*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *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_expressed_as_equivalent_mass_fraction_of_quinine_sulfate_dihydrate" 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_battery_charge" type=04 *e code=0023 elementURI="platform_battery_charge_usage" type=04 *e code=0024 elementURI="platform_battery_energy_usage" type=04 *e code=0025 elementURI="platform_battery_voltage" type=04 *e code=0026 elementURI="platform_battery_fully_charged" type=04 *e code=0027 elementURI="platform_battery_discharging" type=04 *e code=0028 elementURI="platform_buoyancy_position" type=04 *e code=0029 elementURI="platform_communications" type=04 *e code=002A elementURI="platform_conversation" type=04 *e code=002B elementURI="platform_course" type=04 *e code=002C elementURI="platform_distance_wrt_ground" type=04 *e code=002D elementURI="platform_distance_wrt_sea_water" type=04 *e code=002E elementURI="platform_elevator_angle" type=04 *e code=002F elementURI="platform_fault" type=04 *e code=0030 elementURI="platform_fault_leak" type=04 *e code=0031 elementURI="platform_magnetic_orientation" type=04 *e code=0032 elementURI="platform_mass_position" type=04 *e code=0033 elementURI="platform_orientation" type=04 *e code=0034 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003 *e code=0035 elementURI="platform_pitch_angle" type=04 *e code=0036 elementURI="platform_pitch_rate" type=04 *e code=0037 elementURI="platform_pressure" type=04 *e code=0038 elementURI="platform_propeller_rotation_rate" type=04 *e code=0039 elementURI="platform_relative_humidity" type=04 *e code=003A elementURI="platform_roll_angle" type=04 *e code=003B elementURI="platform_roll_rate" type=04 *e code=003C elementURI="platform_rudder_angle" type=04 *e code=003D elementURI="platform_speed_wrt_ground" type=04 *e code=003E elementURI="platform_speed_wrt_sea_water" type=04 *e code=003F elementURI="platform_temperature" type=04 *e code=0040 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0041 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0042 elementURI="platform_x_sea_water_velocity" type=04 *e code=0043 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0044 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0045 elementURI="platform_x_velocity_current" type=04 *e code=0046 elementURI="platform_y_sea_water_velocity" type=04 *e code=0047 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=0048 elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=0049 elementURI="platform_y_velocity_current" type=04 *e code=004A elementURI="platform_yaw_angle" type=04 *e code=004B elementURI="platform_yaw_rate" type=04 *e code=004C elementURI="platform_z_sea_water_velocity" type=04 *e code=004D elementURI="platform_z_velocity_wrt_ground" type=04 *e code=004E elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=004F elementURI="platform_z_velocity_current" type=04 *e code=0050 elementURI="projection_x_coordinate" type=04 *e code=0051 elementURI="projection_y_coordinate" type=04 *e code=0052 elementURI="projection_zone" type=04 *e code=0053 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0054 elementURI="sea_water_density" type=04 *e code=0055 elementURI="sea_water_electrical_conductivity" type=04 *e code=0056 elementURI="sea_water_potential_density" type=04 *e code=0057 elementURI="sea_water_potential_temperature" type=04 *e code=0058 elementURI="sea_water_pressure" type=04 *e code=0059 elementURI="sea_water_rhodamine" type=04 *e code=005A elementURI="sea_water_salinity" type=04 *e code=005B elementURI="sea_water_sigma_t" type=04 *e code=005C elementURI="sea_water_sigma_theta" type=04 *e code=005D elementURI="sea_water_speed" type=04 *e code=005E elementURI="sea_water_temperature" type=04 *e code=005F elementURI="speed_of_sound_in_sea_water" type=04 *e code=0060 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0061 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0062 elementURI="time" type=04 *e code=0063 elementURI="time_fix" type=04 *e code=0064 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0065 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 FxD0z0Initializing supervisor.*n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" xD0zDCreated PCaller Thread at 404514E0xD0zBProtected caller Thread ID is 804ƿxD0zhComponent "controlThread" handled in its own thread.*n code=0006 name="controlThread ThreadHandler"  xD0zDCreated PCaller Thread at 404814E0 xD0zBProtected caller Thread ID is 805*n code=0007 name="CycleStarter" *e code=0066 elementURI="CycleStarter.time" type=00 *a code=0000 owner=0007 element=0066 universal=0062 unitName="second" type=1F size=0008 fl=01 ƿ#xD0zvSyncComponent "CycleStarter" handled in the control thread.*n code=0008 name="CommandLine" *e code=0067 elementURI="IBIT.IBITRunning" type=02 *a code=0001 owner=0008 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0068 elementURI="CBIT.GFActive" type=02 *a code=0002 owner=0008 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0003 owner=0008 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0069 elementURI="CommandLine.platform_conversation" type=00 *a code=0004 owner=0008 element=0069 universal=002A unitName="bool" type=02 size=0001 fl=05 ƿ.xD0zdComponent "CommandLine" handled in its own thread.*n code=0009 name="CommandLine ThreadHandler" /xD0zDCreated PCaller Thread at 404B14E0/xD0zBProtected caller Thread ID is 806*n code=000A name="logger" ƿ0xD0zZComponent "logger" handled in its own thread.*n code=000B name="logger ThreadHandler" 1xD0zDCreated PCaller Thread at 404E14E01xD0zBProtected caller Thread ID is 807*n code=000C name="LogSplitter" *e code=006A elementURI="LogSplitter.platform_communications" type=00 *a code=0005 owner=000C element=006A universal=0029 unitName="bool" type=02 size=0001 fl=05 ƿ3xD0ztSyncComponent "LogSplitter" handled in the control thread.N4xD0z\Looking for Config files in directory: Config/N8xD0zTOpening Config file at: Config/vehicle.cfg*n code=000D name="Config/vehicle" *e code=006B elementURI="Vehicle.name" type=01 *a code=0006 owner=000D element=006B universal=3FFF unitName="none" type=00 size=0006 fl=05 dDxD0zTethys*e code=006C elementURI="Vehicle.id" type=01 *a code=0007 owner=000D element=006C universal=3FFF unitName="enum" type=02 size=0001 fl=05 tGxD0z*e code=006D elementURI="Vehicle.kmlColor" type=01 *a code=0008 owner=000D element=006D universal=3FFF unitName="none" type=00 size=0008 fl=05 JxD0zff0055ff*e code=006E elementURI="Vehicle.argoPlatform" type=01 *a code=0009 owner=000D element=006E universal=3FFF unitName="none" type=00 size=0006 fl=05 LxD0z000000*e code=006F elementURI="Vehicle.argoProgram" type=01 *a code=000A owner=000D element=006F universal=3FFF unitName="none" type=00 size=0004 fl=05 NxD0z0000*e code=0070 elementURI="Vehicle.checkMTQueue" type=01 *a code=000B owner=000D element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05 RxD0z*e code=0071 elementURI="Vehicle.sendDataToShore" type=01 *a code=000C owner=000D element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ĿUxD0z*e code=0072 elementURI="AHRS_3DMGX3.loadControl" type=01 *a code=000D owner=000D element=0072 universal=3FFF unitName="none" type=00 size=000B fl=05 ԿaxD0z /dev/loadB6*e code=0073 elementURI="AHRS_3DMGX3.uart" type=01 *a code=000E owner=000D element=0073 universal=3FFF unitName="none" type=00 size=000A fl=05 cxD0z /dev/ttyB6*e code=0074 elementURI="AHRS_3DMGX3.baud" type=01 *a code=000F owner=000D element=0074 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 exD0z @*e code=0075 elementURI="AHRS_sp3003D.loadControl" type=01 *a code=0010 owner=000D element=0075 universal=3FFF unitName="none" type=00 size=000B fl=05 gxD0z /dev/loadB7*e code=0076 elementURI="AHRS_sp3003D.uart" type=01 *a code=0011 owner=000D element=0076 universal=3FFF unitName="none" type=00 size=000A fl=05 )jxD0z /dev/ttyB7*e code=0077 elementURI="AHRS_sp3003D.baud" type=01 *a code=0012 owner=000D element=0077 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IlxD0z@*e code=0078 elementURI="AHRS_M2.loadControl" type=01 *a code=0013 owner=000D element=0078 universal=3FFF unitName="none" type=00 size=000B fl=05 inxD0z /dev/loadC7*e code=0079 elementURI="AHRS_M2.uart" type=01 *a code=0014 owner=000D element=0079 universal=3FFF unitName="none" type=00 size=000A fl=05 pxD0z /dev/ttyC7*e code=007A elementURI="AHRS_M2.baud" type=01 *a code=0015 owner=000D element=007A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 rxD0z @*e code=007B elementURI="Aanderaa_O2.loadControl" type=01 *a code=0016 owner=000D element=007B universal=3FFF unitName="none" type=00 size=000B fl=05 txD0z /dev/loadB2*e code=007C elementURI="Aanderaa_O2.uart" type=01 *a code=0017 owner=000D element=007C universal=3FFF unitName="none" type=00 size=000A fl=05 vxD0z /dev/ttyB2*e code=007D elementURI="Aanderaa_O2.baud" type=01 *a code=0018 owner=000D element=007D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xxD0z@*e code=007E elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01 *a code=0019 owner=000D element=007E universal=3FFF unitName="none" type=00 size=000B fl=05 )zxD0z /dev/loadB1*e code=007F elementURI="AcousticModem_Benthos_ATM900.uart" type=01 *a code=001A owner=000D element=007F universal=3FFF unitName="none" type=00 size=000A fl=05 I}xD0z /dev/ttyB1*e code=0080 elementURI="AcousticModem_Benthos_ATM900.baud" type=01 *a code=001B owner=000D element=0080 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ixD0z@*e code=0081 elementURI="BPC1A.uart" type=01 *a code=001C owner=000D element=0081 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/ttyTX0*e code=0082 elementURI="BPC1A.baud" type=01 *a code=001D owner=000D element=0082 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=0083 elementURI="BPC1B.uart" type=01 *a code=001E owner=000D element=0083 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/ttyTX2*e code=0084 elementURI="BPC1B.baud" type=01 *a code=001F owner=000D element=0084 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=0085 elementURI="Batt_Ocean_ServerA.uart" type=01 *a code=0020 owner=000D element=0085 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/ttyTX0*e code=0086 elementURI="Batt_Ocean_ServerA.baud" type=01 *a code=0021 owner=000D element=0086 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )xD0z@*e code=0087 elementURI="Batt_Ocean_ServerB.uart" type=01 *a code=0022 owner=000D element=0087 universal=3FFF unitName="none" type=00 size=000B fl=05 IxD0z /dev/ttyTX2*e code=0088 elementURI="Batt_Ocean_ServerB.baud" type=01 *a code=0023 owner=000D element=0088 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ixD0z@*e code=0089 elementURI="BuoyancyServo.loadControl" type=01 *a code=0024 owner=000D element=0089 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA4*e code=008A elementURI="BuoyancyServo.uart" type=01 *a code=0025 owner=000D element=008A universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyA4*e code=008B elementURI="BuoyancyServo.baud" type=01 *a code=0026 owner=000D element=008B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=008C elementURI="CANONSampler.loadControl" type=01 *a code=0027 owner=000D element=008C universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadB6*e code=008D elementURI="CANONSampler.uart" type=01 *a code=0028 owner=000D element=008D universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyB6*e code=008E elementURI="CANONSampler.baud" type=01 *a code=0029 owner=000D element=008E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )xD0z@*e code=008F elementURI="CBITMainGroundfault.ad" type=01 *a code=002A owner=000D element=008F universal=3FFF unitName="none" type=00 size=000E fl=05 IxD0z/dev/mcp3551-0*e code=0090 elementURI="CBITMainGroundfault.adRes" type=01 *a code=002B owner=000D element=0090 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ixD0z@*e code=0091 elementURI="CBITMainGroundfault.adTimeout" type=01 *a code=002C owner=000D element=0091 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 xD0z>*e code=0092 elementURI="CBITMainGroundfault.adVref" type=01 *a code=002D owner=000D element=0092 universal=3FFF unitName="volt" type=0B size=0003 fl=05 xD0z A*e code=0093 elementURI="CBITWaterAlarmBow.ad" type=01 *a code=002E owner=000D element=0093 universal=3FFF unitName="none" type=00 size=0010 fl=05 xD0z/dev/adlpc32xx_0*e code=0094 elementURI="CBITWaterAlarmBow.adRes" type=01 *a code=002F owner=000D element=0094 universal=3FFF unitName="bit" type=1F size=0008 fl=05 xD0z?*e code=0095 elementURI="CBITWaterAlarmBow.adVref" type=01 *a code=0030 owner=000D element=0095 universal=3FFF unitName="volt" type=0B size=0003 fl=05 xD0zI@*e code=0096 elementURI="CBITWaterAlarmStern.ad" type=01 *a code=0031 owner=000D element=0096 universal=3FFF unitName="none" type=00 size=0010 fl=05 )xD0z/dev/adlpc32xx_1*e code=0097 elementURI="CBITWaterAlarmStern.adRes" type=01 *a code=0032 owner=000D element=0097 universal=3FFF unitName="bit" type=1F size=0008 fl=05 IxD0z?*e code=0098 elementURI="CBITWaterAlarmStern.adVref" type=01 *a code=0033 owner=000D element=0098 universal=3FFF unitName="volt" type=0B size=0003 fl=05 ixD0zI@*e code=0099 elementURI="CBITWaterAlarmAux.ad" type=01 *a code=0034 owner=000D element=0099 universal=3FFF unitName="none" type=00 size=0010 fl=05 xD0z/dev/adlpc32xx_2*e code=009A elementURI="CBITWaterAlarmAux.adRes" type=01 *a code=0035 owner=000D element=009A universal=3FFF unitName="bit" type=1F size=0008 fl=05 xD0z?*e code=009B elementURI="CBITWaterAlarmAux.adVref" type=01 *a code=0036 owner=000D element=009B universal=3FFF unitName="volt" type=0B size=0003 fl=05 xD0zI@*e code=009C elementURI="CTD_NeilBrown.loadControl" type=01 *a code=0037 owner=000D element=009C universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadC4*e code=009D elementURI="CTD_NeilBrown.uart" type=01 *a code=0038 owner=000D element=009D universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyC4*e code=009E elementURI="CTD_NeilBrown.baud" type=01 *a code=0039 owner=000D element=009E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )xD0z@*e code=009F elementURI="CTD_Seabird.loadControl" type=01 *a code=003A owner=000D element=009F universal=3FFF unitName="none" type=00 size=000B fl=05 IxD0z /dev/loadC6*e code=00A0 elementURI="CTD_Seabird.uart" type=01 *a code=003B owner=000D element=00A0 universal=3FFF unitName="none" type=00 size=000A fl=05 ixD0z /dev/ttyC6*e code=00A1 elementURI="CTD_Seabird.baud" type=01 *a code=003C owner=000D element=00A1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=00A2 elementURI="CTD_SeabirdLCM.loadControl" type=01 *a code=003D owner=000D element=00A2 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadC6*e code=00A3 elementURI="CTD_SeabirdLCM.uart" type=01 *a code=003E owner=000D element=00A3 universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyC6*e code=00A4 elementURI="CTD_SeabirdLCM.baud" type=01 *a code=003F owner=000D element=00A4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=00A5 elementURI="CTD_SeabirdLCM.lcmApplication" type=01 *a code=0040 owner=000D element=00A5 universal=3FFF unitName="none" type=00 size=0050 fl=05 xD0zPnohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev*e code=00A6 elementURI="DAT.loadControl" type=01 *a code=0041 owner=000D element=00A6 universal=3FFF unitName="none" type=00 size=000B fl=05 )xD0z /dev/loadB1*e code=00A7 elementURI="DAT.uart" type=01 *a code=0042 owner=000D element=00A7 universal=3FFF unitName="none" type=00 size=000A fl=05 IxD0z /dev/ttyB1*e code=00A8 elementURI="DAT.baud" type=01 *a code=0043 owner=000D element=00A8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ixD0z@*e code=00A9 elementURI="Depth_Keller.loadControl" type=01 *a code=0044 owner=000D element=00A9 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA0*e code=00AA elementURI="Depth_Keller.ad" type=01 *a code=0045 owner=000D element=00AA universal=3FFF unitName="none" type=00 size=000E fl=05 xD0z/dev/mcp3553A0*e code=00AB elementURI="Depth_Keller.adRes" type=01 *a code=0046 owner=000D element=00AB universal=3FFF unitName="bit" type=1F size=0008 fl=05 xD0z@*e code=00AC elementURI="Depth_Keller.adTimeout" type=01 *a code=0047 owner=000D element=00AC universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 xD0z>*e code=00AD elementURI="Depth_Keller.adVref" type=01 *a code=0048 owner=000D element=00AD universal=3FFF unitName="volt" type=0B size=0003 fl=05 xD0z @*e code=00AE elementURI="DVL_micro.loadControl" type=01 *a code=0049 owner=000D element=00AE universal=3FFF unitName="none" type=00 size=000B fl=05 ) xD0z /dev/loadB5*e code=00AF elementURI="DVL_micro.uart" type=01 *a code=004A owner=000D element=00AF universal=3FFF unitName="none" type=00 size=000A fl=05 I xD0z /dev/ttyB5*e code=00B0 elementURI="DVL_micro.baud" type=01 *a code=004B owner=000D element=00B0 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i xD0z @*e code=00B1 elementURI="ElevatorServo.loadControl" type=01 *a code=004C owner=000D element=00B1 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA6*e code=00B2 elementURI="ElevatorServo.uart" type=01 *a code=004D owner=000D element=00B2 universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyA6*e code=00B3 elementURI="ElevatorServo.baud" type=01 *a code=004E owner=000D element=00B3 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=00B4 elementURI="ESPComponent.loadControl" type=01 *a code=004F owner=000D element=00B4 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA6*e code=00B5 elementURI="ESPComponent.secLoadControl" type=01 *a code=0050 owner=000D element=00B5 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA7*e code=00B6 elementURI="ESPComponent.uart" type=01 *a code=0051 owner=000D element=00B6 universal=3FFF unitName="none" type=00 size=000B fl=05 ) xD0z /dev/ttyTX1*e code=00B7 elementURI="ESPComponent.consoleUart" type=01 *a code=0052 owner=000D element=00B7 universal=3FFF unitName="none" type=00 size=000A fl=05 I xD0z /dev/ttyA6*e code=00B8 elementURI="ESPComponent.baud" type=01 *a code=0053 owner=000D element=00B8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 i xD0z @*e code=00B9 elementURI="ISUS.loadControl" type=01 *a code=0054 owner=000D element=00B9 universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadB1*e code=00BA elementURI="ISUS.uart" type=01 *a code=0055 owner=000D element=00BA universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyB1*e code=00BB elementURI="ISUS.baud" type=01 *a code=0056 owner=000D element=00BB universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 xD0z@*e code=00BC elementURI="MassServo.loadControl" type=01 *a code=0057 owner=000D element=00BC universal=3FFF unitName="none" type=00 size=000B fl=05 xD0z /dev/loadA3*e code=00BD elementURI="MassServo.uart" type=01 *a code=0058 owner=000D element=00BD universal=3FFF unitName="none" type=00 size=000A fl=05 xD0z /dev/ttyA3*e code=00BE elementURI="MassServo.baud" type=01 *a code=0059 owner=000D element=00BE universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ) xD0z@*e code=00BF elementURI="NAL9602.loadControl" type=01 *a code=005A owner=000D element=00BF universal=3FFF unitName="none" type=00 size=000B fl=05 I xD0z /dev/loadA1*e code=00C0 elementURI="NAL9602.uart" type=01 *a code=005B owner=000D element=00C0 universal=3FFF unitName="none" type=00 size=000A fl=05 i yD0z /dev/ttyS2*e code=00C1 elementURI="NAL9602.baud" type=01 *a code=005C owner=000D element=00C1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 yD0z@*e code=00C2 elementURI="OnboardHumidity.i2c" type=01 *a code=005D owner=000D element=00C2 universal=3FFF unitName="none" type=00 size=000A fl=05 yD0z /dev/i2c-0*e code=00C3 elementURI="OnboardHumidity.i2cAddr" type=01 *a code=005E owner=000D element=00C3 universal=3FFF unitName="count" type=0D size=0004 fl=05 yD0z'*e code=00C4 elementURI="OnboardPressure.i2c" type=01 *a code=005F owner=000D element=00C4 universal=3FFF unitName="none" type=00 size=000A fl=05 yD0z /dev/i2c-0*e code=00C5 elementURI="OnboardPressure.i2cAddr" type=01 *a code=0060 owner=000D element=00C5 universal=3FFF unitName="count" type=0D size=0004 fl=05 yD0z`*e code=00C6 elementURI="PAR_Licor.loadControl" type=01 *a code=0061 owner=000D element=00C6 universal=3FFF unitName="none" type=00 size=000B fl=05 ) #yD0z /dev/loadB0*e code=00C7 elementURI="PAR_Licor.ad" type=01 *a code=0062 owner=000D element=00C7 universal=3FFF unitName="none" type=00 size=000E fl=05 I %yD0z/dev/mcp3553B0*e code=00C8 elementURI="PAR_Licor.adRes" type=01 *a code=0063 owner=000D element=00C8 universal=3FFF unitName="bit" type=1F size=0008 fl=05 i 'yD0z@*e code=00C9 elementURI="PAR_Licor.adTimeout" type=01 *a code=0064 owner=000D element=00C9 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 (yD0z>*e code=00CA elementURI="PAR_Licor.adVref" type=01 *a code=0065 owner=000D element=00CA universal=3FFF unitName="volt" type=0B size=0003 fl=05 *yD0z @*e code=00CB elementURI="PNI_TCM.loadControl" type=01 *a code=0066 owner=000D element=00CB universal=3FFF unitName="none" type=00 size=000B fl=05 ,yD0z /dev/loadB7*e code=00CC elementURI="PNI_TCM.uart" type=01 *a code=0067 owner=000D element=00CC universal=3FFF unitName="none" type=00 size=000A fl=05 .yD0z /dev/ttyB7*e code=00CD elementURI="PNI_TCM.baud" type=01 *a code=0068 owner=000D element=00CD universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 0yD0z@*e code=00CE elementURI="PowerOnly.loadControl" type=01 *a code=0069 owner=000D element=00CE universal=3FFF unitName="none" type=00 size=000B fl=05 ) 2yD0z /dev/loadC1*e code=00CF elementURI="Radio_Surface.loadControl" type=01 *a code=006A owner=000D element=00CF universal=3FFF unitName="none" type=00 size=000B fl=05 I 4yD0z /dev/loadA2*e code=00D0 elementURI="RDI_Pathfinder.loadControl" type=01 *a code=006B owner=000D element=00D0 universal=3FFF unitName="none" type=00 size=000B fl=05 i 8yD0z /dev/loadB4*e code=00D1 elementURI="RDI_Pathfinder.uart" type=01 *a code=006C owner=000D element=00D1 universal=3FFF unitName="none" type=00 size=000A fl=05 :yD0z /dev/ttyB4*e code=00D2 elementURI="RDI_Pathfinder.baud" type=01 *a code=006D owner=000D element=00D2 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 yD0z /dev/loadB0*e code=00D4 elementURI="rhodamine.ad" type=01 *a code=006F owner=000D element=00D4 universal=3FFF unitName="none" type=00 size=000E fl=05 @yD0z/dev/mcp3553B0*e code=00D5 elementURI="rhodamine.adRes" type=01 *a code=0070 owner=000D element=00D5 universal=3FFF unitName="bit" type=1F size=0008 fl=05 ByD0z@*e code=00D6 elementURI="rhodamine.adTimeout" type=01 *a code=0071 owner=000D element=00D6 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 )DyD0z>*e code=00D7 elementURI="rhodamine.adVref" type=01 *a code=0072 owner=000D element=00D7 universal=3FFF unitName="volt" type=0B size=0003 fl=05 IEyD0z @*e code=00D8 elementURI="Rowe_600.loadControl" type=01 *a code=0073 owner=000D element=00D8 universal=3FFF unitName="none" type=00 size=000B fl=05 iGyD0z /dev/loadB5*e code=00D9 elementURI="Rowe_600.uart" type=01 *a code=0074 owner=000D element=00D9 universal=3FFF unitName="none" type=00 size=000A fl=05 IyD0z /dev/ttyB5*e code=00DA elementURI="Rowe_600.baud" type=01 *a code=0075 owner=000D element=00DA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 KyD0z @*e code=00DB elementURI="Rowe_600LCM.loadControl" type=01 *a code=0076 owner=000D element=00DB universal=3FFF unitName="none" type=00 size=000B fl=05 MyD0z /dev/loadB4*e code=00DC elementURI="Rowe_600LCM.uart" type=01 *a code=0077 owner=000D element=00DC universal=3FFF unitName="none" type=00 size=000A fl=05 OyD0z /dev/ttyB4*e code=00DD elementURI="Rowe_600LCM.baud" type=01 *a code=0078 owner=000D element=00DD universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 QyD0z@*e code=00DE elementURI="Rowe_600LCM.lcmApplication" type=01 *a code=0079 owner=000D element=00DE universal=3FFF unitName="none" type=00 size=0046 fl=05 )TyD0zFnohup ./auv-shared/bin/roweadcp -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev*e code=00DF elementURI="Rowe_600LCM.lcmChannelBottom" type=01 *a code=007A owner=000D element=00DF universal=3FFF unitName="none" type=00 size=0021 fl=05 IWyD0z!Rowe_600LCM.adcp_dvl.bottom_track*e code=00E0 elementURI="Rowe_600LCM.lcmChannelDVL" type=01 *a code=007B owner=000D element=00E0 universal=3FFF unitName="none" type=00 size=000D fl=05 iYyD0z rowe_dvl.rowe*e code=00E1 elementURI="Rowe_600LCM.lcmChannelWater" type=01 *a code=007C owner=000D element=00E1 universal=3FFF unitName="none" type=00 size=002B fl=05 [yD0z+Rowe_600LCM.adcp_dvl.vehicle_water_velocity*e code=00E2 elementURI="Rowe_600LCM.maxSpeed" type=01 *a code=007D owner=000D element=00E2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 ^yD0z?*e code=00E3 elementURI="RudderServo.loadControl" type=01 *a code=007E owner=000D element=00E3 universal=3FFF unitName="none" type=00 size=000B fl=05 `yD0z /dev/loadA5*e code=00E4 elementURI="RudderServo.uart" type=01 *a code=007F owner=000D element=00E4 universal=3FFF unitName="none" type=00 size=000A fl=05 byD0z /dev/ttyA5*e code=00E5 elementURI="RudderServo.baud" type=01 *a code=0080 owner=000D element=00E5 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 dyD0z@*e code=00E6 elementURI="SCPI.loadControl" type=01 *a code=0081 owner=000D element=00E6 universal=3FFF unitName="none" type=00 size=000B fl=05 )eyD0z /dev/loadB2*e code=00E7 elementURI="SCPI.uart" type=01 *a code=0082 owner=000D element=00E7 universal=3FFF unitName="none" type=00 size=000A fl=05 IgyD0z /dev/ttyB2*e code=00E8 elementURI="SCPI.baud" type=01 *a code=0083 owner=000D element=00E8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 iiyD0z@*e code=00E9 elementURI="ThrusterServo.loadControl" type=01 *a code=0084 owner=000D element=00E9 universal=3FFF unitName="none" type=00 size=000B fl=05 kyD0z /dev/loadA7*e code=00EA elementURI="ThrusterServo.uart" type=01 *a code=0085 owner=000D element=00EA universal=3FFF unitName="none" type=00 size=000A fl=05 myD0z /dev/ttyA7*e code=00EB elementURI="ThrusterServo.baud" type=01 *a code=0086 owner=000D element=00EB universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 oyD0z@*e code=00EC elementURI="Turbulence_NPS.loadControl" type=01 *a code=0087 owner=000D element=00EC universal=3FFF unitName="none" type=00 size=000B fl=05 qyD0z /dev/loadB2*e code=00ED elementURI="Turbulence_NPS.uart" type=01 *a code=0088 owner=000D element=00ED universal=3FFF unitName="none" type=00 size=000A fl=05 tyD0z /dev/ttyS1*e code=00EE elementURI="Turbulence_NPS.baud" type=01 *a code=0089 owner=000D element=00EE universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )vyD0z @*e code=00EF elementURI="VemcoVR2C.loadControl" type=01 *a code=008A owner=000D element=00EF universal=3FFF unitName="none" type=00 size=000B fl=05 IxyD0z /dev/loadB3*e code=00F0 elementURI="VemcoVR2C.uart" type=01 *a code=008B owner=000D element=00F0 universal=3FFF unitName="none" type=00 size=000B fl=05 izyD0z /dev/ttyTX1*e code=00F1 elementURI="VemcoVR2C.baud" type=01 *a code=008C owner=000D element=00F1 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 |yD0z@*e code=00F2 elementURI="WetLabsBB2FL.loadControl" type=01 *a code=008D owner=000D element=00F2 universal=3FFF unitName="none" type=00 size=000B fl=05 ~yD0z /dev/loadB3*e code=00F3 elementURI="WetLabsBB2FL.uart" type=01 *a code=008E owner=000D element=00F3 universal=3FFF unitName="none" type=00 size=000A fl=05 yD0z /dev/ttyB3*e code=00F4 elementURI="WetLabsBB2FL.baud" type=01 *a code=008F owner=000D element=00F4 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 yD0z@*e code=00F5 elementURI="WetLabsSeaOWL_UV_A.loadControl" type=01 *a code=0090 owner=000D element=00F5 universal=3FFF unitName="none" type=00 size=000B fl=05 yD0z /dev/loadB3*e code=00F6 elementURI="WetLabsSeaOWL_UV_A.uart" type=01 *a code=0091 owner=000D element=00F6 universal=3FFF unitName="none" type=00 size=000A fl=05 )yD0z /dev/ttyB3*e code=00F7 elementURI="WetLabsSeaOWL_UV_A.baud" type=01 *a code=0092 owner=000D element=00F7 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 IyD0z@*e code=00F8 elementURI="WetLabsUBAT.loadContorl" type=01 *a code=0093 owner=000D element=00F8 universal=3FFF unitName="none" type=00 size=000B fl=05 iyD0z /dev/loadC1*e code=00F9 elementURI="WetLabsUBAT.uart" type=01 *a code=0094 owner=000D element=00F9 universal=3FFF unitName="none" type=00 size=000A fl=05 yD0z /dev/ttyC1*e code=00FA elementURI="WetLabsUBAT.baud" type=01 *a code=0095 owner=000D element=00FA universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 yD0z@ƿyD0zNLoaded Config Component "Config/vehicleNyD0zROpening Config file at: Config/Sample.cfg*n code=000E name="Config/Sample" *e code=00FB elementURI="AsyncPiEstimator.loadAtStartup" type=01 *a code=0096 owner=000E element=00FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 yD0z*e code=00FC elementURI="LcmPublisher.loadAtStartup" type=01 *a code=0097 owner=000E element=00FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 yD0z*e code=00FD elementURI="LcmPublisher.loopHz" type=01 *a code=0098 owner=000E element=00FD universal=3FFF unitName="hertz" type=0B size=0003 fl=05 yD0z A*e code=00FE elementURI="LcmPublisher.nChan" type=01 *a code=0099 owner=000E element=00FE universal=3FFF unitName="count" type=0D size=0004 fl=05 )yD0z*e code=00FF elementURI="LcmPublisher.nDoubleItems" type=01 *a code=009A owner=000E element=00FF universal=3FFF unitName="count" type=0D size=0004 fl=05 IyD0z*e code=0100 elementURI="LcmPublisher.publishPrefix" type=01 *a code=009B owner=000E element=0100 universal=3FFF unitName="none" type=00 size=0001 fl=05 iyD0za*e code=0101 elementURI="LcmListener.loadAtStartup" type=01 *a code=009C owner=000E element=0101 universal=3FFF unitName="bool" type=02 size=0001 fl=05 yD0z*e code=0102 elementURI="LcmListener.listenPrefix" type=01 *a code=009D owner=000E element=0102 universal=3FFF unitName="none" type=00 size=0001 fl=05 yD0zb*e code=0103 elementURI="LcmListener.logMsg" type=01 *a code=009E owner=000E element=0103 universal=3FFF unitName="bool" type=02 size=0001 fl=05 yD0zƿ8zD0zLLoaded Config Component "Config/SampleN9zD0zTOpening Config file at: Config/Control.cfg*n code=000F name="Config/Control" *e code=0104 elementURI="BackSeatDriver.loadAtStartup" type=01 *a code=009F owner=000F element=0104 universal=3FFF unitName="bool" type=02 size=0001 fl=05 EzD0z*e code=0105 elementURI="HorizontalControl.loadAtStartup" type=01 *a code=00A0 owner=000F element=0105 universal=3FFF unitName="bool" type=02 size=0001 fl=05 GzD0z*e code=0106 elementURI="HorizontalControl.kdHeading" type=01 *a code=00A1 owner=000F element=0106 universal=3FFF unitName="second" type=0B size=0003 fl=05 )JzD0zL=*e code=0107 elementURI="HorizontalControl.kiHeading" type=01 *a code=00A2 owner=000F element=0107 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 IMzD0z:*e code=0108 elementURI="HorizontalControl.kiwpHeading" type=01 *a code=00A3 owner=000F element=0108 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 iOzD0z:*e code=0109 elementURI="HorizontalControl.kpHeading" type=01 *a code=00A4 owner=000F element=0109 universal=3FFF unitName="none" type=1F size=0008 fl=05 RzD0z?*e code=010A elementURI="HorizontalControl.kwpHeading" type=01 *a code=00A5 owner=000F element=010A universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 UzD0zL=*e code=010B elementURI="HorizontalControl.maxHdgAccel" type=01 *a code=00A6 owner=000F element=010B universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=05 WzD0z >*e code=010C elementURI="HorizontalControl.maxHdgInt" type=01 *a code=00A7 owner=000F element=010C universal=3FFF unitName="radian" type=2F size=0004 fl=05 ZzD0z=*e code=010D elementURI="HorizontalControl.maxHdgRate" type=01 *a code=00A8 owner=000F element=010D universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 \zD0zwV>*e code=010E elementURI="HorizontalControl.maxKxte" type=01 *a code=00A9 owner=000F element=010E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )_zD0zI?*e code=010F elementURI="HorizontalControl.rudDeadband" type=01 *a code=00AA owner=000F element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 IbzD0z5<*e code=0110 elementURI="HorizontalControl.rudLimit" type=01 *a code=00AB owner=000F element=0110 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 iezD0z >*e code=0111 elementURI="LoopControl.loadAtStartup" type=01 *a code=00AC owner=000F element=0111 universal=3FFF unitName="bool" type=02 size=0001 fl=05 gzD0z*e code=0112 elementURI="LoopControl.nominalDt" type=01 *a code=00AD owner=000F element=0112 universal=3FFF unitName="second" type=0B size=0003 fl=05 jzD0z>*e code=0113 elementURI="SpeedControl.loadAtStartup" type=01 *a code=00AE owner=000F element=0113 universal=3FFF unitName="bool" type=02 size=0001 fl=05 lzD0z*e code=0114 elementURI="SpeedControl.propPitch" type=01 *a code=00AF owner=000F element=0114 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=05 nzD0za=*e code=0115 elementURI="VerticalControl.loadAtStartup" type=01 *a code=00B0 owner=000F element=0115 universal=3FFF unitName="bool" type=02 size=0001 fl=05 pzD0z*e code=0116 elementURI="VerticalControl.buoyancyDefault" type=01 *a code=00B1 owner=000F element=0116 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 )tzD0zw:*e code=0117 elementURI="VerticalControl.buoyancyLimitHiCC" type=01 *a code=00B2 owner=000F element=0117 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 IwzD0zXz:*e code=0118 elementURI="VerticalControl.buoyancyLimitLoCC" type=01 *a code=00B3 owner=000F element=0118 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 i{zD0zŧ8*e code=0119 elementURI="VerticalControl.buoyancyNeutral" type=01 *a code=00B4 owner=000F element=0119 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 zD0z:*e code=011A elementURI="VerticalControl.buoyancyPumpDepth" type=01 *a code=00B5 owner=000F element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=05 zD0zB*e code=011B elementURI="VerticalControl.depthDeadband" type=01 *a code=00B6 owner=000F element=011B universal=3FFF unitName="meter" type=0B size=0003 fl=05 zD0z#<*e code=011C elementURI="VerticalControl.depthRateDeadband" type=01 *a code=00B7 owner=000F element=011C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 zD0zu<*e code=011D elementURI="VerticalControl.depthRateSamples" type=01 *a code=00B8 owner=000F element=011D universal=3FFF unitName="count" type=0D size=0004 fl=05 zD0zK*e code=011E elementURI="VerticalControl.dropWtDepthExcursion" type=01 *a code=00B9 owner=000F element=011E universal=3FFF unitName="meter" type=0B size=0003 fl=05 )zD0zA*e code=011F elementURI="VerticalControl.dropWtOverrideDelay" type=01 *a code=00BA owner=000F element=011F universal=3FFF unitName="minute" type=0B size=0003 fl=05 IzD0zC*e code=0120 elementURI="VerticalControl.elevDeadband" type=01 *a code=00BB owner=000F element=0120 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 izD0z5<*e code=0121 elementURI="VerticalControl.elevLimit" type=01 *a code=00BC owner=000F element=0121 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 zD0z >*e code=0122 elementURI="VerticalControl.elevTurnTime" type=01 *a code=00BD owner=000F element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=05 zD0z@*e 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owner=0017 element=0296 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )F/D0z*e code=0297 elementURI="ThrusterServo.accel" type=01 *a code=0232 owner=0017 element=0297 universal=3FFF unitName="none" type=1F size=0008 fl=05 IF4D0z?*e code=0298 elementURI="ThrusterServo.currLimit" type=01 *a code=0233 owner=0017 element=0298 universal=3FFF unitName="percent" type=0B size=0003 fl=05 iF9D0z?*e code=0299 elementURI="ThrusterServo.overloadTimeout" type=01 *a code=0234 owner=0017 element=0299 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 F=D0z?*e code=029A elementURI="ThrusterServo.pidW" type=01 *a code=0235 owner=0017 element=029A universal=3FFF unitName="count" type=0D size=0004 fl=05 F?D0z@*e code=029B elementURI="ThrusterServo.pidX" type=01 *a code=0236 owner=0017 element=029B universal=3FFF unitName="count" type=0D size=0004 fl=05 FAD0zd*e code=029C elementURI="ThrusterServo.pidY" type=01 *a code=0237 owner=0017 element=029C universal=3FFF unitName="count" type=0D size=0004 fl=05 FDD0z`*e code=029D elementURI="ThrusterServo.powerOnTimeout" type=01 *a code=0238 owner=0017 element=029D universal=3FFF unitName="second" type=0B size=0003 fl=05 GGD0z?*e code=029E elementURI="ThrusterServo.allowableBadVelocity" type=01 *a code=0239 owner=0017 element=029E universal=3FFF unitName="count" type=0D size=0004 fl=05 )GLD0z*e code=029F elementURI="ThrusterServo.deviation" type=01 *a code=023A owner=0017 element=029F universal=3FFF unitName="count" type=0D size=0004 fl=05 IGPD0z*e code=02A0 elementURI="ThrusterServo.encoderTks" type=01 *a code=023B owner=0017 element=02A0 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 iGSD0zB*e code=02A1 elementURI="ThrusterServo.tksPerRev" type=01 *a code=023C owner=0017 element=02A1 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 GWD0z@ƿD0zJLoaded Config Component "Config/ServoND0zVOpening Config file at: Config/Guidance.cfg*n code=0018 name="Config/Guidance" ND0zVOpening Config file at: Config/workSite.cfg*n code=0019 name="Config/workSite" *e code=02A2 elementURI="Config/workSite.initLat" type=00 *a code=023D owner=0019 element=02A2 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 GD0zG|; ?*e code=02A3 elementURI="Config/workSite.initLon" type=00 *a code=023E owner=0019 element=02A3 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 GD0zYZt*e code=02A4 elementURI="Config/workSite.startupScript" type=00 *a code=023F owner=0019 element=02A4 universal=3FFF unitName="none" type=00 size=0014 fl=05 GD0zMissions/Startup.xml*e code=02A5 elementURI="Config/workSite.defaultScript" type=00 *a code=0240 owner=0019 element=02A5 universal=3FFF unitName="none" type=00 size=0014 fl=05 HD0zMissions/Default.xml*e code=02A6 elementURI="Config/workSite.beaconLat" type=00 *a code=0241 owner=0019 element=02A6 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 )H D0zG|; ?*e code=02A7 elementURI="Config/workSite.beaconLon" type=00 *a code=0242 owner=0019 element=02A7 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 IH D0ztg!Eu*e code=02A8 elementURI="Config/workSite.beaconDepth" type=00 *a code=0243 owner=0019 element=02A8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 iHD0z9@ƿSD0zPLoaded Config Component "Config/workSiteNUD0zROpening Config file at: Config/Sensor.cfg*n code=001A name="Config/Sensor" *e code=02A9 elementURI="AHRS_3DMGX3.loadAtStartup" type=01 *a code=0244 owner=001A element=02A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 HaD0z*e code=02AA elementURI="AHRS_3DMGX3.simulateHardware" type=01 *a code=0245 owner=001A element=02AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 HcD0z*e code=02AB elementURI="AHRS_3DMGX3.magDeviation" type=01 *a code=0246 owner=001A element=02AB universal=3FFF unitName="degree" type=2F size=0004 fl=05 HfD0z*e code=02AC elementURI="AHRS_3DMGX3.pitchOffset" type=01 *a code=0247 owner=001A element=02AC universal=3FFF unitName="degree" type=2F size=0004 fl=05 HiD0z*e code=02AD elementURI="AHRS_3DMGX3.power" type=01 *a code=0248 owner=001A element=02AD universal=3FFF unitName="watt" type=0B size=0003 fl=05 IlD0z>*e code=02AE elementURI="AHRS_3DMGX3.rollOffset" type=01 *a code=0249 owner=001A element=02AE universal=3FFF unitName="degree" type=2F size=0004 fl=05 )IoD0z*e code=02AF elementURI="AHRS_M2.loadAtStartup" type=01 *a code=024A owner=001A element=02AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 IIqD0z*e code=02B0 elementURI="AHRS_M2.simulateHardware" type=01 *a code=024B owner=001A element=02B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iItD0z*e code=02B1 elementURI="AHRS_M2.boresightMatrix" type=01 *a code=024C owner=001A element=02B1 universal=3FFF unitName="none" type=00 size=002F fl=05 IxD0z/f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0*e code=02B2 elementURI="AHRS_M2.magDeviation" type=01 *a code=024D owner=001A element=02B2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 I{D0z*e code=02B3 elementURI="AHRS_M2.minNumPointsCal" type=01 *a code=024E owner=001A element=02B3 universal=3FFF unitName="count" type=0D size=0004 fl=05 ID0z*e code=02B4 elementURI="AHRS_M2.power" type=01 *a code=024F owner=001A element=02B4 universal=3FFF unitName="watt" type=0B size=0003 fl=05 ID0zu=*e code=02B5 elementURI="AHRS_M2.readAccelerations" type=01 *a code=0250 owner=001A element=02B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 JD0z*e code=02B6 elementURI="AHRS_M2.readAngularVelocities" type=01 *a code=0251 owner=001A element=02B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )JD0z*e code=02B7 elementURI="AHRS_M2.readMagnetics" type=01 *a code=0252 owner=001A element=02B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IJD0z*e code=02B8 elementURI="AHRS_M2.verbosity" type=01 *a code=0253 owner=001A element=02B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 iJD0z*e code=02B9 elementURI="AHRS_sp3003D.loadAtStartup" 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unitName="bool" type=02 size=0001 fl=05 IdD0z*e code=0388 elementURI="Turner_Cyclops_rhodamine.concentrationStandard" type=01 *a code=0323 owner=001B element=0388 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 idD0z+2*e code=0389 elementURI="Turner_Cyclops_rhodamine.maxBound" type=01 *a code=0324 owner=001B element=0389 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 dD0z8*e code=038A elementURI="Turner_Cyclops_rhodamine.minBound" type=01 *a code=0325 owner=001B element=038A universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 dD0z*e code=038B elementURI="Turner_Cyclops_rhodamine.scale" type=01 *a code=0326 owner=001B element=038B universal=3FFF unitName="microvolt" type=0B size=0003 fl=05 dD0z6*e code=038C elementURI="Turner_Cyclops_rhodamine.serial" type=01 *a code=0327 owner=001B element=038C universal=3FFF unitName="none" type=00 size=0003 fl=05 dD0zTBD*e code=038D elementURI="Turner_Cyclops_rhodamine.voltageBlank" type=01 *a code=0328 owner=001B element=038D universal=3FFF unitName="volt" type=0B size=0003 fl=05 eD0z>*e code=038E elementURI="Turner_Cyclops_rhodamine.voltageStandard" type=01 *a code=0329 owner=001B element=038E universal=3FFF unitName="volt" type=0B size=0003 fl=05 )eD0z?*e code=038F elementURI="Turbulence_NPS.loadAtStartup" type=01 *a code=032A owner=001B element=038F universal=3FFF unitName="bool" type=02 size=0001 fl=05 IeD0z*e code=0390 elementURI="Turbulence_NPS.simulateHardware" type=01 *a code=032B owner=001B element=0390 universal=3FFF unitName="bool" type=02 size=0001 fl=05 ieD0z*e code=0391 elementURI="Turbulence_NPS.power" type=01 *a code=032C owner=001B element=0391 universal=3FFF unitName="watt" type=0B size=0003 fl=05 eD0z@*e code=0392 elementURI="VemcoVR2C.loadAtStartup" type=01 *a code=032D owner=001B element=0392 universal=3FFF unitName="bool" type=02 size=0001 fl=05 eD0z*e code=0393 elementURI="VemcoVR2C.simulateHardware" type=01 *a code=032E owner=001B element=0393 universal=3FFF unitName="bool" type=02 size=0001 fl=05 eD0z*e code=0394 elementURI="VemcoVR2C0.power" type=01 *a code=032F owner=001B element=0394 universal=3FFF unitName="watt" type=0B size=0003 fl=05 eD0zQ8>*e code=0395 elementURI="WetLabsBB2FL.loadAtStartup" type=01 *a code=0330 owner=001B element=0395 universal=3FFF unitName="bool" type=02 size=0001 fl=05 fD0z*e code=0396 elementURI="WetLabsBB2FL.simulateHardware" type=01 *a code=0331 owner=001B element=0396 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )fD0z*e code=0397 elementURI="WetLabsBB2FL.chlAccuracy" type=01 *a code=0332 owner=001B element=0397 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 IfD0z*e code=0398 elementURI="WetLabsBB2FL.darkCounts470" type=01 *a code=0333 owner=001B element=0398 universal=3FFF unitName="count" type=0D size=0004 fl=05 ifD0z*e code=0399 elementURI="WetLabsBB2FL.darkCounts650" type=01 *a code=0334 owner=001B element=0399 universal=3FFF unitName="count" type=0D size=0004 fl=05 fD0z*e code=039A elementURI="WetLabsBB2FL.darkCountsChl" type=01 *a code=0335 owner=001B element=039A universal=3FFF unitName="count" type=0D size=0004 fl=05 f‰D0z*e code=039B elementURI="WetLabsBB2FL.power" type=01 *a code=0336 owner=001B element=039B universal=3FFF unitName="watt" type=0B size=0003 fl=05 fĉD0z@?*e code=039C elementURI="WetLabsBB2FL.scaleFactor470" type=01 *a code=0337 owner=001B element=039C universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 fljD0z*e code=039D elementURI="WetLabsBB2FL.scaleFactor650" type=01 *a code=0338 owner=001B element=039D universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 gɉD0z*e code=039E elementURI="WetLabsBB2FL.scaleFactorChl" type=01 *a code=0339 owner=001B element=039E universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 )gˉD0z*e code=039F elementURI="WetLabsBB2FL.serial" type=01 *a code=033A owner=001B element=039F universal=3FFF unitName="none" type=00 size=0000 fl=05 Ig͉D0z*e code=03A0 elementURI="WetLabsSeaOWL_UV_A.loadAtStartup" type=01 *a code=033B owner=001B element=03A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 igωD0z*e code=03A1 elementURI="WetLabsSeaOWL_UV_A.simulateHardware" type=01 *a code=033C owner=001B element=03A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 g҉D0z*e code=03A2 elementURI="WetLabsSeaOWL_UV_A.chlAccuracy" type=01 *a code=033D owner=001B element=03A2 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 gԉD0z5*e code=03A3 elementURI="WetLabsSeaOWL_UV_A.darkCounts700" type=01 *a code=033E owner=001B element=03A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 g։D0z0*e code=03A4 elementURI="WetLabsSeaOWL_UV_A.darkCountsChl" type=01 *a code=033F owner=001B element=03A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 gىD0z2*e code=03A5 elementURI="WetLabsSeaOWL_UV_A.darkCountsFDOM" type=01 *a code=0340 owner=001B element=03A5 universal=3FFF unitName="count" type=0D size=0004 fl=05 hۉD0z2*e code=03A6 elementURI="WetLabsSeaOWL_UV_A.darkCountsOil" type=01 *a code=0341 owner=001B element=03A6 universal=3FFF unitName="count" type=0D size=0004 fl=05 )h݉D0z2*e code=03A7 elementURI="WetLabsSeaOWL_UV_A.fdomAccuracy" type=01 *a code=0342 owner=001B element=03A7 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 IhD0z 2*e code=03A8 elementURI="WetLabsSeaOWL_UV_A.oilAccuracy" type=01 *a code=0343 owner=001B element=03A8 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 ihD0zcw1*e code=03A9 elementURI="WetLabsSeaOWL_UV_A.period" type=01 *a code=0344 owner=001B element=03A9 universal=3FFF unitName="second" type=0B size=0003 fl=05 hD0z>*e code=03AA elementURI="WetLabsSeaOWL_UV_A.power" type=01 *a code=0345 owner=001B element=03AA universal=3FFF unitName="watt" type=0B size=0003 fl=05 hD0z@?*e code=03AB elementURI="WetLabsSeaOWL_UV_A.scaleFactor700" type=01 *a code=0346 owner=001B element=03AB universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 hD0z4*e code=03AC elementURI="WetLabsSeaOWL_UV_A.scaleFactorChl" type=01 *a code=0347 owner=001B element=03AC universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 hD0z6;*e code=03AD elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *a code=0348 owner=001B element=03AD universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 iD0zm-*e code=03AE elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *a code=0349 owner=001B element=03AE universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 )iD0zj@1*e code=03AF elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *a code=034A owner=001B element=03AF universal=3FFF unitName="none" type=00 size=0000 fl=05 IiD0z*e code=03B0 elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *a code=034B owner=001B element=03B0 universal=3FFF unitName="second" type=0B size=0003 fl=05 iiD0zpA*e code=03B1 elementURI="WetLabsUBAT.loadAtStartup" type=01 *a code=034C owner=001B element=03B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iD0z*e code=03B2 elementURI="WetLabsUBAT.simulateHardware" type=01 *a code=034D owner=001B element=03B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iD0z*e code=03B3 elementURI="WetLabsUBAT.emulateHardware" type=01 *a code=034E owner=001B element=03B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 iD0z*e code=03B4 elementURI="WetLabsUBAT.serial" type=01 *a code=034F owner=001B element=03B4 universal=3FFF unitName="none" type=00 size=0008 fl=05 iD0zUBAT0051*e code=03B5 elementURI="WetLabsUBAT.optionalArgs" type=01 *a code=0350 owner=001B element=03B5 universal=3FFF unitName="none" type=00 size=0020 fl=05 jD0z -ldir /mnt/mmc/LRAUV/Logs/latestƿFD0zNLoaded Config Component "Config/ScienceNHD0zxLooking for Config files in directory: Config/lrauv-whoidhs/NJD0zpOpening Config file at: Config/lrauv-whoidhs/vehicle.cfgdVD0zwhoidhst?XD0z[D0zff66FF66\D0z9228]D0z173298?_D0z?bD0zdD0z /dev/ttyTX0?eD0zgD0z /dev/ttyTX2?hD0ziiD0z /dev/loadC7kD0z /dev/ttyC7?lD0zmD0z /dev/loadC6 oD0z /dev/ttyC6)?pD0z*e code=03B6 elementURI="DUSBL_Hydroid.loadControl" type=01 *a code=0351 owner=000D element=03B6 universal=3FFF unitName="none" type=00 size=000B fl=05 )jtD0z /dev/loadC4*e code=03B7 elementURI="DUSBL_Hydroid.uart" type=01 *a code=0352 owner=000D element=03B7 universal=3FFF unitName="none" type=00 size=000A fl=05 IjwD0z /dev/ttyC4*e code=03B8 elementURI="DUSBL_Hydroid.baud" type=01 *a code=0353 owner=000D element=03B8 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 ijzD0z @ {D0z /dev/loadC3)|D0z /dev/ttyC3I?~D0zD0z /dev/loadC2D0z /dev/ttyC2 ?D0z) D0z /dev/loadC0I D0z/dev/mcp3553C0i ?D0z ?D0z ?D0zI D0z /dev/loadB7i D0z /dev/ttyS2 ?D0zI D0z /dev/loadB6i D0z /dev/loadB2 D0z /dev/ttyB2*e code=03B9 elementURI="RDI_PathfinderUp.loadControl" type=01 *a code=0354 owner=000D element=03B9 universal=3FFF unitName="none" type=00 size=000B fl=05 jD0z /dev/loadB1*e code=03BA elementURI="RDI_PathfinderUp.uart" type=01 *a code=0355 owner=000D element=03BA universal=3FFF unitName="none" type=00 size=000A fl=05 jD0z /dev/ttyB1*e code=03BB elementURI="RDI_PathfinderUp.baud" type=01 *a code=0356 owner=000D element=03BB universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 jD0z @D0z /dev/loadB0D0z/dev/mcp3553B0?D0z?D0z ?D0z*e code=03BC elementURI="GobyModem.loadControl" type=01 *a code=0357 owner=000D element=03BC universal=3FFF unitName="none" type=00 size=000B fl=05 jD0z /dev/loadA7*e code=03BD elementURI="GobyModem.uart" type=01 *a code=0358 owner=000D element=03BD universal=3FFF unitName="none" type=00 size=000A fl=05 kD0z /dev/ttyA5*e code=03BE elementURI="GobyModem.baud" type=01 *a code=0359 owner=000D element=03BE universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 )kD0z@*e code=03BF elementURI="Micromodem.loadControl" type=01 *a code=035A owner=000D element=03BF universal=3FFF unitName="none" type=00 size=000B fl=05 IkD0z /dev/loadA7*e code=03C0 elementURI="Micromodem.loadControl2" type=01 *a code=035B owner=000D element=03C0 universal=3FFF unitName="none" type=00 size=000B fl=05 ikD0z /dev/loadB3*e code=03C1 elementURI="Micromodem.uart" type=01 *a code=035C owner=000D element=03C1 universal=3FFF unitName="none" type=00 size=000A fl=05 kD0z /dev/ttyA7*e code=03C2 elementURI="Micromodem.baud" type=01 *a code=035D owner=000D element=03C2 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 kD0z@ D0z /dev/loadA5 D0z /dev/ttyA5) ?D0z ÊD0z /dev/loadA4 ĊD0z /dev/ttyA4 ?ŊD0zNJD0z /dev/loadA3ȊD0z /dev/ttyA3 ?ɊD0zˊD0z /dev/loadA2̊D0z /dev/ttyA2?͊D0zϊD0z /dev/loadA1ЊD0z /dev/ttyA1?ъD0zND0zpOpening Config file at: Config/lrauv-whoidhs/Control.cfg!D0z$D0z9&D0zBi(D0z8*e code=03C3 elementURI="VeritcalControl.buoyancyLimitHiCC" type=01 *a code=035E owner=000F element=03C3 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 k,D0z:).D0z?:I1D0z;3D0z+=5D0z9NzD0zhOpening Config file at: Config/lrauv-whoidhs/BIT.cfg) ?D0zI D0zi D0zWC D0zC!D0z !D0z A)#D0zZ49#?D0z)$D0z2.6.27.8I$D0z'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018i$?D0zN D0zpOpening Config file at: Config/lrauv-whoidhs/Battery.cfg*n code=001C name="Config/Battery" *e code=03C4 elementURI="Config/Battery.stick1" type=00 *a code=035F owner=001C element=03C4 universal=3FFF unitName="none" type=00 size=0004 fl=05 kD0z0165*e code=03C5 elementURI="Config/Battery.stick2" type=00 *a code=0360 owner=001C element=03C5 universal=3FFF unitName="none" type=00 size=0004 fl=05 lD0z0135*e code=03C6 elementURI="Config/Battery.stick3" type=00 *a code=0361 owner=001C element=03C6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )lD0z0149*e code=03C7 elementURI="Config/Battery.stick4" type=00 *a code=0362 owner=001C element=03C7 universal=3FFF unitName="none" type=00 size=0004 fl=05 IlD0z0146*e code=03C8 elementURI="Config/Battery.stick5" type=00 *a code=0363 owner=001C element=03C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 il D0z013D*e code=03C9 elementURI="Config/Battery.stick6" type=00 *a code=0364 owner=001C element=03C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 l"D0z014D*e code=03CA elementURI="Config/Battery.stick7" type=00 *a code=0365 owner=001C element=03CA universal=3FFF unitName="none" type=00 size=0004 fl=05 l%D0z0156*e code=03CB elementURI="Config/Battery.stick8" type=00 *a code=0366 owner=001C element=03CB universal=3FFF unitName="none" type=00 size=0004 fl=05 l'D0z0133*e code=03CC elementURI="Config/Battery.stick9" type=00 *a code=0367 owner=001C element=03CC universal=3FFF unitName="none" type=00 size=0004 fl=05 l)D0z0131*e code=03CD elementURI="Config/Battery.stick10" type=00 *a code=0368 owner=001C element=03CD universal=3FFF unitName="none" type=00 size=0004 fl=05 m,D0z0145*e code=03CE elementURI="Config/Battery.stick11" type=00 *a code=0369 owner=001C element=03CE universal=3FFF unitName="none" type=00 size=0004 fl=05 )m.D0z014A*e code=03CF elementURI="Config/Battery.stick12" type=00 *a code=036A owner=001C element=03CF universal=3FFF unitName="none" type=00 size=0004 fl=05 Im0D0z013C*e code=03D0 elementURI="Config/Battery.stick13" type=00 *a code=036B owner=001C element=03D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 im3D0z013B*e code=03D1 elementURI="Config/Battery.stick14" type=00 *a code=036C owner=001C element=03D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 m5D0z0132*e code=03D2 elementURI="Config/Battery.stick15" type=00 *a code=036D owner=001C element=03D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 m7D0z0134*e code=03D3 elementURI="Config/Battery.stick16" type=00 *a code=036E owner=001C element=03D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 m9D0z0153*e code=03D4 elementURI="Config/Battery.stick17" type=00 *a code=036F owner=001C element=03D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 mD0z013A*e code=03D6 elementURI="Config/Battery.stick19" type=00 *a code=0371 owner=001C element=03D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )n@D0z0136*e code=03D7 elementURI="Config/Battery.stick20" type=00 *a code=0372 owner=001C element=03D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 InBD0z014F*e code=03D8 elementURI="Config/Battery.stick21" type=00 *a code=0373 owner=001C element=03D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 inED0z014E*e code=03D9 elementURI="Config/Battery.stick22" type=00 *a code=0374 owner=001C element=03D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 nGD0z013F*e code=03DA elementURI="Config/Battery.stick23" type=00 *a code=0375 owner=001C element=03DA universal=3FFF unitName="none" type=00 size=0004 fl=05 nID0z0152*e code=03DB elementURI="Config/Battery.stick24" type=00 *a code=0376 owner=001C element=03DB universal=3FFF unitName="none" type=00 size=0004 fl=05 nKD0z014C*e code=03DC elementURI="Config/Battery.stick25" type=00 *a code=0377 owner=001C element=03DC universal=3FFF unitName="none" type=00 size=0004 fl=05 nND0z016B*e code=03DD elementURI="Config/Battery.stick26" type=00 *a code=0378 owner=001C element=03DD universal=3FFF unitName="none" type=00 size=0004 fl=05 oPD0z0141*e code=03DE elementURI="Config/Battery.stick27" type=00 *a code=0379 owner=001C element=03DE universal=3FFF unitName="none" type=00 size=0004 fl=05 )oRD0z0139*e code=03DF elementURI="Config/Battery.stick28" type=00 *a code=037A owner=001C element=03DF universal=3FFF unitName="none" type=00 size=0004 fl=05 IoUD0z0137*e code=03E0 elementURI="Config/Battery.stick29" type=00 *a code=037B owner=001C element=03E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 ioWD0z0142*e code=03E1 elementURI="Config/Battery.stick30" type=00 *a code=037C owner=001C element=03E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 oYD0z013E*e code=03E2 elementURI="Config/Battery.stick31" type=00 *a code=037D owner=001C element=03E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 o\D0z0147*e code=03E3 elementURI="Config/Battery.stick32" type=00 *a code=037E owner=001C element=03E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 o_D0z0140*e code=03E4 elementURI="Config/Battery.stick33" type=00 *a code=037F owner=001C element=03E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 oaD0z0163*e code=03E5 elementURI="Config/Battery.stick34" type=00 *a code=0380 owner=001C element=03E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 pcD0z0157*e code=03E6 elementURI="Config/Battery.stick35" type=00 *a code=0381 owner=001C element=03E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )pfD0z0159*e code=03E7 elementURI="Config/Battery.stick36" type=00 *a code=0382 owner=001C element=03E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 IphD0z016E*e code=03E8 elementURI="Config/Battery.stick37" type=00 *a code=0383 owner=001C element=03E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 ipjD0z0160*e code=03E9 elementURI="Config/Battery.stick38" type=00 *a code=0384 owner=001C element=03E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 plD0z015C*e code=03EA elementURI="Config/Battery.stick39" type=00 *a code=0385 owner=001C element=03EA universal=3FFF unitName="none" type=00 size=0004 fl=05 poD0z016D*e code=03EB elementURI="Config/Battery.stick40" type=00 *a code=0386 owner=001C element=03EB universal=3FFF unitName="none" type=00 size=0004 fl=05 pqD0z012D*e code=03EC elementURI="Config/Battery.stick41" type=00 *a code=0387 owner=001C element=03EC universal=3FFF unitName="none" type=00 size=0004 fl=05 psD0z015E*e code=03ED elementURI="Config/Battery.stick42" type=00 *a code=0388 owner=001C element=03ED universal=3FFF unitName="none" type=00 size=0004 fl=05 quD0z0164*e code=03EE elementURI="Config/Battery.stick43" type=00 *a code=0389 owner=001C element=03EE universal=3FFF unitName="none" type=00 size=0004 fl=05 )qxD0z015B*e code=03EF elementURI="Config/Battery.stick44" type=00 *a code=038A owner=001C element=03EF universal=3FFF unitName="none" type=00 size=0004 fl=05 IqzD0z0172*e code=03F0 elementURI="Config/Battery.stick45" type=00 *a code=038B owner=001C element=03F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 iq|D0z0166*e code=03F1 elementURI="Config/Battery.stick46" type=00 *a code=038C owner=001C element=03F1 universal=3FFF unitName="none" type=00 size=0004 fl=05 q~D0z0170*e code=03F2 elementURI="Config/Battery.stick47" type=00 *a code=038D owner=001C element=03F2 universal=3FFF unitName="none" type=00 size=0004 fl=05 qD0z0148*e code=03F3 elementURI="Config/Battery.stick48" type=00 *a code=038E owner=001C element=03F3 universal=3FFF unitName="none" type=00 size=0004 fl=05 qD0z0130*e code=03F4 elementURI="Config/Battery.stick49" type=00 *a code=038F owner=001C element=03F4 universal=3FFF unitName="none" type=00 size=0004 fl=05 qD0z0169*e code=03F5 elementURI="Config/Battery.stick50" type=00 *a code=0390 owner=001C element=03F5 universal=3FFF unitName="none" type=00 size=0004 fl=05 rD0z0158*e code=03F6 elementURI="Config/Battery.stick51" type=00 *a code=0391 owner=001C element=03F6 universal=3FFF unitName="none" type=00 size=0004 fl=05 )rD0z0162*e code=03F7 elementURI="Config/Battery.stick52" type=00 *a code=0392 owner=001C element=03F7 universal=3FFF unitName="none" type=00 size=0004 fl=05 IrD0z0150*e code=03F8 elementURI="Config/Battery.stick53" type=00 *a code=0393 owner=001C element=03F8 universal=3FFF unitName="none" type=00 size=0004 fl=05 irD0z015F*e code=03F9 elementURI="Config/Battery.stick54" type=00 *a code=0394 owner=001C element=03F9 universal=3FFF unitName="none" type=00 size=0004 fl=05 rD0z0171*e code=03FA elementURI="Config/Battery.stick55" type=00 *a code=0395 owner=001C element=03FA universal=3FFF unitName="none" type=00 size=0004 fl=05 rD0z0143*e code=03FB elementURI="Config/Battery.stick56" type=00 *a code=0396 owner=001C element=03FB universal=3FFF unitName="none" type=00 size=0004 fl=05 rD0z0144*e code=03FC elementURI="Config/Battery.stick57" type=00 *a code=0397 owner=001C element=03FC universal=3FFF unitName="none" type=00 size=0004 fl=05 rD0z016A*e code=03FD elementURI="Config/Battery.stick58" type=00 *a code=0398 owner=001C element=03FD universal=3FFF unitName="none" type=00 size=0004 fl=05 sD0z0155*e code=03FE elementURI="Config/Battery.stick59" type=00 *a code=0399 owner=001C element=03FE universal=3FFF unitName="none" type=00 size=0004 fl=05 )sD0z0151*e code=03FF elementURI="Config/Battery.stick60" type=00 *a code=039A owner=001C element=03FF universal=3FFF unitName="none" type=00 size=0004 fl=05 IsD0z0154*e code=0400 elementURI="Config/Battery.stick61" type=00 *a code=039B owner=001C element=0400 universal=3FFF unitName="none" type=00 size=0004 fl=05 isD0z0161*e code=0401 elementURI="Config/Battery.stick62" type=00 *a code=039C owner=001C element=0401 universal=3FFF unitName="none" type=00 size=0004 fl=05 sD0z0138ƿD0zNLoaded Config Component "Config/BatteryND0ztOpening Config file at: Config/lrauv-whoidhs/Simulator.cfg$?D0z %D0zN>D0zvOpening Config file at: Config/lrauv-whoidhs/Navigation.cfg5?HD0z5JD0zdI6?LD0z6MD0zdI9?OD0z8?QD0z7RD0z 7?TD0zND0znOpening Config file at: Config/lrauv-whoidhs/logger.cfgND0znOpening Config file at: Config/lrauv-whoidhs/secure.cfgi>D0zlrauv-whoidhs.shore.mbari.org>D0z300234065063620>D0zHde`3XNKD0zlOpening Config file at: Config/lrauv-whoidhs/Servo.cfg>?UD0z ?WD0zi?YD0z%?\D0z)A]D0zQ9IA?_D0ziA`D0zAcD0z?IB?dD0zB?eD0z CgD0ziD?hD0zDiD0zDlD0z?iE?mD0z F?oD0z)FpD0ziFsD0z>ND0znOpening Config file at: Config/lrauv-whoidhs/Sensor.cfgIIŎD0ziIƎD0zIʎD0z,f1.0 f0.0 f0.0 f0.0 f1.0 f0.0 f0.0 f0.0 f1.0IL?͎D0ziLΎD0z M?ЎD0z)M?ҎD0zIMԎD0z BiM?֎D0zMَD0zpBM?ݎD0zO?ގD0z PD0z)P?D0zIP?D0ziPD0zPFPD0z?8P?D0zPD0z QD0ziND0zND0zQ?D0zQD0z RD0zbenthos_atm900)RD0z0IR?D0ziR?D0zRD0zRD0zRD0zR?D0z SD0zS?D0zS? D0z T D0z)T D0zڢ@IT D0z$ciTD0z(#.TD0zŏ1w-!O?T?D0zTD0zFT?D0ziUD0zUD0z UD0z)UD0ziV?D0zVD0z*e code=0402 elementURI="Radio_Surface.maxDepth" type=01 *a code=039D owner=001A element=0402 universal=3FFF unitName="meter" type=0B size=0003 fl=05 s!D0z?V?#D0zV$D0zV&D0z W'D0z)W?(D0zNpD0zpOpening Config file at: Config/lrauv-whoidhs/Science.cfgI[?zD0zi[|D0z[?}D0z[~D0zI\?D0zi\D0z\?D0z\?D0z ]D0z\?D0z\?D0zbD0z cD0z dD0zUWQ8594)c?D0zIcD0zfcD0z7C fD0zigD0zgD0zg?D0zg?D0zg?D0z h?D0z)h?D0zIh?D0zih?D0zh?D0zh?D0zh?D0zh?D0z i?D0z)i?D0zIiD0zii?D0z^#D0znReading configuration overrides from Data/persisted.cfgN&D0zS)D0z,D0zFLoading Module at Modules/Sensor.so*n code=001D name="AHRS_M2" *a code=039E owner=001D element=02B0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=039F owner=001D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03A0 owner=001D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03A1 owner=001D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0403 elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *a code=03A2 owner=001D element=0403 universal=0031 unitName="radian" type=2F size=0004 fl=05 *e code=0404 elementURI="AHRS_M2.platform_pitch_angle" type=00 *a code=03A3 owner=001D element=0404 universal=0035 unitName="radian" type=2F size=0004 fl=05 *e code=0405 elementURI="AHRS_M2.platform_roll_angle" type=00 *a code=03A4 owner=001D element=0405 universal=003A unitName="radian" type=2F size=0004 fl=05 *e code=0406 elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *a code=03A5 owner=001D element=0406 universal=0034 unitName="none" type=00 size=0000 fl=05 *e code=0407 elementURI="AHRS_M2.platform_orientation" type=00 *a code=03A6 owner=001D element=0407 universal=0033 unitName="radian" type=2F size=0004 fl=05 *e code=0408 elementURI="AHRS_M2.calibration_state" type=02 *a code=03A7 owner=001D element=0408 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0409 elementURI="AHRS_M2.orientation_error" type=02 *a code=03A8 owner=001D element=0409 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=040A elementURI="AHRS_M2.orientation" type=02 *a code=03A9 owner=001D element=040A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=040B elementURI="AHRS_M2.temperature" type=02 *a code=03AA owner=001D element=040B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=040C elementURI="AHRS_M2.magnetic_field_along_x_axis" type=02 *a code=03AB owner=001D element=040C universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=040D elementURI="AHRS_M2.magnetic_field_along_y_axis" type=02 *a code=03AC owner=001D element=040D universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=040E elementURI="AHRS_M2.magnetic_field_along_z_axis" type=02 *a code=03AD owner=001D element=040E universal=3FFF unitName="milligauss" type=0B size=0003 fl=05 *e code=040F elementURI="AHRS_M2.acceleration_along_x_axis" type=02 *a code=03AE owner=001D element=040F universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=0410 elementURI="AHRS_M2.acceleration_along_y_axis" type=02 *a code=03AF owner=001D element=0410 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=0411 elementURI="AHRS_M2.acceleration_along_z_axis" type=02 *a code=03B0 owner=001D element=0411 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=0412 elementURI="AHRS_M2.angular_velocity_along_x_axis" type=02 *a code=03B1 owner=001D element=0412 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *e code=0413 elementURI="AHRS_M2.angular_velocity_along_y_axis" type=02 *a code=03B2 owner=001D element=0413 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *e code=0414 elementURI="AHRS_M2.angular_velocity_along_z_axis" type=02 *a code=03B3 owner=001D element=0414 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *e code=0415 elementURI="AHRS_M2.number_of_calbration_points" type=02 *a code=03B4 owner=001D element=0415 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03B5 owner=001D element=02B1 universal=3FFF unitName="none" type=00 size=002C fl=04 *a code=03B6 owner=001D element=02B2 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=03B7 owner=001D element=02B3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03B8 owner=001D element=02B5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03B9 owner=001D element=02B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03BA owner=001D element=02B7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03BB owner=001D element=02B8 universal=3FFF unitName="count" type=0D size=0004 fl=04 qD0zƿD0zlSyncComponent "AHRS_M2" handled in the control thread.*n code=001E name="DataOverHttps" *e code=0416 elementURI="DataOverHttps.platform_communications" type=00 *a code=03BC owner=001E element=0416 universal=0029 unitName="bool" type=02 size=0001 fl=05 Y D0z*e code=0417 elementURI="Radio_Surface.radio_surface_power" type=02 *a code=03BD owner=001E element=0417 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03BE owner=001E element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03BF owner=001E element=02CE universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=03C0 owner=001E element=02CF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=03C1 owner=001E element=02D1 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=03C2 owner=001E element=02D2 universal=3FFF unitName="count" type=0D size=0004 fl=04 D0zƿD0zhComponent "DataOverHttps" handled in its own thread.*n code=001F name="DataOverHttps ThreadHandler" D0zDCreated PCaller Thread at 4075B4E0D0zBProtected caller Thread ID is 887*n code=0020 name="Depth_Keller" *a code=03C3 owner=0020 element=02E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03C4 owner=0020 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0418 elementURI="Depth_Keller.depth" type=00 *a code=03C5 owner=0020 element=0418 universal=0006 unitName="meter" type=0B size=0003 fl=05 *e code=0419 elementURI="Depth_Keller.sea_water_pressure" type=00 *a code=03C6 owner=0020 element=0419 universal=0058 unitName="decibar" type=0B size=0003 fl=05 eD0zHC*a code=03C7 owner=0020 element=02E8 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=03C8 owner=0020 element=02EA universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=03C9 owner=0020 element=02E6 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=03CA owner=0020 element=02E7 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 1D0zƿD0zvSyncComponent "Depth_Keller" handled in the control thread.*n code=0021 name="DropWeight" *e code=041A elementURI="DropWeight.dropWeightState" type=02 *a code=03CB owner=0021 element=041A universal=3FFF unitName="bool" type=02 size=0001 fl=05 qD0zƿD0zrSyncComponent "DropWeight" handled in the control thread.*n code=0022 name="DUSBL_Hydroid" *a code=03CC owner=0022 element=02D9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03CD owner=0022 element=02E1 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03CE owner=0022 element=02DE universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=03CF owner=0022 element=02DD universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=03D0 owner=0022 element=02DC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03D1 owner=0022 element=02E2 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=03D2 owner=0022 element=02E3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=03D3 owner=0022 element=02DB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=03D4 owner=0022 element=02DA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=03D5 owner=0022 element=02DF universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=03D6 owner=0022 element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03D7 owner=0022 element=005F universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=041B elementURI="Micromodem.dusblPingCode" type=02 *a code=03D8 owner=0022 element=041B universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=041C elementURI="DUSBL_Hydroid.xAngle" type=02 *a code=03D9 owner=0022 element=041C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=041D elementURI="DUSBL_Hydroid.yAngle" type=02 *a code=03DA owner=0022 element=041D universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *e code=041E elementURI="DUSBL_Hydroid.travelTime" type=02 *a code=03DB owner=0022 element=041E universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=041F elementURI="DUSBL_Hydroid.latency" type=02 *a code=03DC owner=0022 element=041F universal=3FFF unitName="microsecond" type=0B size=0003 fl=05 *e code=0420 elementURI="DUSBL_Hydroid.gain" type=02 *a code=03DD owner=0022 element=0420 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=0421 elementURI="DUSBL_Hydroid.inBandSignalToNoise" type=02 *a code=03DE owner=0022 element=0421 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=0422 elementURI="DUSBL_Hydroid.outBandSignalToNoise" type=02 *a code=03DF owner=0022 element=0422 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *e code=0423 elementURI="DUSBL_Hydroid.acoustic_contact_range" type=00 *a code=03E0 owner=0022 element=0423 universal=0004 unitName="meter" type=0B size=0003 fl=05 *e code=0424 elementURI="DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=03E1 owner=0022 element=0424 universal=0002 unitName="none" type=00 size=0000 fl=05 *e code=0425 elementURI="DUSBL_Hydroid.acoustic_contact_address" type=00 *a code=03E2 owner=0022 element=0425 universal=0003 unitName="enum" type=02 size=0001 fl=05  D0zƿ D0zxSyncComponent "DUSBL_Hydroid" handled in the control thread.*n code=0023 name="Micromodem" *a code=03E3 owner=0023 element=02FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03E4 owner=0023 element=02FB universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0426 elementURI="Micromodem.queryAddressRequested" type=02 *a code=03E5 owner=0023 element=0426 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0427 elementURI="Micromodem.numberOfPingsRequested" type=02 *a code=03E6 owner=0023 element=0427 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=03E7 owner=0023 element=041B universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0428 elementURI="Micromodem.acoustic_wakeup" type=02 *a code=03E8 owner=0023 element=0428 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0429 elementURI="Micromodem.acoustic_receive_time" type=00 *a code=03E9 owner=0023 element=0429 universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 *e code=042A elementURI="Micromodem.acoustic_transmit_time" type=00 *a code=03EA owner=0023 element=042A universal=0001 unitName="epoch_second" type=0B size=0003 fl=05 *e code=042B elementURI="Micromodem.range_request" type=02 *a code=03EB owner=0023 element=042B universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=042C elementURI="Micromodem.remote_address" type=02 *a code=03EC owner=0023 element=042C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=042D elementURI="Micromodem.local_address" type=02 *a code=03ED owner=0023 element=042D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=042E elementURI="Micromodem.range" type=02 *a code=03EE owner=0023 element=042E universal=3FFF unitName="meter" type=0B size=0003 fl=05 2D0zƿ2D0zrSyncComponent "Micromodem" handled in the control thread.*n code=0024 name="NAL9602" *a code=03EF owner=0024 element=02FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=03F0 owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03F1 owner=0024 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=03F2 owner=0024 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=042F elementURI="NAL9602.SNRSatellite_0" type=00 *a code=03F3 owner=0024 element=042F universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0430 elementURI="NAL9602.SNRSatellite_1" type=00 *a code=03F4 owner=0024 element=0430 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0431 elementURI="NAL9602.SNRSatellite_2" type=00 *a code=03F5 owner=0024 element=0431 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0432 elementURI="NAL9602.SNRSatellite_3" type=00 *a code=03F6 owner=0024 element=0432 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0433 elementURI="NAL9602.SNRSatellite_4" type=00 *a code=03F7 owner=0024 element=0433 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0434 elementURI="NAL9602.SNRSatellite_5" type=00 *a code=03F8 owner=0024 element=0434 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0435 elementURI="NAL9602.SNRSatellite_6" type=00 *a code=03F9 owner=0024 element=0435 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0436 elementURI="NAL9602.SNRSatellite_7" type=00 *a code=03FA owner=0024 element=0436 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0437 elementURI="NAL9602.SNRSatellite_8" type=00 *a code=03FB owner=0024 element=0437 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0438 elementURI="NAL9602.SNRSatellite_9" type=00 *a code=03FC owner=0024 element=0438 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0439 elementURI="NAL9602.SNRSatellite_10" type=00 *a code=03FD owner=0024 element=0439 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043A elementURI="NAL9602.SNRSatellite_11" type=00 *a code=03FE owner=0024 element=043A universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043B elementURI="NAL9602.goodFix" type=02 *a code=03FF owner=0024 element=043B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=043C elementURI="NAL9602.numSatellites" type=02 *a code=0400 owner=0024 element=043C universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043D elementURI="NAL9602.sigQuality" type=02 *a code=0401 owner=0024 element=043D universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=043E elementURI="NAL9602.SOG" type=02 *a code=0402 owner=0024 element=043E universal=3FFF unitName="knot" type=0B size=0003 fl=05 *e code=043F elementURI="NAL9602.COG" type=02 *a code=0403 owner=0024 element=043F universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0440 elementURI="NAL9602.time_fix" type=00 *a code=0404 owner=0024 element=0440 universal=0063 unitName="second" type=1F size=0008 fl=05 *e code=0441 elementURI="NAL9602.latitude_fix" type=00 *a code=0405 owner=0024 element=0441 universal=0018 unitName="degree" type=37 size=0006 fl=05  D0z;4*e code=0442 elementURI="NAL9602.longitude_fix" type=00 *a code=0406 owner=0024 element=0442 universal=001B unitName="degree" type=37 size=0006 fl=05  D0z;4*e code=0443 elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *a code=0407 owner=0024 element=0443 universal=0019 unitName="degree" type=00 size=0000 fl=05  D0z;4*e code=0444 elementURI="NAL9602.platform_communications" type=00 *a code=0408 owner=0024 element=0444 universal=0029 unitName="bool" type=02 size=0001 fl=05 *a code=0409 owner=0024 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=040A owner=0024 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=040B owner=0024 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=040C owner=0024 element=02FE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=040D owner=0024 element=02FF universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=040E owner=0024 element=0302 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=040F owner=0024 element=0303 universal=3FFF unitName="bool" type=02 size=0001 fl=04 1 D0zƿD0zlSyncComponent "NAL9602" handled in the control thread.*n code=0025 name="Onboard" *a code=0410 owner=0025 element=0305 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0445 elementURI="Onboard.Pressure" type=02 *a code=0411 owner=0025 element=0445 universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *e code=0446 elementURI="Onboard.Temperature" type=02 *a code=0412 owner=0025 element=0446 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0447 elementURI="Onboard.Humidity" type=02 *a code=0413 owner=0025 element=0447 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0414 owner=0025 element=0306 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0415 owner=0025 element=0307 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0416 owner=0025 element=0308 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0417 owner=0025 element=0309 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0418 owner=0025 element=00C3 universal=3FFF unitName="count" type=0D size=0004 fl=04 q D0zƿD0zlSyncComponent "Onboard" handled in the control thread.*n code=0026 name="PowerOnly" *a code=0419 owner=0026 element=030E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0448 elementURI="PowerOnly.samplePowerOnly" type=02 *a code=041A owner=0026 element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=041B owner=0026 element=030F universal=3FFF unitName="second" type=0B size=0003 fl=04 D0zƿD0zpSyncComponent "PowerOnly" handled in the control thread.*n code=0027 name="Radio_Surface" *a code=041C owner=0027 element=0319 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=041D owner=0027 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0449 elementURI="VerticalControl.verticalMode" type=02 *a code=041E owner=0027 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=041F owner=0027 element=0417 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0420 owner=0027 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 D0zƿD0zhComponent "Radio_Surface" handled in its own thread.*n code=0028 name="Radio_Surface ThreadHandler" D0zDCreated PCaller Thread at 4078B4E0D0zBProtected caller Thread ID is 888*n code=0029 name="RDI_Pathfinder" *a code=0421 owner=0029 element=031C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=044A elementURI="RDI_Pathfinder.height_above_sea_floor" type=00 *a code=0422 owner=0029 element=044A universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=044B elementURI="RDI_Pathfinder.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003 *a code=0423 owner=0029 element=044B universal=0040 unitName="meter_per_second" type=00 size=0000 fl=05 *e code=044C elementURI="RDI_Pathfinder.platform_x_velocity_wrt_ground" type=00 *a code=0424 owner=0029 element=044C universal=0043 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=044D elementURI="RDI_Pathfinder.platform_y_velocity_wrt_ground" type=00 *a code=0425 owner=0029 element=044D universal=0047 unitName="meter_per_second" type=0B size=0003 fl=05 *e code=044E elementURI="RDI_Pathfinder.platform_z_velocity_wrt_ground" type=00 *a code=0426 owner=0029 element=044E universal=004D unitName="meter_per_second" type=0B size=0003 fl=05 *e code=044F elementURI="RDI_Pathfinder.ShipXVelocityWRTGround" type=02 *a code=0427 owner=0029 element=044F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0450 elementURI="RDI_Pathfinder.ShipYVelocityWRTGround" type=02 *a code=0428 owner=0029 element=0450 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0451 elementURI="RDI_Pathfinder.ShipZVelocityWRTGround" type=02 *a code=0429 owner=0029 element=0451 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *e code=0452 elementURI="RDI_Pathfinder.BottomVelocityFlag" type=02 *a code=042A owner=0029 element=0452 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0453 elementURI="RDI_Pathfinder.BottomShipVelocityFlag" type=02 *a code=042B owner=0029 element=0453 universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=0454 elementURI="RDI_Pathfinder.Beam1Range" type=02 *a code=042C owner=0029 element=0454 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0455 elementURI="RDI_Pathfinder.Beam2Range" type=02 *a code=042D owner=0029 element=0455 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0456 elementURI="RDI_Pathfinder.Beam3Range" type=02 *a code=042E owner=0029 element=0456 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0457 elementURI="RDI_Pathfinder.Beam4Range" type=02 *a code=042F owner=0029 element=0457 universal=3FFF unitName="meter" type=0B size=0003 fl=05 q D0zƿD0zzSyncComponent "RDI_Pathfinder" handled in the control thread.*n code=002A name="RDI_PathfinderUp" *a code=0430 owner=002A element=031E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0458 elementURI="RDI_PathfinderUp.Altitude" type=02 *a code=0431 owner=002A element=0458 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0459 elementURI="RDI_PathfinderUp.XVelocityWRTAbove" type=02 *a code=0432 owner=002A element=0459 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=045A elementURI="RDI_PathfinderUp.YVelocityWRTAbove" type=02 *a code=0433 owner=002A element=045A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=045B elementURI="RDI_PathfinderUp.ZVelocityWRTAbove" type=02 *a code=0434 owner=002A element=045B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=045C elementURI="RDI_PathfinderUp.BottomVelocityFlag" type=02 *a code=0435 owner=002A element=045C universal=3FFF unitName="count" type=0D size=0004 fl=05 D0zƿD0z~SyncComponent "RDI_PathfinderUp" handled in the control thread.