deltaX: -1.500000 m, approachRate: -0.370101 m/s, rangeRepo size: 4  Added new target pos. range: 302.920135 m, bearing: 330.789878 deg, lat: 36.779433 deg, lon: -121.859906 deg, deltaT: 4.052952 s, deltaX: -1.492981 m, approachRate: -0.368369 m/s, posRepo size: 4 o%FNOT Ignoring new targets: 302.92 m.o-o)5 ProNav: ac range: 302.920135 m, nav range: 280.495117 m, bearing: 330.800826 deg, approach rate: 0.000000 m/s, LOS rate: 0.004353 deg/s, cmd heading: 332.891836 deg, new cmd heading: 332.897998 deg. zo9=HeadingCmd: 5.810166 target range: 302.920135 and range: 304.20 m.Roe@JoaboaZoaBoa:na2namimmvBlikikqku@3s@ku$?ɞVeB< MI ".=ɝiIX9I/i$=i#=)@)YF6"F*F2F0:Fԁ G )=J cJ RJ 4J J :J S29J 3J ! @! @! @! @jK NrK ]9zK K K )''.Cj^sWseWIB:1/)%!&On].&Q %G 2B :B  O >Ҝsď,&ϵ?AI ) 0R@YR@R?=9RP˸=ZAHRS rotation from veh to nav: [[0.890380,0.455063,-0.011860],[-0.454036,0.885893,-0.095101],[-0.032770,0.090061,0.995397]]yRH}??@!J ݿH`Hb IIbdBIby =I`I`&Ib<*IbEr~dBr IIz@Iz(٥%{׼ %e=9-D˻Q ->)1 5F٦5Ey57 5> i4YmcO?4ym6VmwB ?mCm9HeadingCmd: 5.810250 target range: 302.920135 and range: 304.20 m.Ro@JoboZoBo:n2nmmlkkkk>?ɞeceBeRQ< aeDeIa mTz-=ɝiԉiiIҙI$i5=ii=)@)FA"FI*FI2FM0:FIԹGm $= GI 2Bq :B  O >yď,W?A`{dB Ii!I!I-=)-a=Mb@Mb@Mb@ )IiS㥛?Q롿y&1|??\`;)I-DAiHA NAII̴٥" >=9Q > F٦Ey >  4YWO?4y1YvB-?:4 ?C. ; ;4%זB)%hA%xEoYeFNOT Ignoring new targets: 302.92 m.oex8oex8 ProNav: ac range: 302.920135 m, nav range: 280.084076 m, bearing: 330.803791 deg, approach rate: -0.548294 m/s, LOS rate: 0.003396 deg/s, cmd heading: 332.902819 deg, new cmd heading: 332.906918 deg. zo*9%HeadingCmd: 5.810322 target range: 302.920135 and range: 304.20 m.Ro%(@Jo!bo!Zo!Bo!:n!2n)mQmUwBlQkYkYkYk] V?ɞMteBU< Y]xIY ]ܥ,=ɝYiYI]kI'i=i=)(@)EA A F 6"F *F 2F y0:F q G9g=G2B:B O?ď,b ?A @6f@Y67@6 <96=DFAHRS rotation from veh to nav: [[0.889817,0.456040,-0.015898],[-0.455336,0.885081,-0.096439],[-0.029909,0.093052,0.995212]]y6Hay? /?G@9$ݿR? <@ Bҷ??ɫ6f@6Ǜ;4NudBN~ IIV6IV٥^Q ^'=9b^Q b>dd fF٦fEyf> f> hn4YjP?n4yj\jvBpr r?jCj` ;j ;j^4|)~uA|o!-FNOT Ignoring new targets: 302.92 m.o-w8o-w8= ProNav: ac range: 302.920135 m, nav range: 279.830505 m, bearing: 330.805438 deg, approach rate: -0.520724 m/s, LOS rate: 0.003384 deg/s, cmd heading: 332.906917 deg, new cmd heading: 332.911861 deg. zo=9JqJWJJJD:JG9JJHeadingCmd: 5.810408 target range: 302.920135 and range: 304.20 m.Ro@JoboZoBo:n2nmmlkkkk-?jKSPrK9zKKKj,  #FzgVG9/2K)*K-rAɞUeB]& < y}Iy }+=ɝiI؟Ii(=i?=)@)ZHRH<H!>HH IIdBIw =II&Iڗ<*IEԹEFU6"FQ*FY2F]q0:FY G} y=9 GY 2B :B  O >Kď,'?Au@Yu@u<9uf=AHRS rotation from veh to nav: [[0.890226,0.455228,-0.016260],[-0.454545,0.885424,-0.097027],[-0.029772,0.093767,0.995149]]yuH|?u"?m@BݿcU?ָ|`?B?ɫu@uR;u֑CpdB{ I}Mb@Mb@Mb@y y)yIyԁiy}'1Z?~jty&1?}?}}`e<)}[AIyi}UAy y}\OAIcI#٥W =9Q > F٦Ey: > 4Y P?4y `vB?:?CPa;r;k4ܖB)A5B*** querying acoustic contact ***:p1Bp1oAEFNOT Ignoring new targets: 302.92 m.oMl}6oMl}6T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 302.920135 m, nav range: 279.565613 m, bearing: 330.805551 deg, approach rate: -0.505361 m/s, LOS rate: 0.000216 deg/s, cmd heading: 332.911862 deg, new cmd heading: 332.912202 deg. zo 7HeadingCmd: 5.810414 target range: 302.920135 and range: 304.20 m.Ro@JoboZoBo:n2nmmwBl!k!k!k!k%':@ɞeB'< 靝ϕI V*=ɝiIIi=i#=)@) EEEEԱEaEesAF 6"F *F 2F p0:F iA IE C) G `wA) I% P% `wA% &Bu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244104 G]l=9GQ2Ba:Bq O}?ď,!YH?A:B @Y:@:H<9:s=^AHRS rotation from veh to nav: [[0.891113,0.453430,-0.017834],[-0.452866,0.886135,-0.098371],[-0.028800,0.095736,0.994990]]y:H? ? 1C@ܿ@8[?.}@&?@?ɫ:B @:l;8f]dBfp Ij=jp<In]Int٥v& z5=9zC Q z>|| ~F٦~Ey~; ~> 4Y,P?4ycvB?C8S;#T;K4))-A)oQUFNOT Ignoring new targets: 302.92 m.o]'4o]'4m ProNav: ac range: 302.920135 m, nav range: 279.334991 m, bearing: 330.805562 deg, approach rate: -0.519306 m/s, LOS rate: 0.000025 deg/s, cmd heading: 332.912190 deg, new cmd heading: 332.912224 deg. zom5uHeadingCmd: 5.810414 target range: 302.920135 and range: 304.20 m.Rou@JoqboqZoqBoy:ny2nymymylkkkk`a@ɞeBך< I 7)=ɝiI)Ii'=iR=)@)JhJ\JJJ(:J[9JJF6"F*F2F0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497901jK/PrKzKKK' :9 $oI W4%4O[TH:/&HM>HIHM IIMdBIMx =IIII&IM<*IMEGGa2Bi:By O>A U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748311!ď,b?AR@YR @R<9R=ZAHRS rotation from veh to nav: [[0.891620,0.452384,-0.019055],[-0.451923,0.886537,-0.099086],[-0.027932,0.096958,0.994896]]yRH%??@Mܿ^?@]<`=Ҹ? 1?ɫR@RpȊ;RԑCbRdBbi IIjEIj٥rb׼ rL=9v Q v>tt vF٦vEyz.; z>  4Y<;P? 4yevB =?9C-::S 4%B)-A5yEoamFNOT Ignoring new targets: 302.92 m.omĵouĵ ProNav: ac range: 302.920135 m, nav range: 279.129211 m, bearing: 330.805528 deg, approach rate: -0.507675 m/s, LOS rate: -0.000084 deg/s, cmd heading: 332.912217 deg, new cmd heading: 332.912115 deg. zokHeadingCmd: 5.810412 target range: 302.920135 and range: 304.20 m.Ro@JoboZoBo:n2nmmlkkkk@@Qɞ-eBe< 靕I Q'=ɝiI=IOiV=i#=)@)F"F*F2F}0:Fychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000508ԡ G ȿ=G 2B :B  O >Kď,{?A6W@Y6(@6/<96=<>AHRS rotation from veh to nav: [[0.891883,0.451807,-0.020368],[-0.451467,0.886728,-0.099457],[-0.026875,0.097900,0.994833]]y6HN?`g?8۔ܿ`? v%@??ɫ6W@6z;6֑CJGdBJb I%Mb@Mb@Mb@! !)!I!i!%K?~jth rh?%^>%D%C<)%?]AI!i%TA! !%OA)1 5AAI[I:٥ȼ ==9h Q > F٦Ey: > 4YKP?4y1hvB>:?TCvA;@;4)ABDAT read: Rx Time:03:58:16.9607 %TRx dataTimestamp_ set to:1761364698.005923%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253457o9=FNOT Ignoring new targets: 302.92 m.oEgoEgM ProNav: ac range: 302.920135 m, nav range: 278.918457 m, bearing: 330.804166 deg, approach rate: -0.489391 m/s, LOS rate: -0.003166 deg/s, cmd heading: 332.912108 deg, new cmd heading: 332.908018 deg. zoU ]HeadingCmd: 5.810341 target range: 302.920135 and range: 304.20 m.Ro]P@JoYboYZoYBoY:na2nimimmwBlikqkqkqk}L @ɞeB checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504211 JHA BHA HM >HI HM IIM dBII II II &IM <*IM E2I:IBIJIRIx =ZIp4jKm OrKm 9zKi Km Km  ,892,( "0?B;3/' ! 4 $1@;ď,?A>@Y>@>!<9>>?=FAHRS rotation from veh to nav: [[0.892372,0.450795,-0.021356],[-0.450566,0.887223,-0.099120],[-0.025735,0.098075,0.994846]]y>HO??Yޕܿ"d?_`eZj??ɫ>@>;`` fFd٦fEyj3; j> lr4YnXP?r4ynfjnvBprCr?nlCn;n;nc4zB)z.AzzEoFNOT Ignoring new targets: 302.92 m.o%'ro%'r] ProNav: ac range: 302.920135 m, nav range: 278.735687 m, bearing: 330.802944 deg, approach rate: -0.494664 m/s, LOS rate: -0.003308 deg/s, cmd heading: 332.908010 deg, new cmd heading: 332.904343 deg. zo]J}HeadingCmd: 5.810277 target range: 302.920135 and range: 304.20 m.Ro}@JoyboZoBo!:n)2n1mAmAlIkQkYkk@ @ɞeBYG< 靕վI 9%=ɝiII!iʧ=i(=)@)mDAT read: 03:58:16.9607 LVL= 17200, 20625, 16738, 26483, AGC= 69, IDX= 234,-0.14,-0.858,-2.340,-0.791,-1.509, PHS= 0.739,-0.785, 0.715, RAW= 149.2, -8.9, CAL= 155.3, -17.1, ROT= 354.7, 17.1 uYgot valid direction response: 03:58:16.9607 LVL= 17200, 20625, 16738, 26483, AGC= 69, IDX= 234,-0.14,-0.858,-2.340,-0.791,-1.509, PHS= 0.739,-0.785, 0.715, RAW= 149.2, -8.9, CAL= 155.3, -17.1, ROT= 354.7, 17.1 }PDAT read: Bearing 354.7, 17.1 (Local) }~Local bearing/azimuth received: Bearing 354.7, 17.1 (Local) DAT read: Range 10 to 50 : 289.2 m (Round-trip 385.7 ms) speed 0.3 m/s F"F*F2F0:FGFG G*DAT read: user:226> BDAT read: Tx time:03:58:18.0708 $Ping request sent. ))Ņ6?"?ÿi?>qΘ> )%:publishing transmit ping time۩%Fpublishing direction and range infoy#at?WJҿY )Ii )Ii ))Ņ6?"?ÿi )!ԑ G 2B :B  O >-]ď,?A:&@Y: @:<9:;=FJDAT read: TxSync time:03:58:18.0701 RAHRS rotation from veh to nav: [[0.892806,0.449896,-0.022158],[-0.449779,0.887747,-0.098000],[-0.024420,0.097461,0.994940]]y:Hޑ??w@-ܿlh?@q5??ɫ:&@:*;8Z%dBZM IyMb@Mb@Mb@ )Ii?{Gz??#<)Q^AI?EAiTAJA PAINI٥  7=95?Q =>99 =F٦=EyE9; E> IU4YMiP?u4yMmMvB}?}:}}?MCMg;M ;M;!4)MAJpYRp]Y?Ap]Cp]Cp]@v]V6!q@ ߖl9Ӆp+Uv]#at?WJҿp]qp]Θ>v]DJdm@y1a ZWv]Ta' ?gL޿&Կjp] rp]"kCZp]4ϝ?bp]]Ɏzp]pYp]]Ɏp]fp]Cp]B@] addTargetRange:: Added new target pos. range: 289.200012 m, deltaT: 3.780321 s, deltaX: -15.000000 m, approachRate: -3.967917 m/s, rangeRepo size: 4  Added new target pos. range: 287.983429 m, bearing: 329.673690 deg, lat: 36.779433 deg, lon: -121.859925 deg, deltaT: 3.780321 s, deltaX: -14.936707 m, approachRate: -3.951174 m/s, posRepo size: 4 oFNOT Ignoring new targets: 287.98 m.oo ProNav: ac range: 287.983429 m, nav range: 279.330994 m, bearing: 330.501641 deg, approach rate: 0.000000 m/s, LOS rate: -0.003308 deg/s, cmd heading: 332.904349 deg, new cmd heading: 332.899639 deg. zoHeadingCmd: 5.810195 target range: 287.983429 and range: 289.20 m.Ro@JoboZoBo:n2nmmwBlkkk@3r@k @.?ɞueBu&< quIq }I#=ɝyiyI}RI+i=ԩi+=)@)FA"FA*FA2FE0:FAG2B!:B1 OEs> hHď,-ɶ?A2H@Y2 @2<92%=BAHRS rotation from veh to nav: [[0.891776,0.451869,-0.023437],[-0.451968,0.887122,-0.093484],[-0.021452,0.093960,0.995345]]y2Hn?k?` ܿ@Nc?`h` ?`?ɫ2H@2PҊ;2ґC^dB^@ IIfFIfפ٥%g %Z=9%Q %>)) -F٦-Ey5Tֻ 5> 9E4Y=ywP?E4y=Fo9AE"E?=C=`:=:='4UB)UAQmB*** querying acoustic contact ***:piBpioFNOT Ignoring new targets: 287.98 m.ojoj ProNav: ac range: 287.983429 m, nav range: 279.146149 m, bearing: 330.499975 deg, approach rate: -0.534276 m/s, LOS rate: -0.004820 deg/s, cmd heading: 332.899650 deg, new cmd heading: 332.894647 deg. zoSHeadingCmd: 5.810108 target range: 287.983429 and range: 289.20 m.Rog@JoboZoBo:n2nmmlkkkkH?ɞfB: KI U"=ɝiIPtI 77i {=id"=)g@)E!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F"F*F2Fo5:FHHH IIdBIy =IID&I<*IEjKE4NrKE9zKAKEKE(k^XXL?6/+,+)# 7w ! vV8BK]>:K]?GqGusAGy2B:B O?>)= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989126Q oď,b?A6+@Y6&@6ͥ<96g=BAHRS rotation from veh to nav: [[0.893203,0.448944,-0.025258],[-0.449210,0.888417,-0.094477],[-0.019975,0.095734,0.995207]]y6H?}?Jݙٿܿ`m?/`t?`?ɫ6+@6ͪ;6ёCN dBR= IIZ"IZĴ٥zC1 zN=9zsQ z>AA EF٦EEyMh; M> Q]4YUP?]4yUqQYee?UCUS;Uo;U.4)AEoFNOT Ignoring new targets: 287.98 m.o o  ProNav: ac range: 287.983429 m, nav range: 278.943237 m, bearing: 330.498015 deg, approach rate: -0.494966 m/s, LOS rate: -0.004785 deg/s, cmd heading: 332.894650 deg, new cmd heading: 332.888766 deg. zo'RHeadingCmd: 5.810005 target range: 287.983429 and range: 289.20 m.Ro@JoboZoBo:n2nmmlkkkk ?9ɞfB ; 靽I x =ɝiI,gI-Di-=i-#/=)-@)1aF"F*F2FO1:FJk3Jk3Jk/.J jJ \J 5J J .:J [9J 4J J 4;!J 4;!%J :!%J :!%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241194G2B:B Oc>ԉԹ ď,J?A67@Y6\2@6<96=BAHRS rotation from veh to nav: [[0.893873,0.447544,-0.026367],[-0.447932,0.889108,-0.094044],[-0.018646,0.095874,0.995219]]y6H??@ܿ@s?G`4??ɫ67@6>,;6ӑC^cB^. IUMb@Mb@Mb@Q Q)QIQiQURQ?y&1|?~jth?U?U`;UD;)QIQiUUAULA QUpQAIm#Imô٥}n }A=9"NQ > F٦Eyd; >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493156 1=4Y5P?=4y59t5vBE?E:E#M?5C54;5;5^64uB)uۓAqԉoFNOT Ignoring new targets: 287.98 m.ococ ProNav: ac range: 287.983429 m, nav range: 278.722534 m, bearing: 330.495131 deg, approach rate: -0.504332 m/s, LOS rate: -0.006595 deg/s, cmd heading: 332.888776 deg, new cmd heading: 332.880118 deg. zoՐHeadingCmd: 5.809854 target range: 287.983429 and range: 289.20 m.RoS@Jobo Zo Bo :n 2n mmlkkkk`?ɞ%fB \:   I  {=ɝ iIWI{Xi=ip4=)S@)ԹF"F*F2F 3:F J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748008G% K'=jK OrK h9zK K K ~peaYTNHB=;8621/-.3=?8/)&#";y(2K *K G 2B HE >HE :CHE t IIE ddBIA IA IA &IE <*IE E:BY  Oe > ŭď,?AZ\H@YZ-C@Z&<9Z=nAHRS rotation from veh to nav: [[0.894794,0.445700,-0.026359],[-0.446098,0.890031,-0.094032],[-0.018450,0.095898,0.995220]]yZH@'?@Z?܌ܿ "{?v{䒿??ɫZ\H@Z|;ZґCvcBv II~\I~W٥ ؁  R=9 Q  > F٦Ey%; %> 1M4Y5P?M4y5bv5vBQU]?5C5};5;5<4i)m AqoFNOT Ignoring new targets: 287.98 m.oMoM} ProNav: ac range: 287.983429 m, nav range: 278.533722 m, bearing: 330.492580 deg, approach rate: -0.509845 m/s, LOS rate: -0.006893 deg/s, cmd heading: 332.880116 deg, new cmd heading: 332.872457 deg. zoaHeadingCmd: 5.809721 target range: 287.983429 and range: 289.20 m.Ro;@JoboZoBo:n2nmmlkkkk@?ɞ]7fB]@$V aeoIa e=ɝaiaIeҠEImiiu1=iu<=)u;@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997630F"F*F2Fk5:F!Q G 04=G 2B :B  O >J% eJ! J% 4J! J% \:J! J% 3J! J% ;J% ;J% :J! ˭ď,0?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248963}cB} IiI5Mb@Mb@Mb@1 1)1I1i15%C?Mb`?~jtx5Z?5;5Ļ)5V^AI5CEAi5UA5MA 15QAIMLIM٥]?a ]7=9]Q ]>aa eF٦eEye m> q}4YuAP?}4yuyuvB}\?}:}@}?u Cu:uE:uD4B)RAEoFNOT Ignoring new targets: 287.98 m.oo ProNav: ac range: 287.983429 m, nav range: 278.304291 m, bearing: 330.489861 deg, approach rate: -0.524307 m/s, LOS rate: -0.006218 deg/s, cmd heading: 332.872466 deg, new cmd heading: 332.864303 deg. zoHeadingCmd: 5.809578 target range: 287.983429 and range: 289.20 m.Ro@JoboZoBo:n2nmmvBlkkkk L@ɞ5HfB5^ڻ 15"I1 ==ɝ9i9I=+0IE|iE=iE~;=)E@I)QF"F*F2F4:FG rAF sAychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501056G5 h>=ԩ G 2B :B!  O5 >ҭď,J?A6Q@Y6L@6GG<96Y=@BAHRS rotation from veh to nav: [[0.895339,0.444548,-0.027280],[-0.445060,0.890669,-0.092900],[-0.017001,0.095318,0.995302]]y6H?zs?L{ܿ \?Fȷh`f??ɫ6Q@6ϊ;4JcBJ IIRVIR٥Z{R Zj=9^Q ^>`` bF٦bEyf[; f> hn4YjP?n4yj'{jvBlrr?j#CjU;j(4;jJ4x)zwAxB*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 287.98 m.o-o-= ProNav: ac range: 287.983429 m, nav range: 278.123474 m, bearing: 330.487671 deg, approach rate: -0.515558 m/s, LOS rate: -0.006247 deg/s, cmd heading: 332.864297 deg, new cmd heading: 332.857724 deg. zo=2EHeadingCmd: 5.809463 target range: 287.983429 and range: 289.20 m.RoE@JoAboAZoABoA:nI2nImImIlQkQkQkQkU`@ɞ YfB `T=  *I  k=ɝiIKI5i= =i=Fv@=)=@)9JC=Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754768ԩF6"F*F2Fp0:FjKNrK+9zKKK[t8Cy^G;2&!F%CF?3!~vnkg]WSQKA:7520//,*(BK?:K>H>H9CHU II1dBIx =IID&Iۗ<*IEGC;=G2B:B)  O5 > - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005368حď,d?A6vQ@Y6GL@6<96 =BAHRS rotation from veh to nav: [[0.895327,0.444524,-0.028070],[-0.445122,0.890706,-0.092246],[-0.016004,0.095085,0.995341]]y6H?s?A|ܿ?pUcyW?`?ɫ6vQ@67;6ՑCFcBJ IIRbIR٥V2 ZK=9Z"Q Z>\\ ^F٦^Eyb b> dj4YfP?n4yf}pfvBprv?f>Cfa;fL;fQ4zB)zAzEoFNOT Ignoring new targets: 287.98 m.o%%o%%5 ProNav: ac range: 287.983429 m, nav range: 277.915527 m, bearing: 330.485153 deg, approach rate: -0.516470 m/s, LOS rate: -0.006261 deg/s, cmd heading: 332.857713 deg, new cmd heading: 332.850151 deg. zo5}=HeadingCmd: 5.809331 target range: 287.983429 and range: 289.20 m.Ro= @Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkQkQk]`i@ɞkfBģI 3I IL=ɝ i I Ii!=iB@=) @)F6"F*F2Fo0:FJhJWJJJ(:JG9JJJ);J);J_:J_:BDAT read: Rx Time:03:58:20.8748 TRx dataTimestamp_ set to:1761364701.786295checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258693AG#@=G 2B :B)  O1 a )I 3ޭď,~?A 0)8IV TVBfUQ@Yf'L@fu<9f=nAHRS rotation from veh to nav: [[0.895334,0.444473,-0.028641],[-0.445143,0.890809,-0.091150],[-0.015000,0.094359,0.995425]]yfH?`@r?T7}ܿ?U t'??ɫfUQ@f!7;fӑCvvcBv Iz=zp=9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509171Mb@Mb@Mb@ )IiQ?)) -F٦5Ey=j => AM4YEP?M4yE|EvBU ?U:U]?E]CE!;E ;EY4a)eAaoFNOT Ignoring new targets: 287.98 m.o͝o͝% ProNav: ac range: 287.983429 m, nav range: 277.673798 m, bearing: 330.483209 deg, approach rate: -0.535811 m/s, LOS rate: -0.004311 deg/s, cmd heading: 332.850145 deg, new cmd heading: 332.844310 deg. zo%]=-HeadingCmd: 5.809229 target range: 287.983429 and range: 289.20 m.Ro-4@Jo)bo)Zo)Bo):nQ2nQmQmUvBlYkYkYkYk]`ɜ @ɞfB_ dBI r=ɝiIfιImiO:=iIr@=)4@)iF=6"FA*FA2FEp0:FAGUa= GUp=ԑؙ ؙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765856H >H 8CH 5 II cBI | =I I D&I <*I ~E jKu `OrKq zKq Ku Ku &&%*<]ePA5-*(#Byof_WNHB=764G ?=GQ 2Ba :Bq  O > ď,k?A6P@Y6J@6fc<96=RAHRS rotation from veh to nav: [[0.895279,0.444531,-0.029438],[-0.445289,0.890830,-0.090215],[-0.013879,0.093876,0.995487]]y6H ? 4s? % ܿ஁?Ul@E??ɫ6P@6;6ԑC^WcBb II5TI5n٥E EV=9M@Q M>IQ UF٦UEyU]ֹ U> Ye4Y] P?e4y]]vBimm?]wC];];]T`4uB)uJAyoFNOT Ignoring new targets: 287.98 m.o+o+ԩ ProNav: ac range: 287.983429 m, nav range: 277.470764 m, bearing: 330.481581 deg, approach rate: -0.535091 m/s, LOS rate: -0.004294 deg/s, cmd heading: 332.844298 deg, new cmd heading: 332.839410 deg. zo<HeadingCmd: 5.809144 target range: 287.983429 and range: 289.20 m.Ro@JoboZoBo:n2nmmlkkkku}@ɞfB|Ƽ %:'<%ENI) -=ɝ)i)I-]I5i5L=i57@=)5@)9F 6"F*F2Fq0:FDAT read: 03:58:20.8748 LVL= 15984, 18929, 12930, 17651, AGC= 68, IDX= 73,-0.09, 1.315,-0.073, 1.406, 0.691, PHS= 0.712,-0.717, 0.712, RAW= 150.0, -9.9, CAL= 156.4, -17.9, ROT= 353.6, 17.9  Ygot valid direction response: 03:58:20.8748 LVL= 15984, 18929, 12930, 17651, AGC= 68, IDX= 73,-0.09, 1.315,-0.073, 1.406, 0.691, PHS= 0.712,-0.717, 0.712, RAW= 150.0, -9.9, CAL= 156.4, -17.9, ROT= 353.6, 17.9 PDAT read: Bearing 353.6, 17.9 (Local) ~Local bearing/azimuth received: Bearing 353.6, 17.9 (Local) %DAT read: Range 10 to 50 : 299.8 m (Round-trip 399.8 ms) speed 0.5 m/s %*DAT read: user:227> -BDAT read: Tx time:03:58:21.9708 -$Ping request sent.5)ܽIIܽ2iܽDܽDܽE6?ܽP7ܽE6? ݽ6'@)ݽ;0IݽR.@iݽݽ|@ݽ> ޹)޹޽uIf_L?Hz?GPhƿi޽ ?޽>S1>޽i޽> ߹)߹e:publishing transmit ping time)eFpublishing direction and range info۹y۽Y/B? u'uYӿ۹Y۹ ܹ)ܹIܹiܹܹܹܹܹ ݹ)ݹIݹiݹݹݹ ޹)޹޽uIf_L?Hz?GPhƿi޹޹޹޹ ߹)߹)GK@=G 2B :B  O- >q J eJ J 5J J \:J J 4J J ;J ;J J _: ď,|?A:E@Y:@@:BQ<9:%ܾ=VAHRS rotation from veh to nav: [[0.894738,0.445572,-0.030167],[-0.446409,0.890397,-0.088947],[-0.012772,0.093051,0.995579]]y:H?@?䞿ܿ@"~?:Ŷ@1( /ҷ??ɫ:E@:N;:ӑC~IcB~ I1]Mb@Mb@Mb@Y Y)YIYiY](\?S㥛Mb]?]/ݼ])]V^AI]CEAiY]LA Y]QA) @AIKIh٥ 6=9!Q > F٦žEy3 > 4YQ?4y)vBN?:/?C ;:Ah4!)%eA!JpRp?ApBCpBCp$@vR̤q@g::?dmW$VvY/B? u'uYӿpip>v 'n@rAb k6ÂyXv܂3?ixdP߿ӇԿjp rp>qCZp(q?bp"zpN$pp4pN$pCp@  addTargetRange:: Added new target pos. range: 299.799988 m, deltaT: 4.031142 s, deltaX: 10.599976 m, approachRate: 2.629522 m/s, rangeRepo size: 4  Added new target pos. range: 298.520386 m, bearing: 328.808248 deg, lat: 36.779433 deg, lon: -121.859928 deg, deltaT: 4.031142 s, deltaX: 10.536957 m, approachRate: 2.613889 m/s, posRepo size: 4 o!%FNOT Ignoring new targets: 298.52 m.oMoI] ProNav: ac range: 298.520386 m, nav range: 277.376709 m, bearing: 330.423714 deg, approach rate: 0.000000 m/s, LOS rate: -0.004294 deg/s, cmd heading: 332.839408 deg, new cmd heading: 332.833270 deg. zoaHeadingCmd: 5.809036 target range: 298.520386 and range: 299.80 m.Ro@JoboZoBo:n2nmm}vBlkkk̼r@kƄ?ɞfB \WI  =ɝiI;)IEiEd=iEv<=)E@)IaEF6"F*F2Fo0:FԉGY Թ G1 2BA :BQ  Oe >:ď,mp̷?A6 B@Y6<@6i+<96^=BAHRS rotation from veh to nav: [[0.894553,0.445866,-0.031282],[-0.446839,0.890475,-0.085956],[-0.010469,0.090870,0.995808]]y6H.??%ܿ`~?8pDC?@?ɫ6 B@6t;6ёCJ!cBJ IiLILIP)PIZDIZ٥b bn=9fۻQ f?dh jF٦jĞEyj鴺 j? lr4YngQ?r4ynnvBtvRv?nCn:n:n*n4zB)~ȕA~EB*** querying acoustic contact ***:pBpo)FNOT Ignoring new targets: 298.52 m.o]o] ProNav: ac range: 298.520386 m, nav range: 277.188904 m, bearing: 330.423437 deg, approach rate: -0.592902 m/s, LOS rate: -0.000877 deg/s, cmd heading: 332.833260 deg, new cmd heading: 332.832427 deg. zo HeadingCmd: 5.809022 target range: 298.520386 and range: 299.80 m.Ro@JoboZoBo:n2nmmlkkkk ?ɞUfBUL Y]!eIY ]Q =ɝYiYI];3ԉIi#s=i:=)@)ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.H>H6CH IIcBI~ =IID&Iݗ<*IE2I9C:I9CBIĕCJIy =RIz =ZIĊ6F-6"F)*F)2F-0:F1jKNrKS9zKKK15AMSP[=  xpigd_|ziXMHJԱGEl;=G! 2B9 :BQ  Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997637 ď,0?A65@Y60@6<96=>AHRS rotation from veh to nav: [[0.893906,0.447046,-0.032882],[-0.448161,0.889820,-0.085866],[-0.009127,0.091492,0.995764]]y6H ?h?ՠܿfy?K"` l?`L?ɫ65@6!;6ӑCJcBJ IIR3IR٥Zȿ ZL=9^[Q >   F٦ ǞEyBk > %4Y-'Q?%4yvB)--?C ::Wu41)5ەA9oYeFNOT Ignoring new targets: 298.52 m.oe@oe@u ProNav: ac range: 298.520386 m, nav range: 276.960815 m, bearing: 330.423168 deg, approach rate: -0.557318 m/s, LOS rate: -0.000658 deg/s, cmd heading: 332.832441 deg, new cmd heading: 332.831632 deg. zou]}HeadingCmd: 5.809008 target range: 298.520386 and range: 299.80 m.Ro}d@JoboZoBo:n2nmmlkkkk@?ɞfB  lI i=ɝiIK(8Ieig=i5=)d@))EEq9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.252073JgJ^J4JJ%:Jd9J3JJd$;Jg$;J :J :F"F*F2Fp0:FI GU C;=ԉ G1 2B9 :BQ  O] >ď,G9?AB(@YBi#@BL<9B=Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501722AHRS rotation from veh to nav: [[0.893182,0.448402,-0.034099],[-0.449626,0.889135,-0.085296],[-0.007928,0.091517,0.995772]]yBH?`?yuܿs?յ`<m? ]?ɫB(@BL;@%cB% IAMb@Mb@Mb@ )IiʡE?Zd;OMb-?j<)?]AIZFAiTAMA I 2I ٥F$ =9=Q E>AA EF٦EʞEyMQ M> Q]4YU<l8o>l8 ProNav: ac range: 298.520386 m, nav range: 276.668823 m, bearing: 330.424840 deg, approach rate: -0.562727 m/s, LOS rate: 0.003227 deg/s, cmd heading: 332.831621 deg, new cmd heading: 332.836645 deg. zo 9HeadingCmd: 5.809095 target range: 298.520386 and range: 299.80 m.Ro@JoboZoBo:n2nmm5vBlkkkkU 9?qɞfBz 靥kxI c=ɝiIJv9Ii=i80=)@)ZH-<RH)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755103H>H4CH IIcBI =IID&I<*IEԱjKU !OrKU 9zKQ KU KU Wb_TNPq{yqe\SMH?961,*1>FGNUWVSMIEB=<75621.+&#!  Em u< F 6"F *F 2F `5:F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005559G-;6=G2B :B!! O5?T ď,l(?A:' @Y:@:L;9:=JAHRS rotation from veh to nav: [[0.891620,0.451462,-0.034584],[-0.452726,0.887675,-0.084095],[-0.007267,0.090638,0.995857]]y:H`&?@?񴡿`xܿ@g?E`} 4?`?ɫ:' @:;:ԑCRbBV IV>V> XZAI^`I^̍٥-Z 5=95Q 5>99 =F٦=ΞEy=ֻ E> IM4YMRQ?U4yMMvBQU! U?MCM:MN:M4] B)edAeEoFNOT Ignoring new targets: 298.52 m.o8o8 ProNav: ac range: 298.520386 m, nav range: 276.365448 m, bearing: 330.426803 deg, approach rate: -0.580589 m/s, LOS rate: 0.003759 deg/s, cmd heading: 332.836648 deg, new cmd heading: 332.842541 deg. zo%9HeadingCmd: 5.809198 target range: 298.520386 and range: 299.80 m.Ro@JoboZoBo:n2nmmlkkkk9@ɞ%fB% )-I) -<ɝ)i)I5e29I5ii5=i=#=)=@)9 EAEAEIEI!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257813AFY"Fa*Fa2FeO5:Faq G [1=Gy 2B :B ԡ  O >ď,rB?A6@Y6@6;96~=BAHRS rotation from veh to nav: [[0.890610,0.453344,-0.035964],[-0.454731,0.886735,-0.083194],[-0.005825,0.090447,0.995884]]y6H@??i@Oݿ!`? 3Lw`'?H?ɫ6@6;6БCNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510699VbBV IMb@Mb@Mb@ )Iil?L7A`尿~jt?+D)h_AIVFAiTAMA RAIfI{٥$> ;=9WQ > F٦ОEy䧻 > 4YpdQ?4ydvB? :  ?:C ; ;+4)oA!oIMFNOT Ignoring new targets: 298.52 m.oU 9oU 9e ProNav: ac range: 298.520386 m, nav range: 276.105347 m, bearing: 330.430300 deg, approach rate: -0.592961 m/s, LOS rate: 0.007980 deg/s, cmd heading: 332.842550 deg, new cmd heading: 332.853050 deg. zo>9HeadingCmd: 5.809381 target range: 298.520386 and range: 299.80 m.Rot@JoboZoBo:n2nmm2vBlkkk!k-@ɞugB}XW 靭I <ɝiIz:Ici =i&=)t@)!E5]>E5>F "F *F 2Fo0:FIJfJWJJJ|":JG9JJ!@!@!@!@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761580H>HH II\cBI =IXbiT=#G 2B :B  O >ď,+\?A,^@Y^@^#n;9^Ŏ=jAHRS rotation from veh to nav: [[0.889517,0.455308,-0.038121],[-0.456887,0.885724,-0.082138],[-0.003634,0.090480,0.995892]]y^H v?#?`=ݿW?vm)? X?ɫ^@^;^ёCrbBr} IIzqIzv}٥o Z=9 Q >    F٦ ӞEyӻ > %4Y tQ?%4yvB)-Q-?VC: :45B)5A9UB*** querying acoustic contact ***:pQBpQoaeFNOT Ignoring new targets: 298.52 m.om9om9} ProNav: ac range: 298.520386 m, nav range: 275.882843 m, bearing: 330.433408 deg, approach rate: -0.596709 m/s, LOS rate: 0.008342 deg/s, cmd heading: 332.853041 deg, new cmd heading: 332.862373 deg. zo}69HeadingCmd: 5.809545 target range: 298.520386 and range: 299.80 m.Ro@JoboZoBo:n2nmmlkkkk`@ɞ!gBfP ԉI <ɝiIR9:I iϟ=ig=)@)ԉF 6"F*F2Fu0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014674G!=Ga2Bi:By O9>Ա ] BDAT read: Rx Time:03:58:24.7730 e TRx dataTimestamp_ set to:1761364705.821683e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266607ď,.v?A:ղ@Y:й@::9:LA=`rAHRS rotation from veh to nav: [[0.888615,0.456843,-0.040710],[-0.458652,0.884899,-0.081191],[-0.001068,0.090819,0.995867]]y:Ho?@ F٦՞Eyŕ >  4YDQ?4yn|vBc?:}?xC;V;H4!)%A!oIMFNOT Ignoring new targets: 298.52 m.oU,9oU,9e ProNav: ac range: 298.520386 m, nav range: 275.624176 m, bearing: 330.437487 deg, approach rate: -0.597229 m/s, LOS rate: 0.009426 deg/s, cmd heading: 332.862384 deg, new cmd heading: 332.874632 deg. zom9uHeadingCmd: 5.809758 target range: 298.520386 and range: 299.80 m.Ro}@JoyboyZoyBoy:ny2nymm:vBlkkkk ' @ɞ6gB: 靽GI  <ɝiIc:IeiN=i =)@)Fm6"Fi*Fi2Fmv0:Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517683G5ȿ=G 2B :B)  O= >I #ď,ao?A6ò@Y6d@6'96G=>AHRS rotation from veh to nav: [[0.887596,0.458551,-0.043648],[-0.460620,0.883978,-0.080072],[0.001867,0.091176,0.995833]]y6H.g? X?Xzݿ@I?Ô^?VW?@?ɫ6ò@6`;6БCFbBFn IIRbIR٥Z Za=9^Q b>dd fF٦f؞Eyjƻ j> lv4YnQ?v4ynnvvBxz z?nCn;;nj<;n4AJaJeYJaJaJaJe[O9JaJaJHBH@AB)ߖAEo]DAT read: 03:58:24.7731 LVL= 19824, 20609, 18674, 28083, AGC= 64, IDX= 424,-0.37,-2.285, 2.551,-2.206,-2.930, PHS= 0.734,-0.755, 0.721, RAW= 149.6, -9.5, CAL= 155.8, -17.6, ROT= 354.2, 17.6 eYgot valid direction response: 03:58:24.7731 LVL= 19824, 20609, 18674, 28083, AGC= 64, IDX= 424,-0.37,-2.285, 2.551,-2.206,-2.930, PHS= 0.734,-0.755, 0.721, RAW= 149.6, -9.5, CAL= 155.8, -17.6, ROT= 354.2, 17.6 mPDAT read: Bearing 354.2, 17.6 (Local) m~Local bearing/azimuth received: Bearing 354.2, 17.6 (Local) Hu>HqHu IIuGcBIu =IqIq&Iu<*IuEDAT read: Range 10 to 50 : 298.5 m (Round-trip 398.0 ms) speed 0.5 m/s *DAT read: user:228> BDAT read: Tx time:03:58:25.8709 $Ping request sent. )_ t?X%?"fqſi?a)>)QϽnF> ):publishing transmit ping timeۙFpublishing direction and range infoytUX?wϨ-JZӿY )Ii )Ii )_ t?X%?"fqſi )FNOT Ignoring new targets: 298.52 m.o"$9o"$9 ProNav: ac range: 298.520386 m, nav range: 275.405426 m, bearing: 330.441042 deg, approach rate: -0.551331 m/s, LOS rate: 0.008969 deg/s, cmd heading: 332.874624 deg, new cmd heading: 332.885299 deg. zo9 HeadingCmd: 5.809945 target range: 298.520386 and range: 299.80 m.Ro @JoboZoBo:n2nmml!k!k!k%r@k%? 5nManaging dock network, ignoring radio surface power offɞLgBH 靽=I <ɝiI:ILiR=iM]=)@)EijK?OrK9zKKKq, 01120-(&$" $)3DMI=4* f=&rXE7+"F"F*F2Fp0:FG= G=ԑG = JDAT read: TxSync time:03:58:25.8702 G 2B :B  O > *ď,{L?A6ܴ@Y6@6ݪ969=>AHRS rotation from veh to nav: [[0.886756,0.459822,-0.047185],[-0.462207,0.883220,-0.079291],[0.005214,0.092121,0.995734]]y6H O`?m? (ΔݿVC?@oL [u??? ?ɫ6ܴ@62=;6ԑCRbBR~ IIZ`IZ̍٥rq= rG=9vQ v>tx zF٦zڞEyzꏻ z> -4YЦQ?54yMqvB155?Cr;l;⪍4Y)eAaԙJpIRpMΔ?ApMCpMCpMe@vM9q@;vMI n@B9Íbw~VvMo?vvw߿VCӿjpMnrpMqCZpM?bpMJzpMpM(q?pM"pMfpMCpMq@e addTargetRange:: Added new target pos. range: 298.500000 m, deltaT: 3.783961 s, deltaX: -1.299988 m, approachRate: -0.343552 m/s, rangeRepo size: 4  Added new target pos. range: 297.206085 m, bearing: 328.371719 deg, lat: 36.779433 deg, lon: -121.860031 deg, deltaT: 3.783961 s, deltaX: -1.314301 m, approachRate: -0.347335 m/s, posRepo size: 4 oFNOT Ignoring new targets: 297.21 m.o%oI ProNav: ac range: 297.206085 m, nav range: 279.790619 m, bearing: 328.817367 deg, approach rate: 0.000000 m/s, LOS rate: 0.008969 deg/s, cmd heading: 332.885306 deg, new cmd heading: 332.896172 deg. zo JiJiEHeadingCmd: 5.810134 target range: 297.206085 and range: 298.50 m.RoE@JoAboAZoABoA:nI2nImImIlQkQkQkQkU ?T?ɞ-dgB-s< 15I1 5[<ɝyiyI}қ:I3i=isL<)@)F56"F1*F12F1:F1iY I] C) ;G  vA) I] P] vA] B G5 r=G= ?G= =?G 2B :B)  O= >-p1ď,>Ƹ?AI)<:ј@Y:@: 9:Y=BAHRS rotation from veh to nav: [[0.885150,0.462321,-0.052625],[-0.465230,0.881371,-0.082131],[0.008411,0.097181,0.995231]]y:H%S?੖?Tݿ14?:?? ?ɫ:ј@:Չ;:ϑCJbBJ IEMb@Mb@Mb@A A)AIAiAE`"?~jtMb`E?EE)E~`AIAiEhSAA AAI6I٥$; 0=9Q > F٦ݞEy > 4Y۹Q?4yvovB ?:F ?C0;=;4%B)-A-EoFNOT Ignoring new targets: 297.21 m.o9o9 ProNav: ac range: 297.206085 m, nav range: 279.515442 m, bearing: 328.821106 deg, approach rate: -0.614234 m/s, LOS rate: 0.008355 deg/s, cmd heading: 332.896180 deg, new cmd heading: 332.907409 deg. zoz9HeadingCmd: 5.810330 target range: 297.206085 and range: 298.50 m.Ro:@JoboZoBo:n2nmmH)H)I)I- =I)I)&I-<*I-EijK RNrK ػ9zK K K )2:HHHJJNPRTUWSONMIGB91+($!0Rw2uX=G% ?:<ԙ G 2B :B  O >7ď,6߸?A>@Y>u@>lN9>=FAHRS rotation from veh to nav: [[0.884019,0.464038,-0.056377],[-0.467281,0.880498,-0.079824],[0.012599,0.096910,0.995213]]y>HI?β?}ݬ`ݿ@ -?@ZoU͉?@ϸ??ɫ>@>;>ґCNbBN IIV(IVm٥^wR< ^`=9b;Q b>`d fF٦fEyf'һ f> hn4YjQ?r4yjìjnvBprr?jCj ;j ;jS4t)vAxyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 297.21 m.o]9o]9 ProNav: ac range: 297.206085 m, nav range: 279.297729 m, bearing: 328.824175 deg, approach rate: -0.586330 m/s, LOS rate: 0.008271 deg/s, cmd heading: 332.907409 deg, new cmd heading: 332.916622 deg. zo9HeadingCmd: 5.810491 target range: 297.206085 and range: 298.50 m.Ro@JoboZoBo:n2nmmlkkkkJ?ɞ5gB= 9=I9 =p<ɝAiAIE:IEiM]=iM<)M@)IEyE}oAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F "F *F 2F 0:F ԩGj<G2B:B OB>J J %=m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495511 =ď,ҧ?A~bB IMb@Mb@Mb@ )Iin?lMb`??;)Q^AIi$PA RAI.I٥/0 ;=9Q > F٦Ey > 4YQ?4yovB5?:?C:8:4}B)}–A}EoFNOT Ignoring new targets: 297.21 m.o9o9 ProNav: ac range: 297.206085 m, nav range: 279.039703 m, bearing: 328.827755 deg, approach rate: -0.586182 m/s, LOS rate: 0.008140 deg/s, cmd heading: 332.916616 deg, new cmd heading: 332.927365 deg. zoIJ9HeadingCmd: 5.810678 target range: 297.206085 and range: 298.50 m.Ro@JoboZoBo:n)2n)m1m5+vBlkkkk`[?ɞ=gB==Y 9EԘIA E(<ɝAiiIm:ImiiuA=iuA<)u@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748189F]6"FY*FY2F]0:FY9GE <G 2B) :BA  OM >Y Dď,H?A $$ZH6<RH4H:>H:3CH: II:\cBI: =I8I8&I:ߗ<*I:E2I4C:I4CBICJI =RI =ZI*5ntv@YnFq@n9n h=zAHRS rotation from veh to nav: [[0.883074,0.465076,-0.062323],[-0.468877,0.879757,-0.078626],[0.018262,0.098654,0.994954]]ynH@%B? ?诿޿&? /?eA?@?ɫntv@n;J~qJ|J|J|J~D:J|J|J|J~aZ;!J~dZ;!J~Bn:!J~En:! lchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999453%bB% II5i1I5҅٥=vI= EB=9El\Q E>II MF٦MEyU U> Ye4Y]Q?e4y]o]rvBim m?]3C];]r;]Uȍ4q)}AyoFNOT Ignoring new targets: 297.21 m.o 9o 9 ProNav: ac range: 297.206085 m, nav range: 278.791565 m, bearing: 328.831298 deg, approach rate: -0.614708 m/s, LOS rate: 0.008786 deg/s, cmd heading: 332.927353 deg, new cmd heading: 332.937993 deg. zo9HeadingCmd: 5.810864 target range: 297.206085 and range: 298.50 m.Ro@JoboZoBo:n2nmmlkkkkO@ɞgBz IjKNrK9zKKKulcRMFCA:51.131-+%" ,6;71-)'#   %Ji<ɝ!i!I%":IMiMD'=iM<)M@)YaF 6"F*F2F0:F ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251603G} }<GY 2Ba :Bq  O >Ա TJď,6[-?A6w@Y6Wr@696=>AHRS rotation from veh to nav: [[0.883093,0.464758,-0.064404],[-0.468740,0.879949,-0.077289],[0.020752,0.098442,0.994926]]y6H`KB? ?@|ݿ(?/ɳ??y3?p?ɫ6w@6 ;6БCFcBF IINKINh٥V`Z= Vh=9ZQ ^>   F٦Ey=9 > %4YQ?%4ytvB)--?OC::΍4E!B)MAQoFNOT Ignoring new targets: 297.21 m.o9o9 ProNav: ac range: 297.206085 m, nav range: 278.578033 m, bearing: 328.834347 deg, approach rate: -0.581152 m/s, LOS rate: 0.008304 deg/s, cmd heading: 332.937981 deg, new cmd heading: 332.947134 deg. zo[9HeadingCmd: 5.811024 target range: 297.206085 and range: 298.50 m.Ro@JoboZoBo:n2nmmlkkkk@ԙɞgB5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503392q 15˜I1 =*<ɝ9i9I=٨:IE-im =imVn<)m@)Et>E>F=6"F9*FA2FE1:FAGM= GM=Gm O<G9 2BI :Ba  Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756240 nQď,L7G?A6z@Y6u@696=BAHRS rotation from veh to nav: [[0.883230,0.464121,-0.067054],[-0.468348,0.880232,-0.076428],[0.023551,0.098908,0.994818]]y6HkC?(?@m* jݿ*?Ɛ?R?`?ɫ6z@6;6ґCJ cBJ I5Mb@Mb@Mb@1 1)1I1i15Gz?V-~jt?5?5m5D<)5~`AI1i5QRA5hSA 153SAIfI{٥< ;=9һQ > F٦Ey|: > 4Y R?4y7}vBn?:l?nC:A;֍4)rAo FNOT Ignoring new targets: 297.21 m.o 8o8- ProNav: ac range: 297.206085 m, nav range: 278.336792 m, bearing: 328.836709 deg, approach rate: -0.573869 m/s, LOS rate: 0.005625 deg/s, cmd heading: 332.947133 deg, new cmd heading: 332.954227 deg. zo-w95HeadingCmd: 5.811148 target range: 297.206085 and range: 298.50 m.Ro5@Jo9bo9Zo9Bo9:n92n9mAmEvBlAkAkIkIkM@ @ɞugB} y}@Iy }d<ɝiI;Ii=id<)@)FM6"FI*FI2FM_5:FI!He>HaHe IIecBIaIaIa&Ieݗ<*IeE]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010385G58<G 2B :B)  O5 >Q jK / NrK S9zK K K *daTE8+$   1|BK ?:K >Wď,a?A Z@YZ}z@Zּ9Zj=bAHRS rotation from veh to nav: [[0.883445,0.463291,-0.069901],[-0.467801,0.880535,-0.076291],[0.026206,0.100099,0.994632]]yZH.E?? 屿 tݿW-?͇`՚?? ?ɫZ@ZW;ZϑCjcBj I AIaI錴٥-PA= -R=95߻Q 5>99 =F٦=Ey=: E> AM4YER?M4yEsEvBQUGU?ECE;E;E܍4]&B)e^AeE}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 297.21 m.o8o8 ProNav: ac range: 297.206085 m, nav range: 278.116425 m, bearing: 328.838846 deg, approach rate: -0.563448 m/s, LOS rate: 0.005466 deg/s, cmd heading: 332.954237 deg, new cmd heading: 332.960650 deg. zop9HeadingCmd: 5.811260 target range: 297.206085 and range: 298.50 m.Ro@JoboZoBo:n2nmmlkkkk @ɞgB䅽 I ƣ<ɝiIҿ ;I%Ai%3=i%<)%@))BDAT read: Rx Time:03:58:28.6526 TRx dataTimestamp_ set to:1761364709.601853checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260627iF6"F*F2Fs4:FԑG<G2B :BA  Om >J kJ bJ J J 2:J t9J J ! @! @! @! @ E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511518 ^ď,1z?A6@Y6ڂ@6965=>AHRS rotation from veh to nav: [[0.883860,0.462082,-0.072599],[-0.466866,0.881038,-0.076204],[0.028750,0.101248,0.994446]]y6HH?’?`ԕ@#ݿw1?p?`??ɫ6@6<;4LR+cBR IMb@Mb@Mb@ )Ii/$?L7A`堿 F٦Ey ; > 4Ym+R?4yvB\ ?: ?Cs:{:34)AAo  FNOT Ignoring new targets: 297.21 m.o37o37% ProNav: ac range: 297.206085 m, nav range: 277.887390 m, bearing: 328.839102 deg, approach rate: -0.548835 m/s, LOS rate: 0.000614 deg/s, cmd heading: 332.960657 deg, new cmd heading: 332.961426 deg. zo%7-HeadingCmd: 5.811273 target range: 297.206085 and range: 298.50 m.Ro-@Jo)bo)Zo)Bo):n12n1m9m=vBl9k9kAkAkEZ @ɞhB_ԃ yI l~<ɝiI;I{i=i {p<) @) EFQ"FQ*FY2F]4:FaG}sAF}tADAT read: 03:58:28.6526 LVL= 18208, 19585, 18082, 29011, AGC= 68, IDX= 229, 0.28,-2.499, 2.529,-2.375,-3.138, PHS= 0.727,-0.569, 0.760, RAW= 151.2, -13.9, CAL= 158.0, -21.2, ROT= 352.0, 21.2 Ygot valid direction response: 03:58:28.6526 LVL= 18208, 19585, 18082, 29011, AGC= 68, IDX= 229, 0.28,-2.499, 2.529,-2.375,-3.138, PHS= 0.727,-0.569, 0.760, RAW= 151.2, -13.9, CAL= 158.0, -21.2, ROT= 352.0, 21.2 %PDAT read: Bearing 352.0, 21.2 (Local) %~Local bearing/azimuth received: Bearing 352.0, 21.2 (Local) 5DAT read: Range 10 to 50 : 283.1 m (Round-trip 377.5 ms) speed 0.6 m/s U*DAT read: user:229> ]BDAT read: Tx time:03:58:29.7709 e$Ping request sent.ei$׿CY  G)LIFiSqD:?\B? [(@)UlxI|0@iq @q> )E?EC E?RYοiY ?/x>4q> ):publishing transmit ping timeYFpublishing direction and range infoy,6ٛD?ʛt>i$׿Y )Ii )Ii )E?EC E?RYοi )G F<) Ga 2Bq :B  O >JHY BH] ?AHe >He 2CHe IIe cBIe =Ia Ie D&Ie ͗<*Ie Eeď,?AF4@YF@FM9FCY=lvAHRS rotation from veh to nav: [[0.884712,0.460018,-0.075284],[-0.465085,0.881976,-0.076257],[0.031319,0.102479,0.994242]]yFHO?`p?Eݿ@%9?  ? F٦Ey; > 4Y;R? 4yĿvB    ?C>::|4=*B)=A=EJpRp ?ApCpCp*o@v(ai$׿p4pq>v1Lk@`@\q0bX,IRU\\WTPIA>5/+(!32KsA*KsAF"F*F2F4:F9G `.kď,容?A2렲@Y2@2 92]V=:AHRS rotation from veh to nav: [[0.885127,0.458832,-0.077607],[-0.464102,0.882595,-0.075070],[0.034051,0.102464,0.994154]]y2H@R? ]? ޳׳ݿ8>?7`o?;??ɫ2렲@2Z!;0vGcBv II(Im٥^ T=9vQ >!! %F٦%Ey%8; -> )54Y-JR?549y-ǿ-vBAE E?-C-+;-,;-4I)MAIoFNOT Ignoring new targets: 281.86 m.o6o6 ProNav: ac range: 281.864990 m, nav range: 277.452942 m, bearing: 328.839370 deg, approach rate: -0.563282 m/s, LOS rate: 0.000285 deg/s, cmd heading: 332.962214 deg, new cmd heading: 332.962527 deg. zoG7HeadingCmd: 5.811292 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmmlkkkk@R?ɞ2hB%S )5eI9 E֝<ɝAiAIMe:#;Iis=i}<J3J3JS}-JhJ[JJJ(:JW9JJ)@)qF6"F*F2Fp0:FԙG < G 2B :B  O >rď,Yȹ?A:Y@Y:+@:X9:S=FAHRS rotation from veh to nav: [[0.886870,0.455534,-0.077145],[-0.460549,0.884949,-0.068995],[0.036840,0.096718,0.994630]]y:Hii mF٦mEym< m> y4Y}ZR?4y}Aʿ}vB?:?}C}:}:}M4/B)AԙoFNOT Ignoring new targets: 281.86 m.oиoи ProNav: ac range: 281.864990 m, nav range: 277.234772 m, bearing: 328.837049 deg, approach rate: -0.533709 m/s, LOS rate: -0.005683 deg/s, cmd heading: 332.962515 deg, new cmd heading: 332.955545 deg. zoyHeadingCmd: 5.811171 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmqmu"wBlqkykykyk}մ?ɞJhB$ I <ɝiI^);Ii }=i =) @)1E9E=tAF6"F*F2F:FG= Gp=H>HH) IIcBIII&I<*IEG- <G 2B :B)  O5 >jK NrK 9zK K K uL.$/,-?MSRMHB<5.*&!      ""!!!! @xď,ݚ?AN/ز@YNӹ@N!9N>=VAHRS rotation from veh to nav: [[0.888060,0.452574,-0.080790],[-0.458028,0.886106,-0.070903],[0.039499,0.099970,0.994206]]yNH`j?@?TPݿ Z?&=9??`?ɫN/ز@ND;NёC^fcB~ II $I ´٥X! N=9%WܻQ %>!! -F٦-Ey-; -> 1]4Y5kjR?]4y5̿5vBaee?5C5\;5;544i)mAiB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 281.86 m.o+Ըo+Ը% ProNav: ac range: 281.864990 m, nav range: 277.026642 m, bearing: 328.834716 deg, approach rate: -0.516778 m/s, LOS rate: -0.005797 deg/s, cmd heading: 332.955548 deg, new cmd heading: 332.948545 deg. zo%~-HeadingCmd: 5.811049 target range: 281.864990 and range: 283.10 m.Ro-@Jo)bo)Zo)Bo):n12n1mYmYlYkYkakake?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɞ`hB& JI pu<ɝiI 0;Iuiuj=iu =)u@)yF6"F*F2F:F!aGm y=J R=J p=J oJ jJ J J >:J 9J J 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711930G 2B :B  O >ԉ k~ď,y?A6@Y6@6(96Ԣ=>AHRS rotation from veh to nav: [[0.889662,0.449022,-0.082947],[-0.454763,0.887668,-0.072359],[0.041139,0.102096,0.993923]]y6Hx?ȼ? <ݿg?``-?"?8?ɫ6@6ˋ;6ΑCFcBF I HH)mtG `wA)I `wA*B%Mb@Mb@Mb@! !)!I!i!%{Gz?I +? F٦Ey< > 4YR|R?4ykϿvB ?:ݾ?3C;K;(4 3B) ƕA-EoquFNOT Ignoring new targets: 281.86 m.o}To}T ProNav: ac range: 281.864990 m, nav range: 276.793976 m, bearing: 328.829377 deg, approach rate: -0.504505 m/s, LOS rate: -0.011588 deg/s, cmd heading: 332.948554 deg, new cmd heading: 332.932522 deg. zozHeadingCmd: 5.810769 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmmZH <RH H >H 1CH H II dBI =I I D&I <*I E Rď,&S?A6I @Y6@6^.96;=BAHRS rotation from veh to nav: [[0.890898,0.446385,-0.083912],[-0.452205,0.889021,-0.071781],[0.042558,0.101895,0.993884]]y6H`` bF٦bEyb < f? dj4YfR?j4yfVѿfvBrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.215612lvܾv?fJCfe;ff;f4z2B)zAzEoFNOT Ignoring new targets: 281.86 m.oSoSM ProNav: ac range: 281.864990 m, nav range: 276.620453 m, bearing: 328.825285 deg, approach rate: -0.488672 m/s, LOS rate: -0.011530 deg/s, cmd heading: 332.932517 deg, new cmd heading: 332.920234 deg. zoU7]HeadingCmd: 5.810554 target range: 281.864990 and range: 283.10 m.Ro]@JoYboYZoYBoY:nY2namamalakikikikm@>@ɞ}hB}, y靅I ͭS<ɝiIX=;Iiۍ=iS"=)@)jK MrK S9zK K K !  Fe6"Fa*Fa2Fe0:FaGiFmsAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4673841 G y=G 2B :B  O >Q ~ď,60?A6#@Y6@6X]496+=>AHRS rotation from veh to nav: [[0.892090,0.443771,-0.085108],[-0.449709,0.890305,-0.071550],[0.044020,0.102103,0.993799]]y6H?f?@ɵ ܿ_}? Q͉? p#?@4?ɫ6#@6ɋ;6ґCFcBF IINdIN@٥V< VK=9VmQ Z>XX ZF٦ZEy^; ^> `f4YbR?f4ybӿbwBdf۾j?bdCb:b:b#4r6B)prEo  FNOT Ignoring new targets: 281.86 m.osos% ProNav: ac range: 281.864990 m, nav range: 276.414673 m, bearing: 328.820306 deg, approach rate: -0.549557 m/s, LOS rate: -0.013305 deg/s, cmd heading: 332.920222 deg, new cmd heading: 332.905276 deg. zo%-HeadingCmd: 5.810293 target range: 281.864990 and range: 283.10 m.Ro-@Jo)bo)Zo)Bo1:n12n1m9m9l9k9k9kAkEv@ɞ-hB5 9=oI9 ED<ɝIiIIUD;Ii=i+=)@)1JepJedJaJaJeA:Je|9JaJachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.723672FE6"FA*FA2FE0:FAYGe N!=ԑ G9 2BI :BY  Om > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971579/dď,J?A0:6@Y:0@:^:9: =fAHRS rotation from veh to nav: [[0.893025,0.441648,-0.086333],[-0.447703,0.891339,-0.071249],[0.045485,0.102278,0.993715]]y:H?C?@)ܿڅ?\=I?@.? ?ɫ:6@:A;:БCncBn IipIpIvp=)v%=uMb@Mb@Mb@q q)qIqiquV-?{Gz?Mb?u>u#=u<)ubAIu?EAiu$PAuVA qqILI٥0< <=9(]Q > F٦Ey(; > 4YVR?4yտwB>:ž?C?;4T;4)AoFNOT Ignoring new targets: 281.86 m.o 擹o 擹 ProNav: ac range: 281.864990 m, nav range: 276.202698 m, bearing: 328.813283 deg, approach rate: -0.487421 m/s, LOS rate: -0.016163 deg/s, cmd heading: 332.905278 deg, new cmd heading: 332.884191 deg. zoz1HeadingCmd: 5.809925 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmmTwBlkkkk`4 @ɞ=hBE˘ AEIA ER2<ɝIiqIuK;Iu+Oi}=i}3=)}@)yԉFA"FA*FA2FE0:FIH>H/CHa IIEdBI =IID&I<*IE2IU2C:IU1CBIUŔCJIUń =RIUń =ZIUy5Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.223536G P/= Ga 2Bq :B  O >jK= MrK= ]9zK9 K= K= =x_K?5'  #+)#  %AVZBKI :KM >Aď,c?A2=@Y28@2XA92>$=:AHRS rotation from veh to nav: [[0.893383,0.440806,-0.086937],[-0.446812,0.891973,-0.068872],[0.047186,0.100373,0.993830]]y2H? )6?{A ܿ ?``(??@u?ɫ2=@2;2ϑCFcBF I`IRJIRK٥A< H=97Q > F٦Ey; > 4Y2R?4y׿ wBž?C;;#4;B)AEB*** querying acoustic contact ***:pBpo)-FNOT Ignoring new targets: 281.86 m.o5ŕo5ŕeBDAT read: Rx Time:03:58:32.5497 mTRx dataTimestamp_ set to:1761364713.639265uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.478381} ProNav: ac range: 281.864990 m, nav range: 276.002228 m, bearing: 328.806587 deg, approach rate: -0.489710 m/s, LOS rate: -0.016367 deg/s, cmd heading: 332.884186 deg, new cmd heading: 332.864086 deg. zo}3HeadingCmd: 5.809574 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmmlkkkkSE @ɞhBr 靥mI / <ɝiIޏR;I%}i=i7=)@)Fa"Fa*Fa2Fe0:FiGu= Gu=G ·3=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729858Q G 2B :B  O >ď,O}?AE@Yj@@8G9D=AHRS rotation from veh to nav: [[0.893731,0.439954,-0.087668],[-0.445944,0.892550,-0.066996],[0.048773,0.098971,0.993894]]yHr?2(?cq Xܿ ŏ?&?+V?`?ɫE@;;髍͑CcBMb@Mb@Mb@ )IiMb?Zd;O?Mb?j<=)aAIVFAiMAWA \SAII٥n. :=9omQ > F٦ Ey ; > 4YR?4yٿ*wB?:?CG;:+4!)-A)oIUFNOT Ignoring new targets: 281.86 m.oUDoUD ProNav: ac range: 281.864990 m, nav range: 275.785156 m, bearing: 328.798652 deg, approach rate: -0.490686 m/s, LOS rate: -0.017952 deg/s, cmd heading: 332.864078 deg, new cmd heading: 332.840254 deg. zoEHeadingCmd: 5.809158 target range: 281.864990 and range: 283.10 m.Ro@JoboZoBo:n2nmAmBwBlAkIkIkIkM`@ɞhBs I n <ɝiIiY;Iih=i%<=)@)DAT read: 03:58:32.5497 LVL= 23200, 25233, 19250, 32755, AGC= 66, IDX= 407, 0.38, 1.212, 0.003, 1.272, 0.447, PHS= 0.852,-0.397, 0.822, RAW= 148.8, -20.1, CAL= 154.1, -27.2, ROT= 355.9, 27.2 Ygot valid direction response: 03:58:32.5497 LVL= 23200, 25233, 19250, 32755, AGC= 66, IDX= 407, 0.38, 1.212, 0.003, 1.272, 0.447, PHS= 0.852,-0.397, 0.822, RAW= 148.8, -20.1, CAL= 154.1, -27.2, ROT= 355.9, 27.2 PDAT read: Bearing 355.9, 27.2 (Local) ~Local bearing/azimuth received: Bearing 355.9, 27.2 (Local) DAT read: Range 10 to 50 : 280.9 m (Round-trip 374.6 ms) speed 0.4 m/s *DAT read: user:230> BDAT read: Tx time:03:58:33.6709 $Ping request sent. a)ae<,7V?uf??Fhտie?e>eie> a)aE:publishing transmit ping timeEFpublishing direction and range infoayeOsc?]n GRAݿaYa a)aIaiaaaaa a)aF]6"F*F2F0:FIaiaaa a)ae<,7V?uf??Fhտiaaaa a)aqG} G5=ԡ GY 2Ba H} >H} .CH} n II} ZdBI} =Iy Iy &I} O<*I} #E:B  O >栥ď,?AJmJeJ5JJ\8:J9J4JJD;!JD;!J:!J :!FtG@YFFB@FWM9F =fJDAT read: TxSync time:03:58:33.6702 nAHRS rotation from veh to nav: [[0.893773,0.439783,-0.088098],[-0.445711,0.892821,-0.064905],[0.050112,0.097276,0.993995]]yFHə?e%?`@ܿ?`>? ??ɫFtG@F;FБC~cB I !%AI-`I-̍٥=Z =h=9EyQ E>AA MF٦M EyM,): M> Qy4YUmR?4yUۿU2wBt?UCUj;U;U14?B)ȕAJpRp#?ApӋCpӋCp/@v-o@!B1_vOsc?]n GRAݿpip>vB%l@})]^(]v6=?s e ۿo ڿjpQrp-aCZpk?bpfOzpmp4ϝ?pppfCp#@- addTargetRange:: Added new target pos. range: 280.899994 m, deltaT: 4.030554 s, deltaX: -2.200012 m, approachRate: -0.545834 m/s, rangeRepo size: 4 ] Added new target pos. range: 279.655090 m, bearing: 332.312597 deg, lat: 36.779361 deg, lon: -121.860031 deg, deltaT: 4.030554 s, deltaX: -2.209900 m, approachRate: -0.548287 m/s, posRepo size: 4 oaeFNOT Ignoring new targets: 279.66 m.oeoi ProNav: ac range: 279.655090 m, nav range: 268.803619 m, bearing: 327.909079 deg, approach rate: 0.000000 m/s, LOS rate: -0.017952 deg/s, cmd heading: 332.840255 deg, new cmd heading: 332.820600 deg. zoHeadingCmd: 5.808815 target range: 279.655090 and range: 280.90 m.Ro@JoboZoBo:n2nmmlk k k5`fq@k57?ɞiB丽 靽 I  ;ɝiI֛a;Ii=iw==)@)ԩjKeMrKe9zKaKeKeVUK>60 '01,% Yc2Kq*KurAF6"F*F2FC4:FG C;=G 2B :B   O >eʫď,t?A6C@Y6p>@6T96`:=BAHRS rotation from veh to nav: [[0.893484,0.440247,-0.088704],[-0.446090,0.892831,-0.062098],[0.051859,0.095054,0.994120]]y6Hl?`-?@F@ܿ?_˯5? rU??ɫ6C@6;6͑CJcBJ IIR\IRW٥Z; ZT=9ZQ Z>\\ F٦Ey% %> )-4Y-/R?54y-kݿ-;wB155?-C-:-y:-84A)EÕAAoq}FNOT Ignoring new targets: 279.66 m.o}o} ProNav: ac range: 279.655090 m, nav range: 268.606628 m, bearing: 327.901014 deg, approach rate: -0.516665 m/s, LOS rate: -0.021168 deg/s, cmd heading: 332.820611 deg, new cmd heading: 332.796399 deg. zoohHeadingCmd: 5.808393 target range: 279.655090 and range: 280.90 m.Ro[޹@JoboZoBo:n2nmmlkkkk ?ɞiB6ƽ >I B;ɝiIi;Ii=i`==)[޹@)EEsAF"F*F2F4:FGtAF1Gm==GI 2Ba :Bq  O >Y qď,O˺?AncBr IuMb@Mb@Mb@q q)qIqiqu r?V-?Zd;Ou?u F٦Ey > 4Y5R?4y߿>wB?:5ξ?C:':@4CB)AEoFNOT Ignoring new targets: 279.66 m.o%mo%m1= ProNav: ac range: 279.655090 m, nav range: 268.389771 m, bearing: 327.893663 deg, approach rate: -0.510318 m/s, LOS rate: -0.017313 deg/s, cmd heading: 332.796405 deg, new cmd heading: 332.774333 deg. zo=>EHeadingCmd: 5.808008 target range: 279.655090 and range: 280.90 m.RoE3۹@JoAboAZoIBoI:nI2nImQmU wBlQkQkYkYk] ?ɞ/iB 靍ߴI ,Գ;ɝiIGr;I}Ji-=i>=)3۹@)F)"F1*F12F51:F1H->H)H)I)I)I)I)&I-S<*I--EaJMqJMJM6JIJMD:JM,J:JM 4JIJM`Z;JMcZ;JM;JM;GQԉG) 2B1 :BA  O] >jK INrK ػ9zK K K sgR>;2 M.!  -DC;1+& BK >:K >Թ kܸď,o*?A2- @Y2@2{d92`=:AHRS rotation from veh to nav: [[0.891359,0.444037,-0.091164],[-0.449857,0.891253,-0.057422],[0.055753,0.092194,0.994179]]y2H?@k?V`tܿ$?df?` ?`P?ɫ2- @2-;0BcBB IIF>)F=IJ+IJļ٥Rb V^=9V-Q V>TX ZF٦ZEyZ@ Z> `f4YbS?f4ybbAwBdj{оj?bCb:b:bF4l)nAloFNOT Ignoring new targets: 279.66 m.oo ProNav: ac range: 279.655090 m, nav range: 268.201904 m, bearing: 327.887466 deg, approach rate: -0.509725 m/s, LOS rate: -0.016825 deg/s, cmd heading: 332.774330 deg, new cmd heading: 332.755727 deg. zo8HeadingCmd: 5.807683 target range: 279.655090 and range: 280.90 m.Roع@JoboZoBo:n2nmmlkkkk#?ɞ]GiBesƽ aexIa e|);ɝaiiImz;Imuԑiu=iIj/=)ع@)Fi"Fq*Fq2Fuo0:FqG==Gq 2B :B  O > ď,?A>?@Y>@>eg9>=FAHRS rotation from veh to nav: [[0.891166,0.444539,-0.090606],[-0.450159,0.891265,-0.054794],[0.056396,0.089618,0.994378]]y>Hm?Qs?@1iܿ ??@ ߬?3?`?ɫ>?@>O;ai mF٦mEyuZ }> 4YS?4yYA ?:?9C]:Q:N4GB) AE=B*** querying acoustic contact ***:p9Bp9oIMFNOT Ignoring new targets: 279.66 m.oU?[o?[ ProNav: ac range: 279.655090 m, nav range: 267.970032 m, bearing: 327.882133 deg, approach rate: -0.520387 m/s, LOS rate: -0.011980 deg/s, cmd heading: 332.755724 deg, new cmd heading: 332.739710 deg. zoHeadingCmd: 5.807404 target range: 279.655090 and range: 280.90 m.Ro@ֹ@JoboZoBo:n2nmmvBlkkkk 3? ɞMaiBM3½ 靍线I \GI;ɝiI4Ё;Ii!=ij1=)@ֹ@)MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Fe6"Fa*Fa2Fa:FaGm= Gm=)I G 0=Ga 2Bi :B  O >ZH! RH% <H- >H) H- g II- OdBI) I) I) &I- c<*I- AEJY J] dJ] 4JY JY J] |9J] 3JY JY JY J] :J] :VŮď,?A>t@Y>F@> i9>>=Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248153NAHRS rotation from veh to nav: [[0.891043,0.444821,-0.090422],[-0.450342,0.891262,-0.053330],[0.056867,0.088240,0.994475]]y>Hm?w?%hܿ7?N?`햶?`?ɫ>t@>8; F٦eEye} e> iu4Ym?+S?u4ymm@wBy}?}?mUCm;m ;mU4)Ao!-FNOT Ignoring new targets: 279.66 m.o-`do5`de ProNav: ac range: 279.655090 m, nav range: 267.751312 m, bearing: 327.877107 deg, approach rate: -0.542615 m/s, LOS rate: -0.012479 deg/s, cmd heading: 332.739714 deg, new cmd heading: 332.724624 deg. zoe mHeadingCmd: 5.807140 target range: 279.655090 and range: 280.90 m.RomԹ@JoiboiZoiBoi:nq2nqmqmlkkkk@ɞxiB<ҽ !%|I! %x:ɝ!i!I-ē;I-+i5.=i51=)5Թ@)9YF6"F*F2F:FjKNrKzKKK,<3+'!! $5IJIMmvV/  ԁ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499907G5 31=Ա G 2B :B)  O5 >̮ď,g2?A:@Y:@:/l9:8=FAHRS rotation from veh to nav: [[0.890699,0.445323,-0.091335],[-0.450905,0.890999,-0.052969],[0.057791,0.088363,0.994410]]y:H`?.?aܿ?̖?`?5?ɫ:@:G;8N}cBN IPV>V< XZAI^WI^ƕ٥f# fQ=9jQ j>hh nF٦nEynV n> pv4Yr;S?v4yrJpxzz?rpCr6:r-:r[4~LB)4Ao!-FNOT Ignoring new targets: 279.66 m.o52lo52lM ProNav: ac range: 279.655090 m, nav range: 267.544006 m, bearing: 327.872365 deg, approach rate: -0.563866 m/s, LOS rate: -0.012906 deg/s, cmd heading: 332.724633 deg, new cmd heading: 332.710398 deg. zoM MHeadingCmd: 5.806892 target range: 279.655090 and range: 280.90 m.RoUҹ@JoQboQZoQBoQ:nQ2nQmYmYlakakakakea@ɞiBF 靕¿I |U:ɝiI;Ii::=i%0=)ҹ@) JJ@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755672F6"F*F 2F w0:Fi'>IC)M;G a)yI BG1G 2B :B)  O5 >) m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004269Ӯď,NL?AJ@YJ @Jq9J=VAHRS rotation from veh to nav: [[0.890296,0.445919,-0.092349],[-0.451542,0.890725,-0.052142],[0.059006,0.088122,0.994361]]yJHN}? ?/`ܿ@р?a6?!? ?ɫJ@J;JΑCbcBb I|]Mb@Mb@Mb@Y Y)YIYiY]X9v?I +L7A`堿]?]9]+)] \AIYi]KA]UA Y]PAImOImݜ٥< >=98Q > F٦Ey > 9U4Y=%NS?U4y=9]?]:]]?=C=0;=;=c4a)eAioFNOT Ignoring new targets: 279.66 m.oToT% ProNav: ac range: 279.655090 m, nav range: 267.285706 m, bearing: 327.869122 deg, approach rate: -0.562231 m/s, LOS rate: -0.007067 deg/s, cmd heading: 332.710399 deg, new cmd heading: 332.700659 deg. zo%2-HeadingCmd: 5.806722 target range: 279.655090 and range: 280.90 m.Ro-й@JoIboIZoQBoQ:nQ2nQmYm]vBlakakakk_ @IɞuiB}gȽ 靅PĿI T1ɝiI;Ii;I=i~8.=)й@)H>HHII =IID&I<*IEJ-oJ-eJ)J)J->:J-9J)J)J-O;J-O;J-:J- :BDAT read: Rx Time:03:58:36.4479 TRx dataTimestamp_ set to:1761364717.417907checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257140F6"F*F2Fp0:FGsAFYԁ G .=G 2B :B  O >jK GqNrK zK K K  %"  *ٮď,rf?A2 @Y2@2%v92q=:AHRS rotation from veh to nav: [[0.890110,0.446060,-0.093452],[-0.451747,0.890655,-0.051559],[0.060235,0.088110,0.994288]]y2H{?@A?`x췿`jܿ`??@e`׮? c?4?ɫ2 @22;2͑CBcBB I)H HIJdIJ@٥R+ V[=9VXQ V>TX ZF٦Z EyZ; Z> \b4Y^V]S?f4y^,\dff?^C^:^y:^i4jPB)j5AnEo|FNOT Ignoring new targets: 279.66 m.o o  ProNav: ac range: 279.655090 m, nav range: 267.080322 m, bearing: 327.866550 deg, approach rate: -0.597670 m/s, LOS rate: -0.007490 deg/s, cmd heading: 332.700645 deg, new cmd heading: 332.692924 deg. zo|HeadingCmd: 5.806587 target range: 279.655090 and range: 280.90 m.Ro%Ϲ@Jo!bo!Zo!Bo!:n!2n!m)m)l)k1k9kAkM& @ԙɞ iB%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5091290 5mߟ<5bǿI9 =Tɝ9i9I=;IEiER=iEs .=)EϹ@)IF"F*F2F0:FG4/=GJ1 J5 R=2BI :By  DAT read: 03:58:36.4479 LVL= 18592, 25425, 16226, 28819, AGC= 64, IDX= 419, 0.21,-0.511,-1.635,-0.346,-1.109, PHS= 0.686,-0.479, 0.760, RAW= 153.1, -15.9, CAL= 159.4, -22.8, ROT= 350.6, 22.8  Ygot valid direction response: 03:58:36.4479 LVL= 18592, 25425, 16226, 28819, AGC= 64, IDX= 419, 0.21,-0.511,-1.635,-0.346,-1.109, PHS= 0.686,-0.479, 0.760, RAW= 153.1, -15.9, CAL= 159.4, -22.8, ROT= 350.6, 22.8  O > PDAT read: Bearing 350.6, 22.8 (Local)  ~Local bearing/azimuth received: Bearing 350.6, 22.8 (Local) ) e DAT read: Range 10 to 50 : 279.5 m (Round-trip 372.7 ms) speed 0.4 m/s m *DAT read: user:231> u BDAT read: Tx time:03:58:37.5710 u $Ping request sent.u ) ns?E?N#s|ѿi b? Ѱ> ' %> )  :publishing transmit ping timeq % Fpublishing direction and range info y N?[)) 5F٦5#Ey] i4YmpS?4ymmAwB?mCm!;m;mq4RB)0AEJp Rp {?Ap !Cp !Cp V@v m!Lo@wDZv N?[v k@ }KbEA`Wv c?+-տjp [rp XCZp aGɚ?bp zp p k?p |p p ӄCp 2ö@ addTargetRange:: Added new target pos. range: 279.500000 m, deltaT: 3.781054 s, deltaX: -1.399994 m, approachRate: -0.370266 m/s, rangeRepo size: 4  Added new target pos. range: 278.258484 m, bearing: 325.970013 deg, lat: 36.779338 deg, lon: -121.860052 deg, deltaT: 3.781054 s, deltaX: -1.396606 m, approachRate: -0.369370 m/s, posRepo size: 4 oFNOT Ignoring new targets: 278.26 m.oo  ProNav: ac range: 278.258484 m, nav range: 265.648499 m, bearing: 327.234972 deg, approach rate: 0.000000 m/s, LOS rate: -0.007490 deg/s, cmd heading: 332.692914 deg, new cmd heading: 332.682069 deg. zo HeadingCmd: 5.806397 target range: 278.258484 and range: 279.50 m.Roι@JoboZoBo:n2nmml!k!k!kMxq@kMSx?ɞiB5ӽ +ʿI pVɝiI;Ii2^=i4)=)ι@)-JDAT read: TxSync time:03:58:37.5703 1F"F*F2Fz0:FQG ,=JH BH AAH >H ,CH I I =I I D&I )<*I E2I.C:I.CBIJIʈ =RIʈ =ZIX5GY 2Bi ԁ :B  O >J=ď,+?A%cB- IIUIUJȴ٥u uV=9}Q > F٦&Ey > 4YS?4yT?C8;6;xx4)LAQB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 278.26 m.oo ProNav: ac range: 278.258484 m, nav range: 265.429901 m, bearing: 327.231760 deg, approach rate: -0.578913 m/s, LOS rate: -0.008512 deg/s, cmd heading: 332.682067 deg, new cmd heading: 332.672425 deg. zoHeadingCmd: 5.806229 target range: 278.258484 and range: 279.50 m.Ro̹@JoboZoBo:n2nmmlkkkk`?ɞiBG οI rɝiIȠ;I%3i%f=i-|*=)-̹@))F 6"F*F2F0:FG= Gp=ԁjKLrK9zKKK'@^cedb`^^]eR w{!&Q& Bk@!-nlzF MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.ԱGt'=G 2B :B  O > fď,?AV@YV @Vh9V"H=^AHRS rotation from veh to nav: [[0.890105,0.445649,-0.095446],[-0.451005,0.891453,-0.043650],[0.065633,0.081899,0.994477]]yVH {?`?%oDܿ Ɇ?AYTͰ?`\??ɫV@V;VˑCfcBf IIn:Iny٥vp= vS=9zQ z>xx zF٦z(Ey]; ]> am4YeS?m4ye9eCwBimu?eCe:e:e`4}WB)}.A}EoFNOT Ignoring new targets: 278.26 m.o&o& ProNav: ac range: 278.258484 m, nav range: 265.201874 m, bearing: 327.228321 deg, approach rate: -0.604126 m/s, LOS rate: -0.009121 deg/s, cmd heading: 332.672423 deg, new cmd heading: 332.662095 deg. zoNȹ HeadingCmd: 5.806049 target range: 278.258484 and range: 279.50 m.Ro '˹@Jo bo Zo Bo :n 2n mm1l1k9k9k9k=?ɞ jBZ 靍οI -zԹɝiJpJgJJJA:J9JJ!@!@!@!@I\;I7Kؙؙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.957907i]t=iek3=)e'˹@)) EM <F 6"F *F 2F o0:F M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206973Y G+,=G2B:Bԩ O?ď,|Ի?A:@Y:@:9:ŭ=BAHRS rotation from veh to nav: [[0.890330,0.444646,-0.097987],[-0.450331,0.891706,-0.045410],[0.067185,0.084557,0.994151]]y:H}?u? 9ܿ@ۈ?`?3?@??ɫ:@:ke;8JcBJ IN=N?? TVAH>HHn IIZdBI =II&IC<*IEmMb@Mb@Mb@i i)iIiiimx?Qy&1mK?mum`)m [AIm?EAimJAi im(PAI%I´٥ =  =9c0Q > F٦,Ey: > 4YS?4yGwB>?:?1C9;8;A4)AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458190oQ]FNOT Ignoring new targets: 278.26 m.oeDoeDu ProNav: ac range: 278.258484 m, nav range: 264.865692 m, bearing: 327.227810 deg, approach rate: -0.594465 m/s, LOS rate: -0.000903 deg/s, cmd heading: 332.662096 deg, new cmd heading: 332.660563 deg. zouuHeadingCmd: 5.806022 target range: 278.258484 and range: 279.50 m.Ro}ʹ@JoyboyZoyBoy:n2nmmvBlkkkkrS?ɞ/jBLս @пI §ɝiI;INiy=i4=)ʹ@)EKq G 3= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710927Gy 2B :B  O >ď,@?A0F @YF@F?g9Fβ=NAHRS rotation from veh to nav: [[0.890687,0.443436,-0.100206],[-0.449427,0.892074,-0.047106],[0.068503,0.086992,0.993851]]yFH? Ba?@gܿߋ?@T c?@!E??ɫF @Fʍ;F̑CjcBj IIzYIz٥== n=9t|Q ? %F٦%.Ey-8; -? 1=4Y5|S?=4y55IwB9EYE?5KC5j;53;5E4M[B)MݕAIoquFNOT Ignoring new targets: 278.26 m.o}o} ProNav: ac range: 278.258484 m, nav range: 264.660950 m, bearing: 327.227450 deg, approach rate: -0.603058 m/s, LOS rate: -0.001062 deg/s, cmd heading: 332.660566 deg, new cmd heading: 332.659484 deg. zo:HeadingCmd: 5.806003 target range: 278.258484 and range: 279.50 m.Roʹ@JoboZoBo:n2nmmlkkkk?ɞEjBI ϿI O ɝiI];I;Qi=i.8=)ʹ@)  E!E!E)E)ԑJnJeJ3JJ|;:J9J(3J}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964298F6"F*F2F}0:FGFrA G 6=G 2B :B  O >]ď, ?A:"@Y:@:\9:=FAHRS rotation from veh to nav: [[0.890706,0.442917,-0.102314],[-0.449168,0.892148,-0.048169],[0.069944,0.088860,0.993585]]y:H਀?X?71 )ܿ@z???@s?ɫ:"@:~;8ncBlchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.214027Mb@Mb@Mb@ )Ii\(\?Q~jth?D)YAI(DAiHATA NAI\IW٥ 7=9CTQ > F٦1Ey : > 4YS?4yYwB?:?nCq;Y; 4)ߕAoFNOT Ignoring new targets: 278.26 m.oo ProNav: ac range: 278.258484 m, nav range: 264.391022 m, bearing: 327.227054 deg, approach rate: -0.604324 m/s, LOS rate: -0.000888 deg/s, cmd heading: 332.659473 deg, new cmd heading: 332.658284 deg. zoHeadingCmd: 5.805982 target range: 278.258484 and range: 279.50 m.Roʹ@JoboZoBo:n2nmmAvBlkkk k `[@Aɞ%cjB% )-ӿI) 5!&ɝ1i1I5O";IeSim =imH9=)mʹ@)qFM6"FI*FI2FM0:FIqH>H-CH IIdBI =IID&Iw<*IREؽAؽAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.466027ԡ Gu п8=GI 2B :B  O >#~ď,#?A@F @YF@F$9F=RAHRS rotation from veh to nav: [[0.890525,0.442915,-0.103880],[-0.449327,0.892052,-0.048457],[0.071204,0.089828,0.993409]]yFH@.?X?ᗺܿ?LϨp:???ɫF @F4ƍ;FˑCVcBZ- Ii\I\I^p=)^p=Ij[Ij:٥r= rZ=9rT\Q r>tt vF٦v3Eyz z> |4Y~S?4y~~fwB  ?~C~;~;~4_B)AE5B*** querying acoustic contact ***:p1Bp1oAMFNOT Ignoring new targets: 278.26 m.oU~}oU~}m ProNav: ac range: 278.258484 m, nav range: 264.162933 m, bearing: 327.226729 deg, approach rate: -0.607939 m/s, LOS rate: -0.000866 deg/s, cmd heading: 332.658271 deg, new cmd heading: 332.657297 deg. zomuHeadingCmd: 5.805965 target range: 278.258484 and range: 279.50 m.Rouwʹ@JoqboqZoqBoq:nq2nymmlkkkkw@ɞzjB.4 Y]ѿIY ]8ɝYiYIe׼;Ie?Vim=im%8=)mwʹ@)ijKuz PrKuS9zKqKuKu2", FN}#rM+ oWG<1* ԱF-6"F)*F)2F-4:F)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.723346GU8=G) 2B1 :BI  OU >  J9 J= AAJM pJM fJM 4JI JM A:JM 9JM 3JI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976605ď,f=?ApE@YEf@E/9Ev=AHRS rotation from veh to nav: [[0.890244,0.443072,-0.105608],[-0.449648,0.891885,-0.048555],[0.072677,0.090712,0.993222]]yEH|?I[? ` ܿ R?4ܨ?8?x?ɫE@E;ȆCdB8 I %Mb@Mb@Mb@! !)!I!i!%zG? ףp= % ?%Q8%)% [AI!i!%UA !%\OAIUfIU{٥m>= m=9m9Q m>qq uF٦u7Ey}P }> 4YS?4y {wBz?:. ?C/;.;4]cB)]AeEoFNOT Ignoring new targets: 278.26 m.o|o| ProNav: ac range: 278.258484 m, nav range: 263.855774 m, bearing: 327.224839 deg, approach rate: -0.560174 m/s, LOS rate: -0.003452 deg/s, cmd heading: 332.657287 deg, new cmd heading: 332.651609 deg. zo HeadingCmd: 5.805866 target range: 278.258484 and range: 279.50 m.Ro ɹ@Jo bo Zo Bo :n2nmmUvBlYkYkYkYke C @ɞjB9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225873u y}ӿIy }ZWɝyiyIj;I9ci)=i907=)ɹ@)EF 6"F *F 2F 0:F G = G =a H} >H} ,CH} II} dBI} =Iy I} D&I} M<*I} Eԉ G 8=G2B:B O>ď,W\?A.BDAT read: Rx Time:03:58:40.3443 .TRx dataTimestamp_ set to:1761364721.4538392checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478955N@YN@N59N=^AHRS rotation from veh to nav: [[0.889780,0.443583,-0.107362],[-0.450309,0.891560,-0.048395],[0.074253,0.091407,0.993041]]yNH y? c?|ܿ?0Ǩ=?qf??ɫN@N;LbdBbE IIniIn҅٥rk= v_=9zQ z>xx zF٦z9Ey~  ~>  4YT? 4y wBc ?C;Y;4)\AoAMFNOT Ignoring new targets: 278.26 m.oUoUe ProNav: ac range: 278.258484 m, nav range: 263.639069 m, bearing: 327.223540 deg, approach rate: -0.640445 m/s, LOS rate: -0.003842 deg/s, cmd heading: 332.651605 deg, new cmd heading: 332.647705 deg. zoe(mHeadingCmd: 5.805798 target range: 278.258484 and range: 279.50 m.Romɹ@JoiboiZoiBoi:nq2nqmqmqlykykykyk} @ɞjBBy hӿI ghɝiI 5;I#li^=i4=)ɹ@)F"F*F2F1:F1jKPrK 9zKKKm"0xY\       0^eP:BK?:K?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729714aGOo8=G 2B :B  O- >ԉ Zď,v?AI&<)&xx ~F٦~  4YT? 4y9wBf ?C:l:'4%eB)-A-ơEoIUFNOT Ignoring new targets: 278.26 m.o]Fo]Fm ProNav: ac range: 278.258484 m, nav range: 263.401489 m, bearing: 327.222116 deg, approach rate: -0.588792 m/s, LOS rate: -0.003532 deg/s, cmd heading: 332.647698 deg, new cmd heading: 332.643422 deg. zom!mHeadingCmd: 5.805723 target range: 278.258484 and range: 279.50 m.Rou|ȹ@JoqboqZoqBoq:ny2nymymylkkkk @ɞjBQ SҿI  g~ɝiI;Iui&=i#5=)|ȹ@)qJJJ.JmJbJ3JJ\8:Jt9J(3JFY"FY*FY2Fe`5:Fa)tG )II}BDAT read: 03:58:40.3443 LVL= 18112, 20545, 14738, 26611, AGC= 63, IDX= 400,-0.04, 2.749, 1.418, 2.728, 1.947, PHS= 0.891,-0.482, 0.779, RAW= 145.8, -17.6, CAL= 151.7, -25.3, ROT= 358.3, 25.3 Ygot valid direction response: 03:58:40.3443 LVL= 18112, 20545, 14738, 26611, AGC= 63, IDX= 400,-0.04, 2.749, 1.418, 2.728, 1.947, PHS= 0.891,-0.482, 0.779, RAW= 145.8, -17.6, CAL= 151.7, -25.3, ROT= 358.3, 25.3 PDAT read: Bearing 358.3, 25.3 (Local) ԙ~Local bearing/azimuth received: Bearing 358.3, 25.3 (Local) DAT read: Range 10 to 50 : 276.8 m (Round-trip 369.1 ms) speed 0.4 m/s *DAT read: user:232> BDAT read: Tx time:03:58:41.4210 $Ping request sent.] y)y}.u?NTh?K͇jeӿi}Mq>}Ī>}}=> y)y:publishing transmit ping timeFpublishing direction and range infoyy}XM?tsvYۿyYy y)yIyiyyyyy y)yIyiyyy y)y}.u?NTh?K͇jeӿiyyyy y)yG·3=G 2B :B  O > #ď,s?AnPdBnh I-only read 0 of 1 data item for water mass range. Device response is::WD, +156.39, +199.7 +63.04, 20.00, m@ q@ u@ i@ I _I ٥2= /=9Q > F٦?Ey > 4Y&T?4ywB+:: ?Cb;>ź4)AJpRpZ}?ApȉCpȉCpx@va o@e-Q`p]vXM?tsvYۿpp=>v°%|>l@q@\mpXvv2#?9EE?ڿ sֿjprp!gCZp;?bp0Yzp~&ppppCp@m addTargetRange:: Added new target pos. range: 276.799988 m, deltaT: 4.035694 s, deltaX: -2.700012 m, approachRate: -0.669033 m/s, rangeRepo size: 4 } Added new target pos. range: 275.564056 m, bearing: 333.944221 deg, lat: 36.779338 deg, lon: -121.860052 deg, deltaT: 4.035694 s, deltaX: -2.694427 m, approachRate: -0.667649 m/s, posRepo size: 4 oyFNOT Ignoring new targets: 275.56 m.JHBH@AHHH IIdBIII&Ii<*I6Eo o% ProNav: ac range: 275.564056 m, nav range: 263.125671 m, bearing: 327.220460 deg, approach rate: 0.000000 m/s, LOS rate: -0.003532 deg/s, cmd heading: 332.643436 deg, new cmd heading: 332.638437 deg. zo!MHeadingCmd: 5.805636 target range: 275.564056 and range: 276.80 m.RoMǹ@JoIboIZoIBoI:nQ2nQmQmQlYkYkYk]Lq@k]?ɞjBb ӿI 茼ɝiIp;IWi7=if5=)ǹ@)F"F*F2FU2:FGtAFsA) G G G tAG 2B :B  O >Q )ď,ϩ?A:$ @Y:@:9:b٫=jK>XmOrK>ػ9zK<K>K>-#!-^k{y{" xjb[SMIKig~]=JAHRS rotation from veh to nav: [[0.888767,0.445150,-0.109245],[-0.451280,0.891550,-0.038528],[0.080246,0.083542,0.993268]]y:Hp?V}?@sܿ? 繣?c??ɫ:$ @:o;:ˑCRldBRy IIZDIZ٥b&= bs=9fTQ f?dh jF٦jAEyjz n? lr4Yn5T?r4ynnwBv :tvk:v v?n)Cn:nN?n4~iB)~̔A|B*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 275.56 m.o-zo-z= ProNav: ac range: 275.564056 m, nav range: 262.927521 m, bearing: 327.219327 deg, approach rate: -0.599015 m/s, LOS rate: -0.003427 deg/s, cmd heading: 332.638436 deg, new cmd heading: 332.635035 deg. zo=EHeadingCmd: 5.805577 target range: 275.564056 and range: 276.80 m.RoEIǹ@JoAboAZoIBoI:nI2nImImQlQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.kkkkFB?ɞ=kB=@ 9EӿIA EɝAiAIEi;IM!i=il0=)Iǹ@))F)"F1*F12F54:F1YGM}7=G) 2BI :Bq  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.930870ԙ  O >{0ď,ü?A0:U@Y:' @:9:l=ZAHRS rotation from veh to nav: [[0.888797,0.445101,-0.109199],[-0.450996,0.891812,-0.035685],[0.081501,0.080965,0.993379]]y:Hq?|?@r`ܿ@?AEGݴ?? ?ɫ:U@:z;8~~dB~ IiII =) =mm qq uu ii Mb@Mb@Mb@ )IiFx? rhMbp ?C)YAIAAiQFAUA MAI0IV٥ != ;=9 F٦DEy* : > 4YFT?4ywBT: ?:?HC-;B;DƎ4)Ao)5FNOT Ignoring new targets: 275.56 m.oo ProNav: ac range: 275.564056 m, nav range: 262.689728 m, bearing: 327.215582 deg, approach rate: -0.543691 m/s, LOS rate: -0.008569 deg/s, cmd heading: 332.635048 deg, new cmd heading: 332.623804 deg. zo2HeadingCmd: 5.805380 target range: 275.564056 and range: 276.80 m.RoŹ@JoboZoBo:n2nmmvBlkkkk @&?ԑɞ"kB 靝{ԿI ɝiI ;Iۢi=iL3=)Ź@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.182108F"F*F2F4:FԹG .=H >H H II CeBI I I D&I <*I E2I,C:I,CBIɓCJIɊ =RIɊ =ZI25 G 2B :B  O >J qJ jJ J J D:J 9J J J `Z;! J bZ;! J :! J :! 7ď,4ݼ?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.433052> @Y>@>19>=FAHRS rotation from veh to nav: [[0.888621,0.445021,-0.110948],[-0.451123,0.891718,-0.036445],[0.082715,0.082437,0.993158]]y>Ho?;{?@g@1ܿ@?⨢,???ɫ> @>\͕;<\bdBb IIj4Ijʴ٥rW= rZ=9v\UQ v>tt zF٦zFEyz z> |4Y~UT?4y~D~wB   ?~bC~:~B:~̎4mB)AǡEoFNOT Ignoring new targets: 275.56 m.o%o-] ProNav: ac range: 275.564056 m, nav range: 262.486481 m, bearing: 327.212384 deg, approach rate: -0.505771 m/s, LOS rate: -0.007964 deg/s, cmd heading: 332.623792 deg, new cmd heading: 332.614191 deg. zo]殹eHeadingCmd: 5.805213 target range: 275.564056 and range: 276.80 m.RoeNĹ@JoaboaZoaBoi:ni2nimimlkkkk@u?ɞ>kB ԿI ̬ɝiI;IŸiA&=i3=)NĹ@)F6"F*F2Fo0:FjKgOrKzKKKvpmi`\WTPJHECAA=Hyqjhc_^[ZYUPNLJMJHED!BK% ?:K%?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685181G ·3=G ?G *?A G 2B :B  O >5=ď,Ie?AN@YN @NC9NT=VAHRS rotation from veh to nav: [[0.888825,0.444103,-0.112972],[-0.450389,0.892080,-0.036655],[0.084501,0.083461,0.992922]]yNH@q? 0l?뼿*ܿ?wĢߡ?]??ɫN@N`;NȑC^dB^ IIfeIf]٥nՎ< nK=9rQ r>pp rF٦vIEyv: v> xe4YzeT?m4yz zwBimm?z~Cz:z$:zӎ4y)}yAyoFNOT Ignoring new targets: 275.56 m.o#o# ProNav: ac range: 275.564056 m, nav range: 262.267426 m, bearing: 327.208896 deg, approach rate: -0.561552 m/s, LOS rate: -0.008950 deg/s, cmd heading: 332.614203 deg, new cmd heading: 332.603728 deg. zoĹHeadingCmd: 5.805030 target range: 275.564056 and range: 276.80 m.Ro¹@JoboZoBo:n2nmmlkkkk`|?ɞUkB3 ֿI zɝiI%T;I%i%3=i-N6=)-¹@))]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937938F6"F*F2F:FIqG~M2=G2B:B O>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189178Dď,4?A%dB% I-;>-=yMb@Mb@Mb@ )IiK7?{GzMbI ?#)XAI@Ai;EA MAI`I̍٥%#= %8=9-Q ->)) -F٦-KEy5 5> 9E4Y=%xT?E4y=#=wBM_ ?M:M3M?=C=I;=;=ێ4UqB)]=A]ȡEoFNOT Ignoring new targets: 275.56 m.otCotC ProNav: ac range: 275.564056 m, nav range: 262.024353 m, bearing: 327.204230 deg, approach rate: -0.555853 m/s, LOS rate: -0.010680 deg/s, cmd heading: 332.603739 deg, new cmd heading: 332.589728 deg. zoHeadingCmd: 5.804786 target range: 275.564056 and range: 276.80 m.Ro@JoboZoBo:n2nmmvBlkkkkW=@H}>H}-CH}) II}eBI} =IyIy&I}<*I}EɞukB\  ֿI ZüɝiI%i;IeimF=imY$7=)m@)qԱJlJaJJJ<5:Jp9JJJa?;Jd?;Jʓ:J˓:F 6"F *F 2F p0:F echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.441253G% 6= G9 2BA :BY  O >qEJď,+?A:@Y:@:!9:Ӵ=FAHRS rotation from veh to nav: [[0.888799,0.442761,-0.118317],[-0.449705,0.892327,-0.038960],[0.088328,0.087836,0.992211]]y:H q?@1V?J ܿ?? d|?1?ɫ:@:(;:ɑCNdBN IIVSIVQ٥^p~= ^d=9b/Q f>hh jF٦jNEjKNrK]9zKKKDBBA@A@BAA==?A<9<<<::;:7446550..,*+*(().QyxpfTIE@??ADHGJNyU: U> Ye4Y]yT?e4y]%]xBamm?]C]:]:]14q)uAqB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 275.56 m.oEoEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.693259 ProNav: ac range: 275.564056 m, nav range: 261.819672 m, bearing: 327.200261 deg, approach rate: -0.554758 m/s, LOS rate: -0.010766 deg/s, cmd heading: 332.589723 deg, new cmd heading: 332.577807 deg. zonHeadingCmd: 5.804578 target range: 275.564056 and range: 276.80 m.Ro@JoboZoBo:n2nmmlkkkkQ4@ɞ kB< "ֿI ̼ɝiI;I% i%T=i%.5:=)%@))F6"F*F2F0:F1G8=IG2B JJ:B O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949354ԁ ,Qď,RD?AF$ @YF@F29Fa=NAHRS rotation from veh to nav: [[0.887889,0.444061,-0.120259],[-0.451107,0.891656,-0.038111],[0.090306,0.088088,0.992011]]yFH i?~k?Eɾ`ܿ r?@P`E???ɫF$ @FbG;DZdBZ IeMb@Mb@Mb@a a)aIaiaeˡE?~jtI +e?eDe9)eWAIe@Aie(DAeUA aeLAI}RI}4٥= >=9?Q > F٦PEy~ > 4YΗT?4y@(xB?:T?C\;J;k4uB)AQoFNOT Ignoring new targets: 275.56 m.o(o( ProNav: ac range: 275.564056 m, nav range: 261.600891 m, bearing: 327.196248 deg, approach rate: -0.501941 m/s, LOS rate: -0.009214 deg/s, cmd heading: 332.577811 deg, new cmd heading: 332.565763 deg. zoYʹHeadingCmd: 5.804368 target range: 275.564056 and range: 276.80 m.Roa@JoboZoBo:n2nmmvBl kkkkE @ɞ]kBe aeoֿIa e=ؼɝiiiIQ;I'i3e=iS4=)a@)BDAT read: Rx Time:03:58:44.1737 TRx dataTimestamp_ set to:1761364725.239911 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204983ԁF 6"F*F2Fp0:FԱHu >Hq Hu O IIu eBIu =Iq Iq &Iu <*Iu EGe C;=G9 2BI :Ba  Om > J oJ eJ J J >:J 9J J J O;J O;J :J :WWď,^?A "checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453216>@Y>@>􌼽9>R6=JAHRS rotation from veh to nav: [[0.887189,0.445299,-0.120847],[-0.452154,0.891237,-0.035409],[0.091936,0.086055,0.992040]]y>Hc??﾿@ܿ@?@!`??ɾ?ɫ>@>Ɣ;hh jF٦jSEynY n> pv4YrŦT?v4yr*rxBtvz?rCrW:r :r 4~pB)~A|oFNOT Ignoring new targets: 275.56 m.oD.oD. ProNav: ac range: 275.564056 m, nav range: 261.400269 m, bearing: 327.192622 deg, approach rate: -0.526404 m/s, LOS rate: -0.009522 deg/s, cmd heading: 332.565763 deg, new cmd heading: 332.554876 deg. zo%ѹ=HeadingCmd: 5.804177 target range: 275.564056 and range: 276.80 m.Ro=һ@Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkIkM @ɞ}kB}h y}ֿIy 0ɝiI<ԱI@ip=i?1=)һ@)F5 6"F1*F92F=0:F9jKujNrKu 9zKqKuKuG3iyk_SICDbyg\WUPKJPMHB<<<;852/5uyof=DAT read: 03:58:44.1737 LVL= 18880, 21233, 16098, 27683, AGC= 67, IDX= 235, 0.20,-2.887, 2.063,-2.890, 2.805, PHS= 0.679,-0.695, 0.585, RAW= 146.5, -8.6, CAL= 152.8, -17.2, ROT= 357.2, 17.2 EYgot valid direction response: 03:58:44.1737 LVL= 18880, 21233, 16098, 27683, AGC= 67, IDX= 235, 0.20,-2.887, 2.063,-2.890, 2.805, PHS= 0.679,-0.695, 0.585, RAW= 146.5, -8.6, CAL= 152.8, -17.2, ROT= 357.2, 17.2 UPDAT read: Bearing 357.2, 17.2 (Local) U~Local bearing/azimuth received: Bearing 357.2, 17.2 (Local) eDAT read: Range 10 to 50 : 261.3 m (Round-trip 348.4 ms) speed 0.5 m/s u*DAT read: user:233> }BDAT read: Tx time:03:58:45.2711 }$Ping request sent.}i#lC-?1? _#@)`I*@i`@`> )DrQ?#9?;yx&ÿio>>*H`> )G·3=:publishing transmit ping timey - Fpublishing direction and range infoytǤ3L?Ci )1 ]ď,ϡx?Ar@Yr@r29r==AHRS rotation from veh to nav: [[0.885759,0.447974,-0.121454],[-0.454552,0.890153,-0.031766],[0.093883,0.083344,0.992089]]yrH@"X?`?@`bݿ#|?C@? V?0?ɫr@r\;pM)eBM IINI٥8~= <=9Q > F٦VEyGӻ > 4YT?4y-)xB? C0;;4 tB) A ɡEJp1Rp5ސo?Ap5Cp5Cp5-@v56eo@udRG(0WD=1;Sv5tǤ3L?Cv5^T6k@-tK^~P HKv5h@Q?%yɀݿ/XHʿjp5^rp5_CZp5~b_?bp5zp5P@p1p5p1p5zCp5@JJa= addTargetRange:: Added new target pos. range: 261.299988 m, deltaT: 3.784554 s, deltaX: -15.500000 m, approachRate: -4.095595 m/s, rangeRepo size: 4  Added new target pos. range: 260.137909 m, bearing: 331.560238 deg, lat: 36.779338 deg, lon: -121.859823 deg, deltaT: 3.784554 s, deltaX: -15.426147 m, approachRate: -4.076081 m/s, posRepo size: 4 o FNOT Ignoring new targets: 260.14 m.o-o1eJDAT read: TxSync time:03:58:45.2704 u ProNav: ac range: 260.137909 m, nav range: 250.732224 m, bearing: 331.097930 deg, approach rate: 0.000000 m/s, LOS rate: -0.009522 deg/s, cmd heading: 332.554862 deg, new cmd heading: 332.542523 deg. zoyHeadingCmd: 5.803962 target range: 260.137909 and range: 261.30 m.Ro@JoboZoBo:n2nmmlkkkTp@k+?ɞ=kBeb im׿Iq }jɝiIdMdď,\?Aeʲ@YeŹ@eǽ9eRy=AHRS rotation from veh to nav: [[0.883778,0.453717,-0.114357],[-0.457649,0.889084,-0.009335],[0.097438,0.060585,0.993396]]yeH G? ?FJݿ`s?  ? ? ?ɫeʲ@eM;eʑC%DeB% IJHBH?AH>H,CHz IIfBI =IID&I<*IEMb@Mb@Mb@ )IiZd;O?~jt~jt~ ?ļ)VAIAAiAAhSA KAI JI K٥g= 1=9Q >!! %F٦-YEy- -> 1=4Y5MT?=4y5056xB ?:?5+C5Ȕ<5<54sB)CAӡEoFNOT Ignoring new targets: 260.14 m.o=(P7o=(P7M ProNav: ac range: 260.137909 m, nav range: 250.481674 m, bearing: 331.098258 deg, approach rate: -0.543598 m/s, LOS rate: 0.000711 deg/s, cmd heading: 332.542513 deg, new cmd heading: 332.543496 deg. zoM7UHeadingCmd: 5.803979 target range: 260.137909 and range: 261.30 m.RoU2@JoQboQZoQBoy:ny2nymmvBlkkkk_?ɞ5lB= 9=ؿI9 E ɝAiAIE$kď,r?AI<)<jK.JNrK,zK,K.K.\SKFCA9;;96651//,''2G;*'((+-,,)""#.763.'$  > ²@Y>ۼ@>;Ƚ9>=JAHRS rotation from veh to nav: [[0.883241,0.454293,-0.116202],[-0.458570,0.888582,-0.011633],[0.097970,0.063562,0.993157]]y>H C?!?o6YݿCo?0Ӈ?@E? ?ɫ> ²@>h;>ƑCR\eBR IV=V=IZBIZb٥-= 5c=95XºQ 5>99 =F٦=[EyEB E> IM4YMT?U4yMX3M@xBQUU?MDCM;M;M4evB)e Aa}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 260.14 m.o7o7 ProNav: ac range: 260.137909 m, nav range: 250.286621 m, bearing: 331.098555 deg, approach rate: -0.573150 m/s, LOS rate: 0.000873 deg/s, cmd heading: 332.543496 deg, new cmd heading: 332.544388 deg. zob8HeadingCmd: 5.803995 target range: 260.137909 and range: 261.30 m.RoS@JoboZoBo:n2nmmlkkkkL?ɞlBd& ׿I ɝiI6i'>IC)}G vAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)IvAB! qď,<Ƚ?AF@YF]@FYʽ9FC=VAHRS rotation from veh to nav: [[0.883085,0.453957,-0.118675],[-0.458693,0.888474,-0.014634],[0.098796,0.067359,0.992825]]yFH?9?ɫF@F4;FǑC`bpeBf IeMb@Mb@Mb@a a)aIaiaeMbX?{Gze ?e̼eף)ezTAIe?AieAAedSA aefJAIu)Iu٥ E= E=9nQ > F٦^Ey > 4YT?4yL6NxB ?:?aC:;p;F 4)AoFNOT Ignoring new targets: 260.14 m.oM%8oM%8 ProNav: ac range: 260.137909 m, nav range: 250.061584 m, bearing: 331.099491 deg, approach rate: -0.542145 m/s, LOS rate: 0.002258 deg/s, cmd heading: 332.544398 deg, new cmd heading: 332.547210 deg. zo\8 HeadingCmd: 5.804044 target range: 260.137909 and range: 261.30 m.Ro @Jo boZoBo:n2nmmvBlkkkk`?ɞ:lB CٿI ɝ!i!I%({ HH IIVfBI =II&I<*IEG y=G G rAG 2B Q :By  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753854J J aJ J J J p9J J J J J ʓ:J ˓:6$xď,%?A2~ò@Y2P@2G̽92t=BAHRS rotation from veh to nav: [[0.883154,0.452996,-0.121795],[-0.458325,0.888594,-0.018413],[0.099886,0.072083,0.992384]]y2HB??-@4Uݿ\o?ڒ?`t??ɫ2~ò@2Ȓ;2ƑCFeBF4 IIR]IRt٥Z1= ZY=9Z>Q ^>\\ ^F٦b`Eyby: b> dj4YfT?j4yf8fZxBlnn?f{Cf#;f@;f4ryB)rArԡEoFNOT Ignoring new targets: 260.14 m.o8o8 ProNav: ac range: 260.137909 m, nav range: 249.857559 m, bearing: 331.100316 deg, approach rate: -0.512316 m/s, LOS rate: 0.002073 deg/s, cmd heading: 332.547212 deg, new cmd heading: 332.549688 deg. zo8HeadingCmd: 5.804087 target range: 260.137909 and range: 261.30 m.Ro@JoboZoBo:n2nmmlkkkk?ɞ%UlB%N )-$׿I) 54 ɝ1i1I5Q<ԡ M~ď,?A]eB]G IiiIiԉIlI)٥= <=9Q > F٦cEy > 4Y0 U?4y<ixB?C::r4)oAo FNOT Ignoring new targets: 260.14 m.o(8o(8% ProNav: ac range: 260.137909 m, nav range: 249.622025 m, bearing: 331.101270 deg, approach rate: -0.568779 m/s, LOS rate: 0.002306 deg/s, cmd heading: 332.549698 deg, new cmd heading: 332.552563 deg. zo%8%HeadingCmd: 5.804137 target range: 260.137909 and range: 261.30 m.Ro%~@Jo)bo)Zo)Bo):n)2n1m1m1l1k9k9k9k="@UAQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255033ɞslB 靭׿I ɝiI  4ď,?A>в@Y>˹@>ӽ9>t=JAHRS rotation from veh to nav: [[0.883609,0.450091,-0.129045],[-0.456729,0.889230,-0.025851],[0.103116,0.081781,0.991302]]y>HF?J?`@;ݿ@t?xe??@?ɫ>в@>m;>ɑCReBRV I=Mb@Mb@Mb@9 9)9I9i9=Dl?y&1Q=O ?=`=u)=KUAI=;?Ai=@A=zTA 99I]RI]4٥mJz= mN=9m1Q u>qy }F٦}eEy}; }> 4Y"U?4y>yxB ?:?C ;; ;a"4|B)JAZH<RHp<H>HH IIfBI =II&I.<*IE2I:IBIJI =RI =ZI 5oyFNOT Ignoring new targets: 260.14 m.o98o98 ProNav: ac range: 260.137909 m, nav range: 249.403290 m, bearing: 331.102328 deg, approach rate: -0.521900 m/s, LOS rate: 0.002527 deg/s, cmd heading: 332.552567 deg, new cmd heading: 332.555745 deg. zo8HeadingCmd: 5.804193 target range: 260.137909 and range: 261.30 m.Ro@JoboZoBo:n2nmm:wBlkkkk@ɞulBu q}׿Iy }h{ɝyiyI}in=i=)@)F!"F!*F!2F%5:F)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7586711GE t=GM ?GM >G! 2B) :B9  Om >Y ]ď,/?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010446jK=TOrK9zK9K=K=iRT oh1ybO@6*Lyr^D.MeBMi IIeaIe錴٥me= uJ=9uQ u>yy }F٦}hEy > 4Y`)U?4yAxB?C:;p)4) AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 260.14 m.oO8oO8 ProNav: ac range: 260.137909 m, nav range: 249.180588 m, bearing: 331.103408 deg, approach rate: -0.585359 m/s, LOS rate: 0.002840 deg/s, cmd heading: 332.555736 deg, new cmd heading: 332.558978 deg. zoz8HeadingCmd: 5.804249 target range: 260.137909 and range: 261.30 m.Roi@JoboZoBo:n2nmmlkkkkz@ɞ-lB-% )-;׿I11 5$ɝ9i9I= Gď,ʍI?A2ڲ@Y2gչ@24ܽ92J۶=:AHRS rotation from veh to nav: [[0.883728,0.447773,-0.136105],[-0.455466,0.889742,-0.030165],[0.107591,0.088649,0.990235]]y2H`G? P?k[&ݿx?㞿??`?ɫ2ڲ@2[֢;2ƑCvfBv Iz0>zp<Mb@Mb@Mb@ )Iim?y&1y&1|?`e`)zTAIj>Ai;?A IAIUI٥?= D=90Q > F٦kEy:; > 4Yz:U?4yDxB?:?C ;L ;04 B) ̑A աEo1=FNOT Ignoring new targets: 260.14 m.o=2&oE2&ԑ ProNav: ac range: 260.137909 m, nav range: 248.949310 m, bearing: 331.103170 deg, approach rate: -0.552572 m/s, LOS rate: -0.000568 deg/s, cmd heading: 332.558987 deg, new cmd heading: 332.558275 deg. zopǷHeadingCmd: 5.804237 target range: 260.137909 and range: 261.30 m.RoO@JoboZoBo:n2nmmMwBlkkk k  @ɞ]lB]> Y]{ֿIY e$ɝaiaIe+HHIIfBI =IID&I0<*IEG ;=G 2B :B  O > DAT read: 03:58:48.0208 LVL= 23280, 29009, 20178, 32755, AGC= 62, IDX= 414, 0.25,-1.757, 3.070,-1.801,-2.433, PHS= 0.763,-0.733, 0.628, RAW= 145.3, -9.2, CAL= 151.9, -18.0, ROT= 358.1, 18.0  Ygot valid direction response: 03:58:48.0208 LVL= 23280, 29009, 20178, 32755, AGC= 62, IDX= 414, 0.25,-1.757, 3.070,-1.801,-2.433, PHS= 0.763,-0.733, 0.628, RAW= 145.3, -9.2, CAL= 151.9, -18.0, ROT= 358.1, 18.0  PDAT read: Bearing 358.1, 18.0 (Local)  ~Local bearing/azimuth received: Bearing 358.1, 18.0 (Local)  DAT read: Range 10 to 50 : 259.2 m (Round-trip 345.6 ms) speed 0.4 m/s  *DAT read: user:234>  BDAT read: Tx time:03:58:49.1211  $Ping request sent. } SC?} ;} ? } :M"@)} l$I} )@i} |٠} 3@} |٠> y )y } #K?)?ԍ"Ŀi} E>} K$>} } |٠> y )y  :publishing transmit ping time  Fpublishing direction and range infoy y} f#j?s$;[@ӿy Yy y  )y Iy iy y y y y y )y Iy iy y y y )y } #K?)?ԍ"Ŀiy y y y y )y oď,ac?ADfB IIpI<٥e= mA=9mQ > F٦mEy > 4YLU?4yGxB?C;;284)wAJpRpga?ApCpCp&@vz5n@KE vx_Svf#j?s$;[@ӿpp|٠>v+Pk@uC#]D|Jv6BLD?~[z(ܿF=cnoʿjprp_CZp?bp"OAzpĈ@p~b_?p"OAppp@ addTargetRange:: Added new target pos. range: 259.200012 m, deltaT: 3.781710 s, deltaX: -2.099976 m, approachRate: -0.555298 m/s, rangeRepo size: 4  Added new target pos. range: 258.044708 m, bearing: 332.508189 deg, lat: 36.779377 deg, lon: -121.859782 deg, deltaT: 3.781710 s, deltaX: -2.093201 m, approachRate: -0.553506 m/s, posRepo size: 4 oFNOT Ignoring new targets: 258.04 m.oo)= ProNav: ac range: 258.044708 m, nav range: 250.733200 m, bearing: 332.300869 deg, approach rate: 0.000000 m/s, LOS rate: -0.000568 deg/s, cmd heading: 332.558277 deg, new cmd heading: 332.557508 deg. zo9eHeadingCmd: 5.804224 target range: 258.044708 and range: 259.20 m.Roe3@JoiboiZoiBoi:ni2nqmymylykykyk@33p@k@Dj?ɞlB5 aeTտIi m*ɝiiiIurJyqg_WSPHFFB<972-('%"BKe?:Ke>Fu6"Fq*Fq2F}o0:FyQ G MR!=G G tAGY y 2B :B  O >ўď,(~?Anh̲@Yn;ǹ@n9nm=vAHRS rotation from veh to nav: [[0.882599,0.448588,-0.140669],[-0.456819,0.889013,-0.031193],[0.111064,0.091791,0.989565]]ynH@>?`?q¿<ݿr?@n???ɫnh̲@n&;nőC~_fB~ IJoJfJJJ>:J9JJI%I%˴٥5= 5X=95BQ =>99 =F٦=pEyE E> I]4YM][U?]4yMlJMxBY]ge?M(CM{8;MU9;M>4mB)mLAm֡EoFNOT Ignoring new targets: 258.04 m.o48o48 ProNav: ac range: 258.044708 m, nav range: 250.525681 m, bearing: 332.301730 deg, approach rate: -0.594188 m/s, LOS rate: 0.002466 deg/s, cmd heading: 332.557512 deg, new cmd heading: 332.560096 deg. zo8HeadingCmd: 5.804269 target range: 258.044708 and range: 259.20 m.Ro@JoboZoBo:n2nmml k k k k@n?ɞmB- 靍տI `/ɝiI@Jď,:?A:@Y:м@:9:ǂ=BAHRS rotation from veh to nav: [[0.881824,0.450175,-0.140462],[-0.457840,0.888647,-0.026256],[0.113001,0.087462,0.989738]]y:H7??@@Mݿ@o?⚿?c??ɫ:@:;:ǑCjwfBj IJHlBHnAAHr>HpHr<IIrJgBIpIpIp&Ir<*Ir}Ei|I|Mb@Mb@Mb@ )IiV-?{GztMb` ?ף)VAIASA GIAI9I\٥[= A=9Q > F٦rEy-E > 4YlU?4yHMxB ?:?FC;;F4)AoFNOT Ignoring new targets: 258.04 m.o7o7- ProNav: ac range: 258.044708 m, nav range: 250.293457 m, bearing: 332.301952 deg, approach rate: -0.550828 m/s, LOS rate: 0.000528 deg/s, cmd heading: 332.560108 deg, new cmd heading: 332.560776 deg. zo57HeadingCmd: 5.804280 target range: 258.044708 and range: 259.20 m.Ro@JoboZoBo:n2nmmwBlkkkk 8W쫯ď,q?A:ȼ@Y:@:9:w=<jKNNrKN9zKLKNKN     &+-246>NVAHRS rotation from veh to nav: [[0.881351,0.450284,-0.143055],[-0.458306,0.888375,-0.027319],[0.114785,0.089640,0.989338]]y:H@4?s?O¿Tݿ`m?ab?@?`?ɫ:ȼ@:8;:ƑC^fB^ IIf2If٥n> nY=9rYQ r>pp vF٦vuEyvKݺ v> xe4Yz |U?m4yzOzxBimm?z`Cz Ѳď,R˾?A2Y@Y2,@292F=>AHRS rotation from veh to nav: [[0.881503,0.449431,-0.144791],[-0.457761,0.888614,-0.028640],[0.115792,0.091525,0.989048]]y2H@E5?@{?¿Kݿ`o?S?5n?`G?ɫ2Y@2z;2ǑCl~fB IMb@Mb@Mb@ )IiDl?~jth?y&1|O ?D;`)RAI;Ai F٦xEy/: > 4Y؍U?4yRyBS ?:?C;y;=T4B)zAEo%FNOT Ignoring new targets: 258.04 m.o%ҷo%ҷ= ProNav: ac range: 258.044708 m, nav range: 249.849426 m, bearing: 332.301578 deg, approach rate: -0.565765 m/s, LOS rate: -0.001439 deg/s, cmd heading: 332.561446 deg, new cmd heading: 332.559637 deg. zo=|EHeadingCmd: 5.804261 target range: 258.044708 and range: 259.20 m.RoE@JoAboAZoABoA:nA2nImImMwBlIkQkkk ?ɞcmBn! !% ӿI! -D,@ɝ)i9I=l%H-CHtIIgBI =II&I<*IEYGM =G! 2B1 :BA  OU >a % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011571ď,?AI)<:IJ@Y:@:r9:DW=BAHRS rotation from veh to nav: [[0.881645,0.448776,-0.145953],[-0.457361,0.888777,-0.029931],[0.116288,0.093142,0.988839]]y:Ho6?@?¿ gEݿp?R Ž?+ط??ɫ:IJ@:;:őCJfBJ IN=N>IV^IV٥Z܅= ^]=9^Q b>`d fF٦fzEyj: j> pr4Yr8U?v4yrUr,yBtvv?rCrF:rR:rZ4zB)~UA~Eo!%FNOT Ignoring new targets: 258.04 m.o%շo-շ5 ProNav: ac range: 258.044708 m, nav range: 249.644623 m, bearing: 332.301036 deg, approach rate: -0.551395 m/s, LOS rate: -0.001461 deg/s, cmd heading: 332.559643 deg, new cmd heading: 332.558015 deg. yzoYHeadingCmd: 5.804232 target range: 258.044708 and range: 259.20 m.RoE@JoboZoBo:n2nmmlkkkk@ɞ}mB}E* y}iӿIy  LEɝiI]( I%ď,?A)^-G j`wAJpJrp=JvnJvjJtJtJv|;:Jv9JtJt)I5=`wA=B}/@Y}@}b9}=AHRS rotation from veh to nav: [[0.881261,0.449291,-0.146685],[-0.457931,0.888489,-0.029771],[0.116952,0.093408,0.988735]]y}HJ3?`.?@¿`Nݿn??|? ?෣?ɫ}/@};}ȑCgBIItI%x٥= :=9ǺQ >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515565 F٦}Ey̺ > 4YOU?4yXFyB?C:N:ob4 )  A oFNOT Ignoring new targets: 258.04 m.oo% ProNav: ac range: 258.044708 m, nav range: 249.403519 m, bearing: 332.300434 deg, approach rate: -0.526978 m/s, LOS rate: -0.001316 deg/s, cmd heading: 332.558004 deg, new cmd heading: 332.556197 deg. zo%Cg-HeadingCmd: 5.804201 target range: 258.044708 and range: 259.20 m.Ro-@JoQboQZoQBoY:na2nammlkkkk;@ ɞemBm ' im{ӿIi m LɝiiqIu e*H H II gBI =I I &I (<*I E2B :B  O- >wƯď, ?A:@Y:j@:9:=BAHRS rotation from veh to nav: [[0.880814,0.450237,-0.146472],[-0.458736,0.888109,-0.028687],[0.117167,0.092460,0.988799]]y:H/??¿[ݿ@dk?>`?@z?@=?ɫ:@:"Ԕ;:ǑCJ*gBJ)IaMb@Mb@Mb@ )IiB`"?{Gz?y&1?ף<`e)I&;Ai&;ARA  GAIgI٥Ţ= ==9Q > F٦Ey > 4YU?4yZ]yB?:L?Ch;;i4 B) ӏA o15FNOT Ignoring new targets: 258.04 m.o=ʸo=ʸU ProNav: ac range: 258.044708 m, nav range: 249.164368 m, bearing: 332.298152 deg, approach rate: -0.579518 m/s, LOS rate: -0.005535 deg/s, cmd heading: 332.556201 deg, new cmd heading: 332.549348 deg. zo] sHeadingCmd: 5.804081 target range: 258.044708 and range: 259.20 m.Ro@JoboZoBo:n2nm m wBl k k kk@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019484ɞ-mB-* )-ҿIQ ]dQɝYiYI]k, BDAT read: Rx Time:03:58:51.8868  TRx dataTimestamp_ set to:1761364732.809803 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272492̯ď,4?AjKN7NrKNػ9zKLKNKN 2bwZ6 s`n,w8j@Yj@j9jؼ= AHRS rotation from veh to nav: [[0.880348,0.451222,-0.146243],[-0.459570,0.887715,-0.027528],[0.117401,0.091443,0.988866]]yjH+??¿iݿ(h?+0 ?h?ɤ?ɫj@j;hGgB=:IiAIAIIII٥}̑= }R=9KQ > F٦Ey! > 4YU?4y$]syB?C;C:p4B)AE B*** querying acoustic contact ***:p Bp o9EFNOT Ignoring new targets: 258.04 m.oM%oM% ProNav: ac range: 258.044708 m, nav range: 248.948044 m, bearing: 332.296133 deg, approach rate: -0.538541 m/s, LOS rate: -0.005031 deg/s, cmd heading: 332.549343 deg, new cmd heading: 332.543281 deg. zo\HeadingCmd: 5.803975 target range: 258.044708 and range: 259.20 m.Ro*@JoboZoBo:n2nmmlkkkkT5 @ɞemBeD/ imҿIi 8uVɝiI/Z}ӯď,N?AB@YBx@BF9BE=^AHRS rotation from veh to nav: [[0.880054,0.451564,-0.146952],[-0.459973,0.887508,-0.027455],[0.118023,0.091756,0.988763]]yBH@g)?l?Q¿3pݿwf?+6?@O}?`?ɫB@Bk2;@fkgBfQI]Mb@Mb@Mb@Y Y)YIYiY]ʡE?Zd;O?Mb]?]j<])]OAI]8AiY]7QA Y]EAIuEIu٥= J=9ʺQ > F٦Eyğ >9 M4YlU?M4y_yBM?U:UB]?C<j;w4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779424)^Ao9mFNOT Ignoring new targets: 258.04 m.om0ou0} ProNav: ac range: 258.044708 m, nav range: 248.720322 m, bearing: 332.293743 deg, approach rate: -0.484220 m/s, LOS rate: -0.005087 deg/s, cmd heading: 332.543278 deg, new cmd heading: 332.536101 deg. zom_HeadingCmd: 5.803850 target range: 258.044708 and range: 259.20 m.Ro#@JoboZoBo:n2nmmwBlkkkk@ɞ5mB=$ 9=2ҿI9 =[\ɝ9aiaIe-,2HHIIHhBIII&I<*IE2I-C:I-CBIJIň =RIň =ZIż5F6"F*F2F0:FG= Gp=ԑJ (3J w3J (.Jm oJm dJm 3Ji Jm >:Jm |9Jm (3Ji Ji !} Jm O;!} Jm :!} Jm :!}  DAT read: 03:58:51.8868 LVL= 18496, 20945, 15410, 19219, AGC= 63, IDX= 98,-0.24, 0.045,-1.257, 0.098,-0.794, PHS= 0.927,-0.416, 0.889, RAW= 148.6, -20.5, CAL= 153.8, -27.5, ROT= 356.2, 27.5  Ygot valid direction response: 03:58:51.8868 LVL= 18496, 20945, 15410, 19219, AGC= 63, IDX= 98,-0.24, 0.045,-1.257, 0.098,-0.794, PHS= 0.927,-0.416, 0.889, RAW= 148.6, -20.5, CAL= 153.8, -27.5, ROT= 356.2, 27.5  PDAT read: Bearing 356.2, 27.5 (Local)  ~Local bearing/azimuth received: Bearing 356.2, 27.5 (Local)  DAT read: Range 10 to 50 : 271.1 m (Round-trip 361.5 ms) speed 0.4 m/s  *DAT read: user:235>  BDAT read: Tx time:03:58:52.9711  $Ping request sent. I )I M tR?֡?޿gֿiM [>M >M ӇM > I )I  :publishing transmit ping time۱  Fpublishing direction and range infoI yM 8sjR?QJݿI YI I )I II iI I I I I I )I II iI I I I )I M tR?֡?޿gֿiI I I I I )I Թ G =G ?G ?G 2B :B  O >Pگď,i?AjM@Yj @jF9jغ=AHRS rotation from veh to nav: [[0.879389,0.452962,-0.146634],[-0.461177,0.886928,-0.025976],[0.118288,0.090467,0.988850]]yjH`#?`S?¿`ݿa?H?(? ?ɫjM@j[V;hgBgIIE[IE:٥]= eB=9e%Q e>ii mF٦mEym4X u> q}4YuNU?4yuObuyB?u-Cu;uG;u64B)"AEJpRp3d?ApCpCp @v5-m@V/'_v8sjR?QJݿpӇp >v:Ϥk@~?^T{Xvs(w8?b>>*ܿ8pֿjprp&]CZpu0?bpl>zppu0?ppp8{Cp>@m addTargetRange:: Added new target pos. range: 271.100006 m, deltaT: 4.040720 s, deltaX: 11.899994 m, approachRate: 2.945018 m/s, rangeRepo size: 4 } Added new target pos. range: 269.895447 m, bearing: 331.315665 deg, lat: 36.779387 deg, lon: -121.859823 deg, deltaT: 4.040720 s, deltaX: 11.850739 m, approachRate: 2.932828 m/s, posRepo size: 4 oFNOT Ignoring new targets: 269.90 m.oo ProNav: ac range: 269.895447 m, nav range: 251.219955 m, bearing: 331.679663 deg, approach rate: 0.000000 m/s, LOS rate: -0.005087 deg/s, cmd heading: 332.536093 deg, new cmd heading: 332.530505 deg. zoHeadingCmd: 5.803752 target range: 269.895447 and range: 271.10 m.RoV@Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k5p@k5@?ɞnB81 靥ѿI aɝiI4q ď,?A02A:H@Y:@:!9:=VAHRS rotation from veh to nav: [[0.878718,0.453947,-0.147606],[-0.462196,0.886413,-0.025441],[0.119291,0.090579,0.988719]]y:H`t?w ? ¿ݿ@~]?U ډ?-0??ɫ:H@:;:őCngBnhIrC=r4=IvIIv.٥"; R=99*Q >    F٦ Ey N > %4YV?%4ydyB!%%?IC;;4))5A1oaeFNOT Ignoring new targets: 269.90 m.omom} ProNav: ac range: 269.895447 m, nav range: 251.002762 m, bearing: 331.677001 deg, approach rate: -0.590006 m/s, LOS rate: -0.007240 deg/s, cmd heading: 332.530492 deg, new cmd heading: 332.522496 deg. zo}HeadingCmd: 5.803612 target range: 269.895447 and range: 271.10 m.Ro1@JoboZoBo:n2nmmlkkkk@=o?ɞ0nBV9 ӿI dfɝiI)7ԩH% >H% ,CH% II% hBI! I! I! &I% <*I% E ď,c|?ANG@YN@N9N縘=ZAHRS rotation from veh to nav: [[0.878443,0.456764,-0.140373],[-0.462600,0.886508,-0.010279],[0.119746,0.073966,0.990045]]yNH4?;?<ݿ E^?] ?s?s?ɫNG@Nk;NƑCfgBfIeMb@Mb@Mb@a a)aIaiaei|?5?Mb`?e?e;e̼)eNAIaie9Aa aezDAIu1Ius٥@= B=9Q > F٦Ey' > 4YV?4ygyB?:?hCKb;bY;^4B)ˎAoiJ}qJ}jJ}4JyJ}D:J}9J}3JyJ}`Z;J}cZ;J} :J} :uFNOT Ignoring new targets: 269.90 m.oo ProNav: ac range: 269.895447 m, nav range: 250.763535 m, bearing: 331.676103 deg, approach rate: -0.545929 m/s, LOS rate: -0.002051 deg/s, cmd heading: 332.522487 deg, new cmd heading: 332.519791 deg. zo%ԱHeadingCmd: 5.803565 target range: 269.895447 and range: 271.10 m.Roζ@JoboZoBo:n2nmmwBlkkkk ?ɞ]PnB]) YeҿIa eulɝaiaIe Y:9 5ď,h?AjK.^NrK.ػ9zK,K.K.}ne_\XROQVTHHnjN<1,''"$)-51-(#   2K0*K0>@Y>쓹@>9>u=FAHRS rotation from veh to nav: [[0.878874,0.455660,-0.141259],[-0.461893,0.886839,-0.013081],[0.119314,0.076743,0.989886]]y>H`?@)?¿ݿ`?JʊU?q?&?ɫ>@>;>đCNgBNIIV6IV٥^~= R=9W:Q > F٦Ey% ; %> )54Y-^(V?54y-Qj-yB154=?-C-;-;-/4A)EAAeB*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 269.90 m.ouv-ouv- ProNav: ac range: 269.895447 m, nav range: 250.542084 m, bearing: 331.675222 deg, approach rate: -0.595077 m/s, LOS rate: -0.002370 deg/s, cmd heading: 332.519782 deg, new cmd heading: 332.517137 deg. zo'иHeadingCmd: 5.803519 target range: 269.895447 and range: 271.10 m.Rom@JoboZoBo:n2nmmlkkkk?ɞinB]W9 ҿI 7qɝiI=2=i ď,3ѿ?A b @Ybݝ@b99bZ=rAHRS rotation from veh to nav: [[0.879419,0.454026,-0.143118],[-0.460818,0.887339,-0.016608],[0.119454,0.080556,0.989566]]ybH@3$??Q¿ ~ݿ`e??`S? ?ɫb @bT;`~gB~Ii I Mb@Mb@Mb@ )Iid;O?Mbp~jt?ļ)MAI=6Ai=6A"MA AAISIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750218٥= >=9^Q > F٦Ey8; > 4Y  ;V?4y fm yB?:? C < i< 4B)AEoamFNOT Ignoring new targets: 269.90 m.qo<o< ProNav: ac range: 269.895447 m, nav range: 250.291489 m, bearing: 331.674752 deg, approach rate: -0.535753 m/s, LOS rate: -0.001006 deg/s, cmd heading: 332.517132 deg, new cmd heading: 332.515721 deg. zo0HeadingCmd: 5.803494 target range: 269.895447 and range: 271.10 m.Ro9@JoboZoBo:n2nmm0wBl k k k k_?ɞnB[) 靕]ԿI wɝiI"@=)9@H>HH0IIhBI =IID&I<*IbE)ԙF6"F*F2Fo0:FJoJdJ3JJ>:J|9J(3JJO;JO;J:J: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003210 G Nw =G 2B :B  O >Cď, ?A>0@Y>@>9>o~=JAHRS rotation from veh to nav: [[0.880301,0.451686,-0.145089],[-0.459070,0.888168,-0.020313],[0.119688,0.084487,0.989210]]y>Hl+?l?F¿haݿk?@̔䣾???ɫ>0@>;ll nF٦rEyr; r> tz4YvJV?z4yvpvyBxz~?vCv:v;v%4B)8AEo)5FNOT Ignoring new targets: 269.90 m.o5޷o5޷M ProNav: ac range: 269.895447 m, nav range: 250.078888 m, bearing: 331.674248 deg, approach rate: -0.642050 m/s, LOS rate: -0.001522 deg/s, cmd heading: 332.515711 deg, new cmd heading: 332.514199 deg. zoMUHeadingCmd: 5.803468 target range: 269.895447 and range: 271.10 m.RoU@JoQboQZoQBoY:nY2nYmamalakakakikm@E9@ɞnB!D @1<靝ҿI |ɝiIC) +ď,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506371:轲@Y:@:|9::3=BAHRS rotation from veh to nav: [[0.880848,0.449936,-0.147186],[-0.457891,0.888694,-0.023623],[0.120174,0.088204,0.988827]]y:H/??`¿Nݿ /p?@0þ?`?x?ɫ:轲@:;:őCJhBJIIV_IV٥^+= ^L=9bȟQ b>`d fF٦fEyfU; f> hr4YjA\V?r4yjrjzBprr?jCjD;j/;j'4zB)z!AzE|o%FNOT Ignoring new targets: 269.90 m.o%o- ProNav: ac range: 269.895447 m, nav range: 249.846390 m, bearing: 331.673619 deg, approach rate: -0.578323 m/s, LOS rate: -0.001568 deg/s, cmd heading: 332.514209 deg, new cmd heading: 332.512318 deg. zoHeadingCmd: 5.803435 target range: 269.895447 and range: 271.10 m.Ro@JoboZoBo:n2nmmlkkkk *@ɞ=nBE3 AE_ԿIA E뀽ɝIiIIMf'Fԁ ZH <RH 4<H >H +CH UII iBI =I I &I <*I EXď,?A2PExceeded connect timeout, disconnecting.Y8hBI%>= AAJ]qJ]kJ]4JYJ]D:J]9J]3JYJ]`Z;J]cZ;J]:J]:}Mb@Mb@Mb@y y)yIyiy}l?:vZd;O}?}T}j)}"MAI}7Ai}7A}QLA yyIgI٥n= .=9Q > F٦Ey > 4YpV?4yQv'zB?:?C::Z4B)AEoFNOT Ignoring new targets: 269.90 m.o 7o 75 ProNav: ac range: 269.895447 m, nav range: 249.569321 m, bearing: 331.673838 deg, approach rate: -0.591343 m/s, LOS rate: 0.000468 deg/s, cmd heading: 332.512324 deg, new cmd heading: 332.512982 deg. zo57=HeadingCmd: 5.803446 target range: 269.895447 and range: 271.10 m.Ro=յ@JoAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026690bo!Zo!Bo!:n)2n)m)m-wBl1k1k1k1k=`m@ԁɞnB&/ ԿI ]/ɝiIrSI= BDAT read: Rx Time:03:58:55.7341  TRx dataTimestamp_ set to:1761364736.858481 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280497G 2B :B  O > ď,8?AjKz@]MrKzػ9zKxKzKz    >qj @Y @ 9 =%AHRS rotation from veh to nav: [[0.880568,0.449440,-0.150345],[-0.458184,0.888424,-0.027732],[0.121106,0.093306,0.988245]]y H`-? ?~>ÿRݿm?e? ? ?ɫ @ J ; 5^hB5IIEFIEפ٥U= ]d=9]]+Q ]>aa eF٦eEyeJ e> iu4YmtV?}4ymxm9zBy}}?mCm;m#;m4)AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 269.90 m.o7o7% ProNav: ac range: 269.895447 m, nav range: 249.357407 m, bearing: 331.674015 deg, approach rate: -0.591174 m/s, LOS rate: 0.000494 deg/s, cmd heading: 332.512979 deg, new cmd heading: 332.513510 deg. zo-z7-HeadingCmd: 5.803455 target range: 269.895447 and range: 271.10 m.Ro-赹@Jo1boQZoQBoQ:nQ2nQmYmYlYkYkakakeD- @ɞ-nB5l/A 15EӿI1 5ɝ9i9I=pL#ď,ōU?A6δ@Y6@6896=BAHRS rotation from veh to nav: [[0.880183,0.449828,-0.151436],[-0.458788,0.888085,-0.028606],[0.121620,0.094655,0.988053]]y6H`u*???bÿ\ݿ`1k?J"?V;?!?ɫ6δ@6;6đCJyhBJI~DAT read: 03:58:55.7341 LVL= 18128, 27713, 17250, 31987, AGC= 62, IDX= 406, 0.04,-2.245, 2.915,-2.182,-3.077, PHS= 0.920,-0.244, 0.892, RAW= 148.8, -25.7, CAL= 153.0, -32.0, ROT= 357.0, 32.0 Ygot valid direction response: 03:58:55.7341 LVL= 18128, 27713, 17250, 31987, AGC= 62, IDX= 406, 0.04,-2.245, 2.915,-2.182,-3.077, PHS= 0.920,-0.244, 0.892, RAW= 148.8, -25.7, CAL= 153.0, -32.0, ROT= 357.0, 32.0  PDAT read: Bearing 357.0, 32.0 (Local) ~Local bearing/azimuth received: Bearing 357.0, 32.0 (Local) %DAT read: Range 10 to 50 : 269.0 m (Round-trip 358.7 ms) speed 0.4 m/s -*DAT read: user:236> -BDAT read: Tx time:03:58:56.8212 5$Ping request sent.5bk?b#ybZd? b6&@)bLIb*@ib5bb@b5? `)`Թb۠QC?CJ?0Oۿib?bw>bQwVb5? `)`:publishing transmit ping time1Fpublishing direction and range info`ybi?䃣4l?<࿹`Y` `)`I`i````` `)`I`i``` `)`b۠QC?CJ?0Oۿi```` `)`H>H*CHIIZiBI =IID&I(<*IE]Mb@Mb@Mb@Y Y)YIYiY]n?99 =F٦EEyE E> 4YV?4y[}tIRzBj?: ?EC;M4B)~A nManaging dock network, ignoring radio surface power offJp`RpbW?ApbCpbCpb @vbDGYl@_1h'(avbi?䃣4l?<pbQwVpb5?vbOlTj@٢[Ҋɝ i I OE >qF)"F)*F)2F-l5:F)ԑjK̨NrK9zKKK\S`7b? x[G7/##"*#GM;=G 2B:B) O-)?>ď,?A D~@Y~蒹@~9~\=UAHRS rotation from veh to nav: [[0.878365,0.451436,-0.157097],[-0.461764,0.886316,-0.034900],[0.123482,0.103196,0.986966]]y~H?U?Ŀݿ\?`_ޡ?k?:?ɫ~@~);|]hBeIiIIp=)p=J-pJ-iJ-3J)J-A:J-ڈ9J-(3J)!5@!5@!5@!5@IE)IE٥U/= U=9ULQ ]>YY ]F٦}Ey꽻 > 4Y0V?4ynzB ?rC::ˏ4B)0AEoFNOT Ignoring new targets: 267.79 m.Թo9o9 ProNav: ac range: 267.792847 m, nav range: 246.978485 m, bearing: 332.424209 deg, approach rate: -0.589157 m/s, LOS rate: 0.008179 deg/s, cmd heading: 332.514373 deg, new cmd heading: 332.528900 deg. zo9HeadingCmd: 5.803724 target range: 267.792847 and range: 269.00 m.Ro@JoboZoBo:n2nmm lk1kQkQk]?ɞGoBG- 靵ԿI XɝiIRH H II iBI =I I &I <*I E2I-+C:I-+CBI-͔CJI-͉ =RI-͊ =ZI-5G=G2B:B O>'ď,?A5hB52IIMb@Mb@Mb@ )Ii-?l񢿜 rh??C)|KAI2Ai2A ?AI&I3٥X= (=9Q >11 =F٦=Ey= => AM4YEV?U4yEEzBU?U:UQ U?ECE;Eo:E9ԏ4Y)eȌAaoFNOT Ignoring new targets: 267.79 m.oY#9oY#9E ProNav: ac range: 267.792847 m, nav range: 246.696014 m, bearing: 332.428341 deg, approach rate: -0.609380 m/s, LOS rate: 0.008926 deg/s, cmd heading: 332.528907 deg, new cmd heading: 332.541319 deg. zoE9MHeadingCmd: 5.803941 target range: 267.792847 and range: 269.00 m.RoM⹹@JoIboQZoQBoQ:nQ2nQmYm]wBlYkYkkk?yɞhoB`Z2 靕ѿI ՑɝiI 'V-ď,h?ABSc@YB&^@Bl9B=RAHRS rotation from veh to nav: [[0.875045,0.456980,-0.159579],[-0.467236,0.883558,-0.031865],[0.126436,0.102444,0.986671]]yBH^? '??`mĿ@3ݿF?P /?9?Β?ɫBSc@B> ;BőCViBVOIfPBattery below minimum, enabling chargingIr^IrjKNOrK9zKKK Cg_E*ysspvreYQPPMKGEDB?;833310/--((&%$"!2K=rA*K9٥EU= MX=9MeQ M>IQ UF٦UEyUg ]> Ye4Y]2V?m4y]]zBim m?]C]W:] :]ڏ4uB)}vA}EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 267.79 m.or,9or,9Ա ProNav: ac range: 267.792847 m, nav range: 246.479279 m, bearing: 332.431847 deg, approach rate: -0.582065 m/s, LOS rate: 0.009423 deg/s, cmd heading: 332.541311 deg, new cmd heading: 332.551837 deg. zo9HeadingCmd: 5.804124 target range: 267.792847 and range: 269.00 m.Roc@JoboqZoqBoq:nq2nymymlkkkk ?ɞ=oB=eE AEοIA M,ɝiiqIu 5YV4ď,>x?AI)BwH@YBJC@B9B=NAHRS rotation from veh to nav: [[0.873481,0.460347,-0.158466],[-0.470088,0.882160,-0.028478],[0.126683,0.099368,0.986954]]yBH@?Tv?HĿ޿:?S)!7?+p??ɫBwH@Btk;B‘CV#iBV_IeMb@Mb@Mb@a a)aIaiae(\?S㥛y&1ez?e/ݼe`e)e IAIaie(2AeIA ae>AI QI ٥v= <=9%Q %>!! %F٦-Ey-= -> 1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002241E4Y5]V?M4y5Q5zBM?M:M M?5C5j;5j;5V4a)eAAaoFNOT Ignoring new targets: 267.79 m.o 9o 9 ProNav: ac range: 267.792847 m, nav range: 246.228653 m, bearing: 332.435152 deg, approach rate: -0.573662 m/s, LOS rate: 0.007574 deg/s, cmd heading: 332.551829 deg, new cmd heading: 332.561756 deg. zoS9HeadingCmd: 5.804297 target range: 267.792847 and range: 269.00 m.Roμ@JoboZoBo:n2nmmuwBlkkkk D@ɞoB> οI ږɝiIW\H=+CH=II=iBI= =I9I=D&I= <*I=E)F1"F1*F12F5p0:F1G<G2B:B Og>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254105ԁ H:ď,?A65@Y60@6j96=>AHRS rotation from veh to nav: [[0.872268,0.462682,-0.158348],[-0.471984,0.881253,-0.024985],[0.127984,0.096531,0.987067]]y6H? ?DĿ`4޿ :3?a?`E??ɫ65@6<;6đCFXiBFIILIL٥Vu> Vg=9ZosQ Z>XX ^F٦^Ey^ѻ ^> `j4Yb"V?j4ybbzBlnF n?bCb=N;b|O;b4rB)vAtoFNOT Ignoring new targets: 267.79 m.o9o9- ProNav: ac range: 267.792847 m, nav range: 246.024643 m, bearing: 332.437960 deg, approach rate: -0.579493 m/s, LOS rate: 0.007981 deg/s, cmd heading: 332.561747 deg, new cmd heading: 332.570176 deg. zo-H95HeadingCmd: 5.804445 target range: 267.792847 and range: 269.00 m.Ro5@Jo1bo1Zo1Bo1:n12n9mmlkkkk@z5@ɞoB4B T˿I Cɝ!i!I%([_J J lJ 4J J J 9J 3J  Aď,M?A2-@Y2t(@292q=:AHRS rotation from veh to nav: [[0.871650,0.463690,-0.158804],[-0.472791,0.880874,-0.023022],[0.129211,0.095148,0.987042]]y2H??SĿ`6B޿0? @?[?`ؕ?ɫ2-@2;0fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759161nniBrII%JI%K٥5T= 5B=9:Q > F٦Ey > 4YKW?4y}zB ? C: :4B)AEoFNOT Ignoring new targets: 267.79 m.o9o9 ProNav: ac range: 267.792847 m, nav range: 245.773621 m, bearing: 332.441483 deg, approach rate: -0.578435 m/s, LOS rate: 0.008127 deg/s, cmd heading: 332.570189 deg, new cmd heading: 332.580770 deg. zo{9HeadingCmd: 5.804629 target range: 267.792847 and range: 269.00 m.Ro@JoboZoBo:n!2n!m!m!l)k)k)k)k- @ɞeoBe+> im˿Ii m/ɝiiiImgbI ZHE <RHE <HM >HI HM IIM XjBIM =II II &IM "<*IM EGď, ?AiBIMb@Mb@Mb@ )IiX9v?:vMb?Լ)hGAIX1Ai0A|KA =AIkI ٥%= @=9Q > F٦Ey > 4YeW?4yzB?: ?+C] ;v;N4 B) mA oFNOT Ignoring new targets: 267.79 m.o9o9 ProNav: ac range: 267.792847 m, nav range: 245.537506 m, bearing: 332.444701 deg, approach rate: -0.543289 m/s, LOS rate: 0.007412 deg/s, cmd heading: 332.580762 deg, new cmd heading: 332.590425 deg. zoŢ9 HeadingCmd: 5.804798 target range: 267.792847 and range: 269.00 m.Ro @Jo bo Zo Bo:n2nmmwBl!k!k!k)k- @Iɞ]oBeE< aeʿIa e]͞ɝaiaIm,e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514109LMď, :?ADN'@YNr"@N 9NW=VAHRS rotation from veh to nav: [[0.870729,0.463765,-0.163566],[-0.473119,0.880738,-0.021414],[0.134128,0.096032,0.986300]]yNH?Q?Ŀ@G޿`/?핿+?`?ŏ?ɫN'@Nr;L^iBbIIjlIj)٥r= r\=9rhZQ r>tt vF٦vEyz z> Ye4Y]f)W?e4y]]{BimA m?]GC]:]:] 4y)AjKMrKS9zKKK'% !2:83,%3PRK@0# #'#   /FE=9B*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 267.79 m.o9o9 ProNav: ac range: 267.792847 m, nav range: 245.316467 m, bearing: 332.447757 deg, approach rate: -0.604189 m/s, LOS rate: 0.008360 deg/s, cmd heading: 332.590434 deg, new cmd heading: 332.599609 deg. zo9HeadingCmd: 5.804958 target range: 267.792847 and range: 269.00 m.Ro8¹@JoboZoBo:n2nmmlkkkk @ɞpB%F !%ȿI! %*#ɝ!i)I-Wh BDAT read: Tx time:03:59:00.7212 $Ping request sent.)Ա ):publishing transmit ping timeہFpublishing direction and range infoy}4K? C?<࿹Y )Ii )Ii )W+!?. X.f`?#:ۿi )GU<G 2B :B  O > Tď,T?AJj)@YJ>$@J 9J?=-AHRS rotation from veh to nav: [[0.870564,0.463195,-0.166037],[-0.472782,0.880920,-0.021377],[0.136364,0.097110,0.985888]]yJH??@@ſ@B޿@0?㕿@^t? 0ܸ?`d?ɫJj)@JH;J‘CiBIԱ=JDAT read: TxSync time:03:59:00.7205 Mb@Mb@Mb@ )IiX9v?S㥛 rh/ݼC)I.Ai.A IA \;AIE\IEW٥U>= U)=9]Q ]>aa mF٦mEy9 > 4Y4=W?4ye0{B?: ?jC:;_4B)ˊAEH>H)CH\IIjBI =IID&IB<*IEJpRpI?Ap]Cp]Cp@v Lm@T]-5vbv}4K? C?<p)pv#l@c^>6\vmɚ?~ۿ Koaڿjprp`CZp*Z-?bp-zpdppppvCpA@ addTargetRange:: Added new target pos. range: 282.000000 m, deltaT: 3.780683 s, deltaX: 13.000000 m, approachRate: 3.438532 m/s, rangeRepo size: 4  Added new target pos. range: 280.730347 m, bearing: 331.428827 deg, lat: 36.779387 deg, lon: -121.859823 deg, deltaT: 3.780683 s, deltaX: 12.937500 m, approachRate: 3.422001 m/s, posRepo size: 4 oFNOT Ignoring new targets: 280.73 m.oo ProNav: ac range: 280.730347 m, nav range: 246.746902 m, bearing: 331.702430 deg, approach rate: 0.000000 m/s, LOS rate: 0.008360 deg/s, cmd heading: 332.599613 deg, new cmd heading: 332.612140 deg. zo%HeadingCmd: 5.805177 target range: 280.730347 and range: 282.00 m.Ro%Ĺ@Jo!bo!Zo!Bo!:n)2n)m)m-wBl1k1k1k5q@k=`,a?ɞ#pB 4 靵FǿI uɝiIk#[ď,kn?AI) ]m=9eQ e?aa eF٦eEym m? 4YKW?4yF{B ?CB:[:p 4)ZAo9=FNOT Ignoring new targets: 280.73 m.oE8oE8u ProNav: ac range: 280.730347 m, nav range: 246.547699 m, bearing: 331.704705 deg, approach rate: -0.604281 m/s, LOS rate: 0.006907 deg/s, cmd heading: 332.612154 deg, new cmd heading: 332.618984 deg. zou9}HeadingCmd: 5.805296 target range: 280.730347 and range: 282.00 m.Ro}Ĺ@JoyboyZoyBo:n2nmmlkkkk?ɞ7pBjL !-¿I) -uɝ)i)I-@mJ] a=J] a=y " bď,ʉ?Av3@Yv-@v9v=AHRS rotation from veh to nav: [[0.870557,0.462204,-0.168811],[-0.471452,0.881725,-0.017113],[0.140935,0.094484,0.985500]]yvH??ſ`F,޿`7?, ?0?7?ɫv3@v3;vđC=FjBEIIm,ImỴ٥= H=9㦻Q > F٦Ey; > 4YC\W?4y:`{BQ ?C;<;t4B)AEoFNOT Ignoring new targets: 280.73 m.o8o8 ProNav: ac range: 280.730347 m, nav range: 246.317276 m, bearing: 331.707196 deg, approach rate: -0.587229 m/s, LOS rate: 0.006354 deg/s, cmd heading: 332.618984 deg, new cmd heading: 332.626464 deg. zo9 HeadingCmd: 5.805427 target range: 280.730347 and range: 282.00 m.Ro ƹ@JoboZoBo:n2nmmlkk!k!k%?Qɞ%PpB%v@ IM=II M悔ɝIiIIUpH (CH II -kBI =I =DI &I <<*I EG Ho<G 2B :B  O > 0hď,Y?A6K@Y6F@6965=>AHRS rotation from veh to nav: [[0.871695,0.458723,-0.172396],[-0.468665,0.883154,-0.019781],[0.143179,0.098039,0.984829]]y6H?[?ƿݿ B?cAS?? ?ɫ6K@6;6ÑCFjBF5I%Mb@Mb@Mb@! !)!I!i!%M?MbQ%n?%%u)!I%/Ai%C-A%9HA !%3;AI5(I5m٥E> EO=9MAQ M>IQ UF٦UEyUg; U> am4YelW?m4ye(ez{Bu?u:uu?eCe:e:e[4B)AJ%pJ%iJ!J!J%A:J%ڈ9J!J!J%T;!-J%T;!-J%s:!-J%u:!5oimFNOT Ignoring new targets: 280.73 m.ob8ob8 ProNav: ac range: 280.730347 m, nav range: 246.092636 m, bearing: 331.708498 deg, approach rate: -0.534351 m/s, LOS rate: 0.003099 deg/s, cmd heading: 332.626470 deg, new cmd heading: 332.630378 deg. zo9HeadingCmd: 5.805495 target range: 280.730347 and range: 282.00 m.Roƹ@JoboZoBoԱ:n2nmmxBlkkkk ,?ɞ]kpB]= Y]IY ]wɝaiaIm Ir9 [nď,]6?A:^@Y:Y@:99:y=FAHRS rotation from veh to nav: [[0.872639,0.456226,-0.174238],[-0.466577,0.884219,-0.021521],[0.144246,0.100076,0.984468]]y:H`?2?`pMƿgݿK? v?@?À?ɫ:^@:Fp;:őCNjBNEIIV^IV٥bg= bS=9b6Q b>dd fF٦fßEyj; j> hr4Yj|W?r4yjj{Bpr.v?jCj;j;j!4zB)zԈAx B*** querying acoustic contact ***:pBpo%FNOT Ignoring new targets: 280.73 m.o%ii8o-ii85 ProNav: ac range: 280.730347 m, nav range: 245.873215 m, bearing: 331.709651 deg, approach rate: -0.606488 m/s, LOS rate: 0.003188 deg/s, cmd heading: 332.630377 deg, new cmd heading: 332.633837 deg. zo= 9EHeadingCmd: 5.805556 target range: 280.730347 and range: 282.00 m.RoEǹ@JoAboAZoIBoI:nI2nImImQlQkQkQkYk]}?ɞpBH 靍I ތɝiIt #)'% F1"F1*F12F53:F1AAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GUu<GQ2Ba:Bq O>i gHuď,c(?AzjBzcIMb@Mb@Mb@ )Ii/$?{Gz{Gz&?##)KCAI.Ai+AdGA G9AIKIhchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981٥}\= 1=9Q > F٦ƟEy > 4YW?4yV{B2?:?CS;K ;4)4B)}AEoFNOT Ignoring new targets: 280.73 m.o7o7 ProNav: ac range: 280.730347 m, nav range: 245.612427 m, bearing: 331.710448 deg, approach rate: -0.563734 m/s, LOS rate: 0.001726 deg/s, cmd heading: 332.633846 deg, new cmd heading: 332.636242 deg. zo8HeadingCmd: 5.805598 target range: 280.730347 and range: 282.00 m.Rouǹ@Jo bo Zo Bo :n 2n mmwBlkkk!k%`dt@ɞMpBU'9 QUIQ U!RɝQiYI]?vHqHuIIukBIqIqIq&IuA<*IuE2I-)C:I-)CBI)JI-Ë =RI-Ì =ZI-Ù6I]Ui]M=i]` <)]uǹ@)aF"F*F2F_5:FԑJ5qJ5nJ53J1J5D:J599J5(3J1J5_Z;J5aZ;J5]:J5_: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502875 G= t<G 2B :B1  O= >l{ď,?A2s@Y2rn@2$92=:AHRS rotation from veh to nav: [[0.873458,0.453085,-0.178284],[-0.464158,0.885432,-0.023819],[0.147066,0.103557,0.983691]]y2H^?X?ƿ ĴݿuU?c ?`? ez?ɫ2s@2W;2‘CFjBFILIRfIR{٥Z > Zn=9ZQ Z?\\ ^F٦^ȟEyb; b? dj4Yf) zTď, ?AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007017|=!kB=IU)>U< IPI٥D= :=9Q > F٦˟Ey > 4YW?4y{B?4C;;64B)ʇA Eo)5FNOT Ignoring new targets: 280.73 m.o547o=47E ProNav: ac range: 280.730347 m, nav range: 245.171432 m, bearing: 331.711532 deg, approach rate: -0.586110 m/s, LOS rate: 0.001443 deg/s, cmd heading: 332.637671 deg, new cmd heading: 332.639503 deg. zoMr}8MHeadingCmd: 5.805655 target range: 280.730347 and range: 282.00 m.RoMǹ@JoQboQZoQBoQ:nQ2nYmYmYlYkakakikm`@ɞpBD= 靝I 㴽ɝiIzHq Hu 0IIu lBIq Iq Iq &Iu <*Iu oEG 2B :B  O- >ԉ ~ď,0#?A6s@Y6n@6 96 =>AHRS rotation from veh to nav: [[0.873089,0.452630,-0.181220],[-0.463929,0.885567,-0.023273],[0.149949,0.104393,0.983167]]y6H Y??@92ǿݿV?ԗ1?x?v?ɫ6s@6(;4ZNkBZIMMb@Mb@Mb@I I)IIIiIMCl?Mb?{GzM?My F٦͟Ey8 > 4YW?4y|B?:?PC ;G ;=4)oAoFNOT Ignoring new targets: 280.73 m.oLoL ProNav: ac range: 280.730347 m, nav range: 244.953278 m, bearing: 331.710435 deg, approach rate: -0.555476 m/s, LOS rate: -0.002795 deg/s, cmd heading: 332.639502 deg, new cmd heading: 332.636208 deg. zoJK3JK3JCJwJJ4JJW:JJ3JJz;Jz;JJHeadingCmd: 5.805597 target range: 280.730347 and range: 282.00 m.Rosǹ@JoboZoBo:n2nmmcxBlkkkk` @ɞpB> !%=I! %-Gɝ!i!I%{| ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764919ď,=?A>u@Y>o@>9>=FAHRS rotation from veh to nav: [[0.872944,0.452635,-0.181910],[-0.463693,0.885742,-0.021221],[0.151520,0.102875,0.983086]]y>H'??Hǿ@$ݿ`W?׺@e?U?@qu?ɫ>u@>;hh jF٦jПEyn9 n> pv4YrW?v4yrr,|Btvz?rkCrW:rN:rmD4~B)~A~ EB*** querying acoustic contact ***:pBpo15FNOT Ignoring new targets: 280.73 m.o=No=NM ProNav: ac range: 280.730347 m, nav range: 244.740341 m, bearing: 331.709356 deg, approach rate: -0.555294 m/s, LOS rate: -0.002815 deg/s, cmd heading: 332.636196 deg, new cmd heading: 332.632957 deg. zoMKUHeadingCmd: 5.805540 target range: 280.730347 and range: 282.00 m.RoUƹ@JoQboYZoYBoY:nY2nYmamalakakakikm@ɞpBD 靝NI MɝiI~EjKKrK9zKKK  #>{u',f >U5'.*&'Fm6"Fi*Fq2Fu|0:FqG}F}G} G}DAT read: 03:59:03.4791 LVL= 20608, 18417, 18786, 27427, AGC= 66, IDX= 209, 0.42,-2.674, 2.391,-2.620, 2.691, PHS= 1.007,-0.253, 0.970, RAW= 148.5, -26.1, CAL= 152.6, -32.3, ROT= 357.4, 32.3 Ygot valid direction response: 03:59:03.4791 LVL= 20608, 18417, 18786, 27427, AGC= 66, IDX= 209, 0.42,-2.674, 2.391,-2.620, 2.691, PHS= 1.007,-0.253, 0.970, RAW= 148.5, -26.1, CAL= 152.6, -32.3, ROT= 357.4, 32.3 PDAT read: Bearing 357.4, 32.3 (Local) ~Local bearing/azimuth received: Bearing 357.4, 32.3 (Local) DAT read: Range 10 to 50 : 265.2 m (Round-trip 353.6 ms) speed 0.3 m/s  *DAT read: user:238> BDAT read: Tx time:03:59:04.5713 -$Ping request sent.- ܥP)ܥGIܥbIiܥ#kܥBܥ`?ܥ7ܥQx? ݥH%@)ݥZ;Iݥt*@iݥZQݥ@ݥZQ? ޡ)ޡޥ%|=?3In?`2ܿiޥ>ޥ>ޥ9ޥZQ? ߡ)ߡ :publishing transmit ping time! Fpublishing direction and range infoۡyۥA? F٦ӟEy > 4YW?4y*Q|B?:g?H>HH{IIlBIII&IF<*IECgp<(p<L4i)m†AiJpRpbK?ApCpCp. @vj}[k@HX>$Yi;KavA?ԑ ď,.8q?A:of@Y:Ba@:A9:=FAHRS rotation from veh to nav: [[0.871654,0.454597,-0.183194],[-0.465001,0.885166,-0.015970],[0.154897,0.099106,0.982947]]y:H??`rǿݿ@HS?Z?_?@Mt?ɫ:of@:H;:C^kB^IIfDIf٥r@= vn=9v"Q z?xx ~F٦~՟Ey~ ~?  4YUW? 4yal|BX?C::R4B)%vA!oIMFNOT Ignoring new targets: 264.01 m.oU)goU)gm ProNav: ac range: 264.005005 m, nav range: 242.946457 m, bearing: 332.507064 deg, approach rate: -0.604472 m/s, LOS rate: -0.003158 deg/s, cmd heading: 332.628765 deg, new cmd heading: 332.625780 deg. zom uHeadingCmd: 5.805415 target range: 264.005005 and range: 265.20 m.RouŹ@JoqboyZoyBoy:ny2nymmlkkkk?ɞ1qB%'S 靽I ҽɝiI ԙjK c-OrK ]9zK K K {  O 4 b2FCnD!BS]", R5[dq}qf^BKU ?:KU > Rď,?A68g@Y6 b@6!96I=>AHRS rotation from veh to nav: [[0.871457,0.454403,-0.184610],[-0.464787,0.885296,-0.014953],[0.156640,0.098835,0.982698]]y6H??@Nǿ`ݿ`XT?@ ?EM?@Cr?ɫ68g@6@;4^kB^!IIj&Ij3٥r= vJ=9vLQ v>tx zF٦zןEyzz9 z> |4Y~dX? 4y~~|B  K ?~C~y:~:~Y4)!AoAEFNOT Ignoring new targets: 264.01 m.oMWoMW] ProNav: ac range: 264.005005 m, nav range: 242.720825 m, bearing: 332.505879 deg, approach rate: -0.560107 m/s, LOS rate: -0.002945 deg/s, cmd heading: 332.625787 deg, new cmd heading: 332.622228 deg. zo]XeHeadingCmd: 5.805353 target range: 264.005005 and range: 265.20 m.RoetŹ@JoaboaZoaBoa:na2nimimilikqkqkqkV?ɞmLqBm; 靕I $ɝiIԁJH BH @AH >H )CH II mBI =I I &I C<*I E) X̨ď,?A :k@Y:e@:"9:λ=BAHRS rotation from veh to nav: [[0.871476,0.453908,-0.185737],[-0.464267,0.885583,-0.014131],[0.158071,0.098546,0.982498]]y:H ? ?;ǿݿ V?;?V:?`p?ɫ:k@:^;:CJlBJ5IN=N4=}Mb@Mb@Mb@y y)yIyiy}n?Q? F٦ڟEy: > 4YzX?4y|B?:޾?C ;;,a4B)A EoiJsJnJJJK:J99JJJ,e;J.e;J]:J_:-FNOT Ignoring new targets: 264.01 m.oMոoUո] ProNav: ac range: 264.005005 m, nav range: 242.484558 m, bearing: 332.503296 deg, approach rate: -0.534240 m/s, LOS rate: -0.005846 deg/s, cmd heading: 332.622235 deg, new cmd heading: 332.614479 deg. zoeceHeadingCmd: 5.805218 target range: 264.005005 and range: 265.20 m.RoeXĹ@JoiboiZoiBoiq:n2nmmxBlkkkknD?ɞhqB j:  1I  ½ɝiIbď,?A28r@Y2 m@2"92qj=>AHRS rotation from veh to nav: [[0.871839,0.453052,-0.186119],[-0.463489,0.885985,-0.014458],[0.158348,0.098869,0.982421]]y2H??ǿ@ͩݿY?<D?~O?o?@ɫ28r@2;2CJKlBJPIIVTIVn٥Z= ZY=9^fCQ ^>\` bF٦fܟEij(>Ij{CyjX; r>)=tG ) U`wAe4)qY-&X?I `wA*B4y--|Bݾ?-C-L<-?<-g4)A5B*** querying acoustic contact ***:p1Bp1oYeFNOT Ignoring new targets: 264.01 m.oeָoeָjKiPrK9zKKKXSPMLGBB<<?>;76<@EB@==6220-,(%$'-2/+&$  ->2K*KtA ProNav: ac range: 264.005005 m, nav range: 242.271576 m, bearing: 332.500919 deg, approach rate: -0.525210 m/s, LOS rate: -0.005867 deg/s, cmd heading: 332.614476 deg, new cmd heading: 332.607339 deg. zo׀HeadingCmd: 5.805093 target range: 264.005005 and range: 265.20 m.RoSù@JoboZoBo:n2nm m l k k kk ?ɞ}qB/b@ 靕I ĽɝiICᵰď,ͫ?Aru@Yrp@rP#9r=|AHRS rotation from veh to nav: [[0.871973,0.452685,-0.186385],[-0.463079,0.886206,-0.014056],[0.158812,0.098567,0.982376]]yrH3??`tǿݿ[?.Ɍ S?;?o?ɫru@rU;rC llB dIMb@Mb@Mb@ )IiV-?V-?:v ?<T)7?AI&)Ai%AKCA Q4AIYI٥v= ;=9*Q >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250803 F٦ߟEyπ: > 4Y8X?4y|B ?:ݾ?Cj:<:io4B)YA Eo1=FNOT Ignoring new targets: 264.01 m.oEoEH>H(CHIIqmBI =II&Ii<*IE ProNav: ac range: 264.005005 m, nav range: 242.037277 m, bearing: 332.498323 deg, approach rate: -0.591071 m/s, LOS rate: -0.006556 deg/s, cmd heading: 332.607345 deg, new cmd heading: 332.599548 deg. zoHeadingCmd: 5.804957 target range: 264.005005 and range: 265.20 m.Ro6¹@JoboZoBo:n!2n!m!m%MxBlikikqkyk}@ɞqB> I ƽɝiI ԙ G 2B :B  O% > ď,?A $$B {@YBu@B#9B?=JAHRS rotation from veh to nav: [[0.872205,0.452082,-0.186762],[-0.462479,0.886521,-0.013903],[0.159283,0.098500,0.982307]]yBH?`?ǿAݿa^?y fc?G7?o?ɫB {@Bՙ;BCVlBVII^`I^̍٥j!> j\=9j狀Q n>ll nF٦nEyr: r> tz4Yv0($ d.N/G 2B :B  O >J rJ lJ J J G:J 9J J !% @!% @!% @!% @1 °ď,U ?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008186Fy@YFt@FP$9F=nAHRS rotation from veh to nav: [[0.872068,0.452228,-0.187049],[-0.462568,0.886483,-0.013356],[0.159776,0.098170,0.982260]]yFH ?@L?<ǿݿ`^?EZs?!?n?ɫFy@Fي;FCvlBvIIdI@٥%F= %E=9-(Q ->)) 5F٦5EyEe E> Ye4Y]YX?e4y]Q]2}Bimݾm?]QC]^;]I;]+}4uB)uAqoFNOT Ignoring new targets: 264.01 m.oo ProNav: ac range: 264.005005 m, nav range: 241.605988 m, bearing: 332.493472 deg, approach rate: -0.547851 m/s, LOS rate: -0.006164 deg/s, cmd heading: 332.592729 deg, new cmd heading: 332.585003 deg. zo_HeadingCmd: 5.804703 target range: 264.005005 and range: 265.20 m.Ro!@JoboZoBo:n2nmmlkkkk@ɞqB? !%I! -2ʽɝ)i)I-RoHH=IImBI =II&I<*IE2I}(C:I}(CBI}ȓCJI}Ȏ =RI}ȍ =ZI}ȋr5G8<G 2B :B  O >y Zɰď,f2&?AB@YBz@BA?%9B\=RAHRS rotation from veh to nav: [[0.872292,0.451348,-0.188127],[-0.461834,0.886861,-0.013666],[0.160675,0.098805,0.982050]]yBH ??`ȿ౎ݿ*a?`?CK? l?ɫB@B2Y;BCVlBVIEMb@Mb@Mb@A A)AIAiAEn?? rhEV?Eqq uF٦uEy}: }> 4YjX?4yQ}B?:?nCU;QU;Q4)sAoQ]FNOT Ignoring new targets: 264.01 m.o]tŸoetŸm ProNav: ac range: 264.005005 m, nav range: 241.380478 m, bearing: 332.491257 deg, approach rate: -0.548772 m/s, LOS rate: -0.005395 deg/s, cmd heading: 332.584997 deg, new cmd heading: 332.578346 deg. zomlHeadingCmd: 5.804587 target range: 264.005005 and range: 265.20 m.Ro.@JoboZoBo:n2nmm}xBlkkkk @ɞ-qBUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510908]{; Y]IY e̽ɝaiaIe5 DAT read: 03:59:07.3262 LVL= 21360, 24785, 17074, 31571, AGC= 64, IDX= 420,-0.23, 0.564,-1.020, 0.492,-0.228, PHS= 0.879,-0.745, 0.717, RAW= 144.8, -11.0, CAL= 151.9, -19.9, ROT= 358.1, 19.9 E Ygot valid direction response: 03:59:07.3262 LVL= 21360, 24785, 17074, 31571, AGC= 64, IDX= 420,-0.23, 0.564,-1.020, 0.492,-0.228, PHS= 0.879,-0.745, 0.717, RAW= 144.8, -11.0, CAL= 151.9, -19.9, ROT= 358.1, 19.9 M PDAT read: Bearing 358.1, 19.9 (Local) M ~Local bearing/azimuth received: Bearing 358.1, 19.9 (Local) ] DAT read: Range 10 to 50 : 263.0 m (Round-trip 350.7 ms) speed 0.8 m/s ] *DAT read: user:239> e BDAT read: Tx time:03:59:08.4213 e $Ping request sent.m  P7?  ?!@) DI )@i ӱ 3@ ӱ>  )  5!݃?Ez[?*oƕfȿi 2> hhD>  ӱ>  )  :publishing transmit ping timea  Fpublishing direction and range info y 2le?L2b쟿"Tտ Y  ) I i      ) I i    )  5!݃?Ez[?*oƕfȿi     ) аď,I@?A2r}@Y2Fx@2E&92=RAHRS rotation from veh to nav: [[0.872035,0.451603,-0.188705],[-0.462061,0.886751,-0.013113],[0.161413,0.098628,0.981946]]y2H`??{'ȿiݿC`?ڊ+???l?ɫ2r}@2=;2C]lB]IIuZIu٥f= E=9Q > F٦EyL > 4Y||X?4yhr}B?C.<h/<4=B)=LA= EjK->ENrK-9zK)K-K- *??5-5dw^Op=0fL8,# "a|Y7'@R:1Jp1Rp5==?Ap5Cp5Cp5D@v5RxQen@FR beGVv52le?L2b쟿"Tտp5p5ӱ>v5&u`>vl@Wnh]oLHv5*M?NBFݿVǿjp5rp5cCZp5abo?bp56;zp5a*Ap1p5l>p1p5sCp5@ addTargetRange:: Added new target pos. range: 263.000000 m, deltaT: 3.778973 s, deltaX: -2.200012 m, approachRate: -0.582172 m/s, rangeRepo size: 4  Added new target pos. range: 261.812256 m, bearing: 332.257236 deg, lat: 36.779391 deg, lon: -121.859844 deg, deltaT: 3.778973 s, deltaX: -2.192749 m, approachRate: -0.580250 m/s, posRepo size: 4 oFNOT Ignoring new targets: 261.81 m.oo  ProNav: ac range: 261.812256 m, nav range: 243.718872 m, bearing: 331.351625 deg, approach rate: 0.000000 m/s, LOS rate: -0.005395 deg/s, cmd heading: 332.578358 deg, new cmd heading: 332.570888 deg. zo HeadingCmd: 5.804457 target range: 261.812256 and range: 263.00 m.Ro@JoboZoBo:n2nmmlkk!k%pp@k%@?ɞqB)< 靕I KϽɝiIݳq ְď,Y?Az@Ycu@f'9qP=AHRS rotation from veh to nav: [[0.871678,0.451769,-0.189952],[-0.462266,0.886653,-0.012551],[0.162751,0.098749,0.981713]]yH`?`?WPȿ •ݿu_?z?G?1j?ɫz@B4;髍CmBIHyHyH}oII}nBI} =IyIy&I}<*I}}EauMb@Mb@Mb@q q)qIqiquK7?y&1|?~jtuI ?u`;uļ)u";AIu%Aiu!AuzBA qu1AI'IP٥= -=9  F٦Ey oC  > 4YяX?4yy}Bo ?:%%?CM ;;ؓ4-B)-A5EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 261.81 m.oo ProNav: ac range: 261.812256 m, nav range: 243.461639 m, bearing: 331.349832 deg, approach rate: -0.587613 m/s, LOS rate: -0.004101 deg/s, cmd heading: 332.570899 deg, new cmd heading: 332.565513 deg. zo$4HeadingCmd: 5.804363 target range: 261.812256 and range: 263.00 m.RoX@JoboZoBo:n2nmm#xBlkkkkl-?ɞ%rB%e> !%I! -ѽɝ)i)I-Yqܰď,1t?AFNw@YF"r@Fa)9F\+=NAHRS rotation from veh to nav: [[0.871215,0.452340,-0.190719],[-0.462463,0.886584,-0.009791],[0.164659,0.096731,0.981596]]yFH?"?xiȿݿ@^?z ?Xø?;i?ɫFNw@F;FCr=mBvIIz?Iz ٥> =9ƻQ  ? F٦Ey % ? )54Y-؜X?54y--}B155?-C- :-:-i4EB)EƒAEEoimFNOT Ignoring new targets: 261.81 m.ouou ProNav: ac range: 261.812256 m, nav range: 243.288223 m, bearing: 331.348640 deg, approach rate: -0.566947 m/s, LOS rate: -0.003898 deg/s, cmd heading: 332.565517 deg, new cmd heading: 332.561940 deg. zo:+HeadingCmd: 5.804301 target range: 261.812256 and range: 263.00 m.Roռ@JoboZoBo:n2nmmlkkkkX4?ɞ&rBlS I ҽɝiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995977G2B:B O&>ԁjKU lsNrKQ zKQ KU KU Du  ~[C4),7!   #6A??6/)"  $Ա J wJ pJ J J W:J ^9J J bNď,ݍ?A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2594186t@Y6n@6>+96`=FAHRS rotation from veh to nav: [[0.870763,0.452555,-0.192265],[-0.462672,0.886486,-0.008809],[0.166454,0.096626,0.981303]]y6H@J?@?$ȿiݿ^? YN??f?ɫ6t@6;6CPnKmBnIIv=)v=Iz"IzĴ٥V = M=9]Q >    F٦ Ey փ > %4Y%X?%4y#}B!%L%?C;;b41)5A1oquFNOT Ignoring new targets: 261.81 m.oGoG ProNav: ac range: 261.812256 m, nav range: 243.071198 m, bearing: 331.347167 deg, approach rate: -0.539956 m/s, LOS rate: -0.003669 deg/s, cmd heading: 332.561938 deg, new cmd heading: 332.557514 deg. zo"!=HeadingCmd: 5.804224 target range: 261.812256 and range: 263.00 m.Ro=3@JoAboAZoABoA:nI2nImqmqlykkkk{?ɞ]ArB]L> ]%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512459JHQBHQH]>HYH]II]onBI] =IYIY&I]"<*I]E1 pzď,7?A|~rmBIMb@Mb@Mb@ )Iim?{GztV-?ף)9AIi A@A /AI\IW٥= >=9Q > F٦Ey > 4YX?4y}B?:?C; ;4B)aA Eo)FNOT Ignoring new targets: 261.81 m.o_o_ ProNav: ac range: 261.812256 m, nav range: 242.831924 m, bearing: 331.346724 deg, approach rate: -0.558100 m/s, LOS rate: -0.001034 deg/s, cmd heading: 332.557512 deg, new cmd heading: 332.556182 deg. zo5HeadingCmd: 5.804200 target range: 261.812256 and range: 263.00 m.Ro@JoboZoBo:n!2n!m!m%5xBlIkIkIkQkU7\?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763980ɞYrBA ڜI h׽ɝiI;Qԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396oaď,?AR&v@YRp@R,9R=bAHRS rotation from veh to nav: [[0.870757,0.452450,-0.192538],[-0.462378,0.886651,-0.007547],[0.167299,0.095597,0.981261]]yRH=??ȿ`ݿq_?~ j? y?|f?ɫR&v@Rb;RCjmBjIIrfIr{٥zLv= zY=9z!Q ~>|| ~F٦Ey5: > 4Y WX?4y  }B? C d; ; z4!)%2A!YoQeFNOT Ignoring new targets: 261.81 m.oe虷oe虷u ProNav: ac range: 261.812256 m, nav range: 242.624237 m, bearing: 331.346329 deg, approach rate: -0.552044 m/s, LOS rate: -0.001051 deg/s, cmd heading: 332.556173 deg, new cmd heading: 332.554987 deg. zo}8HeadingCmd: 5.804180 target range: 261.812256 and range: 263.00 m.Ro׻@JoboZoBo:n2nmmlkkkko@ɞlrBL WI ٽɝiIu ď,|?AԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519155mB'I AH>H'CHIInBIII&IG<*IEMb@Mb@Mb@ )Ii&1?~jtX9v?ļ)h5AI"AiA7?A G-AII٥Ɂ= ,=9%Q %>)) -F٦-Ey5 5> 9=4Y=X?E4y=;=~BE>?E:Ere?=:C=:;=`;=˶4mB)mAioFNOT Ignoring new targets: 261.81 m.os8os8 ProNav: ac range: 261.812256 m, nav range: 242.355942 m, bearing: 331.347919 deg, approach rate: -0.561212 m/s, LOS rate: 0.003330 deg/s, cmd heading: 332.554999 deg, new cmd heading: 332.559774 deg. zo@9HeadingCmd: 5.804263 target range: 261.812256 and range: 263.00 m.Ro@JoboZoBo:n2nmmwBlkkkk@@ɞrB F=  替I  :v۽ɝiI,uy@Y2t@2-92=BAHRS rotation from veh to nav: [[0.870706,0.451914,-0.194023],[-0.461929,0.886887,-0.007258],[0.168797,0.095944,0.980970]]y2H?'?ȿ@ݿ`a?T}@ ?Ώ?`d?ɫ2>y@2=j;0JmBJ;IIRTIRn٥Z:= Z8=9^;aQ ^>\\ ^F٦^Eyb`: b> dj4YfX?j4yff3~BhnXn?fZCfy:fp:f4rB)rłArE-B*** querying acoustic contact ***:p)Bp)o9=FNOT Ignoring new targets: 261.81 m.oEp8oEp8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031626ԩ ProNav: ac range: 261.812256 m, nav range: 242.106934 m, bearing: 331.349375 deg, approach rate: -0.560438 m/s, LOS rate: 0.003280 deg/s, cmd heading: 332.559780 deg, new cmd heading: 332.564151 deg. zo 9HeadingCmd: 5.804339 target range: 261.812256 and range: 263.00 m.Ro&@JoboZoBo:n2nmmI)U;Gla iky)kI "Bkk{@ɞ rB= NI RݽɝiI:K]?E BDAT read: Rx Time:03:59:11.1736 E TRx dataTimestamp_ set to:1761364752.253821M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284438G1 2BI :Bi  O >1 cď,?A6z@Y6u@6.96=>AHRS rotation from veh to nav: [[0.870643,0.451603,-0.195028],[-0.461670,0.887024,-0.007013],[0.169827,0.096145,0.980773]]y6HN??ȿݿb?޹|?휸?`}b?ɫ6z@6;6CbmBbVII~WI~ƕ٥ 6=  F=9 %Q  > F٦EyS: > !-4Y%Y?-4y%%N~B)-J-?%xC%:%W:%Ő49)=oA9oiFNOT Ignoring new targets: 261.81 m.o`8o`8U ProNav: ac range: 261.812256 m, nav range: 241.873978 m, bearing: 331.350728 deg, approach rate: -0.528166 m/s, LOS rate: 0.003070 deg/s, cmd heading: 332.564151 deg, new cmd heading: 332.568214 deg. zo]9}HeadingCmd: 5.804410 target range: 261.812256 and range: 263.00 m.Ro}@JoyboyZoBo:n2nmmlkkkk F @ɞrBB 瘿I ߽ɝi I ŀHqHuIIuoBIu =IqIuD&Iu<*Iu|Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.535485AqFm 6"Fi *Fq 2Fu o0:Fq G ?G ?J- wJ- kJ- 3J) J- W:J- 9J- (3J) J- z;!= J- z;!E J- :!E J- :!E GI 2BQ :Ba  Ou >ԙ  DAT read: 03:59:11.1736 LVL= 22160, 28801, 19058, 31267, AGC= 62, IDX= 409, 0.04,-2.251, 2.433,-2.344,-3.094, PHS= 0.931,-0.710, 0.747, RAW= 144.1, -12.4, CAL= 151.1, -21.2, ROT= 358.9, 21.2  Ygot valid direction response: 03:59:11.1736 LVL= 22160, 28801, 19058, 31267, AGC= 62, IDX= 409, 0.04,-2.251, 2.433,-2.344,-3.094, PHS= 0.931,-0.710, 0.747, RAW= 144.1, -12.4, CAL= 151.1, -21.2, ROT= 358.9, 21.2  PDAT read: Bearing 358.9, 21.2 (Local)  ~Local bearing/azimuth received: Bearing 358.9, 21.2 (Local)  DAT read: Range 10 to 50 : 261.0 m (Round-trip 348.1 ms) speed 0.4 m/s  *DAT read: user:240>  BDAT read: Tx time:03:59:12.2713  $Ping request sent. i$׿CY V)pIrJi#z>Vn?5d;??  @)k]I(@iqr@q> )}%!?/?ȹl0y˿iŘ>]>Fq> )F:publishing transmit ping time)JFpublishing direction and range infoyʎc0?"+St>i$׿Y )ԹIi )Ii )}%!?/?ȹl0y˿i )%+z@Y%t@%09%:J=]AHRS rotation from veh to nav: [[0.870338,0.451517,-0.196578],[-0.461608,0.887062,-0.006265],[0.171549,0.096195,0.980468]]y%H??z)ɿ`ݿ`b?yM?`4?_?ɫ%+z@%̈;%C$nBsIiIMb@Mb@Mb@ )Ii-?ˡEMb??')3AI!AiA;A +AIPI٥ = =9XQ > F٦Ey%%1 E> IU4YMCY?U4yMMq~BU?]:]n ]?MCM;MY;Mϐ4B)AEJpRpXq0?ApCpCp/@v l`Fn@`؇8}Wvʎc0?"+St>i$׿pFpq>vԒeYel@煮U\Z-hIvHJ6?Uhܿk"ɿjprp(cCZpUᣊ?bpWXzp:Ap*Z-?pWXppxwCpP@m addTargetRange:: Added new target pos. range: 261.000000 m, deltaT: 3.800028 s, deltaX: -2.000000 m, approachRate: -0.526312 m/s, rangeRepo size: 4 } Added new target pos. range: 259.817993 m, bearing: 333.081971 deg, lat: 36.779453 deg, lon: -121.859838 deg, deltaT: 3.800028 s, deltaX: -1.994263 m, approachRate: -0.524802 m/s, posRepo size: 4 oFNOT Ignoring new targets: 259.82 m.oo ProNav: ac range: 259.817993 m, nav range: 247.469940 m, bearing: 332.222582 deg, approach rate: 0.000000 m/s, LOS rate: 0.003070 deg/s, cmd heading: 332.568222 deg, new cmd heading: 332.573061 deg. zoHeadingCmd: 5.804495 target range: 259.817993 and range: 261.00 m.Rol@JoboZoBo:n2nmmwBlkkkPp@k?ɞerBei; amfIi msɝiiiImދ9 jK MrK ػ9zK K K <ď,)K?A J"@AJ"AA66t@Y6 o@6296q#=>AHRS rotation from veh to nav: [[0.869785,0.452056,-0.197788],[-0.462125,0.886798,-0.005398],[0.172957,0.096098,0.980230]]y6H G?@z?Qɿ`vݿ`?bvx#? ?@ ^?ɫ66t@6̈;6CfLnBfIIn,InỴ٥v`> v=9v2Q z?xx zF٦zEy~ ~?  4Ys'Y? 4y3~B  ?C::"Ԑ4)ǁAoAEFNOT Ignoring new targets: 259.82 m.oM/:9oM/:9] ProNav: ac range: 259.817993 m, nav range: 247.300385 m, bearing: 332.225273 deg, approach rate: -0.640599 m/s, LOS rate: 0.010173 deg/s, cmd heading: 332.573058 deg, new cmd heading: 332.581136 deg. zo]k9eHeadingCmd: 5.804636 target range: 259.817993 and range: 261.00 m.Roe@JoaboiZoiBoi:ni2nimqmqlqkqkykyk} "5?ɞrBEZ +I ɝiIǂiԑH {>H &CH 7II coBI =I I &I ?<*I E2I'C:I'CBIJIɏ =RIɏ =ZI+5 ď,je?A>k@Y>?|@>39>K=FAHRS rotation from veh to nav: [[0.870361,0.451118,-0.197393],[-0.460634,0.887587,-0.002590],[0.174035,0.093179,0.980321]]y>H??(Dɿ{ݿg?6e@F?`ڷ?`^?ɫ>k@>?;>CNmnBNI5Mb@Mb@Mb@1 1)1I1i15 +?X9vZd;O5?5}5j)1I5( Ai5CA1 15*AIMEIM٥U = ]D=9]+Q ]>aa eF٦eEym|; m> y4Y}8Y?4y}}~B?:?}C}:}]:}uې4B)|A#EoFNOT Ignoring new targets: 259.82 m.o9o9 ProNav: ac range: 259.817993 m, nav range: 247.055191 m, bearing: 332.231175 deg, approach rate: -0.584727 m/s, LOS rate: 0.014090 deg/s, cmd heading: 332.581145 deg, new cmd heading: 332.598869 deg. zo:HeadingCmd: 5.804945 target range: 259.817993 and range: 261.00 m.Ro¹@JoboZoBo:n2nmmwBlkykykyk}` ?ԑɞrB"A I ɝiI:Jm9Jm3JiJmO;JmO;Jm3:Jm4:F"F*F2F:FG<GGpAG 2B :B  O > -ď,$G?A6y@Y6s@6496r=BAHRS rotation from veh to nav: [[0.869744,0.451554,-0.199109],[-0.461436,0.887166,-0.003655],[0.174992,0.095055,0.979970]]y6H`?`B?`j|ɿ*ݿc?m'f? U?[?ɫ6y@6;6CJnBJIN=N;? PRAIV5IV糴٥Zw= ^U=9^G&Q %>)) -F٦- Ey5D' 5> 9E4Y=IY?E4y=2=~BAEM?=C=!;=*(;=^4a)eAa}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 259.82 m.o9o9 ProNav: ac range: 259.817993 m, nav range: 246.823959 m, bearing: 332.236802 deg, approach rate: -0.581516 m/s, LOS rate: 0.014165 deg/s, cmd heading: 332.598876 deg, new cmd heading: 332.615773 deg. zo:HeadingCmd: 5.805240 target range: 259.817993 and range: 261.00 m.RoĹ@JoboZoBo:n2nmmlkkkk`{?ɞsBE xI aɝiITT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q %ď,(?A:r|@Y:Fw@:39:Is=RAHRS rotation from veh to nav: [[0.869963,0.451073,-0.199245],[-0.461099,0.887338,-0.004443],[0.174793,0.095737,0.979940]]y:H?_?@܀ɿݿe?3r _?9?`[?ɫ:r|@:D;:C^nB^IIfYIf٥n> rH=9rj:Q r>pt vF٦v Eyv: v> x~4YzTYY?4yzz~B?zCz';z;;zI4-B)5A=$EoYmFNOT Ignoring new targets: 259.82 m.on9on9 ProNav: ac range: 259.817993 m, nav range: 246.592499 m, bearing: 332.242422 deg, approach rate: -0.536516 m/s, LOS rate: 0.013038 deg/s, cmd heading: 332.615760 deg, new cmd heading: 332.632635 deg. zo+:IUHeadingCmd: 5.805535 target range: 259.817993 and range: 261.00 m.RoUƹ@JoQboQZoQBoQ:nY2nYmYmYlakakakaJHiBHm?AHux>HqHuvIIuoBIqIqIq&Iuf<*IuEke?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751563ɞ%+sB-NV< )-犿I) -zɝ1i1I5Jq Ju fJu 3Jq Jq Ju 9Ju (3Jq Jq Jq Ju :Ju :ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003897+,ď,t ?A2@Y2|@2492j=<BAHRS rotation from veh to nav: [[0.870254,0.450332,-0.199649],[-0.460483,0.887655,-0.004995],[0.174970,0.096282,0.979855]]y2H?>?ɿxݿg?utje??@Z?ɫ2@2݉;0^nB^IMb@Mb@Mb@ )Iil?DlMb?O)$2AIAiA7A Q(AI=aI=錴٥m= m5=9uyιQ u>qq }F٦}Ey}: }> 4Y lY?4yB?:?3C;_;>4)aAԡoFNOT Ignoring new targets: 259.82 m.o9o9 ProNav: ac range: 259.817993 m, nav range: 246.325256 m, bearing: 332.249669 deg, approach rate: -0.592163 m/s, LOS rate: 0.016076 deg/s, cmd heading: 332.632644 deg, new cmd heading: 332.654410 deg. zo0:HeadingCmd: 5.805915 target range: 259.817993 and range: 261.00 m.Roʹ@JoboZoBo:n2nmmwBlkkkk@`@ɞ=AsB=)@ 9=@IA EEɝAiAIMG2B:B Og>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255507 3ď,?A2䂲@Y2}@28A492m=:AHRS rotation from veh to nav: [[0.870273,0.450237,-0.199777],[-0.460387,0.887705,-0.004933],[0.175122,0.096268,0.979829]]y2HG??Nɿvݿ`h?4thj??Z?ɫ2䂲@2^;2CjK>)OrK>H9zK<K>K> tU8UyX<$ ~~ymS8)lzCoBz$Ii|I~AI\IW٥P<> a=9Q > F٦%Ey%.9 %> )54Y-zY?54y--%B1==?-NC-Q;-n;-4EB)EAAoimFNOT Ignoring new targets: 259.82 m.ou9ou9 ProNav: ac range: 259.817993 m, nav range: 246.114502 m, bearing: 332.255391 deg, approach rate: -0.647477 m/s, LOS rate: 0.017593 deg/s, cmd heading: 332.654419 deg, new cmd heading: 332.671599 deg. zo/A:HeadingCmd: 5.806215 target range: 259.817993 and range: 261.00 m.Ro̹@JoboZoBo:n2nmmlkkkk@ɞRsBa$G فI ɝiI!P1H H H II LpBI =I I &I S<*I E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759657a <9ď,?AnwoBnDI9uMb@Mb@Mb@q q)qIqiqubX9?S㥫{GzuE?u/]u#)u0AIurAiu/Aq qu&AIOIݜ٥= B=9Q > F٦Ey > 4Y]Y?4yRKB?:?nC;T;4 ) ~Ao FNOT Ignoring new targets: 259.82 m.oY9oY9% ProNav: ac range: 259.817993 m, nav range: 245.866669 m, bearing: 332.260776 deg, approach rate: -0.546975 m/s, LOS rate: 0.011896 deg/s, cmd heading: 332.671604 deg, new cmd heading: 332.687774 deg. zo%:-HeadingCmd: 5.806497 target range: 259.817993 and range: 261.00 m.J(3J3J.J5nJ5iJ54J1J5|;:J5ڈ9J53J1J5,J;J5.J;J5s:J5t:Romι@JoiboiZoiBoi:ni2nqmqmuwBlqkykykyk}@ɞ ksB J8 |I ɝiIq"@ď,?A6}@Y6w@6 596$=BAHRS rotation from veh to nav: [[0.869819,0.450776,-0.200540],[-0.460938,0.887421,-0.004513],[0.175929,0.096362,0.979675]]y6H??@Kɿݿ`e?|r`؄? +?Y?ɫ6}@6O;6CJoBJkIIRJIRKbBDAT read: Rx Time:03:59:15.0217 fTRx dataTimestamp_ set to:1761364756.033969fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264776٥^*> jZ=9jSQ j>ll nF٦nEyr r> tz4YvY?z4yvqvmBxz~?vCv:v5;v~4B)~A %E%B*** querying acoustic contact ***:p!Bp!o)=FNOT Ignoring new targets: 259.82 m.oERz9oERz9U ProNav: ac range: 259.817993 m, nav range: 245.650482 m, bearing: 332.265519 deg, approach rate: -0.622921 m/s, LOS rate: 0.013678 deg/s, cmd heading: 332.687777 deg, new cmd heading: 332.702018 deg. zoU1:ԙ]HeadingCmd: 5.806746 target range: 259.817993 and range: 261.00 m.Ro]й@JoYboYZoYBoY:na2namamalakikikikm` @ɞ~sB }> qI ɝiIE>F6"F*F2F:FjK} OrK} 9zKyK}K}     *4Sbhjffiibaeoa@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517546Gd<Gi 2Bq :B  O >! MFď,mq?A:K@Y:{@:<59:9 =JAHRS rotation from veh to nav: [[0.869979,0.450382,-0.200732],[-0.460584,0.887604,-0.004670],[0.176067,0.096517,0.979635]]y:H@??ɿ6zݿ@g? sZ?N?+Y?ɫ:K@:#;:CroBvI > < !!)1 5AAIEXIE㔴٥}> ?=9NQ > F٦Ey{m: > 4YY?4y& B?C<H5w>H1H5II5pBI1I1I1&I5C<*I5E <; 4) }ADAT read: 03:59:15.0217 LVL= 19696, 28513, 17314, 28787, AGC= 64, IDX= 420, 0.11,-1.329,-2.854,-1.358,-2.093, PHS= 0.852,-0.714, 0.732, RAW= 146.0, -11.5, CAL= 153.2, -20.1, ROT= 356.8, 20.1 Ygot valid direction response: 03:59:15.0217 LVL= 19696, 28513, 17314, 28787, AGC= 64, IDX= 420, 0.11,-1.329,-2.854,-1.358,-2.093, PHS= 0.852,-0.714, 0.732, RAW= 146.0, -11.5, CAL= 153.2, -20.1, ROT= 356.8, 20.1  PDAT read: Bearing 356.8, 20.1 (Local) ~Local bearing/azimuth received: Bearing 356.8, 20.1 (Local) %DAT read: Range 10 to 50 : 259.5 m (Round-trip 346.1 ms) speed 0.8 m/s -*DAT read: user:241> 5BDAT read: Tx time:03:59:16.1214 5$Ping request sent.5 )4zr+? D?#m[ɿi>M>d> )]:publishing transmit ping time1]Fpublishing direction and range infoy?[c ת"?տY )Ii )Ii )4zr+? D?#m[ɿi )JpRp[]"?Ap)Cp)Cp[@vԂ\Fn@?[+j1Vv?[c ת"?տpdp>v}Ck@Qr^IwZyFvDZ?%N޿uƿjpSrpp^CZpY梊?bp-zpeApY梊?p6;p:Ap{Cp @)E addTargetRange:: Added new target pos. range: 259.500000 m, deltaT: 3.780030 s, deltaX: -1.500000 m, approachRate: -0.396822 m/s, rangeRepo size: 4 U Added new target pos. range: 258.321594 m, bearing: 331.026888 deg, lat: 36.779500 deg, lon: -121.859876 deg, deltaT: 3.780030 s, deltaX: -1.496399 m, approachRate: -0.395870 m/s, posRepo size: 4 oQ]FNOT Ignoring new targets: 258.32 m.o}oy ProNav: ac range: 258.321594 m, nav range: 251.593140 m, bearing: 332.143809 deg, approach rate: 0.000000 m/s, LOS rate: 0.013678 deg/s, cmd heading: 332.702012 deg, new cmd heading: 332.723555 deg. zoHeadingCmd: 5.807122 target range: 258.321594 and range: 259.50 m.Roӹ@JoboZoBo:n2nmmlkkk8p@k̰?ɞsBt2 9=hI9 EɝAiAIEG 2B :B  O >Lď,T5?Av,@Yv{@vI59v"=]AHRS rotation from veh to nav: [[0.869964,0.450427,-0.200694],[-0.460593,0.887600,-0.004485],[0.176116,0.096340,0.979644]]yvH??Xɿ[zݿ8g?^r ??=Y?ɫv,@v=;vCe9pBmIԱ-Mb@Mb@Mb@) )))I)i)-> ףp=?{Gz-?-#-)-j,AI)i-A-h5A )-z$AImWImƕ٥} > }%=9}ոQ }> F٦Ey) > 4Y$Y?4y BG?:?C;8;4B) |A&EoeFNOT Ignoring new targets: 258.32 m.oeeF9oeeF9u ProNav: ac range: 258.321594 m, nav range: 251.325012 m, bearing: 332.148185 deg, approach rate: -0.663536 m/s, LOS rate: 0.010841 deg/s, cmd heading: 332.723568 deg, new cmd heading: 332.736709 deg. zou9HeadingCmd: 5.807351 target range: 258.321594 and range: 259.50 m.Roչ@JoboZoBo:n2nmm%xBlkkkkdU?ɞsB7  ]I  FAɝ i I Sď,CO?A:q@Y:l@:T69:r=FAHRS rotation from veh to nav: [[0.868970,0.452543,-0.200243],[-0.462008,0.886876,-0.000608],[0.177316,0.093042,0.979746]]y:H ? u?ɿ@ݿ Ia?pCG?`ѷ?Z?ɫ:q@:;:CJpBNIIVNIV٥Z;> ^=9^Q ^?`` bF٦bEyfӶ f? hj4YjY?n4yjXjBln7n?jCjU;j;j4t)vzAtoFNOT Ignoring new targets: 258.32 m.o=19o=19 ProNav: ac range: 258.321594 m, nav range: 251.149582 m, bearing: 332.151125 deg, approach rate: -0.577514 m/s, LOS rate: 0.009685 deg/s, cmd heading: 332.736709 deg, new cmd heading: 332.745535 deg. zo9 HeadingCmd: 5.807505 target range: 258.321594 and range: 259.50 m.Ro ׹@Jo bo Zo Bo :n2n9mAmAlIkIkQkQku@L4?ɞsBi9 LI TɝiIHqHuvIIuiqBIu =IqIuD&Iud<*IuEG <Ga 2Bq :B  O > UYď,…i?ApBIMb@Mb@Mb@ )Iikt?Mb` ?)?-AIAiA2A "AI?I ٥= 8=9Q > F٦!Ey > 4Y  Y?4y b B!?:? C ; ; "4%B)%zA%0EoIUFNOT Ignoring new targets: 258.32 m.o]6o]6m ProNav: ac range: 258.321594 m, nav range: 250.903229 m, bearing: 332.151252 deg, approach rate: -0.555108 m/s, LOS rate: 0.000286 deg/s, cmd heading: 332.745533 deg, new cmd heading: 332.745914 deg. zom I7uHeadingCmd: 5.807512 target range: 258.321594 and range: 259.50 m.Rou#׹@JoqboyZoyBoy:ny2nymm6xBlkkkk`#?ԱɞsB:2 pHI ɝiIA `ď,c`?A:@Y:ń@:Q 89:=BAHRS rotation from veh to nav: [[0.870090,0.449219,-0.202843],[-0.459332,0.888259,-0.003144],[0.178765,0.095907,0.979206]]y:H?`?ɿ eݿl?i?a?U?ɫ:@:;:CJpBJ'IIr6Ir٥z?> z[=9~mQ ~> F٦#Ey<  > 4Y dY?4y  B? C D; a; J)4!)-9yA)EB*** querying acoustic contact ***:pIBpIoQUFNOT Ignoring new targets: 258.32 m.oe̵oe̵} ProNav: ac range: 258.321594 m, nav range: 250.697189 m, bearing: 332.151219 deg, approach rate: -0.553877 m/s, LOS rate: -0.000087 deg/s, cmd heading: 332.745916 deg, new cmd heading: 332.745818 deg. zo}uHeadingCmd: 5.807510 target range: 258.321594 and range: 259.50 m.Ro׹@JoboZoBo:n2nmmlkkkk`?ɞsBd2 ?I 3ɝiI&{i fď, ;?A NҘ@YN@NR79N =VAHRS rotation from veh to nav: [[0.871034,0.447476,-0.202644],[-0.457810,0.889038,-0.004663],[0.178072,0.096834,0.979241]]yNH`?q? =ɿLݿr?Hs?ʸ?U?ɫNҘ@NV;NC^'qBbMIIjVIj٥r> rL=9r:Q v>| F٦&EyӒ; > 1U4Y5KZ?e4y55/Bimu?5:C5<5v<5n04B)QxAHea>He#CHeIIerBIe =IaIeD&IeY<*IeE2I&Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006051o!-FNOT Ignoring new targets: 258.32 m.:I%CBICJI =RI =ZIqn5o]vo]vm ProNav: ac range: 258.321594 m, nav range: 250.470642 m, bearing: 332.151089 deg, approach rate: -0.488690 m/s, LOS rate: -0.000281 deg/s, cmd heading: 332.745807 deg, new cmd heading: 332.745416 deg. izom[EHeadingCmd: 5.807503 target range: 258.321594 and range: 259.50 m.Ro׹@JoboZoBo:n2nmmlkkkk`O@ɞ%sB%`e* 5I )ɝiI h"mď,?A61@Y6@6J796BA=>AHRS rotation from veh to nav: [[0.871718,0.446130,-0.202671],[-0.456626,0.889641,-0.005690],[0.177766,0.097505,0.979230]]y6H ?`f?ɿ`[9ݿw?Nw ??U?ɫ61@62;6CFKqBFdIJ8>JV>P}Mb@Mb@Mb@y y)yIyiy}Q? rh?Mb`}?}C =y)yI}/Ai}A}$2A y}"AIOIݜ٥= >=9=:Q > F٦)Ey V; > 4YoZ?4yDB< ?:վ?WC::74B)wA1EoFNOT Ignoring new targets: 258.32 m.o 6-o 6- ProNav: ac range: 258.321594 m, nav range: 250.248627 m, bearing: 332.147621 deg, approach rate: -0.605370 m/s, LOS rate: -0.009465 deg/s, cmd heading: 332.745424 deg, new cmd heading: 332.735011 deg. zoϹ-HeadingCmd: 5.807322 target range: 258.321594 and range: 259.50 m.Ro-չ@Jo)bo)Zo)Bo):n12n1m9m=xBl9k9k9kAkE`-@ɞmtBuW1 0I %ɝiI!  Jy J} AAJ oJ fJ 3J J >:J 9J (3J tď,/?AjK"jPrK" 9zK K"K"  ; 0eoZ=) b{@YbO@b69bj=rAHRS rotation from veh to nav: [[0.872460,0.444811,-0.202377],[-0.455348,0.890292,-0.006231],[0.177403,0.097588,0.979288]]ybH 1?`w?ɿ@k$ݿ E}?҅y%?`?`SV?ɫb{@bg;bC|qBIII٥5> =Q=9=w:Q E>AA MF٦M+EyMJ{; U>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760144 q4Yux!Z?4yuFuWB8վ?urCu<;u%;u>4)vAoamFNOT Ignoring new targets: 258.32 m.omom} ProNav: ac range: 258.321594 m, nav range: 250.041046 m, bearing: 332.144301 deg, approach rate: -0.497515 m/s, LOS rate: -0.007963 deg/s, cmd heading: 332.735015 deg, new cmd heading: 332.725048 deg. zo}ஹHeadingCmd: 5.807148 target range: 258.321594 and range: 259.50 m.Ro'Թ@JoboZoBo:n2nmmlkkkkz@ɞm$tBmg* imD'Ii u\KɝqiqIuŠH"CH+IIrBI =IID&In<*IE- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013852G r=Gy 2B :B  O > )4zď,2?A>湲@Y>@>?69>e;=JAHRS rotation from veh to nav: [[0.873041,0.443739,-0.202223],[-0.454375,0.890783,-0.006987],[0.177037,0.097985,0.979315]]y>H?8f?tɿzݿK?|$?`?V?ɫ>湲@>I;>CRqBRIuMb@Mb@Mb@q q)qIqiquS㥛?i|?5?~jtu$?uq=uD)u)AIuAiuEAu/A quQ AIRI4٥.= D=9j:Q > F٦.Ey|5; > 4YS2Z?4yHjB?:?C& ;~ ;E4B)avA2EoFNOT Ignoring new targets: 258.32 m.o Njo Nj ProNav: ac range: 258.321594 m, nav range: 249.828552 m, bearing: 332.138340 deg, approach rate: -0.544082 m/s, LOS rate: -0.015276 deg/s, cmd heading: 332.725043 deg, new cmd heading: 332.707145 deg. zo'%HeadingCmd: 5.806835 target range: 258.321594 and range: 259.50 m.Ro%ѹ@Jo!bo!Zo!Bo!:n)2n)m)m-xBl1k1k9k9k= @ɞm6tBuQ, qu#Iq }MHɝyiyI}dY % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515283ď,?A>Cò@Y>@>69>N=FAHRS rotation from veh to nav: [[0.873581,0.442654,-0.202270],[-0.453388,0.891281,-0.007625],[0.176904,0.098368,0.979300]]y>Ha?pT?@ɿ`Nݿ@_?;`ʤ?.?@mV?ɫ>Cò@>;dh jF٦j0EyjF; j> pr4YrAZ?v4yr rzBtvv?rCr:r9:r{L4x)~uA|B*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 258.32 m.o-o-= ProNav: ac range: 258.321594 m, nav range: 249.633759 m, bearing: 332.132815 deg, approach rate: -0.518579 m/s, LOS rate: -0.014720 deg/s, cmd heading: 332.707148 deg, new cmd heading: 332.690560 deg. zo=!MHeadingCmd: 5.806546 target range: 258.321594 and range: 259.50 m.RoM9Ϲ@JoIboIZoIBoQ:nQ2nQmQmQlYkYkYkake @ɞ JtB *  I  RDɝiIp Fď,?A6ɲ@Y6dĹ@6 596j=BAHRS rotation from veh to nav: [[0.873996,0.442065,-0.201765],[-0.452750,0.891604,-0.007705],[0.176489,0.098083,0.979404]]y6H?J?@qɿܿ?2.??@FW?ɫ6ɲ@6Ɖ;6CNqBRIIncIn#٥-'u= -D=95:Q 5>11 =F٦E3EyMm: U>ZH<RHp<HU>HHvII sBI =IID&Ia<*IE i4ԙYmkTZ?4ymR"mB?mCm;?<DAT read: 03:59:18.8684 LVL= 17104, 23697, 14674, 29939, AGC= 65, IDX= 403,-0.00, 1.626, 0.396, 1.702, 0.671, PHS= 1.043,-0.229, 1.027, RAW= 149.4, -27.2, CAL= 153.2, -33.3, ROT= 356.8, 33.3 mI=mlT4B)]uAYgot valid direction response: 03:59:18.8684 LVL= 17104, 23697, 14674, 29939, AGC= 65, IDX= 403,-0.00, 1.626, 0.396, 1.702, 0.671, PHS= 1.043,-0.229, 1.027, RAW= 149.4, -27.2, CAL= 153.2, -33.3, ROT= 356.8, 33.3 PDAT read: Bearing 356.8, 33.3 (Local) ~Local bearing/azimuth received: Bearing 356.8, 33.3 (Local) DAT read: Range 10 to 50 : 257.1 m (Round-trip 342.8 ms) speed 0.5 m/s oFNOT Ignoring new targets: 258.32 m.*DAT read: user:242> ovov ProNav: ac range: 258.321594 m, nav range: 249.399063 m, bearing: 332.126106 deg, approach rate: -0.471266 m/s, LOS rate: -0.013485 deg/s, cmd heading: 332.690564 deg, new cmd heading: 332.670416 deg. zoHeadingCmd: 5.806194 target range: 258.321594 and range: 259.50 m.RoX̹@JoboZoBDAT read: Tx time:03:59:19.9714 $Ping request sent.,? ):publishing transmit ping timeFpublishing direction and range infoyNB?T㧿S=LΌY )Ii )Ii )່R?ցv?lpLݿi 靥I ׍ɝiI쒌 G9 2BA :BY  Oe >jzď,8?AZв@YZ˹@Z59Z=fAHRS rotation from veh to nav: [[0.874419,0.441230,-0.201763],[-0.451969,0.891997,-0.008102],[0.176397,0.098275,0.979401]]yZH=?=?@_ɿ ܿ =?ٗ`.?(?@W?ɫZв@Z툉;ZCErBEIUMb@Mb@Mb@Q Q)QIQiQU??I +Uf?UL=U9)UV(AIUAiUAUS1A QUAIIDд٥= 4=9V9Q > F٦6Ey; > 4YteZ?4yn$B ?:@?C?;;[4)tAJpRp$?ApCpCp@vH|j@{ƐN'6XavNB?T㧿S=Lpp,?v7V:j@!HZnGYvPXď,% F٦8Ey > 4YxtZ?4yL&B¾?C;;b4B)>tA3EoFNOT Ignoring new targets: 255.92 m.o<`o<` ProNav: ac range: 255.915375 m, nav range: 247.429718 m, bearing: 332.807622 deg, approach rate: -0.552223 m/s, LOS rate: -0.012253 deg/s, cmd heading: 332.654501 deg, new cmd heading: 332.641793 deg. zo HeadingCmd: 5.805695 target range: 255.915375 and range: 257.10 m.Ro @ȹ@Jo bo Zo Bo :n2nmmlkkkk?ɞMtBI ,+ I aPɝiI=)@ȹ@)F%6"F!*F!2F-p0:F)ԙHI>H CHIIesBI =I>DID&I8<*IZE GE =G 2B) :B9  O] >?ď,l?A6Ӳ@Y6_ι@6;/796=NAHRS rotation from veh to nav: [[0.874315,0.441017,-0.202675],[-0.451565,0.892214,-0.006555],[0.177938,0.097253,0.979224]]Py6Hc?`9?Aɿqܿ?z@??U?ɫ6Ӳ@6܈;4VUrBZIuMb@Mb@Mb@q q)qIqiquJ +?Mb?L7A`堿u?u@=u+)u%AIuEAiuAu?-A quAI%I´٥= J=9Q > F٦;Ey; > 4YSZ?4yj(B~ ?:þ?C ;a;0i4)sAoFNOT Ignoring new targets: 255.92 m.o No NJ}pJ}fJ}3JyJ}A:J}9J}(3JyJ}T;!J}T;!J}:!J}:! ProNav: ac range: 255.915375 m, nav range: 247.215012 m, bearing: 332.803036 deg, approach rate: -0.527860 m/s, LOS rate: -0.011284 deg/s, cmd heading: 332.641797 deg, new cmd heading: 332.628027 deg. zoHeadingCmd: 5.805454 target range: 255.915375 and range: 257.10 m.RoHƹ@JoboZoBo:n2nmmixBlkkkk@a?ɞ-tBM\( QUIY ]ɝaiaIe8jď,A?A6@Y6bݹ@63 796M=BAHRS rotation from veh to nav: [[0.875164,0.439436,-0.202444],[-0.449974,0.893016,-0.006804],[0.177796,0.097049,0.979270]]y6H X??@ɿ_ܿ?{?;ظ?.V?ɫ6@6J;4JqrBJIIRLIR٥^!= bY=9bY9Q b>dd fF٦f=Eyf; f> hn4YjZ?r4yj_*jȀBprþr?j.Cj ;j;jo4vB)vtsAz4E|B*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 255.92 m.o-eTo-eTE ProNav: ac range: 255.915375 m, nav range: 247.015594 m, bearing: 332.798685 deg, approach rate: -0.531422 m/s, LOS rate: -0.011606 deg/s, cmd heading: 332.628027 deg, new cmd heading: 332.614962 deg. zoEMHeadingCmd: 5.805226 target range: 255.915375 and range: 257.10 m.RoMjĹ@JoIboIZoQBoQ:nQ2nQmQmlkkkklR?ɞ tB * /I 5ɝ9i9I=:[(3AUegEX&#v<TZTH8+6q`Wj]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ԑG3=G 2B :B  O > ]ď,Ο?AHEG>HECHEIIEsBIE =IAIA&IEW<*IEEUrB](IiaIaԙImbIm٥2e= :=9Q > F٦@Ey > 9]4Y=Z?]4y=,=׀Baiu?=MC=U<=<=w4)sAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.954697oFNOT Ignoring new targets: 255.92 m.o@o@ ProNav: ac range: 255.915375 m, nav range: 246.776978 m, bearing: 332.793469 deg, approach rate: -0.481597 m/s, LOS rate: -0.010537 deg/s, cmd heading: 332.614968 deg, new cmd heading: 332.599305 deg. zoh5HeadingCmd: 5.804953 target range: 255.915375 and range: 257.10 m.Ro5-¹@Jo9bo9Zo9Bo9:n92n9mAmAlikqkykk @ɞtBH$ {J<靍 I ɝiIG 2B :B  O >ď,?A6@Y6@6496# =>AHRS rotation from veh to nav: [[0.876480,0.438333,-0.199114],[-0.448189,0.893925,-0.004984],[0.175809,0.093609,0.979964]]y6H ? ?|ɿ@!ܿ`?it`??[?ɫ6@6m;6CFrBF;I%Mb@Mb@Mb@! !)!I!Qi!%?Mb?{Gz% ?%<%#)%A$AI!i% A%*A !%3AIFIפ٥= B=9;Q > F٦CEy`; > 4YZ?4y  J J BAqď,;?ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.707887jKNOrKNh9zKLKNKNgQ?/ }wpi_XWVL;,#!  E2KVrA*KT=rB=MIIMSIMQ٥g= N=9Q > F٦EEy > 4YZ?4y1B?C::4ԹB)rA>EoFNOT Ignoring new targets: 255.92 m.oRoR ProNav: ac range: 255.915375 m, nav range: 246.334106 m, bearing: 332.789538 deg, approach rate: -0.547803 m/s, LOS rate: -0.004872 deg/s, cmd heading: 332.593302 deg, new cmd heading: 332.587520 deg. zoUHeadingCmd: 5.804747 target range: 255.915375 and range: 257.10 m.Ro}@JoboZo Bo :n 2n m mlkkkk@ɞ]tB]' ae Ii mɝqiqIu7HHIIsBIII&Im<*IE2Im C:Im CBIiJImƙ =RImƘ =ZIm\6!]BDAT read: Rx Time:03:59:22.7165 eTRx dataTimestamp_ set to:1761364763.598625checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974110GE )=GA 2BQ :Bi  Ou >9 ď,+?A6@Y6@6b496y=>AHRS rotation from veh to nav: [[0.876653,0.438244,-0.198551],[-0.447997,0.894022,-0.004725],[0.175438,0.093093,0.980079]]y6H ?@/ ? jɿ`ܿ՛?Zs`t?@Է?\?ɫ6@6A;6C^rB^`IMb@Mb@Mb@ )IiʡE? F٦HEyS : > 4YZ?4y4B?:?C ; ;4B)qAo9EFNOT Ignoring new targets: 255.92 m.oEX8oEX8U ProNav: ac range: 255.915375 m, nav range: 246.098572 m, bearing: 332.790762 deg, approach rate: -0.566967 m/s, LOS rate: 0.002951 deg/s, cmd heading: 332.587510 deg, new cmd heading: 332.591188 deg. zo]9]HeadingCmd: 5.804811 target range: 255.915375 and range: 257.10 m.Ro]@JoaboaZoaBoa:na2namimmwBlikikqkqku @ɞ=tB=x% 9EVIA E_ɝAiAIEΉ&ñď,5 ?AR@YRU@R49Rze=ZAHRS rotation from veh to nav: [[0.876519,0.438412,-0.198771],[-0.448110,0.893968,-0.004280],[0.175819,0.092823,0.980036]]yRHq ?@?Vqɿխܿc?q`99 =F٦=KEy=R E> Ye4Y]lZ?e4y]7] Bimm?]C];];]4y)}$qAyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 255.92 m.o\8o\8 ProNav: ac range: 255.915375 m, nav range: 245.836792 m, bearing: 332.792137 deg, approach rate: -0.571688 m/s, LOS rate: 0.003006 deg/s, cmd heading: 332.591199 deg, new cmd heading: 332.595328 deg. zo 9HeadingCmd: 5.804883 target range: 255.915375 and range: 257.10 m.Ro@JoboZoBo:n2nmmlkkkk@ @ɞ uBj% I ɝiI_ BDAT read: Tx time:03:59:23.8215 $Ping request sent.F"F *F 2F65:Fm/D? m"@)m[Imt*@im޹m@m޹> i)imGb2?,E?;1˿im3>m5[>m9m޹> i)i%:publishing transmit ping time%Fpublishing direction and range infoiym%b5?4K_S{ֿiYi i)iIiiiiiii i)iIiiiii i)imGb2?,E?;1˿iiiii i)iԑG] #'= G 2B9 H] A>HY H] 2II] :tBI] =IY I] D&I] +<*I] :E:B  O >5 JDAT read: TxSync time:03:59:23.8208 Kɱď,&?AP2sBIMb@Mb@Mb@ )Ii|?5^?ktQ롿? 0\)( AI1AiG A&A AIiI҅٥= &=9Q > F٦NEy > 4Y [?4y ; B?: ? C U: : 4%B)%tpA%?EJpRpp?Api~Cpi~Cp}@vym@h vʓ%g nVv%b5?4K_S{ֿp9p޹>v((<6k@'R9\OmGv_{?'A}ݿAZȿjpqrpy]CZp\飊?bpgNlzp|PApabo?p6;pa*ApxCpГ@} addTargetRange:: Added new target pos. range: 255.600006 m, deltaT: 3.779516 s, deltaX: -1.500000 m, approachRate: -0.396876 m/s, rangeRepo size: 4 - Added new target pos. range: 254.410797 m, bearing: 332.412650 deg, lat: 36.779515 deg, lon: -121.859876 deg, deltaT: 3.779516 s, deltaX: -1.504578 m, approachRate: -0.398087 m/s, posRepo size: 4 o)5FNOT Ignoring new targets: 254.41 m.o5o1m ProNav: ac range: 254.410797 m, nav range: 248.557846 m, bearing: 332.275053 deg, approach rate: 0.000000 m/s, LOS rate: 0.003006 deg/s, cmd heading: 332.595324 deg, new cmd heading: 332.599793 deg. zoiuHeadingCmd: 5.804962 target range: 254.410797 and range: 255.60 m.Rou?¹@JoqboqZoqBoq:nq2nqJxJtJ4JJZ:J9J3JJ;J;J:J:mmwBlkkk@3o@kH?ɞ]"uB]C! aeIa en]ɝaiaIexx ~F٦~QEy| ~>  4Y [?4y v? *B?  C W: N: 4B)oA%@EoQUFNOT Ignoring new targets: 254.41 m.o] 9o] 9 ProNav: ac range: 254.410797 m, nav range: 248.280716 m, bearing: 332.278745 deg, approach rate: -0.577606 m/s, LOS rate: 0.007703 deg/s, cmd heading: 332.599805 deg, new cmd heading: 332.610893 deg. zo-9HeadingCmd: 5.805155 target range: 254.410797 and range: 255.60 m.Roù@JoboZoBo:n2nmmlk k k k ?ɞ}6uB}K" 靅I (ɝiI%jK;NrKػ9zKKK953/)$$fvi\iuP]\F73'Lu;Z$W- y^v|j]UNQH @>H H jII tBI I I &I k<*I Ea ]ٱď,e?ARβ@YRɹ@Rj*69R=~AHRS rotation from veh to nav: [[0.874211,0.442414,-0.200062],[-0.452151,0.891935,-0.003352],[0.176959,0.093389,0.979778]]yRH@?P?@ɿ ܿ?uk?@O?VZ?ɫRβ@RN;RCsBIQIM'IMP٥ > 3=9%Q > F٦TEy( > 4Y)[?4y C8B ?.C";;4) nA o1=FNOT Ignoring new targets: 254.41 m.o=9oE9U ProNav: ac range: 254.410797 m, nav range: 248.018585 m, bearing: 332.282530 deg, approach rate: -0.565416 m/s, LOS rate: 0.008172 deg/s, cmd heading: 332.610897 deg, new cmd heading: 332.622263 deg. zoUz9]HeadingCmd: 5.805354 target range: 254.410797 and range: 255.60 m.Ro]uŹ@JoYboYZoYBoY:nY2namamalikikikikmr?ɞIuB7 靝ҾI )ɝiIԩ 7߱ď,_?A2!Ų@Y2@2~492=>AHRS rotation from veh to nav: [[0.873918,0.443365,-0.199234],[-0.453309,0.891340,-0.004850],[0.175435,0.094553,0.979940]]y2H#? `?ɿݿۅ?8s@t? 4?[?ɫ2!Ų@2<;2C^sB^IUMb@Mb@Mb@Q Q)QIQiQUgfffff?X9vU3?U}U̼)UAIU AiUAUp#A QUAIeLIe٥uM<> }`=9}׊;Q }> F٦VEybT > 4Yx8[?4yFFB1?:?IC::k4B)mAoFNOT Ignoring new targets: 254.41 m.or9or9 ProNav: ac range: 254.410797 m, nav range: 247.809479 m, bearing: 332.287290 deg, approach rate: -0.581989 m/s, LOS rate: 0.013260 deg/s, cmd heading: 332.622262 deg, new cmd heading: 332.636555 deg. zo:HeadingCmd: 5.805603 target range: 254.410797 and range: 255.60 m.Roǹ@JoboZoBo:n2nm Աm wBlkkkk ?ɞYuBa IM~II UArɝQiQIUZE>FY"Fa*Fa2Fe`5:FaGiGmrAGQ2Ba:Bq OZ>) Ju zJu mJu 2Jq Ju `:Ju &9Ju c3Jq ! @! @! @! @jK OrK ]9zK K K JCFpt^ND:43<LZ^\\_cfcaa]VQKGCC=:731.+('%#)6607Ovď,?A2xŲ@Y2L@24392i=>AHRS rotation from veh to nav: [[0.874174,0.443267,-0.198326],[-0.453397,0.891286,-0.006402],[0.173928,0.095517,0.980115]]y2H@ VX=9Zτ;Q Z>XX ^F٦^YEy^8 ^> `f4YbG[?f4yb7IbSBhjj?beCb:b:b4l)nlAp~B*** querying acoustic contact ***:p|Bp|o  FNOT Ignoring new targets: 254.41 m.o n9on9% ProNav: ac range: 254.410797 m, nav range: 247.594116 m, bearing: 332.292195 deg, approach rate: -0.571888 m/s, LOS rate: 0.013037 deg/s, cmd heading: 332.636551 deg, new cmd heading: 332.651279 deg. zo%':-HeadingCmd: 5.805860 target range: 254.410797 and range: 255.60 m.Ro-ɹ@Jo)bo)Zo)Bo):n)2n1m1m1l1k9k9k9k=`@ɞmhuBmf quUI ɝiI*ԉ qGď,?A@>$Dz@Y>@>29>|=JAHRS rotation from veh to nav: [[0.874403,0.443298,-0.197247],[-0.453289,0.891342,-0.006223],[0.173055,0.094851,0.980334]]y>H? ^?_?ɿݿ߅?\}y&?)H?^?ɫ>$Dz@>3; <=9;Q > F٦[EyZ9 > 4YX[?4yLdBV?:?C; ;‘4B)kAAEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513019oFNOT Ignoring new targets: 254.41 m.oK9oK9 ProNav: ac range: 254.410797 m, nav range: 247.354233 m, bearing: 332.297259 deg, approach rate: -0.526545 m/s, LOS rate: 0.011127 deg/s, cmd heading: 332.651277 deg, new cmd heading: 332.666485 deg. zo^9HeadingCmd: 5.806126 target range: 254.410797 and range: 255.60 m.Ro˹@JoboZoBo:n2nmmxBlkkkk`q@ԩɞ|uBh I ~ɝiIxO/ď,[?A6 Ȳ@Y6¹@6j196)=BAHRS rotation from veh to nav: [[0.874556,0.443388,-0.196363],[-0.453246,0.891366,-0.005949],[0.172394,0.094203,0.980513]]y6H]?w`?l"ɿݿ?]x`??@]`?ɫ6 Ȳ@68;6CJtBJoIIRgIR٥^,> ^Z=9^:Q b>`` bF٦b^Eyf9 f> hn4Yjvg[?n4pyjOjsBpr r?jCj>;j?;j$ɑ4x)zjAxoFNOT Ignoring new targets: 254.41 m.oWb9oWb9 ProNav: ac range: 254.410797 m, nav range: 247.147049 m, bearing: 332.301637 deg, approach rate: -0.584850 m/s, LOS rate: 0.012368 deg/s, cmd heading: 332.666495 deg, new cmd heading: 332.679638 deg. zo:HeadingCmd: 5.806355 target range: 254.410797 and range: 255.60 m.Ro͹@JoboZoBo:n2nmmlkkkk^@ɞuB0 靭lI K ɝiI H =>H CH II uBI =I I &I T<*I oEbYď,6?ABPExceeded connect timeout, disconnecting.VBDAT read: Rx Time:03:59:26.5636 VTRx dataTimestamp_ set to:1761364767.633967Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269599NͲ@YNȹ@NX/9N}=vAHRS rotation from veh to nav: [[0.875102,0.442831,-0.195186],[-0.452726,0.891623,-0.006879],[0.170986,0.094385,0.980742]]yNH ? YW?ȿ@vܿ`-?,|@?)?`=b?ɫNͲ@N;NCAtB Ii)I)Ie=)eR=II٥f= $=9N<;Q > F٦aEy: > 4Y3{[?4ySB?C:d:ё4 B) iA KEoY]FNOT Ignoring new targets: 254.41 m.oeQ9oeQ9i ProNav: ac range: 254.410797 m, nav range: 246.869324 m, bearing: 332.307468 deg, approach rate: -0.543552 m/s, LOS rate: 0.011424 deg/s, cmd heading: 332.679636 deg, new cmd heading: 332.697147 deg. zo9HeadingCmd: 5.806661 target range: 254.410797 and range: 255.60 m.Ro*й@JoboZoBo:n2nmmlkkkk \ @ɞuB 靽HI &TɝiI(=i5c=)5*й@)9ԑF6"F*F2F:F]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520710 G9 G 2B :B1  O= >ď,?A6DӲ@Y6ι@6P.96'=>AHRS rotation from veh to nav: [[0.875637,0.442146,-0.194340],[-0.452285,0.891830,-0.008842],[0.169409,0.095639,0.980894]]y6H6?L?"ȿ`;ܿމ?0?{?|c?ɫ6DӲ@6S;6CN)uBNIXMb@Mb@Mb@ )IiHzG?S㥛Mb= ?/ݼ)nAIrAi/AA pAI SI Q٥%Q> -S=9-j;Q ->11 5F٦5dEy=: => 9M4Y=[?M4y=OV=BMm ?U:UU?=C=o;=;=ؑ4Y)]hAYoFNOT Ignoring new targets: 254.41 m.o8o8 ProNav: ac range: 254.410797 m, nav range: 246.665344 m, bearing: 332.309472 deg, approach rate: -0.546866 m/s, LOS rate: 0.005377 deg/s, cmd heading: 332.697148 deg, new cmd heading: 332.703165 deg. zo.l9HeadingCmd: 5.806766 target range: 254.410797 and range: 255.60 m.Roѹ@JoboZoBo:n2nmmRxBlkk=DAT read: 03:59:26.5636 LVL= 20912, 28433, 17218, 25427, AGC= 61, IDX= 417,-0.12, 1.819, 0.252, 1.795, 1.028, PHS= 0.879,-0.729, 0.764, RAW= 146.3, -11.7, CAL= 153.4, -20.2, ROT= 356.6, 20.2 EYgot valid direction response: 03:59:26.5636 LVL= 20912, 28433, 17218, 25427, AGC= 61, IDX= 417,-0.12, 1.819, 0.252, 1.795, 1.028, PHS= 0.879,-0.729, 0.764, RAW= 146.3, -11.7, CAL= 153.4, -20.2, ROT= 356.6, 20.2 MPDAT read: Bearing 356.6, 20.2 (Local) M~Local bearing/azimuth received: Bearing 356.6, 20.2 (Local) ]DAT read: Range 10 to 50 : 253.4 m (Round-trip 337.9 ms) speed 0.4 m/s *DAT read: user:244> BDAT read: Tx time:03:59:27.6715 kk@%$Ping request sent.% )vԾ?}f?ʿi=> Q>sJ> ):publishing transmit ping timeFpublishing direction and range infoyݥ1?88KP]ֿY )I oɝiI*KjK zNrK 9zK K K 40.,,*#4F=,'"  ,H]deeaYURNLIDC@@?==97;EXr|vmifaiď,?A2ٲ@Y2WԹ@2,92=:AHRS rotation from veh to nav: [[0.876203,0.441516,-0.193217],[-0.451732,0.892098,-0.010006],[0.167951,0.096050,0.981105]]y2H ?A?Yȿ+ܿ? ~k?? 6e?ɫ2ٲ@2;2CBvuBBIIJYIJ٥bW> be=9f݇;Q f>dd fF٦ffEyj ; j> |4Y~*[?4y~X9~BIM[M?~C~q'<~&<~ޑ4}B)gALEJpRp?Ap8|Cp8|Cp@vnkDm@^,BUvݥ1?88KP]ֿpspJ>vR@ X5k@%К]EuGv73辝?e ޿QIǿjprpYCZp=ق>?bpȂzpdAp=ق>?pgNlp|PApuCp@E addTargetRange:: Added new target pos. range: 253.399994 m, deltaT: 3.786470 s, deltaX: -2.200012 m, approachRate: -0.581019 m/s, rangeRepo size: 4 u Added new target pos. range: 252.219543 m, bearing: 331.457736 deg, lat: 36.779510 deg, lon: -121.859877 deg, deltaT: 3.786470 s, deltaX: -2.191254 m, approachRate: -0.578706 m/s, posRepo size: 4 oq}FNOT Ignoring new targets: 252.22 m.o}oy ProNav: ac range: 252.219543 m, nav range: 245.997787 m, bearing: 332.231380 deg, approach rate: 0.000000 m/s, LOS rate: 0.005377 deg/s, cmd heading: 332.703159 deg, new cmd heading: 332.709504 deg. zoHeadingCmd: 5.806876 target range: 252.219543 and range: 253.40 m.Roѹ@JoboZoBo:n2nmmlkkk̬o@k`|&?ɞEuBE AEIA M|ɝIiII]~<H<>HHdII,vBI =II&I@<*INE2I=C:I=CBI=ÓCJI=Û =RI=Û =ZI= 5Ii=i =)ѹ@)EEtAiFe6"Fa*Fa2Fa:Fa nManaging dock network, ignoring radio surface power offԙG +=G 2B :B  O >  ď,6?A>0۲@Y>ֹ@>2,9>{=FAHRS rotation from veh to nav: [[0.876321,0.441005,-0.193843],[-0.451565,0.892161,-0.011702],[0.167779,0.097788,0.980963]]y>H ?o9?ȿrܿ?;y?? d?ɫ>0۲@>F,;>CNuBRIV=V< TVAEMb@Mb@Mb@A A)AIAiAE'1Z?MbpE?EE)EAIEAiEAA AE(AI];I]٥u> u@=9}9Q }>yy F٦iEy9 > 4Y [?4ԙyj[B?:6?C 3;c2;I4)fAB*** querying acoustic contact ***:pBpoyFNOT Ignoring new targets: 252.22 m.o*o* ProNav: ac range: 252.219543 m, nav range: 245.784805 m, bearing: 332.230901 deg, approach rate: -0.516523 m/s, LOS rate: -0.001162 deg/s, cmd heading: 332.709497 deg, new cmd heading: 332.708060 deg. zo2LHeadingCmd: 5.806851 target range: 252.219543 and range: 253.40 m.Roѹ@JoboZoBo:n2nmmxBlkkkk ?ɞuB 靥I ɝiI/! ď,qqP?A:]@Y:2ܹ@:r+9:t=BAHRS rotation from veh to nav: [[0.876832,0.441371,-0.190676],[-0.450992,0.892492,-0.007993],[0.166649,0.093002,0.981620]]y:H?m??hȿܿ`K?^`T?η?`oi?ɫ:]@:6;:CJuBJ7IIR:IRy٥t> R=9 @;Q  > F٦kEy: %> )54Y-[?=4y-]-ǁBAEE?-)C-s;-In;-!4UB)UeAoFNOT Ignoring new targets: 252.22 m.oo% ProNav: ac range: 252.219543 m, nav range: 245.587234 m, bearing: 332.230423 deg, approach rate: -0.512726 m/s, LOS rate: -0.001241 deg/s, cmd heading: 332.708049 deg, new cmd heading: 332.706615 deg. zo%Z-HeadingCmd: 5.806826 target range: 252.219543 and range: 253.40 m.Ro-ѹ@Jo)bo)Zo)Bo)J=}J=tJ=3J9J=[j:J=9J=(3J9:nq2nmmlkkkkuJ?ɞ%uB%3 !%@;I! %ɝ)i)I-Ǐy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471056Jď,Jj?A @Y @ <*9 <=AHRS rotation from veh to nav: [[0.878298,0.438604,-0.190313],[-0.448562,0.893690,-0.010482],[0.165483,0.094573,0.981668]]y H ?`?`*\ȿ>ܿ?w .?`5? i?ɫ @ }Q; ,vB dIQMb@Mb@Mb@ )IiCl?+?Mbd>=)pAItAiAVA  AI=I=gǴ٥M> U*=9U!;Q U>YY ]F٦]nEy]; ]> am4Ye[?u4ye`eځBu7>u:u Ⱦu?eGCe ;e;ew4y)dAoFNOT Ignoring new targets: 252.22 m.oJoJ ProNav: ac range: 252.219543 m, nav range: 245.356155 m, bearing: 332.225338 deg, approach rate: -0.501425 m/s, LOS rate: -0.011044 deg/s, cmd heading: 332.706601 deg, new cmd heading: 332.691333 deg. zoHeadingCmd: 5.806559 target range: 252.219543 and range: 253.40 m.RoUϹ@JoboZoBo:n2nmmxBlkkkk`\j?ɞuBi p=I NuɝiI0~E=>ԡF"F*F2F0:F]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720730G y=G 2B :B  O > ď,,?A>G@Y>@>Y'9>ճ=JAHRS rotation from veh to nav: [[0.880212,0.435438,-0.188734],[-0.445700,0.895080,-0.013560],[0.163028,0.096054,0.981935]]y>H*?6?@p(ȿ`Yܿ ~?ŋ?@? l?ɫ>G@>=;>CRhvBRIIVa=)Va=IZDIZ٥b:> f~=9f;Q f ?dh jF٦jpEyj0< j ? lr4Yn>[?v4ynanBtvIƾv?n[Cnh:n:n4zB)~cA~MEo)-FNOT Ignoring new targets: 252.22 m.o5Io5IE ProNav: ac range: 252.219543 m, nav range: 245.200302 m, bearing: 332.221776 deg, approach rate: -0.482448 m/s, LOS rate: -0.011033 deg/s, cmd heading: 332.691329 deg, new cmd heading: 332.680637 deg. zoEJMHeadingCmd: 5.806373 target range: 252.219543 and range: 253.40 m.RoM͹@JoIboIZoIBoI:nQ2nQmQmYlYkYkYkYke?ɞuB; 靝=I |cɝiIT}e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224287jK OrK 9zK K K ofed`a[VSNKJHDCCB??95452///++%&)3IPJ@;72-)%.=BDBB@?>>;57647Q <)'ď,$ ?A2,@Y2'@2p%92=:AHRS rotation from veh to nav: [[0.881806,0.432884,-0.187163],[-0.443331,0.896217,-0.015890],[0.160860,0.096987,0.982200]]y2H 7?@]?`ǿ@_ܿϭ?E@?@*Ը?@/n?ɫ2,@2؇;2CBvBBIIJ\IJW٥R= RL=9V;Q V>TT ZF٦ZsEyZG; Z> \b4Y^r[?b4y^c^Bdfľf?^tC^l:^:^4h)j"cAlo|FNOT Ignoring new targets: 252.22 m.oQoQ ProNav: ac range: 252.219543 m, nav range: 245.006638 m, bearing: 332.217214 deg, approach rate: -0.486002 m/s, LOS rate: -0.011459 deg/s, cmd heading: 332.680647 deg, new cmd heading: 332.666948 deg. zoHeadingCmd: 5.806134 target range: 252.219543 and range: 253.40 m.Ro%˹@Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k1k5 @ɞe vBen im(>Iq -GɝIiQIUDzԡ Q-ď,ڷ?A:Z9@Y:/4@:!"9:=@FAHRS rotation from veh to nav: [[0.882838,0.431910,-0.184528],[-0.442156,0.896789,-0.016365],[0.158415,0.096038,0.982691]]y:H5@? k?ǿHLܿ~?`F?땸?4r?ɫ:Z9@:W;:CRvBRI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728389MMb@Mb@Mb@I I)IIIiIMK?T㥛 ?~jtM^>M=MD)MZAIMAiMAI IM=AImPIm٥u= }>=9};Q }> F٦uEyUi; > 4Y*[?4yeeB>:?Ci ; ; 4B)ubANE}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 252.22 m.oo ProNav: ac range: 252.219543 m, nav range: 244.799149 m, bearing: 332.209782 deg, approach rate: -0.457067 m/s, LOS rate: -0.016386 deg/s, cmd heading: 332.666959 deg, new cmd heading: 332.644643 deg. zo3HeadingCmd: 5.805744 target range: 252.219543 and range: 253.40 m.Roȹ@JoboZoBo:n2nmmyBlkkkkH@ɞuvBus y}u$>Iy }s ɝyiyI}Fx94ď,0?AZF@YZZA@Z 9ZP=fAHRS rotation from veh to nav: [[0.883842,0.430665,-0.182624],[-0.440883,0.897394,-0.017490],[0.156353,0.095974,0.983027]]yZH nH??5`ǿ`m7ܿt?葿a??t?ɫZF@Z;ZCpvvBvI~4>~4<I tI %x٥-= 5O=95<;Q 5> F٦xEy; > 4Y(\?4ygB?C;C;4)aAoIMFNOT Ignoring new targets: 252.22 m.ouCouC ProNav: ac range: 252.219543 m, nav range: 244.600784 m, bearing: 332.202590 deg, approach rate: -0.500749 m/s, LOS rate: -0.018170 deg/s, cmd heading: 332.644638 deg, new cmd heading: 332.623045 deg. zoGHeadingCmd: 5.805367 target range: 252.219543 and range: 253.40 m.RoŹ@JoboZoBo:n2nmmlkkkkf @ɞu-vBu qu@>Iq }RɝyiyI}gsvH H qII wBI I I &I <*I EG B=a G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485695>i:ď,֪?A9 |Q@Y QL@ ?9 ΀=UAHRS rotation from veh to nav: [[0.884693,0.429609,-0.180981],[-0.439830,0.897888,-0.018640],[0.154493,0.096092,0.983310]]y HgO?~?e*ǿ@,&ܿ~?p@l?@{?@Fw?ɫ |Q@ Hԇ; CwBIMb@Mb@Mb@ )IiV-?l?Zd;O>=j)IAiAA  AI=RI=4٥Mx= M!=9Mis;Q M>QQ UF٦U{Eay0; > 4Y>\? 4yiJAJEwJAJAJAJE9JAJAJE;!JE;!JE:!JE:!$B?:?CN==4B)QaAoFNOT Ignoring new targets: 252.22 m.]DAT read: 03:59:30.4117 LVL= 20672, 32753, 16786, 24051, AGC= 62, IDX= 429,-0.09,-1.020,-2.510,-1.011,-1.753, PHS= 0.821,-0.709, 0.739, RAW= 147.3, -11.4, CAL= 154.4, -19.7, ROT= 355.6, 19.7 mYgot valid direction response: 03:59:30.4117 LVL= 20672, 32753, 16786, 24051, AGC= 62, IDX= 429,-0.09,-1.020,-2.510,-1.011,-1.753, PHS= 0.821,-0.709, 0.739, RAW= 147.3, -11.4, CAL= 154.4, -19.7, ROT= 355.6, 19.7 uPDAT read: Bearing 355.6, 19.7 (Local) u~Local bearing/azimuth received: Bearing 355.6, 19.7 (Local) }DAT read: Range 10 to 50 : 252.0 m (Round-trip 336.0 ms) speed 0.4 m/s ԉ*DAT read: user:245> BDAT read: Tx time:03:59:31.5215 $Ping request sent.--R?-5-/=? -"$@)-%KI-iw,@i-x -@-x > )))-?k`?vnRɿi->-oK>o-o- ProNav: ac range: 252.219543 m, nav range: 244.354584 m, bearing: 332.192246 deg, approach rate: -0.439627 m/s, LOS rate: -0.018488 deg/s, cmd heading: 332.623055 deg, new cmd heading: 332.591993 deg. zoKHeadingCmd: 5.804825 target range: 252.219543 and range: 253.40 m.Ro!@JoboZo-iF-x > )))E:publishing transmit ping timeۑMFpublishing direction and range info)y-2+ ??}Mտ)Y) )))I)i))))) )))I)i))) )))-?k`?vnRɿi)))) )))Bo:na2namimmxBlikikqkuo@kug?ɞ% DvB% = ) - iJ>I) - ɝ) i) I5 s?ƿ@q ܿҼ?x:?`+?~?ɫ^mW@^G;^C~?wB~ II5VI5٥E= e6=9mqq uF٦u~Ey}w: }> 4Y+\?4yj1BT?C$;;c!4)`AJpRpհ?ApzCpzCp]@v E(^`nm@72yW#Uv2+ ??}MտpiFpx >v 滬j@ʨ{]i[KHvp?gp$޿)IɿjpCrpWCZpu'?bpqzp5DApu'?pȂppuCp@ addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: 3.779954 s, deltaX: -1.399994 m, approachRate: -0.370373 m/s, rangeRepo size: 4  Added new target pos. range: 250.825943 m, bearing: 331.285741 deg, lat: 36.779507 deg, lon: -121.859920 deg, deltaT: 3.779954 s, deltaX: -1.393600 m, approachRate: -0.368682 m/s, posRepo size: 4 o%FNOT Ignoring new targets: 250.83 m.o%o!5 ProNav: ac range: 250.825943 m, nav range: 245.678024 m, bearing: 331.373594 deg, approach rate: 0.000000 m/s, LOS rate: -0.018488 deg/s, cmd heading: 332.591991 deg, new cmd heading: 332.569077 deg. zo1EHeadingCmd: 5.804425 target range: 250.825943 and range: 252.00 m.RoEڽ@JoAboAZoABoA:nI2nImImIlQkQkQkQkU@b?yɞSvBC l>I 1ɝiIjqŧIď,Z(?A::@Y:5@:9:w=FAHRS rotation from veh to nav: [[0.884011,0.430834,-0.181400],[-0.442524,0.896328,-0.027717],[0.150653,0.104776,0.983019]]y:H I?ɒ? 8ǿQRܿ@?a H?Һ?t?ɫ::@:߮;:C`fUwBjIIFIפ٥%BU= -M=95Q 5>9A EF٦EEyM U> 4Y:\?4yul=B랾?C ;/;X(4B)F`AOEoFNOT Ignoring new targets: 250.83 m.o׹o׹ ProNav: ac range: 250.825943 m, nav range: 245.483932 m, bearing: 331.364917 deg, approach rate: -0.527194 m/s, LOS rate: -0.023587 deg/s, cmd heading: 332.569069 deg, new cmd heading: 332.543017 deg. zoHeadingCmd: 5.803970 target range: 250.825943 and range: 252.00 m.Ro @JoboZoBo:n2nmml k1k9kAkEER?ɞEbvBe|} imr>Ii mYɝiiiIuzoFPď, ]B?A> @Y>i@>6e9>=FAHRS rotation from veh to nav: [[0.882772,0.434936,-0.177607],[-0.445467,0.895019,-0.022351],[0.149241,0.098849,0.983848]]y>H???ӻƿܿ`?㖿@P?@&N? {?ɫ> @>xЉ;>CNswBN-I=Mb@Mb@Mb@9 9)9I9i9=Mb?x&?Q=?=7==)=AI=Ai=@=(A 9= AIU7IU"٥m7= mF=9ub;Q u>qy }F٦}Ey} > 4Y'K\?4y0nHB?:`?C ; ;d/4)_AB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 250.83 m.oou ProNav: ac range: 250.825943 m, nav range: 245.283401 m, bearing: 331.356831 deg, approach rate: -0.498262 m/s, LOS rate: -0.020107 deg/s, cmd heading: 332.543005 deg, new cmd heading: 332.518728 deg. zou\}HeadingCmd: 5.803546 target range: 250.825943 and range: 252.00 m.Ro}@JoyboyZoyBoy:n2nmmxBlkkkk@E?ɞpvBwU  C>I  )ɝiImEAIuT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.F6"F*F2Fo0:FGB=GsAGpAG2B:B Oc>yԡ   % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503148Vď,5\?A6n@Y6C@68 96=BAHRS rotation from veh to nav: [[0.881576,0.438617,-0.174467],[-0.448265,0.893715,-0.018230],[0.147928,0.094279,0.984494]]y6H5?`M?Tƿ]ܿ@P?쪒 L?@"? ?ɫ6n@6;4bwBb8IIj"IjĴ٥rB= rS=9v a;Q v>tx zF٦zEyzK z> Ye4Y]+[\?e4y]o]RBimm?]2C]B:]:]Z64uB)u_AyuPEoFNOT Ignoring new targets: 250.83 m.oojK)OrK9zKKKvpmjeaabdaYWTQPRW[dlo}sjj{~ssztkdji_TL ProNav: ac range: 250.825943 m, nav range: 245.085159 m, bearing: 331.348983 deg, approach rate: -0.488041 m/s, LOS rate: -0.019337 deg/s, cmd heading: 332.518717 deg, new cmd heading: 332.495152 deg. zoUTHeadingCmd: 5.803135 target range: 250.825943 and range: 252.00 m.RoH@Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k1kU ?ɞ}~vB}Vu 靅>I pɝiITk \ď,v?A:@Y:X@:(9:=FAHRS rotation from veh to nav: [[0.881180,0.441086,-0.170192],[-0.449949,0.892920,-0.015460],[0.145149,0.090201,0.985290]]y:H2?:?ſ@ܿΒ?f;?a?@~?ɫ:@:=;8JVuJVlJV2JTJV[Q:JV9JVc3JTJVo;JVo;JV1:JV3:NwB^CI dfAUMb@Mb@Mb@Q Q)QIQiQUw/?I +?MbU?U94=U)UCAIUAiU@UA QUAImfIm{٥u&= }A=9};Q > F٦Ey > 4Yl\?4y r]B?:Mľ?NCO;9O;=4B)_AYEoFNOT Ignoring new targets: 250.83 m.oo ProNav: ac range: 250.825943 m, nav range: 244.870026 m, bearing: 331.343083 deg, approach rate: -0.531963 m/s, LOS rate: -0.014600 deg/s, cmd heading: 332.495139 deg, new cmd heading: 332.477425 deg. zoR HeadingCmd: 5.802826 target range: 250.825943 and range: 252.00 m.Ro@JoboZoBo:n2nmmdxBlchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006896kkkk h,@ɞUvBU/ Y]>IY ]{ɝYiYI]*i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259032Y Wcď,J?A2@Y2@2792Hx=>AHRS rotation from veh to nav: [[0.880429,0.444046,-0.166338],[-0.452076,0.891900,-0.011879],[0.143082,0.085656,0.985997]]y2Hx,?Ak?@Jſܿr?+T`P? ? J?ɫ2@2LU;0FwBFLIIRkIR ٥V = ZX=9Z;Q Z>\\ ^F٦^Eybwû b> dj4Yf{\?j4yftffBhjžn?fgCf:f;f%D4rB)r^AvZEoFNOT Ignoring new targets: 250.83 m.oEvoEv ProNav: ac range: 250.825943 m, nav range: 244.671417 m, bearing: 331.337747 deg, approach rate: -0.500444 m/s, LOS rate: -0.013457 deg/s, cmd heading: 332.477435 deg, new cmd heading: 332.461413 deg. zoHeadingCmd: 5.802547 target range: 250.825943 and range: 252.00 m.Rov@JoboZoBo:n2n!m!m!l!k)k)k)k-`8@1ɞvBG >I kɝiI&hH] :>HY H] II] xBI] =IY IY &I] 4<*I] 4EԹ iď,ө?AFղ@YFй@F9F =NAHRS rotation from veh to nav: [[0.879655,0.446151,-0.164792],[-0.453995,0.890932,-0.011334],[0.141762,0.084784,0.986263]]yFH!&?ྍ?ſ`?ݿ?6C%?n?w?ɫFղ@F;DVwBVZII^PI^٥fS= fH=9f9V;Q f>hh jF٦jEynI n> pv4Yr{\?v4yr*vrpBtvƾv?rCr:r:rDK4|)~^A|o!5FNOT Ignoring new targets: 250.83 m.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764767oe1oe1 ProNav: ac range: 250.825943 m, nav range: 244.457672 m, bearing: 331.332103 deg, approach rate: -0.550748 m/s, LOS rate: -0.014556 deg/s, cmd heading: 332.461425 deg, new cmd heading: 332.444477 deg. zoHeadingCmd: 5.802251 target range: 250.825943 and range: 252.00 m.Ro @JoboZoBo:n2nm!m!l!k!k!k)k-Zt@ԑɞvBMԔ Q]L>IY  KɝiI^\f pď,Þ?A6ɲ@Y6Ĺ@6u96I=BAHRS rotation from veh to nav: [[0.879136,0.447570,-0.163713],[-0.455357,0.890235,-0.011475],[0.140607,0.084636,0.986441]]y6H !??@Ŀ`$ݿ|?N`l?? ?ɫ6ɲ@6m;6CJwBJdIuMb@Mb@Mb@q q)qIqiquB`"?Mbp?l񢿹u?u;u)u AIu@iub@uA quAIWIƕ٥= >=91;Q > F٦EyP_ > 4Y\?4yxyB*?: ?C?;Q;R4B)\^A[EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 250.83 m.o uo u ProNav: ac range: 250.825943 m, nav range: 244.218353 m, bearing: 331.330122 deg, approach rate: -0.555428 m/s, LOS rate: -0.004602 deg/s, cmd heading: 332.444486 deg, new cmd heading: 332.438537 deg. zo'J%HeadingCmd: 5.802147 target range: 250.825943 and range: 252.00 m.Ro%0@Jo!bo!Zo!Bo!:n!2n)m)m-xBl1k1k1k1k= @ɞvBA޽ 靍>I ɝiI}d checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519108wď,|?A%wB%zII=dI=@٥Mz= MO=9MQ U>QQ UF٦UEy] ]> am4Ye\?m4ye{eBiqu?eCeZ:es:eY4y)]AoFNOT Ignoring new targets: 250.83 m.oo ProNav: ac range: 250.825943 m, nav range: 243.998550 m, bearing: 331.328299 deg, approach rate: -0.557902 m/s, LOS rate: -0.004631 deg/s, cmd heading: 332.438530 deg, new cmd heading: 332.433057 deg. zofKHeadingCmd: 5.802052 target range: 250.825943 and range: 252.00 m.Roh@JoboZoBo:n2nmmlkkkk @jKUMrKUͼ9zKQKUKU  6FKS[^beeba^\YVSOGA1"  W7S{(swɞvBPW۽ 靕H>I wɝiIcHH IIxBIII&Ib<*IyEF6"F*F2F0:Fԁ-DAT read: 03:59:34.2372 LVL= 19568, 25633, 17442, 30195, AGC= 67, IDX= 194,-0.43,-0.679,-2.131,-0.717,-1.479, PHS= 0.888,-0.605, 0.758, RAW= 145.5, -14.4, CAL= 152.1, -22.6, ROT= 357.9, 22.6 GG=Ygot valid direction response: 03:59:34.2372 LVL= 19568, 25633, 17442, 30195, AGC= 67, IDX= 194,-0.43,-0.679,-2.131,-0.717,-1.479, PHS= 0.888,-0.605, 0.758, RAW= 145.5, -14.4, CAL= 152.1, -22.6, ROT= 357.9, 22.6 PDAT read: Bearing 357.9, 22.6 (Local) - ~Local bearing/azimuth received: Bearing 357.9, 22.6 (Local)  DAT read: Range 10 to 50 : 233.6 m (Round-trip 311.5 ms) speed 0.4 m/s G Ա 2B :B U *DAT read: user:246>  Ou > BDAT read: Tx time:03:59:35.3215  $Ping request sent. a)aeY/ ?zY?1ۊϿie>eĀ>eQ e> a)am :publishing transmit ping time۹ m Fpublishing direction and range infoayeuo0ۅ? F٦Ey > %4Y\?%4yEB%?-:--?C;;8b45B)5]A1JpRp?AphCphCp@vmj@\#v젫VVvuo0ۅ?v=L׷6h@.N^YvRMv{? ^:ܿc%t$пjpPrpGCZpL8?bp %zpV@ppgNlp5DApqCp|@% addTargetRange:: Added new target pos. range: 233.600006 m, deltaT: 3.785381 s, deltaX: -18.399994 m, approachRate: -4.860804 m/s, rangeRepo size: 4 5 Added new target pos. range: 232.512100 m, bearing: 332.567064 deg, lat: 36.779507 deg, lon: -121.859877 deg, deltaT: 3.785381 s, deltaX: -18.313843 m, approachRate: -4.838045 m/s, posRepo size: 4 o1]FNOT Ignoring new targets: 232.51 m.oeoau ProNav: ac range: 232.512100 m, nav range: 241.925507 m, bearing: 332.114433 deg, approach rate: 0.000000 m/s, LOS rate: -0.004631 deg/s, cmd heading: 332.433066 deg, new cmd heading: 332.425944 deg. zoquHeadingCmd: 5.801927 target range: 232.512100 and range: 233.60 m.Roc@JoboZoBo:n2nmmxBlkkk@33m@k`5?ɞUvBU$ q}>Iy }5ɝyiyI}t`'˄ď, ?A67@Y6 @6;:96=BAHRS rotation from veh to nav: [[0.875997,0.453996,-0.162841],[-0.461729,0.886952,-0.011052],[0.139415,0.084870,0.986590]]y6H*?G?Ŀ`ݿa?`Y? ?&?ɫ67@6h;6CR9xBRIIz3Iz٥> a=9Y;Q >!! %F٦%Ey% -> 1=4Y5\?=4y55B9=Z=?5C5:5d:5vh4MB)M\AM\EoquFNOT Ignoring new targets: 232.51 m.o}8o}8 ProNav: ac range: 232.512100 m, nav range: 241.718826 m, bearing: 332.116301 deg, approach rate: -0.621008 m/s, LOS rate: 0.005617 deg/s, cmd heading: 332.425935 deg, new cmd heading: 332.431543 deg. zov9HeadingCmd: 5.802025 target range: 232.512100 and range: 233.60 m.Ro0@JoboZoBo:n2nmmlkkkk`b?ɞvBϺͽ >I QɝiIV<_HH?II0yBIII&I=<*IAE:B O>9 ď,a-?A 2v@Y2q@292(=>AHRS rotation from veh to nav: [[0.874546,0.457591,-0.160563],[-0.464301,0.885664,-0.004860],[0.139981,0.078800,0.987014]]y2H@G?+I?@RĿ@ݿ`\W?zs?=,??ɫ2v@26;2CBUxBFIINMIN٥Z= bR=9fܾQ j>hl rF٦rEyvf v>  4Y\?4y B6?C<(<co45B)PXAioFNOT Ignoring new targets: 232.51 m.o8o8 ProNav: ac range: 232.512100 m, nav range: 241.489594 m, bearing: 332.118559 deg, approach rate: -0.481992 m/s, LOS rate: 0.004753 deg/s, cmd heading: 332.431536 deg, new cmd heading: 332.438318 deg. zoP9 HeadingCmd: 5.802143 target range: 232.512100 and range: 233.60 m.Ro (@Jo boZoBo:n2nm!malkkkk`?ɞvB}o׽ ߰>I DɝiI}\Ee>ԙF"F*F2F1:FG9=G?G>G2B:B O> i '>I fC)5 G E vA)Q I  vA EBؑď,y F٦Ey: > 4Y7\?4yB?:?:CG ;~ ;v4)WA]EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 232.51 m.o9o9 ProNav: ac range: 232.512100 m, nav range: 241.242447 m, bearing: 332.123420 deg, approach rate: -0.719351 m/s, LOS rate: 0.014162 deg/s, cmd heading: 332.438312 deg, new cmd heading: 332.452908 deg. zo:HeadingCmd: 5.802398 target range: 232.512100 and range: 233.60 m.Ro>@JoboZoBo:n2nm m wBl k kkk?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞ5vB=@˽ =xI;=e>I9 =ɝ9iAIE [@)F!"F!*F)2F-P5:F)JUxJUmJU3JQJUZ:JU&9JU(3JQGE =G! ) 2B1 :BA  OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.657972ď,a?A6I@Y6{@6ac96=BAHRS rotation from veh to nav: [[0.875134,0.455680,-0.162777],[-0.463314,0.886135,-0.010252],[0.139570,0.084389,0.986610]]y6H?)?Ŀ ݿ 7[?@q? }?`N?ɫ6I@69;6CJxBJIiLILIP)PIV^IV٥b> bV=9fQ:Q f>dd jF٦jEyj; j> lr4Yn]?r4ynnBtvuv?nVCn:n :nn}4x)zWAx|o!%FNOT Ignoring new targets: 232.51 m.o-P9o-P9 ProNav: ac range: 232.512100 m, nav range: 241.019318 m, bearing: 332.127760 deg, approach rate: -0.585153 m/s, LOS rate: 0.011393 deg/s, cmd heading: 332.452901 deg, new cmd heading: 332.465934 deg. zo69HeadingCmd: 5.802625 target range: 232.512100 and range: 233.60 m.Ro@jK;PrK9zKKK}I ~rbTK?71,(# &4=;5,'#!,Hl}JoboZoBo:n2nmmlkkkk`LA?H9H9H=kII=xyBI9I9I9&I=A<*I=HEɞe wBeǽ im>Ii meɝiiiIm]X+ď,o{?A6_@Y64|@6-96Rձ=>AHRS rotation from veh to nav: [[0.875301,0.455382,-0.162712],[-0.463254,0.886144,-0.012005],[0.138720,0.085885,0.986601]]y6Hw?$?@Ŀ@ݿJ[?? ?@;?ɫ6_@6؈;6CFxBF Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.161914auMb@Mb@Mb@q q)qIqiqud;O?i|?5~jtu?uqu)uAIu@iu@u A quAIYI٥U> ==9R;Q > F٦Eyߠ9 > 4Y]?4y_B?:?vC:]:4).VAo%FNOT Ignoring new targets: 232.51 m.o-cx9o-cx9= ProNav: ac range: 232.512100 m, nav range: 240.769318 m, bearing: 332.133651 deg, approach rate: -0.575393 m/s, LOS rate: 0.013572 deg/s, cmd heading: 332.465933 deg, new cmd heading: 332.483624 deg. zo=:EHeadingCmd: 5.802934 target range: 232.512100 and range: 233.60 m.RoE@JoAboAZoABoA:nI2nImImMwBlQkQkikqkuŵ@ɞwB ƽ >I ɝiIqVkď,V?AI)<2@Y2qz@2" 92=BAHRS rotation from veh to nav: [[0.875281,0.455326,-0.162977],[-0.463484,0.885996,-0.013879],[0.138077,0.087685,0.986532]]y2H@M?$?jĿݿZ?l?r?@?ɫ2@21;2CJyBJ/IIV^IV٥^W> ^Z=9^:Q ^>`` bF٦bEybS f> dj4Yf&]?n4yff̂Blnn?fCf{;f;f4r?B)vUAvgEoFNOT Ignoring new targets: 232.51 m.o%{9o%{95 ProNav: ac range: 232.512100 m, nav range: 240.552429 m, bearing: 332.138779 deg, approach rate: -0.581784 m/s, LOS rate: 0.013766 deg/s, cmd heading: 332.483637 deg, new cmd heading: 332.499033 deg. zo5):=HeadingCmd: 5.803203 target range: 232.512100 and range: 233.60 m.Ro=׳@Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkIkMb@ԱJJ3J(.JzJpJJJ`:J^9JJɞ&wB8m 靵>I ^ɝiITZFa "Fa *Fa 2Fe `5:Fa 9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.917847G Wg)) -F٦5Ey5 5> 9E4Y==]?E4y= =߂BMI?M:M~M?=C=|;=;=4Q)UTAYoyFNOT Ignoring new targets: 232.51 m.o59o59 ProNav: ac range: 232.512100 m, nav range: 240.230576 m, bearing: 332.144488 deg, approach rate: -0.559277 m/s, LOS rate: 0.009935 deg/s, cmd heading: 332.499046 deg, new cmd heading: 332.516197 deg. zo,9HeadingCmd: 5.803503 target range: 232.512100 and range: 233.60 m.RoK@JoboZoBo:n2nmmxBlkkkk  @ɞ7wB濽 k?I P ɝiIP U BDAT read: Rx Time:03:59:38.0790 U TRx dataTimestamp_ set to:1761364779.233836] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423004 ď,*?Ax@Ys@O 93N=%AHRS rotation from veh to nav: [[0.875077,0.455644,-0.163184],[-0.464309,0.885503,-0.017356],[0.136592,0.090956,0.986443]]yH`?D)?@8Ŀ=ݿ V?ő{?H??ɫx@;C=yB=II]cI]#٥Mo> S=9Z};Q > F٦Ey > 4YL]?4yB?C;;a4)VSA%B*** querying acoustic contact ***:p)Bp)oQ]FNOT Ignoring new targets: 232.51 m.o]f39o]f39 ProNav: ac range: 232.512100 m, nav range: 240.013992 m, bearing: 332.148378 deg, approach rate: -0.545296 m/s, LOS rate: 0.009803 deg/s, cmd heading: 332.516203 deg, new cmd heading: 332.527883 deg. zoG9HeadingCmd: 5.803707 target range: 232.512100 and range: 233.60 m.Ro@JoboZo Bo :n2nmmlk!kIkIkM@6^ @ɞDwBB> L?I  ɝiIMMHa He IIe azBIa Ia Ia &Ie S<*Ie _EjK CNrK +9zK K K  {wrsmhgghlljim q 2K sA*K G <G ?G >ԡDAT read: 03:59:38.0790 LVL= 18736, 20465, 14738, 25683, AGC= 63, IDX= 116, 0.28, 1.023,-0.480, 0.941, 0.220, PHS= 0.891,-0.652, 0.718, RAW= 144.1, -13.0, CAL= 150.9, -21.6, ROT= 359.1, 21.6 Ygot valid direction response: 03:59:38.0790 LVL= 18736, 20465, 14738, 25683, AGC= 63, IDX= 116, 0.28, 1.023,-0.480, 0.941, 0.220, PHS= 0.891,-0.652, 0.718, RAW= 144.1, -13.0, CAL= 150.9, -21.6, ROT= 359.1, 21.6 PDAT read: Bearing 359.1, 21.6 (Local) G2B:B O>ߘď,Y?A&~Local bearing/azimuth received: Bearing 359.1, 21.6 (Local) *DAT read: Range 10 to 50 : 264.9 m (Round-trip 353.2 ms) speed 0.4 m/s .*DAT read: user:247> 2BDAT read: Tx time:03:59:39.1716 B$Ping request sent.B\ )>ft?w)}?̿i>mh>> )u:publishing transmit ping time@}Fpublishing direction and range infoyʿ?#T-荿{.MZ׿Y )Ii )Ii )>ft?w)}?̿i )yBIMb@Mb@Mb@ )Iish|??/${Gzt ?ף)tAI@ij@A p@IMeIM]٥U= ]<9]Q ]> F٦Ey > 4Y$f]?4yB ?:?C;I;ҧ4BB)RAhEJpRp F?ApՃCpՃCp @vTi4n@]9>6ԖCXvʿ?#T-荿{.MZ׿pp>v7!l@ j_\NOv௯!?J([ ܿ􆠭eοjprpdCZpIx?bp?n}zpp=ق>?p?n}ppqCpB@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 264.899994 m, deltaT: 4.036231 s, deltaX: 31.299988 m, approachRate: 7.754756 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 232.51 m.o8o8 ProNav: ac range: 232.512100 m, nav range: 239.663849 m, bearing: 332.151722 deg, approach rate: -0.525646 m/s, LOS rate: 0.005027 deg/s, cmd heading: 332.527896 deg, new cmd heading: 332.537941 deg. zo\9 HeadingCmd: 5.803882 target range: 232.512100 and range: 233.60 m.Ro g@Jo boZoBo:n2nImImM^xBlIkQkk`fp@k? ɞ- YwB-  ) 5 "?I1 5 Kɝ1 i9 I= pI X=9Q > F٦Ey > 4Yt]? 4y\B   ?CQ; ;Y4)QAiEoIQUFNOT Ignoring new targets: 232.51 m.o]k8o]k8m ProNav: ac range: 232.512100 m, nav range: 239.464005 m, bearing: 332.153634 deg, approach rate: -0.554484 m/s, LOS rate: 0.005312 deg/s, cmd heading: 332.537950 deg, new cmd heading: 332.543694 deg. zomMi9uHeadingCmd: 5.803982 target range: 232.512100 and range: 233.60 m.Rou9@JoqboqZoqBoy:ny2nymymlkkkkyd?ɞbwB퉽 7?I  YɝiIJFH H H XII zBI I I &I Q<*I [EjK zwOrK 39zK K K Jv +u1H   doR<-" '7BK :K ? ʲď,,?AVL}@YV!x@VU8 9V.O=^AHRS rotation from veh to nav: [[0.875460,0.455400,-0.161804],[-0.463896,0.885725,-0.017074],[0.135539,0.090008,0.986675]]yVH?G%?@ĿwݿW?{`TY? ?ג?ɫVL}@V?;VCfzBfIIn5In糴٥vQ> vU=9z5;Q z>xx zF٦zEy~: ~>  4Y]? 4y B ?8CY;U;4)OAoAEFNOT Ignoring new targets: 232.51 m.oM.8oM.8] ProNav: ac range: 232.512100 m, nav range: 239.261032 m, bearing: 332.155554 deg, approach rate: -0.546072 m/s, LOS rate: 0.005169 deg/s, cmd heading: 332.543688 deg, new cmd heading: 332.549451 deg. zo]c9eHeadingCmd: 5.804083 target range: 232.512100 and range: 233.60 m.Roe @JoaboiZoiBoq:nq2nqmqmylykykykyk%?ɞUnwBU Y]H?I ɝiINC) ͉Ѳď,sF?AI)6 @Y6ޅ@6e 96=BAHRS rotation from veh to nav: [[0.876394,0.453686,-0.161563],[-0.462510,0.886393,-0.019788],[0.134231,0.092067,0.986664]]y6Hk ?/ ?Ŀ@Ùݿ`U]?OC{.??@?ɫ6 @6;4JzBJ6I-Mb@Mb@Mb@) )))I)i)-}?5^I?I +?Mbp-M?-94<-)-AI-S@i-=@-A )-@I)I٥= ?=9I;Q > F٦EyU; > 4Yӓ]?4y+BV?:#?SCa;e;v4) OAo%FNOT Ignoring new targets: 232.51 m.o%}Io-}I= ProNav: ac range: 232.512100 m, nav range: 239.044876 m, bearing: 332.154371 deg, approach rate: -0.502547 m/s, LOS rate: -0.002752 deg/s, cmd heading: 332.549452 deg, new cmd heading: 332.545901 deg. zo=EHeadingCmd: 5.804021 target range: 232.512100 and range: 233.60 m.RoE@JoAboAZoABoA:nA2nImImMxBlIkQkQkQkUn?ɞzwB39 靕 R?I "ɝiI?Eزď,tb?A6G@Y6@696 U=BAHRS rotation from veh to nav: [[0.876813,0.453359,-0.160204],[-0.462287,0.886468,-0.021545],[0.132248,0.092951,0.986849]]y6H?`?@Ŀݿ]?@?`˷?D?ɫ6G@6;6CJzBJUIIRVIR٥ u=  C=9^;Q > F٦Eymw: > !=4Y%ˣ]?=4y%%8B9=E?%oC%m;%n;%Ò4I)MBNAQB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 232.51 m.oKoK ProNav: ac range: 232.512100 m, nav range: 238.833160 m, bearing: 332.153191 deg, approach rate: -0.498088 m/s, LOS rate: -0.002780 deg/s, cmd heading: 332.545901 deg, new cmd heading: 332.542356 deg. zo3HeadingCmd: 5.803959 target range: 232.512100 and range: 233.60 m.Ro@JoboZoBo:n2nmml k kkk`f?iHAHAHEIIE{BIAIAIA&IEc<*IEuEɞ wB   [?I  ɝiI ;32 i{QfAHpqsg\SMIID;89;73.)'&Bt~n[G;2KrA*KqAyuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Eu?BIԱF "F *F 2F y1:F J |J qJ 3J J ;g:J q9J (3J J ;J ;J :J :GE =G!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2294662B1:BI OU>-ď,?A:@Y:@:;9:Ww=FAHRS rotation from veh to nav: [[0.878779,0.450677,-0.156964],[-0.459708,0.887721,-0.024890],[0.128123,0.094030,0.987291]]y:H?`?@dĿ@kݿ6h?|Uf? \??ɫ:@:\;:CN0{BNyIT)UeG m`wA)I`wABMb@Mb@Mb@ )IiMbX9?Zd;O?~jth?j<=D)GAI&@i&@A @IGI٥q= =9 F٦Ey; > 4Y]?4yJB S? : Ǿ ?C:: ͒4CB)WMAjEoAMFNOT Ignoring new targets: 232.51 m.oM4VoU4Ve ProNav: ac range: 232.512100 m, nav range: 238.566895 m, bearing: 332.147067 deg, approach rate: -0.508358 m/s, LOS rate: -0.011704 deg/s, cmd heading: 332.542349 deg, new cmd heading: 332.523957 deg. zoemHeadingCmd: 5.803638 target range: 232.512100 and range: 233.60 m.Romg@JoiboiZoiBoi:ni2nqmqm}xBlykykykk@{@ɞwB1 靽f?I MJɝiIKM7ď,?A6E@Y6@6^96=>AHRS rotation from veh to nav: [[0.879772,0.449591,-0.154496],[-0.458509,0.888311,-0.025935],[0.125581,0.093655,0.987653]]y6H'??ÿ7Xݿ m???`ښ?ɫ6E@6t=;6CJt{BNIIVeIV]٥^2> ^W=9^;Q ^>`` bF٦bEyfԃ; f> hn4Yj]?n4yjjWBpr2Ǿr?jCj:jK;jӒ4t)zGLAxo%FNOT Ignoring new targets: 232.51 m.o%Wo-W5 ProNav: ac range: 232.512100 m, nav range: 238.375336 m, bearing: 332.142583 deg, approach rate: -0.502890 m/s, LOS rate: -0.011782 deg/s, cmd heading: 332.523962 deg, new cmd heading: 332.510499 deg. zo=^=HeadingCmd: 5.803403 target range: 232.512100 and range: 233.60 m.Ro=z@JoAboAZoABoA:nI2nImImIlQkQkQkQkU@v%@ءءchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.741127ɞwB%{U !%u?I! %.ɝ)i)I-y3HHII+|BI =II&Ia<*IsEG2B:B O'>jKeMOrKeػ9zKaKeKe4)"'>GE=5/'# #,)# BftbTME<654/.,( ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9927724ď,|d?A,w@YL@ro9=AHRS rotation from veh to nav: [[0.880746,0.448555,-0.151936],[-0.457351,0.888877,-0.026987],[0.122948,0.093257,0.988022]]yH/?`?rÿ`=Eݿq?v}y?@߷?ߝ?ɫw@U;髕C{BIJ5vJ5sJ52J1J5{T:J59J5c3J1J5\u;J5^u;J5F:J5G:eMb@Mb@Mb@a a)aIaiaee;O? rh?y&1e>eC=e`e)eAIe@iaeGA ae\@I^I٥= 0=9λ;Q > F٦ EyS; > )54Y-]?54y--dBMM>M:MeM?-C-Ɔ;-r;-ܒ4Q)UKAUkEioFNOT Ignoring new targets: 232.51 m.o'o' ProNav: ac range: 232.512100 m, nav range: 238.148132 m, bearing: 332.134239 deg, approach rate: -0.473190 m/s, LOS rate: -0.017393 deg/s, cmd heading: 332.510493 deg, new cmd heading: 332.485439 deg. zo>HeadingCmd: 5.802966 target range: 232.512100 and range: 233.60 m.Ro屹@JoboZoBo:n2nmmJyBlkkkk[ @ɞwBVh 靕$y?I ɝiBDAT read: Rx Time:03:59:41.9046 TRx dataTimestamp_ set to:1761364783.022009checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246065I=/ ;ď,.9?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.496806Fyʲ@YFNŹ@FӶ9F޴=PZAHRS rotation from veh to nav: [[0.881550,0.447956,-0.149012],[-0.456538,0.889277,-0.027543],[0.120175,0.092310,0.988452]]yFH5? Q?ÿ 7ݿt?34þ? ?e?ɫFyʲ@FK;FCf{BfIIvWIvƕ٥>  h=9  %F٦%ŠEy-J; -> 1E4Y5]?E4y55lBIMܪM?5C56;5 ;;54] @ɞ%wB%^; AE?IA MP.ɝIiIIMl+DAT read: 03:59:41.9046 LVL= 19312, 23537, 15762, 26611, AGC= 65, IDX= 196, 0.00,-0.892,-2.338,-0.996,-1.660, PHS= 0.856,-0.631, 0.661, RAW= 143.1, -12.6, CAL= 150.0, -21.5, ROT= 0.0, 21.5 Ygot valid direction response: 03:59:41.9046 LVL= 19312, 23537, 15762, 26611, AGC= 65, IDX= 196, 0.00,-0.892,-2.338,-0.996,-1.660, PHS= 0.856,-0.631, 0.661, RAW= 143.1, -12.6, CAL= 150.0, -21.5, ROT= 0.0, 21.5 %PDAT read: Bearing 0.0, 21.5 (Local) %~Local bearing/azimuth received: Bearing 0.0, 21.5 (Local) 5DAT read: Range 10 to 50 : 246.6 m (Round-trip 328.9 ms) speed 0.6 m/s =*DAT read: user:248> =BDAT read: Tx time:03:59:43.0216 E$Ping request sent.E )Y?pMy?h:˿i(>ra>7 > )m:publishing transmit ping timeAmFpublishing direction and range infoy7?ѨCt׿Y )Ii )Ii )Y?pMy?h:˿i )! H <>H H XII |BI =I I D&I v<*I E2I:IBIJIRIʛ =ZI()5Eď,?AI<)<jK:INrK:9zK8K:K:&-BKD:$ ")($!-;3)   OmeN:-%#:{pc]UPJCA;9|={B=IE=E<IUaIU錴٥[{= -=9Q > F٦ȠEy% %>5JDAT read: TxSync time:03:59:43.0208 4YM]?4y yB?CB;;f4)KJAuE!JpRp?AptuCptuCp@v!l@Ljtk}Vv7?ѨCt׿pp7 >vXr[j@;P7rY-UXNv'4?-s ڿxпjprpVCZpb!%?bp%0(zp?pppV@poCp@ addTargetRange:: Added new target pos. range: 246.600006 m, deltaT: 7.822574 s, deltaX: 13.000000 m, approachRate: 1.661857 m/s, rangeRepo size: 4  Added new target pos. range: 245.455353 m, bearing: 334.638463 deg, lat: 36.779510 deg, lon: -121.859917 deg, deltaT: 7.822574 s, deltaX: 12.943253 m, approachRate: 1.654603 m/s, posRepo size: 4 oFNOT Ignoring new targets: 245.46 m.oo1Y% ProNav: ac range: 245.455353 m, nav range: 239.697388 m, bearing: 331.394503 deg, approach rate: 0.000000 m/s, LOS rate: -0.015452 deg/s, cmd heading: 332.467517 deg, new cmd heading: 332.446131 deg. zo!JewJekJaJaJeW:Je9JaJaJez;Jez;Je:Je:HeadingCmd: 5.802279 target range: 245.455353 and range: 246.60 m.RoF@JoboZoBo:n2nmmlkkk@3n@k:?ɞ= wB= pf A E ?IA m ɝi iq Iu &=)AI@i@A (@IDI٥>K= -=9;Q > F٦ˠEy0 > 4Y ^?4yB?:"?C;:t4a)mIAiB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 245.46 m.oBѹoBѹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.= ProNav: ac range: 245.455353 m, nav range: 239.470978 m, bearing: 331.384281 deg, approach rate: -0.506059 m/s, LOS rate: -0.022869 deg/s, cmd heading: 332.446125 deg, new cmd heading: 332.415431 deg. zoE{MHeadingCmd: 5.801744 target range: 245.455353 and range: 246.60 m.RoM㧹@JoIboQZoQBoQ:nQ2nYmmPyBlkkkk`?ɞ wB \ qf?I =Nɝ9i9I=f#JC=JR= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994248ԩ ď,%?A6ò@Y6@6968=JAHRS rotation from veh to nav: [[0.881783,0.449472,-0.142949],[-0.457564,0.888734,-0.028060],[0.114432,0.090151,0.989332]]y6H 7?@&? (L¿@Hݿp?cK?$? ?ɫ6ò@6;6CR|BRIIZ,IZỴ٥fW= j]=9j;Q j>ll nF٦n͠Eyr`; r> tv4Yv^?z4yvgvBxzMz?v.Cv:v:v4=B)IAZH!RH%<H-A>H-CH-II-|BI)I)I)&I-<*I-EoQUFNOT Ignoring new targets: 245.46 m.o]ѹo]ѹm ProNav: ac range: 245.455353 m, nav range: 239.290100 m, bearing: 331.376115 deg, approach rate: -0.507526 m/s, LOS rate: -0.022930 deg/s, cmd heading: 332.415444 deg, new cmd heading: 332.390928 deg. zom{uHeadingCmd: 5.801316 target range: 245.455353 and range: 246.60 m.Roub@JoqboqZoqBoy:ny2nymmlkkkk #?ԙɞwB V?I FɝiI܋mD#ylaZTSQVakmljdZ^mrlaYPKFA93,)%$!'BK?:K? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247543G=G2B:B)  O >! %ď,r??A 44fRҲ@Yf'͹@fK9f̒=nAHRS rotation from veh to nav: [[0.882831,0.448198,-0.140460],[-0.456130,0.889449,-0.028734],[0.112054,0.089435,0.989669]]yfH%@?E? :1ݿ^v?Pl?5?^?ɫfRҲ@f ;fCv|Bv Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498292Mb@Mb@Mb@ )Ii?p= ף??=̼)@I@i@@ @IIʴ٥WN< <=9;Q > F٦РEy; > u4Y+^?u4yVB}<?}:}د}?JC<<w4)sIAoFNOT Ignoring new targets: 245.46 m.o}o}  ProNav: ac range: 245.455353 m, nav range: 239.074432 m, bearing: 331.367978 deg, approach rate: -0.476013 m/s, LOS rate: -0.017976 deg/s, cmd heading: 332.390937 deg, new cmd heading: 332.366504 deg. zo cE5HeadingCmd: 5.800890 target range: 245.455353 and range: 246.60 m.Ro5䠹@Jo9bo9Zo9Bo9:nA2nAmAmExBlIkIkIkkW?ɞwB>G E?I ɝiI[Wď,iY?A6Bڲ@Y6չ@6\v߽96B=>AHRS rotation from veh to nav: [[0.883584,0.447743,-0.137131],[-0.455435,0.889787,-0.029306],[0.108896,0.088348,0.990119]]y6H RF?@ԧ?%ݿ!y?J@?@??ɫ6Bڲ@6G;6CJ,|BNIIzpIz<٥#= W=9  F٦ҠEy&; > !-4Y%%;^?-4y% %B15b5?%cC%:%l:%&4A)E6IAEvEoamFNOT Ignoring new targets: 245.46 m.ou渹ou渹 ProNav: ac range: 245.455353 m, nav range: 238.884171 m, bearing: 331.360745 deg, approach rate: -0.531128 m/s, LOS rate: -0.020207 deg/s, cmd heading: 332.366513 deg, new cmd heading: 332.344797 deg. zo]HeadingCmd: 5.800511 target range: 245.455353 and range: 246.60 m.Roɝ@JoboZoBo:n2nmmlkkkk ?JrJgJ4JJG:J9J3J!@!@!@!@ɞwBZ (?I eɝiIDH- CH-II-)}BI- =I)I-D&I-I<*I-bEF6"F*F2Fo0:FjK% @OrK% 9zK! K% K% ?LWH@ZRDCBP]RA7/# \yeYWWORj|hSD3'"2K) *K- rAG &=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254259G 2B :B  O >ď,ܞt?A>qٲ@Y>FԹ@>')ٽ9>]=JAHRS rotation from veh to nav: [[0.883832,0.448198,-0.134011],[-0.455674,0.889645,-0.029866],[0.105837,0.087462,0.990530]]y>HZH?F?I'@)ݿw? !?c?@k?ɫ>qٲ@>;>CR7|BRIIzPIz٥< @=9  ;Q  >   F٦ՠEyv %> 1=4Y56L^?=4y55BAExE?5~C5y;5D;54Y)] IAYoyFNOT Ignoring new targets: 245.46 m.o¬o¬ ProNav: ac range: 245.455353 m, nav range: 238.671799 m, bearing: 331.352667 deg, approach rate: -0.495908 m/s, LOS rate: -0.018880 deg/s, cmd heading: 332.344793 deg, new cmd heading: 332.320537 deg. zoOOHeadingCmd: 5.800087 target range: 245.455353 and range: 246.60 m.RoQ@JoboZoBo:n2nmmlkkkk@ɞwBN( ?I ɝiIk}Ա Mm#ď,_?AI ) =|BIMb@Mb@Mb@ )IiPn?kt?Mb? 0=)@I@i@x@ f@I^I٥L< :=9%Q %>)) -F٦-ؠEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759361y5 M> Ye4Y]^^?m4y]5]Bm?u:}ƾ}?]C]h;];]N4)HAԙwEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 245.46 m.o{o{ ProNav: ac range: 245.455353 m, nav range: 238.445038 m, bearing: 331.346528 deg, approach rate: -0.507496 m/s, LOS rate: -0.013753 deg/s, cmd heading: 332.320532 deg, new cmd heading: 332.302097 deg. zoHeadingCmd: 5.799766 target range: 245.455353 and range: 246.60 m.Ro@JoboZoBo:n2nmm xBl k k!k)k5@En@ɞ- xB-4 15+?I1 5ɝ1i1I=H !CH II =}BI =I I D&I S<*I yEGM.=G)I2BQ:Ba Ou?x(+ď,̮?AjK{NrKS9zKKK$%-K}lnsjZL?5*" 5Zv}oXC8~O6Fв@YF]˹@Fǽ9F=bAHRS rotation from veh to nav: [[0.884096,0.450083,-0.125697],[-0.457028,0.888887,-0.031697],[0.097464,0.085470,0.991562]]yFHJ?&??ݿq?:n?_??ɫFв@Fk;FCj<|BjIIrcIr#٥z# z.=9~|| F٦۠Ey[ > 4Y p^?4y  B/Ǿ? C N: $: i4!)-HA)oQUFNOT Ignoring new targets: 245.46 m.o]o]m ProNav: ac range: 245.455353 m, nav range: 238.206146 m, bearing: 331.340119 deg, approach rate: -0.523552 m/s, LOS rate: -0.014060 deg/s, cmd heading: 332.302090 deg, new cmd heading: 332.282844 deg. zombuHeadingCmd: 5.799430 target range: 245.455353 and range: 246.60 m.Rou@JoqboqZoqBoq:ny2nymymylkkkk`L @ɞxB& 靵?I ɝiIq 2ď, ?A,F˲@YFƹ@F 9Fa2=NAHRS rotation from veh to nav: [[0.884117,0.451025,-0.122120],[-0.457687,0.888541,-0.031896],[0.094123,0.084093,0.992003]]yFH J??FCJݿ`n?T`o?@?@|?ɫF˲@F2;FCV2|BVIMb@Mb@Mb@ )Ii/$?I +?L7A`堿1?94<+)K@IS@iK@ @IWIƕ٥]< ]*=9e;Q m>q F٦ޠEy > 4Y^?4yB{? : ] ?C;;'4!)%!IA!oFNOT Ignoring new targets: 245.46 m.o۸o۸ ProNav: ac range: 245.455353 m, nav range: 237.944336 m, bearing: 331.337069 deg, approach rate: -0.515189 m/s, LOS rate: -0.006008 deg/s, cmd heading: 332.282856 deg, new cmd heading: 332.273698 deg. zo HeadingCmd: 5.799270 target range: 245.455353 and range: 246.60 m.Ro @JoboZoBo:n2nmmzxBDAT read: 03:59:45.7519 LVL= 16736, 24865, 15730, 28115, AGC= 64, IDX= 408,-0.13, 1.738, 0.259, 1.608, 0.981, PHS= 0.844,-0.675, 0.624, RAW= 142.3, -11.2, CAL= 149.3, -20.5, ROT= 0.7, 20.5 Ygot valid direction response: 03:59:45.7519 LVL= 16736, 24865, 15730, 28115, AGC= 64, IDX= 408,-0.13, 1.738, 0.259, 1.608, 0.981, PHS= 0.844,-0.675, 0.624, RAW= 142.3, -11.2, CAL= 149.3, -20.5, ROT= 0.7, 20.5 PDAT read: Bearing 0.7, 20.5 (Local) ~Local bearing/azimuth received: Bearing 0.7, 20.5 (Local) DAT read: Range 10 to 50 : 244.5 m (Round-trip 326.1 ms) speed 0.8 m/s *DAT read: user:249> lkkkk_@BDAT read: Tx time:03:59:46.8716 $Ping request sent. I)IMJ9 + ?TkU?ug jȿiMaD>M!]G>M+H I)Iu:publishing transmit ping timeuFpublishing direction and range infoIyMZ?O5o?Z8iֿ }kɝyiyI};1 8ď,?A @J㽲@YJ@JZ۹9J=RAHRS rotation from veh to nav: [[0.883627,0.452591,-0.119854],[-0.459337,0.887580,-0.034808],[0.090626,0.085811,0.992181]]yJHF?`@?@@eݿ g? dҡ@B3???ɫJ㽲@J;HrJ|Br'II\IW٥%B= %`=9%Ii mF٦mEym u> q}4Yu3^?4yuuB.?uCuu:u;uQ-4)HAxEHV>H"CHIIG}BI =IID&I?<*IbEJpqRpu;?Apu`sCpu`sCpu@vueVS~l@^G@>[NUvuZ?O5o?Z8iֿpu+H<pu0>vuؽ Rj@EsXOvuP=?<:ڿ$g*пjpurpuTCZpuŠ?bpujzpupuŠ?pu%0(pu?pukCpu@ addTargetRange:: Added new target pos. range: 244.500000 m, deltaT: 3.780619 s, deltaX: -2.100006 m, approachRate: -0.555466 m/s, rangeRepo size: 4  Added new target pos. range: 243.377258 m, bearing: 335.002046 deg, lat: 36.779548 deg, lon: -121.859772 deg, deltaT: 3.780619 s, deltaX: -2.078094 m, approachRate: -0.549670 m/s, posRepo size: 4 oFNOT Ignoring new targets: 243.38 m.oo  ProNav: ac range: 243.377258 m, nav range: 235.669144 m, bearing: 334.605099 deg, approach rate: 0.000000 m/s, LOS rate: -0.006008 deg/s, cmd heading: 332.273704 deg, new cmd heading: 332.267010 deg. zo HeadingCmd: 5.799153 target range: 243.377258 and range: 244.50 m.Ro@JoboZoBo:n2nm9mAlAkAkAkEn@kM?ɞ.xB$ 靽?I F޽ɝiIH}>ď,M?A(5@Y5Ū@5@95=MAHRS rotation from veh to nav: [[0.882928,0.454396,-0.118159],[-0.460885,0.886827,-0.033497],[0.089566,0.084033,0.992430]]y5H @???%ݿ`?&?2??ɫ5@58^;5C]D|B]#I%Mb@Mb@Mb@! !)!I!i!%n?/$ rh%V?%%C )%@I%@i%S@%@ !%@I==I=Ь٥UJ U9=9U;Q ]>YY ]F٦]Eye e> iu4Ym^?u4ymmBu?u:}t}?mCm ;m ;m44)HAoFNOT Ignoring new targets: 243.38 m.o99o99 ProNav: ac range: 243.377258 m, nav range: 235.428101 m, bearing: 334.609227 deg, approach rate: -0.592795 m/s, LOS rate: 0.010163 deg/s, cmd heading: 332.267010 deg, new cmd heading: 332.279408 deg. zo39HeadingCmd: 5.799370 target range: 243.377258 and range: 244.50 m.Rop@JoboZoBo:n2nmm&xBlkkkkju?ɞ7xB%B !%?I! -Tݽɝ)i)I-Eď, ?A<^@Y^T@^°9^XԱ=fAHRS rotation from veh to nav: [[0.882885,0.454964,-0.116283],[-0.461609,0.886309,-0.037062],[0.086201,0.086399,0.992524]]y^H@? ?Ľݿ \?>?=??ɫ^@^b;\nY|Bn0IIv0IvV٥f= c=9    F٦ Ey  > %4Y^?-4yB)55?-CC;D;0;49)EHAEyE]B*** querying acoustic contact ***:pYBpYoimFNOT Ignoring new targets: 243.38 m.ou.9o.9% ProNav: ac range: 243.377258 m, nav range: 235.227844 m, bearing: 334.612689 deg, approach rate: -0.551924 m/s, LOS rate: 0.009548 deg/s, cmd heading: 332.279414 deg, new cmd heading: 332.289807 deg. zo-9UHeadingCmd: 5.799551 target range: 243.377258 and range: 244.50 m.RoU앹@JoYboYZoYBoY:nY2nYmamalakakakikmf?ɞAxBn~ ?I ٨۽ɝiIX<J=oJ=eJ9J9J=>:J=9J9J9I i|=i-=)앹@)ԹF!"F!*F!2F%l1:F!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZH<RH4=HY>HHII =II&I:<*I_E2I!C:I!CBIǔCJIǖ =RIǖ =ZI&6G% >J=G) G- pAG 2B  :B  O >NKď,1?A2@Y2y@292̴=>AHRS rotation from veh to nav: [[0.882459,0.456329,-0.114144],[-0.463014,0.885462,-0.039676],[0.082965,0.087863,0.992672]]y2H=?4? 8 ݿ@U? dP2=?*~?@?ɫ2@2R;2CB\|BF2IjKN[NrKLzKLKNKNTb=-#  N{}reVKB93+'#$`k[bzvi]RJ?88I]b]XRMHHLIJ*IJ٥^; ^O=9^`` bF٦bEyf p f> hj4lYj^?n4yjhjBprr?jICjd*;j+;jB4t)v}HAxo%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488174FNOT Ignoring new targets: 243.38 m.o49o49 ProNav: ac range: 243.377258 m, nav range: 235.008224 m, bearing: 334.616564 deg, approach rate: -0.558614 m/s, LOS rate: 0.009867 deg/s, cmd heading: 332.289796 deg, new cmd heading: 332.301433 deg. zo9HeadingCmd: 5.799754 target range: 243.377258 and range: 244.50 m.Ro@JoboZoBo:n2nmmlkkkkb?ɞKxB̻ 靵?I  ڽɝiI?;IGi|=ib=)@) F "F*F2Fa5:FG== G==1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740045G =a Gq 2By :B  O >8Rď,4K?A6@Y6@6%96=>AHRS rotation from veh to nav: [[0.882536,0.457073,-0.110522],[-0.463594,0.885071,-0.041585],[0.078812,0.087938,0.993003]]y6H=?@?(Kݿ`R?`J-???ɫ6@6;4^|BnJI9Mb@Mb@Mb@ )IibX9?:v~jtE?Tļ)@I@i&@@ @IkI ٥= 7=94    F٦ Ey  > %4Y|^?%4y B%?%:%k-?kCb;:I456B)5GA5EoYeFNOT Ignoring new targets: 243.38 m.oeq9oeq9 ProNav: ac range: 243.377258 m, nav range: 234.747437 m, bearing: 334.624563 deg, approach rate: -0.585257 m/s, LOS rate: 0.017971 deg/s, cmd heading: 332.301435 deg, new cmd heading: 332.325458 deg. zoTE:HeadingCmd: 5.800173 target range: 243.377258 and range: 244.50 m.Ro@JoboZoBo:nQ2nQmYm]xBlYkakakake?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992172aɞ UxB ~ ?I GؽɝiID@;IaMi{=iT=)e@)aF6"F*F2F4:Fԙ JI JI G = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244187G 2B :BQ  O] >Yď,e?A6@Y6ݒ@6 96p=>AHRS rotation from veh to nav: [[0.882635,0.457457,-0.108118],[-0.464015,0.884692,-0.044833],[0.075142,0.089739,0.993127]]y6H@>?F?jݿ fO?R{`` bF٦bEyfTl f> hn4Yj^?n4yj(jăBlr{r?jCj:j]:j:P4t)vGAtoFNOT Ignoring new targets: 243.38 m.o9o9- ProNav: ac range: 243.377258 m, nav range: 234.535034 m, bearing: 334.631103 deg, approach rate: -0.584762 m/s, LOS rate: 0.018023 deg/s, cmd heading: 332.325450 deg, new cmd heading: 332.345089 deg. zo5E:5HeadingCmd: 5.800516 target range: 243.377258 and range: 244.50 m.Ro=ԝ@Jo9bo9Zo9Bo9:nA2nAmImIԑHZ>HHIIQ}BI =II&IS<*IElikikqkqku`@ɞ=^xB= 9E%?IA e`|ֽɝiiiIm;Imk iuy=iuf=)uԝ@)qEԹF6"F*F2F4:FjKIvNrK9zKKKQPLLNNT^gu qe^WOLFEB<41)  5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495890 G %|=G% ?G% >G 2B :B1  O= >1 n(_ď,?AJ[F3J[m3J[.JnJgJ4JJ|;:J9J3JJ,J;!:J.J;!nJH:!rJJ:!v&@Y@>9@=AHRS rotation from veh to nav: [[0.882290,0.458751,-0.105414],[-0.465193,0.883985,-0.046538],[0.071835,0.090098,0.993339]]yH;?@-\? cݿ`I?ӧc??n?ɫ&@;|BcI1ؕAؑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748347Mb@Mb@Mb@ )Ii +? rh~jt?C)@I@i@x@ (@IoI٥O= +=9d;Q > F٦Ey% > 4Y f^?4y V ȃB?:? C : : X4!)-GA-EoQ]FNOT Ignoring new targets: 243.38 m.oe9oe9u ProNav: ac range: 243.377258 m, nav range: 234.255615 m, bearing: 334.641710 deg, approach rate: -0.585424 m/s, LOS rate: 0.022250 deg/s, cmd heading: 332.345093 deg, new cmd heading: 332.376952 deg. zouPt:}HeadingCmd: 5.801072 target range: 243.377258 and range: 244.50 m.Ro}b@JoyboyZoyBoy:ny2nmmwBlkkkk@pn@ɞUhxBUΒ Y]p?IY ]ԽɝYiYI9;Iis=id =)b@)aF9"F9*F92F=A3:FAԑM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000877G =G 2B :B Թ  O >fď,q?AB׀@YB{@Bn<9Bᱹ=NAHRS rotation from veh to nav: [[0.881715,0.460398,-0.103013],[-0.466722,0.883105,-0.047922],[0.068908,0.090332,0.993525]]yBH@7?(w?@_ݿdB?4???ɫB׀@B؉;BCR|BRwII^`I^̍٥f= fv=9fnH#CHIIz}BIII&IF<*IvEG =G2B:B  O% > 8lď,B@?A2o{@Y2Dv@2=92mڻ=jK>%NrK>{9zK<K>K>     BKF>:KF>JAHRS rotation from veh to nav: [[0.881571,0.461094,-0.101114],[-0.467391,0.882632,-0.050065],[0.066162,0.091396,0.993614]]y2H@5?`?@⹿ݿ`>?%@?e?@?ɫ2o{@2{։;2CR|BRIIZ]IZt٥b= bK=9b3;Q b>dd fF٦fEyj$׺ j> lr4Yn_?r4ynn΃BprVr?nCn;n;nfe4x)zFAxchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504070o!-FNOT Ignoring new targets: 243.38 m.o-V9o-V9E ProNav: ac range: 243.377258 m, nav range: 233.825119 m, bearing: 334.658312 deg, approach rate: -0.585438 m/s, LOS rate: 0.022658 deg/s, cmd heading: 332.399461 deg, new cmd heading: 332.426808 deg. zoEx:EHeadingCmd: 5.801942 target range: 243.377258 and range: 244.50 m.RoM@JoIboIZoIBoI:nI2nImQmQlQkQkkks @ɞ%yxB%%׼ )-|?I) ->ѽɝ)i)I-;I=yei=9b=i=]Q=)=@)AF"F*F2Fp0:F!JetJefJe3JaJe;N:Je9Je(3JaJej;Jej;Je:Je:G2g=G)G-sAG) 2B1 I U DAT read: 03:59:49.6228 LVL= 23472, 23953, 18578, 25363, AGC= 65, IDX= 140, 0.21,-1.978,-3.113,-1.928,-2.828, PHS= 0.937,-0.238, 0.897, RAW= 148.3, -26.0, CAL= 152.4, -32.2, ROT= 357.6, 32.2 e Ygot valid direction response: 03:59:49.6228 LVL= 23472, 23953, 18578, 25363, AGC= 65, IDX= 140, 0.21,-1.978,-3.113,-1.928,-2.828, PHS= 0.937,-0.238, 0.897, RAW= 148.3, -26.0, CAL= 152.4, -32.2, ROT= 357.6, 32.2 m PDAT read: Bearing 357.6, 32.2 (Local) m ~Local bearing/azimuth received: Bearing 357.6, 32.2 (Local) u DAT read: Range 10 to 50 : 260.1 m (Round-trip 346.9 ms) speed 0.4 m/s } *DAT read: user:250>  BDAT read: Tx time:03:59:50.7217  $Ping request sent.:B  O > ޽>޽Q+޽? ߹)߹ :publishing transmit ping timeہ  Fpublishing direction and range info۹y۽ ?|$KR Ό۹Y۹ ܹ)ܹIܹiܹܹܹܹܹ ݹ)ݹIݹiݹݹݹ ޹)޹޽9qpuR???-Wܿi޹޹޹޹ ߹)߹ sď,?AI<)<~ }B~IMb@Mb@Mb@ )Ii7A`?MbQ?u)@I@i@@ =@I}\I}W٥x= .=9Q >  F٦Ey >Q !e4Y%+_?e4y%%҃Bew?m:m?%C%X<%W<%m4)EAJDAT read: TxSync time:03:59:50.7209 JpRp?AptCptCpN@v=\k@;?[WY">av ?|$KR pQ+p?v?܌ryď,?A:i@Y:pd@:|9:=BAHRS rotation from veh to nav: [[0.880808,0.462907,-0.099468],[-0.469445,0.881171,-0.056214],[0.061627,0.096208,0.993452]]y:H /?C?@v c ޿2?@ Ȭ?`?[?ɫ:i@:;:CJ=}BJIIR IRƴH^>HHII}BIIID&I<*I,E٥- > 5a=95NM19 =F٦=Ey=ɻ => IU4YM":_?U4yM MՃBQUZU?M"CM:M9:Ms4i)mDAmEoFNOT Ignoring new targets: 258.91 m.o59o59 ProNav: ac range: 258.913269 m, nav range: 233.338257 m, bearing: 334.676585 deg, approach rate: -0.640749 m/s, LOS rate: 0.024284 deg/s, cmd heading: 332.461480 deg, new cmd heading: 332.484946 deg. zoS:HeadingCmd: 5.802957 target range: 258.913269 and range: 260.10 m.Roӱ@JoboZoBo:n2nmmlkkkk`?ɞxB£ Y?I kͽɝ i I b;I}iG=i<)ӱ@)YFA"FI*FI2FM0:FIԉjKLrK 9zKKK UW5pK)"L4h!jRA4(   2K*KsAG}<GQ 2Ba :Bq  O} >Ա J- oJ- oJ) J) Sď,9`?AJm>:JmK9JiJiJmO;JmO;Jm:Jm:P)mG }vA)IvA BMX@YMyS@M{9M =uAHRS rotation from veh to nav: [[0.879846,0.465649,-0.095093],[-0.471274,0.880682,-0.047950],[0.061419,0.087003,0.994313]]yMH '? 1?@XZ)޿.?܌Kr? E?`i?ɫMX@M;MC}h}BIMb@Mb@Mb@ )IiI +?{Gzt9?Lף)@Ii@ IBIb٥-= -/=959Q 5>19 =F٦=Ey= => AM4YEKM_?M4yEEۃBU?U:]]?EDCET;EzD;E|4i)mDAioFNOT Ignoring new targets: 258.91 m.o9o9 ProNav: ac range: 258.913269 m, nav range: 233.069443 m, bearing: 334.685554 deg, approach rate: -0.574692 m/s, LOS rate: 0.019196 deg/s, cmd heading: 332.484948 deg, new cmd heading: 332.511886 deg. zoR:HeadingCmd: 5.803427 target range: 258.913269 and range: 260.10 m.Ro@JoboZoBo:n2nmm}xBlkkkk?ɞxBƾ u?I ʽɝ i I j;Iעih.=i<)@)F"F*F2Fp0:F! GU <G] ?G] >G1 2B9 :BQ  O] >ԁď,J?A @tz}BzII5I糴٥== =p=9=Q E?AA EF٦EEyM ? 4Y[_?4yB?^C7@;vA;@4)qCAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 258.91 m.o"9o"9 ProNav: ac range: 258.913269 m, nav range: 232.867523 m, bearing: 334.692305 deg, approach rate: -0.575228 m/s, LOS rate: 0.019249 deg/s, cmd heading: 332.511886 deg, new cmd heading: 332.532157 deg. zo\S: HeadingCmd: 5.803781 target range: 258.913269 and range: 260.10 m.Ro @JoboZoBo:n2nmmlkk!k!k%H?ɞ]xB]Lܺ Y]?IY ]TɽɝaiaIew];Imtim=im <)m@)qF"F*F2F[2:Fԙ]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZH RH <Ha>HH3II}BI =II&I'<*IKEG<GY 2Bi :By  O > @ď, 5?A6%r@Y6l@6a"m96X=BAHRS rotation from veh to nav: [[0.881496,0.462419,-0.095565],[-0.468632,0.881549,-0.057056],[0.057862,0.095080,0.993787]]y6H75?F?@vݿ5?p6 ? $W??ɫ6%r@6R;4J}BJIIZoIZbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.741307٥fj= fR=9jShl nF٦nEyn>< r> pv4YrAk_?z4yrrBxzz?rzCr:r:rވ4jK~OrK~9zK|K~K~6>;972)$    *<@?GJCAIx-GPWUK/B)BAEo1=FNOT Ignoring new targets: 258.91 m.oE9oE9U ProNav: ac range: 258.913269 m, nav range: 232.649490 m, bearing: 334.699430 deg, approach rate: -0.574869 m/s, LOS rate: 0.018803 deg/s, cmd heading: 332.532158 deg, new cmd heading: 332.553553 deg. zoUxN:]HeadingCmd: 5.804154 target range: 258.913269 and range: 260.10 m.Ro]@JoYboYZoYBoY:na2namamalikikikikm?ɞxBH 靥y?I CǽɝiIJ;ICi% =i<)@)F"F*F2Fp5:F)JlJfJ2JJ<5:J9Jc3JJ_?;Jb?;J:J:Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993830Gc<G 2B :B  O >ԁ Nď,N?A}B!IMb@Mb@Mb@ )Ii@5^I ?~jtMbp?b?ļ;)@Ij@i&@@ @IPI٥ j>  8=9Q > %F٦%Ey% -> 9E4Y=}_?M4y=]=BM?M:MԱU?=C=<=p<=4)AAEoIUFNOT Ignoring new targets: 258.91 m.o]2Y9o]2Y9m ProNav: ac range: 258.913269 m, nav range: 232.398270 m, bearing: 334.705027 deg, approach rate: -0.532084 m/s, LOS rate: 0.011868 deg/s, cmd heading: 332.553551 deg, new cmd heading: 332.570361 deg. zomQ:uHeadingCmd: 5.804448 target range: 258.913269 and range: 260.10 m.Rou @JoqboqZoqBoq:nq2nymymxBlkkkk@{@ɞxB0& ?I ĽɝiI;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245360Ii =i><) @)EAF"F*F2F2:F G )<G rAG rA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497558G) 9 2BA :BQ  O] >黙ď,h?AI)<6@Y6@6bC[96=BAHRS rotation from veh to nav: [[0.883456,0.459101,-0.093446],[-0.465450,0.882819,-0.063146],[0.053505,0.099281,0.993620]]y6HDE?@a?췿ݿ @?`P*e?uj??ɫ6@6\S;4F ~BJ<IIR[IR:٥ZQ=H^`>H\H^kII^Y~BI\I\I\&I^+<*I^RE2I#C:I#CBICJI =RI =ZId5 rc=9rBtt vF٦vEyz-'< z> |4Y~_?4y~~B  * ?~C~):~:~4)GAAoFNOT Ignoring new targets: 258.91 m.ob9ob9 ProNav: ac range: 258.913269 m, nav range: 232.193665 m, bearing: 334.709405 deg, approach rate: -0.578253 m/s, LOS rate: 0.012383 deg/s, cmd heading: 332.570353 deg, new cmd heading: 332.583498 deg. zo:HeadingCmd: 5.804677 target range: 258.913269 and range: 260.10 m.Ro꿹@JoboZoBo:n2n mmlkkkk@ɞxB@O; 靕?I >½ɝiIH;IiA=iE=)꿹@)F"F*F2FZ4:FG= G=1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749227jKMjNrKM 9zKIKMKM:." wmgabaYC+! -0-($G% ֣ď,-?AJnJgJ3JJ|;:J9J(3J0J,J;J.J;JI:JJ:ў@Y@ÿR9=AHRS rotation from veh to nav: [[0.884351,0.457598,-0.092349],[-0.463982,0.883391,-0.065889],[0.051430,0.101118,0.993544]]yHL?GI?3 ݿD? ްT??@?ɫў@-;%!~B%IImchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008382Mb@Mb@Mb@ )IiK7?I +?Mbp?I ?94<)@IE@i@@ @IiI҅٥%+= %)=9%;Q ->)) -F٦- Ey5k; 5> AM4YE?_?M4yE*EBMQ ?U:UU?ECE*:Es:Ej4]*B)]@AYԁoFNOT Ignoring new targets: 258.91 m.of8of8 ProNav: ac range: 258.913269 m, nav range: 231.932053 m, bearing: 334.710859 deg, approach rate: -0.565841 m/s, LOS rate: 0.003149 deg/s, cmd heading: 332.583494 deg, new cmd heading: 332.587862 deg. zoP 9HeadingCmd: 5.804753 target range: 258.913269 and range: 260.10 m.Ro@JoboZoBo:n2nmm+yBlkk9k9k= @ɞxB( ?I ɝiIſ;I i=i=)@) ԱF"F*F2F`5:F % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261148GU y=G) 2B9 :BI  O] >Цď,?A2@Y2Т@2I92 R=>AHRS rotation from veh to nav: [[0.884966,0.456689,-0.090948],[-0.463043,0.883715,-0.068113],[0.049266,0.102391,0.993524]]y2H`Q?b:?aHݿ dG? o\9? F6??ɫ2@2췍;2CJS~BJgIIRVIRX٥Z> ^{=9^&;Q ^ ?\` bF٦b Eyb1a; b ? dj4Yf_?n4yf@fBlnn?fCf:f:f4p)r@AtEB*** querying acoustic contact ***:pABpAoquFNOT Ignoring new targets: 258.91 m.o}HL8o}HL8 ProNav: ac range: 258.913269 m, nav range: 231.754517 m, bearing: 334.711799 deg, approach rate: -0.526430 m/s, LOS rate: 0.002791 deg/s, cmd heading: 332.587865 deg, new cmd heading: 332.590689 deg. zo#8HeadingCmd: 5.804802 target range: 258.913269 and range: 260.10 m.Ro@JoboZoBo:n2nmmlkkkk a @ɞ5xB=x< 9=?I9 =gɝAiAIE1e;I]i]=i]= =)]@)aF"F*F2Fo0:F}BDAT read: Rx Time:03:59:53.4701 }TRx dataTimestamp_ set to:1761364794.625755checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514300JHBHAAHb>HHII~BI =II&I6<*IbE G@o=G ?G ?G2B:B O >9 ď,TT?A6@Y6ɩ@6pA96=BAHRS rotation from veh to nav: [[0.885452,0.456055,-0.089382],[-0.462338,0.883940,-0.069951],[0.047107,0.103263,0.993538]]y6HU?0?@ᶿݿ@=I?M豿d?`oo?@?ɫ6@6X;6C^]~BbnIIfjIfrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.765354٥v]< vH=9v3;Q z>xx ~F٦~Ey; > jKNrK]9zKKK  ! >T%  i}~j_R@" Qe4Y _?m4y  Bq}}?  C y< }< ?4)?AEoFNOT Ignoring new targets: 258.91 m.om:8om:8} ProNav: ac range: 258.913269 m, nav range: 231.530304 m, bearing: 334.712942 deg, approach rate: -0.498203 m/s, LOS rate: 0.002542 deg/s, cmd heading: 332.590679 deg, new cmd heading: 332.594112 deg. zo}O8HeadingCmd: 5.804862 target range: 258.913269 and range: 260.10 m.Roo@JoboZoBo:n2nmmlkkkk@"@iɞxB@& 靝P?I ɝiI˴;Ii=i =)o@)F 6"F*F2F:FGFԙDAT read: 03:59:53.4701 LVL= 31952, 32753, 29410, 32755, AGC= 63, IDX= 423,-0.17, 1.529, 0.417, 1.515, 0.672, PHS= 0.945,-0.208, 0.840, RAW= 145.3, -26.8, CAL= 149.6, -32.8, ROT= 0.4, 32.8  Ygot valid direction response: 03:59:53.4701 LVL= 31952, 32753, 29410, 32755, AGC= 63, IDX= 423,-0.17, 1.529, 0.417, 1.515, 0.672, PHS= 0.945,-0.208, 0.840, RAW= 145.3, -26.8, CAL= 149.6, -32.8, ROT= 0.4, 32.8  PDAT read: Bearing 0.4, 32.8 (Local) % ~Local bearing/azimuth received: Bearing 0.4, 32.8 (Local) = DAT read: Range 10 to 50 : 258.1 m (Round-trip 344.2 ms) speed 0.4 m/s  *DAT read: user:251>  BDAT read: Tx time:03:59:54.5717  $Ping request sent. ܿiލg>ލe>ލ;ލC? ߉)߉] :publishing transmit ping time ] Fpublishing direction and range infoۉG  = yۍ=3?XD x?foUΌۉYۉ ܉)܉I܉i܉܉܉܉܉ ݉)݉I݉i݉݉݉ މ)މލJL?(uKd?>ܿiމމމމ ߉)߉Gy 2B :B  O >۳ď,/?Aԙ~BI=Mb@Mb@Mb@9 9)9I9i9=L7A`?V-?~jtx?=+?=<=;)=@I=/@i=@=@ 9=@IuPIu٥k= '=9Q > F٦Ey > 4Y{_?4yBa?:ھ?+C<z<ڴ4)A?AEJpRp@?ApvCpvCpr@vBRj@/l?eereav=3?XD x?foUp;pC?v[%i@51V9T_v>ߒs?~GKCֿ #fsU߿jprpYLCZpc8}?bp zpppppEgCp@@U addTargetRange:: Added new target pos. range: 258.100006 m, deltaT: 4.042229 s, deltaX: -2.000000 m, approachRate: -0.494777 m/s, rangeRepo size: 4  Added new target pos. range: 256.926178 m, bearing: 336.517896 deg, lat: 36.779548 deg, lon: -121.859772 deg, deltaT: 4.042229 s, deltaX: -1.987091 m, approachRate: -0.491583 m/s, posRepo size: 4 oFNOT Ignoring new targets: 256.93 m.oo ProNav: ac range: 256.926178 m, nav range: 231.270432 m, bearing: 334.712064 deg, approach rate: 0.000000 m/s, LOS rate: 0.002542 deg/s, cmd heading: 332.594122 deg, new cmd heading: 332.597798 deg. zoHeadingCmd: 5.804927 target range: 256.926178 and range: 258.10 m.Ro@JoboZoBo:n2nmmFyBlkkk!p@k ഋ?ɞUxBU; QU?IY efɝaiaIeή;IGi=i# =)@)Ee>E>F56"F1*F12F1:F1 JJJoJlJJJ>:J9JJ!@!@!@!@! Gu O =H c>H H II BI =I I &I <*I EGI 2BY :Bi  O >ď,?AF@YF@F59Fr=RAHRS rotation from veh to nav: [[0.886231,0.454869,-0.087687],[-0.461130,0.884301,-0.073291],[0.044204,0.105388,0.993448]]yFH\??r'ݿ0L?2ò ߡ? ? T?ɫF@F<;FCTZ~BZIIb+Ibļ٥jk= jd=9nll rF٦rEyr; r> t~4Yv_?4yvvBFھ ?vCCvc;ve;v 4) ?Ao9=FNOT Ignoring new targets: 256.93 m.oEM#oEM#U ProNav: ac range: 256.926178 m, nav range: 231.083496 m, bearing: 334.711366 deg, approach rate: -0.597175 m/s, LOS rate: -0.002231 deg/s, cmd heading: 332.597810 deg, new cmd heading: 332.595715 deg. zoUø]HeadingCmd: 5.804890 target range: 256.926178 and range: 258.10 m.Ro]@JoYboYZoaBoa:na2nammlkkkkB?ɞxB(< 靕 ?I %ɝiIA;;I!i=i=)@)F"F*F2F:FjKM,NrKM9zKIKMKMb1l! !R- n&mXOK[^_92KY*K]rA!GNw =G 2B :B  O >A <ď,?AIL)N<~͹@Y~@~g09~=AHRS rotation from veh to nav: [[0.886225,0.455429,-0.084789],[-0.461249,0.884494,-0.070134],[0.043055,0.101263,0.993928]]9y~H [?%?@ݿM?G= ?`?@A?ɫ~͹@~ ;~CU~BUIMb@Mb@Mb@ )IiRQ?J +?MbP??H=:)@I&@i@@ I?I ٥B= 8=9);Q > %F٦%Ey%{ %> )54Y-_?54y--B=)?=:=ľ=?-`C-:-Q:-“4E)B)E>AIoyFNOT Ignoring new targets: 256.93 m.oo ProNav: ac range: 256.926178 m, nav range: 230.856979 m, bearing: 334.708173 deg, approach rate: -0.510285 m/s, LOS rate: -0.007199 deg/s, cmd heading: 332.595706 deg, new cmd heading: 332.586119 deg. zoHeadingCmd: 5.804723 target range: 256.926178 and range: 258.10 m.RoJ@JoboZoBo:n2nmamesyBlikikqkyk} |a?ɞxB!;  ?I uɝiIj:;I% i%l=i%/=)%J@))aF"F*F2Fp0:FG= G=ԉG= d=Թ G 2B! :B1  OE >dzď,X?<@?? ?ɫFpҲ@Fg/;FCr~BrIIzIzʴ٥P ^=9;Q >    F٦ Ey < > %4Y?`?%4y B!%hþ%?xC;;6ɓ41)5>A1JesJegJaJaJeK:Je9JaJauB*** querying acoustic contact ***:pqBpqoFNOT Ignoring new targets: 256.93 m.o o ԙ ProNav: ac range: 256.926178 m, nav range: 230.669327 m, bearing: 334.705384 deg, approach rate: -0.505953 m/s, LOS rate: -0.007528 deg/s, cmd heading: 332.586117 deg, new cmd heading: 332.577741 deg. zoQHeadingCmd: 5.804576 target range: 256.926178 and range: 258.10 m.Ro@JoboZoBo:n2nmmlkkkk?ɞ}xB}< 靅?I RɝiIЀ;I5 i=iC=)@)EUT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.F"F*F2F0:FZH)RH-p<H=^>H9H=II=MBI9I9I9&I='<*I=HEG]=G 2B :B  O >!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728520ͳď,p(:?A: @Y:@:$R9:=BAHRS rotation from veh to nav: [[0.889370,0.450115,-0.080113],[-0.455553,0.887287,-0.072071],[0.038643,0.100593,0.994177]]y:H`u?@?`H'ݿd?=sɣ? }? L?ɫ: @:_;:CJ~BJIjKN8PrKN9zKLKNKNMsV0WR0:#ik H l~sljf\YflaO@::>Fp 2<5,%',,,6DE<670! BKV?:KV>I^dI^@٥== EF=9EM;Q E>AI MF٦MEyML < M> Q]4YU`?e4yU U&Baee?UCU;U;UhГ4i)mX>AuEoFNOT Ignoring new targets: 256.93 m.oooo ProNav: ac range: 256.926178 m, nav range: 230.458984 m, bearing: 334.702067 deg, approach rate: -0.517451 m/s, LOS rate: -0.008165 deg/s, cmd heading: 332.577729 deg, new cmd heading: 332.567772 deg. zoRHeadingCmd: 5.804403 target range: 256.926178 and range: 258.10 m.Ro@JoboZoBo:n2nmmlkkkki?ɞxB<  ?I ɝiIUΗ;I "i =ij(=)@)F"F*F2F 3:Fi]5(>I]RC) rG1 ]`wA)yI.`wA0Bmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980769q@>BG;=G?GQGq2By:B O>ԁ yԳď,lT?A 6@Y6@696K=BAHRS rotation from veh to nav: [[0.890608,0.448099,-0.077613],[-0.453357,0.888262,-0.073876],[0.035837,0.100981,0.994243]]y6H`??q޳ݿ`l?鲿@:Y?`ٹ? ?ɫ6@6|;6Cz~BzI-5 only read 0 of 1 data item for BIT error. Device response is::TS,25102420012057,35.0, +0.0,1497.0, , 0.00, 65.36, 69.11, 69.79 m=@= q=@= u=@= i=@= IERIE4٥UE-< UI=9UW;Q ]>YY ]F٦]Eye; e> im4Ym"`?u4ym m+Bu+:q}:}U}?mCm;mn>m*֓4)F>AoFNOT Ignoring new targets: 256.93 m.oo ProNav: ac range: 256.926178 m, nav range: 230.251251 m, bearing: 334.698656 deg, approach rate: -0.508952 m/s, LOS rate: -0.008364 deg/s, cmd heading: 332.567785 deg, new cmd heading: 332.557543 deg. zoHeadingCmd: 5.804224 target range: 256.926178 and range: 258.10 m.Ro4@JoboZoBo:n2nmmlkkkky@ɞExBEPw< AE?II MɝIiIIMF;ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231921Ii:i=i0=)4@)!F6"F*F2F{3:FGFJ}wJ}mJ}2JyJ}W:J}&9J}c3JyG )= G 2B :B  O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483274H% J>H% !CH% II% lBI! I! I% D&I% F<*I% _E1 hڳď,m?A~~BIIQI٥%ȼ %M=9-Q ->)) -F٦-!Ey5 5> 9E4Y= 2`?E4y= =0BE :IM:IM?=C=;=N?=ړ4Q)Um>AEo1=FNOT Ignoring new targets: 256.93 m.o=o=M ProNav: ac range: 256.926178 m, nav range: 230.047928 m, bearing: 334.695312 deg, approach rate: -0.483395 m/s, LOS rate: -0.007958 deg/s, cmd heading: 332.557539 deg, new cmd heading: 332.547497 deg. zoMǮ]HeadingCmd: 5.804049 target range: 256.926178 and range: 258.10 m.Ro]ĺ@JoYboYZoYBoY:nY2namamalakikikikm@U@ɞxB`6t< 靥?I ɝiI;IcQiH=i30=)ĺ@)EEtA Fm6"Fi*Fi2FmP5:Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.735561YjKPrKh9zKKK|!JMisslbWOC6+  )F]ltvqiyxw2KqA*KG3=i G 2B :B  O >eď,%·?A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987582M+@YMy&@M 9M=AHRS rotation from veh to nav: [[0.892975,0.444237,-0.072456],[-0.449104,0.890106,-0.077573],[0.030032,0.101811,0.994350]]yMH??`n?`sܿ{?۳?C??ɫM+@M;MC~BImm qq uu ii Mb@Mb@Mb@ )IiMbX9?ˡE?~jt?'=D)b@Ii&@S@ f@I\IW٥"a 3=9P F٦$Ey.< > 4Y6D`?4y#1BT:@?:Bľ?CG_;0Q;4"B)6>AEo%FNOT Ignoring new targets: 256.93 m.o5do5dM ProNav: ac range: 256.926178 m, nav range: 229.815903 m, bearing: 334.691933 deg, approach rate: -0.533786 m/s, LOS rate: -0.007781 deg/s, cmd heading: 332.547485 deg, new cmd heading: 332.537339 deg. zoMުUHeadingCmd: 5.803872 target range: 256.926178 and range: 258.10 m.Ro]Q@JoYboYZoYBoaa:ni2nqmmPyBlkkk k  @ɞUyB]1< y}?I .kɝiI͇;IhiE=iC=)Q@)FQ"FQ*FQ2FU`5:FQԑBDAT read: Rx Time:03:59:57.3182 TRx dataTimestamp_ set to:1761364798.409739checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240269Թ G .=G 2B :B  O >{ď,?AI<)> F٦'Ey > !-4Y%dS`?54y% %3B99=?%C%"\;%r];%b4E!B)E#>AMEeB*** querying acoustic contact ***:paBpaoquFNOT Ignoring new targets: 256.93 m.o}}o}} ProNav: ac range: 256.926178 m, nav range: 229.622025 m, bearing: 334.689105 deg, approach rate: -0.507054 m/s, LOS rate: -0.007403 deg/s, cmd heading: 332.537349 deg, new cmd heading: 332.528857 deg. zoHeadingCmd: 5.803723 target range: 256.926178 and range: 258.10 m.Ro@JoboZoBo:n2nmmlkkkkI @ɞyB\< t?I UɝiIԵ;I|i*(=icA=)@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492111F"F*F2Fo0:FJHBH?AH<>HCHII =IID&I)<*IE2I:I"CBIĕCJIđ =RIē =ZIĪw6G}K@=GQ2By:B Ob>PExceeded connect timeout, disconnecting.  DAT read: Range 10 to 50 : 256.7 m (Round-trip 342.3 ms) speed 0.4 m/s  *DAT read: user:252>  BDAT read: Tx time:03:59:58.4217  $Ping request sent. .I@Y>D@>zͼ9>Dm=jK^OrK^9zK\K^K^mZPH:).]dSC1  #Uxo^ONAHRS rotation from veh to nav: [[0.894710,0.441391,-0.068327],[-0.445941,0.891382,-0.081088],[0.025114,0.103020,0.994362]]y>Hv? ?? }Lܿ2?0´^?`_??ɫ>.I@>;>C5~B5IIeJIeK٥2a F=9 C   F٦)EyU < U> Ye4Y]c`?e4y]]4Bimh¾m?]C]):]:]4)>Au addTargetRange:: Added new target pos. range: 256.700012 m, deltaT: 3.784020 s, deltaX: -1.399994 m, approachRate: -0.369975 m/s, rangeRepo size: 4 oquFNOT Ignoring new targets: 256.93 m.o} o}  ProNav: ac range: 256.926178 m, nav range: 229.413605 m, bearing: 334.685870 deg, approach rate: -0.490645 m/s, LOS rate: -0.007622 deg/s, cmd heading: 332.528853 deg, new cmd heading: 332.519139 deg. zofHeadingCmd: 5.803554 target range: 256.926178 and range: 256.70 m.Ro@JoboZoBo:n2nmmlkkk@3 p@k@Zc?)ɞm yBM< 靍?I ǣɝiI|;IQi.I=i'O=)@)EE>F"F*F2Fl0:FAAMJDAT read: TxSync time:03:59:58.4210 Qԉ G -B=G 2B :B  O% >ď,aT?A2T@Y2O@292N=BAHRS rotation from veh to nav: [[0.895393,0.440223,-0.066894],[-0.444672,0.891853,-0.082860],[0.023183,0.103938,0.994314]]y2H?@,?@uܿ`?I6 K??j?ɫ2T@2Ɗ;0V~BZIQMb@Mb@Mb@ )Ii'1Z?~jtx?~jt?;)I@i@ @IIʹ٥  L=9;Q > F٦,Ey7p; > 4Y s`?4y _ ?:? 3C  ;  ; o4!)%>A%EoIMFNOT Ignoring new targets: 256.93 m.oUkC7o]kC7e ProNav: ac range: 256.926178 m, nav range: 229.212418 m, bearing: 334.686122 deg, approach rate: -0.533510 m/s, LOS rate: 0.000667 deg/s, cmd heading: 332.519126 deg, new cmd heading: 332.519881 deg. zom7 HeadingCmd: 5.803567 target range: 256.926178 and range: 256.70 m.Ro Ҷ@JoboZoBo:n2nmm(yBlkk!k!k%`?ɞuyBux< y}?Iy 㞡ɝiIBs;Iif=i$XS=)Ҷ@)ԉFY"Fa*Fa2Feo0:Fa JQJUBAԱG P=G 2B :B  O >H 8>H CH II WBI =I I &I ~<*I E =ď,&?AJn6@YJD1@JrƼ9J=VAHRS rotation from veh to nav: [[0.893706,0.445083,-0.056486],[-0.447997,0.892102,-0.058753],[0.024241,0.077813,0.996673]]yJH=?`<|?@묿@ܿ ?Ҙ??@?ɫJn6@Jm;JCZ~B^IIb=)bp=IfbIf٥r  r\=9v;Q v>tx zF٦z.EyzM% z>  4YZ`? 4y   ?KC: :4)>A }nManaging dock network, ignoring radio surface power offoFNOT Ignoring new targets: 256.93 m.o7o7Թ ProNav: ac range: 256.926178 m, nav range: 229.023483 m, bearing: 334.686562 deg, approach rate: -0.494946 m/s, LOS rate: 0.001155 deg/s, cmd heading: 332.519891 deg, new cmd heading: 332.521214 deg. zoJ8HeadingCmd: 5.803590 target range: 256.926178 and range: 256.70 m.Ro@JoboZoBo:n2nmmlkkkk%@?ɞyB̶< 靽?I ɝiIfj;Ii}=iPD=)@)F"F*F2F:FjKUOrKU9zKQKUKUG?9-  "! xusnheegf2KesA*KesAGm`T=GI 2BY :Bq  O} >Jm yJm sJm 2Ji Jm ]:Jm 9Jm c3Ji Jm ǂ;!u Jm Ȃ;!u Jm F:!} Jm G:!} 9 +ď, ?A %~B%II=7I="٥M M5=9UQ U>QQ ]F٦]1Ey] ]> am4Ye֒`?m4ye.aqqu?eiCe;e:e4y)}>AyoFNOT Ignoring new targets: 256.93 m.o7o7 ProNav: ac range: 256.926178 m, nav range: 228.792923 m, bearing: 334.687101 deg, approach rate: -0.525579 m/s, LOS rate: 0.001229 deg/s, cmd heading: 332.521203 deg, new cmd heading: 332.522820 deg. zoW8HeadingCmd: 5.803618 target range: 256.926178 and range: 256.70 m.Ro=@JoboZoBo:n2nmmlkkkkۂ?ɞyBPM< ?I  ɝ!i!I%m!b;I-߉i5"=i5fF=)5=@)AEI9F6"F*F2F:FaG eA=G sAG sAGq 2B :B  O >ԑ Pď,"?A6@Y6@6ʼ964=BAHRS rotation from veh to nav: [[0.890849,0.450682,-0.057218],[-0.453626,0.889302,-0.058011],[0.024739,0.077635,0.996675]]y6H Ձ?@?K`5ݿ)u?@`KU?߳??ɫ6@6;6Cz~BzIIoI٥!ԻJ%C=J! b=9-8Q ->)) -F٦-3Ey5獼 5> 9E4Y=`?M4y=Y=5BIM8M?=C=:=':=' 4Q)]>AYoyFNOT Ignoring new targets: 256.93 m.o8o8 ProNav: ac range: 256.926178 m, nav range: 228.606354 m, bearing: 334.687833 deg, approach rate: -0.510755 m/s, LOS rate: 0.002006 deg/s, cmd heading: 332.522815 deg, new cmd heading: 332.525013 deg. zo58HeadingCmd: 5.803656 target range: 256.926178 and range: 256.70 m.Ro@JoboZoBo:n2nmmlkkkk|?ɞ"yB< >?I i)ɝiIPY;Iلi=i.=)@) qF6"F*F2F0:FZHiRHm<Hu6>HqHuIIu9BIqIqIuD&Iu{<*IuEԡG\J=G2B:B O> {ď,V<?A:@Y:@: zǼ9:eԠ=FAHRS rotation from veh to nav: [[0.890261,0.451831,-0.057305],[-0.454799,0.888649,-0.058819],[0.024348,0.078426,0.996623]]y:H}??Woݿo?z ??T?ɫ:@:;:CN~BRIIVhIV٥^vB bP=9b::Q b>dd fF٦f6Eyf[ j> hn4Yj `?r4yjhprr?jCj;j/;j4t)z>AzEB*** querying acoustic contact ***:pBpo)-FNOT Ignoring new targets: 256.93 m.o5d8o5d8E ProNav: ac range: 256.926178 m, nav range: 228.406631 m, bearing: 334.688683 deg, approach rate: -0.508029 m/s, LOS rate: 0.002164 deg/s, cmd heading: 332.525000 deg, new cmd heading: 332.527552 deg. zoE8MHeadingCmd: 5.803700 target range: 256.926178 and range: 256.70 m.RoM극@JoIboIZoIBoI:nQ2nQjK]=OrK]9zKYK]K]`_][Z[gl]ZYVUSQPSSXswoiejqmh`WSQMJHIHFHGQiBKe ?:Ke?mQmilikikqkqkuI@ɞ'yB< 靥w?I ɝiIO;Ii=i2,=)극@)F"F*F!2F%04:F!J(3J3J(.J5uJ1J1J1J5[Q:J1J1J1J5o;J5o;J1J1GM7B0=G)2BQ:B OB>5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.) aď,V?A6@Y6@6Z¼96=>AHRS rotation from veh to nav: [[0.890218,0.451846,-0.057856],[-0.454914,0.888434,-0.061140],[0.023776,0.080747,0.996451]]y6H|? ?] Qݿ n?MX?ݫ? ?ɫ6@6y;@6C^~B`m@ q@ u@ i@ IXI㔴٥^ 8=9 o:Q  >    F٦ 9Eyŏ > %4Y=`?%4yT"%+:)-:--?C:>I41)=>A9oamFNOT Ignoring new targets: 256.93 m.om 8om 8}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515849 ProNav: ac range: 256.926178 m, nav range: 228.178970 m, bearing: 334.689657 deg, approach rate: -0.513207 m/s, LOS rate: 0.002199 deg/s, cmd heading: 332.527541 deg, new cmd heading: 332.530468 deg. zo.8HeadingCmd: 5.803751 target range: 256.926178 and range: 256.70 m.RoU@JoboZoBo:n2nmmlkkkk6@Աɞ-yB(O< ?I oɝiIF;I]xi޿=i?,=)U@)EEsAF"F*F2FQ1:FG S,=G ?G > - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768021Hm 3>Hi Hm IIm %BIm =Ii Ii &Im <*Im EG 2B :B  O >ď,&qp?Alr~BrIIz_Iz٥-[< -Y=95Q 5>11 =F٦=;EyE E> IM4YM`?U4yM$IU :QU:Q]?MCM ;M S?M4a)e>Aao FNOT Ignoring new targets: 256.93 m.o N8oN8% ProNav: ac range: 256.926178 m, nav range: 227.986206 m, bearing: 334.690484 deg, approach rate: -0.491060 m/s, LOS rate: 0.002108 deg/s, cmd heading: 332.530464 deg, new cmd heading: 332.532947 deg. zo%*8-HeadingCmd: 5.803795 target range: 256.926178 and range: 256.70 m.Ro-@Jo)bo)Zo)Bo):n)2n1m1m1l9k9k9kAkEW@ɞm2yBup< qu[?Iq } oɝyiyI}w=;Iri]=i)@) F"F*F2FP5:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0198501jKSNrK]9zKKK{ukYI+ 2KrA*KGiGQ ) JG 2B :B ) I= H9 = 8BJM JM oJI JI JM }:JM K9JI JI JM ;JM ;JM :JM :a  Oe >(u"ď,N?A h~BDAT read: Rx Time:04:00:01.1656  TRx dataTimestamp_ set to:1761364802.193506checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278095j@A@Y_@19=AHRS rotation from veh to nav: [[0.891850,0.448547,-0.058395],[-0.451830,0.889485,-0.068312],[0.021300,0.087309,0.995954]]yH??孿@ܿ@v?|ϕ?`Y? ?ɫ@ ;~BIIa=)a=mUm] q]q] u]u] i]i] ]Mb@Mb@Mb@Y Y)YIYiY]B`"?~jtx]?]Ļ])YI]&@i]@]&@ YYIu\IuW٥ *=9;Q > F٦>Ey%; > 54Y`?54y'8B=T:=?=:=E?C AyoFNOT Ignoring new targets: 256.93 m.o48o48  ProNav: ac range: 256.926178 m, nav range: 227.718079 m, bearing: 334.693042 deg, approach rate: -0.541199 m/s, LOS rate: 0.005169 deg/s, cmd heading: 332.532951 deg, new cmd heading: 332.540634 deg. zo  c9HeadingCmd: 5.803929 target range: 256.926178 and range: 256.70 m.Roɹ@JoboZoBo:n2nmmyBlAkAkIkIkMr^ @ɞ7yB,< z?I oɝiI%W4;I%!ai- =i-q&9=)-ɹ@))ԩF"F*F2F'2:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524003 G +,=G G G 2B :B  O >G(ď,?A1-~B-I)9 =@AIEiIE҅٥u= uU=9}Q }>yy }F٦}AEy > 4Y`?4yk*:B?C::,4 B)>AEoFNOT Ignoring new targets: 256.93 m.o8o8 ProNav: ac range: 256.926178 m, nav range: 227.505173 m, bearing: 334.695077 deg, approach rate: -0.601709 m/s, LOS rate: 0.005758 deg/s, cmd heading: 332.540628 deg, new cmd heading: 332.546740 deg. zo|9HeadingCmd: 5.804036 target range: 256.926178 and range: 256.70 m.Ro@Jobo Zo Bo :n 2n mmlkkkk!@ɞM;yBMX= QU?IQ UϏɝQiQIU+;I]Sie=ieY7=)e@)aJHBHHHHIIII&Ia<*IcEYDAT read: 04:00:01.1656 LVL= 16192, 22289, 14050, 24531, AGC= 59, IDX= 417, 0.44, 1.031,-0.101, 1.074, 0.223, PHS= 0.896,-0.277, 0.848, RAW= 147.9, -24.3, CAL= 152.4, -30.8, ROT= 357.6, 30.8 Ygot valid direction response: 04:00:01.1656 LVL= 16192, 22289, 14050, 24531, AGC= 59, IDX= 417, 0.44, 1.031,-0.101, 1.074, 0.223, PHS= 0.896,-0.277, 0.848, RAW= 147.9, -24.3, CAL= 152.4, -30.8, ROT= 357.6, 30.8 PDAT read: Bearing 357.6, 30.8 (Local) ~Local bearing/azimuth received: Bearing 357.6, 30.8 (Local) DAT read: Range 10 to 50 : 254.7 m (Round-trip 339.6 ms) speed 0.4 m/s *DAT read: user:253> BDAT read: Tx time:04:00:02.2718 $Ping request sent.ޕ>ޕQ+ޕ ? ߑ)ߑM:publishing transmit ping timeUFpublishing direction and range infoۑyە`mv? Bjab࿹ۑYۑ ܑ)ܑIܑiܑܑܑܑܑ ݑ)ݑIݑiݑݑݑ ޑ)ޑޕϸ?JR? .Qڿiޑޑޑޑ ߑ)ߑG;6=G2B:B Oe>ԉԱ = JDAT read: TxSync time:04:00:02.2710 .ď,˾?A2+6@Y21@2p92v=:AHRS rotation from veh to nav: [[0.893804,0.444680,-0.058089],[-0.448082,0.890836,-0.075056],[0.018372,0.093114,0.995486]]y2H ? u?ν@`ܿກ?6В?Kַ?`?ɫ2+6@2El;2C^~B\IfUIf٥n[ ni=9rpp rF٦vCEyvE< v> x~4Yzqa?4yz,z)>A)ԙJpRpЀ?Ap}Cp}Cp@vTV&2k@K <"Du9`v`mv? BjabpQ+p ?v/oSUh@jWZcw܄_v%E.t?Z?Ӽ3ؿ߿jprpECZp}+?bpӵLzpypc8}?pӵLpppu^Cp κ@ addTargetRange:: Added new target pos. range: 254.699997 m, deltaT: 3.782403 s, deltaX: -2.000015 m, approachRate: -0.528768 m/s, rangeRepo size: 4  Added new target pos. range: 253.513794 m, bearing: 334.158613 deg, lat: 36.779506 deg, lon: -121.859757 deg, deltaT: 7.566423 s, deltaX: -3.412384 m, approachRate: -0.450990 m/s, posRepo size: 4 oFNOT Ignoring new targets: 253.51 m.oo ProNav: ac range: 253.513794 m, nav range: 222.457962 m, bearing: 334.472790 deg, approach rate: 0.000000 m/s, LOS rate: 0.005758 deg/s, cmd heading: 332.546748 deg, new cmd heading: 332.553556 deg. zoHeadingCmd: 5.804154 target range: 253.513794 and range: 254.70 m.Ro@JoboZo!Bo!:n!2nImQmQlYkakak`fo@k`-?JxJqJJJZ:Jq9JJJ;J;J:J:ɞ?yB5d<< 9=6?I9 =wɝ9i9I=";ICi =i7eG=)@)F"F*F2F3:FG п8=! G% ?G% >G 2B :B  O >]5ď,^?AI<)~~B~IMb@Mb@Mb@ )Ii(\?Mbp?Mb??;<)K@Ii&@@ p@I9I\٥,= ;=9Q > F٦FEy >  4Ya?4y/@B?:?FCO;M;z:4))-r>A-EEB*** querying acoustic contact ***:pABpAoQ]FNOT Ignoring new targets: 253.51 m.o]}8o]}8u ProNav: ac range: 253.513794 m, nav range: 222.214554 m, bearing: 334.473627 deg, approach rate: -0.617623 m/s, LOS rate: 0.002124 deg/s, cmd heading: 332.553551 deg, new cmd heading: 332.556062 deg. zo}8}HeadingCmd: 5.804198 target range: 253.513794 and range: 254.70 m.Ro}@JoboZoBo:n2nmmyBlkkkkο?ɞCyB\< ?I L~ɝiIZ;I=iS=iD=)@)EF"F*F2Fo0:F)GrE=GA2BI:Ba OmV>QH H H II /BI I I &I o<*I wE2IuC T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.:IuCBIuɓCJIuɝ =RIuɝ =ZIuZ#5y L <ď,{?A6z @Y6P@6 963=>AHRS rotation from veh to nav: [[0.891492,0.448919,-0.060943],[-0.452615,0.888370,-0.077062],[0.019545,0.096283,0.995162]]y6H??3ܿm?N@?? ^?ɫ6z @6m;6CR~BRIIZ1IZs٥f f^=9fPQ f>hh jF٦jHEyjc n> pv4Yr($a?v4yr2rDBtvv?r`Cr:r:r@4zB)~a>A~Eo!%FNOT Ignoring new targets: 253.51 m.o-pB8o-pB8= ProNav: ac range: 253.513794 m, nav range: 222.011261 m, bearing: 334.474596 deg, approach rate: -0.556549 m/s, LOS rate: 0.002656 deg/s, cmd heading: 332.556064 deg, new cmd heading: 332.558975 deg. zo=S8EHeadingCmd: 5.804249 target range: 253.513794 and range: 254.70 m.RoEi@JoIboIZoIBoI:nI2nQmQmQlkkkk w?ɞ-GyB-X< )- ?I) 5/fɝ1Qi1Iu;I}7i}h-=i}RD1=)}i@)Fe6"Fi*Fi2Fi:Fi)-A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217062ԁjK*LrK9zKKK  2K*KtAԩGG=G 2B :B  O > dBď,d ?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471334@YV@9I=AHRS rotation from veh to nav: [[0.890953,0.450141,-0.059802],[-0.453707,0.887887,-0.076204],[0.018795,0.095026,0.995297]]yH? ?R ݿi?>?S?y?ɫ@Za;C~BIԱMb@Mb@Mb@ )Iim? rh?99 EF٦EKEyMy$ M> Qe4YU8a?m4yU 5UIBm?m:mbu?UCU^;US;U]I4y)>AEoFNOT Ignoring new targets: 253.51 m.oI oI  ProNav: ac range: 253.513794 m, nav range: 221.740891 m, bearing: 334.474361 deg, approach rate: -0.551655 m/s, LOS rate: -0.000479 deg/s, cmd heading: 332.558987 deg, new cmd heading: 332.558283 deg. zoXHeadingCmd: 5.804237 target range: 253.513794 and range: 254.70 m.RoO@JoyboZoBo:n2nmm-yBlkkkky\?ɞ%LyB%< !%?I! -ɝ)i)I-};I58i==i/=)O@)FM6"FQ*FQ2FQ:FQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720432 G 31=1 G 2B :B  O >OIď, '?A @J.yJ,J.3J,J.]:J,J.(3J,!2@!2@!2@!2@B@YB@B:9Ba=NAHRS rotation from veh to nav: [[0.891101,0.450048,-0.058270],[-0.453458,0.888066,-0.075593],[0.017727,0.093784,0.995435]]yBH@??խsݿ k? Z'? 3? ?ɫB@B;BCj~BjIIrfIr{٥zք= zn=9~K;Q ~?|| F٦MEy]: ? 4Y ;Ga?4y .7 LB9? C ; ; TO4))=AoFNOT Ignoring new targets: 253.51 m.oAoAU ProNav: ac range: 253.513794 m, nav range: 221.550751 m, bearing: 334.474181 deg, approach rate: -0.525328 m/s, LOS rate: -0.000499 deg/s, cmd heading: 332.558277 deg, new cmd heading: 332.557735 deg. zoU]HeadingCmd: 5.804227 target range: 253.513794 and range: 254.70 m.Ro];@JoYboYZoYBoY:nY2namamalkkkk?ԩɞOyB= ?ZH<RH4<H2>HHIICBIII&IX<*ITE5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973386Ia eaɝaiiIm/:Im9iu>J=iuu1=)u;@)qF"F*F2F~0:FGFrA G% x/=G 2B :B  O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224532) IPď,v2A?A6@Y6@6%Ї96=BAHRS rotation from veh to nav: [[0.891012,0.450309,-0.057608],[-0.453677,0.887854,-0.076769],[0.016578,0.094537,0.995383]]y6H+??~ ݿKi? ?3?-?ɫ6@6+;6CJ~BJIIR^IR٥Z< ZL=9^F<;Q ^>\\ ^F٦^PEybU b> dj4Yf4Xa?j4yf9fPBhnZn?fCfw;f:fRV4jKv:DLrKvػ9zKtKvKv%/*5D " mb2   )BK~ ?:K~?B)=AEo)-FNOT Ignoring new targets: 253.51 m.o5o5E ProNav: ac range: 253.513794 m, nav range: 221.327896 m, bearing: 334.473983 deg, approach rate: -0.588465 m/s, LOS rate: -0.000522 deg/s, cmd heading: 332.557731 deg, new cmd heading: 332.557137 deg. zoEMHeadingCmd: 5.804217 target range: 253.513794 and range: 254.70 m.RoM%@JoIboIZoIBoQ:nQ2nQmQmQlYkYkYkYke b@ɞ%RyB- = )-?I) -#ɝ1i1I5n:I5W;i=V=i=y0=)=%@)9F"F*F!2F%0:F!5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478826AGy 1=G ?G>G2B :B!  O- >Y \Vď,Z?A06=@Y6@6967=BAHRS rotation from veh to nav: [[0.891318,0.449773,-0.057070],[-0.453107,0.888059,-0.077757],[0.015709,0.095165,0.995338]]y6H?`?O8ܿj?糿?\? ?ɫ6=@6݊;6CJ~BJIMMb@Mb@Mb@I I)IIIiIMFx?kt?y&1?M ?M 0=M`e<)IIIiM&@M&@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728349 IIIcI#٥wx< :=9;Q > F٦SEy :  > =4Yja?=4y<VB=A ?=:=ɾE?C};;^4I)M=AI%B*** querying acoustic contact ***:p!Bp!oQUFNOT Ignoring new targets: 253.51 m.o]o]ԉ ProNav: ac range: 253.513794 m, nav range: 221.087479 m, bearing: 334.470798 deg, approach rate: -0.512661 m/s, LOS rate: -0.006799 deg/s, cmd heading: 332.557130 deg, new cmd heading: 332.547564 deg. zoPHeadingCmd: 5.804050 target range: 253.513794 and range: 254.70 m.RoǺ@JoboZoBo:n2nmmNyBlkkk k @ɞVyB< ^?I ɝiI:IAQieh=ie3=)eǺ@)iEu>Eu>JxJJ2JJZ:Jm9Jc3JԹF"F*F2F0:FH0>HCHIIWBIII&IU<*INEU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980466 G= 31=G 2B :B)  O= >dx\ď,Mt?A2P @Y2&@2Qo928V=RAHRS rotation from veh to nav: [[0.891557,0.449418,-0.056116],[-0.452671,0.888232,-0.078315],[0.014648,0.095225,0.995348]]y2H?B?3ܿ`el?`x ?`? ?ɫ2P @2;0Z~BZIl prAIzOIzݜ٥]= ]V=9e6;Q e>ai mF٦mUEyuê: }> y4Y}2{a?4y};>}[Bɾ?}C}:}:}d4)f=AoFNOT Ignoring new targets: 253.51 m.oo ProNav: ac range: 253.513794 m, nav range: 220.878769 m, bearing: 334.468001 deg, approach rate: -0.597890 m/s, LOS rate: -0.008020 deg/s, cmd heading: 332.547567 deg, new cmd heading: 332.539168 deg. zo"HeadingCmd: 5.803904 target range: 253.513794 and range: 254.70 m.Ro@JoboZoBo:n2nmmlkkkkT @ɞMXyBM[== IM?IQ U|2|ɝQiQIU:I]kdi]8u=i]5=)e@)aF"F*F2F`5:F BDAT read: Rx Time:04:00:05.0129 TRx dataTimestamp_ set to:1761364805.974016checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2337399jKC(OrK 9zKKK.0,)(+o|{sjclzuqmc]YTLH@:753/-G G2B:B  O >a ccď,7?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.4875649@@Y @f9=%AHRS rotation from veh to nav: [[0.891893,0.448813,-0.055626],[-0.452028,0.888521,-0.078744],[0.014083,0.095375,0.995342]]yH@b?[?z ܿ@n?(@׌?@j??ɫ@@;C=~B=I]Mb@Mb@Mb@Y Y)YIYiY]K7?I +?~jtx?] ?]94=];)]b@I]=@iYY Y]@I}ZI}٥v; ,=9^:Q > F٦XEy: > 4Y+a?4y@`B2 ?:Ǿ?C::l4)^=AoIMFNOT Ignoring new targets: 253.51 m.oU o] a ProNav: ac range: 253.513794 m, nav range: 220.623016 m, bearing: 334.464228 deg, approach rate: -0.524244 m/s, LOS rate: -0.007743 deg/s, cmd heading: 332.539180 deg, new cmd heading: 332.527848 deg. zo HeadingCmd: 5.803706 target range: 253.513794 and range: 254.70 m.Ro@JoboZoBo:n2nmmgyBlkkkkyw @ɞ}\yB}h< y}i?Iy LvɝiIæ:IU~ig=i8=)@)ԉUDAT read: 04:00:05.0129 LVL= 26192, 26945, 22450, 32755, AGC= 65, IDX= 162, 0.41,-1.508,-2.975,-1.542,-2.009, PHS= 0.590,-0.919, 0.465, RAW= 145.7, -1.9, CAL= 150.0, -10.9, ROT= 0.0, 10.9 ]Ygot valid direction response: 04:00:05.0129 LVL= 26192, 26945, 22450, 32755, AGC= 65, IDX= 162, 0.41,-1.508,-2.975,-1.542,-2.009, PHS= 0.590,-0.919, 0.465, RAW= 145.7, -1.9, CAL= 150.0, -10.9, ROT= 0.0, 10.9 mPDAT read: Bearing 0.0, 10.9 (Local) u~Local bearing/azimuth received: Bearing 0.0, 10.9 (Local) DAT read: Range 10 to 50 : 252.7 m (Round-trip 337.0 ms) speed 0.4 m/s *DAT read: user:254> BDAT read: Tx time:04:00:06.1218 $Ping request sent. "@)I6'@iBB> )GeS?qV?Cqqi9>=B> ):publishing transmit ping timeۙFpublishing direction and range infoys4l?oG4ȿY )Ii )Ii )GeS?qV?Cqqi )F"F*F2F0:FԱ J wJ qJ J J W:J q9J J G 8=G G G 2B :B  O >H^jď,|?AJH BH AAH1>HCHIIbBIII&I1<*IE=_@Y=5@=\9==AHRS rotation from veh to nav: [[0.891962,0.448688,-0.055529],[-0.451910,0.888477,-0.079915],[0.013479,0.096375,0.995254]]y=H?L?Bnܿ gn?Su ߚ? ??ɫ=_@=;=CJDAT read: TxSync time:04:00:06.1210 IfI{9:Q %>!) -F٦-[Ey-9 -> 1=4Y5sa?]4y5B5cBae Ǿe?5.C5;5X;5't4i)m[=AmEJpRp?Ap{Cp{Cpܥ@vF=n@jEGvs4l?oG4ȿppB>vDF6%k@S.ZFvuh$]?Rnۿ]1(eƿjprp^CZp&P?bpsVzpAppppf\CpY̺@- addTargetRange:: Added new target pos. range: 252.699997 m, deltaT: 3.790583 s, deltaX: -2.000000 m, approachRate: -0.527623 m/s, rangeRepo size: 4 ] Added new target pos. range: 251.522568 m, bearing: 334.191768 deg, lat: 36.779506 deg, lon: -121.859757 deg, deltaT: 3.790583 s, deltaX: -1.991226 m, approachRate: -0.525309 m/s, posRepo size: 4 oaeFNOT Ignoring new targets: 251.52 m.omoi ProNav: ac range: 251.522568 m, nav range: 220.401794 m, bearing: 334.460951 deg, approach rate: 0.000000 m/s, LOS rate: -0.007743 deg/s, cmd heading: 332.527842 deg, new cmd heading: 332.518223 deg. zoHeadingCmd: 5.803538 target range: 251.522568 and range: 252.70 m.Ro@JoboZoBo:n2nmmlkkk`fo@k~?ɞU_yB]l = Y] ?IY ]qɝaiaIe;:Ie_imB=im9=)m@)F "F *F 2F b5:F Iq u Ay GI GA 2BQ :Ba  Ou >i I LC) G  vA)) ,@qď,>?AjKuNrK9zKKK,;SZVPA;7d #S zkSr8&=WWD+ ,I.{2vA2Bn @Yn@n]\9n\=vAHRS rotation from veh to nav: [[0.891617,0.449350,-0.055709],[-0.452590,0.888107,-0.080173],[0.013450,0.096696,0.995223]]ynH ?&?@Յ`=ܿ_k?0|???ɫn @nۯ;nC~~B~IiII -I ٥C <9%j8Q %>!! -F٦-]Ey-Q -> 1=4Y5a?=4y5D5gBAEqǾE?5HC5:5l:5z4MB)M=AUEoFNOT Ignoring new targets: 251.52 m.oo ProNav: ac range: 251.522568 m, nav range: 220.202621 m, bearing: 334.458035 deg, approach rate: -0.558822 m/s, LOS rate: -0.008189 deg/s, cmd heading: 332.518225 deg, new cmd heading: 332.509468 deg. zoٳ5HeadingCmd: 5.803385 target range: 251.522568 and range: 252.70 m.Ro=T@Jo9bo9Zo9BoA:nA2nimimilqkqkqkqku"?ɞayBF)= ?I JmɝiIsz:IiiL=id7=)T@)ԑF "F*F2F4:F!ԱG V:= Gy 2B :B  O >gwď,?AJ@YJ@J)}9JM'=RAHRS rotation from veh to nav: [[0.889634,0.453901,-0.050246],[-0.456413,0.887448,-0.064212],[0.015445,0.080058,0.996671]]yJH@w? ?۹5ݿe?*p?~??ɫJ@J;JCZ~BZI\MMb@Mb@Mb@I I)IIIiIMZd;O?aa eF٦e`Eym u> 4Ya?4yGiB ?:о?gC;W;v4)=AB*** querying acoustic contact ***:pBpoIMFNOT Ignoring new targets: 251.52 m.oUoUe ProNav: ac range: 251.522568 m, nav range: 219.959396 m, bearing: 334.455624 deg, approach rate: -0.533779 m/s, LOS rate: -0.005296 deg/s, cmd heading: 332.509455 deg, new cmd heading: 332.502215 deg. zoehHeadingCmd: 5.803258 target range: 251.522568 and range: 252.70 m.RoK@JoboZoBo:n2nmmQyBlkkkkB?ɞdyB< 靭?I hɝiI[M:I JJAAJvJsJ4JJ{T:J9J3Ji==i=R%(=)EK@)AF"F*F2F%5:FH%0>H!H%II%lBI% =I!I!&I%Z<*I%UET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A G d6=G ?G ?G 2B :B  O >}ď,?A:P߲@Y:&ڹ@:39:+=BAHRS rotation from veh to nav: [[0.889039,0.454951,-0.051281],[-0.457552,0.886822,-0.064759],[0.016015,0.081037,0.996582]]y:Hs? ? AHݿ`?@Lf?߾??ɫ:P߲@:,;:CJ~BJIIR"IRĴ٥^P bc=9b;ҺQ b>dd fF٦fbEyfm j> hn4Yjta?r4yjIjkBprpѾv?jCjt;jp;j4x)z=Axo%FNOT Ignoring new targets: 251.52 m.o%øo-øE ProNav: ac range: 251.522568 m, nav range: 219.770386 m, bearing: 334.453811 deg, approach rate: -0.556418 m/s, LOS rate: -0.005342 deg/s, cmd heading: 332.502215 deg, new cmd heading: 332.496771 deg. zoMjMHeadingCmd: 5.803164 target range: 251.522568 and range: 252.70 m.RoM@JoQboQZoQBoQ:nQ2nQmYmYlYkYkikqku>?ɞfyB&Y;= !%&?I! %Peɝ!i!I%#:I-mi-=i5N%=)5@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4987301F1"F9*F92F=o0:F9G .=G2B:B OG>jK-PrK9zKKKmd_YTPLE:<iufYNELUZ2[PN~kcYL4Yԑ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752218`{ď,q?Avpٲ@YvFԹ@v!G9vA=AHRS rotation from veh to nav: [[0.888705,0.455507,-0.052124],[-0.458186,0.886443,-0.065454],[0.016391,0.082052,0.996493]]yvHEp? '? Rݿ]?`Ȑ?`Y?E?ɫvpٲ@v~;vC~BIC>>yMb@Mb@Mb@ )IiZd;O?I +?Mbp9<)Ii@ IlI)٥5G< 56=95:[Q 5>99 =F٦=eEy=nѺ E> AU4YEa?U4yE3LEmBU ?U:U޾U?ECE? ;E ;Ef4a)e=AaoFNOT Ignoring new targets: 251.52 m.oo ProNav: ac range: 251.522568 m, nav range: 219.527405 m, bearing: 334.453115 deg, approach rate: -0.542346 m/s, LOS rate: -0.001554 deg/s, cmd heading: 332.496778 deg, new cmd heading: 332.494689 deg. zoHeadingCmd: 5.803127 target range: 251.522568 and range: 252.70 m.Ro8@JoboZoBo:n2nmmDyBlkkkk_?ɞUhyBU= QU?IQ ])`ɝYiYI]9Ie'ie=i#=)8@)ԡF"F*F2F!:F!quA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002036G K'=G 2B :B  O > Pď,,?A:ܲ@Y:׹@:?}9:o=FAHRS rotation from veh to nav: [[0.888910,0.455111,-0.052084],[-0.457821,0.886477,-0.067519],[0.015443,0.083863,0.996358]]y:H q? ?@Lݿ^?Hu?x?@)?ɫ:ܲ@:G;:CHb1>H`HbIIbWBI`I`I`&Ibb<*IbbE2I:IBIJIRIZI4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277795~BIIdI@٥ŕ ?=9N;Q > F٦hEy}: >  4Ya? 4yNnBt޾?C7;8;ߗ4!)%=A%EoIMFNOT Ignoring new targets: 251.52 m.oUoUe ProNav: ac range: 251.522568 m, nav range: 219.295929 m, bearing: 334.452425 deg, approach rate: -0.540471 m/s, LOS rate: -0.001612 deg/s, cmd heading: 332.494702 deg, new cmd heading: 332.492630 deg. zoemHeadingCmd: 5.803091 target range: 251.522568 and range: 252.70 m.Rom첹@JoiboiZoiBoq:nq2nqmqmylykykykyk@ɞjyBxo= 靽R?I b\ɝiI*9Iii=iZ%=)첹@)Fy"Fy*Fy2Fp0:F) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506356G $=Gy 2B :B  O >Y ď,tF?A>@Y>@>qi9>Z=FAHRS rotation from veh to nav: [[0.889705,0.453598,-0.051708],[-0.456312,0.887088,-0.069674],[0.014266,0.085584,0.996229]]y>H@wx??y84ݿc?$ֱ m7??@?ɫ>@>;>CN~BRIIVWIVƕ-'^TFailed to parse incomplete device message.٥b, bu=9fog;Q f?dh jF٦jjEyj; j? lr4Ynb?v4ynPnoBtvݾv?nCn:n:n4z B)z=A~Eo%FNOT Ignoring new targets: 251.52 m.o-xo-x= ProNav: ac range: 251.522568 m, nav range: 219.115341 m, bearing: 334.451805 deg, approach rate: -0.542548 m/s, LOS rate: -0.001864 deg/s, cmd heading: 332.492625 deg, new cmd heading: 332.490764 deg. zo=ãEHeadingCmd: 5.803059 target range: 251.522568 and range: 252.70 m.RoE@JoAboAZoABoA:nI2nImImIlIkQkQkQkUC@JyJJ3JJ]:J9J(3JJǂ;!JȂ;!J;!J;!ɞkyBI5= !%T?I! %KXɝ!i!I%z8I-+i-=i50Q,=1)5@)yF1"F9*F92F=0:FA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761367iBK>:K>GM$=ԑG) 2B1 :BA  OU >Թ ď,M`?A *checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010857~BIԑmMb@Mb@Mb@i i)iIiiimv/?y&1?~jtxmx ?m`e  F٦ mEy > %4Yb?%4ySpB% ?-:--?C :: 4Y)e=AEB*** querying acoustic contact ***:pBpoquFNOT Ignoring new targets: 251.52 m.o}o} ProNav: ac range: 251.522568 m, nav range: 218.859039 m, bearing: 334.451877 deg, approach rate: -0.499834 m/s, LOS rate: 0.000139 deg/s, cmd heading: 332.490767 deg, new cmd heading: 332.490982 deg. zo6HeadingCmd: 5.803062 target range: 251.522568 and range: 252.70 m.Ro@JoboZoBo:n2nmm2yBlkkkk@t @ɞMmyBM< QU?IQ UHCHIICBI =II&I_<*I[EFQ"FY*FY2F]o0:FYGaFesABDAT read: Rx Time:04:00:08.8610 TRx dataTimestamp_ set to:1761364809.766666 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263905G} )=G ?G ? GQ 2Ba :Bq  O >8ď,z?A2t@Y2J@2692=>AHRS rotation from veh to nav: [[0.891218,0.450796,-0.050126],[-0.453438,0.888209,-0.074026],[0.011152,0.088702,0.995996]]y2H@܄??ݿ4l?`[ֆ?-?2?ɫ2t@2ѯ;2CJ~BJIIR]IRt٥Z Zq=9Z  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769663.ď,ü?AB\@YB2@BW$9Bs=JAHRS rotation from veh to nav: [[0.891002,0.451243,-0.049948],[-0.453888,0.887808,-0.076042],[0.010031,0.090424,0.995853]]yBH?*?@@ ݿ`h?w 抄? &??ɫB\@Bl;@%~B%IMb@Mb@Mb@ )Ii?QMb ?u)5@IS@i&@ II٥e e*=9m";Q m>ii mF٦mrEyu u> y4Y}A8b?4y}Y}oB ?:u?},C}{:}:}E4)>AEoFNOT Ignoring new targets: 251.52 m.o M 9o M 99E ProNav: ac range: 251.522568 m, nav range: 218.415512 m, bearing: 334.455308 deg, approach rate: -0.558812 m/s, LOS rate: 0.007502 deg/s, cmd heading: 332.490685 deg, new cmd heading: 332.501305 deg. zoE¤9MHeadingCmd: 5.803243 target range: 251.522568 and range: 252.70 m.RoM*@JoQboQZoQBoQ:ny2nymm"yBlkkkk@ɞ]pyB]= ae^?Ia eJɝaiaIeZ̹Im io=i3=)*@)DAT read: 04:00:08.8611 LVL= 19728, 21617, 17298, 24563, AGC= 63, IDX= 418, 0.33,-1.756,-3.051,-1.730,-2.713, PHS= 1.045,-0.292, 0.980, RAW= 147.5, -25.1, CAL= 151.9, -31.5, ROT= 358.1, 31.5 Ygot valid direction response: 04:00:08.8611 LVL= 19728, 21617, 17298, 24563, AGC= 63, IDX= 418, 0.33,-1.756,-3.051,-1.730,-2.713, PHS= 1.045,-0.292, 0.980, RAW= 147.5, -25.1, CAL= 151.9, -31.5, ROT= 358.1, 31.5 F-6"F)*F)2F-0:F)=PDAT read: Bearing 358.1, 31.5 (Local) a~Local bearing/azimuth received: Bearing 358.1, 31.5 (Local) %DAT read: Range 10 to 50 : 251.2 m (Round-trip 335.0 ms) speed 0.4 m/s -*DAT read: user:255> 5BDAT read: Tx time:04:00:09.9719 5$Ping request sent.5ޕ>ޕޕL ? ߑ)ߑ:publishing transmit ping time1Fpublishing direction and range infoۑyەSD?d85QN࿹ۑYۑ ܑ)ܑIܑiܑܑܑܑܑ ݑ)ݑIݑiݑݑݑ ޑ)ޑޕ\i?=l?[=70ۿiޑޑޑޑ ߑ)ߑԙ J J GM 8=G 2B :B)  O5 >JH BH ?AH H H II /BI I I &I <*I EMď,h?A6 @Y6@6sT 96$=>AHRS rotation from veh to nav: [[0.890765,0.451641,-0.050570],[-0.454358,0.887424,-0.077697],[0.009786,0.092186,0.995694]]@y6H@&?`??䩿4ݿe?`㳿`y ? ??ɫ6 @6;6CJ~BJI LNAIRkIR ٥^< ]l=9e.:Q e>aa eF٦euEymֻ m> q4Yu7Gb?4yu[q?uFCu;u*;u4)>AJpRpa?ApzCpzCp+@vݿY|'j@26EHwT`vSD?d85QNppL ?v|2&h@qr;WИ`vQ+H?ks׿PDvjpܹrp5ACZpv`ࡊ?bpwhzpp}+?ppypWCp0@u addTargetRange:: Added new target pos. range: 251.199997 m, deltaT: 4.035637 s, deltaX: -1.500000 m, approachRate: -0.371689 m/s, rangeRepo size: 4  Added new target pos. range: 250.028717 m, bearing: 334.312821 deg, lat: 36.779480 deg, lon: -121.859757 deg, deltaT: 4.035637 s, deltaX: -1.493851 m, approachRate: -0.370165 m/s, posRepo size: 4 oFNOT Ignoring new targets: 250.03 m.oo ProNav: ac range: 250.028717 m, nav range: 215.696823 m, bearing: 334.138110 deg, approach rate: 0.000000 m/s, LOS rate: 0.007502 deg/s, cmd heading: 332.501313 deg, new cmd heading: 332.509898 deg. zoHeadingCmd: 5.803392 target range: 250.028717 and range: 251.20 m.Rod@JoboZoBo :n2nmmlkkk`ffo@k%?ɞmqyBm1= 靕 ?I %zFɝiIfIci.=iH1=)d@)ԩFE6"FA*FI2FMa5:FIG ·3=G G  Ga 2Bq :B  O >C5ď,B?A6@Y6ܹ@6W.96sY=>AHRS rotation from veh to nav: [[0.889256,0.454483,-0.051660],[-0.457285,0.885959,-0.077251],[0.010659,0.092319,0.995672]]y6Ht?>?s(DݿY?Ƴoԅ?`5??ɫ6@6P;6CF~BFIjKN*MrKN9zKLKN KN -86+ 2KT*KVrAIZ8IZ?JrwJrsJr2JpJrW:Jr9Jrc3JpJrz;Jrz;JrF:JrG:|٥]ꮼ e3=9mQ m>yy }F٦}wEy} > 4YYb?4y^nB2?eC$<$<\”4 B)(>AoFNOT Ignoring new targets: 250.03 m.o!9o!9)e ProNav: ac range: 250.028717 m, nav range: 215.455383 m, bearing: 334.141283 deg, approach rate: -0.544514 m/s, LOS rate: 0.007165 deg/s, cmd heading: 332.509892 deg, new cmd heading: 332.519423 deg. zo[9-HeadingCmd: 5.803559 target range: 250.028717 and range: 251.20 m.Ro-@Jo1bo1ZoaBoi:nq2nqmmlkkkk?ď,f?A-~B-IMb@Mb@Mb@ )IiFx? rh{Gzt ?Cף)K@I&@i=@@ @I&I3٥6= :=9Q >    F٦ zEy > -4Yjb?-4ya- ?-:5O5?CE9;S*;ɔ49)==A9]B*** querying acoustic contact ***:pYBpYoimFNOT Ignoring new targets: 250.03 m.ou9ou9 ProNav: ac range: 250.028717 m, nav range: 215.217621 m, bearing: 334.144691 deg, approach rate: -0.579082 m/s, LOS rate: 0.008309 deg/s, cmd heading: 332.519427 deg, new cmd heading: 332.529661 deg. zow9HeadingCmd: 5.803738 target range: 250.028717 and range: 251.20 m.Ro8@JoboZoBo:n2nmmyBlkkkkM?ɞqZ=! }?Iy =ɝiIfkI'zi =i%=)8@)HE0>HECHAIAIE =IAIA&IE<*IAF1"F9*F92F=P5:F9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G-$=QG 2B:B! O5q>y %:ď,?A0:+@Y:@:G9:^=FAHRS rotation from veh to nav: [[0.884511,0.463301,-0.054710],[-0.466361,0.881173,-0.077734],[0.012195,0.094271,0.995472]]y:H`M??