*n code=002B name="BPC1" *e code=045D elementURI="BPC1.reserve_battery_charge" type=02 *a code=0436 owner=002B element=045D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=045E elementURI="BPC1.reserve_battery_voltage" type=02 *a code=0437 owner=002B element=045E universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=045F elementURI="BPC1.platform_battery_charge" type=00 *a code=0438 owner=002B element=045F universal=0022 unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0460 elementURI="BPC1.platform_battery_voltage" type=00 *a code=0439 owner=002B element=0460 universal=0025 unitName="volt" type=0B size=0003 fl=05 }D0zaD D0z>*a code=043A owner=002B element=0189 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=043B owner=002B element=018A universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=043C owner=002B element=02CA universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=043D owner=002B element=02CB universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=043E owner=002B element=02CC universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=043F owner=002B element=02C9 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=0461 elementURI="BPC1.BattCapacity_1" type=00 *a code=0440 owner=002B element=0461 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0462 elementURI="BPC1.BattCurrent_1" type=00 *a code=0441 owner=002B element=0462 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0463 elementURI="BPC1.BattStatus_1" type=00 *a code=0442 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elementURI="BPC1.BattVoltage_2" type=00 *a code=0449 owner=002B element=046A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=046B elementURI="BPC1.BattCapacity_3" type=00 *a code=044A owner=002B element=046B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=046C elementURI="BPC1.BattCurrent_3" type=00 *a code=044B owner=002B element=046C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=046D elementURI="BPC1.BattStatus_3" type=00 *a code=044C owner=002B element=046D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=046E elementURI="BPC1.BattTemp_3" type=00 *a code=044D owner=002B element=046E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=046F elementURI="BPC1.BattVoltage_3" type=00 *a code=044E owner=002B element=046F universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0470 elementURI="BPC1.BattCapacity_4" type=00 *a code=044F owner=002B element=0470 universal=3FFF 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code=0456 owner=002B element=0477 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0478 elementURI="BPC1.BattTemp_5" type=00 *a code=0457 owner=002B element=0478 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0479 elementURI="BPC1.BattVoltage_5" type=00 *a code=0458 owner=002B element=0479 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=047A elementURI="BPC1.BattCapacity_6" type=00 *a code=0459 owner=002B element=047A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=047B elementURI="BPC1.BattCurrent_6" type=00 *a code=045A owner=002B element=047B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=047C elementURI="BPC1.BattStatus_6" type=00 *a code=045B owner=002B element=047C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=047D elementURI="BPC1.BattTemp_6" type=00 *a code=045C owner=002B element=047D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=047E 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code=046A owner=002B element=048B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=048C elementURI="BPC1.BattTemp_9" type=00 *a code=046B owner=002B element=048C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=048D elementURI="BPC1.BattVoltage_9" type=00 *a code=046C owner=002B element=048D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=048E elementURI="BPC1.BattCapacity_10" type=00 *a code=046D owner=002B element=048E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=048F elementURI="BPC1.BattCurrent_10" type=00 *a code=046E owner=002B element=048F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0490 elementURI="BPC1.BattStatus_10" type=00 *a code=046F owner=002B element=0490 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0491 elementURI="BPC1.BattTemp_10" type=00 *a code=0470 owner=002B element=0491 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e 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elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=057F owner=002C element=059A universal=0015 unitName="meter" type=0B size=0003 fl=05  iŝD0z*e code=059B elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=0580 owner=002C element=059B universal=000D unitName="meter" type=0B size=0003 fl=05  mʝD0z*e code=059C elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=0581 owner=002C element=059C universal=000E unitName="meter" type=0B size=0003 fl=05  qϝD0z*e code=059D elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=0582 owner=002C element=059D universal=000F unitName="meter" type=0B size=0003 fl=05  uӝD0z*e code=059E elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=0583 owner=002C element=059E universal=0010 unitName="radian" type=2F size=0004 fl=05  y؝D0z*e code=059F elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=0584 owner=002C element=059F universal=0011 unitName="percent" type=0B size=0003 fl=05  }ݝD0z*a code=0585 owner=002C element=0216 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0586 owner=002C element=0213 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0587 owner=002C element=0212 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0588 owner=002C element=0214 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0589 owner=002C element=0215 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=058A owner=002C element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=058B owner=002C element=0041 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05A0 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=02 *a code=058C owner=002C element=05A0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=05A1 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *a code=058D owner=002C element=05A1 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05A2 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *a code=058E owner=002C element=05A2 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05A3 elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *a code=058F owner=002C element=05A3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=05A4 elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02 *a code=0590 owner=002C element=05A4 universal=3FFF unitName="count" type=0D size=0004 fl=05 1 D0zƿD0zSyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=002D name="DeadReckonUsingSpeedCalculator" *a code=0591 owner=002D element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0592 owner=002D element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0593 owner=002D element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0594 owner=002D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0595 owner=002D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0596 owner=002D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05A5 elementURI="DeadReckonUsingSpeedCalculator.latitude" type=00 *a code=0597 owner=002D element=05A5 universal=0017 unitName="degree" type=37 size=0006 fl=05 Q D0z*e code=05A6 elementURI="DeadReckonUsingSpeedCalculator.longitude" type=00 *a code=0598 owner=002D element=05A6 universal=001A unitName="degree" type=37 size=0006 fl=05 Q D0z*e code=05A7 elementURI="DeadReckonUsingSpeedCalculator.depth" type=00 *a code=0599 owner=002D element=05A7 universal=0006 unitName="meter" type=0B size=0003 fl=05 Q D0z*e code=05A8 elementURI="DeadReckonUsingSpeedCalculator.horizontal_path_length_since_last_fix" type=00 *a code=059A owner=002D element=05A8 universal=0015 unitName="meter" type=0B size=0003 fl=05 Q  D0z*e code=05A9 elementURI="DeadReckonUsingSpeedCalculator.fix_distance_made_good" type=00 *a code=059B owner=002D element=05A9 universal=000D unitName="meter" type=0B size=0003 fl=05 Q D0z*e code=05AA elementURI="DeadReckonUsingSpeedCalculator.fix_horizontal_path_length_since_last_fix" type=00 *a code=059C owner=002D element=05AA universal=000E unitName="meter" type=0B size=0003 fl=05 Q D0z*e code=05AB elementURI="DeadReckonUsingSpeedCalculator.fix_residual_distance" type=00 *a code=059D owner=002D element=05AB universal=000F unitName="meter" type=0B size=0003 fl=05 Q D0z*e code=05AC elementURI="DeadReckonUsingSpeedCalculator.fix_residual_bearing" type=00 *a code=059E owner=002D element=05AC universal=0010 unitName="radian" type=2F size=0004 fl=05 Q D0z*e code=05AD elementURI="DeadReckonUsingSpeedCalculator.fix_residual_percent_distance_traveled" type=00 *a code=059F owner=002D element=05AD universal=0011 unitName="percent" type=0B size=0003 fl=05 Q  D0z*a code=05A0 owner=002D element=021C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05A1 owner=002D element=0219 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05A2 owner=002D element=0218 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05A3 owner=002D element=021A universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05A4 owner=002D element=021B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05A5 owner=002D element=05A0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=05AE elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_orientation_read" type=02 *a code=05A6 owner=002D element=05AE universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05AF elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_velocity_read" type=02 *a code=05A7 owner=002D element=05AF universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05B0 elementURI="DeadReckonUsingSpeedCalculator.latitude_accuracy" type=02 *a code=05A8 owner=002D element=05B0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 q /D0zƿ/D0zSyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.*n code=002E name="DeadReckonWithRespectToSeafloor" *a code=05A9 owner=002E element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05AA owner=002E element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05AB owner=002E element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05AC owner=002E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05AD owner=002E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05AE owner=002E element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05B1 elementURI="DeadReckonWithRespectToSeafloor.latitude" type=00 *a code=05AF owner=002E element=05B1 universal=0017 unitName="degree" type=37 size=0006 fl=05 6D0z*e code=05B2 elementURI="DeadReckonWithRespectToSeafloor.longitude" type=00 *a code=05B0 owner=002E element=05B2 universal=001A unitName="degree" type=37 size=0006 fl=05 :D0z*e code=05B3 elementURI="DeadReckonWithRespectToSeafloor.depth" type=00 *a code=05B1 owner=002E element=05B3 universal=0006 unitName="meter" type=0B size=0003 fl=05 ?D0z*e code=05B4 elementURI="DeadReckonWithRespectToSeafloor.horizontal_path_length_since_last_fix" type=00 *a code=05B2 owner=002E element=05B4 universal=0015 unitName="meter" type=0B size=0003 fl=05 CD0z*e code=05B5 elementURI="DeadReckonWithRespectToSeafloor.fix_distance_made_good" type=00 *a code=05B3 owner=002E element=05B5 universal=000D unitName="meter" type=0B size=0003 fl=05 GD0z*e code=05B6 elementURI="DeadReckonWithRespectToSeafloor.fix_horizontal_path_length_since_last_fix" type=00 *a code=05B4 owner=002E element=05B6 universal=000E unitName="meter" type=0B size=0003 fl=05 LD0z*e code=05B7 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_distance" type=00 *a code=05B5 owner=002E element=05B7 universal=000F unitName="meter" type=0B size=0003 fl=05 PD0z*e code=05B8 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_bearing" type=00 *a code=05B6 owner=002E element=05B8 universal=0010 unitName="radian" type=2F size=0004 fl=05 UD0z*e code=05B9 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_percent_distance_traveled" type=00 *a code=05B7 owner=002E element=05B9 universal=0011 unitName="percent" type=0B size=0003 fl=05 YD0z*a code=05B8 owner=002E element=0228 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05B9 owner=002E element=0225 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05BA owner=002E element=0224 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05BB owner=002E element=0226 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05BC owner=002E element=0227 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05BD owner=002E element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05BA elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_orientation_read" type=02 *a code=05BE owner=002E element=05BA universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05BB elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_velocity_read" type=02 *a code=05BF owner=002E element=05BB universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05BC elementURI="DeadReckonWithRespectToSeafloor.latitude_accuracy" type=02 *a code=05C0 owner=002E element=05BC universal=3FFF unitName="radian" type=2F size=0004 fl=05 hD0zƿhD0zSyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.*n code=002F name="NavChart" *a code=05C1 owner=002F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C2 owner=002F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C3 owner=002F element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C4 owner=002F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05BD elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=05C5 owner=002F element=05BD universal=0053 unitName="meter" type=0B size=0003 fl=05 *e code=05BE elementURI="NavChart.height_above_sea_floor" type=00 *a code=05C6 owner=002F element=05BE universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=05BF elementURI="NavChart.distance_from_shore" type=00 *a code=05C7 owner=002F element=05BF universal=0009 unitName="meter" type=0B size=0003 fl=05 wD0zD*e code=05C0 elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *a code=05C8 owner=002F element=05C0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05C9 owner=002F element=0236 universal=3FFF unitName="bool" type=02 size=0001 fl=04 {D0zƿ{D0znSyncComponent "NavChart" handled in the control thread.*n code=0030 name="UniversalFixResidualReporter" *a code=05CA owner=0030 element=023A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05CB owner=0030 element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CC owner=0030 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CD owner=0030 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CE owner=0030 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CF owner=0030 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05D0 owner=0030 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05D1 owner=0030 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05D2 owner=0030 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 1 D0zƿD0zSyncComponent "UniversalFixResidualReporter" handled in the control thread.D0zLoaded Module: Navigation (Contains the base navigation components)D0zDLoading Module at Modules/Servo.so*n code=0031 name="BuoyancyServo" *a code=05D3 owner=0031 element=025D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05D4 owner=0031 element=0267 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05D5 owner=0031 element=0266 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05D6 owner=0031 element=025F universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05D7 owner=0031 element=0260 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D8 owner=0031 element=0261 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D9 owner=0031 element=0263 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05DA owner=0031 element=0264 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05DB owner=0031 element=0265 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05DC owner=0031 element=0262 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=05DD owner=0031 element=025E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05DE owner=0031 element=0268 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05DF owner=0031 element=026A universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=05E0 owner=0031 element=026B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05E1 owner=0031 element=0269 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05E2 owner=0031 element=026E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05E3 owner=0031 element=026D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05E4 owner=0031 element=026C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05E5 owner=0031 element=0116 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05E6 owner=0031 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05E7 owner=0031 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05C1 elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=05E8 owner=0031 element=05C1 universal=0028 unitName="cubic_centimeter" type=0B size=0003 fl=05 Q D0z4*e code=05C2 elementURI="VerticalControl.buoyancyAction" type=02 *a code=05E9 owner=0031 element=05C2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 q D0zƿD0zxSyncComponent "BuoyancyServo" handled in the control thread.*n code=0032 name="ElevatorServo" *a code=05EA owner=0032 element=0270 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05EB owner=0032 element=027B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05EC owner=0032 element=0272 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05ED owner=0032 element=0274 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EE owner=0032 element=0275 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EF owner=0032 element=0278 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F0 owner=0032 element=0279 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F1 owner=0032 element=027A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F2 owner=0032 element=0277 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=05F3 owner=0032 element=0271 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=05F4 owner=0032 element=0276 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F5 owner=0032 element=0273 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=05F6 owner=0032 element=0120 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=05C3 elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=05F7 owner=0032 element=05C3 universal=002E unitName="radian" type=2F size=0004 fl=05 D0z;*e code=05C4 elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=05F8 owner=0032 element=05C4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 D0zƿD0zxSyncComponent "ElevatorServo" handled in the control thread.*n code=0033 name="MassServo" *a code=05F9 owner=0033 element=027D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05FA owner=0033 element=0283 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05FB owner=0033 element=027F universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05FC owner=0033 element=0280 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05FD owner=0033 element=0281 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05FE owner=0033 element=0282 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=05FF owner=0033 element=027E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0600 owner=0033 element=0284 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0601 owner=0033 element=0287 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0602 owner=0033 element=0286 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=0603 owner=0033 element=0285 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0604 owner=0033 element=0136 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=05C5 elementURI="MassServo.platform_mass_position" type=00 *a code=0605 owner=0033 element=05C5 universal=0032 unitName="meter" type=0B size=0003 fl=05 *e code=05C6 elementURI="VerticalControl.massPositionAction" type=02 *a code=0606 owner=0033 element=05C6 universal=3FFF unitName="meter" type=0B size=0003 fl=04 D0zƿD0zpSyncComponent "MassServo" handled in the control thread.*n code=0034 name="RudderServo" *a code=0607 owner=0034 element=0289 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0608 owner=0034 element=0294 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0609 owner=0034 element=028B universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=060A owner=0034 element=028D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060B owner=0034 element=028E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060C owner=0034 element=0291 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060D owner=0034 element=0292 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060E owner=0034 element=0293 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060F owner=0034 element=0290 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0610 owner=0034 element=028A universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=0611 owner=0034 element=028F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0612 owner=0034 element=028C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0613 owner=0034 element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=05C7 elementURI="RudderServo.platform_rudder_angle" type=00 *a code=0614 owner=0034 element=05C7 universal=003C unitName="radian" type=2F size=0004 fl=05 *e code=05C8 elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=0615 owner=0034 element=05C8 universal=3FFF unitName="radian" type=2F size=0004 fl=04 1 %D0zƿ%D0ztSyncComponent "RudderServo" handled in the control thread.*n code=0035 name="ThrusterServo" *a code=0616 owner=0035 element=0296 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05C9 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=0617 owner=0035 element=05C9 universal=0038 unitName="radian_per_second" type=0B size=0003 fl=05 *e code=05CA elementURI="SpeedControl.propOmegaAction" type=02 *a code=0618 owner=0035 element=05CA universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0619 owner=0035 element=029D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=061A owner=0035 element=0298 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=061B owner=0035 element=029A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=061C owner=0035 element=029B universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=061D owner=0035 element=029C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=061E owner=0035 element=0299 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=061F owner=0035 element=0297 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0620 owner=0035 element=02A0 universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04 *a code=0621 owner=0035 element=02A1 universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04 *a code=0622 owner=0035 element=029F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0623 owner=0035 element=029E universal=3FFF unitName="count" type=0D size=0004 fl=04 q 4D0zƿ4D0zxSyncComponent "ThrusterServo" handled in the control thread.4D0zLoaded Module: Servo (This is the module containing motor controllers)6D0zHLoading Module at Modules/Science.so*n code=0036 name="CTD_NeilBrown" *a code=0624 owner=0036 element=0348 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0625 owner=0036 element=0349 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0626 owner=0036 element=034A universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0627 owner=0036 element=034D universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0628 owner=0036 element=034B universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0629 owner=0036 element=034C 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type=02 *a code=063A owner=0036 element=05D9 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *e code=05DA elementURI="CTD_NeilBrown.bin_standard_deviation_sea_water_salinity" type=02 *a code=063B owner=0036 element=05DA universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 D0zƿD0zhComponent "CTD_NeilBrown" handled in its own thread.*n code=0039 name="CTD_NeilBrown ThreadHandler" D0zDCreated PCaller Thread at 408D04E0D0zBProtected caller Thread ID is 889*n code=003A name="WetLabsSeaOWL_UV_A" *a code=063C owner=003A element=03A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=063D owner=003A element=03B0 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=063E owner=003A element=03A9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=063F owner=003A element=03AF universal=3FFF unitName="none" type=00 size=0000 fl=04 *a code=0640 owner=003A element=03AB universal=3FFF 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code=064A owner=003A element=03A2 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=04 *a code=064B owner=003A element=005A universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05DB elementURI="WetLabsSeaOWL_UV_A.Output700" type=02 *a code=064C owner=003A element=05DB universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DC elementURI="WetLabsSeaOWL_UV_A.OutputFDOM" type=02 *a code=064D owner=003A element=05DC universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DD elementURI="WetLabsSeaOWL_UV_A.OutputOil" type=02 *a code=064E owner=003A element=05DD universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DE elementURI="WetLabsSeaOWL_UV_A.OutputChl" type=02 *a code=064F owner=003A element=05DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *e code=05DF elementURI="WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm" type=02 *a code=0650 owner=003A element=05DF universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *e code=05E0 elementURI="WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm" type=02 *a code=0651 owner=003A element=05E0 universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *e code=05E1 elementURI="WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water_expressed_as_equivalent_mass_fraction_of_quinine_sulfate_dihydrate" type=00 *a code=0652 owner=003A element=05E1 universal=0005 unitName="part_per_billion" type=0B size=0003 fl=05 *e code=05E2 elementURI="WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=00 *a code=0653 owner=003A element=05E2 universal=001F unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *e code=05E3 elementURI="WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water" type=00 *a code=0654 owner=003A element=05E3 universal=001D unitName="microgram_per_liter" type=0B size=0003 fl=05 ͠D0zƿΠD0zrComponent "WetLabsSeaOWL_UV_A" handled in its own thread.*n code=003B name="WetLabsSeaOWL_UV_A ThreadHandler" ϠD0zDCreated PCaller Thread at 409004E0ϠD0zBProtected caller Thread ID is 890РD0zpLoaded Module: Science (Contains the science components)РD0zJLoading Module at Modules/Guidance.soD0zrLoaded Module: Guidance (Contains behaviors and commands)D0zNLoading Module at Modules/Derivation.so*n code=003C name="DepthRateCalculator" *a code=0655 owner=003C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05E4 elementURI="DepthRateCalculator.depth_rate" type=00 *a code=0656 owner=003C element=05E4 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 19D0zƿ9D0zSyncComponent "DepthRateCalculator" handled in the control thread.*n code=003D name="PitchRateCalculator" *a code=0657 owner=003D element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05E5 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *a code=0658 owner=003D element=05E5 universal=0036 unitName="radian_per_second" type=0B size=0003 fl=05 q?D0zƿ?D0zSyncComponent "PitchRateCalculator" handled in the control thread.*n code=003E name="SpeedCalculator" *a code=0659 owner=003E element=0038 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=065A owner=003E element=05A0 universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 AD0z*e code=05E6 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *a code=065B owner=003E element=05E6 universal=0044 unitName="meter_per_second" type=0B size=0003 fl=05 FD0z*e code=05E7 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *a code=065C owner=003E element=05E7 universal=002D unitName="meter" type=0B size=0003 fl=05 JD0z*a code=065D owner=003E element=0247 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=065E owner=003E element=0114 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 KD0zƿLD0z|SyncComponent "SpeedCalculator" handled in the control thread.*n code=003F name="TempGradientCalculator" *a code=065F owner=003F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0660 owner=003F element=005E universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05E8 elementURI="TempGradientCalculator.upward_derivative_of_sea_water_temperature" type=00 *a code=0661 owner=003F element=05E8 universal=0064 unitName="celsius_per_meter" type=0B size=0003 fl=05 *e code=05E9 elementURI="TempGradientCalculator.thermoclineDepth" type=02 *a code=0662 owner=003F element=05E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05EA elementURI="TempGradientCalculator.targetDepth" type=02 *a code=0663 owner=003F element=05EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=05EB elementURI="TempGradientCalculator.tempHoriGrad" type=02 *a code=0664 owner=003F element=05EB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0665 owner=003F element=023D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0666 owner=003F element=0241 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0667 owner=003F element=0244 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0668 owner=003F element=0240 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0669 owner=003F element=023F universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=066A owner=003F element=023E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=066B owner=003F element=0243 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=066C owner=003F element=0242 universal=3FFF unitName="count" type=0D size=0004 fl=04 `D0zƿ`D0zSyncComponent "TempGradientCalculator" handled in the control thread.*n code=0040 name="YawRateCalculator" *a code=066D owner=0040 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05EC elementURI="YawRateCalculator.platform_yaw_rate" type=00 *a code=066E owner=0040 element=05EC universal=004B 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fl=04 *a code=069E owner=0043 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=069F owner=0043 element=05F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06A0 owner=0043 element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06A1 owner=0043 element=0445 universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=06A2 owner=0043 element=0447 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=06A3 owner=0043 element=0189 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=06A4 owner=0043 element=018A universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=06A5 owner=0043 element=0169 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06A6 owner=0043 element=0168 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06A7 owner=0043 element=016A universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=06A8 owner=0043 element=016B universal=3FFF 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elementURI="CBIT.clearFaultCmd" type=02 *a code=06B1 owner=0044 element=05FA universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05FB elementURI="CBIT.clearLeakFaultCmd" type=02 *a code=06B2 owner=0044 element=05FB universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05FC elementURI="CBIT.empiricalFaultElevOffset" type=02 *a code=06B3 owner=0044 element=05FC universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=06B4 owner=0044 element=0445 universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=06B5 owner=0044 element=0447 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=06B6 owner=0044 element=0446 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06B7 owner=0044 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=06B8 owner=0044 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=05FD elementURI="BPC1.BattTemp_0" type=00 *a code=06B9 owner=0044 element=05FD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BA owner=0044 element=0464 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BB owner=0044 element=0469 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BC owner=0044 element=046E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BD owner=0044 element=0473 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BE owner=0044 element=0478 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06BF owner=0044 element=047D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06C0 owner=0044 element=0482 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06C1 owner=0044 element=0487 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06C2 owner=0044 element=048C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06C3 owner=0044 element=0491 universal=3FFF unitName="celsius" 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element=04C8 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06CF owner=0044 element=04CD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D0 owner=0044 element=04D2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D1 owner=0044 element=04D7 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D2 owner=0044 element=04DC universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D3 owner=0044 element=04E1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D4 owner=0044 element=04E6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D5 owner=0044 element=04EB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D6 owner=0044 element=04F0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D7 owner=0044 element=04F5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D8 owner=0044 element=04FA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06D9 owner=0044 element=04FF universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DA owner=0044 element=0504 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DB owner=0044 element=0509 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DC owner=0044 element=050E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DD owner=0044 element=0513 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DE owner=0044 element=0518 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06DF owner=0044 element=051D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E0 owner=0044 element=0522 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E1 owner=0044 element=0527 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E2 owner=0044 element=052C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E3 owner=0044 element=0531 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E4 owner=0044 element=0536 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E5 owner=0044 element=053B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E6 owner=0044 element=0540 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E7 owner=0044 element=0545 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E8 owner=0044 element=054A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06E9 owner=0044 element=054F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06EA owner=0044 element=0554 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06EB owner=0044 element=0559 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06EC owner=0044 element=055E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06ED owner=0044 element=0563 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06EE owner=0044 element=0568 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06EF owner=0044 element=056D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F0 owner=0044 element=0572 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F1 owner=0044 element=0577 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F2 owner=0044 element=057C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F3 owner=0044 element=0581 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F4 owner=0044 element=0586 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F5 owner=0044 element=058B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F6 owner=0044 element=0590 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=06F7 owner=0044 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F8 owner=0044 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F9 owner=0044 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FA owner=0044 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FB owner=0044 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FC owner=0044 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06FD owner=0044 element=0025 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05FE elementURI="CBIT.shorePowerOn" type=02 *a code=06FE owner=0044 element=05FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=05FF elementURI="CBIT.platform_fault" type=00 *a code=06FF owner=0044 element=05FF universal=002F unitName="enum" type=02 size=0001 fl=05 *e code=0600 elementURI="CBIT.platform_fault_leak" type=00 *a code=0700 owner=0044 element=0600 universal=0030 unitName="enum" type=02 size=0001 fl=05 *a code=0701 owner=0044 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *e code=0601 elementURI="CBIT.GFCHANA0Current" type=02 *a code=0702 owner=0044 element=0601 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0602 elementURI="CBIT.GFCHANA1Current" type=02 *a code=0703 owner=0044 element=0602 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0603 elementURI="CBIT.GFCHANA2Current" type=02 *a code=0704 owner=0044 element=0603 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0604 elementURI="CBIT.GFCHANA3Current" type=02 *a code=0705 owner=0044 element=0604 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0605 elementURI="CBIT.GFCHANB0Current" type=02 *a code=0706 owner=0044 element=0605 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0606 elementURI="CBIT.GFCHANB1Current" type=02 *a code=0707 owner=0044 element=0606 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0607 elementURI="CBIT.GFCHANB2Current" type=02 *a code=0708 owner=0044 element=0607 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0608 elementURI="CBIT.GFCHANB3Current" type=02 *a code=0709 owner=0044 element=0608 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *e code=0609 elementURI="CBIT.GFCHANOpenCurrent" type=02 *a code=070A owner=0044 element=0609 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=070B owner=0044 element=05FC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=060A elementURI="CBIT.empericalClassifierFaultDetected" type=02 *a code=070C owner=0044 element=060A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=060B elementURI="CBIT.binnedDepthRate" type=02 *a code=070D owner=0044 element=060B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=070E owner=0044 element=0169 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=070F owner=0044 element=0168 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0710 owner=0044 element=016A universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0711 owner=0044 element=016B universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0712 owner=0044 element=016C universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0713 owner=0044 element=0173 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0714 owner=0044 element=016D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0715 owner=0044 element=016E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0716 owner=0044 element=0170 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0717 owner=0044 element=0172 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0718 owner=0044 element=0171 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0719 owner=0044 element=016F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=071A owner=0044 element=0174 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071B owner=0044 element=0175 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071C owner=0044 element=0176 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071D owner=0044 element=0177 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071E owner=0044 element=0178 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071F owner=0044 element=0179 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0720 owner=0044 element=017A universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0721 owner=0044 element=017B universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0722 owner=0044 element=017C universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0723 owner=0044 element=017D universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0724 owner=0044 element=017E universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0725 owner=0044 element=017F universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0726 owner=0044 element=0180 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0727 owner=0044 element=0181 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0728 owner=0044 element=0182 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0729 owner=0044 element=0183 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 1D0zƿD0zfSyncComponent "CBIT" handled in the control thread.D0zLoaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)D0zNLoading Module at Modules/Estimation.sotD0zLoaded Module: Estimation (Contains the base estimation components)uD0zLLoading Module at Modules/Simulator.soD0zLoaded Module: Simulator (This is the module containing the Simulator)D0zHLoading Module at Modules/Control.so*n code=0045 name="VerticalControl" "ED0z4Construct VerticalControl.*a code=072A owner=0045 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=060C elementURI="VerticalControl.depthCmd" type=02 *a code=072B owner=0045 element=060C universal=3FFF unitName="meter" type=0B size=0003 fl=04 *e code=060D elementURI="VerticalControl.depthRateCmd" type=02 *a code=072C owner=0045 element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=072D owner=0045 element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=060E elementURI="VerticalControl.pitchRateCmd" type=02 *a code=072E owner=0045 element=060E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *e code=060F elementURI="VerticalControl.buoyancyCmd" type=02 *a code=072F owner=0045 element=060F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0730 owner=0045 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0731 owner=0045 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0610 elementURI="LoopControl.periodCmd" type=02 *a code=0732 owner=0045 element=0610 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0733 owner=0045 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0734 owner=0045 element=0116 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0735 owner=0045 element=0117 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0736 owner=0045 element=0118 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0737 owner=0045 element=0119 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0738 owner=0045 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0739 owner=0045 element=011B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=073A owner=0045 element=011C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=073B owner=0045 element=011D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=073C owner=0045 element=011E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=073D owner=0045 element=011F universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=073E owner=0045 element=0120 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=073F owner=0045 element=0121 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0740 owner=0045 element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0741 owner=0045 element=0123 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0742 owner=0045 element=0125 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0743 owner=0045 element=0124 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0744 owner=0045 element=0126 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element=012F universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=074F owner=0045 element=0131 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0750 owner=0045 element=0132 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0751 owner=0045 element=0133 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0752 owner=0045 element=0134 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0753 owner=0045 element=0136 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0754 owner=0045 element=0137 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0755 owner=0045 element=0138 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=0756 owner=0045 element=0139 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0757 owner=0045 element=013B universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0758 owner=0045 element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0759 owner=0045 element=013C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=075A owner=0045 element=013D universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=075B owner=0045 element=013E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=075C owner=0045 element=013F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=075D owner=0045 element=0140 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=075E owner=0045 element=0141 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=075F owner=0045 element=0142 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0760 owner=0045 element=0143 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0761 owner=0045 element=0144 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0762 owner=0045 element=0145 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0763 owner=0045 element=0146 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0764 owner=0045 element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0765 owner=0045 element=0112 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0766 owner=0045 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0767 owner=0045 element=014A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0768 owner=0045 element=014B universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0769 owner=0045 element=014C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=076A owner=0045 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=076B owner=0045 element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=076C owner=0045 element=0273 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=076D owner=0045 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076E owner=0045 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076F owner=0045 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0770 owner=0045 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0771 owner=0045 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0772 owner=0045 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0773 owner=0045 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0611 elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=0774 owner=0045 element=0611 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=0612 elementURI="VerticalControl.depthErrorInternal" type=02 *a code=0775 owner=0045 element=0612 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0613 elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0776 owner=0045 element=0613 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0614 elementURI="VerticalControl.dtInternal" type=02 *a code=0777 owner=0045 element=0614 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0615 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=0778 owner=0045 element=0615 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0616 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=0779 owner=0045 element=0616 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0617 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=077A owner=0045 element=0617 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0618 elementURI="VerticalControl.pitchInternal" type=02 *a code=077B owner=0045 element=0618 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0619 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=077C owner=0045 element=0619 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077D owner=0045 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=077E owner=0045 element=05C4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=077F owner=0045 element=05C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0780 owner=0045 element=05C2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0781 owner=0045 element=05C4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0782 owner=0045 element=05C6 universal=3FFF unitName="meter" type=0B size=0003 fl=04 qD0zƿD0z|SyncComponent "VerticalControl" handled in the control thread.*n code=0046 name="HorizontalControl" #D0z8Construct HorizontalControl.*a code=0783 owner=0046 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=061A elementURI="HorizontalControl.latitudeCmd" type=02 *a code=0784 owner=0046 element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=061B elementURI="HorizontalControl.longitudeCmd" type=02 *a code=0785 owner=0046 element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=061C elementURI="HorizontalControl.headingCmd" type=02 *a code=0786 owner=0046 element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=061D elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0787 owner=0046 element=061D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0788 owner=0046 element=05F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=061E elementURI="HorizontalControl.bearingCmd" type=02 *a code=0789 owner=0046 element=061E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=078A owner=0046 element=0106 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=078B owner=0046 element=0107 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=078C owner=0046 element=0109 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=078D owner=0046 element=010A universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=078E owner=0046 element=0108 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=078F owner=0046 element=010B universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=0790 owner=0046 element=010C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0791 owner=0046 element=010D universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0792 owner=0046 element=010E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0793 owner=0046 element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0794 owner=0046 element=0110 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0795 owner=0046 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0796 owner=0046 element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0797 owner=0046 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0798 owner=0046 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0799 owner=0046 element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=061F elementURI="HorizontalControl.headingInternal" type=02 *a code=079A owner=0046 element=061F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0620 elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=079B owner=0046 element=0620 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0621 elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=079C owner=0046 element=0621 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0622 elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=079D owner=0046 element=0622 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0623 elementURI="HorizontalControl.xteInternal" type=02 *a code=079E owner=0046 element=0623 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0624 elementURI="HorizontalControl.kxteInternal" type=02 *a code=079F owner=0046 element=0624 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0625 elementURI="HorizontalControl.bearingInternal" type=02 *a code=07A0 owner=0046 element=0625 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07A1 owner=0046 element=05C8 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07A2 owner=0046 element=05C8 universal=3FFF unitName="radian" type=2F size=0004 fl=04 ϥD0zƿϥD0zSyncComponent "HorizontalControl" handled in the control thread.*n code=0047 name="SpeedControl" #ХD0z.Construct SpeedControl.*a code=07A3 owner=0047 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07A4 owner=0047 element=0114 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=07A5 owner=0047 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07A6 owner=0047 element=05CA universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 ҥD0zƿҥD0zvSyncComponent "SpeedControl" handled in the control thread.*n code=0048 name="LoopControl" $ҥD0z,Construct LoopControl.*a code=07A7 owner=0048 element=0610 universal=3FFF unitName="second" type=0B size=0003 fl=04 1ӥD0zƿӥD0ztSyncComponent "LoopControl" handled in the control thread.ԥD0zLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)ԥD0zHLoading Module at Modules/Trigger.soD0z|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0049 name="MissionManager" *a code=07A8 owner=0049 element=05F6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A9 owner=0049 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0626 elementURI="MissionManager.mission_started" type=00 *a code=07AA owner=0049 element=0626 universal=001C unitName="count" type=0D size=0004 fl=05 ƿD0zzSyncComponent "MissionManager" handled in the control thread.*n code=004A name="Reporter" ƿD0znSyncComponent "Reporter" handled in the control thread.*n code=004B name="NavChartDb" *e code=0627 elementURI="NavChartDb.closestDistance" type=02 *a code=07AB owner=004B element=0627 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0628 elementURI="NavChartDb.nextDistance" type=02 *a code=07AC owner=004B element=0628 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0629 elementURI="NavChartDb.closestDepth" type=02 *a code=07AD owner=004B element=0629 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=062A elementURI="NavChartDb.nextDepth" type=02 *a code=07AE owner=004B element=062A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07AF owner=004B element=0237 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=07B0 owner=004B element=0238 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿD0zbComponent "NavChartDb" handled in its own thread.*n code=004C name="NavChartDb ThreadHandler" & D0zDCreated PCaller Thread at 40ACF4E0& D0zBProtected caller Thread ID is 891ND0z*Main Thread ID is 800FD0z&Running supervisor.D0z0Handler Thread ID is 892D0z0Handler Thread ID is 893 D0z4Initializing ControlThread*a code=07B1 owner=0021 element=02EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 D0zlInitializing DeadReckonUsingSpeedCalculator component.D0z>Initialize NavChart Navigation. D0zhInitializing UniversalFixResidualReporter component. D0zBInitializing DepthRateCalculator.D0zBInitializing PitchRateCalculator. D0z:Initializing SpeedCalculator.D0zHInitializing TempGradientCalculator. D0z>Initializing YawRateCalculator. D0zLInitializing ElevatorOffsetCalculator.!D0z4Initialize SBIT Component.=!D0z6git: 2019-03-18-26-gc8399b8!D0zdgit hash: c8399b8e53db2b8366337064c7df5542bc2caf88=!D0z0Kernel Release: 2.6.27.8=!D0zlKernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018ϿD0z!D0zHBeginning SBIT in 28.000000 seconds.!D0z4Initialize IBIT Component.IҿD0z "D0z4Initialize CBIT Component. D0z0Handler Thread ID is 894 "+D0z*Initialized mux pins. ",D0z@Initializing the watchdog timer.4D0z0Handler Thread ID is 895 5D0zdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP?D0z0Handler Thread ID is 896"CD0zTLast reboot was NOT due to watchdog timer. "CD0z.Initializing heartbeat.KD0z0Handler Thread ID is 897LD0zPowering down*e code=062B elementURI="CTD_NeilBrown.component_voltage" type=00 *a code=07B2 owner=0036 element=062B universal=3FFF unitName="volt" type=07 size=0002 fl=05 IQD0z*e code=062C elementURI="CTD_NeilBrown.component_avgVoltage" type=00 *a code=07B3 owner=0036 element=062C universal=3FFF unitName="volt" type=07 size=0002 fl=05 iVD0z*e code=062D elementURI="CTD_NeilBrown.component_current" type=00 *a code=07B4 owner=0036 element=062D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 [D0z*e code=062E elementURI="CTD_NeilBrown.component_avgCurrent" type=00 *a code=07B5 owner=0036 element=062E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 `D0znD0z0Handler Thread ID is 898oD0zPowering down*e code=062F elementURI="WetLabsSeaOWL_UV_A.component_voltage" type=00 *a code=07B6 owner=003A element=062F universal=3FFF unitName="volt" type=07 size=0002 fl=05 sD0z*e code=0630 elementURI="WetLabsSeaOWL_UV_A.component_avgVoltage" type=00 *a code=07B7 owner=003A element=0630 universal=3FFF unitName="volt" type=07 size=0002 fl=05 wD0z*e code=0631 elementURI="WetLabsSeaOWL_UV_A.component_current" type=00 *a code=07B8 owner=003A element=0631 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 {D0z*e code=0632 elementURI="WetLabsSeaOWL_UV_A.component_avgCurrent" type=00 *a code=07B9 owner=003A element=0632 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )D0zɿD0zɿD0zɿD0zɿD0z ʿD0zIʿD0ziʿD0zʿD0zD0z@ "D0z2Deactivating GF circuits. "D0z8Deactivating emergency mode.&D0z0Handler Thread ID is 899%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000%D0ztAlready Loaded Electronic Nav Chart data from US1WC07M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000%D0ztAlready Loaded Electronic Nav Chart data from US2WC11M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000%D0ztAlready Loaded Electronic Nav Chart data from US3CA52M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000%D0ztAlready Loaded Electronic Nav Chart data from US4CA60M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000%D0ztAlready Loaded Electronic Nav Chart data from US5CA50M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000%D0ztAlready Loaded Electronic Nav Chart data from US5CA61M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000%D0ztAlready Loaded Electronic Nav Chart data from US5CA62M.000%D0zLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000%D0ztAlready Loaded Electronic Nav Chart data from US5CA83M.000 "D0z$Backplane powered."D0zHInitialize VerticalControlComponent. #D0zLInitialize HorizontalControlComponent.#D0zBInitialize SpeedControlComponent. $D0z@Initialize LoopControlComponent.$D0zJLoading Mission: Missions/Startup.xml*n code=004D name="Startup" *n code=004E name="Startup:A.GoToSurface" 'ɦD0z,Construct GoToSurface.*a code=07BA owner=004E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BB owner=004E element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BC owner=004E element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BD owner=004E element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07BE owner=004E element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07BF owner=004E element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07C0 owner=004E element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07C1 owner=004E element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07C2 owner=004E element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07C3 owner=004E element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07C4 owner=004E element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07C5 owner=004E element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07C6 owner=004E element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07C7 owner=004E element=0135 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07C8 owner=004E element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004F name="Startup:StartupSatComms" *n code=0050 name="Startup:StartupSatComms:A" *n code=0051 name="Startup:StartupSatComms:B" $ߦD0zA $D0zJLoading Mission: Missions/Default.xml*n code=0052 name="Default" *e code=0633 elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=07C9 owner=0052 element=0633 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=07CA owner=0052 element=0633 universal=3FFF unitName="minute" type=1F size=0008 fl=05 I.D0z$/D0zvDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0053 name="Default:A.Wait" )0D0zConstruct Wait.*n code=0054 name="Default:B.GoToSurface" *2D0z,Construct GoToSurface.*a code=07CB owner=0054 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CC owner=0054 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CD owner=0054 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CE owner=0054 element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07CF owner=0054 element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07D0 owner=0054 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07D1 owner=0054 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07D2 owner=0054 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07D3 owner=0054 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07D4 owner=0054 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07D5 owner=0054 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07D6 owner=0054 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07D7 owner=0054 element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07D8 owner=0054 element=0135 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07D9 owner=0054 element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0055 name="Default:CheckIn" *n code=0056 name="Default:CheckIn:Read_GPS" *n code=0057 name="Default:CheckIn:Read_Iridium" *n code=0058 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0059 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" ,UD0z$Construct Execute.*n code=005A name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005B name="Default:CheckIn:C.Wait" -XD0zConstruct Wait.*n code=005C name="Default:CheckIn:D" *a code=07DA owner=005C element=0633 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=07DB owner=005C element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=005D name="Default:CheckIn:E" *n code=005E name="Default:D" *n code=005F name="Default:E.Execute" /mD0z$Construct Execute.$pD0z& 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs uD0z] Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,Y] }z1?'A.*Initializing AHRS_M2.Powering upt}!e@!a@-dPressure reading out of range: 1913.424561 decibarPowering up %6Initializing DUSBL_Hydroid.)-ׄG*a code=07DC owner=002B element=02C8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 ->Depth measurement is not active  ! ]@! a@! e@! i@a @a @a @a @ @ @ @ @;) )%4Initializing EZServoServo.6Initializing BuoyancyServo. 4Initializing EZServoServo. 6Initializing ElevatorServo.4Initializing EZServoServo. .Initializing MassServo. % 4Initializing EZServoServo. e 2Initializing RudderServo.e 4Initializing EZServoServo. 6Initializing ThrusterServo.߭ 8d qǓ1?'AiyRVPowering upZ0Initializing Micromodem.iM=IMC)G e@ i@ m@ a@Powering down*e code=0634 elementURI="RDI_PathfinderUp.component_voltage" type=00 *a code=07DD owner=002A element=0634 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0635 elementURI="RDI_PathfinderUp.component_avgVoltage" type=00 *a code=07DE owner=002A element=0635 universal=3FFF unitName="volt" type=07 size=0002 fl=05 5*e code=0636 elementURI="RDI_PathfinderUp.component_current" type=00 *a code=07DF owner=002A element=0636 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0637 elementURI="RDI_PathfinderUp.component_avgCurrent" type=00 *a code=07E0 owner=002A element=0637 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ->Depth measurement is not active  ) )q)j ϡ1?'A)Z{G-r>Depth measurement is not active v v )  ) - ^Rudder initialization uart error serial timeout] 6Rudder failed to initialize1 - (Communications FaultI-"]\Communications Fault in component: RudderServoPs S1?'A!e!a"!a" x"h>!e& x"REi2g=I26C)+G   }Xz:yy)y y) E4Uninitialize Rudder Servo.EPowering down*e code=0638 elementURI="RudderServo.component_voltage" type=00 *a code=07E1 owner=0034 element=0638 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )*e code=0639 elementURI="RudderServo.component_avgVoltage" type=00 *a code=07E2 owner=0034 element=0639 universal=3FFF unitName="volt" type=07 size=0002 fl=05 IM*e code=063A elementURI="RudderServo.component_current" type=00 *a code=07E3 owner=0034 element=063A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 iu*e code=063B elementURI="RudderServo.component_avgCurrent" type=00 *a code=07E4 owner=0034 element=063B universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ߙyy 1?'Ax"z>x"QE)^XGrrP=!r z z   )  ))a =2?'Ax"ã>x"eIEi.=I2C)bƄGnrJ= v v   )  ) %4Initializing EZServoServo. 2Initializing RudderServo."^Clearing failed state for component RudderServo1  ~t2?'Ax">x"IE)^x"UEi2g=I0)^GnN=rK= v v   )  )!ߝ c+O2?'AxU>xUaME)Gw-=   ) )!!yǙ i2?'Ax~>x_OEi=I6C)}Gʝ<c=   ) )a  x:iΰ 2?'Ax~R>x~:PE)uGʝ\;J=   ) )*e code=063C elementURI="ThrusterServo.component_voltage" type=00 *a code=07E5 owner=0035 element=063C universal=3FFF unitName="volt" type=07 size=0002 fl=05 ]*e code=063D elementURI="ThrusterServo.component_avgVoltage" type=00 *a code=07E6 owner=0035 element=063D universal=3FFF unitName="volt" type=07 size=0002 fl=05 }*e code=063E elementURI="ThrusterServo.component_current" type=00 *a code=07E7 owner=0035 element=063E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=063F elementURI="ThrusterServo.component_avgCurrent" type=00 *a code=07E8 owner=0035 element=063F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 a % •ߙ٦ 2?'Ax>xIEi)I-C)ƄGʭ8ļ-=? 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JD "V4?'AYtK@t7Z@yt)~z=tx"QE)ZBGnnJ=rh:Qr>Ypypv@tv9v> x ) )!9:n |o4?'A)I@YtK@t4Z@ytt{=t|x25VEiY y  @ :>  199)9 9)AAaU" ˉ4?'AYtK@t4Z@yt}=tx"ME)^ׄGn rL=r:Qr>YtytvAtzz> x ) )!!  %> % )>( 㥣4?'AYtԆK@t5Z@yt{+=tx"TEi,I0)^Gn<rJ=r޻:Qr>YtytvAtzO9z> x ) )!! 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W?)uRL@ uBx;Iux">x"R_E)f{G-j<=-uل-y-I +I +~jtY-AI)i)-@)Ʌ))-9 -94)-e_eB=m:Qm>YiyquAqu9u> y  < >) ) >  ?B9 б)бiбйй * i8?'A)IYtdVL@tx[@ytO=tG=tH ׂ? Yѿ@{?*⶿? ?)udVL@ uRx;IueCx2>x2IiEiY y  A :>  yyyy)y )ujZX< Б)БiБББߙ1 8?'AYt\L@t [@ytٸ=tV=tH?Ÿ ѿ@i?7d΢?@?)u\L@ ux"aE)ZG^< ^=nrL=rr:Qr>YtytvAtvz:z> x 99AA)A A)AI*e code=0650 elementURI="ElevatorServo.component_voltage" type=00 *a code=07F9 owner=0032 element=0650 universal=3FFF unitName="volt" type=07 size=0002 fl=05 )A*e code=0651 elementURI="ElevatorServo.component_avgVoltage" type=00 *a code=07FA owner=0032 element=0651 universal=3FFF unitName="volt" type=07 size=0002 fl=05 IAEx= й)йiй 8>  ;> 8 8?'AYtaL@t[@yt7=t=tHx@v? ѿ;@C?>?@?)uaL@ uNx;Iux:>x:aEiDIF;C)vG5ʡ=5Tل5`y5Mbp= ףy&1Y5fAI1i111Ʌ5"A57@5@ 5)5`MTMD=Um:QU>YQyQUAQ]#F:]> a ) )Sk=…9 Љ)БiБЙЙ߱-> u8?'AiYtkL@t[@yt@ٻ=t=tH&? ƺѿЃ? rަ??)ukL@ u0x;IucCx2!>x2^E)%BG=S=K=E;QE>YAyAEAIMO:M> Q q) )`> a< )iE M9?'AYtxL@t'[@yte=t=tH@H?`R>@Eѿ@i@ ?@`H>? ?)uxL@ ux;IudCx">x"u`Ei,I26C)bGbA`Uף;UԼلU`yUQ?I +y&1|YUAIQiQU?@QɅQU@Uu< U9)U`ʍ;E=˕:Q>YˑyˑA˹ͽ<:>     )  )*e code=0652 elementURI="ElevatorServo.component_current" type=00 *a code=07FB owner=0032 element=0652 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 i=*e code=0653 elementURI="ElevatorServo.component_avgCurrent" type=00 *a code=07FC owner=0032 element=0653 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 =ǵQ>%0= )))i)))1 ! I>K g(/9?'AYt3~L@tG-[@ytKN=t=tH?q@ѿ@R6?@෿?/?)u3~L@ u x;IubCx"r>x"aE)^ׄGr5;rV=r;Qr>YtytvAtzM:z> x !!!)! !)))z>i=a=•]= Й)ЙiЙЙЙߡ&R I9?'A)@IYtL@t4[@ytz=t=tH ?`M@ѿxg}? ǡ??)uL@ uX$x;IudCx0x0iYy  A  :>  1999)9 9)AAM>j$ > )iHPX b9?'AYtL@t,;[@yt=t =tH?˹Vѿ?z?rQ Q?"?)uL@ uJx;IucCx"O>x"gE)\b4= b%=%Ļ%;ل%;y%~jth?~jtx?Mbp?Y% AI!i!%V@!Ʌ!!%D; %;)%;5><5<]B ;Q]>YYyaeAaen:m> i ) ))Ii;X> !)!i!!!) ?> % ?>Gz^ A|9?'AYtL@t@[@yt~=tʸ =tH6?@u@)ѿ DHw?ตa?d?)uL@ u|{x;IudCx">x"fEi0I0)\r'brP=ry.;Qr>YtytvAtzic:z> | 9YYY)Y Y)aa)AIA­Z z> б)йiйййce R9?'Ai4<YtÐL@t?[@yt9B=tc=tH?Ѹ?Fcѿi6{?9޸?.?)uÐL@ u~x;IugCxRָ>xRNcE)YyA>  111)1 9)9A> ) i   k :v9?'AYt*L@t>@[@yt=t=tHS?@.ѿmP{?''?-?)u*L@ ux;IucCx"9>x"eEi,I,)ZG^A^Anj;nY=r1D;Qr>YpypvAtv8v> x )! !)!))Ii )i  Utr jK9?'AYtL@tF[@yt =t=tHഏ`F?VZѿvz?@ke;?^?)uL@ ux;IufCxBȿ>xBkE)zׄG<%F=%;Q%>Y)y)-A)-4v:5> 1 QYYY)Y Y)aa i)iiqqq߁Fx )9?'A)@IYtΛL@tJ[@ytc=ty=tHI ?@1ѿWy?G?@|?)uΛL@ ueNy;IudCx2>x2"lEiY˩y˩A˩͵#:>  YYYY)Y Y)aa y)yiyyy߁~ 9?'AYtL@tQ[@yt"=tf=tH`?^vfѿQ Ty?칿e??)uL@ ulmy;IueCx"D>x"sE)^҄G\ b=n=rX=r1;Qr>YtytvAtvc:z> x ) ) й)йiййй ! ~ :?'AYtäL@tS[@yt3=th=tH ?`ѿ@z?`&`? ?)uäL@ uy;IudCx">x"lEi,I,)^+G%t%t<ل%ףYyA89>  Q) ) б)бiббй߹xۋ 1:?'Ai;YtL@t\[@yt=tC=tHg?`)`ѿ 6y?@r(? ?)uL@ u`y;IugCx2i>x2qE)nXG+<N=J;Q>Y y  A :>  YYYY)Y a)ai Y)YiYYYav’ K:?'AYtL@te[@yt=t=tH\?3Aѿ@=x?JŢ??)uL@ uSy;IudCx">x"zEi,I0)b+G`bArK=rL=r;Qr>YtytvAtz:z> x 99AA)A A)II  #K6 Й)ЙiЙЙЙߩ! ! r me:?'AYtL@tm[@yt(=tI=tHX`?`* ҿ l{w? 9٢??)uL@ uy;IueCx">x"vE*XNmea out: $CCTMS,2019-03-28T16:57:14Z,0*77 )XGٽل/YyA%:%> ) ))))) )%L9 ))1i1119 R:?'A)IYtL@tt[@ytx5=tit=tH@`?μ`L ҿѳw?z9?@?)uL@ uy;IugCx2D>x2sEitIt)MƄGʝ'N=˥64;Q>Y˩y˩A˩͵:>  )! !)!)*e code=0654 elementURI="MassServo.component_voltage" type=00 *a code=07FD owner=0033 element=0654 universal=3FFF unitName="volt" type=07 size=0002 fl=05 }A*e code=0655 elementURI="MassServo.component_avgVoltage" type=00 *a code=07FE owner=0033 element=0655 universal=3FFF unitName="volt" type=07 size=0002 fl=05 A 9 )i  *:?'AYtL@t |[@yto`=t=tH -? mҿ`Ų9w?s~XA??)uL@ u6y;IueCx">x"rE*&NAL9602 initialized)bׄG` f%=  ׽ ل y X9v?ʡE?S㥛?Y \AI i  d@ Ʌ #A @  -=) ]`]O=]/;Q]>YayaeBam:m> q ) )  K: )i!  ) :?'AYt%L@t9[@yt=t,@=tHt`b?`Gҿgv?4@I?@?)u%L@ uBy;Iux">x"pE*e code=0656 elementURI="NAL9602.component_voltage" type=00 *a code=07FF owner=0024 element=0656 universal=3FFF unitName="volt" type=07 size=0002 fl=05 bA*e code=0657 elementURI="NAL9602.component_avgVoltage" type=00 *a code=0800 owner=0024 element=0657 universal=3FFF unitName="volt" type=07 size=0002 fl=05 @zAiI;C)eYˁyˁBˁ͍:>  ) ): )i - :?'AiYt"L@t"[@yt";D=t"6 =t"H`9} E?p`$ҿԯ u?bڻB? ?)u"L@ u"x;Iu"dCx.>x2inE nFix Requested)eXGu%}J=}:Q}>YyyˁBˁͅ6:>  ) )!q*e code=0658 elementURI="MassServo.component_current" type=00 *a code=0801 owner=0033 element=0658 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05  @e=*e code=0659 elementURI="MassServo.component_avgCurrent" type=00 *a code=0802 owner=0033 element=0659 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 @=: ) i   ; 9:?'AYtL@t[@yt==tY=tH@"{`V?ӎ/ҿ4t? \DD?`?)uL@ uRx;IueCx"l>x"?uE*e code=065A elementURI="Micromodem.component_voltage" type=00 *a code=0803 owner=0023 element=065A universal=3FFF unitName="volt" type=07 size=0002 fl=05 @:A*e code=065B elementURI="Micromodem.component_avgVoltage" type=00 *a code=0804 owner=0023 element=065B universal=3FFF unitName="volt" type=07 size=0002 fl=05 "@NA@NA"@NAiI6C)%ƄG)-Am;mT<لmym~jty&1|?Mb`Ym3AIiiiiiɅim@mD m`;)m`<7=ވ:Q>YyBR:> ! ) ): ) i   # ;?'AYtL@tҨ[@ytT=t=tH`y?@\:ҿ६Bt?D@? ?)uL@ uw;IufCx"\>x"zE*e code=065C elementURI="NAL9602.component_current" type=00 *a code=0805 owner=0024 element=065C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *@:C=*e code=065D elementURI="NAL9602.component_avgCurrent" type=00 *a code=0806 owner=0024 element=065D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 2@Na=)mׄGΤ<V=48Q>Y!y!%B!%:-> ) ) ) g; )i=,got command show stack= Behavior Stack: $@Mission loaded, but not running.M p;?'A)IYtM@t[@yt(=t=tHKx@?-BҿZ}t?@@?&?)uM@ uQw;IugCxB>xBEmEiPIP) UYqyqu Bq};:}>  ) )A; )iw kJ4;?'AYt1 M@tE[@yt=t=tHw^$?@K[ Lҿx"dtE*e code=065E elementURI="Micromodem.component_current" type=00 *a code=0807 owner=0023 element=065E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 :@6=*e code=065F elementURI="Micromodem.component_avgCurrent" type=00 *a code=0808 owner=0023 element=065F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 B@J=:@JC=B@J<)YAyAE BIM:M> Q qyyy)y y).; )iI+i ݷ<= 4 )z 6Ia 7="MuNo ground fault detected mA: CHAN A0 (Batt): -0.010225 CHAN A1 (24V): -0.026351 CHAN A2 (12V): -0.007100 CHAN A3 (5V): -0.002328 CHAN B0 (3.3V): -0.000004 CHAN B1 (3.15aV): 0.000387 CHAN B2 (3.15bV): -0.000082 CHAN B3 (GND): 0.002078 OPEN: 0.009559 Full Scale Calc: 4.765 mA, -1.589 mA)U ;> ! _ &N;?'AYtgM@t{[@ytg=t'.=tHw`I0?ݼ`Vҿ@as? M@??)ugM@ u[v;IufCxF)>xFiEVA@VAiMg=II)XG6only read 2 of 4 data itemsHFailed to parse: :BS, +21, +0,A a 1@a  a 5@a  a 9@a  a -@a  ʭ5=Q>Yy B:>  !!!)! !)iiUH; Щ)ЩiЩЩЩ߱ h;?'AiYt M@t[@ytI=t=tHwxBgpE)z+Ga<h=%ƤQ%?Y!y!-B)-:-? 1 QYYY)Y Y)aa @u=@u=W; Й)ЙiЙЙСߡp ف;?'AYtN&M@tb[@yt>=ta=tH wxC?㻿@gҿ`֥gs?[c?@%?)uN&M@ uw;IueCx"1>x"tE@&A"@&Ai2=I2;C)G=J<=H=EQE>YAyAMBIMa:M> Q q) )"m; )i! !  ;?'AYtF+M@tZ[@ytB=t4=tHNyXJ? `@kmҿ@x"+bE*@&R=2@*C=)^Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U UףUلU`yUQ?Mby&1|YUAIQiQQUXAɅU"AU@Uu< U)U`mmG=uyQu>YqyqBˑ͝?:>  ) )5<; 9)9i999A ;?'A)IYt,M@t0[@ytk =t=tHzM?@ֺ1oҿ@][t? V?@?)u,M@ uRw;Iux">x"aEi,I.6C)^ׄGnrT=rQr>YtytvBtv$ 9z> x !!)! !)!)11u; y)yiyyЁ߁ Cq;?'AYt.M@t[@yt=te =tH |@Q?IIrҿ`1qt?͸??)u.M@ uw;IufCxb>xf`E:@n=B@n=)G< a )=@a = =t=tل=D;y=?~jth?I=I9i999Ʌ=t!A=@=< =)=D;U4U5=UߗQ]>YYyY]BYe9e> i ) ) ; )i]!NMass: EXPECTED:0.008600 ACTUAL:0.004599iI!  8> EH;?'AxR>xRKgEVA@VAibg=I`)%+G=k<=^=EQE>YAyAEBIMM> Q I) )Ơ; ) i  #x2IiE)nG<N=.Q>Y y  B  >  AM Qy)y y)  @=@/; )i $M@tR[@yt=t=tH M?5 okҿ E u?7?`?)u>$M@ u3w;IuhCx">x"cE@$"@$i2=I0)bYayamBimm> q ) )5; q)qiqqqy    n6x"gE*@*C=2@*=)bGnBe<rS=rQr>YpytvBtvz> ! AAAA)A A)IQ%; Й)ЙiЙССߩg vPx]eEiqIq)G#j<لY9y9=B9E@E> I ) )0e>;­@o> б)бiббб߹% jx" ]E:@&=B@&=)jƄGn4= r=MU[=UpQU>YYyY]BYeºe> i ) )>r;*> Љ)БiБББߙ ?> % ?> ! kx"aE&A@()*ifg=Id)-Gʽ͖<D=˽Q>Yy B>  ) )! 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E?@?)u=M@ u[v;IuyCx">x"EmE:@&=B@&=:@&B@&;)^YˡyˡCˡͭ5>  )I ) ) Up> U>(L ;Z?'AYt?`?)uYpypvCtv)v> x  )I !!!)! !)))a`4 cUZ?'AiYt9M@t[@yt;G=tp=tH vV? @zҿ r?`= B? ?)u9M@ uUhv;Iu|CxBQ>xBGkE)zG5L5D<ل5tYyyy}CyͅM>  )I ) )!Q|^ uoZ?'AYta4M@tu[@yt`=t=tH v`NQ?л@Iuҿ@Σ\s?`JI`%Y? i?)ua4M@ uv;IuzCx"+>x"mE@&A"@&A@&A"@&Ai0I0)GA=<=K=EU9QE>YAyAECIMFYM> Q )I ) )QQE x"jE*@*=2@*R=)`r*rP=r18Qr>Ytytv Ctz z> x )I ) )zp eZ?'A)IYtv/M@t[@yt=t,R=tH ?w0L?ݻ@pҿ*s?`Sp?8?)uv/M@ uNv;Iu{Cx2>x2sEiYy C%> !A A)AIA Iqqq)q q)yy߱ @Z?'AYt:/M@tN[@ytp=t1 =tH?wL?m߻`Hpҿs?ZV i? 4?)u:/M@ ujv;Iux"&>x"'fE:@&=B@&=:@&p<B@&;)^ƄGb4= `nkr]=rl8Qr>Ytytv Ctva$z> x )I !!!!)! !)))AUe> U> ;Z?'AYtI,M@t][@yt:D=t =tHw`H?绿omҿ t?`\ 7v??)uI,M@ u*Sv;Iux"ȿ>x"kE(@(i0I0)bׄG D D<ل Y)y)5!C155> Yq q)qI ) )f @Z?'AiYt/M@t[@yt'=tc=tH`$wL?@|໿pҿ@|js?X`?@1?)u/M@ uov;IuyCx"A>x"pE)X~<<~M=Q>Yy  !C   : > ) ))1I1 9AAA)A A)IIa  [?'AYth.M@t|[@yte=t =tH@=w@'K?M黿loҿ@s?`i??)uh.M@ uWv;IuzCx2>x2rE@6A"@6A@6A"@6Ai@I@)rGrAtA;H=%9Q%>Y!y!-"C)-iS-> 1I I)QIQ YYaa)a a)ii߁QQڽ ;$[?'AYt.M@t[@ytpp=t}=tH+wK?#껿oҿzs? b@f? ?)u.M@ ulv;Iux">>x"klE*@*4=2@*p=)bƄG94`e<لy/$?ˡE?~jt?YIiɅ< '=)}!}D=˅3R8Q>Yˁyˁ"Cˁ͍a8>  )I ) )`setting available, lastComms_.elapsed()=0.005494YN >[?'A)IYt,M@t[@yt>=t=tH wI?仿mҿs?`[e?$?)u,M@ u^v;Iu|Cx">x""lEi0I0)zGpR= ~Q >Y y "Cw> 9Q Q)QIy ) )ߩ `X[?'AYt[,M@to[@ytл=t=tHw}I? ӻ@mҿs?@Ka?\?)u[,M@ unv;IuzCxbȿ>xbkE:@f=B@f=:@f<B@f<)ƄG= Du<لףYy#C_> !a a)aIa iq) )]> ]># @r[?'AYt4)M@tH[@yt=t/=tHRx aF?ϻ`jҿ`dKt?@E`k? j?)u4)M@ ucv;Iu}Cx">x"DoE$@$i0I0)bGnp<n]=rDQr>Ypytv#Ctv v> x1 9)9I9 IIIQ)Q Q)9y [?'Aip;Yt)M@t[@ytX>=t=tHZx`2G?Ļ VkҿK%t?;a??)u)M@ uJv;IuyCx"A>x"pE)ZƄG~Y;~H=oQ>Yy $C  8 > ) )))I1 9AAA)A A)IIa  [?'AYt*M@t[@yt=t~=tH Yx@H?,Slҿ&Řs?11I?@?)u*M@ u"jv;Iu~Cx">x"eE@$"@&A@$"@&Ai0I0)bY)y)-$C)595> Yq )I ) )U@AQ 6 ̿[?'AYt(M@t0[@ytC=t{a=tH xE?@iҿt?@s(|R? ?)u(M@ uTVv;IuyCx">x"kE*@(2@()bGr<rO=r걹Qr>Ytytv$Ctzaعz> x )I AAAA)A I)IQ߁ &[?'A)@IYt)*M@t=[@yt=t=tHx`FH?@ͩ kҿ:Hs?%V8??)u)*M@ uuv;IuxCx2)>x2iEiYAyAM%CIM9M> Q )I ) )H [?'AYtJ(M@t^[@yta=t =tH@xcF?) jҿ|s? @B??)uJ(M@ u av;Iu}Cx"ż>x"%hE:@&=B@&=:@&B@&p<)bׄGf4= f%=nrQ=r[Qr>Ytytv%CtvŘz> xI y)yIy ) )ߩU> U>b0 (` \?'AYt&M@t[@ytZ=t=tH@$y`D?``hҿ s?`D??)u&M@ u2wv;Iu~Cx"g>x"mE$@(i0I0))]E<eB=mTQu>Yyyy}&Cˁ͕Zf> 1 Q)YIY ) )Z  <'\?'Ai;YtX%M@tl[@yt9=tw=tH`ey C?砻Ogҿs??? ?)uX%M@ ufv;Iu}Cx2T>x2nE)lmuiلmYˡyˡ&Cˡͭ^>  )I ) !)!)YB A\?'AYt!M@t[@yt!=t=tHy`K@?㞻 dҿc(t?F?@?)u!M@ uyv;Iux"Q>x"GkE@&A"@&A@&A"@&Ai0I0)^Ypytv&Ctvz> x )I !!!)! !)))AU?AQ l Z\?'AYtM@t[@yt26=t=tH`Oz`w=?``Jaҿ̦`Jt?#fI? ?)uM@ uhv;Iu|Cx">x"oE*@,2@2C=6bSBD MO Status=2, MOMSN=2487, MT Status=2, MTMSN=0-6ZFailed to initiate SBD session. Error code: 2)nGu<لףYayae'Cam۹m> q )I ) )9֖ t\?'A)@IYtM@t'[@ytZ=th=tH zm9?m]ҿ`mrt?5)_S??)uM@ uNv;Iux2>x2iEitIt)MXGʝżF=˝@ :Q>Yˡyˡ'Cˡͭ$>  )I ) ) Sending 62 bytes from file Logs/20190327T234826/Courier0568.lzma~# ץ\?'AYt&M@t&[@yt&P=t&L:=t&Hz\8?K\ҿ5t?l. M?@?)u&M@ u&nv;Iu$x>|>x>gpE:@B=B@B=:@B;B@F=)]{G= =<G= L9Q>Yy(CF1> ! )))I) 1999)9 9)AAYUl> Ul>Ũ) \?'AYtM@t[@ytD=t=tH z@9?纻<]ҿjvs?7';??)uM@ uYv;Iu{Cx">x"jE(@(i0I0)`nPonly read 0 of 1 data item for BIT errorrrFailed to parse: :TS,19032810004248,.1, 0.0,1448.9, 0 a 1r@a r a 5r@a r a 9r@a r a -r@a r EV=%;9Q%>Y!y!-(C)-39-> 1I I)IIQ YYaa)a a)ii߁ xMoved sent file to Logs/20190327T234826/Courier0568.lzma.bak $SBD MOMSN=102695150 \?'AiYtM@t[@ytS=t =tH`z i7?m»2[ҿEs? >@??)uM@ u sv;Iu|Cx&>x&KgE)plH=9Q>Y y  (C > 1 1)1I1 AAAA)A I)IIߡ/6 ;\?'AYt M@t[@yt=t=tH@E{E2?@ӻ uVҿ`lO9t?M Z?[?)u M@ u`v;Iu{Cx"z>x"lE@&A"@&A@&A"@&AiLIL)a 1a 1 a 5a 5 a 9a 9 a -a - Yل9Y)y)-)C)5^35> 9q q)yIy ) )QQp<  \?'AYtM@t[@yt=tű=tHj{@0?T׻.Uҿ ?=t?P*\?@O?)uM@ uGyv;Iu|Cx">x"oE*@*C=2@*p=)ƄGʝ#<4=˥]8Q>Yˡyˡ)Cˡͭ9>  )I ) )QaC ]?'A)@IYt&M@t& [@yt&=t&N=t&H_{`^1?ֻjUҿ s? QO?T?)u&M@ u&fv;Iu&}CxF+>xFmEidId)ׄG-L-T<ل-Y˙yˡ*Cˡͥ,8>  )I ) )I )]?'AYt M@tμ[@yt=t=tH |+?`޻``PҿTJt?Ve? 5?)u M@ uyv;Iu|Cx2>x2EmE:@6=B@6=:@6<B@6p<)rYy*Ca;>  )I ))11)1 1)19QU> U>P wC]?'AYt M@t[@yth=t=tH V|7)?绿`Mҿ@IMt?a`??)u M@ umv;Iu{Cx2Q>x2GkE8@8i@I@)rGitx)x xIx x)xɍx|||Ɏ|i|IIi )    ɏ I)i)I3{Aɐ ɑ!!i!!ʽ8v=˽?9Q?Yy+CZ ? i i)iIi ) )W |]]?'AiYtH M@t\[@ytLa=t=tH n|@(?9廿 Mҿթs?(`U?@?)uH M@ u-Wv;Iu|Cx"D>x"sE)*)%ׄG 0`eل`;y{Gz?{Gz?y&1|?Y AIiɅ"A酉鄍#= ף<)`;ʭ</=˵7Q>Y˱y˱+C˹ͽ>  )I! iiqq)q q)qyߑ4] cw]?'AYtM@t[@yt=tr=tH`|&?DJҿ-ss?h/T?`?)uM@ utv;Iux2>x2EmE@2A"@6A@6A"@6AitIt)UGYYn=9Q?Yy+Cٹ?  ) I  1999)9 9)AAyIId ?]?'Ax->x-oE*@MR=2@M=){GCلף;yL7A`?Mb?{Gzt?YIid@Ʌ#A酉鄍+= <)ף;<;=Q>Yy,Cͭ>  )I! iiqq)q q)qy߱BEj ]?'A)IYt\M@tp[@ytn=te=tH }) ?@绿Dҿ@nt?a ]?`?)u\M@ urv;IuzCxR>xR_zEiIC)i8=\=Q>Yy,C? ) )))I) QYYY)Y Y)aay -q ]?'AYtL@t[@ytcC=t=tH@e~? 仿>@ҿ@t?p\@_h? ?)uL@ uav;Iu}Cx"Q>x"GkE:@&=B@*=:@*;B@*4<)5ƄG== 9]|]S=e_Qe>Yayae-CamY:m> q )I ) )Q U>3Ww ]?'AYtL@t[@ytO=t=tH ?ڻ<ҿ Gf-u?:S e?A?)uL@ uF}v;Iux"w>x"iE$@(i0I26C)rGuutلu;yu+?:v?Mbp?YufAIqiqu1@qɅu"Au@u= uT<)u;ʕGG=˕PQ>Y˹y˹-C˹>  )I  1199)9 9)9AyW} "]?'AiYtVL@tj[@yt?=tض=tH@@?a˻ 9:ҿ>u?D \?v?)uVL@ uutv;Iux2۾>x2jE)zƄGt;R=%Q%>Y!y!--C)-ӹ-> 1 )I ) ) 9Zl m^?'AYtjL@tj[@ytj=tjD=tjH{?M 5ҿE8u?4N?@?)ujL@ ujEvv;Iuhx~>x~pE@~A"@A@A"@AiI)ׄG@̼لD;y&1?Mb?~jth?YAIiɅj@P= <)D;UU<U8=]? Q]>YYyY].CYe)e> i i)qIq ) )IIh ~W,^?'AxR$>xRsbE*@Z=2@Z=)!=E^=EQE>YAyIM.CIMU> Qi q)qIq y) )ߡ { 5F^?'A)&@I$Yt.L@t.ʙ[@yt.=t.Ag=t.H@ ? @K/ҿ=۠u?@/`&S??)u.L@ u.Guv;Iu,xB>xBlEiPIRC)|Ep)=EJ=ErDQE>YIyIM/CIUU> Yq q)qIq ) )ߡr '`^?'AYtL@t [@ytC=t=tH ~ ?t-ҿ~:u?d3 \F??)uL@ udv;Iu~Cx:۾>x>jE:@B=B@B=:@Bp;B@B;)zYayae/Camψm> q1 u-}Software Faultq Software Fault -Software Fault )I ) )-"Software Fault in component: DeadReckonUsingMultipleVelocitySources-"vSoftware Fault in component: DeadReckonUsingSpeedCalculator-"xSoftware Fault in component: DeadReckonWithRespectToSeafloorMx> I$ϝ ty^?'AYtL@t/[@ytS=t=tH? *ҿ u?@8@? ?)uL@ uv;Iu{Cx">x"IiE$@()(idIf6C)-G}׵I=˅59Q>Yˁyˉ/Cˉ͍> )I ) )"Clearing failed state for component DeadReckonUsingMultipleVelocitySources1 "Clearing failed state for component DeadReckonUsingSpeedCalculatorq "Clearing failed state for component DeadReckonWithRespectToSeafloor  aƓ^?'Ai4<YtL@t[@yt=t%=tH`?`'ҿZ;(u?1=??)uL@ unv;Iu}CxBD>xBsE)eׄGjjلףyL7A`?{GztY AIid@jAɅ酭@鄭+= )ף%=F=ikQ>Yy0C>lInitializing DeadReckonUsingSpeedCalculator component. )I ) )  ! ^?'AYtL@t[@yt=tƦ=tH ?@$ҿ@Я u?l42;??)uL@ unv;IuCx">x"oE@&A"@&A@&A"@&Ai0I0)nGpp==T=E48QE>YAyAE0CIMM> Q )I ) )QQȱ {^?'AYtL@t[@yt=t=tH܃ ?涻Fҿu?v3 2D? ?)uL@ uvv;Iu|Cx2>x2vE*@:=2@:=)r{Gz<zO=~ Q~>Y|y|1C)f>  )I ) ) W^?'A)@IYt4L@tH[@yt =t8=tHb@? ҿ"}u?3UC?@?)u4L@ uZv;Iux2d>x2$jEi@I@)rƄG%Լ%Cل%Dy%Q?y&1|?~jthY!I!i!!!Ʌ!!%< %`;)%DEDEE=Ey7QE>YIyIM1CIM{U> Qq q)qIq ) )  A U2^?'AYtVL@tj[@yt!K=t=tH?@ҿ +u?`=@6?`?)uVL@ uv;Iu{Cx">x" nE:@&=B@&=:@&B@*<)bׄGb< f=~ <N=M9Q>Y y  1C  > 1 1)1I1 9AAA)A A)IIaU> ]Y>  _?'AYt]L@tq~[@yt<=t=tHA?`!ҿzu?;x"uE(@(i0I0)bYIyIM2CIUU> y )I ) )/ ._?'Ai;YtwL@tz[@ytv=t/=tH ?@ǻ@Xҿu?D`.G??)uwL@ u|v;Iux2z>x2lE)nXG~~O=89Q>Yy 2C   > ) 1)1I1 Yaaa)a a)iiߡw H_?'AYtL@t(x[@yts=t=tH?~ϻҿyu?M`@A?g?)uL@ ujv;Iu{Cx2>x2jE@6A"@6A@6A"@6Ai@I@)rƄGvAt~ܻJ=(9Q>Yy  3C  > ) 1)1I1 aaaa)a a)iiߡQQiA Ib_?'AYt L@t r[@yt0=tMa=tH؆?˻`K ҿ@ֳ-Bv?G;R?r?)u L@ utv;Iu|Cx6Q>x:GkE*@>C=2@>p=)vׄG5C 5ل1y5S㥛?/$?Y5AI1i151@1Ʌ115/< 5<)1M1:ME=UnQU>YQyQU3Cy}f>  )I ) )k ||_?'A)IYt%L@t9o[@yt=tl=tH0?л}ҿ?LJv?LS?``?)u%L@ ubnv;Iu}Cx2ȿ>x2kEi\I`)G=t;=K=EJ9QE>YAyAE3CAMM> Qi i)iIi yy) )ߡS yW_?'AYtL@t)n[@yt =t?V=tH; ?ػ`iҿhBv?qU P?E?)uL@ uyv;Iux">>x"klE:@&=B@&=:@&p;B@&4<)()}Yy4C> 1 Q)QIQ aaaa)a a)iiߡU> Q| ._?'AYtL@th[@yt9=t=tHC?p໿ ҿ 0Ϡv? =[ (a?)?)uL@ u9nv;Iu~Cx">x"nhE(@(idId)-GʝPO=˥l9Q>Yˡyˡ4Cˡͭa>  )I ) )  Ae  _?'Ai4<Yt,L@t@h[@ytW=t=tH@?⻿ ѿ@>Lv?^X?!?)u,L@ uTQv;Iu}Cx2>x2"lE)4)MG}p<}L=}9Q>Yˁyˁ5Cˁ͍Y> ! )))I) QYYY)Y Y)ai _?'AYtεL@td[@yt4#=t=tH @?CݻѿȰv?@pX@C^?3?)uεL@ unv;Iu{Cx">x"EmE@$"@&A@$"@&AidId)-ׄG5A1u#u:لu;yuS㥛?V-?Mbp?YuAIqiqu1@qɅqqu/< u<)u;ʍˑ;I=˕Q>Y˙y˙5C˙ͥm>  )I ) )QQ H_?'AYt L@t4f[@yt8=t=tH@Hc?@ۻѿCu? [B?;?)u L@ udZv;Iu}Cx"F>x"wE*@(2@()`r.=rV=]M8Q]>Yayae5CamT9m> q1 1)1I1 AAAA)I I)ESending 25 bytes from file Logs/20190327T234826/Courier0571.lzmao Н`?'A)IYtwL@ta[@ytC=t[=tH`?ڻ`[ѿ+gv? W@fQ?=?)uwL@ urv;Iu~Cx"۾>x"jEi4I6C)fY1y1=6C9=;E> Aa a)aIa iqqq)q q)yyߑ  x1`?'AYtpL@t`[@ytO=t'=tH ?`߻TѿS!v? ]@J?,?)upL@ u^v;Iu}Cx29>x2eE:@6=B@6=:@6p;B@6<)rGr= r=PK=%{9Q%>Y!y!-6C)-#-> 1I I)IIQ YYaa)a a)ai߁%xMoved sent file to Logs/20190327T234826/Courier0571.lzma.bak-$SBD MOMSN=10269518UV> Ue>b SK`?'AYtL@t&^[@yt)=t .=tH?@ѻ-ѿyv?@[OK?\?)uL@ uNtv;Iu~CxB>xBdtEJA@HiPIR6C)GH=$=:Q>Yy7C  > 1 1)1I1 AAAA)A I)IQa 1e`?'AiYt}L@t[[@yt}=ti=tH@?@л ѿ #v?(M)S?_?)u}L@ u`v;IuCxj>xjfrE)UƄG 0;لף;y:v? rh?{Gzt?YAIiɅ"A酑鄕< C =)ף;ɠii{A) I )?{AɡɢiIIi  )     ɣ11I1)1i9)9I=nA9ɤ9 9MMk=MʸQM?Yqyqu7Cq}X}>  )I ) )1  `?'AYtHL@t\W[@yt=t =tHࡊ@?ʻ`ѿ`jw?@EC_?q?)uHL@ uvv;Iu~Cx">x"nhE@&A"@&A@&A"@&Ai0I0)^GbA`ʍ7=˕Q>Yˑy˙8C˙͝>  )I ) )QQ % \`?'AYt`L@ttW[@yt>=t>=tH༊Y?`Y ѿxw? ;`N??)u`L@ uev;Iu}Cx2>x2lE*@:=2@:=)n+G%#%`;ل!y%Zd;O? rh?{Gzt?Y%AI!i!!!Ʌ%"A!%j< !)!i5@C1)9 9I9 9)AɍAAAAɎAiAIIIIIiMzA MDI)IQ U?{AQQɏQYI)i)Iɐ ɑAiu <}^=}йQ}>Yyyˁ8Cˁͅh7>  )I ) )l, `?'A)IYt_L@tsU[@yt1=t=tH `?E`ѿѷ w?p:@I??)u_L@ uNv;Iu~Cx">x"xEi0I0)bG]UD=]^=eYayae8CimHm> q )I ) )9B3 `?'AYtL@tR[@yt^/=t4=tHc?Pѿ)H-w?:L? ?)uL@ u=hv;Iux"Y>x"bvE:@&=B@&=:@&B@*p<)*)%Yy9Cp>  )I ) )!!YU]> U]>+9 ~t`?'AYtL@tS[@yt=t=tH`I?`̲ѿ%-&w? 0%F??)uL@ uMPv;Iux">x"EmE*A@(i0I0)bXGل;yZd;O?L7A`?~jtx?YAIiɅ"A +=);%e%U=%ѹQ%>Y)y)-9C)565> 9Q Q)QIQ aaaa)i i)iq߁@ LSa?'AiYt*L@t>Q[@yt=t=tH?@ ѿ`fDv? 4@A??)u*L@ ulv;Iu}Cx2|>x2gpE)j+G~K<~L=@9Q>Yy 9C   > 1 1)1I1 Yaaa)a a)iiߡ?F 5a?'AYt]L@tqO[@yt\=tL1=tH`?zSѿSw?C6fL? ?)u]L@ uYv;IuCx.>x2tE@2A"@2A@6A"@6AiYayae:Camm> i )I ) )IIgL `4a?'AYtL@tO[@ytV=t$=tH@`u?'ѿXw?@3J??)uL@ uov;Iu~Cx"۾>x"jE*@*4=2@*a=) Y)y)-:C)-(Y5> 1Q Q)QIQ aaaa)a a)iiߡOS ~Ma?'A)IYtL@tN[@yt]=tN=tH@@u?@ѿ@ܸpv??&@??)uL@ u$dv;Iux2>x2nEiY˙y˙;Cˡ͵#> i i)iIi yyy) )ߙzY ga?'AYtL@t K[@ytT=tj,=tHpq?n`ѿDGw?>K??)uL@ uwv;Iux">x"oE:@&=B@&=:@&B@&<)bBG` b%= 0D;لYy;C # > ) )))I) YYYY)Y Y)aaߙU{> Ua>a` 斁a?'AYtL@t0I[@ytJ=t8=tH`?ƻ@ѿ 7Gw?`ND 6M?@?)uL@ uhv;IuCx"۾>x"jE(@(i0I0)bGr r^=rr9Qr>Ytytv;CtzVz> x )I !!!!)! )))1a f ua?'Ai;YtL@tF[@yt=t=tH Q?λ +ѿw?JcY?`c?)uL@ uQv;Iu}Cxb>xbyE)=Gj<94<لTYYyYe i )I ) )!q1l Qa?'AYt1L@tEC[@yt=t=tHb ?iϻѿZHw?J c?`?)u1L@ upv;IuxBF>xBwE@FA"@FA@FA"@FAiPIP)G  p`=%5Q%>Y!y!- 1I I)QIQ yy) )QQs 2a?'AYt"zL@t"B[@yt"=t"a=t"HbԶ?@ֻѿ vTw?)R@sa?F?)u"zL@ u"Wv;Iu"~Cx.ػ>x2gE*@F=2@FR=)=G}D=ˍޚ9Q>Y˙yˡ=C˩ָ> 1 1)1I1 AAAA)A I)Ii߁y W a?'A)IYtL@tB[@yt,=t=tH]``?`ܻ Aѿ@nw?Y X?3?)uL@ ugsv;IuCx2i>x2qEiPIP)zG=L=;ل=DYYyae=Caeίe> i )I ) )߹ zb?'AYtL@t(@[@yt=tT=tH??ۻ}ѿ ͺw?]W.]?8?)uL@ uz`v;IuCx>>x>`xE:@B=B@F=:@Fp;B@F<)~vG< ==<=L=E3QE>YAyIM=CIM۔M> Qi i)qIq y) )ߡU]> Up>eن Eb?'AYtL@t<[@yt;2=tw=tHD?޻?ѿ`Egw?NZL]?@.?)uL@ uzv;IuCx"T>x"nE*A@(i4I6C)~jG]P]<ل]`eYyyy>Cˁͅ\>  )I ) ) 6b?'AiYtL@t>[@yt]=t@=tH`؍?@ỿlѿ!w?_M?%?)uL@ uev;IuCx&>x&dE)b{G~W+R=4\9Q>Yy  >C  Q9> ) ))1I1 ) ) }Pb?'AYtJL@tJ:[@ytJf=tJ=tJHK:?`:仿@;ѿw?`e]??)uJL@ uJ$Iv;IuHxf>xfinE@vA"@vA@vA"@zAi!I!)ƄGA)-ل-TYQyQU?CQ]]> Yy y)yIy ) )ߩII DLjb?'AYtL@t:[@yt8=tk=tH@w?߻ ѿ Ew? [`c?(?)uL@ u%hv;Iu~Cx"i>x"qE*@*R=2@*p=)bׄG~a<b=Q>Y y  ?C  > ) 1)1I1 9AAA)A A)IIa (b?'A)IYtL@t:[@yt<'=t=tH {?`]ܻ ѿ`w?XS[?4?)uL@ uNv;IuCx">x"nhEi0I0)`rrL=rQv>Ytytv?CtzG7z> | )I !!!))) )))1A' \b?'AYtL@t(7[@yt4=t=tH`ގ ӫ?޻ѿ w?`Z/`?+?)uL@ unv;IuCx">x"vE:@&=B@&=)`` b= j< <ل uY1y15@C15q=> AY Y)YIY iiii)i i)qq߉UV> Ue>ZR  b?'AYtL@t"9[@yt7=tb=tH? gٻ`ѿƻw?@2W@7R???)uL@ uYv;IuCx"g>x"mE(@(i0I0)`nmrO=r Qr>Ytytv@Ctv*9z> x )I !!!))) )))1a> Fb?'AiDDYtJL@tJ7[@ytJC=tJ[=tJH Ž?X޻@tѿ@iuw?\_Q?-?)uJL@ uJpv;IuJ~CxZ>x^kE)9Q8لTYyACF>   ))I) 9999)9 9)AAyd _b?'AYtKL@t_7[@yt@=t3=tH@U?@Uػ ѿ`kw?V}L?C?)uKL@ ui_v;IuCx">x"vE@$"@&Ai0I0) A=<==U=EhQE>YAyAEACIMM> Qq q)qIq ) )IQK nc?'AYtrL@t7[@yt=tV=tH?λPѿ $Aw?N@hB?d?)urL@ uHuv;Iu~Cx"V>x"rE*@*=2@()bYtytvBCtz7z> | )I ) )v Mc?'A)@IYtL@t+5[@yt#=th=tHe~?ƻ`ѿN{xw?FFB??)uL@ ugv;Iux2>x2nEiYIyIMBCIUU> ) )))I1 99AA)A A)AI߁ (9c?'AYtL@t5[@ytl=ts=tH_E?@ѿ`:pw?A4??)uL@ uKv;IuCx"g>x"mE:@&=B@$)^{Gb4= b=n%crQ=r@:Qr>YpytvBCtv~8z> x )I !!!!)! !)))aU> Ua> iSc?'AYtL@t3[@ytxG=t=tHඏ`:?u ѿw?= G>??)uL@ ujv;Iux">x"inE*A@(i0I2C)b+G D `;ل y V-?+?y&1?Y  AI i  d@ Ʌ   < ) ]* ;]C=eE1Qe>YayaeCCamm> q )I ) )߹ lc?'Ai4<YtUL@ti2[@ytXW=t=tHޏ٧?ѿ`w?@?F? ?)uUL@ u*Sv;Iu}Cx2>x2rE)nG=0<=L=E8QE>YAyAECCIMNM> Q )I ) ) Ec?'AYtwL@t0[@yt=t}=tHå?@k̻ѿ /x?@_IU?j?)uwL@ u+ov;Iux21>x2tE@6A"@4i@IB6C)rׄGvAt<L=%9Q%>Y!y!%DC)-d-> 1I I)IIQ YYaa)a a)ai߁IQU Sending 72 bytes from file Logs/20190328T165625/Courier0000.lzma c?'AYtL@t2[@ytg=t.=tHV? ɻѿ`w?`lHC?@x?)uL@ uYv;IuCxj>xjlE*@r4=2@rC=)QHلDYyDC9>  )I ) ) ! oc?'A)@IYtL@t1[@yt`=t'=tH@?>»ѿ@ȼbw?I@$K??)uL@ uarv;IuCx"l>x"?uEi0I0)nG ,< 7=0Q>YyDC9> !9 9)9I9 IIQQ)Q Q)QYqE xMoved sent file to Logs/20190328T165625/Courier0000.lzma.bakE $SBD MOMSN=10269520m VJc?'AYt.aL@t.u3[@yt.*=t.]=t.H``?`Ż}ѿPWw?F>x>eE:@B=B@B=:@BB@B<)v{Gz= z=P`;ل`eYˁyˁECˉ͍9>  )I ) )Ul> U]> y#c?'AYt6L@t64[@yt6}=t6q=t6H{R?`»ѿ`]w?C4??)u6L@ u6qv;Iu6~Cxb>xbinEfA@hnbSBD MO Status=2, MOMSN=2487, MT Status=2, MTMSN=0-nZFailed to initiate SBD session. Error code: 2iI)+Gi) I )ɍɎzAiIIi ) ɏ{AI)i)Iɐ ɑ15A1i99R=d=yQ>Yy!%EC!%i9%> q )I ) )Q d?'Ai;Yt߁L@t0[@yt=t#=tH`E?8ϻ ѿ`ѯw?MtJ? b?)u߁L@ uHcv;IuCx23>x2xE)MXGU}/=UW=]9Q]>YYyYeFCae e> i )I ) ) x"rE@$"@$@&A"@&Ai0I0)b{GbAd xi ل y YyFC¾> (JTimed out from 2019-03-28T16:59:00.4Zq'BCompleted Startup:StartupSatComms'^Aggregate::uninitialize Startup:StartupSatComms )I&"Completed Startup$*Startup is completed.$Aggregate::uninitialize Startup 'DUninitialize GoToSurfaceComponent. )111)1 1)99QIQ`< ;d?'AYtm}L@t,[@ytn=t=tHe`? ڻ`ѿ[x?Va? 7?)um}L@ uhv;Iux">x"inE*@&C=2@*a=)\~@W=Q9Q>Yy  FC   > $-.Started mission DefaultY)5 )5:Aggregate::initialize Default15 *5@Initialize GoToSurfaceComponent. *5No depth rate setting specified. Using default value of nan m/s. *5~No pitch setting specified. Using default value of nan degrees. *=No speed setting specified. Using default value of 1.000000 m/s. *=No surface timeout specified. 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Will not retry this session.)pv= t-D-;ل-`eYyC>  )))I)i) YYYY)Y a)aiߙUe> Ua>+ Tx?'AYtwL@tT[@yt=tl=tH`?׻ѿ w?Obs?C?)uwL@ uxv;IuCx2>x2EmE8@8i@IBtC)-GEݼEU=E9QE>YIyIMCIU'U> Q q)qIqiq ) )ߡ)z Xǒ?'AiYtL@t3T[@yt=t=tH?@Oֻѿw?Pvh?I?)uL@ ub`v;Iux>o>x>xE ~Fix Requested)ƄGt<لyy&1?{Gz?y&1?YIiɅ`< #=)5Z.=5<==6Q=>Y9y9=C9EJE> I a)aIaii qqyy)y y)yߙo ?'AYtL@tQ[@ytv=tT=tHH@? ӻѿ`Pw?@Mf?S?)uL@ uzv;IuCx">x"vE@&A"@&A@&A"@&Ai0I2yC)bYy  C  b¹ >  )))I1i1 9AAA)A A)IIQQ tƆ?'AYtӟL@tN[@yt =t=tH`‹? 2ϻѿw?J|_?b?)uӟL@ ukv;IuCx">x"pE*@(2@()bXG~ɼJ= Q>Y y  C  k>  ))1I1i1 9AAA)A A)IIau Q?'A)IYt/L@tCL[@ytq=t=tHx"@sEi0I0)bƄGTلTY!y)-C)-Ϲ-> 1 I)QIQiQ Yaaa)a a)ii߁޽ ,?'AYtL@tF[@yt܅=tR+=tH /?˻Eѿ MCx?D[k?m?)uL@ uov;Iux2>x2KgE:@6=B@6=:@6B@6p<)nGp r=@J=%Q%>Y!y)-C)-=u-> 1 I)IIQiQ Yaaa)a a)ii߁UR> UV> ?'AYtML@taG[@yt=tC=tH ׌ϻ?dʻ ѿ`ɹOw?GN? t?)uML@ uفv;IuCx">x"dtE(@(i0I0)bƄGY;ل94Y)y)-C)57O95> 1 Q)QIQiQ aaaa)a a)ii߁  -?'AiYt L@tC[@yt=t=tH Vu?ӻ^ѿbw?O)\?Q?)u L@ uuv;IuCx2>x2;yE)EׄG}w<}E=}9Q}>YˁyˁCˁ͍"$>  )Ii ) )j sG?'AYtUL@ti@[@yt=t=tH `?ջѿºw? (RW?`L?)uUL@ u\v;IuCx"6>x"]|E@$"@&A@$"@*AidId)!-A)]K<]L=e?8Qe>YayaeCim=عm> q )Ii ) )QQA ca?'AYtL@t;[@yt=tk=tHu?ջѿ"x?`'Pc?@L?)uL@ uexv;Iux">x"pE*@(2@*=)lMjYqyquCq}NT}>  )Ii ) ), %t{?'A)IYtL@t8[@ytԵ=tdu=tHڎ@?ͻnѿһw?J T?`f?)uL@ u$jv;IuCx2T>x2nEi@IBtC)pmۻmJ=u\SQu>Yqyy}CyͅR>  )Ii ) ) x"rE:@&=B@&=:@&;B@*YAyAECAE:M> I i)iIiii q) )9UN> U]>\> (?'AYtjL@t~1[@yt8=t=tH@׏}?jлѿ`ϼjx?Ka?[?)ujL@ uev;IuCx"A>x"pE*A@(i0I2yC)b{G~'N=Q>Y y  C  ̹>  1)1I1i1 AAAA)A A)IIa2' ɇ?'AiYtO~L@tc-[@ytN=t^=tH`?`ɻѿ@]x?NDf?q?)uO~L@ uzv;Iux"z>x"lE ^Fix Requested)-ƄG]U]D=eQe>YayaeCamm> q )Ii ) )9Q ?'AYt{L@t*[@yt=t=tH ֐3??ʻ?ѿ x?%Fx]?q?)u{L@ uqv;IuCx x @&A"@&A@&A"@&AidId)-ׄG5A1uuلuD;yuS㥛?:v?~jth?YqIqiqqqɅqqu/< u<)uD;ˍ8Q>YˑyˑC˹ͽŹ>  )Ii  ) )99QQQSz s?'AYtnyL@t([@ytw=tts=tH 2@?ƻ ѿ gx?C T??)unyL@ uUv;IuCx">x"yE*@*C=2@*C=))]S<]<eQe>YayamCimm> q )Ii ) );c ?'A)IYtwL@t&[@yt.=t/=tH@\?"ʻhѿHDx?HK?r?)uwL@ uqv;IuCx2>x2kEi@I@)p%%ل%y%:v?{Gz?Y% AI!i!%V@!Ʌ!!%< %ף<)%EmbEL=EF^9QM>YIyIMCIUU> y )Ii ) )^  t0?'AYtqL@t![@yt=tG=tH?ѻ`ջѿex? \Ld?X?)uqL@ ulWv;IuCx">x"rE:@*=B@*=:@*;B@*<)G%= !=<=K=E99QE>YAyAECIMfM> Q i)iIiiq yy) )ߡUV> UY>ct KJ?'AYtoL@t[@ytf=tV=tH`v@_?ϻѿ@ePy? Jf?\?)uoL@ uqv;Iux">x"vE*A@(i~2~0~0~0ixQe>YayamCim5m> q )Ii ) )U 9*d?'AiYtTmL@th[@yt=tӽ=tH’`I?ϻ`mѿx?,L]?\?)uTmL@ u_v;Iux2>x2kE)nׄG%`弹%Dل!y%I +?Y!y!%C!%E-> ) i)iIiii ) ) ~?'AYtkL@t [@yt=tR=tH?qһ ѿRhx?`P YP?T?)ukL@ uYzv;IuCx2>x2xE@6A"@6A@6A"@6A nFix RequesteditIt)QUAYm=m=u9Qu>Yqyq}Cy͝x)>  )Ii ) )QQ% ޗ?'AYtYiL@tm[@yt=tG=tHA?ѻѿ@EGqx?PN?`V?)uYiL@ uifv;Iux"z>x"lE*@*4=2@()-GuuuĻلqyuQ?y&1|?Yu3AIqiqqqɅqu@uu< u`;)qinzA) I ){Aɒ钑ɓiIIizA 铹) ɔ/{AI)i)I{Aɕ ɖqunAqiqq!2=#Q>Y!y!%C!--> ) i)iIiii ) )+ ?'A)IYt%dL@t9[@yt=t=tH `S?@һѿQy?N`f?P?)u%dL@ ukwv;IuCx2T>x2nEitIt)U+Gɥ饹ii) I )ɦɧ{AiĻIIi ) ?{AɨI)i)CInAɩ v<=6 Q:?Yy!%C!%X-:? ) A)IIIiI ) )2 ˈ?'AYtQbL@te[@yt=t =tHC?>һ ѿ8ky?M cg? R?)uQbL@ ufv;IuCx2>x2inE:@6=B@6=:@6p;B@6<)nXGr< r=)L= Q>YyC A >  )))I)i) QYaa)i i)߉Q U]>8 n?'AYt^L@t [@yt=t.=tH`?aػ@hѿ`y?S k?@x"qE(@(i0I0)b+GDףلy~jt?{Gzt?Mb`YIiɅD< ף;)ʝO<P=˥p9Q>YˡyˡC˩ͭ>  )Ii ) )? J?'AiYtp[L@t [@yt =t=tH+?@tջLѿ*vy?@Q@:h?F?)up[L@ upv;IuCxN>xNinE)G=-2SBD MTMSN=20190328T165506UCN]O=]ȸQ]>YayaeCamtm> i )Ii ) )E %?'AYtZL@t [@ytB=t=tHEv?һ@ѿ AIy?Oq]?P?)uZL@ u>Vv;IuCx"6>x"]|E@$"@&A@$"@&Ai~0~2~2~2%i8I<)zׄGxxu\=uلuTyuI +y&1:vYuAIqiqqqɅqu@u9 u`)uTʭZ=E=˵Y˹y˹Ck>  )Ii  AAAA)A A)II߁QQ(L 3?'AYtWL@t[@yt=t=tH |?ٻѿ@|y?\V8d?`7?)uWL@ u.qv;IuCx">x"EmE*@*C=2@()`~V=9Q>Y y  C  < >  )Ii ) )1yS QL?'A)IYt*UL@t>[@yt+=t=tH @z? һQѿ3y? Nc?`P?)u*UL@ u+]v;IuCx">x"frE ^Fix RequestedidIh)UGm<mD=ufQu>YqyquCyEqM>  )Ii    )  ));Y f?'AYtwVL@t[@yt=ts=tHەe|?`һ`ѿy?QaT? R?)uwVL@ upv;IuCx"3>x"xE:@&=B@&=:@&4<B@*p<)-ƄG5= 5=uDuلuyuQ?I +MbYu AIqiqu?@qɅqu@uu< u94)uʍ<H=˕8Q>Yˑy˙C˙ͥQY9>  a)aIaia i) )߱UR> UR>"` d?'AYt5TL@tI[@ytA=tJ=tH`y?]߻`Nѿ+;qy?=\c? $?)u5TL@ u_v;IuCx">x"vE(@(idId)ׄGʍ;=ˍ9Q>YˑyˑCˑ͝>  )Ii ) ))Mf o?'Ai4<YtPL@tZ@ytp =tR=tH`uv?Cڻѿ; z? x2pE)l'=ل`eyy&1Qy&1YAIid@Ʌ@` )`e5ü5c==Q=>YAyAECAEM> I )Ii ) )wl J?'AYtQL@t[@yt=t=tHew?`+ڻ5ѿ@x{y?`W7`?@6?)uQL@ ufv;IuCx"+>x"mE@&A"@&A@&A"@&Ai0I0)bG`dnfOrP=r8Qr>YtytvCtvVL9z> x )Ii !!!)! !)))߁QQ^s !Ή?'AYtqNL@tZ@ytW=tZ=tHt?һ`ѿWy? AO6b?P?)uqNL@ uNv;Iux>i>x>qE*@J4=2@Li~V~V~T~T)%{Gʥq<?=˵Q>YyC%> Q i)iIiii ) )y 2?'A)IxR>xRsEihIjtC)M+GmPonly read 0 of 1 data item for BIT errormFailed to parse: :TS,19032810034348,35.0, -0A, 0.00, 66.64, 95.26, 101.25, 73.30 a 1m@a m a 5m@a u a 9u@a u a -u@a u V;G=Q>YyC>  !))I)i) QYYY)Y Y)aayq '?'Axb>xbrE:@f=B@j=:@j=B@n< ]Fix Requested)XG DH=Q>YyC  >  )))I)i) QYYY)Y Y)aayQ U]> ?'AYtfJL@tzZ@yt=t==tH@Kp?׻ѿ`|z? qQ x?;?)ufJL@ u\gv;IuCx">x"~E(@(ilInyC)=ƄGa 1a 1 a 5a 5 a 9a 9 a -a - T=ףلףyZd;O&1{GzYfAIi1@Ʌj P)ףu4=uC=}8Q}>YyyˁCˁͅ>  )Ii ) )YŌ 5?'Ai;YtLL@t Z@yt=t7=tH.4s? ѻwѿ%цy? OX?S?)uLL@ u)Zv;IuCx2>x2E)MׄG}n;}\=}*Q>YˁyˁCˁ͍9>  )Ii 9999)9 9)AAߙ nO?'AYtKL@tZ@yt=tT=tHN@Sr?`ѻzѿJFIy?`P@P?T?)uKL@ usv;IuCx"+>x"mE@&A"@&A@&A"@&Ai4I8) A!]ƑeL=m[38Qm>Yyyy}Cˁ͍$">  )Ii ) )  QQ<י oFi?'AxB>xB[~E*@JC=2@H)Ponly read 0 of 1 data item for BIT error%rFailed to parse: :TS,19032810030, -0.1, 0.0,1448.9, 0 a 1%@a % a 5%@a % a 9%@a % a -%@a % 5@=5M=5Q5>Y9y9=C9EE> I a)aIaia qqqq)q q)yyߑm Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b0ao 1 3= got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b0ao 1 3.000000= PScheduling command #1 of 3 with id=4b0ao= Scheduled #1 (#1 of 3 with id='4b0ao'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAP  S!?'A)$I$Yt.REL@t.fZ@yt.] =t.=t.H)@k?׻ ѿ 1~y?9U@`?@=?)u.REL@ u.iv;Iu.Cx >x%zEi9IA)N>=9Q>YyC qv >  I)QIQiQ y) ) ?'AYt&FL@t&Z@yt&=t&=t&H2m? ջѿy? S Z?E?)u&FL@ u&Nv;Iu&Cx2>x2mjE:@6=B@6=:@6<B@6YayaeCaeq9m> i )Ii ) )߹MV> MY>=U 2SBD MTMSN=20190328T165513 ٶ?'AYtFL@tZ@yt=tK=tH@`m?ӻѿhZy? (StO?N?)uFL@ ukv;IuCx2>x2tE^A@\idIftC)-0G=&=EL=ElQE>YIyIMCIMG6U> Q q)qIqiq ) )ߡR Њ?'Ai44YtJFL@tJZ@ytJ=tJo=tJH`m?λSѿ y?M@S?]?)uJFL@ uJRUv;IuJCxj6>xj]|E uFix Requested)jG%m=%̼ل!y%~jti|?5/$Y!I!i!!!Ʌ!!%ļ %q)!=<E;=ETMQE>YAyIMCIUU> Y q)qIqiq y) )ߡ% ?'AYtFL@tZ@yt =tD~=tH|m?Իѿ@y?RS U?I?)uFL@ u/rv;Iux">x"~E@&A"@&A@&A"@*AidIfyC)-ƄG-A1ʝd;V=˝uq9Q>YˡyˡCˡͭ8>  )Ii ) !)!)9QQ.  i?'AYt~CL@tZ@yt=t!=tHyi?ӻiѿn'z?7PIe? K?)u~CL@ uk]v;IuCx2>x2sE*@:4=2@8)MׄG}X+}L=˅Q>YˁyˁCˁ͍, >  !)!I!i! 1199)9 9)9AY7 D?'A)IYtCL@tZ@yty=tw=tH@3j? ƻ@ѿ`h23z?`bC_?x?)uCL@ utv;IuCx2F>x2wEi@I@)rYIyIMCIUS7U> Q q)qIqiq ) )ߡa C 8?'AYt"CL@t6Z@yt=t =tHi?λ ѿ@zz?K ua?`\?)u"CL@ uT_v;IuCx2i>x2qE:@6=B@6=:@6B@:<)rXGr= pz=żzO=~9Q~>YyC  >  )))I)i) 9999)9 A)AIYUx> Ua>pL R?'AYt6DL@t6Z@yt6=t6=t6HZ`k?лwѿIzy?M@^?V?)u6DL@ u6wv;Iu4xN\>xNzEVA@VAi~\~\~^~\idId)-ƄGxi=ԼلyI +V-/$YAIiɅ酵@鄵9 m)===ҩ8Q>YyCT9>  !)!I!i! QQQQ)Q Q)YYߑ2t k?'AiYtCL@tZ@yt=tc=tH``j?ѻ ѿ`iZJz?M2h?S?)uCL@ uNgv;IuCx2>x2{E)jG~;~Y=Q>Yy  C  w& >  ))1I1i1 Yaaa)a a)ii߁[ ?'AYt(EL@txB|E@D"@FA@D"@FA ~Fix Requestedi I )mƄGqqʝË;A=˝9Q>YˡyˡCˡͭri9>  )Ii ) ) 9QQ܅ ?'AYt=CL@tQZ@ytC=t=tHyi?ֻ@&ѿ@x3z?@9S]h?`??)u=CL@ uiv;IuCx">x"inE*@(2@()MׄG=̼لԼyl㥛 :vYAIiɅ酕x@鄕 )ԼʭhI=˵8Q>Y˹y˹C˹> 1 -Software Faultq Software Fault -Software Fault ) I i  999A)A A)AI߁-"Software Fault in component: DeadReckonUsingMultipleVelocitySources-"vSoftware Fault in component: DeadReckonUsingSpeedCalculator-"xSoftware Fault in component: DeadReckonWithRespectToSeafloor` jj?'A)IYtuAL@tZ@ytI0=t 0=tHࡘg?ݻeѿx2vEitIt)}GQ<= .V9Q >Y yC^> )))I)i) 1999)9 9)AAY"Clearing failed state for component DeadReckonUsingMultipleVelocitySources1 "Clearing failed state for component DeadReckonUsingSpeedCalculatorq "Clearing failed state for component DeadReckonWithRespectToSeafloor $ EӋ?'AYtBL@tZ@ytyM=tV=tH@ni?@໿`vѿ$y?]@a? ?)uBL@ uYnv;IuCx">x"uE:@&=B@&=:@&p;B@&p<)^{Gb4= b= /]= 9ل ףy Zd;OS㥫{GzY AI i   Ʌ  @ j /]) ףɪ5C53{A5Di5oF5i=C={A)= =FI= eC)e7{AɫeDeFemّCɬm/{AimIm̑FmImCiu7{A uȗF)uuC ubzAu} Fɭ}}C}7{AI})DFiʭ@=˭r 9Q>Y˱y˱C˱ͽ+9>lInitializing DeadReckonUsingSpeedCalculator component. )Ii !!!)! !)))AMV> UV>G G ?'AYtFAL@tZZ@yt=t=tHŘg?ӻIѿmz?PYa?@K?)uFAL@ u ]v;IuCx">x"tE$@&Ai0I0)bƄGidfrzA)h hIh h)hɒjĻhllɓlilIllIpip pp)pt tttɔtvCz/{AIz)zFiz)zCIz{Azɚ~F ~eCalculating totals. Valid battery stick count: 51. Valid reserve battery stick count: 5. }u ]W|I u 9]C{AɆ]H]CA}LReceived data from all battery sticks.ʅݻ=˅AQ&?YˉyˉCˉ͕&? Q q)Ii ) ) ?'AiYtg?L@t{Z@yt=tn=tH e?)ԻѿZNz?P@f?H?)ug?L@ unrv;Iux2q>x2|Ei~>~<~>~<)vׄG=Q=%ӶQ%>Y!y!-C)--> 1 I)IIQiQ Yaaa)a a)iiߡ? k ?'AYt;@L@tOZ@ytR=t=tH@f?̻ Vѿ`z? gJ@T\?c?)u;@L@ uQ`v;IuCx"z>x"lE@&A"@&A@&A"@&Ai0I0)`bA`T=لyZd;O~jtY AIiV@Ʌ L)]{]F=]|tQe>YayaeCam9m> q )Ii ) )QQN  :?'AYtPAL@tdZ@ytӾ=t=tHӘg?oλ \ѿz? K]?]?)uPAL@ uwv;IuCx">x"E*@*C=2@*4= ^Fix Requested)-G=N=EL=Ez8QE>YAyIMCIM-9U> Q i)qIqiq y) ) T?'A)@IYt@L@tZ@ytӑ=tM=tHg?y˻ ѿz?\Fo?e?)u@L@ uhv;IuCx">x"_zEidIftC)-ƄGmP=iلmףymI +J +{GzYmfAIiiim1@iɅm"Aim9 mH)mףʅ4F=˅YQ>YˉyˉCˉ͕ظ>  )Ii ) )Received command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b0ao 2 3=Ugot command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b0ao 2 3.000000=]PScheduling command #2 of 3 with id=4b0ao=]Scheduled #2 (#2 of 3 with id='4b0ao'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP fn?'AYtAL@t Z@yt=tu=tH`>h?i׻ѿRz? R@{t? xRzE:@V=B@V=:@Vp<B@V<)G %=:E=z9Q>YyCQ9>  ) I i  !)! !)!)AQ Ua>! @?'AYt!DL@t5Z@yt#=t=tH`ej?ѻѿ Yy? O]?Q?)u!DL@ ukv;Iux">x"frE(@(i0I2yC)b+G5O 5U==Q͸Q=>Y9yAECAEr9E> I a)aIiii qqyy)y y)ߙ=2SBD MTMSN=20190328T165520!( P?'Ai4Z@ytO=t'=tH!l?3λ`ѿQy?AN K?`?)u*FL@ uQv;IuCx2>x2_zE)nGeQ8=eلeye rhZd;O~jtYeAIaiae?@aɅaaeC ej<)eʽT<B=˽MQ>YyC9>  ) I i  9999)9 9)AAyL. v?'AYtEL@tZ@yt6=tg=tH)l?`ϻѿy?NR?[?)uEL@ unv;IuCxB>xBrE@FA"@FA@FA"@FAiPIRtC)~BGAV=r7Q>YyC%)%> ) A)AIAiA QQQQ)Q Q)YaqQQo35 pՌ?'AYtDL@tZ@yt=t=tH\ k?л ~ѿG z?@M``? X?)uDL@ u[v;IuCx&D>x&sE*@(2@*C=i~0~0~6~4)jG::لDyMb`~jthY3AIid@Ʌ@ )D5 Z;5H=5mQ5>Y9y9=C9EME> I a)aIaia qqqq)q q)yߑ]; ?'A)@IYtBL@tZ@yt=t=tH@h?ͻ`ѿ`z?wGLy?`\?)uBL@ usv;Iux2V>x6rEi@IByC)nbGvvO=veQz>YxyxzCx~D~>  )Ii )))1)1 1)19IEB n ?'AYtoEL@tZ@ytR=t=tH.k?aػ Aѿ)~z?@\Rx?8?)uoEL@ uhiv;IuCx">x"oE:@&=B@&=:@&=B@*< ^Fix Requested)-ƄG) )]B]C=e39Qe>YayamCim9m> q )Ii ) )UR> UV>oH a#?'AYtIL@tZ@ytl=t7%=tHo?Ի`Uѿ`"z?Pj?F?)uIL@ u{v;Iux">x"zE*A@*AidIh)-Gu=uلu`eyu:vy&1y&1YuAIqiqqqɅqu@uԼ u`)u`eʍb0=H=ˍQ>YˑyˑCˑ͝&:>  )Ii ) ))N @=?'Ai4<;YtLL@tZ@yt=t%=tH:r? ѻ<ѿ-y?N`u_?S?)uLL@ ujv;IuCx2i>x2qE)M0G}Y}K=}jQ>YˁyˁCˁ͍T9>  )Ii ) )hU W?'AYt=NL@tQZ@yt=t=tHx"_zE@&A"@&A@&A"@&Ai0I0)jG!!e`YˡyˡCˡͭ5p9>  )Ii ) )!!YQQ[ p?'AYt\QL@tp[@yt=t=tHXw?Ի@ѿ` y?`R@^?I?)u\QL@ u/mv;IuCx"3>x"xE*@*4=2@()bƄG-4-R=58Q5>Y1y15C1=:=> A Y)YIaia iiqq)q q)qyߑsb  Ҋ?'A)IYtSL@t.[@ytt=t=tH@x?ػJѿQ1_y?zV`]? ;?)uSL@ uUv;IuCx2>x2`xEi~<~<~>~Y)y)-C)5y95> 1 ) I i 9AAA)A A)II߁h %?'AYtTL@t[@yt=t=tHz?@ջ ԟѿTy?fS@d[?@F?)uTL@ uqv;Iux" >x"yE:@&=B@&=:@&p;B@&<)bjGb= b=Dلy{Gz?y&1|?MbPY3AIiɅ@#< `;)=;EH=EQE>YIyIMCIMx9U> Q )Ii YYYa)a a)ai߹Q Qn ?'AYtUL@t[@yt=t=tH {?ֻРѿTy?`ET@\?B?)uUL@ u\v;IuCx">x"DoE*A@*A ^Fix RequestedihIjtC)-{Ge'eH=e. 8Qe>YiyimCiu"9u> q )Ii ) )߁u cc؍?'Ai;YtYL@t [@ytX=tbU=tH@[`?ӻؤѿ bx?`RP?`N?)uYL@ usv;IuCx2Y>x2bvE)I#لy/$?~jtx?Mb`Y AIiV@Ʌ酑鄕< ;)ʥ<F=˭[Q>Y˱y˱C˱ͽ":>  )Ii    )  )11I{ >?'AYt/\L@tC [@yt=tYu=tH ݁?ջѿ`Ax?'TT?G?)u/\L@ ufv;IuCx">>x"klE@$"@&A@$"@&AidId)-ƄG11}"}M=} Q8Q>YˁyˁCˁ͍9>  )Ii ) )QQ f ?'AYt[L@t [@yt9=t=tH ?Bһ٦ѿyy?^N c?R?)u[L@ uyv;IuCx"Y>x"bvE*@*R=2@(RReceived command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b0ao 3 3)~ׄG=#==N=EjQE>YAyAMCIMkM> Q )Ii ) )=egot command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b0ao 3 3.000000=ePScheduling command #3 of 3 with id=4b0ao=uScheduled #3 (#3 of 3 with id='4b0ao'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP=]zgot command load ./Missions/Engineering/lineCaptureHoming.xml$]zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml*n code=0060 name="lineCaptureHoming" *e code=0660 elementURI="lineCaptureHoming.MissionTimeout" type=00 *a code=080C owner=0060 element=0660 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=080D owner=0060 element=0660 universal=3FFF unitName="hour" type=1F size=0008 fl=05 j@ @$ nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h*e code=0661 elementURI="lineCaptureHoming.NeedCommsTime" type=00 *a code=080E owner=0060 element=0661 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=080F owner=0060 element=0661 universal=3FFF unitName="minute" type=1F size=0008 fl=05 z@ @$ tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min*e code=0662 elementURI="lineCaptureHoming.Repeat" type=00 *a code=0810 owner=0060 element=0662 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0811 owner=0060 element=0662 universal=3FFF unitName="count" type=1F size=0008 fl=05 @ ?$ fDefineArg lineCaptureHoming.Repeat = 1.000000 count*e code=0663 elementURI="lineCaptureHoming.DockLat" type=00 *a code=0812 owner=0060 element=0663 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0813 owner=0060 element=0663 universal=3FFF unitName="degree" type=1F size=0008 fl=05 @ $ `DefineArg lineCaptureHoming.DockLat = nan arcdeg*e code=0664 elementURI="lineCaptureHoming.DockLon" type=00 *a code=0814 owner=0060 element=0664 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0815 owner=0060 element=0664 universal=3FFF unitName="degree" type=1F size=0008 fl=05 @% $- `DefineArg lineCaptureHoming.DockLon = nan arcdeg*e code=0665 elementURI="lineCaptureHoming.StartLat" type=00 *a code=0816 owner=0060 element=0665 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0817 owner=0060 element=0665 universal=3FFF unitName="degree" type=1F size=0008 fl=05 @= $E bDefineArg lineCaptureHoming.StartLat = nan arcdeg*e code=0666 elementURI="lineCaptureHoming.StartLon" type=00 *a code=0818 owner=0060 element=0666 universal=3FFF unitName="degree" type=1F size=0008 fl=04 X %?'A)@IYt^L@t [@ytq=t=tH@Ҕ@? "λuѿ@y?,Ii?_?)u^L@ umv;Iux.>x2pE*a code=0819 owner=0060 element=0666 universal=3FFF unitName="degree" type=1F size=0008 fl=05 i@IByC@~) MMDلMyMZd;O?YiyquCq}9}> $bDefineArg lineCaptureHoming.StartLon = nan arcdeg*e code=0667 elementURI="lineCaptureHoming.TerminalRange" type=00 *a code=081A owner=0060 element=0667 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=081B owner=0060 element=0667 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @P@$pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m ) )*e code=0668 elementURI="lineCaptureHoming.cameraRange" type=00 *a code=081C owner=0060 element=0668 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=081D owner=0060 element=0668 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @9@$jDefineArg lineCaptureHoming.cameraRange = 25.000000 m*e code=0669 elementURI="lineCaptureHoming.DockRange" type=00 *a code=081E owner=0060 element=0669 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=081F owner=0060 element=0669 universal=3FFF unitName="meter" type=1F size=0008 fl=05 @]@$]dDefineArg lineCaptureHoming.DockRange = 4.000000 m*e code=066A elementURI="lineCaptureHoming.UpdateNav" type=00 *a code=0820 owner=0060 element=066A universal=3FFF unitName="bool" type=1F size=0008 fl=04 q*a code=0821 owner=0060 element=066A universal=3FFF unitName="bool" type=1F size=0008 fl=05  A$jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool*e code=066B elementURI="lineCaptureHoming.TerminalGuidanceTimeout" type=00 *a code=0822 owner=0060 element=066B universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0823 owner=0060 element=066B universal=3FFF unitName="minute" type=1F size=0008 fl=05 A @$DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min*e code=066C elementURI="lineCaptureHoming.DockTimeout" type=00 *a code=0824 owner=0060 element=066C universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0825 owner=0060 element=066C universal=3FFF unitName="second" type=1F size=0008 fl=05 *AN@$jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s*e code=066D elementURI="lineCaptureHoming.RolloutTimeout" type=00 *a code=0826 owner=0060 element=066D universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0827 owner=0060 element=066D universal=3FFF unitName="minute" type=1F size=0008 fl=05 :A@$tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min*e code=066E elementURI="lineCaptureHoming.HoldAltitude" type=00 *a code=0828 owner=0060 element=066E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0829 owner=0060 element=066E universal=3FFF unitName="meter" type=1F size=0008 fl=05 JA@$jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m*e code=066F elementURI="lineCaptureHoming.InvalidAltitudeTimeout" type=00 *a code=082A owner=0060 element=066F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=082B owner=0060 element=066F universal=3FFF unitName="minute" type=1F size=0008 fl=05 ZA$xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min*e code=0670 elementURI="lineCaptureHoming.InitDepth" type=00 *a code=082C owner=0060 element=0670 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=082D owner=0060 element=0670 universal=3FFF unitName="meter" type=1F size=0008 fl=05 jA>@$ fDefineArg lineCaptureHoming.InitDepth = 30.000000 m*e code=0671 elementURI="lineCaptureHoming.InitDepthTimeout" type=00 *a code=082E owner=0060 element=0671 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=082F owner=0060 element=0671 universal=3FFF unitName="minute" type=1F size=0008 fl=05 zA @$exDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min*e code=0672 elementURI="lineCaptureHoming.TransponderCode" type=00 *a code=0830 owner=0060 element=0672 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0831 owner=0060 element=0672 universal=3FFF unitName="count" type=1F size=0008 fl=05 A}@$xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count*e code=0673 elementURI="lineCaptureHoming.NumberOfPings" type=00 *a code=0832 owner=0060 element=0673 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0833 owner=0060 element=0673 universal=3FFF unitName="count" type=1F size=0008 fl=05 A?$tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count*e code=0674 elementURI="lineCaptureHoming.EnabledDUSBL" type=00 *a code=0834 owner=0060 element=0674 universal=3FFF unitName="none" type=00 size=001B fl=04 *a code=0835 owner=0060 element=0674 universal=3FFF unitName="none" type=00 size=001B fl=05 AMDUSBL_Hydroid.loadAtStartup$MDefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup*e code=0675 elementURI="lineCaptureHoming.Speed" type=00 *a code=0836 owner=0060 element=0675 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0837 owner=0060 element=0675 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 Ae?$e`DefineArg lineCaptureHoming.Speed = 1.000000 m/s*e code=0676 elementURI="lineCaptureHoming.DepthDeadband" type=00 *a code=0838 owner=0060 element=0676 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0839 owner=0060 element=0676 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Au$lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m*e code=0677 elementURI="lineCaptureHoming.MinAltitude" type=00 *a code=083A owner=0060 element=0677 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=083B owner=0060 element=0677 universal=3FFF unitName="meter" type=1F size=0008 fl=05 A@$hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m*e code=0678 elementURI="lineCaptureHoming.MaxDepth" type=00 *a code=083C owner=0060 element=0678 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=083D owner=0060 element=0678 universal=3FFF unitName="meter" type=1F size=0008 fl=05 Ai@$fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m*e code=0679 elementURI="lineCaptureHoming.MinOffshore" type=00 *a code=083E owner=0060 element=0679 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=083F owner=0060 element=0679 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 A-@@$5jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km*e code=067A elementURI="lineCaptureHoming.HomingActive" type=00 *a code=0840 owner=0060 element=067A universal=3FFF unitName="bool" type=02 size=0001 fl=05 B}*a code=0841 owner=0060 element=067A universal=3FFF unitName="bool" type=02 size=0001 fl=04 $hDefineOutput lineCaptureHoming.HomingActive = 1 bool*e code=067B elementURI="lineCaptureHoming.cameraRequested" type=00 *a code=0842 owner=0060 element=067B universal=3FFF unitName="bool" type=02 size=0001 fl=05 B*a code=0843 owner=0060 element=067B universal=3FFF unitName="bool" type=02 size=0001 fl=04 $nDefineOutput lineCaptureHoming.cameraRequested = 0 bool*e code=067C elementURI="lineCaptureHoming.DoingComms" type=00 *a code=0844 owner=0060 element=067C universal=3FFF unitName="bool" type=02 size=0001 fl=05 "B*a code=0845 owner=0060 element=067C universal=3FFF unitName="bool" type=02 size=0001 fl=04 $dDefineOutput lineCaptureHoming.DoingComms = 1 bool*e code=067D elementURI="lineCaptureHoming.StartFromSurface" type=00 *a code=0846 owner=0060 element=067D universal=3FFF unitName="bool" type=02 size=0001 fl=05 2B*a code=0847 owner=0060 element=067D universal=3FFF unitName="bool" type=02 size=0001 fl=04 $pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool$lInserting Stack: Missions/Insert/StandardEnvelopes.xml*n code=0061 name="lineCaptureHoming:StandardEnvelopes" *e code=067E elementURI="lineCaptureHoming:StandardEnvelopes.MinAltitude" type=00 *a code=0848 owner=0061 element=067E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0849 owner=0061 element=067E universal=3FFF unitName="meter" type=1F size=0008 fl=05 JB@$DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m*e code=067F elementURI="lineCaptureHoming:StandardEnvelopes.MaxDepth" type=00 *a code=084A owner=0061 element=067F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=084B owner=0061 element=067F universal=3FFF unitName="meter" type=1F size=0008 fl=05 ZBi@$DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m*e code=0680 elementURI="lineCaptureHoming:StandardEnvelopes.MinOffshore" type=00 *a code=084C owner=0061 element=0680 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=084D owner=0061 element=0680 universal=3FFF unitName="meter" type=1F size=0008 fl=05 jB @@$ DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m*n code=0062 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" 1e 6Construct AltitudeEnvelope.*a code=084E owner=0062 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=084F owner=0062 element=0142 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0850 owner=0062 element=013E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0851 owner=0062 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0852 owner=0062 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0853 owner=0062 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0854 owner=0062 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0855 owner=0062 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0856 owner=0062 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0857 owner=0062 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0858 owner=0062 element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0859 owner=0062 element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0063 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" 1 0Construct DepthEnvelope.*a code=085A owner=0063 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=085B owner=0063 element=0142 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=085C owner=0063 element=013E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=085D owner=0063 element=0122 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=085E owner=0063 element=013C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=085F owner=0063 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0860 owner=0063 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0861 owner=0063 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0862 owner=0063 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0863 owner=0063 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0864 owner=0063 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0865 owner=0063 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0866 owner=0063 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0867 owner=0063 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0868 owner=0063 element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0869 owner=0063 element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *n code=0064 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" 2 6Construct OffshoreEnvelope.*a code=086A owner=0064 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=086B owner=0064 element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=086C owner=0064 element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=086D owner=0064 element=061E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=086E owner=0064 element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=086F owner=0064 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0870 owner=0064 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0871 owner=0064 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0872 owner=0064 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0873 owner=0064 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0874 owner=0064 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0875 owner=0064 element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0876 owner=0064 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *n code=0065 name="lineCaptureHoming:B" *a code=0877 owner=0065 element=067E universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0066 name="lineCaptureHoming:C" *a code=0878 owner=0066 element=067F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *n code=0067 name="lineCaptureHoming:D" *a code=0879 owner=0067 element=0680 universal=3FFF unitName="meter" type=1F size=0008 fl=05 $ \Inserting Stack: Missions/Insert/NeedComms.xmlE7 ??'AYtvbL@t[@ytU=t!=tH@S?^̻`ѿ 1Ҝy?+G $j?@f?)uvbL@ uHXv;IuCx2 >x2yE:@6=B@6=:@6B@6<)4= ==O=%uQ%>Y!y!%C)->:-> 1 Yaa)a a)ii߁*n code=0068 name="lineCaptureHoming:NeedComms" *e code=0681 elementURI="lineCaptureHoming:NeedComms.DiveInterval" type=00 *a code=087A owner=0068 element=0681 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=087B owner=0068 element=0681 universal=3FFF unitName="hour" type=1F size=0008 fl=05 C@$~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h*e code=0682 elementURI="lineCaptureHoming:NeedComms.WaitForPitchUp" type=00 *a code=087C owner=0068 element=0682 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=087D owner=0068 element=0682 universal=3FFF unitName="minute" type=1F size=0008 fl=05 C@$DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min*e code=0683 elementURI="lineCaptureHoming:NeedComms.SurfacePitch" type=00 *a code=087E owner=0068 element=0683 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=087F owner=0068 element=0683 universal=3FFF unitName="degree" type=1F size=0008 fl=05 CeDJW?$uDefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg*e code=0684 elementURI="lineCaptureHoming:NeedComms.SurfaceDepthRate" type=00 *a code=0880 owner=0068 element=0684 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0881 owner=0068 element=0684 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05  D$DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s*e code=0685 elementURI="lineCaptureHoming:NeedComms.SurfaceSpeed" type=00 *a code=0882 owner=0068 element=0685 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element=067D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0079 name="lineCaptureHoming:I." *a code=08A0 owner=0079 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A1 owner=0079 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A2 owner=0079 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A3 owner=0079 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A4 owner=0079 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A5 owner=0079 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08A6 owner=0079 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0688 elementURI="TrackAcousticContact.contact_label" type=02 *a code=08A7 owner=0079 element=0688 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *e code=0689 elementURI="TrackAcousticContact.contact_latitude" type=02 *a code=08A8 owner=0079 element=0689 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=068A elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 *a code=08A9 owner=0079 element=068A universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=068B elementURI="TrackAcousticContact.contact_longitude" type=02 *a code=08AA owner=0079 element=068B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=068C elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *a code=08AB owner=0079 element=068C universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=068D elementURI="TrackAcousticContact.eastings_to_contact" type=02 *a code=08AC owner=0079 element=068D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=068E elementURI="TrackAcousticContact.northings_to_contact" type=02  \Y?'AYt eL@t[@yt!}=t/=tH`3?@mɻ`ѿy?C`k?`p?)u eL@ u#wv;Iux">x"6E*A@(i~2~0~2~0i8I:tC)p-t-ل-D;y-?:v?~jth?Y-AI)i)-?@)Ʌ))-< -<)-D;M<MH=MQM>YQyQUCQ]39]> a*a code=08AD owner=0079 element=068E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=068F elementURI="TrackAcousticContact.contact_depth" type=02 ) *a code=08AE owner=0079 element=068F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0690 elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 )19I*a code=08AF owner=0079 element=0690 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0691 elementURI="TrackAcousticContact.range_to_contact" type=02 *a code=08B0 owner=0079 element=0691 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0692 elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *a code=08B1 owner=0079 element=0692 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0693 elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=08B2 owner=0079 element=0693 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0694 elementURI="TrackAcousticContact.heading_to_contact" type=02 *a code=08B3 owner=0079 element=0694 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0695 elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=08B4 owner=0079 element=0695 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0696 elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=08B5 owner=0079 element=0696 universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=0697 elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=08B6 owner=0079 element=0697 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=0698 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=08B7 owner=0079 element=0698 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *n code=007A name="lineCaptureHoming:J.Mass" =]Construct.*a code=08B8 owner=007A element=0285 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08B9 owner=007A element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BA owner=007A element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08BB owner=007A element=0137 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=007B name="lineCaptureHoming:K.Buoyancy" =&Construct Buoyancy.*a code=08BC owner=007B element=026B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08BD owner=007B element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BE owner=007B element=060F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=08BF owner=007B element=0119 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=007C name="lineCaptureHoming:L" *n code=007D name="lineCaptureHoming:M" *n code=007E name="lineCaptureHoming:DiveCmd" *n code=007F name="lineCaptureHoming:DiveCmd:InitialDive" *n code=0080 name="lineCaptureHoming:DiveCmd:InitialDive:dive" *n code=0081 name="lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed" @eConstruct.*a code=08C0 owner=0081 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C1 owner=0081 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08C2 owner=0081 element=0610 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0082 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch" AConstruct.*a code=08C3 owner=0082 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C4 owner=0082 element=060C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C5 owner=0082 element=060D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08C6 owner=0082 element=05F7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08C7 owner=0082 element=05EF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C8 owner=0082 element=05EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08C9 owner=0082 element=060E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08CA owner=0082 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0083 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout" *n code=0084 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout:A" *a code=08CB owner=0084 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0085 name="lineCaptureHoming:DiveCmd:InitialDive:dive:C" *a code=08CC owner=0085 element=067D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0086 name="lineCaptureHoming:DiveCmd:AltitudeServo" *n code=0087 name="lineCaptureHoming:DiveCmd:AltitudeServo:dive" *n code=0088 name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:A" *a code=08CD owner=0088 element=011B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=0089 name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed" DConstruct.*a code=08CE owner=0089 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CF owner=0089 element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08D0 owner=0089 element=0610 universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=008A name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo" EConstruct.*a code=08D1 owner=008A element=0168 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08D2 owner=008A element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08D3 owner=008A element=060C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08D4 owner=008A element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D5 owner=008A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008B name="lineCaptureHoming:RequestPing" *n code=008C name="lineCaptureHoming:RequestPing:A" *n code=008D name="lineCaptureHoming:RequestPing:B" *a code=08D6 owner=008D element=02DF universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=008E name="lineCaptureHoming:RequestPing:C" *a code=08D7 owner=008E element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=008F name="lineCaptureHoming:StartingMission" *n code=0090 name="lineCaptureHoming:Lap" *n code=0091 name="lineCaptureHoming:Lap:Dive" *n code=0092 name="lineCaptureHoming:Lap:Dive:A" *n code=0093 name="lineCaptureHoming:Lap:PingTransponder" *n code=0094 name="lineCaptureHoming:Lap:PingTransponder:A" *n code=0095 name="lineCaptureHoming:Lap:C" *a code=08D8 owner=0095 element=067A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0096 name="lineCaptureHoming:Lap:MidcourseGuidance" *a code=08D9 owner=0096 element=0691 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0097 name="lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint" K &Construct Waypoint.*a code=08DA owner=0097 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DB owner=0097 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DC owner=0097 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DD owner=0097 element=061E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08DE owner=0097 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08DF owner=0097 element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08E0 owner=0097 element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=0098 name="lineCaptureHoming:Lap:TerminalGuidance" *a code=08E1 owner=0098 element=0691 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0099 name="lineCaptureHoming:Lap:TerminalGuidance:A" *a code=08E2 owner=0099 element=0694 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *n code=009A name="lineCaptureHoming:Lap:TerminalGuidance:B.Point" M Construct.*a code=08E3 owner=009A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E4 owner=009A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E5 owner=009A element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E6 owner=009A element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08E7 owner=009A element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E8 owner=009A element=061D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08E9 owner=009A element=05F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08EA owner=009A element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08EB owner=009A element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08EC owner=009A element=0694 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *n code=009B name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera" *a code=08ED owner=009B element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009C name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A" *a code=08EE owner=009C element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009D name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B" *n code=009E name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C" *a code=08EF owner=009E element=067B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=009F name="lineCaptureHoming:Lap:Dock" *n code=00A0 name="lineCaptureHoming:Lap:Dock:UpdateNav" *n code=00A1 name="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav" Pm "Construct SetNav.*e code=0699 elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.latitude_fix" type=00 *a code=08F0 owner=00A1 element=0699 universal=0018 unitName="degree" type=37 size=0006 fl=05 Q(e 5*e code=069A elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.longitude_fix" type=00 *a code=08F1 owner=00A1 element=069A universal=001B unitName="degree" type=37 size=0006 fl=05 Q(i5 5DI 3s?'AiYtjL@t[@ytI=t H=tH`1?`Ȼ`ѿx?FO?v?)ujL@ u[v;IuCx2t>x2-E*e code=069B elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.time_fix" type=00 )vGU;N=8Q>YyC%(c:%> ) QQQ)Q*a code=08F2 owner=00A1 element=069B universal=0063 unitName="second" type=1F size=0008 fl=05 q)yyߑ*n code=00A2 name="lineCaptureHoming:Lap:Dock:B.Wait" QConstruct Wait.*n code=00A3 name="lineCaptureHoming:Lap:Dock:C" *a code=08F3 owner=00A3 element=067B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A4 name="lineCaptureHoming:Lap:Dock:D" *a code=08F4 owner=00A4 element=067A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A5 name="lineCaptureHoming:Lap:Rollout" *n code=00A6 name="lineCaptureHoming:Lap:Rollout:NavToStart" *n code=00A7 name="lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint" Su&Construct Waypoint.*a code=08F5 owner=00A7 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F6 owner=00A7 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F7 owner=00A7 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F8 owner=00A7 element=061E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08F9 owner=00A7 element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08FA owner=00A7 element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08FB owner=00A7 element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00A8 name="lineCaptureHoming:Lap:Rollout:MaintainHeading" *n code=00A9 name="lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait" TConstruct Wait.*n code=00AA name="lineCaptureHoming:PhoneHome" $uO Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Setting Heading: . Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =}fLoaded ./Missions/Engineering/lineCaptureHoming.xml1  c?'AYtkL@t[@ytU=t3=tH@Đ?ͻصѿ x?KX?c?)ukL@ u>uv;IuxR >xRzE@VA"@VA@VA"@VA Fix Requestedi)I-yC){G8/= 9Q>YyC9>  Y)aIaia ) )QQZ K;?'AYtkL@t[@yt=t?,=tH ̐?n˻` ѿky?`E`wk? j?)ukL@ u~cv;IuCx"+>x"mE*@&4=2@())m,mף;لm;ym:v?L7A`?~jtx?YiIiiiiiɅiim< m+=)m;ʅse=ˍlQ>YˉyˉCˑ͕58>  1)1I1i9 AAII)I I)IߡB 7?'A)IYtoL@t[@yt=tR=tH@? ̻ѿcQwy?E>p?`g?)uoL@ uv;Iux2 >x2yEitIt)I]G=]M=eQe>YayaeCam:m> q )Ii ) )l ڎ?'AYtvL@t%[@yt?=tl=tH`k??@dӻ`fѿkx?`Ob?P?)uvL@ uutv;IuCx"I>x"9{E:@&=B@&=:@&B@&p<)bƄGf< d D `;ل tYIyIMCIU:U> Y q)qIqiq ) )ߡUR> U]>ᕼ ?'AYt|L@t+[@yt=t=tH`o?Bͻwѿ@sx?{I\?f?)u|L@ u~v;IuCx">x"{E(@(i0I0)fYtytvCtz W:z> | )Ii !!!!)! ))))A~ X?'AiYt&L@t&.[@yt&C=t&=t&HI+?Ȼ*ѿ(bix?@D`J[?w?)u&L@ u&zv;Iu$xRF>xRwEi~~.~  ~ )XGT#<لDYyC:>  )))I)iI YYYY)Y Y)aayۨ (?'AYtWL@tk4[@ytN=ti=tH r?ͻ_ѿ iw? J`HS?`g?)uWL@ uav;IuCx"Y>x"bvE@&A"@&A@&A"@&Ai0I2tC)b{GfAdnrq=r9Qr?YtytvCtv:z? x )Ii !!!)! !)))aQQ ZB?'AYtL@t7[@ytI=t=tH@?5̻ ѿZx?)He[?`k?)uL@ uրv;IuCx"o>x"xE*@*C=2@( ^Fix Requested)-ƄG=P <ED=EʸQE>YAyIMCIMQ:U> Q i)qIqiq y) )ۺ .:\?'A)IYtOL@tc9[@yt=tF =tH`Ύ@ ?h̻@&ѿ@tx?F]g?i?)uOL@ u'fv;IuCx23>x2xEitIvyC)MׄGH94<لuY˩y˩C˱͵jn9>  )))I1i1 aaaa)i i)iqߑ rv?'AYtjL@t~?[@yt^=tͶ=tHۍ`?һѿw?N\?U?)ujL@ uv;IuCx"&>x"E:@&=B@&=:@&B@&;))) 5=] =]O=e99Qe>YayaeCamw:m> q )Ii ) )UN> UV> 쏏?'AYt.L@t.E[@yt.4=t.1L=t.H ? һѿ[?w?@O`O?Y?)u.L@ u.^mv;Iu.Cx5 >x5=wE@iI)GQQلQyUS㥛?kt?Q?YQIQiQQQɅQQQ U 0=)Qmm:=u&!8Qu>YˑyˑC˙͝`:>  )Ii ) )I O˩?'Ai4<YtL@tM[@ytD=tݲ=tH?`-ͻlѿAv?!Mx2bvE)rƄGmom\=mָQu>YqyyCˁ͍:>  )Ii ) )) Ï?'AYt5L@tIN[@yt;=t:=tHċa?һ ѿ ׸v? \P^M?`X?)u5L@ uNqv;Iux" >x"yE@*A"@*A@("@*Ai4I4)jYy  C  8 >  ))1I1i1 aaaa)a i)iq߁QQ ~ݏ?'AYt L@tP[@yt,=t=tH t?xٻѿ Jw?U ]???)u L@ u؄v;IuCx">x"8}E*@(2@(i~0~2~2~0)nXG==;ل=#YˁyˁCˁͅы9>  A)AIAiI ) )3 \?'A)@IYtL@t#S[@yt=tuT=tH`?ٻѿ (w? oR@^p?@=?)uL@ uv;IuCx2>x2_zEi@I@)rƄG~s<~P=@ظQ>Yy  C  9 >  ))1I1i1 9AAA)A A)II߁ 5E?'AYtJnL@tJY[@ytJ=tJ=tJH5@?ջѿ`E#tw?@gO h? L?)uJnL@ uJjgv;IuJCxnF>xnwE:@r=B@r= UFix Requested)G4= %=#<لף;y{Gz?L7A`?{Gzt?YIiAɅ"Aף< +=)ף;'9=%ܸQ%>Y!y!%C)-f:-> 1 I)QIQiQ Yaaa)a a)iAYM]> MY>'D  E+?'AYt&L@t:^[@yt]=t)=tH@p? ֻ@<ѿv?`Q1^?I?)u&L@ ubv;IuCx"1>x"tE*A@(idId)-+G= 2EZ=E8QE>YAyIMCIMI:U> Q i)qIqiq y) )|. D?'Ai4U? Y?)uL@ uVcv;IuCx.I>x29{E)EXG]<]H=]LQ]>YayaeCam::m> q )Ii ) ) W K^?'AYtڹL@th[@yt=til=tH ?`׻nҿ"Uv? SS?I?)uڹL@ u]v;IuCx">x"vE@$"@&Ai0I0)j{GnAly}`;ل};y}I +?X9v?Mb`?Y}AIyiyy}jAɅyy}9< }<)};ʕSG=˕H9Q>YyCb:>  A)AIAiA Qyyy)y y)ߩQQG x?'AYtļL@tk[@yt =t=tH m?6ۻ`3ҿv?U`a?@;?)uļL@ uuv;IuCx">x"lE*@*4=2@() ƄGO%R=%8Q%>Y)y)-C)-95> 1 Q)QIQiQ aaaa)a a)iiߡk$ 3?'A)@IYt"}L@t"q[@yt"7=t"=t"H``?@໿ ҿ{v?ZGd? (?)u"}L@ u"v;Iu x..>x.BqEi~8~>~<~YyCT:>  1)9I9i9 AAII)I I)qq߉=ngot command set lineCaptureHoming.Repeat 3.000000 count@@=tgot command set lineCaptureHoming.DockRange 0.100000 meter@?=got command set lineCaptureHoming.RolloutTimeout 1.000000 minute:AN@=tgot command set lineCaptureHoming.InitDepth 0.000000 meterjA* Hެ?'AYtL@tt[@ytz=tl3=tH U@?׻` ҿov?dP`Gl?`F?)uL@ uv;IuxbI>xb9{E:@dB@f=)}G< =ʽ=G=UιQ>YyC1:>  )Ii !))))) ))QQiR> j1 5Ɛ?'AYtGL@t[{[@ytj=t"=tHd_? Aٻҿ`)v?`S M^?`C?)uGL@ u^v;IuCx&>x&~E,@, ^Fix RequestedidIh)-{G=_e<ES=E 9QE>YAyIMCIMA:U> Q q)qIqiq ) )ߩB7 ?'Ai;;YtjL@t~~[@yt/=t=tH m?Zֻ@ҿv?P@\?M?)ujL@ uwv;Iux2\>x2zE)E+GلyI +?{Gz?Y3AIid@Ʌ#A酉鄍9< ף<)ʥD=˥޸Q>Y˩y˩C˩͵9>  )Ii ) )= Lo?'AYtL@t[@ytt=tH=tH=`}?`Wֻ*ҿZg5v?`Oe?M?)uL@ uNnv;IuCxB>xBdtE@D"@Di I )mGuAqʝ근K=˝UQ>YˡyˡCˡͭU:>  )Ii ) )D F?'AYtL@t([@yt=t=tH ~@?3׻3ҿ#0v?@Ox&uE*@.C=2@,)bG C Cل y ~jt?MbY  AI i   Ʌ "A  < ) %;%S=%6Q%>Y)y)-C)5Y:5> 1 q)qIqiq ) )K %.?'A)@IYtL@t-[@ytx=tu=tH\?@һ$ҿ ïu? Kd?`Z?)uL@ uvv;IuCx2.>x2BqEiYy  C  p: >  ))1I1i1 9AAA)A A)II߁wQ H?'AYtL@t[@ytM=t==tH?`e˻@)ҿ Pu?D_?u?)uL@ u)v;IuCxRF>xRwE:@V=B@T:@V<B@VYayaeCam7:m> q )Ii ) )V> a>X a?'AYt~L@t[@ytx=tY=tH@`z?˻ -ҿ0u?DCe?u?)u~L@ uqv;Iux&l>x&?uE*A@,i4I4)~XGAEjلEףyEy&1?Mbp{GztYEAIAiAE1@EXAɅE#AAE`< E)EףU]K=˝wIQ>YˡyˡCˡͭ :>  ) I i  QYYY)Y Y)aaߡ<^ {?'AiYt5L@tI[@yt =tC=tH ? л0ҿ v?"G^n?c?)u5L@ u7v;IuCx2>x2E nFix Requested)}{Gʝ!=F=˝9Q>YˡyˡCˡͭ:>  )Ii ) ) Y$e ?'AYt`L@tt[@ytDa=t{=tH@?@ʻ4ҿr08v?S@hu? v?)u`L@ uMyv;IuxB>xB;yE@D"@D@FA"@FAi I )ƄG/ݼلy/$?Mbp?Y AIir@Ʌ"A@,= ;)}W}==˅|Q>YˁyˁCˉ͍:>  )Ii ) )|Nk Yl?'AYt5L@tI[@ytY=t)=tH@3@?`$ͻ@<ҿ6\u?NE`c? p?)u5L@ uʕv;IuCxR >xRyE*@V4=2@X)Gʝ;Z=˝U9Q>YˡyˡCˡͭm:>  y)Ii ) )6r Hɑ?'A)IYttL@t[@yt=tg=tH~i? ϻ @ҿɸu?E r? f?)utL@ uxv;IuCx2>x2yEiYy  C  ?: >  ))1I1i1 9AAA)A A)IIa`x #?'AYtM@t[@ytQw=tT=tH}!?˻Fҿ٪?Gu?Cch?t?)uM@ uiv;IuxB>xBwE:@F=B@F=:@FB@F<)+G < =MQ8MT<لMYyCm:>  9)AIAiA IIQ) )߉ V>~ ?'AYtM@t̶[@ytM=tF=tH%}@G&?@ͻJҿ@'BQu? Dn?m?)uM@ u}v;Iux&>x&~E.A@,i4I4)fGr<rY=r)8Qr>YtytvCtzP:z> | )Ii )))))) ))11iQt ?'Ai4<YtM@t[@ytJ=t[=tH5|W-?Ż Qҿ$dt? =@]_?@?)uM@ u6pv;IuCx.>x2zEi~>~>~>~@)vׄG5D5<ل5jYQyquCq}Y:}>  )Ii ) ) 9Ԝ 0?'AYtEM@tY[@yt=tn=tH{@W/?@лSҿ̨+u?^Fs?@c?)uEM@ uv;IuCxR^>xR}E@X"@ZA@X"@ZAidId))11]H<]I=e9Qe>YayaeCam9m> q )Ii ) ))@Aσ TJ?'AYtM@t[@ytM=tx=tHz 4?@ܻYҿ t?Qt?x&9{E*@*C=2@, ^Fix Requested)qʝ!F=˥9Q>YˡyˡC˩ͭV:>  )Ii IIII)I I)ݮ ]kd?'A)IYtM@t[@yt|=t=tHQz 8?ٻ\ҿ|:t?N@y?`D?)uM@ uv;IuCx2>x2pEitIt)Y!y!%C!-:-> ) )Ii ) )9؞ NF~?'AxR>xRvE:@V=B@V=:@V%=B@V<)XG4= %=<N=Q>YyC>  ) I i  ) )!!Y a> ?'AxR>xR;yEZA@Xi`I`)=ƄGDلY1yQUCQY]> a )Ii ) )w ?'Aix^>xbdtE)]ׄG}}N=yQ>YˁyˁCˁ͉>  )Ii ) )Ӳ ˒?'AYt4M@t[@yt{=t=tH@v@Q? ˻uҿTs?C[? z?)u4M@ uAlv;Iux2I>x29{E@6A"@6A@6A"@6Ai~B~B~B~B~B%iHIJtC) YAyAECAM);M> Q i)qIqiq ) )U?AQ  ?'Ax=i>x=qE*@M4=2@M4=)XG=H=u<ل=Y˹y˹C˹>  )Ii IIQQ)Q Q)QYqY' *?'A)@IYt_=M@ts[@ytz=tx=tH@quY?9ϻ}ҿ@Bt?xCt?l?)u_=M@ uwv;Iux=>x=|E Fix RequestediI yC)e{G5=H=轶Q>YyC:>  )Ii ) )!ߙv Lk?'AYtAM@t[@yt%y=t=tHt`]?sϻ7ҿ ١t? KCw?`k?)uAM@ uv;IuCxn>xr`xE:@r=B@v=)M0GI U=#<لy rh?{Gz?~jt?YIiɅC< #=)kG= (Q >Y yC0:>  )Ii ) )I9 H3?'AYt.LM@t.[@yt.=t.=t.H+sJg?~ݻ་ҿis?O`)?:?)u.LM@ u.ߑv;Iu.CxBD>xBsEi I tC)ujGʝʥe=˝z :Q>YˡyˡCˡͭJ:>  )Ii ) )A& 7M?'Aip;Yt$QM@t8\@yt=t=tH@wr 3l?ڻҿ s?L`?C?)u$QM@ u8~v;IuCx*>x.wE)nƄG<S=Q>YyC%1S:%> ) i)Ii !ii)q q)ayK *f?'AYt:XM@tN\@yt<]=t=tHq7s?`[ͻyҿ@s??@|?s?)u:XM@ uٓv;IuCx2l>x2?uE@4"@6AiYyCo:>  I)IIIiI ) )߹=u got command set lineCaptureHoming.InitDepthTimeout 1.000000 minutezAu N@=} xgot command set lineCaptureHoming.MinAltitude 0.000000 meterA} = got command set lineCaptureHoming.MinOffshore 0.000000 kilometerA = got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meterC 3 ـ?'AYt _M@t \@yt 8N=t :=t Hp`z?`ɻ`ҿr?=[m??)u _M@ u v;Iu Cx=#>x=}E)ƄG=J=Q>YyC:>  ) I i  9999)9 9)AIy^ ?'A)@IYteM@t$\@yt;=t!=tHo ?`ƻҿȜr?; 'j? ?)ueM@ ugv;IuCx^&>xbEi~r~r~r~r~pixI~yC)uYy  C  Q: > a ) I i  )! !)!)y. ?'AYtjM@t\@yt|W=t=tH@nM? =ʻ1ҿr?? qi? ?)ujM@ u-v;IuCx26>x2]|E:@2=B@6=)-XG) -=]r]U=]9Q]>YayaeCamq:m> q )Ii ) )9i m ]>o jiΓ?'AYtpM@t\@ytT=tg=tH@n`׊?@5ɻҿ@{Br?>td??)upM@ unv;IuCx&>x&vE4@4 nFix Requestedi|I)={G}:}C<ل}YyCF:> ! )Ii    )  )ߑ C?'Ai;YtuM@t$\@ytUn=t4D=tH `m@?@ͻ@ٲҿ@zmar?Axn?t?)uuM@ uv;IuCx2>x2xE)M+Gʭ;c=˽9Q>Y˹yCOF:>  )Ii ) ) S!?'AYtyM@t(\@ytL=tg=tH`lj?ʻ@ZҿəBvr?`= r? ?)uyM@ uozv;IuCx0x0@6A"@4itIt)]XGYY}N)Q}>YˁyˁCˁ͍=:>  )Ii ) )i i / r?'AYt|M@t+\@yt?,=t=tHSl@O?@Ȼ@bҿ@R^r?`9~??)u|M@ uv;IuCx"o>x"xE*@*R=2@*C=)fƄGףلyy&1?:vMb`Y AIid@Ʌ"A@`e< T)-:-<-[%Q->Y1y15C1}L:}>  )Ii ) )   5?'A)@IYtM@t2\@yt[f=tae=tH?k@ߜ?ͻҿ Z5 r? @ r?u?)uM@ uxv;IuCx">x"zEi0I2tC)bׄGnQ;rO=rB9Qr>YpytvCtv:z> x A)AIAiA QQQQ)Q Q)) հO?'AYt.@M@t.T7\@yt.5I=t.&=t.Hjj?Aɻ(ҿq?@U=j?@?)u.@M@ u.Uv;Iu.CxfN>xfPE:@pB@v=i~~~~~)IU< U=<94لty{Gzt/$YyC:%> ! q)qIqiq y) )am N> m V>w i?'AYtٍM@t<\@yt"Y=tb=tHi?Cɻvҿޖx"{E(@(i0I0)1EEm=E̸8QE?YIyIMCIM:U? Q i)iIiiq ) )3  @i?'AiYtВM@tA\@yt)=tk=tHi? Ļ :ҿ`#0Eq?`r9 G_??)uВM@ uev;IuCx2>x2vE nFix Requested)qʝE=˝cQ>YˡyˡCˡͭ?:>  )Ii ) )9J& =D?'AYtLM@t`B\@yttg=t=tHh ?@Aϻҿ ~q?Ay? q?)uLM@ u0v;IuCx2>x2E@4"@4itIt)GC<ل94y~jtxYyyy}Cyͅ8>  )Ii !!)! ))11qa i '- -?'AYt&+M@t&?F\@yt&K=t&=t&Hlh`_?ͻUҿr?=?x?)u&+M@ u&ov;Iu$x>>x>frE*@J%=2@J4=)e{GV]T=Q>YyC :>  ) IAiA qqqq)q q)yy 4 є?'A)4I8YtJM@tJM\@ytJG=tJT=tJH@og ?@Iʻ ҿjq?$=xp??)uJM@ uJv;IuJCxn>xnvEi|I~yC)]<]ףل]Cy]QI + rhYYIYiYYYɅYY]u ]9)]Cʵ8<==˵Q>Y˹y˹C˹z:>  !)!I!i) 1199)9 9)iyB5: ?'AYtM@tO\@yt%2=t?=tHg?eǻҿNq? w:@m??)uM@ uiv;IuCxb>xb{E:@dB@f=)uƄGu%= }=Ч<Z=Q>YyC9>  I)IIIiI ) )!!9i m Y>A S?'AYtM@tS\@ytw=t5=tHf@?ٿNҿ@Pq?2l?@?)uM@ u~v;IuCx"۾>x"jE(@(i0I0)fׄG~ؓ~Y=æQ>Yy C  "#: >  i)iIiiq ) )!sHG ?'Ai4<YtM@tW\@yt=t=tHe ?`=ҿ@p?3Wd??)uM@ ujv;Iux2>x2vEi~@~@~B~B~@)BGE,=AلEtyE:vL7A`堿YyC:>  )))I)i) qyyy)y y)rM 8e8?'AYtΪM@tY\@ytq=t =tHe?@û ҿxBE@D"@DiPIP)G  y2=U=%Y 9Q%>Y!y!%C)-(9-> 1 I)IIIiQ YYaa)a a)ii߹i i &]T MR?'AYt*7M@t*K\\@yt*6)=t*H=t*H@:e`?ƻPҿEq?Z9@o??)u*7M@ u*>lv;Iu*Cx>#>x>}E*@B4=2@BC= zFix Requested)eXG<DلCy~jtZd;O rhYIiɅt!A酩鄭 j)CMiU8=U 8QU>YYyY]CY]9e> a )Ii ) )ߙ==got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterCE=E got command run =uRunning Z \l?'A)@IYtiM@t}^\@yt"=tx=tHd? Ļgҿp?8 h??)uiM@ uOv;Iuxj>xjpEiItC){GʵCD=˵=Q>Y˹y˹C˹9>  )>Aggregate::uninitialize Default1 *DUninitialize GoToSurfaceComponent.q*NAggregate::uninitialize Default:CheckIn$BStarted mission lineCaptureHomingY1 0NAggregate::initialize lineCaptureHomingq0 rAggregate::initialize lineCaptureHoming:StandardEnvelopes  1 JInitialize AltitudeEnvelopeComponent.M1MDInitialize DepthEnvelopeComponent.1] 2]JInitialize OffshoreEnvelopeComponent.q]<]DInitializing TrackAcousticContact.} =}Initialize.=tInitialize ReadDataComponent to sense platform_orientation1*a code=08FD owner=007C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 >xInitialize ReadDataComponent to sense height_above_sea_floorE9E;q<Tracking...<2Tracking contact label: 21 :hAggregate::initialize lineCaptureHoming:SurfaceCommsqDq ;lAggregate::initialize lineCaptureHoming:SurfaceComms:B1 4bAggregate::initialize lineCaptureHoming:NeedComms 5@Initialize GoToSurfaceComponent.5HReceived depth rate setting nan m/s.5RReceived pitch setting 19.999999 degrees.5HReceived speed setting 1.000000 m/s. 5No surface timeout specified. Using default value of 1000.000000 seconds.5nReceived pitch timeout configuration 60.000000 seconds.qDDDD4rlast time_fix was: nan second since 1970/01/01T00:00:00Z qCqq1-2FLocation Measurement is not Active. ) )  aCla ?'AYtM@t `\@yt'A=t{C=tHdI?ɻҿp?T<ln??)uM@ u>nv;IuCx2>x2vE:@6=B@4)IU< U=}<}a=}C'9Q}>YˁyˁCˁ͍9> EE;<Tracking...<2Tracking contact label: 2DDDDCi@-2%FLocation Measurement is not Active. 1qqy)y y)ym V> i ƕg cП?'AYtM@td\@ytP=t=tHc@?ɻGҿ Tp?J>kb??)uM@ uXv;IuCx2>x2`xE:A@8i@IByC)|Et=EףلEtyEI +V-YiyimCim::u> qEE;<Tracking...<2Tracking contact label: 2*a code=08FE owner=006B element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 5\Initialize ReadDataComponent to sense time_fixDDDDC-2FLocation Measurement is not Active. ) )m ?'AiYtM@th\@ytXv=t#=tH@Ic?ͻҿz3p?B-^?{?)uM@ uqv;IuCx">x"[~E)-+G=<=M=EY;9QE>YAyAMCIM@:M> QEiEu;x"~E@$"@(i~6~6~6~4~4iYyC 6> E!E%;<%Tracking...<-2Tracking contact label: 2D--#-G-nAggregate::initialize lineCaptureHoming:StartingMissionD1D1D1D5-25FLocation Measurement is not Active. AIII)I I)QQii i rz d?'AYt"M@t"f\@yt" 0=t"=t"H@c?ʻҿ ؐRq?4:@%??)u"M@ u"nv;Iu"CxB>xBfrE*@FC=2@Ja=)G5;I=Q>YyCM^ > E)E-;<-Tracking...<-2Tracking contact label: 2DQDQDQDU-2UFLocation Measurement is not Active. aiii)i i)qq߉ȹ <?'A)@IYtM@tj\@yt.=tV=tH-c? ǻ@gҿ?p? :p??)uM@ u`v;IuCx2>x28}E*e code=069C elementURI="DUSBL_Hydroid.component_voltage" type=00 *a code=08FF owner=0022 element=069C universal=3FFF unitName="volt" type=07 size=0002 fl=05 Gr@A*e code=069D elementURI="DUSBL_Hydroid.component_avgVoltage" type=00 *a code=0900 owner=0022 element=069D universal=3FFF unitName="volt" type=07 size=0002 fl=05 H @A }Fix RequestediI){G;.=J=ɶQ>YyC !: > E)E-;<-Tracking...<-2Tracking contact label: 2DQDQDQDU-2UFLocation Measurement is not Active. aiii)i i)ߩH !?'AYtM@tl\@ytg=tbE=tHbq?Żҿۏ\p?"8n? ?)uM@ uFv;IuCx2>x2nhE:@6=B@4)M0GM= U=<Ļل`yI +~jty&1|YIiɅ酑鄕94 )`M=EQ>YyC79> !EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )߹m R> m e> +:?'AYtIM@t]q\@yt5 =t=tH&b@? @Yҿ@-co?`5@]??)uIM@ ufv;IuCx2>x2|E<@YyC0::> EIEM;x26E*e code=069E elementURI="DUSBL_Hydroid.component_current" type=00 *a code=0901 owner=0022 element=069E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05  HFp=*e code=069F elementURI="DUSBL_Hydroid.component_avgCurrent" type=00 *a code=0902 owner=0022 element=069F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 HZa=)5{Gy}:ل}ty}Mby&1YqyquCq}}> EE;<%Tracking...<%2Tracking contact label: 2D!D!D!D--2-FLocation Measurement is not Active. ) )  yn?'AYt|M@tq\@yt=t@=tH*b 9?ҿ$Kp?y2e? ?)u|M@ udv;IuCxN>xRdtE@T"@Ti`IbyC))11]61]N=]e8Q]>YayaeCam9m> qEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ))  )  )߉m @Ai  ?'AYtM@ts\@yt=tǹ=tHa^?` ҿ`Ԏ@o?V3 a]??)uM@ uSv;Iux2>x2;yE*@6R=2@6=i~@~B~B~@~D)~+G<N=% 8Q%>Y!y!%C!-9-> 1EIEU;xb~EG`H`=v>got command show variable range=@acoustic_contact_range (unknown)iItC)}Ga 1@a  a 5@a  a 9@a  a -@a  a =@a A@a E@BɄiMb@Mb@Mb@Y=AIi@Ʌ"Ax@ )ʝ<4=˝Q>YˡyˡCˡͭ> EE-;<-Tracking...<-2Tracking contact label: 2D1D1D1D5-25FLocation Measurement is not Active. A) )[ 8?'AYtpM@ts\@yt8=th=tHa@U?*yҿ؎o? .+,X??)upM@ uWv;IuCxB>xBrE:@F=B@D ~Fix Requested)mׄGu4= qKU=HQ>YyC Y > =MXDUSBL_Hydroid.acoustic_contact_range (meter)EE;<Tracking...<2Tracking contact label: 2=@Micromodem.range_request (count)=0Micromodem.range (meter)DDDD-2FLocation Measurement is not Active.    )  )!)9=BRDI_Pathfinder.Beam1Range (meter)=EBRDI_Pathfinder.Beam2Range (meter)=MBRDI_Pathfinder.Beam3Range (meter)=MBRDI_Pathfinder.Beam4Range (meter)m V> u R>= NlineCaptureHoming.TerminalRange (meter)= JlineCaptureHoming.cameraRange (meter)= FlineCaptureHoming.DockRange (meter)=m ZTrackAcousticContact.range_to_contact (meter)D  ֖?'AYtbM@tvu\@yt~=t&=tHa`O? Eӿ`7n?1@K? ?)ubM@ u;lv;IuCx2>x2`xE4@4itIt)Ga 1 a 1 a 5a 5 a 9a 9 a -a - a =a Aa E<;ل`yYqyq}Cy}9}> EE;<Tracking...<2Tracking contact label: 2DaDaDiDm-2mFLocation Measurement is not Active. yyyy) )ߙn ?'AiYtM@tt\@yt>=t=tHa?ࣻ ҿĎp?/``_??)uM@ u[v;IuCx^>x^xE H`H`)ƄGc=Q>Yy!%C!%u%> )EIEM;xboE@fA"@dipIp)EYˡyˡCˡͭ> EaEm;x2xE*@42@6a=)rXGa 1-@a - a 5-@a - a 9-@a - a --@a - a =-@a A-@a E-@%B%Ʉ%i%Mb@Mb@Mb@Y%=AI%i%%@!Ʌ%"A%x@% %)%<C=ӜQ>Yy!%C!%%8-> )E!E%;<-Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.   )  )Y #=?'A)IYtM@tq\@yt=t,=tH 0b@c?`ҿˎp?- k??)uM@ uHv;IuCx26>x2]|EG6?AH4iDID)z{Gm<\=%(9Q%>Y!y!%C!-f-> 1EIEU;x2yE:@6=B@6=i~F~F0~F.~D~D) a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a =Ma AMa EMM9YˉyˉCˉ͕9> E9E=;<=Tracking...<=2Tracking contact label: 2DADADADE-2EFLocation Measurement is not Active. ) )߹m R> m ]> 9q?'Axb>xb`xEd@dipIryC)=+Gʝ‘I=˝Q>YˡyˡCˡͭ> E E ;< Tracking...< 2Tracking contact label: 2DQDQDQDU-2]FLocation Measurement is not Active. iiii)i i) e?'AiYtnM@tk\@yt=t=tH c ?Rҿ Kq?.`>? ?)unM@ u>jv;IuCxB>xBE HFa=HD ~Fix Requested)mGQ<F=RQ>Y1y9=C9=E> AE EU;x2`xE@6A"@4itIvtC)MBGMAI\=لyy&1YyC g9 > EiEm;x"~E*@(2@*C=)mjGʝ<Q=˝cQ>YˡyˡCˡͭɠ> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. 1QQQ)Q Q)YYߑT ؗ?'A)@IYtM@tl\@yt=t"=tHbf?Lҿ`ߏ=p? 3ej?`?)uM@ u^v;IuCx2\>x2zEG4H4i@I@)vƄG5=5ل594y5 rhy&1I +Y5 AI1i15d@1Ʌ115C 5`)594~|G=H 9Q>YyC%p%> )EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) ))1A  Z?'AYtM@t.j\@ytR=t =tHPc &?1ҿ@8Vp?-6j??)uM@ uBv;IuCx2>x2|E:@6=B@6=)nGr= r=~oD<~Y=`Q>YyC  й > E)E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IIQQ)Q Q)yyߑi m V> ] ?'AYtϸM@tg\@yt=tp=tH@c?ۻ kҿ|q?,@)t??)uϸM@ u_v;Iux2K>x2~E:A@8i~J~J~J~J~H JiPIVyC)ƄGE~;EF=MQU>YYyYeCaem> iEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.  ) )1Ae  6&?'Aip;xb>xb`xE HdHd)MGt=`لty{GzQY˱y˱C> EE%;<%Tracking...<%2Tracking contact label: 2D)D)D)D--2-FLocation Measurement is not Active. 9AAA)A A)II @?'AYtFM@tZg\@yt=tm=tH c? (@ҿ%p?'@:i?`?)uFM@ u_hv;IuCx21>x2tE@4"@4 nFix RequesteditIt)]+Gaa}g_}M=}VQ}>YˁyˁCˁ͍ > EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )i i 5 ) Z?'AYt)M@t=c\@yt]=t։=tH[dZ? Իҿ<Rq?,Hw?@?)u)M@ uYv;IuCx*o>x*xE*@24=2@0)MG=ĻلyI +X9v~jtYIiɅ酉鄍9 )ʥh|<G=U;9Q>YyC> EiEm;s?'A)@IYtҲM@ta\@yt=t3=tHd1?ݼҿ pp? U/@l?`?)uҲM@ upv;IuCx >xzEG%@AH!iI)G5E;=B==8Q=>YAyAECAM|OM> QEqEu;M@tR`\@ytQ=t =tH`d?Eҿp?';`??)u>M@ uL`v;IuCx2>x2_zE:@6=B@4)u{G4= P=Q>Y!y!%C)]xe> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )Qm N> m ]>;k) o?'Ax^>xbpEd@dipIp)q94=tلyl~jtYIiɅ酹鄽̼ )K=%Q%>Y!y)-C)UU> YEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. )! !))QaR0 [?'Ai;YtM@t%Z\@ytK=t=tH`e?ా Sҿp?f2e??)uM@ ucv;IuCx2>x2vE H0H0)t~޺<~Y=9Q>Yy C   > E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q) B}6 7ۘ?'AYtM@tU\@yt4*=tCI=tH7fK?`ƻҿB6q?`z9)o??)uM@ u2Jv;IuCx26>x2]|E@4"@4i~F~F0~F.~F~F& DiPIP)!!eףYˡyˡCˡͭl,> EiEm;x"zE*@&C=2@*4=)fƄGnnW=rQr>YpypvCtvPv> xEE;<Tracking...<2Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q)C #?'A) I Yt&tM@t&O\@yt&=t&=t&H2g?㾻=ҿ"Kq?@r2.h??)u&tM@ u&P[v;Iu&Cx>>x>[~EG@H@ ~Fix Requestedi!I!)G<`eلTyy&1|:v:vYIiɅ` Լ)TJ<+=MQ>YyC%ܹ%> IEaE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) ) PI (?'AYtҜM@tK\@ytos=tx&=tH@g?λҿd-q?`Bj?u?)uҜM@ uvv;IuCx2 >x2zE:@6=B@4)UƄG]= ]=}}}i=}8:Q}>YˁyˁCˁ͍h%> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) ))m R> m R>P 8B?'AYtM@tJ\@ytC=tq=tH g W?`7ȻҿT1q?<e?`?)uM@ u\v;IuCx >xyE%A@!iItC)ׄG55?==$_Q=>Y9yAECAE`E> IEaEm;x"yE H&p=H$)^G`e<tلty~jth?Zd;OY!y!%C!%u7-> )EIEM;x"~E@$"@(i0I4)b{Gdd~J<L=I9Q>Yy  C   > E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q)YYqi i c 6\@ytF;=tF=tFHi!?Żҿ t7q?;r[??)uF M@ uFbv;IuFCxf>xjQE*@~4=2@~C=i~=~E~E~E E&)E)ƄGj`e<لuYyC> EE;<Tracking...<2Tracking contact label: 2DDD D -2 FLocation Measurement is not Active. !!)! !)))A9j  ?'AYtωM@t8\@yts(=t=tHpj?ûҿ`su}q?B9[^??)uωM@ uuwv;IuCx2>x2zEG4H4i@I@)nGvvo=vBQz?YxyxzCx~;u~? EE;<%Tracking...<%2Tracking contact label: 2D!D!D!D--2-FLocation Measurement is not Active. 99AA)A A)AIap Ù?'AYtM@t4\@ytY5=t=tH@k`9?UĻҿ mq? :Y?@?)uM@ u^v;IuCx2#>x2}E:@6=B@8 nFix Requested)E+GM4= M=}U/<}A=˅)t8Q>YˁyˁCˁ͍> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )m Y> m a>(w ݙ?'AYt~M@t.\@ytp=t=tHk?p̻˼ҿ@[q?8B@a?{?)u~M@ u3v;IuxNo>xNxET@Ti1I5yC)XG9لy~jt?:vY\AIid@Ʌ< T)A=%h9Q%>Y!y)-C)5Gi5> 9EiEm;x2[~E H6a=H6p=)m0G}o<}U=}缹Q>YˁyˁCˁ͍չ> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )K, ?'AYtFrM@tF!\@ytFY=tF8=tFHm@?Yͻҿ̚hr?e?{?u?)uFrM@ uFv;IuFCxV>xV~E@^A"@\itIvtC)jGDtل`eYyC> E!E-;<-Tracking...<-2Tracking contact label: 2D1D1D1D5-25FLocation Measurement is not Active. AAII)I I)QQia i S Q+?'AYtnM@t\@yt^R=t+=tHXn@?ɻ٬ҿ@dkr?x>vk? ?)unM@ uЅv;IuCx&I>x&9{E)f{G~,G\=Q>Y y  C  d/> E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2EFLocation Measurement is not Active. QQQQ)Q Q)YYqF< .E?'A)IYtlM@t\@yt_X=t1=tH nX? ǻҿ஛@q?7?V??)ulM@ uv;IuCx"K>x"~EG&AAH$i4I4)fƄG~jn<J=7Q>Yy  C   > E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q)YYqQf W _?'AYtdM@t\@ytT=t=tHo?`mȻRҿ ؜rr? >`??)udM@ uv;IuCx28>x2E:@6=B@8i~H~J~J0~J~N L)L) ׄG  QU94لUDYiyquCquA}> yEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )m V> m Y>v x?'AYt_M@t\@yt4w=t=tHrp@z? b̻ҿ }r?` C`_?y?)u_M@ uTv;IuCx2>x2uE:A@8i@I@)nGNa;O=%.9Q%>Y!y!-C)-BC-> 1EIEU;x2E H4H6a= nFix Requested)EƄGj<#<لY˩y˩C˩͵)M> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )p ?'AYtgRM@t{\@yt_=tH=tH@pr`m?@˻ҿ z_s?'@ o?z?)ugRM@ uhv;IuCxB >xByE@FA"@Di I )mBGiq}¼}M=˅8Q>YˁyˁCˁ͍> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )i i P uƚ?'AYtLM@t[@ytja=t&=tH?s@h?˻ҿ`Hpds?W@j?`|?)uLM@ uv;IuCx2#>x2}E*@:C=2@8)mjGʝl<H=˝86Q>YˡyˡCˡͭ[> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )1д R?'A)IYtHM@t[@yt=t:=tH`s d?л Ljҿ@ޠQr? IJZ? i?)uHM@ u|v;IuCx2>x26EG6@AH4i@I@)r{GeHeT<لeYyC> EAEE;M@t[@yt\=tt=tHCu[[?ȻdҿG%s?`?7b?@?)u>M@ uv;Iux">x"xE:@*=B@*=)bƄGb%= f=~UX=AƹQ>Yy  C  .պ> E1E5;<5Tracking...<52Tracking contact label: 2D9D9DADE-2EFLocation Measurement is not Active. QQQQ)Y Y)Yaqi m a>~ ?'AYt:M@t [@ytj=t$C=tHu W?ǻ {ҿ@ۢs?A@N??)u:M@ uv;IuCx"K>x"~E(@(i~:~:~8~: ~: 8)8i@ID)rG-m)ل-YIyIMCIMU> QEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )Y X-?'Ai;Yt0M@t[@ytrL=t{=tHOwM?ɻrҿ Gt?`=ku?~?)u0M@ uv;IuCx">x"~E H&p=H&p=)bƄG~ɕO=Q>Yy  C  ˺> E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. Yaiq)q q)ߙk wG?'AYt+M@t[@yt6=tU=tH`xH?0ƻ;mҿ`;t? ;p??)u+M@ u4v;IuCx2&>x2E@6A"@4 nFix RequesteditIx)eGiiʝ<@=˥̸Q>Yˡy˩C˩ͭM@> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )i i  a?'AYt?'M@tS[@ytn=t=tHx`D?@n˻@hҿ%Lt? Ag?x?)u?'M@ uFv;IuCx2>x26E*@:4=2@8)e{G,u<لףYyC / > E)E-;<-Tracking...<52Tracking contact label: 2D1D1D1D5-2=FLocation Measurement is not Active. IIII)I I)QYi, s{?'A)IYt"M@t,[@yt=t=tH@>y??ջ`cҿkt?M-a?U?)u"M@ uv;IuCxNq>xN|EGR?AHPi)I))ƄGʽd(N=˽<9Q>YyC+P> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )1 O?'AYtM@t [@yt=t^=tH-z8?Sܻ\ҿ r;t?U0_?`>?)uM@ uv;IuCx">x"E:@&=B@*=)nׄGv= v=m#mtلmY˩y˩C˩͵G> EE;<Tracking...<2Tracking contact label: 2DDDD-2%FLocation Measurement is not Active. 1QQQ)Y Y)Yaߑi m V>> *?'AYtM@t[@yt7=t=tHR{1?iջ@Vҿzxt?Mb?`U?)uM@ u@v;Iux">x"xE*A@(i0I4)jGvBvW=v;Qv>YxyxzCx~L~> EyE};<}Tracking...<}2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )& ɛ?'Ai4<xn6>xr]|E HpHpi~ ~ ~ ~ ~   ))ƄG&<<=Q>YyC> EE;<Tracking...< 2Tracking contact label: 2D D D D -2 FLocation Measurement is not Active. !!!!)! !)))AP "?'AYt M@t[@ytc=t=tH |`i(?ʻLҿ@ؐt?`qDW?y?)u M@ uv;IuCx6l>x:?uE@BA"@@iLIL) G  UUلU:yU~jt?Mb?MbP?YU=AIQiQU1@QɅU#AUj@U= U<)U:mmQ=mTQm>YqyquCq}̺}> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )ai i z ?'AYtRL@tR[@ytR!=tR!=tRH  ?@5໿=<ҿ@R:u?HXj?-?)uRL@ uRv;IuRCxr3>xrxE*@vC=2@t ]Fix Requested){GtT<C=>:Q>YyC"> E E ;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. )))))1 1)b ?'A)(I(Yt2xL@t2[@yt2^=t2g=t2H ?Mѻ d8ҿ@t?KV?b?)u2xL@ u2v;Iu2Cx:>x: nEG>AAH>AAitIt)M+GtԼلyMb?~jtxMbYAIijAɅ"A配@鄍= Ļ)ʥ,N=˭Q>Y˩y˱C˱ͽ&> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )l  0?'AYt L@t4[@yt=tW=tH@`?hӻ@F3ҿot?NP?@[?)u L@ u[v;IuCx. >x.=wE:@2=B@6=)EGE< Au=uM=}9Q}>Yyyy}CyͅV> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )a e ]>t #NJ?'AYtL@t”[@yt=tx_=tHȁu?ݻ9*ҿA v?Tq?@4?)uL@ uv;IuCx23>x2xE8@8i@I@)nׄG F; R= z9Q >YyC> !EYE];?)u"L@ u"mv;Iu"Cx2a>x2E H6a=H6a=)Aףل:y~jt? rh?MbP?Y AIid@Ʌ酉鄍< C<):ʥ=A=˥ Q>Y˩y˩C˩͵CV> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )=EDgot command show variable SpeedCmd=PSpeedControl.speedCmd (meter_per_second) d~?'AYtL@t[@yt.=t=tH?໿`v!ҿ Hu?Ye?*?)uL@ uv;IuCx">x"{E@$"@$i0I0)^G``UżUP=]9Q]>YYyY]CaeM e> iEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )i i % ߗ?'AYtL@t[@ytq[=t{=tH@?㻿ҿtu?@n_@+X?@ ?)uL@ u|v;IuCx2>x2E*@:4=2@8i~H~H~H~J ~H H)H)+GEĻEلEףyE{Gzt?Mbp?{GztYEGAIAiAE1@EAɅAE@Eף; E;)EףʽT<D=˽U9Q>YyC=1> E E ;< Tracking...<2Tracking contact label: 2D1D1D1D5-2=FLocation Measurement is not Active. IIII)I Q)ߩ+ ?'A)@IYtL@t[@yte=ta=tH@҄ ?ջҿ u?Q5R?Q?)uL@ uv;IuCx"a>x"EG&@AH&@Ai0I0)bG~W=Q>Yy  C   > E1E5;<5Tracking...<52Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q)YYqW2 ̖˜?'AYtL@tv[@ytG=ts=tH`?׻` ҿ4-wv? |Qb?@H?)uL@ uv;Iux2>x2{E:@6=B@6= nFix Requested)EGM= I}=}C=}N!Q>YˁyˁCˁ͍}> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) ) m ]> m Y>8 o?'AYt{L@to[@ytj=t-=tH`?绿ҿ8uv?@Rapk??)u{L@ uכv;IuCx2\>x2zE:A@8itIt)M{G#ل;yy&1?y&1?~jtx?YAIiɅ配@鄍`< `<);ʥH=˭:Q>Y˩y˩C˩͵Q> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) ) ? J?'AiYtML@tai[@yt5=teS=tH@@?I߻@ҿ`w?@W 2p?+?)uML@ u;v;IuCx2>x2E H4H4)A}}<}M=˅Q>YˁyˁCˁ͍w> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )F ,?'AYtL@tb[@yt6=t_=tH@?ݻѿMew?3Vq?0?)uL@ uSv;IuCx26>x2]|E@4"@4i@I@)rƄGpp%H%ل%94YˁyˁCˁ͍~> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )a i )L ?3?'AYt$L@t8\[@yt =t$0=tHL?ۻ`Kѿ`dw?FUk?6?)u$L@ u2v;IuxBK>xB~E*@JR=2@H)ׄG*<P=%Q%>Y!y)-C)-3m-> 1EqEu;S L?'A)@IYtL@tU[@yt1=tc=tH?sỿѿзڬw??Z5r?@"?)uL@ urv;Iux">x"~EG$H$i~6~6~4~6~: 8)8i@I@)mGʥqSB=˭=9Q>Y˹yC`v> EAEM;x"QE:@&=B@()bƄGb4= `D;لuYayaeCamUm> qEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.    )  ))m R> i "` ?'AYtL@tH[@ytv=t[n=tH@v?`ݻ`ѿ x?Vs? -?)uL@ uyv;IuCx"t>x"-E*A@( ^Fix RequestedidId)%G]]J=e}Qe>YayaeCamVm> qE E ;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. )))1)1 1)QYiMf m?'AiYtL@tB[@yty=tj=tHK?޻ ѿ nGEx?W@s? ,?)uL@ uv;IuCx">x"E H&p=H$)%{GmPmף;لmtYyCRf> EiEm;x2{E@4"@4itIx)MƄGQQʝNJL=˥V9Q>YˡyˡC˩ͭ> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )i i _s #Ν?'AYtbL@tv<[@yt==td=tH?G滿@ѿU9w?d^R??)ubL@ uv;IuCx">x"zE*@*4=2@()jׄG%;e%S=-9Q5>Y9yAECA]Y"e> iEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. 1119)9 9)9AQ7y 2?'A)@IYtL@t7[@yt=t_=tH@Ϋ?@껿ѿ&Gw?hQ?@?)uL@ uEv;IuCx"a>x"EG$H$i0I0)`ل;yS㥛?S㥛?Mbp?YIiɅ/< /<);J<J=%'9Q%>Y!y!-C)-X-> 1EIEU;xBwE:@F=B@D)G%= %=--I=58Q5>Y1y15C9=ْE> AEaEe; m V>2 c?'AYtzL@t)[@yt=t=tH৞? Rѿw?lT_??)uzL@ uv;IuCx2>x2~E:A@:Ai~F~J~H~J~J J%)HiPIP)]ƄGDلyV-?~jt?YAIi1@Ʌ酙鄝< D<)_<>=V8Q>YyC }_ > EIEM;x"|E H&4=H$)bG~\=[Q>Yy  C  > EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )խ TnO?'AYtkL@t[@yt}=t =tH੒@[?껿@ѿOy?`cx?@?)ukL@ uv;IuCx">x"|E@("@( bFix RequestedilInyC){G=<=ل=Dy=~jt~jt~jtY=AI9i9=d@9Ʌ9=@=D =ļ)=DMFU7=UUQU>YYyY]CYee> iEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )m @Ai י Gi?'AYt:hL@tN[@yti=t=tH4@?仿 gѿo#x?` a`d??)u:hL@ uzv;IuCx2>x2_zE*@:C=2@:4=)A}}Y=}ٸQ>YˁyˁCˁ͍ > EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )qy߉ !?'A)IYtbL@t[@ytV=t=tH``?Xỿ+ѿ`0x?@^`e]?@?)ubL@ uٖv;IuCx2>x2lEG4H6AAitIvtC)MƄGe=YeL=mQm>YiyimCquZ}> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.   )  ) Y+ n?'AYt]L@t [@ytQ=tg=tH@@A? ໿@qѿ@x??^X?#?)u]L@ uv;IuCx">x"8}E:@&=B@*=)bׄGf= f=-P=-jل-ףy-{Gz:v{GzY-fAI)i)-1@)Ʌ))-ף -T)-ף]A=eK=eŶQm>YqyquCqͅHC> E9E=;<=Tracking...<=2Tracking contact label: 2DADADADE-2EFLocation Measurement is not Active. ) )m V> m ]> ٶ?'AYtYL@t2[@ytE=tJ=tHh~?Qػ ѿ`8x?`W8O???)uYL@ uv;IuCx"^>x"}E(@.Ai4I6yC)fGrA;rR=rQr>YtytvCtzAz> 9EYEe;x5PE H=a=H=p=i~~~~~ )){GU=UC لUyU rhˡEQYUAIQiQQQɅU#AUx@UC U什)Uʍ<2=˕\9Q>YˑyˑC˙͝a> EE;<Tracking...<2Tracking contact label: 2D D D D -2 FLocation Measurement is not Active. !!!)! )& ֐?'AYtJL@tZ@ytLe=t=tH@Jp?⻿` ѿ |9Uy?`Y?@?)uJL@ uv;IuCx">x"~E@("@(i4I6tC)=#=c=EO8QE>YAyAECAM끺M> QEiEu;xB}E*@H2@JC= Fix Requested)ʝzD=˝IQ>YˡyˡCˡͭ> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.  ) )19I9 M?'A)@IYt:CL@tNZ@yt@=t=tH]`j?ٻ ѿx?@#\`=?@:?)u:CL@ uwv;Iux.>x2uEG0H0itIt)=mل\yS㥛Cl绿Q롿YIiɅ/ݼ ;߽)\<D=7Q>YyC0 > EIEM;x2vE:@6=B@4)MƄGM4= M=}W}S=}9Q}>YˁyˁCˁ͍i> E)E-;<-Tracking...<-2Tracking contact label: 2DQDQDQDU-2UFLocation Measurement is not Active. aiii)i i)qq߉m R> m V>ZM g R?'AYt64L@t6Z@yt6W=t6=t6H[?@4@Bѿty?Vn]?`?)u64L@ u6sv;Iu6Cx>>x>|ED@FAiLIL)~G=;== ل=@y=MbDlMbY=AI9i9=?@=AɅ99= =O )=@U!<]L=]s9Q]>YYyaeCae(m> iEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )%t k?'AiYt,L@tZ@ytR=t0=tHo S? ỿdyѿ-z?]^k?`?)u,L@ uv;IuxR>xRxE HRp=HVa=){G==L=E QE>YAyAECAMM> QEiEu;x"{E@&A"@$i0I0)b+Gddnb<rP=r4Qr>YpytvCtvfz> xEE;<Tracking...<2Tracking contact label: 2D9D9D9D=-2=FLocation Measurement is not Active. IQQQ)Q Q)YYqi i M ~?'AYt!L@tZ@ytT=t&=tH@H?DỿSnѿ` {?@^j?`?)u!L@ uv;IuCx">x"OE*@&4=2@(i~:~8~8~8~: 8)<)vXG-`;-Pل-94y-X9v?ˡEI +Y-AI)i)-@)Ʌ)-@-< -')-94E=ED=Mk29QM>YIyIMCQUbU> yEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )9$ ni?'A)@IYtfL@tzZ@ytZ=tg=tHÝ C?@⻿hѿc{?@S_r?`?)ufL@ uPv;IuCxb>xbuEGf?AHf@AipIp)EƄGMmUJ=UA7QU>YQyY]CYe;]e> aEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )< |Eӟ?'AYt[L@toZ@yts=tD=tH i@>?滿dѿ{? {b` x??)u[L@ u&v;IuCx2>x2|E:@6=B@6= ~Fix Requested)ׄG= 94<ل`yYyC=> E!E%;<-Tracking...<-2Tracking contact label: 2D)D)D1D5-25FLocation Measurement is not Active. AAII)I I)IQii i  u!?'AYtL@tZ@ytw=t6=tH :?V廿`ѿvb{?@b@l??)uL@ u{v;IuCx2>x2zE8@:AitIt)YyC> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )!!9 ?'Ai4x2yE H4H4)MG}P}O=˅)vQ>YˁyˁCˁ͍6> E)E-;<-Tracking...<52Tracking contact label: 2D1D1D1D5-2=FLocation Measurement is not Active. 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IQQQ)Q Q)YYqm R> m a>NpH d#?'AYt1K@tEZ@yt5=tX=tH` ?ܻE1ѿ|?Z@p?!?)u1K@ uZfv;Iux"t>x"-E(@(i~8~:~8~:~8 8)YˁyˁCˁ͍ 9> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )N >=?'AiYtK@tĎZ@ytY=t=tHե ?޻ /ѿ`g|?`0_ b?`?)uK@ uv;IuCx2(>x2tE H6p=H6a=)nׄG6<P=%|79Q%>Y!y!-C)-u-> 1EIEU;x2{E@4"@4 nFix RequesteditIt)AEAI<T<ل#y{Gzt{GzYGAIiAɅ#A酁鄅̼ ף)#ʝ B=˥59Q>Yˡy˩C˩ͭF> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )m ?Ai [ p?'AYtBK@tVZ@yt=t*v=tH@d?K껿 *ѿ|?`mT?@?)uBK@ u:v;Iux2>x2E*@<2@<)MG]6<]O=]9Qe>YayaeCamm> qEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )b -Њ?'A)@IYt K@tZ@yt=t=tH?N⻿ {'ѿ P|?d`V?@?)u K@ u:ov;Iux2>x2EG6AAH4itIt){Gʥ6E=˭ʤQ>Y˱y˱C˱ͽ> EE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active. ) )h P?'AYthK@t|Z@ytd=ta=tH`?绿@#ѿ|?@g`Ed??)uhK@ un~v;Iux2 >x2zE:@4B@4)nƄGr= r=%94<%ף;ل%y%I +MbpMbpY%AI!i!%A%AɅ%A"A%@%94 %)%=ۗ=Q=E9QE>YAyAECIM>M> QEE;<Tracking...<2Tracking contact label: 2DDDD-2FLocation Measurement is not Active.    )  )19Ii m R>n ?'AYtkK@tZ@yt=t=tḨ?@b廿!!ѿ@|?`ee? ?)ukK@ umv;Iux">x"6E*A@*Ai0I0)bׄG~Q<~N=Q>Yy C   > E)E5;<5Tracking...<52Tracking contact label: 2D1D9D9D=-2=FLocation Measurement is not Active. 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M! U!U!q]aaa!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ) )i i e R J?'AYtL@t"Z@yt]=t0=tHৠ.?ỿTѿm{?_ k??)uL@ uW[v;IuCx"\>x"zE*@(2@()^G~ C~W=K,Q>Yy C  9 > $-.Started mission DefaultY)- )-:Aggregate::initialize Default15 *5@Initialize GoToSurfaceComponent. *5No depth rate setting specified. Using default value of nan m/s. *5~No pitch setting specified. Using default value of nan degrees. *5No speed setting specified. Using default value of 1.000000 m/s. *=No surface timeout specified. Using default value of 1000.000000 seconds.*EnReceived pitch timeout configuration 60.000000 seconds.E)E4Initialize Wait Component. A)AIAiI QQYY)Y Y)aayƐ )c?'A)IYt". L@t"BZ@yt"F=t"7=t"H`3?ݻ uYѿ`;\{?\@a?#?)u". 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Ik@-c??)uL@ uv;IuCx2>x2E@6A"@4itIt)MGIQ}'\}J=˅k19Q>YˁyˁCˁ͍-/:>  )Ii ) )i i Rݸ 8.?'AYt\ L@tpZ@yt=t=tHG?绿mѿ8z?ea??)u\ L@ u}v;IuCx2>x2QE*@:%=2@8)nG%t<%@ل!y%S㥛?+YAyAECAM*]:M> Q i)iIiii yy) )ߡr [ ?'A)IYt$L@tZ@ytq=t=tHr6L?`仿qѿ z?7bh?` ?)u$L@ uRv;Iux2a>x2Ei@I@)vvG];L=%Q%>Y!y!-C)-1:-> 1 I)IIIiQ Yaaa)a a)ii߁ ?'AYtm)L@tZ@ytY=t0=tHP?A컿Nvѿ`z?`i k? ?)um)L@ u!v;IuCx2>x2E:@6=B@4i~J~H~H~H~J H)H)jG 4= IMلMyMQ?y&1MbYMzAIIiIMr@IɅIM@Mu< M`)MeHeF=e9Qe>YiyimCim2:u> y )Ii ) )m V> u x>k 2?'AYt0L@tZ@ytk=t=tH`ۚW?)⻿(}ѿ@ z?`paZ?`?)u0L@ u>hv;IuCxB>xB~EH@JAi\I\)+G==M=EQE>YAyAMCIM`:M> Q i)qIqiq y) )ߡL L?'AiYte4L@tyZ@ytB=tw=tH@dV[?`޻ѿHz?@a\ b? $?)ue4L@ uv;IuCx">x"_zE nFix Requested)]G}i}F=˅EQ>YˁyˁCˁ͍ :>  9)9IAiA ) ) e+ uf?'AYt9L@tZ@ytj=t`=tH`}`?⻿@ѿ0y?Oa ^??)u9L@ u~nv;IuCx">x"{E@&A"@$idId)uXGyyD;DلD;yMbp~jth?YAIiAjAɅ酽 @鄽 )D;;E=4?9Q>YyCM:>  )Ii ) )!1i i  O?'AYt=L@tZ@ytdj=t=tHhd?仿@ѿ6z? Jaf??)u=L@ uv;Iux">x"E*@*=2@*=)-{G]w<]R=e]Qe>YayamCim,:m> q )Ii ) )!1= A-?'A)IYtDL@t)Z@yt=t+=tH ;j? 黿ҏѿ`y? e`$k?`?)uDL@ u!v;Iux">x"Ei,I,)^ƄG;لףy~jtx{GztYAIiV@AɅx@ Ļ)ף(<O=49Q>Y!y!%C!%by:-> ) A)IIIiI QYYY)Y Y)aay$h  ?'AYtLL@tZ@yt=tЮ=tH`@r? 0滿#ѿ2By?`d`[? ?)uLL@ usv;IuCx">x"E:@$B@$)^Gb< b=nFrN=r,Qr>YpytvCtv :z> x )Ii !!!)! !)))am N> m ]>P ͧ?'AYt9QL@tM[@ytI9=tU=tHsw?#޻vѿ y? /[b?@(?)u9QL@ u^v;IuCx">x"{E$@$i~:~8~8~:~8 8):iLIP) ƄGe+eB=u˴Qu>Y˹yC?!:> ) )Ii qqqy)y y)yߑ'z ?'Ai4<Yt9ZL@tM [@ytr=t=tH`?@ỿ ѿ]bx?@ZbjI? ?)u9ZL@ ugv;IuCx2>x2yE)nYˁyˁCˁ͍z:>  )Ii 9999)9 9)AAYb ?'AYt.`L@tB[@yt=t=tH`p`ԅ?e׻Ȫѿhx?`dW`rI?`C?)u.`L@ uv;IuCxRI>xR9{E@T"@T Fix Requestedi)I))GAʽ;F=˽չQ>YyC[g:>  )Ii ) )!!Ym @Ai ( r?'AYtbL@t[@yt=t=tH  :?`ٻ`vѿ %ly?@V`7_?9?)ubL@ uErv;IuCx">x",E*@*R=2@*=)MG;tلĻy{Gzt?Mb~jtxYIiɅ酉鄍ף; )Ļʥ<L=˭ Q>Y˩y˱C˱9>  )Ii !))))) ))1QiA  UQ5?'A)@IYtgL@t$[@yt_=t:V=tHaՋ?`,廿Lѿ7Ay?`_|p??)ugL@ uv;Iux>x_zEiAIA){Gʵ:=˽Ĭ9Q>Y˹y˹C˹ :>  )Ii 1999)9 9)AAY̠ 7O?'AYtlL@t[@yt{=t`L=tH `O?黿ѿϿx?`d@:o??)ulL@ u|v;IuCx.#>x.}E:@6=B@4)  !V<W=G9Q>YyCp:>  A)AIAiA qqqq)q q)yy߱e V> e Y>0 Si?'AYtrL@t![@ytS=t?A=tH ёߖ?㻿<ѿx?v^ m??)urL@ uv;Iuxn>xr[~EvA@tiI)]ƄG:`;لy~jtxMbp?MbY(AIiɅ"A酙鄝Ļ ;)ʵa;O=MpQM>YQyˑCˑ͝pX:>  )Ii    )  )QQi:  &エ?'AiYt{L@t*[@ytA=t)=tH?޻@ ѿ ½x? A\@EY? *?)u{L@ uԆv;IuCx2>x28}E)jׄG~~W=jĸQ>Yy C  @: >  )))I1i1 yy) )B& 作?'AYtL@t 2[@yt=tM=tH +?Oٻ@ѿ`w?W O???)uL@ uv;IuCx">x"{E@$"@$i~:~8~8~:~8 :%):i@I@)rGvAt-;-9<ل-y-{GzI +?Mb`Y-AI)i)-@)Ʌ))-ף -94<)-EzEF=E4QM>YIyIMCIUʌ:U>  )Ii ) ) am ?Ai - ?'AYtlL@t6[@ytYR=t =tH .?ỿ8ѿ$`w?L^^?@ ?)ulL@ u'v;Iux">x"_zE*@*%=2@*4=)b{GnorQ=r9Qr>YtytvCtv'6:z> x )Ii !!!)! !)))a"4 WѨ?'A)6@I4YtJڍL@tJ<[@ytJn=tJx=tJH`??6滿UѿA~w?`a@sd?@?)uJڍL@ uJ~v;IuJCx^>x}E Fix RequestediI)ƄGED;Ej<لEyE<]/=]8Qe>YˡyˡCˡͭX:>  )Ii ) )9 : R?'AYt'L@t;B[@ytا=t7=tH%)?@P Xѿw? hl??)u'L@ uv;IuCx"6>x"]|E:@&=B@()%G) -%=]Hϻ]e=]a9Q]>YayaeCamr:m> q )Ii ) )߹ V>q@ '?'AYtL@tJ[@ytņ=t_=tHm?軿bѿ@^>w?`d `? ?)uL@ uv;IuCx2I>x29{E8@:AiI)uƄGʽD=˽Q>YyC]:>  )Ii ) )'G ?'AiYt>L@tRQ[@ytOI=tɛ=tH`/?໿ѿ`nv? -]`WY?'?)u>L@ u۔v;IuCx2>x2E)nׄGT<لY˹y˹C˹:>  )Ii ) )QM Y7?'AYtʨL@tW[@yt=t%O=tHg?Ի *ѿĸv?RO? Q?)uʨL@ u(}v;IuCx2>x28}E@4"@4i@I@)pprApռV=Q >Y y  C A:>  1)1I1i1 AAAA)I I)IQa ;T @Q?'AYt>L@t>\[@yt>=t>w=t>H ?ػѿ@ضw?`SQb?A?)u>L@ u>v;Iu>Cx^>x^6E*@f4=2@fC=i~v ~z~x~x~z x)x)am9<لy:v?y&1?~jt?YAIiɅ酭@鄭< `e=);?=kV8Q>YyC1:> Q )Ii ) )cZ Ĕk?'A)IYtL@tb[@ytl=t=tH?滿ѿ:v?ac?`?)uL@ uv;IuxB>xBxEiLIRjC)| f W=:Q>YyC؅:> ! A)AIAiA QQQQ)Q Q)YaqKa o?'AYtL@tj[@ytx"E:@&=B@$ ^Fix Requested)-G-= -=e;=eE=e>Qe>YiyimCiu:u> q )Ii ) ) ]>ug I?'AYtL@to[@ytLN=t`=tH ? 仿ҿ27v?]qh?@?)uL@ u)v;IuCx">x"[~E(@(ifg=IftC)-{Gmum`<لmtYˑyˑCˑ͝ C:>  )Ii)Done Waiting.)8Uninitialize Wait Component. ) )m &?'Ai4xBE)eƄGʝiH<I=˥ ĸQ>Yˡy˩C˩ͭb:>  )Iiq*JAggregate::initialize Default:CheckIn ) )t Pө?'AYtL@tz[@yt=t=tH{?@Oػ ҿ@ov?`Qe?F?)uL@ uv;IuCx">x"[~E@$"@$i2=I2jC)nׄGrArAeLet=لeuYˁyˁCˁ͍Z:>  )Ii ) ) =z 3?'AYtdL@tx[@yt=t =tH@#?ܻ`ҿױ@v?U@.g? 7?)udL@ uvv;Iux"8>x"E*@&C=2@*R=)\~;~R=09Q>YyC \e: >  )Ii ) )? ?'A)@IYtL@t[@ytD=t!H=tH ?`ۻҿ`bv?yS n?:?)uL@ uv;IuCx2;>x2Ei@IBtC)nGvo<vK=zøQz>Yxyx~C|L:>  !)!I!i! )111)1 1)99Q.ć  ?'AYtQL@te[@ytP#=tM=tH@5?໿Q ҿ@r.0v?sX`wo?)?)uQL@ uyv;IuCx"8>x"E:@&=B@&=i~8~:~8~8~< <)>)v{Gv4= v=-Y-ף<ل-#YIyIMCIU.8:U> Y q)qIqiy ) )ߩ N> V>D n:?'AYtL@t[@ytns=tq=tH @? 绿(ҿ@Pu?ibX??)uL@ u0v;IuCx">x"E(@*Ai0I2jC)bƄG~O=9Q>Yy  C  : >  )))I1i1 9AAA)A A)IIa@֔ IT?'Ai;;YtL@tĔ[@ytw>=t@#=tH@?;㻿.*ҿu?[/j?!?)uL@ uzv;IuCxB>xB{E ~Fix Requested)eׄGĻل;yQ?Zd;O?Mb`?YIiɅ酩鄭< j<);`>=vQ>YyC9>  )Ii ) )  ! "n?'AYtL@t[@yt#=t==tHހ@s ?߻ 0ҿ !zu?yX@f?.?)uL@ u$v;IuCxb>xb~E@d"@diIIMtC)G<I=Q>YyCnp:>  ) I i  9999)9 A)AI߁ o ?'AYtL@t[@yt}%=t+=tH`- ? ໿ 4ҿqyu?Xx"E*@&a=2@*=)%ƄG]R<]S=eP$7Qe>YayaeCamG:m> q )Ii ) )< jڡ?'A)@IYtL@t[@ytM=tq=tH6?Nٻ5ҿ@u?@Ot?D?)uL@ uZv;IuCx">x"Ei0I0)zGUԼUلU`yUL7A`?~jth?y&1|YUAIQiQQQɅU#AU@U+= UD;)U`e1;mJ=mQm>YiyquCqurH9}> y )Ii ) )< ?'AYt|L@t[@ytc=tT=tHi?dۻ`A:ҿ`\u?]Si? >?)u|L@ uyv;Iux"(>x"tE:@&=B@&=)^ƄGb< b=-YM<5N=59Q5>Y9y9=C9E7:E> I a)aIaia qqqq)q q)yyߑ V> Y># Kժ?'AYtL@t [@yt=tw;=tH2~`3?ػ TBҿlEt?S qM?`L?)uL@ u_cv;Iux2I>x29{E:A@8i~J~J~H~L~L L)NiTIT)ׄG=/ݼ=ل=Ļy=Zd;O?y&1|~jtxY9I9i99=XAɅ9=@=j<= =`)=ĻU9=˕s7Q>Y˙y˙C˙ͥ:>  )Ii 1119)9 9)9AqN m?'Ai4<4x2{E)nG~R$;~c=8Q>Yy  C  : >  1)1I1i1 Yaaa)a a)iiY6 (H ?'AYtM@t[@yte=tJ=tHU}`$?@MԻ@Hҿ{t?N@Y? Y?)uM@ u{jv;IuCxBK>xB~E@D"@D ~Fix Requestedi I )m{Gqq:<;=Q>YyC : >  )Ii 1111)9 9)AQ @A `  #?'AYtB M@tV[@ytO=tZ=tH|@'? 8ٻ&Lҿ8t?{R]?H?)uB M@ uv;IuCx"q>x"|E*@*%=2@*R=)!mļmلm`ym+?~jtxy&1|YmAIiiiiiɅim@m= mĻ)m`ʅR=˅89Q>YˉyˉCˉ͕:>  )Ii ) )q  x2tEivg=It)I}8=}K=˅d5Q>YˁyˁCˉ͍1!:>  )Ii ) )r V?'AYtM@tѾ[@yt=t!=tH`{@-?uܻPRҿ t?Sj?@x"[~E:@&=B@&=)rƄGv4= v=M+MļلM`;yMˡE?~jtx?y&1|?YIIIiIIIɅM"AM@M'= M;)M`;ʅҼJ=˅V8Q>YˉyˉCˉ͕09>  )Ii ) )  ! R>  gp?'AYtM@t[@yt =t=tH7{1?ܻVҿzFVt?@HUc?;?)uM@ uov;Iux>8>x>EJA@JAiR=IP) ׄG];]M=eb8Qe>YayaeCam:m> q )Ii ) ) 돊?'Ai;YtM@t[@ytn=t|=tH@z5?@_ػ@Yҿs?RU?L?)uM@ u!Ov;Iux">x"{E)|=4=L=E߸QE>YAyAECIM#:M> Q i)iIiii yy) )ߡ bg?'AYtVM@tj[@yt=tβ=tHvzK7?׻`z[ҿ`Rt?PK\?N?)uVM@ upv;Iux2>x2E@4"@4i~H~J~H~N~N L)LiTIT)mGqqj<لDYyCi9>  )Ii  ) )) ?A ; RC?'AYtM@t[@yt@=t;=tHz@9?&ٻ`]ҿQCt? Pje?H?)uM@ uZ]v;IuCx">x"{E*@*C=2@*C=)^{G~1X=IQ>Y y  C  p9>  ))1I1i1 9AAA)A A)IIt ث?'A)IYtUM@ti[@ytm=t^=tHy:?`ڻH_ҿt?Pq?A?)uUM@ u wv;Iux2>x2uE nFix RequesteditIt)A@=لףYˡyˡC˩ͭe9>  I)IIIiI YYaa)a a)ii e?'AYt M@t[@ytz=tY=tHy@>?zһ obҿ@"t?@Hq?@_?)u M@ ucv;IuCx"l>x"?uE:@&=B@&=)IU< Q}S}L=}Q>YˁyˁCˁ͍:>  )Ii ) )  a>q $ ?'AYt#M@t[@ytR=tou=tH.y@P@?"ӻ dҿFޭt? *Ht?\?)u#M@ uvv;IuCx">x"E&A@*AidId)%+G=2e==N=E\6QE>YAyAMCIM9M> Q i)iIqiq ) )M )%?'Ai;Yt2(M@tF[@yt@d=t=tHx E?ɻ iҿ@^'t?@ Wc??)u2(M@ ubv;IuCxb>xbE)EXG94=لYyC]E:>  ) I i  9999)A A)AI߉& ??'AYt+M@t[@ytY=t:=tH xI? ƻmҿs?a?X?@?)u+M@ uwv;IuCxZt>xZ-E@\"@\ihIh)5ƄG11}}N=˅\UQ>YˁyˁCˁ͍> :>  )Ii ) ) > 0fY?'AYt<+M@tP[@ytB=tYE=tHx`HH?л@lҿ POt?JFn?f?)u<+M@ ugv;IuCx">x"+E*@(2@*p=i~8~:~<~<~> <)<)ׄG 0@=ل`Y˱y˱C˱ͽ>  )Ii ) ) > ]s?'A)IYta-M@tu[@yt=t'c=tHw 4J?UڻnҿΤ0t?O6r?D?)ua-M@ uJv;IuCx.>x.zEi8I:jC)hr%rW=rX9Qv>YtytvCxza9z> | )Ii !!!))) ))ߡ # ?'AYt/M@t[@ytW=t:=tHCw`UL?Aۻpҿ@s? ~Q'm?@B?)u/M@ u^fv;IuCx">x"E:@&=B@$ ^Fix Requested)=Yy!%C!5b9=> I )Ii ) ) V> V>ZJ) ?'AYt1M@t[@yt=tB=tHv@N?Cٻ@rҿ)(s?5O`3n?@I?)u1M@ uPv;IuCx">x"{E(@(ivg=It)MXGLل/YyC9>  Y)YIYiY aiii)i i)qߩ20 ?'AiYt5M@t[@yt=t=tH@v|R?ϻzvҿ gs?tG@Z?@n?)u5M@ uviv;IuCx">x";yE)-ƄG](]O=ekQe>YayaeCim:m> q )Ii ) )\6 ڬ?'AYt%7M@t9[@yt}a=tX=tH@avS?ɻ@wҿe s? Z@b??)u%7M@ uXv;IuCx">x"8}E@&A"@$i0I0)bGdd # P=ل Y)y)-C)-v95> 1 Q)QIQiQ qy) )ߡ < a?'AYt7M@t[@yt}=tSl=tH@[vS?-ϻ`wҿi_.t?`Cqs?k?)u7M@ u+pv;IuCx2>x2OE*@:=2@8)r{Gz<zM=z 9Qz>Y|y|~C|˪>  !)!I!i! 1111)1 1)IQqnC e?'A)@IYt9M@t[@ytS=tE=tH` v@+V?@ɻfzҿ t?> n??)u9M@ uN\v;IuCxB>xB|Ei~ ~~1~=~E A)AiaIetC)ƄGMDMT=لMuYˉyˉCˉ͵9>  )Ii ) )!I ?(?'AYt;M@t[@ytd=t?=tHu\X?Gʻs|ҿยثs?@@ e?~?)u;M@ umv;IuCxZ>xZuE:@^=B@^=)5G== ==}<}]=˅8Q>YˁyˁCˁ͍ٽ9>  )Ii ) ) Y>YP TB?'Axb>xb~El@  }Fix RequestediIjC)ƄG A=Q>Y!y!%C!--> ) A)IIIiI QYYY)Y Y)aay|V [?'AiYtx28}E)G#ل`eYyC9>  )Ii !))))) ))19I\ u?'AYt0@M@tD[@ytF=t=tH`u\?@Ļ@ҿ 6s? ={W?`?)u0@M@ u-jv;IuCx"a>x"E@&A"@$idIftC)%ƄG))]<]T=e| Qe>YayaeCam> :m> q )Ii ) )!!Y c X?'AYtmxZ|E*@j4=2@jC=)ׄGuL=لuYyC > q )Ii ) )i ?'A)@IYt>M@t[@ytԞ=t=tH0uZ? ӻ+ҿ Okt?Gv?\?)u>M@ u jv;IuxB>xBEiLIP)G<Y=Ų9Q>YyC%9%> ) A)AIAiA QQQQ)Q Q)Yaqp dí?'AYt.w@M@t.[@yt.e=t.=t.Ht@\?jջŀҿ`Oys?K)i?W?)u.w@M@ u.jv;Iu.CxR>xR~E:@TB@V=)%{G%4= !5~5H=59Q5>Y9y9=C9Eq9E> I a)aIaia qqqq)q y)yߑ R> V>v Oݭ?'AYt"AM@t"[@yt"z=t"=t"Ht ^?ػ ҿ`ߡ5s?Od? M?)u"AM@ u"Vv;Iu"Cx.>x.OE6A@4i~F~F~D~F~J H)JiPIRjC)ƄGM`eM@=لMYiyimCiu_9u> y )Ii ) )X#} ?'AiYt@M@t[@yt@=tU=tHt\? ?ӻҿ@ cXs?@%Jd?_?)u@M@ ukv;IuCxB^>xB}E)YAyAMCIMQM> Q i)qIqiq y) )ߡ  ?'AYtB@M@tB[@ytBu=tBl =tBHt\?{ѻҿ {s?G`_g?e?)uB@M@ uB`v;IuBCx~f>x~rE@"@ uFix Requestedi=I)XG#L=لyV-kt?Mb?YIiɅ )5{%=5;==1Q=>Y9y9ECAE7E> I a)aIiii qyyy)y y)ߙ 4 *?'AYtAM@t[@yty=t =tH t]?ٻ`́ҿRs?Og?K?)uAM@ u}Dv;Iux">x"zE*@*C=2@()E{GʍsV=ˍY9Q>YˑyˑCˑ͝9>  )Ii ) ) XD?'A)IYtGBM@t[[@yt=t=tH@t^? yӻҿСV s?@K2\?_?)uGBM@ uev;IuCx2F>x2wEivg=It)M+GlEF=Q>YyC8>  )Ii ) )1=] got command maintain control VerticalControl.massPositionAction 2.500000 centimeter*n code=00AB name="Maintain_VerticalControl.massPositionAction" *a code=0903 owner=00AB element=05C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 e SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.=m got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter*n code=00AC name="Maintain_VerticalControl.buoyancyAction" *a code=0904 owner=00AC element=05C2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 } SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.sG ߇^?'AYtAM@t[@yto=t=tHt]?"ʻށҿ-s?@ B@Z??)uAM@ u9Nv;IuCxB>xBxE:@F=B@F=)~G= =EtE/]=لEtYayaeCamm> q )Ii ) )  Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter, V> p 5`x?'AYt"AM@t6[@yt=t=tH`t]?ͻ tҿ4,s?E&\?s?)u"AM@ uhv;IuCx">x"vE*A@(i2=I0)bG~P=M9Q>Y y  C  >  ))1I1i1 9AAA)A A)IIHU<"HUw:i[ H?'Ai$$Yt*=M@t*[@yt*s=t* =t*H\u_Z?x̻|~ҿ`js? 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U?YMwAɷM:M<: M6o4Y ]?a a)iIiii uXz:u;qyy)y y)H<"Hw:ߡͰ Dޗv@'AYt.'L@t.[Z@yt.\b=t.xRkE)jGaeu<لeyeI +I +?Mb`YeAIaiaaaɅeAaa a)e};}D=}$9Q>YˁyˁDˁ͍D:>  ]k4¯?<ɯܦ? i?鯕wAV:ɱ:鱕q?k4Q h8鲡Q h8 Q tI)Q CIɴԘ:鴥Ɵ: h8 o4鵵ү? <)? ?YwAɷ ;鷵X ; Ho4 ? )Ii Xz:;) )H<"Hw: ګ ov@'AYt.%L@t.Z@yt.b=t. xR$jE@VA"@Ti^=I^AC){G!!--O=5wQ5>Y1y1=D9E0E> A ]Mk4E7?E<ɯEͦ? iU?ExAEԳ:ɱE:E;Mk4Q ]h8Q QQ ]tI)QQ eCIQɴU9:U˚: U`h8 mo4eG? e<)e? u?YewAɷeE:e: eYo4}xBLeE*@FC=2@D ~Fix Requested)aʥC=˭lQ>YyD9>  ]k4?<ɯ? i?,xA:ɱ׾:\k4Q h8 Q tI)Q CIɴ:J: fh8 o4İ? <)?  ?YxAɷ:: lo4 ? )Ii EXz:M;IQQ)Y Y)iqH<"Hw: pv@'AYt.P,L@t.Z@yt.nc=t.<4xReEi)I))0G;9<لףy rhQ?{GztY AIiɅxAC u<)ףG;D=a9Q>Y y  D :>  ]%k4l?<ɯ? i%?SxA÷:ɱ :jjk4Q -h8) )Q 5tI))Q 5CI)ɴ-_:-: -h8 Eo4=|? =-<)=N? E?Y=?xAɷ=ɪ:= : =}o4Q U?Y a)aIaia mXz:m;qqq)q q)yyH<"Hw:ߙ Jv@'AYt..L@t.GZ@yt.Tc=t.xBgE:@F=B@F=)mjGm< iʝe;Q=˝z8Q>YˡyˡDˡͭ9>  ]k4?<ɯ]? i?鯵wxAU;ɱU;鱵xk4Q i8Q i8 Q tI)Q CIɴ:: .i8 o4+? F<)? ?YdxAɷ0:۞: o4 (? )Ii Xz: ; ) )H%<"H%w:1N> V> $w@'AYt.^1L@t.Z@yt.&c=t.PxBEmED@HiRg=IRFC)0G;لyMbPMbp?YAIiɅ酁鄅 ;),<H=7Q>YyD 9>  ]k4,?<ɯ_? i?~xA:ɱ:^k4Q i8 Q tI)Q CIɴB;J; si8 %o4=? P<)!? %?YkxAɷߡ:": xo4) -?1 q)yIyiy Xz:;) )H<"Hw: ) 3w@'AYt.1L@t.Z@yt.!c=t.xRjE)%jG]]Q=eE-Qe>YayaeDim?8m> q ]k4u>?u<ɯua? i?uxAu!C=ɱuC=uk4Q i8 Q tI)Q CIɴݱ; : Ai8 %o4Q? 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Z@yt.b=t.:xR%hEi\I\)GDĻلD;yy&1|?~jth~jth?YIiɅ酡鄥`; D)D;ʽ1B<C=V9Q>YyoE?:>  ]4=e? <ɯ$? i?AL:ɱw:׀4Q 9 Q tI)Q mDIɴh:Z: 9 4ce? <)? ?YAɷD: : 44  ?  )Ii %Xz:%;!!!)! ))))H5<"H=w:I, B'AYt.L@t.Z@yt.sb=t.xBcE:@F=B@F=)~XG%= == =S=E9QE>YAyAMoEIM:M> Q ]]4Ud?U<ɯUD? ie?UAU4:ɱU:U4Q m9a aQ mtI)aQ mmDIaɴeO:e : e99 }4u"e? u<)u3? }?YuAɷu:u : u6=4 ʧ?-Done Waiting.-8Uninitialize Wait Component.1 )Ii %Xz:%;!!))) )))1H5<"H=w:I=a> 9K uB'AYt.L@t.Z@yt.^b=t.a xBeEiLIL)~ƄG `< M=Q>YyoE9%> ! ]-4%d?%<ɯ%e? i5?%A%÷:ɱ%:%4Q =91 1Q =tI)1Q EnDI1ɴ5:5: 59 M4Ed? E<)ET? M?YEAɷEϝ:En: EE4Q ]b?YIeK@1eqe a)aIaia uXz:u;qyy)y y)H<"Hw:ߙw QB'AYt.SL@t.Z@yt.@b=t."2xR"lE)G]]9<ل]y]QMb?MbpY]AIYiYYYɅY]xA]u ]<)]mG<uD=uюQu>Yyyy}oEyͅ!:>  ]4ee?:<ɯ?? i?鯍A:ɱ:鱍ٕ4Q 9鲙 Q tI)Q nDIɴt:鴝: 9 4鵭e? <).? ?YAɷ:鷭: N4 ?.fDefault mission has been running for 56.099174 min q*2Completed Default:CheckInq*NAggregate::uninitialize Default:CheckIn*Running loop #8q*JAggregate::initialize Default:CheckIn )Ii Xz:;) )H<"Hw:  ,B'AYt. L@t.{Z@yt.{a=t.n~xBbE@FA"@DiLIP)~{GA==N=EBQE>YAyAMoEIMg:M> Q ]]4Uf?UY<ɯU? ie?UAU:ɱU:Uʜ4Q m9a aQ mtI)aQ mnDIaɴe:eԘ: eJ9 }4u-f? u <)u ? }?YuAɷus:uw: u[W4 ٧? )Ii Xz:;) )H<"Hw:AA  B'AYt.L@t.Z@yt.a=t.ָ>x>NcE)x==<ل=`y={GzI +?y&1|Y=AI9i999Ʌ9=A=ף =9<)=`};}F=}87Q}>YˁyˁoEˁ͍y :>  ]4f?<ɯӖ? i?鯕A:ɱ:鱕4Q 9鲡 Q tI)Q nDIɴ}:鴥: 9 4鵵g? K<)–? ?Y Aɷ:鷵 : >`4 ? )Ii Xz:;) )H<"Hw:   -B'AYt.WL@t.Z@yt.2b=t.xZiE*@^%=2@^p=idIh)-+G}<}J=}<8Q>YˁyˁoEˁ͍:>  ]4g?<ɯ? i?鯕3A4:ɱ^:鱕 4Q 9鲡Q 9 Q tI)Q nDIɴȗ:鴥:  9 4鵵g? v<){? ?Y#Aɷ:鷵: h4 f? )Ii Xz:;) )H<"Hw:- sGB'AYt.L@t.Z@yt.ݓb=t.yxBdE:@J=B@H]NJGPS failed to acquire within timeout.1 N-NData Fault! R ! R ! R ! R )}XG4= =D=h9Q>YyoE:>  ]%4h?<ɯC? i%?MAs:ɱ:i4Q -9) )Q 5tI))Q 5nDI)ɴ->;-; -h9 ]4]h? ]<)]1? e?Y]=Aɷ]:]: ]"r4i mq?i )Ii Xz:;) )H<"Hw:-"]@Data Fault in component: NAL9602=R> 9F xaB'AYt.L@t.8Z@yt.Kb=t.txBpfEFPowering downJ@J*@J2@JiPIP)ƄG`;لyMbp~jtx?MbPYIiɅ酁鄅 ;);;G=m/Q>Y!y!%oE!-O]:-> ) ]=4-h?-<ɯ-:? i=?-SA-:ɱ-:-4Q E9A AQ MtI)AQ MnDIAɴE%:E: E,9 u4U i? U<)U(? }?YUCAɷU;U̱; Uz4 ? )Ii Xz:;) )H<"Hw:, t{B'AYt.B#L@t.Z@yt.6b=t.xRcE)%G5E5Z==YAyAEoEIM=:U> Q ]]4Ui?U<ɯU2? ie?UXAU:ɱU:U4Q m9i iQ mtI)iQ unDIiɴm:mo: mi<9 }4u8i? u<)u!? ?YuIAɷu:uϝ: u4 ? )Ii Xz:%;!!!)! !)))H5<"HUw:i8% MB'AYt.j)L@t.Z@yt.a=t.x6pfE@:A"@8iDID)r{Gtt--`ل-:y-{Gzt?{GztMbP?Y-fAI)i))-AɅ))-ף; -ף)-:E6<EI=MSqQM>YIyIMoEIUs:U> Y ]e4]h?]<ɯ]:? ie?]^A]:ɱ]s:]*Ǟ4Q u9i iQ utI)iQ unDIiɴim : muM9 4}i? }<)})? ?Y}OAɷ}ߡ:}D: }4 ? )Ii Xz:;) )H<"Hw:"VClearing failed state for component NAL96021 AA>+ *B'AYt./L@t.\Z@yt."b=t.=xBLeE)x==K=EB9QE>YAyAMoEIMk:M> Q ]]4Uh?U<ɯUB? ie?UdAU:ɱU:U5Ξ4Q m9a aQ mtI)aQ moDIaɴe%:e: er^9 }4uh? u<)u1? }?YuTAɷun:u: u]4 S? )Ii Xz:;) )H<"Hw:&2 2B'AYt.U6L@t.Z@yt.a=t.xBIiEiLIL)~ƄG t< N= ҸQ>YyoE:> ! ]-4%oh?%<ɯ%J? i-?%jA%k:ɱ%s:%(՞4Q =91 1Q =tI)1Q =oDI1ɴ5:5: 52o9 M4Eh? E<)E8? M?YEZAɷE:E: E4Q U?Y a)aIaia mXz:u;qqq)q q)yyH<"Hw:ߙP8 eB'AYt.~:L@t.Z@yt.)[b=t.xBmE:@F=B@F=)zG~< ~==D;=tل=ף;y={Gz?Q{Gzt?Y=AI9i999Ʌ=EA9=#< =u)=ף;Ub<UF=]m9Q]>YYyaeoEae!:e> i ]u4mg?m<ɯm? i}?myAmU:ɱm#:mbܞ4Q 9鲁 Q tI)Q oDIɴ:鴅,: 9 4鵍h? <)o? ?YjAɷ:鷍: ݥ4 ? )Ii Xz:;) )H<"Hw:=a> =V>z> ZB'AYt.@L@t.QZ@yt. a=t.$xZfEidId)-{G]]J=eqcQe>YayaeoEim}:m> q ]}4uxg?u<ɯu? i?uAu:ɱu{:ut4Q 9鲁 Q tI)Q oDIɴ%:鴅: 9 4鵕g? `<)? ?YyAɷ:鷕m: 4  ? )Ii Xz:;) )H<"Hw:bE B'AYt.7FL@t.Z@yt.b=t.#xBlE)1uDutلqyuMb?{Gzt{Gzt?YuAIqiqquAɅuxAuxAu< uף)qʍ<G=˕G 6Q>Yˑy˙oE˙͝^O:>  ]4%g?<ɯ? i?鯥AM:ɱ:鱥4Q 9鲹 Q tI)Q oDIɴ1:鴽: 9 4Lg? X<)? ?YAɷb:Ɵ: t4 ҥ? )Ii Xz:;) )H<"H w:K p0B'AYt.LL@t.Z@yt.a=t.LQxB_E@FA"@DiPIRFC)|AʝzMI=˝Q>YˡyˡoEˡͭzh:>  ]4f?<ɯ-? i?鯵A :ɱw:鱵4Q 9 Q tI)Q oDIɴ:Z: 9 4f? Q<)? ?YAɷǺ:Q: 24 m? )Ii Xz:;) )  H<"Hw:!AA\tR KJB'AYt.NL@t.kZ@yt.5a=t.:xBdE)zƄG=<=P=E޸QE>YAyAMoEIM9M> Q ]]4Uf?U<ɯUf? ie?UAU:ɱU:U4Q m9a aQ mtI)aQ moDIaɴe:e: e9 }4uf? uJ<)uU? ?YuAɷu;u+; uȡ4! -q?) i)iIiiq Xz:;) )!)HU<"H]w:iٞX 1(dB'AYt. VL@t.w[@yt.a=t.xRcEi\I\)G]]ل]y]MbP?Y] AIYiYYYɅ]EAY] ]:)]uZuG=u9Qu>Yyyy}oEyͅ0:>  ]4f?<ɯg? i?鯉:ɱ:鱍4Q 9鲙 Q tI)Q oDIɴ:鴝Z: 9 4鵭f? M<) ?YAɷj:鷭: ѡ4 ? )Ii Xz:;) )H<"Hw:߁^ ~B'AYt.ZL@t.[@yt.a=t.wxRKgE:@V=B@V=){G= =-s<-O=-8Q5>Y1y15oE1=K;:=> A ]M4Ef? aM4E<ɯA iM?EAE:ɱEw:E4Q U9Q QQ ]tI)QQ ]oDIQɴU:U: U9 m4ef? eO<)a m?YaɷeE:e: e ڡ4q u?q y)Ii Xz:;) )H<"Hw:߹=R> 9e ݗB'AYt.aL@t.[@yt.ub=t.GxBNcEiLIL)~0GEEj<لE#yEy&1YayaeoEam){:m> q ]u4u1g?u<ɯu? i}?uAuo:ɱu^:u 4Q 9鲁 Q tI)Q oDIɴ:鴅Ԙ: 9 4鵕Xg? u<)? ?YAɷ:鷕 : 4 ? )Ii Xz:;) )H<"Hw: k B'AYt.-dL@t.[@yt.<b=t.rDxBcE)zG x; O= MeQ >YyoE79> ! ]%4%g?%<ɯ%? i-?%A% :ɱ%:%4Q 591Q 59 1Q 5tI)1Q =pDI1ɴ5=:5r: 5a9 E4Eg? E<)En? M?YEAɷE$:E: E`4Q U?Q Y)YIYia mXz:m;iqq)q q)qyH<"Hw:߹r SB'AYt.kL@t.[@yt.=a=t.kxbLeE@bA"@dilInAC)UjGQUAeD;mE=}ZQ>YˑyˑoE˙ͭ&:>  ]4h?<ɯ? i?A;ɱ;4Q 9 Q  tI)Q pDIɴ;_; t9 =4-h? -<)-? M?Y-Aɷ-;-ɏ; -4a eS?i )Ii Xz:;) )H<"Hw:E@AAx nB'AYt.zqL@t.[@yt.Na=t.xBrdE)50GQ=لyX9vp= ף?/$YAIiEAɅ酙鄝} =)ʭVF=˵8Q>Y˹y˹oE˹z:>  ]40k?t<ɯ3? i?(A:ɱ:.#4Q 9 Q tI)Q pDIɴ̒:|: U+9 4Kk? 9<)#? ?YAɷ:: D4 ? )Ii Xz:;) )!H%<"H-w:9 JB'AYt.PxL@t.%[@yt.a=t.]@xReEi\I\)}Gʥ۷;K=˭8Q>Y˩y˱oE˱ͽ:>  ]4m?<ɯ`? i?鯽sA:ɱ:鱽8*4Q 9 Q tI)Q pDIɴ:: M<9 4m? 4 <)Q? ?YbAɷ:ʢ: 4 6? )Ii Xz: ;   ) )H<"H%w:1 $B'AYt.}L@t.*[@yt.b=t.`-? ?)u.}L@ u.v;Iu.CxR>xRu`E:@V=B@V=)-= -=m:mt=لm̼ym:v?YmQAIiiim@mAɅiimT mL=)m̼%t-B=-_8Q->Y1y15oE1=E:=> A ]E4E,p?EN<ɯEA? iM?EAEs:ɱEx:E14Q U9Q QQ ]tI)QQ ]pDIQɴU:UE: UN9 e4eGp? e<)e1? m?YeAɷe:e': e4u? u?uA y)yIyiy Xz:;) )H<"Hw:߱=]> =Y>( 2B'Ax >x gEi!I%FC)}jGʽ<Q=˽Q>YyoE>  ]-4Qr?<ɯ7? i5?AH<ɱWH<`84Q =99 9Q =tI)9Q EpDI9ɴ=F:=: =^9 M4E{r? En<)E ? 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VxFgE)mjGiq}{A)}# yIy y)yɍ鍁ɎzAiIIi D鎉)鏑 ɏI)i)I/{A鐡ɐ ɑ鑥Aiɠ頩ii{A) I )ɡɢiIIi ) ɣI)i)I餝ɤ ʥ;=˭^9Q_?Y˩yEd?  ]4?| <ɯD@ i @5B:ɱ9:Z4Q uS9i iQ utI)iQ uDIiɴmc:m: mlS9 4}_? } <)}@ ?Y}Bɷ}I:}: }]4 ? )Ii Xz:;) )HU<"H]w:9( BC'AYt.NL@t.oZ@yt.Qb=t. xBEmEiPIP){GE;E`لEyEMbP?YyEȸ7>  ]4?e <ɯB@ i@9B:ɱ:Y´4Q S9 Q tI)Q DIɴ:: d|S9  4C?  <)@  ?YBɷ:r: e4 [? )!I!i! -Xz:5;111)1 1)99HE<"HEw:Y gBC'AYt.ML@t.gZ@yt.ga=t.qxRhE@T"@T)!))%%V=%tYQ%>Y)y)-E)55> A ]M4E?EP <ɯEA@ iM@E<BE:ɱEs:E ɴ4Q ]S9Q QQ ]tI)QQ ]DIQɴUt:UE: US9 m4e&? e <)e@ m?YeBɷe:e: e>n4 H? )Ii Xz:-;111)1 1)99HE<"HEw:q ?A J ACC'AYt.NL@t.|Z@yt.Q|b=t.ZxRmjEi^g=I^AC)ƄGmmلmD;ym{Gzt?~jtx~jth?YmAIiiimAiɅiimף; mĻ)mD;ʍR;U=ˍˣ9Q>YˑyˑEˑ͝hZ7>  ]4?D <ɯQ@ i@鯥?B:ɱ^:鱥ϴ4Q S9鲱 Q tI)Q DIɴ:鴵: S9 4?  <)@ ?YBɷY:: v4 ? )Ii Xz:;) )H<"Hw:K $-CC'AYt.PL@t.Z@yt.Ia=t.>x>eE)zG=H=O==:Q=>YAyAEEAM9M> Q=m2SBD MTMSN=20190328T175843 ]4Up?U8 <ɯUa@ i@UCBU;ɱU;Uִ4Q S9鲑 Q tI)Q DIɴB:鴕4: S9 4鵥?  <)@ ?Y Bɷ:鷥*: %4 ݡ? )Ii Xz:;) )H<"Hw: FCC'AYt.SL@t.k[@yt.[a=t.xRkE:@V=B@Ti\I`)0G! %%=5J<5K=524Q5>Y9y9=EAE9E> I ]U4M6?M, <ɯMr@ iU@MFBM=:ɱM';Mݴ4Q mS9a aQ mtI)aQ uDIaɴe:e: eRS9 }4u}? u <)u@ ?Yu#Bɷu :u&: u4 ? )Ii Xz:;) )H<"Hw: ]> A`CC'AYt.aSL@t.[@yt.a=t.xB$jE)G:لy{Gzt?y&1|~jth?YAIiAɅ酁鄁 `)ʽһB=e8Q>YyEf8>  ]54? <ɯ@ i=@JB;ɱN; 4Q ES99 9Q EtI)9Q EDI9ɴ=Ĕ:=: =S9 u4M=? M <)M@ u?YM'BɷMk;M; M 4y ? )Ii Xz:;) )H<"Hw: zCC'AYt.XL@t.[@yt.b=t.hxRKgEi^=I^;C)bGuN-u?=}9Q}>YyyyEˁͅ0:>  ]4? <ɯ@ i@鯍MB4;ɱ;鱍4Q S9鲹 Q tI)Q DIɴ:鴽s: 9S9 4?  <)@ ?Y+Bɷ|;; 4 ? ) I i  =Xz:=;999)9 9)AAHM<"Hmw:߁ !CC'AYt.c^L@t. [@yt._?b=t.,>x>mE@@"@@)~{GEE`لE;yE{Gzt?{GztMb`?YAIAiAAAɅAAA Eף)E;]E<]^=]U7Qe>YayaeEam:m> q ]4u?u <ɯu@ i@uPBu<ɱu@:u4Q %S9! !Q -tI)!Q -DI!ɴ%h:%: %lS9 545? 5} <)5@ =?Y5-Bɷ5P:5ף: 5g4A EM?A I)IIi Xz:;) )H<"Hw: c cCC'AYt25^L@t2 [@yt25b=t2xB'fEiRg=IRAC)k%O=%ƷQ%>Y)y)-E)-5> 1 ]]45P?5 <ɯ5@ ie@5SB5Z;ɱ5;54Q mT9aQ mT9 aQ mtI)aQ uDIaɴe :e۞: ekT9 4u? ut <)u @ ?Yu0Bɷu;u; u4 Ρ? )Ii Xz:;) )H<"Hw:Q6 BCC'AYt.ZL@t.[@yt.a=t.! .? ѿ0,?;j-? ?)u.ZL@ u.v;Iu.CxRJ>xR,`E)T)0Gʽ|A=˽CQ>YyE9 >  ]4? a4 <ɯ@ i@VB:ɱ:E4Q T9 Q tI)Q DIɴ:: T9 4]? k <)@ ?Y3Bɷ<!: 4 ? )Ii UXz:];Yaa)a i)H-<"H5w:ߑW" CC'Axn>>xnklE:@pB@r=im=Im;C)G= =ף;لyMb`?=5C=5Q5>Y9y9=E9EE> I ]M4M?M <ɯM@ i@MZBM#<ɱM V>K 0CC'AYt.[L@t.[@yt.0b=t.zxB+bE)H)Gʝ8-T=˥? 9Q>YˡyˡEˡͭ8>  ]4? <ɯ@ i@鯵^B;ɱ#;鱵R4Q T9 Q tI)Q DIɴh:: (6T9 4? > <).@ ?Y;Bɷ;; ŵ4! %?) ))1I1i1 ]Xz:];aaa)a a)iiHu<"Hw:ߡq4 DC'AYt.L[L@t.[@yt.~&b=t.wW>xBlEizg=IzAC)eGtلD;y~jtx?~jtx~jth?Y AIiɅEA酩鄭; Ļ)D;a*=F=@˷Q>YyE 7>  ]%4? <ɯ@ i%@aB:ɱ÷:4Q -T9) )Q 5tI))Q UDI)ɴ-į;-ı; -GT9 e4]? ]3 <)]?@ e?Y]?Bɷ]P:];: ]ε4i mj?i q)yIyiy Xz:;) )H<"Hw:m^  6/DC'Axv>xznhE@|"@|)mƄGqqʽM=˽Q>YyE>  ]4C? <ɯ@ i@eB;ɱ˷;4Q T9 Q tI)Q  DIɴ:: ]XT9 54 ? ( <) O@ =?Y BBɷ  ; ; ֵ4A EW?A I)IIIiI }Xz:};yyy) )H<"Hw: F IDC'AYt._L@t.` [@yt.ea=t.-8ػ>xBgEiN=Il)UGʝBL=˝wQ>YˡyˡEˡͭl::>  ]4? <ɯ@ i@鯵hB^<ɱ^<鱵$4Q %T9! !Q %tI)!Q -DI!ɴ%:%g: %iT9 4-G? - <)-`@ ?Y-FBɷ-d<-< -fߵ4! -? )Ii Xz:;) )!)H-<"H5w:p gcDC'AYt.aL@t.~[@yt. b=t.#`9? ?)u.aL@ u.v;Iu.CxB>xFlE)]{G#94ل;yQ?~jtx?YAIiɅxA酹鄽u< );<D=29Q>YyE+9>  ]54 }?  <ɯ  @ i=@ oB ظ;ɱ ˷; +4Q ET99 9Q EtI)9Q EDI9ɴ=}:=: =zT9 u4M? M( <)M@ u?YMLBɷM;Mв; M24y j? )Ii Xz:;) )H<"Hw: A}DC'AYtF]L@tFC [@ytFa=tF;xRiE:@R=B@V=i\I^;C)! %%=ʕ%cQ=˝ Q>Y˙y˙Eˡͥ>  ]4? <ɯA@ i@鯭uB`:ɱu:鱭24Q T9 Q tI)Q DIɴh:: T9 4J? 2 <)@ ?YRBɷ;; 4 ? ) I i  =Xz:=;999)9 A)AIHM<"HMw:߁ t> ]>% DC'AYt>_L@t> [@yt>b=t>H˩?ѿ@2?? u??)u>_L@ u>"v;Iu>CxR>xR"lE)ee`لeD;yeMb?Mb`~jth?Ye AIaiaaaɅeEAae< e)eD;}W&<}L=˅49Q>YˁyˁEˉ͍e9>  ]4? <ɯQ@ i@鯕yBh<ɱ<鱕94Q %T9! !Q -tI)!Q -DI!ɴ!%: %T9 U45? 53 <)5@ ]?Y5VBɷ5;5: 54a e?a i)iIiiq Xz:;) )H<"Hw: Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b389 1 3=got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b389 1 3.000000=PScheduling command #1 of 3 with id=4b389=Scheduled #4 (#1 of 3 with id='4b389'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAP+ DC'AYtB0`L@tB [@ytBa=tB'xJeEiXIX)-I-P=-;XQ5>Y1y15E1=8=> A ]M4Eq?E <ɯEb@ iM@E|BE:ɱEg:E~@4Q ]T9Q QQ ]tI)QQ ]DIQɴU:U: UT9 m4e? u4 e4 <)e@ u?YeYBɷel:e[: e4  ? )Ii Xz:;) )H<"Hw:2 "DC'AYt6aL@t6-[@yt6:Hb=t6ZxZgE@\"@\)=ƄGII];]G=e9Qe>YayaeEimmt9m> q ]}4u&?u <ɯur@ i@uBu':ɱu:uG4Q T9鲁 Q tI)Q DIɴ:鴅<: T9 4鵝o? 5 <)@ ?Y]BɷΥ:鷝:  4 ? )Ii Xz:;!)! !)19HE<"Hw:=2SBD MTMSN=20190328T175849 ܽ8 CDC'AYt.bL@t.p[@yt.a=t.xR_Ei\I\)Ge;eلe;yeMbPMb`Mb`?YaIaiaaaɅaae a)e;}I=˅QQ>YˁyˉEˉ͍$8>  ]4)? <ɯ@ i@鯑v:ɱ:鱕N4Q T9鲩 Q tI)Q DIɴ:鴭ȗ:  T9 4鵽r? / <)@ ?Y^Bɷ:鷽ߡ: ^4 #? )Ii Xz:;) )H<"Hw: `>  DC'AYt.`L@t.f[@yt.a=t.xBEmE)z0Gb=%Q=%\Q%>Y!y)-E)-)5> 1 ]=45+?5 <ɯ5@ iE@5B5:ɱ5:5U4Q MT9A AQ MtI)AQ UDIAɴEɏ:Ex: ET9 ]4Ut? U) <)U@ e?YQɷU:U4: U4i m[?i q)qIqiq Xz:;) )H<"Hw:ߩ"E aEC'AYt.~dL@t.[@yt.a=t.ǐxRbE:@TB@V=)Ti)I))G< =لD;yMb`?Mbp~jth?YIiɅ; )D;`>=˸Q>YyEk:>  ] 4 ? <ɯ@ i@BW:ɱy:*]4Q T9 Q %tI)Q %DIɴh:: T9 -4-V? - <)-@ 5?Y-`Bɷ-:-: -%49 =?9 A)AIIiI UXz:];YYY)Y Y)aaHm<"Hmw:y R> V>IK <2EC'AYt.HdL@t.[@yt.?a=t.pxB'fE)eGʽ_<M=˽9Q>YyE>  ]4? <ɯ@ i@B:ɱ:d4Q U9Q U9 Q tI)Q DIɴ":6: kU9 4;?  <)@ ?YbBɷ:: -4 Ρ?  )Ii %Xz:%;!)))) )))1H=<"H=w:IgR LEC'AYt.eL@t.}[@yt.'a=t.&xBrE)Hi I )GE8=MB=uQu>Yyyy}Ey}^8>  ]4? <ɯ@ i@鯅B;ɱ;鱅k4Q U9鲱 Q tI)Q DIɴ:鴵': U9 4?  <)(@ ?YdBɷ:Ɵ: 64 _? )Ii Xz:; ) )H%<"H%w:1J Y 8eEC'AYt..gL@t.[@yt.Tma=t.xRpE@P"@T)ƄG=ף;=Tل=`;y={Gzt?:vy&1|?Y=AI9i99=AɅ=xA9=ף; =T)=`;]]I=]tQ]>YayaeEamH9m> q ]}4u?uw <ɯu@ i}@uBu:ɱuR:ur4Q U9鲁 Q tI)Q DIɴ:鴅o: S%U9 4鵕? <)R@ ?YjBɷӠ:鷕7: ?4 ǟ? )Ii Xz:;) )H<"Hw: 5_ KEC'AYt.LgL@t.[@yt.Ra=t.xBpEi\I^AC)ׄG=q;E^=E&9QE>YAyIMEIM27M> Q ]}4UB?U[ <ɯU@ i@UBUs;ɱU;Uy4Q U9鲁 Q tI)Q DIɴٓ:鴅: 4U9 =4鵕? <)y@ =?YpBɷ<鷕ʯ< G4A E?A I)QIQiQ Xz:;) )H<"Hw:!f TEC'AYt.dL@t.[@yt.Ƽa=t.=xxBqE)zBG5;5ل5;y5MbPMb`Mb`?Y1I1i111Ʌ115 5)5;U;UI=UQ}>Yyyy}Eˁͅع>  ]4E?U <ɯ$@ i@鯍B;ɱϸ;鱍/4Q U9鲹 Q tI)Q DIɴ,:鴽@: PFU9 4? <)@ ?YqBɷ; ; mP4 }? ) I i  Xz:;) )H<"Hw:9Hl  EC'AYt.dL@t.[@yt.a=t.?xB nE:@DB@DiLIR;C)~G4= _N=%JQ%>Y!y!-E)-`t7-> 1 ]=45G?5O <ɯ51@ i=@5B5::ɱ5d:5 4Q MU9A AQ MtI)AQ MDIAɴE:E: EVU9 ]4U? U<)U@ e?YQɷU^:U: UX4i m/?i q)qIqiq Xz:;) )H<"Hw: V> ]>T4s pEC'AYtJeL@tJ[@ytJa=tJxeE)jGUUף;لUD;yU~jtx?~jth?YQIQiQQQɅQQU U;)UD;ʍ5=˕v8Q>Y˙y˙E˙͝ƅ8>  ]4V?a <ɯH@ i@鯥B6;ɱ=:鱥4Q U9 Q tI)Q DIɴ[:W; iU9 4 ? <) @ ?Y tBɷ ߡ: ߡ: b4  ? )Ii Xz:;) )H<"Hw:Zy x^GkEilIl)=ƄG]<]a=e9Qe>YayaeEamT9m> q ]4ua?uo <ɯu[@ i@uBuf;ɱuM;uO4Q U9鲡 Q tI)Q DIɴٓ:鴥˚: >yU9 4鵵? <)@ ?YvBɷ;鷵; j4 à? )Ii Xz:%;!!!)! !)))H5<"H=w:IB FC'AYt. fL@t.v[@yt.b=t.