@ݿ2?X泿@x?"??ɫ:+@:a;:Cj~BjIilIlIv3Iv٥~.-< ~]=9 Q >    F٦ }Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458175yt %> !-4Y%yb?54y%Cd!15=?%C%t;%N;%{Д4A)E=AEEoimFNOT Ignoring new targets: 250.03 m.ou+9ou+9 ProNav: ac range: 250.028717 m, nav range: 215.014694 m, bearing: 334.148160 deg, approach rate: -0.547781 m/s, LOS rate: 0.009373 deg/s, cmd heading: 332.529672 deg, new cmd heading: 332.540088 deg. zo9HeadingCmd: 5.803919 target range: 250.028717 and range: 251.20 m.Ro@JoboZoBo:n2nmmlkkkk[?)G )I!%]Bɞ]syB]2= aԁe?I 29ɝiIqIabib=i7<)@)Ei>E!>FY"FY*FY2F]4:FYjKqLrK9zKK Jc3JF3JT.JzJJJJ`:JJJJz;J{;JJK/.&)5@QVQF:-&$   9mnW>-  Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.711332 G! G 2B) :BI  O >ƴď,i?A2뇲@Y2@2<92=>AHRS rotation from veh to nav: [[0.884162,0.464020,-0.054257],[-0.467039,0.880778,-0.078129],[0.011535,0.094419,0.995466]]y2H K??ǫݿ V/?C n?+??ɫ2뇲@2^Ћ;2CF~BFI\%Mb@Mb@Mb@! !)!I!i!%/$?Mb% ?%%)!I%=@i%S@%@ !%@I=\I=W٥E MF=9M:Q M>QQ UF٦UEyU ]> ae4Yeb?m4ye,geoBu ?u:?eCeJ4=JA HU />HU CHQ IQ IQ IQ IQ &IU <*IU E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214119H̴ď,Q3?A6ꁲ@Y6|@6N696x=BAHRS rotation from veh to nav: [[0.883823,0.464731,-0.053683],[-0.467689,0.880466,-0.077763],[0.011127,0.093836,0.995525]]y6H`GH?&?P|`ݿ,?N賿Ɇ?@?@X?ɫ6ꁲ@6*;6CF~BFIIRfIR{٥V= ZU=9Z:Q Z>X\ ^F٦^Eyb b> hn4Yjb?n4yjijpBlr r?jCjY;j;jeޔ4t)v[=AvEoFNOT Ignoring new targets: 250.03 m.!o%U79o%U79= ProNav: ac range: 250.028717 m, nav range: 214.579926 m, bearing: 334.155626 deg, approach rate: -0.578726 m/s, LOS rate: 0.010018 deg/s, cmd heading: 332.551556 deg, new cmd heading: 332.562499 deg. zo=9EHeadingCmd: 5.804311 target range: 250.028717 and range: 251.20 m.RoE꼹@JoAboAZoABoA:nI2nImQmQlkkkk@ɞEtyBM(V= IM?Iq u@0ɝqiqIuúI}/i}=iҪ<)꼹@)IFI"FI*FI2FI:FQ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465999qGuE<Ga 2B :B  O >ԡ jK #MrK 9zK K K  (EUZ\ZYWQNJF?9431/('(%#"%2Ryqimn1Ӵď,dM?AI"<) J.vJ.oJ,J,J.{T:J.K9J,J,J.[u;J.^u;J.:J.:~BII=cI=#٥]fp< ]@=9eQ e>qyq F٦Ey > 4Yb?4ylqB?C:y:4)B=AoFNOT Ignoring new targets: 250.03 m.o ,9o ,9 ProNav: ac range: 250.028717 m, nav range: 214.345688 m, bearing: 334.159685 deg, approach rate: -0.541891 m/s, LOS rate: 0.009401 deg/s, cmd heading: 332.562512 deg, new cmd heading: 332.574702 deg. zos9 HeadingCmd: 5.804523 target range: 250.028717 and range: 251.20 m.Ro @Jo boZoBo:n2n!m1m9lAkAkAkIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.718642kM@ɞ15K:= Aep?Ii u+ɝqiyI}uںԩI/id=i^<)@)!EYF"F*F2F:FG= G=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970011 G <G% rAG% tAG 2B :B!  O- >oZٴď,:g?A~BIMb@Mb@Mb@ )IiQ?y&1Mbp??`e;)Ii=@ @INI٥t= @=9Q > F٦ Ey  > %4Y?b?%4yorB% ?%:-q-?C::@45 B)=el= JJ@A m{Su?Iq u'ɝqiqIuqI}Ii}=i}<)F@)HHHIICBIII&IȘ<*IE2IC:ICBIJIÜ =RIÜ =ZIC4F"F*F2F:FGFG GBDAT read: Rx Time:04:00:12.7088 TRx dataTimestamp_ set to:1761364813.799283checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2246381G 2B :B!  O- >Y Bď,?A2"@Y2@2o/)92=BAHRS rotation from veh to nav: [[0.884470,0.463497,-0.053690],[-0.466482,0.880927,-0.079765],[0.010326,0.095595,0.995367]]y2HM?? D}ݿ`0?~k@%?x?` ?ɫ2"@2:;2CJ~BJIIRSIRQ٥Z#f< Zb=9Z/;Q Z>\\ bF٦bEybw; b> dj4Yfpb?j4yf\rftBhnn?f)Cf;f;f4rB)r{jKeNrK9zKKKh]eq_ <\\M=8\ r fNIq^vP-BK?:K?ԑ% DAT read: 04:00:12.7088 LVL= 18448, 21777, 17234, 21347, AGC= 61, IDX= 411, 0.40, 2.292, 1.130, 2.280, 1.449, PHS= 0.931,-0.272, 0.829, RAW= 145.6, -24.5, CAL= 150.2, -31.0, ROT= 359.8, 31.0 = Ygot valid direction response: 04:00:12.7088 LVL= 18448, 21777, 17234, 21347, AGC= 61, IDX= 411, 0.40, 2.292, 1.130, 2.280, 1.449, PHS= 0.931,-0.272, 0.829, RAW= 145.6, -24.5, CAL= 150.2, -31.0, ROT= 359.8, 31.0 U PDAT read: Bearing 359.8, 31.0 (Local) ] ~Local bearing/azimuth received: Bearing 359.8, 31.0 (Local) m DAT read: Range 10 to 50 : 249.6 m (Round-trip 332.8 ms) speed 0.0 m/s } *DAT read: user:256>  BDAT read: Tx time:04:00:13.8219  $Ping request sent. >dc ? ):publishing transmit ping timeFpublishing direction and range infoy51m?P6hU1{࿹Y )Ii )Ii )L%B?5Ld.?fڿi )Mb@Mb@Mb@ )Iip= ף?y&1|?{Gzt??`;ף;)b@I&@iS@ @I OI ݜ٥e< m2=9m ;Q m>qq uF٦uEy} : }> 4Ycb?4y9uvB#?:ԑ?HC;;4)@~iV3 )\_v4nq?ϡ 3z׿=]g*J(jpNrpBCZpI?bpHGzpvpI?pwhppjWCp@ addTargetRange:: Added new target pos. range: 249.600006 m, deltaT: 3.779869 s, deltaX: -1.599991 m, approachRate: -0.423293 m/s, rangeRepo size: 4  Added new target pos. range: 248.436310 m, bearing: 335.286860 deg, lat: 36.779503 deg, lon: -121.859744 deg, deltaT: 3.779869 s, deltaX: -1.592407 m, approachRate: -0.421286 m/s, posRepo size: 4 oFNOT Ignoring new targets: 248.44 m.oo ProNav: ac range: 248.436310 m, nav range: 215.414093 m, bearing: 334.731254 deg, approach rate: 0.000000 m/s, LOS rate: 0.008705 deg/s, cmd heading: 332.595515 deg, new cmd heading: 332.608097 deg. zoJDAT read: TxSync time:04:00:13.8211 %HeadingCmd: 5.805107 target range: 248.436310 and range: 249.60 m.Ro-où@Jo)bo)Zo)Bo):n)2n)m1m5yBl1k1k9k=@33o@k= ?ɞ\I= 靵?I #ɝiI Ii=iG<)où@)ԹF6"F*F2F0:FG?G?Gq2B:B O~>J |J sJ 3J J ;g:J 9J (3J ! @! @! @! @H .>H H II lBI I I &I <*I Eع ع  ď,!ʹ?AB%@YB@BxW*9B=JAHRS rotation from veh to nav: [[0.884129,0.464059,-0.054454],[-0.467128,0.880480,-0.080914],[0.010397,0.096975,0.995232]]yBH@J?&?]᫿kݿ,?`öJ?ZӸ??ɫB%@B/2;@b~BbIIjMIj٥ri< rf=9v"AQ v>tt zF٦zEyzW; z> |4Y~5b?4y~ow tI~xB  { ?~_C~:~]:~4)%I jK (PrK {9zK K K G 4~\H/ 1BgT6%2K% sA*K! a}ď,?A 2{@Y2v@23&92=>AHRS rotation from veh to nav: [[0.883482,0.465163,-0.055522],[-0.468354,0.879623,-0.083108],[0.010179,0.099428,0.994993]]y2H@|E?;?Qm`ݿ%? F؄?#t??ɫ2{@24;2CB~BFIIJJIJK٥V VN=9V :Q V>XX ZF٦ZEyZe ^> `b4Ybb?f4ybyb{Bdf5f?bzCb6:b:b4jB)n#ď,?AI<)<6u@Y6Xp@6&96H=BAHRS rotation from veh to nav: [[0.883123,0.465843,-0.055540],[-0.469032,0.879274,-0.082989],[0.010175,0.099340,0.995001]]y6HB?^?o ޿#? >ք?Pn?` ?ɫ6u@6&;4F BJIuMb@Mb@Mb@q q)qIqiqu{Gz?Q? F٦Eyۺ > 4Yl c?4y|~B?:?C;m(;4);AB*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 248.44 m.oO8oO8J-vJ-zJ)J)J-{T:J-9J)J)5 ProNav: ac range: 248.436310 m, nav range: 214.788513 m, bearing: 334.735974 deg, approach rate: -0.530900 m/s, LOS rate: 0.002836 deg/s, cmd heading: 332.618519 deg, new cmd heading: 332.622296 deg. zo5#8=HeadingCmd: 5.805354 target range: 248.436310 and range: 249.60 m.Ro=vŹ@Jo9boAZoABoA:nA2nAmImUyBlQkQkQkYk]Q?ɞtyBgx= 靍?I ^ɝiI 8CIKi=i[<)vŹ@H->HH'IIBIIID&I<*IE)9 EAEAEIEIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IF"F*F2F0:Fԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734265ԡ G +O<G 2B :B  O >1ď,p?A6@Y6~@6) 96=NAHRS rotation from veh to nav: [[0.883970,0.464407,-0.054062],[-0.467467,0.879991,-0.084204],[0.008470,0.099706,0.994981]]y6H{I?@ٸ?@ݿ@(?ewX?Y? ?ɫ6@6iي;6CVBVIIbnIbd٥j; n@=9n;Q n>lp rF٦rEyr; r> t~4Yvc?~4yv9vB|~~?vCv :v :v$4 ) ;A ɢEo15FNOT Ignoring new targets: 248.44 m.o=88o=88U ProNav: ac range: 248.436310 m, nav range: 214.569290 m, bearing: 334.737042 deg, approach rate: -0.517304 m/s, LOS rate: 0.002524 deg/s, cmd heading: 332.622290 deg, new cmd heading: 332.625499 deg. zoU8]HeadingCmd: 5.805410 target range: 248.436310 and range: 249.60 m.Ro]Ź@JoYboaZoaBoa:na2namimilikikqkqku@?ɞH{= 靥I?I  ɝiITRIi=i`<)Ź@)ԉFI"FI*FI2FU3:FQjKpbOrK39zKKK    %5DMX]`sm^SLGASGd<G2B:B O(>Աy}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.987720 ď, ?A6#@Y6@6oڻ96L=>AHRS rotation from veh to nav: [[0.884669,0.463267,-0.052383],[-0.466172,0.880584,-0.085175],[0.006669,0.099771,0.994988]]y6H5O? ,? Ѫ@ݿ`-?@ εP{?? ?ɫ6#@6;4^B^IuMb@Mb@Mb@q q)qIqiqu'1Z? rh?~jth?u?uC =uD;)u@IqiuS@q qqIVI٥= ?=9;Q > F٦Ey`; >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238878 4Y+c?4yB?: ־ ?C;v;4y);AoFNOT Ignoring new targets: 248.44 m.o4Ko4K ProNav: ac range: 248.436310 m, nav range: 214.348419 m, bearing: 334.735773 deg, approach rate: -0.482590 m/s, LOS rate: -0.002776 deg/s, cmd heading: 332.625486 deg, new cmd heading: 332.621675 deg. zo%HeadingCmd: 5.805343 target range: 248.436310 and range: 249.60 m.Ro%_Ź@Jo!bo!Zo!Bo!:n!2n)mqmuyBlqkqkykyk} @ɞ-uyB5m= 15?I9 =gɝAiAIbI i p|=i B<) _Ź@)F"F*F2F`5:FJ~JyJJJ{m:J9JJZHRHp<H+>HH3IIBI =II&I<*IEI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489596G <G% ?G% ?G 2B :B  O% >R ď, j:?A :@Y:@:;ߔ9:@1=BAHRS rotation from veh to nav: [[0.885847,0.461181,-0.050862],[-0.463955,0.881540,-0.087371],[0.004543,0.100995,0.994877]]y:HX??` qݿ`5?] r?ڹ??ɫ:@:;:CR$BVIIZ[IZ:٥b~< fY=9f׸;Q f>dh jF٦jEyj0; j> Ye4Y]X;c?e4y]]Bimzվm?]C]:]N:]{&4uB)us;AuʢEoFNOT Ignoring new targets: 248.44 m.oo ProNav: ac range: 248.436310 m, nav range: 214.149139 m, bearing: 334.734493 deg, approach rate: -0.546535 m/s, LOS rate: -0.003514 deg/s, cmd heading: 332.621661 deg, new cmd heading: 332.617817 deg. zoZHeadingCmd: 5.805276 target range: 248.436310 and range: 249.60 m.RoĹ@JoboZoBo:n2nmmlkkkkb@ɞvyBhn= !%Ƶ?I! %|ɝ)i)I-A3qI-i5v=i5=)5Ĺ@)9QF6"F*F2Fo0:FGV<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743303i u(>I RCG2B:B O?>)-G `wA)IH`wA/Byԡ jK 5NrK 9zK K K #/8<?BD?;61*$ <P -g6\Zj;2.-+*''&#! ď,RdT?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.994343@j@Yj@j9j$=rAHRS rotation from veh to nav: [[0.886702,0.459747,-0.048912],[-0.462336,0.882235,-0.088917],[0.002273,0.101457,0.994837]]yjH_?l? ݿ`E;? Jö`b?? ?ɫj@j;jCz*BzIIkI ٥G< D=9²;Q >!! -F٦5Ey=>; E> Yu4Y]ZKc?4y]]BԾ?]C]%=]}%=]-4)^;A ԡoFNOT Ignoring new targets: 248.44 m.oZ]oZ]  ProNav: ac range: 248.436310 m, nav range: 213.941605 m, bearing: 334.733056 deg, approach rate: -0.436197 m/s, LOS rate: -0.003024 deg/s, cmd heading: 332.617809 deg, new cmd heading: 332.613493 deg. zo HeadingCmd: 5.805201 target range: 248.436310 and range: 249.60 m.Ro4Ĺ@JoboZoBo:n2n9m9m9l9kAkAkAkE@ @ɞxyBt= 靽A?I ɝiIWIciq=i=)4Ĺ@)Fm6"Fi*Fq2Fuk0:FqG= G=BDAT read: Rx Time:04:00:16.5071 TRx dataTimestamp_ set to:1761364817.577747checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246679 G p=G 2B :B  O >ď,!n?A:iɲ@Y:?Ĺ@:Sb99:=BAHRS rotation from veh to nav: [[0.887926,0.457635,-0.046448],[-0.459986,0.883340,-0.090129],[-0.000216,0.101393,0.994846]]y:H i?I?ȧ@ipݿ`RD?`[,? ?ɫ:iɲ@::Z;:CJ&BJI JPJRBAJVJVJTJTJV̈́:JVH9JTJT|H%*>H!H%@II%BI!I!I!&I%<*I%EMb@Mb@Mb@ )Ii{Gz?kt?{Gzt?? 0=ף;)@IS@i@&@ @I aI 錴٥ <=9%2;Q %>!! -F٦-Ey-; -> 1=4Y5\c?=4y5,5BEN?E:EʾE?5!C5:5:554I)Mi;AIB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 248.44 m.oo5 ProNav: ac range: 248.436310 m, nav range: 213.719437 m, bearing: 334.730379 deg, approach rate: -0.592734 m/s, LOS rate: -0.007150 deg/s, cmd heading: 332.613492 deg, new cmd heading: 332.605452 deg. zo5=HeadingCmd: 5.805060 target range: 248.436310 and range: 249.60 m.Ro=ù@Jo9bo9Zo9Bo9:nA2nAmAmEzBlIkI]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497729kqkqkucB @ɞyyBʕ= ?I #ɝiIIiMq=i?=)ù@))EEtAF"F*F2Fo0:FYG =ԁ G 2B :B  O >5 DAT read: 04:00:16.5071 LVL= 18240, 25025, 15778, 29299, AGC= 64, IDX= 426, 0.06,-1.574,-2.927,-1.592,-2.011, PHS= 0.525,-0.869, 0.415, RAW= 145.9, -1.1, CAL= 149.9, -10.1, ROT= 0.1, 10.1 E Ygot valid direction response: 04:00:16.5071 LVL= 18240, 25025, 15778, 29299, AGC= 64, IDX= 426, 0.06,-1.574,-2.927,-1.592,-2.011, PHS= 0.525,-0.869, 0.415, RAW= 145.9, -1.1, CAL= 149.9, -10.1, ROT= 0.1, 10.1 M PDAT read: Bearing 0.1, 10.1 (Local) M ~Local bearing/azimuth received: Bearing 0.1, 10.1 (Local) ] DAT read: Range 10 to 50 : 210.7 m (Round-trip 281.0 ms) speed 0.4 m/s ] *DAT read: user:257> e BDAT read: Tx time:04:00:17.6219 e $Ping request sent.e  "@) nFI p'@i J4 : J4>  )  Y?m-%Q+?E0|-%i > +< : J4>  )  :publishing transmit ping timea  Fpublishing direction and range info y < ?&\?:ujrƿ Y  ) I i      ) I i    )  Y?m-%Q+?E0|-%i     ) ( "ď,[?AI<)t ٲ@Y Թ@ ?;9 ,-=%AHRS rotation from veh to nav: [[0.888837,0.456031,-0.044777],[-0.458219,0.884104,-0.091627],[-0.002197,0.101959,0.994786]]y HYq?@/?@@uSݿJ?tb?I?ɫ ٲ@ ; C%B%I-=-4<I5]I5t٥U ==9֕;Q > F٦Eyݔ; > 4YGnc?4yvB  ɾ ?>C;;<4);AJpRp4?ApQCpQCpw@vB[i@8?5b jycBv< ?&\?:ujrƿp:pJ4>v5:g*g@࿺VFKBvdxV?G?t ۿs|~ƿjpյrpS9CZp V=o?bpmzp.Ap}+?ppvpCSCpɺ@- addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 210.699997 m, deltaT: 3.779900 s, deltaX: -38.900009 m, approachRate: -10.291280 m/s, rangeRepo size: 4ojKPrK]9zKKK   Hyp~L!5FNOT Ignoring new targets: 248.44 m.o=oE} ProNav: ac range: 248.436310 m, nav range: 213.493057 m, bearing: 334.727525 deg, approach rate: -0.499586 m/s, LOS rate: -0.006305 deg/s, cmd heading: 332.605460 deg, new cmd heading: 332.596889 deg. zo}vHeadingCmd: 5.804911 target range: 248.436310 and range: 249.60 m.Ro@JoboZoBo:n2nmmlkkk`fVj@k ?ɞzyBy|= 靥׳?I JɝiI4Igiu=ia=)@)JDAT read: TxSync time:04:00:17.6211 AF"F*F2Fn0:Fq G r =G 2B :B  O >(ď,?A\v@Yv`@v ;9v =~AHRS rotation from veh to nav: [[0.889546,0.454917,-0.041930],[-0.456821,0.884797,-0.091918],[-0.004715,0.100920,0.994883]]yvH)w?`[?`w@<ݿAP?@_Ps`չ??ɫv@v̋;vCBIMb@Mb@Mb@ )Ii{Gz?Q?~jth\=D)Ii@=@ G@I Iƴ٥ M=9;Q > F٦Ey9; > i4Ym~c?4ymmB%?: о?mYCmV;m;mC4B);AˢEoFNOT Ignoring new targets: 248.44 m.oo ProNav: ac range: 248.436310 m, nav range: 213.281509 m, bearing: 334.725548 deg, approach rate: -0.552049 m/s, LOS rate: -0.005164 deg/s, cmd heading: 332.596881 deg, new cmd heading: 332.590945 deg. zobHeadingCmd: 5.804807 target range: 248.436310 and range: 249.60 m.Ro@JoboZoBo:n2nmmzBlkkk k O?ɞ=|yBEݟ= AE?IA MݼɝIiIIM8֕IUiU{=iU2Q$=)U@)YF"F*F2Fo0:FJC=J=H(>HCH:IIBI =II&Ic<*IUE2I:IBIJIŝ =RIŝ =ZIs5 GN!=G 2B :B  O >9 ].ď,?A2Ӳ@Y2ι@2Ɲ;92t=:AHRS rotation from veh to nav: [[0.888491,0.456871,-0.043039],[-0.458868,0.883542,-0.093772],[-0.004815,0.103065,0.994663]]y2Hn?@^=?8 `^ݿ`E? u ͸syb?G?ɫ2Ӳ@2k~;2CFBFIINjIN٥V V`=9Z9Q Z>XX ZF٦ZEy^λ b> `f4Ybc?f4yb`hj8Ѿj?bpCbd:b:bJ4l)r;Apo FNOT Ignoring new targets: 248.44 m.oo- ProNav: ac range: 248.436310 m, nav range: 213.101685 m, bearing: 334.723976 deg, approach rate: -0.521487 m/s, LOS rate: -0.004562 deg/s, cmd heading: 332.590953 deg, new cmd heading: 332.586233 deg. zo-eH5HeadingCmd: 5.804725 target range: 248.436310 and range: 249.60 m.Ro5N@Jo1boZoBo:n2nmmlkkkk0D?ɞ}yB= 靽а?I |ռɝiIIi[~=i=)N@)QIF"F*F2F0:FqJJ{J2JJp:J-9Jc3JJ;!J;!J:!J:!G- &=jK NrK 9zK K K |F4" lYL>3.+#!&ykWFMjG 2B1 :BI  O] >ԡ 5ď,X?A :в@Y:W˹@:;9:a\=zAHRS rotation from veh to nav: [[0.888305,0.457415,-0.041063],[-0.459207,0.883379,-0.093651],[-0.006563,0.102047,0.994758]]y:Hl?GF?2 cݿD? z??ɫ:в@:Sċ;:C5 B=IiQIQyI/I9٥;< 9=9;Q > F٦EyX > 4YTc?4yBjѾ ?C^<<7R4EB)M;AMբEoFNOT Ignoring new targets: 248.44 m.o울o울  ProNav: ac range: 248.436310 m, nav range: 212.859268 m, bearing: 334.721878 deg, approach rate: -0.488505 m/s, LOS rate: -0.004233 deg/s, cmd heading: 332.586226 deg, new cmd heading: 332.579925 deg. zo9HeadingCmd: 5.804615 target range: 248.436310 and range: 249.60 m.Rog@JoboZoBo:n2n9mAmAlAkIkIkIkM ?ɞyBǂ=ԙ 靽+?I pʼɝiI~ˣI5i;=iT(=)g@)FQ"FQ*FQ2FQ:FYG r = Gq 2By :B  O >H H H -II BI =I I &I ><*I E;ď,~t?A=~B=IMb@Mb@Mb@ )Ii%C?V-?MbPZ?<)I=@i@&@ @IKIh٥¼ G=9Q > %F٦%Ey% %> )=4Y-c?=4y-7)E?E:E׾M?-C-;-;-X4Y)];AY}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 248.44 m.oYoY ProNav: ac range: 248.436310 m, nav range: 212.660660 m, bearing: 334.720807 deg, approach rate: -0.551007 m/s, LOS rate: -0.002976 deg/s, cmd heading: 332.579915 deg, new cmd heading: 332.576697 deg. zoHeadingCmd: 5.804558 target range: 248.436310 and range: 249.60 m.Ro@JoboZoBo:n2nmmyBlkkkk)?ɞyBҡ= ?I m¼ɝiI nI im=i=)@)F6"F*F2F23:F9G =G  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.2B :B!  O5 >Y hBď,O ?A6$@Y6ݹ@62<96lh=>AHRS rotation from veh to nav: [[0.889314,0.455868,-0.036126],[-0.457167,0.884398,-0.094013],[-0.010908,0.100123,0.994915]]y6H@Bu?,? `:BݿL?`=Vॡ?X?ɫ6$@6;;6CR~BRIIZTIZn٥fP> fb=9fDhh jF٦jEyjY; n> pr4Yrc?v4yr8rBtvx־v?rCr:r:r=_4zB)~;A~֢Eo)-FNOT Ignoring new targets: 248.44 m.o5Mfo5MfE ProNav: ac range: 248.436310 m, nav range: 212.473465 m, bearing: 334.719679 deg, approach rate: -0.522059 m/s, LOS rate: -0.003146 deg/s, cmd heading: 332.576691 deg, new cmd heading: 332.573307 deg. zoE. MHeadingCmd: 5.804499 target range: 248.436310 and range: 249.60 m.RoMu@JoIboIZoIBoQ:nQ2nQmQmQlYkYkakake@@ɞ yB =  G?I W|1ɝi9I=6IEYiE=iEx$=)Eu@)IJxJtJJJZ:J9JJJ;J;J:J:jKNrKh9zKKKtoeWNBIt~qkrrl`RG>60(  $,+,.-&  BK?:K>F6"F*F2FP5:FMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255753aGU=ԑGQ 2By :B  O >Թ vHď,.%?AI)<2U@Y2,@2 U<921=:AHRS rotation from veh to nav: [[0.890026,0.454638,-0.034027],[-0.455723,0.885043,-0.094952],[-0.013054,0.100016,0.994900]]y2H{??k`*ݿER?Nϻ?9?ɫ2U@2㺋;2CF~BFIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507711-Mb@Mb@Mb@) )))I)i)-K7A`?~jt?{Gzt- ?-<-ף)-@I)i-@-@ )-@IEaIE錴٥M MB=9Uۦ;Q U>YY ]F٦]Ey]Az; e> am4Yec?u4yeŗeBu ?u:u?eCeHCHIIvBI =II&I8<*IEQQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759828 G @%=G 2B :B  O > yOď,x ??A2@Y2@2"v<92T=>AHRS rotation from veh to nav: [[0.890193,0.454504,-0.031350],[-0.455335,0.885322,-0.094205],[-0.015062,0.098136,0.995059]]y2H`u|??@ 6$ݿT?؎j? ?ɫ2@2^;2CF~BFIIn\InW٥v* vQ=9z;Q z>xx ~F٦~Ey~: >  4Yc? 4y#B߾?C::rm4)%CoUC>e ProNav: ac range: 248.436310 m, nav range: 212.031754 m, bearing: 334.719210 deg, approach rate: -0.578823 m/s, LOS rate: -0.000650 deg/s, cmd heading: 332.572620 deg, new cmd heading: 332.571904 deg. zomQmHeadingCmd: 5.804475 target range: 248.436310 and range: 249.60 m.RomB@JoqboqZoqBoq:nq2nymymylykkkk`@ɞyBD^= 靽?I  ɝiIIiW=i(/*=)B@)Fu6"Fq*Fq2F}o0:FyGsAFtAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013188G#'=JJqJ3JJJq9J(3JJJ;J:J:G2B:B O >I jK] 3NrK] S9zKY K] K] &P@  2Ke rA*Ke sAe BDAT read: Rx Time:04:00:20.3292 e TRx dataTimestamp_ set to:1761364821.357766m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264631-Uď,xX?AN@YN@Nk <9N=VAHRS rotation from veh to nav: [[0.890627,0.453785,-0.029375],[-0.454422,0.885763,-0.094471],[-0.016850,0.097487,0.995094]]yNH@? ?@@ݿ +X?@C/A??ɫN@N>;NC^~B^IIf@If(٥51A =E=9M;Q u> F٦Eyt; > e4Yc?4yƜBE߾?C<]<u4B)P\ď,Φs?A @M~BMIDAT read: 04:00:20.3292 LVL= 22352, 23585, 17970, 23411, AGC= 66, IDX= 152,-0.04,-2.693, 2.251,-2.654, 2.746, PHS= 0.932,-0.448, 0.880, RAW= 148.1, -19.6, CAL= 153.6, -26.8, ROT= 356.4, 26.8 Ygot valid direction response: 04:00:20.3292 LVL= 22352, 23585, 17970, 23411, AGC= 66, IDX= 152,-0.04,-2.693, 2.251,-2.654, 2.746, PHS= 0.932,-0.448, 0.880, RAW= 148.1, -19.6, CAL= 153.6, -26.8, ROT= 356.4, 26.8 PDAT read: Bearing 356.4, 26.8 (Local) ~Local bearing/azimuth received: Bearing 356.4, 26.8 (Local)  DAT read: Range 10 to 50 : 227.3 m (Round-trip 303.1 ms) speed 0.4 m/s  *DAT read: user:258> BDAT read: Tx time:04:00:21.4220 $Ping request sent. ީ)ީޭ;?6m ^e?\[5rvտiޭ\>ޭ.>ޭ)ޭ|> ߩ)ߩm:publishing transmit ping timeuFpublishing direction and range info۩yۭ᰼]?bצj-ܿ۩Y۩ ܩ)ܩIܩiܩܩܩܩܩ ݩ)ݩIݩiݩݩݩ ީ)ީޭ;?6m ^e?\[5rvտiީީީީ ߩ)ߩMb@Mb@Mb@ )Iiv/?:v?y&1|x ?T<`)@IS@i@Y G@Ie7Ie"٥uf u&=9Q > F٦Ey > 4Y'd?4y~B ?:?8C;;V}4)vOP f@:fKWƈZvmZ?b_e[ڿ=b޿jp[rp0CZp~1?bp$n2zp)pv`ࡊ?pp)pPCp@] addTargetRange:: Added new target pos. range: 227.300003 m, deltaT: 7.559704 s, deltaX: -22.300003 m, approachRate: -2.949851 m/s, rangeRepo size: 4 m Added new target pos. range: 226.237808 m, bearing: 332.201327 deg, lat: 36.779472 deg, lon: -121.859744 deg, deltaT: 7.559704 s, deltaX: -22.198502 m, approachRate: -2.936425 m/s, posRepo size: 4 oFNOT Ignoring new targets: 226.24 m.oo ProNav: ac range: 226.237808 m, nav range: 208.513702 m, bearing: 334.325754 deg, approach rate: 0.000000 m/s, LOS rate: -0.000685 deg/s, cmd heading: 332.570927 deg, new cmd heading: 332.569977 deg. zoHeadingCmd: 5.804441 target range: 226.237808 and range: 227.30 m.Ro@JoboZoBo:n2nmmyBl k k kil@k@tz?ɞeyBԉe= 靕?I QɝiIȻIi=i-=)@)FA"FI*FI)2F]4:F ) IM I M Be JDAT read: TxSync time:04:00:21.4212 Ա G% .=G 2B :B O >dď,?AJNwJNpJN2JLJNW:JN^9JNc3JL!V@!V@!V@!V@m~BmII,IỴ٥ K=9Q > F٦Ey >  %4Yd?-4y{B))-?SC/;k;d45B)= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742449ԑ 4jď,-Ϫ?A:@Y:@:*K<9:=BAHRS rotation from veh to nav: [[0.889414,0.456529,-0.022883],[-0.456698,0.885413,-0.086435],[-0.019200,0.087327,0.995995]]y:H v? 7? n:ݿLU? [? 0?ɫ:@:;8f~BfIMb@Mb@Mb@ )Ii?Mb`Mbpf?)x@I@i@ @I-NI-ԁ٥! <=9";Q > F٦Ey_Ļ > 4Y%d?4yؤxBg?:{?pC:Q:動4)/=AJHQBHUAAHYHYH]II]/BI] =IYIY&I]W<*I]IEoFNOT Ignoring new targets: 226.24 m.o8o8 ProNav: ac range: 226.237808 m, nav range: 208.071686 m, bearing: 334.327478 deg, approach rate: -0.522700 m/s, LOS rate: 0.004236 deg/s, cmd heading: 332.569670 deg, new cmd heading: 332.575147 deg. zo:9HeadingCmd: 5.804531 target range: 226.237808 and range: 227.30 m.Ro@JoboZoBo:n2nmmyBlkkkk?ԡɞyBS=  Ġ?I  Ђɝ i I 1ԻI%i =i#=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994439)=@)AF6"F*F2Fo0:F G5 )=G 2B! :B1  OE >;qď,E?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246384N@YN@N;<9NE=ZAHRS rotation from veh to nav: [[0.890302,0.454774,-0.023325],[-0.454941,0.886064,-0.088989],[-0.019803,0.089838,0.995759]]yNHY}??f◿@ݿZ?Ƕ@$G?C?ɫN@N䥋;NC^~BbIfR=f0>In,InỴ٥z$ zY=9z.:Q z>|| ~F٦~ġEy~; > 4Y J4d?4y 8 uBv? C : : x4!)%W=A!oIMFNOT Ignoring new targets: 226.24 m.oUd8oUd8u ProNav: ac range: 226.237808 m, nav range: 207.874298 m, bearing: 334.328971 deg, approach rate: -0.546290 m/s, LOS rate: 0.004136 deg/s, cmd heading: 332.575134 deg, new cmd heading: 332.579617 deg. zou59}HeadingCmd: 5.804609 target range: 226.237808 and range: 227.30 m.Ro}\@JoyboyZoyBoy:ny2nmmlkkkk`R?ɞyB)C= 靽"?I  |yɝiIeUٻImim.=iu,=)u\@)qF6"F*F2F:FGVw$=G2B:B OD>jKyNrK9zKKKH28$BZWk|E {XADF4scZ2K*KrAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498303Iq Ӷwď,[?A^[@Y^2@^ !<9^0=vAHRS rotation from veh to nav: [[0.890839,0.453775,-0.022246],[-0.453805,0.886432,-0.091102],[-0.021621,0.091253,0.995593]]y^H ?@ ?ǖ$ ݿ`]?`|R#W\??ɫ^[@^;\ ~B IMb@Mb@Mb@ )IiJ +?y&1|{Gzt?`ף)b@Ii@ G@IHI٥%D  %9=9-׆;Q ->11 5F٦5ơEy5:; => 9E4QY=Ed?]4y==qB]?]:]z]?=C=L;=;=04a)m=AioFNOT Ignoring new targets: 226.24 m.on8on8 ProNav: ac range: 226.237808 m, nav range: 207.638611 m, bearing: 334.331267 deg, approach rate: -0.530532 m/s, LOS rate: 0.005175 deg/s, cmd heading: 332.579615 deg, new cmd heading: 332.586512 deg. zoQc9HeadingCmd: 5.804729 target range: 226.237808 and range: 227.30 m.RoX@JoboZoBo:n2nmmwyBlkkkk?ɞyB%4= 靥ٜ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750399 fɝiI޻I)i=iY/=)X@)yF6"F*F2F:FHyHyH}II}BI} =IyIy&I};<*I}!E2IA:IABIAJIEȞ =RIEȞ =ZIE6ԩJF3JJ/.JuJzJJJ[Q:J9JJJo;! Jo;! JZ:! J\:! G #=G ?G ?G 2B :B  O >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004463 }ď,+?A6I@Y6 @6)<96н=BAHRS rotation from veh to nav: [[0.891514,0.452508,-0.020944],[-0.452378,0.886947,-0.093156],[-0.023577,0.092525,0.995431]]y6H@I??ir@ܿa?@ٷ@$ ??ɫ6I@6ov;4J~BJII \I W٥(= %]=9%t;Q %>)) -F٦5ɡEy5; => AM4YETd?M4yEEmBIMM?ECEl:E :E4]B)]R=A]٢EoFNOT Ignoring new targets: 226.24 m.oo8oo8 ProNav: ac range: 226.237808 m, nav range: 207.440659 m, bearing: 334.333113 deg, approach rate: -0.536948 m/s, LOS rate: 0.005012 deg/s, cmd heading: 332.586499 deg, new cmd heading: 332.592042 deg. zo\9HeadingCmd: 5.804826 target range: 226.237808 and range: 227.30 m.Ro#@JoboZoBo:n2nmmlkkkk @ɞyBc= ?I XɝiIIsi=i Y4=) #@) EԹF6"F*F2F0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258516G [1=G2B :B  O >9 ńď,?A6@Y6Z@64)<96^I=>AHRS rotation from veh to nav: [[0.891876,0.451852,-0.019669],[-0.451573,0.887207,-0.094580],[-0.025286,0.093236,0.995323]]y6H@??&?7$ܿ@d?j6q䙿 R޷?`?ɫ6@6cM;6CJ~~BJIiPIPIVUIV٥b7 bQ=9b;Q b>dd fF٦fˡEyf; j> hr4Yj=i%`6=)%@)!F"F*F2F0:FAG- ·3=i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762721G 2B :B!  O- >ď,-?A i~BuIMb@Mb@Mb@ )IiHzG?:vMbp= ?T)@I@i@&@ @IaI錴ZHRH=H!H!H%II%~BI!I!I!&I%f<*I%aE٥e< e2=9mQ m>ii mF٦uΡEy} }> 4Yvd?4y eBH ?:?C ;;4B)=AEJR=JR=JvJoJJJ{T:JK9JJJ[u;J^u;J:J:oFNOT Ignoring new targets: 226.24 m.o8o8  ProNav: ac range: 226.237808 m, nav range: 206.985123 m, bearing: 334.338024 deg, approach rate: -0.557243 m/s, LOS rate: 0.006804 deg/s, cmd heading: 332.597728 deg, new cmd heading: 332.606790 deg. zo j9HeadingCmd: 5.805084 target range: 226.237808 and range: 227.30 m.Ro?ù@JoboZoBo:n2nmmyBl!k!k!k!k%`@ɞUyBUc= Y]?IY ]6ɝYiYI]Ieie=im5=)m?ù@ԩ)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014533FU6"FQ*FQ2FU2:FYGm п8=Gm rAGi  GA 2BQ :Ba  Om >בď,G?A6z@Y6Q @67C<96B=BAHRS rotation from veh to nav: [[0.891540,0.452584,-0.017985],[-0.452092,0.886733,-0.096527],[-0.027738,0.094189,0.995168]]y6H ?$?`j@ܿ@`? xg?@j?ɫ6z@6/;4FV~BJiIRBDAT read: Rx Time:04:00:24.1274 VTRx dataTimestamp_ set to:1761364825.141841Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267472IZbIZ٥b|V bi=9f<;Q f>hh nF٦nѡElyr r> tz4Yvd?z4yv}vbB|~3~?vCvf;v;v4)=A o15FNOT Ignoring new targets: 226.24 m.o=g8o=g8M ProNav: ac range: 226.237808 m, nav range: 206.795349 m, bearing: 334.340375 deg, approach rate: -0.545051 m/s, LOS rate: 0.006759 deg/s, cmd heading: 332.606799 deg, new cmd heading: 332.613859 deg. zoUq9]HeadingCmd: 5.805207 target range: 226.237808 and range: 227.30 m.RoeAĹ@JoaboaZoaBoa:na2namimilikikqkqku t @ɞ}yB};= 靅?I (ɝiI vIi==i3=)AĹ@)FM6"FI*FI2FMO5:FI9jK5ܱNrK1zK1K5K5/,*'""#%/8?BCA?AGMV\ZUOKF@987210--<ORKB=94475/(%#$$#!!]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518834GG 2B :B  O >i Aď,*a?A9 @Y[@C<9=]AHRS rotation from veh to nav: [[0.891297,0.453084,-0.017460],[-0.452510,0.886409,-0.097536],[-0.028715,0.094834,0.995079]]yH?S?@ᑿܿw]?`@tgG??ɫ @؉;髹=R= AMMb@Mb@Mb@I I)IIIiIME?I +M?M94M)M@IM@iMK@I IM@DAT read: 04:00:24.1274 LVL= 19136, 21697, 17698, 29651, AGC= 66, IDX= 425,-0.18, 1.809, 0.696, 1.885, 0.920, PHS= 0.977,-0.177, 0.961, RAW= 149.3, -28.5, CAL= 152.9, -34.3, ROT= 357.1, 34.3 Ygot valid direction response: 04:00:24.1274 LVL= 19136, 21697, 17698, 29651, AGC= 66, IDX= 425,-0.18, 1.809, 0.696, 1.885, 0.920, PHS= 0.977,-0.177, 0.961, RAW= 149.3, -28.5, CAL= 152.9, -34.3, ROT= 357.1, 34.3 PDAT read: Bearing 357.1, 34.3 (Local) ~Local bearing/azimuth received: Bearing 357.1, 34.3 (Local) DAT read: Range 10 to 50 : 225.9 m (Round-trip 301.2 ms) speed 0.3 m/s *DAT read: user:259>  BDAT read: Tx time:04:00:25.2220  $Ping request sent. ޥQQOޥ@? ߡ)ߡ=:publishing transmit ping time =Fpublishing direction and range infoۡyۥf$f?@H!fʩg⿹ۡYۡ ܡ)ܡIܡiܡܡܡܡܡ ݡ)ݡIݡiݡݡݡ ޡ)ޡޥ ?՘?5;a޿iޡޡޡޡ ߡ)ߡaI]UI]٥%8 %=9-V:Q ->)1 5F٦5ԡEy5g 5> y4Y}ld?4y}}]B?:1?}9C}:}:}Z4)=AEJpRpNFi?Ap`Cp`Cp~@v-0g@'n"эnu(_vf$f?@H!fʩgpQQOp@?v#Zzqid@z[#S7P♉`v%tڂ=?NDq=ֿ;jpԟrpK#CZpLZ?bpzpnp V=o?pmpvpvJCp9w@m addTargetRange:: Added new target pos. range: 225.899994 m, deltaT: 3.783761 s, deltaX: -1.400009 m, approachRate: -0.370005 m/s, rangeRepo size: 4  Added new target pos. range: 224.844269 m, bearing: 333.923424 deg, lat: 36.779433 deg, lon: -121.859742 deg, deltaT: 3.783761 s, deltaX: -1.393539 m, approachRate: -0.368295 m/s, posRepo size: 4 oMFNOT Ignoring new targets: 224.84 m.oUoQe ProNav: ac range: 224.844269 m, nav range: 202.462952 m, bearing: 333.865576 deg, approach rate: 0.000000 m/s, LOS rate: 0.006759 deg/s, cmd heading: 332.613847 deg, new cmd heading: 332.625528 deg. zoamHeadingCmd: 5.805411 target range: 224.844269 and range: 225.90 m.ԉRoŹ@JoboZoBo:n2nmmyBlkkkAHRS rotation from veh to nav: [[0.891298,0.453098,-0.017035],[-0.452446,0.886302,-0.098798],[-0.029667,0.095766,0.994962]]y6H@??`qܿ\?J``#??ɫ6 @6 ;6CHHIVRIV49^&;Q ^>\` bF٦b֡Eyb9 b>) 1=4Y5Hd?=4y55ZB9=)=?5SC5K:5:5ŕ4I)IIoFNOT Ignoring new targets: 224.84 m.oE8oE8 ProNav: ac range: 224.844269 m, nav range: 202.263168 m, bearing: 333.867524 deg, approach rate: -0.549347 m/s, LOS rate: 0.005362 deg/s, cmd heading: 332.625541 deg, new cmd heading: 332.631391 deg. zok9HeadingCmd: 5.805513 target range: 224.844269 and range: 225.90 m.Roƹ@JoboZoBo:n2nm!m)l)k)k)k)k5J?ɞyB= ?I ؈ɝiIdIui==im:1=)ƹ@)YF"F*F2F`5:FԁG[1=G 2B :B  O >Ա jK 8NrK zK K K &8;.'##!(+-0259Jjxi_VRID>:9852.+**($! BK >:K >ئď,?A2@Y2[@2;|<92]=:AHRS rotation from veh to nav: [[0.890528,0.454564,-0.018212],[-0.454035,0.885559,-0.098173],[-0.028498,0.095695,0.995003]]y2H4?? Eݿ~V?`!`. t??ɫ2@2X;2CJ@~BN[IIHI٥=ݼ E<9MQ6Q U>YY eF٦e١Eye e> iu4YmDd?u4ymBmVBy}}?mnCm;mP;m&͕4B):>AEԙB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 224.84 m.o8o8  ProNav: ac range: 224.844269 m, nav range: 202.048080 m, bearing: 333.869733 deg, approach rate: -0.530710 m/s, LOS rate: 0.005458 deg/s, cmd heading: 332.631387 deg, new cmd heading: 332.638023 deg. zoo9HeadingCmd: 5.805629 target range: 224.844269 and range: 225.90 m.Roǹ@JoboZoBo:n2nmml1kQkYkake`D?ɞuyBu>= y}ݒ?Iy }ɝyiyI}'IOi&I=i7<*=)ǹ@)ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.FY"FY*FY2FY:FYJH BH ?AH +>H H II ~BI I I &I S<*I HEG 31=! Gy 2B J tJ uJ 3J J ;N:J 9J (3J J j;J j;J p:J r::B  O >ď,?A~J~BbIi I ؙؙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247839Mb@Mb@Mb@ )IiS㥛?y&1|MbP?`)@I@iC@@ @II̴٥d< A=9Q > F٦ܡEy > 4Yd?4ySB?:0?C3;:ԕ4)>AoFNOT Ignoring new targets: 224.84 m.oŔ8oŔ8 ProNav: ac range: 224.844269 m, nav range: 201.829636 m, bearing: 333.871512 deg, approach rate: -0.498680 m/s, LOS rate: 0.004065 deg/s, cmd heading: 332.638026 deg, new cmd heading: 332.643368 deg. zo29HeadingCmd: 5.805722 target range: 224.844269 and range: 225.90 m.Rozȹ@JoboZoBo:n2nmYm]yBlYkYkakak?ɞyB= 靽?I #ɻɝiII viR=i*=)zȹ@))F"F*F2F4:Fi I )mG vA)I vABQ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500285G )=G 2B :B  O >y )ď,$|?A6;@Y6@6e<96=BAHRS rotation from veh to nav: [[0.890033,0.455553,-0.017670],[-0.454918,0.884923,-0.099804],[-0.029829,0.096867,0.994850]]y6H'{?'? aݿJQ?I̸? ?ɫ6;@6t;4F;~BJYIIV1IVs٥b b]=9bk;Q f>dh jF٦jޡEyn2 n> t~4Yvd?~4yvMvPB?vCvH[;vD\;vڕ4B)F>AoYeFNOT Ignoring new targets: 224.84 m.omȥ8omȥ8 ProNav: ac range: 224.844269 m, nav range: 201.637192 m, bearing: 333.873137 deg, approach rate: -0.535779 m/s, LOS rate: 0.004529 deg/s, cmd heading: 332.643381 deg, new cmd heading: 332.648262 deg. zoF9 HeadingCmd: 5.805808 target range: 224.844269 and range: 225.90 m.Ro-ɹ@JoboZoBo:n2nmmlkk!k!k%j?QɞuyB}W= y}ؑ?Iy }ɝiI7IjiZ=i&=)-ɹ@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751422F 6"F*F2Fo0:FjK@NrKS9zKKK "%$  ! $++)$" 2K*KyԩG- .)=G 2B1 :BI  Om > U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003429ď,1a?A6|@Y6S@6R`=96=>AHRS rotation from veh to nav: [[0.890215,0.455264,-0.015873],[-0.454428,0.885066,-0.100763],[-0.031825,0.096914,0.994784]]y6H|? #? A Yݿ@vR?@˹UK@Yϸ?E?ɫ6|@6N;4F:~BJXI-Mb@Mb@Mb@) )))I)i)-MbX9?Mbp?Mbp?-?-;-;)--@I-@i-Z@-5@ )-@IEkIE ٥, 7=9֒;Q >    F٦Ey : > !-4Y%d?-4y%%MB5?5:55?%C% ;%P ;%49)=L>AAoamFNOT Ignoring new targets: 224.84 m.oma7oma7} ProNav: ac range: 224.844269 m, nav range: 201.411835 m, bearing: 333.873707 deg, approach rate: -0.513635 m/s, LOS rate: 0.001300 deg/s, cmd heading: 332.648272 deg, new cmd heading: 332.649983 deg. zo}td8HeadingCmd: 5.805838 target range: 224.844269 and range: 225.90 m.Rolɹ@JoboZoBo:n2nmmyBlkkkԩk@ɞyB= k?I 5ɝiIM(Iufi}tc=i,)=)lɹ@)EH1H1H5II5~BI5 =I1I1&I5^<*I5XEF6"F*F2Fn0:F!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256707G#'= G 2B :B  O >) mď,U/?A2@Y2@2M =92 =>AHRS rotation from veh to nav: [[0.890411,0.454930,-0.014373],[-0.453914,0.885206,-0.101842],[-0.033608,0.097205,0.994697]]y2H @~??jo ݿ@S?O@5o?@?ɫ2@2`;0F,~BFOI NALIRUIR٥Zj Zc=9G;Q > F٦Ey%: %> )54Y-d?54y---JB15=?-C-;-;-?4A)E>AEEoimFNOT Ignoring new targets: 224.84 m.ou7ou7 ProNav: ac range: 224.844269 m, nav range: 201.223740 m, bearing: 333.874154 deg, approach rate: -0.506879 m/s, LOS rate: 0.001207 deg/s, cmd heading: 332.649993 deg, new cmd heading: 332.651336 deg. zoT8HeadingCmd: 5.805861 target range: 224.844269 and range: 225.90 m.Roɹ@JoboZoBo:n2nmmlkkkk@ɞyBC= h?I hɝiITO Icil=ib*=)ɹ@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5084721F"F*F2Fp0:FYGiJqJusJu2JqJqJu9Juc3Jq!}@!}@!}@!}@Gy2B:B O>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759423jK MrK 9zK K K 1]xsibXOKWtyj\QE<6.$ 2;6.) #?~ti_XSLHFD?;3BK ?:K ?&ǵď,&?A@I5`I5̍9uQ u> F٦Ey > 4Ye?4yHB?C;;4)B*** querying acoustic contact ***:pBpo}FNOT Ignoring new targets: 224.84 m.o7o7E ProNav: ac range: 224.844269 m, nav range: 201.010544 m, bearing: 333.874663 deg, approach rate: -0.506542 m/s, LOS rate: 0.001209 deg/s, cmd heading: 332.651332 deg, new cmd heading: 332.652858 deg. zoEWT8ԱHeadingCmd: 5.805888 target range: 224.844269 and range: 225.90 m.Roɹ@JoboZoBo:ni2nimqmylykkkk@`@ɞMyBML= IM?IQ UɝQiQIU I]a`i]Jy=i]*=)]ɹ@)EEsA-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012518F"F*F2Fn0:F ZH- <RH- <H5 *>H1 H5 II5 ~BI5 =I1 I1 &I5 !<*I5 E2I:IBIJIɜ =RIɜ =ZIɪ 5G= S,=G 2B! :B9  OE >$I͵ď,k7?Atz~Bz>IBDAT read: Rx Time:04:00:27.9246 TRx dataTimestamp_ set to:1761364828.921789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264584Mb@Mb@Mb@ )IiMbX9?Mb`?Mb`?;;)@Iib@ IiI҅٥^ <9Q > F٦Ey >  4Ye? 4y*EB ? :  ?C;t;4B)>AEo9EFNOT Ignoring new targets: 224.84 m.oM7oM7m ProNav: ac range: 224.844269 m, nav range: 200.801804 m, bearing: 333.875372 deg, approach rate: -0.506880 m/s, LOS rate: 0.001725 deg/s, cmd heading: 332.652861 deg, new cmd heading: 332.654993 deg. zom8uHeadingCmd: 5.805925 target range: 224.844269 and range: 225.90 m.Rou#ʹ@JoqboqZoqBoq:ny2nymym}yBlkkkkw @ɞyB= 靽)?I xغɝiI I {[i =iZ*=)#ʹ@)F"F*F2Fo0:FIE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515471G )=q G 2B :B  O% >c)Եď,tQ?ABk@YBB@B<~=9B'=RAHRS rotation from veh to nav: [[0.890662,0.454510,-0.011892],[-0.453159,0.885281,-0.104520],[-0.036977,0.098481,0.994452]]yBHN?`? [ݿ8T?6?`?ɫBk@B;@^ ~Bb<IihIhIj=)j=IrAIrE٥  [=9*  F٦Ey ; %> )54Y-%e?=4y-j-ABAE)E?-&C-{;-;-X4Q)U>AQYo%FNOT Ignoring new targets: 224.84 m.JuwJuqJqJqJuW:Juq9JqJqo7o7% ProNav: ac range: 224.844269 m, nav range: 200.611816 m, bearing: 333.875977 deg, approach rate: -0.477578 m/s, LOS rate: 0.001522 deg/s, cmd heading: 332.654993 deg, new cmd heading: 332.656808 deg. zo-8eHeadingCmd: 5.805956 target range: 224.844269 and range: 225.90 m.Roeʹ@JoboZoBo:n2nmmlkk k k @ԉDAT read: 04:00:27.9246 LVL= 22256, 32753, 17490, 32755, AGC= 63, IDX= 411, 0.22,-0.021,-1.513,-0.060,-0.349, PHS= 0.416,-1.118, 0.285, RAW= 145.6, 5.7, CAL= 148.0, -2.8, ROT= 2.0, 2.8 Ygot valid direction response: 04:00:27.9246 LVL= 22256, 32753, 17490, 32755, AGC= 63, IDX= 411, 0.22,-0.021,-1.513,-0.060,-0.349, PHS= 0.416,-1.118, 0.285, RAW= 145.6, 5.7, CAL= 148.0, -2.8, ROT= 2.0, 2.8 PDAT read: Bearing 2.0, 2.8 (Local) ~Local bearing/azimuth received: Bearing 2.0, 2.8 (Local)  DAT read: Range 10 to 50 : 223.8 m (Round-trip 298.4 ms) speed 1.0 m/s  *DAT read: user:260> BDAT read: Tx time:04:00:29.0220 $Ping request sent.-=)=eʹ@)9%^direction in FSK: [0.998198,0.034858,-0.048850]:publishing transmit ping timeFpublishing direction and range info۩yۭIܭܭ> ݭ"@)ݭ%=IݭMQ%@iݭ+Hݭ5=ݭ+H= ީ)ީޭ~>(?Y?= ^re?iޭ6>ޭQ̽ޭ5=ޭ+H= ߩ)ߩ:publishing transmit ping timejKONrKػ9zKKK*%w  ~ 8n W g_clw{j2KsA*KtAFpublishing direction and range info۩yۭI(?Y?= ^re?iީީީީ ߩ)ߩF=6"F9*F92F9:F9Թ G% )=G 2B :B  O% >e JDAT read: TxSync time:04:00:29.0212 [ڵď,qk?Af/@Yf@fv=9fM==AHRS rotation from veh to nav: [[0.890621,0.454608,-0.011180],[-0.453170,0.885223,-0.104963],[-0.037821,0.098549,0.994413]]yfH`? M?J冿ݿS? ޺@]`~:?;?ɫf/@fANJ;fCm}Bm/IԩMb@Mb@Mb@ )IiJ +?Mb?)-@I@i@x@ @IbI٥_4 .=9:Q > F٦Ey > 4Y 7e?4y b ;BE?E:E;E? FC c; (; 4eږB)e>AeEJpRp6[?Ap^Cp^CpD@vTGk@K@ P%vIE}> PExceeded connect timeout, disconnecting.F!"F!*F!2F!:F!) GE .=G! 2B9 :BQ  Ou >2ď,?An@Yn@n~=9nN=pzAHRS rotation from veh to nav: [[0.890145,0.455641,-0.005659],[-0.454174,0.886133,-0.092162],[-0.036978,0.084608,0.995728]]ynH@|?:)?.w.ݿ4[? 闷ר??ɫn@n_;nC}B)IIII.٥%/ %V=9-Q ->)) -F٦5Ey5> 5> 9E4Y=%Ge?E4y==5BIMM?=`C=;=3;=/ 4Q)]?AYoFNOT Ignoring new targets: 222.75 m.o18o18 ProNav: ac range: 222.753891 m, nav range: 200.158936 m, bearing: 333.877771 deg, approach rate: -0.580509 m/s, LOS rate: 0.002425 deg/s, cmd heading: 332.658981 deg, new cmd heading: 332.661529 deg. zo 8HeadingCmd: 5.806039 target range: 222.753891 and range: 223.80 m.Ro˹@JoboZoBo:n2nmmlkkkk?ɞyB= 3?I Rrz:ɝiI(yILi=i@(=)˹@)F6"F*F2F0:F9JMvJMsJIJIJM{T:JM9JIJIG.=G 2B :B  O >i jK OrK 9zK K K `VLIC:)$!+0,(  $&D:>"ď,S?A}BI%a=%]> )-AYI5JI5K٥}gU F=9Q > F٦Ey > 4YXe? 4y}/B?}CK<<4A)Mq?AIB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 222.75 m.oH8oH8E ProNav: ac range: 222.753891 m, nav range: 199.934128 m, bearing: 333.878711 deg, approach rate: -0.473970 m/s, LOS rate: 0.001985 deg/s, cmd heading: 332.661522 deg, new cmd heading: 332.664346 deg. zoEV8ԉHeadingCmd: 5.806088 target range: 222.753891 and range: 223.80 m.Roy˹@JoboZoBo:n2nmmlkkkk? T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ɞ=yB=݉= AE5?IA M[:ɝIiIIMcIUFiUT=iU)=)Uy˹@)QF"F*F2F0:FԱHHHkIIY~BI =II&Iw<*I}EJi Ji G _'=  nManaging dock network, ignoring radio surface power offG 2B! :B9  OE >ď,?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498629R @YR@R^B=9R=ZAHRS rotation from veh to nav: [[0.890891,0.454147,-0.008002],[-0.452634,0.886177,-0.099059],[-0.037896,0.091873,0.995049]]yRH@-??zc ܿ[?[@g?q?ɫR @R;RCf}BjIMb@Mb@Mb@ )IiMb? F٦Ey0; > !-4Y%ge?54y%%)B5?5:55?%C%:%:%49)=?AAoquFNOT Ignoring new targets: 222.75 m.o}j8o}j8  ProNav: ac range: 222.753891 m, nav range: 199.723740 m, bearing: 333.880538 deg, approach rate: -0.585953 m/s, LOS rate: 0.005093 deg/s, cmd heading: 332.664336 deg, new cmd heading: 332.669822 deg. zo _9HeadingCmd: 5.806184 target range: 222.753891 and range: 223.80 m.RoB̹@JoboZoBo:n2nm!m%yBl!k!k)k)k-?ɞyBª= 靭̀?I ,;ɝiIW9I9i|=i-/=)B̹@)EF"F*F2Fn5:F%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750445AG #W)=G 2B :B  O >q ď,?AB!@YB@B"=9B=NAHRS rotation from veh to nav: [[0.892132,0.451714,-0.007448],[-0.450026,0.887108,-0.102546],[-0.039714,0.094836,0.994700]]yBHW? ?ށ~;ܿ@0c?l@ eU +G??ɫB!@Bp;@Z}BZ IIbjIb٥£ \=9s;Q > F٦EJ=wJ=rJ9J9J=W:J=9J9J9y-?; E> IU4YMve?U4yMlM$BY]j]?MCM-:M:MP"4eٖB)e?AeEoFNOT Ignoring new targets: 222.75 m.o8o8 ProNav: ac range: 222.753891 m, nav range: 199.531601 m, bearing: 333.882047 deg, approach rate: -0.512706 m/s, LOS rate: 0.004031 deg/s, cmd heading: 332.669828 deg, new cmd heading: 332.674360 deg. zo19HeadingCmd: 5.806263 target range: 222.753891 and range: 223.80 m.Ro̹@JoboZoBo:n2nmmlkkkk`?ɞyB Ӟ= f?I 8[;ɝ i I I'/i=i09=)̹@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003227F"F*F2Fd0:FjKh!OrK9zKKKx m-<`?$tvwx~yOhA tqqL=r2KrA*KrAqG.=ԡG2B:B  OU >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254493 ď,r?A @R7@YRx2@R*=9R?=^AHRS rotation from veh to nav: [[0.893264,0.449483,-0.006705],[-0.447612,0.887969,-0.105613],[-0.041518,0.097342,0.994385]]yRH?S?v{થܿ?j?w @Aa??ɫR7@R.;RCf}Bf I]Mb@Mb@Mb@Y Y)YIYiY]x&?Mby&1|]7 ?]]`)]C@IYi]@Y Y]G@IueIu]٥>  D=9;Q > F٦EyV; > 4Ye?4yB> ?:?C::)4)?AoaeFNOT Ignoring new targets: 222.75 m.omq8omq8HHHRII1~BIII&Iy<*IEԹ ProNav: ac range: 222.753891 m, nav range: 199.310486 m, bearing: 333.883463 deg, approach rate: -0.515317 m/s, LOS rate: 0.003303 deg/s, cmd heading: 332.674363 deg, new cmd heading: 332.678615 deg. zo9HeadingCmd: 5.806337 target range: 222.753891 and range: 223.80 m.Ro͹@JoboZoBo:n2nmmyBlkkkk@7@ɞyBS= 靕-~?I ي;ɝiIjIeq%im==imA=)m͹@)iF"F*F2F4:F!G) G-=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507159 Ge ==)] rGGa m `wA2B :B )  O >I r `wA B9 ;ď,ρ?A}BII-WI-ƕ٥= EO=9EQ E>AI MF٦MEyM M> Q]4YUce?]4yUUBaae?UCUD;U/;Uk04mؖB)mD@AuEoFNOT Ignoring new targets: 222.75 m.o8o8 ProNav: ac range: 222.753891 m, nav range: 199.099579 m, bearing: 333.884816 deg, approach rate: -0.555295 m/s, LOS rate: 0.003567 deg/s, cmd heading: 332.678625 deg, new cmd heading: 332.682690 deg. zo9HeadingCmd: 5.806408 target range: 222.753891 and range: 223.80 m.Roι@JoboZoBo:n2nmmlkkkk,%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759774ɞyBV = !%Yw?I! %y;ɝ!i!I%HI-i-=i-" @=)5ι@)1EAEEtAF"F*F2Fo0:FAG&t@=J-uJ-pJ-3J)J-[Q:J-^9J-(3J)G2B:B O>ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010657jK] OrK] 9zKY K] K] XMsl7v^J:-(!   ,I}9Xlx~ucRE5BKm ?:Km ?1ď,["?A0BA@YB<@B4=9Bө=JAHRS rotation from veh to nav: [[0.893715,0.448604,-0.005285],[-0.446458,0.888156,-0.108883],[-0.044152,0.099670,0.994041]]yBHP??Yu’ܿ k?߻? .?ɫBA@B;BCV}BVIIZdIZ@٥bv fR=9fG;Q f>hh nF٦nEyrO; r> x 4Yze?4yz/zB&?zCz;z;zD741)5\@A1oFNOT Ignoring new targets: 222.75 m.o3h8o3h8 ProNav: ac range: 222.753891 m, nav range: 198.889984 m, bearing: 333.886088 deg, approach rate: -0.522380 m/s, LOS rate: 0.003172 deg/s, cmd heading: 332.682696 deg, new cmd heading: 332.686514 deg. zoR 9HeadingCmd: 5.806475 target range: 222.753891 and range: 223.80 m.Roι@JoboZoBo:n2nmmlkkkk[ @ԑɞ/= u?I 鮽;ɝiI)IUi=iˠD=)ι@))BDAT read: Rx Time:04:00:31.7212 TRx dataTimestamp_ set to:1761364832.702678checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264849F"F*F2F:FԹHHH9II~BIII&Ie<*IaE G K@=G 2B :B  O >[ď,6:<?AI)<2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514373>h8@Y>?3@>8=9>=FAHRS rotation from veh to nav: [[0.893169,0.449698,-0.004638],[-0.447458,0.887590,-0.109384],[-0.045073,0.099774,0.993989]]y>H ֔?@?:r%ܿ$g? ??ɫ>h8@>;>C\}BIMb@Mb@Mb@ )IiuV?y&1r?̼`e)Z@Ii @I]It٥l ;=9[ ;Q > F٦Ey]+ > 4Ye?4y%B?:0? C:;>4)@AB*** querying acoustic contact ***:pBpo!-FNOT Ignoring new targets: 222.75 m.o-,9o-,9 ProNav: ac range: 222.753891 m, nav range: 198.659103 m, bearing: 333.889605 deg, approach rate: -0.545210 m/s, LOS rate: 0.008315 deg/s, cmd heading: 332.686521 deg, new cmd heading: 332.697084 deg. zo9HeadingCmd: 5.806660 target range: 222.753891 and range: 223.80 m.Ro(й@JoboZoBo:n2nmmyBlkkkk @ɞ5yB5 = 15Br?I9 =d ;ɝAiAIE6I/i=iq?=)(й@)FA"FA*FA2FA:FIGQFUsAEDAT read: 04:00:31.7212 LVL= 20272, 28705, 18706, 29907, AGC= 63, IDX= 409,-0.38,-2.133, 2.806,-2.166,-2.423, PHS= 0.378,-1.007, 0.254, RAW= 145.4, 5.7, CAL= 147.8, -2.8, ROT= 2.2, 2.8 MYgot valid direction response: 04:00:31.7212 LVL= 20272, 28705, 18706, 29907, AGC= 63, IDX= 409,-0.38,-2.133, 2.806,-2.166,-2.423, PHS= 0.378,-1.007, 0.254, RAW= 145.4, 5.7, CAL= 147.8, -2.8, ROT= 2.2, 2.8 ]PDAT read: Bearing 2.2, 2.8 (Local) ]~Local bearing/azimuth received: Bearing 2.2, 2.8 (Local) mDAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed 0.0 m/s u*DAT read: user:261> }BDAT read: Tx time:04:00:32.8221 }$Ping request sent.}`倿J > i"@)I%@inF= )]C?dWwF?c=q?i_>g˽nF= ):publishing transmit ping timeyFpublishing direction and range infoy҉[0?Yc?s!DY )IiGm rE=G ?G ? )Ii )]C?dWwF?c=q?i )A G 2B :B  O >Cď,V?A6.@Y6x)@60:=96=RAHRS rotation from veh to nav: [[0.892612,0.450806,-0.004271],[-0.448512,0.887032,-0.109598],[-0.045619,0.099744,0.993967]]y6H`F??~qmܿb?R[Ո??ɫ6.@69ˋ;6CZ}BZIIrqIrv}٥z~ zY=9z :Q ~>!AA MF٦MEyUIJ > 4Ye?4yB~?;CK::E4)@AJpARpEM?ApE*\CpE*\CpE@vEwk@NQ} @c{%vE҉[0?Yc?s!DpEnF=pAvETh@%xV>V3vEKw?K!ڿF\jpEdzrpEGCZpE';ߛ?bpET)%zpE .BpApET)%pE.ApEGCpE@ addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 3.779827 s, deltaX: -2.600006 m, approachRate: -0.687864 m/s, rangeRepo size: 4  Added new target pos. range: 220.165604 m, bearing: 335.797950 deg, lat: 36.779433 deg, lon: -121.859770 deg, deltaT: 3.779827 s, deltaX: -2.588287 m, approachRate: -0.684763 m/s, posRepo size: 4 oFNOT Ignoring new targets: 220.17 m.oo ProNav: ac range: 220.165604 m, nav range: 199.587112 m, bearing: 333.232643 deg, approach rate: 0.000000 m/s, LOS rate: 0.008315 deg/s, cmd heading: 332.697094 deg, new cmd heading: 332.707379 deg. zo HeadingCmd: 5.806839 target range: 220.165604 and range: 221.20 m.Ro ѹ@JoboZoBo:n2nmml!k!k)k-`fk@kMB?uJDAT read: TxSync time:04:00:32.8213 ɞyBE= 靥p?I ;ɝiI Ii.=i:=)ѹ@)EY>E>QjKe0OrKe9zKaKe!Ke.$~tlhb[TNJC>:83.)&(\A/% 2KusA*KusAF"F*F2Fp0:FyG _>=G 2B :B  O >lď,o?A2@Y2w@2H7=92Z=:AHRS rotation from veh to nav: [[0.891214,0.453559,-0.004646],[-0.451359,0.885785,-0.107983],[-0.044861,0.098333,0.994142]]y2H`ӄ??sܿYX?ä@V,??ɫ2@2|;2CFw}BFIMb@Mb@Mb@ )IiFx? rhII MF٦MEyM M>ԙ Q4YU~e?4yUUB ?:?UWCUݓ T"ď,Tlj?A :O@Y:&@:+$7=9:Ž=FAHRS rotation from veh to nav: [[0.890209,0.455552,-0.000060],[-0.453354,0.885901,-0.098233],[-0.044697,0.087475,0.995163]]y:H|? '?Eݿ MY?%⦿@d?`?ɫ:O@:ӌ;:CNq}BNIiPIPIVeIV]٥w S=9׹Q >! %F٦% Ey% %> )54Y-e?54y-K-B9=*=?-rC-r;-n;-S4A)E@AIoy}FNOT Ignoring new targets: 220.17 m.o8o8 ProNav: ac range: 220.165604 m, nav range: 199.157181 m, bearing: 333.236634 deg, approach rate: -0.570918 m/s, LOS rate: 0.005510 deg/s, cmd heading: 332.713049 deg, new cmd heading: 332.719340 deg. zoq9HeadingCmd: 5.807048 target range: 220.165604 and range: 221.20 m.RoVӹ@JoboZoBo:n2nmmlkkkk ?ɞ_= k?I <ɝiI#I Mi B=i '=) Vӹ@)F6"F*F2F`5:FG= G=G.=)Ga2Bq:B O;>Qؑ ؕ Ay ~(ď,?AjKN'NrKN9zKLKN"KN  2:75A[nXAL> %M1;$ ir{Lb?uqBKV?:KV?}BII-.I-٥== EB=9EQ E>AI MF٦M EyM M> Q4YUe?4yUUB?UCUHAHEIIE}BIAIAIA&IE^<*IEXEԩJc3J3J.JM rJM lJM 3JI JM G:JM 9JM (3JI JM _;JM _;JM 2:JM 3:G G 2B :B  O >b.ď,n?AZ@YZ_@Z6;=9Zº=bAHRS rotation from veh to nav: [[0.891341,0.453334,-0.000516],[-0.451026,0.886687,-0.101797],[-0.045690,0.090969,0.994805]]yZH܅?@l?x@ܿ_?`ddI?`q?ɫZ@Z];ZCj}BjImMb@Mb@Mb@i i)iIiiimV-?V-Mbpm ?mm)mp@ImK@im@i im(@I}\I}W٥< ==9\;Q > F٦Eye; > 4Yf?4y?B ?:!?C ; ;]b4):@A!mB*** querying acoustic contact ***:piBpioq}FNOT Ignoring new targets: 220.17 m.oA+9oA+9 ProNav: ac range: 220.165604 m, nav range: 198.694412 m, bearing: 333.242454 deg, approach rate: -0.611442 m/s, LOS rate: 0.009358 deg/s, cmd heading: 332.725808 deg, new cmd heading: 332.736822 deg. zo9HeadingCmd: 5.807353 target range: 220.165604 and range: 221.20 m.Roչ@JoboZoBo:n2nmmyBlkkkk?ɞamá= imq?Ii m))<ɝiiiIu&IuQi}X=i}U1=)}չ@)QF]6"FY*FY2F]a5:FYmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԙG d)=Gq 2By :B  O >ԩ d5ď,^?A6@Y6y@6@=96ڠ=JAHRS rotation from veh to nav: [[0.891180,0.453650,0.000030],[-0.451204,0.886381,-0.103650],[-0.047047,0.092357,0.994614]]y6H??G>@ܿ <]? Έ ??ɫ6@6;6CNy}BRIV)>V> TTIZkIZ ٥bO. fY=9fm;Q f>dh jF٦jEyjJ" j> lr4Ynf?v4ynn݃Btv/v?nCn:nW:nh4z˖B)zu@A~EoFNOT Ignoring new targets: 220.17 m.o9o9 ProNav: ac range: 220.165604 m, nav range: 198.487656 m, bearing: 333.245635 deg, approach rate: -0.550176 m/s, LOS rate: 0.008473 deg/s, cmd heading: 332.736818 deg, new cmd heading: 332.746371 deg. zo9HeadingCmd: 5.807520 target range: 220.165604 and range: 221.20 m.Ro4׹@JoboZoBo:n2nmmlk!k!k!k%@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255207ɞp= l?I 4<ɝiI @(Ikid=i/=)4׹@)!F"F*F2F5:FjKvPrKػ9zKK#KU6dB0 \+{[<pW;)2`{rheig[VONB+G- [1=G 2B :B!  OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508526! ;ď,9?A}B IHaHaHeIIe}BIe =IaIa&IeD<*Ie0EMb@Mb@Mb@ )Iiq= ףp? F٦Ey >  4Y )f?4y  ؃B ?:? C ; G; p4!)%M@A!oIMFNOT Ignoring new targets: 220.17 m.oUf8oUf8e ProNav: ac range: 220.165604 m, nav range: 198.246902 m, bearing: 333.246970 deg, approach rate: -0.567216 m/s, LOS rate: 0.003149 deg/s, cmd heading: 332.746380 deg, new cmd heading: 332.750390 deg. zomN 9}HeadingCmd: 5.807590 target range: 220.165604 and range: 221.20 m.Ro}׹@JoyboyZoyBo:n2nmmzBlkkkk-w@ JJ?AJJjJ2JJJ9Jc3JJJJ:J:ɞyBX= Lo?I vB<ɝiI)I5ip=i)׹@) EEsAF"F*F2FX3:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759040!I G 4/=G 2B :B  O >Bď,v ?A:( @Y:@:\OG=9:F=FAHRS rotation from veh to nav: [[0.890590,0.454808,-0.000152],[-0.452200,0.885446,-0.107243],[-0.048640,0.095578,0.994233]]y:H??#`ܿU?Gt@g稿w?`?ɫ:( @:ً;:CJ}BNIIVeIV]٥ZA3= ^_=9b;Q b>dh jF٦jEyj,O j> lr4Yn8f?v4yn_nԃBtvv?nCn:n:nw4zʖB)z@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010910uEoFNOT Ignoring new targets: 220.17 m.o,_8o,_8 ProNav: ac range: 220.165604 m, nav range: 198.047546 m, bearing: 333.248146 deg, approach rate: -0.516142 m/s, LOS rate: 0.003049 deg/s, cmd heading: 332.750397 deg, new cmd heading: 332.753929 deg. zo9 HeadingCmd: 5.807652 target range: 220.165604 and range: 221.20 m.Ro Hع@Jo bo Zo Bo :n2n1m9m9l9k9k9kAkE@pu@ɞyB Ч= Bs?I M<ɝiIZl+I/yiy=i{*=)Hع@)!QFA"FA*FA2FEf0:FAy BDAT read: Rx Time:04:00:35.5197  TRx dataTimestamp_ set to:1761364836.484763 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267025G .=Ա GA 2BQ :Ba  O} >" Iď,%?AjK.qOrK.ͼ9zK,K.$K.ApzreMF>6,!,T5@F@YF@FyJ=9F1=NAHRS rotation from veh to nav: [[0.890102,0.455761,-0.000002],[-0.453075,0.884855,-0.108420],[-0.049412,0.096506,0.994105]]yFH@{?`1+?-ܿ`P? pL@??ɫF@Fnv;FCV}BVIiXIXI^=)^=IbQIb٥fѼ; jI=9j:Q j>ll nF٦nEyr! r> tz4YvHf?z4yvvЃBxzz?vCv :v ;v~4)?Ao)-FNOT Ignoring new targets: 220.17 m.o5\8o5\8E ProNav: ac range: 220.165604 m, nav range: 197.826889 m, bearing: 333.249516 deg, approach rate: -0.573210 m/s, LOS rate: 0.003562 deg/s, cmd heading: 332.753921 deg, new cmd heading: 332.758034 deg. zoEo9MHeadingCmd: 5.807724 target range: 220.165604 and range: 221.20 m.RoMع@JoIboIZoIBoI:nQ2nQmYmYlYkYkakiku` z @Աɞ= s?I `Y[<ɝ iIO-Ioi=i"'=)ع@)!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515036F"F*F2Fo0:FH](>HYH]II]}BIYIYIY&I]M<*I]>EJ J %=J tJ kJ 3J J ;N:J 9J (3J J j;J j;J :J :G )= G 2B :B  OU >9Oď,??AFDAT read: 04:00:35.5197 LVL= 26144, 28129, 24178, 32755, AGC= 62, IDX= 425,-0.18,-2.913, 1.899,-2.988, 3.104, PHS= 0.354,-1.158, 0.189, RAW= 144.3, 8.6, CAL= 146.5, 0.6, ROT= 3.5, -0.6 ^Ygot valid direction response: 04:00:35.5197 LVL= 26144, 28129, 24178, 32755, AGC= 62, IDX= 425,-0.18,-2.913, 1.899,-2.988, 3.104, PHS= 0.354,-1.158, 0.189, RAW= 144.3, 8.6, CAL= 146.5, 0.6, ROT= 3.5, -0.6 bPDAT read: Bearing 3.5, -0.6 (Local) b~Local bearing/azimuth received: Bearing 3.5, -0.6 (Local) fDAT read: Range 10 to 50 : 220.0 m (Round-trip 293.4 ms) speed 0.6 m/s l*DAT read: user:262> BDAT read: Tx time:04:00:36.6221 $Ping request sent.5}?>5X957A> 5E/!@)5`>I5_#@i5+<55z=5+ 1)15y?!+?˒U'?i5p>5 55z=5+ 1)1:publishing transmit ping timeFpublishing direction and range info1y5=pE?kPA?/;r?1Y1 1)1I1i11111 1)1I1i111 1)15y?!+?˒U'?i1111 1)1i5(>I)]G q)I%B5Mb@Mb@Mb@1 1)1I1i15K7A`?Mb?Mb?5 ?5<5<)5@I5K@i15@ 15@IJIK٥hc< =9H:Q > F٦EyDк > 4Yi`f? 4yʃB  ? :  ?EC@:H:4]ɖB)]?AYJp1Rp5"??Ap5ZCp5ZCp5m@v5ٽhQk@=Q*@? X@v5=pE?kPA?/;r?p55z=p5+v5 oVi@R,U(elv5/N?dٿ7-3jp5=rp5HCZp5gc?bp5Fzp51`Bp5/P?p1p5 .Bp51YCp5@1= addTargetRange:: Added new target pos. range: 220.000000 m, deltaT: 3.781507 s, deltaX: -1.199997 m, approachRate: -0.317333 m/s, rangeRepo size: 4 M Added new target pos. range: 218.970932 m, bearing: 336.398854 deg, lat: 36.779629 deg, lon: -121.859770 deg, deltaT: 3.781507 s, deltaX: -1.194672 m, approachRate: -0.315925 m/s, posRepo size: 4 oIUJDAT read: TxSync time:04:00:36.6213 mFNOT Ignoring new targets: 218.97 m.ouoq ProNav: ac range: 218.970932 m, nav range: 217.194641 m, bearing: 335.836878 deg, approach rate: 0.000000 m/s, LOS rate: 0.003562 deg/s, cmd heading: 332.758046 deg, new cmd heading: 332.764386 deg. zoHeadingCmd: 5.807834 target range: 218.970932 and range: 220.00 m.Roٹ@JoboZoBo:n2nm)m--zBl1k1k1k5k@k51?ɞyB= 靭Iu?I Mm<ɝiIi.I3ai=i $=)ٹ@)Ee>E>a F "F *F 2F 4:F ԉ GK'=AG2B:B O? Wď,U`?A2@Y2o@26N=92BH=BAHRS rotation from veh to nav: [[0.889092,0.457729,0.000487],[-0.454935,0.883782,-0.109381],[-0.050498,0.097028,0.994000]]y2Hps?lK???ݿG?jکָ??ɫ2@2;2CJ}BJIIRIR-ɴ٥Z`= Zf=9Z:Q Z>\\ ^F٦^ Eyba b> dj4Yfnf?j4yffǃBhj_j?f]Cf:f:f)4p)r?Apt B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 218.97 m.o%G8o%G85 ProNav: ac range: 218.970932 m, nav range: 217.006409 m, bearing: 335.838766 deg, approach rate: -0.574887 m/s, LOS rate: 0.005772 deg/s, cmd heading: 332.764385 deg, new cmd heading: 332.770055 deg. zo5}9=HeadingCmd: 5.807933 target range: 218.970932 and range: 220.00 m.Ro=ڹ@Jo9bo9Zo9BoA:nA2nmmlkkkk?ɞeyBe#?= imz?Ii m@1w<ɝiiiImD0Iu=Tiu=iu,R=)}ڹ@)jKMOrK9zKK%K}rl`WQJC920,'   1887653657:60+&''/?F"F*F2F o0:F T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AG}Vw$=GQ 2Ba :Bq  O} >H H H II }BI I I &I @<*I *Ei ]ď,z?AprIz=z4= zAzAYMb@Mb@Mb@ )IiS㥛? rh?~jt??C =<)@Ix@iZ@@ @IEI٥k: ;=9Q > F٦#Ey > 4Y1f?4yKƃB<?:Ҿ?zC;;˕4)}?AEo!-FNOT Ignoring new targets: 218.97 m.o5Ϸo5ϷE ProNav: ac range: 218.970932 m, nav range: 216.779114 m, bearing: 335.838150 deg, approach rate: -0.521887 m/s, LOS rate: -0.001417 deg/s, cmd heading: 332.770068 deg, new cmd heading: 332.768216 deg. zoExMHeadingCmd: 5.807901 target range: 218.970932 and range: 220.00 m.RoMSڹ@JoIboQmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.960628ZoiBoq:ny2nymmuzBlkkkk ;=?ɞyB]= 靝y?I <ɝiI2IwXi=i@: =)Sڹ@)ԉF"F*F2F:FԱG = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.211449G 2B :B  O >Fdď,Ό?A6t@Y6K@6$XF=96K=BAHRS rotation from veh to nav: [[0.888898,0.458103,0.001023],[-0.455540,0.884156,-0.103690],[-0.048405,0.091704,0.994609]]y6Hq?@Q?P?'ݿ`K?qȨy??ɫ6t@6k;4N}BNIIZ%IZ´٥b[ b\=9b#Q b>dh jF٦j%EyjPݺ j> lr4Yn!f?r4ynU nŃBtvҾv?nCn:n:nI4x)z?A|o!%FNOT Ignoring new targets: 218.97 m.o-Ƿo-Ƿ= ProNav: ac range: 218.970932 m, nav range: 216.585693 m, bearing: 335.837645 deg, approach rate: -0.521602 m/s, LOS rate: -0.001364 deg/s, cmd heading: 332.768210 deg, new cmd heading: 332.766693 deg. zo=oEHeadingCmd: 5.807874 target range: 218.970932 and range: 220.00 m.RoEڹ@JoAboAZoABoA:nA2nImQmQlYkYkYkYke?ɞyBp= 靍v?I h<ɝiԱI=3I\ir=i=)ڹ@)!E)J=rJ=lJ9J9J=G:J=9J9J9!M@!U@!U@!U@F"F*F2F0:Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.464111G Ho=G2B:B  O >jK NrK ͼ9zK K &K E:,! "2/+  BK ?:K >A kď,/o?Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.718327 tv@]@Y]@]3F=9]\=mAHRS rotation from veh to nav: [[0.889528,0.456880,0.000273],[-0.454316,0.884599,-0.105266],[-0.048335,0.093513,0.994444]]y]Hw?@=?01?`ݿN?@ n?@|?ɫ]@]Nj;]C}BI-Mb@Mb@Mb@) )))I)i)-Cl?~jt? rh?-d>-=-C<)-AI-@i-@-@ )-=@IE]IEt٥U; U3=9]Q ]>YY ]F٦e(Eye8F; e> iu4Ymf?u4ym i}K>}:}̾?mCm0;muE;m>4ȖB)?AEoy}FNOT Ignoring new targets: 218.97 m.oQQoQQH)>HH'II}BIII&IB<*I-E2IQ:IQBIQJIUÛ =RIUÛ =ZIU54 ProNav: ac range: 218.970932 m, nav range: 216.361374 m, bearing: 335.836270 deg, approach rate: -0.466110 m/s, LOS rate: -0.002859 deg/s, cmd heading: 332.766680 deg, new cmd heading: 332.762551 deg. zo.HeadingCmd: 5.807802 target range: 218.970932 and range: 220.00 m.Roٹ@JoboZoBo:n2nmmzBl k k k k ?ɞ]yB]= Y]v?I n<ɝiI5Ikei=i5#=)ٹ@)AFY"FY*FY2F]o0:FYiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.967726qG} ;=G9 2BA :BY  Om >ԑ qď,D?A=@Y=z@=.M=9= =MAHRS rotation from veh to nav: [[0.890277,0.455418,0.001332],[-0.452659,0.885197,-0.107359],[-0.050073,0.094976,0.994219]]y=H`%}?%?U? ^ܿS?{!`P? ?ɫ=@= ΋;=C}}B}IiII=)a=I@I(٥ T=9;Q > F٦*Ey̘; >  4Y|f? 4y ăB  -˾5?C;;49)=?A9ԑoFNOT Ignoring new targets: 218.97 m.o Koo-Ko= ProNav: ac range: 218.970932 m, nav range: 216.169327 m, bearing: 335.835001 deg, approach rate: -0.494392 m/s, LOS rate: -0.003269 deg/s, cmd heading: 332.762554 deg, new cmd heading: 332.758745 deg. zo=EHeadingCmd: 5.807736 target range: 218.970932 and range: 220.00 m.RoEع@JoAboAZoABoA:n2nmmlkkkk@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219802ɞyB~H= Ht?I! -i|<ɝ)i)I-7I5ni5=i=R:*=)=ع@)AԹF"F*F2F0:FJM qJM pJM 2JI JM D:JM ^9JM c3JI G l"= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471622G 2B :B  O > H!xď,?AZ@YZr @ZP=9Z=fAHRS rotation from veh to nav: [[0.890675,0.454638,0.001421],[-0.451772,0.885403,-0.109381],[-0.050987,0.096781,0.993999]]yZH@i??HW? ܿ7U?dƸ??ɫZ@Z_;ZCj}BjIIv\IvW٥k X=9;Q >    F٦ -Ey*; > %4Yνf?%4yqÃB!%ʾ%?C:[:45ǖB)5?A1MB*** querying acoustic contact ***:pIBpIoYeFNOT Ignoring new targets: 218.97 m.oe+om+} ProNav: ac range: 218.970932 m, nav range: 215.985184 m, bearing: 335.833739 deg, approach rate: -0.526284 m/s, LOS rate: -0.003611 deg/s, cmd heading: 332.758757 deg, new cmd heading: 332.754966 deg. zoHeadingCmd: 5.807670 target range: 218.970932 and range: 220.00 m.Ronع@JoboZoBo:n2nmmlkkkk@ɞyBN%= q?I 2<ɝiIre9Iviz=iA-=)nع@)F"F*F2F`5:FjKMrKػ9zKK'K */,&  D}~|xslb]XTSICA4 2KrA*K!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723607G)=G2B:B O>I H H H -II }BI I I &I <*I EM~ď,?AI)=xi==94<)9I=@i=@9 9=@IUoIU٥e eD=9m:Q m>ii uF٦u/Eyu: u> y4Y}f?4y}K}B>:Z?}C}:}:}⸖4B)?A EoFNOT Ignoring new targets: 218.97 m.o o  ProNav: ac range: 218.970932 m, nav range: 215.782593 m, bearing: 335.830098 deg, approach rate: -0.486081 m/s, LOS rate: -0.008744 deg/s, cmd heading: 332.754959 deg, new cmd heading: 332.744026 deg. zoHeadingCmd: 5.807479 target range: 218.970932 and range: 220.00 m.Roֹ@JoboZoBo:n2n]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978971mmzBlkkkk`aH@ɞyB|=  7n?I  <ɝiIN$;Iɏi5=ig/=)ֹ@)!QF"F*F2FQ5:FyG2_.=G Թ 2B  BDAT read: Rx Time:04:00:39.3174  TRx dataTimestamp_ set to:1761364840.263185 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230405:B  O > 3ď,?A6T@Y6,@6E>V=96=@BAHRS rotation from veh to nav: [[0.890821,0.454348,0.002392],[-0.451337,0.885497,-0.110408],[-0.052282,0.097275,0.993883]]y6H? ?c?ܿ@U?CĪ??ɫ6T@6;4Ju}BJIN>N< RARAIVYIV٥b bV=9b:Q f>dd fF٦f2Eyj5 j> lE4Ynf?E4ynnBAMcM?nCngljKE $NrKE S9zKA KE (KE     BKU ?:KU ?V`ď,9/?Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.735404pM@YM@M [=9MgW=]AHRS rotation from veh to nav: [[0.891184,0.453634,0.002687],[-0.450461,0.885620,-0.112971],[-0.053627,0.099467,0.993595]]yMH`?V?.f?`Zܿ`V?뼿uv??ɫM@M:;MCm\}BmIMb@Mb@Mb@ H='>H9H= II=}BI= =I9I9&I=.<*I=E)Iirh|?S㥫?{Gzt?>/]=ף;)AI@i@C@ @IVI٥H #=9/;Q > F٦5Ey: > 4Y+f?4yLBm>:k?1C ; ;YȖ4B)i@A Eo!-FNOT Ignoring new targets: 218.97 m.o-o5= ProNav: ac range: 218.970932 m, nav range: 215.348801 m, bearing: 335.822679 deg, approach rate: -0.510984 m/s, LOS rate: -0.008411 deg/s, cmd heading: 332.734004 deg, new cmd heading: 332.721745 deg. zoEMHeadingCmd: 5.807090 target range: 218.970932 and range: 220.00 m.RoMӹ@JoIboIZoIBoI:nI2nQmQmUzBlQkYkYkYk]@h6@ɞyBQ= 靕`?I J}<ɝiIJ>Ii[=id3=)ӹ@)F9"F9*F92F=4:F91DAT read: 04:00:39.3174 LVL= 23616, 32753, 21346, 32755, AGC= 64, IDX= 417, 0.46,-2.961, 2.009,-3.044, 3.015, PHS= 0.395,-0.959, 0.221, RAW= 143.2, 5.4, CAL= 146.2, -2.8, ROT= 3.8, 2.8 Ygot valid direction response: 04:00:39.3174 LVL= 23616, 32753, 21346, 32755, AGC= 64, IDX= 417, 0.46,-2.961, 2.009,-3.044, 3.015, PHS= 0.395,-0.959, 0.221, RAW= 143.2, 5.4, CAL= 146.2, -2.8, ROT= 3.8, 2.8 PDAT read: Bearing 3.8, 2.8 (Local) ~Local bearing/azimuth received: Bearing 3.8, 2.8 (Local) DAT read: Range 10 to 50 : 218.4 m (Round-trip 291.2 ms) speed 0.6 m/s *DAT read: user:263> BDAT read: Tx time:04:00:40.4221 $Ping request sent.MuMMb> M@)M=IMN#@iM+HMԇ=M+H= I)IMXF?gi?8?iM4y>M½Mԇ=M+H= I)I :publishing transmit ping time۹ Fpublishing direction and range infoIyM@#;?s$?s!DIYI I)IIIiIIIII I)IIIiIII I)IMXF?gi?8?iIIII I)IGU /=Y G 2B) :B9  OM >Fď,I?A @n+}BnIIvjIv٥%7 %=9%Q % ?)) -F٦-7Ey5 5 ?9 a4Yef?4yeeB?eFCe;e;e͖4)+AAJpRpA?Ap`YCp`YCp\@vَk@V]S,@U<%v@#;?s$?s!Dpԇ=p+H=v6Sh@ONTٰrȼ4v0Q}`?nؿskjpJrpGCZp$(Э?bp6Ԯzp8*Bp';ߛ?pFppVCp@] addTargetRange:: Added new target pos. range: 218.399994 m, deltaT: 4.030513 s, deltaX: -1.600006 m, approachRate: -0.396973 m/s, rangeRepo size: 4 m Added new target pos. range: 217.378281 m, bearing: 337.259687 deg, lat: 36.779629 deg, lon: -121.859756 deg, deltaT: 4.030513 s, deltaX: -1.592651 m, approachRate: -0.395149 m/s, posRepo size: 4 oiFNOT Ignoring new targets: 217.38 m.oo ProNav: ac range: 217.378281 m, nav range: 214.670868 m, bearing: 336.134447 deg, approach rate: 0.000000 m/s, LOS rate: -0.008411 deg/s, cmd heading: 332.721737 deg, new cmd heading: 332.713042 deg. zoHeadingCmd: 5.806938 target range: 217.378281 and range: 218.40 m.Ropҹ@JoboZoBo:n2nmmlkkk Lk@k ْ?ɞyB= 靝S?I 凳<ɝiI&?Ii5=i3=)pҹ@)iFa"Fa*Fa2Fej0:FaԙJ5 rJ5 lJ5 3J1 J5 G:J5 9J5 (3J1 G ·3=GA 2BQ :Ba  Om > oď,_c?A:@Y:@:g[=9:ݡ=FAHRS rotation from veh to nav: [[0.890967,0.454058,0.002933],[-0.450900,0.885495,-0.112194],[-0.053540,0.098639,0.993682]]y:H`͂?J?h?ܿU?i_@? >?ɫ:@:<;:CN }BNIiPIPIVp=)TIZPIZ٥bV bQ=9bkiQ f>dd fF٦f:EyjM j> pv4Yr g?v4yrrBtvz?r^Crl:rd:rԖ4|)~AAEB*** querying acoustic contact ***:pABpAoIUFNOT Ignoring new targets: 217.38 m.oUp oep u ProNav: ac range: 217.378281 m, nav range: 214.479462 m, bearing: 336.131588 deg, approach rate: -0.516828 m/s, LOS rate: -0.007728 deg/s, cmd heading: 332.713049 deg, new cmd heading: 332.704463 deg. zou}HeadingCmd: 5.806788 target range: 217.378281 and range: 218.40 m.Ro}6ѹ@JoyboyZoyBo:n2nmmlkkkk0?ԙɞyB= K?I <ɝiI@IQi=iU2=)u6ѹ@)yF)"F)*F)2F-o0:F)jKUfMrKU 9zKQKU)KU  -BIGB:2-(%!""'++'& T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G2B:B O>H1 H1 H5 II5 }BI5 =I1 I1 &I5 o<*I5 oE  J9 J= @Abď,;}?ABS@YB+ @BX=9Bn=JAHRS rotation from veh to nav: [[0.890635,0.454711,0.002572],[-0.451653,0.885272,-0.110918],[-0.052712,0.097626,0.993826]]yBH`?@?2e?ܿ`&T? !e?l?ɫBS@B;@r|BvIMb@Mb@Mb@ )IiCl?{Gz?y&1|d>#=`)(AI@i I8I?٥+ <=9 Q > F٦ 4Yg?4yB@>:ƾ?yC ; ;\ܖ4B)BAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994657QoFNOT Ignoring new targets: 217.38 m.oror ProNav: ac range: 217.378281 m, nav range: 214.265823 m, bearing: 336.129891 deg, approach rate: -0.475746 m/s, LOS rate: -0.003782 deg/s, cmd heading: 332.704470 deg, new cmd heading: 332.699375 deg. zo#& HeadingCmd: 5.806699 target range: 217.378281 and range: 218.40 m.Ro{й@JoboZoBo:n2nmmqzBlkk!k!k%?ɞyBĔ= 靽B?I ƽ<ɝiI//BI i =i p0=) {й@))׉G vA)IU]vA]=BԁF6"F*F2F:Fԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247451G [1=G 2B :B  O% >! _ď,0?AI<)6 @Y6@6X=96j=VAHRS rotation from veh to nav: [[0.890386,0.455199,0.002723],[-0.452121,0.885028,-0.110959],[-0.052918,0.097566,0.993821]]y6H ~?!?rNf?@ܿ&R?g!`?b?ɫ6 @6蛊;4^|B^tIIf(Ifm٥nĽ nX=9n*:Q n>pp rF٦r?Eyr v> x~4Yz+g?~4yzzB|~\ƾ?zCz:z:z4 ) BAo  FNOT Ignoring new targets: 217.38 m.oo5 ProNav: ac range: 217.378281 m, nav range: 214.080490 m, bearing: 336.128442 deg, approach rate: -0.481738 m/s, LOS rate: -0.003769 deg/s, cmd heading: 332.699361 deg, new cmd heading: 332.695012 deg. zo5%5HeadingCmd: 5.806623 target range: 217.378281 and range: 218.40 m.Ro=Ϲ@Jo9bo9Zo9Bo9:n92n9mAmAlakikikikm !?ɞyBV= 8?I ?J<ɝiINCIiO=i.=)Ϲ@)F"F*F2F{0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498423G= 31=A G 2B! :B9  O] >jKe MrKe S9zKa Ke *Ke     Tp_K<+  $FL=.!ď,?ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753622|BWIH&>HHII[}BIII&IC<*I.EIMb@Mb@Mb@ )Ii"~j?{Gzt?/$S?ף;)I@iAp@ @I]It٥ !=9Q >    F٦ BEy > %4Y>g?%4yB-q?-:--?C;: ;45B)5hCA1oYeFNOT Ignoring new targets: 217.38 m.om{8om{8} ProNav: ac range: 217.378281 m, nav range: 213.821640 m, bearing: 336.131181 deg, approach rate: -0.540363 m/s, LOS rate: 0.005723 deg/s, cmd heading: 332.695017 deg, new cmd heading: 332.703242 deg. zo}`{9HeadingCmd: 5.806767 target range: 217.378281 and range: 218.40 m.Ro ѹ@JoboZoBo:n2n mm˲ď,?A%j|B%;II5hI5٥E  Ey=9IQ M?IQ UF٦UDEyQ U? Ye4Y]PKg?e4y]w!]Biim?]C];]94;]4y)}$DAoFNOT Ignoring new targets: 217.38 m.o}8o}8 ProNav: ac range: 217.378281 m, nav range: 213.654160 m, bearing: 336.132956 deg, approach rate: -0.508646 m/s, LOS rate: 0.005396 deg/s, cmd heading: 332.703241 deg, new cmd heading: 332.708571 deg. zol9HeadingCmd: 5.806860 target range: 217.378281 and range: 218.40 m.Roѹ@JoboZoBo:n2nmmlkkkk@@ɞyB3= ?I }<ɝiIEI%i%=i%{?.=)-ѹ@))E1E1-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255321AF"F*F2F3:FiGGY2Ba:By O>ԙ A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084븶ď,j?A @v4@Yv @vyj=9v=%AHRS rotation from veh to nav: [[0.890408,0.455120,0.006316],[-0.451554,0.885005,-0.113428],[-0.057213,0.098145,0.993526]]yvH 8~? ?y?Cܿ Q? K  ?`?ɫv4@vl;;vC5K|B5(IIeTIen٥ E=9) F٦GEyg: > !4Y%[g?4y%#%B??%C%<%Ϯ<%4B)DAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 217.38 m.oͺ8o%ͺ85 ProNav: ac range: 217.378281 m, nav range: 213.436020 m, bearing: 336.135240 deg, approach rate: -0.486846 m/s, LOS rate: 0.005104 deg/s, cmd heading: 332.708569 deg, new cmd heading: 332.715429 deg. zo5*`9=HeadingCmd: 5.806980 target range: 217.378281 and range: 218.40 m.Ro=ҹ@Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkQkQkUqi@ɞyB= 靕?I %%<ɝiIzEI3i '=i/=)ҹ@)ԩjKMɟMrKM]9zKIKM+KM 0:;84'+v,>I[~FQ"FQ*FQ2F]3:FYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762280HHHII|BIII&IX<*IME2I9:I9BI9JI9RI9ZI=4G H*= G 2B :B  O >J sJ mJ 3J J K:J &9J (3J J )e;J +e;J Ǿ:J Ⱦ:ď,(E?AF8@YF@FQk=9F=NAHRS rotation from veh to nav: [[0.889791,0.456320,0.006692],[-0.452742,0.884470,-0.112860],[-0.057419,0.097391,0.993588]]yFH`*y?W4?}i{?`ܿM?\伿f@?y?ɫF8@F9;DV|BVIIZ=)Z=pMMb@Mb@Mb@I I)IIIiIMq= ףp?/$M ?M̼I)MAIM@iMAI IM@Im_BDAT read: Rx Time:04:00:43.1398 TRx dataTimestamp_ set to:1761364844.041773checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011633Im٥% %C=9%u:Q %>)) -F٦-JEy-oU 5> ae4Ye=lg?m4ye&eBm ?m:mAm?eCe :e:e.4y)}rEAyoFNOT Ignoring new targets: 217.38 m.oQ9oQ9 ProNav: ac range: 217.378281 m, nav range: 213.213608 m, bearing: 336.141007 deg, approach rate: -0.565563 m/s, LOS rate: 0.014679 deg/s, cmd heading: 332.715426 deg, new cmd heading: 332.732744 deg. zo.!: HeadingCmd: 5.807282 target range: 217.378281 and range: 218.40 m.Ro Aչ@Jo bo Zo Bo :nY2nYmameyBlakakakikm`ک@ɞyB.= `?I <ɝi I$EIi90=iq)=)Aչ@)F6"F*F2F`5:F9m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265866G 31=ԙ G 2B :B  O >Ŷď,"?A6@Y6@6k=96G=>AHRS rotation from veh to nav: [[0.889047,0.457757,0.007412],[-0.454188,0.883918,-0.111365],[-0.057530,0.095642,0.993752]]y6Hs?`K?9\~?hݿI?@g t {??ɫ6@6׉;6CF{BFIIR`IR̍٥^ ^d=9^9Q b>`` bF٦bLEyf画 f> hn4YjPzg?n4yj[)juBlrr?jCjD;ja;jZ4vB)v)FAvEoFNOT Ignoring new targets: 217.38 m.o{9o{95 ProNav: ac range: 217.378281 m, nav range: 213.022675 m, bearing: 336.146056 deg, approach rate: -0.547046 m/s, LOS rate: 0.014478 deg/s, cmd heading: 332.732747 deg, new cmd heading: 332.747907 deg. zo5:9EHeadingCmd: 5.807547 target range: 217.378281 and range: 218.40 m.RoEl׹@JoAboAZoIBoI:nI2nImQmQlQkQkQkYkS @ɞ%yB%GT~= !-{>I) 5<ɝQiQIUEI]i]5=i]B #=)el׹@)aF6"F*F2Fm0:Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515580ԑGK'=G 2B :B)  O5 >jK OrK 9zK K ,K 0CqjDqf^YXQJGC@><>;9>[tusk`WJ?: :̶ď,8K3?A"DAT read: Range 10 to 50 : 235.0 m (Round-trip 313.4 ms) speed 0.1 m/s .*DAT read: user:264> nBDAT read: Tx time:04:00:44.2222 r$Ping request sent.r F٦OEy >ԡ 4Yg?4y-eB?:?AC:':4)FAAJerJeuJe2JaJeG:Je9Jec3JaJe_;Je_;Jeq:Jer: addTargetRange:: Added new target pos. range: 235.000000 m, deltaT: 3.781910 s, deltaX: 16.600006 m, approachRate: 4.389318 m/s, rangeRepo size: 4 oFNOT Ignoring new targets: 217.38 m.o9o9  ProNav: ac range: 217.378281 m, nav range: 212.713699 m, bearing: 336.158632 deg, approach rate: -0.549180 m/s, LOS rate: 0.022387 deg/s, cmd heading: 332.747910 deg, new cmd heading: 332.785695 deg. zo u:HeadingCmd: 5.808206 target range: 217.378281 and range: 235.00 m.RoEܹ@JoAboAZoABoA:nI2nImImMyBlQkQkqk}`m@k?ɞyBW[= K>I ۳<ɝiIEI0in8=i =)=) ܹ@) ؕAؑF"F*F2F`5:F G C"=G 2B :B  O >rӶď, P?A86ز@Y6ҹ@6*Hg=96;=BAHRS rotation from veh to nav: [[0.887333,0.461092,0.005910],[-0.457664,0.882158,-0.111088],[-0.056435,0.095868,0.993793]]y6H@e??4x?@\Jݿ :?Kp嬿ʊ?&?ɫ6ز@6o;6CJ{BJIN=N= PRAIV=IVЬ٥^ ^|=9bRjQ b ?`` bF٦bQEyf f ? lr4Ynɝg?r4yni0n[Bquu?nYCnI <ɝiIEIi=I6=iE=)E@)AԙF"F*F2F`0:FG=Gy 2B :B  O > ٶď,ai?A6@Y6к@6%d=965=>AHRS rotation from veh to nav: [[0.886011,0.463640,0.004705],[-0.460289,0.880739,-0.111501],[-0.055840,0.096625,0.993753]]y6H`4Z?`F?Es?_uݿ /?@R p??ɫ6@6׈;6CR{BRIIZ*IZ٥b*޼ fK=9fQ f>hh jF٦jTEpyn v> tz4Yvug?~4yv3vOB|~c~?vwCv;v7 ;vo4 ) GA %B*** querying acoustic contact ***:p!Bp!o15FNOT Ignoring new targets: 217.38 m.o=d9o=d9M ProNav: ac range: 217.378281 m, nav range: 212.296860 m, bearing: 336.176145 deg, approach rate: -0.616267 m/s, LOS rate: 0.026161 deg/s, cmd heading: 332.808699 deg, new cmd heading: 332.838297 deg. zoM:UHeadingCmd: 5.809124 target range: 217.378281 and range: 235.00 m.RoUX@JoYboYZoYBoY:na2namimilikikikqku,?ɞyBf= 靥>I C7<ɝiIEI%i.=i =)X@)jKUOrKS9zKK-K4/,,*-R\ZRMHGCABB>=:5-2JUI9,'$0DROB6/&!! 2K-sA*K-rAF1"F9*F92FEo0:FAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HHHII+|BI =II&IA<*I-EAG=G2B:B O>JF3JF3J/.J) J- qJ- 3J) J) J- q9J- (3J) J) J) J- :J- :a ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227452ď,0?A @6³@Y6@6^=96n\=VAHRS rotation from veh to nav: [[0.885397,0.464824,0.003262],[-0.461647,0.880122,-0.110761],[-0.054355,0.096562,0.993842]]y6H+U? ?j?ݿ)?Z@tԫC? ?ɫ6³@6;4r{BrI1}Mb@Mb@Mb@y y)yIyiy}`"?#~j rh}?}㥽}C)}AI}@i}Ay y}G@) AAI5I糴٥Y <=9`Q > F٦WEy` > -4Y;g?-4y7CB-G?5:5=?Cx<x<#4EB)EZGAMEoFNOT Ignoring new targets: 217.38 m.oh :oh : ProNav: ac range: 217.378281 m, nav range: 212.043884 m, bearing: 336.189838 deg, approach rate: -0.562263 m/s, LOS rate: 0.030470 deg/s, cmd heading: 332.838287 deg, new cmd heading: 332.879415 deg. zoI:HeadingCmd: 5.809842 target range: 217.378281 and range: 235.00 m.Ro9@JoboZoBo:n2nmmuyBlkkkk?ɞzBS= 靭{>I .<ɝiIEYI}Zi: =iC=)9@)F1"F1*F12F1:F1G== G==ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.480407G] 9=Թ G1 2BI :Ba  Om >ď,N|?A6@Y6@6`=96P=VAHRS rotation from veh to nav: [[0.885143,0.465302,0.003931],[-0.462074,0.879935,-0.110461],[-0.054857,0.095958,0.993873]]y6HS?@?p?ݿn(?@4G4౐??ɫ6@6f:;6CZ{B^IIf^If٥n; nY=9rw:Q r>tt vF٦vYEyv z> x4Yzg?4yz;z8B1?zCz;z;z*4)RGAoAEFNOT Ignoring new targets: 217.38 m.oM):oM):] ProNav: ac range: 217.378281 m, nav range: 211.824112 m, bearing: 336.201793 deg, approach rate: -0.610740 m/s, LOS rate: 0.033258 deg/s, cmd heading: 332.879405 deg, new cmd heading: 332.915308 deg. zo]:eHeadingCmd: 5.810468 target range: 217.378281 and range: 235.00 m.Roe[@JoaboaZoaBoa:ni2nimimilqkqkqkqk}pZ?ԙɞzBVd= 靵i>I '<ɝiIPEIiM=i<)[@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732627F9"F9*F92F=0:F9GUr=G12BA:BQ Oe>jK b NrK 9zK K .K  #'$$!%'%$(+,-120/129FMOPLD70, checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985988) ;ď,?AH$H$H&II&{BI$I$I&D&I&e<*I&bEfA@Yf@fYb=9f+=nAHRS rotation from veh to nav: [[0.884530,0.466465,0.004077],[-0.463189,0.879288,-0.110946],[-0.055338,0.096247,0.993818]]yfHN??8p?ݿ #?f 6U ?[?ɫfA@f?;dv}{BzIMb@Mb@Mb@ )Ii5^I ?l~jt?D)AI-@i(A@ @I [I :٥ 6=9% :Q %>!) -F٦-\Ey-: -> 9M4Y=4g?M4y=?=,BUE?U:]]?=C=+;=;=f24uB)u\GAqoFNOT Ignoring new targets: 217.38 m.o:o: ProNav: ac range: 217.378281 m, nav range: 211.561646 m, bearing: 336.215381 deg, approach rate: -0.573013 m/s, LOS rate: 0.029701 deg/s, cmd heading: 332.915305 deg, new cmd heading: 332.956118 deg. zo:HeadingCmd: 5.811181 target range: 217.378281 and range: 235.00 m.Ro1@JoboZoBo:n2n m m yBl kkkkY@JJ4=ɞzBR= !%׺>I! %-<ɝ!i!I%kEI-i-&=i-&<)51@)1EAEAF"F*F2Fp0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.236596iI)uG `wA)I?`wA'B9G G<G 2B :B  O% >i #ď,%\?AI)B颲@YB@Bb=9By=RAHRS rotation from veh to nav: [[0.884395,0.466726,0.003412],[-0.463441,0.878991,-0.112239],[-0.055384,0.097682,0.993675]]yBHL??nk? ݿ ?C[@?`0?ɫB颲@BZ%;BC^{B^IInqInv}٥v< z`=9z9Q ~>|| F٦^EyL  > %4Y\g?%4ySB"B)55?C\;P];84=B)E,GAEEmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.487593oyFNOT Ignoring new targets: 217.38 m.o% :o% :5 ProNav: ac range: 217.378281 m, nav range: 211.346939 m, bearing: 336.226536 deg, approach rate: -0.595517 m/s, LOS rate: 0.030972 deg/s, cmd heading: 332.956122 deg, new cmd heading: 332.989622 deg. zo5 :=HeadingCmd: 5.811765 target range: 217.378281 and range: 235.00 m.Ro=@AJo9boaZoaBoa:na2namimilikikikqku{j@ɞ zBΧc= ۾>I A<ɝ i I mEI]i=i=<)@)F6"F*F2F0:FqJJgJJJJ9JJ!@!@!@!@G}<G ?G1?ԡ% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740009GQ 2Ba :By  O > Cď, ?A>@Y>ߔ@>b=9>=FAHRS rotation from veh to nav: [[0.883898,0.467672,0.002728],[-0.464402,0.878377,-0.113072],[-0.055277,0.098677,0.993583]]y>HH?@X?Zf?øݿ@?EKM B?n?ɫ>@>]R;>CN{BNIIVlIV)٥bT< bN=9fQQ f>dh jF٦jaEyj3 j> lr4Ynh?r4ynEnBtvv?nCn:n6:n?4zB)zGA|B*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 217.38 m.o-#:o-#:E ProNav: ac range: 217.378281 m, nav range: 211.115967 m, bearing: 336.238631 deg, approach rate: -0.592635 m/s, LOS rate: 0.031067 deg/s, cmd heading: 332.989617 deg, new cmd heading: 333.025941 deg. zoE:MHeadingCmd: 5.812399 target range: 217.378281 and range: 235.00 m.RoM-@JoIboQZoQBoQ:nQ2nQmYmYlakakakakezZ@ɞ zByh= 靕>I <ɝiIREI i|=i<)-@)ԹF1"F1*F12F5`5:F1jK?NrK]9zKK/K.,/AHG?>:8526:>DEGGIKMPNKGGDFC=;520/*&$#3MKC6-**E_^VMB=740-)BDAT read: Rx Time:04:00:46.9125 TRx dataTimestamp_ set to:1761364847.826138checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998079HE%>HAHEIIE{BIE =IAIA&IE^<*IEXEGU<G2B!:B1 O=> 9 9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243627A ?ď,=?A2@Y2a@2c=92%=:AHRS rotation from veh to nav: [[0.884260,0.466990,0.002155],[-0.463696,0.878552,-0.114596],[-0.055409,0.100334,0.993410]]y2H`K?*?$a?3ݿ?/V^x?@?ɫ2@2(;2Cb{BbI]Mb@Mb@Mb@Y Y)YIYiY]Q?Mb~jth?]?]]D;)]lAI]Z@i]A]@ Y]@I^I٥: 9=99Q > F٦dEy: >  4Yh?4yIB?:?2CQ;;xG4-B)-GA5Eoy}FNOT Ignoring new targets: 217.38 m.o9o9 ProNav: ac range: 217.378281 m, nav range: 210.858719 m, bearing: 336.251161 deg, approach rate: -0.568121 m/s, LOS rate: 0.027707 deg/s, cmd heading: 333.025954 deg, new cmd heading: 333.063592 deg. zo:HeadingCmd: 5.813056 target range: 217.378281 and range: 235.00 m.Ro@JoboZoBo:n2nmmyBlkkkk 9 @ɞ zBwW= 5>I <ɝiIOEIiվ=iӎ<)@)Ex>E>F6"F*F2F_1:Fuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.495959I G ew<G 2B :B  O >.Oď,L?A$JjsJjhJj2JhJjK:JjȆ9Jjc3JhMDAT read: 04:00:46.9125 LVL= 17440, 21233, 17122, 19091, AGC= 63, IDX= 152, 0.40,-2.829, 2.314,-2.757, 2.753, PHS= 0.788,-0.392, 0.770, RAW= 149.2, -19.4, CAL= 154.7, -26.5, ROT= 355.3, 26.5 eYgot valid direction response: 04:00:46.9125 LVL= 17440, 21233, 17122, 19091, AGC= 63, IDX= 152, 0.40,-2.829, 2.314,-2.757, 2.753, PHS= 0.788,-0.392, 0.770, RAW= 149.2, -19.4, CAL= 154.7, -26.5, ROT= 355.3, 26.5 mPDAT read: Bearing 355.3, 26.5 (Local) u~Local bearing/azimuth received: Bearing 355.3, 26.5 (Local) yDAT read: Range 10 to 50 : 214.6 m (Round-trip 286.2 ms) speed 0.4 m/s *DAT read: user:265> BDAT read: Tx time:04:00:48.0222 $Ping request sent. )mW;V?֟c|?%\a)@տi3?K>h> )U:publishing transmit ping timeۑUFpublishing direction and range infoyV]?qb'*ŲHܿY )Ii )Ii )mW;V?֟c|?%\a)@տi ) @Թb@Y:@oc=9B=EAHRS rotation from veh to nav: [[0.884643,0.466269,0.000938],[-0.462955,0.878592,-0.117259],[-0.055498,0.103298,0.993101]]yH@N?W?pN?@ ݿ l?``?jq?{?ɫb@ч;C{BIIVI٥A=  =99Q > F٦gEy3: > 4Y s,h?4y N B\? _C : : Q4a)eFAiJpRpF$?ApUCpUCp夸@vIOg@ۣVS/ WvV]?qb'*ŲHܿpph>v$d@݂iVZvCzd@$?3ۿc:ɗjprp#!CZp n7?bpuћzp/ppT)%pp SCp@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 214.600006 m, deltaT: 3.778111 s, deltaX: -20.399994 m, approachRate: -5.399522 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 217.38 m.oq9oq9%  ProNav: ac range: 217.378281 m, nav range: 210.513794 m, bearing: 336.267928 deg, approach rate: -0.568841 m/s, LOS rate: 0.027697 deg/s, cmd heading: 333.063602 deg, new cmd heading: 333.113985 deg. zo% :% HeadingCmd: 5.813936 target range: 217.378281 and range: 235.00 m.Ro- @Jo) bo) Zo) Bo) :n) 2n1 mY mY lY kY ka ke @3j@ke \?ɞ zB -[= jK 1UNrK h9zK K 0K ('# 0<>=<=Lamlihg`[VRMHEDDCAB=5)#! >I w<ɝ i I )EI {Ai =i }<) @) F 6"F *F 2F p0:F ZH] <RH] <Hy Hy H} II} {BIy Iy Iy &I} u<*I} yE2I!:I!BI!JI!RI!ZI%ع4 G <1G2B:B O?ď,EB?A%{B%IMb@Mb@Mb@ )Ii&1?11 5F٦5jEy5 5> AE4YEf;h?M4yEQEBM7?M:M M?EzCE@:Es:ELX4UB)]FA]'EaoFNOT Ignoring new targets: 217.38 m.o9o9 ProNav: ac range: 217.378281 m, nav range: 210.307892 m, bearing: 336.275442 deg, approach rate: -0.588231 m/s, LOS rate: 0.021488 deg/s, cmd heading: 333.113981 deg, new cmd heading: 333.136546 deg. zok:HeadingCmd: 5.814330 target range: 217.378281 and range: 235.00 m.Ro@JoboZoBo:n2nmmAzBlkkkk@?ɞzB,5|= >I U<ɝiINnEI  i =i <)@)F6"F*F2F2:FԉԹG<G 2B :B  O > zď,J[?A6w@Y6O@6]=96=BAHRS rotation from veh to nav: [[0.884996,0.465551,0.006696],[-0.462440,0.880572,-0.103641],[-0.054147,0.088625,0.994592]]y6H Q??m{? ݿ-?6"!? ?ɫ6w@6b;6CF{BJIIRIR˴٥V = Zh=9ZV{Q Z>X\ ^F٦^lEy^Q: b> `f4YbIh?j4ybfTbBlr r?bCbn;bp;bw^4t)vEAtoFNOT Ignoring new targets: 217.38 m.o%Ӻ9o%Ӻ95 ProNav: ac range: 217.378281 m, nav range: 210.109634 m, bearing: 336.282646 deg, approach rate: -0.561416 m/s, LOS rate: 0.020417 deg/s, cmd heading: 333.136548 deg, new cmd heading: 333.158178 deg. zo51`:=HeadingCmd: 5.814707 target range: 217.378281 and range: 235.00 m.Ro=@JoboZoBo:n2nmmlkkkk,_?JaJekJe3JaJaJe9Je(3Jaɞ=zBuaz= q}!>Iy }a<ɝyiyI}2EI_ix=i<)@)FI"FI*FI2FMP5:FIGQFUpAGq<G ?G?) Gi 2By :B  O >jK )NrK ػ9zK K 1K   @A<3,*''  !),01/+(*(%#"  a dď,v?AHu$>HqHuIIu{BIqIqIq&IuQ<*IuDE{BI Mb@Mb@Mb@ )IiL7A`?Mbp?I +?+?;9<)Ip@iA@  @IIDд٥L= !=9Q > F٦oEy > 4Y]h?4yWBJ?:?C::Xg4B)]EA(EB*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 217.38 m.o-(9o-(9= ProNav: ac range: 217.378281 m, nav range: 209.841629 m, bearing: 336.287314 deg, approach rate: -0.528974 m/s, LOS rate: 0.009226 deg/s, cmd heading: 333.158186 deg, new cmd heading: 333.172209 deg. zo=9EHeadingCmd: 5.814952 target range: 217.378281 and range: 235.00 m.RoE@JoAboAZoABoA:nI2nImQmUzBlQkQkQkYk]`?ɞzBWr= 靽>I  <ɝiIFIIi]=i<)@)AF%6"F!*F!2F%o5:F!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q GA GA 2BY :Bi  O} >#ď,f.?A{BII%QI%٥=k:= ={=9AQ E?II MF٦UqEyQ ? 4Yokh?4yYB?C8;m(;Sm4)!EAo%FNOT Ignoring new targets: 217.38 m.o% (9o- (9= ProNav: ac range: 217.378281 m, nav range: 209.661087 m, bearing: 336.290466 deg, approach rate: -0.525808 m/s, LOS rate: 0.009187 deg/s, cmd heading: 333.172202 deg, new cmd heading: 333.181665 deg. zo=9EHeadingCmd: 5.815117 target range: 217.378281 and range: 235.00 m.RoEp@JoAboAZoABoA:nA2nImImIlIkQkQkQkU?ɞzBO= 靕>I <ɝiIFIiK=iG<)p@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745433QF-6"F)*F)2F-a0:F1yJ=tJ=qJ=2J9J=;N:J=q9J=c3J9GM.<G) 2B1 :Bi  O} >ԡ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997417^*ď,?A@V] @YV5@VNf=9Vq3=fAHRS rotation from veh to nav: [[0.890302,0.455357,0.003476],[-0.451889,0.884413,-0.116664],[-0.056198,0.102295,0.993165]]yVH`[}?$?yl?ܿ@M?ݽ`Ŭ0??ɫV] @V;Tj|BjIIvSIvQ٥zF2= zO=9~;Q ~> F٦tEy <  > 4Yzh?4y4\B!%%?CY!;D";s4-B)-DA)oYeFNOT Ignoring new targets: 217.38 m.om 9om 9} ProNav: ac range: 217.378281 m, nav range: 209.461136 m, bearing: 336.293345 deg, approach rate: -0.527352 m/s, LOS rate: 0.007602 deg/s, cmd heading: 333.181655 deg, new cmd heading: 333.190302 deg. zo}9HeadingCmd: 5.815268 target range: 217.378281 and range: 235.00 m.Ro@JoboZoBo:n2nmmlkkkk @ɞzBZ= <>I ˏ<ɝiIGI]ݒi]H=i]D=)]@)aEiEmtAԱF"F*F2Fo0:FG= Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249455jKYMrK9zKK2K !%1A[ywmid`YPNYVK?3(  <w_M@=ISRKC;3JH9BH9HyH}CH}II} |BIyIyIy&I}_<*I}XEGUc<G) 2B1 :BI  OU > 0ď,?ABE%@YB @B3k=9B%=NAHRS rotation from veh to nav: [[0.891557,0.452895,0.003607],[-0.449258,0.885351,-0.119669],[-0.057391,0.105072,0.992807]]yBH?@:?ԋm?ܿT?ঢTb`??ɫBE%@BP;@V |BVIiXIXl%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501907UMb@Mb@Mb@Q Q)QIQiQU\(\?I +?V-?U>U94=U<)U AIU@iUAUC@ QUGAI\IW٥< <=964;Q > F٦wEyL; > 4Y8h?4yO^B S> : ľ ?C:M:{4)DAoAEFNOT Ignoring new targets: 217.38 m.oM(oM(] ProNav: ac range: 217.378281 m, nav range: 209.247269 m, bearing: 336.291606 deg, approach rate: -0.493820 m/s, LOS rate: -0.004020 deg/s, cmd heading: 333.190315 deg, new cmd heading: 333.185092 deg. zo]0eHeadingCmd: 5.815177 target range: 217.378281 and range: 235.00 m.Roe@JoaboaZoaBoa:ni2nimimm+{Blqkqkqkqk}J@ɞzBۍ= 靭>I F=ɝiIwGIǞiFJ=i=)@) FI"FI*FI2FI:FIG%H=G2B :B9 OMR>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753558a 27ď,?A27@Y22@2m=92=BAHRS rotation from veh to nav: [[0.892544,0.450944,0.003988],[-0.447216,0.886234,-0.120780],[-0.057999,0.106018,0.992671]]y2H?B?aUp?/ܿ\?u뾿$??ɫ27@2褌;2CF|BJIIRaIR錴٥Z< Z`=9Z:Q Z> F٦yEy;  > 4Y h?4y ` Bþ? C ; ; 4-B)-{DA-)E9oFNOT Ignoring new targets: 217.38 m.oo ProNav: ac range: 217.378281 m, nav range: 209.062973 m, bearing: 336.289993 deg, approach rate: -0.481806 m/s, LOS rate: -0.004221 deg/s, cmd heading: 333.185097 deg, new cmd heading: 333.180253 deg. zoi9HeadingCmd: 5.815093 target range: 217.378281 and range: 235.00 m.Ro=@JoboZoBo:n2nmmlk!k!k)k-x@ɞzB = F>I ,=ɝiIGJ J iJ J J J ڈ9J J IiP=id%=)=@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005494aFA"FA*FI2FI:FIԑGe y=GA 2BI :BY  O} >Թ  BDAT read: Rx Time:04:00:50.7365  TRx dataTimestamp_ set to:1761364851.857184 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261879jK zNrK ػ9zK K 3K -'"!  #**(#  2K- rA*K- sAD=ď,Φ?AHn%>HlHnIIn5|BIn =IlIl&In1<*InEԱ@@Y:@8dq=9 k=AHRS rotation from veh to nav: [[0.892946,0.450138,0.004797],[-0.446294,0.886614,-0.121400],[-0.058899,0.106263,0.992592]]yH`??s?ܿ#_? (4?P?ɫ@@;髝C|BIMb@Mb@Mb@ )IiGz?333333?S㥛?>=/<)V AIi(A AI]It٥ =9:Q > F٦|Eye; %> )54Y-h?54y-b-B5>5:55?-8C-@:-:-銗4A)EDAA]B*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 217.38 m.ouvouv ProNav: ac range: 217.378281 m, nav range: 208.823074 m, bearing: 336.283300 deg, approach rate: -0.482330 m/s, LOS rate: -0.013472 deg/s, cmd heading: 333.180261 deg, new cmd heading: 333.160160 deg. zoHeadingCmd: 5.814742 target range: 217.378281 and range: 235.00 m.Ro]@JoboZoBo:n2nmmA{Blkkkk- @ɞ"zB= %>I! -=ɝ)i)I5,HI=iEnZ=iE$')=)E]@)AEUY>EU>F"F*F2F:FGFtAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511441)G )I {  rBG K'=) G 2B :B  O5 >Dď,@?AI<) BDAT read: Tx time:04:00:51.8222 $Ping request sent. ީ)ީޭ_ÏO?5/wB?տkkm@k?iޭf?ޭ#>ޭi٠ޭva> ߩ)ߩE:publishing transmit ping timeMFpublishing direction and range info۩yۭ`.s?,m鱿5ܿ۩Y۩ ܩ)ܩIܩiܩܩܩܩܩ ݩ)ݩIݩiݩݩݩ ީ)ީޭ_ÏO?5/wB?տiީީީީ ߩ)ߩɞ%zB= 靭>I =ɝiIَHIui+d=i6,=)@)9F6"F*F2F:Fia e Ae JDAT read: TxSync time:04:00:51.8214 G _'=G 2B :B Թ  O >vFJď,+?AU{BUIIeYIe٥} }B=9}Q }> F٦Ey > 4Ysh?4ydB?dC;;x4)EAJpRp?AphgCphgCp3y@vIOvi@z108Dr,Zv`.s?,m鱿5ܿpi٠pva>vsH2e@2GLWK{]vZN{T?ٿ!Njpfrp/CZpܲ?bpS6zp[ppp8*BpQCpM@} addTargetRange:: Added new target pos. range: 232.500000 m, deltaT: 7.558062 s, deltaX: -2.500000 m, approachRate: -0.330773 m/s, rangeRepo size: 4  Added new target pos. range: 231.409698 m, bearing: 332.088918 deg, lat: 36.779629 deg, lon: -121.859770 deg, deltaT: 11.339972 s, deltaX: 14.031418 m, approachRate: 1.237342 m/s, posRepo size: 4 ԑoFNOT Ignoring new targets: 231.41 m.oo ProNav: ac range: 231.409698 m, nav range: 209.003998 m, bearing: 335.950376 deg, approach rate: 0.000000 m/s, LOS rate: -0.012280 deg/s, cmd heading: 333.148078 deg, new cmd heading: 333.132924 deg. zoHeadingCmd: 5.814266 target range: 231.409698 and range: 232.50 m.Rox@JoboZoBo:n2nmmlkkkk-?ɞ(zBcV=  >I  .=ɝ i I HI/iqm=iH-=)x@)F"F*F2F(1:FjK)aMrK9zKK4K  (e$1CPYTPOF:/-%HHH II?|BIII&I<*IEG90=Ga 2By :B  O >J9 J= %=JM uJM jJM 3JI JM [Q:JM 9JM (3JI JM o;!e JM o;!m JM :!m JM :!u  9+Qď,D?AJ >@YJ8@Jp=9J@F=ZAHRS rotation from veh to nav: [[0.892839,0.450313,0.007563],[-0.446523,0.887265,-0.115662],[-0.058795,0.099891,0.993260]]yJH@"??2~?ӓܿ@zd? @Pq??ɫJ >@JΊ;JCb{BbIeMb@Mb@Mb@a a)aIaiaeq= ףp?bX9ȶ?~jt?e>eE=e<)el AIe@ie? Aep@ ae A)q u@AI>I٥X B=9Q  >    F٦ Ey)1 > %4Yth?-4yAf5>=:=F=?~C;s;Ԟ4EB)EnEAAoimFNOT Ignoring new targets: 231.41 m.ouioui ProNav: ac range: 231.409698 m, nav range: 208.808502 m, bearing: 335.942714 deg, approach rate: -0.485878 m/s, LOS rate: -0.019060 deg/s, cmd heading: 333.132915 deg, new cmd heading: 333.109908 deg. zoKQHeadingCmd: 5.813865 target range: 231.409698 and range: 232.50 m.Ro. @JoboZoBo:n2nmmf{Blkkkk$?ɞ+zB= >I 2 =ɝiI\IIJiv=i4g*=). @)F"F*F2F`5:FGS,=Q G 2B :B  O >WWď,}^?A @6&O@Y6I@6GEq=96=BAHRS rotation from veh to nav: [[0.893765,0.448477,0.007289],[-0.444656,0.888049,-0.116833],[-0.058870,0.101180,0.993125]]y6H@?@ٳ?7}?`?uܿj?轿 2$ ??ɫ6&O@6ћ;6CJ{BJIIVIVʴ٥Z  b=9 {T9Q > F٦EyP; > !-4Y%h?-4y%g!)5>5?%C%:%:%X49)=EA9oamFNOT Ignoring new targets: 231.41 m.om om  ProNav: ac range: 231.409698 m, nav range: 208.635468 m, bearing: 335.935823 deg, approach rate: -0.466247 m/s, LOS rate: -0.018584 deg/s, cmd heading: 333.109910 deg, new cmd heading: 333.089220 deg. zoLHeadingCmd: 5.813504 target range: 231.409698 and range: 232.50 m.Ro9@JoboZoBo:n2nmmlkkkk?ɞ/zB~= >I Rb =ɝiIX7IIzi>=i$*4=)9@)iF"F*F2FP4:FԙG++=G2B:B O> =]ď,x?A-'"TFailed to parse incomplete device message.HPHPHRIIR5|BIPIPIP&IRB<*IR,E2ImC:ImCBIiJIm =RIm =ZIm4ed@Ye_@eCt=9e-=AHRS rotation from veh to nav: [[0.894902,0.446184,0.008414],[-0.442266,0.889245,-0.116807],[-0.059600,0.100810,0.993119]]yeH?H?w;?Nܿ@t?@罿`݃ι?`?ɫed@e;a{BIMb@Mb@Mb@ )Iioʡ?K?I +?>^=94<) AI-@i@ AI<I٥ !=9b:Q > F٦Ey; >  4Yh? 4y%iB>:f?C:;; 4B)YFA%+E)UB*** querying acoustic contact ***:pQBpQoimFNOT Ignoring new targets: 231.41 m.ou౹o}౹ ProNav: ac range: 231.409698 m, nav range: 208.403275 m, bearing: 335.926068 deg, approach rate: -0.462156 m/s, LOS rate: -0.019439 deg/s, cmd heading: 333.089229 deg, new cmd heading: 333.059930 deg. zosUHeadingCmd: 5.812993 target range: 231.409698 and range: 232.50 m.Ro @JoboZoBo:n2nmmH{Blkkkk@?ɞ3zBke= C>I  =ɝiIGH JJJ rJ oJ 2J J G:J K9J c3J J _;J _;J :J :Ieim=imI>=)u @)yET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.YFY"Fa*Fa2Fee5:Faԩ G Ag3=G 2B :B!  O5 >HZdď,A?Abo@Ybi@by=9b=rAHRS rotation from veh to nav: [[0.895377,0.445198,0.009969],[-0.441123,0.889800,-0.116903],[-0.060915,0.100275,0.993093]]ybH?~?j?\;ܿ=y?@]@K0?k?ɫbo@bC;`z{BzIIWIƕ٥ =9g;Q ?!! %F٦%Ey%̓; %? )54Y-i?=4y-'j-B9==?-C-;-;-k4A)EFAIoyFNOT Ignoring new targets: 231.41 m.ooԑ ProNav: ac range: 231.409698 m, nav range: 208.259796 m, bearing: 335.919978 deg, approach rate: -0.470844 m/s, LOS rate: -0.019999 deg/s, cmd heading: 333.059941 deg, new cmd heading: 333.041658 deg. zo[HeadingCmd: 5.812674 target range: 231.409698 and range: 232.50 m.Rol@JoboZoBo:n2nmml1k1k1k1k5@ɞe6zBmt= 靕>I Ӭ =ɝiI/HIi=i zC=)l@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002164Fe6"Fa*Fa2Fml0:FiG=K@=G92BA:BQ OeU>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254003 rjď,?AI<)6p@Y6k@6~=96=BAHRS rotation from veh to nav: [[0.895415,0.445092,0.011200],[-0.440897,0.889915,-0.116885],[-0.061992,0.099722,0.993082]]y6H`\\ ^F٦^Eyb: f> hn4Yji?n4yjokjBlrr?jCjv;j;jC4vB)vWGAv,EoFNOT Ignoring new targets: 231.41 m.oo- ProNav: ac range: 231.409698 m, nav range: 208.077148 m, bearing: 335.912199 deg, approach rate: -0.468403 m/s, LOS rate: -0.019965 deg/s, cmd heading: 333.041663 deg, new cmd heading: 333.018308 deg. zo-;[5HeadingCmd: 5.812266 target range: 231.409698 and range: 232.50 m.Ro5@Jo1bo1Zo1Bo9:n92n9mAmAlIkIkQkQkU`O@ɞ:zBQ`= 4(  >I  D =ɝ i I ߑHIai5=i5D=)=@)9F6"F*F2Fo0:F!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506111jK҇PrK9zKK6K{sicWWYTQPMGA9/.=*p^SW^^SH<70,'')(%%$#'(%$&'%"$$VtMQ+JHBHAAHHCHII{BI =II&I<*IEG5==QGIGIGQ 2Bi :By  O >JE wJE pJA JA JE W:JE ^9JA JA JE z;JE z;JE :JE :y jqď,=?A6Rv@Y6*q@6S=96Mb=>AHRS rotation from veh to nav: [[0.895671,0.444561,0.011832],[-0.440274,0.890158,-0.117375],[-0.062713,0.099920,0.993017]]y6H`U?s?;?s-ܿ@-|?N \??ɫ6Rv@6h܉;4R {BRpI-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758625Mb@Mb@Mb@ )Ii`"?㥛 ?~jth>=D) AIZ@iA I`I̍٥ 9=9:Q > F٦EyD: > 4Y%i?4y%mB>:<?C ;~ ;4)8HAo1=FNOT Ignoring new targets: 231.41 m.o=Ao=AM ProNav: ac range: 231.409698 m, nav range: 207.863495 m, bearing: 335.905497 deg, approach rate: -0.484629 m/s, LOS rate: -0.015218 deg/s, cmd heading: 333.018304 deg, new cmd heading: 332.998176 deg. zoM'Q]HeadingCmd: 5.811914 target range: 231.409698 and range: 232.50 m.Ro]4@JoYboYZoYBoY:na2namamezBlikikikikm`l@ɞ?zB I= `>I X=ɝiIWGI kJi =i ̅H=) 4@)1Eue>Eu!>F6"F*F2F:FG= G=ԁԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010691GSE=G 2B :B  O > :wď,|?A:qk@Y:If@:΁=9:u=JAHRS rotation from veh to nav: [[0.895050,0.445781,0.012871],[-0.441446,0.889706,-0.116396],[-0.063339,0.098498,0.993119]]y:H@??ે?X\?@ܿyx?@$̽607??ɫ:qk@:%;8RzBRPIIZiIZ҅٥bQ  b]=9f:Q f>dd jF٦jEyj/k j> lr4YnX4i?r4ynnnBtv睾v?nCn{:nQ:nkȗ4zB)~HA|o)-FNOT Ignoring new targets: 231.41 m.o5o5E ProNav: ac range: 231.409698 m, nav range: 207.683624 m, bearing: 335.899910 deg, approach rate: -0.484931 m/s, LOS rate: -0.015076 deg/s, cmd heading: 332.998169 deg, new cmd heading: 332.981392 deg. zoE%MHeadingCmd: 5.811622 target range: 231.409698 and range: 232.50 m.RoM@JoIboIZoIBoQ:nQ2nYmYmYlYkakakake !| @ɞCzB@= 靥v)>I =ɝiIFIpi;=i?)D=)@)ԱFI"FI*FI2FM0:FQ5BDAT read: Rx Time:04:00:54.5071 5TRx dataTimestamp_ set to:1761364855.634724=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264073Gu<H=GI2BQ:Bi Ou>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514075<}ď,?AH0H2CH2II2{BI2 =I0I0&I2 <*I2EjKBߩNrKB9zK@KB7KB!*&%Dbryytwyuj\PE=61,*)$" TV@}oe@Y}G`@}A=9}=AHRS rotation from veh to nav: [[0.894693,0.446451,0.014332],[-0.442086,0.889624,-0.114581],[-0.063905,0.096179,0.993311]]y}HS??Z?@#Kܿ w?`'U \(?`3?ɫ}oe@}H;}C=zB=.IQMb@Mb@Mb@ )Ii"~j?~jt?~jtS?=D)Ip@iV A@ QAIMTIMn٥mѽ u=9}:Q }> F٦Ey > 4YjIi?4y=qB?:ľ?1CJ<9M<ї45B)5~IA56EuB*** querying acoustic contact ***:pqBpqJuJJ3JJ[Q:JJ(3JJo;Jo;JJoyFNOT Ignoring new targets: 231.41 m.o"o" ProNav: ac range: 231.409698 m, nav range: 207.414261 m, bearing: 335.897098 deg, approach rate: -0.494330 m/s, LOS rate: -0.005167 deg/s, cmd heading: 332.981394 deg, new cmd heading: 332.972947 deg. zobHeadingCmd: 5.811474 target range: 231.409698 and range: 232.50 m.Ro@JoboZoBo:n2nm!m%zBl)k1k1k9ke @ԁɞIzBL(= 靭V=I S=ɝiI!MEIi=ioB=)@)DAT read: 04:00:54.5071 LVL= 13328, 14065, 11922, 16195, AGC= 66, IDX= 129, 0.12,-2.583, 2.563,-2.520, 2.935, PHS= 0.853,-0.326, 0.825, RAW= 148.8, -22.3, CAL= 153.6, -29.2, ROT= 356.4, 29.2 Ygot valid direction response: 04:00:54.5071 LVL= 13328, 14065, 11922, 16195, AGC= 66, IDX= 129, 0.12,-2.583, 2.563,-2.520, 2.935, PHS= 0.853,-0.326, 0.825, RAW= 148.8, -22.3, CAL= 153.6, -29.2, ROT= 356.4, 29.2 PDAT read: Bearing 356.4, 29.2 (Local) ~Local bearing/azimuth received: Bearing 356.4, 29.2 (Local) DAT read: Range 10 to 50 : 210.4 m (Round-trip 280.6 ms) speed 0.8 m/s *DAT read: user:267> BDAT read: Tx time:04:00:55.6223 $Ping request sent.=)=w? 9)9= :publishing transmit ping timeۡ= Fpublishing direction and range info9y=mq?ZDAM9߿9Y9 9)9I9i99999 9)9I9i999 9)9=v?ܩyE?hJؿi9999 9)9ԩ E (E F} 6"F *F 2F k4:F G tAF JDAT read: TxSync time:04:00:55.6215 GB=G ?G?Gq2B:B O? Lď,$?AbZ@YbnU@b[=9bY=nAHRS rotation from veh to nav: [[0.894096,0.447619,0.015133],[-0.443265,0.889223,-0.113129],[-0.064096,0.094440,0.993465]]ybHo?`˥?-?@w?ɫbZ@b2;bCvzBvII~hI~٥ lֽ  /=99Q >!! %F٦%Ey%: %> )54Y-\i?=4y-s-قB9=ľ=?-PC-:-p:-ٗ4EB)M=JAIJpRp?ApiQCpiQCpX@v,Z<f@7-p&ƣYvmq?ZDAM9߿p)pw?vc@dh.S_쒌\vv8o?vWMؿAGvjp rpoCZpXeڜ?bpzpNpܲ?pFp/pACpȺ@ԉ-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 210.399994 m, deltaT: 3.780087 s, deltaX: -22.100006 m, approachRate: -5.846428 m/s, rangeRepo size: 4o-FNOT Ignoring new targets: 231.41 m.o5øo5øE ProNav: ac range: 231.409698 m, nav range: 207.175552 m, bearing: 335.894689 deg, approach rate: -0.529603 m/s, LOS rate: -0.005350 deg/s, cmd heading: 332.972951 deg, new cmd heading: 332.965717 deg. zoEkMHeadingCmd: 5.811348 target range: 231.409698 and range: 232.50 m.RoM@JoIboIZoIBoI:nQ2nQmQmQlYkYkYk]Lj@ke?ɞOzB\m= 0S=I q=ɝiIpCIi$=i >=) @) E'ԹF6"F*F2Fm0:FG K@=G 2B :B  O > {rď,f8?A6O@Y6vJ@6=96i=ZH~<RH~p<H H CH wII -{BI I I &I [<*I UEAHRS rotation from veh to nav: [[0.893576,0.448500,0.019229],[-0.444499,0.889970,-0.101851],[-0.062794,0.082464,0.994614]]y6H,?@9?ڰ? rܿ`z?<Y?`?ɫ6O@6ٽ;6C:zBIjKWNrK 9zKK8K $$!!4@DB?Is5r[SJ<.   2K*KrAIJIK٥' %:=9%FCQ %>)) -F٦-EyUH ]> 4Yni?U4yuЂBY]že?mCB=}C=4i)mdKAioFNOT Ignoring new targets: 231.41 m.oo! ProNav: ac range: 231.409698 m, nav range: 206.945923 m, bearing: 335.892465 deg, approach rate: -0.452254 m/s, LOS rate: -0.004385 deg/s, cmd heading: 332.965711 deg, new cmd heading: 332.959031 deg. zo@HeadingCmd: 5.811231 target range: 231.409698 and range: 232.50 m.Ro@JoboZoBo:n2nmmlkkkk?ɞmUzBu= qiI)JG vA)I%vAB8ڼI Ie@e\B Qg=ɝiIAIi >=i :=) @)  E) E) E) E) y ԡF"F*F2F1:FG G=G==G2B:B O%? ď,]a?AI<)>$E@Y>?@>Dz=9>C=FAHRS rotation from veh to nav: [[0.893096,0.449563,0.016494],[-0.445686,0.889190,-0.103467],[-0.061181,0.085055,0.994496]]y>H>??@?@ܿ>t?`|%S *Ƶ??ɫ>$E@>;=Mb@Mb@Mb@9 9)9I9i9A=(\?Mb?S㥛=?=<=/ݼ)= AI=@i9=@ 9=AIUIUaϴ٥  <JJJJ vJ tJ J J {T:J 9J J !@!@!@!@9%Q %>)) -F٦-Ey- 5> 1E4Y5i?E4y5y5BEC?E:ExE?5C5 ;5 ;54UB)UKAU7Eoy}FNOT Ignoring new targets: 231.41 m.oI8oI8 ProNav: ac range: 231.409698 m, nav range: 206.595215 m, bearing: 335.894752 deg, approach rate: -0.615918 m/s, LOS rate: 0.004024 deg/s, cmd heading: 332.959018 deg, new cmd heading: 332.965892 deg. zo09HeadingCmd: 5.811351 target range: 231.409698 and range: 232.50 m.Ro@JoboZoBo:n2nmmyBlkkkkL?ɞ[zBَ= _I *=ɝiIz?I=i}O=i}56=)}@)yyF 6"F*F2F5:FԡG5 ==G 2B :B)  O= > H H CH &II zBI I I &I Y<*I REQ+ď,n{?AJP@YJ|K@J"{=9Jf=VAHRS rotation from veh to nav: [[0.893716,0.448352,0.015873],[-0.444429,0.889619,-0.105169],[-0.061274,0.086936,0.994328]]yJH`R? ͱ?A? qܿw?U캿J_tA?@?ɫJP@J2b;JC^yBjK-NrK9zKK9K3ay{j`TKB=50,&!!  !#%!.LWQC4%^II%_I%٥=,( E9=9M[9Q M>QQ UF٦UEy]zQ; ]> ae4Ye/i?m4ye|eBimm?eCea;e;eW4}B)}LA}8EoFNOT Ignoring new targets: 231.41 m.o/x8o/x8 ProNav: ac range: 231.409698 m, nav range: 206.352646 m, bearing: 335.896238 deg, approach rate: -0.552737 m/s, LOS rate: 0.003390 deg/s, cmd heading: 332.965903 deg, new cmd heading: 332.970366 deg. zo9HeadingCmd: 5.811429 target range: 231.409698 and range: 232.50 m.Ro:@JoboZoBo:n2nmmlkkkkj?ɞazB< 靵I l=ɝiI=Iizc=i;=):@) J)J)F=6"F9*F92F=A5:F9A Ge d6=GA 2BY :Bi  O} >+%ď,?A6 H@Y6B@6px=96w=>AHRS rotation from veh to nav: [[0.893280,0.449268,0.014496],[-0.445382,0.888990,-0.106452],[-0.060712,0.088635,0.994212]]y6H ???`%ܿ@r?j@`Ű??ɫ6 H@6X;6CFyBFI=Mb@Mb@Mb@9 9)9I9i9=M?ˡEy&1=n?='=`)= AI9i= A=@ 99IUlIU)٥H `=9ʺQ > F٦Ey= >  4YFi? 4ySB ? :?C>J;I;4!)%MA!EB*** querying acoustic contact ***:pABpAoQ]FNOT Ignoring new targets: 231.41 m.oeG9oeG9u ProNav: ac range: 231.409698 m, nav range: 206.146362 m, bearing: 335.902519 deg, approach rate: -0.563914 m/s, LOS rate: 0.017188 deg/s, cmd heading: 332.970356 deg, new cmd heading: 332.989218 deg. zo}<:}HeadingCmd: 5.811758 target range: 231.409698 and range: 232.50 m.Ro}@JoyboZoBo:n2nmmzyBlkkkkhF@ɞdzB < m7I p(=ɝiIO;I^iep=i5=)@)!F)"F)*F)2F-`0:F)JJhJJJJȆ9JJIGE п8=GI GM *? T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GA 2BI :Ba  Om >y nMď,g?A 6W:@Y6/5@6OEv=96+ƶ=RAHRS rotation from veh to nav: [[0.892567,0.450709,0.013614],[-0.446892,0.888227,-0.106490],[-0.060088,0.088966,0.994221]]y6H`?h??ܿZl?@Bîtƶ??ɫ6W:@6;6CnyBn|IIv]Ivt٥f Z=9ںQ >    F٦ Ey ’ > %4Yi?%4y*B!%%?C;;84-B)5MA1oaeFNOT Ignoring new targets: 231.41 m.om9om9 ProNav: ac range: 231.409698 m, nav range: 205.934723 m, bearing: 335.909075 deg, approach rate: -0.567393 m/s, LOS rate: 0.017593 deg/s, cmd heading: 332.989207 deg, new cmd heading: 333.008894 deg. zo/A:HeadingCmd: 5.812102 target range: 231.409698 and range: 232.50 m.Ro@JoboZoBo:n2nmmlkkkk?@ɞhzB)< BSI ц =ɝiI 9I1i+{=i.=)@)QF"F*F2Fo0:F-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726308ԁJHBHH$>HHII9zBIII&IU<*IKE2IQ:IQBIQJIQRIQZIU|b4jKUINrKU9zKQKU:KU  (-+& +-'" !'"   %60!G;6=G2BI :B  O >J C=J 4= 7ď,=ö?`0?ɫf#@f;fCvsyBvhIMb@Mb@Mb@ )Iirh|?v/~jt?xiļ) AI@iV A@ AI_I٥%/ -9=9-Q ->11 5F٦5Ey=i̻ => AE4YEi?M4yEEBM?M:MM?ECEm ;E ;E4Y)]cNAYoFNOT Ignoring new targets: 231.41 m.o9o9 ProNav: ac range: 231.409698 m, nav range: 205.667908 m, bearing: 335.919273 deg, approach rate: -0.605134 m/s, LOS rate: 0.023160 deg/s, cmd heading: 333.008906 deg, new cmd heading: 333.039541 deg. zoO~:HeadingCmd: 5.812636 target range: 231.409698 and range: 232.50 m.ԱRo@JoboZoBo:n2nmmsyBlkkkk@ɞumzBuR< quyIq u! =ɝyiyI}fr7Ii=i#=)@)Fa"Fi*Fq2Fq:Fq=BDAT read: Rx Time:04:00:58.3049 ETRx dataTimestamp_ set to:1761364859.414794Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.232298 G S,=Ga 2Bi :B  O >1 dcď,.?A2 @Y2@2[l=92q==>AHRS rotation from veh to nav: [[0.890238,0.455360,0.011130],[-0.451812,0.885876,-0.105306],[-0.057812,0.088718,0.994378]]y2H|?`$?ˆ?@|ܿ@Y?R ???ɫ2 @2x;2CFjyBFbIINmINF٥Vμ Ve=9Z8hQ Z>\\ ^F٦^Ey^ b> `f4Yb~i?f4ybb|Bhj<j?b-Cb;b;b-4nB)rNAr9Eo FNOT Ignoring new targets: 231.41 m.o39o39- ProNav: ac range: 231.409698 m, nav range: 205.453171 m, bearing: 335.927665 deg, approach rate: -0.601164 m/s, LOS rate: 0.023518 deg/s, cmd heading: 333.039532 deg, new cmd heading: 333.064734 deg. zo-:5HeadingCmd: 5.813076 target range: 231.409698 and range: 232.50 m.Ro5@Jo1bo1Zo1Bo1:n92n9m9m9l9kAkAkAkE} @ɞupzB}x< y}Iy }T =ɝyiI;u5I/i=iz9=)@JtJpJJJ;N:J^9JJ)E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482767F6"F*F2F0:FG= G9G"=G2B:B O>a m DAT read: 04:00:58.3049 LVL= 23504, 32577, 22386, 32755, AGC= 63, IDX= 415, 0.37,-0.872,-2.120,-0.820,-1.708, PHS= 0.924,-0.365, 0.885, RAW= 148.5, -21.9, CAL= 153.4, -28.8, ROT= 356.6, 28.8 Hy Hy H} II} yBIy Iy Iy &I} ]<*I} XE Ygot valid direction response: 04:00:58.3049 LVL= 23504, 32577, 22386, 32755, AGC= 63, IDX= 415, 0.37,-0.872,-2.120,-0.820,-1.708, PHS= 0.924,-0.365, 0.885, RAW= 148.5, -21.9, CAL= 153.4, -28.8, ROT= 356.6, 28.8  PDAT read: Bearing 356.6, 28.8 (Local)  ~Local bearing/azimuth received: Bearing 356.6, 28.8 (Local)  DAT read: Range 10 to 50 : 208.8 m (Round-trip 278.5 ms) speed 0.2 m/s  *DAT read: user:268>  BDAT read: Tx time:04:00:59.4223  $Ping request sent. = >= s= ? 9 )9  :publishing transmit ping time۹  Fpublishing direction and range info9 y= f=?䛪 = ޿9 Y9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 9 )9 =  -<?    F٦ Ey  > E4Y-i?M4y lBU?U:UU?ZCX<X<C4B)NAJDAT read: TxSync time:04:00:59.4215 :EJpqRpu?ApuOCpuOCpuű@vuGh}_f@Kz ۙ%*9Yvuf=?䛪 = ޿puspu?vu[yc@ŬkOJT"v[vu'ݶ?Vؿ]ejpuRrpuCZpuzo>?bpuǸzpuBpuzo>?puǸpuBpu/Cpuֱ@ addTargetRange:: Added new target pos. range: 208.800003 m, deltaT: 7.559918 s, deltaX: -23.699997 m, approachRate: -3.134954 m/s, rangeRepo size: 4  Added new target pos. range: 207.819321 m, bearing: 332.484556 deg, lat: 36.779346 deg, lon: -121.859743 deg, deltaT: 7.559918 s, deltaX: -23.590378 m, approachRate: -3.120454 m/s, posRepo size: 4 oFNOT Ignoring new targets: 207.82 m.oo- ProNav: ac range: 207.819321 m, nav range: 175.677750 m, bearing: 332.485043 deg, approach rate: 0.000000 m/s, LOS rate: 0.023518 deg/s, cmd heading: 333.064722 deg, new cmd heading: 333.108554 deg. zoHeadingCmd: 5.813841 target range: 207.819321 and range: 208.80 m.Ro @JoboZoBo:n2nmmyBlkkkj@k`l?ɞ vzB <   GI  l =ɝ i I 2I% Mi% =i% bI=)% @)I  Eu F%6"F)*F)2F-`5:F)9G5=iG 2B:B! O5)?bɷď,F^'?AJ J uJJJ s:J 9JJz{@YzT@z\=9zj= AHRS rotation from veh to nav: [[0.886201,0.463270,0.005339],[-0.460179,0.881506,-0.105743],[-0.053693,0.091253,0.994379]]yzH[?8?u?sݿM5?}U\?@?ɫz{@zj;zC]yB[II-8I-?٥=Q; =!=9EuQ E>II MF٦MEyUS U> Y]4Y] j?e4y]]`Baeje?]C];];]"4uxB)uLNAuCEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 207.82 m.o9o9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 207.819321 m, nav range: 175.370895 m, bearing: 332.496637 deg, approach rate: -0.660744 m/s, LOS rate: 0.025009 deg/s, cmd heading: 333.108544 deg, new cmd heading: 333.143387 deg. zoN:HeadingCmd: 5.814449 target range: 207.819321 and range: 208.80 m.Ro@JoboZoBo:n2nmmlkkk k 1w?ɞ5zzB5u< 1=gI9 =j =ɝ9i9I=/aI 3i 'n=i <) @)E ԑF"F*F2F`0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992175ZH <RH <H H H II yBI I I &I y<*I EG 2=G 2B :B  O > jK% XNrK% ػ9zK! K% <K% !1=>@?/"[K^{{l[L=3,& 2K1 *K5 nA/Gзď,*A?ANPExceeded connect timeout, disconnecting.è@Y@R=9=eAHRS rotation from veh to nav: [[0.884921,0.465732,0.002821],[-0.462910,0.880193,-0.104757],[-0.051272,0.091396,0.994494]]yH FQ?`?g?@Rݿ*?VѺD@`e??ɫè@X;CqqUMb@Mb@Mb@Q Q)QIQiQUK?V-U^?UhU)UAIU@iU AUA QUAIe1Ies9u)Q }>yy }F٦}Eyл > 4Yj?4yWBo?:Q?C8: :l*4wB)CNADEoFNOT Ignoring new targets: 207.82 m.o9o9 ProNav: ac range: 207.819321 m, nav range: 175.084976 m, bearing: 332.507812 deg, approach rate: -0.605088 m/s, LOS rate: 0.023687 deg/s, cmd heading: 333.143378 deg, new cmd heading: 333.176956 deg. zo :HeadingCmd: 5.815035 target range: 207.819321 and range: 208.80 m.Ro@JoboZoBo:n2nmmyBlkkkk`?ɞ-~zB5nv< 15TI1 5 V=ɝ9iAIE-IMmiMeT=iU<)U@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243202) EEEEEEA F9 "F9 *F9 2F= Y5:F9 GE sAFE pAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495743Ge?<G92BA:BY Oe?8׷ď,~qa?A:㦲@Y:@:cI=9:=BAHRS rotation from veh to nav: [[0.884908,0.465766,0.000424],[-0.463161,0.880056,-0.104802],[-0.049186,0.092543,0.994493]]y:H*Q?@?;?oݿj)?HԺ .찷??ɫ:㦲@:2;:CruyBriIitItIzMIz٥S< <9 Q  > F٦Ey> > %4Y0j?%4yOB)-^-?Cp;[;14=vB)=MA=EEoamFNOT Ignoring new targets: 207.82 m.ou9ou9} ProNav: ac range: 207.819321 m, nav range: 174.829346 m, bearing: 332.517850 deg, approach rate: -0.600267 m/s, LOS rate: 0.023607 deg/s, cmd heading: 333.176956 deg, new cmd heading: 333.207115 deg. zo:HeadingCmd: 5.815561 target range: 207.819321 and range: 208.80 m.Ro@JoboZoBo:n2nmmlkkkk?ɞzBz< I Pl=ɝiI+Iglib:=ip@<)@)aF"F*F2Fo0:FG}c<Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749595G92BI:Bi O8>ԉԹ ޷ď,Y0{?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999351H*%>H*CH*}II*yBI(I(I(&I*b<*I*bEJ$@YJ@J6oE=9Jr=VAHRS rotation from veh to nav: [[0.885135,0.465333,-0.001022],[-0.462833,0.880148,-0.105479],[-0.048183,0.093837,0.994421]]yJH@S??P` ݿ+*?t?K?ɫJ$@J~;JCX~pyB~fII `I ̍٥4M %I=9%?"Q %>)) -F٦-Ey5/: 5> 9E4Y=Aj?E4y=Y=GBIMCM?=C=):=:=84Q)UMAoFNOT Ignoring new targets: 207.82 m.o%9o%9e ProNav: ac range: 207.819321 m, nav range: 174.584747 m, bearing: 332.527450 deg, approach rate: -0.574844 m/s, LOS rate: 0.022592 deg/s, cmd heading: 333.207118 deg, new cmd heading: 333.235956 deg. zoex:mHeadingCmd: 5.816065 target range: 207.819321 and range: 208.80 m.Rom4@JoiboiZoBo:n2nmmlkkkk@5@jKNrK9zKK=K.'f# )@z~]F4"  &6/  nManaging dock network, ignoring radio surface power offɞzB`<  _I  W=ɝ i I m)Iq*i*=i" <)4@) JAJEAAJUuJUkJU2JQJU[Q:JU9JUc3JQJQ!eJQ!eJU:!mJU:!m)tG `wA)IY`wA7BF6"F*F2F`0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253451! G1 G 2B! :B1  OE >N{ď,?A:n@Y:G@: ?=9:.A=BAHRS rotation from veh to nav: [[0.885781,0.464092,-0.003074],[-0.461755,0.880615,-0.106298],[-0.046625,0.095577,0.994330]]y:H@RX??4/i cݿ .?`6 >ߧw? ?ɫ:n@:t;:CJyBJ{I%Mb@Mb@Mb@! !)!I!i!%YY ]F٦]Ey];; e>  4YTj? 4yCB?:\? CH:/:@4uB)%ZMA!mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503343oy}FNOT Ignoring new targets: 207.82 m.o99o99 ProNav: ac range: 207.819321 m, nav range: 174.319962 m, bearing: 332.534472 deg, approach rate: -0.593400 m/s, LOS rate: 0.015761 deg/s, cmd heading: 333.235968 deg, new cmd heading: 333.257067 deg. zo-:HeadingCmd: 5.816433 target range: 207.819321 and range: 208.80 m.Ro8 @JoboZoBo:n2nmmAzBlkkkkO@9ɞmzBmn< imtIq u3=ɝqiqIu(I}+i}=i}Wv<)8 @)F1"F1*F12F5n0:F1iGu Vo<ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755788GQ 2Ba :Bq  O} >ď,d?AI)<6@Y6Ź@67=96f0=@BAHRS rotation from veh to nav: [[0.886444,0.462805,-0.005381],[-0.460657,0.881082,-0.107188],[-0.044865,0.097495,0.994224]]y6H]?? vg{ݿ1?p`i?`?ɫ6@6p;4JyBNIV>VR=IZ^IZ٥ K=  P=9풻Q > %F٦%Ey%T; -> )54Y-;dj?=4y--?B9= =?-%C-;-;-G4I)M MAI}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 207.82 m.o9o9 ProNav: ac range: 207.819321 m, nav range: 174.104721 m, bearing: 332.540106 deg, approach rate: -0.575688 m/s, LOS rate: 0.015088 deg/s, cmd heading: 333.257060 deg, new cmd heading: 333.273983 deg. zo%:HeadingCmd: 5.816728 target range: 207.819321 and range: 208.80 m.Ro"@JoboZoBo:n2nmmlkkk k  RH@ɞzB < cI %=ɝ!i!I-&Imuiu =iu]<)u"@)qԩF6"F*F 2F o0:F JHaBHe@AHm&>HiHmIImyBIichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008111IiIi&Im<*ImEjK:NrK9zKK>K!HVTL?0'   Gm c< GI 2By :B  O- >J vJ oJ J J {T:J K9J J J [u;J ^u;J :J :xď,?ABҲ@YBd͹@Bm0=9B=JAHRS rotation from veh to nav: [[0.887614,0.460518,-0.008008],[-0.458569,0.881964,-0.108878],[-0.043078,0.100314,0.994023]]yBH Vg?y??f/Yݿ 9?m߻@N`'? ?ɫBҲ@B*ߊ;@RyBRIrApzBDAT read: Rx Time:04:01:02.1291 zTRx dataTimestamp_ set to:1761364863.195469~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262045uMb@Mb@Mb@q q)qIqiquv/?Mb`Zd;O?ux ?uuj<)u~AIu@iu Aq quAINI٥= 3=9|Q > F٦ĢEy; > 4Yvj?4y ?:??DC::O4sB)LAFEoY]FNOT Ignoring new targets: 207.82 m.oe7oe7 ProNav: ac range: 207.819321 m, nav range: 173.858093 m, bearing: 332.540560 deg, approach rate: -0.535337 m/s, LOS rate: 0.000987 deg/s, cmd heading: 333.273972 deg, new cmd heading: 333.275336 deg. zoi-8HeadingCmd: 5.816752 target range: 207.819321 and range: 208.80 m.Ro"@JoboZoBo:n2nmmzBlkkkk  @1ɞzB< 靥UI =ɝiI*%I_i=iZ{<)"@)EiF"F*F2F:FQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511252ԁ G <G ?G ?G 2B :B  O >Fď,h?AN@YN߹@NL(=9N.=ZAHRS rotation from veh to nav: [[0.888708,0.458356,-0.010340],[-0.456615,0.882854,-0.109867],[-0.041229,0.102361,0.993893]]yNHLp?U?3-09ݿW@?@9 @ S4??ɫN@Nip;NC=yB=IIMVIMY٥m@< ma=9mQ m>qq uF٦uǢEy}; }> 4Yj?4yu%?]CK::U4)LAoFNOT Ignoring new targets: 207.82 m.o67o67 ProNav: ac range: 207.819321 m, nav range: 173.664581 m, bearing: 332.540780 deg, approach rate: -0.549519 m/s, LOS rate: 0.000625 deg/s, cmd heading: 333.275338 deg, new cmd heading: 333.275998 deg. zo7HeadingCmd: 5.816763 target range: 207.819321 and range: 208.80 m.Ro"@JoboZoBo:n2nmmlkk k k H @ɞ=zB=< AEKIA E=ɝAiAIE$IMiM=iMhi<)U"@)DAT read: Range 10 to 50 : 227.0 m (Round-trip 302.7 ms) speed 0.4 m/s *DAT read: user:269> -BDAT read: Tx time:04:01:03.2223 5$Ping request sent.5 Hm '>Hi Hm IIm yBIm =Ii Ii &Im ~<*Im E2I5C:I5CBI1JI1RI1ZI54 JDAT read: TxSync time:04:01:03.2215 ď,1A?AV@YV{@V!=9V~=~AHRS rotation from veh to nav: [[0.889931,0.455924,-0.012542],[-0.454398,0.883912,-0.110550],[-0.039316,0.104080,0.993792]]yVHOz?-?eݿI?@LJ! ?#?ɫV@V);VCUyB]IiaIaImbIm٥}@= }I=9bQ > F٦ɢEy]; > 4Y_j?4yyCu;;\4rB)9LAGEjKJMrK+9zKK?K)=BDB5/("*IOC5'  LQu{og]QE5 {xkU addTargetRange:: Added new target pos. range: 227.000000 m, deltaT: 3.782847 s, deltaX: 18.199997 m, approachRate: 4.811190 m/s, rangeRepo size: 4 oYeFNOT Ignoring new targets: 207.82 m.o@6o@6= ProNav: ac range: 207.819321 m, nav range: 173.446350 m, bearing: 332.540851 deg, approach rate: -0.504397 m/s, LOS rate: 0.000165 deg/s, cmd heading: 333.275993 deg, new cmd heading: 333.276207 deg. zoEB6uHeadingCmd: 5.816767 target range: 207.819321 and range: 227.00 m.Rou"@JoqboqZoqBoq:nq2nymymylykkk`l@k?JMwJMrJIJIJMW:JM9JIJIJMz;JMz;JM:JM:ɞzBXw< ;I Q=ɝiI"ISi=ir=)"@))F6"F*F2Fo0:F9 G P<G 2B :B  O >ď,&T?ADzyBzIMb@Mb@Mb@ )Ii~jt?)) 5F٦5̢Ey5 5> 9E4Y=j?M4y==ABM?M:MоM?=C=;=;==e4Y)]1LAYoFNOT Ignoring new targets: 207.82 m.omom ProNav: ac range: 207.819321 m, nav range: 173.199600 m, bearing: 332.535022 deg, approach rate: -0.549242 m/s, LOS rate: -0.012994 deg/s, cmd heading: 333.276212 deg, new cmd heading: 333.258700 deg. zoHeadingCmd: 5.816462 target range: 207.819321 and range: 227.00 m.Rot @JoboZoBo:n2nmm{Blkkkk'?ɞzB< :I 19=ɝiI!ImiV=iW=)t @)ԹFQ"FQ*FQ2FU/1:FQG = Gq 2By :B  O > ď, 5?A6%@Y6@6 =96!=BAHRS rotation from veh to nav: [[0.892484,0.450825,-0.015150],[-0.449752,0.886779,-0.106515],[-0.034584,0.101876,0.994196]]y6H9?R?`ܿ@`?D@?`s?ɫ6%@6;6CNyBNIIV-IV٥z$< ~e=|9   F٦ ϢEy7n< > !-4Y%>j?-4y%%CB)-ξ5?%C%l:%:%k4=eB)=KA=QE]B*** querying acoustic contact ***:pYBpYoimFNOT Ignoring new targets: 207.82 m.ouqouq ProNav: ac range: 207.819321 m, nav range: 173.010071 m, bearing: 332.530191 deg, approach rate: -0.517557 m/s, LOS rate: -0.013206 deg/s, cmd heading: 333.258699 deg, new cmd heading: 333.244191 deg. zoHeadingCmd: 5.816208 target range: 207.819321 and range: 227.00 m.Roa@JoboZoBo:n2nmmlkkkk?ɞzBH< 3I =ɝiI!Ii=ix=) a@) ZH<RHHHHIIzBI =II&I<*IEF"F*F2F05:F T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)YGG=jKZNrK9zKK@KO,*Ei|~~zx/_orndXH4"G 2B9 :Ba  O >J vJ J J J {T:J 9J J J [u;J ^u;J ;J ;ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507575:ď,N?A2l3@Y2E.@2=92=:AHRS rotation from veh to nav: [[0.893335,0.449068,-0.017042],[-0.448220,0.887630,-0.105887],[-0.032424,0.102231,0.994232]]y2H@3??rs࣯ܿvg? kә@+??ɫ2l3@2X;2CbyBbIy5Mb@Mb@Mb@1 1)1I1i15^I +?x&?57=5t<)5AI1i15A 15 A)mAA mAAIu Iuƴ٥= 0=9Q > F٦ҢEy{; > 4Yj?4yEB>:p?C;;s4)eKAIoquFNOT Ignoring new targets: 207.82 m.oӹoӹ ProNav: ac range: 207.819321 m, nav range: 172.788574 m, bearing: 332.519349 deg, approach rate: -0.470524 m/s, LOS rate: -0.023062 deg/s, cmd heading: 333.244192 deg, new cmd heading: 333.211623 deg. zo;}HeadingCmd: 5.815640 target range: 207.819321 and range: 227.00 m.Ro@JoboZoBo:n2nm m 9{Blkkkk?ɞezBe<ԩ a靭'I  =ɝiIs` I!bi=i!=)@)Fy"Fy*Fy2F}`5:Fy%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760021G ;= G 2B :B  O >2ď,h?A6sQ@Y6LL@65=96=BAHRS rotation from veh to nav: [[0.895002,0.445733,-0.017138],[-0.444958,0.889424,-0.104583],[-0.031373,0.101228,0.994368]]y6Hۣ??@/zܿ`)v?ź??ɫ6sQ@6;6CJyBJIIVaIV錴٥^ ^o=9^+IQ b?`` bF٦bԢEyfU/< f? lr4Ynj?v4ynnFBxz}?nCnrY ď,?A6f@Y6a@6D<96*=FAHRS rotation from veh to nav: [[0.896174,0.443358,-0.017466],[-0.442652,0.890653,-0.103907],[-0.030512,0.100850,0.994434]]y6H v?_?⑿gTܿ;?`j>Kѹ?f?ɫ6f@6ڊ;6CyB IIESIEQ٥}P >=9Q > F٦עEy; >  4Yj?4yնIB!-2-?9CjKf OrK9zKKAK ~|z{zz}}xxz|{yxupjhhcbeqslm}T}ncBK>:K>e?<=D4I)MKAQoFNOT Ignoring new targets: 207.82 m.oٹoٹ ProNav: ac range: 207.819321 m, nav range: 172.407928 m, bearing: 332.499979 deg, approach rate: -0.461638 m/s, LOS rate: -0.023724 deg/s, cmd heading: 333.186381 deg, new cmd heading: 333.153440 deg. zo@HeadingCmd: 5.814624 target range: 207.819321 and range: 227.00 m.Rog@JoboZoBo:n2nmmlkk k k  @ɞUzBU(ǘ< Y]@IY ]¦<ɝYiYIeI5i=ie:=)g@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516786F9"F9*FA2FE`4:FAԑG] ·3=Թ G1 2BA :BQ  O] >&ď,?Ab@YbZ~@b<9b=jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767760rAHRS rotation from veh to nav: [[0.897783,0.440083,-0.017685],[-0.439519,0.892596,-0.100475],[-0.028432,0.097978,0.994782]]ybH?Q*?@@!ܿ@%?`@<?B?ɫb@bW;bCzyBzIi|I|Mb@Mb@Mb@ )Iirh|?㥛 ?=t<)AIAi$AA  AILI٥x F=9Q > F٦٢EyE< E> IU4YM{j?]4yMI]>]:]]?MCM:M:M4mcB)mKAmREԁoFNOT Ignoring new targets: 207.82 m.oo- ProNav: ac range: 207.819321 m, nav range: 172.203003 m, bearing: 332.488311 deg, approach rate: -0.544473 m/s, LOS rate: -0.031037 deg/s, cmd heading: 333.153432 deg, new cmd heading: 333.118387 deg. zo-g-HeadingCmd: 5.814013 target range: 207.819321 and range: 227.00 m.Ro5d @Jo1bo1Zo1Bo1:n12n1m9m=a{Blakakakake @ɞzB(< 靽EI p<ɝiITI o7i =i đH=) d @)EԹF"F*F2F`0:FG= G=J}JhJ3JJ[j:JȆ9J(3J!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019601G ;=Gi 2By :B  O > ,ď,R?AJ@YJr@JT<9J=fAHRS rotation from veh to nav: [[0.897880,0.439840,-0.018766],[-0.439418,0.892785,-0.099233],[-0.026893,0.097346,0.994887]]yJHn?X&? r7nܿ఑? Yg້@??ɫJ@J ;JCnyBnIIznIzd٥ A  W=9 ؄Q  > F٦ܢEy9 > !-4Y%k?-4y%%JB)-䞾-?%1C%S:%:%페49)=KA9UB*** querying acoustic contact ***:pQBpQoamFNOT Ignoring new targets: 207.82 m.omom ProNav: ac range: 207.819321 m, nav range: 172.024658 m, bearing: 332.478125 deg, approach rate: -0.495366 m/s, LOS rate: -0.028323 deg/s, cmd heading: 333.118380 deg, new cmd heading: 333.087788 deg. zoHeadingCmd: 5.813478 target range: 207.819321 and range: 227.00 m.Ro@JoboZoBo:n2nmmlkkkk` @ɞzB4q< *ZI @<ɝiIIi}i=i96I=)@)JH1BH5AAH=&>H9H=II=9zBI9I9I9&I=<*I=EBDAT read: Rx Time:04:01:05.8992 TRx dataTimestamp_ set to:1761364866.977631checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272572)F"F*F2Fn0:FiAIA)% GQ A ) I  ) BG J= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524012G 2B :B  O >;3ď,,?A6@Y6DŽ@67<96=JAHRS rotation from veh to nav: [[0.898195,0.439181,-0.019125],[-0.438848,0.893275,-0.097323],[-0.025659,0.095808,0.995069]]y6H ??@y ܿ?`(긿BFކ??ɫ6@6;6CVyBVII^cI^#٥jw1 jN=9nKQ n>pp rF٦rޢEyv: v> |m4Y~k?m4y~|imm?~JC~?;~>;~䕘4aB)+LASEoFNOT Ignoring new targets: 207.82 m.o5o=Q ProNav: ac range: 207.819321 m, nav range: 171.829254 m, bearing: 332.466892 deg, approach rate: -0.429355 m/s, LOS rate: -0.024711 deg/s, cmd heading: 333.087781 deg, new cmd heading: 333.054043 deg. zoHeadingCmd: 5.812890 target range: 207.819321 and range: 227.00 m.Ro1@JoboZoBo:n2nmmlkkk k `O{ @ɞzBi< 靵oI Z<ɝiI7TIi)=iԒM=)1@)FY"FY*Fa2Feo0:FaԉEDAT read: 04:01:05.8992 LVL= 9200, 11761, 7618, 10291, AGC= 60, IDX= 132, 0.06, 0.677,-0.686, 0.715,-0.131, PHS= 0.895,-0.508, 0.843, RAW= 148.1, -17.5, CAL= 154.0, -25.0, ROT= 356.0, 25.0 MYgot valid direction response: 04:01:05.8992 LVL= 9200, 11761, 7618, 10291, AGC= 60, IDX= 132, 0.06, 0.677,-0.686, 0.715,-0.131, PHS= 0.895,-0.508, 0.843, RAW= 148.1, -17.5, CAL= 154.0, -25.0, ROT= 356.0, 25.0 UPDAT read: Bearing 356.0, 25.0 (Local) U~Local bearing/azimuth received: Bearing 356.0, 25.0 (Local) eDAT read: Range 10 to 50 : 204.4 m (Round-trip 272.6 ms) speed 0.4 m/s e*DAT read: user:270> mBDAT read: Tx time:04:01:07.0224 m$Ping request sent.u.1 )jt1?8DD?,CӿiX>>)f> ):publishing transmit ping timeiFpublishing direction and range infoyYFc?8>.1:ď, ?AI<)6䆳@Y6@6oS<96=JB{JBiJB2J@JBd:JBڈ9JBc3J@HbAHRS rotation from veh to nav: [[0.898057,0.439483,-0.018697],[-0.439193,0.893469,-0.093926],[-0.024573,0.092563,0.995404]]y6H?{ ?k%ܿL? )5?X?ɫ6䆳@6;6CjyBjIIAIE٥] F=9=,Q =>AA EF٦EEyMi M> Q}4YU'k?}4yU4UKBy?UeCU&;U;U'4)LAJp)Rp-?Ap-pKCp-pKCp-_@v-f@$$p/)8~Uv-YFc?8>.1v-=))V$d@9 UbVv-pDzX?@J|ڿQ:ܿjp-drp-"!CZp-OI2?bp-czp-p)p-cp)p--Cp-@-MaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 204.399994 m, deltaT: 3.781914 s, deltaX: -22.600006 m, approachRate: -5.975812 m/s, rangeRepo size: 4oI]JDAT read: TxSync time:04:01:07.0216 uFNOT Ignoring new targets: 207.82 m.o} o}  ProNav: ac range: 207.819321 m, nav range: 171.625473 m, bearing: 332.455168 deg, approach rate: -0.534818 m/s, LOS rate: -0.030805 deg/s, cmd heading: 333.054039 deg, new cmd heading: 333.018827 deg. zo HeadingCmd: 5.812275 target range: 207.819321 and range: 227.00 m.Ro(@JoboZoBo:n2nmmlkkǩi@k F]?ɞ=zBE%:< AMIi m<ɝiiqIu#Iu-i};B=i}N=)}(@)yԩF"F*F2F0:FH= '>H9 H= II= /zBI= =I9 I9 &I= <*I= E G% dO=G 2B :B  O- ><@ď,?A6]p@Y66k@6<96=BAHRS rotation from veh to nav: [[0.896906,0.441756,-0.020303],[-0.441691,0.892635,-0.090070],[-0.021666,0.089752,0.995728]]y6Hs? E?`aʔDܿ`v?`/??ɫ6]p@6\;6CJyBJIITIT٥^Κ ^P=9bQ b>`d fF٦fEyfj f>p x4Yz"7k? 4yzȾzLB   ?z~Cz5;z:z4`B)LATEoAEFNOT Ignoring new targets: 207.82 m.oMooMo ProNav: ac range: 207.819321 m, nav range: 171.433380 m, bearing: 332.444267 deg, approach rate: -0.517192 m/s, LOS rate: -0.029383 deg/s, cmd heading: 333.018823 deg, new cmd heading: 332.986083 deg. zo=R}HeadingCmd: 5.811704 target range: 207.819321 and range: 227.00 m.Ro}z@JoboZoBo:n2nmmlkk k9k=N?jKNrK 9zKKCK?Zy~vseXQOONKF@;9840/,)%#"!  = JJɞzBfAA< I <ɝiI}(IfiZ=i7E=)z@) F"F*F2F0:F9G% L=a G 2B :B  O! Gď,?AZm@YZh@Z;|<9Z==fAHRS rotation from veh to nav: [[0.896784,0.441950,-0.021406],[-0.441978,0.892468,-0.090313],[-0.020810,0.090452,0.995683]]yZH@u? H?o땿^Iܿ?"O'?`?ɫZm@ZK;ZCn}yBnnI1m@ q@ u@ i@ IIʴ٥5 55=95Q =>99 =F٦=EyEv4 E> IU4YMIk?U4yMMMBU+:Q]:]2]?MCM ;M>MX4a)eMAaoFNOT Ignoring new targets: 207.82 m.oIoI ProNav: ac range: 207.819321 m, nav range: 171.213531 m, bearing: 332.431784 deg, approach rate: -0.490737 m/s, LOS rate: -0.027899 deg/s, cmd heading: 332.986093 deg, new cmd heading: 332.948597 deg. zo,HeadingCmd: 5.811049 target range: 207.819321 and range: 227.00 m.Ro@JoboZoBo:n2nmmlkkkk`$4?ɞzB<  I <ɝ i I ʈIѻiq=iFH=)@)iF"F*F2F`5:FJc3J3J(.JsJjJJJK:J9JJԑGG=Ga 2Bi :B  O >Թ AMď,7?A6!c@Y6]@6<96l=BAHRS rotation from veh to nav: [[0.896238,0.442974,-0.023061],[-0.443162,0.891954,-0.089580],[-0.019112,0.090505,0.995713]]y6H? Y?@]\ܿ?$`V+??ɫ6!c@6s;6CR`yBR\IiTITIZ#IZô٥b be=9f Q f>dd fF٦jEyjo j> pv4YrGWk?v4yrrNBz :xz:zݠz?rCr:rzN?rr4_B)yMAB*** querying acoustic contact ***:pBpo)-FNOT Ignoring new targets: 207.82 m.o5ao5aE ProNav: ac range: 207.819321 m, nav range: 171.038010 m, bearing: 332.421875 deg, approach rate: -0.491898 m/s, LOS rate: -0.027800 deg/s, cmd heading: 332.948609 deg, new cmd heading: 332.918850 deg. zoEMHeadingCmd: 5.810530 target range: 207.819321 and range: 227.00 m.RoM@JoIboIZoIBoQ:nQ2nQmQԙmlkkkk=;?ɞEzBM$ͼ; IMoII MC<ɝQiQIU.I}i}=i}E=)}@)EY>E%>ZH<RH<H#>HCHIIzBI =II&I<*IE2I:IBIJIRI› =ZI5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F"F*F2F4:FGG2B) :BQ  O >jK NrK 9zK K DK xop~zoca][WQMJGC@;941310.*'0PjeIB63`J R=J p=  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749567)Tď,XsQ?Aj^@YjY@j<9jn=AHRS rotation from veh to nav: [[0.896010,0.443438,-0.023002],[-0.443619,0.891734,-0.089507],[-0.019179,0.090403,0.995721]]yjH@?Ga? 󍗿Bdܿ?鶿 $?`?ɫj^@j;jCRyBSImm qq uu ii Mb@Mb@Mb@ )IiK7?+?{Gz ?=#)hAI?Ai(A  AIYI٥ Q  7=9 09Q > F٦Eyj > 4Yjk?4yJBT: ?%:%ž%?C#<<4a)eMAioFNOT Ignoring new targets: 207.82 m.o o  ProNav: ac range: 207.819321 m, nav range: 170.786713 m, bearing: 332.413809 deg, approach rate: -0.509844 m/s, LOS rate: -0.016389 deg/s, cmd heading: 332.918856 deg, new cmd heading: 332.894623 deg. zo3%HeadingCmd: 5.810107 target range: 207.819321 and range: 227.00 m.Ro%f@Jo!bo!ZoIBoI:nQ2nQmYm]zBlakakakk'?!ɞzB ; 靍ҴI <ɝiIIE7i=iVE=)f@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003022F]6"FY*FY2F]_5:FaQG= 4|E=y G 2B! :B9  OE >KZď,s.k?A:R@Y:M@:O<9:=BAHRS rotation from veh to nav: [[0.895357,0.444703,-0.023976],[-0.444970,0.891075,-0.089368],[-0.018378,0.090685,0.995710]]y:Hæ?v?`*@bzܿ?඿ђ 7?`?ɫ:R@:;8JEyBJLIIRgIR٥b  bc=9bQ f>JjrJjiJhJhJjG:Jjڈ9JhJhpp rF٦rEyvU v? x~4YzGyk?~4yzZzHB|`ƾ?zCz:zy:z4 ^B) MA UEoFNOT Ignoring new targets: 207.82 m.oꟹoꟹ ProNav: ac range: 207.819321 m, nav range: 170.604340 m, bearing: 332.408033 deg, approach rate: -0.551226 m/s, LOS rate: -0.017476 deg/s, cmd heading: 332.894623 deg, new cmd heading: 332.877277 deg. zo?HeadingCmd: 5.809804 target range: 207.819321 and range: 227.00 m.Ro@JoboZoBo:n2nm m l k kkk @Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253691aɞzB_ 靕pI 8<ɝiIWI^i=i@=)@)F56"F1*F12F5`0:F1ԑH$>HHIIyBIII&I<*IEG] SE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506370G1 2Ba :Bq  O > <+aď,?AI&<)&pp rF٦rEyv) v> x~4Yz,k?~4yzzDBƾ?zCz1;z>;zØ4 ) ,NA oIeFNOT Ignoring new targets: 207.82 m.omom} ProNav: ac range: 207.819321 m, nav range: 170.388672 m, bearing: 332.401264 deg, approach rate: -0.555104 m/s, LOS rate: -0.017444 deg/s, cmd heading: 332.877274 deg, new cmd heading: 332.856942 deg. zo}?HeadingCmd: 5.809450 target range: 207.819321 and range: 227.00 m.Ro@JoboZoBo:n2nmmlkkkk-@ɞ}zB: 靵ȾI <ɝijK[/OrKzKKEKi C | s O  G   x 7D V . d~LN%"6'xW5  pIIyi%=i|?=)@) Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758362F6"F*F2Fo0:F1 G ?=G 2B :B  O >Y [gď,۞?A^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009570yB1IMb@Mb@Mb@ )Ii|?5^? rh?Mb ?C<)~AIAi AA IfI{٥tI ;=9Q > F٦Ey > 4Yk?4y*AB ?:_ܾ?#C2 ;]$;5˘4\B){NAVEoFNOT Ignoring new targets: 207.82 m.o&o&!m ProNav: ac range: 207.819321 m, nav range: 170.147141 m, bearing: 332.397090 deg, approach rate: -0.526450 m/s, LOS rate: -0.009112 deg/s, cmd heading: 332.856948 deg, new cmd heading: 332.844406 deg. zomȹmHeadingCmd: 5.809231 target range: 207.819321 and range: 227.00 m.Rou8@JoqboqZoqBoq:nq2nqmym}zBlkkkk#@ɞzBڲ: 靭վI g<ɝiII#i.=iE@=)8@)YF6"F*F2Fn0:FJoJjJJJ>:J9JJBDAT read: Rx Time:04:01:09.6972 TRx dataTimestamp_ set to:1761364870.761672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266570y G #@=G 2B :B  O >mď,^?A4:A+@Y:&@:um<9:0<=BAHRS rotation from veh to nav: [[0.893263,0.448747,-0.026585],[-0.449300,0.889327,-0.085012],[-0.014506,0.087883,0.996025]]y:H?`E?.9Sܿ`^u?Sõ`*y?`p?ɫ:A+@:ۉ;8RyBR,IIZQIZ٥b@ b^=9bQ b>dd fF٦fEyj' j> hU4YjLk?U4yjlj>BY]O޾]?j>CjÌHCHIIyBI =II&IL<*IDEԑF"F*F2F0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518823ԹGe?=G2B :B9  O > jKe &PrKe 9zKa Ke FKe b]SDM X |wslgfda_]YXWTTNJ>,   DAT read: Range 10 to 50 : 203.0 m (Round-trip 270.7 ms) speed 0.3 m/s  *DAT read: user:271>  BDAT read: Tx time:04:01:10.7724  $Ping request sent.  F٦Ey > 4Y k? 4yrzď,W?A6]@Y66 @6x=<96#=BAHRS rotation from veh to nav: [[0.891818,0.451416,-0.029750],[-0.452247,0.887910,-0.084191],[-0.011590,0.088537,0.996005]]y6Hʼn?`?@vܿi? Ld?F?ɫ6]@6Xd;6CFxBFIIv Ivƴ٥~  ~=9<Q ?  F٦ Ey .  ? -4Y1k?-4y:B)55?yC]y;z;ߘ49)=NA9oaeFNOT Ignoring new targets: 207.82 m.om<om< ProNav: ac range: 207.819321 m, nav range: 169.482559 m, bearing: 332.389579 deg, approach rate: -0.560979 m/s, LOS rate: -0.004788 deg/s, cmd heading: 332.826294 deg, new cmd heading: 332.821843 deg. zoIRHeadingCmd: 5.808837 target range: 207.819321 and range: 203.00 m.Ro@JoboZoBo:n2nmmlkkkk`]?ɞzB  I t/<ɝiIRIi=iZ(=)@)F]6"FY*FY2F]o5:FYIGu d6=yGI2BY:Bi O}>H">HCHwIIyBIII&I~<*IEԡ |ď,`=?A6y@Y6R@6&<96v;=BAHRS rotation from veh to nav: [[0.889953,0.454916,-0.032175],[-0.455939,0.885942,-0.085002],[-0.010163,0.090318,0.995861]]y6H@~z?X? By .ݿY?µЄ ?@?ɫ6y@6;6CJxBJI)MG evAy)ImXIm㔴I vAB٥N <=9WQ > F٦EyS > 4Yk?4y9B  ?CV;Y;{45MB)=NA9oFNOT Ignoring new targets: 207.82 m.JJfJJJJ9JJJO;!jK-NrK-+9zK)K-GK-  0ZvU9'"&'%*141,&#^8  xFJO;!MJ:!MJ:!Moe^oe^u ProNav: ac range: 207.819321 m, nav range: 169.237396 m, bearing: 332.387827 deg, approach rate: -0.516756 m/s, LOS rate: -0.003698 deg/s, cmd heading: 332.821840 deg, new cmd heading: 332.816576 deg. zouq"}HeadingCmd: 5.808745 target range: 207.819321 and range: 203.00 m.Ro}=@JoyboyԡZoyBo:n2nmmlkkkk?ɞMzBM6 IMIQ U-<ɝQiQIUI}i=isR=)=@)FQ"FQ*FQ2FU0:FQ G5 #'=G= ?G= >G 2B :B1  O] >ď,0 ?A2-@Y2߹@2W<92n=>AHRS rotation from veh to nav: [[0.889398,0.455834,-0.034452],[-0.457067,0.885450,-0.084066],[-0.007814,0.090515,0.995864]]y2Hu?b,?@@ݿ@U?`V@+? ?ɫ2-@2];2CFxBF I%Mb@Mb@Mb@! !)!I!i!%m?Mb?Mb`?%?%<%;)!I%Ai% A%? A !%\ AI=&I=3٥MN MS=9UǻQ U>YY ]F٦]EyeT e>  4Yk? 4yD8B?:?C::4LB)NA%aEoAMFNOT Ignoring new targets: 207.82 m.oUǣoUǣm ProNav: ac range: 207.819321 m, nav range: 169.010635 m, bearing: 332.386197 deg, approach rate: -0.621723 m/s, LOS rate: -0.004475 deg/s, cmd heading: 332.816567 deg, new cmd heading: 332.811671 deg. zomDuHeadingCmd: 5.808660 target range: 207.819321 and range: 203.00 m.Rou@JoqboqZoqBoq:nq2nqmym}~zBlykkkk@?ɞzBDB 靵I l<ɝiICIif=i=)@)FY"FY*FY2F]5:FYG5;=G2B:B OL>!I '΍ď,O9?A62@Y6 ܹ@6^;96=NAHRS rotation from veh to nav: [[0.889236,0.456093,-0.035190],[-0.457393,0.885299,-0.083885],[-0.007106,0.090689,0.995854]]y6H`t?0?\@Eݿ_T?zy;}@c7? ?ɫ62@6);6CVxBVII^dI^@٥jF jT=9jiQ n>ll rF٦rEyrZw r> tz4Yv0l?z4yvtx~~?vCv,;v.;v4 )  OA %B*** querying acoustic contact ***:p!Bp!o15FNOT Ignoring new targets: 207.82 m.o=/o=/U ProNav: ac range: 207.819321 m, nav range: 168.807007 m, bearing: 332.384755 deg, approach rate: -0.555530 m/s, LOS rate: -0.003939 deg/s, cmd heading: 332.811677 deg, new cmd heading: 332.807345 deg. zo]-eHeadingCmd: 5.808584 target range: 207.819321 and range: 203.00 m.Roe߹@JoaboaZoaBoa:ni2nimimilqkqkqkqk}7?ɞzB% I h<ɝiInIi=i/M=)߹@)ZH=<RH9HM#>HMCHMkIIMxyBIIIIII&IMf<*IMhEqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Fi"Fi*Fi2Fma0:FiԡGy=GGrAGq 2B :B J pJ lJ J J A:J 9J J J T;J T;J 2:J 3: O >jK OrK 9zK K HK lYH6%  &7HQTOZbWF@GTY^rBK ?:K ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013648! Ӷď,S?ARe@YR>@R ;9R:=jAHRS rotation from veh to nav: [[0.889471,0.455624,-0.035334],[-0.456937,0.885503,-0.084214],[-0.007082,0.091051,0.995821]]yRH v?(?@A`v>ݿ V?} O? ?ɫRe@RLΈ;RCvxBv IMb@Mb@Mb@ )Ii(\?MbPMbP??:)AIVAi  AIhI٥p< 9=9gQ > F٦Eya: > 4Y l?4y  7B?:? C ?; ; 4%KB)%NA%bEoIMFNOT Ignoring new targets: 207.82 m.oUoUe ProNav: ac range: 207.819321 m, nav range: 168.562317 m, bearing: 332.384300 deg, approach rate: -0.556213 m/s, LOS rate: -0.001035 deg/s, cmd heading: 332.807333 deg, new cmd heading: 332.805967 deg. zoe5mHeadingCmd: 5.808560 target range: 207.819321 and range: 203.00 m.Rom߹@JoiboiZoqBoq:nq2nymmzBlkkkk@ɞmzBu3 qu2Iq uR<ɝqiqI}Ii=iu=)߹@)F"F*F2F`0:FG Gp=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265179GM -=a G! 2B) :BA  OM >F暸ď,Am?A2@Y2d@2;92b=BAHRS rotation from veh to nav: [[0.889537,0.455453,-0.035868],[-0.456814,0.885551,-0.084385],[-0.006671,0.091448,0.995788]]y2Hw?"&? >]p<ݿnV?`>R{'i?}?ɫ2@2;2CNxBNIIVfIV{٥^‡ ^`=9^Q ^>`` bF٦bEyfJ9 f> hn4Yj#l?n4yj hlnn?jCj:j :j4t)v=OAto%FNOT Ignoring new targets: 207.82 m.o%՚o%՚= ProNav: ac range: 207.819321 m, nav range: 168.359528 m, bearing: 332.383913 deg, approach rate: -0.552971 m/s, LOS rate: -0.001058 deg/s, cmd heading: 332.805967 deg, new cmd heading: 332.804804 deg. zo=9EHeadingCmd: 5.808539 target range: 207.819321 and range: 203.00 m.RoE߹@JoAboAZoABoA:nA2nImQmQlQkQkQkYk]@ɞ zB̲N I D<ɝiIIi%=i%=)%߹@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517447)!IF"F*F2Fo0:FiH5%>H1H5^II5cyBI1I1I1&I5u<*I5E2I:IBIJIȚ =RIȚ =ZI?:5GM2=G! 2B1 :BA  OU >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769159Vȡď,z?A2i@Y2B߹@2;92=>AHRS rotation from veh to nav: [[0.889421,0.455647,-0.036287],[-0.457047,0.885451,-0.084168],[-0.006221,0.091446,0.995791]]\\ bF٦b Eyb) b> dj4Yfe4l?j4yff6Bln n?f%Cf^;f{;f 4rJB)r,OAtoFNOT Ignoring new targets: 207.82 m.o%o%5 ProNav: ac range: 207.819321 m, nav range: 168.136536 m, bearing: 332.383506 deg, approach rate: -0.555011 m/s, LOS rate: -0.001015 deg/s, cmd heading: 332.804792 deg, new cmd heading: 332.803569 deg. zo5R25HeadingCmd: 5.808518 target range: 207.819321 and range: 203.00 m.Ro=a߹@Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkIkM'@ɞ=zB=( AEIA EV<ɝAiAIEIMiM=iM=)Ma߹@)Q JJJvJhJJJ{T:JȆ9JJJ\u;J^u;Jݬ:Jެ:F56"F9*F92F9:FAQjKNrKͼ9zKKIK|l\OE:3+"!2I_t~ytpg^RJ@82-$ 2K*KsAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022268AGm=GI 2BQ :Ba  Ou >a ď,6V?A6k@Y6D@6;96=BAHRS rotation from veh to nav: [[0.889814,0.454789,-0.037377],[-0.456287,0.885736,-0.085282],[-0.005680,0.092940,0.995655]]y6H[y? E?` #3ݿW?յzCwʷ?h?ɫ6k@6;6CFxBFIRBDAT read: Rx Time:04:01:13.4452 VTRx dataTimestamp_ set to:1761364874.541868Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.27427995Mb@Mb@Mb@1 1)1I1i15 rh?{Gzt?~jth5C ?5ף;5D)1I1i5 A5 A 11IePIe٥mI u?=9uQ u>QY ]F٦] Eyea: e> iu4Ym!Gl?u4ymm5B}E ?}:}}?mECm;mG;m4)_OAoFNOT Ignoring new targets: 207.82 m.obqobq ProNav: ac range: 207.819321 m, nav range: 167.887970 m, bearing: 332.381992 deg, approach rate: -0.540580 m/s, LOS rate: -0.003297 deg/s, cmd heading: 332.803563 deg, new cmd heading: 332.799014 deg. zo HeadingCmd: 5.808439 target range: 207.819321 and range: 203.00 m.Ro ޹@Jo)bo)Zo)Bo1:n12n1m1m=tzBl9k9k9k9kEp @ɞzB"- 靵I e<ɝiI Ii=iq=)޹@)iFE6"FA*FA2FA:FAԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525232Ge =GA 2BI :B  O >=ď,.?AI)F:@YF@F;9F=RAHRS rotation from veh to nav: [[0.890029,0.454276,-0.038489],[-0.455875,0.885847,-0.086331],[-0.005123,0.094383,0.995523]]yFH@{?? ɴ`-ݿX?t )?R?ɫF:@F;FCZxB^IIf[If:٥n^ؼ nT=9ntQ r>pp rF٦rEyvO: v> x~4YzUl?~4yzz4Bh?z]Cz;z;zK4 HB) OA cE-B*** querying acoustic contact ***:p)Bp)ԙoFNOT Ignoring new targets: 207.82 m.ororJHBH@AH$>HHRIIOyBI =II&I}<*IE ProNav: ac range: 207.819321 m, nav range: 167.694519 m, bearing: 332.380779 deg, approach rate: -0.528322 m/s, LOS rate: -0.003315 deg/s, cmd heading: 332.799028 deg, new cmd heading: 332.795386 deg. zo HeadingCmd: 5.808375 target range: 207.819321 and range: 203.00 m.Ro 6޹@Jo boZoBo:n12n9mAmAlAkAkIkIkM7 @ɞzB x { I  <ɝiI IQi$=i c=) 6޹@)DAT read: 04:01:13.4453 LVL= 24000, 31457, 22002, 32499, AGC= 65, IDX= 427,-0.36,-0.692,-1.956,-0.666,-1.039, PHS= 0.434,-0.870, 0.369, RAW= 147.5, 1.1, CAL= 150.7, -7.8, ROT= 359.3, 7.8 Ygot valid direction response: 04:01:13.4453 LVL= 24000, 31457, 22002, 32499, AGC= 65, IDX= 427,-0.36,-0.692,-1.956,-0.666,-1.039, PHS= 0.434,-0.870, 0.369, RAW= 147.5, 1.1, CAL= 150.7, -7.8, ROT= 359.3, 7.8 PDAT read: Bearing 359.3, 7.8 (Local) ~Local bearing/azimuth received: Bearing 359.3, 7.8 (Local) %DAT read: Range 10 to 50 : 201.4 m (Round-trip 268.6 ms) speed 0.7 m/s -*DAT read: user:272> =BDAT read: Tx time:04:01:14.5725 =$Ping request sent.ER^> S$@)nF )Òylpc?DoS?{ ?i n>BsD+H'g > ):publishing transmit ping time9Fpublishing direction and range infoyF0?f㘑Ɉ M _Y )Ii )Ii )Òylpc?DoS?{ ?i )F%6"Fy*F2F0:FGu ;=J pJ iJ J J A:J ڈ9J J J T;J T;J r:J s:Gy 2B 1 jKE ;NrKE 9zKA KE JKE DA=[Mwtg^{3b;wkcft{|xupke؅ A؅ A JDAT read: TxSync time:04:01:14.5717 :B  O >ď,J ?AZ@YZ@Z1;9Z-a=zAHRS rotation from veh to nav: [[0.890344,0.453598,-0.039191],[-0.455266,0.886154,-0.086400],[-0.004461,0.094769,0.995489]]yZH}? ?#ݿ^[?U6Fr B? ?ɫZ@Z@;ZCExBEIMb@Mb@Mb@ )IiQ?~jth?~jt\?D;D)$AIi? A IZI٥ /=9Q > F٦Ey-: 5> 1=4Y5il?E4y551BEe?E:E=E?5C5<:5:5 4)OAJpRpv?AptHCptHCpj@vLMh@>Ki[6m4;vF0?f㘑Ɉ M _pD+Hp'g >v7#f@ XVJPQ2<vЀlF8?Wl^ ܿҝ|¿jpjrp0CZpNU?bp/C/zpBpOI2?ppp1Cp@)= addTargetRange:: Added new target pos. range: 201.399994 m, deltaT: 3.783430 s, deltaX: -1.600006 m, approachRate: -0.422898 m/s, rangeRepo size: 4 m Added new target pos. range: 200.454453 m, bearing: 332.964681 deg, lat: 36.779427 deg, lon: -121.859797 deg, deltaT: 15.131456 s, deltaX: -7.364868 m, approachRate: -0.486726 m/s, posRepo size: 4 oiFNOT Ignoring new targets: 200.45 m.oo ProNav: ac range: 200.454453 m, nav range: 177.607925 m, bearing: 332.339770 deg, approach rate: 0.000000 m/s, LOS rate: -0.003315 deg/s, cmd heading: 332.795394 deg, new cmd heading: 332.790218 deg. zoHeadingCmd: 5.808285 target range: 200.454453 and range: 201.40 m.Royݹ@JoboZoBo:n2nmm\zBlkkk,i@k`?ɞEzBE/ IM4II M'C<ɝQiyI} I&i =if!=)yݹ@)F56"F1*F12F5o0:F1ay Gq G} sAG} sAGI 2BY :Bi  O} >ď,N?A6@Y6@6#3;96%j=>AHRS rotation from veh to nav: [[0.890395,0.453843,-0.034963],[-0.455180,0.887288,-0.074378],[-0.002733,0.082141,0.996617]]y6H~? ?桿 !ݿd?u @wdf -?@I?ɫ6@6#;6CFxBFIIRdIR@٥VE Z\=9ZQ Z>\\ ^F٦^Ey^z9 b> `j4Yb$yl?j4ybb.BlnRn?bCb6;b7;b&4rGB)rOAvdEoFNOT Ignoring new targets: 200.45 m.o%o%)= ProNav: ac range: 200.454453 m, nav range: 177.405533 m, bearing: 332.338639 deg, approach rate: -0.657512 m/s, LOS rate: -0.003677 deg/s, cmd heading: 332.790230 deg, new cmd heading: 332.786834 deg. zo=!EHeadingCmd: 5.808226 target range: 200.454453 and range: 201.40 m.RoEܹ@JoAboAZoABoA:nA2nImmlkkkk $?ɞ=zBE0 AE Ii mT<ɝiiiIm Iu-iu =iux!=)uܹ@)yF6"F*F2FK5:FYH%>HHEII;yBI =II&Ic<*IeEԑG%N!=G2B :B  O- >Ա ¸ď, ?A:@Y:@:P;9:>=BAHRS rotation from veh to nav: [[0.891027,0.452577,-0.035277],[-0.453945,0.887942,-0.074120],[-0.002221,0.082057,0.996625]]y:H K? ?n ݿj?)1b?Z?ɫ:@:s;:CJxBHIR>IR٥Z`> ZK=9bvQ b>dd fF٦fEyj`; j> lr4Yn7l?r4yn*n,Btvv?nCn;n;n .4z:B)zOAzmEԙoFNOT Ignoring new targets: 200.45 m.oooo ProNav: ac range: 200.454453 m, nav range: 177.178986 m, bearing: 332.337269 deg, approach rate: -0.539335 m/s, LOS rate: -0.003266 deg/s, cmd heading: 332.786842 deg, new cmd heading: 332.782727 deg. zosHeadingCmd: 5.808154 target range: 200.454453 and range: 201.40 m.Rofܹ@JoboZoBo:n!2n!mYmal k kkk H?jK=iOrK=9zK9K=KK=e`[URPPctjYG7/6HU`ghegfa_^\Z]q] K@znwzɞzBNhn 靽I {˹<ɝiIy IO7i=ig'=)fܹ@)F6"F*F2F/1:FGFG G! GY 2Bi :B  O >ȸď,$?A6t@Y6M@6;m:96z=BAHRS rotation from veh to nav: [[0.891385,0.451726,-0.037102],[-0.453247,0.888228,-0.074957],[-0.000905,0.083632,0.996496]]y6H 9?? @ݿ\l?c0xMh? L?ɫ6t@6ț;6CJvxBJImMb@Mb@Mb@i i)iIiiimm?{Gz~jtm?m#m)iImAiimV A im AI#Iô٥w ==9GQ > F٦Ey: > 4Y1l?4y'B?:?C<;;549B)OAnEoFNOT Ignoring new targets: 200.45 m.o 7o 7 ProNav: ac range: 200.454453 m, nav range: 176.937775 m, bearing: 332.337474 deg, approach rate: -0.579993 m/s, LOS rate: 0.000494 deg/s, cmd heading: 332.782717 deg, new cmd heading: 332.783333 deg. zo%75HeadingCmd: 5.808165 target range: 200.454453 and range: 201.40 m.Ro5}ܹ@Jo1bo1Zo9Bo9:n92n9mAmE8zBlAkAkAkIkM`?ɞzB,˼ I VI<ɝiI/ I%5i%=i-)=)-}ܹ@)QF"F*F2F/5:FG ?G?!JqJmJ3JJD:J&9J(3J!@!@!@!@G2B:B OF>Qy θď,>?AZH*<RH*<H.$>H,H.2II.yBI. =I,I,&I.\<*I.[EF@YFi@F H99FfX=NAHRS rotation from veh to nav: [[0.892715,0.448989,-0.038329],[-0.450621,0.889389,-0.076988],[-0.000477,0.086000,0.996295]]yFH?:?ӟ@ܿu?`u@I? ? ?ɫF@Fa;FCjxBjIIrdIr@٥~zO= ~T=9)Q >   F٦ Ey ; > 4Y-l?4y#B!%%?C:6:T<41)5OA1MB*** querying acoustic contact ***:pIBpIoY]FNOT Ignoring new targets: 200.45 m.oeoe ProNav: ac range: 200.454453 m, nav range: 176.723648 m, bearing: 332.337446 deg, approach rate: -0.557526 m/s, LOS rate: -0.000072 deg/s, cmd heading: 332.783345 deg, new cmd heading: 332.783262 deg. zoyJ-HeadingCmd: 5.808164 target range: 200.454453 and range: 201.40 m.Ro-zܹ@Jo)bo)Zo1Bo1:n12n1m1m9l9k9k9k9kE@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞ I Vw<ɝiII%6i%@(=i%44=)-zܹ@))iU'>IULC)׉G `wA)I-5`wA5 BFE6"FA*FA2FM`0:FIqG2B:B Ob>ԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256438jK uOrK h9zK K LK j[OB;64JAb5 XZ.R~tlkpwyurlcaqvmmop1 ոď,X?AJ+@YJ&@Jޚ9J =VAHRS rotation from veh to nav: [[0.893390,0.447492,-0.040057],[-0.449281,0.889847,-0.079490],[0.000074,0.089013,0.996031]]yJH@??fܿ`y?sY[?ɶ?`{?ɫJ+@J;HnxBnIr=r4<Mb@Mb@Mb@ )IibX9?Mb/$E?)Ii A A  AInId٥ <=9ŦQ > F٦Eyb; >  4Y׾l? 4y B?:\? D7 ; ;C48B)OAoEoaeFNOT Ignoring new targets: 200.45 m.ou8ou8Ա5 ProNav: ac range: 200.454453 m, nav range: 176.469040 m, bearing: 332.340276 deg, approach rate: -0.583187 m/s, LOS rate: 0.006491 deg/s, cmd heading: 332.783263 deg, new cmd heading: 332.791764 deg. zo=9mHeadingCmd: 5.808312 target range: 200.454453 and range: 201.40 m.Romݹ@JoqboqZoqBoy:ny2nmAmE1zBlAkIkIkIkM`@ɞzBZ 靽I ޭ<ɝiII"i 9=i ?8=) ݹ@) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506239F6"F*F2F3:FG2B:B O> J rJ fJ 2J J G:J 9J c3J 1 _ ܸď,5|r?A6g.@Y6@)@6Z96M=>AHRS rotation from veh to nav: [[0.893530,0.447018,-0.042184],[-0.449003,0.889750,-0.082102],[0.000832,0.092301,0.995731]]y6H˗??yܿx?`[BK? ??ɫ6g.@6';6CbxBbIIn^In٥v < v\=9zQ z>xx zF٦z"Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758343y Z:  > 4Yl?4yB>?D; ;iJ4))-OA)oFNOT Ignoring new targets: 200.45 m.o8o8 ProNav: ac range: 200.454453 m, nav range: 176.250290 m, bearing: 332.342682 deg, approach rate: -0.574372 m/s, LOS rate: 0.006325 deg/s, cmd heading: 332.791760 deg, new cmd heading: 332.798987 deg. zo9HeadingCmd: 5.808438 target range: 200.454453 and range: 201.40 m.Ro޹@JoboZoBo:n2nmml!k!k!k!k%{@ɞE̼ 靝I  <ɝiInuIi8F=i,8=)޹@)EEF"F*F2Fo0:F9Hm">HmCHm&IImyBIm =IiIi&Iml<*ImoEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010899GK'=GrAGq G 2B :B  O >ď,U?A >+@Y>m&@>9>:=FAHRS rotation from veh to nav: [[0.893373,0.447198,-0.043564],[-0.449311,0.889569,-0.082383],[0.001912,0.093172,0.995648]]y>H?@?Nܿ`Yw?`S_?%ڷ?Y?ɫ>+@>;>CNxBNIIZeIZ]٥b< bM=9fv1Q f>dd jF٦j$Eyjc j> lr4Ynl?r4ynnBtvRv?n&Dn:nd:nZQ4z7B)zqOAxo%FNOT Ignoring new targets: 200.45 m.o58o58E ProNav: ac range: 200.454453 m, nav range: 176.016891 m, bearing: 332.345279 deg, approach rate: -0.605832 m/s, LOS rate: 0.006750 deg/s, cmd heading: 332.799000 deg, new cmd heading: 332.806801 deg. zoE;9MHeadingCmd: 5.808575 target range: 200.454453 and range: 201.40 m.RoM߹@JoIboIZoIBoI:nQ2nQmQmQlakikqkyk ؊ @ɞzB 靽 I S<ɝiI|I1iS=i O6=)߹@)qBDAT read: Rx Time:04:01:17.2423 TRx dataTimestamp_ set to:1761364878.326885%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264389F)"F)*F)2F):F)jK]HOrK]9zKYK]MK]}osyiXhRztulr`:,&%#!!ԙGU;=G) 2B1 :BI  OU >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514584ď,=?A\xBIiII=)=Mb@Mb@Mb@ )Ii㥛 ?{Gz rh?#C)AI?Ail A  AIcI#٥>| =9Q > F٦(Ey > 4Yl?4yB?:?9DH::Z45B)OApEo FNOT Ignoring new targets: 200.45 m.oU*9o%U*9- ProNav: ac range: 200.454453 m, nav range: 175.705170 m, bearing: 332.350234 deg, approach rate: -0.584534 m/s, LOS rate: 0.009307 deg/s, cmd heading: 332.806814 deg, new cmd heading: 332.821704 deg. zo5f95HeadingCmd: 5.808835 target range: 200.454453 and range: 201.40 m.Ro5@Jo9bo9Zo9Bo9:nA2nAmAmEzBlIkIkIkIkM` @JpJhJJJA:JȆ9JJɞzBhz !I <ɝiIIi h=i 5=) @) MDAT read: 04:01:17.2423 LVL= 24048, 27297, 17106, 20723, AGC= 63, IDX= 413,-0.32, 1.927, 0.527, 1.982, 0.920, PHS= 1.095,-0.346, 1.058, RAW= 148.7, -24.2, CAL= 153.2, -30.7, ROT= 356.8, 30.7 UYgot valid direction response: 04:01:17.2423 LVL= 24048, 27297, 17106, 20723, AGC= 63, IDX= 413,-0.32, 1.927, 0.527, 1.982, 0.920, PHS= 1.095,-0.346, 1.058, RAW= 148.7, -24.2, CAL= 153.2, -30.7, ROT= 356.8, 30.7 ]PDAT read: Bearing 356.8, 30.7 (Local) ]~Local bearing/azimuth received: Bearing 356.8, 30.7 (Local) mDAT read: Range 10 to 50 : 199.2 m (Round-trip 265.7 ms) speed -0.5 m/s u*DAT read: user:273> }BDAT read: Tx time:04:01:18.3725 }$Ping request sent.}+ SF@>+ ? )&'?9x ?# 7ڿiF?>d>+ ? ):publishing transmit ping timeyFpublishing direction and range infoԱy+6x?kA^V࿹Y )Ii )Ii )&'?9x ?# 7ڿi )Fa "Fi *Fi 2Fm `0:Fi JHQ BHU ?AH] #>HY HY IY IY IY IY &I] N<*I] DE2I:IBIJIRIZI̦5G d6=G ?G B? GI2BQ:Bi Ou>ď,?A.JDAT read: TxSync time:04:01:18.3717 uxBuIIpI<٥Q\= I=9Q > F٦*Ey > 4Ym?4yB B?ID;:a4).OAJp!Rp% ?Ap%CFCp%CFCp%R$@v% \Fe@fQa#<9NYv%+6x?kA^Vp%dp%>+ ?v%.c@-&S*UYv%qKd?FZDdؿiZ[jp%5rp%7CZp%"?bp%hzp%p%"?p%hp%p%g*Cp%c$@ addTargetRange:: Added new target pos. range: 199.199997 m, deltaT: 3.780602 s, deltaX: -2.199997 m, approachRate: -0.581917 m/s, rangeRepo size: 4  Added new target pos. range: 198.263931 m, bearing: 333.285735 deg, lat: 36.779398 deg, lon: -121.859743 deg, deltaT: 3.780602 s, deltaX: -2.190521 m, approachRate: -0.579411 m/s, posRepo size: 4 o=FNOT Ignoring new targets: 198.26 m.o=oAM ProNav: ac range: 198.263931 m, nav range: 170.405640 m, bearing: 333.286199 deg, approach rate: 0.000000 m/s, LOS rate: 0.009307 deg/s, cmd heading: 332.821704 deg, new cmd heading: 332.833952 deg. zoIuHeadingCmd: 5.809048 target range: 198.263931 and range: 199.20 m.Rou@JoyboyZoyBoy:ny2nymmlkkk`fh@km?ɞqu> y}yIy }귝<ɝyiI(Iiw=i? 5=)@)jKvď,?A6+@Y6@651ǻ96C=HRAHRS rotation from veh to nav: [[0.890854,0.452044,-0.045106],[-0.454248,0.887701,-0.075129],[0.006079,0.087419,0.996153]]y6H?K?@hݿ h?;x?a?|?ɫ6+@68*;6C^xB^IUMb@Mb@Mb@Q Q)QIQiQUOn?l~jthU?UUD)U$AIQiU AUV A QU AIm>Im٥}= }6=9}Q }> F٦-EybJ > 4Yfm?4y ?:i?ZD::i44B)NAqEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 198.26 m.o9o9 ProNav: ac range: 198.263931 m, nav range: 170.138123 m, bearing: 333.292208 deg, approach rate: -0.640535 m/s, LOS rate: 0.014412 deg/s, cmd heading: 332.833943 deg, new cmd heading: 332.852001 deg. zo@:HeadingCmd: 5.809363 target range: 198.263931 and range: 199.20 m.RoN@JoboZoBo:n2nmmkzBlkkkk ?ɞǒ  I )<ɝiIbIϘi 0{=i gC=) N@) F6"F*F2Fo0:FJ3J;3J;S}-J5rJ5iJ1J1J5G:J5ڈ9J1J1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G 2B :B  O > ď,?A6F@Y6@696Lz=>AHRS rotation from veh to nav: [[0.890517,0.452500,-0.047157],[-0.454884,0.887363,-0.075285],[0.007778,0.088494,0.996046]]y6H??$ݿFe?E`(???ɫ6F@6i;6CFxBF IIRAIRE٥Z= ZY=9ZQ ^>\` bF٦b/Eyb b> dj4Yf+m?j4yf f Blnn?fhDf ;f ;f7p4p)rQ JY JY ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505707ď,[?AjK}LrK]9zKKOK  Y]xB]IMb@Mb@Mb@ )Ii㥛 ?~jtMbp??ļ;)AIi A Q AI =I Ь٥-= 54=9=Q E>II MF٦U2Ey] ]> am4YeR?m?m4yeMe Bm?u:uu?eyDe;e;e/x4}%B)}MA{EoAmFNOT Ignoring new targets: 198.26 m.ou*9ou*9 ProNav: ac range: 198.263931 m, nav range: 169.646881 m, bearing: 333.301625 deg, approach rate: -0.577650 m/s, LOS rate: 0.009331 deg/s, cmd heading: 332.867384 deg, new cmd heading: 332.880288 deg. zo9HeadingCmd: 5.809857 target range: 198.263931 and range: 199.20 m.RoY@JoboZoBo:n2nmmzBlkkkk?ԉɞzBzU 9I Ò<ɝiI#IXi=i=)Y@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756842F"F*F2Fo0:F G G=G 2B :B1  OE >3 ď,,+3?A:@Y:@:9:B=FAHRS rotation from veh to nav: [[0.890333,0.452637,-0.049259],[-0.455244,0.886820,-0.079399],[0.007745,0.093117,0.995625]]y:H}??z8"ݿ``?@S?~ַ? )?ɫ:@:ji;:CJyBN+IIV`IV̍٥Zg= ^S=9^8Q ^>`` bF٦b5Edyf^ f> hn4YjOm?n4yj4j Bprr?jDj)ieN=ieT=)e@)iF"F*F2F0:FZHiRHm<Hu$>HqHuKIIuEyBIqIqIq&Iu0<*IuE!= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259239G= }=G 2B! :B1  OE >Q ď,wL?A>t@Y>M@>[9> =FAHRS rotation from veh to nav: [[0.890527,0.452175,-0.049988],[-0.454865,0.886862,-0.081079],[0.007671,0.094941,0.995453]]y>H`3?n?ݿ`,a?@kk?N??ɫ>t@>̀;dd fF٦f7EyfNJ: f> hn4Yj`m?r4yj;jBtvv?jDjQ;jR;j兙4~$B)~kLA~|Eo!%FNOT Ignoring new targets: 198.26 m.o--=9o--=9= ProNav: ac range: 198.263931 m, nav range: 169.188766 m, bearing: 333.309077 deg, approach rate: -0.636500 m/s, LOS rate: 0.010337 deg/s, cmd heading: 332.891262 deg, new cmd heading: 332.902670 deg. 9zoE9MHeadingCmd: 5.810248 target range: 198.263931 and range: 199.20 m.RoM@JoIboIZoIBoI:nI2nQmQmQlQkYkYkYk]@ T@ɞzBTl 靕پI  <ɝiISI$iQ=i=)@)EEsAF%6"F!*F!2F%`5:F)J=qJ=nJ=3J9J=D:J=99J=(3J9J=]Z;!MJ=_Z;!MJ=\:!UJ=]:!UqعؽAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516033jKLrK9zKKPK +=a8&XztnxygZJ8+hX9uf]VNIKYdhnomjGu=ԩGq2By:B O> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763345?ď,f?A6q@Y6J@64963=VAHRS rotation from veh to nav: [[0.890526,0.452093,-0.050743],[-0.454866,0.886743,-0.082369],[0.007758,0.096434,0.995309]]y6H0? ? ݿ1`?@* ?@߯??ɫ6q@6;6CbDyBbKI]Mb@Mb@Mb@Y Y)YIYiY]m?{Gzt?=9SQ > Fԉ٦:Ey^ > 4Y sm?4yB?:?D ;7 ;m4#B)LAB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 198.26 m.o5o5 ProNav: ac range: 198.263931 m, nav range: 168.948761 m, bearing: 333.309123 deg, approach rate: -0.556553 m/s, LOS rate: 0.000107 deg/s, cmd heading: 332.902682 deg, new cmd heading: 332.902820 deg. zo6HeadingCmd: 5.810250 target range: 198.263931 and range: 199.20 m.Ro@JoboZoBo:n2nmm{Blkkkk_@ɞ-zB- 15xξI1 5<ɝ1i1I527I=$i==i==)E@)aF6"F*F2F:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015834G] r=G9 2BI :BY  Om > # ď,S?AH#>HHqIIyBIII&I<*IEJV@YJ0@JB9Jh=ZAHRS rotation from veh to nav: [[0.890574,0.451910,-0.051520],[-0.454767,0.886698,-0.083392],[0.007997,0.097696,0.995184]]yJH?`?``ݿ_?-Y`???ɫJV@J;JCbbyBb]IIjjIj٥E= MO=9MQ M>IQ UF٦U=EyU9 ]> Ye4Y]m?m4y]]Bimm?]D]:]-:]T4y)}KAyoFNOT Ignoring new targets: 198.26 m.o 5o 5 ProNav: ac range: 198.263931 m, nav range: 168.728806 m, bearing: 333.309160 deg, approach rate: -0.558892 m/s, LOS rate: 0.000094 deg/s, cmd heading: 332.902819 deg, new cmd heading: 332.902930 deg. zo6HeadingCmd: 5.810252 target range: 198.263931 and range: 199.20 m.Ro@JoboZoBo:n2nmmlkkkk- @ɞzBL, $I K<ɝiII%K$i%=i%Q6=)%@)1BDAT read: Rx Time:04:01:21.0682 %TRx dataTimestamp_ set to:1761364882.111044-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270039F"F*F) ))AImim B2F_0:F!QG=JQ JU fJU 2JQ JQ JU 9JU c3JQ JQ JQ G JU :JU :2B9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522505:B  Oe >ԁ jK5 rOrK5 9zK1 K5 QK5 nytf\QF=6.'!"$$" !"#%#KL&ď,rj?A22@Y2 @2f92=:AHRS rotation from veh to nav: [[0.890898,0.451198,-0.052165],[-0.454129,0.886938,-0.084306],[0.008228,0.098797,0.995074]]y2H F٦?Ey: > 4Y~m?4yB ?:Ǿ?D;;4!B),KA}Eo FNOT Ignoring new targets: 198.26 m.o yaoy ProNav: ac range: 198.263931 m, nav range: 168.512787 m, bearing: 333.303482 deg, approach rate: -0.518227 m/s, LOS rate: -0.013638 deg/s, cmd heading: 332.902928 deg, new cmd heading: 332.885874 deg. zoHeadingCmd: 5.809955 target range: 198.263931 and range: 199.20 m.Ro%&@Jo!bo)Zo)BoQ:nY2nYmimY{Blkkkk @ɞezBehȻ 靍I <ɝiI9IEKi=i =)&@)ԁ]DAT read: 04:01:21.0682 LVL= 14992, 19185, 12354, 15779, AGC= 64, IDX= 182,-0.32,-3.063, 2.091,-2.907, 2.314, PHS= 0.994,-0.176, 1.059, RAW= 152.7, -28.9, CAL= 155.9, -34.8, ROT= 354.1, 34.8 eYgot valid direction response: 04:01:21.0682 LVL= 14992, 19185, 12354, 15779, AGC= 64, IDX= 182,-0.32,-3.063, 2.091,-2.907, 2.314, PHS= 0.994,-0.176, 1.059, RAW= 152.7, -28.9, CAL= 155.9, -34.8, ROT= 354.1, 34.8 mPDAT read: Bearing 354.1, 34.8 (Local) m~Local bearing/azimuth received: Bearing 354.1, 34.8 (Local) Fy"Fy*Fy2F}4:FyDAT read: Range 10 to 50 : 218.7 m (Round-trip 291.6 ms) speed 0.3 m/s *DAT read: user:274> BDAT read: Tx time:04:01:22.1725 $Ping request sent.Qx,ď,M?Af9@Yf@f59fWV=AHRS rotation from veh to nav: [[0.890677,0.451657,-0.051962],[-0.454561,0.886777,-0.083675],[0.008286,0.098148,0.995137]]yfH m??Śݿ`y`?kY?2 ?`*?ɫf9@f|;fCyB%vII5CI5٥e!3= eK=9mQ u>}JDAT read: TxSync time:04:01:22.1717  F٦BEy机 > 4Y=m?4y%B>Ǿ?D::4)JAJpQRpUM?ApUYCpUYCpU$߸@vUqr9f@."_2 PW_vU频8#?X ICpU)ҽpU|?vURb@yc@fXU^vU _X?~ٿ9J8jpUorpUCZpU'zl*?bpUHzpUGvpUOI2?pUcpQpU\-CpU@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 218.699997 m, deltaT: 3.785145 s, deltaX: 19.500000 m, approachRate: 5.151718 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 198.26 m.Աo-uo-u ProNav: ac range: 198.263931 m, nav range: 168.298645 m, bearing: 333.297872 deg, approach rate: -0.510733 m/s, LOS rate: -0.013397 deg/s, cmd heading: 332.885880 deg, new cmd heading: 332.869029 deg. zoHeadingCmd: 5.809660 target range: 198.263931 and range: 199.20 m.Ro @Jo bo Zo Bo :n2nmmlkkk`fVk@k%?ɞ 靕zI h<ɝiIB<Iqi"=i=)@)FA"FA*FA2FE`0:FAJH!BH%AAH-$>H)H-II-yBI)I)I)&I-*<*I- E G C"=Gy 2B :B  O >1 H^3ď, ?A6@Y6@6Lp96=BAHRS rotation from veh to nav: [[0.890549,0.451807,-0.052857],[-0.454800,0.886629,-0.083944],[0.008938,0.098795,0.995068]]y6H_?f?`rݿB_?Z}M?J??ɫ6@6ߪ;6CFyBJIIRYIR٥V0= ZW=9ZQ Z>\\ ^F٦^DEybn< b> dj4Yfm?n4yf!f,BQUfǾU?fDf#ԉ 9ď,/?A0:@Y:@:f9:eY=NAHRS rotation from veh to nav: [[0.890376,0.452501,-0.049743],[-0.455139,0.887023,-0.077713],[0.008958,0.091834,0.995734]]y:H}??w` ݿ}b?峿|X?p? ?ɫ:@:$;:CZyBZIIb=)`MMb@Mb@Mb@I I)IIIiIM`"?333333?~jt?M>M=M<)MAIMlAiIM~ A IM AIe)Ie٥u_< u?=9uDQ }>yy }F٦}GEyMh > 4YPm?4y#2B>:R?D ;m ;4)JAB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 198.26 m.oo ProNav: ac range: 198.263931 m, nav range: 167.895172 m, bearing: 333.282535 deg, approach rate: -0.500879 m/s, LOS rate: -0.024683 deg/s, cmd heading: 332.853614 deg, new cmd heading: 332.822948 deg. zoHeadingCmd: 5.808856 target range: 198.263931 and range: 199.20 m.Ro'@JoboZoBo:n2nmm{Bl k k k k =?ɞȱ _I T~<ɝiIyI3i=i-x =)'@)ԉF"F*F2F:FԹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G =G 2B :B  O > H% &>H! H% II% zBI! I! I! &I% \<*I% ZE2I:IBIJIRIZI:4^p@ď,M?A6@Y6s @6I 96"=BAHRS rotation from veh to nav: [[0.891850,0.449511,-0.050439],[-0.452230,0.888452,-0.078368],[0.009586,0.092703,0.995648]]y6H@?`?+өWܿ2n?`?[?X?ɫ6@65t;6CJyBJIIV%IV´٥ZN; ^W=\9b׺Q b>`d fF٦fIEyfB < f> h=4Yj8m?=4yj:%j8BAEE?jDjgFď,ٲ?AjK".NrK"ػ9zK K"SK"!%$!$:FA5,%$'#'PmrnaL<."    R:*@Y:%@:ܷ9:9=FAHRS rotation from veh to nav: [[0.893307,0.446673,-0.049862],[-0.449358,0.889827,-0.079284],[0.008955,0.093231,0.995604]]y:H`?I?Gܿuy?K`V?޷?`?ɫ:*@:;/;:CJyBJIuMb@Mb@Mb@q q)qIqiqu(\?ʡE?u-=ut<)udAIuVAiu Au A qup AIpI<٥ ϻ ==9Q:Q > F٦LEyM; > 4Ym?4y&=BA>:0?D;?;ܾ4)JAoFNOT Ignoring new targets: 198.26 m.o  o  = ProNav: ac range: 198.263931 m, nav range: 167.510056 m, bearing: 333.260530 deg, approach rate: -0.485781 m/s, LOS rate: -0.030773 deg/s, cmd heading: 332.795039 deg, new cmd heading: 332.756880 deg. zo=MHeadingCmd: 5.807703 target range: 198.263931 and range: 199.20 m.RoMع@JoIboQZoQBoY:nY2nYmYme{BlakakakakmZ?ɞ15(A׻ 15I1 ={v<ɝ9i9I=IEgriE=iE];=)Eع@)IQF%6"F!*F!2F-0:F)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004341qGM 31=G! 2B1 :BA  OM >ԡ {Lď,5?AI)N}B@YNV=@NѠ9Nk=VAHRS rotation from veh to nav: [[0.894600,0.444188,-0.048875],[-0.446797,0.891043,-0.080094],[0.007973,0.093489,0.995588]]yNH?m?`Sܿ l?`T?`? ?ɫN}B@NH7;NCbyBb|IInfIn{٥vG vV=9zw(;Q z>x| ~F٦~OEy~; >  4Y`m?4y (AB?D::ř4%B)%JA%EoIMFNOT Ignoring new targets: 198.26 m.oU echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254309oU u ProNav: ac range: 198.263931 m, nav range: 167.332428 m, bearing: 333.249087 deg, approach rate: -0.464538 m/s, LOS rate: -0.029958 deg/s, cmd heading: 332.756872 deg, new cmd heading: 332.722506 deg. yzo{HeadingCmd: 5.807103 target range: 198.263931 and range: 199.20 m.Roӹ@JoboZoBo:n2nmmlkkkkY3@ɞzB` I !r<ɝiIIi=iF=)ӹ@)F "F *F2Fj5:FԩZHRHp<H%>HHII$zBI =II&Ii<*InEGM==GUrAGUsA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506060G9 2BA :Ba  Om > jSď,bhO?A:-Q@Y:L@:9:=BAHRS rotation from veh to nav: [[0.895404,0.442656,-0.048024],[-0.445195,0.891816,-0.080410],[0.007235,0.093380,0.995604]]y:H '?@{T?`~ܿ`? C}? ??ɫ:-Q@:С;:CJyBJpIIR`IR̍٥^NM bN=9b:Q b>dd fF٦fQEyf; j> hn4Yjn?r4yji)jEBprЎr?jDj;j;j~̙4t)zJAxo%FNOT Ignoring new targets: 198.26 m.o- o- M ProNav: ac range: 198.263931 m, nav range: 167.147705 m, bearing: 333.237043 deg, approach rate: -0.464163 m/s, LOS rate: -0.030297 deg/s, cmd heading: 332.722502 deg, new cmd heading: 332.686330 deg. zoMWUHeadingCmd: 5.806472 target range: 198.263931 and range: 199.20 m.RoUι@JoQboYZoaBoa:na2namimilqkqkqkk@ɞuzB  靕%I m<ɝiIТIi=i;N=)ι@)JJa=F"F*F2FP5:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764138jKMrK 9zKKTK|sp1GG=Gi 2Bq :B  O >Y M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015481Yď,+Ni?AUtyBUhIMb@Mb@Mb@ )Iim?ˡE?~jtx>=Ļ);AIAi Al A  AIYI٥%ۼ -5=9-Q ->111 =F٦=TEy= => AM4YEn?U4yE+EFBUF>U:U֒]?E(DE0;E.;Ebԙ4eB)eKAeE}B*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 198.26 m.o?o? ProNav: ac range: 198.263931 m, nav range: 166.937561 m, bearing: 333.223894 deg, approach rate: -0.464872 m/s, LOS rate: -0.029124 deg/s, cmd heading: 332.686329 deg, new cmd heading: 332.646834 deg. zo柺HeadingCmd: 5.805782 target range: 198.263931 and range: 199.20 m.Roȹ@JoboZoBo:n2nmmj{Blkkkki @ɞn# !%ƶI! - h<ɝ)i)I-={I5%ni5=i5 O=)5ȹ@)9F"F*F2F4:FYJoJjJJJ>:J9JJ! @! @! @! @BDAT read: Rx Time:04:01:24.8373 TRx dataTimestamp_ set to:1761364885.894017checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267228ԉGdO=G 2B :B  O >Ա H H H I I I I &I <*I E`ď, ?A @2]@Y2W@2M˻92=>AHRS rotation from veh to nav: [[0.896053,0.441538,-0.046183],[-0.443903,0.892562,-0.079264],[0.006223,0.091526,0.995783]]y2H`w?`*B?M hܿ@ޏ?@J^}y?9n?t?ɫ2]@2{;2CayB\II-MI-٥=M =[=9=1;Q E>AA EF٦EWEyMO~; M> Q]4YU"n?]4yUN,UGBaee?U3DU2;U`;Uڙ4i)m_KAioFNOT Ignoring new targets: 198.26 m.oo ProNav: ac range: 198.263931 m, nav range: 166.764252 m, bearing: 333.212936 deg, approach rate: -0.464862 m/s, LOS rate: -0.029423 deg/s, cmd heading: 332.646824 deg, new cmd heading: 332.613915 deg. zoHeadingCmd: 5.805208 target range: 198.263931 and range: 199.20 m.RoCĹ@JoboZoBo:n2nmmlkkkk @ɞzB ]  I  Rd<ɝiI Ii=i8W=)CĹ@)!ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519055F"F*F2F`0:FGG ?G>G2B:B O> J J  DAT read: 04:01:24.8374 LVL= 20976, 29281, 19186, 26899, AGC= 68, IDX= 411,-0.21, 1.021,-0.176, 1.113, 0.169, PHS= 0.940,-0.297, 0.941, RAW= 150.0, -24.3, CAL= 154.4, -30.9, ROT= 355.6, 30.9  Ygot valid direction response: 04:01:24.8374 LVL= 20976, 29281, 19186, 26899, AGC= 68, IDX= 411,-0.21, 1.021,-0.176, 1.113, 0.169, PHS= 0.940,-0.297, 0.941, RAW= 150.0, -24.3, CAL= 154.4, -30.9, ROT= 355.6, 30.9  PDAT read: Bearing 355.6, 30.9 (Local)  ~Local bearing/azimuth received: Bearing 355.6, 30.9 (Local)   DAT read: Range 10 to 50 : 195.4 m (Round-trip 260.6 ms) speed 0.8 m/s - *DAT read: user:275> 5 BDAT read: Tx time:04:01:25.9226 5 $Ping request sent.= iF ? )>:publishing transmit ping timejK^ )OrK\zK\K^UK^~~}}yrlf]D$ 4>>:75/'" +.+&"  aFpublishing direction and range infoy?)`?9ڰt^n࿹(yB:IY )Ii )Ii ) a-q=-C)-QAI-VAi)- A ))IjI٥ؽ =9Q >!! %F٦%ZEy- -> 1=4Y56n?=4y5.5EB=>=:=άe?5DD5[;5;5+4mB)m6LAiJpRp?Ap{BCp{BCp@v\)Ngd@L3 )pXv?)`?9ڰt^npiFp ?v||b@3RWSy7XvBs5\?Fn`vٿbjprp CJDAT read: TxSync time:04:01:25.9218 !Zp?bp:5!zp3ppp3p+CpJ@ addTargetRange:: Added new target pos. range: 195.399994 m, deltaT: 7.570144 s, deltaX: -3.800003 m, approachRate: -0.501972 m/s, rangeRepo size: 4  Added new target pos. range: 194.483429 m, bearing: 332.408738 deg, lat: 36.779427 deg, lon: -121.859797 deg, deltaT: 7.570144 s, deltaX: -3.780502 m, approachRate: -0.499396 m/s, posRepo size: 4 oFNOT Ignoring new targets: 194.48 m.oo ProNav: ac range: 194.483429 m, nav range: 171.570938 m, bearing: 332.250386 deg, approach rate: 0.000000 m/s, LOS rate: -0.029423 deg/s, cmd heading: 332.613902 deg, new cmd heading: 332.564193 deg. zoHeadingCmd: 5.804340 target range: 194.483429 and range: 195.40 m.Ro(@JoboZoBo:n2nmm{Blkk k lh@k a/?ɞ]zBe@ aeݾIa eR\<ɝaiiImI)+i>=iAoY=)(@)F) "F) *F) 2F- T5:F) Y J% qJ% hJ! J! J% D:J% Ȇ9J! J! q G -tY=G 2B :B  O >mď,j?A:Z@Y:U@:19:%=BAHRS rotation from veh to nav: [[0.895933,0.441921,-0.044819],[-0.444151,0.892597,-0.077460],[0.005774,0.089306,0.995988]]y:H|?pH?|`lܿ`(?pԳ0w? ܶ?@!?ɫ:Z@:H;:CJ yBJ)IIRTIRn٥^ ^=9^D:Q b ?`` bF٦f\Eyff f? hn4Yj4Cn?n4yj/jCBprr?jNDj:jW:j4t)vLAxoFNOT Ignoring new targets: 194.48 m.oUoU5 ProNav: ac range: 194.483429 m, nav range: 171.418671 m, bearing: 332.242877 deg, approach rate: -0.547551 m/s, LOS rate: -0.027029 deg/s, cmd heading: 332.564206 deg, new cmd heading: 332.541656 deg. zo=fEHeadingCmd: 5.803947 target range: 194.483429 and range: 195.40 m.RoEﹹ@JoboZoBo:n2nmmlkkkkL0?ɞMzBM}μ Y}&Iy W<ɝiII^iU=i3Y=)ﹹ@)JHBH?AH&>HHIIzBI =II&I<*IEFq"Fq*Fq2Fun0:FyGyFyG GiI)5rG MvA)I{vAB1G 2B! :B1  OE >I Mtď,?AI):8@Y:3@:b9:L=BAHRS rotation from veh to nav: [[0.894071,0.445658,-0.045008],[-0.447868,0.891037,-0.073938],[0.007153,0.086263,0.996247]]y:H ;??@H ݩܿ`?1L}?`[?@?ɫ:8@:뀉;:CJxBJIIVeIV]٥b^ bK=9b`Q f>dd fF٦f^Eyj{) j> lr4YnRn?r4yn1nBBpv$v?n[Dn9:n:n4z B)zLAzEo%FNOT Ignoring new targets: 194.48 m.o%ֹo-ֹ= ProNav: ac range: 194.483429 m, nav range: 171.222244 m, bearing: 332.233454 deg, approach rate: -0.488200 m/s, LOS rate: -0.023447 deg/s, cmd heading: 332.541666 deg, new cmd heading: 332.513365 deg. zo=EHeadingCmd: 5.803453 target range: 194.483429 and range: 195.40 m.RoE㵹@JoAboAZoABoI:nI2nImImQlQkQkQkQke?9ɞ]zB] amIi /eQ<ɝiICI}io=iTK=)㵹@)Fy"F*F2Fo0:FajKNrKػ9zKKVK     *-)# G2B!:B9 OEQ>ԉԹ {zď,Y?A2]3@Y27.@2b92~:=>AHRS rotation from veh to nav: [[0.893771,0.446163,-0.045955],[-0.448446,0.890816,-0.073097],[0.008324,0.085940,0.996266]]y2Hř?@?`dXܿ?@v@N ?)?@h?ɫ2]3@2x;2CFxBFI]Mb@Mb@Mb@Y Y)YIYiY]S㥛?/$?Q]?]<])] AI]lAi]h A]h A Y]( AIm(Imm٥}}ؽ ?=93Q > F٦aEyƺ > 4Y)dn?4y4H +>H H II yBI =I I D&I <*I E ȁď,{?A2 @Y2h@2\92=4=>AHRS rotation from veh to nav: [[0.892733,0.448215,-0.046174],[-0.450494,0.889926,-0.071317],[0.009126,0.084468,0.996384]]y2H D??@ܿFz?A??`a?ɫ2 @2{;0zxBzIIYI٥ R=9%hQ %>!! -F٦-dEy-$ -> 1=4Y5sn?E4y5B658BAE)ؾE?5vD55;5A;54M B)UpMAUEechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.713201oFNOT Ignoring new targets: 194.48 m.oIoI ProNav: ac range: 194.483429 m, nav range: 170.797073 m, bearing: 332.224358 deg, approach rate: -0.522446 m/s, LOS rate: -0.010984 deg/s, cmd heading: 332.498800 deg, new cmd heading: 332.486056 deg. zo8HeadingCmd: 5.802977 target range: 194.483429 and range: 195.40 m.Ro@JoboZoBo:n2nmmlkkkk؁?ɞ%zB%lڼ !% I! -/C<ɝ)i)I-:I5i5~=i50D=)5@)9F"F*F2F0:FG2B:B O&>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968009ԁ jK ;MrK 9zK K WK   !#Uď,T!?A2@Y2@2 92e׬=>AHRS rotation from veh to nav: [[0.892263,0.449213,-0.045550],[-0.451438,0.889439,-0.071424],[0.008429,0.084292,0.996405]]y2Hj?`?MR[ܿIv?HCC? *??ɫ2@2;0rxBrIIv=)vR=Mb@Mb@Mb@ )Iim?YY ]F٦]gEye e> iu4Ym n?u4ymZ9m1Bu?}:}}?mDm ;mm ;m4)NAoFNOT Ignoring new targets: 194.48 m.o}8o}8 ProNav: ac range: 194.483429 m, nav range: 170.549835 m, bearing: 332.225255 deg, approach rate: -0.562227 m/s, LOS rate: 0.002042 deg/s, cmd heading: 332.486068 deg, new cmd heading: 332.488762 deg. zob8HeadingCmd: 5.803024 target range: 194.483429 and range: 195.40 m.Ro_@JoboZoBo:n2nmmlzBlkkkk?@ɞ-zB5j 15;I1 5o:<ɝ9i9I=I=iE#=iE2A=)E_@)AIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.217718F"F*F2F0:FyGM gW=ԩ G! 2B) :BA  OM >J pJ iJ J J A:J ڈ9J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469183ď,#2;?A F٦iEy > 4Yn?4y<+B?D";r;j 4 B)rNAEo  FNOT Ignoring new targets: 194.48 m.o8o8% ProNav: ac range: 194.483429 m, nav range: 170.335892 m, bearing: 332.226033 deg, approach rate: -0.557181 m/s, LOS rate: 0.002029 deg/s, cmd heading: 332.488773 deg, new cmd heading: 332.491110 deg. zo%785HeadingCmd: 5.803065 target range: 194.483429 and range: 195.40 m.Ro5@Jo1bo9Zo9Bo9:n92n9mAmAlAkAkAkIkM`Z@ɞzB :I '3<ɝiINIUi=i .B=) @)ZHRH4<H)>HHkIIxyBI =II&Iט<*IE2Ia:IaBIaJIeÙ =RIeÙ =ZIeE5F"F*F2F65:FGK@=GA2BI:Ba OmV>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721360! ď, U?A>@Y>@> 9>Y=JAHRS rotation from veh to nav: [[0.890152,0.453465,-0.044698],[-0.455585,0.887520,-0.068924],[0.008416,0.081717,0.996620]]y>H |? ? ⦿N(ݿ f?`I@>d̉;>CRexBRIInWInƕ٥v 1 vW=9z?8Q z>xx zF٦~kE|y$I > 4Y n?4y > %B!%%? D N; \C;  4))-NA)oY]FNOT Ignoring new targets: 194.48 m.oeBV8oeBV8u ProNav: ac range: 194.483429 m, nav range: 170.124573 m, bearing: 332.227146 deg, approach rate: -0.555049 m/s, LOS rate: 0.002927 deg/s, cmd heading: 332.491123 deg, new cmd heading: 332.494466 deg. zou9}HeadingCmd: 5.803123 target range: 194.483429 and range: 195.40 m.Ro}/@JoyboZoBo:n2nmmlkkkk@P@ɞ^ !I @+<ɝiIrIil=iC0=)/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974579Fa"Fa*Fa2Fm4:Fi1jKy MrK9zKKXK!).-)*)&$ "/AIHC:1.+/NefYK=0! AYO=.  YG@=Gi2By:B O> BDAT read: Rx Time:04:01:28.5842  TRx dataTimestamp_ set to:1761364889.673690 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226121ԑ .ď,On?A2ܲ@Y2ֹ@2~ 92 /=NAHRS rotation from veh to nav: [[0.888939,0.455811,-0.044995],[-0.457945,0.886334,-0.068547],[0.008636,0.081539,0.996633]]y2H/r?,? Nݿ \?@HƯ?ߴ?@j?ɫ2ܲ@2,v;2CVOxBVIYMb@Mb@Mb@ )IiA`"?y&1?L`)dAIVAi A A  AII٥P >=9Q > F٦nEyʻ > 4Yn?4yBB B?:?DC ;i ;4B)OAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 194.48 m.ol9o%l9- ProNav: ac range: 194.483429 m, nav range: 169.868011 m, bearing: 332.233238 deg, approach rate: -0.599355 m/s, LOS rate: 0.014253 deg/s, cmd heading: 332.494456 deg, new cmd heading: 332.512759 deg. zo5:=HeadingCmd: 5.803442 target range: 194.483429 and range: 195.40 m.Ro=͵@Jo9bo9Zo9Bo9:n92nAmAmEyBlAkIkIkIkMD @ɞ}zB 靅O'I X!"<ɝiII٠i=iQ'=)͵@)FI"FI*FI2FM`0:FQԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.477238ԱG.=H '>H H 9II &yBI =I I D&I <*I EG 2B :B)  O5 > ď,?ANX@YN2@NN9NZ=VAHRS rotation from veh to nav: [[0.886025,0.461242,-0.047065],[-0.463545,0.883301,-0.070046],[0.009264,0.083879,0.996433]]yNH@QZ?`? ݿC? 8?@y?@?ɫNX@Nz;NCbHxBbIIrVIr٥v zX=9z@ٺQ z>x| ~F٦~qEyR > 4Y 4n?4y rE B? D :uDAT read: 04:01:28.5842 LVL= 16608, 27553, 14546, 23843, AGC= 64, IDX= 409, 0.08,-0.670,-2.152,-0.784,-1.122, PHS= 0.53, 0.334, RAW= 142.9, 1.5, CAL= 146.7, -7.2, ROT= 3.3, 7.2 !unknown deviceResponse_: 04:01:28.5842 LVL= 16608, 27553, 14546, 23843, AGC= 64, IDX= 409, 0.08,-0.670,-2.152,-0.784,-1.122, PHS= 0.53, 0.334, RAW= 142.9, 1.5, CAL= 146.7, -7.2, ROT= 3.3, 7.2 PDAT read: Bearing 3.3, 7.2 (Local) ~Local bearing/azimuth received: Bearing 3.3, 7.2 (Local) DAT read: Range 10 to 50 : 193.1 m (Round-trip 257.5 ms) speed 0.3 m/s *DAT read: user:276> BDAT read: Tx time:04:01:29.6726 $Ping request sent.A jK= 2NrK= 9Aď,?AzKiKmYKm3HE<0#   $mt`PF:0*'%)6=@<;;984-'#!2KsA*KVt@YVN@V(9V=~AHRS rotation from veh to nav: [[0.884319,0.464302,-0.049024],[-0.466770,0.881526,-0.070982],[0.010259,0.085654,0.996272]]yVHWL??`ݿ u5?+@?f? v?ɫVt@V:O;T RxB IMb@Mb@Mb@ )Ii+?T㥛 rhv?C)AIi A f AI7I"٥m< m(=9uQ }>yy }F٦}tEy > 4Yn?4yIBW?:?D::*4B)NAoFNOT Ignoring new targets: 194.48 m.oQ9oQ9 ProNav: ac range: 194.483429 m, nav range: 169.334732 m, bearing: 332.249500 deg, approach rate: -0.638314 m/s, LOS rate: 0.021673 deg/s, cmd heading: 332.530437 deg, new cmd heading: 332.561631 deg. zom:HeadingCmd: 5.804296 target range: 194.483429 and range: 193.10 m.Roʼ@JoboZoBo:n2nmmyBl!k)k)k1k=?Aɞ!= &I  u<ɝ i I I 1i;=i=)ʼ@)YF"F *F 2F4:Fiԙ G ]=G 2B :B  O > Ϯď,?A @6Jw@Y6$r@6i696=>AHRS rotation from veh to nav: [[0.883217,0.466373,-0.049244],[-0.468833,0.880579,-0.069107],[0.011133,0.084123,0.996393]]y6H`OC? ?`x6\޿-? ͆??s?ɫ6Jw@6qQ;6CFWxBFIIR\IRW٥Zt< Zq=9Z(Q Z?\\ ^F٦^vEy^> b? `u4YbEn?}4ybLbBy}5}?bDb&HqHuIIuxBIqIqIq&Iu<*IuE ProNav: ac range: 194.483429 m, nav range: 169.130112 m, bearing: 332.256623 deg, approach rate: -0.581827 m/s, LOS rate: 0.020279 deg/s, cmd heading: 332.561637 deg, new cmd heading: 332.583033 deg. zo^:HeadingCmd: 5.804669 target range: 194.483429 and range: 193.10 m.Roٿ@JoboZoBo:n2nmmlkkkk q?ɞ{ 靽6%I <ɝiIUIiԷ=i <)ٿ@)EFI"FQ*FQ2FU`0:FQG-=G-?G->G 2B:B! O5>1 ď,/?AJ#J#J#J@JBiJ@J@J@JBڈ9J@J@J@J@JBr:JBs:Nj@YNe@N IX9N =VAHRS rotation from veh to nav: [[0.882489,0.467351,-0.052876],[-0.470147,0.879705,-0.071283],[0.013201,0.087766,0.996054]]yNHZ=? ?޿ &???`w??ɫNj@N;NCfYxBfIIn+Inļ٥v; vG=9vTQ v>xx zF٦zyEy~>p ~>  4Y)n? 4yPB   ?D::74%B)%SNA%EoQUFNOT Ignoring new targets: 194.48 m.o]R9o]R9m ProNav: ac range: 194.483429 m, nav range: 168.876343 m, bearing: 332.265601 deg, approach rate: -0.679590 m/s, LOS rate: 0.024077 deg/s, cmd heading: 332.583030 deg, new cmd heading: 332.610002 deg. zom1:uHeadingCmd: 5.805140 target range: 194.483429 and range: 193.10 m.Rouù@JoyboyZoyBoy:ny2nmmlkkkk?ɞ) $I #e;ɝiIIqi'=i<)ù@)FY"Fa*Fa2Fmo0:FiAjKe/NrKe9zKaKeZKe  &.26769:::42@[j~ Omsr8iG@o=G 2B :B  O >ԙ ڻď,?A6Nb@Y6(]@6u_96%=>AHRS rotation from veh to nav: [[0.881985,0.468100,-0.054625],[-0.471079,0.879028,-0.073443],[0.013639,0.090509,0.995802]]y6H99?Z?` *&޿ ? -Ͳ?+??ɫ6Nb@63;6CFkxBFI]Mb@Mb@Mb@Y Y)YIYiY]Cl? rhMb];?]C])]~AI]AiY]Q A Y] AIufIu{٥a"= A=9uQ > F٦{Ey# > 4Yo?4yTB1 ?: ?D}0;I;(?4B)NAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 194.48 m.o9o9 ProNav: ac range: 194.483429 m, nav range: 168.612534 m, bearing: 332.275844 deg, approach rate: -0.622631 m/s, LOS rate: 0.024214 deg/s, cmd heading: 332.609995 deg, new cmd heading: 332.640774 deg. zo: HeadingCmd: 5.805677 target range: 194.483429 and range: 193.10 m.Ro ȹ@Jo bo ZoBo:n2nmmyBlkk!k)k-v?qɞi F I :S;ɝiIqI{i =i  <) ȹ@)IF"F*F2F:FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡG<G2B:B Oc>HqHqHu IIuxBIqIqIq&Iu<*IuE)} JG `wA) I  `wA B PExceeded connect timeout, disconnecting. ¹ď,} ?AI)2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002655N<]@YNX@NC^`9N=zAHRS rotation from veh to nav: [[0.881693,0.468520,-0.055736],[-0.471625,0.878579,-0.075290],[0.013694,0.092669,0.995603]]yNH@6?;?x/޿@R?@4F ?,?`?ɫN<]@Nρ;NC xB II%sI%y٥-O= 5P=95Q 5>99 =F٦=~EyE(κ E> AM4YE!o?U4yE4XUtIEBQU1U?EDE;E ;EF4a)eMAaoFNOT Ignoring new targets: 194.48 m.o9o9 ProNav: ac range: 194.483429 m, nav range: 168.368439 m, bearing: 332.285398 deg, approach rate: -0.621535 m/s, LOS rate: 0.024363 deg/s, cmd heading: 332.640786 deg, new cmd heading: 332.669490 deg. zo…:HeadingCmd: 5.806178 target range: 194.483429 and range: 193.10 m.Ro6̹@JoboZoBo:n2nmmlkkkk~@ɞzB 靝 I ;ɝiIh%IE:iy=i(<)6̹@)F"F*F2F0:FGsAFrAJrJeJJJG:J9JJJ_;J_;J:J:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254574GU<G sAG tA1 G) 2BY :B  O >jK NrK +9zK K [K vbK=83,(&&">[\P@4-%   JhbP?Q ]ȹď,u%?AxBIMb@Mb@Mb@ )IiZd;?i|?5~jth??qD;) AIVAi A 3 AIlI)٥-= -;=95Q 5>19 =F٦=Ey= => AM4YE=4o?M4yE\EBU?U:UU?E#DE ;Ei ;EM4]B)]cMAeEoFNOT Ignoring new targets: 194.48 m.o9o9 ProNav: ac range: 194.483429 m, nav range: 168.106201 m, bearing: 332.294850 deg, approach rate: -0.602216 m/s, LOS rate: 0.021740 deg/s, cmd heading: 332.669500 deg, new cmd heading: 332.697900 deg. zon:HeadingCmd: 5.806674 target range: 194.483429 and range: 193.10 m.RoFй@JoboZoBo:n2nmm)zBlkkkkG@ɞzB I  ;ɝiI޻I Oi_=i/<)Fй@)!)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506759F"F*F2Fo1:FYG&<ԙ G 2B :B  O% >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7587391Ϲď,4G??A0:U@Y:P@:Stp9:=BAHRS rotation from veh to nav: [[0.881245,0.469064,-0.058186],[-0.472432,0.877943,-0.077619],[0.014676,0.095890,0.995284]]y:H)3?@&?ʭ`Q<޿?޳C?F? ]?ɫ:U@:;:CRxBRIIZdIZ@٥f= fd=9f3Q f>hh jF٦jEyj) n> IU4YMCo?U4yMW_MBQ] ]?M1DM,;M;M$T4a)eLAioFNOT Ignoring new targets: 194.48 m.o|9o|9 ProNav: ac range: 194.483429 m, nav range: 167.883148 m, bearing: 332.302983 deg, approach rate: -0.600090 m/s, LOS rate: 0.021910 deg/s, cmd heading: 332.697913 deg, new cmd heading: 332.722345 deg. zop:HeadingCmd: 5.807100 target range: 194.483429 and range: 193.10 m.Roӹ@JoboZoBo:n2nmmlkkkkj@ɞqZ  I x;ɝiIݻI ii F=i  <) ӹ@)ZH<RH<H!H!H%II%xBI!I!I%D&I%<*I%EԑF"F*F2FP5:FGFG G nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010686ԹGQ2Bq:B O> չď,B"Y?AJ6sJ6fJ4J4J6K:J69J4J4J6)e;J6,e;J6:J6:B4R@YBM@BOw9Bݑ=NAHRS rotation from veh to nav: [[0.881039,0.469319,-0.059242],[-0.472802,0.877654,-0.078624],[0.015094,0.097281,0.995143]]yBH`y1?`Q ?@TcB޿? ?g? 5?ɫB4R@Bu;BCZxBZI`IflIf)٥jnt= jI=9n)Q n>pp rF٦rEyr܈ v> tz4YvTo?~4yvbvB|~%?v@DvB;vN;vZ4 B) hLA oFNOT Ignoring new targets: 194.48 m.o9o9BDAT read: Rx Time:04:01:32.3327 TRx dataTimestamp_ set to:1761364893.454133checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264095 ProNav: ac range: 194.483429 m, nav range: 167.647690 m, bearing: 332.311627 deg, approach rate: -0.573784 m/s, LOS rate: 0.021093 deg/s, cmd heading: 332.722338 deg, new cmd heading: 332.748305 deg. zog:HeadingCmd: 5.807553 target range: 194.483429 and range: 193.10 m.Roz׹@JoboZoBo:n2n!m!m!l)k)k1kQkUU @ɞzBʼ 0I jK;ɝiIcKۻIiW(=i<)z׹@)F"F*F2F 5:FG2B:B O J>jK}l ףp=?y&1I +??`94<)7AI?Ai~ A  AIaI錴٥Ѓ= ;=9Q > F٦Ey~: > 4Yfo?4y1fB?: ?PD7 ; ;b4) KA-B*** querying acoustic contact ***:p)Bp)o9=FNOT Ignoring new targets: 194.48 m.oEK\9oEK\9U ProNav: ac range: 194.483429 m, nav range: 167.398911 m, bearing: 332.316682 deg, approach rate: -0.591506 m/s, LOS rate: 0.012037 deg/s, cmd heading: 332.748293 deg, new cmd heading: 332.763481 deg. zoU-:]HeadingCmd: 5.807818 target range: 194.483429 and range: 193.10 m.Ro]ٹ@JoYboYZoYBoY:na2namamezBlikkkkȺ @ɞ=zB=3 9EXIA E9w;ɝAiI2ٻIMci =i <)ٹ@)AF%6"F!*F!2F%3:F!5DAT read: 04:01:32.3327 LVL= 23024, 30593, 21698, 29763, AGC= 65, IDX= 425,-0.07,-1.938, 2.922,-2.016,-2.355, PHS= 0.504,-0.960, 0.336, RAW= 144.0, 1.7, CAL= 147.6, -7.0, ROT= 2.4, 7.0 =Ygot valid direction response: 04:01:32.3327 LVL= 23024, 30593, 21698, 29763, AGC= 65, IDX= 425,-0.07,-1.938, 2.922,-2.016,-2.355, PHS= 0.504,-0.960, 0.336, RAW= 144.0, 1.7, CAL= 147.6, -7.0, ROT= 2.4, 7.0 EPDAT read: Bearing 2.4, 7.0 (Local) M~Local bearing/azimuth received: Bearing 2.4, 7.0 (Local) UDAT read: Range 10 to 50 : 191.9 m (Round-trip 255.9 ms) speed 0.4 m/s e*DAT read: user:277> mBDAT read: Tx time:04:01:33.4226 m$Ping request sent.m | @GQ2Ba:B O_>)c+=5= ):publishing transmit ping timeiFpublishing direction and range infoys/Lλ?-bG?UM7P2Y )Ii )Ii )V9?-^ ?i!K?i )iH)>HH9II&yBI =II&I<*IE2I:IBIJIRIZIǎ 4ԙ ď,ڌ?A&JDAT read: TxSync time:04:01:33.4218 B[@YBV@Bn|9B,=JAHRS rotation from veh to nav: [[0.881589,0.468127,-0.060477],[-0.471766,0.878040,-0.080522],[0.015407,0.099518,0.994917]]yBH5?`?h1޿`??`y?@[?ɫB[@B6);BC^yB^*IIf^If٥-= -V=9-Q 5>11 5F٦5Ey]j: ]> iy4Ymqvo?4ym0imB ?m^DmX;m;mci4B)SKAEJpRp9G}?Ap?Cp?CpU@v$g@V0@F7vs/Lλ?-bG?UM7P2p+=p5=vGhe@ <) TMZYs3vmN?e\ڿ'jprp,CZp?bp]خzpA+Bp'zl*?p]خpp+Cpb@e addTargetRange:: Added new target pos. range: 191.899994 m, deltaT: 3.780396 s, deltaX: -1.200012 m, approachRate: -0.317430 m/s, rangeRepo size: 4  Added new target pos. range: 191.000717 m, bearing: 334.929459 deg, lat: 36.779453 deg, lon: -121.859829 deg, deltaT: 7.558358 s, deltaX: -3.482712 m, approachRate: -0.460776 m/s, posRepo size: 4 oFNOT Ignoring new targets: 191.00 m.oo= ProNav: ac range: 191.000717 m, nav range: 171.118301 m, bearing: 331.933199 deg, approach rate: 0.000000 m/s, LOS rate: 0.012037 deg/s, cmd heading: 332.763483 deg, new cmd heading: 332.778187 deg. zo9EHeadingCmd: 5.808075 target range: 191.000717 and range: 191.90 m.RoE۹@JoIboiZoqBoq:ny2nymymlkkkg@k?ɞzBټ I ;ɝiIػI-Ai-=i5<)5۹@)1ԡF"F*F2F`0:FJqJlJ3JJD:J9J(3JJ]Z;J_Z;J2:J3:G2B!:B1 O=r> :ď,9?A6Q@Y6tL@6796=JAHRS rotation from veh to nav: [[0.880984,0.469867,-0.055619],[-0.472855,0.878462,-0.068648],[0.016604,0.086777,0.996089]]y6H`1? K?zCC޿ \?咱?`7??ɫ6Q@6`;jKRNrKR]9zKPKR]KR[PD9,"D~ Z)ukR*v6Cn+yBn;I ttmMb@Mb@Mb@i i)iIiiimZd;O?Mb`I +?m~ ?mi)mAIiiim A im( A) DAIJIK٥)= D=9;Q > F٦EyE > 4Yo?4ykB ?:?mD ;~ ;p4)JAoFNOT Ignoring new targets: 191.00 m.o7o7  ProNav: ac range: 191.000717 m, nav range: 170.895126 m, bearing: 331.933812 deg, approach rate: -0.570931 m/s, LOS rate: 0.001569 deg/s, cmd heading: 332.778182 deg, new cmd heading: 332.780022 deg. zo Љ8HeadingCmd: 5.808107 target range: 191.000717 and range: 191.90 m.Roܹ@JoboZoBo:n2nmm{Blkkkk ?ɞ]zB]\ۼ Y]ݾIY e;ɝaiaIe+׻Im=imD=i<)ܹ@)F%6"F!*F!2F%g0:F)1Gm <GA 2BI :Ba  Om >Y !ď,?AfKyBfOIIn6In٥vz= vV=9zQ z>xx ~F٦~Ey= E> AM4YEo?U4yEnE!BQQU?EzDE#:E:Enw4eqB)e_FAeEoFNOT Ignoring new targets: 191.00 m.ot7ot7 ProNav: ac range: 191.000717 m, nav range: 170.683762 m, bearing: 331.934393 deg, approach rate: -0.541641 m/s, LOS rate: 0.001492 deg/s, cmd heading: 332.780012 deg, new cmd heading: 332.781759 deg. zo8HeadingCmd: 5.808137 target range: 191.000717 and range: 191.90 m.JHBH?AHHHdIImyBI =II&Is<*IERoCܹ@JoboZoBo:n2nmmlkkkk K?ɞzBμ W̾I %@;ɝ!i!I% ֻI-{9i-=i5Z<9)=Cܹ@)9F"F*F2Fp0:FGT<GA2BQa:Bi O}7>ԑԹ Pď,|?A2t@Y2o@2t592ަ=BAHRS rotation from veh to nav: [[0.883004,0.465885,-0.057052],[-0.469045,0.880352,-0.070548],[0.017359,0.089054,0.995876]]y2H@A? ?5޿+?`ktƑ?;̶?`6?ɫ2t@2^;0NXyBNWIIV*IV٥r< rJ=9rQ r>tt vF٦vEyz2< z> | 4Y~yo? 4y~Pq~%B  ?~D~t;~qe;~V~4%cB)%EA%EoIMFNOT Ignoring new targets: 191.00 m.oUP7oUP7e ProNav: ac range: 191.000717 m, nav range: 170.470016 m, bearing: 331.934676 deg, approach rate: -0.538141 m/s, LOS rate: 0.000713 deg/s, cmd heading: 332.781761 deg, new cmd heading: 332.782611 deg. zoe7mHeadingCmd: 5.808152 target range: 191.000717 and range: 191.90 m.Rombܹ@JoiboiZoiBoi:n2nmmlkkkkV?ԑɞzB껼 靝zžI o;ɝiIֻI7i=i<)bܹ@)F"F*F2F:FԹjKOrKh9zKK^KkaWW@St`NEA:<=8878620..-*,.,-/-.*()'+8AFED>>AA>:BK>:K ?G<G 2B :B  O > ~ď,e?AJ@YJ@Ji9J=RAHRS rotation from veh to nav: [[0.884767,0.462423,-0.057906],[-0.465734,0.881803,-0.074267],[0.016719,0.092678,0.995556]]yJH P?@V?إݿ 7?+?`??ɫJ@J;Hv{yBvmIMb@Mb@Mb@ )Ii'1Z? rh?~jtx??C<;)Iih A  AIaI錴٥"= :=9:Q > F٦Ey < > 4Y o?4y s )B?:? D E: : 4%bB)%'EA%EEB*** querying acoustic contact ***:pABpAoIUFNOT Ignoring new targets: 191.00 m.oUo]u ProNav: ac range: 191.000717 m, nav range: 170.245438 m, bearing: 331.931853 deg, approach rate: -0.512389 m/s, LOS rate: -0.006451 deg/s, cmd heading: 332.782608 deg, new cmd heading: 332.774126 deg. zou}HeadingCmd: 5.808004 target range: 191.000717 and range: 191.90 m.Ro},۹@JoyboyZoyBoy:n2nmm>{Blkkkk?ɞzBFۨJEnJEfJAJAJE|;:JE9JAJA!U@!U@!U@!U@ Ye~Ia e_i\;ɝaiiIm8ջIuJi}5=i}n<)},۹@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F56"F1*F12F=0:F9GEsAFErAH*>HHIIyBIII&I՘<*IE9 G <G 2B :B  O >5^ď,\ ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250483B@YB@B܄9Bc=JAHRS rotation from veh to nav: [[0.886585,0.458808,-0.058832],[-0.462281,0.883304,-0.077916],[0.016218,0.096276,0.995223]]yBH@^?@]?2ݿ`D? P b?@??ɫB@B[w;BCRyBRoIIZVIZ٥bA< fa=9jB:Q j>hl nF٦nEynG/< r> pv4Yro?z4yrvr,Bxzz?rDry:rp:rd4)EAoFNOT Ignoring new targets: 191.00 m.oo= ProNav: ac range: 191.000717 m, nav range: 170.059219 m, bearing: 331.929264 deg, approach rate: -0.482866 m/s, LOS rate: -0.006720 deg/s, cmd heading: 332.774138 deg, new cmd heading: 332.766363 deg. zo=MHeadingCmd: 5.807868 target range: 191.000717 and range: 191.90 m.RoMڹ@JoIboIZoIBoI:nq2nmmlkkkk@@QɞMzB< 靵I k^I;ɝiIn-ջI\i=i[ =)ڹ@)F6"F*F2F0:F JaJe@Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502419Թ G <G 2B :B!  OM >\ ď,'?A:5Ѳ@Y:̹@:9:=DRAHRS rotation from veh to nav: [[0.888251,0.455420,-0.060031],[-0.459080,0.884651,-0.081476],[0.016001,0.099931,0.994866]]y:Hl? %? m@aݿ O?`۴b? ??ɫ:5Ѳ@:;:CfyBfIjK~sNrK~ػ9zK|K~_K~8>\hI;55Irvqjc_VNGCA>;751/,,-D^cZMC=5-'4YrnhaVM2KrA*KMb@Mb@Mb@ )Ii^I +?Mb?MbPX>=)7AIi A ( AI-_I-٥=b= =5=9='9Q E>AA EF٦EEyM>< M> Q]4YUo?]4yUUxU.B]>e:eҾe?UDU#:U,:UC4maB)mDAmEoFNOT Ignoring new targets: 191.00 m.owow ProNav: ac range: 191.000717 m, nav range: 169.840118 m, bearing: 331.923456 deg, approach rate: -0.510562 m/s, LOS rate: -0.013551 deg/s, cmd heading: 332.766352 deg, new cmd heading: 332.748907 deg. zoHeadingCmd: 5.807564 target range: 191.000717 and range: 191.90 m.Ro׹@JoboZoBo:n2nm!m%p{Bl!k!k!k)k-)@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754641ɞH 靭ԩI 7;ɝiIMԻIi=i=)׹@)F"F*F2F4:FJu pJq Ju 2Jq Ju A:Jq Ju c3Jq G V = G 2B  BDAT read: Rx Time:04:01:36.0801  TRx dataTimestamp_ set to:1761364896.983168 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008902:BI  Ou >/pď,A?AI)HeCHeIIeyBIaIaIa&Ie<*IeEI-XI-㔴٥`^= V=9Q > F٦Ey > 4Yo?4yMz0B?D6;u;4)QDAoFNOT Ignoring new targets: 191.00 m.oaoa ProNav: ac range: 191.000717 m, nav range: 169.653900 m, bearing: 331.918508 deg, approach rate: -0.463292 m/s, LOS rate: -0.012323 deg/s, cmd heading: 332.748894 deg, new cmd heading: 332.734034 deg. zoQHeadingCmd: 5.807304 target range: 191.000717 and range: 191.90 m.Ropչ@JoboZoBo:n2nmmlkkkk@J @ɞ暼 KI );ɝiIԻIiс=i=)pչ@)iYI]BC )=G q)F"F*F2F 5:FGp= G=IUGQU@BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2583889G0B=G 2B :B  O >a ď, [?AJJ%=:@Y:@:U9:1=FAHRS rotation from veh to nav: [[0.890128,0.451559,-0.061366],[-0.455423,0.886245,-0.084614],[0.016177,0.103265,0.994522]]y:H`{?@Y?[k%ݿ\?@@?@o? ?ɫ:@:Ŏ;:CNyBNIIVfIV{٥^ر< bX=9bQ b>dd fF٦fEyf2< f> hn4YjFo?r4yj7|j2Bprоr?jDjY;jw;j4z`B)z%DAx9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510574oFNOT Ignoring new targets: 191.00 m.oxox  ProNav: ac range: 191.000717 m, nav range: 169.470764 m, bearing: 331.913376 deg, approach rate: -0.483092 m/s, LOS rate: -0.013552 deg/s, cmd heading: 332.734031 deg, new cmd heading: 332.718619 deg. zoEHeadingCmd: 5.807035 target range: 191.000717 and range: 191.90 m.RoM<ӹ@JoIboQZoyBoy:n2nmmlk k9kAku. @iɞQ]^ 9=I9 E@;ɝAiAIE&ԻIMiMÈ=iMz'=)M<ӹ@)QjKANrK9zKK`K@834?:%3VQ>7:7<CA5(   'FI@5!BK-?:K->ԑF"F*F2Fd5:F DAT read: 04:01:36.0801 LVL= 22352, 32753, 22002, 32755, AGC= 65, IDX= 414,-0.27,-0.617,-2.090,-0.656,-1.021, PHS= 0.492,-1.022, 0.362, RAW= 145.5, 2.4, CAL= 148.8, -6.4, ROT= 1.2, 6.4  Ygot valid direction response: 04:01:36.0801 LVL= 22352, 32753, 22002, 32755, AGC= 65, IDX= 414,-0.27,-0.617,-2.090,-0.656,-1.021, PHS= 0.492,-1.022, 0.362, RAW= 145.5, 2.4, CAL= 148.8, -6.4, ROT= 1.2, 6.4  PDAT read: Bearing 1.2, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 1.2, 6.4 (Local) - DAT read: Range 10 to 50 : 189.9 m (Round-trip 253.3 ms) speed 0.6 m/s - *DAT read: user:278> 5 BDAT read: Tx time:04:01:37.1727 5 $Ping request sent.= U ЂU X> U j"@)U +=IU 6&@iU 佉U U M'U (:ď,zw?AB8@YB@B)ڂ9B(=T^AHRS rotation from veh to nav: [[0.890483,0.450979,-0.060487],[-0.454737,0.886702,-0.083511],[0.015972,0.101871,0.994669]]yBH~??*`gݿ_?`[?/?U?ɫB8@B=8;BCfyBvIMb@Mb@Mb@ )IiX9v?Q?{Gz>\=#);AIAi A A  AI1I1JMoJMjJM3JIJM>:JM9JM(3JI٥]:< ](=9e]9Q > F٦Ey: > 4Yp?4y~3Bl>:C˾?D;;4)CAJpRp=o?Ap=Cp=Cp@v.\yg@<4x@ _5v=N)?HjO? -V:p<p=vHe@=+^W Tn1vAC?Xˍ{#ۿ^̢MRǷjpLrpF*CZp%-?bpzp3Bpppp<)Cp _@ addTargetRange:: Added new target pos. range: 189.899994 m, deltaT: 3.780632 s, deltaX: -2.000000 m, approachRate: -0.529012 m/s, rangeRepo size: 4  Added new target pos. range: 189.011673 m, bearing: 334.793505 deg, lat: 36.779453 deg, lon: -121.859829 deg, deltaT: 3.780632 s, deltaX: -1.989044 m, approachRate: -0.526114 m/s, posRepo size: 4 oFNOT Ignoring new targets: 189.01 m.oo ProNav: ac range: 189.011673 m, nav range: 169.237213 m, bearing: 331.905984 deg, approach rate: 0.000000 m/s, LOS rate: -0.013552 deg/s, cmd heading: 332.718623 deg, new cmd heading: 332.698855 deg. zoyHeadingCmd: 5.806690 target range: 189.011673 and range: 189.90 m.Rohй@JoboZoBo:n2nmm{{Blkkk̼g@k`?ɞVj  &I  ;ɝ i I 6kԻI]1i] =i]S)=)]hй@)aH},>HyH}II}/zBIyIyIy&Iy*IyF "F *F 2F15:F)1 G K'=G 2B :B  O- >$ď,8?A Bm@YBG@Bh 9B-C=VAHRS rotation from veh to nav: [[0.889981,0.451992,-0.060304],[-0.455686,0.886449,-0.080989],[0.016850,0.099558,0.994889]]yBH z?o?`!ி)ݿ]?@A?|?!?ɫBm@BY;BCbyBbIIrjIr٥zq{ ~e=9~!Q >   F٦ EyG > )54Y-p?=4y-U)9E˾E?-D-NN;-gP;-U4U_B)UDAUEB*** querying acoustic contact ***:pBpo  FNOT Ignoring new targets: 189.01 m.o5o5E ProNav: ac range: 189.011673 m, nav range: 169.068207 m, bearing: 331.900687 deg, approach rate: -0.470072 m/s, LOS rate: -0.014749 deg/s, cmd heading: 332.698842 deg, new cmd heading: 332.682934 deg. zoE!MHeadingCmd: 5.806413 target range: 189.011673 and range: 189.90 m.RoM"ι@JoIboIZoIBoQ:nQ2nYmamalakikikikm?ɞ I ,:ɝiI 3ԻIip=i%=)"ι@)AF"F*F2F`0:FGtAFtAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yG )=Ա G9 2BA :BQ  Oe >IC*ď, ?AFֲ@YFxѹ@F𮐼9F<=RAHRS rotation from veh to nav: [[0.888529,0.454499,-0.062824],[-0.458481,0.884778,-0.083442],[0.017661,0.102944,0.994530]]yFHn?`?6WݿP?x\`?Z?@1?ɫFֲ@F;DZyBXjK^MrK^]9zK\K^aK^  %CXhqoh`XTNJGE=963112Kd*KfoAUMb@Mb@Mb@Q Q)QIQiQU ףp= ?Mb?~jtUQ>U=UD)QIUAiQUl A QU( AIm;Imy٥uL7 }C=9Q > F٦Ey > 4Ya"p?4ys>: Ѿ?D;P;4)DAo=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978372}FNOT Ignoring new targets: 189.01 m.opop ProNav: ac range: 189.011673 m, nav range: 168.865997 m, bearing: 331.895039 deg, approach rate: -0.509764 m/s, LOS rate: -0.014255 deg/s, cmd heading: 332.682942 deg, new cmd heading: 332.665978 deg. zoHeadingCmd: 5.806117 target range: 189.011673 and range: 189.90 m.Ro˹@JoboZoBo:n2nmm{BlkkkkI?ɞuzBu[ qu璾Iq }:ɝyiyI}\ԻIUBi=iz=)˹@)ԱF6"F*F2Ff0:FJ}rJ}hJyJyJ}G:J}Ȇ9JyJyG K'= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231772G 2B :B  O > +1ď,?AJHBHAAH->HHIICzBIII&I<*IE2IuC:IuCBIqJIqRIqZIuA4VDz@YVr¹@VC9V=^AHRS rotation from veh to nav: [[0.887679,0.456233,-0.062271],[-0.460105,0.884171,-0.080894],[0.018152,0.100460,0.994776]]yVH@g?2?@⯿]rݿ!K?e??3?ɫVDz@V&i;VCMyBUIIe7Ie"٥mt> uK=9u!Q u>yy }F٦}Ey}V > 4Y1p?4yҾ?D: ;4]B)DAEoFNOT Ignoring new targets: 189.01 m.oqoq ProNav: ac range: 189.011673 m, nav range: 168.670975 m, bearing: 331.889705 deg, approach rate: -0.482810 m/s, LOS rate: -0.013221 deg/s, cmd heading: 332.665975 deg, new cmd heading: 332.649954 deg. zo.HeadingCmd: 5.805837 target range: 189.011673 and range: 189.90 m.Rokɹ@JoboZoBo:n2nm m l k kkk@?ɞIMr IMII U~:ɝQiQIUӻI]fi]G=iev=)ekɹ@)aFM6"FI*FI2FMo0:FIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4826001Gm{0=GI 2BY :Bi  O} >Y V7ď,.?AI<)<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734258yBIIRI4٥%R= %O=9-Q ->)) 5F٦5Ey5 5> 9E4Y=U@p?E4y=9IIM?=D=`:=:=Ś4Q)UCAYoFNOT Ignoring new targets: 189.01 m.o jo jE ProNav: ac range: 189.011673 m, nav range: 168.479660 m, bearing: 331.884460 deg, approach rate: -0.467329 m/s, LOS rate: -0.012826 deg/s, cmd heading: 332.649965 deg, new cmd heading: 332.634213 deg. zoE MHeadingCmd: 5.805562 target range: 189.011673 and range: 189.90 m.RoM*ǹ@1JoIboQZoBo:n2nmmlkkkkk?ɞzBҊ I! ™:ɝiIԻaIm im=iml=)m*ǹ@)qEyE}rAjK)MrKzKKbK.)&"")=L`t%C#d\#fwaSE7,' %$$Fq"Fq*Fq2Fq:FqG}= Gy]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986740 G] l= G9 2BQ :Bi  O >f=ď,6#?AyBIMb@Mb@Mb@ )Iix&1?:v?QA?<u)7AIAih A A  AIjI٥l  ;=9Q > F٦Ey > 4Y,Qp? 4y2B |? : ؾ ?D::/͚4\B)CAoIMFNOT Ignoring new targets: 189.01 m.qoUaYoaY% ProNav: ac range: 189.011673 m, nav range: 168.260941 m, bearing: 331.879456 deg, approach rate: -0.518511 m/s, LOS rate: -0.011878 deg/s, cmd heading: 332.634201 deg, new cmd heading: 332.619170 deg. zo%nMHeadingCmd: 5.805300 target range: 189.011673 and range: 189.90 m.RoMŹ@JoQboQZoQBoQ:nQ2nQmYm]k{BlYkYkakake`1@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238501ɞzBF “I >o:ɝiIjԻI ci =i d=) Ź@)ԡH0>HHIIWzBIII&I<*IEF"F*F2F:FG =G ?G ?5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491803G 2B :B  O% >mxDď,?AV5@YV@V9V(=bAHRS rotation from veh to nav: [[0.886999,0.457938,-0.059379],[-0.461456,0.883785,-0.077344],[0.017059,0.096005,0.995235]]yVHLb? N?f~ݿG? ̳`x?œ?`?ɫV5@Vկ;TfyBfII-`I-̍٥E) EW=9Mh<;Q M>II UF٦UEyU\ U> Ye4Y]_p?e4y]]1Bimپm?]"D]:]6:]Ӛ4q)} DAyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 189.01 m.oUMoUM ProNav: ac range: 189.011673 m, nav range: 168.070877 m, bearing: 331.875202 deg, approach rate: -0.500743 m/s, LOS rate: -0.011220 deg/s, cmd heading: 332.619175 deg, new cmd heading: 332.606399 deg. zogHeadingCmd: 5.805077 target range: 189.011673 and range: 189.90 m.Ro0ù@JoboZoBo:n2nmmlkkkk`@ɞ zBF I >:ɝiI(ӻI%i%=i-=)-0ù@)1F"F*F2Fa5:FJ-}J-eJ)J)J-[j:J-9J)J)J-;!=J-;!=J-:!EJ-:!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742342Gl=G2B:B O>Q Jď,D,?A:ƽ@Y:@:ep9:=NAHRS rotation from veh to nav: [[0.887140,0.457623,-0.059693],[-0.461176,0.883911,-0.077572],[0.017265,0.096347,0.995198]]y:H`tc?`I? ݿH? ۳ӭ?/??ɫ:ƽ@:UA;:CVyBVIjK^[NrK\zK\K^cK^###%5L\[_n{ujaXRLHE?;970+)'% !!"! $DRV^}1ynYJ;If=)f=eMb@Mb@Mb@a a)aIaiaep= ף?Q?y&1e?eu F٦EyfF: > 4Y$pp?4yh9?:n?0D ;e ; ۚ4[B)CAEBDAT read: Rx Time:04:01:39.8271 TRx dataTimestamp_ set to:1761364900.761860checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995462oFNOT Ignoring new targets: 189.01 m.oo ProNav: ac range: 189.011673 m, nav range: 167.855804 m, bearing: 331.872061 deg, approach rate: -0.497005 m/s, LOS rate: -0.007269 deg/s, cmd heading: 332.606389 deg, new cmd heading: 332.596952 deg. zoHeadingCmd: 5.804912 target range: 189.011673 and range: 189.90 m.Ro@JoboZoBo:n2nm1m=n{BlAkAikikikm~@ɞzBw 靽!I 9ɝiI{ӻI7iP=i=)@)F"F*F2Fb5:Fԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247558G d= G 2B :B  O >ZH <RH H 5>H CH I I I I D&I <*I EQď,̵F?A@Bк@YB@BRX9B)=JAHRS rotation from veh to nav: [[0.886964,0.457881,-0.060325],[-0.461492,0.883760,-0.077420],[0.017863,0.096508,0.995172]]yBH b?M?⮿ݿ@G?ѳJ?Ŵ?r?ɫBк@B;;BCjyBjIIraIr錴٥zk zS=9~ʺQ ~> F٦EyHt > 4Y xp?4y  0B? =D ; ; 4))-DA)oYeFNOT Ignoring new targets: 189.01 m.oe5oe5% ProNav: ac range: 189.011673 m, nav range: 167.654144 m, bearing: 331.869132 deg, approach rate: -0.545752 m/s, LOS rate: -0.007935 deg/s, cmd heading: 332.596963 deg, new cmd heading: 332.588168 deg. zo%@-HeadingCmd: 5.804759 target range: 189.011673 and range: 189.90 m.Ro-@Jo)bo1Zo1Bo9:n92nAmAmAlIkIkqkyk} @ɞzB  њI t9ɝiIӻIai/=i=)@)!Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501540F"F*F!2F-4:F)G l=G G sA Ga 2Bq :B  O >J J a=J% pJ% jJ! J! J% A:J% 9J! J! J% T;J% T;J% :J% :Wď,&`?ABDAT read: 04:01:39.8272 LVL= 21744, 26657, 20722, 27187, AGC= 63, IDX= 415, 0.38,-0.731,-2.165,-0.812,-1.207, PHS= 0.563,-0.912, 0.392, RAW= 143.9, -0.6, CAL= 148.0, -9.7, ROT= 2.0, 9.7 FYgot valid direction response: 04:01:39.8272 LVL= 21744, 26657, 20722, 27187, AGC= 63, IDX= 415, 0.38,-0.731,-2.165,-0.812,-1.207, PHS= 0.563,-0.912, 0.392, RAW= 143.9, -0.6, CAL= 148.0, -9.7, ROT= 2.0, 9.7 JPDAT read: Bearing 2.0, 9.7 (Local) J~Local bearing/azimuth received: Bearing 2.0, 9.7 (Local) RDAT read: Range 10 to 50 : 187.7 m (Round-trip 250.3 ms) speed 0.2 m/s Z*DAT read: user:279> ^BDAT read: Tx time:04:01:40.9227 ^$Ping request sent.^ " @)"+I"MQ%@i"-\-"5="-\-> ) "$Ł+@?^Ҫ?mޡGi"C>"{>2<"5="-\-> ) z:publishing transmit ping time\~Fpublishing direction and range info y"ɢ?f6?RVſ Y ) I i ) I i ) "$Ł+@?^Ҫ?mޡGi ) yBIIhI٥[i= *=9Q >IQ UF٦]Ey > 54Y~p?=4yݒ/Biim?NDq<9m<4uKB)u#CA}EJp Rp"a?Ap":Cp":Cp"X@v"\g@%&@sfz?v"ɢ?f6?RVſp"5=p"-\->v"*ڃe@Pf~N4S k;v"p1?IwPڿD¿jp"rp"(CZp"VP觊?bp"_Swzp"" Bp"VP觊?p p"" Bp"9Cp"x@ addTargetRange:: Added new target pos. range: 187.699997 m, deltaT: 3.778903 s, deltaX: -2.199997 m, approachRate: -0.582179 m/s, rangeRepo size: 4  Added new target pos. range: 186.825623 m, bearing: 335.438368 deg, lat: 36.779637 deg, lon: -121.859829 deg, deltaT: 3.778903 s, deltaX: -2.186050 m, approachRate: -0.578488 m/s, posRepo size: 4 oFNOT Ignoring new targets: 186.83 m.oo ProNav: ac range: 186.825623 m, nav range: 185.689728 m, bearing: 334.846475 deg, approach rate: 0.000000 m/s, LOS rate: -0.007935 deg/s, cmd heading: 332.588166 deg, new cmd heading: 332.574460 deg. jK˵NrK9zKKdK/*/378/vgZO@Vi~Hg+Rmm Lo]PC83,BK%?:K%?9zo]HeadingCmd: 5.804519 target range: 186.825623 and range: 187.70 m.Ro]@JoYboYZoaBoa:na2namimilikikiku`fvg@ku"?ɞzB/ I X ɝiITӻIi=i =)@)F 6"F *F 2F R2:F i ԑ G m(=G2B:B O>6+_ď,^?AZڮ@YZ@ZN9Z=bAHRS rotation from veh to nav: [[0.886263,0.459542,-0.057951],[-0.462773,0.883777,-0.069135],[0.019445,0.088090,0.995923]]yZH@E\?"i?` ݿ`G?Ѳ q?` ?`?ɫZڮ@ZӉ;ZCyBIMb@Mb@Mb@ )IiK7? F٦Ey[ > 4Yp?4yk0B ?:?]D::l4)MCAH 9>H H I I  =I I &I <*I EoFNOT Ignoring new targets: 186.83 m.o>7o>7 ProNav: ac range: 186.825623 m, nav range: 185.464767 m, bearing: 334.846990 deg, approach rate: -0.584498 m/s, LOS rate: 0.001340 deg/s, cmd heading: 332.574451 deg, new cmd heading: 332.575999 deg. zo~k8HeadingCmd: 5.804546 target range: 186.825623 and range: 187.70 m.Roؾ@JoboZoBo:n2nmm?{Blkkk!k% ?ɞUzBUۭ Y] I =ɝiI^(ӻ) eG 5vA)II}P}vA}[BI%ii=i]=)ؾ@)F6"F*F2F`5:FAGu r =y GQ 2BY :Bi  O} >p%fď,zǙ?A6ෲ@Y6@6נ96i=>AHRS rotation from veh to nav: [[0.886769,0.458415,-0.059124],[-0.461795,0.884124,-0.071202],[0.019633,0.090443,0.995708]]y6H@j`?V?E@ ݿJ?@R:? K'? ?ɫ6ෲ@6H;4JyBJIIR/IR9٥Z Zq=9ZQ Z?\\ ^F٦^EybT; b? dj4Yfzp?n4yf}dprr?fhDfa;fb;fY4JB)dCAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 186.83 m.!o-z7o-z7= ProNav: ac range: 186.825623 m, nav range: 185.282181 m, bearing: 334.847345 deg, approach rate: -0.510412 m/s, LOS rate: 0.000994 deg/s, cmd heading: 332.576008 deg, new cmd heading: 332.577075 deg. zo=.8 JAJEBAJ(3J3J(.JMwJMeJM2JIJMW:JM9JMc3JIJMz;JMz;JM:JM:EHeadingCmd: 5.804565 target range: 186.825623 and range: 187.70 m.Ro@JoboZoBo:n2nmmlkkkk@ ,?ɞ5zB5 15I1 =]ɝ9i9I=һIm iu(=iucC=)u@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.QF"F*F2F`0:FԁG ]=G 2B :B  O >jK &OrK ]9zK K eK $#   *00.*&$$"#cUN*Jf)2K *K sAq u A} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246511ԩ ]Glď,9?AV@YV@Vk9Vbغ=^AHRS rotation from veh to nav: [[0.887278,0.457407,-0.059297],[-0.460819,0.884580,-0.071865],[0.019581,0.091089,0.995650]]yVHd?*F?@\~ݿzN? e ?Q?]?ɫV@V*;VCfyBjImMb@Mb@Mb@i i)iIiiimV-?~jt?{Gztm ?m=98Q > F٦£Eyf'; > 4Yp?4y.2B ?:R?xD ;7 ;4)HCAo  FNOT Ignoring new targets: 186.83 m.ԑo7o7 ProNav: ac range: 186.825623 m, nav range: 185.043793 m, bearing: 334.847713 deg, approach rate: -0.590482 m/s, LOS rate: 0.000913 deg/s, cmd heading: 332.577074 deg, new cmd heading: 332.578179 deg. zoQ 8HeadingCmd: 5.804584 target range: 186.825623 and range: 187.70 m.Ro'@JoboZoBo:n2nmm){Blkkkk-?ɞzBݬ 靕I FɝiIһI9 iq=i٩=)'@) F"F*F2F:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497934JHBH@AH5>HHIIII&Ia<*IuE GE +=GA 2BQ :Ba  Om >9 ;0sď,_?A :Bײ@Y:ҹ@:L9: =FAHRS rotation from veh to nav: [[0.888554,0.455113,-0.057829],[-0.458406,0.885802,-0.072243],[0.018346,0.090700,0.995709]]y:H o? ? @Vݿ}X?`}~@Xɒ?@$8??ɫ:Bײ@: ;8zyBzII`I̍٥E= S=9P;Q >! %F٦%ģEy-; 5> 1=4Y5 p?E4y553BAEE?5D5-:5:54MIB)UBAUEoy}FNOT Ignoring new targets: 186.83 m.o6o6 ProNav: ac range: 186.825623 m, nav range: 184.828308 m, bearing: 334.847864 deg, approach rate: -0.559368 m/s, LOS rate: 0.000393 deg/s, cmd heading: 332.578167 deg, new cmd heading: 332.578621 deg. zo7HeadingCmd: 5.804592 target range: 186.825623 and range: 187.70 m.Ro8@JoboZoBo:n2nmmlkkkk?ɞzB I RBzɝiIpһI# iΆ=iU#=)8@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749498Fi"Fi*Fq2Fuo0:FqAG5r =G 2B:B) O=>JunJukJqJqJu|;:Ju9JqJqJu+J;Ju-J;Ju:Ju:a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001348\yď,|D?AJ@YJ۹@JX9Jt=VAHRS rotation from veh to nav: [[0.889090,0.454072,-0.057771],[-0.457384,0.886234,-0.073413],[0.017864,0.091694,0.995627]]yJH ms?? Eݿ\?0˲J?Dy? -?ɫJ@J 9;JC^yB^IIfYIf٥nia nN=9r:Q r>pp rF٦rǣEyv?; v> x 4Yzp?4yzz5B)-U5?zDzBď,<?A2 @Y2@2>92~=>AHRS rotation from veh to nav: [[0.889724,0.452757,-0.058331],[-0.456154,0.886728,-0.075083],[0.017729,0.093411,0.995470]]y2Hx??ݭ1ݿ`?@8'?@??ɫ2 @2;2CFyBFIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505358TMb@Mb@Mb@ )Iim? F٦ʣEyR; > 4Yp?4y6B?:?DL ;;#4HB)CAoFNOT Ignoring new targets: 186.83 m.o%6o%65 ProNav: ac range: 186.825623 m, nav range: 184.368820 m, bearing: 334.848083 deg, approach rate: -0.628605 m/s, LOS rate: 0.000375 deg/s, cmd heading: 332.578850 deg, new cmd heading: 332.579280 deg. zo5ʃ7=HeadingCmd: 5.804604 target range: 186.825623 and range: 187.70 m.Ro=P@Jo9bo9Zo9BoA:nA2nAmAmEQ{BlIkIkIkIkU@ɞzBX 靅镾I $нɝiI̓ѻHHHIIazBI =II&I<*IE2I]C:I]CBIYJI]˜ =RI]˜ =ZI]~5Iiޔ=i$+=)P@)F6"F*F2F0:Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760484G #'=G 2B :B  O >) Nlď,?AI<)tt vF٦ṿEyv; z>| x4Yz q?4yzz8B  J ?zDz);z:z4)&CAo9EFNOT Ignoring new targets: 186.83 m.oMP6oMP6e ProNav: ac range: 186.825623 m, nav range: 184.159027 m, bearing: 334.848150 deg, approach rate: -0.557827 m/s, LOS rate: 0.000178 deg/s, cmd heading: 332.579287 deg, new cmd heading: 332.579488 deg. zoe6mHeadingCmd: 5.804607 target range: 186.825623 and range: 187.70 m.RomW@JoiboiZoiBoi:ni2nqmqmylykykykkW@ɞzBg 靵I JmۺɝiIлIAi=iF-=)W@)F56"F1*F12F5e5:F9BDAT read: Rx Time:04:01:43.5456 TRx dataTimestamp_ set to:1761364904.545125checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0141751aG*=G2B:B O >ԁ jK= dNrK= 9zK9 K= gK= !'.15<@??BEDC@=;;99642-',9]2KI *KI e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261266ď,!4?AR@YRp@Rb9R=jAHRS rotation from veh to nav: [[0.890149,0.451852,-0.058858],[-0.455338,0.886976,-0.077072],[0.017380,0.095405,0.995287]]yRH|?&?"`B$ݿ`b?` %̑? |l?c?ɫR@R{;PzyB~IaMb@Mb@Mb@ )IiS?Q? F٦ϣEy_8 > 4Yq?4yܦ,?:?D<<R#4GB)BAEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 186.83 m.o)7o)7 ProNav: ac range: 186.825623 m, nav range: 183.915665 m, bearing: 334.848574 deg, approach rate: -0.532403 m/s, LOS rate: 0.000930 deg/s, cmd heading: 332.579478 deg, new cmd heading: 332.580753 deg. zoe#8 HeadingCmd: 5.804629 target range: 186.825623 and range: 187.70 m.Ro@JoboZoBo:n2n!m!m-P{Bl)k)k1k1k5K @ɞezBmO imIi u>NɝqiqIuȒлI}Ki}=i}Fn-=)}@)yԑJepJecJaJaJeA:Jex9JaJa!@!@!@!@F"F*F2Fo5:FDAT read: 04:01:43.5456 LVL= 14992, 20961, 13586, 26147, AGC= 67, IDX= 124,-0.21, 1.998, 0.600, 1.961, 1.550, PHS= 0.536,-0.903, 0.408, RAW= 145.4, -0.6, CAL= 149.3, -9.6, ROT= 0.7, 9.6 Ygot valid direction response: 04:01:43.5456 LVL= 14992, 20961, 13586, 26147, AGC= 67, IDX= 124,-0.21, 1.998, 0.600, 1.961, 1.550, PHS= 0.536,-0.903, 0.408, RAW= 145.4, -0.6, CAL= 149.3, -9.6, ROT= 0.7, 9.6  PDAT read: Bearing 0.7, 9.6 (Local)  ~Local bearing/azimuth received: Bearing 0.7, 9.6 (Local) DAT read: Range 10 to 50 : 164.0 m (Round-trip 218.7 ms) speed 0.8 m/s %*DAT read: user:280> %BDAT read: Tx time:04:01:44.6727 -$Ping request sent.- i"@)I &@i++H<+> )F?: p?Ti >),<+H<+> )]:publishing transmit ping time)]Fpublishing direction and range infoyqfHHII =II&I<*IEG .= G 2B :B  O >んď,4N?AJ@YJ@J9J=VAHRS rotation from veh to nav: [[0.890280,0.451604,-0.058787],[-0.455084,0.887106,-0.077079],[0.017341,0.095375,0.995290]]yJH,}?`?X@ ݿ,c?u?`j? k?ɫJ@J_;JCnyBnIIvPIv٥Q V=9%8Q %>!! %F٦-ѣEy-yD: -> 1=4Y5+q?E4y5F59BAE|E?5D5:5:5*4q)u2CAqԱJpRp0B?AJDAT read: TxSync time:04:01:44.6719 p<#Cp<#Cp׺@v d@sa%v?\9;vqfvIҟ8b@z|YQ1a8vva?qʲp5ۿRj$ ¿jpˊrpCZp͈'?bpzpJBpp_SwpJBp6CppY@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 164.000000 m, deltaT: 3.528903 s, deltaX: -23.699997 m, approachRate: -6.715967 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 186.83 m.o 7o 7 ProNav: ac range: 186.825623 m, nav range: 183.701859 m, bearing: 334.848929 deg, approach rate: -0.538702 m/s, LOS rate: 0.000895 deg/s, cmd heading: 332.580762 deg, new cmd heading: 332.581828 deg. zoC8HeadingCmd: 5.804648 target range: 186.825623 and range: 187.70 m.Ro@JoboZoBo:n2n!mAmAlIkIkIkMd@kM B?ɞ{B> I `ɝiItϻIiw=i|.=)@)!F"F*F2FQ5:FGsAF G S,=G 2B :B  O >1 ?ď,h?A:@Y:\@:r9:d=BAHRS rotation from veh to nav: [[0.889630,0.452798,-0.059442],[-0.456317,0.886563,-0.076027],[0.018274,0.094760,0.995332]]y:Hw?@?$oK4ݿ@^?@vj?3B?`?ɫ:@:ȉ;:CJyBJIIRIR-ɴ٥jn nN=9nOQ r>xx ~F٦~ԣEyd  > -4YJQ JQ JQ JQ JQ JQ JQ JQ ԉ jď,Y?A6ڲ@Y6oչ@696I$=FAHRS rotation from veh to nav: [[0.888732,0.454093,-0.062889],[-0.458041,0.885216,-0.081180],[0.018807,0.100953,0.994713]]y6H@~p??`wPݿ`S?=ȴ@B?ع?@?ɫ6ڲ@6>;4JyBNI-Mb@Mb@Mb@) )))I)i)-V-?=9Q > F٦ףEy~ > 4YNq?4yu ?:?DU;U;l84)CAoFNOT Ignoring new targets: 186.83 m.or7or7- ProNav: ac range: 186.825623 m, nav range: 183.242783 m, bearing: 334.849561 deg, approach rate: -0.644047 m/s, LOS rate: 0.000439 deg/s, cmd heading: 332.583248 deg, new cmd heading: 332.583728 deg. zo-#7H=7>H9H=II=kzBI9I9I9&I=e<*I=~E]HeadingCmd: 5.804681 target range: 186.825623 and range: 187.70 m.Ro]@JoYboaZoaBoa:na2namimm{Blikiqkqkyk}`L%?ɞ{BԼ 靭MI (/ɝiIλIyip=i g"=)@)F-6"F)*F)2F5`0:F1ԡGuK'=GyG}oAGI 2BQ :Bi  O} > ď,8?A6@Y6@696=NAHRS rotation from veh to nav: [[0.886990,0.457481,-0.062931],[-0.461376,0.883692,-0.078872],[0.019529,0.098993,0.994896]]y6H7b? `G?70ݿ4G?0]?W? 1?ɫ6@6z;4VyBVIIfIfJȴ٥jX nY=9niQ n>pp rF٦r٣Eyv# v> tz4Yv^q?~4yvаt|~~?vDvY;v;v>4 6B) BA Eo9=FNOT Ignoring new targets: 186.83 m.oE 7oE 7U ProNav: ac range: 186.825623 m, nav range: 183.034500 m, bearing: 334.849951 deg, approach rate: -0.553994 m/s, LOS rate: 0.001039 deg/s, cmd heading: 332.583740 deg, new cmd heading: 332.584911 deg. zoUt68]HeadingCmd: 5.804702 target range: 186.825623 and range: 187.70 m.Ro]@JoYboYZoaBoa:na2namamilikikikiku`f?ɞ {B`޼ 靥檾I @ɝiIͻIi=i=)@)Fq"Fq*Fq2Fuo0:FqG}= G}=G"=G2B:B O% >A jK HPrK 9zK K iK  /OUW\_YD5.# xP}yvrked^YTPQ ď, P?AyBI >>Mb@Mb@Mb@ )IiK7?~jtI ?)AIAi A; A  AITIn٥)Ȼ 6=9Q > F٦ܣEy% %> )54Y-qq?54y-Ƴ-7B5_ ?=:==?-D- ;- ;-F4E5B)EBAE£EeB*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 186.83 m.ou8o}8 ProNav: ac range: 186.825623 m, nav range: 182.789108 m, bearing: 334.852817 deg, approach rate: -0.548400 m/s, LOS rate: 0.006415 deg/s, cmd heading: 332.584915 deg, new cmd heading: 332.593526 deg. zo9HeadingCmd: 5.804852 target range: 186.825623 and range: 187.70 m.RoY@JoboZoBo:n2nmm{BlkkkkK?ɞ {B5Ѽ 歾I s5TɝiI[!ͻIi&=i}]=) Y@) qJmqJmfJm3JiJmD:Jm9Jm(3JiFq"Fy*Fy2Fy:FyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙJHBHHE6>HAHEIIEWzBIAIAIA&IEc<*IEyEi% 5(>I% 3CG #=) G `wA) I  `wA zBG 2B :B  O >&̳ď,|?A2{Ȳ@Y2Vù@292S=FAHRS rotation from veh to nav: [[0.887739,0.456366,-0.060413],[-0.460014,0.884418,-0.078688],[0.017520,0.097645,0.995067]]y2H [h? 5?`fpݿ 'M? $`????ɫ2{Ȳ@2;2CNyBNIIZZIZ\٥b bd=9f#;Q f>dh jF٦jޣEyjd; j>  4Yq? 4y*5B ?D.+;<(M4)CAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255484oamFNOT Ignoring new targets: 186.83 m.om8o8 ProNav: ac range: 186.825623 m, nav range: 182.590515 m, bearing: 334.855049 deg, approach rate: -0.497259 m/s, LOS rate: 0.005594 deg/s, cmd heading: 332.593521 deg, new cmd heading: 332.600223 deg. zou9HeadingCmd: 5.804969 target range: 186.825623 and range: 187.70 m.RoN¹@JoboZoBo:n2nmmlkkk k Wj@ɞ{B߼ $I enQhɝiiiIm̻Iuiub=iu=)uN¹@)qF9"F9*F92FA:FA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506479A G r =G ?G ?GY 2Ba :By  O >ď,??A:Ͳ@Y:gȹ@:𲊼9:=BAHRS rotation from veh to nav: [[0.888032,0.455937,-0.059331],[-0.459470,0.884762,-0.078002],[0.016930,0.096529,0.995186]]y:H@j?`.?@`@gݿO?`'V???ɫ:Ͳ@:6;:CJyBJIIR[IR:٥ZY/ ZK=9^X:Q ^>\` bF٦bEyb: b> dr4Yf;q?r4yfǸf3Bprr?f#DfV;fW;fT4z4B)zCAx!o%FNOT Ignoring new targets: 186.83 m.o5#8oE#8 ProNav: ac range: 186.825623 m, nav range: 182.372986 m, bearing: 334.857459 deg, approach rate: -0.559388 m/s, LOS rate: 0.006206 deg/s, cmd heading: 332.600214 deg, new cmd heading: 332.607454 deg. zoH9%HeadingCmd: 5.805095 target range: 186.825623 and range: 187.70 m.Ro-Wù@JoQboQZoQBoY:na2nimmlkkkk F@Iɞ{B I p|ɝiIxʻIAiz=i=)Wù@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758519) jKJ{ď,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010404>CҲ@Y>͹@>OG9>yu=FAHRS rotation from veh to nav: [[0.888303,0.455509,-0.058568],[-0.458962,0.885065,-0.077548],[0.016513,0.095767,0.995267]]y>Hl?@'?_ݿ@tR?6ڳ?1?9?ɫ>CҲ@>P;>CNyBN{IiPIPyMb@Mb@Mb@ )Ii(\?~jtV-?)hAIAi A? A p AIQI٥ :=9x:Q >H4>HHIIMzBIII&I=<*I>E F٦Ey: >  4Yhq? 4y/B[?:?2D;;[4)UCA!oIUFNOT Ignoring new targets: 186.83 m.oUPe9o]Pe9e ProNav: ac range: 186.825623 m, nav range: 182.126938 m, bearing: 334.862661 deg, approach rate: -0.591850 m/s, LOS rate: 0.012530 deg/s, cmd heading: 332.607454 deg, new cmd heading: 332.623082 deg. zom :mHeadingCmd: 5.805368 target range: 186.825623 and range: 187.70 m.RomŹ@JoqboqZoqBoq:nq2nymym}zBlykkkk@ @ɞ-{BMr- QUIQ UɝQiQIUmJɻI]{i]ս=ie=)eŹ@)aԩF"F*F2FK1:FBDAT read: Rx Time:04:01:47.3525 TRx dataTimestamp_ set to:1761364908.321767%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263498G;=G 2B :B  O > <Ǻď,~?A6Ͳ@Y6ȹ@6̄96W==BAHRS rotation from veh to nav: [[0.888066,0.456090,-0.057625],[-0.459430,0.884934,-0.076265],[0.016210,0.094203,0.995421]]y6H@ k?0?` Ngݿ``Q?@@i?`?@}?ɫ6Ͳ@6sG;6CJyBN|IIrbIr٥z; zY=9zR:Q ~>|| ~F٦EyӸ > 4Y q?%4y  *B!%%? @D \; \; [b4-3B)-CCA5ãEoQ]FNOT Ignoring new targets: 186.83 m.o]%Y9oe%Y9m ProNav: ac range: 186.825623 m, nav range: 181.920563 m, bearing: 334.867076 deg, approach rate: -0.554072 m/s, LOS rate: 0.011865 deg/s, cmd heading: 332.623082 deg, new cmd heading: 332.636340 deg. zouI:}HeadingCmd: 5.805599 target range: 186.825623 and range: 187.70 m.Ro}xǹ@JoyboyZoyBoy:n2nmmlkkkk# @ɞ{BX7 I \؏ɝiIǻI%i=i=)xǹ@) JQJU@AFQ"FQ*FQ2FU85:FQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515701G=9G2B:B  O= >Y  DAT read: 04:01:47.3525 LVL= 23984, 28753, 18402, 20899, AGC= 68, IDX= 6,-0.07, 0.043,-0.926, 0.063,-0.923, PHS= 1.054, 0.044, 0.982, RAW= 146.3, -37.0, CAL= 149.2, -40.6, ROT= 0.8, 40.6  Ygot valid direction response: 04:01:47.3525 LVL= 23984, 28753, 18402, 20899, AGC= 68, IDX= 6,-0.07, 0.043,-0.926, 0.063,-0.923, PHS= 1.054, 0.044, 0.982, RAW= 146.3, -37.0, CAL= 149.2, -40.6, ROT= 0.8, 40.6  PDAT read: Bearing 0.8, 40.6 (Local)  ~Local bearing/azimuth received: Bearing 0.8, 40.6 (Local)  DAT read: Range 10 to 50 : 206.7 m (Round-trip 275.6 ms) speed 0.4 m/s  *DAT read: user:281>  BDAT read: Tx time:04:01:48.4727  $Ping request sent. ?GR55X$r0y_L=4' 2K *K ۹  Fpublishing direction and range info) y- 4XK?hR?)\$俹- NCY) - ])- QpI- Gi- Q- D- y?- X94=- Zd{? - .k#@)- MQ%I- r&@i- g5- d<- g5? ) )) - ?Ă M?5$Ai- Y>- ,N%?- d<- g5? ) ))  :publishing transmit ping time۹  Fpublishing direction and range info) y- 4XK?hR?)\$俹) Y) ) )) I) i) ) ) ) ) ) )) I) i) ) ) ) )) - ?Ă M?5$Ai) ) ) ) ) )) q2ͺď,6Z7?A\Ѳ@Y7̹@W9/=AHRS rotation from veh to nav: [[0.888260,0.455747,-0.057347],[-0.459064,0.885113,-0.076387],[0.015946,0.094177,0.995428]]yHl? *?\Laݿ R?T?? ?ɫ\Ѳ@cv;1uyBuuIMb@Mb@Mb@ )IiB`"?ktS㥛? 0/ݼ)Ii? AA G AImIF٥˼ "=9 :Q > F٦Ey-kV: -> 1=4Y5q?=4y5u5%B=p?=:= E?5RD5H:5:58k4i)mwCAiJpYRp]e4?Ap]MCp]MCp]Ƽ@v]׷J@c@24r@so`v]4XK?hR?)\$p]d<p] g5?v]# Amb@d"^MXR{R`v]vг?Cyҿc_&jOjp].nrp]jCZp]G\L?bp]zp]epYpYpYp]4Cp]p^@] addTargetRange:: Added new target pos. range: 206.699997 m, deltaT: 7.309433 s, deltaX: 19.000000 m, approachRate: 2.599381 m/s, rangeRepo size: 4 a Added new target pos. range: 205.737488 m, bearing: 338.004483 deg, lat: 36.779637 deg, lon: -121.859806 deg, deltaT: 7.309433 s, deltaX: 18.911865 m, approachRate: 2.587323 m/s, posRepo size: 4 oFNOT Ignoring new targets: 205.74 m.oo ProNav: ac range: 205.737488 m, nav range: 180.752213 m, bearing: 335.482729 deg, approach rate: 0.000000 m/s, LOS rate: 0.011865 deg/s, cmd heading: 332.636332 deg, new cmd heading: 332.654989 deg. zoEHeadingCmd: 5.805925 target range: 205.737488 and range: 206.70 m.RoE#ʹ@JoIboIZoIBoI:nI2nQJDAT read: TxSync time:04:01:48.4719 mmzBlkkk`fi@k@o?ɞ%{B%gO !%ȾI! -ɝ)i)I-ƻI5[ie=ie =)e#ʹ@)aZH<RH<H3>HCHII9zBI =II&I_<*IoE2I:IBIJIǗ =RIǗ =ZI5ԑF "F *F 2F 0:F G = G =Թ G {0=G 2B :B  O >Ժď,lT?AI)11 5F٦5Ey= => Am4YExq?m4yE6E!Bqu u?E_DE;E1;Ezq4}1B)}CA}ģEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 205.74 m.o9o9 ProNav: ac range: 205.737488 m, nav range: 180.553253 m, bearing: 335.490460 deg, approach rate: -0.563824 m/s, LOS rate: 0.021931 deg/s, cmd heading: 332.654993 deg, new cmd heading: 332.678210 deg. zo%p:-HeadingCmd: 5.806330 target range: 205.737488 and range: 206.70 m.Ro-u͹@Jo)bo)Zo)Bo):n12n1m1m1l9k9k9k9k=z?ɞ{B 靽ϾI ɝiIDĻIY&i=iJ=)u͹@)9Fy"Fy*Fy2F}4:FyJJhJJJJȆ9JJJ]Z;!J`Z;!Jݬ:!Jެ:!aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=Gq 2B :B  O >ԑ ۺď,<.n?AFв@YF˹@F9F=AHRS rotation from veh to nav: [[0.888222,0.456822,-0.048727],[-0.459096,0.886546,-0.057160],[0.017087,0.073141,0.997175]]yFHQl? ! %F٦%EyL: > 4Yq?4yB ?oD::wy4)XCA o)5FNOT Ignoring new targets: 205.74 m.o59o=9M ProNav: ac range: 205.737488 m, nav range: 180.299194 m, bearing: 335.500391 deg, approach rate: -0.571768 m/s, LOS rate: 0.022383 deg/s, cmd heading: 332.678215 deg, new cmd heading: 332.708052 deg. zoMu:]HeadingCmd: 5.806851 target range: 205.737488 and range: 206.70 m.Ro]ѹ@JoYboaZoaBoamchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.988219:na2nqmqmqlykykykyk2&?ɞ{Bƈ 靵ǾI ɝiI»IiG=il=)ѹ@ԡjK0NrK]9zKKlK%GrZH=3*$!  ^%<BK ?:K?)Fy"Fy*F2F 5:FG p= % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240804G 2B :B  O >H] 0>HY H] II] $zBIY IY IY &I] <*I] Eď,X9?A6 Ѳ@Y6˹@6[96qC=BAHRS rotation from veh to nav: [[0.888227,0.456691,-0.049862],[-0.459089,0.886396,-0.059487],[0.017031,0.075729,0.996983]]y6HZl?n:?aݿ[]?@u tp?b?I?ɫ6 Ѳ@6;6CNyBNIԹMb@Mb@Mb@ )Iikt?V-:v ?mԼ)AIAi A$A  AIIaϴ٥ !/=  G=99Q >!! %F٦%Ey%+7 -> 9M4Y=;q?M4y==BU ?]:]l]?=}D=;=;=-4u0B)uCAo1=FNOT Ignoring new targets: 205.74 m.o=9o=9 ProNav: ac range: 205.737488 m, nav range: 180.084076 m, bearing: 335.510614 deg, approach rate: -0.527457 m/s, LOS rate: 0.025094 deg/s, cmd heading: 332.708049 deg, new cmd heading: 332.738753 deg. zoƉ:HeadingCmd: 5.807387 target range: 205.737488 and range: 206.70 m.Roֹ@JoboZoBo:n2nmmzBlkkkk?ɞ{B DI *ɝiI Iݛi=ia=)ֹ@)F"F*F2F`0:FGFpAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493103G =G 2B :B  O >A ď, ԡ?A @:ײ@Y:mҹ@:⁍9:3=BAHRS rotation from veh to nav: [[0.888588,0.455797,-0.051574],[-0.458380,0.886562,-0.062420],[0.017273,0.079106,0.996717]]y:HQo?`+?g@Vݿ`^?@v?H@? ?ɫ:ײ@:9;:CRyBRIIZZIZJfpJfgJf3JdJfA:Jf9Jf(3JdJfT;JfT;JfH:JfI:٥r< rb=9r/Q r>tt vF٦vEyv; z> x4Yzr?4yzzB,?zDz;zj;zq43B)BAoAMFNOT Ignoring new targets: 205.74 m.oMB:oUB:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744012 ProNav: ac range: 205.737488 m, nav range: 179.883270 m, bearing: 335.520114 deg, approach rate: -0.596484 m/s, LOS rate: 0.028252 deg/s, cmd heading: 332.738758 deg, new cmd heading: 332.767290 deg. zo:HeadingCmd: 5.807885 target range: 205.737488 and range: 206.70 m.Ro1ڹ@JoboZoBo:n2nmml k k k k`IN?9ɞ{B: 靭wI ĻɝiI$IZi=io=)1ڹ@)Fi"Fi*Fi2Fmo0:FqaG;=ԡGI 2BY :Bi  Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998969jK= ]FOrK= 9zK9 K= mK= =KBz>4}%st.lG( ~tdZSJE@<::530.-+2KI *KM rAԹ ];ď,`?Af=@Yf@f99f=nAHRS rotation from veh to nav: [[0.889748,0.453363,-0.053010],[-0.456140,0.887414,-0.066584],[0.016855,0.083423,0.996372]]yfHx??`$e1ݿ e?` QB?5[?F?ɫf=@f ;fCyBIMb@Mb@Mb@ )IiQ?V-{Gz\?hף)dAIi; A A p AIkI ٥]= <=9c|:Q > F٦Ey; > 4Yr?4yaB?u:uu?D<< 4}"B)2BAΣEԑoFNOT Ignoring new targets: 205.74 m.o:o:5 ProNav: ac range: 205.737488 m, nav range: 179.641220 m, bearing: 335.533297 deg, approach rate: -0.527454 m/s, LOS rate: 0.028767 deg/s, cmd heading: 332.767281 deg, new cmd heading: 332.806885 deg. zo5:=HeadingCmd: 5.808576 target range: 205.737488 and range: 206.70 m.Ro=߹@Jo9bo9Zo9BoA:nA2nAmAmMzBlIkIkikqku@ɞ] {B] ae賾Ia eHϻɝiIWIij=i=)߹@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252617JHBH?AH/>HHII =IID&I<*IEF"F*F2Fj0:FG ]=G 2B :B   O5 >ď,d?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5042126@Y6@6O96f>=FAHRS rotation from veh to nav: [[0.891008,0.450698,-0.054544],[-0.453686,0.888340,-0.070861],[0.016517,0.087884,0.995994]]y6H#?`>?@:2 ݿ Gm?#? ?@.?ɫ6@6Q;6CNyBNIIVlIV)٥bg= b_=9bCq:Q f>dd fF٦fEyjD; j> lv4Yn0$r?v4ynmn B?nDn>ď,5*?A yBIIbI٥%< %7=9=Q =>II ]F٦]Eym u> 4Y>6r?4y; B?D<3<t4eB)m?AiuϣEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011479oFNOT Ignoring new targets: 205.74 m.o:o: ProNav: ac range: 205.737488 m, nav range: 179.181976 m, bearing: 335.557961 deg, approach rate: -0.547738 m/s, LOS rate: 0.029493 deg/s, cmd heading: 332.839817 deg, new cmd heading: 332.880985 deg. zo:HeadingCmd: 5.809869 target range: 205.737488 and range: 206.70 m.Ros@JoboZoBo:n2nmml k k k kzX@ɞ="{B=eC 9=IA EaɝAiAIE\IMuViM*=iM"=)Ms@)QjK%4PrK%]9zK!K%nK%&$# "&1>HJO^JfIE0 k8 F}6"Fy*Fy2F}0:Fyԡ G #'=M BDAT read: Rx Time:04:01:51.1511 M TRx dataTimestamp_ set to:1761364912.106675U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262280G 2B :B  O >H% 7>H% CH% II% 9zBI% =I! I% D&I% <*I% E%&ď,y ?AX)^G d)pI    BU>@YU@U9UӃ=}AHRS rotation from veh to nav: [[0.892135,0.448118,-0.057319],[-0.451465,0.888983,-0.076736],[0.016569,0.094336,0.995403]]yUH^??Xܿr?d?@k&?`V?ɫU>@U;UC zBI%Mb@Mb@Mb@! !)!I!i!%n?p= ף~jtx%V?%%Ļ)!I%Ai%$A%; A !%AI=JI=K٥Md= MG=9UQ U>QY ]F٦]Ey]; ]> am4YeEr?m4yexaP?:S?eDeGY 2Bi :B  O >kď,Q#?AJRyJRiJPJPJR]:JRڈ9JPJPJRǂ;JRȂ;JRr:JRs:l@Y @_394=5DAT read: 04:01:51.1511 LVL= 16112, 24641, 14322, 27955, AGC= 61, IDX= 419, 0.02,-2.414, 2.802,-2.332, 2.954, PHS= 1.004,-0.104, 0.995, RAW= 149.6, -31.3, CAL= 152.6, -36.6, ROT= 357.4, 36.6 Ygot valid direction response: 04:01:51.1511 LVL= 16112, 24641, 14322, 27955, AGC= 61, IDX= 419, 0.02,-2.414, 2.802,-2.332, 2.954, PHS= 1.004,-0.104, 0.995, RAW= 149.6, -31.3, CAL= 152.6, -36.6, ROT= 357.4, 36.6 PDAT read: Bearing 357.4, 36.6 (Local) ~Local bearing/azimuth received: Bearing 357.4, 36.6 (Local) DAT read: Range 10 to 50 : 205.6 m (Round-trip 274.2 ms) speed 0.2 m/s AHRS rotation from veh to nav: [[0.891890,0.448537,-0.057861],[-0.451952,0.888640,-0.077840],[0.016503,0.095575,0.995285]]yH[?Ӵ?꟭ܿ o?P9?w?`?ɫ@;髕C-1zB-II=AI=E٥M= M8=9U9]*DAT read: user:282> ]BDAT read: Tx time:04:01:52.2728 e$Ping request sent.e F٦EyΜ > 4YWr?4y+`direction in FSK: [0.801991,-0.036418,-0.596225]:publishing transmit ping timeBu?D;&;f4aFpublishing direction and range infoysU?xf|(F㿹MCY >)A`I7i3m=?ԽR~? '@) It*@iƇ#B)`>AУE@Ƈ#? ) T?o?S$fi;?d ?9Ƈ#? )=:publishing transmit ping timea=Fpublishing direction and range infoysU?xf|(F㿹Y )Ii )Ii ) T?o?S$fi )JpRp'?ApLCpLCp޺@v5Rd@xz\Ϳ4%ـ^vsU?xf|(Fp9pƇ#?vρb@=];QkE]vd@.mx?"ldjLֿUjprpCZp<&?bp3zpcp<&?p3p" Bp+&Cp޺@ addTargetRange:: Added new target pos. range: 205.600006 m, deltaT: 3.784431 s, deltaX: -1.099991 m, approachRate: -0.290662 m/s, rangeRepo size: 4 - Added new target pos. range: 204.643021 m, bearing: 334.590679 deg, lat: 36.779524 deg, lon: -121.859777 deg, deltaT: 3.784431 s, deltaX: -1.094467 m, approachRate: -0.289203 m/s, posRepo size: 4 o)-FNOT Ignoring new targets: 204.64 m.o5o1E ProNav: ac range: 204.643021 m, nav range: 166.169617 m, bearing: 334.591113 deg, approach rate: 0.000000 m/s, LOS rate: 0.028390 deg/s, cmd heading: 332.914540 deg, new cmd heading: 332.953144 deg. zoAHeadingCmd: 5.811129 target range: 204.643021 and range: 205.60 m.Ro@JoboZoBo:n2nmmlkkk@3i@k`+?1ɞe 靵rI nɝiII iid=i5<$=)=@)IE JDAT read: TxSync time:04:01:52.2720 I FQ "FQ *FQ 2FU o0:FQ GY F] sAjKe kOrKe 9zKa Ke oKe i3zo`RB9330+)($" y Gu)=GI2BQ:Bi O?ď,C?AR@YR@RT9R~=ZAHRS rotation from veh to nav: [[0.891277,0.449540,-0.059490],[-0.453149,0.887820,-0.080201],[0.016763,0.098439,0.995002]]yRHW?B?u`eݿi? f*?O3? ?ɫR@RC;RCvKzBvIiIIp=)a=!MMb@Mb@Mb@I IH]8>HYH]II]kzBI] =IYIY&I]{<*I]E)IIIiIM?&1Mb`M ?MPM)MAIMAiIM$A IIIeI]٥T= %=9~ Q > F٦Ey4 > !U4Y%+kr?m4y%!mg ?u:uu?%D%#<%<%4y)}=AyoFNOT Ignoring new targets: 204.64 m.o9o9 ProNav: ac range: 204.643021 m, nav range: 165.901428 m, bearing: 334.602144 deg, approach rate: -0.562365 m/s, LOS rate: 0.023169 deg/s, cmd heading: 332.953144 deg, new cmd heading: 332.986291 deg. zoh~: HeadingCmd: 5.811707 target range: 204.643021 and range: 205.60 m.Ro @Jo bo ZoBo:n2nmmK{BlkkIk!kM?ɞ${B`l 靝 YI ܈ɝiIIeiK=i=)@)F"F*F2F0:FyGe Vw$=ԡ G9 2Bq :B  O >ď,]?ABV@YB1@B9B=NAHRS rotation from veh to nav: [[0.891291,0.449915,-0.056369],[-0.453077,0.888605,-0.071434],[0.017951,0.089208,0.995851]]yBHt?g?qܬ@6ܿ@so?Ia?Zֶ??ɫBV@B;BCVszBVII^FI^פ٥f= ft=9j6hQ j?hh jF٦jEyn~_9 n? pv4Yr+xr?v4yrr Btzz?rDr49;rpN;r4B)L=A ѣE%B*** querying acoustic contact ***:p!Bp!o15FNOT Ignoring new targets: 204.64 m.o=9o=9M ProNav: ac range: 204.643021 m, nav range: 165.720444 m, bearing: 334.609612 deg, approach rate: -0.567572 m/s, LOS rate: 0.023444 deg/s, cmd heading: 332.986284 deg, new cmd heading: 333.008711 deg. zoM:UHeadingCmd: 5.812099 target range: 204.643021 and range: 205.60 m.RoU@JoQboQZoYBoY:nY2nYmamalakakakikmd?yɞ%{Bʯ 靥1I uɝiI-IM2iI=i2=)@)FQ"FQ*FY2F] 5:FYJ}F3J}F3J}/.JnJeJJJ|;:J9JJJ+J;J-J;J:J:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԹG=GGrAG2B:B  O%> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207207'Gď,w?A6z @Y6U@6#96Z=BAHRS rotation from veh to nav: [[0.891456,0.449376,-0.058026],[-0.452731,0.888597,-0.073687],[0.018449,0.091959,0.995592]]y6H@φ??@ܿ@co? %ݲ@/???ɫ6z @62;4FzBJI-Mb@Mb@Mb@) )))I)i)-Q?~jt F٦ Eyf: > 4Yr?4yo B ?:?D::_4)BB@7./60(  (K`K>W wWC3*SxhVJHb"?4o9=FNOT Ignoring new targets: 204.64 m.oE+9oE+9U ProNav: ac range: 204.643021 m, nav range: 165.486267 m, bearing: 334.613722 deg, approach rate: -0.533428 m/s, LOS rate: 0.009375 deg/s, cmd heading: 333.008714 deg, new cmd heading: 333.021061 deg. zoU9]HeadingCmd: 5.812314 target range: 204.643021 and range: 205.60 m.Ro]z@JoYboYZoYBoa:na2namimm{Blikikqkqku l?ɞ&{B﬏ 靵PI 9@ɝiIָIi =i=)z@)EIEMpAF"F*F2F5:FG= G= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460673!Hm6>HiHm3IImzBIiIiIi&Im<*ImE2I:IBIJIȘ =RIȘ =ZI5G] ;=G9 2BA :BQ  Oe >Q G)$ď,t?AF@YF@F헼9Fl=VAHRS rotation from veh to nav: [[0.892190,0.447785,-0.059040],[-0.451280,0.889156,-0.075819],[0.018545,0.094289,0.995372]]yFHь?@?{:`ܿs?hr?N#??ɫF@F:;FCzB+I%=%x>I5I5gǴ٥Mݦ= MR=9U"Q U>QQ UF٦U Ey](; ]> am4Yer?m4yeeBiuu?eDeS:e:eț4}B)}N checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963327Q U*ď,)Y?A^+@Y^%@^唼9^˿=rAHRS rotation from veh to nav: [[0.893202,0.445875,-0.058187],[-0.449288,0.890199,-0.075409],[0.018175,0.093498,0.995454]]y^H?6?ʭ"ܿ|?`M]?@z??ɫ^+@^;\~zBCII-II-.٥E = MJ=9Mp:Q U>QQ UF٦]Ey]; ]> am4Yer?m4yeeBimu?eDe):ew;e-ϛ4y);AoFNOT Ignoring new targets: 204.64 m.o79o79 ProNav: ac range: 204.643021 m, nav range: 165.064072 m, bearing: 334.620758 deg, approach rate: -0.532863 m/s, LOS rate: 0.008700 deg/s, cmd heading: 333.031609 deg, new cmd heading: 333.042195 deg. zo9HeadingCmd: 5.812683 target range: 204.643021 and range: 205.60 m.Ro@JoboIZoQBoQ:nQ2nQmYmYlYkYkYkake&@ɞ({BW I9 M@1ɝIiIIMIUiU1=iU*=)]@)YF6"F!*F!2F-`0:F)%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216048YjKmNrKmػ9zKiKmqKml?dC0%!%-21-&#(0.-++)%"!"!!!!2Kq*KusAԁ G C"=G 2B :B  O >>;1ď,9*?AJ*rJ*lJ*2J(J*G:J*9J*c3J(!6@!6@!6@!6@8RD2@YR-@Rlw9R`=ZAHRS rotation from veh to nav: [[0.893599,0.445099,-0.058031],[-0.448510,0.890546,-0.075940],[0.017878,0.093887,0.995422]]yRH`]?|?2aܿZ?pN???ɫRD2@RK;Pb{Bb]Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.468794HHHeII{BIII&Iq<*IEmMb@Mb@Mb@i i)iIiiimNbX9?{Gz?{Gz?m?mף F٦Ey: > %4Y`r?%4yMB-?-:-۾-?,D:;6כ4UӔB)U:AUۣEԑoFNOT Ignoring new targets: 204.64 m.o8o8 ProNav: ac range: 204.643021 m, nav range: 164.824005 m, bearing: 334.619578 deg, approach rate: -0.513465 m/s, LOS rate: -0.002526 deg/s, cmd heading: 333.042182 deg, new cmd heading: 333.038639 deg. zoݸHeadingCmd: 5.812621 target range: 204.643021 and range: 205.60 m.Ro@JoboZoBo:n2n mm^|Blkkkk@ɞ *{B z+ !I ɝiỈIEiE=iE>,=)E@)IԹF"F*F2F:FGFtA5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719214 G %)=G 2B :B  O% >e7ď,?A65@Y6/@68[96P=>AHRS rotation from veh to nav: [[0.893757,0.444739,-0.058366],[-0.448206,0.890585,-0.077258],[0.017621,0.095210,0.995301]]y6H@?v?`2⭿hܿ?`*dz) ?_??ɫ65@62;4F({BFuIiHIHIRtIR%x٥V= Zv=9ZyK:Q Z?\\ ^F\٦^Eyb}: b? dj4Yfr?j4yf,fBlnf۾n?f7Dfr;f ;fܛ4t)v9At B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 204.64 m.o3Eo%3E- ProNav: ac range: 204.643021 m, nav range: 164.652634 m, bearing: 334.618715 deg, approach rate: -0.534595 m/s, LOS rate: -0.002694 deg/s, cmd heading: 333.038631 deg, new cmd heading: 333.036040 deg. zo55HeadingCmd: 5.812575 target range: 204.643021 and range: 205.60 m.Ro5@Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkIkMT@ɞ+{Bg !%1I! %ɝ!i!I-HI-i5=i5.=)5@)QF6"F*F2Fo0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.972030G-t(/=G 2B! :B1  OE >I ؒ=ď,?ABDAT read: Rx Time:04:01:54.8871 TRx dataTimestamp_ set to:1761364915.896953"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235557J7@YJ2@Jk9J=VAHRS rotation from veh to nav: [[0.893915,0.444382,-0.058667],[-0.447891,0.890687,-0.077917],[0.017629,0.095928,0.995232]]yJH?p?@ =ܿ?`b@> ?@?@?ɫJ7@J㜍;JC^={B^IMb@Mb@Mb@ )IiNbX9?J +?Mb?H=<)AIi; AA AI-kI- ٥=O:= =3=9EQ M>II MF٦UEyUJ: U> Ye4Y]Ar?e4y]v]"Be<?m:mվm?jKm/NrKmS9zKiKmrKm  BK} ?:K}?]GD];];]4єB)9AܣEoFNOT Ignoring new targets: 204.64 m.ohoh ProNav: ac range: 204.643021 m, nav range: 164.414429 m, bearing: 334.612872 deg, approach rate: -0.517593 m/s, LOS rate: -0.012715 deg/s, cmd heading: 333.036035 deg, new cmd heading: 333.018481 deg. zo HeadingCmd: 5.812269 target range: 204.643021 and range: 205.60 m.Roe@JoaboiZoiBoi:ni2nimqmu=|Blqkqkqkyk}# @ɞ-{B  `HCHIIj{BIII&I<*IEG r.=ԙ G 2B :B  O >wDď,f?Ar3@Yr-@rm9rc?=yAHRS rotation from veh to nav: [[0.893646,0.444873,-0.059030],[-0.448426,0.890365,-0.078514],[0.017629,0.096634,0.995164]]yrH@?`x?@.9 ܿ}?@t ?@ ?a?ɫr3@r ;;rCN{BIIeI]٥M%= UI=9UQ U>YY ]F٦]Eye e> im4Ymr?4ymm&B%?mTDm;m;m4)S9A%DAT read: 04:01:54.8871 LVL= 20176, 27105, 17778, 28563, AGC= 64, IDX= 292,-0.04, 1.549, 0.192, 1.541, 1.132, PHS= 0.506,-0.893, 0.406, RAW= 146.4, -0.3, CAL= 150.1, -9.3, ROT= 359.9, 9.3 5Ygot valid direction response: 04:01:54.8871 LVL= 20176, 27105, 17778, 28563, AGC= 64, IDX= 292,-0.04, 1.549, 0.192, 1.541, 1.132, PHS= 0.506,-0.893, 0.406, RAW= 146.4, -0.3, CAL= 150.1, -9.3, ROT= 359.9, 9.3 =PDAT read: Bearing 359.9, 9.3 (Local) =~Local bearing/azimuth received: Bearing 359.9, 9.3 (Local) MDAT read: Range 10 to 50 : 157.5 m (Round-trip 210.1 ms) speed 0.2 m/s M*DAT read: user:283> UBDAT read: Tx time:04:01:55.9728 ]$Ping request sent.] Ƈ#@)Iϩ'@i6&@6&> )|n:?(=b?\DyZti*B>բ;"6&> )}:publishing transmit ping timeQFpublishing direction and range infoy-6IO?1#9\oĿY )Ii )Ii )|n:?(=b?\DyZti )JpRp.?ApCpCp@vZ˓Vc@aHѿ$!uԃU9v-6IO?1#9\oĿp"p6&>vnzta@kbPxi6v-/b?a᪛ۿ0a¿jp@rp CZp⠊?bpЧ0zpD!BpG\L?pЧ0ppCp@-uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 157.500000 m, deltaT: 3.778117 s, deltaX: -48.100006 m, approachRate: -12.731212 m/s, rangeRepo size: 4oq}FNOT Ignoring new targets: 204.64 m.o}No}Nԩ ProNav: ac range: 204.643021 m, nav range: 164.202805 m, bearing: 334.607713 deg, approach rate: -0.462889 m/s, LOS rate: -0.011300 deg/s, cmd heading: 333.018468 deg, new cmd heading: 333.002970 deg. zo)HeadingCmd: 5.811998 target range: 204.643021 and range: 205.60 m.Ro@JoboZoBo:n2nm)m)l)k)k1k5c@k=?ɞ/{B» P&Jď,w-?AV#4@YV.@V{9V =bAHRS rotation from veh to nav: [[0.893706,0.444708,-0.059361],[-0.448308,0.890352,-0.079327],[0.017575,0.097507,0.995080]]yVH >?@v?@dܿ }?N2?2?`?ɫV#4@V;VCjU{BjIln=IrUIr٥z.< z[=9~9Q ~>|| F٦Ey9 > 4Y ;r?4y _ *B!%%? aD R; S; 45ДB)5-9A5ݣEoY]FNOT Ignoring new targets: 204.64 m.oe؉oe؉i} ProNav: ac range: 204.643021 m, nav range: 164.007858 m, bearing: 334.602940 deg, approach rate: -0.614604 m/s, LOS rate: -0.015064 deg/s, cmd heading: 333.002977 deg, new cmd heading: 332.988642 deg. zo}j%HeadingCmd: 5.811748 target range: 204.643021 and range: 205.60 m.Ro@JoboZoBo:n2nmmlkkkkO?ɞ1{Ba =I ɝiII=`iS=i0=)@)F6"F*F2F`5:FGFG  G ԡGjKLrK9zKKsK8||ric[SHA;4,$2KsA*K2B:B O> J mJ dJ J J \8:J |9J J cQď,7G?A>@Y>@>9>=JAHRS rotation from veh to nav: [[0.891919,0.448532,-0.057440],[-0.451786,0.889297,-0.070995],[0.019238,0.089272,0.995821]]y>H? ?@hܿu? ,?ڶ??ɫ>@>;HQHUIIU{BIU =IQIQ&IUw<Mb@Mb@Mb@ )IiT㥛 ?+?~jtx??=;)IAi; A G AIGI*IUE٥ʛ< -=9fQ %>!! %F٦%Ey- -> 1=4Y5s?=4y5X50B=?E:E;E?5pD5<:5:54I)m9AioFNOT Ignoring new targets: 204.64 m.oB˹oB˹ ProNav: ac range: 204.643021 m, nav range: 163.768799 m, bearing: 334.592311 deg, approach rate: -0.498853 m/s, LOS rate: -0.022213 deg/s, cmd heading: 332.988634 deg, new cmd heading: 332.956699 deg. zosHeadingCmd: 5.811191 target range: 204.643021 and range: 205.60 m.RoF@JoboZoBo:n2nmm}|Blkk)k)k-`ׄ?ɞu4{BuM y}+=Iy }ɝyiyI}IGi=i#=)F@) F9"FA*FA2FE1:FAGM ?GM?G2B):B9 OEs>9Y Wď,{a?A2 @Y2@292 =>AHRS rotation from veh to nav: [[0.892623,0.447098,-0.057688],[-0.450397,0.889924,-0.071962],[0.019164,0.090217,0.995738]]y2H]? @?D@LܿAz?l?z?`?ɫ2 @2;0zt{BzII6I٥{= r=9re9Q ?!! %F٦% Ey%; %? )54Y-Rs?54y--4B9=r=?-{D-&;-";-4EϔB)M8AImB*** querying acoustic contact ***:piBpioFNOT Ignoring new targets: 204.64 m.oԹoԹ ProNav: ac range: 204.643021 m, nav range: 163.598083 m, bearing: 334.584608 deg, approach rate: -0.514299 m/s, LOS rate: -0.023232 deg/s, cmd heading: 332.956696 deg, new cmd heading: 332.933561 deg. zoHeadingCmd: 5.810787 target range: 204.643021 and range: 205.60 m.Ro@JoboZoBo:n2nmmlkkkk?ɞ6{B:nF x=I rɝiI/»IAi!=ii-=)@)F6"F*F2F_0:FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G2B:B O >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501739.^ď,@z?A;FC-h{B-Ii1I1Mb@Mb@Mb@ )Iix&1?ʡE?Mb`?-=)~AI$Ai  AI!IŴ٥ݼ <=9q):Q >  F٦ #Ey q(;  > 4YI.s?4yv7B%p?%:%%?D:{:D4A)E8AAjKJMrK 9zKKtK  %Ei}xutrR  goFNOT Ignoring new targets: 204.64 m.oFoF ProNav: ac range: 204.643021 m, nav range: 163.377579 m, bearing: 334.573126 deg, approach rate: -0.486845 m/s, LOS rate: -0.025384 deg/s, cmd heading: 332.933555 deg, new cmd heading: 332.899064 deg. zo]HeadingCmd: 5.810185 target range: 204.643021 and range: 205.60 m.Ro @JoboZoBo:n!2n!m!mE|BlIkIkIkIkU /@?ɞ9{B 靝<=I nɝԡiIûI-i.=i]M2=) @)F"F*F2FR3:FJrJhJ2JJG:JȆ9Jc3JGq2By:B O]>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751621H=4>H9H=II={BI= =I9I9&I=<*I=E dď,yɔ?A6y;@Y6T6@696B1=BAHRS rotation from veh to nav: [[0.894109,0.444229,-0.056827],[-0.447508,0.891153,-0.074715],[0.017451,0.092234,0.995584]]y6H`?`=n? r@ܿS?` ޑ???ɫ6y;@6S;6CRc{BRIlI^ZI^٥v;? v^=9z~;Q z>xx zF٦~%Ey~; ~>  4Y=s? 4y:B?D: :4ΔB)8AޣEoFNOT Ignoring new targets: 204.64 m.oo ProNav: ac range: 204.643021 m, nav range: 163.190674 m, bearing: 334.563228 deg, approach rate: -0.507287 m/s, LOS rate: -0.026896 deg/s, cmd heading: 332.899076 deg, new cmd heading: 332.869347 deg. zo HeadingCmd: 5.809666 target range: 204.643021 and range: 205.60 m.Ro @Jo bo Zo Bo :n 2nmmlkkkk% @ɞe;{Be$ im!=Ii mɝiiiImŻ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003552Iqi(==i;=)@) F)"F)*F)2F-`0:F)1GU#'=G]rAG]sAG) 2B1 :BI  O] >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255506a kď,w?A>I@Y>D@>l9>=JAHRS rotation from veh to nav: [[0.894910,0.442693,-0.056213],[-0.445941,0.891838,-0.075905],[0.016530,0.092996,0.995529]]y>H?`U?Ǭ`Lܿ?@}n^?`η?@`?ɫ>I@>i;>CV[{BVII^mI^F٥fB fM=9f ;Q f>hh jF٦j(Eyj~; n> pv4YrNs?v4yrtr=Btvv?rDr:r:r4|)~9A|o)5FNOT Ignoring new targets: 204.64 m.o55o559M ProNav: ac range: 204.643021 m, nav range: 162.988083 m, bearing: 334.552345 deg, approach rate: -0.533203 m/s, LOS rate: -0.028677 deg/s, cmd heading: 332.869351 deg, new cmd heading: 332.836663 deg. zoMrUHeadingCmd: 5.809096 target range: 204.643021 and range: 205.60 m.RoU@JoQboQZoQBoY:nY2nYmamalakakikikm@2@ɞ>{BD귻 靥ԑjK aOrK zK K uK j7$  1?IUhx}zulb[SKFB=60-+%! rď,w?ABxH@YBSC@BB9BZ=JAHRS rotation from veh to nav: [[0.894840,0.442954,-0.055253],[-0.446100,0.891820,-0.075178],[0.015975,0.091921,0.995638]]yBH@?ZY?#Jܿɉ? >[?!?D?ɫBxH@B;@rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759607Hz9>HzCHzIIz |BIz =IxIzD&Iz<*IzE2IC:IBIJIRIZIQ5={BI%!>%<ԙMb@Mb@Mb@ )IiK7A?㥛 ?Q ?=u)AIAi AA G AI]It٥e 9=9(:Q > F٦+Ey, > -4Yas?-4yu15:55?D:;;4=̔B)=r9AEߣEoFNOT Ignoring new targets: 204.64 m.o˹o˹ ProNav: ac range: 204.643021 m, nav range: 162.746445 m, bearing: 334.541530 deg, approach rate: -0.497195 m/s, LOS rate: -0.022286 deg/s, cmd heading: 332.836676 deg, new cmd heading: 332.804182 deg. zotHeadingCmd: 5.808529 target range: 204.643021 and range: 205.60 m.Rox߹@JoboZoBo:n2nmm[|Blk!k)k)k- @ɞB{B6 靵I  ɝiI8ǻI)ii=iC=)x߹@)F"F*F2Fi0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013012G l;=G ?G >! Gy 2B :B  O >0xď,Y?A6H@Y6B@6|96GH=BAHRS rotation from veh to nav: [[0.894826,0.443104,-0.054266],[-0.446148,0.891858,-0.074441],[0.015412,0.090822,0.995748]]y6Hj?[?@ȫܿ`?@~?@?*?ɫ6H@6Z;4F+{BJvIIRHIR٥Z1F Za=9Z:Q ^?\\ bF٦b-Eyb$ b? hn4Yj0os?r4yjhprr?jDj#;jb;j#4t)v9AxB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 204.64 m.oI̹oI̹ ProNav: ac range: 204.643021 m, nav range: 162.577667 m, bearing: 334.533961 deg, approach rate: -0.497283 m/s, LOS rate: -0.022325 deg/s, cmd heading: 332.804191 deg, new cmd heading: 332.781460 deg. zo%uHeadingCmd: 5.808132 target range: 204.643021 and range: 205.60 m.Ro8ܹ@JoboZoBo:n2nmmlkkkk @ɞ%E{B-+F )-μI) -ɝ)i1I5ǻIE#:iEz=iMD=)M8ܹ@)IJJJnJdJJJ|;:J|9JJJ!J!J:!J:!F"F*F2F0:FBDAT read: Rx Time:04:01:58.5848  TRx dataTimestamp_ set to:1761364919.667996 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267064!G&t@=QG2B:B O>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522398ld~ď,]?An>@Ynr9@n$w9n=zAHRS rotation from veh to nav: [[0.894314,0.444219,-0.053595],[-0.447185,0.891415,-0.073521],[0.015116,0.089718,0.995852]]ynH7?n?p`ܿw?HҲ@7???ɫn>@nΊ;nC{BkIMb@Mb@Mb@ )IiE?:v?~jt?T=ļ)AIAiA$AQ AjKJNrKzKKvK     9=4+    BK>:K>IOIݜ٥E> M&=9U:Q }> F٦0Ey > 4Y(s?4yT:Bs?:?D:8:,4˔B)9Ao!%FNOT Ignoring new targets: 204.64 m.o-o-] ProNav: ac range: 204.643021 m, nav range: 162.312546 m, bearing: 334.526180 deg, approach rate: -0.545560 m/s, LOS rate: -0.016038 deg/s, cmd heading: 332.781460 deg, new cmd heading: 332.758079 deg. zo]0eHeadingCmd: 5.807724 target range: 204.643021 and range: 205.60 m.Roeع@JoaboaZoaBoa:ni2nimimm|Blkkkk @ɞI{B20 CI $ɝiI%HȻI%oi%W=i-A=)-ع@)QEaqH5>HHII{BI =IID&IN<*IUEUDAT read: 04:01:58.5848 LVL= 16976, 21169, 17362, 20931, AGC= 60, IDX= 412, 0.36, 0.611,-0.875, 0.578, 0.136, PHS= 0.563,-0.964, 0.439, RAW= 145.8, -0.5, CAL= 149.7, -9.6, ROT= 0.3, 9.6 ]Ygot valid direction response: 04:01:58.5848 LVL= 16976, 21169, 17362, 20931, AGC= 60, IDX= 412, 0.36, 0.611,-0.875, 0.578, 0.136, PHS= 0.563,-0.964, 0.439, RAW= 145.8, -0.5, CAL= 149.7, -9.6, ROT= 0.3, 9.6 ePDAT read: Bearing 0.3, 9.6 (Local) m~Local bearing/azimuth received: Bearing 0.3, 9.6 (Local) uDAT read: Range 10 to 50 : 155.9 m (Round-trip 207.9 ms) speed 0.7 m/s }*DAT read: user:284> F"F*F2Fp0:FBDAT read: Tx time:04:01:59.6728 $Ping request sent. 4"@) 5I m7'@i + ; +> )   ?O|?fYi z> < ; +> ) :publishing transmit ping timeۡFpublishing direction and range info y l26+?-u k%u?8_Xſ Y  ) I i      ) ԙI i    )   ?O|?fYi     ) G zG=G sAG G 2B :B  O >ď,f?AF/?@YF :@F q9Fh=bAHRS rotation from veh to nav: [[0.894351,0.444248,-0.052715],[-0.447123,0.891515,-0.072672],[0.014712,0.088565,0.995962]]yFH?@n?੝ܿ@K?` L!? .? ?ɫF/?@Fz;FCjzBjOIIEJIEK٥UE Ug=9]X:Q }>y F٦2Ey/\9 ? 4Ys?4y 8B?Du;<24ʔB):AJDAT read: TxSync time:04:01:59.6720 EJpRph ?Ap,Cp,Cpߺ@v:6!c@"?qZ)9vl26+?-u k%u?8_Xſp;p+>YvxpQa@@2'tPs7vfZ?C&%ۿY NXÿjprp CZpY.?bpzpBpY.?ppJBpdCp#ߺ@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 155.899994 m, deltaT: 7.562921 s, deltaX: -49.700012 m, approachRate: -6.571537 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 204.64 m.oo  ProNav: ac range: 204.643021 m, nav range: 162.130615 m, bearing: 334.520824 deg, approach rate: -0.487688 m/s, LOS rate: -0.014374 deg/s, cmd heading: 332.758074 deg, new cmd heading: 332.741987 deg. zo 5HeadingCmd: 5.807443 target range: 204.643021 and range: 205.60 m.Ro=ֹ@Jo9bo9Zo9Bo9:n92n9mAmAlAkAkIkM|c@kM?ɞL{Bsp 靽jI 9ɝiIIȻIwiO=iơC=)ֹ@)F"F*F2F0:Fԩ JQJUBAJ]oJ]fJ]3JYJ]>:J]9J](3JYJ]O;J]O;J]:J]:ԱG B=G 2B :B  O > ď,O0?A>-@Y>(@>|9>4=FAHRS rotation from veh to nav: [[0.893391,0.446146,-0.052979],[-0.449015,0.890684,-0.071180],[0.015431,0.087380,0.996056]]y>H@? ? ܿ|?8Q?^??ɫ>-@>#̊;>~CVzBV@II^BI^b٥fЅ fV=9j[Q j>hh jF٦j5Eynݷ n> pv4YrPs?v4yr r6Bxz1z?rDr#:r:r194|) ;Ao)5FNOT Ignoring new targets: 204.64 m.o5(o5(M ProNav: ac range: 204.643021 m, nav range: 161.931076 m, bearing: 334.515089 deg, approach rate: -0.574058 m/s, LOS rate: -0.016519 deg/s, cmd heading: 332.741982 deg, new cmd heading: 332.724756 deg. zoMc5UHeadingCmd: 5.807142 target range: 204.643021 and range: 205.60 m.RoUԹ@JoQboQZoQBoQ:nQ2nQmYmYlakakakakm wa 1ďH}<>HyH}II}{BI} =IyI}D&I}<*I}E,K?AZ^)@YZ9$@Zn9Z=jAHRS rotation from veh to nav: [[0.893140,0.446831,-0.051411],[-0.449494,0.890788,-0.066716],[0.015986,0.082696,0.996447]]yZH?ߘ? R@ܿ`V?L^?+??ɫZ^)@Z;ZCrzBr/ImMb@Mb@Mb@i i)iIiiim rh?:v? rhmC ?mT F٦8Ey~ > 4Yǵs?4y 0B ?:߾?D<::_A4ɔB)l;AEoFNOT Ignoring new targets: 204.64 m.o Էo Է ProNav: ac range: 204.643021 m, nav range: 161.676086 m, bearing: 334.514412 deg, approach rate: -0.544660 m/s, LOS rate: -0.001448 deg/s, cmd heading: 332.724742 deg, new cmd heading: 332.722708 deg. zov~ HeadingCmd: 5.807107 target range: 204.643021 and range: 205.60 m.Ro ӹ@Jo bo ZoIBoI:nQ2nQmYm]{BlYkakakakm ?ɞT{B⑼ I RɝiIǻI-i-=i5r;=)5ӹ@)9F6"F*F2F`5:FGsAFoAI GE ;=GM ?GM >G 2B) :B9  OE >ď,ed?A0zBII-)I-٥= Ef=9EQ E>II MF٦M:EyM U> Qe4YUs?e4yUU,Biim?UDUx5;U;UG4q)uǻIi=i<=)ӹ@)ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F-6"F)*F)2F-_0:F1G5F5G9 G9ԹG 2B :B  O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755473۞ď,R~?A\UqzBUIMb@Mb@Mb@ )Ii"~?~jt+?) AIAiA AI^I٥~ %<=9!Q %>!) -F٦-=Ey1 5> AM4YEs?M4yE9E$BU?U:UU?EDEd;E ;E+O4]B)]H% CH%II%{BI% =I!I%D&I%s<*I%E)EGF=6 e`wA)I`wA B"FI*F2F`0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004161G2B:B O>9 ď,G?A!-czB-II=ZI=٥M  MZ=9IQ M>QQ UF٦U?EyY ]> am4Yes?m4yeeBiim?e!De>:eW:eU4y)}GF6"F*F2Fo0:FGErAGAIG2B:B! O-->qJUlJUgJQJQJU<5:JU9JQJQJU^?;JUa?;JUH:JUI: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508228ԡ 뫻ď,;?A2e@Y2@ @2n92~=>AHRS rotation from veh to nav: [[0.891895,0.449233,-0.052087],[-0.452007,0.889213,-0.070643],[0.014581,0.086550,0.996141]]y2Hg?9?!ܿ nt?܍?`"(?b?ɫ2e@29;0fSzBfIIrRIr4٥v+ zP=9zaj;Q ~> F٦ BEy   > 4YYs?%4yB!%R%?0D;;\4-B)5:yHeadingCmd: 5.808148 target range: 204.643021 and range: 205.60 m.RoZܹ@JoboZoBo:n2nmmlkkkkH@ɞc{B؅ I ɝiIĻI8i8=i-=)Zܹ@)F"F*F2Fp0:FԱGechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7627292B:B OEQ>jK NrK 9zK K yK `s+F}",7LlO3kD'^*2K *K tA JH BH @AH5 Z>H5 "CH5 ~II5 7{BI5 =I1 I5 D&I5 <*I5 E,Ѳď,?ARBDAT read: Rx Time:04:02:02.2822 VTRx dataTimestamp_ set to:1761364923.205652Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013085f@Yf[@fjk9f =rAHRS rotation from veh to nav: [[0.891351,0.450257,-0.052545],[-0.453085,0.888572,-0.071785],[0.014368,0.087793,0.996035]]yfH@??'窿`Yܿ /o?~`@m?y? ?ɫf@f{w;f~Cv?zBvI UMb@Mb@Mb@Q Q)QIQiQU1Zd?kt{GzU"?U U#)UAIU@iUAUA QuPExceeded connect timeout, disconnecting.UAIXI㔴٥  %=9_9Q > F٦EEy > 4Y` t?4yB?:?CDa;*;Ce4) gď,V?AB@YB@Bși9B-=NAHRS rotation from veh to nav: [[0.890480,0.451985,-0.052486],[-0.454799,0.887716,-0.071541],[0.014257,0.087577,0.996056]]yBH~?T?ߪnݿ+h?P 2?sk?`?ɫB@B (;BCR;zBZIIbjIb٥nFM n=9nf9Q n?pp rF٦rGEyvʻ v? x~4Yzt?~4yz zB|~Y~?zPDzy:zN:zj4B)Y Y )ď,?ArDAT read: 04:02:02.2822 LVL= 22192, 28961, 20210, 29763, AGC= 62, IDX= 417,-0.43,-2.857, 2.049,-2.954, 2.993, PHS= 0.521,-0.898, 0.333, RAW= 143.0, 0.7, CAL= 147.0, -8.2, ROT= 3.0, 8.2 vYgot valid direction response: 04:02:02.2822 LVL= 22192, 28961, 20210, 29763, AGC= 62, IDX= 417,-0.43,-2.857, 2.049,-2.954, 2.993, PHS= 0.521,-0.898, 0.333, RAW= 143.0, 0.7, CAL= 147.0, -8.2, ROT= 3.0, 8.2 PDAT read: Bearing 3.0, 8.2 (Local) ~Local bearing/azimuth received: Bearing 3.0, 8.2 (Local) DAT read: Range 10 to 50 : 153.8 m (Round-trip 205.1 ms) speed 0.2 m/s *DAT read: user:285>  BDAT read: Tx time:04:02:03.3729 $Ping request sent.ܥB`?ܥTeܥ~> ݥ@)ݥ+H ޡ)ޡޥft?8%?%݇?iޥ{>ޥ>ޥPwV=ޥC> ߡ)ߡԩjKeOrKeS9zKaKezKe]9qfYQKC;40-,,+*('),TK_6mL,obZ:publishing transmit ping timeFpublishing direction and range infoۡyۥDNK"?V?x0A¿ۡYۡ ܡ)ܡIܡiܡܡܡܡܡ ݡ)ݡIݡiݡݡݡ ޡ)ޡޥft?8%?%݇?iޡޡޡޡ ߡ)ߡCzBI>p<J%hJ%]J!J!J%(:J%_9J!J!!5@!5@!5@!=@Hx>H&CHXIIzBI =I=DID&IH<*IE2I C:I!CBIŖCJIŗ =RIŕ =ZI2}6eMb@Mb@Mb@a a)aIaiaeGz?Mbep?ee)e AIe@ieAelA aefA) BAInId٥=O<< ==9EQ E>AI MF٦MKEyM U> Q]4YU2t?]4yU&UBe ?e:e*e?UhDU@:Us:U`u4B)vLd{aoa@%NE)2vWv'?VS,ٿ*u*jpprp} CZpbc{?bpGVzp.Bpbc{?ppBpCp*@ addTargetRange:: Added new target pos. range: 153.800003 m, deltaT: 11.353633 s, deltaX: -51.800003 m, approachRate: -4.562417 m/s, rangeRepo size: 4  Added new target pos. range: 153.106323 m, bearing: 336.648204 deg, lat: 36.779479 deg, lon: -121.859732 deg, deltaT: 11.353633 s, deltaX: -51.536697 m, approachRate: -4.539225 m/s, posRepo size: 4 o  FNOT Ignoring new targets: 153.11 m.o o ]  ProNav: ac range: 153.106323 m, nav range: 153.758011 m, bearing: 335.122242 deg, approach rate: 0.000000 m/s, LOS rate: 0.029841 deg/s, cmd heading: 332.867384 deg, new cmd heading: 332.919044 deg. zoY m nManaging dock network, ignoring radio surface power off HeadingCmd: 5.810534 target range: 153.106323 and range: 153.80 m.Ro @Jo bo Zo Bo :n 2n m m zBl k k k 9c@k @X8?ɞ% o{B- \޼ ) - I) - *ɝ1 i1 I5 ľI5 qi= =i} 0=)} @) F "F *F 2F `0:F 9 aG5)=G=sAG=tAG2B:B O%?yȻď,#?A:̲@Y:ƹ@:Kf9:=FAHRS rotation from veh to nav: [[0.887963,0.456786,-0.053551],[-0.459643,0.885402,-0.069220],[0.015795,0.086080,0.996163]]y:H1j?;?` kjݿ6U?n@,?P ?`?ɫ:̲@:X;:|CNOzBNIIV_IV٥b = bj=9fQ f>dd jF٦jMEyj j> lr4YncAt?]4yn[*nBY]G,]?nvDnHԹ λď,$G=?AazBI=Mb@Mb@Mb@9 9)9I9i9=V-?K7AI +=|?= =9)= AI9i=A=A 9=AIU,IUỴ٥e= m'=9mQ m>qq uF٦uPEyu }> y4Y}Ut?4y}u/}B"?:,?}D} ;}P;}4B)+H (CH ?II zBI  =I I D&I |<*I E)G =G 2B :B  O >y )ջď,rW?A @@6C@Y6@696=BAHRS rotation from veh to nav: [[0.887067,0.458236,-0.055959],[-0.461346,0.884292,-0.072031],[0.016477,0.089713,0.995831]]y6Hb?@S?౦ݿL?pdߐ?k??ɫ6C@68;6CFozBFIIr.Ir٥zQ#= z}=9~m Q ~ ?| F٦REyû  ? 4Y Pct?%4y 2 B!%<-%? D hH; I; 4-B)-;A5EoQ]FNOT Ignoring new targets: 153.11 m.o]:oe:m ProNav: ac range: 153.106323 m, nav range: 153.044037 m, bearing: 335.187846 deg, approach rate: -0.618074 m/s, LOS rate: 0.057515 deg/s, cmd heading: 333.060487 deg, new cmd heading: 333.116158 deg. zou;uHeadingCmd: 5.813974 target range: 153.106323 and range: 153.80 m.Rou @JoboZoBo:n2nmmlkkkkc6?ɞv{B] I 'ɝiI պIԉԹ ۻď,Zp?A2ڲ@Y2@2 92. =BAHRS rotation from veh to nav: [[0.886548,0.459285,-0.055587],[-0.462370,0.883695,-0.072778],[0.015696,0.090223,0.995798]]y2H^? d?uyݿ:G? ?@?`?ɫ2ڲ@2;2}CJzBJ$IIRYIR٥Z[ > ZN=9^I;Q ^>`` bF٦bUEyf= f> dj4Yfst?n4yf6fBln-n?fDf/;f];f4vB)v:AvEB*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 153.11 m.o-:o-: ProNav: ac range: 153.106323 m, nav range: 152.799591 m, bearing: 335.210741 deg, approach rate: -0.614700 m/s, LOS rate: 0.057667 deg/s, cmd heading: 333.116167 deg, new cmd heading: 333.184963 deg. zoM;%HeadingCmd: 5.815175 target range: 153.106323 and range: 153.80 m.Ro%@Jo!bo!Zo!Bo!:n!2n)m)m)l)k1kQkQkU@?ԑɞx{B:Ǽ 靭rSI *ɝiIM ۹IUiU=iU<)U@)YF"F*F2F:F ԹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G r=G 2B :B)  O5 >jK OrK zK K |K  ;AD@80)%#$*++*$&'"=xO-|tBK ?:K > ݡď,c ?AJtJdJJJ;N:J|9JJ:٪@Y:@:z9:Y=HF>HF)CHFLIIFzBIF =IDID&IFX<*IFEVAHRS rotation from veh to nav: [[0.886101,0.460146,-0.055592],[-0.463239,0.883183,-0.073471],[0.015290,0.090855,0.995747]]y:H@Z?`s?v ݿ C?@βP? DB?`(?ɫ:٪@:;8ZzBZ;Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.168339=Mb@Mb@Mb@9 9)9I9i9=V-?X9v~jth=?==D)= AI=@i=A9 99IMuIM_v٥}= }/=9d:Q > F٦XEy{ > 4Yt?4y;B ?:.?D;;4):AoFNOT Ignoring new targets: 153.11 m.oK:oK: ProNav: ac range: 153.106323 m, nav range: 152.517029 m, bearing: 335.237548 deg, approach rate: -0.608429 m/s, LOS rate: 0.057830 deg/s, cmd heading: 333.184961 deg, new cmd heading: 333.265531 deg. zo;HeadingCmd: 5.816581 target range: 153.106323 and range: 153.80 m.Ron!@JoboZoBo :n 2n mmF{Blkkkk6@ɞ]{{Be 靍P0I O-ɝiIIi=i)G<)n!@)F"F*F2F:F) u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420475G <G 2B :B  O >>ď,?AI):@Y:@:Jx9:L==^AHRS rotation from veh to nav: [[0.885867,0.460529,-0.056159],[-0.463693,0.882837,-0.074751],[0.015154,0.092260,0.995620]]y:HY?My?$ݿ3@?" ?Z??ɫ:@:5;:|CfzBfVIIr[Ir:٥z= zi=9z9Q ~>|| ~F٦ZEym > 4Y Ct?4y o? B5.? D !; "; ֞4%B)-\9A-EoQ]FNOT Ignoring new targets: 153.11 m.o]H:oeH:m ProNav: ac range: 153.106323 m, nav range: 152.305222 m, bearing: 335.257751 deg, approach rate: -0.605401 m/s, LOS rate: 0.057825 deg/s, cmd heading: 333.265529 deg, new cmd heading: 333.326222 deg. zou;uHeadingCmd: 5.817640 target range: 153.106323 and range: 153.80 m.Ro*@JoboZoBo:n2nmmlkkkkXI@ɞ}{B ZI g.ɝiII[iH=i<)*@)EYFq"Fq*Fq2Fu`0:FqG}= G}=GU`<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.673383G!2B):BA OU2>yԩ lď,4?A .BDAT read: Rx Time:04:02:06.0109 6TRx dataTimestamp_ set to:1761364926.990276<Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.933695@Y@x9= AHRS rotation from veh to nav: [[0.885927,0.460308,-0.057011],[-0.463577,0.882759,-0.076368],[0.015174,0.094085,0.995448]]yHY?`u?~0?ݿ??܌ i???ɫ@;髕}C%{B%nIԩMb@Mb@Mb@ )Ii9v?333333I +??94<)7AI@iAA  AI5SI5Q٥ڑ= =9Q > F٦]EyF9 > 4Yͪt?4y&DB@?:?Dw;;"4)8Ao9=FNOT Ignoring new targets: 153.11 m.oE4:oE4:U ProNav: ac range: 153.106323 m, nav range: 151.998047 m, bearing: 335.278776 deg, approach rate: -0.576411 m/s, LOS rate: 0.039532 deg/s, cmd heading: 333.326209 deg, new cmd heading: 333.389409 deg. zoU :jKU8NrKQzKQKU}KUjjurlso_TKE=;>@>973.,**)#"!! +=@82.(%-9@DFBCFIGHGBAI2KerA*KerAmHeadingCmd: 5.818743 target range: 153.106323 and range: 153.80 m.Rom$3@JoiboiZoqBoq:nq2nqmym}{Blykykkk& @iI)=GJ]jJ]aJYJYJ].:J]p9JYJY a)yH|>H(CHqII"{BI =IID&I*IEI>t Bɞ{B ŽI 0ɝi I eIgir=i<)$3@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176994F% 6"F! *F! 2F% J5:F)  ) Ge <Gm ?Gm A?GA2B:B O>Uď,?AJDAT read: 04:02:06.0109 LVL= 21424, 28337, 17394, 30035, AGC= 65, IDX= 230, 0.24,-1.888, 2.963,-1.968,-2.389, PHS= 0.589,-0.884, 0.418, RAW= 143.9, -1.8, CAL= 148.4, -10.9, ROT= 1.6, 10.9 NYgot valid direction response: 04:02:06.0109 LVL= 21424, 28337, 17394, 30035, AGC= 65, IDX= 230, 0.24,-1.888, 2.963,-1.968,-2.389, PHS= 0.589,-0.884, 0.418, RAW= 143.9, -1.8, CAL= 148.4, -10.9, ROT= 1.6, 10.9 ^PDAT read: Bearing 1.6, 10.9 (Local) ~Local bearing/azimuth received: Bearing 1.6, 10.9 (Local) -DAT read: Range 10 to 50 : 175.3 m (Round-trip 233.8 ms) speed 0.4 m/s 5*DAT read: user:286> 5BDAT read: Tx time:04:02:07.1245 }$Ping request sent.} & @)&I&%@i&B&<&B> $)$&B]Ͳ{=?s+? pL埿i&Z>&8<&<&B> $)$:publishing transmit ping timeyFpublishing direction and range info$y&{i?Uo?oG4ȿ$Y$ $)$I$i$$$$$ $)$I$i$$$ $)$&B]Ͳ{=?s+? pL埿i$$$$ $)$N{B5IIEQIE٥M= UB=94Q > F٦`Ey;; > 1=4Y5t?E4y5H5BAE6E?5D5:5$:54B)7AJp$Rp&(b?Ap&.Cp&.Cp&'@v&7ie@B0yϣ#@@v&{i?Uo?oG4ȿ)p&<p&B>v&>KZ'c@FK*ߢR5=v&y?ٲP:ڿ ſjp&͐rp&CZp&p}?bp&ezp&FBp$p&Ч0p$p&8Cp& @-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 175.300003 m, deltaT: 3.525862 s, deltaX: 21.500000 m, approachRate: 6.097800 m/s, rangeRepo size: 4oFNOT Ignoring new targets: 153.11 m.o):o): ProNav: ac range: 153.106323 m, nav range: 151.739883 m, bearing: 335.296388 deg, approach rate: -0.543662 m/s, LOS rate: 0.037152 deg/s, cmd heading: 333.389402 deg, new cmd heading: 333.442327 deg. zo:HeadingCmd: 5.819666 target range: 153.106323 and range: 153.80 m.Ro:@JoboZoBo:n2nm m lkkke@k'?ɞ{Bwh 靭SI 0F1ɝiIYIaRixQ=iI<):@)FQ"FY*FY2F]15:FYqJDAT read: TxSync time:04:02:07.1237 ԁ G} <G9 2BA :BY  Oe >ď,H?ABr@YBM@B:Wz9B[=NAHRS rotation from veh to nav: [[0.887038,0.457948,-0.058712],[-0.461443,0.883563,-0.079915],[0.015279,0.097980,0.995071]]yBH b?`O?`Hݿ@&F?QuJ?9?@?ɫBr@B ;B}CV{BVII^_I^٥f> jf=9j8Q j>ll nF٦nbEyrA_; r? tz4YvPt?z4yvKvBx~~?vDv;v;v4))7A%B*** querying acoustic contact ***:p!Bp!o)5FNOT Ignoring new targets: 153.11 m.o5.E:o5.E:E ProNav: ac range: 153.106323 m, nav range: 151.549164 m, bearing: 335.309353 deg, approach rate: -0.633161 m/s, LOS rate: 0.043097 deg/s, cmd heading: 333.442322 deg, new cmd heading: 333.481267 deg. zoE:Q]HeadingCmd: 5.820346 target range: 153.106323 and range: 153.80 m.Ro]F@@JoYboYZoYBoY:na2namamalikikqkqku_?ɞ{BW6 靥qI N1ɝiIոIKi>=i|<)F@@)EEsAET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Fe6"Fa*Fa2Fen0:FaGmsAFmtAԁGe8<ԡGA2BI:BY Om>jKwNrK9zKK~KE;;?<FM?2)! (83)!  ->IQ[{BK>:K?H {>H 'CH II ~{BI =I I &I O<*I E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717476 hď,~?A{BIMb@Mb@Mb@ )IiV-?/$/$? ?<)MAIi$AA AI8I?٥-x= 0=9Q > F٦eEy > 4Yt?4ycNB ?:m? D*::ٽ4B)6AEoFNOT Ignoring new targets: 153.11 m.oQ9oQ9- ProNav: ac range: 153.106323 m, nav range: 151.292923 m, bearing: 335.318135 deg, approach rate: -0.551709 m/s, LOS rate: 0.018941 deg/s, cmd heading: 333.481254 deg, new cmd heading: 333.507645 deg. zo-O:5HeadingCmd: 5.820807 target range: 153.106323 and range: 153.80 m.Ro5 D@Jo1bo1Zo9Bo9:n92n9mAmEV|BlAkIkQkQkU? ?ɞ{BI 靅y ď,U,?AJiJ`J4JJ+:Jbl9J3JJ./;!J0/;!J5:!J6:!f@Yf˺@fS9fz=rAHRS rotation from veh to nav: [[0.887263,0.456807,-0.063968],[-0.460942,0.883261,-0.085922],[0.017251,0.105721,0.994246]]yfHtd?T??@?ɫf@f;f|Cz{BzII#Iô٥*= i=99Q > %F٦%gEy-: -> 1=4Y5Jt?E4y5P5BAEZE?5D5;5;5Ü4MB)M5AUEoq}FNOT Ignoring new targets: 153.11 m.o}9o}9 ProNav: ac range: 153.106323 m, nav range: 151.099823 m, bearing: 335.324752 deg, approach rate: -0.550691 m/s, LOS rate: 0.018896 deg/s, cmd heading: 333.507646 deg, new cmd heading: 333.527524 deg. zo}O:HeadingCmd: 5.821154 target range: 153.106323 and range: 153.80 m.RoF@JoboZoBo:n2nmmlkkchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.220891kk'?Qɞe{Bmۻ 8m=I M90ɝiIIoio=iMz5<)MF@)IԁF"F*F2Fo0:FԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476356G5 m<G! 2BQ :Bq  O > uzď,]3F?A2>@Y2@2}92=:AHRS rotation from veh to nav: [[0.887049,0.457169,-0.064351],[-0.461339,0.883073,-0.085722],[0.017637,0.105727,0.994239]]y2Hb? BB?My@ݿ"B?}? ??ɫ2>@2:;0z{BzIMb@Mb@Mb@ )Ii~jt? F٦jEy| > 4Y1)       H=>H=(CH=II={BI= =I9I9&I=Y<*I=E2I(C:I(CBIÓCJIÇ =RIÈ =ZIÇB6ɞm{Bm quZ=Iq u;/ɝqiqIudI}ii}=i<)TF@)Ea>E>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726404FE6"FA*FA2FM0:FI Ga GA 2BI :Ba  Om >1 ď,F `?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.976806:ڲ@Y:Թ@:j9:\=BAHRS rotation from veh to nav: [[0.888731,0.454025,-0.063399],[-0.458117,0.884699,-0.086237],[0.016936,0.105686,0.994255]]y:H{p??:QݿtO?W?@6??ɫ:ڲ@:͈;:{CJ{BJII ^I ٥J?= T=9%G:Q %>!! -F٦-mEy-< -> 1=4Y5 u?=4y5ZU5 BAEҾE?51D5 ;5z ;5Ҝ4I)M4AQoyFNOT Ignoring new targets: 153.11 m.oˋoˋ ProNav: ac range: 153.106323 m, nav range: 150.680832 m, bearing: 335.321978 deg, approach rate: -0.518669 m/s, LOS rate: -0.003819 deg/s, cmd heading: 333.523601 deg, new cmd heading: 333.519200 deg. zo'HeadingCmd: 5.821008 target range: 153.106323 and range: 153.80 m.RoE@JoboZoBo:n2nmmlkkkk@@ɞ{B~ D=I ".ɝiI]-Isi=iN<)E@)F"F*F2F 5:F9JE4=JE=JMhJM[JM2JIJM(:JMW9JMc3JIJM);JM);JM|:JM|:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228611Ge<G ?G>G2B:B O>i 4ď,y?A :g@Y:B@:T9:=FAHRS rotation from veh to nav: [[0.890437,0.450891,-0.061806],[-0.454824,0.886424,-0.085953],[0.016031,0.104646,0.994380]]y:H`u~? d? ݿ]?oj?@ʺ??ɫ:g@:[;8n |BnIIvYIv٥=  L=9 ;Q  >  F٦oEy< > !-4Y%u?-4y%W%B)-о-?%>D%u:%K:%ٜ4=B)=x4A=EeB*** querying acoustic contact ***:paBpaoiuFNOT Ignoring new targets: 153.11 m.ou0ou0 ProNav: ac range: 153.106323 m, nav range: 150.472565 m, bearing: 335.320145 deg, approach rate: -0.518045 m/s, LOS rate: -0.004568 deg/s, cmd heading: 333.519203 deg, new cmd heading: 333.513694 deg. zoHHeadingCmd: 5.820912 target range: 153.106323 and range: 153.80 m.RoD@JoboZoBo:n2nmmlkkkk ǽ@ɞ{B7 =I ,ɝiIIiӼ=iV <)D@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484978qF6"F*F2F`5:FԙG<G2B:B O >H5 >H5 )CH5 &II5 I|BI5 =I1 I5 D&I5 1<*I5 EjKM ǽNrKM 9zKI KM KM   Ao  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732770p$ď,\ȓ?A "@"@Jc@YJ>@Jj9J=`fAHRS rotation from veh to nav: [[0.892102,0.447735,-0.060727],[-0.451565,0.888119,-0.085639],[0.015589,0.103821,0.994474]]yJH ??@rܿwk?q쵿???ɫJc@J;Hn |Bn IMb@Mb@Mb@ )IiZd;?Dl?:v?>O=T<)IiAA IiI҅٥?= @=9;:Q > F٦rEy < > 4Y,u?4y^YB?:?LD;;4)&4Ao)FNOT Ignoring new targets: 153.11 m.oo ProNav: ac range: 153.106323 m, nav range: 150.260010 m, bearing: 335.312295 deg, approach rate: -0.495659 m/s, LOS rate: -0.018331 deg/s, cmd heading: 333.513684 deg, new cmd heading: 333.490101 deg. zoHIHeadingCmd: 5.820500 target range: 153.106323 and range: 153.80 m.Ro A@Jo)bo1Zo1Bo1:n12n9m9m= }Bl9kAkAkAkE%g@ɞ{B 靽/>I *ɝiIIKIiN=i\P =)A@)EF6"F*F2F:FGrAFMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.985679GE  JY J] @AJe jJe ^Ja Ja Je .:Je d9Ja Ja !m @!m @!m @!m @*ď,"߭?A|=|B=IIMZIM٥])9 eN=9eQ e>ii uF٦utEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.236792y > 4Y@JoboZoBo:n2n m m l kkkk[ @ɞE{BE AE=IA M ?)ɝIiIIMIUiU=iU==)][>@)YF 6"F *F 2F`0:F1G =G2B:B OE>YM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491085ԑ 31ď,py?A6 O@Y6I@6ter96sK=JAHRS rotation from veh to nav: [[0.895219,0.441755,-0.058618],[-0.445381,0.891318,-0.084782],[0.014794,0.102006,0.994674]]y6Hࡥ?E?$` ܿ ?GfL?@ ?@^?ɫ6 O@6;6|CR|BRI=Mb@Mb@Mb@9 9)9I9i9=MbX9?Mb?=?===)=dAI9i=$A=A 9=AIUTIUn٥ez mL=9u;Q u>y F٦wEy< > 4Y{Mu?4y\B?:?fD;;4)4AoFNOT Ignoring new targets: 153.11 m.oo ProNav: ac range: 153.106323 m, nav range: 149.855759 m, bearing: 335.292944 deg, approach rate: -0.509944 m/s, LOS rate: -0.029871 deg/s, cmd heading: 333.467840 deg, new cmd heading: 333.431978 deg. zoHeadingCmd: 5.819486 target range: 153.106323 and range: 153.80 m.Ro:9@JoboZoBo:n 2n m m |Blkkkk @ɞ{Bn f=I 'ɝiI»H>HHRII|BI =IID&I><*IEI ji=i8%=):9@)jKu#MrKzKKKfO9( $#   0u .;mg{o[7 2K!*K%tAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.740868ԱF6"F*F2F:FG =G 2B :B  O > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.9926237ď,j?AI)<6f@Y6]a@6h96=BAHRS rotation from veh to nav: [[0.896494,0.439299,-0.057574],[-0.442828,0.892599,-0.084681],[0.014190,0.101411,0.994743]]y6H?w?@^zKWܿ@+??? ?ɫ6f@6ʄ;6yCF{BFIIRXIR㔴٥V3 VV=9Z~:Q Z>\\ bF٦byEyb; f> dn4Yf`]u?n4yf^f"Bln{n?frDfy:f:f04vB)v4Atoy}FNOT Ignoring new targets: 153.11 m.oo ProNav: ac range: 153.106323 m, nav range: 149.662048 m, bearing: 335.281365 deg, approach rate: -0.491783 m/s, LOS rate: -0.029435 deg/s, cmd heading: 333.431968 deg, new cmd heading: 333.397185 deg. zoHeadingCmd: 5.818879 target range: 153.106323 and range: 153.80 m.RoA4@JoboZoBo:n2nmmlkkkk1b@ɞ{B`7 Ҟ=I &ɝiIBûImiuN=iug.=)}A4@)EEFu6"Fy*Fy2Fy:FyG= G=JhJ]J3JJ(:J_9J(3JGU%=G)2B1:BI O]v>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.244968!Q x>ď,`<?A6{@Y6v@6e96W=BAHRS rotation from veh to nav: [[0.897645,0.437073,-0.056581],[-0.440499,0.893840,-0.083734],[0.013977,0.100087,0.994880]]y6H?`?5 1ܿV?o ۟?L??ɫ6{@6'>;4F{BFIIVZIV٥^< ^J=9bS :Q b>`` bF٦b|Eyf; f> hn4YjBnu?n4yj|_j&Bpr$r?jDja;j:j?4vB)vB5At B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 153.11 m.o%o%= ProNav: ac range: 153.106323 m, nav range: 149.456512 m, bearing: 335.268834 deg, approach rate: -0.525420 m/s, LOS rate: -0.032077 deg/s, cmd heading: 333.397188 deg, new cmd heading: 333.359544 deg. zo=EHeadingCmd: 5.818222 target range: 153.106323 and range: 153.80 m.RoE.@JoAboAZoABoA:nI2nImImIlQkQkYkYk]@ɞ{Bݻ 靍 >=I IZ&ɝiI{Ļ1IUiU=iU(9=)U.@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.497564F6"F *F 2F o0:F a)rG ) IMIMBԉG$=GG>H>HH_II|BIII&I_<*IEGa 2Bi :By  O >jK !OrK 9zK K K |slha[SLFD=:;879;832/)%4\plcYMA70+$*9<70+.&BK ?:K > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.749227Թ Eď, ?A6Nj@Y6@6JW]96Э=>AHRS rotation from veh to nav: [[0.898508,0.435442,-0.055433],[-0.438749,0.894779,-0.082885],[0.013509,0.098794,0.995016]]y6H?@I?atܿ ?`7 ?J?@,?ɫ6Nj@6춉;6|CR{BVIMb@Mb@Mb@ )Iip= ף?~jt?Q?=u)AIi$A (AITIn٥!. 9=9:Q > F٦Ey; > 4Yu?4yTa ? : 5 ?D:s:4B)M5AEo9EFNOT Ignoring new targets: 153.11 m.oEKoEK] ProNav: ac range: 153.106323 m, nav range: 149.226273 m, bearing: 335.257762 deg, approach rate: -0.522546 m/s, LOS rate: -0.025167 deg/s, cmd heading: 333.359540 deg, new cmd heading: 333.326273 deg. zo]-mHeadingCmd: 5.817641 target range: 153.106323 and range: 153.80 m.Rom*@JoiboqZoqBoy:ny2nmm|Bԙlkkkk5@@ɞ}{B}e y}L=Iy y%ɝiI0ŻI[i=iA=)*@)Fe6"Fa*Fa2Fa:Fa-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.001813G ==Ga 2Bi :B  O > 1Kď,.?Aj2@Yj@jE?V9j=zAHRS rotation from veh to nav: [[0.899284,0.433981,-0.054297],[-0.437169,0.895640,-0.081927],[0.013076,0.097413,0.995158]]yjH?X? ̫ۿ`?&NJ??V?ɫj2@jV;jxC{BIINI٥% -W=9-:Q 5>AI MF٦UEy]; ]> a}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2530044Ye0u?4yebe%BQ?eDe;e;e 4B)5AEoFNOT Ignoring new targets: 153.11 m.oo} ProNav: ac range: 153.106323 m, nav range: 149.025223 m, bearing: 335.247929 deg, approach rate: -0.517751 m/s, LOS rate: -0.025356 deg/s, cmd heading: 333.326263 deg, new cmd heading: 333.296725 deg. zo}6HeadingCmd: 5.817125 target range: 153.106323 and range: 153.80 m.Ro%@JoboZoBo:n2nmmlkkkk@S@ɞu{Bu4 q}HIy }}%ɝyiyI}\gŻIci=iH=)%@)EV>E>F"F*F2F0:FGsAFsA) ) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.505598A Ge K@=Ga 2B :B  O >QRď,H?A:˚@Y:@:\T9:r=BAHRS rotation from veh to nav: [[0.899318,0.434039,-0.053278],[-0.437104,0.895837,-0.080101],[0.012961,0.095324,0.995362]]y:H5?I?@4Gۿ@?}d?@'g?@?ɫ:˚@:S;:zCJ{BJIMb@Mb@Mb@ )IiDl?{Gz?X9vO ?#=)AIiAA  AITIn٥* A=9}9Q > F٦Ey69 > 4Ymu?4y,e!B ?:?Dh;~ ;4)C6Ao)5FNOT Ignoring new targets: 153.11 m.o=f_o=f_M ProNav: ac range: 153.106323 m, nav range: 148.792969 m, bearing: 335.242836 deg, approach rate: -0.555808 m/s, LOS rate: -0.012207 deg/s, cmd heading: 333.296730 deg, new cmd heading: 333.281427 deg. zoM UHeadingCmd: 5.816858 target range: 153.106323 and range: 153.80 m.Ro]#@JoYboYZoaBoa:na2namimm"|BlikikiH}>HyH}RII}|BIyIyIy&I}S<*I}Ekqk@ɞ{BbN  I c&ɝiIoqŻImJnJ\JJJ|;:J[9JJJ.J;!J0J;!J:!J:! Iim=imH=)m#@)qjKNrK]9zKKK4ND5/( /wiXE6)&,*$ "O)r2KsA*KsAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.757645F "F *F 2F ,1:F yG- J=G9 G= tAԩ G 2B :B!  O- >= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.008683e@Xď,b?A6@@Y6@6V96j=@BAHRS rotation from veh to nav: [[0.899394,0.433974,-0.052508],[-0.436943,0.896079,-0.078250],[0.013093,0.093321,0.995550]]y6H`?pp rF٦rEyvh9 v> x~4Yzu?~4yz)gzB|~?zDz;z;z4 B) 6A oQFNOT Ignoring new targets: 153.11 m.o ]o ]  ProNav: ac range: 153.106323 m, nav range: 148.587051 m, bearing: 335.238301 deg, approach rate: -0.547641 m/s, LOS rate: -0.012079 deg/s, cmd heading: 333.281430 deg, new cmd heading: 333.267805 deg. zo EHeadingCmd: 5.816620 target range: 153.106323 and range: 153.80 m.RoE!@JoAboAZoABoA:nA2nAmImIlIkIkkk@@ɞ{By $I ]]'ɝiI6ŻIi=iGJ=)!@)F"F*F2F`5:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.260692G-B=G 2B :B  O >) Zj^ď,uv|?ARԅ@YR@R&a9R=ZAHRS rotation from veh to nav: [[0.898187,0.436613,-0.051284],[-0.439400,0.895265,-0.073683],[0.013742,0.088715,0.995962]]yRH? w?Aܿ?`ܲ $? ? ?ɫRԅ@R;PzU{BzI|I _I ٥% %F=9%ͺQ ->)) -F٦-Ey5 ٻ 5> 9E4Y=u?E4y=bi=BAMM?=D=:=:=4Q)U07AQuB*** querying acoustic contact ***:pqBpqoFNOT Ignoring new targets: 153.11 m.oRVoRV ProNav: ac range: 153.106323 m, nav range: 148.358337 m, bearing: 335.233512 deg, approach rate: -0.558411 m/s, LOS rate: -0.011711 deg/s, cmd heading: 333.267797 deg, new cmd heading: 333.253408 deg. zoHeadingCmd: 5.816369 target range: 153.106323 and range: 153.80 m.Ro@JoboZoBo:n2nmmlkkkk @ɞ{Bڑ *ԽI H(ɝiIqĻIi1=iU@=)@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.513347Fq"Fy*Fy2F}11:FyG= G=1GUBJ=iG2B:B1 OE>H}>HyH}-II}S|BIyIyIy&I}#<*I}E2I=)C:I=)CBI9JI9RI=ȇ =ZI=54J mJ hJ J J \8:J Ȇ9J J J D;J D;J ߬:J :jK NrK 9zK K K x7T,wngd`YVQMJGC><850-('$! S^L3!  "BK ?:K ?ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.765182Teď,\?AFx|@YFTw@FRc9F=NAHRS rotation from veh to nav: [[0.897682,0.437607,-0.051646],[-0.440425,0.894749,-0.073824],[0.013904,0.089016,0.995933]]yFHϹ?@?@Xq@/ܿ ɡ? 沿 y?ɶ??ɫFx|@FÎ;FxCE{B5IQMb@Mb@Mb@ )Iid;O?~jtL7A`堿?D+)AI@iAA AIVI٥ S  <=90ĹQ >)) 5F٦5Ey5+ 5> 9E4Y=u?E4y=ml=BM?M:MxM?=D=K<=a<=i'4 B) h7A EoFNOT Ignoring new targets: 153.11 m.o9o9 ProNav: ac range: 153.106323 m, nav range: 148.104065 m, bearing: 335.237385 deg, approach rate: -0.544617 m/s, LOS rate: 0.008311 deg/s, cmd heading: 333.253399 deg, new cmd heading: 333.265039 deg. zo9HeadingCmd: 5.816572 target range: 153.106323 and range: 153.80 m.Ro\!@JoboZoBo:n2nmm{Blkkkk@ԁɞ{B^ I !*ɝiI@ĻIiG=i] ==)\!@) checking for new query: numPingsReceived=0, elapsed TxPingTime=7.018184F"F*F2F@5:FԱG g@= G ?G ?G 2B :B  O >E}kď,0?A6n@Y6i@6Jg96r=BAHRS rotation from veh to nav: [[0.896941,0.439086,-0.051966],[-0.441924,0.894030,-0.073577],[0.014152,0.088960,0.995935]]y6H`??K`{Hܿ?`ղ? ƶ??ɫ6n@6;6yCF2{BF{IINMIN٥V)V Vd=9Z[5Q Z>XX ^F٦^Eyb b> dj4Yf)u?n4yfnfBlnTr?fDfM;fN;f-4t)v7AtoFNOT Ignoring new targets: 153.11 m.echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.269047Աo89o89 ProNav: ac range: 153.106323 m, nav range: 147.897324 m, bearing: 335.240679 deg, approach rate: -0.632078 m/s, LOS rate: 0.010084 deg/s, cmd heading: 333.265038 deg, new cmd heading: 333.274932 deg. zot9HeadingCmd: 5.816745 target range: 153.106323 and range: 153.80 m.Ro"@JoboZoBo:n2nmmlkkkQk] Z@ɞ{B 靭EI NN,ɝiIûIEiS=i%6=)%"@)!F"F*F2F_0:F!G== checking for new query: numPingsReceived=0, elapsed TxPingTime=7.520761G 2B :B  O >A grď,f?A5{B=mIMb@Mb@Mb@ )IiʡE?)\(X9v?Ga)~ AI@iAA =AIdI@٥O 7=9Q > F٦Ey   >H>HHII |BIII&I+<*IE AM4YEcu?M4yErEBM?U:U U?EDE;E;E54]B)]7A]EJhJZJ4JJ(:JS9J3JJ);J);Jlu:Jou:o!EFNOT Ignoring new targets: 153.11 m.oM^9oM^9] ProNav: ac range: 153.106323 m, nav range: 147.618820 m, bearing: 335.252601 deg, approach rate: -0.589541 m/s, LOS rate: 0.025285 deg/s, cmd heading: 333.274928 deg, new cmd heading: 333.310762 deg. zo]Ҋ:eHeadingCmd: 5.817370 target range: 153.106323 and range: 153.80 m.Roe'@JoboZoBo:n2nmmw{Blkkkk`#@jKNrKh9zKKK*! ,31/.;E>2$ XO#+@9ɞ{B-# 153I1 =1.ɝ9i9I=ٛ»IMOiMyb=iMb5=)M'@)Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.773497EyEyAF9"F9*F92F=`0:F9iG} 6=GQ 2Bi :By ԙ  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.024731Vxď,?Af{BjnIIrbIr٥z; z]=9xQ z>|| ~F٦~Ey > 4Y  v?4y u B!%? D L; =N; ;4))-7A)oQUFNOT Ignoring new targets: 153.11 m.o]9oe9m ProNav: ac range: 153.106323 m, nav range: 147.395493 m, bearing: 335.262194 deg, approach rate: -0.649435 m/s, LOS rate: 0.027938 deg/s, cmd heading: 333.310773 deg, new cmd heading: 333.339595 deg. zoud:uHeadingCmd: 5.817873 target range: 153.106323 and range: 153.80 m.Ro},@JoyboyZoyBoy:ny2nmmlkkkk= @ɞ{B}ȼ 4I F0ɝiIIY=il=in3=),@)qF9"F9*F92F=p0:FAԡJJG]ǚ5=GaGesAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.279223G12BA:BQ Oe> ~ď,?A2>@Y29@2}w92@=BAHRS rotation from veh to nav: [[0.894323,0.444285,-0.052898],[-0.447169,0.891530,-0.072214],[0.015077,0.088237,0.995985]]y2H@J?`)o?@iܿ@i?|?`??ɫ2>@2{;0J{BJeIIROIRݜ٥ZT ZN=9^Q ^>\` bF٦bEyb%r b> dj4YfCv?j4yfyfBlnB n?fDf;f;fB4rB)r7AvEB*** querying acoustic contact ***:pBpo!%FNOT Ignoring new targets: 153.11 m.o-9o-9= ProNav: ac range: 153.106323 m, nav range: 147.151749 m, bearing: 335.273264 deg, approach rate: -0.612322 m/s, LOS rate: 0.027857 deg/s, cmd heading: 333.339596 deg, new cmd heading: 333.372862 deg. zo=:EHeadingCmd: 5.818454 target range: 153.106323 and range: 153.80 m.RoE0@JoAboAZoABoI:nI2nImImQlQkQkkk@(!@ɞM{BMnƼ 靕 HI ~3ɝiII3in=i=)0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=8.528961F"F*F2F{0:F H!H!H%II%{BI!I!I!&I% <*I%eEJ3J;(3J;.JiJJ3JJ+:JJ(3JJ//;J1/;JJG B4=1 G 2B :B jKE OOrKE +9zKA KE KE vZ ^SA7.'#+?CADw8J, Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.781554Y ď,?AI)F+@YF&@F~y9Fn=RAHRS rotation from veh to nav: [[0.893285,0.446321,-0.053281],[-0.449233,0.890489,-0.072237],[0.015205,0.088464,0.995963]]yFHʕ??`G=ܿ`~?'~ #???ɫF+@Fʈ;DTZfIMb@Mb@Mb@ )IiZd;?㥛  F٦EyE > 4Y1v?4y}B# ?:v?%D6; ;J4B)7AEo-FNOT Ignoring new targets: 153.11 m.o5%:o5%:M ProNav: ac range: 153.106323 m, nav range: 146.879898 m, bearing: 335.289115 deg, approach rate: -0.620965 m/s, LOS rate: 0.036273 deg/s, cmd heading: 333.372873 deg, new cmd heading: 333.420513 deg. zoM':]HeadingCmd: 5.819286 target range: 153.106323 and range: 153.80 m.Ro]7@JoYboYZoaBoa:na2namimmW{Blikikqkqku!@!ɞE{BM\ȼ QUKIQ ]O6ɝyiIyI=ij=i.=)7@)E%i>E%>F"F*F2F0:FG= G=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.034307Iy G 9g=G 2B :B  O > J J AA{ʋď,mt1?A0:6!@Y:@:)9:0=BAHRS rotation from veh to nav: [[0.892697,0.447366,-0.054367],[-0.450385,0.889831,-0.073169],[0.015644,0.089803,0.995837]]y:H??իܿ~y?-`?Z??ɫ:6!@:;:xCR*{BRvIIZHIZ٥= W=9Q > F٦Ey%_ %> )54Y-`Bv?54y--BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.2853519MM?-5D-;-;-$Q4Q)UU7AYoFNOT Ignoring new targets: 153.11 m.oW&:oW&: ProNav: ac range: 153.106323 m, nav range: 146.644897 m, bearing: 335.302981 deg, approach rate: -0.615172 m/s, LOS rate: 0.036356 deg/s, cmd heading: 333.420520 deg, new cmd heading: 333.462185 deg. zo:HeadingCmd: 5.820013 target range: 153.106323 and range: 153.80 m.Ro=@JoboZoBo:n2nmmlkkkk`"@ɞ{BlƼ 4I h8ɝiIj־I$id=i| =)=@)ԑF6"F*F2F`5:FԹGm=G2B:B O>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.536815 i5 (>I5 Cď,kK?A\)bG l)xI%这!%AAu@Yu @u9uݹ=AHRS rotation from veh to nav: [[0.891888,0.448856,-0.055342],[-0.451966,0.888997,-0.073559],[0.016181,0.090619,0.995754]]yuHY?`?U`ܿ`r?Բґ?2?7?ɫu@u<;q%{BsIHHHII{BIII&I(<*IEJ%fJ%XJ!J!J%|":J%5K9J!J!J%;J%;J%g:J%g:-only read 2 of 4 data items for bottom velocity. Device response is::BS, -75, -4,A m@ q@ u@ i@ IfI{٥& #=9ԌEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.788879Q E>II MF٦MEyU;d U>jK}OrK}ػ9zKyK}K}c9' '08KXZVSMHGC@>;98[kN;*  2K*K 4YXv?4y!B+:::?ID ;?[X4~B)b7Ao5FNOT Ignoring new targets: 153.11 m.o=%:o=%:M ProNav: ac range: 153.106323 m, nav range: 146.329773 m, bearing: 335.321865 deg, approach rate: -0.603238 m/s, LOS rate: 0.036228 deg/s, cmd heading: 333.462184 deg, new cmd heading: 333.518959 deg. zoM:UHeadingCmd: 5.821004 target range: 153.106323 and range: 153.80 m.RoUE@JoqboqZoBo:n2nmmlkkkk#@ɞ{Bns 15>I9 =;ɝ9iAIEN뽻Iui}T=i=)E@) Fe6"Fa*Fa2Fe0:FaGmtAFmtAA  񱙼ď,h?A 6@Y6w@696=>AHRS rotation from veh to nav: [[0.891332,0.449920,-0.055677],[-0.453060,0.888417,-0.073832],[0.016245,0.091034,0.995715]]y6H@ʅ?{?ܿm?沿? N?@?ɫ6@6g;4FA{BFIIRyIRHo٥Z= Zi=9Zy@Q Z>\\ ^F٦^Ey^l b? df4Yfgv?j4yf7fBj :hn^:nn?fWDfXD;fbZ?fB\4t)v6AtoFNOT Ignoring new targets: 153.11 m.o'3:o'3:- ProNav: ac range: 153.106323 m, nav range: 146.119492 m, bearing: 335.334615 deg, approach rate: -0.644904 m/s, LOS rate: 0.039157 deg/s, cmd heading: 333.518957 deg, new cmd heading: 333.557260 deg. zo-:5HeadingCmd: 5.821672 target range: 153.106323 and range: 153.80 m.Ro5$K@Jo1bo1Zo1Bo1:n92n9m9m9lAkAkkkg$@ɞ{BL&ļ %I p=ɝi9IE'>IEkKiM2I=iM<)M$K@)IԡF6"F*F2FB5:FG=Gi2B:B O<> 2Acoustic response timeout ) /ď,\?A6@Y6@6%96=BAHRS rotation from veh to nav: [[0.890955,0.450608,-0.056149],[-0.453793,0.888026,-0.074044],[0.016496,0.091450,0.995673]]y6H ?? ݿj?p?Ci??ɫ6@6ֶ;6wCFT{BJIIRaIR錴٥Z#C= ZK=9Z#Q Z>\\ ^F٦^EybT b> hn4Yjtyv?n4yjߋjBr9pr4:rr?jgDj ;j?j_4v}B)v6AvE B*** querying acoustic contact ***:p Bp  %2Acoustic response timeouto!%FNOT Ignoring new targets: 153.11 m.o-Q-:o-Q-:= ProNav: ac range: 153.106323 m, nav range: 145.870667 m, bearing: 335.349831 deg, approach rate: -0.618425 m/s, LOS rate: 0.037881 deg/s, cmd heading: 333.557260 deg, new cmd heading: 333.602985 deg. zo=:EHeadingCmd: 5.822471 target range: 153.106323 and range: 153.80 m.RoEQ@JoAboAZoIBoI:nI2nQmYmYlYkakakake`.%@ɞ {B h I U[?ɝiII5i=7=i=<)=Q@)9F6"F*F2F_0:FH%>H%*CH!I!I% =I!I!&I%<*I%>E9G=G)G) 2Acoustic response timeoutG2B :B  O% >jKM NrKI zKI KM KM  +wdD-!W{mf`X^xvh^SMC70+.6GQKAACA:3+&0?CBKU >:KU >i "ď,&7?A$w{B%Imm qq uu ii Mb@Mb@Mb@ )Ii|?5^?Zd;y&1|??y`;)AI@ilA =A) @AI\IW٥\= 9=9Q > F٦Ey > 4Yrv? 4yBT:?:?wD;;g41)=6A9o -FNOT Ignoring new targets: 153.11 m.o5R:o5R:M ProNav: ac range: 153.106323 m, nav range: 145.618622 m, bearing: 335.364556 deg, approach rate: -0.538982 m/s, LOS rate: 0.031544 deg/s, cmd heading: 333.602995 deg, new cmd heading: 333.647248 deg. zoM/:UHeadingCmd: 5.823243 target range: 153.106323 and range: 153.80 m.RoUX@JoQboQZoYBoY:nY2nYmYme{Blakakakakm`&@iɞ{BZ I  AɝiIUI}i-"=5BDAT read: Response Not Received 5*response not received=*DAT read: user:287> EBDAT read: Tx time:04:02:18.0730 M$Ping request sent.M JDAT read: TxSync time:04:02:18.0722  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801N䬼ď,{?APZ@YZ@Z89Z=fAHRS rotation from veh to nav: [[0.890622,0.451133,-0.057198],[-0.454427,0.887632,-0.074871],[0.016994,0.092674,0.995551]]yZH?[? I@Sݿ{g?*f? z??ɫZ@Z(;ZxCn{BnIIvdIv@٥~O"= ~Z=9䭺Q > F٦Ey   > !%4Y%Țv?-4y%%B)--?%D%:%:%Kn45oB)a5A EoFNOT Ignoring new targets: 153.11 m.o :o : ProNav: ac range: 153.106323 m, nav range: 145.403671 m, bearing: 335.377217 deg, approach rate: -0.592920 m/s, LOS rate: 0.034977 deg/s, cmd heading: 333.647255 deg, new cmd heading: 333.685296 deg. zo :HeadingCmd: 5.823907 target range: 153.106323 and range: 153.80 m.Ror]@Jo bo Zo Bo :n 2n m1m1l9k9k9k9k=&@ɞ{Bf 靍ԽI VBɝiII&i'=i<)r]@)FM6"FQ*FQ2FU`0:FQ=A=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501084Gm<G) 2BA :BQ  O] >) H! H! H% II% {BI! I! I! &I% <*I% #E2I:IBIJIRIZI4̳ď,?A2D@Y2 @2;U92]=BAHRS rotation from veh to nav: [[0.889547,0.452306,-0.064224],[-0.456444,0.885817,-0.083589],[0.019082,0.103671,0.994429]]y2H ,w??p`a6ݿX?fY?`2?[?ɫ2D@2Uo;0={B=I5Mb@Mb@Mb@1 1)1I1i15 rh?I +y&1?5 ?595`e<)5 AI1i5A5A 15AIM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753074IMЬ٥P= 2=9Q > F٦Ey > jK ՋNrK ]9zK K K ;/# (Gg zj[LB91(" 2K*K%4Yv?%4yB% ?%:%?-?D;$;ov41)55A1oY]FNOT Ignoring new targets: 153.11 m.oe"9oe"9} ProNav: ac range: 153.106323 m, nav range: 145.148682 m, bearing: 335.385980 deg, approach rate: -0.559162 m/s, LOS rate: 0.019248 deg/s, cmd heading: 333.685286 deg, new cmd heading: 333.711619 deg. zo}\S:HeadingCmd: 5.824367 target range: 153.106323 and range: 153.80 m.Ro6a@JoboZoBo:n2nmm|Blkkkk@'@ɞ{BA *I "CɝiI{HICi=iď,?A6Gز@Y6#ӹ@696O=BAHRS rotation from veh to nav: [[0.888592,0.454180,-0.064223],[-0.458284,0.884995,-0.082219],[0.019495,0.102491,0.994543]]y6H@Xo?J?p@TݿQ?F ?! Qď,v?A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508541{B II]9I]\٥-< <=9Q > F٦Ey > 4Y^v?4yyB?DL;;׃4)4AB*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 153.11 m.o9o9- ProNav: ac range: 153.106323 m, nav range: 144.729080 m, bearing: 335.400809 deg, approach rate: -0.547579 m/s, LOS rate: 0.019408 deg/s, cmd heading: 333.730775 deg, new cmd heading: 333.756164 deg. zo-U:-HeadingCmd: 5.825144 target range: 153.106323 and range: 153.80 m.Ro5g@Jo1bo1Zo9Bo9:nA2nAmAmAlIkIkIkIkM}H)@ɞ}{B} y靅I JEɝiIɼIgik=iB<)g@)F"F*F 2F 0:F )H>H)CHII |BI =II&I<*IQG<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761520G 2B :B jK )NrK zK K K  6KX_cgffeaadddaa\]^^Y[s}aI>5,'$$" ;~zbSF<4, O >ԁ <Ǽď,~?A6Բ@Y6Ϲ@6_96S[=BAHRS rotation from veh to nav: [[0.888422,0.454829,-0.061941],[-0.458679,0.884882,-0.081225],[0.017867,0.100574,0.994769]]y6H@m?? [ݿP?1˴K?2?@&?ɫ6Բ@6)؉;6wCJ{BJI=Mb@Mb@Mb@9 9)9I9i9=#~j?Mb?y&1?=?=<9)=7AI9i=A=A 9=AIUPIU٥eS= mN=9u;Q u> F٦Ey > 4Yv?4yB?:?DJO;Q>;Ɋ4mB)*4A"EoFNOT Ignoring new targets: 153.11 m.o9o9Q ProNav: ac range: 153.106323 m, nav range: 144.521408 m, bearing: 335.403668 deg, approach rate: -0.521826 m/s, LOS rate: 0.007195 deg/s, cmd heading: 333.756156 deg, new cmd heading: 333.764745 deg. zo9HeadingCmd: 5.825294 target range: 153.106323 and range: 153.80 m.Roh@JoboZoBo:n2nmmL|Blkkk!k%u%*@ɞ{B8fu 靵1I EɝiI#Ipi=iv <)h@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016279ԁF"F*F2F0:FԩG J- jJ- J) J) J- .:J- 9J) J) G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268699 2ͼď,X7?A2@Y2ڹ@2d92=BAHRS rotation from veh to nav: [[0.889066,0.453635,-0.061459],[-0.457458,0.885425,-0.082183],[0.017137,0.101181,0.994720]]y2H:s?Y?wFݿgU? G???ɫ2@204;2tCJ{BJIIRgIR٥Z*; ZW=9Z:Q Z>\\ ^F٦^EybNo; b> dj4Yfv?j4yf>f Bhjj?fDf:fy:fe4a)e 4AaoFNOT Ignoring new targets: 153.11 m.o8o8 ProNav: ac range: 153.106323 m, nav range: 144.323837 m, bearing: 335.406288 deg, approach rate: -0.497171 m/s, LOS rate: 0.006603 deg/s, cmd heading: 333.764734 deg, new cmd heading: 333.772607 deg. zo9HeadingCmd: 5.825431 target range: 153.106323 and range: 153.80 m.Roi@JoboZoBo:n2nmmlkkk!k% D*@ɞm|BmMzԱ 15p3I1 5pFɝ1i1I5KI=^i=Kz=iE<)Ei@)AF6"F*F2F 3:F G= G==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520583 G) G 2B9 :B  O >ZH RH <H H H &II I|BI =I I &I <*I iE9 tԼď,5Q?Ab@Yb@b_9b= AHRS rotation from veh to nav: [[0.890068,0.451734,-0.060958],[-0.455539,0.886278,-0.083637],[0.016244,0.102211,0.994630]]ybH`o{? 5?5'ݿd\?=i;?`*??ɫb@bk;bxC{BIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772708Mb@Mb@Mb@ )Iiy&1?Mb?~jth?`?=D;)AIilAA AIUfIU{٥u< u%=9}:Q }>yy F٦Eyz; > 4Yv?4yB?:>Ӿ?D<::4)3AjKtNrK9zKKK&!;V`\PF<0( !"%'&%%"!#&((+*+,3Tu[G:.% o)5FNOT Ignoring new targets: 153.11 m.o5 o5 E ProNav: ac range: 153.106323 m, nav range: 144.063660 m, bearing: 335.404564 deg, approach rate: -0.535215 m/s, LOS rate: -0.003553 deg/s, cmd heading: 333.772603 deg, new cmd heading: 333.767421 deg. zo HeadingCmd: 5.825340 target range: 153.106323 and range: 153.80 m.Ro0i@JoboZoBo:n2nmmS|Blkkkk+@ɞ|Bi  I OFɝ9iI]dIejieY=ien<)e0i@)iF6"F*F2F0:Fi M BDAT read: Rx Time:04:02:20.6684 M TRx dataTimestamp_ set to:1761364941.605908U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025875ԙ G- $ӿ<G 2B:B) O=>7ۼď,V o?A6 @Y6@6~96bt=>AHRS rotation from veh to nav: [[0.890812,0.450315,-0.060581],[-0.454106,0.886903,-0.084803],[0.015541,0.103054,0.994554]]y6H??`vݿa?@@/ԏ?`a?c?ɫ6 @61;6wCR{BRIIjcIj#ԉ٥  K=94:Q > F٦Ey'; > 4Yw?4y-BlҾ?D::4)3AJR=J%=J fJ \J J J |":J [9J J o%FNOT Ignoring new targets: 153.11 m.o%o%5 ProNav: ac range: 153.106323 m, nav range: 143.855347 m, bearing: 335.403046 deg, approach rate: -0.522399 m/s, LOS rate: -0.003812 deg/s, cmd heading: 333.767412 deg, new cmd heading: 333.762851 deg. zo5p'=HeadingCmd: 5.825261 target range: 153.106323 and range: 153.80 m.Ro=h@JoAboAZoABoA:nA2nAmImIlIkIkQkQkU`",@ɞ|B%t @I ;tGɝ i I `IuiE=i;<)h@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277619ԱF"F*F2F`5:FG ܢ<G 2B :B  O% >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530625ď,Lj?Ab @Ybn@bu9b(2=rAHRS rotation from veh to nav: [[0.891568,0.448847,-0.060352],[-0.452638,0.887548,-0.085896],[0.015011,0.103900,0.994474]]ybH??k殿ܿ`f?@N齎?0? ?ɫb @b~J;`z{BzIIiI҅٥Ż S=9:Q >19 ]F٦eEy}Y; >)׉G )IM.IMB 4Yvw?4ycBѾ?D==+4 lB)=3A=#EHHH?IIr|BI =II&I<*I:EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 153.11 m.oyoy!m ProNav: ac range: 153.106323 m, nav range: 143.643921 m, bearing: 335.401363 deg, approach rate: -0.428205 m/s, LOS rate: -0.003415 deg/s, cmd heading: 333.762849 deg, new cmd heading: 333.757791 deg. zomuHeadingCmd: 5.825172 target range: 153.106323 and range: 153.80 m.Roug@JoqboqZoyBoy:n2nmmlkkkk-@ɞ- |B-v )-:I) 5;Hɝ1i1I5;I=i=,=i=.<)=g@)AEIEIEDAT read: 04:02:20.6684 LVL= 20864, 31585, 18002, 32755, AGC= 63, IDX= 481, 0.16,-2.831, 2.098,-2.856, 3.011, PHS= 0.529,-0.866, 0.413, RAW= 145.7, -1.2, CAL= 149.7, -10.2, ROT= 0.3, 10.2 ]Ygot valid direction response: 04:02:20.6684 LVL= 20864, 31585, 18002, 32755, AGC= 63, IDX= 481, 0.16,-2.831, 2.098,-2.856, 3.011, PHS= 0.529,-0.866, 0.413, RAW= 145.7, -1.2, CAL= 149.7, -10.2, ROT= 0.3, 10.2 ePDAT read: Bearing 0.3, 10.2 (Local) m~Local bearing/azimuth received: Bearing 0.3, 10.2 (Local) DAT read: Range 10 to 50 : 143.4 m (Round-trip 191.2 ms) speed 0.4 m/s *DAT read: user:288> BDAT read: Tx time:04:02:21.7731 $Ping request sent. "@)Im7'@iK6;K6> )g_?`@k?)89:i->&<;K6> )E:publishing transmit ping timeۡEFpublishing direction and range infoIyEPk~?|u?kiƿY )Ii )Ii )g_?`@k?)89:i )ԁ G q<G 2B :B  O >Rď,l?Aԩ{BI]Mb@Mb@Mb@Y Y)YIYiY]!rh?+?]l?]=])]MAI]@i]A]A Y]AIukIu ٥:<  =9Q > F٦Ey > 4Y3w?4yB?: ˾? Dn:<:԰4kB)3A$EJpiRpm 4?ApmCpmCpmʺ@vm9\a@G?E4G9vmEPk~?|u?kiƿpm;pmK6>vmZD@_@bNӺ6vm]5~?2(ގ>ۿ/Ŀjpmsrpm?BZpmf ?bpmOzpm BpmY.?pmOpm BpmD CpmԺ@ addTargetRange:: Added new target pos. range: 143.399994 m, deltaT: 18.398047 s, deltaX: -10.400009 m, approachRate: -0.565278 m/s, rangeRepo size: 4  Added new target pos. range: 142.761642 m, bearing: 334.449552 deg, lat: 36.779453 deg, lon: -121.859745 deg, deltaT: 18.398047 s, deltaX: -10.344681 m, approachRate: -0.562271 m/s, posRepo size: 4 oFNOT Ignoring new targets: 142.76 m.oo  ProNav: ac range: 142.761642 m, nav range: 141.267365 m, bearing: 334.520402 deg, approach rate: 0.000000 m/s, LOS rate: -0.003415 deg/s, cmd heading: 333.757795 deg, new cmd heading: 333.753520 deg. zo HeadingCmd: 5.825098 target range: 142.761642 and range: 143.40 m.RoU4g@JoQboQZoQBoQ:nQ2nYmYm]]|BlYkakakea@ke@?ɞ]|B]: Y]cIY e6IɝaiaIe I5ci5=i5S<)54g@)9 JJBA F6"F*F2F4:F1 G <G 2B :B O >[Yď,v?A(j@Yj@jQN9j=rAHRS rotation from veh to nav: [[0.892623,0.446667,-0.060936],[-0.450528,0.888621,-0.085892],[0.015784,0.104122,0.994439]]yjH]?1?@2 sܿ o? )?࿧?@r?ɫj@jM;jvCz{BzII II .٥L Y=9Q >!! %F٦%äEy%d; %> 1=4Y5?Cw?E4y5 5BAMɾM?5 D5{r;5ws;5U4Q)UF4AYoyFNOT Ignoring new targets: 142.76 m.o:Po:P ProNav: ac range: 142.761642 m, nav range: 141.070236 m, bearing: 334.516355 deg, approach rate: -0.553486 m/s, LOS rate: -0.011378 deg/s, cmd heading: 333.753533 deg, new cmd heading: 333.741376 deg. zoHeadingCmd: 5.824886 target range: 142.761642 and range: 143.40 m.Rowe@JoboZoBo:n2nmmlkkkk]?ɞm|Bu qu6Iq uIɝqiqI}II}=i =i%<)we@)ԁF]6"FY*FY2F]`0:FYԱJH9BH=?AH]>HYH]FII]||BI] =IYIY&I]<*I]eEGJhJgJJJ(:J9JJJ);!J);!JI:!JK:! G 2B :B  O >jK% {PrK% 9zK! K% K%  @Y9m^c;% Ormt|snklhd^[au nzď,,?AV,@YV&@V79V=^AHRS rotation from veh to nav: [[0.893284,0.445352,-0.060870],[-0.449197,0.889386,-0.084943],[0.016308,0.103221,0.994525]]`yVH@ȕ??`*`ܿu?̾`?l?%?ɫV,@V;Tf{BjI]Mb@Mb@Mb@Y Y)YIYiY]HzG?ˡE?{Gz]= ?]'=]#)YI]@i]A]A Y] AIu!IuŴ٥ E=9XQ > F٦ƤEyj; > 4YTw?4yK ?:ƾ?" D/:{:4jB)P4AoamFNOT Ignoring new targets: 142.76 m.omZomZ ProNav: ac range: 142.761642 m, nav range: 140.845612 m, bearing: 334.511221 deg, approach rate: -0.520386 m/s, LOS rate: -0.011912 deg/s, cmd heading: 333.741375 deg, new cmd heading: 333.725950 deg. zoHeadingCmd: 5.824616 target range: 142.761642 and range: 143.40 m.RoBc@JoboZoBo:n2nmmP|Blkkkk|?ɞ%|B-Lk )-ZI) uKɝqiqIuI}i}=i}Ʒ=)}Bc@)ER>E>F!"F!*F)2F):F)G5= G5=!GM I_<G! 2B1 :BA I  O] >ď,L?AB<@YB6@B"9Bm=NAHRS rotation from veh to nav: [[0.894165,0.443650,-0.060359],[-0.447462,0.890185,-0.085725],[0.015698,0.103660,0.994489]]yBH@?d?@O箿@8ܿd|?`9?`|?`?ɫB<@BA ;@V{BVIIv;Iv٥$  R=9 ':Q  > F٦ȤEy`; > !-4Y%Hew?-4y%d%B15ž5?%/ D%3;%r;%hŝ4=]B)=4AE.EoiuFNOT Ignoring new targets: 142.76 m.o}uo}u ProNav: ac range: 142.761642 m, nav range: 140.634689 m, bearing: 334.506218 deg, approach rate: -0.565022 m/s, LOS rate: -0.013423 deg/s, cmd heading: 333.725939 deg, new cmd heading: 333.710906 deg. zoeHeadingCmd: 5.824354 target range: 142.761642 and range: 143.40 m.Roa@JoboZoBo:n2nmmlkkkkW?ɞ|B\ ԽI ~LLɝiIЦIi=i = =)a@)Fm6"Fi*Fi2Fmo0:FiAqG9=G2B:B O>ԙ ď,?AFDG@YF B@Fu|9F*=H>HH?IIr|BI =II&I<*I2I]AHRS rotation from veh to nav: [[0.894783,0.442623,-0.058716],[-0.446236,0.891016,-0.083449],[0.015381,0.100870,0.994781]]yFH?S?ܿ4?\@?ҹ?`>?ɫFDG@F;Dԁ:IBIJI =RI =ZI]4{BIJgJlJJJ%:J9JJJb$;Je$;J3:J5:Mb@Mb@Mb@ )Ii?{Gz?~jt ?#<)QAI@iAA \AITIn٥I #=9l&:Q >    F٦ ˤEy4; > 4YBzw?%4y{B% ?%:%-?A D ;" ;%Ν45\B)5Z4A5/EMB*** querying acoustic contact ***:pQBpQoY]FNOT Ignoring new targets: 142.76 m.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.o뀷o뀷 ProNav: ac range: 142.761642 m, nav range: 140.359436 m, bearing: 334.505779 deg, approach rate: -0.551094 m/s, LOS rate: -0.000881 deg/s, cmd heading: 333.710912 deg, new cmd heading: 333.709593 deg. zoԡHeadingCmd: 5.824331 target range: 142.761642 and range: 143.40 m.Ro`@JoboZoBo:n2nmmE|Blkkkk3@ɞe"|Bmns im6Ii miNɝiiqIuIui=i.=)`@)EjK5$PrKS9zKKKF,1Uxd=nE2'<H>- BK?:K?FU6"FQ*FQ2FU`0:FQGYF]sA G} Nw =- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243863GQ 2Bq :B  O > ď,q)?A24Q@Y2L@2}z92|-=BAHRS rotation from veh to nav: [[0.895325,0.441572,-0.058364],[-0.445150,0.891580,-0.083221],[0.015288,0.100491,0.994820]]y2H@? B?@᭿ X}ܿ`Ӈ?MaO?ƹ??ɫ24Q@2;2sCJ{BJIIRWIRƕ٥%l %=9%9Q - ?)) -F٦-ͤEy5 x; 5 ? 9E4Y=w?E4y=u=BAM4M?=L D=U;=@;=ӝ4Q)U4AQoyԁFNOT Ignoring new targets: 142.76 m.oƨoƨ ProNav: ac range: 142.761642 m, nav range: 140.183121 m, bearing: 334.505410 deg, approach rate: -0.550720 m/s, LOS rate: -0.001153 deg/s, cmd heading: 333.709601 deg, new cmd heading: 333.708494 deg. zoJHeadingCmd: 5.824312 target range: 142.761642 and range: 143.40 m.Ro`@JoboZoBo:n2nmmlkkkk`@ɞ%|Bü I OɝiILIuiy=il=)`@) F"F*F2F0:FԱ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494519GV =G2B:B O> /ď,C?A @@2&Z@Y2U@2 92=>AHRS rotation from veh to nav: [[0.895805,0.440598,-0.058363],[-0.444170,0.892130,-0.082571],[0.015687,0.099891,0.994875]]y2Hp?2?@᭿Gmܿ`S?a# 6?q??ɫ2&Z@2;;2vCRy{BRIIZ^IZ٥bҏ fR=9fBQ f>dh jF٦jФEyj7; j> lr4Yn w?v4ynڷnBtvv?nZ Dn:n ;nڝ4[B)4Ao)-FNOT Ignoring new targets: 142.76 m.o5̷o5̷E ProNav: ac range: 142.761642 m, nav range: 139.968781 m, bearing: 334.504867 deg, approach rate: -0.548769 m/s, LOS rate: -0.001394 deg/s, cmd heading: 333.708481 deg, new cmd heading: 333.706848 deg. zoEtMHeadingCmd: 5.824283 target range: 142.761642 and range: 143.40 m.RoM`@JoIboIZoIBoI:nQ2nQmQmQlYkYkYkYke@ɞ-(|B-ɼ 15.Iq }RɝiIVI?i=i<=)`@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746810F"F*F2F0:F!ZHRHp<H>HH-IIS|BI =II&I<*IVEQJkJfJJJ2:J9JJJ9;J9;J:J:Gd=G 2B :B  O >] BDAT read: Rx Time:04:02:24.3657 ] TRx dataTimestamp_ set to:1761364945.387835e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001904y ď,\?AjK>OrK> 9zK<K>K>&W oc[RID>73.,(&%""%),*'#+ \i1ujeX@YjAS@jA9jD=AHRS rotation from veh to nav: [[0.895707,0.440846,-0.057995],[-0.444360,0.892152,-0.081299],[0.015900,0.098591,0.995001]]yjH ? 6?epܿ?дH?D=?@ ?ɫjeX@j;jtC|{BIQeMb@Mb@Mb@a a)aIaiae(\?Zd;O/$ez?eje)e;AIe@ieAeA aeAI}fI}{٥ʛ; %=9Q > F٦ӤEy > 4YXw?4ysB?:%?l D ; ;24)4AoFNOT Ignoring new targets: 142.76 m.o`9o`9 ProNav: ac range: 142.761642 m, nav range: 139.681824 m, bearing: 334.510922 deg, approach rate: -0.581429 m/s, LOS rate: 0.012294 deg/s, cmd heading: 333.706842 deg, new cmd heading: 333.725044 deg. zo:%HeadingCmd: 5.824601 target range: 142.761642 and range: 143.40 m.Ro%!c@Jo)bo)Zo)Bo):n)2n)m1m5{Bl1k1k9k9k= @ɞ -|B !ü 0I jTɝiI@MIi=iEQ=)E!c@)Aԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256177F1"FA*FA2FE0:FAGM= GM=ԩG = Gq 2B :B  O >:ď,1}w?ARW@YRR@Rą9R =^AHRS rotation from veh to nav: [[0.895669,0.440877,-0.058352],[-0.444422,0.892144,-0.081044],[0.016328,0.098522,0.995001]]yRH Q?`U7?`୿ jqܿ@q?L`b?8? ?ɫRW@Rr;PDAT read: 04:02:24.3657 LVL= 19088, 28257, 18418, 24003, AGC= 64, IDX= 405, 0.25, 1.997, 0.535, 1.997, 1.558, PHS-0.976, 0.436, RAW= 146.9, 0.2, CAL= 150.4, -8.8, ROT= 359.6, 8.8 !unknown deviceResponse_: 04:02:24.3657 LVL= 19088, 28257, 18418, 24003, AGC= 64, IDX= 405, 0.25, 1.997, 0.535, 1.997, 1.558, PHS-0.976, 0.436, RAW= 146.9, 0.2, CAL= 150.4, -8.8, ROT= 359.6, 8.8 PDAT read: Bearing 359.6, 8.8 (Local) ~Local bearing/azimuth received: Bearing 359.6, 8.8 (Local) -DAT read: Range 10 to 50 : 141.3 m (Round-trip 188.4 ms) speed 0.5 m/s -*DAT read: user:289> 5BDAT read: Tx time:04:02:25.4731 5$Ping request sent.5 O$ď,9?AH>HHII|BI =IID&I֗<*I EJ5lJ5cJ54J1J5<5:J5x9J53J1J5a?;J5d?;J5:J5:}N@Y}I@}+#9}/=AHRS rotation from veh to nav: [[0.895166,0.441834,-0.058824],[-0.445400,0.891774,-0.079736],[0.017228,0.097577,0.995079]]y}H@3?G?0nܿj?`i ,?`??ɫ}N@};}uCy{BI=%= A=Mb@Mb@Mb@9 9)9I9i9=㥛 ?/$Mb=?=,=)=7AI=@i=A=A 9=AIbI٥ ; '=9Q > F٦ؤEy %> IM4YM&w?U4yMM BU?U:UU?M DM:M:M4EB)E4A1EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 142.76 m.o9o9  ProNav: ac range: 142.761642 m, nav range: 139.194443 m, bearing: 334.525316 deg, approach rate: -0.573080 m/s, LOS rate: 0.020296 deg/s, cmd heading: 333.737796 deg, new cmd heading: 333.768299 deg. zo ^:HeadingCmd: 5.825356 target range: 142.761642 and range: 141.30 m.RoPi@JoboZoBo:n2nmm{BlAkAkAkAkM ?ɞ3|B̼ 靝:I ~YɝiI`Ihi=iL~ =)Pi@)jKNrKػ9zKKK{QC=73-)%$! #4BJF?:3.($"  '43,!BK?:K?F"F*F2F2:F)  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G +=Ա G 2B :B  O >*ď,:?ARD@YRx?@R9Rh=bAHRS rotation from veh to nav: [[0.894595,0.443980,-0.050806],[-0.446504,0.892700,-0.061001],[0.018271,0.077257,0.996844]]yRH?+j?F ܿ`? ;೵?@dz?$?ɫRD@RɊ;Pjp{BjIIrFIrפ٥zDҼ z=9zUQ ~ ?|| ~F٦~ۤEy~  ? IU4YMw?U4yMTM BQUJU?M DM:Mp:M}4a)eg4AaoFNOT Ignoring new targets: 142.76 m.o9o9 ProNav: ac range: 142.761642 m, nav range: 139.005554 m, bearing: 334.532166 deg, approach rate: -0.592844 m/s, LOS rate: 0.021529 deg/s, cmd heading: 333.768286 deg, new cmd heading: 333.788864 deg. zofl:HeadingCmd: 5.825715 target range: 142.761642 and range: 141.30 m.RoAl@JoboZoBo:n2nmmlkkk k `?ɞu6|Bu q}YEIy }[ɝyiyI}I9ii=i=)Al@)9F"F*F2F|3:Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995149qG =ԑ G 2B :B  O >7j1ď,=?A6iG@Y6EB@696=@FAHRS rotation from veh to nav: [[0.894742,0.443493,-0.052448],[-0.446195,0.892676,-0.063561],[0.018630,0.080273,0.996599]]y6H? 2b?fڪuܿ̐? E?`? #?ɫ6iG@6;6rCJ{BNIIZ8IZ?٥bb= bN=9famQ f>dd jF٦jݤEyjhb: j> lr4Ynhw?r4yn\n Btv-v?n Dn:n:nC4x)z4Axo!-FNOT Ignoring new targets: 142.76 m.o59o59E ProNav: ac range: 142.761642 m, nav range: 138.779343 m, bearing: 334.540353 deg, approach rate: -0.588209 m/s, LOS rate: 0.021323 deg/s, cmd heading: 333.788859 deg, new cmd heading: 333.813459 deg. zoE"j:MHeadingCmd: 5.826144 target range: 142.761642 and range: 141.30 m.RoMo@JoIboIZoIBoI:nQ2nQmQmQlYkYkakake?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247216ɞ}8|B}Ѽ y}.Iy ^ɝiI͵IaiU=iވ=)o@iI))G =vA)QIPvABԱF"F*F2F`0:FJHBH@AH>H(CHII =II&I<*I:E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500785G y= G 2B :B  O >7ď,r?AjK*NrK(zK(K*K*   ')2PxCqlWA) >~U@Y>ZP@>29>~=JAHRS rotation from veh to nav: [[0.895500,0.441720,-0.054430],[-0.444653,0.893201,-0.066900],[0.019066,0.084112,0.996274]]y>H?%E?Gޫ0uܿ?_ ?`X?y?ɫ>~U@>%;>sCR{BRIiTIVAh5Mb@Mb@Mb@1 1)1I1i15I +?V-~jtx59?5m5Ļ)5 AI5@i15A 15AIM0IMV٥]˼ ]@=9eQ e>aa eF٦eEym; m> q}4Yu x?}4yuq?::?u Duv:u<:u4BB)4AoFNOT Ignoring new targets: 142.76 m.o9o9m ProNav: ac range: 142.761642 m, nav range: 138.533905 m, bearing: 334.552091 deg, approach rate: -0.579095 m/s, LOS rate: 0.027743 deg/s, cmd heading: 333.813447 deg, new cmd heading: 333.848722 deg. zomQ:uHeadingCmd: 5.826759 target range: 142.761642 and range: 141.30 m.Rout@JoqboqZoqBoy:ny2nymym{Blkkkk`?ɞ;|Bռ "Y J C=J p=JJJ .J oJ hJ 2J J >:J Ȇ9J c3J ! @! @! @! @=ď,@?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003160Jl@YJf@J679Jf=VAHRS rotation from veh to nav: [[0.896722,0.439015,-0.056179],[-0.442179,0.894135,-0.070708],[0.019190,0.088247,0.995914]]yJH`??ìLܿœ?`?R??ɫJl@JR;JwCb{BbIIjgIj9٥}s= }I=9}Q > F٦Ey;; > 4Yx?4y? DS;>; 4@B)3A2EoFNOT Ignoring new targets: 142.76 m.o9o9 ProNav: ac range: 142.761642 m, nav range: 138.298782 m, bearing: 334.563095 deg, approach rate: -0.578140 m/s, LOS rate: 0.027103 deg/s, cmd heading: 333.848718 deg, new cmd heading: 333.881786 deg. zoΔ:HeadingCmd: 5.827336 target range: 142.761642 and range: 141.30 m.Roy@JoboZoBo :n 2n m mlkkkk,@ɞE>|BEм IM%II MbɝIiIIM3bIUei]μ=i]`=)]y@)YiFm6"Fq*Fq2Fuo0:Fyԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258030G =Gi 2Bq :B  O > aDď,?AH*c>H*%CH*II*+|BI* =I(I*D&I*7<*I*sEԩM@YM}@Mʀ9M=eAHRS rotation from veh to nav: [[0.897932,0.436245,-0.058380],[-0.439708,0.894969,-0.075419],[0.019347,0.093392,0.995441]]yMHܻ?n? 䭿 .$ܿ? N@ϓ?`? ?ɫM@MD;MvCm{BuIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507857]Mb@Mb@Mb@Y Y)YIYiY]9v?i|?5~jth?]?]q]D;)]$AI]@i]A]A Y]AIu\IuW٥Ԕ< -=9/Q > F٦Ey; > 4Y%x?4y B?:s? D;;45B)&3A;EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 142.76 m.o9o9 ProNav: ac range: 142.761642 m, nav range: 138.023575 m, bearing: 334.575999 deg, approach rate: -0.579312 m/s, LOS rate: 0.027218 deg/s, cmd heading: 333.881776 deg, new cmd heading: 333.920568 deg. zop: HeadingCmd: 5.828013 target range: 142.761642 and range: 141.30 m.Ro @Jo boZoBo:n2nmm{Blkk!k!k% 'e@ɞ]@|B]ļ Y]IY eeɝaiaIeγImO imk=imb=)m@)qF6"F*F2F:FjK&6OrKS9zKKKyplfffea]XVRMKJIID@@@:7330,04;AG += checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759102G 2B :B  O >) Jď,\-?A6@Y6@6ń96F-=>AHRS rotation from veh to nav: [[0.898732,0.434393,-0.059861],[-0.438060,0.895529,-0.078303],[0.019593,0.096597,0.995131]]y6Hi??`*`. ܿ+? D? ?`?ɫ6@6t;6xCF{BFIJ8>J<IRiIR҅٥Z= ^=9^'PQ ?    F٦ Eyۻ;  ? %4Y,3x?%4y B)- 5? DU=;a>;4=2B)=2A=ԙ &Qď,BG?A2@Y2Ҍ@2z92=:AHRS rotation from veh to nav: [[0.898751,0.434299,-0.060261],[-0.438027,0.895446,-0.079424],[0.019466,0.097779,0.995018]]y2H@??ڮ@ܿ~?%U?`?/?ɫ2@2;2uCF{BJIIRlIR)٥Z >= ZJ=9^9Q ^>\\ ^F٦bEyb8 b> dj4YfCx?j4yffBln n?f Df;f;f!4p)rJ2ApoFNOT Ignoring new targets: 142.76 m.o%P9o%P95 ProNav: ac range: 142.761642 m, nav range: 137.608658 m, bearing: 334.595225 deg, approach rate: -0.581608 m/s, LOS rate: 0.027027 deg/s, cmd heading: 333.946363 deg, new cmd heading: 333.978346 deg. zo5c:=HeadingCmd: 5.829022 target range: 142.761642 and range: 141.30 m.Ro=Y@Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkIkM@ @BDAT read: Rx Time:04:02:28.0626 TRx dataTimestamp_ set to:1761364949.169796checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264290ɞD|Bس ~I %gɝ!i!I%,I-i-*=i-=)-Y@)QyF"F*F2Fa5:FGFtAZHE<RHE4<ԙHD>H CH-IIS|BI =I>DID&IH<*I_E2I](C:I]&CBI]ƗCJI]Ɖ =RI]Ɗ =ZI]@6GM=G! 2B9 :BI  OU >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515191 eWď,Xa?AjKNNrKN9zKLKNKN;4+&! ,;GIE@<;83100/-(%"   IdsK3%{BI=Mb@Mb@Mb@9 9)9I9i9=?MbQ?= ?==u<)=AI=@i9=lA 9=AIU\IUW٥eo< e2=9eQ m> F٦Ey > !-4Y%'Wx?54y%'%B5 ?5:55?% D%~ ;%/:%)4=0B)E2AE=EoFNOT Ignoring new targets: 142.76 m.o9o9 ProNav: ac range: 142.761642 m, nav range: 137.344345 m, bearing: 334.603025 deg, approach rate: -0.550623 m/s, LOS rate: 0.016281 deg/s, cmd heading: 333.978355 deg, new cmd heading: 334.001800 deg. zo2:HeadingCmd: 5.829431 target range: 142.761642 and range: 141.30 m.Ro@JoboZoBo:n2nmmK|Blkkkk@ɞuF|Bu% y}ֽADAT read: 04:02:28.0626 LVL= 22112, 29137, 22370, 32755, AGC= 67, IDX= 407, 0.10,-1.896, 3.012,-1.884,-2.343, PHS= 0.535,-0.881, 0.456, RAW= 147.2, -1.6, CAL= 151.2, -10.6, ROT= 358.8, 10.6 %Ygot valid direction response: 04:02:28.0626 LVL= 22112, 29137, 22370, 32755, AGC= 67, IDX= 407, 0.10,-1.896, 3.012,-1.884,-2.343, PHS= 0.535,-0.881, 0.456, RAW= 147.2, -1.6, CAL= 151.2, -10.6, ROT= 358.8, 10.6 -PDAT read: Bearing 358.8, 10.6 (Local) -~Local bearing/azimuth received: Bearing 358.8, 10.6 (Local) =DAT read: Range 10 to 50 : 139.0 m (Round-trip 185.4 ms) speed 0.1 m/s E*DAT read: user:290> EBDAT read: Tx time:04:02:29.1731 M$Ping request sent.M =ηǿ CY `V)qIbWiC?7ax> l$@)I[(@iq=Hd@q=> )6*v?Ҡ2?Q5e✿iק><q=> )u:publishing transmit ping timeIuFpublishing direction and range infoyjgpr?/|> =ηǿY )Ii )Ii )6*v?Ҡ2?Q5e✿i )I BiɝiI;IE}RiE=iEo=)E@)IF"F*F2F0:F! J nJ gJ 2J J |;:J 9J c3J G =Q } JDAT read: TxSync time:04:02:29.1723 G 2B :B)  O= > ^ď,|?AB@YB쉺@BJ9B=zAHRS rotation from veh to nav: [[0.898595,0.434479,-0.061278],[-0.438345,0.895123,-0.081300],[0.019528,0.099916,0.994804]]yBHJ??_ ܿؤ?д6?@?o?ɫB@B_;BvC{BIi1I5AI5=)5=I=NI=٥M٪= MM=9U"Q U>QQ ]F٦]Ey]v ]> 4Yfx?4yB? D-::04)1AJpRpj/k?Ap[ Cp[ Cp}x@v!q`@B4 s9vjgpr?/|> =ηǿppq=>vQ!^@;\ Nn6vY(U?5'\ۿ:ſjpRprpBZpو?bp! zp2 Bpppp" Cp@A] addTargetRange:: Added new target pos. range: 139.000000 m, deltaT: 3.781683 s, deltaX: -2.300003 m, approachRate: -0.608196 m/s, rangeRepo size: 4  Added new target pos. range: 138.358566 m, bearing: 333.874423 deg, lat: 36.779453 deg, lon: -121.859745 deg, deltaT: 7.312218 s, deltaX: -4.403076 m, approachRate: -0.602153 m/s, posRepo size: 4 oFNOT Ignoring new targets: 138.36 m.oo ProNav: ac range: 138.358566 m, nav range: 137.135101 m, bearing: 334.609257 deg, approach rate: 0.000000 m/s, LOS rate: 0.016281 deg/s, cmd heading: 334.001797 deg, new cmd heading: 334.021239 deg. zoHeadingCmd: 5.829771 target range: 138.358566 and range: 139.00 m.Ro{@JoboZoBo:n2nmmlkkk`a@k@L?ɞH|B 靕H5 C>H5 CH5 RII5 |BI5 =I1 I5 D&I5 J<*I5 XE tdeď, ?A@Yr@J=9:=AHRS rotation from veh to nav: [[0.898067,0.435345,-0.062853],[-0.439374,0.894581,-0.081705],[0.020658,0.100992,0.994673]]yH`??'ܿh?괿F'?ڹ?[?ɫ@;tC |BIԩMb@Mb@Mb@ )Ii?MbP?~jt?f?:<);AI@iAA AIAIE٥%= 4=93#Q > F٦Ey& > 4Y[xx?4y B|?:? D:8:q84-B)/1A>E-B*** querying acoustic contact ***:p)Bp)o9=FNOT Ignoring new targets: 138.36 m.oEc8oEc8 ProNav: ac range: 138.358566 m, nav range: 136.899582 m, bearing: 334.610598 deg, approach rate: -0.544638 m/s, LOS rate: 0.003108 deg/s, cmd heading: 334.021249 deg, new cmd heading: 334.025281 deg. zo9HeadingCmd: 5.829841 target range: 138.358566 and range: 139.00 m.Ro@JoboZoBo:n2nm!m%|Bl)k)k)k)k-?ɞ}J|B} y靥iI  bkɝiIIIi =i=)@)Ea>E>jK={NrK= 9zK9K=K= &yth_UMJF>72/.'CzW:* Fu6"Fy*Fy2F}P5:FyG G=  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G Ho=G 2B :B  O >1 kď,n?A6T@Y60@696M=>AHRS rotation from veh to nav: [[0.898106,0.435213,-0.063212],[-0.439292,0.894562,-0.082343],[0.020710,0.101722,0.994597]]y6HG??.`\ܿA?s5?l ??ɫ6T@6ઋ;6rCF3|BJIIz4Izʴ٥-= -k=95/Q M?YY eF٦eEymC9 u> 4Yx?4y%B?+ D:[:>4)0AoFNOT Ignoring new targets: 138.36 m.o%U8o%U8U ProNav: ac range: 138.358566 m, nav range: 136.711426 m, bearing: 334.611668 deg, approach rate: -0.513319 m/s, LOS rate: 0.002923 deg/s, cmd heading: 334.025292 deg, new cmd heading: 334.028507 deg. zoUf9]HeadingCmd: 5.829897 target range: 138.358566 and range: 139.00 m.Ro]@JoYboYZoaBoa:na2namimilikikikqk?ɞeL|BeA aeüIa mkɝiiiImI[i=ii=)@)JJfJJJJ9JJ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245607F"F*F2F`0:FYi G d=G 2B :B  O >srď,,I?A :ꎳ@Y:Ɖ@:_9:(=BAHRS rotation from veh to nav: [[0.898568,0.434256,-0.063225],[-0.438352,0.894973,-0.082891],[0.020589,0.102198,0.994551]]y:H ?`?~/ ܿ?U8@*?)?\?ɫ:ꎳ@:;:uCR9|BRI TVAIZ/IZ9bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495372٥ft< jP=9j9Q j>ll rF٦rEyr1; r> tz4Yvx?z4yvv+Bx~N~?v8 Dv ;vP ;vaE4+B)t0A o15FNOT Ignoring new targets: 138.36 m.o=N8o=N8M ProNav: ac range: 138.358566 m, nav range: 136.511307 m, bearing: 334.612723 deg, approach rate: -0.534780 m/s, LOS rate: 0.002823 deg/s, cmd heading: 334.028516 deg, new cmd heading: 334.031685 deg. zoM8UHeadingCmd: 5.829953 target range: 138.358566 and range: 139.00 m.RoU@JoQboQZoQBo:n2n!m!m!l!k)k)k)k-H?ɞ}M|B}ā y}0I kɝiI1Ii=i*=)@)qJHBHFI"FQ*FQ2FQ:FQHD>HHqII|BI =IID&I-<*I0Eԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747312G}l=G9 2BI :BY  Om > *xď,S%?AjKbNrK9zKKK.DNPOMHHKGCC;9510,(::@Y:@:'C9:z=FAHRS rotation from veh to nav: [[0.899039,0.433475,-0.061868],[-0.437452,0.895330,-0.083784],[0.019074,0.102389,0.994562]]y:H ??`!7ۿ?r@?`-6?r?ɫ::@:;:tCJQ|BN+IP-Mb@Mb@Mb@) )))I)i)-)\(?Q?{Gz?-G?-\=-ף<)-~AI-@i-A) )-AIElIE)٥U|`= UB=9Ul;Q U> F٦Ey; > 4Yx?4yK2B?:ƾ?F D;;M41)U0AYoFNOT Ignoring new targets: 138.36 m.oNoN ProNav: ac range: 138.358566 m, nav range: 136.291138 m, bearing: 334.607617 deg, approach rate: -0.486694 m/s, LOS rate: -0.011306 deg/s, cmd heading: 334.031685 deg, new cmd heading: 334.016342 deg. zoJHeadingCmd: 5.829685 target range: 138.358566 and range: 139.00 m.Ronj@JoboZoBo:n2nmm}Blkk!k!k%U?ɞP|Bk ::I xkɝiI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999415I?1iĹ=i:s=)nj@)EFy"F*F2Fg0:FGFrAG =! G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251298~ď,?AB⤳@YB@Bk9B[=JAHRS rotation from veh to nav: [[0.899789,0.432051,-0.060932],[-0.435963,0.895924,-0.085179],[0.017789,0.103207,0.994501]]yBH??r2ۿi?Iε`.7? k?@?ɫB⤳@B;BrCzX|Bz0II YI ٥%͐< %M=9%S;Q ->)) -F٦-Ey5; 5> 9E4Y=x?E4y=5=9BAEžM?=R D=:=N:=S4U(B)U/AU?EoFNOT Ignoring new targets: 138.36 m.ogog ProNav: ac range: 138.358566 m, nav range: 136.098419 m, bearing: 334.603002 deg, approach rate: -0.526532 m/s, LOS rate: -0.012628 deg/s, cmd heading: 334.016331 deg, new cmd heading: 334.002466 deg. zo HeadingCmd: 5.829443 target range: 138.358566 and range: 139.00 m.Roˊ@JoboZoBo:n2nmmlkkkk`@ɞR|B d ;I kɝiIIPi n=i S)#=) ˊ@) Fq"Fq*Fq2Fu0:Fy)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503953)tG %`wA)9QI?`wA'BG;=G2B:B O>ԉ H A>H H II |BI I I D&I }<*I EUď,?AJ^pJ^gJ^3J\J^A:J^9J^(3J\J^T;!vJ^T;!vJ^H:!~J^I:!~i U@U@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755471}@Y}g@}ㅉ9}_=AHRS rotation from veh to nav: [[0.900105,0.431532,-0.059923],[-0.435349,0.896188,-0.085546],[0.016787,0.103087,0.994531]]y}H?:?=ۿ@?@P浿0?c?2?ɫ}@}0;}pCW|B/IIp=)p=Mb@Mb@Mb@ )IiT㥛 ?T㥛 ?:v??=T<);AIiAA 3AILI٥8 '=9;Q > F٦EyF: > 4Yx?4yS@B?:?b D<;;@\4)/AB*** querying acoustic contact ***:pBpo)=FNOT Ignoring new targets: 138.36 m.oUB߹oUB߹e ProNav: ac range: 138.358566 m, nav range: 135.850967 m, bearing: 334.591059 deg, approach rate: -0.504603 m/s, LOS rate: -0.024399 deg/s, cmd heading: 334.002452 deg, new cmd heading: 333.966558 deg. zoemHeadingCmd: 5.828816 target range: 138.358566 and range: 139.00 m.Rom@JoiboqZoqBoq:nq2nqmym}|Blykyԁkykk@@ɞU|B |j 靽:I HkɝiIU<8.!  '6=BEEC?<<;:::<52?HKF"F*F2Fo0:FG%= G%=Ա BDAT read: Rx Time:04:02:31.7603  TRx dataTimestamp_ set to:1761364952.698604 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010055 G] O$=G 2BI :Bi  O >aď,)$2?AO|B *IIUI٥-Hļ -{=9-Q 5 ?11 5F٦5Ey= = ?ԁ A4YEx?4yEEDB?Em DEQ Ӓď,K?AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513466L|B(I)! %AAI-YI-٥U U:=9YQ ]>aa mF٦mEyq u> y}4Y}x?4y}}KB?}{ D}2:}l:}i4)0AoFNOT Ignoring new targets: 138.36 m.oo ProNav: ac range: 138.358566 m, nav range: 135.464752 m, bearing: 334.572329 deg, approach rate: -0.517069 m/s, LOS rate: -0.025147 deg/s, cmd heading: 333.942756 deg, new cmd heading: 333.910284 deg. zoHeadingCmd: 5.827834 target range: 138.358566 and range: 139.00 m.Ro}@JoboZoBo:n2nmmlk kkk @ɞ][|B][| aeuIi u} lɝqiyI}iZH<RHpHaHeIIe|BIe =IaIa&Ieh<*IeE1FE6"FA*FA2FM1:FIJJdJ2JJJ|9Jc3JJJJ:J:eDAT read: 04:02:31.7603 LVL= 22816, 29409, 19250, 31539, AGC= 61, IDX= 413, 0.41,-0.720,-2.043,-0.669,-1.126, PHS= 0.494,-0.870, 0.454, RAW= 148.5, -1.2, CAL= 152.3, -10.1, ROT= 357.7, 10.1 iuYgot valid direction response: 04:02:31.7603 LVL= 22816, 29409, 19250, 31539, AGC= 61, IDX= 413, 0.41,-0.720,-2.043,-0.669,-1.126, PHS= 0.494,-0.870, 0.454, RAW= 148.5, -1.2, CAL= 152.3, -10.1, ROT= 357.7, 10.1 PDAT read: Bearing 357.7, 10.1 (Local) ~Local bearing/azimuth received: Bearing 357.7, 10.1 (Local) DAT read: Range 10 to 50 : 137.2 m (Round-trip 183.0 ms) speed 0.4 m/s *DAT read: user:291> BDAT read: Tx time:04:02:32.8732 $Ping request sent.5R^5r> 5H%@)5I5*@i5J45@5J4> 1)15e &? ?5<5Ql$5J4> 1)1:publishing transmit ping timeۡFpublishing direction and range info1y5bz?ɂ::ujrƿ1Y1 1)1I1i11111 1)1I1i111 1)15e &? ?ԙ ď,e?AI)Jij@YJ@J {9Jo=jKN{NrKNػ9zKLKNKNzbWt^E"zfVH;0&~{rjf`ZYVQKEBBbAHRS rotation from veh to nav: [[0.901479,0.429011,-0.057316],[-0.432550,0.897678,-0.084111],[0.015366,0.100616,0.994807]]yJH?@t?}Xۿ`ǹ?@Q px?¹?t?ɫJij@J/;JsCj@|Bj!IMb@Mb@Mb@ )IiMbX9?x&?~jth??7=D;)AIiAA \AqImGIm٥R E=9`;Q > F٦Ey; > E4Y,x?M4yhNB]?]:]e]? D7&<&< q4mB)/AJEJpaRpe\\?ApeCpeCpe @ve,r7`@vey(+c ^@(xNWM6veIn (?tߎܿĿjpesrpeSBZpe?bpe53zpe #Bpef ?pe! pe2 BpeqCpeX@u addTargetRange:: Added new target pos. range: 137.199997 m, deltaT: 3.778317 s, deltaX: -1.800003 m, approachRate: -0.476403 m/s, rangeRepo size: 4  Added new target pos. range: 136.564331 m, bearing: 333.109118 deg, lat: 36.779450 deg, lon: -121.859759 deg, deltaT: 3.778317 s, deltaX: -1.794235 m, approachRate: -0.474877 m/s, posRepo size: 4 oFNOT Ignoring new targets: 136.56 m.oo ProNav: ac range: 136.564331 m, nav range: 135.441879 m, bearing: 333.999316 deg, approach rate: 0.000000 m/s, LOS rate: -0.025147 deg/s, cmd heading: 333.910272 deg, new cmd heading: 333.875609 deg. zoHeadingCmd: 5.827229 target range: 136.564331 and range: 137.20 m.Rox@JoboZoBo:n2n)m1m5|Bl1k1k9k=`f&a@k=?ԡɞ_|Bm I lɝiII1si =i  7=)x@)9F6"F*F2F1:FGtAFtA G G 2B :B)  O= > Wď,m?A6ij@Y6ֿ@6O~96q=BAHRS rotation from veh to nav: [[0.901523,0.428937,-0.057175],[-0.432451,0.897791,-0.083412],[0.015553,0.099923,0.994874]]y6HG? s? FHۿ?@{Zڏ?? ?ɫ6ij@67;6tCn|BnIIv8Iv?٥Խ W=9Q >    F٦  Ey˖9 > %4YF y?%4yRB!%U%? D::|w41)5f0A1oaeFNOT Ignoring new targets: 136.56 m.omom} ProNav: ac range: 136.564331 m, nav range: 135.255035 m, bearing: 333.988425 deg, approach rate: -0.560253 m/s, LOS rate: -0.032704 deg/s, cmd heading: 333.875602 deg, new cmd heading: 333.842882 deg. zo}HeadingCmd: 5.826657 target range: 136.564331 and range: 137.20 m.Ros@JoboZoBo:n2nmmlkkkkq?ɞa|By @I SmɝiI6I iI=i68=)s@)Fa"Fa*Fa2Fe`0:FaGE3=G!2B1:BAA OU2>رصAaH>>HCH~II|BI =II&Iw<*IE2I]C:I]CBI]ɓCJI]ə =RI]ə =ZI]ɺ5ԑ J nJ bJ J J |;:J t9J J J *J;J -J;~ď,X;?A"PExceeded connect timeout, disconnecting.J-^:J-_:/ɳ@Y ĺ@Gy9S=AHRS rotation from veh to nav: [[0.901738,0.429265,-0.050990],[-0.431985,0.899205,-0.069427],[0.016048,0.084632,0.996283]]yH ?y?iۿ I?űn?`n??ɫ/ɳ@ ;髵rC |B IiMb@Mb@Mb@ )Iip= ף?Q? F٦ Eyg: > !54Y%y?54y%%SB5?5:5c5?% D%5;%k4;%4EB)Ep0AEKEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 136.56 m.oRoR- ProNav: ac range: 136.564331 m, nav range: 135.010956 m, bearing: 333.975603 deg, approach rate: -0.501153 m/s, LOS rate: -0.026373 deg/s, cmd heading: 333.842872 deg, new cmd heading: 333.804339 deg. zo-ː=HeadingCmd: 5.825985 target range: 136.564331 and range: 137.20 m.Ro=xn@Jo9bo9Zo9Bo9:ni2nqmqmu|Blqkykykyk}?ɞ-f|B- )5fI1ԙ =nɝiIvI%i=i'<=)xn@)jKaOrK 9zKKKC@<:764102-'$!"%##      $BK ?:K>F"F*F2FD5:FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G ;6= G 2B :B  O >ď,B|?A :dz@Y:º@:9:VЮ=BAHRS rotation from veh to nav: [[0.901662,0.429396,-0.051227],[-0.432144,0.899084,-0.069989],[0.016004,0.085244,0.996232]]y:H k?`8{?c:@ۿL?@걿`fc? ҵ?!?ɫ:dz@:$;8J{BJIIR.IR٥ZJ ^j=9^9Q ^>`` bF٦bEyb f> t~4Yv+y?~4yvvTBz?v Dv5;v(;v݅4 ) 1Ao1=FNOT Ignoring new targets: 136.56 m.o=po=p ProNav: ac range: 136.564331 m, nav range: 134.827530 m, bearing: 333.965951 deg, approach rate: -0.545167 m/s, LOS rate: -0.028728 deg/s, cmd heading: 333.804349 deg, new cmd heading: 333.775352 deg. zoHeadingCmd: 5.825479 target range: 136.564331 and range: 137.20 m.RoSj@JoboZoBo:n2nmmlk k k k p?!ɞUi|B]ȼ Y]IY =H"pɝ9iAIEIEXiM=iM*==)MSj@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497930Fa"Fa*Fi2Fm`0i:FqyG <=Gi 2By :B  O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751883ԩ 1۳ď,,?A:pݳ@Y:Lغ@:|9:%=AHRS rotation from veh to nav: [[0.902812,0.426974,-0.051218],[-0.429758,0.900082,-0.071837],[0.015428,0.086866,0.996101]]y:H ?S?<9`)ۿ@x?c? F٦Ey;JHBHAA > 4Y=y?4yUB ? D x;Ly;s4BHU=>HQHU_IIU|BIU =IQIQ&IUg<*IUEԑ)d1AoFNOT Ignoring new targets: 136.56 m.ococ- ProNav: ac range: 136.564331 m, nav range: 134.602005 m, bearing: 333.953786 deg, approach rate: -0.488257 m/s, LOS rate: -0.026380 deg/s, cmd heading: 333.775362 deg, new cmd heading: 333.738808 deg. zo-Ր5HeadingCmd: 5.824841 target range: 136.564331 and range: 137.20 m.Ro5e@Jo1bo1Zo1Bo9:n92n9m9m9lAkAkAkAkM`w?ɞ}m|B}\μ 靅I }]rɝiIk۲IiQ0=iI=)e@)J-qJ-J)J)J-D:J-9J)J)J-]Z;J-_Z;J-;J-;F nManaging dock network, ignoring radio surface power off"F*F 2F :Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007222GM ==G 2B) :B9  OE >jK MrK h9zK K K *-.+*'! ""!!  5bdUE6''Yt2K rA*K  Gď,?AJ@YJ@Jr]9JPi=VAHRS rotation from veh to nav: [[0.905982,0.420175,-0.051478],[-0.423101,0.902682,-0.078425],[0.013516,0.092832,0.995590]]yJH? &?I[ۿ?@ $?÷??ɫJ@JG;JqC^{B^IMb@Mb@Mb@ )Ii rh?y&1?y&1 ?`<`e)I@iA  AIXI㔴٥م C=9+;Q >    F٦ Ey K< >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257844 !-4Y%jOy?-4y%%TB5 ?5:5ľ5?% D%;%;%49)=1AAoamFNOT Ignoring new targets: 136.56 m.omom} ProNav: ac range: 136.564331 m, nav range: 134.376358 m, bearing: 333.946965 deg, approach rate: -0.590141 m/s, LOS rate: -0.017870 deg/s, cmd heading: 333.738807 deg, new cmd heading: 333.718309 deg. zo8DHeadingCmd: 5.824483 target range: 136.564331 and range: 137.20 m.Ro+b@JoboZoBo:n2nmmA|BlkkkkcO@ɞEp|BEx IMy>II mtɝiiiIuPYIui}T=i}e=)}+b@)yFM6"FI*FI2FMo0:FI!I Gm BJ= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509792GA 2BI :Ba  Ou >ď,?AI()(Nf&@YNC!@NY9NI=VAHRS rotation from veh to nav: [[0.906632,0.418735,-0.051761],[-0.421713,0.903193,-0.080006],[0.013248,0.094365,0.995450]]yNH!?? [Zڿ?M{!?F(? ?ɫNf&@N,;Lb{BbIIj`Ij̍٥rs r^=9r>:Q v>tt vF٦vEyz; z> |4Y~*_y?4y~~SB þ ?~ D~:~ :~ 4B)2ALEoAEFNOT Ignoring new targets: 136.56 m.oMoM] ProNav: ac range: 136.564331 m, nav range: 134.175461 m, bearing: 333.940738 deg, approach rate: -0.547602 m/s, LOS rate: -0.017000 deg/s, cmd heading: 333.718316 deg, new cmd heading: 333.699606 deg. zo]:eHeadingCmd: 5.824157 target range: 136.564331 and range: 137.20 m.Roe~_@JoaboaZoiBoi:ni2nimqmqlqkqkkk`_@ɞEt|BER AEXIA MYwɝIiIIMfIi`y=ii=)~_@)qFM6"FI*FI2FM0:FIG% \c=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762972G2B :B O%N>ԙH6>HH3II]|BI =IID&It<*IE J% pJ% eJ! J! J% A:J% 9J! J! ǽď,?ANBDAT read: Rx Time:04:02:35.4578 VTRx dataTimestamp_ set to:1761364956.486115^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021248hJMT;JMT;JM:JM:4"@Y@-'Z9=AHRS rotation from veh to nav: [[0.906415,0.419191,-0.051863],[-0.422177,0.902980,-0.079954],[0.013315,0.094367,0.995448]]yH[?`? ۿ 7?@wD?q(??ɫ4"@[x;{BIMb@Mb@Mb@ )Ii㥛 ?I +/$?94)AI@iAA AIYI٥Y .=9Q > F٦EyP >  4Y ty? 4yPB?:? D ;]:G4B)m2AME=B*** querying acoustic contact ***:p9Bp9oIMFNOT Ignoring new targets: 136.56 m.oUoUe ProNav: ac range: 136.564331 m, nav range: 133.900024 m, bearing: 333.940315 deg, approach rate: -0.583932 m/s, LOS rate: -0.000899 deg/s, cmd heading: 333.699602 deg, new cmd heading: 333.698330 deg. zoemHeadingCmd: 5.824134 target range: 136.564331 and range: 137.20 m.RomO_@JoiboqZoqBoq:nq2nymym}{Blkkkk% @ɞw|B 靽kuI zɝiIIi=iVf=)O_@)Fy"Fy*Fy2F}0:FyjKneNrK+9zKKKmaZQA'=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266742Ge 0f=G! 2B) 9 :BA  OM >Aͽď,7?A!mc@Ym@@mP:`9m=AHRS rotation from veh to nav: [[0.906266,0.419465,-0.052267],[-0.422487,0.902843,-0.079872],[0.013685,0.094468,0.995434]]ymH!? ?ª  ۿ?r? /? ?ɫmc@m/N;mpC JJBA-p{B-II=QI=٥M; MU=9M}Q M>QQ UF٦UEy]k ]> iu4Ymy?u4ymmMBqu5}?m DmD;m;m4)2AoFNOT Ignoring new targets: 136.56 m.oooo ProNav: ac range: 136.564331 m, nav range: 133.676086 m, bearing: 333.940002 deg, approach rate: -0.585951 m/s, LOS rate: -0.000819 deg/s, cmd heading: 333.698318 deg, new cmd heading: 333.697378 deg. zoHeadingCmd: 5.824118 target range: 136.564331 and range: 137.20 m.Ro-_@JoboZoBo:n2nmmlkkkk @ɞz|Bm 5I )~ɝiII% i%=i%qe=)--_@))DAT read: 04:02:35.4578 LVL= 24768, 31505, 21106, 32755, AGC= 65, IDX= 419, 0.38,-1.256,-2.575,-1.189,-1.640, PHS= 0.472,-0.888, 0.448, RAW= 149.1, -0.5, CAL= 152.6, -9.4, ROT= 357.4, 9.4 Ygot valid direction response: 04:02:35.4578 LVL= 24768, 31505, 21106, 32755, AGC= 65, IDX= 419, 0.38,-1.256,-2.575,-1.189,-1.640, PHS= 0.472,-0.888, 0.448, RAW= 149.1, -0.5, CAL= 152.6, -9.4, ROT= 357.4, 9.4 PDAT read: Bearing 357.4, 9.4 (Local) ~Local bearing/azimuth received: Bearing 357.4, 9.4 (Local) DAT read: Range 10 to 50 : 135.3 m (Round-trip 180.4 ms) speed 0.5 mx time:04:02:36.5732 R#Rx 1: Read range and direction messages.IU`direction in FSK: [0.985557,-0.044754,-0.163326]UFpublishing direction and range infoۉyۍζ[等?5馿$vzĿۍLCYۉ ܍`)܍{I܍rRi܍܍A܍>܍Sc܍B`> ݍۋ&@)ݍ5Iݍt*@iݍ'ݍ@ݍ'> މ)މލctu?bM#?q8R/iލ)?ލ} <ލ9ލ'> ߉)߉}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F"F*F2F,4:FyGXh=G 2B :B  O >i I )U HG i ) ԡ I Y HBE JDAT read: TxSync time:04:02:36.5724 M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770677)Խď,vQ?A @@r@Yr@rg9r7=AHRS rotation from veh to nav: [[0.905759,0.420513,-0.052626],[-0.423558,0.902384,-0.079387],[0.014106,0.094196,0.995454]]yrH@? ?ۿS?Rw?3??ɫr@rw;pd{B%IIEmIEF٥U4 U[=yZHRHH+>HCH II |BI =IID&Iy<*IE9铺Q > F٦Ey{I > 4Yy?4yJB? DW;:4  B) 2A JpRp ??ApCpCp@v`@Ad T5vζ[等?5馿$vzĿp9p'>ve]@?ML=4vS =?:윕xܿnvw!ÿjporpBZpF?bp+zp)Bpو?p+pp#Cp~ @ addTargetRange:: Added new target pos. range: 135.300003 m, deltaT: 3.531870 s, deltaX: -1.899994 m, approachRate: -0.537957 m/s, rangeRepo size: 4 = Added new target pos. range: 134.667572 m, bearing: 333.246516 deg, lat: 36.779441 deg, lon: -121.859773 deg, deltaT: 3.531870 s, deltaX: -1.896759 m, approachRate: -0.537041 m/s, posRepo size: 4 o9=FNOT Ignoring new targets: 134.67 m.oMoIu ProNav: ac range: 134.667572 m, nav range: 133.139709 m, bearing: 333.258968 deg, approach rate: 0.000000 m/s, LOS rate: -0.000819 deg/s, cmd heading: 333.697389 deg, new cmd heading: 333.696389 deg. zoq}HeadingCmd: 5.824100 target range: 134.667572 and range: 135.30 m.Ro}_@JoyboyZoyBoy:ny2nԩmmlk1k9k`@k ?checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025727ɞ]~|Be aeIa e~ɝaiaImrIm+ iuw=iu\a=)_@)F) "F) *F1 2F5 0:F1 jK5 LrK5 9zK1 K5 K5 %<INMMNNLIFEBA?=9852-*'%)4>IMHGD@<=:41/-/.'#%/Jb^WdGM c=Gm ?Gm 3?G)1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2741332BY:Bi O}>m۽ď,o?Ab@Yb@b|9b=jAHRS rotation from veh to nav: [[0.905079,0.422322,-0.049751],[-0.424963,0.902517,-0.069789],[0.015428,0.084307,0.996320]]ybHi?@T?`y2ۿj?@ݱ?&?@?ɫb@b~;boCrY{BrIMb@Mb@Mb@ )IiA`"?J +/$?H)I@ilA AIDI٥  =9W&Q > F٦"Ey I > 54Yy?=4yFBE?E:ExE? DZ<_<4)2A oiuFNOT Ignoring new targets: 134.67 m.ouNi9ouNi9 ProNav: ac range: 134.667572 m, nav range: 132.831207 m, bearing: 333.265725 deg, approach rate: -0.580723 m/s, LOS rate: 0.012748 deg/s, cmd heading: 333.696378 deg, new cmd heading: 333.716695 deg. zo :HeadingCmd: 5.824455 target range: 134.667572 and range: 135.30 m.Roa@JoboZoBo:n2nmm{Blk k k k?JrJpJJJG:J^9JJ!@!@!@!@ɞe|Be imIi mmɝiiiIuIuiF =i[=)a@)checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526184Fi"Fq*Fq2Fu0:Fq) Y G ya=G 2B :B  O > ď,/?AV@YV@V-9V=nAHRS rotation from veh to nav: [[0.904615,0.423094,-0.051610],[-0.425929,0.901874,-0.072166],[0.016012,0.087265,0.996056]]yVH ??ljBۿ&?~ye? V??ɫV@V9;VpCM;{BMII]*I]uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.778528٥} }G=9uQ > F٦$Ey7* > 4Yy?4yH CB?, D6: :4 B)_3ANEoFNOT Ignoring new targets: 134.67 m.om9om9 ProNav: ac range: 134.667572 m, nav range: 132.587494 m, bearing: 333.271185 deg, approach rate: -0.659374 m/s, LOS rate: 0.014800 deg/s, cmd heading: 333.716704 deg, new cmd heading: 333.733115 deg. zo":HeadingCmd: 5.824742 target range: 134.667572 and range: 135.30 m.RoId@JoboZoBo:n!2n!m!m)l)k)k)k)k5@?ɞe|Be) mmIi m>PɝqiqIu}IEiE8=iEV=)MId@)IEH%>HCHII{BI =IID&I<*IEF56"F1*F12F5`5:F1G=sAF=pA!= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032322G] -tY=G1 2BA :B  O >I Y+ď,}u?AF)@YF@F=9F-=RAHRS rotation from veh to nav: [[0.904036,0.424168,-0.052927],[-0.427134,0.901217,-0.073247],[0.016630,0.088825,0.995908]]yFH?%?@C (Vۿ?Ll?6?`{?ɫF)@F㣋;FqCrP{BrI xzAMb@Mb@Mb@ )Ii+?㥛 Qv?u)$AI@ilAA AI$I´٥{H= E=9ºQ > F٦'EyS >  4Yy? 4y@B?:_?= Dk8;8;Ȟ49-B)E2AEOEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 134.67 m.jKEkNrKS9zKKK-=GB&    ^.n^QD;9440..*(&#omT9omT9} ProNav: ac range: 134.667572 m, nav range: 132.330948 m, bearing: 333.281168 deg, approach rate: -0.606358 m/s, LOS rate: 0.023641 deg/s, cmd heading: 333.733124 deg, new cmd heading: 333.763131 deg. zo}́:HeadingCmd: 5.825265 target range: 134.667572 and range: 135.30 m.Roh@JoboZoBo:n2nmm{Blkkkk?ɞ|Bb  暾I  ɝ i I V#IytiuX=iP=)h@)checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284338aF6"F*F2FD5:FԉG% gW= J J AAJc3J3J.-J nJ kJ J J |;:J 9J J G 2B :B!  O- >Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533827ď,N?AZ@YZ@Zc9ZN=jAHRS rotation from veh to nav: [[0.903549,0.425248,-0.052560],[-0.428185,0.900681,-0.073701],[0.015999,0.089098,0.995894]]yZH`?C7?@5骿cgۿ `?޲a?(϶?]?ɫZ@Zf;ZnCr[{BrIIzQIz٥'< Z=9:Q  >    F٦ )Ey6K > %4Yy?%4y>B!%-?L D::Ξ45B)5p2A5XEoaeFNOT Ignoring new targets: 134.67 m.om@9om@9} ProNav: ac range: 134.667572 m, nav range: 132.098984 m, bearing: 333.290344 deg, approach rate: -0.637749 m/s, LOS rate: 0.025272 deg/s, cmd heading: 333.763122 deg, new cmd heading: 333.790699 deg. zo:HeadingCmd: 5.825747 target range: 134.667572 and range: 135.30 m.Rol@JoboZoBo:n2nmmlkkkk ӓ@ɞ|B @I )ɝiITIc5i-m=iLK=)l@)ԑFY"FY*FY2F]`0:FYGuQO=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787327GI2Bi:B O>JH BH ?AH $>H H I I I I &I t<*I vE2IC:ICBIɔCJIɚ =RIɚ =ZI6 <ď,|(?AV ӳ@YVͺ@V/n9V=bAHRS rotation from veh to nav: [[0.902259,0.428028,-0.052152],[-0.430900,0.899491,-0.072400],[0.015921,0.087796,0.996011]]yVHO?`d?@ ݓۿ?ΈM?y?S?ɫV ӳ@V;Tjo{BjII I ٥@= I=9~H9Q %>!) -F٦-,Ey5j 5> 9E4Y=y?M4y===)up@)qAEΒ{EEjK% L8OrK% 9zK! K% K%   )7=DDB@:61,&" ?QB-   #$o q F! "F! *F! 2F% `5:F) G5 = G1  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290550ԑ GmBJ=GA2BQ:Bi O}?5ď,?A$J³@YJ@J9J衵=RAHRS rotation from veh to nav: [[0.901396,0.429769,-0.052767],[-0.432698,0.898585,-0.072918],[0.016078,0.088560,0.995941]]yJH;?`U?@T Qۿ@6?` v? ߫??ɫJ³@Jq;JoCZs{BZIi\I\I^=)^%=J-rJ-pJ)J)J-G:J-^9J)J)eMb@Mb@Mb@a a)aIaiaeX9v?l~jthe?eeD)e AIe@ieAelA aeAIII.٥; =9SQ > F٦/Eyy > =4Y z?=4y==?=:EE?q Dr<a<ޞ4I)M2AIoFNOT Ignoring new targets: 134.67 m.oO9oO9 ProNav: ac range: 134.667572 m, nav range: 131.522339 m, bearing: 333.314875 deg, approach rate: -0.606764 m/s, LOS rate: 0.026590 deg/s, cmd heading: 333.821917 deg, new cmd heading: 333.864436 deg. zo:checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546279HeadingCmd: 5.827034 target range: 134.667572 and range: 135.30 m.Row@JoboZoBo:n!2n!m!m%{Bl)k)k)k)k-8G@yɞ|B 靭 I ɝiIu[Iiԕ=i-6=)w@)ԡE!9F1 "F1 *F1 2F5 o5:F1 ؉ ؉  BDAT read: Rx Time:04:02:39.1545  TRx dataTimestamp_ set to:1761364960.262868 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796613H #>H H II |BI I I &I q<*I oE G= &==G 2B:B O->vď,c?AF<@YF@F]9F"=NAHRS rotation from veh to nav: [[0.900203,0.432255,-0.052832],[-0.435167,0.897464,-0.072030],[0.016279,0.087832,0.996002]]yFHu? ? ۿ`?@p`?,|?@@?ɫF<@F&;DV{BVIIraIr錴٥z= 8=9Q  >    F٦ 2Eyɻ > %4Yz?%4y)!%-? D:9:45B)5M1A5ZEoYeFNOT Ignoring new targets: 134.67 m.oep:oep:} ProNav: ac range: 134.667572 m, nav range: 131.246994 m, bearing: 333.327300 deg, approach rate: -0.654599 m/s, LOS rate: 0.029602 deg/s, cmd heading: 333.864428 deg, new cmd heading: 333.901783 deg. zo}:HeadingCmd: 5.827685 target range: 134.667572 and range: 135.30 m.Rof|@JoboZoBo:n2nmmlkkkkl @ɞ|B :tI #ɝiItIQ7i=i+=)f|@) EEEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.051592IF"F!*F!2F-65:F)ijK] #OrK] ]9zKY K] K] +    s = % >Ih ag3uL' _6%"qfBKm ?:Km >G} ;6=ԡ  DAT read: 04:02:39.1545 LVL= 24640, 27505, 22226, 32755, AGC= 58, IDX= 403, 0.15,-2.226, 2.787,-2.224,-2.594, PHS= 0.456,-0.855, 0.367, RAW= 146.5, 0.5, CAL= 150.0, -8.4, ROT= 360.0, 8.4 5 Ygot valid direction response: 04:02:39.1545 LVL= 24640, 27505, 22226, 32755, AGC= 58, IDX= 403, 0.15,-2.226, 2.787,-2.224,-2.594, PHS= 0.456,-0.855, 0.367, RAW= 146.5, 0.5, CAL= 150.0, -8.4, ROT= 360.0, 8.4 M PDAT read: Bearing 360.0, 8.4 (Local) U ~Local bearing/azimuth received: Bearing 360.0, 8.4 (Local) m DAT read: Range 10 to 50 : 132.9 m (Round-trip 177.2 ms) speed 0.7 m/s u *DAT read: user:293>  BDAT read: Tx time:04:02:40.2732  $Ping request sent. /8ٲ¿ C O > h ď,F 4?AY) -@`)-qkI-Vi)-:-x>-HZ-m> -_#@)-5 )))-\X%m?ϴ?|B?i-:>--.;4-Q > ))):publishing transmit ping timeFpublishing direction and range info)y-s?n37>/8ٲ¿)Y) )))I)i))))) )))I)i))) )))-\X%m?ϴ?|B?i)))) )))-`@Y-=@-9-o=ԙAHRS rotation from veh to nav: [[0.899040,0.434589,-0.053479],[-0.437568,0.896213,-0.073056],[0.016179,0.089081,0.995893]]y-H?`N?aܿŭ?ӳA? ζ?Z?ɫ-`@-i;){BI=Mb@Mb@Mb@9 9)9I9i9= ףp= ?I +:v?=Q?=94=T<)= AI9i=lA=A 9=AI}^I}J{JgJJJd:J9JJ٥2&= =9<9Q > F٦6Ey > 4Y 6z?4y " ABE?E:EHE?  D < < f4UB)U0AQJp)Rp-?51?Ap-FCp-FCp-@v-;_(l[`@T>婉R3v-s?n37>/8ٲ¿p-.;4p-Q >v-¦t]@dnZnK>_s 1v-,?ЧYۿ*jp-c_rp-[BZp-CɿG?bp-Հzp-07Bp)p-! p- #Bp-WCp-{s@ addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 3.783919 s, deltaX: -2.400009 m, approachRate: -0.634265 m/s, rangeRepo size: 4 = Added new target pos. range: 132.275970 m, bearing: 334.799596 deg, lat: 36.779441 deg, lon: -121.859759 deg, deltaT: 3.783919 s, deltaX: -2.391602 m, approachRate: -0.632044 m/s, posRepo size: 4 o9EFNOT Ignoring new targets: 132.28 m.oEoAU ProNav: ac range: 132.275970 m, nav range: 130.343719 m, bearing: 333.839404 deg, approach rate: 0.000000 m/s, LOS rate: 0.029602 deg/s, cmd heading: 333.901775 deg, new cmd heading: 333.953609 deg. zoQeJDAT read: TxSync time:04:02:40.2724 }HeadingCmd: 5.828590 target range: 132.275970 and range: 132.90 m.Ro}σ@JoyboZoBo:n2nmm{Blkkk̜`@k ?ɞM|BM_ 靵B_I SɝiI9Ii=i=)σ@)F "F *F 2F `5:F G F tA G +,=G G tAQGi2By:B O>zď,R?AR@YR@R9R-e=^AHRS rotation from veh to nav: [[0.898237,0.436016,-0.055323],[-0.439165,0.895388,-0.073579],[0.017454,0.090388,0.995754]]yRH [?? HS Hܿ ?@ֲ ^ߑ?#?6?ɫR@R$;RpCb{BbIf=f=InEIn٥v? > vh=9vlQ v>xx zF٦~8Ey~ॻ ~>  4Y Fz? 4y]%EB ? DB:+;~4))-0A)ZHYRH]<He!>HaHe&IIeI|BIaIaIa&Ie<*IeEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 132.28 m.o~9o%~9] ProNav: ac range: 132.275970 m, nav range: 130.136276 m, bearing: 333.846143 deg, approach rate: -0.589381 m/s, LOS rate: 0.019179 deg/s, cmd heading: 333.953603 deg, new cmd heading: 333.973853 deg. zo]R:]HeadingCmd: 5.828943 target range: 132.275970 and range: 132.90 m.Roe@JoaboaZoaBoa:na2namimlkkkk@{?ɞ-|B5X 15/I1 =3Iɝ9i9I=jIEeiED=iE;=)E@)iF)"F)*F)2F5`0:F1-T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G- =Q G 2B :B!  O- >Q ď,l?A2ڐ@Y2@2*ړ92,=BAHRS rotation from veh to nav: [[0.898716,0.435399,-0.052326],[-0.438160,0.896450,-0.066284],[0.018047,0.082498,0.996428]]y2HG??uʪ ܿ@? {???ɫ2ڐ@2Z;2nCZ|BZIjK ]PrK  9zK K K YTH2xtsiaTIB<844347Bb_e 3:?chu E\]Mb@Mb@Mb@Y Y)YIYiY]m?{GztS㥛?]?]ף]/<)]AI]@i]A]lA Y]AIu1Ius٥= @=9OQ  >    F٦ ;Eyw%; > %4YXz?%4yD(MB%?-:--? DT ; ;245B)5t/A5[EoY]FNOT Ignoring new targets: 132.28 m.aamchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.986378ouA8ouA8 ProNav: ac range: 132.275970 m, nav range: 129.890900 m, bearing: 333.847237 deg, approach rate: -0.591895 m/s, LOS rate: 0.002645 deg/s, cmd heading: 333.973847 deg, new cmd heading: 333.977137 deg. zoU8HeadingCmd: 5.829000 target range: 132.275970 and range: 132.90 m.Ro,@JoboZoBo:n2nmm|Blkkkku@?ɞ|B S I -ɝiIIi.=iK=),@)ԁF"F*F2F:FԩJER=JE4=G=G 2B :B  O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238881!ď,Cs?A6Ɏ@Y6@6.96ɱ=BAHRS rotation from veh to nav: [[0.898594,0.435350,-0.054756],[-0.438382,0.896078,-0.069755],[0.018698,0.086686,0.996060]]y6H I?? qܿ?~۱%?`1??ɫ6Ɏ@6g;4J0|BJI)P R@AIR+IRļ٥Z= ZZ=9ZQ ^>\\` bF٦b=Eyf7 f> dj4Yfgz?n4yf*fTBlr r?f DfG;f^;f{4x)z.AxoFNOT Ignoring new targets: 132.28 m.o58o58 ProNav: ac range: 132.275970 m, nav range: 129.690781 m, bearing: 333.848173 deg, approach rate: -0.530261 m/s, LOS rate: 0.002483 deg/s, cmd heading: 333.977126 deg, new cmd heading: 333.979937 deg. zo8HeadingCmd: 5.829050 target range: 132.275970 and range: 132.90 m.Ro@JoboZoBo:n2nmmlkkkk@h?ɞ|BVZ̼ 靍2ȽI ΓɝiI2c)UG y)IrPBIyi=iM=)@)FA"FA*FA2FEe0:FAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490443H] >HYH]RII]|BIYIYIY&I]<*I]EGm =Gu ?Gu ?GA I 2BQ :Ba  Ou >Jm sJm jJm 3Ji Jm K:Jm 9Jm (3Ji Jm )e;!u Jm +e;!u Jm :!} Jm :!} F'ď,L?A @@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744541)e@Ye@e9eZк=AHRS rotation from veh to nav: [[0.899769,0.432716,-0.056318],[-0.435973,0.896918,-0.073933],[0.018521,0.091076,0.995672]]yeH ?`?լ@ۿ`?A)?P??ɫe@ewE;epC7|BIiIMb@Mb@Mb@ )Iiw/? ףp= ?Q??Q8=<)QAI@iAA AIfI{٥2d< "=99Q > F٦@Ey; > 4Y|z?4y0-_B?:)? Dv::S 4B).A \Eo15FNOT Ignoring new targets: 132.28 m.o=vo=vI] ProNav: ac range: 132.275970 m, nav range: 129.424561 m, bearing: 333.838128 deg, approach rate: -0.544710 m/s, LOS rate: -0.020596 deg/s, cmd heading: 333.979940 deg, new cmd heading: 333.949742 deg. zo](beHeadingCmd: 5.828523 target range: 132.275970 and range: 132.90 m.RoeB@JoaboAZoABoA:nA2nAmImM|BlIkQkQkYk]?ɞ|BbQü 伽I 蔔ɝiI KI i =iN(=)B@)yjK2PrKzKKK$tfWGBA6gR>3-+*((+-+,**:m zk[PEF6"F*F2F`0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.994502ԡ G ;=G 2B :B  O- >L.ď,"?AJL@YJ)@Je9J=`rAHRS rotation from veh to nav: [[0.900917,0.430087,-0.058093],[-0.433606,0.897663,-0.078659],[0.018317,0.096055,0.995207]]yJHN??Q1ۿ?@#? ?`?ɫJL@J;JoCze|Bz7IIoI٥> n=9v:Q ? F٦CEy%; %? )54Y-z?54y-. J9J=@A-gB9=E?- D-0:;-;;-L4UB)U-AYoyFNOT Ignoring new targets: 132.28 m.oOoO ProNav: ac range: 132.275970 m, nav range: 129.244736 m, bearing: 333.831134 deg, approach rate: -0.522789 m/s, LOS rate: -0.020361 deg/s, cmd heading: 333.949750 deg, new cmd heading: 333.928740 deg. zo_HeadingCmd: 5.828156 target range: 132.275970 and range: 132.90 m.RoA@JoboZoBo:n2nmmlkkkkP@ɞ|Bմ dGI ӔɝiI_Ii=i2=)A@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246828F"F*F2F0:FGK'=G2B:B O=>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498693055ď,?AJHBHAAH!>HH~II|BIII&Ii<*I_EF̳@YFxǺ@F9F*=rAHRS rotation from veh to nav: [[0.901894,0.428001,-0.058328],[-0.431596,0.898404,-0.081205],[0.017647,0.098412,0.994989]]yFH@Q?\d?@:ݭEۿ?ɴ@?1??ɫF̳@FA;FmC|%o|B%>IIEGIE٥U< ]F=9]:Q ]>aa eF٦eEEyep; e> iu4Ymޛz?}4ym0mpBy}뻾}?m Dm;m{;m4B)R-AfEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 132.28 m.oWoW ProNav: ac range: 132.275970 m, nav range: 129.027725 m, bearing: 333.822465 deg, approach rate: -0.525316 m/s, LOS rate: -0.021020 deg/s, cmd heading: 333.928741 deg, new cmd heading: 333.902691 deg. zofHeadingCmd: 5.827702 target range: 132.275970 and range: 132.90 m.Ro|@JoboZoBo:n2nmmlkkkk'@ɞ-|B-J 靵#I -ɝiII'5i=i;=)|@))JUpJUgJU2JQJUA:JU9JUc3JQJUT;JUT;JUG:JUI:F6"F*F2F0:F=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752642iG)=GrAGsAG 2B :B  O >y ];ď,ޫ?AjK~/+OrK~9zK|K~K~@<740); fCD%m7! J  %V,-z)^"`g ` {<^ t|B @I)>=YBDAT read: Rx Time:04:02:42.8517 TRx dataTimestamp_ set to:1761364963.793842checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003153UMb@Mb@Mb@Q Q)QIQiQU\(\?bX9ȶ?y&1?U>UE=U`<)UhAIU@iQUA QUAIe\IeW٥u< }9=9}Q }> F٦HEy > 4Yz?4y2zBc>:? D$;;5"4)A-Ao FNOT Ignoring new targets: 132.28 m.o]7o]7 ProNav: ac range: 132.275970 m, nav range: 128.812607 m, bearing: 333.804641 deg, approach rate: -0.482873 m/s, LOS rate: -0.040077 deg/s, cmd heading: 333.902704 deg, new cmd heading: 333.849141 deg. zo ܺHeadingCmd: 5.826766 target range: 132.275970 and range: 132.90 m.Rot@JoboZoBo:n2nmm,}Blkkkk`@ɞu|Bu( q}|Iy }cɝyiyI}ԁIi=iK==)t@)FE6"FI*FI2FM0:FIԱ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254403G _>= GY 2Ba :By  O >DBď, ?A2T޳@Y21ٺ@292 =BAHRS rotation from veh to nav: [[0.902831,0.426219,-0.056870],[-0.429646,0.899507,-0.079321],[0.017346,0.096048,0.995226]]y2H ?@,G?` `Sۿ ?hN@FÑ? ?`?ɫ2T޳@2s;2lCJ||BJEIIVbIV٥^< ^l=9^Gc:Q b?`` bF٦bJEyfi; f? hn4Yjz?n4yj3jBlnpr?j Dj;j;jD(4vߓB)v -AvgEo9EFNOT Ignoring new targets: 132.28 m.oE=oE=U ProNav: ac range: 132.275970 m, nav range: 128.643311 m, bearing: 333.790389 deg, approach rate: -0.491416 m/s, LOS rate: -0.041423 deg/s, cmd heading: 333.849128 deg, new cmd heading: 333.806316 deg. zoUm]HeadingCmd: 5.826019 target range: 132.275970 and range: 132.90 m.Ro]n@JoYboaZoaBoa:na2namimilikikqkqk}m @Թɞ%|B%j )-I) -ɝ)i)I5"ZI]i]=i]:H=)]n@)aF56"F9*F92FE:5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508605:FAH-%>H)H-II- }BI)I)I)&I-w<*I-yE2IC:ICBIœCJIŝ =RIŝ =ZI74Gm ==GA 2BI Jm tJm hJm 3Ji Jm ;N:Jm Ȇ9Jm (3Ji Jm j;Jm j;Jm ݬ:Jm ެ::By  O >A qHď,3k#?ADAT read: 04:02:42.8517 LVL= 18608, 27377, 16850, 27043, AGC= 65, IDX= 406, 0.10, 2.219, 0.898, 2.225, 1.822, PHS= 0.485,-0.877, 0.400, RAW= 146.8, -0.1, CAL= 150.5, -9.1, ROT= 359.5, 9.1 Ygot valid direction response: 04:02:42.8517 LVL= 18608, 27377, 16850, 27043, AGC= 65, IDX= 406, 0.10, 2.219, 0.898, 2.225, 1.822, PHS= 0.485,-0.877, 0.400, RAW= 146.8, -0.1, CAL= 150.5, -9.1, ROT= 359.5, 9.1 PDAT read: Bearing 359.5, 9.1 (Local) ~Local bearing/azimuth received: Bearing 359.5, 9.1 (Local) 5DAT read: Range 10 to 50 : 130.8 m (Round-trip 174.4 ms) speed 0.6 m/s 5*DAT read: user:294> =BDAT read: Tx time:04:02:43.9732 E$Ping request sent.EĿuCYq uH)ujIuAiuiuAuQ>u`u> u(#@)uIu0(@iu"u^@u"> q)quȫ?G_V?{aaiuz>mAHRS rotation from veh to nav: [[0.903071,0.425827,-0.055973],[-0.429135,0.899931,-0.077256],[0.017474,0.093787,0.995439]]yUH?@?uvۿ ;?dz`?n??ɫU@UF܌;Qx|BCIuC ;uDu"> q)q:publishing transmit ping time9Fpublishing direction and range infoqyuN?d@\~>ĿqYq q)qIqiqqqqq q)qIqiqqq q)quȫ?G_V?{aaiqqqq q)q5Mb@Mb@Mb@19 1)1I1i15gfffff?i|?5? rh?53>5=5C<)5AI5@i5(A1 15(A)q uBAI}aI}錴٥|̻ =9mQ > F٦NEy: > 4Yzz?4y25B>:P? Ds::.24ݓB)-AJpqRpuP:#?Apu/Cpu/Cpu@vub`@tڱ~4vuN?d@\~>ĿpuDpu">vuy+0]@ 4 dJK^Z2vuR)z?n ڿl/  ¿jpuSZrpuBZpu{A?bpubzpu 3Bpqpqpu)Bpu`Cpu h@5 addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.781559 s, deltaX: -2.099991 m, approachRate: -0.555324 m/s, rangeRepo size: 4 E Added new target pos. range: 130.186768 m, bearing: 334.945299 deg, lat: 36.779441 deg, lon: -121.859759 deg, deltaT: 3.781559 s, deltaX: -2.089203 m, approachRate: -0.552471 m/s, posRepo size: 4 oAEFNOT Ignoring new targets: 130.19 m.oMoIjKUOQrKQzKQKUKUvy^G$zxue[SNLMMJNLF@96897<GpUecYM@/ } ProNav: ac range: 130.186768 m, nav range: 128.375153 m, bearing: 333.759392 deg, approach rate: 0.000000 m/s, LOS rate: -0.041423 deg/s, cmd heading: 333.806317 deg, new cmd heading: 333.732439 deg. zoyHeadingCmd: 5.824730 target range: 130.186768 and range: 130.80 m.Ro0d@JoboZoBo:n2nmmO}BlkkkY`@klY?ɞ|B DI -핼ɝ)i)I-⑻I5i5G=i5^ZM=)50d@)9EAEE>iF 6"F *F 2F 0:F G = G =ԙ  Ji Jm AAG%\J=G2B:B O>Pď,cC?AF@YFܺ@F9FV=NAHRS rotation from veh to nav: [[0.903001,0.425977,-0.055974],[-0.429245,0.900063,-0.075073],[0.018401,0.091818,0.995606]]yFHa?5C?@xۿ`P? 7ג?@]??ɫF@F݋;FoCZe|BZ7IIjCIj٥ra ro=9r1Q v?tt vF٦vPEyzɹ z?  4Yz? 4y6BP?" DW::84)T-AoAEFNOT Ignoring new targets: 130.19 m.oM#oM#] ProNav: ac range: 130.186768 m, nav range: 128.215134 m, bearing: 333.740831 deg, approach rate: -0.523716 m/s, LOS rate: -0.060822 deg/s, cmd heading: 333.732441 deg, new cmd heading: 333.676690 deg. zo]&eHeadingCmd: 5.823757 target range: 130.186768 and range: 130.80 m.Roe7\@JoaboaZoiBoi:ni2nimqmqlqkqkqkyko|?ɞ|B 靵`nI  4ɝiII?:i =i,P=)7\@)Fu6"Fy*Fy2F}4:FyGG2B:B O>1 ZHQ RHU <H] >HY H] II] }BI] =IY IY &I] <*I] EkVď,\?A Zv̳@YZSǺ@Zg`9Z=fAHRS rotation from veh to nav: [[0.901848,0.427785,-0.060586],[-0.431594,0.898458,-0.080628],[0.019942,0.098863,0.994901]]yZH?`?`:ۿ@*? k?O? ;?ɫZv̳@Z`Պ;ZmCj[|B=1IIEIEDдJoJeJ2JJ>:J9Jc3JJO;JO;J:J:٥: D=9hQ > F٦SEyĻ >  4Y z?4y 97 BS? / D ; ; ?4%ړB)%i-A%hE=B*** querying acoustic contact ***:p9Bp9oIMFNOT Ignoring new targets: 130.19 m.oUxoUx ProNav: ac range: 130.186768 m, nav range: 128.009659 m, bearing: 333.717220 deg, approach rate: -0.472316 m/s, LOS rate: -0.054362 deg/s, cmd heading: 333.676680 deg, new cmd heading: 333.605731 deg. zo;HeadingCmd: 5.822518 target range: 130.186768 and range: 130.80 m.RoR@JoboZoBo:n2nmmlkkkk@J?eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ԁɞ5|B=" am̐Ii uɝqiyI}D'Ii>=i:mJ=)R@)!E)ԙF6"F*F2FP5:FGFpA G O=jK !OrK ػ9zK K K oaXSLGB;83/.,+("%Dantrmfb`[VOMG;8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185383G 2B :B1  O= >\ď,'hv?A2@Y2ު@2wr92=FAHRS rotation from veh to nav: [[0.900343,0.431046,-0.059851],[-0.434724,0.897155,-0.078286],[0.019951,0.096503,0.995133]]y2H?@A?Ϥ ۿ}?` m?p? ?ɫ2@2;2lCV:|B\bIMb@Mb@Mb@ )Ii^I +?ʡE?Mb`?X>=;)QAIAiAA AIIʴ٥ᚽ C=9Q > F٦UEy >  4Y {?4yX8B8?:|\%?< DΥ;];F41)5-A1oY]FNOT Ignoring new targets: 130.19 m.oemuoemu ProNav: ac range: 130.186768 m, nav range: 127.815926 m, bearing: 333.695653 deg, approach rate: -0.481139 m/s, LOS rate: -0.053642 deg/s, cmd heading: 333.605728 deg, new cmd heading: 333.540930 deg. zoAHeadingCmd: 5.821387 target range: 130.186768 and range: 130.80 m.RoH@JoboZoBo:n2nmm|Blkkkks7?ɞ|BD`Լ 靍ֽI =jɝiIIpiQ=iadB=)H@)F6"F*F2F`0:F!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.434700 G= BJ=G 2B! 9 :B9  OE >cď,2?A1=|B= II]fI]{٥ؚ P=9Q >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687120 F٦XEy > 4Y{?4yz9B?I DB::M4 ؓB) Q.A iEoQ]FNOT Ignoring new targets: 130.19 m.oeyoey} ProNav: ac range: 130.186768 m, nav range: 127.620499 m, bearing: 333.673829 deg, approach rate: -0.486701 m/s, LOS rate: -0.054436 deg/s, cmd heading: 333.540923 deg, new cmd heading: 333.475349 deg. zo}oHeadingCmd: 5.820243 target range: 130.186768 and range: 130.80 m.Ron?@JoboZoBo:n2nmmlkkkkH?ɞ|B C I EɝiIIie=i]G=)n?@)H>HCHII|BI =IID&I\<*IDEIFQ"FQ*FQ2FUg0:FQqGK@=Gi  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9407112B :B  O >ԡ Cjď,}?A {B IyMb@Mb@Mb@ )Iirh|?+?/$>=);AI@i(A AI\IW٥ E=9Q >  F٦[Ey > !-4Y%"#{?-4y%;%B5F>5:5&=?%V D%=;%;;%T4A)E.AAoiuFNOT Ignoring new targets: 130.19 m.ou.o}. ProNav: ac range: 130.186768 m, nav range: 127.419128 m, bearing: 333.658274 deg, approach rate: -0.493812 m/s, LOS rate: -0.038205 deg/s, cmd heading: 333.475353 deg, new cmd heading: 333.428614 deg. zoѺHeadingCmd: 5.819427 target range: 130.186768 and range: 130.80 m.Ro8@JoboZoBo:n2nmm|Blkkkk @ɞ|B`+ 靕,I ,rɝiIkIqi~=ieJ=)8@)ԩjKYNrK 9zKKK554.++&%"     checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194946F6"F*F2Fj0:FG= G=G \J=G ?G ?G 2B :B  O >J pJ nJ J J A:J 99J J ! @! @! @! @ pď,?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446589:@Y:x@:늼9:R=BAHRS rotation from veh to nav: [[0.900318,0.431866,-0.054019],[-0.434901,0.897514,-0.072999],[0.016957,0.089215,0.995868]]y:Hh?`?clۿ p? ?]?ֶ?&?ɫ:@:;:oCN{BNIiPIPIVOIVݜ٥=b =V=9ETAA MF٦M]EyM8 M> Q]4YUR2{?]4yUl<UBaeWe?Ub DU:U3:Ur[4mՓB)mi/AioFNOT Ignoring new targets: 130.19 m.oe.oe. ProNav: ac range: 130.186768 m, nav range: 127.233757 m, bearing: 333.643942 deg, approach rate: -0.492288 m/s, LOS rate: -0.038117 deg/s, cmd heading: 333.428607 deg, new cmd heading: 333.385548 deg. zoFѺ HeadingCmd: 5.818676 target range: 130.186768 and range: 130.80 m.Ro 2@Jo bo ZoBo:n2n1m9m9l9k9k9kAkE੫@ɞ|B 靕[I JĚɝiI׌IAi=isL=)2@)iEU(>IEC)G F6)"F*F2Fx0:F I-)-Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.6987619GM BJ=H >H H _II |BI I I &I <*I EGa 2Bq :B  O >a wď,?A 2@Y2ߨ@2G92 =BAHRS rotation from veh to nav: [[0.900291,0.431926,-0.054002],[-0.434969,0.897434,-0.073580],[0.016682,0.089733,0.995826]]y2H.?@?0`ۿǷ? ֲ5???ɫ2@2߈;2nCJ{BJIIVcIV#٥^\ ^S=9b9:Q b>`` bF٦b_EyfBE f> hn4YjA{?n4yj=jBlr^r?jn Dj;j;j9b4t)v/AtoFNOT Ignoring new targets: 130.19 m.o$o$  ProNav: ac range: 130.186768 m, nav range: 127.043213 m, bearing: 333.629171 deg, approach rate: -0.463537 m/s, LOS rate: -0.035987 deg/s, cmd heading: 333.385550 deg, new cmd heading: 333.341171 deg. zo ź1UHeadingCmd: 5.817901 target range: 130.186768 and range: 130.80 m.RoU?,@JoQboQZoQBoY:nY2nYmYmalakakakakm@@BDAT read: Rx Time:04:02:46.5498 TRx dataTimestamp_ set to:1761364967.582314checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957542ɞ |Bh {IA M췜ɝIiQIUaI9iP=iN=)?,@)F9"F9*F92F=p0:F9ԉ- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203730jK] 5MrK] +9zKY K] K] [z]H6+$ 4@JMC6,$ G 0M= Gq 2By :B  O >if}ď,/4?A2צ@Y2@2`92=~AHRS rotation from veh to nav: [[0.899916,0.432772,-0.053476],[-0.435760,0.897079,-0.073230],[0.016280,0.089203,0.995880]]y2H@? ?@4a{ۿ`ߴ?.Ы?ֶ?@?ɫ2צ@2r;2mC {B IMb@Mb@Mb@ )Iish|??~jt?Mb ?=)AI@iAA  AIGI٥ 6=9Jj:Q > F٦bEy > 4YU{?4y:@B ?:R?~ D8::j4ImӓB)m0AmjEB*** querying acoustic contact ***:pBpo)5FNOT Ignoring new targets: 130.19 m.oe=om= ProNav: ac range: 130.186768 m, nav range: 126.800568 m, bearing: 333.619869 deg, approach rate: -0.529904 m/s, LOS rate: -0.020353 deg/s, cmd heading: 333.341181 deg, new cmd heading: 333.313221 deg. zo}_%HeadingCmd: 5.817413 target range: 130.186768 and range: 130.80 m.Ro%@(@Jo)bo)Zo1Bo1JeqJemJaJaJeD:Je&9JaJa:n2nmm|Blkkkk } @ɞ5|B5f QUÖIY ]tʞɝYiYI]DIeyie=ie;M=)e@(@)iqDAT read: 04:02:46.5498 LVL= 18192, 24881, 16658, 26355, AGC= 60, IDX= 417,-0.48,-2.243, 2.729,-2.216,-2.609, PHS= 0.454,-0.898, 0.390, RAW= 147.6, 0.8, CAL= 150.9, -8.1, ROT= 359.1, 8.1 Ygot valid direction response: 04:02:46.5498 LVL= 18192, 24881, 16658, 26355, AGC= 60, IDX= 417,-0.48,-2.243, 2.729,-2.216,-2.609, PHS= 0.454,-0.898, 0.390, RAW= 147.6, 0.8, CAL= 150.9, -8.1, ROT= 359.1, 8.1 PDAT read: Bearing 359.1, 8.1 (Local) ~Local bearing/azimuth received: Bearing 359.1, 8.1 (Local) F6"F*F2F0:FGFsA=DAT read: Range 10 to 50 : 129.2 m (Round-trip 172.3 ms) speed 0.7 m/s E*DAT read: user:295> MBDAT read: Tx time:04:02:47.6733 U$Ping request sent.U=Te=> =$@)=d 9)9=O[?e?@5?i=Ƙ>=l==> 9)9 :publishing transmit ping timeQ Fpublishing direction and range info9y=E?ǽ؏:N ¿9Y9 9)9I9i99999 9)9I9i999 9)9=O[?e?@5?i9999 9)9ԡG ϚN=G sAG G 2B :B  O >MKď,?A=*@Y=@=؈9=S=MAHRS rotation from veh to nav: [[0.898486,0.435778,-0.053108],[-0.438685,0.895844,-0.070846],[0.016704,0.086952,0.996072]]y=H`e??1hܿ`?"?`vB?`?ɫ=*@=?;=nCj{BIJDAT read: TxSync time:04:02:47.6725 =<IMI٥ L=9iQ > F٦eEyL > !-4Y%]f{?M4y%aB%BQU ¾U?% D%;%;%>q4Y)]0AaJpiRpm 9?ApmCpmCpmJl@vmI'ߙ_@D*8_2ԩvmE?ǽ؏:N ¿pmpm>vmH\@2i,LvW0vm/{? ܿhUlfjpmearpmBZpm?bpm:} zpm ;Bpm?pm:} pm 3Bpm(BpmWl@H>HH&III|BIII&I<*IEM addTargetRange:: Added new target pos. range: 129.199997 m, deltaT: 3.531173 s, deltaX: -1.600006 m, approachRate: -0.453109 m/s, rangeRepo size: 4 ] Added new target pos. range: 128.591095 m, bearing: 333.789106 deg, lat: 36.779451 deg, lon: -121.859760 deg, deltaT: 3.531173 s, deltaX: -1.595673 m, approachRate: -0.451882 m/s, posRepo size: 4 oYeFNOT Ignoring new targets: 128.59 m.oeo ProNav: ac range: 128.591095 m, nav range: 127.579674 m, bearing: 333.789449 deg, approach rate: 0.000000 m/s, LOS rate: -0.020353 deg/s, cmd heading: 333.313231 deg, new cmd heading: 333.289146 deg. zoHeadingCmd: 5.816993 target range: 128.591095 and range: 129.20 m.Ro$@JoboZoBo:n2nmmlkkk`f&`@kk?ɞe|Be\0 imIi m񻠼ɝiiiImdIuϰiu=i}B=)}$@)yF6"F*F2F2:F GE LM=G! 2BI :Bq  O >1 rď,+?AFw@YFr@FS9Fj=NAHRS rotation from veh to nav: [[0.897373,0.438496,-0.049425],[-0.440891,0.895613,-0.059102],[0.018349,0.074828,0.997028]]yFHG?Q?8N@7ܿۨ?B4ʒ?`'??ɫFw@F;FkCVA{BVIMb@Mb@Mb@ )Ii F٦gEyͻ > 4YUw{?4y/EB?:!? DY<;:;%x4ѓB)1A kEo)5FNOT Ignoring new targets: 128.59 m.o59o59E ProNav: ac range: 128.591095 m, nav range: 127.351959 m, bearing: 333.792432 deg, approach rate: -0.599702 m/s, LOS rate: 0.007872 deg/s, cmd heading: 333.289135 deg, new cmd heading: 333.298101 deg. zoE߬9MHeadingCmd: 5.817149 target range: 128.591095 and range: 129.20 m.RoM&@JoIboQZoQBoQ:nQ2nYmYm]{Blakikikikm?ɞ=|B= 7= 9=йI9 EɝAiAIEIMIiM=i>>:=)&@)jK%QNrK%9zK!K%K%Ttn[;/(% $# $@yb4t_M?3&$#*.)" BK5>:K5?F9"F9*F92F= 5:F99Gm B=q GA 2BQ J} oJ} aJy Jy J} >:J} p9Jy Jy :B  O >mď,LE?ABEt@YB"o@BY9B:s=JAHRS rotation from veh to nav: [[0.897164,0.438721,-0.051188],[-0.441285,0.895294,-0.060957],[0.019085,0.077277,0.996827]]yBH??@5>ܿ@?`5@?`lȳ??ɫBEt@BN;@^/{B^yIIf;If٥nFB nX=9r]Q r>pp rF٦rjEyv v> x~4Yz{?~4yzGzB|F?z Dz;z;z~4 ) 1A o9EFNOT Ignoring new targets: 128.59 m.oEM 9oEM 9U ProNav: ac range: 128.591095 m, nav range: 127.134079 m, bearing: 333.795325 deg, approach rate: -0.576430 m/s, LOS rate: 0.007666 deg/s, cmd heading: 333.298096 deg, new cmd heading: 333.306789 deg. zoU]9]HeadingCmd: 5.817301 target range: 128.591095 and range: 129.20 m.Ro]T'@JoYboaZoaBoa:na2namimilikikikqku?ɞ|BF 靭þI .ɝiIIci =ia9=)T'@)IFU6"FQ*FQ2FU_0:FQG-C;=G5?G5?G2B :B O-,>yH>HHII{BI =II&Io<*IbE2IC:ICBIJIȞ =RIZI`5ԡ ď,l_?A20p@Y2 k@2ѥ92 =:AHRS rotation from veh to nav: [[0.896924,0.438917,-0.053664],[-0.441722,0.894916,-0.063301],[0.020240,0.080481,0.996551]]@y2H?5?y*Eܿ@'?4@⹔?d? ?ɫ20p@2l;0V{BVmIiXIXIb1Ibs٥f&; jK=9jll nF٦nlEyrd r> tv4Yvؘ{?z4yvJvBxzlz?v Dv:v:vƅ4 ΓB) 2A oFNOT Ignoring new targets: 128.59 m.o9o9 ProNav: ac range: 128.591095 m, nav range: 126.902145 m, bearing: 333.798446 deg, approach rate: -0.554771 m/s, LOS rate: 0.007477 deg/s, cmd heading: 333.306784 deg, new cmd heading: 333.316162 deg. zo69HeadingCmd: 5.817464 target range: 128.591095 and range: 129.20 m.Ro(@Jobo1Zo1Bo1:n92n9m9m9lAkAkAkAkE?ɞ=|B=? AE;IA E0ɝAiAIExyIerԱim =iF7=)(@)Fi"Fq*Fq2Fu`0:FyG 8= G 2B :B  O >jK} byNrK} 9zKy K} K} <Velh_[VOLJIEDC?ELD2  2K *K qAď,by?A2v@Y2}q@292 =:AHRS rotation from veh to nav: [[0.897269,0.438073,-0.054777],[-0.441016,0.895107,-0.065489],[0.020342,0.082919,0.996349]]y2H m? d ? 9ܿ ?`ðԔ?/:??ɫ2v@2R;0B{BBlIp]Mb@Mb@Mb@Y Y)YIYiY]Zd;?~jtMb]?]])YIYi]A]A Y]AIYI٥=d E5=9ElQ E>QQ ]F٦]oEy}: }> 4Yp{?4yNtIBL?:? D;o;Ǎ4) 2A B*** querying acoustic contact ***:p Bp oAMFNOT Ignoring new targets: 128.59 m.o}:o: ProNav: ac range: 128.591095 m, nav range: 126.626640 m, bearing: 333.813528 deg, approach rate: -0.605042 m/s, LOS rate: 0.033195 deg/s, cmd heading: 333.316155 deg, new cmd heading: 333.361501 deg. zo@:HeadingCmd: 5.818256 target range: 128.591095 and range: 129.20 m.Ro'/@JoboZoBo:n2nmmX{BlkkkkM ? JsJsJsJmJiJJJ\8:Jڈ9JJɞ%|B%+C )-ZϾI) -+ɝ)i)I5 sI57 i=^=i=7=)='/@)9T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.F9"F9*F92F9:F9Qa Ge 6=Gy 2B :B  O >GϤď,Z,?A:j@Y:e@:ѩ9:Ʈ=JAHRS rotation from veh to nav: [[0.896625,0.439205,-0.056230],[-0.442305,0.894336,-0.067304],[0.020728,0.085218,0.996147]]y:H'?`?8ʬ@Nܿ`f?:9?`е?o?ɫ:j@:t};:lCf {BfpIIn`In̍tchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231761٥uf< uR=9}*Q }>y F٦rEy v > 4Y{?4y R~B9? D::r4B)1AvEoFNOT Ignoring new targets: 128.59 m.o3:o3: ProNav: ac range: 128.591095 m, nav range: 126.396988 m, bearing: 333.826287 deg, approach rate: -0.625156 m/s, LOS rate: 0.034796 deg/s, cmd heading: 333.361507 deg, new cmd heading: 333.399855 deg. zo :HeadingCmd: 5.818925 target range: 128.591095 and range: 129.20 m.Ro4@JoboZoBo:n2nmml k k k k @g@ɞ=|B=SHM>HIHMIIM{BIM =IIII&IM<*IME Y]̾Ia e=`ɝaiaIeVmImim{$=im/=)m4@)qFU6"FQ*FY2F]o0:FYAG}7=GGtAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.483778Ga 2Bi :By  O >y =諭ď,ܭ?A{B%nI%=!YMb@Mb@Mb@ )Ii?RQ99 EF٦EuEyE E> IU4YMc{?U4yMVM|B]!?]:](]?M DM ;M] ;Mᛟ4a)e1AaoFNOT Ignoring new targets: 128.59 m.oC:oC: ProNav: ac range: 128.591095 m, nav range: 126.130981 m, bearing: 333.844458 deg, approach rate: -0.624327 m/s, LOS rate: 0.042738 deg/s, cmd heading: 333.399866 deg, new cmd heading: 333.454494 deg. zo:HeadingCmd: 5.819879 target range: 128.591095 and range: 129.20 m.Ros<@JoboZoBo:n2nmm({Blkkkk@ɞ|B@"H ξI 2ɝ i I GgI{6ig-=i5-=)s<@)11=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737241ԉF"F*F2F0:FjKM+MrKM9zKIKMKMԱG.=G 2B :B  O > J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988148ױď,0?AJB@YJo=@Jﰼ9J=RAHRS rotation from veh to nav: [[0.894425,0.443294,-0.059118],[-0.446697,0.891925,-0.070228],[0.021597,0.089221,0.995778]]yJH ?^?Dܿ`?@q?`1׶?@i?ɫJB@Jv;JmCZ9{BZIIj[Ij:٥rV= rb=9rQ v>tt vF٦vwEyz _ z> |4Y~${?4y~Y~yB _ ?~ D~:~:~04B) 1AԹoFNOT Ignoring new targets: 128.59 m.o>K:o>K: ProNav: ac range: 128.591095 m, nav range: 125.905487 m, bearing: 333.860421 deg, approach rate: -0.626398 m/s, LOS rate: 0.044422 deg/s, cmd heading: 333.454507 deg, new cmd heading: 333.502481 deg. zo:HeadingCmd: 5.820716 target range: 128.591095 and range: 129.20 m.RoOC@JoboZoBo:n2nmmlkkkk@ɞm|Bm G imIq ɝiIaIi8,=i=)OC@)FI"FI*FI2FM0:FI=BDAT read: Rx Time:04:02:50.2466 ETRx dataTimestamp_ set to:1761364971.357973Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.240958G}S,=JHBH?AH>HHIIII&I<*IG 2B :B  O A ď,?AJVoJVjJTJTJV>:JV9JTJTJT!^JT!^JV:!^JV:!bL{BII=dI=@٥M8= MD=9MQ M>QQ UF٦UzEy] ]> am4Ye`{?m4ye]evBiiu?e De:e:e}4}B)}0A}wEoFNOT Ignoring new targets: 128.59 m.oK:oK: ProNav: ac range: 128.591095 m, nav range: 125.644501 m, bearing: 333.878968 deg, approach rate: -0.624717 m/s, LOS rate: 0.044488 deg/s, cmd heading: 333.502482 deg, new cmd heading: 333.558239 deg. zoA:HeadingCmd: 5.821690 target range: 128.591095 and range: 129.20 m.RoHK@JoboZoBo:n2nmmlkkkk @ɞזB CI 崼ɝ!i!I%+v\I-/Ii-})=i5>=)5HK@)9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491720F"F*F2F`5:FԉG3=G?G?G2B:B Oc>ԩ DAT read: 04:02:50.2466 LVL= 25328, 25953, 21218, 31907, AGC= 65, IDX= 417,-0.27,-1.297,-2.660,-1.342,-1.724, PHS= 0.515,-0.888, 0.379, RAW= 145.0, -0.1, CAL= 148.8, -9.1, ROT= 1.2, 9.1  Ygot valid direction response: 04:02:50.2466 LVL= 25328, 25953, 21218, 31907, AGC= 65, IDX= 417,-0.27,-1.297,-2.660,-1.342,-1.724, PHS= 0.515,-0.888, 0.379, RAW= 145.0, -0.1, CAL= 148.8, -9.1, ROT= 1.2, 9.1  PDAT read: Bearing 1.2, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 1.2, 9.1 (Local)  DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed 0.4 m/s  *DAT read: user:296>  BDAT read: Tx time:04:02:51.3233  $Ping request sent. ĿE BYA E b)E aeIE RiE |E AE ?E ScE J > E p!@)E IE 6&@iE "E A )A E ;[N?S?)~cYiE D>E w:E A )A m :publishing transmit ping time۩ m Fpublishing direction and range infoA yE ث?e4,?@\~>ĿA YA A )A IA iA A A A A A )A IA iA A A A )A E ;[N?S?)~cYiA A A A A )A jK >BKrK zK K K ->4qL2"BhX0hC"{of_WUOOX-W) ,ď,;s?A:o!@Y:L@:9:=BAHRS rotation from veh to nav: [[0.892587,0.446606,-0.061897],[-0.450299,0.889941,-0.072356],[0.022770,0.092456,0.995456]]y:H`?/?찯@ܿfz?P?6?`?ɫ:o!@:E;:iC^t{B^IMb@Mb@Mb@ )Ii)\(?ʡE~jth?G!?-D;) AI@i GAI%NI%٥5~= U<=9U/Q ]>YY ]F٦]|Eyet e> i4Ym|?4ymamxB"?:?m DmS;m;m"4Ա) 0AJpqRpu?ApuBpuBpuq?@vu,GC+_@m@:g'3vuث?e4,?@\~>Ŀpu<pu">vu)Z/ql\@0J[K0vuO?ʅg<ڿ-hjpuQrpucBZpuuq?bpuR@zpu<8Bpu{A?puՀpu07Bpu;Bpu@ addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.779404 s, deltaX: -2.299995 m, approachRate: -0.608560 m/s, rangeRepo size: 4  Added new target pos. range: 126.301224 m, bearing: 335.265929 deg, lat: 36.779456 deg, lon: -121.859741 deg, deltaT: 3.779404 s, deltaX: -2.289871 m, approachRate: -0.605882 m/s, posRepo size: 4 oFNOT Ignoring new targets: 126.30 m.oo ProNav: ac range: 126.301224 m, nav range: 125.116386 m, bearing: 334.710401 deg, approach rate: 0.000000 m/s, LOS rate: 0.044488 deg/s, cmd heading: 333.558244 deg, new cmd heading: 333.620351 deg. zoHeadingCmd: 5.822773 target range: 126.301224 and range: 126.90 m.Ro)T@Jo bo Zo Bo :n2nmm{Blkkk_@k@>?ɞ|Bp- AEzIA EGɝAiIIMdFWIMiU=iUn=)U)T@)QJDAT read: TxSync time:04:02:51.3225 F"F*F2F1:F)G 5 vA)Q I  vA !BG G 2B :B  O% >9 žď,'i?AN@YN @Nż9NY=VAHRS rotation from veh to nav: [[0.891593,0.448305,-0.063908],[-0.452192,0.888941,-0.072849],[0.024152,0.093850,0.995293]]yNH??B\ܿ`3r?@5A? ?q?ɫN@N;Lv{BxxvIIESIEQ٥U$= UY=9]rQ ]>aa eF٦mEy > 4YV|?4yCezB@?* D:6:4B)K/AxEHHHII{BIII&I<*IE5B*** querying acoustic contact ***:p1Bp1o9EFNOT Ignoring new targets: 126.30 m.omd:omd:} ProNav: ac range: 126.301224 m, nav range: 124.878914 m, bearing: 334.728550 deg, approach rate: -0.652286 m/s, LOS rate: 0.049947 deg/s, cmd heading: 333.620344 deg, new cmd heading: 333.674896 deg. zo} ;HeadingCmd: 5.823726 target range: 126.301224 and range: 126.90 m.Ro[@JoboZoBo:n2nmmlkkkk`&?ɞ)-jY3 )-ŽI) 5ɝ1i1I5_SI=C>i= =i=<)=[@)iF"F*F2F4:FG=)JnJgJJJ|;:J9JJJ)J;J,J;JG:JI:G2B:B Oj>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a >˾ď,*/?A B<@YB@Bͼ9B'=JAHRS rotation from veh to nav: [[0.891149,0.448956,-0.065516],[-0.453018,0.888444,-0.073776],[0.025085,0.095425,0.995121]]yBH J??Ű`=ܿ!n?ⲿ㯙?m??ɫB<@BR;BjC^{B^IMb@Mb@Mb@ )Ii`"?v/ rh??xiC<)I@ilAA AI9I\٥8= D=9Q > F٦Ey > 4Y&|?4yhB?:?: D;;4).Ao!-FNOT Ignoring new targets: 126.30 m.o-$:o-$:E ProNav: ac range: 126.301224 m, nav range: 124.635414 m, bearing: 334.742890 deg, approach rate: -0.609450 m/s, LOS rate: 0.035961 deg/s, cmd heading: 333.674904 deg, new cmd heading: 333.718008 deg. zoEp:EHeadingCmd: 5.824478 target range: 126.301224 and range: 126.90 m.RoM b@JoIboIZoIBoI:nQ2nYmYme|Blakakakakmm?ɞe# 靝]vI ɝiI|PIiN=i;3<) b@)Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995669F"F*F!2F%`0:F!jKlOrK9zKKKvOP*   8 tz; jZԙGM=GQGUoAG) 2BI :BY  Om >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246799%Ҿď,I?AL|BII5-I5٥E)&> ES=9EQ M>II MF٦MEyU U> Ye4Y]7|?e4y]k]Baam?]I D]:]B:]ş4uB)u-AqoFNOT Ignoring new targets: 126.30 m.o= :o= : ProNav: ac range: 126.301224 m, nav range: 124.407227 m, bearing: 334.756380 deg, approach rate: -0.591362 m/s, LOS rate: 0.035023 deg/s, cmd heading: 333.718016 deg, new cmd heading: 333.758559 deg. zoJ:HeadingCmd: 5.825186 target range: 126.301224 and range: 126.90 m.Rog@JoboZoBo:n2nmmlkkkkqo?ɞ 5I 𼻼ɝ i I ʧNI~io=ib<)g@)F"F*F2F:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498878H>HH-IIS|BIII&I<*IEG<G 2B :B)  O5 >! Pؾď,b?AI<)<>@JBsJBhJ@J@JBK:JBȆ9J@J@JB(e;JB+e;JBܬ:JBެ:Y>x @>ͼ9>Hq=ZAHRS rotation from veh to nav: [[0.891666,0.447657,-0.067348],[-0.451997,0.888638,-0.077593],[0.025112,0.099628,0.994708]]y>H`?i?=ܿo?@)ݳ?=?`?ɫ>@>_Ή;>hCb'|BbIIjRIj4٥r5= rP=9vNQ v>tx zF٦zEyz%?; z>| 4YG|?4yNoBB?W D M;N;̟4!)--A)oFNOT Ignoring new targets: 126.30 m.o:o: ProNav: ac range: 126.301224 m, nav range: 124.175041 m, bearing: 334.770041 deg, approach rate: -0.565638 m/s, LOS rate: 0.033343 deg/s, cmd heading: 333.758560 deg, new cmd heading: 333.799621 deg. zo: HeadingCmd: 5.825902 target range: 126.301224 and range: 126.90 m.Ro m@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750821Jo boyZoyBoy:n2nmmlkkkkeh?ɞJS1 靍I FʼɝiILI!i=iV`<)m@)QF"F*F2F:FG= G=- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002962ԁ G U<jK5 VOrK5 ͼ9zK1 K5 K5 O@64/'  'ml]L<2*!  G 2B :B  O >޾ď,U~?A27@Y2@2Ǽ92=>AHRS rotation from veh to nav: [[0.892376,0.446208,-0.067550],[-0.450633,0.889122,-0.079948],[0.024387,0.101784,0.994508]]y2HX?@?J*ܿs?rw???ɫ27@2ʼn;2jCBn|BB=IXMb@Mb@Mb@ )Ii rh?{GztS㥛? ?ף/<)AIiA  AITIn٥F> 3=9:Q > F٦Eyf]; > 4Y\Z|?4yXrB ?:?g D3::ԟ4B)+AEo)5FNOT Ignoring new targets: 126.30 m.o5G9o5G9E ProNav: ac range: 126.301224 m, nav range: 123.925972 m, bearing: 334.774807 deg, approach rate: -0.569142 m/s, LOS rate: 0.010911 deg/s, cmd heading: 333.799623 deg, new cmd heading: 333.813948 deg. zoE9MHeadingCmd: 5.826152 target range: 126.301224 and range: 126.90 m.RoMo@JoIboQZoQBoQ:nQ2nQmYm]|BlYkYkakikmh@ɞ|B} 靵dI MɝiIDLI;i=i#<)o@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255598F"F*F2Fo0:F G <G 2B :B! 9  OM >ď,#ۗ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506926>f#@Y>C@>¼9>=FAHRS rotation from veh to nav: [[0.892674,0.445675,-0.067129],[-0.450074,0.889346,-0.080608],[0.023777,0.102170,0.994483]]y>Hʐ?@?@e/ܿu?X?'??ɫ>f#@>ۈ;>kCN|BN\IiPIPIZbIZ٥f> f^=9fO:Q f>hh jF٦jEyj: n> pv4Yrvi|?v4yrtrBtzRz?rt Dr:r :rڟ4H>HHxII|BI =II&Io<*I]E2I:IBIJIRI =ZI4!y)}*AyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 126.30 m.o39o39 ProNav: ac range: 126.301224 m, nav range: 123.723976 m, bearing: 334.778628 deg, approach rate: -0.518000 m/s, LOS rate: 0.009815 deg/s, cmd heading: 333.813939 deg, new cmd heading: 333.825421 deg. zo9 HeadingCmd: 5.826353 target range: 126.301224 and range: 126.90 m.Ro {q@Jo bo Zo Bo:n2n1m9m9lAkAkAkIkM॰@ɞ|BLͼ I 1|ɝiI~KIiG=iE<){q@) IF6"F*F2F0:FJmJJJJ\8:JJJJD;JD;JJԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761946G<G 2B :B  O5 >ԩ ď,N?A ((F+@YF\&@F;9F=AHRS rotation from veh to nav: [[0.893131,0.444776,-0.067012],[-0.449198,0.889670,-0.081907],[0.023188,0.103256,0.994385]]yFH? 7w?`' ܿ,x?@? n??ɫF+@F;FhC|BIyEMb@Mb@Mb@A A)AIAiAERQ?A`"?L7A`?E?EY=E+=)EQAIE@iEAA AEAIUI٥= ,=9:Q >   F٦ Ey ; 5> 9=4Y=||?E4y=#w=BE?E:E%E?= D=:=:=[4]BDAT read: Rx Time:04:02:53.8936 ]TRx dataTimestamp_ set to:1761364974.885900echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012045uB)u)AqoFNOT Ignoring new targets: 126.30 m.o"o" ProNav: ac range: 126.301224 m, nav range: 123.478996 m, bearing: 334.770569 deg, approach rate: -0.524314 m/s, LOS rate: -0.017282 deg/s, cmd heading: 333.825414 deg, new cmd heading: 333.801190 deg. zo=HeadingCmd: 5.825930 target range: 126.301224 and range: 126.90 m.Ron@JoboZoBo:n2nmm`}Bԩlkkkk@jKe#MrKe]9zKaKeKe  ZwiQ@2& ɞ)  ɝiICLIoi=i=)n@)F6"F*F2Fo0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262877 G G G sAG 2B :B  O >ď,H?AN5@YN0@Ns9N=jAHRS rotation from veh to nav: [[0.893704,0.443667,-0.066732],[-0.448091,0.890118,-0.083094],[0.022533,0.104163,0.994305]]yNH8? e?`Vܿ@{?`E`?r?X?ɫN5@Nd0;NjCz|BzIINI٥= h=9k:Q > }Fԁ٦}Ey_; > 4YE|?4yxB? DQ;];4)B)AoFNOT Ignoring new targets: 126.30 m.o4o4 ProNav: ac range: 126.301224 m, nav range: 123.294899 m, bearing: 334.764391 deg, approach rate: -0.520942 m/s, LOS rate: -0.017508 deg/s, cmd heading: 333.801180 deg, new cmd heading: 333.782619 deg. zo?@HeadingCmd: 5.825606 target range: 126.301224 and range: 126.90 m.Ro]k@JoboZoBo:n2nmmlkk k k *. @ɞ9= AEy=IA E\ɝAiAIELIMGiM=iU/=)U]k@)QF"F*F2F`5:FԱEDAT read: 04:02:53.8936 LVL= 21712, 28849, 19170, 28643, AGC= 64, IDX= 418,-0.35, 0.524,-0.838, 0.496, 0.152, PHS= 0.460,-0.943, 0.341, RAW= 145.6, 2.1, CAL= 148.9, -6.7, ROT= 1.1, 6.7 MYgot valid direction response: 04:02:53.8936 LVL= 21712, 28849, 19170, 28643, AGC= 64, IDX= 418,-0.35, 0.524,-0.838, 0.496, 0.152, PHS= 0.460,-0.943, 0.341, RAW= 145.6, 2.1, CAL= 148.9, -6.7, ROT= 1.1, 6.7 UPDAT read: Bearing 1.1, 6.7 (Local) U~Local bearing/azimuth received: Bearing 1.1, 6.7 (Local) eDAT read: Range 10 to 50 : 124.6 m (Round-trip 166.2 ms) speed 0.4 m/s m*DAT read: user:297> uBDAT read: Tx time:04:02:54.9733 HHHIIG}BI =II&IZ<*I;E}$Ping request sent. shq > "@) Q =I R&@i |i nF< |= )    nF< |= ) :publishing transmit ping timeyFpublishing direction and range info y ?w@9 ?mu"޽ Y  ) I i      ) I i    )   Zď,?AU}BUI]>]C= aeA}JDAT read: TxSync time:04:02:54.9725 Im\ImW٥o= B=9Q > F٦Ey >  4Y|?-4yzB115? D.;;4=B)=(A=EJpIRpM5?ApMBpMBpM0@vMyMv^@f@Q@,vM?w@9 ?mu"޽pMnF<pM|=vM`ď,n?A2;@Y26@2JI92?=:AHRS rotation from veh to nav: [[0.894041,0.442944,-0.067011],[-0.447419,0.890378,-0.083918],[0.022494,0.105008,0.994217]]y2H?3Y?'ܿ}?@{???ɫ2;@2;0B0}BBIMb@Mb@Mb@ )IiGz?1Zd?X9v?>"=<)hAIiAA \AI>I٥ = C=958Q > F٦Ey: > 4Y|?4y,|ƂBN>:k}? D::4 ) _(A JMC=JMp=J]nJ]dJYJYJ]|;:J]|9JYJY!u@!u@!u@!u@oFNOT Ignoring new targets: 124.01 m.o_Co_C ProNav: ac range: 124.011978 m, nav range: 122.719078 m, bearing: 334.990394 deg, approach rate: -0.478113 m/s, LOS rate: -0.042702 deg/s, cmd heading: 333.759625 deg, new cmd heading: 333.707812 deg. zosHeadingCmd: 5.824300 target range: 124.011978 and range: 124.60 m.Ro`@JoboZoBo:n2nmm}Bl!k!k)k)k5 ?ɞ|B-n 靥=I gɝiIoOIiz=i> =)`@)1FE6"FA*FA2FE5:FIaG =Gq 2By :B  O >ԡ <ď,(?AH>HHII}BI =II&I<*IEb8@Yb|3@b[E9bf=jAHRS rotation from veh to nav: [[0.893854,0.443611,-0.065072],[-0.447769,0.890666,-0.078846],[0.022980,0.099613,0.994761]]ybHs?d?`=ܿV?:/#?D??ɫb8@b}m;bgCr3}BrIIz$Iz´٥g< Z=9橺Q  >    F٦ Eyh > -4YԺ|?-4yU}ЂB15Y}5? D9O;O;4EB)E?(AEE]B*** querying acoustic contact ***:paBpaoimFNOT Ignoring new targets: 124.01 m.ou)Iou)I ProNav: ac range: 124.011978 m, nav range: 122.542152 m, bearing: 334.974562 deg, approach rate: -0.490630 m/s, LOS rate: -0.043967 deg/s, cmd heading: 333.707825 deg, new cmd heading: 333.660261 deg. zodHeadingCmd: 5.823470 target range: 124.011978 and range: 124.60 m.RoY@JoboZoBo:n2nmmlkkkk=,?ɞY]*j Y]=IY e/ɝaiaIeBQIm_ims=imZ =)mY@)iqF)"F)*F)2F-`0:F1ԡ]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.GUV =G 2B! :Bq  O > j ď,4?A:KJ@Y:(E@:ü9:=FAHRS rotation from veh to nav: [[0.894801,0.441674,-0.065236],[-0.445831,0.891728,-0.077818],[0.023803,0.098716,0.994831]]y:H 5?cD?U ~ܿ ?@볿_?yE??ɫ:KJ@:;:hCRD}BRIIV=)Va==Mb@Mb@Mb@9 9)9I9i9=MbX9?/$? rh?=>=1>=C<)9I=@i=A=A 9=AIU1IUs٥e!= eD=9eBQ m>ii mF٦mEyu]; u> y4Y}|?4y}4~}قB>:1?} D}>;}w9;}4)'AoFNOT Ignoring new targets: 124.01 m.oqroqrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497635 ProNav: ac range: 124.011978 m, nav range: 122.357002 m, bearing: 334.951206 deg, approach rate: -0.419437 m/s, LOS rate: -0.052990 deg/s, cmd heading: 333.660260 deg, new cmd heading: 333.590087 deg. zowHeadingCmd: 5.822246 target range: 124.011978 and range: 124.60 m.RoO@JoboZoBo:n2nmm}Blkkkk`[M?ɞ|B9h !%>I! -ɝ)i)I-PSI5Qi5|q=i5"=)5O@)9F%6"F!*F!2F%_0:F)jK}NrK} 9zKyK}K}n]M@841>NVVNLKGDEC;=<<:=E{J.Oiu]F* `<#JmqJmeJm3JiJmD:Jm9Jm(3Ji! G =e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749494Ga 2By :B  O >i I CNď,YM?A)"G .`wA)@na@Yn\@nަ9nZr=I~~`wA~ BAHRS rotation from veh to nav: [[0.896103,0.439259,-0.063652],[-0.443249,0.893086,-0.076992],[0.023027,0.097206,0.994998]]ynH`߬?`?wK 2^ܿ(?@õ S?`??ɫna@nC؉;l]8@])Be<}BeII}_I}٥؜ H=97:Q > F٦Ey; > 4YL|?4y B.? DG:: 4B) (AoFNOT Ignoring new targets: 124.01 m.o͉o͉% ProNav: ac range: 124.011978 m, nav range: 122.176338 m, bearing: 334.928077 deg, approach rate: -0.469827 m/s, LOS rate: -0.060238 deg/s, cmd heading: 333.590100 deg, new cmd heading: 333.520610 deg. zo%\%-HeadingCmd: 5.821033 target range: 124.011978 and range: 124.60 m.Ro-E@Jo)bo1Zo1Bo:n2nmmlkkkk`?ɞ=|B=+j AE=IA E8ɝAiAIE]UIIm;iuCv=iu'=)uE@)yF"F*F2Fa0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001989ZH%<RH!H->H)H- II-}BI- =I)I-D&I-,<*I-EԁGM y=ԩ G! 2B1 :BA  Oe >xď,g?A6t@Y6o@6?96=@BAHRS rotation from veh to nav: [[0.897141,0.437387,-0.061895],[-0.441178,0.894246,-0.075407],[0.022367,0.094958,0.995230]]y6H``?`'?@D<ܿ ?Ms?*O??ɫ6t@6Ý;6gCJC}BJIIVnIVd٥Z< ^Y=9^i:Q ^>`d fF٦fEyj; j> lr4Yn|?r4ynnBtvK,v?n Dn>:n:n4x)z'Ax%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253572oFNOT Ignoring new targets: 124.01 m.o}o} ProNav: ac range: 124.011978 m, nav range: 122.008751 m, bearing: 334.906351 deg, approach rate: -0.427266 m/s, LOS rate: -0.055465 deg/s, cmd heading: 333.520623 deg, new cmd heading: 333.455357 deg. zoCHeadingCmd: 5.819894 target range: 124.011978 and range: 124.60 m.Ro<@JoboZoBo:n2nmmlkkkko^@ɞm|Bmb] im->Ii usɝiIWI4iD=i2=)<@)ԱFY"FY*Fa2Fmp0:FqGm#'=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505529GI 2BQ :Bi  O} > jK OrK 9zK K K zobXTQJHID:1-+)((%###"! $*+*%#!-hhVF:2+%# ` ď,Ĕ?A2s@Y2P@292" =:AHRS rotation from veh to nav: [[0.897985,0.435862,-0.060386],[-0.439488,0.895183,-0.074149],[0.021738,0.093124,0.995417]]y2HL?)?ꮿ@ ܿ`V?`nB?`ַ?@u?ɫ2s@2;2fCl5}BI Mb@Mb@Mb@ )Ii{Gz?@5^I ?Mb`?>b>;);AI@iA \AIbI٥ t  7=9 x:Q  > F٦Ey; > !-4Y% |?-4y%%B->-:->-?% D% :%w:J1J5%=J=oJ=fJ=2J9J=>:J=9J=c3J9%}4UB)U(AEo)-FNOT Ignoring new targets: 124.01 m.oUoUe ProNav: ac range: 124.011978 m, nav range: 121.809677 m, bearing: 334.878578 deg, approach rate: -0.437873 m/s, LOS rate: -0.061189 deg/s, cmd heading: 333.455354 deg, new cmd heading: 333.371898 deg. zoe'eHeadingCmd: 5.818437 target range: 124.011978 and range: 124.60 m.Rom0@JoiboiZoiBo:n2nmm}Blkkkk~@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757610ɞE|BEVpz AE=I >ɝiIUXIEiE=iM==)M0@)IF"F*F2Fo0:FQi G ·3=Gy 2B  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015368H! H% CH! I! I% =I! I! &I% V<*I% >E:B1  OU >&ď,g?AI()(N@YN@NR9N-=VAHRS rotation from veh to nav: [[0.898401,0.435194,-0.059004],[-0.438653,0.895750,-0.072217],[0.021425,0.090762,0.995642]]yNH?7?@5 ܿ@?@|@\?`,tt vF٦vEyvq'; z> x~4Yz;}?4yzHzB9?z Dz ;z;z!4)(A=B*** querying acoustic contact ***:p9Bp9yoFNOT Ignoring new targets: 124.01 m.oݐoݐ% ProNav: ac range: 124.011978 m, nav range: 121.646538 m, bearing: 334.855663 deg, approach rate: -0.450236 m/s, LOS rate: -0.063325 deg/s, cmd heading: 333.371889 deg, new cmd heading: 333.303053 deg. zo%--HeadingCmd: 5.817235 target range: 124.011978 and range: 124.60 m.Ro-&@Jo)bo)Zo)Bo):n)2n1m1m1lYkYkYkYk]@ɞ|B  =I q2ɝiIYIi/=i[D=)&@)ԩF"F*F2Fo1:FBDAT read: Rx Time:04:02:57.5416 TRx dataTimestamp_ set to:1761364978.673990checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270769G_>=G 2B :B  O > ,ď, ?A6@Y6@6઼96=>AHRS rotation from veh to nav: [[0.898230,0.435815,-0.057001],[-0.439031,0.895795,-0.069303],[0.020858,0.087275,0.995966]]y6H@L?b? ,/ܿ@Z?@ؽ[?W??ɫ6@6 ;6hC~|B=I-Mb@Mb@Mb@) )))I)i)-oʡ?i|?5?Mb->-=-)-AI)i-A-A )-AI}RI}4٥Ž 3=9ݢ:Q > F٦Eyun > 4Y@}?4yqB>: P? D;;)4B)H)AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521515oQUFNOT Ignoring new targets: 124.01 m.o]nvo]nv ProNav: ac range: 124.011978 m, nav range: 121.434296 m, bearing: 334.831614 deg, approach rate: -0.474511 m/s, LOS rate: -0.053862 deg/s, cmd heading: 333.303041 deg, new cmd heading: 333.230766 deg. zoHeadingCmd: 5.815974 target range: 124.011978 and range: 124.60 m.Rov@JoboZoBo:n2nmm^}Blkkkk l @)jK2NrKS9zKKK7GHEA=9:9:>Vxyslg^XQNHEC>:;8110.2668761ɞ |B é  M BDAT read: Tx time:04:02:58.6234 U $Ping request sent.U ܥ )\oܥ m> ݥ "@)ݥ ޹ ޡ )ޡ ޥ ʄ?>)}?ә|b?iޥ C>ޥ ޥ +H<ޥ > ߡ )ߡ  :publishing transmit ping timeI  Fpublishing direction and range infoۡ yۥ  n?X]̈?) ۡ Yۡ ܡ )ܡ Iܡ iܡ ܡ ܡ ܡ ܡ G 2D= ݡ )ݡ Iݡ iݡ ݡ ݡ ޡ )ޡ ޥ ʄ?>)}?ә|b?iޡ ޡ ޡ ޡ ߡ )ߡ GQ 2Ba :Bq  O} >!4ď,T?A)5@Y5d@5!ϣ95=AHRS rotation from veh to nav: [[0.898344,0.435793,-0.055340],[-0.438838,0.895997,-0.067899],[0.019995,0.085282,0.996156]]y5H;? ?`U@ܿ?`ay? յ??ɫ5@5B;5iC|BzII]It٥) E=9`;Q >    F٦ Ey : > 4Y*}?%4yBimOm? D1/<}/<=14))AJpRpR?ApBpBpE@v.U^@}bE?} 00v n?X]̈?) p+H<p>vۢ[@v?hID '+vGg;?} lRڿx2ocjpGKrpBZpO?bpy0zpFBpuq?pIBp ;BpRBp@ addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.787575 s, deltaX: -1.599998 m, approachRate: -0.422433 m/s, rangeRepo size: 4  Added new target pos. range: 122.421722 m, bearing: 335.310771 deg, lat: 36.779461 deg, lon: -121.859734 deg, deltaT: 3.787575 s, deltaX: -1.590256 m, approachRate: -0.419861 m/s, posRepo size: 4 oFNOT Ignoring new targets: 122.42 m.oo ProNav: ac range: 122.421722 m, nav range: 121.660873 m, bearing: 334.933504 deg, approach rate: 0.000000 m/s, LOS rate: -0.053862 deg/s, cmd heading: 333.230777 deg, new cmd heading: 333.158664 deg. zoHeadingCmd: 5.814715 target range: 122.421722 and range: 123.00 m.Ro&@JoboZoBo:n12n9m9m9lAkAkAkE^@kE ?YJHBH@AHHHII}BIII&I<*IE2I:IBIJIĝ =RIĝ =ZIĜ5ɞ |B *  `;I  5ɝ1i1I5'YI=Mi=E=i=uK=)=&@)AF"F*F2F1:FԉԱ G zG=G 2B :B  O >D:ď,?A @Ns~@YNPy@N摠9N~=VAHRS rotation from veh to nav: [[0.897703,0.437206,-0.054595],[-0.440165,0.895415,-0.066984],[0.019600,0.084163,0.996259]]yNH? -?+ܿ=?%?@?Z?ɫNs~@N;NkCf|BfUIInDIn٥v! vZ=9v8:Q z>xx zF٦zEy~ ~>  4Yi9}? 4ysB ^Q?D::74DB)'A%EoIUFNOT Ignoring new targets: 122.42 m.oU僺o]僺m ProNav: ac range: 122.421722 m, nav range: 121.490273 m, bearing: 334.914408 deg, approach rate: -0.514352 m/s, LOS rate: -0.057656 deg/s, cmd heading: 333.158651 deg, new cmd heading: 333.101281 deg. zomFuHeadingCmd: 5.813714 target range: 122.421722 and range: 123.00 m.Rou @JoqboqZoqBoq:ny2nymymylkkkk u?ԙɞ|Bڼ \]I 6ɝiIdXI^i=iuUI=)u @)yFi"Fq*Fq2F}_0:FyG0M=G 2B :B  O > jK% >NrK% ]9zK! K% K% /-)'($$&%"&391=g~sh_WNC=:2+',+.D^cse pN! +Aď,W?A2Ho@Y2%j@2b[92 |=:AHRS rotation from veh to nav: [[0.896863,0.438629,-0.056942],[-0.441815,0.894492,-0.068436],[0.020916,0.086535,0.996029]]y2H?~?@v'Fܿ ?k?`('?x?ɫ2Ho@2yM;2eCb}|BbFIJpJJJJA:JJJ!eMb@Mb@Mb@a a)aIaiaeX9v?㥛 ?:ve>e=eԼ)e$AIe@ieAeA ae=AI}(I}m٥LR 3=9 =Q > F٦Ey儻 > 4YK}?4yGB?:?&D: ;?4EB)1(AoFNOT Ignoring new targets: 122.42 m.o] o]  ProNav: ac range: 122.421722 m, nav range: 121.263084 m, bearing: 334.900369 deg, approach rate: -0.499095 m/s, LOS rate: -0.030898 deg/s, cmd heading: 333.101277 deg, new cmd heading: 333.059083 deg. zoHeadingCmd: 5.812978 target range: 122.421722 and range: 123.00 m.Ro@JoboZoBo:n2nmm|Blkkkk1b?ɞM|BM QUIY ]pطɝYiaIeVVIi=i_E=)@)E!E!IF"F*F2F4:FiH >H CH II [}BI I I &I _<*I KEG] <H=ԡ G9 2BA :BY  Oe >z_Gď,?AB^@YBX@Bʭ9BB=^AHRS rotation from veh to nav: [[0.895924,0.440551,-0.056873],[-0.443700,0.893651,-0.067214],[0.021213,0.085453,0.996116]]yBHi?@1?geܿʘ?4츕?`:?/?ɫB^@B;BiCv=|BvII/I9٥50 5a=95VQ 5>99 =F٦=Ey=r E> i}4YmZ}?}4ymmBy}}?m2Dm;m ;m F4CB)()A B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 122.42 m.o8o8a ProNav: ac range: 122.421722 m, nav range: 121.080330 m, bearing: 334.889227 deg, approach rate: -0.480423 m/s, LOS rate: -0.029336 deg/s, cmd heading: 333.059094 deg, new cmd heading: 333.025615 deg. zo=HeadingCmd: 5.812394 target range: 122.421722 and range: 123.00 m.RoE!@JoAboAZoABoA:nA2nAmImIlIkIkQkQkU@?ɞ|BV I ƸɝiI|SI  i =i +@=)!@)YԉF"F*F2F_0:FMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G tE=G 2B! :B  O > ,Mď,<8?A6T@Y6jO@696%β=BAHRS rotation from veh to nav: [[0.895420,0.441524,-0.057270],[-0.444741,0.893004,-0.068914],[0.020715,0.087178,0.995977]]y6HG?A?R@vܿ}? `S6?FQ? ?ɫ6T@6f;6hCJ|BJ IMb@Mb@Mb@ )Iiq= ףp?I +?Q롿 ?9<\) AI@iA AIQI٥ C=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7424949>:Q > F٦Ey4 > 4Yl}?4y)B ?:Ծ?@Dm;Gc;MM4))Ao!-FNOT Ignoring new targets: 122.42 m.o-o5E ProNav: ac range: 122.421722 m, nav range: 120.853470 m, bearing: 334.886751 deg, approach rate: -0.561513 m/s, LOS rate: -0.006139 deg/s, cmd heading: 333.025626 deg, new cmd heading: 333.018185 deg. zoEцMHeadingCmd: 5.812264 target range: 122.421722 and range: 123.00 m.RoM@JoIboIZoIBoI:nI2nQmQmU'|BlYkYkakakm@?ɞ|B 靝 5I ԹɝiIgQIig"=i.==)@)IF"F*F2Ff0:FjK%lOrK% 9zK!K%K%m2J fA" Sz`F(),oCeM5" BK5 ?:K5?G @>=I } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995428G 2B :B  OE >hTď,}R?ANS@YNlN@NL9NM=^AHRS rotation from veh to nav: [[0.895385,0.441615,-0.057116],[-0.444858,0.892791,-0.070887],[0.019688,0.088880,0.995848]]yNH?mC? Z>xܿ?%`+)?? ?ɫNS@N8&;Lf|BjII1I1٥M㈽ UQ=9U+;Q U>YY ]F٦eEye e> iu4Ym|}?u4ymlmBy}Ծ}?mNDm;m;mT4BB) *AEoFNOT Ignoring new targets: 122.42 m.o-ܸo-ܸ ProNav: ac range: 122.421722 m, nav range: 120.640442 m, bearing: 334.884419 deg, approach rate: -0.548647 m/s, LOS rate: -0.006015 deg/s, cmd heading: 333.018195 deg, new cmd heading: 333.011188 deg. zoHeadingCmd: 5.812142 target range: 122.421722 and range: 123.00 m.Ro@JoboZoBo:n2nmmlkkkk e@ɞ|B$ iQI  ɝ!i!I%MI%,i-2=i-Ƚ==)-@))QF"F*F2F0:FZHm<RHm4<Hu>HqHuIIu|BIqIqIq&Iuw<*IuoEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247085yG==GGtAG2B:B O>ԩ JJJJM nJM cJM 3JI JM |;:JM x9JM (3JI JM *J;!] JM ,J;!] JM :!] JM :!] Zď,PUl?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.499068>U@@Y>P@>9>^.=JAHRS rotation from veh to nav: [[0.895517,0.441406,-0.056666],[-0.444612,0.892901,-0.071051],[0.019235,0.088822,0.995862]]y>H@?`??Utܿ`?h0G???ɫ>U@>Ɉ;  F٦Ey9: > !54Y%'}?54y%%B1=zԾ?%\D%q<%9l<%[4)*Ao FNOT Ignoring new targets: 122.42 m.o Ӹo ӸE ProNav: ac range: 122.421722 m, nav range: 120.424866 m, bearing: 334.882023 deg, approach rate: -0.519188 m/s, LOS rate: -0.005781 deg/s, cmd heading: 333.011201 deg, new cmd heading: 333.003999 deg. zoM}uHeadingCmd: 5.812016 target range: 122.421722 and range: 123.00 m.Ro} @JoyboyZoyBoy:ny2nymmlkkkk5@Աɞ|B_! 15zI9 E߼ɝiiiIuoHI=iH=iY?=) @)F6"F*F2Fo0:FGFG Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750531 G 2B) :B9  OM >jK} PrKy zKy K} K} {{xrrocdghe`WQKIF><:8>qtaRD82.*?*y.IQ8dAP y2K sA*K sAeyaď,.?A:Q@Y:hL@:9:N=BAHRS rotation from veh to nav: [[0.895278,0.441815,-0.057249],[-0.445080,0.892634,-0.071467],[0.019527,0.089463,0.995799]]y:H?`F? O0|ܿ v?`K??@?ɫ:Q@:ꈈ;8^{B^IlMb@Mb@Mb@ )IibX9?~jtL7A`堿E?ļ+)l AI@i?AVA (AII٥n <=9u0Q > F٦Ey?  > 4Y  }?4y  ߂B?:v%? lD B; ; b4-6B)-*A-EoQUFNOT Ignoring new targets: 122.42 m.o]9o]9m ProNav: ac range: 122.421722 m, nav range: 120.170311 m, bearing: 334.889144 deg, approach rate: -0.615540 m/s, LOS rate: 0.017254 deg/s, cmd heading: 333.003988 deg, new cmd heading: 333.025394 deg. zomw=:uHeadingCmd: 5.812390 target range: 122.421722 and range: 123.00 m.Rou@JoqboqZoqBoq:ny2nymym}{Blkkkk@ɞ|B`0  I ۲ɝiImDI iUU=i;=)@)=BDAT read: Rx Time:04:03:01.1894 =TRx dataTimestamp_ set to:1761364982.201876Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003538)G  !)AI.'BF6"F*F2F1:FG2B:B OD>9Hm >Hi Hm RIIm |BIm =Ii Im D&Im M<*Im -Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254308gď,E?AF8@YF2@FlA9F=RAHRS rotation from veh to nav: [[0.893865,0.444278,-0.060195],[-0.447855,0.891043,-0.073950],[0.020782,0.093060,0.995444]]yFH ?` o?@Ѯ ܿ l?i G? ҷ??ɫF8@Fa@;FfCZ{BZIIdI@٥-?: -X=95eYQ 5>119 =F٦=EyE E> IU4YM}?U4yMMڂBQUe?MzDM;Mi;M9i4u5B)u+A}EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 122.42 m.oq9oq9 ProNav: ac range: 122.421722 m, nav range: 119.947845 m, bearing: 334.895701 deg, approach rate: -0.582683 m/s, LOS rate: 0.017206 deg/s, cmd heading: 333.025407 deg, new cmd heading: 333.045115 deg. zo<:HeadingCmd: 5.812734 target range: 122.421722 and range: 123.00 m.Ro@JoboZoBo:n2nmmlkkkk @ɞ |Bd8 VI  ɝiI.?I% i%^=i%/=)%@))E1F"F*F2FP5:FJ-vJ-iJ)J)J-{T:J-ڈ9J)J)J-[u;J-^u;iJ-r:J-s:G?G?G2B:B OA>uDAT read: 04:03:01.1894 LVL= 26688, 31729, 24130, 32755, AGC= 64, IDX= 422,-0.15, 2.074, 0.712, 2.070, 1.672, PHS= 0.490,-0.913, 0.395, RAW= 146.5, 0.4, CAL= 150.1, -8.6, ROT= 359.9, 8.6 Ygot valid direction response: 04:03:01.1894 LVL= 26688, 31729, 24130, 32755, AGC= 64, IDX= 422,-0.15, 2.074, 0.712, 2.070, 1.672, PHS= 0.490,-0.913, 0.395, RAW= 146.5, 0.4, CAL= 150.1, -8.6, ROT= 359.9, 8.6 PDAT read: Bearing 359.9, 8.6 (Local) ~Local bearing/azimuth received: Bearing 359.9, 8.6 (Local) DAT read: Range 10 to 50 : 121.4 m (Round-trip 161.9 ms) speed 0.6 m/s *DAT read: user:299> BDAT read: Tx time:04:03:02.2734 $Ping request sent.=^i=q=> =_#@)=;I=ϩ'@i=`=@=`> 9)9=g?W2##?&g/}?i=p >=="=`> 9)9:publishing transmit ping time۩Fpublishing direction and range info9y=RB?sՄF\S&r#ÿ9Y9 9)9I9i99999 9)9I9i999 9)9=g?W2##?&g/}?i9999 9)9ԑ mď, ?Av{BvI xzAJDAT read: TxSync time:04:03:02.2726 ԙMb@Mb@Mb@ )Iix&1?L7A`尿QA ?+) AI@iAlA QAIaI錴٥mgd m7=9mQ m>qq uF٦uåEy} }> 4Y}?4yՂBS!?:?D::q4)+AJpYRp]2 ?Ap]Bp]Bp]@v]ԓD]@'uPʿ[h1h2v]RB?sՄF\S&r#ÿp]"p]`>v]-zuO,Z@h]-J.W:m /v]`]?I?k)ۿpqjp]jQrp]BZp]m??bp]zp]=BpYpYp]=Bp]UBp] @ addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 3.528159 s, deltaX: -1.599998 m, approachRate: -0.453494 m/s, rangeRepo size: 4  Added new target pos. range: 120.827591 m, bearing: 334.092543 deg, lat: 36.779461 deg, lon: -121.859734 deg, deltaT: 3.528159 s, deltaX: -1.594131 m, approachRate: -0.451831 m/s, posRepo size: 4 oFNOT Ignoring new targets: 120.83 m.oo  ProNav: ac range: 120.827591 m, nav range: 119.666748 m, bearing: 334.912803 deg, approach rate: 0.000000 m/s, LOS rate: 0.017206 deg/s, cmd heading: 333.045106 deg, new cmd heading: 333.069301 deg. zo HeadingCmd: 5.813156 target range: 120.827591 and range: 121.40 m.Ro`@JoboZoBo:n92n9mAmE{BlIkQkQkUY^@k]?Աɞ|ByI/ I \üɝiIu9I i j=i r/=) `@)1jK?OrKػ9zKKK%^1\9!{plaP@85231,,*'##$!"]w BK>:K?F"F*F2F`5:FG2B:B O> tď,?A:@Y:@:9:=BAHRS rotation from veh to nav: [[0.892427,0.447228,-0.059666],[-0.450601,0.890194,-0.067181],[0.023069,0.086840,0.995955]]y:HĎ?c?`ܿx|?2@W? !;?`?ɫ:@:߈;:gCb{BbIIj7Ij"٥ z  e=9 ѻQ > F٦ťEy, > )54Y-}?54y-ܛ-тB9=h=?-D-5;-!;-Dw4E4B)MB+AMEoiuFNOT Ignoring new targets: 120.83 m.o}>:o}>: ProNav: ac range: 120.827591 m, nav range: 119.445854 m, bearing: 334.926671 deg, approach rate: -0.663594 m/s, LOS rate: 0.041737 deg/s, cmd heading: 333.069312 deg, new cmd heading: 333.110991 deg. zo&:HeadingCmd: 5.813884 target range: 120.827591 and range: 121.40 m.RoV @JoboZoBo:n2nmmlkkkk?ɞ|BmI I ļɝiIqG5IQHil=i= =)V @)F"F*F2F`0:FJH BH AAH>HH&III|BIII&I<*IE!G]<=QG2B:B O>J- pJ- lJ) J) J- A:J- 9J) J) J- T;J- T;J- 2:J- 3:y +zď,m?A2@Y2z@292=BAHRS rotation from veh to nav: [[0.891919,0.448140,-0.060428],[-0.451577,0.889696,-0.067227],[0.023635,0.087249,0.995906]]y2H@?R?m@ܿcx?`53?@U?v?ɫ2@2";2hCF{BFIININgǴ٥V VP=9ZQ Z>\\ ^F٦^ǥEy^7 b> `f4Yb}?f4yb\b͂Bhjj?bDbW;b;b~4p)rN+Apo FNOT Ignoring new targets: 120.83 m.o5:o5: ProNav: ac range: 120.827591 m, nav range: 119.200851 m, bearing: 334.942241 deg, approach rate: -0.624203 m/s, LOS rate: 0.039752 deg/s, cmd heading: 333.111003 deg, new cmd heading: 333.157811 deg. zo?:HeadingCmd: 5.814701 target range: 120.827591 and range: 121.40 m.Ro@JoboZoBo:n2nmmlkkkk?Iɞ0< IUIQ ]?ƼɝYiaIud0I;iWl=i=)@) yFQ"FQ*FQ2FQ:FQG =GGpAG2B:B  O>ԡ 6ȁď,}y?AjKXOrKͼ9zKKKw)Y.re\RG=9)   :2 @Y:@:!˼9:L=FAHRS rotation from veh to nav: [[0.891262,0.449332,-0.061262],[-0.452806,0.889173,-0.065859],[0.024880,0.086437,0.995947]]y:H`7?`?]`ܿt? ܰ7z? ?@?ɫ:2 @:~Ή;:eCJ{BNIiPIP}Mb@Mb@Mb@y y)yIyiy}p= ף?kt{Gz}%?} }ף)yI}p@iy}?A y}AI%I´٥f1; <=9 F٦ʥEyR > 4Y}?4y˂B&?:r?D::43B)@+Ao%FNOT Ignoring new targets: 120.83 m.o5/f:o5/f:M ProNav: ac range: 120.827591 m, nav range: 118.922058 m, bearing: 334.964201 deg, approach rate: -0.637239 m/s, LOS rate: 0.050311 deg/s, cmd heading: 333.157804 deg, new cmd heading: 333.223837 deg. zoU ;]HeadingCmd: 5.815853 target range: 120.827591 and range: 121.40 m.Ro]x@JoYboYZoYBoY:nY2namameN{BlakikikiԱkm?ɞ|B9 4I ɼɝiI\+I%Fig=i)5=)x@)FI"FI*FI2FQ:FQGm4= Gm%= G C"=H >H H II 5|BI I I &I <*I E2I:IBIJIRIZIa5Ga 2Bi :B  O > A9 &ď,S!?AJ@YJ@JXȼ9Jϲ=RAHRS rotation from veh to nav: [[0.891192,0.449476,-0.061227],[-0.452967,0.889029,-0.066696],[0.024454,0.087173,0.995893]]yJH?6?`Y`jܿr?@m ? P?[?ɫJ@J*;Hn{BnIIvPIv٥ޕ=  U=9 ~:Q  >  F٦ͥEye > %4Y! ~?-4yDȂB)-{-?D::l41)5*A9]B*** querying acoustic contact ***:pYBpYoimFNOT Ignoring new targets: 120.83 m.ouk:ouk: ProNav: ac range: 120.827591 m, nav range: 118.675201 m, bearing: 334.983751 deg, approach rate: -0.647321 m/s, LOS rate: 0.051371 deg/s, cmd heading: 333.223838 deg, new cmd heading: 333.282609 deg. zo ;HeadingCmd: 5.816879 target range: 120.827591 and range: 121.40 m.Ro#@JoboZoBo:n2nmmlkkkk?ɞ? 哾I 7ʼɝiI]'Iib=i=)#@)F"F*F2Fp0:FJ-R=J-p=J=nJ=fJ=2J9J=|;:J=9J=c3J9J=*J;J=,J;J=:J=:Gmd=G)2B1:BA OU2>%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.9q ď,/;?A4~{B~Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254671Mb@Mb@Mb@ )IiPn? ףp=  F٦ϥEy >  4Y~? 4yz %? :  ?Dj:#:41B)M*A%EoIUFNOT Ignoring new targets: 120.83 m.oUt:o]t:e ProNav: ac range: 120.827591 m, nav range: 118.398994 m, bearing: 335.006880 deg, approach rate: -0.637756 m/s, LOS rate: 0.053529 deg/s, cmd heading: 333.282605 deg, new cmd heading: 333.352154 deg. zom;mHeadingCmd: 5.818093 target range: 120.827591 and range: 121.40 m.Rom-@JoqboqZoqBoq:ny2nymym}{Blkkkk wj@ɞ- I ̼ɝiIv#I iX=i =)m-@)qԙF"F*F 2F t0:F jK}̨NrK}]9zKyK}K}6F;0%AVWVt~pf^YRKFA;<1Թ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506651GI GM ?GM > G! 2B1 :BA  OM >ď,U?A2@Y2@2 ļ92ҽ=>AHRS rotation from veh to nav: [[0.890718,0.450134,-0.063254],[-0.453926,0.888154,-0.071645],[0.023930,0.092528,0.995423]]y2H€??m1! ݿ`k?RW?@?`?ɫ2@2;2gCF{BFIIR^IR٥Z= Z`=9Zv:lQ  >   F٦ҥEy: > %4YR/~?%4y")--?Dl:d:41)=)A9oYeFNOT Ignoring new targets: 120.83 m.oeKx:oeKx:} ProNav: ac range: 120.827591 m, nav range: 118.159531 m, bearing: 335.027132 deg, approach rate: -0.640392 m/s, LOS rate: 0.054269 deg/s, cmd heading: 333.352164 deg, new cmd heading: 333.413043 deg. zo};HeadingCmd: 5.819155 target range: 120.827591 and range: 121.40 m.Ro6@JoboZoBo:n2nmmlkkkk@i@ɞ( cI  ͼɝiI2 ISi:M=iE=)6@)F6"F*F2F3:FGsAFtAZHRHp<H>HH3II]|BIII&I{<*IpE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758717PExceeded connect timeout, disconnecting.9GV =G2B:B O> JA JE BAi M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012531~0ď,n?A%@Y%@%ü9%=9EAHRS rotation from veh to nav: [[0.890210,0.450980,-0.064372],[-0.454923,0.887480,-0.073650],[0.023914,0.094848,0.995205]]y%H|??zuݿ=9:8Q > F٦ԥEy. > 4YB~?4y9ǂB%?D:9:ࡠ4%B)(AEoyFNOT Ignoring new targets: 120.83 m.o=n:o=n: ProNav: ac range: 120.827591 m, nav range: 117.892197 m, bearing: 335.049982 deg, approach rate: -0.607838 m/s, LOS rate: 0.052071 deg/s, cmd heading: 333.413034 deg, new cmd heading: 333.481739 deg. zo;HeadingCmd: 5.820354 target range: 120.827591 and range: 121.40 m.RoX@@JoboZoBo:n2nmmlkkkkL@ɞ  4I 5ϼɝiII-i%H;=i%X<)%X@@)!iF6"F*F2Fo5:FBDAT read: Rx Time:04:03:04.8361 TRx dataTimestamp_ set to:1761364985.981723checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263669ԡG2g=G 2B :B  O >Թ ď,+?A>w@Y>U@>ļ9>H=FAHRS rotation from veh to nav: [[0.890020,0.451217,-0.065325],[-0.455287,0.887166,-0.075164],[0.024039,0.096639,0.995029]]y>H {??`%j#ݿc?=?`]?`G?ɫ>w@>;>eCNW|BN/IjKNNrKLzKLKNKNOof[KEC<7;OYL:137840JJdJJJJ|9JJ! @! @! @! @UMb@Mb@Mb@Q Q)QIQiQU?T㥛 ~jth?U ?UUD;)U~ AIU~@iQUA QUQAIelIe)٥um= uK=9}桹Q }> F٦ץEyo > 4ԙYS~?4yԶʂB ?:?D2;t2;訠4$B)'AEoFNOT Ignoring new targets: 120.83 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516198oX::oX::% ProNav: ac range: 120.827591 m, nav range: 117.641922 m, bearing: 335.066891 deg, approach rate: -0.601541 m/s, LOS rate: 0.040729 deg/s, cmd heading: 333.481746 deg, new cmd heading: 333.532583 deg. zo%:%HeadingCmd: 5.821242 target range: 120.827591 and range: 121.40 m.Ro%G@Jo)bo)Zo)Bo):nI2nImQmU8|BlQkYkYkYk]T @ɞM|BM8 Q]IY )мɝiI I׃i$=i?<)G@)EYF"F*F2F0:FG= G=H >H CH eII |BI =I I &I |<*I lE DAT read: 04:03:04.8361 LVL= 19600, 26609, 16674, 26819, AGC= 65, IDX= 403, 0.18, 2.636, 1.242, 2.582, 2.174, PHS= 0.550,-0.884, 0.405, RAW= 144.7, -1.0, CAL= 148.9, -10.1, ROT= 1.1, 10.1  Ygot valid direction response: 04:03:04.8361 LVL= 19600, 26609, 16674, 26819, AGC= 65, IDX= 403, 0.18, 2.636, 1.242, 2.582, 2.174, PHS= 0.550,-0.884, 0.405, RAW= 144.7, -1.0, CAL= 148.9, -10.1, ROT= 1.1, 10.1  PDAT read: Bearing 1.1, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 1.1, 10.1 (Local)  DAT read: Range 10 to 50 : 118.8 m (Round-trip 158.5 ms) speed 0.5 m/s  *DAT read: user:300>  BDAT read: Tx time:04:03:05.9234  $Ping request sent. ݭ !@)ݭ 5Iݭ R&@iݭ J4ݭ nF<ݭ J4> ީ )ީ ޭ \bm?wn??M˒iޭ ;>ޭ a<ޭ nF<ޭ J4> ߩ )ߩ ] :publishing transmit ping time ] Fpublishing direction and range info۩ yۭ Q?Z?:ujrƿ۩ Y۩ ܩ )ܩ Iܩ iܩ ܩ ܩ ܩ ܩ ݩ )ݩ Iݩ iݩ ݩ ݩ ީ )ީ ޭ \bm?wn??M˒iީ ީ ީ ީ ߩ )ߩ G] <GY G] sA  nManaging dock network, ignoring radio surface power offG! 2B1 :BA  OU >│ď,?A|%@Y%@%3Ƽ9%u=]AHRS rotation from veh to nav: [[0.889368,0.452460,-0.065607],[-0.456551,0.886524,-0.075078],[0.024192,0.096725,0.995017]]y%H u?`?˰@#8ݿf^?M8Ř?¸? .?ɫ%@%;%dC{|BEIIaI錴٥= 4=9EQ >  F٦ ڥEy M  > 4Y h~?4ŷB!%!%?"D::װ4))m8'AqJpRp?ApzBpzBp# @v]@v&,XxZ@Her1vʝǧ?J<ڿ&@B ÿjpdFrpBZprB?bp97qzp6BppppBp%@% addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.780787 s, deltaX: -2.599998 m, approachRate: -0.687687 m/s, rangeRepo size: 4 U Added new target pos. range: 118.238548 m, bearing: 334.900103 deg, lat: 36.779461 deg, lon: -121.859734 deg, deltaT: 3.780787 s, deltaX: -2.589043 m, approachRate: -0.684789 m/s, posRepo size: 4 oQ]FNOT Ignoring new targets: 118.24 m.o]oY ProNav: ac range: 118.238548 m, nav range: 117.359535 m, bearing: 335.086258 deg, approach rate: 0.000000 m/s, LOS rate: 0.040729 deg/s, cmd heading: 333.532590 deg, new cmd heading: 333.586956 deg. zoHeadingCmd: 5.822191 target range: 118.238548 and range: 118.80 m.RocO@JoboZoBo:n2nmmlkkk@3]@k?!ɞ=|B= aeIa mxмɝiiiImG Iuiu=iu<)ucO@)yF"F*F2F_5:FYG e<ԉ G 2B) :BQ  Om >6访ď,Y?A>m۲@Y>Kֹ@>\ϼ9>uH=ZAHRS rotation from veh to nav: [[0.888652,0.453835,-0.065813],[-0.457882,0.886040,-0.072646],[0.025344,0.094692,0.995184]]y>Ho? ?$ٰ MݿpZ?`?=??ɫ>m۲@>;>cCb|BbwIYMb@Mb@Mb@ )Ii^I +?/$:v?X?,T<) AIp@i?AA I PI ٥=HD> =G=9Ea7Q E>AA EF٦MݥEyMp M> q}4Yuz~?}4yuRu҂B?:, ?u2Duv:u<:u4#B)%AEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 118.24 m.o:o:5 ProNav: ac range: 118.238548 m, nav range: 117.111687 m, bearing: 335.099986 deg, approach rate: -0.620549 m/s, LOS rate: 0.034443 deg/s, cmd heading: 333.586958 deg, new cmd heading: 333.628228 deg. zo5:=HeadingCmd: 5.822911 target range: 118.238548 and range: 118.80 m.Ro=JU@Jo9bo9Zo9Bo9:nA2nAmAmE|BlIkikikiku M?ɞ׼ `;I мɝiI%I i=i<)JU@)ԉF"F*F2F42:FjK8XNrK9zKKK..'9FNIA930(#"  =w %PtBK?:K?J-oJ-iJ)J)J->:J-ڈ9J)J)iAIE C)׉G )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IUY]BG <G 2B :B  O > ϵď,`?A |B II<I٥- > -]=95Q 5>11 =F٦=ߥEy= E> AM4YEى~?M4yESEւBQQU?E@DEG:E`:E|4Y)] %AaoFNOT Ignoring new targets: 118.24 m.oM:oM: ProNav: ac range: 118.238548 m, nav range: 116.893837 m, bearing: 335.112100 deg, approach rate: -0.609290 m/s, LOS rate: 0.033944 deg/s, cmd heading: 333.628240 deg, new cmd heading: 333.664650 deg. zo]:HeadingCmd: 5.823547 target range: 118.238548 and range: 118.80 m.RoZ@JoboZoԹBo:n2nmmlkkkk@?ɞ|B V T!=I мɝ i I ZIUi=i6<)Z@)JHQBHQH]>HYH]II]}BIYIYIY&I]<*I]E}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995225F"F*F2F`0:FGm}<Gm?Gm>G!2B1:BA OM1>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2465729 uď,=?A6@Y6@6BԼ96*=JAHRS rotation from veh to nav: [[0.889503,0.452150,-0.065917],[-0.456195,0.886962,-0.072006],[0.025908,0.094121,0.995224]]y6Hv??߰J2ݿ a?o?K? ?ɫ6@6r;4n2}BnIIv*Iv٥ = M=9Q >    F٦ Ey ; > %4Y ~?%4yۂB!% %?OD: :qŠ45"B)5N$A1oYeFNOT Ignoring new targets: 118.24 m.om:om:} ProNav: ac range: 118.238548 m, nav range: 116.656487 m, bearing: 335.125126 deg, approach rate: -0.596602 m/s, LOS rate: 0.032810 deg/s, cmd heading: 333.664658 deg, new cmd heading: 333.703818 deg. zo}#:HeadingCmd: 5.824230 target range: 118.238548 and range: 118.80 m.Ro`@JoboZoBo:n2nmmlkkkk p?ɞ|Bzy =I cмɝiII/i=i<)`@)ԹFq"Fy*Fy2Fo0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499574GT<G2B:B O> J= mJ= gJ= 3J9 J= \8:J= 9J= (3J9 I _¿ď, ?AjK8NrK]9zKKKpYH)ukaVICpS\9& %2KrA*KrA:+@Y: @:WNͼ9:'=FAHRS rotation from veh to nav: [[0.890426,0.450310,-0.066054],[-0.454438,0.887653,-0.074558],[0.025059,0.096406,0.995027]]y:H^~??谿ݿ@g?=?`?B?ɫ:+@:H;:fCNc}BNI%Mb@Mb@Mb@! !)!I!i!%oʡ?Mb?{Gz?% ?%<%ף<)% AI%Z@i!%VA !!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751444IZI٥= 3=9D:Q > F٦Ey; > 4Y~?4yB) ?:?_DA;A;l͠4!)%#A!oFNOT Ignoring new targets: 118.24 m.o8o8 ProNav: ac range: 118.238548 m, nav range: 116.405205 m, bearing: 335.128440 deg, approach rate: -0.526583 m/s, LOS rate: 0.006958 deg/s, cmd heading: 333.703809 deg, new cmd heading: 333.713771 deg. zoИ9HeadingCmd: 5.824404 target range: 118.238548 and range: 118.80 m.Roa@JoboZoBo:n)2n1m9m=D}Bl9k9kAkAkESy?ɞ|B. 7>I μɝiIIYim=im<)ma@)qAF56"F1*F92F=`0:F9H]>H]CH]II]}BI] =IYIY&I]n<*I][Ei  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001910G] <Ge rAGa G1 2BA :Bi ԑ  O >0ɿď,n&?A:@Y:@:]ɼ9:4t=BAHRS rotation from veh to nav: [[0.891145,0.448815,-0.066529],[-0.453053,0.888161,-0.076893],[0.024578,0.098664,0.994817]]y:HA?b? ܿ@k?; +?B? ?ɫ:@:k!;:eCJ}BJIIRfIR{٥Z> Zi=9^5:Q ^>\\ ^F٦^Eybt; b> dj4Yf~?n4yffBln>n?flDfZ8;ff9;fӠ4v!B)v"AvEoFNOT Ignoring new targets: 118.24 m.o9o9- ProNav: ac range: 118.238548 m, nav range: 116.212265 m, bearing: 335.130853 deg, approach rate: -0.583358 m/s, LOS rate: 0.007309 deg/s, cmd heading: 333.713781 deg, new cmd heading: 333.721033 deg. zo595HeadingCmd: 5.824531 target range: 118.238548 and range: 118.80 m.Ro5b@Jo9bo9Zo9Bo9:n92n9mAmAlAkAkIkIkM D@ɞ|B3)  B>I ͼɝiIhI-iM%=iMF<)Mb@)Q)F6"F*F2F0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254321QGE<G 2B) :BA  Ou >ԉ U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505794пď,d@?A(>'@Y> @> Ƽ9>=FAHRS rotation from veh to nav: [[0.891496,0.448072,-0.066830],[-0.452383,0.888358,-0.078547],[0.024174,0.100257,0.994668]]y>H`"?8? `ܿ@mm??@u?Q?ɫ>'@>j;>fCj}BjIMb@Mb@Mb@ )Ii{Gz?y&1?~jt??`e=<)I@iVAlA AI^I٥/= 7=9*n:Q > F٦Ey:  > 4Y~?4yB?%:%%?zD:f:X۠4))-!A)UB*** querying acoustic contact ***:pQBpQoaeFNOT Ignoring new targets: 118.24 m.omom} ProNav: ac range: 118.238548 m, nav range: 115.982208 m, bearing: 335.123137 deg, approach rate: -0.515435 m/s, LOS rate: -0.017322 deg/s, cmd heading: 333.721021 deg, new cmd heading: 333.697827 deg. zo}5>HeadingCmd: 5.824126 target range: 118.238548 and range: 118.80 m.Ro=_@JoboZoBo:n2nmm}Blkkkk@ɞM|BM5 IMx>II U]%̼ɝQiQIUk"I] i]=i]%<)]=_@)aԉF"F*F2F0:FJoJcJ2JJ>:Jx9Jc3JjKdNrKzKKK=<H`K;0(*3BQosXF9.)#"!!YyO6'ps^.Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757980G= )< G 2B) :BA  OU >=ֿď,o.Z?A6@Y6v@6¼96Q=>AHRS rotation from veh to nav: [[0.891917,0.447203,-0.067037],[-0.451579,0.888616,-0.080236],[0.023689,0.101836,0.994519]]y6H ??W)ܿo? W@A???ɫ6@6;6eCF}BF*IIVaIV錴\٥^= bb=9bN:Q b>dd fF٦fEyf$; f> hn4Yjz~?r4yjjBprr?jDj;j;j4v B)vE!AzEoFNOT Ignoring new targets: 118.24 m.o%ȡo-ȡ= ProNav: ac range: 118.238548 m, nav range: 115.795418 m, bearing: 335.116774 deg, approach rate: -0.518157 m/s, LOS rate: -0.017680 deg/s, cmd heading: 333.697826 deg, new cmd heading: 333.678705 deg. zo=#BEHeadingCmd: 5.823792 target range: 118.238548 and range: 118.80 m.RoE\@JoAboAZoABoA:nA2nImImIlIkQkQkQkU@ɞ(@x 靅]>I SʼɝiI&I5i5y=H>HHRII1~BIII&Ix<*IiE2I:IBIJIRI =ZIWg5ik<)5\@)1BDAT read: Rx Time:04:03:08.4831 %TRx dataTimestamp_ set to:1761364989.5111025checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013118F"F*F2F`5:FG <G ?G>G2B:B  O >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261828jܿď,t?A2g@Y2E@2 92N6=>AHRS rotation from veh to nav: [[0.892352,0.446273,-0.067436],[-0.450731,0.888902,-0.081817],[0.023431,0.103405,0.994363]]y2H`&??@|Cܿq?`Q? x??ɫ2g@26׋;2cCF~BJGIIRUIR٥V= ZJ=9^':Q ^>\` bF٦bEyb; b> dj4Yf~?j4yffBlnn?fDf3;f/;f4p)r Ato!%FNOT Ignoring new targets: 118.24 m.o-|o-| ProNav: ac range: 118.238548 m, nav range: 115.587296 m, bearing: 335.109570 deg, approach rate: -0.512109 m/s, LOS rate: -0.017757 deg/s, cmd heading: 333.678701 deg, new cmd heading: 333.657052 deg. zoBHeadingCmd: 5.823414 target range: 118.238548 and range: 118.80 m.RoiY@JoboZoBo:n2nmmlkkkk" @ԙɞ< >I :ȼɝiI]+I !gig=i=)uiY@)ymDAT read: 04:03:08.4831 LVL= 21552, 30145, 19202, 32659, AGC= 68, IDX= 404,-0.25,-3.120, 1.816, 3.124, 2.765, PHS= 0.486,-0.902, 0.356, RAW= 145.1, 0.9, CAL= 148.7, -8.0, ROT= 1.3, 8.0 Ygot valid direction response: 04:03:08.4831 LVL= 21552, 30145, 19202, 32659, AGC= 68, IDX= 404,-0.25,-3.120, 1.816, 3.124, 2.765, PHS= 0.486,-0.902, 0.356, RAW= 145.1, 0.9, CAL= 148.7, -8.0, ROT= 1.3, 8.0 PDAT read: Bearing 1.3, 8.0 (Local) ~Local bearing/azimuth received: Bearing 1.3, 8.0 (Local) DAT read: Range 10 to 50 : 116.5 m (Round-trip 155.4 ms) speed 0.4 m/s *DAT read: user:301> BDAT read: Tx time:04:03:09.5735 $Ping request sent.%yf%E> % "@)% !)!%I?9.?D[?i%>%$ނ%޹<F)"F)*F12F51:F1%5> !)!m:publishing transmit ping time۹mFpublishing direction and range info!y%X 0? - x?H@l!Y! !)!I!i!!!!! !)!I!i!!! !)!%I?9.?D[?i!!!! !)!ԩ G V<Gi 2By :B -' TFailed to parse incomplete device message. O >vď,臎?A2'@Y2`"@2 j92=:AHRS rotation from veh to nav: [[0.892924,0.445162,-0.067214],[-0.449638,0.889306,-0.083434],[0.022632,0.104722,0.994244]]y2HՒ?}?4ܿ0u?@[,?Ϻ??ɫ2'@2';2fCB6~BBUIJ=J<5JDAT read: TxSync time:04:03:09.5727 iMb@Mb@Mb@ )Iikt?K?Zd;O? >^=j<)$AIp@ilAA GAIoI٥ V@= &=9v:Q > F٦EyU"; }> 4YC?4yhB>:?D':Q:4B)AEJp Rp ?Ap Bp Bp R@v x \@t@##0v X 0? - x?H@lp ޹<p 5>v -oG/Z@NG$aRX*v E½W?'wڿ@^טjp ?rp }BZp ·{?bp Ozp IBp ·{?p p FBp Bp 6*@] addTargetRange:: Added new target pos. range: 116.500000 m, deltaT: 3.528326 s, deltaX: -2.300003 m, approachRate: -0.651868 m/s, rangeRepo size: 4 m Added new target pos. range: 115.951012 m, bearing: 335.401849 deg, lat: 36.779462 deg, lon: -121.859734 deg, deltaT: 3.528326 s, deltaX: -2.287537 m, approachRate: -0.648335 m/s, posRepo size: 4 oiuFNOT Ignoring new targets: 115.95 m.ouoy ProNav: ac range: 115.951012 m, nav range: 115.464195 m, bearing: 335.117432 deg, approach rate: 0.000000 m/s, LOS rate: -0.017757 deg/s, cmd heading: 333.657063 deg, new cmd heading: 333.629483 deg. zoHeadingCmd: 5.822933 target range: 115.951012 and range: 116.50 m.RowU@JoboԑZoBo:n2nmmT~Blkkk ]@k]?ɞ|BH >I xżɝiI0I;i9]=i=)wU@)F6"F*F2FP5:FHu>HqHuIIu~BIqIqIq&IuX<*Iu:EG ;= G 2B :B  O >ď,-@Y>'@>L꼼9>I=NAHRS rotation from veh to nav: [[0.893217,0.444522,-0.067560],[-0.449035,0.889620,-0.083334],[0.023059,0.104772,0.994229]]y>H:? s?@K`ܿw?[U`? SҺ?@?ɫ>-@>,;>eCRN~BVdII^MI^٥fz= fy=9jyQ j?hl nF٦nEynq; n ? pv4Yr~ ?v4yrrBxzDz?rDrT ;r ;r 4)nA o)5FNOT Ignoring new targets: 115.95 m.o=y0o=y0M ProNav: ac range: 115.951012 m, nav range: 115.314964 m, bearing: 335.105887 deg, approach rate: -0.497911 m/s, LOS rate: -0.038572 deg/s, cmd heading: 333.629469 deg, new cmd heading: 333.594788 deg. zoMӺMHeadingCmd: 5.822328 target range: 115.951012 and range: 116.50 m.RoMP@JoQboQZoQBoQ:nY2nYmYmYlakakakake&?ɞ3; 6&靥>I üɝiI(5Ii W=i =)P@)JIJMa=JYJ]eJYJYJYJ]9JYJYJ]O;!uJ]O;!uJ]:!uJ]:!}Fi"Fi*Fi2Fm_0:FiG=1Gi2Bq:B O>Y ď,?A6"<@Y67@616¼965=BAHRS rotation from veh to nav: [[0.894031,0.443120,-0.065981],[-0.447377,0.890836,-0.079150],[0.023705,0.100280,0.994677]]y6H?\?䰿աܿ?@%C 1F??`d?ɫ6"<@6O;6bCJQ~BJfI5Mb@Mb@Mb@1 1)1I1i15m?ʡE?Q?5>5=5u<)5AI1i5A5lA 15AIM'IMP٥]6; ]B=9eɺQ e>aa eF٦mEyu^; >  4Y? 4yB>:(c?1D;;4A)EYAEEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 115.95 m.o_o_ ProNav: ac range: 115.951012 m, nav range: 115.108978 m, bearing: 335.083747 deg, approach rate: -0.454084 m/s, LOS rate: -0.048892 deg/s, cmd heading: 333.594799 deg, new cmd heading: 333.528262 deg. zo7HeadingCmd: 5.821167 target range: 115.951012 and range: 116.50 m.RoF@Jobo Zo Bo :n 2n mm~Blk!k!k!k%?ɞ|B`: 8>I ɝiI&;I%iMS=iMsP=)MF@)QaF=6"F9*F92FE`0:FAjK}OrK}9zKyK}K}SLHB@=3@mmL8,$!!!*3332Ci5TYc7 a(f]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԑG% #=G 2B :B1  OU > ď,?A6L@Y6F@696q=JAHRS rotation from veh to nav: [[0.894903,0.441347,-0.066040],[-0.445633,0.891650,-0.079817],[0.023657,0.100858,0.994620]]y6H ???簿@ܿf?n`9?ѹ?`?ɫ6L@6ъ;6cCR_~BVoIiTITI\I\٥j = jT=9n9Q n>pp rF٦rEyv; v> xz4YzY-?~4yzz%B1a?zDzy);zd*;z*4 ) "A H%>H!H%II%~BI!I!I!&I%E<*I%EoaeFNOT Ignoring new targets: 115.95 m.om@JoboZoBo:n2nmmlkkkk`?ɞpD; >I ԠɝiIt@IipT=i3!=)>@)ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491990F"F*F2Fo0:FGu=GQ2BY Ju@AJu@AJ}nJ}sJyJyJ}|;:J}9JyJyJ}*J;J},J;J}F:J}G::B O>m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742825 ď,?A6d@Y6i_@696=BAHRS rotation from veh to nav: [[0.896255,0.438877,-0.064133],[-0.442976,0.892992,-0.079611],[0.022330,0.099761,0.994761]]y6H??jYܿc? haݖ?`??ɫ6d@6;6eCNN~BNdII^RI^4٥-{! 5D=9]N;Q ]>YY ]F٦eEye; e> iu4Ym=?4ymm-B^?mDmI uɝiIFIiu`=in.=)5@)A E 9) G  )1 Ie Xi m YBq F 6"F *F 2F I5:F G F rAjK ?PrK 9zK K K CmXG<50+ w.n`K8* BK ?:K ?} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247863ԡGC"=Gq2By:B O?iď,?Av@Yv@v}9vv=~AHRS rotation from veh to nav: [[0.898583,0.434524,-0.061126],[-0.438338,0.895292,-0.079456],[0.020200,0.098192,0.994962]]yvH 2???K ܿ`:?`AW`b? #??ɫv@v-;vdC J~B bI!H>HCHII~BI =II&IM<*I#E Mb@Mb@Mb@  ) I i  q= ףp??y&1|? > > `;) $AI i A A  AI-\I-W٥=& ==9=_e;Q E>AA EF٦EEyM < M> 4YV?4y^6B>:sC?D;|;y4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500108B)hAEoFNOT Ignoring new targets: 115.95 m.o8o85 ProNav: ac range: 115.951012 m, nav range: 114.450020 m, bearing: 335.006956 deg, approach rate: -0.461139 m/s, LOS rate: -0.057797 deg/s, cmd heading: 333.406395 deg, new cmd heading: 333.297436 deg. zo5=HeadingCmd: 5.817138 target range: 115.951012 and range: 116.50 m.Ro=%@Jo9bo9Zo9Bo9:nA2nAmAmE^~BIlkkkk y@ɞ|B K>I %ɝ!i!I%-4LI-͝i5{=i5F=)5%@)1E%0ԁF6"F*F2FM4:FJJ3J.J5 mJ5 fJ1 J1 J5 \8:J5 9J1 J1 J5 D;J5 D;J5 :J5 :ԡ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751271G ?2=GY 2Bi :B  O > ď,A5?AFB@YF @F!9F=NAHRS rotation from veh to nav: [[0.899467,0.432839,-0.060078],[-0.436570,0.896088,-0.080208],[0.019118,0.098372,0.994966]]yFHo??`®ۿ`? ~?.??ɫFB@Fٵ;F`CZ0~BZRIAIbI٥n K=9`0;Q E>II MF٦MEyU; U> Ye4Y]&f?e4y]K]I "'ɝiI?PI%;i%=i-P=)-@)) E1E1E1E1qMBDAT read: Rx Time:04:03:12.1310 MTRx dataTimestamp_ set to:1761364993.037978Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004297ԙFq"Fq*Fq2Fu_0:Fy G G=jKU OrKU ػ9zKQ KU KU 0-'"! 1U6~lZT2Ka *Ke tAGq 2B :B  O >Cď,Q?AI<)<.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255546,Z+@YZ @ZT9Z=fAHRS rotation from veh to nav: [[0.900173,0.431604,-0.058365],[-0.435161,0.896826,-0.079609],[0.017984,0.097060,0.995116]]yZH7?f?⭿ۿ Ͳ?]S=]t)] AI]@i]VA]lA YYIuiIu҅٥ /=9;Q > F٦Eyb; > -4Yx?-4y>B5I>5:=c=?D{<j<P&4]B)]A A]EyB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 115.95 m.odod ProNav: ac range: 115.951012 m, nav range: 114.049110 m, bearing: 334.959981 deg, approach rate: -0.456614 m/s, LOS rate: -0.050027 deg/s, cmd heading: 333.228291 deg, new cmd heading: 333.156261 deg. zo5U =HeadingCmd: 5.814674 target range: 115.951012 and range: 116.50 m.Ro=@Jo9bo9Zo9Bo9:nA2nAmAmE&~BlIkIkIkIkMR? @ɞ|BhT 靥>I }ɝiIVTI i ^=i-Y=)@)ZH-<RH-4<H5>H1H5II5~BI1I1I1&I5X<*I53EԡF"F*F2F`0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509286 G XR=G% sAG! G  2B :B  O- >ď,5~m?A:@Y:@:yQ9:J@=BAHRS rotation from veh to nav: [[0.900325,0.431476,-0.056953],[-0.434901,0.896933,-0.079826],[0.016640,0.096638,0.995180]]y:Hu? O?(iۿ@?vo ?A??ɫ:@:;:`CJNoJLJLJLJN>:JLJLJLJNO;JNO;JLJL}B%&II5_I5٥Eӽ EQ=9Ea;Q E>II MF٦MEyUI: U> Ye4Y]h?e4y]]@BimTcm?] D]%;]S;]#-4q)u AqoFNOT Ignoring new targets: 115.95 m.oZoZ ProNav: ac range: 115.951012 m, nav range: 113.861069 m, bearing: 334.939314 deg, approach rate: -0.513601 m/s, LOS rate: -0.056544 deg/s, cmd heading: 333.156274 deg, new cmd heading: 333.094168 deg. zo8HeadingCmd: 5.813590 target range: 115.951012 and range: 116.50 m.Ro@JoboZoBo:n2nmmlkkkk`@ɞ%|B-}S 15>I9DAT read: 04:03:12.1310 LVL= 19600, 25057, 17202, 29171, AGC= 67, IDX= 415,-0.37,-0.569,-1.943,-0.553,-0.960, PHS= 0.479,-0.936, 0.404, RAW= 147.3, 0.8, CAL= 150.6, -8.1, ROT= 359.4, 8.1 Ygot valid direction response: 04:03:12.1310 LVL= 19600, 25057, 17202, 29171, AGC= 67, IDX= 415,-0.37,-0.569,-1.943,-0.553,-0.960, PHS= 0.479,-0.936, 0.404, RAW= 147.3, 0.8, CAL= 150.6, -8.1, ROT= 359.4, 8.1 PDAT read: Bearing 359.4, 8.1 (Local) ~Local bearing/azimuth received: Bearing 359.4, 8.1 (Local) DAT read: Range 10 to 50 : 115.0 m (Round-trip 153.4 ms) speed 0.3 m/s *DAT read: user:302> BDAT read: Tx time:04:03:13.2235 $Ping request sent.ԭ?0:;:N ¿ۅBYہ ܅L)܅aI܅2Ci܅q܅C܅}?>܅o܅> ݅"$@)݅d ށ)ށޅRNn?Z>RY?\dӋ?iޅg>ޅ^ޅD+ޅ> ߁)߁5:publishing transmit ping time5Fpublishing direction and range infoہyۅ8>ԭ?0:;:N ¿ہYہ ܁)܁I܁ =\ɝYiYI]VIenie=ie3]=)m@)ii܁܁܁܁܁ ݁)݁I݁i݁݁݁ ށ)ށޅRNn?Z>RY?\dӋ?iށށށށ ߁)߁F"F*F2Fj0:F1GM mY=a G9 2BA :BQ  Om >ʺ!ď,1A?A6R@Y60@6+z966?=FAHRS rotation from veh to nav: [[0.900062,0.432258,-0.055142],[-0.435494,0.896713,-0.079068],[0.015269,0.095180,0.995343]]y6HO?@? ;` ۿޱ?@=-E?]??ɫ6R@6GG;6bCN}BNI5Mb@Mb@Mb@1 1)1I1i15 r?333333?/$5?5=5)5l AI5@i5?A5VA 15AIM3IM٥] ]I=9eX];Q e>aa eF٦e EymhѺ m> 4Y ?4ym?B?:?D<;D;445B)=d!A9JpRpfr?ApBpBp@v‘"S\@eO}n@? 0v8>ԭ?0:;:N ¿pD+p>v?"Y@-)/H\Zw,v棼I?ҦWyۿEl$jpDrpBZpK?bpTzp DBpK?p97qp DBpcBp@ addTargetRange:: Added new target pos. range: 115.000000 m, deltaT: 3.778729 s, deltaX: -1.500000 m, approachRate: -0.396959 m/s, rangeRepo size: 4  Added new target pos. range: 114.457047 m, bearing: 334.358658 deg, lat: 36.779457 deg, lon: -121.859736 deg, deltaT: 3.778729 s, deltaX: -1.493965 m, approachRate: -0.395362 m/s, posRepo size: 4 o-FNOT Ignoring new targets: 114.46 m.o-o1= ProNav: ac range: 114.457047 m, nav range: 113.194466 m, bearing: 334.729003 deg, approach rate: 0.000000 m/s, LOS rate: -0.056544 deg/s, cmd heading: 333.094174 deg, new cmd heading: 333.019721 deg. zoAEHeadingCmd: 5.812291 target range: 114.457047 and range: 115.00 m.iRomI@JoiboiZoiBoq:nq2nqmqm}}Blykykyk}\@k`?ɞm|BmtvԻ ium>Iq u\ɝqiqIuYI}i}=i}_=)}I@)jK}aOrKyzKyK}K}xng`WLA<99867520.-,;TWKA<85.(%   0^BK ?:K?FY"FY*FY2F]o0:FYԑ G <|^=He >Ha He IIe ~BIe =Ia Ia &Ie ,<*Ie E2I%C:I%CBI!JI%˞ =RI!ZI%M5G 2B :B  O >'ď,{?A @Pb.@Yb |@bPl9b<#=rAHRS rotation from veh to nav: [[0.897929,0.436640,-0.055405],[-0.439904,0.894437,-0.080422],[0.014441,0.096586,0.995220]]ybHջ?`?^ c'ܿ9??۹?`?ɫb.@b8;bfC~}B~II PI ٥%ɽ %N=9-;Q ->)) -F٦- Ey5J 5> 9E4Y=?E4y==>BIMpM?='D=j:=:=';4Q)U"AQoFNOT Ignoring new targets: 114.46 m.o(o( ProNav: ac range: 114.457047 m, nav range: 112.998581 m, bearing: 334.715657 deg, approach rate: -0.539858 m/s, LOS rate: -0.036847 deg/s, cmd heading: 333.019725 deg, new cmd heading: 332.979616 deg. zoLʺHeadingCmd: 5.811591 target range: 114.457047 and range: 115.00 m.Ro@JoboZoBo:n2nmmlkkkk?ɞ|BF 靵C>I {MɝiIOpZIti>=iO=)@)F"F*F2F0:FGGG9?G 2B :B  O >! .ď,Q?A6m@Y6g@6]96(O=BAHRS rotation from veh to nav: [[0.896857,0.439093,-0.053335],[-0.442113,0.893587,-0.077703],[0.013541,0.093268,0.995549]]y6H??NKܿD?`U䳿 $?@o??ɫ6m@6ڈ;6cCFr}BFIIR1IRs٥V ZR=9Zn;Q Z>`` fF٦fEyfͻ f> hn4Yj>?r4yjjI ^ɝiIZIi,=i K=)@)QF"F*F2FK2:FqG L=G J J hJ J J J Ȇ9J J ! @! @! @! @2B :B  O >ԙ jK NrK 9zK K K p_SD60%6vEbM>6/,135:875327889974,()&" )2K *K qAi4ď,?A2`X@Y2>S@2S>92=:AHRS rotation from veh to nav: [[0.895759,0.441640,-0.050695],[-0.444387,0.892594,-0.076124],[0.011631,0.090717,0.995809]]y2H ?`C?pܿ@"?| ч? A9?`?ɫ2`X@2GV;2bCvN}BvIyMb@Mb@Mb@ )IiCl?y&1?X9v?`<) AIZ@iVAA AI]It٥䡽 8=9;Q > F٦Ey > 4Y ? 4y 9 7BD?:Ͼ? DD  =  = I4)%B#A!}B*** querying acoustic contact ***:pyBpyoFNOT Ignoring new targets: 114.46 m.o?(o?(- ProNav: ac range: 114.457047 m, nav range: 112.547546 m, bearing: 334.697619 deg, approach rate: -0.506637 m/s, LOS rate: -0.009193 deg/s, cmd heading: 332.938964 deg, new cmd heading: 332.925388 deg. zo-ɹ5HeadingCmd: 5.810644 target range: 114.457047 and range: 115.00 m.Ro5@Jo1bo1Zo9Bo9:n92n9m9mE}BlAkAkkk E?ԩH>HHYII;~BI =IID&IJ<*IEɞ|Bǀp 靝=I })mɝiIqZIi8G=icC=)@)ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.F1"F1*F12F50:F1 G] BJ=Ga Ge tAG1 2B9 :Bi  O} >4;ď,g ?AI)X/}BII%[I%:٥5t =D=9=Q =>AA EF٦EEyE E> IU4YM?]4yMM3BYY]?MSDM:M:MQ4eB}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006962)m#AEoIMFNOT Ignoring new targets: 114.46 m.oUHoUHe ProNav: ac range: 114.457047 m, nav range: 112.312553 m, bearing: 334.693346 deg, approach rate: -0.601533 m/s, LOS rate: -0.010961 deg/s, cmd heading: 332.925386 deg, new cmd heading: 332.912540 deg. zoemHeadingCmd: 5.810420 target range: 114.457047 and range: 115.00 m.Rou@JoqboqZoqBoq:nq2nymymylykkkk`)r@ɞ|BN} 靽=I ɝiIifYIMijW=iE=)@)Fe6"Fi*Fi2Fm 5:FqGUpC=G2B!:B1 O=Q>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2587009 Bď,m ?A>Y9@Y>74@>)P9>3=JAHRS rotation from veh to nav: [[0.894104,0.445495,-0.045965],[-0.447794,0.891009,-0.074717],[0.007669,0.087387,0.996145]]y>H?@? `ܿ &?` i?_?@k?ɫ>Y9@>;>`CR|BRIiTITIV=)V=Mb@Mb@Mb@ )Ii5^I ?Q rh?uC ) AIp@iA?A \AIlI)٥ B=9 F٦Ey| >J}pJ}eJyJyJ}A:J}9JyJy 4Y?4y,B\?: ?cDZ<:nX4B)1$AEo5FNOT Ignoring new targets: 114.46 m.o5j9oUj9u ProNav: ac range: 114.457047 m, nav range: 112.061119 m, bearing: 334.698847 deg, approach rate: -0.584519 m/s, LOS rate: 0.012817 deg/s, cmd heading: 332.912545 deg, new cmd heading: 332.929085 deg. zou :}HeadingCmd: 5.810709 target range: 114.457047 and range: 115.00 m.RoS@JoboZoBo:n2nmm|Blkkkk@ɞ=|B=؟ E##9EH CH II }BI I I &I *<*I Eԡ G B=G 2B :B!  O- >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766486Hď,#$?Az|B~IԉI qI v}٥t G=9Q > F٦Ey > 4Y?4y&B?sD):B:_4!)-$A)oY]FNOT Ignoring new targets: 114.46 m.oe9oe9u ProNav: ac range: 114.457047 m, nav range: 111.818169 m, bearing: 334.704186 deg, approach rate: -0.638928 m/s, LOS rate: 0.014071 deg/s, cmd heading: 332.929074 deg, new cmd heading: 332.945125 deg. zou:}HeadingCmd: 5.810989 target range: 114.457047 and range: 115.00 m.Ro}@JoyboyZoyBoy:n2nmmlkkkk @ɞ|BЯ  I ٬ɝiI&TIir=i7=)@)ԹF6"F*F2F`0:FG d6=GQ2BY:Bq O}Y>BDAT read: Rx Time:04:03:15.7787 TRx dataTimestamp_ set to:1761364996.826018checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019865 Nď,+>?A :u@Y:S @:t˻9:瑮=BAHRS rotation from veh to nav: [[0.891811,0.450260,-0.044030],[-0.452365,0.888830,-0.073128],[0.006209,0.085134,0.996350]]y:H?@? *ܿ Kq?@ny?@^˵??ɫ:u@:h4;:aC^|B^tIIf`If̍٥n r_=9vO;Q v>|  F٦ Eya > !-4Y%$?-4y%x% B15?%D%\=%=%f4B)$A5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273164oFNOT Ignoring new targets: 114.46 m.o>^9o >^9 ProNav: ac range: 114.457047 m, nav range: 111.596893 m, bearing: 334.709666 deg, approach rate: -0.489363 m/s, LOS rate: 0.012144 deg/s, cmd heading: 332.945139 deg, new cmd heading: 332.961612 deg. zoX:%HeadingCmd: 5.811276 target range: 114.457047 and range: 115.00 m.Ro%@JoIboQZoQBoY:nY2nYmamalakkkk> @ɞ|B! aeIa esɝaiaIePOIm imw=im"=)u@)qFm6"Fi*Fqi5(>IC)%GY i)JqJhJJJD:JȆ9JJIB2F_0:F DAT read: 04:03:15.7787 LVL= 19888, 32753, 17330, 27107, AGC= 65, IDX= 422, 0.43,-0.360,-1.756,-0.393,-0.779, PHS= 0.507,-0.930, 0.383, RAW= 145.5, 0.6, CAL= 149.2, -8.4, ROT= 0.8, 8.4  Ygot valid direction response: 04:03:15.7787 LVL= 19888, 32753, 17330, 27107, AGC= 65, IDX= 422, 0.43,-0.360,-1.756,-0.393,-0.779, PHS= 0.507,-0.930, 0.383, RAW= 145.5, 0.6, CAL= 149.2, -8.4, ROT= 0.8, 8.4  PDAT read: Bearing 0.8, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 0.8, 8.4 (Local) % vDAT read: Range 10 t13.2 m (Round-tri ms) speed 0.7 m/s % unknown deviceResponse_: Range 10 t13.2 m (Round-tri ms) speed 0.7 m/s % *DAT read: user:303> - BDAT read: Tx time:04:03:16.8735 - $Ping request sent.- j"@) + ˏz?j0?d?i 0-> ' d< Q >U :publishing transmit ping time) y j_9T?¬I?/8ٲ¿Y ) I jK] ZNrK] 9zKY K] K] yqkhd`_^dp||lhdaeighjnpi ) I i ˏz?j0?d?i y G GY 2By :B  O >Vď,E[?AxU @YU@UQ9U=mAHRS rotation from veh to nav: [[0.890739,0.452422,-0.043579],[-0.454478,0.887799,-0.072544],[0.005869,0.084424,0.996413]]yUH`?z?`P*ݿh? A& x?ʜ??ɫU @U;UbC|BmI== H5>H1H5II5}BI5 =I1I1&I55<*I5EMb@Mb@Mb@ )IiK7A?Q뱿V- "?\) AIh@i?A$A  AIdI@٥   =9 D!:Q  > F٦ Ey >! am4Ye.?m4yeeBm4#?m:mm?eDe<:e:eo4}B)$AEJDAT read: TxSync time:04:03:16.8727 B*** querying acoustic contact ***:pBpo FNOT Ignoring new targets: 114.46 m.oqh:oqh:- ProNav: ac range: 114.457047 m, nav range: 111.246719 m, bearing: 334.734398 deg, approach rate: -0.717044 m/s, LOS rate: 0.050804 deg/s, cmd heading: 332.961613 deg, new cmd heading: 333.036045 deg. zo-w ;}HeadingCmd: 5.812575 target range: 114.457047 and range: 115.00 m.Ro}@JoyboyZoyBoy:n2nmmL|Blkkkk`@ɞ|Bļ T4I %rɝ!i!I%2KI-i-u=i- =)-@)qI J= AAJ= ?Ay E &F) "F) *F1 2F5 3:F1 u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseԩ GUK =G)2B9:BI O]?f,_ď,Y?AI)p F٦#Ey > 4YC?4yB ?De<ԩT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse<Fx4-B)-$A)oquFNOT Ignoring new targets: 114.46 m.o}5H:o}5H: ProNav: ac range: 114.457047 m, nav range: 110.940636 m, bearing: 334.756909 deg, approach rate: -0.593367 m/s, LOS rate: 0.043759 deg/s, cmd heading: 333.036035 deg, new cmd heading: 333.103753 deg. zo@:HeadingCmd: 5.813757 target range: 114.457047 and range: 115.00 m.RoM @JoboZoBo:n2nmmlkkkkQ@ɞ}|B}uȼ 靅pWI W䭼ɝiIqFIXisf=iz5=)M @)E9Fi"F*F2FS5:FJUnJUjJQJQJU|;:JU9JQJQ } T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapsejK wOrK zK K K rojbZUFCCD@8/,)#Eqi eJ7* G [=) G 2B :B  O >gfď,ܚ?AJDz@YJ@J9J.)=RAHRS rotation from veh to nav: [[0.887769,0.458096,-0.044890],[-0.460223,0.885066,-0.069660],[0.007820,0.082502,0.996560]]yJHh?pQ? MtݿvR?@ձ?@?`?ɫJDz@J즈;HZ|BZcIMb@Mb@Mb@ )Ii!rh?+ηl'?v̼)I;@iA AIIgǴ٥j ;=9B Q > F٦&Ey > 4Y/W?4yJ B:)?:?D;:4B)%AEo)5FNOT Ignoring new targets: 114.46 m.oE:oE:U ProNav: ac range: 114.457047 m, nav range: 110.663879 m, bearing: 334.782292 deg, approach rate: -0.722347 m/s, LOS rate: 0.066417 deg/s, cmd heading: 333.103763 deg, new cmd heading: 333.180103 deg. zoUS6;amHeadingCmd: 5.815090 target range: 114.457047 and range: 115.00 m.Rom7@JoiboiZoiBoi:nq2nqmqmu1|BlyH>HCHIIG}BI =IID&IC<*IEk9k9k9kE@@ɞ5|B=0Ѽ 9=I9 =\QɝAiAIEpBIE9iMT=iM<)M7@)5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse EiEiEqEqԉԱF 6"F *F 2F _1:F J %=J <  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGr=Gi2Bq:B O?W5nď,?A 2@Y2@2(92y=>AHRS rotation from veh to nav: [[0.886803,0.459721,-0.047294],[-0.462054,0.884024,-0.070757],[0.009281,0.084600,0.996372]]y2H`?l? 6@LݿI? % ?]?G?ɫ2@2ن;0J|BJiIIN=)LIRIRJȴ٥5P< 5&=9=HBQ =>99 =F٦E)EyE E> IU4YMm?]4yMAMBY]+]?MDM:M:MU4a)m$AioFNOT Ignoring new targets: 114.46 m.oa:oa: ProNav: ac range: 114.457047 m, nav range: 110.343140 m, bearing: 334.812207 deg, approach rate: -0.651369 m/s, LOS rate: 0.060928 deg/s, cmd heading: 333.180097 deg, new cmd heading: 333.270102 deg. zoB';HeadingCmd: 5.816660 target range: 114.457047 and range: 115.00 m.Ro"@JoboZoBo:n2nmmlkkkk@ɞ|B&̼  ^I  ֶɝ i I >ISiB;=i<)"@)ԙF"F*F2F`0:FG=T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGa2B:B1 O=P>J pJ iJ 3J J A:J ڈ9J (3J ) uď,fK?A6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapseE|BEwIjK]NrK]9zKYK]K]  wbYQJE?8555/,)!    2Ka*KerAMb@Mb@Mb@ )IiNbX9?)\(~jt%?GD)Ih@iA  AIcI#٥ 8M=  ?=9 Q  > F٦,Ey > !-4Y%|?-4y%%B- (?-:-%5?%D%j:%:%ҏ4B){$AEoFNOT Ignoring new targets: 114.46 m.os:os:] ProNav: ac range: 114.457047 m, nav range: 110.067917 m, bearing: 334.842290 deg, approach rate: -0.620125 m/s, LOS rate: 0.067952 deg/s, cmd heading: 333.270092 deg, new cmd heading: 333.360567 deg. zo]:;eHeadingCmd: 5.818240 target range: 114.457047 and range: 115.00 m.Roe/@JoaboaZoaBoa:na2nimm[|Blkkkk@@ɞM|BU QUH IQ UɝYiYI]m;I]] iez=ie<)e/@)JHIBHM?AHYHYH]II]=}BI] =IYIY&I]P<*I]*E2I :I BI JI Š =RI Š =ZI 5AF"F*F2F3:FT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei G 8<G rAG G 2B :B  O >={ď,l&?A 67@Y6@6$96E=BAHRS rotation from veh to nav: [[0.886521,0.460044,-0.049402],[-0.462580,0.883565,-0.073024],[0.010056,0.087589,0.996106]]y6H`^? ]q?0K@ݿ*F??@l??ɫ67@6fΉ;6_CJ|BJIIRPIR٥Z p= Zc=9Z Q Z>\\ ^F٦^.EybBٺ b> hn4Yjj?n4yjxjBpr%r?jDjr;j* ;j!4vB)v$AvE B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 114.46 m.oa:oa: ProNav: ac range: 114.457047 m, nav range: 109.836136 m, bearing: 334.867807 deg, approach rate: -0.671129 m/s, LOS rate: 0.074042 deg/s, cmd heading: 333.360578 deg, new cmd heading: 333.437291 deg. zoAK;HeadingCmd: 5.819579 target range: 114.457047 and range: 115.00 m.Ro9@JoboZoBo:n2nmmlkkkk5@ɞܶ 靭0SI < ɝiIm 9I]i=iE<)9@)E}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseԁF}6"Fy*Fy2F}`0:FyGEc<G2B :B O%M>ԙ 5 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse;&ď, ?A6{@Y6Y@6,96r(=>AHRS rotation from veh to nav: [[0.886023,0.460837,-0.050923],[-0.463522,0.882930,-0.074705],[0.010535,0.089795,0.995905]]y6HLZ?[~?@Zݿ @? %?`?@s?ɫ6{@64;6bCPz }B~I>p;Mb@Mb@Mb@ )Iiףp= ?(\µ?) AIiVA$A AIpI<٥= 9=9Q > F٦1Ey3 > 4YZ?4y 4 ?: ?DG ;~ ;ԝ4 ) p#A o9=FNOT Ignoring new targets: 114.46 m.oEP:oEP:U ProNav: ac range: 114.457047 m, nav range: 109.564857 m, bearing: 334.893482 deg, approach rate: -0.614226 m/s, LOS rate: 0.058276 deg/s, cmd heading: 333.437295 deg, new cmd heading: 333.514510 deg. zoU;]HeadingCmd: 5.820926 target range: 114.457047 and range: 115.00 m.Ro]E@JoYboYZoYBoa:na2namamm|Blikikikiku@!@ɞ|Bƞ 靥! HE >HA HE IIE p}BIE =IA IA &IE V<*IE 0EOď,"?A:c@Y:A@:h29:S=NAHRS rotation from veh to nav: [[0.886014,0.460758,-0.051781],[-0.463531,0.882851,-0.075583],[0.010889,0.090970,0.995794]]y:H9Z? }?`@}ݿ@Q@?oYL?I??ɫ:c@:^;:`C|B}B II%jI%٥58> 5V=95rQ 5>99 =F٦=3EyE E> IU4YMϳ?U4yMQIQQ]?MDM;M;M4eB)e?"AeˤEoFNOT Ignoring new targets: 114.46 m.oɆ:oɆ: ProNav: ac range: 114.457047 m, nav range: 109.329140 m, bearing: 334.915897 deg, approach rate: -0.618281 m/s, LOS rate: 0.058920 deg/s, cmd heading: 333.514504 deg, new cmd heading: 333.581893 deg. zo!;HeadingCmd: 5.822103 target range: 114.457047 and range: 115.00 m.RoN@JoboZoBo:n2nmmlkkkkq=@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɞ`}  =I  Yɝ iIaT6I i%=i%C<)%N@)!)FI"FI*FI2FUp0:FQJ]oJ]fJ]2JYJ]>:J]9J]c3JYJY!mJY!mJY!mJY!mqG<Gi  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse2B :B  O >ԉ 3zď,<?A:@Y:ԡ@:a89:9=FAHRS rotation from veh to nav: [[0.885929,0.460761,-0.053180],[-0.463683,0.882614,-0.077401],[0.011274,0.093231,0.995581]]y:HY?}?b:ݿ@_>?г ?`ݷ? ?ɫ:@:ҋ;8N^}BNIIVnIVd٥^= ^R=9bQ b>`` bF٦f6Eyf f> hn4YjĀ?n4yjhpr*r?j$Dj;j;jO4x)z!Axo%FNOT Ignoring new targets: 114.46 m.o%a:o%a:5 ProNav: ac range: 114.457047 m, nav range: 109.089806 m, bearing: 334.938774 deg, approach rate: -0.613182 m/s, LOS rate: 0.058742 deg/s, cmd heading: 333.581904 deg, new cmd heading: 333.650687 deg. zo5A!;=HeadingCmd: 5.823303 target range: 114.457047 and range: 115.00 m.RoEX@JoAboAZoABoA:nA2nAmImIlIkIkQkQkU@Yɞ :] 靕=I )ɝiI5Iui=i蟥<)X@)EEF1"F1*F12F51:F1ԑ=DAT read: 04:03:19.4253 LVL= 20512, 24465, 17906, 25075, AGC= 65, IDX= 403, 0.38,-0.632,-1.996,-0.680,-1.026, PHS= 0.482,-0.923, 0.343, RAW= 144.8, 1.5, CAL= 148.4, -7.4, ROT= 1.6, 7.4 eYgot valid direction response: 04:03:19.4253 LVL= 20512, 24465, 17906, 25075, AGC= 65, IDX= 403, 0.38,-0.632,-1.996,-0.680,-1.026, PHS= 0.482,-0.923, 0.343, RAW= 144.8, 1.5, CAL= 148.4, -7.4, ROT= 1.6, 7.4 mPDAT read: Bearing 1.6, 7.4 (Local) m~Local bearing/azimuth received: Bearing 1.6, 7.4 (Local) uDAT read: Range 10 to 50 : 110.7 m (Round-trip 147.6 ms) speed 0.5 m/s R#Rx 2: Read range and direction messages.^direction in FSK: [0.991285,0.027689,-0.128796]Fpublishing direction and range infoy R?KbZ?OZ_|fBY  P)_IEia>Il> ?!@)Pw )6?R; ? oXs?i>͠Ӽ< A> )%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GU፨<ԱG2B!:B1 OE> "bď,OV?A&*DAT read: user:304> *BDAT read: Tx time:04:03:20.8736 .$Ping request sent..LMGB<4,(%0ԹMb@Mb@Mb@ )Ii7A`?&1Q??Pu<)IiAA III.٥= ,=9tQ > F٦9Ey 9<; > 4Y؀?%4yB%$?-:u}?6DZR<R<4B)!AJp)Rp-qG?Ap-ZBp-ZBp-@v-UZM[@KFοg@ ja,v- R?KbZ?OZ_|p-<p- A>v-)/LX@A#kVG(S )v-L"?>3ۿ K'jp-:rp-BZp-o?bp-Tzp-YKBp)p-Tp)p-%Bp-l@u addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 7.318240 s, deltaX: -4.300003 m, approachRate: -0.587573 m/s, rangeRepo size: 4  Added new target pos. range: 110.176605 m, bearing: 334.759813 deg, lat: 36.779457 deg, lon: -121.859742 deg, deltaT: 7.318240 s, deltaX: -4.280441 m, approachRate: -0.584900 m/s, posRepo size: 4 oFNOT Ignoring new targets: 110.18 m.oo ProNav: ac range: 110.176605 m, nav range: 109.072929 m, bearing: 334.664302 deg, approach rate: 0.000000 m/s, LOS rate: 0.058742 deg/s, cmd heading: 333.650697 deg, new cmd heading: 333.740940 deg. zoHHHII}BI =II&I<*IvE-HeadingCmd: 5.824878 target range: 110.176605 and range: 110.70 m.Ro-ge@Jo)bo)Zo)Bo):n12n1m1m58}Bl9k9k9k=̬[@k=Gn?ɞD !%>I! -Mɝ)i)I-5I]?ieOg=ieH<)ege@)aF"F*F2Fp0:F JDAT read: TxSync time:04:03:20.8728 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253369I G D-<G 2B :B  O >oď,r?A J(J*AAJ.nJ,J,J,J.|;:J,J,J,J.)J;J.,J;J,J,B@YB۳@BC9B=NAHRS rotation from veh to nav: [[0.886941,0.458371,-0.056855],[-0.461729,0.883084,-0.083477],[0.011944,0.100291,0.994886]]yBHa?U?@ݿ@:B?^v?੬? ?ɫB@B.u;B`CV}BVIIj Ij=ش٥r> v`=9z9#Q z>x| ~F٦~;Ey~; ~>  4Y瀊?4y B?DD7;3;4)/ A!=B*** querying acoustic contact ***:p9Bp9ԉoFNOT Ignoring new targets: 110.18 m.o=:o=: ProNav: ac range: 110.176605 m, nav range: 108.860970 m, bearing: 334.678482 deg, approach rate: -0.616478 m/s, LOS rate: 0.041323 deg/s, cmd heading: 333.740938 deg, new cmd heading: 333.783562 deg. zo:HeadingCmd: 5.825622 target range: 110.176605 and range: 110.70 m.Rok@JoboZoBo:n2nmml)k1k9kAke`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505980ɞ|B(5 S>I Q4ɝiI6IEiH=i=<)Ek@)AԹF6"F*F2Fc5:FG፨<G 2B :BA } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760518 O >) Ѣď,SЋ?A6@Y6@6<\96=>AHRS rotation from veh to nav: [[0.887416,0.456649,-0.062973],[-0.460773,0.882712,-0.092236],[0.013468,0.110868,0.993744]]y6H@e? 9?`P}ݿ-??ɜ?`a??ɫ6@6[;4Z}BZ.IuMb@Mb@Mb@q q)qIqiq)WGuDl?I +y&1?uO ? vAu94u`<)u~ AIq)iuAqI} vA B qu(AILI٥= 2=9YQ > F٦>Eyp; > 4Ye?4yE B ?:?TDY;[;¡4B)WA̤Eo)5FNOT Ignoring new targets: 110.18 m.o=9o=9] ProNav: ac range: 110.176605 m, nav range: 108.608429 m, bearing: 334.686807 deg, approach rate: -0.565370 m/s, LOS rate: 0.018681 deg/s, cmd heading: 333.783558 deg, new cmd heading: 333.808591 deg. zo] M:mHeadingCmd: 5.826059 target range: 110.176605 and range: 110.70 m.Romo@JoqboyZoyBoy:ny2nymm}Blkkkk ?ɞAmЩy im>Iq uOɝqiqIu0I9I}s i}=i}Y<)}o@)EE>)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010872F=6"FA*FA2FE`5:FAjK=\"NrK=9zK9K=K=Pcgd[K3*#*58721.-+277661//,(&     SQH1 H1 H5 YII5 ;~BI5 =I1 I1 &I5 <<*I5 EGe R5<G9 2BI :Bi ԁ  O >Kď,?Ar#@Yr@rfa9r=~AHRS rotation from veh to nav: [[0.886759,0.457956,-0.062720],[-0.462026,0.882212,-0.090737],[0.013779,0.109440,0.993898]]yrHT`?(O? r֑ݿ;?`:@R8? C??ɫr#@rX;r^C~BFI C= a> AA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262067I-*I-٥Mu= Mc=9McQ M>QQ UF٦U@Ey]ŀ ]> am4Ye ?m4ye eBimum?e`De:eW:eLȡ4y)}AyQoFNOT Ignoring new targets: 110.18 m.o9o95 ProNav: ac range: 110.176605 m, nav range: 108.410255 m, bearing: 334.693509 deg, approach rate: -0.498467 m/s, LOS rate: 0.016887 deg/s, cmd heading: 333.808584 deg, new cmd heading: 333.828725 deg. zo5n9:=HeadingCmd: 5.826410 target range: 110.176605 and range: 110.70 m.Ro=q@Jo9boAZoABo:n2nmmlkkkk@E?ɞ|Bھ9 ڕ>I usɝiI):J9J(3JJO;JO;J:J:ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513682G <G 2B :B  O > %ď,׈?A6R@Y60@6h96=>AHRS rotation from veh to nav: [[0.887384,0.456667,-0.063290],[-0.460813,0.882796,-0.091231],[0.014210,0.110122,0.993816]]y6H`re?:?@3}ݿ??`Z?0? X?ɫ6R@6Bʉ;6\CF@~BF[IIVOIVݜ٥^ڴ= ^T=9^Q b>`` bF٦bCEyf\h; f> hn4Yj?n4yj#jBamu?jnDjI9 =ɝ9i9I=݊?IEiEm=iEޤ<)Et@)IԱF"F*F 2F _0:FMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768438G}< G 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0176369 ď,Ve?A2L@Y2*ܹ@2hZ92=:AHRS rotation from veh to nav: [[0.889186,0.453301,-0.062173],[-0.457351,0.884524,-0.091911],[0.013330,0.110161,0.993824]]y2H6t??*կ=EݿN?`|L? 3?h?ɫ2L@2~;2_CJZ~BJkIjK=NrK=9zK9K=K=zkQH@950*&$   CuT=*XMb@Mb@Mb@ )Ii}?5^I?~jt?Q?M?D=<)AIQ@iA AINI٥l= :=9\;Q > F٦FEy< > 4Y0*?4y%!B?:ƾ?|D:@;֡4)Ao!-FNOT Ignoring new targets: 110.18 m.o-io-i= ProNav: ac range: 110.176605 m, nav range: 107.974487 m, bearing: 334.694180 deg, approach rate: -0.537810 m/s, LOS rate: -0.015345 deg/s, cmd heading: 333.849893 deg, new cmd heading: 333.830735 deg. zoE~(EHeadingCmd: 5.826446 target range: 110.176605 and range: 110.70 m.RoE>r@JoIboIZoIBoI:nI2nImQmUZ~BlQkYkYkYk]@ɞ|B; 靍O>I 0ɝiIXCIil=irY<)>r@)EaJHBHH>HHII~BI =II&Ie<*IDEF"F*F2F `0:F 9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269731G ԅ:ď,H?A$JJ3J.-JLJNhJN2JLJLJNȆ9JNc3JLJLJLJNݬ:JNެ:z$@Yz@z}Q9z=AHRS rotation from veh to nav: [[0.892931,0.446024,-0.061127],[-0.450011,0.888165,-0.093023],[0.012800,0.110571,0.993786]]yzH?`?Kܿk?@bз6? dN??ɫz$@ze$;z`Ci~BuII%=)%=I-rI-{٥UL= UR=9]:Q ]>aa eF٦mHEym< m> 4Yk:?4y'*Bn¾?DN:|:ݡ4 B) wA ΤEEB*** querying acoustic contact ***:pABpAoq}FNOT Ignoring new targets: 110.18 m.o}ٖo}ٖchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521834 ProNav: ac range: 110.176605 m, nav range: 107.767464 m, bearing: 334.687355 deg, approach rate: -0.499108 m/s, LOS rate: -0.016485 deg/s, cmd heading: 333.830741 deg, new cmd heading: 333.810228 deg. zo5HeadingCmd: 5.826087 target range: 110.176605 and range: 110.70 m.RoOo@JoboZoBo:n2nmmlkkkk@^H@ɞU|B]D>; Y]=>IY ]ɝYiYIeYGiIuiuئ=i}K=)}Oo@)yF!"F!*F!2F%m0:F!ԑGE m<GI GI G) e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7765992B :B  O5 >ď, ?AP ~B IMb@Mb@Mb@ )Ii^I +?bX9ȶ?:v?X>E=<)7AIiA GAIWIƕ٥x= C=9Q > F٦KEy > 4YnJ?4yB)3B>:ە?D:;4)Ao)-FNOT Ignoring new targets: 110.18 m.o56o=6U ProNav: ac range: 110.176605 m, nav range: 107.571220 m, bearing: 334.671654 deg, approach rate: -0.498810 m/s, LOS rate: -0.039983 deg/s, cmd heading: 333.810223 deg, new cmd heading: 333.763033 deg. zoUۺ]HeadingCmd: 5.825264 target range: 110.176605 and range: 110.70 m.Roeh@JoaboaZoaBoa:ni2nimqmu~Blykykkk@Fg @ɞ}|B} ; y}>Iy }.ɝiICKIti=i<)h@)FA"FA*FA2FEo0:FIBDAT read: Rx Time:04:03:23.4223 TRx dataTimestamp_ set to:1761365004.390025checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027034GG<G2B:B O l>jK,GNrKzKKKcdSE;4,'!  BK?:K?H >H H II ~BI =I I &I H<*I E2I:IBIJIɟ =RIɞ =ZIڜ4) Iď,M&?Abb@Yb]@bU9b:=rAHRS rotation from veh to nav: [[0.896299,0.439139,-0.061680],[-0.443258,0.891298,-0.095454],[0.013058,0.112895,0.993521]]ybH{??@U^ܿ? o`???ɫbb@bw;`z~BzIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277781 II٥-s< -U=95U0Q 5>11 5F٦=MEy=6< => AM4YEY?M4yE*E;BQUU?EDEy:Ep:E4]B)]AaoFNOT Ignoring new targets: 110.18 m.o 55o 55= ProNav: ac range: 110.176605 m, nav range: 107.384087 m, bearing: 334.655873 deg, approach rate: -0.468825 m/s, LOS rate: -0.039606 deg/s, cmd heading: 333.763040 deg, new cmd heading: 333.715614 deg. zo=rٺEHeadingCmd: 5.824436 target range: 110.176605 and range: 110.70 m.RoEa@JoAboAZoABoI:nI2nImImIlQkYkYkYk]@y @ɞ|B< >I }ɝiIM{OPIU/iUӖ=iUU=)]a@)YEiEmtA)F"F *F 2F 0:F YDAT read: 04:03:23.4223 LVL= 19888, 27089, 18578, 28387, AGC= 68, IDX= 405, 0.01,-2.596, 2.283,-2.627,-3.035, PHS= 0.527,-0.919, 0.405, RAW= 145.6, -0.2, CAL= 149.4, -9.2, ROT= 0.6, 9.2  Ygot valid direction response: 04:03:23.4223 LVL= 19888, 27089, 18578, 28387, AGC= 68, IDX= 405, 0.01,-2.596, 2.283,-2.627,-3.035, PHS= 0.527,-0.919, 0.405, RAW= 145.6, -0.2, CAL= 149.4, -9.2, ROT= 0.6, 9.2  PDAT read: Bearing 0.6, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 0.6, 9.2 (Local) % DAT read: Range 10 to 50 : 108.4 m (Round-trip 144.6 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.987082,0.010337,-0.159881]5 Fpublishing direction and range info۹y۽`H-?}7+?ČsvĿ۽BY۹ ܽM)ܽiIܽHiܽnܽDܽy?ܽCkܽ)\> ݽ"@)ݽdIݽ&@iݽl$ݽ+<ݽl$> ޹)޹޽uUr?L ?Nki޽>޽X;޽+<Gu 2g=޽l$> ߹)߹ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԁ G 2B :B  O >7ď,@?A6|@Y6^w@6QqY96=RAHRS rotation from veh to nav: [[0.897692,0.436299,-0.061584],[-0.440424,0.892687,-0.095587],[0.013271,0.112931,0.993514]]y6H ?R? /ܿ ?`\x-??@?ɫ6|@6=;6^Cj~BjIIrhIr٥-eݻ 5I=95 Q 5>99 =F٦=PEy=; E> AQ4YEi?4yE!,EDBv?EDE%v;oIX@!Fq"32/v9Y ;?AڿC ¿jp1rpKBZp cd?bp18zp)@Bp cd?p97qpp_Bp@U addTargetRange:: Added new target pos. range: 108.400002 m, deltaT: 3.782933 s, deltaX: -2.299995 m, approachRate: -0.607993 m/s, rangeRepo size: 4 e Added new target pos. range: 107.887436 m, bearing: 335.507120 deg, lat: 36.779459 deg, lon: -121.859736 deg, deltaT: 3.782933 s, deltaX: -2.289169 m, approachRate: -0.605131 m/s, posRepo size: 4 oaeFNOT Ignoring new targets: 107.89 m.oo ProNav: ac range: 107.887436 m, nav range: 107.187050 m, bearing: 335.003918 deg, approach rate: 0.000000 m/s, LOS rate: -0.039606 deg/s, cmd heading: 333.715612 deg, new cmd heading: 333.666857 deg. zoHeadingCmd: 5.823585 target range: 107.887436 and range: 108.40 m.RoZ@JoboZoBo:n2nmmlkkk[@kA?ɞU|BU< Q]@>IY ]MƘɝYiYI]DUIePimɜ=iu)=)uZ@)%*DAT read: user:305> =BDAT read: Tx time:04:03:24.6236 E$Ping request sent.MԩJa Ja Ja Ja Ja Ja Ja Ja !u @!u @!u @!u @  JDAT read: TxSync time:04:03:24.6228  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245032;]ď,}Z?A6@Y6d@66:d96=fAHRS rotation from veh to nav: [[0.898329,0.434974,-0.061664],[-0.439102,0.893439,-0.094635],[0.013929,0.112090,0.993600]]y6H?`?m?ܿ ? 9@ ?? ?ɫ6@6;6`C%~B%IjK/MrKػ9zKKKPr~}wrmgfd\VTPLHFCCB@=8332/**-6>CBDC?>=:98?2KsA*KsAMb@Mb@Mb@ )Iigfffff?i|?5? rh?3>=C<)AIilAA AIaI錴٥< >=9ɺQ >   F٦ SEy !`;  > q}4Yu{?}4yuX-uLB>:`]?uDu:u:uR4B)AϤEoFNOT Ignoring new targets: 107.89 m.oo- ProNav: ac range: 107.887436 m, nav range: 106.976707 m, bearing: 334.978715 deg, approach rate: -0.490366 m/s, LOS rate: -0.058871 deg/s, cmd heading: 333.666844 deg, new cmd heading: 333.591086 deg. zo-!5HeadingCmd: 5.822263 target range: 107.887436 and range: 108.40 m.Ro5O@Jo1bo1Zo9Bo9:n92n9m9mE~BlAkAkAkAZHyRH}p<H >HCHII%BI =IID&Ik<*IFEk)?ɞE|BMD< IMl>II MOɝIiQIU/ZIUi]4=i]֋1=)]O@)YF"F*F2F_5:F-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497861 G =G 2B :B  O >9 ;ď,t?A6鎳@Y6ȉ@6Ϯx96ZZ=BAHRS rotation from veh to nav: [[0.898655,0.434791,-0.058099],[-0.438393,0.894787,-0.084657],[0.015178,0.101548,0.994715]]y6H`??@ܿ@?@? ?@?ɫ6鎳@6yo;4Jv~BJ}IIRgIR٥Z Zb=9ZbQ Z>\\ ^F٦^UEybj ; f> hn4Yj̉?n4yjM.jSBpr[r?jDj%;jS;jq4t)v.AtoFNOT Ignoring new targets: 107.89 m.o9o9- ProNav: ac range: 107.887436 m, nav range: 106.809883 m, bearing: 334.958520 deg, approach rate: -0.487552 m/s, LOS rate: -0.059111 deg/s, cmd heading: 333.591084 deg, new cmd heading: 333.530406 deg. zo-E"5HeadingCmd: 5.821204 target range: 107.887436 and range: 108.40 m.Ro5MG@Jo1bo1Zo1Bo1:n2nmmlkkkk$?ɞ]|B]!< Y]Y>IY ]V擼ɝaiaIea^Ie݈imʳ=im_7=)mMG@)i}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747909AE]9Ee]>EaF"F*F2F4:FqE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002212ԡ G 3=G 2B :B  O% >Mď,?A%h~B%tIi1I5Aԩ%Mb@Mb@Mb@! !)!I!i!%rh|?y&1?~jth%>%`=%D)%MAI!i%A%VA !%pAI51I5s٥U= U)=9]Q ]>JmpJmeJiJiJmA:Jm9JiJiy F٦XEy > 4Y?4y/WB-?:l?D; ;4ߒB)\AФEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 107.89 m.o~o~ ProNav: ac range: 107.887436 m, nav range: 106.569183 m, bearing: 334.931400 deg, approach rate: -0.492970 m/s, LOS rate: -0.055670 deg/s, cmd heading: 333.530404 deg, new cmd heading: 333.448860 deg. zoHeadingCmd: 5.819780 target range: 107.887436 and range: 108.40 m.Ro;@JoboZoBo:n2n m m ~Bl kkkkS?ɞE|BET; AE >II MD8ɝIiIIMXcIUgCiU8=iU;=)];@)YE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252339F"F*F2Fr4:FjK=GNrK=9zK9K=K=EGC?92,'&$"! "&2\pighfhijdb`__d_VOIDEF@>;86-=b{}slf`XH>HCHIIBI =IID&I7<*IEG :=G 2B :B  O >) ď,"Ʃ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505044j2@Yj@ja9j"=vAHRS rotation from veh to nav: [[0.899411,0.433416,-0.056653],[-0.436822,0.895898,-0.080950],[0.015671,0.097555,0.995107]]yjH`??`ۿ2?" ?@X?@?ɫj2@j;j^CzV~BziII HI ٥> c=9ҬQ > F٦ZEy; > 4YB?4y0ZB+j?Do;k:j4֒B)UA٤EoFNOT Ignoring new targets: 107.89 m.o׀o׀ ProNav: ac range: 107.887436 m, nav range: 106.387009 m, bearing: 334.910605 deg, approach rate: -0.492556 m/s, LOS rate: -0.056321 deg/s, cmd heading: 333.448852 deg, new cmd heading: 333.386360 deg. zoHeadingCmd: 5.818690 target range: 107.887436 and range: 108.40 m.Ro2@JoboZoBo:n2n m m l kkkk@;II M5ɝIiIIMGgImaim=imZE=)m2@)q EyEyEyEyAF6"F*F2Fq4:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756002yԙ G C;=G ?G ?G 2B :B  O >"ď,D?A6ԭ@Y6@6m96>=>AHRS rotation from veh to nav: [[0.900312,0.431882,-0.054001],[-0.435003,0.896997,-0.078548],[0.014515,0.094208,0.995447]]y6H[??ۿ@2?@?? ?ɫ6ԭ@6֎;6_CF+~BFOIINsINy٥Zoӽ ZH=9Zv?;Q Z>\\ ^F٦^]Eyb/; b> dj4Yf?j4yf2f]Bhj hj?fDf;fj;fS4rԒB)rArڤEoFNOT Ignoring new targets: 107.89 m.oI|oI| ProNav: ac range: 107.887436 m, nav range: 106.191933 m, bearing: 334.888028 deg, approach rate: -0.475584 m/s, LOS rate: -0.055141 deg/s, cmd heading: 333.386369 deg, new cmd heading: 333.318516 deg. zo_HeadingCmd: 5.817505 target range: 107.887436 and range: 108.40 m.Ro)@JoboZoBo:n2nmmlkkkkU@ɞ}}Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009356xF; MY>IQ e/ɝiiiIuԳkImi=iIC!ixP=)U)@)mG)y `wA)I`wABEFm6"Fi*Fi2Fm`0:FiJJoJJJJK9JJI] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259901GM G=q G) 2B1 :BI  O] >}Pď,ɭ?AFc@YFB@F W9F=NAHRS rotation from veh to nav: [[0.901153,0.430409,-0.051678],[-0.433300,0.897938,-0.077190],[0.013180,0.091952,0.995676]]yFH??ҋ?}u/ۿ? ³@.?&?`?ɫFc@FW;F^CjKVzNrKV9zKTKVKVTMEEQQ2020+)%!   ^}B^0IbN>b=EMb@Mb@Mb@A A)AIAiAEQ?(\µ?MbE?E=E)E AIAiEVAEA AEAI]fI]{٥m m?=9m)L;Q u>qq uF٦u`Ey}<; }> 4YfЁ?4y3\B ?:Ɠ?D::4ӒB)AۤEH>HHII~BIIID&I<*IyEAoAMFNOT Ignoring new targets: 107.89 m.oMPoMP] ProNav: ac range: 107.887436 m, nav range: 105.962303 m, bearing: 334.869305 deg, approach rate: -0.556580 m/s, LOS rate: -0.045482 deg/s, cmd heading: 333.318504 deg, new cmd heading: 333.262211 deg. zoeeHeadingCmd: 5.816523 target range: 107.887436 and range: 108.40 m.Roe @JoiboiZoiBoi:ni2nimqmu}Blqkqkykyk}T@ɞE}BE~ AE,r>IA M0ɝIiIIM"lnIUUiU=iUZ=)U @)yF6"F*F2Fi0:Fichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512377ԡGU QO=G) 2B9 :BQ  O] > J J pď,F_?A }B )I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763820I-QI-٥5 =O=9=Q E>AA EF٦EbEyM M> Q]4YU၊?]4yUi5QYY]?U DU<;UI;U$4i)mAioFNOT Ignoring new targets: 107.89 m.oHoH ProNav: ac range: 107.887436 m, nav range: 105.750458 m, bearing: 334.851958 deg, approach rate: -0.535426 m/s, LOS rate: -0.043929 deg/s, cmd heading: 333.262224 deg, new cmd heading: 333.210081 deg. zo/HeadingCmd: 5.815613 target range: 107.887436 and range: 108.40 m.Ro@JoboZoBo:n2nmmlkkkk@\@ɞ }B c>I S6ɝi I pI ei/3=i8\=)%@)!ԱF"F*F2F0:FGu \=GGsAGBDAT read: Rx Time:04:03:27.1700 TRx dataTimestamp_ set to:1761365008.172667checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0197652B :B9  Oe >9 Yď,??An@Yn@nX<9n=~AHRS rotation from veh to nav: [[0.901185,0.430654,-0.049026],[-0.433283,0.898089,-0.075509],[0.011511,0.089289,0.995939]]ynH?Տ?@ۿ&?T(?۶??ɫn@n;n[C}BIMb@Mb@Mb@ )IiV-?Mb?:vJoJJJJ>:JJJ ?@=Լ) AI@iAA AIDI٥   ==9 };Q  > F٦eEy8 > 4Y?4y7XB;?:?D;6;,4ҒB)A =B*** querying acoustic contact ***:p9Bp9oiuFNOT Ignoring new targets: 107.89 m.ouCٹouCٹ ProNav: ac range: 107.887436 m, nav range: 105.497925 m, bearing: 334.841054 deg, approach rate: -0.548546 m/s, LOS rate: -0.023743 deg/s, cmd heading: 333.210068 deg, new cmd heading: 333.177277 deg. zo[HeadingCmd: 5.815041 target range: 107.887436 and range: 108.40 m.Ro@JoboZoBo:n2nmm}Blkkkk @ɞ}B8ɻ C(>I ɝi!I%*r-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267772I5i5Z=i5^=)=@)9EEsAF6"F*F2F}0:FAjKmMrKzKKK #.+" H >HCHII~BI =II&IO<*IEi Ge H\=G9 2BI :BY  Om > - DAT read: 04:03:27.1700 LVL= 19824, 28881, 18706, 28659, AGC= 68, IDX= 413,-0.34, 1.824, 0.414, 1.833, 1.411, PHS= 0.501,-0.950, 0.419, RAW= 147.1, 0.4, CAL= 150.6, -8.5, ROT= 359.4, 8.5 ď,,?AYgot valid direction response: 04:03:27.1700 LVL= 19824, 28881, 18706, 28659, AGC= 68, IDX= 413,-0.34, 1.824, 0.414, 1.833, 1.411, PHS= 0.501,-0.950, 0.419, RAW= 147.1, 0.4, CAL= 150.6, -8.5, ROT= 359.4, 8.5 PDAT read: Bearing 359.4, 8.5 (Local) ~Local bearing/azimuth received: Bearing 359.4, 8.5 (Local) DAT read: Range 10 to 50 : 106.6 m (Round-trip 142.2 ms) speed 0.4 m/s 6R#Rx 1: Read range and direction messages.6`direction in FSK: [0.988962,-0.010357,-0.147809]:Fpublishing direction and range infoy ލޒ?4n6%)k¿3BY pM)pIIioA?33s+> O$@);I8(@i@> )3EeS{?_ӳ+?%~?iSQ>-D+> )]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.]N@Y]-@]69]j=mAHRS rotation from veh to nav: [[0.900377,0.432429,-0.048240],[-0.434969,0.897366,-0.074403],[0.011115,0.087974,0.996061]]y]H??`ۿ@9?` @|Æ?p??ɫ]N@]rf;]^C}BIi!I%AI-p=)-R=I5dI5@٥E E8=i9i:Q > F٦hEyT > -4Y?-4y:UB)--?-D/#<z#<O449)=4 A9JpRpD1+?Ap0Bp0Bpg@vqE;Z@+C블> ]/v ލޒ?4n6%)k¿pD+p>vգW@>2CF-vAn0?kۿptyjp5rpBZpN9?bpzpcCBppTpp Bpպ@U addTargetRange:: Added new target pos. range: 106.599998 m, deltaT: 3.780777 s, deltaX: -1.800003 m, approachRate: -0.476093 m/s, rangeRepo size: 4  Added new target pos. range: 106.094345 m, bearing: 334.370397 deg, lat: 36.779459 deg, lon: -121.859742 deg, deltaT: 3.780777 s, deltaX: -1.793091 m, approachRate: -0.474265 m/s, posRepo size: 4 oFNOT Ignoring new targets: 106.09 m.oo ProNav: ac range: 106.094345 m, nav range: 105.520805 m, bearing: 334.527219 deg, approach rate: 0.000000 m/s, LOS rate: -0.023743 deg/s, cmd heading: 333.177283 deg, new cmd heading: 333.143898 deg. zo HeadingCmd: 5.814458 target range: 106.094345 and range: 106.60 m.Ro  @Jo bo Zo Bo :n2nmmlkkYk]`fZ@keOs?ԙɞ}Bp >I ㇼɝ)i)I-r=*DAT read: user:306> EBDAT read: Tx time:04:03:28.4236 E$Ping request sent.E%Nď,?I?Ab|@Yb[@b1jJDAT read: TxSync time:04:03:28.4228 rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2523489b4=mAHRS rotation from veh to nav: [[0.899218,0.434894,-0.047697],[-0.437367,0.896284,-0.073384],[0.010836,0.086849,0.996163]]ybH d?L?k`ۿ@[?Mɲ0?;?@?ɫb|@b^m;b_C -}}B-II-YI-٥}K "=9:Q > F٦kEyݮ >  4Y? 4y<QB 5y5?>D;;=41UВB)U AUܤEoFNOT Ignoring new targets: 106.09 m.oo ProNav: ac range: 106.094345 m, nav range: 105.244469 m, bearing: 334.515100 deg, approach rate: -0.579093 m/s, LOS rate: -0.025463 deg/s, cmd heading: 333.143897 deg, new cmd heading: 333.107446 deg. zőmHeadingCmd: 5.813822 target range: 106.094345 and range: 106.60 m.Rom @JoiboiZoiBoi:nq2nqmymylkkkkT?ɞM}BU$ QUt=IQ UɝQiYI]sI]mPi=ioR=) @)achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504807FY "FY *FY 2FY :FY ԉ ZH RH <H >H H _II E~BI I I D&I n<*I DE2IC:ICBIJIˠ =RIˠ =ZI;5jKe YmLrKa zKa Ke Ke ,:;3*$ 7PRJIE?4.,2BS]^TG<300598::-#G} mY=G ?G *?GY2Bq:B O>ď,;h?AB}v@YB\q@BB9Bs=JAHRS rotation from veh to nav: [[0.897385,0.438641,-0.047910],[-0.441090,0.894673,-0.070710],[0.011847,0.084586,0.996346]]yBH`??@:ܿ)?@ UC?u?`?ɫB}v@BN;B^CR^}BRIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754966Mb@Mb@Mb@ )Ii\(\?~jtMb?D) AI~@iA$A AIHI٥ R=9*Q > F٦mEy4 > 4Y/?4yY?LB ? :  ?MD<:E:C4)!A!oAMFNOT Ignoring new targets: 106.09 m.oM+9oM+9] ProNav: ac range: 106.094345 m, nav range: 105.015434 m, bearing: 334.518516 deg, approach rate: -0.628597 m/s, LOS rate: 0.009394 deg/s, cmd heading: 333.107452 deg, new cmd heading: 333.117720 deg. zoeO9eHeadingCmd: 5.814001 target range: 106.094345 and range: 106.60 m.RoeL @JoiboiZoiBoi:ni2nimm }Blkkk k +?Qɞ}B; 靽R=I SɝiIX$sI8i=i@B=)L @)Ep>E>F"F*F2F0:FyJqJjJJJD:J9JJJ\Z;! J^Z;! J:! J:! U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007543Gm QO=ԩ GA 2BQ :Ba  Om > ď,;?A6e@Y6|`@6T96#׬=>AHRS rotation from veh to nav: [[0.896462,0.440412,-0.048932],[-0.442932,0.893831,-0.069846],[0.012976,0.084287,0.996357]]y6H Я?`/? XܿB?k᱿`? ݓ? (?@ɫ6e@6;6\CFK}BJIJ%=Jp>IR+IRļ٥Z)L Z^=9ZHQ ^>\\ bF٦bpEybŷ b> dj4Yfa@?j4yfBfGBlnn?f[DfM ;f!;fJ4vϒB)zP!AzݤEoFNOT Ignoring new targets: 106.09 m.o%29o%295 ProNav: ac range: 106.094345 m, nav range: 104.794334 m, bearing: 334.522078 deg, approach rate: -0.604941 m/s, LOS rate: 0.009767 deg/s, cmd heading: 333.117724 deg, new cmd heading: 333.128434 deg. zo59=HeadingCmd: 5.814188 target range: 106.094345 and range: 106.60 m.Ro= @Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkIkMg?ɞU}BUU Y] <=IY ]pɝYiYI]"sIeq ie=im<=)m @)1ԩةةchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260262F6"F*F2F`5:FGB=G2B:B) OUu> ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859̯&ď, ?AJ<@YJ7@Joa9J=VAHRS rotation from veh to nav: [[0.894238,0.444798,-0.049930],[-0.447380,0.891666,-0.069158],[0.013759,0.084181,0.996355]]yJH?w?`ܿ?X-?茵?$?ɫJ<@Jh;J[C^;}B^Ih]Mb@Mb@Mb@Y Y)YIYiY]MbX9? ףp= :v]!?]Q8]Լ)YI]h@i]?A]?A YYIu=IuЬ٥7 ==9Q > F٦sEy< > 4YBT?4yECBV"?:?mD;_;Q4ΒB)!A]B*** querying acoustic contact ***:pYBpYoFNOT Ignoring new targets: 106.09 m.o:o: ProNav: ac range: 106.094345 m, nav range: 104.521744 m, bearing: 334.535043 deg, approach rate: -0.608270 m/s, LOS rate: 0.029006 deg/s, cmd heading: 333.128434 deg, new cmd heading: 333.167431 deg. zo@:HeadingCmd: 5.814868 target range: 106.094345 and range: 106.60 m.Rog@JoboZoBo:n2nmm|Blkkkk?Hm>HmCHm3IIm}BIm =Im?DIi&ImV<*ImEɞ}Bo ,ď,Wε?A65@Y6v0@6Z96C=>AHRS rotation from veh to nav: [[0.893846,0.445608,-0.049731],[-0.448177,0.891232,-0.069593],[0.013311,0.084493,0.996335]]y6H@b?؄?\vܿ?б`B?[?@?ɫ65@6 ;6]CFB}BFIIN`IN̍٥V+< ZZ=9Zj:Q Z>\\ ^F٦^uEJ`J`J`J`J`J`J`J`Jb[Z;J`J`J`yn n> pv4Yre?v4yrHr?Bxz7z?r|Dr:r3:r2X4|)~i!A|o)5FNOT Ignoring new targets: 106.09 m.o5|:o5|:Y ProNav: ac range: 106.094345 m, nav range: 104.282372 m, bearing: 334.546601 deg, approach rate: -0.661595 m/s, LOS rate: 0.032017 deg/s, cmd heading: 333.167421 deg, new cmd heading: 333.202173 deg. zoȯ:HeadingCmd: 5.815475 target range: 106.094345 and range: 106.60 m.Ro_@JoboZoBo:n2nmmlkkkk@ɞM"}BMme IM=IQ  ɝiIrIwi=i%=)_@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015152F=6"F9*F92F=`0:F9ԉG0=GY2Bi:By OZ>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266831 3ď,?AԹ(@Y#@y`T9ԭ=AHRS rotation from veh to nav: [[0.893157,0.446996,-0.049652],[-0.449559,0.890510,-0.069919],[0.012962,0.084770,0.996316]]yH@??k`ܿ?`/汿`ދ?@w??ɫ(@Gn;髭^C3}BIMb@Mb@Mb@ )Ii%C?T㥛 I +Z$?94) AI~@iA 3A) IkI ٥- -(=9-<:Q 5>11 5F٦5xEy=Q => AM4YE{?M4yE9ME=BM*%?M:MU?EDE;E;E`4]͒B)]!A]ޤEoFNOT Ignoring new targets: 106.09 m.o`@:o`@: ProNav: ac range: 106.094345 m, nav range: 103.973282 m, bearing: 334.566805 deg, approach rate: -0.641341 m/s, LOS rate: 0.042047 deg/s, cmd heading: 333.202173 deg, new cmd heading: 333.262965 deg. zo:HeadingCmd: 5.816536 target range: 106.094345 and range: 106.60 m.Ro!@JoboZoBo:n2nmm|Blkkkk@@ɞ%}B%Z} ^Hi Hm IIm }BIm =Ii Ii &Im |<*Im UEjK} VLrK} 9zKy K} K} (#      kFif9}2K rA*K rAG #'=A G 2B :B  O >:9ď,?A]E}BeIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772637IjI٥qM= d=9Q > F٦zEy > 4Ye?4yP;B?Dp::Fg4ÒB)!AEoFNOT Ignoring new targets: 106.09 m.o A:o A: ProNav: ac range: 106.094345 m, nav range: 103.729622 m, bearing: 334.582818 deg, approach rate: -0.640792 m/s, LOS rate: 0.042211 deg/s, cmd heading: 333.262961 deg, new cmd heading: 333.311113 deg. zo:HeadingCmd: 5.817376 target range: 106.094345 and range: 106.60 m.Ro'@JoboZoBo:n2nmmlkkkkY@ɞ-'}B-i )5ԙ @ď,`?A6 @Y6@6iQ96̴=BAHRS rotation from veh to nav: [[0.891667,0.449781,-0.051253],[-0.452511,0.888777,-0.072860],[0.012781,0.088159,0.996024]]y6H? 5?=ܿ`p? 𦲿` -?@?n?ɫ6 @6߉;4FT}BJIIROIRݜ٥Zj%= Z^=9Z:Q Z>\\ ^F٦^}EybA b> dn4YfD?n4yfSf:Bprr?fDfe`;fqa;fQm4v’B)v AxoFNOT Ignoring new targets: 106.09 m.o% F:o% F:5 ProNav: ac range: 106.094345 m, nav range: 103.508171 m, bearing: 334.597838 deg, approach rate: -0.636812 m/s, LOS rate: 0.043284 deg/s, cmd heading: 333.311100 deg, new cmd heading: 333.356257 deg. zo5:5HeadingCmd: 5.818164 target range: 106.094345 and range: 106.60 m.Ro=g.@Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkQkU] @ɞ%)}B%X )-+=I) -Rɝ)i)I-qI]3ier=iegm =)eg.@)aqEEtAF-6"F)*F)2F-o0:F)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274866ԩ)5G i)I BG5u=G 2B :B)  O5 > Fď,:?A&DAT read: 04:03:30.9670 LVL= 19856, 23697, 17346, 25571, AGC= 68, IDX= 414,-0.06,-2.909, 1.970,-2.933, 2.974, PHS= 0.488,-0.957, 0.373, RAW= 145.9, 1.4, CAL= 149.3, -7.5, ROT= 0.7, 7.5 *Ygot valid direction response: 04:03:30.9670 LVL= 19856, 23697, 17346, 25571, AGC= 68, IDX= 414,-0.06,-2.909, 1.970,-2.933, 2.974, PHS= 0.488,-0.957, 0.373, RAW= 145.9, 1.4, CAL= 149.3, -7.5, ROT= 0.7, 7.5 .PDAT read: Bearing 0.7, 7.5 (Local) .~Local bearing/azimuth received: Bearing 0.7, 7.5 (Local) FDAT read: Range 10 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.7 m/s FR#Rx 1: Read range and direction messages.J^direction in FSK: [0.991371,0.012112,-0.130526]NFpublishing direction and range infoiymށfO?B]mΈ? /mBYi mM)m\ImCimcim#>mtm> m"@)m+ i)im50U?@i~i?:?ime>mǼm+H i)ijT****** received valid address query ******jR****** received valid ping request ******jQuerying Benthos address 50 with one ping in standard two-way mode.v @Yv@vVR9v =AHRS rotation from veh to nav: [[0.891603,0.449843,-0.051821],[-0.452636,0.888637,-0.073791],[0.012856,0.089248,0.995926]]yvH?@4< -Monly read 0 of 1 data item for BIT error. Device response is::TS,251024205.0, +11.9, 0.0,1496.6, 0 mM@M qM@U u@ i@ IaI錴٥3#=  *=9 "Q  >H>HCHII =I>DID&I<*IEqq uF٦uEyu }> y4Y}᳂?4y}IX}7B+::?}D};}m>}Jt4B)h AEJpiRpm~?ApmBpmBpm.˺@vm*S@|Y@y.`"?H+vmށfO?B]mΈ? /pm+H<pm >vmSGW@P@F9J $(vm+w?1oiۿC ;jpm2rpm8BZpmd"Z?bpmzpm MBpmd"Z?jK FQrK 9zKKK"__cLd?wt|AMH:)pmpipm:Bpmٺ@ addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.778334 s, deltaX: -2.199997 m, approachRate: -0.582266 m/s, rangeRepo size: 4   Added new target pos. range: 103.904190 m, bearing: 334.452791 deg, lat: 36.779458 deg, lon: -121.859743 deg, deltaT: 3.778334 s, deltaX: -2.190155 m, approachRate: -0.579662 m/s, posRepo size: 4 o%FNOT Ignoring new targets: 103.90 m.o-o)= ProNav: ac range: 103.904190 m, nav range: 103.114807 m, bearing: 334.552981 deg, approach rate: 0.000000 m/s, LOS rate: 0.043284 deg/s, cmd heading: 333.356262 deg, new cmd heading: 333.424654 deg. zo9EHeadingCmd: 5.819358 target range: 103.904190 and range: 104.40 m.RoE.8@JoAboAZoABoA:nI2nImImIlQkQkQkUZ@kU?ɞ,}B8O o=I |ɝiIiqIzir=iD=).8@)*DAT read: user:307> BDAT read: Tx time:04:03:32.1737 $Ping request sent.GMď,Ѱ7?AJ*C=J*a=J2tJ2iJ0J0J2;N:J2ڈ9J0J0J2j;J2j;J2q:J2s:}}BIIgI٥ yZ= MW=9UQ ]>YY eF٦eEye e> 4Ypł?4y[6B :W:?D:`?x4JDAT read: TxSync time:04:03:32.1729 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251782) A B*** querying acoustic contact ***:p Bp o)5FNOT Ignoring new targets: 103.90 m.o5T:o=T:M ProNav: ac range: 103.904190 m, nav range: 102.869812 m, bearing: 334.569644 deg, approach rate: -0.681773 m/s, LOS rate: 0.046481 deg/s, cmd heading: 333.424646 deg, new cmd heading: 333.474754 deg. zoM2:]HeadingCmd: 5.820232 target range: 103.904190 and range: 104.40 m.Ro]X?@JoYboYZoBo:n2nmmlkkkk72?ɞ.}B+  =I  Ւɝ i I =ZrI'iE=i#=)X?@)F"F*F2Fr0:FA e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503037G G=G 2B :B  O >d-Tď,YQ?Au}BuImm  q q  u u  i i  Mb@Mb@Mb@  ) I i  7A`?kty&1? ?  0 `e<) h AI Q@i VA ?A  AI%KI%h٥5܇= 59=99Q =>III MF٦MEyQ U> Ye4Y]ׂ?m4y]8_]:BmT:m?u:uk u?]D]dI;]G;]04}B)}A}EoFNOT Ignoring new targets: 103.90 m.o:o: ProNav: ac range: 103.904190 m, nav range: 102.617729 m, bearing: 334.583874 deg, approach rate: -0.602814 m/s, LOS rate: 0.034112 deg/s, cmd heading: 333.474752 deg, new cmd heading: 333.517546 deg. zoH:HeadingCmd: 5.820979 target range: 103.904190 and range: 104.40 m.RovE@JoboZoBo:n2nmm]}BlkkkkfV?ɞ0}BP 靵=I  ׃ɝiI`4sIQiť=iw=)vE@)Ei>E>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756445qF"F*F2F0:FZH<RHp<H >HH3II}BI =II&I<*IEԡ G 9=jK dOrK 9zK K K RkY\f=*!!4M/O<1 FV=+p!G 2B :B  O >ESZď,Nk?ADj4 @Yj@j Rd9jP= AHRS rotation from veh to nav: [[0.891618,0.449849,-0.051518],[-0.452575,0.888910,-0.070823],[0.013935,0.086463,0.996158]]yjH!?R?`@ܿq?x!?@p"??ɫj4 @j;j[C%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855%}B-Ii1I1I=<I=٥M> Mp=9M4PQ M?QQ UF٦UEy]>9 ]? am4Ye悊?m4yeae=Bimd u?eDe9:e:e4y)}AyoFNOT Ignoring new targets: 103.90 m.o:o: ProNav: ac range: 103.904190 m, nav range: 102.419258 m, bearing: 334.595115 deg, approach rate: -0.588062 m/s, LOS rate: 0.033371 deg/s, cmd heading: 333.517536 deg, new cmd heading: 333.551324 deg. zo7:HeadingCmd: 5.821569 target range: 103.904190 and range: 104.40 m.RoKJ@JoboZoBo:n2nmmlkkkk ?ɞ-2}B-y )-a>I1 5ɝ1i1I5HtI=Xi==i='=)EKJ@)AԱF6"F*F2F4:FG5;=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260531G 2B :B)  O5 > ;aď,|+?ARI@YR(@RO^9R#=ZAHRS rotation from veh to nav: [[0.892509,0.447958,-0.052546],[-0.450826,0.889535,-0.074053],[0.013568,0.089782,0.995869]]yRHo?Y? B窿Sܿ w?'`ɋ??(?ɫRI@RӚ;Pb}BbIIjIjJȴl٥v0< vQ=9vu:Q v>xx zF٦~Ey; > 4Y ?4y e AB ? D : ; 4%B)%A!oIMFNOT Ignoring new targets: 103.90 m.oU:oU:e ProNav: ac range: 103.904190 m, nav range: 102.188904 m, bearing: 334.607968 deg, approach rate: -0.586119 m/s, LOS rate: 0.032778 deg/s, cmd heading: 333.551332 deg, new cmd heading: 333.589978 deg. zoe:mHeadingCmd: 5.822244 target range: 103.904190 and range: 104.40 m.RomO@JoiboiZoqBoq:nq2nqmymlkkkk?ɞ5}B*~ 靽\>I ɝiIvIiӏ=i=)O@)Fq"Fq*Fq2Fu_0:Fq 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511758AG2g=G2B:B O>J pJ wJ J J A:J 9J J ! @! @! @! @q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762691mgď,)?A: 2@Y:,@:E9:=BAHRS rotation from veh to nav: [[0.893666,0.445675,-0.052293],[-0.448570,0.890388,-0.077417],[0.012058,0.092643,0.995626]]y:H??5ƪ`ܿ`~?ѳ`? n?+?ɫ: 2@:V[;:]CJ}BJ+I)mMb@Mb@Mb@i i)iIiiim|?5^?MbP?~jt?m ?m:m<)iIm~@iimA imAI_I٥x= ?=9,g;Q > F٦Ey; > 4Y?4ygFB ?:? DH::m4)1AoFNOT Ignoring new targets: 103.90 m.o39o39 ProNav: ac range: 103.904190 m, nav range: 101.952530 m, bearing: 334.611077 deg, approach rate: -0.552023 m/s, LOS rate: 0.007278 deg/s, cmd heading: 333.589991 deg, new cmd heading: 333.599340 deg. zoן9HeadingCmd: 5.822407 target range: 103.904190 and range: 104.40 m.Ro(Q@JoboZoBo:n2n!m)m-}Bl)k)k1k1k5~@HiHiHmYIIm;~BIiIiIi&Im<*ImE2I):I)BI)JI-¡ =RI-¡ =ZI-,5ɞ7}Bb 靕9>I ΀ɝiII}xI/i=ȇ=i=@-=)E(Q@)AEQYjKOrK]9zKKKV0# BK?:K?F56"F1*F12F9:F9-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015004ԁGU =G1 2BQ :Bi  O > mď,?AI)<:G@Y:A@: r49:=BAHRS rotation from veh to nav: [[0.894827,0.443332,-0.052355],[-0.446277,0.891275,-0.080413],[0.011013,0.095321,0.995386]]y:H`l?_?PΪ͏ܿR?򕴿#?f? 3?ɫ:G@:;:[CJ~BN8IIRjIR٥bT= bY=9b@6;Q f>dd fF٦fEyj; j> lr4YnD?r4ynTjnKBpvv?nDn :n:n4zB)zAzEoFNOT Ignoring new targets: 103.90 m.o%8o%8= ProNav: ac range: 103.904190 m, nav range: 101.744431 m, bearing: 334.613536 deg, approach rate: -0.555834 m/s, LOS rate: 0.006581 deg/s, cmd heading: 333.599334 deg, new cmd heading: 333.606726 deg. zo=9EHeadingCmd: 5.822536 target range: 103.904190 and range: 104.40 m.RoE7R@JoIboIZoIBoI:nI2nImQmQlQkYkYkYk]`@ɞ:}Bp 靍K>I \/ɝԑiI izI9i=iL[=)7R@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267112F"F*F2F`0:FGFsAG]=Gi2Bq:B O>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518693 wtď,?A[@YV@#+'9=%AHRS rotation from veh to nav: [[0.895963,0.441032,-0.052360],[-0.444012,0.892188,-0.082788],[0.010203,0.097424,0.995191]]yH ?9?Ϊjܿ͌?@1L?? ?ɫ[@:;髵XCE.~BEPIMb@Mb@Mb@ )Iiw/?kt?~jt?? 0=) AIh@ilA?A AJJ3JS}-JUoJUiJU3JQJU>:JUڈ9JU(3JQIJIK٥= #=9U:Q > F٦Ey; > 4Y,?4ylRBr?:þ?+D:E:4)6A B*** querying acoustic contact ***:p Bp oFNOT Ignoring new targets: 103.90 m.o%[o%[M ProNav: ac range: 103.904190 m, nav range: 101.480629 m, bearing: 334.604505 deg, approach rate: -0.526490 m/s, LOS rate: -0.018071 deg/s, cmd heading: 333.606738 deg, new cmd heading: 333.579575 deg. zoMnFUHeadingCmd: 5.822062 target range: 103.904190 and range: 104.40 m.RoUUN@JoQboQZoQBoY:nY2nYmYme#~Blakakakikm`@ɞ>}B0} o>I 2{ɝ!iAIE|IMSiMĆ=iM!=)MUN@)QEYE]sAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871FU6"FQ*FY2FY:FYQJHqBHqH} >HyH}II}~BIyIyIy&I}i<*I}BEG [=jKE ONrKE 9zKA KE KE 5Uu}ukea\ewjfceqAymbR< ~mgefnrkiifa][ZZXW^l{ԡ G 2B :B  O% >uzď,?A2Mu@Y2,p@2:92?=:AHRS rotation from veh to nav: [[0.897341,0.438280,-0.051850],[-0.441230,0.893492,-0.083594],[0.009690,0.097890,0.995150]]y2H? ?@ =ܿ`|?cf؃? P?E?ɫ2Mu@2e{;2YCFR~BFgIIZg BDAT read: Rx Time:04:03:34.7141 TRx dataTimestamp_ set to:1761365015.731065checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025547IZ٥= p=9g:Q ? F٦EyW< ? 4Y;?4ynWBE¾?7D::4B)AEo9EFNOT Ignoring new targets: 103.90 m.oMgoMgԑ ProNav: ac range: 103.904190 m, nav range: 101.301163 m, bearing: 334.598020 deg, approach rate: -0.523506 m/s, LOS rate: -0.018950 deg/s, cmd heading: 333.579582 deg, new cmd heading: 333.560092 deg. zoPHeadingCmd: 5.821722 target range: 103.904190 and range: 104.40 m.RoK@JoboZoBo:n2nmmlkkkk @ɞ5A}B51; 9=>I9 =h?xɝ9i9I=IEDiE=iM[F-=)MK@)IF6"F*F2Fo0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275293G =G 2B :B  O > ď,s?A :@Y:~@:9:Q=BAHRS rotation from veh to nav: [[0.898542,0.435860,-0.051457],[-0.438785,0.894672,-0.083841],[0.009495,0.097913,0.995150]]y:H`?#?`X ܿ(? vq??@D?ɫ:@:;:[CJQ~BJfIIR=)Ra=)P R@AIV]IVt٥f  j\=9rr :Q v>xx ~F٦Ey 6; > 4YmK?4yp]B?DD`I<I<4]B)]RAeEoFNOT Ignoring new targets: 103.90 m.ooU ProNav: ac range: 103.904190 m, nav range: 101.092033 m, bearing: 334.590110 deg, approach rate: -0.492035 m/s, LOS rate: -0.018649 deg/s, cmd heading: 333.560102 deg, new cmd heading: 333.536322 deg. zoUL]HeadingCmd: 5.821307 target range: 103.904190 and range: 104.40 m.Roe&H@JoaboaZoiBo:n2nmmlkkkk,@MDAT read: 04:03:34.7141 LVL= 19696, 25809, 17874, 28227, AGC= 66, IDX= 416,-0.11, 0.465,-0.854, 0.452, 0.102, PHS= 0.451,-0.909, 0.347, RAW= 146.1, 1.7, CAL= 149.3, -7.1, ROT= 0.7, 7.1 UYgot valid direction response: 04:03:34.7141 LVL= 19696, 25809, 17874, 28227, AGC= 66, IDX= 416,-0.11, 0.465,-0.854, 0.452, 0.102, PHS= 0.451,-0.909, 0.347, RAW= 146.1, 1.7, CAL= 149.3, -7.1, ROT= 0.7, 7.1 ]PDAT read: Bearing 0.7, 7.1 (Local) ]~Local bearing/azimuth received: Bearing 0.7, 7.1 (Local) uDAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.}^direction in FSK: [0.992258,0.012123,-0.123601]Fpublishing direction and range info y ? xԈ?A7X fBY  L) dI Ei Cn B y> 9h > 1#@)  G"  = ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɞD}B4; U>I JtɝiIJ1IG{iߛ=i47=)&H@)!!F6"F*F2F:FI Ju pJu eJu 2Jq Ju A:Ju 9Ju c3Jq G /=G ?G > *DAT read: user:308>  BDAT read: Tx time:04:03:35.9737  $Ping request sent. ď,S ?A~Y~B~kIH >HHII~BIII&Ir<*IMEMb@Mb@Mb@ )IiNbX9?MbX9?Q??ʡ=u<)~ AIiAVA AIOIݜ٥< /=9Q > F٦Ey > -4Yr^?-4yrcB55?5:5k5?SD;?;u4=B)=+A=EQJp9Rp=h?Ap=nBp=nBp=M@v=7!a;Y@L.u?s;@$)v=? xԈ?A7Xp9p==v=Xɲ~V@ZkEC&v=!B?:ڿUżjp=(rp=BZp={U?bp=azp=PBp= cd?p=Tp=YKBp=Bp=@  addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.779902 s, deltaX: -2.200005 m, approachRate: -0.582027 m/s, rangeRepo size: 4  Added new target pos. range: 101.715294 m, bearing: 335.366053 deg, lat: 36.779459 deg, lon: -121.859742 deg, deltaT: 3.779902 s, deltaX: -2.188896 m, approachRate: -0.579088 m/s, posRepo size: 4 oFNOT Ignoring new targets: 101.72 m.oo ProNav: ac range: 101.715294 m, nav range: 100.935371 m, bearing: 334.639721 deg, approach rate: 0.000000 m/s, LOS rate: -0.018649 deg/s, cmd heading: 333.536333 deg, new cmd heading: 333.511858 deg. zoHeadingCmd: 5.820880 target range: 101.715294 and range: 102.20 m.RoD@Jo bo Zo Bo :n 2n mmc~BlkkǩY@k`Y?jK%OrK%h9zK!K%K%)>=0& sf^RKB8>JQOJA>;8:IlQVɞH}Be^; 靍D>I SpɝiIIQi=i)D@PExceeded connect timeout, disconnecting.)Ea>E>y-JDAT read: TxSync time:04:03:35.9729 =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253123FQ"FQ*FY2F]~0:FYԡ G 8=Gq 2B :B  O >ď,:?A:@Y:s@:!9:=BAHRS rotation from veh to nav: [[0.899605,0.433573,-0.052207],[-0.436593,0.895630,-0.085054],[0.009881,0.099308,0.995008]]y:H`?৿?ۺ"ۿ?Ƶl@JoboZoBo:n 2n m m lkkkk$?%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501469ɞ%K}B%•< !%h>I! -jmɝ)i)I-n!I5+i5=i5faC=)5>@Y)yF "F *F2F`5:FԁG5 п8=i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754570 G9 )U G m vA) I  vA B2B :B  O >ď,&T?API <) <]o~B]yI imAJJhJJJJȆ9JJMb@Mb@Mb@ )IiPn?/$?Mb??=<)AIilA GAI-iI-҅٥= =)=9=Q =>AA EF٦EEyE M> Ye4Y]d?e4y]u]mBm?m:mڕm?]oD];];]Ƣ4uB)}A}EB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 101.72 m.ou3Uou3U ProNav: ac range: 101.715294 m, nav range: 100.506126 m, bearing: 334.604044 deg, approach rate: -0.538818 m/s, LOS rate: -0.046599 deg/s, cmd heading: 333.469506 deg, new cmd heading: 333.404573 deg. zoHeadingCmd: 5.819007 target range: 101.715294 and range: 102.20 m.RoO5@JoboZoBo:n2nmm~Blkkkk@?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005577ɞP}BXV; >I hɝiI3ޅIi%=iuE=)O5@)F"F*F2F2:FZHRH<H >HHII~BI =II&Iw<*IUE! jK} AOrK} 9zKy K} K} ;=,\Gi(`+jP;"&)#  nManaging dock network, ignoring radio surface power offG -B=G sAG G 2B :B  O >Cď,?o?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258071LV|@YV[@Vb9V=bAHRS rotation from veh to nav: [[0.899868,0.433220,-0.050580],[-0.436055,0.896153,-0.082259],[0.009691,0.096078,0.995327]]yVH?߹?婿 RۿH?ك??@?ɫV|@V`;TMq~BUzIIe)Ie٥uE; ud=9uY :Q u>yy }F٦}Ey}: > 4Yt?4yZwqB?{D&;";'͢4B)AoFNOT Ignoring new targets: 101.72 m.okNokN ProNav: ac range: 101.715294 m, nav range: 100.321632 m, bearing: 334.587983 deg, approach rate: -0.517309 m/s, LOS rate: -0.045116 deg/s, cmd heading: 333.404565 deg, new cmd heading: 333.356294 deg. zoHeadingCmd: 5.818165 target range: 101.715294 and range: 102.20 m.Ro h.@Jo bo Zo Bo :n 2nmmlkkkk/?ɞMS}BM9< IM >II U fɝQiQIUPI]/i]=i]J=)]h.@)aE F"F*F2F_0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509775GG=G 2B :B  O > %ď,T?A:@Y:@:M9:=FAHRS rotation from veh to nav: [[0.900388,0.432140,-0.050560],[-0.435001,0.896430,-0.084782],[0.008685,0.098330,0.995116]]y:H?/?⩿ ۿ ? E Ɂ?),?`?ɫ:@:!U;8Ji~BNuIIZNIZ٥b bW=9b_-;Q f>dd fF٦fEyjyJ; j> lr4Yn~?r4ynxnuBtvv?nDn;n:nӢ4x)zAxo!%FNOT Ignoring new targets: 101.72 m.o5Oo5OE ProNav: ac range: 101.715294 m, nav range: 100.125259 m, bearing: 334.570696 deg, approach rate: -0.514734 m/s, LOS rate: -0.045401 deg/s, cmd heading: 333.356289 deg, new cmd heading: 333.304327 deg. zoEDMHeadingCmd: 5.817258 target range: 101.715294 and range: 102.20 m.RoM&@JoIboIZoQBoQ:nQ2nQmQmYlYkakakakep>?ɞW}B; 靕>I bɝiI>I i=iR=)&@)F1"F9*F92F=`0:FAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763531)G]JM=iGQ2BY:Bq O}>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013336oQď,~?A 6Y@Y68@6l96=>AHRS rotation from veh to nav: [[0.900728,0.431545,-0.049575],[-0.434320,0.896657,-0.085862],[0.007398,0.098870,0.995073]]y6H@?m? aۿ j?M~?@O??ɫ6Y@67;6YCJk~BJvIH%>H!H%II%BI!I%?DI!&I%j<*I%>EyMb@Mb@Mb@ )Ii/$?(\µ?MbP?1?=:) AI~@iA AI]It٥ĭ; 9=9U?;Q > F٦Ey\: > 4Y?4yzxB ?:d?Do;F;ۢ4B)AEoAMFNOT Ignoring new targets: 101.72 m.oMkVoMkV] ProNav: ac range: 101.715294 m, nav range: 99.890381 m, bearing: 334.550052 deg, approach rate: -0.531939 m/s, LOS rate: -0.046865 deg/s, cmd heading: 333.304325 deg, new cmd heading: 333.242246 deg. zoeeHeadingCmd: 5.816175 target range: 101.715294 and range: 102.20 m.Roe@JoaboiZoiBoi:ni2nimqmuk~Blqkykykyk}$@ɞ\}B; 靵>I ^ɝiIn Ii=iX=)@)ԡjKOrK9zKKKvi]VNHDA=703Lissg^SI@;41.'&%" F"F*F2F:FG G=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265355GXR=G ?G ?G 2B :B  O > J rJ kJ J J G:J 9J J J _;! J _;! J :! J :! 1zď,帼?A2@Y2@2ǻ923=>AHRS rotation from veh to nav: [[0.900807,0.431599,-0.047630],[-0.434177,0.896823,-0.084847],[0.006096,0.097111,0.995255]]y2H@i?R?cۿƲ?` x?Gܸ? ?ɫ2@2n;0Fg~BFtIINpIN<٥V@ V`=9Z>j;Q Z>XX ^F٦^Ey^m9 b> `f4YbÃ?j4yb"|b{BhjKj?bDb:bW:b4)A!oamFNOT Ignoring new targets: 101.72 m.ouQoQ ProNav: ac range: 101.715294 m, nav range: 99.696335 m, bearing: 334.532900 deg, approach rate: -0.517332 m/s, LOS rate: -0.045814 deg/s, cmd heading: 333.242252 deg, new cmd heading: 333.190699 deg. zoHeadingCmd: 5.815275 target range: 101.715294 and range: 102.20 m.Ro@JoboZoBochecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517433:n2nmmlkkkk8@ɞ]`}B]z; Y]S>IY e[ɝaiaIe%Imim==imU[=)m@)yEEtAF)"F)*F)2F-o0:F) 1GmmY=GI 2BY u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769424:Bq  O >Y kď,s?AmQ@Ym0@mF9m=!%AHRS rotation from veh to nav: [[0.900581,0.432325,-0.045267],[-0.434660,0.896819,-0.082377],[0.004983,0.093862,0.995573]]ymH`?5? 4-vۿ?ht?]?`?ɫmQ@mU;mZC5L~B5cIMb@Mb@Mb@ )Iix&?㥛 ?Mb7 ?=) AIiVA IOIݜ٥X[ *=9\;Q > F٦Ey   > 4Yg؃?4y?~ ?:?DY<D<K4B)<AEB*** querying acoustic contact ***:pBpoFNOT Ignoring new targets: 101.72 m.or7o%r7- ProNav: ac range: 101.715294 m, nav range: 99.438019 m, bearing: 334.513294 deg, approach rate: -0.526896 m/s, LOS rate: -0.040095 deg/s, cmd heading: 333.190698 deg, new cmd heading: 333.131727 deg. zo5"ܺ]HeadingCmd: 5.814246 target range: 101.715294 and range: 102.20 m.Ro]M@JoYboYZoYBoY:na2namameL~Blikikikikm" @BDAT read: Rx Time:04:03:38.5114 TRx dataTimestamp_ set to:1761365019.509792checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022439ɞf}B: f>I  XɝiI닻I i he=Qi]8\=)]M@)YJHBH@AH>HCHII~BI =IID&I9<*IE2I:IBIJIƠ =RIƠ =ZI4FY"Fa*Fa2Fed0:FaGyF}tAyjKm NrKm 9zKi Km Km  ,oq^L=0'! Tl cI]V!G S^=Ա Ga m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740022By :B  O >sď,h ?Ajy@YjX@jJz9jn=AHRS rotation from veh to nav: [[0.899850,0.434130,-0.042443],[-0.436183,0.896399,-0.078827],[0.003825,0.089445,0.995984]]yjH??lۿ@L?-@To???ɫjy@jbt;j[Cm4~BmUII}bI}٥% _=9O;Q > F٦Ey > 4YA胊?4yd?D`::4)AoFNOT Ignoring new targets: 101.72 m.o3Do3D9M ProNav: ac range: 101.715294 m, nav range: 99.241806 m, bearing: 334.498529 deg, approach rate: -0.568749 m/s, LOS rate: -0.042883 deg/s, cmd heading: 333.131740 deg, new cmd heading: 333.087357 deg. zoMpUHeadingCmd: 5.813471 target range: 101.715294 and range: 102.20 m.RoU@JoQboYZoYBoY:ny2nymmlkkkkG @ɞj}B :  :J>I  Uɝ iImI%a~i%<=i%"*Y=)%@)1JMqJMeJIJIJMD:JM9JIJIqJM\Z;JM^Z;JM:JM:F6"F*F2F0:FDAT read: 04:03:38.5114 LVL= 22128, 28209, 19890, 27635, AGC= 67, IDX= 420,-0.12, 2.756, 1.393, 2.767, 2.404, PHS= 0.440,-0.964, 0.360, RAW= 147.1, 2.4, CAL= 150.0, -6.4, ROT= 360.0, 6.4 Ygot valid direction response: 04:03:38.5114 LVL= 22128, 28209, 19890, 27635, AGC= 67, IDX= 420,-0.12, 2.756, 1.393, 2.767, 2.404, PHS= 0.440,-0.964, 0.360, RAW= 147.1, 2.4, CAL= 150.0, -6.4, ROT= 360.0, 6.4 PDAT read: Bearing 360.0, 6.4 (Local) ~Local bearing/azimuth received: Bearing 360.0, 6.4 (Local) DAT read: Range 10 to 50 : 100.1 m (Round-trip 133.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.993768,0.000000,-0.111469]Fpublishing direction and range infoۉyۍ˻ a?QU"5R> -V:ۍ3BYۉ ܍pV)܍1nI܍Mi܍k܍C܍G>܍v܍Q> ݍO$@)ݍ+=Iݍ6'@iݍ佉ݍ@ݍ= މ)މލTv?,?i)?iލG>ލ.-ލ.;4ލ= ߉)߉T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԙG H\=Gi 2By :B  O > ^ď, ?A6@Y6@6oP96j =>AHRS rotation from veh to nav: [[0.899009,0.436118,-0.039801],[-0.437919,0.895924,-0.074484],[0.003175,0.084392,0.996428]]y6H ?[?``ܿg?bj? ??ɫ6@6k;6ZC^!~B^IIIjXIj㔴٥% F %S=9-y:Q ->)) 5F٦5Ey5 5> 9E4Y=?E4y=9IMcM?=D=6:= :=v4Y)]A]EJpRp?Ap?Bp?Bpܺ@v5X@P&>g?85&v˻ a?QU"5R> -V:p.;4p=vO̘\V@CE~%v廦 ?-RۿUjp*rpBZp/j?bp,zp SBpp,p MBpBpٺ@ addTargetRange:: Added new target pos. range: 100.099998 m, deltaT: 3.780958 s, deltaX: -2.099998 m, approachRate: -0.555414 m/s, rangeRepo size: 4  Added new target pos. range: 99.624146 m, bearing: 334.570850 deg, lat: 36.779459 deg, lon: -121.859741 deg, deltaT: 3.780958 s, deltaX: -2.091148 m, approachRate: -0.553074 m/s, posRepo size: 4 oDNOT Ignoring new targets: 99.62 m.oo ProNav: ac range: 99.624146 m, nav range: 98.976151 m, bearing: 334.552914 deg, approach rate: 0.000000 m/s, LOS rate: -0.042883 deg/s, cmd heading: 333.087371 deg, new cmd heading: 333.036841 deg. zoHeadingCmd: 5.812590 target range: 99.624146 and range: 100.10 m.Ro@JoboZoBo:n2nmmlkkk`fY@k?ɞ%o}B- )-b2>I) -Sɝ1i1I5I=i=R=i=U=)=@)AEMV>EM>Ա*DAT read: user:309> BDAT read: Tx time:04:03:39.7252 $Ping request sent.   JDAT read: TxSync time:04:03:39.7245  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508789 <ď,$?AH>>H<H>II>~BI<I<I<&I><*I>iEz~B~DI-II UF٦UEyU U> Ye4Y]1 ?e4y]Ye+:im:im?]D]& ;]A>]4q)uAqoDNOT Ignoring new targets: 99.62 m.oY8oY8 ProNav: ac range: 99.624146 m, nav range: 98.739067 m, bearing: 334.535351 deg, approach rate: -0.542612 m/s, LOS rate: -0.040293 deg/s, cmd heading: 333.036855 deg, new cmd heading: 332.984040 deg. zo8ݺHeadingCmd: 5.811668 target range: 99.624146 and range: 100.10 m.Ro/@JoboZoBo:n2nmmlkkkk? ɞt}B c$>I vbQɝiI،I%ji%=iY=)/@)jKNrK 9zKKKuG1  #+'!0s#JxfBK ?:K?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502057F"F*F2Fa5:F1i G= XR=GI GM >G! 2B) = bCommunications Fault in component: RDI_Pathfinder:BA  OM >8ď,0>?A  Z4M@YZH@Z99Zg=fAHRS rotation from veh to nav: [[0.895206,0.444297,-0.034728],[-0.445634,0.893143,-0.060867],[0.003974,0.069964,0.997542]]yZH?\o? ǡ Fܿ?)5Gp?`/?`?ɫZ4M@ZQ;ZXC}B4IM-@-Powering down --I-)-I5ZI5٥EM M\=9M@ Q M>QQ UF٦UEyUc U>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753963 iu4YmA?u4ym<iu :q}:}Ӧ}?mDm ;mP?m4B)dAoDNOT Ignoring new targets: 99.62 m.oA*oA* ProNav: ac range: 99.624146 m, nav range: 98.539314 m, bearing: 334.521509 deg, approach rate: -0.535928 m/s, LOS rate: -0.037212 deg/s, cmd heading: 332.984044 deg, new cmd heading: 332.942434 deg. zoO̺HeadingCmd: 5.810942 target range: 99.624146 and range: 100.10 m.Ro<@JoboZoBo:n2nmmlkkkk`8e?ɞz}B\f !>I OɝiI䌻Ii=i[;=)<@)qF"F*F2F3:FԩG mY= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006388 G 2B :B  O >vď,^X?A6C@Y6>@6*96ю=FAHRS rotation from veh to nav: [[0.894684,0.445307,-0.035255],[-0.446676,0.892663,-0.060278],[0.004629,0.069677,0.997559]]y6H??`? @Wܿ?@ܮr?_ֱ?`?ɫ6C@6;6VCN}BN#IPIV(IVm٥^ bS=9bݺQ b>dd fF٦fEyfqE j> hr4Yj,?r4yjhr9prP:rlr?jDj);j?j4x)zA|o%DNOT Ignoring new targets: 99.62 m.o%)o-)5 ProNav: ac range: 99.624146 m, nav range: 98.332428 m, bearing: 334.507256 deg, approach rate: -0.536873 m/s, LOS rate: -0.037065 deg/s, cmd heading: 332.942434 deg, new cmd heading: 332.899585 deg. zo=˺EHeadingCmd: 5.810194 target range: 99.624146 and range: 100.10 m.RoE@JoAboAZoABoA:nI2nImImIlQkQkQkQkU?ɞ}Bz 靍=I NɝiIqԌI+i=i>>=)@)EF"F*F2F`0:FGB=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258501G2B:B O">ZHyRH}<H>HHII~BI =II&IO<*IE) jK} NrK} 9zKy K} K} YH3"vDQ`@/   'keI, +=FD>82-./,-,''$  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509827` ď,9|r?A28@Y2p3@2RH92=:AHRS rotation from veh to nav: [[0.894077,0.446378,-0.037040],[-0.447887,0.891845,-0.063321],[0.004769,0.073203,0.997306]]y2H@H?u?` .ܿ?5`s?@v??ɫ28@2;2XCR}BRIIV7IV"p٥=m EA=9MQ U>Ya eF٦mEym*O u> 4Y??4y9(:?D^;?4B),AEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 99.62 m.o o  ProNav: ac range: 99.624146 m, nav range: 98.099136 m, bearing: 334.491295 deg, approach rate: -0.510186 m/s, LOS rate: -0.034987 deg/s, cmd heading: 332.899595 deg, new cmd heading: 332.851599 deg. zoHeadingCmd: 5.809356 target range: 99.624146 and range: 100.10 m.Ro?@JoboZoBo:n2nmmlk!k)kIkU !?ɞ}BZ# =I sMɝiIGfIi=i<=)?@) JJJJJJm9JJJJJ;J;F"F*F2F:FGFrA1echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914G l;=i G 2B dClearing failed state for component RDI_Pathfinder :B  O >@ď,r?AI<):7@Y:2@:O9:)=BAHRS rotation from veh to nav: [[0.894048,0.446357,-0.037988],[-0.447952,0.891565,-0.066716],[0.004090,0.076664,0.997049]]y:H ??)s @ܿ?O&p?`E?`?ɫ:7@:|;:ZCJ}BJ I=R:Expecting PD13 message formatIVXIV㔴٥b bT=9bX:Q f>dd fF٦fEyjEE j> lr4YnO?r4ynlr9pv:v"v?nDn<:n@n 4x)zXAxo%DNOT Ignoring new targets: 99.62 m.o%4o%4Y)G% ProNav: ac range: 99.624146 m, nav range: 97.897812 m, bearing: 334.477467 deg, approach rate: -0.574061 m/s, LOS rate: -0.039512 deg/s, cmd heading: 332.851593 deg, new cmd heading: 332.810022 deg. -`wAzo%غ)AIu}`wA}BHeadingCmd: 5.808630 target range: 99.624146 and range: 100.10 m.RoM@JoboZoBo:n2nmmlkkkk @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014603ɞ}B 靝S=I LɝiI鋻Ii=i\?=)M@)ԉFa"Fa*Fa2Fed0:FaԱG == checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265879G 2B :B  O > ^ ď,[?AH>HCHxIIn~BII>DID&If<*I:EF/@YF*@F$U9FA=VAHRS rotation from veh to nav: [[0.893603,0.447230,-0.038202],[-0.448847,0.890954,-0.068832],[0.003252,0.078656,0.996897]]yFHd?@k?5ܿ@? `j? "??ɫF/@Fߎ;FWCn}Bn IItIt٥~ G=9T;Q >    F٦ Ey + > %4Ya?%4y-o9)-9--?"D>;@" 45B)5ZAԹEoDNOT Ignoring new targets: 99.62 m.o!o!% ProNav: ac range: 99.624146 m, nav range: 97.676834 m, bearing: 334.462352 deg, approach rate: -0.515053 m/s, LOS rate: -0.035309 deg/s, cmd heading: 332.810010 deg, new cmd heading: 332.764564 deg. zo%-HeadingCmd: 5.807837 target range: 99.624146 and range: 100.10 m.Ro-ٹ@Jo)bo)Zo1Bo1:nQ2nQmYmYlYkYkYkake@@@ɞ}B؆  4=I J=)ٹ@))EaEaFa"Fi*Fi2Fmo0:FijK!NrKzKKKJW,oS5+Lajmjfa^[ZYWQKGHHJJB<91;mTIPcklibVBK?:K>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517795Gi GA 2BI :Ba  Om >I 5ď,ʿ?A2*@Y2$@2$992=:AHRS rotation from veh to nav: [[0.893290,0.447822,-0.038585],[-0.449473,0.890514,-0.070420],[0.002825,0.080248,0.996771]]y2H@ԕ??m(ܿ?`$g?$? ?ɫ2*@2Ў;2YCF}BFIINaIN錴٥V,x VP=9Ve:Q Z>XX ZF٦ZæEy^- ^> `f4Yb~r?f4ybj`fB9dj9jj?b0Dbf:b4@b4nB)nAlEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769817oDNOT Ignoring new targets: 99.62 m.o(o( ProNav: ac range: 99.624146 m, nav range: 97.465393 m, bearing: 334.447913 deg, approach rate: -0.538330 m/s, LOS rate: -0.036842 deg/s, cmd heading: 332.764576 deg, new cmd heading: 332.721164 deg. zoFʺHeadingCmd: 5.807080 target range: 99.624146 and range: 100.10 m.Roӹ@JoboZoBo:n2nmmlk!k!k!k%k@ɞm}Bu_; k=) ӹ@)F"F*F2F0:FG= G=IqBDAT read: Rx Time:04:03:42.2602  TRx dataTimestamp_ set to:1761365023.290838 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024162G- ==G5 ?G5 $?G 2B :B  O >ԙ Nď,]?A6@Y6`@6;96=>AHRS rotation from veh to nav: [[0.892709,0.448903,-0.039449],[-0.450623,0.889821,-0.071808],[0.002868,0.081880,0.996638]]y6H?Ѻ?2ܿjy? aq~g?`?u?ɫ6@6;4F}BFIINlIN)٥V< VJ=9ZQ޸Q Z>XX ZF٦^ŦEy^Q > !-4Y%n?-4y%W!-9)-955?%>D%s:%N@% 4=B)=;A=EoimDNOT Ignoring new targets: 99.62 m.ou.ou. ProNav: ac range: 99.624146 m, nav range: 97.241745 m, bearing: 334.432742 deg, approach rate: -0.559631 m/s, LOS rate: -0.038047 deg/s, cmd heading: 332.721163 deg, new cmd heading: 332.675548 deg. zoкHeadingCmd: 5.806283 target range: 99.624146 and range: 100.10 m.Ro͹@JoboZoBo:n2nmmlkkkk @ɞ}BT}5 H%CH%_II%E~BI!I%?DI%D&I%r<*I%DEGUA=G12B9:BI Om>jK tNrK +9zK K K NKKT^a^ZTRNGA@CB@C@2  #(&&$  2K *K sA- DAT read: 04:03:42.2602 LVL= 17440, 27377, 17394, 25539, AGC= 68, IDX= 407,-0.15, 0.475,-0.949, 0.387, 0.067, PHS= 0.496,-0.969, 0.318, RAW= 143.6, 2.3, CAL= 147.2, -6.4, ROT= 2.8, 6.4 5 Ygot valid direction response: 04:03:42.2602 LVL= 17440, 27377, 17394, 25539, AGC= 68, IDX= 407,-0.15, 0.475,-0.949, 0.387, 0.067, PHS= 0.496,-0.969, 0.318, RAW= 143.6, 2.3, CAL= 147.2, -6.4, ROT= 2.8, 6.4 = PDAT read: Bearing 2.8, 6.4 (Local) = ~Local bearing/azimuth received: Bearing 2.8, 6.4 (Local) E DAT read: Range 10 to 50 : 98.0 m (Round-trip 130.7 ms) speed 0.5 m/s M R#Rx 1: Read range and direction messages.U ^direction in FSK: [0.992581,0.048545,-0.111469]=Gď,?AFpublishing direction and range info)y-tE:?lOQڨ? -V:-BY) - D)-jI-Ci-c-D->-bx-Т> -g @)-l$=I-l$@i)-+H=) )))-@޻L?G=?Y??i-0>-x"-+H=) )))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@~@Y~@~39~^1=AHRS rotation from veh to nav: [[0.892279,0.449677,-0.040351],[-0.451476,0.889234,-0.073701],[0.002740,0.083979,0.996464]]y~H@?? ⨤ ܿt?޲qf? ??ɫ~@~/9;~XC}BII WI ƕ٥= 5=9%9Q %>!) -F٦-ȦEy- -> Qm4YU?m4yUfUzB8k9#?UNDU mBDAT read: Tx time:04:03:43.5238 m$Ping request sent.m=G 2B :B  O >i0ď,F` ?A6W@Y67@6)96=\bAHRS rotation from veh to nav: [[0.892095,0.450005,-0.040757],[-0.451840,0.888961,-0.074764],[0.002588,0.085112,0.996368]]y6H ??@&ޤܿ^r?#@2e?`ɵ? ??ɫ6W@6og;6YCj}BjIIrZIr٥zG= z_=9z59Q >!! -F٦-˦Ey-֏ -> 1]4Y5]?e4y51e8ae>9eXe?5ZD5;5s@54q)uAqB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 97.53 m.oO.oO. ProNav: ac range: 97.533440 m, nav range: 96.872055 m, bearing: 334.421986 deg, approach rate: -0.564000 m/s, LOS rate: -0.038098 deg/s, cmd heading: 332.621989 deg, new cmd heading: 332.581983 deg. zo+Ѻ%HeadingCmd: 5.804651 target range: 97.533440 and range: 98.00 m.Ro%@Jo)bo)Zo)Bo):n12n1m9m9lAkAkAkIkMf?JDAT read: TxSync time:04:03:43.5230 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251843ɞ5}B5]= 15p9=)E@)IFE6"FA*FA2FE75:FAJpJgJJJA:J9JJGe C;=GA I 2BQ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501819:Bq  O} >H H H YII ;~BI =I I &I w<*I IE2IC:ICBIJIRIˡ =ZIR5A[ ď,l>'?A2@Y2@2QU92Z=>AHRS rotation from veh to nav: [[0.891171,0.451736,-0.041815],[-0.453655,0.888016,-0.074994],[0.003255,0.085802,0.996307]]y2Hz? `` fF٦fͦEyff f> h]4Yj;?]4yjh]8Y]9]ce?jhDjWԙ J% R=J! PAď,A?A6`@Y6@@6A 96%g=>AHRS rotation from veh to nav: [[0.890098,0.453558,-0.044851],[-0.455749,0.886679,-0.078056],[0.004365,0.089918,0.995940]]y6H {??`*ݿ@_?@x`dq???ɫ6`@6❍;6XCF}BF IIN9IN\٥Vv; VL=9ZQ5Q Z>XX ZF٦ZЦEy^" ^> `f4YbɄ?f4ybӗb{Bf8hj8jj?bvDb:b@b;4l)rApo  DNOT Ignoring new targets: 97.53 m.o,*o,*%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005818- ProNav: ac range: 97.533440 m, nav range: 96.445518 m, bearing: 334.393870 deg, approach rate: -0.567744 m/s, LOS rate: -0.037195 deg/s, cmd heading: 332.539917 deg, new cmd heading: 332.497472 deg. zo55̺5HeadingCmd: 5.803175 target range: 97.533440 and range: 98.00 m.Ro5@yJoboZoBo:n2nmmlkkkk?ɞ}BUhB Q];IY ][KɝYiYI]텻Ieimj=im3=)m@)qF-6"F)*F)2F):F)ԩG8=G?G ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258501G2B :B  O% > tkď,$Z?Av}BvII~3I~٥ =  D=9 Q  > F٦ҦEy > !%4Y%fۄ?-4y%ș!-[8)-8)-?%D%i:%@%4=B)=A=EoimDNOT Ignoring new targets: 97.53 m.ou!ou! ProNav: ac range: 97.533440 m, nav range: 96.221909 m, bearing: 334.379187 deg, approach rate: -0.536951 m/s, LOS rate: -0.035341 deg/s, cmd heading: 332.497461 deg, new cmd heading: 332.453308 deg. zoºHeadingCmd: 5.802405 target range: 97.533440 and range: 98.00 m.RoM@JoboZoBo:n2nmmlkkkk?JnJlJ3JJ|;:J9J(3Jɞ}B+ HH_IIE~BI =II&IW<*IEG[1=1G2B:B O>Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761688ď,`t?AjK NrKs9zKKK   "dL;.% :*ֲ@Y: ѹ@:9:r=jAHRS rotation from veh to nav: [[0.888629,0.456309,-0.046050],[-0.458591,0.885314,-0.076900],[0.005678,0.089453,0.995975]]y:H@o? *4?ѓYݿ@}T?-Bw?i??ɫ:*ֲ@:};:WCr}Br,IIv@Iv(٥~Wr= K=9UQ >    F٦ զEy !  > 4Y섊?%4y%18!%8%9%?D ;@4))5A1oQ]DNOT Ignoring new targets: 97.53 m.o]oem ProNav: ac range: 97.533440 m, nav range: 96.005356 m, bearing: 334.365319 deg, approach rate: -0.539824 m/s, LOS rate: -0.034647 deg/s, cmd heading: 332.453311 deg, new cmd heading: 332.411614 deg. zou9uHeadingCmd: 5.801677 target range: 97.533440 and range: 98.00 m.RouW@JoyboyZoyBoy:ny2nmmlkkkk @ɞ}B. 3=I nJɝiIv鄻I7i=i-=)W@) 9F-6"F)*F)2F5o0:F1 JJiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014122G;6=ԉG2B:B O>Թ J#ď,?A:Ҳ@Y:͹@: 9:ŵ=RAHRS rotation from veh to nav: [[0.888446,0.456719,-0.045520],[-0.458949,0.885184,-0.076254],[0.005466,0.088639,0.996049]]y:H%n? :?UN`l_ݿmS?bdv? ??ɫ:Ҳ@: ;:VCn}Bn2IIvLIv٥~9< ~J=9; :Q >    F٦ ئEy% > %4Y?%4y%8!-8-n-?D:@^41)5A= EUB*** querying acoustic contact ***:pQBpQoaeDNOT Ignoring new targets: 97.53 m.omom ProNav: ac range: 97.533440 m, nav range: 95.787338 m, bearing: 334.351348 deg, approach rate: -0.537054 m/s, LOS rate: -0.034494 deg/s, cmd heading: 332.411619 deg, new cmd heading: 332.369610 deg. zobHeadingCmd: 5.800944 target range: 97.533440 and range: 98.00 m.RoU@JoboZoBo:n2nmmlkkkk @ɞ}B 9=I   Iɝ i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265811ԙI Iai=iFs0=)U@)F-6"F)*F12F50:F1GErAFAԹJqJJ2JJD:JJc3JGm.=GurAGutAGQ 2Ba :Bq  O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517636H H CH xII n~BI =I >DI &I <*I E )ď,Ũ?A>Dղ@Y>$й@>9>m"=FAHRS rotation from veh to nav: [[0.888579,0.456446,-0.045643],[-0.458689,0.885307,-0.076390],[0.005541,0.088814,0.996033]]y>H >o?j6?^ *[ݿoT? Ḏv?? ?ɫ>Dղ@>^;>WCN ~BN<IIVYIV٥^X$= ^M=9bBQ b>dh jF٦jڦEyjd?: j> pr4YrQ?v4yrr|Bv7tvW8vHv?rDr]:r@r4|)~A|o!-DNOT Ignoring new targets: 97.53 m.o-Oo-O= ProNav: ac range: 97.533440 m, nav range: 95.572021 m, bearing: 334.337448 deg, approach rate: -0.538168 m/s, LOS rate: -0.034820 deg/s, cmd heading: 332.369600 deg, new cmd heading: 332.327807 deg. zo=+MHeadingCmd: 5.800214 target range: 97.533440 and range: 98.00 m.RoM[@JoQboQZoQBoQ:nY2nYmYmYlakakakakm@ @ɞ-}B- Q]_=IY ]IɝYiYI]0IeGie?=ie84=)e[@)iF)"F)*F)2F-1:F)؁؁checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769942jK]MrK]9zKYK]K] .BMXertv}}ywpid[RME;GIG) ) 2B9 :BI  OU >x0ď,?A:cѲ@Y:C̹@:]û9:s=BAHRS rotation from veh to nav: [[0.888360,0.456847,-0.045908],[-0.459109,0.885134,-0.075876],[0.005971,0.088482,0.996060]]y:Hqm?`` bF٦bݦEyfh f> hn4Yj ?n4rBDAT read: Rx Time:04:03:46.0556 vTRx dataTimestamp_ set to:1761365027.069927vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022952yjohz7xz.8zz?jDj;j@j4}B)AoDNOT Ignoring new targets: 97.53 m.oo ProNav: ac range: 97.533440 m, nav range: 95.356033 m, bearing: 334.323504 deg, approach rate: -0.505133 m/s, LOS rate: -0.032685 deg/s, cmd heading: 332.327799 deg, new cmd heading: 332.285872 deg. zos%HeadingCmd: 5.799482 target range: 97.533440 and range: 98.00 m.Ro%\@Jo!bo!Zo!Bo!:n)2n)m1mYlakakikikm @ɞ}Bou ޿=I GɝiI4Ii=iг4=)\@)QF"F*F2Fa5:FiQIUCԉ)G ) I=69=R BGX4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278396Gi 2Bq :B  O > 6ď,|?A6Բ@Y6Ϲ@696o=`jAHRS rotation from veh to nav: [[0.888550,0.456448,-0.046198],[-0.458746,0.885193,-0.077363],[0.005582,0.089934,0.995932]]y6Ho?o6?R@\ݿ@S? γv???ɫ6Բ@6ߌ;6TC?~B[IImVIm٥ < :=9f:Q > F٦EJJ3J.-JQJUhJU3JQJQJUȆ9JU(3JQyZf: > 4Y4?4y7 8O?D:s@4)A Eo!-DNOT Ignoring new targets: 97.53 m.oM+(oU+(] ProNav: ac range: 97.533440 m, nav range: 95.104942 m, bearing: 334.307151 deg, approach rate: -0.562877 m/s, LOS rate: -0.036757 deg/s, cmd heading: 332.285862 deg, new cmd heading: 332.236672 deg. zoeɺeHeadingCmd: 5.798624 target range: 97.533440 and range: 98.00 m.RoeT@JoiboZoBo:n2nmmlkkkk4@ɞ}BKxƻ =I sFɝiIn&EDAT read: 04:03:46.0556 LVL= 20960, 29073, 17682, 27987, AGC= 68, IDX= 408, 0.11,-1.295,-2.733,-1.373,-1.739, PHS= 0.532,-0.947, 0.363, RAW= 144.0, 0.8, CAL= 147.8, -8.1, ROT= 2.2, 8.1 MYgot valid direction response: 04:03:46.0556 LVL= 20960, 29073, 17682, 27987, AGC= 68, IDX= 408, 0.11,-1.295,-2.733,-1.373,-1.739, PHS= 0.532,-0.947, 0.363, RAW= 144.0, 0.8, CAL= 147.8, -8.1, ROT= 2.2, 8.1 UPDAT read: Bearing 2.2, 8.1 (Local) ]~Local bearing/azimuth received: Bearing 2.2, 8.1 (Local) eDAT read: Range 10 to 50 : 95.7 m (Round-trip 127.7 ms) speed 0.4 m/s mR#Rx 1: Read range and direction messages.u^direction in FSK: [0.989294,0.038005,-0.140901]uFpublishing direction and range info y K?*MN^u?:N ¿ fBY  Q) qI Ei Sm  '1? nr #۹> | @) d )  Z19:?G ?1Bي?i ˊ> V nF= > ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ioi=i\9=)T@)JHABHAHU>HUCHUIIU~BIU =IU?DIQ&IUr<*IUDEF]6"FY*FY2FY:FYGe= Ge=A G 4=G ?G >G9 2BI :BY  Om > *DAT read: user:311>  BDAT read: Tx time:04:03:47.3238  $Ping request sent.  F٦Ey > 4Y!F?4y}Bw77?D:z@4)A Jp9Rp=?Ap=}Bp=}Bp=Nq@v=}͑dW@}SB @.Q*v=K?*MN^u?:N ¿p=nF=p=>v=0@U@!}Cx!$#)v=6hƁ?&1ڿ_~Mjp=rp=BZp=LД?bp=zp=HLBp=LД?p=ap9p=ؽBp=@ addTargetRange:: Added new target pos. range: 95.699997 m, deltaT: 3.784144 s, deltaX: -2.300003 m, approachRate: -0.607800 m/s, rangeRepo size: 4  Added new target pos. range: 95.244591 m, bearing: 335.614676 deg, lat: 36.779464 deg, lon: -121.859730 deg, deltaT: 3.784144 s, deltaX: -2.288849 m, approachRate: -0.604852 m/s, posRepo size: 4 oDNOT Ignoring new targets: 95.24 m.oo5 ProNav: ac range: 95.244591 m, nav range: 94.923325 m, bearing: 334.951638 deg, approach rate: 0.000000 m/s, LOS rate: -0.036757 deg/s, cmd heading: 332.236684 deg, new cmd heading: 332.190009 deg. zo1=HeadingCmd: 5.797810 target range: 95.244591 and range: 95.70 m.Ro=@Jo9bo9Zo9Bo9:n9I2nAmimqlqkqkqkuW@k}?ɞ}BŚ 靵f=I DɝiI@9I)i=i=;=)=@)A%JDAT read: TxSync time:04:03:47.3230 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251646yF6"F*F2F_5:Fԡ G 8=G 2B :B  O- >JDď, ?ATIJ@Y@ӻ9=AHRS rotation from veh to nav: [[0.887652,0.458709,-0.040743],[-0.460470,0.885322,-0.064592],[0.006442,0.076096,0.997080]]yH@g?|[?>ܤUxݿ`T?@gbz? {??ɫIJ@¢;WC%c~B%qII5%I5´٥E= EM=9MQ M>II MF٦MEyU U> Ye4Y]V?e4y]lYmH7im7mUm?]D]Z:]A]74}B)NA Eؙؙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502474B*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 95.24 m.oo ProNav: ac range: 95.244591 m, nav range: 94.716270 m, bearing: 334.939737 deg, approach rate: -0.564348 m/s, LOS rate: -0.032508 deg/s, cmd heading: 332.190021 deg, new cmd heading: 332.154240 deg. zozHeadingCmd: 5.797185 target range: 95.244591 and range: 95.70 m.Ro@JoboZoBo:n2nmmlkkYkakeQ?ɞ}BT =I rCɝiIoIiS=i֜6=)@)F"F*F2F`0:FG]w==U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754202G 2B :B  O >A Hy Hy H} II} ~BIy Iy Iy &I} <*I} bErJď,k+ ?AF@YFҮ@F9Fٚ=NAHRS rotation from veh to nav: [[0.886705,0.460592,-0.040117],[-0.462299,0.884392,-0.064273],[0.005875,0.075537,0.997126]]yFH_?Xz?)MݿL?@5t`mx?gV? t?ɫF@Fۻ;DV~BVII^MI^٥f= fR=9j :Q j>pp rF٦rEyr v> tz4YvZg?~4yvLt9E"7AE7EcE?vDv3I AɝiIg鄻I&i`=i1=)r}@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005996F!"F!*F!2F%_0:F!jK{OOrK9zKKK{vsnhihd`ZTQKB=:4/,-7FNXguupn sh`}{oBK>:K>ԙGm d6=Gm sAGm pAJ pJ iJ 2J J A:J ڈ9J c3J J T;! J T;! J q:! J s:! GA 2BI :Ba  O > u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260757lQď,E ?A6@Y6y@6p>96=>AHRS rotation from veh to nav: [[0.886065,0.461892,-0.039306],[-0.463527,0.883833,-0.063106],[0.005592,0.074135,0.997233]]y6HZ?@?nݿ@[H?' v??@T?ɫ6@6{;6XC^x~B^~IIf3If٥n ˼ nG=9n4:Q n>pp rF٦rEyr"^ v> tz4Yvx?~4yvDt~7|~s7~~?vDv;vAv^4 ) A  EqoDNOT Ignoring new targets: 95.24 m.oo ProNav: ac range: 95.244591 m, nav range: 94.286301 m, bearing: 334.915587 deg, approach rate: -0.529565 m/s, LOS rate: -0.029660 deg/s, cmd heading: 332.118604 deg, new cmd heading: 332.081613 deg. zoע HeadingCmd: 5.795918 target range: 95.244591 and range: 95.70 m.Ro(x@JoboZoBo:n2nm!m!l!k)k)k)k ?ɞ}BW =I %@ɝ!i!I%*Im'{iu=iu/=)u(x@)qԡF"F*F!2F%`0:F!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509977G 31=GY 2Bi :By  O Wď,_ ?A2ҧ@Y2@2¦92٘=>AHRS rotation from veh to nav: [[0.886025,0.462012,-0.038794],[-0.463613,0.883734,-0.063857],[0.004781,0.074564,0.997205]]y2H`PZ??ܣ׫ݿG? X`Ӕs???ɫ2ҧ@2I;2UCJ~~BJIIR^IR٥Zp< ZM=9^_;Q ^>\` bF٦bEybYy b> dj4Yf?j4yf1dn6lnE7n&n?fDfN;f Afl4t)vAtoDNOT Ignoring new targets: 95.24 m.oo- ProNav: ac range: 95.244591 m, nav range: 94.071327 m, bearing: 334.903531 deg, approach rate: -0.566402 m/s, LOS rate: -0.031837 deg/s, cmd heading: 332.081612 deg, new cmd heading: 332.045362 deg. zo-ˮ5HeadingCmd: 5.795285 target range: 95.244591 and range: 95.70 m.Ro5r@Jo1bo1Zo9Bo9:n92nAmAmAlAkIkIkIkMc?ɞu}B >I }>ɝiIeI%!i%=i-)M2=)-r@))checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761688H>HHII~BIII&Iu<*IHE2I:IBIJIá =RIZIh5F)"F)*F)2F-o0:F)1G=x/=G 2B :B)  O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014596Y jK NrK zK K K dZQGA8&    3Ze{2K! *K! p]ď,ey ?Az~BII-zI-m٥='6 =B=9EQ E>AA MF٦MEyM M> Q]4YU?e4yU:Qm6im7iu?UDU@;UAUx4B)AoaeDNOT Ignoring new targets: 95.24 m.omom} ProNav: ac range: 95.244591 m, nav range: 93.844482 m, bearing: 334.890750 deg, approach rate: -0.473178 m/s, LOS rate: -0.026725 deg/s, cmd heading: 332.045357 deg, new cmd heading: 332.006921 deg. zo}HeadingCmd: 5.794614 target range: 95.244591 and range: 95.70 m.Rozm@JoboZoBoJJdJJJJ|9JJJJJ:J::n2nmmlkkkk@ɞ~BP 靭x=I <ɝiIrI &i*=i4=)zm@)EErA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266289 F9"F9*F92F=l0:F9) Ge 3=G} ?G} ?GY a 2Bq :B  O >3dď,q ?AFѾ@YF@F9F-4=RAHRS rotation from veh to nav: [[0.887330,0.459647,-0.037005],[-0.461128,0.884869,-0.066093],[0.002366,0.075710,0.997127]]yFH`e?@j?_ ݿP?u밿@`c?a?w?ɫFѾ@FZ;DZ{~BZIIb^Ib٥j; jL=9j;Q n>ll nF٦nEyr; r> t~4YvH CH II BI =I I D&I \<*I *EG 2B :B  O% >jď, ?ANԲ@YNxϹ@Nq9N'=ZAHRS rotation from veh to nav: [[0.888555,0.457321,-0.036434],[-0.458769,0.885907,-0.068560],[0.000923,0.077634,0.996982]]yNH o?D?@{x\ݿXY?*y?N? ߳?E?ɫNԲ@Ni;NXCbx~Bb~IIjMIj٥rݻ vJ=9vi;Q z>xx zF٦zEyL; >  4Y ?4y  b66W? ;D @; (A 4!)%A-EoIUDNOT Ignoring new targets: 95.24 m.oUoUu ProNav: ac range: 95.244591 m, nav range: 93.410065 m, bearing: 334.864981 deg, approach rate: -0.542595 m/s, LOS rate: -0.032780 deg/s, cmd heading: 331.969105 deg, new cmd heading: 331.929434 deg. zou}HeadingCmd: 5.793262 target range: 95.244591 and range: 95.70 m.Ro}fb@JoyboyZoBo:n2nmmlkkkk @ɞ~B* =I &:ɝiIIOi=i oL=)fb@)IF6"F*F2F`5:FMBDAT read: Rx Time:04:03:49.8529 UTRx dataTimestamp_ set to:1761365030.857669]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027507jKEMrK]9zKKKXuiYH* i:# )mxi\TQQU[ZhwV@5*"yGg@=G2B:B  O >Ji Jm 4=Ju vJu lJq Jq Ju {T:Ju 9Jq Jq Ju [u;Ju ]u;Ju 1:Ju 2:ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273566qď, ?A:A@Y:!@:99:f=@FAHRS rotation from veh to nav: [[0.889877,0.454768,-0.036130],[-0.456201,0.887031,-0.071105],[-0.000288,0.079758,0.996814]]y:Hy??@`e2ݿb?3`2j??ɫ:A@:;:UCbv~Bb}IIjRIj4٥Eu EE=9M>;Q M>QQ UF٦UEyU; ]> am4YeЅ?m4yee|Bm76im6mܬu?eJDe:eU/Ae4}xB)}AyoDNOT Ignoring new targets: 95.24 m.oo ProNav: ac range: 95.244591 m, nav range: 93.186623 m, bearing: 334.851047 deg, approach rate: -0.538695 m/s, LOS rate: -0.033673 deg/s, cmd heading: 331.929435 deg, new cmd heading: 331.887534 deg. zoฺHeadingCmd: 5.792530 target range: 95.244591 and range: 95.70 m.Roh\@JoboZoBo:n2nmmlkkkk @ɞ~B MU b=I 8ɝiI|I)7iF7=i%`wX=)%h\@)!ԱF"F*F2F15:FmDAT read: 04:03:49.8529 LVL= 18544, 29969, 16626, 29267, AGC= 68, IDX= 412,-0.10,-0.257,-1.674,-0.372,-0.693, PHS= 0.523,-0.934, 0.318, RAW= 142.5, 1.4, CAL= 146.5, -7.4, ROT= 3.5, 7.4 }Ygot valid direction response: 04:03:49.8529 LVL= 18544, 29969, 16626, 29267, AGC= 68, IDX= 412,-0.10,-0.257,-1.674,-0.372,-0.693, PHS= 0.523,-0.934, 0.318, RAW= 142.5, 1.4, CAL= 146.5, -7.4, ROT= 3.5, 7.4 PDAT read: Bearing 3.5, 7.4 (Local) ~Local bearing/azimuth received: Bearing 3.5, 7.4 (Local) DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.989821,0.060540,-0.128796]Fpublishing direction and range info9y=N ??OZ_|=fBY9 =pH)=uI=@i=Sr9=T?=o=Т> =,@)=+ 9)9= ͅo?Mi?k&|^?i=Z>="ż=5z== A> 9)9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G dO=G G rA! G 2B :B  O >xď,F ?A:@Y:@:|:9:=bAHRS rotation from veh to nav: [[0.891246,0.452131,-0.035467],[-0.453516,0.888201,-0.073631],[-0.001789,0.081709,0.996655]]y:H?? (hݿ@%l?ٲO]?@?ɫ:@:.;8j\~BjmIlI%_I%٥5 ]K=9]r;Q ]>aa eF٦eEym; m> q4Yu ⅊?4yuu{B66P?uXDuo;u5Au4)UA*DAT read: user:312> BDAT read: Tx time:04:03:51.0738 $Ping request sent.vm㖥OU@˘PA{ZY'vmܞ m@? *gؿ00jpmrpm}BZpmU=?bpmhzpmOBpm{U?pmpipmBpm"f@ addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.780016 s, deltaX: -2.000000 m, approachRate: -0.529098 m/s, rangeRepo size: 4 Hu>HqHqIqIu =Iu>DIq&Iu(<*IuE Added new target pos. range: 93.255257 m, bearing: 337.126200 deg, lat: 36.779465 deg, lon: -121.859717 deg, deltaT: 3.780016 s, deltaX: -1.989334 m, approachRate: -0.526277 m/s, posRepo size: 4 oDNOT Ignoring new targets: 93.26 m.oo  ProNav: ac range: 93.255257 m, nav range: 92.542862 m, bearing: 335.536531 deg, approach rate: 0.000000 m/s, LOS rate: -0.033673 deg/s, cmd heading: 331.887525 deg, new cmd heading: 331.841908 deg. zoHeadingCmd: 5.791734 target range: 93.255257 and range: 93.70 m.RoU@JoboZoBo!:n!2n!mamilikikikulW@ku?ɞ~B׫ =I  7ɝaiaIegImim`=im]6e=)mU@)qF"F*F2FP5:F9U JDAT read: TxSync time:04:03:51.0730 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253054a G KY=G 2B :B  O >jK NrK 9zK K K  Nutn`UPJ?720,' )44/29;72-)$%%!-~ď,Bx ?A2' @Y2@2;92=:AHRS rotation from veh to nav: [[0.891534,0.451542,-0.035742],[-0.452949,0.888361,-0.075184],[-0.002197,0.083218,0.996529]]y2Hq?`?Lܿ@sm? E?a M??ɫ2' @2N;0RM~BRdIIZDIZ٥rn rP=9v_:Q v>tt zF٦zEyz: z> |4Y~?4y~| 5  ^6  ?~eD~3:~ď,mT ?A>H@Y>(@>n;9>@=FAHRS rotation from veh to nav: [[0.889987,0.454099,-0.041427],[-0.455980,0.885851,-0.085736],[-0.002234,0.095194,0.995456]]y>Hz??5.ݿ@X?Mb^??ɫ>H@>#; F٦Ey  > !-4Y%n?-4y%%zB55154655?%tD% ;%BA%4=yB)EAA]B*** querying acoustic contact ***:pYBpYoquDNOT Ignoring new targets: 93.26 m.o}6 o}6  ProNav: ac range: 93.255257 m, nav range: 92.112465 m, bearing: 335.512022 deg, approach rate: -0.549387 m/s, LOS rate: -0.030865 deg/s, cmd heading: 331.805372 deg, new cmd heading: 331.768209 deg. zouHeadingCmd: 5.790448 target range: 93.255257 and range: 93.70 m.ԑRoYK@JoboZoBo:n2nmmlkkkkF}?ɞ ~BuP" hHM CHM IIM ~BIM =IM ?DIM D&IM t<*IM >EG ?G *?GY 2Bi :By  O > Aď,P4/ ?A:ײ@Y:ҹ@:/;9:O=BAHRS rotation from veh to nav: [[0.888740,0.456544,-0.041344],[-0.458406,0.884630,-0.085398],[-0.002414,0.094849,0.995489]]y:Hp?8?+VݿN?ܵ@c H? ?ɫ:ײ@:T;:WCJ#~BJJIIV/IV9٥^u ^P=9^9Q b>dd fF٦fEyj j> lr4Yne?r4ynlr5pr6vv?nDn:nHAn4x)z>A~Eo%DNOT Ignoring new targets: 93.26 m.o%Qo%Q5 ProNav: ac range: 93.255257 m, nav range: 91.899742 m, bearing: 335.500408 deg, approach rate: -0.540461 m/s, LOS rate: -0.029576 deg/s, cmd heading: 331.768215 deg, new cmd heading: 331.733293 deg. zo=a=HeadingCmd: 5.789838 target range: 93.255257 and range: 93.70 m.RoE[F@JoAboAZoIBoI:nI2nImQmQlYkYkYkYk]?ɞ$~B8 靍ٺI 7ɝiIIi=i{V=)[F@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259448FA"FA*FA2FEo0:FA!jK5* NrK5 9zK1K5K5'*)(140+%      IGm+^=GA 2BQ :Ba  Ou >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511548s'ď,I ?A6ʲ@Y6Ź@6Jq;96s=BAHRS rotation from veh to nav: [[0.888004,0.458061,-0.040360],[-0.459821,0.883846,-0.085915],[-0.003682,0.094851,0.995485]]y6Hj?P?mݿ@wH?X)n'H??ɫ6ʲ@6<;6UCF}BF2IIN INƴ٥Z ZK=9^N;Q ^>`` bF٦bEybꁻ b> dj4Yf&?j4yfvfyBn5ln5n쮾n?fDf ;f\OAf4p)vAto DNOT Ignoring new targets: 93.26 m.o/o/ ProNav: ac range: 93.255257 m, nav range: 91.683121 m, bearing: 335.488743 deg, approach rate: -0.539307 m/s, LOS rate: -0.029110 deg/s, cmd heading: 331.733299 deg, new cmd heading: 331.698222 deg. zoҟHeadingCmd: 5.789226 target range: 93.255257 and range: 93.70 m.RoWA@JoboZoBo:n2nmmlkkkk@?Qɞe)~Beg e*J:e3Ia m@7ɝiiiIm!{I;i=iMT=)WA@)F"F*F2F0:Fԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762859ԹG&V=G 2B :B  O > \Pď,b ?AJrJhJJJG:JȆ9JJ!@!@!@!@-}B-*IIuoIu٥ >=9Q > F٦Ey > 4Y.9?4yO55?D:BVA4)AoDNOT Ignoring new targets: 93.26 m.oo ProNav: ac range: 93.255257 m, nav range: 91.450691 m, bearing: 335.476165 deg, approach rate: -0.539069 m/s, LOS rate: -0.029246 deg/s, cmd heading: 331.698220 deg, new cmd heading: 331.660390 deg. zoHeadingCmd: 5.788566 target range: 93.255257 and range: 93.70 m.Ro ;@Jo bo Zo Bo :n2nmml!k!k!k!k% @}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896ZHRH<H>HHII~BI =II&Im<*I0Eɞ -~Bjnz xI %ƅ8ɝ!i!I%mwIM>iMf=iMcbW=)M;@)QF"F*F2F:FG F rA9i G Q=G G - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267202G 2B :B  O >zď,| ?A jK.UMrK.]9zK,K.K.     6%@bxqg\B@YB@BI ;9B=JAHRS rotation from veh to nav: [[0.886129,0.461870,-0.038093],[-0.463412,0.882197,-0.083533],[-0.004976,0.091674,0.995777]]yBH@+[?H? @ݿ`:?jbCat`w?g?ɫB@B;BVCV}BV$II^eI^]٥f! fW=9f^;Q f>hh jF٦j EyjE/ n> pr4YroI?v4yrXrxBv(5tv5vv?rDr:rQ\Ar4|)~1A|o!%DNOT Ignoring new targets: 93.26 m.o- o- = ProNav: ac range: 93.255257 m, nav range: 91.246399 m, bearing: 335.465581 deg, approach rate: -0.539003 m/s, LOS rate: -0.027988 deg/s, cmd heading: 331.660380 deg, new cmd heading: 331.628556 deg. zo=EHeadingCmd: 5.788010 target range: 93.255257 and range: 93.70 m.RoEa7@JoAboAZoABoA:nI2nImImIlQkQkQkQk]<@ɞ0~Bx 靅I TO9ɝiI˞sIi< =iqI=)a7@)F6"F*F2FP5:Fqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519718ԙGU&V=G)2B9:Bi Ou> bď,p ?ALN)@YN @N7;9N=ZAHRS rotation from veh to nav: [[0.885137,0.463924,-0.036144],[-0.465306,0.881632,-0.078831],[-0.004706,0.086594,0.996233]]yNH S?@?kݿT6?F.Fs` +? #?ɫN)@NҶ;NSCb}BbIlnArchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771343IzXIz㔴٥ G=9+Q >    F٦  EyM > %4Y[?%4yWwB%5!%{5--?D:bA41)5A5E]B*** querying acoustic contact ***:pYBpYoimDNOT Ignoring new targets: 93.26 m.ouuouu ProNav: ac range: 93.255257 m, nav range: 91.024498 m, bearing: 335.454333 deg, approach rate: -0.536516 m/s, LOS rate: -0.027262 deg/s, cmd heading: 331.628552 deg, new cmd heading: 331.594726 deg. zoHeadingCmd: 5.787420 target range: 93.255257 and range: 93.70 m.Ro2@JoboZoBo:n2nmmlkkkk@d@ɞ4~B8 ؽI :ɝiI!nIi =iE=)2@)JEtJAJE4JAJE;N:JAJE3JAE]PF"F*F2F0:F BDAT read: Rx Time:04:03:53.6003 TRx dataTimestamp_ set to:1761365034.634852checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025439H>HCH~IIx~BIIID&I<*IE2I:IBIȔCJIRIȢ =ZIO*6! Gu \J=GQ Q 2BY :Bq  O >y.ď, ?A>@Y>~@>;9>pP=FAHRS rotation from veh to nav: [[0.883977,0.466285,-0.034094],[-0.467512,0.880952,-0.073183],[-0.004089,0.080632,0.996736]]y>H I??@tݿ 0?pD?B?ɫ>@>P;>RCN}BN IIeI]٥% -5=9-೺Q ->11 5F٦5Ey=C => AE4YEXn?M4yEEvBM4IMK5McU?EDE ;EjAE4Y)]AYo  DNOT Ignoring new targets: 93.26 m.oHoH% ProNav: ac range: 93.255257 m, nav range: 90.781723 m, bearing: 335.442351 deg, approach rate: -0.521805 m/s, LOS rate: -0.025822 deg/s, cmd heading: 331.594729 deg, new cmd heading: 331.558687 deg. zo%ōMHeadingCmd: 5.786791 target range: 93.255257 and range: 93.70 m.RoMd-@JoIboIZoQBoQ:nQ2nQmYmYlYkYkYkakef& @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275072ɞ7~B I 6<ɝiIǥhIc'iE1 =iE?=)Md-@)IErg:jKUNrKUH9zKQKUKUTPNNF5{v^NB91-(%$!BKm>:Km>F6"F*F2F_5:FA G 4|E= DAT read: 04:03:53.6004 LVL= 18160, 25457, 17570, 29107, AGC= 69, IDX= 417, 0.17,-1.763, 3.035,-1.921,-2.213, PHS= 0.538,-0.989, 0.288, RAW= 141.2, 2.3, CAL= 145.2, -6.2, ROT= 4.8, 6.2 G 2B :B  O >- Ygot valid direction response: 04:03:53.6004 LVL= 18160, 25457, 17570, 29107, AGC= 69, IDX= 417, 0.17,-1.763, 3.035,-1.921,-2.213, PHS= 0.538,-0.989, 0.288, RAW= 141.2, 2.3, CAL= 145.2, -6.2, ROT= 4.8, 6.2 5 PDAT read: Bearing 4.8, 6.2 (Local) 5 ~Local bearing/azimuth received: Bearing 4.8, 6.2 (Local) E DAT read: Range 10 to 50 : 91.8 m (Round-trip 122.4 ms) speed 0.4 m/s E R#Rx 1: Read range and direction messages.M ^direction in FSK: [0.990664,0.083188,-0.107999]U Fpublishing direction and range infoY y] 󱅳?K?Niإ] BYY ] F)] qcI] Di] q] E] ^ ?] /}] t> ] ϸ@)] l$=I] 0"@i] kݽ] =] k= Y )Y ] Ky3?%?%G&5Ȥ?i] >] aM&] =] k= Y )Y m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.ď, ?A55y@Y5t@5=V;958=AHRS rotation from veh to nav: [[0.883378,0.467438,-0.033839],[-0.468650,0.880548,-0.070730],[-0.003266,0.078340,0.996921]]y5H`D? ?PS^ݿ@r-?dDj??ɫ55y@5g;5SC}BIIsIy٥E9 E:=9MhQ M>qy }F٦}Ey= > 4Yh?4yuB4%5 ?D'8;SqA4)lAEQJpRp ?ApBpBpe@vf[IV@ 4mf@FҀ#v󱅳?K?Niإp=pk=vT@E[sApx#v?]?aؿjjp rpBZp{?bp&bzprWBpeߡ?p+ 0p SBpBpȻ@ addTargetRange:: Added new target pos. range: 91.800003 m, deltaT: 3.780373 s, deltaX: -1.899994 m, approachRate: -0.502594 m/s, rangeRepo size: 4  Added new target pos. range: 91.362404 m, bearing: 337.325780 deg, lat: 36.779472 deg, lon: -121.859705 deg, deltaT: 3.780373 s, deltaX: -1.892853 m, approachRate: -0.500705 m/s, posRepo size: 4 oDNOT Ignoring new targets: 91.36 m.ooU ProNav: ac range: 91.362404 m, nav range: 90.848053 m, bearing: 336.221610 deg, approach rate: 0.000000 m/s, LOS rate: -0.025822 deg/s, cmd heading: 331.558693 deg, new cmd heading: 331.523210 deg. zoQ]HeadingCmd: 5.786171 target range: 91.362404 and range: 91.80 m.Ro]Q(@JoYboYZoYBoY:nY2nYmamalykykyk}@3V@k} }?ɞ;~Bydz &#IA E#?ɝAiIIMlbIUxi]MD =i]>>=)Q(@) E*DAT read: user:313> BDAT read: Tx time:04:03:54.8739 $Ping request sent.H CH YII ;~BI =I >DI D&I <*I EGEK@=G!2B):BA OM?6ď,p ?A Jm@YJg@J0;9JE=RAHRS rotation from veh to nav: [[0.882685,0.468707,-0.034366],[-0.469957,0.879888,-0.070272],[-0.002698,0.078178,0.996936]]yJH>?J?o޿ (?`Pf}??ɫJm@Jފ;JUCZ}BZImUmU qUqU uUu] i]i] M]M] ]Mb@Mb@Mb@Y Y)YIYiY] F٦Ey@ > 4Ye?4ypBT:?: ?DQ;;o4zB)AEoyDNOT Ignoring new targets: 91.36 m.o*P:o*P: ProNav: ac range: 91.362404 m, nav range: 90.560310 m, bearing: 336.243996 deg, approach rate: -0.582965 m/s, LOS rate: 0.045498 deg/s, cmd heading: 331.523203 deg, new cmd heading: 331.590574 deg. zo:HeadingCmd: 5.787347 target range: 91.362404 and range: 91.80 m.Ro1@JoboZoBo:n2nmm}Blkkkk%`?ɞm?~Bu qur-Iq u[AɝqiyI}u[I}wi}QR =i}4=)}1@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500240F"F*F2F`5:FjKNrK9zKKK2PSH;/'"!#'')'#$!#"! #!    9 GU ==G) 2BI :BY  Ou >ď,˿ ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752141$:T@Y:O@:jE:9:=BAHRS rotation from veh to nav: [[0.881296,0.471061,-0.037666],[-0.472563,0.878305,-0.072550],[-0.001093,0.081738,0.996653]]y:H3? %?@Hz>޿ ?Q ?`?ɫ:T@:;8R}BRII]BI]b٥IƼ K=9tQ > F٦Ey > 4Y5?4ymBK ?D;S;|%4)Ao DNOT Ignoring new targets: 91.36 m.oZ:oZ:- ProNav: ac range: 91.362404 m, nav range: 90.329491 m, bearing: 336.262480 deg, approach rate: -0.595320 m/s, LOS rate: 0.047796 deg/s, cmd heading: 331.590576 deg, new cmd heading: 331.646171 deg. zo-5;-HeadingCmd: 5.788318 target range: 91.362404 and range: 91.80 m.Ro59@Jo1bo1Zo1Bo1:n12n9m9m9l9kAkAkAkE`+?ɞA~B8ͼ :I \DɝiIVIQ_i3V =i'=)9@)qF"F*F2F_0:Fԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004143G[1= G 2B1 :BA  OU >Dď,ڭ" ?AHb:@Ybp5@b;I:9bEN=jAHRS rotation from veh to nav: [[0.879773,0.473277,-0.044826],[-0.475394,0.875699,-0.084563],[-0.000768,0.095706,0.995409]]ybH'?*J?el޿?㥵c'I*?d?ɫb:@b=;`r}BrIJ~{J~mJ|J|J~d:J~&9J|J|Mb@Mb@Mb@ )Iin?I +:v?94T) AI@iA AI#Iô٥]m ]>=9]EQ ]>aa eF٦eEym m> 4Y[?4yciBy?:b? D::-4rB)A&EB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 91.36 m.o-ڂ:o-ڂ:= ProNav: ac range: 91.362404 m, nav range: 90.077034 m, bearing: 336.287343 deg, approach rate: -0.579208 m/s, LOS rate: 0.057201 deg/s, cmd heading: 331.646174 deg, new cmd heading: 331.720969 deg. zo=;Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256553Hm>HmCHmFIIm~BIiIiImD&Imi<*Im9EHeadingCmd: 5.789623 target range: 91.362404 and range: 91.80 m.RoD@JoboZoBo:n2nmm}Blkkkksm?ɞ D~B ʼ GCI FɝiI]PI+iER =iE"=)ED@)AEQEUtAF6"F*F2F:FG= G> G] #'= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508704G1 2BA :BY  Oe >4lď,9~< ?A6/@Y6@6}696:=>AHRS rotation from veh to nav: [[0.877945,0.476639,-0.045023],[-0.478761,0.874089,-0.082201],[0.000174,0.093723,0.995598]]y6H!?@?L ޿? &?:??ɫ6/@6Ɗ;6TCJ}BJIIVbIV٥Z]= Zj=9^_0Q ^>`` bF٦bEybH3 f> dj4Yfdž?n4yfHffBln`n?fDfU;fr;f 34t)v]At|oDNOT Ignoring new targets: 91.36 m.oU:oU:jKMrKzKKKBWVK740/H[[VOI<2+%  ""$)/./.*)+(% ProNav: ac range: 91.362404 m, nav range: 89.876328 m, bearing: 336.307718 deg, approach rate: -0.559937 m/s, LOS rate: 0.056972 deg/s, cmd heading: 331.720978 deg, new cmd heading: 331.782242 deg. zof;HeadingCmd: 5.790692 target range: 91.362404 and range: 91.80 m.RoZM@JoboZoBo:n2nmmlkkkk?ɞ]F~Be%=Ӽ ae8Ia e.HɝiiiIm LI(iH =iK=)ZM@))Fa"Fa*Fa2Fm`0:FiGE3=G2B):B9 OMR>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760200Yiq Iu C) `wA) I5 = `wA= Bԁ @ |BTď,[[V ?A6@Y6@63X*96=BAHRS rotation from veh to nav: [[0.875745,0.480734,-0.044326],[-0.482773,0.872169,-0.079067],[0.000650,0.090642,0.995883]]y6H?X?ﱦ޿?`=@KE?R4?F?ɫ6@6!j;4F}BJIIR`IR̍٥Zd ZK=9ZQ Z>\\ ^F٦^Eyb9 b> dj4Yf؆?n4yffbBtz~?f&DfS;fG;f-:4 sB) A o15DNOT Ignoring new targets: 91.36 m.o=:o=:M ProNav: ac range: 91.362404 m, nav range: 89.642441 m, bearing: 336.332296 deg, approach rate: -0.599623 m/s, LOS rate: 0.063175 deg/s, cmd heading: 331.782231 deg, new cmd heading: 331.856156 deg. zoMl-;UHeadingCmd: 5.791983 target range: 91.362404 and range: 91.80 m.QRo]W@JoYboYZoYBoY:nY2namamilikikqkyk}@6@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015956ɞEH~BEvnӼ AEDII M4vKɝIiIIMFIu~i}r3 =i} <)}W@)FQ"FQ*FY2F]o0:FYԉԩG=G rAG ZHy RHy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269810H >H H @II ~BI =I ?DI &I u<*I HEG 2B :B  O > M|ď,,p ?A65۱@Y6ָ@6&96=BAHRS rotation from veh to nav: [[0.874179,0.483582,-0.044258],[-0.485602,0.870744,-0.077427],[0.001095,0.089177,0.996015]]y6HF??@߿#??ҳQ? IԶ?@[?ɫ65۱@66׈;6UCJ}BVIMb@Mb@Mb@ )Ii㥛 ?I +{Gzt?ף)~ AI@iAA AITInԹ٥^= :=9Q > F٦!Ey > 4Yꆊ?4yf`B?:?7D;u;A4)#Ao)5DNOT Ignoring new targets: 91.36 m.o5:o=:E ProNav: ac range: 91.362404 m, nav range: 89.388336 m, bearing: 336.359939 deg, approach rate: -0.583600 m/s, LOS rate: 0.063667 deg/s, cmd heading: 331.856161 deg, new cmd heading: 331.939324 deg. zoM.;MHeadingCmd: 5.793434 target range: 91.362404 and range: 91.80 m.RoMc@JoQboYZoYBoY:na2namame}Blikikikikm@ɞJ~B^iƼ 靥-I MɝiIAIi =i T<)c@)Fi"Fq*Fq2Fu}0:FqG}sAF}tAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521006Gm<G92BI:BY OuX>jK- MrK-9zK)K-K-9]C2Z>{iW@50# wW:#J= rJ= lJ9 J9 J= G:J= 9J9 J9 J= _;!U J= _;!U J= 1:!U J= 2:!] 9 gď,< ?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772607VԱ@YVϸ@V9V=bAHRS rotation from veh to nav: [[0.873801,0.484129,-0.045725],[-0.486279,0.870309,-0.078073],[0.001997,0.090455,0.995899]]yVH.?@?;i2߿? S\`? (?f?ɫVԱ@V;VSCf}BfIIJIK٥< I=9Q > F٦$EyN > 4Yh?4y_B?FD::H4 )  A 'EoAEDNOT Ignoring new targets: 91.36 m.oM:oM:] ProNav: ac range: 91.362404 m, nav range: 89.153870 m, bearing: 336.385704 deg, approach rate: -0.575018 m/s, LOS rate: 0.063355 deg/s, cmd heading: 331.939325 deg, new cmd heading: 332.016825 deg. zo]-;eHeadingCmd: 5.794787 target range: 91.362404 and range: 91.80 m.Roen@JoaboaZoaBoi:ni2nmmlkkkk@ɞ=L~B=3ļ AE(IA PɝiI{ԙ ď, ?A}BIMMb@Mb@Mb@I I)IIIiIMX9v? ףp= ~jthM?MQ8MD)M AIIiMAI IIIegIei٥u= u@=9}Q }>yy F٦'Ey > 4Y ?4yj]B)?:?VDp;;eP4)AB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 91.36 m.o:o: ProNav: ac range: 91.362404 m, nav range: 88.911392 m, bearing: 336.412965 deg, approach rate: -0.572072 m/s, LOS rate: 0.064492 deg/s, cmd heading: 332.016834 deg, new cmd heading: 332.098840 deg. zo 1;HeadingCmd: 5.796218 target range: 91.362404 and range: 91.80 m.Roz@JoboZoBoH>HHFII~BI =II&If<*I0E:n2n)m1m5}Bl1k1k9k9k=@= @Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276318ɞ5N~B=j 9=kI9 Ur>RɝQiQIU8IeSie=ie<)ez@)iԙF"F*F!2F%0:F!G5]<G12BQ:By O>% DAT read: 04:03:57.3975 LVL= 17200, 28081, 17538, 30355, AGC= 65, IDX= 404,-0.08,-2.860, 1.999,-3.053, 2.937, PHS= 0.574,-0.891, 0.290, RAW= 139.5, 0.4, CAL= 144.1, -8.5, ROT= 5.9, 8.5 5 Ygot valid direction response: 04:03:57.3975 LVL= 17200, 28081, 17538, 30355, AGC= 65, IDX= 404,-0.08,-2.860, 1.999,-3.053, 2.937, PHS= 0.574,-0.891, 0.290, RAW= 139.5, 0.4, CAL= 144.1, -8.5, ROT= 5.9, 8.5 = PDAT read: Bearing 5.9, 8.5 (Local) E ~Local bearing/azimuth received: Bearing 5.9, 8.5 (Local) M DAT read: Range 10 to 50 : 89.6 m (Round-trip 119.5 ms) speed 0.7 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.983777,0.101663,-0.147809]u Fpublishing direction and range info y Q$6{?{?%)k¿ 3BY 0C) mI Di v A ? d z> @) ;I  @i  B= > ) !j+?M{s$T?V]̙<}?i V> er軩 B= > )  T****** received valid address query ****** R****** received valid ping request ******  Querying Benthos address 50 with one ping in standard two-way mode./ď, ?A2ڱ@Y2~ո@2L92x =BAHRS rotation from veh to nav: [[0.874141,0.483483,-0.046070],[-0.485663,0.870791,-0.076511],[0.003125,0.089256,0.996004]]y2H?`c? {߿?=ui? |ٶ?`C?ɫ2ڱ@2q;2TCJ}BJ IIvIIv.٥%Ʊ< %c=9-bMQ ->)1 5F٦5)Ey5; 5> ae4Yez?m4yeve\Bimu?ecDeK(;eBKRPMICCXI "  y70 Jp1Rp5o ?Ap5XBp5XBp5܉@v5N%٦{U@*k!"@gw\*v5Q$6{?{?%)k¿p5B=p5>v5 @:kT@+9@W(v5F:O?(pNJ0ؿ .Ijp5rp5YBZp5?bp5=]zp5MBp5U=?p5hp5OBp5Bp5a@ addTargetRange:: Added new target pos. range: 89.599998 m, deltaT: 3.783478 s, deltaX: -2.200005 m, approachRate: -0.581477 m/s, rangeRepo size: 4  Added new target pos. range: 89.172958 m, bearing: 337.576914 deg, lat: 36.779474 deg, lon: -121.859690 deg, deltaT: 3.783478 s, deltaX: -2.189445 m, approachRate: -0.578686 m/s, posRepo size: 4 oDNOT Ignoring new targets: 89.17 m.oo- ProNav: ac range: 89.172958 m, nav range: 88.377625 m, bearing: 337.291352 deg, approach rate: 0.000000 m/s, LOS rate: 0.064492 deg/s, cmd heading: 332.098851 deg, new cmd heading: 332.176765 deg. zoIUHeadingCmd: 5.797578 target range: 89.172958 and range: 89.60 m.RoUÅ@JoQboQZoYBoY:nY2nYmYmalakakake`ffV@km?J3J3J;S}.JpJdJJJA:J|9JJJT;JT;J:J:ɞ]P~B]3齼 aeIa +TɝiI3Iwi=i@<)Å@)}*DAT read: user:314> BDAT read: Tx time:04:03:58.6739 $Ping request sent.Q Ţď,j ?AFf۱@YFFָ@F k9FT=bAHRS rotation from veh to nav: [[0.874186,0.483312,-0.047004],[-0.485579,0.870772,-0.077266],[0.003586,0.090369,0.995902]]yFHS??