*xBdE@D"@D)EׄGAIm m <u 7Qu >Yq yq u Eq } !} >  ] 4 w? <ɯ }@ i @鯅 B :ɱ :鱅 4 Q  U9鲩 Q  tI) Q  DI ɴ :鴭 : ZU9  4鵽 ? <) @  ?Y zBɷ %:鷽 W: x4! % ?) ) )1 I1 i1 = Xz:= ;A A A )A A )I I HU <"HU w:߁ k FC'AYt.dL@t.B[@yt.a=t.=Bx6EmEiNg=IP)G#<لDy~jtxMb?~jthYAIiAɅ酡鄥Ļ <)Di{A)t I ̑C)ɍɎiIICi ) ɏC{AI)i)I%3{A!ɐ! !ɑ!!!i))ɠ-C-7{A-Di))i1U{A)Q QIQ Y)];{AɡYYYaɢe{AiaIaaIaimzA ii)ii mjzAiqɣqzAI)i)I餝Dɤ ʭx==˭EQu?Y˱y˱E˱ͽҹt?  ]4? <ɯv@ i@B:ɱа:,4Q U9 Q tI)Q DIɴl:<: U9  4?  <)@  ?Y|BɷI:: |49 =[?9 A)AIAiA uXz:u;qqq)q y)yyH<"Hw:߹ -4FC'AYt.eL@t.![@yt.4a=t.xBgE)~{G9ļX=fQ>YyE9>  ]4? <ɯg@ i@B|:ɱ:Ī4Q U9 Q  tI)Q  DIɴF:9: ЬU9 54!?  <)@ =?YBɷȰ;; 然4A E?A I)IIIiI ]Xz:];Yaa)a a)aiHm<"Hw:ߡ@ NFC'AYt={cL@t=[@yt=4a=t=xMcE:@u=B@u=iI)9A AD:لyMbP?~jth?MbpYAIiAɅ酡鄥: D;)ʥO0=˭4Q>Y˩y˩E˱͵ә>  ]4? <ɯH@ i@鯽B:ɱ:鱽ವ4Q U9 Q tI)Q DIɴS:$: _U9 4"? ! <)@  ?YBɷ?:: 뎶4 D? )Ii MXz:M;III)I Q)QYH}<"Hw:ߑ Y> V> EhFC'AYt.ieL@t.[@yt.va=t.d|xBGkE]JMT Queue status failed to be acquired within timeout. Will not retry this session.)ƄG===|=EvK9QE ?YAyIMEIM9M ? Q ]}4U?U <ɯU3@ i@UBUo;ɱU=;U4Q U9鲁 Q tI)Q DIɴ}:鴅 : .U9 4鵕#? ( <)@ ?YBɷ-;鷕 ; 4 à? )Ii Xz:;) )  H<"Hw:! _^FC'AYt.iL@t.[@yt.Oa=t.BxB nEiLINAC)~BG=l7<=J=E7QE>YAyAEEIMh':M> Q ]]4U?U <ɯU@ i]@UBU(:ɱU^:U4Q mU9a aQ mtI)aQ mDIaɴe:e,: eU9 }4u$? u1 <)u|@ }?YuBɷu:uf: u4 /? )Ii Xz:;) )H<"Hw:e Received command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b389 2 3 u9FC'AYt~lL@t~/[@yt~a=t~`x}iE@"@)jG}}t<ل}ty}{GzMb?YyE)9> i ]u4mp?m <ɯm@ i@mBm{;ɱmy;mǵ4Q U9鲑 Q tI)Q DIɴ:鴕$: U9 4鵥? Y <)=@ ?YBɷr;鷥ׄ; ߨ4 :? )Ii Xz:; )  )))H5<"H5w:i  +FC'AYt.woL@t.[@yt.a=t.DOx^kEij=Ij;C)50GM:<Me=Mt8QM>YQyQUEQ]*9]> a ]e4e?e <ɯe@ im@eBe|:ɱe:e͵4Q uV9qQ uV9 qQ }tI)qQ }DIqɴuض:u : u#V9 4鵅"? v <)@ ?YBɷE:鷅j: 4 ? )Ii Xz:;) )H<"Hw:=M 2SBD MTMSN=20190328T175857ϳ FC'AYtZoqL@tZ[@ytZb b=tZZxbgE)jGĻ<ل`yy&1|Q?y&1|YIiAɅEA` u<)`_>=a8Q>YyE%e9%> ! ]-4%C?%# <ɯ%@ i5@%B%:ɱ%N:%Aյ4Q =V99 9Q EtI)9Q EDI9ɴ=̒:=|: =DV9 M4E? E <)E@ U?YEBɷE:EǺ: E\4Y ]u?Y a)aIaia uXz:u;qyy)y y)yH<"Hw:ߙ FC'AYt.nL@t.g[@yt.%b=t.9xB%hE:@F=B@DiLIL)~{G = :%[=%֑8Q%>Y)y)-E)-kҹ5> 1 ]45?5B <ɯ5\@ i@5B5<ɱ5<5۵4Q V9 Q tI)Q DIɴ:E: #V9 4?  <)@ ?YBɷ:Ӡ: 4  f?  )I1i1 EXz:E;AAA)I I)IQHu<"H}w:߉ V> a>U GC'AYt.rL@t.[@yt.A6b=t.Ax6gE)nƄG2L='8Q>Y y  E @ :>  ]4?d <ɯ4@ i%@B:ɱ-:4Q -V9) )Q -tI))Q 5DI)ɴ-:-: -3V9 =45G? 5 <)5@ E?Y5Bɷ5$:5: 5ʶ4I M?I Q)QIQiQ eXz:e;aai)i i)iqHu<"H}w:߉ GC'AYt.qL@t. [@yt.b/b=t.ͩBJ??)u.qL@ u.v;Iu.CxNż>xR%hEi\I\)G];]=ل]94y]~jt/$?I +YYIYiYYYɅYY]ļ ]<)]94ʝ݋;A=˝Q>YˡyˡEˡͭ>  ]4 ? <ɯ@ i@鯵B:ɱ:鱵)4Q V9 Q tI)Q DIɴ:: EV9 4U?  <)W@ ?YBɷ: : +Ӷ4 f? )Ii }Xz:};yy) )H<"Hw:2 [7GC'AYt.qL@t.N[@yt.o\b=t.xRdE@T"@T){GA-d-R=5#8Q5>Y1y15E1=U.8=> A ]M4E?E <ɯE@ iU@EBEϸ:ɱE:E4Q ]V9Q QQ ]tI)QQ eDIQɴUt:U: UVV9 m4eM? e& <)e@ m?YeBɷe:e': e۶4q }?y )Ii Xz:;) )H<"Hw:߹ r 5QGC'AYt.auL@t."[@yt.b=t.xB$jEiRg=IP)ƄGee'=لe#ye:vMb?{GzYaIaiaaaɅaaeԼ e=)e#}ש<}E=˅9Q>YˁyˉEˉ͍:>  ]48? <ɯ@ i@鯕B ;ɱ:鱕74Q V9 Q tI)Q DIɴ:: gV9 4? h <)@ ?YBɷr:: 4 ?  )Ii =Xz:E;AAA)A A)IIHU<"HUw:iSE /kGC'AYt.}vL@t.#[@yt.b=t.(xNpE)ׄG=<=O=Ei8QE>YAyAEEAMf39M> Q ]]4U^?U/ <ɯUS@ i]@U BU:ɱUg:U!4Q mV9a aQ mtI)aQ mDIaɴe%:e: exBdE:@B=B@DiN=IL)~G~= =p7=J=E߾QE>YAyAEEAM~M> Q ]}4U? a}4Uo <ɯU @ i}@UBUǸ;ɱU{;U04Q V9鲁 Q tI)Q DIɴՐ:鴅A: lV9 4鵕?  <)@ ?YBɷ;鷕Ա; 4 ? )Ii Xz:;) )  H<"Hw:! V>xBiE)5{Gʡ=لtyZd;?YyE T:>  ]4 ?  <ɯ @ i5@ >B ;ɱ ;  4Q EV99 9Q EtI)9Q EDI9ɴ=>:=: =nV9 U4M5? Mh <)M"@ u?YMBɷM[;M; M4y }? )Ii Xz:;) )H<"Hw:Q  GC'AYt.3L@t..[@yt.m;b=t.xBLeEiLIL)~ƄGݑW=%9Q%>Y!y!-E)-ln:-> 1 ]45?5b <ɯ5k@ i@5\B5<ɱ5<5=4Q V9 Q tI)Q DIɴ_:R: V9 4b? 4  <)@ ?Y;Bɷ;д; 4 ?! !))I)i) UXz:];YYY)Y Y)aaHm<"Hmw:߁i GC'AYt.L@t.U/[@yt.a=t.( &>xB'fE@BA"@D)zG~A|}D}=ل}y}&1)\(?/$Y}3AIyiyyyɅy}EA}P }Ga=)}%(K;%;=-r3Q->Y)y)-E)U8U> Y ]e4]r?] <ɯ]@ ie@]B]:ɱ]:]4Q V9i iQ tI)iQ DIiɴm;ml; mV9 4鵝? N <)T@ ?Y\Bɷ:鷝: 4 Ρ? )Ii Xz:;)  )H<"Hw:1  >ZGC'AYt2L@t2[-[@yt27b=t2b|xBLeEiRg=IP)0Gp]=%J9Q%>Y!y!-E)-¬-> 1 ]=45v?55 <ɯ5@ iE@5B5:ɱ5:5["4Q MV9A AQ MtI)AQ MDIAɴE1:E: E-V9 ]4U? U <)U@ ]?YUxBɷU:U : U4i m?i q)qIqiq Xz:;) )H<"Hw:9{ 6HC'AYt.L@t.,1[@yt.Xb=t.xB"lE)zjG<J=%m8Q%>Y!y!-E)-$:-> 1 ]=45?5 <ɯ5@ i=@5B5a:ɱ5:5j)4Q MV9A AQ MtI)AQ MDIAɴE:E: E3V9 ]4U? U <)U@ ]?YUBɷU:Uܹ: UC!4a m?i q)qIqiq Xz:;) )H<"Hw:g  HC'AYt.rL@t.4[@yt.=b=t.xB,`E:@F=B@F=iN=IL)~{G< EE=لAyES㥫A`"?/$YEAIAiAAAɅEEAAE/] EY=)Aʅ:D=˅ Q>YˉyˉEˉ͕ :>  ]4?<ɯ@ i@鯽Bb:ɱ$:鱽04Q V9 Q tI)Q DIɴ,:: V9 4d? } <)@ ?YBɷ+:: n*4  ?  1)1I1i1 EXz:E;AII)I I)IqHu<"H}w:߉ ]>  9HC'AYt.L@t.~9[@yt.a=t.1xB"lE)~ƄGF=%Q=%DQ%>Y)y)-E)->=:5> 1 ]]45N?5b<ɯ5A@ ie@5B5ж;ɱ5;574Q mW9aQ mW9 aQ mtI)aQ uDIaɴe:e4: eiW9 4u? u <)u@ ?YuBɷul;u_; u24 ? )Ii Xz:;) )  H<"H5w:IB SHC'AYt.L@t.%9[@yt.a=t.ZxZgEifg=IfAC)%ׄGmDm+=لiymI +J +?/$YmQAIiiim@iɅimxAm94 mH=)iʍ퍼D=ˍǧ8Q>YˑyˑEˑ͝T>  ]4Q?<ɯ@ i@鯥B=:ɱ :鱥>4Q W9鲱 Q tI)Q DIɴ:鴵: W9 4? <<).@ ?YBɷ:I: ;4? ?A )Ii Xz:;) )H<"Hw:Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b389 3 3=got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b389 3 3.000000=PScheduling command #3 of 3 with id=4b389=Scheduled #6 (#3 of 3 with id='4b389'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP @mHC'AYt.L@t.f;[@yt.b=t.xNkE@P"@T=bzgot command load ./Missions/Engineering/lineCaptureHoming.xml)<E=8Q>YyE"9>$zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml  ]=4O?%<ɯU@ i=@3Be"<ɱ+"<F4Q ]W9Q QQ ]tI)QQ ]DIQɴU:U: U#W9 m4e? e<)e@ m?YeBɷeߡ:eΥ: eD4 ?; Xz:) )H<"Hw:I L!  ~HC'AYt.L@t.+>[@yt.a=t.xBgEiN=IN;C)~GʝN=˝EQ>YˡyˡEˡͭ9>  ]47?<ɯ@ i@鯵NB<ɱ<鱵L4Q W9 Q  tI)Q  DIɴt:: Q4W9!%j@!$%nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h!5z@1 U4 ? <) F@ ]?Y ,Bɷ 4< < [M4a e ?a$utDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min!@?$fDefineArg lineCaptureHoming.Repeat = 1.000000 count; Xz:)!@$`DefineArg lineCaptureHoming.DockLat = nan arcdeg!@ )H<"Hw:$-`DefineArg lineCaptureHoming.DockLon = nan arcdeg!E@Ay$bDefineArg lineCaptureHoming.StartLat = nan arcdeg!-@1$EbDefineArg lineCaptureHoming.StartLon = nan arcdeg!u@q$}pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m!@$jDefineArg lineCaptureHoming.cameraRange = 25.000000 m!@@$dDefineArg lineCaptureHoming.DockRange = 4.000000 m! A$jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool!A$EDefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min!M*AI$UjDefineArg lineCaptureHoming.DockTimeout = 60.000000 s=2SBD MTMSN=20190328T175904!:A@$ tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min!}JAy$jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m!ZA$xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min!jA>@$fDefineArg lineCaptureHoming.InitDepth = 30.000000 m!]zA] @$exDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min!mAi$xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count!A$ tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count!- A- DUSBL_Hydroid.loadAtStartup$5 DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup! A $ `DefineArg lineCaptureHoming.Speed = 1.000000 m/s! A $ lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m! A @$ hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m! A $ fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m! A @@$ jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km! B $ hDefineOutput lineCaptureHoming.HomingActive = 1 bool! B $= nDefineOutput lineCaptureHoming.cameraRequested = 0 bool!M "BI $U dDefineOutput lineCaptureHoming.DoingComms = 1 bool!] 2B $ pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool$ lInserting Stack: Missions/Insert/StandardEnvelopes.xmlO' \HC'AYt2NL@t2=[@yt2b=t2[>x>IiE)~ƄGEףEu=لECyE+Zd;O? rhYE(AIAiAAAɅExAAE Ej<=)EC}-<}L=}7Q}>YˁyˁEˁ͍|>  ]4?<ɯ@ i@鯕gB+<ɱ<鱕S4Q W9 Q tI)Q DIɴj:e: .EW9  4D? W<)@  ?YEBɷ::  V4 ?-; -Xz:)))) ))H<"Hw:a-JBm@$uDefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 ma}ZB}i@$DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 majB@@$DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 16Construct AltitudeEnvelope.1-0Construct DepthEnvelope. 2]6Construct OffshoreEnvelope.!q$\Inserting Stack: Missions/Insert/NeedComms.xml!C@$~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h! C@$DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min! C$DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg! D$DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s!5 D1 $= DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!E *DA $ ~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min! :D $ DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min 5E ,Construct GoToSurface.a! a% a) a- a1 a5 a9 a= aA aE aI aM aQ aU aY a] aa  =5 Construct.=M &Construct Buoyancy.. L6HC'AYt.L@t.@[@yt.a=t.wY!y!%E!-9-> 1 ]=45?55<ɯ53@ i=@5B5:ɱ5:5Z4Q MW9A AQ MtI)AQ MDIAɴEJ:E: EXUW9 ]4U? U<)U@ ]?YU]BɷU:U!: UD^4e[? e?myA; Xz:) )H<"Hw:@Construct.a A A5Construct. 1E 9MDConstruct. EConstruct.K-&Construct Waypoint.%y=%iE%mE MConstruct.&uP-"Construct SetNav.a(e5a(i=a(m= QConstruct Wait.SU&Construct Waypoint.TConstruct Wait.$%O Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Setting Heading: . Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =-fLoaded ./Missions/Engineering/lineCaptureHoming.xml V>5  HC'AYt.ՔL@t.AB[@yt.hb=t.pxBjE)~GO=لyZd;O:v?MbY AIiEAɅ酁鄅j< T=)X;<ԁ9Q>YyE39 >  ]54 ? <ɯ @ i=@ B ˹;ɱ ; `b4Q EW9A AQ EtI)AQ MDIAɴEF:E: EgW9 4M? 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U<)U? ]?YUBɷU:U\: Uj4a m4?i q)qIqiq Xz:;) )H<"Hw:h }JC'AYt.0L@t.b[@yt.?b=t.RxBmE:@F=B@F=iLIL)~G =;لyMb`MbpYAIiɅA )===9=E/^9QE>YIyIMEIU88>  ]42?<ɯ? i@鯽5B:ɱ:鱽aܶ4Q -X9 Q -tI)Q -DIɴ :=J:= X9 =45? 5<)5X? E?Y5Bɷ5˵:5S: 5*4I M?Q Y)YIYiY Xz:;) )H<"Hw:ap> a>d mWJC'AYt6\L@t6b[@yt6b=t6PxBGkE)~G%n5%^=-19Q->Y)y15E1=7=> I ]4MB?M<ɯMl? i@IM'<ɱMn"ù>xBrdEiHIL)=0GʽѼA=˽Q>YyE9>  ]4V?<ɯ7? i@6B<ɱ<4Q %X9! !Q %tI)!Q -DI!ɴ%:%N: %ٮX9 u4-? -<)-? u?Y-Bɷ-<-$< -)4 ? )Ii Xz:;) )H<"H=w:ߑY JC'Axnָ>xnNcE@p"@p)G`e<لyY9y9=E9EE> A ]M4E?E<ɯE ? i@E<BE<ɱExrGkEiI)}Gʝ=P=ˡQ>YˡyˡE˩ͩ>  ]4 ?<ɯ? i@鯵BB:ɱg:鱵4Q X9 Q tI)Q DIɴ:c: gX9 4s? 6<)? ?YBɷ:~: W 4 ? )Ii Xz:m;iqq)q q)yyH<"Hw:ߑL KC'AYt.WL@t.h[@yt.pXb=t.>xBkE){GMD;M#لMyM{Gzt?YiyimEiu9u>  ]4?<ɯ? i@鯅FB@:ɱ:鱅4Q X9鲑 Q tI)Q DIɴZ<鴕M< $X9 43? "<)? ?Y$Bɷ7:: )4 x? )Ii Xz:;) )iqHu<"H}w:v -KC'Axng>xnmE:@r=B@pi|I|)Ya a}<}I=}Q>YˁyˁEˁ͍>  ]4? a4<ɯ? i@鯕JB ;ɱ" ;鱕4Q X9鲩 Q tI)Q DIɴh:鴭9: IX9 4鵵? <)? ?Y(Bɷ:鷵 : 14 ? )Ii %Xz:%;!!!)! !)))Hu<"Huw:߉V> V> l|GKC'AYt.L@t.j[@yt.|b=t.xπ?@U(n?@?)u.L@ u.v;Iu.CxB>xFkE) ƄG==N=E9QE>YAyAMEIM[9M> Q ]]4Uc?U<ɯU? i]@UNBU:ɱU:U 4Q mY9aQ mY9 aQ mtI)aQ mDIaɴe:eM: eY9 4u? u<)u? ?Yu,Bɷu xNgEiXI\)G}}D;لyy}Mb`~jth?Y} AIyiy}xAyɅyy} }D;)yʝND=˥LRQ>Yˡy˩E˩͵R:>  ]4|?<ɯ? i@鯽PB:ɱ:鱽J4Q Y9 Q tI)Q DIɴ<< Y9 %4? <)? %?Y-Bɷ:: iC4Q Ue?Q Y)YIYiY mXz:m;  )  )H<"Hw:Q}Received command:sched asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report t HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4b38t 1 2 n4{KC'AYtF\L@tFr[@ytFib=tFxRNcE@T"@T)E{GII}.q}M=}Q>YˁyˁEˁ͍9>  ]4?<ɯ? i@鯕QB9;ɱܵ;鱕@4Q Y9 Q tI)Q DIɴ:: %Y9 4? <)? ?Y/Bɷ";; K4 %?  )Ii =Xz:E;AAA)A A)IIH<"Hw:ߡ  KC'AYtBL@tBs[@ytB~b=tBR?@?)uBL@ uBv;IuBCx^O>xbgEiI)y94<لyy&1|Y!y)-E)-..95> Q ]]4U?U<ɯU? ie@UVBU:ɱU:U"4Q mY9a aQ mtI)aQ mDIaɴe:eo: ef7Y9 4鵕=? <)? ?Y4Bɷ&:鷕H: +U4 G? )Ii Xz:;) )H<"Hw:)Z4 KC'AYt.L@t.It[@yt.aa=t.ux>pfE)t\=ùQ>YyE%o8%> ) ]4-4?-<ɯ-? i@-[B-<ɱ-<-))4Q Y9鲩 Q tI)Q DIɴ|:鴭: vGY9 4? -<)r? ?Y8Bɷ$:ϝ: e]4  ?  )Ii %Xz:%;!II)I I)QQH]<"H]w:i ?KC'AYt.L@t.@v[@yt.'a=t.xB$jE:@F=B@DiLIL)|< =jn<J=% IQ%>Y!y!-E)-9-> 1 ]=45?5<ɯ5? iE@5_B5:ɱ5:5904Q MY9A AQ MtI)AQ MDIAɴE:EZ: EWY9 ]4U? U><)U`? e?YU=BɷUU:U: Ue4i m§?i q)qIqiq Xz:;) )H<"H=w:Y Y>@ KC'AYt.L@t._x[@yt. b=t.xBgE)~0GeeDلeyeMbP?Mb`MbpYezAIaiae@aɅaae: e)eʝBC=˥9Q>YˡyˡEˡͭ9>  ]4z?<ɯc? i@鯵`B;ɱ;鱵74Q Y9 Q tI)Q DIɴ[:N: iY9 4? 9<)'? ?Y>Bɷ<< n4 e? )Ii Xz:;) )!!H-<"Hw:k {KC'AYt.L@t.C|[@yt.db=t.D~xBcEiLIL)~G(eS=%]9Q%>Y!y!-E)-q :-> 1 ]]45p?5<ɯ5/? ie@5aB5;ɱ5;5W>4Q mY9a aQ mtI)aQ mDIaɴe}:e,: ezY9 4u? u5<)u? ?Yu?Bɷu;u; u;w4 ? )Ii Xz:;) )H<"Hw:xS VLC'AYt.L@t.[@yt.2b=t.:xBkE@FA"@D)~G||]D]ل]YˡyˡEˡͭK9>  ]4_?<ɯ? i@鯵oBo;ɱk;鱵E4Q Y9 Q tI)Q DIɴt:$: ͋Y9 4? <)G? ?YMBɷ(;R; J4! %x?! )))I)i1 =Xz:E;AAA)A A)IIHU<"Huw:߁Q}  00LC'AYt.L@t.`[@yt.b=t.xBiEiLIL)~ƄGS=%[Q%>Y!y)-E)-,8-> 1 ]=45d?5x<ɯ5? iE@5|B5}:ɱ5:5vL4Q MY9A AQ MtI)AQ UDIAɴE̒:E|: EY9 ]4U? U<)U? e?YUYBɷU:UD: U4i mߧ?i q)qIqiq Xz:;) )H<"Hw:= ngot command set lineCaptureHoming.Repeat 3.000000 count@% @=% tgot command set lineCaptureHoming.DockRange 0.100000 meter@% ?=- got command set lineCaptureHoming.RolloutTimeout 1.000000 minute:A- N@=5 tgot command set lineCaptureHoming.InitDepth 0.000000 meterjA5 =- got command schedule asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report t HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4b38t 1 2.000000= PScheduling command #1 of 2 with id=4b38t= Scheduled #7 (#1 of 2 with id='4b38t'): "report t acoustic_contact_range;report m SpeedControl.speedCmd;report t HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" ASAPxBlE)ׄG\<J=%KQ%>Y!y!%E!-^9-> 1 ]=45]?5W<ɯ5"? i=@5B5`:ɱ5:5S4Q MY9A AQ MtI)AQ MDIAɴE:E: EY9 }4U? U<)U? }?YUgBɷU\;Uq; UK4 -? )Ii Xz:;) )H<"Hw:i= 2SBD MTMSN=20190328T175917 cLC'AYt.JL@t.[@yt.+b=t.xN%hE:@R=B@Ti!I!)4= =:لyMb`Y AIiAɅ ) Ր<=5Q5>Y9y9=E9EcE> A ]M4EX?ER<ɯE!? iu@EBE»;ɱEϺ;E2[4Q }Y9y yQ tI)yQ DIyɴ}:}*: }Y9 4鵍? <)? ?YhBɷ;鷍ݱ; ܚ4 )? )Ii Xz:;) )iqHu<"H}w:  }LC'AYt.FL@t.[@yt.1ub=t.xBiE)~G]_i;]W=eF@9Qe>YayaeEim9m> q ]4uT?uM<ɯq i@uBu;ɱuZ;ua4Q Y9鲡 Q tI)Q DIɴ:鴥N: Y9 4鵵? <) ?YiBɷȰ;鷵; 4 ? )Ii Xz:;!!!)! !)))H5<"H5w:aѡ% kLC'AYt.jL@t.և[@yt.R b=t.2xBlEiNg=INAC)~{G==ل=YayaeEim s:m> q ]54uM?u,<ɯur? i=@uBu<ɱuT>xBnE@BA"@@)z0G||?;= Q>YyE7>  ]4?<ɯ? i@鯍B :ɱϸ:鱍s4Q Y9鲙 Q tI)Q DIɴ%:鴝o: :Y9 4? r<)? ?YBɷY:;: 4 Ʀ?  ) I i u Xz:u ;q q q )q y )y y H <"H w: 2 QLC'AYt.L@t.[@yt.U*b=t.xV$jEilIl)Gi@C)t I !))ɍ)11ɎzAiIIizA D) C{AɏIII)QiQ)QIQQɐQ YɑY]AYiYYm qu =u 8Qu >Yy yy  E ] z8] > a  ]m 4e Y?e <ɯe [? im @e Be :ɱe k:e 7}4Q  Z9q Q  Z9 q Q  tI)q Q  DIq ɴu "[C?B:??)umL@ uv;IuCx=>x=dE:@M=B@I)UG]< ]=لף;yy&1?~jt{Gzt?YAIiAɅA`e< D)ף;ɠii) I )ɡɢ{Ai`IIaiezA aa)aa efzAiiɣiiiIi)iiq)qIqqɤq qk=7Q?YyE@9'?  ]]4?<ɯ}? ie@B_<ɱe_<܁4Q mZ9a aQ mtI)aQ uDIaɴe:eE: eAZ9 4uF? u9<)uB? ?YuBɷur]xBhEiN=IN;C)G<=9Q!?YyE o !?  ]4?<ɯ? i@B:ɱ:4Q %Z9! !Q -tI)!Q -DI!ɴ%:%: %`(Z9 U45? 5,<)5d? ]?Y5Bɷ5W;5J; 5uи4a e ?a i)iIiii }Xz:};y) )H<"Hw:  G bMC'AYt.L@t.i[@yt.)b=t.h|>xBeE)z{G=9ل=;y=Q?~jt~jtx?Y9I9i999Ʌ99=u< 9)=;7J=Q>Yy  E  }9 > Q ]]4U?U<ɯU? ie@UBUQ:ɱU:U捷4Q mZ9a aQ mtI)aQ mDIaɴe̒:e< e9Z9 4鵵@? <)? ?YBɷ:鷵v: ٸ4 ? )Ii Xz:;) )H<"Hw: @3M ]7MC'AYt.fL@t.Ҋ[@yt.x^dE@bA"@d@d"@fAing=IrAC)9AA]]U=eXF8Qe>YayaeEamm> q ]4u]?u<ɯu? i@uBu;ɱu;ut4Q Z9鲡 Q tI)Q DIɴ:鴥,: IZ9 4鵵? <)? ?YBɷ<<鷵< 4 ۨ? )Ii Xz:;) )H<"Hw:!T z7QMC'AYt.L@t. [@yt.b=t.>xB.^E)x=;=ףل=`;y=:v?Qy&1|?Y=AI9i9=xA9Ʌ99=T< =u)=`;UJӼK=˝o9Q>YˡyˡEˡͥ=9>  ]4?l<ɯn? i@鯭BT$<ɱ#<鱭4Q Z9 Q  tI)Q  DIɴ:$: E[Z9 4? <)2? ?YBɷ6<E< 4 0? ) I i  Xz:;) )!!H-<"Hw:ߡEEZ kMC'AYt.L@t.f[@yt.?b=t.،>xBfEiLIL)zƄG =N=%Q%>Y!y!-E)-l8-> 1 ]=456?5P<ɯ5? iE@5B54:ɱ5:5n4Q MZ9A AQ MtI)AQ UDIAɴAA EIkZ9 ]4U? U<)U|? ]?YUBɷU:U: U4i ms?i q)qIqiq Xz:;) )H<"Hw:),a MC'AYt.L@t.][@yt.>,b=t.xngE:@r=B@v=)]Ge= e=}U;}D=˅NQ>YˁyˁEˁ͍>  ]4?2<ɯ ? i@鯕Bw<ɱU<鱕4Q Z9 Q tI)Q DIɴ:9: %}Z9 =4? <)? =?YBɷ"!<!< 4A MG?I Q)QIi Xz:;) )H<"Hw:Wg ɞMC'AYt.4L@t.[@yt.b=t.;>xBmjEiN=IN;C)={GףلDYyEȭ9> 1 ]=45G?5 <ɯ5? i=@5B5:ɱ5Ǻ:54Q MZ9A AQ MtI)AQ MDIAɴE:E: EZ9 4鵕? 4 <)T? ?YBɷt:鷕: 4 ? )Ii Xz:;) )  HU<"HUw:aR> V>cm UMC'AYt.L@t.[@yt.+b=t.۾>xBjE)x]:]S=]_8Qe>YayaeEam̈m> q ]4u?u<ɯu? i@uBu<ɱuQx^eE@bA"@fAilIl),لTY˙y˙E˙͝"I9>  ]4?<ɯ? i@鯥(B{<ɱ<鱥4Q Z9 Q tI)Q DIɴ:: Z9 m4? <)9@ u?YBɷ`<`< x4y }?y )Ii Xz:;) )!H%<"H-w:9z  ZMC'AYt.L@t.[@yt.,Kb=t.ù>xBrdE)~0G|=%9Q% ?Y!y!-E)-]- ? 1 ]=45?5w<ɯ5@ iE@56B5:ɱ5d:5ŷ4Q MZ9A AQ MtI)AQ MDIAɴAE: EdZ9 ]4U? U<)Uo@ e?YUBɷU :U: UJ4i m?i q)qIqiq Xz:;) )H<"Hw:aa?{ 6NC'AYt.GL@t.[@yt.4b=t.]O>xBgEF8Not Powering down - fast GPSD F)FIDiDi~F~F~J~J~J J)JIJiJJJJiRg=IVAC)jGI<J=%dQ%>Y!y!-E)- -> 1 ]=45b>xBpfE:@B=B@B=)z{G| |9=tل=#YˡyˡEˡͭ.9>  ]4? <ɯ@ i@鯵XB<ɱj<鱵 Է4Q Z9 Q  tI)Q  DIɴh:9: rZ9 U4m? <)@ ]?Y6Bɷ=<V< =04a e?a i)iIiii }Xz:;) )Hm<"Huw:߁~΍ 9NC'AYt.L@t.[@yt. b=t.xB%hEiN=IR;C)9}F;}L=˅58Q>YˁyˁEˉ͍)>  ]4?<ɯ@ i@鯕gB_<ɱ_<鱕۷4Q  Z9 Q  tI)Q  DIɴ:: xZ9 u4W? W<)"@ }?YEBɷ"\<\< 84? Р?A )Ii Xz:;) )H<"Hw:ߡeV> eY>ʸ SNC'AYt.LL@t.[@yt.Jb=t.,>x>mE)x=D=C ل9y=:v?I +{Gz?Y9I9i999Ʌ99=< =9)9U\<UM=˕9Q>Y˙y˙E˙ͥ油>  ]4?<ɯ@ i@鯭uBn<ɱ<鱭;4Q [9Q [9 Q tI)Q DIɴ:{: w[9  4 C? 2<) W@ U?Y SBɷ < 0< A4Y ]?Y a)aIaia Xz:;) )H<"Hw: mNC'AYt6 L@t6t[@yt6Yb=t6iY>xBIiE@@"@@iLIL)~ƄGN=%8Q%>Y!y!%E)-\,-> 1 ]=45?5<ɯ5(@ i=@5B5::ɱ5:54Q M[9A AQ MtI)AQ MDIAɴE:E: E[9 ]4U?? U<)U@ ]?YUaBɷU:U: UI4m? m+?mA q)qIqiq Xz:;) )H<"Hw:)ɡ |NC'AYt.L@t.[@yt.|b=t.>xBdE)zG]ᏼ]F=e8Qe>YayaeEimXm> q ]4u?um<ɯu^@ i@uBu<ɱuO>xBgEiLIL)z{G=='ل=TYYyYeEaeue> i ]4ma?m><ɯm@ i@mBmo<ɱm@?@]/ҿ@ @m?P?V?`?)u.rL@ u.v;Iu.Cx>>xBgE:@B=B@@)zƄG~< ~=ˢ:`=%)9Q%>Y!y!-E)-9-> 1 ]=450?5<ɯ5@ iE@5B5.:ɱ5:544Q M[9A AQ MtI)AQ MDIAɴES:E$: EH[9 ]4U? U<)UI@ e?YUBɷU:Ur: Ud4i mu?i q)qIqiq ]Xz:];Yaa)a a)iiHm<"Hw:   NC'AYt.L@t.I[@yt.'Ub=t. xBlEiNg=IL)~BGEEلEYayamEimm> q ]4u(? a4u<ɯu@ i@uBu;ɱus;ug4Q [9鲡 Q tI)Q DIɴ:鴥N: Z[9 4鵵~? j<)s@ ?YBɷ;鷵: l4 j? )Ii Xz:;) )H<"Hw:a eV>mReceived command:sched asap "maintain sensor Depth_Keller.depth 0 m" 4b38t 2 2/ NC'AYt.wL@t.[@yt.ca=t..xBsbE)zjG-N=%ԶQ%>Y!y!-E)-<8-> 1 ]]45+?5<ɯ59@ ie@5B5M;ɱ5;5S 4Q m[9a aQ mtI)aQ mDIaɴe:e,: ej[9 4u? uD<)u@ ?YuBɷuı;u; uu4 ? )Ii Xz:;) )H<"Hw:)f OC'AYt.L@t.[@yt.Pb=t.@tD? ?)u.L@ u.v;Iu.CxB>xBaE@D"@DiLIP)~{GJ=%@9Q%>Y!y!-E)--> 1 ]=45(?5<ɯ5b@ iE@5B5]:ɱ5:5b4Q M[9A AQ MtI)AQ UDIAɴAEN: E{[9 }4U? U<)U@ ?YUBɷUF;U: U)~4 ? )Ii Xz:;) )H<"Hw:iA I"OC'AYt. 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U <)U=@ e?YUBɷU:Uʽ: U̹4i m:?i q)qIqiq Xz:;) )H<"Hw: P PC'AYt.L@t.p[@yt.(b=t.,xBmjEiNg=IP)ƄGa eV>-;-=5Q5>Y1y15E9=r=> A ]M4E?E<ɯE@ iU@E"BE:ɱE:E\4Q ]\9Q QQ }tI)QQ }DIQɴU;U; U,\9 4鵅O?  <)E@ ?YBɷb:鷅: ع4 ? )Ii Xz:;) )H<"Hw:9 /%PC'AYt6پL@t6Dl[@yt6$a=t6͒xB"lE)~G==t<ل=ty=~jtxy&1|?x^kE@`"@din=In;C)=ƄGEAAʍ_=˕9Q>YˑyˑE˙͝ ߹>  ]4?!<ɯv@ i @*B:ɱ:j4Q \9 Q tI)Q DIɴ:ף: N\9 %4?  <)@ -?YBɷ:: !41 5?1 9)9I9i9 MXz:M;III)I Q)QQH<"Hw: ?XPC'AYt.λL@t.9i[@yt.b=t.0xBjE)5G:;لy~jthMb`?Y(AIi@Ʌ酹鄽D ;)ɠ99=Di99iAE{A)A AIA A)E;{AɡIIIIɢM{AiMIIIIQiUzA QQ)YY YYYɣYaaIa)aia)iIimɤi iʕR=˝k8Q?Y˙y˙Eˡͥs9?  ]4?#<ɯw@ i@鯭+B;ɱ;鱭o4Q \9 Q tI)Q DIɴ1:: [\9 4?  < tI)@ ?YBɷ;; 4! %?! )))I)i) ]Xz:];YYY)Y a)aiHm<"Hw:߹aa xBrdEiNg=INAC)~XGʝ ۼ\=˝BQ>YˡyˡEˡͭW>  ]4?&<ɯx@ i@鯵-BH:ɱ׾:鱵~v4Q \9 Q tI)Q DIɴ:Ü: j\9  4?  <)@  ?Y Bɷ:: 4 '? !)!I!i! -Xz:5;111)9 9)9AHE<"HEw:Y# sPC'AYt>)L@t>h[@yt>*"b=t>H?`觮`ҿw m?`@@,? ?)u>)L@ u>v;Iu>CxN>xR"lE:@V=B@V=)=0GM4= QU<U?=]ʸQ]>YYyYeEaeK8e> i ]4m?m)<ɯmz@ i@m.Bm=;ɱmǶ;m}4Q \9鲙 Q tI)Q DIɴh:鴝Ԙ: |\9 4鵭/? 4  <)@ ?Y Bɷ;鷭g; 4 ? )Ii Xz:;) )!!H-<"HMw:q*+) tPC'AYt.ѷL@t.xBGkEiLIP)~jGeDeلeDyeMbp?~jthYeQAIaiae@aɅaae; e)eDʕWF=˝ 9Q>Y˙y˙Eˡͥ>  ]4?,<ɯd@ i@鯭0B#;ɱ;鱭+4Q \9 Q tI)Q DIɴ:9: .\9 4?  <)@ -?Y BɷL< M<  4Q Uà?Y a)aIaia Xz:;) )H<"Hw:߹e{> eY>0 XSPC'AYt.L@t.jc[@yt.a=t.%xBhE)z{GE;f=%ʹQ%>Y!y!-E)--> 1 ]]45?5/<ɯ5Q@ i]@51B5;ɱ5;5d4Q m\9a aQ mtI)aQ mDIaɴe:e: e.\9 4u? u <)u@ ?YuBɷu;uٲ; ug4 H? )Ii Xz:;) )H<"Hw:)l?6 v4PC'AYt.ײL@t.B`[@yt.a=t.'T>x>nE@BA"@@iN=IL)|AEE;لAyEMbp?~jthYAIAiAAAɅAAE E;)A]<]F=]ч4Qe>YayaeEamm> q ]4u?u9<ɯu>@ i@u3Bu:ɱus:u4Q \9鲡 Q tI)Q DIɴ:鴥V: \9 4鵵?  <)@ ?YBɷx:鷵: L4 ? )Ii Xz:;!!!)! !)))HU<"HUw:a g< PC'AYt.?L@t.[[@yt.&;b=t.=hxBkE)|=K=M=E9QE>YAyAMEIM7M> Q ]}4U?UD<ɯU+@ i@U5BUb;ɱU;U4Q \9鲁 Q tI)Q DIɴ:鴅|: c\9 4鵕 ?  <)@ ?YBɷ;鷕ݱ; #4 ? )Ii Xz:;) )  H<"Hw:IaaiQC  QC'AYtvrL@tvY[@ytvax]kEig=I;C)u0G94<لĻyy&1|YyEi> A ]M4E?E[<ɯE@ iM@E;BEϸ:ɱE:ET4Q ]\9Q QQ ]tI)QQ ]DIQɴU:Uc: UQ\9 4鵥q?  <)_@ ?YBɷ:鷥Y: .4 ? )Ii Xz: ; ) )He<"Hew:yzI b'QC'AYt.L@t.mU[@yt.a=t.xBcE:@B=B@F=)~G< = =%CYQ%?Y!y!-E)-c-? 1 ]=45Q?5h<ɯ5@ iE@5>B5L:ɱ5:54Q M\9A AQ MtI)AQ MDIAɴE:E : E\9 ]4U? U <)UE@ ]?YUBɷU:U: U.54i mD?i q)qIqiq Xz:;) )H<"Hw:= got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterC= got command run =%Running `P AQC'AYt.vL@t.U[@yt.a=t.`xB nEiN=IP)EG]!=]F=eQe>YayamEimƌ8m> q ]4u?u{<ɯu@ i@uCBu;ɱu^;uԮ4Q \9鲡 Q tI)Q DIɴՐ:鴥A: \9 4鵵?  <) @ ?Y BɷS;鷵W; '>4 /? )>Aggregate::uninitialize Default1 *DUninitialize GoToSurfaceComponent.q*NAggregate::uninitialize Default:CheckIn-8Uninitialize Wait Component.$BStarted mission lineCaptureHomingY1 0NAggregate::initialize lineCaptureHomingq0rAggregate::initialize lineCaptureHoming:StandardEnvelopes 1JInitialize AltitudeEnvelopeComponent.1DInitialize DepthEnvelopeComponent.1 2JInitialize OffshoreEnvelopeComponent.q<DInitializing TrackAcousticContact.% =%Initialize.%=%=tInitialize ReadDataComponent to sense platform_orientation1= >ExInitialize ReadDataComponent to sense height_above_sea_floorMEIUEU;q] aV u[QC'AYt.L@t.O[@yt.'a=t.rxBeE)zYyEd>  ]%4}?<ɯj@ i}@^BJ<ɱ <4Q ]9yQ ]9 yQ tI)yQ DIyɴ}:}e: }]9 4鵍? Z<)@ ?Y<Bɷ<鷍$< yG4 ?EE<Tracking...<2Tracking contact label: 2Ci@=; =999)9 9)AAHM<"Hw:ߙ-\ QuQC'AYt.ML@t.M[@yt.lUa=t.0xB1ZE@D"@DiNg=IRAC)~G:N=%Q%>Y!y!-E)--> 1 ]E45/?52<ɯ5@ iE@5vB5e;ɱ5z;5μ4Q M]9I IQ UtI)IQ UDIIɴMF:M9: M/]9 ]4]? ]<)]{@ e?Y]SBɷ]:]: ]WO4i mxziE)}jGuuʡ=لujyuS㥫V-?Zd;OYu(AIqiqqqɅquxAu/] um=)ujʵ~_=3=˵(7Q>Y˹y˹E˹$>  ]4?<ɯ@ i@B˷;ɱ;ĸ4Q ]9 Q tI)Q DIɴN: ']9 -48? ,<)@ 5?YyBɷ;Ȱ; ?Y49 = ?9EIEixBcEGBAAHDiPIP){G}h=%9Q%>Y!y!-E)--> 1 ]=45?5<ɯ5%@ iE@5B5:ɱ5:5ʸ4Q M]9A AQ MtI)AQ MDIAɴE:E: E66]9 ]4UA? U<)U@ e?YUBɷU:U/: U`4m? m?mCAEE<Tracking...<2Tracking contact label: 2D#GnAggregate::initialize lineCaptureHoming:StartingMission; 9) )H<"Hw:p "QC'AYt.CL@t.C[@yt.Ob=t.OxBbE:@F=B@F=)| =J=%$8Q%>Y!y!-E)-P -> 1 ]=45D?5<ɯ5U? i=@5B5*:ɱ5:5Ѹ4Q M]9A AQ MtI)AQ MDIAɴE:EZ: E;G]9 ]4U? U<)U @ ]?YUBɷU:Uϸ: Uxi4e[? mC?myAEqEq<Tracking...<2Tracking contact label: 21 :hAggregate::initialize lineCaptureHoming:SurfaceCommsqDq ;lAggregate::initialize lineCaptureHoming:SurfaceComms:B; 9) )H%<"H%w:Qv QC'AYt.eL@t.B[@yt.a=t.OxBrEiLIL)~0GAE=لE9yEv/Zd;?I +YAIAiAAAɅAAExi Ey=)E9ʅo=D=˕(ŸQ>YyE>  ]4?<ɯc? i@B;ɱ;sٸ4Q ]9 Q %tI)Q %DIɴ>:: fY]9 -4-D? -v<)-#? U?Y-Bɷ-N;-; -r4Y ]#?YEaEi e]>?} tQC'AYt.)L@t.>[@yt.b=t.Ex^gE Hbp=H`)MjGʕ:=˝Q8Q>Y˙y˙Eˡͥ>  ]4?u<ɯp? i@鯭$B#<ɱ:鱭4Q ]9 Q tI)Q DIɴ:|: k]9 4 ? <) -? ?Y Bɷ : : |4! %G?!E)Em;m??)uBȌL@ uB"v;IuBCxN>xNjE@P"@Pi`I`)u{GyףT=ل`eyL7A`堿{Gz?y&1YIiɅ+ #=)`eh<V=MɗQM>YQyQUEQ]d1]> Y ]e4]?]<ɯ]? i@]:B]"<ɱ]7"<]4Q ]9鲱 Q tI)Q DIɴ:鴵<: M|]9 4b? A<)? M?YBɷ<< 4Q U?QEYE];>xBklE)%0G=>;EV=EÙQE>YAyIMEIMJU> Q ]4UV?U <ɯUX? i@UMBU8<ɱU!xrbEG|H|iI;C)}G@=Q>YyE>  ]%4?a<ɯ? i%@dB,:ɱ:4Q 5]9) )Q UtI))Q UDI)ɴ-;-; -]9 e4]M? ]<)]z? e?Y]BBɷ]:]': ]ƕ4i mC?iEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:K( 2^RC'AYt.L@t.M4[@yt.sb=t.xBkE:@F=B@F= ~Fix Requested)mXGq u=t/<ل#y~jt:v?{GzY AIixAɅEA酱鄵D <)#4=L=~9Q>YˑyˑEˑ͝9>  ]4?<ɯC? i@鯥qBw;ɱ<;鱥)4Q ]9 Q tI)Q DIɴ:: ]9 4? <)? ?YNBɷ;Z; ޞ4 x?E!E%;<%Tracking...<%2Tracking contact label: 2D)D)DqDu Xz:;) )H<"Hw:ZR  wRC'AYt.dL@t..[@yt.5a=t.M|۾>xBjEFA@FA bParsing RMC sentence: $GPRMC,175943.00,A,3648.18673,N,12147.26987,W,2.119,158.11,280319,,,A*76 bbB'Ab/$?ـbw9b0m%afB@ikr^jhGPS fix at 20190328T175943: (36.803112, -121.787831)Ib?ibN0@ipIrAC)EƄG]Gd]R=eQe>YayaeEampm> q ];4u/$? a;4uw9 etIɯu i?! i uu!<ɱuv!g;4Q ;4/$?Q ;4 w9Q tI)Q ?Iɴ:!: >g;4 ;4/$? ;4 w9 tI) ?Iɷ:: >g;4(@ <@g?BEE;<Tracking...<2Tracking contact label: 2DDDD mXz:u;qqq)q q)yyH<"Hw:eR> eV>>: ARC'AYt.jL@t..[@yt.wa=t.xFkE HNa=HL)mׄG94<لyy&1|YyEr6>  ] ;4!   $?!   9ɯ i ?!    ;:ɱ:v;4Q =4a = 1Q =4a = 1Q =tI)1Q =?a = I1ɴ5:5Գ: 5+4 M;4 ]M E$? aM E9)Eh M? iM IEn;ɷE:E; EHy;4y }@EE;<Tracking...<2Tracking contact label: 2*a code=0906 owner=006E element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 7zInitialize ReadDataComponent to sense platform_communicationsDDDD Xz:;) )H<"Hw:߱_* jRC'AYtEuL@tE8#[@ytEb=tExUpfE@"@*@4=2@4=iI;C)GqqL<ir9Q>YyE >  ]U;4! U %?! U 9ɯ ɺ i]?! ] P< n<ɱ D< ;4Q e4aQ e4 aQ etI)aQ m@Iaɴe:e: e 4 U;4 ]U m%? aU m9)mɺ U? iU ImP<ɷm:m{: m;4]%@ e5@aEiE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:߉) )   RC'AYt:sL@t: ![@yt:hJb=t:0Px~)dEi~~~ ~~ )Ii ){GE;EلED;yEMbp~jth?YAIAiAAAɅAAE E)ED;5;=9==o8Q=>YAyAEEAMM> Q ]];4! ] U%?! ] U9ɯU= i]?! ] UnxzpfEGz@AHxiyIy=^got command report touch acoustic_contact_range)41<t=*Q?Y!y!%E!-yV-? )*a code=0907 owner=004A element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 ==Xgot command report mod SpeedControl.speedCmd*a code=0908 owner=004A element=05ED universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 =Ejgot command report touch HorizontalControl.headingCmd*a code=0909 owner=004A element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=04 =Mgot command maintain control VerticalControl.massPositionAction 2.500000 centimeter ]U;4-$?-9ɯ-9: i]?-6<-w;ɱ-4;-;4Q e4aQ e4 aQ mtI)aQ m8@IaɴeԘ:e: eW4=got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter ;4u$? u9)u6: ?Iu <ɷu(|>xBgpE:@F=B@F=)zƄG~R= ~%=m)=mV=mvQu>YqyquEy}O}>  ];4$?9ɯ: i?<:ɱ:鱅q;4Q  5Q  5 Q tI)Q P@IɴU:: y 5 ;4$? 9): ?I<ɷ0:: ;4EĢ? 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M~9)M> m?YMCK@ɷM;M; MgM4i? i?AEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:1h qC'AYt.M@t.ga\@yt.a=t.xxBKgE@D"@D)Ji I )0GAD;C<لyQ{Gz?y&1|?YzAIiɅxAu )VH%HtQ%>Y)y)-E)585> 9 ]EL4= ?=9ɯ=(> iE?=3L@=0:ɱ=W:=z_L4Q M7I IQ UtI)IQ UBIIɴMl:MI: MO7 eM4]K? ]9)]> e?Y]K@ɷ]:]: ]yM4i iiEyE};<}Tracking...<}2Tracking contact label: 2DDDD Xz:;) )H<"Hw: ?A Jn qC'AYt.ܴM@t.Lb\@yt.a=t. xRiEVA@T)GVHu}8Q}>YˁyˁEˁ͍8>  ]L4?9ɯF> i?鯍L@:ɱl:鱍jqL4Q 7鲡Q 7 Q tI)Q BIɴԘ:鴥: [Z7 M4鵭? 9)> ?YKL@ɷԘ:鷭^: %M4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:u |aqC'AYt.9M@t.c\@yt.db=t.xB+bEG@HDiR=IR;C)GE i?7M@я<ɱ<[{L4Q }7y yQ }tI)yQ BIyɴ}:}: }7 M4鵅? 9)*> ?YL@ɷK;鷅; M4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) ) 1H5<"H5w:I~{ =qC'AYt.M@t.b\@yt./b=t.xBEmE:@F=B@D)~G %=VHQ>YyE z߸ >  ]L4'?9ɯ> i?M@:ɱ:L4Q -7!Q -7 !Q -tI)!Q -BI!ɴ%x:%': %ED7 M4鵵q? 9)'> ?YcM@ɷ:鷵Y: ȭM4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:-;111)1 1)99HE<"HEw:q=rgot command set NAL9602.time_fix 1553796480.000000 second`C'A a> 9 U rC'AYt.oM@t.`\@yt.a=t.b*xR'fE*@VC=2@Ti`I`)m{GVHG+Q>YyE>  ]L4?9ɯ> i?N@:ɱ|:ԘL4Q 7  Q tI) Q BI ɴ ȗ: : ֧7 %M4G? 9)-> %?YN@ɷC:: οM41 11E9E=;<=Tracking...xBnhE HBp=HD)|ED;E<لAyE{GzMb?Mb?YEQAIAiAAAɅAEAEף E<)AVH]]vQe>YayaeEam7m> q ]}L4u?u9ɯuv> i}?uO@u4:ɱuE:u.L4Q 7鲁Q 7 Q tI)Q BIɴ:鴅: M7 M4鵕? 9)> ?YN@ɷ@:鷕: M4 EE;<Tracking...<2Tracking contact label: 2;TCompleted lineCaptureHoming:SurfaceComms:B ;pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B; 9) )H<"Hw:6 ?rC'AYt.M@t. _\@yt.a=t.xVcE@^A"@\ihIh))5A1VHEMHU9QM>YIyIMEQUU> Y ]eL4]?]9ɯ]i> im?]O@]:ɱ]p:]6L4Q u7i iQ utI)iQ uCIiɴm5:mw: mԨ7 M4}? }9)}> ?Y}?O@ɷ}$:}: }`M4 EE<Tracking...<2Tracking contact label: 2D1; 9) )H<"Hw: I zYrC'AYt.EM@t.^\@yt.b=t.z;xRgEVA@T)]ƄG`;<لyS㥛 rh?Mb?YzAIiɅ酥xA鄥/ݼ C<)VH[9Q>YyEEH>  ]L4?9ɯ> i?P@2:ɱ:L4Q 7Q 7 Q tI)Q CIɴx:': Tb7 M4? 9)> ?YP@ɷY:{: zM4   EE<Tracking...<2Tracking contact label: 2D1%:%PCompleted lineCaptureHoming:SurfaceComms1% :%lAggregate::uninitialize lineCaptureHoming:SurfaceComms5; 5999)9 9)9AHE<"HMw:Y^H osrC'AYt.M@t.^\@yt.Ga=t.m<xRjEGPHRAAibg=IbAC)%GVH55Q5>Y˙y˙Eˡͥ÷>  ]L4?29ɯ> i?鯭^Q@:ɱ:鱭L4Q 7鲹 Q tI)Q CIɴ%:鴽: 7 N4? N4 9)> ?YP@ɷ׾:?: N4 GVCompleted lineCaptureHoming:StartingMission#GrAggregate::uninitialize lineCaptureHoming:StartingMission1$ HVAggregate::initialize lineCaptureHoming:Lapq$H`Aggregate::initialize lineCaptureHoming:Lap:Dive$ IdAggregate::initialize lineCaptureHoming:Lap:Dive:A$IvAggregate::initialize lineCaptureHoming:Lap:PingTransponder1% JzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&q%EE<Tracking...<2Tracking contact label: 2%; -9)))) ))11H=<"H=w:I0 arC'AYt2+M@t2\\@yt2a=t2;xjfE:@xB@x){G ==;=<ل=#YYyaeEaewe> i ]uL4mn?mL9ɯm> i}?mR@m^:ɱmN:mL4Q 7yQ 7 yQ tI)yQ CIyɴ}ȗ:}w: }=y7 N4鵍? 29)A? ?YQ@ɷ:鷍: +N4 1& L|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidanceq&&Fq%% KzAggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance%K:Initialize WaypointComponent.$q$"EfAggregate::initialize lineCaptureHoming:RequestPing1#q###Fq#F1#*a code=090C owner=008C element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 FxInitialize ReadDataComponent to sense acoustic_contact_range*a code=090D owner=008C element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 FInitialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame ?^Aggregate::initialize lineCaptureHoming:DiveCmd?vAggregate::initialize lineCaptureHoming:DiveCmd:InitialDive1  @Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:diveq @Initialize.  AInitialize.! CzAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DInitialize."EInitialize.! C~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DUninitialize." EUninitialize.RF"F q!q  F?EE<Tracking...<2Tracking contact label: 2i;%e<%% %9!%)! %I9))5SAH5<"H5w:Q%uDSpeedControl.speedCmd 1.000000 m/s=e$got command report%eZacoustic_contact_range reporting when touched%eNSpeedControl.speedCmd reporting changes%efHorizontalControl.headingCmd reporting when touched R> Y>Z ;rC'AYt.nM@t.\\@yt. -b=t.xBsbE {FF Y|FJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 *@d2@jC=iz=I|)}ƄGVHUw 9Q}>YyyˁEˁ͍#8>  ]L4;?f9ɯ>? i?鯝R@y;ɱ;鱝L4Q 7Q 7 Q tI)Q CIɴ%<&< 7 =N45? 5M9)5? =?Y5AR@ɷ5Ɵ:5e: 5(N4A IIFFFn?GL9FFbFq! F@hCompleted lineCaptureHoming:DiveCmd:InitialDive:dive1  @Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:diveq @Uninitialize.?^Completed lineCaptureHoming:DiveCmd:InitialDiveEE<Tracking...<2Tracking contact label: 25; 5915)1 5=_5Ex;EI'G9iE&4)m TImH9 mH9qH}<"Hw:B rC'AYt.wM@t.\\@yt.a=t.txBjE HBa=HFa=)T)eׄGVH˝mQ>YˡyˡEˡͭ6>  ]L4?}9ɯX? i?鯵OS@s:ɱ$:鱵.L4Q 7 Q tI)Q CIɴ}:: {7 N48? c9)? ?YR@ɷ:M: 7N4 FFFGFF! CzAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DInitialize."EInitialize.!! " F F G@q" zF 1" jFEE<Tracking...<2Tracking contact label: 2i--;15:85: 5955)1 =-9= 6=6;E99iEu1)E%IEF9 EF9IHM<"HMw:ai\l rC'AYt.M@t.]\@yt. a=t.=x6IiE@>A"@Y˱y˱E˱ͽ*9>  ]M4? aM49ɯS? i?S@8:ɱ:_M4Q 7Q 7 Q tI)Q CIɴ: : R 7 N4? q9)? ?YqS@ɷ؛:: IN4 FFF G F F FFzFjFEE<Tracking...<2Tracking contact label: 2i525;1=J9=Jٹ =9=9)9 =8«9E݄6ExJ+bEVA@T){GVH-5*Q5>Y9y9=E9=?9E> A ]MM4E?E9ɯED? iU?ET@Ee:ɱE:EM4Q ]7Y YQ ]tI)YQ eCIYɴ]:]o: ]7 mN4e? e9)e{? u?YeT@ɷek:e: eTZN4y yyFFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i_;f`:f` 9)  :L6:<5:i()NźI: :H<"Hw:<<™]IAa wsC'AYt M@tyb\@yt`=tsx%nhEG!H-@AiAIA)0G<لף;y rh~jtx?{Gzt?YzAIiɅxAC ;)ף;VH޹Q>Y?y ? E F>9>  ]M4'?9ɯ? i%?U@:ɱа: %M4Q -7-?Q 57 -9Q 5tI)-pQ 5CI->ɴ-:-b: -7 =N4=i? =9)='? E?Y=T@ɷ=:=: =lN4I IIFYFYFYGYFaFaFiFm@zFijFiEiEqx6'fE)%GVH5=9Q=>YAyAEEEN?M;M> I ]UM4M?M9ɯM? i]?MmU@M:ɱM:M72M4Q e7eR? e9Q mtI)e5Q mCIe`N?ɴe:e: e7 uN4u? u9)u? }?YuT@ɷu:u: u.}N4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i/;; 92) 8E`:k77C<:i )a"I~: ~:H<"Hw:)Ii}Qa ]> V>Z t]BsC'AYt.kM@t.a\@yt.a=t.ɕxBgEiRg=IRAC)BGVHG9Q>YiyquEuϛ?u:}> y ]M4}S?}9ɯ})? i?}U@}N:ɱ}:}@M4Q 7鲕e?Q 7 9Q tI) Q CI?ɴR:鴕#: (7 N4鵥? 9)`? ?YiU@ɷN:鷥R: N4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i:p;BS;BS 9߶) l:Na7pG<:i{)EI#: #: H <"Hw:)AIA+ 9\sC'AYt.M@t.a\@yt.a=t.xBnhE HFR=HD)~jGE;E`e<لEYayaeEeZ?m^m> q ]M4u?u9ɯu? i?u;V@u<ɱux6KgEiDID)v{GVH~](9Q>Y y  E @ >  ]M4'?9ɯ? i%?V@:ɱ:Q\M4Q -7-?Q 57 -,9Q 5tI)-Q 5CI-@ɴ-į:-: -47 =N4=i? =9)=*? E?Y=V@ɷ=:=: =(N4I IIFYFYFYGaFaFaFiFizFijFiEiEixndE)Qף;;ل`;yy&1|y&1|?YzAIiɅ酕xA鄕` )`;VH˵Q>Y˹y˹E˽#@g>>  ]M4a?9ɯ? i?V@s:ɱ:CkM4Q 72`? 9Q tI)w Q CI@ɴ:: ,į7 N4? 9)? ?YBV@ɷk:U: N4 F F FGFFFF@zFjFEE!<%Tracking...<%2Tracking contact label: 2i2;; 9!) :7p<W@:i) IF: F:H<"Hw:i==;¡ߩ ɩsC'AYt.M@t.UY\@yt.a=t.b}?o, A??)u.M@ u.v;Iu.CxNb>xRpfEGPHRAA {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I )VH:iQ>Y y  E 6@$D9> ! ]5M4%?%9ɯ%? i=?%V@%8;ɱ%(4;%yM4Q M7E>?Q U7 E9Q UtI)E Q ]CIE6@ɴE=;E;; EP7 mN4e? e9)e ? u?YeoV@ɷe;e#; eN4 FFFGF!F!F!F!zF)jF)E)EixRmE]V^unknown deviceResponse_: !U000,187,80,81,0B,FF )=) 0GVHU]g@9Q]>YYyaeEe"Q@eAae> i ]uM4m?m9ɯmQ ? i}?mW@m|:ɱm:m5M4Q 7}? }9Q tI)}(8Q CI}P@ɴ}:}: }W۰7 N4鵍? 9) ? ?YV@ɷ:鷍: WN4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2iO;#-<#- 9) ӊ:\7S<):i)I0: 0:H<"Hw:$k© R> Y>3  ǂsC'AYt:`M@t:V\@yt:Kb=t:O(?E ??)u:`M@ u:ոv;Iu:CxF>xJkEi =I ;C)mjG;tلYyEi@0>  ]M4?9ɯ ? i?WW@:ɱ9:M4Q 7?Q 7 9Q tI)MQ CIzi@ɴ$:n: ]7  N4? u9) ?  ?YV@ɷ:': N4 F)F)F)G)F)F1FAFE?zFAjFIEIEIxBgE HBa=H@)EƄGVH]eގQe>YayamEmf@mL9m>=(got command maintainUtVerticalControl.massPositionAction maintaining 2.500000 cmVpVerticalControl.buoyancyAction maintaining 945.000000 ccVRDepth_Keller.depth maintaining 0.000000 m q ]M4ud?u{9ɯuj ? i?uW@u<ɱuZ;uUM4Q 7? "9Q tI)dQ CI@ɴ:p: 7 O4 ? 5O4 _9)  ? 5?Y W@ɷ ; ݳ; | O49 AAFIFQFQGqFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2if;n<n 91t) U;]8;+˳9i+u)I69 69H<"Hw: z 7tC'AYt.-M@t.[\@yt.,b=t.xBeEiPIRAC)=Gy};ل}#YˡyˡE˥@ͭ9>  ]M4?w9ɯ} ? i?鯵W@:ɱk:鱵M4Q 76?Q 7 :9Q tI)N{Q CI\@ɴݱ:: k7 O4? \9)? ?Y6W@ɷ:@: O4 FFFGFFFFG@zFjF E E < Tracking...<2Tracking contact label: 2i% %;)-<- -9-Ri))) -D";5A{85;=+9i=$ڿ)9I=;9 =;9AHE<"HEw:…AQ E  +tC'AYt.M@t.SY\@yt.7a=t..)xBfE)~{GVH}˅Q>YˁyˁEˍa@͍>  ]M4?t9ɯ? i?鯕W@o:ɱ:鱕M4Q 7鲭 ? Y:Q tI)Q CI&@ɴީ:鴭l: 7 O4鵽? Y9)? ?YLW@ɷ:鷽: +O4m? m?FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2iݺ ;  <  9 6) $.;]a 8*;r9ihϿ)I9 9!H%<"H-w:)5I5i55, DtC'AYt.ȩM@t.8W\@yt.ۦa=t.Fx6nEG8H8iDIF;C)vƄGVHLQ>Y y  E ˧@>  ]%M4?p9ɯ? i%?W@:ɱ:EM4Q -7-~?Q 57 -_:Q 5tI)-⓾Q 5CI-@ɴ-:-˵: -|u7 EO4=? =U9)=? E?Y=bW@ɷ=:=ϝ: =xR_E)Geet<لaye{GztMb?{Gz?YaIaiaaaɅaaeף e<)aVH}˅8Q>YˉyˉEˍ<@͍>  ]M4?9ɯ? i?鯕X@ :ɱ:鱕M4Q 7鲭!]?Q 7 :Q tI)Q CI@ɴ|:鴭: )7 O4鵽1? g9)? ?YW@ɷ4:鷽w: NO4 FFFGFFFFzFjFEE<Tracking... V>΀ xtC'AYt.M@t.T\@yt.&a=t. xRgEi`I`)%0GVH5=#Q=>Y9yAEEE@EE> I ]UM4M*?M9ɯM? iU?MSX@M:ɱM:MM4Q e7]n=? ] :Q mtI)]ӪQ mCI]@ɴ]5:]: ]$7 uO4mi? mw9)m? }?YmW@ɷmD:m: m_O4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2iR ;<߼ 9h) R;Z!8(<:i*)IY : Y :H<"Hw:h$ N~tC'AYt.ǦM@t.7T\@yt.1[a=t.xBeE HBp=HFp=)~GEףE`;لAyEMb`Mb?{Gz?YEzAIAiAAAɅAExAE A)AVH]eq9Qe>YiyimEm@m q ]}M4uJ?u9ɯu? i?uX@u:ɱu':u M4Q 7鲍?Q 7 :Q tI)YQ  CI@ɴ:鴍: 7 O4鵝? 9) ? ?YX@ɷ:鷝7: oqO4 FFFGFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i;(<( 92) ^;[P,8wW<_,:i0)I$7: $7:H <"H w:19D* [tC'AiYt.M@t.S\@yt.a=t.xBgE {DY|DJ8****** ping requested ******@NA"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 izg=IzAC)]BGVHN9Q>YyEj@и>  ] N4l? aN49ɯ? i?X@.;ɱ3;N4Q -7%? %4:Q -tI)%H¾Q 5 CI%,@ɴ%L$;%.'; %࠵7 EO4=? =9)=*? M?Y=EX@ɷ=o;=M; =ăO4Y YaFyFyFyGyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2i"; = 9 0Q) k;[:8փ<R:iA)I5^: 5^:H<"Hw: {1 5tC'AYt.M@t.U\@yt.3a=t.Gx^gE-f0NEGATIVE RANGE NOT USING)UjGVHmuQu>Yqyq}E}@}9>  ]N4?9ɯ? i?鯅X@:ɱN:鱅\N4Q 7鲝y?Q 7 7:Q tI)+;Q  CI@ɴ,:鴝: #7 O4鵭? 9).? ?YwX@ɷ:鷭: `O4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=;= 9Ƭn) viw; I8 <  av:i 6{) I ~: ~:H<"Hw:7 tC'AYt.M@t.wW\@yt.za=t.xBpfEGBAAHF@A)Ni1I1)ƄG:;لYyEW@Ҕ9>  ]N4 ? 9ɯ ? i?  Y@ :ɱ : #N4Q %7? ~:Q %tI) پQ % CI@ɴ:: 7 5O4-? -9)-? 5?Y-X@ɷ-:-: -O49 AAFIFIFQGQFQFQFYFYzFYjFYEaEatC'A)IYt.۫M@t.KY\@yt.|a=t.xBmjE:@J=B@J=) BGVH]eHQe>YayaeEeSAm9m> q ] N4u?u9ɯu? i?u%Y@un<ɱuO4q qqFFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i\;6=6 9x) N{;k8_<we}:i`p)I: :H<"Hw: V> Y>GD uC'AYt.M@t.R\@yt.U9b=t.xBiEiPIP)jGED;EلE;yEMb`Mb`~jtx?YEQAIAiAAAɅAEAE E)E;VH˵)9Q>Y˱y˱E˽ Aͽna>  ]N4?9ɯc? i?:Y@f:ɱ:IAN4Q 70t? ;:Q tI)tQ  CIAɴx:k: xԷ7 O4? 9)? ?YX@ɷ6:: O4 F F F G FFFFG@zFjFEE<Tracking...<%2Tracking contact label: 2i5MDj=;9=H==H =9="۳9)9 El;EЇ|8MZxNiE HPHP)0Gi!!)! !I! ))-{Aɒ)))1ɓ1i1I11I9i=zA 99)99 ={AAAɔAAAIA)AiA)IIM{AIɕI IɖQQQiQQVHQ>Y!y!%E%A-M-> 1 ]=N45?59ɯ5 ? i=?5MY@5ض:ɱ5$:5ON4Q M7ER?Q M7 E|":Q MtI)EAQ M CIEzAɴE:Ew: Ea7 ]O4U"? U9)UJ? ]?YUX@ɷUK:U: UO4a iiFqFyFyGyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i;Y=Y 9#4˹) o;R8<5b_:iA)Ip: p:H<"Hw:Q {GuC'AiYt2M@t2H\@yt2"a=t2f?Iҿ`<??~/@c? ?)u2M@ u2̰v;Iu2CxB>xB nE@D"@DiR=IP)Gɥy}{A}`iyyiC) I )7{Aɦ馉ɧiףIIi{A 駙)騙 ;{AɨzAI)i)I驭ףɩ VHhQ?YyEA~t?  ]N4?9ɯ? i?\Y@:ɱ|:n[N4Q  78?  %:Q  tI)EQ   CIAɴ:: и7 O4)? 9)? ?YX@ɷ:{: O4! !)F1F9F9G9F9F9FAFAzFAjFAEIEIx@)~G=Ļ=Ļل=94YYyaeEeAeDVe> i ]uN4m?m9ɯm? i}?mY@m:ɱm:mjN4Q 7}R?Q 7 }O(:Q tI)}1 Q  CI}sAɴ}:}n: }2^7 O4鵍? 9)? ?Y%Y@ɷ:鷍P: =O4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i} };y}{={ 9F") V;pQ8<؇b:iEV)It: t:H<"Hw:¡߱^ 8{uC'AYt.M@t.tA\@yt.?b=t.0fxR%hEGPHPibg=I`)GVH9Q>YyE!AX>  ]N4G?9ɯ? i?Y@:ɱ:wN4Q 7$? R+:Q  tI)Q   CI!AɴC:а: 7 P4 ? P4 9) ? ?Y bY@ɷ : X: P4! !!F1F1F1G1F9F9FAFAzFAjFAEAEAx^PaE:@f=B@f=)=ƄG;Dل;y{Gzt~jtx?YIiɅ酁鄅 ף);VH˝8Q>YˡyˡE˥:(AͭW>  ]N47?9ɯO? i?鯵Y@:ɱ:鱵N4Q 7R?Q 7 c.:Q tI)FQ  CI'AɴW:': jf7 P4x? 9)? ?YY@ɷ:":  P4 FFFGFFFFzFjFE E < Tracking...< 2Tracking contact label: 2i%|%;!%=% -9-<))) - ;5|*85<5V:i5޾)9I=j: =j:9HE<"HEw: > ]>l/k uC'AYt.M@t.r:\@yt.ob=t.vxBgE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)ׄGVHsh5Q>YyE.A> ! ]5N4%'?%9ɯ%? i]?% Z@%Z;ɱ%;%%N4Q m7e5? e1:Q mtI)eFQ  CIe.AɴeY;eU; ev7 P4鵝g? 9)5? ?YY@ɷ9i<鷝tg< 2P4 F!F)F)G)F)FFFzFjFEE<-Tracking...<-2Tracking contact label: 2i=E;AE=E m9mX+i)i uf;}]8}k<}H <:i}3v)IQ: Q:H<"Hw:ߑr HuC'AYt.M@t.X3\@yt.xa=t.xP HRa=HRa=]V^unknown deviceResponse_: 00000,187,80,81,10,FF )IVHu} Q}>YˁyˁE˅5A͍懺>  ]N4?9ɯ? i?鯝CZ@;ɱŊ;鱝ɢN4Q 7?Q 7 4:Q tI)' Q CIk5Aɴf;;; *7  P4V? 9)? ?YY@ɷc;d; DP41 19FYFaFaGaFqFqFFzFjFEE<Tracking...<2Tracking contact label: 2i.Iӻ;~=~ 9#<) N;Z8I<!:i* )I97: 97:H<"Hw: xRlE@VA"@Ti`I`)!mmףلm;ym{Gzt?Mb`Mbp?YiIiiiiiɅiimף; m)m;VH9Q>Y!y!%E%;A-@-> ) ]5N4-?-9ɯ-? i=?-gZ@-D:ɱ-4:-lN4Q E7Et?Q M7 E7:Q MtI)E%Q MCIE;AɴE:EM: Ea7 }P4U(? U9)U0? }?YUY@ɷU:Uڦ: U UP4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;p=p 9LM) ; .!8 F< 7 :i3)I]d5: ]d5:H<"Hw:  ?A x6NcE){:cI{:i{:={:>{:C{:pA{:CB |:=^BB 9|:?֚nѿ)BGVH=E8QE>YAyAMEMAAMƹM> Q ]eN4U?U9ɯUI? ie?UZ@U;ɱU;UN4Q m7mQV? m::Q utI)m*Q uCImAAɴm:m: mF7 P4}? }9)}? ?Y}Z@ɷ};:}: }KeP4 FFFGFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.963630 forward, -0.267238 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact."\EmKJ@bEm%ÿjEm]BEmo$?JEmREm ZEmrEmTzEmiz;(=( 9_) ʆ;P 8C<p:iro)Iz3: z3:H<"Hw:%Dacoustic_contact_range 55.560005 meS ~VvC'AYt.yM@t.'\@yt.1b=t.bxB'fEG@H@iPIP)GEE`لEyEMbp?{GztMb`YAIAiAAAɅAAE; Eף)EVH]e&9Qe>YayamEmkHAm㮹m> q ]N4u?u9ɯu ? i?uZ@u!;ɱu ;uN4Q 7鲍~5?Q 7 =:Q tI)0Q CIHAɴ :鴍:  7 P4鵝? x9)L? ?Y;Z@ɷ%:鷝: vP4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&2G:GKJ@L>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidance% K~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance%K>Uninitialize WaypointComponent.'O`Aggregate::initialize lineCaptureHoming:Lap:Dock1( PtAggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNavq(P6Initialize SetNavComponent.FFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;  = Ľ 9  s ) Y;ij)IKJ@H<"Hw:‰ߙ%RHorizontalControl.headingCmd 3.169085 rad} 10vC'A)@IYt.;oM@t.\@yt.v\b=t.xB%hE:@F=B@F=)~GVH=E8QE>YAyAMEMNAMAкM> Q ]]N4U`?U9ɯU? ie?UZ@UA:ɱU:UN4Q m7e`? eA:Q mtI)eS6Q uCIeNAɴe!:e5: ez7 }P4u? uo9)u? ?YudZ@ɷu:uD: u!P4 1( PxAggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNavq(P:Uninitialize SetNavComponent.( Q4Initialize Wait Component.1&1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ir;V=Vн 9 /) x;in;<)IH<"Hw:%RHorizontalControl.headingCmd 3.169085 rad R> a>ge  JvC'AYt.(kM@t.\@yt.!b=t.$;xBgEiPIP)GVH=EQE>YAyAMEMGUAM\!M> Q ]]N4U3?U9ɯU? ie?U[@UV:ɱU:UN4Q }7m?Q 7 m$D:Q tI)m Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iwF ;  h=hܽ 9Ӭ) %"G;i5 =)9I9AHM<"H]w:iq%RHorizontalControl.headingCmd 3.169085 rad cvC'AYt.dM@t.Z\@yt.b=t.ZxBEmE HFp=HFp=)~{GEDELلEtyEl?L7A`堿YayaeEe[Amtm> q ]}N4u?uG9ɯuR? i}?uN\@u:ɱu:u-N4Q 7鲅? FG:Q tI)AQ CIx[Aɴ!:鴅: '7 P4鵕? -9)? ?Y[@ɷQ:鷕 : (P4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i!;x<= 9󵛺) ;i=)I H <"Hw:IY%}RHorizontalControl.headingCmd 3.169085 radջ 6}vC'Ai4<Yt.`M@t.t \@yt.Fb=t.>x>KgE@D"@DiLIP)|VH==8Q=>YAyAEEE4bAMCM> I ]]O4M-? a]O4M9ɯM? i]?M]@M]:ɱM:M(O4Q e7e?Q m7 eXJ:Q mtI)esGQ mCIeaAɴe_:es: e,7 }P4uq? u9)u`? }?Yu]@ɷu7:uף: ulP4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ii;8=8 9aA) ;i>)IH<"Hw:%RHorizontalControl.headingCmd 3.169085 rad  IvC'AYt./[M@t.\@yt.fb=t.xReE)ee`eلe;ye{Gz?YˉyˉEˍhA͕ ;>  ]O4?9ɯr? i?鯝]@:ɱ:鱝O4Q 7鲭? M:Q tI)KMQ CIvhAɴ:鴭: P7 P4? 9)? ?Yp]@ɷ":D: CP4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2i%(%%;!%?>%? %9%))) -N;i-Ig>)1I11H=<"H=w: %=RHorizontalControl.headingCmd 3.169085 rad˫ yvC'AYt.RM@t.[@yt.a=t.Y0xBkEGDHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI )0GVH%O۹Q%>Y)y)-E-oAEE> I ]}O4ML?M9ɯM? i?MK^@Mq;ɱM;M!O4Q 7鲍o?Q 7 P:Q tI)cSQ CI^oAɴQ;鴍;  I7 P4? 9)? ?Y]@ɷ <H!< (P4! !!1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&52G9:G9L=>Setting Heading: 3.169085 rad .q&=LE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFIFIzFIjFEE<Tracking...<2Tracking contact label: 2i-H'-;)->- -95(ƺ1)1 5;i=b>)= >I99HE<"HEw:]jZX<9A%]RHorizontalControl.headingCmd 3.169085 rad TvC'A)@IYt.NM@t.[@yt.[a=t.OAxBhE-F0NEGATIVE RANGE NOT USING:@N=B@N=)MjGVHOQ>YyEuA4>  ]=O4 ? 9ɯ  ? iM? ^@ <ɱ v< V/O4Q 7}vO? }S:Q tI)} YQ CI}uAɴ}q<}Vq< }7 P4 ? 9)i? ?Y-^@ɷ:: P4  1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=2GA:GALE>Setting Heading: 3.169085 rad .q&ELM`Completed lineCaptureHoming:Lap:TerminalGuidanceFIFiFqFqzFyjFEE<Tracking...<2Tracking contact label: 2i|;;> 9Ժ) ;i>)IH<"Hw:U< %%RHorizontalControl.headingCmd 3.169085 rad V> R>Zݸ Z.vC'AYt.DM@t. [@yt.na=t.:xRrdE*@X2@Zp=if=Id)%+Gmmلm`;ym/$?/$y&1|?YmAIiiimxAmAɅiim< m)m`;VH%-B68Q->Y)y15E5|A==> 9 ]EO4=?=9ɯ=? iM?=m_@=:ɱ=:==O4Q U7Uq/?Q ]7 UV:Q ]tI)U^Q ]CIU&|AɴU:Uo: UV7 eQ4eD? mQ4 e9)e? m?Ye^@ɷe:eŧ: eqQ4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i| K;> 9@㺉) 4)IH<"Hw:)IiYa%RHorizontalControl.headingCmd 3.169085 rado N vC'AYt.txB$jE HFa=HFa=)GVH--ӢQ->Y1y15E5=A=ʯ=> A ]MO4E"?E9ɯE/? iM?E$`@E:ɱE˵:EJO4Q U7U? UY:Q ]tI)UcQ ]CIU AɴU:U: U7 mQ4eo? e}9)ep? m?Ye_@ɷew:e": exQ4q qy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iT;> 9) xBeE@FA"@DiPIR;C)jGEYayimEmAm"Vu> q ]}O4u?u@9ɯu? i?u{a@u*:ɱuI:uYO4Q 7鲍q?Q 7 \:Q tI)iQ CISAɴ:鴍0: ^7 Q4鵝? '9)? ?Y`@ɷe:鷝ʢ: 3%Q4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2iU;$>$ 9) 40 xBcEJA@JA)~{GVH=EѸQE>YAyAMEMAM;۹M> Q ]]O4U^?U9ɯU? ie?Ub@U+:ɱUb:UfO4Q m7eD? e_:Q mtI)eSoQ uCIeAɴey:eJ: e?7 }Q4u? u9)u5 ? ?YuGb@ɷu:u: uo6Q4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ib;+>+ 9?d )  x^lEGdHdiI)VHQ>YyEA|>  ]O4?9ɯk ? i?/d@:ɱ:uO4Q -7%ɭ?Q -7 %7c:Q -tI)%ZuQ -CI%Aɴ%>:%: %u7 =Q454? 5z9)5!? =?Y5c@ɷ5:5: 5HQ4A II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]2Ga:GaLe>Setting Heading: 3.169085 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFiFiFqzFqjFqEqEy<}Tracking...<}2Tracking contact label: 2i@g;3>3 9=) ݮxNaE:@V=B@V=)E6only read 3 of 4 data itemsEhFailed to parse: :RA, 0.00, 94.92, 98.42, 95.92 a 1M@a M a 5M@a M a 9M@a M a -M@a M VH˝8Q>YˡyˡE˥HAͭ:D>  ]O4?A9ɯ!? i?鯵ve@Z;ɱX>鱵 O4Q 7? 9f:Q tI)zQ CIAɴX:): 7 @ @ @ @ i ! !!1&U LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&U2GY:GYL]>Setting Heading: 3.169085 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFiEiE<Tracking...<2Tracking contact label: 2iiw;;>; 9 )  a>B )YwC'AYt.%M@t.4[@yt.2(b=t.ZL>x>cEiNg=INAC)~ƄGVH9Q%>Y!y!%E%bA--> 1 ]=O45??59ɯ5#? i=?5f@5:ɱ5G?5O4Q M7En?Q M7 E#i:Q MtI)E,Q MCIE*AɴE:E߼: Ep|7a aa1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i7;C>C 9') 6 .wC'AYt.M@t.[@yt.*b=t.xB'fE HBp=H@)EGa 1a 1 a 5a 5 a 9a 9 a -a - }لY˹yEŔA|>  ]O4:?9ɯ$? i?rh@o;ɱ;˜O4Q 7L?Q  7 bl:Q  tI)2Q  CIAɴ>:˵:  7 = = = = = =O45 ? =O4 59 EtI)5&? E?Y5g@ɷ5:5: 5˜O4M? M?MA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2i; K> K 92) K?)IH%<"H%w:M!)%MRHorizontalControl.headingCmd 3.169085 radh  wC'Ai;Yt2M@t2;[@yt2a=t2i>xBgE {@Y|DF8****** ping requested ******@FA"@DJNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ihIj;C)ƄGVH]eRKQm>Y˱y˱E˵/Aͽ g>  ]O4!  ) ?!  L9ɯz&? i?鯽4j@:ɱf!<鱽O4Q 57-(? -o:Q 5tI)-QQ =CI-Aɴ-:-\: -ܡ7 EO4 ]E =f ? aE =19)='? M?Y=i@ɷ=<=< =۫O4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iMM;IUU>UU U9Ut?Q)Y ]8~!x%cE]]^unknown deviceResponse_: 00000,187,80,81,14,FF )Gu`廹utلuףY˹y˹E˽A`>  ]O4!   ?!  9ɯ>(? i??l@:ɱ:AO4Q 7?Q 7 r:Q tI)RQ CIAɴ;; 17 O4 ] ? a 9) )? ?Y k@ɷ : а: kO4! !!1&U LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&U2GY:GYL]>Setting Heading: 3.169085 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFF+@zFjFEE<Tracking...<2Tracking contact label: 2i<ٖ;]>] 9J) zF%b>xBpfEGB?AH@iPIRAC){GVH%8Q% ?Y!y!-E-OA-Z- ? 1 ]=O4! = 5?! = 59ɯ5)? iE?5m@5:ɱ5R:5kO4Q M7E? E_u:Q MtI)EQ UCIEAɴE:E: E67 }O4 ]} u!? a u9)u*? ?Yu=m@ɷu:u: u3O4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<%Tracking...<%2Tracking contact label: 2im;d>d 9vT) }(% RHorizontalControl.headingCmd 3.169085 rada xC'A)IYt2T M@t2ú[@yt2SBb=t2g5>xBKgE:@F=B@F=)0GVH%9Q%>Y!y)-E-A-Թ-> 1 ]=O4! = 5?! = 5x9ɯ5*+? iE?5o@5(:ɱ5:5O4Q M7M??Q M7 Mlx:Q UtI)MnQ UCIMLAɴMB:Mϸ: M`%7 ]O4 ]e ]? ae ]_9)]k,? e?Y]o@ɷ]\:]>: ]vO4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU0];Y]m>]m ]9]O`Y)Y e k,%RHorizontalControl.headingCmd 3.169085 rad V> V> vxC'AYt2@ M@t2[@yt27#b=t27`>xBoEiN=IN;C)~GED;EmلECYyEA  > Q ]]O4! ] U?! ] U9ɯU,? ie?UHq@Ua:ɱU:UO4Q m7m? m{:Q tI)mQ CImѤAɴmSetting Heading: 3.169085 rad .q&%L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iUIU;QUPx>UPx ]9]*oY)Y ]|1Yi%RHorizontalControl.headingCmd 3.169085 radH  rQ5xC'AYt6M@t6[@yt6Va=t66xBdE HBa=H@)~ׄGVH%Q%>Y!y)-E-A- -> 1 ]=O45?59ɯ5.? iE?5r@5:ɱ5:5O4Q M7M$?Q M7 M~:Q UtI)M!Q UCIMAɴM^:M: M57 ]P4]g? eP4 ]9)]D/? e?Y]&r@ɷ]:]: ]SP4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i-F-;15>U U9]%RHorizontalControl.headingCmd 3.169085 rad+ 79OxC'Ai,,YtL@t[@yta'a=t&?aNҿs@?`K! }s??)uL@ u[v;IuCx%ָ>x%NcE@)"@)iqIy)GE`;ExiلE`eY˩y˩E˭A͵>  ]O4J?n9ɯH/? i?鯽Xt@:ɱ:鱽O4Q 7/f? :Q tI)ZQ CIiAɴ:|: E7 P4? T9)0? ?Ys@ɷı;0; P4) 111&E LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&E2Ga:GiLm>Setting Heading: 3.169085 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFqFyzFyjFyEyEy<Tracking...<2Tracking contact label: 2i5S=;9=g>=g =9=j9)y ,9‘ߙ%RHorizontalControl.headingCmd 3.169085 rad 3 _ixC'AxnJ>xn,`Et@vA)mƄGVH Q >YyE~A>  ]EP4`? aEP49ɯ0? iM?v@;ɱܹ;~ P4Q U7U^??Q U7 U:Q ]tI)UQ ]CIUBAɴQU: Ur7 eP4e? e9)e1? m?Yeu@ɷen:e: e(P4u? u?q1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i6;;!%ۊ>%ۊ %9%!)! %!=xnnEGr@AHpi|I|)Gi) I ){Aɒ钩ɓ{Ai`IIi 铹)锹 ɔI)i)I{Aɕ ɖiVHQ?YyEA?  ]P4.?9ɯy1? i?Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^ܼ;j'=u>u 9.) Axnw^E:@r=B@v=bSBD MO Status=2, MOMSN=2488, MT Status=2, MTMSN=0-ZFailed to initiate SBD session. Error code: 2){GMףM}لMYyEgA>  ]P4t?`9ɯ3? i?~y@;ɱZ;+P4Q  7?Q  7 :Q  tI)РQ  CI(Aɴ:: 7 =P4? F9)4? =?Yx@ɷ:: #NP4A II1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2i;i>i 9𝻉) Fҿԫ@;?/xBlE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAII)ƄGɥy}{A}iyi) I )3{Aɦ香ɧ{AiIIi{A 駩)騱 ?{AɨI)i)Iɩ VHmuo9Qu?Yyyy}E}ŸAͅAa?  ]P4?.9ɯ4? i?鯅z@<ɱ<鱅6P4Q 7? W:Q tI)Q CIAɴX:): 7 -P4%A? %9)%+6? 5?Y%:z@ɷ%c:%l: %p[P4A AA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFIFIFQFQzFajFaEiEi 9*) jJL@t>N[@yt>W`=t>=H+?͍@;ҿ? ?@`7}? ?)u>L@ u>v;Iu>CxNù>xNrdE HNp=HNp=){R,ɔI{Pi{R:={P{P{R`A{P|RcA9|Rm?kVҿ)ׄG;LلDYyEA> ! ]mP4%?%9ɯ%5? im?%{@%<ɱ%I<%CP4Q }7u?Q }7 uG:Q }tI)uQ }CIuAɴul:u: u7 P4? 9)7? ?Yy{@ɷ:: kP4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&- M-Initialize.q&-&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-q'5*a code=090E owner=009D element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=04 N5~Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly=N=RLights, Camera on at range: 14.220002 m .1'='=2G9:G9L>Setting Heading: 3.169085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<%direction in vehicle frame: [ 0.958073 forward, -0.286525 starboard, 0.000000 keelward ]<-CALLING PROCESS<-TProcessing response from acoustic contact.<-TProcessing response from acoustic contact.<}rotationFromVehicleToNavigationFrame_ = [ -0.956991,-0.284885,-0.054860;0.283915,-0.958526,0.024892;-0.059676,0.008246,0.998184 ]<}tazimuthInNED_ = 179.902347 degrees FINAL. Radians:3.139888<^ContactLat = 36.802980 ContactLon = -121.787828<Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.:EEcAEb?+@4*LEm?kVҿE,ɔEEbbAc,OEŘ?"|)E;suab[?䏮EH@bE,<jEcBEo$?JERE ZErEKYzEicڼ;ɞ>ɞ 9h䬻) NxBeE@P"@TidId)EGEPowering upVH%9Q>YyEʾAH3>  ]P4>?9ɯ6? i?!}@:ɱ:WPP4Q 7? :Q tI))Q CIAɴ\:: 7 P4? 9)7? ?Y|@ɷ@:e: :{P4   1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-RLights, Camera on at range: 14.220002 m .1'-2G1:G5H@L=>Setting Heading: 3.139888 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEIEIew m9m߲i)i m R ]?>)1%URHorizontalControl.headingCmd 3.139888 rad @A @ 'yC'AYt."L@t.[@yt.ya=t.xFqE){GVH]e9Qe>YayamEmAm}ܹm> q ]}P4u?uf9ɯu7? i?ug~@u:ɱu:u^P4Q 7鲅?Q 7 ٖ:Q tI)꪿Q CIAɴ:鴅^: y7 P4鵵? M9)8? ?Y}@ɷ:鷵: >P4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i;!%>% %9%W!)! %smVxbPaEGbAAH`irg=IrAC)E0GIM\ل94YyEA>  ]P4?69ɯ8? i?r@¿:ɱ:mP4Q  7 [a?Q 7 3:Q tI) Q CI ?Aɴ E: : 7 %P4? 9)9? %?Y~@ɷΥ:T: P4) )11&= LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMRLights, Camera on at range: 14.220002 m .1'M2GQ:GQLU>Setting Heading: 3.139888 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFe.@zFajFaEaEa 9TŻ) X[xJcE:@N=B@N=)jGIVH=EY:QE>YAyAMEMZAMM> Q ]]P4U?U9ɯUd9? ie?U @UV:ɱU:UzP4Q m7e E? eŜ:Q mtI)eQ uCIe Aɴe:e: eɈ7 }P4u? u9)u:? ?Yu@ɷuY:u: uȮP4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2if;K>K 9kͻ)  eg_ ]>=T QyC'AYt:BZL@t:[@yt::{b=t:TxBgE*@J=2@J=iV=IV;C)0GI MM+=لM;yMI +?~jtx?YM(AIIiIMM@MAɅIIM9 M<)M;VHemf9Qm>YiyquEuA}}> y ]P4}?}B9ɯ}6:? i?}@}0:ɱ}:}qP4Q 7鲕#?Q 7 ß:Q tI)}Q CITAɴg:鴕Y: N7 P4鵥? )9)};? ?YN@ɷ:鷥: P4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i ;ַ>ַ 9ֻ) dL@t.Z@yt.&b=t.L@ u.{;Iu,x6O>x6gE H8H8)vGItVH==[8QE>YAyAEEEAMɊM> Q ]]P4U~?Ur9ɯU;? i]?U@U:ɱU:UVP4Q m7e? e:Q mtI)eLQ mCIeAɴe:e : e 7 }P4u? uY9)uHSetting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ik;T>T 9້) h;? ?)u.)L@ u.+z;Iu.CxR>xRfE@T"@Tibg=IbAC)%BGI!VH5=ѹQ=>Y9yAEEE AEOM> I ]UP4Mn?M9ɯM;? i]?Mg@M:ɱIMlP4Q e7]?Q e7 ]:Q mtI)]$Q mCI]Aɴ]:]: ] 7 uP4u? u9)u=? }?Yu&@ɷuǺ:u: u P4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i" ;>¾ 9껉) QmxBNcEJhA@JrA)jGIM;Mu=لMYiyimEmPAu*u> y ]P4}>?}9ɯ}=? i?}-@}b:ɱ}R:}P4Q 7鲍? z:Q tI) Q CIAɴ;鴍t; 7 P4鵥? 9)!?? ?Y@ɷ":鷥: P4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(?zFjFEE<Tracking...<2Tracking contact label: 2i ָ ;  > Ⱦ 9F:) %rIH%<"H%w:%RHorizontalControl.headingCmd 3.139888 radm &yC'AYt. L@t.Z@yt.Sb=t.x6IiEG8H:AA {8Y|8B8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )fiU=IY){GIVH%7Q%>Y)y)-E-A=cغ=> A ]MP4E$?E=9ɯE?? i]?E@EB2;ɱE5;EP4Q m7e ?Q m7 e:Q mtI)eQ uCIeoAɴe,;e;; e}<7 Q4}r? Q4 }$9)}GA? ?Y}@ɷ}:}; }eQ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i6;>Ͼ 9 Ed )  QMwIH<"Hw: %5RHorizontalControl.headingCmd 3.139888 radt KyC'A)IYt2L@t2pZ@yt2ub=t2x:'fE]>^unknown deviceResponse_: 00000,187,80,81,17,FF :@v=B@v=)I D =ل uY1y15E5A=vҺ=> A ]EP4Es?E9ɯEB? iM?E@E:ɱE:EP4Q U7U~? Uo:Q ]tI)UQ ]CIUAɴU:U: U7 eQ4e? e9)eFC? m?Yeă@ɷe4:e@: eQ4q qy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i2;>Ծ 9%) |IH<"Hw:©߱%RHorizontalControl.headingCmd 3.139888 rad R> V>z UyC'AYt.K@t.Z@yt.^Nb=t.x6)dEiJg=IH)xI|VH 9Q>YyEA!> ! ]-P4%?%9ɯ%C? i-?%@%:ɱ%Գ:%P4Q =75`?Q =7 5:Q =tI)5ĿQ ECI5Aɴ5R:5f: 5?7 MQ4E? E9)EE? U?YE@ɷEÜ:E: E(Q4Y YY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=N}RLights, Camera on at range: 14.220002 m .1'}2Gy:GyL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5";h>hھ 9 ) XIH<"Hw:­?΅>ߑ%RHorizontalControl.headingCmd 3.139888 rad  ԷzC'AYt.K@t.0Z@yt.Ub=t.xRR_E HRa=HP))I)VH=E9QE>YAyAMEM4AM}cM> Q ]]P4U?U9ɯUE? ie?U@U:ɱU:U P4Q m7e?? e:Q mtI)enǿQ uCIeAɴe%:e: e77 }Q4u0? up9)u&G? ?Yu@ɷu:uD: u;:Q4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iY ;> 9) WIH<"Hw:O{>©% RHorizontalControl.headingCmd 3.139888 radć  zC'AiYt2WK@t2ƘZ@yt2wb=t28wx:IiEiJ=IH)tIx55=ل5`eYYyY]E]sAee> i ]mP4m?m9ɯmG? iu?m@@mӻ:ɱm:mBP4Q 7}?Q 7 }޶:Q tI)}NʿQ CI}Aɴ}:}/: };S7 Q4鵍? 9),I? ?Y@ɷ:鷍+: KQ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(?zFjFEE<Tracking...<2Tracking contact label: 2i%;> 9) =q%RHorizontalControl.headingCmd 3.139888 rad D n:zC'AYt.K@t.(Z@yt.Gyb=t.*x6lEBgA@BhA)tIxVH 6Q >Y y EAB>  ]%Q4v? a%Q49ɯI? i-?v@:ɱ: Q4Q 57-? -:Q 5tI)-ͿQ = CI-AAɴ-3;- ; -(7 MQ4E? Ey9)E"K? M?YE6@ɷEƟ:E : E\Q4Q QY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=NuRLights, Camera on at range: 14.220002 m .1'u2Gy:GyL}>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i,;> 9) I@)IH<"Hw:i==•">iy%RHorizontalControl.headingCmd 3.139888 rad ֔ HTzC'AYt.K@t. Z@yt.Qb=t.ѿ`x?rF@e??)u.K@ u.v;Iu,x6t>x6LeEG:@AH:@AiFg=IH)v0GIx5Ļ5|?>ل5`)5`<VHMM¸QU>YQyQUEUAeEe> a ]mQ4e ?e9ɯeM? iu?e@e:ɱe:e~Q4Q }7}&?Q 7 }:Q tI)}пQ  CI}Aɴ}:};: }c7 Q4鵍? ? 9)1O? ?Y@ɷߡ:鷍: nQ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFz?zFjFEE<Tracking...<2Tracking contact label: 2i.;w)=a>a 9XD#) ̝%RHorizontalControl.headingCmd 3.139888 rad9 $nzC'A)@IYt2K@t2nZ@yt2b=t2 x:cE)vGItVH~58Q>Y y  E Ax8>  ]%Q44?9ɯQ? i%?=@:ɱ/:A#Q4Q 57-Setting Heading: 3.139888 rad .q&uL}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFFFzFjFEE<Tracking...<2Tracking contact label: 2ie)7;> 9 )) 3‰ߑ%RHorizontalControl.headingCmd 3.139888 rad > e>! \zC'AYt.yK@t.Z@yt.iJb=t.ax6DoEiDID)vjGIxVHQ >Y y  E MAC >  ]%Q4?9ɯU? i%?@¿:ɱ¿:e1Q4Q 57-y?Q 57 -A:Q 5tI)-տQ =!CI-Aɴ-v:-: -p7 EQ4E? E9)EW? M?YEa@ɷEH:E: EQ4Q QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NuRLights, Camera on at range: 14.220002 m .1'u2Gq:GqL}>Setting Heading: 3.139888 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i:;? 9I40) @x6oE H8H:a=)v{GIx5D5 =ل5y5YYyY]E]Aere> i ]uQ4m?m:9ɯm`V? iu?m@mH:ɱm/:m?Q4Q 7}z? }/:Q tI)}ؿQ !CI}=Aɴ}:}: }.7 Q4鵍? !9)W? ?YÐ@ɷ ;鷍 ; Q4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i >;s?s 9*7)  px:"lE {YIyIMEMA]O:]> i ]uQ4m?m9ɯmW? i}?mz@mB;ɱmb6;mOQ4Q 7鲍mW?Q 7 I:Q tI)ۿQ "CIAɴ9;鴍&D; 7 Q4鵥R? 9)NX? ?Y<@ɷe&;鷥G); Q4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE E < Tracking...<2Tracking contact label: 2i%ʩ?%;)-?- -9-N>1)1 5Dx 'fE]^unknown deviceResponse_: 00000,186,80,81,13,FF @gA)mGIq`廹P>ل/)/<VH5=G9Q=>Y9yAEEEAE:M>  ]Q4j#?9ɯ[[? i?鯍U@:ɱf:鱍^Q4Q 7鲥3?Q 7 i:Q tI)޿Q "CIAAɴ!<鴥<"< F$7 Q4!? 9)\? ?Y@ɷX:.: 3Q4A II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF ?zFjFE E < Tracking...< 2Tracking contact label: 2im؅Am;im ?u u9u*Gq)q uнxBu`EGF?AHDi\I^AC)GI!VH=E9QE?YAyAMEMIAMXr9M? Q ]}Q4U7(?U9ɯU^? i?Uy@Uw;ɱU:U!jQ4Q 7鲅? :Q tI))Q "CIAɴ:鴅: >7 Q4鵽&? 9)_? ?YC@ɷ%:鷽J: yQ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=N RLights, Camera on at range: 14.220002 m .1' 2G :G L5>Setting Heading: 3.139888 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9F9FAzFAjFAEAEA>xBlE:@F=B@F=) GI VH=E."9QE>YAyAEEEBBM.M> Q ]]Q4U.?U9ɯUb? i]?U@Uz:ɱU:U>xQ4Q m7e@?Q m7 e:Q mtI)eQ u#CIeBɴe:e: e7 }Q4uU,? u9)uc? ?Yuљ@ɷuI:un: uQ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL >Setting Heading: 3.139888 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F F9F9zF9jF9EAEA V>a %#{C'AYt. K@t.Z@yt.b=t.& n??)u. K@ u.v;Iu.CxbZ>xbU[EipIp)M{GII=لyDlY˹y˹E˽B0 >  ]Q41?9ɯ&c? i?k@;ɱ;Q4Q 7? :Q tI)Q  #CIBɴ:s: 7 5Q4 c/? 9) gd? 5?Y *@ɷ g; ; Q4E%? E%?E_A1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&u&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i7\;? 9T\) ݠxN$jE HRp=HRp=)!I!VH==9QE>YAyAEEE}BMM> Q ]Q4U3?U39ɯUc? i?U@U'"<ɱU;U{Q4Q 7鲥?Q 7 i:Q tI)Q $CIRBɴ;鴥; 7/7 R4C2? R4 9)d? 5?Yo@ɷf<<<<  R4A AA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=N%RLights, Camera on at range: 14.220002 m .1'%2G!:G!L->Setting Heading: 3.139888 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFqFqFqzFqjFyEyEy<}Tracking...<2Tracking contact label: 2iKo];? 9d) xL@VA"@Tib=Ib;C)%ƄGI)-iA-hAmĻmu=لm;ym~jtMb?Mb`?YmAIiiiimAɅmxAim m@=)m;VH7Q>YyE/Bf>  ]Q45?9ɯGd? i?y@Ǹ;ɱܷ;JQ4Q %7%? a:Q -tI)Q -$CIBɴ:w: 7 ]R453? 5~9)5e? ]?Y5<@ɷ5:5ڦ: 5R4a ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF FF?zFjFEE<Tracking...<2Tracking contact label: 2iU4lU;Y] ?]  ]9]tlY)Y ]צxNIiE)%GI!VH=ERQE>YAyAMEMBMZM> Q ]]Q4U>7?U9ɯUd? ie?U7@U:ɱU:UQ4Q m7eUu?Q m7 e:Q utI)elQ u$CIeBɴe::eN: e<7 R4鵝5? 9) f? ?Y@ɷƟ:鷝/: |.R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2ieVte;aem?mm m9m :ti)i m)Q>xBGkEG@H@iRg=IRAC)ƄGIVH-X˹Q->Y9y9=E=T BUU> Y ]eQ4]8?]Q9ɯ]Ue? ie?]@]Ǻ:ɱ]w:]޾Q4Q u7mT? m:Q utI)mFQ u%CIm! Bɴm>;m ; m!7 R4鵥<7? 99)f? ?Y@ɷ;鷥; ?R4 !1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u M}Initialize.q&}&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 14.220002 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...< 2Tracking contact label: 2iEcYoE;AE[#?E[# E9MB}) bxnjE:@v=B@v=)}BGI4= 4=;لDy~jtx~jthYIi@ɅA Ļ)DVH--:Q5>YiyimEm B͕>  ]Q48?@9ɯd? i?鯝@w:ɱ:鱝kQ4Q 7鲭0?Q 7 :Q tI)mQ %CI Bɴ;鴭; [7 R4.7? '9):f? ?Yמ@ɷ:@: SR4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&%M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=NERLights, Camera on at range: 14.220002 m .1'E2GA:GAL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i~x;JN=6'?6' 9) R ]> I{C'AYt.K@t.zZ@yt.b=t.Du&>xB'fE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIq)GIVH8`Q>YyE B%i/%> ) ]UQ4-8?-09ɯ-d? iU?-)@-:ɱ-:-/Q4Q e7] ? ]:Q etI)]rQ e&CI] Bɴ]ީ:]l: ]7 R4鵭!7? 9)e? ?Y@ɷ{:鷭~: eR4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N]RLights, Camera on at range: 14.220002 m .1']2Ga:GaL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^Lz;W+?W+ 9/)  yJ>xB,`E HB4=H@){BI{@i{B9n={B1>{@{B#C{@|B@9|BOڼ?phҿ)GI]t]ل]:y]~jtx?~jtx?MbP?Y] AIYiY]xAYɅY]xA]; ];)]:VHZQ>YyEB3l> ! ]-Q4%8?%H9ɯ%d? i5?%L@%:ɱ%:%Q4Q ]7=?Q e7 =:Q etI)=Q e&CI=Bɴ=R:=Y: =7 mR4m6? m/9)me? u?Ym@ɷm:m : mzR4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.139888 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.959067 forward, -0.283179 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.961842,-0.267973,-0.055235;0.267007,-0.963388,0.024315;-0.059728,0.008640,0.998177 ]<%tazimuthInNED_ = 179.092683 degrees FINAL. Radians:3.125757<-^ContactLat = 36.803059 ContactLon = -121.787833:E)E-@E-I[z@53딺E-Oڼ?phҿE-E)E-Hwfn$Dø?&Rr׿E-NH/?6\qߥE-g H@bE-=jE-vBE- p$?JE-o$?RE)ZE- rE-zE-KYim2Uy;/?/ 9u) ->xBpE@FA"@DiTIT){GIi!%jzA)! !I! ))-{Aɒ))))ɓ5{Ai5ĻI11I5Ci1 99)9=&C ={A99ɔAAE7{AIA)AiA)IIM{AIɕI IɖQUnAQiQQVHEE6QM>YIyIMEMuBUU> y ]Q4}{8?}]9ɯ}d? i?}i@}:ɱ}g:}6Q4Q 7鲍?Q 7 :Q tI)Q 'CIABɴܹ;鴍ӻ; p7 R4鵽6? D9)f? ?Y+@ɷ2:鷽W: R4 1& L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q& & M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq' 1'=N5PLights, Camera on at range: 6.119999 m .1'52G1:G=g H@L=>Setting Heading: 3.125757 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFAFIzFIjFIEIEId>xB$jE)IɥAAAiIIiaa)a iIi q)qɦqqqyɧ}{AiyIyyIyi 駁)騉 ɨI)i)Iɩ VHQ?Y y EBw?  ]%R4a8? a%R4l9ɯd? i-?}@:ɱ:zR4Q 7鲍0? :Q tI)Q 'CIzBɴ):鴍: 7 R4鵝6? S9)"f? ?Y@@ɷ<鷝< R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&& MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.125757 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!FiFizFijFiEiEi>xBgEGB@AH@iPIP) I56only read 3 of 4 data itemsjFailed to parse: :RA, 0.00, 98.42, 94.92, 98.92, a 1@a  a 5@a  a 9@a  a -@a  VH˝S9Q>Y˙y˙E˥5Bͥ>  ]R4=8?9ɯd? i?鯭@<ɱV>鱭R4Q 7?Q 7 c:Q tI)Q 'CIBɴx:÷: 7 5@ 5@ 5@ 5@ i5 9 991&m LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&u&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'}=N}PLights, Camera on at range: 6.119999 m .1'}2Gy:GyL>Setting Heading: 3.125757 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;u:?u: 9aB) 2xBgE:@DB@F=)IVH˥?7Q>YˡyˡE˭B͵>  ]R48?9ɯ e? i?@Z:ɱD?&R4Q 7n? :Q tI)2Q (CI}Bɴ;; ̓7! ))1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NePLights, Camera on at range: 6.119999 m .1'm2Gi:GiLm>Setting Heading: 3.125757 rad .q&mLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iԙ;>?> 9)  O V>c jY|C'AYt.K@t.\cZ@yt.Ob=t.>xBeEiLIL)M0GIQa 1a 1 a 5a 5 a 9a 9 a -a - :لyMb`?YAIiAɅA ;)VH -9Q>YyE_B%#%> ) ]-R4-8?-9ɯ- e? iu?-@-<ɱ-<-)R4Q }7}K?Q 7 }:Q tI)}Q (CI}-Bɴ}:}w: }27      R4鵍r6? ~9)Lf? ?Y|@ɷ!<鷍!< )R4 1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&=&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'=1'==NEPLights, Camera on at range: 6.119999 m .1'E2GA:GALM>Setting Heading: 3.125757 rad .q&ML`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2iX;}B?}B 9>G) >xBkE HBa=HBa=)GIVH%(8Q%>Y!y!-E-B-X-> 1 ]=R4! = 5$8?! = 59ɯ5e? iE?5@5:ɱ5:56R4Q U7U(.? U:Q ]tI)UQ ](CIUBɴU:U: U7 mR4 ]m ev6? am e9)eMf? m?Ye@ɷe:eN: el9R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.125757 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEEI˜?@ ?)u:ϬK@ u:v;Iu8x^ù>x^rdE@h"@liI)GIlAAE<لEDyE{Gzty&1|?~jthYE AIAiAAAɅAEEAEף E`;)EDVH}˅#Q>Y˩y˩E˭B͵>  ]R4!  g8?!  9ɯd? i?鯽@:ɱ;:鱽FR4Q 7 ?Q 7 :Q tI)Q )CIvBɴ:+: '7 R4 ] 6? a 9)f? ?Y@ɷ:t: $MR4) ))1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'e=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GiLu>Setting Heading: 3.125757 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyF}(,@zFyjFyEE<Tracking...<2Tracking contact label: 2i9;J?J 9>) ExBinEJhA@H)ƄGIVH]e˹Qe>YayaeEm Bm`m> q ]R4!  u8?!  u9ɯud? i?u@u;ɱu;u*SR4Q 7鲥? @:Q tI)Q )CIBɴ\:鴥: 7 R4 ] 6? a 9)e? ?Y@ɷn;a; \R4(? (?1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-PLights, Camera on at range: 6.119999 m .1'-2G):G)L->Setting Heading: 3.125757 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFEE<Tracking...<2Tracking contact label: 2i礽;s=[N?[N 9t) (xRdEGPHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI;C)GIVHUe6KQe>YiyimEmBu&}>  ]R4!  8?!  9ɯ=d? i?鯅@<;ɱ0;鱅bR4Q 7鲥i?Q 7 M;Q tI)m Q *CIBɴq<鴥r< 47 %R4 ]% 27? a% 9)ye? %?Yݟ@ɷ:_: #pR41 111&E LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&E&EMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'M1'M=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.125757 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=酝=;9=S?=S =9=A)A E xBeE){@I{@i{@{B>{@{B!C{@|@9|BOڼ?phҿ:@R=B@R=)^){GI%= T<لyMb{Gz?MbpYAIiɅA #<)VH$Q>YQyQUEUnB]je]> a ]mR4! m e89?! m e9ɯec? im?eD@e:ɱe/:expR4Q 7鲕ɧ? ;Q tI) Q *CIABɴ:鴕: 7 R4 ] 鵥7? a 9)%e? ?Y@ɷy:鷥: R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.125757 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F *@zF jF EIEI a>9< C|C'AYt. K@t.HZ@yt.b=t.N@? ?)u. K@ u.Fv;Iu.CxB>xBlEi I AC)m0GIiVH 8Q>YyE BD>  ]R49?9ɯc? i?m@:ɱ|:}R4Q 7Lj?Q 7 ;Q tI)2 Q *CIBɴV:: =7 R47? 9)d? ?Y/@ɷ˚:U: jR4   1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& M%Initialize.q&%&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-PLights, Camera on at range: 6.119999 m .1'-2G):G-G@L5>Setting Heading: 3.123271 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F9F9F9zFAjFAEAEA? п`9?hN??)urK@ ur v;IurCx w>xiE H%R=H!)jGIDt<لףyI +Q?{GztYIiɅ94 u<)ףVH9Q>Yy!%E%!B%-> ) ]5R4-:?-9ɯ-%c? i=?-@-I:ɱ-p:-R4Q E7Eg? E ;Q MtI)EQ M+CIEp!BɴE:E : E7 UR4Ug8? U9)Udd? ]?YUo@ɷUj:U: UXR4a aa1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5_ٯ5;15K_?5K_ 59=ɼ9)9 =xRnhE@VA"@Ti`I`)0GI%iA%fAVH=E8QE>YAyIMEM0#BMhU> Q ]]R4U:?U09ɯUb? ie?U@UE:ɱU:UR4Q m7mH?Q m7 mM ;Q utI)mQ u+CIm"BɴmB:m: mG7 R4鵝8? 9)d? ?Y@ɷ:鷝7: R4? ?1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjF!E!E!<%Tracking...<%2Tracking contact label: 2i]0=];Yeuc?euc e9eIϼa)a egxRNcE)MGIQVHem,8Qm>YiyiuEu$Bu8u> y ]R4};?}P9ɯ}Vb? i?}&@}:ɱ}R:}R4Q 7鲍o'? ';Q tI)qQ ,CI$Bɴ :鴍: 7 R4鵥b9? 69)c? ?Y@ɷ؛:鷥@: 3R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ir;g?g 9lnռ) .0xB1ZEGDHDiR=IR;C)~jGI|EE9<لEĻyEMbQ?~jtxYE3AIAiAAAɅAEAE A)EĻVH]]׸Qe>YayaeEeo&BmWƹm> q ]}R4u;?uk9ɯua? i}?up@us:ɱuc:uR4Q 7鲅?Q 7 ;Q tI)Q ,CI.&Bɴį:鴅s: LY7 R4鵕:? R9)c? ?Y1@ɷE:鷕: R4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&LU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFYF],@zFajFaEaEaxBcE:@F=B@F=)~{GI4= VH=E(QE>YAyAMEM (BMKM> Q ]]R4Ug<?U9ɯU\a? ie?U@U:ɱUB:UR4Q m7eQ? e;Q mtI)eHQ m,CIe'Bɴey:e: e/7 }R4u:? un9)ub? ?Yuz@ɷu:u: uR4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i½;p?p 9Ἁ) $ V>c R}C'AYtZK@tZ6Z@ytZCb=tZxbaEirg=Ip)AIAף<لyy&1y&1?~jtxYAIiɅ配A鄍`e `e<)VHsQ>Y!y!%E%)B-L-> 1 ]=R45 =?59ɯ5`? i=?5@5:ɱ55:5R4Q M7E/?Q M7 E;Q MtI)EQ M-CIE)BɴE:E: E)r7 ]R4U\;? U9)Ub? ]?YU¡@ɷU<:U: UR4a ai1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL >Setting Heading: 3.123271 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF FFF*@zFjFEE<Tracking...<%2Tracking contact label: 2iU_U;Y]u?]u ]9]載Y)Y ]Li }C'AYt.bK@t.1Z@yt.M^b=t.oxBjE HB4=HD)|Iɪ  C  ii{A)` I C)3{Aɫ%̑Cɬ!i%DI!!I)i-3{A ))))-C -fzA11ɭ1153{AI1)1i1VHEE8QE>YIyIMEME+BU[U> Y ]eR4]=?]9ɯ]Y`? ie?]>@]:ɱ]˵:]>R4Q u7m? m_;Q utI)m$Q u-CIm+Bɴm:m: m7 S4};? S4 }9)}a? ?Y}@ɷ};:}: } S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iZϽ; =y?y 9z) xBfE {DY|DJ8****** ping requested ******@NA"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)qIjAjAVHU]OQe>YayimEm-Bu9u>  ]R4?>?9ɯ_? i?鯅@(;ɱK(;鱅R4Q 7鲝?Q 7 s;Q tI)Q .CI,Bɴ ;鴝); 07 S4鵽<? 9) a? ?YI@ɷW:鷽: S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2i A ;? 9') x^LeE]b^unknown deviceResponse_: 00000,187,80,81,0F,FF )Iلyy&1y&1?Mb`YAIiɅ酝xA鄙 )VHMU9QU>YYyY]E].Be9e> a ]mR4e>?e9ɯe_? iu?e͢@e:ɱe-:eR4Q }7}]?Q 7 }t ;Q tI)}<Q .CI}.Bɴ}:}': }7 S4鵍2=? 9)`? ?Y@ɷM:鷍@: |0S4 1&- L-xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&- M-Initialize.q&5&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'51'5=N=PLights, Camera on at range: 6.119999 m .1'=2G9:G9LE>Setting Heading: 3.123271 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFQFU+@zFYjFYEYEY<]Tracking...xRfEGPHP)Xi)I))IVHM8Q>YyE.0Bb">  ]S4d?? aS49ɯ_? i?@+:ɱw:& S4Q 7A? ";Q tI){Q .CI/Bɴ:: 7 S4=? 9)`? ?YȢ@ɷ:: ?S4   1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& M%Initialize.q&%&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-PLights, Camera on at range: 6.119999 m .1'-2G):G)L5>Setting Heading: 3.123271 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEAEIx6dE:@>=B@<)AIIMR= MR=`e<لyY˱y˱E˵1Bͽ%@9>  ]S4??%9ɯ~_? i?6@:ɱ:2S4Q 7y ?Q 7 %;Q tI)Q /CI1Bɴ:b: 77 S4>?  9)`? ?Y@ɷ^:@:  QS4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL%>Setting Heading: 3.123271 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F)F)F)zF)jF1E1E1<=Tracking...<=2Tracking contact label: 2iM2U;QU"@U" U9] Y)Y ]=iaeω;)aIaaHm<"Hmw:5= %5RHorizontalControl.headingCmd 3.123271 rad > a>%5 S*~C'AYt.tK@t.1Z@yt.sb=t.x6%hE*@>=2@>=iHIJAC)tIxVH=EtoQE>YAyAMEMX3BMM> Q ]]S4U,@?U:9ɯU__? ie?Uc@U:ɱU:U&S4Q m7e? eg(;Q mtI)eIQ u/CIe3Bɴe:eW: en7 }S4u}>? u!9)u`? ?Yu%@ɷu:u@: uaS4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i6;@ 9$) U=iw;)IH<"Hw:h=©߱%RHorizontalControl.headingCmd 3.123271 rady *D~C'AYt.υK@t.?3Z@yt.k;b=t.Cx:iE H:p=H8)tIxVHW8Q>Y y  E 4BZ9>  ]%S4@?P9ɯ>_? i%?@:ɱ:4S4Q 57-?Q 57 -(+;Q 5tI)-Q 50CI-4Bɴ-а:-: -7 ES4=>? =79)=}`? E?Y=T@ɷ=:=M: =rS4I IQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GqLu>Setting Heading: 3.123271 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i_7;@ 9) 0 =id,;)IH<"Hw:)IiYi%RHorizontalControl.headingCmd 3.123271 radG f^~C'AiYt2.K@t25Z@yt28b=t2xR^E@T"@Ti`Ib;C)!I!)-gAim=لmtymy&1?YˉyˉEˍ6B͕T9>  ]S4A?9ɯ^? i?鯝@#:ɱ:鱝]CS4Q 7鲭? .;Q tI)+!Q 0CIU6Bɴ9;鴭; ׬7 S4@? q9)_? ?Yף@ɷ@:: "S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F ,@zF jF E E<Tracking...<2Tracking contact label: 2i-Z4-;)-(@-( 595¦1)1 5=i9=!;)9I9AHE<"HMw:%=RHorizontalControl.headingCmd 3.123271 rad 9q ax~C'AYt.K@t.x:eEBfA@@)v0GIxVH=E>QE>YAyAMEM18BM:M> Q ]]S4UB?U9ɯU]? ie?U@U:ɱU:U)QS4Q m7e?Q m7 e0;Q mtI)e"Q u0CIe7Bɴe:e^: e17 }S4uA? u9)u _? ?YuQ@ɷu:uw: u"S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i:;@ 9,%) =i=֘;)IH<"Hw:%RHorizontalControl.headingCmd 3.123271 radY <~C'AYt.K@t. 0Z@yt.da=t.Ax6'fEG:AAH:AAiHIJAC)zjGIx55T<ل5y5~jtx~jt?Mb`Y5 AI1i115AɅ115Ļ 5D<)5VHUU:QU>YYyY]E]9Bee> i ]uS4mC?m9ɯm]? iu?m@m:ɱm :m`_S4Q 7}}? }3;Q tI)}$Q 1CI}9Bɴ}:}: }7 S4鵍cA? 9)^? ?Y~@ɷ:鷍: S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2ik:;@ 9+) O=i ;) I  H<"Hw:%RHorizontalControl.headingCmd 3.123271 rad+ ~C'A)@IYt.vK@t.@$Z@yt.ZNb=t.x6LeE:@>=B@>=)z{GIxz%= ~%=VH 9Q >YyEe;B4> ! ]%S4%_C?%9ɯ%]? i-?%@%:ɱ%:%+mS4Q 575]?Q =7 5d6;Q =tI)5e%Q =1CI5;Bɴ5:5]: 5@7 MS4EA? E9)E^? M?YE@ɷEE:E': ES4Q QQ1&e LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NuPLights, Camera on at range: 6.119999 m .1'u2Gq:GqL}>Setting Heading: 3.123271 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=>; @  9e2) ,=igS;)IH<"Hw:‘ߙ%RHorizontalControl.headingCmd 3.123271 rad V> ]>l +~C'AYt.PqK@t.Z@yt.b=t.:x6pfE {8Y|8b8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I;C)u0GIyVH˽A9Q>YyE<=BO=>  ]S4C?9ɯX]? i?@|:ɱȲ:h}S4Q M7 7? 9;Q UtI)  'Q U2CI Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFIFIzFIjFIEQEQ<]Tracking...<]2Tracking contact label: 2if+; j@ j 9 M; ) J=iY]p;)YIYaHe<"Hmw:q߁%RHorizontalControl.headingCmd 3.123271 rad ~C'Axrָ>xrNcE Hr=Hrp=-z0NEGATIVE RANGE NOT USING)jGIDل:yMbI +?MbP?YIiɅ 94<):VH--Q5>YQyQ]E]>B]]> i ]S4mD?m,9ɯm]? i?mF@m˻;ɱm;mS4Q 7鲝6?Q 7 M<;Q tI)k(Q 2CI>Bɴ:鴝: `7 S4鵭cB? 9)^? ?Y@ɷr:鷭D: S4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iu_xNrdE@VA"@T)Zi)I-AC){GInAkAVH]Q>YyEV@B)k>  ]S4iD?B9ɯ]? i?q@:ɱ:XS4Q 7K? >;Q tI))Q 3CI @BɴC:: w7 S4B? )9)^? ?Y3@ɷ<:b: S4   1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMPLights, Camera on at range: 6.119999 m .1'M2GI:GILU>Setting Heading: 3.123271 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFyzFyjFEE<Tracking...<2Tracking contact label: 2iMD;@ 9wG) "=i;) IH<"Hw:)1%URHorizontalControl.headingCmd 3.123271 rad ?A d @C'AYt.olK@t.Z@yt.%9b=t.]xnpfE)0GI#<لy~jtxMb?Mb`YIiɅĻ <)VHU]Q]>YYyaeEeBBe8m> i ]uS4mD?mY9ɯmx]? i?m@mb;ɱmo;mS4Q 7鲥?Q 7 B;Q tI)+Q 3CIFBBɴǺ:鴥: Ԝ7 T4鵵C? T4 @9)^? ?Ya@ɷ&;鷵i; T4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-PLights, Camera on at range: 6.119999 m .1'-2G):G)L->Setting Heading: 3.123271 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFEE<Tracking...<2Tracking contact label: 2i?c.;o@o 9fP) !*&=iI;)IH<"Hw:%RHorizontalControl.headingCmd 3.123271 radO g-C'AYt.nK@t.jZ@yt.gb=t.[>x>"lEGB?AHB@AiPIP)~jGI|iC  |A)  FI  ّC) zAɗ FّCɘ|Ai`IFICi{A DF)%C %{A%%Fə%-̑C-{AI))-QFi))-̑CI-{A1ɚ1 1=Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.195M{AɆ5H5JAMLReceived data from all battery sticks.VH]]9Qe9?YayaeEeCBm(:m9? q ]S4uD?uc9ɯua]? i?u@u;ɱu:u$S4Q 7鲥e? vD;Q tI),Q 3CI=CBɴ;鴥; 7 T4DC? J9)^? ?Yu@ɷ:7: T4 1& L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-PLights, Camera on at range: 6.119999 m .1'-2G):GILU>Setting Heading: 3.123271 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFazFajFaEiEiGC'A)IYt2|rK@t2Z@yt2b=t2ȖxBlE:@J=B@H) {GIVH˝$9Q>Yˡy˩E˭+EBͭ:>  ]S4:E?t9ɯ8]? i?ե@:ɱ:S4Q 7?Q 57 RG;Q 5tI) .Q 54CIDBɴ<a&< 0y7 ET4EC? E[9)Eu^? M?YE@ɷE:E+: E"T4Q QY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzF jFEE<Tracking...<2Tracking contact label: 2iMnCM;M&=U@U U9UJ[Q)Q ]+=iiu;)IH<"Hw:w= C aC'AYt.csK@t. Z@yt.ea=t.@>xBgEidId)5ƄGI9t<لy~jtxy&1|?MbPYIiɅ `;)VHr#Q>Y y  E FB  9>  ]S4~E?9ɯ+]? i%?@k:ɱ:S4Q -7-su?Q U7 -,J;Q UtI)-/Q U4CI-FBɴ-;-; -7 eT4]C? ]j9)]g^? e?Y]@ɷ]:]: ]I4T4i i1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE< Tracking...<2Tracking contact label: 2i%;VH-;)5@5 595a1)1 5%/=i9=.;)9I9AHM<"Huw:e:=!)~ ]zC'AYt.uK@t."Z@yt.Džb=t.Ii?)u.uK@ u.v;Iu.Cx>,>x>mE H@H@)~GI|VH==9Q=>YAyAEEEYHBMi9M> Q ]]S4UE?U9ɯU]? i]?U@U:ɱU5:UYS4Q e7eV? eL;Q mtI)e0Q m5CIe HBɴe6:e: e7 }T4uD? uw9)u[^? }?Yuӥ@ɷu:uk: upDT4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i/Q;@ 9g) ;2=i;)IH<"Hw:Dc= ̔C'AiYt.wK@t.Y%Z@yt.b=t.zexRrdE@T"@Ti`I`)-ƄGI1+=لyZd;O~jt?MbY3AIixAɅ酑鄕j <)VH9Q>YyE JB9>  ]S4F?9ɯr\? i ?@U:ɱ:=S4Q 57(4?Q =7 O;Q =tI)[2Q =5CIIBɴ;{; J7 MT4EE? E9)E]? M?YEI@ɷE+:En: EWT4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2i tE;  @  9 8o))1 55=i1=ȹ;)9I99HE<"HEw:E^=) @A   ʩC'AYt.zK@t.8(Z@yt.b=t.xjnhE)MBGIQVHeeiQe>YiyimEmKBu9u> y ]S4}G?}9ɯ}[? i?}@}$:ɱ}:}S4Q 7鲍? mR;Q tI)3Q 5CIJKBɴ:鴍g: 7 T4鵝 F? 9)]? ?Y@ɷR:鷝4: gT4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i.S ;  @  9 oZu) 9=i);)IH%<"H%w:))I)i))y߁ C'AYt.yK@t.&Z@yt.J b=t.VxNlEGR@AHP {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I;C)%jGI)VH]eQe>YiyimEmYMB͝r>  ]T4H? aT4!9ɯ$[? i?鯥k@;ɱ<鱥7 T4Q 7C?Q 7 U;Q  tI)P5Q 56CIMBɴ< < R-7 }T4E'G? E 9)EZ\? ?YE1@ɷEdSetting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F1zF9jF9EAEAx@]F^unknown deviceResponse_: 00000,187,80,81,0D,FF :@=B@=)={GI9E< AD<لyy&1|{Gz?Mb`Y AIiAɅ酉鄍` #<)VH˥b9Q>Y˩y˩E˭NB9>  ]T4 I?79ɯZ? i?@:ɱ:T4Q 7? WX;Q tI)6Q 6CINBɴд;; H7 %T4xG? 9)6\? U?YY@ɷ;; T4Y YY1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i pY ; k= @ 9܁) 4@=iU;)I!H-<"H-w:  R> V>[ 9C'AYt.xK@t. &Z@yt..b=t./xBrdEiRg=IRAC)0GIVH=E%QE>YAyAMEMnPBMM> Q ]]T4UhI?UI9ɯUZ? ie?U@U[:ɱU :U$T4Q m7eͲ?Q m7 eZ;Q mtI)e7Q u7CIePBɴe:e: e,7 T4uG? u19)u\? ?Yu|@ɷuP:u;: uT4  1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMPLights, Camera on at range: 6.119999 m .1'M2GI:GILU>Setting Heading: 3.123271 rad .q&ULu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2i dZ;@ 9Lք) TaC=i;)IH<"Hw: C C'AYt.@zK@t.'Z@yt.{a=t.UxBeE HBp=HBa=)L)eGIiDT<لyy&1|I +?Mb`YIiɅ酩鄩 94<)VH%@Q%>Y)y)-E-)RB5s95> Y ]eT4]I?]c9ɯ]Z? ie?]@]:ɱ]:]=4T4Q 7mM? m];Q tI)m9Q 7CImQBɴm;mõ; m7 T4鵝H? K9)[? ?Y@ɷ:鷝@: T4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:G!L%>Setting Heading: 3.123271 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)FQFQzFQjFQEQEQ<]Tracking...<]2Tracking contact label: 2i\O;@ 9e) \G=iq;)IH<"Hw:m  /C'Ai;Yt.7zK@t.'Z@yt.hb=t.xRNcE@VA"@Ti)I))jGIkAVH55ޠ9Q5>Y9y9=E=SBEE> I ]UT4M J?M}9ɯMZ? iU?M@M:ɱM:MkCT4Q e7] l?Q e7 ]`;Q etI)];Q e7CI]SBɴ] :]: ]R7 uT4mxH? me9)m[? }?Ymڧ@ɷmp:m: m9T4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iP;@ 9) J=i#;)IH<"Hw:L=™ߡ ?A V IC'AYt2xK@t2n&Z@yt2wb=t2xBpfE)~ƄGIVH%M38Q%?Y!y)-E-BUB-h-? 1 ]=T45gJ?59ɯ5sZ? iE?5:@5:ɱ5N:5*OT4Q M7EP? E+c;Q MtI)EASetting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE E < Tracking...< 2Tracking contact label: 2i$Kd%;!%@% -9UŽQ)Q ]M=iae9;)aIiiHu<"Huw:MzA=!)l cC'AYt.,|K@t.)Z@yt.wHc=t.XxReEGRAAHTi`I`)-GI)=لy:vy&1?MbY3AIixAɅ酉鄍Լ `<)VHH9Q>YyEVB9>  ]T4K?9ɯY? i?@˵:ɱW: ^T4Q 7?.?Q 7 f;Q tI)=Q 8CIVBɴ;ϼ; ES7 %T4%I? %9)%[? -?Y%@ɷ!%: %DT4Q QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=N-PLights, Camera on at range: 6.119999 m .1'-2G1:G1L5>Setting Heading: 3.123271 rad .q&5L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFE,@zFAjFAEAEI9>x@:@DB@F=) {GIVH=E$QE>YIyIMEMXBMcU> Q ]]T4UL?U9ɯU:Y? ie?U;@QɱU9:UkT4Q m7m? mh;Q utI)m#?Q u9CIm.XBɴm:m: m7 T4鵝J? 9)qZ? ?Y@ɷߡ:鷝: T4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i6^b;@ 9h) dT=i;)IH<"Hw: V> a>G% obC'AYt.{K@t.o)Z@yt.81b=t.]xBnEiPIR;C)I QQلQyU:vy&1?MbYQIQiQQQɅQQQ Q)QVHmmQu>Y˱y˱E˵&ZBͽ7>  ]T4M?89ɯX? i?@N:ɱ:*zT4Q 7?Q 7 k;Q tI)@Q 9CIYBɴ: : b7 U4%L? U4  9)Y? ?Y@ɷ+:&< U4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE E <Tracking...<2Tracking contact label: 2i(S;@ 9e:a)a m}X=iim;)qIqqH}<"H}w:YiH+ 8C'AYt2}K@t2Q+Z@yt2~Yb=t2԰&>xB'fE HBR=H@)IVH=EI8QE>YIyIMEM[BU_9U>  ]T4N?o9ɯW? i?鯽>@:ɱ˵:鱽>T4Q 7D? ~n;Q 5tI) BQ 59CIu[Bɴz`<za< O7 EU4=KM? =X9)=0Y? E?Y=@ɷ=I:=M: =U4I Q1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE< Tracking...< 2Tracking contact label: 2i]Gae;eBK=e@e e9eca)a mF\=in;) =IH<"Hw:2 rˀC'Aip;Yt2SK@t2-Z@yt2^b=t2x^cE {`Y|`f8****** ping requested ******@d"@djNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)IIQVH˕8Q>YˡyˡE˭]B9>  ]T4(P?9ɯPW? i?˪@:ɱ:˗T4Q U7 +?Q U7 q;Q UtI) CQ U:CI ;]Bɴ ': : H7 eU4]N? ]9)]X? e?Y]@ɷ]:]: ])U4m? u?u,A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEEAZ ;   @   9) 0`=iae;)aIaiHu<"Huw: @A @A68 C'Axn>xn nE]v^unknown deviceResponse_: 00000,186,80,81,0E,FF kA@iA)AIIm6only read 3 of 4 data itemsm~Failed to parse: :RA, 0.00, 97.92, 95.92, 98.42 +4, -25,A a 1m@a u a 5u@a u a 9u@a u a -u@a u VH}˅Q>YˉyˉEˍ"_B͵>  ]T4AQ?9ɯV? i?鯽H@::ɱ!>鱽T4Q 7?Q 7 St;Q tI)EQ :CI^Bɴ;; 7 @ @ @ @ i   1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 6.119999 m .1'E2GI:GILm>Setting Heading: 3.123271 rad .q&mLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEyE<Tracking...<2Tracking contact label: 2iDe;@ 9h') c=i;)IH<"Hw:U> C'Axn>xnaEGpHpiIAC)iIqVHQ>YyE`B> ! ]%T4%RR?%9ɯ%"V? i-?%@%:ɱ%H?%ΫT4Q U75h? 5v;Q ]tI)5^FQ ];CI5Y`Bɴ5Ȳ:59: 5/7i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iBg;@ 9J) g=i -;))I11H=<"H=w:E==2E  C'A)IYt.B~K@t.+Z@yt.a=t.6!xBcE:@F=B@J=) Ia 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] Y]=لYy]:vV-?MbYYIYiYYYɅYYY ]<)YVHu˭׷Q>Y˱y˱E˵AbB>  ]T4mS?N9ɯU? i?A@;:ɱ@:T4Q 7aH?Q 7 y;Q %tI)GQ %;CIaBɴ^:: :7 - - - - 5 5T4-Q? UT4 -69)-V? U?Y-@ɷ-a;-; -T4Y Ya1&m LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFIzFIjFQEQEQ0 L 2C'AYt.pK@t.-Z@yt.7b=t..b>x>pfEiLIN;C)ƄGIVHc,9Q%>Y!y!%E%cB-9-> 1 ]=T4! = 5~T?! = 59ɯ5T? iE?5@5:ɱ5:5T4Q M7E)? Ef|;Q UtI)EIQ ;CIEtcBɴE;E; E7 T4 ] 鵅R? a m9)-V? ?Y@ɷ:鷅: 6T4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i]mm];Y]@] ]9ea)a eVn=iimR;)iIiH<"Hw:)Ii)I!i!!™ ߩ 2R S[LC'AYt2K@t22Z@yt2ٷb=t2½x)dE Ha=H) ׄGI<لyI +I +?MbpYAIiAɅ酥A鄥94 94<)VH˽9Q>YyEeB_:>  ]T4!  U?!  9ɯT? i?@0:ɱ:T4Q  7]?Q  7 ;Q -tI)JQ -Setting Heading: 3.123271 rad .q&MLM`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFFF*@zFjFEE<Tracking...<2Tracking contact label: 2i&[;"@" 9I) r=i<)IH<"H w:TY ~6fC'Ai;xn>xnmjE@rA"@p@t"@vAi|IAC)GIVH˝Q>YˡyˡE˥gBͭ>  ]T4!  rU?!  9ɯNT? i?鯵&@:ɱ:鱵T4Q 7?  ;Q tI) LQ Setting Heading: 3.123271 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2it;I>@ 9u))) -wu=i15\c<)9I99HE<"HEw:ߑ ?A ?A1` C'Axn>xncE)0GIVHQ>YyEhB>  ]T4!  U?!  9ɯS? i?[@;ɱ;-T4Q %7%+?Q -7 %;Q -tI)%MQ -=CI%hhBɴ%ٮ:%: %b/7 UT4 ]U 5ET? a] 59)50U? ]?Y5!@ɷ5;5: 5lT4e? e?a1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ij;@ 9󶽉) y=i!%PE<)!I!)H5<"H5w:)1s.f F홁C'Axr<>xrhEGz@AHxiI)}jGIף<لyQ:v?MbpYIiɅu T<)VH Q >YyEbjB>  ]%U4! % V? a%U4! % 9ɯS? i%?@x:ɱ:U4Q u7-? -;Q utI)-OQ u=CI-'jBɴ-x:-^: - 7 U4 ] }T? U4 a }9)}T? ?Y}j@ɷ}ʽ:}: }U4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1' =N PLights, Camera on at range: 6.119999 m .1' 2G :GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzF!jF!E!EAxBcE:@F=B@F=) {GI = 4=VH=EsԸQE>YAyAMEMkBM:M? Q ]}U4UW?U9ɯUeS? i?Uݭ@Ub;ɱU;U U4Q 7鲅9?Q 7 };Q tI)KPQ =CIkBɴ:鴅U: 97 U4鵝yU? 9)T? ?Y@ɷd:鷝: q!U4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF!F!zF!jF!E!E)<-Tracking...<-2Tracking contact label: 2iEP|M;IM@M M9M^oQ)Q u=iy}<)yIyH<"Hw:..= l> a>@s ́C'Axw>x%iE {1Y|1E8****** ping requested ******mNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 *@a=2@=iI;C)QIa:لףyQ:v?{GztYIiɅ )ףVHQ>YyEmBEM> Q ]]U4UW?U9ɯUR? i]?U/@U:ɱU:UCU4Q 7e\? e;Q tI)eRQ >CIemBɴeSetting Heading: 3.123271 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFFFzFjFEE<Tracking...<}2Tracking contact label: 2i [;H@H 9½)  =i!%! <)!I!)H-<"H-w:- l > Ujy }C'AYt.3K@t.;Z@yt.?b=t.C?)u.3K@ u.Rv;Iu.CxR>xRiE HVR=HT]Z^unknown deviceResponse_: 00000,186,80,81,0E,FF )IVH˽9Q>YyE1oB:>  ]U4bX?#9ɯR? i?e@:ɱ:*U4Q 7B?Q 7 1;Q tI)2SQ >CInBɴݱ:: uM7 U4V?  9)S? ?Y)@ɷ@:: DU4   1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N%PLights, Camera on at range: 6.119999 m .1'-2G):G)L->Setting Heading: 3.123271 rad .q&-L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9EAEAe@e e9e"Ľi)i mjk=iiu <)qIqyH}<"Hw:)IiR  XC'AiYtF K@tFzHZ@ytFj.a=tFtx~iE@ "@ Ai9I=AC)IVH˽Q>YyEpBP:>  ]U4Y?:9ɯ.R? i?@;ɱ5;8U4Q  7!?  ;Q  tI)TQ  ?CItpBɴ.:: 7 =U4ZW? "9)eS? =?Yl@ɷף:: gVU4A AA1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ip;@ 9@ǽ) i=iz<)I H<"Hw:IQ | 5C'AYtBK@tB`PZ@ytBկa=tBʷ>x^klE)yIL=لTyYyEprB:>  ]U4Z?z9ɯQ? i?O@':ɱ,:FU4Q  7?Q  7 ޕ;Q  tI)VQ  ?CIrBɴ:: :_7 U4X? b9)VR? ?Y@ɷI:: gU4) ))1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 6.119999 m .1'M2GI:GILM>Setting Heading: 3.123271 rad .q&MLU`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYF],@zFYjFYEaEaxJlEGNAAHL)TiI!)IVH yQ>YyEtB7> ! ]-U4%\?%9ɯ% P? i5?%@%:ɱ%:%IUU4Q =75y? 5;Q =tI)5WQ E?CI5sBɴ5:5: 57 MU4EhZ? E9)EBQ? U?YE@ɷE:EӠ: EyU4Y YY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=N}PLights, Camera on at range: 6.119999 m .1'}2Gy:GyL}>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iJu;@ 9&;ν) N=i<)IH<"Hw:¡ߩ^ "NC'A),I,YtvݧK@tvMUZ@ytvCa=tv-xgE:@ =B@ =)-ƄGI)m;mxi=لmym/$~jt?MbYmAIiiiiiɅimEAm, m=)mVHˍ\:9Q>YˉyˑE˕uB͕4:>  ]U4]?9ɯN? i?鯝@:ɱ:鱝cU4Q 7鲭{?Q 7 ;Q tI)XQ @CIcuBɴ:鴭: Cw7 U4鵽9\? 9)O? ?Y@ɷ:鷽: U4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjF E E < Tracking...<2Tracking contact label: 2i%u%;)-@- -9-ѽ))) -8V=i15n|<)1I99H=<"HEw:> V> V>w ahC'AYt.ΪK@t.>XZ@yt.a=t.2xBmE*@J=2@J=iPIP)GIVH=EQE>YAyAMEM5wBMk:M> Q ]]U4Ut_?UA9ɯU{M? ie?Ug@UE:ɱU:UpU4Q m7e:? e6;Q mtI)eBZQ u@CIevBɴeX:e: e7 }U4u]? u(9)uN? ?Yu+@ɷu:u: uCU4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU+];Y]@] ]9]ԽY)a e;'=iamC<)iIiiH<"Hw:u5>IQT wC'AYt.K@t.~\Z@yt.a=t.bxB.^E HFa=HD)~{GIVH=E8QE>YAyAMEMxBMV(:M> Q ]]U4U5a?U9ɯU(L? ie?U%@U$:ɱU|:U~U4Q m7ez?Q m7 e ;Q mtI)e[Q uACIeqxBɴex:e': e y7 }U4u_? un9)uaM? ?Yu@ɷu7:uw: uU4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i[{;@ 9ؽ) b%=i<)IH<"Hw: ->pʦ {C'AiYt.K@t.f^Z@yt.Jkb=t.xBlEiPIP)IAEt<لEףyEQI +?{GztYEAIAiAAEAɅAExAEu E94<)EףVH]e~9Qe>YayaeEmtzBm|9m> q ]}U4ua?u9ɯuK? i?ud@u:ɱu:uU4Q 7鲅d^?Q 7 ;Q tI) ]Q ACIzBɴZ:鴅: 7 U4鵕&`? 9)L? ?Y(@ɷ:鷕: OU4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i:|; 9i_۽) y*=i   <) I H<"Hw:)I!i!!y߁ 3 &UC'AYt.K@t.kbZ@yt.b=t.x6gE>eA@BgA)tIxVH~9Q>Y y  E |B$:>  ]U4eb?9ɯ[K? i%?@:ɱ:U4Q -7->? -;Q 5tI)-^Q 5ACI-{Bɴ-d:-: -Ć7 EU4=`? =9)=L? E?Y=e@ɷ=s:=: =9U4I II1&] LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GiLu>Setting Heading: 3.123271 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFzFjFEE<Tracking...<2Tracking contact label: 2i};@ 9~޽) "=i2<)IH<"Hw:‘ߙ߳ 1@ЂC'AYtFK@tFbZ@ytFc=tFqxNiEGR@AHP {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )tiiIq)I]]ף<لYy]:vMb?{GztY]AIYiYYYɅY]A]T ]<)YVH}˅8Q>YˉyˉE˕}B͝S8>  ]U4 c?9ɯJ? i?鯥@&;ɱ$;鱥U4Q 8鲽?Q 8 ߩ;Q tI)#`Q BCIv}Bɴ;鴽.'; d8 U4da? 9)L? ?Y@ɷh<'< U4 1& L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-PLights, Camera on at range: 6.119999 m .1'52G1:G1L5>Setting Heading: 3.123271 rad .q&5L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FaFe*@zFajFiEiEi>x>eE){B D=I{@i{B={B+>{@{BA{@|BfB9|B3?Cwږ?:@R=B@R=)IVH˥;Q>YˡyˡE˥UBͭ"1>  ]U4c?9ɯJ? i?鯵.@s:ɱ:鱵U4Q 8w? z;Q tI)taQ BCI~Bɴ :: N8 U4a? 9)K? ?Y@ɷR:w: U4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.123271 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<%direction in vehicle frame: [ 0.998848 forward, 0.047978 starboard, 0.000000 keelward ]<%CALLING PROCESS<%TProcessing response from acoustic contact.<%TProcessing response from acoustic contact.<5rotationFromVehicleToNavigationFrame_ = [ -0.962171,-0.266751,-0.055418;0.265878,-0.963739,0.022715;-0.059468,0.007121,0.998205 ]<=VazimuthInNED_ = -2.823091 rad -- adding 2pi<=ZazimuthInNED_ = 3.460094 rad after adding 2pix^jE*@na=2@na=itIx)]ƄGIYVHuuϹQ}>YyyyE˅wB͍θ>  ]U4)d? 9 etIɯ J? i?鯍r@;ɱ;鱍U4Q 8鲥? H;Q tI)bQ CCIEBɴ_:鴥: S8 V4鵵b? V4 9)YK? ?Y6@ɷ :鷵: 2V4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:G/r]@L>Setting Heading: 3.460094 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9H轉) K=i%yH)!I%/r]@!H-<"H-w:  &C'AYt.K@t.aZ@yt.d b=t.C}?_@@Z)?k?)u.K@ u.tv;Iu.CxR>xREmE HPHVp=)=GI9==9<ل=Ļy=QMb?~jtxY9I9i999Ʌ99=u 9)=ĻVH˕SBQ>YyEXB49>  ] U4d?09ɯI? i ?ų@-=ɱ=MU4Q 8=h? =;Q tI)=dQ CCI=?Bɴ=RN<=N< =8 V4鵵Mc? 9)J? ?Y@ɷw:鷵۞: V4 ))1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=2GQ:GYL]>Setting Heading: 3.460094 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFiEqEqxB+bE@FA"@DiPIP)M{GIQUjAUhAVH}˅AQ>YˁyˁE˅B͍R9>  ]U4ue?L9ɯ"I? i?鯕@I;ɱ;鱕U4Q 8@?Q 8 ;Q tI)eQ CCIBɴ>:: ,8 V4c? 39)ZJ? ?Yʳ@ɷx;ݔ; :'V4! !!1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&52G9:G9L=>Setting Heading: 3.460094 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFIFIzFIjFIEIEQ@ 9ｉ) w=iA)=IH<"Hw: * BwQC'AYt.zK@t.dZ@yt.Xb=t.6ŹxRiEZhA@ZfA)ƄGI!<لyy&1Q?~jtxYIiɅ酱鄵`e u<)VHBy9Q>YyEB9>  ]U4f?j9ɯH? i?L@:ɱݱ:>U4Q 8 x? ܷ;Q tI).gQ DCIBɴ:: 7`8  V4jd? Q9)I?  ?Y@ɷ^:Ü: 8V4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&- M-Initialize.q&-2G):G)L5>Setting Heading: 3.460094 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9F9F9zFAjFAEAEAxB`EGFAAHDiPIP)GIVH=E9QE>YAyAEEMBMd9M> Q ]]U4Uf?U9ɯU"H? i]?U@U:ɱU-:UU4Q m8eX? e;Q mtI)ehQ mDCIe{Bɴeի:e: eP8 }V4ud? um9)u\I? ?YuR@ɷu2:u: uIV4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G!:G!L%>Setting Heading: 3.460094 rad .q&%L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zFQjFQEQEY<]Tracking...<]2Tracking contact label: 2i(;@ 9b-) =i]v8);IH<"Hw:ɯ=߉4< A.C'A)IYt.K@t.iZ@yt.b=t.J<>x>hE:@B=B@B=)~{GI|%= %=VH IQ>YyEzB%):%> ! ]-V4%Bg? a-V4%9ɯ%G? i5?%Ҵ@%:ɱ%:% V4Q =8=x8? =`;Q EtI)=iQ EECI=FBɴ=ݱ:=: =g8 MV4Me? M9)MH? U?YM@ɷMN:M: MZV4Y YY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&u2Gq:GqL}>Setting Heading: 3.460094 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9K) ʝ=i5)޻IH<"Hw:­h=‰ߙ Y> ]>Qf W C'AYt.>K@t.kZ@yt.la=t.K@ u.v;Iu.CxN>xRdEi`Ib;C)!I!aeף<لayey&1Q?~jtxYe AIaiaaaɅaeEAa a)aVH˽ظQ>YyETB 9>  ]V4g?9ɯG? i?@:ɱ:V4Q 8?Q 8 _;Q tI)tkQ ECI Bɴc:U: 0,8 V4;f? 9)TH? ?Y޴@ɷD:: mV4  1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.460094 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i ,g-;15@5 5951)1 5==i=4)9I9AHE<"HMw:-4#>.o=n m七C'AYt.TK@t.jZ@yt.ob=t.xRjE HPHRa=)!I!VH559Q5>Y9y9=E=BEAE> I ]UV4Mzh?M9ɯMF? iU?M\@M:ɱM:M (V4Q e8]? ];Q etI)]lQ eFCI]Bɴ]q:]: ]_m8 uV4mf? m9)mG? u?Ym @ɷmZ:m: m}V4y 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.460094 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ihʋ;@ 9 ) ݨ=iG40<)IH<"Hw:)Ii=jZX<x ҃C'AiYt.K@t. mZ@yt.ja=t.xBeE {DY|DJ8****** ping requested ******@L"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i IAC)I9<لyQMb?MbpYAIiɅAu <)VHњQ>YyEB%Ԝ9%> ) ]UV4-8i?-9ɯ-IF? iU?-@-Ǻ;ɱ-:-Q8V4Q e8]? ]f;Q etI)]znQ eFCI]ֆBɴ]:]˵: ]8 V4g? 9)G? ?Yx@ɷ4:U: V4 1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&52G9:G9L=>Setting Heading: 3.460094 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFF*@zFjFEE<Tracking...<2Tracking contact label: 2it;-@- 9  )  Oi=i4%''<)AIIQH]<"H]w:•X;QY @A C'AYt.K@t.+vZ@yt.`=t.ZεxBlE){B;I{@i{Bw={B>{@{BA{@|B@9|B̃wh?e ^ϿZcA@ZdA)-ƄGI)VH]e۠Qe?YayaeEmBm:m? q ]}V4ui?u9ɯu F? i?u@u|:ɱu :uxDV4Q 8鲅? ;Q tI)oQ FCIBɴɪ:鴅: r8 V4鵕h? 9)CG? ?Y@ɷ7:鷕4: V4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.460094 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.961829,-0.268131,-0.054690;0.267298,-0.963359,0.022158;-0.058628,0.006694,0.998257 ]<VazimuthInNED_ = -3.120553 rad -- adding 2pi< ZazimuthInNED_ = 3.162632 rad after adding 2pi< tazimuthInNED_ = 181.205479 degrees FINAL. Radians:3.162632<^ContactLat = 36.803049 ContactLon = -121.787840:EE@EVu@;>+Ẽwh?e ^ϿE;EE`aXvk9!ſzijݿEz,hKu=-EhJ@bE )jEBEp$?JEo$?RE ZE rESzE i5Ĝ=;=->=@= =9=dA)A E/=iE4M&<)IIIIHU<"HUw:5?BIĊ wC'AYt.qK@t.uZ@yt.Ba=t.xBrdEGDHDiTIT)BGIVH=E5:QE>YIyIMEMBU8U> Q ]]V4Ujj?U;9ɯUE? ie?U8@UǺ:ɱU4:UwRV4Q m8mSetting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i?;@ 9$) L=i|5)IhJ@H<"Hw:5P!) mS C'A)@IYt.K@t.suZ@yt.xa=t.x@:@F=B@F=)jGI IM=لMyMS㥛S㥛?MbYM AIIiIIMxAɅIIM/ݼ M/<)MVHems9Qm>YiyquEuYBu}> y ]V4}k?}o9ɯ}!E? i?}@}:ɱ}:}`V4Q 8鲍s? ;Q tI)rQ GCI#Bɴ:鴍R: ~8 V4鵥i? V9)[F? ?Y}@ɷ:鷥: V4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2iފ ;  @  9  )  bz=i\8) < V>  /0:C'AYt.K@t..zZ@yt.b=t.϶xZIiEihIn;C)5ƄGI9VH}˅9Q>YˁyˉEˍ)B͍9:>  ]V4l?9ɯD? i?鯝:@E:ɱ:鱝nV4Q 8鲭R? h;Q tI)sQ HCIBɴɪ:鴭: |8 V4鵽k? 9)E? ?Y@ɷ^:鷽b: fV4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i@̋;!%@% %9%a!)! %Ъ=i-<)-6M=I)1H=<"H=w:-R5#><¡ߩb = TC'AYt.K@t.|Z@yt.b=t.[\ػ>xBgE HBR=HBp=)ׄGI<لy:vy&1?MbpYAIiAɅ酅xA鄅T `e<)VH˽8Q>YyEBP9>  ]V4Mm?9ɯ4D? i?{@;ɱk;]}V4Q 8s0?Q  8 W;Q  tI)quQ  HCINJBɴL:`: { 8 =V45k? 59)5lE? =?Y5@@ɷ5{:5Y: 5~V4A AA1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9% ) =iߟB)[=I H<"Hw:q->½x:aE)BitIvAC)IVH˽8Q>Y˹y˹EʋBb>  ]V4m?9ɯC? i?@4:ɱk:wV4Q 8? );Q tI)vQ HCIBɴ::N: L8 V42l? 9) E? ?Y@ɷ:: V4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=N%PLights, Camera on at range: 7.859998 m .1'%2G!:G!L%>Setting Heading: 3.162632 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iU=U;Q]@] ]9] Y)Y ]E=ie#F)e=IaiHm<"Huw:)qIyiyy.=±߹ ?A! YC'AYt.RK@t.yZ@yt.5b=t.ƸxNeE)GIVH--Q5>Y1y15E5B͝>  ]V4jn?9ɯC? i?鯥@ :ɱ:鱥iV4Q 8鲵? ;Q tI)ExQ ICI`Bɴ鴵 : 8 W4l? W4 9)D? ?Y@ɷb::  W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F F F zFjFEE<Tracking...<2Tracking contact label: 2i-5;15@5 59=d 9)9 =E=iEH@)E&>IAAHM<"HMw:5= )( 8C'AYt.,K@t.zZ@yt.tb=t.I޷?KU1-ѿ@B1{?`J`M? l?)u.,K@ u.v;Iu,x>ȿ>x>kEG@H@iPIR;C)~{GIAEu<لEyEI +{Gz?Mb`YE AIAiAAAɅEEAAE94 E#<)EVH%-Q->Y1y15E5pB=n9=> A ]EV4En?E9ɯExC? iM?E.@E:ɱE:ESetting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i㽍;@ 9$) k=iuG@)IH<"Hw:=ܶ= -. xC'A)@IYt2K@t2!~Z@yt2b=t2ֶ@sі?`}?)u2K@ u2v;Iu2CxB&>xB'fE)|IVH=EQE>YAyAEEE/BM:M> Q ]]V4UPo?U9ɯU\C? i]?U\@U:ɱU:UGV4Q m8e!?Q m8 e;Q mtI)e{Q mJCIeBɴe:e: ew8 }W4um? u9)uD? }?Yu @ɷu:un: u*,W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU];][6>]@] ]9]Y)a e#=ie`rG@e <)iIiiH<"Hw:mZ=)1 5 PՄC'AYt.K@t.w}Z@yt.b=t.KjxBaE {@Y|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIzAC)ƄGI;<لyy&1|Mbp?Mb`YIiɅ` ;)VHt7Q>YyE+B> i ]uV4mo?m9ɯm)C? i}?m~@m#;ɱmY!;mV4Q 8n? ?;Q tI)|Q JCIBɴc:4: 2m8 W4m? 9)bD? ?YB@ɷ:7"< `BW41 991&] LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 7.859998 m .1'2G:GL >Setting Heading: 3.162632 rad .q& L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFiFizFijFiEiEq M?; ,C'AYt.K@t.\|Z@yt.ub=t. ʹxBIiE HFp=HD){Fjw>I{Di{F)>{D{D{F A{D|FB9|Fk 3?!g%'?)]BGIYVH}}):Q ?YˁyˁE˅ЏB͍Z ?  ]V4o?#9ɯ C? i?鯕@<ɱs<鱕V4Q 8Yl? o;Q tI)~Q JCIBɴ:: _8 =W454n? 5 9)5BD? =?Y5W@ɷ5:5H: 5PW4A AI1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.162632 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.943801 forward, 0.330514 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.EaEeh<0L"C7WGUEeY6 ˱K+]7;Eep@bEeejEeaBEeo$?JEep$?REe ZEe rEeBEzEeSi;@ 9gH) m=i%G)!I!iHm<"Huw:…=9Ip)B I C'AiYt.K@t.Z@yt.c=t.۶x^iE@d"@dipIv;C)UjGIQVH˝9Q>YˡyˡE˥BͥZ:>  ]V4"p?(9ɯB? i?鯭@#;ɱ;鱭V4Q 8K? J;Q tI)pQ KCIkBɴT;u; }8 %W4yn? 9)D? %?Yr@ɷ: haW4E? E?EA1&U LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&]2GY:G]p@Le>Setting Heading: 3.750950 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFqEqEy<Tracking...<2Tracking contact label: 2i ߕ;@ 9) ϊ=i E)5=Ip@!H<"Hw:_;->•Y=Qi @A _QH ;"C'AYt:JK@t:Z@yt:b=t:xB,`ENfA@NeA) {GI Uף;U<لU`yU/$Q?y&1|YUAIQiQUxAUxAɅQQU Uu<)U`VHmm*Qu>YqyquEumB}9}>  ]V4p?@9ɯSB? i?鯅@R:ɱ:鱅V4Q 8鲕+?Q 8 ;Q tI)jQ KCI4Bɴ:鴕: '8 W4鵥Go? '9)C? ?YŸ@ɷR:鷥: (rW4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.750950 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2iؕ;@ 9 I` )  =i(B)=IH<"Hw:vh5>;=©߱8{N 4xV%hEGZ?AHXi I)iIqVH˽7}Q>YyEABϲ>  ]V4q?Y9ɯA? i?\@g:ɱ:oV4Q 8, ? ;Q tI)%Q LCIBɴC:а: m8 W4#p? @9)B? ?Y@ɷ:: W4  1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL%>Setting Heading: 3.750950 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F)F)zF1jF1E1E1<=Tracking...<=2Tracking contact label: 2iM U;QU@U U9]Y)Y ]X=ie =)e#=IaaHm<"Hmw:e;#7>=$ӿ=YcU gVC'A)IYt2K@t2VZ@yt2"b=t2xNaE:@V=B@T)aIi;=لDyMb~jt?~jthYAIi@Ʌ酩鄭 <)DVHYQ>YyEB9>  ]W4s? aW49ɯA? i?@:ɱI: W4Q 8R? ;Q tI)܁Q LCIגBɴ:: 8 W4jq? h9)B?  ?Y@ɷ:: W4 Q%Done Waiting.(% Q%8Uninitialize Wait Component.(%1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M-Initialize.q&-2G):G)L5>Setting Heading: 3.750950 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F9F9F=z?zFAjFAEAEA ]>͍[ upC'AYt.cK@t.ӊZ@yt.a=t.xBpEiPIRAC)MƄGIQVH}˅{_Q>YˁyˁE˅ۓB͍^^:>  ]W4Vt?9ɯA? i?鯕c@:ɱs:鱕fW4Q 8鲥T? ;Q tI)Q LCIBɴ:鴥: 8 W4鵵r? 9)B? ?Y%@ɷ<:鷵۞: W4 G(1)1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.750950 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i斾;@>@ 9c) -=i%*3)%2I!)H-<"H5w: G=ub HNC'AYt.K@t.OZ@yt.xa=t.ѿ Iz?`%8B??)u.K@ u.Bv;Iu.CxB_>xBbE HBR=HFa=)~ׄGIVHEUQU>Y˹y˹EBf9>  ]W4u?9ɯA? i?@;ɱ;&W4Q %8o?Q -8 ;Q 5tI)LQ 5MCIwBɴ;i; ;8 ]W4Es? E9)EB? e?YE@ɷEr;E; EĸW4y G1)OHCompleted lineCaptureHoming:Lap:Dock'OdAggregate::uninitialize lineCaptureHoming:Lap:Dockq)RfAggregate::initialize lineCaptureHoming:Lap:Rollout) S|Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart)S:Initialize WaypointComponent.1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.750950 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF FFzFjFEE<Tracking...<2Tracking contact label: 2i5=;9= @=  =9= 59)9 E=iEPA-)EHmIIIHU<"HUw:C"=y߉h Q-C'AiYt23K@t2Z@yt2V=b=t2dxBeE@D"@DiPIR;C)GI MD;M<لMyM{GzMb?MbYM AIIiIMAMAɅMxAIMף M<)MVHeeh9Qe>YiyimEmvBu۸u> y ]W4}ov?}9ɯ}@? i?}>@}:ɱ}:}4W4Q 8鲍%? `;Q tI)Q MCIUninitialize WaypointComponent.1*E TEAggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeadingq*ETE4Initialize Wait Component.1&E LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&M2GI:GILu>Setting Heading: 3.750950 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidance$uIuzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder1%u Ju~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFyFyFyF}(,@zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9q) W=i ()/5ȽIH<"Hw:<©߱ ?A En C'AYt.K@t.+Z@yt.@b=t. ѿ{?hD'ؖ?v?)u.K@ u.v;Iu.CxB>xBIiE)~ƄGI|VH=E7QE>YAyAMEMCBMR8M> Q ]]W4U=w?U9ɯU5@? ie?U@U6:ɱU:UxBW4Q m8eg? e4;Q mtI)eQ uNCIeBɴe:e: ed8 }W4}u? }9)}tA? ?Y}W@ɷ}؛:}: }}W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.750950 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU;@ 91[!) =i3$)RIH<"Hw:-lA7>%bި԰u aׅC'AYt.K@t.cZ@yt.a=t.埶xRgEGR@AHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI AC)GI--9<ل-ףy-MbMb?{GztY-3AI)i))-xAɅ))- ))-ףVH]eLQe>YiyimEm%B},}>  ]W4w?&9ɯ?? i?鯍@GD;ɱ3;鱍QW4Q 8鲭C?Q 8 [;Q tI)xQ NCIBɴD;鴭G; h 8  W4Sv? 9)A? ?Y@ɷ+=~*= W4 1&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MUInitialize.q&U2GQ:GQL]>Setting Heading: 3.750950 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFe,@zFijFiEqEq<Tracking...<%2Tracking contact label: 2i%5;AUR@UR 9#) =i!)o IH<"Hw: @>¥ ?΅y ߉ { C'A)@IYt>LK@t>yZ@yt>чb=t>NH?R Y,ѿb{?@HM ?ɖ?`q?)u>LK@ u>iw;Iu>CxN>>xNklE){RK>I{Pi{R>>{R1>{P{RA{P|R‰B9|R5^?RlyQ?:@`B@b=)M0GIQU= UC=VH˝9Q>YˡyˡE˥Bͭ>  ]W4x?C9ɯk?? i?鯵-@:ɱ:鱵 _W4Q 8e%? <Q tI)!Q NCIBɴh:Z: I8 W4v? *9)@? ?Y@ɷR:: W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.750950 rad .q&L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<%direction in vehicle frame: [ 0.962692 forward, 0.270600 starboard, 0.000000 keelward ]<%CALLING PROCESS<%TProcessing response from acoustic contact.<%TProcessing response from acoustic contact.<=rotationFromVehicleToNavigationFrame_ = [ -0.961739,-0.268332,-0.055277;0.267489,-0.963304,0.022252;-0.059220,0.006615,0.998223 ]<=VazimuthInNED_ = -2.595245 rad -- adding 2pi<=ZazimuthInNED_ = 3.687940 rad after adding 2piEIEM6,dM8AQbVe EMבaOٷ!࿎ ,)EM7l@bEMjEM&kBEMo$?JEMo$?REM ZEM rEM PzEMBEimm;m[O>u@u u9uH$q)q }bP=i}SK )yIH<"Hw:)Ii5_ⅽ V> V>‚ Ĕ C'AYt.K@t.sZ@yt.b=t.Z??)u.K@ u.(}w;Iu.Cxv$>xvsbEiI)}jGIVH˽Q>YyEB'>  ] W4Py?b9ɯ?? i?z@;ɱƈ;mW4Q =8-? -<Q EtI)-ކQ MOCI-Bɴ-;-; -Տ8 mX4]w? uX4 ]J9)]C@? }?Y]?@ɷ];]z; ]X4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:G7l@L>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i百;@ 9I&) ~=i\ Q<)I7l@H<"Hw:-= p%C'AYt.K@t.mrZ@yt.ub=t.pxBNcE HBp=H@)%{GI)EPonly read 0 of 1 data item for BIT errorErFailed to parse: :TS,19032811114448,35.0, -0.1, 0., 0 a 1E@a E a 5E@a E a 9M@a M a -M@a M VH9Q>YyEB ]Ҹ >  ]W4 z? 9ɯ >? i? Ƽ@ B:ɱ > yW4Q %8%? %<Q -tI)%Q -OCI%NBɴ%:%c: %8 u@ u@ }@ }@ i} y 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i t ;  @- -95I1(1)1 5)=i=!)=mI99HE<"HEw:MV19o jL?C'Ai4<Yt.K@t.qZ@yt.Xb=t.\xB]E@D"@DiPIP)I nA VH˥8PQ>Y˩y˩E˭SB͵>  ]W4z?9ɯA>? i?@:ɱL?鱽W4Q  8?Q  8  <Q tI)FQ PCIBɴ::  8 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F F FzFjFEE<Tracking...<2Tracking contact label: 2i-,O5;15@5 59=)9)9 =k=iEa$)E tؽIAAHM<"HMw:-  E c'YC'AYt.K@t.-rZ@yt.b=t. xBrdE)~ƄGIa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E EDE<لEĻyEQ~jt?~jtxYAIAiAAAɅAAEu E<)EĻVH]e7Qe>YayamEmBm8m> q ]W4uR{?u9ɯu=? i?u_@u+<ɱuSetting Heading: 3.687940 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFIFIzFIjFIEQEQ} Qa ) esC'AYt.K@t.sZ@yt.b=t.9Gx6pfEG:?AH8iDID)vGIxVH=EPQE>YAyAMEMBM9M> Q ]]W4! ] U{?! ] U9ɯUJ=? ie?U@Uv:ɱU:UߝW4Q m 8e? e&<Q mtI)eQ uPCIeBɴe:e: e 8 }W4 ]} uRz? a u9)u>? ?Yus@ɷuK:uɪ: uΠW4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2in#u;qu@u }9}-y)y }.=i%1y<)IH<"Hw:UDM>-p ]ތC'A)@IYt>K@t>sZ@yt> b=t>[HV`?@yR&ѿ(F{?O`–? q?)u>K@ u>_v;Iu>Cxb&>xb'fE:@r=B@v=)ƄGI4= ף;لyMbP{Gzt?Y AIiAɅ ף;)VH-5$Q5>Y˱y˱E˵ќBͽ18>  ]W4!  |?!  9ɯO=? i?½@;ɱ;W4Q  8]? \<Q tI)}Q QCIBɴ::  8  W4 ]  hz? a- 9)>? 5?Y@ɷù;; oW49 991&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&u2Gq:GqL}>Setting Heading: 3.687940 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i a;@ 9.) =i~&dq<)IH<"Hw:O>׽ R> Y>; C'AYt.2K@t.vZ@yt.ub=t.YTx6aEiDIH)vGIxVH=EԫQE>YAyAMEMBM 9M> Q ]]W4! ] U%|?! ] U9ɯUS=? ie?Uѽ@U:ɱU:UW4Q m 8e/A?Q m 8 e<Q utI)eQ uQCIeKBɴeb:e3: e)$ 8 }W4 ]} }zz? a }9)}>? ?Y}@ɷ}X:}: }W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i8L;@ 9]0)  =i}&q<)IH<"Hw:)Ii)Ii  " }C'AYt.K@t.CxZ@yt.b=t.X`?U@*ѿtz?V@? p?)u.K@ u.v;Iu,xRż>xR%hE HPHT)%{GI!VH55Jd9Q=>Y9y9=EEVBEb9E> I ]UW4! U M9|?! U M9ɯMW=? iU?M@M%:ɱMS:M1W4Q e 8] ? ]<Q etI)]ӋQ mRCI]Bɴ]:],: ]h 8 uW4 ]u mz? au m9)m>? }?Ym@ɷmJ:m: m W4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.687940 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i&;@ 9U2) Bz=i~&<)IH<"Hw:±߹ O uچC'AiYt.K@t.NvZ@yt.wb=t.>x>kE {@Y|@F8****** ping requested ******@NA"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)Iuu<لu`yu rh rh?y&1|Yu3AIqiqquxAɅqquC uC<)u`VH˝jQ>YˡyˡE˭=B͵>  ]W4!   }?!  49ɯSetting Heading: 3.687940 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F-,@zF)jF)E)E1<5Tracking...<52Tracking contact label: 2iJ;,@, 9 4) V=i&<)IH<"Hw: rA oA w 4JC'AYt.K@t.zZ@yt.٠b=t.x^cE){b>I{`i{b>{b>{`{`{`|bB9|b_jcJ?ɜL?)]+GIYVH˝>Q>YˡyˡE˥Bͭ]":>  ]W4}?Q9ɯ&Setting Heading: 3.687940 rad .q&L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<%direction in vehicle frame: [ 0.946649 forward, 0.322266 starboard, 0.000000 keelward ]<%CALLING PROCESS<%TProcessing response from acoustic contact.<%TProcessing response from acoustic contact.<=rotationFromVehicleToNavigationFrame_ = [ -0.961733,-0.268350,-0.055301;0.267507,-0.963299,0.022271;-0.059248,0.006626,0.998221 ]<=VazimuthInNED_ = -2.541101 rad -- adding 2pi<=ZazimuthInNED_ = 3.742085 rad after adding 2piEIEMv?&VLhCCSEM#_%&? EMQ~o@bEM@jEMbBEMo$?JEMo$?REM ZEM rEMFzEM Pim𰨾m;m[>m@u u9ur5q)y }\=i}~&}yd<)IH<"Hw:iqd_ S%C'AYt mK@t Z@yt 4b=t `x=gEGIHIiqIy)GI!%t<ل%ףy%:v~jt?{GztY%AI!i!!!Ʌ%EA!%T %D<)%ףVH==QE>YAyAEEEԠBMZ:M> Q ]]W4UF~?Uh9ɯU;? i]?Uľ@U:ɱU:UW4Q m 8e?Q m 8 e|!<Q mtI)eQ mSCIeBɴe:e=: e9 8 }X4}|? }X4 }P9)}Setting Heading: 3.742085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2i=;@ 9-7) " =i$)IQ~o@H<"Hw: u(C'A)IYt.EK@t.Z@yt.a=t.xBcE)GIVH]ePQe>YayaeEmBm9m> q ]X4u~? aX4u}9ɯuT;? i?u@uӻ;ɱu;uX4Q  8鲥ٜ? +$<Q tI)Q SCIWBɴɪ:鴥: y 8 X4鵵}? d9)Setting Heading: 3.742085 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iUۥu;qu@u }9}8y)y }hr=id")8IH<"Hw:8> >©߹ V>q AC'AYt.K@t.Z@yt.X(b=t.:xBhEiPIP){GIVH=Eg9QE>YAyAMEMaBMj8M> Q ]X4UQ?U9ɯU:? i?U6@Uz<ɱUmSetting Heading: 3.742085 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F)zF)jF)E1E1<5Tracking...<=2Tracking contact label: 2iM$M;IU@U U9UKo:Q)Q ]=i]]!)YIYaHe<"Hmw:E;O>Iq) [C'AYt.K@t.fZ@yt.fb=t.O>x>gE H@HBp=)~GI|ED;Ej<لE`yEYˁyˁE˅4B͍~I8>  ]X4?9ɯQ:? i?鯍@:ɱ:鱍9X4Q  8鲥e[?Q  8 )<Q tI) Q TCIBɴ):鴥: ! 8 ]X4鵵a~? 9);? m?YE@ɷ;鷵`; >X4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2iU󀣾U;im@m m9m:AIN uuC'Ai;Yt.K@t.Z@yt.b=t.gxRinEi\I`)XGI!VH-5kQ5>Y1y9=E=BE'dE> I ]MX4M€?M9ɯM9? iU?M̿@M9:ɱMc:M+X4Q ] 8]r;? ],<Q etI)]ӐQ eTCI]Bɴ]:]|: ]D 8 mX4m? m9)m:? u?Ym@ɷmo:ms: m OX4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ?;@ 9=) =ic"<)IH<"Hw:)IiULؽ]uA]tA19 u WyC'AYtfK@tf:Z@ytfb=tf>xnklE)U0GIY;لy~jtxMb`?Mb`Y3AIiAɅ酙鄝Ļ ;)VH˵B7Q>Y˹y˹E˽֤B :>  ]X4?9ɯ9? i?@y:ɱh:9X4Q  8J? /<Q tI)Q UCIBɴy:J:  8 X4O? 9):? ?Y@ɷܹ:: :aX4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F-,@zF)jF)E1E1<5Tracking...<52Tracking contact label: 2iMM;IM@U U9Uep?Q)Q U5>i]d"]><)YIYaHe<"Hmw:߉==Bgot command show variable heading=HHorizontalControl.kdHeading (second)=^HorizontalControl.kiHeading (reciprocal_second)=vHorizontalControl.kiwpHeading (radian_per_second_per_meter)=DHorizontalControl.kpHeading (none)=^HorizontalControl.kwpHeading (radian_per_meter)=>Rowe_600.headingOffset (degree)=mJHorizontalControl.headingCmd (radian)=mhHorizontalControl.headingRateCmd (radian_per_second)=uTHorizontalControl.headingInternal (radian)=u`HorizontalControl.smoothHeadingInternal (radian)=}dHorizontalControl.headingIntegralInternal (radian)= `TrackAcousticContact.heading_to_contact (radian) (HC'AYt.K@t.6Z@yt.Kb=t.xBeEGB@AH@iPIP)GI VH=E!{QE>YAyAMEMBMqM:M> Q ]]X4U2?U9ɯUh9? ie?U@UB:ɱU:UMGX4Q m 8e? ef2<Q mtI)eAQ mUCIe\Bɴe:eį: e 8 }X4u? u9)u:? ?Yu@ɷu:u: uqX4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iѩ; e>@ 9@ A) '>ie") <)IH<"Hw:-u k+ÇC'A)@IYt.kK@t.ۅZ@yt.uqb=t._O>x>gE)GIVH==uQ=>YAyAEEEkBMM> Q ]]X4Uk?U9ɯU=9? ie?U @U߼:ɱU:UoUX4Q u 8m?Q u 8 mD5<Q utI)mQ uVCIm*BɴmA;m; mC 8 X4}? }9)}~:? ?Y}ο@ɷ}z:}%: }wX4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iY먾;@ 9ոB) \E>id" <)IH <"H w:)Ii!> >yߑ V> ]> ݇C'AYt..K@t.Z@yt.F}b=t.:xJ%hE {LY|LR8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)ƄGI;#<لDyYYyY]E]MBe3m> q ]}X4u΁?u9ɯu8? i?u3@ug1;ɱuD=;udX4Q  8鲕*? f8<Q tI)Q VCI BɴW-;鴕-; [ 8 X4鵭!? 9)9:? ?Y@ɷ;鷭; X4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.742085 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF F F (,@zF jFEE<Tracking...<2Tracking contact label: 2iUg(};y%@% 9D) S>ie"eX<)IH<"Hw: C'AYt.K@t.%Z@yt.fb=t.7>xZklE HXHZa=){^1+I{\i{^>{\{\{^A{\|^B9|^^}3|?*qGuӿzbSBD MO Status=2, MOMSN=2488, MT Status=2, MTMSN=0-zZFailed to initiate SBD session. Error code: 2)]GIaVH˝\9Q>YˡyˡE˥Bͭ9>  ]X4#?9ɯ8? i?鯵U@:ɱN:鱵rX4Q  8? ;<Q tI)kQ VCIͧBɴb:T: Q 8 X4v? 9)9? ?Y@ɷ:: ȦX4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL >Setting Heading: 3.742085 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<%direction in vehicle frame: [ 0.952661 forward, -0.304033 starboard, 0.000000 keelward ]<%CALLING PROCESS<-TProcessing response from acoustic contact.<-TProcessing response from acoustic contact.<=rotationFromVehicleToNavigationFrame_ = [ -0.961517,-0.269118,-0.055321;0.268291,-0.963086,0.022010;-0.059203,0.006320,0.998226 ]<=tazimuthInNED_ = 177.908478 degrees FINAL. Radians:3.105089'￐_&?ahEEƹF@bEE$@jEEƌBEEco$?JEEo$?REE ZEE rEEzEEFimP?m;im@m m9uaFq)q u >i}d"}<)yIyH<"Hw:.[>AQ C'AiYt2K@t2_Z@yt2c=t2)>x>nhEiI)e0GIaT<لyYyEB߭9>  ]X4?9ɯ8? i?@:ɱ5:fX4Q  8u? =<Q tI)%Q WCIBɴ:: [ 8 X4ـ? 9)9? ?YC@ɷÜ: wX4  1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%2G!:G%ƹF@L->Setting Heading: 3.105089 rad .q&-L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9E9E9ie#)mãImƹF@iHu<"Huw:E_qe>QQAI %  ɏ*C'AYt.K@t.Z@yt.$*c=t.سxB nE){B0I{@i{B9n={B1>{@{BC{@|B@9|Bc}? ^ mѿ)jGIVH˝W8Q>YˡyˡE˥Bͭ >  ]X4?9ɯy8? i?鯵@;ɱ;鱵PX4Q 8T?Q 8 @<Q tI)ܕQ WCIlBɴJ:: ,$8 X4:? 9)9? ?Ym@ɷ:D: X4! ))1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NePLights, Camera on at range: 6.119999 m .1'm2Gi:GiLm>Setting Heading: 3.105089 rad .q&mLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.962218 forward, -0.272280 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.961528,-0.269056,-0.055432;0.268233,-0.963105,0.021918;-0.059284,0.006207,0.998222 ]<tazimuthInNED_ = 179.808063 degrees FINAL. Radians:3.138243<^ContactLat = 36.803067 ContactLon = -121.787839:EE@Eۢ@P/ѫcEc}? ^ mѿE0EE)EoI?z$:׿Edk?GTAC]EH@bE<jE~BE p$?JEco$?RE ZE rEԹzEiMmU;QU@U U9UʏIY)Y ]>i]_ ')erIaaHm<"Hw:)IiK  iDC'AYt. K@t.|Z@yt.&Ac=t.բ>x6klEG8H8iHIH)r{GIvVH%-m8Q%>Y!y)-E-sB-jw8-> 1 ]=X45D?59ɯ5X8? iE?5@5$:ɱ5:5ߛX4Q M8E5? EC<Q MtI)EQ UXCIE0BɴE:E: Ed8 X4U? U9)U9? ?YU@ɷUSetting Heading: 3.138243 rad .q&MLU`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2i.;o>@ 9&K)  >il*)bIH@H<"Hw:7 $F^C'A)@IYt.K@t.-Z@yt.c=t.ྲxBbE)|IAEj<لEĻyE rhMb?~jtxYEAIAiAAAɅExAAEC E<)EĻVH]]W"9Qe>YayaeEeFBm?m> q ]}X4u?u#9ɯu7? i}?u#@u:ɱu:uDX4Q 8鲅q? rF<Q tI)FQ XCIBɴį:鴅ض: P8 X4鵕Q?  9)9? ?Y@ɷi\<鷕: 'X4  1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 6.119999 m .1'E2GI:GILM>Setting Heading: 3.138243 rad .q&MLM`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFqFyF}+@zFyjFyEyE<Tracking...<2Tracking contact label: 2iC;@ 9L) # >ic0)\)ؼIH<"Hw:e> t>¹ R> Y>a xC'AYt.^K@t.ͅZ@yt.nc=t.yx6)dEiDID)tItVH~WQ>Y y  E B t>  ]X4??9ɯ`7? i%?n@9:ɱ:X4Q -8-? -8I<Q 5tI)-Q 5XCI-˫Bɴ-:-=: -f8 =X4=? ='9)=8? E?Y=1@ɷ=4:=: =X4I II1&] LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'm=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GiLu>Setting Heading: 3.138243 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFzFjFEE<Tracking...<2Tracking contact label: 2ic;@ 9YN) T >i:R5)6;IH<"Hw:•iyI$ C'AYt.K@t.Z@yt.b=t.-x6'fE H8H:p=)tIt15<ل5ףy5QMb?{GztY5 AI1i111Ʌ15EA5u 1)5ףVHEMQM>YQyQUEUBU~]> a ]eX4eY?e_9ɯe6? im?e@eض:ɱe:elX4Q u8u1?Q }8 u%L<Q }tI)uQ }YCIuBɴu:u: u 28 Y4鵅? Y4 F9):8? ?Y|@ɷe:鷅: Y4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i\;@ 9P) F >iN:)E=IH<"Hw: ?e>Q|¹t* EثC'Ai4<Yt.K@t.Z@yt.`ob=t.ڂx6aEiDIJFC)tItVH% Q%>Y!y!-E-B--> 1 ]=X45?5~9ɯ56? iE?5@5[:ɱ5N:5YX4Q M8E? EN<Q MtI)EhQ UYCIEjBɴEC:E: E>u8 ]Y4UP? Ue9)U7? e?YU@ɷUR:U: U Y4i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^6;@ 9@Q) >i4@)1=IH<"Hw:Eo>)wAIwAvAvAaq @A @A[1 ıňC'AYt. K@t.{Z@yt.b=t.@x6]E)tItVH~YA8Q>YyE {B "> >  ]X4?9ɯ26? i?K@E:ɱ[:QX4Q -8%? %Q<Q -tI)%Q -ZCI%7Bɴ%:%÷: %8 =Y45? 59)5s7? E?Y5 @ɷ5÷:5M: 5Y1Y4I II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GiLu>Setting Heading: 3.138243 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFEE<Tracking...<2Tracking contact label: 2ig鱾;@ 9YS) >N>i9D)L=IH<"Hw:)IiU&ּ197 ߈C'AYt.K@t.lZ@yt.*wb=t."x6_EG:AAH:AA {8Y|8>8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I-AC)I%%t<ل%y%{GztMb?MbpY!I!i!!!Ʌ!!%ף %<)%VHMUηQ]>YYyaeEe`Bmm>  ]X4?9ɯ5? i?鯅n@4;ɱ_/;鱅X4Q 8鲥m?Q 8 T<Q tI)Q ZCIBɴ(4;鴥3A; 8 Y4鵽:? 9) 7? ?Y1@ɷ4;鷽&; DY4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N5PLights, Camera on at range: 6.119999 m .1'52G1:G1L=>Setting Heading: 3.138243 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEIEIiuG)u=IqyH}<"Hw:M!1X= HjC'A)IYtNK@tN2Z@ytN)Qb=tNtx~pfE- 0NEGATIVE RANGE NOT USING)ƄGIVHQ>Y!y!%E%+B-V8-> ) ]UX4-$?-9ɯ-n5? i]?-@-;ɱ-M;-X4Q e8eM? eW<Q mtI)eQ m[CIeBɴe:eJ: eG8 Y4uw? u9)u6? ?YuP@ɷun:u : uUY4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G!:G!L%>Setting Heading: 3.138243 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)FQFQzFQjFQEQEY<]Tracking...<]2Tracking contact label: 2i>,;z>@ 94V) %>i5H)IH<"Hw:i==¥<> {>ai e> a>D DC'AYt.K@t.Z@yt.ma=t.xB$jE)Ji I )eBGIa#<لyy&1|y&1|?MbpYAIiɅ酭A鄭` `;)VHWQ>YyEBG>  ]Y4o? aY49ɯ5? i?@ :ɱw: Y4Q 8B.? Z<Q tI)LQ [CIBɴ ;; %8 %Y4…? 9)U6? %?Yq@ɷ:w: fY4) ))1&E LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&E&EMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'M1'M=NMPLights, Camera on at range: 6.119999 m .1'M2GI:GQLu>Setting Heading: 3.138243 rad .q&uL}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFF*@zFjFEE<Tracking...<2Tracking contact label: 2iOµ;@ 9 †X ) q>iH@)XJ=IH%<"H%w: v=6J -C'AYt2K@t2~Z@yt2tb=t2+? ?)u2K@ u2Av;Iu2Cx>>xBDoE H@HBa=)mjGIiVH˝\8Q>YˡyˡE˥Bͭ>  ]Y4?9ɯ4? i?鯵@:ɱ:鱵Y4Q 8 ? \]<Q tI)Q [CI{Bɴ>:: e8 Y4 ? 9)5? ?Y@ɷ:ʢ: wY4! !)1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=ZE;AE@E E9E$>ZA)I M>iUH@Uti<)QIQYH]<"H]w:- C=Q FC'Ai;Yt.K@t.J~Z@yt.VHb=t.IxBnE)Hi I )e{GIaVH}˅9Q>YˁyˁE˅B͍vٸ>  ]Y4?9ɯ`4? i?鯕@!:ɱ:鱕|)Y4Q 8鲥?Q 8 0`<Q tI)Q \CIHBɴ,:鴥w: 8 Y4鵵Z? 9)5? ?Y@ɷ۞:鷵ߡ: 8Y4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i]ݸ];Y]@] e9eb[a)a e>ia <)IH<"Hw:)vAIvA½+W=q߁ ?ABW w`C'AYt.K@t.qzZ@yt.b=t.VxBrdE)iIi`;لyMbpy&1|?Mb`YfAIiɅ酵A鄵 )VHt9Q>YyEaB>  ]Y4;?9ɯ44? i? @:ɱc:7Y4Q 8? c<Q tI)qQ \CIBɴ$;; U8 %Y4%? %9)%t5? -?Y%@ɷ%:%@: %>Y4Y aa1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF)@zFjFEE<Tracking...<2Tracking contact label: 2iI;@ 9 ])  S>i15 <)1I11H=<"H=w:-:y>w=`] zC'AYt.tK@t.wZ@yt.!b=t.pxBw^EGB@AHB@AiPIP)~ƄGI|VH%Q%>Y!y!-E-%B-չ-> 1 ]=Y45k?59ɯ5 4? iE?5%@5E:ɱ5:5MEY4Q M8E? Ee<Q UtI)EQ U]CIE߳BɴE:E: E8 ]Y4]? ]9)]L5? e?Y]@ɷ]<:]Ɵ: ]Y4i ii1&} LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iẾ;>@ 9(_) >i   <) I9HM<"HMw:Mz>m=4d C'A)@IYt.VK@t.wZ@yt.Ya=t.MxB$jE)~GIEEף;لEyE~jth~jth?YEAIAiAAAɅAEAED ED;)EVH}} Q>YˁyˁE˅B͍?>  ]Y4? 9ɯ4? i?鯕3@;ɱ ;鱕SY4Q 8? h<Q tI)۟Q ]CIBɴ:: 8 Y4߆? 9)R5?  ?Y@ɷnZ;; Y49 991&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&U&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=N}PLights, Camera on at range: 6.119999 m .1'}2Gy:GyL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9`) V@>i<)IH<"H w: ->)Ii= N>‰ߙ V> V>Pk gC'AYt.K@t.wZ@yt.Sa=t.CxBeEiPIRFC){GIVH%A8Q%>Y!y)-E-õB-15> 1 ]=Y45?59ɯ54? iE?5A@5:ɱ5:5aY4Q M8Ek?Q M8 Ek<Q UtI)EQ U]CIE|BɴE:E: E)8 ]Y4]? ]9)]X5? e?Y]@ɷ]؛:]: ]mY4i ii1&} LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i 廾 ;  @  9cb1)1 5>i9=]<)9I9AHE<"HMw:)IIIiQQ.q BȉC'AYt.K@t.wZ@yt.b=t.Ӛx@ HBa=H@)0GIVH%9Q%>Y!y!-E-B-9-> 1 ]=Y45̈?59ɯ54? iE?5O@5:ɱ5:5oY4Q M8EJ? E[n<Q MtI)EBQ U^CIEJBɴEq:E: ESetting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%-;)-@- -9-d))1 5U>i9=/<)9I99HE<"HEw:Qi\"x  C'AYt.(K@t.uZ@yt.ųb=t.PexBsbE {DY|DF8****** ping requested ******@FA"@HJNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ihIl)mGIyIM=لM94yMS㥛y&1?I +YMAIIiIIMxAɅIMAM/ݼ M`<)M94VH˵8Q>Y˹y˹E˽{BŤ>  ]Y4?T9ɯ3? i?@;ɱж;Y4Q 8%? q<Q tI)Q ^CI5Bɴ :ݱ: 8 5Y4 q? <9) R4? 5?Y @ɷ  : J: Y49 AA1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&u&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2i1;@ 9^f) >i9F<)I)1H=<"H=w:UxAUwA9I ?A =L~ 'C'AYt.wK@t.yZ@yt.b=t.TxB%hE]F^unknown deviceResponse_: 00000,186,80,81,0F,FF )BGIVHQ>YyE;BQ7:>  ]Y40?9ɯ92? i?\@:ɱ:Y4Q 8c? :t<Q  tI)Q  _CIBɴ: s8 Z4? Z4 n9)y3? ?Y@ɷ: : Z4! !)1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 6.119999 m .1'M2GI:GILM>Setting Heading: 3.138243 rad .q&MLU`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYFYzFYjFYEaEa}@} 9lyg)  >i<)IH<"Hw:iy(4 xC'Axn9>xneEGpHpiIAC)ujGIy<لy~jtx{Gzt?Mb`YAIiAɅAĻ ף;)VH5uQ}>Yyyy}E}Bͅ>  ]Y4r?9ɯ 2? i?鯍w@<ɱ<鱍Y4Q 8i?Q 8 Fw<Q tI)~Q _CIиBɴȲ:w: 478 5Z4Ɖ? w9)M3? 5?Y:@ɷ0<< ]Z49 991& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2iUȷU;QU@U U9]diY)Y ]dX">iaez<)aIH<"Hw: ^ /C'Axnù>xnrdE){GIVHˡQ>Y˩y˩E˭չBͱ>  ]Y4?9ɯ1? i?鯽@f:ɱӻ:鱽Y4Q 8|? y<Q tI)%Q _CIBɴ;; qu8 Z4? 9)'3? ?YS@ɷP:: |&Z4  1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-PLights, Camera on at range: 6.119999 m .1'52G1:GQL]>Setting Heading: 3.138243 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFazFajFaEiEii܌<)IH<"Hw:,> > ]>F IC'AYt.K@t.tZ@yt.Vb=t.u>xBEmEiLIL)1I1VH]e[Qe>YayaeEeBmmm> q ]}Y4u?u9ɯu1? i}?u@uH:ɱu;:uY4Q 8鲅w? |<Q tI)ؤQ `CIWBɴ:鴅:  8 Z4鵵>? 9)2? ?Yl@ɷ<<鷵9< 7Z4 1&- L-xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&u&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F9FFzFjFEE<Tracking...<2Tracking contact label: 2ic; @  9l) %>i<)IH <"H w:3>p #gcC'AYt24K@t2sZ@yt2Yb=t2WxN'fE HPHRp=)X)I}}\=ل}`y}Zd;O:v?y&1|Y} AIyiyy}xAɅyy}j }<)}`VH$~9Q>YyEBs]>  ]-Y4 ?9ɯ&1? i5?+@U<ɱ<QY4Q =8=7?Q =8 =<Q EtI)=Q E`CI=BBɴ=c:=: =8 Z4M_? M9)Me2? ?YM@ɷMESetting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF F F(,@zFjFEE<Tracking...<2Tracking contact label: 2iU񠽾U;QU@U ]9]]`nY)Y ]&>iaep<)aIiH<"Hw:}>9A. ?}C'AYt.K@t.)rZ@yt.b=t.UxdiiIi)IVHS|Q>YyEGB { >  ]Y4? 9ɯ0? i%?@:ɱ:}Y4Q -8-Mc? -<Q 5tI)-PQ 5aCI-Bɴ-:-; -C8 EZ4=J? =9)=1? E?Y=Y@ɷ=:=: =![Z4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i-Gþ5;15@5 595o9)9 ='>i9EV <)AIAAHM<"HMw:)QIQiQQzAzA ڂ C'AYt2K@t2+nZ@yt2b=t2xBdE)H)}ƄGIy<لyZd;O/$?y&1|Y3AIiɅxA <)VHQ>YyEB>  ]Y4?09ɯ0? i?@@:ɱ0:Y4Q -8%B? %Y<Q -tI)%Q -aCI%ͼBɴ%:%: %8 }Z4uD? u9)uZ1? }?Yu@ɷu:uߡ: ulZ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL >Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFE!E!<%Tracking...<%2Tracking contact label: 2i]^ѿ];Y]@] ]9e'qa)a eV)>iiO!<)IH<"Hw: HC'AYt2K@t2`lZ@yt2b=t2xB+bEGPHPi)I))GIVH˽QPQ>YyEBv>  ]Y4ߏ?V9ɯ/? i?e@:ɱ:pY4Q 8"? "<Q tI)Q aCIBɴީ:: t8 Z42? =9)0? ?Y(@ɷϝ:: }Z4! !)1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NePLights, Camera on at range: 6.119999 m .1'e2Ga:GiLm>Setting Heading: 3.138243 rad .q&mL`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iXþ;@ 9-s)  *>i#<)IH<"Hw:O ʊC'AYtF+K@tFdZ@ytFSb=tFvx=iE:@AB@A){GIVH-8Q]>YayˑE˝B#>  ]Y4?9ɯ.? i?@@;ɱ;Y4Q 8?Q 8 @<Q tI)Q %bCIyBɴB:: )8 MZ4%<? %g9)%;0? U?Y%@ɷ% ;% ; %Z4]? ]?]A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F zF jFEE<Tracking...<2Tracking contact label: 2iM􊾾M;QU@U U9U uQ)Q U K,>iY](%<)YIaH<"Hw:J> >ai V> C'AYtJ=K@tJbZ@ytJY b=tJDxvhE {xY|xz8****** ping requested ******=Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIq)ƄGI:<لy{GzYyEBN>  ]Z4Б? a Z49ɯ].? i ?8@T;ɱ R;Z4Q 8:? P<Q tI)HQ bCIXBɴ: : ^8 -Z4%"? %9)%/? -?Y%@ɷ%:% : %Z41 191&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=NuPLights, Camera on at range: 6.119999 m .1'u2Gq:GyL}>Setting Heading: 3.138243 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9v) ;->i!%'<)!I!)H-<"H5w:AY C'AYt^K@t^`Z@yt^]b=t^xeE H%p=H%a=]-^unknown deviceResponse_: !U000,186,80,81,0F,FF )mׄGIqVH'_9Q>YyE`B䒹>  ]Z4 ? 9ɯ -? i? @ :ɱ : 5Z4Q %8? <Q -tI)Q -cCIBɴ^;c; 8 UZ4M? M9)M/? U?YMO@ɷMף:M: MʳZ4Y aa1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i0!ƾ;@ 9%R^x!)! %-/>i)-N)<))I)1H=<"H=w:ai zC'AYtR"K@tR\Z@ytRZb=tR$XxZfE@`"@`i|I)]BGIa<لףy rhYyE B3<>  ]Z4A?9ɯ}-? i?@s:ɱ;#(Z4Q 58-? -<Q 5tI)-Q 5cCI-Bɴ-1:-: -8 EZ4=? =9)=.? E?Y=@ɷ=(<=< =Z4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i%Ǿ-;)-@- -95y1)1 50>i9=*<)9I9aHe<"Hmw:}|A}{A9Iy y  <2C'AYt.֧K@t.EUZ@yt.9b=t.эh??)u.֧K@ u.̸v;Iu.CxR>xRcE^zA@^zA)UjGIQVHem9Qm>YiyiuEuBu$u> y ]Z4}?}9ɯ}!-? i?}'@}:ɱ}:}5Z4Q 8鲍?Q 8 ;<Q tI)FQ cCIBɴ:鴍: 8 Z4鵥E? 9)b.? ?Y@ɷ:鷥: EZ4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iȾ;  @  9 k{ )  1>i$,<)IH%<"H%w:o 7LC'AYt.zK@t.WZ@yt.za=t.|xBgEGJAAHLi\I\)e{GIiVH˭ϸQ>YyEBV95> A ]MZ4E?E)9ɯE,? iu?E@EǸ;ɱE;EDZ4Q }8}w\? }F<Q tI)} Q dCI}wBɴ}::}p: }*f8 Z4鵍? 9)-? ?YB@ɷ=;鷍 ; Z4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF1F1zF1jF1E1E9<=Tracking...<=2Tracking contact label: 2iu þu;qu@u u9}C}y)y }{3>iڢ.<)IH<"Hw:iq  MeC'AYt.+K@t.SZ@yt.lCb=t.bȱxBiE:@F=B@F=)|I`廹T<لDy{Gzty&1?~jthYIiɅ酁鄅ף `e<)DVH]9Q>YyEB,>  ]Z4?I9ɯ{,? i?@;ɱ;fRZ4Q %8%Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iKTȾ;@ 91~) %4>i!%d0<))I)IHU<"HUw:e> e>aq ]>W6  C'AYt.ˣK@t.:QZ@yt.#a=t.xRkEi`I`)I!VH-5{OQ5>Y9y9=E=NBEƹE> I ]UZ4ML?Mh9ɯM?,? iU?M@M9:ɱMԳ:M_Z4Q 8? Ȟ<Q tI)nQ eCI BɴW:÷: 8 [4? [4 P9)}-? ?Y@ɷ:~: [4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&5M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'=1'==N=PLights, Camera on at range: 6.119999 m .1'=2G9:GALE>Setting Heading: 3.138243 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFIFIFIFIzFQjFqEqEq<}Tracking...<}2Tracking contact label: 2iMɾ;@ 9c?) Y6>i#2<)IH<"Hw: aC'AYt.K@t.kLZ@yt.pb=t.xBsbE HDHFp=)H)aIiD;`;لyy&1|~jth?~jthYAIiɅ酭A鄭` D;)VHU]9Q]>YYyaeEe0Be@.m> i ]Z4m?mk9ɯm+? i?m@m;ɱm;m2oZ4Q 8鲝?Q 8 ɡ<Q tI)1Q eCIBɴ:鴝=: >38 [4? S9)6-? ?Y@ɷ:: [4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=N%PLights, Camera on at range: 6.119999 m .1'%2G!:G!L->Setting Heading: 3.138243 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceFIFIFQFU+@zFQjFYEYEY<]Tracking...<]2Tracking contact label: 2iƾ;@ 9`$) 7>i4<)IH<"Hw:¡߱H C'AYt.DK@t.LZ@yt.b=t.xBlE@FA"@Di I )mƄGIiVH˝9Q>YˡyˡE˥Bͭ=8>  ]Z4Օ?n9ɯ+? i?鯵@:ɱ:鱵y|Z4Q 8O? i<Q tI)ۮQ eCIBɴީ:а: r8 [4'? V9),? ?Y@ɷI:: +[4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1' 2G :G L >Setting Heading: 3.138243 rad .q& L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i:;;@ 9g䁾) 9I9>i5<)IH<"Hw:%}A!  "2 g͋C'AYt29K@t2HZ@yt2b=t2溱xR`E)uBGIyTلD;yI +?Mb~jth?YIiAɅxA94< )D;VHQ>YyEB>  ] Z4 a? a9ɯ +? i? A@ Q:ɱ A: Z4Q %8? P<Q %tI)Q %fCIzBɴ:: 8 5[4-? -I9)-3-? 5?Y-@ɷ-{:-߼: -=[49 9A1&U LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&U&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq']1']=N]PLights, Camera on at range: 6.119999 m .1']2Ga:GaLe>Setting Heading: 3.138243 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFiFFzFjFEE<Tracking...<2Tracking contact label: 2i-hYȾ5;15@5 595zȂ1)1 5t:>i9=7<)9IAAHm<"Hmw:AQ#Z 9C'AYt.ȖK@t.7DZ@yt."ob=t. 0xBmjEGF?AHD {DY|HJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)jGIVH˽/8Q>YyEBY3>  ]Z4?T9ɯ,,? i?n@;ɱ ;Z4Q 8S? <Q tI)KQ fCIEBɴg;%; 8 [4 E? <9) m-? ?Y 1@ɷ =; %; N[4) ))1&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&U&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq']1']=NePLights, Camera on at range: 6.119999 m .1'e2Ga:GaLm>Setting Heading: 3.138243 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFzFjFEE<Tracking...<2Tracking contact label: 2iz̾;@ 9) R<>ii9<)IH<"H-w:B +C'AYt.K@t./@Z@yt.b=t.xBfE]F^unknown deviceResponse_: !U000,187,80,81,10,FF :@ =B@ =)ƄGIVH˽ʎ9Q>YyEaB>  ]Z4?G9ɯf,? i?@:ɱ:Z4Q 8x?Q 8 <Q tI)Q gCIBɴį:: ?8 [4Ւ? /9)-? ?Y_@ɷӠ:: .`[4  1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N%PLights, Camera on at range: 6.119999 m .1'-2G):G)L->Setting Heading: 3.138243 rad .q&-L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9EAEAiim?;<)iIiqHu<"H}w:;> >‰ߙ V>r  C'AYt.K@t. :Z@yt.b=t.kx8iLIL)~GI|AAلAyEI +?Mb~jth?YAIAiAAEAɅAEAA A)AVH]]<Q]>YayaeEe+Bmym> q ]}Z4u?u:9ɯu,? i}?u@u÷:ɱus:uZ4Q 8鲅X? <Q tI)Q gCIBɴ:鴅: ԁ8 [4鵕h? "9)-? ?Y@ɷU:鷕Y: (q[4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ifξ;@ 96) D?>i  ^<<) I H<"Hw:ۖ  4C'AYt.K@t.-4Z@yt.a=t.δxB%hE HFa=HD) ƄGIVH=E|QE>YAyAMEMBM5kM> Q ]]Z4U?U-9ɯU,? ie?U@U:ɱUq:UZ4Q m8eo8? eg<Q mtI)ehQ ugCIeBɴe:ep: e 8 }[4}? }9)}.? ?Y}@ɷ}@:}": }][4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^ξ; 9 ) @>iǠ><)IH<"Hw:ԁ ĵNC'AYt K@t Y1Z@yt #b=t 3`?`8 п@{?@@>}??)u K@ u v;Iu Cx>x%kE@-A"@)iAIA)BGIuلyI +?{Gz~jth?Y3AIiEAɅ #)VH9Q>Yy E B ҹ>  ]Z4+?9ɯ-? i%?)@:ɱ^:Z4Q -8%?Q 58 %c<Q 5tI)%*Q 5hCI%Bɴ%x:%: %k 8 =[4=}? =9)=W.? E?Y=@ɷ={:=: =[4I II1&] LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 6.119999 m .1'm2Gi:GqLu>Setting Heading: 3.138243 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFyF,@zFjFEE<Tracking...<2Tracking contact label: 2i̾;@ 9%솾) ]B>iN@<)IH<"Hw:|A|Aߑ ˨ hC'AYt.~K@t.,Z@yt.a=t.GxBpfE)jGI!VH]e߬Qe>YayaeEeBm_\m> q ]Z4u?u9ɯuL-? i?uX@u;ɱuQ;uZ4Q 8鲥Setting Heading: 3.138243 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEIEIiNB<)IH<"Hw:‘ߙ  ^C'AYt.|K@t.*Z@yt.a=t.xB$jEGF@AHDiPIR;C){GIVH˝9Q>Y˙yˡE˥iBͥ՘>  ]Z4E?9ɯ-? i?鯭@:ɱ:鱭gZ4Q 8鲽-? <Q tI)Q iCIBɴ\:鴽 : 88 [4? 9).? ?YN@ɷb: : #[4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL >Setting Heading: 3.138243 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<%2Tracking contact label: 2i5о=;9=@= =9=Q9)9 E_E>iAED<)IIIIHU<"HUw:)9& 9C'AYt.5vK@t.#Z@yt.xb=t.7ߴxB'fE:@F=B@F=)|IE;EلE;yE{Gz?:vMbp?YAIAiAAAɅAAE#< ET)E;VH]]9Qe>YayaeEe4Bmm> q ]Z4uԑ?u9ɯu-? i?u@un<ɱu8Setting Heading: 3.138243 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFFFzFjFEE<Tracking...<2Tracking contact label: 2i%Ͼ;@ 9m) jF>iGE<)IH<"Hw:%? %>  , C'AYt.rK@t. Z@yt.gb=t.ةxBcEiPIRAC)IVH=E"QE>YAyAMEMBMM> Q ]][4Ua? a][4U9ɯU+.? ie?U@U:ɱUY:U> [4Q m8e?Q m8 ei<Q mtI)eQ uiCIeBɴe:e÷: ey8 }[4u? u9)um/? ?Yu@ɷu:u: u[4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9EAEAi9G<)IH<"Hw:‰ߙ>3 vόC'AYtRrK@tRZ@ytRxDb=tRCxn)dE Hnp=Hp)QIY`eلD;y{Gz?Y˹y˹E˽BN>  ][4?9ɯi.? i?&@:ɱ :[4Q 8zr? P<Q tI)Q jCIBɴ:: 4`8 [4E? 9)/? ?Y@ɷ߼:f: [4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i xOѾ;@ 9) UJ>iI<)!I!!HM<"HMw:!19 OC'AYt.lK@t.Z@yt.]b=t."Iп!s{?@H`? ?)u.lK@ u.v;Iu.CxB>xBfE {DY|DJ8****** ping requested ******@RA"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|IFC)}0GIVH{8Q>YyEBem>  ][4?9ɯ.? i?S@d*;ɱ);&[4Q  8]Q? "<Q  tI)oQ  jCIWBɴ]; ; 8 %[4ڎ? 9)/? -?Y@ɷY;#: G[49 991&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'm=NmPLights, Camera on at range: 6.119999 m .1'm2Gy:GyL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ihѾ;@ 9) mK>i  EpK<) I H<"Hw:!! @ ʦC'AYt.hK@t.Z@yt.lb=t.<xBnhE]F^unknown deviceResponse_: 00000,186,80,81,10,FF |A@|A)jGIVH˽8Q>YyEvB>  ][4?9ɯ.? i?@^:ɱ0:)4[4Q 80? <Q tI)%Q kCI$Bɴy:): n8 \4q? \4 v9)!0? ?YC@ɷͭ:: |\4  1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N%PLights, Camera on at range: 6.119999 m .1'-2G):G)L->Setting Heading: 3.138243 rad .q&-L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9EAEAiimRM<)iIiqHu<"H}w:©߱ G C'AYt.cK@t.CZ@yt.*b=t.6}xNeEGR?AHPi`I`)%0GI)m:muلm:ym{Gz?I +MbP?Ym AIiiiimAɅiii m94)m:VHQ>YyEHB< >  ]5[4 ? w9ɯ .? i=? @ ;ɱ ; B[4Q E8=?Q E8 =<Q MtI)=Q MkCI=Bɴ=ݱ:=k: =.8 u\4U? U_9)U'0? }?YUv@ɷU:U: Uo \4j? j?A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i=,Ӿ=;9=@= =9EA)A EN>iIMN<)iIiqHu<"H}w:iq3M \7C'AYt.yaK@t.Z@yt.a=t.RݳxReE)]GIYVH˝QQ>YˡyˡE˥BͭE>  ][4E?b9ɯ.? i?鯵@w:ɱk:鱵AP[4Q 8? q<Q tI)Q kCIBɴ:: o8 \4? J9),0? ?Y@ɷ:: ,1\4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1' 2G :G L >Setting Heading: 3.138243 rad .q& L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i=BTپ=;9=@= E9EveA)A E;P>iIMOP<)IIIQHU<"H]w:e%> ei>)9 T q:QC'AYt.\K@t.X Z@yt.a=t.'K>xBw^EiLIRAC)jGIDTل;yI +?y&1|Mbp?Y3AIiEAɅ酉鄍94< `);VH˭۸Q>Y˱y˱E˵Bͽ3>  ][4֎?X9ɯA/? i?@@:ɱ:r^[4Q 8? <<Q tI)GQ lCIBɴ:: S8 \4(? @9)0? ?Y@ɷh:: B\4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q& & M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F-,@zF)jF)E)E)<5Tracking...<52Tracking contact label: 2iM־M;IM@M M9U iY]VR<)YIYaHe<"Hew:)9EZ IkC'AYt.{ZK@t.Z@yt.cb=t.xB'fE HDHFa=)~{GIVH=E9QE>YAyAEEMBM[ǹM> Q ][4Uk?UM9ɯU/? i?U9@U<ɱUSetting Heading: 3.138243 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF9E9E9<=Tracking...<=2Tracking contact label: 2iU׾U;Y]@] ]9]Y)Y ]eS>iaeKT<)aIaiHm<"Huw:IY,a 턍C'AYt.=TK@t.Z@yt.;b=t.Y͵xBNcEiPIRFC)IVH=EvQE>YAyAMEMwBM4wM> Q ]][4U?UC9ɯU/? ie?Ud@U4:ɱU:U1z[4Q m8e/?Q m8 e<Q mtI)eQ umCIe$Bɴe>:eR: e,:8 }\4uP? u+9)u*1? ?Yu(@ɷu:u: ud\4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF1F9F9zF9jF9EAEAiU<)IH<"Hw:{A©߱ Wg 6ɞC'AYt.$QK@t.Y@yt.b=t.LxBiE)~0GIEEلAyE~jt?I +Mbp?YAIAiAAAɅAAED< E94)AVH]]9Qe>YayaeEeHBmm> q ]}[4u|?u.9ɯu;0? i}?u@uD:ɱu:uq[4Q 8鲅m? <Q tI)gQ mCIBɴ:鴅: ~8 \4鵕ϋ? 9)}1? ?Y_@ɷ:鷕D: v\4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iȫھ;@ 9) V>i  W<) I H<"Hw:QYkm vC'AYt._MK@t.Y@yt.!b=t.xBjEGB@AHDiPIRAC)~jGI|VH=E\9QE>YAyAEEMBMM> Q ][4U?U9ɯU0? i?U@Un<ɱUknSetting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i<ؾ; @  9k) 7X>iY<)IH<"Hw:it ҍC'AYt.HK@t.qY@yt.Lb=t.dٶx^)dE:@b=B@d)h)ƄGIلy:v?{GzMbp?YIiɅT< #)VH*Q>Y y  E BG5> 9 ]E[4=n?=9ɯ=0? iE?= @={:ɱ=I:=[4Q M8Mc)?Q u8 M7<Q utI)MQ unCIMBɴM;MM; M` 8 \4}? }9)}%2? ?Y}@ɷ}:}": }\4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE< Tracking...< 2Tracking contact label: 2i= ھE;AE@E E9EwA)I MnY>iqu[[<)qIqqH}<"H}w:- > El>! R> [z y[C'AYt.CK@t.Y@yt.b=t.1xB$jE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i1I9)ׄGIVH9Q>YyEB59+=> A ]M[4E?E9ɯE41? i?ED@E+<ɱE+Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iTپ; @  9%$\!)! %[>iM]<)IH<"Hw:y߁} >C'AYt.@K@t.\Y@yt.!b=t.,G)>x>iE H@H@){BQ I{@i{B={B>{@{B@A{@|BVA9|B3X9\?\.ҿ)MGIIVH%-C8Q->YQyQUEUB]ӹ]> a ]e[4e`?e9ɯe1? im?e{@e;ɱe;e[4Q 8鲕? <Q tI)RQ oCIABɴF:鴕Z: ,8 \4鵥? 9)2? ?Y?@ɷ5;鷥B; Ƚ\4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q& & M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq' 1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.138243 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF!F!F!zFIjFIEQEY<]Tracking...jE UBE o$?JE  p$?RE ZE  rE mKzE Թi}۾};y}@} }9:) =]>iV_<)IH<"Hw:qy  C'AYt.=K@t.\Y@yt.zb=t.xBGkE@FA"@DiTIT)-{GI1uCلYqyquEu`B}z}>  ][4?9ɯ82? i?鯅@:ɱ:鱅A[4Q 8鲵? <Q tI) Q oCIBɴ:鴵: 8 \4? 9){3? ?Y@ɷ:\< `\41 991&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:G"G@L>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i-xݾ-;)-@5 5951)1 58^>i=G@)=>I="G@H<"Hw:zAy߁ ύ B9C'AYt2`;K@t2Y@yt2b=t2nxRKgE)mƄGIiVH˽9Q>YyE'Bչ>  ]=[4ډ?9ɯ2? i=?@&a<ɱQ:[4Q M8E5?Q M8 ED<Q MtI)EQ MpCIEBɴEI:E: E8 \4鵵!? 9 tI)+4? ?Y@ɷ:鷵ض: \4 1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMRLights, Camera on at range: 13.380001 m .1'M2GI:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iem;im@m m9m.ݖi)i um`>iu"G@)qIyyH}<"Hw: ڷ SC'AYt29K@t2GY@yt2]b=t2)xB%hEGDHDiPIP)GI MM#لMD;yMy&1|?Mb~jth?YMAIIiIMAMAɅMAMAM`; M)MD;VHEQ>Y!y!%E%B%k-> ) ]U[4-?-9ɯ-"3? i]?-7@-;ɱ-Y;- [4Q e8e? e <Q mtI)etQ mpCIeBɴew:eH: eS`8 \4҇? 9)m4? ?Y@ɷ:X: \4 1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2iu޾u;qu@} }9}෗y)y }>b>i!%Ia<)!I!!H-<"H-w:Ya mC'AYt.B7K@t.Y@yt.b=t.rxN)dE:@TB@V=)m{GIqVH3Q>YyEBй>  ]=[4=?9ɯa3? i=?Z@<ɱ:[4Q M8Ed? E<Q MtI)E*Q MpCIEuBɴEO:E: E8 ]4鵕? ]4 9)4? ?Y!@ɷ}:鷕: h]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1' 2G :G LM>Setting Heading: 3.111500 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYFYzFYjFYEaEai  Rc<) I H<"Hw:== Y>©߹ V> +ʡ C'AYt23K@t2Y@yt2"_b=t2#0>x>eEiPIR;C) I VH==4QE>YAyAEEEBMb.M> Q ]]\4U? a]\4U9ɯU3? i]?U|@U:ɱU:Ub\4Q m8e F? eY<Q mtI)eQ mqCIe5Bɴe :ec: e8 }]4u>? u9)u4? }?YuB@ɷu:u: uC]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL%>Setting Heading: 3.111500 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F)F)F)zF)jFEE<Tracking...<2Tracking contact label: 2i W;@ 9C) (e>i%d<)!I!!H-<"Hw:+> YC'AYt>1K@t>Y@yt> -b=t>zH `?]Fпe~?A@?p?)u>1K@ u>Wv;Iu>CxO>xgE H!H%p=)I%`;%Dل!y%Mbp?:v~jth?Y%AI!i!%EA%AɅ%xA%@%; %T)!VHu}Q}>YˁyˁE˅oBͅҍ>  ]\4?9ɯ3? i?鯍@'<ɱϸ:鱍\4Q 8O!?Q 8 n<Q tI)Q qCIBɴ :: M/8 5]45? 59)505? =?Y5u@ɷ5:5: 5"']4A AA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFz?zFjFEE<Tracking...<2Tracking contact label: 2itfܾ;"@" 9@) g>iaed.g<)aIaiHm<"Huw:)yIyiyy  zA  ;5C'AYt2f1K@t2Y@yt2a=t2XO>x@@FA"@DiPIRAC))I)VH˽5Q>YyE1BrE8>  ]\4o?9ɯ$4? i?@{<ɱ]<.$\4Q =85B? 5 <Q =tI)5MQ =rCI5Bɴ5l:5: 5o8 M]4E? Ex9)Em5? M?YE@ɷE:E: ED7]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=N%RLights, Camera on at range: 13.380001 m .1'%2G!:G!L->Setting Heading: 3.111500 rad .q&-L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5?"5;15@5 59= 9)9 =ٟh>iAEfi<)AIAH<"Hw:   ՎC'AYt20K@t2bY@yt2۾>x>jE)0GI MM`eلM;yM{Gz?{GzMbp?YM3AIIiIIMAɅIMAM#< M#)M;VHˍS9Q>YˉyˉEˍB͕ː>  ]\4?|9ɯ{4? i? @:ɱ:}2\4Q 8 ߍ? <Q utI) Q urCI Bɴ ]< ^< 8 ]4}K? }d9)}5? ?Y}@ɷ}:}: }I]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1' =NmRLights, Camera on at range: 13.380001 m .1'm2Gi:GiLu>Setting Heading: 3.111500 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyF},@zFjFEE<Tracking...<2Tracking contact label: 2iZQ;@ 9ڛ) eNAj>iim j<)iIiqHu<"H}w:AI0 C'AYt22-K@t2Y@yt2b=t2O>x>gEGBAAH@ {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )TiI)=jGIAVHu}9Q}>YˁyˁEˍB͕ >  ]\4?g9ɯ4? i?鯝;@;ɱ;鱝XA\4Q 8ߍ? <Q tI)Q rCIBɴO:ݱ: ^8 ]4څ? P9)6? ?Y@ɷ<< []4 1&- L-xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&- M-Initialize.q&5&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'51'==N=RLights, Camera on at range: 13.380001 m .1'E2GA:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFAjFAEIEIi9=/m<)9IAAHM<"HMw:,> >qy C'AYt.T'K@t.Y@yt.|b=t.>x>+bE]F^unknown deviceResponse_: 00000,186,80,81,0F,FF :@=B@){GIVH%LQ->Y1y15E=B=n=> A ]M\4E%?EU9ɯE'5? iu?Ei@E;ɱEv;EO\4Q } 8uߍ?Q } 8 uZ=Q tI)uuQ sCIuPBɴu:u: ux= 8 ]4鵍q? >9)o6? ?Y/@ɷ;<鷍@< k]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G!:G!L>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i7;@ 9혝) m>io<)IH<"Hw: R>  A "C'AYt."K@t.`Y@yt.b=t.V76?j?)u."K@ u.v;Iu.CxN>xNmjEi`I`)AII;/ݼل;yYiyimEmxB%>  ]\4T?+9ɯ5? i?@b:ɱ:]\4Q U 8M |ߍ? MH=Q UtI)M8Q UsCIM,BɴMB:Mϸ: M 8 e]4]? ]9)]6? e?Y]@ɷ]:]Y: ]~]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'M1'M=NURLights, Camera on at range: 13.380001 m .1'U2GQ:GQL]>Setting Heading: 3.111500 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFaFFzFjFEEAip<)IH<"Hw:y߉.l  ~xVbE HVa=HX)AIAVHU]79Q]>YYyaeEe5Be^S9m> i ]u\4m?m9ɯm6? i}?m@m;ɱm;mUj\4Q  8鲅_ߍ? =Q tI)Q tCIBɴ:鴅+: Z 8 ]4鵕? 9)V7? ?Y@ɷ:鷕P: r]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iN(;@ 9 ) p>i  Sr<)IH<"Hw:kS VVC'AYt.!K@t.WY@yt.Q1b=t.GxRkE@T"@Ti`Ib;C)=ƄGIAل#YyEB ͦ >  ]}\4?9ɯ6? i}?v@:ɱ:.y\4Q !8鲅<ߍ?Q !8 =Q tI)Q tCIBɴl:鴅:  !8 ]4? 9)P8? ?YA@ɷҨ:: Ϡ]4  1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF FF?zFjFEE<Tracking...<2Tracking contact label: 2i5K5;15@5 =9= 9)9 =r>iAEt<)AIAH<"Hw:iq @A } 1pC'AYt.K@t.^Y@yt.Ab=t.WQx^iE)}ׄGIVH˥*8Q>YˡyˡE˥Bͭ>  ]\4σ?-9ɯ7? i?鯵@,<ɱ,<鱵\4Q !8 ߍ? = =Q UtI) IQ UtCI Bɴ < < kK!8 e]4]? ]9)]&9? e?Y]@ɷ]":]: ]g]4i i1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'M2GI:GQLU>Setting Heading: 3.111500 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFYFYzFajFaEaEaiim(v<)iIiqHu<"H}w:aie AC'AYt2;K@t2Y@yt2b=t2_x:NcEG>@AHYyEB7%> ! ]-\4%?%?9ɯ%8? i5?%&@%:ɱ%X:%]\4Q U!8E(ލ? E =Q ]tI)EQ ]uCIEDBɴEb;E[f; E4!8 m]4e=? e)9)e9? m?Ye@ɷe:e: ey]4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i; @  9)  u>i)5"x<)1I1AHM<"HUw: 飏C'AYt.K@t.NY@yt.ub=t.H+x^fE:@b=B@f=)m{GIq55ل5YYyY]E]B]tCe> a ]m\4e?e9ɯec9? i?e@e<ɱeSetting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFiFm.@zFijFiEiEii z<)IH<"Hw:  V>   ;ýC'AYt2K@t2Y@yt2db=t2TxBcEiPIP)0GI VH=Eh8QE>YAyAMEM=BMU8M> Q ]]\4U ?U9ɯU9? ie?U@U:ɱUR:Uа\4Q u"8e ލ?Q u"8 eR=Q utI)eeQ uvCIeBɴe:e: e$"8 ]4}W? }9)}B;? ?Y}@ɷ}:} : }x]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9D7) l y>i{<)IH<"Hw: ׏C'AYt.<K@t.Y@yt.sJb=t.xngE HpHp)GI)-Cل-;y-:v?I +Mbp?Y- AI)i)-EA-AɅ-xA-A-T< -94)-;VH˥CQ>Yˡy˩E˭#B a:>  ]\4m?9ɯV:? i%?5@8:ɱ:\4Q m"8%ލ? %t=Q mtI)%6Q uvCI%Bɴ%<%< %a"8 }]4u~? u9)u;? ?Yu@ɷu:u: u]4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'M=NMRLights, Camera on at range: 13.380001 m .1'M2GI:GQLU>Setting Heading: 3.111500 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFYFe(,@zFajFaEE!<%Tracking...<%2Tracking contact label: 2i=)=;9=:@: 9F) ;{>i?t~<)IH<"H w:¹ zC'Ai4<Yt.K@t.%Y@yt.a=t.xNeE {PY|PV8****** ping requested ******@"@%Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )1iI)GIVHxQ>YyEBe`>  ]M\4?9ɯ:? iM?r@<ɱ<\4Q ]"8Urލ? Uu=Q ]tI)UQ ]vCIUBɴU:U: U"8 ^4"~? ^4 9);? E?Y:@ɷh<k<  ^4Q QY1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMRLights, Camera on at range: 13.380001 m .1'M2GQ:GQL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%'-;)-@- -9-=))) 5-}>i9=iR<)9I99HE<"HEw:© ߱  =_ C'AYt. K@t.{Y@yt.a=t."xN%hE]R^unknown deviceResponse_: 00000,186,80,81,0E,FF )E{GIQTل;yYyEB>  ]\4?9ɯ:? i?@v:ɱ:\4Q "8 +Uލ? =Q tI) Q wCI kBɴ : : "8 -^4%}? %9)%Setting Heading: 3.111500 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFiEqEqiH<)IH<"Hw:߉L .%C'AYt2K@t2Y@yt21a=t24xRsbEGRAAHT)\i)I))IVHU]Q]>YayaeEeBmjm> i ]\4m"?m9ɯm:? i?m@m[<ɱmr:m\4Q #84ލ?Q #8 =Q  tI)WQ  wCI8Bɴ:M: M-#8 u^4ug}? u9)u7Setting Heading: 3.111500 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFqFqFqzFqjFyEyEy<}Tracking...<2Tracking contact label: 2i";@ 9¦a)a e,>iim<)iIiqH}<"H}w:¹|  ?C'A)@IYt2^K@t2Y@yt2`a=t2xRgE:@V=B@Z=)IVH˽݀7Q>YyEPB޼>  ]\4~?9ɯ ;? i?@V:ɱ(:\4Q #8ލ? !!=Q tI)Q xCIBɴK:: Fk#8 ^4}? {9)USetting Heading: 3.111500 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9p) >i݂<)IH<"Hw:©߱  XC'AYt2bK@t2ѼY@yt2#b=t2x:gEiHIH)|I|AE`eلAyEYayimEmBmEKu> q ]}]4uc~? a]4u}9ɯu,;? i?u@u:ɱu:u]4Q #8鲍ݍ? #=Q tI)Q xCIBɴ_:鴍R: i#8 ^4鵝|? g9)vSetting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i3;  @  9 9 )  >iŃ<)IH%<"H%w: rrC'AYt.;K@t.Y@yt.b=t.ߐxN.^E HPHRa=)YIaVH}}UQ>YˁyˁE˅B͍9>  ]]4}?i9ɯN;? i?鯕I@,<ɱ,<鱕]4Q #8ݍ? &=Q tI)jQ 5xCIBɴ<< #8 E^4=G|? =R9)=Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i*?;   @   9-!))1 5>i1=҄<)9I99HE<"HEw:)1# C'AYt>nK@t>ݾY@yt>b=t>H i?`Y@Vxп`Si? Rs2?`Z?)u>nK@ u>gv;Iu>CxR>xRKgE@T"@Ti`Id)U0GIYVH˵9Q>Y˹yEB99>  ]]4}?U9ɯq;? i?w@bt;ɱhg;k"]4Q $8 ݍ?Q $8 ^)=Q tI) #Q yCI bBɴ : : n8$8 %^4{? >9)Setting Heading: 3.111500 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFiEqEqi <)IH<"Hw:‰  +) :wC'AYt.:K@t.Y@yt.IRb=t.{'xNLeE)]GIa#لD;yMb?~jtx~jth?Y3AIiɅxA< Ļ)D;VH}}UQ>YˁyˁE˅B͍4>  ]]4C}?J9ɯ;? i?鯕@ӻ:ɱ=:鱕N1]4Q $8鲥Lݍ? ;,=Q tI)Q yCI;Bɴ<鴥< $8 ^4{? 39)Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjF!E!E!<%Tracking...<2Tracking contact label: 2ie;&@& 9諭) >iae<)aIaiHm<"Huw:y߁B0 TC'AYt.K@t.9Y@yt.|b=t.(z>xBlEG@H@iPIP) GI VH=E QE>YAyAEEEQBU.}U> Y ]e]4]|?]A9ɯ];? ie?]@]:ɱ]r:]>]4Q u$8msݍ? m.=Q utI)mQ }zCImBɴm :m: m%$8 ^4}E{? }*9)}7=? ?Y}@ɷ}:}: }Ȓ^4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iB;@ 9㍫) 6>i<)IH<"H w:>6 .ڐC'AYt. K@t.sY@yt.b=t.xfIiE:@j=B@j=)0GItلyMb?{Gzt~jth?Y AIiɅ酝A鄙 ף)VH-9Q>Y˙y˙E˝GBͥ>  ]]4|?89ɯ:Setting Heading: 3.111500 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F5(,@zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2i,;B@B 9ܩ)  >iae<)aIaaHm<"Hmw:±߹  h<  C'AYt. K@t.(Y@yt.Pb=t.9>xBkE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIq)jGIVH%X9Q%>Y)y)-E-B58=> A ]M]4ES|?E19ɯEtSetting Heading: 3.111500 rad .q&5L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEAEAx iE HH!]5^unknown deviceResponse_: 00000,186,80,81,0D,FF )%{GI!imףلm;ymQ?:v~jtx?YiIiiiimAɅmAimu< mT)m;VHˍ8Q>YˉyˉE˕B͕ >  ]]4{?9ɯ? ?Y@ɷ:: ^4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F zF jFEE<Tracking...<2Tracking contact label: 2i-5;15@5 595$1)1 9i9=\<)AIAAHM<"HMw:)1yI 'C'AYt.' K@t.Y@yt.b=t.#xJnhE@~A"@|) iIFC) ƄGIVH˽>r9Q>Y˹y˹E˽Bڹ>  ]5]4{?9ɯ{=? i5?@`<ɱu`<&x]4Q E%8=܍? =:=Q EtI)=}Q E{CI=MBɴ=C:=: =%8 U^4MYy? M9)M>? U?YMJ@ɷM :M/: M^4Y aa1&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&M&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'U1'U=N]RLights, Camera on at range: 13.380001 m .1']2GY:GYLe>Setting Heading: 3.111500 rad .q&eLe`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFAjFAEIEIf?QZtпT6?T@.#?Z?)u. K@ u.,v;Iu.CxBȿ>xBkE)mGIiVH+Q>YyEdBA:>  ]]4~z?9ɯ=? i?@:ɱض:-]4Q &86܍?Q &8 u<=Q tI)!Q |CIBɴ:: =&8 ^4x? 9):??  ?Y@ɷ: ^4? ?A1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M-Initialize.q&-&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N5RLights, Camera on at range: 13.380001 m .1'52G1:G9L=>Setting Heading: 3.111500 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFAFIzFIjFIEIEIx~cEG@AH) iIAC)ƄGIT=لtyZd;OYAyAEEELBMM> Q ]]]4Uz?UE9ɯU? ?YW@ɷM: ^4A II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&]&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmRLights, Camera on at range: 13.380001 m .1'm2Gi:GiLu>Setting Heading: 3.111500 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFF?zFjFEE<Tracking...<2Tracking contact label: 2i]H7];Y]9@e9 e9eְa)a aiim̹<)iIiqHu<"H}w:Qaj\ RuC'AYt. K@t.wY@yt.a=t.MxNkE:@V=B@T)GIVHQ>YyEB ) >  ]]4,{?9ɯSetting Heading: 3.111500 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F9F9zF9jF9EAEAc z8C'AYt^kK@t^۲Y@yt^#.b=t^ixfeEitIt)M{GIQلף;yMb?Q{Gzt?YAIiAjAɅA酝xA鄝< u)ף;VH˵Q 9Q>Y˹y˹E˽B>  ]]4z?9ɯzSetting Heading: 3.111500 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F9F9F=.@zFAjFAEAEAxbIiE Hbp=Hbp=)}ƄGIVH˥XR7Q>YˡyˡE˥Bͭg1>  ]]4y?9ɯ? ?Y@ɷ:鷕O: /1_4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF F FzFjFEE<Tracking...<2Tracking contact label: 2i,;@ 9¸) i w<)I!H-<"H-w: p ‘C'Ai4xNKgE@VA"@Ti`I`)mBGIqVH79Q>YyErB ~9 >  ]]]4-y?k9ɯC=? i]? @%<ɱ%<]4Q m'8e(܍? e6J=Q mtI)eQ m~CIeBɴes? ?Y@ɷ:鷵: B_4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'm=NuRLights, Camera on at range: 13.380001 m .1'u2Gq:GqL}>Setting Heading: 3.111500 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2il;@ 9) i `<)IH<"Hw:  ]v #ܑC'AYt.9K@t.Y@yt.kb=t.nx]IiEm{A@m{A)5jGI9لyy&1?~jt{Gzt?Y AIiEAAɅA酝A鄝`e< D)VH5=7 Q=>Y9y9=E=UBEǹE> I ]]4Mx?MS9ɯM=? i?MQ@MH<ɱM;:M]4Q '8܍? BM=Q tI)Q ~CIBɴ:p: '8 u_4mv? m99)m?? u?Ym@ɷm.:m: mV_4y yy1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2iMbUM;IM'@M' M9QQ)Q QiYބ<)IH<"Hw:} C'AYt.kK@t.ۯY@yt.xzb=t.>>xBklEGBAAH@ {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)ƄGIVH%8Q%>Y)y)-E-B}}>  ]]4x??9ɯ>? i?鯅@<ɱ"<鱅]4Q '8ۍ? O=Q %tI)2Q %CIBɴ::: |'8 _4-Mv? -&9)-^?? ?Y-U@ɷ-]<- ^< -Of_4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL%>Setting Heading: 3.111500 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iD;@ 99)9 AiIMay<)IIIQHU<"HUw:‘ߙ C'A)I Yt>\K@t>̱Y@yt>Db=t>H `]?`c_kп# ?sTR?R?)u>\K@ u>v;Iu>CxJb>xJpfE]R^unknown deviceResponse_: 00000,186,80,81,10,FF :@=B@)GI  tل y y&1?~jt{Gzt?Y I i   Ʌ    ) VH%%`.9Q->YiyimEmBu9u>  ]]4iw?(9ɯ>? i?@M:ɱ:b]4Q (8ۍ?Q (8 R=Q tI)Q CIBɴx:< ;(8 M_4Mu? M9)M?? U?YM@ɷM~:M: Mw_4Y YY1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5B5;15@5 5999)9 9iaeI<)aIaiHm<"Hmw:Ya V>a HO*C'AYt2K@t2 Y@yt2b=t2#xBkEiPIRFC) {GIVH=E^QE>YAyAMEMBMh9M> Q ]]^4Uv? a]^4U9ɯU>? ie?U@U5:ɱU:U^4Q m(8eۍ? eT=Q utI)eQ uCIe?Bɴe}:eN: eIv(8 _4};u? }9)} @? ?Y}@ɷ}*:}!: }dž_4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE E < Tracking...< 2Tracking contact label: 2iE~E;IM@M M9II)I IiQU<)YIYYHu<"Hw:‰ߙ -DC'AYt.RK@t.³Y@yt.da=t.D>x>lE HB=H@) I VH==QE>YAyAEEEpBM8M> Q ]]^4UVv?U9ɯUG?? i]?U?@U]:ɱU/:U^4Q m(8eۍ? eW=Q mtI)e=Q mCIeBɴe:e: eY(8 _4ut? u9)u@? ?Yu@ɷum:u: u1_4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N-RLights, Camera on at range: 13.380001 m .1'-2G):G)L->Setting Heading: 3.111500 rad .q&-Lu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2ih;@ 9) i<)IH<"Hw: a( ^C'Ai;Yt.K@t.VY@yt.b=t.xBrdE@D"@D)Hi I )e0GIiلyy&1?~jt{Gzt?YIiɅ酩鄩 )VH٣8Q>YyEGB"X> ! ]U^4%u?%9ɯ%?? i]?%@%;ɱ%S;% ^4Q e)8ecۍ?Q e)8 eZ=Q mtI)eQ mCIeBɴe5:e: e)8 _4u t? u9)u@? ?YuI@ɷu:uO: u_4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...< 2Tracking contact label: 2iEE;AE@E E9II)I iiqu<)qIqyH}<"Hw:iq  R wC'AYtK@tY@yta=tx%GkE)%jGI!VHMUQU>YYyY]E]0Beƹe> a ]^4eu?e9ɯe*@? i?e@e`<ɱe`ۍ? ]=Q tI)Q CIBɴ:: P)8 E_4m_s? m9)msA? E?Ym@ɷmSetting Heading: 3.111500 rad .q&mLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFFzFjFEE<Tracking...<2Tracking contact label: 2i5N=;9==@== =99A)A AiAMY<)IIIIHU<"Hw:©߹9 NC'AYt.1J@t.Y@yt.Ba=t.~_xRcEGPHT)Xi)I)){GIuuلqyuy&1?~jt{Gzt?YqIqiqqqɅqqq q)qVHˍzUQ>YyEBF>  ] ^4t?9ɯ@? i ?@G)<ɱ.)<>^4Q ])8]fۍ? ]:`=Q etI)]|Q eCI]Bɴ]S:]: ]S)8 _4mr? m9)mA? ?Ym@ɷmISetting Heading: 3.111500 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!FiFiFizFqjFqEqEqxB"lE:@F=B@D)iIiVH}˅9Q>YˁyˁE˅B͍o8:>  ]^4t?9ɯ@? i?鯕7@.:ɱ:鱕J^4Q )8鲥ۍ? b=Q tI)Q CILBɴ ;鴥Ѫ;  )8 _4Vr? 9)/B? ?Y@ɷ:i: _4   1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= MEInitialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMRLights, Camera on at range: 13.380001 m .1'M2GI:GILu>Setting Heading: 3.111500 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFyzFyjFEE<Tracking...<2Tracking contact label: 2i q;@ 9) i<)IH<"Hw:‰ߡ e>  ]>kL CrŒC'AYt2K@t2Y@yt2u b=t2ˈ?`\?)u2K@ u2Mv;Iu2CxB>xBKgEiPIP)IVHڷQ>YyEB-ݷ>  ]^4 cs? 9ɯ `A? i? |@ ƕ<ɱ : VZ^4Q 5*8鲥ڍ?Q 5*8 e=Q =tI)Q =CISetting Heading: 3.111500 rad .q&5L5`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i]ce;aeE@eE e9aa)a iiim#=<)qIqH<"Hw:Fv DLߒC'AYt.gK@t.׮Y@yt.zb=t.xBnE HBp=H@)I]/]=Yل]ty]~jt&1Yyyy}E}]Bͅ>  ]^4s?9ɯ@? i?鯍/@<ɱQ<鱍g^4Q *8ڍ? Zh=Q %tI)Q %CIBɴ:ض: @\*8 `4-q? `4 -9)-A? ?Y-@ɷ-<-< -.`4 1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&5&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'=1'==N=RLights, Camera on at range: 13.380001 m .1'E2GA:GAL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iU\U;QU@U U9YY)Y Yi <)IH<"Hw: k(C'AiYt.RK@t.³Y@yt.a=t.6E?;jf?d?)u.RK@ u.Ʀv;Iu.CxB>xB"lE {DY|DF8****** ping requested ******@D"@DJNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)qIVHͥQ>YyECI:> ! ]-^4%t?%l9ɯ%?? ie?%@% <ɱ%<%u^4Q *8myڍ? mj=Q tI)mIQ CImBɴmA;m; m*8 `4鵥Hr? b9) A? ?Y@ɷ/;鷥߾; `4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G!:G!L%>Setting Heading: 3.111500 rad .q&%L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)FQFQzFYjFYEYEY<]Tracking...xnKgE]v^unknown deviceResponse_: !U1,R,E99,80,81,0C,FF )0GI}D}9ل};y}Y˙y˙E˝Cͥ>  ]-^4Es?Q9ɯ(@? i5?鯥:@<ɱ:鱥e^4Q =*85xڍ? 5n=Q =tI)5Q ECI5XCɴ5ɪ:5B: 5*8 `4lq? E9)A? ?Y@ɷ::: (`4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N%RLights, Camera on at range: 13.380001 m .1'%2G!:G)L->Setting Heading: 3.111500 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F1F=.@zFjFEE<Tracking...<2Tracking contact label: 2iUU;Y]2@]2 ]9YY)Y Yiae<)aIiiHm<"Huw:QYԲ z,C'AYt2K@t2Y@yt2Ua=t2{jп-ۀ?`&`ť?@k?)u2K@ u2pv;Iu0x>Q>xBGkEGB?AH@iPIP)GI)VH=E+QE?YAyAEEMCMLM? Q ]^4Ur?U=9ɯU@? i?Ux@U!b<ɱUbSetting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i==;9=@= =9AA)A Ai]<)IH<"Hw: ԹFC'A)Ixr>xr)dE){~(I{|i{~T{={~1>{|{~C{||~QA9|~3E$r_?1i&Կ:@=B@=)GI 4=VH˽Q>YyEFC>  ]^4q?$9ɯA? i?@;ɱ;^4Q  +8=ڍ? s=Q  tI)fQ  CICɴ|:f: f+8 =`45!p? 59)5xB? =?Y5@ɷ5а:5R: 5G`4I II1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.111500 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.949151 forward, -0.314821 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.964977,-0.256506,-0.054985;0.255597,-0.966508,0.023093;-0.059067,0.008231,0.998220 ]<-tazimuthInNED_ = 176.507265 degrees FINAL. Radians:3.080633<5^ContactLat = 36.803044 ContactLon = -121.787832:E1E5QAE5_l, @kgLuE53E$r_?1i&ԿE5(E1E5 o 8,j ?l6E5I Q00#?rqE5)E@bE5?jE5BE5p$?JE5o$?RE1ZE1rE5zE5mKi}};y}@ 9) i#<)IH<"H5w:ai ]>  V> 1`C'AYt._K@t.ϰY@yt.@a=t.;`jп` ? q$@? i?)u._K@ u./v;Iu.CxB>xBeEiPIP)GI!aeلeD;yeMb?Mbp~jth?Ye AIaiaeEAeAɅexAeAe< e)eD;VH7Q>YyEC8>  ]m^4q?9ɯUA? iu?@ub<ɱCb< ^4Q +8鲭ڍ? v=Q tI)4Q CICɴk:鴭: +8 `4鵽o? 9)B? ?Y@ɷ<鷽0< '[`4  1&% LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:G)E@L>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF!F%(,@zF!jF!E!E)<-Tracking...<-2Tracking contact label: 2i ;@ 9) i?E@)>I)E@H<"Hw:| nzC'Axni>xnqE Hra=Hp)e{GIaVH}˅Q>YˁyˁE˅C͍>  ]^4Tq?9ɯA? i?鯕@:ɱ!:鱕|^4Q +8鲥Mٍ? dx=Q tI)Q CICɴ:鴥: +8 `4鵵o? 9)B? ?Y@ɷ^<鷵< i`4! !)1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i="=;9=@= =9AA)A AiM:D@)IIIH<"Hw:‰ߑ MC'Ai;Yt2)K@t2Y@yt2Web=t22xRgE@VA"@Ti`I`)%ƄGI!-}A-yAuqلu;yuy&1|?{GztMb`?Yu3AIqiqqqɅquxAu`; uף)u;VHˍS4:Q>YˑyˑE˕zC͝9>  ]^4 q?9ɯA? i?鯥 @:ɱ:鱥^4Q ,8鲵Cٍ?Q ,8 "{=Q tI)Q CIHCɴ :鴵: B1,8 `4Ao? 9)C? ?Y@ɷ: ; @{`4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL >Setting Heading: 3.080633 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF FFF,@zFjFEE!<%Tracking...<%2Tracking contact label: 2i=p=;9=@= =9AA)A AiM)E@M*<)IIIQHU<"H]w:)9 ?A e $C'AYtFK@tFnY@ytFTab=tFexhE)))GIVH5=Q=>YAyAEEECM:M> I ]^4Mp?M 9ɯMA? i?M?@M<ɱMSetting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEIEI19  ȓC'AYtBK@tBYY@ytBib=tBxb"lEGfAAHfAAiIII)ƄGIVH:Q>YyEMC Y9 >  ]^4 |p? 9ɯ B? i%? [@ F;ɱ ; g^4Q -,8%lٍ? %=Q 5tI)%Q 5CI%Cɴ%.:%: %ֻ,8 E`4=n? =9)=pC? E?Y=@ɷ=:=: =`4I IQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'u=N}PLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i6;@ 9) ia<)IH<"Hw:2 > C'A)IYt: K@t:#Y@yt:,b=t:XxiE:@=B@=)!)YyEC9>  ] ^4p?9ɯIB? i?@+:ɱ:^4Q -8tٍ?Q -8 =Q %tI)Q CICɴ.`<*a< [-8 `4鵍En? 9)C? ?YD@ɷi:鷍i: `4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'}2Gy:GyL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i  ;  "@" 9q)q qiy}.<)yIyH<"Hw:>>¡ߩ R> a>`A C'AYt.OK@t.Y@yt.b=t.tx>sbE {Y!y!%E%C5s95> 9 ]M_4=o? aU_4=9ɯ=B? iU?=@= F;ɱ=F;=_4Q m-8]Vٍ? ]8=Q utI)]iQ uCI]Cɴ]/;]eA; ]lE-8 `4}m? }9)}C? ?Y}k@ɷ});},; }`4? ?,A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ؛ ;  @  9) iH <)I!H%<"H-w:)1I1i11©߱2% C'AYt2bK@t2ҼY@yt2b=t2Mx:%hE H<H>a=-B0NEGATIVE RANGE NOT USING)GIY]`eلYy]YˁyˁE˅C͍+49>  ]_4Yo?9ɯB? i?鯕@:;ɱO;鱕2_4Q -8鲭87ٍ? Ɉ=Q tI)Q CIKCɴ:鴭: a-8 `4鵽m? 9)#D? ?Y@ɷl:鷽: U`4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjF E E < Tracking...< 2Tracking contact label: 2i% a%;)-@- -9)))) 1i1=b<)9I99HE<"HEw:ߑN  l/C'AYt.K@t.NY@yt.a=t.xN"lEi`I`)U0GIQVHQ>YyEC9>  ]]_4n?9ɯB? i]? @~`<ɱX`<_4Q e-8evٍ? e=Q mtI)eQ mCIeCɴe :eݱ: er-8 `4!m? 9)eD? ?Y@ɷT:: v`4 1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu,u;qu@u u9qy)y yiy?I<)IH<"Hw:0> >  _9 TIC'AYt.K@t.Y@yt.a=t.o½>x>nhEH@JxA)GI VH]]7Qe>YayaeEeMCm|:m> q ]}_4un?u9ɯu1C? i}?u5@u;:ɱu :uR,_4Q .8鲅؍?Q .8 ;=Q tI)Q CICɴ:鴅b:  .8 `4鵕l? 9)D? ?Y@ɷ:鷕": `4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFE E < Tracking...<2Tracking contact label: 2i%4b%;!-@- -9)))) 1i15'<)9I99HE<"HEw:)I a $cC'AYt.%K@t.Y@yt.ca=t.?c6?`?)u.%K@ u.v;Iu,xN&>xN'fEGR?AHR@Ai`I`)]ׄGIaDuلף;y:v?Mb{Gzt?YIiɅT< )ף;VH7Q>Y!y!%E%C-:-> 1 ]_45 n?59ɯ5C? i?5k@5\:ɱ5D:5C;_4Q .8鲥؍? 7=Q tI)FQ CICɴ:鴥_< W.8 a47l? a4 9)E? ?Y(@ɷc:: a4! !)1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 8.520000 m .1'E2GI:GIL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5V=;9=!@=! =99A)A Aif<)IH<"Hw:p ;}C'AYt2K@t2~Y@yt22wb=t2+xBdE:@F=B@H)GI VH=E9QE>YAyAEEMCMw&:M> Q ]]_4Um?U9ɯU D? ie?U@UC:ɱU}:UfH_4Q m.8e؍? e=Q mtI)eQ uCIeCɴe:e]: eT.8 }a4}k? }9)}rE? ?Y}U@ɷ}:}: }a4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iZ(;@ 9) i\D<)IH<"H w:{A  V>r% ږC'AYt.K@t. Y@yt.Sb=t.nxNpfEi`I`)]{GIYtل;yy&1?I +~jtx?YIiɅ`e< 94);VH˕M9Q>Y˙y˙E˝Cͥ>8>  ]_4l?u9ɯD? i?鯭@ a<ɱ`<鱭 X_4Q %.81؍? Ζ=Q %tI)Q %CI\Cɴ9:߼: .8 a4鵍k? j9) F? ?Y@ɷ:鷍::  ,a4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:G!L%>Setting Heading: 3.080633 rad .q&%L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;)@) 9) i<)I!!H-<"H-w: ֜+ C'AYt.fK@t.Y@yt.b=t.xBqE H@H@)~0GIVH=EƸQE>YAyAEEMCM M> Q ]]_4Unl?Ud9ɯUE? ie?U@U8:ɱU:Ud_4Q m/8er؍?Q m/8 e+=Q mtI)eYQ uCIeCɴe:ei: ev/8 }a4}j? }Z9)}xF? ?Y}@ɷ}:}: }:a4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iN.;@ 9) ie<)IH<"Hw:2 \ʔC'AYt. K@t.Y@yt.b=t.px:'fE@BA"@@iHIL)zjGI|VH  ÇQ>YyEOC9%> ) ]5_4-k?-Q9ɯ-E? iE?-N@-;ɱ-;-r_4Q e/8UDR؍? U=Q etI)UQ eCIUCɴU~:U: U+`/8 ua4mj? mG9)mF? u?Ym@ɷm:m : mKa4 TDone Waiting.q*T8Uninitialize Wait Component.TnCompleted lineCaptureHoming:Lap:Rollout:MaintainHeading1* TAggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeadingRNCompleted lineCaptureHoming:Lap:Rolloutq)RjAggregate::uninitialize lineCaptureHoming:Lap:Rollout1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceH>Completed lineCaptureHoming:Lap1$ HZAggregate::uninitialize lineCaptureHoming:Lapq$HdAggregate::uninitialize lineCaptureHoming:Lap:Dive$ IhAggregate::uninitialize lineCaptureHoming:Lap:Dive:A1& L|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance&&MAggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'HRunning loop #21$ HVAggregate::initialize lineCaptureHoming:Lapq$H`Aggregate::initialize lineCaptureHoming:Lap:Dive$ IdAggregate::initialize lineCaptureHoming:Lap:Dive:A$IvAggregate::initialize lineCaptureHoming:Lap:PingTransponder1% JzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q& q% F FF!F)zF)jF1E9EA >  8 lC'AYt.h!K@t.Y@yt.Ka=t.VxBpfE)~0GI|E`;AلE;yEMb? rhMbp?YE=AIAiAAAɅAE"@E< EC)E;VH]]\عQ]>YayaeEeCm,O9m> q ]}_4uqk?u)9ɯuE? i}?u@u<:ɱu{:u_4Q /8鲅0؍? =Q tI)Q CICɴp:鴅Y: G/8 a4鵕i?  9)PG? ?YH@ɷ:鷕: ]a4 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1''2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFq%% KzAggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance%K:Initialize WaypointComponent.$IzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder1% J~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9  )  i<)IH<"H%w:W> XC'AYt.U"K@t.Y@yt.b=t.x8G>AAH>AA {YYyaeEe)Cm*9u> y ]_4}j?}9ɯ}AF? i?}@}$1;ɱ}$1;}W_4Q /8鲝" ؍? =Q tI)Q CICɴ?=鴝@= /8 a4 $i? 9) G? ?Y @ɷ Ҩ: : ra4A AA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidance% K~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance%K>Uninitialize WaypointComponent.'O`Aggregate::initialize lineCaptureHoming:Lap:Dock1( PtAggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNavq(P6Initialize SetNavComponent.$IvAggregate::initialize lineCaptureHoming:Lap:PingTransponder1% JzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:AF F FFzF9jFAEAEAù>xBrdE-F0NEGATIVE RANGE NOT USING:@N=B@L)BGI̼ل#YyECj:>  ]_4j?9ɯG? i?)@:ɱl:۝_4Q 08 ׍?Q 08 L=Q tI) =Q CI WCɴ : : n008 %a4`h? 9)oH? -?Y@ɷ:!: 1a41 111(E PExAggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNavq(EPE:Uninitialize SetNavComponent.(E QE4Initialize Wait Component.1&M LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&M&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'U1'U=NUPLights, Camera on at range: 8.520000 m .1']2GY:GYL]>Setting Heading: 3.080633 rad .q&]Le`Completed lineCaptureHoming:Lap:TerminalGuidanceFaFaFiFizFijFiEiEq  ]>]K X1C'AYt6-K@t6tY@yt6jb=t6zxN$jE)Xi)I-FC)GIVHf9Q>YyECnH:>  ]_45i?9ɯG? i?@:ɱ:Ы_4Q 08h׍? =Q tI)Q CICɴj:: s08 a4yg? 9)JI? ?Y9@ɷ:c: la4  1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-PLights, Camera on at range: 8.520000 m .1'-2G1:G1L=>Setting Heading: 3.080633 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFIEIEIxReE HTHT)jGI 94ل;yMb?MbMbp?Y3AIiɅxA酝A鄝< );VH˵=Q>Y˹y˹E˽b C:>  ]_4h?9ɯQH? i?@;ɱ;_4Q 08׍? =Q tI)Q CI- Cɴ :: Ƚ08 5a4-g? -9)-I? =?Y-c@ɷ-:-Ȳ: -a4A AA1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2iz;@ 9) i)-<))I)1H5<"H=w:ai\X eC'AiYt2C2K@t2Y@yt2M^b=t2{xF nE@JA"@HiTIVAC) ƄGI VH%΅8Q%>Y!y)-E- C595> 9 ]E_4=h?=9ɯ=H? iM?=@=S:ɱ=2:=]_4Q U08M]׍? Me=Q ]tI)MVQ ]CIM CɴM:M: M08 ea4ef? e9)eI? m?Ye@ɷeŧ:e: eoa4q qy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i"<)IH<"Hw:  S'_ C'AYt.5K@t.]Y@yt..b=t.Hлx^jE)ׄGIVH˽;߸Q>YyE) Cu :>  ]]_4/h?9ɯH? i]?@<ɱ:%_4Q m18ei׍?Q m18 ed=Q mtI)eQ mCIe Cɴe:e: eB18 a4lf? 9)]J? ?Y@ɷH:m: a4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL->Setting Heading: 3.080633 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2i9;2@2 9) iAEV5<)AIAIHM<"HUw:ߙf kC'AYt.04K@t.Y@yt.~va=t.oxBiEGDHDiPIRFC) IU`eUtلUYyyy}E} Cͅ>  ]_4g?9ɯI? i?鯍,@:ɱ1;鱍_4Q 18鲥J׍? =Q tI)Q CIX Cɴ:鴥: 18 a4鵵e? 9)K? ?Y@ɷ:鷵J: a4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iD;!%@% %9!!)! !i)- <))I11H=<"H=w: 8l CC'A)@IYtR5K@tRY@ytRxb=tR'xZIiE:@=B@=)IVHU]v:Q]>YYyaeEe CeY9m> i ]_4m&g?m9ɯmJ? i?mg@m&`<ɱm`Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iudzu;qu@u u9yy)y yiQ<)IH<"Hw: e> V>!s "͕C'AYtF7K@tF?Y@ytFWb=tFh?R?)uF7K@ uFMv;IuFCxf<>xfhEi!I%AC)GIلD;y~jth?~jth~jth?Y AIiAAɅA@D; D)D;VH yQ>YyEb C%9%> ) ]-`4-g? a5`4-9ɯ-J? i5?-v@-w:ɱ-:-`4Q E28=׍?Q E28 ==Q EtI)=>Q ECI=+ Cɴ=Q:=: =28 Ua4MIe? M9)ML? ]?YM,@ɷM:M : Mua4a aa1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFQ?zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i]><)IH<"Hw:©߱mKy  C'AYt^k>K@t^Y@yt^0b=t^vK@ u^v;Iu^Cxf9>xfeE HhHh){GIVH8Q>YyE C : >  ]u`4 f? 9ɯ K? i}? @ `<ɱ q`< `4Q 28鲅֍? t=Q tI)Q CI Cɴ:鴅: S28 b4&e? b4 9)lL? ?Y;@ɷZ:^:  b4 1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu(u;qu @u  }9yy)y yi3w<)IH<"Hw:)=-^got command report touch acoustic_contact_range=uXgot command report mod SpeedControl.speedCmd=}fgot command report mod HorizontalControl.headingCmd=got command maintain control VerticalControl.massPositionAction 2.500000 centimeter=got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter=zgot command maintain sensor Depth_Keller.depth 0.000000 meter=got command report touch TrackAcousticContact.heading_to_contact*a code=090F owner=004A element=0694 universal=3FFF unitName="radian" type=2F size=0004 fl=04 3 wC'AiYt2?K@t2Y@yt2Rrb=t2yָ>x>NcE {@Y|@F8****** ping requested ******@FA"@DJNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`IfFC)YIae|Am|AVH˵9Q>Y˹y˹E˽6 C+9>  ]`4f?9ɯ`K? i?@+;ɱϺ;`4Q 28֍? T=Q tI)Q CI Cɴ:Z: i28 Ub4Me? M9)ML? U?YMJ@ɷM:M: Mb4a aa1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE!x6GkE]>^unknown deviceResponse_: !U1,R,E89,80,81,0D,FF )iIi;tل;y{Gzt?MbMbp?Y AIiEAAɅxA酵A鄵ף; );VHd9Q>YyE C o/9 >  ]`4f?9ɯK? i?@S:ɱ :*+`4Q -28%d֍? %=Q -tI)%bQ 5CI%` Cɴ%:%": %28 =b45d? 59)5 M? E?Y5g@ɷ5T:5m: 5/b4I II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 8.520000 m .1'm2Gi:GiLu>Setting Heading: 3.080633 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyF}(,@zFjFEE<Tracking...<2Tracking contact label: 2iH;@ 9) it<)IH<"Hw:¡߱" 4C'AYt.hDK@t.Y@yt.b=t.f?BN@?`N?)u.hDK@ u.Rv;Iu.Cx>>>x>klEG@HB@A)Hi I )iIiVHlRQ>YyE C:>  ]5`4Hf?9ɯL? i=?@j<ɱD<9`4Q E38ER֍?Q E38 E=Q MtI)EQ MCIE CɴE:Eϸ: E38 b4鵕d? 9)lM? ?Y@ɷ;:鷕?: Ab4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL >Setting Heading: 3.080633 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceFIFIFQFQzFQjFQEYEY<]Tracking...<]2Tracking contact label: 2iU;@ 9) iߜ<)IH<"Hw:]r tNC'A)6@I4YtHK@t'Y@yt̋b=tHxENcE:@u=B@u>)=ƄGIAM= M%=`eTلYyEn C:>  ]-`4e?9 e-tIɯL? i-?@;ɱ;zH`4Q =385`֍? 5=Q =tI)5Q =CI58 Cɴ5\:5Ȳ: 5g38 mb4Ec? E9)E/N? m?YE@ɷE):E: ETb4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i--;)5@5 5911)1 1i9=<)9IaaHm<"Hmw:!) V> Y>m 1ChC'AYt.HK@t.Y@yt.usb=t.8xBrdEiPIP)GIVH%`Q%>Y!y)-E- C--? 1 ]E`45 e?59ɯ5yM? iE?5N@56;ɱ5m ;5T`4Q U38MAE֍? M=Q UtI)MzQ UCIM CɴM6:Mp: Mh38 eb4]Sc? ]9)]N? m?Y]@ɷ]:]: ]bb4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iǠ ;  @  9  ) i1=<)9I99HU<"H]w:19] C'AYt.IK@t.iY@yt.4b=t.u?`U?)u.IK@ u.Jv;Iu.CxBù>x@ H@HBp=)~0GIVH%ViQ%>Y!y!-E-.C-ٔ9-> 1 ]=`45gd?59ɯ51N? iE?5@5 :ɱ56:5b`4Q M38M|$֍? M=Q UtI)M0Q UCIM CɴMX:M): Mj38 eb4]b? ]9)]O? e?Y]B@ɷ]v:]6: ]%tb4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;@ 9) i!%<)!I))H5<"H5w:W C'AYt.MK@t.rY@yt.Ia=t.M>xB)dE@D"@DiPIP)GI  }AMDM`لMף;yMy&1?Mbp?{Gzt?YMAIIiIMAMAɅMAMG@M`e< M;)Mף;VH˝CQ>YˡyˡE˥Cͭ19>  ]`4c?9ɯN? i?鯵@Ϻ;ɱ:鱵Pq`4Q 48 ֍?Q 48 =Q tI)Q CIbCɴW:: ,48 %b4:b? 9)O? -?Yv@ɷ:: b41 QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i ;@  9) i<)I!H%<"H-w:)9  լ ԵC'AYt2gPK@t2Y@yt2Wa=t2xBgE)BGIVH%ZQ%>Y!y)-E-C- :5> 1 ]=`45c?59ɯ5O? iE?5@5:ɱ5:5~`4Q M48MՍ? MU=Q UtI)MQ UCIMCɴM_:M˵: Mm48 eb4]a? ]9)]fP? e?Y]@ɷ]ߡ:]: ]b4i qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i@ ;  @  9  )  i<)I!H%<"H%w:19 <ϖC'AYtFSK@tFAZ@ytFa=tF⋼x^_EG`H`ilIl)=GIAĻل;y{Gzt?MbpMb`?YAIiɅ酅xA鄅ף; );VH9Q>YyEjC9> 1 ]=`45Pc?59ɯ5DO? i=?5@5:ɱ5:5'`4Q M48EeՍ? EV=Q tI)EbQ CIE4CɴESetting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF.@zFjFEE<Tracking...<2Tracking contact label: 2i55;15 @=  =999)9 9iae#<)aIaiHm<"Huw:Ya ;C'AYt2VK@t2 Z@yt2|Qb=t2xB'fE:@F=B@F=)H)ejGIii m4=VH˝$9Q>YˡyˡE˥CͭG9>  ]`4c?9ɯmO? i?鯵@r:ɱ:鱵`4Q 48Ս? =Q tI)Q CICɴީ:l: q48 b4ga? 9)P? ?Y@ɷv:X: b4  1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 8.520000 m .1'E2GA:GILM>Setting Heading: 3.080633 rad .q&MLM`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i<)IH<"Hw: R>  V> gC'AYt2GYK@t2Z@yt2b=t2׼xBIiE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 *@}C=2@}R=iI)e{GIaVHu}9Q}>YyyyE˅FCͅ9>  ]`4b?9ɯO? i?鯭5@:ɱ:鱭`4Q 58鲽yՍ?Q 58 9=Q tI)Q  CICɴ<鴽@#< yG58 b4)a? 9)P? %?Y@ɷF:A; "b4I QQ1&] LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEEA<>xBhE HBp=H@]F^unknown deviceResponse_: 00000,186,80,81,0C,FF )I;tلD;y{Gzt?Mb~jth?Y3AIiEAAɅxAA )D;VH5=*9Q=>Y9yAEEECE:E> I ]u`4Mb?M9ɯMO? i}?MQ@M;ɱM;M`4Q 58}o\Ս? }=Q tI)}Q CI}lCɴ}%:}Գ: }58 b4鵵`? 9),Q? ?Y@ɷ:鷵: b4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL >Setting Heading: 3.080633 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1F1F5,@zF9jF9E9E9<=Tracking...>x>EmE@D"@DiPIP)1I1=~A9VHu}yQ}>YˁyˁE˅C͍>  ]`4qb?9ɯP? i?鯍o@÷;ɱ^;鱍`4Q 58=Ս? V=Q tI)Q CICɴɪ:x: 58 b4`? 9)jQ? ?Y#@ɷ{:ף: b4 1&5 L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'=1'==NEPLights, Camera on at range: 8.520000 m .1'E2GI:GILu>Setting Heading: 3.080633 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2i{M;@ 9) iS<)IH<"Hw:  v  ;PC'AYt2`K@t26Z@yt2b=t2Rȿ>x>kEJzA@J{A)I]:]#ل];y]~jtx?MbMb`?Y] AIYiY]xAYɅYY]; Y)];VH˽,\9Q>YyEnCp:>  ]=`4*b?9ɯBP? i=?@j<ɱFj<H`4Q M68EoՍ?Q M68 E==Q MtI)EzQ CIE8CɴEASetting Heading: 3.080633 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F1F1F5(,@zF9jF9E9EA|>xBgpEGB@AH@iPIP)0GIVH%%Q%>Y!y!-E-C-":-> 1 ]=`45a?59ɯ5gP? iE?5@5:ɱ5C:5`4Q M68ELԍ? E=Q MtI)EQ UCIECɴEO:E: E1J68 ]c4]1`? ]9)]Q? e?Y]e@ɷ]{:]: ]c4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<52Tracking contact label: 2iMjM;IM@M M9) i%x<)IH<"Hw: 󮄗C'AYt.eK@t._Z@yt.{a=t.ȿ>xBkE:@F=B@F=)jGIR= =VH%ݹQ%>Y!y!-E-8C-I9-> 1 ]=`45a?59ɯ5P? iE?5@5:ɱ5:5`4Q M68M}ԍ? M=Q UtI)M)Q UCIMCɴM}:Mp: MN68 ]c4]_? ]9)]Q? e?Y]@ɷ]:]: ]n"c4i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i8;@ 9) i  }<) IqH}<"H}w:qy V>  Y>G ߈C'AYt>lK@t>KZ@yt>Pb=t>H C@?`@п`@h?@gF@\?R?)u>lK@ u>0v;Iuxn"lE*@va=2@tiI)mƄGIiDلD;yMb?Mbp~jth?YIiEAAɅ酱鄵< )D;VH9Q>Y)y)-E-C5"}:5> 9 ]E`4=Na?=9ɯ=P? iE?=@=:ɱ=0:=`4Q u68Mԍ? M=Q utI)MQ uCIMnCɴMs;MA; M68 c4}_? }9)}&R? ?Y}@ɷ}:}ף: }y5c4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F1F1F1zF1jF9E9E9<=Tracking...xBKgE HBa=H@)GIVH%J9Q%>Y!y!-E-C-9-> 1 ]=a45a? a=a459ɯ5Q? iE?5@5 :ɱ5:5 a4Q M78Eԍ?Q M78 E,=Q UtI)EQ UCIECɴE:Eb: Ev78 ]c4]O_? ]{9)]aR? e?Y]@ɷ]@:]: ]JEc4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;!%@% %9!!)! !i)-M<))I)QH]<"H]w:IY Z @җC'AYt.XrK@t.Z@yt.nb=t.60O>xBgE@D"@DiPIP){GI }A M;IلM;yM~jth?YyEtC9>  ]-a4`?s9ɯ>Q? i-?0@<ɱ<a4Q }78uvԍ? u<=Q }tI)uDQ }CIu>Cɴu:u: ua78 c4鵅_? c9)R? ?Y@ɷ$;鷅g; aXc4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F zF jF)E1E1<5Tracking...<52Tracking contact label: 2i; @  9) i<)!I1AHm<"Hmw:ai   XC'AYt2LpK@t2Z@yt2Kb=t21xBinEJ|A@H)IVH%Q%>Y!y!-E-C-X-> 1 ]=a45`?5_9ɯ5fQ? iE?5M@5a:ɱ5:5L(a4Q M78EZYԍ? E=Q MtI)EQ UCIECɴE:E: E78 ]c4]^? ]P9)]R? e?Y]@ɷ]Ü:]: ]%hc4i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ %9!!)! !i)-<))I)1HU<"H]w:)9k C'AYt.ctK@t.!Z@yt.a=t.ᚽxRiEGPHT {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I)aIiVH˥\Q>Y˩y˩EIC:>  ]a4s`?G9ɯQ? i-?q@/!<ɱ+!<W8a4Q =785n3ԍ? 5=Q =tI)5Q ECI5Cɴ5f:5q: 5f78 Uc4M^? M79)MR? U?YM&@ɷMH:M?: MR|c4Y YY1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE)<5Tracking...<52Tracking contact label: 2iEQ;+@+ 9) i  ,<)IAHM<"HMw:Ya` C'AYt2tK@t2"Z@yt2ra=t2|xRNcE]V^unknown deviceResponse_: 00000,186,80,81,0E,FF :@%=B@%=)ƄGI%= %=`eلtY y EC5;8=> 9 ]Ea4= `?=49ɯ=eR? iM?=@=:ɱ=:=Ea4Q u88M ԍ?Q u88 M=Q }tI)MUQ }CIMsCɴM:M;: M,88 c4鵅S^? %9)S? ?YS@ɷ7:鷅{: c4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF F ,@zF jFIEQEQ  V>  9C'AYt2sK@t2L!Z@yt2RCb=t2xRpfEilIl)EGIAVH]e9Qe>YayimEmCuu>  ]a4_?"9ɯ3S? i?鯝@:ɱ:鱝Sa4Q 88鲭Ӎ? >=Q tI)Q CICɴi;鴭i; m88 c4]? 9)T? ?Y@ɷ:p: 2c41 191&E LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&M&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'M1'U=NuPLights, Camera on at range: 8.520000 m .1'u2Gq:GyL}>Setting Heading: 3.080633 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i(<)IH<"Hw: ۇSC'AYt2xK@t2n&Z@yt2b=t2d&>xB'fE HBp=H@) ƄGI MMلM;yM~jt?{GzMbp?YIIIiIIIɅIIMD< I)M;VHemQm>YiyquEuuCD:>  ]a4 _?9ɯS? i?@M:ɱض:aa4Q U88wӍ? =Q UtI)Q ]CI>Cɴ _<_< 88 ec4]g]? ]9)]T? m?Y]@ɷ] :]ʢ: ]Sc4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i%%;!%@% -9)I)I IiQUF<)QIQYH]<"Hew:IQ (bmC'AYt2~K@t2),Z@yt2a=t2xRKgE@VA"@Ti`I`)-bGI115{AVH]eQe>YayaeEmCmj:m> q ]a4u^?u9ɯuS? i?u5@u,;ɱu;u,oa4Q 88鲵RӍ? =Q tI)bQ CICɴ;鴵; f88 c4\? 9)&U? ?Y@ɷg;; c4 !1&5 LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&]&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq']1']=NePLights, Camera on at range: 8.520000 m .1'e2Ga:GaLm>Setting Heading: 3.080633 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2ie/;@ 9) i Q<)IH<"Hw:   ! >C'AYt2K@t2R1Z@yt2Na=t2xBhE) {GI VH%T7Q%>Y!y!-E-BC-}P:-> 1 ]=a45+^?59ɯ5&T? iE?5h@5:ɱ5L:5}a4Q M98EӍ?Q M98 E>Q MtI)EQ UCIECɴE:E=: E*798 ]c4]v\? ]9)]uU? e?Y]@ɷ]:]D: ]c4i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i  V<) I H5<"H=w:19J' C'AYt.K@t.3Z@yt.a=t.'xBaEG@HDiPIP)IEETلAyEYayamEmCm9m> q ]}a4u]?u9ɯuT? i?u@u:ɱub:uia4Q 98鲅9sӍ? m>Q tI)Q CIpCɴm:鴅ٮ: |98 c4鵕\? 9)U? ?YH@ɷe:鷕/: c4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYF]*@zFYjFYEYEaxBrE:@F=B@D)|I4= VH=EQE>YAyAEEECM9M> Q ]]a4Uf]?U9ɯUT? i]?U@U:ɱU(:Uaa4Q m98eRӍ? e4>Q mtI)eqQ mCIeCɴe4:e: e98 }c4u[? u9)u#V? ?Yur@ɷuߡ:u: uc4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ih;@ 9) i<)IH<"Hw: V> ]>=4 ԘC'AYt.K@t.R;Z@yt.Mua=t.ixBjEiPIP)|IAEلE;yEMb`?~jthMb`?YAIAiAAAɅAAE; ED)E;VH]e8Qe>YayaeEezCm5Z:m> q ]}a4uM]?u9ɯuU? i?u@u:ɱu/:ua4Q :8鲅1Ӎ?Q :8  >Q tI)Q CI?Cɴа:鴅: :8 d4鵕[? d4 9)TV? ?Y@ɷ:鷕: _d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iB7;@ 9) i  <) I H<"Hw: ] ; C'AYt.bK@t.?Z@yt.a=t.xBKgE H@HD)~+GIVH=E9QE>YAyAEEECM4:M> Q ]]a4U4]?U9ɯU5U? i]?U@Uw:ɱU^:Ua4Q m:8eCӍ? e >Q mtI)e'Q mCIeCɴe:e_: e*H:8 }d4u[? u9)uV? }?Yu@ɷuw:uŧ: ud4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i<)IH<"Hw:GB 4C'AYt.K@t.*EZ@yt.b=t.r;xBjE {DY|DJ8****** ping requested ******@NA"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )hiYIeAC)GI}AVH%; 8Q%>Y)y)-E5OCE;D:M> Y ]ea4]]?]9ɯ]jU? im?]@] ;ɱ] ;]a4Q }:8uҍ? u>Q tI)uQ CIuCɴu;uC ; u:8 d4鵍d[? 9)V? ?Y@ɷ;鷍; )d4 1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MmInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.080633 rad .q&L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F1F1zF1jF1E1E9<=Tracking...<=2Tracking contact label: 2i]8c];Y]%@]% e9) iK<)IH<"Hw:  1H ^"C'AYt2̚K@t2xpfE){+>I{i{={>{{@{|zRB9|)BďG?rҡX?m{A@i)}GIyDףلy{Gzt?Mb`Mb`?YIiɅף; )VH5=*$9Q=>YAyAEEECM9M> Q ]]a4U\?U9ɯUU? i]?U@UI:ɱU:UHa4Q m:8eҍ? e(>Q mtI)eQ mCIeCɴe:eg: e:8 }d4u-[? u9)uV? }?Yu@ɷu@:ub: u=d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.080633 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.985996 forward, 0.166769 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.962548,-0.265426,-0.055223;0.264531,-0.964101,0.023056;-0.059360,0.007584,0.998208 ]<VazimuthInNED_ = -2.704803 rad -- adding 2pi<ZazimuthInNED_ = 3.578382 rad after adding 2pi<tazimuthInNED_ = 205.026201 degrees FINAL. Radians:3.578382<^ContactLat = 36.802690 ContactLon = -121.788087:EEzRBE I@5 lj!@E)BďG?rҡX?E+>EE10G!z+A;6|cKkMEm `N,Ê ۿ`8詿E7e@bEڱjEy>BEo$?JEp$?RE ZErEk*zEi5.=;9=@= =99A)A AiIMw*<)IIIQH]<"H]w:9A%Dacoustic_contact_range 52.620003 m% hTrackAcousticContact.heading_to_contact 3.578382 rad\N =xBkEGDHDiTIVFC){GIVH]]͹Qe?YayaeEeCm3:m? y ]}a4}\?}9ɯ}U? i?}@}@:ɱ}:}%a4Q ;8鲍ҍ?Q ;8 T>Q tI):Q CICɴJ:鴍: 9;8 d4鵝 [? 9) W? ?Y@ɷ4:鷝: Kd4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:G7e@L>Setting Heading: 3.578382 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i E@) I 7e@ H<"Hw:%RHorizontalControl.headingCmd 3.578382 radjDU VC'AYt.vK@t.NZ@yt.a=t.kxBgE)5ƄGI9}}ף;لyy}Mb`{Gzt?Mb`?YyIyiyyyɅyy} }ף;)yVH˽#Q>YyECN9>  ]a4\?9ɯU? i?@M:ɱ:a4Q ;8ҍ? <>Q tI)Q CIFCɴ:: 8[;8 d4%[? 9)JW? ?Y@ɷ:": ]d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL%>Setting Heading: 3.578382 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F)F)F)zF1jF1E1E1<=Tracking...<=2Tracking contact label: 2iMU;QU@U U9YY)Y YiesaH@)e* >IaaHm<"Hmw:}> }>IQ R>  V>n[ oC'AYt.K@t.PZ@yt.Db=t.12xBPaEiPIP)BGIVH]]u9Qe>YayaeEeCm9m> q ]a4u\?u9ɯu5V? i?u*@uA<ɱu5Q tI)Q CICɴ::鴽: ;8 d4@[? 9)W? ?Y@ɷǺ: : Dnd4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL%>Setting Heading: 3.578382 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F)zF)jF)E1EQxBmjE HFR=HD)~GIVH=EQE>YAyAMEMMCM]:M> Q ]b4U]? ab4U9ɯUoV? i?U<@U<ɱUpQ tI)NQ CICɴt:: f;8 %d4[[? 9)W? -?Y@ɷ`;8< d4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL%>Setting Heading: 3.578382 rad .q&%L-`Completed lineCaptureHoming:Lap:TerminalGuidanceFIFQFYFYzFajFaEaEaxRfEi\IbAC)BGI!e;e=لetyeQ~jt?Y!y!%E%C%}9-> ) ]ub4-]^?-9ɯ-U? i}?-@-<ɱ-f<-nb4Q <8})ҍ?Q <8 }!>Q tI)}Q CI}Cɴ}:}÷: }*<8 d4鵍\? 9)W? ?Yw@ɷy:鷍: .d4 1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&52G9:G9L=>Setting Heading: 3.578382 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFIFM,@zFIjFEE<Tracking...<2Tracking contact label: 2iz;@ 9) i:)d =IH<"Hw:}'>}A|AQa  n ^C'AYt.K@t.Y\Z@yt.b=t.ݟxBhE)~jGIVH 9E9Q>YyEC%k:%> ) ]-b4-{_?-)9ɯ- U? i5?-;@-:ɱ- :-a&b4Q =<8= ҍ? =f$>Q EtI)= Q ECI=Cɴ=:=: =g<8 Md4M]? M9)MbV? U?YM@ɷM:M: Mҡd4Y YY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&u2Gq:GqL}>Setting Heading: 3.578382 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i6#6)";IH<"Hw:µ>qy u F]יC'AYt. K@t.ydZ@yt.:ja=t.ּxBeEGB?AHDiPIRFC){GIEE'=لEyES㥛Q?MbYAIAiAAAɅAAE/ݼ E<)EVH]eֹQe>YayamEmCm!:m> q ]}b4u`?ue9ɯumT? i?u@u/:ɱuM:u4b4Q <8鲅э? N'>Q tI)] Q CIGCɴX:鴅J: <8 d4鵝^? U9)U? ?Yu@ɷ{:鷝{: d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.578382 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i,2)N%I H <"Hw:m!=)9{ 5C'A)IYt.ԹK@t.DgZ@yt.a=t.!xRcE:@V=B@V=)ƄGI!VH-5G9Q5>Y1y9=E=CE9E> I ]Mb4Ma?M9ɯMS? iU?MJ@M:ɱMx:MBb4Q ]<8]э? ]*>Q etI)] Q eCI]Cɴ]1:]: ]<8 md4m`? m9)m-U? u?Ym@ɷm:m: md4y yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.578382 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) ie/)IH<"Hw:\=> {>‘ߙ V> Y>ᣂ  C'AYt.K@t.lZ@yt.Qb=t.xBpfE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~=I~PC)uGIVHJ9Q>YyEWCU:>  ]-b4c?9ɯ2S? i=?@ͭ;ɱO;Qb4Q e=8Mэ?Q m=8 M+->Q mtI)M Q uCIMCɴM;M; M":=8 d4鵍]a? 9)T? ?Y@ɷO<鷍}< d4Q QY1&e LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&2G:GL>Setting Heading: 3.578382 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i0;'@' 9) !i%v(.)AIIIHU<"HUw:=G=!͈ $C'AYt.K@t.4oZ@yt.1xb=t."x6cE H8H:a=){:QyI{8i{:={:>{8{:A{8|:VA9|:C-c?Z$ο)T)0GIף<لyy&1:v?MbpYAIiAɅ`e T<)VHֻ8Q>YyEC%9>  ]b4c?9ɯR? i?@^:ɱ,:_b4Q  =8 э? />Q tI) s Q CI Cɴ 2: : |=8 %d4a? 9);T? %?Y@ɷ:U: d4) ))1&= LExAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&E MEInitialize.q&E&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NMRLights, Camera on at range: 13.380001 m .1'M2GI:GILU>Setting Heading: 3.578382 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFYFe+@zFajFaEaEaC'Ai4<Yt.K@t.wqZ@yt.*b=t.r>x>inE@D"@Dig=I FC)ejGIaVH˝&a9Q>YˡyˡE˥$Cͥ$9>  ]b4Q tI) Q CICɴ!:: W=8 d4b? 9)S? ?Y @ɷ:۞: d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GJ@L >Setting Heading: 3.169194 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FFzFjFEE<Tracking...<%2Tracking contact label: 2i5L=;9=@= =999)9 AiE;-EΥ<)IIMJ@IHU<"HUw:->zAzA߉%RHorizontalControl.headingCmd 3.169194 rad   XC'AYt.YK@t.uZ@yt.9b=t.ōxB'fENxA@NvA) ƄGIU:U<لUĻyU rhMb?~jtxYU3AIQiQQQɅQUAUC U<)UĻVHmm@Qm>YqyquEuC}-:}>  ]b4d?+9ɯ R? i?鯅@g:ɱа:鱅~{b4Q >8鲕AFэ?Q >8 5>Q tI)& Q CILCɴ$:鴕: b>8 e4鵥4c? e4 9)vS? ?YV@ɷ{:鷥:  e4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2i d ;  @  9) i.)#ؼI!H%<"H%w:L  A~rC'AYt.K@t.wZ@yt.tra=t.Ax6hEG:AAH8iDID)vׄGIxVH  Q >Y y  E C9>  ]%b4e?H9ɯQ? i%?@Գ:ɱ :&b4Q 5>8-&э? -L8>Q 5tI)-~ Q 5CI-Cɴ- :-B: -8 Ee4=c? =89)=R? E?Y=@ɷ=:=b: =e4I QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NmRLights, Camera on at range: 13.380001 m .1'm2Gq:GqLu>Setting Heading: 3.169194 rad .q&uL}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i(e1)IH<"Hw:­ߑ\ \C'A)@IYt:7K@t:{Z@yt:eaa=t:TYxRnhE:@V=B@T)]BGIaVH˭w Q>Y˹yE[CS:>  ]b4df?g9ɯ$Q? i%?D@;ɱ;4b4Q 5>8-1э? -b;>Q UtI)- Q UCI- Cɴ-Է;-; -܍>8 ee4]d? ]X9)]vR? e?Y]@ɷ]:]: ].e4i i1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=[E;AE@E E9AA)A Aim^O6)m mi>!)  V>V 6C'AYt.pK@t.}Z@yt.Gb=t.*xBNcEiPIP)GIMMj<لIyMMbMb?~jtxYMAIIiIIIɅIMxAM I)IVHem9Qm>YiyimEmCu9u>  ]b4g?9ɯP? i?鯝@:ɱ:鱝b4Q >8鲭Ѝ? >>Q tI)8 Q CICɴõ;鴭; 6>8 e4Te? v9)Q? ?Y@@ɷ:ͭ: ?e4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-RLights, Camera on at range: 13.380001 m .1'52G1:GQL]>Setting Heading: 3.169194 rad .q&]L]`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFe+@zFajFaEiEixB$jE HBp=HBp=)|IVH% Q%>Y!y)-E-%C-:-> 1 ]=b45g?59ɯ50P? iE?5@5T:ɱ5¿:5b4Q M?8EЍ?Q M?8 E@>Q MtI)E Q UCIECɴE :E: E?8 ee4]e? ]9)]Q? e?Y]@ɷ]:]Y: ]:Pe4i qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i z;@ 9 )  i @)JS=I1H=<"H=w:Ǥ;k. $ٚC'AiYt2K@t2ZZ@yt2+a=t2z۾\>xB _E@D"@DiPIP)GIAE9<لAyEQQ?~jtxYEAIAiAAAɅAEAEu Eu<)AVHQ>YyEC:>  ]b4dh?9ɯO? i?"@;ɱ÷;b4Q %?8*Ѝ? C>Q %tI) Q %CIUCɴ:: Y?8 5e4-f? -9)-P? U?Y-@ɷ-k;-; -be4Y Ya1&m LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2iV%;!% @%  %9!!)) )i5D)5j=I19H=<"H=w: \J=  vX C'AYt.K@t.Z@yt.a=t.xBfE)~ׄGIVH%ݸQ%>Y!y)-E-C-B:5> 1 ]=b45h?59ɯ51O? iE?5e@5:ɱ5H:5b4Q M?8EЍ? EF>Q MtI)EG Q UCIECɴE:EȲ: EJ?8 ]e4]Cg? ]9)]P? e?Y]@ɷ]X:]: ]se4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%^%;!%@% %9!))) )i-^SG)5>I1QH]<"H]w:eu}=!)@  C'AYtF2K@tFZ@ytF|a=tFxrnEGz?AHx {Y|!-8****** ping requested ******mNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)GI)-t<ل-Dy-~jt:v?~jthY)I)i)))Ʌ))-D -T<)-DVHm}P9Q}>YˁyˁE˅o C͍&~:>  ]b4i?9ɯN? i?鯵@:ɱ:鱵b4Q ?8X[Ѝ?  J>Q tI) Q CI1 Cɴ|;b;  ?8 e4g? 9)FP? ?Y^@ɷb:: ,e4 !1&5 L5xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M=Initialize.q&=&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'=1'==NERLights, Camera on at range: 13.380001 m .1'E2GA:GaLm>Setting Heading: 3.169194 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFqFqFqzFqjFyEyEy<}Tracking...<2Tracking contact label: 2is(;&@& 9) iH)IH<"Hw:d=¹sj (~'C'A)@IYt2RK@t2–Z@yt2>a=t2zIxBu`E]F^unknown deviceResponse_: !U1,R,EB7,000,006C,FF :@=B@ )){GIVHtQ>Y!y!%E% C-xd:-> ) ]Mb4-j?-9ɯ-N? i?-@-BK<ɱ-E<-7b4Q @8鲝=Ѝ?Q @8 L>Q tI)Q CI Cɴ:鴝8: (@8 e4鵭Zh? 9)P? ?Y@ɷ;鷭x; ʗe4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL%>Setting Heading: 3.169194 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F)FIFIzFQjFQEQEQai  Y>QR CYAC'AYt.K@t.)Z@yt.iWb=t.xBcEi I )mƄGIiVH˝,9Q>YˡyˡE˥.!Cͭ8>  ]b4j?(9ɯN? i?鯵@o:ɱA:鱵b4Q @8.Ѝ? TO>Q tI)\Q CI Cɴ:: ?h@8 e4h? 9)O? ?Y@ɷϝ:: >e4  11&E LMxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&M MMInitialize.q&M&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'M1'U=NuRLights, Camera on at range: 13.380001 m .1'u2Gq:GyL}>Setting Heading: 3.169194 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) iKG)IH<"Hw:G>¡߹}| 4[C'AYt.YK@t.əZ@yt.b=t.۽xBPaE HBR=HBa=) ׄGI M;Mt<لMyMMb{Gzt?Mb`YMAIIiIIIɅIMxAM Mף;)MVHem~C9Qm>YiyquEu!C͕s9>  ]c4j? ac4/9ɯhN? i?鯝8@ :ɱ:鱝c4Q @8鲭ύ? .R>Q tI)Q CIU!Cɴ;鴭b; @8 e4&i?  9)O? ?Y@ɷ;; e4! !!1&U LUxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&U MUInitialize.q&]&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq']1']=NeRLights, Camera on at range: 13.380001 m .1'e2Ga:GaLm>Setting Heading: 3.169194 rad .q&mLm`Completed lineCaptureHoming:Lap:TerminalGuidanceFiFiFF+@zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) iKG8?<)I H<"Hw:)I!i!!‘ߙ |uC'AYt.K@t.tZ@yt.Kb=t.gxBjE@D"@DiPIP)IVH%aQ%>Y!y)-E-!C-:-> 1 ]=c45.k?569ɯ5CN? iE?5W@53:ɱ5¿:5tc4Q M@8E ύ? ET>Q MtI)EQ UCIE!CɴE:E: E@8 ]e4Usi? U'9)UO? e?YU@ɷU0:Uϝ: U5e4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iUU;QU@] ]9YY)Y YieKGen<)aIaiHm<"Huw:yAiy  ِ C'AYtv^K@tvΜZ@ytv@a=tvƾx~'fE)}BGIyلyy&1|~jtx?Mb`YIiɅ` ;)VHQ>YyEg"C ѿ >  ]c4}k?B9ɯN? i?x@R:ɱݱ:%c4Q -A8%ύ?Q -A8 % X>Q -tI)%qQ -CI%("Cɴ%g:%#: %6A8 =e45i? 529)5oO? =?Y5)@ɷ5:54: 5e4A AI1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmRLights, Camera on at range: 13.380001 m .1'm2Gi:GiLu>Setting Heading: 3.169194 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFyzFyjFEE<Tracking...<2Tracking contact label: 2i[;@ 9) iKG<)IH<"Hw:ߑ èC'AYt.K@t._Z@yt./a=t.Ծx6+bEG8H8iF=IJPC)vGIxVH~ 9Q>Y y  E "C >9>  ]c4k?K9ɯM? i%?@[:ɱ-:2c4Q -A8-ύ? -Z>Q 5tI)-Q 5CI-"Cɴ-:-: -4uA8 =e45j? 5<9)5KO? E?Y5F@ɷ5:5: 5e4I II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmRLights, Camera on at range: 13.380001 m .1'm2Gi:GiLu>Setting Heading: 3.169194 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFjFEE<Tracking...<2Tracking contact label: 2iK?;@ 9) iKGҟ<)IH<"Hw:±߹ ›C'AYt.K@t.Z@yt.vb=t.x6KgE:@:=B@>=)vGItVH~i9Q>Yy  E .#C #: >  ]c4 l?V9ɯM? i%?@:ɱ:@c4Q -A8%>}ύ? %]>Q -tI)% Q 5CI%"Cɴ%C:%: %FA8 =e45Oj? 5G9)5$O? E?Y5d@ɷ5:5w: 5Qe4I II1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MmInitialize.q&m&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iƚ;@ 9) iKGq<)IH<"Hw:]> >±߹ N>  R> zܛC'AYt.K@t.NZ@yt.{b=t.x6mjE*@<2@>p=iHIH)vƄGIx55t<ل5:y5I +y&1?MbP?Y5 AI1i15@1Ʌ5A1594 5`e<)5:VHmu:7Qu>Yyyy}E}#CͅJ7:>  ]c4l?t9ɯN? i?鯍@s:ɱ :鱍LOc4Q A8鲝V[ύ? `>Q tI)Q CIY#CɴS:鴝E: A8 f4鵭j? f4 d9)YO? ?Y@ɷY:鷭: cf4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iȩ;@ 9) i%KG%H<)!I!)H-<"H5w:1 UC'AYt.7K@t.Z@yt.a=t.x6%hE H:p=H8)vGItVH~Q>Yy E #C 9 >  ]5c4m?9ɯ5N? iE?(@s;ɱ;\c4Q MB8Mz;ύ?Q MB8 MYc>Q UtI)MQ UCIM#CɴMB:M: M+BB8 ]f4]Jk? ]9)]O? e?Y]@ɷ]0:]: ]`!f4i ii1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i-;@ 9) iKG<)IH<"Hw:±߹! =C'AYt2K@t21Z@yt2la=t2%x:gE {Y1y15E5n$C=8=> A ]Uc4En?E9ɯE~N? i]?E@E&;ɱEL$;Eilc4Q mB8eύ? ef>Q utI)e;Q uCIe.$Cɴe;e(; eyB8 f4}l? }9)}O? ?Y}@ɷ};}; }t4f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 13.380001 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2it;@ 9!!)! !i-KG-0<))I)1H5<"H5w:E|AE|A   =   *C'AYt.K@t.'Z@yt.Ka=t.&bx6nhE){:CI{8i{:Q={8{8{:A{8|:G?9|:)sN9?IxҿRzA@RzA)-jGI)VH]eQe>YayamEm$CmCԶm> q ]}c4uo?u9ɯuN? i?u]@u:ɱu:uyc4Q B8鲅j΍? ,i>Q tI)Q CI$Cɴ:鴅B: B8 f4鵕n? 9)P? ?Y @ɷ:鷕b: Df4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G:GL>Setting Heading: 3.169194 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.959314 forward, -0.282341 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.960942,-0.271236,-0.054976;0.270329,-0.962482,0.023447;-0.059273,0.007669,0.998212 ]<tazimuthInNED_ = 179.337149 degrees FINAL. Radians:3.130024< ^ContactLat = 36.803113 ContactLon = -121.787838:E E G?E "?7&a0̿E )sN9?IxҿE CE E %M0RAr?/ E )?Q,WdE ORH@bE <jE PGBE p$?JE o$?RE  ZE  rE =zE Ji5@`5;15@= =999)9 9iEKGE:<)AIAIHM<"HUw:)9%UBacoustic_contact_range 0.780000 m%]hTrackAcousticContact.heading_to_contact 3.130024 rad  mCC'AYt.L@t.IZ@yt.6ua=t.v;Iu.Cx6>x6lEG:AAH8)DitIvUC)M0GIIVH}˅8Q>YˁyˁE˅7%C͍9>  ]c4q?N9ɯO? i?鯕@:ɱ:鱕҇c4Q C8鲥b΍?Q C8 l>Q tI)Q CI$Cɴ:鴥: sC8 f4鵵ao? >9)VP? ?Y@ɷ:鷵: ,Vf4? ?A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G:GORH@L>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;!%@% %9!!)! !i-H))I-ORH@1H5<"H=w:%=RHorizontalControl.headingCmd 3.130024 rad1 ]C'AYt.2L@t.Z@yt.z/a=t.G_x6%hE:@<B@>4>)mjGIiĻq=ل;ylZd;O?Mb`?YIi@AɅxA酩鄭 j<=);VH(Q>YyE%Cu:>  ]c4r?9ɯO? i?@:ɱ:Ec4Q C8΍?  o>Q tI)IQ CI`%Cɴ:: VC8 f4 q? 9)P?  ?Yn@ɷ:w: hf4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-PLights, Camera on at range: 0.780000 m .1'52G1:G1L=>Setting Heading: 3.130024 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEIEIIqyH}<"Hw:> >QY R>  Y>RB МwC'AYt. L@t.Z@yt.CTb=t.>xJ?uEiXIZPC) ƄGIVH%%>:Q->Y)y)-E-&C58:5> 9 ]Ec4=Vt?=9ɯ= P? iE?=v@=|:ɱ=:=c4Q UC8M΍? Mq>Q UtI)MQ UCIM%CɴM:M: MC8 ef4]r? ]9)]`Q? e?Y]'@ɷ]:]I: ]xf4i qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G:GL>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2is;@ 9) iD<)IH<"Hw:±߹@*$ -xC'AYtFL@tFZ@ytFa=tFNxN"lE HPHRp=)ׄGIa 1]@a ] a 5e@a e a 9e@a e a -e@a e a =e@a Ae@a Ee@]B]Ʉ]i]Mb@Mb@Mb@Y] AI]i]Y]ɅYY] ])]VH˝Q>YˡyˡE˥n&Cͭ:>  ]c4v?f9ɯP? i?鯵@@:ɱc>鱵c4Q C8u΍? t>Q tI)Q CI-&Cɴ:: \C8 @ @ @ @ i -Software Fault 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G :G L >Setting Heading: 3.130024 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFp?zFjFEE!<%Tracking...<%2Tracking contact label: 2i=5=;9=@= =9AA)A AiIMb<)IIIIHU<"HUw:)9-"MxSoftware Fault in component: DeadReckonWithRespectToSeafloorGT* RC'AYtBL@tBQZ@ytB#b=tBxJfE@L"@LiXIX)GIVH%% i9Q->Y)y)-E-&C5:5> 9 ]Ec4=w?=9ɯ=Q? iE?=@=.:ɱ=/O?=sc4Q UD8MV΍?Q UD8 Mw>Q UtI)MVQ UCIM&CɴM::M: MD8a aa1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&u&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NPLights, Camera on at range: 0.780000 m .1'2G:GL>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i3<)IH<"Hw:>¡߱"Clearing failed state for component DeadReckonWithRespectToSeafloor   5@1  ?ŜC'AYt:L@t:Z@yt:F{a=t:wxB$jE)ƄGIVHйQ>YyE9'C%y9%> ) ]5c4-:y?-9ɯ-Q? i5?-@-h:ɱ-0?-c4Q ED8=5΍? =wz>Q EtI)=Q ECI=&Cɴ=d:=: =bD8Q QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NuPLights, Camera on at range: 0.780000 m .1'u2Gq:GqL}>Setting Heading: 3.130024 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i<)IH<"Hw:0>aqg7  ߜC'AYt.L@t..Z@yt.qa=t.tx6nEG8H8iFg=IJFC)zGIxa 15a 15 a 5=a 5= a 9=a 9= a -=a -= a ==a A=a E===)>ل=`YYyY]E]'Ce#:e> i ]uc4m~?m9ɯmU? iu?m@m:ɱm:mNc4Q D8}΍? }k}>Q tI)} Q CI}a'Cɴ}C:}: }"D8      c4鵍? c4 9 tI)T]? ?YF@ɷ;鷍; Nc4j? j?A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G:GL>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i|;@ 9) i 3{<) I  H<"Hw: >q= zC'AYt.L@t.SZ@yt.״a=t.ux6lE)vƄGItVH~z*9Q>YyE (C :9 >  ]c4!  Â?!  9ɯ?Y? i%?@1:ɱg:c4Q -D8%͍? %>>Q -tI)%fQ 5CI%'Cɴ%:%: %VD8 =c4 ]= 58? aE 59)5 a? E?Y5W@ɷ5:5:: 5Ac4I II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 0.780000 m .1'm2Gi:GiLu>Setting Heading: 3.130024 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFEE<Tracking...<2Tracking contact label: 2iJ;@ 9) ih<)IH<"Hw:)Iim? m>9A V>  R>QxD C'AYt.!L@t. Z@yt.da=t.px6gE {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 *@^=2@b=iz=IzPC)eׄGIqDX9>ل+=yT㥛 p= ף?L7A`?YAIi@xAɅxAA >)+=VH18Q>Y!y!%E%w(C-[+:5> 9 ]Mc4! M =?! M =9ɯ=^? iM?=@=%;ɱ=;=yc4Q eE8]͍?Q eE8 ]n>Q mtI)]Q mCI]6(Cɴ]& ;] ; ] 5E8 }c4 ]} u? a u9)ue? ?Yu@ɷu/;ue; urc4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 0.780000 m .1'2G:GL>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFp?zFjFEE<Tracking...<2Tracking contact label: 2iq;@ 9  )  i y<)IH<"H%w:lJ ,C'AYt.$L@t.Z@yt.Fa=t.x:dtE H8H:a=){>I{9n={>1>{<{>%C{<|>@9|>󔹶? -qѿ)GIVH%-Q->Y)y15E5(C5:5> 9 ]Ec4! E =Z?! M =9ɯ=-b? iM?=@=:ɱ=a:=vc4Q UE8U͍? U>Q ]tI)UQ ]CIU(CɴU:U=: UfsE8 ed4 ]m eϑ? md4 am e9)ei? m?Ye@ɷe:eа: eZd4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.130024 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.959805 forward, -0.280667 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.960294,-0.273519,-0.054971;0.272634,-0.961839,0.023151;-0.059206,0.007245,0.998220 ]<tazimuthInNED_ = 179.573473 degrees FINAL. Radians:3.134148<^ContactLat = 36.803068 ContactLon = -121.787840:EE@E!~@ {E󔹶? -qѿEEE_>1ouH? r5׿EJMv`7Pp~?owDWEH@bEG:=jE}BE p$?JEp$?RE ZE rEzE=i;@ 9) i  Y<) IH<"Hw:%Bacoustic_contact_range 6.119999 m%hTrackAcousticContact.heading_to_contact 3.134148 radRQ uFC'AYt.*L@t.OZ@yt.[yb=t.Ƽx6iEiJg=IJFC)zƄGIxVH ?:Q >Y y E=)Cx:>  ]%d4! % ? a%d4! - 9ɯf? i-?@:ɱq:od4Q 5E85͍? 5>Q =tI)5xQ =CI5(Cɴ5:5: 5̶E8 Ed4 ]E E? aM E9)E`n? M?YEJ@ɷE:E: Ed4U? U?UA1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NuPLights, Camera on at range: 6.119999 m .1'u2Gq:GuH@L}>Setting Heading: 3.134148 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iw;@ 9) iH@D<)IH@H<"Hw:zAzA‘ߙ%RHorizontalControl.headingCmd 3.134148 rad  oW P`C'AYt2+L@t22Z@yt26b=t2Wx:jEFxA@D)D)eBGIiv>>ل=yI +Q?ˡE?YpAIi@AɅ酭@鄭9 u>)=VHQ>YyE)C9>  ]d4!  ?!  R9ɯGp? i?A:ɱ:ed4Q E8 p͍? >Q tI)Q CIh)Cɴ:: E8 d4 ] ? a R9)x?  ?YGAɷ:J: &d4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N5PLights, Camera on at range: 6.119999 m .1'52G1:G1L=>Setting Heading: 3.134148 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9FAFAFE?zFAjFIEIEIx6kEG:@AH8itIt)MGIIVH}˅Q>YˁyˁE˅*C͍>  ]d4;?9ɯ=y? i?鯕A4:ɱ:鱕1#d4Q F8鲥P͍?Q F8 >Q tI)2Q CI)Cɴݱ:鴥: AF8 d4鵵? 9)? ?YAɷ:鷵: 7d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.134148 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iqS;%@% %9!!)! !i)-B1<))I)1H=<"H=w:nd >C'AYt.i-L@t.Z@yt.Ֆa=t.8x6LeE:@>=B@>=)@)EGII=ل9YyEz*C29>  ]d4?,9ɯ$|? i?<Aɱ:1d4Q  F8q.͍? >Q  tI)Q  CI8*Cɴ}:p: F8 d4? ,9)? ?YkAɷM::  Id4! !)1&= L=xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&= M=Initialize.q&=&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'E=NEPLights, Camera on at range: 6.119999 m .1'E2GA:GILM>Setting Heading: 3.134148 rad .q&MLM`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYF]@zFYjFYEYEa p>iy R>  ]>j 6䭝C'AYt.-L@t.Z@yt.`=t.ELxB)dEi I )mGIiVH˝_ٹQ>YˡyˡE˥*Cͭ+)8>  ]d4՝?9ɯ~? i?