`߿@\? dz Tam?r"?m?ɫFf۱@F;FSC~}B~$II=)p=I bI ٥=== =I=9EaQ E>AA EF٦E,EyMu9 U> am4Ye+?m4yee[Bimu?erDe:ep:e]4) AJDAT read: TxSync time:04:03:58.6731 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248378oDNOT Ignoring new targets: 89.17 m.o%:o%:% ProNav: ac range: 89.172958 m, nav range: 88.147537 m, bearing: 337.319764 deg, approach rate: -0.614871 m/s, LOS rate: 0.076124 deg/s, cmd heading: 332.176770 deg, new cmd heading: 332.262228 deg. zo%P;-HeadingCmd: 5.799070 target range: 89.172958 and range: 89.60 m.Ro-@JoiboqZoqBoq:nq2nqmymylykykykkM?)ɞMQ~BMĻ QUؽIQ U/kUɝYiYI]0IiЂ=i[<)E@)QaF)"F1*F12F52:F1JH BH ?AH >H H YII ;~BI =I I &I ]<*I #E2I:IBIɓCJIRIɡ =ZIɴ5m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499471ԁ G ~M<Թ G 2B :B  O >0ď,! ?AJͱ@YJǸ@Js9JL=RAHRS rotation from veh to nav: [[0.873326,0.484831,-0.047328],[-0.487108,0.870177,-0.074278],[0.005171,0.087922,0.996114]]yJHI?z?R;,߿}?u.u??`*?ɫJͱ@J;HZ}BZIMMb@Mb@Mb@I I)IIIiIM&1?MbMb?M?MM<)MAIM@iMAMlA IMAIeLIe٥}@ż };=93mQ > F٦.Ey3 > 4Y=?4y0^B?: ?D;w;oe4tB)8A)EoYDNOT Ignoring new targets: 89.17 m.ok:ok:  ProNav: ac range: 89.172958 m, nav range: 87.903107 m, bearing: 337.342595 deg, approach rate: -0.550694 m/s, LOS rate: 0.051580 deg/s, cmd heading: 332.262229 deg, new cmd heading: 332.330912 deg. zo  ;-HeadingCmd: 5.800269 target range: 89.172958 and range: 89.60 m.Ro-͛@Jo1bo1Zo1Bo9:nA2nAmImMK~BlQkQkYkakeΤ?ɞS~B~` checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752886 靽:I 4WɝiIQ,I@i(Q=iGg<)͛@)Fi"Fi*Fi2Fm5:FijK#PrK 9zKKK h  u D 5 xOfrP` z9lN4 ndZTRLI2KsA*KrA  J9 J= BAJA JE fJA JA JA JE 9JA JA JA JE T;JE :JE :G ፨<G 2B  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003432:B  O >}ď,0 ?A6@Y6۸@6nջ96Ο=>AHRS rotation from veh to nav: [[0.874508,0.482494,-0.049349],[-0.484968,0.871260,-0.075576],[0.006531,0.090025,0.995918]]y6H?0?@BD ߿]?X@z? ??ɫ6@6;4F}BF+IIN)IN٥Zkn= ZZ=9]lQ e>ii mF٦m1Eyu_; u> 4Y"N?4y7`B' ?D-:9:cl4lB)A2EoDNOT Ignoring new targets: 89.17 m.or:or: ProNav: ac range: 89.172958 m, nav range: 87.680031 m, bearing: 337.363184 deg, approach rate: -0.573674 m/s, LOS rate: 0.053082 deg/s, cmd heading: 332.330914 deg, new cmd heading: 332.392837 deg. zo;=HeadingCmd: 5.801350 target range: 89.172958 and range: 89.60 m.Ro=@Jo9bo9Zo9Bo9:n92nAmAmAlIkIkIkQku;?ɞT~B !%dƽI! %^`Xɝ!i)I-l.*QI]%ie?-=ie<)e@)iF6"F*F2F`0:Fԁ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255447ԩ G +<G ?G ?G 2B :B  OM >I ď,Q& ?A0Fc@YFC@F9F-=RAHRS rotation from veh to nav: [[0.875585,0.480301,-0.051591],[-0.483007,0.872118,-0.078194],[0.007437,0.093384,0.995602]]yFH?A? 1j@޿`d?mv~? ??ɫFc@F;FRCZ}BZ0IMb@Mb@Mb@ )IiDl?MbP?Mb?O ?:)I@iAA fAI Iƴ٥< 9=9Q > F٦4Ey; >H>HCHrIId~BI =I>DI&Iu<*INE 4Y;_?4y(bBS ?:?D:;;s4 mB) A 3E5B*** querying acoustic contact ***:p9Bp9oAEDNOT Ignoring new targets: 89.17 m.oM4:oM4:]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507763m ProNav: ac range: 89.172958 m, nav range: 87.449738 m, bearing: 337.379628 deg, approach rate: -0.551178 m/s, LOS rate: 0.039462 deg/s, cmd heading: 332.392850 deg, new cmd heading: 332.442313 deg. zom:uHeadingCmd: 5.802213 target range: 89.172958 and range: 89.60 m.Rou@JoqboyZoyBoy:ny2nymm_~Blkkkk S?ɞU~B퟼ I YɝiI'IuBiu=iuXͧ<)u@)yԑF6"F *F 2F :F G- FΞ<  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759304G 2B :B)  O= >$ď,@ ?Alj@Yjf @j9j9=vAHRS rotation from veh to nav: [[0.877182,0.477308,-0.052233],[-0.480105,0.873491,-0.080703],[0.007105,0.095868,0.995369]]yjH?6?`C ޿`?񨴿}?Ԋ??ɫj@jс;h~'~B~LII VI ٥%?= %V=9-ud:Q ->)) 5F٦56Ey58< 5> 9E4Y=n?E4y==eBIMM?=D=:=:=dz4Q)UAYoyDNOT Ignoring new targets: 89.17 m.o 2:o 2: ProNav: ac range: 89.172958 m, nav range: 87.240257 m, bearing: 337.394207 deg, approach rate: -0.557814 m/s, LOS rate: 0.038914 deg/s, cmd heading: 332.442300 deg, new cmd heading: 332.486142 deg. zo:HeadingCmd: 5.802978 target range: 89.172958 and range: 89.60 m.Ro@JoboZoBo:n2nmmlkkkkF*@jKPrK9zKKKDAA?;5020*((%!'TCzl\T])hmsDJzaL=4*$  BK ?:K?ɞmV~Bm 靍=I )ZɝiI%Ii=i<)@)J C=J JJeJJJJ9JJJJT;J:J: FQ"FQ*FQ2F]o0:FYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0115521G~M<Ga 2Bi :B  O >Y ]Lď,jZ ?A6j,@Y6J'@696=BAHRS rotation from veh to nav: [[0.878929,0.474022,-0.052791],[-0.476901,0.875062,-0.082658],[0.007014,0.097827,0.995179]]y6H`/ ?aV?t ޿@?)|? * ? ?ɫ6j,@6;6QCJ~BJEIIRNIR٥Z5 ZR=9Z%u9Q ^>\\ ^F٦b9Eyb< b> dj4Yf~?j4yffgBhjVn?fDrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263500f:fc;f/4vnB)zAxo!%DNOT Ignoring new targets: 89.17 m.o-(:o-(:9= ProNav: ac range: 89.172958 m, nav range: 87.026878 m, bearing: 337.408615 deg, approach rate: -0.545380 m/s, LOS rate: 0.036916 deg/s, cmd heading: 332.486150 deg, new cmd heading: 332.529481 deg. zoE:EHeadingCmd: 5.803734 target range: 89.172958 and range: 89.60 m.RoE1@JoIboIZoIBoI:nI2nImQmQlQkQkYkYk]I@ɞX~Bᐼ 靕tI ^ZɝiIh#Izi=i`<)1@)F"F*F2F0:FqԑG*<GsAGtAZH<RH<H>HHII~BI =II&I|<*IXEGchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5160282B:B O> ivď,Et ?AI)<6@@Y6:@696*=>AHRS rotation from veh to nav: [[0.880063,0.471811,-0.053693],[-0.474795,0.876120,-0.083566],[0.007614,0.099037,0.995055]]y6Hz)?`&2?} c޿, ?d`/?{Z?|?ɫ6@@6oA;6RCb5~BbUIUMb@Mb@Mb@Q Q)QIQiQUQ?X9v?I +?U?UAA EF٦E I]4YM9?]4yM8MkB]7 ?]:]]?MDM;Mg;M4i)mAm4EoDNOT Ignoring new targets: 89.17 m.o9o9 ProNav: ac range: 89.172958 m, nav range: 86.784225 m, bearing: 337.415808 deg, approach rate: -0.537180 m/s, LOS rate: 0.015969 deg/s, cmd heading: 332.529481 deg, new cmd heading: 332.551121 deg. zoX/:HeadingCmd: 5.804112 target range: 89.172958 and range: 89.60 m.RoI@JoboZoBo:n2nmm~Blkkkk@ɞZ~B  I m[ɝ i I $!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768250IuIi}j=i}p<)}I@)yF"F*F2F%0:F!jKMA,OrKM9zKIKMKM  y`%     Ge <) G9 2BI :BY  Oe > BDAT read: Rx Time:04:04:01.1946  TRx dataTimestamp_ set to:1761365042.199851 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024016^#ď," ?A)JG ) 1]@YX@59g=IUY] BuAHRS rotation from veh to nav: [[0.881745,0.468517,-0.054923],[-0.471656,0.877624,-0.085543],[0.008123,0.101332,0.994819]]yH B7?/?@/޿@~? +浿???ɫ1]@Φ;:~BXIIpI<٥rT< B=9ݝQ > F٦>Ey < > 4Y?4yoB߾?D; ;4)Ao!-DNOT Ignoring new targets: 89.17 m.o5<9o5<9E ProNav: ac range: 89.172958 m, nav range: 86.557503 m, bearing: 337.422039 deg, approach rate: -0.536354 m/s, LOS rate: 0.014779 deg/s, cmd heading: 332.551119 deg, new cmd heading: 332.569861 deg. zoEH":MHeadingCmd: 5.804439 target range: 89.172958 and range: 89.60 m.RoU@JoQboQZoYBoY:nY2nYmamalakakakikm0J @ɞ\~Bi I ][ɝiI%{IE7iMx=iMU<)M@)Q)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271389Eu?B9yEyF "F *F 2F n0:F G F sAԡ JY J] JY JY JY J] ľ9JY JY ! @! @! @! @H >H H II ~BI I I D&I A<*I EG <G2B-DAT read: 04:04:01.1946 LVL= 18112, 28065, 17906, 29363, AGC= 66, IDX= 406,-0.28, 3.083, 1.660, 2.916, 2.610, PHS= 0.561,-0.903, 0.303, RAW= 140.5, 0.6, CAL= 144.9, -8.3, ROT= 5.1, 8.3 5Ygot valid direction response: 04:04:01.1946 LVL= 18112, 28065, 17906, 29363, AGC= 66, IDX= 406,-0.28, 3.083, 1.660, 2.916, 2.610, PHS= 0.561,-0.903, 0.303, RAW= 140.5, 0.6, CAL= 144.9, -8.3, ROT= 5.1, 8.3 =PDAT read: Bearing 5.1, 8.3 (Local) =~Local bearing/azimuth received: Bearing 5.1, 8.3 (Local) :BI]DAT read: Range 10 to 50 : 87.4 m (Round-trip 116.6 ms) speed 0.4 m/s  OU?+ď,bf ?A>R#Rx 1: Read range and direction messages.B^direction in FSK: [0.985608,0.087963,-0.144356]BFpublishing direction and range infoyv??'ЌCz¿̮BY F)mIEirB?+g"> @)+ )EA?e_#i?4܄?jBt@Yj"o@jm9jɑ=i->6&K=V> )rT****** received valid address query ******rR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode.EAHRS rotation from veh to nav: [[0.883065,0.465910,-0.055899],[-0.469168,0.878860,-0.086524],[0.008815,0.102632,0.994680]]yjH B?v?@Ȟ޿?k&` ?F?k?ɫjBt@jM{;hA~B\IԱMb@Mb@Mb@ )Iiy&1?Zd;O?y&1|?`?j<=`;)I@i$AA  AIlI)٥F< =9Q > F٦BEy%; %> )=4Y-?=4y--tBE?E:E;E?-D-;-_;- 4moB)msAu5EJpRp ?ApBpBp@v]bnU@2K@-)vv??'ЌCz¿pK=pV>v>ycS@Ac4@FW%vp_k?y<׿E:jprpBZp ?bpE2VzpuRBp?p&bppBp#@- addTargetRange:: Added new target pos. range: 87.400002 m, deltaT: 3.780802 s, deltaX: -2.199997 m, approachRate: -0.581886 m/s, rangeRepo size: 4  Added new target pos. range: 86.985100 m, bearing: 337.938234 deg, lat: 36.779476 deg, lon: -121.859687 deg, deltaT: 3.780802 s, deltaX: -2.187859 m, approachRate: -0.578676 m/s, posRepo size: 4 oEDNOT Ignoring new targets: 86.99 m.oEoIU ProNav: ac range: 86.985100 m, nav range: 86.310135 m, bearing: 337.620805 deg, approach rate: 0.000000 m/s, LOS rate: 0.014779 deg/s, cmd heading: 332.569861 deg, new cmd heading: 332.594887 deg. zoHeadingCmd: 5.804876 target range: 86.985100 and range: 87.40 m.Ro@JoboZoBo:n2nmm~BlkkkU@k?*DAT read: user:315> BDAT read: Tx time:04:04:02.4739 $Ping request sent.:Km ?9 F1 "F1 *F1 2F5 _0:F1 JDAT read: TxSync time:04:04:02.4731 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251588aG]8<G12B9:BI OU?24ď,+ ?Ar{@Yr[@r39r?Z=5AHRS rotation from veh to nav: [[0.884714,0.462527,-0.057880],[-0.466005,0.880544,-0.086495],[0.010960,0.103496,0.994569]]yrHO?@ ?ݿj-?$ 9r? ~?`?ɫr{@r;rSCEF~BE_I MAMAIkI ٥C< =9݅Q >    F٦ EEy); > m4YV·?m4yxBim̾u?D0<:.<\4y)}bAyB*** querying acoustic contact ***:pBpo-DNOT Ignoring new targets: 86.99 m.o5 L8o5 L8am ProNav: ac range: 86.985100 m, nav range: 86.031654 m, bearing: 337.622283 deg, approach rate: -0.523544 m/s, LOS rate: 0.002787 deg/s, cmd heading: 332.594887 deg, new cmd heading: 332.599335 deg. zom8uHeadingCmd: 5.804954 target range: 86.985100 and range: 87.40 m.Rou.¹@JoqboyZoyBoy:ny2nymmlkkkk? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743ɞmb~Bu0y quIq u\ɝyiyI}TI=iEk=iEK; =)E.¹@)AԑF6"F*F2F`0:FJ] qJ] gJY JY J] D:J] 9JY JY Թ G u<JH BH H >H H II ~BI I I &I q<*I KEG 2B  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748:B  O >!;ď,6 ?A6\@Y6<@6R96=BAHRS rotation from veh to nav: [[0.884402,0.462801,-0.060397],[-0.466548,0.880202,-0.087046],[0.012877,0.105162,0.994372]]y6H@M?`?i쮿`ݿ@*?H`'_???ɫ6\@60;6RCLJJ~BNbIuMb@Mb@Mb@q q)qIqiqu!rh?&1?Mbp?ul?uP=u;)uAIu@iuAuA qu\AI:Iy٥@/< L=9OQ > F٦HEy1к > 4Yއ?4y|B?:Ǿ? D;=;=4pB)VA6EoDNOT Ignoring new targets: 86.99 m.o%ox4o%ox4= ProNav: ac range: 86.985100 m, nav range: 85.822617 m, bearing: 337.622288 deg, approach rate: -0.553041 m/s, LOS rate: 0.000013 deg/s, cmd heading: 332.599340 deg, new cmd heading: 332.599355 deg. zo=5EHeadingCmd: 5.804954 target range: 86.985100 and range: 87.40 m.RoE/¹@JoAboAZoABoI:nI2nmm~Blkkkk>?ɞd~BD{ 靭(ҼI ?]ɝiIKIiDa=i=y=)/¹@)EEF]6"FY*FY2F]o0:FaGe= Ge=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007000G  =! GY 2Ba :By  O >jK- EPrK- 9zK) K- K- -C"  #NE(*]E/!;}ogn}CA]Y=Bď,p| ?A JJAAF@YF@Fo9F=NAHRS rotation from veh to nav: [[0.884652,0.462213,-0.061237],[-0.466022,0.880678,-0.085025],[0.014630,0.103756,0.994495]]yFHO?`?@vZNݿ.?9ĵ|? ??ɫF@F Ս;FQCrG~Br`IIz3Iz|٥  V=9 Q  > F٦JEy : > !%4Y%g?-4y%%B)-Ǿ-?%D%:%:%氣41)=aA9oYeDNOT Ignoring new targets: 86.99 m.omEqomEq ProNav: ac range: 86.985100 m, nav range: 85.620178 m, bearing: 337.622210 deg, approach rate: -0.534076 m/s, LOS rate: -0.000206 deg/s, cmd heading: 332.599367 deg, new cmd heading: 332.599133 deg. zo}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258669}HeadingCmd: 5.804950 target range: 86.985100 and range: 87.40 m.Ro}&¹@JoboZoBo:n2nmmlkkkk(N?ɞg~Bހ  0Iq u]ɝqiqIuI}Oi}PV=i}=)}&¹@))Fi"Fi*Fi2Fu0:FqYG @o=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511117Ga 2Bq :B ԁ  O >t0Hď,)Y" ?A>@Y>ҙ@>mv9><=FAHRS rotation from veh to nav: [[0.885432,0.460749,-0.061001],[-0.464526,0.881560,-0.084071],[0.015040,0.102775,0.994591]]y>H uU? |?`y;`ʺݿ@5?`o͎?@yO?@?ɫ>@>z;>RCN>~BNZIIVAIVE٥^ ^O=9b)Q b>dh jF٦jMEyn; n> tv4Yv?z4yv vBxzƾz?v%Dvl:v:vշ4)Ao!-DNOT Ignoring new targets: 86.99 m.o-no5nE ProNav: ac range: 86.985100 m, nav range: 85.409294 m, bearing: 337.621887 deg, approach rate: -0.531209 m/s, LOS rate: -0.000815 deg/s, cmd heading: 332.599122 deg, new cmd heading: 332.598151 deg. zoE9UHeadingCmd: 5.804933 target range: 86.985100 and range: 87.40 m.RoU¹@JoQYboYZoaBoa:na2namamilikikikiku >?JMoJMdJIJIJM>:JM|9JIJIɞj~Bk .I C5^ɝiII5i=M=i==)=¹@)9ԉH>HHIIII&Ix<*ITE2IUC:IUCBIQJIUğ =RIUğ =ZIUU4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763387F"F*F2F1:FԱG G=G 2B :B  O >ZNď,4< ?A:=@Y:@:p9: =NAHRS rotation from veh to nav: [[0.886866,0.458146,-0.059752],[-0.461792,0.883089,-0.083073],[0.014707,0.101267,0.994751]]y:H`5a?DR?ƗݿDB?`=D?? ?ɫ:=@:r;:PC^8~B^WIprAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015015mMb@Mb@Mb@i i)iIiiimE?y&1?Mbpm?m`e=m)mMAIm@imAi imAIhI٥S^ ==Թ9>F:Q > F٦OEy; > 4Y?4y Bk?:^?3D::4qB)A7EoDNOT Ignoring new targets: 86.99 m.oVϸo VϸE ProNav: ac range: 86.985100 m, nav range: 85.177246 m, bearing: 337.619264 deg, approach rate: -0.499674 m/s, LOS rate: -0.005665 deg/s, cmd heading: 332.598138 deg, new cmd heading: 332.590246 deg. zoMxmHeadingCmd: 5.804795 target range: 86.985100 and range: 87.40 m.Rou@JoqboqZoqBoq:nq2nqmym}~Blykkkk~@ɞm~BRԋ %(TI! %^ɝ!i!I%~6I-i-J=i-J=)5@)9EY>E>jKQ,OrK9zKKKb3, U (S-' N] B9wg\PG?63///,+,[ Ik HJ=R=J9FA"FA*FA2FEc5:FAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266661Ge K=GA I 2Bi :B  O >DUď,V ?A2ʲ@Y2Ĺ@2sul92D=:AHRS rotation from veh to nav: [[0.887875,0.456330,-0.058664],[-0.459859,0.884194,-0.082042],[0.014432,0.099820,0.994901]]y2H@xi?4?* `Tnݿ QK? k?ύ?`:?ɫ2ʲ@2kލ;0DDINPIN٥Vq: VZ=9VoE:Q Z>XX ZF٦ZREy^; ^> `f4Yb8 ?f4ybbBdj@j?b@Db:b:bţ4p)rApo DNOT Ignoring new targets: 86.99 m.o[o[ ProNav: ac range: 86.985100 m, nav range: 84.984177 m, bearing: 337.616786 deg, approach rate: -0.566437 m/s, LOS rate: -0.007287 deg/s, cmd heading: 332.590242 deg, new cmd heading: 332.582791 deg. zoHeadingCmd: 5.804665 target range: 86.985100 and range: 87.40 m.Roп@JoboZoBo:n2nmmlkkkk@ɞp~Bޏ ]I r_ɝiIUIiK=i!=)п@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519313F6"F*F2F3:FIqG=Je tJe jJa Ja Je ;N:Je 9Ja Ja G 2B! :B9  OM >ZH <RH <H >H H I I =I I &I d<*I 5E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770546ԡ l[ď,o ?A=$~B=JIMb@Mb@Mb@ )Ii(\?J +?y&1|?H=`)AI@iAA AI-XI-㔴٥=3 =4=9=Q =>AA EF٦EUEyM M> I]4YM3?]4yM3MB]E?]:] že?MODM;M;Mͣ4mkB)mAmAEqB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 86.99 m.oEoE ProNav: ac range: 86.985100 m, nav range: 84.742439 m, bearing: 337.615835 deg, approach rate: -0.530676 m/s, LOS rate: -0.002094 deg/s, cmd heading: 332.582784 deg, new cmd heading: 332.579922 deg. zoHeadingCmd: 5.804615 target range: 86.985100 and range: 87.40 m.Rog@JoboZoBo:n2nmm~Blkkkk @ɞ s~B I _`ɝiI@I%7i%L=i% =)%g@)!F6"F*F2F`0:FԡBDAT read: Rx Time:04:04:04.9919  TRx dataTimestamp_ set to:1761365045.978245 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024523GC"=G 2B :B  O >  JQ JQ jKm PrKm 9zKi Km Km     Xdbď,[ ?A6@Y6޹@67e96|=>AHRS rotation from veh to nav: [[0.889312,0.453638,-0.057762],[-0.457086,0.885649,-0.081842],[0.014030,0.099185,0.994970]]y6H`>u?i?󒭿@ݿXX ZF٦ZWEy^R< b> df4YfB?j4yffBhjqþj?f[Df2:f:fԣ4p)r3Apo DNOT Ignoring new targets: 86.99 m.o non% ProNav: ac range: 86.985100 m, nav range: 84.551926 m, bearing: 337.614678 deg, approach rate: -0.536341 m/s, LOS rate: -0.003262 deg/s, cmd heading: 332.579915 deg, new cmd heading: 332.576439 deg. zo%J-HeadingCmd: 5.804554 target range: 86.985100 and range: 87.40 m.Ro-边@Jo)bo)Zo)Bo):n)2n1m1m1l1k9k9k9kE @ɞmv~Bm𯱼 imٽIi u:aɝqiqIu.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276034I1iR=ii,=)边@)EԹFQ"FQ*FQ2FQ:FQGe= Ge=GI = G 2B :B  O > DAT read: 04:04:04.9919 LVL= 18352, 25841, 14786, 25203, AGC= 66, IDX= 410,-0.32,-2.393, 2.472,-2.498,-2.830, PHS= 0.525,-0.934, 0.329, RAW= 142.9, 1.2, CAL= 146.8, -7.6, ROT= 3.2, 7.6 % Ygot valid direction response: 04:04:04.9919 LVL= 18352, 25841, 14786, 25203, AGC= 66, IDX= 410,-0.32,-2.393, 2.472,-2.498,-2.830, PHS= 0.525,-0.934, 0.329, RAW= 142.9, 1.2, CAL= 146.8, -7.6, ROT= 3.2, 7.6 - PDAT read: Bearing 3.2, 7.6 (Local) - ~Local bearing/azimuth received: Bearing 3.2, 7.6 (Local) 5 DAT read: Range 10 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.4 m/s = R#Rx 1: Read range and direction messages.E ^direction in FSK: [0.989670,0.055331,-0.132256]E Fpublishing direction and range info y l`?1~d]T?) BY G) dI 9i sb ff? o r> @) ) L¸@y?Ȩ?ժ?i > 騼 d= > ) m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.[hď, ?AI)}B4II`I̍٥5 .=9Q  >AAQ MF٦uZEy} >JpJiJJHM>HMCHMIIM~BIM =IM?DIMD&IMH<*IMEJA:Jڈ9JJJ!J!Jr:!Js:! 4YW?4yB?mD6)<)<@ݣ4lB)dABEm*DAT read: user:316> mBDAT read: Tx time:04:04:06.2240 u$Ping request sent.uv5 9_S@~Dz@.A #v5K06?NOٿQXqUjp5Krp5BZp5Gbڡ?bp5NNzp5WBp1p1p5uRBp5Bp5@ addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.779321 s, deltaX: -2.099998 m, approachRate: -0.555655 m/s, rangeRepo size: 4  Added new target pos. range: 84.894279 m, bearing: 336.732082 deg, lat: 36.779476 deg, lon: -121.859687 deg, deltaT: 3.779321 s, deltaX: -2.090820 m, approachRate: -0.553226 m/s, posRepo size: 4 oDNOT Ignoring new targets: 84.89 m.oo1e ProNav: ac range: 84.894279 m, nav range: 84.272293 m, bearing: 337.612972 deg, approach rate: 0.000000 m/s, LOS rate: -0.003262 deg/s, cmd heading: 332.576445 deg, new cmd heading: 332.571023 deg. zoamHeadingCmd: 5.804460 target range: 84.894279 and range: 85.30 m.Rom"@JoiboiZoqBoq:nq2nqymmlkkk@3SU@kO?ɞ=|~B=ڑ AEpIA E0pď, ?Av@Yv}@v^f9v=~AHRS rotation from veh to nav: [[0.890031,0.452334,-0.056903],[-0.455682,0.886501,-0.080437],[0.014060,0.097522,0.995134]]yvH@#{?@ ?@o" )ݿ6^? ˌ?`.?#?)ɫv@v ɍ;t5}B5+ImMb@Mb@Mb@i i)iIiiimˡE?Q?y&1|m?m F٦]Ey`; > 4YBi?4y3B*?:Ծ?|D ; ;4)AoDNOT Ignoring new targets: 84.89 m.oW29oW29  ProNav: ac range: 84.894279 m, nav range: 84.046776 m, bearing: 337.616817 deg, approach rate: -0.569946 m/s, LOS rate: 0.009745 deg/s, cmd heading: 332.571036 deg, new cmd heading: 332.582603 deg. zo 9HeadingCmd: 5.804661 target range: 84.894279 and range: 85.30 m.Roɿ@JoboZoBo:n2nmm~BljKܞLrK]9zKKK  /=8+ kkkk?ɞE~BEIü AE/II MfɝIiIIMQIuiu;e=iuy0=)}ɿ@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503743F-6"F1*F92F9:FAiI)-G ]vAԁ)IvAQBGM )=ԩ G! 2B1 :BI  OU >vď,N} ?A2@Y2p@292x=:AHRS rotation from veh to nav: [[0.889675,0.454702,-0.041529],[-0.456329,0.888573,-0.046917],[0.015568,0.060692,0.998035]]y2H 7x??9C 4ݿ1o????ɫ2@2N;0J}BJIIV=IVЬ٥Z ^p=9^Q ^?`` bF٦b_Eyfo f? hj4Yj0w?n4yj hlnfվn?jDj;j;j4vmB)vAvCEoDNOT Ignoring new targets: 84.89 m.o%-9o%-95 ProNav: ac range: 84.894279 m, nav range: 83.866089 m, bearing: 337.620044 deg, approach rate: -0.529840 m/s, LOS rate: 0.009482 deg/s, cmd heading: 332.582593 deg, new cmd heading: 332.592294 deg. zo5?9echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754871ԑHeadingCmd: 5.804831 target range: 84.894279 and range: 85.30 m.Ro,@JoboZoBo:n2nmmlkkkk`l?ɞ]~B]$#߼ Y]/Ia e@gɝaiaIeImimrk=im`,=),@)FE6"FI*FI2FMo0:FIJHBHAAH>HCHII~BII>DI&I<*IEG}31= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007289GA 2BQ :Ba  Ou > ] PExceeded connect timeout, disconnecting.|ď,R ?A @6b޲@Y6Bٹ@696o=>AHRS rotation from veh to nav: [[0.888995,0.456112,-0.040616],[-0.457652,0.887995,-0.044941],[0.015569,0.058541,0.998164]]y6H@r?`0?ˤ*Jݿtj?l?@??ɫ6b޲@67;6SCR}BRI}Mb@Mb@Mb@y y)yIyiy}K7?Mb? F٦bEya > 4Y=?4y] ?:?D:#:*4eB)AB*** querying acoustic contact ***:pBpo DNOT Ignoring new targets: 84.89 m.o  9o  9% ProNav: ac range: 84.894279 m, nav range: 83.629105 m, bearing: 337.628936 deg, approach rate: -0.546150 m/s, LOS rate: 0.020550 deg/s, cmd heading: 332.592291 deg, new cmd heading: 332.619042 deg. zo%a:-HeadingCmd: 5.805297 target range: 84.894279 and range: 85.30 m.Ro-Ĺ@Jo)bo)Zo)Bo):n)2n1m1m5x~Bl9k9k9k9kEM?ɞ ~B5RSڼ 15[;I1 5vjɝ9i9I=|I=iEo=iE%=)EĹ@)Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259630F6"F*F2F0:F!YG- S,=J yJ J 3J J ]:J J (3J J Ƃ;J Ȃ;J J G 2B :B)  O5 >jKE MrKE 9zKA KE KE *.#$*8>?:3/,7IJ9,!  %&$"y - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512167 ܃ď,/0?Anܲ@Yn׹@n)9nr=~AHRS rotation from veh to nav: [[0.888902,0.456246,-0.041148],[-0.457822,0.887891,-0.045254],[0.015888,0.059065,0.998128]]ynHq?!3?YLݿ`i?`+@D?=??ɫnܲ@n;l}BII-3I-٥EO MP=9MTQ M>QY ]F٦]eEye m> 4Yљ?4yIB?Dc;oV;4)TAoDNOT Ignoring new targets: 84.89 m.oI9oI9 ProNav: ac range: 84.894279 m, nav range: 83.411423 m, bearing: 337.637176 deg, approach rate: -0.545047 m/s, LOS rate: 0.020686 deg/s, cmd heading: 332.619038 deg, new cmd heading: 332.643823 deg. zo%c:HeadingCmd: 5.805730 target range: 84.894279 and range: 85.30 m.Roȹ@JoboZoBo:n 2n m m Ylkkkkp?ɞ~BR RI -mɝi I : IUui]s=i]+-$=)]ȹ@)iԉF6"F*F2F0:F}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762875ԩG $=G 2B :B  O > ď,*?AH}>HyH}~II}x~BI} =IyI}D&I}N<*I}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014806}BIEMb@Mb@Mb@A A)AIAiAEm?Mb`I +E?EE94)EAIAiEAEA AEAI}LI}٥\ܼ =9Q > F٦hEy >   nManaging dock network, ignoring radio surface power off4Yh?4y"B?:E?Ds<<*4I)UAQoDNOT Ignoring new targets: 84.89 m.o:o:M ProNav: ac range: 84.894279 m, nav range: 83.123955 m, bearing: 337.654602 deg, approach rate: -0.548899 m/s, LOS rate: 0.033389 deg/s, cmd heading: 332.643818 deg, new cmd heading: 332.696277 deg. zoMP:UHeadingCmd: 5.806645 target range: 84.894279 and range: 85.30 m.RoU й@JoQboQZoQBoQ:nY2nymm"~Blkkkk@ɞ%~B%B !%eI! -%qɝ)i)I-K I5 i5u=i{)!=) й@)E1E5>) F 6"F *F 2F o0:F G = G a= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267812Q G P"=G2B:B O>=ď,fI?AHJv4=JvR=JzzJzfJz4JxJz`:Jz9Jz3JxJzz;Jz{;Jz:Jz: }BII%\I%W٥  U=9Q > F٦jEy >jKMrK 9zKKK/1&   /BIKKGEDB>970+&'"!   4Y?4yc%?D@;n;4)ADEoDNOT Ignoring new targets: 84.89 m.oT:oT:= ProNav: ac range: 84.894279 m, nav range: 82.909248 m, bearing: 337.667696 deg, approach rate: -0.569549 m/s, LOS rate: 0.034824 deg/s, cmd heading: 332.696274 deg, new cmd heading: 332.735658 deg. zoM2:]HeadingCmd: 5.807333 target range: 84.894279 and range: 85.30 m.Roeչ@JoaboaZoaBoa:na2nimimilikqkqkqku@@ɞ~B 靥sI sɝiI4Iiuu=i\=)չ@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519275F9"FA*FA2FEd5:FAG] =G9 2BA :BQ  Oe >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701_ď,}c?A2ײ@Y2ѹ@2<92?{=>AHRS rotation from veh to nav: [[0.888575,0.456731,-0.042786],[-0.458433,0.887485,-0.046996],[0.016508,0.061374,0.997978]]y2H5o?;?西 VݿGf?j?_l?@p?ɫ2ײ@2;2PCF}BFIINRIN4٥V݊ V^=9VBܺQ Z>XX ZF٦ZmEy^b| %> )54Y-aψ?54y-'-B9==?-D-;-;-4A)EAIoq}DNOT Ignoring new targets: 84.89 m.o}:o}: ProNav: ac range: 84.894279 m, nav range: 82.698257 m, bearing: 337.680725 deg, approach rate: -0.553677 m/s, LOS rate: 0.034279 deg/s, cmd heading: 332.735671 deg, new cmd heading: 332.774859 deg. zo4:HeadingCmd: 5.808017 target range: 84.894279 and range: 85.30 m.RoF۹@JoboZoBo:n2nmmlkkkk@@ɞ~B |I  6vɝiI%JI-QIi-s=i-E=)-F۹@)1F"F*F2F5:F1ZHRHH>HHeIIO~BIIID&I<*IE2I:IBIJIRIZI6J5eBDAT read: Rx Time:04:04:08.7394 eTRx dataTimestamp_ set to:1761365049.757879mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023901QGu=G 2B :B  O >ԁ ď,]|?A6ٲ@Y6aԹ@6D96g=BAHRS rotation from veh to nav: [[0.888707,0.456355,-0.044036],[-0.458173,0.887501,-0.049191],[0.016634,0.063892,0.997818]]y6H`Jp?4?`⋦`Rݿ hf?@/`b?=[?` ?ɫ6ٲ@6;6RCF}BJI-Mb@Mb@Mb@) )))I)i)-"~?QI +-?-u))- AI)i)-A )-fAI=[I=:٥Ua U@=9eNQ m>ii mF٦moEyu2: u>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277966 4Yሊ?%4y+% ?%:%,%?D::&4))5A5EEB*** querying acoustic contact ***:pBpo1=DNOT Ignoring new targets: 84.89 m.oER@:oER@:u ProNav: ac range: 84.894279 m, nav range: 82.448914 m, bearing: 337.700062 deg, approach rate: -0.540413 m/s, LOS rate: 0.042035 deg/s, cmd heading: 332.774849 deg, new cmd heading: 332.833033 deg. zou:}HeadingCmd: 5.809032 target range: 84.894279 and range: 85.30 m.Ro}@JoyboZoBo:n2nmm}Blkkkk @ɞ%~B%= !%II M zɝIiIIMqVIU+iUo=iU =)]@)aEqԑF"F *F 2F B5:FGIFI JJJJ3JA.J=pJ9J=2J9J=A:J9J=c3J9J=T;J=T;J9J9jKxMrKzKKK(_x]H91*$!2KrA*KsA DAT read: 04:04:08.7394 LVL= 18384, 31729, 17586, 31763, AGC= 67, IDX= 416, 0.14,-2.578, 2.247,-2.682,-3.051, PHS= 0.561,-0.938, 0.366, RAW= 143.1, 0.2, CAL= 147.2, -8.8, ROT= 2.8, 8.8  Ygot valid direction response: 04:04:08.7394 LVL= 18384, 31729, 17586, 31763, AGC= 67, IDX= 416, 0.14,-2.578, 2.247,-2.682,-3.051, PHS= 0.561,-0.938, 0.366, RAW= 143.1, 0.2, CAL= 147.2, -8.8, ROT= 2.8, 8.8  PDAT read: Bearing 2.8, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 2.8, 8.8 (Local)  DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.3 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.987049,0.048275,-0.152986] Fpublishing direction and range infoi ym ;?lw?8C ÿm ̦BYi m G)m {Im Dim |m Cm ?m pm Zd> m @)m d;Im l$@im nFm +H=m nF> i )i m LMm?JQ=#?ɭkf?im H>m j4m +H=m nF> i )i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. G% [=G 2B! :B9  OE >_kď,?AR߲@YRlڹ@Rx9Rnև=nAHRS rotation from veh to nav: [[0.889045,0.455593,-0.045107],[-0.457517,0.887718,-0.051327],[0.016658,0.066269,0.997663]]yRH s?@o(?`@Gݿ0h?G??`?ɫR߲@RR;ROC~}BIIFIפ٥e e;=9mkQ m>ii mF٦mrEyu: u> y4Y}?4y}%.}B?}D};}O;}g4)(AFEJpRp?ApBpBp@v9n{T@SM%@$Re)v;?lw?8C ÿp+H=pnF>v;#R@=0@R5&vēAn?7ٿoIǶjprpyBZpB?bp[zpYQBppppkBp@e addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.779875 s, deltaX: -1.900002 m, approachRate: -0.502663 m/s, rangeRepo size: 4 u Added new target pos. range: 83.003639 m, bearing: 336.141595 deg, lat: 36.779476 deg, lon: -121.859687 deg, deltaT: 3.779875 s, deltaX: -1.890640 m, approachRate: -0.500186 m/s, posRepo size: 4 oquDNOT Ignoring new targets: 83.00 m.oo ProNav: ac range: 83.003639 m, nav range: 82.210289 m, bearing: 337.718545 deg, approach rate: 0.000000 m/s, LOS rate: 0.042035 deg/s, cmd heading: 332.833042 deg, new cmd heading: 332.883853 deg. zoHeadingCmd: 5.809919 target range: 83.003639 and range: 83.40 m.Ro@JoboZoBo:n2nmmlkkkT@k ?ɞ}~B}) y靅II ~ɝiIpIOi{l=iU=)@)*DAT read: user:317> BDAT read: Tx time:04:04:09.9740 $Ping request sent.H CH RII 1~BI I I Q &I p<*I DEGy 2B :B  O= >ď,~?A"JDAT read: TxSync time:04:04:09.9732 &checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249194-J@Y-*@-U9-0=AHRS rotation from veh to nav: [[0.889699,0.454204,-0.046211],[-0.456242,0.888243,-0.053550],[0.016724,0.068727,0.997495]]y-H ix? ?3ݿ|l?j@ ??`{?ɫ-J@-t{;-PC}BIiI1Mb@Mb@Mb@ )IizG?Qy&1 ?`e)7AI@iA AI iI ҅٥=)= @=9"Q >!! %F٦%uEy-\; -> 9E4Y=?E4y=v1=BEG?M:MM?=D=`;=;=%4UbB)UAUOEoy}DNOT Ignoring new targets: 83.00 m.o:o: ProNav: ac range: 83.003639 m, nav range: 81.960258 m, bearing: 337.742107 deg, approach rate: -0.608218 m/s, LOS rate: 0.057491 deg/s, cmd heading: 332.883858 deg, new cmd heading: 332.954760 deg. zo;HeadingCmd: 5.811157 target range: 83.003639 and range: 83.40 m.Ro@JoboZoBo:n2nmm ~Blkkkk?ɞ~B FI "瀼ɝiIչIii=i|=)@)YF"F*F2F`0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500040ԉG -=G 2B :B  O >Ա @yď, `?AV@YV@V怏9Vߙ=nAHRS rotation from veh to nav: [[0.889765,0.453822,-0.048616],[-0.456082,0.888139,-0.056545],[0.017517,0.072484,0.997216]]yVHx?j ?3䨿`s0ݿk?j?`U?1?ɫV@V;VOCJnJhJJJ|;:JȆ9JJJ)J;J,J;Jܬ:Jެ:5}B5IIE1IEs٥U< Ul=9UQ ]?YY ]F٦]wEye: e? iu4Ym?u4ym#4mBq}}?mDm;mz;m+4)APEoDNOT Ignoring new targets: 83.00 m.o|:o|: ProNav: ac range: 83.003639 m, nav range: 81.758240 m, bearing: 337.761211 deg, approach rate: -0.582709 m/s, LOS rate: 0.055240 deg/s, cmd heading: 332.954756 deg, new cmd heading: 333.012210 deg. zo;HeadingCmd: 5.812160 target range: 83.003639 and range: 83.40 m.Ro6@JoboZoBo:n2nmmlkkkk_?ɞ-~B-+ )-I1 5fSɝ1i1I5wI=I*i=e=i=AA=)=6@)AԉjKMrK9zKKK$(&!":HLJJHCA@><;8701/,+)%+K]QNPjMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752115F"F*F2Fm0:FԹGr =Gq 2B :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003779 >ď,%?A2@Y2p@2W92tڙ=>AHRS rotation from veh to nav: [[0.889629,0.453856,-0.050752],[-0.456306,0.887910,-0.058318],[0.018595,0.075040,0.997007]]y2Hw? ?@2 4ݿi? ۭ ?5?{?ɫ2@2x;0R}BRIIn-In٥vռ vR=9z#5Q ~> F٦zEy(/  > 4Y %?4y ,7 B? D X; u; 24))-A)oIUDNOT Ignoring new targets: 83.00 m.o]v:o]v:m ProNav: ac range: 83.003639 m, nav range: 81.529243 m, bearing: 337.783013 deg, approach rate: -0.588176 m/s, LOS rate: 0.056155 deg/s, cmd heading: 333.012211 deg, new cmd heading: 333.077801 deg. zom';uHeadingCmd: 5.813304 target range: 83.003639 and range: 83.40 m.Ro}@JoyboyZoyBoy:n2nmmlkkkk?ɞ~B7 'I rɝiII3i!_=i^=)@)F1"F9*F92F=0:F9JHBH?AH>HCHII =I?DID&I<*IlEechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255935G==G2B:B O%>I ʾď, ?A V@YV@Vm!9Vڐ=bAHRS rotation from veh to nav: [[0.891291,0.449817,-0.057138],[-0.452994,0.888867,-0.068641],[0.019912,0.087063,0.996004]]yVH`u? ?@2Aܿq?{@c?I?C?ɫV@V;VPCn}BnIIv=)v=}Mb@Mb@Mb@y y)yIyiy}A`"?V- F٦|Ey< >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507968 Ye4Y]~9?m4y]:YmI?u:ueu?]/D]1;]0;]:4)AB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 83.00 m.os:os:5 ProNav: ac range: 83.003639 m, nav range: 81.263458 m, bearing: 337.807401 deg, approach rate: -0.578275 m/s, LOS rate: 0.053236 deg/s, cmd heading: 333.077809 deg, new cmd heading: 333.151214 deg. zo=$;=HeadingCmd: 5.814586 target range: 83.003639 and range: 83.40 m.Ro=@JoAboAZoABoA:nA2nAImm}Blkkkk=4?ɞ-~B-4n )5EI1 5ɝ1i1I5#wܺI=Mi=[=i=/I=)=@)AF"F*F2Fx0:FqjKNrK9zKKKhVL?:8Eh~xld]SMXs_SKE?:55@d||wru|zunfm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760149) ׉GԹ `wA) GU V =Im m `wAu BG9 2BA :BY  Oe >7ď,?A@VM@YV.@V@9Vx=rAHRS rotation from veh to nav: [[0.892411,0.447331,-0.059143],[-0.450773,0.889687,-0.072536],[0.020171,0.091392,0.995611]]yVH ?? H@vܿ Px?`?ze? ?ɫVM@VV;VNCz}BzIIZI٥= T=9!0Q >! %F٦%Ey%<; %> )54Y-~I?54y-{=)9==?-=D-a;-;-@4A)EHAIoiuDNOT Ignoring new targets: 83.00 m.ou~:ou~: ProNav: ac range: 83.003639 m, nav range: 81.047150 m, bearing: 337.826969 deg, approach rate: -0.614208 m/s, LOS rate: 0.055711 deg/s, cmd heading: 333.151219 deg, new cmd heading: 333.210079 deg. zo;HeadingCmd: 5.815613 target range: 83.003639 and range: 83.40 m.Ro@JoboZoBo:n2nmmlkkkk`^`@ɞ-~B-E )-ZmI) -Nɝ1i1I5Cu׺IEeiE[=iE=)E@)Iԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023508F)"F)*F)2F5?1:F1G "= J= oJ= kJ= 3J9 J= >:J= 9J= (3J9 !] @!] @!] @!] @H >H CH I I =I I D&I <*I EG 2B :B)  OY Mď,1?A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269961 LN@hu}BuIMb@Mb@Mb@ )IiA`"?/$Mb`) AI@iAA AI5\I5W٥=- E8=9EQ E>II MF٦MEyU U> Y]4Y]]?e4y]@]Be.?e:ee?]ND] ;]* ;]H4uaB)uLAuQEoDNOT Ignoring new targets: 83.00 m.ok_:ok_: ProNav: ac range: 83.003639 m, nav range: 80.783539 m, bearing: 337.848640 deg, approach rate: -0.592079 m/s, LOS rate: 0.048832 deg/s, cmd heading: 333.210068 deg, new cmd heading: 333.275293 deg. zo ;EHeadingCmd: 5.816751 target range: 83.003639 and range: 83.40 m.RoE"@JoIboIZoIBoI:nI2nImQmU}BlQkQkYkYk]@@ɞ~BN 靭oI 1 ɝiI-ѺIi!Y=iē=)"@) Fy"Fy*Fy2F}a5:Fy1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519787G =Y Gy 2B :B  O >ď,hK?A2@Y2@2)쮼92;x=FAHRS rotation from veh to nav: [[0.892316,0.447080,-0.062387],[-0.450907,0.889300,-0.076339],[0.021351,0.096249,0.995128]]y2H`ٍ?`?6ܿ@&u?@ݕ?ͣ? ?ɫ2@2+;2PC^}B^IIdId٥r= rd=9vWQ v>tt zF٦zEy~ ~>  4Yl? 4yCB?\D:W:N49)AoDNOT Ignoring new targets: 83.00 m.oW:oW: ProNav: ac range: 83.003639 m, nav range: 80.569824 m, bearing: 337.866334 deg, approach rate: -0.566175 m/s, LOS rate: 0.046998 deg/s, cmd heading: 333.275283 deg, new cmd heading: 333.328505 deg. zo; HeadingCmd: 5.817680 target range: 83.003639 and range: 83.40 m.Ro o*@Jo bo Zo Bo :n2nmmlkkkk%@ɞM~BM IMQIQ Uh@ɝQiQI]ͺI]Vi]U=ieu=)eo*@)ajKNrKh9zKKKaZUOIB<;<;;>@=<>988>Y~}~ytof`fv~]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772703F"F*F2F_0:FiԙGr =G2B:B O>  BDAT read: Rx Time:04:04:12.4865  TRx dataTimestamp_ set to:1761365053.541800 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024931rď,(e?Ab @Yb@bqŶ9be=jAHRS rotation from veh to nav: [[0.891517,0.448488,-0.063688],[-0.452438,0.888515,-0.076432],[0.022309,0.096956,0.995039]]ybH`N??Mܿ n?1ؖ?Ҹ?`[?ɫb @bb;`r}Br'IIzYIz٥,|= F=9;Q  >    F٦ Ey > %4Y#?%4yFB!--?kD::"V49)=eA=REoaeDNOT Ignoring new targets: 83.00 m.omhq:omhq:ԑ ProNav: ac range: 83.003639 m, nav range: 80.325470 m, bearing: 337.886985 deg, approach rate: -0.622425 m/s, LOS rate: 0.052764 deg/s, cmd heading: 333.328504 deg, new cmd heading: 333.390647 deg. zo;HeadingCmd: 5.818765 target range: 83.003639 and range: 83.40 m.RoR3@JoboZoBo:n2nmmlkkkk$ @ɞM~BM iu8Iq u?uɝqiqIuʺI}i}L=i} =)}R3@)JJeJ2JJJ9Jc3JH>HHeIIO~BI =II&In<*IAEFM6"FQ*FQ2FY:FYMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277018G%|=G 2B :B  O] > *ď,G?AI)<:@Y:@:U9:&=BAHRS rotation from veh to nav: [[0.890293,0.450776,-0.064646],[-0.454789,0.887397,-0.075454],[0.023354,0.096576,0.995052]]y:HG}??ৌ`Cݿe?P`!?;?@v?ɫ:@:L;:NCJ}BJ3IuMb@Mb@Mb@q q)qIqiqu/$?~jtMbP?u?uu:)uAIqiuAuA quAIhI٥-;= C=9#Q > F٦EyYϻ >DAT read: 04:04:12.4865 LVL= 18768, 26849, 18834, 29939, AGC= 66, IDX= 418,-0.33,-2.568, 2.340,-2.655,-3.011, PHS= 0.531,-0.885, 0.353, RAW= 143.4, 0.0, CAL= 147.5, -9.0, ROT= 2.5, 9.0 Ygot valid direction response: 04:04:12.4865 LVL= 18768, 26849, 18834, 29939, AGC= 66, IDX= 418,-0.33,-2.568, 2.340,-2.655,-3.011, PHS= 0.531,-0.885, 0.353, RAW= 143.4, 0.0, CAL= 147.5, -9.0, ROT= 2.5, 9.0 PDAT read: Bearing 2.5, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 2.5, 9.0 (Local) DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.986748,0.043082,-0.156434]%Fpublishing direction and range info۹y۽6 q?>?p Ŀ۽fBY۹ ܽPI)ܽhIܽIiܽtܽBܽ?ܽ\bܽj> ݽ- @)ݽIݽS$@iݽ| ݽ¸2=ݽ| > ޹)޹޽F_?Pd?lX1?i޽>޽޽¸2=޽| > ߹)߹MT****** received valid address query ******UR****** received valid ping request ****** ]4Y?]4yIB]?e:ee?|D<<s]4i)mAmSEUQuerying Benthos address 50 with one ping in standard two-way mode.JpRpW?ApBpBpMһ@vE3S@og @ H)v6 q?>?p Ŀp¸2=p| >vW\dXR@L@E6d'$v+Y$?{ٿHa6qjprpÒBZpJ:?bpzzpwTBpGbڡ?pNNppMBp4@U addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.784569 s, deltaX: -2.200005 m, approachRate: -0.581309 m/s, rangeRepo size: 4 e Added new target pos. range: 80.813667 m, bearing: 336.293074 deg, lat: 36.779472 deg, lon: -121.859701 deg, deltaT: 3.784569 s, deltaX: -2.189972 m, approachRate: -0.578658 m/s, posRepo size: 4 oDNOT Ignoring new targets: 80.81 m.oo ProNav: ac range: 80.813667 m, nav range: 80.150467 m, bearing: 336.981279 deg, approach rate: 0.000000 m/s, LOS rate: 0.052764 deg/s, cmd heading: 333.390659 deg, new cmd heading: 333.466186 deg. zoHeadingCmd: 5.820083 target range: 80.813667 and range: 81.20 m.Ro>@JoboZoBo:n2nmmn~Blk k k LT@k ?Aɞm~Bm/߼ qu%Iq urʌɝqiqIuRȺI}ic9=i<)>@)F"F*F2F`0:FqjK NrK 9zK K K {ra$JxX>7@DB;52+%# &9AFKP]iz$NV[5L{u *DAT read: user:318> } BDAT read: Tx time:04:04:13.7740  $Ping request sent. ď,y$?Ab@Yb@bƼ9bf=jAHRS rotation from veh to nav: [[0.889415,0.452373,-0.065575],[-0.456461,0.886571,-0.075063],[0.024180,0.096695,0.995020]]ybHv?`?ɰ6ݿ^?Y7˜? ?4?ɫb@bJ];bPC ~B FII=\I=W٥M= MP=9M Q M>QQ UF٦UEy]< ]> am4Yeգ?m4yeMeBimVu?eDe:ey:eUd4)AB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 80.81 m.oyn:o%yn:y ProNav: ac range: 80.813667 m, nav range: 79.910713 m, bearing: 336.999128 deg, approach rate: -0.698010 m/s, LOS rate: 0.052122 deg/s, cmd heading: 333.466173 deg, new cmd heading: 333.519882 deg. zo;HeadingCmd: 5.821020 target range: 80.813667 and range: 81.20 m.RoE@JoboZoBo:n2nmmlkkkk?ɞ~B_߼ I 􊍼ɝiI]}ǺIi'=iX<)E@) JDAT read: TxSync time:04:04:13.7732 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252542F6"F*F2F:FG}G<G92BI:BY Oew>J nJ kJ J J |;:J 9J J H) H) H- II- ~BI) I) I) &I- <*I- E2IC:ICBIJIɠ =RIɡ =ZIɭl5  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504172QRď,)?Afֲ@Yfѹ@fռ9f =rAHRS rotation from veh to nav: [[0.888389,0.453969,-0.068386],[-0.458353,0.885507,-0.076094],[0.026012,0.098946,0.994753]]yfHm?` ?`Uݿ V?`z@آ?@T??ɫfֲ@fj;fLCz3~BzTIMb@Mb@Mb@ )Ii\(\?S㥛?y&1|??/<`;)7AI@ilA AI (I m٥N= 9=9Q %>!! %F٦%Ey- 5> AM4YEX?M4yEOEBM ?M:MݾU?EDE:Es:El4Y)]=AYoDNOT Ignoring new targets: 80.81 m.o9o9ԙ ProNav: ac range: 80.813667 m, nav range: 79.642639 m, bearing: 337.005225 deg, approach rate: -0.617251 m/s, LOS rate: 0.014085 deg/s, cmd heading: 333.519886 deg, new cmd heading: 333.538237 deg. zo:HeadingCmd: 5.821341 target range: 80.813667 and range: 81.20 m.RolH@JoboZoBo:n2nmm~Blkkkk@O?ɞy}>ͼ y} I HɝiIǺIvi6=i0<)lH@)Fi"Fi*Fi2Fmo0:Fqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753665G V<G 2B :B  O >ď,Z?A :@Y:@:޼9:T)=FAHRS rotation from veh to nav: [[0.886627,0.457263,-0.069301],[-0.461684,0.883912,-0.074478],[0.027200,0.098029,0.994812]]y:H`@_?C?`:ݿI? qڛ?@q?`?ɫ:@:&;8NO~BNeIIV&IV3٥^= ^k=9bH_Q b>dd fF٦fEyfJ1 j? hv4Yj\ȉ?v4yjORjBtv߾z?jDj>;jK ;j"r4~_B)~A~]Eo!-DNOT Ignoring new targets: 80.81 m.o-(9o5(9 ProNav: ac range: 80.813667 m, nav range: 79.433029 m, bearing: 337.010588 deg, approach rate: -0.601265 m/s, LOS rate: 0.015426 deg/s, cmd heading: 333.538245 deg, new cmd heading: 333.554379 deg. zoc):-HeadingCmd: 5.821622 target range: 80.813667 and range: 81.20 m.Ro=J@Jo9bo9ZoABoA:na2namimqlkkkk"?jK"OrK9zKKKwieU;2OwcVB7&*Uv.>@6%1wsQ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006185Qɞu~Bu@ y}Iy }IюɝyiyI}rɺIQi=iĽ<)J@)Fa"Fa*Fa2Fe0:Fiyԩ G q<G 2B :B  O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257971;ď,?A:@Y:h@<:9:<=FAHRS rotation from veh to nav: [[0.885944,0.458287,-0.071256],[-0.462922,0.883192,-0.075332],[0.028410,0.099726,0.994609]]y:H@Y?`T?=ݿC?Ha???ɫ:@:;:MCNg~BNtI TTITIT٥fPl= fI=9fpCQ f>hh jF٦jEyjd n> pv4Yrۉ?v4yr UrBtv`v?rDr:r:r9y4|)~\A~^Eo!%DNOT Ignoring new targets: 80.81 m.o-d9o-d9M ProNav: ac range: 80.813667 m, nav range: 79.187668 m, bearing: 337.017159 deg, approach rate: -0.607775 m/s, LOS rate: 0.016326 deg/s, cmd heading: 333.554392 deg, new cmd heading: 333.574165 deg. zoME3:UHeadingCmd: 5.821968 target range: 80.813667 and range: 81.20 m.RoUM@JoQboQZoQBoY:nY2nYmYmYlakakakakmޮ?ɞ~Ba 靝t{I *ɝiI˺I$i=i.<)M@)F56"F1*F12F5`5:F1ԱJwJlJJJW:J9JJHHHII~BIIG- <I&It<*IIEG12BQ:By OF>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513731 F#ď,?A6X@Y69@6Ld96D=BAHRS rotation from veh to nav: [[0.886175,0.457877,-0.071003],[-0.462518,0.883316,-0.076360],[0.027754,0.100508,0.994549]]y6H[? M?@9-ݿD? Q@k?溹?X?ɫ6X@6];6LCpv~BvIMb@Mb@Mb@ )Iin? F٦Ey: > 4Y?4yWB`?:ؾ?D;;܀4)Ao)5DNOT Ignoring new targets: 80.81 m.o=]+9o=]+9M ProNav: ac range: 80.813667 m, nav range: 78.931686 m, bearing: 337.021252 deg, approach rate: -0.583762 m/s, LOS rate: 0.009364 deg/s, cmd heading: 333.574172 deg, new cmd heading: 333.586490 deg. zoM9HeadingCmd: 5.822183 target range: 80.813667 and range: 81.20 m.RoRO@JoboZoBo:n2nmm~Blkkkk~@ɞu~Buv& q}HIy }UɝyiyI}кIiu=i`Q<)RO@) FE6"FA*FA2FA:FAGM= GM=9U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014425G <jK OrK zK K K , gJ.qP:# dB0($ i G 2B :B  O >#Lď,i?AI)<2R@Y23@2592]=:AHRS rotation from veh to nav: [[0.886910,0.456345,-0.071700],[-0.461115,0.883880,-0.078290],[0.027647,0.102499,0.994349]]y2H@a?@4?Z`ݿ`H? zO? Y=??ɫ2R@2+c;2OCb~BbIIjhIj٥r!= r[=9rq9Q r>tt vF٦vEyzߊ; z> |4Y~?4y~,Z~B׾ ?~D~;~r;~c4))A9B*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 80.81 m.o9o9 ProNav: ac range: 80.813667 m, nav range: 78.712669 m, bearing: 337.024534 deg, approach rate: -0.552102 m/s, LOS rate: 0.008298 deg/s, cmd heading: 333.586494 deg, new cmd heading: 333.596369 deg. zo;9eHeadingCmd: 5.822355 target range: 80.813667 and range: 81.20 m.RoeP@JoaboaZoiBoi:ni2nmmlkkkk1@ɞ]~BeoI ae+H H II BI =I I &I <*I EG! 2B9 :BI  OU > } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520264m ď,4?AUt@YUU@Umi9U=amAHRS rotation from veh to nav: [[0.886974,0.456175,-0.071989],[-0.460993,0.883889,-0.078908],[0.027635,0.103176,0.994279]]yUHb? 1?mݿ@H?P3AL?@i?"?ɫUt@U,;UMC}~B}II=)p=eMb@Mb@Mb@a a)aIaiaeDl?V-?/$?eO ?eh=e<)edAIaieAa ae3AIuqIuv}٥= 0=97Q > F٦Ey9 > 4Y?4y\B?:?D-;-;4)A_EoDNOT Ignoring new targets: 80.81 m.oGoG ProNav: ac range: 80.813667 m, nav range: 78.454597 m, bearing: 337.015993 deg, approach rate: -0.583444 m/s, LOS rate: -0.019374 deg/s, cmd heading: 333.596356 deg, new cmd heading: 333.570648 deg. zoT HeadingCmd: 5.821906 target range: 80.813667 and range: 81.20 m.Ro M@Jo bo ZoBo:n2nmmmBlk!k!k!k%`8 @ɞ~Bp #=I 3ɝiIQ6ںI,il=i!9<)M@)ԑF"F*F2F2:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769615ԹG e<G 2B :B  O- >Moď,hN?A6Dz@Y6z¹@6U߼96%=JBnJBcJ@J@JB|;:JBx9J@J@JAHRS rotation from veh to nav: [[0.887496,0.455172,-0.071896],[-0.460007,0.884327,-0.079749],[0.027280,0.103849,0.994219]]y6H^f? !?g`pݿhL?fjg?ݕ? ?ɫ6Dz@6؉;6LCV~BVII^bI^٥fX'< fm=9j:Q j?hh nF٦nEyn T; n? pv4Yr%#?v4yrJ^rÃBxzz?rDrh:r:r4|)~Ao)5DNOT Ignoring new targets: 80.81 m.o=o=M ProNav: ac range: 80.813667 m, nav range: 78.263390 m, bearing: 337.009477 deg, approach rate: -0.555436 m/s, LOS rate: -0.018975 deg/s, cmd heading: 333.570648 deg, new cmd heading: 333.551051 deg. zoM\PUHeadingCmd: 5.821564 target range: 80.813667 and range: 81.20 m.RoUAJ@JoQboQZoQBoQ:nY2nYiaIeC)%rGmm1 AlY)akikykk  @IaPBBDAT read: Rx Time:04:04:16.2833 TRx dataTimestamp_ set to:1761365057.321935checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022931ɞE~BECmjKmOrKm9zKiKmKmKVywibUA, GqU=!{j|ric\VQJB@AKT\_BK} ?:K}? I}*=Iy ɝiImߺIYiQ=i4<)AJ@)F6"F*F2F_0:F)G < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273595G 2B :B  O >Y 5ď,Jh?A @2p̲@Y2Qǹ@220ݼ92N=:AHRS rotation from veh to nav: [[0.887775,0.454635,-0.071856],[-0.459486,0.884537,-0.080422],[0.026997,0.104413,0.994168]]y2Hh??.e6hݿ N?@ *?Һ?`8?ɫ2p̲@2;2OCF~BFIIN`IN̍٥Vc= VL=9Z9:Q Z>X   F٦ Ey[: > %4Y45?%4y_`̃B!-I-?D`::45^B)5=A5`EoY]DNOT Ignoring new targets: 80.81 m.oeoeu ProNav: ac range: 80.813667 m, nav range: 78.035187 m, bearing: 337.001564 deg, approach rate: -0.556294 m/s, LOS rate: -0.019345 deg/s, cmd heading: 333.551059 deg, new cmd heading: 333.527251 deg. zoulTHeadingCmd: 5.821149 target range: 80.813667 and range: 81.20 m.RoF@JoboZoBo:n2nmmlkkkk@+ @ɞ~BP 0=I \ɝiI&I i;=ig<)F@)9ZH<RHp<H>HCHIIWBI =II&Ic<*I&EF6"F*F2Fm0:FaDAT read: 04:04:16.2833 LVL= 19840, 32753, 18578, 32755, AGC= 67, IDX= 400, 0.45, 1.462,-0.030, 1.380, 0.982, PHS= 0.568,-0.965, 0.395, RAW= 144.1, 0.0, CAL= 148.1, -8.9, ROT= 1.9, 8.9 UYgot valid direction response: 04:04:16.2833 LVL= 19840, 32753, 18578, 32755, AGC= 67, IDX= 400, 0.45, 1.462,-0.030, 1.380, 0.982, PHS= 0.568,-0.965, 0.395, RAW= 144.1, 0.0, CAL= 148.1, -8.9, ROT= 1.9, 8.9 ]PDAT read: Bearing 1.9, 8.9 (Local) ]~Local bearing/azimuth received: Bearing 1.9, 8.9 (Local) eDAT read: Range 10 to 50 : 78.8 m (Round-trip 105.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.987417,0.032756,-0.154710]Fpublishing direction and range info y #N?$܃dŠ?jÿ BY  M) I Hi  CGT< sh? = w q=>  @) I m%@i  = > )  q56?kc?d??i }=>  = > ) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gqԉ2B:B O>Ա ď, ?A6?ղ@Y6 й@62"ܼ96==BAHRS rotation from veh to nav: [[0.888271,0.453652,-0.071932],[-0.458532,0.884970,-0.081095],[0.026869,0.105018,0.994107]]y6H@l?`? j@Xݿ`Q?@´@m?q?@?ɫ6?ղ@6O;6KCN~BNI PRA]*DAT read: user:319> mBDAT read: Tx time:04:04:17.6241 u$Ping request sent.uԑ F٦Ey; > 4Y(I?4yAb׃B ?:d?D ; ;4)AJpARpEEt?ApEٜBpEٜBpEdc@vEOG[S@ @X]D(vE#N?$܃dŠ?jÿpE=pE>vE(Q@O0 @aql#vEKt9 ?Qڿ'Ly6jpErpEBZpEaP?bpE2zpE%XBpEJ:?pE[pEwTBpEBpEϻ@ addTargetRange:: Added new target pos. range: 78.800003 m, deltaT: 3.781978 s, deltaX: -2.399994 m, approachRate: -0.634587 m/s, rangeRepo size: 4   Added new target pos. range: 78.424294 m, bearing: 335.517349 deg, lat: 36.779468 deg, lon: -121.859711 deg, deltaT: 3.781978 s, deltaX: -2.389374 m, approachRate: -0.631779 m/s, posRepo size: 4 o DNOT Ignoring new targets: 78.42 m.ooE ProNav: ac range: 78.424294 m, nav range: 77.781197 m, bearing: 336.276230 deg, approach rate: 0.000000 m/s, LOS rate: -0.019345 deg/s, cmd heading: 333.527262 deg, new cmd heading: 333.499963 deg. zoAMHeadingCmd: 5.820673 target range: 78.424294 and range: 78.80 m.RoMB@JoIboQZoQBoQ:nQ2nQmYm]BlYkYkYke@3S@k`?ɞ~B(XO  Ș=I  ɝ i IbfIsi =i <)B@)AԹJpJkJJJA:J9JJJT;!JT;!J:!J:!F"F*F2F`0:F JDAT read: TxSync time:04:04:17.6233  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866jK 1OrK 9zK K K cwmhd`]ZXXYTH2GgH4(  3 )oZL>91(%2K% sA*K! G c<GY 2Bi :By  O >9 4&ď,V?A2۲@Y2ֹ@2߿ۼ92=:AHRS rotation from veh to nav: [[0.888638,0.452915,-0.072039],[-0.457823,0.885291,-0.081591],[0.026822,0.105486,0.994059]]y2Ho??$q`Lݿ`NT?`$㴿$w? ?T?ɫ2۲@2@;2NCB~BBIIJIIJ.٥R Ro=9V9Q V?TX ZF٦ZEyZ; Z? \b4Y^W?b4y^c^ރBdff?^D^:^:^4l)r/ApB*** querying acoustic contact ***:pBpo!%DNOT Ignoring new targets: 78.42 m.o-2co-2c5 ProNav: ac range: 78.424294 m, nav range: 77.599701 m, bearing: 336.259922 deg, approach rate: -0.551385 m/s, LOS rate: -0.049658 deg/s, cmd heading: 333.499969 deg, new cmd heading: 333.450932 deg. zo=QEHeadingCmd: 5.819817 target range: 78.424294 and range: 78.80 m.RoE;@JoAboAZoABoA:nA2nImImIlIkQkQkQkU?ɞ~B|K  (y=I  oɝ i I I5>i5= =i55<)=;@)9F6"F*F2F0:Fuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5022509G5<G 2B :B1  OE >i H >H CH 'II BI =I I &I <*I vE5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755330b,ď,Hܵ?AIA)A;@Y@[9G=AHRS rotation from veh to nav: [[0.889295,0.452491,-0.066383],[-0.456454,0.887185,-0.067478],[0.028360,0.090309,0.995510]]yHu?@? s@6ݿc?`CF`z ?y?7?ɫ;@?ˉ;髝OC~BIMb@Mb@Mb@ )IiNbX9?T㥛 ?Q??>u<)~AIilAA AIRI4٥; -=9UQ > F٦EyR; > 4Yl?4y:eB ?:v?/D:E:Ⲥ4)"AoDNOT Ignoring new targets: 78.42 m.oo5 ProNav: ac range: 78.424294 m, nav range: 77.350494 m, bearing: 336.227473 deg, approach rate: -0.532005 m/s, LOS rate: -0.069496 deg/s, cmd heading: 333.450928 deg, new cmd heading: 333.353266 deg. zo5>=HeadingCmd: 5.818112 target range: 78.424294 and range: 78.80 m.Ro=-@JoAboAZoABoA:nA2nImImMBlQkQkQkQkU?iɞ~B|W  ({=I  ɝ i I 8OIi3=imo=)-@)F"F*F2F0:Fԙuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005582 G )<G 2B :B  O >3ď,?AJ2tJ2rJ0J0J2;N:J29J0J0!6@!6@!6@!6@F@YF@F9F=LRAHRS rotation from veh to nav: [[0.890308,0.450516,-0.066238],[-0.454451,0.888266,-0.066765],[0.028758,0.089543,0.995568]]yFH`f}?B?ݿl?` r?O??ɫF@F;FKCZBZIIb!IbŴ٥j1= jo=9nQQ n?ll nF٦rEyr; r? t~4Yv{?4yv^fvB  s ?v;Dv{;vk;v޸4]B)A%aEoDNOT Ignoring new targets: 78.42 m.o֖o֖ ProNav: ac range: 78.424294 m, nav range: 77.169899 m, bearing: 336.203507 deg, approach rate: -0.495696 m/s, LOS rate: -0.065936 deg/s, cmd heading: 333.353256 deg, new cmd heading: 333.281190 deg. zo5%HeadingCmd: 5.816854 target range: 78.424294 and range: 78.80 m.Ro%#@Jo!bo)Zo)Bo):n)2nImQmQlQkQkYkYk]z?ɞ~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257485ңA 8=I cɝiIIi=i  =) #@)Ea>E>jKNrK+9zKKK8SQB1& +(" D*W{^J:2(!  F6"F*F2F`5:FG>=G 2B :B  O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5094019ď,֋?A6@Y6@696î=>AHRS rotation from veh to nav: [[0.892187,0.446696,-0.066813],[-0.450718,0.890096,-0.067686],[0.029235,0.090503,0.995467]]y6Ȟ?૖? ܿ{?S@?,+??ɫ6@6č;6LCF~BFIIR,IRỴ٥V]@ ZM=9ZQ Z>\\ ^F٦^Eyb+< b> df4Yf%?j4yfgfBhjoj?fHDf%:f:fտ4p)r/Ap|oDNOT Ignoring new targets: 78.42 m.oo%- ProNav: ac range: 78.424294 m, nav range: 76.959885 m, bearing: 336.174824 deg, approach rate: -0.555190 m/s, LOS rate: -0.076032 deg/s, cmd heading: 333.281184 deg, new cmd heading: 333.194901 deg. zo5P=HeadingCmd: 5.815348 target range: 78.424294 and range: 78.80 m.Ro=U@Jo9bo9Zo9Bo9:n92n9mAmAlAkAkIkIkM?ɞ~B9Y 靅W=I 5ɝiII[i=i =)U@)JmC=Jmp=H]>HYH]3II]BIYIYIY&I]<*I]iE2I):I)BI)JI)RI)ZI-5F6"F*F2F1:F)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763826QG#=G2B:B O>ԁ _@ď,a?A @~~B~IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013450Y-Eonly read 0 of 1 data item for altitude. Device response is::BD, +0.42, , 09, 8.41, 0.00 mE@E qE@E uE@E iM@M IuiIu҅٥̄ 0=9Q > F٦Ey > 4Y?4y2iB+::?XD/<>uƤ4)AbEoDNOT Ignoring new targets: 78.42 m.oMךoMךԉe ProNav: ac range: 78.424294 m, nav range: 76.713356 m, bearing: 336.140951 deg, approach rate: -0.491041 m/s, LOS rate: -0.067686 deg/s, cmd heading: 333.194905 deg, new cmd heading: 333.092959 deg. zo9HeadingCmd: 5.813569 target range: 78.424294 and range: 78.80 m.Ro@JoboZoBo:n2nmmlkk!k!k%3&@ɞ~B 靕765/-+)(' GE N!=G 2B9 :BQ  Oe >Fď,W?ANr@YNm@N;$9N|=VAHRS rotation from veh to nav: [[0.896899,0.437157,-0.066829],[-0.441359,0.894355,-0.073025],[0.027846,0.094991,0.995089]]yNHd?c?@7?ܿ`?࿱?[Q??ɫNr@N<;L^~B^IIfcIf#٥n ni=9n;Q r>pp rF٦rEyv< v? x~4Yz?~4yzGjz B~ :|:e?zdDz:zQ?zoʤ4 \B) A cE-B*** querying acoustic contact ***:p)Bp)oAUDNOT Ignoring new targets: 78.42 m.oeºoeºu ProNav: ac range: 78.424294 m, nav range: 76.531036 m, bearing: 336.114307 deg, approach rate: -0.581286 m/s, LOS rate: -0.085151 deg/s, cmd heading: 333.092972 deg, new cmd heading: 333.012849 deg. zoui}HeadingCmd: 5.812171 target range: 78.424294 and range: 78.80 m.Ro}M@JoyboyZoyBoy:n2nmmlkkkk@7t@ԩɞ~B< ;I ɝiII(i=i,Q=)M@)F"F*F2F`0:FMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518133Gl"= G2B:B O>HM >HM CHM -IIM BIM =II II &IM C<*IM E Jy J} ?A1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771152x&Mď,'7?A@Yi@s9g%=AHRS rotation from veh to nav: [[0.898722,0.433268,-0.067655],[-0.437662,0.895866,-0.076661],[0.027396,0.098507,0.994759]]yH@U?਺?Q ܿ? ?7?@?ɫ@lƌ;~BImm qq uu ii Mb@Mb@Mb@ )Iiw/?#~j?{Gz?=#)7AIiAA fAI MI ٥D %+=9%5w:Q ->II MF٦MEyM6 < U> Q]4YUŊ?e4yUFletIU BT:?:\?UuDU;Up;UҤ4)AoDNOT Ignoring new targets: 78.42 m.oSoS ProNav: ac range: 78.424294 m, nav range: 76.276016 m, bearing: 336.091723 deg, approach rate: -0.521369 m/s, LOS rate: -0.046325 deg/s, cmd heading: 333.012840 deg, new cmd heading: 332.944862 deg. zoW%HeadingCmd: 5.810984 target range: 78.424294 and range: 78.80 m.Ro%@Jo)bo)Zo)Bo):n)2n)m1m5Bl1k1k9k9k=Sa @ɞ~BbÑ 靍3I ɝiIos IYi.=i]=)@)AF!"F)*F)2F5_0:F9GϚN=UBDAT read: Rx Time:04:04:20.1307 ]TRx dataTimestamp_ set to:1761365061.102095]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022786G2B:B O>iԑ [ Tď,gP?AI)>U@Y>6@>sۼ9>E=ZAHRS rotation from veh to nav: [[0.899952,0.430676,-0.067860],[-0.435166,0.896869,-0.079096],[0.026797,0.100713,0.994555]]y>H g?4?D_ۿ`'?@? p?Qȹ? d?ɫ>U@>`C;>MCj~BjIIvXIv㔴٥H%  u=9 :Q  ? F٦Ey%w < %? 1E4Y5ӊ?M4y5m5BQUU?5D55;5{;5ؤ4q)uAoDNOT Ignoring new targets: 78.42 m.oL\oL\ ProNav: ac range: 78.424294 m, nav range: 76.100044 m, bearing: 336.075675 deg, approach rate: -0.526769 m/s, LOS rate: -0.048150 deg/s, cmd heading: 332.944866 deg, new cmd heading: 332.896611 deg. zo. HeadingCmd: 5.810142 target range: 78.424294 and range: 78.80 m.Ro @Joqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273334boZoBo:n2nmmlkkkk: @ɞE~BEBu AEIA MɝIiIIT I2iQ=ii=)@)jK-NrK)zK)K-K-'(._ycSQPLHIOhsmjgc[TQLKJDDB<:9765321.+(&%%#!ԡF"F*F2F`0:FG Q= DAT read: 04:04:20.1307 LVL= 19376, 25825, 17330, 29939, AGC= 66, IDX= 421, 0.16, 1.894, 0.455, 1.906, 1.441, PHS= 0.542,-0.939, 0.462, RAW= 147.3, -0.9, CAL= 151.1, -9.9, ROT= 358.9, 9.9  Ygot valid direction response: 04:04:20.1307 LVL= 19376, 25825, 17330, 29939, AGC= 66, IDX= 421, 0.16, 1.894, 0.455, 1.906, 1.441, PHS= 0.542,-0.939, 0.462, RAW= 147.3, -0.9, CAL= 151.1, -9.9, ROT= 358.9, 9.9 G G >% PDAT read: Bearing 358.9, 9.9 (Local) - ~Local bearing/azimuth received: Bearing 358.9, 9.9 (Local) = DAT read: Range 10 to 50 : 76.8 m (Round-trip 102.5 ms) speed 0.4 m/s E R#Rx 1: Read range and direction messages.M `direction in FSK: [0.984928,-0.018912,-0.171929]M Fpublishing direction and range infoa ye =4D?y[-]!ƿe BYa e K)e dIe Cie te Be ?e Nbpe D> e "$@)e Ie (@ie ;0e r@e ;0> a )a e  Vr?wU0L?Қ(MOie )|>e { a )a m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.G 2B :B  O >ЄZď,yl?Avθ@Yv@v6ּ9v+=AHRS rotation from veh to nav: [[0.900681,0.429079,-0.068296],[-0.433692,0.897332,-0.081891],[0.026146,0.103377,0.994299]]yvHb?@v?{ۿ?ƚ?v? K?ɫvθ@vW;vJC-r~B-zIIENIE٥U  U<=9u:Q u>yy }F٦}Eyv; > 4Y把?4yjoB?DZ; ;F4)AJpRpIf?A1pޘBpޘBp&@v}R@5 iMFH*v=4D?y[-]!ƿpFp;0>vVH?Q@J[o@+[~&v%R?:ۿ'm¿jpzrp)BZpO?bpzpuQBpB?pzppBp@ZHU<RHQH]>H]CH]II]lBI] =IYI]D&I]<*I]_E addTargetRange:: Added new target pos. range: 76.800003 m, deltaT: 3.777772 s, deltaX: -2.000000 m, approachRate: -0.529413 m/s, rangeRepo size: 4 JJ3JS}-JJiJJJ:Jڈ9JJJC;JD;Jq:Jr: Added new target pos. range: 76.433609 m, bearing: 334.228742 deg, lat: 36.779468 deg, lon: -121.859711 deg, deltaT: 3.777772 s, deltaX: -1.990685 m, approachRate: -0.526947 m/s, posRepo size: 4 oDNOT Ignoring new targets: 76.43 m.oo- ProNav: ac range: 76.433609 m, nav range: 75.849442 m, bearing: 336.043688 deg, approach rate: 0.000000 m/s, LOS rate: -0.048150 deg/s, cmd heading: 332.896617 deg, new cmd heading: 332.831453 deg. zo)5HeadingCmd: 5.809005 target range: 76.433609 and range: 76.80 m.Ro5^@Jo1bo9Zo9BoA:nA2nAmAmilikikiku@33S@ku@'?ɞ~Bn 6I V ɝiI Ii=i#r=)^@)E*DAT read: user:320> auBDAT read: Tx time:04:04:21.3241 }$Ping request sent.ԉԱ kaď,?ABJDAT read: TxSync time:04:04:21.3233 Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.242329EY~BMkIMb@Mb@Mb@ )IiMbX?&1?/$ ?P=) AI@ilA AI_I٥h @=9Q >   F٦ Ey   > %4Y?%4yq-w ?-:--?D*:/:41)=zA=nEoYeDNOT Ignoring new targets: 76.43 m.oevomvԱ ProNav: ac range: 76.433609 m, nav range: 75.619835 m, bearing: 336.032081 deg, approach rate: -0.579623 m/s, LOS rate: -0.029389 deg/s, cmd heading: 332.831457 deg, new cmd heading: 332.796531 deg. zo[HeadingCmd: 5.808395 target range: 76.433609 and range: 76.80 m.Ro`޹@JoboZoBo:n2nm m ~Bl)k)k1k1k5D?ɞ}~B“ϼ 靅I ݍɝiIM9 IMiUd=iULs=)U`޹@)QF"F*F2F0:F)EG a)I{iB=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494178 jK% \NrK% ػ9zK! K% K%   2K- rA*K- rAGE 8k=G 2B1 :B  O >1 7gď,o֟?A :@Y:@:Rټ9:=RAHRS rotation from veh to nav: [[0.898427,0.433993,-0.066932],[-0.438318,0.895530,-0.076831],[0.026596,0.098364,0.994795]]y:H? ?y"e ܿ`/?`,;? g.?`\?ɫ:@:f;8Z4~BZUIIbUIb٥j ɽ j_=9nQ n>ll rF٦rEyr5f r> tz4Yv?z4yvTst|~~?vDv ;v" ;v 4 ) AEB*** querying acoustic contact ***:pABpAoQUDNOT Ignoring new targets: 76.43 m.o]o]m ProNav: ac range: 76.433609 m, nav range: 75.420982 m, bearing: 336.022775 deg, approach rate: -0.537592 m/s, LOS rate: -0.025226 deg/s, cmd heading: 332.796541 deg, new cmd heading: 332.768548 deg. zomuHeadingCmd: 5.807907 target range: 76.433609 and range: 76.80 m.Rou_ڹ@JoqboqZoqBoy:ny2nymymlkkkk@r$?ɞ~B 靽^I ɝiI IWi>=i8Ha=)_ڹ@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745618F"F*F2F_5:F9Gur=H]>H]CH]II]/BI] =IYI]D&I]<*I]UEJoJJJJ>:JJJJO;JO;JJG2B:B  O >ԩ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997426Vmď,?A<d@Y_@hN߼90=AHRS rotation from veh to nav: [[0.896169,0.438684,-0.066619],[-0.442876,0.893560,-0.073566],[0.027256,0.095431,0.995063]]yHi? f? Xܿ ?`0ղ? (n??ɫd@q;髕LC*~BNIMb@Mb@Mb@ )Ii/$?{Gzt?~jt&?ף;ļ) AI@iVAA AI6I٥ڲ /=9ﹺQ > F٦çEy33 > 4Y?4ySvBI?:q?D:{:.4[B)3AoDNOT Ignoring new targets: 76.43 m.o%;]9o%;]95 ProNav: ac range: 76.433609 m, nav range: 75.156952 m, bearing: 336.028350 deg, approach rate: -0.570452 m/s, LOS rate: 0.012089 deg/s, cmd heading: 332.768538 deg, new cmd heading: 332.785323 deg. zo5:=HeadingCmd: 5.808199 target range: 76.433609 and range: 76.80 m.Ro=ܹ@Jo9bo9ZoABoA:nA2nImImM]~BlQkQkQkQkU |?ɞ ~B )-R*I1 =ɝ9i9I= Ie[1im=imO=)mܹ@)qF"F*F2F`5:Fؙؙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250543 G] Pa=G1 2BA :BQ  Oe >tď,?AJZ2@YJ;-@JP 9J==VAHRS rotation from veh to nav: [[0.893408,0.444532,-0.064916],[-0.448399,0.891237,-0.068085],[0.027590,0.089936,0.995565]]yJH˖?5s?Z ܿ?n@? ??ɫJZ2@JB$;JJCb ~Bb;IIj(Ijm٥v vm=9v~Q z?xx zF٦zŧE|y~ ? 4Y +?4y x  B? D : D; 84!)%A!oQUDNOT Ignoring new targets: 76.43 m.o]}9oe}9m ProNav: ac range: 76.433609 m, nav range: 74.960876 m, bearing: 336.033477 deg, approach rate: -0.568973 m/s, LOS rate: 0.014916 deg/s, cmd heading: 332.785313 deg, new cmd heading: 332.800733 deg. zou#:uHeadingCmd: 5.808468 target range: 76.433609 and range: 76.80 m.Ro}޹@JoyboyZoyBoy:ny2nmmlkkkk`/?ɞ~B KI ]ɝiIɚ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501548IiU=iUdn9=)U޹@)YjKLrK9zKKKphc#)'"^m  HN1o$}zyBK?:K?F "F*F2F_0:F9GTP=G2B:B OB>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754938ԁ zď,\?AI)6@Y6@6yڼ96=>AHRS rotation from veh to nav: [[0.892256,0.447198,-0.062396],[-0.450742,0.890314,-0.064594],[0.026666,0.085759,0.995959]]y6H\?`?dܿt}?;ON?@L?`?ɫ6@62;6LCR~BRCIIZIIZ.٥v< vJ=9v;Q v>xx zF٦zǧEyzӻ ~>  4YHCHII~BI =IID&IV<*IE2nqmmlkkk!k-`rc@JsJnJ3JJK:J99J(3JJ(e;J*e;J\:J]:ɞ~B AI XtɝiI I_i=i(2=)@)ԑF"F*F2F`0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006324ԱGQO=G 2B :B  O > 9ď,fK?A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257314>7@Y>@>W׼9>G=FAHRS rotation from veh to nav: [[0.890456,0.450981,-0.060855],[-0.454309,0.888709,-0.061639],[0.026284,0.082533,0.996242]]y>H~??@S(eݿ`Np? @3? ? 6?ɫ>7@>,;>JCN~BN8I-Mb@Mb@Mb@) )))I)i)-l?L7A`堿I +-?-+-9)-h AI-~@i-A-lA )-zAIERIE4٥U/ UC=9]n:Q ]>YY eF٦eʧEyeB e> i}4YmN?}4ym~m B}?:0?mDm+?;m/;m 4Ա)-A)oquDNOT Ignoring new targets: 76.43 m.o}mQ:omQ: ProNav: ac range: 76.433609 m, nav range: 74.485344 m, bearing: 336.060192 deg, approach rate: -0.557492 m/s, LOS rate: 0.045774 deg/s, cmd heading: 332.820283 deg, new cmd heading: 332.881140 deg. zoP:HeadingCmd: 5.809872 target range: 76.433609 and range: 76.80 m.Rox@JoboZoBo:n2nmm}Blkkkkn@ɞ~Bq 靝VI eɝaiiIm_Im)Viu=iu =)ux@)qF"F*F2F:FG 31=G2B checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509467:B Oe>jK PrK 9zK K K obZTNKJKE:2,+*('*(&('#"   1 ď,!?ARݲ@YRع@Rټ9Rw=ZAHRS rotation from veh to nav: [[0.888751,0.454349,-0.060732],[-0.457618,0.887119,-0.060052],[0.026591,0.081164,0.996346]]yRH p?@?7IݿFc?/`:?!Ǵ??ɫRݲ@R;RNCb~Bb5IInQIn٥r!E vR=9vOQ v>xx zF٦zͧEy~ ~> 4Y_? 4yB  ' ?DK::c4\B)ApE5B*** querying acoustic contact ***:p1Bp1oAEDNOT Ignoring new targets: 76.43 m.oMv:oMv:] ProNav: ac range: 76.433609 m, nav range: 74.255608 m, bearing: 336.079791 deg, approach rate: -0.629834 m/s, LOS rate: 0.053900 deg/s, cmd heading: 332.881126 deg, new cmd heading: 332.940108 deg. zo];eHeadingCmd: 5.810901 target range: 76.433609 and range: 76.80 m.Roe@JoaboaZoaBoi:ni2nqmymlkkkkj@ɞ~BV ]I  /ɝiII3i=i=)@)FQ"FQ*FQ2FUo0:FY}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762780AGHHCHII~BI =I>DI&I<*IuE2IC:ICBIǔCJIǡ =RIǢ =ZIF6iG JJBAJpJoJJJA:JK9JJJT;JT;J:J:2B) :B9  Om >% BDAT read: Rx Time:04:04:23.8281 % TRx dataTimestamp_ set to:1761365064.881785- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014517ԙ ď,;?A TTB@Y#@޼9ơ=AHRS rotation from veh to nav: [[0.886691,0.458386,-0.060502],[-0.461560,0.885246,-0.057467],[0.027217,0.078881,0.996512]]yH`_?3V?@3ݿS?@Xlޛ?`1?n?ɫB@;KC }B 3IiMb@Mb@Mb@ )IiGz?Zd;y&1p?y`e) AI@i?AVA QAIRI4٥%>ֻ -+=9-cQ ->11 5F٦5ЧEy5l => AM4YEt?M4yE΅AU@?U:UU?EDEU:E:E4Y)]AaoDNOT Ignoring new targets: 76.43 m.oO:oO: ProNav: ac range: 76.433609 m, nav range: 73.963249 m, bearing: 336.116153 deg, approach rate: -0.610234 m/s, LOS rate: 0.076197 deg/s, cmd heading: 332.940112 deg, new cmd heading: 333.049627 deg. zo,Q;HeadingCmd: 5.812813 target range: 76.433609 and range: 76.80 m.Ro@JoboZoBo:n2nmm}Blkkkk@… @ɞ~B cI @떼ɝiIIi p=i (<) @) ԙF"F*F2F:F}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266238G=GQ2Ba:Bq O}{> ď,T?A6@Y6@6ce96=BAHRS rotation from veh to nav: [[0.885195,0.461175,-0.061222],[-0.464377,0.883826,-0.056619],[0.027999,0.078549,0.996517]]y6H S?@?@X@[ݿ MH?@? ?w?ɫ6@6!;4n ~Bn<IIvOIvݜ٥5@*= 5r=95zQ 5?99 EF٦EҧEyE3 E? IU4YMr?U4yM҈MBY]s]?MDM;M ;M4a)eAioDNOT Ignoring new targets: 76.43 m.o :o : ProNav: ac range: 76.433609 m, nav range: 73.756958 m, bearing: 336.142513 deg, approach rate: -0.610815 m/s, LOS rate: 0.078269 deg/s, cmd heading: 333.049641 deg, new cmd heading: 333.128943 deg. zoV;HeadingCmd: 5.814197 target range: 76.433609 and range: 76.80 m.Ro @JoboZoBo:n2nmmlkkkk@u:@ DAT read: 04:04:23.8281 LVL= 18544, 27585, 16866, 27587, AGC= 64, IDX= 411,-0.47, 1.148,-0.262, 1.112, 0.714, PHS= 0.523,-0.929, 0.395, RAW= 145.5, 0.2, CAL= 149.2, -8.8, ROT= 0.8, 8.8 Ygot valid direction response: 04:04:23.8281 LVL= 18544, 27585, 16866, 27587, AGC= 64, IDX= 411,-0.47, 1.148,-0.262, 1.112, 0.714, PHS= 0.523,-0.929, 0.395, RAW= 145.5, 0.2, CAL= 149.2, -8.8, ROT= 0.8, 8.8 PDAT read: Bearing 0.8, 8.8 (Local) ~Local bearing/azimuth received: Bearing 0.8, 8.8 (Local) 5DAT read: Range 10 to 50 : 74.9 m (Round-trip 99.9 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.988132,0.013798,-0.152986]Fpublishing direction and range infoy Ǟ?FlB?8C ÿ̕BY pH)kIAik@T?mq=> j"@)d;Ir&@inFd<nF> ) ?Na|?X)if?i`G>] 7d<nF> )T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɞE~BEm AE=WIA M4ɝIiIIMoIu7iu=iu<)u @)yjKM$MrKIzKIKMKM   DF"F*F2F0:F) GM = *DAT read: user:321>  BDAT read: Tx time:04:04:25.1241  $Ping request sent. a &ď,2n?A2@@Y2!~@292?=>AHRS rotation from veh to nav: [[0.883584,0.464103,-0.062352],[-0.467372,0.882285,-0.055999],[0.029023,0.078621,0.996482]]y2H`RF?۳?쯿lݿ;?֫ 2? ?`.?ɫ2@@2@;0F~BJAIIPIP٥Z< ZR=9ZY,Q Z>\\ ^F٦^ԧEy^E b> `j4Yb[?j4ybN`hjQj?b%Db;b;bw&4r[B)rArqEJpRpX?ApBpBpS@v@,3jR@Kt?30&v Ǟ?FlB?8C ÿpd<pnF>v_Z7sP@KWp@gpJ"v[Dps?Fd:ܿa(L=hjprpBZp>e?bpS"zpYBpaP?p2pp)BpP@= addTargetRange:: Added new target pos. range: 74.900002 m, deltaT: 3.779864 s, deltaX: -1.900002 m, approachRate: -0.502664 m/s, rangeRepo size: 4 M Added new target pos. range: 74.544083 m, bearing: 333.612346 deg, lat: 36.779465 deg, lon: -121.859721 deg, deltaT: 3.779864 s, deltaX: -1.889526 m, approachRate: -0.499893 m/s, posRepo size: 4 oIUDNOT Ignoring new targets: 74.54 m.oUoQe ProNav: ac range: 74.544083 m, nav range: 73.581390 m, bearing: 335.382138 deg, approach rate: 0.000000 m/s, LOS rate: 0.078269 deg/s, cmd heading: 333.128953 deg, new cmd heading: 333.221637 deg. zoimHeadingCmd: 5.815814 target range: 74.544083 and range: 74.90 m.Rou'@JoqboqZoyBoy:ny2nH>HHII~BIII&I<*IlEmm lk!k)k5R@k5 ?JaJaɞ~Bw  OI  탙ɝiIIEAKiM=iM╸<)M'@)QJDAT read: TxSync time:04:04:25.1233 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251610F"F*F2F1:FG y ď,?AI<)<"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5010630Jfq@YJGl@J9J@t=VAHRS rotation from veh to nav: [[0.882538,0.465825,-0.064293],[-0.469283,0.881193,-0.057213],[0.030003,0.080664,0.996290]]yJH`=?@?yu޿2?K?d??ɫJfq@J!;JIC~;~B~YIMb@Mb@Mb@ )IiX9v?X9v?})IiAlA AI)I٥%v= %6=9%Q %>)) -F٦-קEy- 5> Y]4Y]?e4y]h] Be?e:em?]7D]-;]6;]c.4]B)A{EoDNOT Ignoring new targets: 74.54 m.o :o : ProNav: ac range: 74.544083 m, nav range: 73.303917 m, bearing: 335.416894 deg, approach rate: -0.607179 m/s, LOS rate: 0.076342 deg/s, cmd heading: 333.221625 deg, new cmd heading: 333.326287 deg. zo%Q;%HeadingCmd: 5.817641 target range: 74.544083 and range: 74.90 m.Ro%*@Jo!bo)Zo)Bo)ԉ:n2nmm;~BlkkIkIkMk?ɞ~B T,I %Кɝ!i!I-2I5[i5G=i5O<)=*@)9JJcJ2JJJx9Jc3J!@!@!@!@ԹF"F*F2FY1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753214 jK pMrK 9zK K K G <G 2B :B  O >0ď,Y?AFo@YFj@F9F>=VAHRS rotation from veh to nav: [[0.882408,0.466285,-0.062729],[-0.469421,0.881515,-0.050755],[0.031630,0.074233,0.996739]]yFH@   F٦ ٧Ey   > 4Yͷ?%4y B!%%?ED;;44-\B)-A1MB*** querying acoustic contact ***:pIBpIoDNOT Ignoring new targets: 74.54 m.o:o:% ProNav: ac range: 74.544083 m, nav range: 73.082054 m, bearing: 335.444919 deg, approach rate: -0.627619 m/s, LOS rate: 0.079521 deg/s, cmd heading: 333.326291 deg, new cmd heading: 333.410622 deg. zo%LZ;-HeadingCmd: 5.819113 target range: 74.544083 and range: 74.90 m.Ro--6@Jo)bo)Zo)Bo):n)2n1mQmQlQkYkYkYk]z?ɞ~Bu I SɝiI4I՚ih=i<)-6@) Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005242Fm6"Fq*Fq2Fu3:FqGE <G2B :B O-N>HHHII~BIII&I7<*IEA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257151aď,R?At~B|IMb@Mb@Mb@ )Ii1Zd?kty&1|?"? 0`;)z AI@i;AA AI5I5˴٥MV= M*=9MQ M>QQ UF٦UݧEy] ]> am4Ye̋?m4yeƗeBm?m:myu?eXDe:e#:e!=4y)}Ao!-DNOT Ignoring new targets: 74.54 m.o5:o5:9e ProNav: ac range: 74.544083 m, nav range: 72.792427 m, bearing: 335.475160 deg, approach rate: -0.582655 m/s, LOS rate: 0.061078 deg/s, cmd heading: 333.410630 deg, new cmd heading: 333.501713 deg. zoe';mHeadingCmd: 5.820703 target range: 74.544083 and range: 74.90 m.Rom3C@JoiboiZoiBoi:nq2nqmqmj~Blkkkkg?ɞm~Bmؼ im|Ii mɝiI]7IiT1=i<)3C@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509451Fa"Fi*Fi2Fm@5:FiԁiM U(>IM C ) +G  ) Ie a m BJ sJ gJ J J K:J 9J J G D-<G 2B :B  O >Uď,I?A @pz~BzII ^I ٥= i=-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7611439)Q 5>11 5F٦5ߧEy9 => AM4YEۋ?M4yEÚEBIIU?EfDE6:E-:EFC4Y)]qA]|EoDNOT Ignoring new targets: 74.54 m.o{:o{: ProNav: ac range: 74.544083 m, nav range: 72.580727 m, bearing: 335.497417 deg, approach rate: -0.628010 m/s, LOS rate: 0.066219 deg/s, cmd heading: 333.501717 deg, new cmd heading: 333.568684 deg. zo5;HeadingCmd: 5.821872 target range: 74.544083 and range: 74.90 m.RoL@JoboZoBo:n2nmmlkkkk 9K@ɞ~Bϼ ʟI ɝiI9I I1i  =iʴ<)L@)F"F*F2F`0:FjKu-OrKu9zKqKuKufK<527Maki]TIA>;973-+'## +Gk,dG<GI2BY:Bi Ou6>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013065i īď,?AJФ@YJ@JG 9J}=^AHRS rotation from veh to nav: [[0.885338,0.458683,-0.076067],[-0.463667,0.883138,-0.071274],[0.034485,0.098372,0.994552]]yJHT? [? y`ݿB? ? ? .?^?ɫJФ@J;HJH~@ABH|HHHII~BI =I?DID&IĘ<*IE~BII-mI-F٥= = =J=9EQ E>AA EF٦MEyM9< M> QYe4YUo틊?e4yU&UBae e?UuDUX);Ud*;UQJ4y)}AyoDNOT Ignoring new targets: 74.54 m.o:o: ProNav: ac range: 74.544083 m, nav range: 72.337997 m, bearing: 335.521863 deg, approach rate: -0.601547 m/s, LOS rate: 0.060785 deg/s, cmd heading: 333.568681 deg, new cmd heading: 333.642263 deg. zo&;HeadingCmd: 5.823156 target range: 74.544083 and range: 74.90 m.RoKW@JoboZoBo:n2nmmlkkkk@,@ɞ~BT \BI `IɝiI^I%i%=i%3<)%KW@))F56"F1*F12F1:F1echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267920G*<G 2B :B  O >! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522664ď,] ?ARȯ@YR@R 9RmI=ZAHRS rotation from veh to nav: [[0.885954,0.457251,-0.077504],[-0.462479,0.883531,-0.074070],[0.034609,0.101466,0.994237]]yRHY?C?S׳ Cݿ@E?@:I? ??ɫRȯ@R;Pb~BfIeMb@Mb@Mb@a a)aIaiaex?~jth E=9[Q > F٦Ey"S; > 4Y?4y.$B^?:?D[;;Q4[B) A}EoDNOT Ignoring new targets: 74.54 m.oU:oU: ProNav: ac range: 74.544083 m, nav range: 72.093246 m, bearing: 335.533944 deg, approach rate: -0.588379 m/s, LOS rate: 0.029142 deg/s, cmd heading: 333.642255 deg, new cmd heading: 333.678622 deg. zo:HeadingCmd: 5.823791 target range: 74.544083 and range: 74.90 m.Ro~\@JoboZoBo:n2nmm~Blkkkk@ @ɞ=~BEә 靍@;I =ɝiIs I5iֿ=i<)~\@)JJlJ3JJJ9J(3J!F"F*F2Fg0:Fuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773478IG] ~M<G9 2BI :BY  Om >jK J3OrK ]9zK K K jQ6 @/==60,$ }uDH#2K *K tAq Fď,Χ$?AI<)II MF٦MEyMƲ; M> Q]4YU?e4yUU+Baeoe?UDU;U;UqX4mZB)mAqB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 74.54 m.oj:oj: ProNav: ac range: 74.544083 m, nav range: 71.862007 m, bearing: 335.545049 deg, approach rate: -0.591653 m/s, LOS rate: 0.028504 deg/s, cmd heading: 333.678619 deg, new cmd heading: 333.712041 deg. zo:HeadingCmd: 5.824374 target range: 74.544083 and range: 74.90 m.RoEa@JoboZoBo:n2nmmlkkkkW @ɞ~B !%HHIIWBI =II&I<*IEG5bި<ԩG 2B :B)  O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276975 ď,>?AҲ@Yb͹@9m=AHRS rotation from veh to nav: [[0.887899,0.453315,-0.078368],[-0.458717,0.885312,-0.076166],[0.034853,0.103576,0.994011]]yHi?? [ݿzT?Jء?`??ɫҲ@;(;髝LC9BIԩMb@Mb@Mb@ )IiQ?ˡE?Zd;O?\?'=j<)~ AIh@i?AA AIeTIen٥mx= u=9uD,Q u>yy }F٦}Ey; > 4Y'?4y8B?:Ѿ?De;T{;[a4)AoDNOT Ignoring new targets: 74.54 m.okok ProNav: ac range: 74.544083 m, nav range: 71.576317 m, bearing: 335.540801 deg, approach rate: -0.557918 m/s, LOS rate: -0.008328 deg/s, cmd heading: 333.712033 deg, new cmd heading: 333.699238 deg. zo綹HeadingCmd: 5.824151 target range: 74.544083 and range: 74.90 m.Roq_@JoboZoBo:n2nm m 9Bl k kkk&@ɞM~BM}o QUl=IQ UzɝYiYI]9Ieie{=iee<)eq_@)aDAT read: 04:04:27.6250 LVL= 18096, 22641, 17218, 23939, AGC= 67, IDX= 410,-0.33,-3.116, 1.700, 3.110, 2.701, PHS= 0.554,-0.953, 0.406, RAW= 144.9, -0.1, CAL= 148.8, -9.1, ROT= 1.2, 9.1 %Ygot valid direction response: 04:04:27.6250 LVL= 18096, 22641, 17218, 23939, AGC= 67, IDX= 410,-0.33,-3.116, 1.700, 3.110, 2.701, PHS= 0.554,-0.953, 0.406, RAW= 144.9, -0.1, CAL= 148.8, -9.1, ROT= 1.2, 9.1 5PDAT read: Bearing 1.2, 9.1 (Local) =~Local bearing/azimuth received: Bearing 1.2, 9.1 (Local) MDAT read: Range 10 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.5 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.987197,0.020679,-0.158158]eFpublishing direction and range infoyث?e4,?@\~>Ŀ̐BY F)qXIBCi]qC ?s;> !@)I6&@i"<"> )+n)?K\?Z߾.\ih>w:<"> )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F6"F*F2F{0:Fԡ J pJ iJ 2J J A:J ڈ9J c3J G l<G 2B :B  O >ď,IdX?A@R=@YR@R9R=ZAHRS rotation from veh to nav: [[0.889058,0.451027,-0.078423],[-0.456468,0.886408,-0.076923],[0.034821,0.104187,0.993948]]yRH@*s??@6ݿ@u]?>ԡ??l?ɫR=@R;RGCrdBrII%KI%h٥-t> 5=958Q 5?=*DAT read: user:322> EBDAT read: Tx time:04:04:28.9242 M$Ping request sent.MĿp<p">v"3P@蜧E>^Sc!v2?n`ڿC{uuT便jp.rpBZpEF?bp,zp\BpEF?p,p%XBpBp@ addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 3.784155 s, deltaX: -2.500000 m, approachRate: -0.660649 m/s, rangeRepo size: 4  Added new target pos. range: 72.056244 m, bearing: 334.961916 deg, lat: 36.779463 deg, lon: -121.859729 deg, deltaT: 3.784155 s, deltaX: -2.487839 m, approachRate: -0.657436 m/s, posRepo size: 4 oDNOT Ignoring new targets: 72.06 m.oo ProNav: ac range: 72.056244 m, nav range: 71.529640 m, bearing: 334.962102 deg, approach rate: 0.000000 m/s, LOS rate: -0.008328 deg/s, cmd heading: 333.699246 deg, new cmd heading: 333.691266 deg. zoHeadingCmd: 5.824011 target range: 72.056244 and range: 72.40 m.RoM^@JoboZoBo!:n!2nimimilqkqkqkuR@k}@$?ԩɞ~Bf/ =I ћɝiII-i-xd=i- <)-M^@)1-'TFailed to parse incomplete device message.F6"F*F2Ff2:FJDAT read: TxSync time:04:04:28.9234  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254068Ge 0:< G) 2BA :Ba  O} >BK ?:K ?ď,G;r?A @:@Y:@ZHR<RHR<HTHTHVFIIVBITITIT&IV[<*IV&E2ImC:ImCBImCJIm =RIm =ZIm!B4:9:--=p~AHRS rotation from veh to nav: [[0.889967,0.449014,-0.079662],[-0.454654,0.887184,-0.078705],[0.035335,0.106264,0.993710]]y:Hz??dݿc?&i?4?x?ɫ:@:Ԋ;:JC oB II=.I=٥M< MI=9MQ U>Qy }F٦}Ey; > 4YE?4yIBξ?DM;;m4) Ao DNOT Ignoring new targets: 72.06 m.o5lo=lE ProNav: ac range: 72.056244 m, nav range: 71.301323 m, bearing: 334.956012 deg, approach rate: -0.577618 m/s, LOS rate: -0.015455 deg/s, cmd heading: 333.691269 deg, new cmd heading: 333.672942 deg. zoM)MHeadingCmd: 5.823691 target range: 72.056244 and range: 72.40 m.RoM[@JoQboYZoYBoY:na2namimilkkkk ?ɞ~B $ v=I  ɝ i I-IBiO=i <)[@) Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503639FE6"FA*FA2FE@5:FAIGM q<G! 2B) :BA  OM >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7547381ď,?A:@Y:@:"^9:;)=FAHRS rotation from veh to nav: [[0.889628,0.448727,-0.084892],[-0.455306,0.885923,-0.088528],[0.035483,0.117408,0.992450]]y:H w? ?w #ݿzY?@*?{?%?ɫ:@:;:ICJBJ1IAMb@Mb@Mb@ )IiˡE? rh?~jt??C=<) AIiAlA AI8I?٥@= B=9Q > F٦EyV > 4YZW?4y!RB! ?:f?D;M;u4XB) [A Eo)5DNOT Ignoring new targets: 72.06 m.o=.o=.] ProNav: ac range: 72.056244 m, nav range: 71.079849 m, bearing: 334.940492 deg, approach rate: -0.542588 m/s, LOS rate: -0.038141 deg/s, cmd heading: 333.672937 deg, new cmd heading: 333.626232 deg. zo]gѺeHeadingCmd: 5.822876 target range: 72.056244 and range: 72.40 m.RoeU@JoaboaZoaBoa:ni2nimimmBlqkkkk ?ɞ~B 靭B'>I ɝiIJ$Ii9=iM<)U@)qJMuJMkJM3JIJM[Q:JM9JM(3JIF=6"F9*FA2FE4:FAGM= GMp=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007775ԩGm <Gq Gu > jK= NQrK= S9zK9 K= K= ] u/};5!)$*$W#"x"!} "@`  g X ) . f ~ @ nLU7GI 2BY :Bi  O} >&ď,1?A6!@Y6@6496l=FAHRS rotation from veh to nav: [[0.889457,0.449088,-0.084774],[-0.455590,0.885946,-0.086815],[0.036118,0.115841,0.992611]]y6Hmv?@ݽ?``d(ݿY?9}?? x?ɫ6!@6j;4ZBZ9IInIn-ɴ٥v = vX=9v[ܺQ v>xx zF٦zEyze ~> 4Y _g?%4y  [B!--? D C; nu; {41)5&A1UB*** querying acoustic contact ***:pQBpQoaeDNOT Ignoring new targets: 72.06 m.omX*omX*ԙ ProNav: ac range: 72.056244 m, nav range: 70.878220 m, bearing: 334.926319 deg, approach rate: -0.528169 m/s, LOS rate: -0.037232 deg/s, cmd heading: 333.626218 deg, new cmd heading: 333.583578 deg. zoj̺HeadingCmd: 5.822132 target range: 72.056244 and range: 72.40 m.RoN@JoboZoBo:n2nm m l9k9kAkAkE@?ɞ~BؑؕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259097ƻ 靵2>I `ܘɝiI*I9i&=iQ <)N@)ԩF"F*F2F`0:FHHHxIIBIII&IQ<*IE JJ@AG <G 2B :B  O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511999 q ď,'?AID)Dc@YE@^9=AHRS rotation from veh to nav: [[0.889895,0.448506,-0.083240],[-0.454820,0.886374,-0.086480],[0.034995,0.114818,0.992770]]yHz?P?3Oݿ-]?#@?d??ɫc@5;髕HCBDIMb@Mb@Mb@ )Ii"~j?K?y&1?S?^=`e<)AIi?AA AI9I\٥= ,=9  ;Q  >  F٦Ey: > %4Y+{?-4yfB-m?-:--?D;K;ꃥ45[B)=A=EoiuDNOT Ignoring new targets: 72.06 m.ou1ou1 ProNav: ac range: 72.056244 m, nav range: 70.634567 m, bearing: 334.899090 deg, approach rate: -0.515312 m/s, LOS rate: -0.057786 deg/s, cmd heading: 333.583570 deg, new cmd heading: 333.501602 deg. zoHeadingCmd: 5.820701 target range: 72.056244 and range: 72.40 m.Ro/C@JoboZoBo:n2nmmBlkkkk`C>?ɞU~BUǻ QUOC>IQ }iɝyiyI})1Ii"=i$<)/C@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762821)Eq9F 6"F *F 2F P5:F Q M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014666G]<GmrAGmqAԁG92BA:BQ Oe?Nď,i?A:@Y: @:Mo 9:~=BAHRS rotation from veh to nav: [[0.891402,0.446027,-0.080384],[-0.451970,0.887991,-0.084823],[0.033547,0.111942,0.993148]]y:H^??` ܿlj? ﶵ`-?>??ɫ:@:;:ICjBjRIIrmIrF٥z-Q= z;=9zY;Q ~>|| ~F٦~Eyk; > 4Y k?4y  oBB? D ; ; 4!)%A!oDNOT Ignoring new targets: 72.06 m.o6o6jK wQrK ػ9zK K  K S9ht;No:X5 #&CVj><XY2K*KrA- ProNav: ac range: 72.056244 m, nav range: 70.410263 m, bearing: 334.873235 deg, approach rate: -0.492245 m/s, LOS rate: -0.056920 deg/s, cmd heading: 333.501608 deg, new cmd heading: 333.423796 deg. zo-A5HeadingCmd: 5.819343 target range: 72.056244 and range: 72.40 m.Ro58@Jo1bo1Zo9Bo9:n92n9m9mAlAIkAkkk`[@ɞ~B W>I ӕɝiI8IE|iE=iEj =)E8@)IE8yF6"F*F2F_0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267965ԡJHa BHe @AHi Hi Hm IIm +BIi Ii Ii &Im F<*Im EG G<G 2B :B  O >J J %=J pJ bJ 2J J A:J t9J c3J J ! J ! J ]:! J ^:! ď,5(?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518644=BEVIIU`IU̍٥c< B=9Q > F٦Ey > 4Y?4yOxB?D4;!;蒥4)}AEoDNOT Ignoring new targets: 72.06 m.oo ProNav: ac range: 72.056244 m, nav range: 70.193222 m, bearing: 334.848058 deg, approach rate: -0.541317 m/s, LOS rate: -0.062988 deg/s, cmd heading: 333.423799 deg, new cmd heading: 333.348034 deg. zo, HeadingCmd: 5.818021 target range: 72.056244 and range: 72.40 m.Ro :-@JoboQZoQBoQ:nQ2nYmYmYlYkakakake@ɞ~Bи= [>I! -CuɝQiyI?I*i=i<=):-@) E!E!EQEQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771382A F "F *F 2F 3:F ) G  )! I] Y e yBa Gu #=Gq Gu >Gi2Bq:B O>ď,,?A hB[IMb@Mb@Mb@ )IiRQ?I +??9=)MAIQ@iAA AIiI҅BDAT read: Rx Time:04:04:31.4221 TRx dataTimestamp_ set to:1761365072.446664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024693٥M< &=9Q > F٦Ey >  4Y|? 4yF~B}?:6?D ;:y4ZB)WA%EoAUDNOT Ignoring new targets: 72.06 m.o]o]m ProNav: ac range: 72.056244 m, nav range: 69.942329 m, bearing: 334.819148 deg, approach rate: -0.512707 m/s, LOS rate: -0.059292 deg/s, cmd heading: 333.348038 deg, new cmd heading: 333.260995 deg. zom"uHeadingCmd: 5.816502 target range: 72.056244 and range: 72.40 m.Rou @JoqboqZoqBoy:ny2nymymBlkkk k @ @ɞ]~B}t 靅`>I ɝiIcFI1io=i4=) @)F"F*F2F`0:FjK72PrK]9zKK KX%r]O],fTD0 >nxu*}K}ytqlicdklnn) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276455G K=Y G 2B :B  O > ď,cz2?A>`F@Y>BA@>i9>=FAHRS rotation from veh to nav: [[0.894434,0.440986,-0.074294],[-0.446179,0.891209,-0.081668],[0.030197,0.106195,0.993887]]y>H3? 9?`4ܿɄ?0贿?/?`?ɫ>`F@>;>GCNBNFIiPIPIZhIZ٥f( f`=9fwhh jF٦jEynÒ<HpHpHrIIr:BIpIpIp&IrZ<*Ir#E n>  4YŒ? 4yB ӕ?#D:t:4)AAMB*** querying acoustic contact ***:pIBpIoQeDNOT Ignoring new targets: 72.06 m.omou ProNav: ac range: 72.056244 m, nav range: 69.753448 m, bearing: 334.796197 deg, approach rate: -0.507855 m/s, LOS rate: -0.061875 deg/s, cmd heading: 333.260994 deg, new cmd heading: 333.191957 deg. zo)HeadingCmd: 5.815297 target range: 72.056244 and range: 72.40 m.Ro@JoboZoBo:nY2nYmimiJF3JF3J/.JoJiJ3JJ>:Jڈ9J(3JJO;JO;Jr:Js:lkk!k)k-`+ @ɞ}Bh 靭<>I kɝiI3LIiF=i <1=)@)i5DAT read: 04:04:31.4221 LVL= 18928, 26097, 16818, 25747, AGC= 66, IDX= 413,-0.27, 2.807, 1.423, 2.844, 2.415, PHS= 0.480,-0.945, 0.426, RAW= 148.1, 0.6, CAL= 151.4, -8.4, ROT= 358.6, 8.4 =Ygot valid direction response: 04:04:31.4221 LVL= 18928, 26097, 16818, 25747, AGC= 66, IDX= 413,-0.27, 2.807, 1.423, 2.844, 2.415, PHS= 0.480,-0.945, 0.426, RAW= 148.1, 0.6, CAL= 151.4, -8.4, ROT= 358.6, 8.4 MPDAT read: Bearing 358.6, 8.4 (Local) M~Local bearing/azimuth received: Bearing 358.6, 8.4 (Local) ]DAT read: Range 10 to 50 : 70.3 m (Round-trip 93.8 ms) speed 0.4 m/s F"F*F2Fe0:F5R#Rx 1: Read range and direction messages.]`direction in FSK: [0.988977,-0.024170,-0.146083]eFpublishing direction and range infoy(?Ѥ/8ٲ¿BY I)eIAidB>q> m%@)+ )~֭;?BϪ ?IF/?i4>H!*ȼQ > )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡG l=Gi 2Bq :B  O > jď, XL?A"*DAT read: user:323> &BDAT read: Tx time:04:04:32.7242 &$Ping request sent.* F٦Eyׅ; >  4Y9֌? 4yB?:+?3D<<4YB)AJpRp<?ApBpBpA@vCzLQ@cBϫ a4 q$v(?Ѥ/8ٲ¿p*ȼpQ >vH&H~N@H#r?k!zϪ vUOxT?˟c\ܿ}jprpwBZpt9?bpuzpx^Bp>e?ppYBpBpU@e addTargetRange:: Added new target pos. range: 70.300003 m, deltaT: 3.780608 s, deltaX: -2.099998 m, approachRate: -0.555466 m/s, rangeRepo size: 4  Added new target pos. range: 69.966545 m, bearing: 333.082462 deg, lat: 36.779459 deg, lon: -121.859734 deg, deltaT: 3.780608 s, deltaX: -2.089699 m, approachRate: -0.552741 m/s, posRepo size: 4 oDNOT Ignoring new targets: 69.97 m.oo ProNav: ac range: 69.966545 m, nav range: 69.305450 m, bearing: 334.306981 deg, approach rate: 0.000000 m/s, LOS rate: -0.061875 deg/s, cmd heading: 333.191955 deg, new cmd heading: 333.098656 deg. zoHeadingCmd: 5.813668 target range: 69.966545 and range: 70.30 m.Ro @JoboZoBo!:n!2n)m1m5Bl9k9k9k=@3Q@k]?ɞB 靕I>I i䏼ɝiI+RIdi=i;:=) @)Fq"Fq*Fy2Fy:FyJDAT read: TxSync time:04:04:32.7234  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252979A G 31=G sAG sAjK LJOrK h9zK K K kjfhtL+9[j0Soj{P_Bq\: 4 .#*G 2B :B  O >pď,g?AI)<2X@Y2S@2Y92=>AHRS rotation from veh to nav: [[0.895485,0.439574,-0.069867],[-0.444199,0.892547,-0.077760],[0.028178,0.100668,0.994521]]y2H@Ч? !?@Ɀmܿ?賿ڜ?@^Ź??ɫ2X@2&;2GCBBBEIININʴ٥RB> Vb=9V ;Q V>XX ZF٦ZEy^g: ^> \b4Y^䌊?f4y^^Biq}}?^>D^I<^<^G4)AoDNOT Ignoring new targets: 69.97 m.o%)o%)5 ProNav: ac range: 69.966545 m, nav range: 69.126053 m, bearing: 334.286057 deg, approach rate: -0.508991 m/s, LOS rate: -0.059520 deg/s, cmd heading: 333.098654 deg, new cmd heading: 333.035719 deg. zo5d#MHeadingCmd: 5.812570 target range: 69.966545 and range: 70.30 m.RoU@JoYboYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969ZoaBo:n2nmmlkkkk@?ɞB$ 靅 6>I ɎɝiIVIi&=i#>=ԙ)@)ZH9RH=<HAHAHEIIE?BIAIAIA&IE<*IEyEF"F*F2Fo0:FJpJcJ2JJA:Jx9Jc3JJT;JT;J:J:] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867G == G 2B :B  O >pP ď,aQ?A5V@Y5qQ@5$957=AHRS rotation from veh to nav: [[0.895350,0.440279,-0.067102],[-0.444430,0.893024,-0.070648],[0.028819,0.093077,0.995242]]y5H@?-?-qܿ ?@?ӷ?@?ɫ5V@5;5HC B=IMb@Mb@Mb@ )Ii r?J +?~jt?H=D)~ AIQ@iVA AI-)I-٥=߼ =(=9EQ E>AA EF٦E EyU U> Ye4Y]?e4y]t]Be7?e:mXm?]OD]:]:]˸4uXB)u A}EoDNOT Ignoring new targets: 69.97 m.oi4oi4 ProNav: ac range: 69.966545 m, nav range: 68.875320 m, bearing: 334.268318 deg, approach rate: -0.555341 m/s, LOS rate: -0.039432 deg/s, cmd heading: 333.035707 deg, new cmd heading: 332.982297 deg. zo~غHeadingCmd: 5.811637 target range: 69.966545 and range: 70.30 m.Ro@JoboZoBo:n2nmm{Blkkkk`f&?ɞ B û  q%>I  ɝiI[Ini{8=iy@=)@)! F"F*F2F 1:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0091471Gi GA 2BQ :Ba  Ou >Y {&ď,1?AB%5IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262873IEIEʴ٥UN Uo=9UQ ]?aa eF٦e Eye m? iu4Ymw?}4ymmByy}?mZDm;m;m¾4)BAoDNOT Ignoring new targets: 69.97 m.o&o& ProNav: ac range: 69.966545 m, nav range: 68.699677 m, bearing: 334.255815 deg, approach rate: -0.510296 m/s, LOS rate: -0.036420 deg/s, cmd heading: 332.982295 deg, new cmd heading: 332.944688 deg. zoǺHeadingCmd: 5.810981 target range: 69.966545 and range: 70.30 m.Ro@JoboZoBo :n 2n m ml!k!k)k)k5G?1ɞ Bֻ >I 3܌ɝiI_IiJ=i@5B=)@)F"F*F2FP5:FajK PrK9zKKKmXPKFA>:85441*$$%"#!#'&)'*++++,*(&%#!#0>D?82,&#BK ?:K ?ԉGK@=G?G:?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516267G 2B :B  O >Թ H9 H9 H= II= 5BI9 I9 I9 T,ď,?A&Im<*ImcE2I1:I1BI1JI1RI1ZI54 m@Yh@9F=eAHRS rotation from veh to nav: [[0.896627,0.437550,-0.067896],[-0.441880,0.894015,-0.074024],[0.028311,0.096373,0.994943]]yH+??`aGܿ ś?`5?쫸??ɫm@‰;GCuB/IIJIKJoJgJJJ>:J9JJJO;JO;JG:JH:٥" B=9 :Q > F٦Ey); > %4Y?-4yB)-ܸ-?hD :6:ƥ4Q)]cA]EԑB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 69.97 m.o *o * ProNav: ac range: 69.966545 m, nav range: 68.483208 m, bearing: 334.239787 deg, approach rate: -0.500420 m/s, LOS rate: -0.037168 deg/s, cmd heading: 332.944702 deg, new cmd heading: 332.896468 deg. zo̺HeadingCmd: 5.810140 target range: 69.966545 and range: 70.30 m.Ro@JoboZoBo:n2nmmlk!k!k!k%@d?ɞB 靵>I 0ɝiIcdI 3ive=inO=)@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767357F6"F*F2F4:FԹG B=G 2B :B  O > A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019049 3ď,:?A6tz@Y6Vu@6׼96 =BAHRS rotation from veh to nav: [[0.897350,0.436470,-0.065251],[-0.440532,0.894735,-0.073358],[0.026364,0.094573,0.995169]]y6H??`K1ܿ?Dz(?@5? l?ɫ6tz@6-;6CCJBJ;IMb@Mb@Mb@ )IiE?{Gz?Mb?ף<)M AI3@i;A;A  AI [I :٥=@= ED=9E;Q M>II UF٦UEy]o; ]> au4Ye(?}4yewa}?}:}Ծ}?evDeC;e0;emͥ4)Ao1=DNOT Ignoring new targets: 69.97 m.o=}oE}u ProNav: ac range: 69.966545 m, nav range: 68.262833 m, bearing: 334.233508 deg, approach rate: -0.521794 m/s, LOS rate: -0.014916 deg/s, cmd heading: 332.896481 deg, new cmd heading: 332.877582 deg. zo}#}HeadingCmd: 5.809810 target range: 69.966545 and range: 70.30 m.Ro}@JoboZoBo:n2nmm;BlkkkkC@ɞ=B=HB AE >IA e劼ɝiiiImQhIuG^i}=i}+U=)}@)y!F]6"FY*FY2F]2:FY]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271110I G} O=GY 2Bi :By  O >,9ď,?AjK"#NrK"]9zK K"K"" 22451-.,*'%!#/+)%#2K$*K$B/II-fI-{٥=[ =\=9EQ E>AI MF٦MEyM M> Qe4YU7?e4yUQaam?UDUS.;Up/;Uӥ4uWB)u_AqoDNOT Ignoring new targets: 69.97 m.oo ProNav: ac range: 69.966545 m, nav range: 68.068680 m, bearing: 334.227942 deg, approach rate: -0.553276 m/s, LOS rate: -0.015906 deg/s, cmd heading: 332.877575 deg, new cmd heading: 332.860830 deg. zo.HeadingCmd: 5.809517 target range: 69.966545 and range: 70.30 m.Ro@JoboZoBo:n2nmmlkkkk`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522933ɞBz `>I (ɝiIPMlIi=iD~U=)@) QF6"F*F2F_0:FH>HHII+BIII&Ia<*I,EyGlT=G ԩ 2B :B  O >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776251̡@ď,?AI)<<Td@Y6_@KR9ρ=AHRS rotation from veh to nav: [[0.896229,0.439418,-0.060713],[-0.442990,0.893719,-0.070893],[0.023108,0.090432,0.995634]]yH?k?@@Yܿ@Y?&`?`&?  F٦ Ey 㲻  > 4YK?4yB ?%:%%?Dz ; ;ܥ41)5A9oamDNOT Ignoring new targets: 69.97 m.om^8om^8} ProNav: ac range: 69.966545 m, nav range: 67.803894 m, bearing: 334.229445 deg, approach rate: -0.533509 m/s, LOS rate: 0.003040 deg/s, cmd heading: 332.860827 deg, new cmd heading: 332.865354 deg. zo}9HeadingCmd: 5.809597 target range: 69.966545 and range: 70.30 m.Ro7@JoboZoBo:n2nmmKBlkkkk @ɞB2! =I VɝiIoI;zi9=i,K=)7@)BDAT read: Rx Time:04:04:35.2196 TRx dataTimestamp_ set to:1761365076.231124checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029666F"F*F2F:F G] &V=J nJ eJ J J |;:J 9J J ! @! @! @! @G9 2BA :BY  Om >}Fď,#?AR[@YRV@R9R=ZAHRS rotation from veh to nav: [[0.895780,0.440383,-0.060337],[-0.443947,0.893140,-0.072197],[0.022095,0.091459,0.995564]]yRH;?@:/?@v䮿iܿ?{ ? i?@?ɫR[@RE;RGCbBb/Ilchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278965Ij^Ij٥}iA= }}=9M;Q  ? F٦EyU  ? 4YX?4yBD?D|;w;04VB)UAEoDNOT Ignoring new targets: 69.97 m.o8o8 ProNav: ac range: 69.966545 m, nav range: 67.630280 m, bearing: 334.230588 deg, approach rate: -0.538550 m/s, LOS rate: 0.003555 deg/s, cmd heading: 332.865362 deg, new cmd heading: 332.868800 deg. zo#9HeadingCmd: 5.809657 target range: 69.966545 and range: 70.30 m.Ro@JoboZoBo:n2n!m!m!l!k)k)k)k5 @ɞ5B5 9==I9 =ɝ9i9I=1rIEUri=i H=)@)F]6"FY*FY2Feo0:FajKEkMrKE9zKAKEKE"3 L oE Z  D P  j o  2 > % M E .n9A= DAT read: 04:04:35.2196 LVL= 18816, 30129, 16162, 26211, AGC= 63, IDX= 418, 0.18, 1.369, 0.000, 1.395, 0.961, PHS= 0.496,-0.914, 0.431, RAW= 147.7, -0.2, CAL= 151.2, -9.1, ROT= 358.8, 9.1 M Ygot valid direction response: 04:04:35.2196 LVL= 18816, 30129, 16162, 26211, AGC= 63, IDX= 418, 0.18, 1.369, 0.000, 1.395, 0.961, PHS= 0.496,-0.914, 0.431, RAW= 147.7, -0.2, CAL= 151.2, -9.1, ROT= 358.8, 9.1 U PDAT read: Bearing 358.8, 9.1 (Local) U ~Local bearing/azimuth received: Bearing 358.8, 9.1 (Local) G G= DAT read: Range 10 to 50 : 68.4 m (Round-trip 91.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.987197,-0.020679,-0.158158] Fpublishing direction and range infoys ?4,@\~>Ŀ̈BY I)uI"?icf?>i> $@)dI[(@GA 2BI Y :Ba  Om >i"Hd@"> ) jW?nƵ?oOki+>N|Z;">H H CH II BI =I I &I f<*I 3E RLď,=b6?A)NT****** received valid address query ******NR****** received valid ping request ******NQuerying Benthos address 50 with one ping in standard two-way mode.4M@YH@ĭ9_=-AHRS rotation from veh to nav: [[0.895012,0.441980,-0.060055],[-0.445537,0.892262,-0.073249],[0.021210,0.092316,0.995504]]yH?`fI?ܿ i?r -??+?ɫ4M@S;HC1 JJBAB%IIgI٥& A=9;Q >!! %F٦%Ey- -> q}4Yu'j?}4yuNq)?uDu:u:u4)AJpRp3/?Ap&Bp&Bp@v]P@EOJ8%vs ?4,@\~>Ŀpp">vN@foh>%Bt"v gmI?֮9)ܿwjpErppBZp8?bpN#zpYBpO?pS"pYBpSBp%@ addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.787675 s, deltaX: -1.900002 m, approachRate: -0.501627 m/s, rangeRepo size: 4  Added new target pos. range: 68.075150 m, bearing: 333.189544 deg, lat: 36.779457 deg, lon: -121.859747 deg, deltaT: 3.787675 s, deltaX: -1.891396 m, approachRate: -0.499355 m/s, posRepo size: 4 oDNOT Ignoring new targets: 68.08 m.oo-*DAT read: user:324> -BDAT read: Tx time:04:04:36.5742 5$Ping request sent.5Sď,PP?A @i~(>I֐Cԉ)WG )IB%qA@Y%S<@%9%g==AHRS rotation from veh to nav: [[0.894388,0.443361,-0.059172],[-0.446829,0.891625,-0.073130],[0.020336,0.091846,0.995566]]y%HӞ? `?Kژܿ1?Ӕ? F٦Ey= >  4Y}? 4yB5 ?5:5p5?Dh;;B4=[B)=A=EB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 68.08 m.o8o8 ProNav: ac range: 68.075150 m, nav range: 67.399147 m, bearing: 333.297170 deg, approach rate: -0.563798 m/s, LOS rate: 0.006385 deg/s, cmd heading: 332.873750 deg, new cmd heading: 332.882735 deg. zo89HeadingCmd: 5.809900 target range: 68.075150 and range: 68.40 m.Ro@JoboZoBo:n2nmmBlkkkk ?ɞ]'BeF ae=Ia e0ɝiI&LwIyRi=i<=)@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502917FA"FA*FA2FEo0:FA Ge @=jK PrK ػ9zK K K P?45jb +T @ e([- GA 2BI :BY  Om > Zď,ol?A64@Y6c/@6ݕ96k=>AHRS rotation from veh to nav: [[0.893683,0.446550,-0.043852],[-0.448243,0.892905,-0.042423],[0.020212,0.057569,0.998137]]y6H ?`F?sܿ?@_?y??ɫ64@6z;6ECFBF+IINQIN٥V{< V=9Z9Q Z?\\ ^F٦^!Ey^G ^? `f4Yb?hj4yb~bBln^n?bDb-/;b/;b4p)rApoDNOT Ignoring new targets: 68.08 m.o%9o%9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768 ProNav: ac range: 68.075150 m, nav range: 67.236671 m, bearing: 333.299265 deg, approach rate: -0.564802 m/s, LOS rate: 0.007302 deg/s, cmd heading: 332.882738 deg, new cmd heading: 332.889040 deg. zo\9HeadingCmd: 5.810010 target range: 68.075150 and range: 68.40 m.Ro@JoboZoBo:n2nmmlkkkkX?ɞm*BmY im@=Ii uɝqiqIu4yI}Di}!=i}w6=)}@)F"F!*F!2F%_5:F!Hm>HiHiIiIm =IiIi&Ime<*Im0E1Ge==% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006816G9 2BI :BY  Oe >Y |aď,<?A9b@YD@9,o=AHRS rotation from veh to nav: [[0.892497,0.449008,-0.042900],[-0.450668,0.891622,-0.043687],[0.018635,0.058324,0.998124]]yH@V?`?@`ܿ+?@^ ?ܭ?`?ɫb@̔;髭CCB1IMb@Mb@Mb@ )IiK7A`?Mbp~jth? ?D;) AI;@iA?A AIRI4٥_< ,=9Z;Q > F٦$Ey > 4Y\?4yB  ? : W ?D|j;i;4)rAEo9EDNOT Ignoring new targets: 68.08 m.oEʝ8oMʝ8] ProNav: ac range: 68.075150 m, nav range: 66.979187 m, bearing: 333.301305 deg, approach rate: -0.542133 m/s, LOS rate: 0.004311 deg/s, cmd heading: 332.889049 deg, new cmd heading: 332.895192 deg. zo]Y=9eHeadingCmd: 5.810117 target range: 68.075150 and range: 68.40 m.Roe{@JoaboaZoaBoa:ni2nimimmBlqkqkqkqk}?aɞu-BuK ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260385} =I ޅɝiIos{I5i =i-=){@)F"F*F2F`5:FGFtAԙJ wJ sJ 3J J W:J 9J (3J Թ G d6=G 2B :B  O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894#gď, ?AI)EBE3IIU&IU3٥u_E< ue=9uQ u>yy }F٦}&Ey > 4Y⫍?4yBԙ?D:;:; 4)`AoDNOT Ignoring new targets: 68.08 m.o*8o*8 ProNav: ac range: 68.075150 m, nav range: 66.785339 m, bearing: 333.302851 deg, approach rate: -0.543685 m/s, LOS rate: 0.004349 deg/s, cmd heading: 332.895197 deg, new cmd heading: 332.899848 deg. zo>9HeadingCmd: 5.810198 target range: 68.075150 and range: 68.40 m.Ro%@JoboZoBo:n2n m m l kkkkLM?ɞE0BE># AE=IA MEɝIiIIMR}IUW+iUe=iU.=)U%@)YF!"F!*F!2F%3:F!jK$PrK9zKKKk==   |zwqjju~xG.=G2B:B Oj>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764445Hm >Hi Hi Ii Im =Ii Im D&Im <*Im XE! mď,?A: @Y:@:G9:c6}=FAHRS rotation from veh to nav: [[0.891584,0.450896,-0.042084],[-0.452578,0.890436,-0.047921],[0.015866,0.061772,0.997964]]y:Hڇ?z?`ܿ`t~?&@??`?R?ɫ: @:>;:DCbBb?IIjNIj٥rB= rT=9v;Q v>tt zF٦z)Eyz z> |4Y~?4y~u~B  o ?~D~W:~:~ 4)AEEPExceeded connect timeout, disconnecting.oIMDNOT Ignoring new targets: 68.08 m.oU*8oU*8 ProNav: ac range: 68.075150 m, nav range: 66.575729 m, bearing: 333.304917 deg, approach rate: -0.541866 m/s, LOS rate: 0.005359 deg/s, cmd heading: 332.899841 deg, new cmd heading: 332.906061 deg. zo fk9 HeadingCmd: 5.810307 target range: 68.075150 and range: 68.40 m.Ro  @JoboZoBo:n12n1m9m9lAkIkIkIkM@ɞ3BP 靥=I oɝiI\I!i=iG&=) @)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021F"F*F2F_0:FGFG G!YGI 2BQ :Bi  Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827ԉ Ftď,?A:@Y:@:i9:=BAHRS rotation from veh to nav: [[0.891204,0.451652,-0.042030],[-0.453379,0.889845,-0.051212],[0.014270,0.064696,0.997803]]y:H@? ? *ݿy?89?폰??ɫ:@:Sߞ;:GCnBnFIMb@Mb@Mb@ )Iiw/?~jt?~jtx??D<;)h AIh@iA AITIn٥< ;=9n;Q > F٦+Ey3  > %4Y6͍?-4yBQ-?:?D<X<|4)AoDNOT Ignoring new targets: 68.08 m.o o  ProNav: ac range: 68.075150 m, nav range: 66.343483 m, bearing: 333.301446 deg, approach rate: -0.505046 m/s, LOS rate: -0.007575 deg/s, cmd heading: 332.906070 deg, new cmd heading: 332.895620 deg. zoZ%HeadingCmd: 5.810125 target range: 68.075150 and range: 68.40 m.Ro%@Jo!bo!Zo)Bo):n)2n1m1m5Bl9k9k9k9k=k@JuqJumJu2JqJuD:Ju&9Juc3Jqɞ7B"C 靅>I ɝiIWI4i`=i$=)@)Fa"Fa*Fa2Fa:Faԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519532G92BA:BY OeU>ԩ jKU lOrKU 9zKQ KU KU md[VOJDGILKGILQSOPQLJE?<765/))%$(%%%BZdinorw{ytmga_gwzď,?A BGII%YI%Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867٥; M=9Q > F٦.Ey > 4Yݍ?4yB?D; ;m4ZB)AE-B*** querying acoustic contact ***:p)Bp)o9=DNOT Ignoring new targets: 68.08 m.oEoEU ProNav: ac range: 68.075150 m, nav range: 66.134140 m, bearing: 333.298296 deg, approach rate: -0.550707 m/s, LOS rate: -0.008312 deg/s, cmd heading: 332.895634 deg, new cmd heading: 332.886155 deg. zoU]HeadingCmd: 5.809959 target range: 68.075150 and range: 68.40 m.Ro]0@JoYboYZoYBoa:na2namimilikikikqkuRs@ɞ:B׻ 靥o>I ԩɝiIGIJi"=i%=)0@)JH BH H>HCHII BI =II&I|<*IHE2IC:ICBIJIà =RIà =ZIÙP5F"F*F2Fg0:FG2B:B O@> 5nManaging dock network, ignoring radio surface power off% BDAT read: Rx Time:04:04:39.0669 % TRx dataTimestamp_ set to:1761365080.013170- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027273) Q Ӂď,?ABHI MMb@Mb@Mb@I I)IIIiIME?Mb?~jtx?M?M F٦1Ey > 4Y?4y8B?:?D` ; ;}#4)AoDNOT Ignoring new targets: 68.08 m.oSoS ProNav: ac range: 68.075150 m, nav range: 65.891563 m, bearing: 333.293012 deg, approach rate: -0.529005 m/s, LOS rate: -0.011567 deg/s, cmd heading: 332.886153 deg, new cmd heading: 332.870241 deg. zoHeadingCmd: 5.809682 target range: 68.075150 and range: 68.40 m.Ro@JoboZoBo:n2nmm OBl k k kk`g @ɞ==B= AE>IA EɝAiAIM끻echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275913Ioi(=i&=)@)IF6"F*F2Fh0:FG2B:B O>q ď,2Z!?A0jDAT read: 04:04:39.0669 LVL= 19648, 32753, 18002, 32755, AGC= 65, IDX= 407, 0.03, 2.071, 0.639, 2.092, 1.672, PHS= 0.487,-0.986, 0.417, RAW= 147.6, 1.2, CAL= 150.8, -7.7, ROT= 359.2, 7.7 rYgot valid direction response: 04:04:39.0669 LVL= 19648, 32753, 18002, 32755, AGC= 65, IDX= 407, 0.03, 2.071, 0.639, 2.092, 1.672, PHS= 0.487,-0.986, 0.417, RAW= 147.6, 1.2, CAL= 150.8, -7.7, ROT= 359.2, 7.7 rPDAT read: Bearing 359.2, 7.7 (Local) v~Local bearing/azimuth received: Bearing 359.2, 7.7 (Local) zDAT read: Range 10 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.4 m/s ~R#Rx 1: Read range and direction messages.`direction in FSK: [0.990887,-0.013836,-0.133986]Fpublishing direction and range infoQyUdW?R|*VL`u&UBYQ UL)UIURFiUUAUX>Uj|U> U$@)U Q)QU)P;[?H採?GuL?iU΂>U?UDdU > Q)Q]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.uAHRS rotation from veh to nav: [[0.892593,0.448734,-0.043760],[-0.450764,0.890218,-0.065755],[0.009449,0.078418,0.996876]]y5H??g`Oܿ|?Nհ3Z?.? h?ɫ5 @5;5CCBAIII٥ X=9M F٦3Ey; > 54Y ?54y z B15]=? +D ; : 3*4A)EAAԉJpQRpU ?ApUBpUBpU@vU{CzXP@*7T!vUdW?R|*VL`u&pUDdpU >vUD(+M@j|ks=FUP vUoS§J? gvܿ4Hz jpUrpUYiBZpUF2?bpU&zpU^BpUt9?pUN#pU\BpUBpU@ addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.776844 s, deltaX: -2.099998 m, approachRate: -0.556019 m/s, rangeRepo size: 4 U Added new target pos. range: 65.983833 m, bearing: 333.016239 deg, lat: 36.779455 deg, lon: -121.859747 deg, deltaT: 3.776844 s, deltaX: -2.091316 m, approachRate: -0.553721 m/s, posRepo size: 4 oY]DNOT Ignoring new targets: 65.98 m.o]oa ProNav: ac range: 65.983833 m, nav range: 65.458527 m, bearing: 333.186094 deg, approach rate: 0.000000 m/s, LOS rate: -0.011567 deg/s, cmd heading: 332.870253 deg, new cmd heading: 332.856055 deg. zoHeadingCmd: 5.809434 target range: 65.983833 and range: 66.30 m.Ro@JoboZoBo:n2nmmlkkk@3P@k?ɞEABMt IM|=II UɝQiQIUEI]i}@3=i}2=)@)jK+NrKzKKK~|pkhfc^ZVQLB6.,''("4f|S Q"jSB BK >:K ?ԹF=6"F9*F92F=o0:F9}*DAT read: user:325> BDAT read: Tx time:04:04:40.3243 $Ping request sent.H CH II %BI =I I &I s<*I AEG} d6=GQ 2Ba :By  O >5ď,|;?AJ oJ hJJJ >:J Ȇ9JJJ!J O;!J ܬ:!J ݬ:!I$)& F٦ 6Ey *<  > 4Y>?4yBE޾E?8D;\;04I)MAIoDNOT Ignoring new targets: 65.98 m.JDAT read: TxSync time:04:04:40.3235 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251808oSoS ProNav: ac range: 65.983833 m, nav range: 65.259369 m, bearing: 333.180375 deg, approach rate: -0.551334 m/s, LOS rate: -0.015882 deg/s, cmd heading: 332.856046 deg, new cmd heading: 332.838835 deg. zod.HeadingCmd: 5.809134 target range: 65.983833 and range: 66.30 m.Rol@JoboZoBo:n2nmmlkkkke?ɞCB 靝=I 4LɝiIl*Ii7A=i==)l@)ԹF56"F1*F12F51:F1G5 31=G ! 2B) :B9  OE >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502735Iď,IU?A|B<IMb@Mb@Mb@ )Ii r?X9v?{Gzt??<ף;)h AIh@i?A AIPI٥ٶ K=9Q > F٦8Ey > 4Y?4yB?:Ͼ?ED+<Q<74)AEoDNOT Ignoring new targets: 65.98 m.oo% ProNav: ac range: 65.983833 m, nav range: 65.056725 m, bearing: 333.169175 deg, approach rate: -0.492931 m/s, LOS rate: -0.027328 deg/s, cmd heading: 332.838834 deg, new cmd heading: 332.805130 deg. zo- 5HeadingCmd: 5.808545 target range: 65.983833 and range: 66.30 m.Ro5߹@Jo1bo9Zo9Bo9:n92n9mAmE[BlAkAkAkIkMb?ɞ}FB}Tq 靅.=I BɝiI!)IM iMQ=iMU>=)M߹@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787F6"F*F2F`5:FQG% e?=ԁ G 2B :B!  O- >=ď,&o?AjK"%PrK"9zK K"K" #1;<AKW_kmohgfheba``][XYYUQONOQOKHHGG?(2K$*K&nA>1@Y>,@>'9>$=FAHRS rotation from veh to nav: [[0.893687,0.445916,-0.049824],[-0.448613,0.890071,-0.080746],[0.008340,0.094514,0.995489]]y>H`??x ܿu{?@ͫ? 2? ?ɫ>1@>;>GCNBN:IIV,IVỴ٥?  ]=9b^Q >%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754! -F٦-;Ey-Iĺ -> 1E4Y56-?E4y55BAEϾE?5RD5";5";5d>4Q)U(AQYoyDNOT Ignoring new targets: 65.98 m.o= o=  ProNav: ac range: 65.983833 m, nav range: 64.860184 m, bearing: 333.158375 deg, approach rate: -0.548230 m/s, LOS rate: -0.030215 deg/s, cmd heading: 332.805120 deg, new cmd heading: 332.772624 deg. zo㥺HeadingCmd: 5.807978 target range: 65.983833 and range: 66.30 m.Roڹ@JoboZoBo:n2nmmlkkkkp?ɞ HB J+ T=I %'&~ɝ!i!I%I-WNi-`=i5>=)5ڹ@)1H>HHII =II&I*IDEF"F*F2F_0:FԉJEuJEfJAJAJE[Q:JE9JAJAJEo;JEo;JE:JE:ԱG5==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259357G2B:B  O > %ď,q?A hj@@Y@|9X=UAHRS rotation from veh to nav: [[0.892434,0.448498,-0.049098],[-0.451103,0.888967,-0.079016],[0.008208,0.092665,0.995664]]yH Ҏ?1?`g# ܿ@kr?\: π?ܸ?y?ɫ@Wč;eBe>IMb@Mb@Mb@ )Ii r?l?=) AIQ@iAA AI 0I V٥G< *=9%Ւ9Q %>!! %F٦%>Ey-» -> 9=4Y= @?E4y=L=BE?E:EʾE?=aD=:=:=F4UYB)UAUEuB*** querying acoustic contact ***:pqBpqoyDNOT Ignoring new targets: 65.98 m.oo ProNav: ac range: 65.983833 m, nav range: 64.618645 m, bearing: 333.142925 deg, approach rate: -0.514392 m/s, LOS rate: -0.033028 deg/s, cmd heading: 332.772636 deg, new cmd heading: 332.726110 deg. zoUHeadingCmd: 5.807166 target range: 65.983833 and range: 66.30 m.RoNԹ@JoboZoBo:n2n=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511768m9m=hBlAkIkIkQkU-H?)%G EvA)YIGvA BɞLB, 2=I v|ɝiI"IѸir=i36=)NԹ@)F6"F*F2F05:FI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763337G G 2B :B)  O= >èď,7ä?A6@Y6@696 I=>AHRS rotation from veh to nav: [[0.892697,0.448124,-0.047719],[-0.450601,0.889245,-0.078753],[0.007143,0.091804,0.995751]]y6H? ?nܿt?!)A}?~? 2?ɫ6@6#;4FBF7IIRtIR%x٥T `=9 E?;Q  > F٦@EyH: > 154YN?54y5B1=ʾ=?mD_;K;L4A)E=AAoiuDNOT Ignoring new targets: 65.98 m.ouou ProNav: ac range: 65.983833 m, nav range: 64.431099 m, bearing: 333.130752 deg, approach rate: -0.513186 m/s, LOS rate: -0.033405 deg/s, cmd heading: 332.726108 deg, new cmd heading: 332.689484 deg. zogHeadingCmd: 5.806527 target range: 65.983833 and range: 66.30 m.RoϹ@JoboZoBo:n2nmmlkkkk@@ɞNBQ =I t{ɝiIՁI i@~=ij<=)Ϲ@)F6"F*F2F`0:FajKuDNrKuh9zKqKuKu !0/,&"QUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015073ԉG3=HHHII BI =II&I<*I_EG 2B :B!  O- >Թ  Jq Ju AAJ} pJ} hJy Jy J} A:J} Ȇ9Jy Jy J} T;J} T;J} ܬ:J} ެ:eď,킾?A6N@Y60@696=>AHRS rotation from veh to nav: [[0.892577,0.448492,-0.046486],[-0.450856,0.889098,-0.078958],[0.005918,0.091434,0.995794]]y6H?? ̧@ܿ}s?6 =x?`9h?`?ɫ6N@6[;6DCFBF1IIRVIR٥Zü ZP=9^L;Q ^>`` bF٦bCEyf>< f> hn4Yj`^?n4yjBjBlnʾr?jzDj;j;jS4v`B)vAvEo%DNOT Ignoring new targets: 65.98 m.o%o%5 ProNav: ac range: 65.983833 m, nav range: 64.229431 m, bearing: 333.117634 deg, approach rate: -0.515155 m/s, LOS rate: -0.033616 deg/s, cmd heading: 332.689471 deg, new cmd heading: 332.649993 deg. zo5=HeadingCmd: 5.805838 target range: 65.983833 and range: 66.30 m.RoElɹ@JoAboAZoABoA:nA2nAmImIlIkIkQkQkU@ @ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266817ɞ%QB%( !%L=I! -zɝ)i)I-]I5fiuَ=iuLB==)ulɹ@)yF "F *F 2F :F G==G2B:B  O >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519557 ϵď,9`?AI)<2@Y2@2a92=BAHRS rotation from veh to nav: [[0.892397,0.448928,-0.045735],[-0.451222,0.888904,-0.079043],[0.005169,0.091174,0.995822]]y2H?` F٦EEypw > 4Yo?4y?:־?D; ;e[4)AoDNOT Ignoring new targets: 65.98 m.oչoչ ProNav: ac range: 65.983833 m, nav range: 64.004158 m, bearing: 333.107574 deg, approach rate: -0.521425 m/s, LOS rate: -0.023367 deg/s, cmd heading: 332.649993 deg, new cmd heading: 332.619707 deg. zoKHeadingCmd: 5.805309 target range: 65.983833 and range: 66.30 m.RoŹ@Jobo!Zo!Bo!:n!2n!m)m-[Bl)k)k)k1k=@@ɞ TB @%; M(j=II UKyɝQiQIU=Ga 2Bi :By  O >y jK% LrK! zK! K% K%   3Yt}zvuwxxvskfd[VOGC<511+'6{%+%Oď,8?ABDAT read: Rx Time:04:04:42.8144 TRx dataTimestamp_ set to:1761365083.789862checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023886: @Y: @:9:v=FAHRS rotation from veh to nav: [[0.892017,0.449680,-0.045752],[-0.451977,0.888444,-0.079900],[0.004719,0.091951,0.995752]]y:Hg?? l@0ܿ"n?Mt`rTs?@? 4?ɫ: @:0;:DCJ|BNIIV\IVW٥ZH ^Z=9^':Q b>`` bF٦bHEyfq f> hn4Yj~?n4yjjBlr"׾r?jDj ;j ;ja4t)vAvEoDNOT Ignoring new targets: 65.98 m.oӹo%ӹ- ProNav: ac range: 65.983833 m, nav range: 63.808475 m, bearing: 333.098925 deg, approach rate: -0.520304 m/s, LOS rate: -0.023065 deg/s, cmd heading: 332.619694 deg, new cmd heading: 332.593670 deg. zo-E}5HeadingCmd: 5.804854 target range: 65.983833 and range: 66.30 m.Ro5^@Jo1bo9Zo9Bo9:n92nAmAmAlAkIkIkIkM @ɞEVBEN IM=II MbyɝIiIIMHiHiHmIImBIm =IiIi&Imo<*Im>EԡIik=i<=)^@)F"F*F2F0:FJc3J3J.-JeqJeiJe3JaJeD:Jeڈ9Je(3JaJe\Z;Je^Z;Jer:Jes:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692G= ==G! 2B1 :BA  OM >ď,\ ?A@Y@z9=AHRS rotation from veh to nav: [[0.891182,0.451317,-0.045919],[-0.453625,0.887555,-0.080436],[0.004454,0.092513,0.995701]]yH`?`_?0ݿf?w@+>r??`?ɫ@;UiBUIQDAT read: 04:04:42.8144 LVL= 19232, 31089, 19874, 32755, AGC= 65, IDX= 412, 0.29, 0.344,-1.079, 0.330,-0.078, PHS= 0.509,-0.954, 0.404, RAW= 146.3, 0.6, CAL= 149.8, -8.4, ROT= 0.2, 8.4 Ygot valid direction response: 04:04:42.8144 LVL= 19232, 31089, 19874, 32755, AGC= 65, IDX= 412, 0.29, 0.344,-1.079, 0.330,-0.078, PHS= 0.509,-0.954, 0.404, RAW= 146.3, 0.6, CAL= 149.8, -8.4, ROT= 0.2, 8.4 PDAT read: Bearing 0.2, 8.4 (Local) ~Local bearing/azimuth received: Bearing 0.2, 8.4 (Local) DAT read: Range 10 to 50 : 64.5 m (Round-trip 86.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.989266,0.003453,-0.146083]Fpublishing direction and range infoy@H?b;Il?/8ٲ¿BY  K)qyIMiM?X9t> .k#@)+ )cj?]?}ק?i>(d;Q > )T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.mMb@Mb@Mb@i i)iIiiimE?Mb?{Gzm?m:Q > F٦KEyb > 4YN?4yB?:?D<<Pk4i)m^AiJpRp.?ApcBpcBp@vuO@ĵ_? CQ"v@H?b;Il?/8ٲ¿pd;pQ >vgL@ +;F+ȡ]"voy?Y`ۿTxm¿jprpdBZp%b?bp<zpF[Bpppp~Bp~@e addTargetRange:: Added new target pos. range: 64.500000 m, deltaT: 3.779263 s, deltaX: -1.800003 m, approachRate: -0.476284 m/s, rangeRepo size: 4 y Added new target pos. range: 64.193443 m, bearing: 334.004380 deg, lat: 36.779455 deg, lon: -121.859747 deg, deltaT: 3.779263 s, deltaX: -1.790390 m, approachRate: -0.473741 m/s, posRepo size: 4 oDNOT Ignoring new targets: 64.19 m.ooU ProNav: ac range: 64.193443 m, nav range: 63.526836 m, bearing: 333.091121 deg, approach rate: 0.000000 m/s, LOS rate: -0.023065 deg/s, cmd heading: 332.593657 deg, new cmd heading: 332.553416 deg. zoY]HeadingCmd: 5.804152 target range: 64.193443 and range: 64.50 m.Ro]@JoaboaZoaBoa:na2namimm~Blikikk P@k@)?ɞZB k s  BDAT read: Tx time:04:04:44.0243  $Ping request sent. *zď,+?A @:@Y:@:Y΅9:=BAHRS rotation from veh to nav: [[0.890680,0.452354,-0.045436],[-0.454612,0.887083,-0.080075],[0.004083,0.091977,0.995753]]y:H@t?@]?`cC@[ݿ b?@ ȹp?ȋ?5?ɫ:@:;8JcBJIIRXIR㔴٥Z Z^=9^#:Q ^>\\ bF٦bNEyjD j> lr4Yn?r4ynnBpr<v?nDnu:n:xnq4|)~uA|B*** querying acoustic contact ***:pBpo!%DNOT Ignoring new targets: 64.19 m.oZoZ ProNav: ac range: 64.193443 m, nav range: 63.333366 m, bearing: 333.085915 deg, approach rate: -0.600639 m/s, LOS rate: -0.016212 deg/s, cmd heading: 332.553414 deg, new cmd heading: 332.537748 deg. zo2HeadingCmd: 5.803879 target range: 64.193443 and range: 64.50 m.Ro`@JoboZoBo:n2nmmlkkk!k%@?ɞu\Bu޵o qu;Iq }yɝyiyI}zIgi=il5=)`@)jKOrKzKKKrcZN@2* xvupntF5sha\uJDAT read: TxSync time:04:04:44.0235 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252183)F9"F9*F92F=0:F9HHHxIIBI =II&Ix<*IME2IA:IABIAJIARIAZIE5IGel;=G9 2BY :By  O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501597Zď,PE?AJ@YJ@J`9Jø=VAHRS rotation from veh to nav: [[0.889799,0.454142,-0.044856],[-0.456332,0.886362,-0.078248],[0.004223,0.090094,0.995924]]yJHtt vF٦vPEyv z> x4YzR?4yz~zB=?zDzD;z ;zx4)AEoAEDNOT Ignoring new targets: 64.19 m.oM>toM>tY] ProNav: ac range: 64.193443 m, nav range: 63.119991 m, bearing: 333.080516 deg, approach rate: -0.525734 m/s, LOS rate: -0.013346 deg/s, cmd heading: 332.537759 deg, new cmd heading: 332.521510 deg. zoeeHeadingCmd: 5.803595 target range: 64.193443 and range: 64.50 m.Rom @JoiboiZoiBoi:ni2nimqmqlqkqkykyk}?ɞ^Bm} 靝cI [yɝiIxI׌iR=i/=) @)F!ԉ"F!*F2F4:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753ԱG 6=G 2B :B  O > J sJ kJ 2J J K:J 9J c3J ! @! @! @! @wď,_?ARmڲ@YROչ@Rŵ9Re:=ZAHRS rotation from veh to nav: [[0.888869,0.456060,-0.043841],[-0.458129,0.885884,-0.072996],[0.005547,0.084968,0.996368]]yRHq?0?HrQݿ(Y?ܯ v?}???ɫRmڲ@RÉ;RECbJBbIMb@Mb@Mb@ )IiL7A`?y&1|I ++?`94)Q AIh@i$A \AI"IĴ٥  >=9IԹQ > F٦SEy > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005632U4YLĎ?U4yMB]5?]:]]?D<<^4a)eAaoDNOT Ignoring new targets: 64.19 m.oa9oa9 ProNav: ac range: 64.193443 m, nav range: 62.892021 m, bearing: 333.084151 deg, approach rate: -0.510160 m/s, LOS rate: 0.008162 deg/s, cmd heading: 332.521503 deg, new cmd heading: 332.532446 deg. zoA9HeadingCmd: 5.803786 target range: 64.193443 and range: 64.50 m.Ro@JoboZoBo:n2nmm~Blkkkk?ɞu`Bu y}Iy }ayɝyiyI}vIsi=iJ(=)@)F!"F)*F)2F-`5:F)GE x/=GI GM pAjK HOrK ]9zK K K WRLHC@=7541011+**+)(&#$###!HmYJ@9/)('#*yhPA7/)$#+L checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259144G! 2B) :BA  Om >9 ZH <RH <H >H H eII BI =I I &I G<*I EȮď,cy?AI)2t߲@Y2Vڹ@2˻92䠳=:AHRS rotation from veh to nav: [[0.889146,0.455347,-0.045591],[-0.457581,0.885995,-0.075054],[0.006218,0.087595,0.996137]]y2Hs?g$?WIݿ@Z?`6wy? l?@Z?ɫ2t߲@2];2BCFPBFIIZ.IZ٥f< fZ=9fQ f>hh jF٦jUEyjr: n> pv4YrҎ?v4yrrBtv+v?rDr):r:r冦4) AEoDNOT Ignoring new targets: 64.19 m.oA9oA9 ProNav: ac range: 64.193443 m, nav range: 62.694763 m, bearing: 333.087195 deg, approach rate: -0.526686 m/s, LOS rate: 0.008156 deg/s, cmd heading: 332.532459 deg, new cmd heading: 332.541622 deg. zo9HeadingCmd: 5.803946 target range: 64.193443 and range: 64.50 m.Ro@JoboZoBo:n2nmmlkk!k!k%X?ɞbB熼 I Oyɝ iIIM:sIU^iUG=i]Q+=)]@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510462F%6"F!*F!2F-4:F)IqG$=G 2B :BY  O >ԡ ď,H?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761810J@ݲ@YJ"ع@Jʻ9JG>=AHRS rotation from veh to nav: [[0.889023,0.455598,-0.045481],[-0.457820,0.885884,-0.074897],[0.006168,0.087408,0.996154]]yJHr?(?NI@Lݿ)Y?z,Cy? [`?`}?ɫJ@ݲ@JU?;H%@B%IMb@Mb@Mb@ )Iiv/?I +{Gztx ?94ף) AI~@iA AILI٥'  9=95u8Q 5>99 =F٦=XEy=w E> Aqu4YE䎊?u4yEEB} ?}:}}?EDE ;E;EĎ4)AoDNOT Ignoring new targets: 64.19 m.oLj9oLj9 ProNav: ac range: 64.193443 m, nav range: 62.452950 m, bearing: 333.092836 deg, approach rate: -0.546737 m/s, LOS rate: 0.012802 deg/s, cmd heading: 332.541611 deg, new cmd heading: 332.558598 deg. zo :HeadingCmd: 5.804243 target range: 64.193443 and range: 64.50 m.Ro[@JoboZoBo:n!2n!m!m%~BlIkIkIkQkU]@ɞ5dB5 9= I9 =wzɝ9i9I=SqI7i=i(=)[@)JupJujJqJqJuA:Ju9JqJqԙFY"FY*FY2F];4:FYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014399G= )=G 2B! :B9  OE > ď, ?AR%@YRݹ@RϪ9Rն=ZAHRS rotation from veh to nav: [[0.889302,0.455063,-0.045388],[-0.457291,0.885985,-0.076914],[0.005213,0.089155,0.996004]]yRH(u??#=BDݿY?@Yu?Ҷ?D?ɫR%@R8;REC~EBIIfI{٥%:< %Y=9%);Q %>)) -F٦-[Ey5: 5> 9M4Y=?M4y=:=BQU2U?=D=s6;=6-;=84eaB)eAeEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 64.19 m.of9of9 ProNav: ac range: 64.193443 m, nav range: 62.254597 m, bearing: 333.097383 deg, approach rate: -0.547891 m/s, LOS rate: 0.012599 deg/s, cmd heading: 332.558605 deg, new cmd heading: 332.572288 deg. zoX :HeadingCmd: 5.804482 target range: 64.193443 and range: 64.50 m.RoP@JoboZoBo:n2nmmlkkkk I@ɞeB `I rzɝiIoI i =i f*=) P@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266912jKNrK9zKKKce\PE;-)%! =fh[LGp-aB2NpijbVH<1&"&!BK?:K?F6"F*F2F_0:FH->H)H-YII-BI- =I)I)&I-z<*I-OEG)=G?G?G2B:B 1  O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517577Q ď,?A @B@b@Ybݹ@b߄9b=nAHRS rotation from veh to nav: [[0.889337,0.455011,-0.045211],[-0.457225,0.886000,-0.077136],[0.004960,0.089271,0.995995]]ybHsu??% ,CݿZ?+`Pt?~ڶ?0?ɫb@b";bBCrPBvII~OI~ݜ٥L<  L=9 b%:Q  >  F٦]EyD9 > )54Y-?54y- )1=(=?-D-;- ;-?4A)EAAoimDNOT Ignoring new targets: 64.19 m.ouc9ouc9 ProNav: ac range: 64.193443 m, nav range: 62.038738 m, bearing: 333.102348 deg, approach rate: -0.539277 m/s, LOS rate: 0.012449 deg/s, cmd heading: 332.572293 deg, new cmd heading: 332.587241 deg. zo:HeadingCmd: 5.804742 target range: 64.193443 and range: 64.50 m.Ros@JoboZoBo:n2nmmlkkkk@ɞUfB]͉ Y]IY ]zɝYiaIeClIeyim=im)=)ms@)q1F"F*F2Fk0:FiU(>IѐC)MGYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770157 u`wA)I`wA BG)=G2B:B O>ԁ J} tJ} kJy Jy J} ;N:J} 9Jy Jy ď,?A,6Bݲ@Y6$ع@6A 96z=FAHRS rotation from veh to nav: [[0.889030,0.455474,-0.046570],[-0.457823,0.885442,-0.079937],[0.004826,0.092387,0.995712]]y6Hr?|&?קLݿ@U?v s???ɫ6Bݲ@6;4rRBrI ttMu@} uMb@Mb@Mb@q q)qIqiqu!rh?~jtul?uu)u AIuh@iquA quIVI٥; @=9r9Q >BDAT read: Rx Time:04:04:46.5117 TRx dataTimestamp_ set to:1761365087.570015checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022851 F٦`EyHκ > 4YC?4y ?:?D::4)Ao!-DNOT Ignoring new targets: 64.19 m.o9o9 ProNav: ac range: 64.193443 m, nav range: 61.813076 m, bearing: 333.111106 deg, approach rate: -0.527224 m/s, LOS rate: 0.020535 deg/s, cmd heading: 332.587237 deg, new cmd heading: 332.613606 deg. zo}a:HeadingCmd: 5.805202 target range: 64.193443 and range: 64.50 m.Ro8Ĺ@JoboZoBo :n 2nmmlkkkk @ԉɞhB=ň 靭(I  {ɝiIiI#in=ii%=)8Ĺ@)F"F*F2Fn0:FԱm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274043G jK H% >H! H! I! I% =I! I! &I% <*I% bEď,?A\5۲@Y5pֹ@5e95k=AHRS rotation from veh to nav: [[0.888935,0.455512,-0.047999],[-0.458008,0.885117,-0.082446],[0.004930,0.095273,0.995439]]y5H'r?'?WOݿ`R?1@1t?c??ɫ5۲@5 G;5ECJ1J5=UdBUIIefIe{٥uA+= u>=9}}Q }>yy }F٦cEy^ > 4Y$?4y?#D;=:'4hB)AEoMDNOT Ignoring new targets: 64.19 m.oMR9oUR9] ProNav: ac range: 64.193443 m, nav range: 61.587490 m, bearing: 333.119966 deg, approach rate: -0.522072 m/s, LOS rate: 0.020580 deg/s, cmd heading: 332.613602 deg, new cmd heading: 332.640280 deg. zoea:HeadingCmd: 5.805668 target range: 64.193443 and range: 64.50 m.Roȹ@JoboZoBo:n2nmmlkkkk% @ɞiB I ={ɝ9i9I=cgIU-}iU=iUm#=)Uȹ@)aDAT read: 04:04:46.5117 LVL= 18368, 32753, 18002, 32419, AGC= 64, IDX= 417, 0.17, 1.662, 0.291, 1.622, 1.286, PHS= 0.464,-0.949, 0.333, RAW= 145.2, 2.3, CAL= 148.5, -6.5, ROT= 1.5, 6.5  Ygot valid direction response: 04:04:46.5117 LVL= 18368, 32753, 18002, 32419, AGC= 64, IDX= 417, 0.17, 1.662, 0.291, 1.622, 1.286, PHS= 0.464,-0.949, 0.333, RAW= 145.2, 2.3, CAL= 148.5, -6.5, ROT= 1.5, 6.5 PDAT read: Bearing 1.5, 6.5 (Local) ~Local bearing/azimuth received: Bearing 1.5, 6.5 (Local) -DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.E^direction in FSK: [0.993231,0.026009,-0.113203]EFpublishing direction and range infoy.?q7?5yBY G)IRFi~@h>r~> 0"@)l$=IH%@iV轉Pw<V= )m(B?bb:7?sT?i>G"Pw<V= )uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.F"F*F2Fo0:FG% X%=A GA 2Bi :B  O >ď,?A*DAT read: user:327> BDAT read: Tx time:04:04:47.8243 $Ping request sent.99 =F٦=eEyE E> Q]4YU'5?e4yUUBe?e:e e?U2DU :U:U4uiB)u|AuEJpRpޭ?ApixBpixBp@v;@dI_N@#]?Fv.?q7?5pPw<pV=v-K@))=:2)v-um?C ۿjprp_BZp'?bp#zpJeBpppx^BpwuBp @ addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.779461 s, deltaX: -2.099998 m, approachRate: -0.555634 m/s, rangeRepo size: 4  Added new target pos. range: 62.102947 m, bearing: 334.854622 deg, lat: 36.779455 deg, lon: -121.859747 deg, deltaT: 3.779461 s, deltaX: -2.090496 m, approachRate: -0.553120 m/s, posRepo size: 4 oDNOT Ignoring new targets: 62.10 m.oo ProNav: ac range: 62.102947 m, nav range: 61.366253 m, bearing: 333.127990 deg, approach rate: 0.000000 m/s, LOS rate: 0.020580 deg/s, cmd heading: 332.640267 deg, new cmd heading: 332.666634 deg. zoHeadingCmd: 5.806128 target range: 62.102947 and range: 62.40 m.Ro˹@JoboZoBo:n 2n m m@Blkkk@33O@kh?Iɞ up   ď,^e.?A:Ҳ@Y:͹@:c9:-=BAHRS rotation from veh to nav: [[0.888403,0.456480,-0.048637],[-0.459030,0.884631,-0.081979],[0.005604,0.095157,0.995447]]y:Hm?6?樿``ݿN?v?`.\??ɫ:Ҳ@:Lj;:ACJtBHIZ%IZ´٥ :  u=9xQ ? F٦gEy%a %? 1=4Y5A?=4y55BAEUE?5=D5&;5;54I)MzAImB*** querying acoustic contact ***:piBpiyoyDNOT Ignoring new targets: 62.10 m.o9o9 ProNav: ac range: 62.102947 m, nav range: 61.194275 m, bearing: 333.134452 deg, approach rate: -0.519416 m/s, LOS rate: 0.019574 deg/s, cmd heading: 332.666631 deg, new cmd heading: 332.686074 deg. zoV:HeadingCmd: 5.806468 target range: 62.102947 and range: 62.40 m.Roι@JoboZoBo:n2nmmlkkkk?ɞjBTn :5+'#$-MVF5,'%$%! 71S R)&aԡH>HH_IIBI =II&I<*IEG= JIJM@AGi2By:B O> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854! ď,oHH?A:ڲ@Y:hչ@:ػ9:y=FAHRS rotation from veh to nav: [[0.888868,0.455648,-0.047938],[-0.458115,0.885404,-0.078680],[0.006594,0.091897,0.995747]]y:H@q?@U)?KQݿ:U?c${?`? (?ɫ:ڲ@:a;:DC^B^#IIfIIf.٥n= nM=9n"Q r>pp rF٦rjEyv.); v> x~4YzP?4yzczB  ?zJDzWL;zM;zk4)@Ao9EDNOT Ignoring new targets: 62.10 m.oE 9oE 9U ProNav: ac range: 62.102947 m, nav range: 60.990398 m, bearing: 333.141958 deg, approach rate: -0.514919 m/s, LOS rate: 0.019019 deg/s, cmd heading: 332.686084 deg, new cmd heading: 332.708675 deg. zoUP:]HeadingCmd: 5.806862 target range: 62.102947 and range: 62.40 m.Ro]ѹ@JoYboaZoaBoa:na2namimilikikikqku@d?ɞ%^ 靭ԡ #ď,$b?A 6߲@Y6rڹ@696=BAHRS rotation from veh to nav: [[0.889141,0.454945,-0.049519],[-0.457564,0.885662,-0.078977],[0.007927,0.092880,0.995646]]y6Hs??ZHݿXW?7;?Ƿ?`T?ɫ6߲@6q͈;6BCJBJ,IJNnJNhJLJLJN|;:JNȆ9JLJLchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878Mb@Mb@Mb@ )IiMbX9?y&1|?    F٦ mEyu: > %4Ya?%4yB%?%:%$-?XDQ::$Ǧ41)5A1oYeDNOT Ignoring new targets: 62.10 m.qouDouD ProNav: ac range: 62.102947 m, nav range: 60.766361 m, bearing: 333.140776 deg, approach rate: -0.508194 m/s, LOS rate: -0.002691 deg/s, cmd heading: 332.708678 deg, new cmd heading: 332.705119 deg. zo\HeadingCmd: 5.806800 target range: 62.102947 and range: 62.40 m.RoNѹ@JoboZoBo:n2nmm~Blkkkk +?ɞ5kB5ʹO 15=I1 ={yɝ9i9I=.aIEiE=iE]!=)ENѹ@)IF"F*F2F`0:FԡGE =U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511622G! 2B) :B9  OM >jK 7PrK ػ9zK K K Cw5[0wfYNB;6/+'% ?eNQ-ZH <RH 4=H >H H lII BI I I &I <*I E2I:IBIJIRIZIV5 Qď,|?AB@YB@Bo9B{=JAHRS rotation from veh to nav: [[0.889619,0.454060,-0.049072],[-0.456646,0.886062,-0.079802],[0.007246,0.093402,0.995602]]yBHw?P?9ݿZ?`m }?6??ɫB@B;BECRBR9IIZqIZv}٥bm= b`=9f:Q f> F٦oEy%<5; %> !54Y%p?54y%>%B155?%dD%;%{;%ͦ4EjB)EAEEoDNOT Ignoring new targets: 62.10 m.o}go}g ProNav: ac range: 62.102947 m, nav range: 60.576775 m, bearing: 333.139585 deg, approach rate: -0.501978 m/s, LOS rate: -0.003162 deg/s, cmd heading: 332.705126 deg, new cmd heading: 332.701543 deg. zo HeadingCmd: 5.806737 target range: 62.102947 and range: 62.40 m.Roй@JoboZoBo:n2nmmlkkkk`&?ɞlBW3 r=I DyɝiIt`Ii=i %=)й@)F"F*F2F_0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762965G$=G2B:B  O >1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790Q :%ď,?AV@YV@Vٻ9V8=bAHRS rotation from veh to nav: [[0.889843,0.453669,-0.048628],[-0.456219,0.886229,-0.080389],[0.006625,0.093719,0.995577]]yVH`y??`娿2ݿ`[? d"{???ɫV@VGֈ;VCCjBjEImMb@Mb@Mb@i i)iIiiimV-?:v?:v?m|>m=9:Q > F٦rEyF: > 4YD?4yB>:Dپ?rD ;t;զ4)eAoDNOT Ignoring new targets: 62.10 m.oRoR ProNav: ac range: 62.102947 m, nav range: 60.365555 m, bearing: 333.130667 deg, approach rate: -0.480558 m/s, LOS rate: -0.020362 deg/s, cmd heading: 332.701547 deg, new cmd heading: 332.674698 deg. zo_HeadingCmd: 5.806269 target range: 62.102947 and range: 62.40 m.Ro̹@JoboZoBo:n 2n m m Blkkkk`@!ɞmB% Z=I "xɝ i I "_Ii.i# =i(=)̹@)1F"F*F2F:Fqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768y G C"=G 2B :B  O >a+ď,<?AI<)p<,F@YF@F!ӻ9F=RAHRS rotation from veh to nav: [[0.890162,0.453033,-0.048714],[-0.455599,0.886486,-0.081071],[0.006456,0.094360,0.995517]]yFH4|? }?(ݿ^?  qz? '?F?ɫF@F;FBCVBZDIIbiIb҅٥f˻ jX=9j 9Q n>ll nF٦ntEyr$: r> tz4Yv?z4yv!vBx~ؾ~?v~Dv;v;vۦ4 ) nA-B*** querying acoustic contact ***:p)Bp)o9=DNOT Ignoring new targets: 62.10 m.oEϹoEϹU ProNav: ac range: 62.102947 m, nav range: 60.177788 m, bearing: 333.122564 deg, approach rate: -0.523949 m/s, LOS rate: -0.022679 deg/s, cmd heading: 332.674691 deg, new cmd heading: 332.650308 deg. zoU y]HeadingCmd: 5.805843 target range: 62.102947 and range: 62.40 m.Ro]xɹ@JoYboYZoaBoa:na2namimilikikqkqku`/@ɞnB` 靵=I *NwɝiI _I#fi=i?,=)xɹ@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519803FA"FI*FI2FM0:FIԁHm>HiHmIImBIm =IiIi&Im<*Im_EjK}$OrK}]9zKyK}K} w,  @PvyU@e@ :(ijn^M@7ԱG-)=G 2BJ)J)J)J)J)J)J)J)J-)J;!=J-,J;!=J-ܬ:!=J-ެ:!=:BA OM>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708120E2ď,?A:@Y:@:ٻ9:BI=FAHRS rotation from veh to nav: [[0.890160,0.453000,-0.049050],[-0.455599,0.886464,-0.081305],[0.006650,0.094722,0.995482]]y:H1|?? (ݿ]?kд#={??? ?ɫ:@:;:CC\bBbPIIjQIj٥rKI= vJ=9z,Q z>|| ~F٦~wEy: > 4Y S?4y # B!-ؾ-? D v; ?; 4=kB)E"AEEoimDNOT Ignoring new targets: 62.10 m.o}Oƹo}Oƹ ProNav: ac range: 62.102947 m, nav range: 59.974667 m, bearing: 333.113745 deg, approach rate: -0.497434 m/s, LOS rate: -0.021672 deg/s, cmd heading: 332.650321 deg, new cmd heading: 332.623772 deg. zomHeadingCmd: 5.805380 target range: 62.102947 and range: 62.40 m.RoŹ@JoboZoBo:n2nmmlkkkk @ɞoB{ =I qvɝiIמ^Ii%=i-=)Ź@) F"F*F 2F 0:F=BDAT read: Rx Time:04:04:50.3090 MTRx dataTimestamp_ set to:1761365091.353681Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0292159G+,=G 2B :B  O >a Wq8ď,Qi?A:+@Y:@:B9:F=BAHRS rotation from veh to nav: [[0.890239,0.452817,-0.049302],[-0.455437,0.886596,-0.080777],[0.007134,0.094365,0.995512]]y:H|??>%ݿ`^?`ʭx8}?@I(?@ii uF٦uzE}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274803y9 > 4Y?4y%B?:]?D<<4!)%?A!oDNOT Ignoring new targets: 62.10 m.o^o^ ProNav: ac range: 62.102947 m, nav range: 59.764614 m, bearing: 333.092070 deg, approach rate: -0.470448 m/s, LOS rate: -0.048714 deg/s, cmd heading: 332.623765 deg, new cmd heading: 332.558513 deg. zoHeadingCmd: 5.804241 target range: 62.102947 and range: 62.40 m.RoX@JoboZoBo:n2nmmBlk!k!k!k% t @ɞqB =I tɝiI^I'8i$&=ie2=)X@)aF"F*F2F0:Fԑm DAT read: 04:04:50.3090 LVL= 18832, 31121, 18578, 29763, AGC= 63, IDX= 422,-0.25,-0.139,-1.505,-0.197,-0.517, PHS= 0.466,-0.941, 0.317, RAW= 144.5, 2.4, CAL= 147.9, -6.3, ROT= 2.1, 6.3 } Ygot valid direction response: 04:04:50.3090 LVL= 18832, 31121, 18578, 29763, AGC= 63, IDX= 422,-0.25,-0.139,-1.505,-0.197,-0.517, PHS= 0.466,-0.941, 0.317, RAW= 144.5, 2.4, CAL= 147.9, -6.3, ROT= 2.1, 6.3 } PDAT read: Bearing 2.1, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 2.1, 6.3 (Local)  DAT read: Range 10 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.993293,0.036422,-0.109734] Fpublishing direction and range info1 y5 ֚K@?Rn?,=5 qBY1 5 I)5 yI5 Hi5 Ct5 ?JHa BHa H >H H II BI I I &I Ҙ<*I EGe .=jK 7PrK zK K K -#@ W7/ n+ i  f v0mQ$zsod\SNKHDBRrZ9 G ?G >5 >5 `p5 M> 5 vh!@)5 +=I5 4%@i5 z0Ὁ5 Q =5 z0= 1 )1 5 +b?w O|? 0X?i5 >5 *5 Q =5 z0= 1 )1 u T****** received valid address query ******u R****** received valid ping request ******G 2B :B  O > Querying Benthos address 50 with one ping in standard two-way mode.™>ď,K=?A @@@Y@A9=AHRS rotation from veh to nav: [[0.890162,0.452965,-0.049342],[-0.455586,0.886549,-0.080453],[0.007301,0.094096,0.995536]]yH4|?a?VCS(ݿ`^?@@}?`? o?ɫ@;BCEBEYIIUeIU]٥W= H=9T׹Q > F٦|Eԙyhٹ > 4Y2?JqJnJJJD:J99JJJ\Z;J^Z;J\:J]: 4y'ÄBq5?Dw<v<H49)EAAJpiRpm$?ApmspBpmspBpmRl@vm3kLM@魍[@z¯bvm֚K@?Rn?,=pmQ =pmz0=vm}|;K@g{D18i;vm`?Tڿ<;jpmrpmYBZpm)C(?bpmg$zpm)hBpm%b?pm<pm^BpmYnBpm㐺@% addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 3.781633 s, deltaX: -2.000000 m, approachRate: -0.528872 m/s, rangeRepo size: 4 U Added new target pos. range: 60.113022 m, bearing: 335.579821 deg, lat: 36.779459 deg, lon: -121.859736 deg, deltaT: 3.781633 s, deltaX: -1.989925 m, approachRate: -0.526208 m/s, posRepo size: 4 oY]DNOT Ignoring new targets: 60.11 m.oeoa ProNav: ac range: 60.113022 m, nav range: 59.587872 m, bearing: 334.045085 deg, approach rate: 0.000000 m/s, LOS rate: -0.048714 deg/s, cmd heading: 332.558523 deg, new cmd heading: 332.497473 deg. zoHeadingCmd: 5.803175 target range: 60.113022 and range: 60.40 m.Ro@JoboZoBo:n2nm mlkkk@33N@k`bH?*DAT read: user:328> BDAT read: Tx time:04:04:51.6244 $Ping request sent.Eď,?A ),I ?  Z BM@YM@M9M\=mAHRS rotation from veh to nav: [[0.890276,0.452673,-0.049955],[-0.455354,0.886657,-0.080576],[0.007819,0.094482,0.995496]]yMH$}??$ݿ@~_?1?/? ?ɫM@Mو;I}B}ZIԱ-only read 0 of 4 data items for beam range. Device response is::RA 87.81, 83.73, 82.37 m@ q@ u@ i@ IcI#٥q; A=9Q > F٦Ey& : > 4YϏ?4y)DŽB+::Q?D/:>:4Q)UAQoDNOT Ignoring new targets: 60.11 m.o-Vo-V ProNav: ac range: 60.113022 m, nav range: 59.378017 m, bearing: 334.026596 deg, approach rate: -0.529456 m/s, LOS rate: -0.046812 deg/s, cmd heading: 332.497461 deg, new cmd heading: 332.441798 deg. zo HeadingCmd: 5.802204 target range: 60.113022 and range: 60.40 m.Ro @Jo boZoBo:n2nmmlkkk!k% M?ɞuB 靝=I rɝiI]I+Ci@=i9=)@)F6"F*F2FP5:F]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502742 G G 2B :B  O >9 AKď,w1?A6߲@Y6cڹ@6l96=BAHRS rotation from veh to nav: [[0.889124,0.455296,-0.046516],[-0.457563,0.886473,-0.069292],[0.009687,0.082893,0.996511]]y6Hs? #?ЧHݿ]? փ?`8?k?ɫ6߲@6%;6@CFBFXIIRBIRb٥Z ^_=9bQ b>`d fF٦fEyf޻ f> hn4YjIޏ?r4yjV+j̄Br :pr:r`r?jDjz ;jI?jm4vlB)zAzEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 60.11 m.oDoD ProNav: ac range: 60.113022 m, nav range: 59.194798 m, bearing: 334.010716 deg, approach rate: -0.495233 m/s, LOS rate: -0.043055 deg/s, cmd heading: 332.441809 deg, new cmd heading: 332.394022 deg. zobHeadingCmd: 5.801370 target range: 60.113022 and range: 60.40 m.RoӤ@JoboZoBo:n2nmmlkkkkD?ɞmwBm im=Ii pɝiI_^IuiI=i2=)Ӥ@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756012HHHII0BIII&I<*IEF1"F1*F12F5_0:F1jKmAPrKizKiKm Km-**(%#)&$$! l qspvN0!*MWRI;2(!BKq:Ku>AJJpJJJJ^9JJJJJ:J:GV:=G)G-rAiG2B:B  O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798ԙ ;Rď, OK?AI<)<>@Y>@>s>%9>pϰ=NAHRS rotation from veh to nav: [[0.889532,0.454309,-0.048325],[-0.456761,0.886662,-0.072115],[0.010086,0.086222,0.996225]]y>H` w?h? ;ݿ _?v`?? ?ɫ>@>;I^٥f= fI=9f쀺Q f>hh jF٦jEyj; n> pv4YrS?v4yr=-rЄBv9xz`:zz?rDr:rŘ?r24|)~Ao)5DNOT Ignoring new targets: 60.11 m.o5Ro5RE ProNav: ac range: 60.113022 m, nav range: 58.992031 m, bearing: 333.992870 deg, approach rate: -0.519819 m/s, LOS rate: -0.045906 deg/s, cmd heading: 332.394025 deg, new cmd heading: 332.340304 deg. zoM MHeadingCmd: 5.800433 target range: 60.113022 and range: 60.40 m.RoM%@JoQboQZoQBoQ:nQ2nQmYmYlYkakakake`?ɞyB> 靝=I oɝiIV^I_+iV=iy:=)%@)yFQ"FQ*FY2F]`0:FYԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261238G53=G2B:B1 OE> Xď,9e?A2@Y2@2+92Y=BAHRS rotation from veh to nav: [[0.890150,0.452915,-0.050012],[-0.455547,0.887060,-0.074841],[0.010467,0.089403,0.995941]]y2H|?@? :'ݿb? (@o???ɫ2@24;2BCJBJMIIN=)N=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896mEmE qEqE uEuE iEiE EMb@Mb@Mb@A A)AIAiAE{Gz?Q?~jth?E?E\=ED;)E~ AIE~@iEAA AEAI])I]٥u u@=9}jQ > F٦EyP; > 1=4Y5?=4y5E/5ԄB=T:= ?=:==?5D5;5G:54MmB)MGAMEoDNOT Ignoring new targets: 60.11 m.oxox ProNav: ac range: 60.113022 m, nav range: 58.761101 m, bearing: 333.966865 deg, approach rate: -0.512214 m/s, LOS rate: -0.057907 deg/s, cmd heading: 332.340312 deg, new cmd heading: 332.261990 deg. zoHeadingCmd: 5.799066 target range: 60.113022 and range: 60.40 m.Ro@JoboZoBo:n2nmmBl k k k k@I:?ɞ]{B] Y] =Ia eAnɝaiI_Iil=itD=)@)F"F *F 2F :F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762989) GE C;=H H H II :BI I I &I <*I bEGY 2Bi :By  O >jK UOrK ػ9zK K !K "" !&/1,&zhQD eQ  _ď,4?AVX @YV;@V%9Vѽ=bAHRS rotation from veh to nav: [[0.891612,0.449933,-0.050869],[-0.452687,0.888254,-0.077972],[0.010103,0.092548,0.995657]]yVH@?? ܿ l? ?>?l?ɫVX @V;VAC~B~TII%RI%4٥E< EM=9Mp:Q U>QY ]F٦]Eye< m> q4Yuy?4yu0uׄB뫾?uDu`;u8;u 4JJ<vB)hAĥEJJdJJJJ|9JJJJJ:J:oDNOT Ignoring new targets: 60.11 m.oo ProNav: ac range: 60.113022 m, nav range: 58.565479 m, bearing: 333.944063 deg, approach rate: -0.484273 m/s, LOS rate: -0.056638 deg/s, cmd heading: 332.261983 deg, new cmd heading: 332.193347 deg. zo{HeadingCmd: 5.797868 target range: 60.113022 and range: 60.40 m.Ro"@Jo bo Zo Bo :n 2nmmlkkkk@)ɞ~B` 靍=I mɝiIQ_I{i=iS=)"@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016001F6"F*F2Fi0:FYԁ G D=G9 2Bi :B  O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2687945eď,h?A &@&@,f@Yf@f 9f=rAHRS rotation from veh to nav: [[0.892248,0.448653,-0.051030],[-0.451441,0.888764,-0.079376],[0.009742,0.093860,0.995538]]yfHK?? gܿp?Ql?8?r?ɫf@f;dzBzIIMb@Mb@Mb@ )Ii%C?㥛 ?MbpZ?=) AIiAVA AISIQ٥# B=9a:Q > F٦Ey\[; > 4Y!?4y2؄B?:?D:Z:4)AoDNOT Ignoring new targets: 60.11 m.oo ProNav: ac range: 60.113022 m, nav range: 58.349232 m, bearing: 333.917002 deg, approach rate: -0.534849 m/s, LOS rate: -0.067176 deg/s, cmd heading: 332.193354 deg, new cmd heading: 332.111873 deg. zoi8HeadingCmd: 5.796446 target range: 60.113022 and range: 60.40 m.Ro||@JoboZoBo:n2nmmBlk k k k@ɞ]B]x# Y],=Ia elɝaiaIeCC_ԉI5iS=i#\=)||@)F56"F9*F92F=o0:F9Թ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518764 Ge &V=G9 2BA :BQ  Om >lď,?A6=@Y6 @6iw96=BAHRS rotation from veh to nav: [[0.891942,0.449284,-0.050829],[-0.452048,0.888477,-0.079126],[0.009611,0.093553,0.995568]]y6HɊ??PYܿhn? A@ٮ?? ?ɫ6=@6;6>CFBJBIIV`IV̍`٥b b\=9b9Q f>dd fF٦fEyj j> lE4YnJ1?E4ynx4nڄBAEJE?nDnKfHHII5BI =II&IƘ<*IE2IA:IABIAJIARIAZIE44F"F*F2F1:FjK.OrK]9zKK"K vKE D5{F l sP_Y )v|jXB3& hJ1!{qkc] JJBAG<|^=G 2B :B  O >] BDAT read: Rx Time:04:04:54.1067 e TRx dataTimestamp_ set to:1761365095.131751m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026899y wsď,?A2 @Y2@2!92hY=>AHRS rotation from veh to nav: [[0.891594,0.449959,-0.050969],[-0.452730,0.888163,-0.078754],[0.009833,0.093292,0.995590]]y2H@?@ ?ܿk?7)_#?? ?ɫ2 @2;2@C^B^>IIfhIf٥n:{ nH=9rQ r>pp rF٦vEyv- v> |4Y~QB?4y~I6~ۄB   ?~D~:~-:~"4)A9oAEDNOT Ignoring new targets: 60.11 m.oMvoMv] ProNav: ac range: 60.113022 m, nav range: 57.945549 m, bearing: 333.866381 deg, approach rate: -0.543202 m/s, LOS rate: -0.068395 deg/s, cmd heading: 332.039510 deg, new cmd heading: 331.959491 deg. zo];eHeadingCmd: 5.793786 target range: 60.113022 and range: 60.40 m.Roef@JoaboaZoaBoi:ni2nimimqlykkkk@A" @ɞMBMf< qul'=Iq }kɝyiyI^Ii=iK_=)f@)aF"F*F2F`5:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277189ԑG5[=G 2B :B  O >JJ3JS}-J J gJ 3J J J 9J (3J ! @! @! @! @ *yď,2r?AI)<-DAT read: 04:04:54.1067 LVL= 19632, 32401, 19538, 32755, AGC= 64, IDX= 412, 0.14,-0.118,-1.553,-0.164,-0.528, PHS= 0.498,-0.978, 0.361, RAW= 145.2, 1.7, CAL= 148.6, -7.1, ROT= 1.4, 7.1 5Ygot valid direction response: 04:04:54.1067 LVL= 19632, 32401, 19538, 32755, AGC= 64, IDX= 412, 0.14,-0.118,-1.553,-0.164,-0.528, PHS= 0.498,-0.978, 0.361, RAW= 145.2, 1.7, CAL= 148.6, -7.1, ROT= 1.4, 7.1 =PDAT read: Bearing 1.4, 7.1 (Local) =~Local bearing/azimuth received: Bearing 1.4, 7.1 (Local) MDAT read: Range 10 to 50 : 58.6 m (Round-trip 78.2 ms) speed 0.5 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.992036,0.024245,-0.123601]]Fpublishing direction and range info|y~?$xӘ?A7X~fjBY| ~L)~~I~RLi~~@~>~5^z~Ը> ~0"@)~~~+<~= |)|}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.B0IMMb@Mb@Mb@I I)IIIiIM(\?V-?y&1|M?Mm=M`)IIM@iMlAMA IMAI]ZI]٥3 =9Q > F٦Ey > 4YYX?4y8܄B?:_?!D: :+4xB)dAƥEJp|Rp~c?Ap~IiBp~IiBp~,@v~&줳L@r@z?Kv~?$xӘ?A7Xp~+<p~=v~w.XKJ@q|^8VU4ov~]"͚?Ul{)ڿmjp~rp~ZRBZp~⧡?bp~]޹zp~eBp~'?p~#p~JeBp~hBp~@ addTargetRange:: Added new target pos. range: 58.599998 m, deltaT: 3.778091 s, deltaX: -1.800003 m, approachRate: -0.476432 m/s, rangeRepo size: 4  Added new target pos. range: 58.321533 m, bearing: 335.136576 deg, lat: 36.779465 deg, lon: -121.859730 deg, deltaT: 3.778091 s, deltaX: -1.791489 m, approachRate: -0.474178 m/s, posRepo size: 4 oDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.jooo9M ProNav: ac range: 58.321533 m, nav range: 58.027073 m, bearing: 334.672672 deg, approach rate: 0.000000 m/s, LOS rate: -0.068395 deg/s, cmd heading: 331.959488 deg, new cmd heading: 331.847570 deg. zoIUHeadingCmd: 5.791833 target range: 58.321533 and range: 58.60 m.RoUV@JoQboQZoQBoQjoY:nY2namameBlakikikmLM@ku?ɞBu ^ \ BDAT read: Tx time:04:04:55.3744 $Ping request sent.Hy H} II} +BI} =Iy Iy &I} <*I} aEF 6"F *F 2F 0:F jK TPrK 9zK K #K YVRMFC><98555600.,*)%$$ )5641+$ ,r331/5AKKY Gu <|^=G12B9:BI OU>ď,?AZ@YZ@Zt&9Zλ=bAHRS rotation from veh to nav: [[0.890096,0.452941,-0.050734],[-0.455660,0.886826,-0.076904],[0.010159,0.091570,0.995747]]yZH@{?`?)ݿ`?|΄?!q?(?ɫZ@ZR;ZBCjBj&IIr=)rR=IvYIv٥-) Ud=9UkQ U>YY ]F٦]Ey] e> a4Yeg?4ye:e݄B?e.De;ez;e 24)AoJDAT read: TxSync time:04:04:55.3736 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2538205DNOT Ignoring new targets: 58.32 m.o9EPowering the camera and arming the capture device at range: 58.60 m.joAomNFouNF ProNav: ac range: 58.321533 m, nav range: 57.834229 m, bearing: 334.657614 deg, approach rate: -0.553273 m/s, LOS rate: -0.043343 deg/s, cmd heading: 331.847582 deg, new cmd heading: 331.802260 deg. zoHeadingCmd: 5.791042 target range: 58.321533 and range: 58.60 m.Ro7P@JoboZoBojo:n2nmmlkkkk ?aɞmBm@8p qu`Iq u PkɝqiqI}3\I5ia2=iQ\=)7P@)F]4"FY*FY2F]/5:FaԑG} h= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504920 GY 2B :B  O >6ď,JA?A6@Y6۹@6/966=>AHRS rotation from veh to nav: [[0.889192,0.454655,-0.051259],[-0.457409,0.885978,-0.076288],[0.010730,0.091281,0.995767]]y6HAt?@?>2Fݿ`Y?@?-^?S?ɫ6@6[;6@CRBR#I\EMb@Mb@Mb@A A)AIAiAE rh?Q? rhEC ?E\=EC)Eh AIE@iEAA AEAI]I]٥mm; mG=9mpQ m>qq uF٦uEy} }> 4Yx?4y<ۄB ?: Ѿ?<D::$94zB)AoDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.jooOoO ProNav: ac range: 58.321533 m, nav range: 57.613041 m, bearing: 334.650130 deg, approach rate: -0.554397 m/s, LOS rate: -0.018831 deg/s, cmd heading: 331.802257 deg, new cmd heading: 331.779719 deg. zoNHeadingCmd: 5.790648 target range: 58.321533 and range: 58.60 m.RoL@JoboZoBojo:n2n m m zBl kJJmJ2JJJ&9Jc3Jkkk@z?ɞBx  `A bď,%8?A6˲@Y6ƹ@69;96A=>AHRS rotation from veh to nav: [[0.888016,0.457133,-0.049576],[-0.459671,0.885250,-0.070960],[0.011449,0.085802,0.996246]]y6Hj?A? b?kݿS?g*r?@? @?ɫ6˲@6F;4JsBJIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010756IVIV%٥b3 bU=9bQ b>dd fF٦fEyj8ڻ j> lr4Ynֈ?r4yn0?nڄBprmҾr?nIDny:n:n?4x)zAxH%>H!H%II%BI% =I!I!&I%<*I%EaB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.joooE ProNav: ac range: 58.321533 m, nav range: 57.404305 m, bearing: 334.643576 deg, approach rate: -0.518477 m/s, LOS rate: -0.016341 deg/s, cmd heading: 331.779717 deg, new cmd heading: 331.759982 deg. zoEn3MHeadingCmd: 5.790304 target range: 58.321533 and range: 58.60 m.RoM,J@JoIboIZoIBoIjoi:nq2nqmqmqlykykykyk}@6?ɞB  I  kɝiIZI%Zi%h=i%EP=)%,J@jKMġNrKM9zKIKM$KMLF:/}L0"     )aQF%1"F)*F)2F-`0:F)qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.265959GgW=G 2B :B  O >ԙ Iď,LQ?AiZ(>IX)%HG 5vA-C@Y-&@)I-G)M9-J=ԁIvAHBe@eBmAHRS rotation from veh to nav: [[0.886951,0.459065,-0.050763],[-0.461694,0.884233,-0.070500],[0.012522,0.085967,0.996219]]y-H a? Ta?` dݿK?`M ??`?ɫ-C@-u;-AC}RBIIIJ٥ .=9Q > F٦Ey > 4Y?4yA؄B Ӿ ?YD;; H4{B)AǥEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.517597ԩo1]DNOT Ignoring new targets: 58.32 m.oYePowering the camera and arming the capture device at range: 58.60 m.joaomom} ProNav: ac range: 58.321533 m, nav range: 57.148464 m, bearing: 334.636062 deg, approach rate: -0.494794 m/s, LOS rate: -0.014595 deg/s, cmd heading: 331.759992 deg, new cmd heading: 331.737352 deg. zo}D HeadingCmd: 5.789909 target range: 58.321533 and range: 58.60 m.RoF@JoboZoBojo:n2nmmlkkkk]?ɞ-B-' )-VI) -lɝ1i1I5'YI]ie=ie#^J=)eF@)aF/"F*F2F_0:FJnJnJJJ|;:J99JJ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766600G5 QO=G= rAG= pAG 2B) :BA  OM >ď,m?A6@Y6@6I968'=>AHRS rotation from veh to nav: [[0.886211,0.460505,-0.050652],[-0.463119,0.883491,-0.070459],[0.012304,0.085900,0.996228]]y6H [?x?@奔 ݿ`E?@ 2?@? ?ɫ6@6Ѱ;6CCFrBFIpEMb@Mb@Mb@A A)AIAiAEFx?~jtx?{GzE ?E;Eף)E AIE`@iEhAE;A AEQAI}I}۳٥= ?=9f:Q > F٦Ey^s > 4Y^?4yDՄB ?]:]W]?iD<<O4)AoDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.jo o 69o 69 ProNav: ac range: 58.321533 m, nav range: 56.912220 m, bearing: 334.641956 deg, approach rate: -0.602953 m/s, LOS rate: 0.015104 deg/s, cmd heading: 331.737343 deg, new cmd heading: 331.755097 deg. zo%:%HeadingCmd: 5.790219 target range: 58.321533 and range: 58.60 m.Ro=yI@JoAboAZoABoAjoA:nA2nImImMSBlQkQkQkQkU`H@ɞMBMz IM\II UumɝQiQIU$+XI]fi]=i]D=)]yI@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018720)EZH<RHp;H%>H!H%xII%BI% =I!I!&I%<*I%EEqA9F-"F*F2F:FG= G=jKNrKzKK%K     UN" a G 3J=G 2B :B  O- >8Dď,?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2708130>Ԣ@Y>@>eI9>ٸ=ZAHRS rotation from veh to nav: [[0.885686,0.461418,-0.051509],[-0.464122,0.882844,-0.071955],[0.012273,0.087636,0.996077]]y>H@W?@?g_@.ݿ`A@?k@"?Ko??ɫ>Ԣ@>g;>ACr]Br IIIT߳٥ P L=9$8Q > F٦Ey9 > 4Yʾ?4yJGӄB?wD;!;V4|B)qAȥEoAMDNOT Ignoring new targets: 58.32 m.oIMPowering the camera and arming the capture device at range: 58.60 m.joIo}R9o}R9 ProNav: ac range: 58.321533 m, nav range: 56.693882 m, bearing: 334.647683 deg, approach rate: -0.574117 m/s, LOS rate: 0.015116 deg/s, cmd heading: 331.755101 deg, new cmd heading: 331.772348 deg. zo%:HeadingCmd: 5.790520 target range: 58.321533 and range: 58.60 m.RoK@JoboZoBojo:n2nmmlkkkk`@ɞMBԉMM 靝i@=i?=)K@)Fe,"Fa*Fa2Fep0:Fauchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525384G SE= G 2B :B  O >`ď,#?AJboJbdJ`J`Jb>:Jb|9J`J`t]^@Y]A@]N9]=uAHRS rotation from veh to nav: [[0.884464,0.463731,-0.051743],[-0.466439,0.881679,-0.071250],[0.012580,0.087153,0.996116]]y]HM? ŭ?~$ݿ6?@k=vÉ?O?-?ɫ]^@]ˉ;YXBIIp=)=uMb@Mb@Mb@q q)qIqiquV-?~jt~jtu ?uDu)ud AIuv@iuQAq quAII<٥0 <=98Q > F٦EySǻ > 4YaА?4yQJЄB ?:?D::^4xB)cAoDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.joo  :o  : ProNav: ac range: 58.321533 m, nav range: 56.455933 m, bearing: 334.662537 deg, approach rate: -0.561281 m/s, LOS rate: 0.035185 deg/s, cmd heading: 331.772341 deg, new cmd heading: 331.817090 deg. zo-:%HeadingCmd: 5.791301 target range: 58.321533 and range: 58.60 m.Ro%VR@Jo!bo!Zo)Bo)jo):n)2n1m1m5%Bl9k9k9k9k=,@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775798ɞmB}ԝ 靅dI oɝiI+iUIQi==iў3=)VR@) F,"F*F2F0:F1G==G ?G ?G 2B :B  O >a % BDAT read: Rx Time:04:04:57.8541 - TRx dataTimestamp_ set to:1761365098.914261- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028263Ha Ha He lIIe BIa Ia Ia &Ie <*Ie oEď,?A%Ɓ@Y%|@%yS9%=5AHRS rotation from veh to nav: [[0.883799,0.464907,-0.052538],[-0.467689,0.880973,-0.071794],[0.012907,0.088023,0.996035]]9y%HH?@ ?@B檿ݿ0?@an??@?ɫ%Ɓ@%0;%@CQQImIm٥} }_=9iQ > F٦Ey| > 4YTߐ?4yL̈́B[?D;;d4)eAB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 58.32 m.oPowering the camera and arming the capture device at range: 58.60 m.joop":op": ProNav: ac range: 58.321533 m, nav range: 56.253609 m, bearing: 334.675552 deg, approach rate: -0.549931 m/s, LOS rate: 0.035503 deg/s, cmd heading: 331.817092 deg, new cmd heading: 331.856278 deg. zo : HeadingCmd: 5.791985 target range: 58.321533 and range: 58.60 m.Ro W@Jo boZoBojo:n2nmmlk!k!k!k% @jK5&MrK5 9zK1K5&K5 ,e{wqdZNEB?AGGA;664.+)&&#!"4krZG93-&!A6sɞeBeu3 imIi m,oɝiiiImbTI~is=i"C-=)W@)E?E@iF+"F*F2FA5:FGrAFrAG31=GY2Bqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278790:B O\>ԙ 6rď,?A @l~@YOy@t?I9=ԙAHRS rotation from veh to nav: [[0.883615,0.465291,-0.052243],[-0.468054,0.880722,-0.072488],[0.012283,0.088504,0.996000]]yHF?T?ݿ.?'?5?;?ɫl~@;髁5]B= I}DAT read: 04:04:57.8541 LVL= 17968, 25329, 17778, 30899, AGC= 64, IDX= 417, 0.05,-2.435, 2.413,-2.578,-2.878, PHS= 0.531,-0.945, 0.297, RAW= 141.5, 1.7, CAL= 145.6, -7.0, ROT= 4.4, 7.0 Ygot valid direction response: 04:04:57.8541 LVL= 17968, 25329, 17778, 30899, AGC= 64, IDX= 417, 0.05,-2.435, 2.413,-2.578,-2.878, PHS= 0.531,-0.945, 0.297, RAW= 141.5, 1.7, CAL= 145.6, -7.0, ROT= 4.4, 7.0 PDAT read: Bearing 4.4, 7.0 (Local) ~Local bearing/azimuth received: Bearing 4.4, 7.0 (Local) DAT read: Range 10 to 50 : 56.6 m (Round-trip 75.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.m^direction in FSK: [0.989621,0.076147,-0.121869]mFpublishing direction and range infoyd?tha~?UM7P2fbBY 0F)bIrEix?qb> @)I"@i5nF=5= )^H?;w?ǬgО?i K>nF=5= ) T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )IiK7? F٦Ey%6 %> )54Y-?u4y-UQ-ɄB} ?}:} }?-D-*<-u*<-n4B)AӥEJpRp\?ApRaBpRaBpC@v!'aK@a㩫e(@Euvd?tha~?UM7P2pnF=p5=vf#IpI@pw5Avj'Q?V,zؿ^Ę<jprpsNBZpZ?bp:y+zpEhBp⧡?p]޹peBpw_Bp4@ addTargetRange:: Added new target pos. range: 56.599998 m, deltaT: 3.785765 s, deltaX: -2.000000 m, approachRate: -0.528295 m/s, rangeRepo size: 4 % Added new target pos. range: 56.331047 m, bearing: 337.086101 deg, lat: 36.779466 deg, lon: -121.859725 deg, deltaT: 3.785765 s, deltaX: -1.990486 m, approachRate: -0.525782 m/s, posRepo size: 4 o)mDNOT Ignoring new targets: 56.33 m.oquPowering the camera and arming the capture device at range: 56.60 m.joqo}oy ProNav: ac range: 56.331047 m, nav range: 55.866985 m, bearing: 335.192576 deg, approach rate: 0.000000 m/s, LOS rate: 0.035503 deg/s, cmd heading: 331.856270 deg, new cmd heading: 331.920333 deg. zoHeadingCmd: 5.793103 target range: 56.331047 and range: 56.60 m.Roa@JoboZoBojo:n2nmm BlkkkLL@k`? *DAT read: user:330>  BDAT read: Tx time:04:04:59.2244  $Ping request sent.  F٦Ey 8 >  4Y? 4yCTDŽB ?D;l;u4)A!oDNOT Ignoring new targets: 56.33 m.oPowering the camera and arming the capture device at range: 56.60 m.joo:o: ProNav: ac range: 56.331047 m, nav range: 55.655155 m, bearing: 335.218199 deg, approach rate: -0.549415 m/s, LOS rate: 0.066708 deg/s, cmd heading: 331.920337 deg, new cmd heading: 331.997496 deg. zo7;-HeadingCmd: 5.794449 target range: 56.331047 and range: 56.60 m.Ro-!l@Jo)bo)Zo1Bo1jo1:n12n1m9m9l9k9k9kAkEc?ԉjKNrKzKK'K f4l]OA;50.,()'%#"%&%#$$%$$# ! dɞBK 靵䈽I &rɝiIxPI;iU=i9#=)!l@)J-tJ-jJ)J)J-;N:J-9J)J)J-j;!=J-j;!EJ-:!EJ-:!EF("F*F2F1:FG)=ԹGI2BY:Bi Ouy>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501553 $ď,?A>s@Y>n@>˞99>f=JAHRS rotation from veh to nav: [[0.883008,0.466420,-0.052429],[-0.469221,0.879922,-0.074620],[0.011329,0.090491,0.995833]]y>HA?@?ת ޿S(?N3?@k*??ɫ>s@>{v;>@C`faBfIIrIr ٥%< %S=9%+9Q ->)) -F٦-Ey53 5> 9M4Y=?M4y=%W=ĄBQU U?=D=D=;=l0;=9|4]B)]AaoDNOT Ignoring new targets: 56.33 m.oPowering the camera and arming the capture device at range: 56.60 m.joo>:o>: ProNav: ac range: 56.331047 m, nav range: 55.447273 m, bearing: 335.243759 deg, approach rate: -0.564034 m/s, LOS rate: 0.069611 deg/s, cmd heading: 331.997491 deg, new cmd heading: 332.074460 deg. zo?;HeadingCmd: 5.795793 target range: 56.331047 and range: 56.60 m.Ro"w@JoboZoBojo:n2nmmlkkkk?ɞB7D քI rɝiIaNI i =i =) "w@)EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755221F-$"F)*F)2F5D4:F1G #'=G 2B :B  O >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003988ď,e.?AI):@Y:@:w(9:)=FAHRS rotation from veh to nav: [[0.884615,0.463775,-0.048664],[-0.466208,0.881872,-0.070365],[0.010282,0.084934,0.996334]]y:HN?~?꨿Zݿ@L8?r?`8??ɫ:@:Y;8JpBJI}Mb@Mb@Mb@y y)yIyiy}Q?~jt F٦Eya< > 4Y%?4y.ZÄB  ? : <?D;h;4!)-UA)oDNOT Ignoring new targets: 56.33 m.oPowering the camera and arming the capture device at range: 56.60 m.jooh:oh:5 ProNav: ac range: 56.331047 m, nav range: 55.219437 m, bearing: 335.266568 deg, approach rate: -0.505629 m/s, LOS rate: 0.050827 deg/s, cmd heading: 332.074454 deg, new cmd heading: 332.143162 deg. zo5 ;=HeadingCmd: 5.796992 target range: 56.331047 and range: 56.60 m.Ro=@Jo9bo9Zo9Bo9jo9:nA2nAmAmE=BlIkikikqku@ ?ɞBO SI sɝiI GMI Si=i$=)@)IF\""F*F2F3:Fechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259863Hu>HqHueIIuBIu =IqIq&Iu<*IuEqG u=G ?G >jKE dNrKE H9zKA KE (KE iL( +p=` y ( 2 ~0L,p\L?5-&!G 2B :B ԡ  O >JE JE JA JA JE y:JE 9JA JA JE ;JE ;JE 7;JE 8;cď,CH?A>ќ@Y>@>(!9>R=FAHRS rotation from veh to nav: [[0.885369,0.462265,-0.049322],[-0.464785,0.882420,-0.072874],[0.009836,0.087444,0.996121]]y>HT??@@`ݿ`ќ@>;>`` fF٦fEyfڎ; f> hn4Yj3?n4yj\j„Bprr?jDjY;j;j4vB)vAvԥE B*** querying acoustic contact ***:p Bp o1qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508137DNOT Ignoring new targets: 56.33 m.oPowering the camera and arming the capture device at range: 56.60 m.joo:o: ProNav: ac range: 56.331047 m, nav range: 55.023365 m, bearing: 335.286005 deg, approach rate: -0.565491 m/s, LOS rate: 0.056260 deg/s, cmd heading: 332.143165 deg, new cmd heading: 332.201686 deg. zoq;HeadingCmd: 5.798013 target range: 56.331047 and range: 56.60 m.RoS@JoboZoBojo :n 2nmmlkkk!k%z?ɞB I HtɝiI-.KIE}hiE=iM %=)S@)ԩF  "F *F 2F _0:F M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759932GU "=G9 2B  :B1  O >!ď,b?A68@Y6@6%>96h=BAHRS rotation from veh to nav: [[0.886711,0.459797,-0.048272],[-0.462263,0.883451,-0.076340],[0.007545,0.090006,0.995913]]y6H_?Qm?$ݿ:E?`~? ? ?ɫ68@6oۊ;6?CJBJ,ImMb@Mb@Mb@i i)iIiiim(\?~jtMb`m?mm)m AImv@imAm$A imAIIƳ٥< >=9;Q > F٦Ey; > 4YD?4y_?:?Di ; ;4)AoDNOT Ignoring new targets: 56.33 m.oPowering the camera and arming the capture device at range: 56.60 m.jo o W:o W: ProNav: ac range: 56.331047 m, nav range: 54.795467 m, bearing: 335.306205 deg, approach rate: -0.529304 m/s, LOS rate: 0.047110 deg/s, cmd heading: 332.201687 deg, new cmd heading: 332.262538 deg. zo%S;%HeadingCmd: 5.799075 target range: 56.331047 and range: 56.60 m.Ro%@Jo)bo)Zo)Bo)jo):n)2n)m1m=UBl9k9k9k9kEk@ɞB- I KtɝiIIIGi =i >,=) @)EqAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012122F"F*F2F:F9GK'=G 2B :B  O >Y e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264578ZHu <RHu <H} >H} CH} lII} BI} =Iy I} D&I} Ϙ<*I} E?hď,m|?A F@F@]Be5IImIm<٥= H=9Q > F٦Ey > 4YT?4yb?D;;4B)AեEo!-DNOT Ignoring new targets: 56.33 m.o)-Powering the camera and arming the capture device at range: 56.60 m.jo)o5sY:o5sY:E ProNav: ac range: 56.331047 m, nav range: 54.575169 m, bearing: 335.325892 deg, approach rate: -0.529684 m/s, LOS rate: 0.047527 deg/s, cmd heading: 332.262530 deg, new cmd heading: 332.321830 deg. zoEx;MHeadingCmd: 5.800110 target range: 56.331047 and range: 56.60 m.RoM@JoIboIZoQBoQjoQ:nQ2nQmYmYlYkYkakake@@ɞX4{ 靝ƻI G`tɝiIHIUi=i'=)@)jKOrK 9zKK)K   ,9;>=G} {aN?50*"  Fu@"Fq*Fq2Fup0:FqJzJyJJJ`:J9JJJy;Jz;J:J:Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515982Gu+,=GyGyԁG1 2BQ :Bq  O >)} G vAԩ ) I +^ vA %VBFď,?A2O۲@Y22ֹ@2aj92-=>AHRS rotation from veh to nav: [[0.888926,0.455749,-0.045861],[-0.458037,0.885214,-0.081229],[0.003576,0.093212,0.995640]]y2H`r?`*?{`xPݿS?l˴@7Lm?ܷ?H?ɫ2O۲@2;;2=CNBNBIIVIV̍٥rJZ= rV=9r*tt vF٦vEyzM< z> |4Y~fc? 4y~+e~B   ?~D~;~8;~v4)SAoAEDNOT Ignoring new targets: 56.33 m.oAEPowering the camera and arming the capture device at range: 56.60 m.joIoMN:oMN: ProNav: ac range: 56.331047 m, nav range: 54.377831 m, bearing: 335.342660 deg, approach rate: -0.530211 m/s, LOS rate: 0.045216 deg/s, cmd heading: 332.321843 deg, new cmd heading: 332.372329 deg. zo?: HeadingCmd: 5.800992 target range: 56.331047 and range: 56.60 m.Ro @Jo)bo)Zo1Bo1jo1:n12n1m9m9l9k9k9kAkE &@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768065ɞBDe P8靵` amď,?ABPIMb@Mb@Mb@ )Ii{Gz?Mbp?Mbp??;;)z AI`@iA;A QAIIỳ٥L= :=9Q > F٦Ey > 4Y \t?4y g ÄB?:? D  ;  ; 4%B)%A%֥EoIUDNOT Ignoring new targets: 56.33 m.oQUPowering the camera and arming the capture device at range: 56.60 m.joQo]9o]9u ProNav: ac range: 56.331047 m, nav range: 54.152374 m, bearing: 335.351831 deg, approach rate: -0.515214 m/s, LOS rate: 0.021043 deg/s, cmd heading: 332.372332 deg, new cmd heading: 332.399957 deg. zoug:}HeadingCmd: 5.801474 target range: 56.331047 and range: 56.60 m.Ro}@JoyboyZoyBoyjo:n2nmmBlkkkk`P @ɞBI d=I sɝiI CIi=iE3=)@)E?E?F"F*F2F`5:FH>HCH~II B checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272474I =IID&I<*I7EG}·3=GQ2Ba:Bq O}z>Q jK} NrK} ػ9zKy K} *K} *11)"  !$#"!&3>?91.)"  BK ?:K ? J J AAJ {J zJ J J d:J 9J J J ,;J -;J Z:J [:mď,@/?Af@Yft@fi9f"=nAHRS rotation from veh to nav: [[0.890451,0.452963,-0.043832],[-0.455079,0.886367,-0.085185],[0.000266,0.095800,0.995400]]yfH~?Y?4q ݿ@]?ε`2m1?`_? R?ɫf@f琢;f F٦ĨEyS< > !DAT read: 04:05:01.7013 LVL= 17008, 25569, 16434, 29747, AGC= 61, IDX= 404, 0.44,-2.485, 2.434,-2.476,-2.854, PHS= 0.457,-0.948, 0.375, RAW= 147.0, 1.7, CAL= 150.2, -7.2, ROT= 359.8, 7.2 Ygot valid direction response: 04:05:01.7013 LVL= 17008, 25569, 16434, 29747, AGC= 61, IDX= 404, 0.44,-2.485, 2.434,-2.476,-2.854, PHS= 0.457,-0.948, 0.375, RAW= 147.0, 1.7, CAL= 150.2, -7.2, ROT= 359.8, 7.2 PDAT read: Bearing 359.8, 7.2 (Local) ~Local bearing/azimuth received: Bearing 359.8, 7.2 (Local) DAT read: Range 10 to 50 : 54.5 m (Round-trip 72.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.992109,-0.003463,-0.125333]Fpublishing direction and range info1y5&Z?C^lcK 5ZBY1 5pB)5cI52@i53t5=5>5!r5> 5Y3$@)1I5g'@i55B@5> 1)157~?6?g Ի?i5Gs>55d5>4Y%?4y%)j%ĄBR?%"D%=%=%í41)5A1Jp1Rp5ٰ?Ap5XBp5XBp5!8@ 1)1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.v5*RJ@2. ȿ.p0v5&Z?C^lcK p5dp5>v5վ~OH@̒-8Dv56w)e?N hܿPjp5rp5@BZp580Z?bp5pdzp5dBp1p1p1p5WBp5L@) addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.779693 s, deltaX: -2.099998 m, approachRate: -0.555600 m/s, rangeRepo size: 4   Added new target pos. range: 54.237312 m, bearing: 333.424281 deg, lat: 36.779466 deg, lon: -121.859725 deg, deltaT: 3.779693 s, deltaX: -2.093735 m, approachRate: -0.553943 m/s, posRepo size: 4 o DNOT Ignoring new targets: 54.24 m.oamPowering the camera and arming the capture device at range: 54.50 m.joioo ProNav: ac range: 54.237312 m, nav range: 53.956604 m, bearing: 335.359168 deg, approach rate: 0.000000 m/s, LOS rate: 0.021043 deg/s, cmd heading: 332.399953 deg, new cmd heading: 332.427943 deg. zoHeadingCmd: 5.801962 target range: 54.237312 and range: 54.50 m.Ro@JoboZoBojo:n2nmmlkkk@K@k׿?ɞB{H |)=I sɝiI@Ibi=iH>=)@)IF"F*F2F0:F*DAT read: user:331> BDAT read: Tx time:04:05:02.9245 $Ping request sent.ď,Y?Az@Yz@z_:9z=EAHRS rotation from veh to nav: [[0.890752,0.452423,-0.043295],[-0.454489,0.886521,-0.086724],[-0.000854,0.096927,0.995291]]yzH@ ??*`Yݿ@`^?3wK5и?l?ɫz@zo;z=C]B]aIMb@Mb@Mb@ )IiRQ?~jt?~jth??<D;) AIihAA zAI-I-ԳQ٥mJ.= m(=9m;Q u> F٦ǨEy: > 4YF?4ylńB?:޾JDAT read: TxSync time:04:05:02.9237 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251691?2DI<+<Y4-B)MAQB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 54.24 m.oPowering the camera and arming the capture device at range: 54.50 m.jood8od8 ProNav: ac range: 54.237312 m, nav range: 53.705853 m, bearing: 335.360570 deg, approach rate: -0.554641 m/s, LOS rate: 0.003115 deg/s, cmd heading: 332.427930 deg, new cmd heading: 332.432154 deg. zo9HeadingCmd: 5.802036 target range: 54.237312 and range: 54.50 m.RoG@JoboZo)Bo)jo):n)2n)m1m5Bl1k1k9k9k= }L?ɞB;, 靍I9Yi =i>=)G@)ԁԱ E +E Fe "Fa *Fa 2Fe o0:Fa Gq Fq JH BH ?AH >H H II BI =I I &I ՘<*I E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502938 GM_>=G)2B1:BI OU?ď,ĕ?AjKMrK]9zKK+K@A&QvcM:-)6ShvytqifaYUQNNJEA>>=;<836N|5B 4V ~ BB+@YB@BzWx:9B =JAHRS rotation from veh to nav: [[0.890983,0.451758,-0.045423],[-0.454035,0.886303,-0.091212],[-0.000947,0.101892,0.994795]]yBH?? Aݿ\?@Y O ?@\?ɫB+@Bȁ;B?CRBRoIIZIZ4٥biD= b6=9f]Y9Q f>hh jF٦jʨEyj: n> lr4Yn?r4yntonƄBtv޾v?nADn;n;n4x)~GA|o%DNOT Ignoring new targets: 54.24 m.o!%Powering the camera and arming the capture device at range: 54.50 m.jo!o-L8o-L8= ProNav: ac range: 54.237312 m, nav range: 53.479347 m, bearing: 335.361735 deg, approach rate: -0.539536 m/s, LOS rate: 0.002788 deg/s, cmd heading: 332.432164 deg, new cmd heading: 332.435675 deg. zo=8EHeadingCmd: 5.802097 target range: 54.237312 and range: 54.50 m.RoEȪ@JoAboZoBojo:n2nmml kkkkE@O?ɞB%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809p) )-r=I) -Fqɝ1i1I5;I5#Qi=T =i=3m@=)uȪ@)E]q9F"F*F2F@5:F9 GQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009026GI 2Bq :B  O >ď,Y ?A5B1-monly read 0 of 1 data item for BIT error. Device response is::TS,25102420062799,35.0, +11.8, 0.0,1496 mm@m qm@m um@u iu@u IuIuF٥[: 2=9Q > F٦ͨEy > 4Y?4y rDŽB+::?PD;>ħ4B)AEoDNOT Ignoring new targets: 54.24 m.oPowering the camera and arming the capture device at range: 54.50 m.jooA8oA8  ProNav: ac range: 54.237312 m, nav range: 53.244690 m, bearing: 335.362953 deg, approach rate: -0.508174 m/s, LOS rate: 0.002649 deg/s, cmd heading: 332.435689 deg, new cmd heading: 332.439358 deg. zo 8HeadingCmd: 5.802161 target range: 54.237312 and range: 54.50 m.RoN@JoboZoBojo:n2nm!m!l!k!k)k)k- ?IJ J J J J y:J 9J J !@!@!@!@ɞBea aeV=Ia moɝiiiIm9IuHiuh. =iul @=)uN@)y EEEE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258702yԡ F "F *F 2F 0:F G = G p= H >H CH II 0BI I I D&I Ә<*I E2IUC:IUCBIU͔CJIUͦ =RIUͥ =ZIU͎6 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511561Gg@=G2B:B O>/ď,S??A6@Y6@6Z996.=NAHRS rotation from veh to nav: [[0.890021,0.453774,-0.044186],[-0.455920,0.885728,-0.087305],[-0.000480,0.097849,0.995201]]y6H {? ?@-ݿW? Y Kp? ? ?ɫ6@6fʉ;6:CVBVwIiXIXIbIb;٥re< r;=9vYQ v>xx zF٦zШEyz䞻 ~> |4Y~ʑ?4y~t~ȄB ::߾?~^D~j;~f?~ɧ4))-[A)oQUDNOT Ignoring new targets: 54.24 m.oQ]Powering the camera and arming the capture device at range: 54.50 m.joYoe8oe8u ProNav: ac range: 54.237312 m, nav range: 53.021927 m, bearing: 335.364619 deg, approach rate: -0.509501 m/s, LOS rate: 0.003827 deg/s, cmd heading: 332.439350 deg, new cmd heading: 332.444369 deg. zou(9}HeadingCmd: 5.802249 target range: 54.237312 and range: 54.50 m.Ro}@JoyboyZoyBoyjoy:n2nmmlkkkk?ɞB $=I nɝiIԶ7IG=i9; =i7=)@)FO"F*F2F]0:FjKOrKh9zKK,KU1`s_N{7sf8<d35_ykV?9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762649aGG2B:B O>ԑ ď,dY?A6@Y6u@6 996wf=FAHRS rotation from veh to nav: [[0.889951,0.453920,-0.044091],[-0.456057,0.885724,-0.086636],[-0.000273,0.097210,0.995264]]y6Hyz? ?(@0ݿ`W?- 1 ?3?ɫ6@6u;6`d fF٦fҨEyf˹ f> hv4Yjّ?v4yjvjɄBv9tz]:z߾z?jkDjMq;j?jLͧ4 B) SA Eo)5DNOT Ignoring new targets: 54.24 m.o15Powering the camera and arming the capture device at range: 54.50 m.jo1o=8o=8M ProNav: ac range: 54.237312 m, nav range: 52.819645 m, bearing: 335.366176 deg, approach rate: -0.509339 m/s, LOS rate: 0.003937 deg/s, cmd heading: 332.444377 deg, new cmd heading: 332.449067 deg. zoM,9UHeadingCmd: 5.802331 target range: 54.237312 and range: 54.50 m.RoU@JoQboYZoYBoYjoY:nY2namamalakikikikm@E@yɞB . 靭$=I gmɝiIR 6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825IU2iUXG =iU8=)]@)YԩF "F*F2F_0:FJ~J~JJJ{m:Jf9JJ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267331G ==G 2B  :B  O >8ď,cCs?A:@Y:@:9:=BAHRS rotation from veh to nav: [[0.889804,0.454180,-0.044374],[-0.456343,0.885712,-0.085244],[0.000587,0.096100,0.995372]]y:H Fy?J?74ݿW?@ҵ:C??`?ɫ:@:F;:;CJBJpImm qq uu ii Mb@Mb@Mb@ )Iix&1?I +?MbP?A?94=:)~ AI~@iA$A IId٥p <=9Q > F٦ըEyA > 4Y둊?4yxʄBT:?:ƾ?yD;%;ԧ4)AB*** querying acoustic contact ***:pBpo!%DNOT Ignoring new targets: 54.24 m.o!-Powering the camera and arming the capture device at range: 54.50 m.jo)o-عo5عE ProNav: ac range: 54.237312 m, nav range: 52.600922 m, bearing: 335.355909 deg, approach rate: -0.502350 m/s, LOS rate: -0.023680 deg/s, cmd heading: 332.449076 deg, new cmd heading: 332.418145 deg. zoEMHeadingCmd: 5.801791 target range: 54.237312 and range: 54.50 m.RoMF@JoIboIZoIBoIjoQ:nQ2nQmYmeBlakikikikmHt@ɞB, 靥n=I OlɝiI4IKyiU =i-A9=)-F@)1ZHRH4=H>HCHII?BI =IID&I<*IcEFs"F*F2F:F-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518643)G Q9=G ?G "?G 2B :B  O >jKe VOrKe 9zKa Ke -Ke *&Z}zywqz= /6uw3W2'rN1Y (#ď,??A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770501Ba@YBD@Bd9Bl=NAHRS rotation from veh to nav: [[0.889939,0.453954,-0.043991],[-0.456077,0.886158,-0.081966],[0.001774,0.093008,0.995664]]yBH`z? ?`\0ݿg[?k]?XϷ?`z?ɫBa@BI;Bpp rF٦rרEyrN: r> tz4Yv?~4yvzv˄B|~ž~?vDv:vK:vۧ4B)IA Eo15DNOT Ignoring new targets: 54.24 m.o1=Powering the camera and arming the capture device at range: 54.50 m.jo9oMݹoUݹu ProNav: ac range: 54.237312 m, nav range: 52.410873 m, bearing: 335.346849 deg, approach rate: -0.506934 m/s, LOS rate: -0.024254 deg/s, cmd heading: 332.418149 deg, new cmd heading: 332.390871 deg. zou)}HeadingCmd: 5.801315 target range: 54.237312 and range: 54.50 m.Ro}`@JoyboyZoyBoyjoy:ny2nmmlkkkk8@!ɞBM{ 靵=I kɝiI>2Iiwc =i;=)`@)QF "F*F2F`0:FGFG G%BDAT read: Rx Time:04:05:05.3988 -TRx dataTimestamp_ set to:1761365106.473823-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023764yG 2B :B  O5 >ԩ =I)ď,?A6@Y6@6(P96˻=BAHRS rotation from veh to nav: [[0.889847,0.454074,-0.044603],[-0.456248,0.886246,-0.080034],[0.003188,0.091568,0.995794]]y6Hy??@/֦@*3ݿ !\?} Bj?p??ɫ6@6;69CJ BJ|IJ#J+c3J+JetJeoJaJaJe;N:JeK9JaJaMb@Mb@Mb@ )IiMbX9?~jt?Mb`?D=)Ih@iA?A AII٥! <=9UQ > F٦ڨEy > 4Y+ ?4y|̄B_?:C¾?Dz ; ;4)ZAo1=DNOT Ignoring new targets: 54.24 m.o9=Powering the camera and arming the capture device at range: 54.50 m.joAoE$oE$ԑ ProNav: ac range: 54.237312 m, nav range: 52.190578 m, bearing: 335.334537 deg, approach rate: -0.506834 m/s, LOS rate: -0.028445 deg/s, cmd heading: 332.390883 deg, new cmd heading: 332.353792 deg. zo,HeadingCmd: 5.800668 target range: 54.237312 and range: 54.50 m.Ro@JoboZoBojo:n2nmm Blkkkk @ɞEBE AEX=IA MhiɝIiIIM01IU iUr =i]Q==)]@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274785F "F*F 2F p0:F G2B:B OI>H >H H II IBI =I I &I ͘<*I E} DAT read: 04:05:05.3988 LVL= 17840, 29121, 18722, 28643, AGC= 61, IDX= 410, 0.16,-0.198,-1.566,-0.280,-0.575, PHS= 0.464,-0.945, 0.292, RAW= 143.5, 2.9, CAL= 147.0, -5.7, ROT= 3.0, 5.7  Ygot valid direction response: 04:05:05.3988 LVL= 17840, 29121, 18722, 28643, AGC= 61, IDX= 410, 0.16,-0.198,-1.566,-0.280,-0.575, PHS= 0.464,-0.945, 0.292, RAW= 143.5, 2.9, CAL= 147.0, -5.7, ROT= 3.0, 5.7  PDAT read: Bearing 3.0, 5.7 (Local)  ~Local bearing/azimuth received: Bearing 3.0, 5.7 (Local)  DAT read: Range 10 to 50 : 52.6 m (Round-trip 70.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.993692,0.052077,-0.099320] Fpublishing direction and range infoA yE DFcR?igܩ?hܸmE fRBYA E E)E qIE "IiE oA E h>E qE > E J @)E 4QO=IE Y3$@iE %˽E PwV=E %= A )A E  %J?X"Ӑ?"5L?iE >E phME PwV=E %= A )A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. B0ď,?A6`@Y6C@696E+=>AHRS rotation from veh to nav: [[0.890264,0.453128,-0.045873],[-0.455421,0.886711,-0.079592],[0.004611,0.091749,0.995772]]y6H }?@?|%ݿ@_?`r?`|?@\?ɫ6`@6ӆ;6 F٦ݨEyx ; > 4Y?4y/̈́B?D::4 B) HA-EJpIRpM?ApMbQBpMbQBpM@vM1;J@Vΐ@d}vMDFcR?igܩ?hܸmpMPwV=pM%=vMJG@s+4%>vMZOլ5?'ҩvٿ0;a춿jpMݦrpM ?BZpMVLס?bpMΣzpM\mBpM)C(?pMg$pM)hBpMOBpMu@ addTargetRange:: Added new target pos. range: 52.599998 m, deltaT: 3.778618 s, deltaX: -1.900002 m, approachRate: -0.502830 m/s, rangeRepo size: 4  Added new target pos. range: 52.346275 m, bearing: 336.417270 deg, lat: 36.779467 deg, lon: -121.859721 deg, deltaT: 3.778618 s, deltaX: -1.891037 m, approachRate: -0.500457 m/s, posRepo size: 4 oDNOT Ignoring new targets: 52.35 m.oPowering the camera and arming the capture device at range: 52.60 m.lFinal approach. Armed for intercept at range: 52.60 m.\Transitioning guidance mode to: FINAL_APPROACHro@jK yOrK h9zK K .K O!lyrXF61jcm`XSHA<:7345Eu~tj_W`uoeoau ProNav: ac range: 52.346275 m, nav range: 51.900452 m, bearing: 335.645045 deg, approach rate: 0.000000 m/s, LOS rate: -0.028445 deg/s, cmd heading: 332.353781 deg, new cmd heading: 332.314668 deg. zoy}HeadingCmd: 5.799985 target range: 52.346275 and range: 52.60 m.Ro}z@JoyboZoBo:n2nmmlkkkLJ@k?ɞBh !%=I! %pNhɝ!i!I-0I- fi5 =i5F,C=)5z@)1Ea*DAT read: user:332> BDAT read: Tx time:04:05:06.6745 $Ping request sent.iI 1 ) G `wA) I ^ `wA #WB]\6ď,ڭ?A6@Y6@6Ļ96y;=BAHRS rotation from veh to nav: [[0.890796,0.452078,-0.045919],[-0.454365,0.887492,-0.076880],[0.005997,0.089348,0.995982]]y6He?`?OݿVf?bVx?`߶??ɫ6@6f;6:CN BR}I TVAIZtIZ%x٥Z c=9M|Q > F٦ߨEyAW; > 4Y.+?4y΄B-?DW::4)bAJDAT read: TxSync time:04:05:06.6737 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247928oIMDNOT Ignoring new targets: 52.35 m.oIo}Jo}J ProNav: ac range: 52.346275 m, nav range: 51.717411 m, bearing: 335.635348 deg, approach rate: -0.518629 m/s, LOS rate: -0.027571 deg/s, cmd heading: 332.314658 deg, new cmd heading: 332.285466 deg. zo`HeadingCmd: 5.799475 target range: 52.346275 and range: 52.60 m.RoM@JoboZoBo:n2nmml!k!IkQkQkU?ɞB &=I @gɝiI0IӨiI =ibH=)M@)ԁFy"Fy*Fy2F0:FJyJkJJJ]:J9JJGQ2BY:Bi Ou> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499213Ա <ď,?AI<)<6n@Y6Q@6A96ޚ=<FAHRS rotation from veh to nav: [[0.891189,0.451715,-0.041657],[-0.453556,0.888958,-0.063568],[0.008316,0.075545,0.997108]]y6H?? T@ݿWr? F`&?V?N?ɫ6n@6 ;6 F٦Eyp ; > 4Y;?4yτB ? : \ž ?D::R4B)A5B*** querying acoustic contact ***:p1Bp1oIUDNOT Ignoring new targets: 52.35 m.oQo]ҹo]ҹm ProNav: ac range: 52.346275 m, nav range: 51.508308 m, bearing: 335.626092 deg, approach rate: -0.517747 m/s, LOS rate: -0.023012 deg/s, cmd heading: 332.285452 deg, new cmd heading: 332.257570 deg. zom|uHeadingCmd: 5.798988 target range: 52.346275 and range: 52.60 m.RouP@JoqboqZoqBoq:ny2nymym}Blkkkk ?ɞBg 靽@=I ^fɝiI0Iuiu =iunM=)uP@)yԩJHQBHU@AH]>H]CH]II]NBI] =IYI]D&I]<*I]_EF "F*F2F45:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752445G K@=G 2B :B  O >jK EZOrK 9zK K /K zj[NH=30.**'$! !  &)(&%%# 3Tu&<~sg[HmCď,a?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003985Z@YZ@Z9Zج=jAHRS rotation from veh to nav: [[0.892306,0.449247,-0.044342],[-0.451339,0.889790,-0.067583],[0.009093,0.080318,0.996728]]yZH ƍ?w?@ܿ(y?@M@??1?ɫZ@ZR;Z:ClzBziII0IV٥m Y=9Q >!! %F٦%Ey%v; %> )54Y-uJ?54y--ЄBľ?-D-x<-<-4)AoQ]DNOT Ignoring new targets: 52.35 m.oYoe̹oe̹ ProNav: ac range: 52.346275 m, nav range: 51.317379 m, bearing: 335.617042 deg, approach rate: -0.470772 m/s, LOS rate: -0.022396 deg/s, cmd heading: 332.257557 deg, new cmd heading: 332.230308 deg. zouHeadingCmd: 5.798513 target range: 52.346275 and range: 52.60 m.Rok@JoboZoBo:n2nmmlkkkk`#{?ɞuB}. y靅L=I qeɝiI%.0I&i =i=X=)k@)ErAEpA!F"F*F2FJ3:F9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254905G dO=G ?G 5?i G 2B :B  O >Iď,@(?A97@Y2@#9T=AHRS rotation from veh to nav: [[0.894009,0.445481,-0.047905],[-0.447937,0.891050,-0.073363],[0.010004,0.087046,0.996154]]yH??ܿ {?Dz|?H?`~?ɫ7@cV;99 =F٦=Ey=< E> AM4YE\?U4yEFEфBU?U:UƾU?EDET ;E ;E,4eB)e|AeEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507141oDNOT Ignoring new targets: 52.35 m.oo˹o˹5 ProNav: ac range: 52.346275 m, nav range: 51.079967 m, bearing: 335.607179 deg, approach rate: -0.532889 m/s, LOS rate: -0.022243 deg/s, cmd heading: 332.230319 deg, new cmd heading: 332.200590 deg. zo5=t=HeadingCmd: 5.797994 target range: 52.346275 and range: 52.60 m.Ro=+@Jo9bo9Zo9Bo9:n92nAmAmMBlIkIkIkQkU?iɞB2 ԡ=I քdɝiI`{0Ikig =irf=)+@)F "F*F2F_0:FԑHM >HM CHI II IM =II IM D&IM <*IM sE G mY=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758911G 2B :B  O >%Pď,zB?A6e@Y6`@6f!969=BAHRS rotation from veh to nav: [[0.896511,0.440228,-0.049661],[-0.442911,0.893133,-0.078375],[0.009851,0.092260,0.995686]]y6H8?,?+m`Xܿ`?@e,?@T?`?ɫ6e@6%;6;C^ B^{IIfSIfQ٥=') =p=9E9Q E?AA EF٦MEyMN< M? Q]4YUVj?e4yUU҄Bimľm?UDUs;UQt;U 4y)}AyԙoDNOT Ignoring new targets: 52.35 m.oo޹o޹ ProNav: ac range: 52.346275 m, nav range: 50.909309 m, bearing: 335.598952 deg, approach rate: -0.501661 m/s, LOS rate: -0.024264 deg/s, cmd heading: 332.200594 deg, new cmd heading: 332.175831 deg. zo7HeadingCmd: 5.797562 target range: 52.346275 and range: 52.60 m.Ro@JoboZoBo:n2nmmlkkkk@ɞB6 =I! %cɝ!i!I%0I-i-!=i-Xk|=)-@)1F "F*F2F:FGmJc= J@AJ@AJuJqJJJ[Q:Jq9JJJo;!Jo;!J:!J:!jKͺNrKzKK0K2% !.&  Nn\UF73>~+=BK>:K>GA2BI:Ba Om5>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013551 BVď,[?A6߄@Y6@6$#96 =>AHRS rotation from veh to nav: [[0.898177,0.436623,-0.051375],[-0.439521,0.894449,-0.082354],[0.009995,0.096549,0.995278]]y6Hݽ??M!ܿS? ( Nx?@q?`Q?ɫ6߄@6ꛌ;611 =F٦=Ey=< E> Q]4YU9z?]4yUUӄBae!¾e?UDU;UJ;U,4mB)mAmEoDNOT Ignoring new targets: 52.35 m.ooo ProNav: ac range: 52.346275 m, nav range: 50.706631 m, bearing: 335.588244 deg, approach rate: -0.504659 m/s, LOS rate: -0.026768 deg/s, cmd heading: 332.175841 deg, new cmd heading: 332.143589 deg. zoHeadingCmd: 5.796999 target range: 52.346275 and range: 52.60 m.Ro@JoboZoBo:n2nmmlkchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263085kkk 1,@ɞBpT% `]=I  cɝiI%0I%Ui%I!=i-ౄ=)-@))FM "FI*FQ2FU`0:FQ)QGQf=GsAGrAGi 2By  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515006:B  O >ԁ \ď,u?AB mIMb@Mb@Mb@ )Iip= ף?y&1?Mb?`<)~ AI@i AIeI]٥x~ ?=9Q > F٦Ey > 4Yu? 4y4 T? : ̾ ?D::4)AEB*** querying acoustic contact ***:pABpAoIQ]DNOT Ignoring new targets: 52.35 m.oYoeoeu ProNav: ac range: 52.346275 m, nav range: 50.484646 m, bearing: 335.581692 deg, approach rate: -0.518706 m/s, LOS rate: -0.015376 deg/s, cmd heading: 332.143603 deg, new cmd heading: 332.123861 deg. zou(}HeadingCmd: 5.796655 target range: 52.346275 and range: 52.60 m.Ro}2~@JoyboyZoyBoy:ny2nmmBlkkkk@@ɞB41 3=I mbɝiI0Ii܁!=ibY=)2~@)ZH<RH<H>HCHII =IID&Iw<*I:E2IC:ICBIÕCJIå =RIæ =ZIѨ6F "F*F2F0:FGsAFsAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767243Get0=ԑG!2B):BA OMS>PExceeded connect timeout, disconnecting.ԩJ xJ mJ J J Z:J &9J J J ;J ;J ƾ:J Ǿ:jK 4NrK 9zK K 1K wi\JGEDHZv{tojggnzyuqljgd_\YWSNNLKJKI -cď,~?A&BDAT read: Rx Time:04:05:09.1462 &TRx dataTimestamp_ set to:1761365110.253923*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020140:@Y:h@:(;9:=JAHRS rotation from veh to nav: [[0.899694,0.433142,-0.054211],[-0.436371,0.895680,-0.085663],[0.011451,0.100726,0.994848]]y:H`K?`?{~ۿ i?`s?@.ɹ? ?ɫ:@:y0;:8CnBpI~XI~㔴٥u$; uR=9}uQ }> F٦Ey< > 4Ys?4yK˾? Dl0;';"4%B)-A-EoDNOT Ignoring new targets: 52.35 m.ooxoxԱ ProNav: ac range: 52.346275 m, nav range: 50.278996 m, bearing: 335.574741 deg, approach rate: -0.500597 m/s, LOS rate: -0.016990 deg/s, cmd heading: 332.123850 deg, new cmd heading: 332.102911 deg. zo:HeadingCmd: 5.796289 target range: 52.346275 and range: 52.60 m.Ro4{@JoboZoBo:n2nmml k k k!k%{ @ɞB4 靵8&=I aɝiI0IiJi!=i=)4{@)F "F*F2F0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270840 G ܄=G- ?G- ?G 2B :B  O >9 iď, ?A:_@Y:B@:Q9:=BAHRS rotation from veh to nav: [[0.899938,0.432397,-0.056085],[-0.435830,0.895857,-0.086560],[0.012816,0.102343,0.994667]]y:HI?c?5`ۿ۪?@(@B?? 3? O?ɫ:_@:;::CJBJ`IMb@Mb@Mb@ )IiNbX9?y&1?:v?T) AI~@iAA GA)1 5DAI=VI=٥mG u==9uLQ u>yy }F٦}Ey}: }> 4Y?4y?:Rʾ? D0;j:*4B)AE o DNOT Ignoring new targets: 52.35 m.oooDAT read: 04:05:09.1462 LVL= 17184, 28625, 17074, 26819, AGC= 63, IDX= 416, 0.42, 2.710, 1.275, 2.725, 2.338, PHS= 0.459,-1.016, 0.384, RAW= 147.4, 2.4, CAL= 150.3, -6.4, ROT= 359.7, 6.4 Ygot valid direction response: 04:05:09.1462 LVL= 17184, 28625, 17074, 26819, AGC= 63, IDX= 416, 0.42, 2.710, 1.275, 2.725, 2.338, PHS= 0.459,-1.016, 0.384, RAW= 147.4, 2.4, CAL= 150.3, -6.4, ROT= 359.7, 6.4 PDAT read: Bearing 359.7, 6.4 (Local) ~Local bearing/azimuth received: Bearing 359.7, 6.4 (Local) DAT read: Range 10 to 50 : 50.7 m (Round-trip 67.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.993754,-0.005203,-0.111469]Fpublishing direction and range infoqyu?2\Pu -V:uJBYq u C)uoIuBiuhu?u >uJ u> u$@)u+=Iu'@iu佉u@u= q)qurF!Œa?o\bp?e=rR?iu>u-uu= q)qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.e ProNav: ac range: 52.346275 m, nav range: 50.053661 m, bearing: 335.566706 deg, approach rate: -0.533097 m/s, LOS rate: -0.019096 deg/s, cmd heading: 332.102922 deg, new cmd heading: 332.078707 deg. zoeQmHeadingCmd: 5.795867 target range: 52.346275 and range: 52.60 m.Romw@JoiboiZoqBoq:ny2nmmBlkkkYI@k P?ɞ5B5xQ y}PwH H II IBI =I I &I j<*I &E *DAT read: user:333> % BDAT read: Tx time:04:05:10.4745 % $Ping request sent.- pď,'?A "nManaging dock network, ignoring radio surface power off:@Y:Қ@:uf9:"=fAHRS rotation from veh to nav: [[0.899580,0.433025,-0.056974],[-0.436530,0.895631,-0.085358],[0.014066,0.101657,0.994720]]y:H`[?@?@+@ۿ?ڵeΌ?`3? ?ɫ:@:7;: F٦Ey > 4Y'? 4y҄B  ʾ ?% D>::14B)_AEJpIRpM9Ѱ?ApMIBpMIBpMͺ@vMysۿo~GjpM&rpMA5BZpMn?bpM5zpMOlBpM⧡?pM]޹pMEhBpMGBpMF9@ addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.785858 s, deltaX: -1.899998 m, approachRate: -0.501867 m/s, rangeRepo size: 4  Added new target pos. range: 50.457699 m, bearing: 334.468972 deg, lat: 36.779466 deg, lon: -121.859725 deg, deltaT: 3.785858 s, deltaX: -1.888577 m, approachRate: -0.498850 m/s, posRepo size: 4 oDNOT Ignoring new targets: 50.46 m.oJ qJ jJ 3J J D:J 9J (3J J [Z;J ^Z;J :J :o-o)= ProNav: ac range: 50.457699 m, nav range: 49.911182 m, bearing: 335.222786 deg, approach rate: 0.000000 m/s, LOS rate: -0.019096 deg/s, cmd heading: 332.078716 deg, new cmd heading: 332.054294 deg. zo9EHeadingCmd: 5.795441 target range: 50.457699 and range: 50.70 m.RoE@t@JoAboAZoABo:n2nmmlkkkk?jKNrKh9zKK2KC@A?=><AKPUTRQPMOXq.I xV0|ta\XMɞEBEfg@ AE'wď,?A J?@YJ"@J~9J=rAHRS rotation from veh to nav: [[0.899203,0.433676,-0.057956],[-0.437255,0.895426,-0.083790],[0.015557,0.100686,0.994797]]yJHE?X?h@ۿ T?Is܏?ƹ?_?ɫJ?@Jn,;J:C=B]sIy}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502506Im6Im٥= L=9sQ > F٦Ey > !%4Y%͒?-4y%ە!)-(˾-?%3 D%:%:%$84y)})AyoDNOT Ignoring new targets: 50.46 m.ooҹoҹ ProNav: ac range: 50.457699 m, nav range: 49.697845 m, bearing: 335.214015 deg, approach rate: -0.557633 m/s, LOS rate: -0.023027 deg/s, cmd heading: 332.054291 deg, new cmd heading: 332.027862 deg. zo|HeadingCmd: 5.794980 target range: 50.457699 and range: 50.70 m.Royp@JoboZoBo:n2n m)m)l1k1k1k1k5?iɞBT1  =I `ɝiI2I=ie}"=im=)uyp@)yԙF "F*F2F@5:F5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754633 G =G 2B :B  O >Q}ď,{?A:{@Y:u@:q$9:m=BAHRS rotation from veh to nav: [[0.897563,0.436593,-0.061375],[-0.440554,0.893556,-0.086432],[0.017106,0.104618,0.994365]]y:H ָ?$?@l 2ܿ?o V?9Ⱥ?@?ɫ:{@:v;:;CJBJtIlMb@Mb@Mb@ )Ii(\?y&1|?{Gz?`;#)IQ@iVA AI5I糴٥?@; L=9~}Q > F٦Ey > 4Yݒ?4y2?:?@ Dd;;?4B)4AEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 50.46 m.ooW8oW8- ProNav: ac range: 50.457699 m, nav range: 49.489666 m, bearing: 335.216083 deg, approach rate: -0.545813 m/s, LOS rate: 0.005446 deg/s, cmd heading: 332.027872 deg, new cmd heading: 332.034104 deg. zo-5o9HeadingCmd: 5.795088 target range: 50.457699 and range: 50.70 m.Ro]q@JoboZoBo:n2nmmBlkkkk`L?JH1BH5?AHE>HECHAIAIE =IAIED&IEW<*IEEɞB6 =I L`ɝiIJ3Ii"=iyy=)]q@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006716)F "F*F2FZ0:F9J rJ qJ 2J J G:J q9J c3J J _;J _;J :J :a G ۋ=jK] OrK] 9zKY K] 3K] 7  eI0 6`:wne]ZXQPOGEFHXrfN?54D^zG 2B :B  O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258716:ď,?AJPb@YJ3]@J9JW =9)AHRS rotation from veh to nav: [[0.896201,0.439337,-0.061690],[-0.443250,0.892582,-0.082620],[0.018765,0.101388,0.994670]]yJH?`?Ǖ`6^ܿ?&)7?? V? vAɫJPb@J䓉;)J9CI!vABU BU{IIe(Iem٥< <=9xQ > F٦Ey > 4Y4?4yϚu?O D|;V;F4) AoAEDNOT Ignoring new targets: 50.46 m.oAoMt9oMt9] ProNav: ac range: 50.457699 m, nav range: 49.258442 m, bearing: 335.219229 deg, approach rate: -0.521501 m/s, LOS rate: 0.007128 deg/s, cmd heading: 332.034101 deg, new cmd heading: 332.043583 deg. zo]9eHeadingCmd: 5.795254 target range: 50.457699 and range: 50.70 m.Roer@JoaboaZoaBoi:ni2nimqmqlqkqkqkyk} ?ɞB?. 靭D2=I (_ɝiIE5I+it"=i+=)r@)iFE "FA*FA2FE_0:FIGIFMtAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510364ԙGM p=G 2B1 :BY  O > Ucď, +?A2cD@Y2F?@2VQ92^=BAHRS rotation from veh to nav: [[0.894552,0.442649,-0.061960],[-0.446509,0.891270,-0.079168],[0.020179,0.098486,0.994934]]y2H*?]T?0ܿH?bDΩ?^6??ɫ2cD@2h2;2;CJBJIeMb@Mb@Mb@a a)aIaiaeS㥛?:v?Mbpe?eT F٦Ey" > 4Y?4yӄB?:߾?[ Dz ; ;M4B)AoDNOT Ignoring new targets: 50.46 m.ooY8oY8 ProNav: ac range: 50.457699 m, nav range: 49.067287 m, bearing: 335.220294 deg, approach rate: -0.530264 m/s, LOS rate: 0.002965 deg/s, cmd heading: 332.043581 deg, new cmd heading: 332.046788 deg. zo?9HeadingCmd: 5.795310 target range: 50.457699 and range: 50.70 m.Ro-s@JoboZo!Bo!:n!2n!m)m-Bl)k)k)k1k5`Y?ɞ]Be" aeM=Ia e_ɝaiaImg6Imiu6#=iuVr=)u-s@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762669F "F*F2F`0:FGPڀ=G ?G>G2B:B H5 >H1 H5 II5 NBI5 =I1 I5 D&I5 <*I5 yE OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015113! 'Kď,lE?AB 2@YB,@Boڤ9BE=JAHRS rotation from veh to nav: [[0.893550,0.444784,-0.061115],[-0.448512,0.890444,-0.077110],[0.020122,0.096313,0.995148]]yBH?Vw?~Jjܿ ~? ~?@?@?ɫB 2@B;B8CRBRIIZVIZ٥bQ= fX=9f)9Q f>hl nF٦rEyr r> tz4Yv ?z4yv$vՄBx~ ~?vh Dvj;vr;vS4)Ao)5DNOT Ignoring new targets: 50.46 m.o1o5v8o5v8M ProNav: ac range: 50.457699 m, nav range: 48.870464 m, bearing: 335.221918 deg, approach rate: -0.519089 m/s, LOS rate: 0.004302 deg/s, cmd heading: 332.046778 deg, new cmd heading: 332.051671 deg. zoM<9UHeadingCmd: 5.795395 target range: 50.457699 and range: 50.70 m.RoUs@JoQboYZoaBoa:na2namamilikikikiku$@ɞB s=I pX^ɝiI79Ii/#=i k=)s@)J5sJ5lJ1J1J5K:J59J1J1J5(e;J5+e;J51:J53:jK%M4OrK%h9zK!K%4K%yhWH:1$$#"HwL NX9'   6LnAF "F*F2Fj0:F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267319IG @p=Ga 2By :B  O >y uď,gG_?A!BII-nI-d٥EZh= EB=9MQ M>II UF٦UEyU U>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518464 iu4Ymo?u4ymmքBqqu?mv Dm 6ď,l"y?A6!@Y6@696J=BAHRS rotation from veh to nav: [[0.892655,0.446555,-0.061282],[-0.450260,0.889701,-0.075492],[0.020812,0.094981,0.995261]]y6H?]?\``ܿ@mx?jSO?P?.?ɫ6!@6;69CJ'BJIuMb@Mb@Mb@q q)qIqiquS㥛?S㥛?MbPqu/ F٦ EyϚ > 4Y .?4yޣلB ?:Ծ? D::Eb4):A-B*** querying acoustic contact ***:p)Bp)ԱoDNOT Ignoring new targets: 50.46 m.oox@ox@H>HHIIXBIIID&I]<*I E ProNav: ac range: 50.457699 m, nav range: 48.436981 m, bearing: 335.219349 deg, approach rate: -0.514493 m/s, LOS rate: -0.010517 deg/s, cmd heading: 332.057132 deg, new cmd heading: 332.043922 deg. zoHeadingCmd: 5.795259 target range: 50.457699 and range: 50.70 m.Ror@Jo!bo!Zo!Bo!:n)2nimqmuBlqkqkykyk} @ɞB =I e[ɝiI>I%cuBDAT read: Rx Time:04:05:12.9438 uTRx dataTimestamp_ set to:1761365114.038057}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023742i%{#=if=)r@)F!"F!*F!2F- 1:F) J J p=G fm=GY 2Bi :By  O >jK }9OrK 9zK K 5K i@~rgVF=851.-*/%6zDzfYN>36DKGFCE2K *K rA% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2745709 ď,?A!@Y@9X=mAHRS rotation from veh to nav: [[0.892626,0.446362,-0.063085],[-0.450271,0.889575,-0.076893],[0.021797,0.097042,0.995042]]yH d? 3?^&=ܿew??R?׸?`a?ɫ!@`;8C7BIIaI錴٥= D=9 +Q  > %F٦% Ey-d 5> Ie4YM>?m4yM2M܄Bq}Ծ}?M DMz;M;Mi4B)AEoDNOT Ignoring new targets: 50.46 m.oo~>o~> ProNav: ac range: 50.457699 m, nav range: 48.217682 m, bearing: 335.214853 deg, approach rate: -0.505411 m/s, LOS rate: -0.010409 deg/s, cmd heading: 332.043909 deg, new cmd heading: 332.030360 deg. zoHeadingCmd: 5.795023 target range: 50.457699 and range: 50.70 m.Rop@JoboZoBo :n 2n m mlkkkk@W @ɞBP =I NZɝi!I%BI-mi-f#=i-vh=)-p@)1ԩF "F*F2FU4:FDAT read: 04:05:12.9438 LVL= 15312, 24753, 15154, 23875, AGC= 61, IDX= 422, 0.09,-0.193,-1.622,-0.148,-0.579, PHS= 0.474,-0.996, 0.428, RAW= 148.4, 1.3, CAL= 151.5, -7.6, ROT= 358.5, 7.6 Ygot valid direction response: 04:05:12.9438 LVL= 15312, 24753, 15154, 23875, AGC= 61, IDX= 422, 0.09,-0.193,-1.622,-0.148,-0.579, PHS= 0.474,-0.996, 0.428, RAW= 148.4, 1.3, CAL= 151.5, -7.6, ROT= 358.5, 7.6 PDAT read: Bearing 358.5, 7.6 (Local) ~Local bearing/azimuth received: Bearing 358.5, 7.6 (Local) DAT read: Range 10 to 50 : 48.8 m (Round-trip 65.1 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.990876,-0.025947,-0.132256]Fpublishing direction and range infoyy}=PA?p㑚) }3CBYy };)}`I}2;i}C]}=}!>}~}"> }%@)}޹ y)y} wc"?gΐ3[t?EG?i}>} }wּ}> y)y5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. G 0f=G 2B :B!  O5 >ď,?A\JdJfgJdJdJdJf9JdJd!j@!j@!j@!j@]CB]IMb@Mb@Mb@ )Iix&1?Mb?y&1|??=`;) AII@i;A (AIGI٥Y= ?=9Q > F٦Ey > *DAT read: user:334> BDAT read: Tx time:04:05:14.2746 $Ping request sent.vYbåjfE@tù1K6vED$3?(zEM|aݿMZ μjp^rp3+BZp,f?bpdzpjBpn?p5pjBp?ABp)Ǻ@u addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 3.778370 s, deltaX: -1.900002 m, approachRate: -0.502863 m/s, rangeRepo size: 4  Added new target pos. range: 48.567905 m, bearing: 332.483176 deg, lat: 36.779466 deg, lon: -121.859733 deg, deltaT: 3.778370 s, deltaX: -1.889793 m, approachRate: -0.500161 m/s, posRepo size: 4 oDNOT Ignoring new targets: 48.57 m.ooo ProNav: ac range: 48.567905 m, nav range: 48.311657 m, bearing: 334.424680 deg, approach rate: 0.000000 m/s, LOS rate: -0.010409 deg/s, cmd heading: 332.030358 deg, new cmd heading: 332.018065 deg. zoHeadingCmd: 5.794808 target range: 48.567905 and range: 48.80 m.Roo@JoboZoBo:n2n!mImM.BlQkYkYke`ffH@k$?ɞB~  >I FvXɝiAIEFIM iMS#=iMOi=)Mo@)QF "F*F2F@5:FGFsA!H>HHIImBI =II&I<*IE2IC:ICBIȓCJIȠ =RIȡ =ZI5A  JDAT read: TxSync time:04:05:14.2738  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251548G G 2B :B  O% >ď,ys?AF%@YF @F^9F =^AHRS rotation from veh to nav: [[0.892816,0.445685,-0.065153],[-0.449837,0.889650,-0.078548],[0.022956,0.099437,0.994779]]yFH??߭ܿx?`ā?t?:?ɫF%@Fo;F7CfFBfII 2I ٥ˀ< =k=9M"WQ U>aa eF٦mEym.: m> q4Yul]?4yuGuBuϾ?u Du;ud;u8w4B)jAoQuDNOT Ignoring new targets: 48.57 m.oqo}jݹo}jݹ ProNav: ac range: 48.567905 m, nav range: 48.131279 m, bearing: 334.415833 deg, approach rate: -0.491505 m/s, LOS rate: -0.024197 deg/s, cmd heading: 332.018064 deg, new cmd heading: 331.991423 deg. zoلHeadingCmd: 5.794343 target range: 48.567905 and range: 48.80 m.RoCk@JoboZoBo:n2nmmlkkkkk?ɞ5B5* 9=a >I9 =Vɝ9i9I=(JIEIiE#=iMl=)MCk@)q JAAJQF "F*F2F_0:FjKOrKh9zKK6K=5+! rZYZ[WOIB:2/)(&"$9JR[^]XXXVTSRMJFEMp}BK ?:K? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502266yGXh=G 2B :B  O% >ԡ ď,QM?A6)@Y6$@6JǼ96=>AHRS rotation from veh to nav: [[0.893024,0.444911,-0.067544],[-0.449350,0.889736,-0.080339],[0.024353,0.102095,0.994476]]y6H ?ly?@J$ܿ`x??"?`?ɫ6)@6׈;69CFWBFIINZIN٥Vw= VQ=9Z#nQ Z>\\ bF٦bEyb": b> dj4Yfpl?j4yfHfBln7Ͼechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753881n?f Df'I -TɝiIxNI;i $=ip=)g@)Fm "Fi*Fi2Fi:FiԩJwJrJJJW:J9JJGnp= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005666G 2B :B  O > ݽď,(?A>I7@Y>,2@>ϼ9>"\=FAHRS rotation from veh to nav: [[0.893731,0.443704,-0.066125],[-0.447886,0.890891,-0.075573],[0.025378,0.097159,0.994945]]y>Hp?e?)ܿ.?X? e߸??ɫ>I7@>&;>:Cb[BbI]Mb@Mb@Mb@Y Y)YIYiY]Zd;?Zd;?I +?]>]y=]94<)] AI]v@i]QA]A Y]AIu%Iu´٥B< ==9Q > F٦Eyw; > 4YC}?4y(B>:? D+ ;;r4B)AE1B*** querying acoustic contact ***:pBpoJHBHH>HHIIBI =IID&I<*IXEDNOT Ignoring new targets: 48.57 m.ooo ProNav: ac range: 48.567905 m, nav range: 47.726788 m, bearing: 334.379756 deg, approach rate: -0.488498 m/s, LOS rate: -0.061421 deg/s, cmd heading: 331.962247 deg, new cmd heading: 331.882719 deg. zo(HeadingCmd: 5.792446 target range: 48.567905 and range: 48.80 m.Ro[@JoboZoBo:n2nmm [Bl k k1k1k5 ێ?ɞBl 靅/>I %YRɝiIcTI%Bi;$=in{=)[@)imAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258792Fe "Fa*Fa2Fe`0:FiGi Gmp=ԑԩG pp=J J %=G 2B :B  O > - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510532jK= BNrK= 9zK9 K= 7K= tjd^YTHCB>94/-*)%i[` M^q1#}naZL7-$ď,\?AujBuII,IỴ٥N= F=9Q > F٦Ey > 4Y[?4yB? D;D;4 ) UA oAMDNOT Ignoring new targets: 48.57 m.oIoUoUe ProNav: ac range: 48.567905 m, nav range: 47.525120 m, bearing: 334.354291 deg, approach rate: -0.510463 m/s, LOS rate: -0.064732 deg/s, cmd heading: 331.882717 deg, new cmd heading: 331.805996 deg. zoe1mHeadingCmd: 5.791107 target range: 48.567905 and range: 48.80 m.RomP@JoiboiZoiBoi:ni2nqmqmqlykykykyk}?ɞB: 靭J>IԱ OɝiIYIif$=iN=)P@)F "F*F2Fo0:F}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761775G |= G 2B :B  O >[ď,__.?AJ6vJ4J63J4J6{T:J4J6(3J4Jk@YJN@Juμ9Ji=ZAHRS rotation from veh to nav: [[0.898181,0.434445,-0.067289],[-0.438906,0.894899,-0.080728],[0.025145,0.102042,0.994462]]yJH??9ܿ??@g??ɫJk@J;HbhBbI]Mb@Mb@Mb@Y Y)YIYiY]i|?5?~jt?I +?]>]=Y)]AI]I@i];AY YYIueIu]٥N K=9:Q > F٦Ey< > 4YƜ?4ymB>:|? Di_;^;4]B)]AeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013764oDNOT Ignoring new targets: 48.57 m.oo\o\ ProNav: ac range: 48.567905 m, nav range: 47.335869 m, bearing: 334.319720 deg, approach rate: -0.439427 m/s, LOS rate: -0.080590 deg/s, cmd heading: 331.806000 deg, new cmd heading: 331.701875 deg. zo;]HeadingCmd: 5.789290 target range: 48.567905 and range: 48.80 m.RoA@Jo!bo!Zo!Bo!:n!2n)QmQmUhBlYkYkYkYke`2Y@ɞ=B= AEz@>IA E#MɝAiAI_Ii$=ie˕=)A@)yH]>HYH]:II]BIYIYIY&I]<*I]VEE9ԩ FI "FI *FI 2FM _0:FQ GY FY } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272227 Gu=GA2BQ:Bi O}?ď,$N?A:ឳ@Y:ę@:bɼ9:G=BAHRS rotation from veh to nav: [[0.899340,0.432135,-0.066684],[-0.436557,0.895994,-0.081313],[0.024610,0.102240,0.994455]]Ty:Hd?`?4`ۿ?дe3?d,??ɫ:ឳ@:&;:7CjvBjIilIlIraIr錴٥~*a= '=9 ֎:Q  >    F٦EyѮ; > %4Y?%4y8B)-&-? D;f;@41)5OA1oi}DNOT Ignoring new targets: 48.57 m.oyo}ٺoٺ ProNav: ac range: 48.567905 m, nav range: 47.104271 m, bearing: 334.276281 deg, approach rate: -0.503263 m/s, LOS rate: -0.094859 deg/s, cmd heading: 331.701881 deg, new cmd heading: 331.570921 deg. zo3HeadingCmd: 5.787004 target range: 48.567905 and range: 48.80 m.Ro$/@JoboZoBo:n2nmmlkkkk@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521812iIƐCjK~OrK 9zKK8K,Ggyx-;>-hSC,  )%G =`wAɞM B)Qe:: i}V>I&`wABI  JɝiI eIc i %=i_=)$/@)EF- "F)*F12F1:F1Gm=G2B:B O5>) Q U AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773987ď,h?AB@YB@B6ļ9B=JAHRS rotation from veh to nav: [[0.900720,0.429379,-0.065852],[-0.433735,0.897329,-0.081700],[0.024010,0.102151,0.994479]]yBH?z?۰Pۿ?P괿+? &??ɫB@B(;B:CRwBRIIZZIZ٥b< fO=9f:Q f>hh jF٦j Eyj< j> pv4Yrܾ?z4yrr Bxzz?r Dr$:rN:r%4 ’B)UA1EJJ3J.JxJzJJJZ:J9JJoDNOT Ignoring new targets: 48.57 m.oo%o%I] ProNav: ac range: 48.567905 m, nav range: 46.918339 m, bearing: 334.240362 deg, approach rate: -0.380204 m/s, LOS rate: -0.073739 deg/s, cmd heading: 331.570932 deg, new cmd heading: 331.462750 deg. zo]mJeHeadingCmd: 5.785116 target range: 48.567905 and range: 48.80 m.Roe@JoaboaZoaBo:n2nmmlkkkk- @ɞ BPv:  T>I  Fɝ i I :lIi0i%=iR=)@) EAEAEIEIBDAT read: Rx Time:04:05:16.7411 TRx dataTimestamp_ set to:1761365117.822065checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027077qF "F *F 2F :F ԩ ZHA RHA HM >HM CHM YIIM BII II IM D&IM <*IM Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277677 G<=G?G?GA2BQ:Ba Ou?ď,U߈?AE5ʳ@YEź@E9E=ԑAHRS rotation from veh to nav: [[0.901676,0.427587,-0.064420],[-0.431813,0.898221,-0.082083],[0.022766,0.101830,0.994541]]yEH?]?}@Ѣۿ 9?`e`O??`H?ɫE5ʳ@E8;AsBIeMb@Mb@Mb@a a)aIaiae/$?+η?{Gzt?e&>ev=eף;)eAIaiaeQA aezA)q uAAI}OI}ݜ٥i =9;Q > F٦$Eymh; > 4Y֓?4yB>:΁? !Db;f;4ĒB)AE%B*** querying acoustic contact ***:p!Bp!o9EDNOT Ignoring new targets: 48.57 m.oAoMoMe ProNav: ac range: 48.567905 m, nav range: 46.634121 m, bearing: 334.170999 deg, approach rate: -0.558067 m/s, LOS rate: -0.137027 deg/s, cmd heading: 331.462742 deg, new cmd heading: 331.253384 deg. zomuHeadingCmd: 5.781462 target range: 48.567905 and range: 48.80 m.Rou@JoqboyZoyBoy:ny2nmmiBlkkkk@8 @Թɞ B ^ D>I zCɝiIQrIpi%=iJ=)@)DAT read: 04:05:16.7411 LVL= 17904, 28449, 16706, 24803, AGC= 62, IDX= 411,-0.29,-2.088, 2.830,-1.942,-2.386, PHS= 0.386,-1.020, 0.441, RAW= 151.9, 2.7, CAL= 154.1, -6.2, ROT= 355.9, 6.2 Ygot valid direction response: 04:05:16.7411 LVL= 17904, 28449, 16706, 24803, AGC= 62, IDX= 411,-0.29,-2.088, 2.830,-1.942,-2.386, PHS= 0.386,-1.020, 0.441, RAW= 151.9, 2.7, CAL= 154.1, -6.2, ROT= 355.9, 6.2 PDAT read: Bearing 355.9, 6.2 (Local) ~Local bearing/azimuth received: Bearing 355.9, 6.2 (Local)  DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.991607,-0.071080,-0.107999]Fpublishing direction and range info۱y۵=?ɜD2Niإ۵3;BY۱ ܵE)ܵ!oIܵBAiܵ`ܵ>ܵˡ>ܵ\ܵ> ݵ)@)ݵA=Iݵ!,@iݵkݽݵ@ݵk= ޱ)ޱ޵ʊ1"?z#ELs?кT?i޵[?޵B޵i޵k= ߱)߱=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.jK OrK9zKK9Kri`PD;GYglkiaZTQKGDADXn]NA7-&-vV j$,/5G2#&:X _Y=-&!F!"F!*F)2F):F)G&=G 2B :B  O > Aď,Ϟ?Abڳ@Ybwպ@b]9bn=nAHRS rotation from veh to nav: [[0.902559,0.425939,-0.062954],[-0.430021,0.899087,-0.082008],[0.021671,0.101089,0.994641]]ybH@?B?uۿQ?|0?`? ?ɫbڳ@b;b6C-*DAT read: user:335> 5BDAT read: Tx time:04:05:18.0246 5$Ping request sent.57KD@F2l64Yvyb?7B޿e1ַjpfrp^"BZp˟@?bpZozpoBp,f?ppdpOlBp8Bpع@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.783841 s, deltaX: -2.000000 m, approachRate: -0.528563 m/s, rangeRepo size: 4 M Added new target pos. range: 46.576992 m, bearing: 331.081684 deg, lat: 36.779459 deg, lon: -121.859742 deg, deltaT: 3.783841 s, deltaX: -1.990913 m, approachRate: -0.526162 m/s, posRepo size: 4 oIUDNOT Ignoring new targets: 46.58 m.oQoUoYe ProNav: ac range: 46.576992 m, nav range: 46.163322 m, bearing: 332.758873 deg, approach rate: 0.000000 m/s, LOS rate: -0.137027 deg/s, cmd heading: 331.253383 deg, new cmd heading: 331.110446 deg. zoiHeadingCmd: 5.778967 target range: 46.576992 and range: 46.80 m.RoM@JoboZo!Bo):n)2n)m1m1l1k9kAkE`ffG@km= ?)ɞB;:  D>I E@ɝAiAIMfwIqiL&=i=)M@)QF] "FY*FY2F]`0:FYJDAT read: TxSync time:04:05:18.0238 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254729y G h=G G sAGq 2By :B  O >ď,U?A6S@Y67@6 96\=HB>HBCHBfIIBȀBIB =I@IBD&IB<*IBlERAHRS rotation from veh to nav: [[0.903145,0.424867,-0.061789],[-0.428846,0.899597,-0.082554],[0.020511,0.101057,0.994669]]y6H`?1?ݢ`8rۿ?`E"?@޹?T?ɫ6S@6-;68C^kB^Ixm~@~ q~@~ u~@ i@ IIJȴ٥_C <=9/;Q >!! %F٦%)Ey%!H; -> 9E4Y=`?E4y==BE+:AM:MM?=#!D=:=>=4UƒB)UAUEoDNOT Ignoring new targets: 46.58 m.oo%io%iU ProNav: ac range: 46.576992 m, nav range: 45.961761 m, bearing: 332.701297 deg, approach rate: -0.464436 m/s, LOS rate: -0.133247 deg/s, cmd heading: 331.110441 deg, new cmd heading: 330.936957 deg. zoU䶻]HeadingCmd: 5.775939 target range: 46.576992 and range: 46.80 m.Ro]Ը@JoYboYZoYBoY:na2namamalikkkki?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501747ɞMBeF%: im*>Ii mh>ɝiiiIui{Iui}&=i}XD=)}Ը@)yEEsA)F "F*F2F1:FG箵=G2B:B Oa>QJ5wJ5rJ52J1J5W:J59J5c3J1J5z;!=J5z;!=J5:!EJ5:!E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754098ԉ jK "PrK s9zK K :K ,FKS>J-T7 UG -  Q O3w5~]A%}{ysď,K"?A2d۳@Y2Hֺ@292=:AHRS rotation from veh to nav: [[0.902615,0.425872,-0.062605],[-0.429937,0.899047,-0.082873],[0.020992,0.101718,0.994592]]y2H8?}A?@@ۿ@?$7`~? 8 ??ɫ2d۳@2;0zgB~I AI gI ٥ێ %K=9%Q %>11 5F٦=,EyEZC E> IU4YM??U4yM8M BY] :ae:ee?M/!DM$5;MV?MB4i)mAioDNOT Ignoring new targets: 46.58 m.oo!o! ProNav: ac range: 46.576992 m, nav range: 45.772270 m, bearing: 332.647001 deg, approach rate: -0.490946 m/s, LOS rate: -0.141257 deg/s, cmd heading: 330.936954 deg, new cmd heading: 330.773391 deg. zoHeadingCmd: 5.773085 target range: 46.576992 and range: 46.80 m.Ro@JoboZoBo:n2nmmlkkkk@Q?ɞB` >I j<ɝiIpIi  '=i y=) @) F5 "F1*F12F505:F1ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005529ԹG=(׵=G 2B :B)  O5 > 8)ď,?A2ϳ@Y2ʺ@2%o92A=BAHRS rotation from veh to nav: [[0.901980,0.427505,-0.060588],[-0.431293,0.898697,-0.079561],[0.020437,0.097893,0.994987]]y2H? ?\?U`Oۿ ?@^ ?? ?ɫ2ϳ@2;26Cf]BfIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257638mum} q}q} u}u} ii Mb@Mb@Mb@ )Ii +?Q?Q>\=u)z AI3@iAA (AII̴٥~L A=9h:Q > FԹ٦.Eyi > 4Y?4yϻT:}>:[?=!D$;n$;Ũ4ɒB)`AoDNOT Ignoring new targets: 46.58 m.oo%2o%25 ProNav: ac range: 46.576992 m, nav range: 45.570969 m, bearing: 332.601497 deg, approach rate: -0.477855 m/s, LOS rate: -0.108494 deg/s, cmd heading: 330.773385 deg, new cmd heading: 330.636271 deg. zoꔻHeadingCmd: 5.770691 target range: 46.576992 and range: 46.80 m.Ro@JoboZoBo:n2nmmHBlkkkk?ɞ5B5A 9=>I9 =;ɝ9i9IE~IE2iE'=iM-=)M@)iF  "F*F2Fs4:FJHyBH}AAH>HCHII =IID&I<*IE2IMC:IMCBIMƕCJIMƟ =RIMƢ =ZIMƱ6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510131G- =G- ?G- C?G 2B :B!  O5 >Q ď, ?A6'@Y6 @6α96=>AHRS rotation from veh to nav: [[0.901222,0.429483,-0.057817],[-0.432956,0.898077,-0.077501],[0.018638,0.094878,0.995314]]y6H@?|?@'ۿ ? ׳`? I??ɫ6'@6;68CFZBFIIRPIR٥VH Z\=9Z;Q Z>X\ ^F٦^1Ey^] b> `f4YbC#?j4yb8`hjQn?bH!Db-N;bO;b̨4t)vxAtoDNOT Ignoring new targets: 46.58 m.ooo ProNav: ac range: 46.576992 m, nav range: 45.392982 m, bearing: 332.561359 deg, approach rate: -0.480663 m/s, LOS rate: -0.108823 deg/s, cmd heading: 330.636262 deg, new cmd heading: 330.515373 deg. zo^HeadingCmd: 5.768581 target range: 46.576992 and range: 46.80 m.Ro8@JoboZoBo:n2nmmlkkkk@?JMyJMsJM4JIJM]:JM9JM3JIJMƂ;JMǂ;JME:JMF:ɞ5B=I 9=l=IA E9ɝAiAIEYImiu'=iub=)u8@)q]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717F "F*F2F^0:FG= G=jK fPrK zK K ;K stvvuvvttrrt~}urrolhinqlc[SH4'#AyG G)=G 2B :B  O >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013586v: ď,& ?A6}@Y6a@6˃965=>AHRS rotation from veh to nav: [[0.901016,0.430415,-0.053979],[-0.433488,0.898012,-0.075246],[0.016087,0.091197,0.995703]]y6H?@?1`Eۿ@?@LC`4y?X?`?ɫ6}@6;4FOBFIIN^IN٥VV VK=9V9;Q V>XX ^F٦^3Eybk b> dj4Yf!3?j4yfþdhnn?fU!Dfo;f;f&Ө4r˒B)rArEB*** querying acoustic contact ***:pBpo DNOT Ignoring new targets: 46.58 m.ooSoS- ProNav: ac range: 46.576992 m, nav range: 45.198875 m, bearing: 332.517380 deg, approach rate: -0.480900 m/s, LOS rate: -0.109426 deg/s, cmd heading: 330.515367 deg, new cmd heading: 330.382864 deg. zo-25HeadingCmd: 5.766269 target range: 46.576992 and range: 46.80 m.Ro5F@Jo1bo1Zo1Bo1:n92nAmAmAlAkIkIkIkM@4@ɞ-!B- 1q}=Iy }({8ɝyiyI}x|ITig(=i=)F@)F "F*F2F_0:Fԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270693GM(=GI 2BQ :Bi  Ou > "ď,@ ?AH>HCHSIIBIIID&I<*IEF@YFj@Ff9F*=RAHRS rotation from veh to nav: [[0.900037,0.432859,-0.050654],[-0.435586,0.897218,-0.072552],[0.014043,0.087364,0.996077]]yFH@??G奔ۿ ?ȒSŒ?x]??ɫF@F ;F:CZJBZIMb@Mb@Mb@ )IiT㥛 ?J +?~jt?H=ļ) AII@iAA \AIZI٥ 7=9|;Q > F٦6Eyͪ >  4YD? 4yB ?:A?c!D;2;ڨ4!)% A!oyDNOT Ignoring new targets: 46.58 m.ooļoļchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518232 ProNav: ac range: 46.576992 m, nav range: 44.975716 m, bearing: 332.480340 deg, approach rate: -0.494697 m/s, LOS rate: -0.082516 deg/s, cmd heading: 330.382862 deg, new cmd heading: 330.271192 deg. zobUHeadingCmd: 5.764320 target range: 46.576992 and range: 46.80 m.RoUOu@JoQboQZoQBoQ:nY2nYmYm]Blakakakake[@ɞ$B3ͻ =I ]Z7ɝiIHkI_i (=i +=) Ou@)F "F*F2F:F9J]xJYJ]2JYJ]Z:JYJ]c3JYJ];J];JYJYi G  =G rAG m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769878G 2B :B  O >jK} ΉNrK} h9zKy K} <K}      8Vď,Z ?A2@Y2@2YL923=>AHRS rotation from veh to nav: [[0.898999,0.435307,-0.048053],[-0.437774,0.896333,-0.070293],[0.012472,0.084229,0.996368]]y2H??@\}ܿ®?`? ???ɫ2@2݉;27CB:BBIINMIN٥Rt V`=9V;Q V>XX ZF٦Z9EyZٻ ^> \b4Y^S?f4y^y^Bdff?^o!D^;^;^H4jΒB)nAnEo1EDNOT Ignoring new targets: 46.58 m.oIo]9o]9u ProNav: ac range: 46.576992 m, nav range: 44.792385 m, bearing: 332.450239 deg, approach rate: -0.504386 m/s, LOS rate: -0.083153 deg/s, cmd heading: 330.271202 deg, new cmd heading: 330.180531 deg. zouDd%HeadingCmd: 5.762737 target range: 46.576992 and range: 46.80 m.Ro%Xh@Jo!bo!Zo!Bo!:n!2n)m)m)l)k1k1k1k5$L @Yɞe&Be im8 =Ii m6ɝiiiIuԅI<iV)=i9=)Xh@)FI"FI*FI2FU`0:FQG]rAFYBDAT read: Rx Time:04:05:20.4888 TRx dataTimestamp_ set to:1761365121.601840checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022753ԡG5 = G 2BI :Bq  O >vď,Ft ?AI)<6|@Y6w@6.96S=>AHRS rotation from veh to nav: [[0.897741,0.438174,-0.045437],[-0.440395,0.895187,-0.068498],[0.010660,0.081504,0.996616]]y6HK? ? Cn/ܿ_?Յ?nݴ?@G?ɫ6|@6;66CF3BFIl-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275145Mb@Mb@Mb@ )Ii(\?{Gzt?S㥛?ף;/ݼ)M AIiA AILI٥ ;=9܇;Q > F٦;Eyٻ > 4Y5e?4yB?:?~!D +;*;4)Ao%DNOT Ignoring new targets: 46.58 m.o!o-o- ProNav: ac range: 46.576992 m, nav range: 44.560799 m, bearing: 332.438824 deg, approach rate: -0.535775 m/s, LOS rate: -0.026547 deg/s, cmd heading: 330.180524 deg, new cmd heading: 330.146100 deg. zo%HeadingCmd: 5.762136 target range: 46.576992 and range: 46.80 m.Ro-lc@JoQboQZoQBoY:nY2nammBlkkkk @ɞ)B 靥H5CH54II5BI5 =I1I5D&I5Ș<*I5EF] "FY*FY2F]n0:FY DAT read: 04:05:20.4888 LVL= 18480, 24737, 15810, 25203, AGC= 63, IDX= 419, 0.16,-2.392, 2.472,-2.280,-2.752, PHS= 0.448,-1.012, 0.469, RAW= 150.7, 1.3, CAL= 153.5, -7.6, ROT= 356.5, 7.6  Ygot valid direction response: 04:05:20.4888 LVL= 18480, 24737, 15810, 25203, AGC= 63, IDX= 419, 0.16,-2.392, 2.472,-2.280,-2.752, PHS= 0.448,-1.012, 0.469, RAW= 150.7, 1.3, CAL= 153.5, -7.6, ROT= 356.5, 7.6  PDAT read: Bearing 356.5, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 356.5, 7.6 (Local) % DAT read: Range 10 to 50 : 45.0 m (Round-trip 60.1 ms) speed 0.4 m/s % R#Rx 1: Read range and direction messages.5 `direction in FSK: [0.989367,-0.060512,-0.132256]5 Fpublishing direction and range infoy]h?su) 4BY 0H)`I=isb?B`>7 > aU(@)޹ )or?3TV?j3Ya?i 5 ?5z> )M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.I Ge C=G! 2B) :Bi  Ou >2`#ď,( ?AM9@YM4@M9MΣ=}AHRS rotation from veh to nav: [[0.894139,0.445750,-0.042679],[-0.447722,0.891585,-0.067986],[0.007747,0.079897,0.996773]]yMH@ʜ? ,?٥ yܿ܇?@g`?t??ɫM9@M`;M5C-BIIXI㔴٥e; m@=JvJqJJJ{T:Jq9JJJZu;J\u;J:J:9;Q > F٦>Eyg > 4Yv? 4yB%%?!D7w<x<)+G )4I BВB)AE-*DAT read: user:336> 5BDAT read: Tx time:04:05:21.8246 5$Ping request sent.5vTTC@/L55v8=!-?:߿-jpϮrpBZp#0?bpkzp?iBppdppi2Bp:J@ addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 3.780024 s, deltaX: -1.799999 m, approachRate: -0.476187 m/s, rangeRepo size: 4  Added new target pos. range: 44.784809 m, bearing: 330.525753 deg, lat: 36.779459 deg, lon: -121.859749 deg, deltaT: 3.780024 s, deltaX: -1.792183 m, approachRate: -0.474119 m/s, posRepo size: 4 oDNOT Ignoring new targets: 44.78 m.ooo5 ProNav: ac range: 44.784809 m, nav range: 44.603310 m, bearing: 331.760362 deg, approach rate: 0.000000 m/s, LOS rate: -0.026547 deg/s, cmd heading: 330.146100 deg, new cmd heading: 330.107124 deg. zo1=HeadingCmd: 5.761456 target range: 44.784809 and range: 45.00 m.jK]LrK] 9zKYK]=K]Cd`O-!  %Mac[SH@6,%  VRom]@JoiboqZoqBoq:nq2nqmymylkkkF@k;?ɞ+B2 V;I 6ɝiII=i==*=iE=)E]@)AqF "F*F2Fo0:Fԡ  JDAT read: TxSync time:04:05:21.8238  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252488G O=G ?G >G 2B :B  O >#)ď, ?A6@Y6@64ۻ96=>AHRS rotation from veh to nav: [[0.892051,0.450033,-0.041413],[-0.451885,0.889557,-0.066995],[0.006690,0.078477,0.996894]]y6H@?U?4@ܿ@w? &@f{? ?@?ɫ6@6鈊;67CF)BFIIN7IN"٥VM V\=9Z~:;Q Z>X\\ ^F٦^AEybT b> dj4YfM?j4yff Bhn6n?f!Df,;f5;f4t)v<At B*** querying acoustic contact ***:p Bp oDNOT Ignoring new targets: 44.78 m.oo%ko%k ProNav: ac range: 44.784809 m, nav range: 44.412628 m, bearing: 331.751160 deg, approach rate: -0.615256 m/s, LOS rate: -0.029816 deg/s, cmd heading: 330.107113 deg, new cmd heading: 330.079391 deg. zoHeadingCmd: 5.760972 target range: 44.784809 and range: 45.00 m.RoY@JoboZoBo:n2nmmlkkkk+?ɞ-B%B !%I! %՗6ɝ)i)I-d'I]ïie *=ie0u=)Y@)EsAEFM "FI*FQ2FUO5:FQGy G}p=G]G=G2B!:B1 O=Q>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5037289 H] >HY H] II] BIY IY I] D&I] ՘<*I] E!0ď,d ?A6Z@Y6>@6Iǻ96ߧ=>AHRS rotation from veh to nav: [[0.889811,0.454490,-0.040931],[-0.456289,0.887341,-0.066531],[0.006082,0.077877,0.996944]]y6HTy?@]? 3ݿe?1+x?`? ?ɫ6Z@6;65C^'B^IIja=)jp=Mb@Mb@Mb@ )IiFx? rhy&1 ?C`)AI`@i;A AI`I̍checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755276٥% 9=9γ:Q > F٦CEy7 > 4Y,?4yB ? : 8 ?!D:Z:4ӒB)`Ao9EDNOT Ignoring new targets: 44.78 m.oAoE8oM8e ProNav: ac range: 44.784809 m, nav range: 44.170864 m, bearing: 331.753614 deg, approach rate: -0.548406 m/s, LOS rate: 0.005596 deg/s, cmd heading: 330.079383 deg, new cmd heading: 330.086784 deg. zomu9mHeadingCmd: 5.761101 target range: 44.784809 and range: 45.00 m.RouZ@JoqboqZoqBoq:nq2nymym}Blykkkk\{?ɞU/B]I Y]0IY ]f6ɝaiaIevIePi*=i]O=)Z@)IF!"F!*F!2F%05:F!q JJAAGm Ա= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009129GA 2BQ :Ba  O >ԡ jK} aMrK} 9zKy K} >K} XI=74-,24"&*+)%%  (($ 6ď,u: ?AQ@Y5@y 9B=mAHRS rotation from veh to nav: [[0.887066,0.459887,-0.040211],[-0.461608,0.884684,-0.065208],[0.005586,0.076406,0.997061]]yHb? n? ݿUO?vv?Q??ɫQ@^;6C&BIIBIb٥b ;=9M:Q > F٦FEyqa > 4Y?4y B ?!Dg;҇;54%ےB)%A%EoQ]DNOT Ignoring new targets: 44.78 m.oYo]49oe49u ProNav: ac range: 44.784809 m, nav range: 43.933247 m, bearing: 331.757932 deg, approach rate: -0.540499 m/s, LOS rate: 0.009875 deg/s, cmd heading: 330.086787 deg, new cmd heading: 330.099810 deg. zou9}HeadingCmd: 5.761329 target range: 44.784809 and range: 45.00 m.Ro}\@JoyboyZoyBoy:ny2nmmlkkkk-|?ɞ2B4P 靽I *7ɝiI!IeiZ"+=i=)\@)ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259750F"F*F2FV0:FG]t=G2B!:B9 OEr>J) J- oJ) J) J) J- K9J) J) !] @!] @!] @!e @i $=ď,6 ?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510733U.BUIMb@Mb@Mb@ )Iin?X9vQV?u); AIQ@iVA AI-JI-K٥=.= =U=9=Q E>AA EF٦EIEyM M> Q]4YU7?]4yUUB]?]:]e?U!DU:U#:U 4mޒB)m}AioDNOT Ignoring new targets: 44.78 m.oor:or: ProNav: ac range: 44.784809 m, nav range: 43.719303 m, bearing: 331.769256 deg, approach rate: -0.560685 m/s, LOS rate: 0.029823 deg/s, cmd heading: 330.099819 deg, new cmd heading: 330.133958 deg. zo:HeadingCmd: 5.761925 target range: 44.784809 and range: 45.00 m.Roa@JoboZoBo:n2nmmBlkkkkF?ɞ4B ~D 2I M7ɝi!I%I%Rqi-e+=i-q=)-a@)1F "F*F2F_0:FGsAFtAJHBH@AH >H H II rBI  =I I D&I <*I sEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762681AG% =G 2B :B  O- >Y T Dď,I!?AFt@YFlo@FB;9F=VAHRS rotation from veh to nav: [[0.883114,0.467607,-0.038122],[-0.469154,0.880538,-0.067438],[0.002033,0.077440,0.996995]]yFHxB?`G?଄޿]-?Cg`?#ӳ?a?ɫFt@F;Db/BbIIr[Ir:٥zT; ~b=9~    F٦ KEy % > !-4Y%Ɣ?-4y%%B15 5?%!D%K;% N;%L4I)MxAIoDNOT Ignoring new targets: 44.78 m.oo$:o$: ProNav: ac range: 44.784809 m, nav range: 43.516544 m, bearing: 331.782363 deg, approach rate: -0.552354 m/s, LOS rate: 0.035872 deg/s, cmd heading: 330.133970 deg, new cmd heading: 330.173473 deg. zo:HeadingCmd: 5.762614 target range: 44.784809 and range: 45.00 m.RoVg@JoboZoBo:n2nmm1lkkkk`@ɞ5BG ]I  {7ɝiII'Did+=i =)Vg@)!]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015642F "F*F2F`0:FjKEvHNrKEh9zKAKE?KE!cHk4Cs T35Pnx8O!wmb\UOKID@=7aG=GY2Bq:B O]>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807Թ A4Jď,*!?A6 R@Y6L@6)~96o=>AHRS rotation from veh to nav: [[0.881132,0.471378,-0.037530],[-0.472870,0.878425,-0.069021],[0.000432,0.078564,0.996909]]y6H <2? +?7C޿`?` OX\ ^F٦^MEy^-/ b> `n4Yb֔?n4ybbBln r?b!Db;;b/;b'4vB)vAvE B*** querying acoustic contact ***:p Bp oDNOT Ignoring new targets: 44.78 m.oo_6:o%_6:- ProNav: ac range: 44.784809 m, nav range: 43.298458 m, bearing: 331.797807 deg, approach rate: -0.560060 m/s, LOS rate: 0.039860 deg/s, cmd heading: 330.173475 deg, new cmd heading: 330.220040 deg. zo-:5HeadingCmd: 5.763427 target range: 44.784809 and range: 45.00 m.Ro5m@Jo1bo9ZoBo:n2nmmlkkkk`J@ɞ=7B=) AE`=H >H H II mBI =I I &I ֘<*I E2IC:ICBIʓCJIʤ =RIʥ =ZI59 Qď,D!?A6+@Y6&@6-:96Z*=>AHRS rotation from veh to nav: [[0.878909,0.475531,-0.037274],[-0.476989,0.876047,-0.070876],[-0.001050,0.080073,0.996788]]y6H` ?@o?`޿?`$`3Q??ɫ6+@6yV;66C^BB^IMb@Mb@Mb@ )IiV-?Mb{Gzth?ף)$AIh@i?A@ AImIFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028٥< :=9\;Q > F٦PEy. > 4Y蔊?4yB?:x ?!DA6;o7;!4)Ao!-DNOT Ignoring new targets: 44.78 m.o)o=R:o=R:M ProNav: ac range: 44.784809 m, nav range: 43.048344 m, bearing: 331.817938 deg, approach rate: -0.569023 m/s, LOS rate: 0.046065 deg/s, cmd heading: 330.220030 deg, new cmd heading: 330.280773 deg. zoM:UHeadingCmd: 5.764487 target range: 44.784809 and range: 45.00 m.RoUv@JoQboQZoQBoQ:nY2nYmYm]Blakakakakm_@ɞ9B`" 靝m BDAT read: Rx Time:04:05:24.2862 u TRx dataTimestamp_ set to:1761365125.381811u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023835y jK QPrK zK K @K 6621/._WG=<@@><8543/+)+29:84,*$$#! %(++(*,<q~wts&FWď,k^!?A B@YB @BU;9BQx=NAHRS rotation from veh to nav: [[0.877272,0.478516,-0.037636],[-0.479988,0.874180,-0.073625],[-0.002330,0.082654,0.996576]]yBH?? E ޿H?ٲc(?`?ɫB@B;B7CVNBVIIZ=)Z=)\ ^BAI^\I^W٥fy= f\=9ja;Q j>hh jF٦nSEyn n> pv4Yr?v4yr rBxzVz?r!Dr:r6:rV(4~B)~AEoIUDNOT Ignoring new targets: 44.78 m.oQoe]:oe]:} ProNav: ac range: 44.784809 m, nav range: 42.837585 m, bearing: 331.836041 deg, approach rate: -0.562022 m/s, LOS rate: 0.048514 deg/s, cmd heading: 330.280764 deg, new cmd heading: 330.335342 deg. zo}-;HeadingCmd: 5.765440 target range: 44.784809 and range: 45.00 m.Ro{~@JoboZoBo:n2nmmlkkkkd @ɞ;B|g =I 6ɝiIZ}Ii;,=iìa=){~@)qF "F*F2FI2:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275909ԙGUp=G) 2BA :BQ  O] > JY J] hJY JY JY J] Ȇ9JY JY o]ď,[x!?A*DAT read: 04:05:24.2862 LVL= 20144, 32353, 21186, 30195, AGC= 65, IDX= 408,-0.07, 2.490, 1.081, 2.412, 2.132, PHS= 0.446,-1.003, 0.278, RAW= 143.9, 4.1, CAL= 147.0, -4.4, ROT= 3.0, 4.4 .Ygot valid direction response: 04:05:24.2862 LVL= 20144, 32353, 21186, 30195, AGC= 65, IDX= 408,-0.07, 2.490, 1.081, 2.412, 2.132, PHS= 0.446,-1.003, 0.278, RAW= 143.9, 4.1, CAL= 147.0, -4.4, ROT= 3.0, 4.4 2PDAT read: Bearing 3.0, 4.4 (Local) 2~Local bearing/azimuth received: Bearing 3.0, 4.4 (Local) >DAT read: Range 10 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.6 m/s BR#Rx 1: Read range and direction messages.F^direction in FSK: [0.995686,0.052182,-0.076719]FFpublishing direction and range infoyǑ?Bc?.0ۣ,BY N)a~IRiuAZ>NbV>  @)C=IY3$@inFPwV=nF= )ufb-??6T(Y?i>钽PwV=nF= )RT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.\=@Y=@=8_;9=m=MAHRS rotation from veh to nav: [[0.875450,0.481827,-0.037820],[-0.483297,0.872192,-0.075530],[-0.003406,0.084401,0.996426]]y=H`?A?`%]V޿?U kN??ɫ=@=cb;=5CbBIUMb@Mb@Mb@Q Q)QIQiQUK7?{GztI +?UI ?UףU94<)UM AIU`@iUAUA QUAImaIm錴٥u= }=9};Q > F٦VEyi > 4ZH<RHp<H>HCHII|BI =IID&I<*IEY ?4yBR ?:?"D'<&<14)AJpRpDx!?Ap.+Bp.+BpH̺@v{yNE@Vzj@C vǑ?Bc?.0ۣpPwV=pnF=vݫ>n@C@xKe2_o+ v01]|?ۿpOjp.rpBZpOj?bpy{zpsBpppp2*Bp[V@ addTargetRange:: Added new target pos. range: 43.000000 m, deltaT: 3.779960 s, deltaX: -2.000000 m, approachRate: -0.529106 m/s, rangeRepo size: 4  Added new target pos. range: 42.794949 m, bearing: 334.460483 deg, lat: 36.779459 deg, lon: -121.859749 deg, deltaT: 3.779960 s, deltaX: -1.989861 m, approachRate: -0.526424 m/s, posRepo size: 4 oDNOT Ignoring new targets: 42.79 m.oooE ProNav: ac range: 42.794949 m, nav range: 42.549583 m, bearing: 331.845214 deg, approach rate: 0.000000 m/s, LOS rate: 0.048514 deg/s, cmd heading: 330.335351 deg, new cmd heading: 330.415609 deg. zoIMHeadingCmd: 5.766840 target range: 42.794949 and range: 43.00 m.RoU@JoQboQZoQBoQ:nQ2nQmym}%BlykkkE@k୺?ɞ=Bgf߻ =I F5ɝiIOzI+/i#,=i$>Q=)%@)!*DAT read: user:337> BDAT read: Tx time:04:05:25.6247 $Ping request sent.B,eď,W!?AFٱ@YFӸ@Fe#;9Fy=RAHRS rotation from veh to nav: [[0.874046,0.484373,-0.037772],[-0.485824,0.870666,-0.076913],[-0.004368,0.085576,0.996322]]yFH/? ?V߿@?hqL??ɫFٱ@F;F4C^vB^IIf^If٥nd= nq=9n9;Q n?pp rF٦rXEyv v? x~4Yzd?~4yz/zB|~~?z"Dz:zd:zo74 B) |A Eo9EDNOT Ignoring new targets: 42.79 m.oAoE 9oM 9] ProNav: ac range: 42.794949 m, nav range: 42.364193 m, bearing: 331.851916 deg, approach rate: -0.599141 m/s, LOS rate: 0.021753 deg/s, cmd heading: 330.415619 deg, new cmd heading: 330.435812 deg. zo]n:]HeadingCmd: 5.767193 target range: 42.794949 and range: 43.00 m.Roe،@JoaboaZoaBoa:ni2nimimilqkqkqkqku * ?JDAT read: TxSync time:04:05:25.6239 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250234ɞ>B4 e=Ia el=4ɝaiaIe'WyImim/,=iuAF=)u،@)qԁjKHNrKzKKAKmf^XQA!!1LcosuwwrqpllomgehggmmhZICKPMIC>81.*($"$IF"F*F2FP5:FGT=G2B:B OG> A A U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5034831Nkď,k!?AJDZ@YJ¸@J;9J-=VAHRS rotation from veh to nav: [[0.873012,0.486677,-0.031540],[-0.487679,0.870573,-0.065365],[-0.004353,0.072446,0.997363]]yJH ?`%?& "6߿? q`Ћ?`e?ɫJDZ@Jߩ;J5C^BbIidId dfAIjYIj٥r= rK=9vQ v>tt zF٦z[Eyz z> |4Y~*?4y~~B   ?~*"D~:~:~|>4)AB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 42.79 m.oon9o%n9 ProNav: ac range: 42.794949 m, nav range: 42.143196 m, bearing: 331.860544 deg, approach rate: -0.521910 m/s, LOS rate: 0.020483 deg/s, cmd heading: 330.435809 deg, new cmd heading: 330.461830 deg. zo`:HeadingCmd: 5.767647 target range: 42.794949 and range: 43.00 m.Ro@JoboZoBo:n2n!QmYmaJrJJ3JJG:JJ(3Jlkkkk It?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753395ɞ@Bl< >I 1ɝiIRwIUi<,=i>=)@)yF] "Fa*Fa2Fm_5:FiH >H CH -II BI =I I &I <*I Eԩ G Q=e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006173Gq 2B :B  O >G^rď,!?AJ@YJ@J;9J2h=fAHRS rotation from veh to nav: [[0.872593,0.487403,-0.031927],[-0.488416,0.869922,-0.068449],[-0.005588,0.075321,0.997144]]yJH H? 1? X@5B߿ g? ؅ WvDH??ɫJ@J=;J3CnBn1IMb@Mb@Mb@ )Ii'1Z?V-?~jt??<<) AII@ihA \AIGI٥= 7=95;Q > F٦^Ey > 4Y;?4yB+? : " ?9"D ;P;IF4B)XAoAMDNOT Ignoring new targets: 42.79 m.oIoUoUe ProNav: ac range: 42.794949 m, nav range: 41.914757 m, bearing: 331.849974 deg, approach rate: -0.535195 m/s, LOS rate: -0.024897 deg/s, cmd heading: 330.461819 deg, new cmd heading: 330.429938 deg. zoemHeadingCmd: 5.767090 target range: 42.794949 and range: 43.00 m.Rom@JoiboiZoiBoi:nq2nqmqmuoBlykykykk`?ɞABTD; 靵8>I I/ɝiIwIiC,=iIG?=)@)YFY"FY*FY2F]_0:FYiEu(>IECG]B=)G vA)IvAB J)J)ԉG2B:B Ol>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257534Ա jKM ~NrKI zKI KM BKM fpy{ytke]UIJ_j3PWad]SA1% blsW7 txď,!?A>/DZ@Y>¸@>Z;9>=NAHRS rotation from veh to nav: [[0.872977,0.486539,-0.034513],[-0.487728,0.869894,-0.073521],[-0.005748,0.081015,0.996696]]y>Hl?u#?@6߿,?EҲHwh??Lɫ>/DZ@>F^;hh jF٦n`Eyn ; n> pv4YrJ?v4yrrBxzz?rE"Dr`:rW:rL4~B)~RAo!-DNOT Ignoring new targets: 42.79 m.o)o-߹o-߹U ProNav: ac range: 42.794949 m, nav range: 41.727406 m, bearing: 331.841092 deg, approach rate: -0.513961 m/s, LOS rate: -0.024477 deg/s, cmd heading: 330.429935 deg, new cmd heading: 330.403168 deg. zoUbeHeadingCmd: 5.766623 target range: 42.794949 and range: 43.00 m.Rom-@JoiboiZoiBoi:ni2nqmqmqlykykykyk}+?ɞCB0l; 靭hP>I  x-ɝiI%vIo=iN,=i+D=)-@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510093FU "FQ*FY2F]`0:FYG==G2BA :B  O >JA JE wJE 2JA JA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765026JE 9JE c3JA Ա ~ď,!?A @@6ݱ@Y6ظ@6;96=BAHRS rotation from veh to nav: [[0.874313,0.484003,-0.036310],[-0.485320,0.870795,-0.078619],[-0.006434,0.086359,0.996243]]y6H^??,|߿? ^ Zz`?9?ɫ6ݱ@6;66C|%B%LIUMb@Mb@Mb@Q Q)QIQiQUtV?p= ף?Zd;O?U>U=Uj<)QIUv@iUAQ QUAJHBHH>HHYIIBI =IID&I<*IeEImXIm㔴٥#= %*=9%:Q %>II MF٦McEyU; U> Ye4Y]5\?e4y]#] Be=>:?]T"D]W;]G;])U4B))AEoDNOT Ignoring new targets: 42.79 m.ooo ProNav: ac range: 42.794949 m, nav range: 41.497040 m, bearing: 331.803918 deg, approach rate: -0.465298 m/s, LOS rate: -0.075501 deg/s, cmd heading: 330.403161 deg, new cmd heading: 330.291021 deg. !zoCOHeadingCmd: 5.764666 target range: 42.794949 and range: 43.00 m.Ro$x@JoboZoBo:n2nmmBlkkkk`i@ɞEB,&; [>I )ɝiIRuIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017203i}i,=i}T=)}$x@)QF "F*F2F_0:Fԁ G5 SE=GE sAGE rAG 2B :B)  O5 >ď,J"?A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269329tt vF٦zeEyz<< z> | 4Y~i?4y~~B?~_"D~];~I U'ɝiIvIeie},=ieKd=)ek@)ijK=OrK9zK9K=CK=pdU</& dO?64.(%%"7ԙF "F*F2F`0:FGBJ=G2B:B OE>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521183 n(ď,z2"?A2o @Y2S@2;923=BAHRS rotation from veh to nav: [[0.877063,0.478753,-0.039434],[-0.480328,0.872882,-0.085802],[-0.006656,0.094195,0.995531]]y2H`?`?0`޿?@@C{.?d?ɫ2o @2y;23CJ΀BNmIIb`Ib̍٥jI= jM=9j*Q j>llp rF٦rhEyr; v> t~4Yvx?4yvvBc?vk"DvH@;vTA;v_b4 B) AB*** querying acoustic contact ***:pBpo1]DNOT Ignoring new targets: 42.79 m.oaoڭoڭ= ProNav: ac range: 42.794949 m, nav range: 41.138046 m, bearing: 331.743111 deg, approach rate: -0.440384 m/s, LOS rate: -0.075997 deg/s, cmd heading: 330.206069 deg, new cmd heading: 330.107789 deg. zoEPMHeadingCmd: 5.761468 target range: 42.794949 and range: 43.00 m.RoM]@JoiboiZoiBoi:nq2nqmqmqlykykykyk`@6@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773529ɞHB; >I O#ɝiI &v I-Fi-,=i-6r=)5]@)1F"F*F2F_0:F9HHHIIBI =II&I<*IoEG XR=G ?G ?a G 2B :B  O >E BDAT read: Rx Time:04:05:28.0833 M TRx dataTimestamp_ set to:1761365129.165882M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026410ď,L"?AI)=<)z AI3@i~A IYI٥< <=9}:Q > F٦kEyx; > 4Y㈕?4yB4>:ŀ?x"D:;i4)Ao!-DNOT Ignoring new targets: 42.79 m.o)o-y>o-y>E ProNav: ac range: 42.794949 m, nav range: 40.944420 m, bearing: 331.676316 deg, approach rate: -0.480453 m/s, LOS rate: -0.166525 deg/s, cmd heading: 330.107796 deg, new cmd heading: 329.906464 deg. zoEUHeadingCmd: 5.757954 target range: 42.794949 and range: 43.00 m.RoU)A@JoYboYZoYBoY:na2namimmBlikikqkyk}, @ɞ]JB]#< aeX>Ia m ɝiIvIui,=i =))A@)iF!"F)*F)2F-0:F)JSJSJ[A.J]qJ]iJYJYJ]D:J]ڈ9JYJYJ]\Z;!uJ]^Z;!uJ]r:!}J]s:!}G@p=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278068G2B:B Of>ԑjK OrK 9zK K DK nP/#0.U{pU8|hWLC91MaG5*$ :ď,5f"?A2Q7@Y252@2=;92a*=:AHRS rotation from veh to nav: [[0.879560,0.474017,-0.041003],[-0.475728,0.874818,-0.091525],[-0.007515,0.100008,0.994958]]y2H\%?KV?`RRr޿ ?@3n~#??ɫ2Q7@2%h;26CrՀBrvIInId٥; V=93:Q > F٦mEy%; %> )54Y-?54y--"B1555?-"D-^;-{;-p4EB)EAEEoimDNOT Ignoring new targets: 42.79 m.oiou3ou3 ProNav: ac range: 42.794949 m, nav range: 40.775406 m, bearing: 331.616901 deg, approach rate: -0.444918 m/s, LOS rate: -0.157054 deg/s, cmd heading: 329.906470 deg, new cmd heading: 329.727487 deg. zo׻ԡHeadingCmd: 5.754830 target range: 42.794949 and range: 43.00 m.Ro'@JoboZoBo:n2nmmlkkkkW:@AmDAT read: 04:05:28.0833 LVL= 21440, 30897, 20018, 30195, AGC= 61, IDX= 411,-0.43,-1.997, 2.933,-2.182,-2.350, PHS= 0.441,-0.953, 0.166, RAW= 139.2, 5.5, CAL= 143.2, -2.3, ROT= 6.8, 2.3 uYgot valid direction response: 04:05:28.0833 LVL= 21440, 30897, 20018, 30195, AGC= 61, IDX= 411,-0.43,-1.997, 2.933,-2.182,-2.350, PHS= 0.441,-0.953, 0.166, RAW= 139.2, 5.5, CAL= 143.2, -2.3, ROT= 6.8, 2.3 }PDAT read: Bearing 6.8, 2.3 (Local) }~Local bearing/azimuth received: Bearing 6.8, 2.3 (Local) DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.992166,0.118309,-0.040132] Fpublishing direction and range infoɞLB%< !-B>y[ҿ?HxI?.='3#BY S)xI2Ni=>s)> |@) =I@il$=l$= ) ?Q?Ѕ*P`?I)i->DNý=l$= )]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. MtɝaiaIeS#wImHBiJ -=iuS=)'@)FE "FA*FA2FM1:FIG ur= *DAT read: user:338>  BDAT read: Tx time:04:05:29.4247  $Ping request sent. ! "ď,"?A6eC@Y6I>@6:;96_9=>AHRS rotation from veh to nav: [[0.880260,0.472656,-0.041698],[-0.474430,0.875327,-0.093378],[-0.007636,0.101980,0.994757]]y6H`+???@nY]޿ ?緿@G@V? ?ɫ6eC@6݌;63CR̀BRkI5Mb@Mb@Mb@1 1)1I1i15"~?x&?~jt?5>57 >5<)5 AI5v@i5A5$A 15AIMOIMݜZH}<RH}4<H>HCHIIBIII&Ik<*I7E2I-C:I-CBI)JI- =RI- =ZI-5٥: 5;=959Q =>99 =F٦=pEyE![; E> IU4YM?U4yMM(BU>]:]?]?M"DM ;M;MTx4a)eAaJp)Rp-kj"?Ap-m"Bp-m"Bp-'@v-0u$D@(d7@vv-[ҿ?HxI?.='p-=p-l$=v-qB@ak-t$Uv-DI ɝiI v JDAT read: TxSync time:04:05:29.4239 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244718I:iQ-=iѕ=!)@)aF "F*F2F2:FGP=QG2B:B O>Ja Je oJa Ja Ja Je K9Ja Ja Ja Ja Je :Je :y Lď,l"?A2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4955186'J@Y6 E@6);96=BAHRS rotation from veh to nav: [[0.880652,0.471871,-0.042312],[-0.473704,0.875606,-0.094434],[-0.007512,0.103207,0.994632]]y6H M.? 3?ީ@+Q޿?, ~k??ɫ6'J@6\w;4NʀBRhIIV0IVV٥bU bc=9biQ b>dd fF٦frEyj; j> lr4Ynѳ?r4ynn.Bpr>v?n"Dnf;n:n~4z B)zAzEo%DNOT Ignoring new targets: 40.61 m.o!o-#do-#d= ProNav: ac range: 40.606483 m, nav range: 40.445301 m, bearing: 331.467833 deg, approach rate: -0.437386 m/s, LOS rate: -0.199452 deg/s, cmd heading: 329.510182 deg, new cmd heading: 329.308332 deg. zo=EHeadingCmd: 5.747515 target range: 40.606483 and range: 40.80 m.RoE@JoAboAZoABoA:nA2nImImIlIkQkQkQkU -?ɞ=PBEV< AEs>IA EK6ɝAiIIMwIM! Qi-=i6=)@)jK/OrK9zKKEK<rcWLE;1-+$%"     FM "FI*FI2FM_0:FIGUtAFUtAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.747847Gmtn=ԩGq 2B :B  O > Jvď, E"?A6A@Y6;@6;96M=>AHRS rotation from veh to nav: [[0.880133,0.472808,-0.042638],[-0.474693,0.875432,-0.091023],[-0.005710,0.100353,0.994936]]y6H *?}B?ԥ]a޿?OM@;cw`? ?ɫ6A@6~̌;4DDINWINƕ٥V? VL=9Z4Q Z>XX ^F٦^uEy^X6 ^> `f4YbB•?f4ybb4Bhj?j?b"Db:b:b4t)zA|o)-DNOT Ignoring new targets: 40.61 m.o)o5Vo5V ProNav: ac range: 40.606483 m, nav range: 40.279236 m, bearing: 331.391991 deg, approach rate: -0.409715 m/s, LOS rate: -0.187887 deg/s, cmd heading: 329.308336 deg, new cmd heading: 329.079876 deg. zo EHeadingCmd: 5.743527 target range: 40.606483 and range: 40.80 m.RoEʷ@JoIboQZoqBoy:ny2nmmlkԹkkkQ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004163ɞSB/; m>I ɝiI1wI%' i%-=i%R=)%ʷ@))F"F*F2F:FGஜ=GyHHCHIIBI =II&I<*IeE2B:B O> ! ! - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2519759 oď,f"?A}B}LI]Mb@Mb@Mb@Y Y)YIYiY]M?HzG?Mbp?]n>]= >];)]z AI]`@i]~A]A Y]AI}I}˴٥ .=9Q > F٦xEy > 4Y1ӕ?4y8B>:8?"D;;Ս4 B)AEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 40.61 m.ooUoU ProNav: ac range: 40.606483 m, nav range: 40.085377 m, bearing: 331.300266 deg, approach rate: -0.393308 m/s, LOS rate: -0.186995 deg/s, cmd heading: 329.079880 deg, new cmd heading: 328.803376 deg. zoUHeadingCmd: 5.738701 target range: 40.606483 and range: 40.80 m.Roq@JoboZoBo:n 2n mmBlkkkk ?ɞUBj; <>I ɝiI~vILc id;.=i=)q@J tJ kJ J J ;N:J 9J J J j;J j;J :J :)Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504568F "F*F2F:FI jK ǼMrK ]9zK K FK   :vn_I+vaQ@7/+'*6G5 r=G 2B :B)  O= >ď,"?ANP@YNK@N?c;9N=VAHRS rotation from veh to nav: [[0.881043,0.471141,-0.042298],[-0.473005,0.876439,-0.090111],[-0.005383,0.099399,0.995033]]yNH@1?-'?@!E޿ ? ~` v2r?O?ɫNP@N;L^B^HI dfAIjLIj٥rئ rm=9rsxQ r?tt vF٦vzEyz; z? |4Y~ߕ?4y~9~:B6?~"D~u:~:~֓4)AoQ]DNOT Ignoring new targets: 40.61 m.oYoeqoequ ProNav: ac range: 40.606483 m, nav range: 39.944553 m, bearing: 331.232604 deg, approach rate: -0.437127 m/s, LOS rate: -0.210769 deg/s, cmd heading: 328.803367 deg, new cmd heading: 328.599666 deg. zou}HeadingCmd: 5.735146 target range: 40.606483 and range: 40.80 m.Ro}Q@JoyboyZoyBoy:n2nmmlkkkk@=@ɞWBؔ; 靽<1>I dɝiIvIQL checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755706i1.=i"=)Q@)FQ"FQ*FY2F]m0:FYiG==G2B :B O%,>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009885 qď,#?A2Y@Y2T@2f;92O =BAHRS rotation from veh to nav: [[0.881553,0.470337,-0.040589],[-0.472044,0.877082,-0.088888],[-0.006207,0.097519,0.995214]]y2H5?? Ȥ5޿?T`ly??ɫ2Y@2b;21CLRBR9IJHBH?AH%>H!H%II% BI!I!I!&I%<*I%oEMb@Mb@Mb@ )Ii5^I ?Cl?;=t)II@iA;A zAIOIݜ٥jc ;=9:Q > F٦}Ey_#; >  4Y? 4yg3>:s?"D;C;,;v4!)%OA!oIMDNOT Ignoring new targets: 40.61 m.oIoU=oU=e ProNav: ac range: 40.606483 m, nav range: 39.760941 m, bearing: 331.161062 deg, approach rate: -0.423265 m/s, LOS rate: -0.165680 deg/s, cmd heading: 328.599663 deg, new cmd heading: 328.384048 deg. zoehmHeadingCmd: 5.731383 target range: 40.606483 and range: 40.80 m.Rom}g@JoiboqZoqBoq:nq2nqmym}Blykykkk@ɞUZB][: Y]>IY ]_@ ɝYiYIeeeuIeB iH.=i.=)}g@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260624F "F*F2F o0:F G- =G5 rAG5 sA) G `wAG 2B ) :B9  Om >) I  `wA BJE sJE lJA JA JE K:JE 9JA JA JE (e;JE +e;JE 1:JE 3:ď,o#?A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511697>4X@Y>S@>?;9>,o=JAHRS rotation from veh to nav: [[0.881467,0.470638,-0.038934],[-0.472195,0.877167,-0.087236],[-0.006904,0.095280,0.995427]]y>H`4??@3q8޿`?UG|Bd??ɫ>4X@>Ë;>5C^B^IIf\IfW٥v z[=9z3:Q z>|| F٦Ey > 4Y i?4y j s? "D z< < 4B)3Ao%DNOT Ignoring new targets: 40.61 m.o!o%2o%2= ProNav: ac range: 40.606483 m, nav range: 39.603996 m, bearing: 331.099407 deg, approach rate: -0.394845 m/s, LOS rate: -0.155728 deg/s, cmd heading: 328.384048 deg, new cmd heading: 328.198351 deg. zo=ջeHeadingCmd: 5.728142 target range: 40.606483 and range: 40.80 m.RomL@JoiboiZoiBoq:nq2nqmqmylykykykyk`@ɞ\B qu=Iq u ɝqiyI}-sI}SiF`/=i =)L@)jK% OrK%9zK!K%GK%EKJE=7+*('$$"#"!  !#  R}pf[TLD=9F] "Fa*Fa2Fe0:FaG]G=G12B9Q:BQ Oew>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763633ԁ gď,5#?A:S@Y:eN@:ئ;9:M=FAHRS rotation from veh to nav: [[0.881194,0.471254,-0.037632],[-0.472700,0.877086,-0.085299],[-0.007191,0.092954,0.995644]]y:H`2?`)?wD@޿?`.ֵ`t}˷?Q?ɫ:S@:f;:3CRvBRIIZaIZ錴٥bн fM=9f<:Q f>dh jF٦jEyj! j> lr4Yn ?v4yn~n9Btvtv?n"Dn:ny:n4x)zA|o%DNOT Ignoring new targets: 40.61 m.o!o%.Lo-.LYe ProNav: ac range: 40.606483 m, nav range: 39.436687 m, bearing: 331.033267 deg, approach rate: -0.449653 m/s, LOS rate: -0.178510 deg/s, cmd heading: 328.198349 deg, new cmd heading: 327.999087 deg. zoemHeadingCmd: 5.724664 target range: 40.606483 and range: 40.80 m.Roms0@JoiboiZoiBoi:ni2nqmqmqlqkykykyk}G @ɞ_Bڧ 靭;=I _ ɝiI:qI@i2/=i%=)s0@)yuBDAT read: Rx Time:04:05:31.8811 TRx dataTimestamp_ set to:1761365132.950161checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023242F "F *F 2F _5:FGsAFsAԉH%>H!H%II%BI!I!I!&I%<*I%sEԹG5=G) 2B1 :BI  OU >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267709Ŭď,iO#?ArfBrI-Mb@Mb@Mb@) )))I)i)-v/?V-?-x>-h=-̼)-d AI-`@i-~A-$A )-(AISIQ٥* /=9Q > F٦Ey > 4Y?4yt4B>:Ū?"D;;4B)qA EB*** querying acoustic contact ***:pBpo!%DNOT Ignoring new targets: 40.61 m.o!oM|oM|] ProNav: ac range: 40.606483 m, nav range: 39.212116 m, bearing: 330.976250 deg, approach rate: -0.446769 m/s, LOS rate: -0.114081 deg/s, cmd heading: 327.999098 deg, new cmd heading: 327.827069 deg. zo]eHeadingCmd: 5.721662 target range: 40.606483 and range: 40.80 m.Roe@JoaboZoBo:n2nmmRBlkkkk9 @ɞbB  +9ie`e<e>e= eS> e,@)e^ =Ie0"@iee=e= a)aee|z?I86?4Z?ie9o>e%;۽e=e= a)aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jK ^KNrK zK K HK 82.+DzdA  )8<3)! "(('#!H}u]H:BK >:K >G K=A G 2B :B  O >ď,Pi#?A}VB}I*DAT read: user:339> BDAT read: Tx time:04:05:33.1747 $Ping request sent. F٦Ey > 4Y)?4y0B   ?"D:i);4)AJpRp\#?ApBpBp @vA`mC@06na> @%$>vFh ?幈h?B3p=p=v4dRA@,@.ln9v{ b?S*Aٿ>jpRvrpMBZpB?bpeȔzp{BpOj?py{psBpBpl@ addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.780730 s, deltaX: -1.599998 m, approachRate: -0.423198 m/s, rangeRepo size: 4 e Added new target pos. range: 39.014019 m, bearing: 336.745894 deg, lat: 36.779468 deg, lon: -121.859730 deg, deltaT: 3.780730 s, deltaX: -1.592464 m, approachRate: -0.421206 m/s, posRepo size: 4 oamDNOT Ignoring new targets: 39.01 m.oiomoi} ProNav: ac range: 39.014019 m, nav range: 39.148659 m, bearing: 333.787717 deg, approach rate: 0.000000 m/s, LOS rate: -0.114081 deg/s, cmd heading: 327.827060 deg, new cmd heading: 327.690263 deg. zoyHeadingCmd: 5.719274 target range: 39.014019 and range: 39.20 m.RoK@JoboZoBo:n2nmmlkkkC@kc?ɞ%eB%T, )-@I) -< ɝ)i)I-diI5z\i50=i=;=9)=K@)YF5 "F1*F12F5P5:F1J%vJ%iJ!J!J%{T:J%ڈ9J!J!!5@!5@!5@!5@i JDAT read: TxSync time:04:05:33.1739  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257313G} x=ԙ GQ 2BY :Bq  O} >ď,|#?AI)<ZHHRHJ<HLHLHNfIINȀBILILIL&INd<*IN-En2@Yn@n;9n=vAHRS rotation from veh to nav: [[0.877630,0.477991,-0.035931],[-0.479280,0.873871,-0.081493],[-0.007554,0.088741,0.996026]]ynH?f?e޿?ܴ~·?r?ɫn2@n: ;l%AB-IIUMb@Mb@Mb@Q Q)QIQiQU ףp= ?Zd;O?V-UQ>Ujy F٦Eyx > 4Yt9?4y7)B >:?#D::-4B)A!Eq]  Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Entering USBL mode with 120.000000 count pings at 39.200001 m (mode 2.000000 count ).]]oQUDNOT Ignoring new targets: 39.01 m.oQo]Ao]A ProNav: ac range: 39.014019 m, nav range: 38.941216 m, bearing: 333.784616 deg, approach rate: -0.535389 m/s, LOS rate: -0.008046 deg/s, cmd heading: 327.690265 deg, new cmd heading: 327.680912 deg. zoHeadingCmd: 5.719111 target range: 39.014019 and range: 39.20 m.Ro@JoboZoBo:n2nmm"Blkkkk r?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501471ɞgBc 靭I  ɝiIoeI/gi91=i=)@)yFu "Fq*Fq2FuZ0:FqG}= G}= Gu O=GI 2BY :Bq  O} >) U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753341ď,mV#?A6@Y6}@6[;96ɑ=vAHRS rotation from veh to nav: [[0.875247,0.482354,-0.035745],[-0.483625,0.871686,-0.079185],[-0.007037,0.086593,0.996219]]y6H? ?%M޿@?oE{|`*??ɫ6@6OR;64C5,B5IIEqIEv}٥}۽ }\=9}lQ }> F٦EyZ > 4Y G?4yJ$B?#DV;X;ũ4)YA*q^@]1^oDNOT Ignoring new targets: 39.01 m.oo_o_ ProNav: ac range: 39.014019 m, nav range: 38.760845 m, bearing: 333.783246 deg, approach rate: -0.506234 m/s, LOS rate: -0.003862 deg/s, cmd heading: 327.680921 deg, new cmd heading: 327.676792 deg. zo)HeadingCmd: 5.719039 target range: 39.014019 and range: 39.20 m.Ro^@JoboZoBo:na2nmmlkkkk)z?ɞiB I % ɝiIxx`Iki D1=i  =) ^@) jK} .NrK}]9zKyK}IK}2*',09Vjz~xsr|uv{oZD4'  /20*'"!"$ 2K*KqA1EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005303F "F*F2Fs4:Fa G =G 2B :B  O >#ď,m#?ARv@YRq@RU;9R?=ZAHRS rotation from veh to nav: [[0.868146,0.494815,-0.038479],[-0.496280,0.864640,-0.078130],[-0.005389,0.086925,0.996200]]yRH? ? ߿!?Pv@@??ɫRv@Ri;R2Cb$BbIIj1Ijs٥r/ rU=9vQ v>tt vF٦zEyz z> | 4Y~%U? 4y~~~B?~#D~;~u;~_̩4%B)-A-"EJsJmJJJK:J&9JJ2q1^q^oDNOT Ignoring new targets: 39.01 m.oog8og85checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261261e ProNav: ac range: 39.014019 m, nav range: 38.574562 m, bearing: 333.785830 deg, approach rate: -0.439953 m/s, LOS rate: 0.006131 deg/s, cmd heading: 327.676795 deg, new cmd heading: 327.684583 deg. qzoe9HeadingCmd: 5.719175 target range: 39.014019 and range: 39.20 m.Ro{@JoboZoBo:n2n m m lkkkkE?ɞlBnD ,I mBɝiI ~ZI bi e1=i}G=){@)E-9ԙHHH-IIBIII&I<*IE2Ia:IaBIaJIaRIaZIeK4F"F*F2F_0:F  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509619G =G 2B :B  O >dď,7n#?A $&@R4Y@YRT@R7;9R~Ѯ=fAHRS rotation from veh to nav: [[0.866349,0.498041,-0.037346],[-0.499403,0.862952,-0.076880],[-0.006062,0.085255,0.996341]]yRH ??@7߿M?f\xKӵ??ɫR4Y@RF;R3CnBnIMb@Mb@Mb@ )Ii}?5^I?QM?u̼)M AIiAA 3AIZI٥ z 1=9]:Q > F٦Ey > 4Y f?4y   B?:P ? )#D : /; nԩ4%B)%%A!:qAq^EMCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLq]MMAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLoYeDNOT Ignoring new targets: 39.01 m.oaoeҬ:omҬ:u ProNav: ac range: 39.014019 m, nav range: 38.340778 m, bearing: 333.817560 deg, approach rate: -0.553240 m/s, LOS rate: 0.075546 deg/s, cmd heading: 327.684582 deg, new cmd heading: 327.780353 deg. zo}bO;HeadingCmd: 5.720846 target range: 39.014019 and range: 39.20 m.Ro,@JoboZoBo:n2nmmBlkkkkT?ɞmB0 /I KɝiIʝUIvi##2=i:_=),@) EEEEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761644AF "F*F2F:FGFrAG벫=q G 2B :B  O >jK- iNrK- 9zK) K- JK- - /mx~ < W = yWEnBoV7cI9.ď,#?A,BE9@YB)4@B;9Bw=JAHRS rotation from veh to nav: [[0.864393,0.501488,-0.036536],[-0.502775,0.861085,-0.075826],[-0.006565,0.083913,0.996451]]yBH? 1 ?鴢?@YizW{??ɫBE9@B;B1Cj Bllrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013710j{IIzfIz{٥> \=9 :Q  >  F٦Ey5, > !-4Y%s?-4y%R %B)-T -?%5#D%:%p:%ک4=B)=A9}B*** querying acoustic contact ***:pyBp}xoDNOT Ignoring new targets: 39.01 m.oo:o: ProNav: ac range: 39.014019 m, nav range: 38.152534 m, bearing: 333.844524 deg, approach rate: -0.503969 m/s, LOS rate: 0.072545 deg/s, cmd heading: 327.780341 deg, new cmd heading: 327.861633 deg. zo%G;HeadingCmd: 5.722265 target range: 39.014019 and range: 39.20 m.Ro@JoboZoBo:n2nmmlkkkki@ɞoBc KI wɝiIOI{i\2=iŝ=)@)ԑF "F*F2F0:FԱJ9J=iJ9J9J9J=ڈ9J9J9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269358GM L= Gy 2B :B  O >JH BH H H H II rBI I I &I q<*I BEFjď,|$?A6~@Y6b@6Y;963˫=>AHRS rotation from veh to nav: [[0.862685,0.504382,-0.037056],[-0.505704,0.859406,-0.075398],[-0.006183,0.083784,0.996465]]y6H?`#?@.@A?`@M@Syr? ?ɫ6~@6t;63CFBJwI\5Mb@Mb@Mb@1 1)1I1i15J +?/$/$5?5,5)5 AI5v@i5hA5$A 15AIdI@٥" >=9hQ > F٦Ey) > 4Y?4y B; ?:?D#D ;u ;m4)A o1=DNOT Ignoring new targets: 39.01 m.o9oE ;oE ;M ProNav: ac range: 39.014019 m, nav range: 37.925198 m, bearing: 333.895968 deg, approach rate: -0.533910 m/s, LOS rate: 0.121543 deg/s, cmd heading: 327.861620 deg, new cmd heading: 328.016878 deg. zoUԦ;]HeadingCmd: 5.724975 target range: 39.014019 and range: 39.20 m.Ro]2@JoYboYZoYBoY:nY2namamalakikikikm`$@ɞrBo 靭WI ɝiI&IIig2=i}=)2@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518276F"F*F2F1:FG@=Gy2B:B O`>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769263ď,u$?AN@YN}@N,;9NcK=VAHRS rotation from veh to nav: [[0.861145,0.506936,-0.038022],[-0.508324,0.857783,-0.076263],[-0.006046,0.085000,0.996363]]yNH? 8?w/Dr?񅳿{x@µ?3?ɫN@N;L^B^qIIfZIf٥n޼ n[=9rQ r>pt vF٦vEyv v> |4Y~`? 4y~~B   ?~Q#D~:~ :~4(B)=A%,EoaeDNOT Ignoring new targets: 39.01 m.oaom ;om ; ProNav: ac range: 39.014019 m, nav range: 37.727329 m, bearing: 333.942171 deg, approach rate: -0.524238 m/s, LOS rate: 0.123052 deg/s, cmd heading: 328.016884 deg, new cmd heading: 328.156219 deg. zo;HeadingCmd: 5.727407 target range: 39.014019 and range: 39.20 m.RoF@JoboZoBo:n2nmmlkkkk@ɞsB~м eI pɝiIBIGi2=iy=)F@)EEjK-;PrK-59zK)K-KK-*&" 9XmF= "F9*F92F=@5:F9IGM= GM>BDAT read: Rx Time:04:05:35.6291 TRx dataTimestamp_ set to:1761365136.725817checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022465qGڍ=G 2B :B  O >ԡ ď,9$?A>C@Y>'@>;9>rK=FAHRS rotation from veh to nav: [[0.860193,0.508406,-0.039889],[-0.509936,0.856618,-0.078562],[-0.005772,0.087919,0.996111]]y>H?`D?ZldQ`ii?`w⁶?$?ɫ>C@>Z;>1CNBNxIIVlIV)٥^g< ^M=9b3Q b>`` fF٦fEyf f> lr4Yn ?r4ynnBtv!v?n^#DnF:nd:n4x)zAxJJkJ3JJJ9J(3JoQԡDNOT Ignoring new targets: 39.01 m.oo;o;uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275742 ProNav: ac range: 39.014019 m, nav range: 37.516335 m, bearing: 333.992555 deg, approach rate: -0.524690 m/s, LOS rate: 0.125998 deg/s, cmd heading: 328.156220 deg, new cmd heading: 328.308223 deg. zo;HeadingCmd: 5.730060 target range: 39.014019 and range: 39.20 m.Ro\@Jo!bo!Zo!Bo):nQ2nYmamlkkkk` @ɞuB%z iu]Iq }ɝyiI;I i2=ik=)\@)H>HHIISBIII&I<*IEF "F*F2F`5:FGuPz=GI 2BQ :Bi  Ou > A A= DAT read: 04:05:35.6291 LVL= 17472, 29505, 17938, 29219, AGC= 62, IDX= 414,-0.33, 2.724, 1.328, 2.481, 2.369, PHS= 0.443,-0.994, 0.109, RAW= 137.1, 6.8, CAL= 141.5, -0.3, ROT= 8.5, 0.3 E Ygot valid direction response: 04:05:35.6291 LVL= 17472, 29505, 17938, 29219, AGC= 62, IDX= 414,-0.33, 2.724, 1.328, 2.481, 2.369, PHS= 0.443,-0.994, 0.109, RAW= 137.1, 6.8, CAL= 141.5, -0.3, ROT= 8.5, 0.3 M PDAT read: Bearing 8.5, 0.3 (Local) M ~Local bearing/azimuth received: Bearing 8.5, 0.3 (Local) U DAT read: Range 10 to 50 : 37.5 m (Round-trip 50.1 ms) speed 0.4 m/s ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.989002,0.147807,-0.005236]e Fpublishing direction and range info y @*?k)Z?sNru BY @D) AsI Fi #r > > v~ d;= f$@) =I @i > ; ) 5[?6?~&~?i (m> ` > ; )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A cď,;S$?A>%@Y> ܷ@>;9>_=fAHRS rotation from veh to nav: [[0.858940,0.510436,-0.040941],[-0.512048,0.855304,-0.079129],[-0.005373,0.088931,0.996023]]y>H@p|?~U? 6b^?Alv,Ķ?@l?ɫ>%@>;>3CixI|EBUtI)e׉G y)I?@B%Mb@Mb@Mb@! !)!I!i!%q= ףp?~jt% ?%L%D)% AI!i%A%A !%AIMTIMn٥]) ]&=9eTQ e>aa F٦Ey > 4Y?4y(B# ?:t ?p#D/:;4+B)<A-EJp9Rp=N$?Ap=IBp=IBp=V@v=)7tB@2@-Reɿv=@*?k)Z?sNrup=>p=;v=筦CA@ZU,?v=ݚ?_oKؿp4ըqle?jp=brp= BZp=O9?bp=ǎzp=6Bp=B?p=eȔp={Bp=mBp=NP@ addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 3.779358 s, deltaX: -1.700001 m, approachRate: -0.449812 m/s, rangeRepo size: 4  Added new target pos. range: 37.321899 m, bearing: 337.692149 deg, lat: 36.779475 deg, lon: -121.859709 deg, deltaT: 3.779358 s, deltaX: -1.692120 m, approachRate: -0.447727 m/s, posRepo size: 4 oDNOT Ignoring new targets: 37.32 m.ooo ProNav: ac range: 37.321899 m, nav range: 37.107353 m, bearing: 337.174363 deg, approach rate: 0.000000 m/s, LOS rate: 0.125998 deg/s, cmd heading: 328.308233 deg, new cmd heading: 328.498775 deg. zo%HeadingCmd: 5.733385 target range: 37.321899 and range: 37.50 m.Ro%w@Jo!bo!Zo!Bo!:n!2n)m)m-Bl)k1k1k5B@k5 mBDAT read: Tx time:04:05:36.9748 m$Ping request sent.mNrK} +9zKy K} LK} yn>+"!:OKWol\VnumeZVXcfaYRIE?83000' ԙ G C|w=G 2B :B  O >:ď,on$?A&JDAT read: TxSync time:04:05:36.9740 &checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252380FrҰ@YFVͷ@F&c;9FN=AHRS rotation from veh to nav: [[0.858022,0.511881,-0.042139],[-0.513589,0.854320,-0.079773],[-0.004834,0.090089,0.995922]]yFHt?`Sa?JSo@V?@k_s??ɫFrҰ@F ;F1C5 B5IIM=)Mp=)Y ]@AI]RI]4٥m8= me=9muƺQ u>qq }F٦}Ey}˦ }> 4Y?4y#B ?|#D!;";4)AB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 37.32 m.ooi;oi; ProNav: ac range: 37.321899 m, nav range: 36.919632 m, bearing: 337.242631 deg, approach rate: -0.559055 m/s, LOS rate: 0.204343 deg/s, cmd heading: 328.498768 deg, new cmd heading: 328.704612 deg. zo= < HeadingCmd: 5.736978 target range: 37.321899 and range: 37.50 m.RoR@JoboZoBo:n2nmml!k!k)kk|?ɞ-yB-X׼ 15(YI9 ="ɝ9iAIE~.IUD i]2=i]F=)]R@)F% "F!*F!2F%_0:F)Gdh=G2B:B O k> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504946QZH <RH H% >H! H% II% DBI! I! I% D&I% <*I% nEq !ď,?$?A  B IMb@Mb@Mb@ )Iix&?v/{Gzt7 ?xiף)I`@i$A IDI٥6; E=9Q > F٦Ey > 4YΖ?4y B ?:$?#D? ;i ;4)Ao)5DNOT Ignoring new targets: 37.32 m.o1o=l;o=l;M ProNav: ac range: 37.321899 m, nav range: 36.702370 m, bearing: 337.328121 deg, approach rate: -0.522407 m/s, LOS rate: 0.206779 deg/s, cmd heading: 328.704602 deg, new cmd heading: 328.962591 deg. zoM  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006604 8!(ď,D$?A>@Y>@>?Z;9>D=FAHRS rotation from veh to nav: [[0.856283,0.514806,-0.041888],[-0.516496,0.852920,-0.075884],[-0.003339,0.086613,0.996236]]y>Hf?Iy?Hr"K?mYk`A,? +?ɫ>@>m;>/CRBRIIZ/IZ9٥b>i= b]=9b9Q b>dd fF٦fEyf> j> hr4Yj3ܖ?v4yj#jBtv%v?j#DjiD;jdE;jr 4z/B)~A~.Eo!%DNOT Ignoring new targets: 37.32 m.o)o-q;o-q;= ProNav: ac range: 37.321899 m, nav range: 36.509644 m, bearing: 337.405948 deg, approach rate: -0.520980 m/s, LOS rate: 0.211493 deg/s, cmd heading: 328.962592 deg, new cmd heading: 329.197304 deg. zo=%<EHeadingCmd: 5.745577 target range: 37.321899 and range: 37.50 m.RoE۷@JoAboIZoIBoI:nI2nImQmQlQkQkQkYk]?ɞ|B"6˼ 靕PGI |'ɝiIAl#I iX2=i=)۷@)ԱF"F*F2F0:FGB=jKMNrKIzKIKMMKM AaX@/*/_oU5 2]2KQ*KUsAG2B:B O$>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889 9 +K.ď,$?A>@Y>~@>ҩ';9>=FAHRS rotation from veh to nav: [[0.856279,0.514568,-0.044789],[-0.516507,0.852614,-0.079184],[-0.002558,0.090938,0.995853]]y>H`f? Ww?:H? mE8dG??ɫ>@>ڻ;>0Cb.BbIIj#Ijô٥I=  F=9 Q  > F٦Eyi > !%4Y%,떊?-4y%^'-tI%B)-%-?%#D% :%:%49)=A9oi}DNOT Ignoring new targets: 37.32 m.oo)u;o)u;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514119 ProNav: ac range: 37.321899 m, nav range: 36.294022 m, bearing: 337.494007 deg, approach rate: -0.521728 m/s, LOS rate: 0.214338 deg/s, cmd heading: 329.197305 deg, new cmd heading: 329.463050 deg. zo<HeadingCmd: 5.750215 target range: 37.321899 and range: 37.50 m.Ro@JoboZoBo:n!2n)mQmYlakakkk.?ɞ}BB hI *ɝ i I Ipiw2=i]=)@)H>HHIIIBI =II&I<*IEF "F*F2Fo0:FI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765575ԩ G 8=G ?G /?G 2B :B  OM >{45ď,$?A4F>Ȱ@YF"÷@F<;9F=RAHRS rotation from veh to nav: [[0.857389,0.512569,-0.046453],[-0.514662,0.853370,-0.082959],[-0.002881,0.095036,0.995470]]yFH o?f?ȧxN?<6g`DT? ?ɫF>Ȱ@F;F2CZ4BZIMMb@Mb@Mb@I I)IIIiIM~jt?Mb?M?M̼M<)M AIIiMhAMA IIIeVIe٥u= }C=9}I:Q }>y F٦Ey; > 4Y\?4y*?:?#D,;A;42B)A/EoDNOT Ignoring new targets: 37.32 m.oo9;o9; ProNav: ac range: 37.321899 m, nav range: 36.081333 m, bearing: 337.561523 deg, approach rate: -0.508362 m/s, LOS rate: 0.162324 deg/s, cmd heading: 329.463054 deg, new cmd heading: 329.666793 deg. zo;HeadingCmd: 5.753771 target range: 37.321899 and range: 37.50 m.Ro@JoboZoBo:n2nmmBlkkkk @ɞ%B-0JusJqJqJqJuK:JqJqJqJu(e;Ju*e;JqJqԉ JI +ɝiIhIeim2=im+P =)m@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014748F "F*F2F0:FԹGy=G2B:B O> jK NrK zK K NK rP8+#%# !Hfomg_ZQJC>:53/+&/r BK ?:K >C];ď,T$?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268000`v|԰@Yv`Ϸ@v8T3;9v[=AHRS rotation from veh to nav: [[0.858157,0.511196,-0.047380],[-0.513380,0.853991,-0.084505],[-0.002736,0.096843,0.995296]]yvHv?[?:Bm S? jfʸ?v?ɫv|԰@vm ;v4CGBII%`I%̍٥5= 5O=95Q 5>99 =F٦=EyEw; E> IU4YM?U4yM-MBQUU?M#DM<;MD;M!4a)eTAaB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 37.32 m.oom5;om5;% ProNav: ac range: 37.321899 m, nav range: 35.880451 m, bearing: 337.625548 deg, approach rate: -0.494897 m/s, LOS rate: 0.158616 deg/s, cmd heading: 329.666785 deg, new cmd heading: 329.859935 deg. zo%;-HeadingCmd: 5.757142 target range: 37.321899 and range: 37.50 m.Ro-:@Jo)bo)Zo)Bo1:nQ2nQmYmalakikikyk} @ɞBG 0I M-ɝiIIŪi2=i%=)%:@)!F "F*F2F_5:FDDAT read: Rx Time:04:05:39.1515 TRx dataTimestamp_ set to:1761365140.002395PDAT read: Bearing 10.7, 1.7 (Local) ~Local bearing/azimuth received: Bearing 10.7, 1.7 (Local) DAT read: Range 10 to 50 : 35.7 m (trip time 23.8 ms) speed 0.4 DAT read: 04:05:39.1515 LVL= 17232, 27185, 16002, 26947, AGC= 60, IDX= 419, 0.23,-0.199,-1.660,-0.537,-0.638, PHS= 0.527,-0.975, 0.098, RAW= 133.9, 5.3, CAL= 139.3, -1.7, ROT= 10.7, 1.7 Ygot valid direction response: 04:05:39.1515 LVL= 17232, 27185, 16002, 26947, AGC= 60, IDX= 419, 0.23,-0.199,-1.660,-0.537,-0.638, PHS= 0.527,-0.975, 0.098, RAW= 133.9, 5.3, CAL= 139.3, -1.7, ROT= 10.7, 1.7 R#Rx 1: Read range and direction messages. ^direction in FSK: [0.982180,0.185585,-0.029666] Fpublishing direction and range infoy(fn?u>? `BY PCGm =)1jI>iCi<y?y9= W@I )q=I@it;?>< )MI?`2R?vOj-4?i}x>ԕt;?>Ga 2Bi :B  O >JH BH AAH >H H II ]BI I I &I z<*I KE2I:IBIJIRIZI!)5< ) checking for new query: numPingsReceived=1, elapsed TxPingTime=2.620873GBď,K %?A :ް@Y:ط@:Fb;9:=RAHRS rotation from veh to nav: [[0.858759,0.510066,-0.048642],[-0.512374,0.854429,-0.086161],[-0.002386,0.098915,0.995093]]y:H z? uR?@稿^e{W?GcwR?`?ɫ:ް@:-Y;:1CZVBnIMb@Mb@Mb@ )IiZd;O?:v?j>T<)z AII@iA$A (AIdI@٥= 2=9GQ > F٦Ey %;  > 4Y<?4y0B%>%:%a %?#D:5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770793:)4U=B)]7A]9EJp Rp ='%?Ap Bp Bp -@v rA@s}u `@#av (fn?u>? `Ap t;?>p <v P4@@$ O(澓޿v $jv?:sEտn#鹩jp }Brp BZp NU?bp wZpzp ~Bp O9?p ǎp {Bp |Bp E@ addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 2.772970 s, deltaX: -1.799999 m, approachRate: -0.649123 m/s, rangeRepo size: 4  Added new target pos. range: 35.530228 m, bearing: 339.992093 deg, lat: 36.779478 deg, lon: -121.859706 deg, deltaT: 2.772970 s, deltaX: -1.791672 m, approachRate: -0.646120 m/s, posRepo size: 4 oDNOT Ignoring new targets: 35.53 m.oo o  ProNav: ac range: 35.530228 m, nav range: 35.871853 m, bearing: 338.216245 deg, approach rate: 0.000000 m/s, LOS rate: 0.158616 deg/s, cmd heading: 329.859942 deg, new cmd heading: 330.093816 deg. zoEHeadingCmd: 5.761224 target range: 35.530228 and range: 35.70 m.RoE[@JoAboAZoABoA:nI2nImImMABlQkQkQkUA@kU?ɞB❂ I {.ɝiIoIBiڔ2=i <)[@)ԁF"F*F2FM3:FJcJk3JkS}-J qJ pJ J J D:J ^9J J J \Z;J ^Z;J :J : DDAT read: Rx Time:04:05:39.6512  TRx dataTimestamp_ set to:1761365140.506471 PDAT read: Bearing 12.4, -0.7 (Local)  ~Local bearing/azimuth received: Bearing 12.4, -0.7 (Local)  DAT read: Range 10 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4 = DAT read: 04:05:39.6512 LVL= 22688, 32753, 21762, 32755, AGC= 59, IDX= 497,-0.36, 1.845, 0.503, 1.491, 1.460, PHS= 0.473,-0.910, 0.028, RAW= 131.6, 6.8, CAL= 137.6, 0.7, ROT= 12.4, -0.7 E Ygot valid direction response: 04:05:39.6512 LVL= 22688, 32753, 21762, 32755, AGC= 59, IDX= 497,-0.36, 1.845, 0.503, 1.491, 1.460, PHS= 0.473,-0.910, 0.028, RAW= 131.6, 6.8, CAL= 137.6, 0.7, ROT= 12.4, -0.7 E R#Rx 2: Read range and direction messages.M \direction in FSK: [0.976599,0.214719,0.012217]M Fpublishing direction and range info y O-^M@?-{?I:? 3 BY X) I Ui  ; -> h B`< @) =I `@i +H< k]> +H ) N ?$˟?|J?i O>  k]> +H ) m checking for new query: numPingsReceived=2, elapsed TxPingTime=3.040301q G 9=G rAG Gi 2By :B  O >Iď,&%?A^@Y^@^`;9^=fAHRS rotation from veh to nav: [[0.859419,0.508836,-0.049841],[-0.511267,0.854924,-0.087808],[-0.002070,0.100946,0.994890]]y^H\?@cH?`@M\ [?@z@`׹? #?ɫ^@^΍;^2CnkBnIpIzQIz٥-= -Q=95SQ 5>11 =F٦=Ey=wZ; => 4Yy'?4yJ3B ?#D: :04)AJpRpj %?Ap Bp Bp@vA'A@@,@ykR *x?vO-^M@?-{?I:?pk]>p+Hv{@@EB&ەҚ8?vU?'G^FԿ+&I?jp2rp7BZp@?bpΪ XzpBpNU?pzp~Bp BpU@ addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.504076 s, deltaX: -0.400002 m, approachRate: -0.793534 m/s, rangeRepo size: 4  Added new target pos. range: 35.132130 m, bearing: 341.520354 deg, lat: 36.779478 deg, lon: -121.859697 deg, deltaT: 0.504076 s, deltaX: -0.398098 m, approachRate: -0.789758 m/s, posRepo size: 4 oDNOT Ignoring new targets: 35.13 m.ooo ProNav: ac range: 35.132130 m, nav range: 35.461792 m, bearing: 339.489614 deg, approach rate: 0.000000 m/s, LOS rate: 0.158616 deg/s, cmd heading: 330.093808 deg, new cmd heading: 330.276589 deg. zo HeadingCmd: 5.764414 target range: 35.132130 and range: 35.30 m.jKUdNrKUػ9zKQKUOKU ~vohbaahrtt  $pr -+%yeSD930.'$  2Ka*KaRomv@JoiboiZoiBoi:ni2nqmmlkkk`fA@k`"?ɞB -c 5I |9Oď,2&2+= 2.z@)2t;?>I2h@i2Q =2|>2Q 0)02Z4?d?$]?i266>2U]>@Yy@ۣ:9L=2|>2Q 0)0 checking for new query: numPingsReceived=3, elapsed TxPingTime=3.614656AHRS rotation from veh to nav: [[0.860165,0.507354,-0.052044],[-0.510015,0.855422,-0.090213],[-0.001250,0.104141,0.994562]]yHw??H)H-II-|BI- =I)I)&I-<*I-_ExBIԁEMb@Mb@Mb@A A)AIAiAEtV?y&1?Q?E>E` F٦Ey.; > 4Ye:?4y]6B;>:?#Dl<l<G:4%@B)%DA%:E5PExceeded connect timeout, disconnecting.Jp0Rp2@%?Ap2 Bp2 Bp2@v2 u"8A@9*GP@EAw@v2Mr?4O??p2|>p2Q v2@@X*lf@v2Prv? _Wؿ"08vsZ?jp2Trp2BZp2ZС?bp2Tٓzp2Bp2O9?p2ǎp26Bp2 Bp2N@ addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.503756 s, deltaX: -0.200001 m, approachRate: -0.397019 m/s, rangeRepo size: 4  Added new target pos. range: 34.933239 m, bearing: 337.553912 deg, lat: 36.779478 deg, lon: -121.859706 deg, deltaT: 0.503756 s, deltaX: -0.198891 m, approachRate: -0.394816 m/s, posRepo size: 4 oDNOT Ignoring new targets: 34.93 m.oo!o!U ProNav: ac range: 34.933239 m, nav range: 35.425594 m, bearing: 338.307419 deg, approach rate: 0.000000 m/s, LOS rate: 0.158616 deg/s, cmd heading: 330.276584 deg, new cmd heading: 330.533089 deg. zoQ]HeadingCmd: 5.768891 target range: 34.933239 and range: 35.10 m.Ro]@JoYboYZoYBoa:na2namamm}BlikkǩA@kSWď,s^%?AI)^?@Y^#@^D99^$=vAHRS rotation from veh to nav: [[0.861201,0.505393,-0.053951],[-0.508265,0.856256,-0.092155],[-0.000378,0.106785,0.994282]]y^H ?.,?@@C`sf?q`8EV?(?ɫ^?@^d;^/C DDAT read: Rx Time:04:05:40.6509 TRx dataTimestamp_ set to:1761365141.514409PDAT read: Bearing 11.6, 0.6 (Local) %~Local bearing/azimuth received: Bearing 11.6, 0.6 (Local) 5DAT read: Range 10 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 UDAT read: 04:05:40.6509 LVL= 20976, 32369, 21074, 32179, AGC= 61, IDX= 509, 0.42, 1.559, 0.152, 1.208, 1.142, PHS= 0.505,-0.944, 0.063, RAW= 132.7, 5.9, CAL= 138.4, -0.6, ROT= 11.6, 0.6 eYgot valid direction response: 04:05:40.6509 LVL= 20976, 32369, 21074, 32179, AGC= 61, IDX= 509, 0.42, 1.559, 0.152, 1.208, 1.142, PHS= 0.505,-0.944, 0.063, RAW= 132.7, 5.9, CAL= 138.4, -0.6, ROT= 11.6, 0.6 eR#Rx 4: Read range and direction messages.m^direction in FSK: [0.979522,0.201067,-0.010472]mFpublishing direction and range info y rڌ=X?Vs?/;r 3 BY  Q) q~I RRi } = G? q %= 2:@) B=I #@i + 4QO> +< )  &vb ??{e:Q?i b> ;ҽ 4QO> +< ) checking for new query: numPingsReceived=4, elapsed TxPingTime=4.048450BIIZI٥= _=9&Q > F٦Eyf; > !%4Y%kG?-4y%x8%B)--?%#D%:%p:%@4Y)]AYyJp Rp `%?Ap  Bp  Bp jz@v /es@@"@HɮB6׿v rڌ=X?Vs?/;rp 4QO>p +<v . 8`@@J,[~&-7fP?v WC?Yl@$QԿ0j?jp 3rp BZp ?bp :J`zp CBp p wZpp CBp ^ Bp @ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504182 s, deltaX: -0.299999 m, approachRate: -0.595022 m/s, rangeRepo size: 4  Added new target pos. range: 34.634666 m, bearing: 341.049878 deg, lat: 36.779478 deg, lon: -121.859693 deg, deltaT: 0.504182 s, deltaX: -0.298573 m, approachRate: -0.592192 m/s, posRepo size: 4 o%DNOT Ignoring new targets: 34.63 m.o!o!o!m ProNav: ac range: 34.634666 m, nav range: 34.841965 m, bearing: 340.103507 deg, approach rate: 0.000000 m/s, LOS rate: 0.158616 deg/s, cmd heading: 330.533099 deg, new cmd heading: 330.700637 deg. zoimHeadingCmd: 5.771815 target range: 34.634666 and range: 34.80 m.Ro@JoboZoBo:n2nmmlkkk`ffA@k`ƶ?ɞeBm--  ;I C/ɝiI%I1i%2=i-<)@)!ԩF "F*F2F5:FjK]/ PrK]9zKYK]PK] R yU<*!8|[F6-&.BTVU[]>! #BKu>:Ku>صAرchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.283241G c<GA 2BQ :Ba  Om > s]ď,kx%?A}i@Y}M@}e9}=AHRS rotation from veh to nav: [[0.862573,0.502893,-0.055380],[-0.505933,0.857578,-0.092696],[0.000876,0.107976,0.994153]]y}H1??Z0Fq?ﺷ@L? M?@?ɫ}i@},;}0CBIIaI錴٥-= J=9 KQ > F٦Ey ;  > 4YU?4y:B!%N%?$D::G4-CB)5A1UB*** querying acoustic contact ***:pQBpQoYeDNOT Ignoring new targets: 34.63 m.oaoe:oe:M ProNav: ac range: 34.634666 m, nav range: 34.653656 m, bearing: 340.143563 deg, approach rate: -0.489659 m/s, LOS rate: 0.104724 deg/s, cmd heading: 330.700629 deg, new cmd heading: 330.821451 deg. zoM;UHeadingCmd: 5.773923 target range: 34.634666 and range: 34.80 m.RoUø@JoQboQZoYBoY:nY2nYmamalakkkk?ɞB5DDAT read: Rx Time:04:05:41.1508 5TRx dataTimestamp_ set to:1761365142.018495=PDAT read: Bearing 11.5, -0.3 (Local) E~Local bearing/azimuth received: Bearing 11.5, -0.3 (Local) UDAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4 DAT read: 04:05:41.1508 LVL= 17760, 29217, 18082, 27843, AGC= 60, IDX= 509,-0.12, 0.995,-0.385, 0.656, 0.605, PHS= 0.478,-0.943, 0.048, RAW= 132.8, 6.7, CAL= 138.5, 0.3, ROT= 11.5, -0.3 靥p5shq5D= 5V@)5|=I5@i5;5M>5ZHRH<H>HH4IIBIII&I|<*INE 1)155?&@?`Z?i5{e>5"$5M>5 1)1=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.635134F"F*F2F_0:FA  nManaging dock network, ignoring radio surface power offG < checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787817q G 2B :B  O >5dď,WZ%?Ab1@Ybx,@b9bf=nAHRS rotation from veh to nav: [[0.863937,0.500421,-0.056493],[-0.503596,0.858910,-0.093082],[0.001942,0.108867,0.994054]]ybH_?r?쬿u1|?;Է{_?޻?@K?ɫb1@bՎ;b/CvBv$I)rG )IBMb@Mb@Mb@ )IiuV?L7A`? rh?r>+=C<)3AIi;A AI%TI%n٥-b< 5&=95 Q 5>99 =F٦=EyEг; E> IU4YMEg?U4yM=M BU >U:]ƾ]?M$DMH;MmG;MIP4i)mAiJpRp/%?Ap# Bp# Bp@vL`@@~U[-X@ZC%?v n[?