鯵AT:ɱH:鱵?d4Q F8g͍? >Q tI)Q CI*Cɴq:ݱ: ZF8 d4I? 9)Z? ?YAɷ:: #Zd4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'%1'%=N%PLights, Camera on at range: 6.119999 m .1'%2G!:G)L->Setting Heading: 3.134148 rad .q&-L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF1F1FQFYzFYjFYEYEYxBDoE HBa=HFp=)~GIVH=E38QE>YAyAMEMD+CM&p:M> Q ]]d4U?U*9ɯUр? ie?UnAU:ɱUc:UEMd4Q mG8e̍?Q mG8 e>Q mtI)e@Q uCIe+Cɴe:e: eg G8 }d4u? u)9)u? ?YuAɷuӻ:u]: u kd4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.134148 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i2H;@ 9) i3<)IH<"Hw:x ИC'AYt.z8L@t.Z@yt.aa=t.x6bE@<"@YQyQUEU+C]B:]> a ]md4e?e9ɯe(? im?eAeض:ɱeB:es[d4Q }G8u̍? u>Q }tI)uQ }CIui+Cɴu:u: uPG8 d4鵅? 9)? ?Y-Aɷϝ:鷅ϝ: |d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.134148 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFp?zFjFEE<Tracking...<2Tracking contact label: 2iG;@ 9) i<)IH<"Hw:{A{A @A ,~ sC'AYt.rx6gE]>MT Queue status failed to be acquired within timeout. Will not retry this session.)vGItVH~HQ>Yy  E ,C !:>  ]d4?9ɯv? i%?A:ɱ::id4Q -G8-̍? -^>Q 5tI)-Q 5CI-+Cɴ-а:-÷: -Setting Heading: 3.134148 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFyFyFzFjFEE<Tracking...<2Tracking contact label: 2iN;@ 9) i<)IH<"Hw:‘ߙ NC'AYt.;@L@t.Z@yt.Va=t.Lx6eEG:?AH8 {8Y|<B8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)eƄGIqף=ل9Yy!%E%,C- :-> 9 ]Ed4=?=9ɯ=? iM?=A=[;ɱ=;=xd4Q ]G8U0̍? U>Q etI)UXQ eCIU?,CɴU ;U; UG8 }d4u? u9)uۈ? ?YuIAɷu;u]; ud4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 6.119999 m .1'2G:GL>Setting Heading: 3.134148 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2ip;@  9  )  i <)IH%<"H%w:>  */C'AYt.BAL@t.Z@yt.[a=t.>{?r^ Ɯѿ`z5i}?/ŗ?]?)u.BAL@ u.v;Iu.Cx6d>x6$jE){:6I{8i{:L={:>{8{:A{8|:3A9|:)s?n \t&ֿ:@J=B@H)ׄGIVH%-:9Q->Y)y15E5,C5Q09=> A ]Ed4E4?E9ɯE3? iM?EAE:ɱEQ:Ed4Q UH8U:l̍?Q ]H8 UA>Q ]tI)UQ ]CIU,CɴU:U`: UPH8 md4e? e9)e? m?YeAɷeD:e: ed4q yy1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.134148 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.933893 forward, -0.357553 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.959811,-0.275194,-0.055053;0.274307,-0.961362,0.023215;-0.059314,0.007180,0.998214 ]<tazimuthInNED_ = 175.015196 degrees FINAL. Radians:3.054591<^ContactLat = 36.802917 ContactLon = -121.787822:EE3AEnNd5@;Ż E)s?n \t&ֿE6EE/ E7?̥<@_[E sXD^4?*>֒Em~C@bE@jE(BEo$?JE p$?RE ZE rE۲zEi;@ 9  )  i<)IH%<"H%w:-> 5V>%Dacoustic_contact_range 23.400002 m%%hTrackAcousticContact.heading_to_contact 3.054591 rad V>  V>& )IC'AYt.xFL@t.Z@yt.a=t.*x6iEiJ=IJPC)xIxVH  Q >Y yEG-CP:> ! ]%d4%y?%e9ɯ%? i-?%A%f:ɱ%:%d4Q 5H85K̍? 5'>Q =tI)5Q =CI5-Cɴ50:5: 5_H8 Md4E? Ed9)Es? M?YEAAɷE:E: Ed4Q QQ1&e LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'u=NuRLights, Camera on at range: 23.400002 m .1'u2Gq:G}m~C@L}>Setting Heading: 3.054591 rad .q&}L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i9r;@ 9) iJG@)=>Im~C@H<"Hw:‘߱%RHorizontalControl.headingCmd 3.054591 radP rbC'AYt.HL@t.-Z@yt.a=t.4x6aE H:=H:a=)xI|9==ل9y= ףp= ~jt?I +?Y=(AI9i999Ʌ9=A=Q8 =D=)9VHU]ŕQ]>YYyaeEe-Ce9m> i ]ud4me?m9ɯm? i}?mAm:ɱmL:md4Q H8鲅g*̍? (>Q tI)cQ CIm-Cɴ9:鴅#: H8 d4鵕ٲ? 9)Ό? ?YAɷ:鷕: d4˱? ˱?1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i M~D@) 3>I H<"Hw:z |C'AYt.KIL@t.Z@yt.ywa=t.cؽx:`E@<"@YAyIMEM.CMܯ8M> Q ]]d4UA?U9ɯU6? ie?UAU:ɱUr:Ud4Q mH8m ̍? m>Q utI)mQ uCIm-Cɴm:m]: mH8 }d4}? }9)}? ?Y}Aɷ}:}: }d4R? R?eA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i4!C@)IH<"Hw: |A zA  c C'AYt.!KL@t.Z@yt.Da=t.#;ѿ a}? 4ϗ?W?)u.!KL@ u.v;Iu.CxBO>xBgE)~{GI|E;E=لECYayaeEe.Cm]9m> q ]}d4u0?um9ɯuJ? i}?uSAu\:ɱu:u\d4Q I8鲅ˍ?Q I8 >Q tI)Q CI<.Cɴ]:鴅2: -I8 d4鵝? m9)1? ?YAɷd:鷝:: d4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF(?zFjFEE<Tracking...<2Tracking contact label: 2i$ ; 9  )  i"C@<)IH<"H%w: U>匫 rC'AYt. QL@t.yZ@yt.[a=t.ox6gEG:@AH8iDIH)v0GIxVH%Q%>Y!y)-E-.C-n:5> 1 ]=d45?59ɯ5U? iE?5A5:ɱ5:54d4Q MI8Mˍ? M>Q UtI)MsQ UCIM.CɴM:M#: MpI8 ee4]? ee4 ]9)]Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ib#;@ 9) im~C@?<)IH<"Hw:µR5#>‰ߑu aQʞC'AYt2 TL@t2{[@yt2Ma=t2x:LeE)vGItVH~o)8Q>Yy E L/C 9 >  ]d4? 9ɯb? i%?"A:ɱ:/d4Q -I8%ˍ? %δ>Q 5tI)%Q 5CI%/Cɴ%+:% ; %I8 Ue4Ek? E 9)EJ? e?YEQ AɷEh;E^; Ee4i ii1&} LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU\;@ 9) i {<)I H%<"H%w:%04>-> ->  R>  ]>$ k)C'AYt2aYL@t2[@yt2`=t2޻x@iLIP)~G*e code=06A0 elementURI="PowerOnly.component_voltage" type=00 *a code=0910 owner=0026 element=06A0 universal=3FFF unitName="volt" type=07 size=0002 fl=05 H%{A*e code=06A1 elementURI="PowerOnly.component_avgVoltage" type=00 *a code=0911 owner=0026 element=06A1 universal=3FFF unitName="volt" type=07 size=0002 fl=05 HM{AII`e=لy++? rh?YIiɅ酉鄍 =)VH˭rQ>Y˱y˱E˵/CͽH:>  ]d4?V9ɯy? i?A:ɱ:d4Q I8>ˍ? >Q tI),Q CIt/Cɴ:: I8 e4? V9)`? ?Y Aɷ:T: f+e4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q& & MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F)zF)jF)E1E1<5Tracking...<52Tracking contact label: 2iMM;IM@U U9QQ)Q YiY]D<)aIaaHm<"Hmw:)qIqiyyȾ GC'AYt2wVL@t2[@yt2f`=t2xRcE HRR=HRp=)0GIVH-579Q5>Y1y15E=0C=0E> A ]Md4E1?E9ɯEx? iU?EAE:ɱE:Ed4Q ]J8Ufˍ?Q eJ8 U>Q etI)UQ eCIU/CɴU/:U: U&=J8 me4m? m9)m_? u?Ym Aɷm:m: m&Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i<)IH<"Hw:ΰ HC'AYt.YL@t.d[@yt.Aa=t.]x:gE {Y!y)-E-0C5?:=> A ]Me4E? aMe4E9ɯEg? iU?E3 AE'<;ɱEp/;Ee4Q mJ8eyCˍ? e>Q mtI)eQ uCIeG0Cɴe*;e>/; eJ8 e4}5? }9)}P? ?Y}b Aɷ};}; }Oe4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i , ;  @  9) i=<)I!H%<"H-w:5yA9    1C'AYt.X\L@t. [@yt.Cqa=t.x6hE]>^unknown deviceResponse_: 00000,186,80,81,14,FF )eG*e code=06A2 elementURI="PowerOnly.component_current" type=00 *a code=0912 owner=0026 element=06A2 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 H?*e code=06A3 elementURI="PowerOnly.component_avgCurrent" type=00 *a code=0913 owner=0026 element=06A3 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 H?IVH Q>YyE0Cw9>  ]e4!?C9ɯ=? i? A:ɱr:e4Q J8$ˍ? >Q tI)>Q CI0Cɴ(:U: J8 e4? C:)$? ?Y Aɷߡ:: _e4  1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-RLights, Camera on at range: 23.400002 m .1'-2G1:G1L=>Setting Heading: 3.054591 rad .q&=L=`Completed lineCaptureHoming:Lap:TerminalGuidanceF9F9FAFAzFAjFAEIEIx6'fEG:AAH8iJg=IJFC)GIVHEU/!QU>YYyaeEmT1Cu)9}>  ]e4?9ɯ? i?鯍 A|;ɱ;鱍P!e4Q K8ˍ?Q K8 >Q tI)Q CI1CɴZ;ؙ;  K8 e4? :)? %?Y Aɷz;̒; Fqe4A AI1&u LuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&u MuInitialize.q&}&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'}1'}=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ibY;@ 9) i<)IH<"Hw: oeC'AYt.|_L@t. [@yt.a=t.M,x6gE:@>=B@<)~{GI|=C=ل=YˁyˁEˍ1C͍c7>  ]e4H?/:ɯ? i?鯕J A:ɱ:鱕t/e4Q K8鲥lʍ? >Q tI)Q CIw1Cɴ:鴥: 8OK8 e4鵽? -:)? ?Yx Aɷ*:鷽: Oe4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF\?zFjFEE< Tracking...< 2Tracking contact label: 2i%~<%;!%@% %9)))) )i15<)1I19H=<"HEw:MC> M]>  V>9 KC'AYt.%aL@t.[@yt.*b=t.x6dEiDID)zƄGHz|AHz}AIxVH d9Q >Y yE 2C9> ! ]%e4%?%:ɯ%֓? i-?% A%?:ɱ%:%=e4Q 5K85ʍ? 5g>Q =tI)5JQ =CI51Cɴ5Y:5: 5ǐK8 Me4E? E:)E? M?YE AɷEv:E: Ee4Q QY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'u1'u=NuRLights, Camera on at range: 23.400002 m .1'}2Gy:GyL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iN; 9) ic}=)IH<"Hw:‘ߙ &C'AYt.bL@t.[@yt.a=t.! x6bE H8H:a=)vGIt55jل5y5 rh?MbMbPY5AI1i15 @5AɅ5EA5A5C< 5)5VHMUjQU>YQyQ]E]2Ce9e> a ]me4e\?e:ɯe? iu?e AeX:ɱe:e~Ke4Q }K8}ʍ? }j>Q tI)}Q CI}D2Cɴ}E:}: }lK8 e4鵍? :)? ?Y Aɷa:鷍X: e4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF3@zFjFEE<Tracking...<2Tracking contact label: 2i<;@ 9) i=)I H <"Hw:) PC'AYt.+fL@t.[@yt.a=t.cx6pE@>A"@Y)y)-E-2C5":5> 9 ]Ee4=?=:ɯ=? iM?= A=*:ɱ=:=kYe4Q UL8Mdʍ?Q UL8 MR>Q UtI)MQ ]CIM2CɴM:MK: ML8 ee4e/? e:)e? m?Ye1 Aɷe:e: ee4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;@ 9) i=)IH<"Hw:zAxA±߹ ?A   ̟C'AYt:fL@t:@[@yt:3a=t:v:xFgE)YHm?Hm?IiVH:vQ>YyE]3C8>  ]e4?k:ɯy? i?+ AH:ɱ:Lhe4Q L8_ʍ? n>Q tI)aQ CI3Cɴ:: YaL8  e4r? i:)`?  ?YZ Aɷz:: ze4 1&- L-xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&- M-Initialize.q&-&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'51'5=N=RLights, Camera on at range: 23.400002 m .1'=2G9:G9L=>Setting Heading: 3.054591 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFIFIzFIjFIEQEQx6eEG:@AH8iFg=IFFC)v0GIx55ل5YQyQUEU3CeCe> i ]ue4m¸?mn:ɯmg? iu?m3 Am:ɱm#:mue4Q L8}@ʍ? }C>Q tI)}Q CI}z3Cɴ}:}D: }¢L8 e4鵍H? l:)N? ?Yb Aɷ:鷍: 9e4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFp?zFjFEE<Tracking...<2Tracking contact label: 2i;~@~ 9) i I=) I  H<"Hw:" C'AYt.hL@t.X[@yt.Va=t.x6NcE:@>=B@>=)vGItVH~؊Q>Yy  E %4C k9>  ]e4?p:ɯY? i%?< A*:ɱ:e4Q -L8- ʍ? -">Q 5tI)-Q 5CI-3Cɴ-ݱ:-: -L8 Ee4=? =o:)=@? E?Y=j Aɷ=ͭ:=: =/e4I IQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'm1'm=NmRLights, Camera on at range: 23.400002 m .1'm2Gi:GqLu>Setting Heading: 3.054591 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFyFFFzFjFEE<Tracking...<2Tracking contact label: 2i:;; 9) iv=)IH<"Hw:= t>‘ߙ V>  ]>M mC'AYt.jL@t.[@yt.DTa=t.[!x6LeE {8Y|8B8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 in=IrPC)]GHm}AHiIq;#لy~jtx?Y)y)-E54C=C'9=> A ]Ue4E??E[:ɯEd? i]?EQ AEn;;ɱE.;Ee4Q mM8eɍ?Q uM8 ea>Q utI)euQ }CIeP4Cɴel,;e1; e/M8 e4鵅ļ? Y:)M? ?Y Aɷ";鷅~$; pe4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 23.400002 m .1'2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i  ;@ 9) ii7=)!I!!H-<"H-w: 4w  H4C'AYt.mL@t.a[@yt.na=t.Nx6GkE H:p=H:p=){:΃I{8i{:>{8{8{:@A{8|:^C9|:R ?eKп)ƄGIVH%%/8Q->Y)y)-E-4C5':5> 9 ]Ee4=?=I:ɯ=D? iM?=c A=:ɱ=?:=e4Q UM8M'ɍ? M>Q UtI)MQ ]CIM4CɴM:M: MnM8 ef4ez? mf4 eH:)e+? m?Ye Aɷe:e : eC f4q qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.054591 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.959059,-0.277811,-0.055010;0.276930,-0.960610,0.023194;-0.059286,0.007010,0.998216 ]<VazimuthInNED_ = -3.117465 rad -- adding 2pi<ZazimuthInNED_ = 3.165720 rad after adding 2pi<tazimuthInNED_ = 181.382408 degrees FINAL. Radians:3.165720<^ContactLat = 36.801129 ContactLon = -121.787907:EE^CE,j@m;ZLER ?eKпE΃EERƂkF//t׻S*EmSL￘,63twHBE)J@bEjED^BEm$?JEo$?RE ZE rERzE۲iP;q@q 9  )  i_=)IH<"Hw:%Facoustic_contact_range 222.720001 m%%hTrackAcousticContact.heading_to_contact 3.165720 radga -NC'AYtznL@tz[@ytzԺb=tzɾxmjE@=A"@9iQIQ)GI;لyI +?Mb~jt?YIiɅ94< )VH55<:Q=>Y9y9=E=e5CE28E> I ]Ue4M[?M%:ɯMG? i]?M AM :ɱM*:M]e4Q eM8]ɍ? ]H>Q etI)], Q mCI]5Cɴ]:]ܹ: ]M8 uf4m? m#:)m.? }?Ym Aɷm:mO: m8 f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:G)J@L>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;@ 9) i E@)I)J@H<"Hw:|A|A%RHorizontalControl.headingCmd 3.165720 rad  = LgC'AYt.pL@t.[@yt."a=t.]mx6eE){GIVH5=Q=>YAyAEEE5CM9M> Q ]]e4U϶?U:ɯU5? i]?U AUh:ɱUu:U|e4Q mM8eɍ? e<>Q mtI)e Q mCIe5Cɴe:e¿: e*M8 }f4uT? u:)u? }?Yu Aɷu?:uի: u1f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iI;v@v 9) iG@)>IH<"Hw:q  0ځC'AYt.MsL@t. [@yt.ia=t.8x6LeEG:AAH8iDIH)v+GIxVH~Y y  E *6C29>  ]%e4P?9ɯ ? i%? AG:ɱ:4e4Q 5N8-}ɍ?Q 5N8 ->Q 5tI)- Q 5CI-5Cɴ-:-: -9N8 Ef4=ֺ? =:)=? E?Y= Aɷ99 =\Af4I QQ1&e LexAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&e MeInitialize.q&e2Gi:GiLm>Setting Heading: 3.165720 rad .q&mLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2iU;h@h 9) iH)IH<"Hw:‘ߙ/& WC'AYt.sL@t.^![@yt.=a=t.@x6aE:@>=B@>=)vGIt5;5Cل5CYQyQUEU6C]8]> a ]me4eǵ?e9ɯe? im?e Ae:ɱem:ee4Q }N8u.\ɍ? u>Q }tI)u6!Q CIuL6Cɴu:u: u1N8 f4鵅L? :)̞? ?Y Aɷ:鷅: 3Sf4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2ifq;t@t 9) iG) u>IH<"Hw:0> > p>  V>U, C'AYt.EuL@t."[@yt.a=t.#x6kEiDID)vGHxHxIxVH8Q>Y y  E 6CFY9>  ]%e4C?9ɯ? i%? A!:ɱ:te4Q 5N8-H<ɍ? ->Q 5tI)-!Q 5CI-6Cɴ-|:-a: -N8 Ef4=ɹ? =:)=? M?Y=4 Aɷ=X:=: =Setting Heading: 3.165720 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFEE<Tracking...<2Tracking contact label: 2i";l@l 9) iGD1=)IH<"Hw:­s&4>ߑ3 uϠC'AYt^tL@t^H"[@yt^5a=t^IxfgE Hfa=Hh)EƄGIIjلyMb?Mb rh?YAIiɅ配EA鄍< )VH˭oQ>Y˩y˩E˵f7C͵ >  ]e4?9ɯ? i?鯽. A:ɱ:鱽Te4Q O8ɍ?Q O8 >Q tI)!Q CI7Cɴ6:x:  O8 f4 ? :)w? ?Y] Aɷ:: vf4 1&  L xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&  M Initialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF!F%(?zF!jF)E)E)<-Tracking...<52Tracking contact label: 2iEBgE;IMq@Mq M9IQ)Q QiUG]=)YIYYHe<"Hew:MP">!)9 LC'AYt.1wL@t.$[@yt.a=t.Q>x>GkEiLIL)GIVH==|QE>YAyAEEE7CM9M> Q ]}f4Uճ? a}f4Un9ɯUX? i}?UT AU;ɱU<;Uf4Q O8鲅ȍ? >Q tI)G"Q CI7Cɴ:鴅: KO8 f4鵝Y? l:)A? ?Y Aɷ:鷝T: f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL >Setting Heading: 3.165720 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceF F FQFQzFYjFYEYEY<]Tracking...{Aߑ  @ c%C'AYt2xL@t2T&[@yt2z a=t2>xBDoE)ƄGH?H?I VH%Q%>Y!y!-E-08C-9-> 1 ]=f45"?5Q9ɯ5&? iE?5z A5`:ɱ5u:5f4Q MO8Eȍ? E>Q MtI)E"Q UCIE7CɴEF:E|: EO8 ]f4]? ]O:)] ? e?Y] Aɷ]:]: ]f4i qq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i8u;`@` 9) iG{=)IH<"H%w:)-{AI-|A->F eC'AYt.{L@t.([@yt.a=t.vrxBhEGB@AH@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i\I\)UGIi}Q8}ل}YyE8C9>  ]f4?9ɯ? i ? A:ɱ:!f4Q O8ȍ? >Q tI) #Q CI^8Cɴ5:: O8 -f4%? %:)%v? U?Y% Aɷ%=;%w; %f4Y YY1&m LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i; t@ t 9  )  iG=)IH%<"H%w:)UI]iYY> >kM H6C'AYt.^L@t.,[@yt.Ob=t.'>xBgE){B>I{@i{B={B1>{@{B@{@|BQJB9|B?%)k?)%{GI!VH=E9QE>YAyAMEM9CM&0:M> Q ]]f4UD?U9ɯU? ie?U$ AUC:ɱU:UR-f4Q mP8eyȍ?Q mP8 e>Q mtI)eX#Q uCIe8Cɴe:e: exP8 }f4}ʴ? }:)}? ?Y}SAɷ}b:}: }f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.165720 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.989016 forward, 0.147809 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.958756,-0.278829,-0.055149;0.277953,-0.960316,0.023116;-0.059406,0.006833,0.998210 ]<%VazimuthInNED_ = -2.710067 rad -- adding 2pi<%ZazimuthInNED_ = 3.573118 rad after adding 2pi<-tazimuthInNED_ = 204.724593 degrees FINAL. Radians:3.573118EQEUZ F2 5,#VEUX LHûڿTC-EUd@bEUjEU7BEUo$?JEUm$?REU ZEU rEU%zEURi;U@U 9) iG]=)IH<"Hw:%Dacoustic_contact_range 50.580002 m%hTrackAcousticContact.heading_to_contact 3.573118 rad R>  Y>S PC'AYt2L@t2--[@yt2a=t26>x>KgEiPIP) ƄGH |AH |AI UUףلU94YqyquE˝i9C͝-e8>  ]f4?9ɯ/? i?鯥/ AU:ɱM;鱥;f4Q P8vȍ? >Q tI)#Q CI#9Cɴt:g: ^P8 f4? :)? ?Y]AɷD[<n[< f4Y YY1&m LmxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&m MmInitialize.q&m2G:Gd@L>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i;a@a 9) i F)Id@!H-<"HMw:IQ%uRHorizontalControl.headingCmd 3.573118 rad&Z jC'AYt2L@t2b/[@yt2a=t2xBkE HF=HD)GIVH]e$"Qe>YayaeEe9Cmɱ9m> q ]f4uۯ?u9ɯu? i?u8 AuI;ɱu0;uIf4Q P8鲥Vȍ? ?Q tI)$Q CI9Cɴ:鴥 : P8 f4鵵`? :)? ?YgAɷ:鷵&: f4˱? ˱?A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:G!L%>Setting Heading: 3.573118 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF)F)F)F1zF1jFQEQEQ<]Tracking...<]2Tracking contact label: 2imR;X@X 9) ilC)=IH<"Hw:©߱a oC'AYt2L@t2,[@yt2`=t2NHL>x>cE@D"@DiPIP) ƄGI VH==1ȹQE>YAyAEEE6:CM M> Q ]f4U?U9ɯUF? i?UB AU;ɱU;UWf4Q P8鲕6ȍ? ?Q tI)j$Q CI9CɴJ:鴕^: P8 f4鵥,? :)/? ?YqAɷ<:鷥: @f4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFF!F!zF!jF!E!E!<-Tracking...<-2Tracking contact label: 2i;Y@Y 9) iY?)=IH<"Hw: @A 8g NGC'AYt2~L@t2A,[@yt2}`=t2*xBgE)GH ?H ?I UC U̼لUY˱y˱E˵:C>  ] f4@?:ɯw? i ? A{:ɱ:ff4Q UQ8Mȍ?Q uQ8 M?Q utI)M$Q uCIM\:CɴMf;M#; M,Q8 g4}? g4 }:)}d? ?Y}Aɷ}6:}: }g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE< Tracking...< 2Tracking contact label: 2iE.E;AE[@E[ M9II)Y Yiu79),=IH<"Hw:iq+bm d"C'AYt.L@t.T.[@yt.Fa=t.{g>xBmEG@H@iLIL)ƄGIVH%M8Q%>Y!y!-E-;C-9-> 1 ]=f45?5H:ɯ5? iE?5 A5:ɱ5X:5sf4Q MQ8EǍ? Eu ?Q UtI)E%Q UCIE:CɴEw:E: E5kQ8 ]g4]? ]E:)]j? e?Y]Aɷ]:] : ]g4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU;QUK@UK ]9YY)Y Yie4)edAIJt ѡC'AYt.L@t.}.[@yt.za=t.ù>xBrdE)BGI],]Cل]CYyEp;Cb7>  ]f4?:ɯX? i?A<ɱ<f4Q -Q8%Ǎ? % ?Q -tI)%%Q -CI%);Cɴ%ɪ:%ݱ: % Q8 ]g4U?? U:)UB? ]?YUMAɷUŧ:U: U%g4a ai1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i5ޅ5;15W@5W 5999)9 9iE^0)EOIAAHM<"Hmw:-~=  N>  V>tz nC'AYt2L@t2[2[@yt2Ga=t2RսxNjEi\I^UC)GH!H%}AI!VH=E77QE>YAyAEEE;CM|:M> Q ]]f4U?U:ɯU? ie?UfAU:ɱU:U%f4Q mQ8e Ǎ? ek?Q mtI)e%Q mCIe;Cɴe:eJ: eQ8 g4鵕!? :)? ?YAɷ:鷕: 5g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&2G:GL>Setting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iUU;QUH@UH ]9YY)Y Yie-)eúIaaHm<"Hmw:i==m=)1i\ WC'AYt2L@t21[@yt2Za=t2x^oE Hba=Hba=)EYayaeEe< q ]f4u`?u3:ɯu? i?uAu<ɱuSetting Heading: 3.573118 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!F)F)zF)jF)E1EQxNIiE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIPC)UGIY+jلjYˑy˙E˝  ]f4ݧ?l:ɯ)? i?鯥A+ <ɱ]:鱥 f4Q R8kǍ? ?Q tI)&Q CInSetting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2ieDe;imX@mX m9qq)q qi- =)IH<"Hw:){AI{Ar;‰ߙ ?A i j9C'AYt2L@t2[4[@yt2>xBgE){BQyI{@i{BT{={@{@{BC{@|BQA9|BC-c?Z$ο)jGI!VH=EQE?YAyAMEM =CMÅ9M? Q ]]f4UѦ?U:ɯU ? ie?U;AU:ɱU:Uf4Q mR8e$RǍ? eQ?Q mtI)e&Q uCIeSetting Heading: 3.573118 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.< rotationFromVehicleToNavigationFrame_ = [ -0.958637,-0.279274,-0.054962;0.278399,-0.960187,0.023123;-0.059232,0.006865,0.998221 ]< VazimuthInNED_ = -3.101954 rad -- adding 2pi<ZazimuthInNED_ = 3.181231 rad after adding 2pi<=tazimuthInNED_ = 182.271139 degrees FINAL. Radians:3.181231<>x>hEG@H@iPIP) {GI U94U`eلUCYˡyˡE˥t=Cͭf>  ]f4?:ɯ٩? i?鯵A!<ɱL!<鱵 f4Q  S8/Ǎ?Q  S8 o?Q  tI)E'Q  CI,=Cɴ:: S8 ]g4U? U:)Uĭ? ]?YUAɷU:U: U|g4a ai1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} M}Initialize.q&}&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GLK@L>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFz?zFjFEE<Tracking...<2Tracking contact label: 2i;D@D 9) iL/) T5I LK@)H5<"H5w:-߼%RHorizontalControl.headingCmd 3.181231 radoš  mC'AYt2:L@t25[@yt2a=t2>xBjE) IVH=E9QE>YAyAMEM=CMX9M> Q ]}f4Uy?U?:ɯU? i?UAUI;ɱU;Uf4Q S8鲅Ǎ? I?Q tI)'Q CI=Cɴ:鴅w: 3IS8 g4鵽? >:)? ?YAɷ :鷽v: =g4 1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=N-PLights, Camera on at range: 8.520000 m .1'-2G):G)LU>Setting Heading: 3.181231 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFYFYFaFazFajFaEaEa  a>W 3C'AYt.L@t.8[@yt. a=t.Q>xBGkEiLIP)+GIVH%Q%>Y!y!-E-?>C-9-> 1 ]=f45O?5:ɯ5c? iE?5"A5:ɱ5:5f4Q MS8Eƍ? E2"?Q MtI)E'Q UCIE=CɴE.:E : ES8 ]g4Uڧ? U:)UF? e?YUPAɷU4:UӠ: Ug4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i!;;@; %9!!)! !i-R6)-Q%=I)1HU<"H]w:-  ԧ ՠC'AYt.L@t.^9[@yt.a=t.sxBw^E H@HBp=)~XGI|EE̼لEjYayaeEe>Cm{9m> i ]uf4m?m:ɯm{? i}?mpAm:ɱmM:mf4Q S8鲅[ƍ? 9%?Q tI)S(Q CI^>Cɴ鴅: DS8 g4鵕n? :)^? ?YAɷ:鷕: g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iv7; 9) i 3 <) =I  H<"Hw:h%< }C'AYt.͊L@t.<8[@yt.a=t.xBlEiPIRUC)~{GIVH=EQE>YAyAMEM?CM 5M> Q ]]g4U? a]g4U:ɯU? ie?UAU:ɱU:Ug4Q mT8eƍ?Q mT8 e*(?Q mtI)e(Q uCIe>Cɴel:e^: eT8 }g4u ? u:)un? ?YuAɷu:ur: u(g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i|;8@8 9) iT@)=IH<"Hw:)|AI9<  ԢC'AYt.!L@t.8[@yt.b=t.x6rdE)pHv?Hv?It-,-`eل-CYIyQUEUv?CUZO8U> Y ]eg4]Y?]X:ɯ]U? im?]A]:ɱ]:]Bg4Q uT8uLƍ? u%+?Q }tI)u )Q }CIu,?Cɴul:u: u YT8 g4鵅? V:)8? ?Y4AɷM:鷅Ӡ: g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFz?zFjFEE<Tracking...<2Tracking contact label: 2i ;6@6 9) i/E)# >IH<"Hw:T<©߱ ZeC'AYt.ۈL@t.J6[@yt.a=t.ѽx6sbEG:AAH8iDID)tItVH~HQ>Yy E ?C O >  ]g4:?:ɯ? i%?PA^:ɱ0: g4Q -T8%lnƍ? % .?Q -tI)%b)Q 5CI%?Cɴ%d:%x: %T8 =g45Ģ? 5:)5? E?Y5}Aɷ5:5n: 5g4I II1&] L]xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&] M]Initialize.q&e&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'e1'e=NmPLights, Camera on at range: 8.520000 m .1'm2Gi:GiLm>Setting Heading: 3.181231 rad .q&uLu`Completed lineCaptureHoming:Lap:TerminalGuidanceFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2i;2@2 9) ieH@) >IH<"Hw:•@=iy AC'AYt.L@t.5[@yt.ta=t.@xNeE)IVH]eEQe>YayaeEmF@Cm9m> q ]}g4u ?u:ɯu? i?uAu:ɱu:u+g4Q T8鲅Lƍ? 1?Q tI))Q CI?CɴO:鴅B: T8 g4鵕? :)ͳ? ?YAɷ&:鷕: g4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i.; 9) i E@) ~/>I  H<"Hw:i%=%==  V>A! i"C'AYt.!L@t.5[@yt.ka=t.~x6nE {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIjPC)QHezAHm{AIi\jل9Y)y)-E-@C=8=> A ]Ug4E?E7:ɯE? i]?EAEyH;ɱEF;E:g4Q mU8e)ƍ?Q uU8 eH4?Q }tI)e!*Q }CIej@Cɴe-/;e4; e*U8 h4鵅0? h4 5:)? ?YAɷ*;鷅!*; \h4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i :; 9) iLD@)!I!!H-<"H-w:!K ;C'AYt.L@t.5[@yt.aa=t.Ox6bvE H:=H8]>^unknown deviceResponse_: 00000,187,80,81,18,FF )aIaVH˝T/9Q>YˡyˡE˥ACͭދ8>  ]g4l?k:ɯ? i?鯵-AI:ɱ=:鱵Hg4Q U8 ƍ? 7?Q tI)x*Q CI@CɴҨ:: 6kU8 h4? h:)? ?YZAɷ:: h4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G :G L >Setting Heading: 3.181231 rad .q& L `Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE!<%Tracking...<%2Tracking contact label: 2i==;9=(@=( =9AA)A AiMD@M=)IIIIHU<"HUw:-= 3 UC'AYt.L@t.U5[@yt.a=t..>x6klEiHIJUC)z0GIx55ل5#YQyQ]E]|AC]Ӹe> a ]mg4e*?eb:ɯey? iu?e:Ae:ɱe:eUg4Q }U8uō? u9?Q tI)u*Q CIu0ACɴu:u: uU8 h4鵍? `:)\? ?YhAɷƟ:鷍: )h4 1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i|; 9) iF@)YT&>IH<"H w:)}AI>©߱  x^ doC'AYt.ۇL@t.J5[@yt.9a=t.kxBiE)jGH?H?I VH%8Q%>Y!y!-E-AC-.ݶ-> 1 ]=g45?5Z:ɯ5? iE?5HA5:ɱ5z:5cg4Q MU8Eō? ESetting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2iN;&@& %9!!)! !i-H@)-eR>I)1H5<"H=w:-h`0>WF C'AYt. L@t.x3[@yt. b=t.xB$jEGB@AH@iPIP)~+GIVH%f7Q%>Y!y!-E-IBC-.-> 1 ]=g45?5Q:ɯ5t? iE?5VA5q:ɱ5C:5qg4Q MV8ELō?Q MV8 E??Q UtI)E+Q UCIEACɴE:E: E4V8 ]h4]/? ]O:)]W? e?Y]Aɷ]:]": ]pLh4i iq1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzF jF E1E9<=Tracking...o cC'AYt.mL@t.3[@yt.a=t.wWxRrdE)uGIytل`;yy&1|?y&1|y&1|?Y(AIi@ɅEAA`; `)`;VH˝oQ>Y˙yˡE˥BCͥ6]8>  ]g4L?B:ɯӳ? i-?鯭iAȈ<ɱ<鱭g4Q =V85ō? 5QC?Q =tI)5+Q =CI5uBCɴ5:5$: 5V8 Mh4Eӝ? E@:)E? ?YEAɷESetting Heading: 3.181231 rad .q&%L%`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F!FF@zFjFEE<Tracking...<2Tracking contact label: 2i  ;  &@ & 9) iiF)>IH%<"H-w:i5=1> ]>+ OC'AYt.lL@t.0[@yt.a=t.xjcEixIzPC)]jGIaVHu}І8Q}>YyyyE˅CCͅ>  ]g4?6:ɯ!? i?鯍xA<ɱ:鱍g4Q V8ggō? E?Q tI)A,Q CIBCɴ:ض: bV8 5h4-? -4:)-? 5?Y-Aɷ-:-Ҩ: -ph4A AA1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFIFIzFIjFIEQEQ ףC'Axn>xnjE Hrp=Hp)]{GIYj<̼ل`YyECC>  ]g4g?:ɯy? i?A<ɱ<g4Q -W8% Fō?Q -W8 %H?Q -tI)%,Q -CI%:CCɴ%J:! %W8 h4}? }:)}`? ?Y}Aɷ}#9<}2< }Th4 1&- L-xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&5 M5Initialize.q&5&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'51'5=N=PLights, Camera on at range: 8.520000 m .1'=2G9:G9LE>Setting Heading: 3.181231 rad .q&ELE`Completed lineCaptureHoming:Lap:TerminalGuidanceFAFAFF?zFjFEE<Tracking...<2Tracking contact label: 2i1; 9) iiF3]=)IH <"H w:!>¹ƭ C'AYt2~L@t2Q,[@yt2a=t2J>x>cEiLINUC)~ƄGIVH%8Q%>Y!y!%E%CC-.=-> 1 ]=g45?5:ɯ5? i=?5*A5:ɱ5C:5ag4Q MW8E'ō? EK?Q MtI)E,Q MCIECCɴE:Eа: E(EW8 ]h4U? U:)U? ]?YUTAɷU:U{: U'h4i ii1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NPLights, Camera on at range: 8.520000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2i4;@ 9) ijF =)IH<"Hmw:)uIui}}    C'AYt2o~L@t2+[@yt2 a=t2xBjE)5BGH5?H=?I9VHMMoQM>YQyQUEUODCee>  ]g4F?:ɯ? i?鯝AT <ɱm<鱝g4Q W8Hō? N?Q tI)S-Q ]CIDCɴZR<R< W8 h4mǘ? m:)m? ?YmAɷmbSetting Heading: 3.181231 rad .q&%L-`Completed lineCaptureHoming:Lap:TerminalGuidanceF)FiFqFqzFqjFqEqEy<}Tracking...<}2Tracking contact label: 2ik);@ 9) iiFm* =)IH-<"H-w:  $C'AYt25{L@t2([@yt2a=t2=x^ nEGbAAH` {`Y|`f8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIPC)eGIi ף ل `eYyEDCMιM> Q ]]g4Uؓ?U:ɯU? i]?UAU@:ɱU:U/g4Q W8eEč? ekR?Q tI)e-Q CIeDCɴe )Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFF!F)F-G@zF)jF)E1E1<5Tracking...<}2Tracking contact label: 2ib;@ 9) ijF} =)IH<"Hw:=l> =>9 >C'Axn.>xnBqE){rqI{pi{r~={r>{p{r A{p|rA9|rӷ?t>i$׿)ׄGIVH˥Q?Y˩y˩E˭!ECͽ ?  ]g4?:ɯ{? i?A=:ɱ˵:_g4Q X8kč?Q  X8 T?Q  tI).Q CIDCɴ<< nX8 ]h4U? U:)Ud? e?YUAɷU:U: Uh4i iiQ}Done Waiting.(} Q}8Uninitialize Wait Component.(}1&} L}xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&} MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 22.740000 m .1'2G:GL>Setting Heading: 3.181231 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<-direction in vehicle frame: [ 0.932324 forward, -0.361625 starboard, 0.000000 keelward ]<5CALLING PROCESS<5TProcessing response from acoustic contact.<5TProcessing response from acoustic contact.i$׿EqEE#6@HB?tFE˄xx~j?R1EEpC@bE?jEBEo$?JEp$?RE ZE rEzEi;@ 9) iiFz =)IAHM<"HMw:%-Dacoustic_contact_range 22.740000 m%5hTrackAcousticContact.heading_to_contact 3.053756 rad ]>  Y> #eXC'AYt2zL@t2E([@yt2~a=t2~xREmEihIjUC)=GH=AH=|AIAUD;U9لUtY˱y˱E˵ECͽY>  ]g4?:ɯl? i?A+<ɱ+<g4Q X8dč? X?Q %tI)l.Q %CIGECɴ_:: _X8 Uh4-j? -:)-R? U?Y-Aɷ-;-: -uh4Y YYG(1)1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 22.740000 m .1'2G:GpC@L>Setting Heading: 3.053756 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceF!F)F)F-p?zF1jF1E1E1<5Tracking...<=2Tracking contact label: 2ie;@ 9) iH)/>IpC@H<"Hw:¡ߩ%RHorizontalControl.headingCmd 3.053756 rad @rC'AYt2{L@t2))[@yt2>a=t2>5xRcE HTHVa=)}ƄGIyVH>8Q>YyE%EC%#9%> ) ]5g4-N?-:ɯ-A? i=?-A-:ɱ-:-g4Q EX8=č? =Z?Q EtI)=.Q ECI=ECɴ=O:=ݱ: =X8 h4M֖? M:)M!? ?YM"AɷMSetting Heading: 3.053756 rad .q&ULU`Completed lineCaptureHoming:Lap:TerminalGuidanceFQFQFYFYzFYjFYEaEaI H<"Hw:n" 3C'AYt24yL@t2&[@yt2a`=t2O!xbKgE@d"@dipIp)uGIVH չQ>Yy%E%[FC5<ǹ5> 9 ]Eh4=? aEh4=:ɯ=!? iE?=A=:ɱ=:=Ah4Q UX8MDač? M]?Q tI)M/Q CIMFCɴM^Uninitialize WaypointComponent.1*% T%Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeadingq*%T%4Initialize Wait Component.1&% L%xAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&% M%Initialize.q&%&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'-1'-=NuRLights, Camera on at range: 22.740000 m .1'u2Gq:GqL}>Setting Heading: 3.053756 rad .q&}L}`Completed lineCaptureHoming:Lap:TerminalGuidance$}I}zAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder1%} J}~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFyFFFzFjFEE<Tracking...<2Tracking contact label: 2iE>M;IM@M M9QQ)Q Qi]pC@)]B>IYaHm<"Hmw:!1 @A <) C'AxMù>xrdE)=ƄGHAHE?IA= got command stopN^Stop Mission called by CommandLine::commandStopلYˡyˡE˥FCͭ>  ]h4?:ɯ@? i?鯵BA$<ɱ"$<鱵=h4Q  Y8 Q9č?Q  Y8 aa?Q tI) /Q CI FCɴ : d: 6Y8 %i4? %i4 :)%? %?YpAɷ:: i41 111& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance& MInitialize.q&&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'=NRLights, Camera on at range: 22.740000 m .1'2G:GL>Setting Heading: 3.053756 rad .q&L`Completed lineCaptureHoming:Lap:TerminalGuidanceFFFFzFjFEE<Tracking...<2Tracking contact label: 2$58MissionManager is completed.$5PUninitializing Mission lineCaptureHoming1= 0=RAggregate::uninitialize lineCaptureHomingq=0=vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes= 1=NUninitialize AltitudeEnvelopeComponent.=1=Uninitialize.1= 2=NUninitialize OffshoreEnvelopeComponent.q=<=HUninitializing TrackAcousticContact.= =EUninitialize.E=E@Uninitialize Buoyancy Component.1EqEE ?EbAggregate::uninitialize lineCaptureHoming:DiveCmdE?EzAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive!E CE~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo!ECMAggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"Mq"MDMUninitialize."M EMUninitialize."MEMjAggregate::uninitialize lineCaptureHoming:RequestPing1#Mq#M#M1$M HMZAggregate::uninitialize lineCaptureHoming:Lapq$MHUdAggregate::uninitialize lineCaptureHoming:Lap:Dive$U IUhAggregate::uninitialize lineCaptureHoming:Lap:Dive:A1&U LU|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance&&MAggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'q)RjAggregate::uninitialize lineCaptureHoming:Lap:Rollout1* TAggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeadingq*T8Uninitialize Wait Component.a(ma(ia(e&u%m%i%y 9] 1]a Ae=maaa]aYaUaQaMaIaEaAa=a9a5a1a-a)a%a!!-!-!-!-! -! -!-!q5aEaEaE!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!i; 8) H<"H w:= >  % JHorizontalControl.headingCmd no_value6/ ϿC'AYt2qL@t23[@yt2a=t2~x:eEiIPC)UGIYVHu}8Q}?YyyyE˅-GCͅIJ?  ]h4?m:ɯ? i?鯍]Ao<ɱM<鱍h4Q Y8wč? c?Q tI)/Q CIFCɴy:: nY8 5i4? l: 5tI)? 5?YAɷԳ:: i4A AA$M.Started mission DefaultYIM ):Aggregate::initialize Default1 *@Initialize GoToSurfaceComponent. *No depth rate setting specified. Using default value of nan m/s. *~No pitch setting specified. Using default value of nan degrees. *No speed setting specified. Using default value of 1.000000 m/s. *No surface timeout specified. 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Đ=)p? ?Y"s@ɷ;鷕: 'J4  )Ii Xz:;) )H<"Hw:]> 7 TUC'AYt.%L@t.IZ@yt.ߏa=t.xB@sE:@F=B@D)~G EDE<لAyEMbpMb?~jthYEAIAiAAAɅAEAE E<)AVH˥8Q>YˡyˡE˩ͭ[d>  ]H4W?=ɯ%q? i?鯵s@:ɱ:鱵}H4Q 7 Q tI)Q BIɴ:: (7 J4? א=)p? ?Y_s@ɷa:ŧ: 8J4  )Ii Xz:;) )qqH}<"H}w:߉> j0C'AYt.%L@t.Z@yt.a=t.xBuEiPIR`C)XGVH%8Q%>Y)y)-E)5C/5> 1 ]]H45?5 =ɯ5p? ie?5t@5;ɱ5;5H4Q m7iQ m7 iQ mtI)iQ uBIiɴmȗ:m: mRi7 J4u? u=)ump? ?Yus@ɷu ;u; uIJ4  )Ii Xz:;) )H<"Hw: kE oC'AYt._$L@t.Z@yt.oa=t.xBgE)~{GEE#<لEyE~jtxYˁyˁEˁ͍Q:>  ]H4?=ɯp? i?鯕ft@E;ɱ9;鱕H4Q 7 Q tI)Q BIɴF:Ԙ: 7 J4/? =)p? ?Ys@ɷx;; [J4  ) I i =Xz:=;AAA)A A)IIHU<"HUw:a?AT/K .C'AYt.#L@t.Z@yt.) a=t.W>xBmjE@@"@@i\I^eC)!!VH=EQE>YAyIMEIMKM> Q ]]H4U?U0=ɯU/p? ie?Ut@U]:ɱU :UH4Q m7aQ m7 aQ mtI)aQ mBIaɴeݖ:eϝ: ey7 }J4uw? u=)uo? }?Yu+t@ɷu:um: ulJ4  )Ii Xz:;) )H<"H%w:1R HC'AYt. L@t.Z@yt.#a=t./xB'fE)=ƄGVH]e{8Qe>YayimEimm> q ]H4ui?uC=ɯuo? i?ut@u;ɱuM;u1H4Q 7鲡Q 7 Q tI)Q BIɴ|:鴥 : 7 J4鵵? "=)\o? ?Yut@ɷ;鷵P: c~J4  )Ii Xz: ;11)1 9)9AHE<"HEw:yAX bC'AYt.L@t.6Z@yt.`=t.xBsEiLIL)~ׄGT<لyY˩y˩E˩͵<>  ]H4?X=ɯ{o? i?Tu@:ɱԳ:H4Q 7 Q tI)Q BIɴF;$; Џ7 %J4*? 7=)o? %?Yt@ɷ:: eJ4) )1 Q)YIYiY eXz:e;iii)i i)H<"Hw:ߩV> \k^ z|C'AYt.6L@t.Z@yt. .a=t.Tg>xBmE:@F=B@F=)~G~< |VH=Eb9QE>YIyIMEIU#8U> Q ]]H4U2?Uj=ɯU)o? ie?Uu@U:ɱUȲ:UMH4Q m7iQ m7 iQ mtI)iQ uBIiɴm:mb: mC7 MJ4u? uI=)un? M?Yu(u@ɷu:u: uJ4Q QY a)aIaia mXz:m;qqq)q q)yyH<"Hw:ߑ Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b3m1 1 3 Se  UC'AYt.AL@t.Z@yt.y]a=t.RxJgEiXIZ`C=bgot command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b3m1 1 3.000000=fPScheduling command #1 of 3 with id=4b3m1=jScheduled #9 (#1 of 3 with id='4b3m1'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAP)%0Guu#<لuyu~jtxYˑyˑEˑ͝+>  ]H4}?~=ɯo? i?鯥u@˵:ɱW:鱥H4Q 7鲱 Q tI)Q BIɴ:鴵: 7 J4? ]=)n? ?Yru@ɷw:۞: J4  )Ii Xz:;) )H<"Hw:n}k @1C'AYt.FL@t.Z@yt.@i`=t.8xBgpE)GVH=EQE>YAyAMEIM%9M> Q ]]H4U?U=ɯUn? ie?U;v@U:ɱU:UH4Q m7aQ m7 aQ mtI)aQ mBIaɴeA:eϝ: e"7 }J4u? up=)ugn? ?Yuu@ɷu;u; uJ4  )Ii Xz:;) )H<"Hw:=u 2SBD MTMSN=20190328T180709dr _ C'AYt.SL@t.Z@yt.z`=t.]xB?uE@D"@DiPIP)~ׄGVH=E*9QE>YAyAMEIM{9M> Q ]]H4U ?U=ɯUn? i]?Uv@U :ɱUD;UH4Q }7q qQ tI)qQ BIqɴup;uh; u7 J4鵕d? =)An? ?Yv@ɷ:鷕v: \J4  )Ii Xz:;) )H<"Hw:܎x !C'AYt.5L@t.Z@yt._`=t.xBiE)~GAE:لEyEMb`?YAIAiAAAɅAAE E;)EVHU]Q]>YayaeEam[m> i ]uI4m? a}I4m=ɯmn? i}?mv@m:ɱmH:m I4Q 7鲁Q 7 Q tI)Q BIɴc:鴅w:  47 J4鵕i? =)Cn? ?Yv@ɷ:鷕i: J4  )Ii Xz:;) )H<"Hw:w~ HC'AYt.qL@t.Z@yt./a=t.<xRkEi\I^eC)ƄGVH--m9Q->Y1y15E1=8=> A ]MI4E?E=ɯEn? iM?Ev@E9:ɱE,:EI4Q U7Q QQ ]tI)QQ ]BIQɴU:U: U57 eJ4en? e=)eDn? m?Yev@ɷe<:e: eJ4q qq y)yIi Xz:;) )H<"Hw:߱ - C'AYt.L@t.Z@yt.`=t.?xB$jE:@DB@D)5ׄG9 ==}:}<ل}y}~jtx{Gzt?MbPYyIyiyyyɅyy}Ļ }ף;)}VH˕8Q>Y˙y˙E˙ͥ>  ]I4V?=ɯn? i?鯭v@ض:ɱB:鱭`'I4Q 7鲹Q 7 Q tI)Q BIɴ:鴽: F7 K4? 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L@t.Z@yt.ia=t.xBEmEF8Not Powering down - fast GPSF J)JIJiJi~J~J~J~J~J J)JINiNNNN)VH=E"8QE>YAyIMEIMU> Q ]}I4Ux?U=ɯUJn? i?Uw@U;ɱUA;U{_I4Q 7鲁Q 7 Q tI)Q BIɴ :鴅: Oe7 K4鵕? ё=)m? ?YZw@ɷ;鷕; aOK4  )Ii Xz:;) )  H<"H5w:I C'AYt.x L@t.Z@yt.`=t.:xB@sEiLIL)~+G9=<ل=Dy=~jtQ?~jthY9I9i999Ʌ99=D =u<)=DVH}}Q>YˁyˁEˁ͍ܸ>  ]I4?=ɯn? i?鯕_x@÷;ɱ;鱕mI4Q 7 Q tI)Q BIɴ:N: 07 K4\? =)m? ?Yw@ɷp;; (aK4  ) Ii Xz:;!!!)! !)))H5<"H5w:Ae> ]> C'AYt.L@t.eZ@yt.d`=t.xBnhE:@DB@F=)MXGQ UR=VH}˅ Q>YˁyˁEˉ͍Ŕ>  ]I4?0=ɯm? i?鯕x@f:ɱ:鱕{I4Q 7鲡Q 7 Q tI)Q BIɴ:鴥: v7 K4鵵? =)mm? ?Y[x@ɷ:鷵3: hrK4  )Ii Xz:;) )19H=<"HEw:Q C'AYtFIK@tFZ@ytF(a=tF*xfrEiaIeeC)ƄGPonly read 0 of 1 data item for BIT error%Failed to parse: :TS,19032811154748,35.0, -0.1, , +11, +4, -1, -9,A a 1%@a % a 5%@a % a 9%@a % a -%@a % VH=U3t9Q]>YayamEim,m>  ]I4"?Q=ɯm? i?鯕jy@ͭ:ɱm>鱕]I4Q 7鲡Q 7 Q tI)Q BIɴ:鴥: 4 7 @ @ @ @ i   )Ii %Xz:%;!!!)! !))IHU<"HUw:߱, FxC'AYt.L@t.Z@yt.?a=t.xBeE)EGVH]ej9Qe>YayaeEim9m> q ]}I4u?um=ɯu}m? i}?uy@ud:ɱu>N?uȐI4Q 7鲁 Q tI)Q BIɴ:鴅Ԙ:  7  )Ii Xz:;) )H<"Hw:Y HOC'AYt.3L@t.Z@yt.`=t.sxBEmE@D"@Di`I`)m{GiiVH}˅ùQ>YˁyˁEˉ͍8>  ]I4*?=ɯJm? i?`z@s:ɱQ?鱕[I4Q  7Q 7 Q tI)Q BIɴ8;y; K71 11 9)9I9i9 MXz:M;III)I Q)QYH]<"Hew:q= g*C'AYt.TK@t.ĬZ@yt. a=t.ixBLeE)a 1ua 1u a 5ua 5u a 9ua 9u a -ua -} ף;لyy&1|?YIiɅ `;)VH 9Q5>Y9y9=E9E4E> I ]MI4M;?M=ɯMOm? iU?Mz@MZ;ɱM;MHI4Q }7y yQ tI)yQ BIyɴ}S:}E: }٠7      I4鵍? I4 ~= tI)l? ?Yz@ɷ;鷍; HI4  )Ii Xz:;) )H <"H w:Ah [ 4C'AYt.K@t. Z@yt.wa=t.rxB'fEiLIL)|VH%Q%>Y!y!-E)-h@8-> 1 ]=I4! = 5J?! = 5=ɯ5Sm? iE?5z@5:ɱ5B:5-I4Q M7AQ M7 AQ MtI)AQ UBIAɴE:E: E7 ]I4 ]] U? a] U=)Ul? e?YU9z@ɷU:U_: UI4i ii q)qIqiq Xz:;)q q)qyH}<"Hw:߱R> Y>O MC'AYtzK@tzZ@ytzK`=tz>WxlE:@B@=)ƄG4= %=لyMbP?YIiɅ :)VHUU8uQU>YYyY]EYeie> i ]uI4! u mM?! u m=ɯmTm? i}?mz@m;ɱm;mI4Q 7y yQ tI)yQ BIyɴ}Ր:}c: }v7 I4 ] 鵍? a =)l? ?YAz@ɷ%:鷍: I4  )Ii Xz:;) )!!H-<"H-w:9y gC'AYt.K@t._Z@yt.`=t.UxBgEiLIP)~GVH%Q%?Y)y)-E)5n5? 1 ]]I4! ] 5O?! e 5=ɯ5Um? im?5z@5;ɱ5D<5jI4Q 7鲙Q 7 Q tI)Q BIɴÜ:鴝/: /7 I4 ] 鵭? a =)l? ?YGz@ɷ;鷭Ե; [I4  )Ii Xz:;) )!!H-<"H-w:Aka C'AYt.7K@t.Z@yt.`=t.RxxRIiE)ƄGVH%-[/9Q->Y)y15E15q:5> I ]eI4! m MR?! m M=ɯMVm? im?Mz@Mw;ɱMs;MI4Q u7q qQ }tI)qQ }BIqɴu:u߼: u>7 I4 ] 鵅? a =) ?YMz@ɷ*:鷅: I4  )Ii Xz:;) )H<"Hw:mReceived command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b3m1 2 3= got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b3m1 2 3.000000=PScheduling command #2 of 3 with id=4b3m1=Scheduled #10 (#2 of 3 with id='4b3m1'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP@AM vC'AYt.PK@t.Z@yt.Sa=t.xB`E@D"@Di!I))ׄGD;;لyMbpYfAIiɅA )VHU]L9Q]>YayaeEae9m> i ]uI4! u mv?! } m=ɯm\m? i}?mz@m:ɱm:mI4Q 7鲁Q 7 Q tI)Q BIɴc:鴅U: J7 I4 ] 鵍? a =)l? ?Yjz@ɷ:鷍Ҩ: {I4  )Ii Xz:;) )H<"Hw:` MC'Ax%>>x-klE)VHQ>YyE>  ]I4?=ɯam? i?{@:ɱ-:zI4Q 7 Q tI)Q BIɴ:: ˏ7 J4? J4 =)l? ?Yz@ɷܹ:Q:  J4   )Ii Xz:%;!!!)! !)))H5<"H5w:A=]2SBD MTMSN=20190328T1807176 35C'AYtK@tZ@ytQa=txtEi1I1)لyMb`MbPYAIiEAɅ )VH55Q5>Y9y9=E9E\E> I ]UJ4M? aUJ4M=ɯMdm? iU?M{@M:ɱM:M$ J4Q ]7YQ e7 YQ etI)YQ eBIYɴ]ݖ:]: ]Y7 uJ4m? m=)ml? u?Ymz@ɷm:m: m)!J4y yy )Ii Xz:;) )H<"Hw:߹ V> BC'Ax~>x~DoE:@=B@=)q}= }=VHˍQ>YˉyˑEˑ͕>  ]J4?=ɯfm? i?鯝"{@,:ɱ:鱝zJ4Q 7鲩 Q tI)Q BIɴu<鴭< ~ِ7 ]J4U? U=)Ul? e?YUz@ɷUI:U : Uv2J4i ii q)qIqiq Xz:;) )H<"Hw:ߩ> C'AYt.K@t.Z@yt.Qa=t.x6eEiDID)~BGVH=EQE>YAyIMEIM⍸M> Q ]]J4U?U=ɯUhm? ie?U1{@U:ɱU:UD%J4Q m7iQ m7 iQ mtI)iQ uBIiɴmc:m: m^7 }J4u? u=)ul? ?Yuz@ɷu:u : uBJ4  )Ii Xz:;) )H<"Hw: bC'Ax~Q>x~GkE)uG::لyMb`YIiɅ酹鄹 )VHQ>YyE>  ]J4?=ɯkm? i?>{@/:ɱk: 4J4Q 7 Q tI)Q BIɴ[:N: 37  J4 ,? =) l? ?Y z@ɷ : l: TJ4  !)!I!i! 5Xz:5;199)9 9)AAHE<"HMw:Y?Am  6C'AYtFMK@tFZ@ytFa=tFUHxbfE@`"@dilIl)=G9AVHMUQU>YQyQUEQ]\]> a ]mJ4e?e=ɯenm? im?eK{@e:ɱeB:eAJ4Q u7qQ }7 qQ }tI)qQ }BIqɴu/:uC: uzo7 J4鵅xjgE)MׄG;ل:yMb`MbP?Y AIiɅ配A鄉 ):VH˭)9Q>Y˩y˩E˱͵>  ]J4?=ɯm? i?鯽X{@:ɱ:鱽%PJ4Q 7 Q tI)Q BIɴ:: +7 J4M? =)m? ?Yz@ɷR:s: wJ4  )Ii Xz: ;   )  )H<"Hw:1\ ,djC'AYt>K@t>Z@yt>2>a=t>H7?@خJѿ` %?`$$@7ʛ?@?)u>K@ u>]v;Iu>CxJ>xJfrEiXIX)!VH5=}Q=>YAyAEEAEF4M> i ]uJ4m?m=ɯmm? i}?me{@m:ɱm$:m]J4Q 7yQ 7 yQ tI)yQ BIyɴ}:}: }߀7 J4鵭]? ~=)2m? ?Yz@ɷ:鷭e: J4  )Ii Xz:;) ) H-<"H5w:A a>  0C'AYt.K@t.tZ@yt.a=t.f,>x>mE:@B=B@@)4= VHAB9Q>YyE%%> ) ]5J4-?-=ɯ-m? i5?-r{@-/:ɱ-Y:-lJ4Q =79Q E7 9Q EtI)9Q EBI9ɴ=ȗ:=: =7 UJ4Mn? M|=)MQm? U?YMz@ɷM:M: MJ4Y YY a)aIiii uXz:u;qyy)y y)H<"Hw:(' CC'AYt.K@t.Z@yt.ia=t.xBjEiLIP)EG:لyMbP?YIiɅ酉鄍 )VHyC9Q>YyEĵ8>  ]J4?=ɯm? i?s{@ ;ɱ';zJ4Q %7! !Q -tI)!Q -BI!ɴ%:%: %˗7 UJ45n? 5|=)5km? ]?Y1ɷ5J;5%: 5DJ4a aa i)iIiiq Xz:;) )H<"Hw: T- .C'AYt.K@t.Z@yt.ga=t.xNsE)ƄGVH==Q=>YAyAEEAMLM> Q ]J4U?U=ɯUm? i?QU<ɱUy>xBoE@@"@@iLIL)~BG||9=ل=;y=Mb`?Y9I9i999Ʌ999 9)=;VHEM9QM>YQyQUEQ]c]9]> Y ]eJ4]?]=ɯ]4n? im?]t{@]:ɱ]ض:]jJ4Q u7q qQ utI)qQ }BIqɴu_:u: u7 J4}l? }|=)}m? ?Y}z@ɷ}:}: }J4  )Ii Xz:;)  ) H<"Hw:) d: C'AYt2K@t2^Z@yt2a=t2xBpE) GVH=E;QE>YAyAMEIMHM> Q ]}J4U?U=ɯUdn? i?Uu{@U;ɱUE;UVJ4Q 7鲁Q 7 Q tI)Q BIɴo:鴅: )7 J4鵕k? |=)m? ?Yɷı;鷕O: J4  )Ii Xz:;) )  H<"Hw:VLA qC'AYt2K@t2RZ@yt2`=t2kxNdtEi\I\)GVH=EhQE>YAyAMEIMSM> Q ]}J4U?U=ɯUn? i}?Uv{@U;ɱUw;UuJ4Q 7鲁 Q tI)Q BIɴh:鴅: ±7 J4鵕j? |=)"n? ?Yz@ɷg;鷕9;  J4  )Ii Xz:;) )H<"Hw:)V> Y>vG ZKC'AYt.\K@t.̖Z@yt.9a=t.xBoE:@DB@D)~{G =EEلAyEMb`?Mb`?YAIAiAAAɅAAE; A)AVH˽69Q>YyE¼9>  ]J4?=ɯn? i?{@d:ɱ:!J4Q 7Q 7 Q tI)Q BIɴA:: =7 K4X? K4 ~=)Un? ?Y{@ɷW:B: K4  ) I i  Xz:;!!)! !)qyH}<"H}w:ߑNM '9C'AYt.SK@t.ÔZ@yt.BJa=t.uxBqEiPIR`C)ƄGVH%P-8Q%>Y!y)-E)--> 1 ]=J45?5=ɯ5n? iE?5{@5}:ɱ5:5J4Q M7I IQ MtI)IQ UBIIɴMٓ:M˚: Mj7 ]K4UG? U=)Un? e?YU{@ɷUU:U: UK4i ii q)qIqiq Xz:;) )H<"Hw:LT SC'AYt..K@t.Z@yt.dGa=t. 7xZrE)%GeeDلayeMbp?Mb`?YaIaiaaaɅaae; a)aVH}˅{ܶQ>YˁyˁEˉ͍0>  ]J4?=ɯ-o? i?鯕{@:ɱ :鱕J4Q 7鲡Q 7 Q tI)Q BIɴԘ:鴥@: K7 K4鵵#? =)n? ?Y,{@ɷ:鷵": %K4  )Ii Xz:;) )H<"Hw:!Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b3m1 3 3=got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b3m1 3 3.000000= PScheduling command #3 of 3 with id=4b3m1= Scheduled #11 (#3 of 3 with id='4b3m1'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP,Z lC'AYt.K@t.Z@yt.Ya=t.x>xBnhE@D"@DiTIT)EƄGIIVH]e08Qe>YayaeEim/:m> q ]}J4u?u=ɯu\o? i}?u{@u:ɱu:uJ4Q 7鲹 Q tI)Q BIɴ9:鴽: Ԙ7 K4? =)n? ?YG{@ɷ&:Ҩ:  7K4  )Ii Xz:;) )qyH}<"Hw:ߑ=Mzgot command load ./Missions/Engineering/lineCaptureHoming.xml$mzLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml! j@ $ nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h! z@ $ tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min! @ ?$ fDefineArg lineCaptureHoming.Repeat = 1.000000 count! @ $ `DefineArg lineCaptureHoming.DockLat = nan arcdeg! @ $ `DefineArg lineCaptureHoming.DockLon = nan arcdeg! @ $ bDefineArg lineCaptureHoming.StartLat = nan arcdeg!% @! $- bDefineArg lineCaptureHoming.StartLon = nan arcdeg!5 @1 $= pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m!E @A $M jDefineArg lineCaptureHoming.cameraRange = 25.000000 m!] @] @$] dDefineArg lineCaptureHoming.DockRange = 4.000000 m!E  AA $M jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool!U AQ $ DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min! *A $ jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s! :A @$ tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min! JA $ jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m! ZA $ xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min! jA >@$ fDefineArg lineCaptureHoming.InitDepth = 30.000000 m! zA @$ xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min! A sa C'AYt2~K@t2Z@yt23 b=t2xB nE$jxDefineArg lineCaptureHoming.TransponderCode = 2.000000 count)zGVH%9Q%>Y!y!-E)-!-> 1 ]=J45?5=ɯ5o? i]?5{@5ݔ;ɱ5;5J4Q e7YQ e7 YQ etI)YQ eBIYɴ]˚:]: ]X7 uK4m? m=)mo?!A$tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count!ADUSBL_Hydroid.loadAtStartup ?Yma{@ɷm>x>+bEiHIL){GIMلMD;yMMbp?MbP~jth?YIIIiIIIɅIII M)MD;VHee"8Qe>YiyimEiu"u>!}Dy$DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!*D  ]K4]? aK4=ɯo? i?|@6:ɱ:K4Q 7 $~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min!:D$DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 minQ tI)Q UBIɴe]<a^< B7 eK4]? ]=)]`o? e?Y]{@ɷ].:]: ]ZK4i i; Xz:) ) 5,Construct GoToSurface.aHm<"Huw:߁%RHorizontalControl.headingCmd 3.053756 rada!Ea%Ea)Ea-Ma1Ma5Ma9Ma=UaAUaEUaIUaM]aQ]N> ]>*a code=0914 owner=0079 element=0695 universal=3FFF unitName="none" type=00 size=0018 fl=05 aU*a code=0915 owner=0079 element=0696 universal=3FFF unitName="none" type=00 size=0018 fl=05 aY*a code=0916 owner=0079 element=0697 universal=3FFF unitName="meter" type=00 size=0018 fl=05 a]*a code=0917 owner=0079 element=0698 universal=3FFF unitName="meter" type=00 size=0018 fl=05 aa =Construct.=&Construct Buoyancy.=U@Construct.a A AConstruct. 1 9 DConstruct. EConstruct.KU &Construct Waypoint.%y %i %m *n code=00AE name="lineCaptureHoming:Lap:TerminalGuidance:A.Point" W Construct.*a code=0918 owner=00AE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0919 owner=00AE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091A owner=00AE element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091B owner=00AE element=05F8 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=091C owner=00AE element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=091D owner=00AE element=061D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 +u5 *a code=091E owner=00AE element=05F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=091F owner=00AE element=061A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0920 owner=00AE element=061B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0921 owner=00AE element=0694 universal=3FFF unitName="radian" type=2F size=0004 fl=04 P "Construct SetNav.a(e a(i a(m  Q Construct Wait.SE &Construct Waypoint.T= Construct Wait.m oC'AYt.[K@t.˖Z@yt.a=t.+?`43ɛ??)u.[K@ u.v;Iu.Cx>w>xBiE:@B=B@B=)zƄG~= ~=VH%pQ%>Y!y!-E)-9-> 1 ]=K45:?5=ɯ5p? iE?5|@5;ɱ5M;5%K4Q M7IQ M7 IQ UtI)IQ UBIIɴMc:Mϝ: Mch7 ]K4]? ]=)]o? e?Y]{@ɷ]:]: ]jK4i ii}; }Xz:y) )H<"Hw: $MO Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. 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K@ u..v;Iu.CxB>xBfrE)zƄG99ل9y=MbPMbP?MbP?Y9I9i999Ʌ999 9)9VH˝8Q>YˡyˡEˡͭ>  ]K4X?=ɯr? i?鯵 }@k;ɱ0;鱵^K4Q 7 Q tI)Q BIɴ}:: z7 L4? =)Jr? ?Y|@ɷJ;=; _L4! !! )))I)i) ]Xz:];Yaa)a a)aiHm<"Huw:߁@A RE>C'AYt.cK@t.ӚZ@yt.a=t. >xBklE@@"@@iLIL)~ׄG||VH%*8Q%>Y!y!-E)-,8-> 1 ]=K45a?5=ɯ5r? iE?5}@5:ɱ5:5K4Q M7AQ M7 AQ MtI)AQ MBIAɴE:EƟ: Eb7 ]L4U? U=)Uer? ]?YU|@ɷU:U: U@pL4a ii q)qIqiq }Xz:;) )H<"Hw: XC'AYt2`K@t2ЛZ@yt2 a=t2!xBLeE)-GلyMbP?YIiɅ酑鄕 )VHa9Q>YyE-9>  ]K4a?=ɯr? i ?}@:ɱ:K4Q 7 Q =tI)Q =BIɴ;կ; 7 EL4=? ==)=r? M?Y9ɷ=:=Y: =L4Q Qq y)yIyiy Xz:;) )H<"Hw: PqC'AYt.K@t.Z@yt.a=t.xBjEiLIh)5{GVH]e8Qe>YayaeEamm> q ]}L4u`? a}L4u=ɯus? i}?qug:ɱu:usL4Q 7鲁Q 7 Q tI)Q BIɴo:鴅: v7 L4鵕? =)r? ?Y|@ɷ:鷕": wL4  )Ii Xz:;) )H<"Hw:)V> Y>  oԋC'AYt.GK@t.Z@yt.a=t.FAxBnhE:@HB@N=)Ya e=;لyMb`MbPYIiɅ酡鄥 )VH55svQ5>Y9y9=E9Eɰ8E> I ]UL4Mq?M=ɯMs? iU?M'}@M:ɱMD:ML4Q ]7YQ ]7 YQ etI)YQ eBIYɴ]:Y ]L7 L4m? m=)mr? ?Ym|@ɷmZxB$jEiLIP)VH+Q>YyE:>  ]L4~?=ɯs? i?4}@A;ɱ;"L4Q  7 Q  tI)Q  BIɴ:: 7 =L4? =)r? =?Y|@ɷ;; L4A AA I)IIQiQ ]Xz:];aaa)a a)iiHu<"Huw:߁' ōC'AYt.mK@t.ݠZ@yt.!a=t.GxBiE)xVH%A9Q%>Y!y!-E)-9-> 1 ]=L45?5=ɯ5s? iE?5B}@5b:ɱ54:5/L4Q M7AQ M7 AQ MtI)AQ UBIAɴEc:E: E 7 }L4U? U=)Ur? }?YU|@ɷUկ;UȰ; UhL4  )Ii Xz:;) )H<"Hw:?A eC'AYt.dK@t.ԠZ@yt.a=t.6xB@sE@FA"@HiTIT)ƄG A IIلM:yMMb`MbP?YIIIiIIIɅIII M)M:VHeeU}Qe>YiyimEiuu>  ]L4?=ɯ7s? i?P}@÷:ɱN:\>L4Q 7 Q tI)Q BIɴ%:: ؚ7 L4? =)r? ?Y|@ɷ:: L4   )Ii %Xz:%;!)))) )))1H5<"H=w:I!8 S@C'AYt.DK@t.Z@yt.b=t.)xBbE)~ׄGVH=E9QE>YAyIMEIM<U> Q ]}L4U?U=ɯUSs? i?U\}@Ux;ɱUg;UKL4Q 7鲁Q 7 Q tI)Q BIɴ :鴅: 7 L4鵕? =)r? ?Y|@ɷկ;鷕; L4  )Ii Xz:;) )  H<"H5w:I# , C'AYt2xRLeEilIp)Y)y)-E)U\U> Y ]]L4]?]=ɯ]ss? ie?]j}@]:ɱ]:]6[L4Q 7i iQ tI)iQ BIiɴm:m4: m%7 L4鵝? =)r? ?Y|@ɷ˚:鷝: L4  )Ii Xz:;) )H<"Hw:ߩR> ]>=%ngot command set lineCaptureHoming.Repeat 3.000000 count@%@=-tgot command set lineCaptureHoming.DockRange 0.100000 meter@-?=-got command set lineCaptureHoming.RolloutTimeout 1.000000 minute:A5N@=tgot command set lineCaptureHoming.InitDepth 0.000000 meterjA7K  &&C'AYt2 K@t2Z@yt2=a=t2>xBeE:@B=B@F=)mGu4= u=VHMǹQ>YyE>  ]L4?=ɯs? i?v}@:ɱ :hL4Q 7Q 7 Q tI)Q BIɴ;:: 37 ]M4U'? ]M4 U=)Us? ]?YU|@ɷU:U: UM4a aa i)iIqiq }Xz:};) )H<"Hw:ߡ2 @C'AYt.uK@t.Z@yt.vpa=t.VxBeEiLIP)EGVH}˅9Q>YˁyˁEˉ͍gW8>  ]L4?=ɯs? i?鯕}@<ɱs<鱕vL4Q 7 Q tI)Q BIɴ̒:: i7 5M47? =)5s? =?Y}@ɷ<,< kM4A AA I)IIIiQ }Xz:};y) )H<"Hw:ߡ] ѰZC'AYt.K@t.eZ@yt.3a=t.WRxBaE)z{GE;EلEyEMbPYAIAiAAAɅAAE A)EVH]eCQe>YayaeEimm> q ]L4u?u=ɯus? i?u}@uư<ɱuxBmE@D"@DiLIP)~ƄGAVH%8Q%>Y)y)-E)-ť95> 1 ]=L45?5=ɯ5s? iE?5}@5D:ɱ5{:5ZL4Q M7A AQ MtI)AQ MCIAɴE::Eo: EĨ7 mM4UG? U=)U8s? m?YU}@ɷUv=U= UiAM4q yy )Ii Xz:;) )H<"Hw:߹_p# lC'AYtEmK@tEݟZ@ytE`=tE?`ϮQѿ@ M?`wƛ??)uEmK@ uE˦v;IuECxUO>xUgE)ׄGmD;iلiym~jthMb`Ym AIiiiiiɅimAmD m)iVH˥vzQ>Y˩y˩E>  ]L4?=ɯs? i?}@k:ɱԳ:_L4Q  7 Q 7 Q tI) Q CI ɴ : ": `7 %M4_? {=);s? %?Y*}@ɷ:w: ^UM4I II Q)QIYiY eXz:e;a) )H<"Hw:@) tBC'AYt.K@t.Z@yt. a=t.B?Ԯ=Qѿ`+?`ћ??)u.K@ u.&v;Iu.CxBO>x@iLIL)|VH%8Q%>Y!y)-E)-7-> 1 ]=L45?5=ɯ5s? iE?5}@5L:ɱ5:5L4Q M7A AQ MtI)AQ MCIAɴES:E: Elթ7 ]M4Up? 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S=)Js? ?Y}@ɷ:鷝4: CM4  )Ii Xz:;) )H<"Hw:) Y>~V <]C'AYt.[K@t.ˠZ@yt.Na=t.xBfE:@F=B@F=)99 9لy~jthMb`YIiɅ酁鄅D )VH=7`9Q=>Y9y9EEAE&8E> I ]UM4M?Mm=ɯMs? i]?MC~@M::ɱM*:MM4Q 7鲑 Q tI)Q CIɴȗ:鴕4: 7 M4鵥? K=)Ms? ?Y}@ɷ :鷥/:  M4  )Ii Xz: ;) )H%<"H%w:q"] wC'AYt.K@t. Z@yt.Hma=t.mxBsbEiPIP)VH}˅8Q>YˁyˁEˉ͍Q9>  ]-M4?f=ɯs? i5?鯕Z~@9<ɱ*<鱕M4Q ]7YQ ]7 YQ ]tI)YQ eCIYɴ]:]e: ]"7 mM4e? eD=)ePs? u?Ye}@ɷe:e: e:M4  )Ii Xz:;) )H<"Hw: d fC'AYt.K@t.jZ@yt.ra=t.?xBkE)~0GE;AلAyE~jth~jthYAIAiAAAɅAAA ED)AVH}}X7Q>YˁyˁEˁ͍Ƹ>  ]M4?\=ɯs? i?鯕v~@w;ɱR;鱕.M4Q 7 Q tI)Q CIɴ:: a7 N4? N4 :=)Rs? ?Y}@ɷ; ; N4  ) I i 5Xz:5;999)9 9)AAHM<"HMw:Y4j ͪC'AYt.sK@t.Z@yt.ta=t.QxBeE@FA"@DiLIP)jGAVH%N6Q%>Y)y)-E)-X85> 1 ]=M45?5R=ɯ5s? iE?5~@5:ɱ5:5;M4Q M7AQ M7 AQ MtI)AQ UCIAɴE|:E: E'7 ]N4U? U1=)UUs? ]?YU~@ɷUT:U!: UN4  )Ii Xz:;) )H<"Hw:Yfq ڨC'AYt.K@t.1Z@yt.fa=t.?@ӮiQѿ8?m@כ? ?)u.K@ u.fv;Iu.CxBT>xBnE)ƄGVH% Q%>Y)y)-E)5>5> 1 ]]M45?5H=ɯ5s? ie?5~@5;ɱ5;5IM4Q m7i iQ mtI)iQ uCIiɴm:m|: m7 N4u(? u&=)uWs? ?Yu,~@ɷuc;u; u1$N4  )Ii Xz:;) )H<"Hw:)Gw ]C'AYt.KK@t.Z@yt.=ka=t.xBfEiLIL)ׄGAAلAyE~jthMb`YEfAIAiAEAAɅAAA E)AVH]e9Qe>YayamEimn8m> q ]M4u?u@=ɯus? i?u~@u;ɱu:uNXM4Q 7鲡Q 7 Q tI)Q CIɴ,:鴥: ;7 N4鵵=? =)Zs? ?YD~@ɷH:鷵ʢ: 5N4  )Ii Xz:%;!!!)! !)))H5<"H5w:I V>p} 5_C'AYt6K@t6oZ@yt6/a=t6:xB+bE:@F=B@D)UGU< U=VH}˅πQ>YˁyˁEˉ͍`:>  ]M4?9=ɯs? i?鯕~@:ɱ:鱕fM4Q 7鲡 Q tI)Q CIɴ:鴥: ð7 N4鵵Q? =)]s? ?Y\~@ɷ:鷵: dGN4  )Ii Xz:;) )19H=<"HEw:QX :C'AYt.K@t.#Z@yt.:a=t.xBiEiPIR`C)UƄGلy~jth~jthYIiɅ酱鄱 D)VH9Q>YyE> ! ]-M4% ?%.=ɯ%s? i5?%~@%:ɱ%E:%SuM4Q ]7QQ ]7 QQ ]tI)QQ ]CIQɴUÜ:UP: US7 mN4ed? e =)e_s? m?Yey~@ɷe۞:eb: eYN4  )Ii Xz:;) )H<"Hw:1 ,C'AYt.K@t.Z@yt.`a=t.xBgpE)5GVH]e8Qe>YiyimEiu 9u> q ]}M4u?u%=ɯus? i?u@uk:ɱu:uM4Q 7鲉 Q tI)Q CIɴ:鴍o: ұ7 N4鵵u? =)as? ?Y~@ɷ:鷵: HjN4  )Ii Xz:;)  ) H5<"H=w:Ij oEC'AYt.bK@t.ҢZ@yt.ja=t.PxBjE@FA"@DiLIReC)~ƄGVH%|7Q%>Y)y)-E)-+:5> 1 ]=M45-?5=ɯ5s? iE?51@5¿:ɱ5:5~M4Q M7AQ M7 AQ MtI)AQ UCIAɴE,:E۞: E.X7 ]N4U? U=)Ucs? ]?YU~@ɷUp =U = U*{N4a aa i)iIiiq }Xz:};y) )H<"Hw:N l_C'AYt.:K@t.Z@yt.a=t.0C?ி Uѿ@`?`- l?@?)u.:K@ u.v;Iu,xB3>xBxE)GAAلAyEMb`~jthYAIAiAAAɅAAE A)AVH5=8Q=>YAyAEEAE9M> I ]M4M7?M=ɯMs? i?MK@M4<ɱMx ?.Λ??)u.?K@ u.v;Iu.CxB<>xBhEiLIL)~ƄGVH%T7Q%>Y!y)-E)-XY6-> 1 ]=M45@?5=ɯ5s? iE?5`@5z:ɱ5:5M4Q M7AQ M7 AQ MtI)AQ UCIAɴE:E: Eh7 ]N4U? U=)Ues? e?YU~@ɷU=:U: U N4i ii q)qIqiq Xz:;) )H<"Hw:  C'AYt.K@t.Z@yt.Ya=t.xBqE:@DB@D)MGU4= U=لy~jth~jthYIiɅ酑鄕D )VHQ>YyE8>  ]M4S?=ɯs? i?~@:ɱ:M4Q ]7Q QQ ]tI)QQ ]CIQɴU:U: UZ7 mN4e? eܑ=)egs? m?Ye~@ɷe\:e: eN4  )Ii Xz:;) )HM<"HMw:aЪ \C'AYt.K@t.Z@yt./a=t.OxB%hEiPIP)ƄGVHEE8QE>YIyIMEIUבU> Y ]}M4]d?]=ɯ]s? i?]@];ɱ]:]M4Q 7鲉Q 7 Q tI)Q CIɴ:鴍4: {7 N4鵝? ґ=)is? ?Y@ɷ:鷝+: BN4  )Ii Xz:;) )H<"Hw:. BC'AYt.K@t.Z@yt.|~a=t.>x>tE)zׄGVHE9Q%>Y!y!%E!-sE:-> 1 ]=M45v?5=ɯ5s? i=?5@5u:ɱ5h:5M4Q M7AQ M7 AQ MtI)AQ M CIAɴE:E: E(7 ]N4U? Uɑ=)Uks? ]?YU3@ɷUn:U{: UUN4a ai q)qIqiq Xz:;) )H<"Hw:=got command set lineCaptureHoming.InitDepthTimeout 1.000000 minutezAN@=xgot command set lineCaptureHoming.MinAltitude 0.000000 meterA=got command set lineCaptureHoming.MinOffshore 0.000000 kilometerA = got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meterC z LC'AYt.KK@t.Z@yt.Ua=t.0 x^pE@`"@dilIl)=GEAAy}لyy}Mb`MbpY}AIyiy}EAyɅyy} })yVH*Q>YyE [+ >  ]MM4 ~? ݑ=ɯ  iU? @ <ɱ %< /M4Q 7鲱 Q tI)Q  CIɴ:鴵: 瘵7 N4? =) ?YT@ɷ*:|: N4  )Ii Xz:;) )H<"H w:  C'AYt.K@t.!Z@yt. `=t.5xBnE)5ƄGVH˥]Q>YˡyˡEˡͭbĸ>  ]M4?ґ=ɯ i?鯵@R;ɱ;鱵M4Q 7Q 7 Q tI)Q  CIɴ|: : 47 N4? = tI)ls? ?Yp@ɷk;5;  N4! !) 1)1I1i1 =Xz:E;AAA)A A)IIHU<"Huw:߉ C'AYt.LK@t.Z@yt.k`=t.xBKgEiLIL)~ׄGل:yMbPMbpMbP?YIiɅ酁鄅 ):VH˥"Q>YˡyˡEˡͭ>  ]N4? aN4Ƒ=ɯs? i?鯵@s;ɱ:鱵N4Q 7 Q tI)Q  CIɴF:: y7 O4? O4 =)s? ?Y@ɷ:*: }O4! !) ))1I1i1 ]Xz:e;aaa)a a)iiHu<"H}w:߉  .C'AYt.\K@t.̧Z@yt.ba=t.LxBNcE:@F=B@F=)IU< U=VH}˅9Q>YˁyˁEˉ͍*9>  ]N4?=ɯt? i?鯕@;ɱD;鱕N4Q 7鲩Q 7 Q tI)Q  CIɴA:鴭: %7 O4鵽? =)s? ?Y@ɷg:鷽j: O4  )Ii Xz:;) ) H<"Hw:! HC'AYt.K@t.Z@yt._a=t.xBnEiLIR`C)BGVH}˅F9Q>YˁyˁEˉ͍8>  ]N4?=ɯ-t? i?鯕!@;ɱ;鱕N4Q 7 Q tI)Q  CIɴS:E: ^7 uO4? =)s? }?Y@ɷį<< **O4  )Ii Xz:;) )H<"H%w:1 ^bC'AYt.K@t.Z@yt.<~a=t.ЈxBGkE)zjG=;9ل9y=~jthMbP?Y9I9i999Ʌ99= =D)9VH˝:Q>YˡyˡEˡͭ>  ]N4y?=ɯFt? i?鯵+@V;ɱR;鱵\,N4Q 7Q 7 Q tI)Q  CIɴԘ:: 87 O4? =)s? ?Y@ɷN;x; ;O4! !! )))I)i) =Xz:=;9AA)A A)IIHM<"H w:![ 36|C'AYt.K@t.kZ@yt.a=t.5PxBiE@D"@DiLIP)~{GAVH%q9Q%>Y)y)-E)-6`85> 1 ]=N45r?5=ɯ5]t? iE?55@5:ɱ5H:59N4Q M7A AQ MtI)AQ U CIAɴE1:E: EN7 ]O4U? U=)Us? ]?YU@ɷU:U: UULO4  )Ii Xz:;) )H<"Hw:D ]C'AYt.K@t.Z@yt.a=t.>x>inE)~ƄG]D;]ل]y]Mb`MbPY] AIYiYYYɅY]A] ])]VHu˝Q>Y˙y˙Eˡͥ>  ]N4?=ɯ_t? i?鯭=@ܷ;ɱ;鱭HN4Q 7Q 7 Q tI)Q  CIɴZ:M: I7 O4? {=)s? ?Y@ɷ$;_; ^O4 ! )))I)i) eXz:;) )H<"Hw:m C'AYt.8K@t.Z@yt.a=t.*xRgEi\I^eC)GVH=ETQE>YAyAMEIMlM> Q ]}N4U?U=ɯUat? i}?UD@U;ɱU;UMVN4Q 7鲁 Q tI)Q  CIɴ:鴅,: k͹7 O4鵕? w=)s? ?Y@ɷ,;鷕 ; oO4  )Ii Xz:;) )H<"Hw:)R> Y>= got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterC = got command run = Running U C'AYt.K@t.Z@yt.M a=t.^!>xBiE:@F=B@F=)m{G= =VH=MLQU>YYyaeEiͽ >  ]N4?=ɯdt? i?L@;ɱ̔;fN4Q U7IQ U7 IQ UtI)IQ U CIIɴMr:M!: MFi7 eO4]? ]r=)]s? e?Y] @ɷ]|:]<: ]O4q qq} )}>Aggregate::uninitialize Default1} *}DUninitialize GoToSurfaceComponent.q}*}NAggregate::uninitialize Default:CheckIn}-8Uninitialize Wait Component.$BStarted mission lineCaptureHomingY1 0NAggregate::initialize lineCaptureHomingq0rAggregate::initialize lineCaptureHoming:StandardEnvelopes 1JInitialize AltitudeEnvelopeComponent.1DInitialize DepthEnvelopeComponent.1 2JInitialize OffshoreEnvelopeComponent.q<DInitializing TrackAcousticContact. =Initialize.=tInitialize ReadDataComponent to sense platform_orientation1 >xInitialize ReadDataComponent to sense height_above_sea_floorEE;q<Tracking...<2Tracking contact label: 2Cqq1; 9) ) H<"Hw:) C'AYt>K@t>4Z@yt>{`=t>SH`C?@rʮ @Vѿ'@H?4ޛ?`?)u>K@ u>?v;Iu>CxR>xRlEilI)%;!ل!y%MbPMbPY!I!i!!!Ʌ!!% !)!VH==Q=>YAyAEEAMe9M> Q ]]N4U?U=ɯQ i]?UQ@U:ɱU:UsN4Q e7a aQ mtI)aQ m CIaɴep:e: e^7 }O4u? uo=)q }?Yu@ɷuY:uY: uO4 EE<Tracking...<2Tracking contact label: 2Ci@; 9) )H<"Hw: C'AYt.(K@t.Z@yt.s`=t.xRoE)qVHˍKQ>YˉyˉEˉ̸͕>  ]N4?=ɯet? i?鯝U@:ɱ:鱝N4Q 7鲩Q 7 Q tI)Q CIɴ^:鴭Q: g7 O4鵽? l=)s? ?Y@ɷ;鷽; O4 EE<Tracking...<2Tracking contact label: 2C   ; 9!!)! !)!)H-<"H5w:A@A? YC'AYt.K@t.TZ@yt.`=t.xBkE@FA"@HiPIP)0GEAلE:yEMbP?YAIAiAAAɅAAE E)E:VH}˅d9Q>YˁyˁEˁ͍>  ]uN4?=ɯt? i}?鯑<ɱ<鱕 N4Q 7鲁 Q tI)Q CIɴ:鴅ȗ: 7 O4鵍? l=) t? ?Y@ɷ}:鷍: O4 EE<Tracking...<2Tracking contact label: 2D @; 9) )H<"Hw:  ~61C'AYt.K@t.>Z@yt.'`=t.!xBpEGDHD)~jGVH=E8QE>YAyAMEIM9M> Q ]]N4U?U=ɯUt? ie?QU(:ɱU:UN4Q m7aQ m7 aQ mtI)aQ mCIaɴe:eU: et7 O4u? ul=)u"t? ?Yqɷu;u; uO4 EE<Tracking...<2Tracking contact label: 2D#GnAggregate::initialize lineCaptureHoming:StartingMission; 9) )H<"Hw:ߙ bKC'AYt.K@t.Z@yt.`=t.xRinEi\I^`C)5+GVHEM/4QM>YIyIMEIU@8U> i ]N4m?m=ɯmt? i?mV@m;ɱm;mN4Q 7鲩Q 7 Q tI)Q CIɴՐ;鴭Y; 07 O4? l=)>t? ?Yɷ;; O4! ))EQE<Tracking...<2Tracking contact label: 21 :hAggregate::initialize lineCaptureHoming:SurfaceCommsqDq ;lAggregate::initialize lineCaptureHoming:SurfaceComms:B ; 9) )H%<"H%w:1V> V> dC'AYt.RK@t.¢Z@yt."`a=t.0xRkE:@V=B@V=)XG%< %=لD;y{Gzt?Mb`~jth?YIiɅ酁鄅ף; )D;VH˝9Q>YˡyˡEˡͭN>  ]N4w?=ɯt? i?鯵h@:ɱ:鱵N4Q 7 Q tI)Q CIɴ:: P7 O4? j=)t? ?Y'@ɷ:: O4 EE<Tracking...<2Tracking contact label: 21 4bAggregate::initialize lineCaptureHoming:NeedComms 5@Initialize GoToSurfaceComponent.5HReceived depth rate setting nan m/s.5RReceived pitch setting 19.999999 degrees.5HReceived speed setting 1.000000 m/s. 5 No surface timeout specified. Using default value of 1000.000000 seconds.5 nReceived pitch timeout configuration 60.000000 seconds.q D D DD4last time_fix was: 1553796328.000000 second since 1970/01/01T00:00:00Z q -Xz:-;))1)1 1)19H=<"HEw:QL ~C'AYt2 K@t2}Z@yt2z`=t2\6xBrE HFa=HDiPIReC)~ƄGVH ЧQ>Y)y)5E1E0E> I ]MN4MI?M=ɯM@u? iU?Mz@M:ɱMZ:M3N4Q ]7YQ e7 YQ etI)YQ eCIYɴ]g:]: ] 7 mO4m? mh=)mt? u?Ym9@ɷm:mM: mO4y yyEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:%  C'AYt.K@t.Z@yt.pa=t.>xRklE)-GmmĻلm;ymy&1|?MbPMb`?YiIiiiiiɅiim`; m)m;VHˍb:Q>YˉyˑEˑ͝>  ]N4 ?=ɯku? i?鯝@:ɱR:鱝N4Q 7鲱 Q tI)Q CIɴ:鴵E: Ԙ7 P4e? P4 k=)t? ?YQ@ɷɪ::  P4 EE;<Tracking...<2Tracking contact label: 25\Initialize ReadDataComponent to sense time_fixDDDD Xz:;  )  ) H<"Hw:)?A , 9~C'Ax &>x 'fE@A"@i)I))ƄGVHQ>YyE>  ]N4?=ɯu? i?@:ɱ(:/N4Q 7Q 7 Q  tI)Q  CIɴ:U: $7 P4%? n=)u? ?Yj@ɷw:f: P4! !!E)E-;<5Tracking...<52Tracking contact label: 2D9D9D9D= MXz:M;QQQ)Q Q)YYHe<"Hew:qi2 XC'AYt>lK@t>ܝZ@yt>a=t> H@ lK@ u>v;Iu>Cxb>xbpEGn?AHl*@z4=2@~a=)EGD`لyy&1|?Mb`Mb`?YIiɅ酁鄁 )VH!Q>YyEgƹ>  ]N4?=ɯu? i?ŀ@Q:ɱ:vN4Q  7 Q  tI)Q  CIɴM:: ڷ7 5P45? 5m=)5Ku? =?Y5@ɷ5Υ:5: 51P4A AAEiEu;xVpfE Fix Requestedi)I))ƄGVHgQ>YyE>  ] O4H? a O4=ɯu? i?܀@#:ɱ:O4Q 7Q 7 Q %tI)Q %CIɴ0:D: 57 -P4-? -m=)-qu? 5?Y-@ɷ-:-: -AP49 99EAEM;@ MC'AYt.K@t.Z@yt.^Ua=t.SxbjE:@f=B@f=)ׄG= =VHДQ>YyE>  ]uO4?=ɯv? iu?@<ɱ<O4Q 7y yQ tI)yQ CIyɴ}:}E: }`7 P4鵍b? m=)u? ?Y@ɷ:鷍ʽ: SP4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:W.F C'AYtFK@tFbZ@ytFa=tFxRiE HRp=HPX@Xi)I))GلD;yy&1|?~jth~jth?YIiɅ D)D;VHc9Q>YyE>  ]O4?=ɯUv? i ?@:ɱ:O4Q 57Q 57 Q =tI)Q =CIɴ;; E7 EP4E ? Ej=)Eu? M?YÈ@ɷEʢ:E: EdP4  EE;<Tracking...<%2Tracking contact label: 2D!D!D!D% uXz:};yyy)y y)H<"Hw:nXL 3C'AYtBK@tBrZ@ytB"yb=tB;xRgE)0GVH=E]:QE>YAyAMEIMCM> Q ]]O4U?U=ɯUv? i]?U'@U:ɱU?:U*O4Q m7a aQ mtI)aQ mCIaɴe_:eR: e7 }P4u? uh=)uv? }?Yu@ɷu:u: utP4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"H w:DS |MC'Ai";$YtK@t^Z@ytGa=tavxinE@"@i~iI)G}yل};y}~jtx?MbpMb`?YyIyiyyyɅyy}; })};VH˽pƹQ>Y˹y˹E˹>  ]O4@?=ɯv? i?B@:ɱ::O4Q 7Q 7 Q tI)Q CIɴ7<< `7 P4? `=)Mv? ?Y@ɷ:H: P4 E!E-;<-Tracking...<-2Tracking contact label: 2D)D1D1D5 Xz:;) )H<"Hw:jY ~gC'AYt69K@t6Z@yt6ja=t6G>xBlE*@FC=2@Jp=)mׄGVH}}>{Q>YˁyˁEˁ͍w#>  ]O4 ?}=ɯv? i?鯕W@X:ɱL:鱕FO4Q 7鲡 Q tI)Q CIɴt:鴥: 7 P4鵵f? [=)ov? ?Y@ɷ:鷵 :  P4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;111)1 1)99HE<"HEw:YSR` KYC'AYt.K@t.0Z@yt.Y`a=t.xxb%hEipIp)AVH]ew÷Qe>YayaeEimkm> q ]}O4u?uw=ɯuw? i?uo@u:ɱu:uTO4Q 7鲁Q 7 Q tI)Q CIɴ,:鴅: `7 P4鵕*? U=)v? ?Y.@ɷ;鷕: MP4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;111)1 9)99HE<"HEw:yx|f 4C'A)@IYt.K@t.Z@yt.Ta=t. xBKgE:@F=B@F=)IU4= Q;لyMbp?y&1|YIiɅ酑鄕; `)VHP9Q>YyEy9>  ] O4?g=ɯw? i ?@':ɱԳ:VcO4Q =7 Q =tI)Q =CIɴA:: 7 MP4E? EE=)Ev? 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YC'AYt.^4L@t.Z@yt.Wa=t.<>xBhEiNg=IP)~0GAE;لEyE~jtx~jth?Mb`YE3AIAiAAAɅAEAEĻ ED;)EVHU]Q]>YayaeEamLm> i ]u\4m>?m=ɯm? i}?mg@m:ɱmw:m\4Q #8鲁Q #8 Q tI)Q wCIɴ<:鴅/: #8 a4鵕?>? ̥=)N? ?Y(@ɷ:鷕 : 9ia4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:V> ]>aX sC'AYt.52L@t.Z@yt.`=t.xBIiE:@F=B@D)~G4= %=VH=EfQE>YAyAEEIMM> Q ]]\4U(??U=ɯUu? i]?U}@UN:ɱU :U\4Q m#8a aQ mtI)aQ mxCIaɴe[:eȗ: exa#8 }a4ux>? uϥ=)u9? }?Yu>@ɷu0:u: u~za4 EE;<Tracking...<2Tracking contact label: 2 7zInitialize ReadDataComponent to sense platform_communicationsDDDD Xz:;) )H<"Hw:@ C'AYt~2L@t~Z@yt~`=t~TxUkE He=Hmp=@AiI)%GلDy~jtx~jth?~jthYIiɅ酉鄉 )DVHѶQ>YyEm8>  ]]4k?? a]4=ɯN? i?@ʽ:ɱ:]4Q 5#8) )Q 5tI))Q 5xCI)ɴ-:-n: -e#8 Ea4=>? =ӥ=)=? E?Y=X@ɷ=w:=۞: =sa4) ))E1E5;<=Tracking...<=2Tracking contact label: 2D9D9D9DE Xz:;) )H<"Hw:߹j C'Axn>xnEmE)]GVH}}Q>YˁyˁEˁ͍>  ]]4??=ɯ0? i?鯕@]:ɱ:鱕N]4Q #8鲡 Q tI)Q xCIɴQ;鴥3; #8 a4>? ֥=)? ?Yl@ɷ:: a4   E1E5;<5Tracking...<=2Tracking contact label: 2D9D9D9D= uXz:u;qqy)y y)yH<"Hw:ߙ?A2R XC'AiYt.2L@t.hZ@yt.oa=t.*??)u.2L@ u.v;Iu,xB>xBeE@D"@DiPIP)UƄGQYVH˵޹9Q>Y˱y˱E˹ͽQ8>  ]]4??=ɯ ? i?@:ɱ :]4Q $8Q $8 Q tI)Q yCIɴ:Ӡ: 50$8 a4+?? ڥ=)? ?Y@ɷԘ:: la4 EE;< Tracking...< 2Tracking contact label: 2D D D D  %Xz:%;!!))) )))1H5<"H=w:I{ j2C'AYt.%6L@t.Z@yt.a=t.? ;˛?`?)u.%6L@ u.iv;Iu.CxBz>xBlE*@H2@JC=)~ׄGD;;لy{Gzt~jthYIiɅ酡鄥ף )VH]WQ>YyE+9>  ]]4@?=ɯ? i?@,;ɱZ;,]4Q %$8! !Q -tI)!Q -yCI!ɴ%1:%E: %u$8 Ua45X?? 5֥=)5? ]?Y5@ɷ5;5; 5Aa4a aaEiEm;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:d C'AYt.6L@t.nZ@yt.;va=t.xBcEiR=IP)~GVHE]v9Qe>YiyimEim 9u> q ]}]4u1@?u=ɯu? i?u@u$:ɱu:u:]4Q $8鲉 Q tI)Q zCIɴ:鴍 : $8 a4?? ҥ=)? ?Y@ɷU:Y: a4! !)E1EU;x~zZE:@B@){G< =لyMbP?YAIiɅxA :)VH۷Qm>YqyquEq}B}> y ]]4}3@?}=ɯy i?}@}w;ɱ};}I]4Q %8鲱Q %8 Q tI)Q zCIɴ|:鴵: A%8 a4鵽?? ե=) ?Y@ɷ5;鷽̱; a4 EE;<Tracking...<2Tracking contact label: 2DDDD =Xz:=;999)A A)AiHm<"Huw:߁ (C'Axn>xnfrE Hrp=Hpt@zAi I`C)}ƄGVH˝Q>YˡyˡEˡͭ>  ]]45@?=ɯ i?鯵@R:ɱg:鱵 W]4Q %8 Q tI)Q zCIɴ-:ݖ: @%8 a4?? إ=) ?Y@ɷ;; a4 E E ;<Tracking...<52Tracking contact label: 2D1D9D9D= MXz:M;IQ )  )H<"Hw:qh ˠBC'Axr>xroE)uGVH˹Q>YyE>  ]]48@?=ɯ? i?@b;ɱQ;Le]4Q %8 Q  tI)Q  {CIɴ:: %8 5b4?? =b4 ڥ=)? =?Y@ɷ;; b4A AAEIEM;xB_E@D"@DiRg=IReC)ƄG]YلYy]Mb`?YYIYiYYYɅYYY ];)YVH˽w8Q>YyE6>  ]]4=@?=ɯ? i?@q<ɱZq<js]4Q %8 Q tI)Q {CIɴT:: %8 b4?? =)? ?Y@ɷ{:ߡ: db4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;)))) 1)19H]<"H]w:q ?WvC'Axnw>xniEGr?AHp*@v4=2@zp=)]ׄGVH}˅Q>YˁyˁEˁ͍>  ]]4A@?=ɯ i?鯕@:ɱ:鱕B]4Q &8鲡Q &8 Q tI)Q |CIɴ9:鴥+:  &8 b4鵵?? =) ?Y@ɷ:鷵: &)b4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;11)1 1)99HE<"HEw:y) lAC'AYtZ8L@tZZ@ytZ+a=tZ5xzsbEiI)ل;yy&1|?MbpMb`?YAIiAɅ`; );VHQ>Y y -E)5ʵ95> 9 ]E]4=??==ɯ=? iE?=@=:ɱ=s:=(]4Q m&8i iQ utI)iQ u|CIiɴm:mj: mAT&8 b4}J?? }ߥ=)}? ?Y}@ɷ}:}{: };b4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H <"H w: Y>  C'A)IYtB :L@tB}Z@ytB`=tBxRnE:@V=B@T)mGm4= qVH˥Q>YˡyˡEˡͭ 9>  ]]4??=ɯ? i?鯵1@:ɱI:鱵]4Q &8 Q tI)Q |CIɴ:o: &8 b4?? ڥ=)? ?Y@ɷ:: 1Lb4  EE5;<5Tracking...<52Tracking contact label: 2D9D9D9D= MXz:u;qqq)q q)yyH<"Hw: C'AYtB9L@tBZ@ytB@a=tBxRrET@Xi`I`)%ƄGVHˍ9Q>YˑyˑEˑ͝>  ]]4q??=ɯ? i?鯥L@:ɱ:鱥]4Q &8鲱 Q tI)Q }CIɴ:鴵ڦ: L&8 b4>? ե=)? ?Y@ɷ@: : ]b4 EE;<Tracking...<2Tracking contact label: 2D D D D  ]Xz:];aaa)a a)iiH<"Hw: fC'AYt6[:L@t6Z@yt6a=t6xJeE)ׄGY]`ل]D;y]~jtx?Mbp~jth?YYIYiYYYɅYY]; Y)]D;VH { Q>YyEB9> ! ]M]4%1??%=ɯ%'? iM?%f@%0;ɱ%V;%j]4Q U'8QQ ]'8 QQ ]tI)QQ ]}CIQɴU:U: U '8 b4e>? eΥ=)e? ?Ye'@ɷek;e; eob4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )  H<"Hw:)D C'AiYt.98L@t.Z@yt.`=t.>x>EmE@@"@@)FiI )YaaVHu};vQ}>YˁyˁEˁ͍>  ]]4>?=ɯH? i?鯍}@I:ɱ:鱍]4Q '8鲡 Q tI)Q ~CIɴ:鴥|: /`'8 b4鵵I>? ȥ=) ? ?Y>@ɷ&:鷵: Ob4 EE;xnjE*@v=2@v=)GDtل;yMb?MbpMb`?YIiɅ< );VH%Q%>Y!y)-E)b99>  ]%]4>?=ɯ]? i%?@:ɱ:]4Q m'8i iQ utI)iQ u~CIiɴmo:m: m '8 }b4}=? }å=)} ? ?Y}a@ɷ}:}e: }Cb4 EE;<Tracking...<2Tracking contact label: 2DDDD 5Xz:=;999)9 9)H<"Hw:T  U+C'AYt.;L@t.Z@yt.;`=t.>xBIiEiN=INjC)GVH%T8Q%>Y!y)-E)-b9-? 1 ]=]45^>?5=ɯ5m? iE?5@5O:ɱ5:5]4Q M'8A AQ MtI)AQ M~CIAɴES:E: ET'8 ]b4U=? U=)U0? ]?YUy@ɷUի:U: Ub4i iiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:YR> R>< 0EC'A)IYt2:L@t2Z@yt2']`=t2:Q>xBGkE:@B=B@F=)~ׄG= =VH%K Q%>Y!y!-E)-ۥ-> 1 ]=]45>?5ޥ=ɯ5? iE?5@5:ɱ5:5]4Q M(8AQ M(8 AQ MtI)AQ MCIAɴEo:E: Eh*(8 ]b4Uc=? U=)UC? ]?YU@ɷU:U: Ub4i iiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:h _C'AYt.;x pE Ha=Ha=@i-g=I-eC)Gلyy&1|?MbpMb`?YIiɅ`; )VH55X9Q=>Y9y9=E9Ecp9E> I ]u^4M=? au^4Mإ=ɯM? iu?M@M;ɱM;M)^4Q (8y yQ tI)yQ CIyɴ}̒:}: }xB`E)~ƄGVH}}9Q>YˁyˁEˁ͍49>  ]^4=?ӥ=ɯ? i?鯕 @8:ɱ:鱕q^4Q (8鲡 Q tI)Q CIɴ:鴥: (8 b4鵵>xBKgE@BA"@DiLIL) ׄGAy}94لyy}{Gz?~jtxMb`?Y}fAIyiyyyɅy}A}#< }Ļ)yVH5wָQU>YQyY]EY]֏7e> a ]m^4e=?eʥ=ɯe? i?e6@ek;ɱew;e^4Q (8鲑 Q tI)Q CIɴ:鴕: (8 b4鵥lL@t.Z@yt. a=t.L@ u.Fv;Iu.Cx>A>xBpEGB@AH@*@J4=2@JC=)H)aVH˝} :Q>YˡyˡEˡͭN8>  ]^4xBDoEi I )eGVH˝iQ>YˡyˡEˡͭh>  ]^4Z&>xB'fE:@DB@F=)~0G= =EDEtلE:yEYˁyˁEˁ͍9>  ]^4>xBKgE H@HBp=H@HiPIRjC)GVH=EK8QE>YAyAEEAM}M> Q ]]^4U;?U=ɯU? i]?U@Ub:ɱUw:UT^4Q m*8aQ m*8 aQ mtI)aQ mCIaɴe:eU: e*8 }c4u;? u=)u? }?Yu@ɷu:u: uC.c4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:D C'AYt.J=L@t.Z@yt.3`=t.xRIiE)ׄGee#لayeMb?~jtxMbP?YaIaiaaaɅaae< eĻ)aVH}}Q>YˁyˁEˁ͍B>  ]^4_;?=ɯ? i?鯕@:ɱ:鱕&c^4Q *8鲡 Q tI)Q CIɴF:鴥o: M*8 c4鵵:? =)? ?Y@ɷ :鷵: @c4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:$J -C'AYt.K@L@t.Z@yt.Pa=t.ϱxRiE@VA"@Ti=I)amAiVH˝9Q>YˡyˡEˡͭw9>  ]^4 ;?=ɯ? i?鯵@:ɱ:鱵jq^4Q *8 Q tI)Q CIɴ:: *8 c4^:? |=)? ?Y@ɷ:: Qc4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H%<"H%w:9Q GC'AYt.9BL@t.Z@yt. a=t.,x^gEG`H`*@nR=2@rR=)GVH˽&Q>YyEU9>  ]^4:?=ɯ? i?(@;ɱ;^4Q *8 Q  tI)Q  CIɴ:: S*8 5c4 :? r=)? =?Y@ɷ;; jcc4A AAEIEM;xRiEirg=Ip)ƄGiiلm;ymYyEXG9>  ]^4Z:?=ɯ ? i?M@a:ɱQ:^4Q -+8Q -+8 Q 5tI)Q 5CIɴ<< j +8 =c4=9? =k=)=? E?Y=@ɷ=H:=&: =|vc4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"H w:R-^ yv{C'AYt.3DL@t.Z@yt.Ba=t.<>xBhE:@F=B@F=)Y!y!-E)-8-> 1 ]=^45:?5=ɯ5? iE?5k@5:ɱ5O:57^4Q M+8A AQ MtI)AQ MCIAɴEٓ:E: Ex[+8 ]c4U`9? Uf=)U? ]?YU,@ɷU::U: U?c4i iiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;qq)q q)yyH<"Hw:+e ~QC'AYt.AL@t.EZ@yt.`=t."V>xBrE HBp=HBa=FA@JAiPIP)GAE94لAyEYayamEimŷm> q ]^4u9?u=ɯu,? i?u@u<ɱu':u^4Q +8 Q tI)Q CIɴ: : K+8 c49? \=)? ?YR@ɷ}:q: `c4! !)E1E ;<Tracking...<2Tracking contact label: 2DDDD -Xz:m;iiq)q q)qyH}<"Hw:6?k I,C'AYt.CL@t.uZ@yt. a=t.>xBeE)~ׄGVH%'8Q%>Y!y!-E)-@9-> 1 ]=^45X9?5w=ɯ5=? iE?5@5:ɱ56:5s^4Q M+8A AQ MtI)AQ MCIAɴE:E: E+8 c4U8? UT=)U? ?YUt@ɷUKc>x>dE@@"@@iLIL)~GVHO Q%>Y!y!%E!-D9-> 1 ]=^458?5n=ɯ5O? i=?5@5:ɱ5!:5^4Q E,8AQ M,8 AQ MtI)AQ MCIAɴE:En: E',8 ]c4UP8? UK=)U? ]?YU@ɷU:U]: Uc4a aiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:QQx C'AYt6BL@t6QZ@yt6Ra=t6S۾>x>jEGBAAH@*@FC=2@F4=)~{GAAلAyEYayaeEamVm> q ]^4u8?ud=ɯua? i?u@uܷ;ɱu;u^4Q ,8鲡 Q tI)Q CIɴ1:鴥: m,8 c4鵵7? B=)$? ?Y@ɷg;鷵J; |c4 EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:-;1QQ)Q Q)YYHe<"Hew:߁h{~ C'AYt.+AL@t.Z@yt.{ia=t.OxBBqEilIneC)9VH]ea8Qe>YayaeEamm> q ]}^4uF8?u[=ɯus? i}?u @u:ɱu:u^4Q ,8鲁 Q tI)Q CIɴ_:鴅R: C,8 c4鵕7? 9=)5? ?Y@ɷǺ:鷕 : c4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )!H%<"H-w:aV> Y>7c ٘C'AYt.\BL@t.Z@yt.}0a=t.IxBGkE:@F=B@F=)EƄGI I#لD;yMb?~jtx~jth?YIiɅ酉鄍< )D;VH˽Q>YyE379>=zgot command set NAL9602.platform_communications 1.000000 bool   ]^47?Q=ɯ? i?C@<ɱܹ:^4Q -,8! !Q -tI)!Q -CI!ɴ%F:%Ԙ: %,8 =c4=A7? =.=)=W? E?Y=@ɷ=~:=~: =c4I IIEqE};<}Tracking...<}2Tracking contact label: 2DDDD Xz:;) )H<"Hw:_ t0C'AYt.lBL@t.Z@yt.1`=t.xBjE H@HBp=JA@JAiPIP)GVH%$Q%>Y!y!-E)-&7-> 1 ]=^457?5H=ɯ5? iE?5c@5:ɱ5:5 ^4Q M-8AQ M-8 AQ MtI)AQ UCIAɴE˚:E: E8-8 c4U6? U%= tI)Ut? ?YU$@ɷUxBGkE)~ƄGVH%9Q%>Y!y!-E)-m-> 1 ]M_45O7? aU_45>=ɯ5? i}?5@5<ɱ5<5* _4Q -8鲁 Q tI)Q CIɴ:鴅Z: f}-8 d4鵍6? d4 =)? =?YF@ɷظ<鷍Q< d4 EE;<Tracking...< 2Tracking contact label: 2D D DIDM eXz:e;aaa)a a)H<"Hw: ?AR ,*dC'AYt.AL@t.tZ@yt.`=t.v|xB+bE@D"@DiPIP)ׄGAAلAyEMb?~jtx~jth?YAIAiAAAɅAAA A)AVH˝84Q>YˡyˡEˡͭH>  ]_46?4=ɯ? i?鯵@;ɱ÷;鱵_4Q -8 Q tI)Q CIɴ: -8 d4K6? =)? ?Yi@ɷȲ<< "d4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:M;IQQ)Q Q)YYHe<"Hew:qɞ ~C'AYt.>L@t.bZ@yt.`=t.L@ u.v;Iu.CxB,>xBmEG@H@*@J=2@J=)GVH%=8Q%>Y!y!-E)--> 1 ]=_456?5+=ɯ5? iE?5@5:ɱ5!:5g(_4Q M.8AQ M.8 AQ MtI)AQ UCIAɴE9:EƟ: E[.8 ]d4U5? 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Will not retry this session.)~ƄGVH%_39Q%>Y!y!-E)-컹-> 1 ]=d45*?5=ɯ5G? iE?5@5:ɱ5:5wld4Q MG8I IQ UtI)IQ UCIIɴIM: MG8 ]d4])? ]=)]? e?Y]@ɷ]:] : ]d4i iiEyE};<}Tracking...<}2Tracking contact label: 2DDDD Xz:;) )H<"Hw:e V JC'AYt.K@t.o]Z@yt.Oa=t.xBeEilIneC)EׄGVH]eƝ9Qe>YayaeEimչm> q ]}d4uM*?u=ɯu]? i?u@u>:ɱu:uzd4Q G8鲁 Q tI)Q CIɴ:鴅N: OG8 d4鵕[)? =)2? ?Y@ɷe\;鷕oq; d4 EQE]; cC'A)IYt. K@t.y[Z@yt.m`=t.0xBfrE:@F=B@D)MGU< Qلy{Gzt?MbPMb`?YAIiɅ酕^@鄕ף; )VH˭^wQ>Y˱y˱E>  ]d4*?=ɯt? i?@ܹ:ɱ:|d4Q H8Q H8 Q tI)Q CIɴ:: H8  e4,)?  e4 =)J?  ?Y@ɷ::  e41 99EAEE;$>xBsbE HB4=H@iPIRjC)0GVH%GQ%>Y!y!-E)-)-> 1 ]=d45)?5=ɯ5? i=?5*@5:ɱ5:5Җd4Q MH8A AQ MtI)AQ MCIAɴE̒:E$: EYH8 e4U)? 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U=)UJ? }?YU@ɷU;Ud: Ujre4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:9E C'AYt.K@t."KZ@yt.21a=t.(xBKgE HFa=HDiPIReC)ƄGeeDلayeMb?YˡyˡE˩ͭw>  ]d4'?Ĥ=ɯ? i?鯵@;ɱ߼:鱵d4Q I8 Q tI)Q CIɴ::  I8 e4&? =)j? ?Y@ɷ*:?: e4) ))E1EU;xBpE)-ׄGVH}}yQ>YˁyˁEˁ͍>  ]d4:'?=ɯ? i?鯕C@:ɱV:鱕d4Q J8鲡Q J8 Q tI)Q CIɴȗ:鴥: 7J8 e4鵵H&? =)? ?Y@ɷ :鷵r: ʕe4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:5 Sending 18 bytes from file Logs/20190328T165625/Express0045.lzma!S (LC'Ai Yt>qK@t>JZ@yt>Ha=t>7@H?Sծ`Wп`:;܇? {%@Wܛ? ?)u>qK@ u>v;Iu>CxbT>xbnE@l"@liI jC)yلף;y:v?{Gz{Gzt?YIiɅT< #)ף;VH8Q>YyET>  ]e4&? ae4=ɯ? i?@:ɱ#: e4Q  J8 Q  tI)Q -CIɴ;; rJ8 =e45%? 5=)5? =?Y56@ɷ5:5]: 5Ze4A AIEQEU;xBmEG@HD)|VH=E"LQE>YAyAMEIMpM> Q ]]e4U/&?U=ɯU? ie?U@U:ɱU:Ue4Q mJ8a aQ mtI)aQ mCIaɴe}:e,: eJ8 e4u=%? ur=)u? ?Yuf@ɷutxRIiEi\I^eC)VH--8Q5>Y1y15E1=y8=> A ]Me4E%?E=ɯEP? iM?E@E:ɱEs:E$e4Q UK8QQ ]K8 QQ ]tI)QQ ]CIQɴU:U8: UBK8 me4e$? ea=)e&? m?Ye@ɷe4:e": ee4q qyEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw: Y>&>f /C'A)@IYt.K@t.hIZ@yt.Ha=t.>xBmjE:@F=B@D)|4= =EAلE`;yE rh?~jtxy&1|?YAIAiAAAɅAAEC< EĻ)E`;VH}}98Q>YˁyˁEˁ͍hԷ>  ]e4%?|=ɯ? i?鯕&@4;ɱ;鱕2e4Q K8 Q tI)Q CIɴ:: HK8 e4$? ^=)v? ?Y@ɷy:v: e4  EE5;<5Tracking...<=2Tracking contact label: 2D9D9D9D= UXz:;) )H%<"H%w:yZgl dC'AYt.K@t.#EZ@yt.Ta=t.aNxBiE HBp=HDiR=IRjC)VH=E7QE>YAyIMEIM,U> Q ]}e4Uh$?Ux=ɯU? i?Ua@U;ɱU;Uc@e4Q K8鲁 Q tI)Q CIɴ:鴅,: K8 e4鵕t#? Z=)? ?Y@ɷ;鷕; e4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;199)9 9)9AHE<"HMw:Qs dC'AYtMpK@tMDZ@ytMea=tM:^xlE)G]]ףل];y]Q?y&1Mbp?YYIYiYYYɅYY]u< ]`e)];VHu} 8Q}>YˁyˁEˁͅ>  ]e4#?[=ɯ? i?鯵@D:ɱϸ:鱵Pe4Q K8 Q tI)Q CIɴp:z< {K8 f4鵍"? f4 <=)? ?Yg@ɷ:鷍: f4 EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:-;))))) ))11H=<"H=w:QwImzy +C'AiYt6K@t6^CZ@yt6ua=t62>xBmjE@FA"@DiNg=IReC)~{GAVH%nQ%>Y!y!-E)-A-> 1 ]=e45)#?5D=ɯ56? iE?5@5:ɱ5:5|\e4Q ML8AQ ML8 AQ MtI)AQ MCIAɴE:EM: E]L8 ]f4U7"? U&=)U ? e?YU@ɷUd:U: UKf4i iiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:!a tC'AYt2K@t2CZ@yt2ca=t23xZnEG^@AH\)MƄGVH]e78Qe>YayimEiuP8u>  ]e4"?)=ɯ\? i?鯥1@:ɱ#:鱥ke4Q L8 Q tI)Q CIɴn: YL8 f4!?  =)2? ?Y@ɷ:: !f4 E E ;< Tracking...<2Tracking contact label: 27=\Initialize ReadDataComponent to sense time_fixD9D9D9D= MXz:U;qqq)q q)yyH<"Hw:ߙw  uC'AYt2K@t2 CZ@yt2`=t2xBhEiLIP)EׄGلyy&1?:vMbp?YIiɅ酁鄅`e< T)VH˥')Q>Yˡy˩E˩ͭ>  ]e4!?=ɯ? i?鯵q@:ɱ':鱵Mye4Q L8 Q tI)Q CIɴ[:,: NL8 f4 ? =)X? ?Y&@ɷP:: 2f4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )!!H-<"H-w:9> Ե O5C'A)IYt.K@t.CZ@yt.R`=t.еxBDoE:@F=B@DJA@H)|%= VH˥8Q>YˡyˡE˩ͭٶ>  ]e4X!?=ɯ? i?鯵@:ɱ=:鱵ge4Q L8 Q tI)Q CIɴ:: : UL8 f4e ? ۣ=)~? ?Yf@ɷ@:: FDf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )!H%<"H-w:9럓 3OC'AYtjK@tjS?Z@ytje`=tjпi? ̛??)ujK@ ujcv;Iuhxrt>xrLeE HtHvp= UFix RequestediaIa)G]Yل];y]Q?~jt~jtx?YYIYiYYYɅYY]u< ]D)];VHmutQu>Yyyy}EyͅJ >  ]e4 ?=ɯ? i?鯅@e:ɱv:鱅}e4Q M8鲙Q M8 Q tI)Q CIɴ:鴝U: *M8 f4鵭? ţ=)? ?Y@ɷ:鷭?: Vf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:Ǚ uiC'AYt.K@t.>Z@yt.Ta=t..xBiE VParsing RMC sentence: $GPRMC,181039.00,A,3648.17000,N,12147.28577,W,1.244,5.28,280319,,,A*72 VVC'AVx?ـV=I<Vg>fB@{*pr^^hGPS fix at 20190328T181039: (36.802833, -121.788096)IV#?iV꺼=)-{GVH5=9Q=>YAyAEEAMM> Q ]];4Ux? a];4U=I< e]tIɯU i]?! ie UU:ɱU:U>g;4Q m;4ex?Q m;4 e=I<Q mtI)aQ m?Iaɴe:e : e>g;4 };4ux? };4 u=I<)u ?Iuɷu:u: u>g;4? ? BEE;<Tracking...<2Tracking contact label: 2DDDD4JCompleted lineCaptureHoming:NeedComms1 4fAggregate::uninitialize lineCaptureHoming:NeedComms 5DUninitialize GoToSurfaceComponent. Xz:;) )H<"Hw: C'AiYt.K@t.k>Z@yt.w`=t.xBoE@FA"@Di I )imAiVH˥Q>YˡyˡE˩ͭh>  ];4!  ?!  'I<ɯ'; i?!  鯵X<:ɱK:鱵u;4Q 4a  Q 4a  Q tI)Q ?a  IɴҨ:: !̀4 ;4 ] ? a 'I<)+; ? i I\<ɷc:E: 9y;4 EE;<Tracking...<2Tracking contact label: 2;TCompleted lineCaptureHoming:SurfaceComms:B ;pAggregate::uninitialize lineCaptureHoming:SurfaceComms:B; 9) )!H%<"H-w:9~٦ C'AYt.K@t.*AZ@yt.Aa=t.xBiEGDHD)|EE9لE`;yEMb?Mby&1|?YAIAiAAAɅAAE< E)E`;VH]]9Qe>YayaeEam-9m> q ]};4! } u,?! } u I<ɯu; i?!  u-x?uEi!I!)VH˽ܸQ>YyE3>  ];4!  x?!  H<ɯ ; i?!  <:ɱ:-;4Q 4Q 4 Q tI)Q @Iɴ:+: I64 ;4 ] x? a H<); ? i I<ɷǺ:#: <;4   EE<Tracking...<2Tracking contact label: 2D1:%PCompleted lineCaptureHoming:SurfaceComms1% :%lAggregate::uninitialize lineCaptureHoming:SurfaceComms5; 5919)9 9)9AHE<"HEw:YR> V> C'A)IYt2%K@t2xZu`E:@^=B@\i~f~j~j~j)=+GE4= A;jلף;y:v?~jt{Gzt?YIiɅ酁鄅T< )ף;VH˥׬9Q>YˡyˡE˩͵C>  ];4!  ?!  H<ɯG< i?!  鯽=:ɱ::鱽:;4Q 4Q 4 Q tI)Q (@Iɴ:: =4 ;4 ] ? a H<)F< ? i I=ɷ:|: ;4? ?GVCompleted lineCaptureHoming:StartingMission#GrAggregate::uninitialize lineCaptureHoming:StartingMission1$ HVAggregate::initialize lineCaptureHoming:Lapq$H`Aggregate::initialize lineCaptureHoming:Lap:Dive$ I dAggregate::initialize lineCaptureHoming:Lap:Dive:A$ I vAggregate::initialize lineCaptureHoming:Lap:PingTransponder1%  J zAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A1&  LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance+ WInitialize.q%EE<Tracking...<2Tracking contact label: 2-; 5911)1 1)99HE<"HEw:Qt OC'AYt.-K@t.9Z@yt.v a=t.xRiE HPHRa=i`I`)eGVH}}%Q>YˁyˁEˁ͍@>  ];4!  D?!  H<ɯ< i?!  鯕:= :ɱ>:鱕#;4Q 5鲩Q 5 Q tI)Q A@Iɴȗ:鴭w: .T5 ;4 ] B? a H<)< ? i Iv:=ɷ:ϸ: ;4? ?&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'E1'Eq'ENE~Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly=NMRLights, Camera on at range: 22.740000 m .1'M'M+MHIHQFq%% KzAggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance%K:Initialize WaypointComponent.$q$"EfAggregate::initialize lineCaptureHoming:RequestPing1#q###Fq#F1# FxInitialize ReadDataComponent to sense acoustic_contact_range FInitialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame ?^Aggregate::initialize lineCaptureHoming:DiveCmd?vAggregate::initialize lineCaptureHoming:DiveCmd:InitialDive1  @Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:diveq @Initialize.  AInitialize.! CzAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DInitialize."EInitialize.! C~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DUninitialize." EUninitialize.RF"F q!Mq M FM?EQEQIQUSAH]<"H]w:߱%DSpeedControl.speedCmd 1.000000 m/s ,C'AYt.0K@t.:Z@yt.0`=t.!\xB'fE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mׄG}Powering upVH_Q >Y y E]l9]> a ];4e?enH<ɯeY8< i?ec=eg<ɱedUninitialize WaypointComponent.FFbFq! F@hCompleted lineCaptureHoming:DiveCmd:InitialDive:dive1  @Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:diveq @Uninitialize.?^Completed lineCaptureHoming:DiveCmd:InitialDiveEE<Tracking...<2Tracking contact label: 2; 9) iD =)IH<"HEw:i( hC'Ai4<Yt:XK@t::Z@yt:w`=t:xNnE){RLI{Pi{R>{R1>{P{RA{P|RpB9|R^n?l]@G_ѿ@`"@`ipIvjC)MGIQ/ݼل`;yYyE7>  ]5;4 ? JH<ɯ [< i=? ߆= X;ɱ T; ;4Q E'5AQ E'5 AQ MtI)AQ Mv@IAɴE:E0: E3'5 };4u? uIH<)u\< }?IuD=ɷu:um: u;4? ?HHFF! CzAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo!CAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"q"DInitialize."EInitialize.!!"FF(,@q"zF1"jFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.962455 forward, -0.271440 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<5rotationFromVehicleToNavigationFrame_ = [ -0.962790,-0.264642,-0.054774;0.263503,-0.964275,0.027190;-0.060012,0.011745,0.998129 ]<5tazimuthInNED_ = 179.596040 degrees FINAL. Radians:3.134542<=^ContactLat = 36.802294 ContactLon = -121.788091<=)First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.:E9E=pBH=ŘL@W|@SI0H=^n?l]@G_ѿE=LE9H=Q M @?2 H=yPtiw|?%ŮE=WH@bE=2>jE=oBE=*o$?JE=RE= ZE=rE=fzE=iG1;>9> 9%)) -09i)- =)1I11H=<"H=w:߁%Dacoustic_contact_range 60.000000 m%hTrackAcousticContact.heading_to_contact 3.134542 radR 7C'AYt.|K@t.0*Z@yt.`=t.x^gEG`H`)]{GIeVH}˅0W9Q>YˁyˉEˉ͍*>  ];4?&H<ɯ~< i?=:ɱ÷:鱕;4Q 75鲡Q 75 Q tI)Q @Iɴ:鴥: a75 ;4!? &H<)$~< ?I=ɷ?::  ;4) ))HyHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2iS;9޹ 9Vp) 9i15\ =)1I19HE<"HMw:jZ:µ9uIAyX: QC'AYt.RK@t.Y@yt.&a=t.7XxBhEiPIVeC)+GI MM`لIyM/$?Ym?ym?uEuGCuԻu>  ];4B?H<ɯ< i?<=8:ɱ:鱝;4Q H5鲭?Q H5 L<Q tI)=Q @I>ɴض;鴭Ǹ; 3rH5 <4A? <4 H<)< ?I`=ɷ:y: <4 HHFFFFzFjFEE <Tracking...<2Tracking contact label: 2i\A;sn:sn 9P) ~:i% =)IH<"Hw:jZX<¥cU<{> Y>Yid  kC'A)IYt.0K@t.NY@yt.Ya=t.xRcE)XGHjAH%kAI!VH=E8QE>YAyIMEMdHCM|U> Q ]];4Uj?UG<ɯUH< ie?U=U:ɱU':Uu;4Q mY5e~?Q mY5 eN<Q utI)e4Q u@IeuL?ɴet:eg: eY5 }<4}k? }G<)}< ?I}=ɷ}@:}: }<4H? H?HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ikA; _: _ 9 ,k )  0:i6| =)IH<"Hw:)IiUt0=]= ]=\L rC'AYt.K@t.Y@yt.~ a=t.xBrdE H@H@iPIP){GIVH%DQ%>Y)y)-E-HC-]5> 1 ]=<45? a=<45G<ɯ5ϳ< iE?5=5:ɱ5Q:5o<4Q Mi5M?Q Ui5 MmQ<Q UtI)MQ U@IMY?ɴM5:Mk: Mi5 e<4]? ]G<)]< e?I]=ɷ]:];: ]&<4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i(;; 9yރ) ^:i=)IH%<"H%w:i-=-=(=hv LC'AYt.K@t.Y@yt.=a=t.5xBiE)~ƄGIE`廹EلE;yEYˁyˁE˅5IC͍_->  ]<4?G<ɯ< i?=;ɱ;鱕<4Q {5k?Q {5 CT<Q tI)AQ @I?ɴ :: {5 <4? G<)< ?I=ɷH:&: 8<4  H1H9F9F9FAFAzFAjFAEAEI!)- .C'AiYt.J@t.DY@yt.a=t. j>x>KgEiN=INjC)~Y!y!%E%IC-E-> 1 ]=<457?5G<ɯ5x< i=?5>5C:ɱ5:5<4Q M5ENL?Q M5 EV<Q MtI)EQ M@IEH@ɴE:A E5 ]<4U8? UG<)UJ< ]?IU>ɷU:Uߡ: UI<4a iiHyHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i"M;1;1 9,&) d:i3=)IH<"Hw:W2>iAkAq >C'AYt.J@t.:Y@yt.)b=t.axN%hEGRAAHP)XGI!ae9لe`;ye{Gz?I +y&1|?YaIaiaaaɅaaeף< e94)e`;VH˝*9Q>YˡyˡE˥JCͭCҺ>  ]<4k?G<ɯ< i? >;ɱ;鱵X-<4Q 5)?Q 5 Y<Q tI)Q @I`@ɴ:ض: {5 <4j? G<)< ?I >ɷ:e: [<4? ? H9H9F9F9FAFAzFAjFAEAEI  "C'AYt.J@t.nY@yt.oa=t.w>xBiEiNg=IReC)E+GIIVH]ezӹQe>YayaeEejJCmm> q ]}<4u?uG<ɯu< i}?ud>u:ɱu:u/;<4Q 5鲅 ?Q 5 Z\<Q tI) Q @Ik4@ɴJ:鴅=: %.5 <4鵕? G<)< ?IX>ɷ :鷕r: l<4? ?HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%%;!%?;%? %9-|))) -:i1]6]=)YIaiH<"Hw:)Iie> V>r C'A)@IYt.J@t.Y@yt.Jb=t.xRDoE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )XGH gAH hAI VHu}9Q>YˁyˉEˍJC R>  ]5<4?G<ɯ= i5?>*<ɱ&<J<4Q E5=?Q E5 =n_<Q EtI)= 9Q E@I=Q@ɴ=:=: ='ߠ5 U<4U? 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JG<)z(= ?I5?>ɷ;鷝; <4 HHF1F1F9F9zF9jF9EAEA>xBKgEiLIL)=+GIAVH˕'9Q>Y˙yˡE˥LCͥ.J>  ]<4?>G<ɯ"1= i?E>:ɱ]:鱭(<4Q 5!D?Q 5 l<Q tI)Q AI@ɴ g5 <4? >G<)1= ?IE>ɷc:: <4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2ir5%;!%H<%H %9%˱!)! -$.;i)-=)1I11H=<"H=w:1p> Y>( ޡC'A)@IYt.J@t.?Y@yt.`=t.xNiE:@V=B@V=)}GIy<Dل;y~jth?y&1Mb`?YIiɅD; `e);VHQ>YyECMC(>  ]<4 ? G<ɯ 3= i? K> :ɱ : <4Q %5H"?Q %5 eo<Q %tI)Q %AI-@ɴB:U: t+5 5<4-? -G<)-3= =?I-K>ɷ-:-{: -<4A AAHQHQFQFQFYFYzFYjFYEaEaiq|<. C'AYt.J@t.]Y@yt.c`=t.:oxBdE HBa=HDiPIP)ׄGIVHEU.8QU>YYyY]E]MCe7e> i ]u<4mP?mF<ɯm5= iu?m|Q>m0:ɱmɷ-:-: -%<49 99HIHIFIFQFQFYzFYjFYEYEYxBPaE)~GI|etetلe`;ye~jt?~jtxy&1|?YaIaiaaaɅaae< eĻ)e`;VH}}9Q>YˁyˁE˅NC͍i:>  ]<4?F<ɯ?= i?Y>:ɱ:鱕c<4Q 5鲥?Q 5 t<Q tI)Q +AI}@ɴ:鴥: r5 =4鵵? =4 F<)'?= ?IZ>ɷO:鷵:  =4 HQHQFYFYFaFazFajFaEaEaxBiE@D"@DiR=IRjC){GIVH]eQe>YayaeEetNCm9m> q ]}<4u?uF<ɯuI= i}?uQb>u4:ɱuI:u_<4Q 5鲅F?Q 5 _w<Q tI)=Q 1AIE@ɴ:鴅 : >J5 =4鵕? F<)H= ?ITb>ɷb:鷕": 2=4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;P<P 91) "^;i =)IH<"Hw: kA iAIYV6B cG C'Ax~ػ>x~gEGHAA {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )IVH]mQ>Yy!%E-NC=E>  ]<4?F<ɯST= i?=l>:ɱ^:鱭 <4Q 5鲽|?Q 5 z<Q tI)ξQ M9AI@ɴՐ<鴽W< U5 U=4M? MF<)MMT= U?IMl>ɷM:M]: Mx0=4a aaHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i  ;   =  9U) b>m;i=)IH%<"H%w:h`H K"#C'AYt.iJ@t.،Y@yt.-`=t.xRjE]f^unknown deviceResponse_: 00000,187,80,81,11,FF ieg=Ia)I;uل;yY!y)-E-IOC-]8-> 1 ]=<45?5F<ɯ5X= iE?5q>5:ɱ5:5{<4Q M5M}?Q M5 M|<Q UtI)MؾQ U>AIM@ɴM$:M: M5 ]=4]? ]F<)]X= e?I]q>ɷ]ڦ:]: ]#?=4i iiHyHyFFFFzFjFEE<Tracking...<2Tracking contact label: 2iJ;5=5 9oi)i mmLw;iquG=)qIyyH}<"Hw:IQV> N HxFcE:@TB@V=)ƄGI!VH]e_9Qe>YayamEmOCmq9m> q ]}<4u`?uF<ɯu]= i?uw>u:ɱuk:u<4Q 6鲅^?Q 6 |<Q tI)UQ EAIAɴW:鴅: 6 =4鵝a? F<)]= ?Iw>ɷ@:鷝e: O=4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iOO;%=% 90) m;i$=)IH<"Hw: ,> {>CrU VC'AYtf)J@tfY@ytfp|a=tfx~eE HHiyIy)GIED;E94لAyE~jtx?{GzMbp?YAIAiAAAɅAAE; E#)AVH]]68Q]>YayaeEePCmV9m> q ]=4u? a=4uF<ɯuc= i?u|>u;ɱuʽ:u=4Q 6鲥:?Q 6 o<Q tI)Q LAIAɴ:鴥: Ԍ6 =4? F<)c= ?I+}>ɷ:ף: b=4 HHFFFFzF!jF!E!E!<%Tracking...<-2Tracking contact label: 2i]fTe;ae7=e7 e9e a)a eW;i  &l=) I H<"Hw:!)[ pC'AYt>J@t>eY@yt>Na=t>H};?Ү@oNп@@-?6 Л??)u>J@ u>v;IuxRinE)U{GIYVH}}a9Q>YˁyˁE˅zPC͍f9>  ]=4?F<ɯ&i= i?Ā>:ɱ:鱕=4Q  6鲥?Q  6 <Q tI)9Q RAI Aɴx:鴥: }w 6 =4鵵? F<)h= ?Iр>ɷ:鷵ʢ: r=4 HHFFFFzFjFE E < Tracking...< 2Tracking contact label: 2iE|E;AEE=EE M9MUI)I M;iqu=)qIqyH}<"Hw:‰ߑ?Aքb C'Ai"4<$YtB'J@tBY@ytBa=tBjxRKgE@VA"@Ti^=I`)ƄGIjAjAVH? Q>YyEPC69>  ]==4 |? ~F<ɯ n= iE? 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U`F<)Uz= e?IUύ>ɷU۞:U: U(=4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;E=E 9) ;iy=)IH<"H%w:ӂ  C'AYt.xB'fE {HY|LR8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGIף;94ل;yMbp?I +Mb`?YIiɅ; 94);VHmunQu>Yyyy}E}RC͍7>  ]=4?@F<ɯ}= i?ؐ>:ɱ:鱍?g=4Q &6鲥O?Q &6 ڕ<Q tI) Q zAI?6AɴO/<鴥p; &6 E=4? >F<)}= M?I>ɷ*<*< =4Y YHHFFF F zF jF EE<Tracking...<2Tracking contact label: 2i-R-;)-=- 59^U/) x;i=)IH<"Hw:kA‰ߑ Ե%C'AiYt:`J@t:ϟY@yt:`=t:xj nE]r^unknown deviceResponse_: 00000,186,80,81,11,FF @EA"@AiyIy)ׄGIhAVHQ ?Y y  E RSCv:U ? Y ]e=4]n?]+F<ɯ]= ie?]ؒ>]^:ɱ]:]r=4Q )6m4?Q )6 m<Q tI)mI%Q AIm;AɴmUɷn:鷽: =4  HHF!F!F)F)zF)jFAEIEIx^"lEGbAAH`)IVH,9Q>Y!y!%E%SC-ǧ:-> ) ]U=4-4?-F<ɯ-$= i]?-?>-˹;ɱ-w;-€=4Q -6鲵?Q -6 ݚ<Q tI)+Q AI$BAɴ:鴵H: -6 =42? F<)9= ?If>ɷ<< w=4 H!H!F)F)FFzFjFEE<Tracking...<2Tracking contact label: 2iMƕM;IM=U᯽ U9U{MQ)Q U1;iY]=)YIYaH<"Hw: rkYC'AYtNK@tNY@ytN`=tN?@?)uNK@ uNv;IuLx^ż>x^%hEipIp)GI94<tلyMbPy&1YIiɅ `e)VHˍ]7Q>YyE(TCf:>  ]=4?E<ɯۀ= i?P>k;ɱ;=4Q 26?Q 26 <Q tI)0Q AIHAɴ:ӻ: {B26 ->4%? ->4 %E<)%= ?I%d>ɷ%b<%b< %m>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iUajU;QU=U U9]}aY)Y ]f;iae83=)aIaH<"Hw:> a>8 BsC'AYt.K@t.Y@yt.qa=t.qx~gE:@B@ )0GI4= 4=VH!9Q>YyETCbC:>  ]=4?E<ɯ= i?>:ɱ:=4Q =665?Q =66 55<Q =tI)5:6Q EAI5NAɴ5ܹ:5: 5J766 M>4E? EE<)E= U?IE>ɷE<:E: E!>4Y YYHiHiFiFiFFzFjFEE<Tracking...<2Tracking contact label: 2i ;<=<ƽ 99u) 3';iZ=)I!!Hm<"Hmw:)1+0 B_C'AYtfK@tfY@ytfa=tf0NxgE HHiI)]GIaĻل;yMbp?{GztMb`?YIiɅ酡鄥; ף);VHe8Q>Yy E TC 9-> 1 ]==45?5E<ɯ5= iE?5~>5Y:ɱ5:5l=4Q M:6E?Q %:6 E3<Q %tI)Ex4-? -E<)-d= =?I-Ĝ>ɷ-:-: -W7>4 HHFFFFzFjFE!E!<%Tracking...<%2Tracking contact label: 2i;h=hԽ 9G!) o*;iv=)IH<"Hw:D[ y>C'AYt.tK@t.Y@yt.]a=t.)>xBiE)~ׄGIVH%WQ%?Y!y!-E-QUC-9-? 1 ]==45?5E<ɯ5B= i=?5>5 :ɱ5:5A=4Q M>6E ?Q M>6 E|<Q MtI)E6 ]>4U? UE<)UT= e?IU>ɷUϝ:UY: UYC>4i iiH1H1F9F9FAFAzFAjFAEAEAù>xBrdE@@"@DiLIL)GI jA hAVH%+Q%>Y!y!-E-UC-:-> 1 ]==45?5E<ɯ5= iE?5>5 :ɱ5:5_=4Q MB6E1r?Q MB6 E8<Q MtI)EFQ UAIEaAɴE:E: E9B6 ]>4]? ]E<)]= e?I] >ɷ]۞:]": ]T>4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iy;7=7 9kH) %;i +n =)IH<"Hw:IQdl C'AYt.K@t.Y@yt.nBa=t.xbhEGb@AH`)}{GI%%ףل!y%Mbp?Mb`Mb`?Y!I!i!!!Ʌ!!! %)!VH[8Q>Yy%E%0VC%9%>  ]=4Q?E<ɯO= i?>:ɱk:鱍+=4Q G6鲝$K?Q G6 y<Q tI)MQ AIgiAɴ):鴝_< G6 >4 O? E<) l= ?I 2>ɷ : :  j>4! !!H1H1F1F1F9F9zF9jF9EAEAxRfEi\I\)uƄGIqVH9Q>YyEVC L: >  ]}=4.?E<ɯ= i}?>~a<ɱ:=4Q K6鲅@-?Q K6 <Q tI)RQ AIGoAɴį:鴅0: yK6 >4+? E<)= ?I>ɷH:m: y>4  H1H1F1F1F9F9zF9jF9EAEA 9ʸ) 6;i !=)IH<"Hw:4> >qy C'AYt&K@tVY@ytda=tx%lE {)Y|)m8****** ping requested ******:@u=B@u=}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGI%= =:DلyMbP?~jthMb`?YIiɅ: D)VH-=Q=>Y9y9EEEWCE:E> Q ]}=4U?UE<ɯU= i}?Uǡ>U;ɱU;Uz=4Q P6鲅G?Q P6 g<Q tI)YQ AIUwAɴb<鴅z< PP6 >4? E<)= ?I>ɷ; ; s>49 99HyHyFyFFFzFjFIEIEQ 9CQʺ) ;if"=)IH<"Hw:&txjjE Hja=Hja=]n^unknown deviceResponse_: 00000,187,80,81,0F,FF iiIi) ϼ;ɱ ; =4Q ET6EC?Q MT6 Ej<Q MtI)E^Q MAIE |AɴEȲ:EU: E^T6 }>4u ? uE<)u= }?Iu`>ɷu:u: u>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%9`-;)-:>-: M9MӺQ)Q U{;iY]"=)YIYYHe<"Hew:)iIiiii bBC'AYt.6K@t.]Y@yt.e`=t.[7>x>PaE)-GI1VHmu9Qu>Y˙y˙E˝WCͥ :>  ]>4? a>4E<ɯ!= i?>n;ɱv;鱭} >4Q X6~?Q X6 <Q tI)cQ AI&Aɴ:D: .X6 >4? 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E<)H= ?Iw>ɷ:: >4! !!H1H1F9F9F9F9zFAjFAEAEA}$ 9h)  xZiEihIh)=jGI9;ل;yy&1|Mb`?YIiɅ酁鄅 `);VH˕>9Q>Y˙y˙E˝YCͥ86:>  ]>4?pE<ɯߎ= i?>Ǻ:ɱ˵:29>4Q e6Eg?Q e6 <Q  tI)uQ  AIAɴ;ϼ; WOe6 >4? oE<)= ?I >ɷ:: >4A AAHQHQFQFYFYFYzFjFEE<Tracking...<2Tracking contact label: 2iZ;,>, 9. )  { 1A )ϩC'AYt.!?K@t.Y@yt. a=t.xNGkE:@R=B@V=)%+GI)) -%=VH]]8Qe>YayaeEe]YCm=~m> q ]>4u{?u_E<ɯu2= i?uA>u;ɱu;uE>4Q i6鲥I?Q i6 <Q tI)2zQ AIAɴN:鴥: !i6 >4鵵x? _E<):= ?IW>ɷ:鷵{: 0>4 HHFFFFzFjFE E < Tracking...< 2Tracking contact label: 2i It%;!%3>%3 %9%1!)! -sxNEmE HRR=HPi\I`)-GI)VH]]Qe>YayaeEeYCm:m> q ]>4uk?uME<ɯu= i?u>u;ɱuQ;uS>4Q m6鲥(?Q m6 <Q tI)Q AI:Aɴ:鴥U: bm6 ?4鵵g? ?4 LE<)= ?Iͩ>ɷ :鷵3: ?4 HHFFFFzFjFE E < Tracking...< 2Tracking contact label: 2iE/E;IM.;>M.; M9MI)I M*w>xBiE)XGIEDYayimEm,ZCm 0:m> q ]>4uY?u$E<ɯur= i?uج>u:ɱu:ua>4Q q6鲭(?Q q6 <Q tI)˂Q AItAɴl:鴭U; Jq6 ?4V? #E<)y= ?I>ɷ:~: >?4 HHFFFF +@zF jF E E <Tracking...<52Tracking contact label: 2iMM;IM.C>M.C M9M#') Ex^LeE@bA"@`ihIl)5ƄGH9H=@I9VH}}7Q>YˁyˁE˅ZC͍9>  ]>4H?D<ɯ3= i?>:ɱ:鱕7p>4Q u6鲥f?Q u6 d<Q tI)Q AIAɴ5:鴥: u6 ?4鵵E? D<);= ?I>ɷ:鷵: u&?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i!;&K>&K 9 1 )  dhxBgEG@HF@A {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGIAףلD;y~jtx?~jth?Y AIiAɅ酑鄕; )D;VHˍ+Q>YˑyˑE˕[C͝,9>  ]>4?E<ɯ= i?><;ɱj;鱝Ձ>4Q {6?Q {6 <Q tI)9Q AIAɴ<< B{6 ?4鵵? E<)'= ?I>ɷ;鷵; =?49 99HIHQFQFQFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i6D{;V>V 9~tA) G! E>D  +C'AYt.NK@t.ZY@yt.ea=t.xRjE){V:>I{Ti{V2>{V1>{T{VPA{T|VB9|VUx?T,_7?iYIejC){GI!VH-5Q5?Y9y9=E=i[CEK:E? I ]M>4M?ME<ɯM= i?M>M0U<ɱMMX4Q ~6鲵?Q ~6 ,<Q tI)Q AIhAɴ:鴵: ~6 ?4? E<)Օ= ?I>ɷ:T: J?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.983414 forward, 0.181377 starboard, 0.000000 keelward ]<CALLING PROCESS< TProcessing response from acoustic contact.< TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.963783,-0.260969,-0.054923;0.259832,-0.965275,0.027048;-0.060075,0.011798,0.998124 ]<VazimuthInNED_ = -2.694616 rad -- adding 2pi<%ZazimuthInNED_ = 3.588569 rad after adding 2pi<%tazimuthInNED_ = 205.609868 degrees FINAL. Radians:3.588569<-^ContactLat = 36.802074 ContactLon = -121.788548:E)E-BH-@|V@_8 a0@H-Ux?T,_7?E-:>E)H-u U<]^-DP5\H-Ԁ#J쿔fKۿpA{$E-e@bE-m!jE-cBE-n$?JE-o$?RE- ZE- rE-zE-? iMU;QU\>U\ U9UKIQ)Y ]u$xRiE:@V=B@V=)-+GI1VH]],8Qe>YayaeEe[Cm!:m> q ]}>4u?uE<ɯuʗ= i}?uϳ>uC:ɱu:uo>4Q 6鲅L?Q 6 <Q tI)#Q AISAɴ:鴅I: dO6 ?4鵵? E<)ٗ= ?I>ɷ:鷵ީ: Z?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%_E;AEd>Md M9UAETQ)Q U(xBgE HBp=HBp=iTIVeC) GI لy~jth?Mb`YIiɅ酩鄭D; )VH iQ>YyE7\C%v9%> ) ]->4-?-E<ɯ-= i5?->-':ɱ-:-\>4Q E6=b?Q E6 =<Q EtI)=#Q EAI=Aɴ=):=: =Y6 U?4M? ME<)M= 5?IM>ɷM*n 9b) e,>x>iE)GIVH%Q%>Y!y!%E-\C-9-> 1 ]=>45r?5E<ɯ5o= i=?5I>5:ɱ5L:5d>4Q M6EUD?Q M6 E/<Q MtI)E“Q UAIEAɴE:E: E*6 ]?4]n? ]E<)]~= e?I]X>ɷ]:]: ]}?4i iiHyHyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2i;Jv>Jv 9l) Q/t>x>LeE@@"@DiLINjC)ƄGI  hA hAM;M`لIyM~jth?~jtxYIIIiIIIɅIII MĻ)IVHemUQm>YiyiuEu]C͕Nh9>  ]>4J?D<ɯ'= i?>U:ɱ:鱝>4Q 6鲵q"?Q 6 <Q tI)Q AI Aɴ;鴵; 6 ?4F? D<)5= ?Iʶ>ɷ:: M?4 H!H!F)F)F1F1zFyjFEE<Tracking...<2Tracking contact label: 2iۨ;> 9@{) s-4Zx^+bEGbAAH`)EGIIVH]]1Qe>YayaeEeg]Cm:m> q ]}>4u#?uD<ɯu= i}?u>u:ɱu=:u>4Q 6鲅?Q 6 <Q tI)|Q AI;Aɴ:鴅: E҉6 ?4鵕 ? D<)= ?I$>ɷ:鷕: P?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%Nt%;!%>- -9-%))) -8 a>iq|1 &:C'AYt.\K@t.I Z@yt.Ta=t.>x>gEiLIL)MƄGIIVH}}9Q}>YˁyˁE˅]C͍c8>  ]>4?D<ɯ= i?|>I:ɱ鱕+>4Q 6鲥?Q 6 <Q tI)[Q AI}Aɴа:鴥÷: S6 ?4? D<)= ?I>ɷ&:*: ?4 HHFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2iƴ;l>l 9y) P<xn$jE)ׄGHiAHiAID;لyMbP~jthYIiɅ D)VHQ>Y y  E ;^C55> 9 ]E>4=?=D<ɯ== iE?=,>=:ɱ=,:= >4Q u6Ml?Q u6 M<Q utI)MYQ }AIMAɴM;M{; M66 ?4}? }D<)}= ?I}?>ɷ}:}+: }t?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i-G5;15x>5x 595'1)1 = @>x>KgE HBa=HBa=iPIReC) I VH==z8QE>YAyAEEE^CM9M> Q ]]>4U?UD<ɯU= i]?UǺ>U?:ɱU3:U >4Q m6e?Q m6 e<Q mtI)eQ mAIeAɴe:e : e/6 u?4u? uD<)u= }?Iu>ɷuʢ:u: u?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=lɼ=;==Ew>Ew E9E嚻A)A EDC'AYt.ucK@t.Z@yt.`=t.Vz7>x>PaE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Iل;yMbP?Mb`?YIiɅ酡鄥 :);VHQ>Yy E _C9> ! ]M?4%? aM?4%D<ɯ%= iU?%>%;ɱ%-:%u?4Q ]6Ufw?Q ]6 U<Q etI)UQ eAIUAɴU:Uz; Uђ6 ?4鵍? D<)= ?I >ɷ:鷍; e e9e񱤻a)a eJ&>x>'fE){BӇI{@i{BIR>{B>{@{B+C{@|B B9|B"C?TKѿi\I`)GIVH=EQE ?YAyAEEEk_CM:M? Q ]]?4U?UD<ɯU= i]?U,>Uz:ɱUL:U]?4Q m6eo^?Q m6 e<Q mtI)eQ mAIeUAɴeа:e^: epp6 }?4u? uD<)uי= }?IuF>ɷu<:u: uK?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.961502 forward, -0.274798 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.963418,-0.262351,-0.054756;0.261212,-0.964900,0.027135;-0.059953,0.011839,0.998131 ]<tazimuthInNED_ = 179.259408 degrees FINAL. Radians:3.128667ݝ 9rm) M>xBpEG@HBAA)+GIVH=E9QE>YIyIMEM_CUB:U> Y ]e?4]?]D<ɯ]= im?]_>]:ɱ]:]'?4Q 6m=?Q 6 m<Q tI)mQ AImAɴmG;mO; m6 @4鵥? @4 D<)= ?Iy>ɷ:鷥: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iee;aeK>eK e9mi)i mQ >YaCW \aC'AYt.rK@t.` Z@yt.L a=t. >x>lEiPIP) XGIuD;uףلqyuMbP?~jtxMb`?YuAIqiquAqɅqqu: uĻ)qVH˕n9Q>Y˹y˹E˽>`Ch:>  ]?4?D<ɯ= i?>;ɱ; 6?4Q 6L?Q 6 j<Q tI)wQ AIAɴ:߼: ˘6 5@4 ? D<) = 5?I ʼ>ɷ ; k; @4A AAHIHqFqFqFyF}*@zFyjFyEE<Tracking...<2Tracking contact label: 2iUܼU;QUw>Uw U9]ּY)Y ]֡V5=qy^ <{C'A)@IYt6#uK@t6"Z@yt6a=t6xNjE)%ƄGI!VH==:QE>YAyAEEE`CM9M> Q ]]?4U?UD<ɯU= i]?U>Um:ɱU$:UC?4Q m6e?Q m6 e<Q mtI)e.Q mAIeAɴex:e: eҚ6 }@4u? uD<)uv= }?Iu>ɷu':uM: u+@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iEE;IM>Mꬾ M9MMĻ) WyZ>x>eE HBp=HBp=iLIP)UGIYلy~jth?~jth?YIiɅ酙鄝D; D;)VHp/Q>YyEaC `>  ]m?4 ? D<ɯ w= i? ׾> ң<ɱ < R?4Q 6鲵?Q 6 +<Q tI)TQ AIAɴs:鴵f: ,6 @4? D<)b= ?I>ɷ=;; >@4 HH F F)F1F1zF1jF1E9E9<=Tracking...<=2Tracking contact label: 2iuu;qu̲>}̲ }9}#Tλy)y }(W_?7\?@?)u.dK@ u.Sw;Iu.CxB>xBcE){GI VH%8Q%>Y!y!%E-oaC-sܺ-> 1 ]=?45?5D<ɯ5f= i=?5>5 :ɱ5C:5_?4Q M6Eк?Q M6 E<Q MtI)EٵQ UAIEoAɴE:E: E6 -@4%? %D<)%Q= -?I%ο>ɷ%:%ڦ: %fO@41 99HAHAFIFIFqFqzFqjFqEyEy<}Tracking...<}2Tracking contact label: 2i;> 9B׻) 8c>xnklE@vA"@vAiI)yH}@HIVH˝;aQ>YˡyˡE˥aCͭŶ>  ]e?4?D<ɯS= ie?><ɱ÷:鱭n?4Q 6m?Q 6 m<Q tI)mQ -AImAɴmN= ?I=>ɷ=F<=D< =jb@4 HHFFFAFAzFIjFIEIEIe 9⻉) h>xBlEGB?AHB@A) IUDUT<لQyUMbI +?YQIQiQQQɅQQU U94<)QVHmmv8Qu>YqyquE˕@bC͝>  ]?4?D<ɯ= i?^>˵:ɱ:鱥|?4Q 6ew?Q 6 X<Q tI)Q AIAɴD:: 8n6  @4? D<)ʞ= ?IJ>ɷ::< r@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu;u;qu>uþ u9u뻉y)y }s=m >¡߱l~ C'AYt.MK@t.VY@yt.a=t.>x>)dEiLIL) I VH==8QE>YAyAEEEbCM"M> Q ]]?4US?UD<ɯU= i]?U>U:ɱU:UP?4Q m6eX?Q m6 e=Q mtI)ejQ uAIe%Aɴe:e: ev6 }@4}B? }D<)}_= ?I}>ɷ}:}: }@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iE9E;IM>MȾ M9M[LI)I Mq Y>T YC'A)@IYt.LK@t.mY@yt.a=t.Yr>xBaE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )HlAHkAI!;;لy{Gzt~jth?MbPYIiɅף D;)VHUUUQ]>YYyY]E](cC>  ]?4?E<ɯ؞= iM?>d<ɱSd<|?4Q 6U,?Q 6 U=Q tI)U,¿Q AIUgAɴU;U; U E6 @4鵕? E<)= ?I>ɷC;鷕; @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iuSu;qu>uо }9}p(y)y }<xxBnhE HBR=H@]F^unknown deviceResponse_: !U100,187,80,81,0F,FF i)I))ƄGIVH7Q ?YyEzcC ?  ]?4?E<ɯp= i?>:ɱ:??4Q 6?Q  6 =Q  tI)@ĿQ  BIAɴ,:w: Pҩ6 @4? E<)I= ?Iw>ɷ4:: s@4! !)H1H9F9F9FAFAzFAjFAEAEIuԾ u9}y)y }i{xZgE)-ׄGI1VHeuQu>Yyyy}E}cCͅ>  ]?4? E<ɯ= i?>T ;ɱ ;鱍?4Q 6鲥?Q 6 \ =Q tI)ǿQ BIAɴ:鴥': @6 @4鵵? E< tI)ŝ= ?I>ɷd:鷵2: X@4 HHFFFFzFjFE E <Tracking...<2Tracking contact label: 2i}p;>ھ 9( ) $xB'fEiPIP)MGHU@HU@IQףل;y~jtx?Mbp?YAIiɅEA酑鄕; );VH˵`<9Q>Y˱y˱E˽GdC:>  ]?4?E<ɯ= i?>:ɱ:N?4Q 6?Q 6 . =Q tI)ɿQ BI+Aɴ5:=:  6 @4?  E<)۠= ?I>ɷ:6: @4 H H FFFF+@zFjFEE!<%Tracking...<%2Tracking contact label: 2i=4!=;9=>= =9EA)A EBIIIHe<"Hew:u? u>)9  ?}C'AYt2QK@t2.Y@yt2Sa=t2{>x>aEGBAAH@F8Not Powering down - fast GPSF F)JIJiJi~J~J~J~J~J J)JIJiNNNN){GI VH˽G8Q>YyEdC9>  ]?4}?E<ɯ = i?_>^;;ɱ:;x?4Q 6?Q 6 =Q tI)̿Q BImAɴ|:: m26  @4m? E<)=  ?I?>ɷ:: @41 99HIHIFIFIFqFqzFyjFyEyEy<}Tracking...<2Tracking contact label: 2ip$;> 9) 1;xB]EiLIP)|IEE;لEyEMb`y&1|?YEAIAiAAAɅExAAE E`;)EVH]e9Qe>YayaeEeeCm 9:m> q ]?4u?u"E<ɯuJ= i?u>uC_<ɱu^ɷ:: @4! !)HaHaFaFiFiFm*@zFqjFEE<Tracking...<2Tracking contact label: 2il+;y3'=Q>Q 9G) Ї a>N˫ wC'A)IYt.YK@t.Z@yt.ib=t.(Y?@?)u.YK@ u.3v;Iu.CxNw>xRiE)HkAHlAIVH=E9QE>YIyIMEMzeCM=:U> Q ]]?4U?U3E<ɯU= ie?US>U:ɱU@:U&?4Q m6msr?Q m6 mj=Q utI)mUҿQ uBImAɴm:m: m[6 }@4}? }1E<)}e= ?I}0>ɷ}':}M: }@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5;.>. 9#) oAjA¡ߩ) RC'AYt.WK@t.Z@yt.za=t.x6+bE H:a=H8iF=ID)~ƄGI|VH 㖹Q>YyEeCD%> ! ]-?4%?%DE<ɯ%Ǥ= i5?%>%:ɱ%p:%?4Q E65)R?Q M6 5&=Q MtI)5#տQ U BI5Aɴ5;5; 5Ls6 }A4m? A4 mBE<)m= ?Im>ɷm};m9; mA4 HHFFF F zFjFE!E!<-Tracking...<2Tracking contact label: 2iu/; A> A 9 O:* )  ->)Tݸ A.C'AYt.XK@t.HZ@yt.a=t.'Qx6pfE)rGIp%%C<ل%y%I +:v?MbpY!I!i!!!Ʌ!!%94 %T<)%VH]eQe>YayaeEmJfCmf69m> q ]}@4u]? a}@4u_E<ɯu4= i?uu>u:ɱu:u @4Q 6鲅0?Q 6 =Q tI)ؿQ  BI7AɴJ:鴅: 6 A4鵕K? ]E<)= ?IM>ɷ@:鷕۞: A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iA;? 9>0) x6+bE@8"@:A@8"@>AiFg=IFjC)v{GHz@Hz@IxVHIQ>Y y  E fCa8>  ]%@4?yE<ɯğ= i%?>8:ɱY::@4Q -6-?Q 56 -=Q 5tI)-ڿQ 5 BI-YAɴ-:-÷: -6 EA4=? =vE<)== E?I=>ɷ=Ɵ:=r: =0A4I IQHYHaFaFaFiFizFijFiEiEixZgEGZ?AHX {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )I-t-ף<ل-Dy-Mb/$?~jthY-AI)i)))Ʌ-EA)- -<)-DVHUNQ>YyE%gCի9>  ] @4[?E<ɯޝ= i5?O>;ɱp;'@4Q =65n?Q =6 5=Q EtI)5 ޿Q EBI5Aɴ5c:54: 5-6 mA4EK? EE<)E= u?IE6>ɷE;E; EEA4y yyHHFFFF+@zFjFEE< Tracking...< 2Tracking contact label: 2i4;? 9E?) WxBjE]F^unknown deviceResponse_: 00000,186,80,81,10,FF iIeC)IVHԟQ>Y!y!%E%gC-]9-> ) ]5@4-?-E<ɯ-T= i=?->-:ɱ-:-4@4Q E6E2?Q E6 E"=Q MtI)EQ MBIEAɴE:E: E'$6 A4U? UE<)U7= ?IU>ɷUa:Ua: UUA4 H!H!F)F)F1F1zF1jF9E9E9<=Tracking...<=2Tracking contact label: 2i]PX];Y]} ?e} e9eFa)a e^ aK@t>aZ@yt>b=t>eH?@宿п "?@lN@V??)u>aK@ u>v;IuxboE)%ƄGH!H%jAI!DC<لףy{GzQ?{GztYIiɅ酉鄍# u<)ףVH˥}:Q>Y˩y˩E˭gC͵/ :>  ]@4F?F<ɯؘ= i?>:ɱ:鱽uC@4Q 6?Q 6 j%=Q tI)Q BI:Bɴ;] ; \6 A44? F<)= ?Iw>ɷ:۞: RgA4 HHFFF F zFjFEE<Tracking...<2Tracking contact label: 2i-R5;15 ?5 595>AM1)1 =wҚxB'fE HFp=HFa=iTIVjC) ׄGI VH=EQE>YAyAMEMNhCM4:M> Q ]]@4U?UF<ɯU= ie?U>U:ɱU:UO@4Q m6e?Q m6 e'=Q mtI)eAQ uBIeBɴe:e: e?6 A4u? uF<)uĕ= ?Iu>ɷuP:u: uvA4  H1H9F9F9FAFAzFAjFAEAEIxRmjE)GIVH]elt9Qe>YayaeEmhCm 9m> q ]}@4u+?u?F<ɯu= i}?u>u:ɱu-:u;^@4Q 6鲅k?Q 6 *=Q tI)#Q BIIBɴ:鴅: e6 A4鵕? =F<)d= ?I>ɷ:鷕: ZA4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i[;? 96\) txRpEi\I\){GH@H%@I!e;e<لeyey&1|{Gzt?MbpYe AIaiaaaɅaexAe` eף;)eVH}}ྐྵQ>YˁyˁE˅iC͍Je9>  ]@4t?HF<ɯ= i?>:ɱ:鱕|l@4Q 6鲥J?Q 6 -=Q tI)Q BIBɴ:鴥: 6 A4鵵b? EF<)}= ?Ix>ɷ:鷵ӻ: A4 HHFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2iشf; ?  9 c )  XBg C'AYt.gK@t.XZ@yt.Ea=t.2XxBeEGF@AHD)~+GIVH=EtQE>YAyAMEMiCMM> Q ]]@4U?UPF<ɯUɌ= ie?Uk>U[:ɱU-:UTz@4Q m6e*?Q m6 eA0=Q mtI)eQ uBIeBɴe5:e: eڡ6 }A4u? uNF<)u= ?IuC>ɷu:u: u A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iHi;? 9.xk) r+x%nEiU=IQ)GIلyMb`YfAIiAɅxAA )VH y9Q>YyEiC:> ! ]-@4%?%NF<ɯ%= i5?%>%:ɱ%:%k@4Q =65w?Q =6 5=3=Q =tI)5Q EBI58 Bɴ5:5^: 56 A4E? ELF<)EŌ= ?IE>ɷE%/xbeE)5GI9VH}˅˸Q>YˁyˁE˅UjC͍ 9>  ]@4?MF<ɯ= i?@>|:ɱ:鱕ٖ@4Q 6鲥G?Q 6 5=Q tI)Q BI Bɴ:鴥÷: 6 A4鵵? KF<)ی= ?I>ɷ:鷵: @A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i{;aM="?" 9 _K| )  A=)IH<"H%w:-lA-lAra D'AYt.pK@t.$Z@yt.a=t.3txR.^E HPHPig=IeC)e{GIaVHuuZ8Qu>Yyyy}E}jCͅ:>  ]@4?LF<ɯ= i?>:ɱ|:鱍@4Q 6鲝?Q 6 8=Q tI)cQ BI] Bɴ:鴝n: ^ 6 A4鵭? IF<)= ?I>ɷ:鷭ܹ: A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu/{;&?& 9Rq) yT=) I H<"Hw:ڋ uD'AYt.lvK@t.#Z@yt.\a=t.{xB'fE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qIUUلU:yU~jtx?MbP?YUAIQiQQQɅUEAQU; Q)U:VHQ>Yy E/kCVH:%> A ]E@4E?EPF< eMtIɯE= i?E>E<ɱESɷ$;=; 2A4 H!H!FIFIFQFU*@zFQjFQEQEY<]Tracking...<]2Tracking contact label: 2ip;1+?1+ 9q҇) xBoE){B?I{@i{Bg={B1>{@{B@A{@|BGB9|Bj?\ӿ@RA"@RAi`I`)%ƄGI!VH]e8Qe>YayaeEmkCm9m? q ]}@4u?uTF<ɯu)= i}?u(>u:ɱuk:u@4Q 6鲅??Q 6 B>=Q tI)Q  BIBɴ):鴅: J6 B4鵕v? B4 RF<) = ?I>ɷ}:鷕ͭ: _B4! !)HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.950516 forward, -0.310676 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.963101,-0.263443,-0.055086;0.262335,-0.964610,0.026591;-0.060142,0.011159,0.998127 ]<%tazimuthInNED_ = 177.170381 degrees FINAL. Radians:3.092206<%^ContactLat = 36.802483 ContactLon = -121.788073:E)E-GBH-\sB@^o(H-j?\ӿE-?E)H-W_YC(?EH-4T ￐Qי:?z E-E@bE-?jE-BE-ao$?JE-n$?RE)ZE- rE-zE-imFl;.?. 9勼)  xncEGnAAHp)eGIiףلD;y~jth?Mbp~jth?YIiɅ酱鄵D; )D;VH˽?9Q>YyEkC눹>  ]@4`?KF<ɯ= i?[>:ɱ":@4Q  6 Qa?Q 6 iA=Q tI) #Q "BI eBɴ : b: v6 B4N? HF<)= %?I3>ɷ:: B4) )1H9H9FAFAFIFIzFIjFIEIEI>xRklEi`Ib`C)%ƄGI!VH]e6Qe>YayamEmYlCm` m> q ]}@4u@?uCF<ɯu= i?uJ>u:ɱu:uM@4Q 6鲅D?Q 6 C=Q tI)aQ $BIBɴ:鴅: L6 B4鵕/? AF<)= ?I">ɷ:鷕: <%B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iǍ;5?5 9Ơ) 9 V>y߁  7D'A)@IYt2|K@t2)Z@yt2_a=t2R|xRgE:@V=B@V=)GHH%lAI!VH-58Q5>Y1y9=E=lCEh:E> I ]M@4M?M;F<ɯM= iU?MW>M:ɱM:M:@4Q ]6]\$?Q e6 ]F=Q etI)]Q e%BI]eBɴ]:]k: ]R6 mB4m ? m9F<)mƔ= u?Im/>ɷmI:mn: mk6B4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iX;9?9 9@\) MxBkE HFa=HDiPIReC){GIEDE94لAyE{Gz?~jtx~jth?YE=AIAiAAAɅExAEAE#< EĻ)AVH]eҘQe>YayimEm(mCmAm> q ]}@4u?u2F<ɯuΖ= i?u>ua:ɱuܹ:u@4Q 6鲍?Q 6 vI=Q tI)8Q 'BIBɴ5:鴍': #6 B4鵝? 0F<)= ?I>ɷ :鷝/: HB4 HHFFFF(@zFjFEE<Tracking...<2Tracking contact label: 2i ;=?= 9yW) JxRgE)I!VH=E8QE>YAyAMEMmCMYl9M> Q ]}A4UV? a}A4U)F<ɯU= i?U>>U0;ɱUܹ;UA4Q 6鲅R?Q 6 CL=Q tI)Q (BIBɴ:鴅: 6 B4鵝C? 'F<)= ?I>ɷ:鷝ף: YB4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%5Փ%;!%A?-A -9-7s))) - >©߹3 t{D'AYt2lK@t2/Z@yt2xa=t2wxNeE@RA"@P@T"@VAi I )aHiHm@Ii#لtYyEmCf:>  ]A4?)F<ɯx= i?2?:ɱE:GA4Q 6k?Q 6 *O=Q tI)Q *BIQBɴ:w: "6 B4? 'F<)O=  ?I?ɷ:Ɵ: kB4 HAHIFIFIFaFe+@zFajFaEaEixBgEGDHD)~ƄGIVHmmQu>YqyquEu^nC}ڠ8}>  ]A4?)F<ɯƥ= i??ض:ɱ:鱅#A4Q 6鲕?Q 6 Q=Q tI)}Q ,BIBɴ:鴕: #26 B4鵥? &F<)= ?I?ɷ':鷥M: x|B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;I?I 9  )  xRdEi^=I^jC)BGIVH-5NyQ5>Y1y15E=nC=9=> A ]MA4Ea?E(F<ɯE&= iU?E?E˵:ɱE:E1A4Q ]6U?Q ]6 UT=Q etI)U Q e-BIUvBɴU :U: U2H6 mB4eP? e&F<)e= u?Ie?ɷe^:e+: eB4 H HFF1F9F9zF9jF9EAEA e>'G D'A)IYt.ĉK@t.37Z@yt.֧a=t./xR[E {PY|TV8****** ping requested ******:@\B@b=nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGHmAHID;tلף;y{Gz?Q{Gzt?YAIiɅxA酙鄝#< u)ף;VH˵/8Q>Y˹y˹E˽@oC':>  ]A4?F<ɯ.= i?W?H:ɱ8:BA4Q 6Y?Q 6 X=Q tI) Q /BIgBɴ:Է; 6 B4 ? E<)  = ?I F?ɷ : Ҩ: B4! !!HQHQFQFQFYF]*@zFYjFYEYEaxRhE HPHP){V/޾I{Ti{V#>{T{T{V@{T|ṾB9|V-?˽&@ڿirg=IreC)EGIAVH}˅Q?YˁyˁE˅oC͍#?  ]A4l?E<ɯ= i??6;ɱ$;鱭~NA4Q 6=?Q 6 [Z=Q tI) Q 0BIBɴW:: Z6 B4Z? E<)Ͳ= ?I?ɷ:: B4 HHFFFFzF jF E E < Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.907044 forward, -0.421036 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.962847,-0.264378,-0.055043;0.263271,-0.964355,0.026599;-0.060114,0.011120,0.998130 ]<tazimuthInNED_ = 170.413452 degrees FINAL. Radians:2.974276<^ContactLat = 36.802106 ContactLon = -121.787942:EẸBHT\R@x,w=AH-?˽&@ڿE/޾EHZq&ThQ:+@U~]HTZ ~~~F?/ KEZ>@bEYAjE5BEn$?JEao$?RE ZErE2zEi3;&o|=V?V 9%#{!)! %xBfE){GIE`;AلE;yEMb?YayaeEmoC},:>  ]A4?E<ɯ= i? ?:ɱ:鱝\A4Q 6鲭O?Q 6 %]=Q tI)1Q 2BIX!Bɴ:鴭: 6 B4鵽? E<)= ?I ?ɷU:鷽: RB4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i4 ;  Z? Z 9 ü ) Y =>)9cZ kD'AYt.K@t.~9Z@yt.]a=t.&xBkE@JA"@JA@JA"@JAiTIT) HH@IVHeuO9Qu>Yyyy}E}dpCͅ=>  ]A4?E<ɯK= i? ?E:ɱ:鱍jA4Q 6鲝?Q 6 _=Q tI)Q 4BI"Bɴ,:鴝w: 6 B4鵭|? E<)!= ?I ?ɷ:鷭: B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;^?^ 9dpɼ)  a=t.>xB%hEG@HD)~ƄGIVHEUQU>YQyQUE]pC]f9]> a ]mA4e?ejE<ɯer= im?e ?e:ɱe|:exA4Q }6uO?Q }6 ub=Q }tI)uQ 5BIu$Bɴu:u: uU6 B4鵅? hE<)G= ?I ?ɷ:鷅@: B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i&;=c?=c 9?ϼ) G=)IH<"Hw:0M=©wg RD'AYt.IK@t.xNbEi\I\)-GI1uD;uCلqyu{Gz?y&1~jtx?YuAIqiqqqɅuEAqu#< u`e)qVHˍ/Q>YˑyˑE˝4qC͝9>  ]A4?LE<ɯ= i??:ɱ:鱥A4Q 6鲵ֺ?Q 6 e=Q tI)vQ 7BI1&Bɴc:鴵4: 6 B4? JE<)= ?I?ɷb:˵: B4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i;g?g 9]ռ) * V>}m 'D'A)Ixw>xiE)ƄGHHIVHQ>YyEqC>  ]A4+?.E<ɯ= i??:ɱ:hA4Q 6O?Q  6 yh=Q  tI)Q  9BI'Bɴ$:: J6 C4? C4 +E<)= ?I?ɷ:: C4! !!H1H1F9F9F9FAzFAjFAEAEAxBcE HDHFp=iPIP)GIلף;y~jt? rh{Gzt?YAIiɅxA酱鄵D< C)ף;VH{9Q>YyErCL:>  ]A4? E<ɯ7= i??+:ɱ:xA4Q 6x?Q 6 Hk=Q tI)UQ :BIs)Bɴ:: i6  C4? E<) =  ?I?ɷ:: C4 H)H)F)F)F1F5*@zF1jF9E9E9<=Tracking...<=2Tracking contact label: 2iU/׾U;Q]p?]p ]9]ἉY)Y ]xnsbE)]{GIYVH}}Q>YˁyˁE˅irC͍>  ]A4?D<ɯX= i? ?:ɱ!:鱕:A4Q 6鲥X?Q 6 n=Q tI)Q  ]>)1 D'AYt.ÕK@t.2CZ@yt.a=t.>xFklE@L"@PiZ=IZjC)H@HIVH=E8QE>YAyAEEErCMV9M> Q ]]A4U?UD<ɯU}= i]?U,?U!:ɱU:UA4Q m6e8?Q m6 ep=Q mtI)eQ u=BIe,Bɴe:er: eW6 }C4uv? uD<)uS= ?Iu?ɷu:u": u;C4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ix"̽;y?y 9a) SexR nEGR?AHP {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGIMM̼لM`;yM~jt?Mby&1|?YMAIIiIIIɅMEAIM< M)M`;VH=EQE>YIyI E GsC ع>  ]A4?D<ɯ= i%?]?b:ɱg:XA4Q u6m?Q u6 mJt=Q utI)mQ }?BIm.Bɴm ;m; m76 C4鵅}? D<)= ?IV?ɷ:鷅m: QC4 H)H)F)F1F9F=+@zF9jF9EE<Tracking...<2Tracking contact label: 2i:n;? 9) =oxRoE]V^unknown deviceResponse_: 00000,186,80,81,12,FF iAIA)GIVHѸQ>Yy E sC x:?  ]%A4?D<ɯ= i%??M:ɱ:1A4Q 56-?Q U6 -v=Q UtI)- Q ]ABI-/Bɴ-;-; -6 eC4]? ]D<)]= m?I]~?ɷ]:]]: ]`C4 HHFFF!F!zF!jF!E)E) ]>ה OTD'A) I YtB,K@tBIZ@ytB`=tBxNLeE)ƄGHnAHmAIĻلy?Mby&1|?YAIiɅxA酡鄥< )VHq8Q>YyE tCs2: > 9 ]EA4=?=pD<ɯ=A= iM?= ?=:ɱ=T:=xA4Q ]7U?Q ]7 Uty=Q ]tI)UyQ ]BBIU1BɴU¿:U: U7 mC4e? enD<)e= ?Ie ?ɷe0;es; eqC4 HHFFFIFM*@zFIjFQEQEQ>x>u`E HBp=HBa=iRg=IP)Y!y!%E%ktC-9-> 9 ]EA4=?=ZD<ɯ=6= iM?=#?=4:ɱ=^:=wA4Q 7M?Q 7 M |=Q tI)MQ DBIM 3BɴM   `D'AYt..K@t.MZ@yt.>xBaE)GIVH˝8Q>YˡyˡE˥tCͭK9>  ]B4? aB4AD<ɯ= i?&?s<ɱf<鱵B4Q 7+?Q  7 =Q  tI)HQ  FBI4Bɴ:: r7 C4? >D<)= ?I&?ɷ:: C4%ծ? %ծ?-^ BHqHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2ie=m;@ 9) =iM=)IH%<"Hew:@A@A]|=1A fܡD'AiYt2K@t2eMZ@yt2a=t2ָ>xBNcE@D"@DiN=IL)UGIQ`廹ل;y?Mb~jtx?YIiɅ酙鄙 );VH 9Q>YyE@uC> ! ]%B4%?%(D<ɯ%?= i-?%)?%n:ɱ%=:%B4Q =75q?Q =7 5=Q =tI)5 Q =GBI5c6Bɴ5|:5M: 57 MC4E? 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C<)= ?IB0?ɷΥ:鷕i: C4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i]3];Ye/@e/ e9eI&a)a e=iLO=)IH<"Hw:)Ii19N mD'AYt.٣K@t.HQZ@yt.pa=t.;sxBy\E:@DB@D)~ƄGI< C=VH%;Q%>Y!y)-E-pvC-k:-> 1 ]=B456?5C<ɯ5g= iE?583?5:ɱ5:5=B4Q M7E?Q M7 E)=Q UtI)E$Q ULBIE;BɴE:E: E7 ]C4]%? ]C<)]B= e?I] 3?ɷ]:] : ]C4i iiHyHyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2iD; =@ 9,) =iquO=)qIqyH}<"Hw:©߱6 H D'AYt.ԢK@t.CPZ@yt.Va=t.BxB%hE H@H@iPIP)GIVH%Q%>Y!y)-E-vC-!-> 1 ]=B45D?5C<ɯ5= iE?5g6?5:ɱ5:5LB4Q M7MO?Q M7 M=Q UtI)MQ&Q UNBIM >iq` $#D'AYt.|K@t.NZ@yt.a=t.xBcE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )={GII%%̼ل!y%~jt?Mb~jtx?Y!I!i!!!Ʌ%EA%A%< %)!VHmu 8Qu>YyyyE˅JwC͍?> q ]}B4uY?uC<ɯuO= i}?uz9?uf:ɱu:u\B4Q  7鲅?Q  7 R=Q -tI)'Q -OBI>Bɴx<鴅< + 7 =C45=? 5C<)5Z= E?I59?ɷ5C*<5'< 5C4 HHFFFFzFjFEE<Tracking...I H<"Hw:1A T<D'AYt.K@t.]PZ@yt.`=t.hxBPaE]F^unknown deviceResponse_: 00000,186,80,81,13,FF @A"@ Ai-g=I))0GImAlAVH˽PQ>YyEwCs9>  ]B4?kC<ɯH> i?;?:ɱ:iB4Q  7*?Q  7 ǒ=Q tI):)Q QBI@Bɴ:Y: J 7 D4? 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MA<)M4> U?IM?ɷM:Md: M!K4Y YYHiHiFiFqFqFqzFyjFyEyEy<Tracking...<2Tracking contact label: 2iU$;~=~ 9A) >iDR=)IH<"Hw:‘ߙ]>  u  D'AYt.ϋL@t.>9[@yt.n,b=t.x@:@F=B@F=)~G< =EE'=لE94yEV-V-?I +YAIAiAAAɅAAE E<)E94VHU]9Q]>YayaeEe Cm{{7m> q ]}H4u ?uB<ɯu1> i}?u?u:ɱu:u3H4Q y7鲅@H܍?Q y7 )>Q tI)LQ BIBɴJ:鴅ض: y7 K4鵕? B<)&1> ?I?ɷ8:鷕: 3K4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i$;~=~ 9v) >iԢ=)IH<"Hw::{  D'AYt.\L@t.:[@yt.?a=t.g\xBkE HDHFa=iPIP)ƄGVH=EQE>YAyAMEM Q ]]H4UE?USB<ɯU-> ie?U ?U:ɱUE:UAH4Q mz7e'܍?Q mz7 e>Q mtI)eQ uBIe|Bɴe:e4: ez7 }K4u0? uQB< }tI)u-> ?Iu?ɷuW:ut: uDK4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i@H%;3>3 9',) 4>i=)IH<"Hw:-r.>5> 1 ‚  D'AYt.L@t.Y:[@yt.a=t.x6EmE)zGVH ͹Q >Y yEoC%> ) ]EH4-?-B<ɯ-)> iM?-*?-t;ɱ-;- OH4Q m{7]b܍?Q u{7 ]>Q utI)]Q }BI]JBɴ]z;]; ]x{7 K4鵍p? B<))> ?I,?ɷpi;鷍8v; QVK4 HHFFFFzFjFE!E)<-Tracking...<=2Tracking contact label: 2ie%m;im7 >m7 m9mIi)q u>iy}C=)yIyyH<"Hw:uOo8>IQ o%D'AiYt.L@t.9[@yt.`=t.x^PaE@fA"@dilIl)=ƄGAEA 0=ل#yX9vQ?{GzYIiɅ酁鄅 <)#VH˝kQ>YˡyˡE˥Cͭ>  ]H4޽?B<ɯ&> i??:ɱg:鱵]H4Q |7ۍ?Q |7 ">Q tI)qQ BIBɴ:: |7 K4ɽ? B<)&> ?Iz?ɷ:: $hK4 HHFFFFzFjFEE < Tracking...< 2Tracking contact label: 2i%4&%;!%>% %9-g))) -/>i15=)1I19H=<"H=w:)AIAiAA™ߡ J?D'AYt.ǍL@t.6;[@yt.a=t.SxR'fEGR@AHP {TY|TZ8****** ping requested ******mNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGVHUmM8Qm>YiyquEuܑC}x9}>  ]H4E?B<ɯe#> i??&;ɱ&;鱅lH4Q ~7鲝ۍ?Q ~7 P>Q tI)3Q BIBɴ(;鴝,; ~7 K4鵽2? B<)r#> ?I?ɷ`:鷽: zK4 HHFFFFzFjF E E<Tracking...<2Tracking contact label: 2i5&=;9=>= E9E%A)A Enr>iQUr=)QIYYHe<"Hmw:AAy߉C ['YD'AYt.L@t.=[@yt.{a=t. ?jѿs?+`? ?)u.L@ u.v;Iu,xBA>xBpE){FًI{Di{D{F>{D{FC{D|D9|F;\`M?xCѿib=I`)=GD94=لtyV- rh?YyECZ9>  ]H4 ? =C<ɯ  > i5? *? ;ɱ 4; bzH4Q E7=1ۍ?Q E7 =2>Q EtI)=Q EBI=ĸBɴ=,:=: =&7 uK4Mq? M u?IM'?ɷM;M; MK4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.962928 forward, -0.269760 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.958486,-0.279780,-0.055022;0.278824,-0.960030,0.024512;-0.059680,0.008153,0.998184 ]<VazimuthInNED_ = -3.131144 rad -- adding 2pi<ZazimuthInNED_ = 3.152041 rad after adding 2pi< tazimuthInNED_ = 180.598671 degrees FINAL. Radians:3.152041<-^ContactLat = 36.802750 ContactLon = -121.788095:E1E1H5'#Z @F仠H5;\`M?xCѿE5ًE1H5#Gf\|!oc-H5KEk@*$j\?E5 I@bE5jE5 BE1JE5o$?RE1ZE1rE5zE5iuF'u;qu>u }9}_y)y }->i6=)IH<"Hw:ߑ%Bacoustic_contact_range 8.759999 m%hTrackAcousticContact.heading_to_contact 3.152041 radV> ]>f) sD'A)IYt. L@t.y>[@yt.a=t.exBDoE:@F=B@J=)+G4= 4=VH=E7QE>YAyAMEM>CMs9M> Q ]H4U?U|C<ɯU;> i?U]?U<ɱU׏Q tI)Q BIBɴ:: 7 K4? }C<)1> ?Ik?ɷ̱;": K4! !)HQHQFYFYFYFazFajFaEaEa% 9) }>i=)IH<"Hw: D'AYt6L@t6;[@yt6a=t6`xFgE HN=HLirg=Ip)}XG==Ga=ل=Ty=L7A`堿 ףp= ?:vY=AI9i99=AɅ99=+ =Q8=)=TVHMU59QU>YYyY]E]wCee> a ]uH4ed?eC<ɯe> iu?e?ek:ɱe:e H4Q }7}Gaۍ? }4>Q tI)}TQ BI}eBɴ}q:}: }7 K4鵍L? 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D<) > ?I?ɷǺ:鷵: K4 HHFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2i*;~D>~D 9a)   >i  #=)IH<"Hw:-A5AQYy PD'AYt.jL@t.=[@yt.ͪa=t.7WxB+bEiPIP)~ƄGVH==Q=>YAyAEEEACM/M> Q ]]H4U?U;E<ɯU > i]?U ?U:ɱU:UFH4Q m7eڍ? e>Q mtI)eQ mBIeBɴe:eW: e27 }K4u? u8E<)u > }?Iu?ɷus:u : uK4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i+;L>L 9/) [{ >im=)IH<"Hw:©߹> a 0D'A).@I,Yt-L@t-=[@yt-Ja=t-I? ?)u-L@ u-v;Iu-Cx=>x=IiE:@E=B@A)ׄGp= ף=ل9y)\(X9v?I +YAIiAɅGa }=)9VH.^Q>YyExC%7%> ) ]5H4-2?-E<ɯ-> i5?-?-:ɱ-:-`H4Q E7=ƾڍ?Q E7 =>Q EtI)=Q EBI=jBɴ=l:=: =L7 UL4M? UL4 ME<)M> ]?IM?ɷM:Mŧ: ML4a aaHqHqFqFqFyF}+@zFyjFyEE<Tracking...<2Tracking contact label: 2i2,;{U>{U 9p) E >iX=)IH<"Hw:z6>y߉ (D'AYt.!L@t.@[@yt.]a=t. 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M>Q ]tI)MQ ]BIMBɴM;M; M7 eL4ea? e&G<)e= m?Ie?ɷe:eI: e:L4q qqHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.962928 forward, -0.269760 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.958386,-0.280103,-0.055131;0.279152,-0.959937,0.024406;-0.059758,0.008000,0.998181 ]<VazimuthInNED_ = -3.130807 rad -- adding 2pi<ZazimuthInNED_ = 3.152378 rad after adding 2pi<tazimuthInNED_ = 180.617960 degrees FINAL. Radians:3.152378<^ContactLat = 36.802752 ContactLon = -121.788096:EE3 AHkC @V^FzH;\`M?xCѿEEH784^!`.kFf<HT￀ a&EI@bEӿjE BEo$?JEREZErEzEi\l/;o>o 9J) . >iF=)IH<"Hw:) I i  q߁%Bacoustic_contact_range 8.699999 m%hTrackAcousticContact.heading_to_contact 3.152378 rad uD'AYt.*L@t.A[@yt.a=t.۾>xBjEG@H@)jGVH[Q%>Y!y!%E%CC-(-> 1 ]=I45?5G<ɯ5= i=?5?5:ɱ5:5I4Q M7E>ڍ?Q M7 E>Q MtI)EQ MBIEBɴE:E': Eb7 ]L4U? 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H<) = ?I '?ɷ U: 4: ]L4! !AHQHQFQFQFYF]*@zFYjFYEYE<Tracking...<2Tracking contact label: 2ikk/;J>J 9) 8>i=)IH<"Hw: HD'AYt.L@t.YA[@yt.a=t.JxBLeE:@DB@D)~ƄG= =VH=E1QE>YAyAEEMCMӷM> Q ]]I4U??UaH<ɯUs= ie?U?UD;ɱUY;U1I4Q m7mFٍ?Q u7 m>Q utI)mQ uBIm2Bɴm:m^: mt7 L4}(? }^H<)}= ?I}?ɷ}$:}': }mL4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i 3;C>C 9) >i5,=)IH<"Hw: t#D'AYt.L@t.$>[@yt.\a=t.rxBiE H@HBp=iPIP)~ׄGVH=E:QE>YAyAEEMߔCMM> Q ]]I4U?UH<ɯUk= ie?U?U:ɱU:U9?I4Q m7eٍ? e>Q mtI)eϬQ mBIeBɴeީ:e: e7 L4um? uH<)u= ?Iu}?ɷu@:ur: u~L4? ?HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iY2;#K>> 9) y>iz=)IH<"Hw:= ]>±߹a D'AYt.L@t.p@[@yt. a=t. x:eE)vG--=ل-9y-v/Mb?I +Y-AI)i))-AɅ))-xi -=)-9VHEM9QM>YIyQUEUCUy9]> Y ]eI4] ?]AI<ɯ]= im?]?]:ɱY]uMI4Q u7uٍ̻?Q u7 u?Q }tI)uQ }BIuBɴuݱ:u: u兇7 L4鵅? >I<)K= ?I?ɷ:鷅P: L4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i-3;>鎾 9Z) >>izʎ=)IH<"Hw:O D'Ai;Yt.L@t.B[@yt.xZgpE@bA"@`ihIh)5{G=A9VH}}q^9Q>YˁyˁE˅GC͍9>  ]I4?I<ɯ= i??:ɱ:鱕[I4Q 7鲥ٍ̚?Q 7 ?Q tI)@Q BIBɴ:鴥w: 7 L4鵵? I<)م= ?I?ɷ:鷵": L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i4; > 哾 9 b )  z>i,=)IH%<"H%w: ȵD'AYt.L@t.A[@yt.Vb=t./xBjEGB?AH@)]ƄGGa=ل`ey++?y&1YIiɅ =)`eVHm8Q>Y!y!%E%}C%-> ) ]UI4-Y?- J<ɯ-Fx= i]?-?-;ɱ-ܵ;-jI4Q e7];xٍ? ]?Q etI)]Q mBI]}Bɴ] :]: ]퟈7 L4mF? mJ<)mx= ?Im?ɷm_;mӠ: m0L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i 6b4;V>V 9) >io=)!I!!H-<"H-w:EB>MAMA!%  Ύ*D'AYt.L@t./B[@yt.&a=t.;xRiEi\I\)GVH-5Q5>Y1y15E5Cͥ/9>  ]I4?PJ<ɯg= i?j?+:ɱA:鱭xI4Q 7鲽FYٍ?Q 7  ?Q tI)Q BI@Bɴi:鴽\: )!7 L4? MJ<)g= ?I[?ɷW:: L4 HHFFFFzFjF E E < Tracking...<2Tracking contact label: 2i%6%;)->- -9- ))) -r>i15=)9I99HE<"HEw:3J>> a>- DD'A)@IYt2*L@t2B[@yt2Ga=t2Rѿ ͷ>x>EmE {@Y|@F8****** ping requested ******:@F=B@F=JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )0G VH%Q%>Y)y)5E˝Cͥ5n8>  ]I4?J<ɯR= i??:ɱ,:χI4Q 74ٍ?  ?Q -tI)zQ 5BI&Bɴr <Y!< 7 =L45? 5J<)5$S= E?I5?ɷ5:5: 5L4 HHFFFFzFIjFIEQEY<]Tracking...y 9m ) >i9="=)AIAAHM<"HMw:muCK>I Q 7 |F^D'AYt.@L@t.?[@yt.,a=t.xRlE HR4=HRa=){RI{Pi{R|={R1>{P{P{P|R( A9|R%m?<пipIp)EGY=لuyl~jt?QYAIiAɅ酩鄭 =)uVHh9Q>YyEC>  ]I4C?J<ɯ@= i?&?g:ɱ$:I4Q 7kٍ?Q 7 ?Q tI)Q BIBɴx:I: 47  L4 +? J<) A= ?I ?ɷ : : L4 !H)H)F)F1FF*@zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.964095 forward, -0.265556 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.958435,-0.279934,-0.055124;0.278986,-0.959986,0.024353;-0.059736,0.007962,0.998182 ]<VazimuthInNED_ = -3.126613 rad -- adding 2pi<ZazimuthInNED_ = 3.156573 rad after adding 2pi<tazimuthInNED_ = 180.858287 degrees FINAL. Radians:3.156573< ^ContactLat = 36.802754 ContactLon = -121.788098:E E ( AH ۽M @O14H %m?<пE E H .|!0*4ݵH H￀@d풟*8tE IJ@bE !jE  BE JE o$?RE ZE rE zE im- :u;qu>u u9uɩ q)q u/>iy}x^=)yIH<"Hw:)Ii)9%UBacoustic_contact_range 8.759999 m%]hTrackAcousticContact.heading_to_contact 3.156573 radb p$xD'AYt.vL@t.>[@yt.Ңa=t.0>xB nE)~YyEHC%%> ! ]-I4%?%$K<ɯ%P.= i5?%?%,:ɱ%:%ݡI4Q =7=؍? =o?Q EtI)=ʱQ EBI=Bɴ=1:=: =7 ML4M? M!K<)M.= U?IM?ɷM:M: MKL4Y YYHiHiFiFiFqFqzFyjFyEyEy<}Tracking...<2Tracking contact label: 2i:;> 9 ) >i=)IH<"Hw:I$ D'Ai4<Yt.pL@t.<[@yt.;a=t.xBsbE@JA"@HiTIT) GQQلUTyUl~jt?:vYUAIQiQQUAɅQQQ Q)UTVHemQm>YqyquEu}C}}>  ]I4g?nK<ɯG= i??:ɱݱ:鱅`I4Q 7鲕A؍?Q 7 }?Q tI)Q BIwBɴx;鴕g; ?7 M4S? M4 kK<)= ?I?ɷ:3: b M4? ?HHFF F F +@zFjFE1E1<=Tracking...<=2Tracking contact label: 2iM9M;QU\>u\ u9u6!q)q }>iy}=)IH<"Hw: s* {׫D'AYt.ґL@t.A?[@yt.a=t.xBrdEGBAAHD)~YAyAMEMCMe9M> Q ]]I4U?UK<ɯU = ie?UZ?U:ɱU^:UKI4Q m7e؍? el?Q mtI)e9Q mBIeCBɴeҨ:e_: e4Ƌ7 }M4u? uK<)u = ?IuK?ɷu':u: udM4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;;T>> 9%!) q>i#@=)IH<"Hw:±[1 D'AYt6ߐL@t6N>[@yt6*a=t6mxRpfEi\I\)GVH]eSȹQe>YayaeEeCmm> q ]}I4u?uK<ɯu[< i}?u@up:ɱu:uI4Q 7鲅!؍?Q 7 m?Q tI)Q BIBɴ:鴅: O7 M4鵕~? K<)< ?I @ɷs:鷕w: ,M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iS/<;I>I 9!) >>i=)IH<"Hw:V> V>7 ڍD'A)IYt.L@t.<[@yt.Ca=t.7xF)dE:@b=B@f=)EGP=ل`eylQ?y&1YIiɅ酁鄁 \=)`eVH˽+9Q>YyEC>  ]I43?>L<ɯ< i?t@4;ɱ׾:I4Q  7/t؍? ?Q  tI)Q  BIBɴ:ݱ: g݌7 =M45$? 5`ľ 9%") +>i=)IH<"Hw:= 0>j= bfD'AYt.L@t.*:[@yt.b=t.; ݘ??)u.L@ u.v;Iu.CxB>xB"lE HFp=HFp=iPIP)ƄGVH]e9Qe>YayamEmLCmm> q ]I4u?u{L<ɯu< i?u@u;ɱu|;uI4Q 7鲥T؍?Q 7 f!?Q tI)_Q BIBɴ:鴥 : ta7 M4鵵? yL<)ï< ?I@ɷ:鷵":  PM4 HHFFF!F!zF!jF)E)E)<-Tracking...<-2Tracking contact label: 2iex?e;ae>mɾ m9mv"i)i m>i^0=)IH<"Hw:kK>aiD BD'AYt.L@t.Y:[@yt.a=t.Kv;Iu.Cx6t>x6LeE)rG%;%C =ل%#y%S㥛/$?{GzY%AI!i!!%AɅ!!%/ݼ %<)%#VH˽/Q>YyEC,7>  ]I4?L<ɯƓ< i?@:ɱ:QI4Q 7N3؍? m$?Q tI)Q BIBɴ:: 17 M4? L<)֔< ?I@ɷ:I: aM4  HHFFF!F%*@zF!jF!E!E!<-Tracking...<-2Tracking contact label: 2i=?E;AE>EϾ E9E"I)I M>iIU6~=)QIQQH]<"H]w:5T> @AJ -D'Ai;Yt.L@t.j9[@yt.jga=t.xRdE@VA"@Ti\I`){GVH-5 Q5>Y1y1=E=CEE> A ]MJ4E? aMJ4EL<ɯEt< iU?E@E:ɱE:EJ4Q ]7]؍?Q e7 ]E'?Q etI)]ǶQ eBI]KBɴ],:]U: ]un7 mM4m? mL<)mw< u?Im@ɷm:m؛: mzrM4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU@U;Q]>]վ ]9]##Y)Y ]lv>iaeq͒=)aIaiHm<"Huw:)IiEAA!Q FD'AYt.L@t.;[@yt.!a=t.=x6$jEG:@AH8 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )1VHuˍ3(Q>YˡyˡE˭C͵(9>  ]J4 ?L<ɯ>< i?v@ ;ɱ: ;鱽wJ4Q 7-׍? \*?Q tI)Q BI!Bɴ; ; 7 }M4? L<)?< }?Iq@ɷ<T< M4 H9H9F9FAFAFAzFAjFEE<Tracking...<2Tracking contact label: 2i?;>ܾ 9#) g>i+=)a>IH <"Hw:9ISW `D'AYt.NJL@t.68[@yt.`=t.uw>x>iE]F^unknown deviceResponse_: 00000,186,80,81,18,FF i!I!):=ل`eyy&1:v?y&1YAIiAɅ` <)`eVH'Q>Yy%E%C%۹%> ) ]5J4-G?-M<ɯ-; i=?-@-:ɱ-:-"J4Q E7=m׍?Q E7 =n-?Q EtI)=?Q MBI=Bɴ=J:=^: =ሏ7 MM4M1? MM<)M; U?IM{@ɷMF=M[: MM4Y YYHHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2ifC;> 9#) 3>iAE.v=)IIIIHU<"HUw:AI> a>] SzD'A)IYt.2L@t.7[@yt.5 a=t.xbbE:@f=B@d)EƄGVH]e9Qe>YayamEmNCmĸm> q ]J4ue?u@M<ɯu ; i?ut@uZ;ɱu;uc/J4Q 7鲥h׍?Q 7 A0?Q tI)Q BIBɴ):鴥: Y 7 M4鵵R? >M<); ?Ip@ɷ۞:鷵: 0M4 HHFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2ie|Ge;e\]>e>e e9mz=$i)i m>iq깓=)IH<"Hw:%> %t>)1d D'AYt.8L@t.5[@yt.`=t.1 xBDoE HBa=HFa=iTIT)GMM<لM#yMYiyimEmCuSu>  ]J43?cM<ɯ i?%@@:ɱg:=J4Q 7׍? J3?Q tI)Q BIBɴ;; s7 %M4 ? aM<) %?I!@ɷ:: ,M4) )1H9HAFAFAFIFIzFIjFIEIEQi 9Q$) e>i[ =)IH<"Hw:…X>Aa"k 5D'AYt.ׅL@t.F3[@yt.Qa=t.>x>mjE)%ƄGVHU]9Q]>YYyaeEeCe㺹m> i ]uJ4m?mM<ɯmĜ i}?m@m:ɱm:mKJ4Q 7鲅%p׍?Q 7 16?Q tI)XQ BIXBɴW:鴅I: 7 M4鵕? M<) ?I@ɷb:鷕:  M4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i=RG=;9=>E E9EH%A)A EZ>iI]3W=)YIYaHe<"Hmw:¥na>aiq BD'AiYt.L@t.3[@yt.a=t. xZcE@`"@`ihIh)5G=A9VH}˅$ 9Q>YˁyˁE˅C͍8>  ]J4?M<ɯ i?y @:ɱ:鱕YJ4Q 7鲥O׍? (9?Q tI)Q BI'Bɴ:鴥Z: ע7 M4鵵? M<) ?It @ɷs:鷵: yM4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iH;> 9 i% )  ] >iv=)IH<"Hw:M1U>)QIQiQQA!x D'AYt.1L@t.3[@yt.\b=t.k_xRjEGR?AHP)]{Gtu<لףyMbp rh?{GztYIiɅ酡鄥 C<)ףVH˽{9Q>YyEC X>  ]J4 ?M<ɯz$ i? @:ɱ:GhJ4Q 7?.׍?Q 7 /iQU=)QIQYH]<"Hew:5ٞ]>iq= Xgot command get HorizontalControl.headingCmd= RHorizontalControl.headingCmd 3.053756 radJL~ ]D'AYt.փL@t.E1[@yt.!b=t.yxBgEiLIL)~0GVHmuQu>Yyyy}E}QCͅɾ>  ]J4W?M<ɯ@ i?c @;ɱ;鱍vJ4Q 7鲥G׍? ??Q tI)|Q BIBɴ:鴥: "7 M4鵵B? M<)> ?I] @ɷ:鷵: [M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i @]K ;  ?  9A&)  ">i@=)I!H%<"H-w:))I)i)1V> V>y߉3 (D'A)IYt2L@t2"1[@yt2a=t2xR_E:@V=B@T)jG]ף]ף;ل]y]y&1|?MbPYYIYiYYYɅYY] ]`;)]VHuQ>YyEC>  ]J4 j?  N<ɯ nF i5?  @ ;ɱ ; ƄJ4Q E7=֍?Q E7 =3B?Q EtI)=;Q EBI=Bɴ=N:=: =A7 ]N4MU? ]N4 M N<)MD e?IM @ɷM#;M$; MN4q yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ivK;? 9&) (">i;=)IH <"H w:;> p>] :/D'AYt.(L@t..[@yt.ia=t.+xRfE HRR=HPi`IbtC)+GVH-5Q5>Y1y9=E=CEֹE> A ]MJ4Ez?EN<ɯEK iU?E @E:ɱE,:EJ4Q ]7]֍? ]D?Q etI)]Q eBI]\Bɴ]:]: ]97 mN4me? mN<)mI u?Im @ɷm:m: m N4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i}O5;1= ?= =9=!'9)9 =,#>iAE&ߕ=)AIAIHM<"HUw:IYE YID'AYt.'L@t.,[@yt.ha=t.lxRLeE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GVH 9Q>YyEC>  ]J4?0N<ɯ_Q i? @:ɱ:ܠJ4Q 7y֍?Q 7 H?Q  tI)Q  BI5Bɴ,;~ ; oO7 N4鵵x? .N<)O ?I @ɷ <鷵<  4N4 !HYHaFaFaFiFizFijFEE<Tracking...<2Tracking contact label: 2iqLM;IM?M M9M'Q)Q U]$>iQ]:=)YIYYHe<"Hew:ߑo sccD'Ai4<Yt.|L@t.*[@yt.ib=t.xR'fE]V^unknown deviceResponse_: 00000,187,80,81,11,FF @ "@ i)I))G;;لy~jthMb`YIiɅD )VHS9Q>YyE"C*¹>  ]J4?.N<ɯ] i? @:ɱ:J4Q 7 ֍?  K?Q tI) [Q BI Bɴ : : `ؔ7 %N4? ,N<)<[ %?I @ɷ:؛: DN4) 11HAHAFAFAFIFIzFIjFIE)E1<5Tracking...<52Tracking contact label: 2iMIQM;MRh>m?m u9uv(q)q u%>iy}=)yIyH<"Hw:AA‰ߑ >}D'AYt.zL@t.'[@yt.a=t.hxRbEGRAAHP)%ƄGVH55*.Q5>Y9y9=E=RCEٹE> I ]UJ4M?M+N<ɯMi iU?M @M:ɱIMcJ4Q e7]k֍?Q e7 ]M?Q etI)]Q eBI]Bɴ]|:]n: ]X7 uN4m? m*N<)mf u?Im @ɷm:m: mUN4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iXT;? 9)() KH&>iǖ=)IH<"Hw:; D'AYt.xL@t. &[@yt.a=t.xBiEiPIVjC)GM`廹M`;لMyM{Gz?MbPYIIIiIIIɅIIM M#<)MVH]e9Qe>YiyimEmCmhu> q ]}J4u?uFN<ɯun i?u[ @u:ɱu$:uJ4Q 7鲍J֍? P?Q tI)Q BIBɴ!:鴍:  7 N4鵝? DN<)k ?IW @ɷ+:鷝M: fN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iFS;? 9R )) )'>i9=)IH<"Hw:Q> e> D'A)IYt.ItL@t.![@yt.b=t.ZxbgE:@dB@f=)={G=%= AVHMM$7QU>YQyQUEUC]+]> a ]mJ4e?e`N<ɯes im?e @e0:ɱe:eJ4Q }7uN*֍?Q }7 uS?Q }tI)uuQ BIufBɴu:uo: u]j7 N4鵅? ^N<)p ?I @ɷ:鷅: xN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i:5U;>?> 9ҋ)) (>i8e=)IH<"Hw: ^>> l>C WD'AYt.qL@t.B[@yt.Jb=t.*kxB$jE HFa=HDiPIP)9VH]e!79Qe>YayaeEmCmm>  ]J4 ?{N<ɯ2x i? @<ɱ<鱝J4Q 7J֍? V?Q tI)4Q BI=Bɴؗ;0; C7 MN4=? =zN<)=v u?I= @ɷ=;=; =N4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5xT5;15? ?5? 59=*9)9 =(>iAEE=)AIAAHM<"HUw:-Zh>  D'AYt.pL@t.[@yt.2b=t.vox6DoE)peeDلe;yey&1|?~jth?Mb`?YaIaiaaaɅaae`; eD;)e;VH}˅BoQ>YˁyˁEˍ"C͍KP>  ]J4?N<ɯm i? @R;ɱ ;鱕1J4Q 7Ս?Q 7 Y?Q tI)Q BI Bɴ:: ~7 N4? N<)=k ?I @ɷY:": sN4 HHFFF F zF jF EE<Tracking...<2Tracking contact label: 2i-uY-;)-#?5# 595U*1)1 5)>i9=&=)9IAAHE<"HMw:)IIQiQQ?A¹2 ID'Ai;Yt2pL@t2`[@yt2Ha=t2txRlE@T"@Ti\I`)+GVH-5LMQ5>Y1y15E=UC=8E> A ]MK4E? aMK4EN<ɯE;b iU?EE @E:ɱE:EK4Q 7UՍ?Q 7 U\?Q tI)UQ BIUBɴUq:U: U7 N4? N<)` ?IC @ɷ:: N4 11HAHAFAFIFIFIzFIjFQEQEQ<]Tracking...<]2Tracking contact label: 2im_UYu;qt'?t' 9(+) *>iT=)IH<"Hw:A©߹ aD'AYt.oL@t.W[@yt.a=t./x6IiEG8H8)vG-D;)ل-y-{GztY-AI)i))-AɅ))- -ף)-VHEMPQM>YIyIUEUCU"]> q ]K4u?uN<ɯuc i?uf @u;ɱu:uIK4Q 7鲕pՍ? _?Q tI)QQ BIBɴp:鴕A: K7 N4鵥? N<)` ?Id @ɷ:鷥U: N4 1HAHAFAFAFIFM*@zFIjFIEQEqi=)IH<"Hw:0 <2D'AYt. lL@t.y[@yt.ja=t.xRPaEi\I^tC)GVH--GOQ5>Y9yAEEMCee> i ]mK4m?mzN<ɯmc iu?m @m:ɱm:mZK4Q 7}Ս?Q 7 }b?Q tI)}Q BI}oBɴ}i:}: }{7 N4鵍v? zN<)a ?I @ɷg:鷍I: FN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ij^;k$r>.?. 97@,) u,>i=)IH<"Hw:V> V>8 PLD'A)IYt:iL@t:7[@yt:a=t:xFiE {HY|HN8****** ping requested ******:@V=B@V=bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ){GVH49Q>YyEC ʩ > ! ]-K4%~?%lN<ɯ%d i5?% @%';ɱ%';%M.K4Q E7=[dՍ? =e?Q MtI)=Q MBI=JBɴ=;=& ; =7 eN4]j? ]lN<)]vb e?I] @ɷ]l:]; ]N4 H H FIFFFzFjFEE<Tracking...<2Tracking contact label: 2i-Z-;)-_3?-_3 -9-,1)1 5 ->i9=J=)9I99HE<"HEw:Y> a>ߑ  eD'AYt2gL@t28[@yt2b=t2f>xBKgE HBp=HBp=]F^unknown deviceResponse_: 00000,186,80,81,16,FF i9I=jC)ƄG6only read 3 of 4 data itemshFailed to parse: :RA, 0.00, 97.92, 94.92, 95.42 a 1@a  a 5@a  a 9@a  a -@a  VH!99Q>YyE'C>  ]K4 r? _N< etIɯ le i?  @ :ɱ > 9K4Q %7CՍ?Q %7 h?Q -tI)|Q -BIBɴx:': +7 5@ 5@ =@ =@9 9AHIHIFQFQFYFYzFYjFYEYEai=)IH<"Hw:q߁>6 D'AYt.eL@t.J[@yt.ٵa=t.xRIiE)=GVHMMJQM>YQyQUEUXC]ѡ]> a ]mK4ef?eSN<ɯe)f im?e @e:ɱeH?emBK4Q u7u-%Ս? uck?Q }tI)u(Q }BIuBɴu:u: u7 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ic;y:?y: 9.) [-/>iaי=)IH<"Hw: h> D'AiYt2dL@t2[@yt2Ja=t2xRLeE@A"@iYIY)+GAa 1a 1 a 5a 5 a 9a 9 a -%a -% !%u<ل%Dy%:vMb?~jthY% AI!i!!%AɅ%EA!%T %<)%DVHU]uQ]>YayaeEeCe?~m> i ]K4m?m_N<ɯm/u i?mY @m;ɱm˷;mQK4Q 7鲥cՍ?Q 7 n?Q tI)Q BIBɴٮ:鴥g: @7     K4? K4 _N< tI)Is ?  YY @ɷ:: QK4 HHFFFF(,@zFjFEE < Tracking...< 2Tracking contact label: 2iE.`E;AE>?E> E9E.I)I M10>iqu/=)qIqqH}<"H}w:%jr>Ay߁DH D'AYt.^L@t.O [@yt.a=t.O xbkEGb@AH`)GVHK9Q>YyEœCX>  ]K4!  o?!  jN<ɯ9 i? @;ɱ;M_K4Q -7%ԍ? %rq?Q -tI)%Q -BI%Bɴ%:%v: %Û7 ]K4 ]] U^? a] UjN<)UG ]?YU @ɷU:U : U~bK4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i`qf;B?B 9Q/) 1>iz=)IH<"Hw:)!I!i!!‘ߡ0 aD'AYtjGWL@tj[@ytj`=tjx%eEiI)-GC<ل`y~jt:v?y&1|YAIiɅxA酉鄍D T<)`VHh%Q>YyEC>  ]K4!  ?!  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M<)ᱼ ?Y"@ɷ:鷵: O4 HHFFF!F!zF!jF!E!E)<-Tracking...<-2Tracking contact label: 2ie2Y;e;im@m m9m熾i)i mh~>iqu=)yIyyH<"Hw:Aiy~' ^D'AYt.K@t.zZ@yt.+a=t.9UxB^EGFAAHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGu:utلqyu{Gzt?y&1|MbP?YqIqiqqqɅqquף; u`)qVHuu۷Qu>Yyyy}E}Cͅ:>  ]N4!?M<ɯ i?"@:ɱ:N4Q 7n̍? -0@Q tI)Q  CIn Cɴ;; |7 O4 ? M<) ?Y"@ɷΥ:: L0O4! )1HQHQFQFYFYFYzFajFaEE<Tracking...<2Tracking contact label: 2iLʾ;&@& 9䇾) _>iZ=)IH <"Hw:9IQ /wD'AYt.;K@t.~Z@yt.! b=t.JxR,`E){Rd;I{Pi{R߾={R$>{P{R@A{P|RB9|R 29?QC1ml?ipIp)EׄGVHV9Q>YyEJC]):>  ]O4? aO4M<ɯp i?#@*:ɱL: O4Q 7S̍?Q 7 2@Q tI)RQ CI Cɴ5:: e7 O4 ? M<) ! ?Y  #@ɷ  : ?: >O4! !!H)H1F1F1F9F9zF9jF9EAEAi=)2j>IH<"Hw:‘ߙ%Dacoustic_contact_range 32.399998 m%hTrackAcousticContact.heading_to_contact 3.417476 radR> V>: YD'A)IYt2K@t2}Z@yt2Kb=t2b>xBpE:@F=B@F=) = %=Mף;M#لMyMMbp?I +YIIIiIIIɅIIM; M94)MVHee4(9Qe>YiyimEm|Cu*u> y ]O4}?}M<ɯ} i?}Y#@}T:ɱ}:}rO4Q 7鲍i3̍? 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KM<)K ?Y$@ɷ:鷍: O4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i'վ;@ 9) ik^=)IH<"Hw:> e>\ ,D'A)IYt.WK@t.ƎZ@yt.a=t.xR_E:@V=B@V=){GVH=E7QE>YAyAMEMCM9M> Q ]]O4U%?UMM<ɯU ie?U$@UA:ɱUV:UkO4Q m7eqoˍ?Q m7 ezF@Q mtI)eEQ uCIeCɴe:e: e7 }O4}? }MM<)} ?Y}$@ɷ}:}: }O4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i~վ;@  9 a )  i5竰=)1I19H=<"HEw:MJ> MR>2 |FD'AYt.oK@t.ސZ@yt.3b=t.*xBPaE HFa=HFa=iPIP)ƄGVH˕9Q>YˑyˑE˝C͝9>  ]O4?OM<ɯD i?鯥%@R:ɱE:鱥uzO4Q 7鲵Mˍ? jI@Q tI)Q CICɴ:鴵B: 27 O4? OM<) ?Y%@ɷÜ:+: O4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i־;@ 9L8) i!%=)!I!)H-<"H5w:  g`D'AYt.cK@t.ҒZ@yt.b=t.B־>xBoE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MׄG=;=Ļل=D;y=~jth?{Gzt~jth?Y=AI9i9=xA9Ʌ99=D; =ף)=D;VHu}hQ}>YˁyˁE˅"Cͭх9>  ]O4?BM<ɯʐ i?鯵E%@:ɱ0:鱵O4Q 7'ˍ?Q 7 L@Q tI)Q CIvCɴ;Z; C7 O4? BM<)d ?YB%@ɷ:: nO4  H1H1F1F1F9F=+@zF9jF9EAEAxBgE){BwwI{@i{B{={B1>{@{BC{@|B\A9|Bƻ"?^6Dҿ@RA"@Pi`I`)%GVH]e9Qe?YayaeEeMCm08m? q ]}O4u}?u9M<ɯus i}?ue%@u:ɱu:uyO4Q 7鲅 ˍ? O@Q tI)kQ CICɴ:鴅N: 7 O4鵕i? 9M<)$ ?Yb%@ɷ:鷕: O4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.956560 forward, -0.291537 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.961325,-0.269837,-0.055155;0.268936,-0.962876,0.023299;-0.059394,0.007565,0.998206 ]<tazimuthInNED_ = 178.702788 degrees FINAL. Radians:3.118952<^ContactLat = 36.802758 ContactLon = -121.788096:EE\AHขT[/ @`1Hƻ"?^6DҿEwwEHm P sx?خr*H5x]￀6 $?w}EG@bEC>jEBEo$?JEvo$?RE ZE rEzEhir޾;@ 9S퐾) iT=)IH<"Hw:A% Bacoustic_contact_range 8.460000 m%hTrackAcousticContact.heading_to_contact 3.118952 radm VJD'AYt.K@t.bZ@yt.8a=t.AxBLeEGFAAHFAA)~0G9=ףل=:y=Mb`?{GztMbP?Y= AI9i9=EA9Ʌ99=; 9)=:VH}˅Q>YˁyˁE˅C͍ 9>  ]O4`?.M<ɯކ i?鯕%@:ɱg:鱕O4Q 7鲥ʍ?Q 7 R@Q tI)Q CI2Cɴ:鴥k: <7 O4鵵K? .M<) ?Y%@ɷ:鷵: O4 HHFFFF(,@zF jF E E <Tracking...<2Tracking contact label: 2i%&۾-;)-@- -9-))1 1i9= ߱=)9I99HE<"HEw:;  $D'AYt.oK@t.ޓZ@yt. a=t.LxR'fEi`I`)%GVH]e*8Qe>YayaeEmCmm> q ]}O4uC?u"M<ɯuW i?u%@u:ɱu:uO4Q 7鲅ʍ? T@Q tI)lQ CICɴd:鴅x: 7 P4鵕/? P4 "M<) ?Y%@ɷ:鷕: ^P4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ھ ;  @  9F) i*=)I!H%<"H%w:V> V> &D'A)IYt2K@t23Z@yt2k(a=t2Zx@:@F=B@F>)~BG =VH%Q%>Y!y!-E-C-g9-> 1 ]=O45'?5M<ɯ5ׁ iE?5%@5z:ɱ5L:5O4Q M7Epʍ?Q M7 EW@Q MtI)EQ UCIECɴE:Eϸ: E]H7 ]P4]? ]M<)] e?Y]%@ɷ]:]: ]w P4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i\`۾;@% %9%a!)! !i)-w=))I)1He<"Hmw:}p= yQi D'AYt6K@t6Z@yt61a=t6xBjE H@HBp=iPIRjC)jGEEلE;yEI +?Mbp?YAIAiAAAɅAAE94< E)E;=e got command stopNm^Stop Mission called by CommandLine::commandStopVH˵7Q>Y˱y˹E˽Cͽ6:>  ]O4?M<ɯ:l i?&@:ɱ0:RO4Q 79ʍ? Z@Q tI)$Q CIjCɴ:,: 7 P4? M<)i ?Y&@ɷ:: 2P4? ? BH H F F FFzFjFEE<Tracking...<%2Tracking contact label: 2$-8MissionManager is completed.$-PUninitializing Mission lineCaptureHoming1- 0-RAggregate::uninitialize lineCaptureHomingq-0-vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes- 1-NUninitialize AltitudeEnvelopeComponent.-1-Uninitialize.1- 2-NUninitialize OffshoreEnvelopeComponent.q5<5HUninitializing TrackAcousticContact.5 =5Uninitialize.5=5@Uninitialize Buoyancy Component.15q55 ?5bAggregate::uninitialize lineCaptureHoming:DiveCmd5?=zAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive!= C=~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo!=C=Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive1"=q"=D=Uninitialize."= E=Uninitialize."=E=jAggregate::uninitialize lineCaptureHoming:RequestPing1#Eq#E#E1$E HEZAggregate::uninitialize lineCaptureHoming:Lapq$EHEdAggregate::uninitialize lineCaptureHoming:Lap:Dive$E IEhAggregate::uninitialize lineCaptureHoming:Lap:Dive:A$EIEzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder1%E JM~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A1&M LM|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance+Ma(mea(iea(ee+um%mu%iu%yu 9 1a A=aaa]aYaUaQaMaIaEaAa=a9a5a1a-a)a%a!!!!!! ! !!qaaa!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!i; 8  )  H<"Hw:%JHorizontalControl.headingCmd no_valueS> ˽D'AYt6K@t6Z@yt6a=t6Rw>xBiE)~ƄGVH==@Q=>YAyAEEEOCM9]> q ]}O4ui?u'M<ɯubV i?uf&@u{:ɱu:uO4Q 7鲅Niʍ?Q 7 v]@Q tI)|Q CICɴ:鴅: [7 P4鵝T? 'M<)S ?Yc&@ɷ4:鷝: CP4 $.Started mission DefaultY ):Aggregate::initialize Default1 *@Initialize GoToSurfaceComponent. *No depth rate setting specified. Using default value of nan m/s. *~No pitch setting specified. Using default value of nan degrees. *No speed setting specified. Using default value of 1.000000 m/s. *No surface timeout specified. Using default value of 1000.000000 seconds.*nReceived pitch timeout configuration 60.000000 seconds.)4Initialize Wait Component. )Ii Xz:;) )H<"Hw:%DSpeedControl.speedCmd 0.000000 m/s@A$ D'AiYt.0K@t.Z@yt.Sb=t.>xBcE@FA"@DiPIRtC)=GQQ;94لD;yy&1|?Y!y!%E%C%:-> ) ]5O4-?-M<ɯ-E i=?-&@-:ɱ-:-O4Q 7鲕Eʍ? `@Q tI)Q CI>Cɴٮ:鴕: (7 P4鵥? M<)B ?Y&@ɷ:鷥n: VP4  )Ii Xz:;) )H<"Hw: UY N  j/D'AYt.$K@t.Z@yt.b=t.g8x6gE)n{GVHuuq9Q}>Y}y}}Eyͅ*%:>  ]O4?M<ɯ6 i?鯍&@p:ɱ:鱍hO4Q 7鲙Q 7 Q tI)Q CIɴ :鴝: l7 P4鵭? 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Ug;)U> e?IUpt@ɷU:U: UmI4i ii q)qIqiq Xz:;) )H<"Hw:)4  J4D'AYt2L@t2[@yt2a=t2,xBnE)z+G]DYل]YyyyEˁͅ>  ]F4?g;ɯ> i?u@Q;ɱ;鱍F4Q _7鲹Q _7 Q tI)Q BIɴ˚:鴽: G._7 I4? g;)F> ?Iu@ɷ;; I4  ) I i  =Xz:=;999)9 A)AIHM<"HMw:߁0;  #4D'Ai4<Yt.L@t.~[@yt.La=t.xBkE@FA"@DiLIL)~GVH=EJ8QE>YAyAMEIMM> Q ]]F4UY?UPg;ɯU> i]?UBw@U:ɱU:UF4Q m`7aQ m`7 aQ mtI)aQ mBIaɴe:e4: e6`7 }I4uY? uOg;)uב> }?IuGw@ɷu::u: uȐI4  )Ii Xz:;) )H<"Hw:=Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b3ym 1 3=]got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b3ym 1 3.000000=]PScheduling command #1 of 3 with id=4b3ym=eScheduled #12 (#1 of 3 with id='4b3ym'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAP%A  m5D'AYt.L@t.V[@yt.ka=t.xBkE)~ׄGVH=E8QE>YAyAMEIM!7M> Q ]]F4U?Ug;ɯUC> ie?Ux@U=:ɱUR:UF4Q ma7aQ ma7 aQ mtI)aQ mBIaɴeN:e@: eSGa7 }I4u? ug;)u}> }?Iux@ɷu:uQ: u8I4p? p?A )Ii Xz:;) )H<"Hw:5H  M!5D'AYt.{L@t.[@yt.`=t.EjxBaEiLIL)9Dل94YˡyˡEˡͭ\>  ]F4 ?f;ɯ> i?y@8:ɱ(:鱵F4Q b7Q b7 Q tI)Q BIɴ,:: _b7 I4? f;):> ?Iy@ɷ:{: (I4  )Ii Xz:;) )  H<"Hw:!V> Y>=-2SBD MTMSN=20190328T181451 ҿ@z?@??)u.L@ u. v;Iu,xBb>xBpfE:@DB@D)zG~4= ~=VH˕H8Q>Y˙y˙E˙ͥ >  ]G4? aG4f;ɯ> i?1{@:ɱ2:鱭 G4Q c7鲹Q c7 Q tI)Q BIɴ:鴽: Ooc7 I4? f;)> ?I6{@ɷ:: I4  )Ii Xz:;) )H <"H w:*$U  dU5D'AYt.L@t.[@yt.Aa=t.oxBmEiLIP)+GDPلTYAyAEEAMc۹M> Q ]]G4U?Uff;ɯUڙ> i]?U|@U:ɱU :UG4Q md7aQ md7 aQ mtI)aQ mBIaɴeo:e@: eRd7 }I4u? uef;)u> }?Iu|@ɷu:u: uI4  )Ii Xz:;) )H<"Hw:{N[  Ulo5D'AYt.YL@t.Ɛ[@yt.1Ea=t.*xRjE)GVH%-u0Q->Y1y15E15d"=> A ]EG4E?E/f;ɯE> iM?E}@Eض:ɱE:Ev&G4Q Ue7QQ Ue7 QQ UtI)QQ ]BIQɴU:U;: Uކe7 eI4e? e/f;)e> m?Ie}@ɷe:e{: eI4q qq y)yIyi Xz:;) )H<"Hw:߹5b  _E5D'Ai;Yt.L@t.[@yt.`=t.3xBoE@FA"@DiLIL)~GVH=EJQE>YAyAMEIMM> Q ]]G4U?Ue;ɯUΝ> i]?U*@U:ɱU:U4G4Q mf7aQ mf7 aQ mtI)aQ mBIaɴe:ew: ef7 }I4u? ue;)u> }?Iu/@ɷu:u: u]I4  )Ii Xz:;) )H<"Hw:_h   5D'AYt.L@t.[@yt.pa=t.WxBiE)zBG==Cل=ף;y=I +?:v{Gzt?Y= AI9i999Ʌ9=xA=94< =T)=ף;VHUU9Q]>YYyaeEae9m> i ]uG4mf?me;ɯm> i}?m@m:ɱmf:mBG4Q g7鲁Q g7 Q tI)Q BIɴ:鴅: g7 J4鵍f? J4 e;)ߞ> ?I@ɷG:鷍u:  J4  )Ii Xz:;) )H<"Hw:n  5D'AYt.L@t.B[@yt.a=t. xBiEiLIL)~GVH=E 9QE>YAyIMEIMxM> Q ]]G4U?Ue;ɯUx> ie?U@Ub:ɱU:UPG4Q mh7aQ mh7 aQ mtI)aQ uBIaɴeȗ:e4: eh7 }J4u? ue;)u> ?Iu @ɷu?:u: u>J4  )Ii Xz:;) )H<"Hw: e>ru  85D'A)IYt:L@t:[@yt:a=t:xRlE:@R=B@V=)]ׄG]= Y<لDyMbpy&1|?~jthYIiɅ酙鄝 `;)DVHxQ>YyE%%> ) ]-G4- ?-e;ɯ-> i5?-$@-m:ɱ-¿:-_G4Q =i79Q =i7 9Q EtI)9Q EBI9ɴ9=U: =ri7 UJ4M ? Me;)M > e?IM'@ɷM;M; M.J4  )Ii Xz:;) )H<"Hw:{  5D'AYt.gL@t.ԅ[@yt.a=t.SxBinEiLIL)UGVH}˅ZT8Q>YˁyˁEˁ͍#>  ]G4R?e;ɯd> i?>@=;ɱ;鱕mmG4Q j7Q j7 Q tI)Q BIɴN:: j7 J4R? e;)> ?IA@ɷ;g; ?J4p? p?  )Ii Xz:%;!!!)! !))YH]<"Hew:ߑ΄   6D'AYt.L@t.3[@yt.Ua=t.}WxBpE)~{GVHem.1Qm>YiyquEqul8}> y ]G4}?}e;ɯ}ܝ> i?}Y@};ɱ}?';}u{G4Q k7Q k7 Q tI)Q BIɴ[<a< k7 UJ4E? Ee;)E> }?IE]@ɷETxBoE@D"@DiLIP)~ƄGAE<لEyE~jtI +?MbYEAIAiAExAAɅAAE E9<)EVH˝Q9Q>Y˙y˙Eˡͥ;>  ]G4s?f;ɯm> i?Ā@:ɱ#:鱭G4Q m7鲹Q m7 Q tI)Q BIɴ:鴽: m7 J4k? f;)> ?IÀ@ɷŧ:*: cJ41 11 9)9I9i9 MXz:M;IIQ)Q Q)QYH]<"Hew:q-؎  C>6D'AYt.wL@t.[@yt.Xa=t.;xBinE)~ׄGVH% Q%>Y)y)-E)5H5> 1 ]]G452?5Cf;ɯ5E> ie?5@5;ɱ5;5]G4Q mn7iQ mn7 iQ mtI)iQ uBIiɴmݖ:mϝ: m n7 J4u,? uBf;)u> ?Iu@ɷuS;u=; udsJ4  )Ii Xz:;) )H<"Hw:   "X6D'AYt.L@t.<~[@yt.ga=t.xRsEi\I\)G}Ļ}q=ل}y}lZd;O?MbYyIyiyyyɅyy} }j<=)}VH 8Q>YyEw>  ]G4?f;ɯ~> i?@;ɱ;NG4Q %o7Q %o7 Q %tI)Q %BIɴ,:۞: +o7 J4-? -f;)-> ?I-@ɷ-<-7< -օJ4  )Ii  UXz:U;QYY)Y Y)YaHe<"Hmw:yR> V>  q6D'A)IYt.hL@t.y[@yt.ta=t. xB$jE:@F=B@D)ƄG= =VH˭8Q>Y˱y˱E˱ͽ0>  ]G4?f;ɯ> i?@p:ɱ:7G4Q p7Q p7 Q tI)Q BIɴ;:ի: P5p7 J4? f;)0> ?I@ɷ:: ՖJ4  )Ii Xz: ;   )  )qH}<"H}w:߉Ѣ  5ԋ6D'AYt.L@t.5x[@yt.`=t.xBiEiTIT)GVHe˅JQ>YˑyˑE˙ͭC>  ]G4Q?[g;ɯG> i ?u@<ɱ <_G4Q =q79Q =q7 9Q EtI)9Q EBI9ɴ=E:=: =Nq7 MJ4MT? M\g;)Mz> U?IMy@ɷM:M: MרJ4y yy )Ii Xz:;) )H<"Hw:  F6D'AYt6L@t6v[@yt6`=t6LxB$jE)~{G};}=ل}jy}V-y&1?Zd;OY} AIyiy}EAyɅyy}m }`e=)}jVH˝"Q>Y˙y˙Eˡ̩ͥ>  ]G4ů?g;ɯ> i?@b;ɱ;鱭_G4Q r7Q r7 Q tI)Q BIɴ: : WWr7 J4? g;)Ϗ> ?I@ɷB;; ƹJ4 !! )))I)i) UXz:];YYY)Y Y)aaHm<"Hmw:߁&  6D'Ai4<Yt.L@t.q[@yt.Ga=t.4xZkE@\"@\i|I|)eƄGiiVH}}G9Q>YˁyˁEˁ͍%>  ]G4:?&h;ɯʋ> i?@:ɱ¿:鱕`G4Q s7Q s7 Q tI)Q BIɴw:: is7  J4:? &h;)>  ?I@ɷg:4: VJ4p? p?A !)!I!i! -Xz:5;111)1 1)99HE<"HEw:Y  g6D'Axz>x%lE)ׄG+=لuyMbMb?QYIiɅ@ @=)uVHQ>YyE>  ]G4 Q? h;ɯ g> i? u@ :ɱ [:  G4Q %t7Q %t7 Q %tI)Q %BIɴݖ:: }t7 5J4-D? -~h;)-> 5?I-r@ɷ-:-n: -J4A AA I)IIIiI ]Xz:];YYY)Y Y)aaHm<"Hmw:߁Received command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b3ym 2 3=% got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b3ym 2 3.000000=% PScheduling command #2 of 3 with id=4b3ym=5 Scheduled #13 (#2 of 3 with id='4b3ym'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP!9  D6D'AYt.L@t.Vj[@yt.`=t.zxBpEiPIP)GVH=EBQE>YAyAMEIMM> Q ]G4U7?Uh;ɯU=> i?UG@U2}<ɱU} ?IK@ɷԘ:: J4  )Ii Xz: ;) )H%<"H%w:9V> ]>i  * 7D'A)Ix~d>x$jE:@=B@){G< %%u=ل!y%/$I +?QY!I!i!%xA%AɅ!!%, %94=)!VH=EQE>YAyAEEIMM> Q ]]H4U/? a]H4U,i;ɯU> i]?U#@U:ɱUܹ:U H4Q mv7aQ mv7 aQ mtI)aQ mBIaɴe:e: eKv7 }K4u#? }K4 u*i;)u> }?Iu!@ɷu:u: u<K4  )Ii Xz:;) )H<"Hw:=}2SBD MTMSN=20190328T181458tJ  &7D'AYt.UL@t.`[@yt.`=t.pxZKgEidId))VH=EQE>YAyAMEIMTκM> Q ]]H4U۹?Uxi;ɯU> ie?Uވ@U:ɱU :UH4Q mw7aQ mw7 aQ mtI)aQ mBIaɴeݖ:eI: ew7 }K4uϹ? uvi;)uƂ> ?Iu܈@ɷu:u : uCK4  )Ii Xz:;) )H<"Hw: 2  =@7D'AYt.+L@t.][@yt.Fa=t.xJlE) VH9Q%>Y!y!%E!-h-> 1 ]=H45?5i;ɯ5'> i=?5@5k:ɱ5:5$H4Q Mx7AQ Mx7 AQ MtI)AQ MBIAɴE:Ew: Ex7 ]K4U? Ui;)Um> ]?IU@ɷU:UQ: U!K4a ai i)qIqiq }Xz:;) )H<"Hw:ߩ^\  ޭZ7D'Ai;YtFL@tF`W[@ytF`=tFatxRBqE@T"@Ti`I`)%ƄG-A)e`廹e9<لeĻye{Gz/$?~jtxYaIaiaeEAeAɅaae# e<)eĻVH}˅MQ>YˁyˉEˉ͍n>  ]H46?i;ɯ:~> i?@:ɱ+:鱕3H4Q y7鲡Q y7 Q tI)Q BIɴ:鴥: y7 K4鵵+? i;)~> ?I@ɷ:鷵: x3K4  )Ii Xz:;) )H<"Hw:  t7D'AYtBQL@tBU[@ytB`=tBxbaE)=GVHMMQM>YQyQUEQ]W]> a ]mH4e?e*j;ɯe?|> im?eE@e:ɱe:e@H4Q }z7qQ }z7 qQ }tI)qQ }BIqɴuZ:un: u z7 K4鵅? (j; tI)|> ?IC@ɷ:鷅: DK4  )Ii Xz:;) )H<"Hw:s  F{7D'AYt/L@tS[@yta=tx%nEiAIA)0G94<لy{GztI +?MbpYIiɅף 94<)VH]9Q>YyE  >  ]H4 ?Dj;ɯz> i?p@$:ɱ:OH4Q %{7!Q -{7 !Q -tI)!Q -BI!ɴ%^:%: %]{7 =K45? 5Bj;)5M{> =?I5m@ɷ5Ü:5: 5WK4A AA Q)QIQiQ ]Xz:e;aaa)a a)iiHu<"Huw:߉ V>}  B?7D'A)IYt.ˣL@t.8Q[@yt.a=t.xBlE:@F=B@D)}G VH˥7Q>YˡyˡEˡͭù>  ]H4M?\j;ɯby> i?@#:ɱӻ:鱵]H4Q |7Q |7 Q tI)Q BIɴV:': |7 K4B? Zj;)y> ?I@ɷ:i: gK4  !)!I!i! 5Xz:5;199)9 9)9AHE<"HMw:߹b  z7D'AYt.L@t.cN[@yt.Ma=t.gxBlEiLIP)~GVH%%HQ->Y)y)-E)5G5> 9 ]H4=?=tj;ɯ=x> i?=@=^:ɱ=:=)kH4Q ~7Q ~7 Q tI)Q BIɴ:: E ~7 K4? tj;)x> ?I@ɷ4:7: yK4    )I1i1 EXz:E;AII)I I)IQHu<"H}w:߉^  87D'AYt.L@t.I[@yt.Qa=t.ʙxBpE)z+G]]`e<ل]Dy]MbI +?~jthYYIYiYYYɅYY] Y)]DVHuQ>Yy%E!%A%> ) ]UH4-?-j;ɯ-w> i]?-@-;ɱ-#;-`zH4Q e7aQ e7 aQ etI)aQ mBIaɴe:en: e&7 K4m? mj;)mw> ?Im@ɷm;m: mK4  )Ii Xz:;) )H<"Hw:  7D'AiYt.FL@t.F[@yt.O8a=t.wxxBmjE@FA"@DiLIP)~GAVH%Q%>Y!y)-E)-=й5> 1 ]=H45P?5j;ɯ5)v> iE?5@5:ɱ5:5aH4Q e7YQ e7 YQ etI)YQ eBIYɴ]:]: ]i7 uK4mC? mj;)mv> u?Im@ɷmn:m: mK4  )Ii Xz:;) )H<"Hw:  8D'AYtNL@tNE[@ytN5?a=tNVxV'fE)UG:ף<لyQ:v?MbpYAIiAAɅ酡鄥u T<)VH˽ 7Q>YyES1>  ]H4?j;ɯt> i?_@:ɱ:6H4Q 7 Q  tI)Q  BIɴ:N: ؟7 K4? j;)uu> ?I]@ɷϝ:: K4! !! )))I)i Xz:;) )H<"Hw:h  D)8D'AYt.~L@t.C[@yt.Oa=t.xBkEiLIL)~ƄGVH%+8Q%>Y!y)-E)-ᅹ-> 1 ]=H45?5j;ɯ5s> iE?5@5O:ɱ5:5H4Q M7AQ M7 AQ MtI)AQ UBIAɴE :E: E7 ]K4U? Uj;)U]t> e?IU@ɷUL:U: UgK4i ii q)qIqiq Xz:;) )H<"Hw: e> sdC8D'A)IYt.ŔL@t.2B[@yt. a=t.x>xBsE:@B=B@B=)zG~%= |VH%)Q%>Y!y!-E)-}-> 1 ]=H45-?5j;ɯ5r> i=?5@5ʽ:ɱ5{:5H4Q }7y yQ tI)yQ BIyɴ}5:}: }17 K4鵍"? j;).s> ?Iދ@ɷ:鷍: K4  )Ii Xz:;) )H<"Hw:9 >]8D'AYt.L@t. @[@yt.8a=t. xrwEi|I)e{G;لyMbpMbp?MbpY AIiEAAɅ酡鄥 ;)VH8Q>YyE g >  ]=H4]?j;ɯ q> i=?@;ɱ;H4Q E7AQ E7 AQ MtI)AQ MBIAɴEȗ:E: E:7 uK4UR? Uj;)Uq> }?IU@ɷU=;Ua: UK4  )Ii Xz:;) )H<"Hw:# w8D'AYt.#L@t.>[@yt.a=t.xBDoE)1VH]eC/Qe>YayaeEamvm> q ]}H4u?uj;ɯuo> i}?u@u:ɱu:uBH4Q 7鲁 Q tI)Q BIɴ:鴅: 7 K4鵕|? j;)%p> ?I@ɷ;鷕;  K4  )Ii Xz:;) )H<"Hw: = $ ~8D'AiYt.L@t.>[@yt.`#a=t.xnsE@p"@pixI|)ףDلy{Gzt?Mb`?MbPYAIiAɅף; ;)VH5=>7Q=>Y9yAEEAE$M> I ]UH4Ma?Mj;ɯMo> i]?M@M{:ɱMI:M_H4Q m7aQ m7 aQ mtI)aQ uBIaɴe:e: eM7 }L4uU? }L4 uj;)uo> ?Iu@ɷuK:u: uL4  )Ii Xz:;) )H<"Hw:4* Ϊ8D'AYt.L@t.q;[@yt. a=t.|XxRiE)VH]e`9Qe>YayamEimZm> q ]}H4u??uk;ɯun> i?u+@uk:ɱu:u~H4Q 7鲁 Q tI)Q BIɴՐ:鴅: `˃7 L4鵕4? k;)#o> ?I)@ɷ<鷕< L4! !! )))I1i1 EXz:E;AAA)A I)IIuReceived command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b3ym 3 3H<"Hw:ߩ=got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b3ym 3 3.000000=PScheduling command #3 of 3 with id=4b3ym=Scheduled #14 (#3 of 3 with id='4b3ym'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP= zgot command load ./Missions/Engineering/lineCaptureHoming.xml$ zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml1 8D'AYt.wL@t.;[@yt.dra=t.7lxBinEiLIL)~ƄGVH%dQ%>Y!y!-E)-+8-> 1 ]=H45?5k;ɯ5n> iE?5<@5!:ɱ5:5UH4Q M7AQ M7 AQ MtI)AQ UBIAɴE:E: EP7 ]L4U? Uk;)Un> e?IU:@ɷUk:U?: U&L4i ii; Xz:) )H<"Hw:Y> V>!Ej@A$MnDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h!]z@Y$]tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min!m@m?$mfDefineArg lineCaptureHoming.Repeat = 1.000000 count!}@y$`DefineArg lineCaptureHoming.DockLat = nan arcdeg!@$`DefineArg lineCaptureHoming.DockLon = nan arcdeg!@$bDefineArg lineCaptureHoming.StartLat = nan arcdeg!@$bDefineArg lineCaptureHoming.StartLon = nan arcdeg!@$pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m!@$jDefineArg lineCaptureHoming.cameraRange = 25.000000 m!@@$dDefineArg lineCaptureHoming.DockRange = 4.000000 m! A$jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool!A$ DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min!*A$jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s!%:A%@$-tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min!=JA9$EjDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m!MZAI$ xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min! jA >@$ fDefineArg lineCaptureHoming.InitDepth = 30.000000 m!M zAM @$M xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min!] AY $ xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count! A $ tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count! A DUSBL_Hydroid.loadAtStartup$ DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup! A $ `DefineArg lineCaptureHoming.Speed = 1.000000 m/s!E AA $M lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m!U AU @$ hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m! A $ fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m! A @@~G7 8D'A)IYt.L@t.S<[@yt.]a=t.}xNtE:@R=B@R=$fjDefineArg lineCaptureHoming.MinOffshore = 2.000000 km!nBl$rhDefineOutput lineCaptureHoming.HomingActive = 1 bool!vBv$znDefineOutput lineCaptureHoming.cameraRequested = 0 bool!~"B~)G< =Ļلy{Gzt?Mbp?YIiɅ ;)VH}˅rQ>YˉyˉEˉ$dDefineOutput lineCaptureHoming.DoingComms = 1 bool!2B$pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool$lInserting Stack: Missions/Insert/StandardEnvelopes.xmlo8>  ] I4? a I4 k;ɯn> i ?T@R:ɱ:I4Q 7鲱 Q tI)Q BIɴ:鴵n: 7 L4? k;)n> ?IS@ɷ:h: ;L4  ; Xz:) aUJBU@$]DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 maeZBmi@$mDefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 ma}jB}@@$}DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m)H<"Hw: 1E6Construct AltitudeEnvelope.10Construct DepthEnvelope. 2e6Construct OffshoreEnvelope.!q$\Inserting Stack: Missions/Insert/NeedComms.xml! C @$ ~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h!  C @$ DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min!  C p= `8D'AYt.LL@t.=[@yt.Ja=t.xBkE$JDefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdegiLIP)ƄG!E DA$MDefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s!UDQVH˥ 99Q>YˡyˡEˡͭw9> $DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!*D$~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min!:D ]I4ڿ?-k;ɯm> i?g@^<ɱ^<鱵!I4Q %7!Q -7 !Q -tI)!Q -BI!ɴ%E:%Ӡ: %j7$]DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min L45ο? 5,k;)5n> ?I5f@ɷ5b<5c< 5KL4  5,Construct GoToSurface.; Xz:) )!!H-<"H-w:߹%RHorizontalControl.headingCmd 3.053756 rada!-a%-a)-a-5a15a55a95a==aA=aE=aI=aMeaQmaUmaYma]maau =}Construct.=&Construct Buoyancy.=@%Construct.a A5 A=Construct. 1 9D5Construct. EeConstruct.K]&Construct Waypoint.%ym%iu%mu WConstruct.+u P "Construct SetNav.a(e a(i a(m  Q Construct Wait.S% &Construct Waypoint.T Construct Wait.YD >@9D'AYt.L@t.X;[@yt.;a=t.__??)u.L@ u.v;Iu.Cx>.>xBBqE)zׄG=9ل9y=MbP?MbP?Y9I9i999Ʌ99=: =:)9VH˝Q>YˡyˡEˡͭj>  ]I4Կ?0k;ɯm> i?l@<ɱ8<鱵@#I4Q 7 Q  tI)Q  BIɴ%:: 7 L4ȿ? /k;)}n> ?Ik@ɷ<: P\L4 ; Xz:) )H<"Hw:$%O Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. =]fLoaded ./Missions/Engineering/lineCaptureHoming.xml@AJ ],9D'AiYt.7L@t.:[@yt.a=t.jxBKgE@FA"@DiLIP)~GVH%K Q%>Y)y)-E)-5> 1 ]=I45Ͽ?54k;ɯ5m> iE?5p@5:ɱ5׾:50I4Q M7AQ M7 AQ MtI)AQ UBIAɴEݖ:E: Eq7 ]L4U¿? 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N4 dl;)f> %?Iю@ɷ:ɪ: N4) )) 1)1I1i1 EXz:E;AAA)A I)IQH]<"H]w:iN  {;D'AYt./L@t.H[@yt./a=t.G8xBmjE)~Y)y)-E)5ٞ85> 1 ]]J45!?5xl;ɯ5d> ie?5@54;ɱ5;5ȑJ4Q m7i iQ mtI)iQ uBIiɴm1:mg: m^7 N4u? uvl;)u%e> ?Iu@ɷu;u; u N4  )Ii Xz:;) )H<"Hw:  a;D'AYt>L@t>ML[@yt>Xa=t>_H˩? ѿ4u7?u' ??)u>L@ u>/v;Iu>CxNù>xNrdEi`I`)UGVH8Q>YyE :>  ]J4?l;ɯc> i?.@:ɱ:ΠJ4Q 7 Q 7 Q tI) Q BI ɴ : D: N7 %N4}? l;),d> %?I+@ɷE:U: 3N4) QQ Y)YIaia mXz:;) )H<"Hw:  4;D'A)IYt.)L@t.N[@yt.a=t.@txRkE:@V=B@V=)G= =E6only read 3 of 4 data itemsEhFailed to parse: :RA, 0.00, 94.42, 98.42, 95.92 a 1E@a E a 5E@a E a 9E@a E a -E@a E VHˍ8Q>YˑyˑEˑ´9>  ]J4?l;ɯb> i ?[@ի:ɱc>>x>iEilIp)UGVH˝ Q>YˡyˡEˡͭS:>  ]J4T?l;ɯa> i?@;ɱM?鱵FJ4Q 7Q 7 Q tI)Q BIɴ:؛: ;]7  )Ii! -Xz:-;)1Q)Q Q)YYHe<"Hew:ߙ"Clearing failed state for component DeadReckonWithRespectToSeafloor ?. lxB%hE)z{Ga 1a 1 a 5a 5 a 9a 9 a -a - L=لDyQ롿Q?~jtYAIiAAɅ酉鄍\ \=)DVHߌ9Q>YyE>  ]J4?l;ɯ]> i?0@:ɱ:J4Q  7  Q tI) Q 5BI ɴ ͭ; ; .79 AA I)IIIiI }Xz:};yyy)y y)H<"Hw:?AW  v3xnlE@p"@pi|I|)QVH9Q>YyE9>  ]J4\?6m;ɯ9Z> i?Ր@)<ɱ!<J4Q 7Q 7 Q tI)Q BIɴc:4: fx7     J4{? J4 em; tI)W> ?  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A )Ii Xz:;) )!H%<"H-w:99 >xBnhE)GVH=EQE>YAyAMEIM%8M> Q ]]K4Uq?Uo;ɯUl5> ie?U@U:ɱUN:U3K4Q m7aQ m7 aQ mtI)aQ mBIaɴeo:e@: e!7 K4ux? uo;)u'3> ?Yu!@ɷu ҿ x+?!`R?@?)u.]L@ u.Zv;Iu.CxBd>xB$jEiLINyC)~{GVH%ow8Q%>Y!y!-E)-C8-> 1 ]EK45?5p; eEtIɯ5.> iM?5@5);ɱ5(;5AK4Q U7I IQ UtI)IQ UBIIɴM:Mb: M7 eK4]? ]Fp;)],> e?Y]@ɷ]s:]U: ] [K4u? u?uA )Ii UXz:U;QQY)Y Y)YaHe<"Hmw:ߙN> ]>F w=D'A)IYt.L@t.a[@yt. a=t.xBmE:@F=B@F=)IU= U=Ga=لTyYyyy}Eyͅ%9>  ]K4?zp;ɯ#*> i?鯅{@:ɱ:鱅RK4Q 7Q 7 Q tI)Q BIɴ^:: >L7 K4? p;)'> ?Y@ɷ:: oK4  )Ii Xz:;  )  )IIHU<"HUw:iXL U6=D'AYt.L@t.b[@yt.#`=t.-xBIiEiLIL) VH]eւQe?YayaeEam99m? q ]K4u?up;ɯu&> i?u@u;ɱub;uk^K4Q 7鲡 Q tI)Q BIɴ:鴥N: 7 K4鵵? p;)l$> ?Y@ɷ<鷵<< ^~K4  )Ii Xz:;) )!!H-<"H5w:ArS BP=D'AYt6iL@t6g[@yt6`=t6xNpE) U:Uj<لUĻyU rhQ?~jtxYQIQiQQQɅQQUC Uu<)UĻVHmmj59Q>YˑyˑE˙͝_O:>  ]K4?p;ɯ$> i-?鯥`@-<ɱ<鱥lK4Q =71Q =7 1Q =tI)1Q =BI1ɴ5:5: 5rK7 MK4E? Eq;)Eh"> ?YEؙ@ɷElxBhE@FA"@DiLIP)~ƄGAVH%?Q%>Y)y)-E)-]:5> 1 ]=K45A?5p;ɯ5"> iE?5@5:ɱ5f:5`zK4Q M7A AQ MtI)AQ MBIAɴE[:Eȗ: EȜ7 ]K4UK? Uq;)U > ]?YU@ɷUr:U: UK4  )Ii Xz:;) )H <"H w:߁` `=D'AYt.L@t.'o[@yt.'Ua=t.dxBvE)~GVH]en9Qe>YayamEim/9m> q ]K4u?u q;ɯu > i?u@u;ɱu5;uƈK4Q 7鲡Q 7 Q tI)Q BIɴ:鴥': 0U7 K4鵵? 6q;)> ?Ym@ɷ;鷵; K4  )Ii %Xz:%;!!!)) )))1HU<"HUw:i3g ʝ=D'AYt.L@t.:p[@yt.la=t.h>x>KgEiLIL)~{G==tل=D;y=y&1|?~jtx~jth?Y=AI9i9=EA9Ʌ9=A=`; =Ļ)=D;VHu} a8Q}>YˁyˁEˁ͍w(9>  ]K4?q;ɯ!> i?鯍@<ɱ<鱍 K4Q 7 Q %tI)Q %BIɴ̒:: 7 -K4%? %,q;)%> U?Y%@ɷ%;% ; %K4Y YY a)aIaia Xz:;) )H<"Hw:V> V>Bm =D'A)IYt.L@t.cw[@yt.{a=t.`=xR"lE:@V=B@V=)%4= !VH=E8QE>YAyIMEIM:M> Q ]K4Uf?Up;ɯU"> i?U5@Uz<ɱUy ?Y@ɷ۞:: K4  )Ii Xz: ; ) )YYHe<"Hew:y)t v=D'AYt.L@t.7x[@yt.?a=t.xBcEiLIP)EƄGDQ8لDYyE  p8 >  ]=K4?p;ɯ'> iE?֚@]:ɱ:سK4Q M7I IQ MtI)IQ UBIIɴM[:M; M7 K4}? }p;)}$> ?Y}K@ɷ}Υ:}Υ: }K4  )Ii Xz:;) )H<"Hw:Tz T=D'AYt.L@t.[@yt.a=t.KxBrdE)zGVH]]KQe>YayaeEamT:m> q ]K4u?up;ɯu*> i?ug@uE;ɱu;u@K4Q 7鲡Q 7 Q tI)Q BIɴ:鴥7: u7 K4鵵? p;)S(> ?Yٛ@ɷi\<鷵\< bK4! !! )))I)i1 =Xz:=;AAA)A A)IIHU<"H]w:i; +>D'AiYt.L@t.l[@yt.a=t.xBEmE@FA"@DiLIP)~{GVH%8Q%>Y)y)-E)-'ٸ5> 1 ]=K45&?5Zp;ɯ5z.> iE?5@5:ɱ5:5K4Q M7A AQ MtI)AQ MBIAɴE:E,: E7 ]L4U ]?YUm@ɷU:UȲ: UJ L4y y )Ii Xz:;) )H<"Hw:1e _>D'AYt._L@t.̃[@yt.sa=t.cxBfE)~+GeeDلeTYˁyˁEˁ͍g(:>  ]uK4?p;ɯ2> iu?鯕@W}=ɱ6}=鱕K4Q }7yQ }7 yQ tI)yQ BIyɴ}g:}: }w7 L4鵍|? Ap;)0> ?Y+@ɷ=<鷍^< L4  )Ii 5Xz:5;111)9 9)9AHE<"Hw:ߙݐ ?8>D'AYt.L@t.@[@yt.KJa=t.xB$jEiLIL)GVH%}ԸQ%>Y!y)-E)- :-> 1 ]=K45-?5o;ɯ56> iE?5?@5\:ɱ5.:5UK4Q M7AQ M7 AQ MtI)AQ UBIAɴE:A Eu 7 ]L4UC? Up;)Us4> e?YU@ɷU:U;: U*,L4mp? mp?m A q)qIqiq Xz:;) )H<"Hw: ]>w ^R>D'A)IYt.L@t.[@yt.`=t.\NxBNcE:@F=B@F=)MGU< QD/]لY!y!%E!-9-> ) ]uK4-Z?-o;ɯ-<> iu?-@-g*=ɱ-M*=-K4Q }7y yQ tI)yQ BIyɴ}:}E: }᪡7 ML4鵍E? o;):> U?Y@ɷh:鷍y: @L4Y YY a)aIaia uXz:u;qyy)y y)yH<"Hw:ߙ2 Ll>D'AYtB)L@tB[@ytBH`=tBCVxN+bEihIh)eGVH˽ܥQ>Y˹yE:>  ]L4? aL4\o;ɯA> i?@!<ɱ:FL4Q %7!Q %7 !Q %tI)!Q -BI!ɴ%:%b: %`$7 uL4m? mo;)m?> u?Ym=@ɷmީ:m: mQL4}p? }p?}A )Ii Xz:;) )H <"H w: y>D'AYt.L@t.U[@yt.a=t.T>xBnE)~GVH%)9Q%>Y!y!-E)-o:-> 1 ]=L45?5o;ɯ5F> iE?5d@5:ɱ5z:5L4Q M7A AQ MtI)AQ MBIAɴE:E: E7 ]L4U/? UJo;)UKD> ]?YU՟@ɷUի:UP: Uu`L4i ii q)qIqiq Xz:;) )H<"Hw: S>D'Ai4<Yt.VL@t.Û[@yt.ږa=t.<xZdtE@^A"@\ihIh)5XG99};}Tل}CYˡyˡEˡͭ,9>  ]L4?n;ɯL> i?鯵@:ɱ:鱵]$L4Q 7鲉Q 7 Q tI)Q BIɴ@:鴍: F97 L4鵥~? n;)J> ?Y@ɷY:鷥ߡ: sL41 11 9)9I9i9 MXz:M;III)I Q)H<"Hw:ߩ>߭ .>D'AYt.L@t.e[@yt..a=t..>x@)5{GVH]eQe>YayaeEam8m> q ]L4u?un;ɯujR> i?uɠ@uY;ɱu;u42L4Q 7鲡 Q tI)Q BIɴ̒:鴥9: n7 L4鵵? n;)P> ?Y<@ɷ:鷵y: ׃L4   )IYiY Xz:;) )H<"Hw:Ǵ  >D'AYt.L@t.{[@yt./a=t.>x>wEiHIL)~ƄGPلTYyE 9 >  ]}L4 \? =n;ɯ V> i}? |@ i<ɱ : AL4Q 7鲁Q 7 Q tI)Q BIɴM<鴅< DI7 L4]? fn;)T> ?Y@ɷ:3: ߖL4  1)1I1i1 EXz:E;AAA)A A)H<"Hw:ߩR> V>k >D'A)IYt.YL@t.ƣ[@yt.ka=t.eK>x>DoE:@B=B@B=)~G4= =VH%9Q%>Y!y!%E)-6:-> 1 ]=L45?5n;ɯ5Z> i=?5@5.:ɱ5!:5)NL4Q M7A AQ MtI)AQ MBIAɴE:E: Eä7 ]L4U? U/n;)U/X> ]?YU@ɷUy:UF: U+L4  )Ii Xz:;) )H<"Hw:Q= got command set lineCaptureHoming.InitDepthTimeout 1.000000 minutezA N@= xgot command set lineCaptureHoming.MinAltitude 0.000000 meterA = got command set lineCaptureHoming.MinOffshore 0.000000 kilometerA = got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meterC | ?D'AYt.L@t.p[@yt.5a=t.4?X Pҿ@@r?#`??)u.L@ u.v;Iu.CxB>xBnhEiLIP){GVH]e`Qe>YayimEimT:m> q ]L4uK?um;ɯu^> i?uʢ@u';ɱur:u\L4Q 7鲩Q 7 Q tI)Q BIɴo:鴭: P7 L4Y? m;)}\> ?Y>@ɷ== TL4Q YY )Ii Xz:;) )H<"Hw:߱ !?D'AYt.L@t.[@yt.Ta=t.%`+Sҿ@@Bg?jM??)u.L@ u.v;Iu.Cx>>x> nE)zƄG5D;594ل5uYyE9E> A ]ML4E?E|m;ɯEMd> i ?Ej@E<ɱE m?Y%@ɷ%{<%< %L4q yy )Ii Xz:;) )H<"Hw:q=@A=@A, t;?D'Ai;Yt. M@t.y[@yt.!&a=t.b>xBDoE@BA"@DiLIL)ׄG VH%8Q%>Y!y)-E)-v9-> 1 ]=L45?5?m;ɯ5i> iE?5@5:ɱ5:5xL4Q M7AQ M7 AQ MtI)AQ MBIAɴEԘ:EƟ: E)\7 ]L4U? Ukm;)Uf> ]?YUe@ɷUd:U: UvL4a ii q)qIqiq Xz:;) )H<"Hw:q VU?D'AYt..M@t.[@yt.&>x>'fE)|E;E,لETYyE?:>  ]EL4\?m;ɯm> iE?@:<ɱ:<{L4Q 7I IQ tI)IQ BIIɴM ?Y@ɷe:鷝": L4  )Ii Xz: ; ) )H<"Hw: ? {/o?D'AYt. M@t.[@yt.`=t.LxnpEixI|)GVH1Q>YyE1U:>  ]EL4?l;ɯq> iE?@:<ɱ^:<L4Q 7IQ 7 IQ tI)IQ BIIɴM ?Y@ɷ :鷝 : &L4  )Ii Xz: ; II)I I)QQH]<"H]w:I9 =]>c' ?D'A)IYt.K M@t.[@yt.`=t.z>x>aE:@@B@@)U{G]< ]=VH}}Q>YˁyˁEˁ͍0>  ]L4ۿ?l;ɯ6v> i?鯕@*:ɱ:鱕KL4Q 7鲡 Q tI)Q BIɴ%:鴥: 7 M4鵵? M4 l;)s> ?Y@ɷ|O;鷵Sd; EM4Q QY )Ii 5Xz:5;999)A A)QH<"Hw: Q ?D'AxnQ>xnGkEi|I|)ƄGj<لy rh?Mb:v?YIiɅC = )VHEMQM>YIyIMEQU]> Y ]eL4]Q?]Ql;ɯ]z> im?]K@]:ɱ]:]RL4Q 7iQ 7 iQ tI)iQ BIiɴm ?Y@ɷ:鷽: -"M4   )Ii -Xz:-;)ii)i i)qqH}<"H}w:ߑ$| ?D'Axni>xnqE)}ׄGVH˙Q>YˡyˡEˡͩ>  ]L4?l;ɯ~> i?鯵ߦ@;ɱQ;鱵L4Q 7Q 7 Q tI)Q CIɴ::  7 M4鵕? Cl;)|> ?YZ@ɷף:鷕: _3M4  )IIiI ]Xz:];YYa)a a)aiHm<"Huw:߁=?A=?ATc R?D'Ai4<Yt.'M@t.[@yt.rCa=t.m!>xBlE@@"@@iLIL)G%A!eDe94لayeL7A`?V-:v?YeAIaiaaaɅaeAe+= e)aVH}}9Q>YˁyˁEˁ͍::>  ]L4?k;ɯ|> i?鯕q@:ɱ:鱕L4Q 7 Q tI)Q CIɴ:: ~7 M4? l;)N> ?Y@ɷ{:: CM4  )Ii Xz:;) ))1H5<"H=w:I8 ys?D'AYt.M@t.m[@yt.Ra=t.exBrE){GVH=E.8QE>YAyAMEIMD9M> Q ]]L4U9?Uk;ɯU> ie?U@U:ɱU:U~L4Q m7aQ m7 aQ mtI)aQ uCIaɴe9:e: e7 M4uM? uk;)u_> ?Yut@ɷuQxndEi|I~C)qVHQ>Y!y!-E)mm>  ]uL4?k;ɯ> iu?@s<ɱA<DL4Q }7y yQ tI)yQ CIyɴ}F:}: }7 M4鵍? k;)> ?Y!@ɷ:鷉 iM4  )I)i) 5Xz:5;999)9 9)AAH<"Hw:ߙ=V> =V>ў ($@D'A)IYtF3 M@tF[@ytF`=tF_qxR%hE:@R=B@T)]ƄGe< e=Tل`eYyEg:>  ]L42?Gk;ɯ> i?G@:ɱ:IL4Q E7AQ M7 AQ MtI)AQ MCIAɴEϝ:E~: E07 ]M4U ]?YU@ɷUD:U: UxM4a aa i)iIqiq Xz:;) )H<"H%w:y !>@D'AYtB#M@tB[@ytB{Ga=tB}xRmEi\I^yC)eGVH}}9Q>YˁyˁEˁ͍D :>  ]M4? aM4 k;ɯI> i?鯕@:ɱ:鱕!M4Q 7鲡 Q tI)Q CIɴ:鴥: 7 M4鵵? 7k;)> ?Yb@ɷ:鷵ʢ: LM4  )Ii %Xz:%;!!!)! !)))Hu<"Huw:߉? "W@D'AYt>P"M@t>[@yt>YH@b?0 ^tҿC?`#@q??)u>P"M@ u>v;Iu>CxN>xRmjE)XGtDلDY˹y˹E˹H>  ]M4?j;ɯ/> i?@;ɱV;M4Q 7Q 7 Q tI)Q CIɴ:: =7 M4 ?  k;) > E?Y  @ɷ ; (; 5M4I II Q)QIYiY eXz:e;aii)i i)iH<"Hw:ߩ99 q@D'Ai4>x>eE@@"@@iLIL)z{G~A|VH%Q>Y!y!%E!-qU:-> ) ]5M4-w?-j;ɯ-> i=?-3@-6:ɱ-:-!M4Q E7A AQ EtI)AQ MCIAɴE}:Eȗ: EF7 UM4M? Mj;)M> ]?YM@ɷM:MF: MM4q qq y)yIyiy Xz:;) )H<"Hw: " }@D'AYt.*M@t.[@yt.Ia=t.xB'fE)VHeu :9Qu>YˁyˁEˉͽ:9>  ]-M4ɰ?j;ɯ> i?߫@=ɱ<0M4Q 7Q  7 Q  tI)Q  CIɴ:: Y7 UM4U? Uj;)U> ]?YUb@ɷU7:U;: U޿M4a aa )Ii Xz:;) )H<"Hw:= got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterC = got command run ( o@D'AYt.+M@t.[@yt.Da=t.gxbuEi|I~C)]ƄGلy rh? rh~jt?YAIiɅ酥A鄥C = C )=Running VH:Q>YyE 9 >  ]]M4J?Mj;ɯڑ> i]?@<ɱD<*?M4Q e7a aQ mtI)aQ mCIaɴe:eN: eڭ7 M4uV? uzj;)u> ?Yu@ɷu:uŧ: uM4p? p?A )>Aggregate::uninitialize Default1 *DUninitialize GoToSurfaceComponent.q*NAggregate::uninitialize Default:CheckIn -8Uninitialize Wait Component.$BStarted mission lineCaptureHomingY1 0NAggregate::initialize lineCaptureHomingq0rAggregate::initialize lineCaptureHoming:StandardEnvelopes 1JInitialize AltitudeEnvelopeComponent.1DInitialize DepthEnvelopeComponent.1 2JInitialize OffshoreEnvelopeComponent.q<DInitializing TrackAcousticContact. =Initialize.=-tInitialize ReadDataComponent to sense platform_orientation1- >uxInitialize ReadDataComponent to sense height_above_sea_flooruEquEu;qu/ rS@D'A)IYt.-M@t.n[@yt.yAa=t.b>x>pfE:@@B@@)zG~4= ~=VHQ>Y!y!%E!-re9-> 1 ]=M45?5j;ɯ5> i=?5@5:ɱ5.:5LLM4Q E7AQ M7 AQ MtI)AQ MCIAɴEȗ:Ew: EV7 UM4U? UAj;)Ue> ]?YU@ɷU:U: UM4a aaEqEqxBnhEiPIRyC) ƄGuuj<لu94YyE}7>  ]M4h?i;ɯj> i?@Ǻ:ɱs:5[M4Q 7 Q tI)Q CIɴ:: 7 -M4%w? %j;)%5> -?Y%1@ɷ%ڦ:%: %M4Y YYEiEixBmjE)EׄGVHemQm>YiyimEiu:u> y ]M4}?}i;ɯ}> i?}V@}ϸ:ɱ}:}hM4Q 7鲉Q 7 Q tI)Q CIɴU:鴍: Jj7 N4鵝? N4 i;)ו> ?YǮ@ɷ:鷝m: 2N4 EE<Tracking...<2Tracking contact label: 2D @; 9) ) H <"H w:Q99C  AD'Ai;;Yt2 6M@t2z[@yt2U'a=t2>\xRiE@nA"@pi I )  :HلuY y  Eܚ9>  ]%M4_?Ui;ɯ> i%? @:ɱ:xM4Q U7IQ U7 IQ UtI)IQ UCIIɴM$:M: M7 eN4]n? ]i;)]> e?Y]@ɷ]n:]); ]N4 EE<Tracking...<2Tracking contact label: 2D#GnAggregate::initialize lineCaptureHoming:StartingMission; 9) )H <"H w:!;I &AD'AYt.>9M@t.[@yt."/a=t.L9M@ u.v;Iu.CxN>xNIiE)!VH=E7QE>YAyAMEIM:M? Q ]]M4U"?Ui;ɯU> ie?U@Ub:ɱU:UM4Q m7a aQ mtI)aQ mCIaɴeF:eZ: ex7 EN4u5? uLi;)uښ> M?Yu @ɷu;xRGkEGPHR@Ai\I\)!VH=ED8QE>YAyAMEIM9M> Q ]]M4U?Uh;ɯU> ie?U9@U:ɱU':U M4Q m7aQ m7 aQ mtI)aQ uCIaɴeԘ:eƟ: e$7 N4u§? u i;)ua> ?Yu@ɷu:u: uC7N4 EEqLV lZAD'A)IYt.?M@t.:[@yt.a=t.cuxB'fE:@DB@F=)G < MMPلMYiyimEiu":u> y ]M4}?}h;ɯ}P> i?}@}:ɱ}ϸ:}RM4Q 7鲉 Q tI)Q CIɴ:鴍: ܊7 N4鵽"? h;)> ?Y\@ɷ*:鷽: IN4 EqEu;w>xBiEiLINC)ƄGVH%\Q%>Y!y!-E)-O9-> 1 ]=M45?5Zh;ɯ5> iE?5@5:ɱ5:5"M4Q M7AQ M7 AQ MtI)AQ MCIAɴE:Eb: E7 ]N4U? Uh;)U> e?YU@ɷU:Um: UYN4i iiEqEu;<Tracking...<2Tracking contact label: 25\Initialize ReadDataComponent to sense time_fixDDDD Xz:;) )!!H-<"H-w: cc 4AD'AYt=`EM@t=[@yt={da=t=xMkE HUp=HUa=)YyE:%> ) ]5M4-?-h;ɯ-> i=?-e@-:ɱ-:-M4Q E79 9Q }tI)9Q CI9ɴ=; <=T< =R7 N4鵭? Ch;)]> ?Y۲@ɷ3:鷭v: nN4p? p?EE;<Tracking...<2Tracking contact label: 2DDDD %Xz:%;))))) ))11H=<"H=w:i11i /AD'AiYt.ZEM@t.[@yt.@a=t.xBDoE@FA"@D*@JR=2@Jp=iPIVyC) GVH%Z8Q%?Y)y)-E)55? 1 ]=M45?5g;ɯ5d> iE?5@5:ɱ5:5_M4Q M7IQ M7 IQ UtI)IQ UCIIɴMA:M: My 7 }N4U.? Uh;)U*> ?YUn@ɷU;U: U|N4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"H w:9qp AD'AYt.sDM@t.[@yt.a=t.vxVpE Fix Requested)}GVH˽9Q>YyE1>  ]M4P?g;ɯ> i?@{:ɱo:1M4Q 7 Q tI)Q CIɴ:: g7 N4c? g;)> ?Y,@ɷ:: N4  EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:5;111)1 9)99HE<"HEw:YFv AD'AYt.FM@t.K[@yt.a=t.FxZiEGXH\i)I-C){G;HلYyEļ9>  ]M4̜?bg;ɯz> i ?d@:ɱg:M4Q 7Q 7 Q tI)Q CIɴc:4: ~97 %N4%ߝ? %g;)%@> -?Y%մ@ɷ%Y:%{: %ɠN41 11E9EE; =Y>N| uAD'A)@IYt.eLM@t.[@yt. a=t.*xRuE:@TB@V=)ƄG4= %=VH9Q>YyE[:>  ]M4P?g;ɯ-> i? @V:ɱI:M4Q 7 Q  tI)Q   CIɴS::  7 N4c? Ng;)> ?Yz@ɷ:ʽ:  N4! !!E)E5;<5Tracking...<52Tracking contact label: 2D9D9D9D= MXz:M;QQQ)Q Q)YYHe<"Hew:y 6wBD'AYtVSMM@tV[@ytVH a=tV4xb$jEilIryC)uׄGDل`eYyEp9>  ]N4ۙ? aN4f;ɯ> i ?@C:ɱ3:N4Q 7Q 7 Q tI)Q  CIɴ:: J7 %N4?  g;)H> -?Y@ɷ;:: N41 11E9E=;xRmE HRa=HP)GVH--=9Q5>Y1y15E1=9=> A ]MN4E?Ef;ɯE> iM?ED@E÷:ɱEض:EN4Q ]7Q QQ ]tI)QQ ] CIQɴU>:U: Uɵ7 mN4e? ef;)eu> m?Ye@ɷe:e: e N4q qyEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;!!!)! !)))H5<"H5w:I99: "CBD'Aip;Yt.QM@t.{[@yt.ta=t.dx>xRklE@VA"@Ti~^~^idId)-ƄG11VH]eaQe>YayaeEim9m> q ]}N4u?u]f;ɯu > i?u@u:ɱu:u\ N4Q 7鲁Q 7 Q tI)Q  CIɴ :鴅4: 7T7 N4鵕? f;)ϵ> ?YY@ɷ;鷕; N4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:I \BD'AYt.aSM@t.\@yt.,(a=t.@xRfE)GDtلtYyEO9>  ]N4ڕ?5f;ɯ> i ?d@T:ɱD:/N4Q 7 Q tI)Q  CIɴ:: X7 %N4%? %df;)%K> -?Y%շ@ɷ%/:%;: %N41 11E9EE;xBBqEGF@AHD)Hi I )e{GVH˝Q>YˡyˡEˡͭ8>  ]N4”?f;ɯ> i?鯵ط@;ɱR;鱵f;)> ?YI@ɷ:X: O4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;!)! !)!)H-<"H5w:A=R> =V>i BD'A)@IYt.VM@t.[\@yt.`=t.:xR"lE:@TB@T)= =`;\لDYyE/9>  ]N4Ɠ?e;ɯ > i?Q@:ɱ:SKN4Q  7  Q tI) Q  CI ɴ : : 7 %O4ٔ? f;)Ѻ> -?Yø@ɷ:: O41 11E9E=;xZinEihIh)1VH}}ަQ>YˁyˁEˁ͍u7>  ]N4ؒ?e;ɯ> i?鯕ĸ@;ɱ$;鱕XN4Q 7鲩Q 7 Q tI)Q  CIɴ:鴭Q: v7 O4鵽? e;)ּ> ?Y5@ɷϝ:鷽{: +O4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H <"H w:W mBD'AYt.3[M@t.\@yt.֕`=t.>xBgE H@H@)+GVH]]9P9Qe>YayaeEams(:m> q ]N4u?u]e;ɯu > i?u9@uI;ɱu;ufN4Q 7鲡 Q tI)Q  CIɴh:鴥Ԙ: t7 O4鵵? e;)> ?Y@ɷԱ;鷵; =O4p? p?EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:-;1QQ)Y Y)YaHe<"Hew:y997 FBD'Ai;Yt.\M@t.. \@yt.`=t.DxBjE@D"@DiPIP)XG`لtYyEn9>  ]N4?6e;ɯ> i?@ʽ:ɱܹ:uN4Q 7Q 7 Q tI)Q  CIɴs:: 7 O4? ee;)|> ?Y @ɷ:: NO4  EE;<Tracking...<2Tracking contact label: 2D!D!D!D% =Xz:=;999)9 9)AAHM<"HMw:aa BD'AYt.Y]M@t. \@yt.*`=t.<xBw^E)~ƄGVH=E_QE>YAyAMEIMi8M> Q ]]N4U;?Ue;ɯU+> ie?U@UM:ɱU:UN4Q m7aQ m7 aQ mtI)aQ m CIaɴe,:e۞: e 7 }O4uN? uAe;)u> ?Yud@ɷu:u: u_O4 EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:5;1QQ)Q Q)YYHe<"Hew:ߙmI CD'AYt.\M@t.b \@yt.Ca=t.xRcEGRAAHPi`I`)Ge;eلeYˁyˁEˁ͍r>  ]N4?d;ɯ> i?鯕;@:ɱ:鱕rN4Q 7鲡 Q tI)Q  CIɴ::鴥o: 떺7 O4鵵? "e;)`> ?Y@ɷʽ:鷵: WqO4sp? sp?AEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;)q q)yyH<"Hw:߹9 =Y>s +CD'A)IYt.^M@t.D \@yt.a=t.k`xRhE:@TB@V=){G! !VH-5@9Q5>Y1y9=E9E9E> I ]MN4M?Md;ɯM> iU?M@M:ɱM=:M u?Ym@ɷmj:m7: m]O4y yyEE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:[ tECD'AYt2ZM@t2T\@yt29a=t2xBgEiPIP)+GVH%CUQ%>Y!y)-E)-5> 1 ]=N45Y?5d;ɯ5\> iE?5ɺ@5:ɱ5:5FN4Q M7I IQ MtI)IQ UCIIɴMt:Mg: MR7 ]O4Uk? 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M>)M> U?IM]'?ɷM:M: MJ>4e@ e@e=BHiHqFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2i:)l;2>2 9QN) xBGkEiLIP)~ƄGIEYayaeEeCm[m> q ]}>4uq ?u>ɯu> i?u3-?u:ɱul:uS>4Q m6鲅{?Q m6 %?Q tI)`Q AIAɴ:鴅÷: ^Em6 ?4鵕q ? ?4 >)> ?I3-?ɷX:鷕: "?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu;:>: 92) xBmE)~GI|VH=Ep QE>YAyAMEM̶CMM> Q ]]>4U ?U1>ɯU > ie?U2?UM:ɱUA:Ua>4Q mq6e7[?Q mq6 e(?Q mtI)eQ uAIe#Aɴe:ek: e{q6 }?4u ? u0>)u > ?Iu2?ɷu:u/: ud?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;B>B 9+') {xpfEG%AAH!i==I=yC)ƄGH@H@I#لy ףp= ?QQ?Y AIiɅxAQ8= )VH5MY8QM>YQyQUEUC]]> Y ]e>4] ?]>ɯ]> im?]9?]@:ɱ]:]p>4Q uv6u7?Q }v6 u+?Q }tI)uQ }AIuAɴu :u: urv6 ?4鵅 ? >)> ?I9?ɷ :鷅;: S'?4 HHFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2iO7;K>K 9m2) xBaE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGIVH5El:QE>YIyIMEM8Cu|2}>  ]>4:?ә>ɯ> i?>?";ɱ ;鱅+>4Q z6^?Q z6 /?Q tI)Q AIAɴ$<m%< vz6 ?4*? љ>)> ?I>?ɷ:Υ: 9?4! !)H1H9F9F9FAFAzFAjFAEAEIT 9W>)  ij xBnE]F^unknown deviceResponse_: !0000,187,80,81,0D,FF iI)%GI)VH}} )Q}>YˁyˁE˅mC͍>  ]>4p?>ɯ> i?rD?:ɱ4:鱍X>4Q ~6鲥 ?Q ~6 1?Q tI)TQ AI$Aɴ:鴥: ~6 ?4鵵p? >)> ?IrD?ɷƟ:鷵P: nJ?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;\>\ 9!I )  T$ ->o csD'Ax~&>x~'fE Ha=H){GHgAHiAI  j<ل y Q?V-Q?Y I i  xA AɅ   \= ) VH%Q%>Y)y)-E-C55> 9 ]E>4=?=v>ɯ=> iE?=I?=:ɱ=:=>4Q M6MP?Q U6 M4?Q UtI)MQ ]AIMGAɴM:M; Mh6 e?4]? ]u>)]> e?I]I?ɷ]:]: ]e[?4q qqHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;e>e 9;T) '(xBlEiVg=IT)I VH=E QE>YAyAMEMϷCM;MM> Q ]]>4U?UH>ɯUp#> ie?UM?Uw:ɱUI:U,>4Q m6e?Q m6 e7?Q mtI)eQ uAIeEAɴeQ:e: eta6 ?4}? }G>)}_#> ?I}M?ɷ}:}C: }k?4 HHFFFFzFjFEEqm 9`) ,>x~klE)}ƄGI%T%Q8ل%YyE C%>  ]>4?&>ɯ)> i?!S?*;ɱ;(;>4Q 6?Q %6 :?Q %tI)Q -AIAɴ};A; ̅6 M?4=? =%>)=)> M?I=6S?ɷ=;=lj; =?4i iiHHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i ;P ;  w> w 9n) p0xn^EGpHrAAi|I~tC)mGHyH}@IyVH˝Q>Y˙yˡE˥8Cͭ>  ]>4w? >ɯm.> i?W?:ɱ:鱵>4Q 6u?Q 6 =?Q tI)Q AIҪAɴ:: 6 ?4鵝]?  >).> ?IW?ɷ;鷝 ;  ?4 HHFFFFzFjFEEAm m9mH~i)i m4x~)dE)ƄGIVHQ>YyEmC>  ]>4?>ɯ3> i?\?:ɱ:9>4Q 6{T?Q  6 @?Q  tI)kQ  AIAɴ>:s: jމ6 ?4? >)3> ?I\?ɷ:: ?4! !!H1H1F9F9F9FAzFAjFAEAEAe e9e-a)a m$8x~pEi==I=yC)GIPلuYy%E%C!-> 1 ]M>45?5>ɯ59> iM?5c?5jv;ɱ5s;5>4Q 6U-?Q 6 UD?Q tI)U͜Q AIUAɴU;U; Ue6 ?4鵕? >)9> ?I+c?ɷ:鷕_: ?4 HHFFFyF}(,@zFyjFyEE<Tracking...<2Tracking contact label: 2iW;> 9'֍) N= ue>19 vtD'AYt.]kL@t.[@yt.B+a=t.xRgE HPHP)ƄGHjAHIVH˝XQ>YˡyˡE˥ӸCͭ>  ]>4?c>ɯ=> i?`g?:ɱ:鱭+>4Q 6?Q 6 jF?Q tI) Q AIAɴ:: 6 ?4? b>)=> ?I`g?ɷ:f: 3?4 HHFFFFzFjFEE< Tracking...< 2Tracking contact label: 2i1%;%@=% >% %9%W!)) -OX@xB)dE@FA"@FAiPIP)ׄGI%hA%iAل`eYyEC   >  ]5>4?%>ɯkB> i=?l?A;ɱ^;>4Q E6E?Q M6 E|I?Q MtI)EQ MAIE۷AɴE:Eض: EK6 }?4U? U$>)UeB> }?IUm?ɷU:Uv: UV?4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2iFż;Q>Q 9 )  DxV`E {`Y|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) IVH}˅`9Q>YˉyˉEˍ>C=L>  ]?4X? a?4>ɯGG> i?r?<ɱ< ?4Q 6鲽[?Q 6 L?Q tI)0Q AIwAɴԳ:鴽b: 6 ?4?? >)}G> ?I's?ɷף:?: ?4 H)H)F1F1F1F1zF9jF9E9E9<=Tracking...}혾 }9}y)y IxRnEGTHV@A]Z^unknown deviceResponse_: !U000,187,80,81,0B,FF iAIA)GH@H@IVHu}Q}>YyyˁE˅rCͅOF>  ]?4?>ɯK> i? x?;ɱ;鱍?4Q 6G?Q 6 O?Q tI)ϧQ AIpAɴ:s: ע6 ?4? >)K> ?Ix?ɷ:D: ?4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i=ՖE;AE>E E9E۪A)I M(M Y>y߉p77 DtD'A)@IYtFmL@tF[@ytF>ga=tF0OxNcE:@V=B@V=)%{GI!eaلeYˉyˉEˍC͍vv:>  ]?4\?m>ɯP> i?|?:ɱ:鱕'?4Q 6鲭?Q 6 1R?Q tI)gQ AIaAɴ:鴭R: (6 @4鵽\? @4 m>)P> ?I|?ɷ6:鷽X: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ihH;_>_ 9>) QxbjEirg=IrtC)EƄGIAVH}˅>9Q>YˁyˁE˅չC͍6 8>  ]?4?*>ɯU> i?)?:ɱ:鱕5?4Q 6鲥p?Q 6 $U?Q tI)@Q AIAɴ:鴥M: Q6 @4鵵? )>)U> ?I)?ɷ:鷵e: 2@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i@;h>h 9 . )  UxJnhE HJp=HL) GH iAHhAIUUYلUTYqyquEuC}*:}>  ]?4.?>ɯZ> i??@:ɱض:鱅C?4Q 6鲕pP?Q 6 X?Q tI)Q AIAɴ:鴕@: [њ6 @4鵥.? >)Y> ?I?ɷƟ:鷥Ӡ: +@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2in;> 9û) cZx:lE@@"@@@BA"@BAiJ=INyC)z{GI|VH55w8Q=>Y9y9=E=;CE*8E> I ]U?4M?M>ɯM ^> iU?M?M:ɱM:MQ?4Q e6]I0?Q e6 ]Z?Q etI)]䲿Q eAI]Aɴ]:]s: ]6 u@4m? m>)m]> u?Im?ɷm:mߡ: m<@4y yHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i0; > 9ͻ) P^xReE)IVH]ej9Qe>YayamEmpCmm> q ]}?4u?uh>ɯu*b> i?ux?u:ɱu:u_?4Q 6鲅P?Q 6 ]?Q tI)ƵQ AI@Aɴ:鴅: 6 @4鵕? g>)b> ?Ix?ɷe:鷕: PN@4 =BHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;> 9[ֻ) cxBpEGF@AHDiPIP)9H=@H=@IAGaلy/$?YˡyˡE˥Cͭ[>  ]?4$?(>ɯ@f> i?l?ϸ;ɱ;鱵@n?4Q 6?Q 6 a?Q tI)Q AIAɴ:b: @6 @4? &>)7f> ?Is?ɷ^:: C`@4! ))HQHYFYFYFaFazFqjFqEqEy<}Tracking...<}2Tracking contact label: 2i;|>| 9້) ]hxRmE:@V=B@T)iIiu%= u4=VH}˅Q>YˉyˉEˍغC͕OI>  ]?4k?>ɯ:j> i?K?w:ɱ':鱝B|?4Q 6鲭?Q 6 c?Q tI)Q AIAɴ:鴭: W6 @4鵽k? >)'j> ?IK?ɷj:鷽: aq@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i 5Y ;  > ¾ 9 껉) lxRiEibg=IbtC)%ƄGI!Dhل`;yA`"?~jty&1|?YAIi@Ʌ酱鄵Y= D)`;VHOQ>YyE C>  ]?4,?>ɯhk> i??:ɱ0:?4Q 6*?Q 6 f?Q tI)hQ AI Aɴ :ϸ: 6  @4,? >)Tk> ?I?ɷ@:@: ;@4 H)H)F)F)F1F5(?zF9jF9E9E9<=Tracking...]Ⱦ ]9]s7Y)Y ]q >IYj XuD'AYt.[xBcE HBa=H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mׄGIyVH%VQ%>Y)y)-E-BC=:ź=> A ]M?4E?E8>ɯEl> i?E?EI<ɱEE)5l> =?I5+?ɷ5:5: 5V@4I IIHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iN ;{>{Ͼ 9)! %!wxRtE){ReI{Pi{R={R>{P{RA{P|R%A9|R+ic?gB Կ@`"@bAipIryC)AIIMnAMjAVH}˅![7Q>YˁyˁEˍsC͍$>  ]?4?>ɯm> i?m?:ɱ:鱕?4Q 6鲥k?Q 6 l?Q tI)ĿQ BIjAɴ:鴥g: ,6 @4鵵? >)m> ?Im?ɷƟ:鷵ʢ: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.949699 forward, -0.313164 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.959971,-0.274680,-0.054828;0.273559,-0.961472,0.027151;-0.060173,0.011066,0.998127 ]<tazimuthInNED_ = 177.689844 degrees FINAL. Radians:3.101273<^ContactLat = 36.802576 ContactLon = -121.788342<)First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.:EE%AH~8#@?" H+ic?gB ԿEeEHӮٕ$:( ?4:HzO?m?_EA{F@bE>jE$BE|o$?JERE ZErE zEin;>վ 9) {xBdE) I]]`eل]CYˁyˁE˅C͍ʹ>  ]?4 ?>ɯVs> i?e?Q:ɱ:鱍?4Q 6鲥K?Q 6 o?Q tI)ƿQ BIAɴp:鴥@: w٫6 @4鵵 ? > tI)Bs> ?Ie?ɷ:鷵l: @4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2i#;e>eھ 9  )   xRmEGPHPZ8Not Powering down - fast GPS^ ^)^I^i^i~^~^~^~b~b b)bIbibbbbij=Ih)5YQyY]E]ٻCe@8e> a ]m?4eo?eR>ɯex> iu?eT?e:ɱe:e?4Q }6}*?Q 6 }sr?Q tI)}ɿQ BI}Aɴ} :}: }6 @4鵍o? Q>)x> ?IT?ɷI:鷍: C@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i";c>c 9) xBdE:@F=B@F=)~XGIR= %=EףEyلAyEMb?+ rh?YAIAiAExAAɅAExAE@= E)AVH]e9Qe>YiyimEm Cuu> y ]?4}}?}>ɯ}z~> i?}?}:ɱ}ض:}?4Q 6鲍 ?Q 6 bu?Q tI)}̿Q BIAɴ1:鴍g: t6 @4鵝}?  >)g~> ?I?ɷ:鷝: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%;> 9֪)  xZKgEijg=IjtC)5{GI1VHEMH9QM>YIyQUEU@CUJ4]> Y ]e?4]?]˓>ɯ]> im?]?]÷:ɱ]s:]?4Q u6u?Q }6 uGx?Q }tI)uQϿQ BIuDAɴu;u ; u26 @4鵅? ʓ>)> ?I?ɷ:鷅ߡ: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i+;> 9) / @HvD'AYt.2L@t.Z@yt._a=t.AxRgE HRp=HP)]ƄGHenAHelAIaVHuu)-Q}>Yyyy}E}uCͅ->  ]?4?>ɯƄ> i??;ɱ;鱍&?4Q 6鲥S?Q 6 <{?Q tI)4ҿQ BIAɴB:鴥': [6 @4鵵? >)> ?I?ɷ:鷵: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^i/;7>7 9#) zLxRpEi^=I^yC)ׄGI!ĻhلDYyEC!>  ]?4K?4>ɯk> i?խ?H:ɱ:?4Q 6?Q 6 <~?Q tI)"տQ   BIAɴݱ:ϸ: 6 A4 K? A4 4>) b> ?I խ?ɷ m: z: A4! !!H1H1F1F9F9F=(?zF9jFAEAEAe e9eO)a)a exBYE)|IVH% 7Q%>Y!y)-E-ۼC-r-> 1 ]=@45,? a=@45>ɯ5> iE?5Z?55:ɱ5:5 @4Q M6E߇?Q M6 E?Q UtI)E׿Q U BIEAɴE:E: E6 ]A4],? ]>)]> e?I][?ɷ]:]": ]&A4i iiHyHyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2iEsv;E;AE#?E# E9M,Y0I)I Mѿ`Y?8v??)u.&L@ u.v;Iu,xB۾>xBjEG@H@iPIP)~GH@H@IEDExiلEYayimEmCmm> q ]}@4uX?u>ɯu> i?um?u/:ɱu^:uh@4Q 6鲅f?Q 6 ?Q tI)ڿQ  BI2AɴF:鴅Z: 6 A4鵝X? >)> ?Im?ɷߡ:鷙 0A4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2iw>;? 9H7) wdxBnhE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )U{GIaVH˵8Q>Y˹yEECi>  ]@4?^>ɯA> i??J0;ɱ$1;%@4Q 6D?Q 6 ?Q tI)ݿQ BIAɴ1;p/; 6 A4 }? ]>) => %?I ?ɷ O; P; BA4 HiHiFqFqFqFyzFyjFyEyEy<}Tracking...<2Tracking contact label: 2i>;4?4 9 ?) yax6,`E){:lI{8i{: >{:1>{8{:A{8|:oB9|:ɫ?)oȱѿiXIX)IVH%-uQ->Y)y)-E-vC5?}5> 9 ]E@4=?=>ɯ=> iE?=e?=:ɱ=ϸ:=d3@4Q U6M%?Q U6 M?Q UtI)M^Q UBIMAɴM:M{: M6 eA4]? ]>)]> m?I]e?ɷ]b:]P: ]xSA4}@ @HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.961021 forward, -0.276476 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.960319,-0.273413,-0.055067;0.272313,-0.961837,0.026728;-0.060273,0.010672,0.998125 ]<tazimuthInNED_ = 179.818090 degrees FINAL. Radians:3.138418<^ContactLat = 36.802128 ContactLon = -121.788344<Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.:EEoBHBL@քHm0Hɫ?)oȱѿElEH]gQM7P?kLs H5+ ￀DӞ7i?ԝிEH@bEB>jERoBEn$?JEREZErE[gzEiX;% ?% %9-WE))) -ϗ>xBcE HDHD) H lAH I];]94ل]`eYˁyˁE˅C͍>  ]@4?ӑ>ɯ1> i?ȼ?e:ɱv:鱕A@4Q 6鲥 ?Q 6 ?Q tI)LQ BIBɴ9:鴥: a!6 A4鵽? ӑ>)(> ?Iȼ?ɷ:鷹 heA4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2isP;   ?  9 pL )  (vD'Ai;Yt6L@t6Z@yt6a=t6 xRfrE@VA"@Tifg=IftC)!I)VH]e6Qe>YayaeEm޽Cm(m> q ]}@4uM?u>ɯu> i?u?uk:ɱu:uO@4Q 6鲅?Q 6 ?Q tI)Q BIBɴB:鴅U: <6 A4鵕M? >)> ?I?ɷ:鷑 vA4@ @>BHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ix^W;? 9S) pxfgE)M0GIID;/]لyY˱y˱E˵Cͽ&z>  ]@4?<>ɯߖ> i??:ɱ':V^@4Q 6R?Q 6 ?Q tI)Q BI3Bɴ:4: i6 A4? ;>)Ֆ> ?I?ɷ":ʢ: }A4 HHF F F FzFjFEE<Tracking...<2Tracking contact label: 2i-J}Z5;15?5 59=[9)9 =bxBkEGFAAHDiR=IRyC)=jGH9H=@IAVH˅ƋQ>YˉyˉEˍFC͕{>  ]@4"?>ɯ> i??:ɱI:鱝Hl@4Q 6鲭?Q 6 c?Q tI)Q BIBɴ:鴭: 6 A4鵽"? >)> ?I?ɷ:鷽 : A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i Uc ;  ?  9 yc) aFxBbE:@F=B@FV>){GI VH=EB7QE>YAyAMEMyCM47M> Q ]@4U?U>ɯUP> i?U?U<ɱU%)ms> ?Im?ɷm;m; mA4 HHFFFFzFjFE E<Tracking...<2Tracking contact label: 2i-Nca-;)M?M M9UFlQ)Q UGu u>IQY OdwD'AYt. L@t.)Z@yt.a=t.xBEmEiPIRtC)|IEEף;لEtYayaeEeCm2m> q ]}@4u?u>ɯu > i}?u?u:ɱu:uV@4Q 6鲅 a?Q 6 #?Q tI)Q BI Bɴ:鴅: j6 A4鵕? >)> ?I?ɷ<鷕< WA4! !!HQHQFQFYFYF]?zFYjFaEaEax6eE H:a=H8)tHvmAHvkAItVH~mQ>Yy  E ߾C >  ]@4?>ɯ̢> i%??:ɱ: @4Q -6%GA?Q -6 %?Q 5tI)%DQ 5BI% Bɴ%x:%': %V6 =A45? 5>)5> E?I5?ɷ5R:5: 5DA4I IIHYHYFYFaFaFazFajFiEiEixBeE@FA"@DiPIRyC)IE:E`eلEYiyimEmCmu> q ]}@4ud?u>ɯu> i?u?uU:ɱu^:u@4Q 6鲍?Q 6 ?Q tI)3Q BI; BɴG:鴍: 6 A4鵝B? >)> ?I?ɷ:鷝/: @A4@ @HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iTw;&?& 9Z) FSxBcE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )aIqVHǃ8Q>YyEKCX>  ] @4?{> etIɯP> i??0;ɱ7;[@4Q -6%E?Q -6 %?Q -tI)%.Q 5BI% Bɴ%.';%'; %;6 EA4=? =t>)=.> M?I=?ɷ=s;=: =A4Y YYHqHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i={=;=kP==*?=* =9E A)A EGK@t>Z@yt>Aa=t>HI?Ʈ[ѿ{`yم?$0??)u>GK@ u>\v;IuxRsbEGTHVAA){Vh>I{Ti{Vi$>{V>{T{V@A{T|VץB9|Vt>0?4;?iAIA)ƄGH@H@I--<ل-TYIyQUEUC]]> Y ]e@4]?]>ɯ]o> im?]?]:ɱ]ݱ:]@4Q u6m?Q }6 m?Q }tI)mQ } BImBɴm:m: m*j6 B4鵅? B4 >)H> ?ID?ɷD:鷅P: bB4 HHFFFFQ?zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.958572 forward, 0.284852 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.960949,-0.271210,-0.054966;0.270118,-0.962461,0.026553;-0.060105,0.010669,0.998135 ]<VazimuthInNED_ = -2.577466 rad -- adding 2pi<ZazimuthInNED_ = 3.705719 rad after adding 2pi<tazimuthInNED_ = 212.322086 degrees FINAL. Radians:3.705719<^ContactLat = 36.802036 ContactLon = -121.788843:EEץBH S@iI7@Ht>0?4;?Eh>EHɛ Q`G *%F?V< H"89뿺- Ῠ&pE*m@bE)1jEBEn$?JEn$?RE ZE rEyozE[giQ;.?. 9ދ) xnpfE:@v=B@v=)uׄGIyVHˍQ>YˑyˑE˕C͝G>  ]@4?ϐ>ɯJ> i?z?,:ɱ:鱥+@4Q 6鲵?Q 6 ?Q tI)Q "BIBɴ{:鴵: j6 B4p? Ȑ>)#> ?I?ɷ:C: B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ib;1?1 9) %ٸ A J6 wD'AYt.aK@t.ѝZ@yt.pa=t.wxRgEi`Id)aIaVHu}9Q}>YˁyˁE˅C͍>  ]@4g?>ɯL> i??:ɱ:鱍/@4Q 6鲥x?Q 6 u?Q tI)LQ $BIBɴ:鴥: ˇ6 B4鵵C? >)%> ?I)?ɷ:鷵n: %B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ij;5?5 9) mxReE HRp=HRp=)]GHelAHemAIa=لtYyEC>  ]@4?m>ɯ=> i?j?:ɱ:@4Q 6{?Q 6 d?Q tI)Q %BIXBɴJ:: 6 B4? e>)> ?I?ɷ^:: 6B4   HHFF!F!F%@zF!jF)E)E)<-Tracking...<52Tracking contact label: 2iE-ŌE;IM9?M9 M9M΁I)I MnxBqEiRg=IRtC)~ƄGIVH=ENPQE>YAyAMEMJCMM> Q ]]@4UX?Uّ>ɯU> ie?U?U0:ɱUE:U)@4Q m6e[?Q m6 e$?Q mtI)eQ u'BIeBɴep:e: e.6 B4u4? uё>)uַ> ?Iu?ɷu":uP: uGB4@ @ =BHHFFF!F!zF!jF!E!E)<-Tracking...<-2Tracking contact label: 2ie쐽e;ae=?e= e9mui)i mlx %hE)ׄGI15S=ل5ף;y5++?{Gzt?Y1I1i111Ʌ115 5=)5ף;VHEMAt9QM>YQyQUEUC]{o]> a ]mA4e? amA4ex>ɯe> im?e?e:ɱeU:e|A4Q }6u8?Q }6 uA?Q }tI)uQ }(BIuBɴu:ub: uf6 B4鵅? q>)c> ?I?ɷ:鷅: ZB4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ih(;A?A 9𦣼) nGxRcEGPHPi`I`)GH%@H%@I!VH55JQ5>Y9y9=E=CEYE> I ]UA4M?M>ɯM> iU?M?MN:ɱM :M[A4Q e6]I?Q e6 ]ݷ?Q etI)]Q e*BI]Bɴ]:]÷: ]6 uB4m? m>)m> u?Im!?ɷm :m: mojB4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iu;E?E 9\O) vxBkE)~ƄGI|VH=E7<8QE>YAyAMEMCMM> Q ]]A4U?U>ɯU> ie?U?U:ɱU:U#A4Q m6es?Q m6 e?Q mtI)egQ u,BIeBɴel:e=: ec!6 }B4u? u>)u> ?Iu?ɷu':u: u{B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iЛ;I?I 9) Dl& xD'AYt.1K@t.Z@yt.b=t.5xBgEiR=IRyC)~GIAE>لETYayaeEeCmdm> q ]}A4u?ua>ɯu> i}?u?uV:ɱu:u1A4Q 6鲅f?Q 6 ?Q tI) Q -BI\BɴE:鴅ӻ: gG6 B4鵕? Y>)t> ?I?ɷ :鷕: B4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i랽;M?M 9첼) /xRpfEiyP HV4=HVa= {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ){GHmAHlAIVHU8Q>Y y  E PC> ! ]-A4%?%9>ɯ%g> iU?%?%;ɱ%;%@A4Q m6]f?Q m6 ]?Q mtI)]^ Q u/BI]Bɴ];]; ]Ѝ6 B4鵝? 7>)_> ?I{?ɷ:鷝j< hB4 H!H!F)F)FFzFjFEE<Tracking...<2Tracking contact label: 2i;R?R 949) xvlE){zi"I{xi{zF>{z>{x{z`A{x|z3C9|zb?`@A"@i5g=I1)ƄGI"=لy㥛 MbX9?YAIi@Ʌ ʡ=)VH5Q>YyEC>  ]A4 ? ҕ>ɯ > i? ? 4:ɱ : NA4Q %6P?Q %6 v?Q %tI) Q %0BIBɴc:4: 6 5B4-? -̕>)-> 5?I-?ɷ-:- : -?B49 AAHQHQFQFQFYF] ?zFYjFYEaEaxBaE)GIVH}˅9Q>YˉyˉEˍC͍>  ]A4?f>ɯ> i?v@:ɱ:鱕J\A4Q 6鲥u?Q 6 3?Q tI)#Q 2BI8!Bɴ:鴥: x6 B4鵽? `>)> ?I@ɷ:鷽n: B4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i?;  Z? Z 9 ü )  icxRcEGR?AHR@Ai`Id)%ƄGH-@H)I)VH]e͙8Qe>YayamEmCm~m> q ]}A4u?u>ɯu!> i?u5@u$:ɱu:u@jA4Q 6鲅qU?Q 6 ?Q tI)Q 4BI"BɴW:鴅': 56 B4鵕? >)> ?IV@ɷ:鷕 : ?B4! !)HQHQFYFYFaFazFajFaEaEaxRGkE:@V=B@T)ׄGIe;eb>لeD;yeB`"۹J +?~jth?Ye\AIaiaeM@eAɅaexAeν e=)eD;VH}}}Q>YˁyˁE˅C͍E>  ]A4?>ɯv> i?@A:ɱR:鱕xA4Q 6鲥c4?Q 6 ?Q tI)Q 5BIq$Bɴа:鴥=: 6 B4鵵? >)e> ?I@ɷ:鷵Ǻ: B4 =BHHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i}C;lc?lc 9{ϼ)  >¡߱L 6yD'AYt.OK@t.eZ@yt.a=t.K<>xBcEiLIP)|IVH%`8Q%>Y!y!-E-OC-[-> 1 ]=A45?5j>ɯ5> iE?5d @5:ɱ5:56A4Q M6E?Q M6 E?Q MtI)E^Q U7BIE&BɴE:E÷: E6 }B4u? ud>)u> ?Iu @ɷu7:uף: uB4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iR;g? g 9 =ռ )  xZmjE H^a=H\)1H5nAH1I1}}?5>ل})}<VH˵aQ>Y˹y˹E˽C,>  ]A4_?k>ɯ> i?'@k;ɱM;A4Q 6?Q 6 ?Q tI)Q 9BI'Bɴ :: B6  C4 S? C4 h>) > ?I U@ɷ : : >C4 HIHIFQFQFQFU ?zFYjFYEYEY<]Tracking...xB"lE@D"@DiR=IP)GIVH%śQ%>Y!y!-E-C-߹-> 1 ]=A45>?5T>ɯ5> iE?5w@5:ɱ5|:5sA4Q M6E?Q M6 EP?Q UtI)E8Q U:BIE<)BɴE:E: EB6 ]C4]%? ]N>)]> e?I]@ɷ]۞:]: ]C4i iiHyHyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2i<<ý;mp?mp 9GpἉ) k9>xBeE)z{GI|VH%38Q%>Y!y!-E-C--> 1 ]=A45]?5J>ɯ51> iE?5@5m:ɱ5:5A4Q M6EW?Q M6 E%?Q MtI)EQ U)] > e?I]"@ɷ]:]: ]*C4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i+;t?t 9缉) l>x>mjEGB@AH@irg=Ip)E0GHE@HAIIY=لy~jt~jt?MbPY AIiAɅ酉鄍 =)VH˥Q>Y˩y˩E˭ C͵EO>  ]A4?>ɯ> i?t@I:ɱ:鱽NA4Q 6+?Q 6 ?Q tI)!Q =BI,BɴR;; T6 C4? >)> ?I@ɷ@:b: lAI:3m ]yD'A)@IYt2K@t2TZ@yt2Oa=t2BxBpE {DY|DF8****** ping requested ******:@F=B@DJNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGIVH=E7:QE>YIyIMEMVC͕%>  ]A4?>ɯ> i?@g<ɱg<鱥qA4Q 6k?Q %6 9?Q %tI)Q %?BIP.Bɴ:;: 6 5C4-? -ߛ>)- > 5?I-@ɷ-:-: -OC4A AAHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2inIý;%~?%~ %9%) t>xBLeE){BQ I{@i{Bg>{B>{@{BA{@|BkC9|B3X9\?\.ҿi`I`)%{GI!ee+=لeyeI +~jt?YaIaiaaaɅaae9 e<)eVH˵89Q>Y˹y˹E˽C>  ]A4 ?>ɯ}> i?@b<ɱ<A4Q %65K?Q %6  ?Q %tI)Q %ABI/Bɴ:2: 6 5C4- ? ->)-o> 5?I-@ɷ-b:-: -`C49 AAHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.957320 forward, -0.289032 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.962411,-0.265964,-0.055034;0.264880,-0.963923,0.026277;-0.060037,0.010712,0.998139 ]<tazimuthInNED_ = 178.622725 degrees FINAL. Radians:3.117555< ^ContactLat = 36.801484 ContactLon = -121.788314:E E kCH *GK*_@3#CH 3X9\?\.ҿE Q E H /`0~@j @'H @@R?.ܮE G@bE TK@jE $BE xNKgE HPHRp=)ƄGHmAHmAIVH9Q>YyEC(/>  ]A4 ?>>ɯ> i?@<ɱ<A4Q 7鲥+?Q 7 ?Q tI)~Q  BBI{1Bɴe<鴥f< 7 C4 ? =>)> %?I@ɷ:: ?rC4) )iHyHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i3;a= @  9  )  И=i)IH%<"H%w:lAlA@A- zD'AiYt.K@t.KZ@yt.]a=t.xReE@T"@TidId)-ׄGI)VH=EEQE>YAyAMEMCMAM> Q ]]A4Uq ?Uk>ɯU5> ie?U_@U:ɱU$:UNA4Q m7e9?Q m7 eO?Q mtI)eQ uDBIe2BɴeJ:e: e7 C4u] ? ue>)u$> ?Iu@ɷu :uʢ: ubC4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%n=%;!%@% %9-l ))) -S=i1)IH<"Hw:©߹3W zD'AYt.K@t.EZ@yt.%b=t.QxB"lE)GIEE9لAyE rh?y&1YE=AIAiAE@AɅAExAEC< E`e)AVH]e89Qe>YiyimEm!CuXu> y ]}B4} ? aB4}R>ɯ}> i?}@}a:ɱ} :}B4Q 7鲍?Q 7 )?Q tI)7Q EBI4Bɴ鴍; s7 C4鵽 ? L>)> ?I@ɷP:鷽: 2C4 HHFFFF ?zF jF E E < Tracking...<2Tracking contact label: 2iEd3M;IM@M M9MYI)I Ui=iQY)YIYYHe<"Hew:e(z=!1Z /8zD'AYt.K@t.+@Z@yt.!a=t. xRcEGRAAHPi`IbtC)+GH@H@IVH=EQE>YAyAMEMTCMUM> Q ]]B4U ?U:>ɯU> ie?U@UD:ɱU8:UB4Q m7e?Q m7 e?Q mtI)e Q uGBIe(6Bɴe:e: eæ7 }C4} ? }4>)}> ?I}@ɷ}{:}: }AC4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iĦ2; @  9Y) > =i)IH<"Hw:=R> >Nk  RzD'A)@IYt.K@t.p=Z@yt.a=t.d>x>$jE:@B=B@B=)XGI mDmلiymy&1|?MbpYmAIiiiimAɅiim`; m)iVH̨Q>YyECO˹>  ]%B4 ?4>ɯ> i%?@:ɱ:"B4Q u7-֩?Q u7 -?Q utI)-$"Q uIBI-7Bɴ-<-< -b7 C4} ? }/>)}~> ?I}@ɷ}:}ߡ: }$C4 HHFFFFz?zFjF)E1E1<5Tracking...<52Tracking contact label: 2i75 ;  @  9 B )  =i)IH%<"Hw:=QYm [lzD'AYt.IK@t.=Z@yt.a=t.d"ȿ>xBkEiLIL)ƄGIVH%Q%>Y!y!-E-C-C8-> 1 ]=B45 ?5/>ɯ5w> iE?5@5:ɱ5!:5/B4Q M7Ex?Q M7 E?Q UtI)Ev#Q UJBIE^9BɴE|:E : E7 ]C4]x ? ]*>)]f> e?I] @ɷ]:]&: ]C4i iiHyHyFyFFFzFjFEE<Tracking...<2Tracking contact label: 2iA;@ 9 +%) =i11)1I19H=<"HEw:)AIIiIIy߁9{ 6zD'AYt.^K@t.9Z@yt.|a=t.J>xB,`E HB4=H@)EGHEjAHElAIAVH]e!9Qe>YayaeEmCm'm> q ]}B4uG ?u)>ɯu\> i}?u# @u:ɱuz:u >B4Q 7鲅 j?Q 7 i?Q tI)$Q LBI;Bɴ:鴅: 7 C4鵕2 ? $>)L> ?II @ɷ+:鷕 : C4 HHFFFFzFjFE E < Tracking...< 2Tracking contact label: 2ie8e;ae@e m9m,i)i m=i)IH<"Hw:kA zD'AiYt.K@t._7Z@yt.W,b=t.xubE@A"@@A"@Ai=IyC) {GID;94لy{Gzt?{GzY AIixAAɅ酑鄕ף; #)VH49Q>YyE*C>  ]B4?>ɯ=> i?u @8;ɱ^;MB4Q 7 E?Q 7 ?Q tI)&Q %NBI)%,> U?I% @ɷ%;%; %ZC4Y YYHiHiFFFF(,@zFjFEE<Tracking...<2Tracking contact label: 2i+5;$@$ 9s3) J=i)I H<"Hw: ϭ zD'AYt.2K@t.0Z@yt.a=t.xB%hE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5ƄGIAVHQ>YyE^C>  ]B4 ? >ɯ  > i?  @ ض:ɱ : \B4Q % 7>$?Q % 7 d?Q -tI)'Q -OBIs>Bɴ:Ɛ<  7 C4鵭? >)> ?I @ɷ:鷭: C4 HiHiFiFqFyFzFjFEE<Tracking...<2Tracking contact label: 2iܔ8;@ 9:)! %=i)1)1I19HE<"HEw:AI- CzD'AYt.K@t.,Z@yt.kFa=t.,xBkEG@H@]F^unknown deviceResponse_: !U1,R,EC1,000,007B4FF i%g=I!)GIلyYyEC>  ]B4b?>ɯ> i? !@P:ɱa:!jB4Q  7 ?Q  7 -?Q tI) \)Q QBI  @Bɴ ; ; - 7 %D4%N? %D4 %>)%> -?I%1!@ɷ%:%n: %.D41 99HIHIFIFQFQF]+@zFYjFYEYEY >ߑV zD'A)@IYt.K@t.%.Z@yt.a=t._p>>xBklE:@F=B@F=)ƄGI 4= VH=E; QE>YAyAMEMCMQ9M> Q ]]B4U?U>ɯU> ie?UL!@U:ɱU:U_vB4Q m 7eF?Q m 7 e?Q mtI)e*Q uRBIesABɴe:e{: e( 7 }D4u? uݛ>)u> ?Iur!@ɷu:u: uBD4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iT!M;@ 9wF) T!=i)IH<"Hw:±߹ z{D'AYt.}K@t. +Z@yt.a=t.IxbsbEi~=I|)]GIYVH}˅9Q>YˁyˁEˍC͍>>  ]B4?כ>ɯ> i?!@P:ɱ:鱕ƄB4Q  7鲥?Q  7 x@Q tI) ,Q TBICBɴ>:鴥:  / 7 D4鵽? ћ>)> ?I!@ɷ{:鷽: 0D4 HHFFF F zF jF E E <Tracking...<2Tracking contact label: 2iE[@M;IM@M M9MVhMI)Q U$=i)I)9HE<"Hw: 2W!{D'AYt.IxK@t.%Z@yt. b=t.jxBjE HF=HFa=)~{GIAEلAyEMb`?YAIAiAExAAɅAEAE; E)AVH]]9Qe>YayaeEe&CmJUm> q ]}B4u?u؛>ɯu> i}?u!@u:ɱu(:uB4Q  7鲅h?Q  7 <@Q tI)u-Q VBIDBɴ:鴅: k< 7 D4鵕? ӛ>)> ?I!@ɷ:鷕: HAD4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i@F;@ 9S) /(=i)IH<"Hw: 2=lAD T7;{D'AiYt.pK@t.3Z@yt.`b=t.3R?`? m??)u.pK@ u.v;Iu,x>d>x>$jE@FA"@FAiNg=INtC)|I|lAkAVH==7QE>YAyAEEEYCMbM> Q ]]B4U?Uڛ>ɯU> i]?U!@U:ɱU:UB4Q m7e?Q m7 e@Q mtI)e.Q mWBIeJFBɴe:eR: e6J7 }D4u? uԛ>)u> }?Iu!@ɷu;:u: uRD4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iG;@ 9wZ) ;]+=i)IH<"Hw:(S=‰ߙp% U{D'AYt6[nK@t6Z@yt6|b=t6JU>xBkE)~ƄGI|==T<ل=ףy=MbI +?{GztY=AI9i9=A9Ʌ99= =94<)=ףVH}}b9Q}>YˁyˁE˅C͍Q>  ]B4?>ɯ> i?"@;ɱw;鱕hB4Q 7b?Q 7  @Q tI)^0Q YBIGBɴ:: 'h7 D4? >)> ?I:"@ɷ :+: dD4 HHFFF!F%*@zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2ie]Ce;ae@e m9mٜai)i m..=i)IH<"Hw:=߉u/ 6n{D'AYt.jK@t.UZ@yt.oFb=t.xBgEG@H@ipIryC)=GIAVH}}Q>YˁyˁE˅C͍ >  ]B4S? >ɯ> i?l"@s:ɱ:鱕>B4Q 7鲥B?Q 7  @Q tI)1Q ZBIIBɴ>:鴥: Lp7 D4鵵@? >)> ?I"@ɷ:鷵: uD4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iltM;@ 9 g )   2=i)IH<"Hw:)!I!i!) ? >™ߡ^ ~ň{D'AYt.hK@t. Z@yt.4b=t.xBiE:@F=B@F=)=ƄGIAA AVH}}Q>YˁyˁE˅C͍L>  ]B4? >ɯ> i?"@E:ɱ:鱕]B4Q 7鲥!?Q 7 o@Q tI).3Q \BI)KBɴ:鴥÷: 7 D4鵵? >)> ?I"@ɷ؛:鷵: 0D4 HHFFFFzFjFEE< Tracking...< 2Tracking contact label: 2i%J%;!%@% %9%n))) -:s5=i)1)1I11H=<"H=w:1I=Xgot command get HorizontalControl.headingCmd=RHorizontalControl.headingCmd 3.118952 radA 젢{D'AYt.`gK@t.Z@yt.a=t.2xBsEiLIL)~ׄGIEDEt<لEyEI +Q?MbpYE AIAiAExAAɅAExAE94 Eu<)EVH˝Q>YˡyˡE˥*CͭA>  ]B44 ?@>ɯc> i?F#@;ɱ;鱵B4Q 7{?Q 7 G@Q tI)4Q ^BILBɴx:: J7 D4" ? ;>)Q> ?Im#@ɷN;; D4%@ %@!HQHQFYFYFYF](,@zFajFaEaEaxBiE HBp=HBp= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )YIiVHI8Q>YyEcC6>  ]EB4  ? c>ɯ > iE? #@ <;ɱ ]$; JB4Q 7鲍D?Q 7 q@Q tI)?6Q `BINBɴ:鴍>: e7 D4鵝 ? ^>)> ?I#@ɷ:鷝۞: D4 HHFF FFzFjFEE<Tracking...<2Tracking contact label: 2iUdEU;QU@] ]9]45}Y)a e <=iqq)qIqyH<"Hw:nAkAߑ-S U{D'AiYt.fK@t.Z@yt.a=t.ʠxBrE){BI{@i{BP>{@{@{@{@|BB9|Bo2At?MG&c)|@P"@Pi`I`)GI%oA%lAeD;e`لe;ye~jth?y&1|Mb`?YeAIaiaeAaɅaeAeD; e`)e;VH˝6Q>YˡyˡE˥Cͭ>  ]B4 ?U>ɯ> i?#@:ɱ:鱵B4Q 74?Q 7 @Q tI)w7Q aBIPBɴJ:: t7 ]D4 ? Q>)> ]?I&$@ɷ?:3: D4a aaHHFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.999585 forward, -0.028794 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.963399,-0.262365,-0.055027;0.261311,-0.964913,0.025670;-0.059831,0.010351,0.998155 ]<VazimuthInNED_ = -2.904541 rad -- adding 2pi<ZazimuthInNED_ = 3.378644 rad after adding 2pi<tazimuthInNED_ = 193.582027 degrees FINAL. Radians:3.378644<%^ContactLat = 36.801664 ContactLon = -121.788655:E!E%BH%)\@y 4 H%o2At?MG&c)|E%E!H%8 \Dx;g<˥DH%gO'.οéZE%;X@bE%jE%NBE%qn$?JE%xBIiE)ƄGIVH=Ek9QE>YAyAEEECM*9M> Q ]]C4Ut ? a]C4UE>ɯUU> ie?U/$@U8:ɱU+:UC4Q m7e`?Q m7 e@Q mtI)e8Q ubBIeQBɴeW:e: eϼ7 }D4}g ? }A>)}=> ?I}W$@ɷ}:}ߡ: }D4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i9\;@ 9) C=i)IH<"Hw:\e  |D'AYt.DjK@t.Z@yt.b=t.q:xB'fEG@HFAAiTIVtC)BGH ?H ?I VHEU8QU>YYyY]E]Ce9e> i ]uC4mJ ?m4>ɯm> iu?mb$@m:ɱm:mC4Q 7}_~?Q 7 }X@Q tI)}H:Q dBI}5SBɴ} :}ܹ: }7 D4鵍< ? 0>)> ?I$@ɷw:鷍: D4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%(R-;)5@= =9EA)A MF=iYY)aIaiH}<"Hw:5> =l> #|D'A)@IYt.6mK@t.Z@yt.Ab=t.oxBaE:@F=B@F=)~jGIEE`e<لEyEYayaeEe+Cm9m> q ]}C4u ?uN>ɯu> i}?u$@u:ɱu[:uC4Q 7鲅]?Q 7 $ @Q tI);Q fBITBɴ):鴅s: 7 D4鵕 ? 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Z@yt.ea=t.xB$jE {DY|DF8****** ping requested ******:@F=B@F=JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MYyyyE˅fC͍F>  ]C4ɯ i?:ɱ:vC4Q %7%t?Q -7 %=1@Q -tI)%sDQ -pBI%^Bɴ%<%< %e7 E4 ) ?Iɷ:y: U[E4 HQHQFYFYFFzFjFEE<Tracking...<2Tracking contact label: 2i5RbW=;9=@ 94/) U`=i)IH%<"H%w:5 |D'AYt._K@t.f Z@yt.*a=t.xB_E-F0NEGATIVE RANGE NOT USINGi\I^yC)XGIeףetلeD;ye{Gz?Mb`~jth?YeAIaiaeAaɅaae#< e)eD;VH Q>YyEC!ݹ>  ]C4 ?i>ɯ-> i?&@A;ɱ;LC4Q %7bv?Q %7 3@Q %tI)EQ %qBI2`Bɴ:ܹ: y_7 5E4- ? -e>)- > U?I-(&@ɷ-;-9; -pjE4Y YaHiHiFqFIFQFU*@zFQjFQEYEY<]Tracking...<]2Tracking contact label: 2i~l;>@ 9 ) Yc=i)IH<"Hw:©߱== Xgot command get HorizontalControl.headingCmd=E RHorizontalControl.headingCmd 3.118952 rad< a|D'AYt._K@t. Z@yt.a=t.}$>xBsbE HBR=H@)ƄGHxAHuAIVH=E9QE>YAyAEEECMJM> Q ]]C4U< ?Uk>ɯU> i]?UB&@U=:ɱU:UC4Q  7miW?Q  7 ml6@Q tI)mGQ sBImaBɴm^;m; m` 7 E4鵝3 ? g>)> ?Ii&@ɷ4:鷝: {E4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i~tl;@ 9) !f=i)IH<"Hw:wAtA C ֭ }D'Ai;Yt2iaK@t2Z@yt2b=t2xNjE@`"@`iI)GID;ل:yMbp?YyEC%9%> ! ]5C4% ?%U>ɯ%> i5?%&@%:ɱ%Y:%ٟC4Q =!7=b4?Q E!7 =e9@Q EtI)=HQ EtBI=qcBɴ=:=÷: =!7 UE4M ? MQ>)M> U?IM&@ɷM:MӠ: ME4Y YYHiHiFqFqFyF}(,@zFyjFyEyEy<Tracking...<2Tracking contact label: 2i`;@ 9|) j=i)IH<"Hw:iy+I `w&}D'Ax~d>x~$jE){GIVH˭Q>Y˩y˩E˵2C͵>  ]C4 ?A>ɯ> i?&@:ɱ:鱽uC4Q "7?Q "7 <@Q tI)JQ vBIdBɴ:i: މ"7 E4 ? =>)> ?I&@ɷ:b: SE4 HHFF F F zF jFEE<Tracking...<2Tracking contact label: 2i-}h-;15@5 595:1)9 =n=i9A)AIAAHM<"HMw:p{=AQTP Q@}D'AYt.`K@t.Z@yt.b=t.xBmEGB@AHDi^=I\)E+GHM?HM?IIVH]eQe>YayamEmdCmm> q ]C4u ?u,>ɯu> i?u'@u;ɱu;u?C4Q #7鲥m?Q #7 >@Q tI)jKQ xBIfBɴl:鴥: #7 E4鵵 ? 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D'A)@IYt.M@t.U[@yt.sib=t.(xBGkE:@J=B@J=) ƄG4= %=VH%-qQ->Y)y)-E-C5:5> 9 ]EG4=j'?=e>ɯ=? iE?=d@=:ɱ=N:=lG4Q Uj7M:f؍?Q Uj7 M/AQ UtI)MQ ]BIMPBɴM>:M: Mj7 eJ4ej'? ec>)e? m?IeGd@ɷe:e4: e>J4q qqHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i/孾;@ M9UGQ)Q Ul>iYY)YIYaHm<"Hw:‘߱ G! 4D'AYt.o%M@t.[@yt.%b=t..xRgEi`Id)%BGeeףلeuyev/?v/QYezAIaiae@eAɅeEAe$Aexi= exi)euVH˅P8Q>YˉyˉEˍ C͕:>  ]G4$?>ɯ? i?7f@Ǻ:ɱR:鱝~{G4Q k7鲭D؍?Q k7 WAQ tI)@Q BI%Bɴ:鴭b: 3k7 J4鵽$? >)y? ?Ief@ɷߡ:鷽ߡ: PJ4 HHFFFF@zFjFEE<Tracking...<2Tracking contact label: 2i m ;  @ 9VI) i>i)I!H%<"H-w:q ! b8D'AYt.I0M@t.[@yt.kb=t.xBLeE HBa=HFa=)~GVH=EKQE>YAyAMEMSCM:M> Q ]]G4U"?U>ɯU? ie?U;h@U:ɱU1:UMG4Q ml7e$؍?Q ml7 eYAQ utI)eQ uBIeBɴeJ:e: el7 }J4}"? }>)}? ?I}ih@ɷy}: }aJ4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ih;@ 9}J) y >i)IH<"Hw:]>©߱@AiY! =RD'AiYt.29M@t.[@yt.a=t.yx^,`Eijg=Ih)5ׄG}D}jل}y}Y˙y˙E˝Cͥ:>  ]G4!?>ɯ=? i?h@:ɱv:鱭ϗG4Q n7鲽u؍?Q n7  AQ tI)Q BIëBɴc:鴽U: n7 J4!? }>)%? ?Ii@ɷ:: sJ4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i#%;!%@% %9%L))) - >i)1)1I11H=<"H=w: k> 4! lD'AYt.3CM@t.[@yt.&a=t.Y)xBnE)1VH}˅ƷQ>YˁyˁE˅C͍:>  ]G4.!?i>ɯ? i?ji@:ɱ:鱕ҥG4Q o7鲥3׍?Q o7  AQ tI)cQ BIBɴа:鴥: o7 J4鵵-!? g>)? ?Ii@ɷM:鷵D: J4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i(;@ 9 SN )  U >i)IH<"H%w:i-a=-4= n>aik!! D'AYt.QM@t.[@yt. Ib=t.bxRmEGR@AHPi\I`)VH-59Q5>Y9y˙E˝CͥM ;>  ]G4t ?S>ɯ? i?j@:ɱ:鱭 G4Q p7鲽x׍?Q p7 AQ tI)Q BI`Bɴ :鴽: 2p7 J4t ? Q>)v? ?I/j@ɷ$:: J4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iU|; 9%\P!)! % >i))))I))H5<"H5w:)9I9i== V>¹0'! ͟D'A)@IYt2_M@t2I \@yt2 2b=t2Uοx:mjE)vG--#<ل-y-y&1|y&1|?Y-AI)i)-@-AɅ-A-A-` -`;)-VHEMbQM>YQyQUEU"CU;]> a ]eG4e ?e_>ɯe? im?eAj@e:ɱec:eG4Q uq7u׍?Q uq7 uAQ }tI)uΙQ }BIu*Bɴu:u/: u;q7 J4鵅 ? ]>)? ?Ioj@ɷ4:鷅U: J4 H!H!F!F!F)F-(?zF)jF)E1E1i)IH<"Hw:©߱-! ƧD'AYt.ijM@t.\@yt.b=t.xBeEiPIRtC)0GVH=E 9QE>YAyIMEMVCM:M> Q ]]G4U !?Ul>ɯU? ie?Uj@UR:ɱU$:UG4Q mr7eW׍?Q mr7 eAQ mtI)eQ uBIeBɴe:e÷: euKr7 }J4u !? uj>)u? ?Iuj@ɷue:u: uJ4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iL;x>@ 9HS) H>i)IH<"Hw:04! 4ӄD'AYt.qM@t.2\@yt.kb=t.Z?)u.qM@ u. w;Iu.CxR7>xRPaE HRp=HT {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )G94ل;yMb?y&1|Mbp?YAIiEAAɅxAA< `);VH=E%,QE>YIyIUEUC?:>  ] G4 ?^>ɯ? i ?j@r<ɱ#<G4Q ]s7U\׍?Q ]s7 UjAQ ]tI)UWQ ]BIUBɴUض:UD: Ufs7 mJ4e ? e\>)e? ?Iek@ɷei)IH<"Hw:> ?A:! `D'Ai;Yt.yM@t.^'\@yt.Ob=t.xB%hE){F I{Di{Fm={F>{D{F&C{D|F@9|FEF?V!}п@RA"@Pi`IbyC)%G-A)VH]eQe>YayaeEeCmظ:m> q ]}G4u\ ?uT>ɯu^? i?uk@u/:ɱu:uFG4Q t7鲅 A׍?Q t7 AQ tI)Q BIBɴW:鴅÷: nt7 J4鵕\ ? R>)G? ?I@k@ɷ:鷕e: J4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.965926 forward, -0.258819 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.954376,-0.293457,-0.055224;0.292583,-0.955952,0.023476;-0.059680,0.006247,0.998198 ]<VazimuthInNED_ = -3.105482 rad -- adding 2pi<ZazimuthInNED_ = 3.177703 rad after adding 2pi<tazimuthInNED_ = 182.068992 degrees FINAL. Radians:3.177703<^ContactLat = 36.802620 ContactLon = -121.788356:EE@HWZGi@HWHEF?V!}пE EHپo.Vl˿q ׿HÂ2￰sV; lE~_K@bE_jEsBEo$?JEo$?RE ZE rE[zE):iJW%;!%@% %9%V!)) ->i)))1I11H=<"H=w:%Bacoustic_contact_range 6.059999 m%%hTrackAcousticContact.heading_to_contact 3.177703 radA! d<D'AYt.M@t.v3\@yt.b=t.9?ҿ`ey?`]V xBEmE)ƄGVH%%29Q->Y)y)-E-C5:5> 9 ]EG4= ?=H>ɯ=? iE?=Yk@=^:ɱ=:=&G4Q Uu7M$!׍?Q Uu7 M&AQ UtI)MQ UBIMaBɴM:Mw: M_zu7 eJ4] ? ]F>)]? e?I]k@ɷ]۞:]": ]1J4q qqHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i.;@ 9{CX) J>i)IH<"Hw: Eo>G! ;!D'AYt.M@t.@\@yt.b=t.>xBdEGBAAH@iTIT) ׄGM,MuلM#YiyimEm%Cuw:u> y ]H4}}? aH4}`>ɯ}Q? i?}Jm@};:ɱ}Ǻ:}H4Q v7鲍֍?Q v7 Y"AQ tI)bQ BI4BɴB:鴍: v7 J4鵥|? ^>)9? ?Iym@ɷ:鷥{: J4 HHFFFF=?zFjFEE<Tracking...<2Tracking contact label: 2iFX;kY>292 9CX) o1>i)IH <"H w:4x>A‰ߙ]>  N! $:D'A)IYt.M@t.[L\@yt.1b=t.ax^kE:@b=B@`)5GVH}˅̃Q>YˁyˁE˅YC͍:>  ]H4?x>ɯ? i?5o@w:ɱ:鱕H4Q w7鲥O֍?Q w7 %AQ tI)Q BIBɴį:鴥R: w7 K4鵵? K4 v>)? ?Ico@ɷ:鷵: K4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iLX;: 9 CX )  >i)IH<"H%w:)%AI-A) hT! GTD'AYt.#M@t.X\@yt.9b=t.ͮxBGkEiPIP)-QG;LلףyL7A`?~jt{GztYAIi@AɅ3A配A鄍+= )ףVH˥sQ>Y˩y˩E˭C͵:>  ]H4?/>ɯ? i?p@:ɱ:鱽%H4Q x7v֍?Q x7 (AQ tI)ӞQ BIճBɴ0:: Ix7 K4? ->)? ?Ip@ɷ:ߡ: ."K4 HHFFF F @zF jF EE!<-Tracking...<52Tracking contact label: 2iM VXM;QU΄:U΄ U9UCXQ)Y ]>iYa)aIaaHm<"Hmw:5g> ߉E [! nD'AYt.aM@t.c\@yt. b=t.ɾxBcE H@HFp=)~ƄGVH˅ Q>YˉyˉEˍC͕:>  ]H4?>ɯP? i?q@:ɱ÷:鱝3H4Q y7鲭P֍?Q y7 +AQ tI)Q BIBɴ:鴭: y7 K4鵽? >)8? ?Iq@ɷ:鷽ʢ: s3K4 HHFFFFzFjF EE<Tracking...<2Tracking contact label: 2i-bX5;15:5ں 59=1DX9)9 =>iAA)AIAAHM<"HMw: AY>> e>b! ZD'Ai4<Yt2M@t2o\@yt2a=t2{xBrdE@D"@D@D"@FAiPIP)GVH=E晹QE>YAyAMEMCM:M> Q ]]H4U?U>ɯU? ie?Us@U:ɱU:U@H4Q mz7e~֍?Q mz7 e.AQ mtI)e:Q uBIelBɴe):e^: eOz7 }K4u? u> tI)uq? ?Iu=s@ɷu:uB: uyDK4 HHFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2i!rX;0$;0$ 9DX) >i)IH<"H w:)Ii!!‘ߙo1h! F]D'AYt.M@t.+w\@yt.>a=t.xBgE)~ƄGEEtلEuYayaeEe'Cm]:m> i ]uH4mV?m>ɯm ? i}?mSs@m:ɱmo:mOH4Q {7鲅]֍?Q {7 2AQ tI)Q BI)? ?Is@ɷ߼:鷕: VK4 HYHYFYFYFaFep?zFajFaEaEii)IH<"Hw:‘ߙ[n! 8D'AYt.M@t.F\@yt.-a=t.xRsbEGR@AHTi`I`)GVH-5( Q5>Y1y9=E=ZCE:E> A ]MH4E?E>ɯE? iU?Es@E]:ɱE:E]H4Q ]|7]=֍?Q e|7 ]?5AQ etI)]Q eBI]Bɴ]ض:]ʽ: ]|7 uK4m? m>)mk? u?Ims@ɷm:m: mEgK4y yHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iX;j;j 9gFX) z>i)IH<"Hw: ACu! օD'AYt.YM@t.ɋ\@yt.ha=t.GmxBKgE {DY|DJ8****** ping requested ******:@R=B@R=^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )M{Ge< iDD;لyMbp?MbYAIi@ɅEA ;)VH%-Q->Y1y15E=CE5:E> I ]]H4M?M>ɯM? i]?Ms@M(;ɱM;MOlH4Q u~7m֍?Q u~7 m8AQ }tI)mkQ }BImBɴm#;m '; m~7 K4鵅? >)? M?Is@ɷ<鷅#< BzK4Y YYHHFFFF(?zFjFEE<Tracking...<2Tracking contact label: 2iX;!%B;%Bʻ %9%GX!)! e>iqq)qIqyH<"Hw:ߑm{! D'AYt.M@t.E\@yt.a=t.YxBfE]F^unknown deviceResponse_: 00000,187,80,81,18,FF i)I))ƄGVH8Q>YyEC,:>  ]H4?>ɯ? i?s@0:ɱ:zH4Q 7KՍ?Q  7 ;AQ  tI)Q  BIBɴа:÷: ,7 K4? >)? ?Is@ɷk:ߡ: K4! !!H1H1F9F9FAFAzFAjFAEAEAiiq)qIqqH}<"H}w:©߹U!  D'AYt.M@t.\@yt.a=t.xRjE HPHT)5GVHee9Qm>YiyimEmCu ;u> y ]H4},?}>ɯ} ? i?}s@}:ɱ}:}H4Q 7鲍Ս?Q 7 >AQ tI)ˣQ BIwBɴ:鴍8: 7 K4鵝,? >)? ?It@ɷ0:鷝: ٛK4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2iEXM;IUhiqy)yIyH<"Hw:e> >‰1! j#D'Ai;Yt. N@t.z\@yt.^=b=t.Uw;Iu.CxB>xBiE@JA"@JAiTIT)-{G5A1;j<لTyYyE,C5:>  ] H4?ˣ>ɯ? i ?t@g:ɱW:ZH4Q =75Ս? 5=BAQ =tI)5Q EBI5PBɴ5W:5: 5,7 MK4E? Eɣ>)E? M?IEt@ɷE:E: E5K4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iY;b>3<3 9MX) >i)I H <"H5w: ! 0=D'Ax ָ>x NcE)0GVH˝Q>YˡyˡE˥_Cͭ>  ]H4?>ɯ? i?%u@s:ɱ:鱭H4Q 7ÚՍ?Q 7 REAQ tI);Q BIBɴ:k: H$7 K4? ޣ>)? ?ISu@ɷ:: K4 HHFFFFzFjFEE<Tracking...< 2Tracking contact label: 2i1AY%;!%Q<%Q %9%2PX!)! %>i))))I)1H=<"H=w:! h[WD'AYt. N@t.\\@yt. b=t.0xBjEGFAAHDiPIP)jG<=لyˡEy&1?Y AIi@Ʌ酝@鄝' )VH)Q>YyEC;>  ]H41?>ɯ? i?Iv@ж;ɱ;}H4Q %7%gyՍ? %HAQ -tI)%Q -BI%Bɴ%:%: %7 UK455? 5>)5? u?I5zv@ɷ5<5 < 5K4y HHFFFFQ?zFjFEE<Tracking...<2Tracking contact label: 2i_Y;v<v 9SX) b>i)@9a>I H<"Hw:%A%A V> Y>! T6qD'A)@IYt.&N@t.\@yt.cla=t.xRkE:@^=B@^=)-ƄG54= 5=VH}˅ȹQ>YˁyˁE˅C͍GS:>  ]H4?>ɯ(? i%?_w@X<ɱL<鱕2H4Q -7-XՍ?Q 57 -KAQ 5tI)-Q 5BI-Bɴ-:-<: -)97 EK4=? =>)=? E?I=w@ɷ=N:=: =pK4I IIHYHYFaFaFaFizFijFiEiEii)IH<"Hw:Z>ai! D'AYt.z.N@t.\@yt.Ya=t.6xJlEi\I\)GVHMeAQm>Yqyq}E}C͍:>  ]H4?>ɯm? i?x@q;ɱb;鱥hH4Q u7?9Ս?  OAQ utI)`Q uBIBɴʖ< < h7 K4}0? }>)}Y? ?I}x@ɷ}:}: }i99)9I9AHE<"HEw:Eb>)ͨ! 줆D'AYtFqIN@tF\@ytFba=tF9xnjE HpHra=)m+G=ʽل+ykt?EԸL7A`堿YAIi@xAɅEA@ 0= ƽ)+VH K9Q >YyE/C=};=> A ]EH4E?E>ɯEY ? iM?EU{@E:ɱE:E5H4Q 7UՍ?Q 7 UeRAQ tI)UQ BIUZBɴU)M ?  ?I{@ɷ:]: `L4 H!H!F!F!F)F-?zFIjFQEQEQi)IH<"Hw:)Iim W>m %> u >A I ! &ȾD'Ai$YtB{UN@tB]@ytBa=tB,xbEmE@d"@din=Ip)=XGEAAVHMUUQU>YYyY]E]`Ce:e> i ]mH4m}?m>>ɯm? iu?m}@m:ɱm|:m]H4Q }7}ԍ? }mUAQ tI)}ƨQ BI}Bɴ}:}: }!ʃ7 L4鵍? H>)? ?I}@ɷ:鷍ϝ: L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iOZ;<̼ 9eX) S#>i)IH<"Hw:5yZ>! ؆D'AYt6\N@t6d ]@yt6a=t6xNcE {LY|PR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ){G+=Խل'yS㥛?QˡEYIiɅA/< )'VH=EʷQE>YIyQUEUC]:]> i ]uH4mF?m>ɯm? i}?m@m;ɱm;mH4Q 7鲅vԍ?Q 7 XAQ tI)Q BIBɴ;鴅; @^7 L4鵥z? >)? ?I@ɷ;鷥"; (L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5JZ5;15<5 59=DlX9)9 =a$>iAA)AIAIHM<"HMw:)]AI]A•na>IYj ! DŽD'AYt.eN@t./]@yt.: b=t.•z>xBlEGB?AH@){BI{@i{Bl={B1>{@{B0A{@|B‰A9|BJFTg? nk ibg=I`)!VH]]a9Q]>YayaeEeCm:m> q ]}I4uf? a}I4u>ɯu> i}?u@u:ɱu:uI4Q 7鲅ָԍ? [AQ tI)4Q BIBɴ:鴅¿: ڄ7 L4鵕? >)> ?I@ɷ':鷕: 8L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.992115 forward, -0.125333 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.950057,-0.307164,-0.055159;0.306291,-0.951639,0.023837;-0.059814,0.005751,0.998193 ]<VazimuthInNED_ = -2.954728 rad -- adding 2pi<ZazimuthInNED_ = 3.328457 rad after adding 2pi<tazimuthInNED_ = 190.706559 degrees FINAL. Radians:3.328457<^ContactLat = 36.802521 ContactLon = -121.788388:EE‰AHVDv1@QDHJFTg? nk EEH2[0EYތ )6K6Hi))))I)1H=<"H=w:)EIEiAAR> ™ߡ%Dacoustic_contact_range 17.219997 m%hTrackAcousticContact.heading_to_contact 3.328457 rad! f D'A)@IYt:ypN@t:]@yt:Aa=t:e?Ʋӿ@/r0w?5/U?=?)u:ypN@ u:Ow;Iu:Cxb>xbnhE:@=B@)1=< 9=D;لyMb/$MbY AIiAjAɅ酝@鄝@ ,)VH}Q>YyECQ:>  ]I4?X>ɯ]> i?@;ɱ;mI4Q 7ԍ?Q 7 _AQ tI)Q BIBɴ:T: Rs7 L4 ? b>) > ?I  @ɷ T: : 4LL4 !!H1H1F1F9F9F=Q?zFAjFAEAEAiqq)qIyyH<"Hw:߉! 4&D'AYt.yN@t.&]@yt.a=t.xRpfEi`Id)%+GVH˅9Q>YˉyˉEˍ0C͕c:>  ]I4?Ԟ>ɯ> i?@:ɱ:鱝#I4Q 7鲭wԍ? bAQ tI)Q BIXBɴY:鴭m: 7 L4鵽? ޞ>)> ?Iă@ɷϝ:鷽7: [L4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i G][ ; k> =  9 X) &>i)I!H%<"H-w:5> =]> ! w@D'AYt.N@t./]@yt.a=t.xRgpE HRR=HP)GVH--|Q5>Y1y15E5bC=:=> A ]MI4E?ED>ɯE> iM?E@Es:ɱE$:E0I4Q ]7U_Xԍ?Q ]7 UeAQ ]tI)UTQ eBIU!BɴU :UV: U]q7 mL4e? eN>)e> m?Ie@ɷe:e@: elL4q yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i-z[5;1U)=U) U9UXY)Y ]'>iaa)aIaaHm<"Hmw:‰ߙ-! YD'AYt.xRmjE@VA"@Ti`I`)G%A!e+=e<لeuyeA`"ˡEQYeAIaiaexAeAɅexAe@eY e')euVH}˅\Q>YˁyˁEˍC͍:>  ]I4?>ɯ > i?i@:ɱb:鱕D?I4Q 7鲥87ԍ? iAQ tI)Q BIBɴd:鴥5: 7 L4鵵H? >)V> ?Iu@ɷ{:鷵+: ~L4 HHFFFF ?zFjFEE<Tracking...<2Tracking contact label: 2i[;9=9 9ƓX) (>i)IH<"Hw:©߱W! sD'AYt.MN@t.?]@yt.8+a=t.FxRcE)GVH]e[Qe>YayaeEmCmX:m> q ]}I4u]?u>ɯu`> i?uF@u:ɱu:u>MI4Q 7鲅<ԍ?Q 7 _lAQ tI)íQ BIBɴ:鴅M: ݃7 L4鵕? >)> ?IR@ɷ:鷕7: ՏL4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iT4\;H=H 9X) R)>i)IH<"Hw:b>AA]B! D'AYtvnN@tvF]@ytvWa=tvׅ'f?F?)uvnN@ uvw;IuvCxL>xcEG-AAH)iAIEtC){G=#=لCy~jtx? rhY=AIiAɅV@L ;)CVH"8Q>Yy  E C :>  ]I4+?>ɯO> i%?