}̄?sNru?pM>pv>%hV@@-J&.0uG?v܈kF?U_͚Կd@ꀝ?jpT2rpBZp2y(?bp(bzpBpNU?p(bpBpD Bpz@ addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.504086 s, deltaX: -0.099998 m, approachRate: -0.198376 m/s, rangeRepo size: 4  Added new target pos. range: 34.535126 m, bearing: 341.163794 deg, lat: 36.779478 deg, lon: -121.859687 deg, deltaT: 0.504086 s, deltaX: -0.099541 m, approachRate: -0.197468 m/s, posRepo size: 4 oDNOT Ignoring new targets: 34.54 m.oo]oYu ProNav: ac range: 34.535126 m, nav range: 34.317089 m, bearing: 341.047811 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 330.821442 deg, new cmd heading: 330.977611 deg. zoHeadingCmd: 5.776649 target range: 34.535126 and range: 34.70 m.RoOڸ@JoboZoBo:n2nmmBlkkkYA@k \?ɞ%B- )-?v~G= E>@)%=It@i+ȼ-\->+< )TE?c)Y?t+㛚?iL>,ͽ-\->+< )I[i-w1=i-"<)-Oڸ@))Uchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.091746! F "F *F 2F 5:F G tAF tAI Gc<G sAG jKEoNrKAuchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.292696zKAKEQKE# IacVI;2(-N[YLK_`SC5)   ! 2K*KG2B:B O>lď, Ҳ%?A8Zh@YZxc@Z9Z`=bAHRS rotation from veh to nav: [[0.867292,0.494239,-0.059438],[-0.497780,0.862128,-0.094601],[0.004488,0.111634,0.993739]]yZH`??n ߿`?7 ar?? ?ɫZh@Z;XzBz0II hI ٥MI= mN=9uϻQ u>qy }F٦}©Ey}< }> 4Yu?4y>Beþ?$D;;KW4GB)QA;EJpQRpUę%?ApUBpUBpU۽@vU6TtV@@?-@M/dvUXx?*^Rmi?{JpU-\->pU+<vUHvq@@!N|' U0gvvU?6տ+bAQjpU;rpUBZpU ?bpU{ɫszpUBpU?pQpQpU<BpU1v@u addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.506515 s, deltaX: -0.299999 m, approachRate: -0.592281 m/s, rangeRepo size: 4  Added new target pos. range: 34.236549 m, bearing: 339.940862 deg, lat: 36.779478 deg, lon: -121.859687 deg, deltaT: 0.506515 s, deltaX: -0.298576 m, approachRate: -0.589472 m/s, posRepo size: 4 oDNOT Ignoring new targets: 34.24 m.ooou ProNav: ac range: 34.236549 m, nav range: 34.058678 m, bearing: 341.020346 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 330.977607 deg, new cmd heading: 331.108837 deg. zoqԩHeadingCmd: 5.778939 target range: 34.236549 and range: 34.40 m.Ro@JoboZoBo:n2nm)m)l1k9kYke@33A@ke``?ɞBM 0,=I ^.ɝiqIu"MI}Hi}=1=i)<)@)JrJJ2JJG:JJc3J!@!@!@!@=DDAT read: Rx Time:04:05:42.1504 =TRx dataTimestamp_ set to:1761365143.030851MPDAT read: Bearing 9.9, 0.9 (Local) M~Local bearing/azimuth received: Bearing 9.9, 0.9 (Local) ]DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 DAT read: 04:05:42.1504 LVL= 18704, 28657, 17570, 30691, AGC= 58, IDX= 505,-0.32, 1.443, 0.067, 1.157, 1.059, PHS= 0.471,-0.945, 0.094, RAW= 135.1, 6.0, CAL= 140.1, -0.9, ROT= 9.9, 0.9 Ygot valid direction response: 04:05:42.1504 LVL= 18704, 28657, 17570, 30691, AGC= 58, IDX= 505,-0.32, 1.443, 0.067, 1.157, 1.059, PHS= 0.471,-0.945, 0.094, RAW= 135.1, 6.0, CAL= 140.1, -0.9, ROT= 9.9, 0.9 R#Rx 7: Read range and direction messages.^direction in FSK: [0.984988,0.171908,-0.015707]Fpublishing direction and range info9y=lW ?\?y&=fBY9 =I)=oI=Di=w=:F "F*F2F^0:F=&>=q== =}@)=Pw=I=C~@i==;0>=< 9)9=YJ?8i@?_bx?i=d>=׽=;0>=< 9)9 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.608602H >H H _II ÀBI =I I &I <*I oE GM q<G 2B ) :BA  OU >sď,w%?ArM@Yr2@r99rj=AHRS rotation from veh to nav: [[0.869389,0.490428,-0.060364],[-0.494096,0.864220,-0.094830],[0.005661,0.112270,0.993662]]yrH?`*c?访E߿ధ?`F0w?`??ɫrM@r;p-B->I}checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795905 5Mb@Mb@Mb@1 1)1I1i15)\(? ףp= ?5Q=5t<)5MAI53@i5~A5A 15AImUIm٥}Y0= !=9[Q > F٦ũEy< > 4Yއ?4y@B!>:)?,$D`;;,`4)AJpqRpuv%?ApuBpuBpu/@vuڶ@@ʙ;V@+vulW ?\?y&pu;0>pu<vua*?@?&E!?vufuw!?-1:տ0O?jpu6rpuAZpu0 ?bpu3.mzpuIBpu0 ?pu3.mpuIBpuBpu2@ addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.505841 s, deltaX: -0.300003 m, approachRate: -0.593078 m/s, rangeRepo size: 4 1u Added new target pos. range: 33.938015 m, bearing: 340.327863 deg, lat: 36.779477 deg, lon: -121.859692 deg, deltaT: 0.505841 s, deltaX: -0.298534 m, approachRate: -0.590174 m/s, posRepo size: 4 oquDNOT Ignoring new targets: 33.94 m.oyoyoy ProNav: ac range: 33.938015 m, nav range: 33.936550 m, bearing: 340.327935 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.108829 deg, new cmd heading: 331.277986 deg. zoHeadingCmd: 5.781892 target range: 33.938015 and range: 34.10 m.RoB@JoboZoBo:n2nmmƀBlkkk A@k`G?ɞ=B=޻ 9=z=IA EW-ɝAiAIEImTim1=iuӈ<)uB@)q5 DDAT read: Rx Time:04:05:42.6501 5 TRx dataTimestamp_ set to:1761365143.531559E PDAT read: Bearing 8.0, 2.7 (Local) E ~Local bearing/azimuth received: Bearing 8.0, 2.7 (Local) U DAT read: Range 10 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4 Y  DAT read: 04:05:42.6501 LVL= 17952, 29137, 18354, 27635, AGC= 59, IDX= 502, 0.03, 1.946, 0.501, 1.700, 1.537, PHS= 0.497,-0.989, 0.160, RAW= 137.5, 5.0, CAL= 142.0, -2.7, ROT= 8.0, 2.7  Ygot valid direction response: 04:05:42.6501 LVL= 17952, 29137, 18354, 27635, AGC= 59, IDX= 502, 0.03, 1.946, 0.501, 1.700, 1.537, PHS= 0.497,-0.989, 0.160, RAW= 137.5, 5.0, CAL= 142.0, -2.7, ROT= 8.0, 2.7  R#Rx 8: Read range and direction messages. ^direction in FSK: [0.989169,0.139019,-0.047106] Fpublishing direction and range info1 y5 E7E?\?P7V5 fBY1 5 F)5 qI5 Gi5 k5 ;5 v>5 /}5 #> 5 ǖ@)5 ¸=I5 @i5 A5 5>5 A= 1 )1 5 a g?oNN.? k+&/?i5 w>5 @5 5>5 A= 1 )1  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066313F "F *F 2F 4:F ԉ G ɯ<G2B:B O>zď,%?A2Ҫ@Y2@2w޻92Њ=BAHRS rotation from veh to nav: [[0.871277,0.486895,-0.061721],[-0.490744,0.866018,-0.095831],[0.006792,0.113785,0.993482]]y2H?G)?`Yh߿j?@` {?@ ?@?ɫ2Ҫ@2ō;2-CJBJHI PRAIVVIV٥Z9= ^P=9^>?Q ^>`` bF٦bǩEyf"< f> hj4Yjɕ?n4yjBjB  ; ?j7$Dj<;j;jf4JB)ApA=v\AU.?@s Y(&˖vVGL?-׿;MLؘjp@rprAZp9rX١?bp8zp!~BpppCBp Bp@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.500708 s, deltaX: -0.500000 m, approachRate: -0.998586 m/s, rangeRepo size: 4  Added new target pos. range: 33.440392 m, bearing: 338.861234 deg, lat: 36.779477 deg, lon: -121.859692 deg, deltaT: 0.500708 s, deltaX: -0.497623 m, approachRate: -0.993840 m/s, posRepo size: 4 oDNOT Ignoring new targets: 33.44 m.ooochecking for new query: numPingsReceived=8, elapsed TxPingTime=6.298928jK%MrK% 9zK!K%RK%"gxW2 +KJHTk }rjbVBK-?:K-?u ProNav: ac range: 33.440392 m, nav range: 33.762798 m, bearing: 340.320124 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.277999 deg, new cmd heading: 331.389334 deg. zoy}HeadingCmd: 5.783835 target range: 33.440392 and range: 33.60 m.Ro}-@JoboZoBo:n2nmmlkkk@@k?ɞBB !%=I! %u~,ɝ!i!I%WVImԪim$1=iu=)u-@)q1F "F *F2F_0:FQJqJukJqJqJqJu9JqJqGM V< DDAT read: Rx Time:04:05:43.1501  TRx dataTimestamp_ set to:1761365144.035826 PDAT read: Bearing 7.2, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 7.2, 3.7 (Local)  DAT read: Range 10 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4 = DAT read: 04:05:43.1501 LVL= 18144, 29681, 18594, 30419, AGC= 58, IDX= 501, 0.41,-2.244, 2.603,-2.462,-2.658, PHS= 0.502,-0.976, 0.192, RAW= 138.6, 4.2, CAL= 142.8, -3.7, ROT= 7.2, 3.7 GA 2BI :BY Ա  Ygot valid direction response: 04:05:43.1501 LVL= 18144, 29681, 18594, 30419, AGC= 58, IDX= 501, 0.41,-2.244, 2.603,-2.462,-2.658, PHS= 0.502,-0.976, 0.192, RAW= 138.6, 4.2, CAL= 142.8, -3.7, ROT= 7.2, 3.7  R#Rx 9: Read range and direction messages. O > ^direction in FSK: [0.990047,0.125072,-0.064532] Fpublishing direction and range info y v?X[?P0 Y F) sI Hi v : ? #y D> T@) Q =I W@i A > A= ) ?B?RPwH? ۲?i ۓ> I > A= ) JHA BHE @Aˁď,ۇ&?AH>HHIIBI =IID&Ir<*IAE=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.624898qMɱ@YMø@ME9M^=AHRS rotation from veh to nav: [[0.873073,0.483487,-0.063113],[-0.487523,0.867744,-0.096654],[0.008035,0.115155,0.993315]]yMH 7?t?0(3߿?`Pt?z?=<)II@iQA I\IW٥  =9MQ >   F٦ ˩Ey ;  > 4Y맗?4yC#BE>E:EʌE?E$D;y;o4I)UAQԡJp Rp J&?Ap Bp Bp @v ۰?tȍ@@=ں@kCv v?X[?P0p >p A=v ~=U?@()Uv Ĺ?jv׿HX_jp Drp AZp Rᡊ?bp Ozp {Bp  ?p {ɫsp B-checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803392p rBp Խ@ addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.504267 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 33.440521 m, bearing: 338.393883 deg, lat: 36.779477 deg, lon: -121.859695 deg, deltaT: 0.504267 s, deltaX: 0.000130 m, approachRate: 0.000257 m/s, posRepo size: 4 o DNOT Ignoring new targets: 33.44 m.ooYoY ProNav: ac range: 33.440521 m, nav range: 33.612156 m, bearing: 339.891044 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.389331 deg, new cmd heading: 331.556839 deg. zoHeadingCmd: 5.786758 target range: 33.440521 and range: 33.60 m.Ro -@JoboZoBo:n2nmmŀBlkkkk@V?ɞMBUH QU@Z=IQ U+ɝYiYI]-I]+ief1=ieȱ=)e -@)aF "F*F2F:F  DDAT read: Rx Time:04:05:43.6499  TRx dataTimestamp_ set to:1761365144.538304 PDAT read: Bearing 6.7, 2.7 (Local)  ~Local bearing/azimuth received: Bearing 6.7, 2.7 (Local)  DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 5 DAT read: 04:05:43.6499 LVL= 18144, 26145, 17874, 27123, AGC= 57, IDX= 499,-0.03, 1.499, 0.096, 1.307, 1.123, PHS= 0.463,-0.980, 0.181, RAW= 139.4, 5.1, CAL= 143.3, -2.7, ROT= 6.7, 2.7 = Ygot valid direction response: 04:05:43.6499 LVL= 18144, 26145, 17874, 27123, AGC= 57, IDX= 499,-0.03, 1.499, 0.096, 1.307, 1.123, PHS= 0.463,-0.980, 0.181, RAW= 139.4, 5.1, CAL= 143.3, -2.7, ROT= 6.7, 2.7 = T#Rx 10: Read range and direction messages.E ^direction in FSK: [0.992068,0.116541,-0.047106]M Fpublishing direction and range info y ?Z5# ս?P7V BY ) !fI Ei i 9 V> Hz X9> @) K=I Q @i A |= A= ) ű?K_&?I~ݶ?i &> u* |= A= ) e checking for new query: numPingsReceived=10, elapsed TxPingTime=7.073423Gm =!GA2BI:Ba Om>ď,2%&?A6@Y6@6v96=>AHRS rotation from veh to nav: [[0.875201,0.479489,-0.064140],[-0.483671,0.869854,-0.097038],[0.009264,0.115950,0.993212]]y6H@??k@w޿ ?x׸?쮽? d?ɫ6@6S;6.CvBE>IIGI٥-"; 5F=95[BQ 5>99 =F٦=ͩEyE8.< E>  4Yv?4yE)B?R$Dv::w4MB).A=EJpRps"&?Ap+Bp+Bp˼@vc@@0 Wr@>RYxv?Z5# ս?P7Vp|=pA=vdҐ>@4\(_.vv~L?N׿W3jpErpAZpv͡?bpUCzp!~BpRᡊ?p8p!~BpoBpg@@] addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.502478 s, deltaX: -0.399998 m, approachRate: -0.796050 m/s, rangeRepo size: 4  Added new target pos. range: 33.042423 m, bearing: 338.037597 deg, lat: 36.779473 deg, lon: -121.859700 deg, deltaT: 0.502478 s, deltaX: -0.398098 m, approachRate: -0.792269 m/s, posRepo size: 4 ochecking for new query: numPingsReceived=10, elapsed TxPingTime=7.307069!jKNrK9zKKSKLD>9;<4.-)&" !-.' ".\tXE6*  F2KsA*KrA-DNOT Ignoring new targets: 33.04 m.ooo ProNav: ac range: 33.042423 m, nav range: 33.108852 m, bearing: 338.853640 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.556835 deg, new cmd heading: 331.694108 deg. zoHeadingCmd: 5.789155 target range: 33.042423 and range: 33.20 m.Ro@@JoboZoBo:n2nmmlikikikm@@ku`?A ɞ% B% Պ ) 5 T=Iq } *ɝ i I I i L1=i =) @@) i J} uJy Jy Jy J} [Q:Jy Jy Jy F "F *F 2F `5:F  DDAT read: Rx Time:04:05:44.1500  TRx dataTimestamp_ set to:1761365145.042587 PDAT read: Bearing 4.7, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 4.7, 4.6 (Local)  DAT read: Range 10 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4 %DAT read: 04:05:44.1500 LVL= 16784, 25745, 17906, 27875, AGC= 59, IDX= 498, 0.41,-1.912, 2.923,-2.056,-2.314, PHS= 0.489,-0.999, 0.255, RAW= 141.6, 3.7, CAL= 145.3, -4.6, ROT= 4.7, 4.6 -Ygot valid direction response: 04:05:44.1500 LVL= 16784, 25745, 17906, 27875, AGC= 59, IDX= 498, 0.41,-1.912, 2.923,-2.056,-2.314, PHS= 0.489,-0.999, 0.255, RAW= 141.6, 3.7, CAL= 145.3, -4.6, ROT= 4.7, 4.6 -T#Rx 11: Read range and direction messages.E^direction in FSK: [0.993427,0.081675,-0.080199]MFpublishing direction and range info y R'?U?zꇴ 3BY A) dI Ei l ; 5^> w \> 2+@) A=I :M"@i l = l= ) @Z?4z?2%K?i n> L = l= ) checking for new query: numPingsReceived=11, elapsed TxPingTime=7.582423ԙGu=GHQHQHUIIUBIQIQIQ&IU<G*IUE2I:IBIJIRIZIq4G2B:B O?ď,J&?A uBu0IMb@Mb@Mb@ )Ii-?y&1?{Gzt?5>`=ף;)AIi AhA fAIZI٥- 5=95Q 5>99 =F٦EѩEye e> q}4Yu ͗?4yuFu/B>:?uc$Du";u@+9嶟*r+vʡy=?Nqߴٿ8jpTrpDAZpš?bpqzp$yBp9rX١?pOppwBp@M addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.504283 s, deltaX: 0.099998 m, approachRate: 0.198298 m/s, rangeRepo size: 4  Added new target pos. range: 33.141937 m, bearing: 336.270854 deg, lat: 36.779472 deg, lon: -121.859703 deg, deltaT: 0.504283 s, deltaX: 0.099514 m, approachRate: 0.197338 m/s, posRepo size: 4 oDNOT Ignoring new targets: 33.14 m.ooo ProNav: ac range: 33.141937 m, nav range: 32.866367 m, bearing: 338.239227 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.694121 deg, new cmd heading: 331.884490 deg. zoHeadingCmd: 5.792477 target range: 33.141937 and range: 33.30 m.Ro[@JoboZoBo:n!2nImYmeЀBqlkkk`f@@k]?ɞMBM- IMi].1=i]p=)][@)iF "F *F 2F n1:F ԙ  DDAT read: Rx Time:04:05:44.6497  TRx dataTimestamp_ set to:1761365145.547184 PDAT read: Bearing 4.6, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 4.6, 3.8 (Local)  DAT read: Range 10 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4  DAT read: 04:05:44.6497 LVL= 16880, 28641, 18770, 30531, AGC= 58, IDX= 496, 0.02, 2.294, 0.895, 2.167, 1.927, PHS= 0.454,-0.985, 0.236, RAW= 141.9, 4.4, CAL= 145.4, -3.8, ROT= 4.6, 3.8  Ygot valid direction response: 04:05:44.6497 LVL= 16880, 28641, 18770, 30531, AGC= 58, IDX= 496, 0.02, 2.294, 0.895, 2.167, 1.927, PHS= 0.454,-0.985, 0.236, RAW= 141.9, 4.4, CAL= 145.4, -3.8, ROT= 4.6, 3.8  T#Rx 12: Read range and direction messages. ^direction in FSK: [0.994587,0.080023,-0.066274] Fpublishing direction and range infoہ yۅ ?8zS\|?{Sۅ BYہ ܅ A)܅ oI܅ RIi܅ Cw܅ :܅ r>܅ (|܅ q> ݅ @)݅ nF=I݅ i"@i݅ ԇ݅ l=݅ ԇ= ށ )ށ ޅ h?±N5?1E) ѳ?iޅ >ޅ ޅ l=ޅ ԇ= ߁ )߁  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081276 G W=G2B:B O >ď,6wj&?A2)P@Y2K@2K92=BAHRS rotation from veh to nav: [[0.880957,0.468534,-0.066270],[-0.473035,0.875644,-0.097399],[0.012395,0.117152,0.993037]]y2H0?`t?3F޿E?︿gb?`??ɫ2)P@2~;2/CvBv%IInId٥n) @=9Q >! %F٦%ԩEyE< M> IU4YMܗ?U4yMHM4BY]x]?Mo$DM:M`:MP4QB)AJpRpc&?ApBpBpM@vHћH@@{D@;ZI\v?8zS\|?{Spl=pԇ=v (!>@4z)Bj}vc `?h~9r6ٿjpcNrp}AZpY?bpdgOzpa{Bpv͡?pUCp{BpSBp@ addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504597 s, deltaX: -0.399998 m, approachRate: -0.792707 m/s, rangeRepo size: 4 5 Added new target pos. range: 32.743835 m, bearing: 336.775683 deg, lat: 36.779470 deg, lon: -121.859704 deg, deltaT: 0.504597 s, deltaX: -0.398102 m, approachRate: -0.788950 m/s, posRepo size: 4 o15DNOT Ignoring new targets: 32.74 m.o1o9o ProNav: ac range: 32.743835 m, nav range: 32.581802 m, bearing: 337.931345 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 331.884493 deg, new cmd heading: 332.006374 deg. zoHeadingCmd: 5.794604 target range: 32.743835 and range: 32.90 m.Rofm@JoboZoBo:n2nmmlkkk@3s@@k٬?ɞEBM! IM@;II Mf*ɝIiIIU:IuL'i}(1=i}'=)}fm@)checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315065jK`NrK9zKKTKwoqpkaf|fXTJ>:71.*(%#"!BK?:K> FM "FI*FI2FUq4:FQG-y=G2B):B O5>AJ pJ J J J A:J J J i  DDAT read: Rx Time:04:05:45.1497  TRx dataTimestamp_ set to:1761365146.050652 PDAT read: Bearing 13.4, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 13.4, -6.7 (Local)  DAT read: Range 10 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4  DAT read: 04:05:45.1497 LVL= 16336, 27713, 17634, 27891, AGC= 59, IDX= 512,-0.42,-2.923, 1.961, 2.980, 3.067, PHS= 0.381,-1.060,-0.090, RAW= 131.3, 12.1, CAL= 136.6, 6.7, ROT= 13.4, -6.7 - Ygot valid direction response: 04:05:45.1497 LVL= 16336, 27713, 17634, 27891, AGC= 59, IDX= 512,-0.42,-2.923, 1.961, 2.980, 3.067, PHS= 0.381,-1.060,-0.090, RAW= 131.3, 12.1, CAL= 136.6, 6.7, ROT= 13.4, -6.7 - T#Rx 13: Read range and direction messages.5 \direction in FSK: [0.966132,0.230165,0.116671]= Fpublishing direction and range info y 0\?8 v?mu"޽? Y ď,}#&?A ?)AlIDil;o>Q ܩ@)@X>Ik@i|=|o>| )^.W|o>| ).checking for new query: numPingsReceived=13, elapsed TxPingTime=8.593021BII=]I=t٥R A=HHHIIII&I<*IjE9EQ M>Yyy F٦שEy > =4YZ헊?E4yQI:Biiu?|$D)g<.b<L4)YAJpRp=&?AppprO@vČ?@5.}]%@36ݏ@v0\?8 v?mu"޽?p|o>p|v>*"%?@e%ry!PF@vZwp?N@ѿfh?jp rp,AZpL .?bp!/zpBppppBp4@= addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 32.743824 m, bearing: 344.330333 deg, lat: 36.779470 deg, lon: -121.859704 deg, deltaT: 0.503468 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 oQUDNOT Ignoring new targets: 32.74 m.oYoYoY ProNav: ac range: 32.743824 m, nav range: 32.379322 m, bearing: 337.880061 deg, approach rate: 0.000000 m/s, LOS rate: 0.104724 deg/s, cmd heading: 332.006370 deg, new cmd heading: 332.154684 deg. zoHeadingCmd: 5.797193 target range: 32.743824 and range: 32.90 m.Ro@JoboZoBo:n2nmmlkk k k  G?ɞUB][D Y]ɼIY ]7u*ԁɝYiIWIiK1=iy=)@)Echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.819781F] "FY*FY2F]4:FYԱG} r=G ?G > G9 2BA :BY  Oe >G-ď,&?AI<))ܕcIܕ2@iܕ3`ܑܕj>ܕܕ> ݕi"@)ݕPwV=IݕH%@iݕ%˽ݕPw<ݕ%= ޑ)ޑޕ7YE?FԷөd?p:Ȫ?iޕ8>ޕYVޕPw<ޕ%= ߑ)ߑ%checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090078uMb@Mb@Mb@q q)qIqiqu{Gz?kt?Mbpu>u =u)uAIu@iu~AuA quAI =I Ь٥Ṽ )=9e`xQ e>ii mF٦mکEymr< m> q4Yu?4yuJu=B>:#?u$DuP;u:u84TB)A>EJpRp~&?ApBpBp^@ve #@@h(AF5 ?H$ѕ vu$Ͱ?5h3?hܸmpPw<p%=v\$=@!,$hUv*\?"s?8ۿfX!մjp4`rp&AZp͕?bp<ď,F&?AJ@YJ@JDy9J= AHRS rotation from veh to nav: [[0.885637,0.459325,-0.068313],[-0.464127,0.880362,-0.097722],[0.015254,0.118252,0.992866]]yJH $W?e?`|Aݿ +?@J =?E??ɫJ@J;J-CYiBIIWIƕ٥5 R=9,Q > F٦ܩEyT< > 4Y ?4y2L?B?$D::ޟ4 ) YA=B*** querying acoustic contact ***:pABpAoDDAT read: Rx Time:04:05:46.1493 TRx dataTimestamp_ set to:1761365147.058518PDAT read: Bearing 1.2, 4.1 (Local) ~Local bearing/azimuth received: Bearing 1.2, 4.1 (Local) DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 J J J 3J J J J (3J 5DAT read: 04:05:46.1493 LVL= 16112, 26193, 16546, 26291, AGC= 58, IDX= 508,-0.19, 0.745,-0.658, 0.732, 0.421, PHS= 0.412,-1.032, 0.308, RAW= 146.3, 4.5, CAL= 148.8, -4.1, ROT= 1.2, 4.1 =Ygot valid direction response: 04:05:46.1493 LVL= 16112, 26193, 16546, 26291, AGC= 58, IDX= 508,-0.19, 0.745,-0.658, 0.732, 0.421, PHS= 0.412,-1.032, 0.308, RAW= 146.3, 4.5, CAL= 148.8, -4.1, ROT= 1.2, 4.1 =T#Rx 15: Read range and direction messages.E^direction in FSK: [0.997222,0.020889,-0.071497]MFpublishing direction and range infoy+>?|Wc? M3BY >)QfI@if:>-> .k#@)|٠=I6&@iC<C= )7 YJ?AK y)D?'Œj.?i0>C<C= )ԁDNOT Ignoring new targets: 32.45 m.ooɺoɺ ProNav: ac range: 32.445248 m, nav range: 32.170017 m, bearing: 336.668947 deg, approach rate: -0.428004 m/s, LOS rate: -0.088186 deg/s, cmd heading: 332.294604 deg, new cmd heading: 332.188709 deg. zorHeadingCmd: 5.797787 target range: 32.445248 and range: 32.60 m.Rox@JoboZoBo:n2nmchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.593584ml k k k `f&@@k P?ɞBH!H!H%II%BI!I!I!&I%u<*I%DE u,Iq ;,ɝiII*i% 1=i-!s<=)-x@)9ԱF "F*F2F4:F  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828144i I C) WG  )1 G] +,=I 꿙 AGI2Bq:B O>bď,&?A`BIiMb@Mb@Mb@ )IiZd;O?Q? rh~>u=C)II@iAA pAIbI٥' =9Q > FuDDAT read: Rx Time:04:05:46.6491 uTRx dataTimestamp_ set to:1761365147.563933PDAT read: Bearing 0.6, 5.9 (Local) ~Local bearing/azimuth received: Bearing 0.6, 5.9 (Local) DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 DAT read: 04:05:46.6491 LVL= 16928, 25665, 18194, 28275, AGC= 57, IDX= 505, 0.34, 1.775, 0.350, 1.766, 1.408, PHS= 0.455,-1.012, 0.354, RAW= 146.5, 2.9, CAL= 149.4, -5.9, ROT= 0.6, 5.9 Ygot valid direction response: 04:05:46.6491 LVL= 16928, 25665, 18194, 28275, AGC= 57, IDX= 505, 0.34, 1.775, 0.350, 1.766, 1.408, PHS= 0.455,-1.012, 0.354, RAW= 146.5, 2.9, CAL= 149.4, -5.9, ROT= 0.6, 5.9 T#Rx 16: Read range and direction messages.^direction in FSK: [0.994648,0.010416,-0.102793]Fpublishing direction and range infoqyuUV(?͠%U?zBPuBYq u B)uAdIuGiusnu9u>u7u}?> u_#@)u4QO=Iu&@iuBҽu+u2Nu+ԑ i4Ym!?4ymNm>B>:?m$Dmi T.ɝiAIM@IMTiU(1=iUC=)U5q@)QEaEaF "F *F 2F ]5:F G sAF   A checking for new query: numPingsReceived=16, elapsed TxPingTime=10.331821jK% y8PrK! zK! K% VK% R]K-P%&Kj!( Te #U'G ==Ga2B:B O> ׽ď, &?A6@Y޹@p9=AHRS rotation from veh to nav: [[0.889246,0.452429,-0.067447],[-0.457115,0.884379,-0.094437],[0.016923,0.114809,0.993243]]yHt??:DaAݿ L?` -7T?%d?@?ɫ6@q;ELBEIIMa=)Ma=IUoIU٥l 4=9pQ > F٦Ey< > %4Y0?%4yXP!%%?$D;;w4-cB)5A5IEaoDNOT Ignoring new targets: 31.85 m.oo隺o隺e ProNav: ac range: 31.848082 m, nav range: 31.817711 m, bearing: 335.983353 deg, approach rate: -0.481656 m/s, LOS rate: -0.067717 deg/s, cmd heading: 332.033008 deg, new cmd heading: 331.953598 deg. zoe9eHeadingCmd: 5.793683 target range: 31.848082 and range: 32.00 m.Rome@JoiboiZoiBoi:ni2niDDAT read: Rx Time:04:05:47.1490 TRx dataTimestamp_ set to:1761365148.066685PDAT read: Bearing 359.7, 5.6 (Local) ~Local bearing/azimuth received: Bearing 359.7, 5.6 (Local) DAT read: Range 10 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 -DAT read: 04:05:47.1490 LVL= 15296, 26753, 16818, 26419, AGC= 57, IDX= 505, 0.03, 2.187, 0.796, 2.211, 1.848, PHS= 0.426,-1.006, 0.360, RAW= 147.6, 3.2, CAL= 150.3, -5.6, ROT= 359.7, 5.6 5Ygot valid direction response: 04:05:47.1490 LVL= 15296, 26753, 16818, 26419, AGC= 57, IDX= 505, 0.03, 2.187, 0.796, 2.211, 1.848, PHS= 0.426,-1.006, 0.360, RAW= 147.6, 3.2, CAL= 150.3, -5.6, ROT= 359.7, 5.6 =T#Rx 17: Read range and direction messages.M`direction in FSK: [0.995214,-0.005211,-0.097583]MFpublishing direction and range infoy|ȅ?DXuA_1fAY ;)hIAi3g>ĀQ> $@)d=I'@i+Ƚ@+= )<LjL?"́=?;M+f?i->nNc+= )echecking for new query: numPingsReceived=17, elapsed TxPingTime=10.600739mimqlqkqkqku?@k}?ɞ B I Md0ɝiIbPIi%A1=i%le=)%e@)!ԉHHHfIIȀBIII&IR<*IEF "F*F2F5:FԱ G B= checking for new query: numPingsReceived=17, elapsed TxPingTime=10.8358099 G9 2BI :Ba  Ou >Mď,>'?A6@Y6@6X96 y=BAHRS rotation from veh to nav: [[0.889781,0.451390,-0.067356],[-0.456052,0.885049,-0.093302],[0.017497,0.113736,0.993357]]y6Hy?@?@9>/ݿQR?ⷿ@?@??ɫ6@6(׋;4=BIMb@Mb@Mb@ )Iix?{Gz?K>ף<̼)AI`@iQA A)) )I-hI-٥(j =9Q > F٦Ey%B; %> )54Y-C?54y- S-:B=>=:=tھ=?-$D-:-:-m4A)E0AAJrJgJJJG:J9JJJ_;!J_;!JG:!JH:!JpRpD'?Ap1Ap1Ap@vֻ`?@C)ſŵ v|ȅ?DXuA_1pp+=vã(<@@lq,81=HvZx?SKܿD$y{SjpcrpFAZp!?bpf!zpVvBp͕?pp> H%@)=I(@i޹-@޹= )0 ?qЄ?٣.(|:?i>.ꁽ޹= )]checking for new query: numPingsReceived=18, elapsed TxPingTime=11.105028:n2nmmBBlkkk?@k8?ɞuBf 靝=I T3ɝiIIȔih1=ibl=)V@)1 Fi "Fi *Fi 2Fu _5:Fq a GUXh=checking for new query: numPingsReceived=18, elapsed TxPingTime=11.340880G2B:B1 O=>ď,06'?A(R@YR@R9R)=jKj89PrKj]9zKhKjWKj_Sk 1wZ3 }pjd\YPIFDFDA>73/(!   AHRS rotation from veh to nav: [[0.890260,0.450402,-0.067646],[-0.455087,0.885634,-0.092460],[0.018265,0.113098,0.993416]]yRH}?`c?>Q@& ݿ@W? q.? ?@?ɫR@Ry;P/B II-gI-٥]| e8=9eQ e>ii mF٦mEym"; u> qy4Yu8T?4yu`Uu7Bپ?u$Du$B`> r&@)A=IUs)@ikݽ@k= )ԩ,?kL-?n?izi?z?k= )checking for new query: numPingsReceived=19, elapsed TxPingTime=11.623647F} "F*F2FP5:FH H H :II BI I I &I <*I oE G m= GI 2B :B  O >đď,Z*S'?Azchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.846948@Y@[9 V=%AHRS rotation from veh to nav: [[0.890661,0.449718,-0.066909],[-0.454293,0.886216,-0.090771],[0.018475,0.111242,0.993622]]yH`K?@.?@ !ݿ[?<@?az??ɫ@;UBUIi=Mb@Mb@Mb@9 9)9I9i9=RQ? rh=?=C9)=3AI9i=A=QA 9=GAIUPIU٥e狽 e(=9mQ m> F٦Ey: > 4Yf?4yX3B?:?$DO-<--<ʪ4)%FA!JpRpE'?Apppi@vDC'?@{~m- v ;?Ғ@Ks3Niإppk=ԙv"̕D͎;@wDeT-!!v0 ?A[ݿmጜjpjrpvAZpB,y?bpHzptBp_}?pf!pVvBpAp~@  addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.509071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.350464 m, bearing: 331.980419 deg, lat: 36.779462 deg, lon: -121.859731 deg, deltaT: 0.509071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 o%DNOT Ignoring new targets: 31.35 m.o!oIoI] ProNav: ac range: 31.350464 m, nav range: 30.962105 m, bearing: 333.091108 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.753571 deg, new cmd heading: 331.656077 deg. zoYeHeadingCmd: 5.788491 target range: 31.350464 and range: 31.50 m.RoeQ;@JoaboiZoiBoi:ni2nimqmu.Blykkkk?JtJhJ2JJ;N:JȆ9Jc3JJj;Jj;Jܬ:Jެ:ɞ}Bu 靥I :ɝiI}IHiͼ1=iI~=)Q;@)DDAT read: Rx Time:04:05:48.6485 TRx dataTimestamp_ set to:1761365149.583426ԹPDAT read: Bearing 358.2, 4.6 (Local) ~Local bearing/azimuth received: Bearing 358.2, 4.6 (Local) DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 % DAT read: 04:05:48.6485 LVL= 15664, 26401, 16962, 27075, AGC= 59, IDX= 500,-0.36, 0.864,-0.539, 0.949, 0.569, PHS= 0.382,-1.061, 0.376, RAW= 149.8, 4.3, CAL= 151.8, -4.6, ROT= 358.2, 4.6 U Ygot valid direction response: 04:05:48.6485 LVL= 15664, 26401, 16962, 27075, AGC= 59, IDX= 500,-0.36, 0.864,-0.539, 0.949, 0.569, PHS= 0.382,-1.061, 0.376, RAW= 149.8, 4.3, CAL= 151.8, -4.6, ROT= 358.2, 4.6 ] T#Rx 20: Read range and direction messages.e `direction in FSK: [0.996287,-0.031309,-0.080199]m Fpublishing direction and range info۩yۭ4$X?zꇴF "F *F 2F `5:F ۭAY۩ ܭ0=)ܭ!gIܭBBiܭiܭ;ܭ>ܭ·ܭ> ݭT'@)ݭ`=Iݭ)@iݭlݭ@ݭl= ީ)ީޭcw??4P?Bp ?iޭ?ޭޭѭޭl= ߩ)ߩ] checking for new query: numPingsReceived=20, elapsed TxPingTime=12.155154 G C|w=Gq2B:B O>dď,}q'?A4ZE@YZ*@Z0z9Z$M=rAHRS rotation from veh to nav: [[0.890770,0.449507,-0.066881],[-0.454048,0.886507,-0.089138],[0.019222,0.109768,0.993771]]yZH/? ?@ݿD^?Ѷ???ɫZE@ZLU;Z0C~B~IIiI҅checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350802٥%ż [=9,Q > F٦Ey%q1: %> )54Y-u?54y-[-/B15=?-$D-;-;-Ѫ4EB)EAAJpRpVe'?ApjApjApB@vH]|>@Hfᅪ.1v4$X?zꇴpѭpl=vR❦sI;@Eiq_-6v>?#!E޿S[YajpjrpKAZp@>=:70)%! .."BK?:K ?bpezpAxBpB,y?pppApɹ@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503980 s, deltaX: -0.299999 m, approachRate: -0.595260 m/s, rangeRepo size: 4  Added new target pos. range: 31.051889 m, bearing: 331.709601 deg, lat: 36.779461 deg, lon: -121.859734 deg, deltaT: 0.503980 s, deltaX: -0.298574 m, approachRate: -0.592433 m/s, posRepo size: 4 oDNOT Ignoring new targets: 31.05 m.oo!o! ProNav: ac range: 31.051889 m, nav range: 30.825611 m, bearing: 332.653152 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.656091 deg, new cmd heading: 331.568667 deg. zoHeadingCmd: 5.786965 target range: 31.051889 and range: 31.20 m.Ro.@JoboZoBo:n2nmmlkkk@33?@k@?ɞBQ $I9 =|>ɝAiAIE-jIMiMz1=iMN =)M.@)IF "F *F 2F! :F! e DDAT read: Rx Time:04:05:49.1483 m TRx dataTimestamp_ set to:1761365150.087421u PDAT read: Bearing 358.5, 5.3 (Local) u ~Local bearing/azimuth received: Bearing 358.5, 5.3 (Local)  DAT read: Range 10 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4  DAT read: 04:05:49.1483 LVL= 16176, 25825, 17266, 25699, AGC= 57, IDX= 498, 0.01, 2.388, 1.010, 2.459, 2.079, PHS= 0.397,-1.022, 0.378, RAW= 149.3, 3.5, CAL= 151.5, -5.3, ROT= 358.5, 5.3  Ygot valid direction response: 04:05:49.1483 LVL= 16176, 25825, 17266, 25699, AGC= 57, IDX= 498, 0.01, 2.388, 1.010, 2.459, 2.079, PHS= 0.397,-1.022, 0.378, RAW= 149.3, 3.5, CAL= 151.5, -5.3, ROT= 358.5, 5.3  T#Rx 21: Read range and direction messages. `direction in FSK: [0.995383,-0.026065,-0.092371] Fpublishing direction and range infoa ye }jv.?#հ{]Ue 3AYa e 0?)e dIe rCie cde 9e C>e Ђe 7> e &@)e 5z=Ie %:)@ie qe c9@e q= a )a e X%$?(tJ??ie ?e n}e wּe q= a )a M checking for new query: numPingsReceived=21, elapsed TxPingTime=12.625424ZH <RH <H >H H II BI =I I D&I <*I E2I:IBIJIRIZI4A G} X=G G rAGQ2BY:Bq O}>ď,A'?A@Y@ޙ9o=]AHRS rotation from veh to nav: [[0.889875,0.451165,-0.067616],[-0.455729,0.885895,-0.086613],[0.020824,0.107890,0.993945]]yH`y?@?JO*ݿ?Y?K,R?@?@e?ɫ@Yr;.CBIchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.854872-Mb@Mb@Mb@) )))I)i)-w/?V-:v-?-m-Լ)- AI-@i-QA) )-QAIaI錴!٥xk =9,Q > F٦EyQ > 4Yq?%4y_)B%?%:%%?%D;<;Dܪ4))AJpqRpuN'?ApuApuApug@vuCz>@K14Ƽvu}jv.?#հ{]Upuwּpuq=vuq5;@ 9,$.vu*eb+?}-AnݿR5겿jpufrpuAZpuVu?bpuzpuwBpuSw?puHpuwBputApuo@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503995 s, deltaX: -0.300001 m, approachRate: -0.595246 m/s, rangeRepo size: 4 % Added new target pos. range: 30.753210 m, bearing: 331.965687 deg, lat: 36.779461 deg, lon: -121.859738 deg, deltaT: 0.503995 s, deltaX: -0.298679 m, approachRate: -0.592624 m/s, posRepo size: 4 o!ADNOT Ignoring new targets: 30.75 m.ooo ProNav: ac range: 30.753210 m, nav range: 30.681759 m, bearing: 332.021951 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.568665 deg, new cmd heading: 331.449586 deg. J% R=J% p=J- zJ- nJ- 5J) J- `:J- 99J- 4J) J- y;J- {;J- \:J- ]:zo HeadingCmd: 5.784886 target range: 30.753210 and range: 30.90 m.Ro @Jo bo Zo Bo :n 2n m m Bl k k k `f>@k ?E DDAT read: Rx Time:04:05:49.6481 M TRx dataTimestamp_ set to:1761365150.590493U PDAT read: Bearing 358.7, 6.3 (Local) ] ~Local bearing/azimuth received: Bearing 358.7, 6.3 (Local) u DAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4  DAT read: 04:05:49.6481 LVL= 15648, 28129, 17794, 27635, AGC= 57, IDX= 495, 0.25, 3.103, 1.728,-3.126, 2.766, PHS= 0.424,-0.991, 0.388, RAW= 148.7, 2.6, CAL= 151.3, -6.3, ROT= 358.7, 6.3  Ygot valid direction response: 04:05:49.6481 LVL= 15648, 28129, 17794, 27635, AGC= 57, IDX= 495, 0.25, 3.103, 1.728,-3.126, 2.766, PHS= 0.424,-0.991, 0.388, RAW= 148.7, 2.6, CAL= 151.3, -6.3, ROT= 358.7, 6.3  T#Rx 22: Read range and direction messages. `direction in FSK: [0.993705,-0.022550,-0.109734] Fpublishing direction and range infoI yM n?>~g,=M AYI M =)M mIM EiM kI M >M -}M > M x&@)M 9=IM )@iM z0ὉM U@M z0= I )I M gȾ?KDR?S00*?iM >T?M a9M ޹M z0= I )I  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.124416y ɞ B J rI 8ZDɝ i I I !i- /2=i1 )5 @)1 F "F *F 2F `0:F ԡGD=checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364445G2B:B O?YZď,'?AjKfuNrKf+9zKdKfYKf.wx_%*sM"dA|oc[YTLHHECA>=92K~sA*K| 11@Yq@9=AHRS rotation from veh to nav: [[0.889348,0.452047,-0.068657],[-0.456710,0.885427,-0.086223],[0.021814,0.108038,0.993907]]yH`u?T?:ݿkU?nV? h??ɫ@D;,CeBeIIudIu@٥o; =9Q > F٦Ey > 4Yj?4yc#B?%D)<.<4B)7AKEJpRpʥ'?ApApAp@vsԫ2OC>@i? vn?>~g,=p޹pz0=v6Q:@wFYH,P v'<1?7ݿl'jpBbrpAZp=t?bp{+zp:uBpVu?ppp"Apr@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503072 s, deltaX: -0.299999 m, approachRate: -0.596335 m/s, rangeRepo size: 4  Added new target pos. range: 30.454636 m, bearing: 332.210489 deg, lat: 36.779461 deg, lon: -121.859738 deg, deltaT: 0.503072 s, deltaX: -0.298574 m, approachRate: -0.593502 m/s, posRepo size: 4 oDNOT Ignoring new targets: 30.45 m.ooo  ProNav: ac range: 30.454636 m, nav range: 30.391661 m, bearing: 332.044993 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.449573 deg, new cmd heading: 331.351278 deg. zo HeadingCmd: 5.783171 target range: 30.454636 and range: 30.60 m.Ro@JoboZoBoY:nY2namimilikikiku>@kd?ɞB  ۍI GɝiItIiX2=iX=)@)9Fu "Fq*Fy2F}0:FyDDAT read: Rx Time:04:05:50.1480 TRx dataTimestamp_ set to:1761365151.098540PDAT read: Bearing 358.3, 5.7 (Local) ~Local bearing/azimuth received: Bearing 358.3, 5.7 (Local) DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 5DAT read: 04:05:50.1480 LVL= 15680, 27633, 17362, 26435, AGC= 58, IDX= 510, 0.46,-1.854, 3.048,-1.782,-2.173, PHS= 0.407,-1.015, 0.388, RAW= 149.3, 3.2, CAL= 151.7, -5.7, ROT= 358.3, 5.7 EYgot valid direction response: 04:05:50.1480 LVL= 15680, 27633, 17362, 26435, AGC= 58, IDX= 510, 0.46,-1.854, 3.048,-1.782,-2.173, PHS= 0.407,-1.015, 0.388, RAW= 149.3, 3.2, CAL= 151.7, -5.7, ROT= 358.3, 5.7 T#Rx 23: Read range and direction messages.`direction in FSK: [0.994618,-0.029520,-0.099320]Fpublishing direction and range infoyF?:D|:hܸmAY @=)kICiCg:Nb>끿  &@)d=IUs)@i%˽@%= )(?aN?VJL&?i*?{Oa%= )checking for new query: numPingsReceived=23, elapsed TxPingTime=13.651042He>HaHeIIemBIaIaIa&IeU<*IeEyGu t0=GQ 2BY :Bq  O} >ԉ ;ď,Ͼ'?Andݲ@YnIع@nȦ9ne==AHRS rotation from veh to nav: [[0.888825,0.453003,-0.069124],[-0.457698,0.884982,-0.085556],[0.022417,0.107682,0.993933]]ynHAq? ?@JݿQ?浿[? ?K?ɫndݲ@n;n-CMBMI=checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866968qMb@Mb@Mb@ )IiˡE?Mb F٦Ey% %> )54Y-?54y-]g- B=?=:=Re?-#%D-;-/<-4B)vALEԡJpRp{N'?ApApAp?@v1>@1~;쿴-mpvF?:D|:hܸmpp%=vu=:@Kn ,hTv @?oA\C޿)I`jperpAZp8Sv?bpCzpzvBpppzvBp#ApBu@m addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.508047 s, deltaX: -0.100000 m, approachRate: -0.196833 m/s, rangeRepo size: 4  Added new target pos. range: 30.355120 m, bearing: 331.681884 deg, lat: 36.779461 deg, lon: -121.859739 deg, deltaT: 0.508047 s, deltaX: -0.099516 m, approachRate: -0.195879 m/s, posRepo size: 4 oDNOT Ignoring new targets: 30.36 m.ooo ProNav: ac range: 30.355120 m, nav range: 30.142471 m, bearing: 332.061328 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.351273 deg, new cmd heading: 331.250966 deg. zoHeadingCmd: 5.781420 target range: 30.355120 and range: 30.50 m.Roe@Jo!bo!Zo)Bo):n)2n)m1m5Bl9k9k9k=>@kEb?ɞB I LɝiIHI=si=W2=i=_=)=e@)AJJ3J?/J% sJ% lJ% 2J! J% K:J% 9J% c3J! J% (e;J% +e;J% 1:J% 2: DDAT read: Rx Time:04:05:50.6477  TRx dataTimestamp_ set to:1761365151.603835 PDAT read: Bearing 357.8, 4.8 (Local)  ~Local bearing/azimuth received: Bearing 357.8, 4.8 (Local) % DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed 0.5 U DAT read: 04:05:50.6477 LVL= 15824, 28481, 17650, 28611, AGC= 59, IDX= 508,-0.33, 2.365, 0.978, 2.463, 2.076, PHS= 0.377,-1.051, 0.385, RAW= 150.3, 4.1, CAL= 152.2, -4.8, ROT= 357.8, 4.8 ] Ygot valid direction response: 04:05:50.6477 LVL= 15824, 28481, 17650, 28611, AGC= 59, IDX= 508,-0.33, 2.365, 0.978, 2.463, 2.076, PHS= 0.377,-1.051, 0.385, RAW= 150.3, 4.1, CAL= 152.2, -4.8, ROT= 357.8, 4.8 ] T#Rx 24: Read range and direction messages.e `direction in FSK: [0.995758,-0.038254,-0.083678]e Fpublishing direction and range info y 1%U@?T(U]k AY =) AoI Di o ; %> + > '@) C=I P*@i M@ = ) {z[㣐?<2nH?nj@8?i G? ᑽ F = )  checking for new query: numPingsReceived=24, elapsed TxPingTime=14.138855F "F *F 2F f0:F Gxr=G?G ?)Ga2Bi:B O?ď,T'?AZϲ@YZʹ@Z9ZA=zAHRS rotation from veh to nav: [[0.888052,0.454417,-0.069773],[-0.459145,0.884361,-0.084217],[0.023435,0.106825,0.994002]]yZHj?`*?ܱ bݿL?= h?X?`?ɫZϲ@Z w;Z.C~ BIIRI4٥%2= %W=9%|/Q %>)) MF٦MEyU U> Ye4Y]?e4y]bj]Bamm?]0%D]W;]S;]U4)Achecking for new query: numPingsReceived=24, elapsed TxPingTime=14.371670JpRp<'?ApApAp۸@vs#=@ndhDF,v1%U@?T(U]kpFp=v:@cY,8v )u~?. ޿- }]jp4grpvAZp;S?bpM(xzpxBp=t?pepwBpApa@e addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.505295 s, deltaX: -0.500000 m, approachRate: -0.989521 m/s, rangeRepo size: 4 M Added new target pos. range: 29.857494 m, bearing: 330.989369 deg, lat: 36.779461 deg, lon: -121.859740 deg, deltaT: 0.505295 s, deltaX: -0.497625 m, approachRate: -0.984821 m/s, posRepo size: 4 oQ]DNOT Ignoring new targets: 29.86 m.oaoioq ProNav: ac range: 29.857494 m, nav range: 29.973269 m, bearing: 331.926579 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.250979 deg, new cmd heading: 331.174334 deg. zojKOrK9zKKZK786233421/(!#!"%"   #$%(,8932::82:}HeadingCmd: 5.780083 target range: 29.857494 and range: 30.00 m.Ro}p@JoboZoBo:n2nmmlkkk>@k=?ɞ/ sI 2PɝiI>I Wi n2=i=)p@)Fu "Fq*Fy2F}0:Fy!  DDAT read: Rx Time:04:05:51.1477  TRx dataTimestamp_ set to:1761365152.109562 PDAT read: Bearing 358.0, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 358.0, 5.2 (Local)  DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed 0.5 E DAT read: 04:05:51.1477 LVL= 13744, 27457, 16690, 26771, AGC= 58, IDX= 507,-0.26,-2.310, 2.597,-2.223,-2.611, PHS= 0.388,-1.029, 0.385, RAW= 149.9, 3.7, CAL= 152.0, -5.2, ROT= 358.0, 5.2 M Ygot valid direction response: 04:05:51.1477 LVL= 13744, 27457, 16690, 26771, AGC= 58, IDX= 507,-0.26,-2.310, 2.597,-2.223,-2.611, PHS= 0.388,-1.029, 0.385, RAW= 149.9, 3.7, CAL= 152.0, -5.2, ROT= 358.0, 5.2 U T#Rx 25: Read range and direction messages.GU 9=} `direction in FSK: [0.995278,-0.034756,-0.090633] Fpublishing direction and range info y WP?Ĉˡ0L3 Y 5) AkI 2Ai h : > F p'@) A=I )@i ޹ @ ޹= ) {?2@L?KGU?i H? NƂ Q ޹= )  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.651277G 2B! :B1  O= >HI HI HM IIM bBIM =II IM D&IM <*IM Eď,b (?A$u-BuIqMb@Mb@Mb@ )IiHzG?p= ף{Gz= ?#)MAI@iQAA AIuVIu٥@= =-checking for new query: numPingsReceived=25, elapsed TxPingTime=14.8750329Q 5>)MGY a)yI5쿙@Aԙ F٦Ey > am4Ye֘?m4ye1oeBuB ?u:#?eE%De0;e,;e4B)AMEJpRp(?Appp@v Qm=@Ǚ`WvWP?Ĉˡ0L3pQp޹=vni:@XjnO,Un#vq%?MD޿8M jpXerpAZp=`n?bpX 7zpwBppCppApJ@] addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.505727 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.857517 m, bearing: 331.231150 deg, lat: 36.779461 deg, lon: -121.859741 deg, deltaT: 0.505727 s, deltaX: 0.000023 m, approachRate: 0.000045 m/s, posRepo size: 4 oDNOT Ignoring new targets: 29.86 m.ooo ProNav: ac range: 29.857517 m, nav range: 29.711496 m, bearing: 331.765111 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.174344 deg, new cmd heading: 331.053921 deg. zoHeadingCmd: 5.777981 target range: 29.857517 and range: 30.00 m.Ro8@JoboZoBo:n2nm m -Bl k k) k) k- @ I?ɞ} B} C޼ y } sIy Tɝ i I ^I Ui 2=i χ=) 8@) F "F *F 2F `0:F G F sA DDAT read: Rx Time:04:05:51.6474  TRx dataTimestamp_ set to:1761365152.611259 PDAT read: Bearing 358.0, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 358.0, 5.2 (Local)  DAT read: Range 10 to 50 : 29.6 m (trip time 19.7 ms) speed 0.7  5 DAT read: 04:05:51.6474 LVL= 14496, 23393, 15042, 22963, AGC= 58, IDX= 504,-0.22, 2.689, 1.307, 2.778, 2.389, PHS= 0.388,-1.035, 0.385, RAW= 149.9, 3.7, CAL= 152.0, -5.2, ROT= 358.0, 5.2 = Ygot valid direction response: 04:05:51.6474 LVL= 14496, 23393, 15042, 22963, AGC= 58, IDX= 504,-0.22, 2.689, 1.307, 2.778, 2.389, PHS= 0.388,-1.035, 0.385, RAW= 149.9, 3.7, CAL= 152.0, -5.2, ROT= 358.0, 5.2 E T#Rx 26: Read range and direction messages.E `direction in FSK: [0.995278,-0.034756,-0.090633]M Fpublishing direction and range info y WP?Ĉˡ0L3 AY 8) a[I :i Y z ) I i ) rq?#+?kw?i ʒ? D ) u checking for new query: numPingsReceived=26, elapsed TxPingTime=15.146443Gc=GGsAG2B:B O? ď,D-(?A$vQ@Yv6@vμ9vR=AHRS rotation from veh to nav: [[0.886460,0.457366,-0.070743],[-0.462118,0.883069,-0.081469],[0.025210,0.104911,0.994162]]yvH]?{E?@7UݿB?@-۴Й?qۺ?,?ɫvQ@vF8;v+C58B5IImdIm@٥u`= }F=9}{Q }>y F٦Ey > 4Y~㘊?4yq?Q%D::4B)AVEJpyRp}'(?Ap}Ap}Ap}y@v}y@NQ=@#ad \v}WP?Ĉˡ0L3pypyv}삁>=9@Bx,g.v}*ٲb?J +u޿)jp}crp}AZp}z.Z?bp}P.Wzp}ZxBp}=`n?p}M(xp}wBp}Ap}@u addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.501697 s, deltaX: -0.400000 m, approachRate: -0.797293 m/s, rangeRepo size: 4  Added new target pos. range: 29.459417 m, bearing: 331.027712 deg, lat: 36.779460 deg, lon: -121.859744 deg, deltaT: 0.501697 s, deltaX: -0.398100 m, approachRate: -0.793507 m/s, posRepo size: 4 oDNOT Ignoring new targets: 29.46 m.ooo ProNav: ac range: 29.459417 m, nav range: 29.569735 m, bearing: 331.377718 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 331.053914 deg, new cmd heading: 330.985889 deg. zo HeadingCmd: 5.776793 target range: 29.459417 and range: 29.60 m.Ro=~۸@Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkM=@kU3?yɞBg %]I! %)Vɝ!i!I%I-i-#3=i-J=)-~۸@)1checking for new query: numPingsReceived=26, elapsed TxPingTime=15.379735F"F*F2F0:FԱjK;MrK+9zKK[KRiolmlllmiig`ZUNG>73+%" !3EQOIHECC>:988530.,++((%$$"  G b$=G 2B :B  O >J J jJ J J J 9J J !- @!- @!- @!- @,ď,BG(?A.DDAT read: Rx Time:04:05:52.1473 2TRx dataTimestamp_ set to:1761365153.125415:PDAT read: Bearing 358.6, 4.8 (Local) B~Local bearing/azimuth received: Bearing 358.6, 4.8 (Local) JDAT read: Range 10 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5 ^DAT read: 04:05:52.1473 LVL= 14976, 25681, 15570, 24947, AGC= 58, IDX= 503,-0.18,-2.986, 1.928,-2.913, 3.004, PHS= 0.381,-1.029, 0.363, RAW= 149.4, 4.1, CAL= 151.4, -4.8, ROT= 358.6, 4.8 bYgot valid direction response: 04:05:52.1473 LVL= 14976, 25681, 15570, 24947, AGC= 58, IDX= 503,-0.18,-2.986, 1.928,-2.913, 3.004, PHS= 0.381,-1.029, 0.363, RAW= 149.4, 4.1, CAL= 151.4, -4.8, ROT= 358.6, 4.8 bT#Rx 27: Read range and direction messages.f`direction in FSK: [0.996195,-0.024346,-0.083678]jFpublishing direction and range info0y2K-?U:U]k23AlY0 2:)2QdI2<i2sa02o>2F2#۹> 2&@)2C=I2)@i22G@2= 0)02vS8?e+L?b ]?HYHYH]II]mBIYIYIY&I]h<*I]4Ei2g1?22*ȼ2= 0)0checking for new query: numPingsReceived=27, elapsed TxPingTime=15.679898@Y@Ӽ98=%AHRS rotation from veh to nav: [[0.886295,0.457619,-0.071176],[-0.462404,0.882959,-0.081028],[0.025765,0.104727,0.994167]]yH@\?I?8ݿ3A?B8b?`Ϻ?7?ɫ@$̉;,C]LB]II}gI}٥= 5=9)Q ->9A EF٦mEyu; }> 4Y?4yu BE?a%DX<w< 4B)AWEJp0Rp2H(?Ap2Ap2Ap2-@v2X|'&=@jS濘iv2K-?U:U]kp2*ȼp2=v2,Ӯ9@b+ʻ &v2l?_Ql޿Bdڍjp2^rp2vAZp2fYi?bp2:}zp2yBp2fYi?p0p2ZxBp2Ap2@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.514156 s, deltaX: -0.200001 m, approachRate: -0.388988 m/s, rangeRepo size: 4 - Added new target pos. range: 29.260365 m, bearing: 331.561106 deg, lat: 36.779460 deg, lon: -121.859744 deg, deltaT: 0.514156 s, deltaX: -0.199053 m, approachRate: -0.387145 m/s, posRepo size: 4 o)5DNOT Ignoring new targets: 29.26 m.o1oo ProNav: ac range: 29.260365 m, nav range: 29.261654 m, bearing: 331.366051 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 330.985886 deg, new cmd heading: 330.882538 deg. zoHeadingCmd: 5.774990 target range: 29.260365 and range: 29.40 m.Ro̸@JoboZoBo:n2nmmlkk1k`ff=@k5?ɞBCƼ 6I !Yɝ DDAT read: Rx Time:04:05:52.6470 TRx dataTimestamp_ set to:1761365153.3777275checking for new query: numPingsReceived=27, elapsed TxPingTime=15.897620iII i yb3=i =) ̸@)) a F "F *F 2F `0:F ԉ  JAJAGxr=PDAT read: Bearing 358.9, 4.9 (Local) ~Local bearing/azimuth received: Bearing 358.9, 4.9 (Local) DAT read: Range 10 to 50 : 29.0 m (trip time 19.3 ms) speed 0.5 DAT read: 04:05:52.6470 LVL= 15392, 31137, 18658, 29795, AGC= 58, IDX= 500,-0.08, 1.852, 0.478, 1.913, 1.549, PHS= 0.390,-1.024, 0.360, RAW= 148.9, 3.9, CAL= 151.1, -4.9, ROT= 358.9, 4.9 Ygot valid direction response: 04:05:52.6470 LVL= 15392, 31137, 18658, 29795, AGC= 58, IDX= 500,-0.08, 1.852, 0.478, 1.913, 1.549, PHS= 0.390,-1.024, 0.360, RAW= 148.9, 3.9, CAL= 151.1, -4.9, ROT= 358.9, 4.9 T#Rx 28: Read range and direction messages.`direction in FSK: [0.996162,-0.019127,-0.085417]Fpublishing direction and range infoۡyۥZu? b$ݵۥAYۡ ܥ <)ܥyIܥHiܥctܡܥ>ܥoܥQ> ݥR&@)ݥ'g=Iݥ(@iݥ%ݥr@ݥ%= ޡ)ޡޥa0?|dT3?cj?iޥI?ޥ0ޥFޥ%= ߡ)ߡ%checking for new query: numPingsReceived=28, elapsed TxPingTime=16.158783G!2B1:BI OU?ď,Ӈi(?A0=hB=IMb@Mb@Mb@ )IiNbX9?~jt?D) AII@i;A AIeI]٥Um= U=9UQ U>YY ]F٦]Eye e>ԉ i4Ym?4ymymB2?:s?ms%Dm8;mX:m 4)>AJpRp h(?ApApApY@v}Iga<@*˛xZjvZu? b$ݵpFp%=vN g9@HV;*+KIv,a*?HA޿q:q\jpQYrp=AZpݗe?bpzpyBpݗe?ppxBpApz@ addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.499832 s, deltaX: -0.400000 m, approachRate: -0.800268 m/s, rangeRepo size: 4  Added new target pos. range: 28.862265 m, bearing: 331.869461 deg, lat: 36.779459 deg, lon: -121.859744 deg, deltaT: 0.499832 s, deltaX: -0.398100 m, approachRate: -0.796467 m/s, posRepo size: 4 oIDNOT Ignoring new targets: 28.86 m.ooo ProNav: ac range: 28.862265 m, nav range: 28.945879 m, bearing: 331.363445 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 330.882531 deg, new cmd heading: 330.779725 deg. zoHeadingCmd: 5.773195 target range: 28.862265 and range: 29.00 m.Ro@JoboZoBo:n2nmmOBlkkk=@k?ɞaeϮ amIi m\ɝiiiImIuiu3=iu|=)@)%DDAT read: Rx Time:04:05:53.1468 -TRx dataTimestamp_ set to:1761365153.882563MPDAT read: Bearing 358.8, 5.7 (Local) M~Local bearing/azimuth received: Bearing 358.8, 5.7 (Local) mchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.408142F!"F!*F)2F-l0:F1jKM UNrKM 9zKI KM \KM 3-BHKLFA8*tkd\[\N=61,+'$ !#"   BKU ?:KU > GU = G 2B! :B1  OE >F!ď,l[(?AJ rJ lJJJ G:J 9JJDAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5 DAT read: 04:05:53.1468 LVL= 15328, 26769, 17154, 27635, AGC= 57, IDX= 498, 0.02, 2.089, 0.688, 2.144, 1.758, PHS= 0.419,-1.023, 0.383, RAW= 148.7, 3.1, CAL= 151.2, -5.7, ROT= 358.8, 5.7 Ygot valid direction response: 04:05:53.1468 LVL= 15328, 26769, 17154, 27635, AGC= 57, IDX= 498, 0.02, 2.089, 0.688, 2.144, 1.758, PHS= 0.419,-1.023, 0.383, RAW= 148.7, 3.1, CAL= 151.2, -5.7, ROT= 358.8, 5.7 T#Rx 29: Read range and direction messages.`direction in FSK: [0.994837,-0.020839,-0.099320]Fpublishing direction and range infoiymż?=UVhܸmmAYi m;)mhImCimkm9m+>mm> mx&@)mk]=Im[(@im%˽mHd@m%= i)im¯O?&Q?q ?imo?mKx`mm%= i)ichecking for new query: numPingsReceived=29, elapsed TxPingTime=16.663755 [@Y @@ ?Լ9 F==AHRS rotation from veh to nav: [[0.886614,0.456984,-0.071282],[-0.461780,0.883296,-0.080914],[0.025986,0.104656,0.994169]]y H`$_?:??`?ˍݿC? Ͷ#?@ʺ?@;?ɫ [@ ; -CHm>HiHmIImBIiIiImD&Im;<*ImE|BII^I٥%= %>=9-Q ->)) 5F٦5 Ey5@: U> am4Ye?m4ye|eBiuEu?e%Dei ;e0)V?^wS4ޮ`ºE 3AYA E <)E arIE bJiE qA E A>E ˡE > E %@)E 4QO=IA iE PwֽA E Pw= A )A E ޥp ?D?2W̶?iE >E MA E Pw= A )A  checking for new query: numPingsReceived=30, elapsed TxPingTime=16.987389ԁ G =Gq2B:B O>Θ(ď,(?AVE@YV*@VҼ9VSg=bAHRS rotation from veh to nav: [[0.886953,0.456348,-0.071140],[-0.461142,0.883590,-0.081339],[0.025739,0.104949,0.994144]]yVHa?4?`36Zݿ@_F?`Ҵ@r[? ݺ??ɫVE@V >;V+CvBz"I -checking for new query: numPingsReceived=30, elapsed TxPingTime=17.151001Mb@Mb@Mb@ )Ii+?Mbp~jt?v><)z AI3@iA;A AII٥D= -=9O :Q > F٦ Ey: > %4Y=*?%4y'B->-:--?%D:H:%41)5AYJp!Rp%E(?Ap%Ap%Ap%h@v%Uբ<@iGU,Ңv%ps>)V?^wS4ޮ`ºp!p%Pw=v%ζU8@+Jz*Bn4v%z\'?!s]ۈݿ;mCjp%Srp%AZp%4Y?bp%mzp%xBp%`U ^?p%p!p%&Ap%R@ addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.256667 s, deltaX: -0.300001 m, approachRate: -1.168834 m/s, rangeRepo size: 4  Added new target pos. range: 28.265051 m, bearing: 331.969473 deg, lat: 36.779459 deg, lon: -121.859740 deg, deltaT: 0.256667 s, deltaX: -0.298576 m, approachRate: -1.163283 m/s, posRepo size: 4 oDNOT Ignoring new targets: 28.27 m.o!o!o!1U ProNav: ac range: 28.265051 m, nav range: 28.268642 m, bearing: 331.821179 deg, approach rate: 0.000000 m/s, LOS rate: -0.067717 deg/s, cmd heading: 330.679538 deg, new cmd heading: 330.600091 deg. zoQ]HeadingCmd: 5.770060 target range: 28.265051 and range: 28.40 m.Ro]U@JoYboaZoaBoa:na2namimmhBlikikik`ff<@kB?ɞ >I  5w]ɝ1i1I5:I=-\i=Q4=i=Y=)=U@)AEEF% "F!*F!2F%0:F!G)F)q DDAT read: Rx Time:04:05:54.1465  TRx dataTimestamp_ set to:1761365154.891906- PDAT read: Bearing 359.1, 5.1 (Local) 5 ~Local bearing/azimuth received: Bearing 359.1, 5.1 (Local) ] DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 -m Z#Rx 31: Read range message, but no direction. AY ԑ  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.424936G Ď=jKe NrKa zKa Ke ]Ke  :pyoaM0&Xkf]WNF>3($G 2B :B  O >.ď,w(?Abʲ@YbŹ@bLμ9b ,=AHRS rotation from veh to nav: [[0.887737,0.454893,-0.070680],[-0.459662,0.884296,-0.082045],[0.025180,0.105323,0.994119]]ybH@Wh?? kݿ 'L?@ ș?z??ɫbʲ@bx ;`mBm6II}WI}ƕ٥ϫ= Y=9D:Q > F٦Ey; > 4Y28?4y -BIMM?%D%<G&<x,4UB)UAQB*** querying acoustic contact ***:pBp  addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.505537 s, deltaX: -0.199999 m, approachRate: -0.395617 m/s, rangeRepo size: 4 o  DNOT Ignoring new targets: 28.27 m.o o|o|U ProNav: ac range: 28.265051 m, nav range: 28.080942 m, bearing: 331.820417 deg, approach rate: -0.496165 m/s, LOS rate: -0.002028 deg/s, cmd heading: 330.600089 deg, new cmd heading: 330.597787 deg. zoU.]HeadingCmd: 5.770020 target range: 28.265051 and range: 28.20 m.Ro]@JoYboYZoYBoYJsJJJJK:J9JJ:n2nmmlkkk@33<@k@?9ɞho 靭 {I b-^ɝiI%DAT read: 04:05:54.1465 LVL= 15440, 26097, 16978, 25459, AGC= 57, IDX= 511,-0.45, 0.262,-1.157, 0.313,-0.061, PHS= 0.410,-1.049, 0.370, RAW= 148.6, 3.8, CAL= 150.9, -5.1, ROT= 359.1, 5.1 =Ygot valid direction response: 04:05:54.1465 LVL= 15440, 26097, 16978, 25459, AGC= 57, IDX= 511,-0.45, 0.262,-1.157, 0.313,-0.061, PHS= 0.410,-1.049, 0.370, RAW= 148.6, 3.8, CAL= 150.9, -5.1, ROT= 359.1, 5.1 EZ#Rx 32: Read direction message, but no range.U`direction in FSK: [0.995918,-0.015645,-0.088894]y ҏ?};Y P<)eIRBisc>Ep> )ԇ=I(@iK-@K= d Z?˾?ݲ?it>K=}checking for new query: numPingsReceived=32, elapsed TxPingTime=17.675072IYiHM4=io=)@)H>HHFIIBI =II&Ig<*I-E2Iy:IyBIyJIyRIyZI}]4F9"FA*FA2FE0:FAqԙ G =G 2B :BQ  O} > DDAT read: Rx Time:04:05:54.6462  TRx dataTimestamp_ set to:1761365155.393635 PDAT read: Bearing 359.3, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 359.3, 4.4 (Local) Vt6ď,f(?ADAT read: Range 10 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 zDAT read: 04:05:54.6462 LVL= 15072, 24801, 16290, 25939, AGC= 58, IDX= 508,-0.03,-1.993, 2.883,-1.941,-2.296, PHS= 0.391,-1.057, 0.352, RAW= 148.6, 4.5, CAL= 150.7, -4.4, ROT= 359.3, 4.4 ~Ygot valid direction response: 04:05:54.6462 LVL= 15072, 24801, 16290, 25939, AGC= 58, IDX= 508,-0.03,-1.993, 2.883,-1.941,-2.296, PHS= 0.391,-1.057, 0.352, RAW= 148.6, 4.5, CAL= 150.7, -4.4, ROT= 359.3, 4.4 ~T#Rx 33: Read range and direction messages.`direction in FSK: [0.996978,-0.012181,-0.076719]Fpublishing direction and range infoۡyۥ9??(_.0ۣۥfAYۡ ܥ:)ܥ`Iܥ?iܥSeܥ:ܥ'1>ܥKܥX9> ݡ)ݥ|٠=IݥaU(@iݥnFݥū@ݥnF= ޡ)ޡޥs?|-?w֗hgԳ?iޥ>ޥ˞ޥD+HޥnF= ߡ)ߡchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.989231BOIYMb@Mb@Mb@ )Ii rh?Q?Mb?>\=<)AII@i;AhA AI5wI5r٥ט= =9Q > F٦Ey >  4YK? 4y6B \> : JQJUBA ϾU?%Dk5<5<54a)eAaJpRpQ1(?ApWApWApԤ@v5Zx?;@aƑտ ^n.v9??(_.0ۣpD+HpnF=v>`{8@JH)ȗ7v#eQ?LFJݿE/ODڪjpLrpAZpۡZ?bp(vkzp{BppYpyBp|Ap6W@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.501729 s, deltaX: -0.400002 m, approachRate: -0.797246 m/s, rangeRepo size: 4 - Added new target pos. range: 27.667805 m, bearing: 332.394054 deg, lat: 36.779459 deg, lon: -121.859740 deg, deltaT: 1.007266 s, deltaX: -0.597246 m, approachRate: -0.592938 m/s, posRepo size: 4 o15DNOT Ignoring new targets: 27.67 m.o1o=o9u ProNav: ac range: 27.667805 m, nav range: 27.810925 m, bearing: 331.851176 deg, approach rate: 0.000000 m/s, LOS rate: -0.002028 deg/s, cmd heading: 330.597794 deg, new cmd heading: 330.594449 deg. zoq}HeadingCmd: 5.769962 target range: 27.667805 and range: 27.80 m.Ro}@JoyboyZoyBoy:ny2nmԉchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.158981mBlkkk;@k?ɞ)-E 15pď,(?A,vG@Yv,ݹ@v9v=%AHRS rotation from veh to nav: [[0.889086,0.452698,-0.067752],[-0.457161,0.885623,-0.081700],[0.023018,0.103612,0.994351]]yvHds??4X BݿW?`F괿ꑗ?L? ?ɫvG@v;v,C-ȀBjKMrKzKK^K  !593*#    6@>;845ReZH7-$-eIIp=)=IaI錴٥= C=9Ҩ;Q >    F٦Ey; > %4YZ?%4yUˡUm> Um%@)U=IU0(@iU޹U^@U޹=JHBH?AH->H)H-II-܀BI)I)I)&I-u<*I-@E QU_f.?cKx?jg|6߯?iUf>U#UDU޹=mchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.697943 Ge =Gy 2B :B  O >m3Eď,h)?AZZ@YZ?@Z(9Z=\%AHRS rotation from veh to nav: [[0.889279,0.452616,-0.065739],[-0.456839,0.885925,-0.080218],[0.021931,0.101369,0.994607]]yZHt???԰<ݿY?3/u?J??ɫZZ@Z;Z-CDDAT read: Rx Time:04:05:55.6459 TRx dataTimestamp_ set to:1761365156.401760PDAT read: Bearing 359.5, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 359.5, 4.5 (Local) =DAT read: Range 10 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 -EZ#Rx 36: Read range message, but no direction.fAYchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.949017րBwI%Mb@Mb@Mb@! !)!I!i!%ˡE?Mb? rh?%>%=%C<)%AI!i%A%QA !!IXI㔴٥qk= "=9 ;Q > F٦EyFE: > )=4Y-l?}4y--EBf>:L?-%D-E9<-s6<-F4)5AJpRpp)?Ap\Ap\Ap@v+Mw!;@K&9οS2vSp?w^É0L3pDp޹=vis8@pm([tvMg?2N$ݿ:I]jpErpAZpL=]?bp4zp(zBpL=]?pmpyBpAp:X@E addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503274 s, deltaX: -0.500000 m, approachRate: -0.993495 m/s, rangeRepo size: 4 U Added new target pos. range: 27.170120 m, bearing: 332.840867 deg, lat: 36.779458 deg, lon: -121.859739 deg, deltaT: 1.008125 s, deltaX: -0.497684 m, approachRate: -0.493673 m/s, posRepo size: 4 oQ}DNOT Ignoring new targets: 27.17 m.oyoo ProNav: ac range: 27.170120 m, nav range: 27.349665 m, bearing: 331.858278 deg, approach rate: 0.000000 m/s, LOS rate: -0.087222 deg/s, cmd heading: 330.487364 deg, new cmd heading: 330.353090 deg. zoHeadingCmd: 5.765749 target range: 27.170120 and range: 27.30 m.Ro@JoboZoBo:n2nmmրBlkkkL;@kp?ɞ6 =I [ɝiIIvi @5=i h=) @JJC=)Q DAT read: 04:05:55.6459 LVL= 16336, 27297, 17026, 27251, AGC= 58, IDX= 505,-0.09,-2.197, 2.674,-2.154,-2.508, PHS= 0.399,-1.054, 0.350, RAW= 148.3, 4.3, CAL= 150.5, -4.5, ROT= 359.5, 4.5  Ygot valid direction response: 04:05:55.6459 LVL= 16336, 27297, 17026, 27251, AGC= 58, IDX= 505,-0.09,-2.197, 2.674,-2.154,-2.508, PHS= 0.399,-1.054, 0.350, RAW= 148.3, 4.3, CAL= 150.5, -4.5, ROT= 359.5, 4.5  Z#Rx 37: Read direction message, but no range. `direction in FSK: [0.996879,-0.008699,-0.078459]i ym  o?nNg+Ё5;Yi m ?)m jIm Bim sji m I>m y醿m 33> m %@)m `=Ii im |٠i m |٠= i m | Qm?A?KB?im >m Lď,\5)?Afj@YfO޹@fױ9fT=~AHRS rotation from veh to nav: [[0.889176,0.452978,-0.064639],[-0.457051,0.885969,-0.078505],[0.021708,0.099348,0.994816]]yfH@ t??4`S@ݿY?:?n?`?ɫfj@fp;d B II]SI]Qԙ٥2= Q=9P:5DDAT read: Rx Time:04:05:56.1459 =TRx dataTimestamp_ set to:1761365156.906129]PDAT read: Bearing 359.6, 5.0 (Local) e~Local bearing/azimuth received: Bearing 359.6, 5.0 (Local) Q > F٦Ey > DAT read: Range 10 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 4Y |?-4ySLB)-^-?%DyG<E<YM45“B)5A=ZE}DAT read: 04:05:56.1459 LVL= 14736, 24241, 16594, 25331, AGC= 57, IDX= 504, 0.33, 0.603,-0.853, 0.637, 0.266, PHS= 0.425,-1.072, 0.368, RAW= 148.1, 3.9, CAL= 150.4, -5.0, ROT= 359.6, 5.0 oDNOT Ignoring new targets: 27.17 m.Ygot valid direction response: 04:05:56.1459 LVL= 14736, 24241, 16594, 25331, AGC= 57, IDX= 504, 0.33, 0.603,-0.853, 0.637, 0.266, PHS= 0.425,-1.072, 0.368, RAW= 148.1, 3.9, CAL= 150.4, -5.0, ROT= 359.6, 5.0 T#Rx 38: Read range and direction messages.`direction in FSK: [0.996170,-0.006955,-0.087156]Fpublishing direction and range info9y=Fˠ?f||O9Y9 =9)=^I=@i=b=9=>=L7=j> =m%@)='g=I='@i=¸=@=¸= 9)9=~+?0{^ ?%?i=>=H==¸= 9)9checking for new query: numPingsReceived=38, elapsed TxPingTime=19.480925oo%)o%)5 ProNav: ac range: 27.170120 m, nav range: 27.162542 m, bearing: 331.797586 deg, approach rate: -0.454572 m/s, LOS rate: -0.148455 deg/s, cmd heading: 330.353082 deg, new cmd heading: 330.169751 deg. zo5˻=HeadingCmd: 5.762549 target range: 27.170120 and range: 27.30 m.Ro=f@JoaboaZoaBoa:ni2nimmlkkkk?ɞBejKMrK9zKK_K)\\a`dhioommryrjb]WTSPLPSSNIDABFEB@M]p~ynbUJRw2KErA*KA M=II MYɝIiQIUrKIUdHi}n5=i}m=)}f@)F "F*F2F0:F checking for new query: numPingsReceived=38, elapsed TxPingTime=19.670975H} >Hy H} II} BIy Iy Iy &I} l<*I} 3EG ͢= G 2B :B  O >kSď,C:O)?A:F޲@Y:+ٹ@:9: =~AHRS rotation from veh to nav: [[0.888898,0.453696,-0.063402],[-0.457614,0.885807,-0.077048],[0.021205,0.097501,0.995009]]y:Hq?`\ ?;IݿX?@i˶?? ?ɫ:F޲@:eF;:,C-BUIiIIAIE٥ ?=9:Q > F٦Eyɺ > 4YɊ?4yiqIqSB?%D)rG<g=rT4 )!I}翙yADDAT read: Rx Time:04:05:56.6457 TRx dataTimestamp_ set to:1761365157.421744PDAT read: Bearing 0.2, 3.8 (Local) ~Local bearing/azimuth received: Bearing 0.2, 3.8 (Local) DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 DAT read: 04:05:56.6457 LVL= 17584, 32465, 19314, 32755, AGC= 57, IDX= 502,-0.05,-2.219, 2.692,-2.195,-2.513, PHS= 0.381,-1.031, 0.314, RAW= 147.6, 4.9, CAL= 149.8, -3.8, ROT= 0.2, 3.8 %Ygot valid direction response: 04:05:56.6457 LVL= 17584, 32465, 19314, 32755, AGC= 57, IDX= 502,-0.05,-2.219, 2.692,-2.195,-2.513, PHS= 0.381,-1.031, 0.314, RAW= 147.6, 4.9, CAL= 149.8, -3.8, ROT= 0.2, 3.8 %T#Rx 39: Read range and direction messages.-^direction in FSK: [0.997795,0.003483,-0.066274]-Fpublishing direction and range infoۡyۥ[?5Ul?{Sۥ3AYۡ ܥD)ܥ~IܥrKiܥܡܥo>ܥܥĠ> ݥ$@)ݥ%=IݥT'@iݥԇݥd;ݥԇ= ޡ)ޡޥNZA?0?t#?iޥS>ޥ$毽ޥd;ޥԇ= ߡ)ߡMchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.960747mf@mB)AJpRpZ)?Ap-Ap-Ap*@v(էi:@p/p߷?}ǁcv[?5Ul?{Spd;pԇ=vIh7@j1(f v0o*?TDɺβܿUjp@rp3AZp#h?bprzp}Bpp(vkp(zBpApЉ@ addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 1.019984 s, deltaX: -0.400000 m, approachRate: -0.392163 m/s, rangeRepo size: 4  Added new target pos. range: 26.772133 m, bearing: 333.329621 deg, lat: 36.779458 deg, lon: -121.859736 deg, deltaT: 1.019984 s, deltaX: -0.397987 m, approachRate: -0.390190 m/s, posRepo size: 4 oDNOT Ignoring new targets: 26.77 m.ooo ProNav: ac range: 26.772133 m, nav range: 26.862225 m, bearing: 332.205113 deg, approach rate: 0.000000 m/s, LOS rate: -0.148455 deg/s, cmd heading: 330.169760 deg, new cmd heading: 329.938281 deg. zoHeadingCmd: 5.758509 target range: 26.772133 and range: 26.90 m.RoE@JoboZoBo:n2nmmlkkk`f:@kE7?ɞBI׻ 靥=I  XɝiIH I)Qi[5=iP=)E@)E! Q F "F *F 2F o0:F J uJ jJ J J [Q:J 9J J J o;! J o;! J :! J :! q  checking for new query: numPingsReceived=39, elapsed TxPingTime=20.174953Gا=G2B:B O?W[ď,Ep)?A P̲@Y5ǹ@9=EAHRS rotation from veh to nav: [[0.887908,0.456097,-0.059962],[-0.459570,0.885244,-0.071689],[0.020384,0.091209,0.995623]]yHi?0?@HiݿS?/Z sߔ? Y?%?ɫP̲@SV;UBUImMb@Mb@Mb@i i)iIiiim$C?K?{Gz?m>m^=m#<)m AIm`@imQAmA imzAI}oI}٥ = =9:Q > F٦"Ey֋ > 4Y?4yZB>:)?%DQ:{:]4 ƓB) A [EAUB*** querying acoustic contact ***:pQBpQoY DNOT Ignoring new targets: 26.77 m.o o5DDAT read: Rx Time:04:05:57.1456 TRx dataTimestamp_ set to:1761365157.914813PDAT read: Bearing 0.2, 4.9 (Local) %~Local bearing/azimuth received: Bearing 0.2, 4.9 (Local) o5mDAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed 0.4  ProNav: ac range: 26.772133 m, nav range: 26.641865 m, bearing: 332.101473 deg, approach rate: -0.561230 m/s, LOS rate: -0.266141 deg/s, cmd heading: 329.938271 deg, new cmd heading: 329.624784 deg. zo6HeadingCmd: 5.753038 target range: 26.772133 and range: 26.90 m.Ro@JoboZoBo:n2nm9m=Bl9k9kAkAkE`2?UDAT read: 04:05:57.1456 LVL= 15680, 30481, 18098, 29667, AGC= 58, IDX= 500, 0.41,-0.104,-1.523,-0.092,-0.439, PHS= 0.423,-1.036, 0.344, RAW= 147.3, 3.8, CAL= 149.8, -4.9, ROT= 0.2, 4.9 eYgot valid direction response: 04:05:57.1456 LVL= 15680, 30481, 18098, 29667, AGC= 58, IDX= 500, 0.41,-0.104,-1.523,-0.092,-0.439, PHS= 0.423,-1.036, 0.344, RAW= 147.3, 3.8, CAL= 149.8, -4.9, ROT= 0.2, 4.9 eT#Rx 40: Read range and direction messages.q^direction in FSK: [0.996339,0.003478,-0.085417]Fpublishing direction and range infoyE?#A,}l?b$ݵAY @=)wIFis:u> > "$@)ԇ=Ii%ɞ B  >I &VɝiIIi^6=i%c =)%@)!%= )ݴ/c?"bE:?J?il>ڈ%= )=checking for new query: numPingsReceived=40, elapsed TxPingTime=20.507557jKEاNrKE59zKAKE`KE~wla^YRX'_dO2}wqoi_QD@I{BK] ?:K]?F% "F! *F! 2F! :F! ԡ } checking for new query: numPingsReceived=40, elapsed TxPingTime=20.680021ZH <RH H >H H II )BI I I D&I s<*I @E G 6=GY2Bi:B O>[cď,̎)?ARmŲ@YRR@R9RAb=jAHRS rotation from veh to nav: [[0.887531,0.456963,-0.058943],[-0.460321,0.884932,-0.070712],[0.019848,0.089892,0.995754]]yRHf?>?-uݿ\Q?/R?@'?6?ɫRmŲ@Ry;R*CrBvIIURIU4٥m< m<=9u:Q }>Ա F٦$Ey > -4Y?54y`Bimm?%D<,<e4)AJpRpLz)?ApApAp@vfoy:@cAè?-(vE?#A,}l?b$ݵpp%=vn%7@ 'paWn3v oL?ܿٓjp?rpdADDAT read: Rx Time:04:05:57.6453 TRx dataTimestamp_ set to:1761365158.425578=PDAT read: Bearing 0.5, 4.7 (Local) E~Local bearing/azimuth received: Bearing 0.5, 4.7 (Local) UDAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 Zpx?bp u)zpzBpp4pzBpAp๹@ addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.493069 s, deltaX: -0.199999 m, approachRate: -0.405620 m/s, rangeRepo size: 4 DAT read: 04:05:57.6453 LVL= 15088, 30945, 17650, 29539, AGC= 57, IDX= 498, 0.05,-1.710,-3.083,-1.704,-2.030, PHS= 0.409,-1.006, 0.323, RAW= 146.9, 4.0, CAL= 149.5, -4.7, ROT= 0.5, 4.7 Ygot valid direction response: 04:05:57.6453 LVL= 15088, 30945, 17650, 29539, AGC= 57, IDX= 498, 0.05,-1.710,-3.083,-1.704,-2.030, PHS= 0.409,-1.006, 0.323, RAW= 146.9, 4.0, CAL= 149.5, -4.7, ROT= 0.5, 4.7 T#Rx 41: Read range and direction messages.^direction in FSK: [0.996599,0.008697,-0.081939]Fpublishing direction and range infoyXI$?\Gρ?fAY :)xIDics9sh>ĀB`> $@)5=I<&@i5<= )m Added new target pos. range: 26.573225 m, bearing: 333.226181 deg, lat: 36.779458 deg, lon: -121.859733 deg, deltaT: 0.493069 s, deltaX: -0.198908 m, approachRate: -0.403408 m/s, posRepo size: 4 oiuDNOT Ignoring new targets: 26.57 m.oqouoyXЇ)w?$Q?a}?iP>;'5<= )checking for new query: numPingsReceived=41, elapsed TxPingTime=20.996319 ProNav: ac range: 26.573225 m, nav range: 26.312323 m, bearing: 332.541246 deg, approach rate: 0.000000 m/s, LOS rate: -0.266141 deg/s, cmd heading: 329.624793 deg, new cmd heading: 329.156278 deg. zoHeadingCmd: 5.744861 target range: 26.573225 and range: 26.70 m.Roշ@JoboZoBo:n2nmmlkkkL:@kvh?ɞ5B5( 15X>I1 ]SɝYiYI]4 Ie ie6=ie=)eշ@)iEqEutAF5 "F1 *F1 2F5 _0:F1 ) J sJ iJ 3J J K:J ڈ9J (3J J (e;J +e;J r:J s:e checking for new query: numPingsReceived=41, elapsed TxPingTime=21.186903GU=qG92BA:BQ Oe?7kď, )?A~l@Y~Q@~C9~i{=5AHRS rotation from veh to nav: [[0.886867,0.458421,-0.057598],[-0.461627,0.884368,-0.069241],[0.019196,0.087996,0.995936]]y~H6a?V? o}JݿL? $? 䆶??ɫ~l@~;~+CEBEI!%Mb@Mb@Mb@! !)!I!i!%S?sh|??{Gzt%/>%=%ף)% AI!i%A! !%AI=KI=h٥i =9:Q > F٦(Ey+ > 4Y?4ycB>>:_? &D;0;o4ғB)9AeEYJpRp<)?ApfApfAp6@v :@UZ#?pr(vXI$?\Gρ?DDAT read: Rx Time:04:05:58.1453 TRx dataTimestamp_ set to:1761365158.927133PDAT read: Bearing 0.4, 3.6 (Local) ~Local bearing/azimuth received: Bearing 0.4, 3.6 (Local) DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 =DAT read: 04:05:58.1453 LVL= 16320, 31153, 19698, 31411, AGC= 57, IDX= 498,-0.34,-1.739,-3.097,-1.719,-2.026, PHS= 0.375,-1.024, 0.304, RAW= 147.4, 5.1, CAL= 149.6, -3.6, ROT= 0.4, 3.6 p5<p=v&Y\7@>Jjb'g_v@ ԏ?sޙܿA"^jp;rpAZppzq?bp*Gzp`{Bp#h?p u)p`{BpAp@Ygot valid direction response: 04:05:58.1453 LVL= 16320, 31153, 19698, 31411, AGC= 57, IDX= 498,-0.34,-1.739,-3.097,-1.719,-2.026, PHS= 0.375,-1.024, 0.304, RAW= 147.4, 5.1, CAL= 149.6, -3.6, ROT= 0.4, 3.6 T#Rx 42: Read range and direction messages. addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.510765 s, deltaX: -0.400002 m, approachRate: -0.783142 m/s, rangeRepo size: 4  ^direction in FSK: [0.998002,0.006967,-0.062791] Fpublishing direction and range infoy`?|?֏ Y ?)yILiz>o㥛> $@)K=I'@i;= )E؞J?CZ?ɶ?i`>;- Added new target pos. range: 26.175123 m, bearing: 333.413724 deg, lat: 36.779460 deg, lon: -121.859731 deg, deltaT: 0.510765 s, deltaX: -0.398102 m, approachRate: -0.779423 m/s, posRepo size: 4 o)5DNOT Ignoring new targets: 26.18 m.o1o1o9= )mchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.494764} ProNav: ac range: 26.175123 m, nav range: 26.117043 m, bearing: 332.948276 deg, approach rate: 0.000000 m/s, LOS rate: -0.266141 deg/s, cmd heading: 329.156269 deg, new cmd heading: 328.759160 deg. zoyHeadingCmd: 5.737930 target range: 26.175123 and range: 26.30 m.Ro@JoboZoBo:n2nmmрBlkkkk`F#?ɞEBM+ IM=II M\ RɝIiIIUfIU yi]j7=i =) @) jKU COrKU 9zKQ KU aKU m    [ ) x ( q ogq=pOJ&2Fyux2Ke sA*Ke rAF "F *F 2F :F ԩ u checking for new query: numPingsReceived=42, elapsed TxPingTime=21.692200H >H H II =BI I I &I x<*I HEG}=G2B:B O?sď,&)?A9M@YM@Mu9M~=5AHRS rotation from veh to nav: [[0.885928,0.460458,-0.055759],[-0.463444,0.883641,-0.066323],[0.018732,0.084598,0.996239]]yMHY?&x?d`ݿF?`n.?7?0?ɫM@M1;M-CAAi}DDAT read: Rx Time:04:05:58.6451 TRx dataTimestamp_ set to:1761365159.432505PDAT read: Bearing 0.5, 5.1 (Local) ~Local bearing/azimuth received: Bearing 0.5, 5.1 (Local) DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 Mb@Mb@Mb@ )DAT read: 04:05:58.6451 LVL= 14432, 30097, 17602, 27955, AGC= 57, IDX= 495, 0.23,-1.578,-2.981,-1.576,-1.917, PHS= 0.427,-1.017, 0.338, RAW= 146.8, 3.6, CAL= 149.5, -5.1, ROT= 0.5, 5.1 Ygot valid direction response: 04:05:58.6451 LVL= 14432, 30097, 17602, 27955, AGC= 57, IDX= 495, 0.23,-1.578,-2.981,-1.576,-1.917, PHS= 0.427,-1.017, 0.338, RAW= 146.8, 3.6, CAL= 149.5, -5.1, ROT= 0.5, 5.1 T#Rx 43: Read range and direction messages.^direction in FSK: [0.996003,0.008692,-0.088894]Ii#~j?sh|??Mb>)z AIv@iA AFpublishing direction and range infoہyۅA?֑́?ۅAYہ ܅`8)܅uI܅Di܅3m܁܅>܅-܅V> ݅(#@)݅=I݅<&@i݅K݅5<݅K= ށ)ށޅD~??kC(p?X$x=?iޅ>ޅޅ5<ޅK= ߁)߁IAIE٥E E=9M>:Q M>IQ UF٦U,EyUBR]checking for new query: numPingsReceived=43, elapsed TxPingTime=22.009951 u> y4Y}Yؙ?4y}}eB>:?}&D}:}:}Nz4֓B)^AfEJpRp))?ApApApt(@v9@Gt@'? fvA?֑́?ppK=v7@7a/'Z vZd?_Gܿ/U}jp}9rpAZp01o?bpNzpzBp01o?prpzBp Ap@u addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 1.006927 s, deltaX: -0.299999 m, approachRate: -0.297935 m/s, rangeRepo size: 4  Added new target pos. range: 25.876616 m, bearing: 333.314651 deg, lat: 36.779460 deg, lon: -121.859731 deg, deltaT: 1.006927 s, deltaX: -0.298508 m, approachRate: -0.296454 m/s, posRepo size: 4 oDNOT Ignoring new targets: 25.88 m.oԑoo ProNav: ac range: 25.876616 m, nav range: 25.879438 m, bearing: 333.030687 deg, approach rate: 0.000000 m/s, LOS rate: -0.266141 deg/s, cmd heading: 328.759162 deg, new cmd heading: 328.297659 deg. zoHeadingCmd: 5.729875 target range: 25.876616 and range: 26.00 m.Ro#[@JoboZoBo:n2nmm Bl k k k :@k ŋ?ɞ= B= &ɻ 9 E =IA E OɝA ii Im uIu i} "8=i} =)} #[@) E V>E > J @AJ AAJ tJ nJ 4J J ;N:J 99J 3J J j;J j;J \:J ]: F "F! *F! 2F! :F!  checking for new query: numPingsReceived=43, elapsed TxPingTime=22.196079Ge:_=G2B):B9 OE?[{|ď,KZ)?A lnd@YnI@n\>9n<=AHRS rotation from veh to nav: [[0.884277,0.463738,-0.054783],[-0.466612,0.882057,-0.065180],[0.018095,0.083200,0.996369]]ynHK?? ݿ9?@?L?@?ɫnd@n;n+C%ՀB%vII5LI5٥E+ E^=9MO:Q M>IQ UF٦U/Ey]T ]> am4Ye噊?m4yePegBquu?e'&Dev;e;e4y)} AyB*** querying acoustic contact ***:pBpo DNOT Ignoring new targets: 25.88 m.o oIoI ProNav: ac range: 25.876616 m, nav range: 25.714954 m, bearing: 332.968228 deg, approach rate: -0.462066 m/s, LOS rate: -0.176580 deg/s, cmd heading: 328.297660 deg, new cmd heading: 328.109086 deg. zo_HeadingCmd: 5.726584 target range: 25.876616 and range: 26.00 m.Ro-@@JoboZoBoA:nI2nQ}DDAT read: Rx Time:04:05:59.1451 }TRx dataTimestamp_ set to:1761365159.931744PDAT read: Bearing 0.6, 4.1 (Local) ~Local bearing/azimuth received: Bearing 0.6, 4.1 (Local) DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 DAT read: 04:05:59.1451 LVL= 15184, 32753, 17074, 30547, AGC= 57, IDX= 511,-0.07,-1.965, 2.946,-1.956,-2.270, PHS= 0.393,-1.020, 0.311, RAW= 147.0, 4.7, CAL= 149.4, -4.1, ROT= 0.6, 4.1 Ygot valid direction response: 04:05:59.1451 LVL= 15184, 32753, 17074, 30547, AGC= 57, IDX= 511,-0.07,-1.965, 2.946,-1.956,-2.270, PHS= 0.393,-1.020, 0.311, RAW= 147.0, 4.7, CAL= 149.4, -4.1, ROT= 0.6, 4.1 T#Rx 44: Read range and direction messages.^direction in FSK: [0.997386,0.010445,-0.071497]Fpublishing direction and range infoyy}B6=?|5.d? MyYy }P;)}I}Bi}Swy}L7>}\}d;> }Y3$@)}=I}&@i}C}+<}C= y)y} h?r?V?i}>}n.}+<}C= y)ychecking for new query: numPingsReceived=44, elapsed TxPingTime=22.469398mYm!l!k)k)k)k-)?ɞBx 靥؍=I OɝiIѓIj}im8=i=)-@@)FU "FQ*FQ2FQ:FYjKBPrK9zKKbKj_TNGAC@@@>;<C^ru}iUKA<;:84/-+'#"" !"".E8&G5o=aG 2B:B! O->Y  checking for new query: numPingsReceived=44, elapsed TxPingTime=22.698807JH1 BH5 @AH= >H9 H9 I9 I= =I9 I9 &I= <*I= oE2I :I BI JI ˠ =RI ˠ =ZI $4`ď,)*?AZ!z@YZu@Z19Z9=fAHRS rotation from veh to nav: [[0.883295,0.465567,-0.055112],[-0.468476,0.881019,-0.065848],[0.017898,0.083982,0.996306]]yZH`C?@?7ݿ N1? r۰S?? ?ɫZ!z@ZzΈ;Z,C INI٥-y -L=95`:Q 5>9AA EF٦E1EyEE M> I]4YM}?]4yMMhBY]]?M3&DM;M;M4mۓB)m.AiJpRp)?Appp@v-9@K7JL?;mvB6=?|5.d? Mp+<pC=vEW7@lEAv'6,:v='y?ݿ-ᪿjp;rp2AZpj?bpUNzp;|Bppzq?pp`{BpfAp@ addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.499239 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.876663 m, bearing: 333.001468 deg, lat: 36.779461 deg, lon: -121.859731 deg, deltaT: 0.499239 s, deltaX: 0.000048 m, approachRate: 0.000096 m/s, posRepo size: 4 oDNOT Ignoring new targets: 25.88 m.ooo % ProNav: ac range: 25.876663 m, nav range: 25.550230 m, bearing: 332.917664 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 328.109092 deg, new cmd heading: 327.898781 deg. zo)5HeadingCmd: 5.722913 target range: 25.876663 and range: 26.00 m.Ro5"@Jo1bo9Zo9Bo9:nA2nImYmalikik kk?iɞBm $=I (NɝiIĥI%mi- 9=i5=)5"@)ADDAT read: Rx Time:04:05:59.6449 TRx dataTimestamp_ set to:1761365160.435479PDAT read: Bearing 0.8, 4.3 (Local) ~Local bearing/azimuth received: Bearing 0.8, 4.3 (Local) DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 DAT read: 04:05:59.6449 LVL= 16352, 29025, 19506, 29315, AGC= 56, IDX= 508, 0.44,-2.089, 2.791,-2.090,-2.411, PHS= 0.410,-1.035, 0.318, RAW= 146.7, 4.4, CAL= 149.2, -4.3, ROT= 0.8, 4.3  Ygot valid direction response: 04:05:59.6449 LVL= 16352, 29025, 19506, 29315, AGC= 56, IDX= 508, 0.44,-2.089, 2.791,-2.090,-2.411, PHS= 0.410,-1.035, 0.318, RAW= 146.7, 4.4, CAL= 149.2, -4.3, ROT= 0.8, 4.3  T#Rx 45: Read range and direction messages.-^direction in FSK: [0.997088,0.013923,-0.074979]-Fpublishing direction and range infoۉyۍZ0$?o ?]1ۍAYۉ ܍?)܍aqI܍2Li܍r܍8܍>܍z܍Т> ݍ#@)ݍnF=Iݍr&@iݍ`ݍd<ݍ`= މ)މލ ~?{絬?3ų?iލ>ލQލd<ލ`= ߉)߉Mchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.976969Fm "Fi*Fi2Fi:FiԑԹ G Z=GQ 2Ba :By  O >2ď,+l(*?AJC=J%=JJhJ2JJJȆ9Jc3JJJJܬ:Jެ:6d@Y_@j9=%AHRS rotation from veh to nav: [[0.882046,0.467979,-0.054684],[-0.470842,0.879771,-0.065656],[0.017384,0.083659,0.996343]]yH9?@]?G"޿'?ΰ@͑? j?@ ?ɫ6d@;*C5̀B5kIichecking for new query: numPingsReceived=45, elapsed TxPingTime=23.207165Mb@Mb@Mb@ )Iie;O?)\(?Mb>Ga=) AIi;AQA AI iI ҅٥E  E+=9E:Q E>II MF٦M4EyMܷ U> y4Y}?4y}y|>:2?}B&D};}:}4)rAJpRp*?ApApApn@v 9@; ?EU|%\vZ0$?o ?]1pd<p`=v;cR6@D+RM#'Div1{?P﵅xܿτ Ǭjp9rp"AZpU0?bpOEzp{Bpx?pOEpp?Ap@u addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503735 s, deltaX: -0.299999 m, approachRate: -0.595550 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 25.578087 m, bearing: 333.062688 deg, lat: 36.779461 deg, lon: -121.859731 deg, deltaT: 0.503735 s, deltaX: -0.298576 m, approachRate: -0.592725 m/s, posRepo size: 4 oDNOT Ignoring new targets: 25.58 m.ooo ProNav: ac range: 25.578087 m, nav range: 25.405869 m, bearing: 332.911641 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 327.898777 deg, new cmd heading: 327.637963 deg. zoHeadingCmd: 5.718361 target range: 25.578087 and range: 25.70 m.Ro@JoboZoBo:n2n mImMBlIkQkQkU@39@kU g?ɞB&p 靭B=I sMɝiIILi9=i_Y=)@)FU "FQ*FY2Fe`0:Fi DDAT read: Rx Time:04:06:00.1449  TRx dataTimestamp_ set to:1761365160.942617 PDAT read: Bearing 1.1, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 1.1, 4.7 (Local)  DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4  DAT read: 04:06:00.1449 LVL= 15664, 28993, 17874, 29635, AGC= 56, IDX= 508, 0.06,-0.782,-2.204,-0.799,-1.124, PHS= 0.430,-1.032, 0.323, RAW= 146.2, 4.0, CAL= 148.9, -4.7, ROT= 1.1, 4.7  Ygot valid direction response: 04:06:00.1449 LVL= 15664, 28993, 17874, 29635, AGC= 56, IDX= 508, 0.06,-0.782,-2.204,-0.799,-1.124, PHS= 0.430,-1.032, 0.323, RAW= 146.2, 4.0, CAL= 148.9, -4.7, ROT= 1.1, 4.7  T#Rx 46: Read range and direction messages. ^direction in FSK: [0.996454,0.019133,-0.081939] Fpublishing direction and range infoہ yۅ 2?ʋ|?ہ Yہ ܅ 0=)܅ AqI܅ Ei܅ s܁ ܅ (>܅ ܅ B`> ݅ N#@)݅ 5=I݅ R&@i݅ ݅ nF<݅ = ށ )ށ ޅ f\1?W,<9?%ر?iޅ ^r>ޅ ⎽ޅ nF<ޅ = ߁ )߁  checking for new query: numPingsReceived=46, elapsed TxPingTime=23.477085 G GA 2BI :Ba  Om >ď,sB*?AI<)<jKjpZNrKj+9zKhKjcKj ERI=2.+$  %,:AB@=<8O0%uaduqcdki`XSWM:2KnrA*KnsAE F@YE@@E9E9=AHRS rotation from veh to nav: [[0.880312,0.471256,-0.054476],[-0.474091,0.878035,-0.065511],[0.016960,0.083497,0.996364]]yEH+?)?N䫿W޿ ?RŰ`]? `? 6?ɫE F@E);AÀB`IIuI_v٥N `=9}:Q > F٦6Ey-~# -> 1=4Y5m?=4y55gB9=E?5M&D5:5K:5z4MߓB)MAMgEJpRpS<*?Appp@vO|9@t R?FMBv2?ʋ|?pnF<p=vk A6@l_'lh\ivR_?b*ܿn-*jpB8rp@AZpZ0?bpKzp{BpU0?pppAp,@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.507138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.578087 m, bearing: 333.182942 deg, lat: 36.779463 deg, lon: -121.859731 deg, deltaT: 0.507138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 oDNOT Ignoring new targets: 25.58 m.ooo ProNav: ac range: 25.578087 m, nav range: 25.362839 m, bearing: 333.025914 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 327.637973 deg, new cmd heading: 327.441105 deg. zoHeadingCmd: 5.714925 target range: 25.578087 and range: 25.70 m.Ro@JoboZoBo:n2nmmlkkkk@u?ɞ5B=9, ae %ď,37\*?ADDAT read: Rx Time:04:06:00.6446 TRx dataTimestamp_ set to:1761365161.447308"PDAT read: Bearing 1.6, 3.6 (Local) "~Local bearing/azimuth received: Bearing 1.6, 3.6 (Local) *DAT read: Range 10 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 >DAT read: 04:06:00.6446 LVL= 15968, 27089, 18162, 29683, AGC= 56, IDX= 506,-0.40,-2.856, 2.030,-2.877, 3.113, PHS= 0.402,-1.036, 0.290, RAW= 146.0, 5.0, CAL= 148.4, -3.6, ROT= 1.6, 3.6 BYgot valid direction response: 04:06:00.6446 LVL= 15968, 27089, 18162, 29683, AGC= 56, IDX= 506,-0.40,-2.856, 2.030,-2.877, 3.113, PHS= 0.402,-1.036, 0.290, RAW= 146.0, 5.0, CAL= 148.4, -3.6, ROT= 1.6, 3.6 BT#Rx 47: Read range and direction messages.F^direction in FSK: [0.997638,0.027867,-0.062791]JFpublishing direction and range infoy/?0A ?֏ AY `>)iIFis>z> e#@)¸=I%@i<= )c(ɠ?T:?QFc?i4>T<= )Zchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.980501'@Y"@^9n=AHRS rotation from veh to nav: [[0.878555,0.474483,-0.054835],[-0.477352,0.876208,-0.066285],[0.016595,0.084411,0.996293]]yH ?@]?H޿ ?X???ɫ'@ ;髁BQI1%Mb@Mb@Mb@! !)!I!i!%)\(?/$? rh%G?%<%C)%7 AI%`@i%A%;A !%AIU[IU:٥eR e6=9eU:Q e>iq uF٦u9Eyg > 4Y%?4yJeBw?:.?\&D:8:P4)?AJpRp\*?ApApAp1@v>Kn9@3o]?1q2v/?0A ?֏ p<p=v΃f6@ȵrNt&BAv8F?Ń9ܿ 8Yjp3rp4AZp =?bpڗzp}Bp =?pp{BpAp@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504691 s, deltaX: -0.500000 m, approachRate: -0.990705 m/s, rangeRepo size: 4  Added new target pos. range: 25.080469 m, bearing: 333.379907 deg, lat: 36.779463 deg, lon: -121.859731 deg, deltaT: 0.504691 s, deltaX: -0.497618 m, approachRate: -0.985985 m/s, posRepo size: 4 oDNOT Ignoring new targets: 25.08 m.oAoAoAU ProNav: ac range: 25.080469 m, nav range: 25.136745 m, bearing: 333.017585 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 327.441099 deg, new cmd heading: 327.203369 deg. zoQ]HeadingCmd: 5.710776 target range: 25.080469 and range: 25.20 m.aRo}@JoboZoBo:n2nmmzBlkkk@339@k?ɞBfJ  ;I  Mɝ i I Y!Ifi:=iZ=)@)ychecking for new query: numPingsReceived=47, elapsed TxPingTime=24.215759F"F*F2F0:Fԑ G= =G 2B :B  O= >.^ď,x*?AԡG@Y,@X9X=AHRS rotation from veh to nav: [[0.876430,0.478472,-0.054176],[-0.481255,0.874165,-0.065034],[0.016242,0.083070,0.996411]]yH ? H?޿`(? ?@D??ɫG@7;)CEDDAT read: Rx Time:04:06:01.1445 MTRx dataTimestamp_ set to:1761365161.950486UPDAT read: Bearing 1.9, 4.0 (Local) ]~Local bearing/azimuth received: Bearing 1.9, 4.0 (Local) mDAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 DAT read: 04:06:01.1445 LVL= 15504, 27489, 17394, 27571, AGC= 56, IDX= 504, 0.08,-1.947, 2.927,-1.983,-2.280, PHS= 0.421,-1.030, 0.294, RAW= 145.4, 4.6, CAL= 148.1, -4.0, ROT= 1.9, 4.0 Ygot valid direction response: 04:06:01.1445 LVL= 15504, 27489, 17394, 27571, AGC= 56, IDX= 504, 0.08,-1.947, 2.927,-1.983,-2.280, PHS= 0.421,-1.030, 0.294, RAW= 145.4, 4.6, CAL= 148.1, -4.0, ROT= 1.9, 4.0 T#Rx 48: Read range and direction messages.^direction in FSK: [0.997016,0.033074,-0.069756]Fpublishing direction and range infoIyMJ!bE?f3!?&k۱MAYI M<)MakIMCBFIIdI@٥O3 C=9\:Q > F٦M ׃M+> Mi"@)Ml=IMm%@iM5M=M5= I)IMkgf?{5n?&b+k?iM>MЅM=M5= I)I checking for new query: numPingsReceived=48, elapsed TxPingTime=24.492224y[/ > !-4Y%5?-4y%Þ%dB1UzU?%i&D%;%;%4]TB)]3AehEJpIRpM|*?ApMApMApM%<@vM* 8@rSzp? (vMJ!bE?f3!?&k۱pM=pM5=vMTqQ6@8j-M&P5vM P?Rܿ>㩿jpMi2rpMAZpMdg?bpMzpMO|BpMj?pIpM;|BpMApMB@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503178 s, deltaX: -0.100000 m, approachRate: -0.198738 m/s, rangeRepo size: 4 u Added new target pos. range: 24.980944 m, bearing: 333.452369 deg, lat: 36.779463 deg, lon: -121.859731 deg, deltaT: 0.503178 s, deltaX: -0.099525 m, approachRate: -0.197794 m/s, posRepo size: 4 oquDNOT Ignoring new targets: 24.98 m.oyoyoy ProNav: ac range: 24.980944 m, nav range: 24.961069 m, bearing: 333.054501 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 327.203381 deg, new cmd heading: 326.982645 deg. zoHeadingCmd: 5.706924 target range: 24.980944 and range: 25.10 m.Ro@JoboZoBo:n2nmmlkk k 9@k =?ɞ]B]a ae Ia XMɝiIwQ"Iۅi{;=i+=)@)jKNrK9zKKdK, 5:<<@JRVTOIC>730.*'&(-352*% -;98311/-..*&$$"! BK?:K>FY"FY*Fa2Fe1:FaJerJeeJaJaJeG:Je9JaJa!}@!@!@!@H >H H II BI I I &I <*I XE checking for new query: numPingsReceived=48, elapsed TxPingTime=24.719902! G h=GY 2Bq :B  O >Roď,ᙒ*?A "@vE@Yv*@v^9vr2=EAHRS rotation from veh to nav: [[0.874725,0.481671,-0.053379],[-0.484358,0.872551,-0.063658],[0.015914,0.081538,0.996543]]yvH`?`?T ޿?KK?ߴ?`?ɫvE@v;v*CB8IԱ)G )Ie鿙im9ADDAT read: Rx Time:04:06:01.6442 TRx dataTimestamp_ set to:1761365162.454428 PDAT read: Bearing 2.6, 3.0 (Local) ~Local bearing/azimuth received: Bearing 2.6, 3.0 (Local) %DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 UDAT read: 04:06:01.6442 LVL= 14576, 26993, 17218, 27187, AGC= 56, IDX= 502,-0.44, 2.241, 0.840, 2.186, 1.923, PHS= 0.406,-1.035, 0.261, RAW= 144.7, 5.4, CAL= 147.4, -3.0, ROT= 2.6, 3.0 ]Ygot valid direction response: 04:06:01.6442 LVL= 14576, 26993, 17218, 27187, AGC= 56, IDX= 502,-0.44, 2.241, 0.840, 2.186, 1.923, PHS= 0.406,-1.035, 0.261, RAW= 144.7, 5.4, CAL= 147.4, -3.0, ROT= 2.6, 3.0 ]T#Rx 49: Read range and direction messages.e^direction in FSK: [0.997602,0.045301,-0.052336]eFpublishing direction and range infoy/9^Z?7r31?yoU˪fAY 8)qiIBCi3j;>zˡ> !@)=I$@iPwV9=PwV= );~7?/r?Z!?i;>Q9=PwV= )checking for new query: numPingsReceived=49, elapsed TxPingTime=24.987844Mb@Mb@Mb@ )IiS㥛? rh/$?C) AI~@i$A$A I\IW٥n =9.:Q %>!! %F٦-@Ey-!ƻ -> 1=4Y5K?=4y5΢5`B ?:?5}&D5p.<5B.<5̯4)AJpRpY*?ApuApuAp`v@vT8@K?Psyv/9^Z?7r31?yoU˪p9=pPwV=v큎_%6@Q1%B_@żvz>2?)ZP}.ܿhgjp-rp*AZp\?bp0zp~Bpdg?ppO|Bp/ApTC@=  addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503942 s, deltaX: -0.300001 m, approachRate: -0.595309 m/s, rangeRepo size: 4   Added new target pos. range: 24.682329 m, bearing: 333.859650 deg, lat: 36.779464 deg, lon: -121.859729 deg, deltaT: 0.503942 s, deltaX: -0.298615 m, approachRate: -0.592557 m/s, posRepo size: 4 o  DNOT Ignoring new targets: 24.68 m.o o o   ProNav: ac range: 24.682329 m, nav range: 24.648355 m, bearing: 333.502613 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 326.982657 deg, new cmd heading: 326.667147 deg. zo  HeadingCmd: 5.701417 target range: 24.682329 and range: 24.80 m.Ro r@Jo bo Zo Bo :n 2n m m eBl k ) k kU 8@kU m?ɞ B *u -I 7Nɝ i I ""I i ;=i !=) r@)  checking for new query: numPingsReceived=49, elapsed TxPingTime=25.223925F "F *F 2F `0:F aԉG=G2B:B O=!?ď,:*?A%DDAT read: Rx Time:04:06:02.1441 %TRx dataTimestamp_ set to:1761365162.9587485PDAT read: Bearing 3.7, 3.3 (Local) =~Local bearing/azimuth received: Bearing 3.7, 3.3 (Local) MDAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 iuDAT read: 04:06:02.1441 LVL= 15824, 29489, 17170, 27443, AGC= 55, IDX= 501, 0.00,-2.171, 2.735,-2.263,-2.505, PHS= 0.423,-0.996, 0.240, RAW= 143.2, 5.1, CAL= 146.3, -3.3, ROT= 3.7, 3.3 }Ygot valid direction response: 04:06:02.1441 LVL= 15824, 29489, 17170, 27443, AGC= 55, IDX= 501, 0.00,-2.171, 2.735,-2.263,-2.505, PHS= 0.423,-0.996, 0.240, RAW= 143.2, 5.1, CAL= 146.3, -3.3, ROT= 3.7, 3.3 T#Rx 50: Read range and direction messages.^direction in FSK: [0.996261,0.064425,-0.057564]Fpublishing direction and range info!y%2^?R>-~?`8.y%AY! %=)%1sI%Ci%3k%7%u>%~%u> %@)%K=I%.k#@i%k% A=%k= !)!%YL??t^?>u?i%>>%b㳽% A=%k= !)!checking for new query: numPingsReceived=50, elapsed TxPingTime=25.493509MBM,II]dI]@٥m~& m1=9uQ u>qq uF٦uCEy} }> 4YH\?4y\B?&D6;;4ZB)AiEJp!Rp%!\*?Ap%Ap%Ap%t@v%fϚHd8@K-~?`8.yp% A=p%k=v%H"<+6@_uT$vhv%-uwV?u) ۿB`jp%%rp%^AZp%J?bp%zp%}Bp%Z0?p%ڗp%}Bp%Ap%yX@ addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504320 s, deltaX: -0.199999 m, approachRate: -0.396571 m/s, rangeRepo size: 4  Added new target pos. range: 24.483278 m, bearing: 334.979255 deg, lat: 36.779464 deg, lon: -121.859729 deg, deltaT: 0.504320 s, deltaX: -0.199051 m, approachRate: -0.394692 m/s, posRepo size: 4 oDNOT Ignoring new targets: 24.48 m.oooYm ProNav: ac range: 24.483278 m, nav range: 24.471457 m, bearing: 333.650512 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 326.667157 deg, new cmd heading: 326.438892 deg. zoiuHeadingCmd: 5.697433 target range: 24.483278 and range: 24.60 m.Rou`Q@JoqboyZoyԙBo:n2nmmlkkk8@kν?ɞYeڭ ae,Ia eOɝaiiImYh"Imiue<=iu X=)u`Q@jKuNrKu 9zKqKueKu!!$Q|rjaYUMKbG6trni`ZUSNHC=8432.++2K*K)JJ3JA.J5qJ5iJ1J1J5D:J5ڈ9J1J1FE "FA*FA2FEm0:FIHiHiHmIImBIiIiIi&Im<*ImEchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.726994 G} o==GQ 2By :B  O >ď,n*?Am.v@Ymq@msaԑ9m=-AHRS rotation from veh to nav: [[0.868020,0.493837,-0.051633],[-0.496284,0.866153,-0.058998],[0.015587,0.076836,0.996922]]ymH??o߿@?@5?@??ɫm.v@m_;m)CB2IDDAT read: Rx Time:04:06:02.6439 TRx dataTimestamp_ set to:1761365163.463200PDAT read: Bearing 4.1, 4.0 (Local) ~Local bearing/azimuth received: Bearing 4.1, 4.0 (Local)  DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 5DAT read: 04:06:02.6439 LVL= 15728, 30801, 18978, 31219, AGC= 57, IDX= 498, 0.28,-1.847, 2.999,-1.963,-2.221, PHS= 0.462,-1.016, 0.255, RAW= 142.6, 4.4, CAL= 145.9, -4.0, ROT= 4.1, 4.0 =Ygot valid direction response: 04:06:02.6439 LVL= 15728, 30801, 18978, 31219, AGC= 57, IDX= 498, 0.28,-1.847, 2.999,-1.963,-2.221, PHS= 0.462,-1.016, 0.255, RAW= 142.6, 4.4, CAL= 145.9, -4.0, ROT= 4.1, 4.0 ET#Rx 51: Read range and direction messages.M^direction in FSK: [0.995011,0.071323,-0.069756]MFpublishing direction and range infoy,B?&k۱fAY p=)QxI"Jiy9D>}Mb@Mb@Mb@y y)yIyiy}HzG? ףp= Mb}= ?}Q8})}; AI}Q@i}A}A y}AJ \> &I@)nF=I"@i5C=5= )Svv?RI}?0|w?i5>⛽C=5= )checking for new query: numPingsReceived=51, elapsed TxPingTime=26.003954ԱIXI㔴٥M< '=9/:Q > F٦FEy > 4Yn? 4yZB  ? :  ?&Df:;64I)uAqJpRp*?ApzApzAp@vo!d8@ R?v,B?&k۱pC=p5=v$5@h~$iv_ud?,bۿ'Vۨjp%rpAZp;?bp zp|Bp\?p0ppcAp@ addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504452 s, deltaX: -0.300001 m, approachRate: -0.594707 m/s, rangeRepo size: 4  Added new target pos. range: 24.184694 m, bearing: 334.632628 deg, lat: 36.779465 deg, lon: -121.859728 deg, deltaT: 0.504452 s, deltaX: -0.298584 m, approachRate: -0.591898 m/s, posRepo size: 4 oDNOT Ignoring new targets: 24.18 m.oo!o!} ProNav: ac range: 24.184694 m, nav range: 24.173670 m, bearing: 333.993802 deg, approach rate: 0.000000 m/s, LOS rate: -0.176580 deg/s, cmd heading: 326.438892 deg, new cmd heading: 326.161394 deg. zoyHeadingCmd: 5.692590 target range: 24.184694 and range: 24.30 m.Ro)@JoboZoBo:n2nmm\BlkkkL8@k@Cƿ?ɞeBe am@^Ii mSOɝiiqIuG"I}:1i<=iN=))@)F "F *F 2F _0:F   checking for new query: numPingsReceived=51, elapsed TxPingTime=26.230873G =9G2B:B O>Ύď,ޫ*?AI)<6R@Y6M@696$ޞ=>AHRS rotation from veh to nav: [[0.865872,0.497524,-0.052302],[-0.500020,0.863983,-0.059284],[0.015693,0.077485,0.996870]]y6H 9?o?[Ǫ)?Z`? ֳ?[?ɫ6R@6W;6*CvBv+II~kI~ ٥- 5]=95@Q 5>99 =F٦=HEyE@ E> q4Yu|?4yuuXB?u&DulA)ԉB*** querying acoustic contact ***:pBpoyDNOT Ignoring new targets: 24.18 m.oo\;o\;DDAT read: Rx Time:04:06:03.1438 TRx dataTimestamp_ set to:1761365163.976955PDAT read: Bearing 5.6, 1.8 (Local) ~Local bearing/azimuth received: Bearing 5.6, 1.8 (Local) DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 DAT read: 04:06:03.1438 LVL= 16688, 28433, 18098, 30531, AGC= 57, IDX= 498,-0.33,-1.998, 2.878,-2.150,-2.338, PHS= 0.428,-1.019, 0.185, RAW= 141.0, 6.1, CAL= 144.4, -1.8, ROT= 5.6, 1.8  Ygot valid direction response: 04:06:03.1438 LVL= 16688, 28433, 18098, 30531, AGC= 57, IDX= 498,-0.33,-1.998, 2.878,-2.150,-2.338, PHS= 0.428,-1.019, 0.185, RAW= 141.0, 6.1, CAL= 144.4, -1.8, ROT= 5.6, 1.8  T#Rx 52: Read range and direction messages.^direction in FSK: [0.994736,0.097535,-0.031411]Fpublishing direction and range info۱y۵`@?xƇ ?Iz۵AY۱ ܵ0A)ܵoIܵFiܵCwܱܵ">ܵnܵp=> ݵ@)ݵ^ =IݵK!@iݵݵ+=ݵ= ޱ)ޱ޵Y"?@RN?9?i޵w>5 ProNav: ac range: 24.184694 m, nav range: 23.974585 m, bearing: 334.065899 deg, approach rate: -0.528001 m/s, LOS rate: 0.192797 deg/s, cmd heading: 326.161395 deg, new cmd heading: 326.379479 deg. zo5P<=HeadingCmd: 5.696396 target range: 24.184694 and range: 24.30 m.Ro=H@JoAboAZoABoA:nA2nI޵(6ڽ޵+=޵= ߱)߱uchecking for new query: numPingsReceived=52, elapsed TxPingTime=26.518595mImylykykk@338@kš?Աɞim? iuIq uPɝqiqIu!I}7i}n==i}=)}H@)F] "Fa*Fa2Fe`0:FajKiNrKh9zKKfK(*270)!%&$"%'%       AZ]SLG= :=G= ?G= ?G 2B :B  O >Jy J} nJy Jy Jy J} 99Jy Jy H H H II BI I I &I ^<*I #E checking for new query: numPingsReceived=52, elapsed TxPingTime=26.734814 nď,0f+?AB%@YB @B=C9B X=NAHRS rotation from veh to nav: [[0.863110,0.502360,-0.051732],[-0.504774,0.861333,-0.057532],[0.015656,0.075770,0.997002]]yBH?T?|'@ ?t<?e?q?ɫB%@B;@zBz.IIaI錴٥+e< C=9;8Q > F٦KEyS > e4Y?m4yWUB   ?&D<<Ϋ4iB)pAsEJpRpn*?ApApApOR@vI)X7@oǐ @E!x5v`@?xƇ ?Izp+=p=v9ס5@r@ $Ějɿv?8ڿB^jpm rp/AZpxA?bpzp4Bp;?p p}BpڽAp9@E addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.513755 s, deltaX: -0.099998 m, approachRate: -0.194642 m/s, rangeRepo size: 4 Iu Added new target pos. range: 24.085154 m, bearing: 335.397900 deg, lat: 36.779465 deg, lon: -121.859725 deg, deltaT: 0.513755 s, deltaX: -0.099541 m, approachRate: -0.193751 m/s, posRepo size: 4 oDNOT Ignoring new targets: 24.09 m.ooo ProNav: ac range: 24.085154 m, nav range: 23.731798 m, bearing: 334.802792 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 326.379469 deg, new cmd heading: 326.626424 deg. zoHeadingCmd: 5.700706 target range: 24.085154 and range: 24.20 m.Ro0l@JoboZoBo:n2nmmlkkkk?ɞmBm6ꊼ imIiuAuADDAT read: Rx Time:04:06:03.6435 TRx dataTimestamp_ set to:1761365164.470623PDAT read: Bearing 7.4, 1.1 (Local) ~Local bearing/azimuth received: Bearing 7.4, 1.1 (Local) DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 04:06:03.6435 LVL= 16112, 29601, 17298, 29491, AGC= 56, IDX= 495,-0.08,-3.022, 1.883, 3.056, 2.913, PHS= 0.436,-0.984, 0.140, RAW= 138.6, 6.3, CAL= 142.6, -1.1, ROT= 7.4, 1.1 Ygot valid direction response: 04:06:03.6435 LVL= 16112, 29601, 17298, 29491, AGC= 56, IDX= 495,-0.08,-3.022, 1.883, 3.056, 2.913, PHS= 0.436,-0.984, 0.140, RAW= 138.6, 6.3, CAL= 142.6, -1.1, ROT= 7.4, 1.1 -Qɝ1i1I5A!5T#Rx 53: Read range and direction messages.E^direction in FSK: [0.991488,0.128772,-0.019197]EFpublishing direction and range infoہyۅ}EE?jҳ{?]~ۅAYہ ܅>)܅sI܅Ci܅3s܅8܅d;>܅m{܅)\> ݅T@)݅z0=I݅&I@i݅nF݅ A>݅nF< ށ)ށޅrtP$?1^`mK?CiH?iޅC>ޅ/⽩ޅ A>ޅnF< ߁)߁echecking for new query: numPingsReceived=53, elapsed TxPingTime=27.016685ITi==i =)0l@)i F! "F! *F! 2F! :F! ԑ J J a=G2=5checking for new query: numPingsReceived=53, elapsed TxPingTime=27.239626GA2BQ:Ba Om?|%ď,b.+?A( :@Y @ V#9 Ԝ==AHRS rotation from veh to nav: [[0.860598,0.506585,-0.052371],[-0.509045,0.858790,-0.057907],[0.015641,0.076494,0.996947]]y H? 5?`iЪ`J 5{?`@??@?ɫ :@ B; (CB6IMb@Mb@Mb@ )IiK7A`?Zd;~jt ?yD)AI`@i$AA AI-[I-:٥5< ==9=7Q =>AA EF٦ENEyM M> Q]4YUӠ?]4yUUSBԁ] ?:$?U&DU;Us;U׫4oB)nAJpRp+?ApApAp"@vc̝c7@yL@ ܿv}EE?jҳ{?]~p A>pnF<vbwmc5@ZV"|S%?vBƤl?\gt'ٿ`2%ayy?jpRrpAZpġ?bpzpBpJ?pp~Bp%Ap<@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.493668 s, deltaX: -0.500000 m, approachRate: -1.012826 m/s, rangeRepo size: 4 M Added new target pos. range: 23.587526 m, bearing: 336.857457 deg, lat: 36.779467 deg, lon: -121.859724 deg, deltaT: 0.493668 s, deltaX: -0.497627 m, approachRate: -1.008020 m/s, posRepo size: 4 oYmDNOT Ignoring new targets: 23.59 m.oioyoy ProNav: ac range: 23.587526 m, nav range: 23.518471 m, bearing: 335.247278 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 326.626422 deg, new cmd heading: 326.925202 deg. zo5HeadingCmd: 5.705921 target range: 23.587526 and range: 23.70 m.Ro5薶@Jo1bo1Zo1Bo1:n12n9m9m=YBl9kAkAkE@37@kE?ɞB 靝RI RɝiI|!ԩIi'>=i=)薶@)DDAT read: Rx Time:04:06:04.1435 TRx dataTimestamp_ set to:1761365164.976410PDAT read: Bearing 7.9, 1.3 (Local) ~Local bearing/azimuth received: Bearing 7.9, 1.3 (Local) DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 04:06:04.1435 LVL= 16928, 29729, 18274, 31171, AGC= 57, IDX= 510, 0.07,-0.828,-2.248,-1.061,-1.201, PHS= 0.461,-1.000, 0.137, RAW= 137.8, 6.1, CAL= 142.1, -1.3, ROT= 7.9, 1.3 Ygot valid direction response: 04:06:04.1435 LVL= 16928, 29729, 18274, 31171, AGC= 57, IDX= 510, 0.07,-0.828,-2.248,-1.061,-1.201, PHS= 0.461,-1.000, 0.137, RAW= 137.8, 6.1, CAL= 142.1, -1.3, ROT= 7.9, 1.3 T#Rx 54: Read range and direction messages.^direction in FSK: [0.990255,0.137409,-0.022687]%Fpublishing direction and range infoہyۅ<*?|m?NGY;ہYہ ܅ B)܅!tI܅bGi܅y܅9܅1>܅܅I > ݅@)݅^ =I݅,@i݅޹݅0 >݅޹< ށ)ށޅaG#K? r>xw?=&9?iޅ*)>FE "FI*FI2FMm0:FIޅ2ڽޅ0 >ޅ޹< ߁)߁G == checking for new query: numPingsReceived=54, elapsed TxPingTime=27.545132G 2B :B  O > jKM MrKM ]9zKI KM gKM JVWOB6% #1CUi{yj[QK@:51)($      2KU sA*KU rAď,کH+?AdvBv7IIzWIzƕJ-pJ-hJ)J)J-A:J-Ȇ9J)J)٥; a=9H1H1H5II5BI1I1I1&I5D<*I5E2I:IBIJI =RI =ZI34Q >IQ UF٦UQEy} > 4Yɮ?4yTQB?&D::Cޫ4checking for new query: numPingsReceived=54, elapsed TxPingTime=27.7427909)=fA9JpRp}>+?Apppbl@v/[7@EIC @jv<*?|m?NGY;p0 >p޹<v^}5@6)&"(K%Zwk?vEToII?ؿ`tUٳk?jp5rp+AZpK9l١?bpQF zpˀBpxA?pp4BpyAp@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.505787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 23.587488 m, bearing: 337.370739 deg, lat: 36.779469 deg, lon: -121.859723 deg, deltaT: 0.505787 s, deltaX: -0.000038 m, approachRate: -0.000075 m/s, posRepo size: 4 oAMDNOT Ignoring new targets: 23.59 m.oIoIoq ProNav: ac range: 23.587488 m, nav range: 23.559380 m, bearing: 335.826072 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 326.925201 deg, new cmd heading: 327.148148 deg. zoHeadingCmd: 5.709812 target range: 23.587488 and range: 23.70 m.Roȶ@JoboZoBo:n2nmmlkkkku?ɞB# @LI ;SɝiIQ!I i1g>=iPo=)ȶ@)!F"F*F2F0:FQ  DDAT read: Rx Time:04:06:04.6432  TRx dataTimestamp_ set to:1761365165.479672 PDAT read: Bearing 9.1, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 9.1, 1.6 (Local)  DAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4  DAT read: 04:06:04.6432 LVL= 17552, 29297, 19010, 31475, AGC= 57, IDX= 507, 0.24,-1.160,-2.596,-1.436,-1.562, PHS= 0.490,-0.987, 0.123, RAW= 136.2, 5.7, CAL= 140.9, -1.6, ROT= 9.1, 1.6  Ygot valid direction response: 04:06:04.6432 LVL= 17552, 29297, 19010, 31475, AGC= 57, IDX= 507, 0.24,-1.160,-2.596,-1.436,-1.562, PHS= 0.490,-0.987, 0.123, RAW= 136.2, 5.7, CAL= 140.9, -1.6, ROT= 9.1, 1.6  T#Rx 55: Read range and direction messages. ^direction in FSK: [0.987029,0.158096,-0.027922] Fpublishing direction and range infoہ yۅ u&I{?=ɀ܅ |܅ m= ݅ #@)݅ %=I݅ c@i݅ 伉݅ ">݅ < ށ )ށ ޅ u7p?rK?כJ?iޅ >ޅ ʽޅ ">ޅ < ߁ )߁  checking for new query: numPingsReceived=55, elapsed TxPingTime=28.040449G% ?=G) G) G 2B :B  O >ď,d+?A4nY@Yn>@nU~9n틤=5AHRS rotation from veh to nav: [[0.855406,0.515054,-0.054777],[-0.517726,0.853393,-0.060661],[0.015503,0.080249,0.996654]]ynH{_?`R{? 7N?`@׿? 2??ɫnY@n;n)C=BE8IԙMb@Mb@Mb@ )IiK7A`?v/{Gztxiף)IiA AIjI٥{; %=9ߒ9Q >    F٦ TEy7 5> 9E4Y=?E4y=9E ?M:M%M?=&D=j:=s:=4UuB)UA]tEJpRp^+?ApApAp0ȼ@vwOz6@JYJT @ 3vu&I{?=ɀp<v7bI{5@r9]!?xwn?v\O*t-?&׿c%?jp rpAZp7ԡ?bpzpBpġ?ppBp Ap K@ addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503262 s, deltaX: -0.400002 m, approachRate: -0.794818 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=55, elapsed TxPingTime=28.247124% Added new target pos. range: 23.189384 m, bearing: 338.012837 deg, lat: 36.779470 deg, lon: -121.859717 deg, deltaT: 0.503262 s, deltaX: -0.398104 m, approachRate: -0.791047 m/s, posRepo size: 4 o!]DNOT Ignoring new targets: 23.19 m.oYoaoa ProNav: ac range: 23.189384 m, nav range: 23.129656 m, bearing: 337.137601 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 327.148139 deg, new cmd heading: 327.412632 deg. zoHeadingCmd: 5.714428 target range: 23.189384 and range: 23.30 m.Roܶ@JoboZoBo:n2nmmaBlkkkL7@ko?ɞ9= AECIa eSɝiiiIm-!Iu iuy>=iu4=)uܶ@)qF"F*F!2F% 1:F!G=G 2B :B1  O >˸ď,w}+?A6@Y6w}@6V}96K=FDDAT read: Rx Time:04:06:05.1430 FTRx dataTimestamp_ set to:1761365165.982336NPDAT read: Bearing 10.4, 0.8 (Local) N~Local bearing/azimuth received: Bearing 10.4, 0.8 (Local) VDAT read: Range 10 to 50 : 23.0 m (trip time 15.3 ms) speed 0.5 jDAT read: 04:06:05.1430 LVL= 16368, 29137, 18114, 31475, AGC= 57, IDX= 505, 0.42,-1.347,-2.791,-1.668,-1.759, PHS= 0.499,-0.985, 0.087, RAW= 134.4, 6.1, CAL= 139.6, -0.8, ROT= 10.4, 0.8 nYgot valid direction response: 04:06:05.1430 LVL= 16368, 29137, 18114, 31475, AGC= 57, IDX= 505, 0.42,-1.347,-2.791,-1.668,-1.759, PHS= 0.499,-0.985, 0.087, RAW= 134.4, 6.1, CAL= 139.6, -0.8, ROT= 10.4, 0.8 lrT#Rx 56: Read range and direction messages.v^direction in FSK: [0.983476,0.180502,-0.013962]vFpublishing direction and range infoDyF@ ѡx?$?4FAYD F?)FqIFFiDDF|>F(|F-= FQ @)F^ =IFI@iFdF9>Fd< D)DF#"?u¾P?n l6z?iF >FؽF9>Fd< D)D checking for new query: numPingsReceived=56, elapsed TxPingTime=28.515770=AHRS rotation from veh to nav: [[0.852882,0.519146,-0.055499],[-0.521874,0.850829,-0.061130],[0.015485,0.081100,0.996586]]y6H@J?@ל?Qj 19?`nLW?´??ɫ6@6A;6*CMBMEIIfI{٥= ~=9k8Q  ? F٦VEy\t  ? 4YG̚?4yS'?&D;;T4)7AJpDRpF~+?ApF ApF ApFP@vF^66@N@HJktԿvF@ ѡx?$?4pF9>pFd<vFk']5@hjm x:^?vFjOY?FֿT3.VU?jpFkrpFAZpFpԡ?bpFE]zpFiBpFpԡ?pFQF pFˀBpF޸ApF@ addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.502664 s, deltaX: -0.299999 m, approachRate: -0.596819 m/s, rangeRepo size: 4  Added new target pos. range: 22.890810 m, bearing: 338.969400 deg, lat: 36.779471 deg, lon: -121.859717 deg, deltaT: 0.502664 s, deltaX: -0.298574 m, approachRate: -0.593984 m/s, posRepo size: 4 o%DNOT Ignoring new targets: 22.89 m.o!o!o!U ProNav: ac range: 22.890810 m, nav range: 23.108488 m, bearing: 337.589944 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 327.412631 deg, new cmd heading: 327.598653 deg. zoY]HeadingCmd: 5.717675 target range: 22.890810 and range: 23.00 m.Roe2@JoaboaZoaBoa:na2namimlkkk7@kly?ɞow @I  9TɝiI>!IHiȪ>=iEo=)2@)!F "F*F2F4:FjKPNrKh9zKKhK   BK>:K>9ZHyRH}<H>HHIIII&Ip<*I>E=checking for new query: numPingsReceived=56, elapsed TxPingTime=28.751541G =Ga 2By :B  O >ԙ Ѡď,9+?ADDAT read: Rx Time:04:06:05.6427 TRx dataTimestamp_ set to:1761365166.486324PDAT read: Bearing 12.5, -1.4 (Local) ~Local bearing/azimuth received: Bearing 12.5, -1.4 (Local) DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 DAT read: 04:06:05.6427 LVL= 18016, 30705, 18210, 31075, AGC= 56, IDX= 503,-0.32, 1.850, 0.451, 1.477, 1.460, PHS= 0.478,-0.962, 0.014, RAW= 131.6, 7.4, CAL= 137.5, 1.4, ROT= 12.5, -1.4 Ygot valid direction response: 04:06:05.6427 LVL= 18016, 30705, 18210, 31075, AGC= 56, IDX= 503,-0.32, 1.850, 0.451, 1.477, 1.460, PHS= 0.478,-0.962, 0.014, RAW= 131.6, 7.4, CAL= 137.5, 1.4, ROT= 12.5, -1.4 T#Rx 57: Read range and direction messages.\direction in FSK: [0.976005,0.216375,0.024432]Fpublishing direction and range infoۙy۝Fm;?Q-?{J?۝AYۙ ܝ`F)ܝwIܝ"Giܝcyܝ8ܝj>ܝEvܝB`e< ݝ@)ݝ A>Iݝǖ@iݝ+<ݝf_>ݝ+ȼ ޙ)ޙޝb*+?sG ˅?)?iޝSO>ޝ;ޝf_>ޝ+ȼ ߙ)ߙchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.020227BHIMb@Mb@Mb@ )Iiw/?Zd;O~jth?j<D) AIi;A$A AI-VI-٥= < = =9EQ E>AA MF٦MZEyM M> y}4Y}uᚊ?4y}3ym?:"?} 'D}L:}:}4zB)PAuEJpRp+?Ap%Ap%Apud@vǦ`_5@ƀja@MoD?vFm;?Q-?{J?pf_>p+ȼv! 5@ܥD,m?v52B0?4kԿ`0?jp$rpAZp%ա?1bpYzp>Bp7ԡ?ppBpAp@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503988 s, deltaX: -0.500000 m, approachRate: -0.992087 m/s, rangeRepo size: 4  Added new target pos. range: 22.393175 m, bearing: 340.896293 deg, lat: 36.779471 deg, lon: -121.859714 deg, deltaT: 0.503988 s, deltaX: -0.497635 m, approachRate: -0.987394 m/s, posRepo size: 4 oDNOT Ignoring new targets: 22.39 m.oo o   ProNav: ac range: 22.393175 m, nav range: 22.718317 m, bearing: 338.326440 deg, approach rate: 0.000000 m/s, LOS rate: 0.192797 deg/s, cmd heading: 327.598658 deg, new cmd heading: 327.945363 deg. zo % HeadingCmd: 5.723726 target range: 22.393175 and range: 22.50 m.Ro% (@Jo! boI ZoI BoI :nI 2nQ mQ mU iBlQ kY kY k] 6@k] @-?J qJ jJ 3J J D:J 9J (3J J \Z;! J ^Z;! J :! J :! ɞ i pI xTɝ i I !I 8i z>=i c^=) (@) M checking for new query: numPingsReceived=57, elapsed TxPingTime=29.255564Y F "F *F 2F _1:F GU Hu=G] ?G] ?G 2B :B1  O= >I=ď,U+?A€B^II%RI%4Q٥ > =9Q -? F٦[Ey *? 4YM뚊?m4ywRBqq}?'D ==o4)AAԁB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 22.39 m.oo;o;M ProNav: ac range: 22.393175 m, nav range: 22.577993 m, bearing: 338.420107 deg, approach rate: -0.454665 m/s, LOS rate: 0.305378 deg/s, cmd heading: 327.945359 deg, new cmd heading: 328.228104 deg. zoMQ<UHeadingCmd: 5.728661 target range: 22.393175 and range: 22.50 m.RoU1Q@JoQboYZoYBoY:na2namimilikqkqkkc?DDAT read: Rx Time:04:06:06.1427 TRx dataTimestamp_ set to:1761365166.990479PDAT read: Bearing 13.3, -1.6 (Local) ~Local bearing/azimuth received: Bearing 13.3, -1.6 (Local) DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 DAT read: 04:06:06.1427 LVL= 17008, 27697, 16594, 28435, AGC= 56, IDX= 502,-0.16, 2.534, 1.104, 2.124, 2.124, PHS= 0.498,-0.973,-0.003, RAW= 130.4, 7.4, CAL= 136.7, 1.6, ROT= 13.3, -1.6 %Ygot valid direction response: 04:06:06.1427 LVL= 17008, 27697, 16594, 28435, AGC= 56, IDX= 502,-0.16, 2.534, 1.104, 2.124, 2.124, PHS= 0.498,-0.973,-0.003, RAW= 130.4, 7.4, CAL= 136.7, 1.6, ROT= 13.3, -1.6 %T#Rx 58: Read range and direction messages.-\direction in FSK: [0.972799,0.229960,0.027922]-Fpublishing direction and range infoy9,L,!?_aTo?|p}?Y pB)1lI@io>yD @)I@i<,m> )$C4?QP?cks>?izh:>F,m> )Mchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.525009ɞA.D 靍@T=irM=)1Q@)ԩFe "Fi*Fi2Fm44:Fi jKu MMrKu 9zKq Ku iKu 0DF4*" (Mgu|~{{RowEDyoge2Ky *Ky H >H H II BI =I I &I <*I sEG &o=} checking for new query: numPingsReceived=58, elapsed TxPingTime=29.760006G 2B :B  O >#ď,E+?AJ @YJ@Jg9Jഫ=~AHRS rotation from veh to nav: [[0.845111,0.531444,-0.057926],[-0.534362,0.842945,-0.062452],[0.015639,0.083733,0.996365]]yJH% ? ?@h? ?o?9?ɫJ @J|ˈ;H5΀B5mIIMMIM٥N= 9=9Q > F٦^Eyc > 4Y?4ym&? 'D:):4B)AvEJpyRp}d+?Ai9I9pypyp} [@iv}4a5@!0K @W\?)rG )Ie쿙aeAv}9,L,!?_aTo?|p}?p},m>p}v}xD5@ZCHHQ?v}ᦴ*?W0|Կ_)Q?jp}rp}AZp}ry?bp}Lzp}Bp}%ա?p}E]p}iBp}Ap}̖@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 22.393181 m, bearing: 340.830421 deg, lat: 36.779471 deg, lon: -121.859710 deg, deltaT: 0.504155 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 oyԑDNOT Ignoring new targets: 22.39 m.ooo ProNav: ac range: 22.393181 m, nav range: 22.242130 m, bearing: 339.457885 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 328.228101 deg, new cmd heading: 328.670977 deg. zoHeadingCmd: 5.736391 target range: 22.393181 and range: 22.50 m.Ro@JoboZoBo:n2nmmlkkkkG?]4DAT read: Rx Time:04:24 ]TRx dataTimestamp_ set to:1761365167.495095mPDAT read: Bearing 13.4, -0.9 (Local) m~Local bearing/azimuth received: Bearing 13.4, -0.9 (Local) }DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 DAT read: 04:06:06.6424 LVL= 19296, 31953, 19250, 32755, AGC= 56, IDX= 499, 0.01, 1.749, 0.286, 1.321, 1.311, PHS= 0.526,-0.978, 0.007, RAW= 130.1, 6.8, CAL= 136.6, 0.9, ROT= 13.4, -0.9 Ygot valid direction response: 04:06:06.6424 LVL= 19296, 31953, 19250, 32755, AGC= 56, IDX= 499, 0.01, 1.749, 0.286, 1.321, 1.311, PHS= 0.526,-0.978, 0.007, RAW= 130.1, 6.8, CAL= 136.6, 0.9, ROT= 13.4, -0.9 T#Rx 59: Read range and direction messages.\direction in FSK: [0.972656,0.231719,0.015707]Fpublishing direction and range infoYy]8ԅ4?&l?y&?]̰AYY ]`K)]|I]2Ki]Y]?]5^z]B`; ]R@ɞBx. P=I pSɝiIK{#I i>=i<)@)]=I]k@i]<]|o>] Y)Y]ͩ_EG?U [a?u쥥9?i]1C5>]`]|o>] Y)Ychecking for new query: numPingsReceived=59, elapsed TxPingTime=30.035641)!Թ F "F *F 2F 05:F G  G > Jq Ju gJu 2Jq Jq Ju 9Ju c3Jq Jq Jq Ju G:Ju H:G L=Ga2Bi:B O>&ď,+?A>checking for new query: numPingsReceived=59, elapsed TxPingTime=30.263330r>@Yr#@r9rr=AHRS rotation from veh to nav: [[0.844143,0.532920,-0.058466],[-0.535890,0.841928,-0.063079],[0.015608,0.084579,0.996294]]yrH8? ? 3ﭿ&?%?`??ɫr>@rG ;r&CMրBMwIԩMb@Mb@Mb@ )IiMb?I +{Gzt?94ף)II@i$AA =AI5II5.٥e< e=9ms8Q m>ii mF٦ubEyu^ u> 4Y ?4yj?:u&?2'D2;K;1 4)PAJpQRpU+?ApUApUApUb@vU`d5@Ǒe`c@B^g?vU8ԅ4?&l?y&?pU|o>pUvUgV4@H%dP7?vU}82?NԿE_Eѩ?jpU@rpU AZpU9ᡊ?bpU(zpUBpQpU(pUBpUApUeP@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504616 s, deltaX: -0.400000 m, approachRate: -0.792681 m/s, rangeRepo size: 4 = Added new target pos. range: 21.995081 m, bearing: 340.879647 deg, lat: 36.779471 deg, lon: -121.859705 deg, deltaT: 0.504616 s, deltaX: -0.398100 m, approachRate: -0.788917 m/s, posRepo size: 4 o9EDNOT Ignoring new targets: 22.00 m.oAoAoI} ProNav: ac range: 21.995081 m, nav range: 21.831182 m, bearing: 340.755988 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 328.670970 deg, new cmd heading: 329.112405 deg. zoy}HeadingCmd: 5.744095 target range: 21.995081 and range: 22.10 m.RoϷ@JoboZoBo:n2nmmBlkkk6@k)?ɞ15b 15X=I1 =$Sɝ9i9I= %IE iENv>=i<)Ϸ@)-DDAT read: Rx Time:04:06:07.1424 5TRx dataTimestamp_ set to:1761365167.998418=PDAT read: Bearing 13.2, -0.2 (Local) =~Local bearing/azimuth received: Bearing 13.2, -0.2 (Local) MDAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 }DAT read: 04:06:07.1424 LVL= 18832, 29265, 17442, 29107, AGC= 56, IDX= 498, 0.19,-2.604, 2.185,-3.038,-3.065, PHS= 0.549,-0.986, 0.024, RAW= 130.3, 6.2, CAL= 136.8, 0.2, ROT= 13.2, -0.2 Ygot valid direction response: 04:06:07.1424 LVL= 18832, 29265, 17442, 29107, AGC= 56, IDX= 498, 0.19,-2.604, 2.185,-3.038,-3.065, PHS= 0.549,-0.986, 0.024, RAW= 130.3, 6.2, CAL= 136.8, 0.2, ROT= 13.2, -0.2 T#Rx 60: Read range and direction messages.\direction in FSK: [0.973573,0.228349,0.003491]Fpublishing direction and range info)y-3'ȁ'?||8:?QC1ml?)Y) -I)-QrI-"Di-q)-D ?-j|-< -@)-k=I-@i-d;-k>-d )F] "FY *Fa 2Fe @5:Fa ))-L]L?SBw?<䶀?i->8>-rܽ-k>-d ))) checking for new query: numPingsReceived=60, elapsed TxPingTime=30.571281G5 t=G 2B :B  O >) ď,,?A6E@Y6*@6&962!=bAHRS rotation from veh to nav: [[0.843749,0.533379,-0.059958],[-0.536503,0.841405,-0.064817],[0.015878,0.086857,0.996094]]y6H`?p?ಮ +?@ї8B?`?e4Yh?e4y-am&m?='D<<4HHHIIBI =II&Ir<*I@EB)HAEJpiRpm+?ApipipmG@vmNi5@LL@K?vm3'ȁ'?||8:?QC1ml?pmk>pmdvmǴN4@^dMۡI?vm0^-?12:%տE4~٣?jpmrpmAZpm O졊?bpmUzpmBpm9ᡊ?pipipmkApmev@e addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=60, elapsed TxPingTime=30.768497 Added new target pos. range: 21.995098 m, bearing: 340.690822 deg, lat: 36.779473 deg, lon: -121.859705 deg, deltaT: 0.503323 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 oIMDNOT Ignoring new targets: 22.00 m.oQoQoY ProNav: ac range: 21.995098 m, nav range: 21.802492 m, bearing: 341.021755 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 329.112392 deg, new cmd heading: 329.410104 deg. zoHeadingCmd: 5.749291 target range: 21.995098 and range: 22.10 m.Ro1@JoboZoBo:n2nmmlkkkk`?Aɞ һ 靕4=I *RɝiI&IIiF>=iT<)1@)F- "F)*F12F5_0:F9q] DDAT read: Rx Time:04:06:07.6421 ] TRx dataTimestamp_ set to:1761365168.504697m PDAT read: Bearing 15.0, -1.9 (Local) m ~Local bearing/azimuth received: Bearing 15.0, -1.9 (Local) } DAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 ԩ - DAT read: 04:06:07.6421 LVL= 19248, 31873, 18338, 32755, AGC= 56, IDX= 496,-0.47, 0.070,-1.368,-0.397,-0.364, PHS= 0.522,-0.957,-0.035, RAW= 128.1, 7.3, CAL= 135.0, 1.9, ROT= 15.0, -1.9 GU e< Ygot valid direction response: 04:06:07.6421 LVL= 19248, 31873, 18338, 32755, AGC= 56, IDX= 496,-0.47, 0.070,-1.368,-0.397,-0.364, PHS= 0.522,-0.957,-0.035, RAW= 128.1, 7.3, CAL= 135.0, 1.9, ROT= 15.0, -1.9  T#Rx 61: Read range and direction messages. \direction in FSK: [0.965395,0.258677,0.033155] Fpublishing direction and range infoY y] d7? y(?B3?] ̬AYY ] 0K)] |I] Gi] G 2B) :B9  OE >ۨď,*R$,?AI<)ܙܝˡ?ܝtܝ)\ ݝ@)ݝw>Iݝ@iݝ=ݝ >ݝ ޙ)ޙޝk l?mG?;TN?iޝm>ޝޝ >ޝ ߙ)ߙzchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.115356ԁBIMb@Mb@Mb@ )Ii+?y&1Mbpv>`e)d AIiAA  AI%rI%{٥-F= 5$=95Q 5>y F٦gEy > 4Y)?4y>:?M'De ; ;4)AJpRpL ,?ApApApZ4@va4@YrS[>@\{pO?vd7? y(?B3?p >pv!o4@;ΨHB\?v'K:j? v[ӿQꁔ^!?JsJjJJJK:J9JJJ(e;J+e;J:J:jp rpyAZp5㡊?bpfzpBp5㡊?pLp>BpAp@Ա addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.506279 s, deltaX: -0.500000 m, approachRate: -0.987598 m/s, rangeRepo size: 4 % Added new target pos. range: 21.497471 m, bearing: 342.350343 deg, lat: 36.779473 deg, lon: -121.859705 deg, deltaT: 0.506279 s, deltaX: -0.497627 m, approachRate: -0.982911 m/s, posRepo size: 4 o!%DNOT Ignoring new targets: 21.50 m.o!oIoI] ProNav: ac range: 21.497471 m, nav range: 21.577026 m, bearing: 341.267962 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 329.410106 deg, new cmd heading: 329.847186 deg. zoYHeadingCmd: 5.756919 target range: 21.497471 and range: 21.60 m.Ro8@JoboZoBo:n2nmmBlkkk5@k@F?checking for new query: numPingsReceived=61, elapsed TxPingTime=31.270729ɞ5B5x 150=I1 =\fPɝ9i9I=OT)I^i==iMd]<)8@)FA "FA *FA 2FA :FI Gi Fi Gu `=< GI 2BQ :Ba  Ou >Xď,>,?A:@Y:@:c9:x=RAHRS rotation from veh to nav: [[0.844178,0.532171,-0.064485],[-0.535800,0.841407,-0.070378],[0.016805,0.093963,0.995434]]y:H ??@E%?Q@W5?` ??ɫ:@:J;8ZBZIIOIݜ٥i2= v=9 7%A%A-DDAT read: Rx Time:04:06:08.1420 -TRx dataTimestamp_ set to:1761365169.006800=PDAT read: Bearing 15.6, -2.2 (Local) =~Local bearing/azimuth received: Bearing 15.6, -2.2 (Local) UDAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed 0.5 }DAT read: 04:06:08.1420 LVL= 18288, 26849, 17442, 29875, AGC= 55, IDX= 511,-0.08, 0.203,-1.225,-0.279,-0.231, PHS= 0.522,-0.947,-0.050, RAW= 127.2, 7.5, CAL= 134.4, 2.2, ROT= 15.6, -2.2 Ygot valid direction response: 04:06:08.1420 LVL= 18288, 26849, 17442, 29875, AGC= 55, IDX= 511,-0.08, 0.203,-1.225,-0.279,-0.231, PHS= 0.522,-0.947,-0.050, RAW= 127.2, 7.5, CAL= 134.4, 2.2, ROT= 15.6, -2.2 T#Rx 62: Read range and direction messages.\direction in FSK: [0.962453,0.268722,0.038388]Fpublishing direction and range info)Q ? F٦iEy; ? 4y-wi?"! 2?.?-AY) -pG)-hI-"Di-t-7)-nr-L -q@)- >I-Q @i-nF=-'g>-nF )))-vR2y?bȬʨ?/k?i->-S-'g>-nF )))=checking for new query: numPingsReceived=62, elapsed TxPingTime=31.558714Y5?=4y`SBAEE?X'D7<48< 4uB)uA}EJp)Rp-io@,?Ap-.Ap-.Ap- @v-k14@1{@b$I?v-wi?"! 2?.?p-'g>p-nFv-yd4@S)H>:oYC?v-?>ҿT<4xc?jp-"rp-#AZp-I졊?bp-{zp-cBp-I졊?p)p-Bp-Ap-@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.502103 s, deltaX: -0.100000 m, approachRate: -0.199163 m/s, rangeRepo size: 4 5 Added new target pos. range: 21.397945 m, bearing: 342.949722 deg, lat: 36.779474 deg, lon: -121.859705 deg, deltaT: 0.502103 s, deltaX: -0.099525 m, approachRate: -0.198217 m/s, posRepo size: 4 o9=DNOT Ignoring new targets: 21.40 m.o9oAoAu ProNav: ac range: 21.397945 m, nav range: 21.506973 m, bearing: 341.474133 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 329.847184 deg, new cmd heading: 330.164742 deg. zoq}HeadingCmd: 5.762462 target range: 21.397945 and range: 21.50 m.Ro}f@JoyboyZoyBoy:n2nmmlkkk5@k%?ɞ!M& IM>>II M)OɝIiQIU`+I]#Niai4y<)f@)!F% "F!*F!2F%i0:F!jK=NrK=s9zK9K=kK=3uw-j u !)TY~{wttX 2KMrA*KMsAHHHIIBIII&I<*I[EQchecking for new query: numPingsReceived=62, elapsed TxPingTime=31.774920G }<G 2B :B  O >ԁ Sď,X,?AAE@YE@Eh9E=AHRS rotation from veh to nav: [[0.844822,0.530817,-0.067149],[-0.534755,0.841829,-0.073214],[0.017665,0.097761,0.995053]]yEH?`s? 0`C?@'`? ?y?DDAT read: Rx Time:04:06:08.6418 %TRx dataTimestamp_ set to:1761365169.5106015PDAT read: Bearing 14.4, -0.6 (Local) 5~Local bearing/azimuth received: Bearing 14.4, -0.6 (Local) EDAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 mDAT read: 04:06:08.6418 LVL= 19568, 27857, 17698, 30643, AGC= 55, IDX= 508, 0.24,-0.059,-1.476,-0.507,-0.505, PHS= 0.535,-0.924,-0.004, RAW= 128.6, 6.2, CAL= 135.6, 0.6, ROT= 14.4, -0.6 uYgot valid direction response: 04:06:08.6418 LVL= 19568, 27857, 17698, 30643, AGC= 55, IDX= 508, 0.24,-0.059,-1.476,-0.507,-0.505, PHS= 0.535,-0.924,-0.004, RAW= 128.6, 6.2, CAL= 135.6, 0.6, ROT= 14.4, -0.6 uT#Rx 63: Read range and direction messages.}\direction in FSK: [0.968530,0.248676,0.010472]Fpublishing direction and range infoy&2?MZt?/;r?AY pL)lI"EiwɫE@Ex;ABI?Dlo ȥ@)k=Iww@i+<>+ ) t?oEa?3|?ix;>ݽ>+ )checking for new query: numPingsReceived=63, elapsed TxPingTime=32.048222iMb@Mb@Mb@ )Ii ףp= ?{Gzt?MbP?Q>ף;:)M AI3@i$A$A AIVI٥= } =9}Q }> F٦mEy; > 4YlJ?4yYVBU>: ?j'D;=;>+4)AJpRp`,?Ap˨Ap˨Ap@v&Puo4@!@ xH?v&2?MZt?/;r?p>p+vDm=4@zzx"?vPN@b?eӿ뎼᷊?jprpFAZpa⡊?bpRzp5Bp5㡊?pRp5BpApd@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503801 s, deltaX: -0.299999 m, approachRate: -0.595472 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 21.099380 m, bearing: 341.954813 deg, lat: 36.779473 deg, lon: -121.859703 deg, deltaT: 0.503801 s, deltaX: -0.298565 m, approachRate: -0.592625 m/s, posRepo size: 4 oDNOT Ignoring new targets: 21.10 m.ooo   ProNav: ac range: 21.099380 m, nav range: 21.083523 m, bearing: 341.965934 deg, approach rate: 0.000000 m/s, LOS rate: 0.305378 deg/s, cmd heading: 330.164733 deg, new cmd heading: 330.702946 deg. zo % HeadingCmd: 5.771855 target range: 21.099380 and range: 21.20 m.Ro% @Jo! bo) Zo) Bo) :n) 2nI mQ mU BlQ kQ kY k] @335@k] H?ɞ ~ >I TLɝ i I /I i %r==i O;) @) JA JE kJA JA JA JE 9JA JA JA JA JE :JE :F "F *F 2F _0:F  checking for new query: numPingsReceived=63, elapsed TxPingTime=32.279945 G] H<G 2B! :B1  O= >^ď,Ls,?A @^@Y^@^ڗ9^=fAHRS rotation from veh to nav: [[0.846021,0.528475,-0.070439],[-0.532826,0.842691,-0.077247],[0.018536,0.102884,0.994521]]y^H?D?M T?pƳ?`V??ɫ^@^fi;^'C~BII=OI=ݜ٥Mu> m=9mqQ u=?qq uF٦unEy}< }=? Ա4YR?4yWBO ?r'D><k<^/4=B)E Ai-B*** querying acoustic contact ***:p)Bp)oquDNOT Ignoring new targets: 21.10 m.oqo};o}; ProNav: ac range: 21.099380 m, nav range: 20.972296 m, bearing: 342.039421 deg, approach rate: -0.413293 m/s, LOS rate: 0.274509 deg/s, cmd heading: 330.702952 deg, new cmd heading: 330.924582 deg. zod<<HeadingCmd: 5.775723 target range: 21.099380 and range: 21.20 m.RoҸ@JoboZoBo:n2nmmlkkk k @?ɞh}; 靥?>I @JɝiI2Iio5==i3W;)Ҹ@)=DDAT read: Rx Time:04:06:09.1416 ETRx dataTimestamp_ set to:1761365170.014593MPDAT read: Bearing 15.8, -2.0 (Local) M~Local bearing/azimuth received: Bearing 15.8, -2.0 (Local) ]DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 DAT read: 04:06:09.1416 LVL= 19120, 28065, 17474, 30163, AGC= 56, IDX= 507,-0.28,-2.159, 2.713,-2.641,-2.594, PHS= 0.522,-0.930,-0.051, RAW= 126.9, 7.3, CAL= 134.2, 2.0, ROT= 15.8, -2.0 Ygot valid direction response: 04:06:09.1416 LVL= 19120, 28065, 17474, 30163, AGC= 56, IDX= 507,-0.28,-2.159, 2.713,-2.641,-2.594, PHS= 0.522,-0.930,-0.051, RAW= 126.9, 7.3, CAL= 134.2, 2.0, ROT= 15.8, -2.0 T#Rx 64: Read range and direction messages.\direction in FSK: [0.961632,0.272114,0.034899]Fpublishing direction and range info9y=v!?oRj?Xޡ?=3AY9 =J)=mI=BDi=u=8=ˡ?={n=`P = @)=w>I= @i=5==0>=5 9)9=s?2aj?NQC?i=== y=0>=5 9)9checking for new query: numPingsReceived=64, elapsed TxPingTime=32.548416F"F*F2F0:FG <1 G 2B :B  O >jKU PrKU 9zKQ KU lKU ylSvj_XRLHB>;Uqoogb`YRHA850(%$!J#ď, ύ,?AZH$RH&<H(H(H*II*=BI(I(I(&I*d<*I**E2I:IBIJIRIZII4Fs3@YFY.@Fà9F=NAHRS rotation from veh to nav: [[0.847740,0.525314,-0.073359],[-0.530048,0.844135,-0.080526],[0.019623,0.107149,0.994049]]yFH ?^?@Dz@'`(?W?n?@?ɫFs3@Ft;F&CM"BMIchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.782791I]ZI]٥= A=9.*Q > F٦=qEyE1; E> I}4YMa?4yMMZBz ?M'DM, @2{:?vev!?oRj?Xޡ?pe0>pe5ve3@#ȧ?veWE?*߸ҿ9+-?jpe@rpeAZpeOղ졊?bpeDzzpeBpeI졊?pefpeBpeDApe@} addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503992 s, deltaX: -0.300001 m, approachRate: -0.595250 m/s, rangeRepo size: 4  Added new target pos. range: 20.800821 m, bearing: 343.513313 deg, lat: 36.779474 deg, lon: -121.859700 deg, deltaT: 0.503992 s, deltaX: -0.298559 m, approachRate: -0.592389 m/s, posRepo size: 4 oDNOT Ignoring new targets: 20.80 m.ooo ProNav: ac range: 20.800821 m, nav range: 20.783264 m, bearing: 342.974011 deg, approach rate: 0.000000 m/s, LOS rate: 0.274509 deg/s, cmd heading: 330.924578 deg, new cmd heading: 331.254892 deg. zoHeadingCmd: 5.781488 target range: 20.800821 and range: 20.90 m.Ro@Jo!bo!Zo!Bo!:n!2n!m)m)l)kQkQk]`f4@ke.?1ɞAm(c: q}TO>Iy ,Gɝ!i)I-7I=2oi\<=i29)@)FA"FA*FI2FI:FIYA A G] ; DDAT read: Rx Time:04:06:09.6414  TRx dataTimestamp_ set to:1761365170.529078 PDAT read: Bearing 14.8, -1.1 (Local)  ~Local bearing/azimuth received: Bearing 14.8, -1.1 (Local) % DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 Gi 2By :B  O > DAT read: 04:06:09.6414 LVL= 21264, 32753, 19554, 32755, AGC= 55, IDX= 504, 0.07,-2.151, 2.729,-2.602,-2.586, PHS= 0.524,-0.921,-0.018, RAW= 128.2, 6.6, CAL= 135.2, 1.1, ROT= 14.8, -1.1 % Ygot valid direction response: 04:06:09.6414 LVL= 21264, 32753, 19554, 32755, AGC= 55, IDX= 504, 0.07,-2.151, 2.729,-2.602,-2.586, PHS= 0.524,-0.921,-0.018, RAW= 128.2, 6.6, CAL= 135.2, 1.1, ROT= 14.8, -1.1 E T#Rx 65: Read range and direction messages.M \direction in FSK: [0.966645,0.255399,0.019197]M Fpublishing direction and range infoۑ yە ?hsX?]~?ە 3AYۑ ܕ S)ܕ Iܕ bLiܕ ܕ 7ܕ $?ܕ kܕ t ݕ f3@)ݕ =Iݕ @iݕ nF<ݕ A>ݕ nF ޑ )ޑ ޕ .6 v?4&?ϔKL?ԁ iޕ >ޕ 콩ޕ A>ޕ nF ߑ )ߑ  checking for new query: numPingsReceived=65, elapsed TxPingTime=33.112404i)ď,z,?Am3BmIqJa=J%Mb@Mb@Mb@! !)!I!i!%Gz?~jt?%>%<%)%z AI%@i%;A%;A !%\AIuQIu٥W= 2=9Q >JJrJJJJ9JJJJJ:J: F٦tEy  > 4Yq?4y\B>:?'D::>4MB)MsAMEJpRpjܡ,?AplAplApX@v>@3@:m۽@m?v?hsX?]~?p A>pnFvQGU3@k"Q{G:wd>@?vD!x?̠ӿυ3?jpchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.286800rpAZp+Ρ?bp߁zpۃBp5㡊?pppΣApϓ@ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.514485 s, deltaX: -0.500000 m, approachRate: -0.971846 m/s, rangeRepo size: 4  Added new target pos. range: 20.303194 m, bearing: 342.604636 deg, lat: 36.779473 deg, lon: -121.859700 deg, deltaT: 0.514485 s, deltaX: -0.497627 m, approachRate: -0.967234 m/s, posRepo size: 4 oDNOT Ignoring new targets: 20.30 m.oooM ProNav: ac range: 20.303194 m, nav range: 20.476004 m, bearing: 343.017964 deg, approach rate: 0.000000 m/s, LOS rate: 0.274509 deg/s, cmd heading: 331.254886 deg, new cmd heading: 331.626109 deg. zoIUHeadingCmd: 5.787968 target range: 20.303194 and range: 20.40 m.RoU7@JoQboQZoQBoQ:nY2nYmmBlԡkkk`ff4@kw?ɞv;   q>I! %Dɝ!i!I-e a )a e [[F W??ajWOk?ie U1>e g۽e :Fq>e a )a  checking for new query: numPingsReceived=66, elapsed TxPingTime=33.559719G 2B! :B1  O= >0ď,:A,?AI<)< mx@Y Ss@ ᴼ9 q-=%AHRS rotation from veh to nav: [[0.852130,0.517276,-0.079377],[-0.522865,0.847920,-0.087433],[0.022079,0.116007,0.993003]]y HD?? RN("?`aƛ?@? ?ɫ mx@ މ; (Cu6BuIIrI{٥b< Y=9ջQ > F٦ wEy <  > 4Yh~?4y_B%%?'DO;;^E4I)MXAIJpRpvp,?Appp@v3@/e_@?P"6?v/?vLn?sNru?p:Fq>pv1APcD3@N_X@Xk/u?v_c}]?c @ӿ|?jprp AZpcա?bp6ʊzpeBpa⡊?p߁pۃBpAp炿@  addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.493411 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 20.303194 m, bearing: 341.857677 deg, lat: 36.779473 deg, lon: -121.859701 deg, deltaT: 0.493411 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 o=DNOT Ignoring new targets: 20.30 m.o9oAoAU ProNav: ac range: 20.303194 m, nav range: 20.315851 m, bearing: 342.899739 deg, approach rate: 0.000000 m/s, LOS rate: 0.274509 deg/s, cmd heading: 331.626120 deg, new cmd heading: 331.933863 deg. zoQ}HeadingCmd: 5.793339 target range: 20.303194 and range: 20.40 m.Ro}c@JoboZoBo:n2nmmlkkkk-?ɞ!%; !%xw>I) -Aɝ)i)I-YZBI5(i5 <=i5 )ec@)iHHHII[BIII&Ir<*I>EjKNrK9zKKmK!(10221/*'"     F)"F)*F)2F55:F1checking for new query: numPingsReceived=66, elapsed TxPingTime=33.791660G yG2B:B  O->Ai M6ď,,?A@Y@6N9'=AHRS rotation from veh to nav: [[0.854603,0.512794,-0.081829],[-0.518768,0.850101,-0.090594],[0.023107,0.119872,0.992520]]yHX?h? 4?@.1m i)imΎTS?ق c ?hU?imBi*>mmUlx>m i)ichecking for new query: numPingsReceived=67, elapsed TxPingTime=34.066631u>BuI%Mb@Mb@Mb@! !)!I!i!%Zd;O?~jt?Mb`?%~>%D=%;)% AI%@i!%$A !% AI=bI=ԡ٥< =9%Q %>!) -F٦-zEy-< -> 1e4Y5e:e{m?5'D5;5H;5N4uB)uHAuEJpiRpm,?Apm=Apm=Apm>@vmr<1fQ3@ܳw4s@q%@٭?vmD@]?r?_2q?pmUlx>pmvm\52@|b)V?vmp`%Lm?w)7Fӿȩn?jpmؿrpmiAZpm $̡?bpm8zpmBpmcա?pm8pipmApm:M@E addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.509134 s, deltaX: -0.400000 m, approachRate: -0.785647 m/s, rangeRepo size: 4 u Added new target pos. range: 19.905094 m, bearing: 342.423813 deg, lat: 36.779471 deg, lon: -121.859702 deg, deltaT: 0.509134 s, deltaX: -0.398100 m, approachRate: -0.781916 m/s, posRepo size: 4 oy}DNOT Ignoring new targets: 19.91 m.oyoo ProNav: ac range: 19.905094 m, nav range: 19.963964 m, bearing: 342.524309 deg, approach rate: 0.000000 m/s, LOS rate: 0.274509 deg/s, cmd heading: 331.933861 deg, new cmd heading: 332.379411 deg. zoHeadingCmd: 5.801115 target range: 19.905094 and range: 20.00 m.Ro@JoboZoBo:n2nmmlkkk4@kǙ?ɞB; >I %#=ɝ!i!I%II-i-mr;=i-h)U@)Q checking for new query: numPingsReceived=67, elapsed TxPingTime=34.295803F "F *F 2F `5:F G &tG2B:B O> P>ď,%,?A,F˰@YFƷ@Fż9F=rAHRS rotation from veh to nav: [[0.857374,0.507741,-0.084309],[-0.514126,0.852550,-0.093981],[0.024160,0.123922,0.991998]]yFH`o?j??E`sH?&D?@b? r?ɫF˰@FGs;F(CzMBz IIgI٥= h=9CQ >! %F٦%|Ey%z< %> )=4Y-?=4y-W-gBAE߾E?-'D-&<-'<-T4DDAT read: Rx Time:04:06:11.1411 TRx dataTimestamp_ set to:1761365172.030599PDAT read: Bearing 12.2, 0.9 (Local) ~Local bearing/azimuth received: Bearing 12.2, 0.9 (Local) DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 DAT read: 04:06:11.1411 LVL= 17760, 27185, 17298, 29299, AGC= 54, IDX= 500, 0.18, 1.724, 0.244, 1.329, 1.267, PHS= 0.545,-0.976, 0.059, RAW= 131.7, 5.6, CAL= 137.8, -0.9, ROT= 12.2, 0.9 %Ygot valid direction response: 04:06:11.1411 LVL= 17760, 27185, 17298, 29299, AGC= 54, IDX= 500, 0.18, 1.724, 0.244, 1.329, 1.267, PHS= 0.545,-0.976, 0.059, RAW= 131.7, 5.6, CAL= 137.8, -0.9, ROT= 12.2, 0.9 -T#Rx 68: Read range and direction messages.5^direction in FSK: [0.977295,0.211299,-0.015707]5Fpublishing direction and range infoyF?w6 ?y&Y `E)1jICisr ?#yq= =@)+=I@i^ Z>< )-?RI??ibR>ǽ^ Z>< )]checking for new query: numPingsReceived=68, elapsed TxPingTime=34.564804I)]AԁaJpRpV-?Appp@v3t3@'6@ԿvF?w6 ?y&p^ Z>p<v,2@MMn?v!II?-Կ?jp[rpAZp6dLѡ?bpPzpBp6dLѡ?pppApIO@m addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.498976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.905094 m, bearing: 341.275265 deg, lat: 36.779471 deg, lon: -121.859702 deg, deltaT: 0.498976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 oDNOT Ignoring new targets: 19.91 m.ooo ProNav: ac range: 19.905094 m, nav range: 19.750629 m, bearing: 342.538715 deg, approach rate: 0.000000 m/s, LOS rate: 0.274509 deg/s, cmd heading: 332.379408 deg, new cmd heading: 332.702525 deg. zoHeadingCmd: 5.806755 target range: 19.905094 and range: 20.00 m.Roй@JoboZoBo:n2nmmlkkkk@?ɞae< imU>Ii ml9ɝiiiImlPIui|;=i)й@)ԱJ{J~JJJd:Jf9JJ!@!@!@!@H5 >H1 H5 :II5 uBI1 I1 I1 &I1 *I1 jK %MrK zK K nK XqaTG:/'V{I/$BK ?:K ?E 9  checking for new query: numPingsReceived=68, elapsed TxPingTime=34.799702FU "FY *FY 2F] 0:FY  PExceeded connect timeout, disconnecting. ) G 1)QI쿙AG]𕭻9G92BA:BY Ou ?LGď,-?A @DDAT read: Rx Time:04:06:11.6408 TRx dataTimestamp_ set to:1761365172.541550PDAT read: Bearing 12.2, -0.9 (Local) -~Local bearing/azimuth received: Bearing 12.2, -0.9 (Local) UxDAT read: Range 10 t 19.5 m (trip time 13.0 ms) speed 0.4 unknown deviceResponse_: Range 10 t 19.5 m (trip time 13.0 ms) speed 0.4 DAT read: 04:06:11.6408 LVL= 16976, 30689, 17554, 30739, AGC= 54, IDX= 498,-0.29,-1.390,-2.782,-1.755,-1.785, PHS= 0.483,-0.950, 0.027, RAW= 131.9, 7.0, CAL= 137.8, 0.9, ROT= 12.2, -0.9 Ygot valid direction response: 04:06:11.6408 LVL= 16976, 30689, 17554, 30739, AGC= 54, IDX= 498,-0.29,-1.390,-2.782,-1.755,-1.785, PHS= 0.483,-0.950, 0.027, RAW= 131.9, 7.0, CAL= 137.8, 0.9, ROT= 12.2, -0.9 eZ#Rx 69: Read direction message, but no range.m\direction in FSK: [0.977295,0.211299,0.015707]yF?w6 ?y&?Y PB)wIDixK>33s/< nU@)5=Ii< 4s?@??2',?iS>OB I%checking for new query: numPingsReceived=69, elapsed TxPingTime=35.130482%Mb@Mb@Mb@! !)!I!i!%ˡE?㥛 ?~jtx?%>%=%;)%AI%@i!%A !%\AI]VI]٥J; <9 Q  ~> F٦Ey ~> IU4YM?U4yMMqB]>]:]ľ]?M'DM:M:MMa4eB)AEB*** querying acoustic contact ***:pBpoeDNOT Ignoring new targets: 19.91 m.oaom;om;} ProNav: ac range: 19.905094 m, nav range: 19.427269 m, bearing: 342.613521 deg, approach rate: -0.494158 m/s, LOS rate: 0.116221 deg/s, cmd heading: 332.702531 deg, new cmd heading: 332.930682 deg. zo};HeadingCmd: 5.810737 target range: 19.905094 and range: 20.00 m.Ro@JoboZoBo:n2nmm!Blkkkk@?A e checking for new query: numPingsReceived=69, elapsed TxPingTime=35.302780ɞm Bu ʗ; q u >Iq u %3ɝq iq I ZI i (H:=i }>) @) q E E E sAFY"FY*Fa2Fe_0:FaԙDDAT read: Rx Time:04:06:12.1408 TRx dataTimestamp_ set to:1761365173.038446%PDAT read: Bearing 10.1, 0.5 (Local) -~Local bearing/azimuth received: Bearing 10.1, 0.5 (Local) =DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 mDAT read: 04:06:12.1408 LVL= 16864, 27313, 17650, 30067, AGC= 55, IDX= 496, 0.06, 0.027,-1.426,-0.288,-0.379, PHS= 0.494,-1.000, 0.088, RAW= 134.8, 6.3, CAL= 139.9, -0.5, ROT= 10.1, 0.5 uYgot valid direction response: 04:06:12.1408 LVL= 16864, 27313, 17650, 30067, AGC= 55, IDX= 496, 0.06, 0.027,-1.426,-0.288,-0.379, PHS= 0.494,-1.000, 0.088, RAW= 134.8, 6.3, CAL= 139.9, -0.5, ROT= 10.1, 0.5 }T#Rx 70: Read range and direction messages.^direction in FSK: [0.984466,0.175360,-0.008727]Fpublishing direction and range infoy61?x2r?B7߁AY A)jIDisu7>X9= @)z0=IE@i5J4>5< )V?!G6?$?i>JὩJ4>5< )checking for new query: numPingsReceived=70, elapsed TxPingTime=35.576862G}G92BI:Ba Om+?]?Rď,@mI-?AbԵ@Yb@b\ɼ9b]. >=AHRS rotation from veh to nav: [[0.871692,0.482157,-0.087623],[-0.489435,0.865549,-0.106200],[0.024637,0.135460,0.990476]]ybH??`xnR߿`?`/@d:?@V??ɫbԵ@b漉;`eSBmIԁIfI{٥<  =9{Q > %F٦%Ey%f= -> )54Y-$ɛ?54y--xB9==?-'D-:-;-j4i)mAiJp1H>HHYIIBI =IID&I7<*IEJJJJJ̈́:J9JJJ;!-J;!-J;!5J;!5Rp5uB-?Ap5BAjKMrKh9zKKoK*Blsp~E1E^_GOpM9UH6\}K(Njyk2K*Kp5BAp5AR@v5 v 3@|9 @^Ӕſv561?x2r?B7߁p5J4>p55<v5nO2@[,"vr?v5GpJ0?7XտN'?jp5erp5{AZp5kС?bp5qzp5ۂBp5kС?p56ʊp5eBp5Ap51@M addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 1.007847 s, deltaX: -0.500000 m, approachRate: -0.496107 m/s, rangeRepo size: 4 echecking for new query: numPingsReceived=70, elapsed TxPingTime=35.807327Ա Added new target pos. range: 19.407448 m, bearing: 340.768979 deg, lat: 36.779471 deg, lon: -121.859705 deg, deltaT: 1.007847 s, deltaX: -0.497646 m, approachRate: -0.493772 m/s, posRepo size: 4 oDNOT Ignoring new targets: 19.41 m.ooo  ProNav: ac range: 19.407448 m, nav range: 19.248802 m, bearing: 342.034493 deg, approach rate: 0.000000 m/s, LOS rate: 0.116221 deg/s, cmd heading: 332.930686 deg, new cmd heading: 333.122386 deg. zo!%HeadingCmd: 5.814083 target range: 19.407448 and range: 19.50 m.Ro% @Jo)bo)Zo)Bo):nQ2nQmQmQlYkYkYk]3@ke]4? nManaging dock network, ignoring radio surface power offɞB-$; 15>I1 5-ɝ1i9I=dI=@.iE9=iEc<)E @)i EqEqEqEq F "F *F 2F c0:F = DDAT read: Rx Time:04:06:12.6405 M TRx dataTimestamp_ set to:1761365173.548045u PDAT read: Bearing 9.2, 0.0 (Local) } ~Local bearing/azimuth received: Bearing 9.2, 0.0 (Local)  DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4  DAT read: 04:06:12.6405 LVL= 16064, 28145, 17890, 30515, AGC= 54, IDX= 510,-0.50,-1.797, 3.095,-2.065,-2.160, PHS= 0.450,-0.981, 0.092, RAW= 136.1, 6.9, CAL= 140.8, -0.0, ROT= 9.2, 0.0  Ygot valid direction response: 04:06:12.6405 LVL= 16064, 28145, 17890, 30515, AGC= 54, IDX= 510,-0.50,-1.797, 3.095,-2.065,-2.160, PHS= 0.450,-0.981, 0.092, RAW= 136.1, 6.9, CAL= 140.8, -0.0, ROT= 9.2, 0.0  T#Rx 71: Read range and direction messages. ^direction in FSK: [0.987136,0.159881,-0.000000] Fpublishing direction and range info9 y= \ʞ?Čsv?= ̘AY9 = >)= mI= Ei= 3w= 6= ff>= "{= j= = q@)= Ϣ=I= nF@i= = l$>= 9 )9 = tOO?Rm?~Ǖ?i= fˏ>= ;D= l$>= 9 )9  checking for new query: numPingsReceived=71, elapsed TxPingTime=36.1084529G-G2B:B! O-?Zď,Cqm-?A]BIchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.311043Mb@Mb@Mb@ )IiQ?l?Mb?>=<)IiA$A  AIZI٥-,< -=95Q 5>19 =F٦=Ey= =>i 4Y4ߛ?4y,B>:<?'Da#;.;t4B)AEJpRp+c-?ApApApFɽ@v32@4HP@v\ʞ?Čsv?pl$>pv²ɂ1@UqN6u?v2!?()sֿMX?jprpAZp?bpuzpBppPpBpaAp@ addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.509599 s, deltaX: -0.400000 m, approachRate: -0.784930 m/s, rangeRepo size: 4  Added new target pos. range: 19.009117 m, bearing: 339.810933 deg, lat: 36.779471 deg, lon: -121.859707 deg, deltaT: 0.509599 s, deltaX: -0.398331 m, approachRate: -0.781655 m/s, posRepo size: 4 o%DNOT Ignoring new targets: 19.01 m.o!oQoYԑ ProNav: ac range: 19.009117 m, nav range: 19.047735 m, bearing: 341.358719 deg, approach rate: 0.000000 m/s, LOS rate: 0.116221 deg/s, cmd heading: 333.122396 deg, new cmd heading: 333.322590 deg. zoHeadingCmd: 5.817577 target range: 19.009117 and range: 19.10 m.Ro)@JoboZoBo:n2nImImU%BlQkQkQkU3@k]T?ɞB; >I Kh'ɝiI{wnI:dil9=i<)%)@)) F "F *F 2F 5:F M DDAT read: Rx Time:04:06:13.1404 U TRx dataTimestamp_ set to:1761365174.047360e PDAT read: Bearing 7.1, 0.9 (Local) e ~Local bearing/azimuth received: Bearing 7.1, 0.9 (Local)  DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 G u; DAT read: 04:06:13.1404 LVL= 16144, 29553, 17762, 29651, AGC= 55, IDX= 509,-0.01,-0.310,-1.735,-0.514,-0.663, PHS= 0.441,-1.025, 0.146, RAW= 139.0, 6.6, CAL= 142.9, -0.9, ROT= 7.1, 0.9  Ygot valid direction response: 04:06:13.1404 LVL= 16144, 29553, 17762, 29651, AGC= 55, IDX= 509,-0.01,-0.310,-1.735,-0.514,-0.663, PHS= 0.441,-1.025, 0.146, RAW= 139.0, 6.6, CAL= 142.9, -0.9, ROT= 7.1, 0.9  T#Rx 72: Read range and direction messages. ^direction in FSK: [0.992210,0.123586,-0.015707]5 Fpublishing direction and range infoI yM +.?6X?y&M 3AYI M ?)M qsIM bEiM sM 7M >M 33M > M C@)M =IM @iM M =M < I G 2B :B  O >)I M h! ?BW$?R?iM >M 뽩M =M < I )I = checking for new query: numPingsReceived=72, elapsed TxPingTime=36.627701aď,RF-?ALf<@Yf7@f9f{>EAHRS rotation from veh to nav: [[0.879666,0.467518,-0.087266],[-0.475046,0.872530,-0.114119],[0.022789,0.141842,0.989627]]yfH8&?@? W'g޿?6V?'?@?ɫf<@f;f'CM[BuIIfI{٥Y h=9;Q > F٦Ey!?= > m4Y,웊?m4yBquu?'Ds<AZpli?bpzpGBp $̡?pqpۂBp>ApM@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.499315 s, deltaX: -0.200001 m, approachRate: -0.400550 m/s, rangeRepo size: 4 H>HCHlIIBI =JJ3JS}-JJJJJm:J59JJJ;J;J;J;IID&Id<*IE Added new target pos. range: 18.810068 m, bearing: 338.787405 deg, lat: 36.779470 deg, lon: -121.859710 deg, deltaT: 0.499315 s, deltaX: -0.199049 m, approachRate: -0.398644 m/s, posRepo size: 4 oDNOT Ignoring new targets: 18.81 m.ooo ProNav: ac range: 18.810068 m, nav range: 18.905737 m, bearing: 340.738536 deg, approach rate: 0.000000 m/s, LOS rate: 0.116221 deg/s, cmd heading: 333.322603 deg, new cmd heading: 333.446027 deg. zoHeadingCmd: 5.819731 target range: 18.810068 and range: 18.90 m.Ro=;@JoboZoBo:n2nmml!k!k!k-`f2@k-?jK]hPrK]9zKYK]pK]E}N9* @'Sw{dO=7-#/BKu?:Ku>checking for new query: numPingsReceived=72, elapsed TxPingTime=36.815495ɞB^X< ӛ>I  $ɝiItIIiJ@9=i8<)=;@)Fm "Fi*Fi2Fm_0:Fi G a<G 2B! :B9  OE >Sgď,M-?A5DDAT read: Rx Time:04:06:13.6402 =TRx dataTimestamp_ set to:1761365174.554530]PDAT read: Bearing 5.4, 2.0 (Local) m~Local bearing/azimuth received: Bearing 5.4, 2.0 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 }@Yx@v9H>AHRS rotation from veh to nav: [[0.883446,0.460560,-0.086073],[-0.468031,0.875985,-0.116609],[0.021694,0.143302,0.989441]]yH/E?@y?@@9ݿ ?ڽ6?`W??ɫ}@h;髅&CDAT read: 04:06:13.6402 LVL= 16240, 29025, 18386, 29891, AGC= 54, IDX= 506, 0.40,-0.572,-1.987,-0.719,-0.917, PHS= 0.433,-1.023, 0.194, RAW= 141.2, 5.9, CAL= 144.6, -2.0, ROT= 5.4, 2.0 Ygot valid direction response: 04:06:13.6402 LVL= 16240, 29025, 18386, 29891, AGC= 54, IDX= 506, 0.40,-0.572,-1.987,-0.719,-0.917, PHS= 0.433,-1.023, 0.194, RAW= 141.2, 5.9, CAL= 144.6, -2.0, ROT= 5.4, 2.0 T#Rx 73: Read range and direction messages.^direction in FSK: [0.994955,0.094051,-0.034899]Fpublishing direction and range info1y5 ?絹?Xޡ5fAY1 5p?)5aqI5Gi5t565->55F> 5ϸ@)5B=I5!@i555=55= 1)1cB$I5Q*?mrB|?*b\?i5]j>5Bӽ5=55= 1)1echecking for new query: numPingsReceived=73, elapsed TxPingTime=37.142899 Mb@Mb@Mb@  ) I i  v/? ףp= ?{Gzt? x> Q= ף;) dAI @i ;A ;A  AIEhIE٥u= u'=9}3;Q > F٦Ey׃< > 4Y?4y`B>:%X%?(D::4-”B)-AUEJp1Rp5k}-?Ap5Ap5Ap5@v5 u2@^a~'? v5 ?絹?Xޡp5=p55=v5hO1@4&a'X?v5w!?NK4jEؿHeA?jp5 rp5AZp5&DZ?bp5zp5hBp5?p5up5Bp5Ap5k½@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.507170 s, deltaX: -0.100000 m, approachRate: -0.197173 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.709448 m, bearing: 337.715027 deg, lat: 36.779469 deg, lon: -121.859713 deg, deltaT: 0.507170 s, deltaX: -0.100620 m, approachRate: -0.198396 m/s, posRepo size: 4 o15DNOT Ignoring new targets: 18.71 m.o1o9o9m ProNav: ac range: 18.709448 m, nav range: 18.593641 m, bearing: 339.762966 deg, approach rate: 0.000000 m/s, LOS rate: 0.116221 deg/s, cmd heading: 333.446038 deg, new cmd heading: 333.617615 deg. zoiuHeadingCmd: 5.822726 target range: 18.709448 and range: 18.80 m.RouS@JoqboqZoyBoy:n2nmmDBlkkk2@k`?ɞB@3< >I @1ɝiI|I^i 9=i<)S@)checking for new query: numPingsReceived=73, elapsed TxPingTime=37.318844F "F *F 2F :F Q G @Opď,K-?ANA@YN'@N9NX>vAHRS rotation from veh to nav: [[0.886381,0.455109,-0.084880],[-0.462497,0.878660,-0.118545],[0.020630,0.144333,0.989314]]yNH@;]?@ ? ݿ?`X@?}y?@v?ɫNA@Nb;N%C~aB~"II5]I5t٥# P=93;Q > F٦Ey< > ءإADDAT read: Rx Time:04:06:14.1401 TRx dataTimestamp_ set to:1761365175.054680PDAT read: Bearing 4.0, 1.2 (Local) ~Local bearing/azimuth received: Bearing 4.0, 1.2 (Local) DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 DAT read: 04:06:14.1401 LVL= 15440, 26737, 16242, 26835, AGC= 54, IDX= 506,-0.07,-0.599,-2.010,-0.692,-0.900, PHS= 0.389,-1.064, 0.205, RAW= 143.3, 6.9, CAL= 146.0, -1.2, ROT= 4.0, 1.2  Ygot valid direction response: 04:06:14.1401 LVL= 15440, 26737, 16242, 26835, AGC= 54, IDX= 506,-0.07,-0.599,-2.010,-0.692,-0.900, PHS= 0.389,-1.064, 0.205, RAW= 143.3, 6.9, CAL= 146.0, -1.2, ROT= 4.0, 1.2  T#Rx 74: Read range and direction messages.^direction in FSK: [0.997345,0.069741,-0.020942]Fpublishing direction and range info۩yۭ@?wڱ?_2qۭ̔AY۩ ܭP<)ܭqhIܭr?iܭhܩܭ+>ܭ'1ܭQ> ݭQ @)ݭϢ=Iݭe#@iݭݭ5=ݭ< ީ)ީޭNu+? B?'?zѾ?iޭh>ޭD%ޭ5=ޭ< ߩ)ߩUchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.592793]4Y ?e4yBim)m? (De<<4) AJpRp-?ApApAp@v.v2@}&|?cMؿv@?wڱ?_2qp5=p<v )0@_;,àn2CH?v+v\?ŹpٿpͳR?jpurp߇AZp< ?bpr4zpBp&DZ?ppGBp=Ap)@m addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.500150 s, deltaX: -0.199999 m, approachRate: -0.399878 m/s, rangeRepo size: 4  Added new target pos. range: 18.510412 m, bearing: 336.576301 deg, lat: 36.779468 deg, lon: -121.859716 deg, deltaT: 0.500150 s, deltaX: -0.199036 m, approachRate: -0.397952 m/s, posRepo size: 4 oDNOT Ignoring new targets: 18.51 m.ooo ProNav: ac range: 18.510412 m, nav range: 18.404829 m, bearing: 338.695038 deg, approach rate: 0.000000 m/s, LOS rate: 0.116221 deg/s, cmd heading: 333.617612 deg, new cmd heading: 333.758237 deg. zoHeadingCmd: 5.825180 target range: 18.510412 and range: 18.60 m.Rog@JoboZoBo:n2nmmlkkk2@k#?ɞBR< 靥>I DɝiIIi8=i<)g@)F"F*F2F:FJJ~JJJy:Jf9JJ!@!@!@!@H>HCHIIBI =IID&I{<*IE2IA:IECBIEǕCJIARIEǣ =ZIE661 jKU OrKU +9zKQ KU qKU kV(:WpkwB c@$ N#19A!Ed(}kS;2Ke sA*Ke rA} checking for new query: numPingsReceived=74, elapsed TxPingTime=37.827118Gm 7<GI 2Bq :B  O >!vď,-?A @Y@壼9c>AHRS rotation from veh to nav: [[0.889338,0.449381,-0.084466],[-0.456813,0.881278,-0.121128],[0.020006,0.146309,0.989037]]yHtu?? l<ݿl3?@:@Z|?>? 0?ɫ@H?;髑UBIIaI錴I٥];E ]1=9eӰ:Q > F٦Ey`< > 4Y_?4yCB쐾?(D;<C4UȔB)]ADDAT read: Rx Time:04:06:14.6399 TRx dataTimestamp_ set to:1761365175.568238EPDAT read: Bearing 2.5, 2.4 (Local) M~Local bearing/azimuth received: Bearing 2.5, 2.4 (Local) DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 B*** querying acoustic contact ***:pBpo!-DNOT Ignoring new targets: 18.51 m.o)o- o- MDAT read: 04:06:14.6399 LVL= 15856, 25457, 17362, 26483, AGC= 54, IDX= 503, 0.33,-0.624,-2.066,-0.674,-0.936, PHS= 0.400,-1.083, 0.259, RAW= 145.1, 6.0, CAL= 147.5, -2.4, ROT= 2.5, 2.4 q ProNav: ac range: 18.510412 m, nav range: 18.188931 m, bearing: 338.634492 deg, approach rate: -0.437649 m/s, LOS rate: -0.124190 deg/s, cmd heading: 333.758232 deg, new cmd heading: 333.574439 deg. zovHeadingCmd: 5.821972 target range: 18.510412 and range: 18.60 m.RoM@JoboZoBo:nYgot valid direction response: 04:06:14.6399 LVL= 15856, 25457, 17362, 26483, AGC= 54, IDX= 503, 0.33,-0.624,-2.066,-0.674,-0.936, PHS= 0.400,-1.083, 0.259, RAW= 145.1, 6.0, CAL= 147.5, -2.4, ROT= 2.5, 2.4 T#Rx 75: Read range and direction messages.^direction in FSK: [0.998172,0.043581,-0.041876]Fpublishing direction and range info2nmmlkkkk=?y+?&CP? ۷pfAY =)qcICisg>>  "@)Pw=IS$@i+¸2=+= )H?jV?t,X?i*>׽¸2=+= )-checking for new query: numPingsReceived=75, elapsed TxPingTime=38.153099ɞe€Be< i靵0>I ˡɝiI~I$iV8=icX=)M@)F "F *F 2F :F G F Ա  checking for new query: numPingsReceived=75, elapsed TxPingTime=38.330891 G M<G G Gi2B:B O>}ď, -?A -6@Y-1@-k9- >=AHRS rotation from veh to nav: [[0.893819,0.441599,-0.077959],[-0.447999,0.886969,-0.112175],[0.019610,0.135190,0.990626]]y-H*?(C?``ܿ b? ?M?4?ɫ-6@-ٿ;-&CmPBm I Mb@Mb@Mb@  ) I i  (\?~jt?Mbp? > =9 ;) AI i A A  AIE^IE٥ =9b?:Q > F٦Eyז< > =4Y 2?E4y B BE?>E:E4E? *(D ;; : 4]DDAT read: Rx Time:04:06:15.1398 ]TRx dataTimestamp_ set to:1761365176.066543mPDAT read: Bearing 1.5, 1.5 (Local) m~Local bearing/azimuth received: Bearing 1.5, 1.5 (Local) }DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 DAT read: 04:06:15.1398 LVL= 18192, 27857, 17698, 29331, AGC= 54, IDX= 503,-0.08,-1.040,-2.435,-1.042,-1.300, PHS= 0.348,-1.088, 0.255, RAW= 146.7, 7.0, CAL= 148.5, -1.5, ROT= 1.5, 1.5 Ygot valid direction response: 04:06:15.1398 LVL= 18192, 27857, 17698, 29331, AGC= 54, IDX= 503,-0.08,-1.040,-2.435,-1.042,-1.300, PHS= 0.348,-1.088, 0.255, RAW= 146.7, 7.0, CAL= 148.5, -1.5, ROT= 1.5, 1.5 T#Rx 76: Read range and direction messages.^direction in FSK: [0.999315,0.026168,-0.026177]Fpublishing direction and range infoYy]5b?yoU˚?P!Κ]AYY ]G)]lI]"Ei]rY]->]C]\> ]#@)]5=I]H%@i]Pwּ]Pw<]Pw< Y)Y]>93`?j?扡oM?i];p>]M ]Pw<]Pw< Y)Ychecking for new query: numPingsReceived=76, elapsed TxPingTime=38.600479 ΔB)AEJpYRp]>B.?Ap]Ap]Ap]#@v]lv2@(7U?0W޿v]5b?yoU˚?P!Κp]Pw<p]Pw<v]<l0@tؿ5`Zv]ʨ@ ?hL ڿdD+fjp]Qrp]dAZp]6?bp]#zp]6Bp]li?p]p]Bp]Ap]@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 1.011863 s, deltaX: -0.400000 m, approachRate: -0.395310 m/s, rangeRepo size: 4  Added new target pos. range: 18.111874 m, bearing: 335.067725 deg, lat: 36.779467 deg, lon: -121.859720 deg, deltaT: 1.011863 s, deltaX: -0.398539 m, approachRate: -0.393866 m/s, posRepo size: 4 oDNOT Ignoring new targets: 18.11 m.ooo  ProNav: ac range: 18.111874 m, nav range: 18.066837 m, bearing: 337.515800 deg, approach rate: 0.000000 m/s, LOS rate: -0.124190 deg/s, cmd heading: 333.574445 deg, new cmd heading: 333.386633 deg. zoHeadingCmd: 5.818695 target range: 18.111874 and range: 18.20 m.Ro2@JoboZoBo:n2nmAmE'BlAkIkIkM@332@kMD?aɞĀB< 靝>I )ɝiI6"Ii8=iŀ==)2@)Fq "Fq *Fq 2Fy :Fy GU =ԑ G 2B :B)  O5 >H >H CH yII BI I I D&I f<*I Exď, .?Abchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.834873jK  PrK h9zK K rK * *(j<4;<4-'! (03532/+%#<BK>:K>]?B]IImMImy٥ =9Q ? F٦Ey ? !e4Y%H>?m4y%f%B?%3(D%β<%^<%4Q)m|AqoDNOT Ignoring new targets: 18.11 m.oo]o]] ProNav: ac range: 18.111874 m, nav range: 17.923119 m, bearing: 337.475570 deg, approach rate: -0.450406 m/s, LOS rate: -0.127088 deg/s, cmd heading: 333.386642 deg, new cmd heading: 333.264986 deg. zo]pHeadingCmd: 5.816571 target range: 18.111874 and range: 18.20 m.RoZ!@JoboZoBo:n2nmmlkkkk>?ԡɞmŀBmW< ims>Iq u5ɝqiqIu$I}i8=i@=)Z!@)F "F*F2Fo0:FDDAT read: Rx Time:04:06:15.6396 TRx dataTimestamp_ set to:1761365176.576013PDAT read: Bearing 359.8, 3.2 (Local) ~Local bearing/azimuth received: Bearing 359.8, 3.2 (Local) - DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4  DAT read: 04:06:15.6396 LVL= 17984, 30625, 20466, 32755, AGC= 55, IDX= 500, 0.30,-0.361,-1.803,-0.319,-0.649, PHS= 0.376,-1.107, 0.327, RAW= 148.3, 5.6, CAL= 150.2, -3.2, ROT= 359.8, 3.2  Ygot valid direction response: 04:06:15.6396 LVL= 17984, 30625, 20466, 32755, AGC= 55, IDX= 500, 0.30,-0.361,-1.803,-0.319,-0.649, PHS= 0.376,-1.107, 0.327, RAW= 148.3, 5.6, CAL= 150.2, -3.2, ROT= 359.8, 3.2  T#Rx 77: Read range and direction messages.G K=  `direction in FSK: [0.998435,-0.003485,-0.055822] Fpublishing direction and range infoۡyۥI-?mv14lᢔۥ3AYۡ ܥ@F)ܥwIܥOiܥܥ7ܥ>ܥ-ܥl> ݥ%@)ݥ+=Iݥg'@iݥdݥB@ݥd= ޡ)ޡޥ!^L?=\:?/:v^?iޥ0>ޥzǽޥdޥd= ߡ)ߡ5 checking for new query: numPingsReceived=77, elapsed TxPingTime=39.176540G 2B :B  O >Vď,N,.?A2U@Y2rP@2492_)>nAHRS rotation from veh to nav: [[0.895499,0.438857,-0.074071],[-0.444639,0.889435,-0.105839],[0.019433,0.127713,0.991621]]y2H`?:? Ptܿ?v?A I?X?`[?ɫ2U@2;0v:BvIJJJJJs:Jy9JJeMb@Mb@Mb@a a)aIaiae-?T㥛 ?Mbe?>e=e)eAIe@iaa ae AIiI҅٥׭ 9=99Q ->11 5F٦5Ey= < => 9E4Y=>O?M4y=4=Bmd>m:mvm?=A(D=6;=;=4y)Achecking for new query: numPingsReceived=77, elapsed TxPingTime=39.338875JpRpf$.?ApApApn@v$1@wժɯCJvI-?mv14lᢔpdpd=v76m/@Xqina @v27ɱ?;ܿ(܃jpvrpAZpVL?bp;zpBp< ?pr4phBpApQӻ@] addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.509470 s, deltaX: -0.300001 m, approachRate: -0.588849 m/s, rangeRepo size: 4  Added new target pos. range: 17.813591 m, bearing: 333.804995 deg, lat: 36.779466 deg, lon: -121.859723 deg, deltaT: 0.509470 s, deltaX: -0.298283 m, approachRate: -0.585476 m/s, posRepo size: 4 oDNOT Ignoring new targets: 17.81 m.ooo  ProNav: ac range: 17.813591 m, nav range: 17.687744 m, bearing: 336.300180 deg, approach rate: 0.000000 m/s, LOS rate: -0.127088 deg/s, cmd heading: 333.264983 deg, new cmd heading: 333.107949 deg. zoHeadingCmd: 5.813830 target range: 17.813591 and range: 17.90 m.Ro @Jo bo ZoBo:n2namimuBlkkk`f1@k /?ɞ5ƀB5; Y]f>IY ], ɝaiaIeImPOiml8=imW=)m @)1F "F *F 2F :F G = G >Ge ==Gm ?Gm ?G! 2B) :BA  OM >Y  DDAT read: Rx Time:04:06:16.1394  TRx dataTimestamp_ set to:1761365177.074439 PDAT read: Bearing 359.3, 1.8 (Local)  ~Local bearing/azimuth received: Bearing 359.3, 1.8 (Local)  DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4  DAT read: 04:06:16.1394 LVL= 17984, 30913, 18930, 32755, AGC= 54, IDX= 499,-0.11,-2.639, 2.274,-2.561,-2.863, PHS= 0.311,-1.100, 0.299, RAW= 149.6, 7.0, CAL= 150.7, -1.8, ROT= 359.3, 1.8  Ygot valid direction response: 04:06:16.1394 LVL= 17984, 30913, 18930, 32755, AGC= 54, IDX= 499,-0.11,-2.639, 2.274,-2.561,-2.863, PHS= 0.311,-1.100, 0.299, RAW= 149.6, 7.0, CAL= 150.7, -1.8, ROT= 359.3, 1.8  T#Rx 78: Read range and direction messages. `direction in FSK: [0.999432,-0.012211,-0.031411] Fpublishing direction and range infoۉ yۍ IX?Y; Izۍ ̌AYۉ ܉ )܍ xI܍ Ii܉ ܍ 6܍ d;>܍ ̌܍ > ݍ '@)ݍ 5=Iݍ aU(@iݍ ݍ ū@ݍ = މ )މ ލ ?n{k Z? [LS?iލ %?ލ @ލ D+Hލ =ď,tF.?A ߹)߹Bchecking for new query: numPingsReceived=78, elapsed TxPingTime=39.634583Z'@YZ @ZӪ9Z=vAHRS rotation from veh to nav: [[0.898792,0.432711,-0.070250],[-0.437880,0.893794,-0.096918],[0.020851,0.117871,0.992810]]yZH?`?@9ܿ ?@ϸZ? ,?`?ɫZ'@Z;Z$C~,BII dI @٥ET Eg=9EUQ E>II MF٦MEyUY< }? y4Y}\?4y}}B?}K(D}:}:}4ԔB)AAEJpRpD.?ApApAp I@vcM1@$wPM`˿uلvIX?Y; IzpD+Hp=vkP[/@z=6ϲŢkʿvfc?X ܿH"jprpzAZp酡?bp6+zp€B1p6?p#p6BpAp@M addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.498426 s, deltaX: -0.299999 m, approachRate: -0.601893 m/s, rangeRepo size: 4  Added new target pos. range: 17.515039 m, bearing: 333.542615 deg, lat: 36.779465 deg, lon: -121.859728 deg, deltaT: 0.498426 s, deltaX: -0.298552 m, approachRate: -0.598989 m/s, posRepo size: 4 oDNOT Ignoring new targets: 17.52 m.ooo ProNav: ac range: 17.515039 m, nav range: 17.591005 m, bearing: 334.871609 deg, approach rate: 0.000000 m/s, LOS rate: -0.127088 deg/s, cmd heading: 333.107943 deg, new cmd heading: 332.979455 deg. zoHeadingCmd: 5.811588 target range: 17.515039 and range: 17.60 m.Ro@JoboZoBo:n2nmmlkkk1@k۾?ɞǀB?< H>I ^ ɝiI^H>HCHlIIBI =IID&IQ<*IEI:ui8=iTz=)@)aFa"Fa*Fa2Fe`5:Fachecking for new query: numPingsReceived=78, elapsed TxPingTime=39.843407jK%3}NrK%9zK!K%sK%eRE=3/(#     CHAx(HvWntqfNi9IECԡ)% ׉G q ) I h iAG B=G 2B :B Թ  O >ď,``.?A]DDAT read: Rx Time:04:06:16.6392 mTRx dataTimestamp_ set to:1761365177.583559ԑPDAT read: Bearing 357.9, 3.4 (Local) ~Local bearing/azimuth received: Bearing 357.9, 3.4 (Local) h@YN@NR9`=]DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 AHRS rotation from veh to nav: [[0.900448,0.429301,-0.069963],[-0.434444,0.895528,-0.096380],[0.021278,0.117180,0.992883]]yH`w? y?鱿ۿ`)? Tɕ?|? ?ɫh@;&C&BI A-DAT read: 04:06:16.6392 LVL= 16752, 31073, 18658, 32051, AGC= 54, IDX= 496, 0.28,-1.745, 3.137,-1.635,-1.998, PHS= 0.340,-1.101, 0.360, RAW= 150.7, 5.6, CAL= 152.1, -3.4, ROT= 357.9, 3.4 5Ygot valid direction response: 04:06:16.6392 LVL= 16752, 31073, 18658, 32051, AGC= 54, IDX= 496, 0.28,-1.745, 3.137,-1.635,-1.998, PHS= 0.340,-1.101, 0.360, RAW= 150.7, 5.6, CAL= 152.1, -3.4, ROT= 357.9, 3.4 5T#Rx 79: Read range and direction messages.`direction in FSK: [0.997569,-0.036579,-0.059306]Fpublishing direction and range infoayeF?~sCg]efAYa epA)eayIeHie3}ae{>e팿eQ> eaU(@)e+=Ie)@iese@es= a)aeײc?@?E?ie ?euǽeQ es= a)achecking for new query: numPingsReceived=79, elapsed TxPingTime=40.182041MMb@Mb@Mb@I I)IIIiIMX9v?/$?MbM>M,=M)Mz AIM@iM$AMA IM=AI}PI}Ա٥榼 =9=IQ > F٦Ey; > 4Y?r?4y'B>:%K%?](D7::`4-ڔB)-A-EJpaRpeYe.?ApeApeApei@ve>,1@}4'/XVveF?~sCg]peQ pes=veR|j.@f~qtveO[|_? ZwݿE yjperpeCtAZpe?Ʒx?bpeϨzpeiBpeVL?pe6+pe€BpeApeX@ addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.509120 s, deltaX: -0.300001 m, approachRate: -0.589254 m/s, rangeRepo size: 4  Added new target pos. range: 17.217049 m, bearing: 332.558983 deg, lat: 36.779464 deg, lon: -121.859732 deg, deltaT: 0.509120 s, deltaX: -0.297991 m, approachRate: -0.585306 m/s, posRepo size: 4 oDNOT Ignoring new targets: 17.22 m.ooQoQe ProNav: ac range: 17.217049 m, nav range: 17.361900 m, bearing: 333.651070 deg, approach rate: 0.000000 m/s, LOS rate: -0.127088 deg/s, cmd heading: 332.979454 deg, new cmd heading: 332.769214 deg. zoaHeadingCmd: 5.807919 target range: 17.217049 and range: 17.30 m.Roxڹ@JoboZoBo:n2nmmԀBlkkkL1@k? J)J)J5J5}J1J1J5v:J5S9J1J1ɞʀB; 靵8>I ɝiIpI$Vi09=i*=)xڹ@) checking for new query: numPingsReceived=79, elapsed TxPingTime=40.347206Fy "Fy *Fy 2F 0:F G] | u=! G9 2Ba :B  O >2ď,I{.?AMBMII]gI]٥ӽ =9Q ? F٦Ey ? 4YM}?4yu?f(D:d:L4) A MB*** querying acoustic contact ***:pIBpIoQ]DNOT Ignoring new targets: 17.22 m.oYo]*Ao]*Aԁ ProNav: ac range: 17.217049 m, nav range: 17.222317 m, bearing: 333.605426 deg, approach rate: -0.512292 m/s, LOS rate: -0.168880 deg/s, cmd heading: 332.769221 deg, new cmd heading: 332.631178 deg. zoHeadingCmd: 5.805509 target range: 17.217049 and range: 17.30 m.Roƹ@JoboZoBo:n2nmm!l!k!k)k)k-T?ɞˀB; >>I ɝiI&IiO9=i=)ƹ@)9DDAT read: Rx Time:04:06:17.1391 TRx dataTimestamp_ set to:1761365178.083606PDAT read: Bearing 357.3, -5.1 (Local) ~Local bearing/azimuth received: Bearing 357.3, -5.1 (Local) DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 ]DAT read: 04:06:17.1391 LVL= 18400, 28465, 18242, 29059, AGC= 55, IDX= 512,-0.13,-1.567, 2.836,-1.400,-1.672, PHS= 0.193,-1.729, 0.268, RAW= 151.9, 12.9, CAL= 152.7, 5.1, ROT= 357.3, -5.1 eYgot valid direction response: 04:06:17.1391 LVL= 18400, 28465, 18242, 29059, AGC= 55, IDX= 512,-0.13,-1.567, 2.836,-1.400,-1.672, PHS= 0.193,-1.729, 0.268, RAW= 151.9, 12.9, CAL= 152.7, 5.1, ROT= 357.3, -5.1 mT#Rx 80: Read range and direction messages.}^direction in FSK: [0.994935,-0.046920,0.088894]}Fpublishing direction and range infoy6阂?O?̈AY G)1oIBGiq7ˡE>OݿL7> )@)f>IJ*@iK=Ѝ@K )Z{?hA{?K7?i?0fQAK )checking for new query: numPingsReceived=80, elapsed TxPingTime=40.624847ԱF "F*F2F_0:FG |=G G ZH1 RH5 =H= >H= CH= YII= BI= =I9 I= D&I= m<*I= !EG 2B :B  O > pď,6Ȕ.?A&checking for new query: numPingsReceived=80, elapsed TxPingTime=40.851238B@YB@B:巼9B=JAHRS rotation from veh to nav: [[0.903704,0.422273,-0.070741],[-0.427569,0.898720,-0.097403],[0.022446,0.118270,0.992728]]yBH$??@`J]ۿ@P?_︿(?F?m?ɫB@B;B$CVBVIjK^YOrK^+9zK\K^tK^81)%}Ra:Zj[I9/,($ !IrnIrd٥zH zX=9zAKQ ~>|| F٦Eyn< > 4Y !?4y + b=? r(D .; ); ì4y)FAJp)Rp-Y.?Ap-%Ap-%Ap-@v- 0@a SmI4?v-6阂?O?p-QAp-Kv-1 -@1}o5 b?v-˹?Rz޿a]R?jp-rp-mAZp-!\!p?bp-[Wzp-Bp-酡?p-;p)p-SAp-H*@] addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.500047 s, deltaX: -0.199999 m, approachRate: -0.399960 m/s, rangeRepo size: 4 m Added new target pos. range: 17.018261 m, bearing: 331.387791 deg, lat: 36.779463 deg, lon: -121.859732 deg, deltaT: 0.500047 s, deltaX: -0.198788 m, approachRate: -0.397538 m/s, posRepo size: 4 oDNOT Ignoring new targets: 17.02 m.ooo ProNav: ac range: 17.018261 m, nav range: 16.915955 m, bearing: 333.327443 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 332.631169 deg, new cmd heading: 332.413880 deg. zoHeadingCmd: 5.801717 target range: 17.018261 and range: 17.10 m.Ro@JoboZoBo:n2nmmlkkk1@k\?ɞÙBm8^: im< >Iq u4ɝqiqIuŘI}i}9=i}=)}@)!F1"F1*F12F1:F9G=GDDAT read: Rx Time:04:06:17.6389 -TRx dataTimestamp_ set to:1761365178.590791MPDAT read: Bearing 355.8, 3.8 (Local) ]~Local bearing/azimuth received: Bearing 355.8, 3.8 (Local) DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 2B:B Q  O > DAT read: 04:06:17.6389 LVL= 16224, 31537, 18258, 32659, AGC= 54, IDX= 509, 0.25,-1.185,-2.576,-1.008,-1.418, PHS= 0.322,-1.110, 0.407, RAW= 152.9, 5.2, CAL= 154.2, -3.8, ROT= 355.8, 3.8  Ygot valid direction response: 04:06:17.6389 LVL= 16224, 31537, 18258, 32659, AGC= 54, IDX= 509, 0.25,-1.185,-2.576,-1.008,-1.418, PHS= 0.322,-1.110, 0.407, RAW= 152.9, 5.2, CAL= 154.2, -3.8, ROT= 355.8, 3.8  T#Rx 81: Read range and direction messages.M `direction in FSK: [0.995122,-0.073077,-0.066274]U Fpublishing direction and range info!y% M. ? ׇ2{S%fAY! %`?)%1{I%RGi%%6%/ݤ>%{%Nb> %{*@)%޹=I%9>,@i%ԇ%Y@%ԇ= !)!%SL?fBJ?>B?i%?%X%i %ԇ= !)! checking for new query: numPingsReceived=81, elapsed TxPingTime=41.1872715ď, .?A6@Y6~@6>u96=BAHRS rotation from veh to nav: [[0.904879,0.419548,-0.071921],[-0.425039,0.899732,-0.099117],[0.023125,0.120259,0.992473]]y6H??ji3ۿ@?_`?Cɾ?@W?ɫ6@6ۉ;4j BjIIa=)p=JJJ3JJp:Jy9J(3J=Mb@Mb@Mb@9 9)9I9i9=K7A?Q?~jt= ?=u<=ļ)= AI9i=A=$A 9=AIYI٥м 2=9Q > F٦Ey+; > 4Yg?4yB??:ξ?(Ds:T;ˬ4B)AUchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.354706YJpQRpUϥ.?ApUApUApUl@vUB\0@PԖ2^`vU M. ? ׇ2{SpUi pUԇ=vU+>-@i 0ДvUZl~?co޿_9 djpUrpUiAZpUHn?bpUFzpU~BpU?Ʒx?pUϨpUBpU!ApU2@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.507185 s, deltaX: -0.300001 m, approachRate: -0.591502 m/s, rangeRepo size: 4 % Added new target pos. range: 16.719694 m, bearing: 331.132280 deg, lat: 36.779461 deg, lon: -121.859734 deg, deltaT: 0.507185 s, deltaX: -0.298567 m, approachRate: -0.588674 m/s, posRepo size: 4 oQ]DNOT Ignoring new targets: 16.72 m.oaoo= ProNav: ac range: 16.719694 m, nav range: 16.641300 m, bearing: 332.361656 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 332.413887 deg, new cmd heading: 332.199840 deg. zoauHeadingCmd: 5.797981 target range: 16.719694 and range: 16.80 m.Ro}@JoyboZoBo:n2nmmBlkkk0@k H?yɞ΀B =I ɝiI I li#9=i8ܩ=)U@)YEaF"F*F2F`0:Fԩ  DDAT read: Rx Time:04:06:18.1389  TRx dataTimestamp_ set to:1761365179.092020- PDAT read: Bearing 354.6, 2.8 (Local) 5 ~Local bearing/azimuth received: Bearing 354.6, 2.8 (Local) E DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 m DAT read: 04:06:18.1389 LVL= 18208, 32065, 16802, 31459, AGC= 55, IDX= 509,-0.21,-1.918, 3.018,-1.690,-2.093, PHS= 0.264,-1.125, 0.401, RAW= 154.7, 6.4, CAL= 155.4, -2.8, ROT= 354.6, 2.8 u Ygot valid direction response: 04:06:18.1389 LVL= 18208, 32065, 16802, 31459, AGC= 55, IDX= 509,-0.21,-1.918, 3.018,-1.690,-2.093, PHS= 0.264,-1.125, 0.401, RAW= 154.7, 6.4, CAL= 155.4, -2.8, ROT= 354.6, 2.8 u T#Rx 82: Read range and direction messages.} `direction in FSK: [0.994373,-0.093996,-0.048850]} Fpublishing direction and range info y 51?POOCs!D Y  G) A}I Ai z 7 +>  O>  3,@) =I ^-@i +H @ +H=  )  Κw)? ?CN L?i ? ⽩  +H=  )  checking for new query: numPingsReceived=82, elapsed TxPingTime=41.625591G h= G 2B :B  O >ď,.?AZ@YZi@Z9Z4=vAHRS rotation from veh to nav: [[0.905645,0.417867,-0.072064],[-0.423388,0.900497,-0.099233],[0.023427,0.120381,0.992451]]yZH@ ?V?@rۿ?OgI?BѾ?`)?ɫZ@Zr;Z#C%B%II5nI5d٥eC eG=9mAQ m>ii uF٦uEy}; > 4Y?4yBξ?(DW::+Ӭ4)AJpRp.?ApppC@v(0@ٍ2%CT"v51?POOCs!Dpp+H=vH= ,@w jzs9H>HH@IIzBI =IID&I<*IXEvz`?LFo@jprpXgAZpq?bpzpBpq?p[WpBpApd@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.501229 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.719694 m, bearing: 329.924869 deg, lat: 36.779461 deg, lon: -121.859738 deg, deltaT: 0.501229 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 o%DNOT Ignoring new targets: 16.72 m.o!o)o) ProNav: ac range: 16.719694 m, nav range: 16.490845 m, bearing: 331.257957 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 332.199829 deg, new cmd heading: 331.988119 deg. zoHeadingCmd: 5.794286 target range: 16.719694 and range: 16.80 m.Roj@JoboZoBo:n2nImQmQlQkQkYkYk] x?ɞπBchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.858791i qu=Iq uɝqiyI}I} QiI:=i=jK7OrK59zKKuK   (Kv`qbQB4$ 2K*K)j@)aF"F*F2F_0:FԙGܝ=G 2B :B  O > /ݸď,-.?AJDDAT read: Rx Time:04:06:18.6386 RTRx dataTimestamp_ set to:1761365179.599487bPDAT read: Bearing 354.0, 3.7 (Local) f~Local bearing/azimuth received: Bearing 354.0, 3.7 (Local) DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 =DAT read: 04:06:18.6386 LVL= 17184, 29137, 17858, 29651, AGC= 55, IDX= 506, 0.12,-0.975,-2.365,-0.734,-1.179, PHS= 0.292,-1.139, 0.443, RAW= 154.9, 5.4, CAL= 156.0, -3.7, ROT= 354.0, 3.7 EYgot valid direction response: 04:06:18.6386 LVL= 17184, 29137, 17858, 29651, AGC= 55, IDX= 506, 0.12,-0.975,-2.365,-0.734,-1.179, PHS= 0.292,-1.139, 0.443, RAW= 154.9, 5.4, CAL= 156.0, -3.7, ROT= 354.0, 3.7 ET#Rx 83: Read range and direction messages.M`direction in FSK: [0.992449,-0.104311,-0.064532]MFpublishing direction and range infoHyJ8$?H\-SP0J3AYH J C)JqIJEiJsHJ>JʑJ> Jc-@)J=IJ@.@iJ AJ@J A= H)HJ72?"_A?ԁ?iJ5?JJiwֽJ A= H)Hchecking for new query: numPingsReceived=83, elapsed TxPingTime=42.185032ԱmT@Ym:@m¼9m=AHRS rotation from veh to nav: [[0.905991,0.417205,-0.071560],[-0.422631,0.901030,-0.097612],[0.023753,0.118679,0.992648]]ymH?@~? Qb ۿ F٦Ey: >  4YĜ?4y3 BU?U:UU?(D:<U:<<ݬ4eB)eHAeEJpHRpJ].?ApJApJApJ3@checking for new query: numPingsReceived=83, elapsed TxPingTime=42.363224vJ+M20@Άo=u%vJ8$?H\-SP0pJiwֽpJ A=vJ:wG,@d8I؍ ұtRvJO'?5c:PmjpJnrpJ`AZpJc?bpJ(zpJ~BpJ!\!p?pJFpJiBpJApJ@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.507467 s, deltaX: -0.400000 m, approachRate: -0.788228 m/s, rangeRepo size: 4  Added new target pos. range: 16.321415 m, bearing: 329.480091 deg, lat: 36.779460 deg, lon: -121.859738 deg, deltaT: 0.507467 s, deltaX: -0.398279 m, approachRate: -0.784838 m/s, posRepo size: 4  o) 5 DNOT Ignoring new targets: 16.32 m.o9 o o E  ProNav: ac range: 16.321415 m, nav range: 16.211628 m, bearing: 331.043679 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 331.988120 deg, new cmd heading: 331.689252 deg. zoA ] HeadingCmd: 5.789070 target range: 16.321415 and range: 16.40 m.Ro @@Jo bo Zo Bo :n 2n m m Bl k k k `ff0@k ?ɞm рBm (< i m =Iq u ɝq iq Iu eI i :=i =) @@) 9 Fq "Fq *Fq 2Fu }4:Fq aDDAT read: Rx Time:04:06:19.1386 TRx dataTimestamp_ set to:1761365180.098626PDAT read: Bearing 353.9, 3.1 (Local) ~Local bearing/azimuth received: Bearing 353.9, 3.1 (Local) DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 DAT read: 04:06:19.1386 LVL= 17392, 32017, 17906, 30947, AGC= 55, IDX= 506,-0.39,-1.401,-2.749,-1.149,-1.573, PHS= 0.260,-1.129, 0.421, RAW= 155.4, 6.1, CAL= 156.1, -3.1, ROT= 353.9, 3.1 %Ygot valid direction response: 04:06:19.1386 LVL= 17392, 32017, 17906, 30947, AGC= 55, IDX= 506,-0.39,-1.401,-2.749,-1.149,-1.573, PHS= 0.260,-1.129, 0.421, RAW= 155.4, 6.1, CAL= 156.1, -3.1, ROT= 353.9, 3.1 %T#Rx 84: Read range and direction messages.-`direction in FSK: [0.992883,-0.106109,-0.054079]5Fpublishing direction and range infoyY~W?$)ʾ7Y C)}IEix>P> ^-@)^ =I].@ik]@k]= );f?v5p?J(P?i=B?ڽi ڽk]= )Uchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.632923G}p=G12BA:BY Oe?Wď, /?A B I AI_I٥m m==9uQ u>qq uF٦uEy} }>  4Y՜? 4y B   ?(D ::4B)AH>HCH!II`BI =IID&I<*I_E2IMC:IMCBIM”CJIM§ =RIM§ =ZIMrs6EaJpRpO/?ApApAp@v"s40@ixr>vY~W?$)ʾ7pi ڽpk]=vOpS ,@QX ,@ Kv+ ~?z Qjpۥjp*rpZ`AZpMs?bpzp)Bppp)BpuApI0@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.499139 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=84, elapsed TxPingTime=42.866993- Added new target pos. range: 16.321051 m, bearing: 329.308410 deg, lat: 36.779460 deg, lon: -121.859743 deg, deltaT: 0.499139 s, deltaX: -0.000364 m, approachRate: -0.000730 m/s, posRepo size: 4 o15DNOT Ignoring new targets: 16.32 m.o1o9o9U ProNav: ac range: 16.321051 m, nav range: 16.182482 m, bearing: 329.788446 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 331.689258 deg, new cmd heading: 331.446254 deg. zoQ]HeadingCmd: 5.784829 target range: 16.321051 and range: 16.40 m.Ro]Q@JoYboYZoaBoa:na2nammlkk)k1k5*q?jKmNrKm9ԉzKiKmvKm~pc\TJIFC?862-.'#5akcVJD?=<;BjtcTG=;4/'BK?:K?ɞuҀB}5 靝=I lɝiIkI(iU;=i=)Q@)F1 "F1 *F1 2F5 4:F9 Ա G-  =G 2B :B  O >ď,in%/?AFDDAT read: Rx Time:04:06:19.6383 FTRx dataTimestamp_ set to:1761365180.602470NPDAT read: Bearing 353.4, 2.8 (Local) LR~Local bearing/azimuth received: Bearing 353.4, 2.8 (Local) ZDAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 rDAT read: 04:06:19.6383 LVL= 17168, 32289, 17458, 30819, AGC= 55, IDX= 503,-0.04,-2.335, 2.611,-2.065,-2.489, PHS= 0.242,-1.136, 0.422, RAW= 156.0, 6.4, CAL= 156.6, -2.8, ROT= 353.4, 2.8 ~Ygot valid direction response: 04:06:19.6383 LVL= 17168, 32289, 17458, 30819, AGC= 55, IDX= 503,-0.04,-2.335, 2.611,-2.065,-2.489, PHS= 0.242,-1.136, 0.422, RAW= 156.0, 6.4, CAL= 156.6, -2.8, ROT= 353.4, 2.8 T#Rx 85: Read range and direction messages.`direction in FSK: [0.992187,-0.114800,-0.048850]Fpublishing direction and range infoDyFXP?>+‡cs!DFf~AYD FC)F!~IF2DiFcx@Y@jlƼ9B= AHRS rotation from veh to nav: [[0.905582,0.418579,-0.068656],[-0.423480,0.901424,-0.089992],[0.024219,0.110570,0.993573]]yH@??nLۿx? `̘?KN? Z?DFw>FshFb> F@.@)F=IF.@iF+HF4`@F+H= D)DFuvd?zḷ?`:_?iF!?F潩FF+H= D)D%checking for new query: numPingsReceived=85, elapsed TxPingTime=43.204193ɫ@-;髝#C=B=IMb@Mb@Mb@ )Ii r?lS㥛?/ݼ) AIi@A AISIQ٥ =9+dQ > F٦Ey > 4Yt霊?4y7B?:?(D;:4B)AEJpDRpFގ&/?ApF,}ApF,}ApF@vFGOf/@L*o4tO0vFXP?>+‡cs!DpFpF+H=vFEW6+@m n bOcvF=cR?uĝ  jpFvrpF)XAZpF[?bpFTzpFBpFHn?pF(pDpF~ApF@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503844 s, deltaX: -0.500000 m, approachRate: -0.992371 m/s, rangeRepo size: 4  Added new target pos. range: 15.823458 m, bearing: 328.693339 deg, lat: 36.779460 deg, lon: -121.859743 deg, deltaT: 0.503844 s, deltaX: -0.497593 m, approachRate: -0.987593 m/s, posRepo size: 4 oDNOT Ignoring new targets: 15.82 m.ooo ProNav: ac range: 15.823458 m, nav range: 15.916773 m, bearing: 329.625350 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 331.446268 deg, new cmd heading: 331.214765 deg. zoHeadingCmd: 5.780788 target range: 15.823458 and range: 15.90 m.Ro7@JoboZoBo:n2n!m!m%Bl!k)k)k-/@k-?ɞӀB]- 靥=I nɝiILIi~;=iq0=)7@)5checking for new query: numPingsReceived=85, elapsed TxPingTime=43.370808FQ "FY *FY 2F] _0:Fa ) G1 Y G 2B :B O%>Bď,C/?A@Y@9=DDAT read: Rx Time:04:06:20.1382 TRx dataTimestamp_ set to:1761365181.106503PDAT read: Bearing 353.8, 3.8 (Local) ~Local bearing/azimuth received: Bearing 353.8, 3.8 (Local) DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 DAT read: 04:06:20.1382 LVL= 17744, 32753, 19170, 32755, AGC= 55, IDX= 501, 0.22,-0.444,-1.809,-0.198,-0.642, PHS= 0.286,-1.120, 0.441, RAW= 155.2, 5.3, CAL= 156.2, -3.8, ROT= 353.8, 3.8 %Ygot valid direction response: 04:06:20.1382 LVL= 17744, 32753, 19170, 32755, AGC= 55, IDX= 501, 0.22,-0.444,-1.809,-0.198,-0.642, PHS= 0.286,-1.120, 0.441, RAW= 155.2, 5.3, CAL= 156.2, -3.8, ROT= 353.8, 3.8 -T#Rx 86: Read range and direction messages.-`direction in FSK: [0.991965,-0.107762,-0.066274]5Fpublishing direction and range infoy+#.?H{S|AY PE)IJin>)\> -\-@)q=I!z.@iԇe@ԇ= )ݽc ?1ӍDZ? -Ʒ?iw$?|iݽԇ= )Mchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.640575YAHRS rotation from veh to nav: [[0.904777,0.420952,-0.064644],[-0.425249,0.901254,-0.083091],[0.023284,0.102669,0.994443]]yH`??@H7ۿ?zEח? H?@z?ɫ@k*;髍%CBII-\I-W٥< N=9Y;Q > F٦Ey1 > 4Y?4yBb?(D`:6:4B) AEJpRpF/?Ap{Ap{ApǷ@v*G1/@+$n;cv+#.?H{Spiݽpԇ=v}*@v % Whvrg?d'n=jp,rpvWAZpJo]g?bp<.zp~BpJo]g?p<.pp7{ApǷ@u addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504033 s, deltaX: -0.099999 m, approachRate: -0.198399 m/s, rangeRepo size: 4  Added new target pos. range: 15.723940 m, bearing: 329.056451 deg, lat: 36.779460 deg, lon: -121.859744 deg, deltaT: 0.504033 s, deltaX: -0.099518 m, approachRate: -0.197443 m/s, posRepo size: 4 oDNOT Ignoring new targets: 15.72 m.ooo ProNav: ac range: 15.723940 m, nav range: 15.701102 m, bearing: 329.056498 deg, approach rate: 0.000000 m/s, LOS rate: -0.168880 deg/s, cmd heading: 331.214751 deg, new cmd heading: 331.015469 deg. zoHeadingCmd: 5.777310 target range: 15.723940 and range: 15.80 m.Ro߸@JoboZoBo:n2nmm!l)k)k)k-/@k5`y?ԁɞԀB =I ɝiIzI i4<=is=)߸@)H>HCHIIQBI =IID&I<*IF "F*F2F:FJtJyJJJ;N:J9JJJj;!Jj;!J:!J:!G]:_=G]?G]5?ԹG1 2B9 :BI  O] >u checking for new query: numPingsReceived=86, elapsed TxPingTime=43.874954jK eNrK s9zK K wK  %MutkaZX^whF0" _ď,,\/?AI:<)8n3@Yn@nf䶼9nF[=AHRS rotation from veh to nav: [[0.903939,0.423260,-0.061193],[-0.427078,0.900887,-0.077503],[0.022324,0.096192,0.995112]]ynH??T?Uۿ@?A׳@ܖ?`??ɫn3@nމ;n$C-B-II]YI]٥mS= mv=9u*=;Q u? F٦Ey ? 4Y?4yB?(D <M<4Q)UAYB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 15.72 m.ooᅺoᅺM ProNav: ac range: 15.723940 m, nav range: 15.525516 m, bearing: 329.035584 deg, approach rate: -0.485858 m/s, LOS rate: -0.058524 deg/s, cmd heading: 331.015474 deg, new cmd heading: 330.952023 deg. zoM UHeadingCmd: 5.776203 target range: 15.723940 and range: 15.80 m.RoUָ@JoQboYZoYBoY:nY2nYmamalakakakikl?ɞQU0 Q]=IY ]UɝYiYI]}Iei<=i=)ָ@DDAT read: Rx Time:04:06:20.6379 TRx dataTimestamp_ set to:1761365181.610900 PDAT read: Bearing 353.0, 2.7 (Local) ~Local bearing/azimuth received: Bearing 353.0, 2.7 (Local) MDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 ) DAT read: 04:06:20.6379 LVL= 17024, 23761, 14994, 23795, AGC= 55, IDX= 499,-0.50,-2.507, 2.390,-2.213,-2.658, PHS= 0.239,-1.188, 0.442, RAW= 156.6, 6.6, CAL= 157.0, -2.7, ROT= 353.0, 2.7 5Ygot valid direction response: 04:06:20.6379 LVL= 17024, 23761, 14994, 23795, AGC= 55, IDX= 499,-0.50,-2.507, 2.390,-2.213,-2.658, PHS= 0.239,-1.188, 0.442, RAW= 156.6, 6.6, CAL= 157.0, -2.7, ROT= 353.0, 2.7 5T#Rx 87: Read range and direction messages.`direction in FSK: [0.991444,-0.121734,-0.047106]Fpublishing direction and range infoyrՌ`?#)P7VtAY B)\I:i\jt>bM> .@)=I^/@iA'@A= )%ȇ?*a^??iU[#?5A= )checking for new query: numPingsReceived=87, elapsed TxPingTime=44.226685F1"F1*F12F1:F1) G] A=i  checking for new query: numPingsReceived=87, elapsed TxPingTime=44.381310GQ 2B :B  O >ď,y/?AE@YEݺ@E9E׽=}AHRS rotation from veh to nav: [[0.903017,0.425573,-0.058719],[-0.429086,0.900180,-0.074580],[0.021118,0.092543,0.995485]]yEH?  F٦Eyȉ > %4Y?%4yB-?-:-3-?(Dv;;45B)5A}EJpRpg/?ApsApsAp@v_-A1.@FE8şvrՌ`?#)P7Vp5pA=vsNT)@(l/ b]"v?\3G{?Y1ZΉݵjp{rp*NAZpW?bpPzpBpc?pppsAp@- addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504397 s, deltaX: -0.500000 m, approachRate: -0.991283 m/s, rangeRepo size: 4 } Added new target pos. range: 15.226480 m, bearing: 327.869300 deg, lat: 36.779459 deg, lon: -121.859745 deg, deltaT: 0.504397 s, deltaX: -0.497460 m, approachRate: -0.986248 m/s, posRepo size: 4 oDNOT Ignoring new targets: 15.23 m.ooo ProNav: ac range: 15.226480 m, nav range: 15.225595 m, bearing: 328.863820 deg, approach rate: 0.000000 m/s, LOS rate: -0.058524 deg/s, cmd heading: 330.952035 deg, new cmd heading: 330.860514 deg. zoHeadingCmd: 5.774605 target range: 15.226480 and range: 15.30 m.Roɸ@JoboZoBo:n2nmm-Bl1k1k1k5.@k5`ު?}DDAT read: Rx Time:04:06:21.1378 }TRx dataTimestamp_ set to:1761365182.114528PDAT read: Bearing 353.8, 2.6 (Local) ~Local bearing/azimuth received: Bearing 353.8, 2.6 (Local) DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 DAT read: 04:06:21.1378 LVL= 17072, 29777, 18210, 31219, AGC= 55, IDX= 498,-0.19,-1.421,-2.771,-1.163,-1.578, PHS= 0.245,-1.145, 0.412, RAW= 155.6, 6.7, CAL= 156.2, -2.6, ROT= 353.8, 2.6 Ygot valid direction response: 04:06:21.1378 LVL= 17072, 29777, 18210, 31219, AGC= 55, IDX= 498,-0.19,-1.421,-2.771,-1.163,-1.578, PHS= 0.245,-1.145, 0.412, RAW= 155.6, 6.7, CAL= 156.2, -2.6, ROT= 353.8, 2.6 T#Rx 88: Read range and direction messages.`direction in FSK: [0.993128,-0.107888,-0.045363]Fpublishing direction and range infoyy}gq?@َ99}3sAYy }B)}QtI}"GɞՀBź i}yy}Hz>}\}> }-@)}|=I}!z.@i}9}e@}9= y)y=}hf?v<[??i}}?}}iݽ}9= y)y5checking for new query: numPingsReceived=88, elapsed TxPingTime=44.655064I) MAɝIiIIM"SIUL2iU*==iU=)Uɸ@)YF "F *F 2F :F 9 He >He CHe IIe LBIe =Ia Ie D&Ie h<*Ie EJ vJ |J J J {T:J @9J J J Zu;J \u;J :J :G G 2B :B5checking for new query: numPingsReceived=88, elapsed TxPingTime=44.884220a)rG )!Ie这aeA O}?Hď,![/?AjK6NrK69zK4K6xK6     >a|{rkx   BK:?:K:> TTEƳ@YEz@E9E=UAHRS rotation from veh to nav: [[0.901541,0.428973,-0.056619],[-0.432238,0.898852,-0.072351],[0.019855,0.089701,0.995771]]yEHl?Lt?`ɩۿ f?@T?@?Z?ɫEƳ@E6Ȋ;E$CBII^I٥ـ= 9=9;;Q > F٦Ey > 4Y+?4yB?(D::Y 4)cAJpqRpumT/?Apu rApu rApup@vuUp .@|>vugq?@َ99puiݽpu9=vu~뚲)@ޤ^2Lsvuo@?joUIjpu&rpu NAZpuŗi?bpuhzpuBpuJo]g?puTpuBpu]pApuʩ@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503628 s, deltaX: -0.100000 m, approachRate: -0.198560 m/s, rangeRepo size: 4  Added new target pos. range: 15.127338 m, bearing: 328.447215 deg, lat: 36.779460 deg, lon: -121.859745 deg, deltaT: 0.503628 s, deltaX: -0.099141 m, approachRate: -0.196854 m/s, posRepo size: 4 oDNOT Ignoring new targets: 15.13 m.ooo ProNav: ac range: 15.127338 m, nav range: 15.022857 m, bearing: 328.847769 deg, approach rate: 0.000000 m/s, LOS rate: -0.058524 deg/s, cmd heading: 330.860511 deg, new cmd heading: 330.780514 deg. zo HeadingCmd: 5.773209 target range: 15.127338 and range: 15.20 m.Ro !@JoQboQZoQBoQ:nQ2nYmamalikkk`ff.@k@ɫ?ɞրBN:  4=I  WIɝiIIэi==i1t=)!@))]DDAT read: Rx Time:04:06:21.6375 ]TRx dataTimestamp_ set to:1761365182.619404mPDAT read: Bearing 354.9, 2.4 (Local) u~Local bearing/azimuth received: Bearing 354.9, 2.4 (Local) F "F*F2F:FvDAT read: Range 10 to 50 : 14.7 m me 9.8 ms) speed 0.5 DAT read: 04:06:21.6375 LVL= 17232, 32753, 19522, 32755, AGC= 55, IDX= 495,-0.02,-2.330, 2.586,-2.105,-2.501, PHS= 0.259,-1.149, 0.393, RAW= 154.5, 6.8, CAL= 155.1, -2.4, ROT= 354.9, 2.4 Ygot valid direction response: 04:06:21.6375 LVL= 17232, 32753, 19522, 32755, AGC= 55, IDX= 495,-0.02,-2.330, 2.586,-2.105,-2.501, PHS= 0.259,-1.149, 0.393, RAW= 154.5, 6.8, CAL= 155.1, -2.4, ROT= 354.9, 2.4 ET#Rx 89: Read range and direction messages.Y`direction in FSK: [0.995167,-0.088816,-0.041876]Fpublishing direction and range infoYy]P3i?VfY ۷p]3kAYY ]PC)]I]BLi]Y]>]o]L7> ],@)]=I]?-@i]+]6@]+= Y)Y]>0?Bs?A0?i]$?]y]K]+= Y)YE checking for new query: numPingsReceived=89, elapsed TxPingTime=45.232056G G G ԉ G 2B :B  O >%gď,/?A2@Y2਺@292p= AHRS rotation from veh to nav: [[0.900267,0.431806,-0.055337],[-0.434957,0.897498,-0.072863],[0.018203,0.089665,0.995806]]y2H ?`?/U@VۿN?ຣ?L??ɫ2@2hT;0!BIDDAT read: Rx Time:04:06:22.1375 TRx dataTimestamp_ set to:1761365182.874406PDAT read: Bearing 355.8, 2.5 (Local)  ~Local bearing/azimuth received: Bearing 355.8, 2.5 (Local) %checking for new query: numPingsReceived=89, elapsed TxPingTime=45.399261yMb@Mb@Mb@ )IiS㥛?/$Mb?)AIi@@ AI\IW٥%0= %!=9-S;Q ->)) 5F٦5ªEy5ͻ 5> 94Y=r>?4y=9?:Y?= )D=E<ԡ=E<=4B):AEJpRpQ/?ApjApjAp@v3d8-@&/-vP3i?VfY ۷ppKp+=vLU()@vWYbݿv'6<'?tM࿰Ę1'jprpGIAZp|b?bp zp4Bp|b?ppBpkAp@m addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504876 s, deltaX: -0.500000 m, approachRate: -0.990342 m/s, rangeRepo size: 4  Added new target pos. range: 14.629728 m, bearing: 329.351466 deg, lat: 36.779459 deg, lon: -121.859745 deg, deltaT: 0.504876 s, deltaX: -0.497610 m, approachRate: -0.985609 m/s, posRepo size: 4 oDNOT Ignoring new targets: 14.63 m.ooo ProNav: ac range: 14.629728 m, nav range: 14.725826 m, bearing: 328.679302 deg, approach rate: 0.000000 m/s, LOS rate: -0.058524 deg/s, cmd heading: 330.780515 deg, new cmd heading: 330.693452 deg. zo%HeadingCmd: 5.771689 target range: 14.629728 and range: 14.70 m.Ro%@Jo!bo!Zo!Bo!:n)2n)m)m-Bl1k1kQk]`ff-@k]?ɞ; V>I ĝɝiI%WIfi>=iE^=)@) DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5  DAT read: 04:06:22.1375 LVL= 18640, 30817, 19058, 32115, AGC= 55, IDX= 510, 0.11, 0.049,-1.358, 0.241,-0.149, PHS= 0.286,-1.162, 0.386, RAW= 153.3, 6.6, CAL= 154.2, -2.5, ROT= 355.8, 2.5  Ygot valid direction response: 04:06:22.1375 LVL= 18640, 30817, 19058, 32115, AGC= 55, IDX= 510, 0.11, 0.049,-1.358, 0.241,-0.149, PHS= 0.286,-1.162, 0.386, RAW= 153.3, 6.6, CAL= 154.2, -2.5, ROT= 355.8, 2.5  T#Rx 90: Read range and direction messages. `direction in FSK: [0.996365,-0.073169,-0.043619] Fpublishing direction and range infoi ym hH\9?\v.GUm iAYi F "F *F 2F :F m H)m axIm rJim s}i m n>m jm ˡ> m <+@)m =Im 9>,@im ¸2m Y@m ¸2= i )i m Z0"C?t?ʸ\?im "?m i뽩m i m ¸2= i )i ] checking for new query: numPingsReceived=90, elapsed TxPingTime=45.668503 G-S=G 2B!):BA OU?%ď,'/?AJ.tJ.oJ,J,J.;N:J.K9J,J,!2@!2@!6@!6@H:>H8H:'II:fBI: =I8I8&I:<*I:oE=-@Y=@=a'9=[=AHRS rotation from veh to nav: [[0.898429,0.435804,-0.053859],[-0.438786,0.895747,-0.071446],[0.017108,0.087822,0.995989]]y=H?@6?w`ܿ?PJ ?@{?$?ɫ=-@= ;=&CDDAT read: Rx Time:04:06:22.6373 TRx dataTimestamp_ set to:1761365183.377546PDAT read: Bearing 357.2, 2.1 (Local) %~Local bearing/azimuth received: Bearing 357.2, 2.1 (Local) MDAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 -]Z#Rx 91: Read range message, but no direction.dAY}checking for new query: numPingsReceived=91, elapsed TxPingTime=45.912651jK~NrKzKKyK` _q%Mj|n[PH?2K*KsA3BIIdI@٥&= /=9[;Q > ]F٦]ŪEy] e> am4YeP?u4ye#eBq?e)De;e;e4B)AJpRp)/?ApcApcApO@v\,@F(uUvhH\9?\v.GUpi p¸2=v Le(@iIpz/ݿv3?sŲ߿^eΠjprpEAZp^?bpzpDBpp<.pBpNgApm@m addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.758142 s, deltaX: -0.400000 m, approachRate: -0.527605 m/s, rangeRepo size: 4  Added new target pos. range: 14.231483 m, bearing: 330.007625 deg, lat: 36.779459 deg, lon: -121.859744 deg, deltaT: 0.758142 s, deltaX: -0.398246 m, approachRate: -0.525292 m/s, posRepo size: 4 oDNOT Ignoring new targets: 14.23 m.ooo% ProNav: ac range: 14.231483 m, nav range: 14.456762 m, bearing: 328.775275 deg, approach rate: 0.000000 m/s, LOS rate: -0.058524 deg/s, cmd heading: 330.693444 deg, new cmd heading: 330.611093 deg. zo!)UHeadingCmd: 5.770252 target range: 14.231483 and range: 14.30 m.RoU襸@JoQboQZoQBoQ:nY2nYmYmYlakakake,@k@?ɞ׀BDZ; 9>I qɝiI IOic>=i=)襸@) F "F*F2F:FY  DAT read: 04:06:22.6373 LVL= 18160, 32753, 19698, 32755, AGC= 55, IDX= 507, 0.26,-1.618,-3.013,-1.470,-1.822, PHS= 0.292,-1.144, 0.349, RAW= 151.9, 6.9, CAL= 152.8, -2.1, ROT= 357.2, 2.1  Ygot valid direction response: 04:06:22.6373 LVL= 18160, 32753, 19698, 32755, AGC= 55, IDX= 507, 0.26,-1.618,-3.013,-1.470,-1.822, PHS= 0.292,-1.144, 0.349, RAW= 151.9, 6.9, CAL= 152.8, -2.1, ROT= 357.2, 2.1  Z#Rx 92: Read direction message, but no range. `direction in FSK: [0.998135,-0.048817,-0.036644]ہ yۅ MYY?Gy(א¢Yہ ܅ F)܅ I܅ Li܅ ܁ ܅ >܅ n܅ !> ݅ )@)݅ Ϣ=I݅ *@i݅ Q ݅ @݅ Q = ށ ޅ  ?QWo?:׾?iޅ ?ޅ Wޅ *Hޅ Q = checking for new query: numPingsReceived=92, elapsed TxPingTime=46.156872ԉ G p=G 2B :B  O >ď,/?AHBIDDAT read: Rx Time:04:06:23.1372 TRx dataTimestamp_ set to:1761365183.882471PDAT read: Bearing 358.4, 1.5 (Local) ~Local bearing/azimuth received: Bearing 358.4, 1.5 (Local) DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 %DAT read: 04:06:23.1372 LVL= 18496, 32753, 19698, 32755, AGC= 54, IDX= 506, 0.47,-0.972,-2.381,-0.861,-1.182, PHS= 0.298,-1.152, 0.318, RAW= 150.7, 7.4, CAL= 151.6, -1.5, ROT= 358.4, 1.5 15Ygot valid direction response: 04:06:23.1372 LVL= 18496, 32753, 19698, 32755, AGC= 54, IDX= 506, 0.47,-0.972,-2.381,-0.861,-1.182, PHS= 0.298,-1.152, 0.318, RAW= 150.7, 7.4, CAL= 151.6, -1.5, ROT= 358.4, 1.5 5T#Rx 93: Read range and direction messages.=`direction in FSK: [0.999268,-0.027912,-0.026177]EFpublishing direction and range infoۡyۥ+L?⢲P!ΚۥaAYۡ ܥ@H)ܡIܡiܡܥ6ܥu>ܥtܥТ> ݥaU(@)ݥ A>IݥV)@iݥPwּݥ+@ݥPw< ޡ)ޡޥ^kVJ?c W1?Ry?iޥ ?ޥ(*ޥޥPw< ߡ)ߡechecking for new query: numPingsReceived=93, elapsed TxPingTime=46.456169Mb@Mb@Mb@ )IiV-?Mbp|>)Ii@ (AI\IW٥M3= M=9MQ M>QQ UF٦UɪEy] ]> a4Yed?4ye&eB>:?e+)De@I! % ܻɝ! i) I- 4KI- صi5 ?=i5 xo=)5 @)q F "F *F 2F ^0:F E checking for new query: numPingsReceived=93, elapsed TxPingTime=46.648796ԉ G=O=GM?GM>G2B!H>HHSIIBIII&I<*IiE:B) O5?ď,0?AJJqJ3JJ:Jq9J(3JJ F٦̪Ey >jK>OrKs9zKKzK<8:988Oa`WRKD?>:8760-+)*('### !$#"!&1 4YRv?4y)B!%%?:)D::.4-B)-A-EMB*** querying acoustic contact ***:pIBpI addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.508752 s, deltaX: -0.400001 m, approachRate: -0.786239 m/s, rangeRepo size: 4 oDNOT Ignoring new targets: 14.03 m.oooe ProNav: ac range: 14.032441 m, nav range: 13.877334 m, bearing: 329.173443 deg, approach rate: -0.510279 m/s, LOS rate: -0.130180 deg/s, cmd heading: 330.521706 deg, new cmd heading: 330.335431 deg. zoeHeadingCmd: 5.765441 target range: 14.032441 and range: 13.70 m.Ro~~@JoboZoBo:n2nmmlkk k `ff+@k @p#?ɞY]< ae>Ia eԻɝiIIiw?=iQk=)~~@)FE "FA*FA2FE_0:FA DAT read: 04:06:23.6369 LVL= 18576, 32753, 20498, 32755, AGC= 53, IDX= 504,-0.23, 1.767, 0.389, 1.834, 1.584, PHS= 0.271,-1.148, 0.247, RAW= 149.2, 9.0, CAL= 149.9, 0.3, ROT= 0.1, -0.3  Ygot valid direction response: 04:06:23.6369 LVL= 18576, 32753, 20498, 32755, AGC= 53, IDX= 504,-0.23, 1.767, 0.389, 1.834, 1.584, PHS= 0.271,-1.148, 0.247, RAW= 149.2, 9.0, CAL= 149.9, 0.3, ROT= 0.1, -0.3  Z#Rx 95: Read direction message, but no range. \direction in FSK: [0.999985,0.001745,0.005236]ۙ y۝ t?'0\V\?sNru?Yۙ ܝ H)ܙ Iܝ Piܙ ܝ 5ܝ >ܝ ܝ |> ݝ r&@)ݝ | >Iݝ p'@iݝ ;ݝ :ݝ ޙ ޝ ^n:?G[_?O0?iޝ B?ޝ c ޝ :ޝ  checking for new query: numPingsReceived=95, elapsed TxPingTime=47.1721611 Gm =GA 2BQ Y :Ba  Ou >3 ď,\10?AVR@YV8@VJ9V!=^AHRS rotation from veh to nav: [[0.889870,0.453786,-0.047007],[-0.456048,0.887596,-0.064761],[0.012336,0.079067,0.996793]]yVH y?@ ?`V@/ݿ`/g?0 yC?=?`?ɫVR@Vu\;V&CfmBf0IJ%R=J%<Mb@Mb@Mb@ )IiK?{Gz?~jtx?^>ף<;)~AI@iA@ AI=_I=٥m= mN=9u;:Q u>qq uF٦uΪEy}^Y > 4Y?4y!+B>:޾?G)DQ::_54)8A!DDAT read: Rx Time:04:06:24.1367  TRx dataTimestamp_ set to:1761365184.899286%PDAT read: Bearing 1.0, -0.2 (Local) 5~Local bearing/azimuth received: Bearing 1.0, -0.2 (Local) eDAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 -Z#Rx 96: Read range message, but no direction.  fVAY  addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.508063 s, deltaX: -0.300000 m, approachRate: -0.590478 m/s, rangeRepo size: 4 oDNOT Ignoring new targets: 14.03 m.checking for new query: numPingsReceived=96, elapsed TxPingTime=47.437214ooXoX ProNav: ac range: 14.032441 m, nav range: 13.686044 m, bearing: 329.089664 deg, approach rate: -0.426756 m/s, LOS rate: -0.189517 deg/s, cmd heading: 330.335433 deg, new cmd heading: 330.080587 deg. zoHeadingCmd: 5.760993 target range: 14.032441 and range: 13.40 m.RoZ@Jobo Zo Bo :n2nmmӀBlkkk*@k@c{?Aɞ؀B P< >I }˻ɝiI$Ibi?=i)=)Z@)F "F *F 2F :F q G ٦=G 2B :B  O > DAT read: 04:06:24.1367 LVL= 19504, 26737, 19090, 32755, AGC= 53, IDX= 502, 0.00, 2.092, 0.683, 2.124, 1.885, PHS= 0.296,-1.154, 0.236, RAW= 147.9, 8.8, CAL= 149.0, 0.2, ROT= 1.0, -0.2  Ygot valid direction response: 04:06:24.1367 LVL= 19504, 26737, 19090, 32755, AGC= 53, IDX= 502, 0.00, 2.092, 0.683, 2.124, 1.885, PHS= 0.296,-1.154, 0.236, RAW= 147.9, 8.8, CAL= 149.0, 0.2, ROT= 1.0, -0.2  Z#Rx 97: Read direction message, but no range. \direction in FSK: [0.999842,0.017452,0.003491]ۉ yۍ jѳ?䃌ߑ?QC1ml?Yۉ ܍ 0L)܍ qhI܍ Ji܉ ܉ ܍ P>܍ F܍ q> ݍ 4%@)ݍ nF>Iݍ Bo&@iݍ d;ݍ 5<ݍ d މ ލ X?r?w#񇚓?iލ [>ލ :ލ 5<ލ d checking for new query: numPingsReceived=97, elapsed TxPingTime=47.672905Kď,FJ0?A0V4ʲ@YVŹ@V@9Vj9=^AHRS rotation from veh to nav: [[0.887913,0.457740,-0.045651],[-0.459862,0.885772,-0.062726],[0.011724,0.076689,0.996986]]yVHi?K?__nݿ@?X?? 䡳?`O?ɫV4ʲ@V8;V$CvBvQII%bI%٥5F> 5b=95:Q 5>99 =F٦=ѪEyE[B E> Q}4YUd?}4yU-UBy}G?UR)DUW;U;U;4B)AEJpIRpM90?ApM_UApM_UApM|Q@vM+Aܪ*@,Xs?H$~է?vMjѳ?䃌ߑ?QC1ml?pM5<pMdvM-'@5B6ʵ$BI  MŻɝ i I cI5i=t @=i==)=d9@)AԙHm>HiHmIImBIiIiIi&Im~<*Im9E2IC:ICBIēCJIĤ =RIĥ =ZI 6F "F *F 2F o0:F 5DDAT read: Rx Time:04:06:24.6365 MTRx dataTimestamp_ set to:1761365185.406169mPDAT read: Bearing 2.0, 0.1 (Local) u~Local bearing/azimuth received: Bearing 2.0, 0.1 (Local) DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4  DAT read: 04:06:24.6365 LVL= 19168, 31729, 19810, 32755, AGC= 54, IDX= 499, 0.30, 1.346,-0.092, 1.337, 1.105, PHS= 0.329,-1.151, 0.229, RAW= 146.5, 8.3, CAL= 148.0, -0.1, ROT= 2.0, 0.1 5Ygot valid direction response: 04:06:24.6365 LVL= 19168, 31729, 19810, 32755, AGC= 54, IDX= 499, 0.30, 1.346,-0.092, 1.337, 1.105, PHS= 0.329,-1.151, 0.229, RAW= 146.5, 8.3, CAL= 148.0, -0.1, ROT= 2.0, 0.1 5T#Rx 98: Read range and direction messages.=^direction in FSK: [0.999389,0.034899,-0.001745]=Fpublishing direction and range infoAyEeG?F Vޡ?n p\EQAYA EJ)E{IEbMiAE6Er>ESE~j> E_#@)EV>IEMQ%@iE争E5=E: A)AEnS?M%J?{?iE>E E5=E: A)Achecking for new query: numPingsReceived=98, elapsed TxPingTime=47.963779jK nxNrK 9zK K {K ~uiaWNG=:4-+&%     G- =G1 G5 rA G 2B :B  O >ď,d0?AI<)AA EF٦EӪEyM M> QM4YUu?mchecking for new query: numPingsReceived=98, elapsed TxPingTime=48.168507u4yUM/UBy?U^)DU=$=U$=UB4B)AJpqRpuY0?ApuPApuPApu8ɺ@vu#"W*@uWF?yLvueG?F Vޡ?n p\pu5=pu:vuE9}W'@p?vuM? !ۿzX?jpurpu*IQ u!ɝqiyI}̆ĻI}Ti@=iJ=)F@)JJ3J.-J]uJ]lJ]2JYJ][Q:J]9J]c3JY!u@!u@!u@!}@FU "FQ *FQ 2F] `0:FY 5 DDAT read: Rx Time:04:06:25.1365 = TRx dataTimestamp_ set to:1761365185.907000ԡ  PDAT read: Bearing 3.3, -2.4 (Local)  ~Local bearing/azimuth received: Bearing 3.3, -2.4 (Local)  DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4  DAT read: 04:06:25.1365 LVL= 19264, 30433, 19314, 32755, AGC= 53, IDX= 499,-0.16,-0.383,-1.755,-0.438,-0.590, PHS= 0.295,-1.118, 0.149, RAW= 144.6, 10.0, CAL= 146.7, 2.4, ROT= 3.3, -2.4  Ygot valid direction response: 04:06:25.1365 LVL= 19264, 30433, 19314, 32755, AGC= 53, IDX= 499,-0.16,-0.383,-1.755,-0.438,-0.590, PHS= 0.295,-1.118, 0.149, RAW= 144.6, 10.0, CAL= 146.7, 2.4, ROT= 3.3, -2.4  T#Rx 99: Read range and direction messages. \direction in FSK: [0.997466,0.057514,0.041876] Fpublishing direction and range info1 y5 k>?Hir? ۷p?1 Y1 5 @K)5 vI5 rKi1 5 55 = >5 5 u> 5 !@)5 ¸2>I5 #@i5 +=5 k=5 + 1 )1 5 jե?t^>?P?i5 >5 uo35 k=5 + 1 )1  checking for new query: numPingsReceived=99, elapsed TxPingTime=48.485085 GGI2BQ:Bi Ou?4!ď,0?AV@YV@V.:9V=^AHRS rotation from veh to nav: [[0.885257,0.462970,-0.044473],[-0.464961,0.883281,-0.060214],[0.011405,0.073983,0.997194]]yVHT?M?0Ŧݿ`C?@_Ԯ[???ɫV@V;V#CMBMvIԉMchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.670750Mb@Mb@Mb@ )IiS?Zd;?Q?>y=u<) AI@iA@ IOIݜ٥cv= =9@9Q =>9A EF٦EתEyE E> IU4YM?U4yM1MBA>:t?Mp)DM ?Hir? ۷p?pMk=pM+vMD'@5<MhOM?vM1 ?x̞ڿ®V"b?jpMXrpM\=AZpM}3?bpM*AzpM$BpM2|?pM\4pMBpMMApM;@Ա addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.500831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 13.037368 m, bearing: 335.405715 deg, lat: 36.779462 deg, lon: -121.859731 deg, deltaT: 0.500831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 oquDNOT Ignoring new targets: 13.04 m.oqoyoy ProNav: ac range: 13.037368 m, nav range: 12.865089 m, bearing: 333.451139 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 329.487615 deg, new cmd heading: 329.130867 deg. zoHeadingCmd: 5.744417 target range: 13.037368 and range: 13.10 m.RoDҷ@JoboZoBo:n2nmm Blkkkkhs?ZHu<RHu<ɞn< 靝>I &ɝiIȻI i@=i)=)Dҷ@)H}>H}CH}II}ځBI} =IyI}D&I}K<*I}EF "F*F2F:F% DDAT read: Rx Time:04:06:25.6363 5 TRx dataTimestamp_ set to:1761365186.411426] PDAT read: Bearing 2.9, -1.0 (Local) ] ~Local bearing/azimuth received: Bearing 2.9, -1.0 (Local)  DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4  DAT read: 04:06:25.6363 LVL= 19616, 28225, 19746, 32755, AGC= 54, IDX= 496, 0.17, 0.290,-1.153, 0.244, 0.050, PHS= 0.328,-1.156, 0.191, RAW= 145.2, 9.0, CAL= 147.1, 1.0, ROT= 2.9, -1.0  Ygot valid direction response: 04:06:25.6363 LVL= 19616, 28225, 19746, 32755, AGC= 54, IDX= 496, 0.17, 0.290,-1.153, 0.244, 0.050, PHS= 0.328,-1.156, 0.191, RAW= 145.2, 9.0, CAL= 147.1, 1.0, ROT= 2.9, -1.0  V#Rx 100: Read range and direction messages.  \direction in FSK: [0.998567,0.050585,0.017452] Fpublishing direction and range info) y-  $LC?tN?W7) ߑ?- LAY) - L)- AnI- "Mi) - 6- >- - C> - 0"@)- | >I- O$@i- 5<- 4QO=- 5 ) )) - _Ҋ{_?U~#?? ?i- wD>- !- 4QO=- 5 ) )) ] checking for new query: numPingsReceived=100, elapsed TxPingTime=48.967709Ge õ=jKu *MrKu 9zKq Ku |Ku  *;HD>;7.("    G! 2BA :BY  Ou >'ď,G0?Ad@Y@r/9=AHRS rotation from veh to nav: [[0.885125,0.463296,-0.043699],[-0.465229,0.883142,-0.060186],[0.010708,0.073603,0.997230]]yHR?द?_QݿB?@Ю A? ײ?@O?ɫ@Fa;髅!C}B}IIeI]٥}.= }4=9}E:Q }> F٦ڪEy. > 4Ycǝ?4y3B?})D::T4)AEchecking for new query: numPingsReceived=100, elapsed TxPingTime=49.175861Jp9Rp=T0?Ap=KAp=KAp=&@v=yq)@;5?*W::u?v= $LC?tN?W7) ߑ?p=4QO=p=5v='@Ŕs1n?v=IluML?|ުڿ% ?J?jp=rp=8AZp=?bp=zp=Bp=ڀ?p=Z@p=Bp=HAp=i@ addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504426 s, deltaX: -0.300000 m, approachRate: -0.594736 m/s, rangeRepo size: 4  Added new target pos. range: 12.739074 m, bearing: 335.092631 deg, lat: 36.779462 deg, lon: -121.859729 deg, deltaT: 0.504426 s, deltaX: -0.298294 m, approachRate: -0.591353 m/s, posRepo size: 4 oDNOT Ignoring new targets: 12.74 m.o)o1oI] ProNav: ac range: 12.739074 m, nav range: 12.561963 m, bearing: 334.251560 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 329.130861 deg, new cmd heading: 328.813672 deg. zoamHeadingCmd: 5.738881 target range: 12.739074 and range: 12.80 m.Romꤷ@JoiboiZoiBoi:ni2nqmqmqlqkykyk})@k}]m?ɞ؀B< 靽>I gɝiI̻!IW ibiA=i=)ꤷ@)EFq "Fq *Fq 2Fu _0:Fq J= J= J9 J9 J= :J= :J9 J9 I  DDAT read: Rx Time:04:06:26.1362  TRx dataTimestamp_ set to:1761365186.914566E PDAT read: Bearing 359.6, -7.9 (Local) E ~Local bearing/azimuth received: Bearing 359.6, -7.9 (Local) U DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4  DAT read: 04:06:26.1362 LVL= 21056, 31969, 20914, 32755, AGC= 54, IDX= 512,-0.29, 0.210,-1.595, 0.269, 0.131, PHS= 0.167,-1.679, 0.135, RAW= 149.1, 14.9, CAL= 150.4, 7.9, ROT= 359.6, -7.9 = Ygot valid direction response: 04:06:26.1362 LVL= 21056, 31969, 20914, 32755, AGC= 54, IDX= 512,-0.29, 0.210,-1.595, 0.269, 0.131, PHS= 0.167,-1.679, 0.135, RAW= 149.1, 14.9, CAL= 150.4, 7.9, ROT= 359.6, -7.9 E V#Rx 101: Read range and direction messages.E ^direction in FSK: [0.990485,-0.006915,0.137445]M Fpublishing direction and range info y SH?S(R|yjȗ? IAY @R) |I Qi +> yֿy q= > ۋ&@) %>I '@i 0 > @ 0 ) !O7?_G*?16]Xs?G :!=G ?G '?i 1*?  0 )  checking for new query: numPingsReceived=101, elapsed TxPingTime=49.488564GQ2BY:Bq O}>0/ď,0?AJ@YJץ@JI9J}՞=RAHRS rotation from veh to nav: [[0.886188,0.461369,-0.042545],[-0.463265,0.883819,-0.065185],[0.007527,0.077476,0.996966]]yJH [?? hȥ@$ݿ>H?@~?rճ?$?ɫJ@Jډ;J"CjǁBjIMb@Mb@Mb@ )IiMbX9?1Zd?Q?>"=)~AI@iA zA!I`I̍٥Uҕ= U;=9];Q ]> F٦ݪEy`; > 4Y؝?4y5Bx>:|?)D;3;e\4.B)5AEJpRp@0?ApHApHAp@vVyg(@R\2ɱ?vSH?S(R|yjȗ?pp0 v0!%@7 ?vpu?o=T޿fl?jp-rpL.AZpTn?bpWzpcBpppBpEAp+@u addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503140 s, deltaX: -0.200000 m, approachRate: -0.397503 m/s, rangeRepo size: 4  Added new target pos. range: 12.540027 m, bearing: 331.385355 deg, lat: 36.779462 deg, lon: -121.859729 deg, deltaT: 0.503140 s, deltaX: -0.199047 m, approachRate: -0.395610 m/s, posRepo size: 4 oDNOT Ignoring new targets: 12.54 m.oAchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.679382oo!Q ProNav: ac range: 12.540027 m, nav range: 12.361972 m, bearing: 334.061037 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 328.813667 deg, new cmd heading: 328.492763 deg. zoHeadingCmd: 5.733280 target range: 12.540027 and range: 12.60 m.Row@JoboZoBo:n2nm m =Bl kkk@33)@k?ɞ< 靍->I ɝiICлI iA=i=)w@)F] "FY*FY2FY:FaԉH >H CH II BI =I I D&I <*I EԱ i (>I G :_= DDAT read: Rx Time:04:06:26.6359  TRx dataTimestamp_ set to:1761365187.418597 PDAT read: Bearing 2.6, -1.6 (Local)  ~Local bearing/azimuth received: Bearing 2.6, -1.6 (Local)  vDAT read: Range 10 to 50 : 12.3 m (trip time speed 0.4 U DAT read: 04:06:26.6359 LVL= 21952, 27777, 20562, 32755, AGC= 53, IDX= 509, 0.11, 0.492,-0.967, 0.454, 0.266, PHS= 0.314,-1.186, 0.185, RAW= 145.6, 9.6, CAL= 147.4, 1.6, ROT= 2.6, -1.6 )] WG q  Ygot valid direction response: 04:06:26.6359 LVL= 21952, 27777, 20562, 32755, AGC= 53, IDX= 509, 0.11, 0.492,-0.967, 0.454, 0.266, PHS= 0.314,-1.186, 0.185, RAW= 145.6, 9.6, CAL= 147.4, 1.6, ROT= 2.6, -1.6  V#Rx 102: Read range and direction messages. \direction in FSK: [0.998581,0.045345,0.027922] Fpublishing direction and range info y ̒R`? )`7?|p}? DAY U) lI RPi 5 Ġ> ΗG 2B :B  O >6ď,30?Aܥp=> ݥ"@))ݥ+>Iݥ$@iݥ<ݥ9=I2#濙46cAݥ ޡ)ޡޥgw?7? J?iޥQ>ޥm!+ޥ9=ޥ ߡ)ߡZchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.987511 jK]iMrK9zKK}K.9=>;3/13210-+*+($#    XaMO2KrA*KҁBII\IW٥fM= 8=9Q >! %F٦%ߪEy% %> )54Y-蝊?54y-H6-B99=?-)D-;-;-c4q)uAqJpRpK0?ApCApCAp@v*YJr(@Mx?6E?v̒R`? )`7?|p}?p9=pv)0%&@o|(9>r?v-8<?تޑ(ۿHwV?jp7rp-1AZpC8?bp zpƂBpC8?ppƂBp.DApGܺ@1U addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504031 s, deltaX: -0.300000 m, approachRate: -0.595202 m/s, rangeRepo size: 4 e Added new target pos. range: 12.240595 m, bearing: 334.870093 deg, lat: 36.779464 deg, lon: -121.859728 deg, deltaT: 0.504031 s, deltaX: -0.299432 m, approachRate: -0.594074 m/s, posRepo size: 4 oaeDNOT Ignoring new targets: 12.24 m.oioio ProNav: ac range: 12.240595 m, nav range: 12.261400 m, bearing: 334.572368 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 328.492757 deg, new cmd heading: 328.156725 deg. zoHeadingCmd: 5.727415 target range: 12.240595 and range: 12.30 m.RoF@JoboZoBo:n2nmmlkkk(@k` ?ɞy}@@< y靅>>I mɝiIջIFisB=i=)F@)checking for new query: numPingsReceived=102, elapsed TxPingTime=50.186749iFe "Fa*Fi2Fi:FiG] Z=Gi 2Bq ԉ :B  O ><ď,R0?AJ8J:J8J8J8J:59J8J8ԁв@Yʹ@~=9E;=EDDAT read: Rx Time:04:06:27.1359 ETRx dataTimestamp_ set to:1761365187.922436MPDAT read: Bearing 2.5, -3.7 (Local) U~Local bearing/azimuth received: Bearing 2.5, -3.7 (Local) eDAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 DAT read: 04:06:27.1359 LVL= 22000, 32657, 20242, 32755, AGC= 54, IDX= 509,-0.36, 0.307,-1.121, 0.274, 0.128, PHS= 0.267,-1.202, 0.143, RAW= 145.6, 11.2, CAL= 147.5, 3.7, ROT= 2.5, -3.7 Ygot valid direction response: 04:06:27.1359 LVL= 22000, 32657, 20242, 32755, AGC= 54, IDX= 509,-0.36, 0.307,-1.121, 0.274, 0.128, PHS= 0.267,-1.202, 0.143, RAW= 145.6, 11.2, CAL= 147.5, 3.7, ROT= 2.5, -3.7 V#Rx 103: Read range and direction messages.AHRS rotation from veh to nav: [[0.888297,0.457525,-0.039991],[-0.459264,0.885358,-0.072242],[0.002354,0.082538,0.996585]]yHl?H?y dݿT?o~Gc?;!??ɫв@\ʉ;髕#C B I5\direction in FSK: [0.996966,0.043528,0.064532]5Fpublishing direction and range infoAyER0$?גR\I?P0?AYA EU)EIEOiAE6E9>E#ۙEn> A)E+H>IES$@iE A=E¸2=E A A)AEgi]L?]q(?7] ?iE>E9HE¸2=E A A)Achecking for new query: numPingsReceived=103, elapsed TxPingTime=50.482956mMb@Mb@Mb@i i)iIiiimjt?Mb?:v?m>m>mT<)iIiimAm@ im(AII٥L= )=9U/ԩ F٦Ey+< > 4Y?4yo7B8>:QI?)D*C;;l4-3B)-xA1JpARpE1 0?ApApApE{@vEZD+h(@GT ?K F?vER0$?גR\I?P0?pE¸2=pE AvEV&@+E~§l?vE^?m6ɶ"ۿV$'?jpErpE0AZpE* ?bpEPzpEBpE?pE*ApE$BpEAApEܺ@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 12.240595 m, bearing: 334.846558 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 o!-DNOT Ignoring new targets: 12.24 m.o)o)o)] ProNav: ac range: 12.240595 m, nav range: 12.114427 m, bearing: 334.571278 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 328.156712 deg, new cmd heading: 327.825448 deg. zoaeHeadingCmd: 5.721633 target range: 12.240595 and range: 12.30 m.Roe@JoiboiZoiBoi:ni2nimqmuOBlqkkkkc?ɞUـB= ?I gɝiI ػI i C=i =) @)1F "F *F 2F :F  checking for new query: numPingsReceived=103, elapsed TxPingTime=50.690796G F  G G G tAJH BH )HM>HMCHM IIMBIM =IIIMD&IM~<*IM EG2B:B O> Eď,#/1?A>ܲ@Y>׹@>:y99>$=bAHRS rotation from veh to nav: [[0.889012,0.456209,-0.039116],[-0.457883,0.885718,-0.076463],[-0.000238,0.085887,0.996305]]y>H@r?@2?MݿW?@'/??ɫ>ܲ@>In;>!C5߁B5IIfI{٥ S=9;Q >  F٦ EyP; > Q4YU ?4ԡDDAT read: Rx Time:04:06:27.6356 TRx dataTimestamp_ set to:1761365188.426480PDAT read: Bearing 2.0, -3.6 (Local) ~Local bearing/azimuth received: Bearing 2.0, -3.6 (Local) DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 EDAT read: 04:06:27.6356 LVL= 24016, 32753, 22050, 32755, AGC= 55, IDX= 506, 0.08, 0.820,-0.630, 0.806, 0.646, PHS= 0.263,-1.228, 0.157, RAW= 146.4, 11.2, CAL= 148.0, 3.6, ROT= 2.0, -3.6 MYgot valid direction response: 04:06:27.6356 LVL= 24016, 32753, 22050, 32755, AGC= 55, IDX= 506, 0.08, 0.820,-0.630, 0.806, 0.646, PHS= 0.263,-1.228, 0.157, RAW= 146.4, 11.2, CAL= 148.0, 3.6, ROT= 2.0, -3.6 MV#Rx 104: Read range and direction messages.U\direction in FSK: [0.997419,0.034831,0.062791]UFpublishing direction and range infoyI#?`Rա?֏ ?f>AY ])I"Vi7>/ > Ƈ#@)IMQ%@i=5= )Rv ?U?Mae?i#q>jH5= )checking for new query: numPingsReceived=104, elapsed TxPingTime=50.961628yU\8UBG?U)DU#=U6#=Uus4)AJpRpsK1?Apy=Apy=ApIȺ@vQ&'@we?jd?vI#?`Rա?֏ ?p5=pvOQ%@_\lDfa?v2 ?KΏۿb)Y?jp2rp*AZpQዡ?bp#zpkBpC8?pPpkBp=Apڪ@M addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504044 s, deltaX: -0.400001 m, approachRate: -0.793583 m/s, rangeRepo size: 4  Added new target pos. range: 11.842205 m, bearing: 334.432532 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 0.504044 s, deltaX: -0.398390 m, approachRate: -0.790387 m/s, posRepo size: 4 oDNOT Ignoring new targets: 11.84 m.ooo ProNav: ac range: 11.842205 m, nav range: 11.854999 m, bearing: 334.226687 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 327.825448 deg, new cmd heading: 327.515038 deg. zoHeadingCmd: 5.716216 target range: 11.842205 and range: 11.90 m.Ro=@JoboZoBo:n2nmmlkkk'@kɰ?ɞAEh= AE+?II MشKɝIiIIMkLܻIu$iuC=i}O=)}=@)jKNrK9zKK~Kzi@3*#/[}{nbXLACMZR?4&L|j^XVUW^dgd]QJBF "F*F2F`0:FG= G 2B :B  O >ؑ ؑ  checking for new query: numPingsReceived=104, elapsed TxPingTime=51.195225) r4Kď,".1?A@Y۹@WR;9([=AHRS rotation from veh to nav: [[0.889244,0.455846,-0.038059],[-0.457421,0.885556,-0.080968],[-0.003205,0.089409,0.995990]]yHt?,?|| cFݿzV?`PGBj`?&?ɫ@12;髭#CBIJ!J%a=J=J=J9J9J=L:J=9J9J9Mb@Mb@Mb@ )Ii333333?V-?:v?>h>)AIiA@ QAILIDDAT read: Rx Time:04:06:28.1355 TRx dataTimestamp_ set to:1761365188.930529 PDAT read: Bearing 2.0, -4.7 (Local) ~Local bearing/azimuth received: Bearing 2.0, -4.7 (Local) %DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 1MDAT read: 04:06:28.1355 LVL= 23024, 32753, 22498, 32755, AGC= 55, IDX= 505,-0.29,-0.709,-2.132,-0.726,-0.859, PHS= 0.238,-1.226, 0.130, RAW= 146.2, 12.1, CAL= 148.0, 4.7, ROT= 2.0, -4.7 UYgot valid direction response: 04:06:28.1355 LVL= 23024, 32753, 22498, 32755, AGC= 55, IDX= 505,-0.29,-0.709,-2.132,-0.726,-0.859, PHS= 0.238,-1.226, 0.130, RAW= 146.2, 12.1, CAL= 148.0, 4.7, ROT= 2.0, -4.7 UV#Rx 105: Read range and direction messages.]\direction in FSK: [0.996030,0.034782,0.081939]eFpublishing direction and range infoyZDz?GJ Ρ??3;AY Y٥ub7< u=9}خ;Q }>yy }F٦}Ey w: >)IWiFs>휿> N#@)@X>Ii= )]LP?,?㥘?iY+>X )checking for new query: numPingsReceived=105, elapsed TxPingTime=51.468670 4Y?4yZ9B>: ?)D*:/:|49B)A-EJpRpʍ;1?ApJ:ApJ:Apm@v=1'@0?Xp^?vZDz?GJ Ρ??ppv׽m$@/f`?vz7?iۿM=޴?jprp_'AZp]EJ?bpzzpɃBpp pBp9Aph@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504049 s, deltaX: -0.200000 m, approachRate: -0.396786 m/s, rangeRepo size: 4  Added new target pos. range: 11.643176 m, bearing: 334.349588 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 0.504049 s, deltaX: -0.199029 m, approachRate: -0.394860 m/s, posRepo size: 4 oDNOT Ignoring new targets: 11.64 m.oo!oAU ProNav: ac range: 11.643176 m, nav range: 11.605905 m, bearing: 334.055695 deg, approach rate: 0.000000 m/s, LOS rate: -0.241262 deg/s, cmd heading: 327.515029 deg, new cmd heading: 327.144025 deg. zoQ]HeadingCmd: 5.709740 target range: 11.643176 and range: 11.70 m.Ro]1@JoYboYZoYBoY:na2namimmSBlikikqku`ff'@k}`;ô?ɞE ڀBE < I M b?II M 'ɝI iI IM ߻IU OiU ɄD=iU _>)] 1@Y )a F "F *F 2F _0:F ԉ  checking for new query: numPingsReceived=105, elapsed TxPingTime=51.698887G==ԹG2B:B! O-?Tď,P1?A ^ٲ@Y^Թ@^h;9^[=uAHRS rotation from veh to nav: [[0.888844,0.456654,-0.037744],[-0.458174,0.884701,-0.085916],[-0.005841,0.093659,0.995587]]y^Hhq? 9?;SRݿwO?w ??ɫ^ٲ@^;^"CH>HCH II'BI =IID&I<*I[EށBIIAIE٥-ͼ -R=9-;Q ->11 5F٦5Ey5 => am4Yen,?m4ye:e…BimG!m?e)De`;e_55V-> 5$@)5+H>I5%@i5s=5<5s 1)15K?y5i? ?i5l>5WG5<5s 1)1=checking for new query: numPingsReceived=106, elapsed TxPingTime=51.984997kk&@k`ѧ?ɞMۀBM< QU}?IQ U2ɝQiQIU I}$KiyiE >)vF@)jKUkNrKU+9zKQKUKU;61/+'($   +464.(%# -0 |  $Y F5 "F1 *F1 2F1 :F1 G 4>G 2B :B  O >$Zď,3j1?ARchecking for new query: numPingsReceived=106, elapsed TxPingTime=52.202892n@Yn@n <9nx=vAHRS rotation from veh to nav: [[0.887375,0.459672,-0.035595],[-0.460971,0.883169,-0.086709],[-0.008422,0.093351,0.995598]]ynH`e?@Dk? t9 ݿ`B?2`V?`??ɫn@n;n#CځBII5TI5n٥u X=9H;Q > F٦Eyo > !e4Y%;?m4y%:%DžB$?%)D%<%[<%4?B)!AEQJpRp [1?Ap3Ap3ApBq@vwip&@Q?&W%W?vOqd?w??Cg]?p<psvЋ'$@xFI_;(?v8j?sB1ܿ1^NB?jprpI 9ۺɝiI]DDAT read: Rx Time:04:06:29.1352 eTRx dataTimestamp_ set to:1761365189.938521mPDAT read: Bearing 2.0, -5.7 (Local) ~Local bearing/azimuth received: Bearing 2.0, -5.7 (Local) DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 DAT read: 04:06:29.1352 LVL= 25264, 32753, 23266, 32755, AGC= 54, IDX= 502,-0.18,-0.806,-2.239,-0.823,-0.937, PHS= 0.219,-1.254, 0.111, RAW= 146.2, 12.9, CAL= 148.0, 5.7, ROT= 2.0, -5.7 Ygot valid direction response: 04:06:29.1352 LVL= 25264, 32753, 23266, 32755, AGC= 54, IDX= 502,-0.18,-0.806,-2.239,-0.823,-0.937, PHS= 0.219,-1.254, 0.111, RAW= 146.2, 12.9, CAL= 148.0, 5.7, ROT= 2.0, -5.7 V#Rx 107: Read range and direction messages.\direction in FSK: [0.994449,0.034727,0.099320]Fpublishing direction and range infoYy]l=?ǡ?hܸm?YYY ]b)YI]ZiY]6]A`>]]S= ]N#@)]f>I]MQ%@i]%=]5=]%˽ Y)Y]{?O:?s?i]@b>]V9g]5=]%˽ Y)Y checking for new query: numPingsReceived=107, elapsed TxPingTime=52.479019Im _ii im >)m @)q ԩ F "F *F 2F :F Gv>G2B:B O?bď,v1?A checking for new query: numPingsReceived=107, elapsed TxPingTime=52.706711 I ) r@Y m@ 2<9 [=%AHRS rotation from veh to nav: [[0.882966,0.468595,-0.028111],[-0.469311,0.879752,-0.076050],[-0.010906,0.080342,0.996708]]y HAA? u?ɜ/ ޿@&?wUL??ɫ r@ ; "CҁBIMb@Mb@Mb@ )IiQ?HzG?~jtx?(>= >;)7 AIiA@ GAAI:Iy٥m u =9u;ZHRHQ u> F٦Ey˃ > 4YP?4y<˅B>:>?H>HCH IIBI =I@DI&I<*I*E2IC:ICBIÖCJIî =RIë =ZI 7)D<_g<˔4]DB)]AeEJpRp|1?ApppH@vav+T]&@FT2?g^2?vl=?ǡ?hܸm?p5=p%˽vԧ $@yևk\?v˃?ܡ eܿ`G?jprpg AZpܠ?bphSzpރBp]EJ?ppBp0Ap%@e addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.244698 m, bearing: 333.541223 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 0.504070 s, deltaX: -0.000098 m, approachRate: -0.000195 m/s, posRepo size: 4 JJJJJ:J9JJJB;!5JC;!=J ';!EJ ';!EqoyDNOT Ignoring new targets: 11.24 m.ooo% ProNav: ac range: 11.244698 m, nav range: 11.033219 m, bearing: 333.297054 deg, approach rate: 0.000000 m/s, LOS rate: -0.591164 deg/s, cmd heading: 325.672982 deg, new cmd heading: 324.723940 deg. zo!-HeadingCmd: 5.667502 target range: 11.244698 and range: 11.30 m.Ro--\@Jo)bo1Zo1Bo1:n12n1m9m=aBl9k9k9kake5`?ɞ݀B< 靵t>I ɝiIDDAT read: Rx Time:04:06:29.6350 TRx dataTimestamp_ set to:1761365190.442430PDAT read: Bearing 1.0, -4.6 (Local) ~Local bearing/azimuth received: Bearing 1.0, -4.6 (Local) DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 DAT read: 04:06:29.6350 LVL= 25120, 32753, 23682, 32755, AGC= 54, IDX= 499, 0.31,-0.220,-1.682,-0.202,-0.359, PHS= 0.227,-1.277, 0.154, RAW= 147.5, 12.2, CAL= 149.0, 4.6, ROT= 1.0, -4.6 %Ygot valid direction response: 04:06:29.6350 LVL= 25120, 32753, 23682, 32755, AGC= 54, IDX= 499, 0.31,-0.220,-1.682,-0.202,-0.359, PHS= 0.227,-1.277, 0.154, RAW= 147.5, 12.2, CAL= 149.0, 4.6, ROT= 1.0, -4.6 -V#Rx 108: Read range and direction messages.-\direction in FSK: [0.996627,0.017396,0.080199]5Fpublishing direction and range infoy p^?+!NБ?zꇴ?0AY  b)I\irh>t-> S$@)^ Z>IBo&@il=5<l ) ҈?Y ?g20?i >ƂY5<l )uchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.980927Inii>)-\@)ԙ F5 "F1 *F1 2F1 :F9 GE tAFE tAG >jKM nOrKM h9zKI KM KM /VnM6'   &$%!    !"G 2B :B  O >Ihď,1?A2>@Y2z9@2h3<92=:AHRS rotation from veh to nav: [[0.879954,0.474397,-0.025049],[-0.474932,0.877281,-0.069405],[-0.010950,0.072970,0.997274]]y2H (?\? Ie޿`?ıl`&?@?ɫ2>@2#w;2 CIQ ]}dsɝYiYI]I3 ii>)b @)Fm "Fi*Fq2Fu0:Fq  DDAT read: Rx Time:04:06:30.1349  TRx dataTimestamp_ set to:1761365190.946438 PDAT read: Bearing 1.4, -4.8 (Local)  ~Local bearing/azimuth received: Bearing 1.4, -4.8 (Local)  DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 5 DAT read: 04:06:30.1349 LVL= 27472, 32753, 24130, 32755, AGC= 54, IDX= 499, 0.01, 0.001,-1.444, 0.008,-0.139, PHS= 0.227,-1.258, 0.143, RAW= 147.1, 12.3, CAL= 148.6, 4.8, ROT= 1.4, -4.8 = Ygot valid direction response: 04:06:30.1349 LVL= 27472, 32753, 24130, 32755, AGC= 54, IDX= 499, 0.01, 0.001,-1.444, 0.008,-0.139, PHS= 0.227,-1.258, 0.143, RAW= 147.1, 12.3, CAL= 148.6, 4.8, ROT= 1.4, -4.8 = V#Rx 109: Read range and direction messages.E \direction in FSK: [0.996195,0.024346,0.083678]E Fpublishing direction and range info y G(s*?XI?U]k? ,AY Pk) I B^i % n> O$@) [>I %@i = +< Gu Y>) "Dn?|?a-?i J> [ +< )  checking for new query: numPingsReceived=109, elapsed TxPingTime=53.487255G9 2BA :BQ  Oe >/oď, 1?A^9@Y^@d^$<9^W1=AHRS rotation from veh to nav: [[0.876557,0.480773,-0.022476],[-0.481193,0.874434,-0.061800],[-0.010058,0.064986,0.997835]]y^H ? ?޿\? < G?D?ɫ^9@^̏;^"CmBuIMMb@Mb@Mb@I I)IIIiIMw/?v/?~jtxM>Mx=MĻ)M AIIiIM@ IMAI`I̍٥ʼ '=9Q > F٦Eyp > 4Yo?4yP> 1> : ?)D;;ࢭ49)EkAAJp Rp q1?Ap +Ap +Ap @v 1<_i%@ԯ?[} ?v G(s*?XI?U]k?p +<p v RH"@3]m,B?v mA?_ԁɥݿly7?jp Prp AZp :Ɏ?bp Czp TBp :Ɏ?p hSp TBp *Ap ̹@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504008 s, deltaX: -0.200000 m, approachRate: -0.396819 m/s, rangeRepo size: 4  Added new target pos. range: 10.747145 m, bearing: 332.318616 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 0.504008 s, deltaX: -0.199020 m, approachRate: -0.394875 m/s, posRepo size: 4 oDNOT Ignoring new targets: 10.75 m.ooo ProNav: ac range: 10.747145 m, nav range: 10.682845 m, bearing: 332.668090 deg, approach rate: 0.000000 m/s, LOS rate: -0.591164 deg/s, cmd heading: 324.144877 deg, new cmd heading: 323.262257 deg. zo HeadingCmd: 5.641991 target range: 10.747145 and range: 10.80 m.Ro 0@JoboZoBo:n2nm!m%I VɝiIIX%$ii $>)0@)!FE "FA*FA2FM0:FIG b>G1 2B9 Q H >H CH II BI =I ?DI D&I <*I #E:Ba  Om >J% J% J! J! J% v:J% y9J! J! qvď,8k1?AJe^;Je_;JeC:JeD:9DDAT read: Rx Time:04:06:30.6347 TRx dataTimestamp_ set to:1761365191.450381PDAT read: Bearing 1.0, -3.9 (Local) ~Local bearing/azimuth received: Bearing 1.0, -3.9 (Local) DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 DAT read: 04:06:30.6347 LVL= 22880, 31409, 21218, 32755, AGC= 55, IDX= 497,-0.32,-1.911, 2.919,-1.890,-2.061, PHS= 0.238,-1.256, 0.168, RAW= 147.6, 11.6, CAL= 149.0, 3.9, ROT= 1.0, -3.9 Ygot valid direction response: 04:06:30.6347 LVL= 22880, 31409, 21218, 32755, AGC= 55, IDX= 497,-0.32,-1.911, 2.919,-1.890,-2.061, PHS= 0.238,-1.256, 0.168, RAW= 147.6, 11.6, CAL= 149.0, 3.9, ROT= 1.0, -3.9 V#Rx 110: Read range and direction messages.\direction in FSK: [0.997532,0.017412,0.068015]Fpublishing direction and range infoۡyۥ?:frԑ?,::si?ۥ(AYۡ ܥ`Y)ܥzIܥRiܡܥ7ܥFs>ܥĠܥ1,> ݥ$@)ݥ4QO>IݥBo&@iݥ'g=ݥ5<ݥ'g ޡ)ޡޥFj?[?E U5?iޥ3>ޥ8Oޥ5<ޥ'g ߡ)ߡEchecking for new query: numPingsReceived=110, elapsed TxPingTime=53.987988UBUgIIeiIe҅٥}.# }c=9}Q }> F٦Ey > 4Y|?4yo?˅B? *D::?4JB)AJpRp 1?Ap/'Ap/'Apoi@vK /$@e'GI?!TI yɝ i I f^I&ii4->)81@)9ԑF "F*F2F`5:FU checking for new query: numPingsReceived=110, elapsed TxPingTime=54.218960 G A>G 2B :B!  OU >|ď,X1?AL-@Y-{@-r <9-_^=%AHRS rotation from veh to nav: [[0.868751,0.494863,-0.019566],[-0.495178,0.867275,-0.051308],[-0.008421,0.054262,0.998491]]y-H@?@֫?@ ߿? E@??ȫ??ɫ-@-QX;-CBZIDDAT read: Rx Time:04:06:31.1348 TRx dataTimestamp_ set to:1761365191.954444PDAT read: Bearing 350.0, -5.9 (Local) ~Local bearing/azimuth received: Bearing 350.0, -5.9 (Local) DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 DAT read: 04:06:31.1348 LVL= 23728, 32753, 21570, 32755, AGC= 53, IDX= 512, 0.21, 0.776,-0.682, 1.211, 0.876, PHS=-0.012,-1.511, 0.332, RAW= 160.1, 13.9, CAL= 160.0, 5.9, ROT= 350.0, -5.9  Ygot valid direction response: 04:06:31.1348 LVL= 23728, 32753, 21570, 32755, AGC= 53, IDX= 512, 0.21, 0.776,-0.682, 1.211, 0.876, PHS=-0.012,-1.511, 0.332, RAW= 160.1, 13.9, CAL= 160.0, 5.9, ROT= 350.0, -5.9 V#Rx 111: Read range and direction messages.^direction in FSK: [0.979591,-0.172728,0.102793]Fpublishing direction and range info۱y۵eX?!ƿzBP?۵3+AY۱ ܵ\)ܵIܵBTiܱܵ5ܵDܵshܵ> ݵ[2@)ݵUlx>Iݵ¸2@iݵB=ݵz@ݵBҽ ޱ)ޱ޵(H?^w=t)hAII@iAv@ Achecking for new query: numPingsReceived=111, elapsed TxPingTime=54.493629IyIy٥=0 !=9SQ > F٦Ey > 4Y?4yADžB3>:?*D:M:4)AJpRp1?Ap^*Ap^*Ap@vB$@49^lmcs:?veX?!ƿzBP?p2pBҽv"@ٞB @n C 9?vSn?j|俛õ?jprpAZpI M8ɝiIC Ir*iiW+>)@)EEF "F *F 2F 4:F G b(>! G 2B :B  O >] checking for new query: numPingsReceived=111, elapsed TxPingTime=54.722893ď,)2?A66@Y61@6ǩ<96NP=>AHRS rotation from veh to nav: [[0.864231,0.502755,-0.018478],[-0.503028,0.862933,-0.048063],[-0.008219,0.050833,0.998673]]y6H@ȧ?`?뒿`%?`Ǜ,Հ ?!?ɫ66@6;6 C|%zB%AIIe^Ie٥ =9.Q ? F٦Ey^ ? 4YU?4yBąB!%n%?#*D:<;<f4JHYBH]AAH]>H]CH]II]߁BI] =IYI]D&I]V<*I]EuPB)uAuEB*** querying acoustic contact ***:pBpoDNOT Ignoring new targets: 10.65 m.oo޻o޻ ProNav: ac range: 10.648032 m, nav range: 10.137404 m, bearing: 331.683462 deg, approach rate: -0.457500 m/s, LOS rate: -0.389738 deg/s, cmd heading: 321.768026 deg, new cmd heading: 321.402914 deg. zo HeadingCmd: 5.609539 target range: 10.648032 and range: 10.70 m.Ro-X@Jo)bo)Zo1Bo1:n12n1m9m9l9k9k9kAkE`P?ɞBUy< >I \9))HGJ{J|JJJd:J@9JJJ+;J-;J:J: Q)qI쿙AɝiIMIt,iiO(>)X@)DDAT read: Rx Time:04:06:31.6345 TRx dataTimestamp_ set to:1761365192.459921PDAT read: Bearing 1.9, -5.3 (Local) ~Local bearing/azimuth received: Bearing 1.9, -5.3 (Local)  DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 =DAT read: 04:06:31.6345 LVL= 24368, 32753, 21922, GC= 54, IDX= 510,-0.06,-2.596, 2.240,-2.610,-2.736, PHS= 0.228,-1.259, 0.124, RAW= 146.4, 12.6, CAL= 148.1, 5.3, ROT= 1.9, -5.3 E!unknown deviceResponse_: 04:06:31.6345 LVL= 24368, 32753, 21922, GC= 54, IDX= 510,-0.06,-2.596, 2.240,-2.610,-2.736, PHS= 0.228,-1.259, 0.124, RAW= 146.4, 12.6, CAL= 148.1, 5.3, ROT= 1.9, -5.3 -E\#Rx 112: Read range message, but no direction.3#AYMchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.992496QFi"Fi*Fq2Fu_0:FqjK e^MrK zK K K   'I^nL.- ^ԡ G] q->G 2B! :B9  OE >ď,(2?ArG@Yr-@r4f<9rcH=AHRS rotation from veh to nav: [[0.860119,0.509778,-0.017954],[-0.510030,0.858920,-0.046103],[-0.008081,0.048811,0.998775]]yrH?P? b`*R`F|?Ϛ??ɫrG@r8;r!CihB+I5checking for new query: numPingsReceived=112, elapsed TxPingTime=55.226910I=hI=٥mB m?=9uxQ u>qq uF٦}Ey} }> 4Y?4yDB?0*D:N:4)>A!u addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.505477 s, deltaX: -0.500000 m, approachRate: -0.989165 m/s, rangeRepo size: 4 oquDNOT Ignoring new targets: 10.65 m.oqo}Yo}Y} ProNav: ac range: 10.648032 m, nav range: 9.932427 m, bearing: 331.515056 deg, approach rate: -0.484496 m/s, LOS rate: -0.406269 deg/s, cmd heading: 321.402912 deg, new cmd heading: 320.887281 deg. zohHeadingCmd: 5.600540 target range: 10.648032 and range: 10.20 m.Ro7@JoboZoBo:n2nmmlԙkkk`ff$@kZ?ɞBޥ< 靽>I -5^:ɝ1i1I=oI}.iyi<)>)7@)J5C=J1 DDAT read: Rx Time:04:06:32.1345  TRx dataTimestamp_ set to:1761365192.963425 PDAT read: Bearing 2.5, -5.4 (Local)  ~Local bearing/azimuth received: Bearing 2.5, -5.4 (Local)  DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 5 DAT read: 04:06:32.1345 LVL= 27568, 32753, 23538, 32755, AGC= 53, IDX= 510,-0.45,-0.584,-2.034,-0.622,-0.734, PHS= 0.238,-1.253, 0.109, RAW= 145.5, 12.6, CAL= 147.5, 5.4, ROT= 2.5, -5.4 = Ygot valid direction response: 04:06:32.1345 LVL= 27568, 32753, 23538, 32755, AGC= 53, IDX= 510,-0.45,-0.584,-2.034,-0.622,-0.734, PHS= 0.238,-1.253, 0.109, RAW= 145.5, 12.6, CAL= 147.5, 5.4, ROT= 2.5, -5.4 = V#Rx 113: Read range and direction messages.E \direction in FSK: [0.994614,0.043426,0.094108]M Fpublishing direction and range info y x?R;?|ӄ{? Y k) I [i Fs> NbF] "FY *FY 2Fe 4:Fa d;= j"@) z0a>I S$@i = ¸2=  ) S}.?5q0? 8c?i > a ¸2=  )  checking for new query: numPingsReceived=113, elapsed TxPingTime=55.506233 !G}Q(>GA2BI:BY Om?/ď,*I2?Aߥ@YŠ@E<92@=MAHRS rotation from veh to nav: [[0.855197,0.518013,-0.017323],[-0.518238,0.854086,-0.044349],[-0.008178,0.046904,0.998866]]yH`]??-h`T? ᴦ`| ??ɫߥ@; C]WB]I-checking for new query: numPingsReceived=113, elapsed TxPingTime=55.730835Mb@Mb@Mb@ )IiX9v?Q?S㥛></ݼ)AI@i$A@ \@IFIפ٥mv m=9/9Q > F٦Ey > 54Y  ?54y %H B=>=:==? B*D W; ; ɭ4EVB)EAEEH]>H]CH]II]BI] =IYI]D&I]w<*I]EJp Rp =2?Ap j"Ap j"Ap H@v O 3F1$@Td@6?Ahwb?v x?R;?|ӄ{?p ¸2=p v !U0!@D!3ԍ?v ^|D?b["޿Y0퀶?jp rp AZp z?bp zp Bp p ~Np GBp Ap @M addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 10.150908 m, bearing: 331.026387 deg, lat: 36.779463 deg, lon: -121.859728 deg, deltaT: 1.008981 s, deltaX: -0.497125 m, approachRate: -0.492700 m/s, posRepo size: 4 oaeDNOT Ignoring new targets: 10.15 m.oaouoq  ProNav: ac range: 10.150908 m, nav range: 9.665889 m, bearing: 331.282011 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 320.887287 deg, new cmd heading: 320.164210 deg. zoMHeadingCmd: 5.587920 target range: 10.150908 and range: 10.20 m.RoM=в@JoIboQZoQBoY:nY2nmmBlkkAJMJMJIJIJMy:JMH9JIJIJM;JM;JMV;JMW;kake`E ?ɞB_< b>I n)J:ɝiIDI1ii,>)=в@)E= R>E= > DDAT read: Rx Time:04:06:32.6342  TRx dataTimestamp_ set to:1761365193.469012 PDAT read: Bearing 3.0, -7.5 (Local)  ~Local bearing/azimuth received: Bearing 3.0, -7.5 (Local) - DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 e DAT read: 04:06:32.6342 LVL= 27408, 32753, 22658, 32755, AGC= 53, IDX= 507, 0.09,-0.328,-1.789,-0.384,-0.447, PHS= 0.207,-1.295, 0.060, RAW= 144.9, 14.2, CAL= 147.0, 7.5, ROT= 3.0, -7.5  Ygot valid direction response: 04:06:32.6342 LVL= 27408, 32753, 22658, 32755, AGC= 53, IDX= 507, 0.09,-0.328,-1.789,-0.384,-0.447, PHS= 0.207,-1.295, 0.060, RAW= 144.9, 14.2, CAL= 147.0, 7.5, ROT= 3.0, -7.5  V#Rx 114: Read range and direction messages. \direction in FSK: [0.990086,0.051888,0.130526] Fpublishing direction and range info y pAɮ?H? /? AY k) I XF "F *F 2F `5:F i S> ¥ u= !@) }>I Y3$@i > PwV=  ) i\`"? O9 ?4Ɂq?i > (~ PwV=  )  checking for new query: numPingsReceived=114, elapsed TxPingTime=56.024376i jK PrK 9zK K K =Lxowq\-=! enTC7-'!=SK=GkzuԙGh*>G2B:B O?#)ď,j2?A- @Y-@-;9-j2=eAHRS rotation from veh to nav: [[0.845240,0.534124,-0.016723],[-0.534330,0.844284,-0.040945],[-0.007751,0.043544,0.999021]]y-H5 ?@?@; _?@ۿeK??ɫ- @-;-!Cchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.2363975@B5I IMAI]TI]n٥mU˽ 3=9rQ > F٦Ey + > 4Yў?4yJBA?P*D; :ѭ4\B) AEJpRpK^2?Ap Ap Ap@v+O#@]1?gE+o5^?vpAɮ?H? /?pPwV=p v}

I9 =Px:ɝ9i9I=QIe4iaim!'%>)ms@)iU DDAT read: Rx Time:04:06:33.1341 ] TRx dataTimestamp_ set to:1761365193.971741m PDAT read: Bearing 4.7, -8.3 (Local) u ~Local bearing/azimuth received: Bearing 4.7, -8.3 (Local)  DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4  DAT read: 04:06:33.1341 LVL= 27936, 32753, 21490, 32755, AGC= 55, IDX= 506,-0.23,-1.894, 2.913,-2.010,-2.030, PHS= 0.224,-1.293, 0.017, RAW= 142.8, 14.6, CAL= 145.3, 8.3, ROT= 4.7, -8.3  Ygot valid direction response: 04:06:33.1341 LVL= 27936, 32753, 21490, 32755, AGC= 55, IDX= 506,-0.23,-1.894, 2.913,-2.010,-2.030, PHS= 0.224,-1.293, 0.017, RAW= 142.8, 14.6, CAL= 145.3, 8.3, ROT= 4.7, -8.3  V#Rx 115: Read range and direction messages. \direction in FSK: [0.986198,0.081080,0.144356] Fpublishing direction and range infoY y] ?AQ*?'ЌCz?] AYY ] m)Y I] SiY ] 7] B`e>] ] C< ] W@)] w>I] :M"@i] V>] =] V Y )Y ] F oŠ?m?by<*?i] 2~>] f] =] V Y )Y  checking for new query: numPingsReceived=115, elapsed TxPingTime=56.512627F "F! *F! 2F% 2:F! Q G oE->ԁG2B:B O>]Nď,*2?A:z@Y:`@:n<9:0=BAHRS rotation from veh to nav: [[0.840023,0.542289,-0.016831],[-0.542494,0.839083,-0.040497],[-0.007839,0.043149,0.999038]]y:H`x? oZ?< \?@` ?@?ɫ:z@:5;8Z+BZI-checking for new query: numPingsReceived=115, elapsed TxPingTime=56.738811Mb@Mb@Mb@ )IiˡE?Mb`Mb?);AII@iA`@ f@I}WI}ƕ٥B =949Q > F٦ Ey > =4Y G垊?=4y N BE.?E:EE? b*D ; ; %ڭ4q)}!AyJp Rp 1~2?Ap Ap Ap !@v ]A"@&7?ϖ/?v ?AQ*?'ЌCz?p =p Vv i쇓} @1W%\e?v +x?ysB޿pK8 ?jp rp AZp ~?bp zp ؃Bp ee?p p ^Bp cAp ܐ@ZH5<RH1H=>H=CH=SII=BI= =I9I=D&I=d<*I=E] addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.502729 s, deltaX: -0.200000 m, approachRate: -0.397828 m/s, rangeRepo size: 4  Added new target pos. range: 9.553796 m, bearing: 331.476353 deg, lat: 36.779465 deg, lon: -121.859731 deg, deltaT: 0.502729 s, deltaX: -0.199038 m, approachRate: -0.395914 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 9.55 m. 9.75 m.oo ProNav: ac range: 9.752833 m, nav range: 9.320727 m, bearing: 330.190270 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 319.516632 deg, new cmd heading: 318.966704 deg. zo|HeadingCmd: 5.567019 target range: 9.752833 and range: 9.60 m.Ro%@ Jobo ZoBo:n2nmmxBlkkk%@33#@k%`3N?ɞUB]Y< 靭>I ́:ɝiI)I5V7i1i=%&>)e%@)iJJzJJJJ9JJJ;J;JY:JZ:9  DDAT read: Rx Time:04:06:33.6338  TRx dataTimestamp_ set to:1761365194.474635 PDAT read: Bearing 4.7, -7.8 (Local)  ~Local bearing/azimuth received: Bearing 4.7, -7.8 (Local) F "F! *F! 2F- ?1:F) U DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 ] DAT read: 04:06:33.6338 LVL= 32368, 32753, 25074, 32755, AGC= 55, IDX= 503, 0.18,-0.360,-1.862,-0.480,-0.509, PHS= 0.237,-1.306, 0.026, RAW= 142.8, 14.3, CAL= 145.3, 7.8, ROT= 4.7, -7.8 e Ygot valid direction response: 04:06:33.6338 LVL= 32368, 32753, 25074, 32755, AGC= 55, IDX= 503, 0.18,-0.360,-1.862,-0.480,-0.509, PHS= 0.237,-1.306, 0.026, RAW= 142.8, 14.3, CAL= 145.3, 7.8, ROT= 4.7, -7.8 e V#Rx 116: Read range and direction messages. \direction in FSK: [0.987416,0.081180,0.135716] Fpublishing direction and range info y 8&?RV=ȴ? M _? 3AY p~) I ai !r> + < ) r>I i 'g > 'g ) Ѕ? h+ 'g ) - checking for new query: numPingsReceived=116, elapsed TxPingTime=57.066772i jK=p}OrK=9zK9K=K=up^L;.$ "Bwyqje[QKG@81,'#!Bpykafg]M=."  GMZ%>G2B:B1 O=>lď,2?A(ROq@YR5l@R9<9R0=~AHRS rotation from veh to nav: [[0.835076,0.549869,-0.017073],[-0.550076,0.834136,-0.040411],[-0.007980,0.043138,0.999037]]yRH? ?~{`9@>?ΰW+??ɫROq@RF;P=BEIIoI٥ꋽ :=9:9Q > F٦Eyë > 4Y\?4yDRBi?q*Dl:;45nB)5"A5EMAIUchecking for new query: numPingsReceived=116, elapsed TxPingTime=57.243095Jp)Rp-k`2?Ap-|Ap-|Ap-ڸ@v-pɜ"@JBѨ?1q?v-8&?RV=ȴ? M _?p)p-'g v-7C@"_8?v-[9?OFq޿ge?jp-rp-@Zp--?bp-$zp-Bp)p)p-Bp-Ap-Ş@= addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502894 s, deltaX: -0.400001 m, approachRate: -0.795397 m/s, rangeRepo size: 4 } Added new target pos. range: 9.155468 m, bearing: 330.979860 deg, lat: 36.779465 deg, lon: -121.859731 deg, deltaT: 1.005623 s, deltaX: -0.597365 m, approachRate: -0.594025 m/s, posRepo size: 4 oyoyԁzIgnoring new targets. Set target to previous: 9.16 m. 9.75 m.oo ProNav: ac range: 9.752833 m, nav range: 9.092445 m, bearing: 330.281544 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 318.966692 deg, new cmd heading: 318.445247 deg. zo|HeadingCmd: 5.557918 target range: 9.752833 and range: 9.20 m.Rowڱ@JoboZoBo:n2nmmlkkk`ff"@kʄ?ɞB< =I &:ɝiII 9iiO1&>)wڱ@)E Fy"F*F2FP5:FԹ  DDAT read: Rx Time:04:06:34.1338  TRx dataTimestamp_ set to:1761365194.979358 PDAT read: Bearing 7.2, -10.3 (Local) % ~Local bearing/azimuth received: Bearing 7.2, -10.3 (Local) 5 DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 ] DAT read: 04:06:34.1338 LVL= 30096, 32753, 24418, 32755, AGC= 54, IDX= 503,-0.34,-0.110,-1.624,-0.312,-0.249, PHS= 0.228,-1.328,-0.066, RAW= 139.8, 16.1, CAL= 142.8, 10.3, ROT= 7.2, -10.3 e Ygot valid direction response: 04:06:34.1338 LVL= 30096, 32753, 24418, 32755, AGC= 54, IDX= 503,-0.34,-0.110,-1.624,-0.312,-0.249, PHS= 0.228,-1.328,-0.066, RAW= 139.8, 16.1, CAL= 142.8, 10.3, ROT= 7.2, -10.3 e V#Rx 117: Read range and direction messages.m \direction in FSK: [0.976127,0.123313,0.178802]m Fpublishing direction and range info y  Jn  +  y(@) ޏ>I W@i X8> > X8  )  þ?w ? z!r?i ь> 䇏 > X8  )  checking for new query: numPingsReceived=117, elapsed TxPingTime=57.513176GU [Z&>G) 2B9 :BI  O] >\հď,~2?AX-B-IuMb@Mb@Mb@q q)qIqiquS?{GzX9vu?u#u)u$AIu`@iu@u@ qqI^I٥1 %9=9%Q %>)) -F٦-Ey- 5> 1}4Y5?4y5>V5B?:&?5*D5P&<5%<5t4)"AJp9Rp=ͭ2?Ap9p9p=/@v=,!@GZ?&|91?v= Jnp=X8v=WK @>d])fQ,#?v=9.P(?dXj>ܿW/i?jp=Jrp=AZp=?묡?bp=zp=NBp=~?p=$p=Bp=Ap=L@U addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504723 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 9.155468 m, bearing: 333.364015 deg, lat: 36.779466 deg, lon: -121.859730 deg, deltaT: 1.510346 s, deltaX: -0.597365 m, approachRate: -0.395516 m/s, posRepo size: 4 oioiuzIgnoring new targets. Set target to previous: 9.16 m. 9.75 m.oqo ProNav: ac range: 9.752833 m, nav range: 8.845374 m, bearing: 330.495410 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 318.445248 deg, new cmd heading: 317.907100 deg. zo|HeadingCmd: 5.548526 target range: 9.752833 and range: 9.20 m.Ro@JoboZoBo:n2nmmaBlkkkk ?ɞ-B5;]checking for new query: numPingsReceived=117, elapsed TxPingTime=57.746887 Yep=Ia ef:ɝaiaIebIm)@) F- "F)*F)2F-5:F)G9F=sAHM>HIHM'IIMfBIM =IIII&IM<*IMsE2I C:I CBI ȔCJI ȫ =RI Ȫ =ZI 6Q G KP&>G 2B :B  O >ď,=2?AV׮@YVҵ@V <9VsA2=fDDAT read: Rx Time:04:06:34.6335 fTRx dataTimestamp_ set to:1761365195.482406jPDAT read: Bearing 8.3, -12.3 (Local) n~Local bearing/azimuth received: Bearing 8.3, -12.3 (Local) vDAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 DAT read: 04:06:34.6335 LVL= 32752, 32753, 24690, 32755, AGC= 54, IDX= 500,-0.09, 0.171,-1.324,-0.058, 0.063, PHS= 0.196,-1.341,-0.124, RAW= 138.6, 17.7, CAL= 141.7, 12.3, ROT= 8.3, -12.3 %Ygot valid direction response: 04:06:34.6335 LVL= 32752, 32753, 24690, 32755, AGC= 54, IDX= 500,-0.09, 0.171,-1.324,-0.058, 0.063, PHS= 0.196,-1.341,-0.124, RAW= 138.6, 17.7, CAL= 141.7, 12.3, ROT= 8.3, -12.3 -V#Rx 118: Read range and direction messages.5\direction in FSK: [0.966812,0.141043,0.213030]5Fpublishing direction and range infodyfgH?@ ?AzUmD?f3 AYd f)dIfr`iddf9H>f㥫f fT@)f2+>IfG@if[>fV>f[ d)df"Ͷ?;s&sw?!&8y?ife>fOLfV>f[ d)dUchecking for new query: numPingsReceived=118, elapsed TxPingTime=58.017086eAHRS rotation from veh to nav: [[0.824606,0.565437,-0.017472],[-0.565641,0.823643,-0.040773],[-0.008664,0.043504,0.999016]]yVH,c??@ 䑿 I[? +ि *F??ɫV׮@V;V#CquII]It٥:; c=9F:Q > F٦EyW > 4Y:?4yYB+?*D;<4tB)%"A%EJpdRpf2?Apf Apf Apf%@vf]} @^澉?i?vfgH?@ ?AzUmD?pfV>pf[vfw>@{Jnݏ+?vfN\J?ܿQI?jpfwsrpf@Zpf Y?bpfpzpfBpfee?pfpf؃Bpf Apf#<@  addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503048 s, deltaX: -0.500000 m, approachRate: -0.993941 m/s, rangeRepo size: 4 ] Added new target pos. range: 8.657877 m, bearing: 333.290721 deg, lat: 36.779465 deg, lon: -121.859730 deg, deltaT: 2.013394 s, deltaX: -1.094956 m, approachRate: -0.543836 m/s, posRepo size: 4 oYoYezIgnoring new targets. Set target to previous: 8.66 m. 9.75 m.oaoa ProNav: ac range: 9.752833 m, nav range: 8.648549 m, bearing: 330.699597 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 317.907111 deg, new cmd heading: 317.468241 deg. zo|HeadingCmd: 5.540866 target range: 9.752833 and range: 8.70 m.RoN@JoboZoBo:n2nmmlkkk`ff!@k`J?IɞB[; =I t:ɝiISI>ii#>)N@)jKe%CNrKe9zKaKeKe #*,+'#  F} "Fy*F2F_0:FGe_;->yGI2BYuchecking for new query: numPingsReceived=118, elapsed TxPingTime=58.250851:By O>Թ %;ď,~2?AQJJJJJ:J9JJ!@!@!@!@ Ќ@Y @ T<9 4=AHRS rotation from veh to nav: [[0.819401,0.572951,-0.017595],[-0.573145,0.818404,-0.041466],[-0.009358,0.044062,0.998985]]y H8?U?@n3W ^0?;*P?@?ɫ Ќ@ ';  CuBuIDDAT read: Rx Time:04:06:35.1334 TRx dataTimestamp_ set to:1761365195.986385PDAT read: Bearing 8.4, -12.3 (Local) ~Local bearing/azimuth received: Bearing 8.4, -12.3 (Local) DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 DAT read: 04:06:35.1334 LVL= 32752, 32753, 26546, 32755, AGC= 54, IDX= 499, 0.10,-3.002, 1.768, 3.045,-3.113, PHS= 0.199,-1.356,-0.128, RAW= 138.5, 17.7, CAL= 141.6, 12.3, ROT= 8.4, -12.3 Ygot valid direction response: 04:06:35.1334 LVL= 32752, 32753, 26546, 32755, AGC= 54, IDX= 499, 0.10,-3.002, 1.768, 3.045,-3.113, PHS= 0.199,-1.356,-0.128, RAW= 138.5, 17.7, CAL= 141.6, 12.3, ROT= 8.4, -12.3 V#Rx 119: Read range and direction messages. \direction in FSK: [0.966564,0.142730,0.213030] Fpublishing direction and range infoۡyۥgX?QD?AzUmD?ۥ AYۡ ܡ)ܡIܥgiܡܡܥK>ܥhܥo ݥ@)ݡIݥ2+@iݡݥQ >ݡ ޡ)ޡޥHFJZ?u|V?Z?iޥ|I>ޥޥQ >ޡ ߡ)ߡMchecking for new query: numPingsReceived=119, elapsed TxPingTime=58.524189qMb@Mb@Mb@ )IitV?v/S㥛?xi/ݼ)AIv@iAI@ @ImIF٥v =9:Q > F٦Ey$ > %4Y\&?%4y^B-?-:-5-?*D;[;4Y)]#AYJpRp 2?ApApApN@v`^ @lN0f?p+?vgX?QD?AzUmD?pQ >pvmQj@t gY}U?vVM?Uܿ+?jpJtrpF@Zpgҙ?bpXzpBpgҙ?pXpNBpApN@ addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503979 s, deltaX: -0.099999 m, approachRate: -0.198420 m/s, rangeRepo size: 4  Added new target pos. range: 8.558362 m, bearing: 332.858984 deg, lat: 36.779465 deg, lon: -121.859729 deg, deltaT: 2.517373 s, deltaX: -1.194471 m, approachRate: -0.474491 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 8.56 m. 9.75 m.o o  ProNav: ac range: 9.752833 m, nav range: 8.355778 m, bearing: 331.098531 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 317.468231 deg, new cmd heading: 316.833055 deg. zom|HeadingCmd: 5.529780 target range: 9.752833 and range: 8.60 m.Rom@JoiboiZoiBoq:nq2nymyԡm}[Blkkk@33!@kzO?ɞB(; d=I9 EwJ:ɝAiAIE!FIM/@iIiM}&>)M@)QEYEYF "F *F 2F 3:F U checking for new query: numPingsReceived=119, elapsed TxPingTime=58.754810G f/>JH)BH-?AH5>H5CH5II5VBI5 =I1I5D&I5n<*I5EG2B:B O>zď,z3?A!=^D@Y=D?@=z#<9=9=AHRS rotation from veh to nav: [[0.814295,0.580165,-0.018215],[-0.580365,0.813233,-0.042758],[-0.009994,0.045389,0.998919]]y=H?? 򦒿Y?c䥿w`;=?%?ɫ=^D@=;=!CDDAT read: Rx Time:04:06:35.6332 TRx dataTimestamp_ set to:1761365196.522726Q]B]IPDAT read: Bearing 9.4, -10.2 (Local) ~Local bearing/azimuth received: Bearing 9.4, -10.2 (Local) DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 ImZIm٥p =9:Q >! %F٦%E-DAT read: 04:06:35.6332 LVL= 32752, 32753, 30002, 32755, AGC= 53, IDX= 496, 0.32, 1.497,-0.139, 1.197, 1.300, PHS= 0.285,-1.392,-0.106, RAW= 137.1, 15.8, CAL= 140.6, 10.2, ROT= 9.4, -10.2 5Ygot valid direction response: 04:06:35.6332 LVL= 32752, 32753, 30002, 32755, AGC= 53, IDX= 496, 0.32, 1.497,-0.139, 1.197, 1.300, PHS= 0.285,-1.392,-0.106, RAW= 137.1, 15.8, CAL= 140.6, 10.2, ROT= 9.4, -10.2 =V#Rx 120: Read range and direction messages.E\direction in FSK: [0.970980,0.160745,0.177085]EFpublishing direction and range infoyZD? =H?ki?ym[ m> q}4Yu9?}4yucu|By}X7}?u*Du:u :u4AY )I2ui5>-ٽ f$@)0>I= @iK6>'>K6 )8n?NDb,#?%da?i>ӌ'>K6 )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.yB)]#AJpRpXt!3?ApApAp{9@v)\?vN@#Ml$?ߟ?vZD? =H?ki?p'>pK6v7"kDe@.?J /ܿiU?jp-crp*@Zp1&?bpwJzpރBp-?pwJpp@pD@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.536341 s, deltaX: -0.500000 m, approachRate: -0.932243 m/s, rangeRepo size: 4  Added new target pos. range: 8.060540 m, bearing: 333.433744 deg, lat: 36.779464 deg, lon: -121.859728 deg, deltaT: 3.053714 s, deltaX: -1.692293 m, approachRate: -0.554175 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 8.06 m. 9.75 m.oo% ProNav: ac range: 9.752833 m, nav range: 8.054890 m, bearing: 331.559079 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 316.833051 deg, new cmd heading: 316.186441 deg. zo!-|HeadingCmd: 5.518495 target range: 9.752833 and range: 8.10 m.Ro5@Jo1bo1Zo1Bo1:n92nYmYmalakakake@33 @km`3?yɞ`o; =I ":ɝiII Ci i ޔ(>) @)1 F "F *F 2F P5:F  2Acoustic response timeoutԹ GKP&>G2B9:B O?Cď,;3?AJ 4=J R=JcJk3JkS}-JJJ3J J<:J9J(3J 8z屭@Yzˬ@z?<9zDF=AHRS rotation from veh to nav: [[0.803774,0.594619,-0.019388],[-0.594820,0.802550,-0.045846],[-0.011701,0.048383,0.998760]]yzH??`kړ@~?0y@Ũ? ?ɫz屭@zw;zCDDAT read: Rx Time:04:06:36.1331 TRx dataTimestamp_ set to:1761365196.994998PDAT read: Bearing 9.3, -9.8 (Local) ~Local bearing/azimuth received: Bearing 9.3, -9.8 (Local) DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 DAT read: 04:06:36.1331 LVL= 32752, 32753, 30418, 32755, AGC= 54, IDX= 511, 0.38,-3.036, 1.599, 2.943, 3.040, PHS= 0.295,-1.394,-0.099, RAW= 137.1, 15.5, CAL= 140.7, 9.8, ROT= 9.3, -9.8 -Ygot valid direction response: 04:06:36.1331 LVL= 32752, 32753, 30418, 32755, AGC= 54, IDX= 511, 0.38,-3.036, 1.599, 2.943, 3.040, PHS= 0.295,-1.394,-0.099, RAW= 137.1, 15.5, CAL= 140.7, 9.8, ROT= 9.3, -9.8 -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.972455,0.159246,0.170209]5Fpublishing direction and range infoy֑Z?)b?rl?AY )Ivi6= >nʽ )c>I)@i%/>6&>%/ )h<{y?G@ '?l?iQ>N;6&>%/ ) U2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.#BI-only read 0 of 1 data item for BIT error. Device response is::TS,25102420080037,35.0, +11.8,496.3, 0 m@ q@ u@ i@ ISIQ٥m= m'=9mGe;Q u>qq uF٦uEԙy} > 4YK?4yhsB+::;?*Df=;> 4)"AJpRp ?3?Ap@p@p@vN@ͽH?@?v֑Z?)b?rl?p6&>p%/v1F@|c~o2 mK/?vQO?g,Wݿt_J?jpirpg@Zp O5?bpzpɃBp O5?ppp @p@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.472272 s, deltaX: -0.100000 m, approachRate: -0.211743 m/s, rangeRepo size: 4  Added new target pos. range: 7.961027 m, bearing: 332.295442 deg, lat: 36.779464 deg, lon: -121.859728 deg, deltaT: 3.525986 s, deltaX: -1.791807 m, approachRate: -0.508172 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 7.96 m. 9.75 m.oo ProNav: ac range: 9.752833 m, nav range: 7.781928 m, bearing: 332.046176 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 316.186450 deg, new cmd heading: 315.603721 deg. zo|HeadingCmd: 5.508324 target range: 9.752833 and range: 8.00 m.Ro1D@JoboZoBo:n!2n!m!m!l)k)k)k- @k"?ɞBҽ< 靽=I Vl:ɝiI7?II]Fii/!>)1D@)FM "FI*FQ2FUS5:FQ  2Acoustic response timeout G5 R(>G 2B H5 >H5 CH1 I1 I1 I1 I5 D&I5 <*I5 eE:BI  OU >,ď,SU3?Adim(>IuC)-G Q)iIy鿙Ac@Y^@M_R<9_U=AHRS rotation from veh to nav: [[0.798063,0.602202,-0.021167],[-0.602437,0.796641,-0.049323],[-0.012840,0.052115,0.998559]]yH້? F٦Ey > 9E4Y=~Z?E4y=,m=kBM :IMq:MF>M?=*D=a:=h?= 4]B)]"A]EB*** querying acoustic contact ***:pBpoozIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.DDAT read: Rx Time:04:06:36.6328 TRx dataTimestamp_ set to:1761365197.498457PDAT read: Bearing 8.4, -5.4 (Local) ~Local bearing/azimuth received: Bearing 8.4, -5.4 (Local) DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 %DAT read: 04:06:36.6328 LVL= 32752, 32753, 30242, 32755, AGC= 53, IDX= 508, 0.48, 1.836 1.537, 1.521, PHS= 0.403,-1.364, 0.013, RAW= 137.9, 11.8, CAL= 141.6, 5.4, ROT= 8.4, -5.4 -!unknown deviceResponse_: 04:06:36.6328 LVL= 32752, 32753, 30242, 32755, AGC= 53, IDX= 508, 0.48, 1.836 1.537, 1.521, PHS= 0.403,-1.364, 0.013, RAW= 137.9, 11.8, CAL= 141.6, 5.4, ROT= 8.4, -5.4 --X#Rx 1: Read range message, but no direction.@Y 52Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.o<o< ProNav: ac range: 9.752833 m, nav range: 7.548813 m, bearing: 332.508615 deg, approach rate: -0.567541 m/s, LOS rate: 1.160611 deg/s, cmd heading: 315.603726 deg, new cmd heading: 317.033571 deg. zo!G=|HeadingCmd: 5.533280 target range: 9.752833 and range: 8.00 m.Ro@JoboZoBo:n2nmmlkkk@kؙ?ɞ0)< >I :ɝiIITBiiI >)@)!E-i>E->F "F*F2FA5:FGFtAG =H!>jK fMrK 9zK K K PFlGQ 2BY q :Bq  O >Mď,bio3?A &2Acoustic response timeoutB@YBu@BKek<9BWe=JAHRS rotation from veh to nav: [[0.792547,0.609385,-0.022804],[-0.609642,0.790892,-0.053172],[-0.014367,0.056043,0.998325]]yBH\? ?Y/N?@T9gl?@G?ɫB@B;@=ai mF٦m!EymӼ m> q}4Yuf?4yupudB9C:@?u*Du:ul?u4B){"AɦEԉ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503459 s, deltaX: -0.500000 m, approachRate: -0.993130 m/s, rangeRepo size: 4 oozIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o<o< ProNav: ac range: 9.752833 m, nav range: 7.358718 m, bearing: 332.922387 deg, approach rate: -0.444854 m/s, LOS rate: 0.993301 deg/s, cmd heading: 317.033585 deg, new cmd heading: 318.306747 deg. zol*=|HeadingCmd: 5.555501 target range: 9.752833 and range: 7.50 m.RoƱ@JoboZoBo:n2nmmlkkkk ?ɞ-B-yO< 15>I1 JEAAJAJMJMJM2JIJMl:JM:JMc3JI U:ɝQiYI]IeI:iaiez@=)eƱ@)iԱDDAT read: Rx Time:04:06:37.1327 TRx dataTimestamp_ set to:1761365198.002568 PDAT read: Bearing 6.0, 0.6 (Local) ~Local bearing/azimuth received: Bearing 6.0, 0.6 (Local) %DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 MDAT read: 04:06:37.1327 LVL= 29536, 32753, 22098, 32755, AGC= 55, IDX= 506, 0.32, 2.972, 1.221, 2.752, 2.552, PHS= 0.508,-1.284, 0.196, RAW= 140.6, 7.0, CAL= 144.0, -0.6, ROT= 6.0, 0.6 UYgot valid direction response: 04:06:37.1327 LVL= 29536, 32753, 22098, 32755, AGC= 55, IDX= 506, 0.32, 2.972, 1.221, 2.752, 2.552, PHS= 0.508,-1.284, 0.196, RAW= 140.6, 7.0, CAL= 144.0, -0.6, ROT= 6.0, 0.6 ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.994467,0.104523,-0.010472]eFpublishing direction and range infoy9?xº?/;r@Y `s)IRVi7J ?Z9H> = @)5=I| @i+Pw=+< )`:#?c7^?ꀒgk?iG>Pw=+< ) }2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.F"F*F2F_0:F G} MR!>G9 2BA :BY  Oe >ď,3?APjOЬ@Yj6˳@j<9jK=vAHRS rotation from veh to nav: [[0.787047,0.616346,-0.025979],[-0.616690,0.785009,-0.058775],[-0.015832,0.062280,0.997933]]yjH|/? ?W? 46*?`?ɫjOЬ@j;jC5LB5I E2Acoustic response timeoutmm5 q=q= u=u= i=i= =Mb@Mb@Mb@9 9)9I9i9=ʡE?Zd;~jtx=-?=y=Ļ)=AI=3@i9=@ 9= @IMI٥= )=9?F;Q > F٦%Ey > 54Y w?54y u `B5T:=?=:=.E=? *D ; ; 4EB)E,"AAJpRp*3?Ap@p@p(@vLT+J@} T?9ۭv9?xº?/;rpPw=p+<vRZ@եFBnc¿v2ڋ?(5(jpzrp@Zpi?bpzpBp Y?pXZH<RH<H>H CH4IIpBI =I@DID&I<*IEpރBp\@p A@% addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504111 s, deltaX: -0.100000 m, approachRate: -0.198369 m/s, rangeRepo size: 4  Added new target pos. range: 7.363885 m, bearing: 327.946277 deg, lat: 36.779464 deg, lon: -121.859729 deg, deltaT: 4.533556 s, deltaX: -2.388948 m, approachRate: -0.526948 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 7.36 m. 9.75 m.oo Y ProNav: ac range: 9.752833 m, nav range: 7.090044 m, bearing: 333.589642 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 318.306759 deg, new cmd heading: 317.789926 deg. zoh|HeadingCmd: 5.546481 target range: 9.752833 and range: 7.40 m.Ro|@JoboZoBo:n2nm9mEBlAkAkAkE@kM?ɞY^< <>I r:ɝiIVI8ii#=)|@) DDAT read: Rx Time:04:06:37.6324  TRx dataTimestamp_ set to:1761365198.508027 PDAT read: Bearing 5.8, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 5.8, 1.9 (Local) ) 5 DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5 FI "FI *FI 2FM 4:FI  DAT read: 04:06:37.6324 LVL= 22352, 31473, 18626, 30867, AGC= 54, IDX= 503, 0.19, 2.866, 1.106, 2.643, 2.412, PHS= 0.542,-1.259, 0.228, RAW= 140.6, 5.9, CAL= 144.2, -1.9, ROT= 5.8, 1.9  Ygot valid direction response: 04:06:37.6324 LVL= 22352, 31473, 18626, 30867, AGC= 54, IDX= 503, 0.19, 2.866, 1.106, 2.643, 2.412, PHS= 0.542,-1.259, 0.228, RAW= 140.6, 5.9, CAL= 144.2, -1.9, ROT= 5.8, 1.9 G- >= R#Rx 1: Read range and direction messages.m ^direction in FSK: [0.994334,0.101001,-0.033155]m Fpublishing direction and range info y \%*?GDG/۹?B3 @Y  PW) zI Hi x 6 ? & xi>  ) B=I !@i  4Q= =  )  ?]Sg?)=@k?i :'> ӽ 4Q= =  )  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.G 2B :B!  O5 >5ď,13?A2܉@Y2Ä@2<92l=>AHRS rotation from veh to nav: [[0.781685,0.623095,-0.026838],[-0.623413,0.779392,-0.062491],[-0.018020,0.065579,0.997685]]y2H ?@e?{@?s@ɰ?`?ɫ2܉@2m;2CniBn+II~mI~F٥ 5>  =9 ;Q  ? F٦'Ey %? )54Y->?54y-!y-]B1U_G]?-+D- ;-;-4a)eH!AaJpIRpM3?ApM@pM@pMҶ@vM`)O@d1?R#ͿvM\%*?GDG/۹?B3pM4Q=pM=vM(3s@X= oӿvM?S7@b jpMlrpM̸@ZpMfjh?bpM}zpM̀BpM1&?pMpMɃBpM@pMa@- addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505459 s, deltaX: -0.500000 m, approachRate: -0.989200 m/s, rangeRepo size: 4 = Added new target pos. range: 6.866129 m, bearing: 327.342186 deg, lat: 36.779464 deg, lon: -121.859731 deg, deltaT: 5.039015 s, deltaX: -2.886704 m, approachRate: -0.572871 m/s, posRepo size: 4 o9o9EzIgnoring new targets. Set target to previous: 6.87 m. 9.75 m.jKMJMrKM9zKIKMKMn]I8-$|]1)etcQB771) =vCs`TH@71(oIo ProNav: ac range: 9.752833 m, nav range: 6.922953 m, bearing: 334.045215 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 317.789933 deg, new cmd heading: 317.384617 deg. zo|HeadingCmd: 5.539407 target range: 9.752833 and range: 6.90 m.RoB@JoboZoBo:n2nmmlkkk@k|?AɞQUXO< QU>u>IQ ];ɝYiYI]IB9ii^&=)B@) m2Acoustic response timeoutF= "F9*F92F=_0:F9GE= GE=G=G?G?yG2B:B O>ԩ Je Je Ja Ja Je :Je 9Ja Ja Wď,3?A6/H@Y6C@6<96=BAHRS rotation from veh to nav: [[0.776629,0.629441,-0.025504],[-0.629632,0.774290,-0.063552],[-0.020255,0.065415,0.997653]]y6H%?b$?%?D`ս@??ɫ6/H@6;6!CNsBR8IfDDAT read: Rx Time:04:06:38.1324 jTRx dataTimestamp_ set to:1761365199.011431rPDAT read: Bearing 8.9, 1.6 (Local) r~Local bearing/azimuth received: Bearing 8.9, 1.6 (Local) zDAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5 DAT read: 04:06:38.1324 LVL= 14112, 28353, 19170, 25219, AGC= 52, IDX= 502, 0.12,-1.236,-2.947,-1.572,-1.726, PHS= 0.579,-1.174, 0.151, RAW= 136.5, 5.7, CAL= 141.1, -1.6, ROT= 8.9, 1.6 %Ygot valid direction response: 04:06:38.1324 LVL= 14112, 28353, 19170, 25219, AGC= 52, IDX= 502, 0.12,-1.236,-2.947,-1.572,-1.726, PHS= 0.579,-1.174, 0.151, RAW= 136.5, 5.7, CAL= 141.1, -1.6, ROT= 8.9, 1.6 %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.987575,0.154650,-0.027922]-Fpublishing direction and range infohyjF56?ѵ?|p}hYh j 7)jnIjJijbj4jX9?jEj> jx@)j%=Ij7@ij伉j>j< h)hj`?M{.I ?0SC?ij6>j;mʽj>j< h)h m2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԁ Mb@Mb@Mb@  ) I i  (\?Q롿~jt? ? \ D<) hAI @i A v@  (AIEkIE ٥/= 4=9;Q > F٦)Ey > I]4YMΑ?e4yM}M\Be?e:e?e?M+DM@;M?;M<'4B)(!AʦEJphRpjI3?AphphpjiH@vjw4@p˄S?$gȿvjF56?ѵ?|p}pj>pj<vj#X@X { +>$пvjءE ]?a࿩ͯ~Sjpj[rpj@Zpj bO?bpjyzpjBpj bO?pjypjBpj@pjjH@= addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 6.866129 m, bearing: 329.957174 deg, lat: 36.779463 deg, lon: -121.859737 deg, deltaT: 5.542419 s, deltaX: -2.886704 m, approachRate: -0.520838 m/s, posRepo size: 4 oqoquzIgnoring new targets. Set target to previous: 6.87 m. 9.75 m.oyoyԡ ProNav: ac range: 9.752833 m, nav range: 6.682250 m, bearing: 334.674577 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 317.384629 deg, new cmd heading: 316.845038 deg. zo|HeadingCmd: 5.529989 target range: 9.752833 and range: 6.90 m.Ro@JoboZoBo:n2nmmހBlk k k k ?ɞQ]@< Y靝>I ;ɝiIIw@iiN=)@)F"F*F2F`0:F }2Acoustic response timeoutH H H fII BI = I I &I <*I EG D=G 2B :B!  O5 >]ď,3?A|M0@YM@Mb_<9MTG{=AHRS rotation from veh to nav: [[0.771346,0.636038,-0.021955],[-0.636031,0.769220,-0.061360],[-0.022138,0.061294,0.997874]]yMHܮ?kZ?{`^Zr?jr`a??ɫM0@M?!;M CB\IIeI]٥e4 > e@=9e;Q m>ii F٦,EyB > 4Y!?4yA?+Dl:;c.4); AAADDAT read: Rx Time:04:06:38.6321 TRx dataTimestamp_ set to:1761365199.514728 PDAT read: Bearing 14.9, -0.8 (Local)  ~Local bearing/azimuth received: Bearing 14.9, -0.8 (Local) DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 EDAT read: 04:06:38.6321 LVL= 9792, 29329, 19026, 23523, AGC= 50, IDX= 499, 0.24,-2.970, 1.663, 2.765, 2.779, PHS= 0.622,-1.069,-0.017, RAW= 128.0, 6.3, CAL= 135.1, 0.8, ROT= 14.9, -0.8 MYgot valid direction response: 04:06:38.6321 LVL= 9792, 29329, 19026, 23523, AGC= 50, IDX= 499, 0.24,-2.970, 1.663, 2.765, 2.779, PHS= 0.622,-1.069,-0.017, RAW= 128.0, 6.3, CAL= 135.1, 0.8, ROT= 14.9, -0.8 MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.966282,0.257108,0.013962]]Fpublishing direction and range infoyy?st?4?@Y @&Jp)rIRJi[2d;?ԈC 5@)z0=I}@id<%>d )!6M~?^Vk?'*9?iwr>?⽩%>d ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.RpN3?Ap@p@pE@vƞ@l?pdv76@kqM|?vRD?ڿxt l?jp,rp @ZpW?bpߠzpBpppp@p@!5 addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503297 s, deltaX: -0.400000 m, approachRate: -0.794760 m/s, rangeRepo size: 4 m Added new target pos. range: 6.468047 m, bearing: 335.311525 deg, lat: 36.779463 deg, lon: -121.859737 deg, deltaT: 6.045716 s, deltaX: -3.284786 m, approachRate: -0.543325 m/s, posRepo size: 4 oioquzIgnoring new targets. Set target to previous: 6.47 m. 9.75 m.oyoy ProNav: ac range: 9.752833 m, nav range: 6.475787 m, bearing: 335.270272 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 316.845044 deg, new cmd heading: 316.318905 deg. zo|HeadingCmd: 5.520806 target range: 9.752833 and range: 6.50 m.Ror@JoboZoBo:n2nmmlkkk@k`SY?ɞ9=n< y靅,>I 3(;ɝiISIAiD=iO=)r@)EEF1"F1*F12F=o0:F9YG t=jKVOrKzKKK "L~ume`ZUQLGEHNNK9$#  (-8G2B:B O>ԁ  2Acoustic response timeoutď,3?A>̫@Y>sDz@><9>!y=RAHRS rotation from veh to nav: [[0.766981,0.641331,-0.020862],[-0.641233,0.764854,-0.061790],[-0.023672,0.060769,0.997871]]y>H? ȅ?\y?좯]=??ɫ>̫@>D;>!C^BbvIIf=)f=IjhIj٥= d=9 ;Q  >   F٦.Ey眼 > %4Y?-4y[B)-uC-?*+D:N:441)=A9aB*** querying acoustic contact ***:pBpoozIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o <o< ProNav: ac range: 9.752833 m, nav range: 6.297811 m, bearing: 335.829275 deg, approach rate: -0.480348 m/s, LOS rate: 1.551330 deg/s, cmd heading: 316.318901 deg, new cmd heading: 318.042754 deg. zo%=-|HeadingCmd: 5.550893 target range: 9.752833 and range: 6.50 m.Ro-렱@Jo)bo)Zo)Bo):n)2n1m1m1l1k9k9k9k=t? JM@AJMBAԁɞn< >I \:;ɝiIfIX=ii u =) 렱@)  *DAT read: user:341>  DAT read: 120  -BDAT read: Tx time:04:06:39.5756 -$Ping request sent.-]nď,d4?AI)94<j<) AIiQA@ AJHBHH>HCHIIˁBI =I?DID&I<*I*E2I}C:I}CBIyJI}î =RI}ñ =ZI}ð6I KI h٥= "=9;Q %>!a mF٦m2Eym] m> q}4Yu?}4yu3u^B=>:/?u:+Du;u;u=4B).A˦Eo!o!5zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o=<o=< ProNav: ac range: 9.752833 m, nav range: 6.054029 m, bearing: 336.448830 deg, approach rate: -0.520208 m/s, LOS rate: 1.375287 deg/s, cmd heading: 318.042759 deg, new cmd heading: 319.975498 deg. zok=|HeadingCmd: 5.584626 target range: 9.752833 and range: 6.50 m.RoB@JoboZoBo:n2nmm=Blkkkk/?ɞY]Kx< ae>Ia etR;ɝaiaIe\Im2iiiuY =)uB@)qJezJetJaJaJe`:Je9JaJaJex;!}Jey;!}Je:!Je:!F "F*F2F.1:F!G7= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498575G 2B :B  O >9 K ď,7O(4?AZW@YZR@Zܚ<9Z u}=bAHRS rotation from veh to nav: [[0.757747,0.652187,-0.021721],[-0.652084,0.755533,-0.062893],[-0.024607,0.061821,0.997784]]yZH`v?? ?= S-?`2??ɫZW@Z{;Z Cj́BjIIrQIr٥=> E=9E#Q E?AI MF٦M4EyMż M? 4YQş?4yՋ`B0?D+Dy::!C4)AoQoQ]zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.oeo<oeo< ProNav: ac range: 9.752833 m, nav range: 5.903273 m, bearing: 336.870255 deg, approach rate: -0.481685 m/s, LOS rate: 1.380874 deg/s, cmd heading: 319.975511 deg, new cmd heading: 321.271839 deg. zol=|HeadingCmd: 5.607251 target range: 9.752833 and range: 6.50 m.Ron@JoboZoBo:n2nmjK.NrKh9zKKKOh} JvnYE1p]QFB8-'%#!"0Cnmlkkkk X?ɞIM= IU>IQ Uc;ɝQiQIU'I].iYi]R<)]n@)Ea>E>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751217F "F*F2F_0:F9GU֣=Gq2B:B O]>iԑ   A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0026299ď,B4?AZ@YZ@Z^g<9ZF5=fAHRS rotation from veh to nav: [[0.752476,0.658525,-0.011181],[-0.658184,0.751251,-0.049159],[-0.023973,0.044350,0.998728]]yZHG?@?憿? ?@d+Q ? ?ɫZ@Z;ZC~B~IMb@Mb@Mb@ )IiS?J +?y&1?>H=`<)AI`@iA GAI7I"٥ =  >=9Q > F٦6Ey %> !-4Y%џ?54y%%eB5>5:55?%P+D%X ;% ;%[J4EB)EAE̦EԱoozIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o<o<  ProNav: ac range: 9.752833 m, nav range: 5.729131 m, bearing: 337.230505 deg, approach rate: -0.428536 m/s, LOS rate: 0.913460 deg/s, cmd heading: 321.271827 deg, new cmd heading: 322.385281 deg. zo=|HeadingCmd: 5.626685 target range: 9.752833 and range: 6.50 m.Ro @JoboZoBo:n2nm!m%rBl!k!k)k)k-%?ɞ= 靥J>I Y};ɝiI`Il(ii) @)Fa"Fa*Fa2Fa:Fachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255551 G Т=H >H CH II BI =I I D&I y<*I EGa 2Bi :B  O >1 ;ď,\4?AJwJsJJJW:J9JJJz;Jz;JE:JF:@Y@<9xG=AHRS rotation from veh to nav: [[0.748692,0.662759,-0.014511],[-0.662493,0.747248,-0.052195],[-0.023749,0.048692,0.998532]]yH@H?`S5?@$3s?PQ ?`?ɫ@;髉BII8I?٥5= 5H=957Q 5>9A EF٦E9EyEce E> 4Yޟ?4y;iB?[+D::Q4B)2Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506381զE oIoIUzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.oU<o]< ProNav: ac range: 9.752833 m, nav range: 5.553528 m, bearing: 337.628674 deg, approach rate: -0.405587 m/s, LOS rate: 0.948717 deg/s, cmd heading: 322.385284 deg, new cmd heading: 323.617361 deg. zo"=|HeadingCmd: 5.648189 target range: 9.752833 and range: 6.50 m.Ro@JoboZoBo:n2nmmlkkkkT@ɞa= >I U;ɝiI@I!"iijټ)@)9F"F*F2F:FGm=GI2BQ:Bi O}>jK% `OrK% 9zK! K% K% wmcYPEB7/1.)&!        BK5 ?:K5 >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758329 ď,Ju4?A N}ժ@YNdб@NH<9N[=VAHRS rotation from veh to nav: [[0.747297,0.664249,-0.017889],[-0.664070,0.745598,-0.055637],[-0.023619,0.053457,0.998291]]yNH@? A?iQ@`?`r|/^??ɫN}ժ@N;N C^B^IIfmIfF٥nY = nd=9nQ r>pp vF٦v;EyzϿ z> 4Y |蟊?4y  mB? e+D ;  ; W41)5A1oYoYezIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.oe7<oe7<u ProNav: ac range: 9.752833 m, nav range: 5.405395 m, bearing: 337.989251 deg, approach rate: -0.436897 m/s, LOS rate: 1.092601 deg/s, cmd heading: 323.617368 deg, new cmd heading: 324.728598 deg. zouu;=}|HeadingCmd: 5.667583 target range: 9.752833 and range: 6.50 m.Ro}\@JoboZoBo:n2nmmlkkkk@ɞB8= f?I |z;ɝiIޣIiiD3)\@)qF "F*F2F`0:FG8=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010572Ga2Bi:By OZ>ԙ #ď,뫏4?AdEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262573UB]IMb@Mb@Mb@ )IiE?333333?~jt?>=<) AI@i A@ AIZI٥2= /=9Q > F٦>Ey > 4Y?4yqB>; ?q+D. ;G ;_4B)A֦E%B*** querying acoustic contact ***:p!Bp!o1o15zIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o=F<o=F<ZHU<RHU<H]>H]CH] II]!BI] =IYIY&I]O<*I]EM ProNav: ac range: 9.752833 m, nav range: 5.224042 m, bearing: 338.300400 deg, approach rate: -0.390261 m/s, LOS rate: 0.692818 deg/s, cmd heading: 324.728585 deg, new cmd heading: 325.694341 deg. zom<u|HeadingCmd: 5.684439 target range: 9.752833 and range: 6.50 m.Rou@JoqboqZoqBoy:ny2nymymBlkkkkB@ɞֆ = _?I x;ɝiIIsGiife)@)))WG )IEO AEBFa"Fa*Fa2Feo0:FaGsAFGuqZGGsAYJexJeuJaJaJeZ:Je9JaJaJe;Je;Jeo:Jeq:G2B:B O%>DDAT read: Rx Time:04:06:41.7115 TRx dataTimestamp_ set to:1761365202.538723 PDAT read: Bearing 23.7, -2.7 (Local)  ~Local bearing/azimuth received: Bearing 23.7, -2.7 (Local)  DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.3 M DAT read: 04:06:41.7115 LVL= 23248, 28113, 16754, 29731, AGC= 45, IDX= 514,-0.24,-1.292, 2.715,-2.475,-2.187, PHS= 0.984,-1.334,-0.291, RAW= 116.7, 6.4, CAL= 126.3, 2.7, ROT= 23.7, -2.7 U Ygot valid direction response: 04:06:41.7115 LVL= 23248, 28113, 16754, 29731, AGC= 45, IDX= 514,-0.24,-1.292, 2.715,-2.475,-2.187, PHS= 0.984,-1.334,-0.291, RAW= 116.7, 6.4, CAL= 126.3, 2.7, ROT= 23.7, -2.7 U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.914646,0.401502,0.047106]] Fpublishing direction and range infoyMaD?T3?P7V?3@Y Z)mIrAi#t-m{? Z@)=I @iA=>A )1@vm?є-Y'6̫?i~ll彩>A ) checking for new query: numPingsReceived=1, elapsed TxPingTime=2.540760ԁ )ď,4?AYeBeII}NI}٥o ]=9Q > F٦AEy >  4Y? 4yuB   ?z+DW::f41)=A9Jp)Rp-pz4?Ap-j@p-j@p-<@v-ly@ [YkM@]d?v-MaD?T3?P7V?p->p-Av-=נF@~%:$7u?v-e6a?ӿsmk?jp-ɿrp-0@Zp- ?bp-$zp-pBp)p)p)p-=@p-@ addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 3.023995 s, deltaX: -1.400000 m, approachRate: -0.462964 m/s, rangeRepo size: 4  Added new target pos. range: 5.075454 m, bearing: 341.880904 deg, lat: 36.779463 deg, lon: -121.859737 deg, deltaT: 9.069711 s, deltaX: -4.677379 m, approachRate: -0.515714 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 5.08 m. 9.75 m.ooYjK اMrK 9zK K K    +[`VMC8.& U ProNav: ac range: 9.752833 m, nav range: 5.077573 m, bearing: 338.568142 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 325.694347 deg, new cmd heading: 325.219762 deg. zoUh]|HeadingCmd: 5.676156 target range: 9.752833 and range: 5.10 m.Ro]@JoYboaZoaBoa:na2namimlkkk`ff@k ?ɞ B <(=  ?I  wC;ɝiIaiIi*D=i3E)@)!Mchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.766606ԁF "F*F2F0:FԱJu R=Ju = G &t- DDAT read: Rx Time:04:06:42.2113 - TRx dataTimestamp_ set to:1761365203.047208] PDAT read: Bearing 25.4, -10.7 (Local) ] ~Local bearing/azimuth received: Bearing 25.4, -10.7 (Local)  DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.3 G 2B :B  O% >41ď,4?ArDAT read: 04:06:42.2113 LVL= 22624, 32321, 21186, 30131, AGC= 46, IDX= 511, 0.39,-0.588,-2.489,-1.554,-1.105, PHS= 0.605,-1.337,-0.452, RAW= 117.1, 14.0, CAL= 124.6, 10.7, ROT= 25.4, -10.7 t @Y @ <9 -=AHRS rotation from veh to nav: [[0.750843,0.659673,-0.032660],[-0.659989,0.747460,-0.075621],[-0.025473,0.078334,0.996602]]y H? ?@0?[@ ?@)?ɫ @ b; CmYgot valid direction response: 04:06:42.2113 LVL= 22624, 32321, 21186, 30131, AGC= 46, IDX= 511, 0.39,-0.588,-2.489,-1.554,-1.105, PHS= 0.605,-1.337,-0.452, RAW= 117.1, 14.0, CAL= 124.6, 10.7, ROT= 25.4, -10.7 uR#Rx 2: Read range and direction messages.}\direction in FSK: [0.887629,0.421477,0.185667]Fpublishing direction and range infoۉyۍHtg?$kK{? &K{?ۍ@Yۉ ܍`X)܍A~I܍Ri܍u܍.܍H?܍"܍l ݍM@)ݍ5z>Iݍ- @iݍt;?>ݍ>ݍt;? މ)މލ?B _@El?iލPDQލR|yލ>ލt;? ߉)߉checking for new query: numPingsReceived=2, elapsed TxPingTime=3.137765BIMb@Mb@Mb@ )Iirh|?Zd;O?Q?>j=u<)7 AIiA@ AIUkIU ٥e e=9es];Q m>i F٦DEy< > 4Y ?4yxB> ;?+D;<aA<*p4%B)%AmצEchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.274785AJpRpu4?Apܘ@pܘ@pߡ@vۣ@ Y@ 7a?vHtg?$kK{? &K{?p>pt;?vNco@P,?v1]?/:ҿ$5?jp(rps@Zp߶≡?bpyYzpʃBp߶≡?pߠpBp@p$@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.508485 s, deltaX: -0.300000 m, approachRate: -0.589987 m/s, rangeRepo size: 4  Added new target pos. range: 4.776898 m, bearing: 343.116333 deg, lat: 36.779463 deg, lon: -121.859731 deg, deltaT: 9.578196 s, deltaX: -4.975935 m, approachRate: -0.519507 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 4.78 m. 9.75 m.o o E ProNav: ac range: 9.752833 m, nav range: 4.869753 m, bearing: 338.826974 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 325.219758 deg, new cmd heading: 324.501844 deg. zoAM|HeadingCmd: 5.663626 target range: 9.752833 and range: 4.80 m.RoMl<@JoIboIZoQBoQ:nQ2nQmYm]BH>HH II,BI =IID&I}<*I&Elkkk@33@k i7?ɞ % lu = ) - >I) - Pu;ɝ1 i1 I5 I} xiy i} )} l<@) E E y F "F *F 2F _0:F  PExceeded connect timeout, disconnecting.Gu .ۼJ vJ sJ J J {T:J 9J J J Zu;J \u;J E:J F:ԡ G2B!:BA OM>Z8ď, 4?ADDAT read: Rx Time:04:06:42.7113 TRx dataTimestamp_ set to:1761365203.550744PDAT read: Bearing 25.8, -11.9 (Local) ~Local bearing/azimuth received: Bearing 25.8, -11.9 (Local) DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed 0.3 FDAT read: 04:06:42.7113 LVL= 24032, 32097, 22370, 31347, AGC= 46, IDX= 511, 0.15, 1.040,-0.886, 0.055, 0.545, PHS= 0.583,-1.384,-0.493, RAW= 116.9, 15.0, CAL= 124.2, 11.9, ROT= 25.8, -11.9 JYgot valid direction response: 04:06:42.7113 LVL= 24032, 32097, 22370, 31347, AGC= 46, IDX= 511, 0.15, 1.040,-0.886, 0.055, 0.545, PHS= 0.583,-1.384,-0.493, RAW= 116.9, 15.0, CAL= 124.2, 11.9, ROT= 25.8, -11.9 JR#Rx 3: Read range and direction messages.N\direction in FSK: [0.880970,0.425878,0.206204]NFpublishing direction and range info ybH0?qۓA?Fa5d? Y ])a}IbWisz }??&j @) >I @iȭT>>ȭT ) h8?lx OЪHu˓?i2^%>ȭT ) =checking for new query: numPingsReceived=3, elapsed TxPingTime=3.564159f@Ya@\<9=5AHRS rotation from veh to nav: [[0.758926,0.649552,-0.045968],[-0.650705,0.753796,-0.091510],[-0.024790,0.099361,0.994743]]yH I? "?@%?2mb o??ɫf@;CԁBI AIaI錴٥7 U=9Q > F٦GEy= > 4Y ?4y E {B? +D 2; ; v4A)EAAJp Rpd?4?Ap p p @v'U@bjlF@(O?vbH0?qۓA?Fa5d?p>pȭTvu@@ &Z>?vC"?ZXYѿlY?jp¥rp @Zp߆?bpAUzp BpW?p$ppBp"@pc@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 4.776931 m, bearing: 343.843032 deg, lat: 36.779464 deg, lon: -121.859728 deg, deltaT: 10.081732 s, deltaX: -4.975903 m, approachRate: -0.493556 m/s, posRepo size: 4 o9o9=zIgnoring new targets. Set target to previous: 4.78 m. 9.75 m.oAoA ProNav: ac range: 9.752833 m, nav range: 4.726751 m, bearing: 338.999027 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 324.501850 deg, new cmd heading: 324.081693 deg. zo|HeadingCmd: 5.656292 target range: 9.752833 and range: 4.80 m.RoY@JoboZoBo:n2nmmlkkkkjN?ɞBP+= 靕.>I ?;ɝiIZI | iit)Y@ԩ)jKtgMrK+9zKKK<dq)3SWZ-V=FE "FA*FA2FE0:FAchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.778726G=cZ?G2B :B  O5 > >ď,o4?A JuAAJuAAށBI-DDAT read: Rx Time:04:06:43.2111 5TRx dataTimestamp_ set to:1761365204.054471=PDAT read: Bearing 26.5, -12.5 (Local) E~Local bearing/azimuth received: Bearing 26.5, -12.5 (Local) UDAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.3 DAT read: 04:06:43.2111 LVL= 24176, 31313, 22914, 31347, AGC= 47, IDX= 509, 0.01,-0.704,-2.673,-1.731,-1.201, PHS= 0.585,-1.424,-0.533, RAW= 116.3, 15.5, CAL= 123.5, 12.5, ROT= 26.5, -12.5 Ygot valid direction response: 04:06:43.2111 LVL= 24176, 31313, 22914, 31347, AGC= 47, IDX= 509, 0.01,-0.704,-2.673,-1.731,-1.201, PHS= 0.585,-1.424,-0.533, RAW= 116.3, 15.5, CAL= 123.5, 12.5, ROT= 26.5, -12.5 R#Rx 4: Read range and direction messages.\direction in FSK: [0.873721,0.435621,0.216440]Fpublishing direction and range info1y5s{zi?j7?K?5@Y1 5p^)5QzI5Yi15/5?5E5r 5@)5c>I5i @i5f_>5h>5f_ 1)15 u?7w N+q'?i5i5k5h>5f_ 1)1checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047654-only read 3 of 4 data items for beam range. Device response is::RA, 0.02, 77.93, 84.40, 79.64 m@ q@ u@ i@ I^I٥3 9=9Q %>!! %F٦%JEy- -> 154Y5y'?=4y5@5BE+:AE:AE?5+D5(;5>5 }4Y)eAaJp1Rp5t|5?Ap5N@p5N@p5d@v54\قM@~Q6?lԄ{?v5s{zi?j7?K?p5h>p5f_v5@|1dq?v5?]пK~S?jp5rp5&@Zp5򽈡?bp5߼zp5Bp1p5yYp5ʃBp5Í@p5!@ addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503727 s, deltaX: -0.300000 m, approachRate: -0.595561 m/s, rangeRepo size: 4 - Added new target pos. range: 4.478372 m, bearing: 344.479092 deg, lat: 36.779464 deg, lon: -121.859727 deg, deltaT: 10.585459 s, deltaX: -5.274461 m, approachRate: -0.498274 m/s, posRepo size: 4 o)o1UzIgnoring new targets. Set target to previous: 4.48 m. 9.75 m.oYoY ProNav: ac range: 9.752833 m, nav range: 4.560843 m, bearing: 339.212233 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 324.081684 deg, new cmd heading: 323.545224 deg. zo|HeadingCmd: 5.646929 target range: 9.752833 and range: 4.50 m.Ro@JoboZoBo:n2nmmlkkk@k;?ɞ%B-= )-]>I) uI;ɝqiqIuI}"iyi})}@)Fa"Fa*Fa2Fe`5:FaA  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283583q JH BH @AH >H CH  II BI =I I D&I <*I XEG 4|EG 2B :B  O >Fď,Š5?AJ@YJj@J_<9J=VAHRS rotation from veh to nav: [[0.768963,0.636606,-0.058555],[-0.638919,0.762144,-0.104494],[-0.021894,0.117764,0.992800]]yJH`W?_?r`|c?`lk%??ɫJ@JV;JCȁBI nManaging dock network, ignoring radio surface power offIxIq٥ܽ G=9Q > F٦LEyt= > 4Y53?%4y B% :!%:%%?+D;[?45ÕB)5A1UB*** querying acoustic contact ***:pQBpQoyozIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.o<o< ProNav: ac range: 9.752833 m, nav range: 4.406544 m, bearing: 339.396013 deg, approach rate: -0.384940 m/s, LOS rate: 0.474545 deg/s, cmd heading: 323.545214 deg, new cmd heading: 324.115841 deg. zo֢<|HeadingCmd: 5.656888 target range: 9.752833 and range: 4.50 m.Ro;@JoboZoBo:n2nmmlkkkk@g?ɞMBMυ= IM>II U;ɝQiQIIT iij);@DDAT read: Rx Time:04:06:43.7111 TRx dataTimestamp_ set to:1761365204.559587PDAT read: Bearing 26.5, -13.3 (Local) ~Local bearing/azimuth received: Bearing 26.5, -13.3 (Local) =DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.3 )qDAT read: 04:06:43.7111 LVL= 24608, 29473, 21106, 29667, AGC= 47, IDX= 509,-0.12,-0.694,-2.706,-1.739,-1.179, PHS= 0.573,-1.479,-0.563, RAW= 116.5, 16.3, CAL= 123.5, 13.3, ROT= 26.5, -13.3 Ygot valid direction response: 04:06:43.7111 LVL= 24608, 29473, 21106, 29667, AGC= 47, IDX= 509,-0.12,-0.694,-2.706,-1.739,-1.179, PHS= 0.573,-1.479,-0.563, RAW= 116.5, 16.3, CAL= 123.5, 13.3, ROT= 26.5, -13.3 R#Rx 5: Read range and direction messages.\direction in FSK: [0.870931,0.434230,0.230050]Fpublishing direction and range infoy!?um?gz}"Er?Y  `)!sIrRis!?O  !@)>Ii,m>,m )S9?]ֻ?iB7}Q,m )%checking for new query: numPingsReceived=5, elapsed TxPingTime=4.576919F "F*F 2F 5:F GFsAG9G2B:B  O% >q jK  PrK 9zK K K tdUMJH<<85[H.X<.'"&5?DDCBA=:720,)**'#"! $0783+%!"%.B8Lď,cB35?A"checking for new query: numPingsReceived=5, elapsed TxPingTime=4.7863676/@Y6o*@6̳<96X>BAHRS rotation from veh to nav: [[0.774745,0.628888,-0.065354],[-0.631978,0.767066,-0.110516],[-0.019372,0.126924,0.991723]]y6H?`? )9@΋?J (֓` ??`2?ɫ6/@6z;4NBNIIVLIV٥^ bt=9bQ b?dd fF٦fNEyf< f? h~4YjIQ U=;ɝQiQIURvI]lA"iYi]"<)]Ǵ@)aF "F*F2F`0:FԉG cJUtJUjJQJQJU;N:JU9JQJQ!@!@!@!@G2B):Ba O}z>DDAT read: Rx Time:04:06:44.2109 TRx dataTimestamp_ set to:1761365205.063234PDAT read: Bearing 27.0, -14.3 (Local) ~Local bearing/azimuth received: Bearing 27.0, -14.3 (Local) %DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.3 MDAT read: 04:06:44.2109 LVL= 24896, 30705, 21490, 30803, AGC= 47, IDX= 507,-0.28,-1.626, 2.639,-2.683,-2.085, PHS= 0.548,-1.512,-0.601, RAW= 116.2, 17.2, CAL= 123.0, 14.3, ROT= 27.0, -14.3 UYgot valid direction response: 04:06:44.2109 LVL= 24896, 30705, 21490, 30803, AGC= 47, IDX= 507,-0.28,-1.626, 2.639,-2.683,-2.085, PHS= 0.548,-1.512,-0.601, RAW= 116.2, 17.2, CAL= 123.0, 14.3, ROT= 27.0, -14.3 UR#Rx 6: Read range and direction messages.]\direction in FSK: [0.863399,0.439924,0.246999]]Fpublishing direction and range infoyw,l?tŶ'?⩝?f@Y @a)wISiSxI ?7# @)`>Iod @ir>:F>r )||?JF\Ι?i'h:F>r )checking for new query: numPingsReceived=6, elapsed TxPingTime=5.059459Թ B Sď,M5?A6r}@Y6Yx@6r<96z >BAHRS rotation from veh to nav: [[0.780761,0.620747,-0.071309],[-0.624614,0.772395,-0.115168],[-0.016411,0.134459,0.990783]]y6H?`(?LAv?`{"ΐ`5?@?ɫ6r}@6s*;4NBRiImm qq uu i%i% %Mb@Mb@Mb@! !)!I!i!%?p= ף?%=%t)% AI%I@i%~A%A !%AIm]ԹImt٥ -=9zͻQ > F٦QEy< >Uchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.290482 Ye4Y]=K?e4y]]BmT:m>;U?]+D]>;];]Q4);!AJp1Rp5 D5?Ap5@p5@p5]@v5oz- @)k?k؄?v5w,l?tŶ'?⩝?p5:F>p5rv5r{2@d!'}@i`?v5e{?Z5-Ϳ0~?jp5srp5x@Zp5骒?bp5D zp5Bp5骒?p5ڣ p5Bp5Q@p51@U addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503647 s, deltaX: -0.300000 m, approachRate: -0.595656 m/s, rangeRepo size: 4 e Added new target pos. range: 4.179909 m, bearing: 346.222315 deg, lat: 36.779464 deg, lon: -121.859726 deg, deltaT: 11.594222 s, deltaX: -5.572924 m, approachRate: -0.480664 m/s, posRepo size: 4 oaozIgnoring new targets. Set target to previous: 4.18 m. 9.75 m.oo ProNav: ac range: 9.752833 m, nav range: 4.086979 m, bearing: 339.958919 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 323.685315 deg, new cmd heading: 323.108405 deg. zo|HeadingCmd: 5.639306 target range: 9.752833 and range: 4.20 m.Ro1u@JoboZoBo:n2nmm|BlkkH>HCHIIBI =IID&I`<*IE2IC:ICBIJIĥ =RIĥ =ZIL96k@k% ?ɞmBu9< quO>Iq uYI;ɝqiyI}/9IQ$ii<)1u@)F9"F9*FA2FE_0:FI  DDAT read: Rx Time:04:06:44.7108  TRx dataTimestamp_ set to:1761365205.567454% PDAT read: Bearing 28.0, -15.5 (Local) - ~Local bearing/azimuth received: Bearing 28.0, -15.5 (Local) E DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.3 m DAT read: 04:06:44.7108 LVL= 24800, 30849, 22418, 30947, AGC= 46, IDX= 505, 0.45,-0.251,-2.254,-1.327,-0.683, PHS= 0.520,-1.524,-0.647, RAW= 115.3, 18.2, CAL= 122.0, 15.5, ROT= 28.0, -15.5 u Ygot valid direction response: 04:06:44.7108 LVL= 24800, 30849, 22418, 30947, AGC= 46, IDX= 505, 0.45,-0.251,-2.254,-1.327,-0.683, PHS= 0.520,-1.524,-0.647, RAW= 115.3, 18.2, CAL= 122.0, 15.5, ROT= 28.0, -15.5 u R#Rx 7: Read range and direction messages.} \direction in FSK: [0.850835,0.452397,0.267238] Fpublishing direction and range info y  :?D?֚n? 3@Y  `) xI Wi x . ? oÿ ˡ%  @) >I {F@i c> 5> c  )  F}L?ڳOy?i b  5> c  )  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.561977G 9 Gy 2B :B  O >nYď,g5?AFͬ@YFdz@FHe<9F>^AHRS rotation from veh to nav: [[0.786822,0.612417,-0.076529],[-0.617022,0.777737,-0.120038],[-0.013994,0.141669,0.989815]]yFH-?@?k9?Ѻƨ3"??ɫFͬ@Fʊ;FCzyBz@IIbI٥_< e=9I޻Q >!! %F٦%TEy%< -> 1=4Y5U?=4y55B9==?5+D5R:5:5K4MȕB)mu"AuئEJpRp+Qd5?Ap@p@p\@vmZF @3?ir?v :?D?֚n?p5>pcv.f:@_uyZO8?vv#H?Dʿ m -D?jp^Vrpq@Zp'?bp»zpBp߆?pD p Bp*x@p@ addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504220 s, deltaX: -0.100000 m, approachRate: -0.198326 m/s, rangeRepo size: 4  Added new target pos. range: 4.080479 m, bearing: 347.505066 deg, lat: 36.779464 deg, lon: -121.859726 deg, deltaT: 12.098442 s, deltaX: -5.672355 m, approachRate: -0.468850 m/s, posRepo size: 4 oozIgnoring new targets. Set target to previous: 4.08 m. 9.75 m.o)o)= ProNav: ac range: 9.752833 m, nav range: 3.949885 m, bearing: 340.258530 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 323.108410 deg, new cmd heading: 322.678970 deg. zo9=|HeadingCmd: 5.631811 target range: 9.752833 and range: 4.10 m.Ro=7@JoboZoBo:n2nmmlkkk`ff@k@ ?ɞB< 靍>I a<ɝiII~&ii!=)7@)jK@nNrK]9zKKKT^\TLC3*'B  raUH=3-%   %%# %checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795244F5 "F9*F92F9:F9GE= GE=G 0G2B:B O>! J- qJ) J) J) J- D:J) J) J) S`ď,_5?A r@Yr~@r:<9r{>zAHRS rotation from veh to nav: [[0.792282,0.604912,-0.079816],[-0.610049,0.782895,-0.122129],[-0.011389,0.145452,0.989300]]DDAT read: Rx Time:04:06:45.2106 TRx dataTimestamp_ set to:1761365206.070383PDAT read: Bearing 29.0, -16.8 (Local) ~Local bearing/azimuth received: Bearing 29.0, -16.8 (Local) DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3 DAT read: 04:06:45.2106 LVL= 21680, 24897, 18418, 29107, AGC= 45, IDX= 503, 0.27,-1.371, 2.903,-2.475,-1.778, PHS= 0.494,-1.555,-0.700, RAW= 114.5, 19.3, CAL= 121.0, 16.8, ROT= 29.0, -16.8 Ygot valid direction response: 04:06:45.2106 LVL= 21680, 24897, 18418, 29107, AGC= 45, IDX= 503, 0.27,-1.371, 2.903,-2.475,-1.778, PHS= 0.494,-1.555,-0.700, RAW= 114.5, 19.3, CAL= 121.0, 16.8, ROT= 29.0, -16.8 R#Rx 8: Read range and direction messages.\direction in FSK: [0.837291,0.464118,0.289032]Fpublishing direction and range infoہyۅ6>Vt?W\7?\.?ۅ3s@Yہ ܅T)܅AaI܅Gi܅q܅-܅>܅= ǿ܅333 ݅?)݅iw>yrH_Z?p[?nz ?`C3S,?X?ɫr@rs;pgB)II݅(@i݅Q >݅?݅Q ށ)ށޅIb?R$}?iޅýޅ' ޅ?ޅQ ߁)߁checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067261IUMb@Mb@Mb@Q Q)QIQiQUsh|?? rh?Q롿U>UC =U\)UAIU@iUAQ QU\AIWIƕ٥ (=9读Q > F٦WEye_< e> iu4Ym f?u4ymmvB}P>}:}Q}?m+DmQ:m:m24)#AJpRp(5?Ap r@p r@pq@v;U @Wd!?$nM}?v6>Vt?W\7?\.?p?pQ vbD @t[AFi!/"g?v8,@y?~ϾcǿH˞?jp0rp^@Zp!?bp;zpBp骒?p߼pBp[i@pf@= addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502929 s, deltaX: -0.300000 m, approachRate: -0.596506 m/s, rangeRepo size: 4 U Added new target pos. range: 3.781907 m, bearing: 348.778544 deg, lat: 36.779464 deg, lon: -121.859726 deg, deltaT: 12.601371 s, deltaX: -5.970926 m, approachRate: -0.473831 m/s, posRepo size: 4 ooQ]zIgnoring new targets. Set target to previous: 3.78 m. 9.75 m.oYoam ProNav: ac range: 9.752833 m, nav range: 3.722840 m, bearing: 341.067011 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 322.678982 deg, new cmd heading: 322.070411 deg. zoqq|HeadingCmd: 5.621189 target range: 9.752833 and range: 3.80 m.Ro@JoboZoBo:n2nmm9Blkkk`ff@k`?ɞEBEdz< AM_>II u6<ɝqiqIuI}x)iyi}._=)}@)M checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302890Fe "Fa *Fa 2Fa :Fi ԡ ZH <RH p<H >H CH II BI =I I &I <*I E G <G ?G ?G2B:B O>gď,f5?AFY@YFT@F7<9FK>NAHRS rotation from veh to nav: [[0.797351,0.598028,-0.081203],[-0.603446,0.787950,-0.122424],[-0.009229,0.146616,0.989150]]yFH? #? ɴ`mO`6?.W悿R??ɫFY@Fp;FCZDB^IIfaIf錴٥nS/ nO=9nGQ n>pp rF٦rYEyr!< v> x~4Yz$r?~4yzpzpB|~,~?z+Dz:z:z4 ΕB) L$A ٦E15B*** querying acoustic contact ***:p1Bp1oAoAMzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.oM=oU=] ProNav: ac range: 9.752833 m, nav range: 3.557809 m, bearing: 341.697788 deg, approach rate: -0.464019 m/s, LOS rate: 1.855784 deg/s, cmd heading: 322.070412 deg, new cmd heading: 324.049692 deg. zoe3=e|HeadingCmd: 5.655734 target range: 9.752833 and range: 3.80 m.Roe@JoaboiZoiBoi:ni2nqmqmqlqkykykyk}?ɞBx< 靵z>I &_<ɝiI+I!(iifb=)@DDAT read: Rx Time:04:06:45.7106 TRx dataTimestamp_ set to:1761365206.574444%PDAT read: Bearing 31.0, -19.5 (Local) -~Local bearing/azimuth received: Bearing 31.0, -19.5 (Local) =DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3 eDAT read: 04:06:45.7106 LVL= 21696, 27729, 19938, 29331, AGC= 44, IDX= 503, 0.13,-0.968,-2.923,-2.093,-1.308, PHS= 0.428,-1.568,-0.788, RAW= 112.8, 21.4, CAL= 119.0, 19.5, ROT= 31.0, -19.5 mYgot valid direction response: 04:06:45.7106 LVL= 21696, 27729, 19938, 29331, AGC= 44, IDX= 503, 0.13,-0.968,-2.923,-2.093,-1.308, PHS= 0.428,-1.568,-0.788, RAW= 112.8, 21.4, CAL= 119.0, 19.5, ROT= 31.0, -19.5 uR#Rx 9: Read range and direction messages.}\direction in FSK: [0.808001,0.485496,0.333807]}Fpublishing direction and range infoyDA%?C%k^?{{]?Y T)QlIMir,">9ȿ^I d?)t;>I@i@>c ?@ )^?x$pԽl{Q?iv 񾾩c ?@ )checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575667)YFa"Fa*Fa2Fe|0:FiG=<G2B:B1 OEQ>ԉjK zNrK 9zK K K !"()%%$$"  Df`NA>@>8*&/8>FOQLV checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803222Ա mď,)5?A2e@Y2L@2;92,O>:AHRS rotation from veh to nav: [[0.800788,0.593260,-0.082354],[-0.598912,0.791614,-0.121048],[-0.006620,0.146257,0.989224]]y2H` ??'I*T?@{? ?ɫ2e@25;2CR2BVIIiI҅ԡ٥y :=9 Q 5>AA EF٦M\EyK< > 4Y3?4y^hB%?+D9<<4JuJiJJJ[Q:Jڈ9JJ)$A)=DDAT read: Rx Time:04:06:46.2104 =TRx dataTimestamp_ set to:1761365207.079558EPDAT read: Bearing 34.3, -29.6 (Local) M~Local bearing/azimuth received: Bearing 34.3, -29.6 (Local) ]DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 DAT read: 04:06:46.2104 LVL= 20320, 22977, 18082, 29683, AGC= 45, IDX= 501,-0.03,-3.004, 1.398, 2.078, 3.015, PHS= 0.352,-1.571,-0.940, RAW= 108.8, 24.2, CAL= 115.7, 29.6, ROT= 34.3, -29.6 Ygot valid direction response: 04:06:46.2104 LVL= 20320, 22977, 18082, 29683, AGC= 45, IDX= 501,-0.03,-3.004, 1.398, 2.078, 3.015, PHS= 0.352,-1.571,-0.940, RAW= 108.8, 24.2, CAL= 115.7, 29.6, ROT= 34.3, -29.6 T#Rx 10: Read range and direction messages.\direction in FSK: [0.718288,0.489983,0.493942]Fpublishing direction and range info9y=j ӹ7?8a[?ci?=`@Y9 =`O)=YI=Fi=s=-=X9>=ɿ=ףp =?)=@>I=<@i= A?=@?= A 9)9= ? ` ƿ"}:>?i=tH=Rؾ=@?= A 9)9checking for new query: numPingsReceived=10, elapsed TxPingTime=7.074372JpQRpUä5?ApU r@pU r@pU*@vU !Hr@g`?2?vUDA%?C%k^?{{]?pUc ?pU@vUqu @࿾h~K?vU/ ?[U?jpUrpU[@ZpUx/p?bpULzpU1BpU'?pULpUBpUcS@pU@= addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 1.009175 s, deltaX: -0.300000 m, approachRate: -0.297272 m/s, rangeRepo size: 4 m Added new target pos. range: 3.781926 m, bearing: 351.230631 deg, lat: 36.779464 deg, lon: -121.859726 deg, deltaT: 13.105432 s, deltaX: -5.970907 m, approachRate: -0.455606 m/s, posRepo size: 4 oioiuzIgnoring new targets. Set target to previous: 3.78 m. 9.75 m.ououY ProNav: ac range: 9.752833 m, nav range: 3.353579 m, bearing: 342.546157 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 324.049692 deg, new cmd heading: 323.365339 deg. zoh|HeadingCmd: 5.643790 target range: 9.752833 and range: 3.50 m.Ro홴@JoboZoBo:n2nmmlkkk @k?ɞBep< 靍=I  <ɝiIʖIm#ii 7=)홴@)EEtAF "F *F 2F _0:F G F !  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307142G ^=H5>H1H5GII5BI5 =QI1I1&I5q<*I57EiIG2B)5G:B9 I)iIB O?gvď,'5?A}L@Y}3@}s;9}C>AHRS rotation from veh to nav: [[0.803777,0.589225,-0.082197],[-0.594913,0.794982,-0.118669],[-0.004578,0.144284,0.989526]]y}H? ? ~p?a rw?2?ɫ}L@}:;yBII)=Mb@Mb@Mb@ )Ii'1Z?:vˡE?T')AIi~AA AIlI)٥ǽ =9CjQ > F٦`Eyh< > 4Y)?4y[BG?: & ?+D;;^4B)a&AEJp!Rp%z5?Ap%^@p%^@p%gW@v% 6@WN?O{?v%j ӹ7?8a[?ci?p%@?p% Av%UGO@j ~տ'o?v%t>j?0 %Q/2?jp%rp%8@Zp%;$v?bp%gŵzp%Bp%骒?p%»p!p%B@p%@oaoamzIgnoring new targets. Set target to previous: 9.75 m. 9.75 m.om =ou =} ProNav: ac range: 9.752833 m, nav range: 3.089016 m, bearing: 344.326232 deg, approach rate: -0.582434 m/s, LOS rate: 4.253780 deg/s, cmd heading: 323.365334 deg, new cmd heading: 329.142338 deg. zou6>|HeadingCmd: 5.744617 target range: 9.752833 and range: 3.50 m.Roӷ@JoboZoBo:n2nmmBlkkkk i?ɞBC< HP=I d4 <ɝiIdIqiiy<)ӷ@DDAT read: Rx Time:04:06:46.7104 TRx dataTimestamp_ set to:1761365207.582447PDAT read: Bearing 46.5, -38.3 (Local)  ~Local bearing/azimuth received: Bearing 46.5, -38.3 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 EDAT read: 04:06:46.7104 LVL= 20176, 19809, 18674, 28531, AGC= 46, IDX= 501,-0.30,-1.468,-3.068,-2.705,-1.601, PHS= 0.221,-1.420,-1.107, RAW= 100.4, 28.4, CAL= 103.5, 38.3, ROT= 46.5, -38.3 MYgot valid direction response: 04:06:46.7104 LVL= 20176, 19809, 18674, 28531, AGC= 46, IDX= 501,-0.30,-1.468,-3.068,-2.705,-1.601, PHS= 0.221,-1.420,-1.107, RAW= 100.4, 28.4, CAL= 103.5, 38.3, ROT= 46.5, -38.3 UT#Rx 11: Read range and direction messages.]\direction in FSK: [0.540204,0.569257,0.619779]eFpublishing direction and range infoywZI?O Y7?:?Y N)aMIHiso.Mb>µ- K?)>I8?iD +?O?D + )7:?6Шҿ@Hk?iO?D + )checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577511 )Fi"Fi*Fi2Fi:FiG=l;=QG 2B :B1  O= >a ^|ď,{5?A2checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810279>%ͭ@Y> ȴ@>t:;9>->FAHRS rotation from veh to nav: [[0.805800,0.586724,-0.080255],[-0.592181,0.797704,-0.113973],[-0.002851,0.139365,0.990237]]y>H@? r?@%ˆ? R-`Zg??ɫ>%ͭ@>Q;50-Cwo`VWvzqg]TOLG@;6B^f]RHCFUo}ux{iZBKf?:Kf>IZ٥n4U n=9r3Q r?pp rF٦rbEyv38< v? x~4Yz?~4yzSzTB%?z,Dz;z ;z4 ) b'A JpARpEF5?ApApApEq=vE0Ԍ?/!?g0tE@vEwZI?O Y7?:?pEO?pED +vE`2< @QW?KYCE@vEDD?KAE?a ?jpEb>rpEi @ZpECq?bpENzpEDžBpE!?pEgŵpE1BpE4@pEN@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.502889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 3.483359 m, bearing: 5.048124 deg, lat: 36.779463 deg, lon: -121.859725 deg, deltaT: 14.113435 s, deltaX: -6.269474 m, approachRate: -0.444220 m/s, posRepo size: 4 o o zIgnoring new targets. Set target to previous: 3.48 m. 9.75 m.o5o5YYu ProNav: ac range: 9.752833 m, nav range: 2.946007 m, bearing: 345.422717 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 329.142335 deg, new cmd heading: 328.756248 deg. zo}h|HeadingCmd: 5.737879 target range: 9.752833 and range: 3.50 m.Ro@JoboZoBo:n2nmmlkkk k?ɞB5;  hI  <ɝiI%l4Iu( iyi}+9Ƽ)@)ԁJJc3JJtJtJJJ;N:J9JJF"F*F2Fp0:FDDAT read: Rx Time:04:06:47.2102 %TRx dataTimestamp_ set to:1761365208.086628-PDAT read: Bearing 57.1, -45.7 (Local) 5~Local bearing/azimuth received: Bearing 57.1, -45.7 (Local) EDAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 mDAT read: 04:06:47.2102 LVL= 19008, 22577, 19058, 29347, AGC= 47, IDX= 498, 0.19, 1.087,-0.060, 0.052, 1.240, PHS=-0.065,-1.253,-1.191, RAW= 92.6, 37.5, CAL= 92.9, 45.7, ROT= 57.1, -45.7 uYgot valid direction response: 04:06:47.2102 LVL= 19008, 22577, 19058, 29347, AGC= 47, IDX= 498, 0.19, 1.087,-0.060, 0.052, 1.240, PHS=-0.065,-1.253,-1.191, RAW= 92.6, 37.5, CAL= 92.9, 45.7, ROT= 57.1, -45.7 }T#Rx 12: Read range and direction messages.\direction in FSK: [0.379361,0.586403,0.715693]Fpublishing direction and range info!y%tG?m?'tr?%L@Y! %@J)%1XI%rJi%r%/%%Nb%r %?)%6'?I%d?i%0L?% ?%0Lԩ !)!%Z_?V׿D: u?i%V%Q'% ?%0L !)! checking for new query: numPingsReceived=12, elapsed TxPingTime=8.094284G ;6= G 2B :B  O >nď,b6?A^ӭ@Y^δ@^"h:9^a>vAHRS rotation from veh to nav: [[0.806274,0.586454,-0.077418],[-0.591541,0.799111,-0.107240],[-0.001025,0.132261,0.991214]]y^H? ;?@ѳQ?tP? ?ɫ^ӭ@^hH;^C%B%IԱMb@Mb@Mb@ )IiM?Zd;~jtn?yD)AI@iA AI_I٥5 5*=95xQ =>99 =F٦=eEyE0: E>uchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.314510 I4YM篠?4yM'MGB?:0:?M,DM7&vU!KbT?m?Q<@vUtG?m?'tr?pU ?pU0LvU yE[I?&% 2?C6gb @vUON?Ën?x̝+?jpU?rpUJ?ZpU^jO?bpU|o zpUBpU;$v?pU;pUBpU"@pUƋ@] addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504181 s, deltaX: -0.300000 m, approachRate: -0.595024 m/s, rangeRepo size: 4 u Added new target pos. range: 3.184786 m, bearing: 15.733551 deg, lat: 36.779463 deg, lon: -121.859725 deg, deltaT: 14.617616 s, deltaX: -6.568048 m, approachRate: -0.449324 m/s, posRepo size: 4 oqoq}zIgnoring new targets. Set target to previous: 3.18 m. 9.75 m.oyoJHBHH>HHIIBBI =II&I<*IpE ProNav: ac range: 9.752833 m, nav range: 2.703136 m, bearing: 348.089078 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 328.756239 deg, new cmd heading: 328.163485 deg. zo|HeadingCmd: 5.727533 target range: 9.752833 and range: 3.20 m.RoG@JoboZoBo:n2nm!m%Bl)k)k1k= @k=?ɞB; 靭OI @ <ɝiIMuI\ii\F)G@)F "F*F2F0:FG G=GV =GG?! G 2B :B  O >- DDAT read: Rx Time:04:06:47.7105 - TRx dataTimestamp_ set to:1761365208.590426= PDAT read: Bearing 204.4, -67.3 (Local) = ~Local bearing/azimuth received: Bearing 204.4, -67.3 (Local) U DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4  DAT read: 04:06:47.7105 LVL= 10448, 15937, 7154, 13443, AGC= 42, IDX= 498,-0.03, 0.415, 1.108, 0.822, 2.074, PHS=-1.572,-0.919,-1.256, RAW= 301.0, 66.9, CAL= 305.6, 67.3, ROT= 204.4, -67.3  Ygot valid direction response: 04:06:47.7105 LVL= 10448, 15937, 7154, 13443, AGC= 42, IDX= 498,-0.03, 0.415, 1.108, 0.822, 2.074, PHS=-1.572,-0.919,-1.256, RAW= 301.0, 66.9, CAL= 305.6, 67.3, ROT= 204.4, -67.3  T#Rx 13: Read range and direction messages. `direction in FSK: [-0.351438,-0.159419,0.922538] Fpublishing direction and range info) y- }ֿ`gĿHn?- ff@Y) - ()- A>I- i- 4- *- L7ɿ- Ck- Ġ - 0@)- t?I- 㭪@i- Y?- &Qd@- Y ) )) - XA ٿ. p}M n?i- G- 1i- -- Y ) ))  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.5925539 ď,W@(6?A2d׭@Y2KҴ@2292, >BAHRS rotation from veh to nav: [[0.806543,0.586541,-0.073871],[-0.591175,0.800258,-0.100496],[0.000171,0.124725,0.992191]]y2H 4??/鲿? @]&?`? ?ɫ2d׭@2K.;2CրBwIIrI{٥E Ep=9MeQ M?II MF٦UgEyU: U? Ye4Y]=?e4y]]=BimB:m?]$,D]y:]p:]Ȯ4uB)(AEJpYRp]%6?Ap]Me@p]Me@p]J@v]j%<G:|Rq @v]}ֿ`gĿHn?p]-p]Yv].7=ȍ%% @v]Jֲ|ܿHu>dXG ?jp]7rp] ̿Zp]e5?bp][þzp]@Bp]Cq?p]gŵp]DžBp] @p]!X= addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503798 s, deltaX: 0.400000 m, approachRate: 0.793969 m/s, rangeRepo size: 4  Added new target pos. range: 3.582869 m, bearing: 181.612014 deg, lat: 36.779461 deg, lon: -121.859725 deg, deltaT: 15.121414 s, deltaX: -6.169965 m, approachRate: -0.408028 m/s, posRepo size: 4 oTStarting intercept timer at range: 3.60 m.ozIgnoring new targets. Set target to previous: 3.58 m. 9.75 m.oo ProNav: ac range: 9.752833 m, nav range: 2.534834 m, bearing: 350.290356 deg, approach rate: 0.000000 m/s, LOS rate: -0.406269 deg/s, cmd heading: 328.163487 deg, new cmd heading: 327.744647 deg. zoM|HeadingCmd: 5.720223 target range: 9.752833 and range: 3.60 m.RoM @JoQboQZoQBoQ:nQ2nQmYmYlYkYkake @keX?ɞ5B5n; 15tI9 =M<ɝ9i9I=wIE^iaieǼ^)m @)iF "F*F2FS5:F9checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819164jK-NrKs9zKKKPE@:51+(%&$! "#(<RYXVdzpkf\TMD;83/+%#!G "5:G2B:B O>q wď,/B6?AJC=Ja=DDAT read: Rx Time:04:06:48.2099 TRx dataTimestamp_ set to:1761365209.097944DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 -%Z#Rx 14: Read range message, but no direction.,@Y-checking for new query: numPingsReceived=14, elapsed TxPingTime=9.081702amԀBmtI]Mb@Mb@Mb@Y Y)YIYiY]x&1?&1ˡE]A ?]н]')] AI]@i];A]A Y]=AI}MI}٥ =9Q > F٦jEy > 4YϠ?4y/B"?:H?9,Da::Ю4)(AB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.507518 s, deltaX: -0.900000 m, approachRate: -1.773336 m/s, rangeRepo size: 4 oRStopped intercept timer at range: 2.70 m.oBIntercept lockout. Range: 2.70 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUTro@RoJoboZoBo:n2nm m Bl k kk@k &?ɞ=BE$; AEدIA E<ɝAiIIMIMԽiQiU+)Q)QԑF"F*F2F05:FGmƼG2B:B  O > checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322493Թ H H H II BI I I &I T<*I Eď,\6?AP*ۭ@Yִ@f9=AHRS rotation from veh to nav: [[0.806806,0.586382,-0.072253],[-0.590796,0.801725,-0.090532],[0.004841,0.115728,0.993269]]yH [?`?% ?-s?]?@?ɫ*ۭ@#;髥C̀BjIIUI٥M =9oQ  ? F٦lEy\:  ?  4Y۠?4y]'BH?F,DF; ;֮4B))A%EooRoJoboZoBo:n2nmmlk k k k )?J-sJ-pJ)J)J-K:J-^9J)J)J-(e;!5J-+e;!=J-:!EJ-:!EɞuBu9 y}ӽIy ?<ɝiIIN ii2))DDAT read: Rx Time:04:06:48.7100 TRx dataTimestamp_ set to:1761365209.599839PDAT read: Bearing 261.5, -13.7 (Local)  ~Local bearing/azimuth received: Bearing 261.5, -13.7 (Local) %DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 F1"F1*F92F=_0:F9GIFMtADAT read: 04:06:48.7100 LVL= 25680, 24113, 14738, 15779, AGC= 49, IDX= 512,-0.23, 2.315,-2.710,-1.360,-2.226, PHS=-1.654,-0.437, 0.863, RAW= 238.9, 11.3, CAL= 248.5, 13.7, ROT= 261.5, -13.7 Ygot valid direction response: 04:06:48.7100 LVL= 25680, 24113, 14738, 15779, AGC= 49, IDX= 512,-0.23, 2.315,-2.710,-1.360,-2.226, PHS=-1.654,-0.437, 0.863, RAW= 238.9, 11.3, CAL= 248.5, 13.7, ROT= 261.5, -13.7 T#Rx 15: Read range and direction messages.U`direction in FSK: [-0.143604,-0.960877,0.236838]UFpublishing direction and range infoyYa¿p 4ӋHP?9@Y Pd)1^I9i=1Fӿw߾\? Km@)I>IɊ@iGt> @Gt )>W޿]y?IY5?i@II ܿGt )checking for new query: numPingsReceived=15, elapsed TxPingTime=9.633927G] 8ƼGa Ga  G1 2BA :Bq  O >Ԝď,xu6?A"checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826426jK-NrK-9zK)K-K-     *38CITcr}kIIJIK٥t; N=9Q > F٦oEy > 4Yꠊ?4y B?V,D::vݮ4) )AJp)Rp-cf6?Ap-8@p-8@p-{@v-Yڿ a/?v-Ya¿p 4ӋHP?p- ܿp-Gtv-cSud>,R8Z?v-I5Fk ?jp-rp-Zp-'=A?bp- zp-Bp-^jO?p)p)p-?p-3>E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.501895 s, deltaX: 0.200000 m, approachRate: 0.398490 m/s, rangeRepo size: 4 U Added new target pos. range: 2.886201 m, bearing: 225.430582 deg, lat: 36.779457 deg, lon: -121.859725 deg, deltaT: 16.130827 s, deltaX: -6.866632 m, approachRate: -0.425684 m/s, posRepo size: 4 oQoQRoQJoYboYZoYBoY:nY2nYmamalakakakm@33@kmv?ɞ: 靝սI (<ɝiI]<IN iilb)))FA"FA*FA2FE`0:FAGmFΞGiԙ2B:BAA DDAT read: Rx Time:04:06:49.2096  TRx dataTimestamp_ set to:1761365210.103819DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 -Z#Rx 16: Read range message, but no direction.  3@Y %checking for new query: numPingsReceived=16, elapsed TxPingTime=10.083945 O%> Ѿď,6?A2@Y2@2@ һ92=:AHRS rotation from veh to nav: [[0.808306,0.583837,-0.075997],[-0.588727,0.802902,-0.093533],[0.006410,0.120345,0.992711]]y2H@?@ʮ?t`_? @Az?@ξ?J?ɫ2@2 ڊ;2CNڀBN{Iԑ%Mb@Mb@Mb@! !)!I!i!%y&1?T㥛 V-%`%?%%)% AI%@i%A! !%AI=dI=@٥M}= MB=9UsQ U>QY ]F٦]qEy];; ]> am4Ye?u4ye\eBu(?u:uPu?eh,De;eO;e4B)D)AE= addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503980 s, deltaX: -0.600000 m, approachRate: -1.190524 m/s, rangeRepo size: 4 oAoARoAJoAboAZoABoAUchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.330469:ni2nimimmBlqkqkqku`ff@kuL?ZHIRHM<HM>HIHMIIMBIIIIII&IMq<*IM7E2IC:ICBIēCJIğ =RIğ =ZI54ɞB3; 靥I w<ɝiIICii))Fy"Fy*F2F_0:FJM tJM oJI JI JM ;N:JM K9JI JI JM j;JM j;JM :JM :G} (G ?G %? DDAT read: Rx Time:04:06:49.7096  TRx dataTimestamp_ set to:1761365210.606933% PDAT read: Bearing 170.4, -26.8 (Local) % ~Local bearing/azimuth received: Bearing 170.4, -26.8 (Local) = DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 e DAT read: 04:06:49.7096 LVL= 18896, 17089, 20210, 22163, AGC= 49, IDX= 510,-0.28, 0.812, 2.077, 0.656, 1.766, PHS=-0.866, 0.358,-1.113, RAW= 339.0, 22.8, CAL= 339.6, 26.8, ROT= 170.4, -26.8 m Ygot valid direction response: 04:06:49.7096 LVL= 18896, 17089, 20210, 22163, AGC= 49, IDX= 510,-0.28, 0.812, 2.077, 0.656, 1.766, PHS=-0.866, 0.358,-1.113, RAW= 339.0, 22.8, CAL= 339.6, 26.8, ROT= 170.4, -26.8 u T#Rx 17: Read range and direction messages.ԑ G 2B  ^direction in FSK: [-0.880086,0.148855,0.450878] Fpublishing direction and range info y dF)5 ?j-? Y I) BI Ni V -] K> v TU@) %>I @i |> V>@ | ) a7X^&c#?i y ˾ V>@ | )  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613837:B9  OE >Lď,t6?AM@@YM;@Mhg#9M >]AHRS rotation from veh to nav: [[0.813994,0.574461,-0.086074],[-0.580788,0.807433,-0.103620],[0.009973,0.134337,0.990886]]yMH@< ?a? `ѕ}?Ԇl?@1?U?ɫM@@M ];MC߀BIYIZI٥u< uI=9jQ > F٦tEyU< > 4Yz ?4y~ BN?y,D_;;4))AJpIRpMצ6?ApM@pM@pM\!@vM$iN?=E`g?vMdF)5 ?j-?pMV>@pM|vM^lQi?נ8?vM]n念L)?O?jpMJ?rpM7ĿZpMYM?bpMKzpMBpMYM?pMKpIpM;@pM[!@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.289051 m, bearing: 138.879876 deg, lat: 36.779436 deg, lon: -121.859722 deg, deltaT: 1.007094 s, deltaX: -0.597151 m, approachRate: -0.592944 m/s, posRepo size: 4 ooRoJoboZoBo:n2nmmlkkkkc?ɞeBmeM; imTIi {<ɝiI~I>iC=i j;))ԉF% "F)*F)2F-o0:F)G5= G5=mchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.834658Gx/jK]JMrKYzKYK]K])Q!xqmd]XRMJMTTMG<4/,)!%3IsoWNKF:,%!G2B:B O>Թ ď,,6?ADDAT read: Rx Time:04:06:50.2096 TRx dataTimestamp_ set to:1761365211.114096%DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 -5Z#Rx 18: Read range message, but no direction.YMchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.100435BI-Mb@Mb@Mb@) )))I)i)-Cl?X9v~jt-;?--)- AI-@i-A-A )-AIEfIE{٥U = U0=9UQ U>YY ]F٦]wEye e> q}4Yu?}4yuuB1"?:M?u,Du;u2;u4B)(AB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.507163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmBlkkkk'?ɞLc; I <ɝiI`I%Ci%gC=i% ;)!))F"F*F2F0:F!  checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339630Hm >Hm CHm IIm #BIm =Ii Ii &Im r<*Ii G qG G Gq 2B :B  O >Y ď,C6?ABIIGI٥5%> 5r=99Q =?99 EF٦EyEyA E? IU4YM'?]4yM MBYY]?M,DM|;M;M4a)e'AioTStarting intercept timer at range: 2.30 m.oRoJoboZoBo:n2nmmlkkkk ?ɞBP < a Yď,6?A&checking for new query: numPingsReceived=19, elapsed TxPingTime=11.8423690N ή@YNȵ@Noj9N>^AHRS rotation from veh to nav: [[0.823890,0.558407,-0.096885],[-0.566569,0.815819,-0.115923],[0.014308,0.150400,0.988522]]yNH`N]?y?r͸U! 1?M?@L@?`?ɫN ή@N;NC~#BII_I٥%-= %a=9-BQ 5>11 5F٦5|Ey=B= => AM4YE5?M4yEWEBQUHU?E,DE`:EW:EY4jK]NrK]9zKYK]K]#!WhL:)6^psl\J@:S8rODEgOM^aZNHHFHmB)u\'AuEJp!Rp%rS6?Ap%^@p%^@p%dM?v%Ɉ ۿR(A?j3$(@v%?l_?=gl?p%5?p%{v%*X?%?? 4 @v%A̭&g?Ȕ?V?jp%.?rp%>Zp%Y?bp%@Jzp%jBp!p%@Jp%Bp%m @p%ϯ!@% addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.500372 s, deltaX: 1.200000 m, approachRate: 2.398216 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.483339 m, bearing: 73.545540 deg, lat: 36.779436 deg, lon: -121.859727 deg, deltaT: 1.007535 s, deltaX: 1.194288 m, approachRate: 1.185356 m/s, posRepo size: 4 o5]RStopped intercept timer at range: 3.50 m.oYRoaJoaboiZoiBoi:n2nmmlkkk @kɌ?ԑɞ!%g7D< IMs=II M4<ɝIiIIM IUEiUJB=i]*<)Y)YF"F*F2FP5:FG F sA-DDAT read: Rx Time:04:06:51.2097 =TRx dataTimestamp_ set to:1761365212.124534ePDAT read: Bearing 103.9, -57.8 (Local) m~Local bearing/azimuth received: Bearing 103.9, -57.8 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed -0.4 DAT read: 04:06:51.2097 LVL= 24560, 32753, 32754, 32755, AGC= 55, IDX= 492, 0.22,-0.666,-1.067,-1.943, 0.347, PHS=-0.925,-1.367,-2.293, RAW= 48.5, 53.3, CAL= 46.1, 57.8, ROT= 103.9, -57.8  Ygot valid direction response: 04:06:51.2097 LVL= 24560, 32753, 32754, 32755, AGC= 55, IDX= 492, 0.22,-0.666,-1.067,-1.943, 0.347, PHS=-0.925,-1.367,-2.293, RAW= 48.5, 53.3, CAL= 46.1, 57.8, ROT= 103.9, -57.8  T#Rx 20: Read range and direction messages. ^direction in FSK: [-0.128012,0.517272,0.846193] Fpublishing direction and range info1y5w =jb}?U?5@Y1 5_)5I5i515l55 58X?)5%n?I5M?i5^ ?5f?5^ 1)157mF3:?N/&⿟FԮf?i5*՟53n5f?5^ 1)1] checking for new query: numPingsReceived=20, elapsed TxPingTime=12.139802 G% ;G 2B :B  O >ď,n7?A6@Y6@6q^}96>FAHRS rotation from veh to nav: [[0.827241,0.553156,-0.098442],[-0.561635,0.818958,-0.117789],[0.015464,0.152728,0.988147]]y6Hx?@u?w3@4?`j'`{?`? ?ɫ6@6;6C\b>BfImMb@Mb@Mb@i i)iIiiim +?Mb~jthm?mmD)mAIm@im;Am$A im3AIKIh٥P= 3=9%Q > F٦~Ey_T< > 4YF?4yFB?:@?,D;;d4))5&A1Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.346407JpQRpU]7?ApU@pU@pUR?vU nӿD?/ýh+@vUw =jb}?U?pUf?pU^ vUn?綡A?جs@vU"2и?oU?҇ }8?jpU r?rpUm>ZpUA84Z?bpUgzpUBpQpU[þpUBpU+1@pU))!@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.510066 s, deltaX: -1.100000 m, approachRate: -2.156584 m/s, rangeRepo size: 4 )uG )I꿙A Added new target pos. range: 2.388575 m, bearing: 76.240201 deg, lat: 36.779436 deg, lon: -121.859727 deg, deltaT: 0.510066 s, deltaX: -1.094764 m, approachRate: -2.146317 m/s, posRepo size: 4 ooRoJoboZoBo:n2nmm Blkkk@33@k@+?H]>H]CH]II]QBI] =IYIY&I]<*I]REɞB{< =I <ɝiI| I Bi B=i=L<)9)AF)"F)*F)2F5Y5:F1G zl<JI JM nJI JI JI JM 99JI JI JI JI JM \:JM ]:G 2B :B  O >9  DDAT read: Rx Time:04:06:51.7100  TRx dataTimestamp_ set to:1761365212.622144 DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 - Z#Rx 21: Read range message, but no direction.  9@Y  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.602081h%ď,P*7?A bB #II5oI5٥ELN> Ef=9EQ E>II MF٦MEyM U> Ye4Y]S?e4y]]Biiu?],D]<;] >;]4}B)}%A}E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.497610 s, deltaX: 0.500000 m, approachRate: 1.004803 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk@33@k;¹?ɞL< 񬖼9>I <ɝiI I Gi QgB=i qe<) )F"F*F2F_0:FIechecking for new query: numPingsReceived=21, elapsed TxPingTime=12.850335qGu<jK "OrK h9zK K K Vn_aW*wVC5)      >D$R2KA*KErAG2B:B O>ԡ ď,cD7?ANid@YNP_@Nbu9N<>vAHRS rotation from veh to nav: [[0.834113,0.542539,-0.099531],[-0.551326,0.825634,-0.119864],[0.017145,0.154854,0.987789]]yNH?z\?`z`w`k?fs?@??ɫNid@N&;L%xB%>IԁImYIm٥=DDAT read: Rx Time:04:06:52.2100 %TRx dataTimestamp_ set to:1761365213.137700UDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 -mZ#Rx 22: Read range message, but no direction.!!Y!checking for new query: numPingsReceived=22, elapsed TxPingTime=13.130938 D=9qQ > F٦Ey@< > 4Yd?4yBV=?,D:B:45#B)5[%A5E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.515556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkkk`?ɞUBU6K< Y]c>IY ] <ɝaiaIeۂIDi6ď, A^7?A @BiIMb@Mb@Mb@ )IiuV?J +Mb?r?H<)AIihA AIQI٥*> F=9Q > F٦Ey >  4Yq? 4y)B ?:-?,D ;;4)B)u$A%EMB*** querying acoustic contact ***:pIBpIoAoARoAJoAboIZoIBo:n2nmmBlkJsJiJ3JJK:Jڈ9J(3JJ(e;J+e;Jr:Js:k k k @S?ɞUBm&'< im>Ii u1 <ɝqiqIuI}Ii}B=i}6<)y)DDAT read: Rx Time:04:06:52.7099 TRx dataTimestamp_ set to:1761365213.638984-DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed -0.4 -5Z#Rx 23: Read range message, but no direction.,@YEchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.620979IF "F*F2F:FG<G2B:B O>iԙ cď,(x7?A2checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866421:Ǽ@Y:@:(29:H>JAHRS rotation from veh to nav: [[0.839994,0.533920,-0.096638],[-0.542286,0.832110,-0.116272],[0.018333,0.150073,0.988505]]y:H;?? B gZ@?ý ƒ?5?ա?ɫ:Ǽ@:6;:C^B^IIfbIf٥nP> r]=9rhRQ r>pt vF٦vEyv< v> |4Y~~? 4y~d~B  + ?~,D~A;~B;~}#4)@#AM addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501284 s, deltaX: -0.200000 m, approachRate: -0.398976 m/s, rangeRepo size: 4 oIoIRoQJoQboQZoQBoQ:nY2nYmYmYlakakake@km-?jK5aOrK5s9zK1K5K5$<jE/ .?sX9'   ɞY]= Y]>IY e<ɝaiaIeimImFimC B=iimvA&=))ԙE5DDAT read: Rx Time:04:06:53.2104 =TRx dataTimestamp_ set to:1761365214.146101]DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 -uZ#Rx 24: Read range message, but no direction.15`@Y1F "F*F2F:Fchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.133225 G y=G 2B :B  O >ď,v37?AF@YF޶@F 9FG>RAHRS rotation from veh to nav: [[0.842555,0.530279,-0.094371],[-0.538284,0.835122,-0.113236],[0.018764,0.146206,0.989076]]yFH`5?@ ?(9Q?6?@? ?ɫF@F;DjՁBjIIMb@Mb@Mb@ )Ii/$?I +?~jt?&>94<<)AI@iAA pAIJIK٥= *=9[kQ > F٦Ey)"< >checking for new query: numPingsReceived=24, elapsed TxPingTime=14.371195ZH%<RH!H->H)H-II-߁BI- =I)I)&I-<*I-UE 4Y?4yB>: ?-D;;n,4.B)"Ay addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.507117 s, deltaX: 0.800000 m, approachRate: 1.577545 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmBlkkk @k_w?ɞ} BB= 靍>I 6<ɝiI25ICiAA=iN1=))E7ƙEEsAԡF"F*F2F:F!G"= DDAT read: Rx Time:04:06:53.7103  TRx dataTimestamp_ set to:1761365214.647509 PDAT read: Bearing 128.3, -15.6 (Local)  ~Local bearing/azimuth received: Bearing 128.3, -15.6 (Local)  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.4 G 2B :B  O% >- DAT read: 04:06:53.7103 LVL= 27920, 25137, 29266, 30371, AGC= 45, IDX= 499, 0.07,-2.697,-2.348, 1.643,-2.817, PHS= 0.209, 0.516,-1.826, RAW= 23.1, 10.0, CAL= 21.7, 15.6, ROT= 128.3, -15.6 5 Ygot valid direction response: 04:06:53.7103 LVL= 27920, 25137, 29266, 30371, AGC= 45, IDX= 499, 0.07,-2.697,-2.348, 1.643,-2.817, PHS= 0.209, 0.516,-1.826, RAW= 23.1, 10.0, CAL= 21.7, 15.6, ROT= 128.3, -15.6 = T#Rx 25: Read range and direction messages.= ^direction in FSK: [-0.596948,0.755867,0.268920]E Fpublishing direction and range info۩ yۭ !2BQG0?]^|5?ۭ 3S@Y۩ ܭ m)ܭ 1bIܭ Rriܭ vܭ -ܭ V>ܭ ?ܭ ^ ݭ pl>)ݭ ¸2>Iݭ >iݭ 'g>ݭ O@ݭ 'g ީ )ީ ޭ l<"gI"THLT3GA?iޭ Cؿޭ H2ޭ O@ޭ 'g ߩ )ߩ e checking for new query: numPingsReceived=25, elapsed TxPingTime=14.647599 .ď,7?AV @YV@V婛9VE>AHRS rotation from veh to nav: [[0.845295,0.526219,-0.092574],[-0.533962,0.838145,-0.111341],[0.019001,0.143547,0.989461]]yVH ??`7 ?րt?_?@?ɫV @V;VCBIIA)AIMXIM㔴٥e= eQ=9mQ m>ii mF٦uEyuU< u> 4YY?4y B. ? -Dv::24Թ4B)C"AEJpRpp7?Ap2R@p2R@p8?v8z^ ,@VLQC?v!2BQG0?]^|5?pO@p'gv=Dۿ;@K?v5B(L?{j??jpA@rpݾZpGw?bp4dzpNBpY?p@JpNBp6#@p[? addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.501408 s, deltaX: -0.200000 m, approachRate: -0.398877 m/s, rangeRepo size: 4  Added new target pos. range: 3.284316 m, bearing: 98.128791 deg, lat: 36.779458 deg, lon: -121.859727 deg, deltaT: 2.522975 s, deltaX: 0.895741 m, approachRate: 0.355034 m/s, posRepo size: 4 oTStarting intercept timer at range: 3.30 m.oRoJoboZo!Bo!:n!2n!mimilqkqkqk}`ff @k}? checking for new query: numPingsReceived=25, elapsed TxPingTime=14.874467ɞ% B%)= !->I) -+<ɝ)i)I-:I5Hi5A=i5>C=)1)9 EAEAEIEIjKkMrK9zKKK / h .  Dg?0lNU#ybSI?7//6BB?<2)# 2KsA*KFa "Fa *Fa 2Fa :Fa J tJ pJ 2J J ;N:J ^9J c3J ! @! @! @! @9  DDAT read: Rx Time:04:06:54.2103  TRx dataTimestamp_ set to:1761365215.153773 DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.4 - Z#Rx 26: Read range message, but no direction. Y ] checking for new query: numPingsReceived=26, elapsed TxPingTime=15.141186Gm#'=GqGqyG)2B1:BA OU?(ď,7?A%20@Y%+@%f9%9>AHRS rotation from veh to nav: [[0.847550,0.523091,-0.089639],[-0.530397,0.840726,-0.108903],[0.018396,0.139845,0.990003]]y%H!?(?`@9? ỿ G֒?m??ɫ%20@%H;!BIAMb@Mb@Mb@ )Iiy=<)dAIiA;A AIyIHo٥X=  =9T:Q > F٦Ey-; > 4YӮ?4yBC>:ؾ?-D ; ;<4 ) !AE addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.506264 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 oEERStopped intercept timer at range: 3.30 m.oARoAJoIboIZoIBoI:nI2nImQmUBlQkYkakakm?ɞ B)!%= 靝>I o&<ɝiID IEi=B=i O=))HAHAHE IIE'BIE =IAIED&IE<*IENE2I:IBIJIRIZIF4q}checking for new query: numPingsReceived=26, elapsed TxPingTime=15.390613FU "FQ*FY2F]0:FaGMK@=G!2B):B9 OE>ԡ dď,7?AFDDAT read: Rx Time:04:06:54.7105 FTRx dataTimestamp_ set to:1761365215.654059JDAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 -NZ#Rx 27: Read range message, but no direction.DFff@YDRchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.633996>bV@Y>IQ@>9> >ZAHRS rotation from veh to nav: [[0.850033,0.519489,-0.087035],[-0.526452,0.843271,-0.108361],[0.017101,0.137930,0.990294]]y>Hx3?`?G@?? ?}?ɫ>bV@>ej;>C~B~ II @I (٥.> %=9%;Q % ?!) -F٦-Ey-t< -? 1E4Y5Ҹ?E4y55 BIMI־M?5$-D5*C;5GD;5^B4U:B)U AmEB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.500286 s, deltaX: 0.300000 m, approachRate: 0.599657 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk @kУ?ɞ B V= ?ԱI 6+<ɝiI2"IBigB=i `=))Ee>EF "F*F2F_5:F=checking for new query: numPingsReceived=27, elapsed TxPingTime=15.882398GHC= G 2B :B  O >jKE S8PrKE 9zKA KE KE  ,PRBCh~unmib\VQNKHDA>;76:Ef9 Uď,I8?ABw@YBq@B#|9B@ >JAHRS rotation from veh to nav: [[0.852150,0.516557,-0.083723],[-0.523071,0.845522,-0.107188],[0.015421,0.135133,0.990707]]yBH`D?@?@n @?`p`Ҕ?` L? ?ɫBw@BZR;BCR%BR I TVAIZ^IZ٥bT= bP=9bn;Q f>dd fF٦fEyj&< j> lr4Ynjš?r4ynn)Bpr Ծv?n/-Dn;n:n8I4x)z Ax J@AJ@AJuJkJ3JJ[Q:J9J(3JooRoJo!bo!Zo!Bo!:n!2n!m)m1lQkQkQkYk]@?ɞM BuC= y靅& ?DDAT read: Rx Time:04:06:55.2106 TRx dataTimestamp_ set to:1761365216.163280DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 -Z#Rx 28: Read range message, but no direction.I V3<ɝiI@z&3s@Y}checking for new query: numPingsReceived=28, elapsed TxPingTime=16.163263IGi'B=il=))9F] "FY*FY2F]`5:FaG=Ba=G2B!:B1 OM>i E checking for new query: numPingsReceived=28, elapsed TxPingTime=16.386372JHQ BHQ H] >HY H] S II] YBIY IY IY &I] <*I] nEď,,8?Au$Bu IMb@Mb@Mb@ )Ii+?y&1?Zd;O?v>`=j<)AI@iQAQA AI5WI5ƕ٥E E4=9EQ E>II MF٦MEyU U> Ye4Y]ӡ?e4y]]3BeA>e;e#e?]:-D]:]:]&Q4u@B)u Aq addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.509221 s, deltaX: 0.200000 m, approachRate: 0.392757 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmm*Blkkk`ff@k?ɞB6I=  ?I :<ɝiI)IDii:B=ij=))FE "FA*FA2FE_0:FADDAT read: Rx Time:04:06:55.7108 TRx dataTimestamp_ set to:1761365216.662200DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 -Z#Rx 29: Read range message, but no direction.ۡۥ3@Yۡchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.642191G (a= GY 2Bi :By  O > ď,V68?A6@Y6@6J396td>BAHRS rotation from veh to nav: [[0.856196,0.511195,-0.074894],[-0.516536,0.850032,-0.103130],[0.010943,0.126985,0.991844]]y6H@e?[?A,@vw3?f9i?@ A? 0?ɫ6@6E;6CF!BJ IIR[IR:٥Z Zh=9Z8Pp\ F٦Ey%< %> )-4Y-+ߡ?54y-5tI-;B15ㄾ=?-C-D-2 ;- ;-W4A)E AA addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.498920 s, deltaX: 0.300000 m, approachRate: 0.601299 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk`ff@k ^?checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890526ɞ B >N= n?I |A<ɝiI,IIivZB=i%;O=)!)!E)F "F*F2F:FGF!jK%oNrK%9zK!K%K%zvswe; -*% YJsJJ2JJK:JJc3JG hp=G2B:B  O > DDAT read: Rx Time:04:06:56.2108  TRx dataTimestamp_ set to:1761365217.170523 DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.3 - Z#Rx 30: Read range message, but no direction. Y - checking for new query: numPingsReceived=30, elapsed TxPingTime=17.158194ԉ ď,M.P8?A6Ұ@Y6~ͷ@696=>AHRS rotation from veh to nav: [[0.858012,0.508826,-0.070080],[-0.513561,0.852096,-0.100929],[0.008360,0.122588,0.992422]]y6H@t? MH?`o_D?xֹ?`a??ɫ6Ұ@6vH;6CNBR IIZ=)Zp=YMb@Mb@Mb@ )IiX9v?S㥛?~jtx?>$>;)AI@iAA AIkI ٥ 6=9;Q > F٦Ey%< %> )54Y-Q?54y--AB5x>5;=P=?-N-D- ;-m ;-&_4A)E7!AI addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.508323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ooRoJo!bo!Zo!Bo!:n!2n!m)m-Bl)k1k1k1k5_?ɞeBm~== im?Ii uEI<ɝqiqIu<$0I}Fi}ۆB=i}È=)y)iyI}CԉH>HHf IIiBIII&Is< checking for new query: numPingsReceived=30, elapsed TxPingTime=17.394695*I9E)-G A)iIGA%?%AF} "Fy*F2F:FԱG ;= Gy 2B :B  O >Nď,j8?A6DDAT read: Rx Time:04:06:56.7109 6TRx dataTimestamp_ set to:1761365217.669998:DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.3 ->Z#Rx 31: Read range message, but no direction.46f@Y4Bchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.649940^^@Y^F@^q9^=fAHRS rotation from veh to nav: [[0.859766,0.506499,-0.065274],[-0.510659,0.854016,-0.099416],[0.005392,0.118807,0.992903]]y^H5?`<5?ҵ QW@T?`Ms gv?@%j??ɫ^^@^;\n BrIIzeIz]٥T ]=9    F٦ Ey< > %4YI?-4yEB15+M5?W-Di;j;e4=FB)E!AEEmB*** querying acoustic contact ***:piBpi addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.499475 s, deltaX: 0.100000 m, approachRate: 0.200210 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk@k?ԹɞBNH= >I VN<ɝiI2ICigB=i=))F"F*F2F`0:Fchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.898376)GER=G 2B :B  O >jK MrK 9zK K K -:;4.+'$ "-0.,)#! ,9Su]LLOF:1)# 9 ď,x8?Af]@YfE@f;9f7=vAHRS rotation from veh to nav: [[0.861082,0.504747,-0.061391],[-0.508459,0.855447,-0.098389],[0.002855,0.115936,0.993253]]yfH?&? nKE_?@ 0cg???ɫf]@fy;fC B II-lI-)٥E4˽ MF=9M;Q M> F٦Eya; > 4Y=?4yJBqJ?b-D:W:m4JrJvJJJG:Jϣ9JJ)s"AooRoJoboZoBo:n2nmmlkkkk@ ?DDAT read: Rx Time:04:06:57.2109 TRx dataTimestamp_ set to:1761365218.179232DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.3 -Z#Rx 32: Read range message, but no direction.ۙۙYۙ%checking for new query: numPingsReceived=32, elapsed TxPingTime=18.172499ɞBm(= >I U<ɝiIiy5IHi QB=i =) )9EAEAF"F*F2F:FG= G=iH >H H S II YBI I I &I L<*I E% checking for new query: numPingsReceived=32, elapsed TxPingTime=18.402443G% W=ԡ G 2B :B  O% >'ď,׾8?ABI )-A5Mb@Mb@Mb@1 1)1I1i15HzG?v/?{Gz5=>5x=5ף)5 AI5@i15$A 15AIMVIM٥]+L ]:=9]Q e>aa eF٦eEymy }> 4Y?4y IB>;~?m-D ;X;t4LB)"AE addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.509234 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nm m ΁Bl kkkkV?ɞEBE-4= AE8>IA MZ<ɝIiIIM 7IUEiUeC=iU=)Q)YF"F*F2F0:FԡDDAT read: Rx Time:04:06:57.7111 TRx dataTimestamp_ set to:1761365218.679766DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.3 -Z#Rx 33: Read range message, but no direction.ۑە@Yۑchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.659735G h=G 2B :B  O- > NB-ď,8?A΁BII-:I-y٥=( =^=9AQ M>QQ UF٦UEchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.907326yQ > M4Y"?4y HB?w-D<<V{4)#Am addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.500534 s, deltaX: 0.300000 m, approachRate: 0.599360 m/s, rangeRepo size: 4 ouuTStarting intercept timer at range: 4.50 m.oqRoqJoqboqZoyBoy:ny2nymmlkkk@k ?ɞB= J>I _<ɝjKwNrK9zKKK -HI<25XttNOn6R:LtfVPMIEBBAEQ2K*KsAi!I%9I%Bi-QC=i-q=))))F"F*F2F0:F)  DDAT read: Rx Time:04:06:58.2111  TRx dataTimestamp_ set to:1761365219.182694 DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.3 - Z#Rx 34: Read range message, but no direction.ۑ ۑ Yۑ  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171152G \=G 2B :B  O- >Y 04ď,ٓ8?AU*@YU$@UYx;9U=eAHRS rotation from veh to nav: [[0.863459,0.502059,-0.048741],[-0.504382,0.858177,-0.095560],[-0.006148,0.107096,0.994230]]yUHt?? #@/v?@v/yj??ɫU*@UG;UCuBuI Mb@Mb@Mb@  ) I i  -?Dl?ˡE 5> O= ')  AI @i QA   AI-[I-:٥] ]9=9eai mF٦mEym'/< m> q}4Yu1?}4yuc u@B>:S?u-Due ;u ;u4SB)$AE!e addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.502928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 oemRStopped intercept timer at range: 4.50 m.oiRoiJoiboiZoiBoi:ni2nqmqmuuBlqkykykk@?H>HH II,BIII&I<*INEDDAT read: Rx Time:04:06:58.7113 TRx dataTimestamp_ set to:1761365219.436976 checking for new query: numPingsReceived=34, elapsed TxPingTime=19.415833ɞ}B}= y}>Iy &d<ɝiI;IGiC=i =))EY>E>QF- "F)*F)2F-3:F)G9F=tAy JJ3J.J vJ oJ 3J J {T:J K9J (3J J [u;! J ]u;! J :! J :! GU =G 2B :B)  O5 >K:ď,^.8?A.DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.3 -2Z#Rx 35: Read range message, but no direction.(*@Y(6checking for new query: numPingsReceived=35, elapsed TxPingTime=19.6646618zc/@YzK*@zH<9z~=AHRS rotation from veh to nav: [[0.863770,0.501965,-0.043956],[-0.503806,0.858781,-0.093137],[-0.009003,0.102594,0.994683]]yzH ??r@-"{? ׷o@C?p?ɫzc/@z>';zCBbIIMa=)MR=IUnIUd٥e! e^=9I;Q > F٦Ey: > 4Yq>?4y 8B15%=?-D<<^4A)e%AaB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.502348 s, deltaX: 0.300000 m, approachRate: 0.597196 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk@33@k@D?ɞmBm<= iuHq>Iq u(f<ɝqiqIu͝<ԙIDi۾C=iJ=))FU "FQ*FQ2FU_0:FQG5=G 2B:BA OUt>%DDAT read: Rx Time:04:06:59.2115 5TRx dataTimestamp_ set to:1761365219.941874Echecking for new query: numPingsReceived=35, elapsed TxPingTime=19.921221 jK "OrK 9zK K K hzzuurokhda^_YPF=80,)('$$! !4Uoxzte+Aď,9?ApvtBv9II~KI~h٥]% ]L=9eQ e>aa mF٦mEym m> q JAAJBA4YuK?4yuu1B!%?u-DuI =h<ɝiIVy=IEIimJC=iuW==)q)F} "F*F2F:F9a JH BH ?AH H H II BI I I &I z<*I DE2Iq:IqBIqJIqRIqZIuo64G =% DDAT read: Rx Time:04:06:59.7120 - TRx dataTimestamp_ set to:1761365220.441787- checking for new query: numPingsReceived=36, elapsed TxPingTime=20.419477G 2B :B)  O= >{Gď, 9?A$M@YM@Mx<9M$=eAHRS rotation from veh to nav: [[0.862530,0.504742,-0.035737],[-0.505730,0.857573,-0.093840],[-0.016718,0.099014,0.994946]]yMHؙ?`&?*L.=q? zX?@?ɫM@Mr׊;IaB"IMb@Mb@Mb@ )IiZd;O?{GztS㥫j>ף/])7 AI@iA =AIPI٥%w %&=9%Q)) -F٦-Ey5 5>y 4Y]?4y!B>:JwJlJJJW:J9JJJz;Jz;J1:J3:?-D0;;4iB)B(A EU addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.505882 s, deltaX: 0.300000 m, approachRate: 0.593023 m/s, rangeRepo size: 4 oQoQRoYJoYboYZoYBoY:nY2nYmameBlakakikm`ff@kmz?ɞ}!B}Q< y} >Iy j<ɝiI=XDAT read: Range 10 to 50 : 5.9 m (tr.4 -Z#Rx 37: Read range message, but no direction.ۉۍ̼@Yۉchecking for new query: numPingsReceived=37, elapsed TxPingTime=20.673567IFi>D=i%%=))EԩFE "FA*FA2FA:FAGM= GMp= G D=Ga 2Bi :By  O >[Nď,`;9?A<bDDAT read: Rx Time:04:07:00.2120 bTRx dataTimestamp_ set to:1761365220.947004jDAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 -jZ#Rx 38: Read range message, but no direction.``Y`nchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.9269545 @Y5 @5ix<95QO=MAHRS rotation from veh to nav: [[0.861773,0.506185,-0.033518],[-0.506929,0.856769,-0.094705],[-0.019221,0.098605,0.994941]]y5H@?2?<) 8@j?>@2>?`?ɫ5 @5+;5C]?B]I aeAImVIm٥}1 }R=9};Q }> F٦Eypg > 4Yk?4ycB?-D::4))-V)A) addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.756080 s, deltaX: 0.800000 m, approachRate: 1.058089 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkk@ԡk?޷?ɞ"BI< a=I k<ɝiI=ICimD=i=))jK&NrK9zKKKM;5/-"  #)*,)-08?KPPH@<:;993)1l,qeZRJC<72+)%F "F*F2F:FJJ4=}checking for new query: numPingsReceived=38, elapsed TxPingTime=21.176292G P= G 2B :B!  O5 >Tď,T9?AV@YV@V僯<9V=bAHRS rotation from veh to nav: [[0.860539,0.508392,-0.031780],[-0.508934,0.855479,-0.095617],[-0.021424,0.098456,0.994911]]yVH?@D?@E 0I`?@Yzk4? O?ɫV@V;Tj*BjIlmMb@Mb@Mb@i i)iIiiimn?333333V-mV?mmm)mAIm@im;Am@ imGAIcI#٥Խ U=9;Q > F٦Ey\ϻ > 4Yy?4yB c? : b( ?-D:M:74pB)+*A% EoIoIRoQJoQboQZoQBoQ:nQ2nQmYm]BlYkYkakake/?ɞ$Brrz< 靕FHQHUfIIUBIQIQIUD&IU<*IUEDDAT read: Rx Time:04:07:00.7121 TRx dataTimestamp_ set to:1761365221.450820DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 -Z#Rx 39: Read range message, but no direction.@Ychecking for new query: numPingsReceived=39, elapsed TxPingTime=21.4322031Fm "Fq*Fq2Fuo0:FqQG̓=G 2B J sJ jJ 2J J K:J 9J c3J J (e;J +e;J :J ::B  O >ԁ  checking for new query: numPingsReceived=39, elapsed TxPingTime=21.6784325[ď, n9?A:@Y:~@:<9:=FAHRS rotation from veh to nav: [[0.858996,0.511115,-0.029788],[-0.511448,0.853985,-0.095554],[-0.023401,0.097315,0.994978]]y:H|?`[?@]S?3v`N`? ?ɫ:@:R;:Cn!BnIIvTIvn٥?  Z=9 ;Q  > F٦Ey > AM4YE?M4yE'EBIM.)M?E-DE:Ed:E٬4Yy)}s*AB*** querying acoustic contact ***:pBp addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503816 s, deltaX: 0.100000 m, approachRate: 0.198485 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2n m m l kkk5@k5@g?ɞ&Bהa< :靍I k<ɝiI=IEi%D=i%l=)!)!EQEUtAԉF "F*F2F0:FGtAFDDAT read: Rx Time:04:07:01.2121 TRx dataTimestamp_ set to:1761365221.953909DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 -Z#Rx 40: Read range message, but no direction.Ychecking for new query: numPingsReceived=40, elapsed TxPingTime=21.933853ԱGH=G 2B :B  O >jKe ̄NrKe h9zKa Ke Ke #   ;LOKHE?e  /$RPaH93--*"!  / bď,9?AzMɰ@Yz5ķ@z9<9z=AHRS rotation from veh to nav: [[0.857193,0.514188,-0.028826],[-0.514391,0.852137,-0.096251],[-0.024927,0.097333,0.994940]]yzH` n?9t?uD?⣸??ɫzMɰ@z;x%B%II5_I5٥EǍ EF=9Er;Q E>II MF٦MEyUW U> Ye4Y]Ԗ?e4y]]Bim*m?]-D]<;]e;]4vB)+AԱ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ooRoJoboZoBo:n2nmmlkkkk)?99Mchecking for new query: numPingsReceived=40, elapsed TxPingTime=22.184813ɞ]'B]Z<< Y]%Ia e&k<ɝaiiIuPD=im=))!Fa"Fa*Fi2FmO1:Fi )+G )Iy꿙AZH5 <RH5 p<HI HI HM IIM [BII II II &IM k<*IM 0EG = DDAT read: Rx Time:04:07:01.7120  TRx dataTimestamp_ set to:1761365222.459509 DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.5 - Z#Rx 41: Read range message, but no direction. ̼@Y  checking for new query: numPingsReceived=41, elapsed TxPingTime=22.440163G 2B :B  O >9 5hď,o9?AB@YBg@B<9BF)=JAHRS rotation from veh to nav: [[0.855342,0.517341,-0.027350],[-0.517380,0.850313,-0.096362],[-0.026596,0.096573,0.994971]]yBH^? ?`5?3;?`?ɫB@By;BCj BjIeMb@Mb@Mb@a a)aIaiae^I +?V-¿&1eX?eheP)e AIaieAe@ aeAI}bI}٥ & E=9f;Q > F٦EyD > 4Yr?4 y$ՄB"?:D?-D<<S4)_+A- addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.505600 s, deltaX: -0.100000 m, approachRate: -0.197785 m/s, rangeRepo size: 4 o)o)Ro1Jo1bo1Zo1Bo1:n12n1JmxJmoJiJiJmZ:JmK9JiJiJm;Jm;Jm:Jm:mAm}Blkkk@kah?ɞE)BE=)< AExII M;j<ɝIiIIMU;IUGiU)E=iU=)Q)YEchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.687262IF"F*F2F`5:FaG= xr=G 2B9 :BI  O] >ԑ `nď, K9?ARDDAT read: Rx Time:04:07:02.2121 VTRx dataTimestamp_ set to:1761365222.962862ZDAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 -^Z#Rx 42: Read range message, but no direction.PR@YP^checking for new query: numPingsReceived=42, elapsed TxPingTime=22.942837u@Yuۊ@u<9u=AHRS rotation from veh to nav: [[0.853512,0.520355,-0.027332],[-0.520344,0.848372,-0.097502],[-0.027548,0.097441,0.994860]]yuHO??%?v5@??ɫu@uC;qBIIUaIU錴٥e^< e==y9eX;Q }> F٦ëEy > 4YB?4y])ÄBE?.Dw;x;¯4|B)Z+A E addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503353 s, deltaX: 0.100000 m, approachRate: 0.198668 m/s, rangeRepo size: 4 oTStarting intercept timer at range: 6.00 m.oRoJoboZoBo:n2nmmlkkk@k ?ɞ=+B=.< AEMIA Ei<ɝIiIIM{:IMDiU<(E=iU_5v=)Q)QjK}R PrK}9zKyK}K}o2[YAs_Y]ԑEmmEuV>Eu>]checking for new query: numPingsReceived=42, elapsed TxPingTime=23.192131F "F *F 2F ?1:F G = G = G% =G2B :B O->2vď,9?AHHHII=BIII&I<*IREI}B}IDDAT read: Rx Time:04:07:02.7124 TRx dataTimestamp_ set to:1761365223.466404DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed -0.5 -Z#Rx 43: Read range message, but no direction.@Ychecking for new query: numPingsReceived=43, elapsed TxPingTime=23.446337EMb@Mb@Mb@A A)AIAiAEx&1?w/Ŀqy }F٦}ƫEy} }> 4YǢ?4y/B'?:fK?.D:f:ʯ4) +A addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503542 s, deltaX: 0.300000 m, approachRate: 0.595780 m/s, rangeRepo size: 4 oRStopped intercept timer at range: 6.30 m.oRoJoboZoiBoi:ni2nimqmuBlqkqkyk}@33@k} _?ɞ,BE<  I ai<ɝiI~9I-Ii-*HE=i-$w=))))YE=mF "F*F2FV5:FԉG| u=G2B:B O> checking for new query: numPingsReceived=43, elapsed TxPingTime=23.695942Ա V|ď,9?A>\@Y>rW@><9>=JAHRS rotation from veh to nav: [[0.850195,0.525699,-0.028444],[-0.525669,0.844689,-0.100865],[-0.028998,0.100708,0.994493]]y>H 4?`?u F@?Rҹñǹ??ɫ>\@>@Y;>CVBVIԙIcI#٥EC< EN=9Eo;Q M>II MF٦MȫEyU U> Ye4Y]ע?e4y]3]BamLm?]#.D]:]d:]ѯ4uB)u+AuEB*** querying acoustic contact ***:pBpoTStarting intercept timer at range: 6.30 m.oRoJoboZoBo:n2nmmlkkkk^?ɞ-B{F< 0I  h<ɝiIm8IFiAVE=i?`=) )  EEEEDDAT read: Rx Time:04:07:03.2125 TRx dataTimestamp_ set to:1761365223.970038DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.6 -Z#Rx 44: Read range message, but no direction.@Y checking for new query: numPingsReceived=44, elapsed TxPingTime=23.950003FQ"FQ*FQ2FUP5:FQ-'TFailed to parse incomplete device message.J J kJ 3J J J 9J (3J ! @! @! @! @! GU Hu= checking for new query: numPingsReceived=44, elapsed TxPingTime=24.198444Gi 2B :B  O%>-ď,ׅ:?Am7J@YmE@mS<9mq=AHRS rotation from veh to nav: [[0.849013,0.527571,-0.029091],[-0.527566,0.843393,-0.101797],[-0.029170,0.101774,0.994380]]ymH+?? ʝ?@\ޝ ??ɫm7J@mR;i F٦˫Ey; > 4Y袊?4y9B ?:L?6.D* ; ;,گ4)*A addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503634 s, deltaX: 0.200000 m, approachRate: 0.397113 m/s, rangeRepo size: 4 oRStopped intercept timer at range: 6.50 m.oRoJoboZoBo:n2nm!m%Bl)k)k1k5@k5&?Iɞm/Bmف< imHAHEIIEGBIAIAIED&IET<*IEEF] "FY*FY2F]_0:FaGaFa%DDAT read: Rx Time:04:07:03.7127 -TRx dataTimestamp_ set to:1761365224.474948=DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.5 -UZ#Rx 45: Read range message, but no direction.!%@Y!mchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.460344qGu(a=G12BA:BY Oew>ԙ Xď,Ae+:?A29@Y24@2N<92y=<FAHRS rotation from veh to nav: [[0.847969,0.529202,-0.029915],[-0.529302,0.842439,-0.100677],[-0.028076,0.101205,0.994469]]y2H"?@8? @B?@Ź  ?`?ɫ29@2R;2CjUBjIIr=)rp=Iv\IvW٥~> ~i=9kLQ >    F٦ΫEyz > %4Y?%4y=B)-EM-?E.Du::L45B)=%*A=Em addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504910 s, deltaX: 0.400000 m, approachRate: 0.792221 m/s, rangeRepo size: 4 oioi}checking for new query: numPingsReceived=45, elapsed TxPingTime=24.702551RoiJoboZoBo:n2nmmlkkk@k,&?ɞU0B]< Y]=IY ] i<ɝYiYIe m7IeHi}kE=i}jT=)y)ԡF "F*F2F:FG)G E DDAT read: Rx Time:04:07:04.2132 U TRx dataTimestamp_ set to:1761365224.982466 PDAT read: Bearing 175.2, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 175.2, 0.3 (Local)  DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.6  DAT read: 04:07:04.2132 LVL= 24048, 23953, 23250, 32755, AGC= 55, IDX= 510,-0.24, 1.428,-2.649, 1.373, 2.191, PHS=-0.675, 1.490,-0.822, RAW= 333.2, 0.1, CAL= 334.8, -0.3, ROT= 175.2, 0.3  Ygot valid direction response: 04:07:04.2132 LVL= 24048, 23953, 23250, 32755, AGC= 55, IDX= 510,-0.24, 1.428,-2.649, 1.373, 2.191, PHS=-0.675, 1.490,-0.822, RAW= 333.2, 0.1, CAL= 334.8, -0.3, ROT= 175.2, 0.3  T#Rx 46: Read range and direction messages. `direction in FSK: [-0.996479,0.083677,-0.005236] Fpublishing direction and range infoI yM ЈS(₩+k?sNruM f@ 2B1 :B  O >YI M ])M ]IM ZiM M 7M ,M R?M nR M @)M :IM @iM M EC@M ; I )I M Q~v۱m5ῧemR?iM q#M M EC@M ; I )I  checking for new query: numPingsReceived=46, elapsed TxPingTime=25.009291<ď,-E:?A6;3@Y6#.@6<96=BAHRS rotation from veh to nav: [[0.847564,0.529845,-0.029991],[-0.529968,0.842103,-0.099984],[-0.027720,0.100637,0.994537]]y6H@??|? `?`bYù?@??ɫ6;3@6,;4jK~PrK~ػ9zK|K~K~LT [vfVRSI7;NWVL@/ yvwxtsqu cB%II-bI-٥=Ս= =F=9E2cQ E>AI MF٦MЫEyM M> Q}4YU?}4yUBUByM?UU.DU;U:Uv4))AJpRp>:?Ap:@p:@p@v"Lg ?G'QvЈS(₩+k?sNrupEC@p;v/@Ԑ?PE]@:2g??v/[wQ=t+?0y}?jp@rp4Zp\?bpzp܁BppppQ@pt@= addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.507518 s, deltaX: 0.800000 m, approachRate: 1.576298 m/s, rangeRepo size: 4 M Added new target pos. range: 7.663427 m, bearing: 143.174828 deg, lat: 36.779458 deg, lon: -121.859727 deg, deltaT: 10.334957 s, deltaX: 4.379110 m, approachRate: 0.423718 m/s, posRepo size: 4 oIoM-uXTarget missed at range: 7.70 m. Rolling out.jouuNTransitioning guidance mode to: ROLLOUTrou@RoqJoyboyZoyBo}joy:ny2nymmlkkk@ki8?JR=J%=JvJpJ2JJ{T:J^9Jc3Jɞu1Bu< }}=Iy dk<ɝivGݗď,L`:?A4VYgot valid direction response: 04:07:04.7134 LVL= 13600, 13809, 15602, 19395, AGC= 56, IDX= 0, 0.63, 2.837,-1.331, 2.650,-2.786, PHS=-0.572, 1.502,-0.850, RAW= 336.2, -0.7, CAL= 337.7, -1.4, ROT= 172.3, 1.4 VT#Rx 47: Read range and direction messages.Z`direction in FSK: [-0.990687,0.133946,-0.024432]^Fpublishing direction and range info۩yۭ { P\%%?{JۭAY۩ ܭ 5)ܭ5Iܭ<iܭKܭ8ܭnܭA?ܭY ݭĻ@)ݭ+H4@Y/@i <9ʑ=Iݭv@iݭ+ȼݭv@@ݭ+< ީ)ީޭ 6DVSOZiޭ ޭ)P<ޭv@@ޭ+< ߩ)ߩ5checking for new query: numPingsReceived=47, elapsed TxPingTime=25.531244AHRS rotation from veh to nav: [[0.847671,0.529633,-0.030712],[-0.529811,0.842117,-0.100693],[-0.027468,0.101626,0.994443]]yH ??r`6? ǹ@ -?{?ɫ4@V+;CBII-Mb@Mb@Mb@) )))I)i)-V-?{Gz?-h?-̽-#<)-d AI-@i-~A-@ )-AIepIe<ԙ٥= =9$Q >   F٦ ԫEy 9  > 9E4Y=?E4y=G=BE?E:E;M?=h.D=Q:9=4B)(AE_Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse1`Entering Midcourse tracking update period 60.000000 s sec at 7.700000 m (mode 5.000000 count ).1`q`^% %Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR^%MResuming normal ranging with 1.000000 count pings 7.700000 m (mode 5.000000 count ).^M1_MJpRp"3_:?Ap@p@pp@v-N?EJWȿv { P\%%?{Jpv@@p+<v`ZEvc@L'?vۆ1%迊{??jp@rpZpI?bpzpāBpppp@ph@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.505030 s, deltaX: 0.300000 m, approachRate: 0.594024 m/s, rangeRepo size: 4  Added new target pos. range: 7.962017 m, bearing: 140.191545 deg, lat: 36.779458 deg, lon: -121.859728 deg, deltaT: 0.505030 s, deltaX: 0.298590 m, approachRate: 0.591233 m/s, posRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nm m >B1N  Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyqN  @Uninitialize Buoyancy Component.k kk @kl?]i < ae >Ie : ɝi ?=9i9Q >    F٦ y ʀ; > !%4Y%&?-4y%/L%B)-l;-?%x.D% ;%K ;%#49)='A9zqUN@q`U`URqU?1_Uq_]u addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.500503 s, deltaX: 0.300000 m, approachRate: 0.599397 m/s, rangeRepo size: 4 uBNOT Ignoring new targets: 7.96 m.RoqJoqboqZoqBoyjoy:ny2nymmkkk @k? bM?bM?bM;|@"bMV@]|< ae$c>Ie : aɝaiaIIGiiZ=))jKGMOrKh9zKKK k1pzdK6uS/vohc`^\[^i J!J!J5rJ5nJ1J1J5G:J599J1J1FE"FA*FA2FI:FIchecking for new query: numPingsReceived=48, elapsed TxPingTime=26.214403ԙGM`T=2B:B O > ͦď,:?AZH<RH<H(H(H*II*BI(I(I(&I*[<*I*ELj@@Yj;@jB<9jq=rAHRS rotation from veh to nav: [[0.848478,0.527854,-0.038157],[-0.528589,0.841690,-0.110234],[-0.026072,0.113701,0.993173]]yjH&?-?E2@ ?S8|??ɫj@@j_;jC]DDAT read: Rx Time:04:07:05.7139 ]TRx dataTimestamp_ set to:1761365226.489801eDAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.6 -mZ#Rx 49: Read range message, but no direction.Y]3 AYYuchecking for new query: numPingsReceived=49, elapsed TxPingTime=26.469736ŁBIMb@Mb@Mb@ )IiE?Q롿~jt??\<) AI@i A@ AI I ٥= "=9=KQ E>AA EF٦AyM M> Q]4YUG9?]4yUUPUB}?: ?U.DU;UK;U4B)'A"Eq``Zqq__ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.501802 s, deltaX: 0.400000 m, approachRate: 0.797126 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmm%Bk!k!k%`ff!@k%׿? be?be?be@"be@B< 靽\=I0 : ɝ/2iIIDiiLnX=)) checking for new query: numPingsReceived=49, elapsed TxPingTime=26.718365E Β! F "F *F 2F 2:F G sAF sAI Geu \=2B:B O? ď,[:?ABvO@YB^J@B`<9BJ=NAHRS rotation from veh to nav: [[0.849435,0.525877,-0.043750],[-0.527075,0.841502,-0.118605],[-0.025556,0.123807,0.991977]]yBH.?`?bf?\@]+ ʱ?G?ɫBvO@B;BCVBVII^I^nh٥j}[> jJ=9nQ n>ll nF٦lyrM; r> tz4YvG?z4yvSvBx~z ~?v.DvX:v:v 4)-&ADDAT read: Rx Time:04:07:06.2139 %TRx dataTimestamp_ set to:1761365226.995038-DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.6 -5Z#Rx 50: Read range message, but no direction.Y=checking for new query: numPingsReceived=50, elapsed TxPingTime=26.975002qY`]]tCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse_]]Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcoursebqa_eeCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR^e eAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR} addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.505237 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkkkԳ? bbb"b@U`< QU~ >IU : Qɝ]iYIYI]Iiai5N_=))E]rgF8"F*F2F_0:F-'TFailed to parse incomplete device message.JJkJ3JJJ9J(3J)checking for new query: numPingsReceived=50, elapsed TxPingTime=27.223999G= -tY=2BI :Ba  O} >Y 4ď,/:?ARb@YR]@R<9R>>ZAHRS rotation from veh to nav: [[0.850634,0.523591,-0.047682],[-0.525140,0.841737,-0.125330],[-0.025486,0.131649,0.990969]]yRH`e8?B?i? @`??ɫRb@RS;RCbBbIIfp=)d9iYI]C)G vA)I%%vA%KAHHHIIBIII&IQ<*I E5Mb@Mb@Mb@1 1)1I1i15Q?V-?X9v?5>5<5<)5AI53@i5 A5@ 15zAIIII٥]= ](=9]Q ]>aa eF٦aymp; m> q}4Yu&X?}4yudVuB}>:~?u.Du1;uN3;u4B)%A#EBNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmBkkkk@R}? b>b>b[="b@< ":?A6y@Y6t@6<96 >BAHRS rotation from veh to nav: [[0.852149,0.520911,-0.049947],[-0.522662,0.842512,-0.130377],[-0.025834,0.137206,0.990206]]y6HD?L?@?/1t?ï?ɫ6y@6;6CFBJ I)P PIRIR^DDAT read: Rx Time:04:07:07.2143 bTRx dataTimestamp_ set to:1761365228.010699jDAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 -jZ#Rx 52: Read range message, but no direction.`bAY`nchecking for new query: numPingsReceived=52, elapsed TxPingTime=27.990988٥r-t= r=9v':Q v>) F٦y˨; > 4Y9k?4yYB9?.D;;d4),%Au addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 1.015661 s, deltaX: 0.600000 m, approachRate: 0.590749 m/s, rangeRepo size: 4 uBNOT Ignoring new targets: 7.96 m.RoyJoyboyZoyBoyjoy:ny2nmmkkk"@ka? bbb"bC,@M< IUV=IU : QɝU2iQIQI]Ciip=)) EEEEYjKP2NrK+9zKKK !!$0<Naqsvrjjomf`\WSQPJHC@><84-$  2KrA*KrAԑmchecking for new query: numPingsReceived=52, elapsed TxPingTime=28.238958F "F *F 2F 5:F Gm Xh=2B :B  O >eď,;?AJHTBHVAAHXHXHZ( IIZ6BIXIXIX&IZ<*IZ_E6B( ImDDAT read: Rx Time:04:07:07.7145 mTRx dataTimestamp_ set to:1761365228.514072uDAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -0.4 -}Z#Rx 53: Read range message, but no direction.imAYichecking for new query: numPingsReceived=53, elapsed TxPingTime=28.494001Mb@Mb@Mb@ )IiK7?bX9ȶ?~jt?>E=<)AIiAA AII٥ = =9Q > F٦y > 4Y{?4y[[B,>;H?.D ; ;"4 ĖB) o$A $E= addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503373 s, deltaX: 0.300000 m, approachRate: 0.595980 m/s, rangeRepo size: 4 =BNOT Ignoring new targets: 7.96 m.RoAJoAboAZoABoAjoA:nA2nImImMUBkQYkQke@33#@ke%9? b,>b,>b}c>"bW;@ 靝uI: ɝiIIHiiwko=))FM"FI*FI2FMQ0:FIԉJ|JJ5JJ;g:J9J4JJ;!J;!Jl;!Jm;!Ա  checking for new query: numPingsReceived=53, elapsed TxPingTime=28.742985GE np=2Bq :B  O >ď,L5;?A6Jİ@Y62@6]j<96>>AHRS rotation from veh to nav: [[0.856806,0.513189,-0.050208],[-0.514872,0.846155,-0.137584],[-0.028123,0.143733,0.989217]]y6Hj? l?@Ѵy?YR̜e??ɫ6Jİ@6;4JABJ5 IPIVIV٥Z{= ^v=9b;Q f?dd fF٦dyj< j? lr4Yn?r4yn\nBtvv?n.Dn=;n;n(4x)z$AxBNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkkk%? bbb"b@]j< "I9: ɝ i I IEiid=))YEerAEaFq"F*F2F`0:FGrAFrADDAT read: Rx Time:04:07:08.2145 TRx dataTimestamp_ set to:1761365229.017857DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -0.3 -Z#Rx 54: Read range message, but no direction.ۉۉYۉchecking for new query: numPingsReceived=54, elapsed TxPingTime=28.997776G@p=2B:B O >! jK 3NrK }9zK K K   b m]F938Y{vfXPH;*  &~%:>;2#cď,EhO;?ANװ@YNҷ@NO<9N>fAHRS rotation from veh to nav: [[0.858012,0.511205,-0.049841],[-0.512817,0.847160,-0.139063],[-0.028866,0.144877,0.989029]]yNH@t?[?Ʉh?V? ?ɫNװ@Nˉ;NCn@Bn4 Irchecking for new query: numPingsReceived=54, elapsed TxPingTime=29.246565I I ʳ٥8 %D=9%:Q ->)) 5F٦1y5N; => AM4YE6?U4yE]EBQUɧ]?E.DE%H;E!I;E04m˖B)mT$Ai addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkkk ?1 bibibi"bm=@O< P'IE: ɝi I I Bii7 =))QH->H)H-S II-YBI)I)I)&I-<*I-[EDAT read: checking for new query: numPingsReceived=54, elapsed TxPingTime=29.499542F "F *F 2F Z0:F ԁ Ա G i=2B :B  O>ď,fl;?AJtJlJ2J J;N:J9Jc3J Jj;Jj;J1:J2:F@YF@F <9F:>nAHRS rotation from veh to nav: [[0.859030,0.509526,-0.049504],[-0.511117,0.848222,-0.138849],[-0.028757,0.144577,0.989076]]yFH ,}?@ N?X`[@$?@ wr??ɫF@F+щ;FC5=B50 IMb@Mb@Mb@ )Iiq= ףp?`"?~jt?>=<)zAI@i7 A AII٥j &=9iQ >    F٦ y; > 4Y?%4y^B]checking for new query: numPingsReceived=54, elapsed TxPingTime=29.755917%>;sN?.D h<g<84)p$ABNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmAmEVBkakakake`v? b>b>b%w>"b<@ < LI+: ɝ iII%Gi!i%C2=))))"D1D12D1*D1F-` "F)*F)2F-`0:F1  DDAT read: Rx Time:04:07:09.2146  TRx dataTimestamp_ set to:1761365230.029941 DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 - Z#Rx 55: Read range message, but no direction.  AY  checking for new query: numPingsReceived=55, elapsed TxPingTime=30.010103G @=2B :B  O >טď,̲;?A :L@Y:4@:<9:>BAHRS rotation from veh to nav: [[0.859794,0.508146,-0.050404],[-0.509834,0.848700,-0.140633],[-0.028684,0.146614,0.988778]]y:Ho?`B?`Ω@P(?D¿W_;??ɫ:L@:;8J5BJ' IIR=)R=IVIV@ ٥b# bb=9bSQ b>dd fF٦dyf; j> hr4Yj,?r4yj_jBpr!Mr?j.Dj;j:;j>4x)z$Ax addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 1.012084 s, deltaX: 0.200000 m, approachRate: 0.197612 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkk#@k? bbb"bϦ@< -'TFailed to parse incomplete device message.I: ɝJi!I!I%Di)i-=)))IiF!"F *F 2F d1:F uchecking for new query: numPingsReceived=55, elapsed TxPingTime=30.259771ԙGm x=2Bq :B  O > HE >HA HE f IIE iBIA IA IA &IE v<*IE AE2I:IBIJIRIZI B4ď,;?ALbDDAT read: Rx Time:04:07:09.7149 fTRx dataTimestamp_ set to:1761365230.534086jDAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -3.3 -jZ#Rx 56: Read range message, but no direction.`b3#AY`rchecking for new query: numPingsReceived=56, elapsed TxPingTime=30.514208~@Y~@~1<9~j>AHRS rotation from veh to nav: [[0.860752,0.506536,-0.050268],[-0.508201,0.849549,-0.141412],[-0.028925,0.147267,0.988674]]y~HH?`5?ʼ/C/?@¿`w@?7?ɫ~@~N;|-*B- IMb@Mb@Mb@ )Iix&1?Mb?y&1|?A>>`;)AI@i AA AII٥M: U'=9U_:Q U>QY ]F٦Yy]4~; ]> am4Ye蹣?m4ye-`eBu,>u;u&u?e.De;e;e~G4}іB)}:%A%E addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504145 s, deltaX: 0.400000 m, approachRate: 0.793422 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmbBkkk`ff$@k? b ,>b ,>b e>"b .@-1< )-DI-: )ɝ5 i1I1I5Ii9i=l=)9)9F#"F*F2F@5:FJF3Jm3J/JEsJEoJE3JAJEK:JEK9JE(3JAJE(e;JE+e;JE:JE:uchecking for new query: numPingsReceived=56, elapsed TxPingTime=30.762423! G} H=2B :B  O >ď,j;?A:@Y:@:`<9:e>FAHRS rotation from veh to nav: [[0.861083,0.505995,-0.050051],[-0.507666,0.850041,-0.140377],[-0.028485,0.146286,0.988832]]y:H@?1?Q>`3?@ +?@?ɫ:@:^;:CNBN IIVIVƳ٥^D ^=9bQ b ?dd jF٦hyr: v ? 54Y#ã?E4y`BIMkM?.D0;;:M4Q)]%AYBNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkkkD? bbb"b4@`< U:IUB: Yɝ]=޳iYIYIeFiaie=)a)iDDAT read: Rx Time:04:07:10.2148 TRx dataTimestamp_ set to:1761365231.038598DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed -3.3 F;%"F*F2FQ0:F-Z#Rx 57: Read range message, but no direction.!AYchecking for new query: numPingsReceived=57, elapsed TxPingTime=31.023127)QG5=2BA:BQ Oe>jKM Y*OrKM 9zKI KM KM (%" &,+'& !$#rLM- ԁ  checking for new query: numPingsReceived=57, elapsed TxPingTime=31.267017(ď,E;?A2@Y2 @2'<92!l>NAHRS rotation from veh to nav: [[0.861475,0.505299,-0.050340],[-0.507026,0.850451,-0.140210],[-0.028036,0.146312,0.988841]]y2H3?`h+?1Ʃ96?j@V?@?ɫ2@2Z;2C BI %A%AI5I5ͳ٥M½ UA=9UQ U>aii uF٦qy<: > 4YΣ?4y.aB?/D;;T4)5&A} addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504512 s, deltaX: -0.099999 m, approachRate: -0.198210 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmk!k9k=@33$@k=?ԉHHHM IITBIII&I~<*INE bbb"b:@}'< 靅p/I3: ɝ!iIICiiϕ=))EDDAT read: Rx Time:04:07:10.7151 TRx dataTimestamp_ set to:1761365231.542767DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed -0.2 -Z#Rx 58: Read range message, but no direction.(AYchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.524368FA'"F*F2Fn4:F!Թ G] =2Bi :By  O >ď,;?AJuJJJJ[Q:JJJJo;Jo;JJI*<)(F^ @YFF@F<9F>RAHRS rotation from veh to nav: [[0.861386,0.505354,-0.051296],[-0.507221,0.850344,-0.140148],[-0.027205,0.146740,0.988801]]yFH z?@+?@zC(;6?_ۛ`?A?ɫF^ @F ;FCZBZIԹMb@Mb@Mb@ )Ii~jt?1Zd?"=t)zAI@i$A =AII٥@ A=9Q > F٦y@ >  4Yڣ?4yaB>$;E? /Ds;;[4%זB)%&A%&EEchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.771130m addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504169 s, deltaX: 0.400000 m, approachRate: 0.793384 m/s, rangeRepo size: 4 uBNOT Ignoring new targets: 7.96 m.RoqJoqboqZoqBoqjoq:ny2nymym}'Bkkk%@k ۤ? b>b>bF>"b@< PI: ɝ)6iIIUHiQiU-=)Q)YF("F*F2F]0:FG- P=2B9 :BI  OU > DDAT read: Rx Time:04:07:11.2150  TRx dataTimestamp_ set to:1761365232.048248 DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed -3.3 - Z#Rx 59: Read range message, but no direction.  f&AY  checking for new query: numPingsReceived=59, elapsed TxPingTime=32.028172A iď,<?A6Z @Y6B@6N<96>BAHRS rotation from veh to nav: [[0.861161,0.505649,-0.052165],[-0.507657,0.850189,-0.139507],[-0.026191,0.146620,0.988846]]y6H`? F.?k@>@4?@`њ u??ɫ6Z @6㜉;4F߁BJIIVIVỳ٥Z n`=9~2Q ~>|| F٦ya > 54Y 䣊?=4y xb 9=|F=? /D A; ; db4A)M'AI addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505481 s, deltaX: -0.100000 m, approachRate: -0.197832 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkk$@k? bbb"b@ N<  I J: ɝ iII%Ei!i- O=))))jKM)NrKIzKIKMKM0IG:/4j :LVXVSOLJB82-*!vh[QG><92*($ Auchecking for new query: numPingsReceived=59, elapsed TxPingTime=32.280239Fp)"F*F2Fo0:Fq) G `wA) I- '- `wA- }!BGE m(=2BQ :Ba  Om >H H H  II ,BI I I &I ><*I Eԙ @ď,{!<?Ar4DAT read: Rx Time:07152 rTRx dataTimestamp_ set to:1761365232.557821zDAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.2 -~Z#Rx 60: Read range message, but no direction.pr3+AYpchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.539043 ́B IqM5@5 5Mb@Mb@Mb@1 1)1I1i15'1Z?X9v?{Gz5Т>5}=5ף)5AI53@i5 A5A 15ImiIm҅٥um }%=9}Q }> F٦y > 4Y?4ycB2>#;?/DO;;j4ޖB)(A'Ee addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.509573 s, deltaX: 0.300000 m, approachRate: 0.588729 m/s, rangeRepo size: 4 mBNOT Ignoring new targets: 7.96 m.RoiJoiboiZoiBoijoi:nq2nqmqmqkykyk}`ff%@k}`V(? bU2>bU2>bU,E>"bUg@ 靝4I,:ԡ ɝNiIIBiiz=))EEsAEAF+"F*F2F^0:FؕAؑchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.787586G = 2B :B  O- >R;ď,1;<?A~@Y~@~Xu<9~\> AHRS rotation from veh to nav: [[0.860259,0.506751,-0.056199],[-0.509316,0.849031,-0.140514],[-0.023491,0.149502,0.988482]]y~H>?L7?ƬPLB+?_"??ɫ~@~r;~CB%{II5I5٥EU Ew=9EQ E?II MF٦IyM U? Qm4YU"?m4yUdUBiuru?U%/DUi;Uk;Up4y)})ABNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkkk@? bbb"bX@}Xu< 靅{I: ɝiIIGiiu=))DDAT read: Rx Time:04:07:12.2152 TRx dataTimestamp_ set to:1761365233.063535DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -3.3 -Z#Rx 61: Read range message, but no direction.Y%checking for new query: numPingsReceived=61, elapsed TxPingTime=33.044815F-@,"F)*F)2F5o3:F1G̓=2B:B1 O=>) JM C=JM C=JU sJU lJU 2JQ JU K:JU 9JU c3JQ !] @!] @!] @!] @jK NrK ŷ9zK K K -w`E.$!.MGWU; g { k 3irdT<BK ?:K > checking for new query: numPingsReceived=61, elapsed TxPingTime=33.291367P#ď,ҌU<?A 6[@Y6C@66ӳ<96>>AHRS rotation from veh to nav: [[0.859384,0.507935,-0.058830],[-0.510859,0.847952,-0.141425],[-0.021950,0.151593,0.988199]]y6H@?A?X@k"? 9¿y`cg?@T?ɫ6[@6N;4=BElII]I]٥mkf mH=9uvQ u>qq uF٦yy}ۍ }> 4Y?4yeBT?./Dx;+;w4)*A addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505714 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZo Bo)yjo:n2nmmkkkk%? bbb"bJ@H]>H]CH]II]BIYIYIY&I]f<*I]-E6ӳ< 靍IW: ɝȗiIIDiiF=))F=."F9*F92FE5:FAԙDDAT read: Rx Time:04:07:12.7153  TRx dataTimestamp_ set to:1761365233.566639DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2 -Z#Rx 62: Read range message, but no direction.  ,AY %checking for new query: numPingsReceived=62, elapsed TxPingTime=33.547138 Gu =2B :B  O >Lď,eo<?A:4ް@Y:ٷ@:eҤ<9:H>FAHRS rotation from veh to nav: [[0.858596,0.508852,-0.062308],[-0.512258,0.846804,-0.143227],[-0.020118,0.154892,0.987726]]y:H y?H?毿kd?@FU¿񙔿 ?t?ɫ:4ް@:Ј;8RBVOIpMM }Mb@Mb@Mb@y y)yIyiy}!rh?y&1|?Q}l>}`;})yI}@i}A}A y}AIIT߳٥ F=9yQ > F٦y  > 4Y ?4ygB*>!;?6/D#;"; 4)*A addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503104 s, deltaX: 0.100000 m, approachRate: 0.198767 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo!:n!2n)m1m5Bk9k9k=%@k=?]checking for new query: numPingsReceived=62, elapsed TxPingTime=33.794529 bm*>bm*>bmQV<"bm=@}eҤ< y}uI: ɝiIIIiic=))E?E?Fc/"F*F2FO0:FGsAF9Gtn=2B:B O> DDAT read: Rx Time:04:07:13.2154  TRx dataTimestamp_ set to:1761365234.069830 DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0 -% Z#Rx 63: Read range message, but no direction.  0AY - checking for new query: numPingsReceived=63, elapsed TxPingTime=34.049774a 7"ď,N<?A nB 2II%I%٥5 5R=19=Q =>9A EF٦AyE E> IU4YM?U4yM8iMBYY]?M>/DM;M;Mօ4eB)e+Aa addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503191 s, deltaX: 0.200000 m, approachRate: 0.397463 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBojo:n2nmmkkk&@k? bbb"b HٽI: ɝiII Fi i b̋=)) J)J-AAJ=J=wJ9J9J=|:J=9J9J9jKcPrK}9zKKK05W i F  U ~+*^p9Fj<^+tjdb[WF0"F*F2FP0:Faechecking for new query: numPingsReceived=63, elapsed TxPingTime=34.298500ԑG=2B9:Ba O>ZHE <RHE <HI HI HM IIM BII II II &IM p<*IM >EԹ e_(ď, <?A:@Y:@:[<9:?$>BAHRS rotation from veh to nav: [[0.856367,0.511753,-0.068884],[-0.516119,0.844161,-0.144960],[-0.016034,0.159691,0.987037]]y:HZg?@H`?e @]? ¿Kk p? Ε?ɫ:@:H;:CbDDAT read: Rx Time:04:07:13.7156 fTRx dataTimestamp_ set to:1761365234.573807jDAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed -0.2 -nZ#Rx 64: Read range message, but no direction.df4AYdrchecking for new query: numPingsReceived=64, elapsed TxPingTime=34.554432zYBzIPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )Iioʡ?lt)zAԙI@i AIIƳ٥ǽ B=9jQ > F٦y. > 4Y ?4yokB>;%"?G/D4<<,4)Z,A addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503977 s, deltaX: 0.300000 m, approachRate: 0.595266 m/s, rangeRepo size: 4 %BNOT Ignoring new targets: 7.96 m.Ro!Jo!bo!Zo!Bo!jo!:n!2n)m)mMsBkQkQkU&@kUq? b>b>b@"b/˴@[< LI/: ɝ ]iIICii-g=))F1"F*F2F_0:FG= G=uchecking for new query: numPingsReceived=64, elapsed TxPingTime=34.802361G @=2B ! :B)  O= >ы.ď,<?AF%@YF @FTe<9FMN%>NAHRS rotation from veh to nav: [[0.855349,0.513104,-0.071427],[-0.517862,0.843146,-0.144650],[-0.013997,0.160716,0.986902]]yFH_?Xk? I T ?¿XS??ɫF%@Fع;DVDBVII^jI^٥jwݽ jZ=9nQ n>pp rF٦pyr r> tz4YvT)?~4yvlmvB|~"?vP/Dv!;v"";v4 ) -A 5BNOT Ignoring new targets: 7.96 m.Ro1Jo9bo9Zo9BoAjoA:nI2nImmkkkk 4? bYbYbY"b]廴@Te< 靕I: ɝiIIHiiܜ=))EDDAT read: Rx Time:04:07:14.2155 TRx dataTimestamp_ set to:1761365235.079662DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 -Z#Rx 65: Read range message, but no direction.1AY checking for new query: numPingsReceived=65, elapsed TxPingTime=35.061287Fe2"Fa*Fa2Fa:Fa!GES=2BI:Ba Ou6>IJM {JM kJM 3JI JM d:JM 9JM (3JI jK= 1PrK= 9zK9 K= K= UPNKIIA@?>;;9@EFHIEGS\]Y| m) _ } z _ 3  t"* %]} checking for new query: numPingsReceived=65, elapsed TxPingTime=35.306339ԁ r5ď,<<?A>3@Y>@>7G<9>%>FAHRS rotation from veh to nav: [[0.854043,0.514986,-0.073480],[-0.520060,0.841947,-0.143743],[-0.012159,0.160976,0.986883]]y>H@RT?z? ϲ U;?'f¿`房@?`?ɫ>3@>,;>Cn/BnIIvIv&ѳ٥н  G=9 Q  >  F٦yu̻ > I}4YM2?4yMoMBC#?MY/DMcHCHSIIBIII&I<*IiE2I:IBIJIRIZIÆ4k@33&@k ? bibibi"bme@ԁ7G< I: ɝiIIEii!x=))DDAT read: Rx Time:04:07:14.7157 TRx dataTimestamp_ set to:1761365235.582886DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -3.2 -Z#Rx 66: Read range message, but no direction.f6AY checking for new query: numPingsReceived=66, elapsed TxPingTime=35.564514 nManaging dock network, ignoring radio surface power offF4"F*F2F^0:FGFsAԩG} W^=2B :B  O > ;ď,<?A6@Y6{@6+w<961&>BAHRS rotation from veh to nav: [[0.852852,0.516477,-0.076778],[-0.522066,0.840771,-0.143358],[-0.009489,0.162346,0.986688]]y6H`J? ?Ĵ? Y¿@n?@?ɫ6@6};6CJ1BNI-Mb@Mb@Mb@) )))I)i)-S?MbX9+->-ʡ-)-AI-@i-A-$A )-GA=checking for new query: numPingsReceived=66, elapsed TxPingTime=35.810471IEIEԱ٥< 2=9Q > F٦y > 4Y;A ?c/D<U=;좰4B)b.A2EU addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503224 s, deltaX: 0.299999 m, approachRate: 0.596154 m/s, rangeRepo size: 4 UBNOT Ignoring new targets: 7.96 m.RoQJoQboQZoYBoYjoY:nY2nYmame@Bkakake&@km ? bҴ>bҴ>b+@"b{ް@+w< 靭IO: ɝiIIBii9q=))F}4"Fy*Fy2F}0:Fy)  DDAT read: Rx Time:04:07:15.2157  TRx dataTimestamp_ set to:1761365236.085897 DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.3 - Z#Rx 67: Read range message, but no direction. Y  checking for new query: numPingsReceived=67, elapsed TxPingTime=36.066475G} Pz=2B :B  O >JBď,& =?A :Pl@Y:8g@:;9:k|(>BAHRS rotation from veh to nav: [[0.851542,0.518157,-0.079930],[-0.524238,0.839456,-0.143139],[-0.007071,0.163792,0.986470]]y:H??པ?Hv?eR¿|?(?ɫ:Pl@:;:CJBJIIREIR٥Zٽ Zr=9^hQ ^?\\ bF٦`yb b? dj4YfC?j4yftfiBhnBn?fj/Dfu:fc H >H CH 'II fBI I I &I <*I jEHď,e$=?A6Y@Y6T@6n;96|)>>AHRS rotation from veh to nav: [[0.850364,0.519669,-0.082611],[-0.526170,0.838274,-0.142974],[-0.005049,0.165047,0.986273]]y6H@/6?!? %b`$?@L¿ حtA ??ɫ6Y@6eۉ;6CF&BFIVDDAT read: Rx Time:04:07:15.7159 VTRx dataTimestamp_ set to:1761365236.589971ZDAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 -^Z#Rx 68: Read range message, but no direction.TV3;AYTjchecking for new query: numPingsReceived=68, elapsed TxPingTime=36.571815h]Mb@Mb@Mb@Y Y)YIYiY](\?S㥻l񢿹]>]/ݽ])]zAI]@i] A]A Y]AIuIu٥e< e2=9eRQ m>ii mF٦iy > 4YM?4yw[B>;kW?u/D;:4).A5 addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504074 s, deltaX: 0.300000 m, approachRate: 0.595151 m/s, rangeRepo size: 4 5BNOT Ignoring new targets: 7.96 m.Ro1Jo1bo1Zo9Bo9jo9:n92n9mAmE?BkAkAkE`ff'@kM ? b>b>bD8@"bc"@n; 靽LI,: ɝFWiIIDiia=))F"F*F2F*5:FUchecking for new query: numPingsReceived=68, elapsed TxPingTime=36.818363Gm h=2B :B  O >A Nď,BA>=?A% B%IIERIE4٥Un U^=9UQ U>YY ]F٦Yye e> im4YmAT?u4ym_zmQBqqu?m}/DmP:mk;mM4B)!/ABNOT Ignoring new targets: 7.96 m.RoJoboZoBo:n2nmmkkkk`RC? bbb"b `~I : ɝ i I IIii>b=))DDAT read: Rx Time:04:07:16.2159 TRx dataTimestamp_ set to:1761365237.095609DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 -Z#Rx 69: Read range message, but no direction.Ychecking for new query: numPingsReceived=69, elapsed TxPingTime=37.076923FQ"FY*FY2F]P0:FYiԡG5Pa=2B9:BQ Oe>J wJ rJ 4J J W:J 9J 3J jK OrK ŷ9zK K K $" %32*#=x~l[H=F,Q"%!Gh \N_F{uc e checking for new query: numPingsReceived=69, elapsed TxPingTime=37.322388/Uď,-'X=?AN5@YNo0@NGY89N->^AHRS rotation from veh to nav: [[0.848039,0.522329,-0.089460],[-0.529934,0.835851,-0.143257],[-0.000052,0.168895,0.985634]]yNH "#?? 涿8K? )) -F٦)y55 5>iAIA A4ԡ)G YE*\?)5A4IE?AMZ ByE'}EFBiYX?E/DE(a=E]=EF4)/AH>HHIIVBIII&Id<*I,E] addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.505638 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBo:n2nmmkkkk+? bbb"b@eGY8 aeiIm(: iɝmS6iiIiDDAT read: Rx Time:04:07:16.7160 TRx dataTimestamp_ set to:1761365237.598137DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 -Z#Rx 70: Read range message, but no direction.f>AYchecking for new query: numPingsReceived=70, elapsed TxPingTime=37.578228IuFiiyQ=))EE!>F6"F*F2F4:F GU Ib=2Ba :Bq  O >\ď,ar=?A @Fg'@YFO"@Fk'9F/>RAHRS rotation from veh to nav: [[0.847121,0.523281,-0.092539],[-0.531394,0.835006,-0.142779],[0.002557,0.170126,0.985419]]yFH`?඾?@-]? F¿d?`?`?ɫFg'@F|;FCZ,BZImz@z qz@~ u~@~ i~@~ I~<I~٥ 8= I=9ѻQ > F٦y > !-4Y%7d?54y%%;B5+:1=:=X=?%/D%;?;%>%İ4I)M.AI} addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.502528 s, deltaX: 0.200000 m, approachRate: 0.397987 m/s, rangeRepo size: 4 }BNOT Ignoring new targets: 7.96 m.RoJoboZoBo:n2nmmkkk'@k?k' XI ɝNVi DDAT read: Rx Time:04:07:17.2161  TRx dataTimestamp_ set to:1761365238.101890 DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 - Z#Rx 71: Read range message, but no direction.ۙ ۝ @AYۙ  checking for new query: numPingsReceived=71, elapsed TxPingTime=38.081810I bď,=?A6@Y6@6&96j/>>AHRS rotation from veh to nav: [[0.845892,0.524776,-0.095269],[-0.533332,0.833885,-0.142104],[0.004871,0.171015,0.985256]]y6H??@c @/?`t0¿s??8?ɫ6@6lP;4R6BRII^NI^٥fK= fP=9fQ f>hh jF٦hynx n> pv4Yrk?v4yrr0Bv :tv:v>Yv?r/Dr:rL?rȰ4|)~s.A| addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503753 s, deltaX: 0.100000 m, approachRate: 0.198511 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 7.96 m.RoJoboZoBo:n2nmmkkk(@k<?9& ēIp: 1ɝUciiU;<AD]ytZE9/(/JLC7/("BD checking for new query: numPingsReceived=71, elapsed TxPingTime=38.330406F!"F!*F!2F!:F!aԑZHy RH} <H >H CH !II `BI I G ׿Q=2B I &I <*I |E:B9  OM >Թ siď,=?A*DDAT read: Rx Time:04:07:17.7163 .TRx dataTimestamp_ set to:1761365238.6059842DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.5 -2Z#Rx 72: Read range message, but no direction.(*DAY(6checking for new query: numPingsReceived=72, elapsed TxPingTime=38.585934N @YN@NV9N(0>VAHRS rotation from veh to nav: [[0.845178,0.525472,-0.097737],[-0.534436,0.833312,-0.141313],[0.007189,0.171669,0.985128]]yNH ?`? F`}?`¿ :r}?>?,?ɫN @N;L^DB^ImUmU qUqU uUuU iUiU UMb@Mb@Mb@Q Q)QIQiQUQ?A`"UٽUt)U7AIU@iUAUA QUAImLImԁ٥:= 0=9£Q > F٦y9 > 4Ys?4yȅ(BT:>$;gb?/D;;а4 B)0.A3Em addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504094 s, deltaX: 0.300000 m, approachRate: 0.595127 m/s, rangeRepo size: 4 mBNOT Ignoring new targets: 7.96 m.RoiJoiboqZoqBoq:nq2nqmmhBkkk(@k/? b>b>b[@"b¬@eV im\Im: iɝmim 9oď,ݿ=?A:@Y:@:k9:p1>JAHRS rotation from veh to nav: [[0.844652,0.525893,-0.099999],[-0.535238,0.832846,-0.141025],[0.009120,0.172640,0.984943]]y:Hc?? ` `? ¿Q???ɫ:@:ݢ;:CR_BRIIZTIZn٥b> bm=9fQ f?dd fF٦hyjJ6 j? lr4Yny?v4yn n"Bxzbz?n/Dn\b;nXc;nְ4)^-A-BNOT Ignoring new targets: 7.96 m.Ro)Jo1bo1Zo1Bo1:n12n9m9m9k9kAkAkE@? bababa"be}@k 靅nIn: ɝi\=))FE6"FI*FI2FM\5:FIDDAT read: Rx Time:04:07:18.2163 TRx dataTimestamp_ set to:1761365239.112882PDAT read: Bearing 171.5, -0.5 (Local) ~Local bearing/azimuth received: Bearing 171.5, -0.5 (Local) DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0 DAT read: 04:07:18.2163 LVL= 29776, 28145, 28530, 32755, AGC= 63, IDX= 509, 0.25,-3.013,-0.924, 3.040,-2.324, PHS=-0.601, 1.448,-0.922, RAW= 337.2, 0.7, CAL= 338.5, 0.5, ROT= 171.5, -0.5 Ygot valid direction response: 04:07:18.2163 LVL= 29776, 28145, 28530, 32755, AGC= 63, IDX= 509, 0.25,-3.013,-0.924, 3.040,-2.324, PHS=-0.601, 1.448,-0.922, RAW= 337.2, 0.7, CAL= 338.5, 0.5, ROT= 171.5, -0.5 T#Rx 73: Read range and direction messages.%^direction in FSK: [-0.988978,0.147804,0.008727]-Fpublishing direction and range infoہyۅUŢH6J 4=J A jK nNrK 9zK K K % Vc O{N2$ $ &C3B f 6 <4"TBK ?:K ? checking for new query: numPingsReceived=73, elapsed TxPingTime=39.338383vď,=?ABx@YB`@BR59Bp2>VAHRS rotation from veh to nav: [[0.844341,0.525992,-0.102085],[-0.535692,0.832633,-0.140558],[0.011067,0.173364,0.984796]]yBH ??7"d$?7?0? r?ɫBx@BU;BC^mB^0IIf^If٥ =  F=9 Q  > F٦y< > !=4Y%?E4y%%BQb?%/D%<%<%ݰ4))U,AYQHAHECHEGIIEBIAIAIA&IEy<*IEKEJpRpu9=?ApCApCAp۟@v)6(ӣ-,?- Y?vUŢH6@iݍ5=ݍn?@ݍ5 މ)މލ}/t^鿹ěz5㿂$g8k?iލލbލn?@ލ5 ߉)߉ checking for new query: numPingsReceived=74, elapsed TxPingTime=39.608246F5"F*F2Fo0:FGtAFtAA J% {J% J! J! J% d:J% 9J! J! J% -;J% .;J% b ;J% b ;G ==2B :B  O >8}|ď,b=?AXF@YF@FżS9F3>rAHRS rotation from veh to nav: [[0.843962,0.526222,-0.104012],[-0.536248,0.832374,-0.139968],[0.012923,0.173904,0.984678]]yFH?? (Ϣ?w`hw?|B?{?ɫF@Fs;FC~BFIuchecking for new query: numPingsReceived=74, elapsed TxPingTime=39.842552]Mb@Mb@Mb@Y Y)YIYiY]K7?lMbP]>]])]AI]@i]A]QA Y]AIKIh٥M= ,=9[~Q > F٦y7 > %4Y?%4yRB%؎>->;-pT-?/D;;741)5`,A1JpIRpMvS=?ApM GApM GApMG@vMF({&9x?;Ko?vM5IAᅦ3aw?Xޡ?pMn?@pM5vM|"pΪ @蹔?vMYd?Ȇ?jpM}ArpMZpMrRi?bpMzpMBpMrRi?pMpIpMFApMD@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.501587 s, deltaX: 0.200000 m, approachRate: 0.398734 m/s, rangeRepo size: 4  Added new target pos. range: 12.440741 m, bearing: 139.743362 deg, lat: 36.779460 deg, lon: -121.859725 deg, deltaT: 0.501587 s, deltaX: 0.199051 m, approachRate: 0.396842 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmBkkk)@kW? b-؎>b-؎>b-x@"b-́@EżS AEDIE: AɝE/߲iM;IIIMDiQi';=)) F6"F*F2F1:F% DDAT read: Rx Time:04:07:19.2165 - TRx dataTimestamp_ set to:1761365240.1178515 DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 -5 Z#Rx 75: Read range message, but no direction.! ! Y! = checking for new query: numPingsReceived=75, elapsed TxPingTime=40.0978209 G 2B :B  O >,^ď,6 >?AB@YB@BQu9BY4>JAHRS rotation from veh to nav: [[0.844069,0.525574,-0.106390],[-0.536025,0.832513,-0.139997],[0.014992,0.175195,0.984420]]yBH`? ?`b< '?j^?@l?]?ɫB@BA;BCRBRlII`I`٥f7> jq=9jʻQ j?ll nF٦lyr@: r? tv4Yvэ?z4yv!vBxzZTz?v/Dv:v:v4)h+AE addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503382 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 12.44 m.RoAJoIboIZoIBoI:nI2nImQmQkQkQkYk]? bbb"b@eQu amxJIm: iɝmimNIq JyJyIIiiH<=))QFY"FY*FY2FeP0:Fachecking for new query: numPingsReceived=75, elapsed TxPingTime=40.346832jKPrKU9zKKKt<%I#}PjJ:/0-(',*())'3szvԁGl;=HHCHIIBIII&I<*IRE2BA :Ba 2IC:ICBIJIRIZIcR4 O >ԡ E DDAT read: Rx Time:04:07:19.7166 E TRx dataTimestamp_ set to:1761365240.621947M DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 -U Z#Rx 76: Read range message, but no direction.A ď,/'>?AuLAYqchecking for new query: numPingsReceived=76, elapsed TxPingTime=40.606415yBIMb@Mb@Mb@ )IiʡE?X9v{Gz?o>#<)AI@i AhA AI GI ٥= *=9%Q ->11 5F٦1y5 5> 9E4Y=?E4y==BMq>M`;M3M?=/D=T ;=m ;=t4U$B)U+A]=E addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504096 s, deltaX: 0.300000 m, approachRate: 0.595125 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmBkkk)@k? bq>bq>b@"b@ I: ɝiIIFiiZ <=))ԩJtJqJ3JJ;N:Jq9J(3JJj;Jj;J:J:F"F*F2F:FG G=checking for new query: numPingsReceived=76, elapsed TxPingTime=40.850418G 2B :B)  O= > pď,A>?A2@Y2x@2씼9207>BAHRS rotation from veh to nav: [[0.844782,0.523576,-0.110505],[-0.534802,0.833110,-0.141116],[0.018178,0.178311,0.983806]]y2Hs?@#?@J@@ר?`¿Y??`W{?ɫ2@21;2CJʁBJIIR]IRt٥Z.> Z{=9Z Q ^ ?)) -F٦)y5; 5? 9E4Y=@?E4y=k=BAM3M?=/D=:=:=^4Q)U*AQDNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkkk`b? bbb"b@씼  I: ɝiJIICiiA=))DDAT read: Rx Time:04:07:20.2166  TRx dataTimestamp_ set to:1761365241.127668DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 -%Z#Rx 77: Read range message, but no direction.  Y 5checking for new query: numPingsReceived=77, elapsed TxPingTime=41.109074F6"F*F2F_0:FGC;=2B:B O>1 checking for new query: numPingsReceived=77, elapsed TxPingTime=41.356136jK [OrK zK K K tdUMVowpe\RKD>:F]iktp^OHBA?:77632/-)(&'$!Y Jď,[>?A}ԁB}IINI٥ <= <=9Q > F٦y > 4Y?4yB?/D; ;4)*A- addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.505721 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 12.44 m.Ro)Jo)bo)Zo1Bo11:n92n9m9mAkAkAkAkE D?HYHYH]II]BIYIYIY&I]<*I]lE b1b1b1"b1 %6IM:: QɝUDiUIYIHii6@=))a DDAT read: Rx Time:04:07:20.7167 TRx dataTimestamp_ set to:1761365241.630947%DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed -0.3 --Z#Rx 78: Read range message, but no direction.fNAY5checking for new query: numPingsReceived=78, elapsed TxPingTime=41.612228F6"F*F2F^0:FGFԑG K@=2B :B9  OE >JJ3JϚ.J sJ kJ J J K:J 9J J J (e;J +e;J :J :Թ xĜď,u>?Aj3 @Yj@jp9jn9>vAHRS rotation from veh to nav: [[0.845235,0.522148,-0.113756],[-0.533986,0.833565,-0.141525],[0.020926,0.180365,0.983377]]yjH`) ?o?i?{¿m?6? w?ɫj3 @j֊;jC~B~Iechecking for new query: numPingsReceived=78, elapsed TxPingTime=41.858498Mb@Mb@Mb@ )IiRQ?Mb?/$?B><<)`AI@iA 3AIMI٥`= H=9ۻQ > F٦y+; > 4Y_?4y"BmD>;?/D::4ԑ))A addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503279 s, deltaX: 0.099999 m, approachRate: 0.198696 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmImU9BkYkak)@k`ũ? bmD>bmD>b="b @p IE: ɝiIIEiiLD=))IF6"F*F2Fe0:F DDAT read: Rx Time:04:07:21.2168  TRx dataTimestamp_ set to:1761365242.133949% DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0 -% Z#Rx 79: Read range message, but no direction.  QAY - checking for new query: numPingsReceived=79, elapsed TxPingTime=42.113869G &t@=2B :B)  O5 > ۰ď,{>?A>@Y> @> 9>CX:>FAHRS rotation from veh to nav: [[0.845398,0.521660,-0.114775],[-0.533691,0.833747,-0.141563],[0.021845,0.180931,0.983253]]y>H` ?@q?`a@?¿`^?(? v?ɫ>@> ;>CRBRIIV=)Vp=I^fI^{٥f= f[=9f!Q f>hh jF٦hynl: n> pv4Yr?v4yrr'Btv v?r/Dr;r%;r\4)?)A addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503002 s, deltaX: 0.200001 m, approachRate: 0.397614 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nm m kkk@33*@k%@? bababa"beN@ 靥It: ɝiIIBii$E=))mchecking for new query: numPingsReceived=79, elapsed TxPingTime=42.363323F"F*F2Fn1:FjKNrK9zKKK )rG xA)MAIsxAbAHm>HiHm IIm!BIiIiIi&Im<*Im[EGF=2B I :B  O >5 DDAT read: Rx Time:04:07:21.7169 = TRx dataTimestamp_ set to:1761365242.641921֩ď,D>?ADAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.1 -Z#Rx 80: Read range message, but no direction.qu3SAYqchecking for new query: numPingsReceived=80, elapsed TxPingTime=42.627384:@Y:@:x9:;>FAHRS rotation from veh to nav: [[0.845747,0.520848,-0.115884],[-0.533095,0.834096,-0.141754],[0.022826,0.181665,0.983095]]y:H\?Ȫ?@@?%¿_?@?u?ɫ:@:2;8R BRI5Mb@Mb@Mb@1 1)1I1i15On?T㥛 ??5>5=5<)5AI5@i11 11IGI٥%= %7=9%Q %>)) -F٦)y5: U> Ye4Y]?e4y]U]0Be'>e;eUEm?]/D]Z:]b:]>4+B))A>E addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507972 s, deltaX: 0.099999 m, approachRate: 0.196860 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmXBkkk`ff*@k@¹? b%'>b%'>b%>"b%2@I]x aeIeD: aɝeԩ ď,>?A6K@Y63@6uZ96K;>@FAHRS rotation from veh to nav: [[0.846232,0.519858,-0.116789],[-0.532292,0.834551,-0.142088],[0.023601,0.182406,0.982940]]y6H T??彿?/¿*?@Y?>t?ɫ6K@6ى;4NBN IIVSIVQ٥^= ^d=9^ Q b>`` bF٦`yf+; f> hn4Yj-?r4yjj7BprvDv?j/DjbY;j]Z;jl4x)z(AxDNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkkk? b1b1b1"b5'@MuZ IMIMc: IɝMsȳiQIQIuDiyi}J=)y)yDDAT read: Rx Time:04:07:22.2169 TRx dataTimestamp_ set to:1761365243.141941DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 -Z#Rx 81: Read range message, but no direction.Ychecking for new query: numPingsReceived=81, elapsed TxPingTime=43.123035F6"F*F2F1:FGG=2B:B1 O=>JuyJumJu2JqJu]:Ju&9Juc3Jq!@!@!@!@ ؅ A؁  checking for new query: numPingsReceived=81, elapsed TxPingTime=43.371567jK] LrK] `9zKY K] K]  &*)*)-1@OOIE@:65o/EF9&d}wr{a0vď,<>?A:%@Y: @:ɼ9:<>BAHRS rotation from veh to nav: [[0.846775,0.518716,-0.117919],[-0.531381,0.835076,-0.142416],[0.024598,0.183254,0.982758]]y:H?R?/?:¿*0?`t?`r?ɫ:%@:;8J"BJ IIZP`IZ٥n\Y= rF=9v)Q v>xx ~F٦|y'; >  4Y ?4y  @BxC? /D : : $4!)%C(A!m addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.500020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 12.44 m.RoqJoqboqZoqBoqHHHG IIOBIII&If<*I*E:n2nmmkkkkmV? bqbqbq"bu@ɼ 靍ԽI: ɝiIIIiiJN=))DDAT read: Rx Time:04:07:22.7170 TRx dataTimestamp_ set to:1761365243.646241DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.2 -Z#Rx 82: Read range message, but no direction.fVAYchecking for new query: numPingsReceived=82, elapsed TxPingTime=43.626297F 6"F*F2FP5:FA G J=2B :B  O >j$ď,`>?AI)<25@Y20@2ϼ92fG>>BAHRS rotation from veh to nav: [[0.847777,0.516826,-0.119016],[-0.529747,0.835931,-0.143486],[0.025332,0.184692,0.982470]]y2H ? ։?@w``?@]¿??dp?ɫ25@2 -;0J'BJ Ichecking for new query: numPingsReceived=82, elapsed TxPingTime=43.874290!Mb@Mb@Mb@ )Iirh|?+η?Zd;O?=v=j<)AI@i~A \AIRI4٥*< ;=9*ݺQ > F٦yؐ; > 4Y?4y֖IB>;}=?/D";.+;A,4)(AE addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504300 s, deltaX: 0.200000 m, approachRate: 0.396589 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 12.44 m.RoAJoIboIZoIBoI:nI2nQmQmUyBkYkYke*@kY? b5>b5>b5%?"b5}=Eϼ AE#IE': iɝm2*iiIiIuFiqiu-T=)q)yIFE6"FI*FI2FMP0:FIqDDAT read: Rx Time:04:07:23.2170 TRx dataTimestamp_ set to:1761365244.152873DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.0 -Z#Rx 83: Read range message, but no direction.Y checking for new query: numPingsReceived=83, elapsed TxPingTime=44.132656Ge dO=2Bq :B  O >ԡ \ ď,k??AF?F@YF'A@FV2ռ9Fy?>VAHRS rotation from veh to nav: [[0.848831,0.514852,-0.120054],[-0.528024,0.836830,-0.144591],[0.026022,0.186125,0.982181]]yFH)?y?߻P?¿??n?ɫF?F@F^L;FC^0Bb! IIn[In:٥z<= zZ=9~Q >  F٦ y 0; > %4YŤ?-4yRB)-=5?/D-;H!;24A)E'AIy addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.506632 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkkk`2? bbb"bt=V2ռ <I-: ɝLiIICii[=J%tJ%kJ%3J!J%;N:J%9J%(3J!))qF "F *F 2F _0:F =checking for new query: numPingsReceived=83, elapsed TxPingTime=44.379887ԡjKE+OrKE9zKAKEKEiM@5,(%%,7`}vpifd`\WTMICB>6(   1JHBH?AHHHl IInBIII&I<*IEGV=2B):B9 OE>  DDAT read: Rx Time:04:07:23.7171  TRx dataTimestamp_ set to:1761365244.653852 DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0 - Z#Rx 84: Read range message, but no direction. XAY  checking for new query: numPingsReceived=84, elapsed TxPingTime=44.633762'5ď,[*??A:P@Y:K@:Jؼ9:B?>BAHRS rotation from veh to nav: [[0.849513,0.513774,-0.119850],[-0.526906,0.837633,-0.144015],[0.026399,0.185493,0.982291]]y:H`6/? p?`j ?o¿`t?8?n?ɫ:P@:G;:CJ.BJ IMb@Mb@Mb@ )IiB`"۹?"~j?Mb?=S=<)AI@i~AA AI TI n٥=8, =7=9E ^Q E>AI MF٦Iyu>; > 4Y9ˤ?4yK[B>;>?/D: ::4)'A% addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.500979 s, deltaX: 0.100000 m, approachRate: 0.199610 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 12.44 m.Ro)JoboZoBo:n2nmmBkkk+@k? b=>b=>b= U?"b=>]Jؼ ae.Ie#: aɝmA}iiIiImHiqiu_=)q)qF%6"F!*F!2F!:F!G5= G5==A9Echecking for new query: numPingsReceived=84, elapsed TxPingTime=44.8828741G% ]=2B1 :BQ  Om >Y ď,D??A:q\@Y:YW@:ݼ9:?>FAHRS rotation from veh to nav: [[0.850234,0.512432,-0.120479],[-0.525707,0.838349,-0.144232],[0.027095,0.185967,0.982182]]y:H`5?e?@׾ ?.v¿@?`? n?ɫ:q\@:ي;:CN(BN IIZgIZ٥b bf=9f?Q f>dd fF٦dyj; j> lr4YnVϤ?r4ynnbBpvÅ>v?n/Dn;n:n@4x)z(Ax%DNOT Ignoring new targets: 12.44 m.Ro!Jo!bo!Zo!Bo):n)2n)m1m1k1k1k1k=V? bYbYbY"b]Å>mݼ iu8Iu: qɝu iqIqI}Eiyi}ed=))E1DDAT read: Rx Time:04:07:24.2171 TRx dataTimestamp_ set to:1761365245.159652DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.1 -Z#Rx 85: Read range message, but no direction.۩۩Y۩checking for new query: numPingsReceived=85, elapsed TxPingTime=45.142670F"F*F2FM1:FaGS^=2B):BA OUt>J5C=J5R=J9J9J=2J9J9J9J=c3J9ԑM checking for new query: numPingsReceived=85, elapsed TxPingTime=45.386349Թ jK RKNrK zK K K `{}xlifca`[URPSLB7.'!    BK ?:K ?|Fď,Ӄ^??A2Dd@Y2,_@2T92 @>:AHRS rotation from veh to nav: [[0.850723,0.511490,-0.121031],[-0.524886,0.838834,-0.144400],[0.027666,0.186372,0.982090]]y2H9? !^?`@@?{¿}T?@?`Gm?ɫ2Dd@2K ;2Cr$Br IIzVIz٥ Y  F=9#Q >!! %F٦!y-; 5> AU4YEIԤ?U4yEEjBaeG>e?E/DE;E;;EH4m1B)ul(Au?EHHHy IIxBIII&I<*IE2IEC:IECBIAJIARIAZIE"4 addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.505800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkkk'i?ԑ bbb"bG>T BI: ɝ׬iIIBii4g=))F6"F*F2F/1:FDDAT read: Rx Time:04:07:24.7171 TRx dataTimestamp_ set to:1761365245.662886DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0 -Z#Rx 86: Read range message, but no direction.۱۱Y۱checking for new query: numPingsReceived=86, elapsed TxPingTime=45.644299G5 Xf=2BA :BQ  O] > tď,/mx??A6Fr@Y6.m@6K96U@>BAHRS rotation from veh to nav: [[0.851605,0.509866,-0.121674],[-0.523423,0.839644,-0.145004],[0.028231,0.187173,0.981921]]y6H Z@?P? &^?{¿?I?k?ɫ6Fr@6;6CJBJ I~checking for new query: numPingsReceived=86, elapsed TxPingTime=45.8905415Mb@Mb@Mb@1 1)1I1i15|?5^?Cl?Mbp?5=5;=5;)5AI5@i5A5 A 15AIMiIM҅٥]S ]E=9]Q e>ii mF٦iyuo; u> y4Y}?٤?4y}"}pB>;>?}/D}E:},:}NO4)%(A! addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503234 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmzBkkkk}? b>b>b'NP?"b=>5K 9=BI=: 9ɝ=Ŵi9I9IEGiaim1m=)i)qF% 6"F!*F!2F%_5:F!G)F)DDAT read: Rx Time:04:07:25.2170 TRx dataTimestamp_ set to:1761365246.169399DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.0 -Z#Rx 87: Read range message, but no direction.fVAYchecking for new query: numPingsReceived=87, elapsed TxPingTime=46.149185A Gm 0f=2B :B  O >Yď,@??Ab[}@YbCx@bW9bVA>rAHRS rotation from veh to nav: [[0.852303,0.508611,-0.122044],[-0.522264,0.840308,-0.145335],[0.028636,0.187608,0.981826]]ybHF?@F? B>c`?S¿ R??@k?ɫb[}@bY ;`v BzII=[I=:٥MH UK=9]Q ]>aa eF٦aye\; e> i}4Ymޤ?}4ymmuBy}>?m0Dm ;m!;mSV4)<)A addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.506513 s, deltaX: -0.100000 m, approachRate: -0.197429 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkk*@k`? JJ@AJuJjJJJ[Q:J9JJ bbb"b͘>-W 15`I5i: 1ɝ5!i9I9I=DiAiEwq=)A)AEetAEetAQ checking for new query: numPingsReceived=87, elapsed TxPingTime=46.394520F6"F*F2FP0:FjK}= NrK}#9zKyK}K}7@/  H~wZA+  -JUZYYWTPLKK[j  2KsA*KtAyH>HHl IInBI =II&I<*IyEGm=2B:B O>ԩ  DDAT read: Rx Time:04:07:25.7172  TRx dataTimestamp_ set to:1761365246.670686 DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 - Z#Rx 88: Read range message, but no direction. 3[AY  checking for new query: numPingsReceived=88, elapsed TxPingTime=46.651501Yď,#??A@]B]IMMb@Mb@Mb@I I)IIIiIM|?5^?bX9ȶ?yy }F٦yy} > 4Y 㤊?4y|xB >;(>?0D ;;^4))A addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501287 s, deltaX: 0.300000 m, approachRate: 0.598460 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmHBkkk`ff+@k@W? b >b >bm6?"bz(>! )-\I-C: )ɝ5i1I1IEIiAiMp=)I)IԩF 5"F *F 2F :F checking for new query: numPingsReceived=88, elapsed TxPingTime=46.898361G- r=2B1 :BI  O] > %jď,??A6@Y6݆@696߯A>BAHRS rotation from veh to nav: [[0.853207,0.506905,-0.122824],[-0.520728,0.841265,-0.145312],[0.029668,0.187939,0.981733]]y6H@xM?8?@aqΩ ?¿Na?a?`Zj?ɫ6@6;6CNBNIIVPIV٥^ bj=9b-BQ b?dd fF٦dyf; f? hlr4Yj椊?r4yjGjzBpv*>v?j 0Dj';j~(;jd4x)zD*AxDNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkkk ? bbb"b*>] ae=Ie: aɝeiaIaImFiiimԭw=)q}DDAT read: Rx Time:04:07:26.2171 TRx dataTimestamp_ set to:1761365247.174012DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed -0.1 -Z#Rx 89: Read range message, but no direction.y}XAYychecking for new query: numPingsReceived=89, elapsed TxPingTime=47.154835) F)"F1*F12F1:F1G== G==9Gmnp=2By:B O>- checking for new query: numPingsReceived=89, elapsed TxPingTime=47.402466iQ IU Ci )E G Y )u 5AI  AjK lOrK U9zK K K `5!$  2{ {Jm)~naZTRH3!{vokf`]\Uď,??A2܏@Y2Ċ@2#92A>:AHRS rotation from veh to nav: [[0.853446,0.506468,-0.122965],[-0.520316,0.841564,-0.145054],[0.030017,0.187776,0.981753]]y2HmO?4?@zn?`"¿ռ? ?`j?ɫ2܏@2+;2CBBBIINlIN)٥RGͼ VJ=9VaQ V>XX ZF٦XyZ: Z> \b4Y^뤊?f4y^ ^|Bdf+>f?^0D^:^:^.k4h)nn*AlHHHM IITBIII&In<*I3E- addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503326 s, deltaX: -0.200000 m, approachRate: -0.397356 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 12.44 m.Ro1Jo1bo1Zo1Bo1:n92n9m9m9kAkAkE+@kE? bbb"b*+>5# 9=*HI=: 9ɝ=;Ii9I9IECiAiE qx=)I)IE}p>E}%>F6"F*F2F%_0:F!Qu4DAT read: Rx Tim26.7173 uRunknown deviceResponse_: Rx Tim26.7173 DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.1 -Z#Rx 90: Read range message, but no direction.im\AYichecking for new query: numPingsReceived=90, elapsed TxPingTime=47.659138yG5w=2BQ:Ba O}>ԡ J vJ nJ 3J J {T:J 99J (3J J [u;! J ]u;! J \:! J ]:! ď,??A6J@Y62@696 B>BAHRS rotation from veh to nav: [[0.853835,0.505630,-0.123706],[-0.519635,0.841958,-0.145213],[0.030731,0.188269,0.981637]]y6HR?.?*٠ Q?S¿w?@6?i?ɫ6J@6;6CRˁBRIbchecking for new query: numPingsReceived=90, elapsed TxPingTime=47.906612ԁMb@Mb@Mb@ )IiV-?Mb?I +=@=9)AIiQAA AI5]I5t٥Mٽ M3=9M̺Q M>QQ UF٦Qy]: ]> ae4Yeg?m4ye?ezBm >m;m m?e0De{:e:e+s4}8B)}i+A}@E addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504284 s, deltaX: 0.300000 m, approachRate: 0.594903 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmBkk!k%+@k%( ? bM >bM >bM%>"bMp@ 靭ԣI: ɝiIIHii${=)) ԩF"F*F2F:F}DDAT read: Rx Time:04:07:27.2172 }TRx dataTimestamp_ set to:1761365248.182002DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.0 -Z#Rx 91: Read range message, but no direction.y}3[AYychecking for new query: numPingsReceived=91, elapsed TxPingTime=48.161942G w=2B :B  O > Iď,@?A>H@Y>0@>9>jB>JAHRS rotation from veh to nav: [[0.854081,0.505129,-0.124055],[-0.519215,0.842177,-0.145443],[0.031009,0.188632,0.981558]]y>H T?*?@¿g?@¿`? %?h?ɫ>H@>;>CRBRI TTIZcIZ#٥fv ff=9jLQ j>hl nF٦lynl: n> pv4Yr+?v4yrirxBxzf z?r0Drw:r:rcy4|)~,A= addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503706 s, deltaX: -0.100000 m, approachRate: -0.198529 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 12.44 m.RoAJoAboAZoABoA:nA2nAmImIkIkIkU`ff+@kU@? bqbqbq"bu@ 靍H H  II ,BI I I &I y<*I DEGuPz=2B:B O> DDAT read: Rx Time:04:07:27.7173  TRx dataTimestamp_ set to:1761365248.686521 DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 - Z#Rx 92: Read range message, but no direction.ہ ۅ \AYہ  checking for new query: numPingsReceived=92, elapsed TxPingTime=48.666424 ! ď,|-@?A@Y@9FC>%AHRS rotation from veh to nav: [[0.854289,0.504520,-0.125101],[-0.518845,0.842228,-0.146464],[0.031469,0.190030,0.981274]]yH UV?%?Ma?S¿?R? f?ɫ@;C5B5~IMb@Mb@Mb@ )IiDl?~jth?QO >D;)I@i~A fAIRI4٥-9 -6=9-Q 5>11 =F٦9y=w: => AM4YE?M4yE,EsBM>U;UU?E0DE;Er;E94Y)]a,AY addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504519 s, deltaX: 0.100000 m, approachRate: 0.198209 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmm߁Bkkk+@kFbM>bMQ<"bMQ@e ae̽Ie: aɝm޲iiIiImBiiim}=)i)qEyJxJjJJJZ:J9JJJ;J;J:J:F6"F*F2F0:FAchecking for new query: numPingsReceived=92, elapsed TxPingTime=48.914700i G |=2B :B  O >Gď,yG@?A B@YB@BV9BID>JAHRS rotation from veh to nav: [[0.854486,0.504054,-0.125626],[-0.518492,0.842420,-0.146614],[0.031929,0.190416,0.981184]]yBHW?6!?{ ?@¿X?_?@e?ɫB@Bl;BCnBn_IIvJIvK٥ _=9Q >    F٦ y N: > 4Y?%4y˕nB!%Y%?0Dw;/;4))5(-A1eDNOT Ignoring new targets: 12.44 m.RoaJoaboaZoaBoi:ni2nimimikqkqkqku`)? bbb"bD@V 靭I': ɝiIIGii|M=))=DDAT read: Rx Time:04:07:28.2174 ETRx dataTimestamp_ set to:1761365249.189802MDAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 -]Z#Rx 93: Read range message, but no direction.9=`AY9echecking for new query: numPingsReceived=93, elapsed TxPingTime=49.171471F5 6"F1*F12F55:F1iԩGu0=2B:B O>  checking for new query: numPingsReceived=93, elapsed TxPingTime=49.420959jKU f`NrKQ zKQ KU KU  -Sl JK* "<HGGE<-  ď,la@?A6@Y6@6%96VD>>AHRS rotation from veh to nav: [[0.854696,0.503546,-0.126238],[-0.518110,0.842639,-0.146703],[0.032501,0.190792,0.981092]]y6HY? ?@( \@?,¿?`k?e?ɫ6@66;6CFBFTIHLHLHNIINBIN =ILIL&INv<*INAEXI^=)^a=Ib_Ib٥j>@ jM=9jԻQ j>ll nF٦lyr: r> pz4Yr?z4yryriBxzz?r0Dr;r{;r4)u-A addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503281 s, deltaX: 0.200000 m, approachRate: 0.397392 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkk)k-,@k-1? bqbqbq"buo@% 4+I!: ɝ3iAIAIUDiYi] b=))eDDAT read: Rx Time:04:07:28.7174 }TRx dataTimestamp_ set to:1761365249.699637DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 -Z#Rx 94: Read range message, but no direction.iiYichecking for new query: numPingsReceived=94, elapsed TxPingTime=49.682556F 6"F*F2FG5:F G5 X=2BA :BY  Oe >J vJ wJ J J {T:J 9J J J [u;J ]u;J :J :ď,+5{@?A fDDAT read: Rx Time:04:07:29.2173 nTRx dataTimestamp_ set to:1761365249.951516vchecking for new query: numPingsReceived=94, elapsed TxPingTime=49.931252|@Y靷@L9ID>%AHRS rotation from veh to nav: [[0.854581,0.503659,-0.126570],[-0.518273,0.842602,-0.146341],[0.032942,0.190658,0.981104]]yHX??n3?L¿ݠ?xg?3e?ɫ@`G;-B5JI]Mb@Mb@Mb@Y Y)YIYiY]'1Z?l]]t)]`AI]~@i]A]A Y]AImIIm.٥} }3=9|Q > F٦y > 4Yw?4yǗ`B.+>;:?$0D>; ;4)-A addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.509835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoIboIZoIBoI:nQ2nQmQmUBkYkYkYk]`u? b.+>b.+>b߾@"bnͱ@L ԣI: ɝFiIIIii =) ) 1F6"F*F2FO0:FQ]DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 -]Z#Rx 95: Read range message, but no direction.IM\AYIechecking for new query: numPingsReceived=95, elapsed TxPingTime=50.176540G 0ƀ=2B :B  O >ԁ T%ď, @?A6@Y6@6!T 96sD>BAHRS rotation from veh to nav: [[0.854381,0.503874,-0.127061],[-0.518565,0.842494,-0.145923],[0.033521,0.190563,0.981102]]y6HW??@C@?¿`)?ad?0e?ɫ6@6?;6CJqBJ6IIniIn҅٥v vh=9z׺Q z>|| ~F٦|ym > 4Y  ?4y Ș ZB*:? '0D ): ; œ4!)%6.A!U addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.497308 s, deltaX: -0.200000 m, approachRate: -0.402165 m/s, rangeRepo size: 4 YeDNOT Ignoring new targets: 12.44 m.RoaJoaboaZoaBoa:na2nimimikikqku+@ku`? bbb"bʱ@!T 靵@Iv: ɝ+iIIFii|~=))DDAT read: Rx Time:04:07:29.7175 TRx dataTimestamp_ set to:1761365250.454486DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 -Z#Rx 96: Read range message, but no direction.aAYchecking for new query: numPingsReceived=96, elapsed TxPingTime=50.435036F!"F!*F!2F%_0:F)ԉjK]iHHIIځBIII&I<*IE2Iq:IqBIqJIuƠ =RIqZIu4ԱGq2By:B O> m checking for new query: numPingsReceived=96, elapsed TxPingTime=50.679714>+ď,c)@?A>m@Y>U@>Z 9>!D>FAHRS rotation from veh to nav: [[0.854005,0.504407,-0.127474],[-0.519147,0.842246,-0.145286],[0.034081,0.190253,0.981143]]y>H T?@$?@Q ۜ ? ¿ s?5Z?e?ɫ>m@>;>CNpBN5I RAP-Mb@Mb@Mb@) )))I)i)-I +?-t-\)-AI-h@i-A) )-AIEFIEפ٥U̗ ]B=9]Q ]>aa eF٦aye׺ m> iu4ԙYmJ ?4ymimQBE>;md?m-0Dm.A addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.257541 s, deltaX: 0.300000 m, approachRate: 1.164864 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmBkkk@33,@k@7? b5E>b5E>b5@"b5$@EZ ImLIm): iɝmճiqIqIuCiyi}|=)y)yJtJjJ2JJ;N:J9Jc3JJj;Jj;J:J:F"F*F2FZ0:FDDAT read: Rx Time:04:07:30.2174 TRx dataTimestamp_ set to:1761365250.955750DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.1 -Z#Rx 97: Read range message, but no direction.۱۵`AY۱checking for new query: numPingsReceived=97, elapsed TxPingTime=50.935715GE S%}=2BI :Bi  Ou > 2ď,Ͽ@?AI)B@YB@Bw 9BC>NAHRS rotation from veh to nav: [[0.853501,0.505172,-0.127821],[-0.519946,0.841861,-0.144656],[0.034531,0.189924,0.981191]]yBHO?]*?m\`f ?@¿?kO?`e?ɫB@B Ӊ;@VnBV2IIbdIb@٥f jV=9jpQ j>ll nF٦lyr! r> tz4Yv?z4yvvHBxzdz?v10Dv:v:vΪ4?B).A5 addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.501264 s, deltaX: -0.100000 m, approachRate: -0.199496 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 12.44 m.Ro9Jo9boAZoABoA:nA2nImImIkIkQkU,@kU? bqbqbq"buz@w 靍0[I: ɝTiIIHiix=))Ea>E>checking for new query: numPingsReceived=97, elapsed TxPingTime=51.182392!F5"F*F2F0:FAG5(z=2BA:Bi Ouz>q DDAT read: Rx Time:04:07:30.7176  TRx dataTimestamp_ set to:1761365251.458140 DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 - Z#Rx 98: Read range message, but no direction. dAY  checking for new query: numPingsReceived=98, elapsed TxPingTime=51.438957ԙ ;@8ď,V@?AH$H$H&II&BI& =I$I$&I&{<*I&HEjK.LrK.9zK,K.K. ;wB/+((2AMLG<4/@^h\I7.$0]R@YRh@R9RnD>ZAHRS rotation from veh to nav: [[0.852838,0.506051,-0.128762],[-0.520997,0.841194,-0.144756],[0.035059,0.190538,0.981054]]yRHrJ?`1?B{?]¿@Q?c?d?ɫR@Ri;RC~iB~,II TI n٥ȼ %E=9%GQ %>!) -F٦)y-D -> 1=4Y5:?=4y5~5?BAEdE?560D5;5;54I)M.AQ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502390 s, deltaX: 0.300000 m, approachRate: 0.597146 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 12.44 m.Ro!Jo)bo)Zo)Bo):nQ2nYmamakikiyku,@kP? bbb"biq@ 靽hI : ɝ 7 iII%EiIiUHt=)Q)aechecking for new query: numPingsReceived=98, elapsed TxPingTime=51.692638ԩFE6"FA*FA2FM`0:FIGe mx=2Bq :B  O > so>ď,֋@?ABDDAT read: Rx Time:04:07:31.2175 BTRx dataTimestamp_ set to:1761365251.962528JDAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.1 -JZ#Rx 99: Read range message, but no direction.@BaAY@Nchecking for new query: numPingsReceived=99, elapsed TxPingTime=51.942509gB)IIma=)mp=Mb@Mb@Mb@ )Ii~jt? rhD>̽C )AIihA AI5QI5٥Eu M,=9MQ M>QQ UF٦QyU U> Y4Y]?4y]]4Bd`>r;}?]=0D]``<]_<]Y4).A  addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504388 s, deltaX: -0.200000 m, approachRate: -0.396520 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmgBk!k!k%@33,@k%@y? bEd`>bEd`>bEC@"bE4^@Q Y]I]=: aɝeiaIaImBiiim@u=)i)qF6"F*F2F0:F-checking for new query: numPingsReceived=99, elapsed TxPingTime=52.190300! G] | u=2Bi :B  O >QEď,OA?AB^u@YBFp@B9B"D>JAHRS rotation from veh to nav: [[0.851588,0.507889,-0.129791],[-0.522969,0.840152,-0.143694],[0.036063,0.190245,0.981074]]yBH`6@? @?)@?`d¿v?Y?d?ɫB^u@Bբ;BCRkBR.IIZZIZ٥fQ< f=9fLQ j ?hh jF٦hynU n ? tz4Yv ?z4yvCv-B|~$~~?vA0Dv* ;vG ;v4 ) .A 5DNOT Ignoring new targets: 12.44 m.Ro1Jo1bo1Zo1Bo1:n92n9mAmAkAkAkIkM``? bqbqbq"buFK@ JyJ}?AJxJnJ4JJZ:J99J3J!@!@!@!@ 靡I ɝiIIGiil=)))WG 1)IQDDAT read: Rx Time:04:07:31.7177 TRx dataTimestamp_ set to:1761365252.466019hDAT read: Rao 50 : 14.4 m (trip ms) speed -0.2 unknown deviceResponse_: Rao 50 : 14.4 m (trip ms) speed -0.2 checking for new query: numPingsReceived=99, elapsed TxPingTime=52.445038FM 6"FI*FI2FU4:FQI]aeAJHABHEAAHM>HIHMIIMBIIIIII&IM<*IM_EԁjK(:NrK#9zKKKvkgdmsobTE8201+'&$!''" nhL;2($,8>Po2K*KrAG2B:B O>ԩ ] checking for new query: numPingsReceived=99, elapsed TxPingTime=52.696667~Kď,60A?AnAHRS rotation from veh to nav: [[0.850845,0.509002,-0.130305],[-0.524142,0.839526,-0.143078],[0.036567,0.190036,0.981096]]ybH:?@I?խ e?cP¿`?`S?@#e?ɫbi@b։;bCvzBv@I}Mb@Mb@Mb@y y)yIyiy}K7?+ηZd;O}I>}v}j)}3AI}Q@i}A}QA y}QAI`I̍٥?= ==9Q > F٦yyR > 4Y!?4yH&BUQ`>Ur;UwU?G0D6<<DZ4Y)](.AaDNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmjBkkkkl? bQ`>bQ`>b@"b -@U  Q] )dRď,JA?A6Jc@Y62^@6T{96C>>AHRS rotation from veh to nav: [[0.850404,0.509613,-0.130798],[-0.524830,0.839140,-0.142821],[0.036974,0.190102,0.981068]]y6H 6?@N?@`g` F٦y > !-4Y%%?54y%%B15Iw5?%L0D%] ;%:%;α4A)E-AAu addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 1.007323 s, deltaX: 0.299999 m, approachRate: 0.297818 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 12.44 m.RoyJoyboyZoyBoy:n2nmmkkk,@k@B[? bbb"b&@T{ D=I : ɝ2iIIIiie=))checking for new query: numPingsReceived=100, elapsed TxPingTime=53.200825F6"F*F2FP0:FYyJ(3Jm3JA.JtJiJ3JJ;N:Jڈ9J(3JG5Xh=2B9:BQ O]> DDAT read: Rx Time:04:07:32.7178  TRx dataTimestamp_ set to:1761365253.473941 DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 - \#Rx 101: Read range message, but no direction.۱ ۵ iAY۱  checking for new query: numPingsReceived=101, elapsed TxPingTime=53.454842ԡ HE >HA HE IIE BIA IA IA &IE \<*IE EXď,cA?A:[@Y:V@:S9:D>JAHRS rotation from veh to nav: [[0.849902,0.510337,-0.131234],[-0.525620,0.838685,-0.142591],[0.037295,0.190168,0.981043]]y:H`e2?@T?@H ?k@¿ H?hW?@d?ɫ:[@:^;:CjK^ƸNrK^U9zK\K^K^#:)}uxqpkf]VQHD?940/,($$" rBrZII%QqI%٥X= 6=9:Q >!! %F٦!y- -> 1=4Y5%*?=4y5$5BAEwE?5S0D5:5:5ձ4)E}-AAԩ%checking for new query: numPingsReceived=101, elapsed TxPingTime=53.705257e addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504090 s, deltaX: 0.200001 m, approachRate: 0.396756 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmk!k)k-@33-@k-`? bbb"b>@S  =I- : ɝ'3iIIFii/b=))F 6"F*F2F4:F  DDAT read: Rx Time:04:07:33.2178  TRx dataTimestamp_ set to:1761365253.978781 DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.2 - \#Rx 102: Read range message, but no direction. Y  checking for new query: numPingsReceived=102, elapsed TxPingTime=53.958782G 0f=2B :Bq  O} >[ `ď,8A?ATjV@YjQ@j9jaD>rAHRS rotation from veh to nav: [[0.849585,0.510739,-0.131725],[-0.526111,0.838372,-0.142619],[0.037593,0.190468,0.980973]]yjH`/?W?Z@ ?TA¿k??Ea?"d?ɫjV@j;jCBiI Mb@Mb@Mb@  ) I i  V-?MbX9~jt |?> ʡ D) I i A   AILI٥-GT= -8=95#0Q 5>11 =F٦9y > 4Y.?4y!B

;|o?Y0DQ:{:ޱ4)-Au addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmBkkkk!? b5

b5

b5_E@"b5Y @ 靅;I: ɝ,3iIICii*a=))checking for new query: numPingsReceived=102, elapsed TxPingTime=54.207268 Fe6"Fa*Fa2FeP0:Fa1 G Ȓb=2B :B  O >-fď,>A?AJ&uJ&kJ$J$J&[Q:J&9J$J$^Q@Y^L@^\9^hD>fAHRS rotation from veh to nav: [[0.849245,0.511177,-0.132217],[-0.526636,0.838049,-0.142579],[0.037921,0.190714,0.980913]]y^H -?[?@{4K?`@¿ hj?Si?`c?ɫ^Q@^$;^CnBrIIv=)v=Iz^Iz٥> a=9mQ > ! F٦1yE޺ M> Y4Y]f2?4y]]Bo?]]0D];];],4EB),AAEmDDAT read: Rx Time:04:07:33.7180 mTRx dataTimestamp_ set to:1761365254.483529}DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3 -}\#Rx 103: Read range message, but no direction.imfnAYichecking for new query: numPingsReceived=103, elapsed TxPingTime=54.463692  addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504748 s, deltaX: 0.299999 m, approachRate: 0.594355 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 12.44 m.Ro JoiboiZoiBoq:nq2nqmqmykykyk}-@k}o? bbb"b@\ 8d=I" : !ɝ%i!I!IIMHiQiU^=)Q)QZHRH<HHHIIځBIII&I<*IiEjKCNrK9zKKK    !(+)),588:9642/-(!F6"F*F2F]0:Fy checking for new query: numPingsReceived=103, elapsed TxPingTime=54.712334ԩ G= (a=2BY :Bq  O >Wlď,A?A :M@Y:H@:9:D>BAHRS rotation from veh to nav: [[0.848979,0.511560,-0.132446],[-0.527058,0.837782,-0.142588],[0.038018,0.190861,0.980881]]y:H`*?@^?`? T@¿(w?!n?_c?ɫ:M@:G;8NBNImMb@Mb@Mb@i i)iIiiimw/?&1m&>mPm)mAImh@iii iymAIHI٥!r= A=9pQ > F٦y} > 4YR6?4y .>;fZ?b0D ; ;j4)1,A%DNOT Ignoring new targets: 12.44 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m-Bk)k1k1k5k? bU.>bU.>bU[@"bUí@e imIm=: iɝiiiIiIEiie]=))F56"F1*F92F=0:FAԩmDDAT read: Rx Time:04:07:34.2180 mTRx dataTimestamp_ set to:1761365254.985946}DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 -}\#Rx 104: Read range message, but no direction.iiYichecking for new query: numPingsReceived=104, elapsed TxPingTime=54.965961G5|^=2BA:BY Oe> ?sď,A?ABWN@YB@I@B +9BwE>JAHRS rotation from veh to nav: [[0.849023,0.511374,-0.132878],[-0.526980,0.837737,-0.143142],[0.038118,0.191555,0.980741]]yBH1+?-]?& `?zR¿+?`߄?;b?ɫBWN@Bc ;BCRԁBRIIZZbchecking for new query: numPingsReceived=104, elapsed TxPingTime=55.214470IZ٥j+= jW=9jQ n>ll rF٦pyr x9 r> t~4Yv9?4yvRvB^Z?vf0Dv4X;vX;v 4 ) +AE addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.502417 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 12.44 m.RoAJoIboIZoIBoI:nI2nImQmQkQkQkYk]SV? bbb"bĭ@ + 靝$=I: ɝiII]BiYieW]=)a)aF 6"F*F2F0:F JaJeqJaJaJaJeq9JaJa9quA}DDAT read: Rx Time:04:07:34.7181 }TRx dataTimestamp_ set to:1761365255.490124DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1 -\#Rx 105: Read range message, but no direction.y}pAYychecking for new query: numPingsReceived=105, elapsed TxPingTime=55.471268G 2B :B1  O= >H >H H II BI I I &I <*I E2I:IBIJIRIʠ =ZI/*4Y jKU MrKU 9zKQ KU KU   3?=gG*}rid`XMEC>755?oyď,FA?A2L@Y2G@2.B92 F>NAHRS rotation from veh to nav: [[0.848916,0.511472,-0.133185],[-0.527150,0.837563,-0.143529],[0.038140,0.192053,0.980643]]y2HQ*? ]?@6 iQ?+_¿@?0?ma?ɫ2L@29ԇ;2CjBjIIr`Ir̍٥z= zG=9~aQ ~>| F٦y > 4Y =?4y   BiZ@ j0D K: : 14!)%*A!} addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504178 s, deltaX: 0.100000 m, approachRate: 0.198343 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkk.@k ? bbb"b­@.B д=Ii : ɝiIIGii?.]=)))checking for new query: numPingsReceived=105, elapsed TxPingTime=55.722153F 6"F *F2FR5:FYԁG2B:B O>} DDAT read: Rx Time:04:07:35.2181  TRx dataTimestamp_ set to:1761365255.994723 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 - \#Rx 106: Read range message, but no direction.y y Yy  checking for new query: numPingsReceived=106, elapsed TxPingTime=55.974693Ա xQď,UB?A6O@Y6J@696F>~AHRS rotation from veh to nav: [[0.849111,0.511111,-0.133328],[-0.526848,0.837635,-0.144216],[0.037970,0.192699,0.980523]]y6H+? [?@?u¿p?@X?r`?ɫ6O@6;6C B IMb@Mb@Mb@ )IiPn?I +I +?>9494<)`AIiA AII٥= <=9*9Q > F٦yX: >  4YA? 4yB >;'@n0D;;4)%)A!] addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 12.44 m.RoYJoaboaZoaBoa:na2namimm BkikiԑkIkM(? b >b >bV@"bw@ 靥LI0: ɝiIIDii^=))F 6"F*F2FP5:Fchecking for new query: numPingsReceived=106, elapsed TxPingTime=56.222923G u \=2B :B  O > ď, BB?AJ=xJ9J=2J9J=Z:J9J=c3J9B IITIn٥$= %G=9%Q %>)5DDAT read: Rx Time:04:07:35.7183 =TRx dataTimestamp_ set to:1761365256.498074EDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 -M\#Rx 107: Read range message, but no direction.15tAY1Uchecking for new query: numPingsReceived=107, elapsed TxPingTime=56.478039) UF٦Qy] ]> am4Ye"E?m4yexeBiiu@eq0De;e;e4}YB)}*A}JE addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503351 s, deltaX: 0.300000 m, approachRate: 0.596006 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 12.44 m.RoJoboZoBo:n2nmmkkk.@k $? bbb"b! !%_I-: )ɝ-i)I)I5Ii1i5v^=)1)9JHaBHe>AHqHqHu( IIu6BIu =IqIq&Iu<*IuEF5"F*F2FP0:FjKu2OrKu#9zKqKuKuOW\[_ptf^YSQNJNPONMMJJJIHC@58a<r\H4!xaK9#GE ?_=Y 2B :B  checking for new query: numPingsReceived=107, elapsed TxPingTime=56.731014 O >ď,f5B?A (B  IMb@Mb@Mb@ )Ii ףp= ?S㥛? F٦y > 4YG?4yB= <Қ@t0D*:7;4))A-DNOT Ignoring new targets: 12.44 m.Ro1Jo1bo1Zo1Bo1:n12n1m9m=ABk9kAkAkE%? be=be=be9>"beb@q y}LI}$: ɝFoiIIIMFiQiQ)Q)YF=6"F9*FA2FA:FAaamDDAT read: Rx Time:04:07:36.2182 uTRx dataTimestamp_ set to:1761365257.007102}DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -\#Rx 108: Read range message, but no direction.qu3sAYqchecking for new query: numPingsReceived=108, elapsed TxPingTime=56.987755ԡGE ^=2BQ :Bi  Ou > ď,NB?A J^@YJY@J9JM7H>PVAHRS rotation from veh to nav: [[0.850149,0.509664,-0.132246],[-0.525303,0.838181,-0.146661],[0.036098,0.194153,0.980307]]yJH l4?*O?q H`?¿w{??@^?ɫJ^@J;JCbchecking for new query: numPingsReceived=108, elapsed TxPingTime=57.234528^>Bf2 IIrRIr4٥z_= zY=9z$;Q ~>|| F٦y; > 4Y J?4y  B@ v0D D; ; f4!)-(A)- addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.509028 s, deltaX: -0.100000 m, approachRate: -0.196454 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 12.44 m.RoQJoYboYZoYBoY:na2namimikikiku`ff.@k? bbb"bm@] Y]I]=: YɝeiaIaICiie=))F"F*F2FT0:FGFi)I-ېC)HG I)yI/8ADDAT read: Rx Time:04:07:36.7184 TRx dataTimestamp_ set to:1761365257.511532PDAT read: Bearing 165.9, 12.4 (Local) ~Local bearing/azimuth received: Bearing 165.9, 12.4 (Local) DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.1 DAT read: 04:07:36.7184 LVL= 25888, 32753, 22322, 32755, AGC= 63, IDX= 512,-0.34, 2.964,-1.471, 2.529,-3.123, PHS=-0.108, 1.699,-0.634, RAW= 342.4, -9.1, CAL= 344.1, -12.4, ROT= 165.9, 12.4 Ygot valid direction response: 04:07:36.7184 LVL= 25888, 32753, 22322, 32755, AGC= 63, IDX= 512,-0.34, 2.964,-1.471, 2.529,-3.123, PHS=-0.108, 1.699,-0.634, RAW= 342.4, -9.1, CAL= 344.1, -12.4, ROT= 165.9, 12.4 V#Rx 109: Read range and direction messages.`direction in FSK: [-0.947247,0.237932,-0.214735]Fpublishing direction and range infoہyۅU!OUAt?h`r|˿ۅxAYہ ܅ e)܁I܅2Wi܁܁܅/ݽ܅x?܅M" ݅t;@)݅"I݅.@i݅k]݅O9@݅k]> ށ)ށޅ. T翑O[c-ĿiޅFޅ(">ޅO9@ޅk]> ߁)߁ checking for new query: numPingsReceived=109, elapsed TxPingTime=57.505241G <|^=2B ) Hq Hq Hu f IIu iBIu =Iq Iq &Iu <*Iu wE:B  O >ď,hB?AjK: OrK8zK8K:K:{|}ukfd`\XVQMLLPc~~th[QF?50)$Re@YR`@Rem9R`cH>^AHRS rotation from veh to nav: [[0.850607,0.509091,-0.131506],[-0.524619,0.838489,-0.147346],[0.035253,0.194324,0.980304]]yRH ,8?zJ?, ?`>¿ ??^?ɫRe@Rf;PbJBfA IInOInݜ٥ve= vJ=9v ;xQ  > F٦y; > !-4Y%M?-4y%P%#B)MM@%x0D%;%;%4Y)]z(AYJpRp`B?ApvApvAp{@vwc9-] @A5 vU!OUAt?h`r|˿pO9@pk]>v5@$v&@!dv*g)r~L?^BMɿjp3Arp"Zp?bpzpbxBppp܁BpqAp@  addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504430 s, deltaX: 0.300000 m, approachRate: 0.594731 m/s, rangeRepo size: 4  Added new target pos. range: 15.426440 m, bearing: 132.034482 deg, lat: 36.779460 deg, lon: -121.859725 deg, deltaT: 17.897063 s, deltaX: 2.985700 m, approachRate: 0.166826 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo!Bo!:n!2n!m1m1k9k9k=/@kEߠ? bbb"bs@ em hJm vJm jJi Ji Jm {T:Jm 9Ji Ji Jm [u;! Jm ]u;! Ji ! Ji ! q } DDAT read: Rx Time:04:07:37.2183 } TRx dataTimestamp_ set to:1761365258.014001 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 - \#Rx 110: Read range message, but no direction.y } tAYy  checking for new query: numPingsReceived=110, elapsed TxPingTime=57.993973ď,EB?An&o@Ynj@n 9n(H>zAHRS rotation from veh to nav: [[0.851240,0.508190,-0.130895],[-0.523645,0.838927,-0.148313],[0.034441,0.194792,0.980240]]ynH\=?C?, @~?¿0??^?ɫn&o@n`;nC=UB=N Ia iiMb@Mb@Mb@ )Ii ףp= ?Zd;?{Gz?Q8=y=ף<)Ii;AhA IlI)٥:= 1=9X:Q > F٦y!&; > 4YeP?4y+B=)<=>@z0D ;P;$4`B)Z(AKE= addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502469 s, deltaX: -0.200000 m, approachRate: -0.398034 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.43 m.RoAJoAboAZoABoA:nI2nImQmUnBkQkQk].@k]"i? b}=b}=b}io?"b}M=> 靕LI+: ɝiIIEiiuk=))ԉF6"F*F2F`0:Fchecking for new query: numPingsReceived=110, elapsed TxPingTime=58.242622ԹG TJg=2B :B  O >  JY JY ٦ď,B?A=^B=Y IIM_IM٥eAJ= ma=9mQ m>iq uF٦qyu }> y4Y}nR?4y}ǰ}1B@}|0D}:}:}*4ԙ)(ADNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk ? bbb"bDDAT read: Rx Time:04:07:37.7184 %TRx dataTimestamp_ set to:1761365258.517972-DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -5\#Rx 111: Read range message, but no direction.xAY=checking for new query: numPingsReceived=111, elapsed TxPingTime=58.4979559 AE(IEM: AɝEiAIAIMBiIiMk=)I)QHHH IIBIII&I<*IcEF"F*F2F1:FjKNrK`9zKKK`8KSRLJSbkAs`K<2-("   2K*KsAGM8k=2BY:Bi O}> checking for new query: numPingsReceived=111, elapsed TxPingTime=58.748062! hď,6ZB?A:~@Y:g@:j79:J>FAHRS rotation from veh to nav: [[0.852713,0.506028,-0.129676],[-0.521351,0.839965,-0.150508],[0.032762,0.195946,0.980067]]y:HmI? a1?6?Cÿ(Ơ?@?\?ɫ:~@:O;:CJjBNh I%Mb@Mb@Mb@! !)!I!i!%Q?/$? rh?%u<%=%C<)%AI!i%A%~A !%AI=\I=W٥Mm= MN=9U;Q U>QQ ]F٦Yye; e> iu4Ym6T?u4ym&m8Bu0=u<}Y?}@m~0Dm ;mP ;m14)'A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503971 s, deltaX: 0.200000 m, approachRate: 0.396848 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkkk/@k Y? b0=b0=buq?"bY?j7 靭ԣI: ɝiIJ-uJ-iJ)J)J-[Q:J-ڈ9J)J)J-o;J-o;J-r:J-s:IUGiQiUuu=)Q)YF6"F*F2F`5:FEDDAT read: Rx Time:04:07:38.2183 MTRx dataTimestamp_ set to:1761365259.021949]DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.1 -e\#Rx 112: Read range message, but no direction.IMtAYImchecking for new query: numPingsReceived=112, elapsed TxPingTime=59.003014qԑG% `k=2B1 :BA  OU >Ա ۳ď,/B?A6@Y6抷@6,96A/J>>AHRS rotation from veh to nav: [[0.853408,0.505101,-0.128715],[-0.520274,0.840494,-0.151275],[0.031775,0.196066,0.980076]]y6HO?)?y@ T?\ÿ@D?`?\?ɫ6@6)";6CFmBFl IVchecking for new query: numPingsReceived=112, elapsed TxPingTime=59.251114IZaIZ錴٥%{< -M=9-";Q 5>11 }F٦yyN; > 4Y V?4y?BGY?@0D</<84LB)&ABEM addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503977 s, deltaX: -0.200000 m, approachRate: -0.396843 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 15.43 m.ԑRoQJoboZoBo:n2nmmkkk.@k-K? bqbqbq"buGY?, 靅lI: ɝhiIIDiix=))Fe 6"Fa*Fa2FeC5:FaUDDAT read: Rx Time:04:07:38.7183 ]TRx dataTimestamp_ set to:1761365259.525868mDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -m\#Rx 113: Read range message, but no direction.YYYYuchecking for new query: numPingsReceived=113, elapsed TxPingTime=59.506538 G pu=2B H H H II BI I I &I <*I KE:BA  OM >1 +ď,J B?A6ї@Y6@696J>>AHRS rotation from veh to nav: [[0.853929,0.504460,-0.127776],[-0.519473,0.840900,-0.151774],[0.030883,0.195980,0.980121]]y6HbS?`$?Z?Umÿ??']?ɫ6ї@6'e;4FkBFi IIRjIR٥Z85 ZR=9Z;Q Z>jK^NrK^-9zK\K^K^    BKf>:Kf?\h jF٦hyj#; j> lr4YnW?r4ynnEBtvmY?v@n0Dn:n:n?4x)z'Ax addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk@z? bbb"bmY? 靕a e DDAT read: Rx Time:04:07:39.2182 m TRx dataTimestamp_ set to:1761365260.029954u DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -u \#Rx 114: Read range message, but no direction.a e 3sAYa } checking for new query: numPingsReceived=114, elapsed TxPingTime=60.009911ď,`C?A6@Y6@696I>~AHRS rotation from veh to nav: [[0.854644,0.503524,-0.126674],[-0.518351,0.841499,-0.152289],[0.029915,0.195815,0.980185]]y6H?Y?@?6U`? 5~ÿ졞?`s?]?ɫ6@6;6 C-fB-b IuMb@Mb@Mb@q q)qIqiquMb`+η?Mb?uuv=u<)uIAIu;@iuQAuhA qupAIZI٥ /=9;Q > F٦y;; > 4YwY?4yKB6=<>?@0D::G4)1'A addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504086 s, deltaX: -0.100000 m, approachRate: -0.198380 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n!2n!m!m%zBk)k)k-`ff.@k5L? bM6=bM6=bMo?"bM>?e ae#Ie?: aiɝeӯiiIqIuFiyi}-=)y)yF6"F*F2F:Fԙchecking for new query: numPingsReceived=114, elapsed TxPingTime=60.259277G yz=2B :B)  O5 > ď,fC?AP bB ^ I IJIK٥- -e=95Q 5>11 5F٦1y= => AM4YEZ?M4yE6EPBIQU@E0DE:E:EN4Y)]O'AaDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkkB? bbb"b 8BI : ɝƳiIICii=))-DDAT read: Rx Time:04:07:39.7184 5TRx dataTimestamp_ set to:1761365260.536101=DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 -E\#Rx 115: Read range message, but no direction.15xAY1Mchecking for new query: numPingsReceived=115, elapsed TxPingTime=60.516079Fu6"Fq*Fq2Fu_0:FyHHH IIBIII&Ih<*I&E2Iy:IyBIyJIyRIyZI}@4jKuA}LrKu9zKqKuKu4DHDB:753-/-(#  $.0-+$+786,"   GPڀ=2B:B O> checking for new query: numPingsReceived=115, elapsed TxPingTime=60.764275) ]Aď,̘7C?Ab.@Yb@bF9b)J>vAHRS rotation from veh to nav: [[0.856158,0.501303,-0.125252],[-0.515922,0.842766,-0.153528],[0.028594,0.196065,0.980174]]ybH@e? ?E n?ϦÿG? ?]?ɫb.@bT;`~`B~\ I|Mb@Mb@Mb@ )Ii{GztI +?MbPף9=)AIh@iA AIdI@٥ϻ ==9H;Q >    F٦y; > 9m4Y=A\?u4y=U=TB=<?@=0D=+<=<<=U4)['AJiJmmJm3JiJiJm&9Jm(3JiJiJiJmƾ:JmȾ: addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.506147 s, deltaX: 0.300000 m, approachRate: 0.592714 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@kh? b%=b%=b%S?"b% ?)]F aeLIe+: aɝ.iIIHiiF=))-DDAT read: Rx Time:04:07:40.2183 5TRx dataTimestamp_ set to:1761365261.038082=DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 -E\#Rx 116: Read range message, but no direction.)-tAY)Echecking for new query: numPingsReceived=116, elapsed TxPingTime=61.018063F5"F*F2F:FG G=Yԁ G 0=2B :B  O- >*ď,yQC?AFchecking for new query: numPingsReceived=116, elapsed TxPingTime=61.266815RŰ@YRi@R"9RAJ>bAHRS rotation from veh to nav: [[0.856890,0.500262,-0.124406],[-0.514750,0.843362,-0.154187],[0.027785,0.196160,0.980178]]yRHk?&? ٿx?`iÿ@s?@?]?ɫRŰ@R;RCjPBjG IYIePIe٥} }T=9}& ;Q }> F٦yj; > 4Y]?4yWB?@0D ;;K\4)'A addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.501981 s, deltaX: -0.200000 m, approachRate: -0.398421 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k@3? bbb"b?=" 9=I=: 9ɝEiAIAIEEiIiM4=)I)IF6"F*F2F0:FԁG{=2B:B O%>Ա=DDAT read: Rx Time:04:07:40.7184 =TRx dataTimestamp_ set to:1761365261.542320MPDAT read: Bearing 176.8, 13.6 (Local) U~Local bearing/azimuth received: Bearing 176.8, 13.6 (Local) eDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 DAT read: 04:07:40.7184 LVL= 24304, 29025, 22834, 32755, AGC= 64, IDX= 512,-0.07,-2.104,-0.200,-2.019,-1.708, PHS=-0.308, 1.555,-0.314, RAW= 330.2, -10.0, CAL= 333.2, -13.6, ROT= 176.8, 13.6 Ygot valid direction response: 04:07:40.7184 LVL= 24304, 29025, 22834, 32755, AGC= 64, IDX= 512,-0.07,-2.104,-0.200,-2.019,-1.708, PHS=-0.308, 1.555,-0.314, RAW= 330.2, -10.0, CAL= 333.2, -13.6, ROT= 176.8, 13.6 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.970445,0.054256,-0.235142]Fpublishing direction and range info9y=ڲ p\xǫ?#ο=xAY9 =^)=aqI=2Yi9=@=-== ?=Ġ =!k@)=¸2I=@i=s=|E@=s> 9)9=(D0>99-ͩ߿"1'Hƿi=_'=*3>=|E@=s> 9)9checking for new query: numPingsReceived=117, elapsed TxPingTime=61.535416H H H II BI I I &I j<*I *E Xď,bkC?A2̰@Y2Ƿ@292J>:AHRS rotation from veh to nav: [[0.857346,0.499524,-0.124234],[-0.514002,0.843738,-0.154627],[0.027581,0.196425,0.980131]]y2H@`o?`3?Ϳ`r?`ÿ`N>?@u$?@;]?ɫ2̰@2x!;2 CJFBN; IIRfIR{٥rVO rT=9r :Q r>tt vF٦tyv ; z>jK!MrK9zKKK4GD"LfI;.%  4>>72.* )U4Y-^?U4y-ê-ZBQU?U@-0D-;-P;-$c4a)e1(AaJpaRpe_bC?ApaԱpape@veY-\T?;c veڲ p\xǫ?#οpe|E@pes>ve,6W'M!@^ұCnvex?LϿjpedArpeu?ZpeS}n?bpe6 zpeUuBpeS}n?papeāBpeqApe2H@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504238 s, deltaX: 0.200000 m, approachRate: 0.396638 m/s, rangeRepo size: 4 % Added new target pos. range: 15.426455 m, bearing: 143.168956 deg, lat: 36.779460 deg, lon: -121.859725 deg, deltaT: 4.030788 s, deltaX: 0.000014 m, approachRate: 0.000004 m/s, posRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo)Zo)Bo):n12n1m1m1k9k9k=/@k= ? bbb"bW? ѽI: ɝ' iIIBiiӆ=) )checking for new query: numPingsReceived=117, elapsed TxPingTime=61.770611F5"F*F2F0:FGE =2BQ :Bi  Ou >= DDAT read: Rx Time:04:07:41.2183 E TRx dataTimestamp_ set to:1761365262.045817M DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -M \#Rx 118: Read range message, but no direction.9 = tAY9 U checking for new query: numPingsReceived=118, elapsed TxPingTime=62.025768Y U<ď,.C?ArѰ@Yry̷@r߼9rJ>~AHRS rotation from veh to nav: [[0.857658,0.499054,-0.123967],[-0.513494,0.843993,-0.154916],[0.027316,0.196521,0.980119]]yrHq??J@n`?`Fÿ`?'?"]?ɫrѰ@r;r Ce5Be' I1uMb@Mb@Mb@q q)qIqiqu{Gz?V-?I +u# F٦y: > 4Y`?4y[B=6<d?@0D::k4)(Ae addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503497 s, deltaX: -0.200000 m, approachRate: -0.397221 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 15.43 m.RoaJoaboaZoaBoi:n2nmmEBkkk.@kQ? b=b=b&?"bd? ߼  IO: ɝK(iIIGiih=))!aF 6"F*F2F2:Fchecking for new query: numPingsReceived=118, elapsed TxPingTime=62.275856ԑG ff=2B :B  O >)M G q ) Թ I ٝ AJ% uJ% xJ! J! J% [Q:J% 9J! J! !- @!- @!5 @!5 @pfď, C?A6ְ@Y6ѷ@6e96&&K>BAHRS rotation from veh to nav: [[0.857978,0.498457,-0.124154],[-0.512957,0.844231,-0.155400],[0.027355,0.197015,0.980019]]y6H t? ? ȿ$j?"ÿ? 7?@P\?ɫ6ְ@6V;6C *B II%ZI%٥5~ 5e=9=Q =>99 =F٦AyE: E> Q]4YUa?]4yUU\Baee?e@U0DU;U<;UVq4i)m)AiDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk$? bbb"bWe?e VI : ɝ4ichecking for new query: numPingsReceived=118, elapsed TxPingTime=62.526562IIDii 6v=) ) ԑZHQRHU<HaHaHe IIeBIaIaIa&Iew<*Ie>EF6"F*F2FO0:FԹG=2B:B O>jK*OrK#9zKKK'$"#$' :y~aSMC>:67CMJHJE?lZ mX[NQKcH7-  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. "ď,.C?A2հ@Y2з@292E K>:AHRS rotation from veh to nav: [[0.857907,0.498542,-0.124301],[-0.513064,0.844203,-0.155195],[0.027564,0.196917,0.980033]]y2H s?@?*ҿ k?`oÿ 9?4?@m\?ɫ2հ@2;;2 CRBR IMb@Mb@Mb@ )Ii{Gz?ˡE?Zd;O#='=j)AI$@iAA AIRI4٥۲ @=9Q > F٦y잹 > 4Yd?4y\YB|=V<F>@0D3;7;x4))A =DNOT Ignoring new targets: 15.43 m.Ro9Jo9boAZoABoA:nA2nAmImMBkIkIkIkUb? bu|=bu|=bu8L?"buMF> 靅u=I : ɝ$iIIEIiAiE=)A)IA *DAT read: user:343> BDAT read: Tx time:04:07:42.5280 $Ping request sent.pyď,PC?A6JDAT read: TxSync time:04:07:42.5272 :checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252681=B=IIMkIM ٥ L=9Q > F٦y > 4Ye?4y,VB@0D::4)6*A%DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m)k)k1k1k5 ? bQbQbQ"bQa imHi Hi Hm s IIm sBIi Ii Ii &Im e<*Im #Eԩ סď,9C?A:̰@Y:Ʒ@:Z9:?8>@FAHRS rotation from veh to nav: [[0.857252,0.501382,-0.117198],[-0.514033,0.846533,-0.138393],[0.029824,0.178881,0.983419]]y:Hn?Q ?@r ?ݶ/?@? *x?ɫ:̰@: ;:CNBRIIZ>IZ٥^ b\=9bǻQ b>dd fF٦dyf N f> hn4Yjg?r4yjjSBprŕ>r@j0DjA;j;j;4x)z*A|%DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo)Bo):n)2n)m)m1k1k1k1k5r ? bQbQbQ"bUŕ>mZ quAIu: yɝ}iyIyICiiև=))jK! OrKU9zKKK&<P) +IRH?}nO6' &BK?:K ?F6"F*F2F_0:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756147ԱGU l=2Bq:B O~> % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006679pď,2rD?A64Ͱ@Y6ȷ@696$;>>AHRS rotation from veh to nav: [[0.857304,0.500813,-0.119234],[-0.513902,0.846278,-0.140420],[0.030581,0.181657,0.982886]]y6H@o??@`q@?J@P?@?s?ɫ64Ͱ@6?;6 CFBFIleMb@Mb@Mb@a a)aIaiaex&?I +?y&1e7=e94=9Q > F٦yB9 > 4Y*j?4y>NBi=4<k@0D::4)H+A DNOT Ignoring new targets: 15.43 m.Ro Jo bo Zo Bo :n2nmmāBkkkk@@ bi=bi=b&>"b%)@ u=I" : ɝ%2i!I!I%Hi)i-Vp=)))9 F6"F*F2F:F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586159G`=2B:B  O >a  J J BAJ[c3J[3J[(.J vJ gJ J J {T:J 9J J ď,M D?A6ΰ@Y6ɷ@6h96>>>AHRS rotation from veh to nav: [[0.857394,0.500187,-0.121197],[-0.513731,0.845927,-0.143137],[0.030929,0.184988,0.982254]]y6Ho? ? |p?@RR¿ƫ??n?ɫ6ΰ@6;6 CFԁBFIIN2IN٥Z ZY=9Z7rQ ^>\\ bF٦`yb: b> dj4YfEl?j4yftfJBhjn@f0Df::f:fS4p)r+Ap9DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkkt"@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510667 bbb"bu4@=h 9==IE: AɝE2iAIAIMEiIiMCˆ=)I)QHHHA IIJBIII&I<*IREF-6"F)*F)2F-0:F)iԙGER=jK~ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762611  ď,6:D?A6@Y6ݷ@6;96zB>BAHRS rotation from veh to nav: [[0.858655,0.497664,-0.122647],[-0.511626,0.846597,-0.146674],[0.030838,0.188692,0.981552]]y6Hz?`?e<_R?`6¿@?` '?h?ɫ6@6ێ;4^ʁB^IԱMb@Mb@Mb@ )IiB`"۹?MbV-=)AI@iA 3AITIn٥"3 7=9U9Q > F٦yQ;  > 4Y`o?%4y+CB%=%;%1#%@0D::%41)5 ,A1]DNOT Ignoring new targets: 15.43 m.RoYJoYboaZoaBoa:na2namimmBkikikqku 2@ b=b=b@"b@; 靵=I : ɝzK3iIIBii9O=))FE6"FA*FA2FE^2:FAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015017!G2B:B O>9 =ď,pTD?A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266649B @YB@B9BF>NAHRS rotation from veh to nav: [[0.859583,0.495569,-0.124613],[-0.510028,0.847060,-0.149535],[0.031450,0.192094,0.980873]]yBH?g?`濿`%R ?#ÿ2?`?Nc?ɫB @B8;@VƁBVIIb_Ib٥fɼ j`=9jۺQ j>hl nF٦lyn; r> pz4Yrq?z4yrr>B|~q"@r0DrnZ;rY[;r4 RB) f,A CE=DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmAkAkIkIkMx @ bibibi"bm@ 靍h=I : ɝ3iIIGiiI=))F6"F*F2F4:FAJtJjJ3JJ;N:J9J(3JG5x=2BA:BQ O]v>DDAT read: Rx Time:04:07:44.6772 TRx dataTimestamp_ set to:1761365265.573973DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.pAYchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.523429iHHH II'BIII&I<*I_E2I:IBIJIRIZI#3ԙ ď,*mD?A6@Y6@6Q96sG>>AHRS rotation from veh to nav: [[0.859432,0.495436,-0.126174],[-0.510237,0.846726,-0.150710],[0.032168,0.193903,0.980493]]y6Hw?7?@x& S a?sJÿOx??3`?ɫ6@6_;6C^B^IIjBIjb٥v@ vI=9v;Q v>xx zF٦xyz% ~> am4Yet?m4yele8Bim["m@e0De:e:eة4y)},Ay addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 3.528156 s, deltaX: -0.300000 m, approachRate: -0.085030 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k? bbb"bjĴ@Q x=I- : ɝ 3i I IDjK-MrK`9zKKK?QU=0(&=NOH;/'"Fpb5&+++)% yaTJBK% ?:K%?-PExceeded connect timeout, disconnecting.i)i5K=)1)1q]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771334F6"F*F2FP0:FGmm=2B:B O>)  DDAT read: Rx Time:04:07:45.1772  TRx dataTimestamp_ set to:1761365266.078336 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 - X#Rx 2: Read range message, but no direction. Y % checking for new query: numPingsReceived=2, elapsed TxPingTime=3.026501!ď,D?ABMb@Mb@Mb@ )Ii? ףp= Q>Q8)AI$@iA \AITIn٥1 <=9Q > F٦y > 4Yw?4y0Bw >;T@0D ;* ;34),AU addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504363 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 15.43 m.RoYJoYboYZoYBoY:nY2nYmameBkakakikm ? bw >bw >b@"bz@ 靥T=Iq : ɝY3iIIIi1i5o\=)1)1IF"F*F2F:Fechecking for new query: numPingsReceived=2, elapsed TxPingTime=3.274699yGĎ=2B:B  O >ԡ (ď,D?A6b߰@Y6Kڷ@6gz 96I>>AHRS rotation from veh to nav: [[0.858353,0.496626,-0.128812],[-0.511945,0.845595,-0.151263],[0.033802,0.195782,0.980065]]@y6Hw?@?|`a@?`\ÿtN?d?\?ɫ6b߰@6ً;6 CJBNIIRp=)Ra=IVUIV٥^R ^^=9bVQ b>`` bF٦dyf˳ f> hn4Yjz?n4yjrj*BprUr@j0Dj;j;j4t)v-AtDNOT Ignoring new targets: 15.43 m.RoJo!bo!Zo!Bo!:n!2n!m)m)k)k)k1k5R? bQbQbQ"bUo@egz im=Imh : iɝm4iiIiIuFiqiuw=DDAT read: Rx Time:04:07:45.6771 TRx dataTimestamp_ set to:1761365266.583518DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -X#Rx 3: Read range message, but no direction.fnAYchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.533476)1)AHHHIIBIII&I<*IlEԩF)"F1*F12F5X0:F1 nManaging dock network, ignoring radio surface power offGU=2BY:Bq O}>jKOrK۵9zKKKA830+(! 9OL?0(     u checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778490 ..ď,||D?A^Ұ@Y^ͷ@^C.9^wJ>fAHRS rotation from veh to nav: [[0.857542,0.497634,-0.130318],[-0.513226,0.844863,-0.151018],[0.034949,0.196387,0.979904]]y^H p?ļ)AI@iA AIHI٥= 9=9*Q > F٦ya > 4Y}?4yϮ#B>;p@0D2`;z_;U4 JxJlJ2JJZ:J9Jc3JJ;!J;!J1:!J2:!) ,A addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.505182 s, deltaX: -0.100000 m, approachRate: -0.197949 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZo!Bo!:n!2n!mImMqBkIkIkU-@kU? b>b>b@"b@C. ^>I : ɝ,4iIICii5=)) DDAT read: Rx Time:04:07:46.1771 TRx dataTimestamp_ set to:1761365267.087025DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -X#Rx 4: Read range message, but no direction.Ychecking for new query: numPingsReceived=4, elapsed TxPingTime=4.036796F]6"FY*Fa2Fe^0:Fa1G =2B :B  O >Y 5ď,LSD?Achecking for new query: numPingsReceived=4, elapsed TxPingTime=4.282563>°@Y>@>9>[QJ>FAHRS rotation from veh to nav: [[0.856492,0.499195,-0.131248],[-0.514916,0.843992,-0.150130],[0.035828,0.196167,0.979916]]y>H@ah?`?@0z?v7ÿ@X? ?@x[?ɫ>°@>z;> CNBNIIVMIV٥^~= b^=9btQ b>dd fF٦dyf f> pv4Yr?v4yrrBtv~qz@r0Dr:r:rŲ4Yy)},Ay addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nm9m9kIkykyk}4? bi](>I]ѐC)G )Iο'Abb"bߪ@5 1=>I= : 9ɝ=UT4i9I9ImHiqiu=)qԁ)F=6"F9*F92F=_0:F9ԱDDAT read: Rx Time:04:07:46.6771 TRx dataTimestamp_ set to:1761365267.589841DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -X#Rx 5: Read range message, but no direction.Ychecking for new query: numPingsReceived=5, elapsed TxPingTime=4.538234HHHIIBIII&I<*IhEGE =2BI :Ba  Om > B;ď,:D?A6H@Y61@696)/J>>AHRS rotation from veh to nav: [[0.855556,0.500526,-0.132278],[-0.516399,0.843235,-0.149288],[0.036819,0.196032,0.979906]]y6H`?N? yW?ÿ`٢??c[?ɫ6H@6;6 CFBFIINOINݜ٥^&?< ^K=9^ Q ^>`` bF٦`yfI f> dn4Yf}?n4yf6fBlnqn@f0DfY;f;f̲4vgB)v0-AvLE addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.502816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m)k1k1k9k={? bYbYbY"b] Ҫ@m qu >IuL : qɝux4iyIyI}Eii=))ԹjKM MrKIzKIKMKMH"pKJ6# 5Mb}}kN7'5xle[UOG=checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788001F6"F*F2F0:FGER=2B ):B1 O=>JtJkJJJ;N:J9JJJj;Jj;J:J: DDAT read: Rx Time:04:07:47.1772  TRx dataTimestamp_ set to:1761365268.094795 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - X#Rx 6: Read range message, but no direction. pAY  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.042994Q &Bď, E?A6@Y6~@6p963J>>AHRS rotation from veh to nav: [[0.854853,0.501477,-0.133217],[-0.517499,0.842667,-0.148684],[0.037696,0.196042,0.979871]]y6HZ? ?@@ Z@!?ÿL? ?[?ɫ6@6;6 CFBFI]Mb@Mb@Mb@Y Y)YIYiY]Mb?x&/$]>]7])]AIYi]@Y Y]AIu\IuW٥@m; >=92Q > F٦yG > 4YU?4yB>;:}@0D9;9;TԲ4))-A addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504954 s, deltaX: 0.100000 m, approachRate: 0.198039 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkkk.@k`ۢ? b->b->b-@"b-h@1Ep IM >IM : IɝMo4iIIIIBii=))F"F*F2Fo2:FaEchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.290662ԑG xr=2B :B)  O5 >Թ QHď,z"E?A~ˁBIIiI҅٥%C= %P=9-Q ->)1 5F٦1y5 e> iu4Ym?}4ymгm B@m0DmKb;mGc;mJ۲4),ADDAT read: Rx Time:04:07:47.6772 TRx dataTimestamp_ set to:1761365268.598101DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -X#Rx 7: Read range message, but no direction.ۡۡYۡchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.546239 addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503306 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmk k k k o?JH1BH5@AH9H9H=II=BI9I9I9&I=<*I=VE b)b)b)"b)a aeT>Ie : iɝm̠4iiIiIuGiqiuA=)q)yԑF-6"F)*F)2F-?5:F)ԹGmp=2By:B O>jKOrKU9zKKKC<;6543561--(&%#!.855:?CKMLIDCGPXcwsoja]]UIDU checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795628 ~Nď,` AHRS rotation from veh to nav: [[0.853923,0.502619,-0.134869],[-0.518932,0.841872,-0.148193],[0.039058,0.196533,0.979719]]y~HUS?u? gC@?@¿`t?'?Y?ɫ~@~;~ C܁BIMb@Mb@Mb@ )IiA`"?T㥛 y&1=`e)AI@i =AJuxJqJu3JqJuZ:JqJu(3JqJu;Ju;JqJqI`I̍٥= 5=9FQ > F٦y=x > 4Y@?4yB(=;q@0D:E:4)T,ADNOT Ignoring new targets: 15.43 m.RoJoboZoyBoy:ny2nmmBkkkk`? b(=b(=b@"b}s@  #>I  : ɝ4i)I1IEDiAiEX$|=)A)IءءDDAT read: Rx Time:04:07:48.1773 TRx dataTimestamp_ set to:1761365269.102246DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.2 -X#Rx 8: Read range message, but no direction.۩ۭ3sAY۩checking for new query: numPingsReceived=8, elapsed TxPingTime=6.050397F6"F*F2F:F!A G! 2B9 :BQ  Om >U checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298576gUď,mVE?ABII-XI-㔴٥u= }^=9Q > F٦y > 4Y/?4yB@0D: :4)+A% addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504145 s, deltaX: 0.200000 m, approachRate: 0.396711 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo)bo)Zo)Bo):n)2n1m1m1k9k9kE`ff.@kE ? bababa"baq quN>I} : yɝ}iyIyIIAiie|=)a)iJ}a=J}p=F6"F*F2FO0:FqDDAT read: Rx Time:04:07:48.6773 TRx dataTimestamp_ set to:1761365269.606091DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -X#Rx 9: Read range message, but no direction.۱۱Y۱checking for new query: numPingsReceived=9, elapsed TxPingTime=6.554235H)H)H- II-BI)I)I)&I-<*I-Eԡ G= Pz=2BA :BY  Oi [ď,zqpE?A6̎@Y6@6#966K><BAHRS rotation from veh to nav: [[0.853083,0.503725,-0.136052],[-0.520247,0.841103,-0.147949],[0.039908,0.196993,0.979592]]y6HuL? ?'jܥ@Q?¿n?7?X?ɫ6̎@6@c;4bBbIIjpIj<٥r\= rU=9rQ r>tt vF٦tyv z> x4Yz?4yz&zB@z0Dz ;z7 ;z34)T+AM addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 15.43 m.RoQJoQboQZoQBoY:na2namamakikikikm@8? b1b1b1"b5h@e# aec>Im : iɝme3iiIiIFii v=))jKhNrK`9zKKK=;8::93.*'&$%))*)$ 4`l^H/$,*(%'240)"&($$'0BK>:K>checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802642ԩF)"F)*F)2F5_0:F1G5|=2BI:Bi O>JvJjJJJ{T:J9JJJ[u;J]u;J:J:  DDAT read: Rx Time:04:07:49.1774  TRx dataTimestamp_ set to:1761365270.110853 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 - Z#Rx 10: Read range message, but no direction. tAY  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.059669vbď,TE?A2@Y2@2wZ$92)K>:AHRS rotation from veh to nav: [[0.852626,0.504425,-0.136328],[-0.520980,0.840696,-0.147684],[0.040115,0.196943,0.979594]]y2H`H??$?/s߫@?O¿剤?o5?@X?ɫ2@2h;2 CZ BZIlUMb@Mb@Mb@Q Q)QIQiQUx&?Zd;O{GztU7=Uj F٦y, > 4YU?4yB¦="<J@0DE::4nB)+AME addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504762 s, deltaX: 0.100000 m, approachRate: 0.198114 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmÁBkkk.@k u? b¦=b¦= bϵ@"b@mwZ$ qu^>Iu : qɝu3iyIyICii9t=))%checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307485FE6"FA*FA2FE\0:FA1G] Hu=a 2Bi :B  O > J J AAhď,g(E?A#B II-^I-9٥E = EN=9EQ M>II MF٦IyU U> Ym4Y]|?m4y]]Bqqu@]0D]!I;DDAT read: Rx Time:04:07:49.6774 TRx dataTimestamp_ set to:1761365270.614269DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 -Z#Rx 11: Read range message, but no direction.ہہYہchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.562465] J;]4)T*AHHH4 II@BIII&I<*IE2I:IBIJIRIZIp4} addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503416 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk %r?i bibibi"bi 靕?>IP : ɝiIIHiit=))F}6"F*F2F_0:Fԑ5 checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810638jK |NrK 9zK K K )"8Z Y^p <Y@^i?zvtmfdb2K sA*K sAG 2B :B  Oe >nď,,E?A@Y}@d$9 K>=AHRS rotation from veh to nav: [[0.852264,0.504997,-0.136468],[-0.521562,0.840379,-0.147433],[0.040232,0.196828,0.979612]]yHE?(?w`b?¿ @?1?X?ɫ@; CU5B' IԑMb@Mb@Mb@ )Ii F٦y Ⱥ > 4Y1?4y/B81=<"@0D]::r4)E)AIDDAT read: Rx Time:04:07:50.1774 TRx dataTimestamp_ set to:1761365271.119080DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 -Z#Rx 12: Read range message, but no direction.ۑۑYۑchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.067589Թ- addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504811 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.43 m.Ro)Jo1bo1Zo1Bo1:n12n1mym}Bkykykk`*? b81=b81=b>@"bY@d$  >I] : Yɝ]3iYIYIeEiaim1cr=)i)iFM6"FI*FI2FI:FI 5 checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314534GI 2BY :Bq  O >uď,AGE?A2@Y2~@2i$927LK>AHRS rotation from veh to nav: [[0.852368,0.504789,-0.136595],[-0.521390,0.840447,-0.147650],[0.040269,0.197071,0.979562]]y2H@F?@:'?{ ;`?@1¿?9?X?ɫ2@2;0MKBMB II]dI]@٥m= mZ=9uoиQ u>yy }F٦yyF : > 4Yǒ?4y@0D:K: 4))AmDNOT Ignoring new targets: 15.43 m.RoiJoiboiZoqBoq:nq2nqmmkkkk 5? bbb"b7 @]i$ ae0>Iej : aɝeiaIaImBiiimns=)q)qF 5"F*F2F_1:FJ9J=lJ9J9J9J=9J9J9!E@!E@!M@!M@mDDAT read: Rx Time:04:07:50.6774 mTRx dataTimestamp_ set to:1761365271.622203}DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -}Z#Rx 13: Read range message, but no direction.iiYichecking for new query: numPingsReceived=13, elapsed TxPingTime=8.570368HHHl IInBIII&I\<*IEG] @p=2Ba :Bq  O} >I }{ď,{E?A6|@Y6e@6|#96K>BAHRS rotation from veh to nav: [[0.852805,0.504076,-0.136494],[-0.520693,0.840770,-0.148269],[0.040021,0.197516,0.979482]]y6H`.J?c!?x@?}¿}?`8H?@W?ɫ6|@6d;6 CFWBJP IIRgIR٥Zu= ZX=9Z ,:Q ^>\\ bF٦`yb9; b> dj4Yf\?j4yffBhjn@f0Df:f6:fw4x)z(Ax addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk?9 b9b9b9"b=D@M|# QUG>checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818791jK>PrK#9zKKK_\YRQNE>==9633135<2,)0;M[gmgXH;5-+..26821-(-=WtBK?:K ?IUw : 1ɝ5C3i1I1I=Gi9i=~v=)9)AF6"F*F2F^5:FaԙGM | u=2BQ :Bi  Ou > DDAT read: Rx Time:04:07:51.1776  TRx dataTimestamp_ set to:1761365272.125870 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.3 - Z#Rx 14: Read range message, but no direction.ۉ ۍ yAYۉ  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.075013Թ (҂ď, F?A:@Y:k@:"9:L>RAHRS rotation from veh to nav: [[0.853198,0.503462,-0.136306],[-0.520072,0.841060,-0.148803],[0.039725,0.197848,0.979427]]y:HfM?[?}r`n`? ÿV?S? xW?ɫ:@:D;: CfBc I Mb@Mb@Mb@  ) I i  ~jth?99 =F٦9y=: => AM4ԑYE?4yEEBQK<=7-?@AEJe uJe pJa Ja Je [Q:Je ^9Ja Ja  ď,S%F?A-}B5 IEDDAT read: Rx Time:04:07:51.6775 ETRx dataTimestamp_ set to:1761365272.629987UDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.3 -UZ#Rx 15: Read range message, but no direction.AExAYA]checking for new query: numPingsReceived=15, elapsed TxPingTime=9.578174JHBHHHH IIBIII&Il<*I-EIRI4٥= Q=9Q > F٦y > 4Yɓ?4y׹B@; ;9"4)'A= addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504117 s, deltaX: -0.100000 m, approachRate: -0.198367 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.43 m.RoAJoAboAZoABoA:nA2nImImIkIkQkU/@k] ? bqbqbq"bq 靍>I : ɝiIIIii0qx=))F-6"F)*F)2F-Q0:F)GmPz=2By:B O>checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826644I jK $NrK 9zK K K yslfd`a]WVXalosvz~|fXJA9E~y <ď,?F?A5@Y5@5 95L>]AHRS rotation from veh to nav: [[0.854742,0.501217,-0.134900],[-0.517643,0.842275,-0.150398],[0.038241,0.198381,0.979379]]y5H Z? ?eD`?=@ÿH?d?W?ɫ5@5&;5 CuBu IUMb@Mb@Mb@Q Q)QIQiQU rh?{Gz?U̼UC =U#<)QIQiUAU;A QUAIHI٥< ;=92^;Q > F٦ye; >! 4Y?4y`B1=<?@0DL;@;)4)T'ADNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmFBkkkkf?%DDAT read: Rx Time:04:07:52.1776 -TRx dataTimestamp_ set to:1761365273.1340485DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 -5Z#Rx 16: Read range message, but no direction.!%yAY!=checking for new query: numPingsReceived=16, elapsed TxPingTime=10.082239 bM1=bM1=bM @"bMx?]  Ye=Ie : aɝe3iaIaIuFiqi}ᣁ=)y)yF56"F1*F12F5P0:F1Yy Gu w=2B :B  O > checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330739ď,^gYF?A@%@Y%⦷@%V9%mL>5AHRS rotation from veh to nav: [[0.855009,0.500967,-0.134133],[-0.517253,0.842472,-0.150634],[0.037541,0.198174,0.979448]]y%H <\??@C+ U ?Gÿ8?]?W?ɫ%@%q$;% CEBE IIUTIUn٥eC= ee=9m;Q u>yy }F٦yy2: > 4Yh?4yB?@;;!04)&A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504061 s, deltaX: 0.100000 m, approachRate: 0.198389 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk@33/@k? bbb"b?-V )-J#>I-< : )ɝ-i)I1ICii܁=))ԱF5"F*F2F_0:FJ-tJ-nJ)J)J-;N:J-99J)J)]DDAT read: Rx Time:04:07:52.6775 eTRx dataTimestamp_ set to:1761365273.638107mDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -uZ#Rx 17: Read range message, but no direction.aexAYa}checking for new query: numPingsReceived=17, elapsed TxPingTime=10.586282HHH IIɂBIII&I<*IEGp=2B:B O> 7ď,[?sF?AlrBr IIznIzd٥=< =M=9EQ E>AI MF٦IyU U> Ye4Y]7?e4y]]Biim@]0D]:](:]74q)u&Ay addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504059 s, deltaX: -0.100000 m, approachRate: -0.198390 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@k4*? bbb"b ~.>I1 : ɝD/3i I I Hiit=))checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835191F6"F*F2Fw0:FjKOrK`9zKKKtgTKF>820.+(&#  $   AGD=2B :B O%>m DDAT read: Rx Time:04:07:53.1776 m TRx dataTimestamp_ set to:1761365274.141815 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 - Z#Rx 18: Read range message, but no direction.i m yAYi  checking for new query: numPingsReceived=18, elapsed TxPingTime=11.090945ԑ ď,vF?AVԽ@YV@V9VL>bAHRS rotation from veh to nav: [[0.856171,0.499266,-0.133055],[-0.515410,0.843373,-0.151902],[0.036375,0.198632,0.979399]]yVHe? ?<~?qÿŸ?l? F٦yX; > 4Y?4yͷB=1<?@0DL;[K;Q>4)"&A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503708 s, deltaX: 0.100000 m, approachRate: 0.198528 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmlBkk k @33/@k ? be=be=be@"be? =I : ɝ3iIIEii0݅=)))ԉF5"F*F2Fo0:F checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346497ԱG xr=2B :B!  O5 > JE vJE lJA JA JE {T:JE 9JA JA bRď,7F?A:°@Y:@:fG9:JL>RAHRS rotation from veh to nav: [[0.856487,0.498853,-0.132574],[-0.514915,0.843633,-0.152138],[0.035949,0.198569,0.979427]]y:HWh?4?./z ?Eyÿg?j? xW?ɫ:°@:n;: C^B^ IIf\IfW٥nu@= nV=9n:Q n>pp rF٦pyrC: v> xz4Yz?~4yzz B|~?@z0Dzk4;z8;zE4)%A5DDAT read: Rx Time:04:07:53.6775 5TRx dataTimestamp_ set to:1761365274.650054EDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -EZ#Rx 19: Read range message, but no direction.15xAY1Mchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.598244ZHU<RHU<H]>HYH]!II]BIYIYIY&I]<*I]}E addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.508239 s, deltaX: -0.100000 m, approachRate: -0.196759 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nԩmmkkk/@k? bbb"b5?fG J >I : ɝ<3iIIBiiGl=))F} 6"F*F2F`5:FG}=2B:B O> DDAT read: Rx Time:04:07:54.1775  TRx dataTimestamp_ set to:1761365274.906259% checking for new query: numPingsReceived=19, elapsed TxPingTime=11.854370jK NrK zK K K .=?81.'  "!'}W;.%  1 a6ď,F?AB I Mb@Mb@Mb@ )Ii+MbX9?{Gzt?ʡ=ף;)AIiAA fAI`I̍٥E{ M)=9MQ M>QQ UF٦QyU U> Ye4Y]6?m4y]]Bm=mI : ɝ4iIIGii7J=) ) EAAMDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -UZ#Rx 20: Read range message, but no direction.AAYA]checking for new query: numPingsReceived=20, elapsed TxPingTime=12.1010259F6"F*F2F_5:FiG B=2B :B  O- >ԑ  DDAT read: Rx Time:04:07:54.6774 % TRx dataTimestamp_ set to:1761365275.409616= checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358235K\ď,F?ABΰ@YBuɷ@Bh9BGL>NAHRS rotation from veh to nav: [[0.857264,0.497823,-0.131422],[-0.513687,0.844303,-0.152575],[0.035005,0.198306,0.979515]]yBHn?@T?op ?ÿ#?`b?`/X?ɫBΰ@BE;B C%B- II]SI]Q٥m1= mo=9u5;Q u?qq }F٦yy; ? 4Y]?4y7BE?@0D;;mS4)%A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmAkAkIkIkM?q bbb"bE?h 靝(>I0 : ɝB4iIIDii=))J C=J R=Fe5"Fa*Fa2Fe4:FaԡeDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -eZ#Rx 21: Read range message, but no direction.QUtAYQuchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.605033HHH!IIBIII&I<*IE2I:IBIJIRIZI4GM =2BQ :Bi  O} > =ď,"F?A:ְ@Y:oѷ@:-9:L>NAHRS rotation from veh to nav: [[0.857772,0.497043,-0.131052],[-0.512857,0.844747,-0.152907],[0.034705,0.198370,0.979513]]y:Hr??Q@Si*?@qÿġ?0d?*X?ɫ:ְ@:5އ;8VBZ IIfyIfHo٥jxW< nT=9n"L:Q n>pp rF٦pyv%; v> tz4Yv?~4yvXvBd?@v0Dv ;v ;v%Z4 ) %A E addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503591 s, deltaX: -0.200000 m, approachRate: -0.397147 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 15.43 m.RoIJoIboIZoIBoI:nQ2nQmYmYkYkYk].@ke`? bbb"b;d?- 靕->I^ : ɝJj4iIIIii=))DDAT read: Rx Time:04:07:55.1775 TRx dataTimestamp_ set to:1761365275.915629DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.2 -Z#Rx 22: Read range message, but no direction.xAYF%6"F!*F!2F%[0:F!=checking for new query: numPingsReceived=22, elapsed TxPingTime=12.865166jKPrK#9zKKKE1<gI6(  BK>:K>Guff=2B:BJ(3J3J.-J-uJ-J)J)J-[Q:J-9J)J)J-o;!UJ-o;!]J-1;!]J-1;!e O >I m checking for new query: numPingsReceived=22, elapsed TxPingTime=13.106672boď,fhG?A6ܰ@Y6j׷@6 96${L>BAHRS rotation from veh to nav: [[0.858158,0.496509,-0.130551],[-0.512238,0.845090,-0.153089],[0.034317,0.198247,0.979551]]y6Hv?? @d` ?@iÿ ?)`?{X?ɫ6ܰ@6;6 CJBJ I-Mb@Mb@Mb@) )))I)i)-lkt?Mb`?-- =-;))I)i-@-$A )-AIEIIE.٥M^/ UC=9Ur:Q U>YY ]F٦Yye: e> au4Ye铥?u4yeVeB}ǿ=} <}&?}@e0DeE;eD;eza4)%A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.258811 s, deltaX: 0.200000 m, approachRate: 0.772764 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmYBkkk/@kA? b5ǿ=b5ǿ=b5N?"b5&?iM qu.>Iu# : qɝu4iqIqI}Fiyi} =))Fi"Fi*Fq2FuW0:FyDDAT read: Rx Time:04:07:55.6774 TRx dataTimestamp_ set to:1761365276.415214DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -Z#Rx 23: Read range message, but no direction.tAYchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.363420ԙG m= 2B :B  O >Hď,d>(G?A2b@Y2K߷@2pi 92L>>AHRS rotation from veh to nav: [[0.858651,0.495673,-0.130483],[-0.511413,0.845526,-0.153434],[0.034274,0.198477,0.979506]]Ly2Hz??@~]?ÿL? g?X?ɫ2b@2 ;2 CZBZ IIbTIbn٥jF jS=9n8Q n>ll rF٦pyr"; r> tz4YvA?~4yvhv BF?@v0Dv@;vA;vAh4 ) &A AA%checking for new query: numPingsReceived=23, elapsed TxPingTime=13.610976JH-?ABH-?AH1H1H5"!II5BI1I1I1&I5<*I5]Eu addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.499585 s, deltaX: -0.200000 m, approachRate: -0.400332 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 15.43 m.RoyJoyboyZoyBoy:ny2nmmkkk.@k? bbb"bF?pi F)>IN : ɝ4iIICiiHH=))Ee>EFA"FA*FA2FM_0:FIG2B:B O>DDAT read: Rx Time:04:07:56.1775 TRx dataTimestamp_ set to:1761365276.917978DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 -Z#Rx 24: Read range message, but no direction.xAYchecking for new query: numPingsReceived=24, elapsed TxPingTime=13.866193! jKe fPNrKe -9zKa Ke Ke    X4kd^K8! q5A 2Ki *Km tAhď,DBG?AxU@YU@Ue 9UwDL>JwJjJJJW:J9JJJz;Jz;J:J: AHRS rotation from veh to nav: [[0.858818,0.495509,-0.130007],[-0.511149,0.845724,-0.153224],[0.034026,0.198045,0.979602]]yUHp{? k?@T[+? ܜÿ@k?Y?X?ɫU@U;U C=BE IMb@Mb@Mb@ )IiMb333333?~jtx=Ļ)zAI@i@A AI\IW٥r #=9:Q > F٦y#: > 4YF?4ys"B=,<՟?@0D,7;s6;p4) &Achecking for new query: numPingsReceived=24, elapsed TxPingTime=14.114681!- addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502764 s, deltaX: 0.200000 m, approachRate: 0.397801 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.43 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m=MBk9kAkE/@kE?l? bm=bm=bm?"bm՟?}e y}R8>I0 : ɝ~4iIIHii*=))FI"FI*FI2FI:FIAy G =2B :B  O > DDAT read: Rx Time:04:07:56.6774  TRx dataTimestamp_ set to:1761365277.422084 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 - Z#Rx 25: Read range message, but no direction. tAY  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.370267ď,[G?Ai6(>I:ːC)vWG )AYm@Ym@m]A 9mPL>I}y}A?AEAHRS rotation from veh to nav: [[0.859178,0.494915,-0.129892],[-0.510547,0.846061,-0.153371],[0.033991,0.198089,0.979595]]ymHb~?@?NeV ?@ÿOg?Z?X?ɫm@m;iUBU I IgI٥=V [=98Q > F٦y: > %4Y ?%4y#B!%?-@0DW::w4q)up&Aq addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504106 s, deltaX: -0.200000 m, approachRate: -0.396742 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k+? b!b!b!"b%?u]A y}R$>I}/ : yɝ}/4iyIyԉIEii=))F=5"F9*FA2FEo0:FAH%>H!H%!II%BI!I!I!&I%<*I%E=checking for new query: numPingsReceived=25, elapsed TxPingTime=14.618759ԱG 2B :B  O > ď,puG?A:@Y:@:tG 9:RNL>RAHRS rotation from veh to nav: [[0.859381,0.494579,-0.129833],[-0.510205,0.846260,-0.153413],[0.033997,0.198082,0.979596]]y:H@ ?-?[S@? ÿh?@Z? X?ɫ:@:;: CbBb IIrbIr٥  n=9Q  ? F٦y%: %? 1Թ4Y5?4y55%B!%?-@50D5M=5e=5}4Y)]&AYDDAT read: Rx Time:04:07:57.1775 TRx dataTimestamp_ set to:1761365277.926376DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 26: Read range message, but no direction.ۡۥxAYۡchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.875199U addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504292 s, deltaX: 0.200000 m, approachRate: 0.396595 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoYJoYboYZoYBoY:na2namamakikik/@k_͡? bbb"b?tG R>I : )ɝ54i1I1I5Bi9i=;y=)9)9jKmTNrKmk9zKiKmKm 1@NNC6)BKu>:Ku ?F6"F*F!2F%0:F!J uJ oJ J J [Q:J K9J J J o;J o;J :J :G% Ď=2B1 U checking for new query: numPingsReceived=26, elapsed TxPingTime=15.123405:BY  Oe >9 kď,G?A2C@Y2,@2F 92L>>AHRS rotation from veh to nav: [[0.859704,0.493952,-0.130075],[-0.509643,0.846562,-0.153611],[0.034240,0.198352,0.979533]]y2H? ?@MN ?`ÿ ?c?TX?ɫ2C@2{;0FBF I=Mb@Mb@Mb@9 9)9I9i9=Mb`?v/?:v=;=xi==T)=AI9i=@=$A 9=AI]hI]٥u }B=9Q > F٦y-: -> 1=4Y5藥?E4y51Eo=Eb4UYB)U<&AUCEDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmm:Bkkkk@@L? bo=bo=b?"b?MF QU.>IUW : QɝU_4iQIQI]GiYieo=)a)F=6"F9*F92F=P5:F9YDDAT read: Rx Time:04:07:57.6774 TRx dataTimestamp_ set to:1761365278.430022DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.2 -Z#Rx 27: Read range message, but no direction.ۡۥtAYۡchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.379440aG ~4=2B :B  O >ԑ ď,G?A>@Y>@>/Y 9>~L>FAHRS rotation from veh to nav: [[0.859875,0.493666,-0.130036],[-0.509354,0.846731,-0.153641],[0.034258,0.198346,0.979533]]y>H@?8?L k? ÿD?@gc?VX?ɫ>@>0.;HdHf !IIfBIf =IdId&If<*IfE٥vQ vT=9z#@Q z>xx zF٦xchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.626888y e:  > 4Yᘥ?4y $B ?%@0D;;4))-&A)e addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503646 s, deltaX: -0.200000 m, approachRate: -0.397104 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 15.43 m.RoiJoiboiZoiBoi:ni2nqmqmqkykyk}.@k}2? bbb"b ?/Y 靵z>I# : ɝ[5iIIDii =))qF5"F*F2FP0:FԡG{=2B:B! O->DDAT read: Rx Time:04:07:58.1775 TRx dataTimestamp_ set to:1761365278.933917DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 28: Read range message, but no direction.۹۽xAY۹checking for new query: numPingsReceived=28, elapsed TxPingTime=15.882123jK 1MrK 9zK K K LcVObugYKA;8:>EVdda^TLHFC@:2-*))##"   2K *K sA ď,jG?A=_@Y=H@=" 9=L>JvJmJJJ{T:J&9JJJ[u;J]u;Jƾ:JȾ:-AHRS rotation from veh to nav: [[0.859948,0.493429,-0.130447],[-0.509205,0.846810,-0.153697],[0.034626,0.198596,0.979470]]y=H?W?@hK?Uÿ|?k?W?ɫ=_@=;= C=zB=| IMb@Mb@Mb@ )Ii?Q?!) -F٦)y-l9 5> 1=4Y5m?=4y5خ5"BE 0=EE@50D5:5:54I)U&AQchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.1314055 addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503895 s, deltaX: 0.200000 m, approachRate: 0.396908 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo9Bo9:n92n9mAmeBkakakm/@km? b 0=b 0=bWE`?"b͙>" 靽u>I : ɝ5iIIIiiN=)) F6"F*F2F82:FGF! G ~4=2B! :B1  OE > DDAT read: Rx Time:04:07:58.6774  TRx dataTimestamp_ set to:1761365279.437885 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 - Z#Rx 29: Read range message, but no direction.۹ ۽ tAY۹  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.386087ď,8G?A:@Y:@:9:LM>FAHRS rotation from veh to nav: [[0.860165,0.493011,-0.130598],[-0.508828,0.847014,-0.153822],[0.034783,0.198764,0.979430]]y:Hy??qRH@?`lÿ ϡ?q?}W?ɫ:@:·;: CNtBNt IIZJIZK٥] el=9eQ e?ii mF٦iymդ: u? q4Yu?4yuu B>@u0DuA Q QUh>IU : Yɝ]e#5iYIYImFii=)) F"F*F2FQ0:FyHHH II؂BI =II&Ip<*I4EMchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.639444ԩ G 2B :B  O >$ď,G?A2@Y2@2ef92L>@:AHRS rotation from veh to nav: [[0.859970,0.493336,-0.130654],[-0.509142,0.846912,-0.153343],[0.035003,0.198391,0.979498]]y2H ? Ӓ?A J ?ຠÿ?@d? X?ɫ2@2;2 CJ`BJ[ I PPIVgIV٥^ν ^U=9^ZQ ^>`` bF٦`yf| f> dn4Yf͜?n4yffBln>r@f0Df;f;f4t)v'AtDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk@z? b b b "b >Eef AE\A>IEe : IɝMiIII}DDAT read: Rx Time:04:07:59.1775 }TRx dataTimestamp_ set to:1761365279.942139DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -Z#Rx 30: Read range message, but no direction.y}xAYychecking for new query: numPingsReceived=30, elapsed TxPingTime=16.891565ICii>=))ԩFa"Fi*Fi2Fm_0:FijK$NrK9zKKK1N^otkiaUOd W{ofb[VJ@91( GH=2B:B J  O5 >J qJ 4J J J q9J 3J J J J :J : 5 checking for new query: numPingsReceived=30, elapsed TxPingTime=17.139530T ď,IH?ApaB] IMb@Mb@Mb@ )IiJ +?H=̼)AIi@A GAIWIƕ٥ ?;  7=9Q > F٦y% %> )-4Y-?54y-ˮ-B5Qa=5q<5޾=@-0D-e ;-L ;-4A)E'AA addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504254 s, deltaX: 0.200000 m, approachRate: 0.396625 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkkk/@k? bQa=bQa=b/3"b "@ Ha>I : ɝh3iIIHii[=))F6"F*F2Fo0:FDDAT read: Rx Time:04:07:59.6774 TRx dataTimestamp_ set to:1761365280.447001DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.3 -Z#Rx 31: Read range message, but no direction.ۑەtAYۑchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.3952279G~4=2B:B O>a A4 ď,*H?AJH2@ABH0H6>H4H6 II6BI4I4I4&I6<*I6iE2I):I)BI)JI)RI)ZI-d 4Nl@YNT@Nb9N?L>VAHRS rotation from veh to nav: [[0.859917,0.493241,-0.131363],[-0.509179,0.846945,-0.153038],[0.035773,0.198488,0.979450]]yNHo?`D? 2K ,?Öÿ P?` h?@W?ɫNl@N;NCrchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.642765VBO I9I]TI]n٥[ P=9NQ > F٦yN > 4Y?4yB޾@0D:%:d4)(A- addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504862 s, deltaX: -0.200000 m, approachRate: -0.396147 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.43 m.Ro)Jo1bo1Zo1Bo1:n12n9m9m9k9kAkE.@kE ? bbb"b!@b K>Ic : ɝ}3iIIEii?=))iF6"F*F2F0:FԑDDAT read: Rx Time:04:08:00.1775 TRx dataTimestamp_ set to:1761365280.949962DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 32: Read range message, but no direction.ۙ۝xAYۙchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.898754G H=2B :B  O > jK= uMOrK= #9zK9 K= K= cY uJ. g.{[>!  Bx[=Jď,eDH?AmPBuG IԩImIF٥7 F=9Q >!! -F٦)y= E> Ym4Y]?m4y]?]Bqqu@]0D]%g;]4T;]4)K(A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502961 s, deltaX: 0.200000 m, approachRate: 0.397645 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@kh?checking for new query: numPingsReceived=32, elapsed TxPingTime=18.146994 bbb"bA 靍>>IT : ɝ 4iIIBi i ) )D ! Fa "Fa *Fa 2Fm _0:Fi Gm Fm Gu  Gu  DDAT read: Rx Time:04:08:00.6774  TRx dataTimestamp_ set to:1761365281.453987 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 - Z#Rx 33: Read range message, but no direction.ۡ ۥ tAYۡ  checking for new query: numPingsReceived=33, elapsed TxPingTime=18.402185I2B:B) O5>ď,CdH?AB@YB@B 9BڮL>NAHRS rotation from veh to nav: [[0.859790,0.493320,-0.131896],[-0.509349,0.846913,-0.152648],[0.036400,0.198426,0.979440]]yBHf??`L?ÿ`? f?W?ɫB@B#;BCRLBRC IUMb@Mb@Mb@Q Q)QIQiQUMb?y&1X9vU=U`U)UAIU@iU@U$A QUAIm`Im̍٥}@o }*=9XQ > F٦y > 4Yp?4yB=-<Y@0Da;;4)g(AJJ=JuJmJ3JJ[Q:J&9J(3J!@!@!@!@Q addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504025 s, deltaX: -0.200000 m, approachRate: -0.396805 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmḿBkkk.@k&? b=b=bcݻ@"bۭ@  >I : ɝe4i9I9IMGiIiMv=)I)QH>HH IIBIII&I՘<*IE%checking for new query: numPingsReceived=33, elapsed TxPingTime=18.650799FQ"FQ*FQ2FU0:FQ2Baq:By O9>ԙ DDAT read: Rx Time:04:08:01.1775  TRx dataTimestamp_ set to:1761365281.957816 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 - Z#Rx 34: Read range message, but no direction. xAY  checking for new query: numPingsReceived=34, elapsed TxPingTime=18.907225 nď,?~H?A:R@Y::@:^9:L>BAHRS rotation from veh to nav: [[0.859625,0.493494,-0.132322],[-0.509588,0.846850,-0.152199],[0.036947,0.198264,0.979452]]y:H ? g?`Ne?E{ÿ?`?W?ɫ:R@:e;: CJCBJ8 IIXIX٥bQ6 bY=9bQ b>dd fF٦dyfI j> h4Yjथ?4yjgjBY@j0Dja:K?kk/@k? bbb"bt٭@%^ !%n>I% : !ɝ%(4i!I)IMDiQiUZ=)Q)QF6"F*F2F`5:F2B:By O[>=checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154657) %ď,.H?Aft@Yf]@f^%9f*L>AHRS rotation from veh to nav: [[0.859433,0.493761,-0.132571],[-0.509880,0.846774,-0.151646],[0.037380,0.197925,0.979504]]yfH@y?`ə?P? $iÿ#?U? X?ɫft@f;fCGB= IDDAT read: Rx Time:04:08:01.6774 TRx dataTimestamp_ set to:1761365282.463216DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.3 -Z#Rx 35: Read range message, but no direction.ۙ۝tAYۙchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.411652!)=HG e`wA)yIs`wAA=Mb@Mb@Mb@9 9)9I9i9=333333?S㥫L7A`堿===/]=+)=MAI9i=@=A 9=(AIUtIU%xQ٥@<  =9#>Q > F٦y > 4Y?4yB=< F @0D":n:.г4Q)U4)AQ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.505400 s, deltaX: -0.200000 m, approachRate: -0.395726 m/s, rangeRepo size: 4 JJoJ4JJJK9J3J DNOT Ignoring new targets: 15.43 m.Ro Jo bo Zo Bo :n2nmmBkk!ke.@kmH? b=b=b@"b"~@^% {>I : ) ɝ- 4i) I) I5 Ii1 i5 ؏=)1 )9 ZH <RH <H >H H II BI I I &I <*I eEԩ E E sA= A= AE checking for new query: numPingsReceived=35, elapsed TxPingTime=19.658958Fu 5"Fq *Fy 2F} `0:Fy 2B :B  O >+ď,H?A:c@Y:L@: "9: L>@bAHRS rotation from veh to nav: [[0.859351,0.493804,-0.132943],[-0.509983,0.846776,-0.151289],[0.037865,0.197809,0.979509]]y:H? }?CQ ?s]ÿc?Q? #X?ɫ:c@: 6;:CjHBj> II%]I%t٥5F< 5=95] Q }F?yy }F٦yy F? 4Yԧ?4y!BI@0D&&<\&<Գ4),)ADNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk? bIbIbI"bM}@e " ae{>IeM : aɝe4iiԱIiIFii=))!DDAT read: Rx Time:04:08:02.1774 TRx dataTimestamp_ set to:1761365282.967261DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 -Z#Rx 36: Read range message, but no direction.۱۱Y۱checking for new query: numPingsReceived=36, elapsed TxPingTime=19.919781F 6"F *F 2F 3:F jK9OrK9zKKK)3797vliga^[NA8331-*&$$+]d Z2K*K G% =2BQ :Bq  O >/2ď,@H?A2@Y2@2`g92{:AHRS rotation from veh to nav: [[0.859321,0.493759,-0.133300],[-0.510009,0.846761,-0.151284],[0.038175,0.197985,0.979461]]y2H??`Q ?@C]ÿ? W? W?ɫ2@2;2 CRJBRA Ilchecking for new query: numPingsReceived=36, elapsed TxPingTime=20.162640UMb@Mb@Mb@Q Q)QIQiQU+?Zd;V-U=UyU)UAIU@iUv@Q QUAImIF٥= < =:=9Ea9Q M>QY ]F٦Yye e> q4YuS?4yuuBO=<@u0Du_;uU;u۳4))Au addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504045 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 15.43 m.RoqJoyboyZoyBoy:ny2nmmBkkkkٯ? bO=bO=bҳ@"b{Ф@ -`g )5>I5h : 1ɝ5V5i1I1I=Ci9i9)9)A"DiDi2Di*DiF}6"Fy*Fy2F}P0:Fy1DDAT read: Rx Time:04:08:02.6773 TRx dataTimestamp_ set to:1761365283.469939DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -Z#Rx 37: Read range message, but no direction.۱۵3sAY۱checking for new query: numPingsReceived=37, elapsed TxPingTime=20.423962G x=ԡ 2B :B  O >8ď,ѲH?A6@Y6@6s96L>BAHRS rotation from veh to nav: [[0.859469,0.493349,-0.133862],[-0.509734,0.846854,-0.151692],[0.038525,0.198608,0.979321]]y6Hŀ? ?g"O m?jÿ`?k?V?ɫ6@6 ;4bVBbO IIjQIj٥r= rc=9rbQ v>tt vF٦tyze: z>9 iu4Ym?u4ymmBq}鐿}@m0Dm;m;m(4)(AJzJqJ3JJ`:Jq9J(3J addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502678 s, deltaX: -0.100000 m, approachRate: -0.198935 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk`ff.@k` k? bbb"bդ@%s )54>I5 : 9ɝ=5i9I9IEHiAiE,=)I)IE]i>E]!>HE>HAHAIAIAIAIA&IEa<*IEEF6"F*F2F_0:Fchecking for new query: numPingsReceived=37, elapsed TxPingTime=20.666899iԑG=2B:B O>Թ  DDAT read: Rx Time:04:08:03.1775  TRx dataTimestamp_ set to:1761365283.973902 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 - Z#Rx 38: Read range message, but no direction. xAY  checking for new query: numPingsReceived=38, elapsed TxPingTime=20.923376^)?ď,H?A:@Y:@:WH9:L>JAHRS rotation from veh to nav: [[0.859275,0.493581,-0.134252],[-0.510034,0.846701,-0.151534],[0.038878,0.198682,0.979293]]y:H@/?Ӗ?./1R-?@ueÿ?@mn?@]V?ɫ:@:Y;:C]YB]S IԑIu[Iu:٥Hn< >=9:WQ > F٦yY > 4Y?4y؃B@0D;};l4)(AEB*** querying acoustic contact ***:pABpEu addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503963 s, deltaX: 0.300000 m, approachRate: 0.595282 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 15.43 m.RoyJoyboyZoyBoy:n2nmmkkk/@k B?jK7OrK9zKKKrc"m+$#h([+&? <]J~tpBK?:K? b1b1b1"b5Ӥ@EWH aeg>Im : iɝm*5iiIiIuEiqiuo=)q)yAF6"F*F2F:Fchecking for new query: numPingsReceived=38, elapsed TxPingTime=21.170790qG 2B :B  O >ԑ Fď,eI?Aj@Yj@j]A 9jHL>rAHRS rotation from veh to nav: [[0.858890,0.494205,-0.134423],[-0.510665,0.846403,-0.151073],[0.039115,0.198400,0.979340]]yjH|?`?@4`]W?XVÿ?(e?V?ɫj@jH(;jCfBc IMb@Mb@Mb@ )IiMbX9?Zd;:vʡ=Լ)dAIp@iI@@  @IKIh٥|= J=9Q > F٦yx > 4Yn?4yܵуB;=< @1D;;4)=(A%DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m-Bk)k1k1k5@?DDAT read: Rx Time:04:08:03.6774 TRx dataTimestamp_ set to:1761365284.481820DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 -Z#Rx 39: Read range message, but no direction.ۙ۝tAYۙchecking for new query: numPingsReceived=39, elapsed TxPingTime=21.430235Թ bM;=bM;=bMb@"bM^ͤ@e]A ae>Ie : aɝe?@5iiIiIBii.=))F 6"F *F 2F u0:F JsJlJJJK:J9JJ G- {=2B1 :BI JHQ BHU @AH] >HY H] II] BIY IY IY &I] ˘<*I] E Ou >- checking for new query: numPingsReceived=39, elapsed TxPingTime=21.6746239 8Lď,5C3I?A6@Y6@6!96L>>AHRS rotation from veh to nav: [[0.858700,0.494431,-0.134807],[-0.510953,0.846279,-0.150797],[0.039525,0.198369,0.979330]]y6Hwz?ä?WAY ?NMÿxx zF٦xy~oo ~>  4Y? 4yʃB  @1D`::4y)}'Ay addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.507918 s, deltaX: -0.200000 m, approachRate: -0.393764 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk .@k ? bbb"b"ˤ@! *>I) : ɝkV5iIIGii=)) EFA"FA*FA2FE0:FADDAT read: Rx Time:04:08:04.1776 TRx dataTimestamp_ set to:1761365284.981974DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 -Z#Rx 40: Read range message, but no direction.ۉۍyAYۉchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.9301809jK% PrK% #9zK! K% K% mjeebbiid_ZXUVcwme][WUV\nl2K1 *K1 GE tn=2BQ i :Bi  Oq "Sď,%MI?AR@YR߷@R"9RjL>ZAHRS rotation from veh to nav: [[0.858496,0.494766,-0.134878],[-0.511284,0.846136,-0.150476],[0.039675,0.198144,0.979370]]yRHx? >?Cp\?Bÿ BP?\?V?ɫR@RP;Pb}Bb I%checking for new query: numPingsReceived=40, elapsed TxPingTime=22.187363Mb@Mb@Mb@ )IiMb?:vMb=T)zAIiv@ (AI=]I=t٥e;= e5=9mQ > F٦yX > 4Y?4yăB=<핿@1DK;*;S4))5'A1im addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.500154 s, deltaX: 0.300000 m, approachRate: 0.599816 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 15.43 m.RoqJoqboqZoqBoq:ny2nymym}Bkkk@33/@k ? b=b=bQ:@"bs@" {>I` : ɝ j5iIIDii*=))ԑD:DDAT read: Rx Time:04:08:04.6775 TRx dataTimestamp_ set to:1761365285.494618DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 41: Read range message, but no direction.xAYchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.442822 F9 "FA *FA 2FE `0:FA GM tAFM sA Gm=2Bq:B O>lZď,kI?AN@YN@Nl#9NjzL>HZ>HXHZ IIZBIXIXIX&IZ<*IZKE2Ia:IaBIaJIaRIaZIe64zAHRS rotation from veh to nav: [[0.858624,0.494496,-0.135048],[-0.511051,0.846280,-0.150458],[0.039888,0.198203,0.979349]]yNHy? ҥ?CIZ?4Bÿ`-l?^?V?ɫN@N71;NC~B~ IIYI٥պ= %;=9%8Q %>II MF٦IyU$: U>ԁ a4Ye?4ye{eB㕿@e1De;e;e4tB)'ANEchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.690708 addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.512644 s, deltaX: -0.100000 m, approachRate: -0.195068 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro)Jo)bo)Zo)Bo1:n12n9mamakikikm/@kuo'? b1b1b1"b5@ml# qu>Iu : qɝu5iqIIIii=))DuF:ԱF "F *F 2F 1:F  DDAT read: Rx Time:04:08:05.1776  TRx dataTimestamp_ set to:1761365286.001124 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 - Z#Rx 42: Read range message, but no direction.۱ ۵ yAY۱  checking for new query: numPingsReceived=42, elapsed TxPingTime=22.949192Gi 2B :B  O > Jaď,jI?A6@Y6i@6#96M>>AHRS rotation from veh to nav: [[0.859099,0.493599,-0.135313],[-0.510243,0.846666,-0.151028],[0.040018,0.198790,0.979225]]y6H}??QS?Tÿ7}?q? U?ɫ6@6];6CjKnNrKn۵9zKlKnKn^Y]ipqjeb[YPIJIGFGD><740)" *3==<:9<>>82/,(#"# B II-VI-٥== =J=9E@Q E>AI MF٦IyMS; M> Q]4YU+?]4yUCUBaee@U 1DU;U;U 4i)mc&Ai addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.506506 s, deltaX: 0.100000 m, approachRate: 0.197432 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk@33/@k@? bbb"bH@# >IG : ɝiIIFiiK=))JEuJE~JAJAJE[Q:JEf9JAJAJEo;!uJEo;!}JE:!JE:! checking for new query: numPingsReceived=42, elapsed TxPingTime=23.194681)Du:E}sAE}tAQF"F*F2F0:Fԁ  DDAT read: Rx Time:04:08:05.6775  TRx dataTimestamp_ set to:1761365286.502029 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 - Z#Rx 43: Read range message, but no direction. xAY  checking for new query: numPingsReceived=43, elapsed TxPingTime=23.450869G 2B! :BI  O > hď,١I?A 44 ^@Y G@ ^#9 i M>EAHRS rotation from veh to nav: [[0.859220,0.493436,-0.135135],[-0.510050,0.846771,-0.151090],[0.039875,0.198745,0.979240]]y H~?v?@L@TR ?@Vÿpj?{p?U?ɫ ^@ d8; CUBU I-Mb@Mb@Mb@) )))I)i)-+? rhy&1|-=-C -`)-AI-Z@i)-A )-\@IEjIE٥]3= ]*=9]t9Q ]>aa eF٦aye9 m> i}4Ymⲥ?4ymݹmBU=~<@m 1Dmcl;msQ;m4)%A% addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.500905 s, deltaX: -0.100000 m, approachRate: -0.199639 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 15.43 m.Ro)Jo)boIZoIBoQ:nQ2nQmQm]BkYkYk]/@k]`? bU=bU=b@"b+@^# 靽ף>IA : ɝ3iIICii>=))IZHRH<HHCH IIBI =IID&I<*ITEchecking for new query: numPingsReceived=43, elapsed TxPingTime=23.698641yD:F) "F) *F) 2F- 0:F) G5 = G5 =ԩ G7=2B:B O>H-pď,I?ADDAT read: Rx Time:04:08:06.1776 TRx dataTimestamp_ set to:1761365287.018125"DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 -&Z#Rx 44: Read range message, but no direction.yAY&checking for new query: numPingsReceived=44, elapsed TxPingTime=23.966307N@YN@N?"9N9M>VAHRS rotation from veh to nav: [[0.859645,0.492768,-0.134868],[-0.509354,0.847119,-0.151487],[0.039601,0.198921,0.979215]]yNH 7??@ZCL? cÿF?=v?U?ɫN@N;N C^΂B^ IIfcIf#٥n= n<=9ns%:Q n>pp rF٦tyv: v> x4Yz? 4yzhzB  u @z 1Dzkn;zwo;z4).%A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.516096 s, deltaX: 0.100000 m, approachRate: 0.193763 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkk!k%@33/@k%@x&?a bibibi"bm]2@?" 靥>>I : ɝ<4iIIHii>=))D:jK@NrK#9zKKK#(("'$!#(( aEoK3vmu{sfZLGW`ZM?5.(.F6"F!*F!2F-/5:F)J3J;w3J;Ϛ.JzJmJ5JJ`:J&9J4JJy;J{;Jƾ:JȾ:Achecking for new query: numPingsReceived=44, elapsed TxPingTime=24.215214Y Gu {=2B :B  O >kPvď,{I?AB!Iie(>IeƐC)G )IE˿AEAMb@Mb@Mb@ )IiMb?~jth?{Gzt?<D;ף;)dAI@i`@@ I`I̍٥G= 0=9Q > F٦y > 4Y?4y|B<B= Ӿ@1D::%4)]$ADNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n!2n!m)m-EBk)k)k)k5C?UDDAT read: Rx Time:04:08:06.6775 UTRx dataTimestamp_ set to:1761365287.522065]DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -eZ#Rx 45: Read range message, but no direction.aQUxAYQuchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.470978 b<b<b=>"b ߻@ 靝ף>Ik : ɝiIIEii-ʐ=))ԑD &:E]>E>JJ%=H1 H5 CH5 .!II5 BI5 =I1 I5 D&I5 <*I5 EF 5"F *F 2F 2:F  checking for new query: numPingsReceived=45, elapsed TxPingTime=24.718571 G~4=2B:B) O5>Kj}ď,xDI?A6<@Y6%@6T96f_M>BAHRS rotation from veh to nav: [[0.860434,0.491653,-0.133906],[-0.508094,0.847732,-0.152286],[0.038645,0.199069,0.979223]]y6H?=w?#OB ?~ÿ ?ɣ?@{? U?ɫ6<@6a;6CEBE!IIU\IUW٥eL= mA=9mv;Q m>qq uF٦qy}Of; }> 4Y?4yBVҾ@;W:--4)$A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503940 s, deltaX: -0.100000 m, approachRate: -0.198437 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@k? bbb"bt@%T )->I- : )ɝ-3i)I)I5Bi1i5 =)9)9DDAT read: Rx Time:04:08:07.1776 TRx dataTimestamp_ set to:1761365288.027344DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.3 -Z#Rx 46: Read range message, but no direction.ۉۍyAYۉchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.981787DAF] 6"FY*Fa2Fe`5:FajK}XNrK}9zKyK}K}Ph8+    !&('#!   %~JYUH4BK?:K>J yJ nJ 3J J ]:J 99J (3J J Ƃ;J Ȃ;J \:J ]:q 5 checking for new query: numPingsReceived=46, elapsed TxPingTime=25.223467Ge =2B :B  O >ď,rJ?Aj @Yj@j5v9jwM>AHRS rotation from veh to nav: [[0.860843,0.491054,-0.133477],[-0.507436,0.848044,-0.152742],[0.038189,0.199218,0.979211]]yjH ? lm?@@<-#?ÿ??U?ɫj @jkw;jC]Be*!IMb@Mb@Mb@ )IiQ+?I +?u=94<)AIp@i@A AIkI ٥= 1=9n:Q > F٦y{: > 4Yδ?4yB0=<|?@1D::;54)e#A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.505279 s, deltaX: 0.100000 m, approachRate: 0.197911 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmnBkkk@33/@k-? b0=b0=bh?"b:|?5v >I/ : ɝ-4iIIGii=))-DDAT read: Rx Time:04:08:07.6776 5TRx dataTimestamp_ set to:1761365288.529953=DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -EZ#Rx 47: Read range message, but no direction.11Y1Mchecking for new query: numPingsReceived=47, elapsed TxPingTime=25.478119AD:F5 6"F1 *F1 2F5 _5:F1 i JH BH H >H CH f!II 9BI I I &I <*I eEG =2B :B O%>ď,0J?A8^checking for new query: numPingsReceived=47, elapsed TxPingTime=25.726650B6!II%TI%n٥}6= B=9Q > F٦y > 4Y?4yB@1D;;<4)#A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502609 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo)Bo):n)2n)m1m1k1k1k1k=@=? bYbYbY"bYi im4>Im : qɝuǀ4iqIqI}Diyi}k~=)y)"DsADsAԡDEmDDAT read: Rx Time:04:08:08.1778 mTRx dataTimestamp_ set to:1761365289.034001}DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 -}Z#Rx 48: Read range message, but no direction.imf~AYichecking for new query: numPingsReceived=48, elapsed TxPingTime=25.982216F6"F*F2F05:FG= G= jK NrK 9zK K K xqg_[VOJDBB<864/--+%%$"!  !(HbcXL@50*'*+2K *K G =) 2B1 :BA  OM >5ď,XpLJ?A @J^vJ^qJ^4J\J^{T:J^q9J^3J\J^[u;J^]u;J^:J^:V/@Y?*@ 9 O>uAHRS rotation from veh to nav: [[0.863233,0.487272,-0.131889],[-0.503499,0.849876,-0.155563],[0.036288,0.200693,0.978982]]yH@?u/?.2?@yÿ V?L?S?ɫV/@;Cchecking for new query: numPingsReceived=48, elapsed TxPingTime=26.231144%BN!IMb@Mb@Mb@ )Ii/$Q?:v?,\=T<)IZ@i@ \@I5hI5٥M= M=9M_l;Q U>YY eF٦aym< m> q4Yuʹ?4yuuǃBJ= <X?@u1Du ;u;uE4)x"A  addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504048 s, deltaX: 0.299999 m, approachRate: 0.595180 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2n!m!m%Bk!k)k-/@k-@? bMJ=bMJ=bM)@"bMX?]  aeף>Ie> : aɝe_4iaIaImIiiiu=)q)q1Y D} F: DDAT read: Rx Time:04:08:08.6777  TRx dataTimestamp_ set to:1761365289.538508 DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 - Z#Rx 49: Read range message, but no direction.ہ ۅ |AYہ  checking for new query: numPingsReceived=49, elapsed TxPingTime=26.488287F 6"F *F 2F `5:F ԉ GUȁ=2Ba:Bq O?ď,ZmJ?A>7?@Y> :@>9>;M>HF>HDHF!IIFbBIF =IDIFD&IFw<*IF4EZAHRS rotation from veh to nav: [[0.864231,0.485902,-0.130401],[-0.501839,0.850920,-0.155222],[0.035538,0.199588,0.979235]]y>Hǧ?`? :?Pÿ2??@U?ɫ>7?@>;>Cf)BfR!IIn^In٥ry< vM=9v:Q v>xx zF٦xyz; ~> | 4Y~? 4y~~̃B  ? @~1D~-:~ :~L4)]"AU addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504507 s, deltaX: -0.099999 m, approachRate: -0.198212 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoYJoYboaZoaBoa:na2nimimikikqku/@ku@>? bbb"b?% )->>I- : )ɝ-4i)I)I]FiYi]=)Y)achecking for new query: numPingsReceived=49, elapsed TxPingTime=26.734739QԁD=:Fu 6"Fq*Fq2FuP5:Fqԩ U DDAT read: Rx Time:04:08:09.1778 U TRx dataTimestamp_ set to:1761365290.041850e DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 -m Z#Rx 50: Read range message, but no direction.Q U f~AYQ u checking for new query: numPingsReceived=50, elapsed TxPingTime=26.991282G] ȝ=2Bq :B  O >6áď,dJ?A$:N@Y:I@:9:$zL>BAHRS rotation from veh to nav: [[0.865203,0.484597,-0.128797],[-0.500213,0.851978,-0.154662],[0.034784,0.198240,0.979536]]y:H??m|fC?ÿ&ϡ?_? \X?ɫ:N@:q;:Cf+BfU!IIniIn҅٥zO:< zF=9z:Q ~>|| ~F٦|y|; > 4Y ?4y  уB?@ 1D : : S4!)I"AjKfNrKzKKK &/&"-h}hUTx')!3KJ;7|d.mSB8>Q]XOBK :K  ?% addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503342 s, deltaX: 0.099999 m, approachRate: 0.198671 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo)Bo):n)2n)m)m1k1k1k5/@k5? bQbQbQ"bU?m im>Im : iɝu65iqIqIuCiyi}ZԢ=)y)yD:checking for new query: numPingsReceived=50, elapsed TxPingTime=27.241425F6"F*F2FZ0:Fԩ G '[=2B :B  O >^ď,J?AI<)drDDAT read: Rx Time:04:08:09.6776 vTRx dataTimestamp_ set to:1761365290.545989zDAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 -~Z#Rx 51: Read range message, but no direction.tvyAYtchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.494184 )B S!IMb@Mb@Mb@ )Ii)\(bX9ȶ?y&1|?GaE=`;)MAIp@i`@@ f@I[I:٥^$ >=9Q > F٦y > 4YU?4yփB=;?@1D`;;[4)["AU addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504139 s, deltaX: -0.299999 m, approachRate: -0.595072 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo9Bo9:n92n9mAmEvBkAkAkE@33/@kMp? b=b=b@"bv? 靥4>I : ɝ5iIIHii^=))D :JmtJmkJm2JiJm;N:Jm9Jmc3Ji!}@!}@!}@!}@ZH<RH<HHH!II{BIII&I<*IiE2I-C:I-CBI)JI-ơ =RI-ơ =ZI-ƕ4F"F*F2F\0:Fchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.742762I G &=2B :B  O > ď,pJ?A6m@Y6h@696L>BAHRS rotation from veh to nav: [[0.867145,0.481544,-0.127179],[-0.496937,0.853615,-0.156188],[0.033350,0.198638,0.979505]]y6H? ?fG߿P?ÿM?@l?X?ɫ6m@68;6CJ1BJ\!IIRsIRy٥Z)= Z^=9^~;Q ^>`` bF٦`yf)< f> dj4Yf'?n4yffڃBln9?r@f1Df;f;fa4t)v"AtDNOT Ignoring new targets: 15.43 m.RoJoboZoBo!:n!2n!m!m!k)k)k)k-m? bQbQbQ"bU9?m im>Imw : qɝuQ05iqIqIEiiE=))D:DDAT read: Rx Time:04:08:10.1776 TRx dataTimestamp_ set to:1761365291.050634 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -Z#Rx 52: Read range message, but no direction.Y%checking for new query: numPingsReceived=52, elapsed TxPingTime=28.000330IF"F*F2Fo0:FqjK!OrKk9zKKKA7-#   *VyxgWK?7.+.;ABCCB@>MRD=IY_XOKMY[[WG=2B:B O>ԩ  checking for new query: numPingsReceived=52, elapsed TxPingTime=28.248196oď,2J?AVg|@YVPw@V+U9V]M>jAHRS rotation from veh to nav: [[0.868037,0.480075,-0.126652],[-0.495416,0.854334,-0.157085],[0.032790,0.199101,0.979430]]yVH?@?@ 6 ߿V?`Ŀ ɠ?&|?~W?ɫVg|@VH;VCr*BrT!IIvp=)vp=ԁMb@Mb@Mb@ )Iiy&1RQ?~jth`e=D)AIC@i @IvIt٥Uc e3=9}_:Q > F٦ynv; > 54Y  ?54y ] ރB===;=!?=@  1D : : Dj4A)ES"AI addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504645 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmm]Bkkkkq? b5=b5=b5Þ@"b5!?E+Uԩ A>I : ɝ M5iIIBii'=))DDAT read: Rx Time:04:08:10.6775 TRx dataTimestamp_ set to:1761365291.553886 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 53: Read range message, but no direction.xAYchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.502090D- ] :F 5"F *F 2F \0:F G = G = H >H H !II BI I I &I }<*I :EJ wJ pJ 3J J W:J ^9J (3J J z;! J z;! J :! J :! 1Gp=checking for new query: numPingsReceived=53, elapsed TxPingTime=28.7514482B:B O>iď,J?A @>֊@Y>@>J9>M>JAHRS rotation from veh to nav: [[0.868925,0.478599,-0.126145],[-0.493896,0.855027,-0.158100],[0.032191,0.199679,0.979332]]y>H֊@>݈;>CR(BRR!IIZWIZƕ٥b b:=9fG:Q f>dd jF٦hyjÇ; n> lr4Yn󳥊?r4yn*nBtzZ?z@n#1Dni;ngk;nq4)a"A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503252 s, deltaX: -0.100000 m, approachRate: -0.198708 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@k ? bbb"bZ?=J 9=>I=a : AɝEJg5iAIAIMGqiIiҮ=))ԙ}DDAT read: Rx Time:04:08:11.1776 }TRx dataTimestamp_ set to:1761365292.058231DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -Z#Rx 54: Read range message, but no direction.y}yAYychecking for new query: numPingsReceived=54, elapsed TxPingTime=29.007593D : F 6"F *F 2F _0:F jK :NrK 9zK K K QKINSVRNLNTUOHB>9413AHJLS^i~|ln{stq^Zi| Z{/G "=2B :B OM>Rď,!K?Archecking for new query: numPingsReceived=54, elapsed TxPingTime=29.256506xꗱ@YӒ@ܲ9JN>AHRS rotation from veh to nav: [[0.869721,0.477193,-0.125987],[-0.492512,0.855649,-0.159049],[0.031903,0.200378,0.979199]]yH ?@V?W R߿ya?[ĿU?? U?ɫꗱ@;B;!IMb@Mb@Mb@ )Ii/$l?!! %F٦!y%?; -> )54Y-?54y--B===<=?=@-&1D- ;-;-{4A)M"AI} addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504345 s, deltaX: 0.100000 m, approachRate: 0.198278 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 15.43 m.RoyJoyboZoBo:n2nmQm]XBkYkYk]@33/@ke? b=b=bڑ@"b?ܲ q>I : ɝ5iI IDiiua=)))WG )I]Y]kAF"F*F2F:FIDDAT read: Rx Time:04:08:11.6775 TRx dataTimestamp_ set to:1761365292.562701DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 55: Read range message, but no direction.ۉۍxAYۉchecking for new query: numPingsReceived=55, elapsed TxPingTime=29.510891q G- XV=2B9 :BI  O >#rď,$+K?AF@YF@FN9FyN>NAHRS rotation from veh to nav: [[0.870129,0.476493,-0.125817],[-0.491796,0.856019,-0.159274],[0.031808,0.200466,0.979184]]yFH ? ~?@y߿`d?cĿ*I?ڨ?@zU?ɫF@Ff;FCVBV*!IIbkIb ٥n` ny=9r-9Q r?pp vF٦tyv$; v? x~4Yz?~4yz+z߃B?@z(1Dz;z;zӀ4 ) e#A E addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504470 s, deltaX: -0.100000 m, approachRate: -0.198229 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.43 m.RoAJoAboAZoIBoI:nQ2nQYmamakakake/@kmo? bbb"bJ?JHBHAAH>HH!IIvBI =II&I<*IEN 靽>I : ɝ,5iIIIiJvJkJJJ{T:J9JJJZu;J]u;J:J:if=))Echecking for new query: numPingsReceived=55, elapsed TxPingTime=29.759487ԉF6"F*F2F1:FGsAFԱG =2B :B)  O= >  DDAT read: Rx Time:04:08:12.1776  TRx dataTimestamp_ set to:1761365293.065849 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 - Z#Rx 56: Read range message, but no direction.ۡ ۥ yAYۡ  checking for new query: numPingsReceived=56, elapsed TxPingTime=30.014048n[ď,:EK?Av@@Yv)@v<9vgN>AHRS rotation from veh to nav: [[0.870288,0.476293,-0.125476],[-0.491524,0.856215,-0.159060],[0.031675,0.200102,0.979263]]yvH@e?{? #u߿`f?\Ŀ7?@? V?ɫv@@v;vCB%!II=hI=٥Ede MC=9M%9Q M>QQ UF٦QyUkE: ]> Ye4Y]?m4y]6]ރBim?m@]*1D]%:]:]"4}`B)}#A}DE addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503148 s, deltaX: 0.100000 m, approachRate: 0.198749 m/s, rangeRepo size: 4 ԹDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk@33/@k? bbb"b?<  >I  : ɝ 5i I IFii=))F6"F*F2F05:FjK(OrK 9zKKK'j4qL*{pkh`YQJIJFFCA>=;851+)+*#"!" 2KrA*KrAchecking for new query: numPingsReceived=56, elapsed TxPingTime=30.265451G2B:B O%>9 ď,L_K?A~B~!IMb@Mb@Mb@ )Ii F٦y  > %4Y?-4yۃB-Ȃ=-O<-?-@,1D::49)=#A9]DDAT read: Rx Time:04:08:12.6775 ]TRx dataTimestamp_ set to:1761365293.570057mDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 -mZ#Rx 57: Read range message, but no direction.Y]xAYYuchecking for new query: numPingsReceived=57, elapsed TxPingTime=30.518236 addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504208 s, deltaX: -0.100000 m, approachRate: -0.198332 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkk)k-/@k5휮? bUȂ=bUȂ=bU?"bUu? 靍>IG : ɝף5iIICii6=))E!E%sAIF6"F*F2F_5:FH>HH!II\BIII&I<*IHEJuJlJJJ[Q:J9JJJo;Jo;J1:J2:i checking for new query: numPingsReceived=57, elapsed TxPingTime=30.766502G ?=2B :B  O >ԙ ď,eyK?Ar@Yrۛ@rp9r.OM>~AHRS rotation from veh to nav: [[0.870250,0.476342,-0.125549],[-0.491546,0.856432,-0.157816],[0.032350,0.199053,0.979455]]yrH`?b|?@~u߿g? O3Ŀ0?z?W?ɫr@rj;;rC B  IIYI٥-̃ -V=95Q 5>11 5F٦1y=͸ => AM4YE?M4yEE׃BIU?U@E-1DE:E):E04Y)]#AaDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk`~? bbb"b.?p  3>I  : ɝ Į5i IyIHiisɲ=))"DD2D*DF6"F*F2FP0:FmDDAT read: Rx Time:04:08:13.1776 uTRx dataTimestamp_ set to:1761365294.074582}DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -Z#Rx 58: Read range message, but no direction.quyAYqchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.024092ԡG=2B:B O>jK %:OrK ۵9zK K K ;~tooeSJMT]`U6s8%   BK ?:K ? šď,PK?Anchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.273401ЂB IMb@Mb@Mb@ )IiMb?{Gz?L7A`堿<ף<+) AI-@i@v@ =@I`I̍٥ %=9Q > F٦y > 4Yܵ?4ytIЃBj!=<w:? @.1D;2;Ϟ4)}$A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504525 s, deltaX: 0.100000 m, approachRate: 0.198207 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 15.43 m.Ro Jo bo Zo Bo :n2nmmځBk9k9k=@33/@k=? bj!=bj!=bl[?"bw:? >I : ɝi5iIIEi i =) ) F "F *F 2F 54:F uDDAT read: Rx Time:04:08:13.6774 }TRx dataTimestamp_ set to:1761365294.578820DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.1 -Z#Rx 59: Read range message, but no direction.y}tAYychecking for new query: numPingsReceived=59, elapsed TxPingTime=31.528175! GU ?=Q 2Ba :Bq  O >Lď,0K?AZHRHHHHm!II>BIII&IA<*IE]ĂB] IIm_Im٥ u=9Q ? F٦y ? 4Yq?4ỹB@:%:4)$A addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504238 s, deltaX: -0.300000 m, approachRate: -0.594958 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k@7? b!b!b!"b!Y Y]>I] : Yɝ]5iYIaIeBiiim̲=)ichecking for new query: numPingsReceived=59, elapsed TxPingTime=31.775192)F"F*F2F[0:F1I Ge _ڲ=2Bq :B  O >M DDAT read: Rx Time:04:08:14.1774 M TRx dataTimestamp_ set to:1761365295.082159U DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 -] Z#Rx 60: Read range message, but no direction.I I YI e checking for new query: numPingsReceived=60, elapsed TxPingTime=32.030350 ď,xK?A@Y蝸@9N>MAHRS rotation from veh to nav: [[0.870278,0.475402,-0.128877],[-0.491274,0.856666,-0.157392],[0.035580,0.200289,0.979091]]yHP? l? q߿`i?n%Ŀ7??T?ɫ@;;CeBe IIuVIu٥ H=9Q > F٦y : > 4Y*?4yVƃB9?@/1D;);߫4!)%%A! addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503339 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkkk@R? bAbAbA"bE9?Qu qu>Iu : yɝ}.5iyIyIGiiN=))JxJiJJJZ:Jڈ9JJ!@!@!@!@jK%OrK%9zK!K%K%  V~fQ?4++(%#&:Nowld[SQSZg~#(##'KC!2K=sA*K=sAF5"F*F2F_0:Fԁchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.283962ԩ G =2B :B  O > ď,]SK?AI<)<@N@YN@N_"9NoN>VAHRS rotation from veh to nav: [[0.870047,0.475584,-0.129762],[-0.491605,0.856609,-0.156669],[0.036646,0.200101,0.979090]]yNHl?o?tv߿Xi? Ŀ8â??T?ɫN@N齈;NCbBb IMb@Mb@Mb@ )Iiy&1?{GzMb`<#)Ii@3@ @IqIv}٥( H=9+Q > F٦y > 4Y?4yB2=<?!@01D#:,:粴4)b%ADDAT read: Rx Time:04:08:14.6773 %TRx dataTimestamp_ set to:1761365295.590009-DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -5Z#Rx 61: Read range message, but no direction.!%3sAY!Echecking for new query: numPingsReceived=61, elapsed TxPingTime=32.538860] addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.507850 s, deltaX: -0.100000 m, approachRate: -0.196909 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoYJoYboYZoaBoa:na2namimmBkikikm`ff.@ku:? b2=b2=b@"b@_" 靥?I : ɝ5iII-Di1i5x=)1)1ԩF6"F*F 2F p0:F HHHA!IIBIII&I՘<*IE2I:IBIJIƢ =RIƢ =ZI[4G- S=2B1 :BI  OU > checking for new query: numPingsReceived=61, elapsed TxPingTime=32.786751 %ď,UK?AB@YB@B9B M>NAHRS rotation from veh to nav: [[0.869373,0.476605,-0.130531],[-0.492713,0.856223,-0.155296],[0.037749,0.199324,0.979206]]yBH??`> ߿,f? ÿ S?v?@U?ɫB@B;BCZBZ II^=)^=IbedIb]٥n* nY=9n5@Q n>pp rF٦pyra v> xz4Yz?~4yzzB|~!~@z11Dz2 ;z ;zz4)%AEDNOT Ignoring new targets: 15.43 m.RoAJoAboAZoIBoI:nI2nImQmQkQkQkQk][? bbb"b4״@U QU?IU : Yɝ]5iYIYIIiiq=))FU6"FQ*FY2F]2:FY%DDAT read: Rx Time:04:08:15.1775 -TRx dataTimestamp_ set to:1761365296.0954285DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.2 -=Z#Rx 62: Read range message, but no direction.!%xAY!=checking for new query: numPingsReceived=62, elapsed TxPingTime=33.043652)G]=2Bi:By O>Q J tJ sJ J J ;N:J 9J J jKm 4 OrKm 9zKi Km Km Fc|Y@1(Z `c8N7 e - YNzq7UBK} >:K} ?ď,L?AJchecking for new query: numPingsReceived=62, elapsed TxPingTime=33.2924549e@Yeۉ@e5 9eZM>AHRS rotation from veh to nav: [[0.868958,0.477047,-0.131672],[-0.493338,0.856041,-0.154310],[0.039104,0.199048,0.979209]]yeH?`?`ْ߿d?mÿg?fz?U?ɫe@e?\;eCB I]Mb@Mb@Mb@Y Y)YIYiY]+? F٦ywǺ %> )54Y-?54y-L-B5{==W<==@-21D-<:-:-]´4I)M%AIa addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505419 s, deltaX: 0.300000 m, approachRate: 0.593567 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkkk/@k n? b5{=b5{=b5a5@"b5@E5 AE?IEI : AɝM6iIIIIMFiQiuy=)q)yԑ5DDAT read: Rx Time:04:08:15.6774 5TRx dataTimestamp_ set to:1761365296.598019=DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -EZ#Rx 63: Read range message, but no direction.15tAY1Mchecking for new query: numPingsReceived=63, elapsed TxPingTime=33.546200Թ D :F 6"F *F 2F _0:F JH BH ?AH >H H (!II BI I I &I <*I uE checking for new query: numPingsReceived=63, elapsed TxPingTime=33.794624G٦=2B:B O? ď,8L?A @j@Yj@j6%9j,N> PExceeded connect timeout, disconnecting.UAHRS rotation from veh to nav: [[0.868676,0.477116,-0.133275],[-0.493727,0.855822,-0.154280],[0.040450,0.199821,0.978997]]yjH`1? ?`$7߿`b? tÿ`Ե??S?ɫj@j ;h]B] IIukIu ٥}  '=94Q > F٦y > 4Yq?4yܮBޑ@41Du ;q ;ʴ4)%A addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502591 s, deltaX: -0.200000 m, approachRate: -0.397938 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k`u? b!b!b!"b%Z@=6% 9=?IE : IɝMZ6iIIIIUCiQiUqX=)Q)QAF6"F*F2F0:FiDDAT read: Rx Time:04:08:16.1775 TRx dataTimestamp_ set to:1761365297.101923DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 64: Read range message, but no direction.ۑەxAYۑchecking for new query: numPingsReceived=64, elapsed TxPingTime=34.050102Gx=2B:B O>ԙ J xJ |J J J Z:J @9J J hď,~RL?ADjڌ@YjÇ@j+9j,O>jKnknPrKn9zKlKnKn/ ~wqh_RLIIEB<;;632200.*$#!! ! AFzAHRS rotation from veh to nav: [[0.868735,0.476491,-0.135118],[-0.493505,0.855854,-0.154814],[0.041874,0.201174,0.978660]]yjH?~?@K`߿'c? ÿwp??/Q?ɫjڌ@jY;jCB IIUSIUQchecking for new query: numPingsReceived=64, elapsed TxPingTime=34.300671٥=-= =@=9EZQ M>yy F٦y: > 54Y;?54yeB15=@51D\;;qҴ4q)}%AԱ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503904 s, deltaX: 0.200000 m, approachRate: 0.396901 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!boAZoIBoI:nI2nQmYmYkakk/@kr? bbb"b>@+ R?I : ɝ6i!I!I-Hi)i5=)1)1iqIuC)HG xA)!IU翙]xA]QAF5"F*F2Fo0:F DDAT read: Rx Time:04:08:16.6774  TRx dataTimestamp_ set to:1761365297.605905 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 - Z#Rx 65: Read range message, but no direction.۱ ۵ tAY۱  checking for new query: numPingsReceived=65, elapsed TxPingTime=34.554100 G 6=2B :B  O >ԑď,UlL?A6@Y6@6?/96O>>AHRS rotation from veh to nav: [[0.868712,0.476317,-0.135872],[-0.493467,0.855956,-0.154369],[0.042772,0.201150,0.978626]]y6H}? {?Dd߿ c?YÿF?`L?P?ɫ6@6H@;6CJBN I|Mb@Mb@Mb@ )Ii rh?J +:vC =HԼ)I@iI@ Q@IHI٥e= R=9_Q > F٦yr8 > 4Y?4yB>=K<@71D;;ش4)w%AH>HCH!IIBI =IID&I<*IKEM addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503982 s, deltaX: -0.200000 m, approachRate: -0.396839 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 15.43 m.RoIJoIboIZoIBoQ:nQ2nQmYm]BkYkYk].@keF? b>=b>=b35@"bm@?/ 靝= ?I: ɝ!6iIIEii-Ю=))F-6"F1*F12F5 5:F1checking for new query: numPingsReceived=65, elapsed TxPingTime=34.803108 nManaging dock network, ignoring radio surface power off9GM"=2BY:Bq O}>a z!ď,1L?AI<)6DDAT read: Rx Time:04:08:17.1775 :TRx dataTimestamp_ set to:1761365298.110938>DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -BZ#Rx 66: Read range message, but no direction.8:xAY8Fchecking for new query: numPingsReceived=66, elapsed TxPingTime=35.0591559N@YN}@N)29NXO>mAHRS rotation from veh to nav: [[0.868658,0.476272,-0.136373],[-0.493500,0.856037,-0.153816],[0.043482,0.200914,0.978643]]yNH ?@={?t߿ d?;ÿUC?? Q?ɫN@N;NCB II%p=)%=I]`I]̍٥; ?=9׺Q > F٦yh > 4Y以?4yB@81D:3:~4tB)&ANEm addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505033 s, deltaX: 0.200000 m, approachRate: 0.396013 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk/@k ? bbb"b0o@iu)2 qu ?I} : yɝ}*6iyIyIBii=))F%6"F!*F!2F%05:F!JSJ[(3J[ .JvJpJJJ{T:J^9JJjK=NrK=#9zK9K=K=aVL>6)ydYUSUW[^^\\UD) 9A<4)   5checking for new query: numPingsReceived=66, elapsed TxPingTime=35.308796GE =2BQ :Ba  Om > /'ď,iL?AV@YV@Vm 69VfAHRS rotation from veh to nav: [[0.868447,0.476473,-0.137012],[-0.493787,0.856033,-0.152911],[0.044429,0.200450,0.978696]]yVHQ?~? 4߿d? ÿb?Y? zQ?ɫV@V;VCnBn ImMb@Mb@Mb@i i)iIiiimZd;O?/$ F٦y%0s %> )54Y-?54y--B5Q==<=¿=@-91D- ;-X ;-*4A)E%AA}DNOT Ignoring new targets: 15.43 m.RoyJoyboyZoyBoy:ny2nmmBkkkkPS? bQ=bQ=b1Ԧ@"b@m 6 ?I: ɝ36iIIGii =))"DD2D*DmDDAT read: Rx Time:04:08:17.6775 uTRx dataTimestamp_ set to:1761365298.613796}DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 67: Read range message, but no direction.qqYqchecking for new query: numPingsReceived=67, elapsed TxPingTime=35.561966F6"F!*F!2F%P0:F!ZHRHH>HH"!IIBIII&Iݘ<*IE)G d=2B :B!  O- >% checking for new query: numPingsReceived=67, elapsed TxPingTime=35.810699Q -ď,[L?Ar6@Yr@rr99rqgN>zAHRS rotation from veh to nav: [[0.868391,0.476458,-0.137423],[-0.493820,0.856147,-0.152164],[0.045155,0.200000,0.978755]]yrH?H~?  ߿e?@zÿ??Q?ɫr6@rS;rCǂB} IQIiI҅٥k*= ==9~ܺQ > F٦y > 4Y?4yB¿@:1D1;;4!)%h%A!e addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 15.43 m.RoaJoaboaZoaBoi:ni2nimqmqkqkqkyk}1? bbb"b@r9 靭?I: ɝe=6iIIDii))ԉDDAT read: Rx Time:04:08:18.1775 TRx dataTimestamp_ set to:1761365299.118182DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 68: Read range message, but no direction.ہہYہchecking for new query: numPingsReceived=68, elapsed TxPingTime=36.066349F"F*F2FR0:FԩG =2B :B  O > 4ď,L?AJ J"mJ"2J J J"&9J"c3J N*@YN@NƟ;9NH(N>VAHRS rotation from veh to nav: [[0.868544,0.476072,-0.137795],[-0.493493,0.856418,-0.151699],[0.045791,0.199759,0.978775]]yNH@? w?F b߿`g?jÿ@q?௑? R?ɫN*@NՉ;NCv˂Bv IjK!NrK9zKKK %LbZH927H_~d'}{|{|AAchecking for new query: numPingsReceived=68, elapsed TxPingTime=36.318344IhI٥=< EV=9mںQ u>y FԱ٦yh: > q4Yu%?4yuuB¿@u<1Du_:u1:u4)M%A5 addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504386 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9Zo9Bo9:n92nymmkkkk? bbb"b@=Ɵ; 9=8?IE: AɝEG6iAIAIMIiIiMcƮ=)I)QF55"F9*F92F=\0:F9  DDAT read: Rx Time:04:08:18.6774  TRx dataTimestamp_ set to:1761365299.622047 DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 - Z#Rx 69: Read range message, but no direction.ۉ ۍ tAYۉ  checking for new query: numPingsReceived=69, elapsed TxPingTime=36.570221G] Ss=2Ba :By  O >1 :ď,!L?A6$@Y6 @6 c=96fM>BAHRS rotation from veh to nav: [[0.868766,0.475611,-0.137987],[-0.493061,0.856724,-0.151376],[0.046221,0.199546,0.978798]]y6H`? gp?P߿Hj?G`ÿ8?`?OR?ɫ6$@6wf;4FނBJ I-Mb@Mb@Mb@) )))I)i)-{Gzt?V-y&1-ף;--`e)- AI-@i)) )-@IEPIE٥U&= UZ=9UDQ U>YY ]F٦Yy]: e? i}4Ym?}4ym8m}B}{=}<}.}@im!;m:m4)$AH>HH4!IIBIII&Iɘ<*IE addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503865 s, deltaX: -0.200000 m, approachRate: -0.396931 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmāBkkk.@ kT?JMR=JMa= bE{=bE{=bEB@"bEJ@ c=  ?I%: !ɝ% P6i!I!I-Fi)i-*=)))1checking for new query: numPingsReceived=69, elapsed TxPingTime=36.821701F6"F*F2F_0:F1a G 6=2B :B  O >Aď,xM?A&DDAT read: Rx Time:04:08:19.1775 *TRx dataTimestamp_ set to:1761365300.1263852DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -2Z#Rx 70: Read range message, but no direction.$&xAY$6checking for new query: numPingsReceived=70, elapsed TxPingTime=37.0752228N,@YN@N>9NRN>VAHRS rotation from veh to nav: [[0.869474,0.474234,-0.138266],[-0.491776,0.857402,-0.151717],[0.046600,0.199910,0.978705]]yNH?Y? By߿@o?xkÿܧ??Q?ɫN,@N2};LnBr!IIzUIz٥= P=9}Q >    F٦ y 2u; > 4Y?4y{zB@=1D<<4)$AE addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504338 s, deltaX: 0.200000 m, approachRate: 0.396559 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.43 m.RoAJoAboIZoIBoI:nI2nImQmQkYkake/@kecw? bbb"b2@> ?IE: ɝiIICi i t==) ))ԉF"F*F2F0:FԹchecking for new query: numPingsReceived=70, elapsed TxPingTime=37.326065jK5wNrK5U9zK1K5K5 3Wyf< zZ<!%?NH>.#  >Gx=2B :B9  Oe >Gď,S!M?AI<)2@Y2롸@2s?92yN>>AHRS rotation from veh to nav: [[0.870118,0.473053,-0.138261],[-0.490622,0.858020,-0.151957],[0.046747,0.200054,0.978669]]y2H? F?Zf߿ t?@Qsÿ2?]?AQ?ɫ2@2/;2CNBR!I`Mb@Mb@Mb@ )IiMb F٦yG; >  4Y? 4ywwB  < %= D@@+; ;\ 4)#AMDNOT Ignoring new targets: 15.43 m.RoIJoQboQZoQBoQ:nQ2nYmYm]ׁBkYkakake@8? b <b <bi@"bQ D@s? 靝?I : ɝ4iIIHiiY=))]DDAT read: Rx Time:04:08:19.6774 eTRx dataTimestamp_ set to:1761365300.630733uDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 -}Z#Rx 71: Read range message, but no direction.Y]tAYYchecking for new query: numPingsReceived=71, elapsed TxPingTime=37.581100Fm6"Fi*Fi2Fm`5:FqJHBH@AHHHZ!II/BIII&I<*IE2ImC:ImCBIiJImǣ =RImǣ =ZIm?'5G=2B:B  O >Jq Ju jJu 3Jq Jq Ju 9Ju (3Jq Ju Zu;!} Ju ]u;!} Ju :!} Ju :! A    checking for new query: numPingsReceived=71, elapsed TxPingTime=37.826939Nď,0;M?A>Ȳ@Y>@>)MA9>N>JAHRS rotation from veh to nav: [[0.870804,0.471693,-0.138586],[-0.489361,0.858684,-0.152274],[0.047175,0.200420,0.978574]]y>H?50?1Q߿Vz?}ÿ`Y'? Y?yP?ɫ>Ȳ@>҉;>Cn Br,!IIz[Iz:٥Ǘ= Z=9.Q >    F٦ y{; > !-4Y%?-4y%s%uB15D@5@%>1D%W:%:%4A)EY#AAu addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504348 s, deltaX: -0.200000 m, approachRate: -0.396551 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 15.43 m.RoqJoyboyZoyBoy:ny2nymmkkk.@k? bbb"bD@)MA ?IT: ɝ4iIIEiiNɶ=))IeDDAT read: Rx Time:04:08:20.1775 mTRx dataTimestamp_ set to:1761365301.134152uDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 -}Z#Rx 72: Read range message, but no direction.aexAYachecking for new query: numPingsReceived=72, elapsed TxPingTime=38.082375D :Ei>E%>yF55"F9*F92F=0:F9ԡ G} D=2B :B  O >;/Uď,ϾUM?A6@Y6ߺ@6t@96ҦN>>AHRS rotation from veh to nav: [[0.871599,0.470375,-0.138068],[-0.487964,0.859453,-0.152418],[0.046969,0.200220,0.978625]]y6H#?`?6:߿? rÿY ? Ϡ?`P?ɫ6@6e;4vBz4!IIXI㔴٥=) 5C=95v:Q 5>99 =F٦9y=z; => A]4}checking for new query: numPingsReceived=72, elapsed TxPingTime=38.332874jKNrK9zKKK{l`VLB2(!'06:8646220.*)%#%" /jznjlhd_a`\2K*KYE깥?4yEpEsB:D@@AESM[ď,{goM?A @6Bͱ@Y6+ȸ@6(@96N>>AHRS rotation from veh to nav: [[0.872393,0.469001,-0.137727],[-0.486551,0.860218,-0.152621],[0.046896,0.200157,0.978641]]y6H@?? `#߿ ?ÿ?@?Q?ɫ6Bͱ@6 ;6C^BbF!IH>HH!IIMBI =II&I<*IvEԙMb@Mb@Mb@ )Ii!! %F٦)y-v; -> 1=4Y5?=4y55rBE1"=E E DDAT read: Rx Time:04:08:21.1776 E TRx dataTimestamp_ set to:1761365302.1418886bď,FM?ADAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.3 -Z#Rx 74: Read range message, but no direction.quyAYqchecking for new query: numPingsReceived=74, elapsed TxPingTime=39.096485B۱@YBwָ@BJ?9BmN>JAHRS rotation from veh to nav: [[0.873249,0.467557,-0.137209],[-0.485032,0.861038,-0.152830],[0.046685,0.200010,0.978681]]yBH`?s? ߿?ÿ &?@?ZQ?ɫB۱@B;BCR0BR[!IIZ^IZ٥bg= fb=9f:Q f>hh jF٦hyj; j> lr4Yn[?v4ynƱltv @v@n@1Dn:n:n&4y)}%"A addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503993 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZo!Bo!:n!2n!m)m)k)k)k-@33/@k5`? bibibi"bm @J? ?IU: ɝ[?5iIIDii{=))EF6"F*F2F_0:F!checking for new query: numPingsReceived=74, elapsed TxPingTime=39.341022jK?NrK9zKKKVI* '442-*)+($"##Vyk]`ATM;(vlb\^QBKe?:Ke ?G  =2B ) `wA) I A `wA /A:B  O >y _hď,GM?A2W@Y2@@2>92 hN>:AHRS rotation from veh to nav: [[0.874195,0.465955,-0.136635],[-0.483356,0.861910,-0.153224],[0.046372,0.199991,0.978700]]y2Hg?@4?C}L޿@Ŕ?@ٜÿ ?P? Q?ɫ2W@2;2CB/B@Mb@Mb@Mb@ )Ii&1{Gz?Mb`P#=)d AI@i@ @IiI҅٥m ;=9I<:Q > F٦yU; > 4Yh?4ysB̈́=L<@?@B1D;;-4)&"A 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo1Bo1:n92n9m9m=BkAkAkAkE@?Q bǘ=bǘ=bu~@"bu@?> 靍 ?IG: ɝ-e5iIIIii/=))DDAT read: Rx Time:04:08:21.6775 TRx dataTimestamp_ set to:1761365302.646663 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 75: Read range message, but no direction.xAYchecking for new query: numPingsReceived=75, elapsed TxPingTime=39.594852F56"F1*F12F1:F1ԁZHRH<H>HCH!IIqBIII&Iޘ<*IEGm$ӿ=2By:B O>ԩJ wJ nJ 3J J W:J 99J (3J J z;J z;J [:J \: checking for new query: numPingsReceived=75, elapsed TxPingTime=39.842621 {nď,7M?A>V@Y>?@><9>vN>FAHRS rotation from veh to nav: [[0.875269,0.464116,-0.136014],[-0.481442,0.862889,-0.153740],[0.046012,0.200047,0.978705]]y>H4?? h޿`ɜ?`ÿ⎧?"?Q?ɫ>V@>;hh jF٦hyn!; n> pv4Yr?v4yrrtBtv?v@rD1Dr:r:r644|)~!A|- addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504775 s, deltaX: -0.100000 m, approachRate: -0.198109 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo1Bo1:n12n9mAmAkIkIkM/@kM LQ? bibibi"bm{?< 靅?I: ɝ5iIIFii`=))ԱFU6"FQ*FQ2FU0:FQDDAT read: Rx Time:04:08:22.1776  TRx dataTimestamp_ set to:1761365303.150200DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.1 -Z#Rx 76: Read range message, but no direction.  yAY %checking for new query: numPingsReceived=76, elapsed TxPingTime=40.098400GU/=2Bi:By O> 1 ruď,'M?A6#@Y6 @6/:96yN>>AHRS rotation from veh to nav: [[0.876336,0.462339,-0.135195],[-0.479552,0.863838,-0.154317],[0.045440,0.200066,0.978728]]y6H ?`?N޿ ?ÿC?Ǜ?Q?ɫ6#@6*;6C^HB^y!IIf^If٥nd= rI=9rq:Q r>tt vF٦tyv; v> x~4Yz?4yzx?@zE1Dz;z;zQ;4 `B)  ADE}checking for new query: numPingsReceived=76, elapsed TxPingTime=40.349136jKXNrK9zKKKkwkUJD;72/,,)*'.@&l\SF9)  rRskL5%2KrA*KrAe addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503537 s, deltaX: 0.100000 m, approachRate: 0.198596 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk@33/@k ? bIbIbI"bM?/: 靍W#?I*: ɝ5iIICii6=))"DD2D*D9F"F*F2Fo0:FG G= DDAT read: Rx Time:04:08:22.6775  TRx dataTimestamp_ set to:1761365303.653885 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -% Z#Rx 77: Read range message, but no direction.  xAY - checking for new query: numPingsReceived=77, elapsed TxPingTime=40.602081ԁ G K=2B :B  O >w{ď,lM?A$>$@Y>@>Ki89>N>JAHRS rotation from veh to nav: [[0.877629,0.460062,-0.134575],[-0.477223,0.864971,-0.155189],[0.045007,0.200421,0.978676]]y>H?`q?`9 Ԋ޿׭?9ÿ+ ?@a?OQ?ɫ>$@><;>CHR>HPHR!IIRBIR =IPIP&IRۘ<*IRE``Mb@Mb@Mb@ )IiA`"T㥛 ?MbP?Y=:) AIi@ \@IKIh٥a: 1=9v:Q > F٦y; > 4Y?4ywB=!<?@H1D::`C4JuJqJ4JJ[Q:Jq9J3JJo;Jo;J:J:) AiM addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503685 s, deltaX: -0.100000 m, approachRate: -0.198538 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmm$Bkkk/@k ? b=b=bJ@"b"?Ki8 ?I?: ɝĮ5iIIHii%=))DDAT read: Rx Time:04:08:23.1775 TRx dataTimestamp_ set to:1761365303.910135checking for new query: numPingsReceived=77, elapsed TxPingTime=40.857475F6"F*F2F1:FԙG ==2B :B  O >% DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 -- Z#Rx 78: Read range message, but no direction.  Y = checking for new query: numPingsReceived=78, elapsed TxPingTime=41.106079ď,] N?APj7@Yj2@j69jN>vAHRS rotation from veh to nav: [[0.878745,0.458180,-0.133707],[-0.475219,0.865972,-0.155753],[0.044424,0.200408,0.978705]]yjH?@R?Qi޿` ?ÿ? ?Q?ɫj7@j;jCQB!IImIF٥%J= %f=9%v:Q %>)) -F٦)y-; 5> 1=4Y5?E4y5+5yBAEJ?E@5I1D5a;5<;5I4I)Ur AQ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503221 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk k ? bIbIbI"bMTJ?}6 y靅k?I: ɝz5iIIEii=))F-6"F)*F)2F54:F1DDAT read: Rx Time:04:08:23.6774 TRx dataTimestamp_ set to:1761365304.414151DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.1 -Z#Rx 79: Read range message, but no direction.ۡۥtAYۡchecking for new query: numPingsReceived=79, elapsed TxPingTime=41.362984jKاNrK#9zKKK1KXes`QIC>60.-)))&!"*a~}seVHA;70+)% %04,)#G+=2B :B!  O >) ď,If$N?A|SB!I=Mb@Mb@Mb@9 9)9I9i9=/$?Mb`?=L===;)=d AI9i=@=3@ 9= @I]OI]ݜ٥m< m7=9mQ m>qq uF٦qy} }> 4YG?4y }B>=<?@L1D<;;`Q4)a Achecking for new query: numPingsReceived=79, elapsed TxPingTime=41.606972 addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.257045 s, deltaX: -0.200000 m, approachRate: -0.778073 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmm+Bkkk.@k? b>=b>=b@"bJ?) )-{?I5(: 1ɝ55i1I1I=Bi9i=#=)9)A)F"F*F2FO0:FJHBHAAH>HH!IIBIII&I<*IEqG =2B :B)  O5 > DDAT read: Rx Time:04:08:24.1775  TRx dataTimestamp_ set to:1761365304.915915 DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 - Z#Rx 80: Read range message, but no direction.ۙ ۝ xAYۙ  checking for new query: numPingsReceived=80, elapsed TxPingTime=41.864143Թ ؎ď,B>N?A6@]@Y6)X@6l196N>NAHRS rotation from veh to nav: [[0.880953,0.454396,-0.132086],[-0.471219,0.867932,-0.156996],[0.043303,0.200547,0.978727]]y6H0?? / r(޿?qĿ`+??`Q?ɫ6@]@6y;6CZ\BZ!IIbVIb٥j>= jh=9nP;Q n>pt zF٦xy Q<  > 4Y?%4y"B)-:?-@N1DUX;rY;W49)= A9m addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.501764 s, deltaX: 0.200000 m, approachRate: 0.398593 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 15.43 m.RoqJoqboqZoqBoqy:ny2nymmkkk/@k__? b1b1b1"b5V:?l1 ?I: 1ɝ55i9I9I=GiAiE~=)A)AԩF6"F*F2FV0:Fchecking for new query: numPingsReceived=80, elapsed TxPingTime=42.110592G- 5=2BA :BQ  Oe >! J J kJ 3J J J 9J (3J ! @! @! @! @a•ď,'XN?Av~@Yvty@v,9vN>5AHRS rotation from veh to nav: [[0.882903,0.451096,-0.130363],[-0.467657,0.869706,-0.157826],[0.042183,0.200310,0.978824]]yvH@??@ݿ?3Ŀ?`ģ?R?99EDDAT read: Rx Time:04:08:24.6774 ETRx dataTimestamp_ set to:1761365305.418291MDAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 -UZ#Rx 81: Read range message, but no direction.AEtAYA]checking for new query: numPingsReceived=81, elapsed TxPingTime=42.366512ɫv~@v);vCuVBu!IIcI#٥޼ ==9);Q > F٦y< > 4Yܳ?4y B?@Q1D;I;_4)M AjKuCdNrKu9zKqKuKu/70'")biA#vsmhb]VUQMH@3&ԙm addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502376 s, deltaX: -0.200000 m, approachRate: -0.398108 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 15.43 m.RoiJoqboqZoqBoq:nq2nqmymykykyk.@k ? bbb"b?E, IM?IM: IɝMx5iIIIIUDiQiU@=)Y)checking for new query: numPingsReceived=81, elapsed TxPingTime=42.614567D  :F 6"F *F 2F `5:F  H >H H !II BI I I D&I <*I lE2I]C:I]CBIYJI]̥ =RI]̥ =ZI]̐"5JJ=IGo==2B:B) O] ?ď,zN?ADDAT read: Rx Time:04:08:25.1776 "TRx dataTimestamp_ set to:1761365305.921956&DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -&Z#Rx 82: Read range message, but no direction.yAY.checking for new query: numPingsReceived=82, elapsed TxPingTime=42.870289E@YE׉@E*9EN>AHRS rotation from veh to nav: [[0.883856,0.449462,-0.129548],[-0.465900,0.870576,-0.158225],[0.041665,0.200205,0.978868]]yEH H?@? @Nݿ? @Ŀ-U?M?R?ɫE@E9O;ECXB!I Mb@Mb@Mb@ )Ii~jtʡE?MbP?D-=:) AI@i@ @IZI٥< =9l:Q > F٦yd; > 4Y?4yB=<?@U1D6;M;i4) : A = addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503665 s, deltaX: 0.300000 m, approachRate: 0.595634 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9ZoABoA:nA2nAmImM BkIkIkU@33/@kU`p͹? bu=bu=bu/@"bu?* 靍)?I6: ɝ6iIIIii=))D9F5"F*F2F0:Fchecking for new query: numPingsReceived=82, elapsed TxPingTime=43.118526iG =2B :B  O >ԑ ֤ď,HN?A6w@Y6`@6Rr(96lpN>BAHRS rotation from veh to nav: [[0.884871,0.447714,-0.128666],[-0.464018,0.871507,-0.158628],[0.041113,0.200069,0.978919]]y6HP?X?x wݿc?MĿ` ? ٛ?MS?ɫ6w@6z;4FUBJ!IIRqIRv}٥V- Zu=9Z|:Q Z?\\ ^F٦\yb.; b? dj4Yf?n4yffBln?n@fW1DfJ4;f),;fn4t)vU AtDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nm!m!k!k!k)k->? bIbIbI"bM?eRr( aev?IeB: iɝmq6iiIiIuFiqiup=)qJsJnJJJK:J99JJ)2D=*D=qD]DDAT read: Rx Time:04:08:25.6775 ]TRx dataTimestamp_ set to:1761365306.426385mDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -mZ#Rx 83: Read range message, but no direction.Y]xAYYuchecking for new query: numPingsReceived=83, elapsed TxPingTime=43.374874F}6"Fy*Fy2F}_0:FyjKNrK`9zKKK &>K[uiN=4*# ԩGe=2B:B O> checking for new query: numPingsReceived=83, elapsed TxPingTime=43.622883 ď,&N?AvMBv!I}Mb@Mb@Mb@y y)yIyiy}Zd;O/$?Mbp}j<}=})}d AI}@i}@}@ y}@ItI%x٥ <=9Q > F٦y > 4Y?4yBO= <?@Y1D:,:v4) A addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504429 s, deltaX: -0.100000 m, approachRate: -0.198245 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 15.43 m.Ro Jo bo Zo Bo :n 2nmmBkkk/@kE?ZH=<RH=<HAHAHAIAIAIAIA&IE<*IEUE beO=beO=be@"beN? #?I-: 1ɝ5?6i1I1I=Ci9iE=)A)AD  :EEtAF"F*F2F:FGtAFtAeDDAT read: Rx Time:04:08:26.1773 eTRx dataTimestamp_ set to:1761365306.929954uDAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.5 -}Z#Rx 84: Read range message, but no direction.ae3sAYachecking for new query: numPingsReceived=84, elapsed TxPingTime=43.879402) GE s=2BI :Ba  Ou >ď, N?A:²@Y:@:#9:DN>FAHRS rotation from veh to nav: [[0.886848,0.444273,-0.126973],[-0.460325,0.873302,-0.159516],[0.040018,0.199915,0.978996]]y:Ha?n?@uݿ?@kĿ`3}?і?S?ɫ:²@:| ;8RKBR}!IIZpIZ<٥b̻ bY=9f(?;Q f>dh jF٦hyj6< j> lr4Yng?v4ynnBtv ?v@n\1Dn:nl:n}4x)z A|5 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503569 s, deltaX: -0.300000 m, approachRate: -0.595748 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9Zo9BoA:nA2nAmAmAkIkIkM`ff.@kMuS? bibibi"bm ?checking for new query: numPingsReceived=84, elapsed TxPingTime=44.127872#  =#?I T: ɝ &&6iIIEHiAiE =)A)ID5~ :iF "F *F 2F o0:F yJuJjJJJ[Q:J9JJGM w=2BY u DDAT read: Rx Time:04:08:26.6772 u TRx dataTimestamp_ set to:1761365307.433987 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - Z#Rx 85: Read range message, but no direction.q u pAYq  checking for new query: numPingsReceived=85, elapsed TxPingTime=44.382156:B  O >ԩ i I )m G ) jK MrK zK K K *aI ! % AIď,hN?A2K.sA*K,<Ѳ@Y̹@N "9b&N>AHRS rotation from veh to nav: [[0.887715,0.442754,-0.126220],[-0.458692,0.874098,-0.159858],[0.039551,0.199805,0.979037]]yH)h?V?'4[ݿ`?`;vĿ@?`3?ET?ɫѲ@>;C@B%p!I-only read 2 of 4 data items for beam range. Device response is::RA, 0.42, 67.72, 76.57 m@ q@ u@ i@ IeI]٥< /=9F:Q > F٦y; > 4YG?4yB+:;H?@_1DҢ; >4) Aԡ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504033 s, deltaX: -0.200000 m, approachRate: -0.396799 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk .@k@F?N " 靵?IO:checking for new query: numPingsReceived=85, elapsed TxPingTime=44.630692 ɝ\16iIIEiil=))"DtADrAH5>H1H5!II5BI1I1I1&I5Ҙ<*I5ED% : F 6"F *F 2F _0:F G = G p=} DDAT read: Rx Time:04:08:27.1773 } TRx dataTimestamp_ set to:1761365307.938417 DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 - Z#Rx 86: Read range message, but no direction.y } 3sAYy  checking for new query: numPingsReceived=86, elapsed TxPingTime=44.8865971 G=2B:B O>b>ď,O?AI><)<@Y޹@,!9N>EAHRS rotation from veh to nav: [[0.888726,0.440805,-0.125923],[-0.456740,0.874996,-0.160530],[0.039420,0.200181,0.978966]]yHrp?@&6?=;;ݿ??Ŀ.??S?ɫ@sh;CU>BUm!IԁI^I٥  4=9ԗ9Q > F٦y; > 4Y&?4ybB :;?@a1D:5l?鈵4) !A% addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504430 s, deltaX: 0.200000 m, approachRate: 0.396487 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 15.43 m.Ro!Jo!bo!Zo)Bo):n)2n)m)m1k1k1k5`ff.@k5 (?m,! im?Im: qɝuX;6iqIqIBii;=))ԩUchecking for new query: numPingsReceived=86, elapsed TxPingTime=45.134800D} :F 6"F *F 2F :F Jm wJm hJm 2Ji Jm W:Jm Ȇ9Jm c3Ji A DDAT read: Rx Time:04:08:27.6772  TRx dataTimestamp_ set to:1761365308.442128 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - Z#Rx 87: Read range message, but no direction.  pAY % checking for new query: numPingsReceived=87, elapsed TxPingTime=45.391132G- =2B1 :BI  OU >ď,O?ApjK}(NrK}9zKyK}K}<hl\LIH6# j]VSNNJHGGDA=<<<E?2-/231/.;Bi!IIdI@٥[s $=9Q > F٦y > 4Y?4yB9; AM@d1DX&<S?4Y)]'!Aa addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503711 s, deltaX: -0.200000 m, approachRate: -0.397053 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk.@k?a im?Im4: iɝmF6iiIiIuGiqiu[=)q)y1echecking for new query: numPingsReceived=87, elapsed TxPingTime=45.639317D% :a H H H !II BI I I &I <*I cEF "F *F 2F ^0:F  Jq Jq ԑ  DDAT read: Rx Time:04:08:28.1773 TRx dataTimestamp_ set to:1761365308.945841DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.2 -%Z#Rx 88: Read range message, but no direction.  3sAY Echecking for new query: numPingsReceived=88, elapsed TxPingTime=45.896496G5z=2BI:BY Om ?cď,i?O?A @(f@Yf@fC9fM>rAHRS rotation from veh to nav: [[0.890594,0.437490,-0.124279],[-0.453157,0.876812,-0.160781],[0.038629,0.199508,0.979134]]yfH ?? пݿ ?wĿ`0ǣ?{?U?ɫf@f";dz0Bz\!ImEmE qMqM uMuM iMiM MMb@Mb@Mb@I I)IIIiIMQV-?y&1MMm=M`e)M AIM@iM@M@ IM@IaIa٥$ "=9 :Q > F٦y< > 4Y?4y;BT:ň=F<M?@g1D::\4)z!A= addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503713 s, deltaX: 0.200000 m, approachRate: 0.397051 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoaJoaboaZoaBoa:na2namimmρBkikiku`ff.@ku`%?y bň=bň=b@"b M?C 0?I$: ɝR6iIIDii=))yF)"F)*F12F5_0:F1echecking for new query: numPingsReceived=88, elapsed TxPingTime=46.144470 Gu =2B :B  O >ď,N%YO?Al}*B}T!I AISIQDDAT read: Rx Time:04:08:28.6772 TRx dataTimestamp_ set to:1761365309.450906DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1 -Z#Rx 89: Read range message, but no direction.pAYchecking for new query: numPingsReceived=89, elapsed TxPingTime=46.401222٥N  U=9Q >!! %F٦)y- -> AM4YE ?M4yEEBQ)5@Eh1DE(ď,sO?AH&>H$H&!II&BI$I$I&D&I&<*I&EV@YV@V9V:8M>nAHRS rotation from veh to nav: [[0.891451,0.435916,-0.123661],[-0.451472,0.877728,-0.160517],[0.038568,0.198923,0.979256]]yVHĆ? ?9ܿY? ֋Ŀ9?Mv?V?ɫV@V;Tz$BzL!I9Mb@Mb@Mb@ )IiI ++?{Gz9=ף)I@i IfI{٥ M=91 9Q > F٦yb; > 4Y?4yBH= < o? @i1D:k:4)!AEDNOT Ignoring new targets: 15.43 m.RoAJoAboAZoABoA:nA2nImImMBkIkkkk? bH=bH=bf@"bMo?J5C=J5R=JJ3JS}.JUvJUyJU3JQJU{T:JU9JU(3JQJUZu;!JU\u;!JU:!JU:! 靵0?I: ɝh6iIIFiiȽ=))qDDAT read: Rx Time:04:08:29.1773 TRx dataTimestamp_ set to:1761365309.954840DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -Z#Rx 90: Read range message, but no direction.3sAYchecking for new query: numPingsReceived=90, elapsed TxPingTime=46.904575F6"F*F2F>1:FԑG% ɯ=2B1 :BI  Ou > ď,܌O?Achecking for new query: numPingsReceived=90, elapsed TxPingTime=47.150684I)<> @Y>@> 9>M>JAHRS rotation from veh to nav: [[0.892071,0.434587,-0.123867],[-0.450222,0.878289,-0.160961],[0.038839,0.199357,0.979157]]y>H@ً? E?qܿ ?aĿ??AU?ɫ> @>Ȉ;hh nF٦lyn)x; n> pv4Yr?v4yrrBxz?z@rk1Dr:r:rl4|)~!A5 addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503934 s, deltaX: 0.200000 m, approachRate: 0.396877 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo9Bo9:n92n9mAmAkAkAkE`ff.@kMp?Թ b b b "b ?M  I]X1?I] : aɝeYs6iaIaI}CiyiL=))F-5"F)*F)2F-4:F)DDAT read: Rx Time:04:08:29.6772 TRx dataTimestamp_ set to:1761365310.458412DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -Z#Rx 91: Read range message, but no direction.pAYchecking for new query: numPingsReceived=91, elapsed TxPingTime=47.407436Gm=2By:B O>jKE |NrKE 9zKA KE KE ,4| y?  .Z-&Ox`QG;60-/47:81')('A <ď,ûO?A>u*@Y>^%@>m9>M>FAHRS rotation from veh to nav: [[0.892636,0.433399,-0.123961],[-0.449084,0.878812,-0.161283],[0.039039,0.199636,0.979092]]y>Hy?μ?滿̽ܿ;?`Ŀ??@T?ɫ>u*@>銈;>C^B^A!IMb@Mb@Mb@ )IiZd;O{Gz?{Gzjף<) AIp@i@ @IaI錴٥B ;=9Q > F٦yc?; > 4Y?4y@BR=<?@Z:: 4))"AM addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503572 s, deltaX: -0.200000 m, approachRate: -0.397162 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 15.43 m.RoQJoQboQZoQBoY:nY2nYmYmeBkakake.@kep? bR=bR=bA@"b?m 靝q=?IG: ɝ}6iIIHii[>))"DD2D*D=checking for new query: numPingsReceived=91, elapsed TxPingTime=47.655685F"F*F2FO0:FAHM>HMCHM!IIM{BIM =IIII&II*IME2I:IBIJIRIZIq5qGط=2B:B! Ju xJu rJq Jq Ju Z:Ju 9Jq Jq Ju ;Ju ;Ju :Ju : O > DDAT read: Rx Time:04:08:30.1772  TRx dataTimestamp_ set to:1761365310.962496 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - Z#Rx 92: Read range message, but no direction. Y  checking for new query: numPingsReceived=92, elapsed TxPingTime=47.910667ԩ 6&ď,EO?AV2@YV-@V!9V2N>jAHRS rotation from veh to nav: [[0.893074,0.432397,-0.124309],[-0.448172,0.879257,-0.161396],[0.039513,0.199851,0.979029]]yVH?b?`ҿڮܿ"?Ŀ:??`5T?ɫV2@V;VCrBrE!II~OI~ݜ٥ {< V=9ɢQ > F٦y-; %> !-4Y%a?54y%%B15?5@%l1D%n;%H;%49)E"AAu addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 15.43 m.RoyJoyboyZoyBoy:ny2nmmkkkk@@? bbb"b%?! >?I: ɝ6iIIEiiB>))ԱFi"Fi*Fi2Fm_0:Fi=checking for new query: numPingsReceived=92, elapsed TxPingTime=48.158512G*>2B:B O> 9 Tď,qO?A @:9@Y:4@:"#9:0!N>BAHRS rotation from veh to nav: [[0.893456,0.431578,-0.124406],[-0.447383,0.879674,-0.161313],[0.039817,0.199783,0.979031]]y:H0??@ٿܿJ&?Ŀb?~?`8T?ɫ:9@:5j;:CJBJ?!IIRHIR٥ZPü ZP=9^CKQ ^>\\ ^F٦`ybE; b> dj4Yf?j4yffBhn?n@fm1Df;f;f4t)z7"AxDNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n!2n!m!m!k)k)k)k-]h? bIbIbI"bM?DDAT read: Rx Time:04:08:30.6771 TRx dataTimestamp_ set to:1761365311.466300DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -Z#Rx 93: Read range message, but no direction.ۑەfnAYۑchecking for new query: numPingsReceived=93, elapsed TxPingTime=48.414616%"# AE)Q)YjKtNrK9zKKK%/H^gkvi^VMJ^ulZLH|~eRF@5.)&$#$%%!  FE6"FA*FI2FI:FI1G}4>2B:B O>M checking for new query: numPingsReceived=93, elapsed TxPingTime=48.664139Y H- >H- CH- !II- vBI- =I) I- D&I- Θ<*I- Evď,FO?A :=@Y:8@:R$9:M>BAHRS rotation from veh to nav: [[0.893659,0.431107,-0.124584],[-0.446939,0.879968,-0.160938],[0.040249,0.199505,0.979070]]y:H٘?A?@俿@ܿ(?Ŀ`}?d? T?ɫ:=@:x;:C^B^>!IMb@Mb@Mb@ )Ii{Gz{Gz? F٦y: > 4Y?4y`B'<<@@n1D;;@ǵ4 ) <"A = addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503804 s, deltaX: -0.100000 m, approachRate: -0.198491 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 15.43 m.RoAJoAboAZoABoA:nA2nAmImMBkIkQkU-@k]P? b}'<b}'<b}tc+@"b}L@R$ q=?I9:JwJlJJJW:J9JJJz;Jz;J1:J2: IɝM6iIIIIUGiYi]>)Y)aiDDAT read: Rx Time:04:08:31.1772 TRx dataTimestamp_ set to:1761365311.970738DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.1 -Z#Rx 94: Read range message, but no direction.۱۵pAY۱checking for new query: numPingsReceived=94, elapsed TxPingTime=48.920753F6"F*F2F`0:FԙG- v>2B1 :BQ  O] > ] checking for new query: numPingsReceived=94, elapsed TxPingTime=49.166519cď,z8P?AH"BK!II5DI5٥}O= }O=9Q > F٦y > 4YE?4y*B@kn;p;'ε4)!A addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504438 s, deltaX: 0.100000 m, approachRate: 0.198241 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJo!bo!Zo!Bo!:n!2n1m1m1k1k9k=.@k=2? bqbqbq"bq! )-B?I-: 1ɝ5ۗ6i1I1I=Di9i=>)9)AF6"F*F2Fo0:FDDAT read: Rx Time:04:08:31.6771 TRx dataTimestamp_ set to:1761365312.473927DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -Z#Rx 95: Read range message, but no direction.۱۵fnAY۱checking for new query: numPingsReceived=95, elapsed TxPingTime=49.429928)=WG UxA)m5AIxؿxAAGE (>2Bq :B  O > jK] kNrK] #9zKY K] K]    H ď,A(P?AI6<)4bG@YbtB@b)9bXM>nAHRS rotation from veh to nav: [[0.894140,0.429853,-0.125460],[-0.445870,0.880553,-0.160707],[0.041394,0.199633,0.978996]]ybH˜?@?"ܿ@}-? Ŀ1?@?S?ɫbG@b4;bCttx}Mb@Mb@Mb@y y)yIyiy} rhMb`?y&1}C};}`e)} AI}b@i}Z@}@ y}@ITIn٥(~: H=9 7Q > F٦yM3; M> Qe4YUѰ?e4yUU}B'<=l@@Uo1DU;U3;Uյ4)!A addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503189 s, deltaX: -0.100000 m, approachRate: -0.198733 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmB checking for new query: numPingsReceived=95, elapsed TxPingTime=49.670666kk!k--@k-`U? b'<b'<b%A@"bl@) @?IT: ɝF6iI!I}Iiyi>))JHBHH>HCH!IIqBI =IID&I<*IEIJ- {J- rJ) J) J- d:J- 9J) J) J- ,;J- -;J- :J- :DE :ع ع  DDAT read: Rx Time:04:08:32.1772  TRx dataTimestamp_ set to:1761365312.978727 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - Z#Rx 96: Read range message, but no direction. pAY  checking for new query: numPingsReceived=96, elapsed TxPingTime=49.926880 F "F *F 2F _0:F ԡ Gv>2B:B O >ď,GP?ABTL@YB=G@BI,9B+N>NAHRS rotation from veh to nav: [[0.894376,0.429198,-0.126019],[-0.445335,0.880833,-0.160653],[0.042050,0.199805,0.978933]]yBH ?@w?f!@`ܿ/?@EĿ?@4?`kS?ɫBTL@B-;BCR+BRU!IIZ=)Z%=I^ZI^٥j = j/=9nLQ n>ll nF٦lyrl: r> tz4YvX?z4yvvzBx~q@~@tv:v:vjݵ4)!A5 addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504800 s, deltaX: 0.100000 m, approachRate: 0.198099 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 15.43 m.Ro9Jo9bo9Zo9Bo9:nA2nAmQmQkQkQkU.@k]s? bybyby"b}q@I, 靕D?I: ɝ6iIIFii!O>))Duchecking for new query: numPingsReceived=96, elapsed TxPingTime=50.176014F=5"F9*F92F=0:F9!Gm>2By:B O> DDAT read: Rx Time:04:08:32.6771  TRx dataTimestamp_ set to:1761365313.481892% DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -- Z#Rx 97: Read range message, but no direction.  fnAY 5 checking for new query: numPingsReceived=97, elapsed TxPingTime=50.430267Q ď,;VaP?AFN@YFiI@F.9F/N>NAHRS rotation from veh to nav: [[0.894472,0.428859,-0.126493],[-0.445087,0.880996,-0.160444],[0.042632,0.199813,0.978906]]yFH@? kr?0O|ܿ1?`pĿ@ӥ?}?2S?ɫFN@F⾈;FCV3BV_!IIfI{٥%[= %F=9%RQ %>)) -F٦)y5(: 5> A]4YE该?e4yEŞEwBims@u@Ep1DE7;E;E4YB)2!ACEjK0LrKU9zKKK   2K!*K%tA1E addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503165 s, deltaX: -0.100000 m, approachRate: -0.198743 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 15.43 m.RoiJoiboiZoqBoq:nq2nqmqmykykyk}-@k}ǘ? bbb"bs@-. )-H?I-{: 1ɝ5u6i1I1I=Ci9i=<>)9)AaD= :checking for new query: numPingsReceived=97, elapsed TxPingTime=50.678600F"F*F2Fo0:FԑH5 >H1 H5 !II5 {BI5 =I1 I1 &I5 1<*I5 EG <> 2B :B  O% >ď,.{P?A @:{T@Y:dO@:XZ19:N>BAHRS rotation from veh to nav: [[0.894771,0.428045,-0.127130],[-0.444422,0.881300,-0.160623],[0.043286,0.200220,0.978794]]y:H?e?Egqܿ3?KĿ )?Ϡ?`HR?ɫ:{T@:z;:CN@BNo!IDDAT read: Rx Time:04:08:33.1772 TRx dataTimestamp_ set to:1761365313.986004DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.1 -Z#Rx 98: Read range message, but no direction.pAYchecking for new query: numPingsReceived=98, elapsed TxPingTime=50.934940=Mb@Mb@Mb@9 9)9I9i9=~jtI +?y&1|=ļ=94<=`)=$AI=x@i9=@ 9=@IU_IU٥eq= e8=9eQ e>ii mF٦iyuD: u> y4Y}P?4y}}vB<<B @@y}:}:}d4ԑ) AU addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504112 s, deltaX: 0.100000 m, approachRate: 0.198369 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoYJoYboYZoYBoY:nY2namameBkakikm.@k? b<b<b-@"bB @XZ1 )-E?I5: 1ɝ56i1I1I=Hi9i=#>)9)AD : checking for new query: numPingsReceived=98, elapsed TxPingTime=51.182976F% 6"F! *F! 2F% _0:F)  G mK>2B:B) O=>%ď,P?AjZ@YjU@j_39jQN>rAHRS rotation from veh to nav: [[0.895095,0.427232,-0.127582],[-0.443718,0.881635,-0.160733],[0.043811,0.200482,0.978717]]yjH?`W?TeܿY6?@Ŀ@Un?e?Q?ɫjZ@j^;jCzABzq!III ٥; %A=9%!Q %>)) -F٦)y5: 5> 9=4Y=?E4y=H=tBAEM @E@=q1D=:JuwJunJqJqJuW:Ju99JqJq!}@!}@!}@!}@=d:=4) ADNOT Ignoring new targets: 15.43 m.Ro!Jo!bo9Zo9Bo9:n92n9mAmAkkkk 0? bbb"bM @A DDAT read: Rx Time:04:08:33.6771 TRx dataTimestamp_ set to:1761365314.490460DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -%Z#Rx 99: Read range message, but no direction.  fnAY -checking for new query: numPingsReceived=99, elapsed TxPingTime=51.439583=_3 aeE?Ie: aɝe$6iaIiImEiiiu>)q)qAjKKLrK9zKKK %2=BEEC?=><::87?rsaYgq[x\ND82.-*)&""! "9O`iD%. :F "F *F 2F l0:F ԙ  checking for new query: numPingsReceived=99, elapsed TxPingTime=51.687042He >He CHe !IIe BIe =Ia Ie D&Ie ǘ<*Ie E G >2B :B  O >D,ď,nP?Ajpj@YjXe@j479j=O>vAHRS rotation from veh to nav: [[0.895896,0.425277,-0.128492],[-0.441991,0.882440,-0.161072],[0.044886,0.201096,0.978543]]yjH-?7? jrIܿ YY ]F٦YyeEz; e> iu4Ym ?u4ym֝muBu =u<} @}@mr1Dm:m<:m4)Z A JJ@A addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504456 s, deltaX: -0.100000 m, approachRate: -0.198234 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmBkkk-@k-? b =b =b]3@"bi @-47 )-G?I-: )ɝ-6i)I1I5Bi1i=x>)9)9D9uDDAT read: Rx Time:04:08:34.1771 }TRx dataTimestamp_ set to:1761365314.996476DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -\#Rx 100: Read range message, but no direction.yyYychecking for new query: numPingsReceived=100, elapsed TxPingTime=51.944530F"F*F2F`5:FI G >2B :B  O >5 checking for new query: numPingsReceived=100, elapsed TxPingTime=52.194786e3ď,o-P?AI<)Rjp@YRRk@R99RmO>^AHRS rotation from veh to nav: [[0.896206,0.424596,-0.128580],[-0.441332,0.882794,-0.160937],[0.045176,0.200979,0.978553]]yRH?@,?Lu>ܿ??ĿT!?`?NP?ɫRjp@R׈;RCj\Bj!IIziIz҅٥ =  b=9MRQ > %F٦!y% ; -> 14Y5?4y51@@5s1D5]<5<54)A- addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.506016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.RoQJoQboQZoQBoY:nY2nYmYmYkakakake@))QD :F"F*F2F4:FJzJJJJ`:JJJyDDAT read: Rx Time:04:08:34.6770 TRx dataTimestamp_ set to:1761365315.501905DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.1 -\#Rx 101: Read range message, but no direction.ۙ۝3kAYۙchecking for new query: numPingsReceived=101, elapsed TxPingTime=52.450134GM >2BY :Bi  Ou >ԡ jK% NrK! zK! K% K% jmprqm]UQMFB=89FG??HYrZzykVC% wN#`)u\T` :ď,eP?A8V2z@YVu@Vn;9VͨO>jAHRS rotation from veh to nav: [[0.896709,0.423410,-0.128982],[-0.440250,0.883315,-0.161045],[0.045744,0.201194,0.978483]]yVHױ?&?`{@ -ܿD?Ŀ@k?@?O?ɫV2z@VD;VCz]Bz!IMb@Mb@Mb@ )Iiktl?Mb` 0=)Ii IVI٥: ?=9NQ > F٦ym?/; m> q}4Yu?}4yuuvB}h=}i<?@uu1Du:uQ:u 4)A addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.505429 s, deltaX: -0.200000 m, approachRate: -0.395703 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmm΁Bkkchecking for new query: numPingsReceived=101, elapsed TxPingTime=52.699860k`ff-@kF? b=h=b=h=b=e@"b=h?Mn; IUG?IU(: QɝU6iQIQI]DiYi]>)Yԡ)HE>HAHE!IIEBIE =IAIA&IE<*IEHE2IC:ICBIJIŧ =RIŨ =ZI6D :JJ4=Fa "Fa *Fa 2Fe _5:Fa   DDAT read: Rx Time:04:08:35.1771  TRx dataTimestamp_ set to:1761365316.006015 DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.1 - \#Rx 102: Read range message, but no direction.ۡ ۥ fnAYۡ  checking for new query: numPingsReceived=102, elapsed TxPingTime=52.954178) G >2B :B  O >xAď,}"Q?A2@Y2z@2H=92zO>BAHRS rotation from veh to nav: [[0.897000,0.422748,-0.129132],[-0.439617,0.883672,-0.160814],[0.046126,0.201019,0.978501]]y2H9?L?d`"ܿ@ G?@Ŀ㝧??O?ɫ2@2t;2CJdBJ!IIRUIR٥ = >=9 iQ  >    F٦y : > %4Y㫥?U4yXY]?]@v1D]<<4a)eAi addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504110 s, deltaX: 0.200000 m, approachRate: 0.396738 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmkkk-@kb? bbb"b7?H= aK?Iv: ɝJ6iIIIi i > >) ) ԁ}checking for new query: numPingsReceived=102, elapsed TxPingTime=53.202698ԱDO :F"F!*F!2F%15:F!J vJ J J J {T:J J J  5 DDAT read: Rx Time:04:08:35.6770 = TRx dataTimestamp_ set to:1761365316.511307E DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 -M \#Rx 103: Read range message, but no direction.1 5 3kAY1 U checking for new query: numPingsReceived=103, elapsed TxPingTime=53.459808Ge l >2Bi :B  O >ZGď, r!Q?A @:@Y:@:>9:wO>BAHRS rotation from veh to nav: [[0.897582,0.421423,-0.129422],[-0.438381,0.884243,-0.161048],[0.046571,0.201290,0.978424]]y:H ??qܿ`K?8Ŀ-ا???O?ɫ:@:<;:CJoBJ!IIVWIVƕ٥^Z= ^K=9b`` bF٦`yf^; f> hn4Yj?n4yj̛jwBln?r@jx1Dj:j:j4tԩ)vNAjK_OrKk9zKKKwidSMD;+  '4:>NZWPGA>>>;962.,e addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.505292 s, deltaX: -0.200000 m, approachRate: -0.395810 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 15.43 m.RoqJoboZoBo:n2nmmk!k)k-`ff-@k5`$? b)b)b)"b-p?E> AEP?IE: AɝM6iIIIIFii >))Uchecking for new query: numPingsReceived=103, elapsed TxPingTime=53.707344 JHy BHy H >H H !II BI I I &I Ø<*I ED a :E E ) FI "FI *FI 2FM 1:FI DDAT read: Rx Time:04:08:36.1772 TRx dataTimestamp_ set to:1761365317.013953 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -\#Rx 104: Read range message, but no direction.pAYchecking for new query: numPingsReceived=104, elapsed TxPingTime=53.962135QG5 >2B9:BQ O] ?Pď,}AHRS rotation from veh to nav: [[0.897879,0.420734,-0.129598],[-0.437733,0.884588,-0.160918],[0.046937,0.201214,0.978422]]y H m?O?૖ܿ N?Ŀ,?`?;O?ɫ @ B; CsB!I )eMb@Mb@Mb@a a)aIaiaeJ +V-?eHem=e)e~AIeZ@ie;@a ae@I}iI}҅٥V<  =9!!Q > F٦y: > 4Y!?4yzB=.<?@{1D:;G#4).A addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.502646 s, deltaX: 0.300000 m, approachRate: 0.596842 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n 2n m m ځBkkk.@kΣ? bE=bE=bE m@"bE?U{S@ QUL?IU^: Yɝ]6iYIYICii2 >)) QUchecking for new query: numPingsReceived=104, elapsed TxPingTime=54.210503D :ԉF 5"F *F 2F H4:F ԩ JU xJU rJQ JQ JU Z:JU 9JQ JQ i I C) GG D >2B :B `wA) A DDAT read: Rx Time:04:08:36.6771  TRx dataTimestamp_ set to:1761365317.518210DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -\#Rx 105: Read range message, but no direction.  fnAY %checking for new query: numPingsReceived=105, elapsed TxPingTime=54.466492 O5>IEE`wAEA> Xď,aQ?AHZך@YZ@Z}NB9ZO>fAHRS rotation from veh to nav: [[0.898386,0.419542,-0.129949],[-0.436638,0.885092,-0.161119],[0.047420,0.201487,0.978343]]yZH??@'ۿ@R?ĿzG?W?N?ɫZך@Z;X~yB~!IIulIu)٥< <=9 Q > F٦y6; > 4Yi?4yә|B?@}1D;`;*4)AU addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504257 s, deltaX: -0.100000 m, approachRate: -0.198312 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.43 m.RoaJoboZoBo:n2nmmkkk-@kŹ? bbb"bD?jKNrK#9zKKK)$   "!!#"!#" "!!"! 2K rA*K sA}NB 靵O?I: ɝ6iIIHii \J >) )mchecking for new query: numPingsReceived=105, elapsed TxPingTime=54.714615D] :H H H "II ǃBI =I I &I <*I E F 6"F *F 2F 0:F G F A GO >%DDAT read: Rx Time:04:08:37.1772 -TRx dataTimestamp_ set to:1761365318.0225475DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 -5\#Rx 106: Read range message, but no direction.!%pAY!Echecking for new query: numPingsReceived=106, elapsed TxPingTime=54.9707152Bq:B O ?{`ď, bQ?AI)<0v@Yvh@vF9vgO>=AHRS rotation from veh to nav: [[0.898907,0.418241,-0.130537],[-0.435447,0.885789,-0.160510],[0.048496,0.201126,0.978364]]yvH?w?@o@\ۿbX?Ŀ}Ԩ?|?`N?ɫv@v;vCQQ-Mb@Mb@Mb@) )))I)i)-Zd;Oi|?5?Mbp-j<-q=-)-AI-p@i-$@-@ ))IUgIU9eQ e>ai mF٦iym; m> q}4Yu?4yuØu~Bo=1<?@u1Du:u :u44) addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504337 s, deltaX: 0.100000 m, approachRate: 0.198281 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 15.43 m.Ro1Jo1bo1Zo1Bo1:n12n9m9m=߁Bk9kAkM.@km I?ԉ bo=bo=b@"b?F L?I: ɝS6iIIEiiY >))!checking for new query: numPingsReceived=106, elapsed TxPingTime=55.218891D o: Fy "Fy *Fy 2F} h0:Fy  J {J kJ J J d:J 9J J uDDAT read: Rx Time:04:08:37.6771 }TRx dataTimestamp_ set to:1761365318.526581DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 -\#Rx 107: Read range message, but no direction.y}fnAYychecking for new query: numPingsReceived=107, elapsed TxPingTime=55.474735Ge >2Bq:B O?hď,Q?AXm@Ymn@mLH9mO>AHRS rotation from veh to nav: [[0.899157,0.417692,-0.130574],[-0.434887,0.886157,-0.159994],[0.048881,0.200645,0.978444]]ymH`?w?@1ۿf[?zĿ?@?@iO?ɫm@mAB;mCB!IImIF٥f< <9NQ > F٦y :  > 4Y?4yϗB?%@1D:;5=4Y)]AY  addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504034 s, deltaX: -0.100000 m, approachRate: -0.198400 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.jK%|MrK!zK!K%K%idB+  #= B T#,UE; V%qBKI:KM?RoJoyboZoBo:n2nmmkkk-@k@9C? bAbAbA"bEn?LH Q?I: ɝ?6iIIBiiP >))checking for new query: numPingsReceived=107, elapsed TxPingTime=55.723419 F5"F*F2F0:FZHRH<H>HH""IIуBIII&IԘ<*IE1 G j>2B :B  O >nď,Q?AFC@YF,@FpYK9FN>VAHRS rotation from veh to nav: [[0.899429,0.416958,-0.131049],[-0.434241,0.886542,-0.159620],[0.049625,0.200474,0.978441]]yFH?