@:ɱ:\I4Q -7%9Ӎ?Q 57 %oAQ 5tI)%Q 5BI%Bɴ%:%: %<7 =L4=b? =>)=> E?I=@ɷ=0:=0: =1L4I IIHYHYFYFaFaFe?zFajFiEiEii)IH<"Hw:] l>V> Qai! :zD'AYt2N@t2M]@yt2?da=t2fx:cE:@>=B@<)tz= xVH% 8Q%>Y)y)-E-0C-:5> 1 ]=I45?5>ɯ5> iE?5@5:ɱ5:54iI4Q M7MEӍ? 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M4 B>)> ?I@@ɷ:鷕:  M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^;u>= 9Y) y/>i)IH<"Hw: V>" BD'A)IYt.N@t.r]@yt.b=t.xR%hE:@V=B@T)G%4= !VH55*8Q5>Y9y9=E=gCESg:E> I ]UI4M)?M>ɯM> iU?M-@M:ɱM:MI4Q e7]UӍ? ]цAQ etI)]sQ eBI]2Bɴ]:]: ]Ë7 uM4mH)? m>)m> u?Im8@ɷm:m: m M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iwC_;= 9Y) 0>i)IH<"Hw:v" {\D'AYt.PN@t.z]@yt.tb=t.SxBkEiLIP)~{GEYayamEmCmp:m> q ]}I4u)?u>ɯu> i?u@u:ɱuk:uRI4Q 7鲅ҍ?Q 7 0AQ tI),Q BIBɴl:鴅=: M7 M4鵝#*? >)> ?I@ɷ:鷝ɪ: ,M4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iȤ_;ƻ=ƻ 9I&Y)  1>i)IH<"Hw:;> >iq#" F]vD'AYt.N@t.~]@yt.Ob=t.>x>[E H@H@)~ƄGVH==IQ=>YAyAEEECM':M> Q ]]I4U*?U>ɯU> ie?UՍ@U;ɱU;UKI4Q m7eҍ? e}AQ mtI)eQ uBIeBɴey:e): eoԌ7 }M4u*? u>)u> ?Iu@ɷu:uC: u=M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i1`; = ǽ 9:Y) ,2>i)IH<"Hw:Vk>¡߱'#" 0D'Ai4<Yt.N@t.R]@yt.(b=t.2Zx^dE@bA"@dilIl)=GAA>Ļلty|?5^"~jYˡyˡE˭CͭN:>  ]I4-?>ɯ> i?܏@:ɱ:鱵I4Q 7rҍ?Q 7 AQ tI)Q BIBɴW:: `7 M4@-? >)> ?I@ɷŧ: OM4 HHFFFFQ?zFjF E E < Tracking...<2Tracking contact label: 2i%`-;)-=-ӽ -9-+QY))) 53>i19)9I99HE<"HEw:=u> >*"  D'AYt.N@t.6]@yt.a=t.ߨxBrdE)5ƄGVH}˅HQ>YˁyˁE˅7C͍j9>  ]I48/?>ɯ> i?Α@;ɱ";鱕I4Q 7鲭~ҍ? 9AQ tI)RQ BIqBɴ!:鴭: }7 M4鵽r/? >)> ?Iڑ@ɷ:鷽ߡ: 2aM4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iS6a ;  = ߽ 9 hY ) g4>i)IH%<"H%w:))I)i))y߁0" ÈD'AYt.N@t.u]@yt.ca=t.qx6eEG:AAH8iDIFtC)vׄGVH~cQ>Yy E iC : >  ]J4X1? aJ4->ɯB> i%?@:ɱ:\J4Q -7%tҍ?Q -7 %lAQ -tI)%Q 5BI%7Bɴ%4:%H: %j7 M451? 58>)5> ?I5@ɷ5j<5< 5qM4@ @=BHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%0a-;)-=- -9-Y))) 5#S5>iQQ)YIYYHe<"Hew:QY77" ݈D'A)IYt.aN@t.ю]@yt.oa=t.L?7wԿ`gt?n?a?)u.aN@ u.v;Iu.CxNù>xRrdE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )yH>94<لYy㥛 ¿S㥛A`"Yp AIixAIAɅxA@ $)YVHEM>QM>YiyiuEuCui:}> y ]J4}o5?}>ɯ}f> i?}@}:ɱ}0:}>J4Q 7XMҍ?Q 7 |AQ tI)ݷQ BI2Bɴ=:: 7 M45? >)}>  ?Iז@ɷV;; M4 H!H!F!FAFIFM?zFIjFQEQEQi)IH<"Hw:OB=" ÜD'AYt.N@t.i]@yt.ua=t.xRIiE]V^unknown deviceResponse_: 00000,186,80,81,1B,FF i-=I-yC)VH=9Q>YyEC9>  ]J4d8?t>ɯҧ> i?@j<ɱY<t!J4Q 7鲥0ҍ? AQ tI)Q BIBɴ%;鴥); 7 M48? _>)k> ?I-@ɷ~:ŧ:  M4 HHFFFF!zF!jF!E!E!<%Tracking...<-2Tracking contact label: 2i]rHce;aeO>eO e9e%Ya)a e=7>i)IH<"Hw:C> >‰ߑ8*D"  xD'AYt.N@t. ]@yt.`=t. xR_E HPHRa=)!eeuلeף;ye~jt?YˁyˁE˅C͍8>  ]J47?g>ɯ> i?%@:ɱ:鱕I/J4Q 7鲥{ҍ?Q 7 AQ tI))Q BIBɴ):鴥: 7 M4鵽g8? S>)1> ?I[@ɷr:鷽: M4 HHFFFF1@zFjFEE<Tracking...<2Tracking contact label: 2i9c;> D > D 9 nY )  I8>i)IH%<"H%w:iy@A^TJ" HS+D'Ai;Yt.N@t. ]@yt.`=t.0xRgE@VA"@VAibg=Id)!VH]e 9Qe>YayaeEm9Cm# :m> q ]}J4uk7?uZ>ɯu> i?uW@up:ɱu:uD=J4Q 7鲅э? AQ tI)ܹQ BIxBɴd:鴅: 7 M4鵝7? F>) > ?I@ɷƟ:鷝e: )M4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2id;> 9Y) 8>i)IH<"Hw:xB^E)~GVH=Eξ9QE>YAyAMEMlCM8:M> Q ]]J4U6?UM>ɯUW> ie?U@U[:ɱU:U>KJ4Q m7eэ?Q m7 e6AQ utI)eQ uBIeDBɴe:e^: e7 }M4}l7? }9>)}> ?I}@ɷyy }mM4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2id;> 9 Z) 9>i)IH<"Hw:A±߹fW"  _D'AYt.N@t.]@yt.a=t.xZjEGXHXihIh)50Gu%>u<لujY˙y˙E˝Cͥ*9>  ]J4:?ΐ>ɯ> i?@b:ɱR:鱥YJ4Q 7鲽э? 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K>)> ?I@ɷ:鷝: uM4@ @BBHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%0e%;!%%>%% -9-QZ))) -;>i1Q)QIQYH]<"Hew:M~>)1`xd" ۿD'AYt.N@t.d]@yt.71a=t.x6NcEiDID)vG-=-tل-`y-lMbXy&1Y- AI)i)-A-AɅ-A-@- -ʽ)-`VHDQ>YyE CFN9>  ]J4|>?>ɯ> i?r@:ɱ:0vJ4Q 7pэ? eAQ tI)Q BIBɴ:E: 䳒7 M4>? >)> ?I@ɷ:: oM4   HHF!F!F!F-Q?zF)jF)E)E)<5Tracking...<52Tracking contact label: 2iExfM;IMc->Mc- M9M)vZI)Q U<>iYY)YIYYHe<"Hew:)iIiiii> >¹kj" D'AYt.N@t.Z]@yt.!a=t.!v;Iu.Cx6>x6oE H:R=H8)vƄGVH~~$Q>YyE:C !9 >  ]J4??>ɯ|> i?@M:ɱ:kJ4Q -7%ORэ?Q -7 %AQ -tI)%eQ -BI%zBɴ%:%I: %37 =N45J@? =N4 5،>)5> =?I5)@ɷ5:5: 5N4A IIHQHYFYFYFaFazFajFaEiEi4 9*Z) =>i)IH<"Hw:Kq" uƉD'AYt./N@t.]@yt.=a=t.ExRnhE@VA"@VAi`I`)G%A!VH55̈8Q5>Y9y9=E=oCE9E> I ]UJ4M0A?M>ɯM> iU?M@M:ɱMm:MˑJ4Q e7]y1э? ]AQ etI)]Q eBI]LBɴ]:]: ]07 uN4mA? m>)m|> u?Imˢ@ɷm:m: m N4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ig;<>< 9Z) >>i)IH<"Hw:ɴw" vRD'AYt.N@t.']@yt.ca=t.exBfE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UƄG=لy{Gzsh|?X9vY=AIixAAɅxA"@ף )VH8Q%>Y!y!-E-C5>  ]J4EC?X>ɯ> i?[@{:ɱk:鱕J4Q 7鲥F э?Q 7 AQ tI)Q BIABɴ8;鴥'; _7 N4C? A>)p> ?I@ɷ{:Y: Z5N4   HHFFF!F%?zF!jF!EIEIfF 9Z) w?>i)IH<"Hw: A A}" =,D'AYt.N@t.\]@yt.`b=t.2xRmjEGR@AHT){VplNI{Ti{Vj={V1>{T{VA{T|V($A9|VgZ?՞PɿipIrtC)EGVH}˅$:Q>YˁyˁE˅C͍I9>  ]J4D?k>ɯz> i?@^:ɱR:鱕[J4Q 7鲥?Ѝ? AQ tI)Q BIBɴy:鴥): є7 N4鵵?E? W>)"y> ?Iӥ@ɷܹ:鷵D: CN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.979750 forward, -0.200223 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.< rotationFromVehicleToNavigationFrame_ = [ -0.947351,-0.315395,-0.055240;0.314548,-0.948947,0.023635;-0.059874,0.005015,0.998193 ]< VazimuthInNED_ = -3.022095 rad -- adding 2pi< ZazimuthInNED_ = 3.261091 rad after adding 2pi<tazimuthInNED_ = 186.846723 degrees FINAL. Radians:3.261091<^ContactLat = 36.802587 ContactLon = -121.788356:EE($AH~֦ $@.oHgZ?՞PɿEplNEHOzV$ERHe1{ￎQ@wm"EP@bEJjE"BEo$?JE_m$?RE ZE rEzE|Mi=jE;E>E'M>E'M E9E[A)A E,l@>iII)IIQQH]<"H]w:IY%uDacoustic_contact_range 10.260000 m%}hTrackAcousticContact.heading_to_contact 3.261091 radN> Ƅ" $ D'AYt.tN@t.]@yt.b=t.dxBpfE:@J=B@J=)0G< =U`=UلQyU{GzMbX9X9vYQIQiQQQɅQQQ Uʡ)QVHmu9Qu>Yyyy}E} Cͅ9>  ]J4F?\>ɯgn> i?@:ɱ:鱅mJ4Q 7鲝Ѝ?Q 7 AQ tI)FQ BIBɴݱ:鴝: ]Y7 N4鵭 G? H>)om> ?IH@ɷ:鷭4: $UN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ivGj;UU>UU 9@[) WA>i ) I  H<"Hw:!" -D'AYt.N@t.]@yt..nb=t.xBjEiV=IVyC)GVH=EdQE>YAyAEEM>CM:M> Q ]]J4ULH?UP>ɯUb> i]?U@U:ɱU:UPJ4Q m7efЍ? e_AQ mtI)eQ mBIeBɴe!:e: eKߕ7 }N4uH? u<>)ua> ?Iu@ɷu:uߡ: uHfN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i+k;]>] 9n[) DB>i)IH<"Hw:> V>±߹vؑ" GD'AYt.jN@t.٦]@yt.Vb=t.xZ%hE HZa=HZp=)-YAyAMEMqCMd׸M> Q ]]J4UJ?U@>ɯU"W> ie?U@U:ɱUR:UnJ4Q m7e*Ѝ?Q m7 eAQ mtI)eQ uBIeUBɴe:e=: eqg7 }N4uJ? u,>)u*V> ?Iu/@ɷu:u: uwN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iSk; >if>if 9[) 6C>i)IH<"Hw:-F]~> " aD'AiYt.uN@t.]@yt.9a=t.O5xRiE@T"@Tibg=I`)uXGuAqx=t<ل+yʡE333333L7A`堿YIiɅ酹鄽- )+VHhQ>YyEC;>  ]J4BL?'>ɯ/J> i?@ϸ:ɱ^:6J4Q 7fnЍ? ) 6I> ?I @ɷ ]: i: N4 !H)H)F1F1F9F9zF9jF9E9E9]o ]9][a)a e04D>iai)iIiiHu<"Huw:Ms>‰ߑ-" w{D'AYt.N@t.n]@yt.a=t.xB$jE)~+GVH%?Q%>Y!y!-E-C- 9-> 1 ]J456N?5+>ɯ5>> i?5@5~^<ɱ5i^<5J4Q 7鲥OЍ?Q 7 AQ tI)!Q BIBɴ :鴥k: z7 N4鵵N? >)+=> ?I4@ɷ:鷵Ӡ: N4 HHFFFFzFjFEE < Tracking...< 2Tracking contact label: 2iEdmE;AEx>Ex E9M\I)I M%E>iQY)YIYqH}<"H}w:m>uAqAI" ND'AYt.nN@t.ݥ]@yt.a=t.۰x6fEG8H8iDID)vXG51>5;ل5ty5RQ+ηYQyQUEU C]`9]> a ]mK4eaP? amK4e>ɯe0> im?e@e:ɱer:eK4Q }7uL/Ѝ?Q }7 uAQ }tI)uQ }BIuBɴup:u: u7 N4鵅P? ӂ>)/> ?I@ɷ:鷅: N4@ @BBH!H!F)F)F)F-z?zF1jF1EQEQ<]Tracking...<]2Tracking contact label: 2imnu;> 9:\) F>i)IH<"Hw:)IiQaZ?" ,D'A)IYt2N@t26]@yt2ja=t2 xL:@V=B@V=)ƄGVH-59Q5>Y1y15E5@C==> A ]MK4ER?E>ɯEB#> iM?Ej@Es:ɱE$:EK4Q ]7UWЍ? UAQ ]tI)UQ eBIUBɴU:U: U7 mN4eS? e>)eT"> m?Ie@ɷej:e: e[N4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iЖo;g>g 9n\) GG>i)IH<"Hw:&" ɊD'AYt.ON@t.]@yt.b=t.i a×?P?)u.ON@ u.תv;Iu.CxB>xBeEiLIP)GVH%q 9Q%>Y!y)-E-sC- -> 1 ]=K45T?5g>ɯ5> iE?5#@5:ɱ5*:5K4Q M7E?ύ?Q M7 EvAQ UtI)E>Q UBIE\BɴE:E+: E 7 ]N4]#U? ]T>)]> e?I]W@ɷ]:]: ]N4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%o-;)-E>5E 9:\) G>iIQ)QIQYHe<"Hew:u> u]>IQP" D'AYt.TN@t.Ģ]@yt. b=t.WxBjE HBp=HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UƄG=<ل\y+ηˡEQ롿YIiAɅV@v 什)\VHXQ>Y!y!-E-C55> 9 ]MK4=W?=+>ɯ=> iU?=@= ;ɱ=u*;=3.K4Q e7]-ύ? ]AQ mtI)]Q mBI])u> ?Iu@ɷu$:u; uN4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5yo5;15>5 59=\9)9 =6I>iAA)AIAIHU<"HUw:AQz" D'AiYt.cN@t.Ӥ]@yt.Ea=t.VxRcE){RARI{Pi{R@={R>{P{P{P|R3#A9|R*R?gO(,ʿ@`"@`@bA"@bAipIp)EGVH}˅&Q>YˁyˁE˅C͍9>  ]K4Y?~> etIɯ:= i?j@:ɱ\:鱕;K4Q 7鲥˭ύ?Q 7 DAQ tI)Q BIBɴа:鴥÷: u#7 N4鵵Y? ~>)X= ?I@ɷ4:鷵: N4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.978867 forward, -0.204496 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.< rotationFromVehicleToNavigationFrame_ = [ -0.947299,-0.315600,-0.054970;0.314791,-0.948882,0.023025;-0.059427,0.004508,0.998223 ]< VazimuthInNED_ = -3.026252 rad -- adding 2pi<ZazimuthInNED_ = 3.256933 rad after adding 2pi<tazimuthInNED_ = 186.608527 degrees FINAL. Radians:3.256933<^ContactLat = 36.802590 ContactLon = -121.788350:EE3#AH\c #@LcyׯH*R?gO(,ʿEAREH:$'0HF<1Ji)EqP@bEjE!BEo$?JEo$?REZE rEzEi= sE;AE*>E* E9E"#]A)A MI>iII)QIQQH]<"H]w:IY%uDacoustic_contact_range 10.200003 m%hTrackAcousticContact.heading_to_contact 3.256933 radf" D'AYt2N@t2;]@yt2>x>oE)~{GEd;>E;لEDyEp= ףMb~jtYE AIAiAAAɅAE@E E)EDVHee6Qe>YiyimE˕C͝躸>  ]K4\?[|>ɯ= i?ͷ@;ɱ;鱥IK4Q 7ύ? AQ tI)iQ BIBɴ:I: 7 O4\? O4 D|>)= ?I@ɷ:: O4 H1H1F1F9F9F=\?zF9jFAEAEAK 9c]) CJ>i)IH<"Hw:A¡߱S" s0D'AYt6{N@t6]@yt6'Oa=t6<׼>xB"lEGBAAH@iPIP)ƄGVH%7Q%>Y!y!-E-BC-lM-> 1 ]=K45^?5z>ɯ5= iE?5@5:ɱ5X:5]WK4Q M7ECnύ?Q M7 EAQ UtI)EQ UBIEBɴAEϸ: E/7 ]O4]V_? ]z>)]= e?I]K@ɷ]:]ߡ: ]pO4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;t;#># 9]) K>i)IH%<"H%w:R> ]>+u" NJD'A)@IYt2N@t2]@yt2b/a=t2>x^gE:@f=B@d)UGa aVH˝Q>Yˡy˩E˭xCͽ7>  ]K4a?x>ɯ= i ?@ <ɱ)f;-fK4Q M7=Kύ? =|AQ utI)=Q }BI=tBɴ=;=8< =›7 O4鵍b? x>)f= ?I@ɷQ;鷍; 'O4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i=s=;9=>E壾 E9EB]A)A EL>iIi)iIiqHu<"H}w:)9ݟ" s,dD'AYt.N@t.]@yt.1na=t.c/ػ>xBgEiLIP)E{G&1>ףل 0yX9vT㥛 ktYAIiAAɅEA配@鄍 ) 0VH9Q>YyECV >  ]5K4 d? /w>ɯ O= i=? @ Z;ɱ ^; tK4Q E7E7+ύ?Q E7 EAQ MtI)EQ MBIECBɴEW:E: EJ7 uO4Ue? Uw>)UJ= }?IU@ɷUΥ:Ui: U8O4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i u;> 91^) M>i))))I11H=<"H=w:E= MV>ߑ" ~D'AYt.dN@t.Ԛ]@yt.t`=t.4xBDoE H@HBp=)~ƄGVH%ޙQ%>Y!y!-E-C-v-> 1 ]K45f?5u>ɯ5= i?5@5~<ɱ5\~<5K4Q 7鲵g ύ?  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Ur>)U; e?IU @ɷU:UY: UkO4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i*&y;F>F 9_)  P>i)IH<"Hw:)5A O" ˋD'AYt>)N@t>]@yt>5b=t>OٽHR@?Y#Կ`_-r?B[?P?)u>)N@ u>cv;Iu>CxNL>xRcEGR@AHPi`I`)e{GVH9Q>YyE{C>  ]K4 hn? bq>ɯ  i? @ b<ɱ M< K4Q 7΍?Q 7 ]AQ tI)qQ BIBɴ;4; -q7 O4o? 6q>)" ?I6@ɷY:: JO4  H1H1F9F9FAFAzFAjFAEAEA: 9tc_) rQ>i)IH<"Hw:V> V>}" rD'A)@IYt2mN@t2ݒ]@yt2Ua=t2 xBfE {DY|DF8****** ping requested ******:@F=B@F=JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UƄGm4= u%==Ļ=:ل=;y=~jth?{Gzt?Mb`?Y= AI9i9=EA=AɅ=EA=@=D; =ף;)=;VHem=Qm>Y˩y˩E˭C͵q>  ]K4Zn?tq>ɯ i?@:ɱ:鱽K4Q 7 B΍?Q 7 BQ tI) :Q BI iBɴ g: : 7 %O4 o? Gq>) e?IK@ɷ<< ZO4q qqHHFFFFQ?zFjF!E)E)<5Tracking...<52Tracking contact label: 2i?y;>ž 9I_) zS>i9)9I9AHE<"HMw:Qa" MD'AYt.GN@t.]@yt."a=t.˻xBnE]F^unknown deviceResponse_: 00000,186,80,81,16,FF i)I))GVH˽Q>YyEC9?  ]K4Pn?q>ɯл i?@:ɱ:K4Q 7j΍? BQ tI)Q BIBɴ:: w7 O4n? 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S4 }ad>)} ?I}@ɷ}:}/: } S4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.968148 forward, -0.250380 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.952215,-0.300425,-0.055058;0.299353,-0.953761,0.026978;-0.060617,0.009207,0.998119 ]<VazimuthInNED_ = -3.089421 rad -- adding 2pi<ZazimuthInNED_ = 3.193764 rad after adding 2pi<tazimuthInNED_ = 182.989196 degrees FINAL. Radians:3.193764<^ContactLat = 36.802607 ContactLon = -121.788331:EEfAHJ&C @bHVHv?=9пEEH=1 pۿRS$Hl?￴æTEfL@bE߾jEBEo$?JEm$?RE ZE rE&zE/i$i ;  E? E 9ER) qexBfE)MƄGVH]ebx9Qe>YayaeEe.Cmm> q ]}N4uf?ud>ɯu i?uA@u{:ɱuM:uN4Q 7鲅Ǎ? 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R`?!  d>ɯ| i?鯵"@v:ɱ>鱵7O4Q 7/tƍ? BQ tI)Q CI Cɴ:: 7 @ ] @ a @ @ i  HqHqFqFyFyF}\?zFyjFEE<Tracking...<2Tracking contact label: 2iᢰ;p*9p* 9)  xRnhEGPHPi^=I`)+GVH-5DQQ5>Y1y1=E=C=`EE> A ]MO4E_?Ed>ɯE| iU?ER@Eį:ɱEM?E@O4Q ]7UTƍ?Q ]7 UBQ etI)UTQ eCIUUCɴU:U: U}7q qqHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;а;9 9΋) X ]>̣$ D'A)IYt.M@t.A\@yt.`=t. 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BQ tI)5Q CICɴ:÷: 7  O4 ]  ^? a  d>)q ?Y@ɷ::: O4 H)H)F)F)F1F5?zF9jF9E9E9<=Tracking...@?~I ̖?`?)u.M@ u.v;Iu,xB>xBeE {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )yGVHUehQe>YiyimEmC͵#>  ]O4!  q]?! - pe>ɯ\e i5?#@j<ɱJh<O4Q =75˭ō?Q =7 5lBQ EtI)5Q ECI5iCɴ5:5: 5:7 O4 ] E9^? a E9e>)Eg ?YEt@ɷEHS? ?)u./M@ u.v;Iu,xB>xBkEG@HD){FHI{Di{F>{F>{D{FA{D|F4C9|FA?V5 1ӿibg=I`)%GلyI +?/$YzAIi@xAɅEAA9< )VH`Q>YyEC`>  ]O4 \? Me>ɯ f i? @ :ɱ b: eO4Q %7@ō? 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P4 e>)5M ?YX@ɷ~:鷕a: P4 HHFFFFzFjFE E < Tracking...< 2Tracking contact label: 2iE഼E;AE;E E9MI)I MId8?`?)u.;M@ u.v;Iu.CxB<>xBhE:@F=B@F=)MGU= QVH]efQe>YayimEmnCmd8u> q ]}O4u[?uMf>ɯu,E i?u_@u:ɱu:uO4Q 7鲍č?Q 7 TBQ tI)KQ CICɴx:鴍: i7 P4鵝\? f>)G ?Y@ɷ0:鷝w: C P4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;< 9Q˰) ?`>xBKgEiLIL)~ƄG<لY˱y˱E˵Cͽ;9>  ]P4A\? aP4af>ɯhA i?@:ɱI:P4Q 7č? 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Radians:3.125751<=^ContactLat = 36.801873 ContactLon = -121.788311:E9E=BH=*OVD^U@^K/<H=+ic?gB ԿE=eE9H=GtV@?%7>xBPaE)Y!y!%E- 1 ]=P45]?5f>ɯ5s< i=?5J@5:ɱ53:50P4Q M7E-č? ECQ MtI)EQ MCIE0CɴEɪ:Eݱ: E}7 ]P4U^? Uf>)U> e?YU@ɷUÜ:U۞: UeP4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;< 9<)) tػ>xBgEGB@AH@iPIP)GVH%9Q%>Y!y!-E-oC-:-> 1 ]=P45I^?5f>ɯ5< iE?5@5:ɱ5:5>P4Q M7E6 č?Q M7 E CQ MtI)EQ UCIECɴE5:E: E7 ]P4U_? Uf>)Uh> e?YU@ɷU؛:Uw: UwP4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%^%;!%<% %9-K))) -E Y>% YaD'A)IYt. M@t.y\@yt.b=t.xBpfE:@F=B@F=)~G%= EuYˁyˁE˅C͍ϋ:>  ]P4^?f>ɯ@ i?鯕@I;ɱ=;鱕fMP4Q 7~Í? hCQ tI)pQ CICɴ%:: =7 P4^? sf>)_C ?Y$@ɷ:: -P4  H1H9F9F9FAFE?zFAjFAEAEI>xBjEiLINyC)~ƄGVH%Q%>Y!y!-E-C-]:-> 1 ]EP45]?5uf>ɯ5E iM?5@5p/;ɱ5.;54Q U7U?Í?Q 7 UxCQ tI)UQ CIUfCɴUb) H ?Yh@ɷ:_: P4A AAHqHqFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2i¿;+<+μ 9) 1 Mp> %% kD'AYt.]M@t.̉\@yt.Sa=t.ػ>xBgE HBp=H@)EׄGĻH=ل`;yQ~jt?y&1|?YzAIi@xAɅA酅A鄅 =)`;VHtQ>YyEC 9 >  ]]P4X_?f>ɯGA i]?@3 <ɱ:4jP4Q e7eÍ? eCQ mtI)e*Q mCIeCɴe}:e: eu7 P4鵵'`? f>)C ?Y@ɷ:鷵&: HP4 HHFFFF@zFjFEE<Tracking...<2Tracking contact label: 2iE~E;AE+% )D'Ai;Yt.@M@t.\@yt.Oa=t.EYx5eE@"@iIC)1VHU].Q]>YayaeEeDCmM`:m> i ]}P4m`?mg>ɯm!= i}?mg@m:ɱm:mxP4Q 7鲅Í?Q 7 ,CQ tI)Q CI?Cɴа:鴅ض: H?7 P4鵕a? f>)? ?Y@ɷ:鷕: P4 HHFFFF!zF!jF!E!E!<%Tracking...<-2Tracking contact label: 2i]wüe;ae=e e9ega)a eCBx~nhE)VH˭NQ>YyE{C?:> ! ]UP4%-b?%`g>ɯ%8 iU?%@%;ɱ%];%P4Q e7]dÍ? ]CQ etI)]Q eCI]Cɴ]q:]Ȳ: ]B7 P4c? )g>)_; ?Yc@ɷ7:: 1P4 HiHiFqFqFqFyzFyjFyEyEy<Tracking...<2Tracking contact label: 2ip4ż;= 9G) xr$jEGpHpiIyC)G\=لy~jt?MbPY=AIi@AɅxA@ļ <)VHAQ>YyEC%!:%> ) ]UP4-9c?-g>ɯ-s8 iU?-@-<;ɱ-Q;-): ?Y@ɷ:鷭: uP4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2i}Nȼ};y}=} }9) ~% BD'AYt.M@t.!\@yt.`=t.>xBkE {@Y|@F8****** ping requested ******:@DB@F=JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]ƄGVH˝TQ>Y˙y˙E˥Cͥ:>  ]P4Md?g>ɯ8 i?鯭@$:ɱԳ:鱭P4Q 7鲽"Í? !"CQ tI)Q CICɴ:鴽: ?7 P4e? g>): ?YI@ɷ:: P4 HHFFFFzF!jF!EaEi>xBgE]F^unknown deviceResponse_: 00000,186,80,81,17,FF i I C)uׄGq=لtY1y1=E=C=t9=> A ]MP4Ee?Eg>ɯEy3 iM?E@E <ɱE )5 ?Y@ɷ=鷭= Q4 HHFIFIFIFU?zFQjFQEQEQL>xBcE HBa=H@)Y!y!%E%BC-l:-> 1 ]=P45g?5=h>ɯ5. i=?5Z@5:ɱ5:5ZP4Q M7E{? E'CQ MtI)EEQ MCIE;CɴE:E: ER7 ]Q4UMh? Uh>)UL1 ]?YU@ɷUӠ:U: UuQ4a iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%nҼ%;!%)I=%)I %9-La))) -P۾>xBjE@L"@P@VA"@VAidId)EGUAQVH}ˍ :Q>Y˙y˙E˥xC͵:>  ]P4hi?h>ɯa) i?&@/<ɱ" <!P4Q e7]8?Q e7 ]_+CQ etI)]Q mCI]Cɴ]^:]: ]q7 Q4mAj? mQh>)m+ ?Ym{@ɷmoù>x>rdE)=G}D}9<ل};y}:vYyEC{: >  ]UP4 j? h>ɯ W& i]? p@  <ɱ < P4Q e7eɤ? e.CQ mtI)eQ mCIeCɴeq:e: e7 Q4鵵j? uh>)( ?Y@ɷŧ:鷵*: :9Q4 HHFFFF(?zFjF!E!E!<%Tracking...<-2Tracking contact label: 2i}3ռ};Jm=Jm 9`() &xEhEGAHAiIyC)EƄGVH˭q9Q>Y˱y˱E˵Cͽc:>  ]P4j?h>ɯ1# i ?鯽@<ɱ<鱽P4Q 7z?Q 7 1CQ tI)eQ CICɴW:': 7 %Q4%zk? %h>)%% -?Y%@ɷ%:%: %XKQ41 11HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iּܑ;Հ=Հ 9)  = got command stopN ^Stop Mission called by CommandLine::commandStope% geD'AYt.N@t."\@yt.a=t.>xBeE:@F=B@D)ׄG= %=M;M#<لMDyMYyEC%c:%> ) ]P4-k?-h>ɯ-3$ i?-@-i`<ɱ-_<-P4Q 7鲝`?Q 7 V5CQ tI)Q CICɴϸ:鴝׾: 7 5Q4-k? -h>)-& 5?Y-5@ɷ-%:-: --^Q49 AAHHFFFFG@zFjFEE<Tracking... ] {>! 1 %M JHorizontalControl.headingCmd no_valuek% G>D'AYt. N@t.\@yt.[Ob=t.gxRiEi\I`)qVH˥9Q>YˡyˡE˭GCͭ :>  ]Q4Ok? aQ4h>ɯ% i?鯵@`<ɱ:鱵Q4Q -7%AD? %-8CQ -tI)% Q -CI%GCɴ%:%]: %7 Q4鵕(l? h>)z' ?YS@ɷU:鷕{: \mQ4 $-.Started mission DefaultY)5 )5:Aggregate::initialize Default15 *5@Initialize GoToSurfaceComponent. *5No depth rate setting specified. Using default value of nan m/s. *5~No pitch setting specified. Using default value of nan degrees. *=No speed setting specified. Using default value of 1.000000 m/s. *=No surface timeout specified. Using default value of 1000.000000 seconds.*=nReceived pitch timeout configuration 60.000000 seconds.E)E4Initialize Wait Component. 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W<)G> ?YVx@ɷ:: U4  )Ii -Xz:-;))))) 1)19H=<"HEw:Q1 QD'AYt.sL@t.7![@yt. a=t.xBhEi I 6C)mGVH˥Z9Q>YˡyˡE˩ͭ>  ]T4j0?*W<ɯL> i?鯵y@:ɱ/:鱵T4Q 7Q 7 Q tI)Q :CIɴ:Ɵ: G7 U40? 6W<)M> ?Yy@ɷ3:ף: U4  )Ii Xz:;) ) H<"Hw:)2 cD'AYt.|uL@t."[@yt.Sb=t.dxNlE*@V=2@Vp=)T){G;HلTY!y!%E!%9-> ) ]5T4-.?-V<ɯ-P> i=?-F{@-o:ɱ-=:-dT4Q E7AQ E7 AQ EtI)AQ M:CIAɴEN:Ew: E7 UU4M /? MV<)MdQ> ]?YM{@ɷM:Mʽ: MU4eq? eq?eB i)iIiii }Xz:};yy) )H<"Hw:ߡ?A 2 :2D'Ai;Yt:pxL@t:%[@yt:b=t:?xReE@VA"@Ti1I5C)AVHg9Q>YyE9>  ]T4-?V<ɯU> i?|@I;ɱ;T4Q  7 Q  tI)Q  ;CIɴ::,: N7 =U4-? V<)U> =?YZ|@ɷԱ;; U4A AI I)IIQiQ ]Xz:e;aaa)a a)iiHu<"Hw:ߡ2 LD'AYt>yL@t>I'[@yt>̓b=t>H@֮`?`!ѿ`uw?N ? ?)u>yL@ u>v;Iu>Cx%>x%jE)+G}}Yل}`eY˹yE"Q9>  ]T4+?QV<ɯY> i?~@;:ɱI:WT4Q 7Q 7 Q tI)Q  ;CIɴA:: a,7 V4 +? V4 \V<) iZ> ?Y }@ɷ C: ɪ: V4! !! ))IIIiI ]Xz:];YYY)a a)aiH<"Hw: 2 'eD'AYt.PyL@t.&[@yt.>b=t.GxNlEZA@\idIf6C)}XGVH˝ 9Q>YˡyˡEˡͭ>  ]T4V*?V<ɯ^> i?鯵H@A:ɱ:鱵1T4Q 7 Q tI)Q ;CIɴ}:: 7 V4y*? V<)z^> ?Y@ɷݱ;; uV4  ) Ii Xz:%;!!!)! !)))H5<"HUw:aN> V>62 D'A)IYt.xL@t.%[@yt.yb=t.K>xBpE:@B=B@@)~ƄG> =VH%9Q%>Y!y)-E)-G5> 1 ]=T45(?5U<ɯ5kb> iE?5N@5O:ɱ5:5T4Q M7AQ M7 AQ MtI)AQ U ?YU8@ɷUxBhEiPIRC)GquTلuuYiyimEi͕>  ]T4'?}U<ɯg> i?鯝@:ɱ:鱝vT4Q 7鲩 Q tI)Q  ?Y@ɷ:]: 6V4  )Ii %Xz:%;))))) ))11H=<"H=w:qH,2 D'AYt.vL@t.q#[@yt.^b=t.rxN+bE*@VC=2@T)+GVH=E#QE>YAyAMEIM}9M> Q ]]T4U%?U?U<ɯUel> ie?U@U:ɱUV:U!T4Q m7aQ m7 aQ mtI)aQ m=CIaɴe:ej: ev;7 V4u%? uKU<)ul> ?Yu@ɷu;u: ux)dE@"@iI)]XGeAaxiلCY9y9=E9E9E> I ]uU4M#? auU4MT<ɯMr> iu?M@M#;ɱM;M{ U4Q 7y yQ tI)yQ =CIyɴ}F:}: }7 V4鵍#? T<)as> ?Yv@ɷ;鷍Υ: ZV4\? \? )Ii Xz:;) )H-<"H-w:9Z92 ?`?)u.tuL@ u.v;Iu,x>>>xBklE)z{GVH% Q%?Y!y)-E)-F5? 1 ]=U452"?5T<ɯ5w> iE?5*@5h:ɱ5:5;U4Q M7IQ M7 IQ MtI)IQ U=CIIɴM,:Mw: MJ7 ]V4UT"? UT<)Ux> e?YU@ɷUe:U: UhV4i ii q)qIqiq Xz:;) )H<"Hw:)B@2 @D'AYt.uL@t.=#[@yt.a=t.xBmjED@DiPIP)VH˥yQ>YˡyˡEˡͭt]8>  ]U4` ?_T<ɯ}> i?鯵@;ɱ];鱵%U4Q 7 Q tI)Q >CIɴ]<_< 7 ]V4]p ? ]gT<)] ~> e?Y]@ɷ]P:]: ]{V4i ii q)qIyiy Xz:;) )H<"Hw:V> kF2 (D'A)IYt.xwL@t.$[@yt.*a=t.xBGkE:@F=B@D)H)}ƄG= %=uلYyER9>  ]U4?T<ɯa> i?@;ɱ:N4U4Q -7!Q -7 !Q -tI)!Q ->CI!ɴ%:%U: %Jd7 ]V45? 5T<)5> e?Y5@ɷ5?:5: 5V4i ii )Ii Xz:;) )H<"Hw:ΖL2 l4D'AYt.DvL@t.#[@yt.Ia=t.,IxBiEi I )ׄGVHσQ>YyE < >  ]U4 ? S<ɯ > i? @ :ɱ f: BU4Q %7! !Q -tI)!Q -?CI!ɴ%}:%,: %h7 5V45? 5S<)52> =?Y5u@ɷ5:5: 5jV4A AA I)IIIiI ]Xz:];Yaa)a a)aiHm<"Huw:߉Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b4f7 1 3= got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4b4f7 1 3.000000= PScheduling command #1 of 3 with id=4b4f7= Scheduled #15 (#1 of 3 with id='4b4f7'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange .1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAPS2 ND'AYtfxL@tf%[@ytfa=tfBhxpfE*@ 2@ =)1)GEEGaلAyE{Gz?~jtMb?YAIAiAAAɅAAE#= E)AVH}}b8Q}>YˁyˁEˁͭ9>  ]U4?xS<ɯƆ> i?鯵O@ :ɱ:鱵tQU4Q 7Q 7 Q tI)Q ?CIɴD:: |7 V4? S<)> ?Y:@ɷ:: V4    )Ii Xz:%;AAA)A I)IQHU<"HUw:ihY2 hD'AiYt.vL@t."$[@yt.Ӻa=t. xReE@T"@Ti)I)){GAVHϙ7Q>YyE>  ]U4K?7S<ɯ7> i?@:ɱ:^U4Q 7 Q tI)Q @CIɴ::: 7 V4o? DS<)l> ?Y@ɷ:d: V4   )Ii Xz:%;!!!)! !)))H5<"H5w:I=2SBD MTMSN=20190328T182444j`2 ]D'AYt.uL@t.V#[@yt.a=t.HxRoE)ƄGVH--b8Q5>Y1y15E1=4=> A ]MU4E?ER<ɯE> iM?E@E:ɱE:ElU4Q ]7QQ ]7 QQ ]tI)QQ ]@CIQɴUԳ:U : U|7 mV4e? eS<)e> m?Ye@ɷew:e: eV4q yy )Ii Xz:;) )H<"Hw:߹xf2 8D'AYt.uL@t.E#[@yt.a=t.xBqED@HiPIP)GE;EmلEuYayaeEim%m> q ]}U4u?uR<ɯu0> i?uq@u8:ɱuI:uUzU4Q 7鲁Q 7 Q tI)Q @CIɴo:鴅۞: Z7 V4鵕? R<)e> ?YZ@ɷf:鷕ʽ: FV4  )Ii Xz:;) )H<"Hw:R> Kl2 oD'A)@IYt.tL@t."[@yt.Da=t.v?xBEmE:@F=B@D){G%< %=VH=EQE>YAyIMEIM<U> Q ]}U4U>?UNR<ɯU> i?U2@U;ɱUA;UQU4Q 7鲁 Q tI)Q ACIɴF:鴅Z: 7 V4鵕^? YR<)А> ?Y@ɷ;鷕: V4  )Ii Xz:;) ) H5<"H=w:Is2 QD'AYt6osL@t6 [@yt6a=t6_xNlEi\I\)]ƄGQ8لTY˹yE<>  ]U4? R<ɯђ> i?Љ@ :ɱ:U4Q 7Q 7 Q tI)Q ACIɴȗ:: 7 W4? W4 R<)> ?Y@ɷ:: W4  ) I i Xz:;!!)! !)!)H5<"H5w:Ay2 D'AYt.qL@t.[@yt.y-a=t.2xBinE*@F=2@Jp=)~GVH Q>YyE%> ! ]-U4%?%Q<ɯ%ٔ> i5?%`@%':ɱ%ض:%XU4Q =71 1Q =tI)1Q EBCI1ɴ5:5: 5~7 MW4E? EQ<)E> U?YEI@ɷE:E: E$W4Y YY a)aIaia uXz:u;qqq) )H<"Hw:*ހ2 ӣD'AiYt.rL@t. [@yt.Oa=t.gxBNcE@D"@DiPIP)GAVHo8Q>Yy%E!%(9%> ) ]5U4-6?-Q<ɯ-> i5?-@-ϸ:ɱ-÷:-}U4Q E89Q E8 9Q EtI)9Q EBCI9ɴ=:=Ӡ: =8 UW4MY? MQ<)M6> U?YM@ɷMϝ:M7: M(W4a aa i)iIiii }Xz:};yyy)y )H<"Hw:ߡ 2 =D'AYt.PtL@t.![@yt.Ka=t.ZxNrE)G]D;]ل]94YˡyˡEˡͭ}9>  ]U4 ?VQ< etIɯ> i?鯭~@ <ɱ@ <鱭3U4Q 8 Q  tI)Q  BCIɴh:Ԙ: RZ8 W4*? aQ<)'> ?Yj@ɷr<< ;W4? ?B )Ii Xz:;) )H <"HMw:a732 t]7D'AYt.ytL@t.![@yt.~a=t.bػ>xBgED@DiLIL)~+GVH%9Q%>Y!y!-E)-.7-> 1 ]=U45 ?5Q<ɯ5> iE?5@5:ɱ5:5U4Q M8A AQ MtI)AQ MCCIAɴE:E9: Ea8 ]W4U? U+Q<)Uߚ> e?YU@ɷU:U: UKW4i ii q)qIqiq Xz:;) )H<"Hw:V> Y>2 T7QD'A)@IYt.)tL@t.![@yt.B{a=t.YO>xBgE:@@B@@)D)mGm4= i`لYyE/:>  ]U4 ?P<ɯ> i ?_@ϸ:ɱ:U4Q 8  Q 5tI) Q =CCI ɴ ; ٰ; 8 EW4=2 ? =Q<)=H> M?Y=I@ɷ=ף:=: =<^W4Q qq y)yIyiy Xz:;) )H<"Hw:E2 kD'AYt6uL@t6+#[@yt6}a=t6z>xBlEi g=I )mׄGVH˥A9Q>YˡyˡE˩ͭ9>  ]U4; ?P<ɯX> i?鯵@U:ɱ:鱵U4Q 8Q 8 Q tI)Q DCIɴ:: U%8 W4^ ? P<)> ?Y@ɷ :/: oW4  )Ii %Xz:%;!!!)) )))1HU<"H]w:i9-2 kD'AYt.tL@t."[@yt.b=t.H??)u.tL@ u.v;Iu.Cx>>xBinE*@F4=2@D)AVH]e>9Qe>YayaeEamK+m> q ]}U4ud ?uP<ɯu> i}?u@u:ɱu:uhU4Q 8鲁 Q tI)Q DCIɴٓ:鴅: g8 W4鵕 ? P<)מ> ?Y@ɷ:鷕: (W4  )Ii Xz:;) )H<"Hw: SV2 CƞD'AiYt.rL@t. [@yt.Za=t.WxBeE@D"@DiR=IP)UG]AYل;y{Gzt?~jtxMb`?Y AIixAɅ酙鄝ף; Ļ);VH'Q>YyE>  ]V4) ? aV4P<ɯ> i?4@;ɱ;V4Q %8 Q %tI)Q -DCIɴh:: \8 5W4-K ? -P<)--> ]?Y-@ɷ-;-; -mW4a aa i)iIiii Xz:;) )H<"Hw:`2 HD'AYt.9sL@t. [@yt.da=t.xxBDoE)~ƄGVH%.6Q%>Y!y!-E)-<8-> 1 ]=V45 ?5P<ɯ5E> iE?5L@5d:ɱ5:5]V4Q M8A AQ MtI)AQ MECIAɴE:E0: E8 W4U ? UP<)U{> ?YU6@ɷUxBeED@DiPIP)ׄGEDED;لEyEMbp?YE(AIAiAAEɅAAE E;)EVH}}~uQ>YˁyˁEˁ͍3>  ]=V4 ?P<ɯK> i=?鯕Z@<ɱ|<鱕#V4Q M8AQ M8 AQ tI)AQ ECIAɴE( ?YE@ɷ:鷵:  W4  )Ii -Xz:-;)ii)q q)qyH}<"H}w:ߑ V>e2 qWD'A)IYt.nL@t.[@yt.Qa=t.]xB ]E:@F=B@J=) G VH%28Q%>Y)y)-E)55> 1 ]]V45 ?5P<ɯ5P> ie?5g@54;ɱ5;51V4Q m8i iQ mtI)iQ uFCIiɴm:m: mw8 W4u) ? uP<)u> ?YuQ@ɷu;u̱; uW4  )Ii Xz:;) )H<"Hw: Cz2 2D'AYt.kL@t.&[@yt.za=t.!xBKgEiRg=IP)ƄGVH]e!Qe>YayamEim عm> q ]V4u ?uP<ɯuV> i?ut@qɱqu?V4Q 8鲡 Q tI)Q FCIɴ[:鴥 : 8 W4鵵3 ? P<)> ?Y^@ɷ;鷵ݱ; zW4  )Ii Xz:;) )  H<"Hw:)?2 I D'AYt.jmL@t.[@yt.۸a=t.xBjE*@D2@F4=)H)eׄG;لy~jth?YAIiEAɅ酥A鄡 D;)VH8Q>YyE9>  ]V4 ?P<ɯZ> i?@:ɱ:NV4Q 8Q 8 Q tI)Q FCIɴ :: 8 W4: ? P<)> ?Yh@ɷ:: LW4    )Ii %Xz:%;!)))) )))1H=<"H=w:I Received command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b4f7 2 3=u got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b4f7 2 3.000000=} PScheduling command #2 of 3 with id=4b4f7= Scheduled #16 (#2 of 3 with id='4b4f7'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP2 p9D'AiYt.kL@t.[@yt.a=t."xpE@"@!iI)GVH 8Q>Y!y!%E!-V-> 1 ]=V45 ?5P<ɯ5_> i=?5@5:ɱ5s:5]V4Q E8A AQ MtI)AQ MGCIAɴE::E: EH8 uW4UB ? UP<)U> }?YUr@ɷUk;Ux; U4W4  )Ii Xz:;) )H<"Hw:˶2 SD'AYt.rmL@t.[@yt.a=t.>x>KgE)D)e{GDلy~jth?YAIiɅ酭EA鄭D; )VHQ>YyE9>  ]V4 ?P<ɯV> i?@:ɱI:jV4Q 8 Q tI)Q GCIɴ:R: ي8 X4) ? X4 P<)> ?Y|@ɷ:: ) X4    )Ii %Xz:%;))))) ))11H=<"H=w:Q= 2SBD MTMSN=20190328T1824522 mmD'AYt.~lL@t.[@yt.a=t.xNpET@Ti-=I))VH˽E8Q>YyEF>  ]V4 ?P<ɯM> i?@:ɱ:xV4Q 8 Q tI)Q HCIɴ[:: 8 X4 ? P<)> ?Y@ɷ+:: X4  ) I i  Xz:;!!)! !)!)H-<"H5w:Aa> w2 zD'A)IYt.kL@t..[@yt.7b=t.9xBeE:@F=B@F=)~+G%= VH˝+Y9Q>Y˙yˡEˡͥj>  ]V4 ?P<ɯE> i?鯭@:ɱ:鱭نV4Q 8Q 8 Q tI)Q HCIɴ:Ӡ: 8 X4 ? P<)z> ?Y@ɷ:: .X4  )Ii Xz:;) )  H <"Hw:! 2 WD'AYt.jL@t.8[@yt.yb=t.Z5xRkEi^g=I\)Gee<لe`yeYˁyˁEˁ͍>  ]V4 ?P<ɯ"> i?鯕@ <ɱɏ<鱕הV4Q %8! !Q %tI)!Q -HCI!ɴ%:%9: %FX8 UX4- ? -P<)-L> ]?Y-@ɷ-E;-g; -@X4a aa i)iIiii Xz:;) )H<"Hw:B2 3D'AYt.xdL@t.[@yt.ra=t.p1x^gpE*@f=2@fR=)MGVH}˅Q>YˁyˁEˁ͍nz>  ]V4Y ? Q<ɯ> i?鯕L@:ɱ:鱕V4Q 8鲡 Q tI)Q ICIɴٓ:鴥0: 8 X4鵵| ? Q<)2> ?Y5@ɷ;鷵; ~QX4  )Ii Xz:;) )H<"Hw:d2 D'AiYt.bL@t.[@yt.a=t./Uż>x>%hE@BA"@@iN=IL)~ƄGE;ED;لEyE~jthMbP?MbPYEAIAiAAEɅAExAED E:)EVH]]e 9Qe>YayaeEamʻm> q ]}V4uu ?u Q<ɯuҜ> i}?uV@u8:ɱu(:uV4Q 8鲁 Q tI)Q ICIɴՐ:鴅 : %8 X4鵕 ? Q<)> ?Y@@ɷ:鷕: bX4  )Ii Xz:;) )H<"Hw:.2 D'AYt.]`L@t. [@yt.]a=t.YxBlE)~ׄGVH=EHڸQE>YAyIMEIMM> Q ]]V4U ?U Q<ɯU> ie?Ua@U:ɱU:UV4Q m8aQ m8 aQ mtI)aQ mJCIaɴe:e: e 8 }X4u ? uQ<)uݜ> ?YuJ@ɷuJ:u: utX4  )Ii Xz:;) )H<"Hw:3  D'AYt.\^L@t. [@yt.ga=t.xRkEX@Xi`Ib6C)%GVH55Q5>Y9y9=E9EBE> I ]UV4M ?M Q<ɯM}> iU?Ml@M:ɱM):MV4Q e8Y YQ etI)YQ eJCIYɴ]>:]0: ]jd8 uX4m ? mQ<)m> u?YmU@ɷm:m: mbX4}v? }v? )Ii Xz:;) )H<"Hw:R> Y>@3 "D'A)IYt.^L@t. [@yt.ȓa=t.xZjE:@`B@b=)5{G=4= 9}}<ل}94y}I +Zd;O?I +Y} AIyiyy}AɅ}xAy}9 }j<)}94VH˝pOQ>Y˙yˡEˡͥ1/>  ]V4 ?9Q<ɯ> i?鯭ڎ@#:ɱ:鱭V4Q 8 Q tI)Q JCIɴh:Z: 8 X4 ? 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Q<)> ?Y@ɷ :鷍: yY4  )Ii Xz:;) )H<"Hw:U Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b4f7 3 3c3 D'A=~got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b4f7 3 3.000000=PScheduling command #3 of 3 with id=4b4f7==Scheduled #17 (#3 of 3 with id='4b4f7'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAPYtj2L@tZ@yt b=t)xjE*@=2@=))ƄG;لy{Gz?MbMbp?YfAIiAɅ#< )VHem]Qm>YiyimEqu¹u>  ]W46?Q<ɯ>> i?鯝@:ɱ{:鱝W4Q  8鲩 Q tI)Q PCIɴ-;鴭̳; Ot 8 Y4\? Q<)y> ?YԐ@ɷ:: ɏY4  )Ii Xz:;) )99HE<"HEw:Y=zgot command load ./Missions/Engineering/lineCaptureHoming.xml$zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml>,i3 >yD'AiYt.20L@t.Z@yt.b=t.>xB"lE@D"@Di I C)mGiqVH˝<8Q?YˡyˡEˡͭ ?  ]W4 ?Q<ɯ> i?鯵@<:ɱr:鱵^W4Q  8 Q tI)Q PCIɴ%::  8 Y4 ? Q<)> ?Y@ɷ:: ۜY4 =; =Xz:99)9 9)AAHM<"HMw:!j@$nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 hߡ!z@$tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min!@?$fDefineArg lineCaptureHoming.Repeat = 1.000000 count!@$`DefineArg lineCaptureHoming.DockLat = nan arcdeg!@$`DefineArg lineCaptureHoming.DockLon = nan arcdeg! @ $bDefineArg lineCaptureHoming.StartLat = nan arcdeg!@$%bDefineArg lineCaptureHoming.StartLon = nan arcdeg!-@)$5pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m!=@9$EjDefineArg lineCaptureHoming.cameraRange = 25.000000 m!@@$dDefineArg lineCaptureHoming.DockRange = 4.000000 m! A$jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool!A$DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min!*A$jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s!:A@$tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min!JA$jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m!ZA$xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min!jA>@$fDefineArg lineCaptureHoming.InitDepth = 30.000000 m!zA @$xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min!A$xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count!mAi$utDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count!}ADUSBL_Hydroid.loadAtStartup$DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup!A$`DefineArg lineCaptureHoming.Speed = 1.000000 m/s!A$lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m!A@$hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m!A$ fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m!A@@$jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km!%B!$-hDefineOutput lineCaptureHoming.HomingActive = 1 bool!uBu$}nDefineOutput lineCaptureHoming.cameraRequested = 0 bool!"B$dDefineOutput lineCaptureHoming.DoingComms = 1 bool!2B$pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool$lInserting Stack: Missions/Insert/StandardEnvelopes.xmlaJB@$DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 maZBi@$m DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 mau jBu @@$} DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 1 6Construct AltitudeEnvelope.1 0Construct DepthEnvelope. 2 6Construct OffshoreEnvelope.!q $ \Inserting Stack: Missions/Insert/NeedComms.xmlp3 TD'AYt..L@t.2Z@yt.b=t.>xB)dE)zƄGVH%9Q%>Y!y!-E)-j-> 1 ]=W45a ?5yQ<ɯ5Q> iE?5U@5X:ɱ5:5W4Q M 8A AQ MtI)AQ MQCIAɴEh:E: Ex 8 ]Y4U ? UQ<)U> ]?YU?@ɷUm:U}: UY4a ii; Xz:) )H<"Hw:%ERHorizontalControl.headingCmd 3.118952 rad!uCu@$u~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h! C@$DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min! C$DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg! D$DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s!D$DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!-*D)$5~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min!=:D9$EDefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min 5,Construct GoToSurface.a!a%a)a-a1a5a9a=aAaEaIaMaQaUaYa]aa =-Construct.=E&Construct Buoyancy.=M@Construct.a A  AU Construct. 1]  9 Dm Construct. E} Construct.=v3 -D'AYt.+L@t.nZ@yt.!a=t.uxJrdEK^&Construct Waypoint.%yf%ij%mji~g=I| WEConstruct.)mׄG+uDjلYQyQUEQ]]> a ]mW4e ?e`Q<ɯeΠ> im?e@eӻ:ɱe:efW4Q  8鲹Q  8 Q tI)Q QCIɴ:鴽Υ: 5 8P"Construct SetNav. Y4 ? lQ<)> ?a(ea(ia(mY@ɷz<7{< Y4I I QMConstruct Wait.; Xz:) )S&Construct Waypoint.H<"Hw:T=Construct Wait.a ]>$ O Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. ==fLoaded ./Missions/Engineering/lineCaptureHoming.xmlHh|3 J D'A)IYt.N&L@t.Z@yt.a=t.2Q>x>GkE:@B=B@F=) G= VH]e8Qe>YayamEimzIm> q ]W4u ?uKQ<ɯu> i?u@u<ɱu6:usW4Q  8 Q tI)Q RCIɴ1:$: ct 8 Y4 ? 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Ek?EB I)IIIiI ]Xz:];Yaa)a a)aiHm<"Hw:?A=E got command set lineCaptureHoming.InitDepthTimeout 1.000000 minutezAM N@=M xgot command set lineCaptureHoming.MinAltitude 0.000000 meterAM =U got command set lineCaptureHoming.MinOffshore 0.000000 kilometerAU =] got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meterC] \4 WD'AiYt.K@t.1Z@yt.*b=t.rxB"lE@D"@Di I )mՃGiq;لy~jth?~jtMbP?YAIixAɅAD; D)VH%-;9Q->Y)y)5E1u8u> y ]Z4}C?}O<ɯ} > i?}@}:ɱ}:}Z4Q 8鲉Q 8 Q tI)Q fCIɴ;鴍W; - 8 ]4鵽n? O<)H> ?Y@ɷ :鷽M: eK]4  )Ii -Xz:-;))I)I I)QYH]<"H]w:q4 4D'AYt.K@t..Z@yt.3c=t.xBbE)~GVH%2:Q%>Y!y)-E)-޹5> 1 ]=Z45?5O<ɯ5&> iE?5=@5:ɱ5*:5XZ4Q M8A AQ MtI)AQ UgCIAɴE:E: E?F8 ]]4U?? UO<)U`> e?YU'@ɷU':U: UZ]4i ii q)qIqiq Xz:;) )H<"Hw:ߩq4 rND'AYt|K@t1*Z@yt$c=tHx5fEA@A)AiI)G`;Dل;y~jth?:vMb`?YAIiAɅ酩鄩 T);VHQ>YyEV>  ]Z4?O<ɯ> i ?p@{;ɱ;eZ4Q 8 Q tI)Q gCIɴ:: S8 %]4? O<)> M?YZ@ɷN;; n]4Q QQ Y)YIYiY Xz:;) )H<"Hw:߱ Y>C4 O>hD'A)@IYt.zK@t.2(Z@yt.zb=t.9;?`?)u.zK@ u.v;Iu.CxB>xBcE:@F=B@F=)mƄGm4= u=VH˥:Q>YˡyˡE˩ͭ">  ]Z4?nO<ɯƦ> i?鯵@6:ɱ:鱵$Z4Q 8 Q tI)Q hCIɴ:: $8 ]4? {O<)> ?Y@ɷS;ʢ: g~]4   )Ii =Xz:E;AAA)A A)IIHU<"Huw:߉π4 CD'AYt.{K@t.m(Z@yt.͜a=t.xB'fEiPIP)ׄGVH%5Q%>Y!y)-E)- 85> 1 ]=Z45k?5OO<ɯ5> iE?5Ý@5:ɱ5:5Z4Q M8IQ M8 IQ MtI)IQ UhCIIɴM:M: M8 ]]4U? U\O<)UL> e?YU@ɷU:UH: U$]4i ii q)qIqiq Xz:;) )H<"Hw:;4 D'AYt6vK@t6#Z@yt6Pa=t6xBLeE*@F4=2@Fa=)~YˁyˁEˁ͍3,>  ]Z4?@O<ɯ[> i?鯕@ܷ;ɱ;鱕=Z4Q 8 Q tI)Q hCIɴ:Ԙ: JY8 ]4=? LO<)> ?Yԝ@ɷo;; A]4   )Ii =Xz:E;AAA)A A)IIHu<"Huw:߁|4  еD'AiYt.sK@t.| Z@yt.I'b=t.P-xZnhE@`"@`ilIl)=GAAVH]e9Qe>YayimEim m> q ]Z4u?u0O<ɯu> i?u@u;ɱu;u8Z4Q 8鲡 Q tI)Q iCIɴ:鴥9: 8 ]4鵵? =O<)ܧ> ?Y@ɷ$;鷵; ]4  )Ii %Xz:%;!!!)! !)))H5<"HUw:i@4 ƿD'AYt>ssK@t> Z@yt>b=t>Hk?ЮпW?@f???)u>ssK@ u>v;Iu>CxJ>xNpE)MGD;94لD;y~jtx?{Gz~jth?YIiɅ酑鄕; #)D;VH Q>YyEi8>  ]-[4n? a5[4O<ɯ&> i5?8@;ɱ@; [4Q =89 9Q EtI)9Q EiCI9ɴ=:=: =08 m]4M? M&O<)Mb> u?YM"@ɷM:M: M]4y yy )Ii Xz:;) )H<"Hw:\4 D'AYt.nK@t.\Z@yt.7bb=t.xBeED@DiPIP){GVH%C9Q%>Y!y)-E)-?-> 1 ][45)?5O<ɯ5> i?5\@5<ɱ5<5-[4Q 8Q 8 Q tI)Q jCIɴ:n: %8 ]4Q? O<)ܨ> ?YH@ɷϝ:+: ]4  )Ii %Xz:%;!!!)) )))1H5<"H=w:I ]>=got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterC= got command run = Running <5 4eD'A)IYt.(lK@t.Z@yt.v>xBpE:@@B@F=)~ƄG= =VH=EQE>YAyAEEIM.ڹM> Q ]][4U?UN<ɯU> i]?U@UR:ɱUE:Un([4Q m8a aQ mtI)aQ mjCIaɴe::e,: eg8 }]4u? uN<)uW> }?Yum@ɷuܹ:u: uu]4  )>Aggregate::uninitialize Default1 *DUninitialize GoToSurfaceComponent.q*NAggregate::uninitialize Default:CheckIn-8Uninitialize Wait Component.$BStarted mission lineCaptureHomingY1 0NAggregate::initialize lineCaptureHomingq0rAggregate::initialize lineCaptureHoming:StandardEnvelopes 1JInitialize AltitudeEnvelopeComponent.1DInitialize DepthEnvelopeComponent.1 2JInitialize OffshoreEnvelopeComponent.q<DInitializing TrackAcousticContact. =Initialize.%=%-tInitialize ReadDataComponent to sense platform_orientation1- >5xInitialize ReadDataComponent to sense height_above_sea_floorUEQUEU;qU<]Tracking...<]2Tracking contact label: 2CYq]]q]1]eeu; 9) )H<"Hw:e5 }@D'AYt.=mK@t.Z@yt.a=t. PxBu`EiLIP)~GEף;EDلE;yE{Gzt?~jtMb`?YEAIAiAAEAɅAAEף; ED)E;VH}}Q>YˁyˁEˁ͍(9>  ][4?N<ɯi> i?鯕@;ɱ;鱕6[4Q 8 Q tI)Q jCIɴ: : 8 u]4? N<)> }?Y@ɷ<< h]4 EE<Tracking...<2Tracking contact label: 2Ci@; 91)1 1)99HE<"HEw:Yf# 5 7D'AYt.ZiK@t.Z@yt.xB$jE*@FC=2@Fp=)~{GVH=E9QE>YAyAMEIMM> Q ]][4UP?UN<ɯU> ie?Uڞ@U:ɱUE:UD[4Q m8a aQ mtI)aQ mkCIaɴe:eE: e8 }^4u|? }^4 uN<)u> }?YuĞ@ɷu:u: uR ^4 EE<Tracking...<2Tracking contact label: 2C; 9) )H<"Hw: 5 PD'AiYt.jK@t.|Z@yt.>b=t.xBKgE@D"@DiPIP)~0GAEE#لED;yEy&1|?y&1|~jth?YEAIAiAAEAɅAAE`; E`)ED;VH}˅6Q>YˁyˁEˉ͍8>  ][4?N<ɯ4> i?鯕@:ɱ:鱕S[4Q 8鲡Q 8 Q tI)Q kCIɴݖ:鴥: =58 ^4鵵.? N<)n> ?Y@ɷ:鷵/: ^4 EE<Tracking...<2Tracking contact label: 2D @; 9) )H<"Hw:~55 jD'AYt.4gK@t.Z@yt.vb=t.$xBiE H@HBp=)H)ejGVH˝ 9Q>YˡyˡEˡͭF>  ][4?N<ɯ> i?鯵@4:ɱ:鱵Ta[4Q 8 Q tI)Q lCIɴ:: : y8 ^4? N<)> ?Y@ɷ:Q: ,^4 EE<Tracking...<2Tracking contact label: 2D#GnAggregate::initialize lineCaptureHoming:StartingMission; 9) )!H%<"H-w:9!5 PD'AYt.fK@t.Z@yt.9b=t.xRnET@Ti-g=I))0GVH˽8Q>YyEI>  ][4h?N<ɯ7> i??@:ɱ:o[4Q 8 Q tI)Q lCIɴ : 8 ^4? N<)q> ?Y)@ɷ:: M>^4 EE<Tracking...<2Tracking contact label: 21 :hAggregate::initialize lineCaptureHoming:SurfaceCommsqDq ;%lAggregate::initialize lineCaptureHoming:SurfaceComms:B5; 5911)1 9)99HE<"HEw:Yx> Y>jG'5 D'A)IYt.XdK@t.Z@yt.nKb=t.3xB%hE:@DB@F=)G%4= %=D94لy{Gz?~jtx~jth?YIiɅ酁鄅#< Ļ)VH˝eQ>YˡyˡEˡͭO>  ][4?N<ɯ> i?鯵f@<ɱy<鱵}[4Q 8Q 8 Q tI)Q lCIɴ9:b: c8 ^4 0? N<) > ?Y Q@ɷ : : O^4 !E)E)<-Tracking...<-2Tracking contact label: 21- 45bAggregate::initialize lineCaptureHoming:NeedComms5 55@Initialize GoToSurfaceComponent.5]HReceived depth rate setting nan m/s.5eRReceived pitch setting 19.999999 degrees.5HReceived speed setting 1.000000 m/s. 5No surface timeout specified. Using default value of 1000.000000 seconds.5nReceived pitch timeout configuration 60.000000 seconds.qDDDD4last time_fix was: 1553797293.000000 second since 1970/01/01T00:00:00Z q Xz:;) )H<"Hw:q-5 0cD'AYt.s]K@t. Z@yt.b=t. xBlEG@H@iR=IP)AVH]e߸Qe>YayaeEim3m> q ]}[4u?u|N<ɯu%> i?u@u:ɱu:uh[4Q 8鲁 Q tI)Q mCIɴ:鴅c: D8 ^4鵕? N<)_> ?Yv@ɷ;鷕W; `^4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;99)A A)qqH}<"H}w:߱Y45 >D'AYt.8^K@t. Z@yt.ßb=t.1xBdtE*@N4=2@NR=) jGMף;M#لM;yM~jth?I +Mb`?YIIIiIIIɅIIMD; M94)M;VH9Q>YyE8> ! ]U[4%o?%`N<ɯ%{> i]?%@%=;ɱ%\;%S[4Q e8a aQ etI)aQ mmCIaɴe%:eԘ: e8 ^4m? mmN<)m> ?Ym@ɷm;m9; mJs^4 EE;<Tracking...<2Tracking contact label: 25\Initialize ReadDataComponent to sense time_fixDDDD Xz:;) )H%<"H%w:Y:5 D'Ai4<Yt.^K@t.< Z@yt.b=t.$xBeE@D"@DiPIP)0GA VH%59Q%>Y!y!-E)-o8-> 1 ]=[45??5GN<ɯ5Ǭ> iE?5؟@5:ɱ5?:5^[4Q M8A AQ MtI)AQ MnCIAɴAE: E8 ]^4Uk? UTN<)U> e?YU@ɷU:Uӻ: U+^4i iiEqEu;<Tracking...<2Tracking contact label: 2DDDD Xz:;qq)q q)yyH<"Hw:kA5 QD'AYt.^K@t.P Z@yt.>b=t.2,>xBmE HB=HBa=)~GVH%͹Q%>Y!y!-E)-F7-> 1 ]=[45 ?5-N<ɯ5> iE?5@5L:ɱ5:5|[4Q M8AQ M8 AQ MtI)AQ MnCIAɴE:E: E8 ]^4U7? U:N<)UR> e?YU@ɷU:U%: U^4i iiEqE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"H w:ߑG5 D'AYt.W]K@t. Z@yt.7'b=t.xN"lEVA@T)Xi)I))Y)y)-E)5cU> Y ]e[4]?]N<ɯ]n> ie?](@]M:ɱ]:][4Q m8i iQ  tI)iQ nCIiɴm ?Y@ɷ:: ^4) ))EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H%<"H%w:yV> ]>ԿM5 ;9D'A)IYt.[K@t.S Z@yt.a=t.&>xBklE:@DB@F=)mXGm< m=VH˵Q>Y˱y˱E˹ͽNl>  ][4?M<ɯ> i?M@:ɱ:^[4Q 8 Q tI)Q oCIɴ:Ɵ: x8 -^4%? %N<)%> -?Y%8@ɷ%:%7: %^4Q QYEaEe;xBLeEGBAAH@iPIP)~+G=9ل=D;y=Mb?Mb~jth?Y9I9i999Ʌ99=< =)=D;VHUe*9Qm>Y˙y˙E˙ͥr^8>  ][4<?M<ɯ4> i?鯥s@+:ɱض:鱥Z[4Q 8 Q tI)Q oCIɴ:: @8 ^4g? M<)n> ?Y]@ɷn:Ӡ: ^4 E!E%;<-Tracking...<-2Tracking contact label: 2D)D)D)D- eXz:e;aaa)i i)iH<"Hw:ߩZ5 camD'AYt.ZK@t.XZ@yt.a=t.xnrdE*@vC=2@vC=)}GVH˝Q>YˡyˡEˡͭQ>  ][4?M<ɯ> i?鯵@;ɱ;鱵[4Q 8Q 8 Q tI)Q pCIɴN:۞: #8 5^4? M<)> =?Y@ɷ<k< /^4A AAEIEM;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:a5 xBeE@D"@DiPIP)}GyyVH˝2Q>YˡyˡEˡͭႹ>  ][4?M<ɯ,> i?鯵@(:ɱR:鱵[4Q 8 Q tI)Q pCIɴ:: g8 ^4? M<)e> ?Y@ɷH:e: r^4 EE;<Tracking...<2Tracking contact label: 2DDDD -Xz:5;QQQ)Q Q)YYHe<"Hew:ߡg5 D'AYt.>YK@t.Z@yt.6 a=t.[YK@ u.1v;Iu.CxBw>xBiE HBp=H@) ׄG<Dل;y~jth?y&1Mb`?YIiɅ酡鄥D; `e);VH[Q>Y!y!%E!%[-> ) ]U\4-R? aU\4-M<ɯ-|> i]?-@-;ɱ-;-P \4Q e8a aQ etI)aQ mpCIaɴe:e: ep8 ^4m}? mM<)m> ?Ym۠@ɷmв;m; m^4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:; ) )H<"H%w:1n5 VD'Axr>xvrEA@ig=I)VHQ>Y!y!%E!%-> ) ]U\4-?-M<ɯ-ʯ> i]?- @-^;ɱ-4;-n\4Q e8Y YQ etI)YQ eqCIYɴ]O:]c: ]8 _4mC? _4 mM<)m> ?Ym @ɷm[;mp; m(_4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:; )  )H<"Hw:1 V>%t5 .D'A)IYt.M[K@t.Z@yt.{b=t.^9xB'fE:@F=B@F=) <];]#ل]D;y]~jtx?Mb~jth?YYIYiYYYɅYY]; ])]D;VHuupt:Q}>Yyyy}Eˁͅ9>  ]\4?rM<ɯE> i?鯍@@H:ɱf:鱍&\4Q 8鲙Q 8 Q tI)Q qCIɴ|:鴝+: g28 _4鵭? 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M?YE@ɷEI:E+: Ek7f4Q QQEYEe;xBKgEGBAAHDiPIP)EDEPلETYayaeEamb!m> q ]}f4uv?u8<ɯu'? i}?u3@u:ɱu:uf4Q O8鲁 Q tI)Q CIɴ̒:鴅: VO8 f4鵕? 8<)&? ?Y@ɷD:鷕 : CIf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw: : 6D'AYt.L@t.PZ@yt.hb=t.axBEmE)tVH=E9QE>YAyAEEIM5NM> Q ]]f4U?UJ8<ɯU(? ie?U@U:ɱU:U(f4Q mO8a aQ mtI)aQ mCIaɴe::e: eO8 }f4uT? u8<)u'? }?Yu1@ɷu:u: uZf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:?Ag: PD'Ai;Yt.L@t.Z@yt.b=t.xRhE@VA"@Ti\Ib6C)G!!e;e\لetYˁyˁEˁ͍>  ]f4܅?8<ɯ)? i?鯕S@:ɱ4:鱕F7f4Q O8鲡 Q tI)Q CIɴ:鴥o: jO8 f4鵵L? _8<)(? ?Y@ɷʽ:鷵׾: Llf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:%: jD'AYt.L@t.dZ@yt.zb=t.ĉc?g߮`uѿQu?@#> %??)u.L@ u.Vv;Iu.CxV&>xZ'fE HZp=HX)-ƄGVH]eQe>YayaeEimG9m> q ]}f4u܄?u7<ɯuu*? i?u@uI:ɱu=:uBEf4Q P8鲁Q P8 Q tI)Q CIɴ:鴅: "P8 f4鵕K? ,8<)d)? ?Y@ɷb:鷕ʽ: }f4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:h !: iD'AYt.L@t.&Z@yt.a=t.׫xR_Ei\I^C)eׄGVH˥iQ>YˡyˡE˩ͭ$>  ]f4ԃ?7<ɯ2+? i?鯵=@:ɱ:鱵Sf4Q P8 Q tI)Q CIɴ: : MhP8 f4C? 7<)!*? ?Y@ɷ:ŧ: Wf4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )!H%<"H%w:9V> V>7': _FD'A)@IYt. 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Z@yt.Ab=t.xZoEGXHXidIfyC))uuD<لqyuy&1|YˑyˑEˑ͝>  ]f4?a7<ɯ,? i?鯥@E:ɱ:鱥f4Q R8鲱 Q tI)Q CIɴ;鴵; R8 g4? 7<)+? ?Y @ɷ:b: g4 EE%;<%Tracking...<%2Tracking contact label: 2D!D)D)D- =Xz:=;AAA)A A)IIHU<"Hw:ߡ>Z: ! mD'AYt.K@t.\Z@yt.a=t.RTxNiE)eƄGVH˝XQ>YˡyˡEˡͭ>  ]f4ف?t7<ɯ,? i?鯵@k;ɱA;鱵f4Q R8 Q tI)Q CIɴ}: : R8 g4B? 7<)+? ?Y2@ɷ;ݱ; b,g4! !!E)E-;<5Tracking...xNiE@T"@Ti\IbC)ׄG%A!VH˝NظQ>YˡyˡEˡͭƹ>  ]f4*?7<ɯ,? i?鯵@:ɱ:鱵f4Q S8Q S8 Q tI)Q CIɴ:: *S8 g4? 7<)+? ?YX@ɷа;; =g4 E E;<5Tracking...<52Tracking contact label: 2D9D9D9D= MXz:M;Qqq)q q)yyH<"Hw:Ug: ҠD'AYt..K@t.Z@yt.'b=t.xB]E HFp=HD)EE9<لEĻyEMbQ?~jtxYAIAiAAAɅAAE Eu<)EĻVH[9Q>Y!y!%E!--> ) ]uf4-݂?-7<ɯ-3,? i}?-N@-<ɱ-8<-f4Q S8鲁 Q tI)Q CIɴ:鴅Ԙ: IYS8 g4鵍I? 7<)%+? ?Y@ɷ<鷍< Pg4 EE;<Tracking...<52Tracking contact label: 2D1D1D1D5 MXz:M;I) )H<"Hw:3m: հD'AYt.K@t.VZ@yt.,b=t.xB$jEiLIP)~YAyAEEIMaWM> Q ]]f4U}?U7<ɯU+? ie?U@U[:ɱU:Uf4Q mS8a aQ mtI)aQ mCIaɴe}:e : eOS8 }g4u? u8<)u*? }?Yu@ɷu:u: u_g4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:t> Sending 18 bytes from file Logs/20190328T165625/Express0063.lzmat: D'A)@IYt.K@t.2Z@yt.8b=t.}xRfE:@Z=B@Z=)-G-= -=mmף<لiym:vQ?~jtxYiIiiiiiɅiimT i)iVHˍH7Q>YˉyˑEˑ͕+>  ]g4? ag47<ɯ;+? i?鯝@#:ɱk:鱝 g4Q S8鲱 Q tI)Q CIɴ:鴵@: S8 g4}? $8<)/*? ?Y-@ɷ':: qg4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) ) H <"Hw:!{: wdD'AYt.7K@t.Z@yt.a=t.NExB$jEGF?AHDiPIRyC)GVH=EMQE>YAyIMEIMϹM> Q ]]g4U?U7<ɯU*? ie?U@U:ɱU:Ug4Q mT8aQ mT8 aQ mtI)aQ mCIaɴeo:e@: e}T8 }g4u ? uA8<)u)? ?Yuo@ɷu:uD: u؂g4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:xMoved sent file to Logs/20190328T165625/Express0063.lzma.bak$SBD MOMSN=10270888: DD'AYt.K@t.Z@yt.a=t.xNgE){GVH]]?8Qe>YayaeEam m> q ]}g4u8?u8<ɯu;*? i}?u[@u:ɱu9:u)'g4Q T8鲁 Q tI)Q CIɴ:鴅c: @dT8 g4鵕? _8<)/)? ?Y@ɷ?:鷕: rg4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:\!: "D'Ai4<Yt.K@t.Z@yt.a=t.xbjE@d"@dipIrC)EƄGEAADt<لyI +Q?MbpYIiɅ94 )VH%507Q%>Y!y!-E)- -> 1 ]=g45…?588<ɯ5)? iE?5@5:ɱ5:5$6g4Q MT8A AQ MtI)AQ MCIAɴE:EԘ: EzT8 ]g4U*? 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E?OAEE;<Tracking...<2Tracking contact label: 2DDDD4JCompleted lineCaptureHoming:NeedComms1 4fAggregate::uninitialize lineCaptureHoming:NeedComms 5DUninitialize GoToSurfaceComponent. 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Ũ?!  ?;ɯ i?!  鯅K<:ɱ:鱅ʠ;4Q 4鲑Q 4 Q tI)Q )@Iɴ:鴕/: Ws4 ;4 ] 鵥Ȩ? a ?;)T ? i Iq<ɷ:鷥: F;4a? a?GVCompleted lineCaptureHoming:StartingMission#GrAggregate::uninitialize lineCaptureHoming:StartingMission1$ HVAggregate::initialize lineCaptureHoming:Lapq$H`Aggregate::initialize lineCaptureHoming:Lap:Dive$ IdAggregate::initialize lineCaptureHoming:Lap:Dive:A$IvAggregate::initialize lineCaptureHoming:Lap:PingTransponder1% JzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A1& LxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance+ WInitialize.q%EE<Tracking...<2Tracking contact label: 2; 9) )H<"Hw:: =rD'AYt.K@t.bZ@yt.,b=t.TxBkE HFR=HFa=)ׄGVH=EV9QE>YAyAEEIMa=M> Q ]];4Uݨ?U?;ɯU i]?UIP H@SAH<"Hw:%=DSpeedControl.speedCmd 1.000000 m/s%=RHorizontalControl.headingCmd 3.125751 radp: ;D'AYt>)K@t>bZ@yt>b=t>"$H&?֮`ѿ*?m??`?)u>)K@ u>v;Iu>Cxr>xroE {xY|x8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 I@IiIyC)%GلyMb`?Mb`YIiɅ ;)VH!Q>YyE<>  ];4!  ?!  ?;ɯ ƻ i?!  < :ɱ : ˾;4Q %5Q %5 Q %tI)Q -`@IɴU:: c5 5;4 ]5 -? a5 - ?;)-ƻ =? i= I- <ɷ- :- : -Q;4Ea? Ea?AHQHQ%U K]~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance%]K]>Uninitialize WaypointComponent.']O]`Aggregate::initialize lineCaptureHoming:Lap:Dock1(] P]tAggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNavq(]P]6Initialize SetNavComponent.FaFabFmq!m Fi@mhCompleted lineCaptureHoming:DiveCmd:InitialDive:dive1 m @mAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:diveq m@mUninitialize.?m^Completed lineCaptureHoming:DiveCmd:InitialDiveEqEq  : bD'A)IYt.cK@t.bZ@yt.a=t.՗xBpfE]F^unknown deviceResponse_: 00000,187,80,81,16,FF :@=B@ =){G4= =VH苹Q?YyE.8?  ];4?#?;ɯuۻ i?< :ɱ:;4Q &5 Q 5&5 Q 5tI) Q 5u@I ɴ ش; Ƕ; J&5 E;4=? =$?;)=Vܻ M?I=Ɵ<ɷ=i:=v: =;4Ma? Ma?Q1(] P]xAggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNavq(ePe:Uninitialize SetNavComponent.(e Qe4Initialize Wait Component.HiHiFF! 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K@t.xFZ@yt.Xba=t.xBeE@FA"@DiPIRC)%A%AVH=E~=QE>YAyAMEMYCM6M> Q ]}<4UЦ?U>;ɯU  i?Ut^=U;ɱUQ;U<4Q 5鲅;?Q 5 f;Q tI)Q AI@ɴx:鴅I: ۔5 <4鵕Ѧ? >;) ?I_=ɷ:鷕: <4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%Һ%;)-<- -9-*ڸ))) -t:;iQQ)YIYYHe<"Hew:u> >IY~P; 3CD'AYt.fK@t.JZ@yt.bUa=t.?xReE HRp=HRp=)]ƄGVHmuQu>Yqyy}E}Cͅ):>  ]<4?>;ɯ7 i?l=:ɱ$:鱅<4Q 5鲝G?Q 5 mi;Q tI)Q $AI@ɴZ:鴝M: P$5 <4鵭? >;)< ?Icm=ɷ:鷭: <4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i\};<Ǽ 9r) RF;i  ) I  H<"Hw:P W; A]D'AYt.}K@t.GZ@yt._ia=t.,b>xBpfEiLIL)~ׄG9=ףل=:y=~jth?~jthMbP?Y9I9i999Ʌ99=D; =D)=:VHU];G8Q]>YayaeEeCe6m> i ]u<4mt?m>;ɯmO i?ms=m<ɱm;)! ?It=ɷ;;  =4 H1H1F9F9FAFAzFAjFAEAEA 2]; [wD'A)IYt.aK@t.EZ@yt.*a=t._xR)dE:@V=B@V=)G= %=VH-5B99Q5>Y1y15E=C=]E> A ]M<4ET?E>;ɯEx iU?Ez=Eض:ɱE:E<4Q ]5Urz?Q ]5 Uo;Q etI)UQ e1AIUv@ɴU:UI: U5 m=4eV? e>;)e} u?Ies{=ɷe؛:e: e=4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i% ;-<- 91) sQ^;i)IH<"Hw:aa19Jd; ;5D'AYt.eK@t.DZ@yt.$a=t.xBsbEGFAAHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIzyC)eƄG<`لyI +YIiɅ 94)VHQ>Y!y!%E%,C-5>  ]<48?m>;ɯ˩ i?=;ɱ ;鱽<4Q 5U?Q 5 9r;Q tI)ξQ 8AI0@ɴ:C: 5 -=4%9? %n>;)%橻 U?I%=ɷ%;%A; %u.=4Y YYHiHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i}; = 9RDS) pl;i ) I H<"Hw:!1Ej; D'AYt.K@t.TAZ@yt.>a=t.jO>xBgE]F^unknown deviceResponse_: 00000,186,80,81,11,FF )GVH˝8Q>YˡyˡE˥]Cͭ >  ]<4!?S>;ɯX i?=?:ɱ3:鱵<4Q 57?Q 5 t;Q tI)ؾQ >AI@ɴ,:@: M5 =4#? T>;)] ?I<=ɷ::  >=4 HHFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2ie0?Be;ae=e m9m6Voi)i mSfw;i)IH<"Hw:IY)-q; (D'AiYt2K@t2[>Z@yt2`=t2>>xBklE@FA"@DiPIRC)+G VH%*EQ%>Y!y!-E-C-*-> 1 ]=<45?57>;ɯ5 iE?5=5*:ɱ5:5'<4Q M6EJ?Q M6 Erw;Q MtI)EQ UDAIEAɴE:EI: E16 ]=4U ? U8>;)U e?IU=ɷU:U: UN=4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%@L%;)-K&=-K& -9-톈))) -x;iqq)qIqyH}<"Hw:> a>‘ߩ=Ww; D'AYt.K@t.@Z@yt./`=t.xBsbE HB=HBa=)MGلy{Gzt?~jtxYAIixAɅ酑鄕ף; Ļ)VH˭Q>Y˱y˱E˵Cz9>  ]=4ͥ? a=4*>;ɯ" i?=i:ɱ8: =4Q 6?Q 6 jz;Q tI)Q KAIAɴ;T: 96 -=4%ϥ? %+>;)%6 -?I%؟=ɷ%:%: %Va=4Q QYHiHiFiFiFF+@zFjFEE<Tracking...<2Tracking contact label: 2i;Z;A6=A6 99) |+;i)IH <"Hw:Z}; /D'AYt.K@t.,BZ@yt.Ga=t. xBgEiLIL)~GVH%{e9Q%>Y!y!-E-C-F9-> 1 ]==45?5>;ɯ5 iE?5=5:ɱ5:5d=4Q M 6E?Q M 6 E};Q MtI)EdQ UQAIE AɴEW:E: E@ 6 =4? >;)Ѽ ?I"=ɷ~:ŧ: Ur=4 H9H9F9F9FAFAzFAjFIEIEI Y>:i; RD'A)IYt.K@t.)@Z@yt.v(a=t.oxBgE:@F=B@F?>)~{G =E;EĻلAyEMb`?y&1|YAIAiAAAɅAAE; E`)AVH}}Q>YˁyˁE˅D͍Ě>  ]U=4w? >;ɯ i]?ӫ=<ɱ<鱕=4Q e6e?Q e6 e%;Q mtI)ebQ mXAIeAɴec:e: e6 =4鵵u?  >;) ?I=ɷ:鷵: =4 HHFFFF!zF!jF!E!E!<-Tracking...<-2Tracking contact label: 2i}V䀻;W=W 97~ȹ) 8;i)IH<"Hw:11  ; )Z,D'AYt.ٕK@t.ECZ@yt.ʌa=t.ҢxBLeEG@HDiPIRyC)VH%9Q%>Y!y)-E-/D-95> 1 ]==45W?5=;ɯ5iĻ iE?5=5X:ɱ5*:5*=4Q M6E8?Q M6 E;Q UtI)EQ U^AIEAɴEl:E: E6 ]=4]X? ]=;)]Ļ e?I]=ɷ]:]: ]=4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;f=f 9dMݹ) 9;i)IH<"Hw:{; v8FD'AYt.K@t.LFZ@yt.Ub=t.>xBjE)|VH%9Q%>Y!y!-E-HD-9-> 1 ]==456?5=;ɯ5SȻ i=?5=5z:ɱ5m:58=4Q M6Ett?Q M6 E;Q MtI)EGQ UeAIES!AɴEԳ:E : EV6 ]=4]7? ]=;)]kȻ e?I]=ɷ]:]7: ]=4i iiHyHyFFFFzFjFEE<Tracking...<2Tracking contact label: 2iT;x=x 9) Ҡ;i)IH<"Hw: @AX; `D'AiYt2 K@t2vFZ@yt2#Gb=t2m:xBcE@D"@DiPIRC)ƄGAEEلE;yE{Gzt?{GztMb`?YAIAiAAAɅAAEף; Eף)E;VH˝ Q>YˡyˡE˥cDͭ 7>  ]=4?=;ɯz i?۽=۽;ɱ;鱵lG=4Q 6R?Q 6 ~;Q tI)EQ kAI(AɴJ:: |6 =4? =;)Y ?I/=ɷ:ף: <=4   H9H9F9FAFAFAzFAjFIEIEI¡߱}ϝ; yD'AYt.lK@t.CZ@yt.4Wb=t.{L>xBcE HBa=H@)~GVH%%8Q%>Y!y!-E-|D-׹-> 1 ]==45ɤ?5=;ɯ5K iE?5=5:ɱ5:5T=4Q M 6M2?Q M 6 M,;Q UtI)MQ UrAIM<.AɴMа:M: Mj 6 ]=4]ʤ? ]=;)]a e?I]=ɷ]h:]а: ]=4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i d;׏=׏ 9`) C;i)IH<"Hw:; ēD'AYt6 K@t6xDZ@yt6]a=t6xBhE {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)}{GD;ĻلyMb`?y&1|Mb`?Y AIiAɅEA; `)VHQ>YyEDl8 > iR>  ] =4m?m=;ɯm i?m=m<ɱm\dx:jE]~^unknown deviceResponse_: 00000,187,80,81,0D,FF :@e=B@e=)ƄG= %=VHN9Q?Y y  E D@95? 9 ]E=4=?==;ɯ=^ iM?=>==:ɱ=?:=hr=4Q u)6U?Q })6 U ;Q }tI)U%Q }AIU;AɴU,;Uӻ: UMe)6 =4鵅? =;)^ ?I=ɷ:鷅Ɵ: L=4 HHFFFFzFjF!EiEqxBcEGB@AH@iPIRyC)UׄGVH}˅8Q>YˁyˁE˅D͍:>  ]=4b?=;ɯ.4 i?=:ɱ:鱕=4Q -6鲥?Q -6 ;Q tI)*Q AIAAɴį:鴥0: k-6 =4鵵c? =;)e4 ?IC=ɷ:鷵;: =4 HHFFF!F!zF!jF!E)E)<-Tracking...<-2Tracking contact label: 2iQ;= 9 L) v;i)IH<"Hw:‘ߩ; WD'AYt.K@t.YKZ@yt.Tb=t.BxB)dE)ل:y~jth?~jthMbP?YIiɅ酡鄥D; D):VH?9Q>YyEDh9U> Y ]e=4]@?]=;ɯ] im?]=]3:ɱ]f:]ǎ=4Q 16mά?Q 16 m;Q tI)m1Q AImHAɴm;m˷; m16 >4鵥@? >4 =;) ?I=ɷ+<鷥+< T>4 HQHQFQFQFYFYzFYjFYEaEa m>?AYaw; 3D'Ai4<Yt.!K@t.JZ@yt.9Zb=t.xBkE@FA"@DiPIRC)~BGAAVH%*d7Q%>Y)y)-E-D-5> 1 ]==45"?5=;ɯ5  iE?5=5:ɱ5:5=4Q M56M?Q M56 MF;Q UtI)M56Q UAIMNAɴMl:M: M56 ]>4]#? ]=;)] e?I]D=ɷ]+:]r: ]>4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iZ;Q=QĽ 9NOr) 4V;iqq)qIyyH<"Hw:iy;  D'AYt.6K@t.JZ@yt.a=t.xRNcE HRR=HP)jGeD;eףلayeMb`?~jtxMbP?YeAIaiaaaɅaeAe; eĻ)aVH}}uQ>YˁyˁE˅D͍J7>  ]=4?=;ɯ i?j=:ɱ0:鱕=4Q :6鲥cm?Q :6 .;Q tI)4鵵? =;)r ?I=ɷ:鷵: 1>4 HHFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2iO;  H= Hн 9 G< )  7;i)IH<"Hw:‰ߙ/; .D'AYt.-K@t.JZ@yt.Za=t.exRpfEi\I\)ƄGVH-5 Q5>Y1y9=E=1DEE> A ]M=4E?E}=;ɯEU̺ iU?E=EZ:ɱE:E=4Q ]>6UkM?Q e>6 U;Q etI)UAQ eAIUo[AɴUȲ:Q U\V>6 m>4m? m=;)m̺ u?Im=ɷm0:mw: mB>4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ie;=۽ 9T) ;i)IH<"Hw:A> V>A; HD'A)IYt.řK@t.1GZ@yt.)b=t.xBgE:@F=B@F=)~GR= =VH=EI9QE>YAyIMEMKDMIM> Q ]]=4Uģ?Uo=;ɯU ie?U=U:ɱUg:U=4Q mB6e},?Q mB6 eġ;Q mtI)e^GQ uAIeaAɴe):eض: eXB6 }>4}ţ? }p=;)} ?I}=ɷ}j:}: }jT>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iq; ]<m=m 9) ;i)IH<"Hw:a@; NbD'AYt.țK@t.4IZ@yt.],b=t.xbLeEGbAAHbAAipIryC)e{G;ĻلyMbP?y&1|YIiɅ: `)VH%u6Q->Y)y)-E-gD59U> Y ]e=4]?]\=;ɯ]{ ie?]+=]:ɱ]:]]=4Q uG6m ?Q G6 mҤ;Q tI)mMQ AImhAɴm;m; mh8G6 >4鵝? ]=;) ?I~=ɷӠ:鷝Ӡ: tg>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i--;IMc=Uc U9UDQ)Q U>;iYY)YIYaHe<"Hmw:AQk; {|D'AYt.K@t.mKZ@yt.cb=t.xRjE)UƄGVH}˅Q>YˁyˁEˍD͍Ź9>  ]=4?K=;ɯo i?=:ɱ:鱕=4Q K6鲥N?Q K6 x;Q tI)RQ AInAɴ:鴥8: 5K6 >4鵽? M=;)ڿ ?I=ɷ:鷽~: w>4 HHFFF F zF jF EE<Tracking...<2Tracking contact label: 2i-,-;)-(>5( 595ܵ1)1 5Ѥ;i99)9I9AHE<"HMw:]> ]>)9S; UD'AYt.CK@t.MZ@yt.a=t.]xRNcE {PY|PV8****** ping requested ******@\"@`nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I C)ׄGAلyMb`?y&1|YIiɅ酱鄵; )VHk׸Q>YyED9>  ]=4l?7=;ɯҺ i?=:ɱ:^=4Q P6g?Q P6 Ҫ;Q tI)YQ AIvAɴ_:0: CP6  >4m? 9=;)fҺ ?I>ɷ:b: Q>4 H)H)F)F1F1F1zF1jF9E9E9<=Tracking...<=2Tracking contact label: 2i4$;6 >6 9ƺ) 3;i)I!H-<"H5w:a<=}; s0D'AYt.K@t.VIZ@yt.>a=t.xR"lE HRa=HP]V^unknown deviceResponse_: 00000,187,80,81,11,FF )QVH˕Œ8Q>Yˑy˙E˝D͝?>  ]>4N? a>4(=;ɯ i?>1:ɱ:鱥>4Q T6鲽?Q T6 \;Q tI)^Q AIm|AɴZ:鴽+: )T6 >4O? )=;)ຑ ?I>ɷ:: >4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iiE;*>%* %9%cӺ!)! %';i))))I)1H5<"H=w: oE< e;  D'AYt.K@t.KZ@yt. b=t.xRcEi`IbyC)%Yˡy˩E˭D=9=> I ]>4M.?M=;ɯMY i?M>M<;ɱMc;M >4Q X6鲵4?Q X6 .;Q tI){dQ AIoAɴ;鴵b; WX6 >4.? =;)m ?I>ɷw:7: >4   HHF!F!F!F!zF)jF)E)EImV 9㺉) "6xRGkE:@V=B@V=)%G%= -%=D;ףل:yMb`?~jtxMbP?Y3AIixAɅ配EA鄉 Ļ):VH˭Q>Y˩y˩E˵D͵9>  ]>4? =;ɯʺ i? >:ɱ:鱽A>4Q \6f?Q \6 ̲;Q tI)iQ AIlAɴ:: &I\6 >4?  =;);ͺ ?I0>ɷ :: >4 HHFFFF,@zFjFEE<Tracking...<2Tracking contact label: 2iR;&>& 9:) x:lEG:@AH:@AiHIJC)vXGVH-?9Q->YAyAMEMDU1:U> Y ]e>4]?]<;ɯ] ie?] >]:ɱ]:](>4Q u`6mG?Q u`6 m;Q utI)mCoQ uAImAɴm:m8: mh`6 >4}? }<;)} ?I} >ɷ}:}: }u>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i^;#># 9dg)  x:eE)v{GU`廹U`لU;yUI +?Mbp?YUAIQiQUAQɅQUAU94< U)U;VHemIT9Qm>YqyquEuD}.}>  ]>4?=;ɯ;9 i?H>]:ɱ:鱅97>4Q d6鲕%?Q d6 e;Q tI)uQ AIъAɴ:鴕M: Td6 >4鵥? =;)>8 ?In>ɷڦ:鷥a: >4 HHFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2i`;t+>t+ 96a ) Z %{> < y1D'AYt.yK@t.JZ@yt. b=t.xBIiE@D"@DiPIP)VH]e.9Qe>YayaeEe4Dm)m> q ]}>4u5?u =;ɯu: i}?u>u:ɱu=:uHE>4Q h6鲅R?Q h6 5;Q tI)zQ AIAɴ):鴅: zh6 >4鵕6?  =;).: ?I >ɷ:鷕/: s>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i`l;3>3 9ș) zTxjE H p=Hp=)ƄGVH%Q->Y1y9=E=PDEE> I ]U>4MС?M=;ɯM=A; i]?M>M:ɱM:M^T>4Q em6]P?Q em6 ]9;Q etI)]fQ mAI]zAɴ]:]ܹ: ]m6 u?4mѡ? u?4 m=;)m?; }?Im>ɷmr:ma: m?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iq;q;>q; 9s) Ix eEi9I9)ׄG6only read 3 of 4 data itemshFailed to parse: :RA, 0.00, 98.42, 94.92, 95.42 a 1@a  a 5@a  a 9@a  a -@a  VHQ>YyEiD ): >  ]5>4s?=;ɯ; i=?e>;ɱ>_>4Q Eq6E?Q Mq6 E;Q MtI)E:Q MAIEAɴEJ:E: E߷q6 u@ }@ }@ }@ HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5u;C>C 9*()  q< W D'A)IYt.ϠK@t.;NZ@yt.6b=t.%xRaE:@V=B@T)mYˁyˁEˍD͍Ὸ>  ]>4?#=;ɯ; i?!>R:ɱEI?鱕}h>4Q u6鲥?Q u6 ;Q tI)Q AIAɴ:鴥: u6 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iI;K>K 9K1 )  gx^NcEGbAAH` {dY|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I1)-Ga 1a 1 a 5a 5 a 9a 9 a -a - لy{Gzt?{GztMbPYIiɅף; ף)VH==^9QE>YAyAEEEDMn9M>  ]>4ڠ?=;ɯ|; i?M%>:ɱ:Ny>4Q z6{?Q -z6 ;Q -tI)XQ -AIAɴ;k; bz6 5 = = = =>45ڠ? =>4 5=;)5; =? = Y5z%>ɷ5:5: 5Ny>4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i˂;uU>uU 9j?) %P!Yi,< D'AYtBڢK@tBFPZ@ytBa=tBx^eE]f^unknown deviceResponse_: 00000,186,80,81,14,FF )GVH˕mQ>Yˑy˙E˝D͝  ]>4!  ?!  =;ɯԐ; i?鯥'>:ɱ:鱥>4Q ~6鲽T^?Q ~6 ;Q tI)拿Q AIzAɴ:鴽8: ~6 >4 ] ? a =;)'; ?Y (>ɷ:: >4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iv;\>%\ %9%$RI!)! %T$xkE@A"@iI){GAAD;لy{GztYAIixAɅ )VH==FtQE>YAyAEEEDMG8M> q ]}>4! } u?! } u=;ɯu; i?u*>u::ɱu*:u>4Q 6鲅t;?Q 6 ;Q tI)Q AIAɴ;鴅˷; 6 >4 ] 鵵? a =;)G; ?YD*>ɷ\:鷵: {>4 HHFFFF+@zF jF)E)E)<-Tracking...<52Tracking contact label: 2iEoe;im3f>m3f m9mWVi)i m(xJKgE HLHL)ƄGVHUUQ]?YYyY]E]DeR9e? i ]u>4! u m?! u m<;ɯm; iu?m+>m:ɱm:mѠ>4Q 6}?Q 6 };Q tI)}QQ AI}Aɴ}):}ض: }__6 >4 ] 鵕? a <;)Ռ; ?Y+>ɷ:鷕: >4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iI;Xm>Xm 9G`) 3,xRaEi\I^yC)ׄGVH-5JɸQ5>Y9y9=E=DE&E> I ]M>4! 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U M<;ɯMɋ; iU?M->M:ɱM&:M>4Q e6]?Q e6 ];Q etI)] Q eAI]̧Aɴ]c:]w: ]x6 u>4 ]u m? au m<;)m; u?Ym.>ɷmŧ:m`: m>4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iԧ;2v>2v 9l) G$0>xBDoE:@F=B@D)|| EEףلAyE~jtx?MbPYAIAiAAAɅAAE; E)AVHU]Q]>YayaeEeDmm> i ]u>4! } mS?! } m<;ɯm; i}?mj0>m:ɱm:m >4Q 6鲅|?Q 6 ;Q tI)Q AIAɴx:鴅': 6 >4 ] 鵕U? a <;)V; ?Y0>ɷ:鷕: >4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;}>} 9.:z) 94xZ$jEGZ@AH\ihIjC)1VH}}9Q>YˁyˁE˅7D͍)8>  ]>4?<;ɯ<; i?鯕2>k:ɱ:鱕O>4Q 6鲥f?Q 6 };Q tI)ᙿQ AISAɴ:鴥ܹ: Ɖ6 >4鵵? <;); ?Y3>ɷ]:鷵: _>4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i 泼 ;  s> s 9)  Y8 5>#RS< MD'AYt [K@t MZ@yt R6b=t xhE)Gلy~jth?~jthYIiɅD; D)VHm9Q>YyERD>  ]>4 ? <;ɯ }; i? 4>  ;ɱ ; >4Q %6S?Q %6 m;Q %tI)ٜQ -AIAɴE:8: :6 5>4-? -<;)-`|; =?Y-4>ɷ-r:- : ->4A AAHQHQFYFYFYFazFajFaEaEac 94i) <xBLeE@D"@DiPIP)~{GAVH˥Q>YˡyˡE˭kDͭ9>  ]>4ޟ?<;ɯow; i?鯵y6>:ɱ:鱵>4Q 6{?Q 6 +;Q tI)Q AIдAɴ::  6 ?4ߟ? ?4 <;)v; ?Y6>ɷ:!: m?4 HHFFFF zF jF E E <Tracking...<2Tracking contact label: 2i%Uż-;)->- -9-())1 5@xBrdE HFR=HFa=)~ƄGVH i9Q>YyED%й%> ) ]->4-?-<;ɯ-;q; i5?-&8>-:ɱ-E:-0>4Q =6=?\?Q E6 =;Q EtI)=WQ EAI=Aɴ=,:=U: =6 M?4M? M<;)Mo; U?YML8>ɷM':M: M?4Y YaHqHqFqFqFyFyzFyjFyEE<Tracking...<2Tracking contact label: 2iͼ;}=Ē>Ē 9wʙ!)! %2DxR%hE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)}ׄGe;eĻلeyeMbMb`YeAIaiaeAaɅaae e)eVH˝vQ>YˡyˡE˥Dͭy9>  ]?4? a?4<;ɯ*; i?鯵<>i:ɱ:鱵:?4Q 64?Q 6 F;Q tI)ƥQ AIʻAɴI;0; q6 ?4? <;)(; ?YL<>ɷ:: H'?4) ))H9H9F9FAFAFE*@zFIjFIEQEQu }9}y)y }I Y>l< +OD'A)@IYt.K@t.OZ@yt.Vb=t.rxRcE){R?I{Pi{R{={P{P{R C{P|R\A9|Rj?\ӿ:@b=B@b=)EGE= E=VHUUpd9QU?YYyY]E]De 8e? i ]u?4m?m<;ɯm+: iu?m>>m:ɱm:m?4Q 6}?Q 6 };Q tI)}Q AI}kAɴ}:}: }ec6 ?4鵍? <;)z: ?Y>>ɷ :鷍]: N5?4 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'1'q'N~Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly=NPLights, Camera on at range: 8.460000 m .1''HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.950516 forward, -0.310676 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.962427,-0.265880,-0.055154;0.264784,-0.963945,0.026447;-0.060197,0.010849,0.998128 ]<tazimuthInNED_ = 177.315413 degrees FINAL. Radians:3.094738<^ContactLat = 36.802722 ContactLon = -121.787977<)First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.:EE\AHь- @9Hj?\ӿE?EHޯ { >'P? GjHBy$￸?XR E/F@bE>jEBEo$?JERE ZErEUzEi%%;)->- -9-N!))) -MxjdEGhHli|I|)eƄGmPowering upףل;y{Gzt?Mb`?Mb`?YIiɅ酱鄵ף; ;);VHIQ>YyED]>  ]?4t?<;ɯ ,; i?&A>3:ɱ:s ?4Q 6?Q 6 ;Q tI)Q AIAɴR:: p6  ?4 u? <;) *; ?Y MA>ɷ e: : ~G?4 zG-'-M5~Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera&5M5Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCameraq'5H1H1F1F9F9F9zF9jFAEAEAeY e9e#a)i m7Q Y>Qa y< D'AYt.XK@t.KZ@yt.a=t.fxBiE)GVH=E6QE>YAyAEEMDMM> Q ]]?4UO?U<;ɯUX; ie?ULC>U4:ɱU:U-?4Q m6e?Q m6 e4;Q mtI)eȭQ uAIeAɴe:e0: e栘6 }?4uQ? u<;)uPW; ?YurC>ɷu:u: u X?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i:;R>R 9i꺻)  8VxRhE@VA"@Ti`I`)ƄGI%A!VH=E$MQE>YAyAMEMDM ǻM> Q ]}?4U)?U<;ɯUσ; i?UE>U;ɱU;U;?4Q 6鲅?Q 6 ;Q tI)Q AIAɴ:鴅: ǚ6 ?4鵕*? <;)^; ?YE>ɷP:鷕: i?4 HHFFFFzFjF E E < Tracking...< 2Tracking contact label: 2iEE;AEެ>Mެ M9M5ĻI)I MZx6iE H:p=H:p=)-ׄGI1uDuĻلuyu~jtx?Mb`YqIqiqqqɅqqu; u)uVH˕'9Q>YˑyˑE˝ D͝d>  ]?4?<;ɯ4}; i?鯥M:ɱ^:鱥wJ?4Q 6鲽J?Q 6 ;Q tI)Q AIbAɴ:鴽: f6 ?4? <;)l|; ?YbH>ɷ:۞: [{?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ^;4>4 9%Kͻ!)! %pV_xBiEiPIRyC)|HhAHpAIVHQ>Yyyy}E}9Dͅ7>  ]?4?<;ɯ%s; i?鯍J>:ɱ:鱍uX?4Q 6鲽qu?Q 6 ;Q tI)iQ AIAɴ:鴽 : 6 ?4? <;)Dr; ?YJ>ɷg;; ͌?4 H HFF1F9F9zF9jF9EAEA}ҷ }9;ֻ) d V>< *rPD'A)@IYt.K@t.Y@yt.;b=t.ǠxREmE:@V=B@V=)GIeaلeD;yey&1|?MbP~jth?YaIaiaaaɅaae`; e)eD;VHuA9Q>YyETDm >  ]5?4 y? <;ɯ ,; i=? M> V;ɱ k; +g?4Q E6=ɷMk;M; M?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ig7;> 9Qỉ) h Ml> < MjD'AYt.K@t.kY@yt.~a=t.l*xRpfEGPHPi`I`)ƄGI!VH55#Q5>Y9y9=E=mDE=E> I ]U?4M>?M<;ɯM>; iU?MP>M$:ɱMԳ:Mjt?4Q e6]4?Q e6 ];Q etI)] Q eAI]Aɴ]:]: ]B6 u?4m?? m<;)mu; u?YmP>ɷm:m: m#?4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i_;>¾ 9\껉) ,m˚?@?)u.IK@ u.(x;Iu.CxNػ>xRgE)YayaeEmDm̽m> q ]}?4u?u<;ɯu; i}?uS>u(:ɱu^:u?4Q 6鲅{?Q 6 ;Q tI)쾿Q AI=Aɴ>:鴅0: j6 ?4鵕? <;); ?YS>ɷΥ:鷕: ?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;>Ⱦ 9h) qxBKgE {DY|DJ8****** ping requested ******@L"@P^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIvC)uGI;`لy~jth?MbYAIixAɅD; )VH%- 9Q->Y1y9=E=DE}E> I ]]?4Mѝ?M<;ɯM; ie?MW>M%;ɱM5;Mґ?4Q u6m:?Q }6 m;Q }tI)mQ }AImAɴm";m!; m6 M?4鵍ҝ? <;); U?YW>ɷ<鷍< ?4Y YYH HFFFF+@zFjFEE!<%Tracking...<%2Tracking contact label: 2iev ;>Ͼ 9 ) ww;Iu.CxB۾>xBjE HF=HD){F ԜI{Di{FT{={D{D{FC{D|FQA9|FK%R?FeLӿ)BGIVH]eQe>YayaeEmDmm> q ]}?4u?u<;ɯu; i}?uZ>u:ɱu:u?4Q 6鲅?Q 6 6<Q tI)ĿQ BIAɴ:鴅: ꫩ6 ?4鵕? <;)0; ?YZ>ɷP:鷕M: ?4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.953454 forward, -0.301538 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.965197,-0.255660,-0.055066;0.254579,-0.966704,0.025939;-0.059864,0.011018,0.998146 ]<tazimuthInNED_ = 177.258777 degrees FINAL. Radians:3.093749<^ContactLat = 36.802721 ContactLon = -121.787977<Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.:EEQAH162? @Om0HK%R?FeLӿE ԜEHi/P xe?c@grHxSq?̎@<⮿EE@bE>>jEBEJEREZErEzEiTI$;!%w>%wԾ %9%^!)! %{xR]Ei`Id)-jGH5lAH5jAI1}}ل};y}YˡyˡE˥DͥP>  ]?4`?<;ɯ< i?鯭^>8:ɱ:鱭X?4Q 6I?Q 6 <Q tI)ǿQ BIAɴ:R: (׫6 ?4a? <;)< ?Y_>ɷ:: l?4 HHFFFF*@zFjFEE < Tracking...< 2Tracking contact label: 2i%_%;!%z>%zھ %9- ))) -YNd<  D'A)IYt.J@t.ZY@yt.Ua=t.xRkE:@V=B@X)={GI9VH]eUQe>YayaeEmDm9m> q ]?4u?u<;ɯuU< i?ub>u;ɱug;u2?4Q 6鲥?Q 6 <Q tI)WʿQ BI.Aɴ:鴥k: 6 @4? @4 <;)k< ?Yc>ɷ6:}: @4 HHFF!F!F!zF!jF)E)E)<-Tracking...<-2Tracking contact label: 2ie)& e;am>m m9m4i)i m xBgEGFAAHDJ8Not Powering down - fast GPSJ J)JIJiNi~N~N~N~N~N N)NIRiRRRRiXIX)ƄGIVH8CQ>YyE D zw >  ]?4М?<;ɯ13< i?g>:ɱb:?4Q -6%m?Q -6 %} <Q -tI)%LͿQ -BI%Aɴ%:%˵: %)6 =@45ќ? 5<;)52< =?Y5,g>ɷ5U:5: 5@4I IIHYHYFYFYFaFazFajFiEiEi 9<) rxB%hE)~YyE#D?9>  ]?4?<;ɯ2< i?h>:ɱ:?4Q 6 M?Q  6 - <Q  tI)пQ  BIAɴݱ:ϸ: lD6 =@4? <;)1< =?Yi>ɷ:H: *@4A AIHyHyFyFyFFzFjFEE<Tracking...<2Tracking contact label: 2iD*;M>M 9?) Rɚ??)u..J@ u.sv;Iu,xN>xR nE@VA"@Ti`I`)XGI!VH559Q5>Y9y9=E=;DE<'E> I ]U?4M?M<;ɯM 1< iU?Mj>M:ɱM|:M]?4Q e6]-?Q e6 ]<Q etI)]ҿQ eBI]Aɴ]:]4: ]TH6 u@4m? m<;)m0< u?Ymj>ɷm˚:mۮ< m:@4 H)H)F1F1FYFYzFYjFYEYEY| 9d#) 1xRaE HRa=HP)ƄGI!eDeD;لayeMbp?YeAIaiaaaɅaexAe e;)aVH}}PDQ>YˁyˁE˅VD͍郸>  ]?4?<;ɯ1< i?鯕Ml>M:ɱ:鱕?4Q 6鲥S ?Q 6 <Q tI)տQ  BIAɴ5:鴥: iu6 @4鵵? <;)^1< ?Yql>ɷU:鷵w: iL@4 HQHYFYFYFaFe+@zFajFaEaEi 9)) D`?`6??)u.J@ u.v;Iu,xN>xRnhEi\I\)ׄGH%kAH%kAI!VH55M8Q5>Y9y9=E=oDE:E> I ]U@4M? aU@4M<;ɯMl2< iU?Mm>M:ɱM:M@4Q e6]7?Q e6 ].<Q etI)]ؿQ e BI]ɷmZ:m: mr]@4y HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i*@;? 90) SƏN< D'A)IYt.bJ@t.ΡY@yt.v+b=t. xBNcE:@DB@F=)~GIVH=EW9QE>YAyAMEMDMnM> Q ]]@4U?U=;ɯU3< ie?Uo>U:ɱU:U@4Q m6e@?Q m6 e<Q mtI)e_ۿQ u BIeyAɴe:eR: e^6 }@4}? }=;)}2< ?Y}o>ɷ}ϝ:}: }n@4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i#?;P?P 96) | M>!)< D'AYt6J@t6Y@yt6_a=t6xblE {`Y|`f8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)=ƄGIA;لyMb`?{Gzt?YAIiɅ酝A鄝; ף;)VHQ>YyED%D(8%> ) ]]@4-?-=;ɯ-I3< ie?-#r>--;ɱ-;-@4Q 6m ?Q 6 m<Q tI)m޿Q BIm:Aɴmb:m: m%6 @4鵵? =;)2< ?Yr>ɷ:鷵: @4 HHAFiFiFqFu*@zFqjFqEqEy<}Tracking...<2Tracking contact label: 2iI3E;AE?E E9M#/@I)I M/xBmE){B㭪>I{@i{B̯={B1>{@{BA{@|B A9|B}=?#e#?)}ׄGH@H@IVH˝k*8Q>YˡyˡE˥Dͭ9>  ]@4?"=;ɯi3< i?鯵t>:ɱ:鱵m,@4Q 6?Q 6 l<Q tI)%Q BIAɴ:: 6 @4? $=;)3< ?Y>t>ɷ:: P@4 HHFFFFzF!jF!E!E!<%Tracking...<-2Tracking contact label: 2<-4READERS ACTIVE AND TOUCHED<5direction in vehicle frame: [ 0.944949 forward, 0.327218 starboard, 0.000000 keelward ]<5CALLING PROCESS<5TProcessing response from acoustic contact.<5TProcessing response from acoustic contact.EQHUt F6iRre7-b鞧HU >\BῨ57C5EUn@bEUojEU5BEUo$?JEUo$?REU ZEU rEU<zEUi}m4e};y}8 ?}8 9kmE) Q>xBGkE@FA"@DiPIR6C)YyED:>  ]@4ɜ? =;ɯ/.< i?u>n:ɱ::@4Q 62g?Q 6 /<Q tI) Q BI&BɴԳ:: E'6  @4ʜ? !=;)-<  ?Yu>ɷ:: @4 H)H)F)F)F1F5.@zF9jF9E9E9<=Tracking...xBLeE HDHFa=) GI VH%Q%>Y!y!-E-D-G:-> 1 ]=@45?5=;ɯ5S)< iE?5bw>5$:ɱ59:5H@4Q M6E1H?Q M6 E!<Q MtI)EQ UBIEBɴE:E: Ep)6 ]@4U? U=;)U(< e?YUw>ɷU$:Uk: Uy@4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i%"X%;!%?% %9- T))) -^xR)dEi\I^yC)GHH%iAI!VH-5iQ5>Y9y9=E= DE9E> I ]M@4M ?M=;ɯM%$< iU?My>M:ɱMl:MNV@4Q ]6]#'?Q e6 ]$<Q etI)]Q eBI]LBɴ]Ȳ:]w: ]M6 m@4m ? m=;)m#< u?Ym5y>ɷmE:mj: m@4y yyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i,_;b?b 9:u[) F ]>;= f!D'A)IYt.K@t.{Y@yt.ުb=t.xRdE:@TB@V8>)ƄGIee`;لeyeMb`Mb?YeAIaiaeAaɅaeAe e<)eVHu}9Q}>YˁyˁE˅%D͍P9>  ]@4/?.=;ɯM&< i?鯕|>:ɱ$:鱕d@4Q 6鲥?Q 6 I'<Q tI)Q BIBɴ:鴥k: z6 @4鵵0? 0=;)%< ?Y|>ɷ8:鷵{: @4 HHFFFF*@zFjFEE<Tracking...<2Tracking contact label: 2iP`;? 9 6c )  5~ -i>Z<= ;D'AYt.RK@t.Y@yt.>b=t.%xReEi\IbC)GI!VH-5m17Q5>Y9y9=E=>DE)8E> I ]M@4MQ?MA=;ɯM\(< iU?M>M:ɱM:Mr@4Q e6]p?Q e6 ])<Q etI)]SQ eBI]Bɴ]:]: ]6 u@4mR? mC=;)m'< u?Ym>ɷm0:m: m@4y yHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i!6j;? 9[k) gxReE)ƄGH @H @I];]/<ل]Ļy]I +Mb?~jtxYYIYiYYYɅYY]9 ]<)]ĻVHu}8Q}>YyyˁE˅XDͅJx9>  ]@45?]=;ɯ < i?鯍…>:ɱ:鱍@4Q 6鲥?Q 6 ,<Q tI)@Q BI, Bɴ5:鴥: 6 @4鵭7? ^=;) < ?Yԅ>ɷ:鷭: @4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ixl;7?7 9s)  vx^iE@`"@`ilInyC)5GI9VHMMQM>YQyQUEUrD]9]> a ]m@4e?ew=;ɯe; im?e_>e:ɱe:e@4Q }6u|?Q }6 ul/<Q }tI)uQ }BIu Bɴu:u: u6 A4鵅? A4 y=;); ?Yq>ɷ:鷅~:  A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ieu;"?" 9|) xxBgE)=0GI9VHMMQU>YQyQUEUD]]> a ]}@4e?e=;ɯe; i?e>e;ɱe;e@4Q 6鲕O?Q 6 .2<Q tI)Q BId Bɴ:鴕: 6 A4鵥? =;)ɡ; ?Y1>ɷZ:鷥؛: A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iy;!N= &? & 9 d) 9xboE {dY|df8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIC)EjGHEmAHElAII<لy rh{Gz?~jtxYAIixAɅC ף<)VHee߸Qe>YiyimED7>  ]@4נ?=; etIɯ{6; i?>%:ɱ6:@4Q 6鲅Y?Q 6 5<Q tI)uQ BIdBɴ;鴅; 6 A4鵥? =;).; ?Y>ɷ,;鷥: $3A4 HHFFFAFE+@zFIjFIEIEQ R>H<"Hw:a= >q߁Ɋ.= ~D'A)@IYt.{ K@t.Y@yt.za=t./cxB%hE]F^unknown deviceResponse_: 00000,186,80,81,15,FF :@=B@ =){GIR= 4=VH5=+8Q=>YAyAEEEDMv:M> I ]u@4M~?M=;ɯM: i}?Mt>M;ɱMQ;MP@4Q 6鲅&>?Q 6 7<Q tI)Q  BIBɴW:鴅': ~e6 A4鵕? =;)H: ?Y>ɷ:鷕: AA4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iy%;!%.?%. %9%!!)) -xB$jEGF@AHDiTIVyC)0GI MMu<لMDyMI +I +?~jthYIIIiIIIɅIIM94 M94<)MDVHem9Qm>YiyimEmDuM:u> y ]@4}?}=;ɯ}9 i?}|>}:ɱ}:}}@4Q 6鲍?Q 6 ^:<Q tI);Q "BI:BɴR:鴍Q: \6 A4鵝? =;)۹9 ?Y>ɷ:鷝: QA4 HHFFFFzFjFEExRcE)%jGH!H% @I!VH]e)9Qe>YayaeEmDmv9m> q ]}@4uc?u>;ɯu i}?u>u:ɱu:u@4Q 6鲅?Q 6 =<Q tI)Q #BIBɴ:鴅: y{6 A4鵕e? >;) ?YҢ>ɷ:鷕: !cA4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;5?5 9) JxboEi|I|)e+GIqVHơQ>YyED:> ) ]]@4-?-'>;ɯ- im?-)>-<ɱ-<-@4Q 6?Q 6 .@<Q tI)BQ %BIBɴ:: 6 -A4%? %*>;)%꽺 -?Y%z>ɷ%<%< %vA4q qyHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i55;15g:?5g: 59=49)9 =T??)u. K@ u.Yv;Iu.Cx6>x:cE)vXGIx5D5#<ل5y5{GztYQyQUEU'D]v:]> a ]m@4e?e:>;ɯeĘ iu?e(>e:ɱex:e@4Q }6u?Q }6 uB<Q }tI)uQ 'BIuBɴu:u(: u$6 A4鵅!? ;>;)u ?YT>ɷ:鷅: A4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i;=?= 9TE) D'AYt.k*K@t.Y@yt.a=t.SxVsbEidIfC)%ƄGH-iAH-iAI)VH]]Qe>YayaeEeADmɾ:m> q ]}@4uY?uN>;ɯu{ i}?uK>u[:ɱup:u@4Q 6鲅?Q 6 UE<Q tI)Q (BIBɴ:鴅: 6 A4鵕_? 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M=;)M; U?YM?ɷM;M; MôC4y yyHHFFFF0@zFjFEE<Tracking...<2Tracking contact label: 2iMD;@ 9h) iy2=i) I  H5<"H5w: I> yD'AYt.K@t.fpZ@yt. pb=t.jxBaEGDHDiPIP)M{GIIVH]eQe>YayimEm| DmGu> q ]}B4u?u=;ɯu; i?uZ?uD:ɱu:uB4Q 7鲍?Q 7 !<Q tI)3Q \BIMKBɴ:鴍: Sz7 C4鵝ǣ? =; tI)h; ?Ye?ɷ:鷝: 9C4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i"&P;%8=%@% %9%R)o!)) -t5=i)))1I11H=<"H=w:MiAMhA0$> 4D'AYt.K@t.kiZ@yt.a=t.#NxRIiE)ƄGH@HYIYDلy~jth?Mb`?YIixAɅxAD; ;)VHMQ>YyE D>  ]B4?=;ɯ; i??:ɱ:hB4Q  7a?Q  7 <Q  tI)5Q  ^BILBɴx:I: `7 C4? =;)ӡ; ?Y?ɷn:+: VC4! ))H9H9F9F9FAFAzFAjFAEIEI _D'AYt.K@t.eZ@yt.,b=t.xRLeE {PY|PV8****** ping requested ******@p"@pvNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I))5ׄGI9EmAEjAVH]eZI9Qe>YiyimEm D͝>  ]B4?=;ɯ; i?鯥"?Fg<ɱg<鱥VB4Q %7 >?Q %7 ,<Q %tI)6Q %_BINBɴ:: 7 UC4-? -=;)-+; U?Y-0?ɷ-ŧ:-Ҩ: -PC4a aaHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i= xAD'Ax~>x~inE H=H]^unknown deviceResponse_: 00000,187,80,81,12,FF )GIVHQ>YyE D>  ]B4?=;ɯ; i??Y;ɱ;B4Q %7I?Q -7 <Q 5tI) 8Q =aBIYPBɴ;;; Y7 ]C4E? E=;)E; e?YE?ɷEJ;EL; EC4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i5IQ5;9=@= =9='9)9 =#S@=iAI)IIIIHU<"HUw:]S=e? e>197> D'AYtNĶK@tN0dZ@ytN Va=tNVxfbEiI%yC)ƄGHlAHkAITل;y~jt?y&1|Mbp?Y3AIiAɅAD< `);VHVQ>YyE D6O>  ]B4?=;ɯ; i??M:ɱ:B4Q  7 ?Q 7 ժ<Q tI) t9Q cBI QBɴ : : 7 %D4? %D4 =;); %?Y?ɷ:ŧ:  D4) 11HAHAFAFAFIFM,@zFIjFQEQEQ %a>w >> D'A)IYt2ʾK@t26lZ@yt2b=t2+xR$jE)5GI9VHMMj :QU>YQyQUEU D] :]> a ]mC4e? amC4e=;ɯeS; im?e@?e:ɱeʽ:e@ C4Q }7u1?Q }7 uP<Q }tI)u:Q dBIu\SBɴu-:u: uu7 D4鵅? =;)2; ?YF?ɷ:鷅Ɵ: FD4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i];@ 91) *F=i)IH<"Hw: ^1=^D> D'Ax~>xgEGAAHi!I%C)}{GI=لyktʡE?Y AIi@Ʌ -=)VHQ>YyE D>  ]C4e?e>;ɯ(< i?u ?:ɱZ:C4Q  7?Q  7 I<Q  tI)1;)%< ?Y| ?ɷb:ϝ: .D4) ))H9H9F9FAFAFE?zFAjFIEIEI D.D'AYt6GK@t6vZ@yt6?b=t6L>x>cE)|HH@IVH 9Q>YyE%0 D%:%> ) ]5C4-Ʃ?-?;ɯ-qS< i5?-J,?-N:ɱ-B:-=&C4Q E7=H?Q E7 =<Q EtI)==Q MgBI=VBɴ=׾:= : =j7 UD4MЩ? M?;)MP< U?YMP,?ɷMض:M: M>D4a aaHqHqFqFyFyFyzFjFEE<Tracking...<2Tracking contact label: 2i[;)=@ 9͎) 8M=i)IH<"Hw:‘ߙ@AR> HD'Ai;xn9>xreEi|I~yC)iIqVH˽Q>Y˹yEL D>  ]C4??;ɯɁ< i?9?ض;ɱ;5C4Q  7|?Q  7 <Q tI) ?Q =iBIEXBɴ<< W7 uD4M? M?;)M'< ?YM9?ɷM;M; MQD4 H H1F1F9FIFIzFijFiEqEq W]bD'AYt.2K@t.|Z@yt.b=t.xRpfE)QIY;'=ل;yMbS㥛?Mb`?Yz AIi@Ʌ3A酙鄝 /<);VHƹQ>YyEf Dg:>  ]C4ޮ??;ɯ< i?=?:ɱ:[CC4Q  7[?Q  7 ָ<Q  tI)z@Q  kBIYBɴа:: 7 D4? ?;)< ?Y/>?ɷ:: bD4! ))H9H9F9F9FAFE?zFAjFAEIEI >IY[^> 8|D'AYtFK@tFNZ@ytFAb=tF2xNgEi\I\)ƄGH!H!I!VH558Q5>Y˙y˙E˝ Dͥ;>  ]C4!? @;ɯ< i?鯭#B?|:ɱ:鱭&QC4Q 7鲽;?Q 7 <Q tI)AQ lBIv[Bɴ :鴽w: c"7 D4 D'A)@IYtBK@tBRZ@ytBYb=tBsѿ`~т?`G?`?)uBK@ uBv;Iu@x^ػ>xbgE)=GI9}}T<ل}Yy%E% D%?9%> ) ]UC4-?-@;ɯ- < iU?-xC?-;ɱ-0;-_C4Q e7]_?Q e7 ]<Q etI)]_CQ mnBI](]Bɴ]:]U: ]@7 D4m? m"@;)m< ?YmC?ɷm1;mB; m#D4 HHFFFF@zFjFEE<Tracking...<2Tracking contact label: 2iۆX;@% %9%^!)! %+M\=i)))AIAIHU<"HUw:-= 1rk> eD'AYt:K@t:_Z@yt:b=t:UxBiE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIzC)ƄGIVHMU4QU>YQyY]E] D]iY:e> a ]mC4e?e.@;ɯe= iu?eD?e:ɱe:enoC4Q }7}?Q }7 }<Q tI)}DQ pBI}^Bɴ}:}/: })j7 D4鵍? 3@;)= ?Y#E?ɷ0:鷍4: /D4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i}[;@ 9p) `=i)IH<"Hw:)IijAjAaqXr> D'AYt.3K@t.Z@yt.Lb=t.Nx6eE]>^unknown deviceResponse_: 00000,186,80,81,19,FF )uYyE D(?:>  ]C4A?<@;ɯu2= i?F?;ɱK};{C4Q =75X?Q E7 5X<Q MtI)55FQ qBI5]`Bɴ5o<5&< 5]7 D4 c? B@;) ^4= ?Y \F?ɷ : e: D4! !!H1H1F1F9F9F9zFAjFAEAEA jD'Ai4<Yt.K@t. Z@yt.b=t.?4@OѿX`)`?,NKn??)u.K@ u.2v;Iu.CxN,>xRmEi`I`)%GI!m:m\لmym~jt?:vYmAIiiim@mAɅmxAmAm< mԼ)mVHˍ'9Q>YˉyˉE˕ D͕2:>  ]C4C? @;ɯM/= i?鯝I?:ɱs:鱝C4Q  7鲭?Q  7 <Q tI)GQ sBIaBɴ:鴭: b 7 D4y? @;)u1= ?YI?ɷߡ:: xD4 HHFFFFp?zFjFEE<Tracking...<2Tracking contact label: 2i Zm;V>@ 9)C) f=i!!)!I!!H-<"H-w:~> D'AYt.iK@t.բZ@yt.M#b=t.ӃxB[E HBa=H@)GIVH=ENQE>YAyAEEM DM4B:M> Q ]]C4UC?U?;ɯU,= ie?UM?U|:ɱU:U_C4Q m!7e ?Q m!7 e<Q mtI)eHQ utBIe|cBɴe:eR: el!7 D4}x? }?;)}E.= ?Y}2M?ɷ}:}: }D4c? c?OAHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ie;@ 9ԅ) j=i)IH<"Hw:C> >±߹> ]D'AYt.K@t.Z@yt.7*b=t.AxZmjEidId)%ׄGH%nAH%lAI!mjYˡy˩E˭ DͭI:>  ]C4H?C@;ɯL= i?鯵R?:ɱ:鱵C4Q "7Ww?Q "7 <Q tI)qJQ vBI&eBɴ:÷: "7 D4}? M@;)N= ?Y-R?ɷM:: xD4 HHFFFF z?zF jF E E < Tracking...<2Tracking contact label: 2i%d-;)-@- -9-'))1 50gn=i99)9I99HE<"HEw:  > 71D'A)IYt.'K@t.Z@yt.hxb=t.xBinE) GIVHmuD9Qu>Yqyy}E}4 D}S4:>  ]C4X?@;ɯ{j= i?鯅V?g:ɱ:鱅ճC4Q #7鲕%W?Q #7 <Q tI)KQ xBIfBɴȲ:鴕U: #7 D4鵥? @;)l= ?YV?ɷR:鷥۞: D4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ih;@ 9<) r=i  ) I H<"Hw:E=> KD'AYt:NL@t:Z@yt:_Hb=t:xbnEGb?AH`itIvyC) {GI`;\لy ףp= ?)\(/$YAIi@AɅA酅$A鄅Q8= Ga)VH˥ظQ>YˡyˡE˥P DͭN:>  ]C49?.@;ɯ== i?鯵^?:ɱ=:鱵NC4Q $7M3?Q $7 <Q tI)iMQ yBIhBɴg:{:  $7 E4n? E4 9@;)?= ?Y^?ɷ:: E4 HHFFFF3@zF jF E E <Tracking...<2Tracking contact label: 2i%@c-;)-@- -9-X㳽1)1 5v=i19)9I99HE<"HEw: >lAkAΘ> 1dD'AYt. L@t.xBgE)|H|H~@I|VH=E'QE>YAyAMEMg DM=:M> Q ]]C4U?U?;ɯU = ie?U0e?U:ɱU:UC4Q m%7e<?Q m%7 es<Q mtI)eNQ u{BIeiBɴeݱ:eϸ: e2%7 }E4u? u?;)u!= ?YuDe?ɷu7:uʢ: u7E4 H9H9F9F9FAFAzFAjFAEIEI ~D'Ai;Yt.L@t.BZ@yt.a=t.x:cE@<"@YAyAMEM DM\:M> Q ]]C4U?U^?;ɯU < ie?Uil?UY:ɱU+:UC4Q m&7e?Q m&7 eY<Q mtI)ePQ u|BIekBɴe):e: e&7 }E4uƧ? ui?;)u6< ?Yu}l?ɷu:u~: u!E4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2ijq;@ 9d-) X}=i)IH<"Hw:QYߥ> D'AYt.L@t.Z@yt.a=t.xR"lE HPHT)ׄGI!eףe"۽لe94yeMbX9?YˁyˁE˅ D͍>b:>  ]C4F?>;ɯ^< i?鯕w?U:ɱ:鱕\C4Q '7鲥4?Q '7 M<Q tI)QQ ~BI2mBɴį:鴥: ='7 E4鵵|? >;)< ?Yw?ɷ׾:鷵]: k3E4 HHFFFF ?zFjFEE<Tracking...<2Tracking contact label: 2il;  @  9  )  =i)IH%<"H%w:J > D'AYt.L@t.nZ@yt.b=t.7xB^E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIzC)mGH}mAH}kAIVH:Q>YyE D s:>  ] C4?T>;ɯhW< i?{?);ɱy);C4Q -(7%9?Q -(7 %R<Q -tI)% SQ 5BI%nBɴ%%;%*; %Z(7 EE4=? =]>;)=^< M?Y=?ɷ=:=I; =EE4Y aaHyHyFFFFzFjFEE<Tracking...<2Tracking contact label: 2i e ;  @  95t) nÂ=i)I!H%<"H-w:> cbD'A)@IYt2pL@t2Z@yt2; b=t2gxb$jE){flI{di{fh={d{d{fA{d|f7B9|fɫ?)oȱѿ:@=B@!){GIDjل;y~jt?y&1Mb`?Y\AIiV@ɅA< `e);VH5="ϹQ=>YAyAEEE DE\9M> I ]UD4M(? a]D4M=>;ɯM[< i]?M?M!:ɱM:Mv D4Q e*7eԐ?Q m*7 eI<Q mtI)eTQ mBIepBɴe:ev; e*7 }E4uY? uF>;)uc< ?Yuς?ɷu3:u: u`WE4 QDone Waiting.( Q8Uninitialize Wait Component.(HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2<4READERS ACTIVE AND TOUCHED<direction in vehicle frame: [ 0.961021 forward, -0.276476 starboard, 0.000000 keelward ]<CALLING PROCESS<TProcessing response from acoustic contact.<TProcessing response from acoustic contact.<rotationFromVehicleToNavigationFrame_ = [ -0.960372,-0.273210,-0.055160;0.272239,-0.961916,0.024546;-0.059766,0.008556,0.998176 ]<tazimuthInNED_ = 179.805604 degrees FINAL. Radians:3.138200<^ContactLat = 36.802387 ContactLon = -121.787980:EE7BHamE@ymlP)Hɫ?)oȱѿElEH0Km(RF ?_HBK￀k?󧝮EDH@bE>jE6BEEo$?JEo$?RE ZE rE2/zE@ 9SĽ)  =i)IH<"Hw:%Dacoustic_contact_range 45.780003 m%hTrackAcousticContact.heading_to_contact 3.138200 rad> z5D'AYt.*$L@t.Z@yt.a=t.t>xfklEGjAAHhixI|)QIQVH˝Q>YˡyˡE˥ Dͭ2E:>  ]D4q?(>;ɯQ_< i?鯵?:ɱ :鱵D4Q +7q?Q +7  <Q tI)UQ BI rBɴ:ض:  +7 E4? 1>;)f< ?Y?ɷ:K: gE4 G(1)HHFFFF zF jF E E <Tracking...<2Tracking contact label: 2i%d{-;)-@- -9-uǽ))1 5#g=i99)9I99HE<"HEw:Y]jA)9> D'AYt.+*L@t.Z@yt.a=t. xB+bE)9H=@H=@IAVH]eѬQe>YiyimEm Dm]r:u> q ]}D4u?u>;ɯuCc< i?u?u:ɱu:u$D4Q ,7鲍Q?Q ,7 <Q tI)?WQ BIsBɴ1:鴍: 7,7 E4鵝? >;)j< ?Y+?ɷb:鷝ʢ: xE4 G1)OHCompleted lineCaptureHoming:Lap:Dock'OdAggregate::uninitialize lineCaptureHoming:Lap:Dockq)RfAggregate::initialize lineCaptureHoming:Lap:Rollout) S|Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart)S:Initialize WaypointComponent.HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i>v;@ 9ʽ) S=i) I  H<"Hw:?A!).> D'Ai4<Yt.,,L@t.Z@yt. b=t.xBcEiLIP)|IE`廹E;لAyE~jth?~jtx?Mb`?YE AIAiAExAAɅAEAED; E;)AVH˝pY9Q>YˡyˡE˥ D̛ͭ9>  ]D4?$>;ɯp< i?鯵t?;ɱ;鱵3D4Q -70?Q -7 <Q tI)XQ BIKuBɴx:: i+-7 E4؞? ->;)8x< ?Y?ɷ=;: E4! !))U SUAggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart)]S]>Uninitialize WaypointComponent.1*] T]Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeadingq*]T]4Initialize Wait Component.HYHa$eIezAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder1%e Je~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFaFaFiFm(,@zFijFiEE<Tracking...<2Tracking contact label: 2ir;@ 9gν) _=i)IH<"Hw: >¡ߩW> 3D'AYt..L@t.Z@yt.Ib=t.ºx6NcE H:4=H8)tItVH~*9Q>Yy  E 5 D 9>  ]D4?5>;ɯ }< i%?ȅ?:ɱ:@D4Q -.7-a?Q -.7 -<Q 5tI)-ZQ 5BI-vBɴ-į:-R: -+.7 =E4=̞? =>>;)=E< E?Y=څ?ɷ=:=M: =QE4I IIHaHaFaFaFiFizFijFiEqEq> >C> yMD'AYtv2L@tvZ@ytva=tvxmEi9I=yC)HkAHlAIDף;ل:yMbP~jtx?MbP?YAIixAɅxA ):VHu}SVQ}>YyyyE˅R Dͅ9>  ]D4?F>;ɯ< i?鯭#?>:ɱ:鱭|PD4Q /7鲽k?Q /7 <Q tI)[Q BIxBɴ;鴽 ; _/7 E4? O>;)φ< ?Y6?ɷʢ:: 7E4 HHFFF!F%.@zFIjFIEIEI‘ߙi> 5|gD'A)IYt2:L@t2Z@yt2a=t2x:%hE)tItVH~Q>Yy  E i D : >  ]D4Ȟ?S>;ɯy< i%?h?:ɱ:\D4Q -07% ?Q -07 %x<Q -tI)%\Q 5BI% zBɴ%:%˵: %;)58< E?Y5z?ɷ5s:5: 5+E4I IIHYHaFaFaFiFizFijFiEiEi@ 9ؽ) +=i)IH<"Hw:)Ii yR> YD'AYt.?L@t.Z@yt.a=t.x6'fEG:@AH8iDIFC)tItVH%38Q%>Y!y!-E- D-0:-> 1 ]=D45ޞ?5b>;ɯ5|< iE?5?5:ɱ5:5kD4Q M17E?Q M17 El<Q MtI)EX^Q UBIE{BɴEа:E÷: Ea_17 ]E4U? Uk>;)U:< e?YUˆ?ɷU+:U: UE4i iiHyHFFFFzFjFEE<Tracking...<2Tracking contact label: 2il|;@ 90t۽) {0=i)IH<"Hw:jA‘ߙ|> 2D'AYt.AL@t.Z@yt.3b=t.`xB`E)|H~@H|IEE`;لE#YayaeEe Dmb9m> q ]}D4uq?u>;ɯuͪ< i}?u?u:ɱu:ugyD4Q 27鲅?Q 27 g<Q tI)_Q BIP}Bɴl:鴅: t27 E4鵕? >;)< ?Yƈ?ɷM:鷕: E4 HHFFFF?zFjFEE<Tracking...<2Tracking contact label: 2iܤ};@ 9}޽) ;=i)IH<"Hw:v> D'Ai;Yt.YCL@t.Z@yt.Gb=t.??)u.YCL@ u.2v;Iu,xZ<>xZhE {\Y|`b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I-yC)ƄGIVHmQ>YyE D9>  ]D4 ? )?;ɯ < i%? ? 2;ɱ S.; 7D4Q 537-Sk?Q =37 -|<Q =tI)-MaQ =BI-Bɴ-.;-?; -ϓ37 UE4M1? M4?;)M< ]?YMԊ?ɷM;M|; ME4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iX{;@ 9#n⽉) _=i)IH <"Hw:‘> D'AYtB$FL@tBZ@ytBcb=tBxrLeE]z^unknown deviceResponse_: !U000,187,80,81,0C,FF )GIף;لyMbpMbp?YzAIiEAɅEA$A ;)VH5=a9Q=>Y9yAEEE DE9E> I ]UD4M-?M1?;ɯM&< i]?M ?M^:ɱM,:MD4Q e47] J?Q e47 ]w<Q mtI)]bQ mBI]SBɴ]:]K: ]G47 uF4u]? }F4 u;?;)u'< }?Yu ?ɷu:u&: uF4 HHFFFF1@zFjFEE<Tracking...<2Tracking contact label: 2iI;@ 9A彉) h=i)IH<"Hw: >%> ->h> "D'AYt.JL@t.Z@yt.Rb=t. xB%hEiPIRC){GHlAHkAIVH˕զQ>Y˙y˙E˝ Dͥ&:>  ]D4V?8?;ɯ%< i?鯭Q?:ɱ:鱭D4Q 57鲽++?Q 57 <=Q tI)dQ BIBɴc:鴽4: 57 F4? B?;)%< ?Yf?ɷN:c: #F4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2i ;@% %9%轉!)! %]=i))))I)1H5<"H=w: >? fD'A)@IYt.ML@t.-Z@yt.b=t. ನѿ @?bM`Y? ?)u.ML@ u.]v;Iu.CxN<>xRhE)ƄGIVH]e` 9Qe>YayamEmDmq:m> q ]}D4u?u??;ɯu.< i?u?u :ɱu:uD4Q 67鲅 ?Q 67 =Q tI)eQ BIBɴ>:鴅: 67 F4鵕? J?;)/< ?Y?ɷ:鷕ߡ: G'F4! !)HYHYFYFYFaFazFajFaEiEi¡? xD'AYtNOL@tN:Z@ytN`a=tN@xveEiI)}YˉyˉEˍ!D͕”9>  ]D4?B?;ɯx< i?鯽?s:ɱ:鱽tD4Q 77 ?Q 77 Z=Q tI)gQ BIłBɴA;; 77 F4? L?;)z< ?Yŋ?ɷ4:ϝ: :F4   H9HAFAFAFIFM,@zFIjFIEiEqQژ??)u.SL@ u.v;Iu.CxBt>xBLeE)~GI|VH%q^8Q%>Y!y)-E-8D-9:5> 1 ]=D45?5C?;ɯ5< iE?5?5:ɱ5:5D4Q M87E]?Q M87 E =Q UtI)EWhQ UBIE{BɴEN:E@: E87 ]F4]Ş? ]M?;)]< e?Y]Ջ?ɷ]؛:]: ]IF4i iiHHFFFFzFjFEE<Tracking...<2Tracking contact label: 2iZa;#>@ 9) փ=i)IH<"Hw:W? f1PD'AYt.TL@t.s[@yt.[xBsbE@FA"@DiPIRyC)~GIjAkAAE;لEyE{GztMbp?MbPYEAIAiAAAɅAExAEף E;)EVH]e8Qe>YiyimEmRDm>6u> q ]}D4u˞?uJ?;ɯu< i?u?u/:ɱuϸ:uBD4Q 97鲍?Q 97  =Q tI)iQ BIMBɴ:鴍÷: 97 F4鵝? T?;)< ?Y,?ɷI:鷝': [F4 HHFFFF+@zFjFEE<Tracking...<2Tracking contact label: 2iƄ;@ 9,) =i)IH<"H w:?  jD'AYt.XL@t.[@yt.#ib=t.iDxBeE HBp=HBp=)~{GIVH=E#8QE>YAyAEEMlDMq::M> Q ]]D4U?UQ?;ɯU< ie?Uk?Ug:ɱU:U9D4Q m:7e?Q m:7 e=Q mtI)e5kQ uBIeBɴex:e: e?:7 }F4u.? u[?;)u< ?Yu?ɷu:u۞: ulF4 HHFFFFzFjFEE<Tracking...<2Tracking contact label: 2im;@ 9{x) Ѷ=i)IH<"Hw:? >±߹= got command stopN^Stop Mission called by CommandLine::commandStopr ? D'AYt.T[L@t.[@yt.a=t.?@B@ĵѿԿ7?@l6 ٘?`#?)u.T[L@ u.v;Iu,xN>xRoEi\IbC)%ƄGH%kAH!I!VH=EQE>YAyAMEMDMl9M> Q ]}D4U2?UW?;ɯUy< i?U?U,;ɱUж;UXD4Q <7鲅g?Q <7 =Q tI)lQ BIBɴ鴅I: ^<7 F4鵵b? b?;)u< ?Y׌?ɷ :鷵S: p~F4 HHFFF F zF jF E E <Tracking...<2Tracking contact label: 2$=8MissionManager is completed.$=PUninitializing Mission lineCaptureHoming1= 0=RAggregate::uninitialize lineCaptureHomingq=0=vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesE 1ENUninitialize AltitudeEnvelopeComponent.E1EUninitialize.1E 2ENUninitialize OffshoreEnvelopeComponent.qE}$z>Qa%}JHorizontalControl.headingCmd no_value'? 3ÝD'A)IYt.[L@t.[@yt.b=t. xRKgE:@V=B@V=)ׄGI!ae:لe;yeMb`?YeAIaiaaeɅaeAe e)e;VH˽8Q>YyED 7>  ]E41? aE4W?;ɯX< i?Œ?;ɱ;E4Q  =7E?Q  =7 =Q  tI)!nQ  BIBɴ:4: #=7 F4a? b?;)T< ?Y،?ɷD:: F4! ))$-.Started mission DefaultY15 )5:Aggregate::initialize Default1U *U@Initialize GoToSurfaceComponent. *UNo depth rate setting specified. Using default value of nan m/s. *]~No pitch setting specified. 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M <ɯ = i? a? :ɱ : CG4Q %h7!Q %h7 !Q -tI)!Q -BI!ɴ%:%I: %,h7 5G4-#? -D <)-= =?Y-?ɷ-:-_: -G4  )Ii Xz:;) )H<"Hw:_E \zE'AYt.YM@t.E\@yt.ra=t.xBnhE)IVHeeQe>YiyimEiuu>  ]G4ɠ?> <ɯ= i?鯅?Ǻ:ɱ:鱅dQG4Q i7鲑Q i7 Q tI)Q BIɴԱ;鴕Գ; i7 G4֠? 5 <) = ?Yl?ɷ:: {G4  )Ii Xz: ; ) )H%<"H%w:Q,E aE'AYt.=VM@t.\@yt.=a=t.`gxN%hEi\I\)eGĻ#<لy~jthI +?YAIiAɅ酡鄥D 94<)VHQ>YyEi >  ]G4?Z <ɯu= i%??:ɱ$:2`G4Q -j7)Q -j7 )Q -tI))Q 5BI)ɴ-;-c; -j7 ]G4] ? ]Q <)]o= e?Y] ?ɷ]:]/: ]G4i ii q)qIqiq Xz:;) )H<"Hw:ߩ V>KE gE'A)IYt2HSM@t2\@yt2a=t2hxBgE:@@B@F=)~ƄG~= |VH]e9Qe>YayimEim3m> q ]G4u3?us <ɯu= i?u?u!:ɱu:umG4Q ]l7QQ ]l7 QQ ]tI)QQ ]BIQɴU:U: Ul7 mG4eB? ek <)e= m?Ye?ɷe:e: e?G4q qy y)Ii Xz:;) )H<"Hw:߱;E >E'AYt.#PM@t.[@yt.Ub=t.ϪxB nE)Ji I )eׄGVH}˅9Q>YˉyˉEˉ͕>  ]G4h? <ɯ3= i?鯝?n:ɱ:鱝{G4Q m7鲩Q m7 Q tI)Q BIɴ:鴭: ,m7 G4鵽t?  <)-= ?Y0?ɷ':鷽n: G4  )Ii Xz: ;QQY)Y Y)H<"Hw: T"E E'AYt.cMM@t.[@yt.ob=t.xB%hE)iD<لDyMb{Gz?~jthY AIiEAɅ酩鄭 #<)DVHۘQ>YyEҹ>  ]G4ɡ? <ɯ>= i ?_?˵:ɱ:sG4Q n7Q n7 Q tI)Q BIɴ<N< n7 H4ڡ? H4  <)= ?Y?ɷ:r: H4   )Ii %Xz:-;)ii)i i)qqH}<"H}w:ߑLE @E'Ai4>xBfE@@"@DiPIP)~GAVH%cQ%>Y!y!%E!-/}-> 1 ]=G45 ?5 <ɯ5z= i=?5?5r:ɱ5:5G4Q Mo7AQ Mo7 AQ MtI)AQ MBIAɴE:E@: EVo7 ]H4U,? U <)Ut= ]?YU?ɷU:U: U H4a aa i)iIiiq }Xz:};y) )H<"Hw:4E E'AYt.CM@t.?[@yt.Oa=t.xBpfE)~+GEף;Ej<لEĻyE{Gz:v?~jtxYEAIAiAExAAɅAAEף ET<)EĻVH}˅GQ>YˁyˁEˁ͍ >  ]G4? <ɯ= i?鯕I?=;ɱA;鱕1G4Q p7Q p7 Q tI)Q BIɴc:: 6p7 H4?  <)= ?Y?ɷL;]; +1H4    )1I1i1 EXz:E;AAA)A I)IQHu<"H}w:߉^E /E'AYt6yAM@t6[@yt6)a=t6'xB+bEiLIL)~GVH%XQ%>Y!y!-E)-쿹-> 1 ]=G45?5 <ɯ5= iE?5?5:ɱ5/:5G4Q Mq7AQ Mq7 AQ MtI)AQ MBIAɴEZ:E: E2KFE PIE'A)IYt.=M@t.3[@yt.#a=t.x^eE:@b=B@b=)=ׄGM4= M%=VH}}ilQ>YˁyˁEˁ͍->  ]G4? <ɯ= i?鯕?:ɱ{:鱕mG4Q r7Q  r7 Q tI)Q BIɴ;G; [r7 MH4-? - <)-= U?Y-X?ɷ-A;-,; -TH4  )Ii Xz: ; ) )11H=<"H=w:IoE acE'AYt.:M@t. [@yt.a=t.xBlEiPIRC)QD<لףyMb~jt?{GztYIiɅ酹鄽 <)ףVHv9Q>YyE>  ]G4 D?  <ɯ = i? "? I;ɱ ; G4Q =s79Q Es7 9Q EtI)9Q EBI9ɴ=Ԙ:=: =qs7 MH4MR? M <)M= U?YM?ɷM,;M; MfH4y yy )Ii Xz:;) )H<"Hw:E >}E'AYt.5M@t.[@yt.ba=t.xR%hE)GVH}} ƸQ>YˁyˁEˁ͍$U>  ]G4?5 <ɯ = i?鯕a?:ɱ:鱕G4Q t7鲡Q t7 Q tI)Q BIɴA:鴥: 7ut7 H4鵵? + <)= ?Y?ɷU:鷵: vH4  )Ii Xz:;) )H<"Hw:mReceived command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b4n3 2 3=got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 4b4n3 2 3.000000=PScheduling command #2 of 3 with id=4b4n3=Scheduled #19 (#2 of 3 with id='4b4n3'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAPlE E'Ai;Yt21M@t2[@yt2>a=t2xRmjE@P"@Ti`Ib6C)ƄG%A!e;e<لaye:vYˉyˉEˉ͕.> Y ]eG4]?]C <ɯ]= ie?]D?];:ɱ]:]G4Q uu7iQ uu7 iQ utI)iQ uBIiɴm]:mq: m u7 H4}? }9 <)}= ?Y}?ɷ}U:}4: }FH4  )Ii Xz:;) )H<"Hw:«E E'AYt.+M@t.?[@yt.*a=t.x6hE)rׄGVH%sQ%>Y!y)-E)-W5> 1 ]=G45?5O <ɯ5= iE?5?5:ɱ5:5|G4Q Mv7IQ Mv7 IQ MtI)IQ UBIIɴM:M: Mv7 ]H4U? 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M2 <)MS= U?YM@ɷMɪ:M.: MvI4Y aa i)iIiii uXz:};yyy)y y)H<"Hw:eLF 4E'AYt.L@t.O[@yt.`=t.E/?`~Z??)u.L@ u.v;Iu.CxB>xBmjEiPIP)jGVH=E%hQE>YAyAMEIMM> Q ]]H4Uٟ?U <ɯUD= ie?Ue@U:ɱU^:UhH4Q m7aQ m7 aQ mtI)aQ mBIaɴeȗ:eU: eB7 I4u? u <)u#= ?Yu@ɷux dE)ƄGD;ʡل;yA`"?V-Mbp?Y(AIi@AɅxAxAY= m);VH˭7Q>Y˱y˱E˱ͽQ>  ]H4H? <ɯ= i?@;ɱ#;4H4Q 7 Q tI)Q BIɴ:9: ܃7 -I4R?  <)= -?Y@ɷȲ;; ^I41 11 9)9IAiA mXz:m;qqq)q q)yyH<"Hw:߹}?Ay==zgot command load ./Missions/Engineering/lineCaptureHoming.xml$EzLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml&YF #hE'Ai;Yt2L@t24[@yt2`=t2-Tػ>xBgE@@"@@iLIL)~ׄGVH%Q%>Y!y!%E)-B/-> 1 ]=H45I?55 <ɯ5= i=?5r @5:ɱ5:5H4Q M7AQ M7 AQ MtI)AQ MBIAɴE:E: EQ7 ]I4UY? U+ <)U^= ]?YU @ɷUK:U: U`I4a aiu; }Xz:yy)y y)H<"Hw:!j@$nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h!z@$ tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min!5@5?$=fDefineArg lineCaptureHoming.Repeat = 1.000000 count!E@A$m`DefineArg lineCaptureHoming.DockLat = nan arcdeg!u@q$}`DefineArg lineCaptureHoming.DockLon = nan arcdeg!@$ bDefineArg lineCaptureHoming.StartLat = nan arcdeg! @ $ bDefineArg lineCaptureHoming.StartLon = nan arcdeg! @ $ pDefineArg lineCaptureHoming.TerminalRange = 650.000000 m! @ $ jDefineArg lineCaptureHoming.cameraRange = 25.000000 m!M @M @$U dDefineArg lineCaptureHoming.DockRange = 4.000000 m!m  Aq $u jDefineArg lineCaptureHoming.UpdateNav = 0.000000 bool! A $ DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min! *A $ jDefineArg lineCaptureHoming.DockTimeout = 60.000000 s! :A @$ tDefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min!% JA) $- jDefineArg lineCaptureHoming.HoldAltitude = 7.000000 m!= ZA9 $E xDefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min!M jAM >@$U fDefineArg lineCaptureHoming.InitDepth = 30.000000 m!} zA} @$ xDefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min! A $ xDefineArg lineCaptureHoming.TransponderCode = 2.000000 count! A $ tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count! A DUSBL_Hydroid.loadAtStartup$ DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup! A $ `DefineArg lineCaptureHoming.Speed = 1.000000 m/s! A $ lDefineArg lineCaptureHoming.DepthDeadband = 0.000000 m! A @$ hDefineArg lineCaptureHoming.MinAltitude = 5.000000 m! A ې`F _E'AYt.L@t.|z[@yt.a=t.&>xBkE)mbGVH˝w8Q>YˡyˡEˡͭY>$fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m!A@@$ jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km!  ]H4? <ɯ= i?鯵 @`<ɱq`<鱵1H4Q %7! !Q -tI)!Q -BI!ɴ%:%9: %7B$}hDefineOutput lineCaptureHoming.HomingActive = 1 bool!B$nDefineOutput lineCaptureHoming.cameraRequested = 0 bool I45? 5 <)5= ?Y5 @ɷ5?:5ީ: 5I4 !"B$dDefineOutput lineCaptureHoming.DoingComms = 1 bool!2B$ pDefineOutput lineCaptureHoming.StartFromSurface = 1 bool; Xz:) )!!H%<"H-w:9$ulInserting Stack: Missions/Insert/StandardEnvelopes.xmlaJB@$DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 maZBi@$DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 majB@@$DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 156Construct AltitudeEnvelope.1m0Construct DepthEnvelope. 26Construct OffshoreEnvelope.!q$e\Inserting Stack: Missions/Insert/NeedComms.xml!M CM @$U ~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h!  C @$ DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min!  C $ DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg!  D $ DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s!% D! $- DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!E *DA $E ~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min!U :DQ cfF h<E'AYt.L@t.:s[@yt.a=t.b>xB.^EiLIRC)ƄGMMلMYiyimEiu?u>$}DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min  ]I4? aI4t <ɯM= i?鯽7 @:ɱ:鱽[I4Q 7 5,Construct GoToSurface.Q 7 Q tI)Q BIɴ{<Q< 3h7 %I4? h <)= -?Y @ɷ:: [I41 YY}; Xz:) )H<"Hw:%mRHorizontalControl.headingCmd 3.125751 rada!a%a)a-a1a5a9a=aAaEaIaMaQaUaYa]-aa- =5Construct.=M&Construct Buoyancy.=U@eConstruct.a Am AuConstruct. a> 1 9DConstruct. EConstruct.K=&Construct Waypoint.%yU%iU%mU WConstruct.+uPm "Construct SetNav.a(eu a(i} a(m  Q Construct Wait.S &Construct Waypoint.Tm Construct Wait.$ O Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 120 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. NaN Longitude of docking station waypoint. NaN Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTimeout* has passed. NaN Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Range to activate the camera payload. 25.0 Minimum range to continue to update heading being driven. 4.0 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Maximum time duration for running in terminal guidance mode. 30 Time duration for running in Dock mode. 60 Drive on your last heading for this long after approaching within minimum (dock) range. 12 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 Number of pings requested each time. 1 Automatically set to true if the DUSBL is enabled. Set to false to disable reading from the DUSBL. Thruster speed for the entier mission. 1 0.0 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this to true after camera is requested (prevents multipul req). Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true after surface comms are done. 0 Called when the vehicle should be underwater. Arbitrates between 2 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. Descend from the surface to initial depth. Necessary when no altitude reading is available form the surface. Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Request a ping form the dock transponder. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Lights, Camera on at range: . Final approach. Close in on the target at the last commanded heading until *DockTimeout* has passed. No DUSBL heading updates. Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTimeout* has passed. = fLoaded ./Missions/Engineering/lineCaptureHoming.xmllF E'A)IYt.}L@t.l[@yt.(a=t.xngE:@r=B@p)]Ga e%=VHu} 8Q}>YˁyˁEˁͅYx>  ]I4?( <ɯU= i?鯍@:ɱ:鱍II4Q 7鲡 Q tI)Q BIɴ:鴥: 7 I4鵭?  <)= ?Y@ɷm:鷭: 1I4  !)!I!i! -Xz:5;111)1 1)qqH}<"H}w:߉sF E'AYt.L@t.f[@yt.>6a=t.xBiEiPIR6C){G}}+ل}CY˹y˹E˹Cy>  ]I4?<ɯf= i?@ܹ:ɱ$:#I4Q 7Q 7 Q tI)Q BIɴ:D: \z7  J4 ? 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U<)U},> ]?YU -@ɷUף:U: UL4a ai i)iIqiq }Xz:};) )H<"Hw:RG  E'AYt~'K@t~Z@yt~'b=t~xGkEi9I9)ƄGף;j<لy{Gz:v?~jtxYIiɅף T<)VH-5[z8Q5>Y9y9=E9EaE> A ]mK4E|?E<ɯE*> iu?Em-@E|;ɱE;E;uK4Q }7y yQ }tI)yQ BIyɴ}}:}: }ל7 L4鵅u? <)m*> ?Y-@ɷ$;鷅5; L4  )Ii mXz:;) )H<"Hw:ߩzG b'E'AYt6K@t6\Z@yt6a=t6@xBmE)zGVH=E}ٸQE>YIyIMEIU5U> Q ]}K4U5?U<ɯU2)> i?U.@U:ɱU:U>K4Q 7鲉Q 7 Q tI)Q BIɴ:鴍Ӡ: U7 L4鵝.? <)(> ?YQ.@ɷ:鷝Ӡ: L4  )Ii Xz:;) )H<"Hw:)aG AE'Ai;Yt.K@t.Z@yt.b=t. rW??)u.K@ u.v;Iu.Cx^<>x^hE@bA"@dilIp)={GAAVH]e$8Qe>YayimEim6(u> q ]}K4u?u<ɯuM'> i?u.@u:ɱu:uK4Q 7鲁 Q tI)Q BIɴ :鴅ݖ: ;ݝ7 M4鵕? 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U<)U^"> e?YUa1@ɷU:U<: UM4i ii q)qIqiq }Xz:};yy) )H<"Hw:ߡXG q:E'AYt.ήK@t.:\Z@yt.ca=t.TO?@?)u.ήK@ u.v;Iu.CxB>xBoE)=jGل;y~jth?~jthMb`?YIiɅ酙鄝D; D);VHtCQ>YyE ݹ>  ]L4?<ɯ#> i?.1@ =ɱ =HL4Q 7 Q tI)Q BIɴ:$: ٤7 M4鵍? <)9#> ?Y1@ɷ:鷍: M4  !)!I)i) =Xz:=;999)9 9)AAHm<"Hmw:߁G 7E'AYt.sK@t.[Z@yt.a=t.xBsbEiLIL)~{GVH%u8Q%>Y!y)-E)-l-> 1 ]=L45?5<ɯ5X$> iE?5J1@5 :ɱ5:5(VL4Q M7AQ M7 AQ MtI)AQ UBIAɴEE:E: EO7 ]M4U? U<)U#> e?YU1@ɷU:U: UoM4i ii q)qIqiq Xz:;) )H<"Hw:ER> EY>= got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meterC = got command run = Running kG E'A)IYt.ŪK@t.1XZ@yt.Za=t.&>xB'fE:@F=B@D)~ƄG= VH8Q>Y!y!%E!%-> ) ]=L4-΁?-<ɯ-%> i=?-f1@-:ɱ->:-@dL4Q M7A AQ MtI)AQ MBIAɴE:E: Eץ7 ]N4Uʁ? ]N4 U<)U$> ]?YU1@ɷUp:U: U N4a iim )m>Aggregate::uninitialize Default1u *uDUninitialize GoToSurfaceComponent.qu*uNAggregate::uninitialize Default:CheckInu-u8Uninitialize Wait Component.$uBStarted mission lineCaptureHomingYq1u 0}NAggregate::initialize lineCaptureHomingq}0}rAggregate::initialize lineCaptureHoming:StandardEnvelopes} 1}JInitialize AltitudeEnvelopeComponent.}1}DInitialize DepthEnvelopeComponent.1} 2}JInitialize OffshoreEnvelopeComponent.q}<}DInitializing TrackAcousticContact. =Initialize.=tInitialize ReadDataComponent to sense platform_orientation1 >xInitialize ReadDataComponent to sense height_above_sea_floorEE;q<Tracking...<2Tracking contact label: 2Cqq1; 9) )H<"Hw:G E'AYt.GK@t.VZ@yt.+b=t.xBmEiPIP)~GEYayaeEamgm> q ]}L4u?u<ɯu|$> i}?u1@u:ɱu:urL4Q 7鲁Q 7 Q tI)Q BIɴ :鴅: b7 N4鵕? <)#> ?Y2@ɷ:鷕+: N4 EE<Tracking...<2Tracking contact label: 2Ci@; 9) )H<"Hw:G E'AYt.GK@t.UZ@yt.(b=t.w7xBgE)D)eƄGVH˝OQ>YˡyˡEˡͭB>  ]L4?<ɯ#> i?鯵 2@:ɱ鱵L4Q 7 Q tI)Q BIɴ1:$: 7 N4? v<)b#> ?YZ2@ɷ:: h/N4 EE<Tracking...<2Tracking contact label: 2C ; 9) )H%<"H%w:9AA9H Z E'AiYt.K@t.kTZ@yt.&a=t.dxbjE@d"@diIII)ׄGD;ل;y~jth?MbMb`?YAIixAɅD; );VH5=츹Q=>Y9yAEEAEoAM> I ]UL4MW?Mp<ɯM$> i]?MD2@Mm:ɱM:ML4Q e7YQ e7 YQ etI)YQ eBIYɴ] :]U: ]i|7 uN4mS? mb<)m$> }?Ym2@ɷm:m: mAN4 EE<Tracking...<2Tracking contact label: 2D @; 9) )H<"Hw: H 1^- E'AYt.K@t.QRZ@yt.]a=t.xREmEGRAAHP)aVH˥q8Q>YˡyˡEˡͭ>  ]L4,?^<ɯ?%> i?鯵{2@:ɱs:鱵NL4Q 7 Q tI)Q BIɴ[:o: 7 N4(? P<)$> ?Y2@ɷ4:: DRN4 EE<Tracking...<2Tracking contact label: 2D#GnAggregate::initialize lineCaptureHoming:StartingMission; 9) )H%<"H%w:9>H :G E'AYt.K@t.'PZ@yt.:a=t.xRIiEi\I`)ebGVHmu(8Qu>Yyyy}Eyͅ>  ]L4?K<ɯ%> i?鯍2@$:ɱԳ:鱍=L4Q 7鲙Q 7 Q tI)Q BIɴZ:鴝: P7 N4鵭? ><)b%> ?Y3@ɷ0:鷭w: ycN4 EE<Tracking...<2Tracking contact label: 21 :hAggregate::initialize lineCaptureHoming:SurfaceCommsqDq ;lAggregate::initialize lineCaptureHoming:SurfaceComms:B; 9) )H<"Hw:EN> EV>eH a E'A)IYt.K@t.hMZ@yt.a=t.xR"lE:@V=B@T)ƄG! !eDetلe;yeMb?MbpMbp?YaIaiaaaɅaae< e)e;VH8Q>YyE й >  ]L4?F<ɯd'> i?2@:ɱF:L4Q %7!Q -7 !Q -tI)!Q -CI!ɴ%:%{: %d7 ]N45? 59<)5&> ]?Y5C3@ɷ5:5: 5uN4a aiEqEq<}Tracking...<}2Tracking contact label: 21} 4}bAggregate::initialize lineCaptureHoming:NeedComms} 5}@Initialize GoToSurfaceComponent.5HReceived depth rate setting nan m/s.5RReceived pitch setting 19.999999 degrees.5HReceived speed setting 1.000000 m/s. 5No surface timeout specified. Using default value of 1000.000000 seconds.5nReceived pitch timeout configuration 60.000000 seconds.qDDDD4last time_fix was: 1553797704.000000 second since 1970/01/01T00:00:00Z q Xz: ;  ) )H<"H%w:Q H ,z E'AYt.dK@t.JZ@yt.a=t.0xBlE HBa=HFa=iPIP)GVH=E>8QE>YAyIMEIMWڹM> Q ]]L4Ue?UB<ɯU(> ie?U+3@Ue:ɱU:U?L4Q m7i iQ mtI)iQ uCIiɴm:mԘ: m{7 }N4ua? u4<)u6(> ?Yu}3@ɷu?:u;: u N4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:YN$H ˔ E'AYt.5K@t.IZ@yt.=Kb=t.xRGkE)ƄGeeلeD;yeYˁyˁEˁ͍8>  ]L4?@<ɯ)> i?鯕m3@:ɱ:鱕L4Q 7鲡Q 7 Q tI)Q CIɴ:鴥: &7 N4鵵 ? 3<):)> ?Y3@ɷ#:鷵: ΗN4 EE;<Tracking...<2Tracking contact label: 25\Initialize ReadDataComponent to sense time_fixDDDD Xz:;) )H <"H w:AAm+H  E'AiYt2K@t2bHZ@yt2 b=t2a,Q??)u2K@ u2v;Iu2CxNb>xRpfE@T"@Ti`I`)ׄG%A!VH55Q5>Y9y9=E9EIE> I ]UL4M?M?<ɯM*> iU?M3@Mض:ɱM:MoL4Q e7Y YQ etI)YQ eCIYɴ]:]: ]S7 uN4m? m1<)m5*> u?Ym3@ɷmÜ:m: m٨N4y EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw: 2H  E'AYt.K@t.JZ@yt.@a=t.xBnhEGDHD)~GVH=EwQE>YAyIMEIM9M> Q ]]L4Ui?U=<ɯU+> ie?U3@Uw:ɱUk:UL4Q m7aQ m7 aQ mtI)aQ uCIaɴe:e: e*7 }N4ue? u0<)u6+> ?Yu<4@ɷu:u2: uVN4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )H<"Hw:28H _ E'AYt.K@t.mHZ@yt.xSa=t._xVLeEilIl)=ƄGtل;y~jt?Mbp?YIiɅ酁鄅D< );VH˝+NQ>YˡyˡEˡͭ¹>  ]M4~? aM4F<ɯ'-> i?鯵>4@#:ɱV:鱵$M4Q 7 Q tI)Q CIɴ::: A7 N4~? 9<),> ?Y4@ɷ?:: LN4 EE;<Tracking...<2Tracking contact label: 2DDDD Xz:;) )!H%<"H%w:9EV> EY>[>H 9 E'A)IYt.EK@t.IZ@yt.ua=t.xReE:@V=B@V=)h)G =VH˽8Q>YyEF9>  ]M4~?O<ɯ.> i?4@-:ɱB:eM4Q 7Q 7 Q tI)Q CIɴV:: @7 N4~? 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