@q?6ۿ^?onĿh?@ ?`dO?ɫFC@F;FCbB`eMb@Mb@Mb@a a)aIaiaeZd;Oy&1?Mbae`e=e)e AIeC@ie@a ae@IqIv}٥ N=9%Q > F٦yo: > 4Yl?4yR=6<$?@1D ; ;C4)A=DDAT read: Rx Time:04:08:38.1771 ETRx dataTimestamp_ set to:1761365319.037960MDAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.3 -U\#Rx 108: Read range message, but no direction.99Y9]checking for new query: numPingsReceived=108, elapsed TxPingTime=55.986095 addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.511379 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.43 m.RoJoboZoBo:n2nmmԁBkkkk@F@? b-R=b-R=b-@"b-$?=pYK AE W?IE: AIɝE6iiIiIuGiyi}eR>)y)yF6"F*F!2F%<5:F!G-= G-=q checking for new query: numPingsReceived=108, elapsed TxPingTime=56.235241Gm  >2B :B ԩ  O >%uď,Q?AMxBU!IyI^I٥D E=9Q > F٦!y- 5> Im4YMѦ?}4yMJMB@M1DM))ԡMDDAT read: Rx Time:04:08:38.6770 UTRx dataTimestamp_ set to:1761365319.542591ePDAT read: Bearing 169.5, 0.3 (Local) e~Local bearing/azimuth received: Bearing 169.5, 0.3 (Local) uDAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 F"F*F2FQ0:FDAT read: 04:08:38.6770 LVL= 31392, 27841, 24274, 32755, AGC= 64, IDX= 512, 0.15, 2.208,-2.165, 1.910, 2.796, PHS=-0.500, 1.370,-0.889, RAW= 339.3, 0.2, CAL= 340.5, -0.3, ROT= 169.5, 0.3 Ygot valid direction response: 04:08:38.6770 LVL= 31392, 27841, 24274, 32755, AGC= 64, IDX= 512, 0.15, 2.208,-2.165, 1.910, 2.796, PHS=-0.500, 1.370,-0.889, RAW= 339.3, 0.2, CAL= 340.5, -0.3, ROT= 169.5, 0.3 V#Rx 109: Read range and direction messages.`direction in FSK: [-0.983241,0.182233,-0.005236]=Fpublishing direction and range infoQyUu]vQCdiS?sNruU3kAYQ Uz)UlIU^iQQUU)\?Uc U8@)Ud;IU+@iUUTU=@U; Q)QU;.?wA俑2 Nj?iU 3UHuRUTU=@U; Q)Qchecking for new query: numPingsReceived=109, elapsed TxPingTime=56.526894jK ЩOrK ۵9zK K K {ZNB;<EMND2`J9*"  G 2B :BQ  O} > j{ď,%tQ?A2@Y2@2cP92O>:AHRS rotation from veh to nav: [[0.900234,0.414940,-0.131923],[-0.432416,0.887475,-0.159388],[0.050942,0.200532,0.978362]]y2H? `?ബۿ1f?fĿ@?` ?`N?ɫ2@21;2CVchecking for new query: numPingsReceived=109, elapsed TxPingTime=56.738853=B=!I-Mb@Mb@Mb@) )))H=>H=CH=."II=܃BI= =I9I=D&I=<*I=EI)i)-~jty&1? F٦yE; > )54Y-y?=4y-)=ы==B<=x?=@-1D-:-s:-R4I)MAIJpRpйQ?ApjApjAp @v(~,Of1S@eEQ:꛳vu]vQCdiS?sNrupTU=@p;vwS'[ 02!@hb2zѿv A?sjp ArpR=Zp\?bpfzpBp:r?ppBpctAp#@m addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504631 s, deltaX: -0.200000 m, approachRate: -0.396329 m/s, rangeRepo size: 4 } Added new target pos. range: 14.629172 m, bearing: 143.996566 deg, lat: 36.779461 deg, lon: -121.859724 deg, deltaT: 58.000271 s, deltaX: -0.797282 m, approachRate: -0.013746 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkk`ff-@k? bы=bы=b @"bx?cP 靥L?I: ɝs7iIIIii*>))JYJYJaJeqJe4JaJaJeq9Je3JaJa!uJa!uJe:!uJe:!uF"F*F2F:F1]DDAT read: Rx Time:04:08:39.1771 eTRx dataTimestamp_ set to:1761365320.046714mDAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 -u\#Rx 110: Read range message, but no direction.aefnAYa}checking for new query: numPingsReceived=110, elapsed TxPingTime=56.994907Y G} t>2B :B  O >tď,\X R?A2&ȳ@Y2ú@2S92+O>:AHRS rotation from veh to nav: [[0.900598,0.413975,-0.132470],[-0.431572,0.887895,-0.159337],[0.051657,0.200669,0.978296]]y2H?~?@ ۿi?*eĿ r? ?3N?ɫ2&ȳ@2H;2CFBF!II`I̍٥y X=9Q > F٦y; > 4Y)?4y?@1D`::NY4)A1m addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504123 s, deltaX: 0.200000 m, approachRate: 0.396728 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk-@kګ? bbb"b-?}S y}I?I}o: ɝn7ichecking for new query: numPingsReceived=110, elapsed TxPingTime=57.243042IIFiiu>))"DD2D*DaF"F*F2F_0:FԉG%  >2B1 :BA  OU >e DDAT read: Rx Time:04:08:39.6770 e TRx dataTimestamp_ set to:1761365320.549885m DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 -u \#Rx 111: Read range message, but no direction.a e 3kAYa } checking for new query: numPingsReceived=111, elapsed TxPingTime=57.498032Թ J݈ď,.%R?AI)Vϳ@YVʺ@VUW9VtO>AHRS rotation from veh to nav: [[0.900952,0.412961,-0.133226],[-0.430726,0.888307,-0.159331],[0.052548,0.200933,0.978195]]yVH?m? ۿ m?dĿ ?/?^M?ɫVϳ@Vx;T-B-!IIMlIM)٥}< }M=9Q > F٦yc; > 4Yԥ?4y-?@1D :9:8`4)A5 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503171 s, deltaX: -0.200000 m, approachRate: -0.397479 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92n9mAmAkAkAkM`ff-@kM ?ԙ bbb"b?UW 3L?IH: ɝ 7iIICii>)) jKNrK9zKKK2<9,  F-6"F)*F)2F5`0:F1checking for new query: numPingsReceived=111, elapsed TxPingTime=57.746750JH1BH5?AH=>H9H=5"II=BI= =I9I9&I=<*I=E2I :I BI JI RI ȧ =ZI Ε5GE >2BQ :Ba  Ou > ď,u?R?A JJJJ(3J .JyJsJ2JJ]:J9Jc3JJƂ;Jǂ;JE:JF:FFԳ@YF.Ϻ@FZ9F+QO>NAHRS rotation from veh to nav: [[0.901155,0.412334,-0.133790],[-0.430201,0.888630,-0.158946],[0.053351,0.200791,0.978180]]yFHC? c? @hۿo?@UXĿP??@M?ɫFFԳ@F;FC}B}!IDDAT read: Rx Time:04:08:40.1769 %TRx dataTimestamp_ set to:1761365321.053936-DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 -5\#Rx 112: Read range message, but no direction.!%iAY!=checking for new query: numPingsReceived=112, elapsed TxPingTime=58.002110UMb@Mb@Mb@Q Q)QIQiQU F٦yQ: > ]4Y?]4yo]/=]J<]?]@1D^;:g4i)mA5 addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504051 s, deltaX: -0.099999 m, approachRate: -0.198391 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo9Zo9Bo9:n92n9mAmEՁBkAkAkm@33-@km=? b/=b/=b) @"b¤?Z Y?I: ɝD7iIIHii>)))F6"F*F2Fj0:FI  checking for new query: numPingsReceived=112, elapsed TxPingTime=58.254360G >2B :B  O >Bď,;XR?AB!IIXI㔴٥h T=9Q > F٦y > 4Y5?4yǒ@1D::n4)AEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nImQmQkYkYkYk]`g_? bybyby"by 靕3X?Id: ɝ^7iIIEii&>))EE>IFm6"Fi*Fi2Fm`5:Fi5DDAT read: Rx Time:04:08:40.6768 5TRx dataTimestamp_ set to:1761365321.558874EDAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 -M\#Rx 113: Read range message, but no direction.15ffAY1Uchecking for new query: numPingsReceived=113, elapsed TxPingTime=58.507626yGM0>2BY:By O>ԩ jK% MrK% 9zK! K% K%  &63' ď,rR?AFchecking for new query: numPingsReceived=113, elapsed TxPingTime=58.754646DJٳ@YJӺ@Jcaa9JN>MAHRS rotation from veh to nav: [[0.901325,0.411604,-0.134893],[-0.429639,0.889112,-0.157768],[0.054997,0.200155,0.978219]]yJH?@W?*D3ۿs?1Ŀ(? ?M?ɫJٳ@J“;JCB!I HHH;"IIBI =II&I<*IEԱ]Mb@Mb@Mb@Y Y)YIYiY]+Mb?y&1|]]@=]`)]AIYiY]@ YYImIF٥(< %=9ZZQ > F٦y: > 4Y?4y{=W<Q?@1D;q;-w4)Am addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504938 s, deltaX: -0.200001 m, approachRate: -0.396090 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoqBoq:nq2nqmqmykykyk},@J9J==JUJUvJU3JQJU-:JUϣ9JU(3JQJUø;JUŸ;JU:JU:ke2X? b{=b{=b,@"bdQ?caa 靽Y?I: ɝT7iIIBiiv>))EDDAT read: Rx Time:04:08:41.1769 ETRx dataTimestamp_ set to:1761365322.062779MDAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 -U\#Rx 114: Read range message, but no direction.AEiAYA]checking for new query: numPingsReceived=114, elapsed TxPingTime=59.011154Fu6"Fq*Fq2Fu0:Fq G >2B :B  O >Gď,R?A(v޳@Yv~ٺ@vc9vЙN>~AHRS rotation from veh to nav: [[0.901585,0.410901,-0.135292],[-0.429013,0.889453,-0.157545],[0.055601,0.200083,0.978200]]yvH?@4L?`BQtۿfv?p*Ŀw?N?`jM?ɫv޳@v;vC B !IIWIƕ٥5= 5=95nQ 5?99 =F٦9y=; E? AM4YE4?U4yEAQUg?U@E1DE:E:E|4a)eZAi addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503905 s, deltaX: 0.200001 m, approachRate: 0.396902 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk@33-@k? bbb"bg?c 4\?I: ɝ .7i I IGii>))checking for new query: numPingsReceived=114, elapsed TxPingTime=59.258755ԁԩD :F"F*F2F1:F)G xA) 5AI5 55 xA5 KA  DDAT read: Rx Time:04:08:41.6768  TRx dataTimestamp_ set to:1761365322.565970 DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 - \#Rx 115: Read range message, but no direction.۹ ۽ ffAY۹  checking for new query: numPingsReceived=115, elapsed TxPingTime=59.514168G > 2B! :B1  OE >Tď,SR?A~'@Y~@~vg9~N> AHRS rotation from veh to nav: [[0.901935,0.409867,-0.136096],[-0.428158,0.889858,-0.157587],[0.056517,0.200404,0.978082]]y~H?C;?@kfۿy?+Ŀ?צ?@rL?ɫ~'@~#;~C=B=!IIMUIM٥}e }8=9Q > F٦y; > 4Y?4yА?@1DK:W:l4)aAjKuLrKu#9zKqKuKuUytaN=0$  &K\]YOD<XxcQ addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503191 s, deltaX: -0.200001 m, approachRate: -0.397465 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n 2nmmkkk,@k~?%checking for new query: numPingsReceived=115, elapsed TxPingTime=59.762779 bbb"b?vg 靝[?I: ɝ47iIIDii>))!ZHYRH]4<He>HeCHaIaIe =IaIeD&Ie<*IeEDEF)"F)*F12F5`5:F1GAFAA J |J rJ 2J J ;g:J 9J c3J J ߊ;J ;J :J :G r>2B :B)  O] >Ұď,tR?A >DDAT read: Rx Time:04:08:42.1769 BTRx dataTimestamp_ set to:1761365323.070030FDAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 -J\#Rx 116: Read range message, but no direction.@BiAY@Nchecking for new query: numPingsReceived=116, elapsed TxPingTime=60.018181UBU!II]p=)]R=Mb@Mb@Mb@ )Ii ףp= ?~jthQ8L=D)~AI-@i@@ @IPI٥V< 5=9Q > F٦y >I e4Y墥?m4yBm=mE)i)iyFQ"FQ*FQ2FU94:FQ5checking for new query: numPingsReceived=116, elapsed TxPingTime=60.267136Թ G5 >2BA :BQ  O} >ď,=R?A<%B%!II5OI5ݜ٥E = Ej=9IQ M?II UF٦QyQ U? Ye4Y]Q?e4y]x]Baim@]1D]S:]:]R4uEB)ugA}:EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk&m? bbb"b _?I~: ɝ#7iIIFii >) ) Fq"Fq*Fq2Fu_0:FqDDAT read: Rx Time:04:08:42.6768 ԩTRx dataTimestamp_ set to:1761365323.576022DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 -\#Rx 117: Read range message, but no direction.ۡۥffAYۡchecking for new query: numPingsReceived=117, elapsed TxPingTime=60.525299G'>2B:B O >jKK$NrKU9zKKKB8.%    2KsA*KrA E checking for new query: numPingsReceived=117, elapsed TxPingTime=60.770679He >He CHe G"IIe BIe =Ie @DIe D&Ie <*Ie EB?ď,R?A2@Y2@27o92JM>>AHRS rotation from veh to nav: [[0.902444,0.408367,-0.137225],[-0.426818,0.890762,-0.156106],[0.058486,0.199447,0.978162]]y2H?"?@Pۿ?Gÿ`?y?M?ɫ2@2U;2C@DTEMb@Mb@Mb@A A)AIAiAEV-y&1?MbP?EmE`e=E:)EAIAiE@E~@ AEz@Ie\IeW٥b: 2=9Q > F٦ysL; > 4Y+?4yB =$<?@1DH:s:Z4)eAE addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505992 s, deltaX: -0.200001 m, approachRate: -0.395265 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 14.63 m.RoAJoAboIZoIBoI:nI2nqmqmuƁBkykyk},@k}.? b =b =bM@"b?7o h?I: ɝ'7iIICii>))F"F*F2F:FG G=mDDAT read: Rx Time:04:08:43.1769 uTRx dataTimestamp_ set to:1761365324.078740}DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.3 -\#Rx 118: Read range message, but no direction.quiAYqchecking for new query: numPingsReceived=118, elapsed TxPingTime=61.026897G F>2B :B  O >) ď,2S?AJ@YJ@Jq9JM>VAHRS rotation from veh to nav: [[0.902828,0.407467,-0.137379],[-0.425943,0.891231,-0.155819],[0.058945,0.199194,0.978186]]yJH?@?@Bۿ?`ÿ.?/? LM?ɫJ@Ji;JCfBf!IIrlIr)٥~]= n=9Q ?   F٦y5; ? )54Y-N?54y--B9E?E@-1D-Y;-n;-e4Q)U4AQchecking for new query: numPingsReceived=118, elapsed TxPingTime=61.274723} addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502718 s, deltaX: 0.200001 m, approachRate: 0.397839 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk@33-@kՐ? bbb"b`?q l?I: ɝ?+7iIIHii>))QF5"F*F2F|0:FqJyJJ3JJ]:JJ(3J!@!@!@!@GU>2B:B O> DDAT read: Rx Time:04:08:43.6767  TRx dataTimestamp_ set to:1761365324.581960 DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 - \#Rx 119: Read range message, but no direction.ۑ ە dAYۑ  checking for new query: numPingsReceived=119, elapsed TxPingTime=61.530125ԡ Dď,f+S?A6@Y6@6#s96ѾM>JAHRS rotation from veh to nav: [[0.903337,0.406284,-0.137536],[-0.424810,0.891764,-0.155862],[0.059325,0.199223,0.978157]]y6H`"?@?ƚ0ۿU? Jÿ_??M?ɫ6@6ʉ;6C^Bb!IIjmIjF٥rTo< rL=9rDyQ r>tt vF٦tyz%L; z> x4YzN?4yzzB?@z1Dz;zt:zW4)AM addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503220 s, deltaX: -0.300000 m, approachRate: -0.596161 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmYmakakake,@ke w?y bbb"b))jK MrKk9zKKK2YZ^^]^``\ZWWVTRQJC:0,*'&#  fdBK% ?:K!F6"F*F2F`5:Fԡchecking for new query: numPingsReceived=119, elapsed TxPingTime=61.780933JHBHAAHHHT"IIBI =I?DI&IØ<*IeEG2B:B O> -ď,gDS?A"DDAT read: Rx Time:04:08:44.1768 &TRx dataTimestamp_ set to:1761365325.085978*DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 -.\#Rx 120: Read range message, but no direction.$&ffAY$.T****** received valid address query ******.R****** received valid ping request ******2Querying Benthos address 50 with one ping in standard two-way mode.V@YV@Vtt9V/N>^AHRS rotation from veh to nav: [[0.904244,0.404171,-0.137803],[-0.422831,0.892550,-0.156742],[0.059646,0.200000,0.977979]]yVH@?`?ۿŏ? Ŀމ?? K?ɫV@V;VCfBf!IMb@Mb@Mb@ )Ii rhV-?MbP?Cm=)I@i@@ I5JI5K٥E< E)=9Ew.Q E>ii mF٦iyu; u> y}4Y}?4y}}B =<@@}1D}d;};}ׯ4)A% addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504018 s, deltaX: 0.099999 m, approachRate: 0.198404 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m1m5ԁBk9k9k=,@k=,? b =b =b}@"bV@tt h?I: ɝe27iaIiIuBiqi}>))"DD2D*DF"F*F2F0:FGFsA 2Acoustic response timeout1a G />2B :B  O% >%`ď,t^S?A6#@Y6@6$u96= O>BAHRS rotation from veh to nav: [[0.904964,0.402532,-0.137868],[-0.421262,0.893189,-0.157326],[0.059814,0.200453,0.977876]]y6Hw??` ڿ@?@B#Ŀퟮ?@s?J?ɫ6#@6N;6CHHIRpIR<٥ZU; Z~=9Z: Q Z ?\\ ^F٦\y^R; b ? `n4Yb?r4ybjbBpr@r@b1Db:;b0;bd4x)zAxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m)m)k)k)k1k5@?JU}JU|JU4JQJU[j:JU@9JU3JQ! b1b1b1"b5@m$u im)i?Im: iɝm@67iiIqIuGiyi}>)y)E*DAT read: user:344> MDAT read: 50 M:unknown deviceResponse_: 50 UDAT read: Ok ]:unknown deviceResponse_: Ok ]2Acoustic response timeoutF1"F1*F12F=4:F9G4>2B:B) O5.>IԁjKU INrKU 9zKQ KU KU SPE:/%*JzG_$g% x ! @1DM[O{? 5]N  2Acoustic response timeoutԩ H >H CH `"II BI =I @DI &I <*I AE2IC:ICBI˔CJI˭ =RI˭ =ZID6@ď,xS?A:0@Y:+@:Ju9:)8O>JAHRS rotation from veh to nav: [[0.905615,0.401065,-0.137871],[-0.419832,0.893811,-0.157616],[0.060016,0.200622,0.977829]]y:H? ?@ڿ?@,Ŀ`n??`_J?ɫ:0@:䖊;:C%B-!IMb@Mb@Mb@ )Ii{Gzi|?5?ףq=)Ii@ @I WI ƕ٥%< %6=9-,Q 5>yy F٦y`; >ԙ 4YК?4y]B=<t@@1D <L<}4)AmDNOT Ignoring new targets: 14.63 m.RoiJoboZoBo:n2nmmށBkkkkU? b=b=bd @"b t@EJu IMff?IM0: IɝM(:7iIIQIeDiaieW>)aJmR=Jm4=)iԹF"F*F2FQ4:F! m2Acoustic response timeoutGM 5%>2BY :Bi  O} > iď,S?AF;@YFn6@Fv9F N>ZAHRS rotation from veh to nav: [[0.906153,0.399913,-0.137680],[-0.418646,0.894400,-0.157430],[0.060182,0.200295,0.977886]]yFH 5?-?}`ڿ?&Ŀ8Ю?D?J?ɫF;@FC͊;FCbBb!IIjnIjd٥ <  ^=9 Q  > F٦yug; > 4YL?4yB@@1D;;ö4)A 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk k kkW? bYbYbY"b]@v 靅Li?I: ɝ=7iIIIiiu[>))E9F5"F*F2F]0:FG= G=JyJrJ3JJ]:J9J(3JG >2B:B  O- >I m 2Acoustic response timeoutmď,ZhS?A6C@Y6l>@6fu96M>BAHRS rotation from veh to nav: [[0.906578,0.399215,-0.136908],[-0.417769,0.894900,-0.156914],[0.059877,0.199451,0.978077]]y6H? ?@4ڿ?Ŀ@#??gL?ɫ6C@60;6C^B^!IIf^If٥n nM=9rpp rF٦pyvB%; v> x~4Yz?~4yzzB@ @z1DzI;z[K;zʶ4)AEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nQmQmQkQkYkYk]an? bbb"b@Mfu QUh?IU: QɝU8A7iQIQI]FiYie">)a)jKU[JPirKU9zKQKUKUaeGvP$ kN.we\VMIECCOUxyAF6"F*F2F_0:F 2Acoustic response timeoutH>HCHf"II BI =II&I<*IHEԑGA>2B:B O >Թ  J J zď,1S?A 2Acoustic response timeoutPN8_@YN!Z@N_s9NM>ZAHRS rotation from veh to nav: [[0.908013,0.396334,-0.135765],[-0.414713,0.896272,-0.157190],[0.059383,0.199034,0.978192]]yNH`p? ]?`ڿC?Ŀ@ig?@y?XM?ɫN8_@N;NCbBb!IUMb@Mb@Mb@Q Q)QIQiQU+i|?5?UQQ)U AIQiQU@ QQIRI4٥. <=9:Q > F٦yT; > 4Y?4yBK=< @@1DO;NN;:Ҷ4) A 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo9:n92n9m9m=BkAkAkAkEʭ@ beK=beK=be@"be @_s 靅ff?I: ɝD7iIICii}/ >))F)"F)*F)2F-f0:F) 2Acoustic response timeoutGQ2BY:Bq O}>! i I ĭď,5S?A)6WG @)NAIj hjBtJ5{J5yJ52J1J5d:J59J5c3J1Mhr@YMQm@Ms9MP)N>]AHRS rotation from veh to nav: [[0.908979,0.394146,-0.135665],[-0.412584,0.897107,-0.158030],[0.059419,0.199619,0.978070]]yMH\? 9?v]gڿ?@P:Ŀ`+l??`ZL?ɫMhr@M;MCmBm!II}SI}Q٥l M=9[Q > F٦y; > !-4Y%O?-4y%%B)51@5@%1D%N:%[:%xٶ4Y)eAaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk @ %2Acoustic response timeout bAbAbA"bE`1@}s y靅d?I: ɝH7iIIHii">))AD}:EEjK OrK #9zK K K cUPcr]KA?9334;MUME?<GWycd Em\OJN^eot{}zF9 "F9 *F9 2FE _0:FA GU sAFU tAq  2Acoustic response timeoutH} >H} CH} m"II} BIy Iy Iy &I} ̘<*I} pEԙ G; >2B:B O>.ď,S?AVP@YV9z@Vkr9V/N>bAHRS rotation from veh to nav: [[0.909639,0.392767,-0.135242],[-0.411157,0.897706,-0.158349],[0.059214,0.199646,0.978077]]yVH@?#?O dPڿ?@DĿBQ??hL?ɫVP@V*;TfBj!IJa=Jp=Mb@Mb@Mb@ )Ii F٦y7M; > PExceeded connect timeout, disconnecting. 4Y~?4yBb=<i@@1D:;4))-A)UDNOT Ignoring new targets: 14.63 m.RoQJoYboYZoYBoY:nY2nYmameӁBkakikikm@ bMb=bMb=bMWs @"bMni@ 2Acoustic response timeoutkr 靕p?I: ɝL7iIIEii6#>))D :)F 6"F *F 2F ^0:F 5 2Acoustic response timeoutI G >!>2B :B  O >ď,2T?A6,@Y6@6Xq96N>BAHRS rotation from veh to nav: [[0.910701,0.390457,-0.134786],[-0.408847,0.898580,-0.159370],[0.058888,0.200245,0.977974]]y6H`v$?>?@*ڿ)?>fĿ &??K?ɫ6,@6#;6CJBJ!IPIVlIV)٥Zɼ ^E=9^LN:Q ^>`` bF٦`yfb; f> hj4Yj?n4yjhln@v@j1DjS;jT;j74x)zAxDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)k)k)k1k5u4 @ bQbQbQ"bUѓ@Xq  n?I: ɝP7iII Bi i zf%>)) 2Acoustic response timeoutDAF6"F*F2F_0:F) jK %pOrK -9zK K K {~xrwe^XK=4129GSRJ@88@Riwzrh`[GE ԅ#>2Bq  2Acoustic response timeout:B  O >b ď,$8T?AJHBH?AH>HCHII =II&IƘ<*IhEJ@YJl@J%p9J˝N>^AHRS rotation from veh to nav: [[0.911227,0.389385,-0.134331],[-0.407702,0.899086,-0.159450],[0.058688,0.200062,0.978024]]yJH(?@?1 ڿ O?hĿ`X ?࡛?K?ɫJ@J;JCnBn!IMb@Mb@Mb@ )Iii|?5I +?    F٦ y/; > !54Y%?=4y%%BEۗ=E2B)UAU9E}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoBo:n2nmmāBkk kk"@ b5ۗ=b5ۗ=b5A @"b5fq@im%p iu3s?Iu: qɝuT7iqIqI}Giyi}0N&>)y)"DtADtADm:Eu]>Eu%>JmzJm~Jm3JiJm`:Jmf9Jm(3JiJmx;!}Jmy;!Jm:!Jm:! nManaging dock network, ignoring radio surface power offF"F*F2Fo0:FG G=ԙ U2Acoustic response timeout G% H%>2B1 :BA  OU >Jď,RT?AF@YF@Fo9FmN>LZAHRS rotation from veh to nav: [[0.911984,0.387728,-0.133984],[-0.406024,0.899765,-0.159899],[0.058557,0.200226,0.977998]]yFH.? ?e&Mٿ?@wĿ`/??K?ɫF@F;FCfBf!I lnAIvdIv@٥~q ~]=9~9Q > F٦y ;  > 4Yq?4yx%@%@1D;);4))-A)DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkD@ b1b1b1"b5@Eo AEq?IE: IɝMpX7iIIIIDii9'>)) 2Acoustic response timeoutD:F9"F9*FA2FE/1:FAGe ;F&>2Bq :B  O >! e 2Acoustic response timeoutrď,kT?A:@Y:@:ko9:rN>FAHRS rotation from veh to nav: [[0.912390,0.386913,-0.133576],[-0.405131,0.900187,-0.159788],[0.058419,0.199904,0.978072]]y:H@M2?-?ٿU?sĿ ?v?@^L?ɫ:@:ư;:CNBN!IIVlIV)٥^|; ^O=9b9Q f>dd jF٦hyjZ"; j> lr4Yn@?r4ynʂnBtv@v@n1Dn):n:n4x)zAx|%DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n)m1m1k1k1k9k=`@ bababa"beǟ@uko y}r?I}: yɝ}$\7iIIIii(>))D:F6"F*F2F%05:F!1jK%NrK!zK!K% K%WOIA?<54.)'%"!   #'8NNB840,)))%&$"$ )*'!2KQ*KQ 2Acoustic response timeoutH!H%CH!I!I!I!I!&I%<*I%TEQGUs(>2BY:Bq O>ԁ J J wJ J J :J 9J J J w;J x;J :J :Z!ď,T?A6ô@Y6¾@6n96N>>AHRS rotation from veh to nav: [[0.913096,0.385336,-0.133309],[-0.403554,0.900800,-0.160325],[0.058306,0.200189,0.978021]]y6H8?Y?E`ٿZ?Ŀ`Aڭ?Ο?@K?ɫ6ô@6_;4FBF!I %2Acoustic response timeoutYMb@Mb@Mb@ )IiI + F٦y; > 4YU?4y3Bk=f<@@1D ;7 ;r4)A DNOT Ignoring new targets: 14.63 m.Ro Jo boZoBo:n2nmmӁBkk!k!k%J@ bk=bk=b,@"b+@n k?I : ɝ`7iII Fi i *>)1)12D=>*D=?ԉDU:EYԱ 2Acoustic response timeoutF 6"F *F 2F ]1:F G tAF sA G5 pG(>2B9 :BQ  Ou >C(ď,ޡT?A2'д@Y2˻@2 n92.O>>AHRS rotation from veh to nav: [[0.913713,0.383980,-0.132994],[-0.402187,0.901307,-0.160910],[0.058082,0.200515,0.977968]]y2H#=?` ?oٿ?@Ŀ?v?K?ɫ2'д@2P;2CFBF!ILIRvIRt٥V< ZI=9Z:Q Z>\\ ^F٦\ybzq; b> dj4Yfx?j4yffBhj@j@f1Df ;fh;f 4p)rApDNOT Ignoring new targets: 14.63 m.RoJoboZoBo!:n!2n!m!m)k)k)k)k-@ bIbIbI"bM@e n aem?Ie: aɝec7iiIiICiiTG+>)) 2Acoustic response timeoutD= :F"F*F2FT5:F) jKE NrKA zKA KE KE   BK} >:K} >  2Acoustic response timeoutHY HY HY IY I] =IY IY &I] <*I] E2IC:ICBIʓCJIʯ =RIʮ =ZI_5G h*>2B :B  O% >=.ď,T?ARڴ@YRջ@Rm9R5O>ZAHRS rotation from veh to nav: [[0.914249,0.382750,-0.132859],[-0.400983,0.901736,-0.161509],[0.057986,0.200934,0.977887]]yRH@A?~?ٿ`?TĿ\?1?J?ɫRڴ@Ru);RCbBf!I|]Mb@Mb@Mb@Y Y)YIYiY]X9v?Mb]]<])YIYi]@Y Y]@IlI)٥ <=9h9Q > F٦yIG; > 4YҊ?4y;Ba&=<@@1D::)4)AIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmˁBkkkk%@ ba&=ba&=b@"bǚ@Um Q]p?I]C: Yɝeg7iaIaIHiib,>))J-J-zJ)J)J-}:J-9J)J)J-ĝ;J-ŝ;J-Y:J-Z:9 2Acoustic response timeoutQD :F 6"F *F 2F W5:F ԁ G },>2B ԩ :B  O >p5ď,T?A 2Acoustic response timeout:^ߴ@Y:Gڻ@:xm9:{O>FAHRS rotation from veh to nav: [[0.914463,0.382267,-0.132777],[-0.400491,0.901949,-0.161540],[0.058007,0.200899,0.977893]]y:H`GC?w?`ٿ?`[Ŀ ? ?J?ɫ:^ߴ@:g1;:CNBN"IIVaIV錴٥^Q6= ^B=9^KQ ^>`` bF٦`yj: j> lr4Yn0?r4ynԀnBtv@v@n1Dn;n;n4x)z@AxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkdo@ bAbAbA"bE@xm qu?I: ɝk7iIIEiiY,>))"DsADsAA 2Acoustic response timeoutD:EEsAF "F *F 2F P5:F ԙ G = G =ԡ G m,>2B :B! O> 2=ď,XT?AjKRܗLrKRk9zKPKR KR"h6X2SugZQIA:5-)$!.vznhf`WI z2Acoustic response timeoutH>HHII =II&I͘<*IoEY@Y޻@Wm9 O>AHRS rotation from veh to nav: [[0.914690,0.381840,-0.132439],[-0.399985,0.902222,-0.161266],[0.057912,0.200482,0.977984]]yH@$E?p?\ٿ?`ZĿ@?c?K?ɫ@lB;髕CB!IMb@Mb@Mb@ )Ii~jt?Mbp̼<)Ii IgI٥ =919Q >!! %F٦!y%: -> 1=4Y5{?=4y5l1===<=[@=@51D5s:5:5I&4I)MfAIuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoyBoy:ny2nymmЁBkkkk q@ b=b=b`x@"b[@Wm 靽p?I: ɝ'p7iIIBii2->))IJSJ[3J[L.JyJtJJJ]:J9JJJł;JƂ;J:J:qD-: 2Acoustic response timeoutF "F *F 2F `5:F ԡ G 2B:B9 OE><Eď,[^U?A6@Y6޻@6m96N>>AHRS rotation from veh to nav: [[0.914682,0.381902,-0.132317],[-0.399996,0.902293,-0.160844],[0.057962,0.200047,0.978070]]y6H`E?q?@ٿ?Ŀ /?@$? ZL?ɫ6@6x;4FBF "IINrIN{٥V= VR=9ZQ Z>\\ ^F٦\ybn b> dj4Yf?n4yf#fBlln@f1Df;fY;f-4p)vAtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m!k!k!k!k%`$@ bbb"b1[@m w?I8: ɝt7iI 2Acoustic response timeoutIGi i  ->) )ԩ)EHG ]`wA)iI3ؿ`wAADu@:F "F *F 2F  5:F   2Acoustic response timeoutG _;->2B :B  O >FKď,I/U?AJ@YJ@Jc[n9JSN>ZAHRS rotation from veh to nav: [[0.914870,0.381451,-0.132316],[-0.399537,0.902540,-0.160598],[0.058160,0.199792,0.978111]]yJH@F? i?@ٿ?|Ŀǭ?ƒ? L?ɫJ@Jֈ;JCbȃBb"IIjlIj)٥r)'= rG=9rpQ r>tx zF٦xyz_: z> |4Y~v?4y~| c@ @|~U;~r;~K44)AMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoQBoQ:nQ2nQmYmYkYkYkYk]@ bybyby"b})c@c[n 靕 |?I: ɝx7iIIDii؈->))!2D5Q?*D5D?DYF"F*F2F_0:FGsAFrA  2Acoustic response timeoutH5>H1H5s"II5BI5 =I1I1&I5<*I5EjK}+Թ 2B :B  O >(Rď,NIU?A 22Acoustic response timeoutLUu@YU^@Un9UN>eAHRS rotation from veh to nav: [[0.915089,0.380965,-0.132205],[-0.399024,0.902800,-0.160413],[0.058243,0.199545,0.978156]]yUH`hH?a?`ٿ?@hĿ ҭ?? M?ɫUu@U܈;UCʃB"IMb@Mb@Mb@ )Ii:vMb?Mb`?Լ=;)AIi@h@ =@IkI ٥-; -+=95M7Q 5>11 =F٦9y=Q: => AM4YE?M4yEYEBU)=U)!))Q 2Acoustic response timeoutDE :y F 5"F *F 2F 05:F J xJ oJ J J Z:J K9J J ! @! @! @! @Թ 2Acoustic response timeoutGY->2B):B9 OE??KZď,-kU?AHN@YN@N`p9NwN>ZAHRS rotation from veh to nav: [[0.915520,0.379839,-0.132459],[-0.397987,0.903191,-0.160788],[0.058562,0.199921,0.978060]]yNHK?`HO?lxٿ?Ŀ ??EL?ɫN@N ;NCb҃Bb#"IIj^Ij٥r= r2=9r7Q r>tt zF٦xyz ; z> |4Y~?4y~~~B ? @~1D~:~;~D4)^AEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmQkYkYkYk]D!@ bybyby"b}?`p 靕?I: ɝM7iIIFii~.>))Fe6"Fa*Fa2Fe_0:FaԹ E2Acoustic response timeoutGMQ->H>HH"IIBI =II&I<*I7EjKOrK9zKK K 472' 3@NTNHB<:7?JLQav{rdQF9/($2B:B O>2K *K  +aď,U?AJo@YJX@Jp9J.sN>RAHRS rotation from veh to nav: [[0.915788,0.379167,-0.132532],[-0.397338,0.903478,-0.160782],[0.058777,0.199902,0.978051]]yJH"N?CD?mٿJ?}Ŀ?c?`2L?ɫJo@JW;JCZ܃BZ/"I|Mb@Mb@Mb@ )IiL7A`堿Q?Mbp?+\=;)I@i~@ IHI٥/= ;=9Q > F٦y: > 4Yᆥ?4y_~B%E=%<%`?%@1Dw;;KL4))-A1 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk`+"@ b-E=b-E=b-&@"b-:`?]p Y]z?I]: Yɝek7iaIaIeCiiimʍ/>)i)1Fe6"Fa*Fi2Fi:FiG= G=QG D />2B BB <7I:B  O > ] 2Acoustic response timeoutԁ Vgď,?ȞU?A6@Y6@6p96KN>BAHRS rotation from veh to nav: [[0.916041,0.378607,-0.132387],[-0.396753,0.903745,-0.160722],[0.058793,0.199752,0.978081]]y6H@4P?;?@ gdٿ {?Ŀ*?{?`pL?ɫ6@6;4FBJ6"I NANAIRhIR٥Z< Za=9ZZ\\ bF٦`yb: b> dj4YfX?j4yf}fBhnt?n@f1Dfj;f ;fR4t)vAtDNOT Ignoring new targets: 14.63 m.RoYJoboZoBo:n2nmmkkkk"@ bbb"b=t?p }?IT: ɝP7iII Hi i0>))9J}J|JJJ[j:J@9JJF6"F*F2F0:Fԁ 2Acoustic response timeoutԹG-d/>2B9:BQ O]> mď,ßU?Ar8@Yr!@rr9r@N>ZH <RH <H%>H!H%"II%-BI!I!I!&I%<*I%E 2Acoustic response timeoutEAHRS rotation from veh to nav: [[0.916191,0.378146,-0.132662],[-0.396346,0.903948,-0.160588],[0.059194,0.199710,0.978065]]yrHoQ?`3?]ٿ#?'ĿN??PL?ɫr8@r&;rC}B:"IjKNrK#9zKKK''&%!/PQC3)  6@7* )4,#BK?:K?mMb@Mb@Mb@i i)iIiiim ףp= A`"?e< "=97QQ > F٦yb: > 4Ye?4y}B==<?@1D::h[4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBk!k!k!k%@R#@ bE=bE=bEa@"bE?er imRx?Iu: qɝut7iyIyIEiii0>))F6"F*F2Fo0:F 5 2Acoustic response timeoutG />2B :B  O >9 htď,}U?AR @YR@R t9RcN>bAHRS rotation from veh to nav: [[0.916406,0.377531,-0.132931],[-0.395797,0.904177,-0.160651],[0.059543,0.199835,0.978019]]yRH`2S?@w)?`Tٿ?6Ŀ c|?`4?K?ɫR @Rw;PfBfA"IIngIn٥vh= v=9zcQ z?xx ~F٦|y~: ~?  4Y΄? 4y|B?@1D,::`4)%A!UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmamakakakikmh$@ bbb"b? t 靥R{?I: ɝ47iIIBii0>))"DD2D*DF"F*F2FS5:FGFsA 2Acoustic response timeoutAGh`0>2B:B O>ԁJ zJ tJ 4J J `:J 9J 3J ԙ = 2Acoustic response timeoutzď, aU?A2G @Y20@22u92.N>>AHRS rotation from veh to nav: [[0.916589,0.376977,-0.133242],[-0.395315,0.904379,-0.160698],[0.059922,0.199967,0.977969]]y2H`T?`b ? @Lٿ?‘Ŀ??K?ɫ2G @2;2CFBJB"IIpIp٥ y; H=9sQ > F٦yG: %> !-4Y%?-4y%{%B15?=@%1D%;%;%h4A)EAAmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoqBoq:nq2nqmymykykykykP%@ bbb"b<?2u {?I: ɝ57iIIGiiJ1>))qF5"F*F2Fw1:FԡHU>HQHU"IIU*IUUE2I:IBIJIƮ =RIƯ =ZIw52B:B1 OE>jK% 0MrK% 9zK! K% K%  *PUI:* +}a tR<+      ď,7UV?AJ*C=J*a=:@Y: @:hv9:VN>BAHRS rotation from veh to nav: [[0.916655,0.376789,-0.133318],[-0.395131,0.904500,-0.160474],[0.060122,0.199777,0.977995]]y:H@=U?M?Iٿ@?fĿBȮ?`L?K?ɫ:@: ;:CJBJN"IMb@Mb@Mb@ )Iiv/p= ף? F٦y9 > 4Y?4yzB = < ?@1D;\;o4)EAMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nQmQmUBkQkYkYkew.&@ b=b=b@"b;?hv 靝q}?I:  2Acoustic response timeoutɝH7i9I9IEDiAiEp1>)A)IF"F*F2FP0:FG- k1>1 2BA :BQ  O] >  2Acoustic response timeoutď, V?A ZX@YZA@Z5x9ZuN>nAHRS rotation from veh to nav: [[0.916942,0.375978,-0.133633],[-0.394397,0.904812,-0.160519],[0.060561,0.199891,0.977945]]yZH`W?@? =ٿ8?Ŀ?`?RK?ɫZX@Z;ZCzB~M"IIPI٥-i -U=9-FQ 5>11 5F٦1y=E; => AM4YE ?M4yE-zEBQU?U@E1DEK;E;E1v4a)eMAa DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n2n1m9m9k9k9k9kE@&@ bbb"b1?5x |?I: ɝK7iIIIii!2>) )) Ju|JuvJu3JqJu;g:Juϣ9Ju(3JqF6"F*F2F]0:FG= G= 2Acoustic response timeoutYG1>2B :B  O >ԉ эď,Y9V?A,JHR?ABHPH^>H^CH^"II^KBI\I\I\&I^Ƙ<*I^[EO@Y8@r>y9QN> m2Acoustic response timeout}AHRS rotation from veh to nav: [[0.917167,0.375401,-0.133710],[-0.393835,0.905082,-0.160377],[0.060813,0.199752,0.977957]]yHnY??k`4ٿm?<Ŀ`"?`}?@mK?ɫO@*È;BU"IIuHIu٥< 3=98Q > F٦y;: > 4Y?4y8yB?@1D:6:(~4jKg.NrK۵9zKKK  ) A UDNOT Ignoring new targets: 14.63 m.RoQJoYboYZoYBoY:nY2nYmamaԁkkkk'@ bbb"bh?r>y ?I: ɝg7iI I Fi i 2>))F"F*F2F^0:F A A  2Acoustic response timeoutG |1> 2B :B  O% >!ď,SV?A`~B~M"IMb@Mb@Mb@ )IiV- F٦y >  4Y? 4yOxB=<?@1Dd;b;4!)-MA)DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk`](@ b-=b-=b-RY@"b->?Y Y]q}?I]o: Yɝ]]7iaIaIeCiiim2>)i) m2Acoustic response timeouti(>IC)1 MxA)e5AIۿxAA?AAD :F "F *F 2F P0:F G tAF tAi  2Acoustic response timeoutԑ G 2>2B :B  O>NÛď,TVqV?A:p4@Y:Y/@:~9:N>BAHRS rotation from veh to nav: [[0.918342,0.372194,-0.134607],[-0.390875,0.906297,-0.160753],[0.062163,0.200241,0.977773]]y:Hc??:ٿ@c?Ŀӯ?}?I?ɫ:p4@:;8JBNR"IIR\IRW٥^< ^?=9bOQ b>`` bF٦dyfX; f> hn4YjH~?n4yjJwjBpr?r@j1Djl:j:j#4).ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`})@ bbb"bu? ~  W?I 2: ɝ k7i IIHiij5>))ԡDYH>HH"II[BI =II&Iј<*IeEF1"F1*F92F=_0:FA 2Acoustic response timeoutjK0LrKk9zKKK=R^dcqu{riqviZOE93,)$%"!7KSVZ\]\YYUSPKHEC>::8 G mC2>2B :B  O >J {J J J J d:J J J J +;! J ,;! J :! J :! ! aď,V?AI:<):^AHRS rotation from veh to nav: [[0.918541,0.371591,-0.134915],[-0.390331,0.906560,-0.160591],[0.062635,0.200171,0.977757]]yVHd? $?@D0ؿ ? ?Ŀ?4?I?ɫV09@V%;TfBfK"IIj=)j%= -2Acoustic response timeout Mb@Mb@Mb@  ) I i   rh+?~jtx? C = ;) AI @i  @  G@IiI҅٥5i =5=9=dQ =>AA EF٦AyE: E> IU4YM|?]4yM%vMB]H=]<]?]@M1DM* ;M:M4a)mXAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkklY*@ bH=bH=bsk@"b?\ G?I?: ɝ7iIIEiiS5>))D F5"F*F2Fk0:F9 2Acoustic response timeouta G |5>2B :B  O >̨ď,yV?A 6GA@Y60<@69968N>RAHRS rotation from veh to nav: [[0.918891,0.370554,-0.135386],[-0.389409,0.906942,-0.160678],[0.063248,0.200366,0.977678]]y6Hg?'? WTؿ?Ŀ`1??`"I?ɫ6GA@6;6CZBZI"IIfaIf錴٥r1 rc=9vߺQ v>tt zF٦xyz3; z> |4Y~{? 4y~))i 52Acoustic response timeoutDEj:ԙF6"F*F2F`0:F ZH RH =H >H H I I I I &I <*I EG G5> = 2Acoustic response timeout2Bq :B  OM >5ď,?V?AZ>E@YZ'@@Z9ZN>bAHRS rotation from veh to nav: [[0.919047,0.370028,-0.135765],[-0.388950,0.907183,-0.160427],[0.063801,0.200246,0.977666]]yZHh?@?`ؿ@?ĿAU?? I?ɫZ>E@Zś;ZCjBjK"IjK5(NrK59zK1K5K57:HW\XQ;0)%! }Mb@Mb@Mb@y y)yIyiy}㥛 ~jt?~jth?}}=}D;)};AI}@i}p@}h@ yy3s?IlI)٥u < 1=9)Q > F٦y: > 4Yfz?4ytB=;|?@1Du ; ;b4)XADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkke,@ b5=b5=b5@"b5K|?U Q]G?I]: Yɝ]7iYIYIGii>6>))J}JwJJJ[j:J9JJJ;J;J:J: 2Acoustic response timeoutD!! 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R?,H?ɫFM@F.);DfBfB"IIviIv҅٥ \  F=9ɺQ >!! %F٦)y-2: 5> 9M4Y=w?M4y=q=BQU?U@=1D=?;=@;=.4Y)eAaHH CHIIII&I<*IIEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkk E2Acoustic response timeoutkkMZ-@ bibibi"bmƢ?}'U 靥~?I: ɝ7iIIIii7>))jKMrKk9zKKK*84iTH;3-($ ,N/{mbXSSUPE;/-82K*KJJJ2JJ=:JJc3JJݥ;Jޥ;JJID :F "F *F 2F _0:F  2Acoustic response timeouty G2Bԡ:B O>|ď,W?A2N@Y2I@26ӆ92c O>>AHRS rotation from veh to nav: [[0.919389,0.368562,-0.137428],[-0.387810,0.907749,-0.159987],[0.065785,0.200386,0.977506]]y2Hk??<@ؿF ?`pzĿ Iװ?=?G?ɫ2N@2e;2CFBF:"IMb@Mb@Mb@ )Ii rhx&?C7=)QAI@iC@ @I1I1٥Eʼ E'=9EúQ M>II MF٦IyU9 U> Ye4Y] v?%4y]p]ÃB%=% <%t?-@]1D]]<]@<]41)5A1DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmցBkkkk@.@ b=b=b@E@"bUt?6ӆ ׃?I: ɝ $7i I I=Fi9i=7>)9)A 2Acoustic response timeoutID:FU 6"FQ *FQ 2FU o0:FQ ԑ  2Acoustic response timeoutԙ G} 8>2B :B  O >Nď,<3W?A>JR@Y>3M@>Pe9>3O>FAHRS rotation from veh to nav: [[0.919500,0.368031,-0.138109],[-0.387417,0.907934,-0.159887],[0.066550,0.200522,0.977426]]y>H@l? Ѝ?oؿ ?0wĿ p ?പ?@G?ɫ>JR@>N;>CrBr7"I)x zBAIz_Iz٥nL :=9 Q  >   F٦yr: > !-4Y%t?54y%o%ŃB15?5@%1D%6);%;%Z4=*B)E=AE0EmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmqmqkykykyk}൉/@ bbb"b?Pe 靽#?I: ɝ77iIICii/8>))ԉD:H)H-CH-"II-PBI- =I)I)&I-<*I-E2IC:ICBIJIIJ =RIIJ =ZIĿx5F]6"FY*FY2F]65:FY 2Acoustic response timeoutԹGe7>2Bi:B O>jKNrK-9zKKKZkbQD7! ZsSED@<INF<-'"IvrYD1"  Jq Ju AAJ J vJ J J y:J ϣ9J J J ;J ;J :J : H/ď,[MW?AVT@YVO@V 9VWMO>^AHRS rotation from veh to nav: [[0.919559,0.367602,-0.138853],[-0.387131,0.908089,-0.159699],[0.067385,0.200606,0.977352]]yVH@m?@Ɇ?@ؿ ?qĿ (@?@y?wF?ɫVT@V;VCfBf;"I 2Acoustic response timeoutMb@Mb@Mb@ )IiMbA`"?~jthY=D);AIiZ@Q@ Q@I ]I t٥%< %:=9-Q ->11 =F٦9y=*: E> I]4YM0s?]4yMnMƃB]J=e)I)I2DUA?*DUY?D!!F6"F*F2FK5:F 2Acoustic response timeoutI G 2B :B  O >Yď, 8gW?A>rU@Y>ZP@>b'9>=O>FAHRS rotation from veh to nav: [[0.919534,0.367337,-0.139714],[-0.387015,0.908212,-0.159279],[0.068381,0.200534,0.977297]]y>Hl? r?(`ؿ?BcĿ@l?? F?ɫ>rU@>] ;>CRBR5"IIZbIZ٥b bd=9b6Q b>dd fF٦dyf9 j> hr4Yjr?r4yj=nhtv@v@j1DjE;jX;jFϷ4|)~LA-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1m1m1k1kAkAkEl0@ bbb"b@b' ?I: ɝ h7i I IEi1i5l8>)1)9Q 2Acoustic response timeoutF)"F)*F)2F-Z0:F)yGM8>2BY:Bq O}>ԩ H- >H- CH- "II- KBI- =I) I) &I- <*I- E  2Acoustic response timeout Eď,!W?APUQ@YUL@U5㍽9U*N>eAHRS rotation from veh to nav: [[0.919314,0.367635,-0.140379],[-0.387388,0.908192,-0.158487],[0.069226,0.200081,0.977331]]yUHk? V?ؿ?PIĿŸ?@?@KF?ɫUQ@US;UCu׃B}("I AAEMb@Mb@Mb@A A)AIAiAEQkt?MbpEuE 0=E)EAIE@iE-@E~@ AE@IenIed٥u=* u1=9}Q }>yy F٦y?u >jKmNrK9zKKK  4Yp?4yymǃBf=3<@@1Da;o;]׷4)A DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n2nmmBkkkk}1@ bEf=bEf=bEC!@"bE*@U5㍽ Q]?I]: Yɝ]7iYIYIeBii d8>) )JJ~J3JJJf9J(3JJJJ:J:F6"F*F2F^0:F 2Acoustic response timeoutG 2B :B !  O- >gkď,W?A>US@Y>=N@>͏9>N>FAHRS rotation from veh to nav: [[0.919321,0.367302,-0.141204],[-0.387204,0.908324,-0.158181],[0.070159,0.200094,0.977262]]y>Hk?߁?@¿@ؿ?D?Ŀ?`? E?ɫ>US@>*;>CLN)"IP|I^dI^@٥: \=9$Q > F٦y9 > 4YLo?4yl@@1D::ݷ4$B)fA/EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@8>)A)I 2Acoustic response timeout) 5`wA)UAIW쿙`wAaA)F!"F!*F!2F%_0:F!QGi 2Bq :B  O > M 2Acoustic response timeoutԁ Sď,h˴W?ABN@YBhI@Bґ9B&oN>NAHRS rotation from veh to nav: [[0.919028,0.367707,-0.142052],[-0.387719,0.908241,-0.157394],[0.071143,0.199726,0.977266]]yBHh??@.¿cؿN?`{%Ŀk6?@?E?ɫBN@B;BCVރBV1"II^YI^٥f= fV=9j)Q j>hh nF٦lyrJʺ r> tz4Yv n?z4yv:ltxz@~@v1Dv;v;v4).A5DNOT Ignoring new targets: 14.63 m.yRoJoboZoBo:n2nmmkkkk@1@ b b b "b  @}ґ y}{?I}: yɝ}7iIIDiiү7>))ZHRHp<HHCH"IIABIII&I<*IEF5"F*F2F~0:Fԩ 2Acoustic response timeoutG7>2B:B O>jK= 2KrK9 zK9 K= K= )yS:'    ď,dW?AvAvA z2Acoustic response timeout%؃B-*"II==)==Mb@Mb@Mb@ )IiA`":v?MbpY<)$AIih@  @IiI҅٥  -=9Q > F٦y > 4Yl?4ykƃB[r=`< @@1DD=;A;4)[ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk D2@ b[r=b[r=b+@"b0 @1 15=?I=P: 9ɝ=<7i9I9IEIiAiE7>)A)I"DIDI2De*DeFM6"FI*FI2FUo0:FQ 2Acoustic response timeoutGM {K7>2BY :Bi  O} >I iď, W?AJ2Q@YJL@Jf19JGO>RAHRS rotation from veh to nav: [[0.919014,0.366897,-0.144224],[-0.387357,0.908398,-0.157379],[0.073271,0.200499,0.976950]]yJH@h?={?u¿`tؿ`?@$Ŀ ?@?,C?ɫJ2Q@J;JCZ׃BZ)"IIfpIf<٥r rq=9vͻQ v?tx zF٦xyz}: z? |4Y~jk?4y~Fk|  @ @~1D~:~ :~4)aAJJJJ%{J%{J!J!J%d:J%-9J!J!!5@!5@!5@!5@mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmqmqkykykyk}@f2@ bbb"b^@f1  ?I: ɝ47iIIFii8>))9F6"F*F2FO5:FG= Ga=  2Acoustic response timeoutaG}7>2B:B O>ԉH >H H I I =I I &I <*I 7E  2Acoustic response timeout ď,pX?AM؃BU*"IԩMb@Mb@Mb@ )IjKMrK9zKKK  >guuqj^VSA/& &(-=D@=848;:4/iS㥫Q?~jth?/]\=D;)AI@iC@@ @I%JI%K٥51: 5*=9=Q =>99 =F٦9yE E> IU4YMi?U4yMjMǃBU=]M<]& @]@M1DM:M:M4a)e^AaB*** querying acoustic contact ***:pBpDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk K3@ b=b=bA$@"b9& @ f?I": ɝ7iIICii8>))F6"F*F2FP5:F 2Acoustic response timeout G o8>2B :B  O >) ď, 5X?ArBr6"I tvAIzWIzƕ٥-e= 5t=91Q 5?99 =F٦9yA E? AM4YEh?U4yE'jEȃBQQU@E1DEu:E:E4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkk3@ b)b)b)"b)A AE͈?IE: AɝE7iIIIIMHiQiUv7>)Q)Y 2Acoustic response timeout9F"F*F2FZ0:FYJJJ`JJm:J9J*5JG8>2B:B1 OE>ԉ - 2Acoustic response timeout ď,6X?A4BJ@YBE@B杽9BO>NAHRS rotation from veh to nav: [[0.918447,0.366856,-0.147888],[-0.387971,0.908337,-0.156214],[0.077024,0.200851,0.976589]]yBHc? z? ¿ؿ ?ÿӷ?y?7@?ɫBJ@BT;BCVكBV,"IIfiIf҅٥~  M=9Q >    F٦ y  > 4Yg?%4yiɃB!% @%@1D];7;4))5QA1]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoaBoa:na2namamikikikikm)3@ bbb"bU @杽 靭͆?I<: ɝ7iII5Ei1i=D7>)9)9EAJHu@ABHu@AԑH>HHII =II&I<*IAEF5"F*F2F_0:FGFG G 2Acoustic response timeoutԹ2B:B O>jK I NrK `9zK K K -*%  <L<! 1853,'&   J J ď,OX?AZ2B@YZ=@Z9Z*KO>`jAHRS rotation from veh to nav: [[0.917880,0.367445,-0.149937],[-0.388860,0.908193,-0.154833],[0.079279,0.200423,0.976497]]yZH E_?8?`1ÿؿ ?ÿK? r?u??ɫZ2B@ v2Acoustic response timeoutZI;ZC܃B0"IMb@Mb@Mb@ )Iii|?5S㥛?~jth?q/<)AI@i~@ @ITIn٥[< ;=9&Q > F٦y > 4Y e?4y i ʃB=L<.@@ 1D z< ]< 4)9A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)mImḾBkQkQkQkUE4@ b=b=b2-@"b&.@ ׃?I+: ɝֺ7iIIBii{s6>)))F6"F*F2F:F2B:B OG> 2Acoustic response timeoutA ď,iX?A%B%;"II5ZI5٥m%G= mT=9mQ m>qq uF٦qyu }> 4Yd?4yh˃B@2D:|:?4)AJJzJ2JJy:J9Jc3JDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`V4@ bbb"b! )-=?I-: )ɝ-Ӽ7i)I)I5Gi9i=}6>)9)A 2Acoustic response timeoutQD}:qF5"F*F2F:F2B):B9 OE>Hu >Hq Hu "IIu FBIu =Iq Iq &Iu <*Iu E2I1:I1BI1JI5ɱ =RI5ɱ =ZI5|5ԡ  2Acoustic response timeout' ď,X?Ay=@Y8@9NO>AHRS rotation from veh to nav: [[0.917532,0.367561,-0.151772],[-0.389281,0.908150,-0.154024],[0.081219,0.200404,0.976341]]yH k\??Gmÿؿ?`ÿʴ?צ?`/>?ɫ=@?;髵CB>"ImMb@Mb@Mb@i i)iIiiimL7A`尿Zd;O?{Gz?m+mj<=m#<)mAIm@imZ@m@ im@ITIn٥< 8=9Q > F٦y7 > jKM\MrKIzKIKMKM ;M?-#L{eRF<?T`_UJ<# )3=FKW}*f S : N  4Yb?4yg΃B=#< @@2DE<(< 4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk@=5@ b=b=b"@"b @ q}?I: ɝ7iII%Di!i%6>)!)!ԙ 2Acoustic response timeoutDeR:EutAEutAF "F *F 2F :F 2B :B!  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U2Acoustic response timeoutF}6"Fy*Fy2F}95:FyG}7>2BJJyJJJp:J9JJ:B O>)  2Acoustic response timeoutQ 2-ď,ZX?ABN"I !%AI-VI-٥== EB=9EQ E>II MF٦IyM M> Qe4YU_?e4yUfUӃBiim@U2DUC;U7;UT+4q)}qAyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk5@ bbb"b ?I: ɝ7iIIFii)) 1H>HH"IIPBI =II&I<*IEF  6"F *F 2F P5:F  e2Acoustic response timeoutiG5h5>2Baԑ:B O>jK OrK k9zK K K {OeI@:740.*((%##""  "$!1BK ?:K ?Թ 4ď,3X?ANE@YN?@N`9NO4P>ZAHRS rotation from veh to nav: [[0.917685,0.366186,-0.154151],[-0.388404,0.908526,-0.154024],[0.083649,0.201219,0.975968]]yNH]?o?:ÿؿ?ÿ@j??!;? f2Acoustic response timeoutɫNE@Nw;NC%B%O"IMb@Mb@Mb@ )IiMbX9v/?I +?ʡxi=94<)QAIiC@~@ @ItI%x٥%p: %==9-_Q ->)) -F٦1y5: 5> 9E4Y=]?E4y=e=׃BM=M)9)9EEp>EE>F6"F*F2F:Fi])>I]C) )5AI۶A u2Acoustic response timeoutG- x 6>2B1 :BA  OU > ;E:ď,X?A>D@Y>?@>X9>O>FAHRS rotation from veh to nav: [[0.917643,0.366195,-0.154381],[-0.388416,0.908607,-0.153516],[0.084054,0.200837,0.976012]]y>H@T]?`o?@ÿ@ؿ@N?lÿ?`?`};?ɫ>D@>;>CNBNR"IIZ^IZ٥b=g< bd=9bQ b>dd fF٦dyj j> hr4Yj[\?r4yjdjڃBtv @v@j 2Djp:j:j,94x)z[A|-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m1mkkkk6@ bbb"b @-X )-5?I5: 1ɝ57i1I9I=HiAiEȽ6>)A)A 2Acoustic response timeoutF6"F*F2FS0:FGC= G=G-6>2B9:BQ O]>H >H CH "II `BI =I I D&I <*I yEY } 2Acoustic response timeouty FAď,-ZY?AI@YD@N9O>AHRS rotation from veh to nav: [[0.917845,0.365522,-0.154773],[-0.387836,0.908841,-0.153596],[0.084522,0.201004,0.975937]]yH ^?d?ÿNؿ@9?ÿ4? }?:?ɫI@@;BP"IIa=)p=Mb@Mb@Mb@ )Ii+η㥛 ?y&1?v=`e<)AIi@ @IlI)٥O׻ ,=9Q > F٦y: > 4YY?4yc߃B=;p@@2D<;<;uA4)hAjKOrK9zKKK,fD" !!&)()+*)()'%$"#" DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk`!7@J}}J}nJyJyJ}[j:J}99JyJyJ};!J};!J}Z:!J}[:! b=b=bfx@"b9p@N ?I#: ɝA7iII Eiil7>))"DD2D*DA 2Acoustic response timeoutF!"F!*F!2F-P0:F)G1F1G5 G5y 2B :B  O >UGď,;Y?A@BK@YBF@B&9Bw P>JAHRS rotation from veh to nav: [[0.917915,0.365199,-0.155122],[-0.387581,0.908961,-0.153525],[0.084933,0.201045,0.975893]]yBH@_?j_?ÿ@"ؿ@6?ÿ(?@ֻ?@:?ɫBK@BY;BCRBRU"II^`I^̍٥f0< ft=9fQ f?hh jF٦hyjN: n? tz4Yv3X?z4yvbvBxzu@~@v2Dv:v;vTG4)HA-DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n12n1m9m9k9kAkAkEo7@ bababa"befu@}& 靅?I: ɝ7iIIBiiUw7>)) E2Acoustic response timeoutF5"F*F2F_0:F2B:B! 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R? ÿ ؿ ?xÿyĵ??`9?ɫ>R@>s;=9olQ > F٦y: > 4YU?4yaB@@2D::N4)yA]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:na2namimikikikiku7@HHH"IIeBIIID&I<*I@E bbb"bD@]Y Y]~?I]: aɝe!7iaIaImGiiiL8>))F%6"F!*F!2F!:F!2B9 M2Acoustic response timeout:BY Om5>AjKE ?NrKA zKA KE KE   (7/$9B>20pxP  y J J uJ 3J J p:J 9J (3J J ;J ;J n:J p:bhTď,|RY?A R2Acoustic response timeoutrBW@Yr*R@rS9r=P>~AHRS rotation from veh to nav: [[0.918426,0.363779,-0.155430],[-0.386309,0.909367,-0.154329],[0.085201,0.201784,0.975717]]yrHc?(H?#ÿ@Iؿ`?@ ÿ@ϵ?` ?@9?ɫrBW@r;pB S"I AaUMb@Mb@Mb@Q Q)QIQiQU~jt(\µ?y&1?UĽU=Q)UAIU@iU-@U@ QU@ImVIm٥}< }<=9~йQ > F٦y: > 4YS?4yE`B>;@@2D;;fV4)QAeDNOT Ignoring new targets: 14.63 m.RoaJoiboiZoBo:n2nmmBkkkk`S8@ b>b>ba@"b@%S IM?IM: IɝMF7iIIIIUDiQi]8>)Y)YԁF5"F!*F!2F%`0:F!2B1:BI OUS> U2Acoustic response timeout Zď,^lY?Am7Z@YmU@m 9mP>AHRS rotation from veh to nav: [[0.918591,0.363518,-0.155067],[-0.385988,0.909480,-0.154463],[0.084881,0.201742,0.975754]]ymHe?@C??ÿؿv? oÿྺ??_9?ɫm7Z@map;mCBM"IIII.٥5`ʼ 5O=9=lU:Q =>99 =F٦AyEWo: E> Iu4YMQ?u4yM_MBy}@}@M2DM;M6;MM]4)yADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk-`8@ 2Acoustic response timeout b!b!b!"b%ط@5 9=O?I=Y: 9ɝ=S7i9I9IeIiaim{8>)i)iF6"F*F2F0:F)H>HCH"IIjBIII&I<*I;EG] 8>2Bi :B  O > e 2Acoustic response timeoutq zaď,1Y?AABK"IMMb@Mb@Mb@I I)IIIiIM(\µ?:v?M̽IMT<)MAIM@iM@M@ IM@IedIe@٥} }7=9}Q > F٦y > 4Y{O?4y]B >;@@ 2D::e4B)WA.EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBjK-@NrK-9zK)K-K-xxngzY@3& AUK8,$  .;;DLkikikikm'9@JJyJ4JJJ9J3JJJJ:J: b >b >bl@"b7@ ׃?Ie: ɝv7iIIFi i 8>) ) a 2Acoustic response timeoutԑDM :F "F *F 2F `0:F Թ 2Acoustic response timeoutGп8>2B):B9 OM?iď,O@Y?A62]@Y6X@696YP>>AHRS rotation from veh to nav: [[0.918784,0.363379,-0.154243],[-0.385676,0.909623,-0.154401],[0.084197,0.201349,0.975894]]y6H`f? A??ÿ`ؿ?fÿ ?`?`:?ɫ62]@6c;6CFBFA"IIN=)N=IR`IR̍٥Vl ZH=9Z:Q Z>\\ ^F٦\y^h: b> `f4YbOM?f4yb\bBhj@j@b#2Dba;bL;b)))IF6"F*F2F_5:F 2Acoustic response timeoutG8>2B:B  O>! ZH <RH <H >H H I I =I I &I <*I E2Iy:IyBIyJI}˲ =RIyZI}5fpď, Y?AZe@YZ`@Z1֫9ZiP>fAHRS rotation from veh to nav: [[0.919212,0.362454,-0.153871],[-0.384741,0.909907,-0.155060],[0.083806,0.201734,0.975848]]yZH/j?@p2? ÿ`ؿ?ÿSt?@k?@&:?ɫZe@Z;ZCnBrE"IIzmIzF٥< F=9x:Q >    F٦ y #; > 4YK?%4yN[B!%@%@&2D;;us4))5xA1eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimikqkqkqkuC9@ bbb"b/@1֫ 靭ʂ?I: ɝ7iIIHii2:>)) M2Acoustic response timeoutQF6"F*F2F4:FԁjKNrK9zKKKG>4)%'6/' !-41)"  /NTL=/#BK?:K?JJxJ3JJv:J9J(3JJ^;J_;J.:J/:Gc9>2B:B1 OE>Ա  2Acoustic response timeout,vď, Y?A2jg@Y2Rb@292vsP>>AHRS rotation from veh to nav: [[0.919328,0.362380,-0.153352],[-0.384556,0.909997,-0.154989],[0.083385,0.201458,0.975941]]Dy2H!k?=1? ÿ`ؿ`?ÿX?`c? :?ɫ2jg@2I ;2C߃B2"IMb@Mb@Mb@ )IiMbXK?:v?ʽ^=);AI@i@ ITIn٥ܐ >=9:Q > F٦y: > 4YH?4yYBV >;v@@*2D7 ; ;z4)A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmρBkkkki:@ b%V >b%V >b%V}@"b%v@] Y]׃?I]=: aɝe7iaIaImEiiiQ:>))ԱF!"F!*F!2F%3:F! M2Acoustic response timeoutGM 9>2BY :Bi  O} > X|ď,&Y?A @6h@Y6c@696FP>>AHRS rotation from veh to nav: [[0.919421,0.362341,-0.152889],[-0.384425,0.910048,-0.155016],[0.082968,0.201299,0.976010]]y6Hk?@0?ݑÿ@iؿ?ÿ_=?`+?x;?ɫ6h@6C;6CJڃBJ-"I R2Acoustic response timeoutIVgIV٥^kǼ b]=9b:Q b>dd fF٦dyf9 f> hlr4YjG?r4yjXjBpvw@v@j-2Dj,;jy-;jo4x)zAxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk:@ bbb"bNw@ !%?I%P: !ɝ%7i!I!I-Bi)i-Pa:>)1)1F"F*F2F]0:F HiHiHm"IIm`BIm =IiIi&Im<*ImRE9Gp:>2B:B O> U2Acoustic response timeouti 3?ď,M Z?A21k@Y2f@2w927

BAHRS rotation from veh to nav: [[0.919578,0.362170,-0.152349],[-0.384163,0.910123,-0.155226],[0.082438,0.201269,0.976061]]y2H.m?`-?@*ÿؿ?mÿ?+? ;?ɫ21k@2;{;0JуBJ""I%Mb@Mb@Mb@! !)!I!i!%Zd;O{Gz?JyJyjK*MrK9zKKK (VV]ll`O@0 +\i]R_lkcYPF=2,2K*KtA F٦yI3: > 4YD?%4yW B%^=%;%@-@12D(O;=N;24Q)]_AYDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n)m)m5Bk9kAkAkE@;;@ 2Acoustic response timeout b^=b^=bA@"b@w %׃?I%S: )ɝ-7i)I1iImGiqiu:>)q)q"DyDy2Dy*DyFy"Fy*Fy2F}Y0:Fyԑ)y ) AI 쬿 AGa 2Bq :B  O > e 2Acoustic response timeout iď,>x'Z?A>9n@Y>!i@>ӧ9>G2P>FAHRS rotation from veh to nav: [[0.919764,0.361947,-0.151751],[-0.383841,0.910218,-0.155467],[0.081855,0.201241,0.976116]]y>H n?$*?lÿ ِؿ ? Zÿu?F?V9n@>.;>CNɃBN"IIVSIVQ٥^6 ^T=9b:Q b>`d fF٦dyj: j> lr4Yn.C?r4ynVnBpv@v@n42Dn:n:n4x)zAxDNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n!m)m)k)k)k1k5;@ bQbQbQ"bU@mӧ im?Im: qɝu7iqIqI}Diyi}:>)y)ԡF5"F*F2Fo0:FJJ|J4JJ}:J@9J3J!@!@!@!@ 2Acoustic response timeoutGz:>2B:B O%o>! JHi BHm AAHm >Hi Hm "IIm PBIm =Ii Ii &Im <*Im AEPď,SAZ?A6j@Y6e@6͆96ʥO>>AHRS rotation from veh to nav: [[0.919652,0.362525,-0.151049],[-0.384244,0.910101,-0.155155],[0.081222,0.200729,0.976274]]y6Hm?3?Uÿrؿ?!ÿʴ?y?=?ɫ6j@6Ü;4FBF"IIN^IN٥ R  E=9:Q > F٦y > !-4Y%2A?-4y%`U%B15@5@%72D%L$;%E;%ɖ4A)EAAmDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nqmymykykkk`;@ bbb"bt@͆ a|?I: ɝ7iIIIii:>)) 2Acoustic response timeoutF"F*F2F0:F1 JJG;>2B:B O >jK2NrKu9zKK K9lnH. Q  2Acoustic response timeoutԁ y}ď,8[Z?AV>n@YV&i@V=9VַO>fAHRS rotation from veh to nav: [[0.919849,0.362224,-0.150570],[-0.383874,0.910204,-0.155465],[0.080736,0.200804,0.976299]]yVHgo?.?Eÿ`cؿd ?Cÿ#? ? =?ɫV>n@V;VCvBv!IMb@Mb@Mb@ )Ii#~jV-?Mb?㥽h=<)IiC@~@ IOIݜ٥    ;=9:Q > F٦yz: %> !-4Y%Z??54y%IT%B53=5;5@5@%:2D% ;%* ;%o4A)EZAAQuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nymym}Bkykkkk<@ bE3=bE3=bE<@"bE`@u= qu׃?I}: yɝ} 7iyIyIFiiX;>)) -2Acoustic response timeoutF=6"F9*FA2FE0:FAyԱGE $4:>2BQ :Ba  Ou >J J J 3J J :J 59J (3J ď,$ uZ?A2,m@Y2h@292O> B2Acoustic response timeoutFAHRS rotation from veh to nav: [[0.919831,0.362443,-0.150153],[-0.384007,0.910145,-0.155481],[0.080308,0.200676,0.976361]]y2HAo?@E2?38ÿ`ؿ?@ÿ ?ྯ?X>?ɫ2,m@2;2CbBb!IIfaIf錴٥n% r`=9r:Q r>tt vF٦tyz z> 4Y=? 4yaSB  @ @<2Dy::Ӥ4)hAEDNOT Ignoring new targets: 14.63 m.RoAJoAboIZoIBoI:nI2nImQmQkQkQkQk~<@ bbb"b%@ 15c?I5: 9ɝ=7i9I9IECiAiE?:>)A)IEa>E>ԹF 6"F *F 2F _5:F G= G=HHH"II2B! 52Acoustic response timeout:B9 OE> 9 ď,mZ?A:Hp@Y:0k@:£9:O>FAHRS rotation from veh to nav: [[0.920009,0.362133,-0.149813],[-0.383671,0.910202,-0.155975],[0.079876,0.200977,0.976334]]y:H p? /-?-ÿؿ@` ?`ÿr?? >?ɫ:Hp@:4w;:CNBN!I RAP5Mb@Mb@Mb@1 1)1I1i15x&i|?5?Mb?575q=1)5QAI1i5@5@ 11IerIe{٥}* }A=9}݅:Q > F٦yj: > 4YT<?CB@@@?;74,@U@?2D<<=4Y)]AaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk<=@ b%=b%=b%@"b%@ 2Acoustic response timeout£ 靝׃?I: ɝ17iIIHii8;>))ADi F 6"F *Fa 2Fe 0:Fi U 2Acoustic response timeoutԑ Gm;>2By:B O>۪ď, Z?A2Oo@Y27j@2̢92>O>>AHRS rotation from veh to nav: [[0.919998,0.362328,-0.149408],[-0.383795,0.910123,-0.156132],[0.079409,0.200983,0.976371]]y2Hp?b0?ÿ@ؿ?"ÿ#T?@ѹ?n>?ɫ2Oo@2V ;2CFBJ!IIRSIRQ٥ZU7 Z4=9Z:Q Z>\\ ^F٦\y^ b> h~4Yj:?~4yjQjB|~@@jA2Dj4;jё;j(4 )A!=DNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImIkQkQkQkU8=@ bbb"b@JJ4Jd2J%J%wJ!J!J%̝:J%9J!J!5̢ AM1?IM: IɝMX7iIIIIUEiQiUC;>)Q)Q u2Acoustic response timeoutD:F%5"F!*F!2F-0:F)ZH<RH<H>HH"II#BIII&I<*IEI - 2Acoustic response timeoutGE f:>2BI :Ba  Om >eϱď,Z?Afl@Yfg@f9fP>nAHRS rotation from veh to nav: [[0.919933,0.362751,-0.148778],[-0.384124,0.909902,-0.156613],[0.078562,0.201222,0.976390]]yfH@p?P7?`( ÿ}ؿ`? Ŀ??`>?ɫfl@f;dvBv!II~WI~ƕ٥ C=9;Q > F٦y%M %> )54Y-J9?54y-P-"B15@=@-D2D-:-:-t4I)MgAQ}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBo:n2nmmkkkk Z>@ bbb"b@ ~?I: ɝ[7iIIBii:>)) 2D=*D=9jK-NrK-`9zK)K-"K-'$    JDM:EQ m2Acoustic response timeoutF6"F*F2F_5:FGtAFtAaԑ G ;>2B :B  O- > ď,mSZ?AFc@YF]@F99FO>NAHRS rotation from veh to nav: [[0.919511,0.363965,-0.148419],[-0.385215,0.909519,-0.156154],[0.078156,0.200759,0.976518]]yFH@l?3K?g¿[ؿ?`ÿ?u???ɫFc@FL;FCVBV!IMb@Mb@Mb@ )IiS㥫+?Mbp?/]=;)AI@i@ III.٥: @=9{:Q > F٦y4 > 4Y7?4yP$B=F<R @@E2D::¸4)dADNOT Ignoring new targets: 14.63 m.RoJo!bo!Zo!Bo!:n!2n!m)m-Bk)k)k1k5>@ b]=b]=b]!@"b]R @m9 im׃?ImL:q qɝ}z7iyIyI}Gii9>)) 2Acoustic response timeoutԡD:J=J=J=2J9J=p:J=9J=c3J9FQ"FQ*FQ2FU@5:FY  2Acoustic response timeout GA 2Bq :B  O >8ď,;Z?AF^@YFY@Fq9FO>NAHRS rotation from veh to nav: [[0.919341,0.364479,-0.148213],[-0.385698,0.909278,-0.156365],[0.077775,0.200918,0.976516]]yFH=k?S?¿Hؿ@?`Ŀ ????ɫF^@FIψ;DVBV!II^iI^҅٥f͆ fW=9j:Q j>lp rF٦pyr v> tz4Yv6?z4yvOv%B|~J @~@vG2Dv):v:vɸ4 B) ,A %E5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo9:n92n9mAmAkAkAkAkM?>@ bqbqbq"buLJ @q 靍?I: ɝt7iIIDiiN9>))H%>H!H%m"II%BI!I!I!&I%<*I%KE2I:IBIJI =RI =ZIzL5ԙ 2Acoustic response timeoutDe:F"F*F2F P0:F  ! GM r9>2BQ :Bi  Ou >e0ď,[?AjK˵NrK9zKK#Ktmgdc`YXWSOMIB?=73036LZ_^b~jWKA;30+('%! !l v2Acoustic response timeout%B%!IMb@Mb@Mb@ )IiJ +X9v?~jtx?H<;)AI@i@ G@II٥ <  6=9Q > F٦y > 4Y}5?4yN'Bn=c< @@I2D::Ѹ4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk@Z?@ bn=bn=b$@"b @1 1=G?I=: 9ɝ=7iAIAIMIiYi]o9>)Y)a"DmtADmtAD:EEsA 2Acoustic response timeout1 F "F *F 2F O0:F G  G Y G B9>2B :B  O >Z%ď,2[?ARAM@YR)H@R9R|P>bAHRS rotation from veh to nav: [[0.918541,0.366464,-0.148276],[-0.387678,0.908428,-0.156412],[0.077378,0.201154,0.976499]]yRHd?'t?¿ؿ?NĿ`ϳ?k? z??ɫRAM@R;RCnBn!IIUsIUy٥2$ :=9m:Q > F٦y+ >ԡ 4YB4?4yuN)B @@J2D\;:ٸ4)GAEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImIkQkQkQkU4?@YY e2Acoustic response timeout bbb"bQ @ ~?I: ɝ7iIIFi i g7>) ) HiHiHmT"IImBIiIiIi&Imݘ<*Im}ED;:F "F *F 2F V0:F  2Acoustic response timeout) G} 89>2B :B  O=>=ď,P[?A B@Y=@Lc J)J)J=J=yJ=3J9J=v:J=9J=(3J9J9!MJ9!MJ=:!UJ=:!U9P>AHRS rotation from veh to nav: [[0.918059,0.367625,-0.148387],[-0.388841,0.907946,-0.156320],[0.077261,0.201210,0.976496]]yH@`?@*?\¿ؿ` ?KĿ\dz?A?u??ɫB@;C~B!I}Mb@Mb@Mb@y y)yIyiy}Mb rh?~jtx?}@}C٥e= !=9s9Q > F٦y0# > 4Y2?4yN*B0N=<V@@L2D ;* ;4)_A9 }2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm ~Bk k k k '@@ bM0N=bM0N=bM2@"bMV@Lc 靽?IY: ɝ 7iIICii6>)!))2DU ?*DU?D52:iiIF5"F*F2FZ0:F)UG i)I۸Aԙ 5 2Acoustic response timeoutG z6> 2B :B  O >{ď,Qk[?A6 7@Y62@6; 96O>>AHRS rotation from veh to nav: [[0.917511,0.368986,-0.148402],[-0.390167,0.907429,-0.156024],[0.077093,0.201055,0.976542]]y6H @\?`v?@¿ ~ؿ ?ÿb?@)?`??ɫ6 7@6|/;4DDINaIN錴٥VC: Ve=9Z9Q ^>\\ ^F٦\yb郻 b> dj4Yf1?j4yfMf,Bhn>@n@fM2Df:f :f!4p)r^Ap DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk!k% Q@@ bbb"b>@;  ?IZ: ɝ7iI!I-Hi)i-n)5>))))DE:F6"F*F2F`0:FGsAF  2Acoustic response timeout)G6>2B:B O>Y H >H CH G"II BI =I I &I ɘ<*I cEZď,[?A B*@YB$@B\9B+O>JAHRS rotation from veh to nav: [[0.916888,0.370478,-0.148537],[-0.391636,0.906870,-0.155589],[0.077061,0.200830,0.976590]]yBH$W??@ÿ`ٿ@?XÿH?̴?:@?ɫB*@B߹;BCRBV!II^bI^٥fK< fI=9j8Q j>hh nF٦lyn n> pv4Yr80?v4yr]Mr-Bxz#@z@rN2Dr:rl:r34|)BA5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo9Bo9:n92n9mAmAkAkAkIkM@@ e2Acoustic response timeout bqbqbq"bu#@\ 靍?I: ɝ7iIIEii*3>))iD:ԡJJ}JJJs:JS9JJJ;J;J:J:FU6"FY*FY2FY:FYjK)OrK9zKK%Kfw]0zshaYSMIDA<AWZSGBVpSepW@'!#  A  2Acoustic response timeout G] 4>2Bi :By  O >*ď,[?AL>@Y>@>l9>|BO>ZAHRS rotation from veh to nav: [[0.916240,0.372130,-0.148404],[-0.393202,0.906282,-0.155065],[0.076792,0.200429,0.976694]]y>H Q?? ¿7*ٿ@C?`*ÿ? ?A?ɫ>@>i;>CbBb!IMMb@Mb@Mb@I I)IIIiIM~jt~jt?{Gz?MDM F٦y/ > 4Y.?4yL/BaW=|<,@@P2D;;4B) A$EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m%}Bk)k)kIkM@@ baW=baW=b0@"b,@l G?I: ɝ7iIIBii2>))  m2Acoustic response timeoutDR:) F "F *F 2F _0:F G = G =  2Acoustic response timeoutQ Gmu4>2Bq:B O>eď,C[?A-B5!IZHQRHU<H]>HYH]A"II]BI] =IYI]D&I]ژ<*I]EIusIuy٥= -=9Q > F٦y > 4YK-?4yL1B@Q2D;;4)A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk )@@ bbb"b ?Iq: ɝ Q7i I IGiiA2>)!)!D9 =2Acoustic response timeoutAF5"F*F2F0:FGo2>2B:B Of>PExceeded connect timeout, disconnecting.aJ }J J J J [j:J $:J J J ;J ;J ~;J ~;ԉ ď,[?A:@Y:@:Ɲ9:O>jKB9OrKBk9zK@KB&KB"% 5  ` M  ;jZQX!qT6 JAHRS rotation from veh to nav: [[0.915290,0.374204,-0.149051],[-0.395375,0.905356,-0.154947],[0.076963,0.200752,0.976614]]y:H J?@?ÿMٿ? Kÿٳ?@?@l@?ɫ:@:;:C R2Acoustic response timeout~B~!I A AMb@Mb@Mb@ )Iip= ף~jt?Mb?<<)AIiZ@@ @InId٥GP= E=9\ٹQ > F٦y6 > 4Yr+?4y L5B=:< @ @S2D::B4)kAyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk41A@ bm=bm=bml2@"bm@Ɲ 靅?I: ɝ8iIIDii'y0>))D:ԩF]6"FY*FY2F]1:Fa U2Acoustic response timeoutG 2>2B :B  O > ď,[?A2@Y2@2N92ܽO>:AHRS rotation from veh to nav: [[0.914667,0.375518,-0.149571],[-0.396764,0.904783,-0.154743],[0.077220,0.200882,0.976567]]y2H D?{?!%ÿdٿ ? ÿ`ij?? @?ɫ2@2-6;2CVBZ!IIbZIb٥jX; j]=9j7Q z>xI UF٦QyU* e> im4Ym)?u4ymKm8Bqu@u@mU2Dm;mz;m 4)aADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk_A@ bbb"b@N  M?I z: ɝ8iIIIiijD/>))!DI 2Acoustic response timeoutF"F*F2F4:FGFsAHe>HaHeN"IIeBIaIaIa&Ieט<*Ie~EG v/>2B! :B9 9  OM > ] 2Acoustic response timeoutQ ď, \?A NnManaging dock network, ignoring radio surface power offJ#@YJ @J29JSO>fAHRS rotation from veh to nav: [[0.913877,0.377263,-0.150004],[-0.398539,0.904089,-0.154240],[0.077428,0.200739,0.976580]]yJH{>?%?`U3ÿٿL?@&ÿPҳ?ұ?$@?ɫJ#@J;JCB!II!I!٥=6q= =D=9EQ E>AA MF٦IyMQ M> 4Y'?4yK;B@@W2D;:,;L4)A1MDNOT Ignoring new targets: 14.63 m.RoQJoQboYZoYBoY:na2nmmkkkkgA@ bYbYJmJmJm2JiJms:Jm9Jmc3JiJm;Jm;Jma ;Jma ;bY"b]@2 靵s?IG: ɝ8iIIFii->))YjKaPrK9zKK'K&fmT@)wojc]WPRa3 2Acoustic response timeoutDe {:ԉ F "F *F 2F 0:F Ա m2Acoustic response timeoutG}/>2B:B O?֜ ď,<,\?AJaѴ@YJI̻@J*9JЄO>VAHRS rotation from veh to nav: [[0.912536,0.380136,-0.150910],[-0.401507,0.902902,-0.153493],[0.077909,0.200659,0.976558]]yJH3?@&T?`Qÿ`Hٿ@?ÿ`?1?@??ɫJaѴ@Jz;H^B^!IIb=)bp=MMb@Mb@Mb@I I)IIIiIMsh|?Q?~jt?MM F٦y̻ > 4Y%?4yUJ@B=<@@Z2D ; ;&4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkA@ b=b=bP2@"b@* q}?If: ɝ8iIICiim*>) ) ԁF"F*F2F3:F m2Acoustic response timeoutԡGa->2B:B O> JH BH @AH H H `"II BI =I I &I ǘ<*I eE2IC:ICBIJIɭ =RIɮ =ZI5zď,1F\?A6kŴ@Y6S@6)96kO>BAHRS rotation from veh to nav: [[0.911915,0.381343,-0.151620],[-0.402823,0.902363,-0.153215],[0.078388,0.200795,0.976492]]y6Hh.?@g?Dhÿ@ٿ'?ÿ>?? l??ɫ6kŴ@63;6CFÃBJ"IIRbIR٥Z5= ZZ=9Z%Q Z>\\\ bF٦`yb~ f> dj4Yf"?n4yfIfCB9E@E@f\2DfW))FI"FI*FI2FM^0:FIJ|JJ3JJ;g:J9J(3JJފ;J;J;J;Gmh*>2By:B O>  2Acoustic response timeoutjK %:OrK 9zK K (K &:IbyxcP?, W3 rYNC:2,*'%&%""^ YGwkdb`kA ď,`\?A2z@Y2b@2x92O>:AHRS rotation from veh to nav: [[0.911144,0.382913,-0.152299],[-0.404470,0.901719,-0.152664],[0.078874,0.200699,0.976473]]y2H(??~ÿٿ@?{ÿ 1??C??ɫ2z@2;2C^ɃB^"IMb@Mb@Mb@ )IiMb)\(??Ga=<)AI@ip@@ @II٥W< 8=9ϏQ > F٦y膻 > 4YS ? 4yHIB = ; W@ @_2D::u+4)AEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImMBkQkQkQk]>B@ bu=bu=bu:.'@"buKW@x 靍p?I: ɝ8iIIEiiQ(>))IFi"Fi*Fi2Fm_0:Fi 2Acoustic response timeoutqGV*>2B:B O>ԡ ď,y\?A "2Acoustic response timeoutσB"I )-AI=TI=n٥M< MU=9MQ U>QQ UF٦Qy] ]> am4Ye?m4yeGeOBiim@ea2De%:e:e*24y)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkFpB@ bbb"b >s?I: ɝ8iIIBiiU(>) )H>HHy"IIBI =IID&I<*IEF"F*F2F:Fԩ 2Acoustic response timeoutGO'>2B:B O> $ď,^Փ\?AJR=Je-@Ye@e9eO>uAHRS rotation from veh to nav: [[0.909761,0.385605,-0.153767],[-0.407358,0.900576,-0.151733],[0.079970,0.200679,0.976388]]yeH`??ÿ`&ڿ`?kÿx? د?@>?ɫe-@e@G;eCՃB&"IeMb@Mb@Mb@a a)aIaiae1Zd㥛 ?Q?e"۽e=e<)aIaiae@ ae@I}hI}٥< 7=9!Q > F٦y* > 4YS?4yFWB&>; @@e2D::94)sADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBk k kkB@ b=&>b=&>b="@"b= @ M2Acoustic response timeoutU Q]n?I]o: Yɝ]8iYIYIeGiaim%>)i)i"DuDu2Du*DujKEmOrKE9zKAKE)KEPlcSPN-qR,_.yw~~zzytponl{{xt2KurA*KurAF"F*F2F:F)WG xA) 5AI=ExAEA)G (>2B :B!  O5 >  2Acoustic response timeoutQ *ď,\?A6@Y6@6t96OO>BAHRS rotation from veh to nav: [[0.909234,0.386451,-0.154756],[-0.408388,0.900126,-0.151633],[0.080701,0.201071,0.976247]]y6Hq?? ÿ #ڿ?hÿ ٨??j=?ɫ6@6P6;4JރBJ1"IIRlIR)٥VN= Zp=9ZN Q Z?\\ ^F٦\yb(_ b? `f4Yb6?j4ybEb]Bhj @j@bh2DbN:b:b?4p)r,ApDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`B@ bbb"b @t !%{r?I%S: !ɝ%8i!I!I-Di)i-ݽ$>))1)QF"F*F2FQ1:FJ5J5wJ1J1J5p:J59J1J1!=@!=@!=@!=@GZ%>2B:B  O*>a e2Acoustic response timeoutԑZH RH <H >H CH "II 2BI =I I &I <*I EԹ 1ď,x\?A69@Y6!~@6Q96O>BAHRS rotation from veh to nav: [[0.908395,0.388006,-0.155790],[-0.410072,0.899494,-0.150834],[0.081608,0.200902,0.976206]]y6H?@?ÿ>ڿ?Nÿ=?(?=?ɫ69@6B;6CJ݃BJ0"IINp=)N=IRiIR҅٥Zx~ ZJ=9^8Q ^>`` bF٦`yb b> hn4Yj?r4yjDjeBpr @r@jk2Dj;je;jG4t)z3AxDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)k)k)k)k5C@ bQbQbQ"bU @mQ imr?Iu : qɝu 8iqIq 2Acoustic response timeoutIIii*&#>))ԙF6"F*F2FQ5:F J9J9GX%>2B:B O-> } 2Acoustic response timeoutjKe OrKe 9zKa Ke *Ke okjhdbnuvmhbYWUONMGFGGFIGGFDCCGLPUQLB1"  1<!Kp+kAIJE 7ď,l^\?AFu@YFp@F]"9FO>RAHRS rotation from veh to nav: [[0.907649,0.389356,-0.156766],[-0.411545,0.898948,-0.150076],[0.082491,0.200733,0.976167]]yFH u ?`7?ĿVڿ/?@5ÿ@%?`? =9Q > F٦yz > 4Y?4yCoBS%>;:@@p2Dh;";N4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm Bkkkk@6DC@ bS%>bS%>bf@"bA:@]" k?I: ɝ% 8i!I!I-Fi)i-!>)))1 2Acoustic response timeoutF6"F*F2F`5:FG= G=!I G 2!#>2B :B  O% >JE {JE {JE 4JA JE d:JE -9JE 3JA >ď,2\?A 2Acoustic response timeout>m@Y>h@>ϼ9>JO>NAHRS rotation from veh to nav: [[0.907198,0.390040,-0.157671],[-0.412380,0.898617,-0.149765],[0.083271,0.200886,0.976069]]y>H?@k?.Ŀ odڿ`y?{+ÿ@FQ?`?;?ɫ>m@>&;>C~B~9"II YI ٥%< %P=9-Q ->)) -F٦1y5 5> 9E4Y=?E4y=A=xBIM-@M@=s2D=:=:=bU4Q)]AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk3rC@ bbb"b-@ϼ m?I: ɝx 8iIICii!>))QHe>HeCHe"IIeFBIe =IaIeD&Ie<*IeEF}6"Fy*Fy2F}W0:FyyG=H!>2B:B O> 2Acoustic response timeoutԩ Eď,*]?A@ a@Y[@9O>AHRS rotation from veh to nav: [[0.906482,0.391311,-0.158637],[-0.413772,0.898103,-0.149012],[0.084162,0.200716,0.976027]]yH?> ?@9NĿ<{ڿA?ÿ@?@?;?ɫ a@;髙B<"I AUMb@Mb@Mb@Q Q)QIQiQUS㥛"~j? rh?U$US=UC =)U AIQiU@U@ QUp@IuNIu٥0< 6=9GQ > F٦ypd > 4Y?4y?B-A) -2Acoustic response timeout<3>5;5U@5@x2Dߠ<Ġ<=]4=B)EAE#EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm$BkkkkVC@ԩ b<3>b<3>b@"b3U@ Ha?I: ɝp 8iIIEHiAiM>)I)IjKePrKe-9zKaKe+Ke?93-y'!b* [ pf]q4Np3teYQE<405=962++)''&$#D: F 6"F *F 2F% `5:F!  2Acoustic response timeout) G%!>2B1:BA OU>N0Lď,3]?A61X@Y6S@6Ӏ96O>>AHRS rotation from veh to nav: [[0.905962,0.392103,-0.159650],[-0.414717,0.897753,-0.148489],[0.085104,0.200735,0.975942]]y6H`?`5?ioĿڿ`e?ÿ@Yɵ??:?ɫ61X@6;4F݃BF1"IIN[IN:٥V8 VH=9ZpQ Z>XX ^F٦\y^0- ^> `f4Yb ?f4ybX>bBhjF@j@b}2Db;b1;b`d4p)rApDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkC@ bJ |J J 3J J ;g:J 9J (3J bb"bF@-Ӏ 15\?I5I: 1ɝ5P 8i1I1I=Ei9i={>)A)AF6"F*F2FY0:F E2Acoustic response timeout1JHIBHM?AHQHQHU"IIUUBIQIQIQ&IU<*IUEG]Y >a2Bq:B O>ԉ  2Acoustic response timeoutSď,L]?AӃB$"II mI F٥M"E MB=9UQ U>YY ]F٦Yye e> iu4Ym?u4ym<mBqqu@m2Dml:mw;mk4)SADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nymmkkkkID@ bbb"b  bW?I: ɝ08iII%Bi)i->)))1F"F*F2F^0:FԱ ]2Acoustic response timeoutjKPrKzKK,K =WUI90)&18:5/' G6>2B :B  O- > ;Yď,Rf]?A2sI@Y2[D@2J92[O>VAHRS rotation from veh to nav: [[0.905083,0.393422,-0.161380],[-0.416286,0.897198,-0.147452],[0.086779,0.200636,0.975815]]y2Hp?-? Ŀ nڿ ص?¿7?t?9?ɫ2sI@2G;2Cb΃Bb"IIf=)f=UMb@Mb@Mb@Q Q)QIQiQU`"i|?5?V-?UU=U<)UhAIU-@iUp@U@ QU@IeTIen٥}¼ G=9Q > F٦y͎ > 4Y?4y;B/>;?@2D2;׆;s4){ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkklMD@ 2Acoustic response timeout b/>b/>b@"b?J !%c?I%: !ɝ%8i!I!ImGiiim=a>)q)qF"F*F2F_0:FJJ3JS}.J1J5wJ52J1J1J59J5c3J1G- F>2B1 :BI  O] >a e 2Acoustic response timeout$`ď,_]?A6@@Y6;@6۳96O>>AHRS rotation from veh to nav: [[0.904560,0.394232,-0.162333],[-0.417227,0.896864,-0.146822],[0.087709,0.200540,0.975752]]y6H@(?@;?WĿ ׳ڿ ?¿t?`G?@[9?ɫ6@@6;6CJBJ"IIRoIR٥Zl ZX=9^!Q ^>`` bF٦`yf; f> dH>HHIIIID&I<*I*E2I:IBIJI =RIZIX4u4Yfg?}4yf9fBy}?}@f2Df))iFA"FA*FA2FEx0:FI 2Acoustic response timeoutԡG"x>2B:B O> Lfď,]k]?A2L9@Y244@2b92uO>>AHRS rotation from veh to nav: [[0.904127,0.394915,-0.163085],[-0.418008,0.896589,-0.146279],[0.088452,0.200426,0.975708]]y2H?IF?Ŀڿ ۰?H¿Ȥ??8?ɫ2L9@2!;2CFBF"IP %2Acoustic response timeout-Mb@Mb@Mb@) )))I)i)-!rh|?5^?    F٦ y   > 4Y?%4y7B%>%;%@%@2D:U:W4))5(A1]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:na2namimmBkikikqk}#D@jKMrK89zKK-K   b>b>b@"b/@b Ha?I: ɝ8iIIIiim>)i)q"DqDq2Dy*DyFa"Fa*Fa2Fe0:Fa 2Acoustic response timeoutG A>2B :B  O >! xlď,L]?A6-@Y6|(@6K965'O>>AHRS rotation from veh to nav: [[0.903453,0.396077,-0.164000],[-0.419266,0.896145,-0.145395],[0.089380,0.200117,0.975687]]y6H ?SY?Ŀ`Aڿ9?`K¿?m?@8?ɫ6-@6;6CNBN!IIVuIV_v٥fԽ f^=9jA'Q j>hh| jF٦|yt} >  4Y ?4y 6 B@@ 2D ~; ; ̇4A)EAADNOT Ignoring new targets: 14.63 m.RoJoboZoQBoQ:nQ2nQmYmYkYkYkakeD@ bbb"bp@=K 9=zW?I=&: 9ɝEiAIAIEFiiim>)i)q 52Acoustic response timeout9F"F*F2F4:FZH<RH4=H>HCH"IIFBI =II&I<*IEQGE >J>2BQ :Ba  O} >ԁ  2Acoustic response timeout9^sď,m ]?AB$@YB@B-9B*O>NAHRS rotation from veh to nav: [[0.902889,0.396952,-0.164987],[-0.420284,0.895759,-0.144838],[0.090295,0.200114,0.975603]]yBH@w?g?Kſ ڿ ?¿? W?#8?ɫB$@B5;BCVBV!II`I`٥j  jJ=9jQ n>ll rF٦pyr? r> tz4Yv?z4yv'5vBxz@~@v2DvB:v ;vɎ4)HA =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9ZoABoA:nA2nAmAmIkIkIkIkM`E@Y bqbqbq"bu0@- 靕GO?I: ɝB4iIICii>))Fq"Fq*Fq2FuO0:Fqԉ JJBAJ-}J-pJ-3J)J-[j:J-^9J-(3J)J-;!uJ-;!uJ-:!}J-:!} E2Acoustic response timeoutGu;>2B:B O>Աi= 5)>I= ېCjKU ALrKU 9zKQ KU .KU 2JSPMGA?;76767786624L6Y8,(&#"BKu >:Ku ?) G ) I ۱  OA 4yď,]?A=zB=!IԹMb@Mb@Mb@ )Ii~jtsh|?? %F٦!y- -> AU4YE?]4yE3EB]G>e;e@e@E2DEU;E;E4 2Acoustic response timeout)AeDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBo:n2nmmBkkkk@"TE@ bG>bG>bo@"bJ@ c?I%: !ɝ%iIIQIHiih>))F6"F*F2F%4:F! M 2Acoustic response timeoutGM >2BY :Bi  O >A pď,^?AI<)2@Y2@2b92~O>BAHRS rotation from veh to nav: [[0.902032,0.398162,-0.166749],[-0.421783,0.895158,-0.144192],[0.091855,0.200398,0.975399]]y2Hq? ~{? Xſڿ!?t¿ у??x6?ɫ2@2W;2CJlBJ!IHPHPHR"IIR(BIPIPIP&IR<*IREIbbIb٥j j`=9jQ j>ll nF٦lyrj r> t~4Yv?~4yv2vBo@@v2DvQY;v]Z;v眹4 ) A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k!k)k- E@ bbb"bo@b \?I: ɝT4iIIEii?*>))E%i>E%>F5"F*F2F_0:FG G=A 2Acoustic response timeoutqG'>2B:B O>J5 zJ5 |J5 4J1 J5 `:J5 @9J5 3J1 J5 x;J5 y;J5 :J5 :ԡ ֬ď,a^?AZU@YZ=@Zҽ9ZR O>fAHRS rotation from veh to nav: [[0.901275,0.399589,-0.167429],[-0.423246,0.894622,-0.143228],[0.092553,0.199951,0.975425]]yZH>?`ܒ?Lnſ@wۿ ?IU¿??6?ɫZU@Z?;ZC n2Acoustic response timeoutrWBr!IMb@Mb@Mb@ )Ii~jtZd;O?j<=) AIiZ@ p@IUI٥ 8=9κQ > F٦ys >  4Y1? 4y1B =< @@2DL$;#;4).A!Q]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:na2namameBkikikqku-E@ b=b=b]:&@"b @ҽ 靥Ha?I: ɝ4iIIBii>))jK3NrKu9zKK/Kno5L\:~6j)gFjZTMMNP[m1BA1"F9"F9*FA2FA:FAy 2Acoustic response timeoutG >2B :B  O > Ìď,r5^?A>@Y>@> 9>lO>FAHRS rotation from veh to nav: [[0.900664,0.400558,-0.168400],[-0.424349,0.894195,-0.142628],[0.093451,0.199920,0.975345]]y>H`@>:Ԉ;>CNABNq!IIV[IV:٥bf bb=9f|#Q f>dd jF٦hyj'e j> lr4Yn?r4yn01lpv @v@n2Dn;n:n4x)zAxDNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n!m)m)k)k)k1k5E@ bYbYbY"b] @m imGV?Iu: qɝuiqIqI}Giyi}>)y)F1"F1*F12F5o0:F1 2Acoustic response timeoutJHBHHHHZ"IIBIII&I<*IEG->2B:B O>)  2Acoustic response timeoutܫď,fO^?A >W@Y>?@>o9>N>FAHRS rotation from veh to nav: [[0.899986,0.401698,-0.169301],[-0.425594,0.893721,-0.141890],[0.094311,0.199753,0.975297]]y>H ?@m?ſ`<ۿ\? u)¿@$?`?5?ɫ>W@>f;19 =F٦9yE^ E> I]4YM?e4yM`0Iae @m@M2DMU;MV;MN4q)}JAyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkF@ b b b "b  @-o )-O?I-: 1ɝ56X4i1I1I=Di9i=K>)9)AEIQF"F*F2F0:FGtAFtAJJJJJM:JJJJ);J*;JJԁ 2Acoustic response timeoutGE>2BQ:Ba Om>jKm OrKm ж9zKi Km 0Km qoVF>6* &`0!uZD2%  ԩ ֙ď,pAi^?A2@Y2@2½92SN>>AHRS rotation from veh to nav: [[0.899326,0.402822,-0.170137],[-0.426824,0.893226,-0.141311],[0.095048,0.199703,0.975236]]y2HG?? ſ QۿN?y¿ U?ޏ?!5?ɫ2@2k;2C@N"BRJ!I5Mb@Mb@Mb@1 1)1I1i15~jth? F٦yY > 4Yh?4y0BtP=<&@@2DC::4)ADNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m!m-KBk)k)k)k-@PF@ betP=betP=be9E@"be&@ 2Acoustic response timeout½ 靭k?I: ɝ<4iIIIiIiM>)Q)QԩFU6"FQ*FY2F]o0:FY - 2Acoustic response timeoutG= (>2BI :BY  O >Iď,^?AH$H$H&""II&уBI& =I$I$&I&<*I&OEFܳ@YFx׺@FbĽ9FN>nAHRS rotation from veh to nav: [[0.898717,0.403776,-0.171089],[-0.427921,0.892773,-0.140857],[0.095869,0.199803,0.975135]]pyFHJ?@y?@Bſ cۿ?`¿@⊸?)?M4?ɫFܳ@FH;FCzBz4!IITIn٥ V=9 Q > F٦y%W %> )54Y- ?54y-/-B15p&@5@-2D-:- ;-W4EB)EAEEuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoy:ny2nymmkkkk`F@ bbb"bp&@bĽ 靽b?I&: ɝ)5iIIFii>))F9"F9*F92FE35:FAG %|>2B:B) O5 >9 2Acoustic response timeoutYԉ J J wJ 3J J }:J 9J (3J J ĝ;J ŝ;J :J :ď,^?AI8): n2Acoustic response timeoutAHRS rotation from veh to nav: [[0.897953,0.405064,-0.172057],[-0.429336,0.892190,-0.140241],[0.096701,0.199800,0.975053]]yfH ? ?ƿ  F٦y t > 4Y ?4y / B9=<Z7@ 2D ; O; ǹ4!)%JA!}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:n2nmm/Bkkkk F@ bM9=bM9=bM7Hx@"bM|Z@]Zƽ aeh?Ie: aɝeh5iajKNrK`9zKK1K#!  .XgeL( IaICiiv4>))EEtAԁF"F*F2F@5:FG G=Ա 2Acoustic response timeoutG 2B :B  O > ď,Զ^?A6 ó@Y6@6=ǽ96PO>BAHRS rotation from veh to nav: [[0.897242,0.406251,-0.172965],[-0.430653,0.891630,-0.139761],[0.097443,0.199887,0.974962]]y6H4? ?#ƿяۿdd fF٦dyf; j> hn4YjU金?r4yj0jBpro7r@j2Dj;j;jFι4vB)z Az"E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo)Zo)Bo):n)2n)m1m1k1k1k1k=F@Թ bbb"bɯZ@E=ǽ AEvc?IEg: IɝM5iIIIIUHiqiu>)q)y 2Acoustic response timeoutF-6"F)*F12F5\0:F1G M>2B:B! O=/>ZHE<RHE4<HM>HIHM!IIMBIM =IIII&IM<*IME2IC:ICBIJIư =RIư =ZI4Iy  2Acoustic response timeoutď,^?AJ"@YJ @JUɽ9JO>ZAHRS rotation from veh to nav: [[0.896342,0.407863,-0.173837],[-0.432364,0.890910,-0.139074],[0.098150,0.199819,0.974905]]yJHԮ?n?K@ƿ٫ۿT?1`X ?? k2?ɫJ"@J;JCbBf!IIroIr٥T F=9 Q  >   F٦y > !-4Y%?54y%50%B157=@%2D%%H;%!I;%չ4I)Mc AIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk/G@Q bbb"bJZ@Uɽ ]?I: ɝc5iIIEiiN>))FE6"FI*FI2FM_0:FQԉ  2Acoustic response timeoutGe W>2Bq :B  O >jK% MrK% k9zK! K% 2K% &8GC;>p!??/seZJB:54@riC/% #E)[nnnic`YXN? !&ď,X^?A2@Y2h@28ʽ92wO>:AHRS rotation from veh to nav: [[0.895498,0.409304,-0.174795],[-0.433930,0.890242,-0.138472],[0.098933,0.199851,0.974819]]y2H? 2?@_ƿۿ|?v`S??1?ɫ2@2co;2CBBB!I DDMb@Mb@Mb@ )Ii{GzZd;OMb`ףj<)~AIC@i3@ @IZI٥n >=9=Q > F٦y > 4Y줊?4y0BM=<@2DL:: ݹ4 ) j A u2Acoustic response timeoutԱDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm)m52Bk1k9k9k=WG@ bM=bM=b!@"b8w@8ʽ  )\?I : ɝ {5i IIBiir >))F5"F*F2F:FJ~JJJJ{m:J*9JJ!@!@!@!@ G t>2B :B  O > % 2Acoustic response timeout1 HE >HE CHE !IIE {BIE = ď,g_?AIqIq&IuӘ<*IuvE:@Y:n@:&V̽9:N>BAHRS rotation from veh to nav: [[0.894430,0.411284,-0.175616],[-0.435974,0.889382,-0.137572],[0.099608,0.199613,0.974799]]y:H+?xR?zƿۿu?@??1?ɫ:@:iƉ;:CbBb!IInRIn4٥vN v[=9v8Q v>xx zF٦xyz˻ ~> 4Ye뤊?4y0tIB @2D::4)o A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m)k1kQkYk]G@ bbb"bw@&V̽ 靭[?IS: ɝ5iIIGii >))2D=*D= 2Acoustic response timeout9D5:F"F*F2F]0:Fi G} ( >ԙ 2B :B  O >ď,_?A 2Acoustic response timeoutZo@YZi@Zcν9ZKN>)M:G ]`wA)uAI`wA AAHRS rotation from veh to nav: [[0.892485,0.414809,-0.177214],[-0.439678,0.887748,-0.136331],[0.100770,0.199590,0.974684]]yZH;?;?`ƿ#ܿ@oh?Hs̹? *?0?ɫZo@ZM;ZCB!IMb@Mb@Mb@ )Iiy&1i|?5~jtx?`q;)ԩI-@iC@I@ @I[I:٥@< '=9 Q > F٦y{ > 4Ye養?4yg1BO=J<@2D>;;4)2 A!jKMOrKM9zKIKM3KM::2##Q&-Qpb%  PdA'qg]RJD=DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm3Bkkkk)G@ b}O=b}O=b}@"b}t@cν 靵^?IK: ɝ6iIIDii R>)) 2Acoustic response timeoutD: F 6"F *F 2F Y0:F 9 J5 J5 J1 J1 J5 s:J5 9J1 J1 G >2B:B O>Bď,K>_?A24b@Y2]@2Ͻ923O>>AHRS rotation from veh to nav: [[0.891755,0.416068,-0.177936],[-0.441063,0.887082,-0.136196],[0.101177,0.199934,0.974571]]y2H A?ڠ?ƿ`:ܿ`b? n@?q?`/?ɫ24b@28Z;2CT j2Acoustic response timeout B !IIKIh٥- ; ->=95 zQ 5>19 =F٦9y=Dp => AM4YE礊?M4yE1EBQUU@E2DE:E:E4Y)]* AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkBG@ bbb"b=t@Ͻ 8_?II: ɝ^6iIIIii<>))JHBH@AH>HH!IIlBIIID&I<*IEDe :Ei F5"F*F2F_0:F 2Acoustic response timeout1 G ~>2B :B  O >ď,K[X_?A6]Q@Y6EL@6&Ͻ96cN>BAHRS rotation from veh to nav: [[0.890839,0.417918,-0.178188],[-0.442892,0.886264,-0.135582],[0.101259,0.199699,0.974611]]y6H ?+? ƿ VXܿG\?Z ??0?ɫ6]Q@6E;6CJBJ!IIRVIR٥ZI< ZT=9^_Q ^>`` bF٦`ybs b> dj4Yf夊?j4yfG2fBlnn@f2Df:f";f[4t)z AxDNOT Ignoring new targets: 14.63 m.Y JJ@ARoJoboZoBo:n2nmmkkkk,H@ b!b!b!"b%_t@}&Ͻ 靅Ra?I.: ɝ6iIIFii{>))"D=tAD=tA 2Acoustic response timeoutD5R:ԑF"F*F2Fo0:FjKUwOrKUk9zKQKU4KU4+# 2sg`j:#Bh`y_PID;.'!BKe?:Ke?G >2B :B!  O5 >  2Acoustic response timeoutKď,8r_?Aj3D@Yj?@jO+н9jO>rAHRS rotation from veh to nav: [[0.890107,0.419277,-0.178654],[-0.444313,0.885590,-0.135339],[0.101470,0.199844,0.974559]]yjH{?`m?@%ƿoܿV?R??@/?ɫj3D@j܉;hz Bz,!IMb@Mb@Mb@ )IiˡE ףp= ~jt?'Q8<)AIC@iZ@ @IfI{٥= <=97Q > F٦yq > U4Y㤊?]4y2B]=]P<] 0]@2Dw<ǘ<4a)mjAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm\Bkkkk@eH@ b-=b-=b-QM~@"b-b@eO+н ae W?Im: iɝm,6iqIqICii?>))JJJ4JJ} ;J\3:J3JD:AF9"F9*F92FE0:FA 2Acoustic response timeoutqH>HH!IIgBIII&I<*IEG% >2B1 :BA  OU >ԙ ď,Y_?A @:97@Y:!2@:$Ͻ9:O>BAHRS rotation from veh to nav: [[0.889418,0.420728,-0.178673],[-0.445730,0.884923,-0.135043],[0.101295,0.199749,0.974597]]y:Hv?6?ƿ؆ܿ IQ?I|?`a?@/?ɫ:97@:k;:CJBJ;!IIV\IVW٥~r= V=9)9Q >   F٦ y   > 4Yᤊ?%4y2B)-'0-@2Dj[;\;4Y)] AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkH@ ]2Acoustic response timeout bYbYbY"b]|a@qm$Ͻ 靕\?I: ɝj96iIIHiiV>))ԡD:E!E!F6"F*F2F0:FGF  2Acoustic response timeout9 G v>2B :B1  O= >}ď,g֧_?AjK:OrK:9zK8K:5K:#I;z $>jsR8{bC% uldYTNG2K>sA*K>sAN.@YN)@NYϽ9NB0O>VAHRS rotation from veh to nav: [[0.888941,0.421722,-0.178701],[-0.446731,0.884410,-0.135098],[0.101071,0.199926,0.974584]]yNH4r?`~?ƿ<ܿ@M?`J߹?*? /?ɫN.@N7;NC^B^G!IEMb@Mb@Mb@A A)AIAiAEDl{GzQ?EOE#E<)E AIEp@iE@E@ AE@I]mI]F٥m.= u6=9u:Q u>qy }F٦yy}" }> 4Y1ߤ?4y2Br=.<69@@2D;5;w4)A)mDNOT Ignoring new targets: 14.63 m.RoiJoqboqZoqBoq:ny2nymmBkkkkH@ br=br=bER@"b69@-YϽ )-q=?I-: 1ɝ5*F6i1I1I=Ei9i=1>)9)a 2Acoustic response timeoutQD:ԁF} 6"Fy *Fy 2Fy :Fy J }J J 3J J [j:J 9J (3J ԩ 5 2Acoustic response timeoutG 3>2B ZH <RH H H H !II vBI =I ?DI &I Ә<*I yE:B O>Eď,eV_?AV%@YV@VvTν9V O>^AHRS rotation from veh to nav: [[0.888493,0.422811,-0.178357],[-0.447733,0.883919,-0.134992],[0.100577,0.199796,0.974662]]yVHn?V? dƿܿ I?jGd?`?n0?ɫV%@VMU;VCdn)BnR!IIv[Iv:٥~(= ~7=9:Q >    F٦ y ! > 4Yܤ?4y`2B!%$9@%@2D;;F4))5sA1mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmqmqkqkykyk}I@ bbb"b$9@vTν 靵$B?IJ: ɝR6iIIBii.>)) 2Acoustic response timeoutD :!F6"F*F2F3:FI G >2B :B  O >Seď,-_?AI<)I m2Acoustic response timeoutu"@Yu@u̽9u\O>AHRS rotation from veh to nav: [[0.888393,0.423205,-0.177918],[-0.448089,0.883658,-0.135516],[0.099868,0.200115,0.974669]]yuHm??@ƿ ~ܿ F?X 쐹?`_?}0?ɫu"@u;uC>Bl!I5Mb@Mb@Mb@1 1)1I1i15&1X9v?ˡE?5н5<5'=)57 AI1i5@5v@ 15G@IMaIM錴٥e!= e*=9e:Q e>ii mF٦qyuRG u> y4Y}٤?4y}1}B=;@@}2D};} ;} 4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk-CI@ b=b=b-6@"b8@i̽ 靵B?I: ɝ_6iIIGii->))jKOrKzKK6KA=;:50+,*'&&$#!! "&3>EB?>?Mnxm[LC>5.)'')%""! ԑ 2Acoustic response timeoutDM :EY E] !> F 5"F *F 2F 0:F G = G = G==2BY:Bq O?.ď,_?AN @YN@N{ʽ9NvO>VAHRS rotation from veh to nav: [[0.888428,0.423499,-0.177045],[-0.448257,0.883490,-0.136051],[0.098800,0.200233,0.974754]]yNHm??kƿ @ܿE?jJ? @?/1?ɫN @NXڈ;NC^KB^}!IIj\IjW٥n8~= n?=9r9$;Q r>pt vF٦tyv z> |4Y~ ֤?4y~0~B@@ 2Acoustic response timeout~2D~rY;~Z;~#(4)_Aԉ=DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9ZoABoq:ny2nmmkkkk~I@H>HH!IIBIII&I<*IE2ImC:ImCBIiJIm® =RIm® =ZIm4 bbb"b@-{ʽ )-\I?I- : )ɝ-m6i1I1I5Di9i==)9)AԱF6"F*F2F4:FGFG G2B:B O> 2Acoustic response timeout < ď,a`?A>` @Y>H@>ǽ9>VeO>JAHRS rotation from veh to nav: [[0.888513,0.423816,-0.175853],[-0.448382,0.883347,-0.136573],[0.097457,0.200196,0.974897]]y>H@n??Vƿ Jܿ`D?5{??Z2?ɫ>` @>Έ;>CRLBR~!IIVPIV٥^; bM=9ba^;Q b>dd fF٦dyfu@ j> hn4Yj4Ӥ?r4yj0jȄBpr@v@j2Dj:;jOJ;j/4x)~UA|%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo):n)2n)m)m)k1k1k1k5 ǬI@ bQbQbQ"bUV@uǽ quI?Iuc: yɝ}y6iyIyIIii=))JC=JJJ|J4JJv:J@9J3JJ^;!J_;!J:!J:!F"F*F2F\0:F E2Acoustic response timeout2B:B O$>!jKU<NrKU#9zKQKU7KU     Y2Ka*Kaԉ  2Acoustic response timeout7 ď,?3`?A "@Rq$@YRY@Rv{Ľ9RhO>ZAHRS rotation from veh to nav: [[0.888880,0.423643,-0.174410],[-0.448014,0.883379,-0.137566],[0.095792,0.200418,0.975016]]yRHq??Sƿ@AܿD?śʅ?L?@U3?ɫRq$@Ru;RCb\Bb!IMb@Mb@Mb@ )Iip= ףL7A`?kt?+= 0=) AI@i@@ 3@INI٥ď= :=9Vy;Q > F٦y: > 4YϤ?4y.фB>;@@2D ;] ;64ޖB) A EQDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk I@ b%>b%>b%*@"b%@uv{Ľ y}33?I}: yɝ}6iyIyIFiirS>))EF!"F!*F!2F%^0:F!2B9:Ba Ou6>ԁ =2Acoustic response timeoutJHBHAAHHH!IIBIII&I<*IRE 2ď,M`?A:#@Y:@:؎9:O>BAHRS rotation from veh to nav: [[0.889038,0.424244,-0.172128],[-0.448205,0.883186,-0.138182],[0.093398,0.199997,0.975335]]y:Hs?`&?Fƿ dܿC?? ?@5?ɫ:#@:j;:CJ]BJ!IIZgIZ٥b; b^=9b;Q b>dd fF٦dyj j> h]4Yj̤?e4yj-jڄBae@e@j2DjՓ))F"F*F2F_0:F2B:B O#> JJAAJCJKw3JK(.JzJ}J3JJ`:JS9J(3JJx;Jy;J:J: i I ֐C u 2Acoustic response timeout) G xA) 5AIu c} xA ۫A9 Lď,Gg`?A6b&@Y6J!@6 96*O>FAHRS rotation from veh to nav: [[0.889410,0.424415,-0.169771],[-0.448016,0.883080,-0.139466],[0.090730,0.200103,0.975565]]y6H@ v?@)?ſ@Lܿ@1B? :??7?ɫ6b&@6t;6CNaBR!IMb@Mb@Mb@ )Ii333333ÿ~jt?kt?=) AI@i@ z@IiI҅٥x< ;=9;Q > F٦yJ: > 4Y ɤ?4y,B;>; @@2D::D4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo1Zo1Bo1:n12n1m9m=Bk9k9k9kE@dLJ@jKM&MrKM9zKIKM8KM  ,EG?5*'"'5a,<=<>CFMPMG9,%)' BK]?:K]? bu;>bu;>bu:$@"bu @  靍(?I: ɝ6iIIHiiy>))"DD2D*D F"F*F2Fj0:F 2Acoustic response timeout1G!>2B:B O>a 1 ď,tр`?AI)< V&@YV!@VXF9VN>^AHRS rotation from veh to nav: [[0.889878,0.425498,-0.164527],[-0.448212,0.882650,-0.141544],[0.084992,0.199700,0.976164]]yVHy?@];?4ſܿ@>?@ ¿µ?ď?` F٦y8  > 4Y Ť?4y * %2Acoustic response timeout B!% @%@ 2D S; T; qK41)5A1]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoaBoa:na2namamikqkqkyk}|J@ bbb"b0 @XF 靵+?I: ɝ6iI1I=Ei9i9)9)AEIEIiH>HH"IĨBIII&I՘<*I~EF=5"F9*F92F=o0:F9ԙ 2Acoustic response timeout Gm 8=2By :B  O >[&ď,ū`?AJ&@YJ @JW9J[N>VAHRS rotation from veh to nav: [[0.890058,0.426128,-0.161897],[-0.448391,0.882395,-0.142564],[0.082106,0.199484,0.976455]]yJH[{?`E? Ŀpܿ`xx zF٦xy~'M ~>  4Y~¤? 4y)B  @@2Dy::zR4)AJ4=J=J}JJJJ[j:J9JJJ;J;J*7;J+7;DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@J@ b9b9b9"b=% @UW qu*)?Iu: qɝ}w6iyIyI}Biie>)) =2Acoustic response timeoutFu6"Fq*Fy2F}`5:Fy-'TFailed to parse incomplete device message.2K*KGu>2B:B  O >A  2Acoustic response timeout7,ď,ׇ`?A2!@Y2@292}#N>bAHRS rotation from veh to nav: [[0.890039,0.427111,-0.159395],[-0.448940,0.881956,-0.143547],[0.079269,0.199321,0.976723]]y2H2{?`U?gĿpܿ`8?_¿J?[? PA?ɫ2!@249;2CjbBj!IeMb@Mb@Mb@a a)aIaiaeS㥛Ŀ"~j?l?e$eS=e=)e AIe@ie@e@ ae@I}\I}W٥; ?=9;Q > F٦yژ > 4Y̾?4y*'BK>;@@2D;;n$;Z4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkhJ@ bK>bK>bgn"@"b@- 15f&?I5: 9ɝ=6i9I9IEGiAiEw=)A)IIF6"F*F2FP5:F =2Acoustic response timeoutqZHRHH>HH("IIփBI =I@DI&I<*I*EGM >2Ba :Bq  O >ԡ m3ď,a`?A @:@Y:@:z9: N>BAHRS rotation from veh to nav: [[0.890118,0.427896,-0.156827],[-0.449291,0.881586,-0.144719],[0.076332,0.199278,0.976966]]y:H`{?b?Ŀ 1ܿ5?#¿?@?MC?ɫ:@:B;:CRWBR!IIZXIZ㔴٥fi fY=9fhh jF٦hyj9C n> IU4YM}?U4yM}%M BQU@U@M2DMr;ML;M`4a)e3AaԁDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkK@ b b b "b @-z 1= ?I=: 9ɝ=ɢ6i9IAIMDiIiMk=)I)YEma>Ei 2Acoustic response timeoutF-6"F)*F)2F-P0:F1ԩJJmJJJs:J&9JJJ;J;Jž:Jƾ:GM=2BY:Bi O}>Q U A e 2Acoustic response timeout 79ď,>`?A6H@Y60@6/ۖ96ZN>BAHRS rotation from veh to nav: [[0.890117,0.428699,-0.154621],[-0.449750,0.881119,-0.146131],[0.073594,0.199615,0.977107]]y6H{? o? ÿ ܿ 2?j¿ײ?@?uD?ɫ6H@6;6CbKBb}!I-II MF٦IyUm U> Ye4Y]?e4y]#]Be+:aeX;e@m@]2D]#:]>]f4q)}AyjK0NrK9zKK:K # nkP>*Z3]j{umf^[RHE@BK?:K?DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkIkIkQkUZSK@/ۖ 靝?I': ɝ6iIIIii=)) F"F*F2FZ0:F 2Acoustic response timeout1Gm =2Bq bCommunications Fault in component: RDI_Pathfinder:B  O >a @ď,%a?A:@Y:@:9:QN>BAHRS rotation from veh to nav: [[0.889884,0.430034,-0.152240],[-0.450670,0.880467,-0.147221],[0.070732,0.199620,0.977317]]y:H y?`? |ÿܿ,?%¿z?#?.F?ɫ:@:;8J:BJh!IMN@RPowering down RRIR)RIVbIV٥^ӿ ^g=9^`` bF٦`yfn+ j> lr4Yn?r4yn "nBr :pr.;r@v@n2Dn:nK?n k4x)zA ~2Acoustic response timeout-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo1Zo1Bo1:n12n1m9m9k9k9kAkE`~~K@u q}e?I}: yɝ}+6iyIyIFii=))HE>HECHE""IIEуBIE =IE?DIA&IE<*IE9EYFi"Fq*Fq2Fu`0:FqyG=2B:B O> 2Acoustic response timeoutԱ ĪFď,a?AI<)<:@Y: @:틽9:O>RAHRS rotation from veh to nav: [[0.889814,0.430806,-0.150454],[-0.451187,0.879932,-0.148833],[0.068271,0.200316,0.977350]]y:H \y?`S?Bÿ=ܿ@f(?@ ÿ =z? ?rF?ɫ:@:;:Cb9Bbf!IIj^Ij٥r  rH=9r;Q r>tt vF٦tyv z> x~4Yz>?4yzH z(B9 ;@@z2Dz ;z?zn4)*AMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmQkYkYkYk]K@틽 靍?I+: ɝȰ6iIICiid=))EԱF5"F*F2Fn0:F 2Acoustic response timeoutGM=2B:B O>jK hOrK 9zK K ;K 4+%p[K?5/*(*7B=4+%!##$    2K *K rA  2Acoustic response timeout1 Lď,5a?AB:@YB"@Bᆽ9BO>JAHRS rotation from veh to nav: [[0.889388,0.432355,-0.148519],[-0.452391,0.879152,-0.149780],[0.065813,0.200401,0.977501]]yBHu??ÿ`ܿ"?+ÿٰ?༦? G?ɫB:@B.[;BCRBVE!IIZeIZ]٥b fL=9f;Q f>hh jF٦hyjO n> AM4YE?M4yE|E2BM9IM:M@U@E2DEv:E?Eq4}ؖB)}AyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@K@ᆽ 靍?I$ : ɝiIIHii"=))F6"F*F2Fp0:FJJnJJJp:J99JJ!@!@!@!@9 2Acoustic response timeoutJH1BH1HE>HAHE "IIEBIE =IAIED&IE٘<*IEE2I:ICBIJIȭ =RIȬ =ZI?5Gm3=2By dClearing failed state for component RDI_Pathfinder:B O>i =Sď,%Oa?A6@Y6@6b968hO>FAHRS rotation from veh to nav: [[0.889101,0.433476,-0.146963],[-0.453255,0.878519,-0.150876],[0.063709,0.200755,0.977568]]y6H`s? ?¿ "ݿ?Oÿ7O?`Y? F٦y   > %4YZ?%4yI : ɝY3iIIEii:=))iԙDU:EYEYF5"F*F2F_0:F - 2Acoustic response timeoutG ɯ=2B :B  O >>Zď,ja?A6@Y6@6|96&&O>>AHRS rotation from veh to nav: [[0.888375,0.435513,-0.145321],[-0.454963,0.877561,-0.151309],[0.061631,0.200535,0.977746]]y6Hm?r?@¿ݿ?^ÿ?`"?I?ɫ6@68s;6CFBJ"!IIN`IN̍٥Z? ZC=9^3;Q ^>\\ bF٦`yb b> hn4Yj֦?n4yjjFBno9ln:nh@r@j2DjQ:j@jlv4t)vAtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m!k)k1k1k5`OL@]| ae>I : ɝs4iIIBiip=))jKe>NrKek9zKaKe<Ke1z{zvog\TLF@=b }xslhc^WRMJIHD?<=:98535 2Acoustic response timeoutD5:QF6"F*F2Fo0:Fq J |J pJ 4J J ;g:J ^9J 3J G Y=2B :B!  O- >aď,Da?A &2Acoustic response timeout4R?@YR'@R3w9RuO>ZAHRS rotation from veh to nav: [[0.888028,0.436470,-0.144571],[-0.455797,0.877015,-0.151968],[0.060462,0.200847,0.977755]]yRHj?` ?M¿@+ݿ?`sÿ@?W? I?ɫR?@R";RCbBb!IIjrIj{٥r rI=9vu<;Q v>tt zF٦xyz6 z> 4Yi? 4y-PB B9  t: X@ @3D:5@ x4)vAHE>HAHE!IIEBIE =IAIED&IA*IEEmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoq:nq2nqmqmykykykykL@3w 靵c>IY : ɝiIIGii=0=))ԉD= :F6"F*F2F0:F 2Acoustic response timeout G =2B) :B9  OE > ?gď,da?A6ݲ@Y6ع@6t96Q5O>>AHRS rotation from veh to nav: [[0.887483,0.437770,-0.143982],[-0.456958,0.876419,-0.151914],[0.059685,0.200615,0.977850]]y6HCf?k?`n¿`>ݿ ?qÿ?@ĭ?J?ɫ6ݲ@6?;6CJނBJ IIR^IRd٥O H=9:Q >! %F٦!y%M %> 1=4Y5?=4y5f5ZB=99=E:=A@E@5 3D5:5O@5`y4I)MAQ}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:ny2nmmkkkk@FL@t >I7 : ɝ<3iII Di))=:Gi5=)9 )IA)2DE=*DE= m2Acoustic response timeoutD0:E-e>E->F5"F*F2F5:F)jKONrK9zKK=K21/+))#%"!,Pq~}{tmh^ZWRRPKIFEB@=<979633G =2B :B  O >Q  2Acoustic response timeout`mď, a?A>ڲ@Y>չ@>Dqp9> O>FAHRS rotation from veh to nav: [[0.887378,0.438211,-0.143288],[-0.457295,0.876125,-0.152597],[0.058668,0.200936,0.977846]]y>H fe? ?@W¿RDݿ7 ?Nÿ ?F?J?ɫ>ڲ@>;>CNBN IIVaIV錴٥^ ^Q=9b+;Q b>dd fF٦hyjh n> tz4Yv?~4yvvdB~8|~ :~:@@v3Dv4;v&i@vgz4) AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k)k)k5@TL@Dqp a>I : ɝiIIIiim=))J}JwJ3JJ[j:J9J(3JԉF"F*F2F^0:F 2Acoustic response timeoutZH]<RH]<He>HaHe!IIelBIe =IaIa&Ie<*IeEԱG=2B:B O> Itď,Ta?AnpҲ@YnX͹@nk9ngXO>zAHRS rotation from veh to nav: [[0.886966,0.439348,-0.142351],[-0.458240,0.875593,-0.152814],[0.057503,0.200772,0.977949]]ynH@b?G?8¿Sݿ`?`jÿ q?@?`[K?ɫnpҲ@n;nC%B% II5RI54٥mcټ m@=9mV3;Q u>qԱ 2Acoustic response timeoutq F٦y > 4Y? 4yoB 8  : &@ @3DE:@W{49)= A9DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@W$M@k >I  : ɝO3iIIFii=))F"F*F2F_0:FGtAFtA  2Acoustic response timeoutG =2B :B  O >9 szď,a?A>u˲@Y>]ƹ@>"g9>O>FAHRS rotation from veh to nav: [[0.886623,0.440224,-0.141784],[-0.459020,0.875093,-0.153338],[0.056571,0.201035,0.977949]]y>H6_?`,?@%¿`ݿ@?`ÿ@?`?@\K?ɫ>u˲@>;>CbBb IIjaIj錴٥rM rS=9v;Q v>tt zF٦xyz z> |4Y~镤?4y~+~yB 8  9 @ @~3D~':~x@~{4)`!AMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmYkYkYkYke^RM@"g 靍->I : ɝ4iIICii`]=))EjK 1CNrK 9zK K >K 2/,,,))&($-DRSL@3+%  )O}[@1$BK?:K>FM6"FI*FI2FUn0:FQ 2Acoustic response timeoutAGUp=2Ba:By O|>qJ- |J- sJ- 2J) J- ;g:J- 9J- c3J) ԙ Zď,Xb?A "2Acoustic response timeout:⾲@Y:ʹ@: e9:O>BAHRS rotation from veh to nav: [[0.885951,0.441697,-0.141401],[-0.460398,0.874363,-0.153374],[0.055891,0.200983,0.977999]]y:HY? D?`n¿*wݿ@?ÿ?̹?K?ɫ:⾲@:ߊ;8JBJ IIv\IvW٥~H>HCHm!II>BI =IID&I˜<*IsE ~I=9:Q >)) -F٦)y-t -> 1=4Y5|?E4y5a5BE8AE9E@E@53D5 ;5@5|4I)U!AQ}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:n2nmmkkkk@͆M@ e a>I : ɝf`4iIIHii=))qFQ"FQ*FQ2FU0:FQԩG}=2B:B O> 2Acoustic response timeout Sď,ɓb?A2@Y2@2Ub92O>:AHRS rotation from veh to nav: [[0.885408,0.442860,-0.141167],[-0.461522,0.873696,-0.153793],[0.055229,0.201321,0.977967]]y2HBU?`W?¿ݿQ?{ÿF? ?K?ɫ2@2\;0FBF IIR]IRt٥Vb ZO=9ZI:Q Z>\\ ^F٦\y^Q b> `f4Yb=?f4ybbBj[8hj9j@j@JnC=Jlb"3Db>;b'@b|4rB)vs!Av EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk M@Ub Zv>I : ɝ%4i!I!I%Ei)i-=)))Q"DQDQ2D]*D] U2Acoustic response timeoutF!"F!*F!2F-1:F)G5= G5=GME=2BQ:Bi Ou>) jK NrK 9zK K ?K  +=HE@8.*'"'9_xmU?1)!2K *K sA  2Acoustic response timeoutď,^g9b?A2@Y2@2.`92O>FAHRS rotation from veh to nav: [[0.884521,0.444619,-0.141197],[-0.463261,0.872786,-0.153735],[0.054881,0.201393,0.977972]]y2HM?t?¿ݿ`?@ÿ h???K?ɫ2@2ͧ;0RBR IIZpIZ<٥b͉ bI=9fr`:Q f>dd jF٦hyj j> lr4Yn?r4yn nBv18tv_9v@v@n'3Dn:n@n\}4x)z!Ax%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m1k1k9kAkEM@.` ZZ>I : ɝ N4i I I Bii`=))1F6"F*F2FP5:FJe}JewJe4JaJe[j:Je9Je3Ja ]2Acoustic response timeoutaJHBH?AH H H 4!II BI I I &I <*I iEG~=2B:B O>ԩ ď,+QSb?AI&<)&<RAHRS rotation from veh to nav: [[0.883565,0.446594,-0.140950],[-0.465147,0.871821,-0.153511],[0.054326,0.201199,0.978043]]yFH`)F?? ¿ݿ?<ÿ Ы??@ L?ɫFH@F^&;DZ}BZ IIfdIf@٥n nH=9r:Q r>pp rF٦pyv6 v> x~4Yz?4yz! zB849@@z,3Dzv:z1@z}4)"AEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoIBoI:nI2nImQmQkYkYkYk]N!N@H^ 靍N>I : ɝ4iIIGiiX=)) 2Acoustic response timeoutF6"F*F2FO0:FԡG-p{=2B9:BI O]v>i i u 2Acoustic response timeout ď,mb?A6@Y6{@6,^96ƺO>BAHRS rotation from veh to nav: [[0.882480,0.448661,-0.141186],[-0.467218,0.870765,-0.153218],[0.054197,0.201176,0.978055]]y6HF=?ڶ?`_¿ ݿN?`ÿ ?%?@9L?ɫ6@6`;6CFrBJq IlIvPIv٥zn` zI=9~~9Q > F٦y   > 4Y+?4yY B79|@%@13D ;1@}41)5l"A1eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimikqkqkqkuBUN@,^ 靥7>I[ : ɝJ4iIIDii=))FE5"FA*FA2FE]0:FAjK7MrK-9zKK@K %C &# ||BK>:K> 2Acoustic response timeout9GuG=2B:B O>a =ď,b?A "2Acoustic response timeout6k@Y6f@6]96/O>BAHRS rotation from veh to nav: [[0.881324,0.450863,-0.141387],[-0.469409,0.869659,-0.152803],[0.054065,0.201037,0.978090]]y6H3??¿@ ޿>? ÿ\??@L?ɫ6k@6;6CHXHXHZ !IIZBIZ =IXIX&IZҘ<*IZE2IeC:IeCBIaJIe =RIe =ZIe6vjBvh I9IUIIU.٥  A=99Q > F٦yͽ > 4Y?4yyB78R@@63Du;@~4)"AuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nymymykykkkxN@] ")>I, : ɝ4iIIIii=))iF"F*F2F_0:Fԑ 2Acoustic response timeoutG ~E=2B :B!  O= >Թ &ӧď,Ѡb?A 6g[@Y6OV@6)]96O>BAHRS rotation from veh to nav: [[0.880383,0.452566,-0.141813],[-0.471170,0.868725,-0.152696],[0.054092,0.201249,0.978046]]y6H,??&¿ '޿?ÿ?? &L?ɫ6g[@6`Q;6CHHIRkIR ٥Z ZZ=9Z|Q ^>JbJbsJ`J`Jbs:Jb9J`J`J`!jJ`!jJbE:!jJbF:!jll nF٦lyrۮ r> t~4Yv~?4yvvB782@@v:3Dv90;v@vC~4 )"A=DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9ZoABoA:nA2nAmAmIkIkIkIkMN@ԙ=)] 9=V(>I=J : AɝE5iAIAIMFiIiM=)I)Q U2Acoustic response timeoutD= :F6"F*F2FP0:FjK NrK 9zK K AK {vtohea`a`[YVWUQSRKJMR{ (0& {pe^W2K *K rA  2Acoustic response timeouty G t=2B :B  O >1ď,b?AZpD@YZX?@ZL^9ZrO>bAHRS rotation from veh to nav: [[0.879053,0.455018,-0.142214],[-0.473633,0.867504,-0.152013],[0.054202,0.200985,0.978094]]yZH3!??`4¿P޿?*uÿm? ޹? L?ɫZpD@Z׋;ZCziBzg IITIn٥#3 >=9Q > F٦!y%׻ %>ԉ )4Y-({?4y--˅Bw78@@-@3D-g<-4@-f~4)"ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m!m!k)k)k)k- %N@L^ 靕"'>I2 : ɝ5iIICii=))Թ 2Acoustic response timeoutZH5<RH1H9H9H= II=ӂBI9I9I9&I=<*I=ED O :F"F*F2FW0:F G $O=2B :B  O >iď,|b?A64@Y6/@6*^96O>>AHRS rotation from veh to nav: [[0.878133,0.456600,-0.142823],[-0.475315,0.866593,-0.151960],[0.054384,0.201327,0.978013]]y6H?@8?`H¿k޿`!?psÿ@ث?@? K?ɫ64@6?;4FgBFd IINgIN ^2Acoustic response timeout٥^) bF=9bQ b>dd fF٦dyj j> hn4Yjw?r4yj$jօBrH7pr|8r@r@jE3Djs:jAj~4x)z"AxIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk)O@*^ ">I6 : ɝ5iIIHii=))!"D5tAD5sAԁiu)>IJzJJ3JJ`:JJ(3JJy;Jz;JJ)MHG ]`wA)D :I/`wAAԩF%5"F!*F!2F%_0:F! e2Acoustic response timeout GM =2Ba :Bq  O >ď,b?A6@Y6@6U_96MO>>AHRS rotation from veh to nav: [[0.876912,0.458799,-0.143278],[-0.477538,0.865495,-0.151246],[0.054615,0.201051,0.978057]]y6H?`\? V¿޿@#? \ÿ`z?`?>L?ɫ6@6C;6CFcBJ` IINfIN{٥VU VH=9Z}Q Z>XX ^F٦\y^+̻ ^> `f4Ybt?f4ybYbBj"7hjL8j@j@bJ3Db:beAb~4p)r"AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm!k!k!k!k%[O@UU_ QU>IU/ : Qԙɝ]"5iIIEii=))jKPOrK9zKKBKPLGCHG;<,  )369;421)'&! />@9/'!" 2Acoustic response timeoutF6"F*F2F0:FGU2=2Ba:Bq O>! E 2Acoustic response timeoutHa Ha He IIe ĂBIe =Ia Ia &Ie <*Ie RE(ď, c?AR2 @YR@RXYb9RkO>ZAHRS rotation from veh to nav: [[0.875555,0.461113,-0.144146],[-0.479950,0.864307,-0.150405],[0.055233,0.200870,0.978060]]yRH?ނ?`s¿`޿f?@u@ÿ`{G?`?CL?ɫR2 @RB;RCfhBfe IIrSIrQ٥v< vF=9zĺQ z>x| ~F٦|y~>ܻ >  4Y8q? 4yB7%8@@O3DA~4)%"A!UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2nYmamakakakikm uO@XYb 靕$>I< : ɝ-5iIIBii=))FU6"FQ*FQ2FU_5:FQ) 2Acoustic response timeoutGY=2B:B O>ay J J a=JJ3JA.J |J mJ 4J J ;g:J &9J 3J J ߊ;J ;J ƾ:J Ǿ:ď,ߨ$c?A:}@Y:e@:Fd9:\O>JAHRS rotation from veh to nav: [[0.874434,0.463011,-0.144865],[-0.481936,0.863306,-0.149803],[0.055703,0.200808,0.978046]]y:H@]??¿` ޿3? ,ÿ ??@&L?ɫ:}@:;8!%f II5[I5:٥Ep: EE=9MQ M>II UF٦QyU] U> Ye4Y]m?e4y]]Bm6im8mj@m@]T3D];]A]~4uB)}"AyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@O@Fd "%>I> :  2Acoustic response timeoutɝ75iIIGii #j=) ) EEF}6"F*F2F 5:FGK=2B:B OjKMrK-9zKKCK a'Wv7:}'{nS4 %1,###! I  2Acoustic response timeout2ď,>c?A $$BT@YB<۸@B,f9BIO>JAHRS rotation from veh to nav: [[0.873098,0.465251,-0.145745],[-0.484283,0.862119,-0.149066],[0.056296,0.200731,0.978028]]yBHk?`?@ç¿޿z? ÿ@Ҭ??`L?ɫBT@B;BCRlBRj IIZAIZE٥b< bS=9fȺQ f>hl rF٦pyv& v> x~4Yzj?4yzzB6  7 ?@ @zY3DzO;zAz~4)m"ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm mkkk!k%O@},f 靅+>IN : ɝB5iIIDii,Ծ=))qFM6"FI*FI2FMP0:FI  2Acoustic response timeoutJHBH@AH%>H!H% II%BI% =I!I!&I%<*I%jEԡGMp=2BY:Bq O}> %ď,aXc?A 62Acoustic response timeout:б@Y:ʸ@: i9:ҜO>FAHRS rotation from veh to nav: [[0.872104,0.466821,-0.146675],[-0.486006,0.861199,-0.148778],[0.056863,0.201035,0.977932]]y:HE?e?<¿߿?( ÿ0? ?8K?ɫ:б@:҉;:CNsBLNs IIZYIZ٥b= bJ=9bQ b>dd fF٦dyfТ j> hv4Yjg?v4yj2j Bv6tz7z!@z@j^3Djgk;jQ"Aj~4|)~0"A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1m1m1k1k9k9k=uP@u i qu$;>I : ɝN5iIIIiiB=))"D D 2D *D F "F *F2F\0:FJzJxJJJ`:J9JJJy;Jz;J/:J0: 2Acoustic response timeoutG-=2B9:BQ O]>A Qď,8rc?A>J@Y>2@>lCk9>O>FAHRS rotation from veh to nav: [[0.870964,0.468667,-0.147560],[-0.487982,0.860157,-0.148333],[0.057406,0.201199,0.977867]]y>H ??<¿;߿`h?¿Jd?@?@J?ɫ>J@>$;>CNzBN{ IIV]IVt٥Z+= ^K=9b᰺Q b>dd jF٦hyj& j> lr4Ynpd?r4yngnBvb6tv7v@v@nc3DnL:n(An~4x)z!A|-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1m1m1k1k9k9k= I/P@ulCk quXH>Iu : qɝ}Z5iyIyIFiig=))Et>E>F6"F*F2F_0:FjK-OKOrK-9zK)K-DK-T|`D5'!'.<Tgiedinswyzzz}xtqfb``a[XTPTSPUQTxuh^BKE?:KE ? u2Acoustic response timeoutIG =2B:B O%n>qԡ H >H CH II ɂBI =I I D&I <*I %E % 2Acoustic response timeout/ď,c?AI<)<6a@Y6I@6m96~O>BAHRS rotation from veh to nav: [[0.869802,0.470531,-0.148479],[-0.489973,0.859134,-0.147701],[0.058066,0.201221,0.977823]]y6H@j?,?\ÿ[߿`~?¿ɺ??@TJ?ɫ6a@6@;6CFBF IInTInn٥< E=9кQ > F٦y% -> 1=4Y5,a?=4y55BE76AEf7E@E@5h3D5 ;5i/A5~4I)M!AIy}DNOT Ignoring new targets: 14.63 m.RoyJoboZoBo:n2nmmkkkkIP@m T>I : ɝhh5iIICii&=))Fe5"Fa*Fi2Fq:FqGyFyPExceeded connect timeout, disconnecting.ԩ 2Acoustic response timeoutG2=2B:B O> ď,@c?A2@Y2Ꮈ@2Ip92joO>:AHRS rotation from veh to nav: [[0.868430,0.472836,-0.149185],[-0.492334,0.857955,-0.146697],[0.058630,0.200845,0.977867]]y2H,?B?}ÿe߿^t?¿?G?J?ɫ2@2;2C^B^ IIfFIfפ٥n1= nM=9rUQ r>pp rF٦pyv v> xe4Yz^?m4yzz(Bm6iu;7u@}@zm3Dz>I5 : 1ɝ5nw5i1I1I=Hi9i=Ê=)9)AF"F*F2Fn0:F )G% *=2B9 :BI  OU >jKe NrKa zKa Ke EKe nSC/$~smkda\chd^WOJE@:95423//-,*+)'2Ku rA*Kq  2Acoustic response timeoutY _5ď,ɿc?A2셱@Y2Ԁ@2r92̞O>>AHRS rotation from veh to nav: [[0.867554,0.474177,-0.150024],[-0.493805,0.857175,-0.146310],[0.059220,0.201014,0.977797]]y2H? X?3ÿ߿m?G¿%R?׺?J?ɫ2셱@2Nʼn;2CRBR IIZLIZ٥b= bL=9bQ b>dd fF٦dyjz j> hr4YjZ?r4yjj2Br5pr7r@v@jr3Dj ;j&9Je{JeyJaJaJed:Je9JaJa!}@!}@!}@!@I-C : ɝ5iIIEii=))Fi"Fi*Fi2Fm0:FiZH<RH<H>HH II؂BI =IID&I<*I[E2I:IBIJIRIZIN6 2Acoustic response timeoutaԑGx=2B:B O>  nManaging dock network, ignoring radio surface power offԹ Mď,Yc?A  &2Acoustic response timeoutJr@YJm@JLVt9J#!O>VAHRS rotation from veh to nav: [[0.866337,0.476250,-0.150487],[-0.495889,0.856136,-0.145343],[0.059617,0.200541,0.977870]]yJH`?z?%Cÿ ߿we?`¿&?S?`J?ɫJr@J^;JCZBZ IIj[Ij:٥rZg= rH=9r?Q v>tt vF٦tyz » z> | 4Y~W?4y~3~IT : ɝa5iIIBiiw٨=))F"F*F2F_1:FG= G=A 2Acoustic response timeoutG =2B :B  O > ~Gď,Àc?A6be@Y6J`@6v96 nO>>AHRS rotation from veh to nav: [[0.865535,0.477436,-0.151340],[-0.497219,0.855410,-0.145080],[0.060191,0.200821,0.977777]]y6H@v?`Q?_ÿm߿_?¿WѮ?? I?ɫ6be@6;6CFBF IINVIN٥Za= ZM=9^;Q ^>    F٦ yy > !E4Y%T?M4y%_%FBM5IM6MR@M@%|3D%S;%JIA%~4]B)]A]EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk ZP@v >I : ɝ5iIIGii5{=)) ]2Acoustic response timeoutjK OrK9zKKFK$"#! !;FC>99883-'$ BK?:K?F6"F*F2Fn4:FG.=2B:B O>JuzJu{Ju3JqJu`:Ju-9Ju(3JqI H H CH !II BI =I I &I <*I eE  2Acoustic response timeout0ď,a d?A 6MY@Y65T@6;Aw96hO>BAHRS rotation from veh to nav: [[0.864793,0.478677,-0.151661],[-0.498490,0.854721,-0.144772],[0.060328,0.200800,0.977773]]y6H`c? ?iÿ`D߿ Y?¿Y?ͳ?I?ɫ6MY@6;6CNBN IIV\IVW٥Z8< ^J=9^%Q ^>`` bF٦`yft f> p~4YrQ?~4yrrPB56:@ @r3Drt;rOAr~4)uAyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkP@;Aw 靥a>I : ɝ5iIIDiih=))EEiF5"F*F2FP0:F e2Acoustic response timeoutԙGܪ=2B:B Oe > ) G xA) I% 춿% xA% 8AX ď,4'd?A2mP@Y2UK@2w92O>BAHRS rotation from veh to nav: [[0.864246,0.479532,-0.152078],[-0.499423,0.854171,-0.144808],[0.060460,0.201101,0.977703]]y2H`??Hwÿ߿`]U?¿`?@?WI?ɫ2mP@28;2CT^ÂB^ I)d f@AIfVIf٥r= rH=9rnQ r>tx zF٦xy~;- ~>  4YgN? 4yZB O5 6*@@3D:VA~4B)AEMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmQkYkYkYk]P@ 2Acoustic response timeoutw ǭ>I : ɝ5iII%Ii!i% j=)!))F "F *F 2F _0:F G5&=2B9:BQ O]> u 2Acoustic response timeoutjK ^MrK 9zK K GK (..(XX.mG.   & pC& 2K sA*K tA! Aď,Ad?ANU:@YN=5@Nx9NuO>VAHRS rotation from veh to nav: [[0.862881,0.481775,-0.152736],[-0.501744,0.852892,-0.144321],[0.060737,0.201166,0.977672]]yNH?g?یÿH J?@y¿? ҿ?I?ɫNU:@NbP;L^ĂB^ IIfUIf٥r~; rJ=9v3Q v>x   F٦ y &ٻ > %4YGK?%4yeB%(5!%S6%@-@3D;\A~41)5A1]DNOT Ignoring new targets: 14.63 m.RoYJoaboaZoaBoa:na2namimikikikikuP@x 靭>I$ : ɝp5iIIFii=))J=J=qJ=4J9J=p:J=q9J=3J9F"F*F2F`0:F)JHQBHU?AHe>HaHe(!IIeBIaIaIa&Ieј<*IeE 2Acoustic response timeoutQG͢=2B:B O>ԁ tď,o[d?A 2Acoustic response timeoutB0@YB+@BSy9B6O>JAHRS rotation from veh to nav: [[0.862289,0.482735,-0.153053],[-0.502738,0.852358,-0.144017],[0.060934,0.201129,0.977668]]yBH`ޗ?!?<ÿmF?$o¿2?? I?ɫB0@B;BCVςBV II^FI^פ٥lI= F=9OQ %>!! -F٦)y-[9 -> 1E4QY5#H?e4y5 5oBm5im+6m@m@53D5@;5?cA5~4y)}AyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk+Q@=Sy AM>IM8 : QɝUh5iYIYICii=)) E}]>E}!>yF6"F*F2F_0:Fԡ 2Acoustic response timeoutGD=2B :B  O% > rď,td?A6%@Y6 @6ky96O>>AHRS rotation from veh to nav: [[0.861626,0.483912,-0.153064],[-0.503881,0.851744,-0.143652],[0.060856,0.200901,0.977719]]y6Hq?k?ÿ`|A?2c¿`(??`zI?ɫ6%@6;6CJڂBJ IIzrIz{٥g=  L=9ZL9Q > F٦y%X %> )54Y-E?54y-T-yB5415 6Ա5@@-3D-<-iA-~4)7ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk k 3Q@=ky AE>IE : AɝE5iAIAIMHiIiMי=)Q)Q ]2Acoustic response timeoutF5"F*F2F0:FjKENrK9zKKHK   ^ CiQ?3)!BK>:K?Gl=2B:B!! O5>JU~JUoJQJQJU{m:JUK9JQJQHM >HM CHM G!IIM BIM =II IM D&IM <*IM E  2Acoustic response timeoutA g#ď,Ȏd?A6!@Y6@6hx96O>>AHRS rotation from veh to nav: [[0.861333,0.484387,-0.153212],[-0.504397,0.851394,-0.143914],[0.060734,0.201237,0.977658]]y6H ?`4?uÿ$@>?k¿ ?`&? H?ɫ6!@6;6CVՂBV II^YI^٥fȼ jM=9jϠ9Q j>ll nF٦pyrú v> xz4Yz B?~4yzzB~4|~5~@z3Dz:zoAz~4) _A 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo9Bo9:n92n9mAmIkIkIkQkU`LQ@hx >I : !ɝE5iAIAIMEiQiU/=)Q)YF6"F*F2F?1:F1 M2Acoustic response timeoutGx=2B:B O1Yԑ W)ď,d?A6@Y6@6" w96 O>>AHRS rotation from veh to nav: [[0.860980,0.485106,-0.152921],[-0.505054,0.850989,-0.144005],[0.060277,0.201219,0.977690]]y6H&? ?ÿf) N;?`n¿ܮ??@ F٦ym > 4Y6>?4yBT:B>; @@3D;;R4)1A 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk(gQ@q bB>bB>b%*@"b @" w  >I  : ɝ:5iIIBiiϗ=))!E)F6"F*F2F`5:FԙGV9=2B:B O > m 2Acoustic response timeoutjK% ,$NrK% ۵9zK! K% IK%  &8CJI@82,,(&#(6Tlttkf\TJD?942/-('%##  4E 0ď,dd?A>@Y>s@>2Fv9>8P>FAHRS rotation from veh to nav: [[0.860838,0.485338,-0.152983],[-0.505318,0.850772,-0.144362],[0.060089,0.201578,0.977628]]y>H? ?ÿ@+ 9?tz¿Į?K?H?ɫ>@> ;>CLLIV`IV̍٥^ : ^W=9bh:Q b>`d fF٦dyfN f> h=4Yj:?=4yjUjBAE @E@j3DjbsI : ɝ5iIIGiif=))F6"F*F2FS3:FZH<RH<H>HH`!II4BI =IID&I<*IRE 2Acoustic response timeoutG=2B:B O>! +6ď,L7d?A "2Acoustic response timeout$:@Y: @:'t9:/O>FAHRS rotation from veh to nav: [[0.860383,0.486262,-0.152611],[-0.506141,0.850324,-0.144121],[0.059689,0.201242,0.977721]]y:HB??ˆÿM25?r¿}?`H?`~I?ɫ:@:{;8RڂBR II^qI^v}٥f fJ=9f:Q j>hh jF٦hynK n> pv4Yr7?v4yrrBtv @z@r3DrW:r:r 4|)~7A|-DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n12n1m9m9kAkAkAkE`WQ@ bbb"b @'t 9=>IE : IɝM6iIIQIDii=))9F5"F*F2FP0:F J!J%@AJ5zJ5qJ55J1J5`:J5q9J54J1J1!EJ1!EJ5:!MJ5:!MY 2Acoustic response timeoutG2B:B O>ԉ <ď,d?A0>V@Y>> @> r9>IO>FAHRS rotation from veh to nav: [[0.860251,0.486596,-0.152291],[-0.506416,0.850131,-0.144293],[0.059254,0.201251,0.977746]]y>H`-?c$?A~ÿ4E4?4x¿V??I?ɫ>V@> ;aa eF٦aym= m> q4Yu:3?4yuuBuI>; @@u3Du J;uJ0;um4)GA]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoaBoa:na2namimmBkikikiku@Q@ buI>buI>bn\*@"b @ r >I : ɝ]6iIIIii`=)) U2Acoustic response timeoutԉjK-+NrK-9zK)K-JK-G?81*&$11'# IidQ@5+ 9w~eTE5+#BK= ?:K=?F6"F*F2F_0:FԹG=2B:B  O >H >H CH m!II >BI =I I &I ̘<*I yE2I:IBIJIɪ =RIɩ =ZIɻ6  2Acoustic response timeoutCď,e?A 6G @Y6/@6p96O>NAHRS rotation from veh to nav: [[0.860087,0.487023,-0.151852],[-0.506752,0.849922,-0.144343],[0.058764,0.201099,0.977807]]y6H Յ?b+?oÿ@O72?y¿E??`1J?ɫ6G @6!؇;4V͂BV IIbmIbFp٥ra vR=9z<:Q z> F٦y ly > !54Y%/?54y%D%B9E @E@%3D%3;%v;%O4UB)UqAQDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`8Q@ bbb"bq @p 靝>I : ɝ" 6iIIFii+=)) FI"FI*FI2FI:FIGU= GQ e2Acoustic response timeout9GP=2B:B O>i J= %=J= C=JE {JE xJE 4JA JE d:JE 9JE 3JA JE +;JE -;JE /:JE 0:Iď, )e?A6@Y6@6Vn96O>>AHRS rotation from veh to nav: [[0.859904,0.487469,-0.151454],[-0.507113,0.849702,-0.144367],[0.058316,0.200946,0.977865]]y6H V?@2?bÿ@E:@0?z¿ۭ??`J?ɫ6@6&#;6CbBb I9Mb@Mb@Mb@ )Ii/$ƿJ +?{Gz?=ף<)AIi@ @IYI 2Acoustic response timeout٥ߒ >=9=:Q > F٦ybw > 4Y+?4y`BL>;@@3D:<:ʩ4)A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m-Bk1k1k1k=Q@ b]L>b]L>b]}(@"b],@mVn quq>Iu : qɝ}46iyIyI}CiiC=))F-5"F)*F)2F-`0:F)iԙGmi=2By:B O> u 2Acoustic response timeoutjK NrK zK K KK   -0-*"  TH|2K *K sA =Pď,#Ce?AJf@YJN@JCl9JeO>^AHRS rotation from veh to nav: [[0.859961,0.487520,-0.150968],[-0.507085,0.849663,-0.144699],[0.057728,0.200990,0.977891]]yJH̄?3?`Rÿ :p0?@¿?@?J?ɫJf@J";JCjBj IIrSIrQ٥z zX=9z:Q z>|| ~F٦|yh9 >  4Y (?4y  B@ 3D : ): _4!)%A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoQ:nQ2nQmYmYkYkYkYkeR@ԙ bbb"b@ECl AEq>IE : IɝM6iIIIIUHiQiU`E=)Q)YJHBHAAH>HHf!II9BIII&Iݘ<*IEF6"F*F2F0:F 2Acoustic response timeoutG̓=2B:B O>! Wď,~]e?A 2Acoustic response timeoutI)<=B= IIMfIM{٥]N ]D=9eQ e>aa mF٦iym m> q4Yu$?4yuuB@u3Du?;u@;u4)fADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk}`"R@iU)>IƐC)mG )AI%A?SA bbb"b >I :J yJ tJ 3J J ]:J 9J (3J J ł;J Ƃ;J :J :! AɝE 6iAIAIMEiIiI)I)QF"F*F2Fo0:FGFA 2Acoustic response timeoutQG  =2B :B  O >y 2]ď,1[we?A6i@Y6Q@6h96O>NAHRS rotation from veh to nav: [[0.859944,0.487723,-0.150408],[-0.507215,0.849458,-0.145444],[0.056829,0.201363,0.977867]]y6H?@6?@@ÿ; .?¿?F?J?ɫ6i@6$;6CVBV I-zonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 90.45, 77.25, 80.32 mz@z qz@z uz@z iz@z I~_I~٥   O=9;Q > F٦y%Y %> )-4Y-q!?54y--B5+:15W;5@5@-3D- ;->-A4A)EAAuDNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:ny2nmmkkkk`5R@h 靽q>I : ɝl#6iIIBii=))Y 52Acoustic response timeoutFq"Fq*Fq2F}05:FyjK~NrK۵9zKKLKYA1)   !%.7;75322531/01/>HOmN<g JBK?:K?ԁG=2B:B O>ԩH >H H T!II *BI I I D&I ۘ<*I E  2Acoustic response timeout dď,2e?AF@YF@F[f9FO>RAHRS rotation from veh to nav: [[0.859745,0.488249,-0.149836],[-0.507620,0.849209,-0.145483],[0.056210,0.201138,0.977949]]yFH?`x??@-ÿl>,?0¿Ǭ? ? [K?ɫF@Fʇ;D^B^ IIjVIj٥M MG=9Mr:Q M>QQ UF٦Qy]叺 ]> am4Ye?m4yeMedžBm :im.;m@u@e3De:eN?e4y)}k AyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk KOR@[f  >I : ɝ'6iIIGiip5=)) ԱF6"F*F2FP0:F E2Acoustic response timeoutG̓=2B:B O> J= zJ= rJ= 4J9 J= `:J= 9J= 3J9 J= x;J= y;J= :J= :9 VCjď, e?A :+@Y:@:d9:O>FAHRS rotation from veh to nav: [[0.859546,0.488680,-0.149574],[-0.508004,0.848945,-0.145681],[0.055789,0.201204,0.977959]]y:H`f?F?@>%ÿA*?஥¿`U? ?qK?ɫ:+@:A8;:CJ}BJ Im=m= q=q uu ii Mb@Mb@Mb@ )IiL7A`i|?5?~jth+q=D)AIi@@ @ 2Acoustic response timeoutIEI٥ C=9:Q > F٦yl > 4Y?4yT:>;K @@3D;:Iɺ4) ADNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo)Bo):n)2n1m1m5Bk9k9k9k=7jR@ be>be>be&).@"beK @ud qu>Iu : yɝ}.6iyIyIDii=))F 5"F *F 2F^0:FG= G=AG12BA:Ba O> U 2Acoustic response timeouti jK= KNrK= 9zK9 K= MK= Oj6sx |vrnhcW@' 2KI *KI 8qď,\e?A>P@Y>8@>(c9>-AO>RAHRS rotation from veh to nav: [[0.858889,0.489943,-0.149215],[-0.509153,0.848335,-0.145229],[0.055430,0.200709,0.978082]]y>H |?:[?yÿJ%?@ޖ¿Xa?հ?qL?ɫ>P@>Ô;>CbgBbe IIjWIjƕ٥r߽ rX=9v1x:Q v>xx ~F٦|yc > 4Y)?4yȆB!%5 @%@3D;r;Ϻ4-B)-!A5E]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:na2namamakikikikmR@ b9b9b9"b=5 @M(c IU>IU : QɝUiQIQI}Iiyi=))ZH<RH4=H)H)H-.!II- BI)I)I)&I-ߘ<*I-EYF6"F*F2F_0:F 2Acoustic response timeoutԁG5v=2BA:BQ Oe>ԩ E 2Acoustic response timeoutZwď,e?AB@YB@B"ub9BO>LNAHRS rotation from veh to nav: [[0.858621,0.490390,-0.149289],[-0.509623,0.848010,-0.145475],[0.055259,0.200989,0.978034]]yBHy?b?@ÿ@N@"? ¿@J??@ L?ɫB@Bc;BCV_BVZ II^UI^٥fp, fM=9j9Q n>lp rF٦pyr r> tz4Yv[?~4yvt|~, @~@v3Dv;v;vֺ4) U!A 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo9:n92n9m9m9kAkAkAkER@ bqbqbq"bu, @"ub 靅>I : ɝϪ3iIIFiie=))EEF"F*F2F:FGm{=2B:B O> 2Acoustic response timeout9 %}ď,Qe?A6@Y6@6Fb96hnO>BAHRS rotation from veh to nav: [[0.857934,0.491559,-0.149394],[-0.510784,0.847359,-0.145200],[0.055215,0.200880,0.978059]]y6H`2t?u?Sÿ`WX?¿.E?p?`AL?ɫ6@6;4NGBN= IMb@Mb@Mb@ )IiA`"~jt?y&1ٽ<`e)AIi @I]It٥G׽ 7=9%@8Q %>!! %F٦)y-G -> Q]4YUp?]4yUUņBel=e;e@e@U3DU :U:U޺4i)"ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkk 2Acoustic response timeoutkk R@ bl=bl=b:@"bv@Fb >I ɝiIAI]CiYi]}=)Y)ajK&OrK#9zKKNK  2<FMB6K{;W'kP<.&)BJF9"F9*F92F9:F9yJ[3J[Y3J[L.JxJvJJJZ:Jϣ9JJ!@!@!@!@H9 H9 H= II= BI9 I9 I9 &I= Ř<*I= pEG y=  2Acoustic response timeout 2B :B  O >2iď,0f?AV0@YVܷ@VEb9VSO>^AHRS rotation from veh to nav: [[0.857646,0.491962,-0.149722],[-0.511268,0.847008,-0.145543],[0.055214,0.201372,0.977957]]yVH q?`N|?*ÿ N\?&¿E?`?@mK?ɫV0@V;VCf4Bf% IInQIn٥vͽ v`=9zUg6Q z>xx ~F٦|y~Fʺ ~>  4Y? 4y†B@@3D::4!)%"A)UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmamakakakikmR@ bbb"b@ԑEb 靭>I4 : ɝiIIHiiU9=))F1"F1*F12F51:F1 2Acoustic response timeoutGu=2By:B O>! (ď,8g,f?A2Ӱ@Y2η@2[b92O>>AHRS rotation from veh to nav: [[0.856764,0.493448,-0.149882],[-0.512742,0.846194,-0.145090],[0.055235,0.201159,0.978000]]y2Hj? ?@W/ÿah? M¿G??K?ɫ2Ӱ@2;2CF#BF I]Mb@Mb@Mb@Y Y)YIYiY]V-Mb~jt]h]])YI]C@iY]@ Y]@ u2Acoustic response timeoutIYI٥ ?=9PQ > F٦y3 > 4Y ?4yBi=3<8*@@3D;;4B)#AEDNOT Ignoring new targets: 14.63 m.RoJoboZo Bo :n 2nmmWBkkkk LR@ bi=bi=b/>P@"bE8*@[b >I : ɝ3iIIEii+=))EE>F"F*F2F1:FIG@=2B:B O> - 2Acoustic response timeoutjKu NrKu `9zKq Ku OKu C5-&!=XacUE0!3dsC' <9 !5ԁ zď,1Ff?A2LȰ@Y24÷@2Qyb92O>:AHRS rotation from veh to nav: [[0.856086,0.494554,-0.150108],[-0.513870,0.845543,-0.144897],[0.055263,0.201181,0.977994]]y2He?Ʀ?6ÿ@q?¿yK?`H? K?ɫ2LȰ@2`;2CB(BB IIJ\IJW٥R'< R\=9ReQ V>TT VF٦TyZzh Z> \b4Y^ ?b4y^G^B`b"*@f@^3D^;^;^4h)j"AhJ{JqJ3JJd:Jq9J(3JDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk S@ bAbAbA"bE"*@Q}Qyb 靅g>I| : ɝZT4iIIBii =))H>HH IIBIII&I<*IE2IC:ICBIJI¬ =RI¬ =ZI®W4F-5"F)*F)2F-P5:F) 2Acoustic response timeoutԁGMz=2BY:Bi O}>ԩ = 2Acoustic response timeoutď,^`f?A~B II_I٥%u %B=9%Q ->)) -F٦)y5 5> 9E4Y= ?E4y==BIIM@=3D=";=#;=\4Y)]k#AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkS@ b!b!b!"b!9 9=Ϳ>I= : 9ɝEu4iAIAIMGiIiUh=)Q)QԱF"F*F2FP0:F JJ 2Acoustic response timeoutG8=2B:B O> 1 ͝ď,yf?AF @YF@Fd9Fd9O>^AHRS rotation from veh to nav: [[0.854156,0.497653,-0.150862],[-0.517011,0.843843,-0.143625],[0.055829,0.200675,0.978066]]yFH?U?@?@rOÿ@[@?`Mb¿`??PL?ɫF @Fc;DjBjIMb@Mb@Mb@ )IiI +~jtIQ UF٦QyU ]> Ye4Y]?m4y]]BmHy=mZI : ɝ4iII Di i~=))E!F6"F*F2FV0:FjK OrK9zKKPKu]H:8TTNB5) "*/-)&  BK>:K ?AJyJtJ4JJ]:J9J3JG_=HHH IIBIII&I˜<*IlE2B :B)  O5 >i  2Acoustic response timeoutڷď,ʓf?A6훰@Y6Ֆ@6 f96#XO>BAHRS rotation from veh to nav: [[0.853243,0.499014,-0.151531],[-0.518470,0.843012,-0.143243],[0.056262,0.200785,0.978018]]y6HM??[eÿN@?`U¿[ά? U? K?ɫ6훰@6eg;4f BjIIrXIr㔴٥z zb=9zQ z>|| ~F٦|y|  > 4Y?4yB!%2A%@3D;-:f4))-#A)]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoaBoa:na2namamikikikikmBQS@ bbb"bP@ f 靵H>I : ɝ-5iIIIii |=))iFm5"Fq*Fq2Fu_0:FqGEp=2BQ:Ba Om> 2Acoustic response timeoutԑ)HG )5AIȞՙA J 4=J %=ď,䟭f?A2@Y2@2@h92~O>>AHRS rotation from veh to nav: [[0.852191,0.500607,-0.152192],[-0.520158,0.842034,-0.142880],[0.056624,0.200925,0.977969]]y2H`&E??{ÿ!`?I¿@??@K?ɫ2@2d;2CLPP5Mb@Mb@Mb@1 1)1I1i15y&1v/Q5`5xi5u)5AI1i15@ 15@IM[IM: ]2Acoustic response timeout٥EE: E7=9ETQ M>II MF٦IyU U> Ye4Y]7?e4y]m]Be=eKI5@ : 1ɝ=Z 5i9I9I=FiAiEuu=)A)AF6"F*F2F:F  2Acoustic response timeoutG Pڀ=2B! :B9  OE >ԁ jK @MrK 9zK K QK <r zygI0& *=HC>N}|2K *K DZď,xf?A>p}@Y>Xx@>i9>P>RAHRS rotation from veh to nav: [[0.851268,0.501907,-0.153079],[-0.521618,0.841141,-0.142818],[0.057080,0.201425,0.977839]]y>H=??ÿ @?G¿@9?`H?vJ?ɫ>p}@>9D;>CTTI^SI^Q٥fa fe=9jQ j>hh nF٦lyn n> pv4Yr?v4yrrBxzq%z@r3Dr:rB:rg4|)~#A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1m1m1k1k9k9k=@S@a bbb"bԭl@JJJ3JJp:JJ(3J=i 9E>IE : AɝE85iAIAIMCiIiMo=)IH}>HyH}s II}sBIyIyIy&I}<*I}E)FM5"FI*FI2FMo0:FI u2Acoustic response timeoutԉG-Hu=2Ba:By O9>Ա  2Acoustic response timeoutpď, Uf?A 6j@Y6e@6k96-P>RAHRS rotation from veh to nav: [[0.850054,0.503721,-0.153860],[-0.523543,0.840021,-0.142362],[0.057535,0.201567,0.977783]]y6H 3?{?ÿ@t?8¿/u??`J?ɫ6j@6 f;6CbBbIIjWIjƕ٥<  G=9 2Q  > F٦y > !-4Y%?-4y%%B15%=@%3D%h;%j;%4A)E#AIuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:ny2nymmkkkkS@ bbb"b>l@Թk >I : ɝXS5iIIHii2h=)) FU6"FQ*FY2F]0:FYG}= G}=quA }2Acoustic response timeoutG2B:B O>9 ď,32f?A%B% IMb@Mb@Mb@ )IiX9vMbMb)AIZ@i@A @IjI٥)= <=9Q > F٦y   >! !-4Y%?-4y%y%B-=-9<5$5@%3D% ;%;%<%49)EZ#AAmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmqm}QBkykykyk} S@ b=b=b\@"b?m@ 靽>IE : ɝm5iIIEii5Wi=) U2Acoustic response timeout)AF"F*F2F.1:FjKNrKk9zKKRKn`QIC=>>75/'#!!V~f^\VKB<>{-L@x sf~|?BK?:K>H}>HyH}f II}iBIyIyIy&I}˘<*I}yEԡJ ~J }J 4J J {m:J S9J 3J J E;! J F;! J :! J :! G ;h=2B :B  O >  2Acoustic response timeoutԹ ď,6g?A6lG@Y6TB@6Zn96O>BAHRS rotation from veh to nav: [[0.847750,0.507241,-0.155003],[-0.527183,0.837949,-0.141139],[0.058293,0.201365,0.977780]]y6H ?R;? ÿ@z?¿ح?@S?I?ɫ6lG@6;6CJ BJ IIRiIR҅٥V\+= Z`=9ZQ Z>\\ ^F٦\y^B ^> `f4Yb?j4ybbBhj#%j@b3Dbd:bh;b+4t)v#At B*** querying acoustic contact ***:p Bp DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n!m!m!k)k)k)k-%S@ bIbIbI"bM]l@mZn im}>Iu : qɝu55iqIqI}Biyi}X=)y)!ԁF"F*F2F5:Fԩ M2Acoustic response timeoutGXh=2B:B O> }.ď,%.g?AI)p<>i8@Y>Q3@>Ɗp9>O>JAHRS rotation from veh to nav: [[0.846763,0.508715,-0.155568],[-0.528723,0.837068,-0.140606],[0.058692,0.201312,0.977767]]y>H? eG?ÿLB?a@ ?@?@I?ɫ>i8@>Ă;>C~/B~ I 2Acoustic response timeout}Mb@Mb@Mb@y y)yIyiy} ףp= &1Mb`?}Q8}P};)}AIyi}@}@ y}z@I\IW٥Yr= .=9_Q > F٦y > 4Y?4yBZ= C< 6 @3DH:Q:34)"A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmYm]]Bkakakake}S@ bZ=bZ=b}R@"b[@MƊp IM>IMK : QɝU֑5iQIQI]GiYie[T=)a)F6"F*F!2F%15:F!!G)F)I m 2Acoustic response timeoutGe &V=2Bq :B  O >jKU OrKU 9zKQ KU SKU |c\TMHDACA@Eezvnhgb^^ZYUPLC<520*" ď,fHg?A2K *KtA6,@Y6&@6uq96'O>BAHRS rotation from veh to nav: [[0.845952,0.509925,-0.156017],[-0.529987,0.836334,-0.140215],[0.058983,0.201302,0.977752]]y6H ?NQ?_ÿ >?@3?@D?I?ɫ6,@6\;6CFCBJ8 IIRaIR錴٥=  j=9 ZQ  > F٦y > !-4Y%?-4y%;%B)565@%3D% ;% ;%949)="A9eDNOT Ignoring new targets: 14.63 m.RoaJoaboiZoiBoi:nq2nqmqmykykykyk}sT@ bbb"b[@uq >I/ : ɝiIIDiiESO=))JH BH ?AH>HHl IInBIII&I<*IEIF6"F*F2F^0:F 2Acoustic response timeoutqGEXR=2BQ:Bi Ou>ԙ @ď,̚bg?A "2Acoustic response timeout@J) @YJ@J@r9J*P>VAHRS rotation from veh to nav: [[0.845173,0.511099,-0.156396],[-0.531214,0.835585,-0.140037],[0.059109,0.201435,0.977717]]yJH ?Z?Ŀ`?C?`?tI?ɫJ) @JR;JCZQBZI IIb]Ibt٥jZ= jN=9n;Q n>pp rF٦pyrp v> tz4Yv?z4yvnvB|~6~@v3Dv;v;v@4 ) !A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk!T@ bbb"b5i[@-@r )- >I- : )ɝ-+3i)I1I=Ii9i=J=)9)9EIԱF6"F*F2F_0:FJyJyJ3JJ]:J9J(3JJł;JƂ;J:J: 2Acoustic response timeoutGQO=2B:B1 OE>a jď,Gw|g?A2@Y2@2r92P>>AHRS rotation from veh to nav: [[0.844496,0.512117,-0.156723],[-0.532273,0.834949,-0.139808],[0.059258,0.201487,0.977697]]y2H?Bc?Ŀ``?<W?S?`KI?ɫ2@2< ;0FaBF] I%Mb@Mb@Mb@! !)!I!i!%l~jt~jt?%%ļ%D<)%AI%p@i!%A !%@I=dI=@٥M= MC=9MQ U>QQ UF٦Qy]D ]> am4Ye?m4ye<eBm5=u(I : ɝ~]4iIIFii3F=)) m2Acoustic response timeoutIF6"F*F2F:FjK=NrK=9zK9K=TK=  BKM>:KM?qH!H!H% II%BI!I!I!&I%<*I%E2I:IBIJIRIZI74G- <H=2B1 :BI  OU >ԡ  2Acoustic response timeoutRď,Sg?A6 @Y6@61r96?P>>AHRS rotation from veh to nav: [[0.843980,0.512926,-0.156857],[-0.533100,0.834421,-0.139807],[0.059174,0.201615,0.977676]]y6H?`i?@Ŀ@( ?5K?`?I?ɫ6 @66+;4VuBVv II^UI^٥f;= fS=9jMc9Q n>pp rF٦pyr$ v> tz4YvK?z4yv t|~:@~@v3Dv;v;vN4) t A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmAkAkIkIkM@ST@ bqbqbq"bu>:@y1r 靍T>Ix : ɝiIICiicC=))FU5"FQ*FQ2F]0:FYԡ ]2Acoustic response timeoutGq2B:B O>J ~J {J 4J J {m:J -9J 3J J E;J F;J :J : "ď,NAHRS rotation from veh to nav: [[0.843348,0.513947,-0.156914],[-0.534102,0.833835,-0.139479],[0.059156,0.201437,0.977713]]yFH?Br?@Ŀ\Ʈ?@rI??mI?ɫF @FX;FCVBV IMb@Mb@Mb@ )Ii)\(Mb?{Gz?G<ף<)3AIi@A @I]ItعؽA 2Acoustic response timeout٥= ;=9A,8Q > F٦y 2 > 4Y?4yBBN=;A@@3DG;K ;V4~B)A5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo9Bo9:n92nAmAmÉBkIkIkIkUoT@ bN=bN=bS?@"b|A@Yqr q>I% : )ɝ-3i)I)I5Hi1i5i?=)9)AEiEmsAF"F*F2F0:F)G% B=2B1 :BA  OU > e 2Acoustic response timeoutQ dď, g?AjK.LrK,zK,K.UK. #T|@- ?N9 WUG %S `:2K4*K6sA>@Y>@>p9>oO>JAHRS rotation from veh to nav: [[0.842829,0.514937,-0.156457],[-0.534972,0.833320,-0.139224],[0.058687,0.201042,0.977823]]y>Ht?]z?Ŀ} ?G ? ?SJ?ɫ>@>F;>CRBR I VAVAIZ[IZ:٥b= b]=9bĦ:Q f>dd fF٦dyjt4 j> lr4YnY룊?r4ynnBpr/@v@n3Dn;n :n\4x)zHAxDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)k)k)k)k5T@HHH IIBI =II&I<*IE bbb"b_/@p r>Ij : ɝG4iI I Ei iFM<=9))AF6"F*F2F_5:F 2Acoustic response timeoutaG &t@=2B:B) OE>ԉԹ i! I% C ď,|g?A 2Acoustic response timeout)T l)tI=ڡ9=͜A5B= IIUYIU٥e-c= e2=9eQ e>ii mF٦iyu u> ԉ4Y磊?4yB@3D0;0;e4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkxT@ bbb"b! )-s>I-X : )ɝ5=4i1I1I5Bi9i=h<=)9)9JJtJ2JJp:J9Jc3JF"F*F2F@5:FJ;J;J:J: 2Acoustic response timeoutG% Z5<=2BA :BY  Om > ď,Og?A6D@Y6,@6_l96YO>BAHRS rotation from veh to nav: [[0.842575,0.515554,-0.155791],[-0.535467,0.832942,-0.139577],[0.057806,0.201026,0.977879]]y6H`?j?`ÿ`"v??@6?J?ɫ6D@6;4JBJ I-Mb@Mb@Mb@) )))I)i)-㥛 ¿ ףp= ?~jt?--Q8=-<)-AI-Z@i-@) )-@IE_IE٥Me= U^=9U;Q ]>aa eF٦ayeĺ m> i}4Ym䣊?}4ymmB}\>};}3@@m4Dmv:m:mqk4)EAuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoyBoy:ny2nymymBkkkkT@ b\>b\>b]5@"b3@_l -2Acoustic response timeout MR>IM : IɝMiIIQIUGiQi]:=)Y)Ee>E>F6"F*F2F3:FjKPrKzKKVK 1RXZY^av  2|~}ua?&a|lBK?:K?H>HH II؂BI =II&I<*IEA Ge ;=2Bq :B  O >  2Acoustic response timeoutآď,h?AN@YN@Nj9NZP>VAHRS rotation from veh to nav: [[0.842910,0.515081,-0.155544],[-0.534994,0.833121,-0.140327],[0.057307,0.201498,0.977811]]yNH?@{?ÿ ?:XW?`?`:J?ɫN@NL;LfBf IIrZIr٥vQe< zQ=9z:Q z>|| ~F٦|y: >  4YTᣊ?4yB>@@4DD;/;Cr4!)%/A!UDNOT Ignoring new targets: 14.63 m.RoQJoQboYZoYBoY:nY2nYmamakakakakm T@ bbb"b>@j  >I' : ɝ3iIIDii@==))IFm6"Fq*Fq2Fu_0:Fq =2Acoustic response timeoutyGl;=2B:B O>ԩ J J uJ 3J J v:J 9J (3J J ^;J _;J o:J p: ď,I1h?A@ułBu I 2Acoustic response timeoutMb@Mb@Mb@ )Ii(\ſl?Zd;O?.=j<)MAIi3@ f@I5>I5٥Ek= E6=9EQ M>II UF٦QyU U> Ye4Y]:ݣ?e4y]]BeP?>e;m @m@] 4D]:]<]z4)A%DNOT Ignoring new targets: 14.63 m.Ro!JoIboIZoIBoI:nI2nImQmUBkQkQkYk]T@ԩ bP?>bP?>bH.@"b @ 4>I : ɝ<4iII-Ii)i-<=)1)1F"F*F2F:F e 2Acoustic response timeoutG ==2B  :B!  O- >Vď,SKh?A2'@Y2@2d92FP>>AHRS rotation from veh to nav: [[0.843709,0.514180,-0.154191],[-0.533893,0.833633,-0.141470],[0.055797,0.201681,0.977861]]y2H?)t?ÿ ?¿v??`J?ɫ2'@2,;0JςBJ IIRtIR%x٥ZU= Zh=9ZΌ;Q Z>jK^IROrK^#9zK\K^WK^V>$ ys}{uphb\ZfoYH?=2+(&% /===@><2Kd*KftA\d jF٦hyjW{; j>l pv4Yr٣?v4yrZrBtv @v@r4Dr:rW:rK4 )zAHe>HaHe!IIeBIe =IaIa&Ieۘ<*IeEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk5 U@ bYbYbY"b]N @md im>ImG : ɝ4iIIFii2B=))  2Acoustic response timeoutF"F*F2F:F1G==2B :B  O- >a ] 2Acoustic response timeoutď,?eh?AI)NAHRS rotation from veh to nav: [[0.844183,0.513675,-0.153276],[-0.533233,0.833982,-0.141905],[0.054937,0.201525,0.977941]]yBH?p? ÿ@>?@)¿ ?@?KK?ɫB @B;@vʂBv II~uI~_v٥   D=9y;Q > F٦y; > !-4Y%+֣?-41y%%B15 @=@%4D%*;%O+;%4A)EAA}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:ny2nmmkkkk"U@ bbb"bK @5"a >I : ɝ4iIIMCiIiMzD=)Q)QF"F*F2F0:FG F aԑرصA 2Acoustic response timeoutGEm C=2BQ:Ba Ou>Ա ď,%h?A=ɂBE IԙMb@Mb@Mb@ )IiGzǿ?~jt?p==<)dAIp@iI@A @IcI#٥k  <=9 Q  >  F٦y > %4Y9ң?%4yB-8X>-{;-%@-@4Da::4)ADNOT Ignoring new targets: 14.63 m.RoJoboZo Bo :n  2Acoustic response timeout2n mm+Bkk!k!k%@U@ bE8X>bE8X>bEX)@"bEs%@Y ae>Iec : aɝe4iaIaImHiqiuD=)q)qF"F*F2F0:FjKlNrK9zKKXK98330.)%#$"! *86/&!    BK!:K%>H]>H]CH]A!II]BI] =IYIY&I]֘<*I]~EJ{JsJJJd:J9JJJ+;J,;JD:JF:G- 4|E=2BI :BY  Om >  2Acoustic response timeout %ď,h?AV@YV@VgW9VO>^AHRS rotation from veh to nav: [[0.845408,0.512369,-0.150875],[-0.531528,0.834841,-0.143240],[0.052565,0.201291,0.978120]]yVH` ?@Se?OÿG?U¿`??L?ɫV@Vو;Tf˂Bf IIn^In٥v; v^=9vi;Q v>xx zF٦IyUL; U> Ye4Y]Σ?e4y]]BaeD@m@] 4D]d:]:]4uyB)unAuEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkWU@ bbb"bD@gW >I : ɝP5iIIEiiL=))F"F*F2FO5:F 2Acoustic response timeoutGm C=2B:B  O>Iy ,ď,Ҳh?A <>@z%@Yz @zCT9zO> AHRS rotation from veh to nav: [[0.845885,0.511785,-0.150185],[-0.530845,0.835168,-0.143870],[0.051799,0.201422,0.978134]]yzH|?`?@A9ÿ`?`Sj¿h?2?L?ɫz%@z1Y;zCǂB% I u2Acoustic response timeout Mb@Mb@Mb@  ) I i  GzǿA`"?Mb?  = <) AI Z@i `@   @I%jI%٥5ۇ 57=9=:Q =>99 EF٦AyE: E>I Q]4YUʣ?]4yU¾UB]|Z>]x;e@e@U&4DU]:U:U`4i)mAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkksU@ b|Z>b|Z>b'@"b@mCT im>Im : qɝu85iqIqI}Biyi}N=)y)F"F*F2F@5:FG5= G5=yԩ - 2Acoustic response timeoutGM J=2BY :Bi  O} > 3ď,h?AH>HCHT!II*BI =I@DID&I <*IE2I:ICBIJIRI =ZI 6jK%MrK%9zK!K%YK% ,+'  a2U`2&))($  $068x 2K)*K-sA5B5 IJ(3JO3JS}.J}}J}{JyJyJ}[j:J}-9JyJyJ};J};J}:J}:IMaIM錴٥O U=9Q > F٦y > 4Yǣ?4yB@+4D::4)AԱDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`U@ bbb"b >I : ɝ/5iIIGiiM=)) 2Acoustic response timeoutF"F*F2F3:F Gm ϚN=2Bq :B  O > = 2Acoustic response timeoutA *9ď,rh?A60@Y6g+@6TO96"P>>AHRS rotation from veh to nav: [[0.846625,0.510869,-0.149125],[-0.529774,0.835685,-0.144806],[0.050644,0.201599,0.978158]]y6H?@ Y?ÿ ?¿@??M?ɫ60@6O;6CFBF IINQIN٥vW vW=9v3G;Q z>xx zF٦xy~\`; M> Q]4YU4ģ?e4yUUņBae'@e@U04DU;U;U窻4i)u"AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkrU@ bbb"b'@TO z>I : ɝB5iIIDiinR=))E t>E >Fu5"Fq*Fq2Fu_0:FqAGJM= 2Acoustic response timeout2B:B O>i '@ď,UPi?A :f2@Y:M-@:4M9:PO>BAHRS rotation from veh to nav: [[0.846766,0.510804,-0.148546],[-0.529590,0.835811,-0.144760],[0.050213,0.201246,0.978253]]y:H?X? ÿe?|¿? q?M?ɫ:f2@:&/;:C^Bb IMb@Mb@Mb@ )Ii#~jĿZd;O?Mbp%j=)AIp@i@@ @IaI錴٥ >=9:Q > F٦y, : > 4Y ?4y.ƆB>>;@@54D;;;4)SAEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoI:nI2nImYm]BkakakakmؿU@ 2Acoustic response timeout b=>>b=>>b=(@"b=i@iu4M qu>I}4 : yɝ}\5iyIyIIiiR=))F%6"F!*F!2F!:F!ԙH>HHM!II%BI =II&I<*IEJJ~J4JJp:Jf9J3JJ;J;J:J:jKWOrKu9zKKZKbOy.}fTJA5+! BK?:K?Gm XR=2B :B  O >  2Acoustic response timeout:?Fď,3i?AB7@YB2@B M9BO>L^AHRS rotation from veh to nav: [[0.847114,0.510286,-0.148342],[-0.529050,0.836111,-0.144997],[0.050040,0.201310,0.978249]]yBH?@DT? ¿l? E¿`垩?@?M?ɫB7@B&;@jBj IIrWIrƕ٥zؽ ~W=9~h9Q ~> F٦ y: > %4Y'?%4ydžB!%@%@:4D:p:渻41)5A1DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkU@ bibibi"bm@ M 靅>I : ɝiIIFii1U=))Fa"Fa*Fa2Fa:Fa)G 1)QIȜA 2Acoustic response timeoutG8R=2B:B O>! jLď,4i?A|=C;@Y=*6@=oK9=H~O>MAHRS rotation from veh to nav: [[0.847363,0.510034,-0.147786],[-0.528688,0.836340,-0.144997],[0.049646,0.200998,0.978333]] ]2Acoustic response timeouty=H ?3R?¿`@L?@E¿@5k?@O?N?ɫ=C;@=ݻ;9uBu IMMb@Mb@Mb@I I)IIIiIMDlDl?:vMO MO=MT)M3AIIiM3@M@ IMp@IevIet٥}A }4=9}d:Q }> F٦y~: > 4Y?4yƆB>;8@@>4D::4)PADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmḿBkkkk`U@ b>b>btc+@"b8@-oK )->I- : )ɝ-3i1I1I5Ci9i=~V=)9)9EI!F"F*F2Fv0:FQ  2Acoustic response timeoutG% lT=2B1 :BA  OM >ԁ NSď,Mi?AJ<@YJx7@J`L9JڨO>HV>HTHV4!IIVBIV =ITIVD&IVQ<*IV*E~AHRS rotation from veh to nav: [[0.847433,0.509819,-0.148130],[-0.528544,0.836434,-0.144980],[0.049987,0.201154,0.978283]]yJH`+?oP?¿``?¿? g? N?ɫJ<@Jɇ;H yB z II%]I%t٥-L -c=95LxQ 5>19 =F٦9y=F9 E> AYJezJeoJaJaJe`:JeK9JaJaJex;Jey;Je:Je:jK}OrK}89zKyK}[K} 5cP,kH(?Q'{unhb\YVRPOSV4YE?4yEEņB;@@EB4DEIIM : QɝUiIIHiiV=)) m2Acoustic response timeoutF6"F*F2F1:FԡԹGM&V=2BY:Bq O}>  2Acoustic response timeoutxYď,gi?A6;@Y6z6@6[`M96O>>AHRS rotation from veh to nav: [[0.847363,0.509908,-0.148222],[-0.528643,0.836396,-0.144836],[0.050120,0.201085,0.978291]]y6H`?*Q?¿``?¿J?*?`(N?ɫ6;@6@ڇ;6CFkBFi IIR^IR٥Z& ZR=9^߲Q ^>`` bF٦`ybs f> dj4Yf?j4yf[fĆBln9@n@fF4DfY;fD;fͻ4p)rk AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k!k!k%`$V@Թ bbb"b*9@[`M  )>I  : ɝ z3i I I=Ei9i=SZV=)9)AF6"F*F2FA5:FGFG G }2Acoustic response timeout2B:B O>A Bi`ď,|i?A2k:@Y2R5@22O928O>>AHRS rotation from veh to nav: [[0.847269,0.509897,-0.148792],[-0.528751,0.836321,-0.144879],[0.050564,0.201425,0.978198]]y2H?Q? ÿ@#?e¿`? N?eM?ɫ2k:@2;2CF_BJZ I%Mb@Mb@Mb@! !)!I!i!%MbX~jt?~jt%ʽ%=%ļ)%AI%C@i!%@ !%@I=pI=<٥M}i M@=9M,Q M>QQ UF٦Qy]0 ]> Ym4Y]䳣?m4y]`]Bm=m;mm @u@]I4D];]-;]Qջ4y)} A 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n12n9m9m=Bk9kAkake`5AV@ b=b=b,1@"bm @2O 靽>I4 : 2Acoustic response timeout ɝw:4iIIBii^U=))EEtAF6"F*F2F4:F2B:B O'>1HHH!IIBI =II&I<*IEjKOrKzKK\KZ[WURQKC<- "#$$+8Ncikjfc^_[VUTSY[_dih_YRKFFA>83%a u 2Acoustic response timeoutԉ fď,7qi?AI<)<22@Y2-@2CQ92O>:AHRS rotation from veh to nav: [[0.846757,0.510592,-0.149328],[-0.529518,0.835930,-0.144334],[0.051132,0.201287,0.978197]]y2H ?V?@.ÿ?y¿-?`?@cM?ɫ22@2$;0~XBR II%^I%٥= =L=9E:Q E>AA MF٦IyM" M> Q]4YUֱ?]4yUtUBae] @e@UL4DU;U;UPܻ4i)m!AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkvYV@ bbb"bt] @CQ 4>IZ : ɝ4iIIGii3sR=))yFu6"Fq*Fq2Fu]0:Fq2B:B O=ԡ 2Acoustic response timeoutJ {J uJ 3J J d:J 9J (3J ! @! @! @! @ *lď,XYi?A M2Acoustic response timeout},@Y}'@}T9}P>AHRS rotation from veh to nav: [[0.846324,0.511069,-0.150146],[-0.530136,0.835596,-0.143993],[0.051871,0.201463,0.978122]]y}H?@Z?`7ÿ4?``n¿@Ɏ??L?ɫ},@} B;}CHB> I5Mb@Mb@Mb@1 1)1I1i15p= ף~jtx?55;5̼)5AI5Z@i5@5@ 15@IMGIM٥]鐽 ]9=9emۺQ e>aa mF٦iyۺ > 4Y?4yB'==<a@@M4D:,:.4)!A=DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:nA2nAmimmlBkikikiku`wV@ b'=b'=b+C@"ba@T )>I^ : ɝN4iIIDii'P=))F}6"Fy*Fy2Fy:Fy2B:B O>> 2Acoustic response timeout) sď,8,i?AZH"<RH"<H&>H$H& II&ɂBI& =I$I&D&I$*I&E,F!@YF@Fc1X9FO>NAHRS rotation from veh to nav: [[0.845589,0.512034,-0.151001],[-0.531222,0.835039,-0.143222],[0.052757,0.201322,0.978103]]yFH?b?`Sÿ`?`U¿ ??`L?ɫF!@F W;DZ@BZ4 IIb_Ib٥jX> jh=9j$Q n>ll rF٦pyrhy r? tz4Yv?z4yvvBx~L@~@vO4Dv;v;v44sB)!AEMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoQ:nQ2namamikikikqjK`NrK-9zKK]K  >dudO9$ kuV@ bYbYbY"b]"L@mc1X im>Im : ɝ4iIIIiiD[K=))Ea>E!>)FM5"FI*FQ2FU_0:FQ m2Acoustic response timeoutYG@W=2B:B O>ԁ  2Acoustic response timeoutpyď,.i?A0BO@YB6@B[9BO>NAHRS rotation from veh to nav: [[0.844923,0.512873,-0.151877],[-0.532188,0.834553,-0.142468],[0.053682,0.201202,0.978078]]yBH ?`ti?pÿ `? b<¿3|??iL?ɫBO@B>V;BCV>BV1 II^aI^錴٥f fK=9fQ j>hh jF٦hyn? n> pv4Yr?v4yrrBtv8@z@rP4Dr:r:r>4|)~!A|-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo1Bo1:n12n1m9m9k9k9kAkEV@ bababa"be8@u[ qu>I} : yɝ}`5iyIyIFiiG=))F6"F*F2F0:FԑJmJmtJm4JiJm:Jm9Jm3JiG\J=2B :B) ]2Acoustic response timeout Oew> Kď,;j?A2@Y2 @2<5`92O>>AHRS rotation from veh to nav: [[0.844407,0.513412,-0.152923],[-0.532902,0.834193,-0.141907],[0.054711,0.201320,0.977996]]y2H a?m?ÿ ൱?@*¿`??K?ɫ2@2R;2C\jABj5 IMb@Mb@Mb@ )IiJ +{Gz F٦ye > 4YI?4yٯBY=y<;-@@R4D:v:D4bB)!AE 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJobo Zo Bo :n 2n)m1m5eBk1k9k9k=V@ b}Y=b}Y=b}Ik : ɝ55iIICiixD=))F9"F9*F92F=k0:FAGEtAFEtAHm>HiHm IImBIiIiIi&Im<*ImE2I C:I CBI JI Ʊ =RI Ʊ =ZI ƶ5jKfMrK9zKK^KBK>:K>I m 2Acoustic response timeoutG= <H=2BI :BY  Oe >؆ď,Rj?ABq @YBX@Bc9BO>VAHRS rotation from veh to nav: [[0.843867,0.514042,-0.153782],[-0.533664,0.833808,-0.141304],[0.055588,0.201309,0.977949]]yBH`?`s?ÿ ?`=¿`v??\K?ɫBq @Bs;@!BB6 IIeI]٥2m; <=9Q >    F٦IyU U> Ym4Y]?m4y]]By--@@]S4D]ٓ;]Վ;]4) ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk gV@ bbb"b--@Ic >I : ɝS5iIIEHiAiEA=)A)I 2Acoustic response timeoutF"F*F2F0:FqJ J J 2J J s:J J c3J ԡ G SE=2B :B!  O- >ď,6j?A -2Acoustic response timeouty'@Y@pzh9P>AHRS rotation from veh to nav: [[0.843403,0.514454,-0.154944],[-0.534278,0.833505,-0.140771],[0.056727,0.201510,0.977842]]yH@)?gv?@8ÿ?¿O ?? |J?ɫ'@ ;CHB> I AMb@Mb@Mb@ )Iikt{Gz F٦y > 4Y9?4yBE=<n>@@T4D ; ;4) ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmWBkkkk,V@ bE=bE=bd@"bn>@Upzh QU>IUE : Qɝ]p5iYIYI]Eiif?=))ԩF"F*F2F.3:F 2Acoustic response timeoutG K@=2B :B  O- > H= >H9 H= II= BI= =I9 I9 &I= <*I= Eď,rPj?AV@YV@Vk9VP>fAHRS rotation from veh to nav: [[0.842948,0.514969,-0.155707],[-0.534909,0.833197,-0.140197],[0.057537,0.201468,0.977804]]yVHn? z?5ÿ? u??+J?ɫV@V%;TrOBrG II~\I~W٥Q!= k=9Q %?!! -F٦)y-Y 5? AM4YE䦣?U4yExEBY]c>@]@EU4DEZ;E[;E 4i)m AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk W@ bbb"bc>@jK5KrK5k9zK1K5_K52KA*KAk 靕>I : ɝ`5iIIBii<=)) =2Acoustic response timeoutF5"F*F2Fi3:F)G2B:B O>iu )>Iq ) :G 1 )Q I ? hAY  2Acoustic response timeout>ď,Jjj?A25@Y2@24:o92ԂP>>AHRS rotation from veh to nav: [[0.842870,0.514818,-0.156626],[-0.534942,0.833192,-0.140103],[0.058372,0.201875,0.977670]]y2H?dy?@U Ŀ >?@? ? I?ɫ25@2;2CRYBRS IIZPIZ٥ N=  K=9:Q > F٦y5 > !-4Y%^?-4y%d%B15b>@5@%W4D%y:% :%49)=A AAmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmymykkkk(W@ bbb"bb>@4:o ?I : ɝ5iII Gii|<=))qF)"F)*F)2F-^0:F)J]}J]sJ]3JYJ][j:J]9J](3JYԩ U2Acoustic response timeoutGm]w==2By:B O> ď,p%j?A-bB-^ II5a=)5R=Mb@Mb@Mb@ )IiZd;~jtxMbp?yĻ;)Ii@@ @IJIK٥d"= ==9Q > F٦y > 4Y [?4y  {=X<+@@ X4D  ; ; C4!)%A)UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmamewBkikikikuCW@ 2Acoustic response timeout b{=b{=b:VO@"b++@1 靕>I : ɝ5iIIDii))F%6"F!*F!2F%_0:F!H >H H I I  =I I D&I <*I EYjKĂKrK9zKK`K   ,R{RnP3iBK?:K?G- l;=2B1 :BI  OU >ԉ M 2Acoustic response timeout6'ď,j?A0~pB~p II iI ҅٥= Y=9!Q %>!) -F٦)y) -> 1=4Y5?=4y5Ю1AAE@5Z4D5;5;5"4I)MAIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm mkk1k9k=$]W@ bbb"b 靽>Ip : ɝ5iIIIii))ԑFI"FI*FI2FQ:FQ 2Acoustic response timeoutԹGM<=2Ba:By O> Sď,j?Ad 2Acoustic response timeout@Y@u9RP>5AHRS rotation from veh to nav: [[0.842562,0.514921,-0.157945],[-0.535247,0.833177,-0.139025],[0.060009,0.201677,0.977612]]yHC? ;z?@7Ŀ` a? ? ?`H?ɫ@͈;髭CEBE IMb@Mb@Mb@ )IibX9ȶ    F٦ ym > %4Y?-4yB5{=5<5@5@\4D^;]^;*49)=A9mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoqBoq:nq2nqmqm}Bkykykyk}yW@ be{=be{=beWJ<@"be@uu y}H>I}Z : yɝ}iyIyIFiiq;=))Fq"Fy*Fy2Fy:Fy 2Acoustic response timeouta G X;=2B :B  O >H >H CH II BI I I &I <*I E2;ď,@j?AJQ@YJ8@Jx9JtgP>ZAHRS rotation from veh to nav: [[0.842639,0.514662,-0.158375],[-0.535068,0.833319,-0.138857],[0.060512,0.201747,0.977567]]J%|J%yJ%8J!J%;g:J%9J%'4J!J%ފ;!-J%ߊ;!-J%:!-J%:!59yJH ?`x?EĿF@?@@w? ?9H?ɫJQ@JLj;JCB I I_I٥= c=9QQ > F٦y : > 4Yۜ?4yB@@_4D;;M14)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m!m!k)k)k)k-`ǐW@ bIbIbI"bM@x >I : ɝ3iIjKOrK-9zKKaKz;<q NZ:" yvs}C3xICii_<=)) 2Acoustic response timeoutaF5"F*F2F0:FԑGl;=2B:B O>Թ  2Acoustic response timeoutcď,ɓj?A6k@Y6R@6$$x96ՅP>>AHRS rotation from veh to nav: [[0.843166,0.513814,-0.158323],[-0.534233,0.833815,-0.139093],[0.060544,0.201860,0.977541]]y6H7?)q?CĿ`p@?`??H?ɫ6k@6c;6CNBR IIZ[IZ:٥v= zX=9z]Q z>x| ~F٦|y~*+; >  4Y?4yB@@a4D::74!)%A!ԙDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm m k k kkaW@ b1b1b1"b5O@E$$x AEH>IM9 : IɝMiIIIIUHiQiU @=)Q)YEqF6"F*F2F_5:F -2Acoustic response timeoutG-;=2B9:BQ O]> Nď,|k?A63 @Y6@6fw96RP>BAHRS rotation from veh to nav: [[0.843682,0.513083,-0.157942],[-0.533438,0.834311,-0.139175],[0.060364,0.201672,0.977591]]y6H`r?`-k?o7Ŀ?@?b?mH?ɫ63 @65;6CFBJ I%Mb@Mb@Mb@! !)!I!i!%X9v:v?{Gz?%%T=%ף<)%3AI%C@i!%@ !%z@IMZIM٥]< ]C=9]Q9Q e>aa eF٦aym; m> q}4Yu?}4yuuB}>;? @@ud4Du:us:ub >b %.@"b 4? @fw %>I%B : !ɝ%3i1I1IUEiQiUC=)Q)YF6"F*F2FP5:F!HHH IIӂBIII&I<*IEJ5J5J57J1J5p:J59J54J1J5;J5;J5l;J5l;IjK% ]OrK% 9zK! K% bK% uXA9Cg~oY7 1qiP mfa&CnSQS;v<G- (A=2BA :BQ  Oe > % 2Acoustic response timeouty uď,^Gk?A @J@YJ@Jv9JLP>RAHRS rotation from veh to nav: [[0.844585,0.511660,-0.157731],[-0.532020,0.835130,-0.139689],[0.060253,0.201895,0.977552]]yJH?_?0ĿN@b?Snٮ?? H?ɫJ@JЈ;JCZBZ IIfkIf ٥jJ= nT=9nX9Q n>pp rF٦pyvΎ; v> | 4Y~s?4y~~B[ @@~g4D~b;~Z;~F4))-nA)]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:na2namimikikikiku`W@ bbb"b[ @v 靥>I : ɝV4iIIBii I=))QF1"F9*F92F=^0:F9 2Acoustic response timeoutԉGU+WB=2Ba:Bq O{>ԩ ď,19k?A v2Acoustic response timeoutMJ'@YM1"@Mwt9M9hP>AHRS rotation from veh to nav: [[0.845606,0.510220,-0.156927],[-0.530460,0.836043,-0.140156],[0.059688,0.201760,0.977615]]yMH4?@S?2Ŀ?g?`F?`H?ɫMJ'@M;MCB IINI٥M< 5=9:Q >ԩ F٦y; > 4Yp?4ylBx @@k4D* ;;N4)4ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k!k!k-@GW@ bIbIbI"bMx @]wt Y]>I]| : YɝeP4iaIaImGiiim9O=)i)qEyEyF"F*F2F\0:F 2Acoustic response timeout G% BJ=2B1 :BA  OU >JH} ?ABHy H >H CH !II BI =I I &I <*I E2I9:I9BI9JI=˲ =RI9ZI=551 ď,lSk?AJ9@YJ4@Js{r9JhP>VAHRS rotation from veh to nav: [[0.846839,0.508403,-0.156173],[-0.528548,0.837148,-0.140783],[0.059165,0.201766,0.977645]]yJHM? D?yÿ?@/¿@J?u?H?ɫJ9@J;JCZB^ IJ}JJ2JJ[j:J:Jc3JJ;J;JIG;JJG;Mb@Mb@Mb@ )IiOnÿʡE? rh?=C<)dAIi@A f@ILI٥= O=9 :Q  >   F٦y; > !%4Y%?-4y%%B-,>-;-@-@%o4D%;%;%T4=\B)=A=EeDNOT Ignoring new targets: 14.63 m.RoiJoiboqZoqBoq:ny2nymym}Bkkkk`X@ b,>b,>b*@"bQ@s{r 靽4>I : ɝp4iIIDiirV= jK-M4PrK-k9zK)K-cK-[ tXrrJ) Z^e/}yrnkfb^ZSJByeQ?/))9 2Acoustic response timeoutPExceeded connect timeout, disconnecting.F5"F *F 2F _0:F 9G- O=2B1 :BI  OQ a  2Acoustic response timeout ď,lk?A:eM@Y:LH@:o9: BP>BAHRS rotation from veh to nav: [[0.848125,0.506556,-0.155194],[-0.526559,0.838299,-0.141387],[0.058478,0.201632,0.977714]]y:H#?5?cÿ@X? ¿??nI?ɫ:eM@:m;8JȂBJ I LNAIRcIR#٥^= ^a=9bH:Q b>`` fF٦dyfW; f> hn4Yjˌ?n4yjjBpr@r@js4Dj:jK:j![4t)vAxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n!m!m!k!k)k)k-)X@ bQbQbQ"bU@eo imh>Im; : iɝuj5iqIqIuIiyi}n^=)y)yaF6"F*F2F`0:Fԑ  2Acoustic response timeoutG#Y=2B:B9 OE>Թ ď,ٳk?A:c@Y:^@: m9:UP>BAHRS rotation from veh to nav: [[0.849591,0.504358,-0.154330],[-0.524259,0.839604,-0.142192],[0.057860,0.201714,0.977734]]y:H/?#? ÿ? W3¿ܟ?`?I?ɫ:c@:Hˉ;:CPVÂBV IEMb@Mb@Mb@A A)AIAiAEˡEĿkt?~jtx?E'E =E;)EAIAiE@E@ AE@I]iI]҅٥mK m@=9m+:Q u>qq uF٦qy}; }> 4YT?4yB=>;@@x4D::b4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk`-EX@ ]2Acoustic response timeout b=>b=>b&*@"b%@ m >I9 : ɝ5iIIFiig=))F"F*F2Fo0:FH}>H} CH}G!II} BI} =IyIy&I}<*I}EJ 3J3JT0JJzJ3JJs:J9J(3JJ;J;JX:JZ:G(a=2B:B O>jK ƛOrK 9zK K dK _08^s}{re[RMC<1,)&"  BK >:K  2Acoustic response timeout!  nManaging dock network, ignoring radio surface power off0ď,ގk?A2ay@Y2Ht@2ni92!P>:AHRS rotation from veh to nav: [[0.851010,0.502313,-0.153177],[-0.522041,0.840874,-0.142843],[0.057051,0.201526,0.977820]]y2Hz;??@Nÿ p?@H¿5??MJ?ɫ2ay@2(;2CzBz I|IgI٥s P=98;Q >!! %F٦!y%; %> )54Y-?54y-H-B9=@=@-}4D-;-;-ji4A)EAIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@^X@ bbb"b~@ni 4>I- : 1)EHGɝ=!45iI a)I٠՛AIICii%p=)))F5"F*F2F0:F m2Acoustic response timeoutQG8k=2B:B O>ԁ 3ď,vk?A>@Y>܋@>Rg9>HP>ZAHRS rotation from veh to nav: [[0.852539,0.499972,-0.152335],[-0.519607,0.842231,-0.143719],[0.056446,0.201680,0.977824]] j2Acoustic response timeouty>H@G?@? ÿ`?`de¿m??TJ?ɫ>@>뀉;>C BYI=)=IWIƕ٥E m8=9}:Q > F٦yb; > 4YI?4y_B4@ @4DP;L ;q4)A=DNOT Ignoring new targets: 14.63 m.Ro9JoAboAZoABoA:nA2nAmImIkQkQkQkU`{X@ bbb"b4@Rg 靵>I( : ɝZO5iIIHiiFy=))ԉFE6"FA*FA2FEl2:FAԩ m2Acoustic response timeoutGe np=2Bq :B  O > ď,1Ck?AHHHIIII&I<*I}EF!@YF@F(d9FF*P>RAHRS rotation from veh to nav: [[0.853979,0.497841,-0.151241],[-0.517320,0.843517,-0.144425],[0.055674,0.201576,0.977889]]yFHS? ?@[ÿ?|¿K? =?J?ɫF!@F1;DZBZ IMb@Mb@Mb@ )IijtĿ/$?Mb =)AIi@ @ImOImݜ٥}# }G=9}:Q > F٦y; > 4YL?4y͟6>;@@4D::Tx4)(ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmہBkkkkߔX@ b 6>b 6>b )@"b @M(djKtNrKk9zKKeK<P[YNHHGF@83+(%! 2KtA*KtA 2Acoustic response timeout )>I : ɝj5iIIEiiy=)))F"F*F2FP5:FGFQG Pz=2B :B  O >  2Acoustic response timeoutԉ Eď, k?A6q@Y6X@6b96oHP>>AHRS rotation from veh to nav: [[0.855284,0.495821,-0.150503],[-0.515216,0.844678,-0.145160],[0.055153,0.201694,0.977894]]y6H|^? ?`Cÿ| ?`¿@=??@J?ɫ6q@6L ;6CbBb IIjEIj٥r rh=9v:Q v>tt vF٦tyz; z> |4Y~|?4y~b| @ @~4D~:~:~z~4)UAEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nImQmQkQkQkYk] qX@ bybyby"b}@b 靍>I : ɝ5iIIBii܊=))YFU5"FQ*FQ2FU^0:FQJ}JJJJ[j:J:JJ!@!@!@!@ԁ 2Acoustic response timeoutGuxr=2B:B O>Ա @ď,l?ArBr I xzA}Mb@Mb@Mb@y y)yIyiy}/$Q?~jt}1}u=})} AI}-@i}@}@ y}@INI٥w  >=9Q > F٦y > 4Yy?4yB>; @@4Dr#;!;4)A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m%Bk!k!k!k%X@ bM>bM>bMu-@"bMw @ U2Acoustic response timeouta am>Im : iɝmX5ԱiiI)I5Gi1i5ׄ=)1)9F6"F*F2F:FHHH;!IIBI =II&I <*IE G- =2BA :BQ  O] >jK MrK 9zK K fK  ! "Vsm]PF?6/*##..0//BpBK ?:K ?  2Acoustic response timeout1 ď,v!l?A6߰@Y6ٷ@6]96^ P>>AHRS rotation from veh to nav: [[0.857563,0.492366,-0.148868],[-0.511527,0.846747,-0.146149],[0.054095,0.201482,0.977997]]y6H'q?@?ÿm^?¿H?(? K?ɫ6߰@6;6CFBF IINOINݜ٥VƼ V\=9Z:;Q Z>XX ^F٦\y^m?< ^> `f4Ybw?f4ybЛbBhjb @j@b4Db:b:b~4l)nAp%DNOT Ignoring new targets: 14.63 m.Ro!Jo)bo)Zo)Bo):n)2n)m1m1kkkk X@ bbb"blb @%] )->I- : )ɝ-̟5i)IiIuDiqi}'=)y)yF5"F*F2F_0:F e2Acoustic response timeout9G܄=2B:B O%>a J J uJ J J p:J 9J J =ď,k;l?A b2Acoustic response timeout%B% II]sI]y٥N ==9-Q U>aa mF٦iy >  4Ys?4yMB@4D;/;4)%A!iDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk/X@ bbb"b) )->I5 : 1ɝ55i1I1I=Ii9i==)9)aF"F*F2F:Fԙ }2Acoustic response timeout G% x=2B1 :BA  OU >H H H "!II BI I I &I <*I E%ď,Ul?ALB II%p=)%p=Mb@Mb@Mb@ )IiCl绿YY ]F٦Yya e> iu4Ymyq?u4ymbmBu =u;u@}@m4Dm ;m/;m4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkY@ b =b =bn4@"b@ >I : ɝ5iII Fii)) 2Acoustic response timeoutjKM-%NrKM-9zKIKMgKM-"7JKPYmr<_7zGM@R [qH_e+}P;^!L3+F6"F*F2Fy0:FG m=2B) :BI  O] >! } 2Acoustic response timeoutnMď,gol?A6@Y6~@6e[96oCP>>AHRS rotation from veh to nav: [[0.860174,0.488128,-0.147757],[-0.507183,0.849147,-0.147358],[0.053538,0.201693,0.977984]]y6H?@~=?@¿:@6,?¿\i?@?K?ɫ6@6g;6CFBJ IIVZIV٥^t_ ^i=|9:Q >    F٦ yf< > !-4Y%Eo?-4y%%B)-@-@%4D%:%:%ޡ4=WB)=A=EmDNOT Ignoring new targets: 14.63 m.RoqJoqboZoBo:n2nmmkkkk Z-Y@ bbb"b@@e[ >In : ɝ5iIICiit=))Fu5"Fq*Fq2Fu`5:FqJJJJJv:JH9JJ) 2Acoustic response timeoutGe=i2B:B O>ԁ 5"ď,FDl?A2@Y2 @2L[92BP>>AHRS rotation from veh to nav: [[0.860674,0.487266,-0.147689],[-0.506324,0.849643,-0.147456],[0.053633,0.201690,0.977980]]y2H?_/?|¿3E0? ¿u?@?K?ɫ2@2ȥ;2CDDYMb@Mb@Mb@ )IibX9ȶMb`?V-E;)I@i@@ @ILI٥: ;=9hQ > F٦yg; > 4Yl?4yB= <Q!@@4Dm ;;R4)ADNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n!m)m-Bk)k)k1 =2Acoustic response timeoutk=mHY@ b]=b]=b]G@"b]Q!@mL[ qu>I}j : yɝ5iIIHiie,=))FM6"FI*FI2FUP5:FQԙHE>HAHE!IIEBIAIAIA&IE3<*IEE2I% C:I% CBI!JI%ű =RI%Ų =ZI%5ԹGMP=2BY:Bi O}>  2Acoustic response timeoutjKe qPrKe 9zKa Ke hKe )('%&'##!"(mrdZPIB<71.,&$$$$!"6DGJnkKD>;86551*01' b(ď,)l?AF@YF@F\9FYDP>NAHRS rotation from veh to nav: [[0.861173,0.486366,-0.147745],[-0.505449,0.850158,-0.147491],[0.053872,0.201693,0.977966]]yFH`? ?R¿,}4?¿&?`?K?ɫF@F;DVBV I \^AIbhIb٥jb nZ=9v&Q z> F٦yQ.;  > 4Y lj?4y r Ba!@@ 4D ; u; 4!)-%A)UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2nYmamakikiԱkkaY@ b1b1b1"b5a!@u\ qu>Iuu : qɝuh5iyIyI}Eiiۗ=))FE5"FA*FA2FEP4:FA E2Acoustic response timeout G)2B9:BI OU>J J a=J J sJ J J }:J 9J J 9 R.ď,l?A> @Y>@>Ј]9>P>JAHRS rotation from veh to nav: [[0.861598,0.485627,-0.147700],[-0.504704,0.850618,-0.147390],[0.054059,0.201536,0.977988]]y>H6?@?¿&@B8?`¿`?`?K? b2Acoustic response timeoutɫ> @>{;>CjBj IIvaIv錴٥~u< ~H=9~Q > F٦y P ;  > 4Yg?4yB!%p!@%@4D;;41)5A9uDNOT Ignoring new targets: 14.63 m.RoyJoyboZoBo:n2nmmkkkk }Y@ bbb"bp!@Ј] >IU : ɝ5iIIBii 9=) )IF"F*F2F1:F ]2Acoustic response timeoutiG =2B :B  O >ZH RH 4=H H H !II BI =I I &I <*I Eԡ 9r5ď,l?AZ)@YZ$@Z}`9Z"O>fAHRS rotation from veh to nav: [[0.862176,0.484513,-0.147987],[-0.503639,0.851322,-0.146961],[0.054780,0.201238,0.978009]]yZH ?@D?@=¿>?¿! ?-?@K?ɫZ)@Z;ZCnBn ImMb@Mb@Mb@i i)iIiiim㥛 {Gz F٦y;; > 4Ye?4yBV=.<,@@4D ; ;n4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBk k k k Y@q bV=bV=b[Q@"bs,@}` ?I : ɝ /6i I IGiiE=))! 2Acoustic response timeoutjKMnNrKM-9zKIKMiKM#9jhTE9-' !'8@?@<:61/.*)&&&&#*HUUPB6-%. >yF!"F!*F!2F%_0:F!ԡiIC)G 1)IIu/q}HAGe =2Bq :B  O > e 2Acoustic response timeout ݠ;ď,l?ABI.@YB0)@Bb9BO>JAHRS rotation from veh to nav: [[0.862413,0.483950,-0.148443],[-0.503170,0.851617,-0.146861],[0.055343,0.201347,0.977955]]yBH? ?,ÿ r@?V¿`U??hK?ɫBI.@Bە;BCRBPIV=)V=I^iI^҅٥f僺 fX=9f_úQ f>hh jF٦hyn: n> pv4Yrc?v4yrArBam,@m@r4Dr! Bď, m?A:4@Y:/@:Gd9: P>FAHRS rotation from veh to nav: [[0.862791,0.483155,-0.148840],[-0.502468,0.852024,-0.146905],[0.055837,0.201536,0.977888]]y:H??@2 ÿ8@C?¿๖??`J?ɫ:4@:L ;:CNBN I5Mb@Mb@Mb@1 1)1I1i15+{Gzty&1|55ף5`)5 AI1i5@1 15@IMQIM٥q= ;=9@Q > F٦y]: >  4Y a? 4yוB = )< 0*@ @4D::̼4 2Acoustic response timeout!)%A!MDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nY2nYmameBkikikqku Y@ b=b=b(M@"b>0*@Gd 靭 ?I: ɝi6iIIIiiZ=))QFi"Fq*Fq2Fum0:FqH>HH!IIBI =II&I<*IEԁG=2B:B O>ԩ  2Acoustic response timeoutjK RNrK 9zK K jK eWOTi jN3n^&<% t3bsY0v|Hď,e$m?A@V@>@YV'9@VOe9VkP>bAHRS rotation from veh to nav: [[0.863360,0.482100,-0.148959],[-0.501470,0.852555,-0.147235],[0.056014,0.201816,0.977821]]yVHठ??ÿ H?¿ѭ??@NJ?ɫV@>@V;VCrBr IIz\IzW٥=  Y=9 Q  >  F٦yH; > %4Y^?%4y|B)-B*@-@4DB::FӼ41)5A9eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimikqkqkqkuY@ bbb"bB*@Oe 靭3?I: ɝf 6iIIFiikZ=))Fi"Fi*Fq2Fu1:FqԱ -2Acoustic response timeoutGU=2Bi:By O{> kNď,D>m?A6B@Y6=@6Xvg96wEP> J2Acoustic response timeoutlAHRS rotation from veh to nav: [[0.863618,0.481563,-0.149201],[-0.500973,0.852893,-0.146966],[0.056479,0.201668,0.977824]]y6H@¢??ÿJ?¿?@C?UJ?ɫ6B@6";6C-B- I AEAIUYIU٥u = uD=9ؑQ > F٦y: > 4Yg\?4yBL*@@4D;;ڼ4)%A)DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@Z@ bb b"bL*@=Xvg 9=?I=5: 9ɝE*6iAIAImCiiim&!=)i)qF5"F*F2F0:F9 52Acoustic response timeoutG I=2B :B  O >HM >HI HM .!IIM BII II II &IM ژ<*IM sEa ۿUď,iXm?A2N@Y2rI@2=^h92nP>JFJFsJDJDJFv:JF9JDJDJF];!JJF_;!JJFD:!JJFE:!NNAHRS rotation from veh to nav: [[0.864322,0.480268,-0.149299],[-0.499733,0.853566,-0.147285],[0.056700,0.201912,0.977761]]y2H??;ÿ ߿iP?@@¿?>?I?ɫ2N@2A;0VʂBV I9Mb@Mb@Mb@ )Ii ףp= Q?~jtx?Qu<;)z AI@iv@ IKIh٥ = D=9T Q > F٦y>c; > 4YY?4yxBD=< @@4DC;LC;4)dA=DNOT Ignoring new targets: 14.63 m.Ro9JoAboAZoABoA:nA2nAmImMBkIkIkQkUpZ@ buD=buD=bu~>@"bu[ @=^h 靍 ?I: ɝ:36iIIHii秢=)) 2Acoustic response timeoutiFu6"Fq*Fy2F}S5:FyG= G=jKn PrK9zKKkK9^efG?6.+$    2KsA*KsAԑG8=2B:B O> E 2Acoustic response timeout[ď,qm?A~܂B~ II VI ٥= W=9%Q %>!! -F٦)y- -> 1=4Y5W?=4y55B9AE@54D5I;53;54I)MAIԙDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk0Z@ b!b!b!"b!9 9=?I=: 9ɝ=<6i9IAIEEiIiMN=)I)IF6"F*F2FP0:F 2Acoustic response timeoutGТ=2B9:BY O>! bď,|ҋm?A:i@Y:d@:h9:YYP>FAHRS rotation from veh to nav: [[0.865975,0.477476,-0.148672],[-0.496870,0.855171,-0.147660],[0.056636,0.201741,0.977800]]y:H?@?@ÿ߿]? ¿]?@?#J?ɫ:i@:很;8NقBN I-Mb@Mb@Mb@) )))I)i)-q= ףpA`"?Q?--Y=-u<)- AI-@i)-@ )-@IMXIM㔴٥Uy ]G=9]#9Q e>aa eF٦aym< m> q}4YuT?}4yuђuB}>;@@@u4Du(;u,;u4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmρBkkkk JZ@ 2Acoustic response timeout b>b>bRl-@"b@@h ?I: ɝ0E6iIIBii=)) HHHT!II*BI =II&I<*I|EF6"F*F2F[0:F9J}JxJ2JJ[j:J9Jc3JJ;J;J.:J/:QG2B:B O>  2Acoustic response timeoutjK= _MrK= u9zK9 K= lK= BKM ?:KM ?ԑ hď,Om?A2{@Y2u@2hh92^P>:AHRS rotation from veh to nav: [[0.867022,0.475649,-0.148432],[-0.495033,0.856184,-0.147957],[0.056709,0.201760,0.977792]]y2H?`q?¿@߿e??¿@ ?H?J?ɫ2{@26;2CBBB!IIJdIJ@٥Z= ZV=9^IQ >!! %F٦!y-$; -> Ye4Y]fR?m4y]‘]Bimc@m@]4D]:]:]4q)uADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk=dZ@Y bbb"bc@hh 靵l ?Iu: ɝN6iIIGiiCū=))F55"F1*F12F5_0:F1  2Acoustic response timeoutԁGM=2BY:Bi O}>ԩ N(oď,-m?A 22Acoustic response timeout6@Y6@6Hg96P>BAHRS rotation from veh to nav: [[0.868161,0.473796,-0.147695],[-0.493071,0.857265,-0.148249],[0.056374,0.201528,0.977859]]y6H@?`R?@¿x߿@n?¿ܬ?`?@J?ɫ6@6;6CJBJ!IIRlIR)٥Z6= ZJ=9^Y:Q ^>\` bF٦`yb(; b> dj4YfO?j4yffBln@n@f4DfS;fN;fu4rQB)vAvEDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m!m)k)k)k)k-|Z@ bbb"b@Թ%Hg )59?I5: 9ɝEnW6iAIAI]Diaie̎=))F]6"FY*Fa2Fa:Fa %2Acoustic response timeout G =2B :B  O >H H H s!II CBI =I I &I <*I E2I:IBIJIRIɱ =ZIG59 vď,em?AJ6J6oJ63J4J6s:J6K9J6(3J4J6;J6;J6:J6:Jɤ@YJ@JLf9JP>VAHRS rotation from veh to nav: [[0.869554,0.471329,-0.147389],[-0.490617,0.858539,-0.149014],[0.056305,0.201888,0.977789]]yJHc?B*?@¿Cf߿'y? ÿԬ?`s? J?ɫJɤ@Jz;JCnBr!I}Mb@Mb@Mb@y y)yIyiy}Dl(\µ?Mb?}O }=}<)} AI}@i}@}v@ yyIYI٥ ==97&9Q > F٦y; > 4YL?4y+B&>;@@4D!*; ;4@B)eAEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkΙZ@ b&>b&>b%@"bl@ULf QU?IU.: Qɝ]_6iYIYI]Iiaie.D=)a)a u2Acoustic response timeoutF%6"F!*F!2F%`0:F!jKuKrKu9zKqKumKu 3MQPJGLMLKLHB?>;74/-*(&#! 075)! )9G d=2B :B)  O5 >i % 2Acoustic response timeout7|ď,?m?A B $!IIcI#٥-S= -R=9-Q 5>11 5F٦1y= => AU4YE1J?U4yEEBYY]@E4DED=;E4;E 4a)mAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk,Z@ bbb"b  ?I: ɝ^h6iIIFii=))F]6"FY*FY2FeZ1:Faq 2Acoustic response timeoutԙGu S=2B:B O> ď, n?A6α@Y6ɸ@6?c96@P>>AHRS rotation from veh to nav: [[0.872051,0.467149,-0.145940],[-0.486243,0.860875,-0.149873],[0.055623,0.201660,0.977875]]y6H??,¿߿ I? /ÿ z? ?`J?ɫ6α@6g܊;6CLRBV(!I 2Acoustic response timeout=Mb@Mb@Mb@9 9)9I9i9=~jtÿCl?:v?==;==T<)= AI=@i=@=@ 9=@I}\I}W٥8< 5=9z:Q > F٦y4< > HqHqHu!IIu\BIu =IqIq&Iu<*IuKE4YF?4y‹B?>;f@@4D<<4)AmDNOT Ignoring new targets: 14.63 m.RoiJoiboqZoqBoq:nq2nqmym} BkykykykZ@ b?>b?>b#?!@"b3f@m?c im>Iu : qɝuHq6iqIyICiiW=))JJtJJJv:J9JJJ];J_;J:J:F6"F*F2Fo0:F؍ A؍ A  2Acoustic response timeout! 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WG 2B :B) )) IU /Q U 8A O] >.Pď,'n?Ab@Yb޸@bb9bP>vAHRS rotation from veh to nav: [[0.873356,0.464958,-0.145133],[-0.483936,0.862112,-0.150226],[0.055272,0.201436,0.977941]]xybH@??`¿ ޿l?`:ÿL??JK?ɫb@b;bC  B/!II-=)-p=I=YI=٥]v= ]`=9eN|:Q e>aa eF٦iym; m> q}4YupD?}4yu2uB@@u4DuS;uU;u4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`Z@ bbb"b@b q?I: ɝx6iIIHii4=))!F6"F*F2FO5:F 2Acoustic response timeoutGG=2B:B OD>IJ} C=J} %=q 1ď,g@n?A "2Acoustic response timeout:|@Y:c@:A6a9:w P>BAHRS rotation from veh to nav: [[0.874764,0.462519,-0.144443],[-0.481423,0.863414,-0.150823],[0.054956,0.201473,0.977951]]y:H?@?}¿޿@?+Nÿ&#??@`K?ɫ:|@:;:CJBJ#!IIVTIVn٥ZQ ^V=9 Z:Q > F٦y6; > !-4Y%A?-4y%~%B)-@5@%4D%):%:% 49)=A9YuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoy:ny2nymmkkkk`Z@ bbb"b@A6a >I0: ɝ 6iIIEii{=))F}6"Fy*F2F\0:FԉGO=Թ2B:B O> 2Acoustic response timeoutJHm @ABHi Hq Hq Hu !IIu bBIu =Iq Iq &Iu <*Iu 7E [ď,Zn?A6@Y6o @6_96O>BAHRS rotation from veh to nav: [[0.876017,0.460421,-0.143551],[-0.479184,0.864616,-0.151066],[0.054563,0.201124,0.978045]]y6HT?w?_¿޿?%Vÿ@?p?$L?ɫ6@6b0;6CJBJ(!IeMb@Mb@Mb@a a)aIaiaejtĿQ?e e=e)e3AIe@iaev@ ae=@IyIy٥`< >=9Xo:Q > F٦y4; > 4Y>?4yBYJ>;@@4D<;Թ:I(4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBk k k k `p[@ b-YJ>b-YJ>b-}K@"b-@E_ AE>IE : AɝE6iIIIIUBiaieK=)a)a e2Acoustic response timeoutF5"F*F2F_0:FjKύMrK9zKKoK"        GK=2B9:BA OU>  2Acoustic response timeoutY ď,rtn?A6g*@Y6N%@66^96(O>>AHRS rotation from veh to nav: [[0.877542,0.457730,-0.142839],[-0.476424,0.866015,-0.151784],[0.054225,0.201248,0.978038]]y6H?tK?H¿}޿ e?mÿWë?@?L?ɫ6g*@6B;6CFBF!I HHINJINK٥Z$Y ZY=9Zk:Q Z>\\ ^F٦\yb < b> dj4YfI] : aɝe6iaIaImGiiim-8=)i)i9J (3J 3J S}-J]yJ]qJYJYJ]]:J]q9JYJY!m@!m@!m@!m@Fu6"Fq*Fq2Fq:Fqa e2Acoustic response timeoutGUA=2Bi:B O~>ԑԹ \nď,dn?A:D@Y:?@:=z]9:P>BAHRS rotation from veh to nav: [[0.879086,0.454923,-0.142312],[-0.473589,0.867433,-0.152554],[0.054045,0.201506,0.977995]]y:H`y!?`u?C7¿HO޿?ÿӫ??K?ɫ:D@:P;:CNBN !I-Mb@Mb@Mb@) )))I)i)-/$ÿzG?Mb-- =-)- AI)i-~@) )-@IEOIEݜ٥Um U@=9]h9Q ]>aa eF٦aym ; m> q4Yu 9?4yuuB1>>;2@@u4Du4X;uB;uM64)A 2Acoustic response timeoutuDNOT Ignoring new targets: 14.63 m.RoqJoyboyZoyBoy:ny2nmmсBkkԑkk`N[@ b1>>b1>>b"@"b2@=z] \?I : ɝ i6H>HH!II\BI =II&I<*IEi IQIUDiYi]~=)Y)YEiF"F*F2F:FԹG- o=2B9 :BI  O] > m 2Acoustic response timeout jK5 XMrK5 9zK1 K5 pK5 Bx< BKE ?:KE ?cď,Cn?A%B%!II5^I5٥E\ EL=9EQ E>II MF٦IyM U> Q]4YU%6?e4yU*UBaae@U4DUl:U:UM=4q)}AyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkf[@ b!b!b!"b!1 15 ?I=: 9ɝ=6i9I9IEIiAiE=)A)IF5"F*F2Fo0:F 2Acoustic response timeoutGa5=2B:B O>A Jm }Jm uJi Ji Jm [j:Jm 9Ji Ji ď,n?A  "2Acoustic response timeout(>Eq@Y>,l@>=i\9>O>FAHRS rotation from veh to nav: [[0.881651,0.450278,-0.141212],[-0.468826,0.869877,-0.153353],[0.053785,0.201408,0.978030]]y>H }6?Y?:¿>޿@?ÿ`? ?L?ɫ>Eq@>8;>C^Bb IIjWIjƕ٥rwd rP=9v .:Q v>tx zF٦xyzXb< z> |4Y~I3?4y~x~B  @ @~4D~:~N:~'D4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k!k!k%[@ bAbAbA"bE@e=i\ imv?Iu: yɝ6iIIFiia=q))FE6"FA*FA2FE0:FAԙ 2Acoustic response timeoutZH <RH <H% >H! H% y!II% HBI% =I! 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'ÿ%? ?L?ɫ:ظ@:%;:CJBN IIVYIV٥^0 ^`=9b'Q b>`d fF٦dyf; f> hn4Yj(?n4yjyzjBpr @r@j4Dj^;jj;jL`4t)v*AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n!m!m!k!k)k)k-@q[@ bbb"b/ @] b?I: ɝ6iII-Bi1iE=)I)QF6"F*F2F_0:F 2Acoustic response timeoutIG=2B):B9 OM>iJU JU xJU 2JQ JU s:JU 9JU c3JQ ԙ ď,EbCo?A 2Acoustic response timeoutRdƲ@YRK@R_9RO>bAHRS rotation from veh to nav: [[0.886445,0.441106,-0.140147],[-0.459624,0.874572,-0.154500],[0.054417,0.201371,0.978002]]yRH]?`;?@S {jݿ}?ÿܫ??K?ɫRdƲ@RYC;RCfBj IIr[Ir:٥z zG=9z#EQ ~>|| ~F٦yу; > 4Y X&?4y oy B@@ 4D z ;  ; {g4!)%:A!]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:na2namamakikikikm\@ bbb"b@]_ Yeb?Ie]: aɝe6iaIaImGiiim =)iq)F1"F1*F92F=`0:F9ԩ 2Acoustic response timeoutG=2BJHBHH>HCHG!II BIII&I<*IE:B O> ď,1E]o?A6tӲ@Y6[ι@6M(`96I$P>RAHRS rotation from veh to nav: [[0.887163,0.439632,-0.140233],[-0.458203,0.875269,-0.154773],[0.054699,0.201564,0.977947]]y6Hc?"?+`2Sݿ3?ÿ u??WK?ɫ6tӲ@6­;6C^B^ I]Mb@Mb@Mb@Y Y)YIYiY]~jt/$?S㥛]Ľ]<]/ݼ)]I AI]@i]I@]I@ Y]z@ImiIm҅٥J= A=9.Q > F٦ykw; > 4Y#?4yxB=<a@@4DB;y;n4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmXBkkkk\@ b=b=boG;@"bLa@M(` 靽(?I: ɝ6iIIDii=)) 52Acoustic response timeoutiICFU5"FQ*FQ2FQ:FQ)eHG y)IꞿAjKuSMrKu9zKqKusKu4678984100-)$" !<PI;0#   2]kh`TD3(!2K*KsAGuͳ=2B:B O>!  2Acoustic response timeout!ď,wo?A6 ݲ@Y6׹@6a96O>BAHRS rotation from veh to nav: [[0.887677,0.438549,-0.140370],[-0.457153,0.875845,-0.154617],[0.055135,0.201420,0.977952]]y6Hg?`1?@Bݿ ?yÿ:?"?bK?ɫ6 ݲ@6拉;6CJBJ IIR\IRW٥Z< ZY=9^Q ^>\` bF٦`yb8K; b> dj4Yf{!?j4yf xfBhnt@n@f5Df:f6:ftu4a)e}AaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkk k 5\@ bAbAbA"bEpt@]a Y])?I]6: Yɝ];6iaIaIeIiiim{=)i)iQEFa"Fa*Fa2Feo0:Fi E2Acoustic response timeoutԙG- =2BY :By  O >  ď,9o?ABV@YB=@Bc~c9B>O>PVAHRS rotation from veh to nav: [[0.888177,0.437516,-0.140433],[-0.456136,0.876408,-0.154428],[0.055512,0.201216,0.977973]]yBHk?@D?@V1ݿ ? Jÿ`l?o?K?ɫBV@B۳;BCbBb I 2Acoustic response timeoutMb@Mb@Mb@ )IiˡEMbp~jt什ļ)3 AIi3@ @I`I̍٥= 7=9S]Q >    F٦ y&; > %4Y?%4ywB-,=-<-)@-@5D:":E}49)=BA9He>HaHe4!IIeBIaIaIa&Ie!<*IeEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmQBkkkkP\@ b,=b,=bq.L@"b)@Uc~c QU0?IuF: qɝu6iqIqI}Fiyi}R=))F6"F*F2F 0:F J%|J%oJ%3J!J%;g:J%K9J%(3J!J%ފ;!5J%ߊ;!5J%:!5J%:!5G=2B:B O> M 2Acoustic response timeout! \6ď,kժo?AI<)jK.NrK.9zK,K.tK. NdnkXE2% %5S| y^G0 B@YB@Be9B P>JAHRS rotation from veh to nav: [[0.888910,0.435925,-0.140740],[-0.454642,0.877144,-0.154660],[0.056029,0.201465,0.977892]]yBHq?2?¿@ݿ? ÿد? ? J?ɫB@B;BCRBR IIZaIZ錴٥bӻ ba=9bQ f>dd fF٦dyj.; j> lr4Yn?r4yny U 2Acoustic response timeouty ď,o?AR+@YR@R^g9R@O>ZAHRS rotation from veh to nav: [[0.889342,0.435000,-0.140875],[-0.453744,0.877647,-0.154441],[0.056457,0.201272,0.977907]]yRH}u?@ ?3¿" ݿ?ÿ?I?K?ɫR+@R;RCbBb IInfIn{٥v< vH=9v7Q v>xx zF٦xy~; ~>  4Y'? 4yvB  "*@ @5D6:/;Ɗ4)% A!MDNOT Ignoring new targets: 14.63 m.RoIQJoIboQZoYBoY:nY2nYmYmakakakake "\@ bbb"b"*@^g 靥2?I: ɝ6iIIHii=))EyԉE}tAF1"F1*F12F=_5:F9 2Acoustic response timeoutԹZHM<RHMp;HQHQHU.!IIU BIQIQIQ&IU;<*IUEG] +=2Bi :By  O > J= ~J= tJ= 2J9 J= {m:J= 9J= c3J9 J= D;J= F;J= :zFď,˃o?AJu:B IMb@Mb@Mb@ Թ)Ii{Gz~jtx?:vף;T)M AIih@@ @InId٥0< <=9Q > F٦y > 4Y?4yUvBq= #< $@ @ 5DTE;7@;[4)AEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nImQmUaBkQkYkYk]`\@ 2Acoustic response timeout b%q=b%q=b%ZED@"b%$@q qu.?I}: yɝ}6iyIyIEiit=))FA"FA*FA2FET0:FAjK qNrK9zKKuKOgpw}yj[K9,! 00*#   Gm ɯ=2Bq :B  O >  2Acoustic response timeout9 rď,JAHRS rotation from veh to nav: [[0.890758,0.431968,-0.141258],[-0.450864,0.879025,-0.155034],[0.057200,0.201786,0.977758]]yBH?]?¿ܿ ?(ÿ NI?`!?I?ɫB~@B/ ;BCR‚BR IIZlIZ)٥b< b^=9f>Q f>dd jF٦hyn< n> pv4Yr?z4yrurBxz:$@z@r 5DrT ;r? ;rӘ4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo1:n12nmmkkkk \@ bbb"b:$@2kj 0?I: ɝ6iII Bi i =) )F5"F*F2F_0:F9A %2Acoustic response timeoutG=2B:B O>yԙ _ď,Xp?AR"@YR@RIl9RgP>bAHRS rotation from veh to nav: [[0.891415,0.430527,-0.141515],[-0.449506,0.879685,-0.155235],[0.057656,0.201990,0.977689]]yRHw?`?`&¿ܿa&?ÿ?@?:I?ɫR"@R0;RCjƂBj I u2Acoustic response timeouteMb@Mb@Mb@a a)aIaiaeˡEH CH;!IIBI =II&I<*IEI-FI-פ٥E}qq uF٦qyuW; }> y4Y}%?4y}Du}B_=<@@}5D};}S;}Ѡ4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo1:n92namammjBkikikikm\@ b_=b_=b;;@"b@Il .?I: ɝ6iIIGii$G>))E t>E ,>F6"F*F2F:FԙJ{JwJ3JJd:J9J(3JJ+;J,;J:J: = 2Acoustic response timeoutG V=2B :B  O > * ď,,p?A>Q+@Y>8&@>l9>iKP>FAHRS rotation from veh to nav: [[0.891872,0.429644,-0.141318],[-0.448584,0.880189,-0.155047],[0.057772,0.201675,0.977747]]y>H`6?J?¿ܿ`*?`ÿ>??`I?ɫ>Q+@>;>CVԂBV IjK^nMrK\zK\K^vK^P=xpgXSNJIG@;62++( 7Qdmr'Y{BKf>:Kf?IjVIj٥rd= re=9rQ r>tt vF٦tyv?; z> x~4Yz:?4yztzB@@z5Dz;z];z4 )3A=DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9BoA:nA2nAmAmAkIkIkIkMK\@ bibibi"bm@l 靅H5?I: ɝ6iIIDiik >))F"F*F2Fo0:F 2Acoustic response timeoutG ط=2B:B) O=>) = 2Acoustic response timeoutkď,Ep?AI)<6r:@Y6Y5@6m96aP>FAHRS rotation from veh to nav: [[0.892688,0.427968,-0.141249],[-0.446931,0.880986,-0.155294],[0.057978,0.201757,0.977718]]y6H@?c?@r¿ܿ` 1?ÿ>?`.?`wI?ɫ6r:@6*n;6CJقBJ IIVeIV]٥Z< ^M=9=|Q =>9A EF٦AyEϑ; E> IU4YM?U4yM0tM~BY]@]@M5DM;M;M94e5B)eAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk ]@ bbb"b@m 7?I: ɝ6iIIIii>))YF5"F*F2F0:Fy 2Acoustic response timeoutG*>JHBHH>HHT!II*BIII&I<*IE2IC:IBIJIǰ =RIǰ =ZI52B1:BA OU>ԩ J% xJ! J% 2J! J% Z:J! J% c3J! J% ;J% ;J! J! Xď,_p?A6kF@Y6RA@6Km96P><BAHRS rotation from veh to nav: [[0.893337,0.426712,-0.140948],[-0.445624,0.881665,-0.155198],[0.058044,0.201454,0.977777]]y6H6?@O? ¿ ܿ6? ÿ?;?`I?ɫ6kF@6R;6CJBJ IMb@Mb@Mb@ )IiMbˡE?'=) AIp@i@@ =@IYI٥ = :=9 &Q > F٦yb; > 4Y ?4yRsB=<@@5Dj;-i;4)A5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n92n9m9m=kBkAkAkAkE]@ bm=bm=bm8.@"bmE@Km 靥:?I: ɝ 6iI 2Acoustic response timeoutI-Fi)i5]>)1)12D==*D==ԱjKUNrKQzKQKUwKUkO6{tpttkc\QJEC@:8IyytkcbgjbYQH=85/*)D :EFI "FI *FQ 2FU _0:FQ Ge = Ge =  2Acoustic response timeout1 Gm >2By :B  O >$eď,`|p?ABS@YBN@B_Mn9BOO>JAHRS rotation from veh to nav: [[0.894055,0.425283,-0.140713],[-0.444168,0.882393,-0.155232],[0.058146,0.201286,0.977805]]yBH?7?@¿?mܿdh jF٦lyvB; z>  4Y? ?4yvrB@@5D:y:4) A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmQkYkYkYk]9]@ JJAA bbb"b@_Mn 靥HC?Ib: ɝK6iIICiih/>))ԹD 2Acoustic response timeoutF-6"F)*F12F51:F1! G] l>2B :B  O >0B%ď,Rp?A  &2Acoustic response timeoutH6>H4H6s!II6CBI6 =I4I4&I6<*I6E0v@Yq@Wm9!P>%AHRS rotation from veh to nav: [[0.895922,0.421562,-0.140034],[-0.440408,0.884125,-0.156091],[0.058006,0.201517,0.977766]]yHd??`/ܿ J?`ÿ岭?`N?I?ɫ0v@6;5B5!IMb@Mb@Mb@ )Ii1ZdA`"?"۽Y=)3 AI@i3@`@ @I\IW٥.= :=99Q > F٦y.<  > 4Y ?4y cq B=;@%@ 5D ; ; Ľ4))-A)DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkV]@ b5=b5=b5Ѡ+@"b5^@EWm AE0?IMz: IɝM96iIQIiIHii1>))DFe6"Fa*Fa2FeN5:Fiԁ)G `wA)A 2Acoustic response timeoutI5t5`wA5ؠAԱ G n>2B :B  O >jKU NrKU 9zKQ KU xKU ($# ).@iM9-$  "1 r+ď,up?ARAHRS rotation from veh to nav: [[0.897029,0.419355,-0.139573],[-0.438174,0.885124,-0.156712],[0.057822,0.201733,0.977732]]yJH@u? ? ` ܿ@R?`$Ŀњ?@`?`I?ɫJ@J;JCZBZ$!IIbnIbd٥j$= n]=9n:Q n>lp rF٦pyr; r> tz4YvC?z4yvzpt|~-@~@v5Dv;v:vʽ4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk n]@ b9b9b9"b=-@Ucl Y]q4?I]G: aɝe6iiIiIuEiyi}o >)y) M2Acoustic response timeoutԡDf :JzJsJ3JJ`:J9J(3J!@!@!@!@FE5"FA*FA2FE4:FAGIFI  2Acoustic response timeoutG a >2B :B  O >v2ď,4p?A4vBv3!II~hI~٥52g= 5>=95Q 5>99 =F٦9yE M> IU4YM?U4yMjoMBYYe @M!5DMu`;Mn;M{ҽ4%B)AզEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk]@ bbb"ba im:?Iu3: yɝY7iIIBi!i%q} >)))9ԡ 2Acoustic response timeoutZHRH<H>HH!II\BIII&I<*IED :Fq "Fq *Fq 2Fu _5:Fq  G=  >2BI :BY  Oe >A9ď,p?A 2Acoustic response timeoutR@YR@Rj9R P>^AHRS rotation from veh to nav: [[0.898920,0.415700,-0.138336],[-0.434347,0.886915,-0.157242],[0.057327,0.201433,0.977823]]yRH ?՚?`@Vۿ`a?`} ĿY?@?SJ?ɫR@R;RCfBf4!I}Mb@Mb@Mb@y y)yIyiy}V-Q?}}\=y)yI}@i}I@}@ y}@IZI٥'; 2=9:Q > F٦ye< e> iu4Ym?u4ymnmB} >};}= @} @m%5Dm/:mZ:mڽ4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkk k k ]@ bM >bM >bM$P&@"bM= @j 靅5?I: ɝw7iIIGii->))jK7NrKu9zKKyK *1q0hO>3-+'# %:\  2Acoustic response timeoutD~ :9 F} 6"Fy *Fy 2F} [5:Fy  JI JI JU |JU qJQ JQ JU ;g:JU q9JQ JQ i G >2B :B  O >@ď,q?A B A!IIaI錴٥5{K= 5==95Q 5>99 =F٦9y= E> AM4YE?U4yElEBQQU @E)5DEK:E :E 4Y)]TAaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk]@ 2Acoustic response timeout bbb"b B;?Ih: ɝm7iIIDii >))Dm :F%5"F!*F!2F%4:F!)G5= G1Ha Ha He !IIe qBIe =Ia Ia &Ie w<*Ie UE } 2Acoustic response timeoutI GE j>2BQ :Ba  Ou >Gď,q?A6ճ@Y6vк@6}g96uO>>AHRS rotation from veh to nav: [[0.901062,0.411518,-0.136894],[-0.429983,0.888869,-0.158195],[0.056581,0.201406,0.977872]]y6H`?@NV?@…؄ۿ@q??Ŀ 9??J?ɫ6ճ@6j ;6CF$BFM!IuMb@Mb@Mb@q q)qIqiqux&V-?{Gztu7 uh=uף)uAIup@iu3@q qu@I\IW٥n6= B=9v:Q > F٦y\=< > 4Y?4yok_>; @ @-5D:M:f4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo :n 2n mmBkkkk]@ b=_>b=_>b=)@"b=> @]}g Y]q=?I]d: Yɝe| 7iaIaImIiiim>)i)q 2Acoustic response timeout1D :Fe6"Fa*Fa2FeV0:FaijK ѓNrK #9zK K zK |ulhc[TOKEDB><852.'#  ԙ GA 2BQ m 2Acoustic response timeout:Bq  O} >\Mď,1 8q?A2@Y2@2bf92O>:AHRS rotation from veh to nav: [[0.902050,0.409598,-0.136142],[-0.427955,0.889793,-0.158501],[0.056217,0.201239,0.977928]]y2H@?6?mcۿ/y?IĿ qȬ?0? /K?ɫ2@2\;0B!BBI!IIJ=)J=IR`IR̍٥b{ bV=9fz:Q f>dd jF٦hyj; j> lr4Yn?r4yn8jnBtv @v @n15DnU;n/;n4x)z AxDNOT Ignoring new targets: 14.63 m.RoJo!bo!Zo!Bo!:n!2n)m)m)k)k1k1k5]@ bbb"b @bf ;?I: ɝ k 7i I IFii$>))9JJ m3J .J]}J]JYJYJ][j:J] :JYJYqD 2Acoustic response timeoutF"F*F2F^0:FԙG %|> 2B :BA  Om >UTď,Q/Rq?A@Y@Jjd9O>AHRS rotation from veh to nav: [[0.903103,0.407532,-0.135359],[-0.425791,0.890727,-0.159082],[0.055737,0.201302,0.977942]]yH8?? nS )@ۿ@ր?\Ŀ?B?MK?ɫ@2D;髅C#BL!ImMb@Mb@Mb@i i)iIiiiym rh+? F٦ 2Acoustic response timeouty; > 4Y3?4yhB >; @ @65Dq ;C ;`4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo1Bo1:n2nmmBkkkk`^@ b >b >b='@"b @5Jjd 15@?I5(: 9ɝ=7i9I9IECiAiE>)A)I"DusADusAԩD :F- 5"F) *F) 2F- _0:F) G5 sAF1  2Acoustic response timeout GU>2BY:Bq O>{[ď,pq?A2 @Y2@2ab92O>:AHRS rotation from veh to nav: [[0.904048,0.405643,-0.134722],[-0.423826,0.891578,-0.159561],[0.055390,0.201350,0.977952]]y2H?`?>ۿχ?lĿ\?`? bK?ɫ2 @2|Ҋ;2CF(BFR!IINcIN#T٥Z< ZH=9Z^:Q ^>\\ ^F٦\yb; b> dj4Yf?j4yf;gdhj @j @f:5Dfd:f:fz4p)rApDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m!k)k)k)k--^@ bIbIbI"bM @]abjKeNrKe۵9zKaKe{Ke #g-43) U:-*(&"!MaYH9,   gB?I: ɝ7iIIHii>)) 2Acoustic response timeoutDE :F"F*F2F:FJ%J%xJ%2J!J%p:J%9J%c3J!) i i m 2Acoustic response timeoutG >2B :B  O >tbď,'Jq?AJc@YJJ@Jga9J{P>RAHRS rotation from veh to nav: [[0.904978,0.403766,-0.134116],[-0.421881,0.892406,-0.160084],[0.055049,0.201453,0.977950]]yJH?@O?*ۿ? }Ŀf/?6?]K?ɫJc@J>i;JCZ0BZ[!IIb`Ib̍٥j= jJ=9j\:Q n>ll rF٦pyri; r> tz4Yv?~4yvet @ @v>5DvH;vI;v4  B) A ԦEEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nA2nAmImIkIkIkQkU G^@ bqbqbq"bu @ga 靭4F?I: ɝ7iIIEii>))DFU6"FY*FY2F]F1:FayHHH!IIBIII&IM<*IE2IE C:IABIAJIEƲ =RIEƲ =ZIEƝ4 2Acoustic response timeoutԑGr >2B:B O> hď,'q?AԙMb@Mb@Mb@ )IiV-¿ F٦y > 4Yf颊?4yidB k#> ; @  @B5D3::<4) =2Acoustic response timeoutMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoQ:n2nmmBkkkk d^@ b%k#>b%k#>b%h+@"b%6@ 靝G?I: ɝJ7iIIBiixk>))2DF?*D+?jKNrK9zKK|K .\peZB &(.+(('%%$$%&&%  )4,D. :EsAEsAF "F *F 2F `0:F G = G =  2Acoustic response timeout! G >2B :B  O>zipď,gq?AV=@YV7@V,_9V߹O>fAHRS rotation from veh to nav: [[0.906528,0.400682,-0.132892],[-0.418617,0.893859,-0.160546],[0.054459,0.201170,0.978041]]yVHG?Ť?`ڿ?@ŒĿ ??`L?ɫV=@Vԉ;VCr2Br^!IIejIe٥u; u<9u:Q }>yy F٦y< > 4Y墊?4ybB@ @G5D/;;4)mADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk N^@ bbb"bu@5,_ 15H?I5": 1ɝ=7i9I9I=GiAiE>)A)QY 2Acoustic response timeoutԉDF5"F*F2Fo0:FԹ H H H !II BI I I &I <*I E 5 2Acoustic response timeoutG G>2B :B   O >vď,!q?A:*L@Y:G@:+^9:O>BAHRS rotation from veh to nav: [[0.907304,0.399044,-0.132529],[-0.416944,0.894591,-0.160824],[0.054383,0.201174,0.978045]]y:H ??4ڿ}?Ŀ ث??$L?ɫ:*L@:c;:CppMb@Mb@Mb@ )IiDlA`"?y&1O Y=`e)AIp@i;@@ IcI#٥g :=949Q > F٦yf; > 4Yᢊ?4yaB >;D@ @K5D@:j:4)oA JyJJ3JJ]:J9J(3JJł;!JƂ;!Jl;!Jl;!DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkඝ^@ bM >bM >bM 1@"bMD@}+^ y}G?I: ɝ 7iIIDiiN >))i%u)>I-C)G )I(A 2Acoustic response timeoutID :F 6"F *F 2F 0:F q jK MrK 9zK K }K   '&*# 3_gUC4&2LQE<5/+! 2K rA*K ԩ Ge 0>  2Acoustic response timeout2B :B  O >}ď,q?AZ=h@YZ$c@Z*$^9ZnO>bAHRS rotation from veh to nav: [[0.908736,0.396009,-0.131815],[-0.413836,0.895941,-0.161338],[0.054207,0.201164,0.978057]]yZH]?`7X?QI|ڿ?Ŀ@ ??=L?ɫZ=h@Z4;ZCj7Bjd!IIvpIv<٥~A< ~@=9~9Q ~> mF٦iyu"< u> q}4Yuޢ?4yuu`uB}@ @uO5Du;u;ue%4)GADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk W^@ b b b "b }@-*$^ )-.J?I-Q: )ɝ5"$7i1I1I5Ii9i=!>)9)A"DIDI)DEp>E> m2Acoustic response timeoutF]5"FY*FY2F]0:FYiGqFusAԉ G >2B! :BI  O} >Yď,pr?AHz>HxHz!IIzBIxIxIx&Iz<*IzE8Bf!I) 2Acoustic response timeoutMb@Mb@Mb@ )Iix&)\(?~jt7 Ga=D)AIZ@i@@ \@I-\I-W٥5; =)=9=Q =>AA EF٦AyM M> Q]4YU4ڢ?]4yU"_U~Be>e;e8@e @US5DU;U;U-4q)u=AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk^@ b>b>b"0@"bu8@ Q?I/: ɝ'7iIIFii >))YJzJtJJJ`:J9JJJx;Jy;J:J:D- :ԉF6"F*F2F0:F E 2Acoustic response timeoutԱ G =H!>2B :B  O >uď,N1r?AB.@YB}@Bb_9BIP>^AHRS rotation from veh to nav: [[0.910025,0.393060,-0.131755],[-0.410948,0.897164,-0.161923],[0.054561,0.201499,0.977968]]yBH?`'?@\Lڿ@?Ŀ^?`?K?ɫB.@B;BCb0Bb\!I xzAI~ZI~٥ # 5V=95)pQ =>99 =F٦9yE< E> Iu4YM֢?u4yM^M|Bqul@u @MW5DMe;M=:M_44)|AjKeMrKe9zKaKe~Ke I|wcK8*  q|k]M?61+&#DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk =^@ bbb"b=l@Mb_ IMN?IUc: QɝU+7iQIQI]CiYi]#>)) %2Acoustic response timeoutAiDEO :JJR=F "F *F 2F &1:F ԑ  2Acoustic response timeout G 9 >2B :B O->Гď,2Or?ABφ@YB@B/l`9BO>ZAHRS rotation from veh to nav: [[0.910246,0.392570,-0.131683],[-0.410429,0.897469,-0.161546],[0.054763,0.201093,0.978040]]yBH@ ??yDڿ?Ŀ ?j?L?ɫBφ@B;BCf4Bf`!IIn^In٥v^< v2=9zQ z>xx ~F٦|y~Ģ: ~>  4Y5Ӣ? 4y\zBu@ @[5DD;/;R<4!)%bA!mDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:ny2nymmkkkk _@ bbb"bfu@}/l` y}O?I}: ɝl.7iIIHii#>))DX :JHBHH>HHIIII&IԘ<*IcE ]2Acoustic response timeoutF6"F*F2F64:FGU#>2B:B Oe> J {J vJ 4J J d:J ϣ9J 3J J +;J ,;J :J :ď,hr?A06[@Y6B@6`gb96~O>BAHRS rotation from veh to nav: [[0.910750,0.391281,-0.132037],[-0.409246,0.897960,-0.161821],[0.055246,0.201414,0.977947]]y6H$?` ?@1ڿ?Ŀ;I??WK?ɫ6[@6s;6CJ3BJ_!I b2Acoustic response timeoutuMb@Mb@Mb@q q)qIqiquʡEZd;O?{Gzuuj<=u#)uzAIu@iu@u@ qu@I\IW٥0 @=9%Q > F٦yF; > 4YТ?4y[yB$>;@ @_5D::C4)eADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n 2n m m {Bkkkk '_@ b=$>b=$>b=q1@"b=@M`gb QU)\?IU$: Yɝ]17iYIYIeEiaie^$>)a)iDUa :ԑF6"F*F2F_0:FGFG GԹjKOrK9zKKK-FK>0'#3983+$ &(#"  T2BY u2Acoustic response timeout:By O> ď,衂r?A\ZƔ@YZ@Z<d9ZO>fAHRS rotation from veh to nav: [[0.910900,0.390868,-0.132225],[-0.408857,0.898201,-0.161464],[0.055654,0.201138,0.977981]]yZH&??@*ڿ?֪Ŀ ~?@?K?ɫZƔ@Z̹;ZCn2Bn^!IIv^Iv٥~ǻ U=9HQ >    F٦ y,: > !-4Y%?͢?-4y%Z%wB)-@- @%b5D%:%:%|J4=B)=DA9DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkA_@ bYbYbY"b]N@<d 靵[?I<: ɝp57iIIBii.6%>)) 2Acoustic response timeoutD :Fy"Fy*F2F:F2B:B O?>Aa H H H I I I I &I <*I E  2Acoustic response timeoutʦď,{r?AB@YB@Bf9BO>JAHRS rotation from veh to nav: [[0.911311,0.389740,-0.132719],[-0.407853,0.898633,-0.161601],[0.056283,0.201399,0.977891]]yBH`v)?@?@Cڿ? [ĿѬ? p?J?ɫB@BҚ;BCb5Bbb!I9Mb@Mb@Mb@ )IiV-?~jtL=D)AIC@i @I]It٥~< @=9cQ > F٦y&; > 4Y6ʢ?4yYuB>;a@ @e5D(<(<Q4!)%)A!mDNOT Ignoring new targets: 14.63 m.RoiJoboZoBo:n2nmmBkkkkx\_@ b>b>b /@"ba@f  W?I: ɝ87iII%Gi!i--&>)))1J}JmJ2JJ[j:J&9Jc3JJ;J;Jž:Jƾ:i 2Acoustic response timeoutDU :EYEYԑF5"F*F2F^0:F2B :B  O- >Թ Rď,vQr?A6@Y6@6i96O>BAHRS rotation from veh to nav: [[0.911424,0.389295,-0.133249],[-0.407499,0.898863,-0.161214],[0.057013,0.201234,0.977883]]y6Hc*?5?Q`wڿ |?@Ŀ0??J?ɫ6@66;6CJ2BJ]!IIrnIrd٥z' zW=9zQ z>|| ~F٦|y: > 4Y Ǣ?4y X tBg@ @ h5D : ; X4!)%GA!jK={MrK=u9zK9K=K=@#{slc[SNNizxwwrkdcfw|sneXeDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:na2nimimikikqkqkus_@ bbb"bg@ԙi 靭$U?I: ɝ<7iIIDii]&>)) }2Acoustic response timeoutDo:FQ"FQ*FQ2FU_0:FQ2Ba:By O> - 2Acoustic response timeout #۳ď,Z,r?AI)6h@Y6O@6Il96O>BAHRS rotation from veh to nav: [[0.911768,0.388293,-0.133820],[-0.406624,0.899266,-0.161174],[0.057757,0.201367,0.977811]]y6H 4-??@!!ڿ?WĿR? h?@;J?ɫ6h@60;6CJ:BJh!I)T VAAI^pI^<٥j (= jL=9n-Q n>pp rF٦pyv; v> x4YzĢ?4yzWzrBv@ @zl5Dz))HqHqHqIqIqIqIq&Iu <*IuE2I1:I1BI1JI1RI1ZI5[4! 2Acoustic response timeoutDx:QFM 6"FI *FI 2FQ :FQ J% ~J% sJ% 3J! J% {m:J% 9J% (3J! J% D;J% E;J% D:J% E:y = 2Acoustic response timeoutGU a">2Ba :Bq  O >1ď,W|r?AFI@YF0@FYrp9FiO>RAHRS rotation from veh to nav: [[0.911961,0.387599,-0.134513],[-0.406059,0.899584,-0.160827],[0.058669,0.201288,0.977774]]yFH.?j? 7`ٿ`c?`Ŀ ?@?I?ɫFI@F;FCZ,BZW!I)MMb@Mb@Mb@I I)IIIiIM:vJ +?QMԽMH=Mu)M~AIM-@iM@M@ IM@IecIe#٥}n }0=9}Q > F٦y: > 4Y?4yVpBq=;@ @o5D/:;g4)sA}DNOT Ignoring new targets: 14.63 m.RoyJoyboZoBo:n2nmmoBkkkk_@ bq=bq=b,@"b}@-Yrp )-^?I-+: 1ɝ5kC7i1I1I=FiYi]['>)Y)a2DN?*Dc?YjK2OrK-9zKKKOVey1EMPPNMKIG<0"" wbQB960) %,>^| m2Acoustic response timeoutԁD:F 6"F *F 2F `0:F ԩ G _'>2B :B  O >Mď," s?A6*@Y6@6t96O>>AHRS rotation from veh to nav: [[0.912148,0.386888,-0.135294],[-0.405491,0.899916,-0.160401],[0.059696,0.201170,0.977736]]y6H P0??@OQ`ٿ? Ŀn??@I?ɫ6*@6V;6Cj/Bj[!IIr\IrW٥z [< z:=9~Q ~>|| F٦y: > 4Y ?4y U mB@ @ r5D d: p: Oo4!)%[A -2Acoustic response timeout1mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmqmqkqkykyk}<_@ bbb"b@t 靵9`?I: ɝF7iIICiih*(>))D!F]6"FY*FY2F]_5:FYGesAFetAQH>H CHII =II&I3<*IEG=O'>2BI:Ba Ou> 2Acoustic response timeouty ^oď, a#s?A8RPExceeded connect timeout, disconnecting.r4Br`!IitItIz=)z=):G )I h)AMb@Mb@Mb@ )Ii ףp= )\(?:vQGa=T)Ii@ @I_I٥m< .=9Q > F٦y   > 4Y?4yTkB%=%;%U @% @u5D::~w4))57A1eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoiBoi:ni2nqmqmu{Bkqkykyk}%_@ԉ b=b=bl%@"bZU @ )\?I: ɝJ7iIIHii"(>)) U2Acoustic response timeoutDu:Fi "Fi *Fi 2Fm 0:Fi jK O OrK 9zK K K %)%od^\wvle`\UMB;/$BK- ?:K- ?  2Acoustic response timeout G pG(>2B :B  O >ď,\@s?A2g@Y2N@2V}92xO>:AHRS rotation from veh to nav: [[0.912684,0.385037,-0.136949],[-0.403965,0.900704,-0.159827],[0.061811,0.201194,0.977599]]y2H4?p?ٿ@?8uĿ ? ?`~H?ɫ2g@2d;2CF$BFL!IIfeIf]٥r rU=9vQ v>tt vF٦tyzЉ; z> |4Y~ɺ?4y~S~jB n @  @~x5D~S:~:~4~4)AEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImIkQkQkQkU_@ bbb"bn @ V} )-BT?I-v: 1ɝ5 N7i1I1I=Ei9i=ء)>)9)AqJ{JpJJJd:J^9JJ!@!@!@!@ԙ 2Acoustic response timeoutD :F"F*F2F0:F HM >HI HM !IIM BII G _'>2B :B! II IM D&IM <*IM E  2Acoustic response timeout O >ď,:]s?AVʴ@YVĻ@V񪃽9VO>bAHRS rotation from veh to nav: [[0.913069,0.383414,-0.138921],[-0.402712,0.901404,-0.159038],[0.064247,0.201158,0.977450]]yVH7?؉?* ٿM?\[Ŀ@wr? ?`DG?ɫVʴ@VM;VCj(BjR!IeMb@Mb@Mb@a a)aIaiaeʡE&1? rheeP=eCy)eAIe@ie@e@ aep@ItI%x٥< .=9Q > F٦y5; > 4Y߸?4yRgBS= <u@ @{5DG;F;j4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmeBk k k k ` `@ bS=bS=b8#@"bu@u񪃽 quHa?Iu3: yɝ}Q7iyIyIBii/*>)) nManaging dock network, ignoring radio surface power offԡ 2Acoustic response timeoutD:FE 5"FA *FA 2FM 0:FI GU a= GU = Gm W*>2By :B  O ď,iys?A: ̴@Y:ƻ@:"9:CO>BAHRS rotation from veh to nav: [[0.913094,0.383022,-0.139834],[-0.402463,0.901645,-0.158302],[0.065448,0.200822,0.977439]]y:H`8?p?ٿ G?@:CĿ.??@.G?ɫ: ̴@:>;:CHN#BNL!IIVWIVƕ٥^) ^D=9^`` bF٦`yf: f> lr4Yn)?r4jKvOOrKtzKtKvKv    !VmbO?TyynQneB|~x@~ @n}5Dn;nN;n4 ) A  2Acoustic response timeoutmDNOT Ignoring new targets: 14.63 m.RoiJoiboqZoqBoq:nq2nqmymykykykk``@ bbb"bNx@E" AE^?IE: AɝMU7iIIIIMGiQiU*>)Q)QԹJ}J}J2JJ[j:JS9Jc3JD :EErA  2Acoustic response timeoutF 6"F *F 2F 0:F  Ge h*>i 2By :B  O 2Dď,s?A(BR!IH->H)H)I)I- =I)I)&I-<*I-EIsIy٥M< =9Q >   F٦y% %> 9E4Y=?E4y=P=bBAAE @=5D=:=;=䖾4Q)UAQ  2Acoustic response timeout-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m1m1k9k9k9k=,`@ bYbYbY"bYi qu{a?IuJ: qɝuY7iqIqIDii))D ;:A F "F *F 2F 0:F G F G  G  2Acoustic response timeoutԁ 2BQ:Ba Ou>E~ď,fs?ABҴ@YBͻ@Bҋ9BBO>JAHRS rotation from veh to nav: [[0.913249,0.381816,-0.142102],[-0.401650,0.902216,-0.157109],[0.068220,0.200555,0.977304]]yBH`U9?o?`e0¿ ٿ`?&Ŀv?ȫ?F?ɫBҴ@B#;BCR'BRP!I)EMb@Mb@Mb@A A)AIAiAEDl:v?MbEOET=E)EAIE@iAE@ AE@I]fI]{٥m m?=9mջQ u>qq uF٦qy}t: }> 4Y?4yO`B=<@ @5D/;T;.4 B)AʦE5DNOT Ignoring new targets: 14.63 m.Ro1JoIboIZoIBoI:nQ2nQmQmUKBkYkkk5:`@ b=b=bκ@"b@ҋ n?IN: aɝes]7iaIiIuIiix+>jK NrKk9zKKK|rf`ZOIFGC=UjOIdev[I<=BHLPJB91& .DF=1(!Y))a 2Acoustic response timeoutԉJJrJ3JJ:J9J(3JD:F "F *F 2F 0:F Թ 2B :B  O >*^ď,. s?A02A 62Acoustic response timeout:Lڴ@Y:3ջ@:f׎9:O>FAHRS rotation from veh to nav: [[0.913530,0.380652,-0.143413],[-0.400758,0.902633,-0.156991],[0.069690,0.200890,0.977132]]y:H;?`\?Z[¿`ٿ`_?IĿ@8ױ?@ö?D?ɫ:Lڴ@:I;:C~)B~S!II dI @٥3< %P=9%NvQ %>)) -F٦)y5g; => AE4YE:?M4yE.OE^BIM@M @E5DEK:E:E4Q)]AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nԙmmkkkk`F`@ bbb"bQ@f׎ .o?I: ɝ a7iI IFiiM5,>))!D:F5"F*F2F^0:F2B:B O >H>HHII =II&I<*IE 2Acoustic response timeout! ď,s?A6۴@Y6ֻ@696rO>>AHRS rotation from veh to nav: [[0.913516,0.380249,-0.144568],[-0.400544,0.902847,-0.156306],[0.071087,0.200694,0.977071]]y6H ;?U?2¿`ٿ@?@Ŀ2?X? +D?ɫ6۴@6M~;6CJ,BJW!I]Mb@Mb@Mb@Y Y)YIYiY]Dl rh?~jtY]C =])YI]@i]@]@ Y]3@Iu^Iu٥u< D=9\Q > F٦y9 > 4Y?4yNZBE='<@ @5D:{:W4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmFBkkkkUS`@ b-E=b-E=b-+@"b-k@E AE3s?IE: IɝMd7iIIIIUCiQiUL,>)Q)Y"DaDaD-: u2Acoustic response timeoutF6"F*F2F_0:F2B:B! O-+>QjK vNrK 9zK K K    L C    9qNq % 2Acoustic response timeouty Uqď,Yt?AZn@YZUݻ@Z۔9ZmO>fAHRS rotation from veh to nav: [[0.913736,0.379193,-0.145944],[-0.399767,0.903223,-0.156123],[0.072619,0.200999,0.976896]]yZHR=?D?@L¿`Ǖٿ`4?ÿ/? T?B?ɫZn@Z;Xr-BrX!II eI ]٥%*; -P=95Q 5>99 =F٦9yE; M> Ye4Y]?m4y]M]WBim@u @]5D]H;]dI;]=4B)AɦE%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo)Bo):n)2n)m)m1k9k9kAkE``@aJJ3JS}.JJyJJJ}:J9JJ bbb"bT@۔ s?I: ɝh7iII Hi)i- ->)))1ԁ 2Acoustic response timeoutDU7:ԱF5"F*F2F:FH H H !II BI I I D&I !<*I E) 2I C:I CBIJI˴ =RI˴ =ZI 5Gu W*>2B :B  O > ]ď,mt?A .2Acoustic response timeoutI$)&bAHRS rotation from veh to nav: [[0.913615,0.379057,-0.147047],[-0.399790,0.903366,-0.155233],[0.073995,0.200611,0.976873]]yZH V F٦y > 4Y?4y&MSB='<@ @5D:;)G;e4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmCBkkkko`@ bE=bE=bE.@"bE$@ 靅Rx?I: ɝm7iIIEiiM,>))ԙ  2Acoustic response timeoutD I:F "F *F 2F ]0:F G _;->2B :B  O >Qď,QQ UF٦Qy] ]> ae4Ye?m4jKm))2D%>?*D%b?D%:aF"F*F2F`0:FJqJu=ԑGN1->2B:B O>  2Acoustic response timeoutԹ 3ď,Ut?A6*@Y6@6896KO>>AHRS rotation from veh to nav: [[0.913785,0.377770,-0.149290],[-0.398893,0.903938,-0.154210],[0.076693,0.200465,0.976694]]y6H@=? c-?ÿxٿ?(ÿ ?`ڨ?A?ɫ6*@6Xߋ;6CJIBJz!IPIViIV҅٥f= jT=9rCQ v>tt vF٦tyz3; z> |4Y~n?4y~K~MB@ @~5D~:~:~ɾ4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`8`@ b9b9b9"b=G@HYHYH]!II]BI] =IYIY&I]<*I]EU8 ?I: ɝ))D:  2Acoustic response timeoutF6"F*F2Fo0:Fi)>IC)EG a)qJ~JzJJJ{m:J9JJJ!J!JX:!JZ:!IGAGm ,>2Bq :B ? A O >! ^ď,ot?A @ 22Acoustic response timeoutRC@YR*@Rt9RmO>ZAHRS rotation from veh to nav: [[0.914170,0.376128,-0.151069],[-0.397588,0.904602,-0.153683],[0.078853,0.200556,0.976504]]yRH@?z?8Vÿrٿ?ÿ/?Ϋ???ɫRC@R:.;PbKBb}!I|]Mb@Mb@Mb@Y Y)YIYiY]bX9ȶl?{Gz]E]=]#)]AI]@i]h@]@ Y]=@I}lI})٥!< >=9pQ >)) -F٦)y5NG; 5> 9E4Y=?E4y= K=KBEt=E)))D:YjKbgOrKk9zKKK}slc^UNED?:721.+()J_@#$,.%@y-8 2Acoustic response timeoutF6"F*F2F`0:Fԁ GU Q->2Ba :Bq  O >yn"ď,2t?AZ@YZ|@Z9ZO>nAHRS rotation from veh to nav: [[0.914407,0.375235,-0.151851],[-0.396853,0.904948,-0.153551],[0.079800,0.200671,0.976403]]yZH@B??@oÿ`fٿT?`ÿm??>?ɫZ@Z4;ZC~YB!I I-nI-d٥== =J=9=*Q E>AA EF٦IyM}; M> Q]4YUѤ?]4yUSJUIBY]@] @U5DUu:U:Usؾ4i)mhAiDNOT Ignoring new targets: 14.63 m.RoJo!bo!Zo!Bo!:n!2n!m)m)k)k)k1k5 `@ bqbqbq"bu;@ 靭ʀ?I: ɝZ}7iIIIiit/>)) %2Acoustic response timeout1DEa:iH9H9H="II=BI= =I9I=D&I=<*I=uEF6"F*F2Fo0:Fԙ  2Acoustic response timeoutG d/>2B) :BA  OM >)ď,t?A8:@Y:@:r9:O>FAHRS rotation from veh to nav: [[0.914695,0.374236,-0.152580],[-0.396007,0.905329,-0.153485],[0.080696,0.200814,0.976300]]y:H`.E?`z?`ÿ@,Xٿ`u?`aÿ?I?=?ɫ:@:;:CNdBN!IJUJUrJQJQJUs:JU9JQJQJU;JU;JU:JU:Mb@Mb@Mb@ )Iiv/kt?~jtxx 0=Ļ)AIi$@@ IvIt٥TM= 2=9Q >!! %F٦!y-@: -> 1E4Y5g?E4y5II5GBM=M;M@M @55D5ud;5c;54Q)U AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmoBkkkkJ`@ b%=b%=b%G1@"b% @5r 9}z?I: ɝʀ7iIIFiix80>))ԙ 52Acoustic response timeoutD=j:EEe>EE>F "F *F 2F :F  2Acoustic response timeoutjK ZNrK #9zK K K *wtngcb]O8''7EKNLNUYWQQOJEDA=9:8CWc G52/>2BA:BQ Oe>M1ď,?t?AB @YB@Bæ9BO>VAHRS rotation from veh to nav: [[0.914991,0.373337,-0.153009],[-0.395191,0.905712,-0.153331],[0.081338,0.200764,0.976257]]yBHG??˕ÿJٿ?[ÿҴ??`=?ɫB @B0 ;BC^qB^!IIfnIfd٥rII MF٦IyUl; U> Q]4YU$?e4yULHUFBae@e @U5DU:UW:UP4q)uAqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@!`@ bbb"b@æ ?I: ɝ 7iIICii0>))F"F*F2F4:F 52Acoustic response timeoutG/>2B:B  O>AZH RH <H >H H ""II уBI =I I &I <*I Eq '7ď,t?A 2Acoustic response timeout]@YD @늧9%O>=AHRS rotation from veh to nav: [[0.915364,0.372365,-0.153141],[-0.394247,0.906143,-0.153213],[0.081717,0.200621,0.976255]]yH@J??`"ÿV;ٿ?@|ÿc??z=?ɫ]@G;CQ]xB]!IMb@Mb@Mb@ )IiQL7A`?~jth?\+=D;)I@iQ@@ @I^I٥l< '=96PQ > F٦y ; > 4Y򙢊?4yFGB>;@ @5D::4)lAuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoy:ny2nymym}Bkkkk`@ b>b>b5,@"b@늧 q}?I: ɝ 7iI!I%Hi)i-Y1>))))JiJmJiJiJiJm+:JiJiJiJiJmȄ;JmɄ;ԁF 6"F*F2FO5:Fԩ M 2Acoustic response timeoutG i1>2B :B!  O- > P=ď,Ut?AB@YBu@B!69BtO>JAHRS rotation from veh to nav: [[0.915830,0.371190,-0.153212],[-0.393097,0.906644,-0.153200],[0.082042,0.200533,0.976246]]yBHyN??rÿ(ٿ@;?ÿ@? ?g=?ɫB@B]Z;BCVBV!II^dI^@٥f= f=9jQ j?hh jF٦lyn?; n? pv4Yr2?v4yrErHBxz@z @r5Dr):r:r%4|)~A5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo9:n92n9mAmAkAkAkIkM `@ bibibi"bmH@}!6 靅k?I: ɝ؆7iIIEii42>))EԱF56"F1*F12F=_0:F9 2Acoustic response timeoutjKNrKzKKKd_R;-&"  !(CjRC9/)$ :sc\^p}ysGuM/2>2B:B O> 9 ] 2Acoustic response timeout?Dď,tu?AZ*@YZ%@Zۨ9ZO>jAHRS rotation from veh to nav: [[0.916532,0.369408,-0.153317],[-0.391390,0.907312,-0.153622],[0.082357,0.200806,0.976163]]yZH;T?b?ÿ ٿ? ߩÿY??` F٦y%h; %> )54Y-?54y-D-IB15@5 @-5D-;-U;-b4A)EAAmDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoyBoy:ny2nymymkkkk``@ bbb"b5@ۨ ҃?I.: ɝ7iIIBiii4>))F5"F*F2F:FH>HHA"IIBI =II&I<*IE9 2Acoustic response timeoutG|1>2B :B O->a Ju ~Ju tJu 2Jq Ju {m:Ju 9Ju c3Jq Ju D;Ju E;Ju :Ju :(dJď,+u?A B !IMb@Mb@Mb@ )Ii+ÿK?Mb?^=<)MAI@i@ @ILI٥Z< @=9Q > F٦y > 4Y?4yCLB9>;@ @5DF;;4B)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo1Bo1:n12n9m9m=Bk9kAkAkE f`@ bm9>bm9>bmC'@"bm@y 靅?I: ɝ 7iIIG 2Acoustic response timeoutii-04>)))1"D5D52D=*D=qFA"FA*FA2FE`0:FAԙGE s&4>2BQ :Bi  Ou >  2Acoustic response timeoutjK} <;78756552JQď,lEu?A2G@Y2B@292O>:AHRS rotation from veh to nav: [[0.917919,0.366134,-0.152875],[-0.388110,0.908616,-0.154233],[0.082435,0.200906,0.976136]]y2H _?`n?kÿؿ`a?ÿu?@I?`TX ZF٦XyZ< Z> `j4Yb#?r4ybAbNBpv@v @b5Db;b;bA 4)_A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9ZoABoA:nA2nImImQkQkkka@J5R=J5%= b9b9b9"b=@} 靅?IT: ɝ7iIIDiic7>))EEsAF-6"F1*F12F5~0:F1 -2Acoustic response timeout G5u4>2B9:BI O]>! H >H H Z"II BI =I I &I <*I E2I:IBIJIRIZIʷ5(vWď,K_u?AI)<^W@Y^Q@^9^aO>AHRS rotation from veh to nav: [[0.918649,0.364503,-0.152386],[-0.386427,0.909270,-0.154603],[0.082207,0.200912,0.976154]]y^He?T?aÿ8ؿ?ÿ~ ? {? y F٦y; > 4Ẏ?4y?QB#@ @5D;:V4).A5DNOT Ignoring new targets: 14.63 m.Ro1Jo9bo9Zo9Bo9:n92n9mAmAkAkAkAkMRa@ bbb"b#@ ?I: ɝB7iIIIii8>))1F6"F*F2F0:FQ M 2Acoustic response timeoutG 8>2B :B  O >ԁ ]ď,'yu?A2g@Y2b@292mO>:AHRS rotation from veh to nav: [[0.919449,0.362699,-0.151865],[-0.384574,0.909977,-0.155063],[0.081953,0.200976,0.976162]]y2H l?v6?Ppÿޜؿ?@ÿ ??@ F٦y; > 4Y4?4ye>UB%J>; @ @5DP ; ;4) ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkka@ b-%J>b-%J>b-G#@"b- @ 靽z?I: ɝ(7iIIFii:>))Fe5"Fa*Fa2Fm`5:FiGu= Gu= 2Acoustic response timeoutԙjK}vNrK}9zKyK}K}01,-+***())(&(%'(*)(&&%)&%#%"!" C G}?h wh_VLA9655311430ԱJUJUqJU3JQJU:JUq9JU(3JQ!e@!e@!e@!e@G8>2B:B O> E 2Acoustic response timeoutdď,u?ABw@YBr@BJ9B O>JAHRS rotation from veh to nav: [[0.920220,0.360940,-0.151384],[-0.382768,0.910672,-0.155449],[0.081754,0.200993,0.976175]]yBH qr? ?`ÿFؿ:$?ÿ?@ ? dd jF٦hyjݪ; j> pv4Yr?z4yr<rXBxz0 @z @r5DrZ;r;r~ 4y)}CAԹDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk(a@ bAbAbA"bE0 @uJ y}Hw?I}.: yɝ}7iyIyICii(<>))El>E>F-6"F)*F)2F-4:F)HqHqHuf"IIu BIu =IqIq&Iu<*IuE 2Acoustic response timeoutG&:>2B:B O>) :G xA) 5AI  xA A9 'jď,ܬu?A @:@Y:~@:9:O>BAHRS rotation from veh to nav: [[0.920807,0.359680,-0.150814],[-0.381412,0.911228,-0.155530],[0.081485,0.200735,0.976251]]y:H@w??Mÿ iؿ(?dÿ2ܴ??`r=?ɫ:@:{;8JBJ!IIR=)R=-Mb@Mb@Mb@) )))I)i)-sh|?ſV-?Mb`?-)-=-;)-AI)i-Q@-@ ))IMfIM{٥]Lۼ ]A=9]&:Q e>aa eF٦ayme; m> q4Yu|?4yu:tIuZB%bO>%;% @% @u5DubbO>b"@"b @ 2Acoustic response timeout  z?I: ɝ7iIIHiiO=>))!F5"F*F2F]0:FAyG ;>2B :B)  O5 >  2Acoustic response timeoutԙ jK HNrK U9zK K K 0/+'# #M|trmhaWKB94-*%"##0LZ]comdYSHA<814^UmSC50qď,[u?A2@Y2ᐼ@22 92O>:AHRS rotation from veh to nav: [[0.921681,0.357760,-0.150038],[-0.379400,0.911971,-0.156092],[0.080987,0.200792,0.976281]]y2Hi~??v4ÿ`Hؿ`.?ÿ??=?ɫ2@2щ;2C~B~!II hI ٥e< %N=9%:Q ->11 5F٦9yE޴; E> Qm4YUx?m4yU'9U]Bqu @u @U5DUP;U ;U.4)SADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkBa@ bbb"b @qJJtJJJ:J9JJ2 |?I: ɝ 7iIIEiiE3?>))ԩ 2Acoustic response timeoutDU:EaF"F*F2F@5:FGtAFtAZHe <RHe <Hi Hi Hm `"IIm BIm =Ii Ii &Im <*Im E G =>2B :BY  O >,exď,H6u?A 2Acoustic response timeoutԉ@Y@+z9ɼO>AHRS rotation from veh to nav: [[0.922379,0.356177,-0.149519],[-0.377761,0.912583,-0.156487],[0.080712,0.200823,0.976297]]yH ? ?o#ÿ`<-ؿ 3?@Ŀ??@=?ɫ@;髥CB!ImMb@Mb@Mb@i i)iIiiim333333ÿX9v?~jthmm=mD)m AIm@im;@m@ im@IlI)٥f &=9C:Q > F٦yn; > 4Yt?4y7_BD>;@ @5D::j74)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmyBkkkkRa@ bMD>bMD>bM#@"bM@+z 靝׃?I: ɝg7iIIBii@>))Fq"Fq*Fq2Fu\0:Fq 2Acoustic response timeoutGu ?>2B :B  O > ~ď,tu?AI6<)4f޴@Yfů@f|9fO>zAHRS rotation from veh to nav: [[0.923162,0.354457,-0.148767],[-0.375945,0.913253,-0.156950],[0.080230,0.200819,0.976338]]yfH`?m?@ ÿ|ؿ@_9?Ŀ?l?@(>?ɫf޴@f;fCyB!I  AI`I̍٥%0 %e=9-:Q ->11 5F٦1y=ĵ; => AM4YEr?M4yEw5EaBIM@M @E5DE6:Ed:E=4Y)]<AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkn]a@ bbb"b@m| qu?Iu: qɝu47iqIqI}Giyi?B>)) 52Acoustic response timeoutFE6"FA*FA2FE_0:FAjKe;NrKe9zKaKeKe+)# #" %#,+$ JUJUoJU2JQJUp:JUK9JUc3JQIGm-@>2Bq:B O>  2Acoustic response timeoutq qď,v?A6õ@Y6߾@6f96tO>>AHRS rotation from veh to nav: [[0.923893,0.352895,-0.147944],[-0.374259,0.913889,-0.157278],[0.079701,0.200678,0.976410]]y6H?@ӕ?@¿׿>? !Ŀ@Ng?ͯ?>?ɫ6õ@6;6CFsBF!IInjIn٥v vO=9v:Q v>xx zF٦xyz; ~> 4Yn? 4y3cB  <@  @5D:;D4B)%DA%ȦE=B*** querying acoustic contact ***:p9Bp9MDNOT Ignoring new targets: 14.63 m.RoIJoIboQZoQBoQ:nQ2nQmYmYkYkYkake@ja@ bbb"b~<@f 靝}?I: ɝ/7iIIDiiC>))QH>HHN"IIBI =II&I3<*IEF}5"F*F2F0:FG G=ԉ U2Acoustic response timeoutGA>2B:B O>ԩ ֛ď,ɰ0v?A2AԵ@Y2(ϼ@292?O>BAHRS rotation from veh to nav: [[0.924652,0.351103,-0.147461],[-0.372428,0.914554,-0.157760],[0.079471,0.200792,0.976405]]y2H ?`zx?¿ ׿D? ~1Ŀ8X?`?>?ɫ2AԵ@2;2ߐCFbBJ!I]Mb@Mb@Mb@Y Y)YIYiY]Pn+η?~jt]]v=]D)]MAIYi]@]v@ Y]Q@IuFIuפ٥ A=9:Q > F٦ 2Acoustic response timeoutyݘ; > 4Yk?4y<2bBN#>;r@ @5D ; ;L4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmNBk k k k wa@ b-N#>b-N#>b-!@"b-r@E AE?IE: AɝMX7iIIIIMIiQiUjE>)Q)YԱF6"F*F2F0:FGD>2B:B O%> M 2Acoustic response timeoutjK fbMrK zK K K .CLMT\Z\\XVTQQLGC@93,()0,*%!9 ď,/Jv?A:K@Y:2ۼ@:9:O>NAHRS rotation from veh to nav: [[0.925233,0.349874,-0.146735],[-0.371083,0.915062,-0.157984],[0.078997,0.200623,0.976478]]y:H?@Vd?9¿ҿ׿ 0H?8Ŀ+9? ?@O??ɫ:K@:);:CZ[BZ!IIba=)ba=If`If̍٥nh rV=9vŢ:Q v>xx ~F٦|y!{; > 4Y i?4y 0 aBJ%J%vJ%3J!J%}:J%ϣ9J%(3J!@- @ 5D ; A; R49)=A9DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkk k k`a@ bQbQbQ"bU@ 靅8?I: ɝq7iIIFii%F>))Թ"D1D12D1*D1 2Acoustic response timeoutF9"F9*F92FE0:FAJHBHAAH>HH5"IIBI =II&I<*IoE G !E>2B :B  O > m 2Acoustic response timeoutď,ıdv?A`j@YQ@=P9{O>AHRS rotation from veh to nav: [[0.925804,0.348575,-0.146225],[-0.369723,0.915552,-0.158334],[0.078685,0.200649,0.976498]]yH0? O?}¿׿3L?LDĿ$?߮?y??ɫj@;CRB!IMb@Mb@Mb@ )IiA`"T㥛 ?{Gzٽ=ף)AI@i@h@ @IrI{٥ ,=9G-:Q > F٦y@; >  4Ye? 4y/]B=; @ @5DB;A;[4B)A%EUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nY2nYmYm]$Bkakakikm 5a@ b=b=b&@"b+ @=P 靝?I: ɝ֣7iIICiiG>))FU5"FY*FY2F]3:FYGaFa 2Acoustic response timeoutA G G>2B :B  O >מď,@~v?A6h@Y6O@696?[O>>AHRS rotation from veh to nav: [[0.926132,0.347848,-0.145883],[-0.368937,0.915862,-0.158371],[0.078520,0.200495,0.976543]]y6Hߢ?@#C?N¿׿N?EĿ@?Ω?`??ɫ6h@6;6CFIBF{!IIRQIR٥ZQ Zy=9^::Q ^?   F٦ y 7;  ? %4Yd?%4y.[B)- @- @5D;;;`41)5A99mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmqmqkqkykyk}a@ bbb"be @ 靽_?I: ɝ7iIIHiiZH>)) E2Acoustic response timeoutFQ"FQ*FQ2FU^0:FQijK%NrK%k9zK!K%K%!:S__^[\\[_djkhhgggdd_TG91.*(%  GuG>2Bԡ:B O>JUJUnJU4JQJU=:JU99JU3JQ  2Acoustic response timeoutҿď,Cv?A25@Y2@2vР92]O>:AHRS rotation from veh to nav: [[0.926578,0.346724,-0.145723],[-0.367831,0.916226,-0.158840],[0.078442,0.200779,0.976491]]y2H@? 0?¿׿ Q?TĿ`?"?i??ɫ25@2V;2CFABFp!I HJAINiIN҅٥V& VK=9ZK9Q Z>XX ZF٦Xy^NG; ^> `f4Yba?f4yb-bXBdj @j @b5Db:b:bg4l)nWAl DNOT Ignoring new targets: 14.63 m.Ro Jo bo ZoBo:n2nmԙmkkkk a@ bbb"b @H}>HyH}"II}ƒBI} =IyIy&I}<*I}E2IA:IABIAJIEµ =RIEµ =ZIE²5UvР 靥E?Ij: ɝ7iIIEiiqI>))Fm6"Fi*Fi2Fi:Fi u2Acoustic response timeoutGdH>2B:B O> kď,av?A:n@Y:U@:TY9:pO>FAHRS rotation from veh to nav: [[0.926739,0.346436,-0.145382],[-0.367473,0.916379,-0.158788],[0.078215,0.200579,0.976550]]y:H@٧?,?¿`׿`R? )SĿ??`??ɫ:n@: C;:ߐCJ8BNe!I-Mb@Mb@Mb@) )))I)i)-#~jl?{Gz-㥽-=))-$AI-@i)-Q@ )-f@IEeIE]٥U>) U@=9U :Q ]>aa eF٦ayeq: m> i}4Ymq_?}4ym,mTB}=}<@ @m5Dm;m;m*o4)A 2Acoustic response timeoutUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2nYmameBkikikikm ĸa@ b=b=b-@"bV@TY ͌?I: ɝ07iIIEBiAiEYI>)I)qF"F*F2F_0:FG = G =)IG- H>2B1 :BI  OU >  2Acoustic response timeoutjK= .NrK= 9zK9 K= K= BKM ?:KM ?y Ѳď,=v?A2@Y2o@2(92(O>:AHRS rotation from veh to nav: [[0.927064,0.345625,-0.145243],[-0.366672,0.916634,-0.159166],[0.078123,0.200813,0.976510]]y2H??O¿@w׿U?`_Ŀ?@???ɫ2@2T;2C1B ]!II%OI%ݜ٥5  5L=95s9Q =>99 EF٦AyM; M> Ym4Y]n]?m4y]B,]PBqu @u @]5D]Us;];]/v4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk a@ bbb"bE @Y( 靕 ?I?: ɝP7iIIGiiigJ>)) 2Acoustic response timeoutԁDU:ZH}<RH}<HHH!IIBI =II&I͘<*IREԱF "F *F 2F ^0:F  2Acoustic response timeouti I C)} HG ) AIB!%SAG12Ba:B O>!ď,t~v?A4 6B c!I-]only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-27W,-32768,-32768,V me@e qe@e ue@e ie@e ImTImn٥}< }'=9Q > F٦y > 4YZ?4yg+KB+:; @5D;>}4)AJJw3J7/JJtJ8JJ:J9J'4JJ;!J;!J!J!mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmqmqkkkk9a@ f?I: ɝͮ7iIIDii%^J>)!)!ԙ 2Acoustic response timeoutD]:F"F*F2F]0:F Q Ge 3J>2Bi } 2Acoustic response timeout:B  O >ď,w?A2@Y2l@292O>>AHRS rotation from veh to nav: [[0.927049,0.345601,-0.145398],[-0.366668,0.916664,-0.159006],[0.078328,0.200719,0.976513]]y2H@b?S?d¿|w׿NU?LZĿR ?&?@??ɫ2@2RY;2ݐCF7BFd!IIReIR]٥Z]: ^B=9^Q ^>`` bF٦`yb\d b> dj4YfX?j4yf*fGBn :ln;ln @f5Df;f{h?fⁿ4p)rAtDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)k)k)k)k5a@jK,LrKk9zKKK2KsA*K ?IH: ɝ7iII%Ii!i%tNJ>)))I"DUtADUtA!D: 2Acoustic response timeoutFe5"Fi*Fi2Fm_0:FiGqFusAa H >H H !II BI =I I &I <*I Ei G 2B :B  O >?9ď, ~"w?A6V@Y6=@6W96O>>AHRS rotation from veh to nav: [[0.926990,0.345707,-0.145523],[-0.366799,0.916607,-0.159025],[0.078411,0.200792,0.976491]]y6H`?@ ?}¿y׿@T?ZĿ ? ?i??ɫ6V@64f;6CF:BFg!IIRXIR㔴٥Z#Q< ^>=9^qKQ ^>\` bF٦`yb b> pv4YrV?v4yr)rCBz9xz;z @z @r5Dr;r?r兿4|)~A| =2Acoustic response timeoutԉDNOT Ignoring new targets: 14.63 m.RoJoboZoBoY:na2namqmqkkkk@`a@EW AE3?IE: IɝM7iIIIIUFiQiu)q)yDU:ԱJJ~J3JJ:Jf9J(3JJ;J;J:J:F"F*F2F:F A  2Acoustic response timeoutGm =J>2By :B  O > Zď,z4ZAHRS rotation from veh to nav: [[0.926899,0.345855,-0.145750],[-0.366992,0.916529,-0.159030],[0.078583,0.200894,0.976456]]yRH'?@|"?@¿`|׿5T?[Ŀ ? ? ??ɫR@R];PbEBbu!I dfAm m  q q  u u  i i Mb@Mb@Mb@ )Iiv/y&1|?Mbxi`;)AI@i@~@ @I5\I5W٥ERB= E4=9MǹQ M>II UF٦QyU. ]> Ye4Y]T?e4y])]ABmT:mm=md))! M2Acoustic response timeoutD=:jK]qOLrK]9zKYK]K]!'-+'#!&/=_,O)=?+:L?~@F6"F*F2F:FGFG GJJp=I 2Ba y :By  O >\ď,}Vw?A >2Acoustic response timeout@Y@r 9)O>AHRS rotation from veh to nav: [[0.926776,0.346170,-0.145785],[-0.367310,0.916405,-0.159014],[0.078552,0.200918,0.976453]]yH`%?'?@¿`׿0S?ZĿ ?@?@??ɫ@M;C%PB%!II5gI5٥MQl= UX=9U8Q U>YY ]F٦Yy]%l e> am4YeJS?u4yeH)e?Bqu\'@u @e5De:e:ec4y)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk U b@ bbb"b2\'@r ?I: ɝ߷7iII Hi i I>) )JHBH?AH>H CH!IIBI =IID&I<*IEID: %2Acoustic response timeoutF-5"F1*F12F5f0:F12B:B  OM >y J J }J 2J J ݒ:J S9J c3J J ;J ;J :J :{ď,s*pw?A0-WB-!IMb@Mb@Mb@ )Ii rh{Gz?y&1|?Cף<`;) AI@iI@ II٥1= B=9Q > F٦y > 4Y BQ?4y ( @Bޑ=:<X @ @ 5D ~ ;  ; Û4!)%A!]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:na2namameBkikikikm@b@ bޑ=bޑ=b06@"bX @ %?I%): !ɝ%67i!I!I-Ei)i55I>)1)1 2Acoustic response timeoutԙD:F- 6"F) *F) 2F- o0:F) 2BA :BY  Om > E 2Acoustic response timeoutHdď,w?A:@Y:@:9:O>BAHRS rotation from veh to nav: [[0.926755,0.346266,-0.145689],[-0.367398,0.916343,-0.159171],[0.078386,0.201038,0.976442]]y:H?7)?¿q׿R?_Ŀ@? ???ɫ:@:8/;8JkBN!IIR=)Rp=IVaIV錴`٥b= f_=9f9Q f>dh jF٦hyj j> lr4YnO?r4ynh(nABtvV @v @n5Dnd:n:n'4zB)zA|-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo1Zo1Bo1:n12n1m9m9k9kAkAkE#b@jK]̨OrK]9zKYK]K]\vI}urh]TNIC>;755322/,'!  bbb"bV @ ?I: ɝiII%Bi!i%̜I>)!))D]: 2Acoustic response timeoutF6"F*F2F_5:F2B:B O%>H >H CH "II BI =I I &I ژ<*I REA ď,&w?A:$@Y: @:頽9:8P>FAHRS rotation from veh to nav: [[0.926886,0.345859,-0.145823],[-0.367045,0.916434,-0.159454],[0.078489,0.201319,0.976376]]y:H@ ?"?T¿ }׿`nS?hĿ?`?x>?ɫ:$@:K;:CNxBN!IIfSIfQ٥n= rI=9rQ r>tt vF٦tyvsr: z> !-4Y%M?-4y%'%BB)-] @5 @%6D%:%(:%]4)tA  2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkk)k)k-3b@I bibibi"bm] @}頽 y}G?I}t: ɝ4iIIGiiJ>))J%J%{J%3J!J%m:J%-9J%(3J!J%;J%;J%:J%:F6"F*F2FI4:Fy  2Acoustic response timeoutԡ G QJ>2B :Bi  Ou >+ď, w?A6@Y6@6'96#P>BAHRS rotation from veh to nav: [[0.926964,0.345738,-0.145615],[-0.366884,0.916497,-0.159468],[0.078322,0.201245,0.976405]]y6H௩? ?`¿`{׿S?@siĿ ?@e? >?ɫ6@6t,;6ߐCJBJ!ImMb@Mb@Mb@i i)iIiyiim ףp= &1? rh?mQmP=mC<)mAIm@iim`@ im@I^I٥X= ?=939Q > F٦yt9 > 4YK?4y'FB=;@ @6Dz ;Z:4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n 2n m m VBkkkk`O>b@ b=b=b(@"b'@' ?Iz: ɝ5iIIDii))F"F*F2F_0:FԱ  2Acoustic response timeoutjKNrK`9zKKK %7:8410--**)(%%$+7;<:;997210-+*(&%!GI>2B:B O> Kď,w?A 22Acoustic response timeout:^ @Y:E@: 9:1P>FAHRS rotation from veh to nav: [[0.927150,0.345356,-0.145333],[-0.366466,0.916628,-0.159673],[0.078072,0.201300,0.976413]]y:H6?Q?A¿.t׿U? +pĿ?6?@>?ɫ:^ @:<5;8VBV!I ``IndIn@٥z]= ~V=9]V&:Q ]>aa eF٦aye5: m> iu4YmH?}4ymK&mJBy}@} @m6Dm;m<;m4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk k k k 0Kb@ bbb"b@ 靭+?I: ɝ\5iIIIiiUJ>))ZHU<RHU4=HYHYH]5"II]BIYIYIY&I] <*I]E2I C:I CBIÔCJI÷ =RIø =ZIÜs6Fm6"Fi*Fi2Fi:Fi  52Acoustic response timeout9GaI>2B:B1  O >Y ~ď,ytw?A6@Y6 @6X96HiP>BAHRS rotation from veh to nav: [[0.927406,0.344752,-0.145134],[-0.365857,0.916809,-0.160029],[0.077890,0.201510,0.976385]]y6HO?j?Ó¿2j׿V? {Ŀ?@?>?ɫ6@6pZ;6CFBJ!I%Mb@Mb@Mb@! !)!I!i!%y&1~jt?Q?%`%=%<)%AI%@i%$@%I@ !!IEbIE٥U= UD=9U9Q ]>YY ]F٦ayeL: e> iu4Ym@F?u4ym$mSBu%>;Y@ @m 6DmCbe%>be@"beY@ u2Acoustic response timeoutX 靝?I~: ɝ5iIIFii"K>))EEFa"Fa*Fa2Fe`0:FaiGutAFutAԑGm J>2Bq :B  O % 2Acoustic response timeoutԹ ď,?R x?A6@Y6@6<96r{P>BAHRS rotation from veh to nav: [[0.927663,0.344228,-0.144733],[-0.365279,0.916990,-0.160312],[0.077534,0.201584,0.976398]]y6H k? ?¿ `׿W?ĿLٳ?}?`>?ɫ6@6&;4FBJ!IInXIn㔴٥vY= vQ=9vyo:Q v>xx zF٦xy~#: >  4YC? 4y#[Bc@ @ 6D::ſ4)%A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoQ:nQ2nQmYmYkakakakeZdb@ bbb"bUc@jK-NrKk9zKKK/H]cdZOE;50)# < 靵+?I: ɝԳ5iIICii*K>))"DD2D*DJyJ}J}2JyJyJ}H9J}c3Jy!@!@!@!@ԑF-6"F1*F12F51:F1 }2Acoustic response timeoutGi2By:B O>HU >HQ HU `"IIU BIQ IQ IQ &IU <*IQ  ď,V+%x?A @:"@Y: @:Z9:P>BAHRS rotation from veh to nav: [[0.927869,0.343814,-0.144397],[-0.364818,0.917138,-0.160520],[0.077243,0.201620,0.976413]]y:H?@ ?{¿@-Y׿0Y?Ŀ6Ƴ?@?>?ɫ:"@:Ԉ;:ߐCJBJ!IINp=)Na=IRoIR٥Z < ZN=9^@:Q ^>\` bF٦`yb^: b> dj4YfBA?j4yfg"fcBpzj@m @)qf6Df*)Q)QFQ"FQ*FQ2F]0:FYGe= Ge=I  2Acoustic response timeoutG} L>2B :B  O > ď,0?x?A$n@Yn@nQ9n4P>vAHRS rotation from veh to nav: [[0.927978,0.343785,-0.143768],[-0.364648,0.917233,-0.160358],[0.076740,0.201234,0.976533]]ynH??g¿fV׿`Y?Ŀ@A??@??ɫn@n;nC~B~"I-Eonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 63.29, 68.74, 73.84 mE@E qE@E uE@E iE@M IMfIM{٥]#a= e@=9e :Q e>ii mF٦iymz9 m> y}4Y}>?4y}!}lB+:; @}6D}:}g>}ҿ4)ZAeDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:na2nimimikqkqkqkuWb@Q ?IU: ɝ5iIIEiiTL>))IF"F*F2F"5:F 2Acoustic response timeoutyjKMޕMrKIzKIKMKM(29@I_~zsmmhcec\Y_djpmBK]>:K]>JC=JR=JJJJJ:Jb9JJGkK>2B:B O> ď,Xx?A "2Acoustic response timeoutFN#@YF5@F"v9F=P>LRAHRS rotation from veh to nav: [[0.928432,0.342775,-0.143247],[-0.363578,0.917581,-0.160799],[0.076323,0.201372,0.976537]]yFH??@U¿D׿\?Ŀ剳????ɫFN#@F;FސCnBn "II~qI~v}٥Α< O=9%:Q ->11 =F٦9yE?; E> Qe4YUADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@b@ "v 靍x?I: ɝ6iIIBii 9M>))H>HH"II#BI =IID&I<*IEFe6"Fa*Fa2Fe[0:Fa 2Acoustic response timeoutGI2B:B O>I !ď,rx?AI<)<6!,@Y6'@6+96P>BAHRS rotation from veh to nav: [[0.928868,0.341929,-0.142441],[-0.362595,0.917931,-0.161020],[0.075693,0.201215,0.976618]]y6HH?)?@;¿4׿_?@QĿ`? j?t@?ɫ6!,@6~;6CJăBJ"I9mumu ququ uuuu iuiu uMb@Mb@Mb@q q)qIqiqujtĿ/$?y&1?u u>u`<)u@Iu@iu@u3@ quz@I\IW٥< B=9:Q > F٦y(; > 4Y8?4y~BT:Nb>p;}@ @6D;;`޿4)A DNOT Ignoring new targets: 14.63 m.Ro JoboZoBo:n2nmmrBkk!k!k%ۘb@ bENb>bENb>bEI@"bE.}@]+ Y]{?I]: Yɝ]#6iaIaIeGiiim N>)i)i U2Acoustic response timeoutF-6"F)*F)2F-_0:F)G1F1aԙGmbM>2By:B O>Թ  2Acoustic response timeout#ď,-x?A::@Y:5@:|<9:uQP>BAHRS rotation from veh to nav: [[0.929517,0.340412,-0.141835],[-0.361021,0.918440,-0.161651],[0.075240,0.201463,0.976602]]y:H@?N?@'¿׿c?@ĿB??@S@?ɫ::@:ш;8JBJ"IIRWIRƕ٥Z< Z[=9^ܟ:Q ^>`` bF٦`yb; f> dj4Yf5?j4yffBln@r @f#6Df!.;fA;f4t)v*AxDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m!m)k)k)k)k-Ƥb@ bIbIbI"bM@ԙ|< ?I: ɝR66iIjKNrK9zKKKlmkhfed_^]^aa^ZWUUQPSWYZZZ[[XUVVRPQTSOPNNQRUUVXXVXZUUUWWRLC,I DiiO>)) JQJQJeJeJe3JaJeM:JeH9Je(3JaF"F*F2F`0:F e2Acoustic response timeoutGM>2B:B O>HHH"II2BI =IID&Iؘ<*IKE *)ď,Crx?ABC@YB>@BT9BJP>JAHRS rotation from veh to nav: [[0.929975,0.339448,-0.141144],[-0.359933,0.918857,-0.161711],[0.074799,0.201189,0.976692]]yBH[??¿" ׿Fg?`Ŀ@%??@A?ɫBC@B;BߐCRŃBR"IIZOIZݜ٥b < fJ=9f:Q f>hh jF٦hyn?; n> pv4Yr(2?v4yrrBtv@v @r)6Dr:r-:r4|)~ A|%DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n)m1m1k1k1k9k=b@ bababa"beJ@}T y}?I}2: yɝH6iIIIiiyP>)) 2Acoustic response timeoutԁF55"F9*F92F=o0:FAԡG5O>2BA:BQ Omx> u 2Acoustic response timeout u0ď,jMx?A @B "IMb@Mb@Mb@ )IiK7A`ſMbX9?t<)~AIi`@ p@IdI@٥  :=9Q > F٦y > 4YQ.?4yPB"l>f;@ @/6D$;o;4B) AE5DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmE{BkAkIkIkMʿb@ bm"l>bm"l>bm|@"bm@y 靅?Ib: ɝ[6iIIFii]P>) )EtAEtAF"F*F2F}0:FG= G= 2Acoustic response timeoutJuR=Ju%=J}J}J}2JyJ}̝:J}"9J}c3JyjKNrKu9zKKK  flSF9+" G2P>2B:B O>1 Q >6ď,1x?A 2Acoustic response timeoutF]@YFvX@F19F P>RAHRS rotation from veh to nav: [[0.931174,0.336751,-0.139691],[-0.357036,0.919841,-0.162538],[0.073759,0.201226,0.976764]]yFH-?T?@eֿUo?Ŀ??A?ɫF]@F׻;FސCZBZ!II`I`٥jݜ j\=9j7;Q n>ll rF٦pyrB < r> tz4Yv+?z4yvVvB|~(@~ @v56Dv3;v;v&4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n9m9m9k9kAkAkE`b@ bbb"b(@1 ?I: ɝ Wm6i I I5Ci1i5VS>)1)9HHH"II-BI =II&I<*IE)F"F*F2F43:FY 2Acoustic response timeoutGsP>2B:B O%>ԉ f<ď,x?A0Bk@YBe@B󵖽9BW7P>JAHRS rotation from veh to nav: [[0.931779,0.335253,-0.139262],[-0.355503,0.920352,-0.163003],[0.073523,0.201391,0.976748]]yBH!?t?Wֿ`s?KĿ`dҲ?0?@A?ɫBk@Bˆ;BCRBR!I5Mb@Mb@Mb@1 1)1I1i15sh|?ſʡE?y&1|?5)5>5`;)5$AI5@i5@5$@ 11IMjIM٥]¶ ]B=9][:Q ]>aa mF٦iym; m> q4YuU'?4yuuBg>j;F@ @u;6Du;u':u4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmhBkkkk$b@ b}g>b}g>b}2@"b}F@󵖽 靍?I: ɝ6iIIHii~T>)) U2Acoustic response timeoutԉF6"F*F2F_5:FԹGS>2B:B O>  2Acoustic response timeoutfOCď,? y?A:t@Y:o@:9:&P>BAHRS rotation from veh to nav: [[0.932217,0.334255,-0.138728],[-0.354417,0.920752,-0.163108],[0.073215,0.201220,0.976806]]y:H`?md?`Įֿv?Ŀ4??A?ɫ:t@:.U;:ߐCJBJ!IIRgIR٥Z n ZU=9ZyS:Q ^>| F٦y D;  > =4Y#?=4yB9=Y@= @@6D.;;X4Q)UAQDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmk!k!k!k-ob@jKu?MrKuC9zKqKuKuwt8$ 0*zP5&$&#  bbb"bWY@ ʍ?I: ɝ 6iIIEiiBgU>))E!E%>)F"F*F2F4:F9=A E2Acoustic response timeoutQH>H CHy"IIBI =IID&Iʘ<*I4E2IU C:IU CBIUȓCJIUȼ =RIUȼ =ZIUi5Gq?U>2B:B O >ԁ xIď,'y?A:|@Y:lw@:ٕ9:O>BAHRS rotation from veh to nav: [[0.932562,0.333423,-0.138410],[-0.353531,0.921092,-0.163112],[0.073103,0.201044,0.976851]]y:H ?@V?@h Aֿy?Ŀٶ?һ?@\B?ɫ:|@:;:CJBJ!IIVcIV#٥b bI=9bz9Q b>dd fF٦dyj; j> hr4Yji ?r4yjjBprh@r @jF6Dj;j;jE4zӕB)z&AzEDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m)m)k1k1Y 2Acoustic response timeoutk9k b@ bbb"bYh@ ٕ  ?I : ɝ6iIIBiidV>))!F"F*F2F^0:FԑJQJUJU4JQJQJU9JU3JQJU;!]JU;!]JU)7;!]JU*7;!eԱGT>2B:B1 O=> U 2Acoustic response timeout AbPď,Ay?A6؅@Y6@6J96O>>AHRS rotation from veh to nav: [[0.932959,0.332359,-0.138293],[-0.352468,0.921472,-0.163269],[0.073170,0.201067,0.976841]]y6H ?]E?Ԏֿ|?Ŀ@??`?HB?ɫ6؅@6t4;6CNBN!I5Mb@Mb@Mb@1 1)1I1i15(\¿i|?5?~jth5z5=5D)1I5@i15Q@ 15f@IYI٥~ ==9"Q > F٦y8,; >Ա 4Y?4y) Bu?>;@ @K6D::4)ADNOT Ignoring new targets: 14.63 m.RoJobo Zo Bo :n2nmmMBkk!k!k%@Gc@ bEu?>bEu?>bEX@"bE@}J 靅͌?I: ɝ6iIIGiiW>))F)"F)*F)2F-_0:F) 2Acoustic response timeoutGm&V>2By:B O>jK NrK -9zK K K )a|RIERo1e.d%cI:2,(07870)+b IsqaK7+!$*9 e 2Acoustic response timeoutBVď,;[y?A>+@Y>@>6L9>O>NAHRS rotation from veh to nav: [[0.933178,0.331757,-0.138264],[-0.351857,0.921729,-0.163133],[0.073322,0.200881,0.976868]]y>H ?@;?`Ԅֿ~?Ŀ5Ų?|? B?ɫ>+@>=g;<^gB^!IIjKIjh٥r: rU=9rйQ v>tt vF٦tyz: z> |4Y~?4y~ ~B  @  @~P6D~:~:~4)^AEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nA2nImImIkIkQkQkU c@ bqbqbq"bu@6L 靍?Iz: H!H!H%T"II%BI!I!I!&I%̘<*I%7EɝiiIqI}DiiW>))EFE5"FA*FA2FA:FAiIC)G xA)IEɥExAEA 2Acoustic response timeoutIGV>2B:B O>JU JU JQ JQ JU :JU 9JQ JQ y JU @;JU A;JU <;JU <;ִ\ď,bKuy?A:3@Y:@:(9:O>bAHRS rotation from veh to nav: [[0.933536,0.330623,-0.138561],[-0.350817,0.922078,-0.163399],[0.073741,0.201148,0.976781]]y:H?@(? a sֿ?>Ŀ?9?A?ɫ:3@:闈;:ߐCnWBn!I}Mb@Mb@Mb@y y)yIyiy}`"ˡE?:v}}=}T)}@I}@i}@}@ y}@IFIפ٥  A=9>Q > F٦y*; > 4Y?4y5 BD>; @ @T6D; ;$4)AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkkc@ bD>bD>b"@"bx @ 2Acoustic response timeout5( 15 ?I5: 1ɝ=!4i9I9I=IiAiEX>)A)AF"F*F2F`0:FԡG- KY>2B9 :BI  OU >  2Acoustic response timeout cď,&y?A:ߘ@Y:Ɠ@:9:FAHRS rotation from veh to nav: [[0.933710,0.330025,-0.138815],[-0.350275,0.922292,-0.163352],[0.074118,0.201147,0.976753]]y:H ?`!?jֿ@k?`Ŀb?1?`A?ɫ:ߘ@:;8JJBJ{!IIRjIR٥bK bZ=9bԃQ b>dd fF٦dyj : j> hr4Yj)?r4yj jBpr @v @jW6Dj;jl;j+4x)zHAx-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12nQmYmYkYkYkakeM'c@ bbb"b @jKOrK`9zKKK$ i>291&.FUXVTMIF?51,)! *1695+"2K*KtA   ד?I5w: 1ɝ5A5i1I1I=Fi9i=X>)9)AF"F*F2F0:F %2Acoustic response timeoutHe>He CHe""IIeуBIaIaIa&Ie<*IeEG 92B :B) 1  O= >Y iď,(y?AI<)p<:Ι@Y:@::9:O>JAHRS rotation from veh to nav: [[0.933706,0.329808,-0.139359],[-0.350152,0.922383,-0.163105],[0.074749,0.201088,0.976717]]y:H`??hֿ@)?Ŀ@"?@D?CA?ɫ:Ι@:o;:ݐCRCBRs!IIZZIZ٥b  bI=9bD̺Q b>dd fF٦dyj9 j> lr4YnG?r4ynnBpr @r @n[6DnU;nn;n24x)zAx 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@3c@ bbb"bP @: 靽?I9: ɝdd5iI !IECiIiM.X>)Q)EEJF3Jm3J.J%J!J%2J!J%ܫ:J!J%c3J!J% ;J%;J!J!F6"F*F2F0:FI = 2Acoustic response timeouty G ˖X>2B! :B9  OE >pď,y?A0B|@YBc@B~9BO>JAHRS rotation from veh to nav: [[0.933691,0.329617,-0.139905],[-0.350059,0.922456,-0.162893],[0.075364,0.201067,0.976674]]yBH`?q?k[gֿ@„?Ŀ K?`? @?ɫB|@BZ;@n99 =F٦9yEA9 E> IU4YM?U4yMMBU=];]@] @M^6DM ;ML ;Mu:4eΕB)eAeEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk }Ac@ b=b=b+@"bT@~ 3?I]: ɝ5iIIHiiaY>))ԉFm5"Fi*Fi2FuP5:Fq 2Acoustic response timeoutԹJ5C=J5p=GY>2B:B O>jK uOrK -9zK K K  -HA2BK ?:K ? ] 2Acoustic response timeoutvď,y?A\fL@Yf3@fo9fO>rAHRS rotation from veh to nav: [[0.933246,0.330072,-0.141790],[-0.350826,0.922312,-0.162056],[0.077284,0.200982,0.976542]]yfH'??*&¿`sֿ?@DĿȳ?ȹ???ɫfL@f\;fސCv/Bv[!II~bI~٥   ^=9qQ >!! %F٦!y- 5> 9E4Y=a ?E4y==BIM@U @=a6D=F;=G;=@4Y)eAaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkUMc@ bbb"bj@ZHRH<H>HH!IIBI =IID&I<*IaEo  ?I: ɝt5iIIEii(X>))FE6"FA*FA2FEP0:FA 2Acoustic response timeoutG}X>2B:B O>A JU JU JQ JQ JU |:JU 9JQ JQ JU ;JU ;JU 1;JU 1;}ď,y?A JÑ@YJ@J 9JP>RAHRS rotation from veh to nav: [[0.933107,0.330025,-0.142812],[-0.350973,0.922287,-0.161876],[0.078291,0.201171,0.976422]]yJH??G¿Xvֿ`?`[Ŀ ?? >?ɫJÑ@Ji;H\\Mb@Mb@Mb@ )Iil F٦yP > 4Y2 ?4yB=,<!@ @c6D;;MH4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m%ɀBk!k!k)k-Zc@ bM=bM=bM{9@"bM!@e ae?Ie: iɝm#5iiIiIuBii#X>)) -2Acoustic response timeoutIF6"F*F2F]0:FG GqGU˖X>2Ba:By O>ԡ  2Acoustic response timeoutď,urz?AR@YR@Ru9R P>bAHRS rotation from veh to nav: [[0.932736,0.330639,-0.143811],[-0.351745,0.922079,-0.161390],[0.079243,0.201119,0.976356]]yRH?0)?@fh¿ ֿઁ? oĿ`GI?F?O>?ɫR@R;RݐCn1Bn\!II~OI~ݜ٥; U=9"Q %>!) -F٦)y5 5>y 4Y?4yB !@ @e6D::QO4)A JJ@AEDNOT Ignoring new targets: 14.63 m.RoAJoAboIZoIBoI:nI2nImqmqkqkqkyk}@ hc@ bbb"b !@u ?I: ɝ6iIIGiiYW>))jKU.OrKQzKQKUKUtT":]?.&  DvP9=x jԡF"F*F2F_0:F %2Acoustic response timeoutHHH!IIBI =II&I<*IEG W>2B) :BA  O} > Nď,J*z?A>@Y>@>ऽ9>ZP>FAHRS rotation from veh to nav: [[0.932532,0.330674,-0.145048],[-0.352019,0.922001,-0.161234],[0.080419,0.201415,0.976199]]y>HM?)?¿yֿ ?OĿ`Q??=?ɫ>@>!u;>ܐC``IjJIjK٥ra{: rM=9rBQ v>tt vF٦tyzZ ~>  4Y$? 4yB!@ @g6D[::U4)A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nQmQmQkQkYkYk]sc@ 2Acoustic response timeout bbb"bg!@ऽ 靥?I: ɝd6iIIDiiW>))F6"F*F2F`0:F G2B:B O%>1 - 2Acoustic response timeoutY ď,h$Dz?AI)<:큶@Y:|@:9:8hP>FAHRS rotation from veh to nav: [[0.932185,0.331150,-0.146183],[-0.352685,0.921823,-0.160795],[0.081508,0.201448,0.976102]]y:Hv?1?@#¿ dֿ?`Ŀݴ? ?`: F٦ye > 4Y?4yJB=H<,@ @h6D;:k]4)ADNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n 2n mmրBkkkk c@1 bE=bE=bE9D@"bE ,@U Y] ?Ie: aɝe+6iiIiImIiqiu~V>)q)yF 5"F *F 2F o0:FGF 2Acoustic response timeoutaJR=JR=JJJJJ:Ju9JJ!-@!-@!-@!-@GMhW>2BY:Bq O>ԑjK OOrK 9zK K K  q'l@obmS jG% ~xwtplifb``_\YVPHEEA@= = 2Acoustic response timeout/'ď,^z?A2H}@Y2/x@2f)92j|P>>AHRS rotation from veh to nav: [[0.931909,0.331473,-0.147213],[-0.353184,0.921694,-0.160438],[0.082505,0.201507,0.976006]]y2H 2?6?¿ֿ@~?@8Ŀ?@?@q;?ɫ2H}@2Bn;2ސCFCBFs!IINYIN٥Vp= V[=9V/Q V>XX ZF٦Xy^TǺ ^> `j4Yb$?j4ybbBpr,@r @bj6Db+;b;bc4|)~TA|%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo)Zo)Bo):n)2n)m1m1k1k1k1k=c@ bQbQbQ"bU,@mf) imJ?Im: qɝu=6iqIqJHBHAAH>HH!IIBI =II&I<*IE2IA:IABIAJIE =RIE =ZIEv 6IFiiU>))ԙF6"F*F2F_1:FԹGUֽV>2Ba:By O{> 2Acoustic response timeout! YQď,wz?A>v@Y>fq@>49>aP>ZAHRS rotation from veh to nav: [[0.931539,0.332064,-0.148222],[-0.353927,0.921507,-0.159877],[0.083498,0.201391,0.975946]]y>H)?@?¿`ֿ|?`vĿ"`?+?`:?ɫ>v@>8; F٦yy > 4Y?4yB=><@ @l6D ;;*l4)VA 2Acoustic response timeout]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:na2namameBkikik kkc@ b=b=b,4@"b"@4 3?I: !ɝ%R6i!I)I5Ci1i5mU>)1)9!F5"F*F2F0:FI  2Acoustic response timeoutGE V>2BQ :Bi  Ou >9ď,иz?ANv@YNq@Neݬ9NP>ZAHRS rotation from veh to nav: [[0.931482,0.331858,-0.149037],[-0.353884,0.921534,-0.159815],[0.084306,0.201607,0.975831]]yNH@?'=?ÿֿ 5}?`tĿ?A?:?ɫNv@N?O;NݐCjTBj!II)))I5bI5٥EV= Ee=9MQ M>II MF٦IyUfk8 U> Ye4Y]M?e4y]]Bam@m @]n6D]:]:]gr4q)uAqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@c@ JJJJJJJ\:JO9JJ bbb"b@eݬ f?I: ɝ%c6i!I!I%Hi)i-j[U>))))QjKOrKu9zKKK<<995130..-,)'(('(&$$ !   +>OQF</'&% !Y|o^M?0F6"F*F2F4:F 2Acoustic response timeoutyH>HH!IIBI =II&I̘<*I>EGU>2B!:B9 OE>ԩ ) G ) )A Iu q u 7Acď,z?A@cB!II-hI- e2Acoustic response timeout٥m= mI=9mQ m>qq uF٦qy} }> 4Yh?4yB @o6D:-:y4)VADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkc@ bbb"b 3?I: ɝow6iIIEi!i%AoU>)!)!ԱF5"F*F2F^0:FGmT>2B:B O>  2Acoustic response timeout dLď,&rz?A:x@Y:s@:9:P>BAHRS rotation from veh to nav: [[0.931466,0.331314,-0.150342],[-0.353591,0.921689,-0.159570],[0.085701,0.201793,0.975671]]y:H?=4?f>ÿ<ֿ@z~?lĿ}? \?`8?ɫ:x@:PK;:ܐCJoBJ!Il-Mb@Mb@Mb@) )))I)i)-(\µ rh?{Gz?--C =-ף<)-~AI)i)) )-z@I]XI]㔴٥}f= H=9aQ > F٦y%: > !=4Y%?E4y%%BE=M ))EE!>  u2Acoustic response timeoutFY"Fa*Fa2Fe]0:FaGiFi1JJJ3JJ:J*9J(3JG /vT>2B :B  O >jKe 9NrKe 9zKa Ke Ke &   $9EB;1($  &2AJVcpi % 2Acoustic response timeoutcuď,Hz?A>z@Y>u@>ȇ9>P>RAHRS rotation from veh to nav: [[0.931518,0.331046,-0.150609],[-0.353360,0.921820,-0.159328],[0.086090,0.201636,0.975670]]y>H`?/?*Gÿrֿ?dĿ ?5?8?ɫ>z@>ɉ;>ߐCnvBn!I tvAIz[Iz:٥= S=9%Q >    F٦ y ': > 4Y?%4ysB!%@% @t6D;;l41A)EAIHm>HiHm"IIm̃BIiIiIi&Im<*ImEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@c@ bbb"b@ȇ H?I!: ɝ6iIIGi i `U>) )F)"F)*F)2F5_0:F1i]PExceeded connect timeout, disconnecting. 2Acoustic response timeoutԙG&V>2B:B1 O=> ď,n5z?AJ@YJ~@Jϰ9JVP>VAHRS rotation from veh to nav: [[0.931865,0.330077,-0.150589],[-0.352411,0.922156,-0.159482],[0.086225,0.201684,0.975648]]yJH??FÿֿN?iĿ ??8?ɫJ@J";JݐC^B^!IMb@Mb@Mb@ԑ )Ii&1/$?Mb?н==)$AIx@i@@ @IeI]٥= ?=9mQ > F٦y"; > 4Y ?4y;B8 >;# @ @x6D::4)ADNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m-NBk1k1k1k5@&c@ bU8 >bU8 >bU@"bU~# @ 2Acoustic response timeouteϰ  \?I : ɝ ŗ6iIIDiiQV>))ԹF6"F*F2F:FG% CT>2B) :BA  OM >  2Acoustic response timeout ď,{?A%B-!IIM\IMW٥]BP= eQ=9mQ m>ii mF٦iyu u> y4Y}?4y}}B @}{6D}:}N:}Ǖ4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkJJJJJܫ:J9JJkkkc@ bbb"b) )-?I-c: 1ɝ56i1I1I=Ii9i=V>)9)AEIF5"F*F2F0:FG= Gp=jK dkNrK -9zK K K yaA]7 ihQmSA1%   $$ ! 2Acoustic response timeoutHaHaHeG"IIeBIe =IaIa&Ieט<*IeKEGMV>Y2Bq:B O>y ď,M,{?A nManaging dock network, ignoring radio surface power offB픶@YBԏ@BV 9B8P>JAHRS rotation from veh to nav: [[0.932620,0.328055,-0.150330],[-0.350379,0.922886,-0.159735],[0.086336,0.201645,0.975646]]yBH??>ÿlֿI?3rĿ@??`~8?ɫB픶@B;BܐCRBR!IIV=)V=IZWIZƕ٥f7= fU=9fQ j>hh jF٦hyn; n> pv4YrS?v4yrrdžBtzG @z @r~6Drl:rW:r|4|)~~A|%DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n)m1m1k1k1k9 M2Acoustic response timeoutk=`c@ bibibi"bm@G @}V 靅?I: ɝ6iIIFiiBX>))YFU6"FQ*FQ2FUZ5:FQԉGV>2B:B O>Ա 2Acoustic response timeout ď,F{?A6P@Y67@6A96@P>BAHRS rotation from veh to nav: [[0.933187,0.326775,-0.149599],[-0.348983,0.923376,-0.159962],[0.085865,0.201482,0.975721]]y6H`??&ÿUֿK? yĿ 8?)? 9?ɫ6P@6-G;6ېCJBJ!IeMb@Mb@Mb@a a)aIaiaePn1Zd?Q?ee"=e<)eAIaie@e~@ ae@I}TI}n٥:= ?=9:Q > F٦yf; > 4Y?4yrІBY.>;E @ @6D-;B;4ɕB)AEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmpBkkk k  d@ b5Y.>b5Y.>Աb5о@"b5!E @A ?I: ɝp6iIICiiY>)) U2Acoustic response timeoutF6"F*F2F_5:FGX>2B :B  O% >jK IOrK 9zK K K   "*,.3F^loonlruqopokhc_  2Acoustic response timeout9 ď,$`{?A^@Y^@^j9^P>jAHRS rotation from veh to nav: [[0.933865,0.325086,-0.149048],[-0.347243,0.923945,-0.160462],[0.085548,0.201606,0.975724]]y^H8?@4?`ÿ99ֿ?@Ŀ}?9? 9?ɫ^@^9;^ݐCvBv"IH>H CHm"IIBI =II&I<*I}EI}XI}㔴٥= J=9M:Q > F٦y_; > 4Y顊?4y؆Bc @ @6D;{;4)ADNOT Ignoring new targets: 14.63 m.RoJoboZo Bo :n 2n mmkkkk d@ b9b9b9"b=c @Mj QU?IU: Qɝ]w6iYIYImHiqiux[>)q)yEE F"F*F 2F 4:F GF9 U2Acoustic response timeoutGMKY>2BQ:By O>a J J J J J L:J 9J J J Z;!M J [;!M J ';!U J ';!] ď,dsz{?A Ǿ@Y@A9WP>%AHRS rotation from veh to nav: [[0.934507,0.323619,-0.148212],[-0.345650,0.924484,-0.160795],[0.084983,0.201494,0.975796]]yH{?@-? ¿"ֿ_?`Ŀx??9?ɫǾ@5;ܐC5B5!I AA Mb@Mb@Mb@  ) I i  QZd;?? \ = <) AI @i  `@  I%aI%錴٥58 5@=9=^:Q =>9A EF٦AyE; E> IU4YM桊?U4yM7MB]?>];]X@] @M6DM? ;M<:M{4i)uAqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm|B 2Acoustic response timeoutkkkkSd@ b?>b?>b/@"bHX@A ?I : ɝ6iIiI Eii'\>))F6"F!*F!2F%P0:F!ԑGE ı[>2BQ :Ba  O} > e 2Acoustic response timeout ď,H{?ABͶ@YBȽ@B9B7P>JAHRS rotation from veh to nav: [[0.935190,0.322038,-0.147350],[-0.343951,0.925036,-0.161267],[0.084370,0.201497,0.975849]]yBH?C?@`¿Iֿ@?`fĿI?? ':?ɫBͶ@Bk;@LnBn"IIzTIzn٥~< a=9:Q >    F٦ y s;  > 4Y㡊?%4yB!%u@% @6D;;׸4))5~A1eDNOT Ignoring new targets: 14.63 m.RoaJoaboiZoiBoi:ni2nimqmqkqkqkyk} (d@ bbb"bu@ 靭G?I: ɝB6 JJBAiIIBiiFd^>))F "F *F 2F _0:F jK NrKu9zKKK`[RI=4'# #>z|[C3+)$$$  &*2K*KsA 2Acoustic response timeoutH>HH"II#BI =IID&I*IE2I:IBIJIƹ =RIƸ =ZIƭ46G{\>2B:Bi O}>) ď,}!{?A6߶@Y6{ڽ@6Ы96P>BAHRS rotation from veh to nav: [[0.935978,0.320125,-0.146509],[-0.341940,0.925672,-0.161888],[0.083795,0.201621,0.975873]]y6H?`|?`¿ Yտ`?Ŀ s?? Y:?ɫ6߶@6;4JăBJ"IIRSIRQ٥^V= ^O=|9}:Q >    F٦ y ʯ; >  %2Acoustic response timeout-4Yjࡊ?54y B15@5 @6Dv;;4A)E)AAmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoqBoq:nq2nqmymykykykk 5d@ bbb"bۗ@Ы 靽?I: ɝ6iIIGiiX9`>))Fm5"Fi*Fq2Fq:FqG}= G}=)JJJJJ:J9JJJ;J;J_5;J`5;YG^>2B:B O> 2Acoustic response timeoutԁ 'ď,{?A6@Y6@6296uTP>NAHRS rotation from veh to nav: [[0.936631,0.318713,-0.145412],[-0.340341,0.926218,-0.162134],[0.083009,0.201349,0.975996]]y6H@?e?`ޜ¿@&տ?Ŀ@?@?[;?ɫ6@6;6ސCVBV"IQMb@Mb@Mb@ )IiOnÿn?/$?V><) AI@i@v@ @I`I̍٥-.Q -5=9-r:Q ->99 EF٦AyE; E> IU4YMܡ?U4yMMB]Q>];] @] @M6DMm ;M;M4a)eAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk-` Dd@ bmQ>bmQ>bm@"bm @}2 y}?I}: ɝ6iIIDiia>)) -2Acoustic response timeoutԁFY"FY*Fa2Fa:FaԱG ,`>2B :B  O >jK NrK 9zK K K +)()(&&(5M`hbUI;0(    2Acoustic response timeoutď,{?AF @YF@F9FnP>HZ>HXHZ"IIZ-BIXIXIX&IZӘ<*IZRErAHRS rotation from veh to nav: [[0.937492,0.316671,-0.144319],[-0.338159,0.926894,-0.162836],[0.082203,0.201460,0.976041]]yFH ?WD?@ y¿dտ@?Ŀ? ?s?;?ɫF @Ft;FېCzB~"IIRI4٥-λ -\=95;Q 5>11 5F٦9y=x; => AM4YE١?M4yEHEBQUE@U @E6DE:E:E4Y)]AYԹDNOT Ignoring new targets: 14.63 m.RoJo1bo1Zo1Bo1:n92n9m9m9kAkAkAkEPd@ bbb"bpE@ 8?I: ɝi6iIiIIEI)M:G a)IsrAiyic>))F6"F*F2Fo0:F =2Acoustic response timeoutG `>2B :B  O >J J J 5J J l:J $:J 4J J ;J ;J ~;J ~;A D@ď,{?AB!I ]Mb@Mb@Mb@Y Y)YIYiY]M¿@5^I ?Mb?]n]b>]<)]$AI]@iY]h@ Y]f@Iu\IuW٥: 6= 2Acoustic response timeout9Q > F٦y > 4Y.֡?4y1BKN>;6@ @6D ; ;4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm~BkkkkD^d@ bKN>bKN>bE?@"b6@1 15͌?I=K: 9ɝ=6i9I9IEFiAiESOc>)I)QF"F*F2F0:FGF9qG= \c>2BI :BY  Ou > E 2Acoustic response timeoutԑ $ď,|?A6.%@Y6 @6Ѥ96q}P>BAHRS rotation from veh to nav: [[0.939114,0.312917,-0.141944],[-0.334070,0.928150,-0.164119],[0.080390,0.201545,0.976175]]y6H8 ? ?`:+¿eaտg?ſq?))ԹFm5"Fq*Fq2Fu05:FqjK=MrK=k9zK9K=K=  رر 2Acoustic response timeoutH>HH"II(BI =IID&I<*IEGc>2B:B O> 1 M ď,Eh/|?A6~3@Y6e.@6f963QP>BAHRS rotation from veh to nav: [[0.939759,0.311478,-0.140833],[-0.332451,0.928667,-0.164483],[0.079554,0.201394,0.976274]]y6H ?@?¿@Fտ`?` ſ]? H?=?ɫ6~3@6Z;4JBJ!IIVgIV٥ZP.< ^J=9b;Q f>hh jF٦hyrŌ; r>  2Acoustic response timeout x4YzQС?4yzzB!%@% @z6Dz;z;z4)tA DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n 2nm1m9k9k9k9k=Jwd@ bybyby"b}Օ@f 靵Y?IM: ɝ7iIIHii3h>))Fm6"Fi*Fi2Fm{4:FiJJJ3JJ\:JK:J(3JJt;Ju;Jc;Jc;AGg>2B 2Acoustic response timeout:B O>i d7ď,KI|?A:C@Y:>@:hz9:dP>FAHRS rotation from veh to nav: [[0.940483,0.309755,-0.139797],[-0.330586,0.929224,-0.165090],[0.078765,0.201480,0.976321]]y:Hp? ?@`R(տ4? !ſ)?@?>?ɫ:C@:;8uBu!IuMb@Mb@Mb@q q)qIqiquPnMb?I +?uu>u94<)uAIqiqu~@ qu@I_I٥F /=9:Q > F٦y; > 4Y͡?4yBn:>;B@ @6DQ:Z:04B)AEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm m rBkkkk d@i bn:>bn:>b @"bB@ 2Acoustic response timeout5hz 15?I5(: 9ɝ=7i9I9ImEiiimmEj>)i)qEEF5"F*F2F3:FG%= G%=ԙ G= Vg>2BI :BY  Om >jK= LrK9 zK9 K= K=   2Acoustic response timeouto_ď,6c|?AH$H$H&y"II&BI$I$I$&I&Θ<*I&FELf8V@YfQ@f9fP>zAHRS rotation from veh to nav: [[0.941271,0.307777,-0.138862],[-0.328503,0.929828,-0.165849],[0.078073,0.201725,0.976325]]yfH??;/տ&?:ſ? ?>?ɫf8V@f+;fސCB!II5iI5҅٥E1 Mc=9M:Q M>IQ UF٦Qye6; m> q4Yuʡ?4yu@uBg@ @u6Du';u:u4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkd@ bbb"bg@ 靽?IN: ɝ 7iIIBiizl>))F"F*F2F_0:F 2Acoustic response timeoutGj>2B:B O>! J(3J3J퉳/J J J 2J J :J :J c3J J A;J B;J IG;J JG;ď, }|?AB!I u2Acoustic response timeoutMb@Mb@Mb@ )Ii`"zG? F٦y > 4Y Vǡ?4y  "BO$>;@ @ 6D 7: ': 4!)%.A!UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2nYmYmegBkakakikm`Td@ bO$>bO$>bQ@"bg@ 靝=?IM: ɝI7iIIGii|k>))!Fq"Fq*Fq2Fq:FqQG $l>2B :B  O > % 2Acoustic response timeouty q%ď,Ԗ|?A6lr@Y6Sm@6=96CP>BAHRS rotation from veh to nav: [[0.942485,0.304797,-0.137189],[-0.325291,0.930792,-0.166771],[0.076863,0.201806,0.976405]]y6H@(?ˁ?@j`Կ ?@XſN?@?`>?ɫ6lr@6B9;6ݐCJBJ!IIRTIRn٥Z Zx=9ZJq;Q ^?\` bF٦`yb*< b? dj4Yfš?j4yfqf&Bln@n @f6Df;f;fE4p)r:AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m!m!k)k)k)k-@d@ bIbIbI"bM[@Ye= ae?Im: iɝm97iiIiIuDiqiuo o>)q)E%t>E%,>F6"F*F2Fo0:FGFԉ 2Acoustic response timeoutjKeKrK9zKKK')!  HaHaHe`"IIeBIaIaIa&Ie<*IeEԹGk>2B:B O%> ٛ+ď,հ|?A:z@Y:u@: &9:WP>FAHRS rotation from veh to nav: [[0.942861,0.304045,-0.136273],[-0.324363,0.931110,-0.166800],[0.076171,0.201471,0.976528]]y:H+?`wu?eq]Կ?Yſ?@? ??ɫ:z@:\;:ܐCJBN!I PRAIVlIV)٥^I ^J=9b:Q b>`` bF٦dyfI"; f> hn4 r2Acoustic response timeoutYj.¡?r4yjj*Btv@v @j6DjR;jS;jW4|)~UA|%DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n)m1m1k1k1k9k=߶d@ bYbYbY"b]@m & iu ?Iu: yɝ}7iyIyIIii7o>))ԹF1"F1*F12F51:F1GuEo>2B:B O> 2Acoustic response timeout9 2ď,"|?A6 @Y6@6#g96ѺP>BAHRS rotation from veh to nav: [[0.943456,0.302424,-0.135758],[-0.322713,0.931557,-0.167507],[0.075808,0.201847,0.976479]]y6H0?`Z?`UԿO? pſh?@?P??ɫ6 @6P;;4JBJ!IeMb@Mb@Mb@a a)aIaiae"~jK?~jt?eSe^=eD<)e AIe@iae3@ aef@I}OI}ݜ٥ >=9^:Q > F٦y; > 4YR?4y/B}>; @ @6D:: 4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmQBkkkkd@ b-}>b-}>b-@"b-i @=#g 9E͌?IE: AɝE)7iAIAIMFiIiM)q>)I) 2Acoustic response timeoutF"F*F2F3:FAJJJ3JJL:J:J(3J!@!@!@! @yGI 2BY :Bi  Ou >  2Acoustic response timeoutԡ jK LrK -9zK K K .ZH= <RH= 4<HA HA HE N"IIE BIA IA IA &IE <*IE sE2I C8ď,f|?A:I5 CBI1JI5 =RI5 =ZI556@Y6@6%*96P>BAHRS rotation from veh to nav: [[0.943772,0.301782,-0.134990],[-0.321930,0.931810,-0.167606],[0.075205,0.201639,0.976568]]y6H@a3?cP?ZGԿb?@tſ@@?Q?` @?ɫ6@6V;6ېCF|BF!IIRiIR҅٥Vs. VY=9Z:Q Z>X\ ^F٦\y^E; b> `f4YbҼ?f4yb|b3Bhj @j @b6Db:bF:bo4l)rAp DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n2nmmkkkk?d@ b b b "b  @=%* 9E?IU: QɝU 7iYIYI]Ciaieq>)a)aqEqF6"F*F2F05:FG= G=ԡ 2Acoustic response timeoutG-0p>2B9:BQ Oe>I h>ď,P|?AE%@YE @E\ܙ9E1P>AHRS rotation from veh to nav: [[0.944260,0.300373,-0.134720],[-0.320531,0.932182,-0.168214],[0.075057,0.202020,0.976501]]yEH``7?O9?@>Կ`p?@ ſ 6? ?`??ɫE%@E;EސCB!II=)=EMb@Mb@Mb@A A)AIAiA U2Acoustic response timeoutE|?5^ʡE?Q?EҽE=Eu<)E7AIE@iE@E@ AE@IeRIe4٥u,< u0=9}9Q }>yy F٦yTR; > 4Yٹ?4y=8B>;~ @ @6D>;=;4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmCBkkkkyd@ԉ b>b>b6@"ba~ @%\ܙ !%\?I-: )ɝ-`%7i)I)I5Hi1i5s>)1)9F5"F*F2F:FԱ  2Acoustic response timeoutG q>2B1 :BA  OU >4Eď,}?A:@Y:@:-H9:P>FAHRS rotation from veh to nav: [[0.944420,0.300060,-0.134296],[-0.320125,0.932345,-0.168085],[0.074775,0.201735,0.976582]]y:H8? /4?0@|Կ ? ҃ſq$?q?@(@?ɫ:@:K ;:ېCNzBN!IIVXIV㔴\٥bS bk=9fU:Q f?dd jF٦hyjk: j? lr4Yn?r4ynNn)) J@AJ@AJJJJJ:Jb9JJF6"F*F2F_0:F e2Acoustic response timeoutjKMKrKzKKK       H>HHA"IIBIII&Iߘ<*I_E2K *K G5r>2BA:BQ O]v>)G I)aIAA Kď,1}?A:z@Y:a@:.9:

BAHRS rotation from veh to nav: [[0.944687,0.299284,-0.134147],[-0.319347,0.932569,-0.168320],[0.074726,0.201850,0.976562]]y:H:? z'?+0pԿ?ſ@!?5?@??ɫ:z@:;:ِC b2Acoustic response timeoutruBv!IIz@Iz(٥  F=9 V8Q  > F٦y; > !-4Y%?-4y%2%AB)5 @5 @%6D%:%-:%)49)=A9mDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmqmqkykykykd@ bbb"bۑ @. 靵?IA: ɝ-7iIIBiis>))FQ"FY*FY2Fa:FiIGut>ԁ2B:B O> u2Acoustic response timeoutԡ dRď,K}?A:@Y:@:ᘽ9:%P>BAHRS rotation from veh to nav: [[0.945014,0.298366,-0.133886],[-0.318411,0.932834,-0.168627],[0.074580,0.201986,0.976545]]y:H=?@o?)#`Կ?ſ????ɫ:@:;:ݐCJyBJ!ImMb@Mb@Mb@i i)iIiiim rh? rh?m̽mC=ymC<)mAIm@im@mI@ im @IbI٥< A=9S9Q > F٦y"; > 4Y=?4y+FB=;@ @6D~b;a;114)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n 2n m m PBkkkkYe@ b==b==b="@"b=;@]ᘽ Y]=?I]: Yɝ]Z27iaIaIeGiiim!t>)i)i 2Acoustic response timeoutF "F *F 2F :F ԩJJJJJJJL:J9JJG-:Wt>2B9:BQ Oe> } 2Acoustic response timeoutJH BH @AH H H 5"II BI =I I &I <*I iEjK= żLrK= 9zK9 K= K=    AliYM?3+:p{pjebaYRL[ Yď,e}?ABu@YB\@Bؘ9B1P>JAHRS rotation from veh to nav: [[0.945087,0.298193,-0.133761],[-0.318200,0.932939,-0.168442],[0.074563,0.201755,0.976594]]yBH&>?? d]Կ?@ſ ??A@?ɫBu@B;BܐCbzBb!IIjGIj٥; R=9<8Q >    F٦ y : > 4Y?%4y9JB!%@% @6D):W:74-B)5A5E]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoa:na2namamakikikikm`e@Թ bbb"b@Uؘ QU?I]Z: Yɝ]67iYIYIeDiaieMt>)a)iF5"F*F 2F p0:F  2Acoustic response timeoutG-2B9:BI OU>9 (_ď, }?A;@Y!@t阽95P>AHRS rotation from veh to nav: [[0.945541,0.296798,-0.133656],[-0.316841,0.933308,-0.168962],[0.074595,0.202109,0.976518]]yHA? ? GԿ ?ſ? ? ??ɫ;@;髥ڐC|B!I1 =2Acoustic response timeoutMb@Mb@Mb@ )IiMbX11 5F٦1y5H; 5> 9E4Y=ì?E4y= =QBM=M;M4@M @=6D=P ;= ;=6@4Q)]AY DNOT Ignoring new targets: 14.63 m.Ro JoboZoBo:n2nmmNBkkk!kE }!e@ b=b=b @"bB4@t阽 ?I: ɝ;7iIIIiiVJv>))E]>E>YFq"Fq*Fq2F}o0:FyG= G=ԉ  2Acoustic response timeoutG Lu>2B :B  O >Ա kfď,f}?AN@YNe@N㘽9NjP>zAHRS rotation from veh to nav: [[0.945629,0.296598,-0.133473],[-0.316580,0.933461,-0.168605],[0.074584,0.201692,0.976605]]yNHB?x? BԿ?֔ſ? ?@Y@?ɫN@N;NِC wB !II-mI-F٥E Eo=9M8Q M?II MF٦QyU9T: U? Ym4Y]?m4y]0]VBim6@u @]6D];]:]1F4y)}AyJJJ2JJ:Jm9Jc3JDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk@+e@ bbb"b6@ 㘽  +?I : ɝj?7iIIFii)!)!ԑF6"F*F2F[5:FAEA M2Acoustic response timeoutH>HH;"IIBI =II&I<*I0EԹjK]NrK]k9zKYK]K]FHO\dbSLC>;:81(&!0e|sbPC8/*%.5( G=u>2B:B O> 7lď,>}?A6ɷ@Y6ľ@6]496P>>AHRS rotation from veh to nav: [[0.946061,0.295227,-0.133451],[-0.315250,0.933844,-0.168974],[0.074737,0.201930,0.976544]]y6H@"F?? -Կ ?ſ`!?`???ɫ6ɷ@6rq;6ܐCFBF!I R2Acoustic response timeoutIVSIVQ٥^*= ^T=9bйQ b>dd fF٦dyfm; j> hr4Yj(?r4yj9j[BprO@r @j6Dj;j;jL4x)zAxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk8e@ bbb"bIO@-]4 )-8?I5: 1ɝ5C7iqIqI}Ciyi} w>)y)F-5"F)*F)2F-5:F)!G5Bv>2B9 U2Acoustic response timeout:BY Om>I sď,}?A:Է@Y:Ͼ@:9:P>FAHRS rotation from veh to nav: [[0.946477,0.294012,-0.133188],[-0.314014,0.934220,-0.169197],[0.074681,0.201964,0.976542]]y:HI??M @Կ`"? >ſK?@? ??ɫ:Է@::;:ؐCJBJ!I-Mb@Mb@Mb@) )))I)i)-y&1kt??-`- =-<)-7AI-@i-@-I@ ))IEXIE㔴٥UD< UA=9]7 9Q ]>aa eF٦ayeJ; e> iu4Ym)?u4ymmbB>; @ @m6Dmb=>b='@"b=U @Qu qu?IuE: qɝuzH7iyIyI}Hiiwx>)) 2Acoustic response timeoutEFe6"Fa*Fa2Fe/4:FaGiFmsAyG 2rw>ԩ 2B :B  O > e 2Acoustic response timeoutZHy RH} <H >H CH I I =I I &I <*I EdLyď,}?A<jK>NrK>9zK<K>K>     4qGnL3" Zz@YZ`۾@Z,9ZP>fAHRS rotation from veh to nav: [[0.946924,0.292645,-0.133017],[-0.312652,0.934625,-0.169483],[0.074723,0.202076,0.976515]]yZH 4M??{Կs?@ſ !????ɫZz@Z*߉;ZِCnBn!I prAIvcIv#٥~ t ~P=9޸Q >  F٦ y o;  > 4Y_?4yiB!%@% @6DD;I:5[4))-A)}DNOT Ignoring new targets: 14.63 m.RoyJoyboZoBo:n2nmmkkkk@_Re@ bbb"b~@, Ŋ?Ib: ɝL7iIIUEiQi]y>)Y)aԩF!"F!*F!2F%_0:F) 2Acoustic response timeoutG I_y>2B:B) OU> J J J 3J J :J 9J (3J J @;! J ! J ?%;! J @%;! 75ď,3~?Ap@Y@ 2Acoustic response timeout9P>%AHRS rotation from veh to nav: [[0.947651,0.290397,-0.132766],[-0.310388,0.935363,-0.169573],[0.074941,0.201905,0.976534]]yH(S?ە? |gӿ`~?ſY/????ɫ@;ܐC5B5!I Mb@Mb@Mb@  ) I i  q= ףpʡE?/$?  -= <) AI @i     @I%AI%E٥5].< 5+=95 Q =>99 =F٦9yEأ; E> IU4YM䞡?U4yMiMpB]8>];]4@] @M6DM:M:Mc4a)mxAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmYBkkkkae@ b8>b8>b@"b4@ =?I: ɝPQ7iIIBii{>))1DE :EI EI  2Acoustic response timeouta F "F *F 2F P5:F G = G =ԉ G>8{>2B:B  O>ćď, ~?A2@Y2@2白92Q>:AHRS rotation from veh to nav: [[0.948205,0.288635,-0.132657],[-0.308661,0.935856,-0.170007],[0.075078,0.202148,0.976473]]y2HW?`x?ӿ?ſP8?`?D??ɫ2@2C;2ڐCFBF!IINdIN@٥Vy; VF=9VzQ V>XX ZF٦XyZ; ^> `f4Ybᛡ?f4yb.bvBdfT@f @b6Db6:bd:bj4l)nrAl DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo:n2nmmkkkk%ne@ bAbAbA"bET@U白 Y]q?I]: aɝeU7iaIaImGiiimY}>)i)iԱ ]2Acoustic response timeoutHqHqHuA"IIuBIqIqIq&Iu٘<*IuUE2I1:I1BI1JI1RI5· =ZI55jKMrK9zKKK  F5"F*F2F_0:FGz>2B:B O$> % 2Acoustic response timeout9 ď,k:~?A:@Y:s@:g/9:P>FAHRS rotation from veh to nav: [[0.948407,0.288020,-0.132545],[-0.308004,0.936135,-0.169658],[0.075215,0.201730,0.976549]]y:HZY?n?8Wӿ@?]ſDA?F???ɫ:@:gB;:ېCNBN!IIR=)Ra=IVfIV{٥^Z< ^I=9bQ b>`` fF٦dyfH: f> hn4Yj阡?n4yjj|Bpr]@v @j6DjXD;jE;jq4x)zOAx%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m)k)k1k1k5{e@ bQbQbQ"bU]@mg/ qu?Iu: qɝu)Z7iyIyIDii}>))JJJJJ:J9JJJs;Jt;Ju#;Ju#;F6"F*F2F`0:FA m2Acoustic response timeoutGU?{>2Ba:Bq O|>qԙ 'Քď,DT~?A6@Y6@6la96?Q>BAHRS rotation from veh to nav: [[0.949048,0.285972,-0.132396],[-0.306001,0.936675,-0.170303],[0.075310,0.202139,0.976457]]y6H`^?\M?`V@ӿ=?|ſ G??"??ɫ6@6XK;6ِCJzBJ!I f2Acoustic response timeoutMb@Mb@Mb@ )Ii+η?~jt?v=<)MAIi@`@ @IMI٥g <=93fQ > F٦yٞ; > 4Yq?4yB >;@ @6D%;;sy4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m%`Bk!k!k)k-e@q b >b >b @"b@la f?I: ɝ^7iII Ii1i5r>)1)1F6"F*F2Fg0:FGFtAԡJHa }2Acoustic response timeoutBHaH>H CHG"IIBI =II&Is<*IEG- C}>2B1 :BI  OU >i )>I C) :GjK- LrK- `9zK) K- K-  )+))!     ,10,'%! 9 ) AI A ď,6!n~?A>@"@Y>&@>ݚ9>P>FAHRS rotation from veh to nav: [[0.949345,0.284989,-0.132385],[-0.305020,0.937017,-0.170184],[0.075546,0.201943,0.976479]]y>Ha?A=?@qӿ ?ſ`V?`G?`Q??ɫ>@"@>v1;`` bF٦dyf4; f> hn4Yjx?n4yjajBpr@r @j7Dj;j;j4t)vAtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk e@ bbb"b@ݚ !%ͅ?I-: )ɝ-b7i1I9I}Fiyiw3>)) 2Acoustic response timeoutFe5"Fi*Fi2Fm0:FiJJJ4JJܫ:J9J3JJ ;J;J@%;J@%;G*>2B:B O>1  2Acoustic response timeoutY gď,~?ABv2@YB\-@Bj29B Q>NAHRS rotation from veh to nav: [[0.949935,0.283075,-0.132258],[-0.303137,0.937553,-0.170595],[0.075707,0.202147,0.976425]]yBH e?@?fӿn?ſa? ?>?ɫBv2@BEh;BܐCRyBR!I XZAEMb@Mb@Mb@A A)AIAiAEHzGRQ? rh?E= E=EC<)EAIE@iAA AEQ@I]ZI]٥m; m?=9mƹQ m>qq uF٦qy}; }> 4Y?4yB)>;M@ @7D::x4B)$AEuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nymym}eBkkkke@ b)>b)>b!@"bM@j2 ?IZ:! )ɝ-g7i)I)I5Ci1i5>)9)9"DADA2DA*DAF"F*F2F@1:FQ 2Acoustic response timeouty G .%>2B :B  O >ď,<١~?A0:<@Y:7@:!9:IP>FAHRS rotation from veh to nav: [[0.950327,0.281925,-0.131900],[-0.301918,0.937972,-0.170454],[0.075663,0.201810,0.976498]]y:Hi? ?Rӿ? mſ^??`x??ɫ:<@:(;:ېCN{BR!IIZuIZ_v٥f'< fV=9f8Q j>hh jF٦hyn_\; ]> Ym4Y]@?m4y]]Bq`@ @] 7D]7;];]e4)AH>H CHA"IIBI =II&I<*I E =2Acoustic response timeoutEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImIkQkkk Ge@ bYbYbY"b]`@ԉ! 靭?I: ɝgk7iIIHiiՒ>))jK%jlMrK%9zK!K%K%!$! 2C=1$ 31`uujK%vo`C%q=|dTF=83F6"F*F2F`5:FG= G=Թ  2Acoustic response timeoutG > 2B :B  O- ><ď,5~?AJN@YJI@Jꎛ9JQ>VAHRS rotation from veh to nav: [[0.950972,0.279778,-0.131818],[-0.299822,0.938549,-0.170974],[0.075883,0.202114,0.976418]]yJH]n??lJ0ӿ?zſ@m??>?ɫJN@J;JڐC^wB\^!IIjcIj#٥r' rH=9vQ v>tt zF٦xyz; z> |4Y~҇?4y~P~B  @  @~ 7D~:~B:~<4)4AJJJ3JJ:J9J(3JJ;J;J:;J:;DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk` e@ b)b)b)"b-G@eꎛ ae?Ie;: iɝmko7iiIiIuEiqiu>)q)yF)"F)*F12F5[0:F9 ]2Acoustic response timeoutGu*b>2B:B O>A %ď,~?A>S\@Y>9W@>ۛ9>P>FAHRS rotation from veh to nav: [[0.951448,0.278238,-0.131642],[-0.298271,0.939033,-0.171030],[0.076029,0.201991,0.976432]]y>HCr??`ӿ ?Oſv?? >?ɫ>S\@>މ;< R2Acoustic response timeoutVnBV!IMMb@Mb@Mb@I I)IIIiIMK7ʡE?I +?MI M-=M94<)M7AIM@iIMv@ IM\@Ie_Ie٥uL. uB=9}-Q }>y F٦yJ|; > 4Y?4yB&>;!@ @7D] ;P;4)}ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmJBkkkqku e@ b&>b&>b $@"b!@ۛ ?I: ɝs7iIIBii^(>))IF6"F*F2F^0:FqZHRH<H>H CH5"IIBI =IID&IØ<*I*E U2Acoustic response timeoutG% 5>2B1 :BA  O] >jK} ՋOrK} 9zKy K} K} 2//+&# !<JIVzrV7ԙ ZMď,g~?AR p@YRj@R䛽9RL%Q>bAHRS rotation from veh to nav: [[0.952162,0.275940,-0.131316],[-0.295980,0.939658,-0.171581],[0.076046,0.202239,0.976379]]yRH x?@?Tҿ?Yſw?`?`>?ɫR p@R ;PjdBj!II%jI%٥5WJ 5O=95:Q =>99 EF٦AyE; E> IU4YMe?U4yMMBQUI@] @M7DM; ;Mi ;M4a)eAayDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkke@ bbb"bI@䛽 u?Il: ɝw7iII Gi i :->) )EEF6"F*F2F_0:F 2Acoustic response timeoutԩG/E>2B:B  O> u 2Acoustic response timeout5ď,=D ?A2}@Y2x@2[92P>>AHRS rotation from veh to nav: [[0.952617,0.274424,-0.131195],[-0.294454,0.940147,-0.171523],[0.076273,0.202027,0.976406]]y2H{?)?Uҿ? vſ?@?>?ɫ2}@2 6;2ېCDDMb@Mb@Mb@ )IiM¿kt?Mb?n =<)I@i @I5YI5٥ B=9 Q > F٦yx; > 4Y^|?4y`B+>;@ @7D&@;>;ߪ4)ADNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m-EBk)k)k)k5)e@ bU+>bU+>bUh&@"bU@e[ am?Im: iɝmI|7iiIiIuDiyi}5̄>)y)yF"F*F2F:F 2Acoustic response timeoutG;>2B:B19 OE>J J J J J ;J 9J J ! @! @! @! @Y oď,Nb#?AB@YBw@B49BTP>JAHRS rotation from veh to nav: [[0.953185,0.272470,-0.131146],[-0.292534,0.940702,-0.171766],[0.076568,0.202090,0.976369]]yBH }?%p?f`ҿ:?`qſ? ?j>?ɫB@B9};@R^BR!I XZAI^WI^ƕ٥fۼ fX=9jBMQ j>hh nF٦lyn; r> pv4Yrx?v4yr*rBxz@z @r7Dr:r:r}4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n92n9mAmAkAkAkAkMDe@ bibibi"bm8@H>H CH("IIփBI =IID&I٘<*IRE 2Acoustic response timeout=4 AEa?IE: AɝE27iAIAIMIiIiM榅>)I)F-5"F)*F)2F-o0:F)jKNrK9zKKK Ip_N>1%   /0-+'1AG-"}>2B9:BI O]>y  2Acoustic response timeoutԙ ď,@<?A>@Y>ؓ@>5{9>|P>JAHRS rotation from veh to nav: [[0.953572,0.271156,-0.131057],[-0.291205,0.941149,-0.171579],[0.076819,0.201777,0.976414]]y>H? Z?y`ҿ?Oſo??>?ɫ>@>d{;>ܐCNPBR!II^dI^@٥f fL=9j %Q j>hh nF٦lync; r> pv4Yrt?v4yrrBxz@z @r"7Dr:r:rz4|)lA-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo1:n12n9mAmAkAkIkIkMe@ bibibi"bm_@5{ 靅Ԃ?I: ɝA7iIIFii >))ԑF=6"F9*F92F=#3:F9 52Acoustic response timeoutG]E2>2Bq:B O> rď,V?A6@Y6@696P> B2Acoustic response timeoutFAHRS rotation from veh to nav: [[0.954212,0.268919,-0.131001],[-0.289019,0.941744,-0.172008],[0.077113,0.201994,0.976346]]y6H? 5?`Jҿ"?Yƿ? ?:>?ɫ6@6j;6ڐCRWBR!IMb@Mb@Mb@ )Ii/$Dl?~jtx?1O=;)Ii IcI#٥O< ==952Q > F٦y; > 4Yp?4yB>;@ @&7D;; 4)9A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m%8Bk)k)k)k- f@ bM>bM>bMn*@"bM@e ae?Ie: iɝmz7iiIiICii))F6"F*F2F`5:FJsJ{3J{L.JJJ2JJܫ:J9Jc3JJHBHAAH>H CH"IĨBI =II&I<*IoE2Ie C:Ie CBIaJIeǹ =RIeǸ =ZIe6 =2Acoustic response timeoutG>2B :B!  O5 >I jK `MrK 9zK K K l5]d4;@'xVNT~Y{9nK) v\ vpď,p?A6O@Y65@696P>FAHRS rotation from veh to nav: [[0.954731,0.267026,-0.131099],[-0.287186,0.942270,-0.172197],[0.077549,0.202051,0.976300]]y6H '??@@aҿ@'? ƿGڳ?? =?ɫ6O@66;4nOBn!IIv=)v=Iz]Izt٥   V=9Q >!! %F٦!y-ܢ; -> 1=4Y5]m?=4y55B9E@E @5*7D5;5;54MB)MMAMEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m)m)k1kqkqk}*f@ bbb"bl@ 靭ԅ?IC: ɝ7iIIHii))Q 2Acoustic response timeoutFm6"Fi*Fi2Fm 5:FqԁG>2B :B)  O9 ԩ U 2Acoustic response timeoutď,ۤ?A85PB1Mb@Mb@Mb@ )IiL7A`x&?y&1|?+7=`;)AIi$@@ @IeI]٥: ;=9Q > F٦yu u> q}4Yu@i?4yuuB>;@ @u.7Du ;u ;u4)JADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm@Bkkkk%f@ b>b>bu+@"bK@  ׃?I : ɝ7iIIEii))!)F6"F*F2FY0:FGF 2Acoustic response timeoutIG>2B :B  O- >y  J AAJ AAJ J J J J :J J J \ď,@i?A6۸@Y6տ@6=96Q>>AHRS rotation from veh to nav: [[0.955799,0.263272,-0.130907],[-0.283478,0.943310,-0.172647],[0.078033,0.202125,0.976246]]y6H`?r?@$ҿ /?`Iƿ`?`8?h=?ɫ6۸@6N;4FJBF|!IIN^IN٥V Vc=9Z|Q Z>`` bF٦`yb6< f? dj4Yf f?j4yffBQU@U @f27DYfVHH "IIBI =II&I˜<*I7EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk S1f@ bbb"b"@ 2Acoustic response timeout]=)HG )5AI dA  ?I : ɝ7iIIBii))!ԉF5"F*F2F^0:FjK% MPrK!zK!K%K%0\bZMITfyxhVF@6'n`VNF?CbxueRB4*"  2K1*K5rAԱ  2Acoustic response timeoutG g>2B :B  O > ď,@?AI<)6r@Y6X߿@6W96P>BAHRS rotation from veh to nav: [[0.956103,0.262171,-0.130897],[-0.282371,0.943683,-0.172421],[0.078322,0.201814,0.976287]]y6Hd?`g? ?\ҿ2?@ƿ ? ?=?ɫ6r@6;6ؐCFIBFz!IIVVIV٥^/ ^J=9bk;Q b>`` bF٦dyf:; f> hn4YjOb?n4yjjBlr@r @j57Dj;j;j4t)vAtDNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m)k1k1k1k5`=f@ bQbQbQ"bUj@ԹW $?Ii: ɝ7iIIGii))F"F*F2F_0:F 2Acoustic response timeoutG>2B:B O>9 ď,?A 22Acoustic response timeoutB@YB@Ba9BQ>JAHRS rotation from veh to nav: [[0.956697,0.259949,-0.130985],[-0.280239,0.944220,-0.172957],[0.078718,0.202174,0.976181]]yBH@C??oѿ 7?p#ƿ`&??iq uF٦qyuĪ; }> 4Y^?4yB >;@ @97Dp;#;24B)iADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm;Bkkkk@nLf@ bE >bE >bEtc+@"bEI@ua y}?I}: yɝ}7iyIIDii))EEJJJ3JJ:Jm9J(3JIF"F*F2F:FG= G=ZH}<RH}<H>HHII =IID&IӘ<*IRE 2Acoustic response timeoutiG >2B :B  O >jK] NrKY zKY K] K] &=OXorsurpmnlfed`[\dpCraP>+$$,OR?ԙ ď,?A2@Y2i@2,92\P>>AHRS rotation from veh to nav: [[0.956971,0.258889,-0.131081],[-0.279193,0.944575,-0.172709],[0.079104,0.201875,0.976212]]y2H ? ? G@Lѿ@9? Wƿ$@? ? =?ɫ2@2=D;2ېCNSBR!IIV`IV̍٥]~< ]K=9]{Q e>ii mF٦qy}/; }> 4YB[?4yB@ @=7D;m ;C4)OADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk 3Xf@ bbb"b@, ?IH: ɝ7iII%Ii!i!)!)) }2Acoustic response timeoutF"F*F2F0:FG?΅>2B:B O >) 5 2Acoustic response timeoutď,- ?A^@Y^ @^ ע9^Q>jAHRS rotation from veh to nav: [[0.957498,0.256917,-0.131112],[-0.277287,0.945059,-0.173134],[0.079428,0.202131,0.976132]]y^Hӣ?@Tq?Jѿ=?@)ƿdU?o?y F٦y4; > 4YW?4yB . > ; @  @@7D;;4)TAUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nYmYm]CBkYkakake@ef@ b. >b. >bs)@"b2@ ע 靭׃?If: ɝ7iIIFii))!F"F*F2F0:FQ u2Acoustic response timeoutGA 2BQ :Ba  Om >y  J J ď,ڮ%?A0>@Y>i@>舣9>P>FAHRS rotation from veh to nav: [[0.957768,0.255882,-0.131167],[-0.276257,0.945405,-0.172891],[0.079766,0.201825,0.976168]]y>H ? _`?@0ѿ@?H!ƿk?f?@>;>ؐCVXBV!II^ZI^٥f = f_=9frQ j>hh jF٦hyn??; n> pv4YrT?v4yrƽrBtv@z @rC7Dr:rB:r4|)~!AH->H)H)I)I- =I)I)&I-<*I-&EUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nY2nYmamakakakakmqf@ bbb"b@舣 靥q?I;: ɝ"7iIICii)) 2Acoustic response timeoutFm6"Fi*Fq2Fu05:FqGyFyԙjKeOrKe9zKaKeKepxHIk.p8 t[>! vj`TD8*2Kq*KusAG>2B:B O>  2Acoustic response timeout P(ď,6??A2/(@Y2#@2?92Q>:AHRS rotation from veh to nav: [[0.958268,0.253975,-0.131221],[-0.274416,0.945873,-0.173264],[0.080114,0.202043,0.976094]]y2H!? !A?ѿD?-ƿX?`?`*|X F٦y; > %4YWQ?-4yϼćB)-@- @G7Dl::649)=A9eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimikqJJJJJL:J=9JJJZ;!J[;!J*;!J*;!kkk~f@ bbb"b@? ?I: ɝP7iIIHii))F"F*F2FW0:F 2Acoustic response timeoutG >2B:B O>A ď,cY?A &2Acoustic response timeout:8@Y:3@:Ф9:5Q>FAHRS rotation from veh to nav: [[0.958805,0.251962,-0.131177],[-0.272452,0.946371,-0.173645],[0.080390,0.202231,0.976033]]y:H?& ?foѿ@H?:ƿ@m? ? ;?ɫ:8@:Ŋ;:ڐCJcBN!I PP5Mb@Mb@Mb@1 1)1I1i15v/V-?I +?5x5h=59<)5AI5@i15@ 15@II٥  :=9%Q > F٦y; > 4YM?4yʇB[ >;@ @J7D/Y;>;4B)AE-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1m1m=cBk9k9k9k=`Hf@ b][ >b][ >b]i%@"b]@}Ф y}?I}O: ɝc7iIIEii))F"F*F2F^0:FGFG GIH!H!H%"II%ƒBI!I!I!&I%<*I%Eq2B:B O 2Acoustic response timeoutԡ jK 7PrK 9zK K K }|zuqlgcb^[YVUTNMLECA>?<;666410++*(('#"! BK ?:K >Dď,us?AdB!IIEI٥%; %S=9-Q 5>99 =F٦AyM M>a Yu4Y]J?u4y]Ǻ]χBy @]N7D]E<] <] 4)ADNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n!m)m)k)k)k1k5Cf@ bQbQbQ"bQa ae@?Ie: iɝmk7iiIiIuBiqiq)q)yE =2Acoustic response timeoutF5"F*F2F_0:F2B:B O% >ԑJJJ4JJ,:J9J3JJ;J;J;J;Թ  2Acoustic response timeout1 "#ď, '?AzX@YzS@z9zWQ>AHRS rotation from veh to nav: [[0.959834,0.248163,-0.130895],[-0.268688,0.947348,-0.174177],[0.080779,0.202351,0.975976]]yzH ??@-.2ѿP?@rKƿﭴ??1;?ɫzX@z|;zِCkB!IMb@Mb@Mb@ )IiQRQ?Q?=<)MAI@i@ I%WI%ƕ٥=< =;=9E!jQ E>II UF٦QyU < ]> am4YeVG?u4yepe؇Bu>u;uY@} @eR7DeyH;e%H;e4)hADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkBkkkkf@ b>b>b}4@"bnY@e ae?Ieg: iɝm7iiIiIuGiqiq)q)qF"F*F2F:F2B:B OB> ]2Acoustic response timeout)Y _K)ď,?A2f@Y2a@2m92Q>:AHRS rotation from veh to nav: [[0.960263,0.246576,-0.130751],[-0.267088,0.947811,-0.174121],[0.080993,0.202124,0.976005]]y2Hx?Џ?uѿxT?Iƿ?4?o;?ɫ2f@2gG;0FrBF!IIJp=)Ja=IR9IR\٥V'= Zh=9Z Q Z>Hb>H`Hb""IIbуBI`I`I`&Ib<*IbE2I C:I CBIJI =RI =ZI4\ F٦y; %> !-4Y%gD?-4y%R%߇B15t@5 @%U7D%:%;%v4a)e-AaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo 2Acoustic response timeout:n2nmmkkkkలf@ b!b!b!"b%t@1Um QUف?IUE: Yɝ]w7iYIYIeDiaia)a)iF!"F)*F)2F-o0:F)2B9:BI O]>ajK}NrKzKKK +%~A{hYE2)$;m{se[NF>1,'!2KtA*KtAԙ m 2Acoustic response timeoutԹ 10ď,_?A6y@Y6ft@6+96:Q>>AHRS rotation from veh to nav: [[0.960872,0.244363,-0.130431],[-0.264871,0.948360,-0.174520],[0.081049,0.202239,0.975977]]y6H@v? HG?пX? Vƿ? ?3;?ɫ6y@6G;4FvBF!IINXIN㔴٥V< VK=9ZQ Z>XX ^F٦\y^;; ^> `f4Yb=A?f4ybbBhj@j @bY7Db:b:bL"4l)rApDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m!k!k!k!k-ھf@JeJeJe3JaJe:Je9:Je(3JaJe;Je;Je^`;Je^`; bbb"b@+ %̂?I%: !ɝ%7i!I!I-Ii)i1)1)1EAEAԑF"F*F2F0:F2B:B O > 2Acoustic response timeout!I \6ď,uڀ?A 2Acoustic response timeout:j@Y:P@: 39:P>LVAHRS rotation from veh to nav: [[0.961287,0.242912,-0.130081],[-0.263355,0.948808,-0.174379],[0.081063,0.201885,0.976049]]y:H??@|п\? Rƿ`?@`?;?ɫ:j@:;:ڐC^zB^!I]Mb@Mb@Mb@Y Y)YIYiY]i|?5Cl?Mb?]];=]=)YI]@i];@Y Y]@Iu^Iu٥z< ==9Q > F٦yQo; > 4Y=?4yB'>; @ @^7D::)4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk@f@ b'>b'>b#U@"b @ 3 靵Rx?IY: ɝ7iIIFii))ԩF"F*F2FX2:F2B:B O>i)>I֐CZHRH<H>HH5"IIBIII&Iɘ<*IDE)EG Y)yIkA 2Acoustic response timeout jK5 NrK5 #9zK1 K5 K5 $0BTiz{wuoqurlha^YRD=5.*% .[ucUJA:3-(% w<ď,?A2@Y2@292&EQ>:AHRS rotation from veh to nav: [[0.962033,0.240178,-0.129641],[-0.260631,0.949420,-0.175140],[0.081019,0.202279,0.975971]]y2H?)?`+пa?jƿ?C?';?ɫ2@2;2ؐCLR!I TTlIZIIZ.٥vaH vU=9z8Q z>xx zF٦|y~; ~>  4Y:? 4y[B @ @b7D::04)AUDNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:nY2namamakakikikm f@ bbb"b @ 靥x?I: ɝ}7iIICii )) E2Acoustic response timeoutF"F*F2FQ5:F2B:B O">1JJJJJ\;J:JJJt<Jt<J@;J@;a  2Acoustic response timeoutoCď,j?A9B!IMb@Mb@Mb@ )IiZd;Zd;?L7A`?=+=)AI@i@ =@II٥< /=9Q > F٦y > 4YR7?4yB3>;v @ @g7DH::84)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk f@ b3>b3>b@"bv @) )-z?I-J: )ɝ-7i)I1I5Hi1i9)9)9EIEM>iF6"F*F2F?5:F2B:B OF> =2Acoustic response timeoutԑ J J Iď,?(?AH8H8H:;"II:BI: =I8I8&I:<*I:0EJĹ@YJ@J9J_Q>VAHRS rotation from veh to nav: [[0.963289,0.235690,-0.128549],[-0.256043,0.950522,-0.175927],[0.080724,0.202383,0.975974]]yJH C?+?Ktcпj?ȄƿZ?`?`-;?ɫJĹ@JA;HllIzpIz<9 a:Q  ?   F٦yc< ? %4Y4?%4yU B)- @- @j7D):W:>41)19eDNOT Ignoring new targets: 14.63 m.RoaJoiboiZoiBoi:nq2nqmymykykykkf@ 2Acoustic response timeoutԱ bbb"b @e aaIe: iɝmm7iiIIEii))FA"FI*FI2FM_0:FI2BY:Bi O>jK=ߗNrK=k9zK9K=K=#150*#  #%   $@WYW_fyp_J;2(  M 2Acoustic response timeout Pď,B?A6ع@Y6@6h96FQ>>AHRS rotation from veh to nav: [[0.963907,0.233510,-0.127891],[-0.253780,0.951079,-0.176195],[0.080491,0.202292,0.976012]]y6HS? ?^=пxx zF٦xyz; z> | 4Y~{1? 4y~ٯ~B @ @~o7D~;~{;~E45B)5xA5EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`,g@ bbbJJJ8JJ:J9J'4JJ[;J\;J3;J3;"b @h y?I: ɝa7iIIBii) )F5"F*F2F:F 2Acoustic response timeout2B:B O (>)Qy ] 2Acoustic response timeout?Vď,} \?A6@Y6s@6:X96,Q>>AHRS rotation from veh to nav: [[0.964536,0.231327,-0.127118],[-0.251486,0.951646,-0.176421],[0.080160,0.202133,0.976072]]y6Hz??@eEXпs? ƿb?{?;?ɫ6@6;4ZsBZ!IMb@Mb@Mb@ )Ii`"S㥛?V-?$><)I@iQ@@ 3@ISIQ٥ ;=9mG:Q > F٦yز; > 4Y*.?4y  B9>;&@ @t7D:{:[M4 B)AEEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoAI:nQ2nQmQmUBkYkYkYk]@ g@ b}9>b}9>b}B@"b}&@ :X 3s?I: ɝU7iIIGii))AEIJEC=JE4=F6"F*F2F:F2B:B O )>qJHQBHQHYHYH]A"II]BI] =IYIY&I]<*I]5E 2Acoustic response timeoutԡ \ď,u?A2m@Y2S@2?ݣ92 Q>>AHRS rotation from veh to nav: [[0.965192,0.228952,-0.126437],[-0.249032,0.952227,-0.176765],[0.079926,0.202099,0.976098]]y2H? IN?/HϿx? :ƿv?`_?2riBr!IIzjIz٥SY Z=9 #:Q  >    F٦ y; > %4YN+?%4y)B!-O@- @x7D: :S41)5A1DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk-g@ bibibi"bmeO@Ա?ݣ n?I: ɝ87iIIDii)) 2Acoustic response timeoutFa"Fi*Fi2Fmo0:Fi2B:B O >  2Acoustic response timeoutA >cď,?AI\)^<-@Yo(@9Q>AHRS rotation from veh to nav: [[0.966597,0.223822,-0.124878],[-0.243726,0.953434,-0.177656],[0.079300,0.202157,0.976137]]yH`\?0?g2Ͽ?jƿL?I?@ F٦y/C< > 4Y'?4yϪ2B;>;@ @}7D6;s6;[4)A -DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m=rBk9k9kAkE (g@ be;>be;>be-@"be@ Rx?I: ɝK7iIIeIiaia)a)i 2Acoustic response timeout1D 2:a  J] @AJY Ji Jm Jm 4Ji Ji Jm 9Jm 3Ji !u @!u @!u @!u @F 5"F *F 2F _0:F 2B :B  O >iď,?AH&>H$H&5"II&BI$0I$I&D&I&͘<*I&FEvB@Yv=@vϡ9v" Q>~AHRS rotation from veh to nav: [[0.967235,0.221507,-0.124061],[-0.241303,0.953988,-0.177988],[0.078927,0.202093,0.976181]]yvH`? ZZ?|¿@ο?Qƿ`4?-?19 =F٦9y=; E> AM4YE$?U4yEjE9BY]@] @E7DETE;EF;Eb4a)mAi 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk3g@ bbb"b@ϡ q?I: ɝ7iIIFii))ԉF6"F*F2F_5:F2B:B O=jKAMrK9zKKK   2KsA*KsAԹ 5 2Acoustic response timeout pď,hÁ?A\QB!IISIQ٥e eG=9eQ e>ii mF٦iyu u> y4Y}o!?4y}ȧ}BB @}7D}:}9:}Mi4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`@g@ bbb"b   o?I : ɝ7iIICii))!F"F*F2F4:F2B:B O> 2Acoustic response timeoutA = 2Acoustic response timeoutBvď,;݁?A 6l@Y6g@6&96wP>BAHRS rotation from veh to nav: [[0.968536,0.216728,-0.122342],[-0.236297,0.955106,-0.178705],[0.078120,0.201992,0.976267]]y6H>??Q>ο;?ƿ? ?=?ɫ6l@6(;6ؐCbNBb!IMb@Mb@Mb@ )IiV-Q?{Gz?=ף<)dAI@i @IZI٥7 C=9:Q > F٦y?K< > 4YO?4yBIB!,>; @ @7D;,;p4)A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmEmBkAkIkIkMANg@ bm!,>bm!,>bm9@"bm @& 靅p?I: ɝ޶7iIIHii))F)"F)*F)2F-^0:F)2B9I:BQJeJeJaJaJe|:Je9JaJa Ou>ZH<RH<H->H)H-""II-уBI- =I)I-D&I-<*I-E2I:IBIJIŶ =RIŶ =ZIń5q 2Acoustic response timeoutԡ %#}ď, ?A2Q@Y27@2 292",Q>>AHRS rotation from veh to nav: [[0.969307,0.213793,-0.121391],[-0.233266,0.955715,-0.179431],[0.077654,0.202240,0.976252]]y2H? ]?`w@Ϳ8?ƿ ? ?u=?ɫ2Q@2{;2ِCbHBby!IIjbIjjKnMrKn9zKlKnKn%WzbM:," 'WeZJ:0&"#()("  ٥z zY=9~Ԣ:Q ~> F٦y<  > 4Y {?4y  PB: @ @ 7D ; ; -w4!)-A)UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmYmakakakake AZg@y bbb"b : @ 2 靥m?I-: ɝ7iIIEii)) 2Acoustic response timeoutFi"Fi*Fi2Fm_0:Fq2B:B O=ԡ  2Acoustic response timeout ď,?A@Yk@ɞ9UP>AHRS rotation from veh to nav: [[0.969754,0.212095,-0.120805],[-0.231471,0.956155,-0.179413],[0.077455,0.201949,0.976328]]yH8?%? ԠͿ Ҙ?@ƿԳ?z?>?ɫ@Mӊ;髹2B]!IMb@Mb@Mb@ )IiCl绿:v?Q?;߽=u<)AIi @IWIƕ٥Ľ 2=99Q > F٦y>; > 4Y+?4yjVBM>M;M @M @7D;<&<64Y)]AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmABkkkk`ig@ bU>bU>bUlL@"bU @ɞ 靍Rx?Is: ɝٺ7iIIBii))"DD2D*D 2Acoustic response timeoutF"F*F2F^0:F2B:B Oe>)JJ23J/Je Je Je 3Ja Je :Je :Je (3Ja Y ) G `wA) AH >H H "II BI =I I &I Θ<*I KE6ď,b*?AI$)$I./.`wA.AV%@YV @V9V{Q>nAHRS rotation from veh to nav: [[0.970414,0.209498,-0.120034],[-0.228797,0.956692,-0.179977],[0.077131,0.202115,0.976320]]yVH ??:IͿ 9?y ǿ ׾?`?>?ɫV%@V0;VאCr&BvO!II~VI~٥  i=9  s:Q  > F٦y< > !%4Y%?-4y%K%[B)- @5 @%7D%M;%9O;%W4A)EAA ]2Acoustic response timeout}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoyBoy:n2nmmkkkkGtg@ bbb"b @1M IMr?Im: qɝu7iqIqI}Giyiy)y)F%5"F!*F!2F%`0:F)2B9:BI O]>YjKMrK89zKKK `aXQc'ubQ@5-&  ԑ  2Acoustic response timeoutԱ ď,D?AJ@YJ@Jr9JP>RAHRS rotation from veh to nav: [[0.970927,0.207523,-0.119307],[-0.226718,0.957150,-0.180176],[0.076804,0.201987,0.976372]]yJH@?@?䊾`Ϳ?ǿ@h??p>?ɫJ@J7C;J֐CZBZ:!IIbiIb҅٥j# nN=9n3X:Q n>pp rF٦pyr; r> tz4Yv?~4yvvaB|~ @~ @v7Dv;v;vI4)A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9ZoABoA:nA2nAmImIkIkIkIkM@g@ bqbqbq"bu @r 靍i?I,: ɝb7iIIDii))ԉFI"FI*FI2FM0:FI2BY:Bq O}= m2Acoustic response timeout  2Acoustic response timeoutFď,ۅ^?A2к@Y2@2A92/ Q>>AHRS rotation from veh to nav: [[0.971455,0.205312,-0.118832],[-0.224477,0.957595,-0.180616],[0.076710,0.202136,0.976349]]y2H)?G? k@̿?nǿF?`??>?ɫ2к@2Zr;2ؐC^Bb9!IMb@Mb@Mb@ )IiCl绿~jt? F٦y!; > 4Yh?4ydBa>;V@ @7Dj;;4B)hAE-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m9m=#Bk9k9kAkE܎g@ bea>bea>be"@"be4V@A Rx?I+: ɝk7iII Ii i))J5J5J52J1J5ݒ:J59J5c3J1EEJHBH@AHHH!IIBI =IID&I<*I&EF"F*F2F{0:F2B:B! O-O> }2Acoustic response timeoutI .qď,[ax?A4>޺@Y>@>A*9>P>FAHRS rotation from veh to nav: [[0.971842,0.203697,-0.118447],[-0.222811,0.957972,-0.180677],[0.076665,0.201981,0.976384]]y>H`U?`?R̿?n ǿX?? >?ɫ>޺@>J;>ِC^ Bb,!IIfZIf٥v>Y vZ=9v 8Q v>xx zF٦xyzЕ; ~>  4Y ? 4ygB  q@  @7D::q4jKOrKk9zKKK),-("#>NPK?/  4lQ</%!'<M))-A)UDNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:nY2nYmamakakakikm`g@ bbb"bq@A* 靥8s?I: ɝF7iIIFii)) 2Acoustic response timeoutFq"Fq*Fq2Fu@5:Fqԑ2B:B O=Թ  2Acoustic response timeout[ď,G?A`@Yt@Ĝ9P>AHRS rotation from veh to nav: [[0.972313,0.201762,-0.117896],[-0.220816,0.958376,-0.180985],[0.076473,0.202008,0.976394]]yH0?Z? p.C̿`?*ǿ?c? >?ɫ@{C;ؐC%B%!IMb@Mb@Mb@ )Ii|?5^V-?~jtx?ҽm=;)AI@ih@@ @IPI٥t +=9%]9Q %>)) -F٦)y5 ; 5> 9M4Y=?M4y==jBUf=U;U^@U @=7D=Oe;=sU;=Ȣ4Y)]8AaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBkkkk`-g@ bf=bf=bQ=(@"b^@Ĝ u?I: ɝd7iIICii)) 2Acoustic response timeoutD:9 FA "FA *FA 2FE o0:FA  JM AAJM @A2Ba :By  O >H >H H !II {BI =I I &I ؘ<*I [Eď,?A6D@Y6*@6 96-Q>BAHRS rotation from veh to nav: [[0.972752,0.199764,-0.117680],[-0.218829,0.958764,-0.181341],[0.076602,0.202152,0.976354]]y6H ? ܑ?@M ̿2?26ǿ 5? ?@J>?ɫ6D@6{w;6אCNBR!IIfcIf#٥n. rx=9vYιQ v?tx zF٦xyzi; ? 4!Y m?%4y X kB)-@5 @ 7D ; 3; E2Acoustic response timeout 4U~B)UXA-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12nQmYmYkYkYkake@ŵg@ bbb"bi@ (r?I: ɝ87i I IHii))IuPExceeded connect timeout, disconnecting.F"F*F2FZ0:F2B:B O&>qjKNrK-9zKKKNHBEk8d F$EZ]kq_E#gH.uX=%  2Acoustic response timeoutԡ jď,ł?AI<)Nt@YNZ @N9NQ>bAHRS rotation from veh to nav: [[0.973132,0.198115,-0.117322],[-0.217145,0.959114,-0.181518],[0.076564,0.202117,0.976364]]yNH#?@[?h˿`?;ǿ?`?_>?ɫNt@Nn;LJ J J 3J J |";J O9J (3J J Nz F٦yM}; M> Q}4YU?}4yUqUnBy}@ @U7DU;U!;U^4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n 2n m1m1k1k1k1k=g@ bbb"b@ )-uo?I-: )ɝ-17i)I)I5Ei1i9)9)9 M2Acoustic response timeoutԡF"F*F 2F \0:F2Ba:B Og>  2Acoustic response timeout}ď,1߂?A6@Y6z@6B96Z0Q>RAHRS rotation from veh to nav: [[0.973520,0.196296,-0.117160],[-0.215346,0.959455,-0.181856],[0.076712,0.202270,0.976321]]y6H'?@8 ?/`q˿۳?@Gǿg??>?ɫ6@6A;6֐CnBr I}Mb@Mb@Mb@y y)yIyiy}B`"۹ˡE?y&1|?}ν}'=}`;)}AI}@iy}@ y}@IdI@٥){ H=9FQ > F٦yS; > 4Y?4y֛oB=;#@ @7D:<:4)A DNOT Ignoring new targets: 14.63 m.Ro Jo boZoBo:n2nmmBkkkk$g@ b =b =b a0@"b #@=B 9=p?IE: AɝE 7iAIAImBiqiq)q)yJ J a=F%6"F!*F!2F%_0:F!2B1He>HaHe!IIebBIe =IaIa&Ieߘ<*IebE:B O;> ]2Acoustic response timeout1 m nManaging dock network, ignoring radio surface power offY ~ď,?A6'@Y6"@6L96P>>AHRS rotation from veh to nav: [[0.973783,0.195137,-0.116907],[-0.214145,0.959741,-0.181768],[0.076731,0.202037,0.976367]]y6H;)?A?`@i˿`2?(Dǿ?[?f>?ɫ6'@6酊;6ؐCFނBF IIRaIR錴٥V^ Z[=9ZRQ Z>X\ ^F٦\ybX; f> dj4Yf>?j4yf@fpBln#@= @f7Df5k:Km>DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkkg@ b!b!b!"b%f#@9UL Q]Wo?I]: Yɝ]7iYIYIeGiaia)a)i 2Acoustic response timeoutF "F *F 2F i0:F2B!:B1 O=>aJ%J%J!J!J%̝:J%9J!J!J%;J%;J%1;J%1;Թ m 2Acoustic response timeout ď,]?A $$.6@Y1@)9Q>AHRS rotation from veh to nav: [[0.974148,0.193386,-0.116784],[-0.212418,0.960068,-0.182069],[0.076911,0.202169,0.976326]]yH7,??`彿0˿߸? Nǿi??>?ɫ.6@A;֐CU؂B] IԱMb@Mb@Mb@ )IiEԸX9v?Mb?ƽ<<)IiQ@@ @I5jI5٥E$ E'=9MpQ M>QQ UF٦QyUm; ]> Ye4Y]?e4y]]rBm2=m  J% @AJ% AAHe >He CHe !IIe RBIe =Ia Ia &Ie <*Ie 0E2I!:I!BI!JI!RI!ZI%51 ď,b-?AR6>@YR9@R9RP>ZAHRS rotation from veh to nav: [[0.974343,0.192427,-0.116738],[-0.211460,0.960288,-0.182024],[0.077076,0.202039,0.976340]]yRH -? t?`⽿ ˿?Lǿ8?g?@->?ɫR6>@Rɑ;Pr݂Br IIzlIz) 2Acoustic response timeout٥U< Up=9UQ ]?YY ]F٦Yye=; e? iu4Ym?u4ym/msBq})@} @m7Dm;m;m4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk`g@ bbb"b%)@] YeGp?IeH: aɝe7iaIaImIiii))F "F *F 2F 12:F2B!:B9 OM>9jKx*OrK9zKKKMHBGKD865420.:W_XL?72+$%$$"!"## +551'  !2K*KrA 2Acoustic response timeouta yď,z7G?A06K@Y6E@6΍96>'Q>>AHRS rotation from veh to nav: [[0.974653,0.190844,-0.116744],[-0.209926,0.960564,-0.182341],[0.077342,0.202226,0.976280]]y6H\0?m?⽿`ʿ?Vǿ̳??=?ɫ6K@6^z;6אCF܂BF IINeIN]٥VMI VV=9Z6Q Z>JvJvJtJtJv:JvO9JtJtJv;Jv;Jvj,;Jvj,;99 EF٦AyE; M> IU4YM?}4yMMuBy}2)@} @M7DMx;M;M4) ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmkkkk h@ bAbAbA"bEd2)@}΍ y}o?I}: ɝ7iIIFii))ԑ -2Acoustic response timeoutFe6"Fi*Fi2FmP5:Fi2B:B O>  2Acoustic response timeoutDď,ja?AI<)6P@Y6nK@6/垽96P>BAHRS rotation from veh to nav: [[0.974781,0.190205,-0.116726],[-0.209273,0.960752,-0.182102],[0.077508,0.201937,0.976327]]y6Hg1?X?὿xʿ z?Oǿ`׳?@?>?ɫ6P@6։;6ؐCF߂BF I`uMb@Mb@Mb@q q)qIqiqu~jtL7A`?I +?uĽu+=u94<)uAIqiuh@u@ qu@ISIQ٥k< <=9ɹQ > F٦y: > 4Y?4y wB=<J(@ @7Dz@;@;_4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n m m Bk kkk@h@ b5=b5=b5-3@"b5-J(@U/垽 QUc?IU\: Yɝ]T7iYIYIeCiaia)a)aF"F*F2F0:F2B :Bi-)>I-ѐC Om>)G xA)5AIxAAJH?ABH?AH%>H% CH%y!II%HBI% =I!I!&I%ј<*I%KEe8?eA =2Acoustic response timeoutA ď,z?A:o_@Y:UZ@:9:^9Q>BAHRS rotation from veh to nav: [[0.975153,0.188398,-0.116543],[-0.207498,0.961033,-0.182646],[0.077591,0.202290,0.976247]]y:Ht4?l?`սNʿ?`ǿݳ??j=?ɫ:o_@:唉;8bނBb IIjOIjݜ٥r rW=9rfQ v>tt vF٦tyzٜ; z> |4Y~?4y~~yBi(@  @~7D~ ;~t:~4yB)AMDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nQ2nQmQmQkQkYkYk]!h@ bybyby"b} i(@ 靕$c?I: ɝ7iIIHii))Ei>E,>jKNrK9zKKK ;iVE81,$#!#$''"  AH:+!  BK>:K? 2Acoustic response timeoutF5"F*F2F_0:F2B):BA OU=IJJJJJM:J=9JJJ(;J*;J*;J*;y M 2Acoustic response timeoutԡ Nď,oؔ?A6e@Y6`@696TQ>VAHRS rotation from veh to nav: [[0.975289,0.187607,-0.116685],[-0.206734,0.961230,-0.182477],[0.077928,0.202091,0.976261]]y6H5??߽Fvʿ e? j[ǿ ??=?ɫ6e@6B;6אC]Be IyI\IW٥z< 1=9?Q > F٦y$: > 4Yꠊ?4y{Bu(@ @7D:$:%4)ADNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n)m)m)k1k1k1k5@+h@ bQbQbQ"bUbu(@m ime?Im: qɝu7iqIqI}Eiyiy)y)ԡF=6"F9*F92F=^0:F92BI:Ba Om5> 2Acoustic response timeoutH >H CH !II MBI =I I &I <*I E ď,?A @6q@Y6il@6Q<968$Q>>AHRS rotation from veh to nav: [[0.975565,0.186173,-0.116669],[-0.205337,0.961485,-0.182710],[0.078160,0.202202,0.976220]]y6H7?? ޽yHʿ|?@ cǿ@O??`1=?ɫ6q@6";6ؐC^B^!I 2Acoustic response timeoutMb@Mb@Mb@ )IiB`"۹~jt?Mb?ν=<)AIi~@@ II٥R< X=9/"Q > F٦yw; > 4Y砊?4y}~Bk=;O'@ @7Db;D;4 ) ~A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmE!BkAkIkIkM6h@ bk=bk=b2@"bJO'@Q< c?I`: ɝ7iIIBii))jK5NrK59zK1K5K5 \)sNiyR0 A2KI*KMsA 2Acoustic response timeoutD:F "F *F 2F 5:F 2B :B  O >Y \ď,(~ȃ?AF~@YFy@FǠ9F \Q>RAHRS rotation from veh to nav: [[0.975880,0.184521,-0.116664],[-0.203735,0.961761,-0.183053],[0.078426,0.202406,0.976156]]yFH`h:?e?ݽ ʿ`? Enǿ?@p?@pp rF٦pyrj; v> tz4Yv䠊?z4yvvB|~k'@~ @v7Dv;v3;v+4) 6A ]DNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimqmqkykykkCh@ bbb"b k'@Ǡ Wh?I: ɝ7iIIG1iiq)q)yDU: 2Acoustic response timeoutF"F*F2F`0:F2B:Ba O]3>ԉ  2Acoustic response timeout W1ď,\?A6@Y6@6962Q>>AHRS rotation from veh to nav: [[0.976111,0.183353,-0.116571],[-0.202562,0.962017,-0.183008],[0.078589,0.202249,0.976176]]y6HL F٦y4; > 4YD᠊?4y*B=; @ @7D: ;4)A%DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n9m9m=4BkAkAkAkE@Ph@ be=be=be$)@"be  @ԑ Ha?IM: ɝZ7iII%Di!i!)!)i"DutADutAJJJ4JJ,:J9J3J!@!@!@!@DM:ZH<RHH>HH!IIRBI =II&IΘ<*IBEF5"F*F2Fo0:F2B:B1 OER> 2Acoustic response timeout n\ď,<?A2{@Y2b@2yá92?Q>>AHRS rotation from veh to nav: [[0.976376,0.181907,-0.116621],[-0.201158,0.962283,-0.183160],[0.078904,0.202292,0.976141]]y2H@x>?H?@ڽɿ?@qǿ 3??dd fF٦dyf}; f> hn4Yj\ޠ?r4yj}jBpr @r @j7Djn;jY;j=4t)vAx%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n)m)m)k)k1k1k5 \h@ bQbQbQ"bU5 @yá f?I: ɝ $7i I1I=Ii9i9)9)AjKu9NrKu89zKqKuKu//57;BISpwme\TLFS#HE*  2Acoustic response timeoutD:EEsAF)"F)*F)2F5m0:F12BA:BQ O]>a A E A M 2Acoustic response timeoutaCď,Q?A B0!IIjI٥MO= M4=9]Q e>ii F٦y > 4Yڠ?4yB @7Dew;Wg;u 4)]A5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo9Bo9:n92n9m9mAkAkAkAkEkh@I bibibi"bi 靅l?I-: )ɝ-7i)I)I5Fi1i1)1)9 2Acoustic response timeoutyD! ԩ  J AAJ BAJ J J AJ J :J u9J 4J H >H H !II gBI =I I &I ޘ<*I ZEF "F *F 2F _0:F 2B :B  O >Cm ď,p/?A6כּ@Y6֧@696WLQ>@BAHRS rotation from veh to nav: [[0.976936,0.178937,-0.116519],[-0.198236,0.962831,-0.183466],[0.079360,0.202332,0.976096]]y6H C?@k?6Խ_ɿ`?`{ǿP??- F٦y< > 4Yנ?4yB>;@ @7D;S;4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmRBk k k k Xwh@ b->b->b-@"b-]@E AEHa?IE%: AɝM7iIIIIMCii))2D >*D>ԩD:FE6"FA*FA2FE4:FA2BQ:Bi Ou6> 2Acoustic response timeoutjKTNrK-9zKKK '41)# 8;3)*:@4&2K *K  Tď,I?A 2@Y2@292.Q>>AHRS rotation from veh to nav: [[0.977169,0.177739,-0.116403],[-0.197032,0.963076,-0.183473],[0.079494,0.202220,0.976109]]y2HD?(?̽T8ɿ?|ǿY?T? Hhl nFl٦lyr|T; r> tz4YvԠ?z4yvvBxz@~ @v7DvD;v ;vv4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m9k9kAkAkErh@ bbb"bM@% !%.e?I%: !ɝ%7i!I)I-Hi1iQ)Q)Y 2Acoustic response timeoutD}:9F"F*F2F@5:F2B!:BI Om>a  2Acoustic response timeout}ď,c?A>#û@Y> @>^9>-Q>JAHRS rotation from veh to nav: [[0.977445,0.176276,-0.116314],[-0.195582,0.963347,-0.183605],[0.079686,0.202213,0.976094]]y>H9G?4?ƽ ɿ`?`ǿ Kf?? *#û@>;4;>אCRBRG!I9=Mb@Mb@Mb@9 9)9I9i9="~jB`"۹? rh?=S===C =)9I=@i=~@=3@ 9=@IU\IUW٥eD< eA=9m4Q m>ii mF٦iyue; u> y4Y}lѠ?4y}n}B>;8@ @}7D}H:}s:} 4)AeDNOT Ignoring new targets: 14.63 m.RoaJoaboiZoiBoi:ni2nimqmuqBkqkqkyk} h@ b>b>b&@"bW8@^  W?I7: ɝ^7iII%Ei!i!)!))JJJ3JJ;J9J(3JJHM@ABHMAAHU>HQHU!IIU{BIU =IQIUDi&IUԘ<*IUIE2I C:I CBIJIĸ =RIĸ =ZIĢ5 %2Acoustic response timeoutDU:ԑF"F*F2F4:F2B :B  O > }ď,E}?A28λ@Y2@2926Q>>AHRS rotation from veh to nav: [[0.977681,0.174900,-0.116402],[-0.194254,0.963591,-0.183730],[0.080030,0.202241,0.976060]]y2H *I?c?@̽Rȿ?zǿ@|? ?;?ɫ28λ@2T;2ؐCV&BVO!II^[I^:٥f*= fT=9jkQ j>hh nF٦lyn7f; r> pz4YrYΠ?z4yrJrB|~O@~ @r7DrD;ruE;r'4tB) qA E5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n92n9mAmAkAkAkAkMSh@ bababa"beO@ 靅>Z?I: ɝ7iIIBii)ԙ) }2Acoustic response timeoutjKXMrKk9zKKK  #&&%BK ?:K >FI"FI*FQ2FUm0:FQ2Ba:Bq O}= - 2Acoustic response timeout! %ď,W?AI<)<6׻@Y6@6yl969Q>>AHRS rotation from veh to nav: [[0.977893,0.173771,-0.116315],[-0.193116,0.963839,-0.183633],[0.080199,0.202035,0.976089]]y6HJ?!>?ƽȿ?@Gǿ致?K?@y F٦y2; > 4Yʠ?4yBb@ @7D;;/4 gB) AEMDNOT Ignoring new targets: 14.63 m.RoIJoiboiZoqBoq:nq2nqmqmykykykyk}h@ bbb"b=b@%yl !%\?I%: IɝM7iIIIIUGiQiQ)Q)YEi) 2Acoustic response timeoutF5"F*F2F_0:F2B:B! O-O>Q)= G U `wA)m AI 3ؿ `wA AJ J J 4J J :J 9J 3J HI HI HM !IIM BIM =II II &IM ՘<*IM HEy ƺ+ď,2?A6#@Y6 @6]96P>>AHRS rotation from veh to nav: [[0.978178,0.172302,-0.116103],[-0.191634,0.964111,-0.183755],[0.080275,0.201995,0.976091]]y6H#=)AI-@ih@@ @ILI٥t< C=9?Q > F٦yNp; > 4YǠ?4yɈB-5>; @ @7D::=64)A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo):n)2n)m)m-uBk1k1k9k= .h@Y be-5>be-5>bep@"be؈ @}] y})\?I}D: yɝ}7iyIIDii))F 6"F *F 2F ?1:F2B!:B1 OE>ԁ 2Acoustic response timeoutԱjK- )MrK- -9zK) K- K- #)8woSC:557_$}]C1%$$%,12( 2K5 rA*K5 rA 2ď,˄?A>|@Y>b@>W9>P>NAHRS rotation from veh to nav: [[0.978445,0.170796,-0.116078],[-0.190156,0.964380,-0.183882],[0.080537,0.201991,0.976070]]y>HkO??HWȿ3?mǿ?? ;?ɫ>|@>;;>ՐCb,BbW!IIjYIj٥r vZ=9vy7Q z>|| F٦y ;  > 4Y Ġ?4y  ԈB!% @% @ 7D A; ?B; <41)5A1]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoaBoa:na2namamikikikikm Dh@ bbb"b @W 靥\[?I: ɝ47iIIIii))ԱF1"F9*F92F=@5:F92BY:B O= 2Acoustic response timeout  2Acoustic response timeout9 &8ď,d?A @2@Y2@2A92TQ>BAHRS rotation from veh to nav: [[0.978813,0.168633,-0.116139],[-0.188079,0.964688,-0.184402],[0.080942,0.202338,0.975965]]y2HoR??Jȿ?{ǿ?9?;?ɫ2@2Nw;2֐C^*B^T!IMb@Mb@Mb@ )Iiv/On?+?x>=)Ii@  @INI٥1 <=9uQ > F٦y; > 4Y?4yQB7D>;@ @7DA;VT;aD4 ) A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmEBkAkIkIkM`h@ bm7D>bm7D>bm?T@"bm@A  {T?I-=: 9ɝ=7iAIAIMFiIiI)i)q"DuDu2D}*D}ZH<RHH>HH!IIBI =II&Iޘ<*IUEEsAEF5"F*F2FP5:F2B:B OG>9 2Acoustic response timeouti >ď,a?A :] @Y:C@:a9:mP>BAHRS rotation from veh to nav: [[0.978983,0.167611,-0.116182],[-0.187053,0.964951,-0.184070],[0.081258,0.201933,0.976023]]y:HS?@Et?@@Yǿ?`ǿ`Kʹ??;?ɫ:] @:9߉;:אCJ%BJN!IIViIV҅٥ZǼ Z^=9^aQ ^>`` bF٦`yb9; f> dn4Yf?r4yfʈfBpr @r @f7DdfrB;fJ4t)vAxDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m)m)k)k)k)k-h@ bIbIbI"bMZ @a .R?I: ɝ7iIICii)) ]2Acoustic response timeoutjKl*" %"  BK% ?:K%>iF6"F*F2F\0:F2B:B O>JJ3JB1JJJ3JJM;J:J(3JJ\BAHRS rotation from veh to nav: [[0.979383,0.165345,-0.116059],[-0.184837,0.965281,-0.184575],[0.081511,0.202221,0.975942]]y:H@W?@*?@`ǿ? %ǿݴ?c?`:?ɫ:@:!S;8J,BJW!IIR^IR٥Z= ^J=`9bI$Q f>dd fF٦dyj; j> p~4Yr?4yrrB0@  @r7Dr;ru;rQ4)A5B*** querying acoustic contact ***:p1Bp1MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nImQmQkQkQkYk] h@ bbb"b0@ U?I: ɝJ7iIIuHiyiy))FE5"FA*FA2FE]0:FA2BY e2Acoustic response timeout:Bq O8>H >H H !II BI =I I &I <*I EA Lď,pz2?AI<)<6~*@Y6d%@6Ч96Q>>AHRS rotation from veh to nav: [[0.979662,0.163684,-0.116061],[-0.183203,0.965586,-0.184608],[0.081850,0.202116,0.975935]]y6HcY?@?12sǿ ?8ǿ??:?ɫ6~*@6f;4 b2Acoustic response timeoutn'BnP!I!Mb@Mb@Mb@ )Iiv/+?{Gz?>#=)IC@i@ IdI@٥Oͼ ;=9LQ > F٦yuz; > 4Y;?4y:B J>;@ @7D;;Y4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m)m-~Bkkkk]h@ b= J>b= J>b= @"b= @MЧ im{T?Im: qɝu7iqIqI}Eiyiy)y)EV>EIF%6"F!*F!2F%_0:F!2B9:BQ O]3>y u2Acoustic response timeoutjK \OrK 9zK K K "&%'&%'&###&.5:IQB5*% 2K sA*K sAԡ Rď,aUL?AJ2J2J24J0J2:J2=9J23J0J2;J2;J2*;J2*;>:@Y>5@>@9>,Q>NAHRS rotation from veh to nav: [[0.979999,0.161670,-0.116036],[-0.181231,0.965915,-0.184835],[0.082198,0.202167,0.975895]]y>H'\??`2ǿ ?ǿ@ ??:?ɫ>:@>1;>ؐC^B^:!IIfSIfQ٥n rY=9rjsQ r>pt vF٦tyv; v> x~4YzW?~4yzzB@ @z8DzM;z;z`4 ) A yDNOT Ignoring new targets: 14.63 m.Resuming propulsion at range: 14.40 m and bearing: 280.823669 deg. Not drifting fast enough.onל@Ro>?JoboZoBoL?:n2nmmkkkki@ bibibi"bm@!h= N>K?I: ɝ7iIj>Io& ii)>?)A 2Acoustic response timeoutF5"F*F2F:FԹ2B:B O$>  2Acoustic response timeout Yď,T5f?A6G@Y6B@6OG96yP>>AHRS rotation from veh to nav: [[0.980251,0.160114,-0.116066],[-0.179698,0.966215,-0.184763],[0.082561,0.201971,0.975905]]y6H7^?~?Wǿ`;?@Rǿ`"?0?:?ɫ6G@6Y;6֐C^B^U=)QIUZ@iU@Q QU@ImYIm٥Ew; E5=9M6TQ M>II UF٦QyUb; ]> am4Ye?m4yeeBuB>u;u@u @e8Det;e;eg4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmxB1N Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancyqNi@ bB>bB>b @"b@ɞB1=; -*=I: \;8ɝiICIMO@iQiQ)Q)QJHBH@AH>HH!IIBI =IID&I<*IEF%6"F!*F!2F%o0:F!2B1:BI OU1> 2Acoustic response timeout)Y A`ď,;?AVW@YVR@V9V Q>bAHRS rotation from veh to nav: [[0.980575,0.158123,-0.116060],[-0.177754,0.966530,-0.184993],[0.082924,0.202030,0.975862]]yVH`?_=?@`ƿ ?ۭǿ:? ?C:?ɫVW@V;VՐCjBj&!IIrmIrF٥z˽ zb=9~ЃQ ~>|| F٦yh; > 4Y I?4y 1 'B@ @  8D  ; 2; Cn4%bB)%A)]DNOT Ignoring new targets: 14.63 m.RoaJoaboiZoiBoy:n2nmmlkkkk i@ bbb"b@ɞB'4@;  =I U8ɝiI1GIiia>))) 52Acoustic response timeoutEqjKCMrKu9zKKK'euaL;1(!  ;@4(  BK?:K ?F"F*F2F0:F2B:B O)>aJ}J}J}3JyJ}|:J}9J}(3JyJ};J};J}3;J}3;ԙ  2Acoustic response timeoutԱ ,fď,晅?A6#f@Y6 a@696P>>AHRS rotation from veh to nav: [[0.980855,0.156385,-0.116048],[-0.176045,0.966828,-0.185075],[0.083256,0.201961,0.975848]]y6H *c?`h?W`ƿ@@?ǿ`AP?`?`&:?ɫ6#f@6t;6֐CFBF!IIPIP٥Z  ZO=9Zd]Q Z>\\ ~F٦|yd; > 4Y D?4y ~ 2B@- @ 8D ; g< Lu4)+AEDNOT Ignoring new targets: 14.63 m.RoAJoIboIZoQԙBoQ:n2nmmlkkkk `\-i@ bbb"b@ɞMڂBM1Z; QU=IQ Uغ9ɝQiQIU LI]iYi]/>)a)a M2Acoustic response timeoutEM9H H H !II BI =I I &I ݘ<*I XE2IQ:IQBIQJIUɺ =RIUɺ =ZIUx5F "F  J J AA*F 2F _0:F 2Ba :By  O > Wlď,ó?A R2Acoustic response timeoutbBb!IMb@Mb@Mb@ )Iiy&1M?:v?`n><)3 AIC@i@I@ Q@IgI٥  9=9Q > F٦y > 4Y?4y|;@ @8D;;|4 ) gA=DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:nA2nAmAmEaBlIkIkIkIkU9i@ bu;>bu;>bu @"bu@ɞʂBj_; 靝=I F9ɝiIPIiiMO=))!E=/CF5"F*F2FX2:F U2Acoustic response timeoutG A2B:B O>I jK% ~MrK% 9zK! K% K% ;rZI<0( ;Bsď,ͅ?AJ2J2J24J0J2:J29J23J0!6@!6@!6@!6@V@YVՊ@V(9VP>bAHRS rotation from veh to nav: [[0.981658,0.151276,-0.116027],[-0.171024,0.967686,-0.185294],[0.084247,0.201739,0.975809]]yVHi?]? 𳽿ſI? ǿ7??9?ɫV@VB;TfBj IIr[Ir:٥׽ X=9 +Q >L?L? %F٦%֫Ey%[< %> )54Y- ?54y-:{-EB9=@= @-8D-;-;-4A)E AIuDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkk k k-`[Fi@ɞBBx; =I q9ɝiIUI-;i1i5KA=)1)AIEU=EU= 2Acoustic response timeoutE%@oE-tAE-tAF6"F*F2Fk0:FyG >ԩ G 2B :B  O > ] 2Acoustic response timeoutiyď,}x?A@FD@YF*@Fu9FP>^AHRS rotation from veh to nav: [[0.982024,0.149056,-0.115803],[-0.168824,0.967996,-0.185691],[0.084419,0.201904,0.975760]]yFHl?`E?`Hſ?ǿw??m9?ɫFD@FC ;FאCjقBj IiIIMC) xA)I xAZA%Mb@Mb@Mb@! !)!I!i!%V-i|?5? F٦٫Ey; > 4Y; @ @8D::4)KA%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)ZH1RH5p<H=>H9H=!II=lBI= =I9I9&I=<*I=iEmQmUJBlQkYkYkYk]Ti@Jm4=Jm%=ɞB4; 靕<=I 9ɝiIZZI½iio))ԩ EEEE 2Acoustic response timeoutF"F*F2F,5:FG R|>G sAG tA G 2B :B  O Tď,`?A>@Y>@>9>IN>FAHRS rotation from veh to nav: [[0.982184,0.148442,-0.115238],[-0.167897,0.968614,-0.183297],[0.084412,0.199380,0.976280]]y>H n? "?5`}ſ?Ivǿ? F?@=?ɫ>@>ĉ;>֐CRǂBR IIZPIZ٥bս bp=9fī7Q f?dd jF٦j۫Elyj6; n? pv4Yri?v4yr}xrRBtv @z @r 8Dr:r:rv4Y)]AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk _i@ 2Acoustic response timeoutɞ]B]< Y]\=IY e9ɝaiaIe"Y_Im97)&6UI*  aF9"F9*F92F=_0:F9GI^>G2B:B! O5O>1  2Acoustic response timeoutY |ď,5?A2굼@Y2а@2=927I>:AHRS rotation from veh to nav: [[0.982471,0.147702,-0.113733],[-0.166476,0.969709,-0.178748],[0.083886,0.194549,0.977299]]y2Hfp??`Oſ`?:ƿy?? F?ɫ2굼@2;2אCFBF IINlIN)٥V֟ VL=9Z:Q Z>XX ^F٦^ޫEy^m; ^> `f4Yb?f4ybwbXBhj @j @b%8Db:b6:bt4l)n\Ap DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml!k!k!k!k% li@9ɞUBO< =I &:ɝiI3cI=iif))El>E>aF5"F*F2Fo0:F -2Acoustic response timeoutGmq->G92BA:BQ OeU>ԑH1 H5 CH5 !II5 MBI5 =I1 I1 &I5 ˜<*I5 4E J J J J J 3J J :J =9J (3J J ;! J ;! J *;! J *;! Թ wď, 5?A6ü@Y6@6nP96&B> B2Acoustic response timeoutFAHRS rotation from veh to nav: [[0.982823,0.146967,-0.111620],[-0.164798,0.971147,-0.172382],[0.083065,0.187816,0.978686]]y6HJs??@'ſ?ƿ C?Y ?`dQ?ɫ6ü@6 ى;6ՐCRBR I}Mb@Mb@Mb@y y)yIyiy}S㥻EԸ?Q?}/ݽ}=}u<)}AI}Z@i}@}3@ y}@IiI҅ԙ٥$ <=9:Q > F٦Eyt; > 4Y?4yu]Bp>;@ @)8D::4)|A DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlk!k!k!k% zi@ɞMmBUJ< QU >IY ]E":ɝYiYI]_iIe>iaie]T\)a)iF"F*F2F0:FG+=G2B:B O=> 52Acoustic response timeoutjK MrK zK K K M2$  &)+-36884322*2K *K rA ď,N?AR6̼@YR@R9R~9>ZAHRS rotation from veh to nav: [[0.983057,0.147079,-0.109395],[-0.163824,0.972692,-0.164412],[0.082226,0.179548,0.980307]]yRH3u?`z?H`.ĿK ?r ſ ?j?^?ɫR6̼@R;R֐CbBb IIjSIjQ٥r"ݽ rW=9vZ;Q v>tt zF٦zEyz-; z> |4Y~?4y~t~bB  @  @~,8D~6:~:~4)$ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkk!k%@i@ɞ[B< 靝`>I ?:ɝiIPnIr>ii )) 2Acoustic response timeout!DuR:YF) "F1 *F1 2F= _0:F9 G} = G} >G] q=GA ] 2Acoustic response timeout2Ba y :B  O >ď,h?AI()*<=B= IMb@Mb@Mb@ )Iish|?Dl? F٦Ey > !-4Y%?-4y%s%eB5=5;5@5 @%/8D%A;%@;%f4A)EAAQuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoy:ny2nymymBlkkkk@Ci@ɞHB< 靽|=I X:ɝiIPrI>ii)JHBHAAHH CHT!II*BI =IID&IИ<*IDE)DJJJJJܫ:J9JJJ ;J;Ju#;Ju#;F6"F*F2F_5:FԩG]-B= 2Acoustic response timeoutG12BA:BY Oew>ԩ ď,?A:޼@Y:@:%9:W.>VAHRS rotation from veh to nav: [[0.983520,0.146259,-0.106284],[-0.161619,0.974725,-0.154242],[0.081038,0.168878,0.982300]]y:H`x?? g5@Ŀ 0?@4ÿ羴?ȝ?@o?ɫ:޼@:jÊ;:ՐCb|Bb~ IIjkIj ٥r^ r_=9rT;Q v>tt vF٦vEyz; z> |4Y~? 4y~s~hB@ @~28D~rx;~z;~ϴ4!)%3A!MDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nYmYmYlakakakakm i@ɞ8Bc.< 靥8>I |r:ɝiIjwIDv>ii)) 2Acoustic response timeoutD}:ԱF 5"F *F 2F Y0:F jKMrK`9zKKK     1Y >]tv[%X*BK ?:K?GK@=G2B:B   O >  2Acoustic response timeout9 ɦď,w?A2@Y2@2.921>BAHRS rotation from veh to nav: [[0.983733,0.144670,-0.106487],[-0.160309,0.974497,-0.157024],[0.081055,0.171541,0.981837]]y2H@z?@? B@Ŀ`/?]Ŀ? ?5k?ɫ2@2׊;0FsBFs IIRiIR҅٥VT1 VN=9Z/Q Z>XX ^F٦^Ey^[; b> `f4YbM?f4ybBrbjBhj @j @b48Db:bK:b4]^B)]SA]EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n mmlkkk!k%@i@ɞ$B{9< >>I B:ɝiI|I5"C?i9iA)A)q  2Acoustic response timeoutDE:9F6"F*F2F@4:FGsAFsAGr=HHH.!II BI =IID&I<*IEG 2B! :B9  OE >i J J J J J L:J 9J J J Z;J [;J ?%;J @%;`ď,Q?A @ 22Acoustic response timeoutBk@YBQ@Bt[9B5>JAHRS rotation from veh to nav: [[0.983781,0.143849,-0.107154],[-0.159972,0.973844,-0.161362],[0.081140,0.175886,0.981061]]yBH"{?`i?@xnyĿ)?@Ŀ`Ŵ?q?d?ɫBk@B\};B֐CRmBRl IEMb@Mb@Mb@A A)AIAiAEI +kt?Mbp?E9E 0=E;)EMAIEp@iE@E@ AE@IJIK٥׼ 8=9IQ > F٦EyI: > 4Y ?4y q mBF=<? @ 68D  ; 7 ; 4!)%A!MDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoYBoY:na2namameBlikikikikmi@ɞB_< 靝p5>I ܱ:ɝiIހIJB?ii))qDa:F%5"F!*F!2F%_0:F!GzԙG2B:B Ok> 2Acoustic response timeout jK GOrK ж9zK K K ^>)$c!HRH)JjagV@~s2K rA*K y۳ď,-І?APf^@YfD@f9fA8>zAHRS rotation from veh to nav: [[0.983922,0.142601,-0.107529],[-0.159015,0.973574,-0.163912],[0.081313,0.178376,0.980597]]yfHI|?@?ZĿ@'?Ŀд?`? a?ɫf^@fV;fՐC fB c IIMiIM҅٥t  Q=9JQ > F٦Ey !; > U4Y-?u4yEqoBy}?} @78D<<m4)ADNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n)2n)m1m1l1k1k9k9k=i@ u2Acoustic response timeoutɞ]Be Xp< ae|P>I I:ɝiIqŃIB,?ii))D@:F1"F1*F92F9:F9GV}G2B9 :Ba )  Om > % 2Acoustic response timeoutPď,I?Ax~bB~^ IMb@Mb@Mb@ )Ii ףp= ?~jt?~jth?Q8=<D;)AIih@I@ IhI٥ F=9Q > F٦Ey > 4Yǎ?4y'qqBsH=<i> @88D;:4)A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m1m5Bl9k9k9k9k=@i@ɞmBZHRHH>HH !IIBI =II&Iۘ<*IXE2I9:I9BI9JI=· =RI=¸ =ZI=~5m < IMf>II Ul:ɝQiQIUI]C??iYiY)Y)YJJJ2JJ:J9Jc3JJ,<J-<J3;J3;!DE):F6"F*F2F`0:FG> G0> 2Acoustic response timeoutG]սQGq2By:B O>y tď,?A2@Y2@2;92.3>BAHRS rotation from veh to nav: [[0.984074,0.142259,-0.106584],[-0.158118,0.974502,-0.159200],[0.081219,0.173517,0.981476]]y2H`}?`5?I3=Ŀ/?``Ŀʴ?5?`@h?ɫ2@2f;2ӐCJ]BJX IIRyIRHo٥Z\ټ Z^=9Z9Q Z>\\ ^F٦bEyb"; b> dj4Yf:?j4yf qfsBhjok>n @f98Df :f2:f4rbB)r)ArEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m!m!l)k)k)k)k-ji@Y 2Acoustic response timeoutɞށB+< }>I Qd:ɝiI WI *S?i i))D:F5"F*F2F0:FԙjK:PrK`9zKKKeUA4%|ulf]TNLGA?=;:612/,--)$$#"#!O.Ge8'G92BA:BY OmW>Ա؉ ؉  2Acoustic response timeout ď,u?A6@Y6@6T96R1>BAHRS rotation from veh to nav: [[0.984156,0.142013,-0.106162],[-0.157659,0.974854,-0.157490],[0.081127,0.171732,0.981798]]y6H3~? x-?l-,.Ŀ@2?@(ĿĴ?S?j?ɫ6@6&;6֐CF\BFV IIR^IR٥V ZJ=9Zp9Q Z>\\ ^F٦^Eybq: b> dn4Yfґ?n4yfpfuBlnl>r @f:8Df ;f;f4t)v6AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm!m!l!k!k!k)k-Yi@ɞ]́B].< e.e,>Ia eh:ɝaiaIeW*Img?iiiq)q)yԱDU :F 6"F *F2FT5:F 2Acoustic response timeoutG  BGGsA)G2B:B1)i `wA O\>)IUԿ`wA.AIH >H H II ݂BI =I I D&I <*I #EJ J J J J L:J U:J J J E <J F <J e;J e;y iAď,7?A "2Acoustic response timeoutaB] IMb@Mb@Mb@ )Ii1Zd?~jt?Mb`?"=D<;)dAIiQ@@ @IcI#٥< 8=9Q > F٦Ey >  4YΕ? 4ypwB = ; ;R @>8D::4) A!UDNOT Ignoring new targets: 14.63 m.QRoQJoYboYZoYBoY:nY2nYmameBlakakikikm@i@ɞuBu<< y}|>Iy }߼;ɝyiyI}sZIX?ii))Dm7 :EqԁF"F*F2F%_5:F!G)F)GC|wG2B 2Acoustic response timeout:B O >ԱjK= kNrK= 9zK9 K= K= xqgcb`\VT[cha\[`ca]WRQKDA=940.,'%   #z+- *ď,zQ?AV(@YVv#@V9VX4>rAHRS rotation from veh to nav: [[0.984978,0.136872,-0.105280],[-0.152753,0.974964,-0.161592],[0.080527,0.175247,0.981226]]yVH ?? eÿ2? Ŀf? {n?3f?ɫV(@V։;T~fB~c IImIF٥5< =W=9=:Q E>AA MF٦MEyMV< M> Q4YU??4yU qUzB[> @U@8DU`bIY e'%;ɝaiaIe* Ime?iiii)i)qԱ U2Acoustic response timeoutD :F%5"F!*F!2F%1:F) GM GA 2Bi :B  O >  2Acoustic response timeout1 Sď,Pk?AFyP@YF_K@F7B9F"7>NAHRS rotation from veh to nav: [[0.985743,0.131887,-0.104480],[-0.147957,0.975131,-0.165012],[0.080118,0.178118,0.980742]]yFH`5??0A¿ E4?`ſ?@? =b?ɫFyP@Fۉ;FؐCVlBVk IMMb@Mb@Mb@I I)IIIiIM+?~jt?Mbp?M>IM;)MMAIMZ@iM@M@ IMp@IeqIev}٥mh= mG=9uς:Q u>y F٦EyA< > 4Y?4y-q~BD >;Ҟ @D8D;0;4)AuDNOT Ignoring new targets: 14.63 m.RoqJoyboyZoBo:n2nmmBJHBH?AH>HH II؂BIII&I<*IElkkkk`j@ɞ-B->< IM>IQ Uz=;ɝQiQIU2I] ?iYiY)Y)aJC=JA 2Acoustic response timeoutEuF "F *F 2F I5:F i ԑ G G :?G S?G 2B :B  O >{ ď,՗?A "2Acoustic response timeout>t@Y>Z@>9>@;>FAHRS rotation from veh to nav: [[0.986700,0.124976,-0.103944],[-0.141336,0.975462,-0.168814],[0.080296,0.181260,0.980152]]y>H ?f?K¿6?ſ H?3? g]?ɫ>t@>;.;>ՐCN{BN} IIVeIV]٥U= U4=9]͹Q ]>YY ]F٦eEyes< e> iu4Ym?u4ymNqmBy}T} @mI8Dm:m:m4)8ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk`x#j@ɞBP=  >I  AX;ɝiIihI;4?ii))E)jKNrKU9zKKKyqcVQFLNEiQA6*"0rF}6"F*F2F_0:FJJJJJܫ:J :JJ!@!@!@!@! 2Acoustic response timeoutAG9냾G 2B :B  O >q ~0ď,SY?A6ɽ@Y6@6룽96+>>>AHRS rotation from veh to nav: [[0.987827,0.116933,-0.102590],[-0.133436,0.975935,-0.172467],[0.079954,0.184057,0.979658]]y6H G?@M?WC@r:?cƿ w?@*?\Y?ɫ6ɽ@6w;6אCFBF IIN[IN:٥V<= ZV=9Zk:Q Z>\\ ^F٦^Eyb< b> hz4Yj?z4yjgqjBxz*z @jM8Dj"\;jA;jH4)A -DNOT Ignoring new targets: 14.63 m.YRo1JoqboZoBo:n2nmmlkkkk1j@ m2Acoustic response timeoutɞqB6r=  ?I ALx;ɝiItI?ii)) ErAErAԁH>HH IIBI =IID&I<*IEE54/E=V>E9ԩF 6"F *F 2F 4:F  2Acoustic response timeout G ׃G2B:B  O%>ď,‡?AR@YRv@RvТ9RŪ?>ZAHRS rotation from veh to nav: [[0.989073,0.107762,-0.100607],[-0.124208,0.976718,-0.174911],[0.079415,0.185496,0.979431]]yRH|? M?Z@̿FA?}cƿ@T?@V?W?ɫR@Rފ;RՐCfBf IeMb@Mb@Mb@a a)aIaiae?/$?e F٦Ey< > 4YM?4y|qB!N>; @S8DA::g 4gB)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmրBlkkkkAj@ ɞ%]B%M0= )m?Ii m;ɝqiqIuўIu}?iyiy)y)y EE 2Acoustic response timeoutEE9jK5OrK59zK1K5K5th[G1@8I&  #2MfcTA02KI*KIJJ 3J .J]J]JYJYJ]:J]:JYJYF"F*F2F4:Fi M 2Acoustic response timeoutԑ G 9냾G 2B :B  O >kď, ߇?A%B% IIEfIE{٥}= }5=9}Q }> F٦ Ey > 4YṠ?4yqB @Y8D::K4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@Nj@ɞ%LB%9Q= -V-,?I) -);ɝ)i1I5jIE ?iAiA)A)I"DQDQ2DY*DY 2Acoustic response timeoutF%5"F!*F!2F%_0:F!AaZHRH<H>H CH!IIBI =II&I<*I}EGI G1 2BA :BY  Om >ԑ ď,(?A6O@Y65@6d96GB> >2Acoustic response timeoutFAHRS rotation from veh to nav: [[0.991628,0.087419,-0.095038],[-0.103463,0.978266,-0.179699],[0.077264,0.188027,0.979120]]y6H@j?`a?nT|M?_ǿdz?`H?T?ɫ6O@6;4RBR IiTITIZ=)Zp=mMb@Mb@Mb@i i)iIiiimV-?I +? rh?mm>m94=mC<)mAIiim@i im @I_I٥y= A=9̦;Q %>!) -F٦-EyM2H= U> Q]4YUF ?e4yU`qUBemr>e`;e=e @U_8DU:Uo:U4i)GADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkk@]j@ɞ8Bnb= B?I ;ɝiIJiI}?ii))E F}6"Fy*Fy2Fy:Fyԡ =2Acoustic response timeoutG !܃Gy 2B :B  O > jKM {#NrKM ۵9zKI KM KM & ~%-rQ+ |unnFHJu7sď,?ABK?:K?JNJNJLJLJN}:JNH9JLJL@Y@ʤ9*N>%AHRS rotation from veh to nav: [[0.994261,0.061732,-0.087377],[-0.077748,0.977964,-0.193756],[0.073490,0.199437,0.977151]]yH?U?N^C糿{K?`ȿ@в?&? D?ɫ@;ӐC5ӂB= IIMiIM҅٥]5= ]V=9]"aa eF٦eEym= u> 4Yɠ?4y)qB= @e8D;^;h"4)AmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoqBoq:nq2nqmymylyk9k9k9k=jj@ }2Acoustic response timeoutɞ(B3.= U?I \;ɝiII%?i!i)))))F 5"F *F 2F `0:F ! G5 9냾G E 2Acoustic response timeout2BY :B  O >A ڣ ď,,?AR@YR @RBv9R5MS>ZAHRS rotation from veh to nav: [[0.995491,0.047246,-0.082250],[-0.062936,0.977753,-0.200097],[0.070967,0.204371,0.976318]]yRH@?0?@YI?@ǜɿ*?(?`=?ɫR@R-;RՐCbBb IMb@Mb@Mb@ )IiK7?ˡE?Q?>=<)AI-@i@ @IrI{٥P= D=9;Q > F٦Ey= > 4YӠ?4ypB͐>;;V> @l8D,;R;)4lB)8A E5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n12n9m9m=,BlAkAkAkAkE@uj@H]>H] CH]A!II]BI] =IYI]D&I]<*I]E2I:I CBI”CJIRI¶ =ZIM6)ɞB3C= 靝f?I ;ɝiII JJ@AInE?ii))Y 2Acoustic response timeoutE .ԉ F 6"F *F 2F _0:F Ա G M2Acoustic response timeoutG2B:B O>+ď,(K?AI4)6bAHRS rotation from veh to nav: [[0.996543,0.032697,-0.076371],[-0.047801,0.977548,-0.205220],[0.067946,0.208161,0.975732]]yRH?? Oy`H?`Dʿd??`19?ɫRQ@Ru;R֐CjBj!IIruIr_vx٥z= z1=9~;Q ~>| F٦Ey= > 4Yݠ?4yoÉBPe>% @t8Dl::14-_B)5-A5}EeDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:na2nimqmqlqkqkqkyk}j@ɞB$= 靥y?I <ɝiII?ii))jKEv@OrKE9zKAKEKEs`J8 $+*&!  " # Em8RJ-J-J)J)J-M:J-"9J)J)AF5"F*F2F0:F  2Acoustic response timeoutiG= 1惾G 2B! :B1  OE >ԑ Cď,e?AԁiI):G  %2Acoustic response timeout)1IuX quB}B}6!I-=only read 0 of 1 data item for altitude. Device response is::BD, +9.27, -1 8, mE@E qE@E uE@E iE@E IbԩI٥f= =9Q > F٦Ey > 4Yl頊?4ynԉB+:; @~8D;9?)94)jADNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m1m1l1k9k9k9k=`j@ɞmBm= imZ?Ii u<ɝqiqIuI}>?iyiy)y)E=E=H>HHs!IICBI =II&Iߘ<*IiEJ9J==E @W 5 2Acoustic response timeout F 6"F *F 2F% _0:F! )GE9냾GM$?GM?G2B):B9 OE?o!ď,҇?A6@Y6ۘ@6Fz96&_>>AHRS rotation from veh to nav: [[0.998019,0.000948,-0.062907],[-0.014498,0.976438,-0.215309],[0.061220,0.215794,0.974518]]y6H?(O?[>?;˿`CX?`$?@/?ɫ6@6d;6ӐCF(BFQ!IIVPIV٥(= G=9l    F٦Ey= %> )54Y-?54y-1n-B5 :1=:=>= @-8D-;-p?-=4EdB)EAE~EuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nymymylykkkkj@ 2Acoustic response timeoutɞ߀B= ?I }"<ɝiIxIii)) EEEE9jKMrKж9zKKK&-&$#!,ChwaNngAd#N{_ a8%&\~< F-5"F)*F)2F):F)i M 2Acoustic response timeoutԙ G1 G 2B :B1  O= >C'ď,z?A6f(@Y6;6i967c>>AHRS rotation from veh to nav: [[0.998372,-0.014857,-0.055068],[0.002369,0.975450,-0.220207],[0.056988,0.219718,0.973898]]y6H?@-m1 hc?6?@/̿-?? +*?ɫ6f(@6~Z;4F7BJd!IIVhIV٥Za= ^Q=9^1`` bF٦bEyb1= b> dj4Yfk?n4yfnmfBv9tz:z>z @f8Df{;f?fA4|)eA5DNOT Ignoring new targets: 14.63 m.Ro1Jo9bo9Zo9Bo9:n92n9mAmAlAkIkIkIkMUj@ԁɞπB= %?I! -d2<ɝ)i)I-I1i1i1)1)9F6"F*F2F_5:F 2Acoustic response timeoutGH>HH!IIvBIII&I<*IEG2B:B O > Ju @AJq J} J} Jy Jy J} :J} O9Jy Jy J} ;! J} ;! J} j,;! J} k,;! ) .ď,9?A 2Acoustic response timeoutHBy!Imm qq uu ii Mb@Mb@Mb@ )Ii)\(?RQ?Zd;?G>B>y=)AI@i@@ \@IlI)٥= :=9Q > F٦!Ey > 4Y?4yok BT:> ; ?  @Q8D<<2I4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkk kkj@ɞEBE5= EE?IA M E<ɝIiIIMn(üIQiQiQ)Q)YF"F*F2FO5:Fԁ 2Acoustic response timeoutGA G 2B1 :BI  O] > M5ď, Ո?AjKoOrKzKKKC^]UO6,##Dzto&XlmiikfKJ_R5gG52K*KI$)&JAHRS rotation from veh to nav: [[0.998050,-0.049853,-0.037550],[0.039971,0.972630,-0.228896],[0.047934,0.226949,0.972726]]yBH`?@H9w?? uLͿ Ɗ? ? ?ɫB\@Bω;BԐCRZBR!IIZbIZ٥b= b_=9bAdd fF٦f#Eyj= j> hU4Yj3?]4yjijBY] ?] @j8DjՎ  2Acoustic response timeout9 Y.;ď,?AF@YFu=F"09F#l>NAHRS rotation from veh to nav: [[0.997289,-0.068029,-0.028050],[0.059743,0.971097,-0.231086],[0.042959,0.228784,0.972529]]yFH?@Uj@?:?9Ϳ?@H??ɫF@F ;FאCV_BV!IMb@Mb@Mb@ )Ii`"?ʡE?x&?H>HH!IIBIII&Iژ<*IaEη>o>7=)v AI@i3@@ @I_I٥< 9=99 F٦&Ey7= > 4Y?4yf=B>:?  @8D:#:PW4)FAEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nA2nImQm]BlYkYkYkYke`,j@ɞBP = 靍^?I :g<ɝiI˼Iii))J]J]JYJYJ]:J]9JYJYJ]w;J]x;J];J];FI"FI*FI2FI:FI E2Acoustic response timeoutIGIG) 2B1 :BI  Oe >q Bď,z?A>@Y>=>{9>n>JAHRS rotation from veh to nav: [[0.996052,-0.086866,-0.018311],[0.080251,0.969241,-0.232660],[0.037958,0.230272,0.972386]]y>H?<X??Ϳ`=o? y??ɫ>@>};>ҐCR`BV!IIbXIb㔴٥j/; j]=9j]ll rF٦r)Eyrc= r> tz4YvP'?z4yvdvVBx~?~ @v8Dv@;vn;v]4)>A=DNOT Ignoring new targets: 14.63 m.Ro9JoAboAZoABoA:nA2nAmImIlIkIkQkQkU`j@ɞ}B.0= 靅F?I =x<ɝiI5μIii) 2Acoustic response timeout)qEEsAEsAԹjKCOrKŷ9zKKK20*)$#$5r+!p_lz`K2RVBK ?:K?Fu6"Fq*Fq2Fq:Fq M 2Acoustic response timeout G 1惾G "?G -?G 2B :B  O > uHď,x#?A ((FEQ@YF=F٘9Fvo>^AHRS rotation from veh to nav: [[0.994347,-0.105826,-0.008610],[0.100885,0.966965,-0.234097],[0.033099,0.231906,0.972175]]yFH?j@ݡӹ?_?Ϳ@P?`??ɫFEQ@F;FԐCflBf!IInkIn ٥vY= vB=9zu=xx zF٦~+Ey~I= ~>  4Y3? 4yasB#? @8D;;e4mB)AEUDNOT Ignoring new targets: 14.63 m.RoQJoQboYZoYBoY:nY2nYmamalakakakikm`sj@ɞBA= 靝D?I <ɝiIҼIii))E yza U2Acoustic response timeoutFi"F*F2F:FԉH5>H1H5"II5BI5 =I1I1&I5<*I55EGe9냾J J xJ J J =:J 9J J J ݥ;J ޥ;J .:J /:G9 2BY :Bi  Ou >Թ  2Acoustic response timeout Nď,}>=?ALziBz!IMb@Mb@Mb@ )Iip= ף?Pn?T㥛 ?>>=)` AI@i@@ G@ISIQ٥# >=9Q > F٦.Ey > 4Y??4y^tIBx>:(?@8D!;;l4)A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k1k=/j@ɞenBe= ae?Ii m<ɝiiiImB׼I1i1i1)1)1 EEsAEEsA ]2Acoustic response timeoutEuE}e>E}!>F "F *F 2F :F ! jK fOrK }9zK K K s`NJp]A3*  {tmbYTNJEDA;:878IoqfjtvsG) Y G 2B:B! O5> qVď,[?AhjA n2Acoustic response timeoutry@Yr,>r㤘9r {>%AHRS rotation from veh to nav: [[0.985662,-0.167171,0.022892],[0.167700,0.955594,-0.242315],[0.018632,0.242680,0.969928]]yrH@?@eſq?-w?:?+ϿT?`? ?ɫry@r];rՐC5cB5!IIMRIM4٥]* ]4=9]=Q e>aa eF٦e1Eymb> m> q}4YuL?}4yuH[uBy#8?@u8Du:u`:ut4)MADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk k@ɞ\B+^= ?I %Z<ɝ!i!I%YۼI)i)i))))1 E=E=E9E9IqFi"Fi*Fi2Fi:Fi 2Acoustic response timeoutԱJHQ BHQ He >Ha He "IIe BIa Ia Ia &Ie <*Ie E2I C:I CBI˓CJI˳ =RI˳ =ZI4G G 2B :B  O >\ď,g*v?AI)J.~J.yJ,J,J.{m:J.9J,J,J.D;J.E;J.:J.:Fp5@YF`D>F\a9F`~>RAHRS rotation from veh to nav: [[0.981634,-0.187771,0.033719],[0.190279,0.950948,-0.243909],[0.013734,0.245845,0.969212]]yFHi?`ȿ@C?`[?*n? g8Ͽ ?w??ɫFp5@FP;FԐC%YB%!IMb@Mb@Mb@ )Ii$C?rh|?J +?>{>H=)v AI@iI@`@ @IjI٥6* 9=915 F٦4EyT= >  4YZ?4yWȊB>:s.?@8D?;:E|4%qB)%A-EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmʁBlkkkkYk@ M2Acoustic response timeoutɞUJBU= Y]?IY ]<ɝYiYIezk߼Iii))F5"F*F2F0:F9aG9 G 2B! :B1  OU >  2Acoustic response timeoutԑ cď,菉?A6l@Y6.]>6c 96H>BAHRS rotation from veh to nav: [[0.976726,-0.209661,0.045253],[0.214315,0.945479,-0.245231],[0.008630,0.249222,0.968408]]y6HWA?@,ʿg+?`n? ]A?@cϿj?@?2?ɫ6l@6I;6֐CJLBJ}!IIRbIR٥^ b`=9fehl nF٦n6Eyr8= r> x4Yzf?4yzTz݊B i4? @z8DzQ;zR;z4)*ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm m l k k kk@['k@yɞ;B> 靭?I 6<ɝiIIii))EjKM =OrKM59zKIKMKMmf]TSW[h}jJ.!)CU__l|xpke_WOJE@=730*&'''('+-./..+'$#Fm6"Fi*Fi2FmP5:FiGua> Gue>ԡ e2Acoustic response timeoutGGi 2B :B  O > iď,ũ?A>u>>$N9>>FAHRS rotation from veh to nav: [[0.971485,-0.230262,0.056539],[0.237080,0.940206,-0.244552],[0.003153,0.250983,0.967986]]y>Hg?6yͿ`?X?*?`yMϿi???ɫ><>;>ؐCRBBZr!I)G 1)AIBImeIm]  2Acoustic response timeout٥} 1=9WB F٦9Ey I= 5> I4YMt?4yMPMB&:?@M9DM Q pď,eÉ?A @6ؚ<=Y6A>6;96K!>BAHRS rotation from veh to nav: [[0.965307,-0.252084,0.068096],[0.261111,0.933960,-0.244007],[-0.002089,0.253322,0.967380]]y6H?#"пn? ??;Ͽ?am6?@?ɫ6ؚ<=6>M;6ՐCJ9BJg!IuMb@Mb@Mb@q q)qIqiqu#~j?$C?Q?u>uZ>u<)u AIu@iu3@u3@ qu@IUI٥&? Y=9d F٦;Ey= > 4Y ?4yMB>:!.?@ 9D/::C4hB)uAwEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm m Blkkkk DAk@ɞBt> B?I 0<ɝiIIii)))F6"F*F2Fk0:F 2Acoustic response timeoutYGJ |J ~J J J ;g:J f9J J ! @! @! @! @ԙ G 2B :B  O >jK] kNrK] 9zKY K] K] ! $"e wď,ʇ݉?A 22Acoustic response timeout0Z=YZ >Z;9Z.>bAHRS rotation from veh to nav: [[0.958729,-0.272948,0.079609],[0.284219,0.927534,-0.242692],[-0.007598,0.255303,0.966831]]yZH?wѿ@Fa?`0?@\? ϿV? H?ɫZ=ZJ;Xj(BjQ!IIr=)pIreIr]٥M1 MP=9MeQQ UF٦]>Ey]Hz= ]> am4Yer?m4yeJeBim4?u@e9De:eU;e!4y)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk`Mk@ɞ B  >  w?I  p<ɝiI(Iii))!ԑF"F*F2F_0:FԱG@ %2Acoustic response timeoutG1 2BY :By  O > ZH} <RH} <H >H H !II BI I I &I <*I E2}ď,u[?A:=Y:>:V<9:>A>BAHRS rotation from veh to nav: [[0.951093,-0.295046,0.091481],[0.308625,0.920183,-0.240859],[-0.013115,0.257313,0.966239]]y:H[o?` ҿJk??$r?yοۊw?`n?ɫ:=:;:ѐC\bBb:!ImMb@Mb@Mb@i i)iIiiimI +?/$?Mb?m9>m,>m<)iIm@im@i imQ@IsIy٥ @=9T F٦AEyv= > 4Y 񚡊?4y /G !B{?:6#?@ %9D  ; m ; 4%lB)%A%xEMDNOT Ignoring new targets: 14.63 m.RoQJoQboYZoYBoY:nY2namimmBlikikqkqku`}[k@ɞBX> 靥?I t<ɝiIzsIii)) u2Acoustic response timeoutFI"FI*FI2FI:FIGm;GI 2BQ :By  O A % 2Acoustic response timeoutď,3?AI0)2b❘<9bۆ>rAHRS rotation from veh to nav: [[0.943102,-0.316013,0.103415],[0.331981,0.912345,-0.239615],[-0.018629,0.260314,0.965344]]ybH -?9Կ@ly?/??`1?@οs??ɫbGs=bs|;b֐CzB~!!IIcI#٥5ٽ 5W=9=mAA EF٦ECEyM= M> Q]4YU?]4yUDU*Baej)?e@U19DU;U,;U34i)m_AiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@gk@ɞeBer > aeN?Ia mނ<ɝiiiIm}Iii))J]~J]tJYJYJ]{m:J]9JYJYFM5"FQ*FQ2FU`0:FQYjKu)LrKu9zKqKuKu I.]ly&@bYT.78 MZ.BK?:K? 2Acoustic response timeoutyG)G 2B :B)  O5 >ԡ Cď, +?A~B !II rI {٥-頽 -K=9-Q 5>19 EF٦EFEyM U> am4YeM?m4ye@e2Bqqu@e>9De:e:eM4ypB)AyEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm 2Acoustic response timeoutlkk kktk@ɞB)>HHH!IIRBIII&I<*IsE 15\?I1 5<ɝ9i9I==IAiAiA)A)IԩF6"F*F2F:FG]> GJ>  2Acoustic response timeoutG 6G ?G ?G 2B :B  O > -ď,D?A2D.>Y2>2<92|>BAHRS rotation from veh to nav: [[0.925163,-0.357815,0.126655],[0.378469,0.895003,-0.236073],[-0.028887,0.266341,0.963446]]y2H?@pֿ>6?8?ޣ?7ο u ??ɫ2D.>2y&;2ԐCJ܂BJ ImMb@Mb@Mb@i i)iIiiimZd;?"~j?Mbm>mS=m)mv AIiim@m@ im@IjI٥½ C=9 F٦HEy= > 4Yá?4y=4B"?:?@L9DQ:8:4)A DNOT Ignoring new targets: 14.63 m.Ro JoboZoBo:n2nmm=Bl!k!k!k!k%@k@ɞUBU> Q]?IY ]ϱ<ɝYiYI]StIaiaia)a)iF-6"F)*F)2F-^1:F) 2Acoustic response timeout )GmAGA 2BQ Jm Jm zJi Ji Jm s:Jm 9Ji Ji :B  O >jK kPrK ŷ9zK K K _L)wiYNJ`3*$_ i DmhAQgu>2K sA*K Y dď,_?A 2Acoustic response timeout @RG>YR?:>R =9R5i>^AHRS rotation from veh to nav: [[0.915583,-0.377905,0.137461],[0.400724,0.885970,-0.233403],[-0.033582,0.268783,0.962615]]yRH uL?/ؿO?@v?Y?"Ϳ 13?@?ɫRG>R;RՐCjЂBj IIzLIz٥w S=9F    F٦ KEy"= > %4YС?%4y:5B!%!?-@X9D;;P45uB)5&A1]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:na2namimilikikikqku@k@ɞ%B%~ > )-Z?I) -^=ɝ)i)I5^5IQiYiY)Y)YF"F*F2F^5:FA 2Acoustic response timeoutGqԙGi 2B :B  O >JH BH @AH >H H G!II BI =I I &I <*I Թ hď,x?ArȂBr IMb@Mb@Mb@ )Ii^I +?i|?5?{GzX>q=ף) AI@i@@ f@IiI҅٥ B=9Q > F٦NEy > 4Yߡ?4y71B`>:) ?@e9D};;4)fA DNOT Ignoring new targets: 14.63 m.Ro JoboZoBoUPExceeded connect timeout, disconnecting.Ա:n2nmmBlkkkk`k@ɞ=eBE > I ]2Acoustic response timeoutMX?I =ɝiI$Iii))F%5"F!*F!2F%D5:F)G1F5rAGG G  G 2B :B  O >  2Acoustic response timeout9 jď,?Abex>YbD>b)=9bH>vAHRS rotation from veh to nav: [[0.894970,-0.417500,0.157237],[0.444196,0.866676,-0.227076],[-0.041469,0.273070,0.961100]]ybH`?Pڿ@U ?m?λ?@Ϳr;y?T?ɫbex>bz;bԐC5B5 IIMlIM)٥] ]O=9ehai mF٦mPEym8= m> q}4Yua?4yu5u,B?@ur9Du:u:u4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@tk@ɞKB n>  ?I  { =ɝiI1I!i)i))))) Jc3Jc3JJ=J=J9J9J=y:J=9J9J9F6"F*F2F_0:FjK\PrK@9zKKKWL|gXLMYjql`RF5 zsyyyBK ?:K?9 ]2Acoustic response timeoutG9냾G2B:B O>a 'ď,Z?AI)< 60>Y6H>6H7=966>FAHRS rotation from veh to nav: [[0.883287,-0.438127,0.166883],[0.466695,0.855631,-0.223813],[-0.044732,0.275574,0.960239]]y6H@C?`D ܿ@h\? S?Sa?̿ 禿?@F?ɫ60>6f;6ҐCNBN IIVPIV٥^` ^V=9^ `` bF٦bSEyfԇ= f> hj4YjL?n4yj.2j'Bln?r@j~9Djw;jr;jE4vyB)vAvzEDNOT Ignoring new targets: 14.63 m.RoJo!bo!Zo!Bo!:n!2n!m)m)l)k)k)k1k5@k@ 2Acoustic response timeoutɞ/Bv > {?I Va=ɝ i I IAiIiI)a)yqH>H CH!IIBI =II&I<*IE2Iq:IqBIqF55"F1*F12F9:F9JIuò =RIuò =ZIu4ԡ UnManaging dock network, ignoring radio surface power offGA m 2Acoustic response timeoutGq 2By :B  O > yď,1Ɗ?A:%>Y:Ě?: E=9:P>FAHRS rotation from veh to nav: [[0.871650,-0.457731,0.175237],[0.487764,0.845182,-0.218527],[-0.048081,0.275953,0.959968]]y:H?@wKݿ`-n?7?` ?`˿7? ?ɫ:%>:;:ՐCNBN IP TT5Mb@Mb@Mb@1 1)1I1i15Q?y&1?/$5>5`<5)5AI1i5@5@ 15\@IM_IM٥ex e@=9mii uF٦uUEyug= u> y4Y}?4y}>/} Bi>:?@}9D}:}:}4kB)AqEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm Blkkqkqku k@ɞB*> ?I l4=ɝiI|Iii))EEtAF6"F*F2F:F 2Acoustic response timeoutGG 2B :B  O >) jKm OrKm h9zKi Km Km lXM6=a:l[D4,&&+04>Dgqe\UG98;<=:99@^2Ku rA*Kq ݣď,| ?A 2Acoustic response timeout6ׂ>Y6 ?6ѝQ=96┏>>AHRS rotation from veh to nav: [[0.858871,-0.478188,0.183509],[0.509630,0.833627,-0.212939],[-0.051154,0.276409,0.959678]]y6H{? ޿ =}?@N??A˿0??ɫ6ׂ>6;4FBF II%RI%4٥5ߠ; 5M=95;Q =>ai mF٦mXEyu= u> 4Y[?4yN,B?@9D;-;4rB)ArEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk`_k@ɞ-~B52> 1靕:?I J=ɝiIsIii))F-6"F1*F12F5e0:F1Yi)>IC)G )I   +Ay 2Acoustic response timeoutGQGQ 2B ZH <RH H >H H II ӂBI =I I D&I <*I AE:B  O% >ԡ J] JY JY JY J] }:JY JY JY J] ;!m J] ;!m J] ;!u J] ;!} ď,<?A @2>Y2 T?2_=921>BAHRS rotation from veh to nav: [[0.846065,-0.497344,0.191893],[0.530294,0.821972,-0.207725],[-0.054420,0.277509,0.959181]]y2H`?z߿?+?M?ʿ ܫ?`?ɫ2>2B;2ӐCJBZ IQ-Mb@Mb@Mb@) )))I)i)-^I +?Mb?Mb-X>-<-)-3AI-p@i-3@-@ )-G@I]dI]@ 2Acoustic response timeout٥< -=9H;Q >!A EF٦M[EyM#T= M> Q]4YU&?]4yU(UB]>e:e?@U9DU;U;U4)AuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nyy2nymm3Blkkkk @k@ɞ~Bw > '?I ? "=ɝiI}9Iii))F6"F*F2F`0:Fԩ  2Acoustic response timeoutG G 2B :B  O >ď,?AǂB II-yI-Ho٥U= ]m=9]Q ]?ai mF٦m]Eyu u? y4Y}1?4y}z&}B@}9D}K:}:}4vB)wAԹDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk 2k@ɞ~B]4> ?I d&=ɝiIvI!i!i!))))E=>E=>F"F*F2F4:FGFsAjK}CNrK}9zKyK}K} aHbb6tyU-^?& hI- %2Acoustic response timeoutG1G 2B :B)  OE >9 ď,-?A6!>Y6'?6>u|=96qӒ>>AHRS rotation from veh to nav: [[0.816420,-0.537513,0.211041],[0.574164,0.794592,-0.197381],[-0.061596,0.282318,0.957341]]y6H ?@N3@a?_? Lm? Cɿ`?`?ɫ6!>6`;6ՐCFтBF IIN`IN̍٥V)Y= VU=9ZÙ\\ bF٦b_Eyb > f> dn4Yf>?n4yf#fBlna'?n@f9Dfn;fz;f4p)v$AtDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml!k!k!k!k-hk@ɞ]~B],+> aev?Ia e+=ɝaiaIe'Iiiiii)i }2Acoustic response timeout)yHM>HMCHM IIMɂBIM =IIII&IM<*IMEF"F*F2F4:F9JJJJJݒ:J9JJJ;J;J+ ;J, ;G iG2B:B  O >! ! - 2Acoustic response timeoutԑ dď,ZG?AI)<:Q>Y:ڲ#?:=9:>BAHRS rotation from veh to nav: [[0.800695,-0.557011,0.220516],[0.595465,0.780327,-0.191079],[-0.065641,0.284305,0.956484]]y:HJ?9? ?o?GuȿͰ2?`?ɫ:Q>:B;:֐C^Bb IMb@Mb@Mb@ )IiS㥛?L7A`??+=)IAI@iI@ =@IaI錴٥= :=9 F٦bEyx= > 4YL?4yB!?:L3?@9D::H4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!m)m-nBl1k1k9k9k=rl@ɞe~Be\)> im ?Ii me2=ɝiqiiIu28 Iyiyiy))F6"F*F2Fe2:F 2Acoustic response timeoutԡGG2B:B O>jK} PrK} +9zKy K} K} g .U8+#!  XWmU?2*    = 2Acoustic response timeoutrď,a?A6 g>Y6*?6==96B^>BAHRS rotation from veh to nav: [[0.784266,-0.576521,0.229237],[0.616476,0.765750,-0.183261],[-0.069885,0.285044,0.955963]]y6H?r W? +??uǿ㱿*>?`@?ɫ6 g>6Ѝ;6ӐCFBF!I LNA)P R@AIRZIR٥Z}= Z[=9Zy:\\ bF٦beEyb_= b> dj4YfX?j4yfDfBhn#:?n@f9Df:f;f4ryB)vtAvsEEDNOT Ignoring new targets: 14.63 m.RoAJoIboIZoIBoI:nI2nImQmQlQkQkYkYk]`l@ɞ e~B 14> 0?I 5p8=ɝ1i1I5m I9i9iA)A)AԱF5"F*F2F_0:F 2Acoustic response timeoutG9냾G2B:BJH BH AAH= >H9 H= II= ӂBI= =I9 I= D&I= ݘ<*I= Eԉ  O >J J J J J :J 9J J J *;J +;J l;J l;,ď,t{?A0:>Y:?1?:=9:|>bAHRS rotation from veh to nav: [[0.766749,-0.596447,0.237378],[0.637667,0.750282,-0.174521],[-0.074008,0.285181,0.955612]]y:H`4?@`cb? g?O?Vƿ-@i@?_?ɫ:>:yD;:ҐC~B~!IMb@Mb@Mb@ )Iiv/?㥛 ?I +?x ?=9<)vAI@i@ z@IpI<٥= <=9 F٦gEy= > 4Yf?4y ?:O?@9D/; >;i 4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n 2Acoustic response timeoutmmBlkkkk `#l@ɞ}F~B}2> 靅?I e?=ɝiI ԉIii))F%6"F!*F!2F!:F!ԹGE A G! 2B9 :BI  O] >  2Acoustic response timeoutwď,V?A 6F?Y6xl8?6ޠ=96Ǝ>BAHRS rotation from veh to nav: [[0.749221,-0.615243,0.245242],[0.657655,0.734934,-0.165413],[-0.078468,0.285215,0.955246]]y6H? d? ??>,ſw@?`?ɫ6F?6;6ԐCFBJ:!IIRhIR٥V > Z]=9ZhF\`d fF٦fjEyf= j> lr4Ynq?r4ynlprV?r@n9Dn;n ;n4z}B)zCAztEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk)l@ɞ-~BH> ?I sKE=ɝiInI i iQ)Q)QF5"F*F2F:FBK?:K? 2Acoustic response timeout-'UTFailed to parse incomplete device message.Ge 9냾G9 A 2BI :Ba  Om >=ď,N&?A6?Y6F??6Y=96:>>AHRS rotation from veh to nav: [[0.730448,-0.634183,0.253493],[0.678015,0.717973,-0.157512],[-0.082110,0.286927,0.954427]]y6H_? 9K:9?`L? ?^)Ŀ"]?ઊ?ɫ6?6 ;6ѐCF#BFK!IINcIN#٥Vߌ= ZK=9Zk\\ ^F٦^lEyb= b> dj4Yf}?j4yfxdhj]?j@f:Df:fd:f4roB)r]ArjE DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo:n2nmmlk!k!k!k-6l@ɞU~B e2Acoustic response timeoute:I> ae/@Ii mK=ɝiiiImIqiqiq)q)H>H CH!IIBI =IID&I٘<*IpEF"F*F2Fp0:FG!F%tAQJJJJJ]:J"9JJJC;JE;J;J;yGAG2B  2Acoustic response timeout:B  O >ԡ Z'ď,ɋ?A6?Y6F?6ݯ=96>>AHRS rotation from veh to nav: [[0.711402,-0.652089,0.262082],[0.697532,0.700661,-0.150077],[-0.085767,0.289576,0.953305]]y6H ?@? /R?@k?@5ÿi?x?ɫ6?6!;6ӐCJ8BJe!IeMb@Mb@Mb@a a)aIaiaezG?Dl?Zd;O?e ?eO >ej<=)eAIe@ie@a aep@yI}jI}٥= <=9  F٦oEyI= > 4YK?4y B?:x?@:D;;|4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkkCl@ɞ=}BEF> AE@IA E@S=ɝAiAIM^gIIiQiQ)Q)QF"F*F2F0:F u2Acoustic response timeoutԡG G2B:B  O5 >  2Acoustic response timeoutjK MrK 9zK K K '+*+,.1400/1//(!  2K) *K- sAOď,?AI):7h?Y:j?N?:=9:Ș>BAHRS rotation from veh to nav: [[0.689909,-0.671347,0.270775],[0.718442,0.680837,-0.142486],[-0.088696,0.292839,0.952039]]y:H?{bT?y?j?<¿`̴޽?w?ɫ:7h?:^;:ѐCJCBJs!IIR\IRW٥Zj= ZZ=9^\` bF٦brEybZ= b> dj4Yf?j4yffBlnA?n@f!:Dff;f;f %4rrB)rxAvkEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml!k!k!k!k%@Ol@ɞU}BU.@W> QU @IQ ]Y=ɝYiYI]8Iaiaia)a)iF6"F*F2F_5:F Gq 2Acoustic response timeout1Gq2B:BZH<RH4=HHH;!IIBI =II&I˘<*IZE2I C:ICBIJIȯ =RIȰ =ZIȍ5 O >Y ~ď,?AJZJZJXJXJZ-:JZ9JXJXJZø;JZĸ;JZa ;JZa ;VB!IMb@Mb@Mb@ )Ii-?ףp= ? ףp= ?5?>Q8=)/AI@i~A@ @IeI]٥= 9=9Q > F٦tEy >) iu4Ym?u4ym(m B}#?}:}g?}@m3:DmL:m:m -4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm a靥@I b=ɝiIIii))F9"F9*F92F9:F9GEa> GEa>aԁGe 9냾Gm ?Gm ?G9 2BQ :Bi  O} >  2Acoustic response timeoutԱ bď,t?A6"%?Y6U]?6d=96"Ҙ>BAHRS rotation from veh to nav: [[0.645628,-0.709797,0.281695],[0.757929,0.640676,-0.122792],[-0.093318,0.292783,0.951614]]y6H?`L?@?k?Go@㷿 ?s?ɫ6"%?6ګ;6ҐCFhBJ!IIPIP٥Z= ^_=9J    F٦ wEy ">  > %4Y?%4yB!%?%@B:D ;:S341)=MA9eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimilqkqkqkqk}@jl@ɞ}B־j> 靭@I ui=ɝiIH#Iii))ԑF55"F9*F92F=_0:F9 2Acoustic response timeoutjK=^MrK=9zK9K=K=  !*-271-(BKE>:KE?GMAG2B):B9 OM>) ) I H A ď,m0?A @6d-?Y6;e?6=96>>AHRS rotation from veh to nav: [[0.622348,-0.728406,0.286546],[0.776960,0.619280,-0.113254],[-0.094957,0.293118,0.951349]]y6H@F? OV?@?#?5@Op?sq?ɫ6d-?6-;6ѐCJlBJ!IIRhIR٥Z< ZJ=9^ň;Q ^>`` bF٦byEybȜ= b> dj4Yf#?j4yffBln?n@fR:Df;f;f8:4rSB)v:AvlEDNOT Ignoring new targets: 14.63 m.Ro ]2Acoustic response timeoutJoboZoBo:n2nmmlkkkk`Rwl@ɞ]}Be(^> iH}>HyH}m!II}>BIyIyIy&I}٘<*I}oEu@I q=ɝiIpIii))F6"F*F2F:FG  2Acoustic response timeouti G 2B :B  O >tď,fJJ?A~kB~!IiII p=) R=Mb@Mb@Mb@ )IiMbX?> ףp=?~jt?*?Q>D=)AI@iA@ =@I_I٥ 6=9Q > F٦|Ey% %> )54Y-?54y-_- B53?=:=U?=@-f:D-u ;- ;-B4E?B)EAEcEmDNOT Ignoring new targets: 14.63 m.RoqJoqboyZoyBoy:ny2nymmuBlkkkk@ l@ɞn}Bb> 靽@I T,y=ɝiIIii))Fi"Fi*Fq2Fq:FqGyFy 2Acoustic response timeoutGQG) 2B1 :BI  OU >Ju Ju Jq Jq Ju :Ju [9Jq Jq !} @!} @!} @!} @ = 2Acoustic response timeout'ď,F%d?AjKLrKzKKK-mc& '|:" XN (Ohtp`V2K*K:==?Y:u?:a{=9:M>pvAHRS rotation from veh to nav: [[0.572931,-0.764693,0.294947],[0.813755,0.573646,-0.093449],[-0.097735,0.293554,0.950933]]y:H`tU?^xg? H ?@O[? B췿`.?` n?ɫ:==?:n;:ԐCtB!IIuWIuƕ٥6B= S=9Q;Q > F٦Ey#> > 4YƢ?4y(B=?@w:Df;;H4)XAUDNOT Ignoring new targets: 14.63 m.RoqJoqboyZoyBoy:ny2nmmlkkkkl@ɞS}Bj> [@I u=ɝiIRI)i1i1)1)1F"F*F2F:F1 2Acoustic response timeoutJHBHH>HH!IIWBI =II&I<*IEG G 2B1 :BQ i  O >qď,}?AI()(FE?YF|?FVE=9F >NAHRS rotation from veh to nav: [[0.547826,-0.782380,0.296258],[0.830703,0.550664,-0.081863],[-0.099090,0.290949,0.951593]]yFHɇ?A ?@?` ?`]?ss?ɫFE?Fw;FАCVkBV!IAMb@Mb@Mb@ )Iix?zG?I +?K7? W>94=)AI-@iA@ @IgI٥+ G=9rY;Q > F٦Ey= > 4Y΢?4y/BY??:?@:D8; ;P4)A%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m-Bl1k1k1k9k=l@ɞm:}Bmp> mӓu@Iq 2Acoustic response timeout 8o=ɝiIIii ) ) iF"F*F2Fo0:FԡGQG) 2B9 :BY  Om >  2Acoustic response timeout Ͱ%ď,Dޗ?A6{M?Y6Vt?6Y=96>>AHRS rotation from veh to nav: [[0.521420,-0.799202,0.298993],[0.847372,0.526202,-0.071223],[-0.100409,0.290496,0.951594]]y6Hy? "???;oz?@ts?ɫ6{M?6;6ӐCFiBF!IIPIP٥Z`a Z]=9Z3k;Q Z>\\ bF٦bEyb= b> dj4Yfբ?j4yff5Bln?n@f:Df;fr;fuV4rAB)rAtDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)l)k)k)k1k5kl@ԙɞ%!}B%t> !%@I! -M=ɝ)i)I-TIQiQiQ)Q)YEEJYJ]JYJYJYJ]u9JYJYF-5"F)*F)2F-Z1:F)G5e> G5]> 2Acoustic response timeoutjK}xNrK}59zKyK}K}MHE=5+nXH@60($    G)G 2B :B!  OE > +ď,?ı?A29T?Y2c?27=92L>>AHRS rotation from veh to nav: [[0.495097,-0.814558,0.302283],[0.862946,0.501466,-0.062091],[-0.101008,0.291595,0.951194]]y2H@? X?`A?` ?^ʯ۹@|?`.p?ɫ29T?2m;2ԐCFbBF!IIN|INi٥V VJ=9Z,:Q Z>X\ ^F٦^Ey^= ^> `f4Yb]ܢ?f4ybxb;Bhj?j@b:Db:b;b]4n-B)nUArZE DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlk!k!k!k%Ql@ ]2Acoustic response timeoutɞ]}B]Xx> ae@Ia e =ɝaiaIe Iiiqiq)q)yH=>H= CH=!II=\BI= =I9I=D&I=˘<*I=REF1"F1*F12F=05:F9!GQGi2Bq:B O>  A  2Acoustic response timeouty 2ď,ˌ?A @YB!IMb@Mb@Mb@ )IiCl?tV?Mb?d;?r>=)EAI@i7A@ 3@IVI٥) 8=9Q > F٦Ey > 4Y 㢊? 4yAB #E? : ? @:Da::Ce4)AEDNOT Ignoring new targets: 14.63 m.RoIԱJoIboZoBo:n2nmmrBlkk k k?l@ɞ|Bh> 靥@I =ɝiI"Iii))I u2Acoustic response timeoutEm| J} J} Jy Jy J} ̝:J} b9Jy Jy F 6"F *F 2F o0:F  2Acoustic response timeout9 jK \NrK 9zK K K  @65}e]bb]OD71*$$#" G-IG2B:B1 OE?-e:ď,ș?A Fl?YF`c?FɎ=9F>RAHRS rotation from veh to nav: [[0.412183,-0.856569,0.310475],[0.905574,0.422639,-0.036211],[-0.100202,0.296084,0.949892]]yFH6a?i ?v? ?K@Ϧ@ ?e?ɫFl?F䂎;FӐCV>BZm!IIbYIb٥f j0=9jQ j>ll nF٦nEyvN> v> 4YV碊?4y]HB?@:DR;N;om4!)%uA)MDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nYmYmYlYkakakake`l@ɞ|Bn;q> 靕@I 5=ɝiIx}$Iii))E\QF "F *F 2F @5:F  2Acoustic response timeoutZHE<RHEp<HM>HIHM!IIMRBIM =IIII&IM<*IM:EԁGAG2B:B  O >ԡ = 2Acoustic response timeoutLAď,p?A:(u?Y:?:P=9:><FAHRS rotation from veh to nav: [[0.382906,-0.869200,0.312850],[0.918403,0.394692,-0.027475],[-0.099598,0.297842,0.949405]]y:H?{@?c?B?o"A?a?ɫ:(u?:;:ҐCJ5BNa!IMb@Mb@Mb@ )IiCl?x&1?:v?A>T<)\AI-@idA@ p@IbI٥. ==9bQ > F٦Eyǘ= > 4Y뢊?4yGBA?:?@:D!;;t4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm!l!k!k!k!k-6l@ɞ|Bp>  @I  ܴ=ɝiI]~&Iii))E-=E-=ԩE5E9 2Acoustic response timeoutF5"F*F2F51:F J J J J J m:J 9J J G G ?G >1 G 2B :B  O>MHď,"?AI)<-B-E!I E2Acoustic response timeoutIMdIM@٥Udн ]6=9]Q e>aa eF٦eEym m> q4Yu6?4yu#uFB@u;Du"`;uR;u|4B)AQEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkl@ɞ|B0u> D@I! %u=ɝ!i!I%w(I)i)i))))1 E9E9E=E=jK]NrK]}9zKYK]K]  E[XSNIFC@A=?GWm~~{tpjeb\UOMJGC?><MP%KiԁFa"Fa*Fi2Fm`5:FiԱ % 2Acoustic response timeoutH >H CH `!II 4BI =I I D&I <*I >E2IY:I] CBIYJI]ɳ =RI]ɲ =ZI]҇5G y G 2B :B  O5 >Nď,0>?AR7?YRΛ?RY=9R>^AHRS rotation from veh to nav: [[0.323965,-0.891152,0.317640],[0.940697,0.339157,-0.007910],[-0.100681,0.301366,0.948178]]yRH@ֻ?P`8T?/??3`8ƹI?yW?ɫR7?RI;PfBf!I lnAMb@Mb@Mb@ )IibX9?Zd;O?~jth?E6?j<>D;)AIC@iA f@ItI%x٥  7=9;Q > F٦EyU> > 4Y?4yCBB 靥1@I =ɝiI *Iii))Fq"Fq*Fq2Fu0:Fy!G AGq 2B :B  O > 5 2Acoustic response timeoutQ CUď,^X?A>3Ɔ?Y>ʱ?>=9>>FAHRS rotation from veh to nav: [[0.293742,-0.901129,0.318877],[0.950445,0.310878,0.002996],[-0.101832,0.302195,0.947791]]y>H ? {h? j? m?h?*W?`NT?ɫ>3Ɔ?>~;>ӐCRBR IIZiIZ҅٥b b\=9bdL;Q f>dd fF٦fEyjE= j> Ie4YM3?e4yMM@BimX?m@M.;DM;M0;MN4q)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm!l!k!k!k!k- m@1ɞb|Bj> 靥v@I .8=ɝiI]Y,I1i9i9)9)9F"F*F2F_0:Fi 2Acoustic response timeoutjKNOrK9zKKKZZH*}2k;sQ-0`qj`QwnmmV1.YxlR84pH:0*&('%=2K*KrAԑGIi] *>IY G ) :G 2B :B)  O= >)I I AԹ E[ď,8r?A @Bي?YBĦ?BS=9Bc>ZAHRS rotation from veh to nav: [[0.263304,-0.910071,0.320065],[0.959146,0.282547,0.014346],[-0.103489,0.303212,0.947287]]yBH?M{? S?@A?wa?G~`g?,P?ɫBي?B;BАCjՂBj II_I٥-“ -D=9-;Q ->11 5F٦5EyS= > 4Y?4y=Bh?@B;D::4)*ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo 2Acoustic response timeout:n2nmmlk k k k m@ɞ=K|B=> AE@IA MJ=ɝIiIIMy5.IQJHYBH]@AHe>HeCHe(!IIeBIe =IaIeD&IeƘ<*Ie_Eiyiy)y)yԙF6"F*F2F:FJJJJJJJJ:J9JJJ;!J;!J@%;!J@%;!G5AG2B:B  O >  2Acoustic response timeout -bď,$?A>kˎ?Y>?>=9>@>FAHRS rotation from veh to nav: [[0.233559,-0.918525,0.319002],[0.966595,0.254946,0.026387],[-0.105566,0.302183,0.947387]]y>HD? dj?X? Q?6?YV?P?ɫ>kˎ?> ;>ԐC^B^ IMMb@Mb@Mb@I I)IIIiIMCl?'1Z?MbM/?M">M)MrAIIiMAM`@ IM@Ie[Ie:٥u5 uE=9};Q }>yy }F٦}EyF= > 4YU?4y6B4?:?@T;D<<4%B)-gA-HEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm BlkkkkO&m@ɞ/|Bt> 靭9@I 5=ɝiI'0Iii)) 2Acoustic response timeoutF}5"Fy*Fy2F}`0:FyA Ge @G9 2BI :Ba  Om > iď,o?A 22Acoustic response timeoutN?YN?No^=9N=>VAHRS rotation from veh to nav: [[0.203576,-0.925168,0.320345],[0.973098,0.227252,0.037918],[-0.107880,0.304007,0.946542]]yNH?``?`#?@? j?t?@J?ɫN?NF;NҐCB IImIF٥%% -O=9-;Q ->11 5F٦5Ey== => AE4YE?M4yEUE/BIM?M@Ef;DE:E:Eu4Y)]HAYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk1m@jKOrKzKKKhxjWH;(# j@<Z~}R%BK?:K?ɞ|Bj> @I $}=ɝiI1Iii))QFu6"Fq*Fq2F}0:FyyGA 2Acoustic response timeoutH]>H]CH] II]΂BI] =I]?DI]D&I]<*IYG2B:B O>ԩ 29oď,ڿ?A~AHRS rotation from veh to nav: [[0.172777,-0.931513,0.320049],[0.978767,0.198758,0.050109],[-0.110289,0.304596,0.946075]]yrH@?{?R?p?@ާ?@;~~??F?ɫrƖ?r;rѐCB I-Mb@Mb@Mb@) )))I)i)-(\?)\(? rh-'?-G=-C)-+AI)i-A-I@ )-(AIE[IE:٥UJ U9=9Ud;Q ]>aa mF٦mEyu= u> y4Y}4?4y}|}#B*?: ?@}y;D};}f;};4)A=DNOT Ignoring new targets: 14.63 m.Ro9Jo9boAZoABoA:nA2nImImUBlQkQkQkQk]@@m@ u2Acoustic response timeoutԩɞ{B.ur> r@I Pʵ=ɝiI\3Ii ףB=i u) ) F6"F*F2F0:FG G 2B :B  O >  2Acoustic response timeoutyvď,Cٍ?ABۚ?YBdǶ?B_=9BK>JAHRS rotation from veh to nav: [[0.141436,-0.937765,0.317165],[0.983452,0.169744,0.063325],[-0.113220,0.302960,0.946254]]yBH ?+mL?ox?)? 6? c?`G?ɫBۚ?B;BҐCRuBRu IIZqIZv}٥f fg=9jhll nF٦rEyrU= r> tz4Yv?z4yvtvvBx~#?~@v;Dv@;vn;vc4)A5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n92n9mAmIlIkIkIkQkU sKm@ɞ{B> %Ip%@I! %ٸ=ɝ!i!I%"h5I)i-5@=i-Z)1)1F6"F*F2F/5:FG9냾G2B:B OA>yy 2Acoustic response timeout1jKM{NrKM+9zKIKMKM"jxhRB;BW{odXLA6(xtogc_]ZVT2KY*K]tAa +J|ď,?AFM?YF?F%=9F$>^AHRS rotation from veh to nav: [[0.109745,-0.943278,0.313340],[0.987165,0.140234,0.076413],[-0.116020,0.300933,0.946562]]yFH@8?@V/ ?ܖ?,?`Ϗ?vzB?;J?ɫFM?F9;FӐCjjBjg IIpI<9٥5V ED=9M;Q U>aa mF٦mEyu= }> 4Yf?4yo BC?@;Dv;]^;ѵ4B)AA>E 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.H>HCH IIBIII&I<*IERoJoboZoBo:n2nmmlkkkkYm@ɞ5{BMu> IMA@II Up=ɝQiQIUC7IYi]>=i]A)Y)aiFA"FI*FI2FU4:FQJJJJJy:Jy9JJJ;J;JC:JD:ԉ  2Acoustic response timeoutG $tG G G 2B Թ :B  O >0ď,Na ?A @YBS IԙMb@Mb@Mb@ )Ii+?J +?y&1|?=`)Ip@iA@ zAI]It٥ @=9Q > F٦Ey > 4Y y?4y h B%!?%:%a?%@ ;D SI; 1; (49)=A9-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m=ρBl9k9kAkAkEWgm@ɞ{B{y~> 靽@I t=ɝiI 9Ii7<=i2RF)) 2Acoustic response timeoutF"F*F2F_0:FG}6vmGQ2Bi:By O|> [ď,='?A *2Acoustic response timeoutBa?YB?B:=9B>NAHRS rotation from veh to nav: [[0.047443,-0.948721,0.312534],[0.991410,0.082901,0.101157],[-0.121879,0.305050,0.944505]]yBH rJ?@[`?`?9? f? u3`?b9?ɫBa?B{o;BѐCVKBVB II^jI^٥fș f]=9j hh nF٦nEyv.> v> x~4Yzq?~4yzbzBj?@z;Dz;z;z4 ) 8A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:nA2nAmAmAlIkIkIkIkM8rm@ɞ={BEq> AE=@IA E;=ɝIiIIMҳ:jKUSOrKU59zKQKUKUWY_lzqgYQOMJIGE?CBFL}WC<8;>@FSi >]iiiIiL%;=ii ))!E̓ 2Acoustic response timeoutH%>H!H%S II%YBI% =I!I!&I%<*I%jEF9"F9*F92F=3:F9QG- :_GG 2B :B)  O= >ԁ Eď,y!A?A J>AAJ<JN{JNwJLJLJNd:JN9JLJLJN+;JN-;JN:JN:U?YUG?U[Q>9UZs>eAHRS rotation from veh to nav: [[0.016851,-0.949898,0.312107],[0.992016,0.054903,0.113536],[-0.124983,0.307701,0.943239]]yUH|A?e??7??a?/?ɫU?U8;Q8B+ Iq}Mb@Mb@Mb@y y)yIyiy}Cl??~jtx}d?}=}Ļ)yI}@i}A}I@ y}AI^I٥U 0=9;Q > F٦EyV= > 4Y?4yZB~?:5?@;D(j;i;4B)A DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n2nmmBlkkkk`m@ U2Acoustic response timeoutɞ]{B]}|> Ye@Ia eH<=ɝiI:r Flď,Z?AI)>׮?Y>:?>,>9>U>FAHRS rotation from veh to nav: [[-0.013176,-0.950604,0.310127],[0.991632,0.027411,0.126152],[-0.128422,0.309194,0.942288]]y>HXk@ ?@s? ?%?@p`? 9'?ɫ>׮?>;>ϐCR6BV' IIZrIZ{٥3l h=9(!!! %F٦%Ey--= -> 1=4Y5颊?E4y5 U5BAE?E@5;D5:5:54I)UAQ}DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk[m@ɞu{BfD> r@I "|=ɝiI >Ii8=iu)) EEEE m2Acoustic response timeoutF%5"F!*F)2F):F)G9GjK|NrKs9zKKKhb\^adYXQE6zqja[URPMGGQtdTKA;840+)(%#$&A2B:B O >) ď, t?AJ ?YJr?J >9J˗>VAHRS rotation from veh to nav: [[-0.041694,-0.952088,0.302970],[0.990319,0.000802,0.138807],[-0.132400,0.305824,0.942837]]yJH Xwc??KJ?p?`z?+?ɫJ ?JD;JѐC^)B^ IIfiIf҅٥nU~ nN=9n%pp rF٦rEyvF= v> x~4Yz墊?~4yzNz׊B?@z;Dz;z;z4 ܔB) A 4EH>HCH II,BI =IID&I*IsE2IeC:IeCBIeCJIe =RIe =ZIee>6 2Acoustic response timeout-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n)2n1mQmQlYkYkYkYk]m@ɞ\{B"> 靭h@I s=ɝiI ?IiS7=iO))QF6"F*F2F0:FGBԁG2B:B Oc>  2Acoustic response timeoutԹ P~ď,?A:g?@Y:?: >9:H>JAHRS rotation from veh to nav: [[-0.068690,-0.954338,0.290725],[0.988166,-0.025023,0.151335],[-0.137150,0.297679,0.944763]]y:H@    F٦ Ey5}= 5> AM4YEfᢊ?}4yEGEɊB}?}:}?}@E;DEb;E;E4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkk k k m@ɞD{B> 靅@ԩI .t=ɝiIfAIiq6=i5D))Et>E>  2Acoustic response timeoutFa"Fa*Fa2Fe1:FaGUG12BA:BQ O]v>J |J }J J J ;g:J S9J J ! @! @! @! @ lď,?A  22Acoustic response timeoutRE?YR61?R>9RH0>ZAHRS rotation from veh to nav: [[-0.093666,-0.956339,0.276845],[0.985407,-0.049354,0.162904],[-0.142128,0.288063,0.947005]]yRH`wS ӷ?s?D ?@1¿o?@M?ɫRE?R֌;RѐCf!Bj IlIr`Ir̍٥z z\=9~&^ F٦Ey=  > 4Y Kݢ?4y A B1?@  靥0@I =ɝiIBIi$86=ik))GjKOrK9zKKKm`WG=88:ARX]cghjhfwwkaYQJD@?@{#i:<X!#),'! )IVA) F6"F!*F!2F%05:F!1H>HHIIBIII&I<*IE %2Acoustic response timeoutGm I!GA 2BI a :Ba  Ou >ȓď,kŽ?A1=8?Y=e$?=!>9=tw>MAHRS rotation from veh to nav: [[-0.116247,-0.958133,0.261663],[0.982129,-0.071626,0.174049],[-0.148021,0.277220,0.949336]]y=H`½`?m? VAG?`W¿?@`?ɫ=8?=/;=АC] B] IIa)e=Mb@Mb@Mb@ )Ii~jt?A`"?Mbp?$?=;)AI@i` AI@ AI ]I t٥ 9=9\)) -F٦5Ey5T= 5> 9E4Y=֢?E4y=:=BE&?M:M?M@= AE@IA E *=ɝAiIIMDIIiU5=iU"")Q)QaF5"F*F2F5:FGI׽ԉG2B:B O>Թ  2Acoustic response timeoutď,=C܎?A:?Y:X?:C9>9:>FAHRS rotation from veh to nav: [[-0.136894,-0.959437,0.246455],[0.978557,-0.092326,0.184124],[-0.153901,0.266375,0.951503]]y:Hҋ?`WP?^?ÿ`K ?r?ɫ:?:]c;:ѐCRBR IIZfIZ{٥b bc=9fPdd jF٦jEyjq= j> lr4YnѢ?r4yn4nBtv?v@n*Ա i@I p,=ɝiIjEIiSa5=i<;))JJJJJs:Jľ9JJF6"F*F2F_0:FG.GY2Ba:By O9> }2Acoustic response timeout jK% oOrK% 9zK! K% K% q)oX;~odXQMG@<::651,)'%'A_d[P?A ď, ?AI"<)"9JɊ>VAHRS rotation from veh to nav: [[-0.156149,-0.959632,0.233929],[0.974691,-0.111343,0.193855],[-0.159983,0.258279,0.952731]]yJH`ÿ O@f?0?@??TzĿ?|?ɫJy?J;HfBj IIrLIr٥~w< ~G=9fu F٦Ey E=  > 4Yʢ?4y-.B%|?%@;H9H=II=BI9I9I=D&I=ۘ<*I=EuDNOT Ignoring new targets: 14.63 m.RoqJoyboyZoyBoy:ny2nymmlkkkk`m@ɞzB> 2Acoustic response timeout @I \=ɝiIrGI Qi<.5=i3.<))FM5"FI*FQ2FQ:FQG%;ԁG2BA:Bi O^>ԡ؁ ؅ A  2Acoustic response timeout ď,%?A]Be I quAMb@Mb@Mb@ )IiV-?K?Mbph1?^=)rAI$@i A@ I-NI-٥E ؼ E8=9EQ E>II MF٦MìEy] ]> am4Ye¢?m4yec&eBm2?m:m?u@eO 9=@I9 E=ɝAiAIEf IIIiM4=iMn<)I)Q 2Acoustic response timeoutF"F*F2F:F J yJ rJ J J ]:J 9J J G 7G 2B :B!  O- >9 ď,)?A 2Acoustic response timeoutBK}?:K}>>?YӬ?r)2>9Ly>=AHRS rotation from veh to nav: [[-0.188222,-0.960598,0.204510],[0.966750,-0.144511,0.210977],[-0.173110,0.237420,0.955858]]yHȿ7 `-??`W¿H?u(ƿc?c?ɫ>?Ѝ;MBM IIDI٥< 0=9 %F٦%ƬEy%= %>-'-TFailed to parse incomplete device message. 1=4Y5#?=4y5c5fBAE??E@5c cI@9I9 E@=ɝAiAIE<JIIiM4=iMHN=)I)QHE>HAHEIIEBIE =IAIED&IE<*IEEF=6"FA*FA2FA:FA 2Acoustic response timeoutG- jbi G 2B :B  O >ď,RC?A XZ@MBU IMb@Mb@Mb@ )IiGz?+η?~jtp=?v=D)AIQ@iIA \AIMI٥-ݼ -Z=9-Q 5>11 5F٦5ɬEy= => AM4YEز?M4yE~EPBM>?U:U?U@Eu _@I ݇=ɝiIKIiR4=i@=)) 2Acoustic response timeoutFy"Fy*Fy2F}0:FyGU/C<ԉG 2B!:B9 Ouz>Թ  2Acoustic response timeout ď,]?AL~?Y~?~\A>9~nb>AHRS rotation from veh to nav: [[-0.210730,-0.961826,0.174598],[0.959353,-0.169186,0.225872],[-0.187710,0.215099,0.958383]]y~H2ʿF:Y??ſ _? ȿ^?@?ɫ~?~;~ΐC%B%II5eI5]٥EI Ep=9MU2=Q M?II MF٦MˬEy= > 4Yv?4y8B?@ y}|@Iy }=ɝyiIMIiS&5=iF=))J}~J}xJyJyJ}{m:J}9JyJyF"F*F2F Q5:F  2Acoustic response timeoutG-R5<G 2B :B)  O5 >jKE NrKE 9zKA KE KE M*688EVXX[WOKEC@9\- 2KU sA*KU sA 1ď,.Ww?AVj?YV?VI>9VIW>bAHRS rotation from veh to nav: [[-0.219473,-0.962290,0.160717],[0.955919,-0.179167,0.232631],[-0.195064,0.204688,0.959194]]yVH ̿` \?@?`ƿ`?ȿ93?`?ɫVj?V;VӐCddHr>HrCHrIIr߁BIr =IpIp&Ir՘<*IrE|III.٥ ; N=9!! -F٦-ͬEy54< 5> AM4YE.?M4yE EBQUN?U@E 靝@I w=ɝiIuNNIie5=is=)))E5YF"F*F2F0:FG= G)>G %)= - 2Acoustic response timeoutԉ G 2B :B  O >*ď,=?AI4)69v6)J> AHRS rotation from veh to nav: [[-0.226251,-0.963213,0.145020],[0.952841,-0.187942,0.238269],[-0.202248,0.192089,0.960311]]yvH̿`?`}?xȿ?Dɿ c?@޺?ɫv?v;vϐC%B%IYMb@Mb@Mb@ )IiuV?|?5^?QrH?=)/AI@ivA3@ AIdI@٥^ ;=9! %F٦%ЬEy%< %> )E4Y-瘢?E4y--BMRJ?M:M?M@- û靥@I Y=ɝiIqOIil5=i)=)) EEE E ԁ 2Acoustic response timeoutԱFE 5"FA *FA 2FE 4:FI G% T= G 2B :B  O% >Cď,c ?AZ?YZE?Z=X>9ZM<>bAHRS rotation from veh to nav: [[-0.231236,-0.964248,0.129441],[0.950050,-0.195134,0.243573],[-0.209607,0.179298,0.961206]]yZH(Ϳ`?f?(ȿ`h-?eʿ`=?`3?ɫZ?Z;XjBjI r2Acoustic response timeoutIpI<٥-y  -[=9511 5F٦5ҬEym< > Թ4Y?4yՉBh?@ IM#@II U=ɝQiQIUPIYi]6=i]&=)Y)ajK5NrK59zK1K5K50  </@65 %%<${!HXf I&&BbWqM*F "F *F 2F _0:F H>HHIIˁBIII&I֘<*I2IC:ICBIƓCJIƩ =RIƩ =ZIZ5G5Ď= 2Acoustic response timeoutG 2BQ :Ba  Ou >A <ď,1ŏ?A J$J&BAJ6{J6~J4J4J6d:J6f9J4J4J6,;!RJ4!RJ6:!ZJ6:!Z?Yy?*g>9 >AHRS rotation from veh to nav: [[-0.236788,-0.966864,0.095427],[0.945461,-0.206699,0.251752],[-0.223686,0.149835,0.963075]]yHOο@m? 7A?uʿ ?@̿-??ɫ?Ռ;BIMb@Mb@Mb@ )Ii> ףp=?Mb?J +Q?=H)AII@iA@ AI^I٥S 1=9 F٦լEyq< > 4Y?4yBS?:?@ 靕k@I R>ɝiIC[QIis6=iK=)))Fy"Fy*Fy2F:FGUħ=G)2B9I:BQ O]>  2Acoustic response timeoutԉ PUď,ޏ?A @bQ?Yb?bXm>9bc>jAHRS rotation from veh to nav: [[-0.238081,-0.967825,0.081438],[0.943556,-0.210600,0.255634],[-0.230258,0.137703,0.963337]]ybH lyο`l%ٴ?`1?ʿO\?`yͿB??ɫbQ?bJU;bΐCvځBvII~WI~ƕ٥ U  p=9a 靽l@I }>ɝiI 8RIiܾ6=iCY=))yFU6"FQ*FQ2FU0:FQԡiI  2Acoustic response timeout):G I)aG"=IAG2B:B O>jK PrK 9zK K K mOD?:73.,+($ (<bshc^VKC=663*$$! ď,k?AHB>H@HBIIBBIB =I@I@&IB՘<*I@ ?Y ? u>9 ~>UAHRS rotation from veh to nav: [[-0.238375,-0.968691,0.069386],[0.941792,-0.213132,0.260007],[-0.237078,0.127326,0.963111]]y HοKñ? (#?G˿? Xο;L??ɫ ? #;; АCeɁBeIIuRIu4٥ C=9ˆ F٦ڬEy%: > 4Yr?4yKB?@ AE@II M>ɝIiIIMR ]2Acoustic response timeoutIYi]-'7=ieh=)a)aJ|JsJ3JJ;g:J9J(3JJߊ;J;EJE:JF:Fm5"Fq*Fq2Fu_0:Fq)  2Acoustic response timeoutY G  =G 2B :B  O >aCď,Q?A6?Y6h?62{>96e=BAHRS rotation from veh to nav: [[-0.238146,-0.969405,0.059502],[0.940245,-0.214764,0.264226],[-0.243363,0.118871,0.962624]]y6H {ο]w?@}?`c}˿?@&Ͽ@Un??ɫ6?6W;4JBJI5Mb@Mb@Mb@1 1)1I1i15Q?Cl?x&5U?5;=57)5`AI5@i5rA5@ 15AIMnIMdԑ٥Ľ -=9a F٦ݬEy|9 > 4Ye?4yB AX? {: `? @=D::HK45B)5@A5EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmہBlkkkk kn@ɞyB> Q@I *>ɝiIfSI i -7=iMļ=)I)Q 2Acoustic response timeoutEMhF"F*F2Fo0:FGA ! G) 2BA :BQ e 2Acoustic response timeout O >m ď,/?AI<)?Js$>9JJ=jAHRS rotation from veh to nav: [[-0.237324,-0.970148,0.049907],[0.938826,-0.215857,0.268349],[-0.249565,0.110539,0.962028]]yJH`ο s @e? ?6˿@,?ϿQL?@?ɫJ?J;JϐCB_IIYI٥E4$ ET=9E8qq }F٦}Ey}N }> 4Y[?4yڈBI?@*=D:;R4)=ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk7wn@ɞyB&> !%@I! %>ɝ!i!I%ATI)i-7=jK5NrK5}9zK1K5K5 5{xrnle^YTOLR`ea\ci5$=)) EEEEH>HHMIIBI =II&I<*IE! 2Acoustic response timeoutIFu6"Fq*Fq2Fum0:FqJJ3JS}-J xJ qJ 2J J Z:J q9J c3J J ;J ;J :J :ԑ G} =GI 2BY :By  O >ď,)ZL?A2Q?Y2?2J>92i=BAHRS rotation from veh to nav: [[-0.235989,-0.970820,0.042632],[0.937560,-0.215930,0.272682],[-0.255519,0.104320,0.961159]]y2H 4ο ӥ?~?˿@s?mZп൴?@?ɫ2Q?2=;0FyBF?I r2Acoustic response timeoutMMb@Mb@Mb@I I)IIIiIM㥛 ?S㥻?#~jMU?M/=M㥽)MvAIMv@iMXAM3@ IMAIelIe)٥u u5=9V F٦Ey > !-4Y%O?-4y%%B5HX?5{:5U?5@%B=D%;%V;%1Z4EB)EiAE EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkk3n@ɞyB> ( k@I ' >ɝiImyTIi n8=i@|=))Ex>E>IFE5"FA*FA2FE3:FAq 2Acoustic response timeoutGq GA 2Bi :B  O >ԡ ď,0f?A>]?Y>k?>L>9>V=FAHRS rotation from veh to nav: [[-0.234135,-0.971510,0.036744],[0.936462,-0.215212,0.276987],[-0.261188,0.099261,0.960171]]y>H Ϳ@ Т??˿@'?Lп .i?@?ɫ>]?>Ί;>ѐCR\BRIIZbIZ٥b bV=9bdd fF٦fEyjڏ j> pr4YrF?v4yrrbBtv?v@rU=Dr:rF:r`4zB)~;A|%DNOT Ignoring new targets: 14.63 m.Ro!Jo)bo)Zo)Bo):n)2n)m1m1l1k1k9k9k=n@ɞmyBmv> quK@Iq up >ɝqiqyIUTIiA8=iӷ=))F1"F1*F12F5Y0:F1 2Acoustic response timeoutԡjKUNrKU@9zKQKUKUxlb][Yoyzvm\NF=60)%$0YfR9*%"%,,0248<=2Ka*KetAGu =GQ2Ba:Bq O}>JH BH AAH >H H II GBI I I D&I Ә<*I E  2Acoustic response timeout ď,e?A 02@r=?YrD)?r7>9r2=~AHRS rotation from veh to nav: [[-0.231866,-0.972179,0.033250],[0.935476,-0.213481,0.281623],[-0.266690,0.096403,0.958949]]yrH̭Ϳ?j?VS˿ ?qѿ`ޭ??ɫr=?r̊;p7BIIaI錴٥%.0 %D=9-_)1 5F٦5Ey=T => AM4YE;?M4yEE$BQU?U@Ej=DE;E ;Eg4]B)eeAaDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkn@ɞyB֓>  @I ٩>ɝiI1UIi 9=i=))JJsJJJJ9F6"F*F2F^0:FJJJJJE:JF: 2Acoustic response timeout)GMG=G! 2B1 :BI  Oe >Q L-&ď,q虐?A6Q?Y6?6>96]p=>AHRS rotation from veh to nav: [[-0.228807,-0.973048,0.028714],[0.934775,-0.211383,0.285503],[-0.271739,0.092167,0.957947]]y6HIͿ5#Fg?@?˿@E?+dѿ` F٦Ey/ > 4Y1?4yBR?:?@=D ; ;@o4 ) GA 1EDNOT Ignoring new targets: 14.63 m.RoAJoAboIZoIBoI:nI2nI ]2Acoustic response timeoutmQm]؁BlYkakakaken@ɞyB > 靝 @I >ɝiI\UIi{9=iկ=))aE&EFI"FQ*FQ2FU 5:FQG]= G]=ԑ  2Acoustic response timeout G= l=G 2B :B)  O= >i,ď,ߥ?A6r?Y6.^?6>jK:6NrK:9zK8K:K:>DDCEAsxkYM@4/)&#   !"%)Rsd[BKB>:KB>96=JAHRS rotation from veh to nav: [[-0.225393,-0.973983,0.023546],[0.934113,-0.209173,0.289273],[-0.276822,0.087195,0.956957]]y6H̿ *?A?1ʿr?rѿkR?`d?ɫ6r?6;6ѐCRBRIIZkIZ ٥b' bM=9fYd9 EF٦EEyE E> IU4YM'?U4yMEMBY]:?]@M=DM$:M:Mtv4epB)eAeEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkǹn@ԩɞyBœ> @I ZN>ɝiIxUIi9=ih~=))He>HeCHeIIeBIe =IaIa&Ie<*IeREE.tF]6"FY*FY2Fe_0:Fa 2Acoustic response timeoutG5=G12BA:Bi O}Y> J J }J :J J :J S9J FA4J J x;J y;J :J :1 5 2Acoustic response timeoutP3ď,Xpϐ?AI)2f?Y2?2Z>92/P=>AHRS rotation from veh to nav: [[-0.221763,-0.974890,0.020263],[0.933577,-0.206275,0.293061],[-0.281522,0.083907,0.955879]]y2H@b̿L2??@5gʿ?vҿ z??ɫ2f?2;2АCn؀BnyI5Mb@Mb@Mb@1 1)1I1i15'1Z?MbX?MbX95B?5=5ʡ)5AI5Ai5&'A5@ 15 AIMiIM҅٥]x ]4=9e?0aa eF٦eEym m> q}4Yu?}4yuuhB~E?:?@u=DuH:u:u)~4)ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmImMBlQkQkQkQkUtn@ɞqyBǎ> @I B>ɝiI^UIiP%:=iؤ=))A 2Acoustic response timeoutE-8kE1E5sAiF "F *F 2F W0:F ԙ G d=G2B:B O>;ď,Ք?A88 :2Acoustic response timeout>?Y>!{?>m4>9> =FAHRS rotation from veh to nav: [[-0.218340,-0.975709,0.017858],[0.933195,-0.203404,0.296266],[-0.285437,0.081352,0.954939]]y>H ˿9MI??& ʿ?DҿtӴ?@ێ?ɫ>?>0;>ϐCNBNEII eI ]٥p< 7=9%)) -F٦-Ey-y -> 1=4Y5 ?=4y55'BAEZ?E@5=D55;51;54Q)UAQDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk ?I Y>ɝiIvDUIil:=i}=)) EEEEjKmaNrKm9zKiKmKmPE=;=7)%%$#%#'&#  .S{dRKJTP@2)H>HH@IIBIII&I<*I|E2IC:ICBIJIŧ =RIŦ =ZIi5IF56"F1*F12F5_0:F1G&= -2Acoustic response timeoutG2B:B O>q iAď,C?AJJR=0P8?Y#?Nĕ>9z=AHRS rotation from veh to nav: [[-0.215658,-0.976329,0.016532],[0.932920,-0.201011,0.298755],[-0.288360,0.079852,0.954187]]yH˿`>?{?ɿ? |tҿ,q??ɫP8?;BIMb@Mb@Mb@ )IiPn?"~j?㥛 D?S=)EAIAi(A@ AIMfIM{٥e8 2Acoustic response timeoutԙ ,=9;Q > F٦Ey > 4Y ?4y  BG?:?@ =D *: : 4EnB)EcAIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n m mށBlkkkk $n@ɞEyBb6> g8?I $>ɝiI0TIi:=ih=)) ԱF5"F*F2F:F E 2Acoustic response timeoutG G ?G *?G 2B :B  O >YHď,#?A @$:?Y:q?:(>9: ˦=FAHRS rotation from veh to nav: [[-0.212821,-0.976979,0.014805],[0.932764,-0.198631,0.300827],[-0.290961,0.077832,0.953564]]y:H`=˿`iC>R? 4?lɿ@?@ҿ?@?ɫ:?:O;:ΐCNYBNIIVkIV ٥^zu ^w=9^ 15y?I1 5B>ɝ1i1I5TI9i=:=iEۑ=)A)AJwJsJ2JJW:J9Jc3J!@!@!@!@yF"F*F2F0:FG%= G%=G *=)5G I)aIAG2B:B O%M> -2Acoustic response timeoutԡ jKm (NrKm ]9zKi Km Km   $h69 dH7%'??5'  "W. "$)' #E % V SUHu >Hq Hu IIu IBIu =Iq Iq &Iu <*Iu >EzNď,<?A\= 2Acoustic response timeout F٦Ey > 4Yu?4yքsB@=D;;4) ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo!:n)2n9mAmAlIkIkIkIkU n@ɞ$yB/> 靍?I {>ɝiIZTIi9,;=i=))F6"F*F2Fv2:FGMD=G) 2B1 M AM A U 2Acoustic response timeout:BQ  O] >A aUď,!V?A!}B}IUMb@Mb@Mb@Q Q)QIQiQUx&1?Q?x&UA?U=U7)UrAIU3 AiU.AU3@ QU AImJImK٥} 9=9Q > F٦Ey > 4YZ?4y^}7BD?:1?@ >D;;#4ZB)"ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkk o@ɞ-yB-kA> )5x?I1 = ]>ɝ9i9IEvSTIIiMk;=iMF=)I)QI 2Acoustic response timeoutEuhyJsJnJJJK:J99JJF 6"F *F 2F o0:F ԡ u 2Acoustic response timeoutG <=G 2B :B O>o\ď,(t?AI)9Rڹ=ZAHRS rotation from veh to nav: [[-0.205288,-0.978389,0.024737],[0.932307,-0.187805,0.309086],[-0.297760,0.086514,0.950712]]yRHFʿ@NT?t? ȿ?ӿ%?x| ~F٦~Ey~C ~> 4Y㡊?4y9vB]?@>D';;O4!)%+#A!MDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2namamalikikikikuo@ɞxB[> 靝x?I >ɝiI;SIiX;=i=))E2DjKPrK9zKKKtjt^daK'|q   .53-!,G[JHaBHe@AHm>HiHmSIImBIm =IiIi&ImƘ<*ImEF6"F*F2F@5:F 2Acoustic response timeoutGP=G2B:B  O >9 {Rcď,,?ABb?YB?B>9B ؾ=JAHRS rotation from veh to nav: [[-0.203656,-0.978662,0.027313],[0.932188,-0.185307,0.310946],[-0.299250,0.088787,0.950035]]yBH dʿ2Q?{? !ǿ?&ӿ@?f?ɫBb?B;BϐCRBR,I TT ]2Acoustic response timeoutMb@Mb@Mb@ )IiZd;?V-?X9v>?=})ZAI Ai2A@ GAIsIy٥J ==9l;Q > F٦Eyx > 4Yڡ? 4ynBA?:?@0>D@t;Y;4%HB)%#A-E DNOT Ignoring new targets: 14.63 m.Ro Jo bo ZoBo:n2nmmفBlkkkk%z'o@IɞxBr׆> 靥?I k>ɝiIPSIiq;=ii=))qE-Q9  2Acoustic response timeoutԡ F 6"F *F 2F 0:F JU uJU uJQ JQ JU [Q:JU 9JQ JQ G%=G- ?G-5?G2B :B! OE?jď,?A6?Y6Rw?6B>96=BAHRS rotation from veh to nav: [[-0.202675,-0.978804,0.029413],[0.932150,-0.183637,0.312049],[-0.300033,0.090662,0.949611]]y6H ?ɿ`]Rn?`+?mǿ`? 3ӿ5?6c?ɫ6?6ns;6АCJTBJIIRSIRQ\٥b b/=9f_:Q f>dd fF٦fEyjj j> lr4Ynϡ?r4ynfnBtv?v@nD>Dn:n[:n4zGB)z$A~E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m)l1k1k9k9kE5o@ 2Acoustic response timeoutɞxB<> ?I  >ɝiIRIi;=i =)) EEEEjK5.OrK5ػ9zK1K5K5inmha[[RIHIOv}uk`VH2%tNnH>HCHIIBI =II&I<*IE F)"F)*F)2F-2:F1  2Acoustic response timeout9 G ff=G 2B :B  O% >pqď,ZǑ?A @FlW?YFC?FS>9F=VAHRS rotation from veh to nav: [[-0.201148,-0.979109,0.029747],[0.932296,-0.182035,0.312549],[-0.300604,0.090601,0.949436]]yFH9ɿTu?@_?Lǿ? =ӿ`1?`a?ɫFlW?F;FѐC^~B^IIfNIf٥nV nJ=9n`:Q r>pp rF٦rEyv v> x~4Yzơ?~4yz_zFB|Z?@zW>Dz] ;zG ;z4 ) E&A mDNOT Ignoring new targets: 14.63 m.RoiJoiboqZoqBoq:nq2nqmymylykykkk@Bo@ɞxB > ?I &">ɝiI?RIaim&<=ipR=))IF5"F*F2F]0:F 2Acoustic response timeoutyG L=G 2B :B  O >ԡ \xď,8?A "2Acoustic response timeout:$?Y:h?:Qu>9:r=JAHRS rotation from veh to nav: [[-0.199692,-0.979396,0.030116],[0.932530,-0.180521,0.312729],[-0.300849,0.090533,0.949365]]y:H@ɿ5W֞? J? Mǿ?@Aӿ 2-?2a?ɫ:$?:_;:ΐCn~BnIq}Mb@Mb@Mb@y y)yIyiy}S?)\(?y&1}/=?}G=}`e)}nAI}G Ai}O5A}@ y}(AIdI@٥%  ==9:Q > F٦ Ey}h > 4Y.?4yQX B??:"?@j>DX ; ;4)5'ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm ́Blkkk!k%XQo@ɞxB>  ?I <#>ɝ i I }QIiQ<=ig=))!J)J-oJ)J)J)J-K9J)J)EM]>EM!>ԡF6"F*F2F^0:F 2Acoustic response timeoutG t0=G 2B :B  O > ,~ď,Tq?AHHHxIIn~BIII&Iט<*IEjK"OrK" 9zK K"K"{y{yjb\VNHH]uS<m?nb`V:2K(*K*sAJ?YJi?JR>9J+1=VAHRS rotation from veh to nav: [[-0.198855,-0.979548,0.030684],[0.932791,-0.179574,0.312497],[-0.300596,0.090763,0.949423]]yJHtɿuXk?k?Jƿ@?<ӿApp rF٦rEyv v> xz4Yz ?~4yzQzلB|~?@z{>Dz;z;z44 ) "(A =DNOT Ignoring new targets: 14.63 m.Ro9Jo9boAZoABoA:nI2nImImIlQkQkYkYk]l]o@ɞxB,> ?I ;$>ɝiI QIirr<=i%=)!)! ]2Acoustic response timeoutF5"F*F2F_0:F 9G) G 2B :B)  O5 >  2Acoustic response timeoutY Iď,.V?AI)9F=NAHRS rotation from veh to nav: [[-0.197537,-0.979761,0.032359],[0.933180,-0.177830,0.312334],[-0.300258,0.091894,0.949421]]yFH@Hɿ@4ZX??ƿ`G?n7ӿ_?`a?ɫF?Fъ;FΐCVD~BV^IMMb@Mb@Mb@I I)IIIiIMT㥛 ?Mb?v/MA?M>Mxi)M AIMAiM5:AMA IM\AIe_Ie٥u A=9 RQ >    F٦ EyT > %4YӪ?%4y4JB%TD?%:%?-@>D::41=4B)=(A=EuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nqmym}Blykkkk`jo@ɞxB|*> 靵g?I }%>ɝiIyPIi<=ip|=))F"F*F2F`0:Fa e2Acoustic response timeoutԉGa=G 2B :B  O >Ա =ď,&/?Aj?Yj?jR>9j e=zAHRS rotation from veh to nav: [[-0.196370,-0.979980,0.032819],[0.933671,-0.176657,0.311530],[-0.299495,0.091818,0.949669]]yjH`"ɿ[ ͠??ƿ?*ӿ`[?@c?ɫj?j';h ~B 9II-PI-٥E EN=9Ep Q E>II MF٦MEyMa U> Q]4YU ?e4yUCUhBaeh?e@U>DU;UF:U4i)u)AqDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml 2Acoustic response timeoutkkkk@vo@ԑɞxBr> ?I  '>ɝiIOIi <=i@x=))EF6"F*F2F0:FH%>H!H%II%}BI!I!I!&I%<*I%E2IC:ICBIJIŤ =RIť =ZIň^5jKOrK9zKKK~wrkfbb`\XVQTQPNJJIFCB??@GNSPNNLMHDB?>=;76753BK?:K?GPz= m 2Acoustic response timeoutG 2B :B  O  PExceeded connect timeout, disconnecting. G(ď,k I?A2ǃ?Y2Zo?2IN>92%=:AHRS rotation from veh to nav: [[-0.195245,-0.980200,0.032968],[0.934161,-0.175626,0.310642],[-0.298701,0.091449,0.949955]]y2Hȿ]+??zƿ?ӿ+i? f?ɫ2ǃ?2D;2̐CJ}BJIInsIny٥v" vP=9v Q v>xx zFJJJJJJJJJo;!Jo;!J:!J:!٦Ey%O %> !-4Y%Ҙ?54y%<%1B15D%Y;%D;%4A)E*AAmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmymylykykykkUo@ɞpxB> ?I (>ɝiI)ZOIi6<=iIt=))F6"F*F2F`5:F 2Acoustic response timeout!Gw=G2B:B O>A #Pď, b?A 2Acoustic response timeout @>!U?Y>@?>>9>=FAHRS rotation from veh to nav: [[-0.193961,-0.980432,0.033643],[0.934660,-0.174272,0.309902],[-0.297975,0.091553,0.950173]]y>Hȿ`_9? ?Nƿn?@ӿp?`g?ɫ>!U?>;>ΐCN}BRIMb@Mb@Mb@ )Iiy&1?"~j?v/`E?S=)$AIAix=A|A =AIdI@٥ ?=9Q > F٦Ey4[ > 4Y{?4y4BG?:?@>D:H:43B)V+AE%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo)Bo):n)2n)m)m5Bl1k9k9k9k= o@ɞe_xBm> im4?Ii u4)>ɝqiyI}NIyi<=io=))QF5"F*F2FP5:Fi5*>IC)=:G Q)m5AIW￙GA G?5Aԁ 2Acoustic response timeoutGur=G2B:B  O5 >ԩ JH! BH! H- >H) H- II- )}BI) I) I) &I- <*I- Eyď,|?A:m-?Y:?:>9:=@jKNNrKN+9zKLKNKN300//,*(%%('"! *:DJKPQVYZ[\_ckhX9 (`#6!jAHRS rotation from veh to nav: [[-0.192863,-0.980646,0.033736],[0.935063,-0.173260,0.309253],[-0.297422,0.091188,0.950381]]y:H`ȿra@E?@ ?`^-ƿ?`ӿ X?i?ɫ:m-?:;:ѐCrS}BrIIzJIzK٥   V=9 )ƺQ  > F٦EyP > %4Y)?-4y".B)-w?-@>DB::45"B)=+A=ץEeDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimilqkqkqkqku` o@ɞOxB> {?I 5*>ɝ i I NIi==ick=)1)9EAEA =2Acoustic response timeoutԱF"F*F2FS0:F UnManaging dock network, ignoring radio surface power offJa=Ja=J%wJ%tJ!J!J%W:J%9J!J!J%z;J%z;J%:J%:G@p=G2B! :BA  O >  2Acoustic response timeoutaď,d?A:$?Y:?:r>9:J=FAHRS rotation from veh to nav: [[-0.190906,-0.981053,0.033004],[0.935568,-0.171673,0.308610],[-0.297097,0.089793,0.950616]]y:Hoȿ d?@-?^ſD?ӿ? rk?ɫ:$?:;:͐CN}BNIl]Mb@Mb@Mb@Y Y)YIYiY]ˡE?v/?i|?5]G?]x=]q)]l'AI]tAi]@A]A Y]!AIu_Iu٥ B=9TQ > F٦EyӤ > 4Y}?4yx&BJ?:z?@>DW;;4),ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkko@ɞ=xB}> z?I K+>ɝi!I%gNMI!i-{==i-¡d=))))F6"F*F2F^0:F M2Acoustic response timeout1G8k=G 2B :B  O >a ď,an?AI):۪?Y:n?:I>9:̻=BAHRS rotation from veh to nav: [[-0.189174,-0.981448,0.031206],[0.936013,-0.170628,0.307840],[-0.296804,0.087445,0.950926]]y:H6ȿh??#ſ? ҿb?m?ɫ:۪?:]Ћ;:ːCj|Bj~IIrfIr{٥z zT=9zPQ ~>|| ~F٦ Ey > 4YZu?%4ypNB!%7?%@>Dx1;Y!;4))5-A19eDNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:ni2nimimilqkqkqkqku o@ 2Acoustic response timeoutɞ/xB> ?I &',>ɝiILIie'==i^=))FQ"FQ*FQ2FU_0:FQiH>HCHRII|BI =IID&I#<*I7EjKNrK 9zKKK~|xurspjfd_^`v %?IKKHGu \c=ԙGi2By:B O> ] 2Acoustic response timeout vď,Tʒ?AV[i?YVT?V>9V =^AHRS rotation from veh to nav: [[-0.187327,-0.981865,0.029146],[0.936513,-0.169564,0.306906],[-0.296398,0.084787,0.951294]]yVH`Tǿpk؝??Fſ W?.ҿࡴ?@p?ɫV[i?V`;V͐Cf|Bf_IJrvJrqJpJpJr{T:Jrq9JpJpJrZu;Jr]u;Jr:Jr:IeQIe٥} }B=9}>Q > F٦"EyA >ԑ 4Yl?4yB?@?D::4 B)n.A֥E DNOT Ignoring new targets: 14.63 m.Ro Jo boZoBo:n2nmmlkkk!k%o@ɞMxBU{> UU?IQ U"->ɝYiYI] KIYiex6==iu\"X=)q)EUt>EQحAحA 2Acoustic response timeoutF5"F*F2F:FGH\=G 2B :B  O > U 2Acoustic response timeoutď,q8?A6!?Y6_ ?6O>96UR=BAHRS rotation from veh to nav: [[-0.185286,-0.982311,0.027083],[0.936946,-0.168285,0.306288],[-0.296312,0.082127,0.951554]]y6Hwǿ o?@v?@\ſ 9?ҿ@?? s?ɫ6!?6i;6ΐCJr|BJ@I-Mb@Mb@Mb@) )))I)i)-V-?y&1?T㥛 -M?-`=-)-*AI-Ai-/CA-bA )-#AIEhIE٥ B=9^Q > F٦%EyU > 4Y b?4y  ӂB.P?:?@ (?D : : f4%B)-.A-ͥE]DNOT Ignoring new targets: 14.63 m.RoYJoaboaZoaBoa:na2namimmBlqkqkqkqk} o@ɞxBB?{> 靭s?I .>ɝiI;KIi~A==i[P=))Fy"Fy*Fy2Fo0:F! 2Acoustic response timeoutIG#Y=G 2B :B  O >y ZH <RH H >H H II |BI =I I &I <*I ~EȾď,?A Rm?YR?R>9RR=bAHRS rotation from veh to nav: [[-0.183713,-0.982623,0.026474],[0.937308,-0.166999,0.305884],[-0.296148,0.081009,0.951701]]yRHǿq? m? ;`ſ?ҿ?Tt?ɫRm?R9;R͐Cj#|BjIjKnj&OrKn9zKlKnKnFBSsqX&.?JKHGA<0(,S\E$|laWPGB==94/-+)'%%## IzVIz٥S \=9 Q  >    F٦ (Eyؔ > %4YZ?%4yB!-?-@:?D:F:41)5/A1]DNOT Ignoring new targets: 14.63 m.RoYJoaboaZoaBoa:na2namimilikikikqkuo@ɞxBE{> 靥_?I .>ɝiIJIiH==iTK=))Q 2Acoustic response timeoutF%6"F!*F!2F-]1:F)ԁJSJ[3J[?z0JJpJ3JJJ^9J(3JJJJ:J:G5dO=G 2B:B1 O=>Ա  2Acoustic response timeout ď,?A6i?Y6?6hǙ>96Ʉ=>AHRS rotation from veh to nav: [[-0.181984,-0.982971,0.025473],[0.937738,-0.165699,0.305273],[-0.295854,0.079442,0.951924]]y6HCKǿ`t??5ſ?EҿMV?`)v?ɫ6i?6/);6ϐC {B IMb@Mb@Mb@ )Ii&1?!rh?x&P?l=7)+AIZAiDA A p%AIfI{٥M ==9p:Q > F٦*Ey& > 4Y?Q?4y[BS? : G? @O?DH:Q:s4)0AEDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nIԱmmBlkkkkIo@ɞEwBEdr> IMe}?II m/>ɝiiiImIIi)N==iE=)) %2Acoustic response timeoutE04E F "F *F 2F _0:F 9 G AI=  2Acoustic response timeoutG2B:B O>ď,C7?ADN&?YNr?N:>9N=ZAHRS rotation from veh to nav: [[-0.180898,-0.983157,0.026055],[0.937994,-0.164502,0.305132],[-0.295707,0.079637,0.951953]]yNH'ǿv@? ?fſ J?ҿ`c? gv?ɫN&?N뺊;NːC^{BbIIj|Iji٥r r4=9vQ v>tt zF٦z-EyzT( ~> 4Y =G?4y  B!?@ f?D : b: k%4%B)-1A-̥EUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmYmalakakakikm 9o@ɞ=wB=[q> AEsp?IA E0>ɝAiAIMHIIiM"Q==iUB=)Q)QH>HCHIIt{BI =I>DI&I<*IEEԹjK-OrKzKKK+485,)%<lzmYJ@7,'0SyfXat}zqg`\UBK ?:K?F "F *F 2F0:F 2Acoustic response timeoutG<H=G 2B :B   O% > J J .ď,P?AI()*p< -2Acoustic response timeoutj{BIEMb@Mb@Mb@A A)AIAiAEX9v?X9v?l񲿹ES?E=E)E.AIEnAiEHAEG A AE(AI]HI]٥m m)=9mQ u>qy }F٦}0Ey > 4Y g?I 1>ɝiIۃGI!i%xT==i-řB=)))) E1E1E1E1Q  2Acoustic response timeoutFa "Fa *Fa 2Fe _0:Fa Gm = Gi ԉ Ա J yJ mJ 2J J ]:J &9J c3J ! @! @! @! @GB=Gq2By:B O?ď,uq?AJB?YJ(.?JA>9J&=fAHRS rotation from veh to nav: [[-0.179090,-0.983427,0.028262],[0.939186,-0.162337,0.302615],[-0.293011,0.080739,0.952694]]yJHoƿ ;x? ?wĿ@ ^?ҿ P?w|?ɫJB?Jo;JϐCn{BneII kI  ٥%mO -;=9-5ӻQ ->11 5F٦53Ey5 5>ԙ 2Acoustic response timeout 4Y1?4yB?@?D;:54)3AmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:ni2nqmmlkkkk^ p@ɞwBai> )U?I =\2>ɝiIqFIiS==ix:=))Fe5"Fa*Fa2Fe0:FaGmFmGm GmJHBHH>HHEIIzBI =IID&I̘<*IE2ImC:ImCBImŔCJImŢ =RImŢ =ZImť5jKNrK9zKKKQNJFEB;7631/,$ ,_-&ubSG?7/,(#  2Acoustic response timeoutG 2B :B1  O= >! ɵď,]?A2692.5=>AHRS rotation from veh to nav: [[-0.179005,-0.983416,0.029145],[0.939730,-0.162131,0.301034],[-0.291317,0.081275,0.953168]]y2Hƿ%x@+؝? D?Ŀ`$D? ҿmδ?Z?ɫ26X\ ^F٦^6Eyb f> lv4Yn)?z4ynnJB|~v?~@n?Dnn;n;nX<4JC=J=%B)%4A-¥E]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:na2namimilikqkqkyk}@;p@ɞEwBMNm> qu0E?Iq u2>ɝyiyI}EIyi~R==iB:=))FM6"FI*FI2FU@5:FQ 2Acoustic response timeout!GY2Ba:By O9>Iq rď,*?A @ "2Acoustic response timeoutNZ?YNUF?N:>9N=ű=VAHRS rotation from veh to nav: [[-0.180000,-0.983179,0.030967],[0.940186,-0.162702,0.299298],[-0.289225,0.082988,0.953657]]yNH@= ǿ4v?? kĿ'?@ҿ@>?\?ɫNZ?NΉ;L^mzB^IUMb@Mb@Mb@Q Q)QIQiQU|?5^?q= ףp?l񲿹UR?U=Q)U2AIU?AiU\KAUA QU +AIupIu<٥D >=9OQ > F٦8Eyg; > 4Y?4yQ BU?~:6?@?Da::C4)06ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkQkkk@Cp@ɞwBqd> 3?I 3>ɝi1I5DI1i=R==i=ߙ>=)9)9J5vJ5wJ1J1J5{T:J59J1J1)}G )AIyyAF"F*F2F 14:F GGԁG2B:B O J> 2Acoustic response timeoutԩH >H H II 9zBI =I I &I <*I E ď,?A6&a?Y6L?6v+>96o=>AHRS rotation from veh to nav: [[-0.180296,-0.983057,0.033040],[0.940736,-0.162530,0.297656],[-0.287243,0.084748,0.954101]]y6Hǿ4u@?`?Ŀ ? 0bҿ??ɫ6&a?6ˉ;4F1zBJIIRoIR٥Z ZY=9^\Q %>!! %F٦%;Ey-: -> 1E4Y5?E4y55̀BAE=?E@5?D5R6;5[0;5J4UB)U6AUE}DNOT Ignoring new targets: 14.63 m.RoyJoboZoBo:n2nmmlkkkk@2p@ɞwBU&e> (?I 4>ɝiICIiS==iA>=))jKyNrK9zKKK  3B=0& Ա U2Acoustic response timeoutFY"FY*FY2F]_0:FYGI2Bi:B O>  2Acoustic response timeout9 ď,Tؓ?A64q?Y6\?6o>96ֶ=>AHRS rotation from veh to nav: [[-0.180877,-0.982919,0.033968],[0.941274,-0.162995,0.295696],[-0.285108,0.085458,0.954678]]y6H&ǿt>d??`Ŀ? 6?ҿ?@?ɫ64q?6;;6ΐCFyBFIeMb@Mb@Mb@a a)aIaiaeQ?Q?{GzeU?e=eף)e~4AIe!AieNAe`A ae-AI}bI}٥(- ==9GQ > F٦>Ey2: > 4YM ?4yBX?z:?@?D;d;Q4B)7ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm Blkkkk@%p@ɞMwBU6^> Y]?IY ]_4>ɝYiYI]SBIaieIU==ie@=)i)iF5"F*F2F:F9 e2Acoustic response timeoutGJM=G2B:B  O% >i J] uJ] nJY JY J] [Q:J] 99JY JY (ď,?AI)<6~?Y6.j?6&ڒ>96(*=FAHRS rotation from veh to nav: [[-0.181385,-0.982793,0.034899],[0.941841,-0.163399,0.293660],[-0.282904,0.086134,0.955273]]y6H7ǿ s@8ޡ?#?FĿQ?ҿ` ? ?ɫ6~?6;6̐CJyBNIIVNIV٥^[H ^Y=9b<ǻQ b>`d fF٦f@Eyf": f> hn4Yj?n4yj3jQBpr?r@j?Dj<;jY;jX4t)v8At%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo):n)2n)m)m1l1k1k1k9k= +p@ɞevwBm\> imR ?Ii m4>ɝiiiIuWB 2Acoustic response timeoutIifW==iA=))iF6"F*F2F`0:FZHE<RHE<HM>HIHM}IIMyBIM =IIII&IM<*IMEԙG#@=jKMrK+9zKKK  ;S]j{ =T[ceb^_[PH@^& otydR?. G2B:B O> m 2Acoustic response timeout `ď,̖ ?AF?YFr?Fő>9FR7=PRAHRS rotation from veh to nav: [[-0.182282,-0.982569,0.036502],[0.942275,-0.163961,0.291950],[-0.280876,0.087612,0.955737]]yFHUǿ3q a?'?`Ŀ@M?`ѿm?e?ɫF?F;FАCZSyBZTIIb_Ib٥j1 jI=9nyQ n>pp rF٦rCEyv; v> xz4YzI?~4yz<zB?@z @Dz*;z,;z_4 ) :A]DNOT Ignoring new targets: 14.63 m.RoYJoYboaZoaBoa:ni2nimqmylykykkk@2p@ɞmgwBu"[V> 靝>I sb5>ɝiI@Ii[==i^D=)) 2Acoustic response timeoutF5"F*F2Fo0:FGtAFtAG B=! G 2B :B  O >* ď,qr&?A 2Acoustic response timeout|yB &I=Mb@Mb@Mb@9 9)9I9i9=n?!rh?ˡE=VN?=l==什)=6AI=X#Ai=QA=A 9=(0AI]QI]٥m# m3=9uQ u>qq }F٦}EEy} }> 4YD?4yBhQ?:?@#@D;I;g4ܓB):AEB*** querying acoustic contact ***:pBp]DNOT Ignoring new targets: 14.63 m.RoaJoaboaZoaBoa:na2namimuBlqkqkqkqk}@ :p@ɞXwB*QR>JJmJJJJ&9JJ) 56"ݼ5>I1 55>ɝ1i1I5?I9i=_==i=PD=)A)AF6"F*F2F0:FY 2Acoustic response timeoutG SE=ԁ G 2B :B  O >HI HI HM IIM xBII II II &IM Ϙ<*IM EKď,P@?A "@>?Y>#?>!>9>+=FAHRS rotation from veh to nav: [[-0.183641,-0.982239,0.038514],[0.943171,-0.165027,0.288436],[-0.276957,0.089294,0.956724]]y>H@ǿn)?`t.?ſ@u?@ѿ۶?|?ɫ>?>|;>̐C~xB~II eI ]٥U8| U^=9U5YQ ]>aa eF٦eHEyeGW; m> i}4Ym頊?}4ymm.By}?@m5@Dm;m ;mn4ړB)( 靅>I  6>ɝiIq>Iid==i-I=))EEtA 52Acoustic response timeoutFq"Fq*Fq2Fu`5:FyԉԹG B=G 2B :BQ  O >  2Acoustic response timeout >ď,1Z?A2?Y2y?2 >92$)=:AHRS rotation from veh to nav: [[-0.184071,-0.982118,0.039526],[0.943640,-0.165320,0.286726],[-0.275065,0.090077,0.957197]]y2Hǿ`m F٦JEyX\: > 4Y$ࠊ?4yܟ~BQ?:?@J@D4;;Eu4)K=ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm Bl kkkkBFp@ɞ]>wB]EI> YeQ>Ia eG6>ɝaiaIeA=Iiim]k==iuoI=)q)qF"F*F2F@5:F  =2Acoustic response timeout)G- 3J=G 2B :BA  OM >a fď,t?A6p?Y6?6ߍ>96y=BAHRS rotation from veh to nav: [[-0.184197,-0.982077,0.039950],[0.944053,-0.165461,0.285284],[-0.273560,0.090264,0.957610]]y6H ȓǿ,m``t?5?`-ſ B?ѿ? ?ɫ6p?6/;6ΐCFxBJIIRfIR{٥ZWE ZZ=9ZɈQ Z>\\ ^F٦bMEyb9 b> dj4Yfנ?j4yffG~Bhj?n@f\@Df:f;f{4t)vs>AxDNOT Ignoring new targets: 14.63 m. 2Acoustic response timeoutRoJoboZoBo:n2nmmlkkkkLp@1ɞM2wBMDG> QUf>Iq uMs6>ɝqiyI}[HCHII2xBI =II&I<*IEaEFQ"FQ*FQ2FU`5:FQjK0PrK9zKKKt*R I (TrgQ3"mc]ZYYYX[ad^WQMIID@A> U 2Acoustic response timeout G <H=G G ?J9 J= oJ9 J9 J9 J= K9J9 J9 J= o;!E J= o;!E J= :!M J= :!M G 2B :B  O]>)U$ď,(,?AI@)B9=%AHRS rotation from veh to nav: [[-0.183575,-0.982204,0.039689],[0.944580,-0.165077,0.283757],[-0.272156,0.089580,0.958074]]yHaǿ`7n@&R? :?;!ſ`)?`jѿ??ɫ1?;̐C5wB5lIIMjIM٥]C ]&=9]%BQ e>iq uF٦}PEyº > 4Y͠?4y,}B?@u@D?;;;4%B)%d=A-E 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk6Up@ɞ5!wB5>A> 9=9>I9 =6>ɝ9i9I=7;IAiM x==im#G=)q)qEqڼF- 5"F) *F) 2F- 0:F) 1 ] 2Acoustic response timeoutY GUJ=G)2BA:BQ Oe?`,ď,rk?A6g?Y6?6kg>96,=>AHRS rotation from veh to nav: [[-0.182789,-0.982369,0.039227],[0.945121,-0.164588,0.282235],[-0.270802,0.088664,0.958543]]y6Heǿo@? o>?`7ſ@"?Tѿ ?b?ɫ6g?6y;6ΐCFwBJ6I!5Mb@Mb@Mb@1 1)1I1i15/$?J +?Q뱿51H?5=5\)5x=AI5l'Ai5SA5A 15Q4AIMEIM٥]. ]"=9]6Q > F٦SEy > 4Y ?4y(}BJ?:%z?%@@D6;-;41)5>A1}DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkk\p@ 2Acoustic response timeoutɞwB/=>  =I  [6>ɝ i I 9Ii4|==ijD=)) EEEEQH>HH,IIqwBI =II&I<*IE2IC:ICBIœCJIŠ =RIŠ =ZI4ԁF 6"F *F 2F 0:F jK OrK h9zK K K =<?BXqm`XPJB?<:7221.+(('(')&%%$"%# !  % $5BK ?:K ? U 2Acoustic response timeoutԩ G= <H= G2B!JMvJMnJIJIJM{T:JM99JIJIJM[u;JM]u;JM\:JM]::B O>4ď,є?Aq??Y+?菊>9F=AHRS rotation from veh to nav: [[-0.180403,-0.982845,0.038339],[0.946565,-0.162886,0.278358],[-0.267338,0.086507,0.959712]]yHsǿws2?BJ?@oĿ`?ѿV%??ɫq?? ;髁/wBII_I٥N( %=9TQ > F٦VEy > 4Y?4y||B?@@D::4B)@A 5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Bo1:n12n9m9m9l9kIkQkQik]dp@ɞwBԓ9> 靥+=I 6>ɝiIa}8Ii{==ij:=)) u2Acoustic response timeoutFA"FA*FI2FM4:FQԑG-B=GGrAG 2B :B  O >  2Acoustic response timeout 3:ď,?A >?Y>z?>]g>9>&/=JAHRS rotation from veh to nav: [[-0.179402,-0.982998,0.039108],[0.947368,-0.161912,0.276185],[-0.265157,0.086598,0.960309]]y>Hƿt?`P?`Ŀ`?UпD+? ٺ?ɫ>?>΃;AI)Ai;YA+A 6AIeWIeƕ٥us }A=9}HQ }> F٦YEy46 > 4Y?4y )-=I) 5j6>ɝ1i1I567I9iEw==iEQ%7=)A)AF5"F*F2F^0:FG= G= 2Acoustic response timeoutG- l;=1 ZH <RH H >H H II vBI I I &I <*I #EG 2B :B!  O- >Y UAď,?A6W?Y6?62>96׶=BAHRS rotation from veh to nav: [[-0.177910,-0.983260,0.039349],[0.948282,-0.160624,0.273791],[-0.262887,0.086024,0.960984]]y6Hƿ v`%?@SX?`TĿ@Ʌ?#п?a?ɫ6W?6rԊ;4fvBfIIrZIr٥z]* zg=9zٻQ ]>YY eF٦e[Eye7 e> iu4Ym>?u4ymnm{By}3?}@m@Dm@;m;m4B)$BAEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2n 2Acoustic response timeoutmmlkkkkpp@jKNrK+9zKKKKe!y/7|eQ?0&"! -6r&D-6|lɞ%vB%/> !%fI! -6>ɝ)i)I-6IiCr==i01=)))F6"F*F2F_0:FJJpJJJ:J^9JJJ;J;J:J:YG d6=Gi ؑ ؕ A  2Acoustic response timeoutԱ 2B :B  O >lFGď,?A@ TvB }IMb@Mb@Mb@ )IiZd;?|?5^?y&1>?=`e)@AI+AiUAA 7AI\IW٥ ==9Q > F٦^Ey > 4Yࠠ?4ygq{BQA?:?@@Dj;; 4!)%BA!MDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nYmYm]BlYkakakake@wp@ɞvB-> 靝 I P6>ɝiI:4Iil==i 2=))EEsAԩ 2Acoustic response timeoutF!"F!*F!2F!:F!GM [1=GM ?GM ? G) 2BI :BY  Oe >\pMď,]8?AI<)< "2Acoustic response timeout>o?Y>#[?>K>9>F=FAHRS rotation from veh to nav: [[-0.174819,-0.983866,0.038034],[0.949995,-0.158397,0.269110],[-0.258743,0.083177,0.962358]]y>Hw`ƿ{`)y?[f?^FĿ9? @п`K??ɫ>o?>W%;>ϐCNvBNTIIVcIV#٥^5 ^_=9bY?Q b>`` fF٦faEyf f>l pv4Yr?v4yr`r{Btv?z@r@Dr:r:r}4|)M DAIDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml k k k k }p@ɞ}vB(> 靅AI h6>ɝiI+y3Ii`==i$=))H=>H=CH=WII=vBI9I9I=D&I=ɘ<*I=E F-5"F)*F)2F-n0:F)G5sAF11 2Acoustic response timeoutjKqpOrK 9zKKK `A*     GG 2B :B  O >a J tJ mJ J J ;N:J &9J J J j;J j;J ƾ:J Ⱦ:ZTď,CR?Ajj:?Yj%?j>9j=rAHRS rotation from veh to nav: [[-0.173378,-0.984137,0.037618],[0.950830,-0.157313,0.266787],[-0.256637,0.082024,0.963021]]yjHC1ƿ ~B?3m?@"Ŀ?lп~??ɫjj:?j ;jΐCzuBz.I9IEmIEF٥! ?=9ХQ > F٦cEy,v > 4Y(?4yXzBc?@AD9;:;4)DADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkp@ɞvBP%> rI w46>ɝiIn2IiQ==i. =)) e2Acoustic response timeoutiF6"F*F2F0:FԉG !=G 2B :B  O >Թ } 2Acoustic response timeout]Zď,4l?A6D?Y6?6>96U=BAHRS rotation from veh to nav: [[-0.172489,-0.984285,0.037830],[0.951570,-0.156588,0.264564],[-0.254483,0.081632,0.963626]]y6HƿBd^?Cs? Ŀ`? rIп ??ɫ6D?6;6̐CFuBJIԙMb@Mb@Mb@ )Iix&1?zG? ףp= A@? =Q8)^BAI-AiWA A :AIXI㔴٥- D=9Q > F٦fEy% > 4Y?4ylQOzBwB?:8?@AD;;54 B)  FA EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmoBlkkkk0p@ɞ=vBE#!> AEIA E&5>ɝIiIIM0IQiUAA==iUQ=)Q)YEaEe>F5"F*F2F_1:F 2Acoustic response timeoutG"=GGsAJH) BH- AAH= >H= CH= II= uuBI= =I9 I9 &I= <*I= EG 2B :B  O > jaď,?A 2B?Y2?2>92z!=BAHRS rotation from veh to nav: [[-0.171358,-0.984417,0.039492],[0.952284,-0.155221,0.262797],[-0.252572,0.082640,0.964043]]y2H` ſ@XK8?y?Kÿ? "*п'? p?ɫ2B?2Ҿ;2͐C^PuBbIIfuIf_v٥n! r[=9rݭQ r>tt vF٦vhEyva v> Ye4Y]h?e4y]sJ]yBim ?m@]%AD]:]:]4u}B)FAEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml k k k =2Acoustic response timeoutjKUQMrKU+9zKQKU KU#%&,;INY^]VRPQLK\^IITgYPlQ.k/p@ɞvB > G,I 5>ɝiIw/IiW/==iQ=))F"F*F2FP5:FG= G=!JrJkJJJG:J9JJJ_;J_;J:J:IG=G 2B  2Acoustic response timeout:B  OM >y igď,ʟ?A6?Y6`?6>96w=>AHRS rotation from veh to nav: [[-0.171143,-0.984391,0.041039],[0.952832,-0.154772,0.261068],[-0.250641,0.083783,0.964448]]y6H@ſ! ?}? ÿ U? пr??ɫ6?6*;6ːC^ uB^IuMb@Mb@Mb@q q)qIqiqu"~j??+uSC?u=u)uDAIuf0AiuZAu!A quQ)) -F٦5kEy5z; 5> 9E4Y=y?E4y=yB=yBM@E?M:M?M@=:AD=:=:=4y)gGADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkkp@ɞvB> ¾I \5>ɝiI.I iE==iL=)) M2Acoustic response timeoutF6"F*F2F5:FԩG y=G 2B :B  O > lmď,U?A>?Y> ?>p€>9>=FAHRS rotation from veh to nav: [[-0.171159,-0.984257,0.044080],[0.953301,-0.154144,0.259725],[-0.248841,0.086475,0.964676]]y>Hſ  ?q?ÿS?Ͽ B#??ɫ>?><;>̐C R2Acoustic response timeoutVtBVIIf^If٥n! nb=9nhQ r>pp rF٦rmEyv#G v> x~4Yzq? 4yz;zDyB  ? @zKADzs;zs;z4)PHAMDNOT Ignoring new targets: 14.63 m.RoIJoQboQZoQBoQ:nQ2nQmYmYlYkakakake`p@ɞvBY> 靕۾I  5>ɝiI/,Iic ==i=))EH>HHIItBI =IID&I<*IEF5"F*F2F_0:FG5l=G2B:B) OM> U2Acoustic response timeoutjKOrK9zKK KmUB/ '_yjT='  &-1.' BK?:KI tď,|ӕ?AI)9BM=NAHRS rotation from veh to nav: [[-0.171777,-0.983982,0.047663],[0.953587,-0.153935,0.258795],[-0.247313,0.089906,0.964756]]yBHſ |Cg?Ƀ?(ÿ@?Ͽ? G?ɫBk?B.r;BːCrtBrIIzQIz٥ F=9%zQ %>!! %F٦-pEy-Ӷ: -> 1=4Y5i?=4y5/45xBAE?E@5_AD5;5;54MzB)MHAMEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@vp@ɞ=vB=> AEIA E4>ɝIiIIM`+QIyi}<=i}>=)) 2Acoustic response timeoutyEmcռԩ F 6"F *F 2F P5:F G tAF e 2Acoustic response timeout G-=JJ 3J S}-JuJjJ3JJ[Q:J9J(3J!@!@!@!@G2B):BA OM?gK|ď,*?AF?YF?F_7~>9FIw=VAHRS rotation from veh to nav: [[-0.172597,-0.983662,0.051183],[0.953852,-0.153952,0.257808],[-0.245716,0.093318,0.964840]]yFH ƿ@(z4??`ÿ?sϿ?`?ɫF?F|;F̐C\btBbmIMb@Mb@Mb@ )Ii#~j?B`"۹? F٦sEy: > 4Y_?4yc*uxBG?:?@xAD_;;)4pB)IAE-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo1:n12n1m1m5qBl9k9k9k9kEp@ɞmvBm/> quoIq u}'4>ɝqiqI}r)Iyi}<=i=))Emm 2Acoustic response timeoutF5"F*F2F_0:FZH<RH=H>HCHDIIYtBI =II&I<*IE2IC:ICBIŔCJIş =RIş =ZI~5G=G 2B :B  O >A } 2Acoustic response timeoutjK- mOrK) zK) K- K- `I@2":GE?5.".p/ď,1\ ?A>4D?Y>/?>;~|>9>V=VAHRS rotation from veh to nav: [[-0.174245,-0.983190,0.054557],[0.953971,-0.154815,0.256848],[-0.244084,0.096800,0.964911]]y>H Mƿ`Jv??ÿ 3p?@'>ϿǸ?`?ɫ>4D?>C;<^OtB^?IIfhIf٥nFH n[=9rQ r>pt vF٦vvEyv; v> x~4Yz-X?4yzd#z#xB?@zADz ;zz ;z4 ) DJA=DNOT Ignoring new targets: 14.63 m.Ro9JoAboAZoABoA:nA2nAmImIlIkIkQkQkU`p@ɞyvB > 靍 I 3>ɝiIU(Ii5<=i5"=)9)9 EIEIEIEIJR=Ja=I 2Acoustic response timeoutyF6"F*F2F:Fԩ G ;=G G G 2B :B  O% >=ď,(?A @6~?Y6 k?6oQz>963=BAHRS rotation from veh to nav: [[-0.176065,-0.982569,0.059654],[0.954162,-0.155447,0.255755],[-0.242024,0.101949,0.964899]]y6HLƿ`5q?@?ÿJ^?ο R?t?ɫ6~?69*;4J&tBJ%IT=Mb@Mb@Mb@9 9)9I9i9= rh?MbX? F٦yEy~; > 4Y N?4y j wB M?:p?@ AD ?|; a|; 45nB)5JA5E)G )I5꿙9=ADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkkֺp@ɞ=lvB==> AEIA E#3>ɝAiAIE6&IIiM)<=iUa{(=)Q)YJnJrJ2JJ|;:J9Jc3JF"F*F2F:FG= G=  2Acoustic response timeoutG $=9 G 2B H #>H CH II sBI =I I D&I <*I E:B1  OE >Ϡď,{B?AR5?YRĪ?RLw>9R05=ZAHRS rotation from veh to nav: [[-0.178035,-0.981894,0.064711],[0.954435,-0.156303,0.254212],[-0.239495,0.107021,0.964981]]yRHƿ@kߐ?ຊ?ĿE?§οe?` ?ɫR5?R;R͐CbsBfIIhIh٥v+ v^=9vQ v>xx zF٦z{Ey~ɬ; ~> 4Y KG?4y K kwB?%@ AD 4; 3; F4))-KA)UDNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:nY2nYmamalakakikikmp@ɞdvBd> 靥nI !2>ɝiIX%Ii1<=i&/=))Fu6"Fq*Fq2Fu0:FqI 2Acoustic response timeoutjK=NrK=9zK9K= K=n\M>55X}wi[PF<70-++)%!  yG)=Gi2Bq:B O>ԡ = 2Acoustic response timeout_ɖď,w\?AE??YE?Eet>9E-=ԁAHRS rotation from veh to nav: [[-0.180477,-0.981137,0.069264],[0.954746,-0.157826,0.252094],[-0.236408,0.111627,0.965221]]yEHǿ@zeH? G? 3Ŀ@P"?Bο??ɫE??Eh;AsBIIZI٥MB M6=9Q > F٦~Ey; > 4Y=?4yx wB?@AD;;D4cB)LA{EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml)k)k1k1k5ip@ɞ]YvB]> ae&Ia et2>ɝaiaIma#Iiiu+<=i}7=)y)yEN>E>ԩF5"F*F2F0:F 2Acoustic response timeoutG- 31=G 2B :B)  O= >J eJ XJ 3J J \:J 5K9J (3J  ;ď,GUv?AI<)6O?Y6X;?6q>96=BAHRS rotation from veh to nav: [[-0.182532,-0.980618,0.071201],[0.955143,-0.159681,0.249406],[-0.233203,0.113531,0.965778]]y6H`2]ǿ:a6:??lpĿ`?Ϳ@d? ?ɫ6O?61;4JsBJIuMb@Mb@Mb@q q)qIqiqun?:v?l񢿹uVN?u=u)uLAIu3Aiu_Au=(A qu=BAIII.٥ V=9 Q > F٦EyE; > 4Y 6?4y2vBCP?:?@ADi ; ;4)LADNOT Ignoring new targets: 14.63 m.RoJoboZo Bo :n 2n m mrBlkkkkMp@ɞEPvBMF= IM2II U1>ɝQiYI]-_"IYie <=ieǓ==)a)a 2Acoustic response timeoutF6"F*F2F_5:FGFJHBH@AH`>H#CHIIosBI =I=DID&I<*IEG d6=9G2B:B  O- >  2Acoustic response timeoutY jK NrK 9zK K K   )6;6/%  FJ3ڣď,|+?A6?Y6o?6zm>96h=>AHRS rotation from veh to nav: [[-0.185193,-0.979979,0.073109],[0.955446,-0.162157,0.246633],[-0.229840,0.115527,0.966347]]y6Heǿ[@I?? Ŀઑ?dkͿ%?`Q?ɫ6?6b ;6ːCJLsBJIIZZIZ٥f fX=9jQ j>ll rF٦rEyr); v> x4Yz-?4yzzfvB  &? @zADz\;z];zf4aB)%MA%zEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nm m l k kkkp@1ɞFvB7= >I 0>ɝiI Ii%<=i%F=)!)!F"F*F2F35:Fa  A 2Acoustic response timeoutԑG==G 2B :B  O > ď,*?A>?Y>?>@j>9>Ej=JAHRS rotation from veh to nav: [[-0.186441,-0.979765,0.072800],[0.955936,-0.163805,0.243627],[-0.226772,0.115014,0.967133]]y>H@Pǿ?>;>͐CRsBR}I=Mb@Mb@Mb@9 9)9I9i9=V-?v/?kt=hQ?=x== 0)=RAI= 6Ai=haA=+A 9=pEA ]2Acoustic response timeoutI]aI]錴٥m m@=9uQ u>qq }F٦}Ey}3; }> 4Y]$?4y] vBS?:?@BD#;:4)NAUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nY2nYmYm]Blakakakakefp@ԉɞɝ)i)I-^I1i5<=i5I=)1)1EAF5"F*F2F]0:FJUcJU]JU4JQJU:JU_9JU3JQԹG G=  2Acoustic response timeoutG 2B :B  O >H x>H 'CH jII rBI =I I D&I <*I UE xď,Ö?A @:?Y:F?:f>9: =FAHRS rotation from veh to nav: [[-0.187892,-0.979560,0.071831],[0.956422,-0.165830,0.240327],[-0.223503,0.113857,0.968030]]y:H ȿ@Xc?@?9ſ ?@̿%??ɫ:?:;:ʐCJrBNZIIr`Ir̍٥~ R=9[ Q >    F٦ Ey f;  > 4Y?%4yuB!%?%@BD;;4-WB)5LOA5pE]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoa:na2namamilikikqkyk}]p@ɞ4vB׋= 靭VI h/>ɝiIIi<=i(N=))F1"F1*F12F5_0:F1G== G== m2Acoustic response timeoutjKmMrK9zKKK 571-% ,amXICABFGA:64/+)'!!  GqGQ2Ba:Bq O}>I % 2Acoustic response timeoutď,+ݖ?A Re?YR ?Rc>9RO==mAHRS rotation from veh to nav: [[-0.189147,-0.979446,0.070065],[0.956993,-0.167886,0.236599],[-0.219973,0.111803,0.969078]]yRH@5ȿW??I}ſ H?(̿$??ɫRe?Rٿ;R̐CrB;IIMAIME٥(۽ 2=9Q > F٦Ey#; > 4Y#?4ySuB?@0BDA;B;%4)PA DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n2nmmlkkkk%`p@AɞU*vB]b= Y] `IY eN.>ɝaiaIeR^Iiim<=imQ=)i)qF"F*F2F:Fi u2Acoustic response timeoutG] ;O=ԙ G1 2BA :BQ  O] >'Bď,?A<irBI]Mb@Mb@Mb@Y Y)YIYiY]I +?MbX?~jt]9T?]=]D)YIYi] cA]"-A Y]=FAImJImK٥}*# N=9Q > F٦Ey > 4Y?4ytBV?}:?@EBD::,4UB)QA 2Acoustic response timeoutmDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nqmym}bBlykykkk\p@ԩɞ!vBF= mI  .>ɝiIIit<=iZLQ=))EEHu>Hu)CHuIIu{rBIu =IqIuD&Iu<*Iu}EF"F*F2F:FGm Q= GA 2BI :Ba  Ou >  2Acoustic response timeoutjKU NrKU h9zKQ KU KU "(,($%' CfM9,"",1.*'%&!Y:3ď,?A2K*KI@)@db(>?Yb)?bx\>9b=vAHRS rotation from veh to nav: [[-0.190348,-0.979545,0.065255],[0.958187,-0.170910,0.229492],[-0.213645,0.106210,0.971120]]ybHV]ȿoX?x?_ſ``?X˿0?@k?ɫb(>?b;`%&rB%II5_I5٥E6 E_=9EQ M>II MF٦MEyU-; U> Ye4Y]?e4y].]tBam?m@]XBD];]7;]24q)uRAqJbJVJ2JJ:JB9Jc3JJe ;! Jg ;!JX:!JX:!mDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nqmymylkkkk`hp@ɞvBiO=  |I  8H->ɝ i I SI9iE<=iEU=)I)IF"F*F2Fo0:FGFsA 2Acoustic response timeout)G5 GQ=G 2B :B)  O= >I Sď,P+?AF7?YF#?FY>9F}l=NAHRS rotation from veh to nav: [[-0.190279,-0.979731,0.062617],[0.958788,-0.171745,0.226340],[-0.210998,0.103104,0.972034]]yFH [ȿ Y?c?ſ ? ˿ e?@?ɫF7?FȬ;D~qB~I E2Acoustic response timeoutAMb@Mb@Mb@ )IiʡE?ʡE?A`"-R?-=Y)I5:Ai.A GAIiI҅٥ C=9mԻQ > F٦Ey > 4Y?4yNtBS?:?@mBD::G:4KB)RAfE%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo)Zo)Bo):n)2n)m1m5NBlkkkk@p@ɞ vB = [%QI! %l,>ɝ!i!I%I1i5<=i=S=)9)9iF"F*F2F 1:Fԙ 2Acoustic response timeoutG- gW=G9 2BI :BY $m pFailed to parse device response: 60.95,11.1878,38096.70  Ou > <ď,-E?AR-!?YR ?R S>9R5=^AHRS rotation from veh to nav: [[-0.189850,-0.980193,0.056377],[0.960123,-0.173347,0.219352],[-0.205235,0.095773,0.974015]]yRHMȿ]ݬ?@S?@80ƿ? Eʿ?"+?ɫR-!?Rd;RΐCfqBfIIvfIv{٥=  =S=9EoyQ E>AI MF٦MEyMB M> am4Ye?m4ye esBim?m@eBDe:eF:eA4}IB)}SA}eEԙDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkq@ɞvB?= 4I a+>ɝiI![I i ==i hVQ=) ) E%>E%>F"F*F2F@5:F U2Acoustic response timeoutjK=uNrK= 9zK9K=K=hN:. 4 N%'$6op GUVT{@iBKU?:KU?GQ=JdJJ4JJ<:JJ3J!@!@!@!@G2B:B O% >  2Acoustic response timeouteď, _?A $$=hqBEvIIbI٥-T! -<=9=Q E>QY eF٦eEyu }> 4Y柊?4y(sB@BD;Q<H4)TA}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoBo:n2nmmlkkkk@?q@ɞuB= ƒI *>ɝiIIi==iQ=))!FE6"FI*FI2FI:FIG]= G]=i!I! e2Acoustic response timeout):G )I 濙  )AYG G 2B :B  O >y ď,x?AB?YB?Bf N>9B~=RAHRS rotation from veh to nav: [[-0.188463,-0.980485,0.055952],[0.961530,-0.172625,0.213685],[-0.199857,0.094071,0.975299]]yBH@ȿ"`?? ƿ@ Z?ɿ@ ? 5?ɫB?B;B̐CZqBZEIMMb@Mb@Mb@I I)IIIiIMB`"?B`"۹?A`"MN?M=I)MSAIM;AiMhaAMf0A IMQHAIe]Iet٥uWP uV=9}lQ }>yy F٦Ey > 4Yޟ?4y۲LsBP?:?@BD*;6);KO4Iq)uUAq 2Acoustic response timeoutDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkkSq@ɞuBQ6= ƛI )>ɝiII i &==igK=))JHBH?AH >H ,CH vII iqBI } =I -ď,ܸ?AJC=J=JcJ[J3JJ:JW9J(3JJ;!"J;!"J|:!"J|:!"A5?Y5?5̙K>95=]AHRS rotation from veh to nav: [[-0.187568,-0.980701,0.055171],[0.962187,-0.172152,0.211093],[-0.197521,0.092679,0.975908]]y5H:ȿ aX??    F٦Ey > E4Yԟ?M4yrBQU?]@BD@<<xW4@B)VA\E5DNOT Ignoring new targets: 14.63 m.Ro1Jo1bo1Zo1Boq:ny2nymymylkkkkq@ m2Acoustic response timeoutqɞuBK0=  I sR(>ɝiIBDIi#==iuH=))ԡEU F "F *F 2F 0:F G sAF  2Acoustic response timeout G J=G2B:B  O?8ď,2u?AI)<:?Y:w?:XH>9:&4=BAHRS rotation from veh to nav: [[-0.186786,-0.980910,0.054088],[0.962876,-0.171874,0.208156],[-0.194886,0.090961,0.976599]]y:H`ǿ`c@|?`?ſ@ޤ?` ȿ F٦Ey` > 4Yʟ?4yrBM?:?@BD;;`4=B)WA[E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo)Zo)Bo):n)2n)m1m5Bl1k1k1k9k= q@ɞuuBu6V= q}Iy }'>ɝyiyI}iIi(==iѤE=)) EEEE 2Acoustic response timeoutyH>HHIIpBIII&I}<*I4EԩF5"F*F2F4:F U 2Acoustic response timeoutG <H=G 2B :B  O >\ď,0Iҗ?Af'?Yfs?f\E>9f؄=rAHRS rotation from veh to nav: [[-0.185875,-0.981085,0.054060],[0.963646,-0.171271,0.205067],[-0.191930,0.090211,0.977254]]yfHǿ e?/?8ſ`??@'ȿ?E?ɫf'?f;fʐCjK~ OrK~ 9zK|K~K~+e~wof[L?6--9A@:3-$B'DMGJLAE\ormbQ:+! MeJ+ 1}?pB}IIoI٥0B D=9JQ > F٦Ey' > 4YZ?4y+rB?@BD:k:g4)XAJbJRJJJ:JS29JJJe ;Jh ;J<:J<:=DNOT Ignoring new targets: 14.63 m.Ro9JoAboAZoABoA:nA2nAmImilikikqkqku`y$q@ɞuB_>= I 5%>ɝ!i)I-9 I)i5,==i5GB=)1)1EiEmrAaF"F*F2F\0:F E2Acoustic response timeoutԉGE=G 2B :B  O >Թ bď,I?A6`?Y6vL?6 B>96\ϼ=>AHRS rotation from veh to nav: [[-0.184848,-0.981221,0.055100],[0.964533,-0.170383,0.201608],[-0.188434,0.090413,0.977915]]y6Hǿ*f` 6?t?`ſ N?ȿ H%?K?ɫ6`?6<;6ɐCFpBFIEMb@Mb@Mb@A A)AIAiAE/$?v/?E1H?Ex=EL)EUAIE?AiAEO5A AELAI]iI]҅٥mq mN=9mJQ m>qq uF٦uE 2Acoustic response timeoutԩyK< %> )54Y-;?=4y--qB=J?=:=?=@-CD-";-D";-o4E4B)MYAMREDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmBlkkkk`+q@ɞ5uB5V+y= 9=ǹI9 =.$>ɝ9i9IE& IAiE,==iM>=)I)QF "F *F 2F _0:F G&t@= U 2Acoustic response timeoutG 2B :B  O ZHm <RHm p<Hm >Hm +CHm IIm 8pBIm ~ =Ii Ii &Im 3<*Im E! jď,?A @2f4?Y2?2[7>>92%ƻ=BAHRS rotation from veh to nav: [[-0.183671,-0.981416,0.055574],[0.965481,-0.169489,0.197786],[-0.184692,0.089983,0.978669]]y2H ǿg)t?9?ϱſQ?@ǿ` ?@Q?ɫ2f4?2lp;2͐CJoBJoIIlIl٥v> vR=9z Q z> F٦Ey}q  > 4Y :?4y  qB?%@ CD ; ; u4))-ZA)UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoYBoY:nY2nYmamalakakakikm0q@ɞuB@= 靥<¿I r#>ɝiIF Iie+==ih9=))FQ"FQ*FQ2FU`0:FQ 2Acoustic response timeout!jK](OrK]]9zKYK]K]}rid]ZZWQKGDA;562--18FOPLLQY\ZYUQNFB;874/,)(%!  +IGu==GIQ2BY:Bq O}>ԁ ] 2Acoustic response timeoutď,?Ar?YrN?ru:>9rh=%AHRS rotation from veh to nav: [[-0.182421,-0.981577,0.056827],[0.966401,-0.168356,0.194228],[-0.181083,0.090348,0.979309]]yrH`Yǿ i]??ſv?@-ǿ!?V?ɫr?r#3;r̐C5oB5OIIMdIM@٥ @=9 Q > F٦EyaY >  4Y֦?4yIGqB%?%@-CD< ;}4Q]1B)eg[AmQEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@8q@ɞMuBMTt= QUǿIQ U!>ɝQiQIULIi&==i4=))E%i>E%%>yF"F*F2F_0:F 2Acoustic response timeoutԡG} п8=G ?G :?JE cJE SJA JA JE :JE y69JA JA !M @!M @!M @!M @GQ 2BY :Bq  O > 9 ď,9?A=ZoB=2IMb@Mb@Mb@ )IiZd;?i|?5?~jt>?=)lUAI>AihaA4A JAIUI٥޽  A=9 Q  > F٦Ey > )54Y-?=4y-x-qB=A?=:=?=@-@CD-;-;-V4I)M$\AIuDNOT Ignoring new targets: 14.63 m.RoqJoyboyZoyBoy:ny2nymmeBlkkkk m>q@ԑɞuB^= ̿I  >ɝiIUIi #==iXw5=)) 2Acoustic response timeoutH>H,CH]IIoBI =II&I~<*I=EFi"Fi*Fi2Fm0:FiG;6=G 2B :B  O >  2Acoustic response timeout gď,S?AI)p9B=JAHRS rotation from veh to nav: [[-0.178979,-0.982128,0.058229],[0.968350,-0.165385,0.186939],[-0.173968,0.089844,0.980644]]yBH`ƿ m"Э?? X+ſ@?Dƿ`? pa?ɫB4?BM;B͐CRoBRIIZ\IZW٥fA fa=9f Q f>hh jF٦jEyj+ n> pv4YrE?v4yrrrpBtvz?v@rQCDrR:r:r4|)~=]AjKNrKzKKK5z G  U Y2Ue(h;zvpib[SPEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoI:nI2nImImIlQkQkQkQk] DDq@ɞuBJ = 靅ԿI *x>ɝiIvIi==iN&=))E 2Acoustic response timeout!F56"F1*F12F=r0:F9Q GY G1 2BA :BQ  Oe >Tď,|m?A:X?Y:4D?:#/>9:=BAHRS rotation from veh to nav: [[-0.177663,-0.982355,0.058433],[0.969262,-0.164408,0.183036],[-0.170200,0.089155,0.981368]]y:Hƿto?0?@P ſm?ſҶ?@^g?ɫ:X?:ԋ;:ȐCfnBjI rAp ]2Acoustic response timeoutMb@Mb@Mb@ )IiʡE?Dl?y&1=?O >`)WAI@AicA8A LAIcI#٥ܽ ;=9Q > F٦Ey^ > 4Yd?4y*jpBA?:?@fCD)f;)K;F4&B)]AGE%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n2nmmwBlkkkkKq@AɞMuBM/= QUٿIQ U>>ɝQiQI] Iiim ==iu]#=)q)qE8J}bJ}RJyJyJ}:J}S29JyJyF55"F1*F12F53:F1q  2Acoustic response timeoutԡ JH BH AAH >H -CH II oBI ~ =I I D&I O<*I EGM "=GQ GU tAG 2B :B1  O= >!ď,x?A6g?Y6?6j+>96y=@BAHRS rotation from veh to nav: [[-0.175723,-0.982684,0.058768],[0.970237,-0.162776,0.179289],[-0.166618,0.088524,0.982040]]y6H@~ƿ%r ?`. ?Ŀ?Sſ@?l?ɫ6g?6;6ΐCJnBJIIViIV҅٥Z1 ^]=9^!Q b>dd fF٦fEyj j> lr4Yn ?r4ynkcnTpBprN?v@nxCDn<;nH;n4x)z[^AxDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkyQq@ɞ uB < ޿I >ɝiINI!i%<=i%m=)!)) E)E)E1E1ԩ m2Acoustic response timeoutFe6"Fi*Fi2Fm`5:FijKPrK9zKKKJ@2($# -w!,0$X4% G] C"=  2Acoustic response timeoutG9 2BA :BQ  Oe >('ď, m?A6?Y6n?6'>96<=JAHRS rotation from veh to nav: [[-0.173623,-0.983024,0.059318],[0.971229,-0.160948,0.175525],[-0.162998,0.088087,0.982686]]y6HF9ƿ t^?O?Ŀw?`!Ŀ ڌ?`*r?ɫ6?62;6ʐCZnBZIhIvgIv٥ D=9%Q %>!! %F٦%Ey- -> 1=4Y5z?=4y5[5pB9E?E@5CD5 :5:5 4I)^ADNOT Ignoring new targets: 14.63 m.RoAJoAboIZoIBoQ:nQ2nYmmlkkkkXq@ɞuB= ɝiIIi<=ik=))yF5"F*F2FP0:F)UG )I%꿙!%A) m2Acoustic response timeoutG5 ;=a G 2B :B1  OE >JK(3JK(3JK.J} aJy Jy Jy J} :Jy Jy Jy .ď,6?A9=inB=IiAIAIMa=)Mp=Mb@Mb@Mb@ )IiQ?V-?t)VAIilaA9:A LAI_I٥%Ž %;=9-Q ->)) -F٦5Ey5 5> 9E4Y=p?E4y=S=oBM??M:M?M@=CD=;=;=4Y)]_AYDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm4Blkkkk^q@ 2Acoustic response timeoutɞuBΓ< I >ɝiI;Ii<=iv=))!H>HHIInBI} =II&IA<*IE2I],C:I],CBI]ÔCJI]~ =RI]~ =ZI]u5aF"F*F2F_0:FG+=GY2Ba:By OZ>ԑ  2Acoustic response timeout U5ď, ՘?ARnBII-8I-?٥=fo EZ=9AQ E>II MF٦MEyI M> Q]4YU[h?e4yU'MUoBiiu@UCDUj;U1l;U54}B)y}=EjKNrK9zKKK"  '5J]m/1# n^BK?:K>ԩDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkdq@ɞuB׍< I o>ɝ i I 4Ii*<=iwc=))F"F*F2F`0:F 2Acoustic response timeoutGG2B :BA  Om > -;ď,i?AI)<6@>?Y6)?6>96=>AHRS rotation from veh to nav: [[-0.169875,-0.983507,0.062104],[0.974038,-0.158002,0.162129],[-0.149642,0.088034,0.984813]]y6Hzſx!̯?@Q+?`j9Ŀ ?`{'ÿ_? ?ɫ6@>?6`;6̐CF nBFqI E2Acoustic response timeout}Mb@Mb@Mb@y y)yIyiy}Zd;O?On?Mb`}j})}XAI}BAiy}O;A y}NAIXI㔴٥V C=9Q > F٦Ey$ > 4Y^?4yzEoB=@?:?@CD:C:4)U`A-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n9mAmM9BlYkakikik}kq@ɞ=uBEp< AEIA Ei>ɝIiIIMmIYi]Π<=i]X=)Y)a!FA"FA*FA2FEh0:FIJJJJJJJJQ 2Acoustic response timeoutGM l=ZH RH H >H .CH |II 2nBI I I &I w<*I DEG! 2B1 :BA  OU >ԁ Bď,?A>?Y>o?>!/>9>S=FAHRS rotation from veh to nav: [[-0.168640,-0.983603,0.063923],[0.974928,-0.156899,0.157789],[-0.145173,0.088930,0.985402]]y>H@ſ`y :]?2?AĿq2?¿Ķ?i?ɫ>?>%;hh jF٦j­Eyjs n> pv4Yr:V?v4yr>rcoBtv?v@rCDr:r:r4x)~`A|-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m9l9kAkAkAkExqq@ɞuuBug=; qu@Iq }>ɝyiyI}cIi^<=i8=))EN>E>YF6"F*F2F3:FG = U2Acoustic response timeoutG2B:B O!>ԁjK5&NrK1zK1K5K5OC9-&$&*%   '8Iԩ  2Acoustic response timeout@Hď,#"?A6?Y6h?6`>960=>AHRS rotation from veh to nav: [[-0.168099,-0.983546,0.066190],[0.975702,-0.156435,0.153406],[-0.140527,0.090369,0.985944]]y6H@Cſ4y?8? ĿϢ?k"?`ڌ?ɫ6?6;6ːCFmBFMIInDIn٥~a G=9:Q  > =F٦=ŭEyM2Һ U> 4YL?4y6;oB? @CD߈<<4B)#aAԹɝiI{Ii_<=i =) ) F"F*F2F0:F ]2Acoustic response timeout G @o=G 2B :B  O% >9 jNď,Ww<?A $&@Z?YZ'?Z >9Zeƿ=bAHRS rotation from veh to nav: [[-0.167515,-0.983433,0.069274],[0.976454,-0.155817,0.149195],[-0.135929,0.092635,0.986378]]yZH!qſGx? ??ÿ ?@f?i?ɫZ?Z^;Z̐CjmBj2IMb@Mb@Mb@ )Ii'1Z?'1Z?t<)ZAIDAi|=A OAI?I ٥ Ƚ :=9V-Q > F٦ȭEy%׺ %> )54Y-eB?54y-.-oB5 G?=:= ?=@-DD- ;-T ;-4EB)EaAE3E}DNOT Ignoring new targets: 14.63 m.RoyJoboZoBo:n2nmm4Blk 2Acoustic response timeoutkkkZq@H=>H9H=PII=mBI= =I9I=D&I=1<*I=EɞeuBe" aeɝiI IiB<=iF<))FE5"FA*FA2FEP5:FAAi G r=Ga u 2Acoustic response timeout2B :B  O >SUď,XV?A%mB-)II]_I]٥m'' mU=9mQ m>qq uF٦uʭEy} }> 4Y@9?4y'nB@DDu<v<4)aA-DNOT Ignoring new targets: 14.63 m.Ro)Jo)jK5MrK5 9zK1K5K5a6t^J8"ntq<wj^WG%ibo)ZoABoA:nA2nAmImIlIkQkQkQkU mq@ɞ}uB0K 靅I ">ɝiI/J_JOJ4JJ :J%9J3JJe:!Jj:!J&:!J&:!Ii%<=i<))EiFA"FA*FI2FM_0:FI 2Acoustic response timeoutԙGm8<GI 2By :B  O >{[ď,(*p?A6?Y6 ?6>96=JAHRS rotation from veh to nav: [[-0.168139,-0.982906,0.075000],[0.977605,-0.156496,0.140706],[-0.126563,0.096978,0.987207]]y6H ſs+3?H? Ŀ?93Ӹ?2?ɫ6?6ܧ;6ʐCPVmBZ"I %2Acoustic response timeout}Mb@Mb@Mb@y y)yIyiy}oʡ?n?I +?}M?}V>}94<)}[AI}DAi}haA}@A y}zPAIdI@٥ʼ G=9qQ > F٦ͭEy: > 4Y/?4y]nB#P?:?@)DDj::4 B)aA2E DNOT Ignoring new targets: 14.63 m.Ro Jo bo Zo Bo :n 2nmmFBlkkkk'q@ɞ%{uB-*; )-QI) Um>ɝQiQIUIYi] <=i]<)Y)aF"F*F2F ^0:F  2Acoustic response timeoutG- V<JHI BHM @AHe >He 0CHe $IIe mBIa Ia Ie D&Ie ]<*Ie 4EG ) 2B :B  O >Pdbď,:?AI):k?Y:?:jA=9:%=BAHRS rotation from veh to nav: [[-0.168624,-0.982707,0.076505],[0.978115,-0.157226,0.136276],[-0.121891,0.097810,0.987712]]y:HuſVr`Е?L?Ŀ@q? C4 ?W?ɫ:k?: ;:ːC^mmB^IIfcIf#|٥n. 5X=95EQ =>9A EF٦EϭEyEDŽ: E> IU4YM&?U4yMMnBY]?]@M=DDM;M;M4a)mbAiDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk q@ɞvuB# I  >ɝiIǪ߼Ii;=iȂ=))Fq"Fq*Fq2Fu_0:Fq 52Acoustic response timeout9QGGi2By:B O>jKPrKػ9zKKKRg- ~wqjlugim|r2a:[*cnJ^JNJ3JJ} :J!9J(3JJ:J:Jp:Js:ԉ  2Acoustic response timeout[hď,㣙?ARN,?YR?R=9RT=ZAHRS rotation from veh to nav: [[-0.170164,-0.982065,0.081191],[0.978859,-0.158968,0.128703],[-0.113488,0.101376,0.988354]]yRHſ mȴ?R?`YĿ`Ty?@ ??ɫRN,?R;Pb\mBbIIjlIj)٥r% rJ=9vQ v>tt vF٦vҭEyzBi; z> |4Y~?4y~~nB  ? @~RDD~:~A:~{4B)bA(EԁDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml!k)k)kYk]Әq@ɞquBW; TI  >ɝiIIM^ܼIIiU;=iU}=)Q)QEetAEetAԩF6"F*F2F:F =2Acoustic response timeoutG G<G 2B :B  O > nď,Jѽ?AJT?YJ??J/U=9JT=RAHRS rotation from veh to nav: [[-0.171431,-0.981637,0.083667],[0.979112,-0.160334,0.125029],[-0.109319,0.103353,0.988619]]yJHsſ@i .k?`T?υĿ? MVu?`Ģ?ɫJT?J;J̐CZ7mBZI]Mb@Mb@Mb@Y Y)YIYiY]> ףp=?M?Mb?]Q?]n>]<)]$^AI]-FAi];_A]DA Y]QAIuOIuݜ٥}尽 @=9!Q > F٦ԭEy:; > 4Y?4ynBU?:*?@hDDj::4I)UNcAQ 2Acoustic response timeoutH>H1CHIIqmBI| =IID&IO<*I0EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm?Blkk)k)k-q@ɞumuB}K y}hIy }X >ɝyiI:ټIi;=i7 =))FY"FY*Fa2Feo0:FaAG = E 2Acoustic response timeoutGy 2B :B  O >ԁ Tuď,-י?A :Uo?Y:Z?:%=9:B=BAHRS rotation from veh to nav: [[-0.172321,-0.981310,0.085653],[0.979392,-0.161385,0.121438],[-0.105345,0.104814,0.988897]]y:Hƿf@V?-W?@Ŀ?`պ? ?ɫ:Uo?:ظ;:ːCJmBJIIReIR]٥bM bX=9b-Q b>dd fF٦f׭EyjW; j> lE4Yn ?E4yn'nknBAEC?M@n|DDnkɝiI:ּIi;=i =))Fm5"Fi*Fq2Fu1:Fqԁ 2Acoustic response timeoutGG=ԱG 2B :B  O >i U*>I C)] G y ) I 翙 A{ď,t?A 2Acoustic response timeoutlBIM@ Mb@Mb@Mb@ )Ii7A`?X9v?MbpV?=);_AIiQ`A-FA I]It٥ 9=9Q > F٦ڭEy >  4Y ?4yGnBX?z:3?@DDA;@;B4))-!dA)]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoY:nY2namamalakikikikm@@q@ԱɞeuBD] I >ɝiIҼIiu};=i(- =))F"F*F2FP5:F 2Acoustic response timeoutGV =ZHRH4<H>H3CHII4mBIz =IID&IC<*I-E2I0C:I0CBIȕCJI} =RI} =ZI35G ?G ? G 2B :B  O >9 ď,P ?A:?Y:?:ס=9:8=FAHRS rotation from veh to nav: [[-0.176238,-0.980490,0.087057],[0.979525,-0.165943,0.113993],[-0.097322,0.105364,0.989660]]y:H ƿ-` ZI?@DX?=ſ@.?@긿#?`K?ɫ:?:;:ʐCNlBNIIVkIV ٥b b`=9bQ b>dd fF٦fܭEyj,< j> hr4Yj?r4yj&j,nBpr?r@jDDj ;j* ;j4~B)~dAE-DNOT Ignoring new targets: 14.63 m.Ro)Jo)bo)Zo)Bo):n12n1m1m1=PExceeded connect timeout, disconnecting.lAkAkAkAkM q@ɞ}buBhJ 靅 I 1f>ɝiIϼIil;=iw=))F6"F*F!2F%]0:F! 2Acoustic response timeout9GUNw =G)2B9:BY Oe>J4=JR=JaJLJ4JJ:Jq9J3JJ;J;J:J:jK8OrKzKKK!Wce|Z=XV{xvl_QG=74/+)'#!i  2Acoustic response timeout-߈ď,6%?A62?Y6-?6=96i=>AHRS rotation from veh to nav: [[-0.178373,-0.979965,0.088607],[0.979543,-0.168325,0.110281],[-0.093157,0.106465,0.989943]]y6Hƿ[쮶?jX?ſb;?@#ٷ@MA??ɫ62?63;6ΐCFlBFIIVVIV٥ F=9 &Q >    F٦ ߭EyA; > %4YJ?%4yvnB!%?-@DDF:: 45B)5(eAUEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmml!k!k)kIkU#q@qɞ]uBpg  I P>ɝiI]p̼IiqZ;=is=))F9"F9*F92F=4:F9ԑ 2Acoustic response timeout G= y=G 2B! :B1  OE >gď,- ??ABEi?YBT?B @=9B}!=JAHRS rotation from veh to nav: [[-0.180069,-0.979491,0.090406],[0.979587,-0.170216,0.106940],[-0.089358,0.107817,0.990147]]yBH ǿW$?X?ſ@l`? /඿?`H?ɫBEi?LB;BʐCVlBVqIMMMM MMb@Mb@Mb@I I)IIIiIM +?"~j?y&1MV?MS=M`e)MQ`AIMGGAiIM^HA IMTAIeUIe٥u} uD=9}Q }>yy F٦Ey; > 4Y枊?4ymBX?z:^?@DD ; ;*4)eA=DNOT Ignoring new targets: 14.63 m.RoAH}>H}4CH}II}lBI}y =IyI}D&I}B<*I}:E 2Acoustic response timeoutJoAboZoBo:n2nmm'Blkkkk`ڿq@ɞZuBPx  I! %y>ɝ!i!I%ϘɼI)i5O;=i5$=)1)QF5"F*F2F_0:F 5nManaging dock network, ignoring radio surface power offG- =G1 G5 sAG 2B :B! !  O5 > E 2Acoustic response timeoutď,X?A:?Y:x?:=9:=FAHRS rotation from veh to nav: [[-0.181581,-0.979135,0.091233],[0.979627,-0.172014,0.103648],[-0.085792,0.108195,0.990421]]y:H>ǿU [?Y?ƿ?r ?@?ɫ:?: p;8RSlBRUIIZrIZ{|٥  R=9 aQ  > F٦Ey%,y; %> )54Y-rݞ?54y-f-mB15?=@-DD- ;-y;-4A)EkfAAuDNOT Ignoring new targets: 14.63 m.RoqJoqboqZoqBoq:nq2nymymylkkkkq@ɞWuB5, ;I x=ɝiIƼIiG;=i&)=)) jKOrK9zKKK#?MHB>82.("#(;` 5CE@4$rlH JJAAJ%_J%NJ!J!J% :J%!9J!J!J%g:J%l:J%q:J%t:F6"F*F2F`0:F) 2Acoustic response timeoutaG$=G2B:B  O >ԉ ď,r?A27?Y2?2F=92q=BAHRS rotation from veh to nav: [[-0.182419,-0.978985,0.091171],[0.979764,-0.173225,0.100281],[-0.082381,0.107619,0.990773]]y2H@YǿSV? 9Z?=,ƿ@ ?`쌻?j?ɫ27?2䋋;0^3lB^BI  2Acoustic response timeoutYMb@Mb@Mb@ )Iii|?5?MbX?Zd;OQ?=j)laAIKGAi?_AxIA QTAINI٥ɔ >=9HQ > F٦Ey: > 4YxԞ?4ymBES?:c?@ED i;h;4B)fAE=DNOT Ignoring new targets: 14.63 m.Ro9Jo9boAZoABoA:nA2nAmImM BlIkIkIkQkU q@ɞTuB~l 靍I '=ɝiIXüIi>;=i+=))ԑF5"F*F2Fh0:FԱJHqBHu?AH}>H}5CH}II}lBI}w =IyIy&I}<*I}E 2Acoustic response timeoutGM )=G 2B9 :BI  OU > ď,k?A:׷?Y:a?:z=9:=BAHRS rotation from veh to nav: [[-0.182577,-0.979074,0.089891],[0.980011,-0.173877,0.096669],[-0.079016,0.105744,0.991249]]y:H^ǿ T?`@\? AƿO?g:@ ?O?ɫ:׷?:u ;8JkBJIIR[IR:٥Z Z^=9^PQ ^>`` bF٦bEyb9 f> dr4Yf̞?v4yffmBtvd?v@fEDfw;f8;f%4~B)~gA~E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo)Zo)Bo):n)2n)m1m1l1k1k9k9k=jq@ɞmQuBmLL iuIq u^0=ԱɝiI8Ii6;=i))F6"F*F2F51:F 2Acoustic response timeoutG-|,=G ?G?G2B:B O>jK% OrK% h9zK! K% K% ~[' oH'7|R*yk`W}<i?.('%" A  2Acoustic response timeoutM-ď,}?ARJ?YRԔ?R=9RP=ZAHRS rotation from veh to nav: [[-0.182190,-0.979100,0.090386],[0.980349,-0.173809,0.093303],[-0.075643,0.105609,0.991527]]yRH`QǿT#?_?_?ƿ ?R]- ??ɫRJ?Rl;RɐCbkBb IIjfIj{٥r rG=9rYQ r>tt vF٦vEyz z> 4Y+Ğ?4yqmB!%T?-@*ED;;-41)5 hA1eDNOT Ignoring new targets: 14.63 m.RoaJoiboiZoiBoi:ni2nimqmqlqkykykyk} q@ɞNuB8 靭kI w2=ɝiIIiY.;=if *=))Fq"Fy*Fy2F}P5:F9 2Acoustic response timeoutGS,=ԉG2B:B O>ԙ J ]J jJ J J ]:J 9J J !% @!% @!% @!% @Rď, Q?AI)<6>?Y6p?6f͔=96i=BAHRS rotation from veh to nav: [[-0.181152,-0.979382,0.089415],[0.980772,-0.173199,0.089934],[-0.072593,0.103988,0.991926]]y6H0ǿ`W? |b?a+ƿ?|?۽?ɫ6>?6X;6ːCFkBJIMb@Mb@Mb@ )IiMbX?EԸ? rhJ?=C )bAIi(^AJA TA) I`I̍٥&ڽ ==9Q > F٦Eyf& > 4Y`?4yNmBsL?:?@@ED]::44)hAH%>H%6CH%VII%TlBI%y =I!I%D&I%:<*I%=EMDNOT Ignoring new targets: 14.63 m.RoIJoQboQZoQBoQ:nQ2nYmYm]BlYkakakake@q@ }2Acoustic response timeoutԑɞUKuB]b, Y]/IY ]ö=ɝYiYIeIaimM";=imH&=))FA"FA*FA2FES5:FAGM= GI GM )=G! - 2Acoustic response timeout2B9 :BI  O] >9 <ď,)ښ?A2a?Y2L?2r=92e =:AHRS rotation from veh to nav: [[-0.180110,-0.979895,0.085823],[0.981188,-0.172810,0.086059],[-0.069498,0.099709,0.992587]]y2H ǿM[@? e?ƿ ?ʱ? E?ɫ2a?2,;2ʐCF}kBFIIR^IR٥Z Z^=9Z Q Z>\` bF٦bEyb+D b> dj4Yf糞?j4yff0mBlno?n@fREDf;f+;f;4rB)rCiAv EDNOT Ignoring new targets: 14.63 m.RoJoboZo!Bo!:n!2n!m!m)l)k)k)k)k5q@ɞIuB3Ɛ kJ<I CE=ɝ i I dIi5,;=i5V"=)1)9jK5hOrK5ػ9zK1K5K51!3z>& !kO& 5Zc_YQIFET^[VQKF9&F"F*F2F_0:F 2Acoustic response timeout9G=G2B :B)  OE >i fď,y?A r2Acoustic response timeoutWkBIMb@Mb@Mb@ )IiMbX9?S㥻?X9vA?/=)laAIi]AKA QTAI_I٥   6=9 Q  > F٦Ey > !-4Y%?-4y%%mB-C?-:-?-@%hED%:%:%B4=B)=iA= EmDNOT Ignoring new targets: 14.63 m.RoiJoiboiZoiBoi:nq2nqmym}8Blykykykk`q@ɞFuBV 靵I >=ɝiIѲIi ;=i"=))iF"F*F2F:FJ^JNJ5JJ} :J!9J4JԙZHRH<H%>H%7CH%II%kBI%w =I%;DI%D&I%<*I%EGuC"= 2Acoustic response timeoutGI 2BQ :Ba  Ou > Nď, ?A :?Y:Z?:y|=9:W=VAHRS rotation from veh to nav: [[-0.176930,-0.980714,0.083037],[0.982130,-0.170425,0.079850],[-0.064158,0.095681,0.993342]]y:H@ƿbA?m?{ſq?@l ~?u?ɫ:?:>;:ɐCZkB^I`IjdIj@٥r]! v_=9vnQ v>tx zF٦zEyz z>  4Y*? 4ylB ~?@zED:g:UI4)jA!UDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nYmamalakakakikm q@ɞDuBr 靥"I ~=ɝiIKvIiz:=i)=))F=5"F9*F92F9:F9GAFA 2Acoustic response timeoutGG2B:B O>jK W%NrK 9zK K K     4GH@6)%+26668?WuA ة ح A  2Acoustic response timeoutxď,'?A2 ?Y2?2-|=92z=:AHRS rotation from veh to nav: [[-0.175196,-0.980985,0.083520],[0.982598,-0.168904,0.077284],[-0.061708,0.095606,0.993505]]y2H lƿ:d`a? qq?ſȳ?`!`y?`?ɫ2 ?2j;2ʐCBkBBIIJJIJK٥R'N VN=9V?˻Q Z>X\ ^F٦bEyb f> pr4Yr ?v4yrrlBtvB?v@rEDr:r:rPP4x)~jA!|DNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk`}q@ɞBuB #I 3=ɝi!I%I!i-:=i-^=)))))GY i)I4㿙A 2Acoustic response timeoutqE9Fi "Fi *Fi 2Fi :Fi ԡ J aJ MJ 4J J :J 9J 3J G = H>H9CHIIkBIv =IID&I<*IE2I6C:I6CBI͔CJIw =RIx =ZIͪ5 2Acoustic response timeoutG2B:B O> ď,"F?A^?Y^5m?^(t=9^=fAHRS rotation from veh to nav: [[-0.173528,-0.981293,0.083375],[0.983027,-0.167468,0.074921],[-0.059557,0.094961,0.993698]]y^H'6ƿ`fX?t?oſ` .?E~]O?`_?ɫ^?^+;\njBnoI-%only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 145.81, m%@% q%@% u%@% i%@% )) -AAI-nI-d٥ҡ =9Q > F٦EyW > 4Ys? 4ylB +:)5`:5 ?5@ED;2?W4=ݒB)=ykA=EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk @r@ɞ]@uB]pT Y]0&IY eV=ɝaiaIe Ii :=iV =))EjZXԑ Aď,`?AI<)<>D?Y>P0?>k=9>!=FAHRS rotation from veh to nav: [[-0.171721,-0.981667,0.082716],[0.983465,-0.165921,0.072574],[-0.057519,0.093811,0.993927]]y>H ſi,?x?@<ſ@4?&s?@@?ɫ>D?>q;`` bF٦bEyj j> lr4Yn?r4yn{nlBv :tv6:v?v@nEDn;nve?n[4~ْB)~kA~E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!jK-MrK-ػ9zK)K- K-=gRA1(w[9  |vsoqri[RZo!Bo9:n92n9mAmAlAkAkIkIkMr@ɞ>uB 'I :%=ɝ i I ɝIi:=i=)) EEEAEAa 2Acoustic response timeoutԉF"F*F2F_0:FG= G= } 2Acoustic response timeoutG G= G 2B :B  O >SQď,| |?A>?Y>F?> b=9>"=zAHRS rotation from veh to nav: [[-0.169821,-0.981894,0.083928],[0.983929,-0.164170,0.070229],[-0.055179,0.094506,0.993994]]y>HſkN|?`X|?ſ`?@f@1??ɫ>?>N;>̐C jBTImm qq uu ii %Mb@Mb@Mb@)! !)!I!i!%zG?1Zd?~jtx% 7?%"=%Ļ)%V`AI%bHAi%ZA%MA !!I=wI=r٥U< U,=9UQ U>YY ]F٦]Eye e> iu4Ym?u4ymzmlBuT:u9?u:u?}@mEDm;m:mAd4) lAJ3J3JS}.J^JrJJJ} :J9JJDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm~Blkakakake@ir@ɞ=uBhD 靝(I  =ɝiI Ii:=iql<))H>HHII8kBIr =II&I՗<*IE9=A E2Acoustic response timeoutYFy"Fy*Fy2F}o0:FyԁG 9=Gq 2B :B  O >ԩ ?6ď,<ܕ?A:i?Y:?::X=9:d= N2Acoustic response timeoutRAHRS rotation from veh to nav: [[-0.167971,-0.982106,0.085165],[0.984379,-0.162479,0.067817],[-0.052766,0.095226,0.994056]]y:Hſim[͵??@Ŀ`p\? `? O?ɫ:i?:=ʋ;:ɐCZjBZEIIbaIb錴٥j g=9mڻQ > F٦Ey%䫻 %> )54Y-y?54y-ft-lB9=?=@-ED-;-$;-j4EؒB)E[lAAmDNOT Ignoring new targets: 14.63 m.RoiJoqboqZoqBoq:nq2nymymylkkkkr@ɞDGE@<979\ Gka*c}%G< U2Acoustic response timeoutG2B:B O> a_ď,5?A @@}̃?Y}Vo?}EN=9}I=AHRS rotation from veh to nav: [[-0.165991,-0.982492,0.084599],[0.984842,-0.160784,0.065080],[-0.050338,0.094119,0.994287]]y}H 0?ſpJ?҃? Ŀ?ũ6?4?ɫ}̃?};}ȐCjB<I 2Acoustic response timeout]Mb@Mb@Mb@Y Y)YIYiY]Q?`"?Mb?]\/?]=]<)YI]xIAiY]NA Y]TAIfI{٥)ڼ =9ϗQ > F٦Ey} > 4Yn?4yZkxlB 2? : ? @EDA;;s4ϒB)NlAEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm~BlkkkkUr@ɞ:uBdy *I t=ɝiIIiu7:=iu<)q)qFE 6"FI *FI 2FM o0:FI Y H >H 8CH {II jBI u =I I D&I <*I E ] 2Acoustic response timeoutq GM <GU ?GU >G)2B1:BI OM>Dď,͛?AF^?YFI?FtC=9Fx=NAHRS rotation from veh to nav: [[-0.164878,-0.982707,0.084279],[0.985160,-0.159950,0.062258],[-0.047701,0.093293,0.994495]]yFHſ@UrF?m?@yĿ;?`7l??ɫF^?Fmʋ;DVtjBV.II^lI^)٥f jn=9n:Q r?pp rF٦r Eyvu] v?Y 4Yg?4yeslBn?@FDb;M;z4)lAeDNOT Ignoring new targets: 14.63 m.RoaJoiboiZoiBoi:nq2nqmqmylykykkk\#r@ɞ59uB5"ڽ 9=Z,I9 =o=ɝ9i9I=YIAiM:=iM+<)I)Iy 2Acoustic response timeoutF"F*F2F`5:FԩG% <J _J OJ 5J J :J %9J 4J J i:! J n:! J &:! J &:! G 2B :B  O- > jKu / PrKu 9zKq Ku "Ku .L rL,wqfK2p_O?-iď,yx?AAA 2Acoustic response timeout6F?Y6e2?6 Z7=96=BAHRS rotation from veh to nav: [[-0.164203,-0.982648,0.086253],[0.985411,-0.159439,0.059534],[-0.044749,0.094770,0.994493]]y6Hſq?|?|hĿ 5{?K馿B??ɫ6F?6&x;6ʐCb{jBb3IIvOIvݜ٥%< %F=9%Q %>)) -F٦- Ey5 5> 9E4Y=*`?E4y=^^=nlBIMU?U@=FD=Q;Թ=1h;=4)lAEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImImIlQkQkYkYke)r@ɞ ̽ 靭+I 0Ƽ=ɝiI鑼Ii9=i=<<))Fu6"Fq*Fy2F}3:F 2Acoustic response timeoutGc<G 2B :B  O >9 Pď,vS?AI"<)"<>=?Y>K)?>@*=9>x%=JAHRS rotation from veh to nav: [[-0.163951,-0.982535,0.088012],[0.985590,-0.159387,0.056649],[-0.041631,0.096031,0.994507]]y>H`YĿ@p?@? fĿ ? P{? ?ɫ>=?>>̋;>ɐCbvjBf0ImMb@Mb@Mb@i i)iIiiimgfffff?@5^I ?y&1?m33?mb>m`<)mlaAImJAimYAmQA imUAI^I٥+G C=9Q > F٦Ey/- > 4YDW?4yVtlB6?:?@,FD7::A4ZHQRHU4<H]>HYH]\II]jBI]v =IYIY&I]<*I]Eq)ulAyDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm~Blkkkkf0r@ =2Acoustic response timeoutɞU8uBU,E Y],IY ]Z =ɝYiYIe.Iaimw9=imA<)i)AFe6"Fa*Fa2Fe_0:FaqGi Gq Gq GA 2BY :Bi  Ou >  2Acoustic response timeoutԱ |ď,5?AJ_?YJNK?J =9J<=^AHRS rotation from veh to nav: [[-0.165021,-0.981658,0.095471],[0.985701,-0.160804,0.050353],[-0.034078,0.102415,0.994158]]yJHjſi@p? ݊?`7Ŀ`ǩ?r7? $?ɫJ_?JF3;JȐCb[jBfIIniIn҅٥r vU=9vQ v>xx zF٦zEyz2; ~> 4Y .O?4y >P {lB?@ =FD ~ ;  ; 4%˒B)%lA-EUDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2nYmYmalakakakakm@(6r@ɞz 靭-I 1=ɝiIIiš9=ip<))qFm5"Fi*Fi2Fi:FiJJNJ3JJJ!9J(3JJJJr:Ju:jK]OrK]]9zKYK]#K]{tpjfgr(d%H`vzmT51=b$xi^VOKC@Cԙ =2Acoustic response timeoutGQG)2B9:BI OU> M ď,5?Af|?Yfg?f<9f=vAHRS rotation from veh to nav: [[-0.165896,-0.981087,0.099738],[0.985691,-0.161906,0.046906],[-0.029870,0.106092,0.993908]]yfH<ſel?NJ?RĿ? X (?@?ɫf|?f;dznjB~+I 2Acoustic response timeoutMb@Mb@Mb@ )IiCl?7A`?ˡE?d;?>'=)bAIi UAISIQ٥+= :=9Q > F٦Ey ;  > 4YE?4y-HlBk??%:%?%@RFD::4-ǒB)-lA5E]DNOT Ignoring new targets: 14.63 m.RoYJoYboYZoYBoa:na2nimimu~Blqkqkqkqk} 0=r@ɞ7uBa½ 靥,IA MI]=ɝIiIIM5+IQiU:w9=iUu<)Q)YF"F*F2F:FHm>HiHmOIImjBImw =IiImD&Im <*ImEG<1 M 2Acoustic response timeoutG 2B :B  O >I jď,N?A ~ajB~#II ]I t٥- 5X=95Q =>AA EF٦MEyM M> Ye4Y]%=?m4y]/A]lBiiu@]eFD]<]<]:4!)%lA!}DNOT Ignoring new targets: 14.63 m.RoyJoyboyZoBo:n2nmmlkkkkCr@ɞս _-I !ت=ɝiIIiS9=i]_<))1F6"F*F2Fo0:FGFtA 2Acoustic response timeoutaG<G?G7?G ԑ J ]J LJ 4J J ]:J q9J 3J J :J :J :J :2B :B  O >jK OrK S9zK K $K FGHFB?86721/,))))+&$7spQ?5)!1Sg~ttzsljlif`au U 2Acoustic response timeoutď,h?A,Fh?YF?F<9F7=RAHRS rotation from veh to nav: [[-0.168022,-0.980087,0.105820],[0.985583,-0.164851,0.038096],[-0.019893,0.110696,0.993655]]yFHſ\?`? ſ[?^V??ɫFh?F1;DZ}jBZ4Ii\I\IbjIb٥j= jP=9nZмQ n>ll rF٦rEyrb; r> tz4Yv4?z4yv:vlB|~?~@vwFDv;v;v 4)BlAMDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoY:nY2namimilqkqkykyk}Ir@ɞl +I Gʦ=ɝiIWIi39=i/5<))i*>I)uGԉ )Iy这AF"F*F2F0:FԹ 2Acoustic response timeoutGM<G! 2B) :BA  OU > ڡ ď,ۦ?A:k?Y:?:q)k<9: =JAHRS rotation from veh to nav: [[-0.168429,-0.979821,0.107626],[0.985609,-0.165815,0.032862],[-0.014353,0.111612,0.993648]]y:HſZ@^??`j9ſ@Ӡ?d@?`?ɫ:k?:;:ǐC\^rjB^-IMb@Mb@Mb@ )Ii}?5^I?7A`?ˡE?MB?)dAIiXA^TA  WAIiI҅٥Xռ <=9PQ > F٦Ey$o: > 4Y*?4H>H;CHIIv =IID&I<*I2I8C:I9CBIJIv =RIu =ZI6y1%tIlB%1F?%:-K?-@FDF< <45’B)5NlA1]DNOT Ignoring new targets: 14.63 m.RoYJoaboaZoaBoa:na2namimmBlikqkqkqku Pr@ɞ8uBVϽ 靵],I =ɝiIzIi-9=i5<)) 2Acoustic response timeoutF"F*F2F`2:FG<G 2B :B  O >9  2Acoustic response timeout&ď,x?AI<) F٦EyT9 > %4Yn!?-4y)lB)-S?-@FD::ղ4]B)]lA]EDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkk@*Wr@ɞP޽ +I v=ɝiI sIis8=i<))JyJ}OJyJyJyJ}%9JyJyJ}:J}:J}&:J}&:IF"F*F2F@5:FG= Gp=jKNrK9zKK%Kvnha]\_jvyxvrq% | 0 0AVnkf`QC=5,%  %2Acoustic response timeoutqG6<GGGi 2Bq :B  O >ԡ ,ď,_?A?Y?s;9?=%AHRS rotation from veh to nav: [[-0.168525,-0.979930,0.106472],[0.985690,-0.167131,0.021945],[-0.003709,0.108647,0.994074]]yH7ſ`[`A?Ɗ?dſ@x?=cnFл?`s?ɫ?F;ɐC5jB57I }2Acoustic response timeoutyMb@Mb@Mb@ )Ii rh?/$?/$?L?>,=)gAIxIAiVA (XAInId٥ de<  C=9}DQ > F٦!Ey > 4Y{?4yk!lBP?:?@FD ;T ;24)kADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmXBlkkkk]r@ɞ-9uB-( 15t+I1 5~=ɝ1i1I5@mI9i=8=iE!I<)A)AԡF6"F*F2F33:FH(>H=CH\IIjBIq =IID&I<*IEG @< 5 2Acoustic response timeoutG 2B :B  O- > 3ď,x*М?A6?Y6m?6-dP96<=BAHRS rotation from veh to nav: [[-0.168641,-0.979969,0.105927],[0.985677,-0.167751,0.017321],[0.000795,0.107331,0.994223]]y6H@ ſ`[`?ઊ? xſ ? J?z??ɫ6?6;6ȐCNjBN8IIbdIb@٥j; na=9rTQ r?tt vF٦v#Eyz9 z? 4Y?4ymB"?@FDz;z;4B)kADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmmlkkkkcr@ɞ1= 9=R+I9 =ڔ=ɝAiAIEgIAiM88=iM:<)I)IF6"F*F2F_0:F 2Acoustic response timeoutG<9G2B :B  O% > J J a jK= OrK= h9zK9 K= &K= -,  '7iBKE ?:KE > U 2Acoustic response timeout:ď,?A 2E?Y2?27ۗ92=:AHRS rotation from veh to nav: [[-0.168801,-0.979908,0.106235],[0.985639,-0.168323,0.013519],[0.004634,0.106992,0.994249]]y2HGſh[ 92?`[?@ſ쯋?`br?c??ɫ2E?2sŊ;0^jB^@IIfWIfƕ٥n< rJ=9rvQ r>pt vF٦v%EyvA9 v> x~4Yz?4yzTzmB*?@zFDz;z;zX4 ) kA5DNOT Ignoring new targets: 14.63 m.Ro9Jo9bo9Zo9Bo9:n92nAmAmAlAkIkIkIkMir@9ɞE:uBE =@ď, ?AJ&\J&LJ$J$J&=:J&q9J$J$!*@!*@!*@!*@J|?YJ?JR9JL-=fAHRS rotation from veh to nav: [[-0.168714,-0.980141,0.104208],[0.985634,-0.168605,0.009921],[0.007846,0.104385,0.994506]]yJHkſP] a?P?֔ſQ?_?@?`?ɫJ|?J;JːCjjBnEIHHHoIIjBIm =II&Iߗ<*IEMb@Mb@Mb@ )IiI +?HzG?Q?9T?= >Ա<)eAIKAitUAXA WAI[I:٥< -= 2Acoustic response timeout9x߻Q >! %F٦%)Ey%A; %> )54Y-?=4y-]-1mB=(W?=|:=?=@-FD-v:-:-4EB)EdkAM֤E]DNOT Ignoring new targets: 14.63 m.RoYJoiboiZoiBoi:ni2nimqmu[Blqkqkykk@qr@ɞ%;uB%5ʽ !-0*I) - =ɝ)i)I-[I1i5d8=i5A<)9)9F"F*F2F:FG F G  G   2Acoustic response timeoutGy 2B :B  O >9 ]Gď,/?A6?Y6?6,96=VAHRS rotation from veh to nav: [[-0.168938,-0.980225,0.103050],[0.985570,-0.169122,0.007010],[0.010556,0.102748,0.994651]]y6H@ſ^a?ʉ?ɥſ@¶|??M?@/?ɫ6?6jދ;6ȐCZjB^<IIf_If٥r% rr=9vwQ v?tt zF٦z+Eyzn6: z? |4Y~[? 4y~k~CmB  ? @~ GD~:~$:~|4)kAEDNOT Ignoring new targets: 14.63 m.RoAJoAboAZoABoA:nI2nImQmQlYkYkakake vr@ɞ %2Acoustic response timeoutjK]~MNrK]]9zKYK]'K]zlZA62/,*"A} i]UOJFD?iԉ FMď,ծ7?A<)fAIiVA zXAI-TI-n٥=% E6=9EQ E>II MF٦M.EyU<: U> Y]4Y]c靊?e4y]]WmBeY?ey:eU?e@]"GD]̔<]Ҕ<]V4B)kAդEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n!2n!mAmMkBlIkIkIkIkU`F~r@ɞ>uBް߽ )6<靝+ԡI =ɝiI PIi?(8=i@<))Fu6"Fy*Fy2F}0:FyGiJuaJuKJu5JqJu:JuK9Ju4Jq2B:B O_>H>H:CHIIjBIp =IID&I)<*ILE % 2Acoustic response timeout *Tď,WzQ?AR?YR`?R\j9R=bAHRS rotation from veh to nav: [[-0.170036,-0.980617,0.097352],[0.985334,-0.170622,0.002334],[0.014322,0.096321,0.995247]]yRHſ7a@?ڇ?@ſc?T?`??ɫR?RU;RɐClv}jBv4IIrI{٥%qѻ %_=9%ꍻQ %>)) -F٦-0Ey5; 5> 9E4Y==ᝊ?E4y==gmBAEs?M@=6GD=d:=:=4Q)UkAQDNOT Ignoring new targets: 14.63 m.RoJobo!Zo!Bo!:n!2n!m)m)l)k)k)kqku Er@ɞ?uBi #,I x }=ɝiIJIi? 8=i<))  2Acoustic response timeoutF"F*F2F`5:FGy2B:B O>>9a = A= A E 2Acoustic response timeoutSTZď,Sk?AFu?YF?F)~9Fy=RAHRS rotation from veh to nav: [[-0.170803,-0.980611,0.096060],[0.985183,-0.171503,0.000981],[0.015512,0.094804,0.995375]]yFHſ@+ab??ſP?`ď?E??ɫFu?Fv;FȐCZjBZ7IjK^NrK\zK\K^(K^8751.) !"0['EhIj[Ij:٥r|!< vN=9vDQ v>tx zF٦z2EyzB; z> |4Y~g؝? 4y~~ymB  ? @~KGD~N:~$:~4B)kA̤E9EDNOT Ignoring new targets: 14.63 m.RoIJoIboIZoIBoI:nI2nImQmQlQkYkYkYk])r@ɞAuB 靍+I u=ɝiIDIi7=ik<))aELM<F]5"FY*Fa2Fe2:Fa 2Acoustic response timeoutԹ G G< Ju BAJu BAJ \J PJ 4J J =:J *9J 3J G 2B :B  O >aď,L?A @H^>H^9CH^II^kBI^w =I\I^D&I^<*I^EZ?YF?9=%AHRS rotation from veh to nav: [[-0.172634,-0.980097,0.098021],[0.984838,-0.173479,-0.000094],[0.017097,0.096519,0.995184]]yH ƿ`\`? ʃ?`4ƿ@@?w??ɫZ? ;1ǐCE\jBE IMb@Mb@Mb@ )IiCl?ʡE?~jtx?O?=;)eAIJAi^TAYA WAIjI٥   2=9 ebQ > F٦5Ey; > ! m2Acoustic response timeout4Y%Ν?4y%>%mBR?:m?@%dGD%7<% <%4B)lAˤE%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo):n)2n)m)m5Bl1k1k1k1k=@r@ɞCuB 靭|.I  j=ɝiIz>Ii07=iB=))aԑEE9<F 6"F *F 2F 0:F  2Acoustic response timeoutԹ G <G2B:B O%>iď,?ABs?YBU_?B9BR=JAHRS rotation from veh to nav: [[-0.173388,-0.979625,0.101351],[0.984672,-0.174409,-0.001232],[0.018883,0.099584,0.994850]]yBH1ƿY` ?o?` Sƿ-TV?S~??ɫBs?Bdh jF٦j8Eyj>: j> lr4Ynĝ?v4ynnmBxz?z@n{GDnY;nKOKG>5-(",(i)G ))IU忙Y]AF"F*F2Fz2:FG %= G a=I m 2Acoustic response timeouti G G=G 2B :B  O >}Gpď,+?A6?Y6?6 96F=>AHRS rotation from veh to nav: [[-0.174411,-0.979138,0.104260],[0.984454,-0.175625,-0.002508],[0.020766,0.102201,0.994547]]y6HSƿU??zƿ>dC?)? T?ɫ6?6;4FCjBFIMb@Mb@Mb@ )Ii/$?S㥻?Mb1H?/=)bAIKAiXA VAIcI#ԩ٥jּ <9QQ > F٦;Ey9; > 4Yz?4ymBJ?:?@GD ; ;4)elA¤E%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo!:n)2n)m)m-~Bl1k1k9k9k=r@JMC=JMa=JU]JULJU5JQJU]:JUq9JU4JQɞHuBC 靍O0I dH}8CHyIyIyIyIy&I}<*I}E2I :C:I ;CBI ÕCJI q =RI r =ZI 46F%5"F!*F!2F%^0:F! 2Acoustic response timeout Ge̅ =G9 2BI :Ba  Om >1 }ovď,ڝ?AI<)6?Y66?6|96aw= >2Acoustic response timeoutFAHRS rotation from veh to nav: [[-0.175204,-0.978925,0.104924],[0.984275,-0.176598,-0.004075],[0.022518,0.102560,0.994472]]y6HmƿZSJܺ?`-?ƚƿ߰p?^A??ɫ6?6;4N,jBNIIV[IV:٥b~ b\=9bQ b>dd fF٦f>Eyj; j> lr4Yn߳?r4ynnmBpr9?r@nGDn:n=:n 4x)zlAx%DNOT Ignoring new targets: 14.63 m.Ro!Jo!bo!Zo!Bo):n)2n)m)m1l1k1k9k9k=@r@ɞeJuBm mCjK 0OrK 9zK K *K dG:-%!(gr3     ?ԑ |ď,?A6?Y6"?61Ƽ969=BAHRS rotation from veh to nav: [[-0.175796,-0.978669,0.106316],[0.984129,-0.177369,-0.005450],[0.024191,0.103671,0.994317]]y6Hyƿ`AQ7?}?ƿSvŘ?,?r?ɫ6?694;4NjBRIIbYIb٥j1 jJ=9jMQ n>ll rF٦r@Eyr: r> tz4Yv?z4yvvmBx~M?~@vGDv;v@;v'4B)lAE-DNOT Ignoring new targets: 14.63 m.Ro)Jo1bo1Zo1Bo1:n12n1m9m9l9kAkAkAkE zr@ɞMuBR 靝73I )D=ɝiI%Iiu7=iy=))yF"F*F2F:FGsAFtA 2Acoustic response timeoutԩGW=G 2B! :B9  O] >Hu >Hu 9CHu uIIu jBIu u =Iq Iu D&Iu ͗<*Iu EJ _J NJ 4J J :J !9J 3J J i:! J n:! J r:! J u:!  2Acoustic response timeout }ď,ʤ?A~jB~IMb@Mb@Mb@ )IiT㥛 ?V-?/$A?=)cAIJAi-RAYA VAI_I٥5+ =6=9EQ E>II MF٦MCEyU U> Ym4Y]?u4y]]mB}^C?}:}|?}@]GD]7;]];] 4)lADNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm~Blkkkkr@ԉɞPuB 3I e9=ɝi)I- 2I)i5\7=i5=)1)1F"F*F2F`0:FY 2Acoustic response timeoutԉ G G ?G 9?G 2B :B  O >ͫď,C(?A @,:?Y:_?:ټ9:(=BAHRS rotation from veh to nav: [[-0.177744,-0.978249,0.106942],[0.983717,-0.179564,-0.007561],[0.026599,0.103857,0.994237]]y:H`Oƿ@M`?z?ƿ~@dd fF٦fEEyfo; j> lr4Yn?r4ynJnmBpr?r@nGDn:n:n@4x)z,mAzEDNOT Ignoring new targets: 14.63 m.RoJo!bo!Zo!Bo!:n!2n!m)m)l)k)k1k1k5cr@ɞmSuBmE5 im4Ii u1=ɝqiqIujIyi}KO7=i}01=)) 52Acoustic response timeoutԁjK@NrK]9zKK+K %[C6+7^hP+vhZTTOD:73-'(Dw|dI4' # E58<ԱF5"F*F2F_0:F  2Acoustic response timeout G .=G 2B :B  O >ď,`C?A2.?Y2?2'92J=BAHRS rotation from veh to nav: [[-0.178960,-0.977995,0.107235],[0.983462,-0.180906,-0.008629],[0.027839,0.103918,0.994196]]y2H&ƿKs?@x?'ǿ>Ӂ? Z?t?ɫ2.?2T;2ȐCJiBJI%Mb@Mb@Mb@! !)!I!i!%`"?:v?y&1%7?%=%`e)!I%xIAi!%XA !%UAI=iI=҅٥b 2=90Q > F٦HEy51; > 4Y?4ymB9?:?E@GDB;;a&4I)MmAIHm>Hm8CHmbIImjBImy =IiImD&Im<*ImEDNOT Ignoring new targets: 14.63 m.RoJoboZoBo:n2nmm8~Blkkkkr@ɞUWuBUH QYUi6I &=ɝiIhIi<7=i=))Ey < 2Acoustic response timeoutF-6"F)*F)2F-w0:F)G5= G5=ԉԱ G r =G 2B :B  O >ď,V}]?A 2Acoustic response timeoutPNT?YN_@?NW29NA=ZAHRS rotation from veh to nav: [[-0.180101,-0.977704,0.107971],[0.983211,-0.182205,-0.009864],[0.029317,0.104382,0.994105]]yNH ǿZI? wv?}Rǿ@p31?@Ÿ??ɫNT?N>X;NǐCbiBbIIjVIj٥r  r\=9vQ z>|| F٦KEyL; > 4Y P?4y 9 mB?@ HD <; ; ,4%B)%mA-EMDNOT Ignoring new targets: 14.63 m.RoQJoQboQZoQBoQ:nQ2nQmYmYqVeeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeVe=mTransitioning to midcourse guidance. Received last range of 14.400000 m 5.001137 min ago.VuV}lkkkkr@ɞ=YuBEc4 AEc7IA E!f=ɝIiIIMX IIiU17=iuw=)q)y EEEEJJ3Jg.J\JLJ3JJ=:Jq9J(3JJ:J:J:J:F5"F*F2F0:F 2Acoustic response timeoutjKm OrKm 9zKi Km ,Km "('*+&$##"! 1Y zq_I<3.*BKu ?:Ku ?! G ;=G 2B :B  O >ď,x?AI<) >#f?Y>Q?>+9>=JAHRS rotation from veh to nav: [[-0.180609,-0.977430,0.109596],[0.983055,-0.182947,-0.011582],[0.031371,0.105647,0.993909]]y>H/ǿG ?.u?@jǿP?` ??ɫ>#f?>5};>ŐCjiBjIItIt٥~C ~>=9xQ >   F٦ MEy I:  > 4Y灝?4yzmB!%?%@HD;;N44))-mA)]DNOT Ignoring new targets: 14.63 m.RoaJoaboiZoiBoi 2Acoustic response timeout:n2nmmm@VCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeqV Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangel k9kAkAqkMr@ɞ^uB8 {8I =ɝiIyIi"7=i=))F"F*F2F_5:FԙJHBH@AH>H:CHIIIjBIIID&I <*I&EGm = - 2Acoustic response timeoutGI 2BQ :Bi  Ou >hď,t{?A\j`?Yj1L?j|9jz=vAHRS rotation from veh to nav: [[-0.180409,-0.977319,0.110909],[0.982892,-0.183384,-0.017145],[0.037095,0.105919,0.993683]]yjHǿ1F@d?s?yǿ V????ɫj`?j;jȐC~iB~IMb@Mb@Mb@ )IiGz?i|?5?~jtx0?=Ļ)bAIfHAiPAXA TAIeI]٥< @=9\Q > F٦PEy̹ > 4Y?y?4ymB63?:?@/HDUX;z_;;4B)mAE1]E MAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalU Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1W Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlqWUninitialize.1XqXXZTransitioning guidance mode to: UNINITIALIZEDroP Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidancePAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide1R Initialize.qRInitialize.1Q"m l HBl Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )1QR :Initialize WaypointComponent.=ZNavigating to waypoint: 36.779130,-121.859630l!k!k)kikm` r@ɞiB= ޼(9I 1=ɝiI;hi)Fe6"Fa*Fa2Fe4:FaGiFi 2Acoustic response timeoutG G=J5 ]J5 RJ5 4J1 J5 ]:J5 S29J5 3J1 J5 :J5 :J5 <:J5 <:Q GY 2B :B  O >,ď,V?AJs>?YJ)?J$9Jc=VAHRS rotation from veh to nav: [[-0.179361,-0.977671,0.109494],[0.982961,-0.182646,-0.020667],[0.040204,0.103922,0.993773]]yJHNƿI?kt?`ǿ)@?ࠚ? ?ɫJs>?J;JːCZiBZIIfjIf٥nM n[=9nQ r>pp rF٦rSEyv7 v> 2Acoustic response timeout x 4Yzq? 4yzzmB?@z?HDzӅ;zQ;zHB4!)%mA!1a ½Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalqaEntering Terminal tracking update period 2.000000 s sec at 14.400000 m (mode 0.000000 count ).qaaZmRmbmjm"mlllkkkk`r@ɞ1Uk= Q]IY ]=ɝYiYI]8 ea}=eK2>ɣeom(kpHeading = 0.400000)m:m(kiHeading = 0.001000iu=jKNrKػ9zKK-K(*.BRP.(AhM6-$ ,P|7cb-QY7>;F_2K*KrA)1 飥1 )E5E5E5E5IyGS< 2Acoustic response timeoutG2B :B1  O} >ԡ 6~ď,Cƞ?A B?YBS?BP29B=NAHRS rotation from veh to nav: [[-0.177907,-0.978081,0.108202],[0.983084,-0.181518,-0.024415],[0.043520,0.102029,0.993829]]yBH ƿoL'?mu?;ǿ`%FH? ?r?ɫB?Bċ;BȐCViBVIEMb@Mb@Mb@A A)AIAiAEK7?X9v?{Gzt?EI,?E=Eף;)AIEOGAiAEYA AAIaIaqH}&>H}=9ZQ > F٦UEy ^ > 4Yi?4yqnB1/?:"?@RHD::I4B)mAq}@a}a}B*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkk k r@ɞUiBU%= Y]`Ia ²=ɝiI}g}=>ɣ$<)飕)  2Acoustic response timeoutԡG;G2B:B OH>  2Acoustic response timeoutď, ?AF?YF?F2>9F=NAHRS rotation from veh to nav: [[-0.176481,-0.978418,0.107486],[0.983202,-0.180396,-0.027782],[0.046572,0.100777,0.993818]]yFHƿ2O`4? cv?7ǿrPا?̹? \?ɫF?F;FʐCViBzIII٥ ^< S=9XQ > F٦XEy%^q %> !=4Y%4a?=4y%z%nBAE?E@%cHD%];%^;%P4I)MmAQqaam1bmZmRmbmjm"mlllkkkk~r@ɞiB= @|;I =ɝiIV~= ?ɣȖͽď,?AB1?YB?BuMK9B=JAHRS rotation from veh to nav: [[-0.175798,-0.978544,0.107460],[0.983175,-0.180027,-0.030932],[0.049614,0.100214,0.993728]]yBHƿ:P}?+v? ǿg???ɫB1?B[W;BƐCRiBRIIZIZb٥bsO= bP=9fQ f>dh jF٦jZEyj޺ j> lv4YnHY?z4ynTtn(nB|~?@ntHDn;n֧;njW4)@mAq1brCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminal1a  Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalA 2Acoustic response timeoutZm Rm bm1jm9"m9lAlIlykykkk r@ɞUiBUH= QUH}#>HyH}0II}wjBI}q =IyIy&I}<*I}E2IA:IE:CBIAJIEu =RIEu =ZIEQR6ԑ - 2Acoustic response timeout dď,T?AI)<2O?Y2տ?2V92=BAHRS rotation from veh to nav: [[-0.176077,-0.978270,0.109477],[0.982980,-0.180657,-0.033356],[0.052409,0.101741,0.993429]]y2HƿM ? t?`ǿ@  \ժ? ?,?ɫ2O?2D;0JiBJI5Mb@Mb@Mb@1 1)1I1i15oʡ?Zd;??5-?5=5<)5^`AI1i5MA1 15SAIEIE<٥] ]@=9]׻Q ]>aa eF٦e]Eye>: m> y4Y}P?4y}#m}HnB /? : ? @}HD}X<}9<}^4B)hmAEZmYRmYbmYjmY"mYlYlaԁlkkkkr@ɞh= ȱJq Ju PJq Jq Jq Ju *9Jq Jq Jq Ju :Ju -:Ju -: Wď,^-?A>?Y>?>\9>8/=FAHRS rotation from veh to nav: [[-0.177252,-0.977633,0.113204],[0.982688,-0.182111,-0.034043],[0.053897,0.105210,0.992988]]y>H3ƿ@H`? /r?@hOǿn@j???ɫ>?>׌;>ȐCNjBNIIVIV0٥^b= bV=9bRQ b>dd fF٦f_EyfeO; f> h v2Acoustic response timeoutz4Yj=I?z4yjfjenBxz??z@jHDj;j;je4B)lAEZm!Rm!bm)jm)"m)l)l)l)k1k1k1k5r@ɞmiBm&= qu=Iq uc =ɝqiqI}v ")= ?ɣa=IZ@ii)飍) EsAEtAjK-OrK-9zK)K-/K-6guiU 8mv^;sJ,QdH~u ~c`wEyGtAFG]tۼGm ?Gm-?G12BA:Ba Ouy> 2Acoustic response timeoutQ xď,zG?A0:j?Y:V?::[9:[s=BAHRS rotation from veh to nav: [[-0.180572,-0.976383,0.118619],[0.982106,-0.185549,-0.032250],[0.053497,0.110673,0.992416]]y:Hǿ>]?im?ǿ`d?U?@?ɫ:j?:({;8J,jBJIJbR=J`H%!>H!H%=II%jBI%r =I!I!&I%<*I%KEMb@Mb@Mb@ )Ii(\?rh|?/$?z4?=,=)IiKA\A IIb٥L= ;=9o:Q > F٦bEyd; > 4YI@?4y_nB7?:?@HD::,m4)`lAB*** querying acoustic contact ***:pBpZm!Rm!bm!jm!"m!l!l)l)k)k)k)k5`s@ɞeiBmp>)= im=Ii mV=ɝiIk%eĀ=?ɣ"=I&@iip)) E E EQEQԉ 2Acoustic response timeoutԹG?G2B:B O>  2Acoustic response timeout(ď,Sa?A @@:?Y:<?: T9:% =BAHRS rotation from veh to nav: [[-0.185686,-0.974451,0.126357],[0.981246,-0.190661,-0.028382],[0.051748,0.118717,0.991579]]y:Hǿ.u,?@]f?gȿ@@~?=d?`?ɫ:?:E;:ƐCJCjBJIIZIZb\٥bhy= b\=9f;Q f>dd jF٦jeEyje< j> lr4Yn8?r4ynXnnBtv0?v@nHDn:n:ns4x)zlAxZmRmbm!jm!"m)l)l)l)k1k1k1k5s@ɞiB2= =I =ɝiI*T=J?ɣ;=Iq@iiK9)y{y{)G5G 2B:B) O= >  2Acoustic response timeoutjK PrK 9zK K 0K ynkht%,WhB'I ď,4{?A23?Y2?2WI92G>>:AHRS rotation from veh to nav: [[-0.194278,-0.971369,0.136739],[0.979718,-0.199113,-0.022487],[0.049070,0.129597,0.990352]]y2H`ȿ@u ?Y?`|ɿ`??@?ɫ23?2E;2ǐCB`jBB#IIV IV<2٥bn= bJ=9fB;Q f>dd jF٦jgEyj< j> lr4Yn0?r4ynnQnnBtv0?v@nHDny:n:nz4x)zkAxZmRm!bm!jm!"m!l!l!l)k)k)k)k- s@ɞiB%;= B >I %k=ɝ!i)I-/E =E4?ɣM)= u2Acoustic response timeoutI@iiJY)61飭61)G== G=!>AJgJLJ5JJ%:Jq9J4J!@!@!@!@H%>H%;CH%VII%jBI%t =I!I%D&I!*I%AEGu SyGyGyGi2By:B O> % 2Acoustic response timeoutԡ ď,,?A:?Y:B?:<9:4>BAHRS rotation from veh to nav: [[-0.205559,-0.966854,0.151456],[0.977562,-0.210134,-0.014678],[0.046017,0.145041,0.988355]]y:H`Oʿw@b?0H?ʿ[ ???ɫ:?:L;:ŐCzjBz8IyMb@Mb@Mb@ )IiZd;?Mb?~jt?9?>D=)cAIiLAZA TAII̍٥= <=9 ;Q > F٦jEy]< > 4YU&?4yIoB=?:?@HDbY;e;Q4)kAEZmRmbmjm"m!l!l!l!k!k)k)k-s@ɞiBSC= ->I =ɝiI4-=-?ɣ5~=I5o@i1i5Jy)5|5|)9G oýԡG2B:B O&> e2Acoustic response timeout A.ď,*実?AI)<:T?Y:l?:S09:#>BAHRS rotation from veh to nav: [[-0.219576,-0.961564,0.164869],[0.974646,-0.223661,-0.006406],[0.043035,0.159283,0.986295]]y:H ̿ !@q?L0?@̿=z?_c??ɫ:T?:;:ǐCJjBJCIIRIR(٥Z.K= Z]=9^ f2Acoustic response timeouthh jF٦jlEyna= n> pv4Yr?v4yrBr*oBtzE?z@rHDr:r:r׈4|)~jAZmRmbmjm"mlllkkkk(s@ɞiB /L=  ZB>I  O=ɝ iI)9=@ɣh=In#@i!i% )%z%z)!G*jKcOrK9zKK1K 0Ox~uyFVR@.G 2B):BA O>9 2Acoustic response timeoutY ď,3ȟ?A6ܯ?Y6b?6@b&96k4>>AHRS rotation from veh to nav: [[-0.236180,-0.954836,0.180300],[0.970860,-0.239630,0.002718],[0.040610,0.175688,0.983608]]y6H";ο?I?`3ο^Df? ʤ?|?`y?ɫ6ܯ?6;4JV\JTJV4JTJV=:JTJV3JTHb>Hb:CHb{IIbjBIbu =I`I`&Ib<*IbEnjBnWI rApmMb@Mb@Mb@i i)iIiiimT㥛 ?/$?S㥫?mA?m1>m/]=)miAIm DAimMAi impUAII(*2٥= 6=99=X;Q U>YY ]F٦]oEy]= e> am4Yeh?u4ye:e\oBu}D?u:u%?}@e IDe;eR;eĐ4)6jAB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkkO"s@ɞuiBuER= qu&e>Iq } =ɝyiyI}?=@@ɣ=Iv)@ii)飍) 2Acoustic response timeoutGJ>aG2B:B O>>ԑ  2Acoustic response timeoutԹ *Cď,?A>`H?Y>3?>B9>(G>JAHRS rotation from veh to nav: [[-0.255836,-0.946374,0.197291],[0.965940,-0.258446,0.012854],[0.038824,0.193860,0.980261]]y>H_п`H @?`? aп_S??h?K^?ɫ>`H?>P|;>ƐCnjBndIIv Iv̍2٥~Sa= ~]=9v;Q  >    F٦ rEyPe= > %4Y?%4y3oB)-?-@ID:N:45B)=iA=EZmYRmYbmYjmY"malalalakakikikm(s@ɞiBJPb= 靥{>I B=ɝiI'cC-=5!@ɣ5'>I5,.@i1i1)5d5d)9ԑG-TG2B:B) O5 >Թ 2Acoustic response timeout jK 3OrK 9zK K 2K pP[29]nL0v]UI/(5>0-;?5/0.4Ke| kď,W{?A @6^?Y6J?6J96*a>>AHRS rotation from veh to nav: [[-0.279064,-0.934785,0.219775],[0.959524,-0.280479,0.025394],[0.037904,0.217966,0.975220]]y6H.ѿ!?@l?]ѿ@?&h? 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V߿G??Œ?MF?ɫ2?2;0FQkBFIMb@Mb@Mb@ )Iish|??!rh?~jt?I?l=<)AI6AixUA II٥Y< ?=9:Q > F٦Ey= > 4Y?4y.pBL?:@@ID: ; ;O4B)gAB*** querying acoustic contact ***:pBpZmRm!bm!jm!"m!l!l!l!k)k)k)k-@bs@Աɞ5iB=s= 9=s>IA EW^!=ɝAiAIEuu=uY@ɣuv>Iusa2iqiy)}Lѿ}Lѿ) 2Acoustic response timeoutG9냾G2B:B O> E 2Acoustic response timeout9 9ď,4?AI<):t?Y:|S@:)9: 9>BAHRS rotation from veh to nav: [[-0.530136,-0.795758,0.292789],[0.846898,-0.513823,0.136932],[0.041477,0.320555,0.946321]]y:H v?`? \\ bF٦bEyb= b> dn4Yf}?r4yf5fqBpr@r@fIDfR;fS;f4vB)vgAzxEZmRmbmjm"mlllkkkkis@ɞiBf= D>I "=ɝiIPzz%nѕ=%@ɣ-3>I-x-i)i))-2п-2п)QJ\JQJJJ=:J-.9JJ9 2Acoustic response timeoutGG?G?G2B:B O>a jK] PrK] ]9zKY K] 6K] b zqobXPRgm\H<EgwxngccS2 ubUKE@<62.-,,+@ď,?A B(?YB? @B>"9BK>NAHRS rotation from veh to nav: [[-0.555386,-0.780825,0.286111],[0.830652,-0.537250,0.146217],[0.039544,0.318865,0.946975]]yBH O??'19? ??Ih?@M?ɫB(?BB;BŐCRlkBVIIZIZF٥f= f<9f;Q f>hh jF٦jEynN= n> pv4Yrk?v4yrr@qBtvm@v@rIDr9:r:r4~B)~ gA~wEZmRm!bm!jm!"m!l!l!l!k)k)k)k-Aos@ 2Acoustic response timeoutɞuiB #= 15 >I1 5}#=ɝ1i9I=w E=M˫@ɣMo>IM_(iIiI)u7οu7ο)qZHRH<H>HHIIkBIu =IID&I<*IEԑGuGI2Ba:By O>  2Acoustic response timeout -Fď,?AP~skB~IMb@Mb@Mb@ )Ii r?1Zd?{Gz?C?"=ף<)AI8AiKSAbA ^AII(٥y< <=9Q > F٦Ey > 4YY?4y+eqBE?:2@@JD::4)fAZmRmbmjm"mlllkkkk~vs@ɞiB= >I =%=ɝiIJ=%N@ɣ% >I-9"i)iQ)U(̿U(̿)Y %2Acoustic response timeoutGGQ2BY:Bq O>JJ<3J/J J RJ 7J J J S29J 4J Q dWLď,r3?A @ 22Acoustic response timeout6?Y6 @6y 96t>FAHRS rotation from veh to nav: [[-0.601072,-0.751863,0.270950],[0.798480,-0.579307,0.163809],[0.033801,0.314810,0.948553]]y6H;C?W?%?` ?]N?%?`Z?ɫ6?6,;6ƐCbxkBbIIjIjb٥r;< rZ=9rztt vF٦vEyv> z>9 q4YuG?4yuuqB@@u&JDu*C;uC;uU4B)fAZmRmbmjm"mlllkkkk |s@ɞiBZ= )>I '=ɝi I _М=@ɣ>I(Cii)CʿCʿ)G-p> G-a>ajKOrK+9zKK7K((),6@;F_khofRC92.*($#!)<HOONJHGCA?;9757p=cG}!܃GGtAGQ2Bq:B O}>ԑ 2Acoustic response timeout H H H II kBI t =I I &I *<*I \E?Sď,M?A6ء@Y6@6%U96>BAHRS rotation from veh to nav: [[-0.622914,-0.737065,0.262132],[0.781698,-0.599494,0.171919],[0.030431,0.311999,0.949595]]y6H@?@? /m?@i)??@c?ɫ6ء@6~;6ȐC^kB^IMMb@Mb@Mb@I I)IIIiIM-?v/??ԙMx=Mt<)MAIM6AiIMG_A IMp]AIIF٥™< ;=9;Q > F٦Eyр= > 4Y 4?4y  qB}@?:g@%@ ;JD 5P; |O; 4))5fA1]B*** querying acoustic contact ***:pYBpYZmiRmibmijmq"mqlylylykkkkWs@ɞiB= >I x(=ɝiI6ۈY=~@ɣc>Iii)v5ȿ u2Acoustic response timeoutuv5ȿ)yGG2B:B O> % 2Acoustic response timeout) iYď,{g?AfRW@YfM@fLiݼ9f䜡>vAHRS rotation from veh to nav: [[-0.643625,-0.721939,0.254067],[0.764863,-0.618470,0.180221],[0.027024,0.310321,0.950248]]yfH`` B?y?w?L?@M?mh?ɫfRW@f;fǐCkBII-I-Բ٥M< MT=9UYY ]F٦]Ey]S= e> am4Ye"?m4yeeqBqu@u@eMJDed:e_;en4B)lEZmRmbmjm"mlllkkkk5 s@ɞiBr= 靍l>I N*=ɝiI{8=@ɣ~>I!$ii)BQƿBQƿ)J}[J}JJ}4JyJ}:J}&9J}3Jyi5*>IC)G ))I-޿)-+At?AG1惾 2Acoustic response timeoutGq2By:B O>QjK CNrK 9zK K 8K ~W>,$  ,tjJ)n\PDCBK ?:K ?y P`ď,?S?AI&<)&<]kB]IImIm٥}< }G=9}Q > F٦Ey > 4Y?4yQqB@aJD';U;4B)nfAZmRmbmjm"ml 2Acoustic response timeoutllkkkk s@QɞiBV= %>I! -+=ɝ1i1I=NuV'=}S@ɣ}Gܭ>I| ii)JĿ飽JĿ)JH)BH-?AH=>H=:CH=II=kBI=v =I9I9&I=,<*I=YE2I:IBIēCJIt =RIt =ZIQ5ԁGMAG]?G]O?ԱG) 2B1 :BQ  O] >  2Acoustic response timeout 1~fď,;?A kBIMb@Mb@Mb@ )IiZd;?A`"??=)SAI5Ai\A [AII٥.P= E=9Q > F٦Ey > 4Y)?4yqB@?:p@@uJD` ; ;4) fA Zm1Rm1bm1jm1"m1l1l9l9k9k9k9kEs@ɞmiBmDd= qu?Iq u-=ɝqiqIu }=@ɣST>Ilhԩii))-@¿-@¿)) 2Acoustic response timeoutGm1惾GI2BQ:Ba Ou> 9 ilď,?A 62Acoustic response timeout>V@Y>L@>"9>M>FAHRS rotation from veh to nav: [[-0.701481,-0.673642,0.232659],[0.712466,-0.670987,0.205350],[0.017779,0.309811,0.950632]]y>Hry??xH?`4??k?ɫ>V@>Đ;>ĐCNkBNIIVIVb٥^y= ^^=9b`` bF٦fEyf$Y> f> hr4Yj雊?r4yjDjrBtvo@v@jJDj\b;jyc;jG4zB)~eA~kEZmRmbmjm!"m!l!l!l!k!k)k)k-s@ɞiBU= B ?I L/=ɝiIwpͪ=)@ɣ >I>ii)r_r_)jKOrK+9zKK9K=13I *(# %("      &1=Hv)wh\\bhbULI2KrA*KsAG=9냾AG2B):B9 OMt> -2Acoustic response timeoutq H% >H! 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Kb?Z?`p?ɫj @jg;jƐC=kB=I=Mb@Mb@Mb@9 9)9I9i9=+?&1?I +?=v>?===9<)=ȃAI=6Ai=5RA=ZA 9=ZAIYIY٥m; m2=9u;Q u>qy }F٦}Ey}-e= }> 4Yқ?4yѹ3rBS@?:@@JD ; ;N4)eAB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkkڣs@ɞ=iB== 9E ?IA Ee1=ɝAiAIET]T=]@ɣ]>I]luiYiY)]e)a u2Acoustic response timeoutԑPExceeded connect timeout, disconnecting.ԹGGGsAG2B:B O> % 2Acoustic response timeout;yď,3?A6z @Y6;@6D96f>BAHRS rotation from veh to nav: [[-0.737532,-0.640448,0.214183],[0.675206,-0.704976,0.217036],[0.011993,0.304688,0.952376]]y6Hۙ~@Uj?J?*?쏈? ?@y?ɫ6z @6g;4JkBJIIVIV`٥^]\= bk=9bMdd fF٦fEyjm= j> lr4Yn?r4ynҵnIrBpr^!@v@nJDn;n;nh$4zB)z]eAzjEZmRmbmjm"mlllkkkks@ɞM}iBM= IM?IQ m&3=ɝiiiIm}Zd=}@ɣ}!>I}[iyiy)5飅5)؅A؅A 2Acoustic response timeoutG!G2B:B O>A jK ƉOrK 9zK K :K H- iVoB3.k)z[Kaq_-|aG! ď,?A2P @Y2F@2|92#>:AHRS rotation from veh to nav: [[-0.754797,-0.623163,0.204818],[0.655894,-0.721389,0.222265],[0.009246,0.302104,0.953230]]y2H K'z7??0s? ? 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n?ɫ2X@2I;2CB kBBIIZIZ(٥j9_ nH=9r;Q r>tx zF٦zrEyB= > 4Y u?4y J -fB@ PD y: !)< 5R4q)fAԙZmA 2Acoustic response timeoutRmbmjm"ml l1l9kAkAkAkE@,u@ɞeBpI> 靵ī?I {=ɝiI1>iAɣo?Ii+=i))GG2B:B OC>  2Acoustic response timeout D~ď,eT?AI<)<6@Y6z@6(=96Ԕ>BAHRS rotation from veh to nav: [[0.021167,0.958555,-0.284119],[-0.992708,-0.013582,-0.119779],[-0.118674,0.284582,0.951278]]y6H`?@|?@/ҿC@Ћթea6? p?ɫ6@6[U;6ÐCZjBZqIMMb@Mb@Mb@I I)IIIiIMFx?"~ʿKM ?MSM^)M΃AIMv  F٦ tEy9t= > %4Yo?%4yPeB%I?%:%-@PD ;;Y45TB)5$gA5sEZmYRmYbmYjmY"mYlYlalakakakikm 7u@ɞeBR> 靥?I =ɝiI2M>=Aɣ—?Ii;+=i~ܽ)飹) 2Acoustic response timeoutG tG?G;?G2B:B O >9 ZH9 RH= <H= $>H= ^AHRS rotation from veh to nav: [[0.045782,0.959991,-0.276263],[-0.991496,0.009943,-0.129756],[-0.121818,0.279855,0.952282]]yRHp?>?LѿU)]?@ٛ`r/ #?y?ɫRK@Rǔ;RCfjBf^IInInƲ٥z z]=9z || ~F٦~wEy6= > 4Y .k?4y V eB@ PD W: D; T`4!)%gA! 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M˿ƿ@s:?`?ɫRz@Rp;PbiBbLIIjIj٥rt rP=9rE=Q v>tt vF٦vEyz = z> |4Y~YU?4y~~`B ,ȿ @~gQD~:~|:~4)snAZm1Rm9bmjm"mlllkkkk@M v@Թ؁؅A 2Acoustic response timeoutɞ~dB‰N> ?I ,=ɝi I `MAɣM=?IYi]8%=ie#)ai)i)>I)=G Q)iI̿AE|^G2B:B O> - 2Acoustic response timeout9 Jď,*9?ABt@YBT@B=<>9BB>JAHRS rotation from veh to nav: [[0.247122,0.959130,-0.137843],[-0.951586,0.213380,-0.221252],[-0.182796,0.185845,0.965426]]yBH?1?Ӥ es` P?@Q̿`eǿ??ɫBt@B;@RhBV5I=Mb@Mb@Mb@9 9)9I9i9=/$?/$ſX9v=1(?=,=})=|AI=XGAi=}A9 9=bAIUIUV٥e6 mA=9mzqq uF٦uEyu*< u> y4Y}U?%4y}G}`B%S.?%:%!ǿ-@}yQD}<}R<}v49)=oA9ZmYRmYbmYjma"malalalikikikikm2v@ɞhdBDVN> 靝?I  >ɝiI<>гAɣPڏ?Ii]%=i)飹) EEEE1 u2Acoustic response timeoutGA2BQ:Ba Ouy>aJH BH ?AH >H ;CH II phBI I I &I )<*I _E2I;C:I;CBIJIRIv =ZIə5ԉ lď,?A:0@Y:+@:_?>9:Y?>FAHRS rotation from veh to nav: [[0.254223,0.958036,-0.132429],[-0.949130,0.220831,-0.224467],[-0.185803,0.182757,0.965441]]y:H.E?;?@r@F_ 2D?V̿ eǿd?@?ɫ:0@: ;8RhBR-IIZIZԲ٥b  bV=9bdd fF٦fEyj< j> r2Acoustic response timeout pv4Yr'V?v4yrǵrF`Btv<ƿz@rQDr9:rg:r#4~OB)~5oAEZm)Rm)bm)jm)"m)l)l)l1k1k1k9k=v@ɞeTdBe*^U> im?Ii m>ɝiiiIm<}y,>} Aɣ}:?Iyi}e(%=iy)yy)qJM[JMMJIJIJM:JM9JIJIJM6:JM;:JMG:JMJ:ԙG3jKuMrKu9zKqKu`Ku3320//)'"!   G2B:B Oe> 2Acoustic response timeout ̕ď,2ɴ?A2?q@Y2l@2}*B>927<<>:AHRS rotation from veh to nav: [[0.261534,0.956824,-0.126841],[-0.946612,0.228612,-0.227292],[-0.188481,0.179514,0.965531]]y2H?L?`S< J%C?`Ϳ`% ȿN??ɫ2?q@2#;0vhBvIMb@Mb@Mb@ )Iip= ף?(\ſ~jt%?.D)}AIKAiA GeAII٥z <=9;Q > F٦Ey"< > 4YV?4y _B3+?:ƿ@QD ; ;4)oAZm Rm bmjm"mlllkkkk% v@ɞM=dBMN> IM2?II U>ɝiI` =>+Aɣ|?IiC$=i))GWg 2Acoustic response timeoutG2B:B O!>)  2Acoustic response timeout$~ď,LΫ?AI): @Y:鯟@:D>9:8>FAHRS rotation from veh to nav: [[0.269234,0.955419,-0.121195],[-0.943980,0.236863,-0.229778],[-0.190827,0.176269,0.965668]]y:H`;?ʒ?5Q?`[iͿmȿ??ɫ: @:&;8NhBNIIVIVb1٥^g ^[=9b;Q b>`` bF٦bEyfߵ< f> hn4Yj"W?r4yjNj_Bprſv@jQDj;;jH<;j74x)zoAx B*** querying acoustic contact ***:p Bp ZmRmbmjm"mlllkkkk*#v@ɞU'dBUT> Y]!?IY ]>ɝYiYI]?=m>miAɣ7?Iiж$=i )飹)1H!>HHII3hBIw =II&I <*I:EYG7ƙ 2Acoustic response timeoutG2B:B O>ԉ Jm _Jm HJm 5Ji Jm :Jm 9Jm 4Ji Jm h:Jm m:Jm 9Jm 9ď,~?A0jK6}MrK6+9zK4K6aK6 MT<&     B@YB@B G>9BɊ6>NAHRS rotation from veh to nav: [[0.276356,0.953956,-0.116600],[-0.941445,0.244333,-0.232344],[-0.193156,0.173982,0.965619]]yBHЯ?Ά?}ٽP JF?`oͿ`Yȿ` E?Z?ɫB@B}6;BCRhBVI XZAI^I^٥f fI=9fĿ;Q f>hh jF٦jEyjZ< n> pv4YrW?v4yrrN_BtvĿv@rQDr-:r$:rN4|)~oA|Zm!Rm!bm!jm!"m!l!l!l)k)k)k)k-`\)v@ɞ]dB]W> Y]?Ia e>ɝaiaIet=m >mAɣmyB?IiiuT$=iq)qq)qGsAFsA u2Acoustic response timeoutG8ԑG2B:B! OU>Թ  2Acoustic response timeoutpď,Y?AJ/@YJ*@J_SI>9Jh3>ZAHRS rotation from veh to nav: [[0.283089,0.952606,-0.111367],[-0.938990,0.251630,-0.234479],[-0.195343,0.170951,0.965721]]yJH@"?@{? 4 ?iο@ɿ?/?ɫJ/@J;JC`bhBfIeMb@Mb@Mb@a a)aIaiaeX9v?(\ſ rhe?aeC )aIeLAie-Aa aeeAI}I}(٥uI >=9J;Q > F٦Ey&< > 4YyX?4y^B$?:ſ@QDS;y;4PB)LpAEZmRmbmjm"mlllkkkkA0v@ɞcB>HR> i?I 0>ɝiI۔=>Aɣە?IiYU$=i)) m2Acoustic response timeoutG5zG2B!:B1 OU>ZH RH H &>H 92v0>>AHRS rotation from veh to nav: [[0.289232,0.951285,-0.106780],[-0.936615,0.258187,-0.236839],[-0.197732,0.168513,0.965663]]y2HƂ?p?U`!?PοEOɿؑ??ɫ2f@2J;2CJphBJIIRIRb ^2Acoustic response timeout٥Zǚ bY=9b;Q f>hQ UF٦]Eye5< e> i4Ym'Y?4ymwm^BĿ@mQDmf 靥?I >ɝiI6=n>Aɣ?Ii)$=i))GFG GJ-^J-TJ-4J)J-} :J-:9J-3J)J-:J-:J-qJ:J-sJ:AjK X[MrK zK K bK :OI-}R!vJ%nB@py_3`D3! |qjbXqG2B:B O> m2Acoustic response timeoutԡ  ď,6?AF@YFo@FN>9F^q->NAHRS rotation from veh to nav: [[0.295794,0.949892,-0.101051],[-0.933986,0.265389,-0.239246],[-0.200440,0.165148,0.965686]]yFHH?e?޹6"?ο`ɿ#??ɫF@Fꇎ;FC^lhBbIqMb@Mb@Mb@ )Iil?ktƿI +? 09)AIPAiZAJA hAII̍٥d ;=9;Q > F٦EyB< > 4YY?4yl^B?: ƿ@QD(;@:;4)pAZmRmbmjm"mlll!k!k!k!k%`E=v@ɞUcBUd Z> QUؓ?IY ]W>ɝYiYI]=ml>m)Aɣm{T?Iqiu$=iu*;)qq)yG2B:B O= 2Acoustic response timeoutԡ } 2Acoustic response timeout@ď,P?A6Gۙ@Y6'֠@6HQ>96*>>AHRS rotation from veh to nav: [[0.302188,0.948464,-0.095385],[-0.931326,0.272420,-0.241701],[-0.203260,0.161874,0.965651]]y6H@ W?Y?@.k lSo?@οlʿI?@?ɫ6Gۙ@6;6CfWhBjIIvIvF2٥U V=9 p;Q  > F٦Eyz< > )54Y-8Z?=4y--)^BAE5ſE@-QD-W;-;-4Q)U#qAY}B*** querying acoustic contact ***:pyBpyZm Rm bm jm "m lllkkkk`Cv@ɞmcBmY> qu1?Iq u>ɝqiqIu=H>nAɣƾ?Ii#=i)飩)He+>He=CHeIIegBIeu =IaIa&Ie <*IeCEG2B:B O> 2Acoustic response timeoutI !ď,i?AI<)bLhBfIInInb1٥v vM=9vQ v>xx zF٦zEyz ~>jK8OrK9zKKcKTOKIFDeJ<54230-*)%)=lETrigUNO^>[0rWG>6 4YZ?%4y-]B!!%@RD;T;4))-OqA1ZmQRmQbmQjmQ"mQlQlYlYkYkakakeIv@ɞcB,_> 靕s?I t>ɝiI2">1X>Aɣ#?Ii #=i)飡) M2Acoustic response timeoutAG2B:B O=aԑ  2Acoustic response timeoutԹ ď,6?A2*K@Y2 F@2cW>92$>:AHRS rotation from veh to nav: [[0.314468,0.945448,-0.085071],[-0.925903,0.285733,-0.247102],[-0.209315,0.156474,0.965248]]y2H`@ ?A?`:ǵtI?@ Ͽ`ʿS?`O?ɫ2*K@2w;0^0hB^IJSJ[3J[.J!J%OJ%5J!J!J%%9J%4J!!-@!-@!-@!-@Mb@Mb@Mb@ )IiS?#~jĿ rh?%C)AISSAiAKA  kAI I b٥{ 8=9% d!! -F٦-Ey5< 5> 9E4Y=[?E4y==]BE?E:EÿE@=RD={;=;=r 4UQB)UqAUEԉZmRmbmjm"mlllkkkk`Qv@ɞucBuV> uPL:uN?Iq u{ >ɝyiyI}|>:>ګAɣK{?IiU#=i;<)飩) E2Acoustic response timeoutԹG9G2B:B O>JHa BHe @AHm 0>Hi Hm tIIm gBIi Ii Im D&Im <*Im E f'ď,k?A6E@Y6&@6,[>96`">BAHRS rotation from veh to nav: [[0.320922,0.943659,-0.080723],[-0.922980,0.292494,-0.250110],[-0.212408,0.154771,0.964846]]y6H@?u2? < :?@п00˿`??ɫ6E@6};6C R2Acoustic response timeoutVhBVII^I^1٥f fc=9fhh jF٦jEyn0< n> pz4Yr\?~4yrra]B|~¿~@r%RDr;;r:;r4 ) IrA Zm)Rm)bm1jm1"m1l1l1lkkkkVv@ɞqcBOb> ?I zh >ɝ!i!I%3>-vp?-,Aɣ-?I)i-{#=i)))))QGm-»GA2BQ:B O>jK5INrK1zK1K5dK5/(*i lUE6+"  -<i<<%# ]2Acoustic response timeoutI ) G A )q I ɿ Ay K-ď,n÷?AmgBmI-only read 0 of 1 data item for water mass range. 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M?ɫ:u@:X;8~YB~II I ٥ %F=9-:Q ->11 5F٦5[Ey5~ 5> AE4YEj)?M4yE wEvKBIMM@EUDE:E:E4YUB)eҖAeEZmRmbmjm"mlllkkkkw@ɞ\\B |= +I Q>ɝiI\*:?ZAɣ_.?Ii*%=i) ) G2B:B1 OE=ԁjK}OrK}]9zKyK}}K}Y:#|ztqljfc_[[[VTRRPLKKJIEDA@=<<;:8622.-.2K*KqAԱ 2Acoustic response timeout |tď,H?A2@Y2|@2><>9289=:AHRS rotation from veh to nav: [[0.407883,0.912980,-0.009967],[-0.894429,0.397355,-0.205195],[-0.183379,0.092610,0.978670]]y2H ?!7?\i`*Dn?Cʿxǿ`I?`DQ?ɫ2@2ye;2CNYBNIeMb@Mb@Mb@a a)aIaiaesh|?? ףp= ǿy&1|e)?eQ8e`)e̕AIe/AiejAe~A ae(AI}I}٥5 A=Ա9Q > F٦]Ey,l > 4Y5-?4yl~7KB 0?:@UD%;;4)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkk!k!k%uw@ɞU9\BU@= QUg'IQ U>ɝYiYI]Ge:?egXAɣec-?Iaie5%=ia)ai)i m2Acoustic response timeoutGq2By:B O=HHHIIQYBIII&Iܗ<*IHE2I:IBIJIRIZI5   2Acoustic response timeout9 8ď,d0?A~YB~II I b٥l %T=9%Q %>)) -F٦-`Ey- 5> 1]4Y50?e4y5$5JBiqu@5UD5;5;54)'AEZmRm bm jm "m l l lJ%`J%KJ!J!J%:J%K9J!J!J%7:J%<:J% :J% :k1k1k9k=@w@ɞe\Be= am~$Ii uӐ>ɝyiyI}~;?DVAɣ#j+?Ii@%=i)飉)A 2Acoustic response timeoutEeG2B:B O>iԡ Sď,J?AjKNNrKN 9zKLKN~KN,)*)&%+3=?@?=98559>CD@<6.+,,)'# "##/FYpg/Sn,VJBKf ?:Kf? 2Acoustic response timeoutysYBIMb@Mb@Mb@ )IiMbX9?QſI +?!?(94<)חAIi$AA AIIF٥ &=9Q > F٦cEy > 4Y &5?4y n JB='?%:%%@ VD iD; B; 41)5JA1ZmYRmYbmYjmY"malalalakikikikmx@ɞ[Bd~= 靥I >ɝiIM  2Acoustic response timeoutH H H xII YBI I I &I )<*I E ď,ed?A UYB III(٥E M=9IQ M ?IQ UF٦UeEyQ U ? am4Ye7?m4yeeJBiim@e VDe:e:e4}B)}A}"EZmRmbmjm"mlllkkkkx@ɞ[Bڍ= bI >ɝiIGy2B:B Oc>J5\J5NJ1J1J5=:J5!9J1J1J5:J5 :J5s:J5v:) ď,JA~?A J2Acoustic response timeoutVU@YVP@Vl3>9Vھ=bAHRS rotation from veh to nav: [[0.403728,0.914776,-0.013712],[-0.898118,0.393431,-0.196459],[-0.174322,0.091631,0.980416]]yVH?E?`a-?%ɿ+Pƿ u?_?ɫVU@V;VCjDYBjIIpIp٥z* zP=9zؿQ z>99 =F٦EgEyE[ E> IU4YM;?U4yMbMkJBQ}B}@M0VDM;M;M 4)AZmRmbmjm"mlllkkkk;x@ɞU[Bm\= quIq u >ɝyiyI}]=?OAɣE4&?Ii^%=ijC=)飉)QG2B:B O>ԁjK8OrK9zKKK249}dB{X,sea^[[ZSHCA;5530/}2bhN>1( % 52Acoustic response timeoutԩ $ď,&?A9Zc<=bAHRS rotation from veh to nav: [[0.403167,0.915017,-0.014163],[-0.898848,0.393042,-0.193880],[-0.171837,0.090896,0.980923]]yZH{?G?p]'?ȿſ@D?c?ɫZO@Z>;ZC~+YB~IMb@Mb@Mb@ )IizG?ףp= ÿ~jt? ?<)AI݈AivAA =AII٥kc ;=9Q > F٦jEy > 4Y >?4y  BJBI?:@ AVD : ;  ; 4!)%A!=B*** querying acoustic contact ***:p9Bp9ZmIRmIbmIjmI"mQlQlQlQkQkQkYk]`x@ɞ[BI= 靕I >ɝiIu\3>?MAɣ~$?Iif%=i)飡) 2Acoustic response timeoutHQ>HHYIIXBIII&I<*IgEԱG2B:B O> = 2Acoustic response timeoutFď,?AI<)<6L@Y6G@6+.>96)=VAHRS rotation from veh to nav: [[0.403102,0.915036,-0.014782],[-0.899365,0.393107,-0.191337],[-0.169269,0.090423,0.981413]]y6Hj?@G?:F@(?@}ȿſ %?`g?ɫ6L@6o8;6ClrYBrIIzIz<٥s Z=9 Q  >    F٦mEy@ > %4YA?%4y JB)--@OVD::41)5A1ZmaRmabmajma"malalilikikikikux@ɞk[Bs= 靥I z>ɝiI|>?KAɣ#?Ii]n%=i)飱)GGG2B:B O= 2Acoustic response timeout1a ď,˳?AjK kOrK ]9zK K K i}>     %5<@CCGGFEFFBBC=843:ABK@Y$F@ !+>94=AHRS rotation from veh to nav: [[0.403136,0.915002,-0.015902],[-0.899896,0.393202,-0.188627],[-0.166341,0.090352,0.981920]]yH?G?H7*?$ȿJſ@N!?k?ɫBK@dۓ;髁XB  2Acoustic response timeoutkI 99Mb@Mb@Mb@ )IiK7?ʡEÿ:v? ?<)AIAiƤAA GAII(*٥ &=9HŻQ > F٦pEyȹ > 4YE?4yIBi?:@aVD:);4)_AiZmRmbmjm"mlllkkkk$x@J[JFJJJ:J9JJ!=@!=@!=@!=@ɞM=[BMg= QUnIQ U}>ɝQiQIUa]??eIAɣe_D!?Iiimx%=ii)ii)ԑH P>H BC  2Acoustic response timeoutH :II XBI I I &I <*I "EG dh=G 2B :B  O >ď,i?A6E@Y6}@@6K'>96պ=>AHRS rotation from veh to nav: [[0.402733,0.915162,-0.016850],[-0.900662,0.392937,-0.185495],[-0.163137,0.089881,0.982501]]y6H`?I?*A9%?IǿĿr?p?ɫ6E@6.V;6CFXBJTIIVIVb2٥Z+ ^=9^.Q b?`` bF٦brEyfV f? hn4YjG?n4yjjIBlnr@jlVDja;j;j4vB)vAv+EZmRmbmjm"m9l9l9l9k9kAkAkE (x@ԙɞ #[B = I %? >ɝ!i!I%="@?==HAɣ=^1 ?I9i=^~%=iA)AA)AGb=G2B:B  O >  2Acoustic response timeoutJJ< &ď,?A @ 22Acoustic response timeoutXBGII-I-b٥=SI =B=9EQ M>QQ UF٦UtEye e> q4YuI?4yuuIB@u{VDukn;u[;un 4)AZmaRmabmajma"malalalikikikikm/x@ɞZB= I >ɝiIK4L@?^FAɣױ?Iip%=i))!Gu-B=jK;`NG?G ?rK9zKKKEHA82-"&MliVHGfu_E<?VgYJ[yvuupbVOC=7 %2Acoustic response timeoutQGQ2Bi:By O>J1 J5 LJ5 4J1 J1 J5 q9J5 3J1 y >ď,0f?A^E@Y^@@^!>9^U=jAHRS rotation from veh to nav: [[0.403125,0.914947,-0.019008],[-0.901529,0.393472,-0.180070],[-0.157275,0.089727,0.983470]]y^H??G?v@S.? ǿ!Ŀ^?`x?ɫ^E@^t;^CvXBv2IMb@Mb@Mb@ )Iip= ף?/$ÿ??<)?AIAivAƄA =AII٥椽 D=94iQ > F٦wEy-7 > 4Y*L?4yrIB ?:@VD:<:4)-AB*** querying acoustic contact ***:pBpZm Rm bm jm "m l llkkkk6x@QɞZBk= rI u(>ɝiIuA?DAɣL?I!i%5%=i!)!!))H5Q>H5ACH5II5gXBI1I1I1&I5ޗ<*I5OE u2Acoustic response timeoutGyFyG GԁG2B:B O>ԩ % 2Acoustic response timeout 8 ď,B3?A6G@Y6hB@6->96B=>AHRS rotation from veh to nav: [[0.403513,0.914760,-0.019762],[-0.901841,0.393983,-0.177371],[-0.154466,0.089394,0.983946]]y6H*?`E?i<`7?@ƿÿ~?{|?ɫ6G@6U;6CF`XBFIIRIRV٥Z Z[=9^Q ^>`` bF٦bzEyf&!: f> hj4YjYN?n4yjjIBtvz@jVDj_<)GjAɝ1i1I5?EB?E CAɣE ?IIiM %=iI)II)QG)2B1:BI OU> }2Acoustic response timeout A p(ď,>M?AB*I@YB D@Bu>9BW=jAHRS rotation from veh to nav: [[0.403898,0.914543,-0.021838],[-0.902216,0.394281,-0.174781],[-0.151234,0.090297,0.984365]]yBH@x? 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BK?:K?'<<͉4)TAZmRmbmjm"mlllkkkk Τx@ɞ^XB]= NI) -RM>ɝ)i)I-'4伉15#Aɣ5?I9i=&=i9)99)AGa2B:B OA>!H!H!H%'II%DUBI!I!I!&I%<*I%E 5 2Acoustic response timeoutI 04zď,O?A0:@Y: @:c=9:q*=BAHRS rotation from veh to nav: [[0.400152,0.915429,-0.043230],[-0.910018,0.391324,-0.136867],[-0.108375,0.094108,0.989646]]y:H?0K?A"`r ?߄}u?`-?ɫ:@:=;:CRUBRIIZ=)Zp==Mb@Mb@Mb@9 9)9I9i9=7A`?ˡEĿi|?5=6?='=q)=AI=Ai9=A 9=AIUIUT٥em9 eE=9eQ e>ii mF٦mEymv u> 4YG?4y)ZFB;?:]@WDX:@:ؐ41)5zA9ZmyRmybmyjmy"mylyllkkkkx@ɞɝiI%K㼉 !Aɣ ?I i &=i ))1)9ԉG)2B1:BI OU> 2Acoustic response timeoutԹ = 2Acoustic response timeoutď,?A2G@Y2)@2D=922=:AHRS rotation from veh to nav: [[0.398168,0.916227,-0.044603],[-0.911067,0.389325,-0.135582],[-0.106859,0.094621,0.989762]]y2H{?Q?<֦ v'@?Z`[@9? ?ɫ2G@2o;2C`nTBnIIvIv٥~0 ~Q=9 Q >    F٦ Ey߻ > %4Y?%4y0 FB!--@WDB::m45B)5ȠA=SEZmYRmYbmYjmY"mYlalalakakakikmx@ɞXBA= 靥/JI >ɝiIYi⼉Aɣ;>Ii"&=i)飱)G2B:B O= 2Acoustic response timeoutjKMrKh9zKKK2K! *K% tA9 J \J IJ J J =:J 9J J ! @! @! @! @Hď,?AI<)<:@Y:@:"=9:x=BAHRS rotation from veh to nav: [[0.395979,0.917134,-0.045441],[-0.912198,0.387206,-0.134040],[-0.105338,0.094528,0.989934]]y:HW?`*Y?`C0?@9(k2? ?ɫ:@:8;:CNTBNIMb@Mb@Mb@ )IiA`"?Zd;Oǿ rh9?j<C )AIAiACA 3AII(1ZH<RH4<HHHIITBIII&I,<*IE٥Y @=9fQ >   F٦ EyF > !-4Y%?-4y%9%EB5/??5:5A5@%WD%;%;%4=B)=A9]B*** querying acoustic contact ***:pYBpYZmaRmabmajma"milqlqlqkqkykyk}x@ɞWB2= 靭EI m>ɝiIἉAɣ'>Ii%&=i)飹)  2Acoustic response timeoutAGI2BQ:Ba Ou>qԙ  2Acoustic response timeout[pď,]8?A:*֜@Y: ѣ@:!=9:=BAHRS rotation from veh to nav: [[0.393604,0.918084,-0.046881],[-0.913392,0.384812,-0.132799],[-0.103880,0.095091,0.990034]]y:H@0? `?@:?@㗺W? [?ɫ:*֜@:7v;:CJTBJIIV IV̍2٥ZRJ ^\=9^}Q b>`` bF٦bEyj j> lr4Yn?r4yn?nEBprr@nWDn;n;nb4x)z#AxZmRmbmjm"m!l!l!l!k!k)k)k-@Rx@ɞeWBe = aebBIa mm>ɝiiiIm༉quAɣug0>Iqiu'&=yiy)飁)G2B:B O=ԡ -2Acoustic response timeout Yď,>R?A-TB-IIMIM(1٥] ]@=9]Q ]>aa eF٦eEym m> q 2Acoustic response timeout4Yu?4yuHuEB@uWDu{;u};uɬ4)?AZm!Rm)bm)jm"mllljKBoIrKS9zKKKBK?:K ?kk1k9k=x@ɞWB= :I !>ɝiI ߼)-JAɣ-3>I)i-)&=i1)11)1JiJmMJiJiJiJm9JiJiG2B:B OA>HHHIITBIII&I9<*IE1 - 2Acoustic response timeoutY iď,fl?A 6@@Y6"@6r=96=BAHRS rotation from veh to nav: [[0.389018,0.919912,-0.049264],[-0.915610,0.380193,-0.130812],[-0.101606,0.095995,0.990182]]y6H?`o?,9 L@U?q"? ?ɫ6@@6;6CJTBJImMb@Mb@Mb@i i)iIiiimS?x&1ȿ{Gztm:?mAmף)mVAImAiimA imAIIV٥¼ G=9Q > F٦EyK > 4Y?4yPXEB@?:$@WD ;K ;4B)dA]EZmRmbmjm"mlllkkkkx@ɞ-WB5=1 9=S5I9 =ӡ>ɝ9i9IES߼AEAɣMg>IIiM)&=iI)II)QGI2BY:Bi O}= 2Acoustic response timeoutaԉԹ = 2Acoustic response timeoutjď,?A~TB~II I ٥Ļ R=9%Q %>!) -F٦-Ey- -> 1=4Y5*?=4y5W52EBAAE@5XD5^;5{;5ź4I)MhAIZmRmbmjm"mlllkkkk *x@ɞ5aWB5= 9=,I9 =>ɝ9i9I=޼AEsAɣEQ>IIiMp)&=iI)II)QԑGQ2Ba:B O= 2Acoustic response timeoutjK] :IrK] 9zKY K] K] (M&   +?A;3& 2K *K rAJ _J KJ J J :J K9J J  ď,˟?AB@YB݄@B=9B=NAHRS rotation from veh to nav: [[0.385257,0.921434,-0.050369],[-0.917403,0.376529,-0.128833],[-0.099746,0.095843,0.990386]]yBH ?b|?ʩ ][ ?@}툹@'?>?ɫB@B;BCVTBVIMMb@Mb@Mb@I I)IIIiIHaHaHeIIeTBIep =IaIa&Ie<*IeEM|?5^? rȿ/$?M-?MCM<)M`AIMZAiMjAMOA IMAIIF٥s C=9ґQ > F٦Ey)# > 4Y(?4yC_EB4?:@XD*;X);4)lAB*** querying acoustic contact ***:pBpZmyRmbmjm"mlllkkkkx@ 2Acoustic response timeoutɞ;WB = #I =ɝ i I ,޼+AɣW>Ii>'&=i%=))G 2B:B) O5 >I  2Acoustic response timeout) G ) I= 9 = 5Aď,\?AI<)<,:@Y:y@:=9:8=BAHRS rotation from veh to nav: [[0.384053,0.921931,-0.050460],[-0.917961,0.375382,-0.128206],[-0.099255,0.095558,0.990463]]y:HR?v? թ _A? i h|v?߱?ɫ:@:ӓ;:CxxI I ٥ S=9㦺Q >!! %F٦%Ey%a -> 1E4Y5䧖?M4y5af5DBIMʹM@5*XD5V;5^V;54Y)YYZmyRmybmyjm"mlllkkkk x@ɞWB6L= I 0=ɝiIKݼAɣP>Ii$&=i))G2B:B O=ԉ 2Acoustic response timeoutԹ dď,Ӷ?AZy@dYZt@Zg=9Z=vAHRS rotation from veh to nav: [[0.383473,0.922155,-0.050769],[-0.918266,0.374829,-0.127635],[-0.098670,0.095564,0.990521]]yZHӊ? L?k`ob2?ZV@mB@v?X?ɫZy@Z ;ZCTBI e2Acoustic response timeout imAIIƲ٥ A=9Q > F٦EyY˺ > 4Yڪ?4y!nDB߹@=XDB::C4)|AZmARmAbmAjmI"mQlYlYlakikykyk@x@jKUƸMrKU9zKQKUKU  5$Q.Lbjhgh_ZNC6*wfVD2$ɞVB}= I %=ɝ!i!I%ARݼ)- Aɣ->I)i5n!&=i1)11)1JM]JMMJIJIJM]:JM9JIJIGQ2Bi:B O:>HYHYHYIYIYIYIY&I]j<*I],E2I:IBIJIRIp =ZI4  2Acoustic response timeoutA кď,\?ATBIMb@Mb@Mb@ )IiT㥛 ?x&1ȿl?!?A=)AIAiƤAA AIIV8٥ I=9Q > F٦Ey > 4Y?4yuDBg(?:[@NXD::`4B)AfEZmRmbmjm"mlllkk k k  x@ɞ=VB=j$= 9= I9 E%=ɝAiAIEܼIM AɣM}>IQiU&=iQ)QQ)QI m2Acoustic response timeoutJQJU=yGdO=Gi2By:B O>ԡ  2Acoustic response timeout^ď, 7?A @6v@Y6p@6=964=BAHRS rotation from veh to nav: [[0.383093,0.922345,-0.050194],[-0.918499,0.374605,-0.126610],[-0.097975,0.094606,0.990682]]y6H? ڃ?Xd`?`4 !8?`?ɫ6v@6W˒;4JTBJIIRIR<٥Z Z]=9ZQ ^>\ %F٦%°Ey%/ %> )54Y-*?54y-{-DB9=h=@-^XD-;-;- 4A)EAIZmqRmqbmqjmqy"mylllkkkk:x@ɞVB^U= 靽xI b=ɝiIܼAɣ؄>Ii&=i))G[<=G2B:B O>ԡ 2Acoustic response timeoutjK gOrK h9zK K K | ue[QJA>:52/,*+*($##! #" J= \J= QJ9 J9 J= =:J= -.9J9 J9 vď, !?A2[w@Y2=r@2=92l=:AHRS rotation from veh to nav: [[0.383246,0.922292,-0.050005],[-0.918458,0.374805,-0.126315],[-0.097757,0.094338,0.990729]]y2H@?i?Nd`?+ &? ?ɫ2[w@2i@;2CBTBBIZH<RH<H H H II TBI I I &I S<*I  EMb@Mb@Mb@ )IiʡE?ˡEĿ~jt?-?'=)jAIdAi$AA AII٥f 8=9GQ > F٦ŰEyԿ9 > 4Y ?4y g DBe?:㺿@ oXD ; ; ; 4%B)%A-gEmB*** querying acoustic contact ***:piBpiZmyRmybmyjmy"mylylylkkkk7x@ 2Acoustic response timeoutɞUVBU^= Y]IIY ]x=ɝYiYI]`ܼaeAɣmMf>Iii&=i)飉)GtAFtAG9g=1G2B:B O>  2Acoustic response timeoutY ď,$:?A6〜@Y6{@6=96DH=BAHRS rotation from veh to nav: [[0.384311,0.921862,-0.049756],[-0.918003,0.375878,-0.126437],[-0.097856,0.094268,0.990726]]y6H`??yG`a? / `!??ɫ6〜@6;6CFTBJIIVIVm?٥^X b`=9b9Q b>dd fF٦fǰEyf/Q; f> hn4Yj?r4yjjDBprr@j|XDj;j;j4t)v͡AxZmRmbmjm!"m)l)l)l)k)k1k1k5`x@ɞeiVBe9;= aevIa e=ɝiiiImnܼquZAɣu>Iqiy&=i)!!))1G]F]GY GYa 2Acoustic response timeoutG2B:B Oj>ԉԹ ď,)T?A>ԍ@Y>@>+=9>=FAHRS rotation from veh to nav: [[0.385757,0.921278,-0.049375],[-0.917386,0.377345,-0.126543],[-0.097949,0.094111,0.990732]]y>H>?{?G@:[m&?2@6??ɫ>ԍ@>E@;>CN}TBRIIZIZ٥bռ bJ=9bt9Q b>dd fF٦fʰEyj; j> lr4Yn䵖?r4ynXnDBprr@nXDnp:n:n 4x)zAxZmRm!bm!jm!"m!l!l!l!k)k)k)k-@oy@ =2Acoustic response timeoutɞeFVBe= aeKIi m=ɝiiiImXۼquAɣu>Iyi}&=i)飁)ԡG2B:B O-=jKNrK9zKKK $'*).Hbjix_y6!9!TjhaH#*^.~O1%BK ?:K?HHHIIoTBIII&IU<*IE 2Acoustic response timeout  ď,n?A6@Y6@6%=96=>AHRS rotation from veh to nav: [[0.387079,0.920688,-0.050033],[-0.916817,0.378546,-0.127078],[-0.098059,0.095060,0.990630]]y6H?Fv? 읩V@:?`Dg`U?=?ɫ6@6O;6Cz^TBzIMb@Mb@Mb@ )Ii/$?7A`¿/$?1?<)AI“AivAZA pAIIԲ٥{ ;=9.9Q > F٦̰EyX; > 4Yv?4yDBe ?:ٸ@XD;;4B)3ApEZm)Rm)bm)jm)"m)l)l)l1k1k1k9k=@q y@ɞVBT=  VI  -?=ɝ)iIIMۼQUAɣU>IYi],&=iY)YY)aG} ?G}>GI2BQ }2Acoustic response timeout:Ba O>J=aJ=KJ9J9J=:J=K9J9J9J=;!MJ=;!MJ= :!MJ= :!MI   A % 2Acoustic response timeoutď,~?A:I@Y:+@:=9:F=BAHRS rotation from veh to nav: [[0.388811,0.919921,-0.050704],[-0.916045,0.380121,-0.127944],[-0.098425,0.096194,0.990484]]y:HH?o?=PS?z`^2&?@ ?ɫ:I@:9;:CJJTBJIIRIR<٥ZY Z^=9^:Q b>dd fF٦fϰEyfܨ; j> hr4Yj?r4yjjnDBprr@jXDjz;jT;j'4x)z[AxZmRmbmjm"mlllkkkky@ɞUB`߷= |ھI ۚ=ɝiILۼ!%@ɣ%F>I)i-&=i)))))1G)2B9Q:BQ Oe=y 2Acoustic response timeoutԱ jKe COrKe ]9zKa Ke Ke   3HNf}fRB5*# 2Ki *Ki 0ď,Z?A:@Y:ണ@:=@9:=FAHRS rotation from veh to nav: [[0.390663,0.919066,-0.051959],[-0.915213,0.381726,-0.129115],[-0.098831,0.097994,0.990267]]y:H?h?`dlI1n? ؆M%?@E?ɫ:@:Vv;:CHTHTHVIIVPTBITITIT&IVS<*IV E^1TB^}IMb@Mb@Mb@ )IiRQ?Dl~jtx?O Ļ)ƤAIAi$AA AII(٥1] 6=9un:Q > %F٦%ҰEy%G; %> 1=4Y5h?=4y55NDBEC?E:E;E@5XD5:5:54I)MAImB*** querying acoustic contact ***:piBpiZmqRmqbmyjmy"mylylylykkkky@ɞUB]= 靵ԾI ^=ɝiI_ZۼW@ɣE>Ii8&=i) 2Acoustic response timeout)ԩG2B:B  O>  2Acoustic response timeoutZď,L4?A6wǜ@Y6Y£@6a=96=JAHRS rotation from veh to nav: [[0.392163,0.918442,-0.051695],[-0.914558,0.383226,-0.129311],[-0.098954,0.097989,0.990256]]y6H1?c?w`DƆ?`C U?,?ɫ6wǜ@6k;6C^ TB^hIIfIfԲl٥r r`=9v.9Q v>tt vF٦v԰Eyz; z>JSJ[4J[J [J LJ J J :J q9J J J 9:J >:J :J !: |-4Y~?-4y~~4DB)-5@~XD~$:~$:~Y49)=ӢA9ZmaRmabmajma"malalalikikikikm`ky@ɞUB= 靥o־I F>=ɝiI) ۼK@ɣ>Ii>&=i)飹)GtAGG2B:B O= 2Acoustic response timeout9i ]Cď,@ַ?AJڜ@YJգ@Ja=9J-%=^AHRS rotation from veh to nav: [[0.394327,0.917482,-0.052274],[-0.913606,0.385254,-0.130012],[-0.099145,0.099025,0.990133]]yJH F٦װEy -;  > 4Y:–?4yDB%%@XD;;w4))-A) =2Acoustic response timeoutAZmaRmabmijmi"mililqlqkqkqkyk}$y@ɞUB>&= 靭ѾI D=ɝiITڼ@ɣ>Ii_&=i)飹)G2B:BQ O}=jK-NrK- 9zK)K-K-    ;oraZWcRQV*,IBKU?:KU?iHHHkIITBIII&I5<*IEԑ 2Acoustic response timeout cqď,?AI"<) >@Y>ߣ@>P=9><=FAHRS rotation from veh to nav: [[0.395441,0.917012,-0.052112],[-0.913128,0.386377,-0.130037],[-0.099111,0.099007,0.990139]]y>HN? )X? ^X8 f? 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[: Zb? ?ɫ@VG;C=qSB=IMb@Mb@Mb@ )Ii rh?x&&1 ?P)ƤAIiA fAII٥ 8=9 jQ  >    F٦ ߰EQyer9 e> 4Y˖?4yGCBB?:@XD` ;:,4 2Acoustic response timeout)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlll!k!k!k!k%@.9y@ɞ-UBݹ= ݾI  T=ɝ iIs0ڼ!%p@ɣe>IiimY&=ii)ii)qGA2BI:Ba Om5>yԩ e 2Acoustic response timeout ˪ď,=?A N @YN@N=9N=VAHRS rotation from veh to nav: [[0.396374,0.916637,-0.051616],[-0.912796,0.387438,-0.129207],[-0.098438,0.098329,0.990273]]yNH1^?U? bm5? މA3,?Q?ɫN @N&ݓ;L^HSB^IIfIf0Jr\JrNJpJpJr=:Jr!9JpJpJr:Jr :Jrs:Jrv:٥MԽ S=9Q > F٦Ey/I: > 4YΖ?4ybCB{@ YD::34)pAZmRmbmjm"mlllkkkk?y@ɞ%UB%h׮= !%I) -=ɝ)i)I- ټ9=@ɣ=#>I9i=!&=i9)9A)AԩGI2BQ:Bi O}= 2Acoustic response timeout 1 Ɛď,WW?A6@Y6@6 =96{o=>AHRS rotation from veh to nav: [[0.396140,0.916754,-0.051332],[-0.912964,0.387313,-0.128398],[-0.097828,0.097728,0.990393]]y6H]Z?` V?)H`6`?Vo < ?M?ɫ6@6$;6CFSBFIININ(٥V VZ=9Z(ֺQ Z>XX ZF٦^Ey^'E b> dj4Yfі?j4yf f5CBlnn@fYDf ;f ;f94vÒB)vפAv{EZm Rm bm jm "mlllkk %2Acoustic response timeoutk!k-Ey@ɞTB;= I 8=ɝiI:ټ`@ɣL>Ii$&=i))G2B:BQ O=jKNrKzKKKW'UvTBJ yJuL0|vpha_ZVTPMLJGEB?=<:9HIHIHMIIMRSBIIIIII&IMc<*IM%E 2Acoustic response timeouti ď,4q?A6+@Y6@6n=96=>AHRS rotation from veh to nav: [[0.395656,0.916988,-0.050890],[-0.913238,0.386962,-0.127502],[-0.097226,0.096921,0.990532]]y6HlR?W?7?9?Q㸿ϸ?p?ɫ6+@6,;6C\nRBnIuMb@Mb@Mb@q q)qIqiqu +? 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M\?`%@>?#@`?ֳ?ɫ2ڜ@2;2CVRBVI]Mb@Mb@Mb@Y Y)YIYiY]Cl?l¿S㥫];?]]/])YIYi]AY Y]AIuIu(Թ٥ 7=9DQ  > 5F٦5Ey=ʺ => AM4YEKݖ?M4yEEBBMB$?M:MM@EHYDE]:Ey;EO4y)}Ay 2Acoustic response timeoutB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkkmYy@ɞTB^= 靕I ,q=ɝiI5ؼ`@ɣ>IiR,&=i)飩)G=?G=?G!2BY:Bi O}7> M 2Acoustic response timeout9 .ď,ľ?A:lל@Y:Oң@:=9:=FAHRS rotation from veh to nav: [[0.394084,0.917584,-0.052324],[-0.914117,0.385417,-0.125873],[-0.095332,0.097435,0.990666]]y:H 8?\?@6ʪ r@@?gz?@?ɫ:lל@:yΒ;:CNdRBNbIIVIV٥^ bb=9b(Q b>dh jF٦jEyj j> pv4Yr?v4yrrcBBtvv@rWYDry:r:rU4x)~VA|ZmRmbmjm!"m!l!l!l!k)k)k)k-`^y@ɞelTBe̟= aeIa e0=ɝiiiIm$ؼqu@ɣuҦ>Iqiu-&=iq)yy)yGY2Ba:By O=A 2Acoustic response timeoutqԙ 5ď,ظ?A @6Ԝ@Y6ϣ@6/=96=>AHRS rotation from veh to nav: [[0.393807,0.917605,-0.054007],[-0.914289,0.384968,-0.125999],[-0.094826,0.098998,0.990559]]y6H!4?]?ڦAO? 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?@X  ?@],϶2S?`?ɫ:p@:;8pvPBvHI~I~Բ٥ ս  O=9:Q >!! %F٦%6Ey%3; -> )=4Y-B9=G=@-[D-D;-;-4MےB)MfAMEZmRmbmjm"mlllkkkk]z@ɞQB^= fI I=ɝiIyԼ;@ɣY>Iiހ&=i))E¼GFG G  -2Acoustic response timeout9Gq2By:B O~>J aJ LJ 6J J :J q9J 4J JH BH AAH H H II /PBI I I &I <*I Ea +ď,^?AjK^NrK^9zK\K^K^'6?@?;~%R @wwuYA*#   ),! ?JCBB3&OBHA }2Acoustic response timeoutMb@Mb@Mb@ )IiMbX?/$ÿI + ?9)InAi A pAII٥0 <=9Q >    F٦ 9Ey   > 4Y@?%4y~>B%H?%:%y%@#[Da::#4))5A1MB*** querying acoustic contact ***:pIBpIZmYRmYbmYjmY"mYlYlYlakakakake 8z@ɞ]PBe = aeRIa ek=ɝaiaIm'Լ 4@ɣ>Ii&=i)飑)i)G ))yIƿ*AE.ۼԡGi2By:B O> - 2Acoustic response timeout Sď,6ǻ?A6@Y6z@6+=965=BAHRS rotation from veh to nav: [[0.413022,0.909161,-0.053285],[-0.906331,0.404588,-0.121957],[-0.089320,0.098664,0.991104]]y6H n??(H?`8ݶB? ?ɫ6@6;6CJOBJHIRIRԲ٥Z Zb=9Z:Q Z>\\ zF٦z 4YB?4y۠d>B%=%@0[D7;D;)4))-ޫA)ZmIRmQbmQjmQ"mQԙlQllkkkkx!z@ɞMPBM= IMIQ ud=ɝqiqIu'{Լy}G-@ɣ}U >Iiɕ&=i)飁) EEEE 2Acoustic response timeoutG12BA:BY Oew>! = 2Acoustic response timeoutď,?A "@J߈@YJƒ@JE=9J=fAHRS rotation from veh to nav: [[0.414013,0.908736,-0.052845],[-0.905854,0.405597,-0.122149],[-0.089568,0.098441,0.991104]]yJH@1?\?`L?/E u3??ɫJ߈@J;JCnOBnuHIvIvb٥~FI ~F=9:Q >  F٦ >Ey 2;  > 4YE?4yA>B!%%@?[D;;14))-A)ZmYRmYbmYjmY"malalalakakikikm'z@ɞPB\= 靝}I =ɝiIIqԼ%@ɣ>Ii(&=i)飩)GYHyHyH}HI}OBI}q =IyIy&I}<*I}E2BJ_JJJJJ :J&9JJJk:!Jp:!J:!J:!:B O>)jKUbyOrKU9zKQKUKU~thY TVK>/ ~oZLD;60'   % 2Acoustic response timeoutQy ď,8?Ab@Yb@b*=9bpW=nAHRS rotation from veh to nav: [[0.416343,0.907776,-0.051001],[-0.904570,0.407909,-0.123949],[-0.091714,0.097739,0.990977]]ybH\? 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O5->JZJLJ5JJ9Jq9J4J  2Acoustic response timeoutA ď,y?A>~@Y>b@>0O>9>C=FAHRS rotation from veh to nav: [[0.414255,0.909786,-0.026122],[-0.901540,0.406222,-0.149030],[-0.124974,0.085286,0.988488]]y>H@)??i?lÿ@S Rյ??ɫ>~@>;>CRLBVHIjIj٥z  zQ=9~9Q ~>| F٦Eyǻ > 4Y  —?4y m 9B@ ,]D ; ; 4))-ֲA)ZmIRmIbmIjmI"mQlQlQlQkYkYkYk]sz@ɞMBX= 靝tI ?T=ɝiIt=^}H?rͿɣ[Ii&)=i[=)飭) E2Acoustic response timeoutIGȝ=G2B :B O%o>ZH<RH<HHHHILBIII&I<*IzEiԡ ď,wh6?AI<)< V2Acoustic response timeout݅@Y@rX>9=AHRS rotation from veh to nav: [[0.412092,0.910786,-0.025462],[-0.902526,0.404202,-0.148554],[-0.125009,0.084198,0.988576]]yH _?@)%?@}p? ÿO? k?ɫ݅@֒;C%LB%HiMb@Mb@Mb@ )Iiq= ףp?p= ף~jt ?)IiA AII1٥-Y -+=9-"8Q ->11 5F٦5Ey5 => Yu4Y]]Ɨ?u4y]t]l9Bu?u:u+}@]=]D]i;]@#;]U4B)+AEB*** querying acoustic contact ***jKjNrKzKKK!17775H[{h[NE<548/" :pBpZmRmbmjm"mlllkkkk6z@ɞuMBuH]= q}SsI =ɝiIA`H?߿ɣ-I5i^d)=i)55)ԙGԱ=GtAGG2B:B Oa> M2Acoustic response timeoutJ bJ J J J :J J J ď,I,P?A6Np@Y62k@6>964=BAHRS rotation from veh to nav: [[0.409708,0.911862,-0.025432],[-0.903590,0.401850,-0.148467],[-0.125161,0.083808,0.988590]]y6H8?-?@ 4 ?ÿHrt?@?ɫ6Np@6;4RpLBRqHI^I^٥j3  j{=9n9Q n?pp vF٦vEyv z? |4Y~?ɗ? 4y~Ay~K9B  @~I]D~";~7;~!4)AZmRmbmjm"mlllkkkk{@ɞmMBm = imIi z=ɝiI,LH?tɣ)I i)=i) 飥 )GFG G 2Acoustic response timeoutGQ2Ba:Bq O}>) e 2Acoustic response timeout~ď, j?A2U@Y2P@2>92=>AHRS rotation from veh to nav: [[0.406778,0.913178,-0.025265],[-0.904879,0.398976,-0.148366],[-0.125404,0.083214,0.988610]]y2H?8?ߙ`ӈ?`¿= @}M??ɫ2U@2tˋ;0F[LBFXHIRIRF2٥VO ZL=9ZP :Q Z>\\ ^F٦^Eybt b> dj4Yf̗?j4yf~f#9Bhnn@fW]Df;f;f'4p)rApZm Rm bmjm"mlllkkk!k% {@H9H9H=HI=~LBI9I9I9&I=<*I=EɞmkMBm= imIq =ɝiI⽼+3H?ɣBZɽIi()=i!)%%)!)GI2BQ:Bi Ou=imU*>Iia 2Acoustic response timeout)8G !)IIȿA?bAԁ jK QNrK 9zK K K   #!! (/46410/1/,,0531/*' BK ?:K ?ď,샿?A 4>8@Y>3@>>9>M=FAHRS rotation from veh to nav: [[0.403577,0.914631,-0.023986],[-0.906293,0.396026,-0.147634],[-0.125532,0.081320,0.988751]]y>H 3? D?@Z|X?¿nbѴ?٣?ɫ>8@>;>C^,LB^H-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 226.34, 236.98, 198.16 m@  q @  u @  i @  IIԲ٥-޽ -C=95 9Q 5>19 =F٦=Ey= => AM4YEOЗ?M4yEE8BU+:QU:UdU@Ef]DEC ;E>E-4]B)eAeEZmRmbmjm"mlllkkkkl{@ɞUMB@ۤ= KI =ɝiIH?ɣֽ 2Acoustic response timeoutIJji$)=i)Jj飝Jj)ԉG2B:B O=Թ  2Acoustic response timeout ď,'?A6F@Y6*@6>96%=>AHRS rotation from veh to nav: [[0.399841,0.916313,-0.022326],[-0.907938,0.392614,-0.146638],[-0.125601,0.078903,0.988938]]y6H?nR?ܖ@ @ ?¿ 2?a?ɫ6F@6;4xzKBzHII(1٥ L=949Q >!! %F٦%Ey-"( -> 154Y5ӗ?=4y558B= :9=x:=E@5t]D5 ;5R?524I)UAQZmqRmqbmqjmy"mylylylkkkk{@ɞ@MBv= 靵碾I  =ɝiI6cG?b ɣ7Ix:iL(*=i)x:x:)G2B:B O= -2Acoustic response timeoutJH9BH9HE\>HAHEHIELBIAIAIA&IE=<*IEEJ\JPJJJ=:J*9JJJ!J!J-:!J-:!A Bď,?A J2Acoustic response timeoutj@Yj@j>9j=YmAHRS rotation from veh to nav: [[0.396229,0.917895,-0.021715],[-0.909503,0.389148,-0.146182],[-0.125729,0.077671,0.989019]]yjH[?@e_?Z<?¿@>? ?ɫj@j#;hKBHm m  qq uu ii Mb@Mb@Mb@ )IiI +?(\¿Mb9?z)IAiAZA AI%I%V٥E6 E,=9MF9Q M>QQ UF٦UEyU ]> Ye4Y]ח?m4y]]8BmT:m?m:mɳu@]]D]K;];]:4}%B)}A}EB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkky{@ɞ'MB= 5I i=ɝiI繼HG?ɣUIV;ii*=i)V;V;jK MrK zK K K #6^v>*"  #9f,86-  yl`2K*KrA)ԁG!2B):BA OM1>Ա =2Acoustic response timeout r+ď,1}ѿ?AI)<=KB=rHIMIMb٥]V ]o=9]Q ]?aa eF٦eEye m? iԹ4YmVڗ?4ymmp8B@m]Dm9B]=JAHRS rotation from veh to nav: [[0.388171,0.921388,-0.019195],[-0.912919,0.381586,-0.144814],[-0.126105,0.073736,0.989273]]yBH ?|?@6k?A¿6$T?@?ɫB~@Bb;BCRuKBRhh jF٦jEyj j>Hv^>HtHv}HIvKBItIv9DIt&IvN<*Iv"E2I:IBIJIRIZI?4 4Y \ݗ?4y  B8B@ ]D S; _; G4!)%A)ZmIRmIbmIjmQ"malalilykkkk >*{@ɞMB~o=  靵žI |H=ɝiIJG?$ɣIŦi*=i)ŦŦ)1JyJ}UJyJyJyJ}>9JyJyJyJyJ}Q:J}Q:G2B:B O=a 2Acoustic response timeoutԑjKE ENrKE 9zKA KE KE SD;60+    3b /~vԹ =ď,4?ABˈ@YB@BƵ>9B]=NAHRS rotation from veh to nav: [[0.383954,0.923159,-0.018872],[-0.914669,0.377468,-0.144563],[-0.126332,0.072767,0.989316]]yBH ?`?6S Dm(?`¿+㠲?y?ɫBˈ@B;@RBKBVHMb@Mb@Mb@ )Iiv?㥛 ¿~jt?)hAIifA zAIIƲ٥ :=9V:Q > F٦Ey+ >  2Acoustic response timeout4Y?4yϣ 8B?:ɴ@]D{W;V;,O4 ) A ZmIRmIbmIԉjmI"mlllkkkki1{@ɞMLBU'’= Y]ӾIY eI=ɝaiaIe'LpG?-ɣ IԶi+=i)ԶԶ)G2B):B9 OE0>Թ  2Acoustic response timeout fď,x ?A @:d@Y:^@:V>9:ݓ=BAHRS rotation from veh to nav: [[0.379850,0.924866,-0.018375],[-0.916376,0.373501,-0.144058],[-0.126371,0.071559,0.989399]]y:HuO??В Ro?p¿,Q?@'?ɫ:d@:PNj;:CJKBJHIVIV٥n r\=9v-8Q v>x| ~F٦Ey PC  > 4Y㗊?4y 7B^@]D;H;!V4)qAZmIRmIbmIjmI"mqlqlqlqkqkykyk}7{@ɞLB= iI (=ɝiI"LG?d5ɣ+Iii)) 2Acoustic response timeoutZH<RH<H`>HDCHHICKBIn =II&I"<*IEG=GG>G2B:B  O>JsJ{#4J{S}-J`JPJJJ:J*9JJJ8:J=:J-:J-:I ď,8?A 22Acoustic response timeoutJBHIMIM<٥}EG 2=9Q > F٦Ey > 4YV痊?4y7B@]D~ ; ;]4.B)¶AEZmRmbmjm"m l l l Ikkkk>{@ɞLBn= I =ɝiIy8"G?>ɣI&iFX+=i)&&)jKedOrKeh9zKaKeKe/F`9(Ur6y~jXG<7651-%#'AJA6ԁE 2Acoustic response timeoutG =G Թ 2B :B  O >xď,R?A9V=^AHRS rotation from veh to nav: [[0.366360,0.930269,-0.019478],[-0.921848,0.360041,-0.143409],[-0.126396,0.070495,0.989472]]yVHpr?@?@` ?:[¿- ??ɫV@Vm ;VCfJBfjHeMb@Mb@Mb@a a)aIaiaeV-?{GzĿ ףp= e?e#eQ8)aIeAiae+A aeAI}I}F2٥ [=98Q > F٦Ey~# > 4Y闊?4y޶p7B"?::@]D2 ; ;2d4)'A]B*** querying acoustic contact ***:pYBpYZmaRmabmajma"milililikkkkD{@ɞLB8_= I 8L=ɝiIv-F?5Eɣ5I5VLi5֍+=i1)5VL5VL)9 u2Acoustic response timeoutԩE%+G)F)G1 G1G2B:B O> - 2Acoustic response timeoutď,l?AI<)<H>b>H<H>vHI>JBI>o =I<I>D&I>9<*I>E:@Y:@:|>9:G=hnAHRS rotation from veh to nav: [[0.361518,0.932147,-0.020159],[-0.923796,0.355187,-0.142978],[-0.126116,0.070312,0.989521]]y:H #?&?@d?M¿$?'?ɫ:@:%;:CvJBv9HI~I~(1٥ ˽  R=9a>Q > F٦Ey] > !-4Y%엊?-4y%-%;7B15繿5@%]D%;%;%j49)=vAAZmaRmibmijmi"milqlqlqkqkqkyk}J{@ɞLB@${= 靭nI =ɝiI^F?Lɣ#Iii)飽)JU\JQJU6JQJU=:JQJU 4JQJU:JU :JQJQE-zG=sAG=tA u2Acoustic response timeoutG 2B):B) O=r>Q jK 6OrK +9zK K K /&!   (@r!ď,;r?A9EyJBEH 2Acoustic response timeoutMb@Mb@Mb@ )IiRQ?jtĿZd;O"? j<)IVAiAA AI I ٥฽ ;=9Q >!! %F٦%Ey% -> )54Y-6?=4y-y-6B='?=:=8=@-^D-i ;-;-r4A)MǷAIZmiRmibmijmi"mqlqlqlqkykykyk} Q{@ɞMLBU ˁ= QUIQ U=ɝQiYI]\]F?e\Uɣev*Ie:ie+=ia)e:e:)i EEEEiԙG2B:B) O=>  2Acoustic response timeout 'ď,MM?A6]@Y6X@6U=9637=>AHRS rotation from veh to nav: [[0.350389,0.936357,-0.021510],[-0.928291,0.344134,-0.140877],[-0.124509,0.069329,0.989793]]y6Hl??`L? @¿`߿`?@c?ɫ6]@6>';4FWJBFHIVIVb1٥Zֿ Zd=9^Q ^>`` bF٦bEyb f> dj4Yf?n4yf}f6BlnĹn@f^Df;f;fx4v2B)vAtZm Rmbmjm"mlll!k!k!k!k-LW{@ɞUtLBUU?h= QU,IQԙ =ɝiIS,|F?u\ɣ]^0I:⬿i ,=i):⬿:⬿) G2B:B  O= 2Acoustic response timeoutJHBH?AHh>HECHHInJBIn =II&I.<*IEJM _JI JM 7JI JM :JI JM 4JI JM l:JM q:JI JI 1 ) cG ) I ÿ  CAY-ď,=+?A @ "2Acoustic response timeout]CJBeHII(٥9 :=9Q >9y }F٦}Ey > 4Y?4yf6B@$^D;e;#4%;B)%gA%"EZmIRmIbmIjmI"mQlQlQlQkQkYkYk]@^{@ɞ]LB= I =ɝiIPfEF?eɣ07I쭿ii)쭿쭿) G%?G% ?jK LrK9zKKKHSWocXPGA;4,*%%$!&S~:  2{*.G2B :B9 OE0>a 2Acoustic response timeoutԉԹ 4ď,?A6@Y6@6C=96;_=>AHRS rotation from veh to nav: [[0.338138,0.940837,-0.022088],[-0.933186,0.332167,-0.137217],[-0.121762,0.067011,0.990295]]y6H@ ?V?E8B?U+@'?~?ɫ6@6;6CFJBFHmMb@Mb@Mb@i i)iIiiimQ?S㥛Ŀktm(?m$m 0)iIm&Aiii imAII٥޽ N=94Q > F٦Eyd > 4Y?4yY6BC.?:@4^D ;" ;4)AB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkkk d{@ɞ-KLB-Ia= 155 I1 5=ɝ9i9I=oEF?E#mɣE=IEؽiAiA)EؽEؽ)Iԑ U2Acoustic response timeoutG2B:B  O>  2Acoustic response timeout :ď,?AHl>HHHIJBIm =II&I4<*IEF@YFc@F=9F=NAHRS rotation from veh to nav: [[0.332120,0.942952,-0.023190],[-0.935540,0.326176,-0.135551],[-0.120254,0.066714,0.990499]]yFHsA?,?@?@Y Ⱦ,?+?ɫF@F;DnIBrnHIzIzԲ٥ކ T=9Q >    F٦ EyQ > 4Y?4y{$6B@D^DU<V:;4)AZmRmbmjm"mlllkk k k 'k{@ J1J5AAɞ8LBnFi= 靍I =ɝiIH=E?tɣCI✯iG,=i)✯✯)G2B:B O>-PExceeded connect timeout, disconnecting.! m2Acoustic response timeoutI jK= NrK= h9zK9 K= K= ule]ZYTRRX\ZSL[pgk|m^QGB@956779;<BKM ?:KM ?Aď,0?AI<)<6ლ@Y6~@6s=96%=>AHRS rotation from veh to nav: [[0.325821,0.945135,-0.023667],[-0.937946,0.319996,-0.133640],[-0.118735,0.065741,0.990747]]y6H@>?>?<@z?gee԰?3?ɫ6ლ@6;6CbIBbXH 2Acoustic response timeoutMb@Mb@Mb@ )IiHzG?sh|?ſ:v=*?)Լ);AIi̡A zAI I̍2٥|" ==9cgQ > F٦±EyN > 4Y8?4y)5B /? :  @W^Ds::Ε4)AZmQRmQbmQjmY"mYlYlalakakakakm@q{@ɞ%LBCe= 靝fI (=ɝiIZ"E?\}ɣJIwii)w飭w)IGq2By:B O=JM^JMZJM5JIJM} :JMS9JM4JI!]@!]@!]@!]@ԁ m 2Acoustic response timeoutԡ Hď,!?A6P@Y6K@6d=96=@JAHRS rotation from veh to nav: [[0.320017,0.947091,-0.024672],[-0.940146,0.314236,-0.131839],[-0.117110,0.065386,0.990964]]y6H`({?N?@Cq?&?`?ɫ6P@6;6CbIBb.HIjIj(٥r r]=9rQ r>tt vF٦vűEyv+ z>  4Y? 4y5Bg@g^D;;L4!)%ZA!ZmARmAbmAjmA"mIlIlIlIkIkQkQkU`w{@ɞLB}W= 靍I K=ɝiIxƀE?Kɣ'xPI&ci5,=i)&c飥&c)G2B:B O=ԩ 2Acoustic response timeoutZH!RH%<H-t>H-FCH-1HI-IBI-l =I)I-D&I-<*I-E2IEC:IECBIŔCJIn =RIn =ZI΁5 - nManaging dock network, ignoring radio surface power off,Nď,s;?A "2Acoustic response timeout:@Y:@:=9:|=FAHRS rotation from veh to nav: [[0.313851,0.949123,-0.025759],[-0.942388,0.308087,-0.130332],[-0.115766,0.065180,0.991136]]y:H$?6_?s`` (?໮Т? b?ɫ:@:79;8|IBHI-I- ٥M7 UD=9]SQ e>qq F٦DZEy > 4Y?4yM5B>@z^D<I<4 DB) A+EZmARmIbmijmq"mqlqlylykkkkU{@)ɞ5KBEcll= IMII M(=ɝIiIIUKUY xkC%J?'XF 23)mE2K1*K5sAG2B:B O@>Q 2Acoustic response timeoutԁ Je bJe \Je 6Ja Je :Je [9Je 4Ja Uď,]SU?A 6@Y6ޠ@6%=96=BAHRS rotation from veh to nav: [[0.307578,0.951122,-0.027627],[-0.944659,0.301749,-0.128708],[-0.114081,0.065686,0.991298]]y6H Z?o?QJ:O?y@h4`а??ɫ6@6u;6CFIBFHQmMb@Mb@Mb@i i)iIiiim(\?/$ſMbm'?m,m)mݷAImʪAimAmA im±AIIq٥E E=9Q > F٦ʱEy > 4YE?4yjm5B-?: @^DY;QY;Ϫ4)йAB*** querying acoustic contact ***:pBpZmRmbmjm"mlllkkk k @{@ɞ5KB5o\M= 9=IA EsY=ɝAiIIMe(U E?UɣU`\IU-iQiY)]-]-)YG)2B9 U2Acoustic response timeout:BY Oe=ԁԱ  2Acoustic response timeoutH >H HCH HI IBI i =I I D&I <*I E=[ď,%o?A6V@Y6:@6 =96$=VAHRS rotation from veh to nav: [[0.301480,0.953053,-0.028283],[-0.946803,0.295737,-0.126902],[-0.112580,0.065037,0.991512]]y6H tK?h?I 5L[? U> Ҽ G? w?ɫ6V@6;6C^IB^HIfIf(٥n1 nW=9rVQ r>pt vF٦v̱EyvD v> x~4Yzy?4yzzI5B@z^Dz;z;zr4 )AZm9Rm9bm9jm9"m9lAlAlAkAkAkIkM {@ɞuKBugT=Թ I u=ɝiID?ɣbI=ih-=i)==)G2B:B O-= e2Acoustic response timeout9 jK ȩOrK S9zK K K {mc`]XRNONMTj##reYMC:2+)$ %bď,P?A^w@Y^r@^=9^M*=jAHRS rotation from veh to nav: [[0.295249,0.954975,-0.029175],[-0.948966,0.289574,-0.124943],[-0.110869,0.064576,0.991735]]y^H\?@'?(]`b?@a?J?ɫ^w@^o;^Cz}IBzH 2Acoustic response timeoutMb@Mb@Mb@ )IiMbX9?ktƿy&1|?!? 0`;)IAi?A QAI5I5F٥E1 E6=9EzQ M>II MF٦MϱEyUq U> Ye4Y]P?e4y] ]'5Be'?m:mĿm@]^D]H:]:]O4q)uAyZmRmbmjm"mlllkkkkR{@ɞKBT`= I ~e=ɝiIMD?`ɣhI`޴i F-=i ) `޴ `޴)G2B:B O% >J-hJ-WJ-5J)J-(:J-G9J-4J)Aq m 2Acoustic response timeoutԙ Phď,?AI)62A@Y6<@6=96<=>AHRS rotation from veh to nav: [[0.288950,0.956887,-0.029595],[-0.951096,0.283401,-0.122881],[-0.109196,0.063654,0.991980]]y6H&~?О?Nao@<#?@"u@F K?L?ɫ62A@6!;4^bIBbHIjIj٥ 풽 `=9"Q > F٦ұEy% %> )54Y-?54y- - 5B1=ſ=@-^D-;-;-4ENB)EvAE5EZmqRmqbmqjmq"mylylylykkkk!{@ɞKBnI= 靵]I r=ɝiI[D?iɣumIRi6}-=i)RR)qG2B:B O= 2Acoustic response timeoutԙJHBHAAH>HJCHHIfIBId =IID&I$<*I(E 0{nď,?A 22Acoustic response timeout:@Y: @:=9:u=BAHRS rotation from veh to nav: [[0.283281,0.958557,-0.030323],[-0.952943,0.277781,-0.121399],[-0.107945,0.063286,0.992141]]y:H F!?? ~*?@3??ɫ:@:;:C^MIBbHIjIj<٥rP rM=9vOQ v>tt vF٦zԱEyuvv }> y4Y}Y?4y}&}4BQƿ@}^D}<}q}<}41)=A9ZmQRmYbmYjmY"malllkkkk@{@ɞKBh^= >I `=ɝiI ֙%D?%Зɣ%rI-hi--=i))-h-h)1GA2BI:Ba Ou6>jKNrK9zKKK.!^{eM0G{fo`SD>DRVXV`aUPU_H:323*((4H 2Acoustic response timeout) JM fJM UJM 6JI JM |":JM >9JM 4JI buď,?A6]@Y6Bޟ@6'=96E=BAHRS rotation from veh to nav: [[0.278110,0.960057,-0.030746],[-0.954593,0.272685,-0.119982],[-0.106805,0.062718,0.992300]]y6H ?ɸ?`{`s?@ `W@O??ɫ6]@6!;6CFQIBFH%Mb@Mb@Mb@! !)!I!i!%Cl?K7A`ſMb?%d?%+%<)!I%lAi%|A%A !%AI=I=٥Mm< MD=9U4Q U>QQ ]F٦]ױEy]V ]> am4Ye?m4yee4Bu7!?u:unǿu@e^De:e:e4)A5B*** querying acoustic contact ***:p1Bp1ZmARmAbmAjmA"mAlIlIlIkIkIkqku{@ɞKB+J= LI =ɝiIezC?ɣMwI$i-=i)$$)1 u2Acoustic response timeoutG 2B:B! 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DՄď,xE?A @6@Y6j@6<96G=BAHRS rotation from veh to nav: [[0.486436,0.871791,-0.057977],[-0.873229,0.482877,-0.065578],[-0.029174,0.082527,0.996162]]y6H!??9~ u?ɰߝ{ ??ɫ6@6R;6CJTEBJHIRIRb٥^ bc=9b!Q b>dd fF٦fEyf˶ f> hn4Yj?r4yj,jh)Bprr@jfDj* ;j;j4%4v4B)z*AzEmmSmm"mll!l!k!k!k)k-K~@ɞae ae_+Ii mΓ<ɝiiiIm3IuSiuv6=iq)uSԹ 2Acoustic response timeoutS)G2B:B) O==  2Acoustic response timeout9 Wď,d .?A;EB%HIE=)AImImb٥d <=9Q > F٦Ey] e> y4Y}v?4y}2}U)B  @}fD};<}-<}5-4M>B)MAm'EB*** querying acoustic contact ***:pBpmmvmm"mlllkkkkmu~@ɞHBzx 1I ,<ɝiIA; 2Acoustic response timeoutI%vi%6=i))-v-v)1AG!2B9:BQ OmW>Hh>HH*HIEBIII&I<*ICEjK-SNrK)zK)K-K-'03\[4 V q[I;+ Ziԙ gď,PG?A "2Acoustic response timeout6E@Y6+@6%<961=RAHRS rotation from veh to nav: [[0.485149,0.872429,-0.059138],[-0.873990,0.481645,-0.064492],[-0.027781,0.082975,0.996164]]y6H ? ?dG E?r`=??ɫ6E@6d;6Cr2EBrHMb@Mb@Mb@ )Ii!rh?1Zdl?"۽L)AIvAiAA  AIIV8٥ F=9]Q > F٦Eyty > q4Y ?4y 8 8)B ?:Ơ@ fD ԥ< < 44)Ammpmm"mlllkkkk%~@ɞ!%v !- 4I) -뭣<J1J1JK4JKT4JK.J=wJ=mJ=9J9J=W:J=&9J=c44J9J=z;J=z;J=ξ:J=Ͼ:ɝ)iIIU>ۻIUpi]6=iY)]p]p)YG)2B1:BI O]>ԡ 2Acoustic response timeout 0ď,8a?AI)6@Y6@6*<96^=BAHRS rotation from veh to nav: [[0.484380,0.872801,-0.059959],[-0.874434,0.480872,-0.064243],[-0.027239,0.083549,0.996131]]y6H? ?\ ??r`}䛿@qc?N?ɫ6@6F;6C^ EBbWHIfIfF٥-Խ -W=95BQ 5>11 =F٦=Ey= => AM4YE7?M4yE=E)BQU࠿]@EfDEC;ECE;E:4i)mAimmmm"mlllkkkk~@ɞ| )>I H<ɝiIջIi6=i))G2B:B) O== U2Acoustic response timeout)  2Acoustic response timeouti I )- +G;ď,̲{?A $H6k>H4H6HI6xEBI4I4I6ԺD&I6|<*I63E)DI^\^gAz4@Yz@z<9z=-AHRS rotation from veh to nav: [[0.483450,0.873241,-0.061044],[-0.874969,0.479936,-0.063954],[-0.026550,0.084330,0.996084]]yzH??'A F?O_ 0??ɫz4@z;zCEDBM3H QQ]?]JAjKOrKh9zKKKP=9'!#') DITtl[d2 :Eztjc^Z\befd^ZQHmMb@Mb@Mb@i i)iIiiim F٦Eyq > 4Y ?4yC(B?:@fD ;. ;}B4B)Amm 폿mm"mlllkkkk`~@qɞ 靵mEI O<ɝiIλI 폿iA6=i) 폿 폿)G2B:B OI> 2Acoustic response timeoutԙ JI JM @AJU xJU wJU 7JQ JU Z:JU 9JU 4JQ JU ;JU ;JU :JU : $ď,?A:D@Y:*@:3<9:ҭ=FAHRS rotation from veh to nav: [[0.481653,0.874164,-0.062026],[-0.875990,0.478179,-0.063139],[-0.025535,0.084745,0.996075]]y:He?'?`z?)%ڱ??ɫ:D@:<;:CPVDBVHI^I^(*٥f fl=9j@Q j?hh jF٦jEynû n? pv4Yr?v4yrHr(Bxzޡz@rfDr:r:rH4|)~eAm1m5m1m1"m9l9l9lAkAkAkAkE~@ɞmHBugc8 uZ=:aa eF٦e Eym0 m> q4YuN?4yuNu(B!@ufDuHJHYBHYHaHaHeHIe;EBIeN =IaIa&Ie}<*Ie6EqjKDPrK9zKKKC?>=>=8:;=I .#)  =V?,I?,p wtQDXS&HAԡ 6ď,H?A &2Acoustic response timeoutZƟ@YZ@Z<9ZŴ=jAHRS rotation from veh to nav: [[0.478205,0.876060,-0.061949],[-0.877936,0.474964,-0.060322],[-0.023423,0.083233,0.996255]]yZH ??@` `e?⮿ N?Q?ɫZƟ@Z,;ZCzDBzHyEMb@Mb@Mb@A A)AIAiAEףp= ?nʡEE?EVE-)EAIEAiEAEA AE̼AI]I] ٥uI9 u9=9uFQ }>yy }F٦}"Ey > 4Y?4yUl(B-$?:@fD ;~ ;W4B)A1EB*** querying acoustic contact ***:pBpmmqmm"mlllkkkk t~@ɞHBR4 gXI ?<ɝiImI%qi%i$7=i!)%q%q))JtJkJJJ;N:J9JJJj;Jj;J:J:ԩG2B:B O&> 2Acoustic response timeout 1`ď,d!?A6a@Y6H@6IF<968=JAHRS rotation from veh to nav: [[0.476024,0.877159,-0.063191],[-0.879148,0.472812,-0.059565],[-0.022371,0.083909,0.996222]]y6H-w??@L-!`B?@QK薿@ {? ?ɫ6a@6z;6CRDBRHIZIZ ٥f ji=9jDQ j>ll nF٦n%Eyr9 r> tz4YvD!?z4yv[vD(BxzUz@vfDv8;vQ;v]4)Am)m- m)m1"m1l1l1l1k9kAkAkE ~@ɞqu2C quZIy }V<ɝyiyI}~I i87=i) 飍 ) U2Acoustic response timeout E9G2B:B Oj>1  2Acoustic response timeoutY "ď,?AHHHIHIDBIO =II&I<*I^E2IQ:IUdCBIQJIQRIQZIU}4I,),J9@YJ @J@<9J=VAHRS rotation from veh to nav: [[0.473333,0.878595,-0.063456],[-0.880627,0.470227,-0.058171],[-0.021269,0.083415,0.996288]]yJHK?r? >. 1?@ȭǕZ? ?ɫJ9@J;JC^DBbHMb@Mb@Mb@ )Ii/$?~jtÿ F٦(Ey >  4YG(? 4y2c(BV1?:K@gDu ;C ;ke4)%"A)jK5QrK5]9zK1K5K5lR?/&  4<  #%!!%##""#(5EXd\J=1-"ImimmՐmimi"milqlqlkkkk`j~@ɞAE 0* AE_IA Me{<ɝIiIIMZZIuՐiu!S7=iq)uՐuՐ)yEmu<GG>aGa2Bq:B O:> e2Acoustic response timeoutԉԹ rď,'?A2@Y2{@2<92Z=:AHRS rotation from veh to nav: [[0.470708,0.879903,-0.064846],[-0.882060,0.467638,-0.057316],[-0.020108,0.084177,0.996248]]y2H` ?)(?@Ù9?|X@`?@C?ɫ2@2h;2CFcDBFHIRIR̍٥V Va=9Z{QQ Z>X\ ^F٦^*Ey^ b> `f4Yb.?j4ybib'Bhjj@bgDb:b[:bk4l)r\Apmmzmm"mlllkkk!k% ~@ 2Acoustic response timeoutɞU 3gI p<ɝiII zi f7=i ) zz)IԑEa<Gq2By:B O> m 2Acoustic response timeout ўď,I0?A6b@Y6p]@6ܖ<96&.=JBJBnJ@J@JB:JB99J@J@!F@!F@!F@!F@JAHRS rotation from veh to nav: [[0.467471,0.881535,-0.066081],[-0.883817,0.464504,-0.055709],[-0.018415,0.084446,0.996258]]y6H ?5?갿@:Hp?䅬 Jے`:?@X?ɫ6b@6[W;6CR^DBRHI^I^<٥bb< fH=9fQ f>hh jF٦j,Eyn n> pv4Yra4?v4yrpr'Bxzz@r0gDr(;r;rr4B)A;Em)m-+=m)m1"m9l9lAlIkQkYkake~@ɞ}L hhI %|e<ɝ!i!I-~IE+=iU|7=iQ)U+=]+=)a 2Acoustic response timeoutH%l>H!H%HI%DBI%N =I!I!&I%u<*I%,EEh%<G2B:B O%>jKPNrK9zKKK-<;1' **" .~dH4%   BK>:K ?A ď,J?A 2Acoustic response timeout RC@YR=@R<<9R=^AHRS rotation from veh to nav: [[0.464084,0.883176,-0.068013],[-0.885640,0.461218,-0.054033],[-0.016352,0.085311,0.996220]]yRH`?B?Ii@*W?'v ֵ?@ ?ɫRC@R_;RCj_DBjH]Mb@Mb@Mb@Y Y)YIYiY]9v?ˡEĿI +]4?]']94)YIYiYY YYIuIu1٥: ?=93Q > F٦/Ey > 4Y;?4yx'B#:?:@DgD^;;jz4)AqB*** querying acoustic contact ***:pBpmm1}mm"mlllkkkk@ɞAE"ԩ ď,fd?A6%@Y6 @6˜d<96b=@BAHRS rotation from veh to nav: [[0.460918,0.884649,-0.070360],[-0.887333,0.458164,-0.052211],[-0.013952,0.086498,0.996154]]y6H@? 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I?ɫ>@>;>CNDBNHMb@Mb@Mb@ )Iikt?~jtÿQ? 0?<)AIiAA fAII(٥3o= B=9Q > F٦ 4YY?4yq'B4?:@gD* ;;ŝ4)uAB*** querying acoustic contact ***:pBpm9m=ZmAmA"mAlIlQlQkYkYkYke"@ɞIMjB QU[IQ U<ɝQiYI]0oJea=Jea=IZi7=i)Z飕Z)G2B:B O > 2Acoustic response timeoutIq @ď,?A @2e@Y2L@2}P92İ=>AHRS rotation from veh to nav: [[0.446362,0.891520,-0.077158],[-0.894852,0.444703,-0.038446],[0.000037,0.086206,0.996277]]y2H 3?`T?``v?=*?? ?ɫ2e@2)+;0DDIRIRm?٥V Z\=9ZQ ^>\\ ^F٦^?Eyb b> dj4Yf^?j4yfpfw'Bhnn@fgDf/;fn;fD4p)rvApmm#ݒmm"mlllk!k!k!k%(@ɞNd [I <ɝiI eI#ݒiN7=i)#ݒ#ݒ)YG2B:B 2Acoustic response timeout O=yJ}tJ}oJ}6JyJ};N:J}K9J} 4Jyԩ  2Acoustic response timeoutH ]>H H HI DBI O =I I ҺD&I <*I kE %ď,'?ANы@YN@NA49NM=VAHRS rotation from veh to nav: [[0.444221,0.892532,-0.077812],[-0.895913,0.442807,-0.035523],[0.002750,0.085492,0.996335]]yNHn? ?x볿@RV?0.f???ɫNы@N?;NCnDBnH}Mb@Mb@Mb@y y)yIyiy}%C?T㥛 ?}Z$?}}L=)yIyi}A}^A y}3AIIb٥W= <=9"ͻQ > F٦AEyᴻ > 4Ye?4y'B'?:@gD;:ի4)4Ammmm"mlllkkkk/@Աɞ< }SI ٗ<ɝiIfZIi8=i))jKM/PrKM 9zKIKMKMuC5$ @~nXG:/)# $.;=2' 'Ea[I8+# Gi2Bq:B O> %2Acoustic response timeout 9 ď,Zd?A6:~@Y6!y@6Ũ96+=>AHRS rotation from veh to nav: [[0.442730,0.893180,-0.078871],[-0.896640,0.441512,-0.033221],[0.005151,0.085427,0.996331]]y6HU?`?0GA?Qu?@޵??ɫ6:~@6;4~DB~HI I <٥< S=9˻Q %>!! %F٦%DEy-] -> 1=4Y5j?=4y55'B9E槿E@5gD5;5;54M-B)UDAUOE }2Acoustic response timeoutmm_<mm"mlllkkkk 5@ɞU QI m;ɝiI"QI_ F٦FEy8U > 4Yp?4y?'B@gD9::4 5B) HubCHu0HIuDBIuP =IqIq&Iu<*IulE2I%cC:I%cCBI%ŔCJI%N =RI!ZI%W_5G2B:B OB>ԱjK a PrK 9zK K K ":/ PrxsreTHB<57N[VPIB=62045:ET_o~ysg_UKHIS' = 2Acoustic response timeout&ď,7M?AX DB 3HMb@Mb@Mb@ )IiI +?v/S㥫?9?x/]=)\AI=AiAA ̼AII٥== =B=9=Q E>II MF٦MIEyU U> au4Yeu?u4yee'B}?}:S@egDe;eۅ;en4)AB*** querying acoustic contact ***:pBpmmmm"m l l lkkkkC@ɞ ,< DI ;ɝiI=@IEiEA8=iA)EE)IG2B):B9 OE0>  2Acoustic response timeout9 uJď,f?A:^@Y:X@: M9:=FAHRS rotation from veh to nav: [[0.439178,0.894688,-0.081587],[-0.898313,0.438586,-0.026007],[0.012514,0.084712,0.996327]]y:H`~?@H?@ⴿ?ଡ)???ɫ:^@:;:CNDBN0HIVIV٥bػ bg=9fcQ f>dd fF٦jKEyj j> p 4YrCz? 4yrr'B  @rhDr;r;r4!)%A!mImMmImI"mQlQlQlQkQkYkYk]I@ɞr^ 靝bEI ;ɝiIp9IiN8=i)飭)G2B:B O= 2Acoustic response timeoutAq  2Acoustic response timeout He U>Ha He bHIe EBIa Ia Ie ѺD&Ie <*Ie E2 ď,Ԁ?A 6jR@Y6QM@6Iq96=BAHRS rotation from veh to nav: [[0.437886,0.895276,-0.082080],[-0.898909,0.437498,-0.023620],[0.014764,0.084125,0.996346]]y6HS??-`@?@/ a F٦NEyvU > 4Y?4y'B ?:@hD*(;';=4)Am)m-ߓm)m)"m)l1l1l1k1k9k9k=`O@ɞ u9 bCI -;ɝ i I-1I5ߓi5`8=i1)5ߓ5ߓ)9jKm؃NrKm 9zKiKmKm'y_QPFYtyz`  @ X U <  F uR@}kK&tByW5PExceeded connect timeout, disconnecting.GGGa2Bq:B O>  2Acoustic response timeoutJq Ju fJq Jq Jq Ju 9Jq Jq Ju j;! 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'G?@?ɫZ@Z1i;XjNFBnHI I V٥= =M=9=ũ;Q =>AA EF٦EEyM+Ի M> QU4YU?]4yUU'BY]6e@UjDU: ;U;U4mB)uAuEmmǛmm"mlllkkkk/@JHBHH%>H!H%oHI%FBI!I!I!&I%<*I%EɞQU4A QUؾIY ] :ɝYiYI]FEJIeǛie*9=ia)eǛeǛ)iԱGQ2BY:Bq O}= 2Acoustic response timeout  2Acoustic response timeout9 6ď,(d?AV@YV@V819V=^AHRS rotation from veh to nav: [[0.342438,0.934972,-0.092534],[-0.938538,0.344957,0.012251],[0.043374,0.082651,0.995634]]yVH ?@K?G??@5?@(?@ F٦Eyb > 4YP?4ywx'B?:@jD::4)Ammmm"mlllkqkykyk#3@ɞD ܾI 2ɝiIe2FI5i5+9=i1)55)9GM?GM>GI2BQ:Ba O>9 2Acoustic response timeouti 8<ď,JB?A 6@Y6@6G.96`=BAHRS rotation from veh to nav: [[0.340855,0.935592,-0.092116],[-0.939153,0.343301,0.011664],[0.042536,0.082535,0.995680]]y6H?^?픷 ?=?Nǥ? !? ?ɫ6@6~;6CFRFBFHIRIRT٥Zs< ZY=9Z;Q ^> %F٦%Ey%1 %> 1=4Y5?=4y55f'B9E4E@5jD5;5r;54I)MAImB*** querying acoustic contact ***:piBpimym}1mymy"mylllkkkk`6@ɞRJ ־I dɝiI]@I1iD9=i)11) =2Acoustic response timeoutG2B:B O=iԙH>HHHIFBIII&I—<*IE  2Acoustic response timeout0Cď,$a ?A@IJ<)HU@YUޡ@U*9UD=eAHRS rotation from veh to nav: [[0.338893,0.936206,-0.093111],[-0.939903,0.341280,0.010545],[0.041649,0.083942,0.995600]]yUH k?f?&ַ`?? S? ;}? ?ɫU@UQ ;Q}`FB}H-Mb@Mb@Mb@) )))I)i)-?RQȿV-- ?-B-m)--AI-Ai)) ))IMIMF٥e< e0=9m:Q m>qy }F٦}óEy > 4Y^?4yO'B'?:\@jD::y4!)%A!mqmuDtmqmq"mylylylkkԩkk`9@ɞ]9 !%ϾI! %ɝ)i)I-C=I5Dti59=i1)5Dt5Dt)9 %2Acoustic response timeoutGA2BI:BY Om5>jKk PrK9zKKK $*> ]wa 1/4RbK;.JjJ_JJJ.:J=h9JJJ4;!J4;!J:!J:! LIď,&?A R2Acoustic response timeoutVњ@YV̡@VP(9VH=^AHRS rotation from veh to nav: [[0.336806,0.936943,-0.093267],[-0.940674,0.339159,0.010164],[0.041156,0.084311,0.995589]]yVH9?p?^෿ƴ?ф?c?d??ɫVњ@V;VCfjFBfHInIn(٥z< zh=|9~ :Q > F٦ųEy Nϻ  > 4Y}?4y>'B%%@jD;; 4-B)-A-EmQmUmQmQ"mYlYlYlYkYkakake<@ɞ N 靝ʾI gɝiI6Ii9=i)飭)G2B:B O=!Q U2Acoustic response timeouty 1Pď,@?A6 @Y6@6&96|=>AHRS rotation from veh to nav: [[0.334451,0.937778,-0.093357],[-0.941536,0.336769,0.009820],[0.040649,0.084615,0.995584]]y6H@g?F?D淿!??@Ϥ?`Q??ɫ6 @6ޏ;4~oFB~HI I (٥%IK< %H=9%Ϣ:Q %>)) -F٦-ȳEy-yɻ 5> 1E4Y5?E4y55*'BAEE@5jD5L;5:54QY)UAamm✿mm"mlllkkkk@?@ZHRH<H>HXCHHIFBIZ =II&Iҗ<*I6E2IWC:IWCBICJI[ =RI[ =ZI4ɞnt? TȾI ӰɝiI1I✿iT9=i ) ✿ ✿) G2B:B Om= 2Acoustic response timeoutԉԱ e 2Acoustic response timeout\Vď,SZ?A 6@Y6ޥ@6k#96s=BAHRS rotation from veh to nav: [[0.332381,0.938503,-0.093463],[-0.942300,0.334643,0.009204],[0.039914,0.085011,0.995580]]y6H`E?6?)R'j?yق?o?`@õ??ɫ6@6؏;4bFBb$HjK 'PrK 9zKKK%.KvlbUG6Dvy`E0-JN?=?I]jtofujLMN;20{OIBK%?:K%?JoJfJ7JJ>:J9J4JJO;JO;J:J:Mb@Mb@Mb@ )Ii(\?+ǿkt'?v> 0)\AIiA ̺AII1٥== ==9:Q > F٦ʳEy j  > 4Yt?4yL'B.?:2%@kD ;:M4))-A)mQmU} mQmQ"mYlYlYlYkYkakakeEC@ɞ: 靕I JɝiI ,I} i}9=i)} 飥} )G2B:B O= 2Acoustic response timeout9 \ď,t?A:ړ@Y:Ž@:߻!9:l=FAHRS rotation from veh to nav: [[0.329728,0.939449,-0.093354],[-0.943250,0.331959,0.009033],[0.039476,0.085078,0.995592]]y:HA??淿/`>??#6?ǵ??ɫ:ړ@:5;:CRFBR+HIZIZ٥b< ba=9b5:Q b>dd fF٦fͳEyj j> lr4Yn?r4ynn'Bprv@nkDn;n;n!4x)zAx B*** querying acoustic contact ***:p Bp mAmMCTmImI"mIlIlIlQkQkQkQkU9F@ɞfA 靅I ɝiIb&ICTih9=i(0=)CT飥CT)G ?G? %2Acoustic response timeout)G2B:B O=AHHHHIFBIII&IƗ<*I%Ei  2Acoustic response timeoutԙ pcď,/n?A{@Yv@b 9O=AHRS rotation from veh to nav: [[0.326975,0.940345,-0.094011],[-0.944222,0.329195,0.008718],[0.039146,0.085917,0.995533]]yH(?N?"7`?ځ? ??g?ɫ{@|;髡FBFHiMb@Mb@Mb@ )Iix&?-ƿZd;O7)??5j)-AI1AiA/A AII٥8= +=9/5:Q >   F٦ гEy Ȼ > 4Y?%4ye 'B%F/?%:%[%@3kDk;4;*41)5WA1mYmemama"malalilikikikqkuJ@ɞe0 靵I 9ɝiIO"IiC9=i))A -2Acoustic response timeoutGY2Bi:By O:>ԙjKm,OrKm9zKiKmKm{(Z;A   4y*p_NGB><<;=FMMMJB<52*! L  Df M V2Ky*Ky J@AJJmJdJ6JJ\8:J|9J 4JJD;JD;J:J: iď,<?AI"<) J2Acoustic response timeoutfe@Yf`@f3q9fv=vAHRS rotation from veh to nav: [[0.324447,0.941231,-0.093905],[-0.945113,0.326633,0.008500],[0.038673,0.085993,0.995545]]yfH??`$ ]>?@?h?̣?? ?ɫfe@f;dEFBERHI]I](٥mo< mg=9u&:Q u>qq uF٦}ҳEy} }> 4Yj?4y'B@CkD::*04B)AEmm\ŝmm"mlllkkkkL@ɞ  =   I  *ɝiIfI\ŝi9=i)\ŝ%\ŝ)!G2B:B O= 52Acoustic response timeout) Apď,!?A:M@Y:H@:9:54=BAHRS rotation from veh to nav: [[0.321674,0.942164,-0.094095],[-0.946076,0.323838,0.008291],[0.038283,0.086354,0.995529]]y:H`M?@4&?AF?? ڙ? M?_?ɫ:M@:.h;:CJFBJdHIRIR(*٥b= bV=9b:Q b>dd fF٦fճEyf j> hr4Yj?r4yjj'Bpvv@jTkDj:j:j64x)zhAxmmRmm!"m!l!l!l!k)k)k)k-O@JHBH?AH>HHHIGBIIIʺD&I<*IEɞv3 I  &Nɝ i I ]I5Ri=9=i9)=RER)A1 2Acoustic response timeoutG]Y=GusAGusAԑGY2B:B O>Ա E 2Acoustic response timeout?vď,?A F٦׳EyO޻ >JJgJ5JJJ9J4JJJJN:JO: 4Y!?4yI$'Bx.?:۾@fkD& ;L ;b>4)SAmm1mm"mlllkkkk}S@ɞ^.  SI PɝiIDI1i9=i)1%1))ԱGM·3=GA2BI:BY Om5> 2Acoustic response timeout B|ď,-?A 2@Y2@2$92^=>AHRS rotation from veh to nav: [[0.316127,0.943942,-0.095065],[-0.947981,0.318237,0.007517],[0.037349,0.087744,0.995443]]y2Hn;?`4?@.VU]?~?a?`\v??ɫ2@2W;0FFBJHlIrIr(*٥z = zT=9z]:Q ~> F٦ ڳEy   > 4Y#?4y%+'B!%<%@wkD;;E4))-A)MB*** querying acoustic contact ***:pIBpImqm}zbmymy"mlllkkkkqV@ɞ- RI 6ɝiIqIzbi9=i)zbzb)GFG G 2Acoustic response timeoutiIC)i )I~AGY2Ba:By OZ>1H>HHHI#GBIII&I<*IE  2Acoustic response timeouta -ď,?A9@Y@ #9ɰ=AHRS rotation from veh to nav: [[0.313504,0.944757,-0.095655],[-0.948870,0.315587,0.007095],[0.036890,0.088539,0.995389]]yHr?r;?`|$]`2?}? K??:?ɫ@E;髍CFBHI=)a=Mb@Mb@Mb@ )Ii r?333333ÿQ?#?u<)\AIAiAҼA 3AIIb1٥>< -=9~:Q > F٦ݳEy !  > 4Y%?4y:3'B(?%:%使%@kD::OM4-ŖB)-KA5ħEmQm]ϙmYmY"mYlalalikikqkqku@-Z@ɞ# 靥I 2TɝiI$ Iϙi9=i)ϙ飵ϙ)G ?G>ԉG2B:B %2Acoustic response timeout O%,>ԱjKs?OrK 9zKKK#ALH5Z cdU:Uu!! wL5]\F*~wg[PGSJqJcJ8JJD:Jx9J'4JJiZ;JkZ;J:J: mď,)?A >2Acoustic response timeout:@Y:@:9:M=JAHRS rotation from veh to nav: [[0.310794,0.945624,-0.095932],[-0.949784,0.312836,0.006651],[0.036300,0.089047,0.995366]]y:H@ ?B?``d?={?`敢?˶?@ ?ɫ:@:x1;8nGBnHIvIv٥~= ~r=9:Q ?   F٦߳Ey %? )=4Y-|'?E4y-9-'BIMAM@-kD-6~;-;Ա-FS4) AmImMmImI"milllkkkk.]@ɞ# o{I ֵɝiIIH Ii9=i))G2B:B O>  52Acoustic response timeout9 ͐ď,_C?AI)BYڙ@YBAՠ@B$9BĘ=JAHRS rotation from veh to nav: [[0.308327,0.946451,-0.095734],[-0.950602,0.310342,0.006557],[0.035916,0.088983,0.995385]]yBH?SI?``Uk@?'z? c?Ƕ?2?ɫBYڙ@Bc;BCVGBZHIbIb٥f= jM=9jx}:Q j>ll nF٦nEyrR׻ r> tv4YvD)?z4yv?v''Bxzz@vkDv:v:v,Z4)Am1m5dm1ZH=<RH9HE >HAHEHIEKGBIEY =IAIA&IE<*IEEm9"mYlYlalakakakakm`@ɞ 靝aI  (ɝiIJIdi9=i)d飵d)G2B:B O= 2Acoustic response timeoutIq E 2Acoustic response timeoutԙ ď,E]?A6ș@Y6à@6@96?=BAHRS rotation from veh to nav: [[0.306310,0.947137,-0.095418],[-0.951271,0.308290,0.006375],[0.035454,0.088815,0.995417]]y6H ? N?Mm`p@?z?@'? ?t?ɫ6ș@6CÐ;6CJ(GBJHeMb@Mb@Mb@a a)aIaiaerh|? rhQ?e?eC a)eAIe`AiaeA aeAII(٥< >=9{:Q > F٦Eyء > 4YO+?4yF2'B?:}@kD; ;a4)Ammgmm"mll l k jK,OrK9zKKKv}eA Gsg\QMQRMDC7"#%zRk!k!k%c@qɞu WI ̡ɝiI5&Igis9=i)gg)GGtAG2B:B O >ԙ 2Acoustic response timeout g"ď,w?A:@Y:q@: 9:=BAHRS rotation from veh to nav: [[0.304414,0.947745,-0.095455],[-0.951910,0.306326,0.005698],[0.034641,0.089130,0.995417]]y:H@{?S?`o v@ؚ?\\ bF٦bEybc b> dj4Yf -?j4yfMf;'Bhnn@fkDf):fH%;f:h4t)vAx B*** querying acoustic contact ***:p Bp mm.Fmm"m!l!l!l!k!k)k)k- f@ɞQUt mII ԹɝiIVI.Fiy9=i).F.F 2Acoustic response timeout))G12B9:BI O]=JnJjJ6JJ|;:J9J 4J!@!@!@!@HE >HEYCHE\HIE~GBIAIAIA&IEŗ<*IE,E2I XC:I XCBI JI Z =RI Y =ZI @4)  2Acoustic response timeout[ ď,?A TV@ҥ@Y@1> 9^1==AHRS rotation from veh to nav: [[0.302246,0.948446,-0.095385],[-0.952624,0.304105,0.005252],[0.033988,0.089279,0.995427]]yH W?Y?(k@{@vv?u?`f?`ڶ??ɫҥ@j;CU F٦Ey%p %>) !54Y%Y/?54y%T%B'B=?=:==@%kD%-/;%d.;%p4MזB)MAUΧEmmumm"mlllkkkk@{j@ɞa mCI cqɝiINIuip9=i)uu)  2Acoustic response timeoutG2B:B OI>ajKdOrKzKK KEs\%b=}jZK>5.'   ԁ 24ď,W̪?A 22Acoustic response timeout8>@Y>q@>í9>飷=NAHRS rotation from veh to nav: [[0.300241,0.949081,-0.095394],[-0.953280,0.302051,0.004793],[0.033363,0.089498,0.995428]]y>H'7?^?`k@DT?s??Y??ɫ>@>;>CrLGBvHIzIz٥P9=  s=9 :Q  ?  F٦EyBͻ ? !-4Y%0?-4y%Y%F'B)-:-@%kD%p:%:%v45B)=A9mame,mama"malililikqkqkqk} m@ɞW 3I SɝiIHI,ixj9=i),,)G2B:B O=ԉԹ 2Acoustic response timeout JJO4J.J qJ nJ J J D:J 99J J ď,[?A2I@Y21@292=:AHRS rotation from veh to nav: [[0.298938,0.949495,-0.095366],[-0.953712,0.300691,0.004234],[0.032696,0.089686,0.995433]]y2H!?Cb? i@τ>?Wq?~?@??ɫ2I@2q6;2C\^eGBb=HJHlBHnAAHr >HpHrHIrGBIrX =IpIp&Irȗ<*Ir3EIjIjV٥eq= mD=9m:Q m>iq uF٦uEyuW }> 4Y2?4y`tIL'Bf@kDu;O;}4)AmmRmm"mlllkkkkbp@ɞE I XɝiIkI%Ri%Jb9=i!)%R%R))G2B:B  O= m2Acoustic response timeout9  2Acoustic response timeoutFď,?AI<)rLGBrHMb@Mb@Mb@ )Iii|?5?T㥛 y&1?`e)IibAA II٥j E=9Q > F٦Ey > 4Y4?4yfI'B<?:@ lDN;cM;4)Am)m-矿m)m)"m1l1l1l9k9k9k9k=s@ɞius y}3Iy }gɝyiyI}I矿iZ9=i)矿飍矿)jKqNrK 9zKK K -=:3,)*#(/,1e|shdb[SI9$  (4:HGi2By:B O=I 2Acoustic response timeoutqԡ rď,g?AR]n@YREi@Rp9R=ZAHRS rotation from veh to nav: [[0.295815,0.950472,-0.095370],[-0.954731,0.297456,0.003139],[0.031352,0.090124,0.995437]]yRH`? Ej?@.j' ?i?@k ?_??ɫR]n@R;RCfjGBfCH hhIlIl٥v#= vY=9vi;Q z>x| ~F٦~Ey > 4Y ?6?4y l F'B@ lD ;  ; 4!)%A!EB*** querying acoustic contact ***:pABpAmQm] mYmY"mYlYlYlakakakakev@qɞ 靝I  qɝiIZI iR9=i) 飭 ) 2Acoustic response timeoutG2B:B O=JJjJJJJ9JJԡH>HHHIGBIII˺D&I<*IE  2Acoustic response timeout Xď,!<?Ar`@Yr[@rq9r=5AHRS rotation from veh to nav: [[0.294255,0.950944,-0.095496],[-0.955230,0.295852,0.002691],[0.030811,0.090429,0.995426]]yrH?"n?fr>;? f??`S&? ?ɫr`@rM;rCehGBmBHIIԲ٥>/  :=9:Q >!! -F٦-EyJh > 4Y(8?4ysB'BL@(lD::“4B)AاEmm8mm"mll!l!k!k!k!k-`jz@ɞY]Ф Y]Ia eɝaiaIe1Im8imH9=ii)m8u8)qG2B:B O$> %2Acoustic response timeout JAAJ@A)jK bCNrK 9zK K K W\\Y[``aa`fihgc_]XSNHB@GRSOMH@93* a @ď,,?A B2Acoustic response timeout>R@Y>hM@>9>#=NAHRS rotation from veh to nav: [[0.292574,0.951445,-0.095671],[-0.955757,0.294147,0.002449],[0.030471,0.090722,0.995410]]y>H?R@>Ҍ;>CRiGBTMb@Mb@Mb@ )Ii|?5^?S㥛{Gz?$#)-AIAi^AA \AIIV8٥D: O=9b:Q > F٦EyЛ > 4Y9?4ydy5'B?:Ͼ@6lDc;%;:4 B) A 9mQm][mYmY"mYlYlYlakakakaker}@ɞ15 1=I9 =wɝ9i9I=FIE[iE@9=iA)E[M[)IGI2BQ:Bq O}>a) =2Acoustic response timeout A)QIdAԉJ |J oJ 7J J ;g:J K9J 4J Թ jď,WE?A6ID@Y61?@696չ=ZHB<RH@HF>HDHFHIFGBIDIDID&IFė<*IF0ERAHRS rotation from veh to nav: [[0.290920,0.951981,-0.095387],[-0.956277,0.292454,0.002208],[0.029998,0.090574,0.995438]]y6H m?v?Jk`ҙ@?b?뷞?/?`?ɫ6ID@6`;6CVqGBZLHIbIb٥f[< j[=9j:Q j>ll nF٦nEyr r> tz4Yv;?~4yv.v('B| @vDlDv;v;vǠ4 ) A m1m51m1m1"m9l9l9l9kAkAkAkEa@ɞr I ZW¼ɝiI[I 1i 79=i ) 1 1)ԑG2B:B) O== 2Acoustic response timeout E 2Acoustic response timeout Vď,\_?AB2@YB-@B 9B0=JAHRS rotation from veh to nav: [[0.288888,0.952589,-0.095488],[-0.956899,0.290412,0.002163],[0.029791,0.090748,0.995428]]yBH%}?{?q?ķa?@?@;?@?ɫB2@BK;@R}GBR[H5Mb@Mb@Mb@1 1)1I1i15 ףp= ? rh:v5Q?5C 5T)1I5`Ai5A5^A 15(AIUIUb2٥m(< mA=9mK:Q m>qq uF٦uEyu }> 4Y 2Acoustic response timeoutI dď,3y?A :;$@Y:#@:9:h=BAHRS rotation from veh to nav: [[0.287179,0.953125,-0.095290],[-0.957419,0.288692,0.002197],[0.029604,0.090601,0.995447]]y:H#a??d.y?gb? P?1??ɫ:;$@:;8joGBnJHIv Iv̍2٥~ ~R=9~9Q ~> F٦Ey @  > 4YI>?4y2'B^%@dlD/;L;4))-A1MB*** querying acoustic contact ***:pIBpImYm]Ѡmama"malalalakikikikm`ㆀ@ɞ 靝6I ļɝiI޹IѠi$9=i)Ѡ飵Ѡ) 2Acoustic response timeoutG2B:B O=qH>HHHIGBIW =II&I<*I#Eԙ  2Acoustic response timeout Lď,?AF+@YF@F:9Fy>=LRAHRS rotation from veh to nav: [[0.285185,0.953757,-0.094955],[-0.958018,0.286696,0.002383],[0.029496,0.090289,0.995479]]yFHx@?@.?N`@9A EF٦EEyM > 4Y@?4y&B@vlDn::4 B)7A EmYm]wmYmY"mYlalalakakakikmॊ@ɞ I nżɝiIعIwi9=i)ww)GtAGG2B :B! O--> =2Acoustic response timeoutJrJeJ:JJG:J9JFA4JJ_;!J_;!J$:!J%:!jK LrK 9zK K K  !))-6J! nď,[?A2R@Y2;@2A92:5=:AHRS rotation from veh to nav: [[0.282980,0.954414,-0.094952],[-0.958670,0.284508,0.002675],[0.029568,0.090271,0.995478]]y2H X??Nl a5?e? 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M??ɫ>@>;>CZqGBZMHIbIbb2٥j jK=9nQ n>ll nF٦nEyrHԻ r> t 4YvD?4yv?v&B%pĿ%@vlDv;vf;vD4EB)EAMEqmm᡿mm"m)l)l1l1k9k9k9k=`Ú@ɞ3 靵6I ɼɝiIB+I᡿ie8=i)᡿᡿)G2B:B O)> %2Acoustic response timeoutԙJQJUdJU7JQJQJU|9JU4JQJQJQJU:JU:jK ŵMrK 9zK K K 0c{void_e]RNMKKKHEB=:7A  ď,.?A2@Y2x@2)92=:AHRS rotation from veh to nav: [[0.270694,0.957974,-0.094923],[-0.962199,0.272315,0.004309],[0.029977,0.090169,0.995475]]y2H S??LTm? q?7?M??ɫ2@2aՋ;2C B2Acoustic response timeoutr~GBr]HMb@Mb@Mb@ )IiL7A`?ʡEƿL7A`堿+'?-2+)AIAiAA AIIF٥:< <=95(Q > F٦Ey > 4Y0E?4y&B5-?:ƿ@lD;Z;4)}Ammmm"mlllkkk k5@ɞJ, 靽I \{ʼɝiIy8Ii8=i)) 52Acoustic response timeoutGMrE=G) 1 2B9 :BI  O] >ZH RH <H! H! H! I! I! I! 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Cθs?u?ٞ??U?ɫB@B\;BCRGBRHeMb@Mb@Mb@a a)aIaiaeV-?I +ƿy&1|e|?e94a)eAIaieAeA ae3AIyIy٥< G=9Q > F٦%Ey > 4YE?4y`&B%?:ʿ@TmD;V;%4)=A1mimm|mimi"milillkkkkr@ɞ+ `bI jμɝiII|ir8=i)||)!G)2B1:BA OU>jKeMrKeh9zKaKeKe %&'$&G^CAp-y8f yT~cNA90(''(/,(& (a 2Acoustic response timeoutԑԹ ˨>ď,[|?A ~GB~HI I V٥*< R=9%Q %>!! -F٦-'Ey- -> 1=4Y5eE?=4y5+5^&BAAE@5dmD5;5f;54MGB)MyAMEmym},mm"mlllkkkkf@ɞI 靽5I μɝiI(I,if8=i),,) 2Acoustic response timeoutԑG2B:B O=JJgJJJJ9JJH>HH$HI!HBIV =II˺D&I<*IE2I-ZC:I-ZCBI)JI-W =RI-W =ZI-Ž4  2Acoustic response timeout Eď,W?AJ@YJ@JK9Jts=RAHRS rotation from veh to nav: [[0.252832,0.962358,-0.099714],[-0.967049,0.254549,0.004670],[0.029877,0.095248,0.995005]]yJH@h.??߆ J?:!s??'b? ?ɫJ@Jɋ;JCZGBZHIfIf(٥n< nN=9r&:Q r>pt vF٦v*Eyv v> x}4YzE?}4yzz\&ByD˿@ztmDzI jK oOrK 9zK K K <LI@5,3-!"$%$",j%$ yqr}thaYNGMsKď,ZF1?A 22Acoustic response timeout^@Y^@^d9^~S=jAHRS rotation from veh to nav: [[0.251510,0.962715,-0.099615],[-0.967398,0.253219,0.004693],[0.029742,0.095187,0.995015]]y^H??e4?8s? t?@4^?)?ɫ^@^e;^CrGBrHMb@Mb@Mb@ )Ii~jt?(\ſ{Gz?.#)I¯AiA AII<٥'= 9=99Q > F٦-EyK > 4Y D?4y 9 Y&B!?: ˿@ mD <: : '4!)%DA!mImMmQmQ"mQlQlQlQkYkYkYk]`@ɞoDڼ 靭藼I ϼɝiI mIiG8=i)飽)aG2B:B O>ԑ  2Acoustic response timeout J! 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Oգ?A?@?ɫ:`@:ي;8NHBNH}Mb@Mb@Mb@y y)yIyiy}i|?5?gfffffƿL7A`堿}1?}33}+)}3AI} Ai}Ay y}(AIIb٥= >=9Q > F٦Ey~ : > 4Y<?4ywYBk7?:%@ZD::4)Ammʿmm"mlllkkk!k% 76@ɞIUX QU>>IQ UർɝQiYI] E`:Ieʿim;1=ii)mʿmʿ)qԩG2B:B O= 2Acoustic response timeout jKE 1NrKE 9zKA KE KE ./001.*)'$"!! =| ||p_BK] >:K] ?1 Cď,[ ?AI)>\@Y>W@>X9>=JAHRS rotation from veh to nav: [[-0.014154,0.995165,-0.097189],[-0.999137,-0.010281,0.040240],[0.039046,0.097675,0.994452]]y>H`d?eḿ`T??:?@?ɫ>\@>Ҏ;dd fF٦f·Eyjp j> lr4Yn?r4ynH`nBprr%@ncDn;nz;nE4x)zAxmm'ʿmm"m!l!l!l!k!k!k)k- 09@ɞQUP,  #>I 紼ɝiI J:I'ʿi91=i)'ʿ'ʿ)G2B:BJbJYJ4JJ:J[O9J3J9 OU= }2Acoustic response timeoutaԉ % 2Acoustic response timeoutx-Iď,c~&?A0X@YS@h!9NO= AHRS rotation from veh to nav: [[-0.014649,0.995075,-0.098038],[-0.999116,-0.010704,0.040646],[0.039396,0.098547,0.994352]]yHG@? 녿Ϥ? +?_:??ɫX@8;髹HBHMb@Mb@Mb@ )Iim?Zd;OǿI +.?j<94)AIAi½AA AII٥'N= ,=9AQ > F٦ŷEy > 4Y?4yhB4?:K%@mD:#:4 ) TA5B*** querying acoustic contact ***:p1Bp1mAmE;ʿmAmA"mIlIlIlIkQkQkQkU <@ԉH }>H H DHI  IBI I I &I .<*I EɞY]]+ Y]t;>IY CeɝiI&|+:I;ʿi61=i);ʿ飵;ʿ)G ?G>G2B:B OE> }2Acoustic response timeoutԹ *Pď,X@?A2X@Y2}S@2H!92V =:AHRS rotation from veh to nav: [[-0.014686,0.995087,-0.097911],[-0.999113,-0.010739,0.040710],[0.039459,0.098422,0.994362]]y2H~`? `@פ? 3?'2??ɫ2X@2eU;0FHBFHdInIn 2٥vJ; vp=9v*AQ v?xx zF٦zȷEy~B ~? 4Y Y픊?4y n L%@ uD 7 ; 2 ; 4%+B)%3A%EmImM6JʿmQmQ"mQlQlYlYkYkYkYke@?@ɞn 靝 =>I :81-+(%$ &1632/&2Ki*KiJ- aJ- [J- 5J) J- :J- W9J- 4J)  2Acoustic response timeoutQ AHRS rotation from veh to nav: [[-0.015240,0.995064,-0.098055],[-0.999093,-0.011256,0.041061],[0.039754,0.098591,0.994334]]y6H d6@?`c `? 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e?xѸ q??@P?͸??ɫ^@^b;\=VIBEHԁII<٥; <=9}5;Q >H5>H5KCH5%HI5IBI5c =I1I5D&I5<*I5*E  F٦ Eyi> > %4Yo?%4y@B!--&@D:N:45B)5yA=ƪEuB*** querying acoustic contact ***:pqBpqmm˿mm"mlllkkkk }@ɞp; -W>I) -䋼ɝ)i)I-غI5˿i5{{1=i9)=˿=˿)9ԩGEJM= 2Acoustic response timeoutPExceeded connect timeout, disconnecting.G92BI:Ba OmW> ) ɉG )M Aď,rF?AIJÿHJ}A -2Acoustic response timeoutU(Ə@YU@U>_9Ua=eAHRS rotation from veh to nav: [[-0.001318,0.995454,-0.095230],[-0.999800,0.000587,0.019976],[0.019942,0.095238,0.995255]]yUHU ?a ]II MF٦MEyM M> 4Yk?4y)By6?:&@ D::4B)gAϪEm9m=˿m9m9"mAlAlAlAkAkIkIkM@@ɞ<; >I aىɝiIAI˿i1=i)˿˿) jKNrK9zKKK/6% }vn\G70-*$" !&$#  &(#" G@W=J=hJ=WJ=6J9J=(:J=G9J= 4J9A 2Acoustic response timeoutG2B :B  O% >Y ď,iV`?A~GIB~HI I ٥%< %^=9%Q ->)) -F٦-Ey5 5> 9E4Y=f?E4y=M=BAIM&@=(D=N:=:=&4Q)U`Amm˿mm"mlllkkkk݃@ɞ!-l; )->I)1 -ɝ1i1I5KPI=˿i=1=iA)E˿E˿)AGYFYGY GY -2Acoustic response timeoutYG2B:B) OMt>ZHRH<H5>H1H5HI5IBI5f =I1I1&I59<*I5REԑԹ  2Acoustic response timeout  nManaging dock network, ignoring radio surface power offď,(z?AI<)b @Yb@b\9bm=jAHRS rotation from veh to nav: [[-0.006823,0.995557,-0.093911],[-0.999805,-0.005050,0.019111],[0.018552,0.094023,0.995397]]ybH@{? 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Ԇ??ɫ:s@:;:CNEIBNHIVIV 2٥rO  T=9 :Q  > F٦Ey6 > %4YT\?-4y B)--&@;D;;:49)=cAAmm˿mm"mlllkkkk@C@JcJYJ5JJ:J[O9J4Jɞ;  >I  ɝ i I *I˿i1=i)˿˿) 2Acoustic response timeoutG!2B):B9 OM=9 = 2Acoustic response timeout*ď,?AF^h@YFMc@F99F{=NAHRS rotation from veh to nav: [[-0.012765,0.995838,-0.090245],[-0.999764,-0.011122,0.018686],[0.017605,0.090462,0.995744]]PyFH$@?I dž{"??(? #?ɫF^h@FH;FCZNIBZHIfIfV٥n< nN=9nc:Q r>tt zF٦zEy >H>HJCHIIe =II&I<*IE ]4YV?e4yBam>m&@EDw<\}<Т4B)A٪EB*** querying acoustic contact ***:pBpmQmU˿mQmQ"mQlQlYlYkYkYkYke퍅@ɞI 9ɝiII˿i1=i)˿˿) JC=J4=G 2B:B) OM1> 2Acoustic response timeout! ď,?A @2]S@Y2LN@2%92c=>AHRS rotation from veh to nav: [[-0.015328,0.995900,-0.089149],[-0.999730,-0.013707,0.018772],[0.017473,0.089412,0.995841]]y2H {dj? qҶ`_@8?~???ɫ2]S@2 o;2C^]IB^H ~2Acoustic response timeout]Mb@Mb@Mb@Y Y)YIYiY] ףp= ?㥛 ¿MbPY]])]?AIYiY]½A Y]AImImT٥}t= @=99Q > %F٦-Ey-K 5> 1=4Y5FQ?E4y5y5BEI A~ɝiI I˿i.1=i)˿˿)G2B:B O=!jKwMrKH9zKKK$  00' 2K!*K%rAIJdJZJJJ<:JS9JJ 2Acoustic response timeouty ď,)?A2>@Y29@2Mˋ921=>AHRS rotation from veh to nav: [[-0.017840,0.996000,-0.087555],[-0.999695,-0.016275,0.018563],[0.017064,0.087859,0.995987]]y2HD@;?jI2?2y?}??ɫ2>@2;2Cn\IBnHIzIz ٥1  S=9 :Q  >  F٦ EyV > %4YaL?-4yg!)--&@WD::_45B)5A=تEYmameE˿mami"milqlqlqkykykyk}擅@ɞǪ< 靭$>I o(zɝiIIE˿iɜ1=i)E˿飽E˿)GGtAG2B:B O=  2Acoustic response timeoutԁJHBH?AH>HHIIg =II&I7<*IGE!A  2Acoustic response timeout+,ď,q?A6..@Y6)@6960=>AHRS rotation from veh to nav: [[-0.019866,0.996007,-0.087037],[-0.999664,-0.018337,0.018338],[0.016669,0.087372,0.996036]]y6HW J?H>ƒ>ǒ? ?^??ɫ6..@6b;6C^iIB^HMb@Mb@Mb@ )IiV-?w/ĿI +?h1?&94<)IAiA 3AII0٥6< ?=9q:Q > F٦Ey > 4YE?4y.)BE6?:<&@aD::޷4)Am)m-˿m)m)"m)l)l1l1k1k9k9k=R@ɞim4< im>Iq 0uɝiI1I˿i1=i)˿˿)!G)2B1:BA OU>A 2Acoustic response timeoutqԙ ŏ,TS?AjKMrK9zKKKDq\LIRSPNLLIGD@>=<80.+)$ Qpue r T.BK?:K?:@Y:@:9:5[=FAHRS rotation from veh to nav: [[-0.021843,0.996003,-0.086604],[-0.999630,-0.020352,0.018064],[0.016229,0.086967,0.996079]]y:H@ ^@B?+@)ה`C?J?@pC? ?ɫ:@:;8JqIBJHIV IV(2٥Z < ^]=9^›:Q ^>`` bF٦bEybr f> dj4Yfm@?n4yf/fBln}n&@fiDf;f;fR4t)vAtmm˿mm"mlllkkk!k%`E@ɞK5<  >I  Epɝ i I5dIE˿iEm1=iEiq2=)M˿M˿ u2Acoustic response timeouty)Gi2By:B O=ԡ % 2Acoustic response timeout D ŏ,C/?AB@YB @B:U9B=VAHRS rotation from veh to nav: [[-0.023184,0.996004,-0.086242],[-0.999608,-0.021743,0.017611],[0.015665,0.086617,0.996119]]yBHD?@C?@| ?,?4?ɫB@Bʤ;BCf~IBjHInInƲ٥z< zF=9z):Q z>|| ~F٦~EyT  > 4Y,:?4y_7B&@sDk:b:4-B)5iA=EHu>HqHu1HIuIBIuf =IqIq&IuB<*IuXE2I-JC:I)BI-CJI)RI-e =ZI-x5B*** querying acoustic contact ***:pBpm)m5 ̿m1m1"m9lQlQlYkYkYkk+@ɞB< X>I jɝiI"I ̿i1=i) ̿% ̿)!Ge ?Ge/?JaJUJJJ:J>9JJJ;!J;!JQ:!JQ:!GQ2Ba }2Acoustic response timeout:By O9> I (ŏ, I?A2 @Y2@2^w92!d=BAHRS rotation from veh to nav: [[-0.024270,0.996031,-0.085631],[-0.999591,-0.022883,0.017140],[0.015112,0.086012,0.996179]]y2H)ژ|?뵿`n?>?`??ɫ2 @2D;2C^IB^H n2Acoustic response timeoutMb@Mb@Mb@ )IiˡE?xƿ rh?'?K7C<)IAi pAII(٥< ==9:Q > F٦Ey$ > 4Y 3?4y>B!.? : j &@|D;:4"B)qAmAmE̿mAmA"mAlAlIlIkIkQkQkU @ɞ2n< 靕>I PfɝiI?(I̿iX1=i)̿飥̿))G2B:B O>jK56OrK5]9zK1K5K5_k"qi^UPJK[nohb_\[ZVSOKFB>;87DF=>=l e;tt72KA*KAQ 2Acoustic response timeoutԁ KQŏ,b?A,6e@Y6T@60l96=BAHRS rotation from veh to nav: [[-0.025088,0.996047,-0.085206],[-0.999581,-0.023763,0.016525],[0.014435,0.085585,0.996226]]y6Hࢰ? е``cU`?B?@??ɫ6e@6݊;6C^IB^HIj Ij<2٥rf< r[=9v:Q v>tt zF٦zEyz z> |4Y~,?4y~&E~B   &@~D~:~9:~4B)JAm9mEa,̿mAmA"mAlAlAlIkIkIkQk]@ɞr< 靅>I ȋaɝiI1-Ia,̿i 1=i)a,̿a,̿)ԉ 2Acoustic response timeoutG=T=GaGesAԹG9ZHe<RHaH}>HyH}JHI}IBIyIyI}D&I}<*I}E2B:B Om> J gJ SJ J J %:J y69J J J i$;J k$;J IC:J LC:  2Acoustic response timeoutzŏ,|?ABM@YB<@BnX9B =JAHRS rotation from veh to nav: [[-0.025100,0.995938,-0.086472],[-0.999598,-0.023861,0.015335],[0.013210,0.086822,0.996136]]yBH?# n h? ?9?@Y?ɫBM@B6ي;@RIBRH\EMb@Mb@Mb@A A)AIAiAET㥛 ? rȿMbp?E!?ECE;)AIAiEAEA AEAI]I] 2٥m)< mB=9m>;Q m>qq uF٦uEy} }> 4Y%?4yLBI(?:&@D:U:4B)CAmm=̿mm"mlllkkkkc@ɞ)]< 靭>I [ɝiIK4I=̿i1=i)=̿=̿)Gu2=i*>IZC)mGG2B :B) O$>ITкAA 2Acoustic response timeoutA a%ŏ,}?A6@Y6@6/I96s=BAHRS rotation from veh to nav: [[-0.025142,0.995833,-0.087662],[-0.999608,-0.023966,0.014440],[0.012279,0.087990,0.996046]]y6HѾ@?p`Ւ? %?? ?ɫ6@6É;4FIBFHjKNOrKNS9zKLKNKNIoaTLD@BJZjz}rh`[VRNHA;4.*& nwdUF. BKV ?:KV?IZIZ ٥=*@ =M=9E0;Q E>AA MF٦MEyM/ݸ M> Q]4YU?]4yURUBaae&@UDUf;U;U4mRB)mAmEmmxN̿mm"mlllkkkk @ɞ0< Y>I ݸVɝiI9IxN̿i1=i)xN̿xN̿)GFG G 2Acoustic response timeoutIGY2Ba:By OZ>q M 2Acoustic response timeoutԡ o+ŏ,`t?AI"<)"<^w @Y^f@^$59^Y=jAHRS rotation from veh to nav: [[-0.023982,0.995862,-0.087657],[-0.999651,-0.022915,0.013158],[0.011094,0.087942,0.996064]]y^HŎ?p#wS?? a? ?ɫ^w @^R;^CrIBrHH%>H%HCH%cHI%IBI%g =I!I%D&I% <*I%EyII(٥E)< E;=9M1;Q ]>ai uF٦u Eyo+; > 4Y?4yYB&@D <<4Q)]AYB*** querying acoustic contact ***:pBpm m `̿m m "mll)l)k)k)k1k5w@ɞY]a^< Ye&>Ia PɝiI?I`̿i1=i)`̿飝`̿)ԡJdJTJJJ<:J:9JJJ6;J8;JtJ:JvJ:G  ?G -? 2Acoustic response timeoutG2B:B OK> ,t2ŏ,J?A>@Y> @>d"9>N=FAHRS rotation from veh to nav: [[-0.023429,0.995788,-0.088644],[-0.999676,-0.022456,0.011952],[0.009912,0.088895,0.995992]]y>H@~?[@Y z?L??)?ɫ>@>V;>CNIBN H 2Acoustic response timeout=Mb@Mb@Mb@9 9)9I9i9=Cl?RQȿ rh=d?=B=C)9I9i=A=½A 99IUIU̍٥m~< mY=9uIN;Q u>yy }F٦}"Ey}: > 4Y?4y_B"?:o&@D; ;#4)Ammo̿mm"mlllqkqkykyk}?@ɞBZ< &>I CKɝiIPEIo̿i1=i)o̿o̿)G2B:B O% >IjKyNrK9zKKK #5GcyI,3Hil:FRr`Xbi 2Acoustic response timeoutԙ N8ŏ,*?A>@Y>@> 9>=FAHRS rotation from veh to nav: [[-0.022016,0.995781,-0.089084],[-0.999722,-0.021175,0.010384],[0.008453,0.089288,0.995970]]y>Hvo?4ζ@ˮC?P?۶??ɫ>@>;>CNIBnHIvIv٥~H; ~R=9~du;Q ~> F٦%Ey m;  > 4Y ?4yeBA%&@D;;4-KB)-A-EmYm]d̿mYmY"malalalakakikikm@3@ɞϫ< 靝>I 3FɝiISJId̿i1=i)d̿飭d̿)qG2B:B O=  2Acoustic response timeoutԙJHBH@AH t>H FCH |HI JBI k =I I D&I ><*I (EJ 4J #4J S}-J J YJ J J J [O9J J J 5;J J Gn:J In:  2Acoustic response timeout >ŏ,m?A 6G@Y66@696K=>AHRS rotation from veh to nav: [[-0.021687,0.995690,-0.090177],[-0.999739,-0.020949,0.009127],[0.007198,0.090351,0.995884]]y6H +5?`@s?{}?@!?H?ɫ6G@6:;6C^IB\Mb@Mb@Mb@ )IiZd;O?KǿL7A`堿j?^:+)IAiA II(٥p ?=9;@;Q > F٦'EyI: > 4Y*?4ylBm#?:(&@DG ; ;k4)Amm̿mm"mlll!k!k!k!k%@ɞQU'< Y]Y>IY ]G@ɝYiYI] OIe̿ien1=ii)m̿m̿)iGyG}tAGi2By:B O= 2Acoustic response timeout) ̯Eŏ,?A 6#@Y6 @6ƻ96H=FAHRS rotation from veh to nav: [[-0.021221,0.995609,-0.091171],[-0.999756,-0.020578,0.007982],[0.006071,0.091318,0.995803]]y6Hݺ? V `mX?x?@`??ɫ6#@6;4LNHjKROrKPzKPKRKRQ0sLA:;K`bWJ9&   2oI^I^b٥f\ f[=9jE;Q j>hh jF٦j*Eyn: n> pv4Yr#?v4yrrrBtzz&@rDr:rB:r4~~B)~AEm!m%̿m)m)"m)l)l)l)k1k1k1k5@@ɞM&< &>I B;ɝiIQTI̿i1=i) ̿ ̿)  }2Acoustic response timeoutG2B:B O-=iԙ - 2Acoustic response timeoutKŏ,ĵ1?A:1'@Y: "@:i9:|=BAHRS rotation from veh to nav: [[-0.020722,0.995552,-0.091904],[-0.999774,-0.020193,0.006677],[0.004791,0.092021,0.995746]]y:H`8? %%Y{?@s??%?ɫ:1'@:A;:CJIBJ HH^q>H\H^HI^JBI^n =I\I\&I^B<*I\hIpIp٥z zH=9zM;Q z>|| ~F٦~,Ey: > 4Y ?4y Ey B&@ ǃD : 4;  4!)%A)mqmu ̿mqmq"mylylylkkkk뽅@ɞ< 靵>I k5ɝiIYI ̿i;1=i) ̿ ̿)GQ2Bq:B O=JR=Ja= 2Acoustic response timeoutI Rŏ,hK?AI<)<6g'@Y6V"@6m96=BAHRS rotation from veh to nav: [[-0.020696,0.995468,-0.092813],[-0.999779,-0.020269,0.005536],[0.003630,0.092907,0.995668]]y6HV1? ·1߬v?`ѻm?ȷ?`?ɫ6g'@6臊;6CbIBbH r2Acoustic response timeoutAMb@Mb@Mb@ )IiV-?bX9ƿ~jt|?E6)3AIAi½A (AII̍٥; <=9.;Q > F٦/Eyx8 > 4Y? 4y^B '&? :  &@ЃD::4wB)~AE5B*** querying acoustic contact ***:p1Bp1mImM̿mQmQ"mQlYlYlYkYkYkake`a@ɞ J< &>I o/ɝiI|^I%̿i-1=i))5̿5̿)1GI2BYi:Bi O}>jK=P2NrK=S9zK9K=K=!bH6 *TB}_J<01Q] ԑJeJJ6JJ\:JJ 4J!@!@!@!@ 2Acoustic response timeout Xŏ,we?AZ )@YZ#@Z~{9Z@=bAHRS rotation from veh to nav: [[-0.020495,0.995393,-0.093667],[-0.999787,-0.020181,0.004298],[0.002388,0.093735,0.995594]]yZHA?A r`q?nc???ɫZ )@Z;ZCjIBj HIrIr1٥z^ ~[=9~Y;Q ~>| F٦2Ey : > 4Y 铊?4y t B!%y%&@ ؃D /; 1; <4))-A)mQmUp̿mYmY"mYlYlYlYkakakake[ą@Աɞ -Ɲ< 15>I1 54"*ɝ1i1I= cI=p̿iEh1=iA)Ep̿Ep̿)AG)2B1:BI OU= 2Acoustic response timeoutZH<RHHp>HECH|HIJBIII&I(<*IE2ImFC:ImGCBImƕCJImk =RImj =ZImƁo69  2Acoustic response timeout'_ŏ, F٦4Ey| > 4YⓊ?4ykB+?:0&@D::!4)Amm.̿mm"mll l k k k kDž@QɞS< 靥>I $ɝiIx1gI.̿i[1=i).̿.̿)G2B:B O>ԁ 2Acoustic response timeoutԩ Meŏ,S#?A :!@Y:@:9:R=BAHRS rotation from veh to nav: [[-0.021357,0.995321,-0.094228],[-0.999772,-0.021234,0.002313],[0.000302,0.094256,0.995548]]y:Hޕ`?@[!V'b?`23?/!?@?ɫ:!@:;:CJIBJHIVIV(1٥Z3= Z[=9^;Q ^>`` bF٦b7Eyb f> dj4Yfܓ?n4yfjKOrK 9zKKKt N+tW<-"   5GJGR BK->:K->fWB9=J=&@fDfpjI1 52ɝ9i9I=?^kIE̿iE1=iA)E̿E̿)I ]2Acoustic response timeoutԱG12BA:BY Oe=  2Acoustic response timeout9 C(lŏ,?AH$H&FCH$I$I&m =I$I$&I&?<*I&#EF@YF@FO:9F,=NAHRS rotation from veh to nav: [[-0.022124,0.995283,-0.094458],[-0.999755,-0.022074,0.001584],[-0.000509,0.094469,0.995528]]yFHɧ[?`^.`p@Y?@@&/?\?ɫF@F?;DVIBV HIbIb(*2٥jۻ jI=9jD;Q n>ll nF٦r9Eyr r> tz4Yv]֓?z4yvƚvABxzc~&@vDv:v;vS/4)NAmQmU̿mQmQ"mQlllkkkk@'΅@ɞ!-;< 1]>Ia e0ɝiiiIm>voI̿i1=i)̿̿)GI2BY:Bi O}> m2Acoustic response timeout9)G  )- 5AIU ĿQ ] Aԉ hsŏ, ?A6@Y6 @6t:96=<RAHRS rotation from veh to nav: [[-0.023682,0.995207,-0.094884],[-0.999719,-0.023664,0.001321],[-0.000931,0.094888,0.995488]]y6H-@?`JJ R;)U? 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'ǧ-OU6w?@?ɫ6W@6F;4DfkIBfHJviJvRJv5JtJv+:JvS29Jv4JtII٥  < Q=9 &:Q > F٦wEy% %> )54Y-1?54y-9- B1=='@-D-;- ;-4A)EBAmym}bοmymy"mlllkkkk@ɞ< 靽>I jɝiIڣIbοi1=i)bοbο) 2Acoustic response timeoutG2B:B O=ԩjKE OrKE 9zKAKEKEU 2fO@2*'"?Cv{Vj|T:&!*,/:FYpe;tu  2Acoustic response timeout HE g>HE DCHE HIE IBIE o =IA IA &IE <*IE Eɮ ŏ,c9?A6T@Y6O@6n;96\n=>AHRS rotation from veh to nav: [[-0.046400,0.994491,-0.093997],[-0.998905,-0.046755,-0.001578],[-0.005964,0.093821,0.995571]]y6H?+ BsYmx?@?ɫ6T@6;6Cb[IBbHlInIn(*٥vI  vM=9zB:Q z>xx ~F٦~zEye.4 e> iu4Ym)?u4ym@m Bq}}'@mƄDmn;mj;m4B)Bmmsοmm"mlllkkkk`@ɞ;< >I 'ܺɝiI>Isοi1=i) sο sο) G2B!:BA O]=JC=JC= 2Acoustic response timeout)McG i)IA1i Xŏ,AS?AI)< "2Acoustic response timeout:jM@Y:ZH@:E;9:A=FAHRS rotation from veh to nav: [[-0.047288,0.994432,-0.094169],[-0.998862,-0.047668,-0.001785],[-0.006264,0.093978,0.995555]]y:H`26d?~g@] y?@?ɫ:jM@:B;:CRMIBRH9MMb@Mb@Mb@I I)IIIiIM%C?> ףp=ʿ~jtMZ$?MQMļ)MAIMAiIM½A IM\AII(٥r ;=94:Q > F٦}Eyy >  4Y}!?4yG B,?:'@τD[;;4!)-B)EB*** querying acoustic contact ***:pIBpImYm]υοmYmY"mYlYlalakakakakmX"@ɞ{< 靝>I D췺ɝiI*Iυοiν1=i)υο飵υο)G2B:B O>aJ^JPJ6JJ} :J*9J 4Jԑ 2Acoustic response timeoutjK OrK 9zK K K Jy'/tn},$r; [7 ŏ,#m?AJH@YJC@Jx;9JҪ=ZAHRS rotation from veh to nav: [[-0.047871,0.994407,-0.094140],[-0.998832,-0.048272,-0.001985],[-0.006518,0.093935,0.995557]]yJH @/?@o&@C`z! ?`?ɫJH@J=s;JCrWIBrHIzIz٥< Y=9m0:Q %>!! %F٦%Ey-ʺ -> 1=4Y5?=4y5N5 B9E2E'@5ׄD5;5;54MB)M BImqmuοmqmq"mylylylykykkkY%@ԙɞO< >I `ɝiIͨIοi1=i)οο)G2B:B O= U2Acoustic response timeoutHd>HH HIIBIIID&I3<*IE  2Acoustic response timeout! !ŏ,{?A6#A@Y6<@6i};96=>AHRS rotation from veh to nav: [[-0.048785,0.994341,-0.094371],[-0.998786,-0.049208,-0.002158],[-0.006790,0.094151,0.995535]]y6Ha`?`(`1 a {@L?k?ɫ6#A@6&;6CbPIBbHMb@Mb@Mb@ )IiNbX9?ɿI +%?L9)&AIAi AII(*٥ A=9':Q > F٦Eyf > 4Y?4y+U Bt-?:*'@D:,;';4ޤB)lB0Em!m% οm)m)"m)l)l)l)k1k1k9k=(@ɞaed< imW>Iq ufCdɝqiyI}oI} οi1=i) ο飅 ο)G2B:B O=! e2Acoustic response timeoutQy 'ŏ,Р?A @67@Y6t2@6;96=>AHRS rotation from veh to nav: [[-0.049958,0.994202,-0.095222],[-0.998727,-0.050390,-0.002129],[-0.006915,0.094994,0.995454]]y6H@?r` ̩pqa S|Q??ɫ67@6;4ROIBRHInIn٥zJ zX=9~9Q ~>   F٦ EyaJ > !54Y% ?54y%[%u BAEOE'@%D%;%Ά;%.4]դB)]ZB]/E 2Acoustic response timeoutJcJXJ5JJ:J5K9J4Jm)m-οm1m1Q"mYlYlYlYkYkakake ,@ɞ\޳< >I  >ɝiIIοi1=i)οο)G2B:B O>jKOrK 9zKKK~vmiiaZXQD5038Sr_ZXOJC<9N|  tg\QG=2.'"ԁԱ m 2Acoustic response timeoutH H H HI IBI q =I I &I ^<*I BE -ŏ,e?A:(5@Y:0@:2;9:s=FAHRS rotation from veh to nav: [[-0.050246,0.994157,-0.095533],[-0.998711,-0.050709,-0.002425],[-0.007255,0.095288,0.995423]]y:Hι"?@to`c 5}d??ɫ:(5@:;:CNMIBNHIZIZ(*٥b bM=9b_:Q f>dd fF٦fEyj> j> lr4Yn?r4yn'bnc BpvXv'@nDn;n:n4x)z]Bxmmοmm"m!l!l!l)k)k1k1k5.@ɞYe@_< ae>Ia ecaɝaiiImImοiu1=iq)uοuο)qGQ2Ba:ByԱ O= 2Acoustic response timeout 9 4ŏ,?A 2Acoustic response timeout:-@Y:(@:.;9:.=JAHRS rotation from veh to nav: [[-0.051123,0.994107,-0.095589],[-0.998665,-0.051600,-0.002521],[-0.007438,0.095333,0.995418]]y:H,?@x@Skd`w~g? v?ɫ:-@:Ԋ;:ClnHMb@Mb@Mb@ )Iiw/?B`"ɿZd;O&?Nj)AIinA \AII 2٥: 9=99Q > F٦Ey- > 4YP?4yiM B.?:'@Df;]; 4!)%\B!EB*** querying acoustic contact ***:pABpAmQmUοmQmQ"mQlYlYlYkYkYkake 2@ɞ< 靝>I ОɝiIBIο iM81=iI)MοMο)QGA2BI:BY Om>1 2Acoustic response timeouti jK NrK 9zK K K     4h|lbYLC=74.)%"2K1 *K5 sA;ŏ,b?AI)< RIBHI)I)٥=}8< =V=9EQ E>AA MF٦MEyM M> Q]4YU?]4yUpU; Baae'@UDU<;U{;Uu4mB)mBm9Emmοmm"m!l!l)l)k)k)k1k55@ɞY]/< ae$>Ia eC9ɝaiaIm밻Imοiu1=iq)uοuο)y =2Acoustic response timeoutiG2B:B O=JH?ABHHe>HHHIIBIII&IQ<*I/Eԙ J ^J MJ J J } :J 9J J J :!- J :!- J I:!5 J K:!=  2Acoustic response timeoutAŏ,6=?A:e&@Y:U!@:xC<9:Z=FAHRS rotation from veh to nav: [[-0.052045,0.994047,-0.095712],[-0.998613,-0.052573,-0.002998],[-0.008012,0.095424,0.995404]]y:Hii uF٦uEyu u> y4Y} 뒊?4y}w}( B0?:'@} D}:}:}4B)B8Emmοmm"mlllkkqkqku8@ɞTj< #>I 9ɝiIpIοia1=i)οο)G2B:B  O>AA M2Acoustic response timeout! {!Hŏ,]"?A6="@Y6-@6+<96=>AHRS rotation from veh to nav: [[-0.052552,0.994010,-0.095823],[-0.998585,-0.053085,-0.003023],[-0.008091,0.095529,0.995394]]y6H 調`?i-$h9t? 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?ɫB@B-;BCRHBRHIZ=)Z%=pEMb@Mb@Mb@A A)AIAiAEM?5^I ˿~jth?En?AED;)EAIEAiE AEtA AEAII٥w< B=9aQ > F٦Ey8: > 4YE?4ymB?:)@D ; ;a(4) Bmm}տmmHHHHIHBIII&I8<*IE"mlllkkkk@ן@ɞ!-< )- >I) U(<ɝiiiI*I}տi0=i)}տ飕}տ) G2B:B O> 2Acoustic response timeout1a +ŏ,]X?A6@Y6@6 l'<96k=>AHRS rotation from veh to nav: [[-0.087571,0.991772,-0.093380],[-0.996106,-0.088142,-0.002004],[-0.010218,0.092840,0.995629]]y6H`k?緿`yQk` l턿 dķ?0?ɫ6@6x;6CFHBFHIvIv٥~L ~U=9 :Q >!) -F٦-Ey55Z; 5>JEC=JEa=I QjK]LeOrKYzKYK]K]3,`a^[WPKFD=;5/*% '2642,(&!   +pm4YUV=?m4yUrsUBquu)@UDUm;Uɋ;U=/4}EB)} BEmmտmm"mlllkkkk͢@ɞ6< r >I <ɝiIy+Iտi80=i)տտ) }2Acoustic response timeoutG2B:B O=iԑ - 2Acoustic response timeout Gŏ,{Ir?AI8)8-L@Y-= @-*'1<9- ==AHRS rotation from veh to nav: [[-0.085663,0.991878,-0.094024],[-0.996266,-0.086300,-0.002720],[-0.010812,0.093440,0.995566]]y-H@v?@hHf$ ??ɫ-L@-L*;-CMHBMHԑMb@Mb@Mb@ )IiʡE?nʿ+?V)AIiA II̍٥%c; %8=9%':Q ->)1 5F٦5Ey5$; 5> 9E4Y=4?M4y=y=BM?M:MiM)@=D=;=;=64Y)] BYuB*** querying acoustic contact ***:pqBpqmmտmm"mlllkkkk G@ɞ< r >I <ɝiIh,Iտi0$0=i)տ տ) JIJMQJIJIJIJM-.9JIJIG92BI:BY }2Acoustic response timeout O9>ZHRHHk>HHHIHBIII&I#<*IE2IQ:IQBIQJIQRIQZIU5 "ŏ, ?A r2Acoustic response timeoutvwHBvHII٥%[ -\=9-Q ->11 5F٦5Ey5 => AE4YE>,?M4yE~EBIIM)@EDEy:E:ER=4AA MF٦MEyU ; U> au4Ye#?u4yeeyBy}H})@e DeOe;edd;etD4) BJTimed out from 2025-10-25T04:16:22.4Z1T Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_TimeoutqT|Timed out while executing search pattern around dock waypoint.qTCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_TimeoutSAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPatternT Uninitialize.T8Uninitialize Wait Component.1U"mlllQkYkikqk`@ɞ< =I u<ɝiI-i ) 2Acoustic response timeoutG2B :B O% >ԁԩ  2Acoustic response timeout f9/ŏ,ڿ?A @6\+@Y6M&@6; :<96=JAHRS rotation from veh to nav: [[-0.082614,0.992087,-0.094543],[-0.996517,-0.083317,-0.003511],[-0.011360,0.093923,0.995515]]y6H`1&`-? 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lr4Yn'ݎ?r4ynPnBtvv*@nWDn:nI:n4x)zk B|l!k!k!k)k-sɇ@ bYbYbY"b]Ɍ@Iq yɝyiyIyi)2B):BY Oe=iԙ J J @AJ`JQJJJ:J-.9JJJ8:J=:J4:J4: M2Acoustic response timeoutjK%NrK9zKKK     $,++%## .]6%+ + (iŏ,?AI<)2T@Y2O@2;92_>RAHRS rotation from veh to nav: [[-0.077572,0.986212,-0.146181],[-0.996961,-0.077792,0.004226],[-0.007204,0.146064,0.989249]]y2H ۳ ? ¿ %곿@-Oq?} %F٦!y%n; %> )54Y-Վ?54y--B1==*@-aD-;-;-4A)Et BAlakakakikṁ@ bbb"b@I ɝiIi)2B :B O= 2Acoustic response timeout) e 2Acoustic response timeoutpŏ,\?A6q@Y6l@6*;96+>FAHRS rotation from veh to nav: [[-0.074134,0.985598,-0.151988],[-0.997226,-0.074279,0.004730],[-0.006627,0.151917,0.988371]]y6H@w`?@Vtÿ G`s?O%{`r?`?ɫ6q@6;4NGBNHmMb@Mb@Mb@i i)iIiiim?bX9ƿHH=HI5HBIII&I<*IE2IA:IABIAJIARIAZIEt4mE6mt)mAImAim"AmjA imAIIV٥o< ?=9Q > F٦yv< > 4Y͎?4yB2?:>*@jD:s:c4B)X BEl!k!k!k!k%*Ї@ bE2?bE2?bE@"bEU@IY YɝYiYIYia)a2B:B1 O==Iy 2Acoustic response timeoutԡ 4vŏ,r7?A2%@Y2@2ِ;92h1">@BAHRS rotation from veh to nav: [[-0.070716,0.984946,-0.157735],[-0.997480,-0.070733,0.005516],[-0.005724,0.157728,0.987466]]y2H v?0Ŀ@[`v?rwj0?`R?ɫ2%@2YC;0bGBbHIjIjbJlJnR=٥v zY=9zQ z>|| ~F٦|y< > 4Y Ǝ?4y  B*@ sD F; ; 4%ѩB)% B% EDone Waiting.qY8Uninitialize Wait Component.Ylkkkk NӇ@ b b b "b Π@ 2Acoustic response timeoutIA AɝAiAIAiI)I2BajK =OrK59zKKKJ,XgP=)}jZKDCe[8.2=FRRI:B O=ԩ  2Acoustic response timeout |ŏ, ?A PPlu?@Yu1@u;9uo['>AHRS rotation from veh to nav: [[-0.066807,0.984417,-0.162663],[-0.997754,-0.066701,0.006120],[-0.004825,0.162706,0.986663]]yuH@HX?!Ŀ@S !y?s?དྷ?ɫu?@u~;q GB HMb@Mb@Mb@ )IiNbX9?RQȿ F٦y< > 4Yн?4ytzB,?:2*@}DZ8;7;-4!)% B!=B*** querying acoustic contact ***:p9Bp9M:GuidanceMode -1.000000 count YMlIkIkQkQk] և@eNCompleted lineCaptureHoming:LineCaptureqJeJ3J;4J;.JJJJJJJJ!@!@!@!@jAggregate::uninitialize lineCaptureHoming:LineCapture1K  Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesqK  NUninitialize AltitudeEnvelopeComponent.K  Uninitialize.K  NUninitialize OffshoreEnvelopeComponent.L 1M qM  |Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMassM M Uninitialize.1N Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyqN@Uninitialize Buoyancy Component. bM,?bM,?bM@"bMEË@I ɝiIi)2B %2Acoustic response timeout:B) O5.>1HyHyH}HI}HBIyIyIy&I}k<*I}bEiI) G 5 xA)M 5AIu ڢu xAu ŝAY ˃ŏ,h?A B2Acoustic response timeout|~H9II(*٥U Ui=9]Q e>aa mF٦iym m> y4Y}?4y}T}gB*@}D}-;}S.;}W4) BͽBCompleted lineCaptureHoming:Lap:Bf ͽ^Aggregate::uninitialize lineCaptureHoming:Lap:Bf bbb"bIs: ɝiIi)2B :B! O-=iԑ 52Acoustic response timeoutjK }]OrK 9zK K K J^x}s`@4/W*W`hkht_J9*8(*&!  ŏ,%)?AN@YN@Nhf;9NP6/>^AHRS rotation from veh to nav: [[-0.058300,0.983686,-0.170184],[-0.998293,-0.058047,0.006468],[-0.003516,0.170271,0.985391]]yNH`٭@[z?`ſ Y~z?lo?R?ɫN@NS;NCjGBjHI~I~b٥ :  O=9lYQ > F٦y%< %> )54Y-?54ԑy--RB*@-D-<-<-;4ȩB) BJrf1g bbb"b @I ɝ!i!I!i))12BQ:Bi Ou= 2Acoustic response timeoutJ bJ RJ J J :J S29J J  E 2Acoustic response timeout^ŏ,;C?AI<)<6@Y6@6v5;96hE1>BAHRS rotation from veh to nav: [[-0.054079,0.983585,-0.172148],[-0.998533,-0.053747,0.006592],[-0.002769,0.172252,0.985049]]y6HD@y? ƿ ń{?Ӯf\ ??ɫ6@6;6CJGBJHHHHHIHBIII&I!<*IEEMb@Mb@Mb@A A)AIAiAE\(\?|?5^ʿQE?EREu)E3AIAiAEjA AE3AI]I]٥m< uC=9uQ u>yy }F٦yy}%< }> !-4Y%?-4y%%;B5#?5:55*@%D%:%<:%4=B)=2 BE)E]*Mode -1.000000 count 1g]qg]]ZAggregate::initialize lineCaptureHoming:Lap:E b#?b#?ba@"bԊ@I ɝiIi)2B :Ba O}= 2Acoustic response timeout9i ŏ,t|]?A>7@Y>2@>Y:9>2>FAHRS rotation from veh to nav: [[-0.049943,0.983529,-0.173714],[-0.998751,-0.049490,0.006941],[-0.001770,0.173843,0.984772]]y>H`%y??<ƿVn|? ]@?@?ɫ>7@>i;>CRGBRHIZIZ(*2٥bg9< bW=9fN,Q f>hh jF٦hyn1< r> pv4Yr?z4yrbr'Bxz`z*@rDr:r:r04). BqbfAggregate::initialize lineCaptureHoming:restartDHCPb$Restarting DHCP...bb b9b9b9"b=@II IɝIiIIQiY)a2By:B OS=Y m2Acoustic response timeoutjKNrK9zKKK   (uԁԱ  2Acoustic response timeout 1ŏ,~Ww?A]]@Y]X@]`:9]b3>AHRS rotation from veh to nav: [[-0.045282,0.983676,-0.174158],[-0.998974,-0.044794,0.006731],[-0.001181,0.174284,0.984695]]y]H(/@Fz?Jƿ`D樂@{?WSN??ɫ]]@]#;]CGBHԱMb@Mb@Mb@ )Iim?ClɿQ?O)&AIAi A pAII٥%z< -)=9-;Q ->11 5F٦1y=< => AU4YE?U4yEREBU?U:Uo]*@EDE;E ;E4a)e" Ba}`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shb}ąNCompleted lineCaptureHoming:restartDHCPqbąjAggregate::uninitialize lineCaptureHoming:restartDHCPB*** querying acoustic contact ***:pBp b?b?b@"bt@I ɝiIiJaJNJJJ:J!9JJ)2B:B O"> m2Acoustic response timeout=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shZHARHE4<H]h>HYHYIYIYIYIY&I]o<*I]hE0!ŏ,*R?A @J}@YJx@J89JV4> ^2Acoustic response timeoutfAHRS rotation from veh to nav: [[-0.041410,0.983688,-0.175052],[-0.999142,-0.040776,0.007218],[-0.000037,0.175201,0.984533]]yJH3 _z?@hƿ ि}? c~ l?J?ɫJ}@JR;JCvGBvHI%I%V٥5J(= =o=9=ZQ =?AA EF٦Aym9< m? q}4Yu?4yuRuB!--*@uDu` e2Acoustic response timeoutjK= NrK= ػ9zK9 K= K= ztrnmjd`dfaZQLIDC?;974100005Ghysmia``\VRQJFC= T/mnt/mmc/started/2025-10-25UTC042130_sh  Eŏ,Y?A6"@Y6@6965>FAHRS rotation from veh to nav: [[-0.036834,0.983734,-0.175817],[-0.999321,-0.036170,0.006980],[0.000507,0.175955,0.984398]]y6Hۢz?*ƿp`儢S|?`?@??0?ɫ6"@6f;6ClrGBrHIzIz<٥% < %L=9-oQ ->)1 5F٦1y5;< ]> iu4YmM?u4ymmBT*@mDmE;m;m4B) B(Eg hAggregate::uninitialize lineCaptureHoming:Lap:Dockedg>Completed lineCaptureHoming:Lap1f ZAggregate::uninitialize lineCaptureHoming:Lap b b b "b ̺@[U6Completed lineCaptureHoming(U>lineCaptureHoming is completed.(UPUninitializing Mission lineCaptureHoming-U[URAggregate::uninitialize lineCaptureHoming1.U \]bAggregate::uninitialize lineCaptureHoming:Science.].]q/]/]10] `]|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrentq0]C]evAggregate::uninitialize lineCaptureHoming:StandardEnvelopes1De eNUninitialize AltitudeEnvelopeComponent.qDeeUninitialize.De eNUninitialize OffshoreEnvelopeComponent.[m mHUninitializing TrackAcousticContact. 2Acoustic response timeoutn=bgot command load ./Missions/Engineering/OnDock.tlhh]he!hA$!h=$!h9$!h5$'M Powering down2KM *KM BKM :KM & Powering down J J J J X1$ X-$ X)$ X%$ X!$ X$ X$ X$ X X R R aR5E aR)E !REE   2Acoustic response timeout!K$ !K $ !K $ !K$ aJ$U aJ#U aJ#U aJ#U aJ#U aJ#U aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#] aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e aJ#e !I#u !I}#u Ey# Eu# Eq# Em# Ei# Ee# Ea# E]# D= CY#M CU#M CQ#M CM#M a0I#Ua0E#Ua0A#Ua0=#Ua09#Ua05#U!.1#%!.-#%!.)#-!.%#-!.!#-!.#-!.#-!.#-!.#-!. #-!. #-!.#-!.#5!."5!."5!."5!."5!."5!."5!."5!."=!."=!."=!."=!."=!."=!."=!."=!."=!."=!."E!."E!."E!."E!."E!."E!."E!."E!."E!."E!."M!."M!."M!."M!."M!.}"M!.y"M!.u"M!.q"M!.m"M!.i"M!.e"U!.a"U!.]"U!.Y"U!.U"e!.Q"e!.M"e!.I"e!.E"e!.A"e!.="e!.9"e!.5"e!.1"e!.-"m!.)"m!.%"m!.!"m!."m!."m!."m!."m!. "m!. "m!."m!."m!.!u!.!u!.!u!.!u!.!}!.!}!.!}!.!}!.!}!.!}!.!}!.!}!.!}!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.!!.}!!.y!!.u!!.q!!.m!!.i!!.e!!.a!!.]!!.Y!!.U!!.Q!!.M!!.I!!.E!!.A!!.=!!.9!!.5!!.1!!.-!!.)!!.%!!.!!!.!!.!!.!-!5- !5- !5-!5-!5- 5- =- =- =- =- =- =- =- =- =- E- E- E- E- E- E- E- E- E- E- E- M- M- M- M- M- M- m- u- u- u- u-} u-y u-u u-q u-m }-i }(}vLoading Mission from file: ./Missions/Engineering/OnDock.tl (}jTethyslAPI: loading: ./Missions/Engineering/OnDock.tlI ɝiI 52Acoustic response timeout (ETethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tliI)I2B:B O6?ŏ,?AI)V@YVޕ@V9V 7>^AHRS rotation from veh to nav: [[-0.028940,0.983663,-0.177677],[-0.999579,-0.028118,0.007143],[0.002030,0.177809,0.984063]]yVH`+z?`ƿ@˜`A}?ۡ`?p?q}?ɫV@V;T GB HMb@Mb@Mb@ )IiK7A?J +ɿ:v ?HԼ)IAi^A AIIb٥< <9Q f>    F٦ y &<  f> 4Y'|?4yFB ?:.*@‰D p<;4)B)W B2EI ɝiIi)2BI:B O> 2Acoustic response timeout2 ŏ,x{?A2@Y2 @2g:92/7>:AHRS rotation from veh to nav: [[-0.027199,0.983566,-0.178490],[-0.999626,-0.026253,0.007661],[0.002849,0.178632,0.983912]]y2H`ڛ^y?ƿ@⚿`ca?Wg?i?4|?ɫ2@2K;2C B2Acoustic response timeoutNHBRHIZIZF٥f< fx=9f/#Q f?hh jF٦hyn; n? %4Yyv?%4yB!%-*@ljD4:k:41)5M B1IA IɝIiIIIiQ)Q2B!:Bi O}= 52Acoustic response timeoutaQ @aI @aE @aM @aA @a= @aU @aY @JH BH ZH RH sŏ,2X ?A6`@Y6R@6]^968>>AHRS rotation from veh to nav: [[-0.025946,0.983457,-0.179275],[-0.999658,-0.024916,0.007992],[0.003393,0.179421,0.983766]]y6H`u`zx?~ƿ1&^?k?`G?{?ɫ6`@6-;6CN HBR HMb@Mb@Mb@ )Iie;O?RQȿ{Gz>B#)AIiAEA AI=I=b1٥MS< M4=9MQQ UF٦Qy]C5; ]> am4Ye5o?m4yeGeBm?m:mf*@eωDed;e ;e4!B)6 B1EI ɝiIi)2B:B O5= 2Acoustic response timeout E 2Acoustic response timeoutŏ,Q3&?A @2@Y2@2C9209>:AHRS rotation from veh to nav: [[-0.025018,0.983312,-0.180197],[-0.999679,-0.023892,0.008421],[0.003975,0.180350,0.983594]]y2Hf`Kw?ǿ_ w??vHp??y?ɫ2@2լ;0nHBn"HIvIv(*2٥MJ= M\=9MͺQ M>QQ UF٦Qy]#; ]> am4Ye7i?m4ye eiBiuBu*@eՉDe:eU:eD4y)}# ByI ɝiIi)2B:B O = 2Acoustic response timeoutOŏ, @?A2@Y2@2r92;>>AHRS rotation from veh to nav: [[-0.025649,0.983054,-0.181511],[-0.999661,-0.024400,0.009114],[0.004530,0.181684,0.983347]]y2HC@.u?;ǿ8K`"?@Tr? hA?`w?ɫ2@2;0NHBRHMb@Mb@Mb@ )IiˡE?I +ƿZd;O>94j<)IAiQA fA 2Acoustic response timeoutII0٥ͨ 4=9Q > F٦y > 54Ywb?54yD&FB=>=:==*@܉Dv&<:44A)E& BAI ɝiIi))G )IE?A2BI:B OA>  2Acoustic response timeout-ŏ,}Y?A2@Y2@2w92D;>:AHRS rotation from veh to nav: [[-0.025403,0.982947,-0.182124],[-0.999665,-0.024074,0.009505],[0.004958,0.182304,0.983230]]y2H6@Nt?OǿAҦ@'w?Nt?`U? v?ɫ2@2;2CN.HBR5HIV=)V=IZIZ ٥fU= fs=9fcQ j?hh jF٦hyn?: ~?  4Yf]? 4yM*+B  *@DB::+4) BI ɝiIi)2B:B O=  2Acoustic response timeoutYŏ,ys?AI) 22Acoustic response timeout6@Y6@6*96!;>BAHRS rotation from veh to nav: [[-0.027855,0.982890,-0.182077],[-0.999597,-0.026389,0.010466],[0.005482,0.182296,0.983229]]y6Hs?PNǿ@Ko?}tv?uU?v?ɫ6@67;6CNEHBNQHITIT٥r_= rH=9vqQ v>tt zF٦xyzŻ z> 9E4Y=@W?E4y=(/= BAM7M*@=D=:=:=]4Q)u BqI ɝiIi)D}K :2B:B O_> 2Acoustic response timeoutBŏ, ?A6܎@Y6ו@696T=>BAHRS rotation from veh to nav: [[-0.029802,0.982551,-0.183590],[-0.999539,-0.028230,0.011168],[0.005790,0.183838,0.982939]]y6H@Yq?@ǿ`9`i蜿߆?:w?@?=t?ɫ6܎@6;4NMHBNZHMb@Mb@Mb@ )Ii/$?(\ſkt>. 0)AIiA (AII2٥?< <=9:Q  > i mF٦iyuь u> y4Y}P?4y}'4}A<>: *@}D}h;}`;}$4VB)_ B;EI ɝiIi) u2Acoustic response timeoutDE] :2BQ:Bi Ou>  2Acoustic response timeoutiŏ,{?A2Ž@Y2@2Քʻ92>>:AHRS rotation from veh to nav: [[-0.033065,0.982202,-0.184897],[-0.999434,-0.031349,0.012196],[0.006182,0.185195,0.982682]]y2H 2n?ǿ ]@ ` ?Ry?y?@"r?ɫ2Ž@2';2CNUHBNdH RAPIVIV٥=< ET=9EZQ E>II MF٦IyM1 M> Qe4YUuK?e4yU@8UAaem*@UDUR:U1:U4}MB)}F B}:EI ɝiIi)2D=*D=DT :2B:B O= 2Acoustic response timeoutUŏ,#g?A >T@Y>F@>Z׻9>C>>JAHRS rotation from veh to nav: [[-0.037785,0.982070,-0.184690],[-0.999264,-0.035918,0.013447],[0.006572,0.185062,0.982705]]y>H Xm?ǿ c ?`Rz??Qr?ɫ>T@>Z;>CZOHBZ]H 2Acoustic response timeoutMb@Mb@Mb@ )Ii> ףp=?w/ĿX9v>&)Ii^A AII(*2٥MK M:=9UxhQ U>QQ ]F٦Yy]0 ]> a4Ye*E?4ye<enAu>:*@eDe;e;e74)L BIQ QɝQiQIQiY)YD]=:2Bi:B O>  2Acoustic response timeout{ŏ,1?A2|@Y2 w@292?>:AHRS rotation from veh to nav: [[-0.041595,0.981853,-0.185027],[-0.999110,-0.039580,0.014574],[0.006986,0.185469,0.982625]]y2HK@Vk?@ǿC ؍? J|?`q?q?ɫ2|@2:;2C^dHB^wHIf If<2٥j=  b=9 +Q  > F٦y, > %4Y??-4y@CA)-s-*@D8::$41)]7 BYIi iɝiiiIiiq)DF:2B :B! O5= 2Acoustic response timeoutYŏ,?A "2Acoustic response timeout>8G@Y>*B@>D9> ?>JAHRS rotation from veh to nav: [[-0.048042,0.981460,-0.185550],[-0.998817,-0.045796,0.016377],[0.007576,0.186117,0.982498]]y>H@`h?`ǿ N@r@Ő?n??`p?ɫ>8G@>ҫ;<^mHB^HIf=)f=IfIf<٥=|< =G=9E9Q E>AI MF٦IyM M> Q}4YU9?4yUEUAC*@UDU':UH:U+4). BI ɝiIi)"DtADtAD:2B:B O= 2Acoustic response timeout ( )OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . aoE$E vE @(M PDefineArg OnDock.DockedTime = 8.000000 haoI$] vY (e \DefineArg OnDock.DetachedTimeout = 30.000000 saoM$u vq (} XDefineArg OnDock.RangeTimeout = 600.000000 saoQ$ v ( hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 minaoU$ v ( ^DefineArg OnDock.NumberOfPings = 1.000000 countaoY$ w ( VDefineArg OnDock.TransponderCode = 50 countao]$ *w ( PDefineArg OnDock.MaxDepth = 290.000000 maoa$% :w! (- RDefineArg OnDock.MinAltitude = 5.000000 maoe$5 Jw1 (= TDefineArg OnDock.MinOffshore = 2.000000 kmaoi$E ZwA (M HDefineArg OnDock.StayOnDock = 0 boolaom$U jwQ (] \DefineArg OnDock.IfconfigInterval = 2.000000 haoq$e zwa (m HDefineArg OnDock.RunScience = 0 boolaou$u wu @( XDefineArg OnDock.MissionTimeout = 8.000000 h( ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl ( rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl ( TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tlŏ,?A2@Y2@292 @>:AHRS rotation from veh to nav: [[-0.053834,0.981122,-0.185745],[-0.998517,-0.051381,0.017998],[0.008115,0.186438,0.982433]]y2H`Ze?`{ǿN"n?w?`4?p?ɫ2@2;2CnxHBnHEMb@Mb@Mb@A A)AIAiAEMb?SſMbE>E/E)EAIAiE AEEA AEAII٥< 5=9Q > F٦y#O >  4Y2? 4 U2Acoustic response timeoutyIAU>]:]]*@ DU;<+;<34a)e# BaIq yɝyiyIyi)D] :2B:B O> (TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 oy$w(vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 mo}$%w!(-|DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 mo$5w5i@(=tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 mo$MwI(M|DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 mU6Construct AltitudeEnvelope. 0Construct DepthEnvelope.6Construct OffshoreEnvelope.ap(xInserting Stack from file: Missions/Insert/BackseatDriver.tl (lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl ( TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl (}TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: q$Jy(nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2Construct BackseatDriver.(% nInserting Stack from file: Missions/Insert/PowerOnly.tl (% bTethyslAPI: loading: Missions/Insert/PowerOnly.tl (- zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl  2Acoustic response timeoutշ ŏ,(?A2@Y2@292@>:AHRS rotation from veh to nav: [[-0.056772,0.980977,-0.185637],[-0.998349,-0.054155,0.019140],[0.008723,0.186417,0.982432]]y2H 8)d?ǿyA@o?/݁??@p?ɫ2@26;2CNHBNHIVIV0٥"= g=9%zQ %>!) -F٦)y- -? 1]4Y5W-?]4y5L5AaeLe*@5D5i;5;594mEB)m Bu9EI  ɝ i I i1)1D% :2B9:BQ O]= (qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 !r$zy(ZDefineArg OnDock:PowerOnly.SampleAll = 0 bool!r$-y)(-^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool!r$5y1(=^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool!r$EyA(M^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool!r$]yY(]hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 boolConstruct Wait. Construct Wait.(jInserting Stack from file: Missions/Insert/Science.tl (^TethyslAPI: loading: Missions/Insert/Science.tl (vTethyslAPI: mission file loaded: Missions/Insert/Science.tl e2Acoustic response timeoutxŏ,B?A^@Y^@^59^@>fAHRS rotation from veh to nav: [[-0.057986,0.980910,-0.185618],[-0.998273,-0.055226,0.020008],[0.009375,0.186458,0.982418]]y^HGc?Vǿ F|?@43??`o?ɫ^@^Z ;^CHBH  2Acoustic response timeout]Mb@Mb@Mb@Y Y)YIYiY]/$?ktƿI +]&>] 0]94)YIYiYY YYII(*٥R 4=9(Q > F٦yo- > 4Y&? 4y QA >  ;  *@D;;A4zB)t BCEII IɝIiIIQiQ)YD~ :2B:B O!> e 2Acoustic response timeoutŏ,y\?A2@Y2@2\"92oH@>:AHRS rotation from veh to nav: [[-0.057622,0.980896,-0.185801],[-0.998289,-0.054758,0.020514],[0.009948,0.186666,0.982373]]y2H c? Wǿ> `?u_??o?ɫ2@2r;0nHBrHIzIz1٥%2= -g=9-ֺQ ->)1 5F٦1y5k: 5> Ye4Y] ?m4y]*T]Aimm*@]D]$:]t:]G4ީB)- BI ɝiIi)D :2B:B O= 2Acoustic response timeoutŏ,Tv?A 2Acoustic response timeout6@Y6@6 /-96L@>>AHRS rotation from veh to nav: [[-0.056251,0.980875,-0.186333],[-0.998361,-0.053284,0.020898],[0.010570,0.187203,0.982264]]y6H ̬Tc?@ǿ H`f?ƥ? H?n?ɫ6@6j k;6CNHBRHIZIZF2٥fh< fP=9fкQ f>hh jF٦hynne; ~>  4Ye? 4yWhA  *@D::N4)# BI ɝiIi)D :2B:B O%= 2Acoustic response timeouti! I) ) UG ) I T MA#ŏ,E/?A2@Y2@2D 792A>:AHRS rotation from veh to nav: [[-0.054154,0.980839,-0.187140],[-0.998470,-0.051094,0.021139],[0.011172,0.187999,0.982106]]y2H@ c?`7ǿw)@t?@i?X?im?ɫ2@29f;0NHBNHIR=)Rp=%Mb@Mb@Mb@! !)!I!i!%MbX9?Clǿ%d;%t)%AI!i!%9A !%\AI]I]b2٥e` m3=9mQ m> F٦y$; > 4Y?4yR[;A0>;*@#D;p;V4)* B 52Acoustic response timeoutI ɝiIi)"DDD :2B:B O&>  2Acoustic response timeout*ŏ,t ?A6P*@Y6B%@6A96A>>AHRS rotation from veh to nav: [[-0.051564,0.980932,-0.187388],[-0.998600,-0.048421,0.021318],[0.011838,0.188225,0.982055]]y6H`fc?Vǿ@ʨ~ԕ?>??l?ɫ6P*@6sd;6CNHBRHIZIZ ٥f< fi=9fQ f>hh jF٦hyn"; ~?  4YC ? 4y'^A  [*@'D::\4=թB)= B=BEII IɝIiQIQiQ)yD] :2B:B O= E2Acoustic response timeout0ŏ,?AzD@Yz>@z-;N9zA>%AHRS rotation from veh to nav: [[-0.048431,0.981083,-0.187434],[-0.998747,-0.045202,0.021465],[0.012587,0.188238,0.982043]]yzH˨`e?ǿ`$?9lj?2?l?ɫzD@zO:c;zCUHBUH 2Acoustic response timeoutMb@Mb@Mb@ )Ii(\?+ǿL7A`堿z>v>+)Ii-A AII0٥p %+=9-z˺Q ->)) 5F٦1y5,; 5> 9e4Y=?e4y=a=Am3>m;m m*@=,D=1;=;=Ke4q)u ByI ɝiIi)YD=7 :2BQ:Ba Om6> E 2Acoustic response timeout7ŏ,?A2`@Y2[@2twZ92#B>:AHRS rotation from veh to nav: [[-0.044912,0.981204,-0.187675],[-0.998902,-0.041601,0.021546],[0.013334,0.188437,0.981995]]y2H@f?ȿ``L8?N??l?ɫ2`@2sb;2CNHBNH PRAIVIV٥b˼ bx=9fEQ f ?dh jF٦hyj11< z ? |4Y~T?4y~'d~A  M  *@~0D~j:~:~k4ةB)' BI ɝiIi)2D+?*D?D@ :2B:B O= 2Acoustic response timeout ] 2Acoustic response timeoutyF=ŏ,:?A2|@Y2w@2h92HB>:AHRS rotation from veh to nav: [[-0.041515,0.981256,-0.188184],[-0.999037,-0.038093,0.021770],[0.014193,0.188907,0.981892]]y2HArf?@mȿ䀣@J?r?.?k?ɫ2|@2g3b;2CJHBJHIRIRb2٥zO+ zG=9~' Q ~>| F٦y< > 4Y ?4y .g zA *@ 4D ~: T: *r4!)%+ B)I9 9ɝ9i9I9iA)AD :2B):B9 OM= 2Acoustic response timeout)Dŏ,v?A6C@Y65@6w96#C>BAHRS rotation from veh to nav: [[-0.037790,0.981304,-0.188717],[-0.999172,-0.034255,0.021957],[0.015082,0.189391,0.981786]]y6H 3Yf?'ȿ@7{??`=?j?ɫ6C@6!b;6C~wHB~H 2Acoustic response timeoutMb@Mb@Mb@ )Ii?Zd;Oǿv/̌>j<xi)IiA9A AII(1٥U U=9]Q ]>YY ]F٦aye; > 4Y?4yjA>;9 *@:D::5{4ܩB)A BI ɝiIi)DF :2B:B O J>  2Acoustic response timeoutSJŏ,Q+?A2`@Y2R@2hH92—C>:AHRS rotation from veh to nav: [[-0.034238,0.981342,-0.189195],[-0.999283,-0.030556,0.022345],[0.016147,0.189824,0.981685]]y2H@(g?7ȿ J@?݈?@+L?@i?ɫ2`@2a;2CfiHBf}HIh)j=InInb٥7  =9 lQ  ? F٦yD< =? AM4YE퍊?M4yElEAIM M*@E=DE:E:Ea4}өB)}= B}AEI ɝiIi)Da :2B:B O= %2Acoustic response timeout'?Qŏ,:E?A%ӎ@Y%Ε@%19%C>5AHRS rotation from veh to nav: [[-0.030921,0.981406,-0.189435],[-0.999372,-0.027076,0.022853],[0.017299,0.190023,0.981627]]y%H᩟ g?g?ȿ@繛f?@̶?R?}i?ɫ%ӎ@%wa;%C }2Acoustic response timeout}]HB}nH (UTethyslAPI: 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 NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal 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  F٦y; > 4YN捊?4yp|Aѵ>;:*@BD&:%<4MB)M BMKEIY YɝYiIi)2D%?*D?t$ y (zDefineArg OnDock:science:Science.PeakDetectChlActive = 0 boolt$EyA(MDefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 boolt$UyQD} :2B:B O>>(zDefineArg OnDock:science:Science.EdgeDetectChlActive = 0 boolt$z(~DefineArg OnDock:science:Science.TimeWindowPeakReport = nan mint$ z (5DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 boolt$="z9(EDefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 boolt$M2zI(}DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 boolt$Bz(nDefineArg OnDock:science:Science.PatchTracking = 0 boolt$Rz(DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 countt$5bz1(=DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 countt$ErzA(MDefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %t$uzq(}zDefineArg OnDock:science:Science.PeakDetectNO3Active = 0 boolt$z(zDefineArg OnDock:science:Science.PeakDetectOilActive = 0 boolt$z(|DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 boolt$z( DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 boolt$z(DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 boolt$%z!(EDefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 boolt$z(DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 boolt$z(DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 boolt${ - 2Acoustic response timeout(E DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 boolt$M {I (U DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 boolt$] "{Y (m DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 boolt$u 2{q (u DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 boolt$ B{ ( DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 boolt%- Z{) (5 vDefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 boolt%M r{I (U tDefineArg OnDock:science:Science.EnabledNeilBrown = 0 boolt % { ( xDefineArg OnDock:science:Science.EnabledRBRTridente = 0 boolt % { ( pDefineArg OnDock:science:Science.EnabledSeabird = 1 boolt% { ( zDefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 boolt% { ( DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 boolt% { (} xDefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 boolt% { ( DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 countt!%  | ( DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 countt%% | ( jDefineArg OnDock:science:Science.ShallowBound = nan mt)% *| ( dDefineArg OnDock:science:Science.DeepBound = nan mt-%- :|) VfWŏ,l _?A2|@Y2n@2"92C>:AHRS rotation from veh to nav: [[-0.027758,0.981461,-0.189641],[-0.999445,-0.023749,0.023379],[0.018442,0.190185,0.981575]]y2Hl h?`+Fȿ sQ? ~?W? i?ɫ2|@2 a;0nYHBnjH(~DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 mt1%J|( DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %t5%IvIvb1٥%E -}=9-gQ - ?11 5F٦1Z|(]DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %t9%mj|i(m|DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/ly5$< } ? 4Yፊ?4y/s4A*@FD:b:4t=%z|(DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 counttA%|(DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 booltE%|(%tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/ltI%-|)) B1IA AɝAiAIIiI(utDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/ltM%}|y(DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 counttQ%)Q|(DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/stU%|(DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/stY%|(DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/mlt]%|(DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/mlDi2B:B O=ta%-}(fDefineOutput OnDock:science:Science.GoDown = 1 boolte%}(lDefineOutput OnDock:science:Science.PeakChl = nan ug/lti%"}(pDefineOutput OnDock:science:Science.PeakChlDepth = nan mtm%2}(eDefineOutput OnDock:science:Science.PeakChlTemperature = nan degCtq%mB}i(}DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdegtu%R} 2Acoustic response timeout(DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdegty%b}(DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/lt}%r}(DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan mt%}(ElDefineOutput OnDock:science:Science.EdgeChl = nan ug/lt%U}Q(]pDefineOutput OnDock:science:Science.EdgeChlDepth = nan mt%}(DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degCt%}(DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdegt%}(DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdegt% } (pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/lt%]}Y(upDefineOutput OnDock:science:Science.PeakNO3Depth = nan mt%}(DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdegt%~(DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdegt%~(nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3t%"~(%pDefineOutput OnDock:science:Science.PeakOilDepth = nan mt%-2~)(uDefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdegt%}B~y(DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdegt%R~(lDefineOutput OnDock:science:Science.PeakFDOM = nan ppbt%b~(rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan mt%r~(DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degCt%%~)(UDefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdegt%]~Y(eDefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdegt%~(lDefineOutput OnDock:science:Science.PeakSalt = nan psut%~(rDefineOutput OnDock:science:Science.PeakSaltDepth = nan mt%~(DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degCt% ~ (- DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdegt%5 ~9 (= DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdegt%m ~i (u DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/st%} y ( DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan mt%  ( DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degCt% " ( DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdegt% 2 ( DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdegt% B ( DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/st% R ( DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan mt%= b9 (E DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degCt%U rQ (} DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdegt&  ( DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdegt&  ( DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/st &  ( DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan mt &  (% DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degCt&5 1 = 2Acoustic response timeouta]ŏ,6x?A2@Y2@2u92^D>:AHRS rotation from veh to nav: [[-0.024671,0.981463,-0.190059],[-0.999501,-0.020468,0.024044],[0.019708,0.190557,0.981478]]y2H@9C$h?Sȿ@@?Z.?@-d?Eh?ɫ2@2]b;2C^OHB^^H dfAIfIf٥r¼ vN=9vQQ v>xx zF٦xyz;(DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdegt&  (DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg > !-4Y%ۍ?-4y%.v%A)--*@%JD%:%:%|4t&}y(DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s) BI ɝiIi)t&(DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan mt!&  (=DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degCt%&EA(MDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdegt)&}"y(DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdegt-&2(DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/mlDx:2B:B O=t1&uBq(}DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan mt5&R(DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degCt9& b (DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdegt=&%r!(UDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdegtA&(DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/mltE&( DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan mtI&}y(DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degCtM&%!(DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdegtQ&€(DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdegtU&Ҁ(%DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/mltY&-)(UDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan mt]&ea(mDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2Acoustic response timeoutta&(DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdegte&(DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdegti&"(DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/mltm& 2 (UDefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan mtq&]BY(eDefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degCtu&R(DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdegty&b(DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdegt}&r(nDefineOutput OnDock:science:Science.PatchChl = nan ug/lt&  ( rDefineOutput OnDock:science:Science.PatchChlDepth = nan mt&  ( DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdegt& ! (- DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdegt&5 1 (= xDefineOutput OnDock:science:Science.PatchChlDistance = nan mt&  ( nDefineOutput OnDock:science:Science.PatchSalt = nan psut& ҁ ( tDefineOutput OnDock:science:Science.PatchSaltDepth = nan mt& ⁩ ( DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdegt&  (e DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdegt&m i (u zDefineOutput OnDock:science:Science.PatchSaltDistance = nan mt&} y ( lDefineOutput OnDock:science:Science.PatchOil = nan psut& " ( rDefineOutput OnDock:science:Science.PatchOilDepth = nan mt& 2 ( DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdegt& B ( DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdegt&% R! (- xDefineOutput OnDock:science:Science.PatchOilDistance = nan mt&5 b1 wdŏ,Q?A 2@Y2@2u92D>>AHRS rotation from veh to nav: [[-0.021961,0.981429,-0.190567],[-0.999533,-0.017505,0.025035],[0.021234,0.191028,0.981355]]y2H}g? dȿ@-쑿¢?c? s?`Bg?ɫ2@2a;2CNEHBNPH(rvDefineOutput OnDock:science:Science.TriggeredOnChl = 0 boolt&vrt(zxDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l]Mb@Mb@Mb@Y Y)YIYiY]MbX9?sh|?ſbX9ȶ]ʡ>])]E)YIYiYY YYv5#uv9#uv=#}vA#}vE#}vI#IIm?٥ 0=9PWQ > F٦ 2Acoustic response timeout 8Construct PeakDetectVsDepth.yѻ; > %4YՍ?%4yzrA%Z>%;-p-+@OD::4) BI ɝiIi )"DD8Construct EdgeDetectVsDepth.D:2B:B  O*> >Construct PeakDetectHorizontal. ->Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.  2Acoustic response timeout 8Construct PeakDetectVsDepth.}jŏ,?A22@Y2-@2M깼92:tE>:AHRS rotation from veh to nav: [[-0.019282,0.981368,-0.191168],[-0.999557,-0.014582,0.025964],[0.022693,0.191584,0.981214]]y2H`ž]g?3xȿ^ 0ݍ@Z?M+@=SD=:=$:=4Q)} ByI ɝiIi)D2B:B O%=@5>Construct PeakDetectHorizontal.c@8Construct PeakDetectVsDepth.@}8Construct EdgeDetectVsDepth.A8Construct PeakDetectVsDepth.A 2Acoustic response timeoutB8Construct EdgeDetectVsDepth.B8Construct PeakDetectVsDepth.#C8Construct EdgeDetectVsDepth.CU 8Construct PeakDetectVsDepth.CD 8Construct EdgeDetectVsDepth.D} ,Construct ValueDetect.cEU $Construct Execute.Em $Construct Execute.Eu Construct Wait.F Construct.F dInitializing internal variables to default values.!)E qŏ,#?A ]2Acoustic response timeout)G )QI聿{AV@Y Q@%ռ9G>AHRS rotation from veh to nav: [[-0.014991,0.980979,-0.193534],[-0.999549,-0.009666,0.028428],[0.026016,0.193873,0.980682]]yH .d?ȿ`N˃@???`a?ɫV@lb;髥C6HB>HcF-Construct.cF-dInitializing internal variables to default values.IM>)M;?Mb@Mb@Mb@ )Ii rh?{GzĿkt># )IAi9A-A fAII٥?; =9'ʻQ > F٦y<  > 4Y ʍ?=4y  A=>= ;==+@ YD J; ; 4MB)M BMJEIy yɝyiyIi)D:2B:B Oc> (a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } =bLoaded ./Missions/Engineering/OnDock.tl id=OnDock  2Acoustic response timeoutwŏ,O?AI)RAHRS rotation from veh to nav: [[-0.013419,0.980786,-0.194625],[-0.999520,-0.007723,0.029995],[0.027916,0.194934,0.980419]]yJHQ{@b?@vȿ ??@?_?ɫJb@Ja;JCn)HBn/HIvIv(*2٥~2 =92Q #?    F٦ y ¼; #? =4YǍ?E4y tAAEE+@]D;2;4I)U BQ=(}BStarted mission DefaultWithUndockKy1} *}NAggregate::initialize DefaultWithUndockq}*}4Initialize Wait Component.I ɝiIi)D :2B:B O= m2Acoustic response timeout  2Acoustic response timeout%}ŏ,c*?ABn@YBi@B9BiJ>NAHRS rotation from veh to nav: [[-0.012004,0.980600,-0.195654],[-0.999481,-0.005918,0.031664],[0.029892,0.195933,0.980162]]yBHΕ@a?0 ɿD=x P6?`?Q?|]?ɫBn@Bb;BCn+HBn0HIvIv٥%;; %H=9-dQ ->)1 5F٦1y5b; 5> Ye4Y]?m4y]]Aimm+@]aD]o:]#:]4) BI ɝiIi)D):2B:B O= }2Acoustic response timeout|Ƅŏ,y?A2$x@Y2s@292`J>:AHRS rotation from veh to nav: [[-0.010835,0.980544,-0.196000],[-0.999432,-0.004362,0.033425],[0.031920,0.196251,0.980034]]y2H0`?@ɿ@Xq?@W?? p\?ɫ2$x@2"b;2CR&HBR+H TVA}Mb@Mb@Mb@y y)yIyiy}bX9?'1ZĿ}"}t)}AI}(Aiyy y 2Acoustic response timeout}AIIb٥ ;  1=9{Q > F٦yQ$; > !M4Y%?M4y%%AU>U;UU+@%gD%m;%;%4Y)e BaI ɝiIi)D:2B:B O&>  2Acoustic response timeoutŏ,-?A 2 @Y2~@2 92J>:AHRS rotation from veh to nav: [[-0.009382,0.980613,-0.195727],[-0.999383,-0.002568,0.035040],[0.033858,0.195935,0.980032]]y2H6/a? ɿ@e`?@U? f?l\?ɫ2 @2tb;2CN%HBR)HIVIV0٥= p=9Q  ?    F٦ yT; ? %4Yθ?%4y@A!-b-+@kD:N:41)5 B1IA AɝAiAIIiI)IDU:2Bi:By O= 2Acoustic response timeout(ܑŏ,%G?A E2Acoustic response timeout@Y@S.9I>AHRS rotation from veh to nav: [[-0.008402,0.980684,-0.195418],[-0.999319,-0.001213,0.036875],[0.035925,0.195595,0.980026]]yH@4`a? vɿ lcS7?d?@ ?`\?ɫ@ b;C$HB (H-Mb@Mb@Mb@) )))I)i)-\(\?jtĿ~jt->- -D))I)i)) ))II(*2٥ͺ %=9Q > F٦y; >  4Y? 4yEA > ; +@rDa:3:45B)E BTEII IɝQiQIQiQ)YDI:2B:B OB> 2Acoustic response timeout!ŏ,ݖa?A2m@Y2_@2ȟ92yI>:AHRS rotation from veh to nav: [[-0.007504,0.980735,-0.195201],[-0.999250,0.000061,0.038719],[0.037985,0.195345,0.979999]]y2Hɼ~-b?Vȿ`?`ң?@r? ?`&\?ɫ2m@2b;0f.HBf4HIj=)jR=IrIrF٥%< -=9-gջQ - ?)1 5F٦1y59; 5 ? Ye4Y]?m4y]]Aimm+@]vD]{:]Q:](4,B)) BSEI ɝiIi)D:2B:B O= M2Acoustic response timeout  2Acoustic response timeoutV,ŏ,Xr{?AI)<2@Y2@2&B$92RI>:AHRS rotation from veh to nav: [[-0.006626,0.980766,-0.195076],[-0.999174,0.001328,0.040613],[0.040091,0.195184,0.979947]]y2Hg#{nb?`=ȿ;U?Jˤ? ܆??[?ɫ2@2)b;2C^3HB^;HIjIjb1٥M}K< MH=9UQ U>QQ }F٦yy}m ; }> 4Y?4yA+@{D::M4)$ BI ɝiIi)D-:2BA:BQ O]= u2Acoustic response timeout PExceeded connect timeout, disconnecting.=ŏ,U?A2@Y2ߟ@2=,925I>:AHRS rotation from veh to nav: [[-0.005369,0.980711,-0.195387],[-0.999102,0.002953,0.042277],[0.042039,0.195439,0.979815]]y2Hua?sɿ1h? S?? #?Z?ɫ2@2b;2CNBHBNMHMb@Mb@Mb@ )Ii-?SÿS㥛?>/ݼ)AIiEA (AIIb٥ = A=9Q >  F٦yDB; > %4Yj?%4yA->- ;--+@D?;;4Q)U BYIi iɝiiIi)"DDsA 2Acoustic response timeoutDX:2B:B O> e 2Acoustic response timeoutB>ŏ,J(?A6﯏@Y6᪖@6T496*J>>AHRS rotation from veh to nav: [[-0.004026,0.980601,-0.195973],[-0.999026,0.004669,0.043886],[0.043950,0.195959,0.979627]]y6Hs}p@a?ɿs?6x?`?1?Y?ɫ6﯏@60b;6CNDHBRPH TVAIZIZb1٥v; v\=9vQ v>xx zF٦xyz$p; ~>  4Y? 4yvA  a +@D:: 4)= B9II IɝIiQIQiQ)YD:2B):BY Om==]Rgot command set OnDock.DockedTime 24 hourv]@=]got command run=mRunning iq 2Acoustic response timeoutԑԹ )ŏ,<?A LN@ -2Acoustic response timeoutԑ@Y@x;9(J>AHRS rotation from veh to nav: [[-0.002222,0.980593,-0.196041],[-0.998948,0.006805,0.045360],[0.045813,0.195936,0.979546]]yH04ba?ɿ`@ {?@]9?t?l?pX?ɫ@1:b;髥CQHB_HMb@Mb@Mb@ )Ii'1Z?jtĿI +Т> 94)AI-AiVA&A AI I<2٥-< -=9sQ > F٦yz;  > 4Y 㙍?4y m A>; +@ D : : a4))- B)15 *5RAggregate::uninitialize DefaultWithUndockq5*58Uninitialize Wait Component.=(5,Started mission OnDockK1qo558Aggregate::initialize OnDocko5 =\Aggregate::initialize OnDock:StandardEnvelopeso==JInitialize AltitudeEnvelopeComponent.1p= =DInitialize DepthEnvelopeComponent.qp==JInitialize OffshoreEnvelopeComponent.q= =VAggregate::initialize OnDock:BackseatDriverqE1rE ELAggregate::initialize OnDock:PowerOnlyqrErErE1sEqsMM4Initialize Wait Component.sM MJAggregate::initialize OnDock:dataReadsMqtMMHAggregate::initialize OnDock:sciencetM MXAggregate::initialize OnDock:science:SciencetM1uUquUuUuU1vUqvU1wU UtAggregate::initialize OnDock:science:Science:PeakDetectChlqwUxUUtAggregate::initialize OnDock:science:Science:EdgeDetectChl1yU1z] ]Aggregate::initialize OnDock:science:Science:HighestChlPeakReportqz]]Initialize.z] ]Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChlzeq{eetAggregate::initialize OnDock:science:Science:PeakDetectNO3{eq|eetAggregate::initialize OnDock:science:Science:PeakDetectOil|eq}emAggregate::initialize OnDock:science:Science:HighestOilPeakReport}mmInitialize.}mmvAggregate::initialize OnDock:science:Science:PeakDetectFDOM1~m~mu~Aggregate::initialize OnDock:science:Science:PeakDetectSalinity1uuuAggregate::initialize OnDock:science:Science:HighestSaltPeakReport1u@uInitialize.qu#@}Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI}q}@}Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI}}CA}Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI}}A}Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROIcBAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms1BAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms11CAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellatesq1DAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellatesqqDzAggregate::initialize OnDock:science:Science:ChlThreshTriggerDInitialize.v rAggregate::initialize OnDock:science:Science:OceanCurrentvAHRS rotation from veh to nav: [[0.001478,0.980395,-0.197035],[-0.998772,0.011204,0.048255],[0.049516,0.196722,0.979208]]yfH36X? f_?`q8ɿ@?ᴨ?@9Z?-.?U?ɫfݏ@fb;fCkHBHIEa=)E%=IMIM 3٥]= e<9eQ e>ii mF٦iyu}; u> 2Acoustic response timeout 4Y ?4yCfA+@D;;~4) B*y r@p1qI) )ɝQiQIQiQ)YD-:2BA:BQ Oe=AqiqIuC) UG ] 2Acoustic response timeout i )y I {|  tAԙ uXŏ,9?A2@Y2@2(R922K>:AHRS rotation from veh to nav: [[0.003492,0.980218,-0.197892],[-0.998678,0.013568,0.049582],[0.051286,0.197457,0.978969]]y2H >l?@]?Tɿ`+ ɋ?b?@B?FF?S?ɫ2@2i#b;2CfzHBfH! j! j ]Mb@Mb@Mb@Y Y)YIYiY]Q?ˡEĿ]\>]'])]AIYiYY Y](AyII٥ = G=9Q > F٦yH; > 4Y?4yBWA$>#;+@D:;;4#B) BRE2y1qqqI ɝiIi)D:2B:B O= 2Acoustic response timeoutԱ ] 2Acoustic response timeoutŏ,&,?AI)2 @Y2@2X920K>>AHRS rotation from veh to nav: [[0.005751,0.980174,-0.198054],[-0.998581,0.016116,0.050760],[0.052946,0.197481,0.978876]]y2H`sw?@]? Yɿ_?`A??`G?R?ɫ2 @2H)b;2CBHBFHININ(1٥V= VZ=9VQ Z>XX ZF٦\y^d; ^> `f4Yb?f4yb bJAdjcj+@bDb;b;b 4nXB)n Bn\E:yv*@qqzuI ɝiIi)"DDtADG:2B:B O= 2Acoustic response timeout)Q &jŏ,E?A2@Y2@2a1_92_RK>:AHRS rotation from veh to nav: [[0.008175,0.980232,-0.197685],[-0.998482,0.018769,0.051777],[0.054463,0.196962,0.978897]]y2H?^?Mɿ@58?x??@ 6?` S?ɫ2@2b;2CBHBBH JAJAININb1٥V< VK=9VFwQ Z>XX ZF٦Xy^; ^> `f4Yb1?f4yb b!%)%AI%Ai%QA% A !%\AԑII<٥< -=9Q > F٦y > 4Yz?4y&A%7>%<;% %+@D8;Q;4I)U BQgE]